2025-01-08T21:10:44.491Z,1736370644.491 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive 2025-01-08T21:10:44.499Z,1736370644.499 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-01-08T21:10:44.499Z,1736370644.499 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize. 2025-01-08T21:10:44.499Z,1736370644.499 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-01-08T21:10:44.500Z,1736370644.500 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize. 2025-01-08T21:10:44.500Z,1736370644.500 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1 2025-01-08T21:10:44.500Z,1736370644.500 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize. 2025-01-08T21:10:44.560Z,1736370644.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:44.563Z,1736370644.563 [CommandExec](IMPORTANT): got command restart logs 2025-01-08T21:10:44.812Z,1736370644.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:44.881Z,1736370644.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:10:44.881Z,1736370644.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:44.905Z,1736370644.905 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-01-08T21:10:44.905Z,1736370644.905 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-01-08T21:10:45.064Z,1736370645.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:45.264Z,1736370645.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:10:45.264Z,1736370645.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:45.316Z,1736370645.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:45.568Z,1736370645.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:45.786Z,1736370645.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:10:45.788Z,1736370645.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:45.820Z,1736370645.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:46.072Z,1736370646.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:46.078Z,1736370646.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T21:10:46.078Z,1736370646.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:46.324Z,1736370646.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:46.547Z,1736370646.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:10:46.555Z,1736370646.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:46.576Z,1736370646.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:46.828Z,1736370646.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:46.910Z,1736370646.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s. 2025-01-08T21:10:46.910Z,1736370646.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:47.080Z,1736370647.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:47.332Z,1736370647.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:47.332Z,1736370647.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:10:47.333Z,1736370647.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:47.584Z,1736370647.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:47.821Z,1736370647.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:47.836Z,1736370647.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:48.088Z,1736370648.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:48.145Z,1736370648.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:48.340Z,1736370648.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:48.531Z,1736370648.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:48.592Z,1736370648.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:48.845Z,1736370648.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:49.096Z,1736370649.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:49.144Z,1736370649.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:49.349Z,1736370649.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:49.600Z,1736370649.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:49.852Z,1736370649.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:49.985Z,1736370649.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:10:49.985Z,1736370649.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:50.104Z,1736370650.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:50.356Z,1736370650.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:50.531Z,1736370650.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T21:10:50.531Z,1736370650.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:50.608Z,1736370650.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:50.860Z,1736370650.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:50.907Z,1736370650.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.8 s old, using for 20.0 s. 2025-01-08T21:10:50.908Z,1736370650.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:51.112Z,1736370651.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:51.363Z,1736370651.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.2 s old, using for 20.0 s. 2025-01-08T21:10:51.363Z,1736370651.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:51.364Z,1736370651.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:51.616Z,1736370651.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:51.868Z,1736370651.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:51.888Z,1736370651.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.7 s old, using for 20.0 s. 2025-01-08T21:10:51.888Z,1736370651.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:52.120Z,1736370652.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:52.189Z,1736370652.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.0 s old, using for 20.0 s. 2025-01-08T21:10:52.189Z,1736370652.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:52.372Z,1736370652.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:52.542Z,1736370652.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.4 s old, using for 20.0 s. 2025-01-08T21:10:52.542Z,1736370652.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:52.624Z,1736370652.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:52.876Z,1736370652.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:52.916Z,1736370652.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.8 s old, using for 20.0 s. 2025-01-08T21:10:52.916Z,1736370652.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:53.128Z,1736370653.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:53.308Z,1736370653.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.2 s old, using for 20.0 s. 2025-01-08T21:10:53.308Z,1736370653.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:53.383Z,1736370653.383 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:53.633Z,1736370653.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:53.818Z,1736370653.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.7 s old, using for 20.0 s. 2025-01-08T21:10:53.819Z,1736370653.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:53.884Z,1736370653.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:54.132Z,1736370654.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.0 s old, using for 20.0 s. 2025-01-08T21:10:54.132Z,1736370654.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:54.136Z,1736370654.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:54.388Z,1736370654.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:54.537Z,1736370654.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.4 s old, using for 20.0 s. 2025-01-08T21:10:54.537Z,1736370654.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:54.641Z,1736370654.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:54.892Z,1736370654.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:54.976Z,1736370654.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.8 s old, using for 20.0 s. 2025-01-08T21:10:54.976Z,1736370654.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:55.145Z,1736370655.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:55.337Z,1736370655.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.2 s old, using for 20.0 s. 2025-01-08T21:10:55.338Z,1736370655.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:55.396Z,1736370655.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:55.650Z,1736370655.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:55.831Z,1736370655.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.7 s old, using for 20.0 s. 2025-01-08T21:10:55.831Z,1736370655.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:55.900Z,1736370655.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:56.152Z,1736370656.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:56.168Z,1736370656.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.0 s old, using for 20.0 s. 2025-01-08T21:10:56.168Z,1736370656.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:56.195Z,1736370656.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:10:56.404Z,1736370656.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:56.404Z,1736370656.404 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:10:56.404Z,1736370656.404 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:10:56.551Z,1736370656.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.4 s old, using for 20.0 s. 2025-01-08T21:10:56.552Z,1736370656.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:56.656Z,1736370656.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:56.657Z,1736370656.657 [DAT](INFO): DAT read: user:1598> 2025-01-08T21:10:56.665Z,1736370656.665 [DAT](INFO): DAT read: Tx time:21:10:55.8652 2025-01-08T21:10:56.665Z,1736370656.665 [DAT](INFO): Ping request sent. 2025-01-08T21:10:56.665Z,1736370656.665 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:10:56.666Z,1736370656.666 [DAT](INFO): DAT read: TxSync time:21:10:55.8644 2025-01-08T21:10:56.667Z,1736370656.667 [DAT](INFO): publishing transmit ping time 2025-01-08T21:10:56.668Z,1736370656.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002949 2025-01-08T21:10:56.909Z,1736370656.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:56.911Z,1736370656.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245015 2025-01-08T21:10:56.958Z,1736370656.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.8 s old, using for 20.0 s. 2025-01-08T21:10:56.958Z,1736370656.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:57.160Z,1736370657.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:57.161Z,1736370657.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495740 2025-01-08T21:10:57.349Z,1736370657.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.2 s old, using for 20.0 s. 2025-01-08T21:10:57.349Z,1736370657.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:57.412Z,1736370657.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:57.413Z,1736370657.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747335 2025-01-08T21:10:57.666Z,1736370657.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:57.668Z,1736370657.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002501 2025-01-08T21:10:57.791Z,1736370657.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:57.916Z,1736370657.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:57.917Z,1736370657.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251166 2025-01-08T21:10:58.161Z,1736370658.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:58.168Z,1736370658.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:58.169Z,1736370658.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503124 2025-01-08T21:10:58.420Z,1736370658.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:58.420Z,1736370658.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755014 2025-01-08T21:10:58.560Z,1736370658.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:58.673Z,1736370658.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:58.676Z,1736370658.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010120 2025-01-08T21:10:58.924Z,1736370658.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:58.925Z,1736370658.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259132 2025-01-08T21:10:58.969Z,1736370658.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:59.177Z,1736370659.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:59.178Z,1736370659.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512403 2025-01-08T21:10:59.380Z,1736370659.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:59.428Z,1736370659.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:59.429Z,1736370659.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763629 2025-01-08T21:10:59.682Z,1736370659.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:59.685Z,1736370659.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018628 2025-01-08T21:10:59.814Z,1736370659.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:10:59.814Z,1736370659.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:10:59.932Z,1736370659.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:10:59.932Z,1736370659.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267074 2025-01-08T21:11:00.181Z,1736370660.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:11:00.181Z,1736370660.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:00.184Z,1736370660.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:00.185Z,1736370660.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519303 2025-01-08T21:11:00.436Z,1736370660.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:00.437Z,1736370660.437 [DAT](INFO): DAT read: Rx Time:21:10:59.1829 2025-01-08T21:11:00.437Z,1736370660.437 [DAT](INFO): Rx dataTimestamp_ set to:1736370660.436797 2025-01-08T21:11:00.438Z,1736370660.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772243 2025-01-08T21:11:00.591Z,1736370660.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:11:00.591Z,1736370660.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:00.688Z,1736370660.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:00.689Z,1736370660.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023452 2025-01-08T21:11:00.940Z,1736370660.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:00.947Z,1736370660.947 [DAT](INFO): DAT read: 21:10:59.1829 LVL= 32752, 32753, 25266, 32755, AGC= 74, IDX= 118,-0.17, 0.976, 0.625, 2.388, 1.536, PHS=-0.472,-0.864, 0.850, RAW= 197.4, 6.3, CAL= 198.0, -2.0, ROT= 312.0, 2.0 2025-01-08T21:11:00.948Z,1736370660.948 [DAT](INFO): got valid direction response: 21:10:59.1829 LVL= 32752, 32753, 25266, 32755, AGC= 74, IDX= 118,-0.17, 0.976, 0.625, 2.388, 1.536, PHS=-0.472,-0.864, 0.850, RAW= 197.4, 6.3, CAL= 198.0, -2.0, ROT= 312.0, 2.0 2025-01-08T21:11:00.949Z,1736370660.949 [DAT](INFO): DAT read: Bearing 312.0, 2.0 (Local) 2025-01-08T21:11:00.949Z,1736370660.949 [DAT](INFO): Local bearing/azimuth received: Bearing 312.0, 2.0 (Local) 2025-01-08T21:11:00.951Z,1736370660.951 [DAT](INFO): DAT read: Range 10 to 50 : 685.0 m (Round-trip 913.4 ms) speed -1.0 m/s 2025-01-08T21:11:00.964Z,1736370660.964 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:11:00.965Z,1736370660.965 [DAT](INFO): direction in FSK: [-0.174400,-0.950849,-0.255871] 2025-01-08T21:11:00.965Z,1736370660.965 [DAT](INFO): publishing direction and range info 2025-01-08T21:11:01.016Z,1736370661.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:11:01.016Z,1736370661.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:01.192Z,1736370661.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:01.389Z,1736370661.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:11:01.389Z,1736370661.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:01.444Z,1736370661.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:01.698Z,1736370661.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:01.832Z,1736370661.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:11:01.832Z,1736370661.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:01.948Z,1736370661.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:02.200Z,1736370662.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:02.203Z,1736370662.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:11:02.203Z,1736370662.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:02.452Z,1736370662.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:02.616Z,1736370662.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:11:02.616Z,1736370662.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:02.704Z,1736370662.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:02.956Z,1736370662.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:03.208Z,1736370663.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:03.367Z,1736370663.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:11:03.367Z,1736370663.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:03.460Z,1736370663.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:03.640Z,1736370663.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.3 s old, using for 20.0 s. 2025-01-08T21:11:03.640Z,1736370663.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:03.714Z,1736370663.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:03.968Z,1736370663.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:04.112Z,1736370664.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:04.220Z,1736370664.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:04.438Z,1736370664.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:04.472Z,1736370664.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:04.724Z,1736370664.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:04.822Z,1736370664.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:04.976Z,1736370664.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:05.228Z,1736370665.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:05.241Z,1736370665.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:05.480Z,1736370665.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:05.641Z,1736370665.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:05.733Z,1736370665.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:05.984Z,1736370665.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:06.106Z,1736370666.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:11:06.106Z,1736370666.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:06.236Z,1736370666.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:06.430Z,1736370666.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:11:06.430Z,1736370666.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:06.488Z,1736370666.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:06.740Z,1736370666.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:06.837Z,1736370666.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:11:06.837Z,1736370666.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:06.992Z,1736370666.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:07.229Z,1736370667.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:11:07.229Z,1736370667.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:07.244Z,1736370667.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:07.496Z,1736370667.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:07.634Z,1736370667.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:11:07.634Z,1736370667.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:07.749Z,1736370667.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:07.000Z,1736370668.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:08.180Z,1736370668.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:11:08.181Z,1736370668.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:08.252Z,1736370668.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:08.504Z,1736370668.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:08.522Z,1736370668.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T21:11:08.522Z,1736370668.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:08.756Z,1736370668.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:08.932Z,1736370668.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T21:11:08.932Z,1736370668.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:09.008Z,1736370669.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:09.260Z,1736370669.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:09.336Z,1736370669.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s. 2025-01-08T21:11:09.336Z,1736370669.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:09.512Z,1736370669.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:09.764Z,1736370669.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:09.840Z,1736370669.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.2 s old, using for 20.0 s. 2025-01-08T21:11:09.840Z,1736370669.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:10.016Z,1736370670.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:10.144Z,1736370670.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s. 2025-01-08T21:11:10.144Z,1736370670.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:10.268Z,1736370670.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:10.520Z,1736370670.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:10.544Z,1736370670.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:11:10.544Z,1736370670.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:10.772Z,1736370670.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:10.952Z,1736370670.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T21:11:10.952Z,1736370670.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:11.024Z,1736370671.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:11.276Z,1736370671.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:11.348Z,1736370671.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:11:11.348Z,1736370671.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:11.528Z,1736370671.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:11.780Z,1736370671.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:11.793Z,1736370671.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.2 s old, using for 20.0 s. 2025-01-08T21:11:11.793Z,1736370671.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:12.032Z,1736370672.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:12.140Z,1736370672.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:11:12.140Z,1736370672.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:12.285Z,1736370672.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:12.413Z,1736370672.413 [DataOverHttps](INFO): Sending 255 bytes from file Logs/20250108T193415/Express0043.lzma 2025-01-08T21:11:12.536Z,1736370672.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:12.551Z,1736370672.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:11:12.551Z,1736370672.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:12.788Z,1736370672.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:12.957Z,1736370672.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:11:12.957Z,1736370672.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:13.042Z,1736370673.042 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:13.292Z,1736370673.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:13.361Z,1736370673.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:11:13.362Z,1736370673.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:13.414Z,1736370673.414 [DataOverHttps](INFO): Moved sent file to Logs/20250108T193415/Express0043.lzma.bak 2025-01-08T21:11:13.414Z,1736370673.414 [DataOverHttps](INFO): SBD MOMSN=23886227 2025-01-08T21:11:13.545Z,1736370673.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:13.774Z,1736370673.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:11:13.774Z,1736370673.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:13.796Z,1736370673.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:14.048Z,1736370674.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:14.148Z,1736370674.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:11:14.148Z,1736370674.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:14.302Z,1736370674.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:14.417Z,1736370674.417 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:11:14.552Z,1736370674.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:14.568Z,1736370674.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:11:14.568Z,1736370674.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:14.804Z,1736370674.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:14.977Z,1736370674.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:11:14.977Z,1736370674.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:15.056Z,1736370675.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:15.308Z,1736370675.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:15.377Z,1736370675.377 [NAL9602](INFO): Not Powering down - fast GPS 2025-01-08T21:11:15.387Z,1736370675.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:11:15.387Z,1736370675.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:15.560Z,1736370675.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:15.797Z,1736370675.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:15.812Z,1736370675.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:16.064Z,1736370676.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:16.238Z,1736370676.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:16.316Z,1736370676.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:16.568Z,1736370676.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:16.684Z,1736370676.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:16.820Z,1736370676.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:17.016Z,1736370677.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:17.072Z,1736370677.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:17.324Z,1736370677.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:17.417Z,1736370677.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:17.576Z,1736370677.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:17.828Z,1736370677.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:17.830Z,1736370677.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:18.080Z,1736370678.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:18.192Z,1736370678.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:18.333Z,1736370678.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:18.584Z,1736370678.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:18.612Z,1736370678.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:18.836Z,1736370678.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:18.998Z,1736370678.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:19.088Z,1736370679.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:19.340Z,1736370679.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:19.406Z,1736370679.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:19.592Z,1736370679.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:19.836Z,1736370679.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:19.856Z,1736370679.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:20.108Z,1736370680.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:20.223Z,1736370680.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:20.360Z,1736370680.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:20.612Z,1736370680.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:20.638Z,1736370680.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:20.864Z,1736370680.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:21.025Z,1736370681.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:21.116Z,1736370681.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:21.368Z,1736370681.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:21.463Z,1736370681.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:21.620Z,1736370681.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:21.855Z,1736370681.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:21.872Z,1736370681.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:22.124Z,1736370682.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:22.250Z,1736370682.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:22.376Z,1736370682.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:22.628Z,1736370682.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:22.634Z,1736370682.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:22.880Z,1736370682.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:23.038Z,1736370683.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:23.132Z,1736370683.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:23.384Z,1736370683.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:23.452Z,1736370683.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:23.636Z,1736370683.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:23.879Z,1736370683.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:23.888Z,1736370683.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:24.140Z,1736370684.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:24.301Z,1736370684.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:24.394Z,1736370684.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:24.644Z,1736370684.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:24.674Z,1736370684.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:24.896Z,1736370684.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:25.062Z,1736370685.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:25.148Z,1736370685.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:25.400Z,1736370685.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:25.469Z,1736370685.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:25.654Z,1736370685.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:25.888Z,1736370685.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:25.904Z,1736370685.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:26.157Z,1736370686.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:26.284Z,1736370686.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:26.408Z,1736370686.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:26.661Z,1736370686.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:26.686Z,1736370686.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:26.912Z,1736370686.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:27.089Z,1736370687.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:27.164Z,1736370687.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:27.416Z,1736370687.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:27.569Z,1736370687.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:27.670Z,1736370687.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:27.913Z,1736370687.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:27.920Z,1736370687.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:28.172Z,1736370688.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:28.291Z,1736370688.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:28.424Z,1736370688.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:28.676Z,1736370688.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:28.698Z,1736370688.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:28.928Z,1736370688.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:29.180Z,1736370689.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:29.198Z,1736370689.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:29.432Z,1736370689.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:29.570Z,1736370689.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:29.686Z,1736370689.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:29.929Z,1736370689.929 [BPC1](INFO): Calculating totals. Valid battery stick count: 52. Valid reserve battery stick count: 6. 2025-01-08T21:11:29.936Z,1736370689.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:29.940Z,1736370689.940 [BPC1](INFO): Received data from all battery sticks. 2025-01-08T21:11:29.999Z,1736370689.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:30.189Z,1736370690.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:30.312Z,1736370690.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:30.440Z,1736370690.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:30.693Z,1736370690.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:30.745Z,1736370690.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:30.944Z,1736370690.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:31.119Z,1736370691.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:31.198Z,1736370691.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:31.448Z,1736370691.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:31.526Z,1736370691.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:31.701Z,1736370691.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:31.952Z,1736370691.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:31.981Z,1736370691.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:32.204Z,1736370692.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:32.346Z,1736370692.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:32.456Z,1736370692.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:32.712Z,1736370692.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:32.735Z,1736370692.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:32.964Z,1736370692.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:33.140Z,1736370693.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:33.217Z,1736370693.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:33.468Z,1736370693.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:33.546Z,1736370693.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:33.723Z,1736370693.723 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:33.976Z,1736370693.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:33.981Z,1736370693.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:34.228Z,1736370694.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:34.352Z,1736370694.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:34.480Z,1736370694.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:34.732Z,1736370694.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:34.759Z,1736370694.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:34.984Z,1736370694.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:35.167Z,1736370695.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:35.247Z,1736370695.247 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:35.496Z,1736370695.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:35.579Z,1736370695.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:35.748Z,1736370695.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:35.982Z,1736370695.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:35.000Z,1736370696.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:36.252Z,1736370696.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:36.380Z,1736370696.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:36.504Z,1736370696.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:36.756Z,1736370696.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:36.785Z,1736370696.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:37.008Z,1736370697.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:37.182Z,1736370697.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:37.260Z,1736370697.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:37.512Z,1736370697.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:37.595Z,1736370697.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:37.764Z,1736370697.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:38.011Z,1736370698.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:11:38.011Z,1736370698.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:38.016Z,1736370698.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:38.268Z,1736370698.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:38.398Z,1736370698.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:11:38.398Z,1736370698.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:38.520Z,1736370698.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:38.773Z,1736370698.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:38.815Z,1736370698.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:11:38.815Z,1736370698.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:39.024Z,1736370699.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:39.210Z,1736370699.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:11:39.211Z,1736370699.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:39.278Z,1736370699.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:39.528Z,1736370699.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:39.614Z,1736370699.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:11:39.614Z,1736370699.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:39.780Z,1736370699.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:40.029Z,1736370700.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:40.032Z,1736370700.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:40.285Z,1736370700.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:40.425Z,1736370700.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:40.536Z,1736370700.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:40.793Z,1736370700.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:40.838Z,1736370700.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:41.040Z,1736370701.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:41.223Z,1736370701.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:41.292Z,1736370701.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:41.544Z,1736370701.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:41.630Z,1736370701.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:41.796Z,1736370701.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:42.048Z,1736370702.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:42.064Z,1736370702.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:11:42.064Z,1736370702.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:42.300Z,1736370702.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:42.444Z,1736370702.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:11:42.444Z,1736370702.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:42.552Z,1736370702.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:42.804Z,1736370702.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:42.838Z,1736370702.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:11:42.838Z,1736370702.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:43.056Z,1736370703.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:43.247Z,1736370703.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:11:43.248Z,1736370703.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:43.308Z,1736370703.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:43.560Z,1736370703.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:43.648Z,1736370703.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:11:43.648Z,1736370703.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:43.812Z,1736370703.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:44.064Z,1736370704.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:44.091Z,1736370704.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:11:44.091Z,1736370704.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:44.316Z,1736370704.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:44.460Z,1736370704.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:11:44.460Z,1736370704.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:44.536Z,1736370704.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:11:44.568Z,1736370704.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:44.820Z,1736370704.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:44.866Z,1736370704.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:11:44.866Z,1736370704.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:45.072Z,1736370705.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:45.255Z,1736370705.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:11:45.256Z,1736370705.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:45.324Z,1736370705.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:45.540Z,1736370705.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:11:45.576Z,1736370705.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:45.720Z,1736370705.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T21:11:45.720Z,1736370705.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:45.828Z,1736370705.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:46.080Z,1736370706.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:46.086Z,1736370706.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:46.332Z,1736370706.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:46.476Z,1736370706.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:46.584Z,1736370706.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:46.836Z,1736370706.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:46.876Z,1736370706.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:47.088Z,1736370707.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:47.296Z,1736370707.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:47.340Z,1736370707.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:47.592Z,1736370707.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:47.753Z,1736370707.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:47.845Z,1736370707.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:48.085Z,1736370708.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:48.100Z,1736370708.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:48.361Z,1736370708.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:48.492Z,1736370708.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:48.608Z,1736370708.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:48.860Z,1736370708.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:48.898Z,1736370708.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:49.112Z,1736370709.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:49.307Z,1736370709.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:49.364Z,1736370709.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:49.616Z,1736370709.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:49.751Z,1736370709.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:49.870Z,1736370709.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:50.103Z,1736370710.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:50.124Z,1736370710.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:50.376Z,1736370710.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:50.521Z,1736370710.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:50.628Z,1736370710.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:50.880Z,1736370710.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:50.912Z,1736370710.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:51.132Z,1736370711.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:51.321Z,1736370711.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:51.384Z,1736370711.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:51.636Z,1736370711.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:51.753Z,1736370711.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:51.888Z,1736370711.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:52.131Z,1736370712.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:52.140Z,1736370712.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:52.392Z,1736370712.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:52.547Z,1736370712.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:52.644Z,1736370712.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:52.896Z,1736370712.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:52.932Z,1736370712.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:53.148Z,1736370713.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:53.344Z,1736370713.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:53.401Z,1736370713.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:53.653Z,1736370713.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:53.769Z,1736370713.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:53.904Z,1736370713.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:54.148Z,1736370714.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:54.156Z,1736370714.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:54.409Z,1736370714.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:54.549Z,1736370714.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:54.660Z,1736370714.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:54.912Z,1736370714.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:54.957Z,1736370714.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:55.164Z,1736370715.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:55.369Z,1736370715.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:55.416Z,1736370715.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:55.670Z,1736370715.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:55.797Z,1736370715.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:55.920Z,1736370715.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:56.168Z,1736370716.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:56.172Z,1736370716.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:56.424Z,1736370716.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:56.577Z,1736370716.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:56.585Z,1736370716.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:11:56.677Z,1736370716.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:56.678Z,1736370716.678 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:11:56.678Z,1736370716.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:11:56.928Z,1736370716.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:56.929Z,1736370716.929 [DAT](INFO): DAT read: user:1599> 2025-01-08T21:11:56.929Z,1736370716.929 [DAT](INFO): DAT read: Tx time:21:11:56.1659 2025-01-08T21:11:56.930Z,1736370716.930 [DAT](INFO): Ping request sent. 2025-01-08T21:11:56.930Z,1736370716.930 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:11:56.930Z,1736370716.930 [DAT](INFO): publishing transmit ping time 2025-01-08T21:11:56.930Z,1736370716.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-01-08T21:11:57.012Z,1736370717.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:57.180Z,1736370717.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:57.181Z,1736370717.181 [DAT](INFO): DAT read: TxSync time:21:11:56.1651 2025-01-08T21:11:57.182Z,1736370717.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251749 2025-01-08T21:11:57.397Z,1736370717.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:57.433Z,1736370717.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:57.434Z,1736370717.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503492 2025-01-08T21:11:57.688Z,1736370717.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:57.691Z,1736370717.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760792 2025-01-08T21:11:57.825Z,1736370717.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:57.940Z,1736370717.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:57.940Z,1736370717.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010659 2025-01-08T21:11:58.188Z,1736370718.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:58.192Z,1736370718.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:58.192Z,1736370718.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262668 2025-01-08T21:11:58.444Z,1736370718.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:58.445Z,1736370718.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515556 2025-01-08T21:11:58.607Z,1736370718.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:58.698Z,1736370718.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:58.701Z,1736370718.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770859 2025-01-08T21:11:58.948Z,1736370718.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:58.948Z,1736370718.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018735 2025-01-08T21:11:58.992Z,1736370718.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:59.200Z,1736370719.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:59.200Z,1736370719.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270689 2025-01-08T21:11:59.400Z,1736370719.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:59.452Z,1736370719.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:59.453Z,1736370719.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523566 2025-01-08T21:11:59.706Z,1736370719.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:59.709Z,1736370719.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778408 2025-01-08T21:11:59.838Z,1736370719.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:11:59.956Z,1736370719.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:11:59.956Z,1736370719.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026629 2025-01-08T21:12:00.203Z,1736370720.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:00.208Z,1736370720.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:00.209Z,1736370720.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278752 2025-01-08T21:12:00.460Z,1736370720.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:00.461Z,1736370720.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531251 2025-01-08T21:12:00.608Z,1736370720.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:00.712Z,1736370720.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:00.712Z,1736370720.712 [DAT](INFO): DAT read: Rx Time:21:11:59.4511 2025-01-08T21:12:00.713Z,1736370720.713 [DAT](INFO): Rx dataTimestamp_ set to:1736370720.712611 2025-01-08T21:12:00.713Z,1736370720.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783672 2025-01-08T21:12:00.964Z,1736370720.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:00.965Z,1736370720.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034762 2025-01-08T21:12:01.024Z,1736370721.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:01.216Z,1736370721.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:01.222Z,1736370721.222 [DAT](INFO): DAT read: 21:11:59.4511 LVL= 18400, 19809, 13522, 21491, AGC= 74, IDX= 91,-0.11,-2.966, 1.911,-2.700, 2.746, PHS= 0.659,-0.788, 0.833, RAW= 155.6, -9.2, CAL= 161.0, -16.5, ROT= 349.0, 16.5 2025-01-08T21:12:01.223Z,1736370721.223 [DAT](INFO): got valid direction response: 21:11:59.4511 LVL= 18400, 19809, 13522, 21491, AGC= 74, IDX= 91,-0.11,-2.966, 1.911,-2.700, 2.746, PHS= 0.659,-0.788, 0.833, RAW= 155.6, -9.2, CAL= 161.0, -16.5, ROT= 349.0, 16.5 2025-01-08T21:12:01.224Z,1736370721.224 [DAT](INFO): DAT read: Bearing 349.0, 16.5 (Local) 2025-01-08T21:12:01.224Z,1736370721.224 [DAT](INFO): Local bearing/azimuth received: Bearing 349.0, 16.5 (Local) 2025-01-08T21:12:01.226Z,1736370721.226 [DAT](INFO): DAT read: Range 10 to 50 : 660.8 m (Round-trip 881.1 ms) speed 0.6 m/s 2025-01-08T21:12:01.226Z,1736370721.226 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:12:01.230Z,1736370721.230 [DAT](INFO): direction in FSK: [0.062379,-0.882359,0.466423] 2025-01-08T21:12:01.230Z,1736370721.230 [DAT](INFO): publishing direction and range info 2025-01-08T21:12:01.423Z,1736370721.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:01.468Z,1736370721.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:01.720Z,1736370721.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:01.845Z,1736370721.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:01.972Z,1736370721.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:02.224Z,1736370722.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:02.231Z,1736370722.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:02.476Z,1736370722.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:02.636Z,1736370722.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:02.730Z,1736370722.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:02.984Z,1736370722.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:03.039Z,1736370723.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:03.236Z,1736370723.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:03.458Z,1736370723.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:03.488Z,1736370723.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:03.740Z,1736370723.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:03.870Z,1736370723.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:03.992Z,1736370723.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:04.244Z,1736370724.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:04.247Z,1736370724.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:04.496Z,1736370724.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:04.657Z,1736370724.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:04.748Z,1736370724.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:04.000Z,1736370725.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:05.064Z,1736370725.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:05.252Z,1736370725.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:05.460Z,1736370725.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:05.505Z,1736370725.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:05.756Z,1736370725.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:05.882Z,1736370725.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:06.008Z,1736370726.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:06.260Z,1736370726.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:06.268Z,1736370726.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:06.512Z,1736370726.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:06.684Z,1736370726.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:06.764Z,1736370726.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:07.016Z,1736370727.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:07.080Z,1736370727.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:07.268Z,1736370727.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:07.497Z,1736370727.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:07.520Z,1736370727.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:07.772Z,1736370727.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:07.900Z,1736370727.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:08.024Z,1736370728.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:08.276Z,1736370728.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:08.304Z,1736370728.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:08.528Z,1736370728.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:08.694Z,1736370728.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:08.780Z,1736370728.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:09.032Z,1736370729.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:09.108Z,1736370729.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:09.284Z,1736370729.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:09.504Z,1736370729.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:09.544Z,1736370729.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:09.796Z,1736370729.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:09.932Z,1736370729.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:10.048Z,1736370730.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:10.300Z,1736370730.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:10.333Z,1736370730.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:10.552Z,1736370730.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:10.708Z,1736370730.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:10.804Z,1736370730.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:11.056Z,1736370731.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:11.119Z,1736370731.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:11.308Z,1736370731.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:11.532Z,1736370731.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:11.560Z,1736370731.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:11.813Z,1736370731.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:11.956Z,1736370731.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:12.064Z,1736370732.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:12.319Z,1736370732.319 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:12.367Z,1736370732.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:12.572Z,1736370732.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:12.735Z,1736370732.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:12.824Z,1736370732.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:13.076Z,1736370733.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:13.145Z,1736370733.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:13.328Z,1736370733.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:13.555Z,1736370733.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:13.582Z,1736370733.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:13.654Z,1736370733.654 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239971 2025-01-08T21:12:13.833Z,1736370733.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:13.981Z,1736370733.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:13.988Z,1736370733.988 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T21:12:13.988Z,1736370733.988 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T21:12:13.988Z,1736370733.988 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T21:12:13.988Z,1736370733.988 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:12:13.989Z,1736370733.989 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T21:12:13.989Z,1736370733.989 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T21:12:13.989Z,1736370733.989 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-01-08T21:12:14.084Z,1736370734.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:14.336Z,1736370734.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:14.368Z,1736370734.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:14.376Z,1736370734.376 [lineCaptureHoming:MicromodemComms] Stopped 2025-01-08T21:12:14.376Z,1736370734.376 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-01-08T21:12:14.376Z,1736370734.376 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T21:12:14.376Z,1736370734.376 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:12:14.376Z,1736370734.376 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T21:12:14.588Z,1736370734.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:14.656Z,1736370734.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:12:14.758Z,1736370734.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:14.767Z,1736370734.767 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T21:12:14.767Z,1736370734.767 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T21:12:14.767Z,1736370734.767 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T21:12:14.768Z,1736370734.768 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:12:14.768Z,1736370734.768 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T21:12:14.840Z,1736370734.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:15.094Z,1736370735.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:15.152Z,1736370735.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:15.344Z,1736370735.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:15.556Z,1736370735.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:15.596Z,1736370735.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:15.848Z,1736370735.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:16.001Z,1736370736.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:16.100Z,1736370736.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:16.352Z,1736370736.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:16.368Z,1736370736.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:16.604Z,1736370736.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:16.769Z,1736370736.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:16.856Z,1736370736.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:17.108Z,1736370737.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:17.186Z,1736370737.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:17.360Z,1736370737.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:17.584Z,1736370737.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:17.612Z,1736370737.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:17.864Z,1736370737.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:18.015Z,1736370738.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:18.116Z,1736370738.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:18.374Z,1736370738.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:18.401Z,1736370738.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:18.632Z,1736370738.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:18.789Z,1736370738.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:18.884Z,1736370738.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:19.136Z,1736370739.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:19.202Z,1736370739.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:19.388Z,1736370739.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:19.559Z,1736370739.559 [Radio_Surface](INFO): Powering down 2025-01-08T21:12:19.612Z,1736370739.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:19.640Z,1736370739.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:19.892Z,1736370739.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:20.048Z,1736370740.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:20.144Z,1736370740.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:20.404Z,1736370740.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:20.432Z,1736370740.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:20.656Z,1736370740.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:20.813Z,1736370740.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:20.908Z,1736370740.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:21.160Z,1736370741.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:21.213Z,1736370741.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:21.412Z,1736370741.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:21.617Z,1736370741.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:21.666Z,1736370741.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:21.916Z,1736370741.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:22.050Z,1736370742.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:22.168Z,1736370742.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:22.420Z,1736370742.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:22.429Z,1736370742.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:22.672Z,1736370742.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:22.832Z,1736370742.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:22.925Z,1736370742.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:23.176Z,1736370743.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:23.237Z,1736370743.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:23.430Z,1736370743.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:23.670Z,1736370743.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:23.685Z,1736370743.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:23.936Z,1736370743.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:24.084Z,1736370744.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:24.188Z,1736370744.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:24.440Z,1736370744.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:24.450Z,1736370744.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:24.692Z,1736370744.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:24.861Z,1736370744.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:24.945Z,1736370744.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:25.196Z,1736370745.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:25.253Z,1736370745.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:25.448Z,1736370745.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:25.702Z,1736370745.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:25.716Z,1736370745.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:25.952Z,1736370745.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:26.094Z,1736370746.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:26.204Z,1736370746.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:26.456Z,1736370746.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:26.475Z,1736370746.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:26.708Z,1736370746.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:26.872Z,1736370746.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:26.960Z,1736370746.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:27.212Z,1736370747.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:27.282Z,1736370747.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:27.464Z,1736370747.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:27.716Z,1736370747.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:27.760Z,1736370747.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:27.968Z,1736370747.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:28.088Z,1736370748.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:28.220Z,1736370748.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:28.472Z,1736370748.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:28.508Z,1736370748.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:28.724Z,1736370748.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:28.897Z,1736370748.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:28.976Z,1736370748.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:29.228Z,1736370749.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:29.296Z,1736370749.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:29.480Z,1736370749.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:29.732Z,1736370749.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:29.758Z,1736370749.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:29.984Z,1736370749.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:30.116Z,1736370750.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:30.237Z,1736370750.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:30.490Z,1736370750.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:30.530Z,1736370750.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:30.740Z,1736370750.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:30.908Z,1736370750.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:30.992Z,1736370750.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:31.246Z,1736370751.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:31.311Z,1736370751.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:31.500Z,1736370751.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:31.752Z,1736370751.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:31.774Z,1736370751.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:32.004Z,1736370752.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:32.142Z,1736370752.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:32.256Z,1736370752.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:32.508Z,1736370752.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:32.540Z,1736370752.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:32.761Z,1736370752.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:32.936Z,1736370752.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:33.012Z,1736370753.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:33.264Z,1736370753.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:33.337Z,1736370753.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:33.516Z,1736370753.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:33.764Z,1736370753.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:33.768Z,1736370753.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:34.020Z,1736370754.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:34.139Z,1736370754.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:34.273Z,1736370754.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:34.525Z,1736370754.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:34.546Z,1736370754.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:34.776Z,1736370754.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:34.950Z,1736370754.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:35.028Z,1736370755.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:35.280Z,1736370755.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:35.363Z,1736370755.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:35.532Z,1736370755.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:35.784Z,1736370755.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:35.792Z,1736370755.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:36.036Z,1736370756.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:36.170Z,1736370756.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:36.288Z,1736370756.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:36.540Z,1736370756.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:36.590Z,1736370756.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:36.792Z,1736370756.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:36.983Z,1736370756.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:37.044Z,1736370757.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:37.296Z,1736370757.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:37.405Z,1736370757.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:37.548Z,1736370757.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:37.800Z,1736370757.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:37.826Z,1736370757.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:38.052Z,1736370758.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:38.190Z,1736370758.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:38.304Z,1736370758.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:38.556Z,1736370758.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:38.614Z,1736370758.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:38.808Z,1736370758.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:38.987Z,1736370758.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:39.060Z,1736370759.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:39.312Z,1736370759.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:39.397Z,1736370759.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:39.566Z,1736370759.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:39.816Z,1736370759.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:39.823Z,1736370759.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:40.068Z,1736370760.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:40.206Z,1736370760.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:40.321Z,1736370760.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:40.572Z,1736370760.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:40.612Z,1736370760.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:40.824Z,1736370760.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:41.008Z,1736370761.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:41.076Z,1736370761.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:41.328Z,1736370761.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:41.423Z,1736370761.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:41.580Z,1736370761.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:41.833Z,1736370761.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:41.850Z,1736370761.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:42.084Z,1736370762.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:42.223Z,1736370762.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:42.336Z,1736370762.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:42.588Z,1736370762.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:42.633Z,1736370762.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:42.840Z,1736370762.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:43.037Z,1736370763.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:43.092Z,1736370763.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:43.344Z,1736370763.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:43.457Z,1736370763.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:43.596Z,1736370763.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:43.848Z,1736370763.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:43.882Z,1736370763.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:44.100Z,1736370764.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:44.248Z,1736370764.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:44.352Z,1736370764.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:44.604Z,1736370764.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:44.666Z,1736370764.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:44.780Z,1736370764.780 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:12:44.856Z,1736370764.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:45.064Z,1736370765.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:45.110Z,1736370765.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:45.291Z,1736370765.291 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:12:45.360Z,1736370765.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:45.446Z,1736370765.446 [NAL9602](INFO): Not Powering down - fast GPS 2025-01-08T21:12:45.468Z,1736370765.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:45.612Z,1736370765.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:45.784Z,1736370765.784 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-01-08T21:12:45.784Z,1736370765.784 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:12:45.864Z,1736370765.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:45.892Z,1736370765.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:46.116Z,1736370766.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:46.262Z,1736370766.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:46.369Z,1736370766.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:46.620Z,1736370766.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:46.689Z,1736370766.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:46.872Z,1736370766.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:47.084Z,1736370767.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:47.124Z,1736370767.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:47.376Z,1736370767.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:47.490Z,1736370767.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:47.629Z,1736370767.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:47.880Z,1736370767.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:47.916Z,1736370767.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:48.132Z,1736370768.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:48.287Z,1736370768.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:48.384Z,1736370768.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:48.636Z,1736370768.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:48.712Z,1736370768.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:48.888Z,1736370768.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:49.103Z,1736370769.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:49.140Z,1736370769.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:49.392Z,1736370769.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:49.504Z,1736370769.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:49.646Z,1736370769.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:49.896Z,1736370769.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:49.918Z,1736370769.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:50.148Z,1736370770.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:50.311Z,1736370770.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:50.400Z,1736370770.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:50.652Z,1736370770.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:50.708Z,1736370770.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:50.904Z,1736370770.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:51.108Z,1736370771.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:51.156Z,1736370771.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:51.410Z,1736370771.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:51.521Z,1736370771.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:51.662Z,1736370771.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:51.913Z,1736370771.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:51.963Z,1736370771.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:52.164Z,1736370772.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:52.324Z,1736370772.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:52.416Z,1736370772.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:52.668Z,1736370772.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:52.734Z,1736370772.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:52.921Z,1736370772.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:53.133Z,1736370773.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:53.172Z,1736370773.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:53.425Z,1736370773.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:53.540Z,1736370773.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:53.678Z,1736370773.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:53.928Z,1736370773.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:53.975Z,1736370773.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:54.181Z,1736370774.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:54.353Z,1736370774.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:54.432Z,1736370774.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:54.684Z,1736370774.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:54.752Z,1736370774.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:54.936Z,1736370774.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:55.152Z,1736370775.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:55.188Z,1736370775.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:55.440Z,1736370775.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:55.575Z,1736370775.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:55.693Z,1736370775.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:55.945Z,1736370775.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:55.995Z,1736370775.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:56.196Z,1736370776.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:56.371Z,1736370776.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:56.449Z,1736370776.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:56.700Z,1736370776.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:56.775Z,1736370776.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:56.783Z,1736370776.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:12:56.952Z,1736370776.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:56.952Z,1736370776.952 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:12:56.952Z,1736370776.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:12:57.180Z,1736370777.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:57.204Z,1736370777.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:57.205Z,1736370777.205 [DAT](INFO): DAT read: user:1600> 2025-01-08T21:12:57.210Z,1736370777.210 [DAT](INFO): DAT read: Tx time:21:12:56.4165 2025-01-08T21:12:57.211Z,1736370777.211 [DAT](INFO): Ping request sent. 2025-01-08T21:12:57.211Z,1736370777.211 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:12:57.213Z,1736370777.213 [DAT](INFO): DAT read: TxSync time:21:12:56.4157 2025-01-08T21:12:57.213Z,1736370777.213 [DAT](INFO): publishing transmit ping time 2025-01-08T21:12:57.214Z,1736370777.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003071 2025-01-08T21:12:57.456Z,1736370777.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:57.457Z,1736370777.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245877 2025-01-08T21:12:57.607Z,1736370777.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:57.709Z,1736370777.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:57.716Z,1736370777.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505115 2025-01-08T21:12:57.960Z,1736370777.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:57.961Z,1736370777.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750138 2025-01-08T21:12:58.026Z,1736370778.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:58.212Z,1736370778.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:58.213Z,1736370778.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002065 2025-01-08T21:12:58.391Z,1736370778.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:58.464Z,1736370778.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:58.465Z,1736370778.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253868 2025-01-08T21:12:58.716Z,1736370778.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:58.716Z,1736370778.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505668 2025-01-08T21:12:58.799Z,1736370778.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:58.968Z,1736370778.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:58.968Z,1736370778.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757737 2025-01-08T21:12:59.191Z,1736370779.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:59.220Z,1736370779.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:59.221Z,1736370779.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009888 2025-01-08T21:12:59.472Z,1736370779.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:59.472Z,1736370779.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261664 2025-01-08T21:12:59.605Z,1736370779.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:12:59.724Z,1736370779.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:59.724Z,1736370779.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513763 2025-01-08T21:12:59.988Z,1736370779.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:12:59.988Z,1736370779.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777695 2025-01-08T21:13:00.042Z,1736370780.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:00.228Z,1736370780.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:00.229Z,1736370780.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018089 2025-01-08T21:13:00.480Z,1736370780.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:00.480Z,1736370780.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269830 2025-01-08T21:13:00.512Z,1736370780.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:00.732Z,1736370780.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:00.732Z,1736370780.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521781 2025-01-08T21:13:00.809Z,1736370780.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:00.984Z,1736370780.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:00.985Z,1736370780.985 [DAT](INFO): DAT read: Rx Time:21:12:59.6500 2025-01-08T21:13:00.985Z,1736370780.985 [DAT](INFO): Rx dataTimestamp_ set to:1736370780.984686 2025-01-08T21:13:00.985Z,1736370780.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774876 2025-01-08T21:13:01.222Z,1736370781.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:01.236Z,1736370781.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:01.236Z,1736370781.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025816 2025-01-08T21:13:01.488Z,1736370781.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:01.494Z,1736370781.494 [DAT](INFO): DAT read: 21:12:59.6500 LVL= 23008, 32753, 28850, 31331, AGC= 65, IDX= 425,-0.30,-1.875, 3.017,-2.371,-2.605, PHS= 0.818,-0.614, 0.230, RAW= 125.9, -7.0, CAL= 129.7, -20.1, ROT= 20.3, 20.1 2025-01-08T21:13:01.496Z,1736370781.496 [DAT](INFO): got valid direction response: 21:12:59.6500 LVL= 23008, 32753, 28850, 31331, AGC= 65, IDX= 425,-0.30,-1.875, 3.017,-2.371,-2.605, PHS= 0.818,-0.614, 0.230, RAW= 125.9, -7.0, CAL= 129.7, -20.1, ROT= 20.3, 20.1 2025-01-08T21:13:01.496Z,1736370781.496 [DAT](INFO): DAT read: Bearing 20.3, 20.1 (Local) 2025-01-08T21:13:01.497Z,1736370781.497 [DAT](INFO): Local bearing/azimuth received: Bearing 20.3, 20.1 (Local) 2025-01-08T21:13:01.498Z,1736370781.498 [DAT](INFO): DAT read: Range 10 to 50 : 621.9 m (Round-trip 829.3 ms) speed 0.7 m/s 2025-01-08T21:13:01.499Z,1736370781.499 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:13:01.500Z,1736370781.500 [DAT](INFO): direction in FSK: [0.014575,-0.515383,0.856836] 2025-01-08T21:13:01.500Z,1736370781.500 [DAT](INFO): publishing direction and range info 2025-01-08T21:13:01.634Z,1736370781.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:01.740Z,1736370781.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:01.992Z,1736370781.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:02.073Z,1736370782.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:02.244Z,1736370782.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:02.428Z,1736370782.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:02.496Z,1736370782.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:02.749Z,1736370782.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:02.834Z,1736370782.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:02.000Z,1736370783.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:03.233Z,1736370783.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:03.253Z,1736370783.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:03.504Z,1736370783.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:03.651Z,1736370783.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:03.757Z,1736370783.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:04.008Z,1736370784.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:04.092Z,1736370784.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:04.260Z,1736370784.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:04.456Z,1736370784.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:04.512Z,1736370784.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:04.765Z,1736370784.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:04.851Z,1736370784.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:05.016Z,1736370785.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:05.255Z,1736370785.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:05.268Z,1736370785.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:05.520Z,1736370785.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:05.718Z,1736370785.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:05.772Z,1736370785.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:06.024Z,1736370786.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:06.101Z,1736370786.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:06.276Z,1736370786.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:06.471Z,1736370786.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:06.528Z,1736370786.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:06.780Z,1736370786.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:06.876Z,1736370786.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:07.032Z,1736370787.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:07.273Z,1736370787.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:07.284Z,1736370787.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:07.536Z,1736370787.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:07.769Z,1736370787.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:07.789Z,1736370787.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:08.040Z,1736370788.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:08.088Z,1736370788.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:08.292Z,1736370788.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:08.490Z,1736370788.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:08.544Z,1736370788.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:08.796Z,1736370788.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:08.892Z,1736370788.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:09.048Z,1736370789.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:09.300Z,1736370789.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:09.329Z,1736370789.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:09.552Z,1736370789.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:09.762Z,1736370789.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:09.804Z,1736370789.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:10.056Z,1736370790.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:10.118Z,1736370790.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:10.308Z,1736370790.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:10.508Z,1736370790.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:10.560Z,1736370790.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:10.812Z,1736370790.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:10.909Z,1736370790.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:11.064Z,1736370791.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:11.316Z,1736370791.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:11.332Z,1736370791.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:11.568Z,1736370791.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:11.751Z,1736370791.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:11.820Z,1736370791.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:12.072Z,1736370792.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:12.123Z,1736370792.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:12.324Z,1736370792.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:12.528Z,1736370792.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:12.576Z,1736370792.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:12.828Z,1736370792.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:12.936Z,1736370792.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:13.080Z,1736370793.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:13.333Z,1736370793.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:13.365Z,1736370793.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:13.584Z,1736370793.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:13.773Z,1736370793.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:13.836Z,1736370793.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:14.088Z,1736370794.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:14.155Z,1736370794.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:14.340Z,1736370794.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:14.552Z,1736370794.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:14.592Z,1736370794.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:14.844Z,1736370794.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:14.966Z,1736370794.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:15.096Z,1736370795.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:15.348Z,1736370795.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:15.357Z,1736370795.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:15.601Z,1736370795.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:15.805Z,1736370795.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:15.853Z,1736370795.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:15.916Z,1736370795.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:13:16.104Z,1736370796.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:16.169Z,1736370796.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:16.356Z,1736370796.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:16.578Z,1736370796.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:16.608Z,1736370796.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:16.860Z,1736370796.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:16.920Z,1736370796.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:13:16.983Z,1736370796.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:17.112Z,1736370797.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:17.364Z,1736370797.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:17.382Z,1736370797.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:17.616Z,1736370797.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:17.804Z,1736370797.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:17.868Z,1736370797.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:18.120Z,1736370798.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:18.187Z,1736370798.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:18.372Z,1736370798.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:18.624Z,1736370798.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:18.665Z,1736370798.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:18.876Z,1736370798.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:19.006Z,1736370799.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:19.128Z,1736370799.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:19.380Z,1736370799.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:19.425Z,1736370799.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:19.632Z,1736370799.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:19.829Z,1736370799.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:19.884Z,1736370799.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:20.136Z,1736370800.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:20.213Z,1736370800.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:20.388Z,1736370800.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:20.640Z,1736370800.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:20.696Z,1736370800.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:20.892Z,1736370800.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:21.028Z,1736370801.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:21.144Z,1736370801.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:21.396Z,1736370801.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:21.429Z,1736370801.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:21.648Z,1736370801.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:21.847Z,1736370801.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:21.900Z,1736370801.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:22.152Z,1736370802.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:22.230Z,1736370802.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:22.405Z,1736370802.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:22.658Z,1736370802.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:22.718Z,1736370802.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:22.908Z,1736370802.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:23.050Z,1736370803.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:23.160Z,1736370803.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:23.412Z,1736370803.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:23.448Z,1736370803.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:23.664Z,1736370803.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:23.877Z,1736370803.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:23.916Z,1736370803.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:24.168Z,1736370804.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:24.259Z,1736370804.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:24.420Z,1736370804.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:24.674Z,1736370804.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:24.738Z,1736370804.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:24.924Z,1736370804.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:25.068Z,1736370805.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:25.176Z,1736370805.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:25.428Z,1736370805.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:25.481Z,1736370805.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:25.681Z,1736370805.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:25.897Z,1736370805.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:25.932Z,1736370805.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:26.184Z,1736370806.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:26.276Z,1736370806.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:26.436Z,1736370806.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:26.689Z,1736370806.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:26.766Z,1736370806.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:26.940Z,1736370806.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:27.086Z,1736370807.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:27.192Z,1736370807.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:27.445Z,1736370807.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:27.493Z,1736370807.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:27.697Z,1736370807.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:27.920Z,1736370807.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:27.948Z,1736370807.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:28.200Z,1736370808.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:28.308Z,1736370808.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:28.452Z,1736370808.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:28.707Z,1736370808.707 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:28.786Z,1736370808.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:28.956Z,1736370808.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:29.120Z,1736370809.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:29.208Z,1736370809.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:29.460Z,1736370809.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:29.517Z,1736370809.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:29.713Z,1736370809.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:29.937Z,1736370809.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:29.964Z,1736370809.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:30.216Z,1736370810.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:30.316Z,1736370810.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:30.468Z,1736370810.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:30.721Z,1736370810.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:30.786Z,1736370810.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:30.972Z,1736370810.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:31.151Z,1736370811.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:31.224Z,1736370811.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:31.476Z,1736370811.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:31.544Z,1736370811.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:31.729Z,1736370811.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:31.957Z,1736370811.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:31.980Z,1736370811.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:32.232Z,1736370812.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:32.339Z,1736370812.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:32.484Z,1736370812.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:32.736Z,1736370812.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:32.817Z,1736370812.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:32.988Z,1736370812.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:33.189Z,1736370813.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:33.241Z,1736370813.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:33.492Z,1736370813.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:33.554Z,1736370813.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:33.747Z,1736370813.747 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:33.977Z,1736370813.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:33.996Z,1736370813.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:34.248Z,1736370814.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:34.361Z,1736370814.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:34.500Z,1736370814.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:34.752Z,1736370814.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:34.842Z,1736370814.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:35.004Z,1736370815.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:35.213Z,1736370815.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:35.256Z,1736370815.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:35.508Z,1736370815.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:35.576Z,1736370815.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:35.760Z,1736370815.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:35.997Z,1736370815.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:36.014Z,1736370816.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:36.264Z,1736370816.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:36.381Z,1736370816.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:36.516Z,1736370816.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:36.768Z,1736370816.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:36.787Z,1736370816.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:37.021Z,1736370817.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:37.228Z,1736370817.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:37.273Z,1736370817.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:37.524Z,1736370817.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:37.590Z,1736370817.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:37.776Z,1736370817.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:38.018Z,1736370818.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:38.028Z,1736370818.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:38.280Z,1736370818.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:38.406Z,1736370818.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:38.532Z,1736370818.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:38.784Z,1736370818.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:38.805Z,1736370818.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:39.036Z,1736370819.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:39.289Z,1736370819.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:39.302Z,1736370819.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:39.540Z,1736370819.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:39.616Z,1736370819.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:39.792Z,1736370819.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:40.037Z,1736370820.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:40.045Z,1736370820.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:40.296Z,1736370820.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:40.438Z,1736370820.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:40.548Z,1736370820.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:40.800Z,1736370820.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:40.821Z,1736370820.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:41.052Z,1736370821.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:41.244Z,1736370821.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:41.304Z,1736370821.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:41.556Z,1736370821.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:41.654Z,1736370821.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:41.808Z,1736370821.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:42.060Z,1736370822.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:42.068Z,1736370822.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:42.312Z,1736370822.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:42.460Z,1736370822.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:42.564Z,1736370822.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:42.816Z,1736370822.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:42.853Z,1736370822.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:43.068Z,1736370823.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:43.276Z,1736370823.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:43.320Z,1736370823.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:43.572Z,1736370823.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:43.657Z,1736370823.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:43.824Z,1736370823.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:44.054Z,1736370824.054 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 308.13, 282.22, 220.87, 2025-01-08T21:13:44.062Z,1736370824.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:13:44.063Z,1736370824.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:44.076Z,1736370824.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:44.328Z,1736370824.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:44.461Z,1736370824.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:13:44.461Z,1736370824.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:44.580Z,1736370824.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:44.832Z,1736370824.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:44.860Z,1736370824.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:13:44.860Z,1736370824.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:45.084Z,1736370825.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:45.299Z,1736370825.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:45.337Z,1736370825.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:45.588Z,1736370825.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:45.685Z,1736370825.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:45.840Z,1736370825.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:46.092Z,1736370826.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:46.095Z,1736370826.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:46.344Z,1736370826.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:46.489Z,1736370826.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:46.596Z,1736370826.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:46.848Z,1736370826.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:46.882Z,1736370826.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:47.048Z,1736370827.048 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:13:47.100Z,1736370827.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:47.308Z,1736370827.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:47.352Z,1736370827.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:47.604Z,1736370827.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:47.700Z,1736370827.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:47.858Z,1736370827.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:48.052Z,1736370828.052 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:13:48.108Z,1736370828.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:48.130Z,1736370828.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:48.360Z,1736370828.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:48.503Z,1736370828.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:48.612Z,1736370828.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:48.864Z,1736370828.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:48.915Z,1736370828.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:49.116Z,1736370829.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:49.332Z,1736370829.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:49.368Z,1736370829.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:49.620Z,1736370829.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:49.707Z,1736370829.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:49.872Z,1736370829.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:50.124Z,1736370830.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:50.134Z,1736370830.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:50.376Z,1736370830.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:50.533Z,1736370830.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:50.629Z,1736370830.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:50.880Z,1736370830.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:50.918Z,1736370830.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:51.132Z,1736370831.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:51.362Z,1736370831.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:51.384Z,1736370831.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:51.636Z,1736370831.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:51.732Z,1736370831.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:51.888Z,1736370831.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:52.140Z,1736370832.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:52.175Z,1736370832.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:52.392Z,1736370832.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:52.538Z,1736370832.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:52.644Z,1736370832.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:52.896Z,1736370832.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:52.945Z,1736370832.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:53.148Z,1736370833.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:53.369Z,1736370833.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:53.400Z,1736370833.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:53.652Z,1736370833.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:53.753Z,1736370833.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:53.904Z,1736370833.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:54.156Z,1736370834.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:54.191Z,1736370834.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:54.408Z,1736370834.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:54.571Z,1736370834.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:54.660Z,1736370834.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:54.912Z,1736370834.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:54.977Z,1736370834.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:55.164Z,1736370835.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:55.394Z,1736370835.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:55.416Z,1736370835.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:55.668Z,1736370835.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:55.779Z,1736370835.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:55.920Z,1736370835.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:56.172Z,1736370836.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:56.235Z,1736370836.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:56.424Z,1736370836.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:56.583Z,1736370836.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:56.676Z,1736370836.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:56.928Z,1736370836.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:56.985Z,1736370836.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:57.012Z,1736370837.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:13:57.180Z,1736370837.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:57.180Z,1736370837.180 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:13:57.180Z,1736370837.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:13:57.426Z,1736370837.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:57.432Z,1736370837.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:57.433Z,1736370837.433 [DAT](INFO): DAT read: user:1601> 2025-01-08T21:13:57.434Z,1736370837.434 [DAT](INFO): DAT read: Tx time:21:13:56.6671 2025-01-08T21:13:57.434Z,1736370837.434 [DAT](INFO): Ping request sent. 2025-01-08T21:13:57.434Z,1736370837.434 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:13:57.434Z,1736370837.434 [DAT](INFO): publishing transmit ping time 2025-01-08T21:13:57.435Z,1736370837.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734 2025-01-08T21:13:57.684Z,1736370837.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:57.685Z,1736370837.685 [DAT](INFO): DAT read: TxSync time:21:13:56.6664 2025-01-08T21:13:57.685Z,1736370837.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251346 2025-01-08T21:13:57.808Z,1736370837.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:57.936Z,1736370837.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:57.936Z,1736370837.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502320 2025-01-08T21:13:58.188Z,1736370838.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:58.188Z,1736370838.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754310 2025-01-08T21:13:58.221Z,1736370838.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:58.440Z,1736370838.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:58.441Z,1736370838.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007115 2025-01-08T21:13:58.608Z,1736370838.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:58.692Z,1736370838.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:58.692Z,1736370838.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258393 2025-01-08T21:13:58.944Z,1736370838.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:58.945Z,1736370838.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511311 2025-01-08T21:13:59.004Z,1736370839.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:59.199Z,1736370839.199 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:59.201Z,1736370839.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766412 2025-01-08T21:13:59.441Z,1736370839.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:59.448Z,1736370839.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:59.449Z,1736370839.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014472 2025-01-08T21:13:59.701Z,1736370839.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:59.702Z,1736370839.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267657 2025-01-08T21:13:59.822Z,1736370839.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:13:59.954Z,1736370839.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:13:59.957Z,1736370839.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522282 2025-01-08T21:14:00.204Z,1736370840.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:00.204Z,1736370840.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770413 2025-01-08T21:14:00.254Z,1736370840.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:00.456Z,1736370840.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:00.456Z,1736370840.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022314 2025-01-08T21:14:00.636Z,1736370840.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:00.708Z,1736370840.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:00.709Z,1736370840.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274500 2025-01-08T21:14:00.960Z,1736370840.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:00.961Z,1736370840.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526670 2025-01-08T21:14:01.025Z,1736370841.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:01.213Z,1736370841.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:01.216Z,1736370841.216 [DAT](INFO): DAT read: Rx Time:21:13:59.8663 2025-01-08T21:14:01.217Z,1736370841.217 [DAT](INFO): Rx dataTimestamp_ set to:1736370841.216438 2025-01-08T21:14:01.220Z,1736370841.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784691 2025-01-08T21:14:01.452Z,1736370841.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:01.464Z,1736370841.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:01.464Z,1736370841.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030353 2025-01-08T21:14:01.716Z,1736370841.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:01.723Z,1736370841.723 [DAT](INFO): DAT read: 21:13:59.8663 LVL= 12464, 17969, 12066, 14403, AGC= 71, IDX= 89,-0.18, 2.598, 1.296, 0.719, 1.594, PHS= 1.092,-0.251,-0.878, RAW= 71.9, 0.4, CAL= 76.5, -3.4, ROT= 73.5, 3.4 2025-01-08T21:14:01.724Z,1736370841.724 [DAT](INFO): got valid direction response: 21:13:59.8663 LVL= 12464, 17969, 12066, 14403, AGC= 71, IDX= 89,-0.18, 2.598, 1.296, 0.719, 1.594, PHS= 1.092,-0.251,-0.878, RAW= 71.9, 0.4, CAL= 76.5, -3.4, ROT= 73.5, 3.4 2025-01-08T21:14:01.725Z,1736370841.725 [DAT](INFO): DAT read: Bearing 73.5, 3.4 (Local) 2025-01-08T21:14:01.725Z,1736370841.725 [DAT](INFO): Local bearing/azimuth received: Bearing 73.5, 3.4 (Local) 2025-01-08T21:14:01.727Z,1736370841.727 [DAT](INFO): DAT read: Range 10 to 50 : 596.2 m (Round-trip 795.0 ms) speed 0.0 m/s 2025-01-08T21:14:01.728Z,1736370841.728 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:14:01.729Z,1736370841.729 [DAT](INFO): direction in FSK: [-0.060789,0.405922,0.911884] 2025-01-08T21:14:01.729Z,1736370841.729 [DAT](INFO): publishing direction and range info 2025-01-08T21:14:01.860Z,1736370841.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:01.968Z,1736370841.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:02.222Z,1736370842.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:02.289Z,1736370842.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:02.472Z,1736370842.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:02.646Z,1736370842.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:02.726Z,1736370842.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:02.976Z,1736370842.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:03.048Z,1736370843.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:03.229Z,1736370843.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:03.477Z,1736370843.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:03.480Z,1736370843.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:03.732Z,1736370843.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:03.874Z,1736370843.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:03.984Z,1736370843.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:04.237Z,1736370844.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:04.320Z,1736370844.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:04.488Z,1736370844.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:04.676Z,1736370844.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:04.740Z,1736370844.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:04.992Z,1736370844.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:05.069Z,1736370845.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:05.074Z,1736370845.074 [lineCaptureHoming:InitialDive:C.Pitch] Stopped 2025-01-08T21:14:05.076Z,1736370845.076 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive 2025-01-08T21:14:05.076Z,1736370845.076 [lineCaptureHoming:InitialDive] Stopped 2025-01-08T21:14:05.076Z,1736370845.076 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive 2025-01-08T21:14:05.076Z,1736370845.076 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped 2025-01-08T21:14:05.076Z,1736370845.076 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize. 2025-01-08T21:14:05.076Z,1736370845.076 [lineCaptureHoming:InitialDive:B.Mass] Stopped 2025-01-08T21:14:05.076Z,1736370845.076 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize. 2025-01-08T21:14:05.076Z,1736370845.076 [lineCaptureHoming:RepeatHack] Running Loop=1 2025-01-08T21:14:05.076Z,1736370845.076 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack 2025-01-08T21:14:05.077Z,1736370845.077 [lineCaptureHoming:RepeatHack:A] Running Loop=1 2025-01-08T21:14:05.246Z,1736370845.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:05.491Z,1736370845.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:05.496Z,1736370845.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:05.499Z,1736370845.499 [lineCaptureHoming:RepeatHack:A] Stopped 2025-01-08T21:14:05.499Z,1736370845.499 [lineCaptureHoming:RepeatHack](INFO): Completed lineCaptureHoming:RepeatHack 2025-01-08T21:14:05.499Z,1736370845.499 [lineCaptureHoming:RepeatHack] Stopped 2025-01-08T21:14:05.499Z,1736370845.499 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack 2025-01-08T21:14:05.499Z,1736370845.499 [lineCaptureHoming:Lap] Running Loop=1 2025-01-08T21:14:05.500Z,1736370845.500 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap 2025-01-08T21:14:05.500Z,1736370845.500 [lineCaptureHoming:Lap:A] Running Loop=1 2025-01-08T21:14:05.748Z,1736370845.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:05.882Z,1736370845.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:05.889Z,1736370845.889 [lineCaptureHoming:Lap:A] Stopped 2025-01-08T21:14:05.889Z,1736370845.889 [lineCaptureHoming:Lap:B] Running Loop=1 2025-01-08T21:14:05.889Z,1736370845.889 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B 2025-01-08T21:14:05.000Z,1736370846.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:06.253Z,1736370846.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:06.358Z,1736370846.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:06.365Z,1736370846.365 [lineCaptureHoming:LineCapture] Running Loop=1 2025-01-08T21:14:06.366Z,1736370846.366 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture 2025-01-08T21:14:06.366Z,1736370846.366 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-01-08T21:14:06.366Z,1736370846.366 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-01-08T21:14:06.366Z,1736370846.366 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-01-08T21:14:06.366Z,1736370846.366 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-01-08T21:14:06.366Z,1736370846.366 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-01-08T21:14:06.366Z,1736370846.366 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-01-08T21:14:06.366Z,1736370846.366 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-01-08T21:14:06.366Z,1736370846.366 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-01-08T21:14:06.367Z,1736370846.367 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-01-08T21:14:06.367Z,1736370846.367 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-01-08T21:14:06.367Z,1736370846.367 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-01-08T21:14:06.367Z,1736370846.367 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass 2025-01-08T21:14:06.367Z,1736370846.367 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-01-08T21:14:06.367Z,1736370846.367 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-01-08T21:14:06.367Z,1736370846.367 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize. 2025-01-08T21:14:06.367Z,1736370846.367 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-01-08T21:14:06.367Z,1736370846.367 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T21:14:06.368Z,1736370846.368 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-01-08T21:14:06.368Z,1736370846.368 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-01-08T21:14:06.368Z,1736370846.368 [lineCaptureHoming:LineCapture:A] Running Loop=1 2025-01-08T21:14:06.368Z,1736370846.368 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-01-08T21:14:06.368Z,1736370846.368 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-01-08T21:14:06.368Z,1736370846.368 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-01-08T21:14:06.369Z,1736370846.369 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-01-08T21:14:06.369Z,1736370846.369 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-01-08T21:14:06.369Z,1736370846.369 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-01-08T21:14:06.369Z,1736370846.369 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-01-08T21:14:06.370Z,1736370846.370 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-01-08T21:14:06.370Z,1736370846.370 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-01-08T21:14:06.370Z,1736370846.370 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-01-08T21:14:06.370Z,1736370846.370 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-01-08T21:14:06.371Z,1736370846.371 [lineCaptureHoming:LineCapture:A] Stopped 2025-01-08T21:14:06.371Z,1736370846.371 [lineCaptureHoming:LineCapture:B] Running Loop=1 2025-01-08T21:14:06.504Z,1736370846.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:06.693Z,1736370846.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:06.702Z,1736370846.702 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-01-08T21:14:06.702Z,1736370846.702 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T21:14:06.702Z,1736370846.702 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-01-08T21:14:06.720Z,1736370846.720 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 596.200012 m (mode 0.000000 count ). 2025-01-08T21:14:06.720Z,1736370846.720 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-01-08T21:14:06.720Z,1736370846.720 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-01-08T21:14:06.727Z,1736370846.727 [lineCaptureHoming:LineCapture:B] Stopped 2025-01-08T21:14:06.727Z,1736370846.727 [lineCaptureHoming:LineCapture:D] Running Loop=1 2025-01-08T21:14:06.756Z,1736370846.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:07.008Z,1736370847.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:07.088Z,1736370847.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:07.094Z,1736370847.094 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-01-08T21:14:07.095Z,1736370847.095 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-01-08T21:14:07.096Z,1736370847.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:07.098Z,1736370847.098 [lineCaptureHoming:LineCapture:D] Stopped 2025-01-08T21:14:07.098Z,1736370847.098 [lineCaptureHoming:LineCapture:E] Running Loop=1 2025-01-08T21:14:07.261Z,1736370847.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:07.263Z,1736370847.263 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:14:07.263Z,1736370847.263 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:14:07.264Z,1736370847.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:14:07.513Z,1736370847.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:07.514Z,1736370847.514 [DAT](INFO): DAT read: user:1602> 2025-01-08T21:14:07.515Z,1736370847.515 [DAT](INFO): DAT read: Tx time:21:14:06.7172 2025-01-08T21:14:07.515Z,1736370847.515 [DAT](INFO): Ping request sent. 2025-01-08T21:14:07.515Z,1736370847.515 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:14:07.516Z,1736370847.516 [DAT](INFO): DAT read: TxSync time:21:14:06.7165 2025-01-08T21:14:07.516Z,1736370847.516 [DAT](INFO): publishing transmit ping time 2025-01-08T21:14:07.517Z,1736370847.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001586 2025-01-08T21:14:07.537Z,1736370847.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:07.575Z,1736370847.575 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-01-08T21:14:07.576Z,1736370847.576 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-01-08T21:14:07.578Z,1736370847.578 [lineCaptureHoming:LineCapture:E] Stopped 2025-01-08T21:14:07.579Z,1736370847.579 [lineCaptureHoming:LineCapture:F] Running Loop=1 2025-01-08T21:14:07.764Z,1736370847.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:07.764Z,1736370847.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249101 2025-01-08T21:14:07.897Z,1736370847.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:07.903Z,1736370847.903 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-01-08T21:14:07.903Z,1736370847.903 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T21:14:07.903Z,1736370847.903 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-01-08T21:14:07.904Z,1736370847.904 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T21:14:07.906Z,1736370847.906 [lineCaptureHoming:LineCapture:F] Stopped 2025-01-08T21:14:07.906Z,1736370847.906 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1 2025-01-08T21:14:07.906Z,1736370847.906 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence 2025-01-08T21:14:07.906Z,1736370847.906 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-01-08T21:14:07.906Z,1736370847.906 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-01-08T21:14:07.906Z,1736370847.906 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2025-01-08T21:14:07.906Z,1736370847.906 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-01-08T21:14:07.907Z,1736370847.907 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2025-01-08T21:14:07.907Z,1736370847.907 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-01-08T21:14:07.907Z,1736370847.907 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-01-08T21:14:07.907Z,1736370847.907 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-01-08T21:14:07.907Z,1736370847.907 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T21:14:07.908Z,1736370847.908 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-01-08T21:14:07.908Z,1736370847.908 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T21:14:07.908Z,1736370847.908 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-01-08T21:14:07.908Z,1736370847.908 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-01-08T21:14:07.908Z,1736370847.908 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-01-08T21:14:07.908Z,1736370847.908 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-01-08T21:14:07.908Z,1736370847.908 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-01-08T21:14:07.908Z,1736370847.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-01-08T21:14:07.908Z,1736370847.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T21:14:07.909Z,1736370847.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-01-08T21:14:07.909Z,1736370847.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T21:14:07.909Z,1736370847.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-01-08T21:14:07.909Z,1736370847.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T21:14:07.909Z,1736370847.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-01-08T21:14:07.909Z,1736370847.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-01-08T21:14:07.910Z,1736370847.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-01-08T21:14:07.910Z,1736370847.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T21:14:07.910Z,1736370847.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-01-08T21:14:07.910Z,1736370847.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-01-08T21:14:07.910Z,1736370847.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-01-08T21:14:07.910Z,1736370847.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-01-08T21:14:07.911Z,1736370847.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-01-08T21:14:08.016Z,1736370848.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:08.017Z,1736370848.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501308 2025-01-08T21:14:08.269Z,1736370848.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:08.275Z,1736370848.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755387 2025-01-08T21:14:08.367Z,1736370848.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:08.374Z,1736370848.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-01-08T21:14:08.374Z,1736370848.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T21:14:08.374Z,1736370848.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-01-08T21:14:08.374Z,1736370848.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T21:14:08.375Z,1736370848.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-01-08T21:14:08.375Z,1736370848.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-01-08T21:14:08.375Z,1736370848.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T21:14:08.375Z,1736370848.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-01-08T21:14:08.375Z,1736370848.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-01-08T21:14:08.375Z,1736370848.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-01-08T21:14:08.375Z,1736370848.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T21:14:08.375Z,1736370848.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-01-08T21:14:08.375Z,1736370848.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-01-08T21:14:08.375Z,1736370848.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-01-08T21:14:08.376Z,1736370848.376 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-01-08T21:14:08.376Z,1736370848.376 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T21:14:08.376Z,1736370848.376 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-01-08T21:14:08.376Z,1736370848.376 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T21:14:08.376Z,1736370848.376 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-01-08T21:14:08.376Z,1736370848.376 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-01-08T21:14:08.376Z,1736370848.376 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-01-08T21:14:08.376Z,1736370848.376 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-01-08T21:14:08.376Z,1736370848.376 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-01-08T21:14:08.376Z,1736370848.376 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-01-08T21:14:08.376Z,1736370848.376 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-01-08T21:14:08.378Z,1736370848.378 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.394650 m. 2025-01-08T21:14:08.446Z,1736370848.446 [DockingStepper](INFO): Resume 2025-01-08T21:14:08.520Z,1736370848.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:08.520Z,1736370848.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005238 2025-01-08T21:14:08.714Z,1736370848.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:08.772Z,1736370848.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:08.772Z,1736370848.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257034 2025-01-08T21:14:08.773Z,1736370848.773 [DockingStepper](INFO): Resuming 2025-01-08T21:14:09.024Z,1736370849.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:09.024Z,1736370849.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509174 2025-01-08T21:14:09.109Z,1736370849.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:09.116Z,1736370849.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:09.188Z,1736370849.188 [DockingStepper](INFO): Start 2025-01-08T21:14:09.189Z,1736370849.189 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-01-08T21:14:09.276Z,1736370849.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:09.276Z,1736370849.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761044 2025-01-08T21:14:09.311Z,1736370849.311 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-01-08T21:14:09.527Z,1736370849.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:09.536Z,1736370849.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:09.536Z,1736370849.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021190 2025-01-08T21:14:09.772Z,1736370849.772 [DockingStepper](INFO): Starting 2025-01-08T21:14:09.795Z,1736370849.795 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:09.796Z,1736370849.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280933 2025-01-08T21:14:09.919Z,1736370849.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:09.997Z,1736370849.997 [DockingStepper](INFO): Starting 2025-01-08T21:14:10.044Z,1736370850.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:10.045Z,1736370850.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529754 2025-01-08T21:14:10.301Z,1736370850.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:10.304Z,1736370850.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.788317 2025-01-08T21:14:10.419Z,1736370850.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:10.508Z,1736370850.508 [DockingStepper](INFO): Starting 2025-01-08T21:14:10.552Z,1736370850.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:10.553Z,1736370850.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037662 2025-01-08T21:14:10.556Z,1736370850.556 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50 2025-01-08T21:14:10.741Z,1736370850.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:10.806Z,1736370850.806 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:10.806Z,1736370850.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291154 2025-01-08T21:14:10.833Z,1736370850.833 [DockingStepper](INFO): Starting 2025-01-08T21:14:11.056Z,1736370851.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:11.057Z,1736370851.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541316 2025-01-08T21:14:11.132Z,1736370851.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:11.139Z,1736370851.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:11.308Z,1736370851.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:11.309Z,1736370851.309 [DAT](INFO): DAT read: Rx Time:21:14:09.9136 2025-01-08T21:14:11.309Z,1736370851.309 [DAT](INFO): Rx dataTimestamp_ set to:1736370851.308726 2025-01-08T21:14:11.310Z,1736370851.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794283 2025-01-08T21:14:11.335Z,1736370851.335 [DockingStepper](INFO): Starting 2025-01-08T21:14:11.562Z,1736370851.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:11.564Z,1736370851.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.048675 2025-01-08T21:14:11.576Z,1736370851.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:11.800Z,1736370851.800 [DockingStepper](INFO): Starting 2025-01-08T21:14:11.812Z,1736370851.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:11.825Z,1736370851.825 [DAT](INFO): DAT read: 21:14:09.9136 LVL= 17392, 27569, 22690, 31475, AGC= 68, IDX= 463, 0.22,-2.330, 2.612, 1.774, 2.184, PHS= 1.857, 0.475,-0.413, RAW= 67.2, -18.9, CAL= 80.4, -27.0, ROT= 69.6, 27.0 2025-01-08T21:14:11.826Z,1736370851.826 [DAT](INFO): got valid direction response: 21:14:09.9136 LVL= 17392, 27569, 22690, 31475, AGC= 68, IDX= 463, 0.22,-2.330, 2.612, 1.774, 2.184, PHS= 1.857, 0.475,-0.413, RAW= 67.2, -18.9, CAL= 80.4, -27.0, ROT= 69.6, 27.0 2025-01-08T21:14:11.829Z,1736370851.829 [DAT](INFO): DAT read: Bearing 69.6, 27.0 (Local) 2025-01-08T21:14:11.829Z,1736370851.829 [DAT](INFO): Local bearing/azimuth received: Bearing 69.6, 27.0 (Local) 2025-01-08T21:14:11.831Z,1736370851.831 [DAT](INFO): DAT read: Range 10 to 50 : 594.1 m (Round-trip 792.2 ms) speed 0.1 m/s 2025-01-08T21:14:11.832Z,1736370851.832 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:14:11.833Z,1736370851.833 [DAT](INFO): direction in FSK: [0.304537,0.429474,0.850182] 2025-01-08T21:14:11.833Z,1736370851.833 [DAT](INFO): publishing direction and range info 2025-01-08T21:14:11.837Z,1736370851.837 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:14:11.837Z,1736370851.837 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:14:11.838Z,1736370851.838 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:14:11.988Z,1736370851.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:12.064Z,1736370852.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:12.065Z,1736370852.065 [DAT](INFO): DAT read: user:1603> 2025-01-08T21:14:12.066Z,1736370852.066 [DAT](INFO): DAT read: Tx time:21:14:11.3172 2025-01-08T21:14:12.066Z,1736370852.066 [DAT](INFO): Ping request sent. 2025-01-08T21:14:12.066Z,1736370852.066 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:14:12.067Z,1736370852.067 [DAT](INFO): publishing transmit ping time 2025-01-08T21:14:12.067Z,1736370852.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000843 2025-01-08T21:14:12.072Z,1736370852.072 [DockingStepper](INFO): Starting 2025-01-08T21:14:12.096Z,1736370852.096 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2025-01-08T21:14:12.317Z,1736370852.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:12.319Z,1736370852.319 [DAT](INFO): DAT read: TxSync time:21:14:11.3165 2025-01-08T21:14:12.322Z,1736370852.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254922 2025-01-08T21:14:12.467Z,1736370852.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:12.540Z,1736370852.540 [DockingStepper](INFO): Starting 2025-01-08T21:14:12.568Z,1736370852.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:12.568Z,1736370852.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501894 2025-01-08T21:14:12.746Z,1736370852.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:12.809Z,1736370852.809 [DockingStepper](INFO): Changing to mode: 3 2025-01-08T21:14:12.809Z,1736370852.809 [DockingStepper](INFO): Detach mode. 2025-01-08T21:14:12.820Z,1736370852.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:12.821Z,1736370852.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754020 2025-01-08T21:14:12.875Z,1736370852.875 [DockingStepper](INFO): Commanding negative:54593 2025-01-08T21:14:13.072Z,1736370853.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:13.073Z,1736370853.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006527 2025-01-08T21:14:13.157Z,1736370853.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:13.165Z,1736370853.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:13.324Z,1736370853.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:13.327Z,1736370853.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259831 2025-01-08T21:14:13.576Z,1736370853.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:13.577Z,1736370853.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510037 2025-01-08T21:14:13.580Z,1736370853.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:13.828Z,1736370853.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:13.828Z,1736370853.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761869 2025-01-08T21:14:13.955Z,1736370853.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:14.083Z,1736370854.083 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:14.084Z,1736370854.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017161 2025-01-08T21:14:14.337Z,1736370854.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:14.338Z,1736370854.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271500 2025-01-08T21:14:14.452Z,1736370854.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:14.588Z,1736370854.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:14.588Z,1736370854.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521895 2025-01-08T21:14:14.765Z,1736370854.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:14.840Z,1736370854.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:14.840Z,1736370854.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773965 2025-01-08T21:14:15.094Z,1736370855.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:15.096Z,1736370855.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029346 2025-01-08T21:14:15.171Z,1736370855.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:15.178Z,1736370855.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:15.344Z,1736370855.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:15.346Z,1736370855.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279050 2025-01-08T21:14:15.593Z,1736370855.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:15.596Z,1736370855.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:15.597Z,1736370855.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530212 2025-01-08T21:14:15.849Z,1736370855.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:15.850Z,1736370855.850 [DAT](INFO): DAT read: Rx Time:21:14:14.5129 2025-01-08T21:14:15.850Z,1736370855.850 [DAT](INFO): Rx dataTimestamp_ set to:1736370855.850167 2025-01-08T21:14:15.851Z,1736370855.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784499 2025-01-08T21:14:15.990Z,1736370855.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:16.101Z,1736370856.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:16.101Z,1736370856.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034993 2025-01-08T21:14:16.352Z,1736370856.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:16.362Z,1736370856.362 [DAT](INFO): DAT read: 21:14:14.5130 LVL= 14480, 26849, 13042, 24051, AGC= 64, IDX= 438, 0.00,-1.643,-2.959, 2.671,-2.488, PHS= 0.933,-0.424,-1.127, RAW= 70.4, 6.9, CAL= 72.3, 8.9, ROT= 77.7, -8.9 2025-01-08T21:14:16.377Z,1736370856.377 [DAT](INFO): got valid direction response: 21:14:14.5130 LVL= 14480, 26849, 13042, 24051, AGC= 64, IDX= 438, 0.00,-1.643,-2.959, 2.671,-2.488, PHS= 0.933,-0.424,-1.127, RAW= 70.4, 6.9, CAL= 72.3, 8.9, ROT= 77.7, -8.9 2025-01-08T21:14:16.379Z,1736370856.379 [DAT](INFO): DAT read: Bearing 77.7, -8.9 (Local) 2025-01-08T21:14:16.380Z,1736370856.380 [DAT](INFO): Local bearing/azimuth received: Bearing 77.7, -8.9 (Local) 2025-01-08T21:14:16.389Z,1736370856.389 [DAT](INFO): DAT read: Range 10 to 50 : 593.7 m (Round-trip 791.6 ms) speed 0.2 m/s 2025-01-08T21:14:16.421Z,1736370856.421 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:14:16.433Z,1736370856.433 [DAT](INFO): direction in FSK: [-0.177515,0.430543,0.884941] 2025-01-08T21:14:16.434Z,1736370856.434 [DAT](INFO): publishing direction and range info 2025-01-08T21:14:16.450Z,1736370856.450 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:14:16.450Z,1736370856.450 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:14:16.450Z,1736370856.450 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:14:16.546Z,1736370856.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:16.604Z,1736370856.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:16.605Z,1736370856.605 [DAT](INFO): DAT read: user:1604> 2025-01-08T21:14:16.605Z,1736370856.605 [DAT](INFO): DAT read: Tx time:21:14:15.9173 2025-01-08T21:14:16.606Z,1736370856.606 [DAT](INFO): Ping request sent. 2025-01-08T21:14:16.606Z,1736370856.606 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:14:16.606Z,1736370856.606 [DAT](INFO): publishing transmit ping time 2025-01-08T21:14:16.607Z,1736370856.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-01-08T21:14:16.799Z,1736370856.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:16.856Z,1736370856.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:16.857Z,1736370856.857 [DAT](INFO): DAT read: TxSync time:21:14:15.9166 2025-01-08T21:14:16.858Z,1736370856.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251942 2025-01-08T21:14:17.108Z,1736370857.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:17.109Z,1736370857.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502630 2025-01-08T21:14:17.214Z,1736370857.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:17.221Z,1736370857.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:17.360Z,1736370857.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:17.361Z,1736370857.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754913 2025-01-08T21:14:17.613Z,1736370857.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:17.614Z,1736370857.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008083 2025-01-08T21:14:17.629Z,1736370857.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:17.864Z,1736370857.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:17.864Z,1736370857.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258502 2025-01-08T21:14:18.010Z,1736370858.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:18.116Z,1736370858.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:18.117Z,1736370858.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511581 2025-01-08T21:14:18.172Z,1736370858.172 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:14:18.368Z,1736370858.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:18.369Z,1736370858.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762661 2025-01-08T21:14:18.517Z,1736370858.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:14:18.517Z,1736370858.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:18.620Z,1736370858.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:18.621Z,1736370858.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015064 2025-01-08T21:14:18.821Z,1736370858.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:14:18.821Z,1736370858.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:18.830Z,1736370858.830 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2025-01-08T21:14:18.872Z,1736370858.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:18.873Z,1736370858.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266650 2025-01-08T21:14:19.124Z,1736370859.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:19.124Z,1736370859.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518483 2025-01-08T21:14:19.176Z,1736370859.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:14:19.219Z,1736370859.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:14:19.219Z,1736370859.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:19.246Z,1736370859.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:19.376Z,1736370859.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:19.377Z,1736370859.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770985 2025-01-08T21:14:19.628Z,1736370859.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:19.629Z,1736370859.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023204 2025-01-08T21:14:19.664Z,1736370859.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:19.880Z,1736370859.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:19.880Z,1736370859.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274481 2025-01-08T21:14:20.036Z,1736370860.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:20.132Z,1736370860.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:20.132Z,1736370860.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526580 2025-01-08T21:14:20.384Z,1736370860.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:20.384Z,1736370860.384 [DAT](INFO): DAT read: Rx Time:21:14:19.1120 2025-01-08T21:14:20.385Z,1736370860.385 [DAT](INFO): Rx dataTimestamp_ set to:1736370860.384666 2025-01-08T21:14:20.385Z,1736370860.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779617 2025-01-08T21:14:20.504Z,1736370860.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:20.636Z,1736370860.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:20.637Z,1736370860.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030693 2025-01-08T21:14:20.883Z,1736370860.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:20.888Z,1736370860.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:20.894Z,1736370860.894 [DAT](INFO): DAT read: 21:14:19.1120 LVL= 15552, 28081, 17698, 25075, AGC= 67, IDX= 427,-0.23, 1.126,-0.345,-0.791, 0.279, PHS= 0.935,-0.577,-1.073, RAW= 76.3, 7.9, CAL= 79.9, 10.8, ROT= 70.1, -10.8 2025-01-08T21:14:20.895Z,1736370860.895 [DAT](INFO): got valid direction response: 21:14:19.1120 LVL= 15552, 28081, 17698, 25075, AGC= 67, IDX= 427,-0.23, 1.126,-0.345,-0.791, 0.279, PHS= 0.935,-0.577,-1.073, RAW= 76.3, 7.9, CAL= 79.9, 10.8, ROT= 70.1, -10.8 2025-01-08T21:14:20.896Z,1736370860.896 [DAT](INFO): DAT read: Bearing 70.1, -10.8 (Local) 2025-01-08T21:14:20.896Z,1736370860.896 [DAT](INFO): Local bearing/azimuth received: Bearing 70.1, -10.8 (Local) 2025-01-08T21:14:20.898Z,1736370860.898 [DAT](INFO): DAT read: Range 10 to 50 : 592.8 m (Round-trip 790.5 ms) speed 0.1 m/s 2025-01-08T21:14:20.898Z,1736370860.898 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:14:20.900Z,1736370860.900 [DAT](INFO): direction in FSK: [-0.208832,0.339625,0.917085] 2025-01-08T21:14:20.900Z,1736370860.900 [DAT](INFO): publishing direction and range info 2025-01-08T21:14:20.904Z,1736370860.904 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:14:20.904Z,1736370860.904 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:14:20.905Z,1736370860.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:14:21.140Z,1736370861.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:21.140Z,1736370861.140 [DAT](INFO): DAT read: user:1605> 2025-01-08T21:14:21.141Z,1736370861.141 [DAT](INFO): DAT read: Tx time:21:14:20.3673 2025-01-08T21:14:21.141Z,1736370861.141 [DAT](INFO): Ping request sent. 2025-01-08T21:14:21.142Z,1736370861.142 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:14:21.142Z,1736370861.142 [DAT](INFO): publishing transmit ping time 2025-01-08T21:14:21.142Z,1736370861.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-01-08T21:14:21.249Z,1736370861.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:21.255Z,1736370861.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:21.396Z,1736370861.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:21.397Z,1736370861.397 [DAT](INFO): DAT read: TxSync time:21:14:20.3666 2025-01-08T21:14:21.397Z,1736370861.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255712 2025-01-08T21:14:21.648Z,1736370861.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:21.649Z,1736370861.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507646 2025-01-08T21:14:21.694Z,1736370861.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:21.900Z,1736370861.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:21.900Z,1736370861.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758815 2025-01-08T21:14:22.052Z,1736370862.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:22.152Z,1736370862.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:22.152Z,1736370862.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010808 2025-01-08T21:14:22.404Z,1736370862.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:22.404Z,1736370862.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262799 2025-01-08T21:14:22.546Z,1736370862.546 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 236.93, 188.93, 279.53 2025-01-08T21:14:22.554Z,1736370862.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:14:22.554Z,1736370862.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:22.665Z,1736370862.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:22.667Z,1736370862.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.524758 2025-01-08T21:14:22.868Z,1736370862.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:14:22.868Z,1736370862.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:22.916Z,1736370862.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:22.916Z,1736370862.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774730 2025-01-08T21:14:23.168Z,1736370863.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:23.168Z,1736370863.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026835 2025-01-08T21:14:23.264Z,1736370863.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:14:23.265Z,1736370863.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:23.287Z,1736370863.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:23.420Z,1736370863.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:23.420Z,1736370863.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278890 2025-01-08T21:14:23.672Z,1736370863.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:23.673Z,1736370863.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531614 2025-01-08T21:14:23.711Z,1736370863.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:23.924Z,1736370863.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:23.924Z,1736370863.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782815 2025-01-08T21:14:24.079Z,1736370864.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:24.176Z,1736370864.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:24.177Z,1736370864.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035355 2025-01-08T21:14:24.428Z,1736370864.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:24.429Z,1736370864.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287313 2025-01-08T21:14:24.494Z,1736370864.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:24.680Z,1736370864.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:24.681Z,1736370864.681 [DAT](INFO): DAT read: Rx Time:21:14:23.5618 2025-01-08T21:14:24.682Z,1736370864.682 [DAT](INFO): Rx dataTimestamp_ set to:1736370864.681372 2025-01-08T21:14:24.682Z,1736370864.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540644 2025-01-08T21:14:24.909Z,1736370864.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:24.933Z,1736370864.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:24.934Z,1736370864.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792151 2025-01-08T21:14:25.184Z,1736370865.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:25.184Z,1736370865.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042835 2025-01-08T21:14:25.306Z,1736370865.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:25.313Z,1736370865.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:25.436Z,1736370865.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:25.442Z,1736370865.442 [DAT](INFO): DAT read: 21:14:23.5618 LVL= 13808, 26097, 17906, 26195, AGC= 68, IDX= 441,-0.02,-1.379,-3.072, 2.910,-2.338, PHS= 1.047,-0.687,-1.038, RAW= 81.0, 7.1, CAL= 86.0, 8.3, ROT= 64.0, -8.3 2025-01-08T21:14:25.445Z,1736370865.445 [DAT](INFO): got valid direction response: 21:14:23.5618 LVL= 13808, 26097, 17906, 26195, AGC= 68, IDX= 441,-0.02,-1.379,-3.072, 2.910,-2.338, PHS= 1.047,-0.687,-1.038, RAW= 81.0, 7.1, CAL= 86.0, 8.3, ROT= 64.0, -8.3 2025-01-08T21:14:25.446Z,1736370865.446 [DAT](INFO): DAT read: Bearing 64.0, -8.3 (Local) 2025-01-08T21:14:25.446Z,1736370865.446 [DAT](INFO): Local bearing/azimuth received: Bearing 64.0, -8.3 (Local) 2025-01-08T21:14:25.448Z,1736370865.448 [DAT](INFO): DAT read: Range 10 to 50 : 592.7 m (Round-trip 790.3 ms) speed 0.0 m/s 2025-01-08T21:14:25.448Z,1736370865.448 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:14:25.449Z,1736370865.449 [DAT](INFO): direction in FSK: [-0.201678,0.264656,0.943018] 2025-01-08T21:14:25.450Z,1736370865.450 [DAT](INFO): publishing direction and range info 2025-01-08T21:14:25.453Z,1736370865.453 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:14:25.453Z,1736370865.453 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:14:25.454Z,1736370865.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:14:25.688Z,1736370865.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:25.688Z,1736370865.688 [DAT](INFO): DAT read: user:1606> 2025-01-08T21:14:25.689Z,1736370865.689 [DAT](INFO): DAT read: Tx time:21:14:24.9173 2025-01-08T21:14:25.689Z,1736370865.689 [DAT](INFO): Ping request sent. 2025-01-08T21:14:25.690Z,1736370865.690 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:14:25.690Z,1736370865.690 [DAT](INFO): publishing transmit ping time 2025-01-08T21:14:25.690Z,1736370865.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-01-08T21:14:25.763Z,1736370865.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:25.940Z,1736370865.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:25.941Z,1736370865.941 [DAT](INFO): DAT read: TxSync time:21:14:24.9166 2025-01-08T21:14:25.941Z,1736370865.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251658 2025-01-08T21:14:26.096Z,1736370866.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:26.193Z,1736370866.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:26.194Z,1736370866.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504506 2025-01-08T21:14:26.444Z,1736370866.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:26.445Z,1736370866.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755489 2025-01-08T21:14:26.518Z,1736370866.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:26.696Z,1736370866.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:26.697Z,1736370866.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007482 2025-01-08T21:14:26.925Z,1736370866.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:26.948Z,1736370866.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:26.949Z,1736370866.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259060 2025-01-08T21:14:27.200Z,1736370867.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:27.200Z,1736370867.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510835 2025-01-08T21:14:27.300Z,1736370867.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:27.452Z,1736370867.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:27.452Z,1736370867.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762803 2025-01-08T21:14:27.704Z,1736370867.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:27.704Z,1736370867.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014857 2025-01-08T21:14:27.729Z,1736370867.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:27.765Z,1736370867.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:27.956Z,1736370867.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:27.957Z,1736370867.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267019 2025-01-08T21:14:28.114Z,1736370868.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:28.208Z,1736370868.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:28.209Z,1736370868.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519249 2025-01-08T21:14:28.460Z,1736370868.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:28.461Z,1736370868.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770859 2025-01-08T21:14:28.528Z,1736370868.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:28.712Z,1736370868.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:28.713Z,1736370868.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022931 2025-01-08T21:14:28.956Z,1736370868.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:28.964Z,1736370868.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:28.965Z,1736370868.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274900 2025-01-08T21:14:29.216Z,1736370869.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:29.216Z,1736370869.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526778 2025-01-08T21:14:29.322Z,1736370869.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:29.468Z,1736370869.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:29.468Z,1736370869.468 [DAT](INFO): DAT read: Rx Time:21:14:28.1177 2025-01-08T21:14:29.469Z,1736370869.469 [DAT](INFO): Rx dataTimestamp_ set to:1736370869.468673 2025-01-08T21:14:29.469Z,1736370869.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779878 2025-01-08T21:14:29.720Z,1736370869.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:29.720Z,1736370869.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030816 2025-01-08T21:14:29.762Z,1736370869.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:29.821Z,1736370869.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:29.972Z,1736370869.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:29.978Z,1736370869.978 [DAT](INFO): DAT read: 21:14:28.1177 LVL= 11856, 28049, 16754, 25043, AGC= 67, IDX= 501,-0.40, 2.219, 0.683, 0.531, 1.088, PHS= 1.219,-0.358,-0.560, RAW= 84.1, -3.6, CAL= 92.3, -10.1, ROT= 57.7, 10.1 2025-01-08T21:14:29.980Z,1736370869.980 [DAT](INFO): got valid direction response: 21:14:28.1177 LVL= 11856, 28049, 16754, 25043, AGC= 67, IDX= 501,-0.40, 2.219, 0.683, 0.531, 1.088, PHS= 1.219,-0.358,-0.560, RAW= 84.1, -3.6, CAL= 92.3, -10.1, ROT= 57.7, 10.1 2025-01-08T21:14:29.981Z,1736370869.981 [DAT](INFO): DAT read: Bearing 57.7, 10.1 (Local) 2025-01-08T21:14:29.981Z,1736370869.981 [DAT](INFO): Local bearing/azimuth received: Bearing 57.7, 10.1 (Local) 2025-01-08T21:14:29.983Z,1736370869.983 [DAT](INFO): DAT read: Range 10 to 50 : 597.0 m (Round-trip 796.1 ms) speed 0.2 m/s 2025-01-08T21:14:29.989Z,1736370869.989 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:14:29.991Z,1736370869.991 [DAT](INFO): direction in FSK: [-0.006579,0.205134,0.978712] 2025-01-08T21:14:29.992Z,1736370869.992 [DAT](INFO): publishing direction and range info 2025-01-08T21:14:30.010Z,1736370870.010 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:14:30.010Z,1736370870.010 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:14:30.011Z,1736370870.011 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:14:30.140Z,1736370870.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:30.224Z,1736370870.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:30.224Z,1736370870.224 [DAT](INFO): DAT read: user:1607> 2025-01-08T21:14:30.225Z,1736370870.225 [DAT](INFO): DAT read: Tx time:21:14:29.4674 2025-01-08T21:14:30.226Z,1736370870.226 [DAT](INFO): Ping request sent. 2025-01-08T21:14:30.226Z,1736370870.226 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:14:30.226Z,1736370870.226 [DAT](INFO): publishing transmit ping time 2025-01-08T21:14:30.226Z,1736370870.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-01-08T21:14:30.476Z,1736370870.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:30.476Z,1736370870.476 [DAT](INFO): DAT read: TxSync time:21:14:29.4666 2025-01-08T21:14:30.478Z,1736370870.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252276 2025-01-08T21:14:30.558Z,1736370870.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:30.728Z,1736370870.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:30.729Z,1736370870.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503248 2025-01-08T21:14:30.965Z,1736370870.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:30.980Z,1736370870.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:30.981Z,1736370870.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754954 2025-01-08T21:14:31.232Z,1736370871.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:31.232Z,1736370871.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006659 2025-01-08T21:14:31.341Z,1736370871.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:31.484Z,1736370871.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:31.484Z,1736370871.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258735 2025-01-08T21:14:31.736Z,1736370871.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:31.737Z,1736370871.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510973 2025-01-08T21:14:31.774Z,1736370871.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:31.988Z,1736370871.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:31.988Z,1736370871.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762663 2025-01-08T21:14:32.151Z,1736370872.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:32.158Z,1736370872.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:32.241Z,1736370872.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:32.244Z,1736370872.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017078 2025-01-08T21:14:32.492Z,1736370872.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:32.492Z,1736370872.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266733 2025-01-08T21:14:32.570Z,1736370872.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:32.744Z,1736370872.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:32.746Z,1736370872.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519751 2025-01-08T21:14:32.995Z,1736370872.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:32.996Z,1736370872.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:32.997Z,1736370872.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771146 2025-01-08T21:14:33.250Z,1736370873.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:33.256Z,1736370873.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030387 2025-01-08T21:14:33.383Z,1736370873.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:33.501Z,1736370873.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:33.502Z,1736370873.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276085 2025-01-08T21:14:33.752Z,1736370873.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:33.752Z,1736370873.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526782 2025-01-08T21:14:33.802Z,1736370873.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:34.004Z,1736370874.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:34.004Z,1736370874.004 [DAT](INFO): DAT read: Rx Time:21:14:32.6605 2025-01-08T21:14:34.005Z,1736370874.005 [DAT](INFO): Rx dataTimestamp_ set to:1736370874.004662 2025-01-08T21:14:34.005Z,1736370874.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779835 2025-01-08T21:14:34.182Z,1736370874.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:34.189Z,1736370874.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:34.257Z,1736370874.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:34.258Z,1736370874.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032211 2025-01-08T21:14:34.508Z,1736370874.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:34.519Z,1736370874.519 [DAT](INFO): DAT read: 21:14:32.6605 LVL= 11696, 32753, 19858, 32755, AGC= 66, IDX= 363, 0.24, 2.942, 1.155, 1.059, 1.891, PHS= 1.139,-0.689,-0.835, RAW= 86.2, 4.1, CAL= 92.4, 2.4, ROT= 57.6, -2.4 2025-01-08T21:14:34.521Z,1736370874.521 [DAT](INFO): got valid direction response: 21:14:32.6605 LVL= 11696, 32753, 19858, 32755, AGC= 66, IDX= 363, 0.24, 2.942, 1.155, 1.059, 1.891, PHS= 1.139,-0.689,-0.835, RAW= 86.2, 4.1, CAL= 92.4, 2.4, ROT= 57.6, -2.4 2025-01-08T21:14:34.522Z,1736370874.522 [DAT](INFO): DAT read: Bearing 57.6, -2.4 (Local) 2025-01-08T21:14:34.524Z,1736370874.524 [DAT](INFO): Local bearing/azimuth received: Bearing 57.6, -2.4 (Local) 2025-01-08T21:14:34.526Z,1736370874.526 [DAT](INFO): DAT read: Range 10 to 50 : 591.6 m (Round-trip 788.9 ms) speed 0.0 m/s 2025-01-08T21:14:34.529Z,1736370874.529 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:14:34.530Z,1736370874.530 [DAT](INFO): direction in FSK: [-0.155880,0.176158,0.971941] 2025-01-08T21:14:34.530Z,1736370874.530 [DAT](INFO): publishing direction and range info 2025-01-08T21:14:34.533Z,1736370874.533 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:14:34.533Z,1736370874.533 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:14:34.533Z,1736370874.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:14:34.614Z,1736370874.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:34.762Z,1736370874.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:34.762Z,1736370874.762 [DAT](INFO): DAT read: user:1608> 2025-01-08T21:14:34.763Z,1736370874.763 [DAT](INFO): DAT read: Tx time:21:14:34.0174 2025-01-08T21:14:34.764Z,1736370874.764 [DAT](INFO): Ping request sent. 2025-01-08T21:14:34.764Z,1736370874.764 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:14:34.764Z,1736370874.764 [DAT](INFO): publishing transmit ping time 2025-01-08T21:14:34.764Z,1736370874.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-01-08T21:14:34.000Z,1736370875.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:35.012Z,1736370875.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:35.013Z,1736370875.013 [DAT](INFO): DAT read: TxSync time:21:14:34.0166 2025-01-08T21:14:35.014Z,1736370875.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250246 2025-01-08T21:14:35.264Z,1736370875.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:35.265Z,1736370875.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500880 2025-01-08T21:14:35.391Z,1736370875.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:35.516Z,1736370875.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:35.516Z,1736370875.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752682 2025-01-08T21:14:35.768Z,1736370875.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:35.768Z,1736370875.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004663 2025-01-08T21:14:35.819Z,1736370875.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:36.020Z,1736370876.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:36.021Z,1736370876.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256881 2025-01-08T21:14:36.206Z,1736370876.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:36.227Z,1736370876.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:36.272Z,1736370876.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:36.272Z,1736370876.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508730 2025-01-08T21:14:36.524Z,1736370876.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:36.524Z,1736370876.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760549 2025-01-08T21:14:36.597Z,1736370876.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:36.777Z,1736370876.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:36.778Z,1736370876.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013829 2025-01-08T21:14:37.018Z,1736370877.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:37.029Z,1736370877.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:37.030Z,1736370877.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265961 2025-01-08T21:14:37.280Z,1736370877.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:37.281Z,1736370877.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516843 2025-01-08T21:14:37.400Z,1736370877.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:37.532Z,1736370877.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:37.532Z,1736370877.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768699 2025-01-08T21:14:37.784Z,1736370877.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:37.785Z,1736370877.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020780 2025-01-08T21:14:37.848Z,1736370877.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:38.036Z,1736370878.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:38.036Z,1736370878.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272590 2025-01-08T21:14:38.210Z,1736370878.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:38.288Z,1736370878.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:38.289Z,1736370878.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525432 2025-01-08T21:14:38.540Z,1736370878.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:38.540Z,1736370878.540 [DAT](INFO): DAT read: Rx Time:21:14:37.2107 2025-01-08T21:14:38.541Z,1736370878.541 [DAT](INFO): Rx dataTimestamp_ set to:1736370878.540550 2025-01-08T21:14:38.541Z,1736370878.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777620 2025-01-08T21:14:38.630Z,1736370878.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:38.637Z,1736370878.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:38.792Z,1736370878.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:38.792Z,1736370878.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028689 2025-01-08T21:14:39.044Z,1736370879.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:39.051Z,1736370879.051 [DAT](INFO): DAT read: 21:14:37.2107 LVL= 14176, 28865, 20018, 26163, AGC= 67, IDX= 429,-0.37,-0.309,-2.089,-2.139,-1.351, PHS= 1.130,-0.690,-0.791, RAW= 87.3, 3.8, CAL= 93.8, 1.9, ROT= 56.2, -1.9 2025-01-08T21:14:39.052Z,1736370879.052 [DAT](INFO): got valid direction response: 21:14:37.2107 LVL= 14176, 28865, 20018, 26163, AGC= 67, IDX= 429,-0.37,-0.309,-2.089,-2.139,-1.351, PHS= 1.130,-0.690,-0.791, RAW= 87.3, 3.8, CAL= 93.8, 1.9, ROT= 56.2, -1.9 2025-01-08T21:14:39.053Z,1736370879.053 [DAT](INFO): DAT read: Bearing 56.2, -1.9 (Local) 2025-01-08T21:14:39.053Z,1736370879.053 [DAT](INFO): Local bearing/azimuth received: Bearing 56.2, -1.9 (Local) 2025-01-08T21:14:39.055Z,1736370879.055 [DAT](INFO): DAT read: Range 10 to 50 : 591.8 m (Round-trip 789.1 ms) speed 0.0 m/s 2025-01-08T21:14:39.055Z,1736370879.055 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:14:39.056Z,1736370879.056 [DAT](INFO): direction in FSK: [-0.152315,0.156829,0.975810] 2025-01-08T21:14:39.057Z,1736370879.057 [DAT](INFO): publishing direction and range info 2025-01-08T21:14:39.068Z,1736370879.068 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:14:39.068Z,1736370879.068 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:14:39.068Z,1736370879.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:14:39.075Z,1736370879.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:39.105Z,1736370879.105 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 591.80 m. Transitioning docking module to standby. 2025-01-08T21:14:39.296Z,1736370879.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:39.297Z,1736370879.297 [DAT](INFO): DAT read: user:1609> 2025-01-08T21:14:39.299Z,1736370879.299 [DAT](INFO): DAT read: Tx time:21:14:38.5174 2025-01-08T21:14:39.300Z,1736370879.300 [DAT](INFO): Ping request sent. 2025-01-08T21:14:39.300Z,1736370879.300 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:14:39.300Z,1736370879.300 [DAT](INFO): publishing transmit ping time 2025-01-08T21:14:39.302Z,1736370879.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001679 2025-01-08T21:14:39.427Z,1736370879.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:39.477Z,1736370879.477 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T21:14:39.477Z,1736370879.477 [DockingStepper](INFO): Standby mode. 2025-01-08T21:14:39.539Z,1736370879.539 [DockingStepper](INFO): Commanding positive:54586 2025-01-08T21:14:39.549Z,1736370879.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:39.549Z,1736370879.549 [DAT](INFO): DAT read: TxSync time:21:14:38.5166 2025-01-08T21:14:39.550Z,1736370879.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250314 2025-01-08T21:14:39.802Z,1736370879.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:39.803Z,1736370879.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503102 2025-01-08T21:14:39.861Z,1736370879.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:40.052Z,1736370880.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:40.052Z,1736370880.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752628 2025-01-08T21:14:40.224Z,1736370880.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:40.308Z,1736370880.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:40.309Z,1736370880.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009424 2025-01-08T21:14:40.556Z,1736370880.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:40.556Z,1736370880.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256597 2025-01-08T21:14:40.664Z,1736370880.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:40.674Z,1736370880.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:40.808Z,1736370880.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:40.808Z,1736370880.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508680 2025-01-08T21:14:41.056Z,1736370881.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:41.060Z,1736370881.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:41.061Z,1736370881.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761439 2025-01-08T21:14:41.312Z,1736370881.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:41.313Z,1736370881.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012819 2025-01-08T21:14:41.439Z,1736370881.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:41.564Z,1736370881.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:41.565Z,1736370881.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264729 2025-01-08T21:14:41.817Z,1736370881.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:41.819Z,1736370881.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518860 2025-01-08T21:14:41.887Z,1736370881.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:42.068Z,1736370882.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:42.068Z,1736370882.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768518 2025-01-08T21:14:42.250Z,1736370882.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:42.320Z,1736370882.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:42.321Z,1736370882.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021281 2025-01-08T21:14:42.572Z,1736370882.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:42.572Z,1736370882.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272562 2025-01-08T21:14:42.665Z,1736370882.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:42.825Z,1736370882.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:42.829Z,1736370882.829 [DAT](INFO): DAT read: Rx Time:21:14:41.7105 2025-01-08T21:14:42.830Z,1736370882.830 [DAT](INFO): Rx dataTimestamp_ set to:1736370882.828972 2025-01-08T21:14:42.832Z,1736370882.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531560 2025-01-08T21:14:43.076Z,1736370883.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:43.077Z,1736370883.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776771 2025-01-08T21:14:43.087Z,1736370883.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:43.095Z,1736370883.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:43.328Z,1736370883.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:43.329Z,1736370883.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029507 2025-01-08T21:14:43.465Z,1736370883.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:43.580Z,1736370883.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:43.586Z,1736370883.586 [DAT](INFO): DAT read: 21:14:41.7105 LVL= 18016, 25825, 15122, 25459, AGC= 67, IDX= 431, 0.01, 3.015, 1.197, 1.184, 1.964, PHS= 1.140,-0.719,-0.782, RAW= 88.3, 3.9, CAL= 95.1, 2.1, ROT= 54.9, -2.1 2025-01-08T21:14:43.587Z,1736370883.587 [DAT](INFO): got valid direction response: 21:14:41.7105 LVL= 18016, 25825, 15122, 25459, AGC= 67, IDX= 431, 0.01, 3.015, 1.197, 1.184, 1.964, PHS= 1.140,-0.719,-0.782, RAW= 88.3, 3.9, CAL= 95.1, 2.1, ROT= 54.9, -2.1 2025-01-08T21:14:43.588Z,1736370883.588 [DAT](INFO): DAT read: Bearing 54.9, -2.1 (Local) 2025-01-08T21:14:43.589Z,1736370883.589 [DAT](INFO): Local bearing/azimuth received: Bearing 54.9, -2.1 (Local) 2025-01-08T21:14:43.590Z,1736370883.590 [DAT](INFO): DAT read: Range 10 to 50 : 591.6 m (Round-trip 788.8 ms) speed 0.0 m/s 2025-01-08T21:14:43.590Z,1736370883.591 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:14:43.592Z,1736370883.592 [DAT](INFO): direction in FSK: [-0.155370,0.139434,0.977966] 2025-01-08T21:14:43.592Z,1736370883.592 [DAT](INFO): publishing direction and range info 2025-01-08T21:14:43.599Z,1736370883.599 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:14:43.599Z,1736370883.599 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:14:43.606Z,1736370883.606 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:14:43.833Z,1736370883.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:43.835Z,1736370883.835 [DAT](INFO): DAT read: user:1610> 2025-01-08T21:14:43.838Z,1736370883.838 [DAT](INFO): DAT read: Tx time:21:14:43.0675 2025-01-08T21:14:43.839Z,1736370883.839 [DAT](INFO): Ping request sent. 2025-01-08T21:14:43.839Z,1736370883.839 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:14:43.856Z,1736370883.856 [DAT](INFO): publishing transmit ping time 2025-01-08T21:14:43.858Z,1736370883.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.018786 2025-01-08T21:14:43.949Z,1736370883.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:44.084Z,1736370884.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:44.085Z,1736370884.085 [DAT](INFO): DAT read: TxSync time:21:14:43.0667 2025-01-08T21:14:44.085Z,1736370884.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246856 2025-01-08T21:14:44.278Z,1736370884.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:44.337Z,1736370884.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:44.338Z,1736370884.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499538 2025-01-08T21:14:44.588Z,1736370884.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:44.588Z,1736370884.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749811 2025-01-08T21:14:44.690Z,1736370884.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:44.841Z,1736370884.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:44.850Z,1736370884.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004052 2025-01-08T21:14:45.094Z,1736370885.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:45.096Z,1736370885.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257380 2025-01-08T21:14:45.106Z,1736370885.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:45.137Z,1736370885.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:45.344Z,1736370885.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:45.346Z,1736370885.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506763 2025-01-08T21:14:45.495Z,1736370885.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:45.502Z,1736370885.502 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby. 2025-01-08T21:14:45.596Z,1736370885.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:45.597Z,1736370885.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758427 2025-01-08T21:14:45.854Z,1736370885.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:45.857Z,1736370885.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017718 2025-01-08T21:14:45.960Z,1736370885.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:45.974Z,1736370885.974 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2025-01-08T21:14:45.974Z,1736370885.974 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2025-01-08T21:14:45.974Z,1736370885.974 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2025-01-08T21:14:46.104Z,1736370886.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:46.104Z,1736370886.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265788 2025-01-08T21:14:46.297Z,1736370886.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:46.307Z,1736370886.307 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2025-01-08T21:14:46.307Z,1736370886.307 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2025-01-08T21:14:46.307Z,1736370886.307 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2025-01-08T21:14:46.356Z,1736370886.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:46.357Z,1736370886.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518519 2025-01-08T21:14:46.374Z,1736370886.374 [DockingStepper](INFO): Pause 2025-01-08T21:14:46.608Z,1736370886.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:46.608Z,1736370886.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769760 2025-01-08T21:14:46.702Z,1736370886.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:46.713Z,1736370886.713 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2025-01-08T21:14:46.713Z,1736370886.713 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-01-08T21:14:46.713Z,1736370886.713 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2025-01-08T21:14:46.713Z,1736370886.713 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-01-08T21:14:46.714Z,1736370886.714 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-01-08T21:14:46.861Z,1736370886.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:46.863Z,1736370886.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024408 2025-01-08T21:14:47.112Z,1736370887.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:47.113Z,1736370887.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273968 2025-01-08T21:14:47.135Z,1736370887.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:47.141Z,1736370887.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:47.142Z,1736370887.142 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-01-08T21:14:47.143Z,1736370887.143 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T21:14:47.143Z,1736370887.143 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-01-08T21:14:47.143Z,1736370887.143 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T21:14:47.143Z,1736370887.143 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-01-08T21:14:47.143Z,1736370887.143 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-01-08T21:14:47.143Z,1736370887.143 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-01-08T21:14:47.143Z,1736370887.143 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-01-08T21:14:47.144Z,1736370887.144 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-01-08T21:14:47.144Z,1736370887.144 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-01-08T21:14:47.145Z,1736370887.145 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-01-08T21:14:47.145Z,1736370887.145 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-01-08T21:14:47.145Z,1736370887.145 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-01-08T21:14:47.145Z,1736370887.145 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T21:14:47.146Z,1736370887.146 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-01-08T21:14:47.146Z,1736370887.146 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 591.599976 m 2025-01-08T21:14:47.146Z,1736370887.146 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-01-08T21:14:47.146Z,1736370887.146 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-01-08T21:14:47.171Z,1736370887.171 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg ) 2025-01-08T21:14:47.171Z,1736370887.171 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-01-08T21:14:47.172Z,1736370887.172 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-01-08T21:14:47.172Z,1736370887.172 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-01-08T21:14:47.173Z,1736370887.173 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.903300,-122.119000 2025-01-08T21:14:47.364Z,1736370887.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:47.365Z,1736370887.365 [DAT](INFO): DAT read: Rx Time:21:14:46.2596 2025-01-08T21:14:47.365Z,1736370887.365 [DAT](INFO): Rx dataTimestamp_ set to:1736370887.365109 2025-01-08T21:14:47.366Z,1736370887.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527306 2025-01-08T21:14:47.534Z,1736370887.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:47.542Z,1736370887.542 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.903300,-122.119000 2025-01-08T21:14:47.544Z,1736370887.544 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-01-08T21:14:47.544Z,1736370887.544 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T21:14:47.545Z,1736370887.545 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-01-08T21:14:47.545Z,1736370887.545 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T21:14:47.616Z,1736370887.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:47.617Z,1736370887.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777962 2025-01-08T21:14:47.869Z,1736370887.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:47.872Z,1736370887.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032424 2025-01-08T21:14:48.015Z,1736370888.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:48.021Z,1736370888.021 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-01-08T21:14:48.021Z,1736370888.021 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T21:14:48.021Z,1736370888.021 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-01-08T21:14:48.023Z,1736370888.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-01-08T21:14:48.023Z,1736370888.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T21:14:48.023Z,1736370888.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-01-08T21:14:48.023Z,1736370888.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T21:14:48.024Z,1736370888.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-01-08T21:14:48.024Z,1736370888.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T21:14:48.024Z,1736370888.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-01-08T21:14:48.024Z,1736370888.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-01-08T21:14:48.024Z,1736370888.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-01-08T21:14:48.024Z,1736370888.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T21:14:48.024Z,1736370888.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-01-08T21:14:48.024Z,1736370888.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-01-08T21:14:48.024Z,1736370888.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-01-08T21:14:48.024Z,1736370888.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-01-08T21:14:48.025Z,1736370888.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-01-08T21:14:48.025Z,1736370888.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-01-08T21:14:48.025Z,1736370888.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-01-08T21:14:48.025Z,1736370888.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-01-08T21:14:48.026Z,1736370888.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-01-08T21:14:48.026Z,1736370888.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T21:14:48.026Z,1736370888.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-01-08T21:14:48.026Z,1736370888.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-01-08T21:14:48.026Z,1736370888.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-01-08T21:14:48.028Z,1736370888.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-01-08T21:14:48.028Z,1736370888.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-01-08T21:14:48.028Z,1736370888.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-01-08T21:14:48.029Z,1736370888.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-01-08T21:14:48.029Z,1736370888.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-01-08T21:14:48.029Z,1736370888.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-08T21:14:48.031Z,1736370888.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-01-08T21:14:48.033Z,1736370888.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00. 2025-01-08T21:14:48.033Z,1736370888.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-01-08T21:14:48.034Z,1736370888.034 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-01-08T21:14:48.034Z,1736370888.034 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T21:14:48.034Z,1736370888.034 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-01-08T21:14:48.035Z,1736370888.035 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T21:14:48.035Z,1736370888.035 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-01-08T21:14:48.035Z,1736370888.035 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-01-08T21:14:48.036Z,1736370888.036 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-01-08T21:14:48.036Z,1736370888.036 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-01-08T21:14:48.036Z,1736370888.036 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-01-08T21:14:48.120Z,1736370888.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:48.126Z,1736370888.126 [DAT](INFO): DAT read: 21:14:46.2596 LVL= 11760, 28401, 17778, 26995, AGC= 67, IDX= 433,-0.34,-1.663, 2.926, 2.838,-2.702, PHS= 1.127,-0.609,-0.747, RAW= 86.2, 2.6, CAL= 92.3, -0.3, ROT= 57.7, 0.3 2025-01-08T21:14:48.129Z,1736370888.129 [DAT](INFO): got valid direction response: 21:14:46.2596 LVL= 11760, 28401, 17778, 26995, AGC= 67, IDX= 433,-0.34,-1.663, 2.926, 2.838,-2.702, PHS= 1.127,-0.609,-0.747, RAW= 86.2, 2.6, CAL= 92.3, -0.3, ROT= 57.7, 0.3 2025-01-08T21:14:48.130Z,1736370888.130 [DAT](INFO): DAT read: Bearing 57.7, 0.3 (Local) 2025-01-08T21:14:48.130Z,1736370888.130 [DAT](INFO): Local bearing/azimuth received: Bearing 57.7, 0.3 (Local) 2025-01-08T21:14:48.136Z,1736370888.136 [DAT](INFO): DAT read: Range 10 to 50 : 590.9 m (Round-trip 787.9 ms) speed -0.1 m/s 2025-01-08T21:14:48.136Z,1736370888.136 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:14:48.137Z,1736370888.137 [DAT](INFO): direction in FSK: [-0.127301,0.174738,0.976351] 2025-01-08T21:14:48.137Z,1736370888.137 [DAT](INFO): publishing direction and range info 2025-01-08T21:14:48.141Z,1736370888.141 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:14:48.141Z,1736370888.141 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:14:48.141Z,1736370888.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:14:48.338Z,1736370888.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:48.370Z,1736370888.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 590.900024 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-01-08T21:14:48.372Z,1736370888.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:48.372Z,1736370888.372 [DAT](INFO): DAT read: user:1611> 2025-01-08T21:14:48.373Z,1736370888.373 [DAT](INFO): DAT read: Tx time:21:14:47.6175 2025-01-08T21:14:48.374Z,1736370888.374 [DAT](INFO): Ping request sent. 2025-01-08T21:14:48.374Z,1736370888.374 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:14:48.374Z,1736370888.374 [DAT](INFO): publishing transmit ping time 2025-01-08T21:14:48.374Z,1736370888.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728 2025-01-08T21:14:48.377Z,1736370888.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 590.900024 m, bearing: 196.992474 deg, lat: 36.904263 deg, lon: -122.112532 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-01-08T21:14:48.378Z,1736370888.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.90 m. 2025-01-08T21:14:48.384Z,1736370888.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.918854 m, bearing: 201.094143 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 199.928352 deg, new cmd heading: 201.094143 deg. 2025-01-08T21:14:48.385Z,1736370888.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.509755 target range: 590.900024 and range: 590.90 m. 2025-01-08T21:14:48.422Z,1736370888.422 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-01-08T21:14:48.422Z,1736370888.422 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-01-08T21:14:48.596Z,1736370888.596 [DockingStepper](INFO): Resume 2025-01-08T21:14:48.624Z,1736370888.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:48.625Z,1736370888.625 [DAT](INFO): DAT read: TxSync time:21:14:47.6167 2025-01-08T21:14:48.626Z,1736370888.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251968 2025-01-08T21:14:48.773Z,1736370888.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:48.790Z,1736370888.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.90 m. 2025-01-08T21:14:48.797Z,1736370888.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.931631 m, bearing: 201.252240 deg, approach rate: 0.030395 m/s, LOS rate: nan deg/s, cmd heading: 201.094143 deg, new cmd heading: 201.252240 deg. 2025-01-08T21:14:48.798Z,1736370888.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512514 target range: 590.900024 and range: 590.90 m. 2025-01-08T21:14:48.878Z,1736370888.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:48.881Z,1736370888.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506936 2025-01-08T21:14:48.948Z,1736370888.948 [DockingStepper](INFO): Resuming 2025-01-08T21:14:49.128Z,1736370889.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:49.129Z,1736370889.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755542 2025-01-08T21:14:49.209Z,1736370889.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:49.217Z,1736370889.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:49.219Z,1736370889.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.90 m. 2025-01-08T21:14:49.222Z,1736370889.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.944765 m, bearing: 201.362562 deg, approach rate: 0.030589 m/s, LOS rate: nan deg/s, cmd heading: 201.252234 deg, new cmd heading: 201.362562 deg. 2025-01-08T21:14:49.223Z,1736370889.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.514440 target range: 590.900024 and range: 590.90 m. 2025-01-08T21:14:49.308Z,1736370889.308 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:14:49.310Z,1736370889.310 [DockingStepper](INFO): Start 2025-01-08T21:14:49.310Z,1736370889.310 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-01-08T21:14:49.380Z,1736370889.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:49.380Z,1736370889.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006722 2025-01-08T21:14:49.429Z,1736370889.429 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-01-08T21:14:49.560Z,1736370889.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:49.569Z,1736370889.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.90 m. 2025-01-08T21:14:49.572Z,1736370889.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.955210 m, bearing: 201.450917 deg, approach rate: 0.029841 m/s, LOS rate: nan deg/s, cmd heading: 201.362569 deg, new cmd heading: 201.450917 deg. 2025-01-08T21:14:49.572Z,1736370889.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.515982 target range: 590.900024 and range: 590.90 m. 2025-01-08T21:14:49.633Z,1736370889.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:49.634Z,1736370889.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260256 2025-01-08T21:14:49.752Z,1736370889.752 [DockingStepper](INFO): Starting 2025-01-08T21:14:49.885Z,1736370889.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:49.887Z,1736370889.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513222 2025-01-08T21:14:50.015Z,1736370890.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:50.024Z,1736370890.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.90 m. 2025-01-08T21:14:50.026Z,1736370890.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.958982 m, bearing: 201.485461 deg, approach rate: 0.008301 m/s, LOS rate: nan deg/s, cmd heading: 201.450911 deg, new cmd heading: 201.485461 deg. 2025-01-08T21:14:50.028Z,1736370890.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516585 target range: 590.900024 and range: 590.90 m. 2025-01-08T21:14:50.136Z,1736370890.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:50.136Z,1736370890.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762703 2025-01-08T21:14:50.208Z,1736370890.208 [DockingStepper](INFO): Starting 2025-01-08T21:14:50.315Z,1736370890.315 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:14:50.382Z,1736370890.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:50.388Z,1736370890.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:50.388Z,1736370890.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014791 2025-01-08T21:14:50.393Z,1736370890.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.90 m. 2025-01-08T21:14:50.396Z,1736370890.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.961992 m, bearing: 201.513696 deg, approach rate: 0.008143 m/s, LOS rate: nan deg/s, cmd heading: 201.485458 deg, new cmd heading: 201.513696 deg. 2025-01-08T21:14:50.396Z,1736370890.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517077 target range: 590.900024 and range: 590.90 m. 2025-01-08T21:14:50.441Z,1736370890.441 [DockingStepper](INFO): Starting 2025-01-08T21:14:50.492Z,1736370890.492 [DockingStepper](INFO): Init string: /1z16352aE13561N3m50 2025-01-08T21:14:50.640Z,1736370890.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:50.640Z,1736370890.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266760 2025-01-08T21:14:50.768Z,1736370890.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:50.781Z,1736370890.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.90 m. 2025-01-08T21:14:50.784Z,1736370890.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.965078 m, bearing: 201.544229 deg, approach rate: 0.007956 m/s, LOS rate: nan deg/s, cmd heading: 201.513694 deg, new cmd heading: 201.544229 deg. 2025-01-08T21:14:50.784Z,1736370890.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517610 target range: 590.900024 and range: 590.90 m. 2025-01-08T21:14:50.829Z,1736370890.829 [DockingStepper](INFO): Starting 2025-01-08T21:14:50.894Z,1736370890.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:50.896Z,1736370890.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521931 2025-01-08T21:14:51.144Z,1736370891.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:51.145Z,1736370891.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771407 2025-01-08T21:14:51.218Z,1736370891.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:51.225Z,1736370891.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:51.228Z,1736370891.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.90 m. 2025-01-08T21:14:51.230Z,1736370891.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.950562 m, bearing: 201.498880 deg, approach rate: -0.032526 m/s, LOS rate: nan deg/s, cmd heading: 201.544225 deg, new cmd heading: 201.498880 deg. 2025-01-08T21:14:51.232Z,1736370891.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516819 target range: 590.900024 and range: 590.90 m. 2025-01-08T21:14:51.293Z,1736370891.293 [DockingStepper](INFO): Starting 2025-01-08T21:14:51.396Z,1736370891.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:51.396Z,1736370891.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022750 2025-01-08T21:14:51.598Z,1736370891.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:51.607Z,1736370891.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.90 m. 2025-01-08T21:14:51.610Z,1736370891.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.938141 m, bearing: 201.462407 deg, approach rate: -0.032705 m/s, LOS rate: nan deg/s, cmd heading: 201.498886 deg, new cmd heading: 201.462407 deg. 2025-01-08T21:14:51.612Z,1736370891.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516182 target range: 590.900024 and range: 590.90 m. 2025-01-08T21:14:51.648Z,1736370891.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:51.649Z,1736370891.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275589 2025-01-08T21:14:51.667Z,1736370891.667 [DockingStepper](INFO): Starting 2025-01-08T21:14:51.900Z,1736370891.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:51.900Z,1736370891.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526773 2025-01-08T21:14:52.031Z,1736370892.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:52.056Z,1736370892.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.90 m. 2025-01-08T21:14:52.058Z,1736370892.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.892717 m, bearing: 201.357797 deg, approach rate: -0.101369 m/s, LOS rate: nan deg/s, cmd heading: 201.462413 deg, new cmd heading: 201.357797 deg. 2025-01-08T21:14:52.059Z,1736370892.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.514357 target range: 590.900024 and range: 590.90 m. 2025-01-08T21:14:52.121Z,1736370892.121 [DockingStepper](INFO): Starting 2025-01-08T21:14:52.148Z,1736370892.148 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2025-01-08T21:14:52.153Z,1736370892.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:52.154Z,1736370892.154 [DAT](INFO): DAT read: Rx Time:21:14:50.8103 2025-01-08T21:14:52.154Z,1736370892.154 [DAT](INFO): Rx dataTimestamp_ set to:1736370892.153786 2025-01-08T21:14:52.155Z,1736370892.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780934 2025-01-08T21:14:52.384Z,1736370892.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:52.392Z,1736370892.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.90 m. 2025-01-08T21:14:52.397Z,1736370892.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.855326 m, bearing: 201.272848 deg, approach rate: -0.110829 m/s, LOS rate: nan deg/s, cmd heading: 201.357802 deg, new cmd heading: 201.272848 deg. 2025-01-08T21:14:52.398Z,1736370892.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512874 target range: 590.900024 and range: 590.90 m. 2025-01-08T21:14:52.404Z,1736370892.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:52.404Z,1736370892.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030679 2025-01-08T21:14:52.521Z,1736370892.521 [DockingStepper](INFO): Starting 2025-01-08T21:14:52.656Z,1736370892.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:52.665Z,1736370892.665 [DAT](INFO): DAT read: 21:14:50.8103 LVL= 14816, 29425, 20898, 27443, AGC= 67, IDX= 436,-0.24, 3.022, 1.338, 1.210, 2.023, PHS= 1.087,-0.639,-0.816, RAW= 85.2, 4.1, CAL= 91.0, 2.4, ROT= 59.0, -2.4 2025-01-08T21:14:52.667Z,1736370892.667 [DAT](INFO): got valid direction response: 21:14:50.8103 LVL= 14816, 29425, 20898, 27443, AGC= 67, IDX= 436,-0.24, 3.022, 1.338, 1.210, 2.023, PHS= 1.087,-0.639,-0.816, RAW= 85.2, 4.1, CAL= 91.0, 2.4, ROT= 59.0, -2.4 2025-01-08T21:14:52.678Z,1736370892.678 [DAT](INFO): DAT read: Bearing 59.0, -2.4 (Local) 2025-01-08T21:14:52.679Z,1736370892.679 [DAT](INFO): Local bearing/azimuth received: Bearing 59.0, -2.4 (Local) 2025-01-08T21:14:52.681Z,1736370892.681 [DAT](INFO): DAT read: Range 10 to 50 : 591.4 m (Round-trip 788.6 ms) speed 0.0 m/s 2025-01-08T21:14:52.682Z,1736370892.682 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:14:52.683Z,1736370892.683 [DAT](INFO): direction in FSK: [-0.154080,0.193410,0.968944] 2025-01-08T21:14:52.683Z,1736370892.683 [DAT](INFO): publishing direction and range info 2025-01-08T21:14:52.687Z,1736370892.687 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:14:52.715Z,1736370892.715 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:14:52.716Z,1736370892.716 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:14:52.805Z,1736370892.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:52.844Z,1736370892.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 591.400024 m, deltaT: 4.536664 s, deltaX: 0.500000 m, approachRate: 0.110213 m/s, rangeRepo size: 2 2025-01-08T21:14:52.851Z,1736370892.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 591.400024 m, bearing: 287.203322 deg, lat: 36.904310 deg, lon: -122.112532 deg, deltaT: 4.536664 s, deltaX: 0.500000 m, approachRate: 0.110213 m/s, posRepo size: 2 2025-01-08T21:14:52.852Z,1736370892.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.40 m. 2025-01-08T21:14:52.853Z,1736370892.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 287.203322 deg. 2025-01-08T21:14:52.854Z,1736370892.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.012644 target range: 591.400024 and range: 591.40 m. 2025-01-08T21:14:52.909Z,1736370892.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:52.910Z,1736370892.910 [DAT](INFO): DAT read: user:1612> 2025-01-08T21:14:52.912Z,1736370892.912 [DAT](INFO): DAT read: Tx time:21:14:52.1675 2025-01-08T21:14:52.914Z,1736370892.914 [DAT](INFO): Ping request sent. 2025-01-08T21:14:52.914Z,1736370892.914 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:14:52.915Z,1736370892.915 [DAT](INFO): publishing transmit ping time 2025-01-08T21:14:52.917Z,1736370892.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003232 2025-01-08T21:14:52.940Z,1736370892.940 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T21:14:52.940Z,1736370892.940 [DockingStepper](INFO): Standby mode. 2025-01-08T21:14:53.160Z,1736370893.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:53.161Z,1736370893.161 [DAT](INFO): DAT read: TxSync time:21:14:52.1667 2025-01-08T21:14:53.163Z,1736370893.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249089 2025-01-08T21:14:53.243Z,1736370893.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:53.252Z,1736370893.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:53.254Z,1736370893.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.40 m. 2025-01-08T21:14:53.257Z,1736370893.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 591.400024 m, nav range: 18.964468 m, bearing: 206.672705 deg, approach rate: -0.222707 m/s, LOS rate: -0.366494 deg/s, cmd heading: 287.203335 deg, new cmd heading: 286.746810 deg. 2025-01-08T21:14:53.258Z,1736370893.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004676 target range: 591.400024 and range: 591.40 m. 2025-01-08T21:14:53.413Z,1736370893.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:53.414Z,1736370893.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500499 2025-01-08T21:14:53.629Z,1736370893.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:53.638Z,1736370893.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.40 m. 2025-01-08T21:14:53.640Z,1736370893.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 591.400024 m, nav range: 18.882883 m, bearing: 206.540510 deg, approach rate: -0.212568 m/s, LOS rate: -0.345919 deg/s, cmd heading: 286.746805 deg, new cmd heading: 286.348513 deg. 2025-01-08T21:14:53.641Z,1736370893.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997725 target range: 591.400024 and range: 591.40 m. 2025-01-08T21:14:53.666Z,1736370893.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:53.681Z,1736370893.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766862 2025-01-08T21:14:53.916Z,1736370893.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:53.917Z,1736370893.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003270 2025-01-08T21:14:54.068Z,1736370894.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:54.077Z,1736370894.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.40 m. 2025-01-08T21:14:54.081Z,1736370894.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 591.400024 m, nav range: 18.755272 m, bearing: 206.379894 deg, approach rate: -0.290675 m/s, LOS rate: -0.368344 deg/s, cmd heading: 286.348523 deg, new cmd heading: 285.863407 deg. 2025-01-08T21:14:54.082Z,1736370894.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989258 target range: 591.400024 and range: 591.40 m. 2025-01-08T21:14:54.168Z,1736370894.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:54.172Z,1736370894.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257040 2025-01-08T21:14:54.420Z,1736370894.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:54.420Z,1736370894.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506971 2025-01-08T21:14:54.441Z,1736370894.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:54.449Z,1736370894.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.40 m. 2025-01-08T21:14:54.453Z,1736370894.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 591.400024 m, nav range: 18.646431 m, bearing: 206.246492 deg, approach rate: -0.291898 m/s, LOS rate: -0.359855 deg/s, cmd heading: 285.863416 deg, new cmd heading: 285.460881 deg. 2025-01-08T21:14:54.454Z,1736370894.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.982232 target range: 591.400024 and range: 591.40 m. 2025-01-08T21:14:54.672Z,1736370894.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:54.673Z,1736370894.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759808 2025-01-08T21:14:54.853Z,1736370894.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:54.864Z,1736370894.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.40 m. 2025-01-08T21:14:54.866Z,1736370894.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 591.400024 m, nav range: 18.525684 m, bearing: 206.102295 deg, approach rate: -0.291926 m/s, LOS rate: -0.350894 deg/s, cmd heading: 285.460872 deg, new cmd heading: 285.025469 deg. 2025-01-08T21:14:54.869Z,1736370894.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.974633 target range: 591.400024 and range: 591.40 m. 2025-01-08T21:14:54.925Z,1736370894.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:54.928Z,1736370894.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013601 2025-01-08T21:14:55.176Z,1736370895.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:55.176Z,1736370895.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262910 2025-01-08T21:14:55.283Z,1736370895.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:55.290Z,1736370895.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:55.293Z,1736370895.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.40 m. 2025-01-08T21:14:55.298Z,1736370895.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 591.400024 m, nav range: 18.381245 m, bearing: 205.971768 deg, approach rate: -0.335975 m/s, LOS rate: -0.305999 deg/s, cmd heading: 285.025461 deg, new cmd heading: 284.630809 deg. 2025-01-08T21:14:55.299Z,1736370895.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.967745 target range: 591.400024 and range: 591.40 m. 2025-01-08T21:14:55.429Z,1736370895.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:55.430Z,1736370895.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516559 2025-01-08T21:14:55.680Z,1736370895.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:55.681Z,1736370895.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767580 2025-01-08T21:14:55.682Z,1736370895.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:55.691Z,1736370895.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.40 m. 2025-01-08T21:14:55.696Z,1736370895.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 591.400024 m, nav range: 18.246143 m, bearing: 205.861197 deg, approach rate: -0.339774 m/s, LOS rate: -0.280140 deg/s, cmd heading: 284.630812 deg, new cmd heading: 284.296647 deg. 2025-01-08T21:14:55.697Z,1736370895.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.961913 target range: 591.400024 and range: 591.40 m. 2025-01-08T21:14:55.932Z,1736370895.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:55.933Z,1736370895.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019852 2025-01-08T21:14:56.090Z,1736370896.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:56.116Z,1736370896.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.40 m. 2025-01-08T21:14:56.120Z,1736370896.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 591.400024 m, nav range: 18.094873 m, bearing: 205.807107 deg, approach rate: -0.355301 m/s, LOS rate: -0.128106 deg/s, cmd heading: 284.296652 deg, new cmd heading: 284.133028 deg. 2025-01-08T21:14:56.121Z,1736370896.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.959057 target range: 591.400024 and range: 591.40 m. 2025-01-08T21:14:56.184Z,1736370896.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:56.185Z,1736370896.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271316 2025-01-08T21:14:56.436Z,1736370896.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:56.436Z,1736370896.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522870 2025-01-08T21:14:56.458Z,1736370896.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:56.470Z,1736370896.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.40 m. 2025-01-08T21:14:56.489Z,1736370896.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 591.400024 m, nav range: 17.958561 m, bearing: 205.764314 deg, approach rate: -0.385725 m/s, LOS rate: -0.122012 deg/s, cmd heading: 284.133028 deg, new cmd heading: 284.003674 deg. 2025-01-08T21:14:56.490Z,1736370896.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.956799 target range: 591.400024 and range: 591.40 m. 2025-01-08T21:14:56.688Z,1736370896.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:56.689Z,1736370896.689 [DAT](INFO): DAT read: Rx Time:21:14:55.3665 2025-01-08T21:14:56.689Z,1736370896.689 [DAT](INFO): Rx dataTimestamp_ set to:1736370896.688791 2025-01-08T21:14:56.690Z,1736370896.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776111 2025-01-08T21:14:56.865Z,1736370896.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:56.880Z,1736370896.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 591.40 m. 2025-01-08T21:14:56.882Z,1736370896.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 591.400024 m, nav range: 17.807169 m, bearing: 205.724190 deg, approach rate: -0.369173 m/s, LOS rate: -0.098674 deg/s, cmd heading: 284.003664 deg, new cmd heading: 283.882271 deg. 2025-01-08T21:14:56.884Z,1736370896.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.954680 target range: 591.400024 and range: 591.40 m. 2025-01-08T21:14:56.942Z,1736370896.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:56.943Z,1736370896.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029729 2025-01-08T21:14:57.192Z,1736370897.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:57.199Z,1736370897.199 [DAT](INFO): DAT read: 21:14:55.3665 LVL= 11104, 30065, 19490, 26739, AGC= 68, IDX= 502, 0.47,-2.231, 2.654, 2.180,-3.054, PHS= 0.911,-0.528,-1.052, RAW= 75.0, 7.6, CAL= 78.3, 10.3, ROT= 71.7, -10.3 2025-01-08T21:14:57.200Z,1736370897.200 [DAT](INFO): got valid direction response: 21:14:55.3665 LVL= 11104, 30065, 19490, 26739, AGC= 68, IDX= 502, 0.47,-2.231, 2.654, 2.180,-3.054, PHS= 0.911,-0.528,-1.052, RAW= 75.0, 7.6, CAL= 78.3, 10.3, ROT= 71.7, -10.3 2025-01-08T21:14:57.201Z,1736370897.201 [DAT](INFO): DAT read: Bearing 71.7, -10.3 (Local) 2025-01-08T21:14:57.201Z,1736370897.201 [DAT](INFO): Local bearing/azimuth received: Bearing 71.7, -10.3 (Local) 2025-01-08T21:14:57.202Z,1736370897.202 [DAT](INFO): DAT read: Range 10 to 50 : 596.0 m (Round-trip 794.7 ms) speed 0.0 m/s 2025-01-08T21:14:57.207Z,1736370897.207 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:14:57.213Z,1736370897.213 [DAT](INFO): direction in FSK: [-0.201117,0.358802,0.911489] 2025-01-08T21:14:57.213Z,1736370897.213 [DAT](INFO): publishing direction and range info 2025-01-08T21:14:57.217Z,1736370897.217 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:14:57.217Z,1736370897.217 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:14:57.217Z,1736370897.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:14:57.336Z,1736370897.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:57.363Z,1736370897.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 596.000000 m, deltaT: 4.535207 s, deltaX: 4.599976 m, approachRate: 1.014281 m/s, rangeRepo size: 3 2025-01-08T21:14:57.366Z,1736370897.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 596.000000 m, bearing: 293.126078 deg, lat: 36.904356 deg, lon: -122.112532 deg, deltaT: 4.535207 s, deltaX: 4.599976 m, approachRate: 1.014281 m/s, posRepo size: 3 2025-01-08T21:14:57.366Z,1736370897.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 596.00 m. 2025-01-08T21:14:57.373Z,1736370897.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 596.000000 m, nav range: 13.254190 m, bearing: 215.361124 deg, approach rate: 0.000000 m/s, LOS rate: -0.098674 deg/s, cmd heading: 283.882278 deg, new cmd heading: 283.740577 deg. 2025-01-08T21:14:57.374Z,1736370897.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.952207 target range: 596.000000 and range: 596.00 m. 2025-01-08T21:14:57.444Z,1736370897.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:57.445Z,1736370897.445 [DAT](INFO): DAT read: user:1613> 2025-01-08T21:14:57.446Z,1736370897.446 [DAT](INFO): DAT read: Tx time:21:14:56.7176 2025-01-08T21:14:57.447Z,1736370897.447 [DAT](INFO): Ping request sent. 2025-01-08T21:14:57.447Z,1736370897.447 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:14:57.447Z,1736370897.447 [DAT](INFO): publishing transmit ping time 2025-01-08T21:14:57.448Z,1736370897.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000864 2025-01-08T21:14:57.697Z,1736370897.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:57.699Z,1736370897.699 [DAT](INFO): DAT read: TxSync time:21:14:56.7168 2025-01-08T21:14:57.701Z,1736370897.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254289 2025-01-08T21:14:57.732Z,1736370897.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:57.742Z,1736370897.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:14:57.749Z,1736370897.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 596.00 m. 2025-01-08T21:14:57.753Z,1736370897.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 596.000000 m, nav range: 13.113363 m, bearing: 215.546747 deg, approach rate: -0.361087 m/s, LOS rate: 0.481056 deg/s, cmd heading: 283.740565 deg, new cmd heading: 284.303396 deg. 2025-01-08T21:14:57.754Z,1736370897.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.962030 target range: 596.000000 and range: 596.00 m. 2025-01-08T21:14:57.948Z,1736370897.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:57.948Z,1736370897.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501625 2025-01-08T21:14:58.134Z,1736370898.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:58.143Z,1736370898.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 596.00 m. 2025-01-08T21:14:58.147Z,1736370898.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 596.000000 m, nav range: 12.979579 m, bearing: 215.879577 deg, approach rate: -0.339146 m/s, LOS rate: 0.852423 deg/s, cmd heading: 284.303400 deg, new cmd heading: 285.312072 deg. 2025-01-08T21:14:58.148Z,1736370898.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.979635 target range: 596.000000 and range: 596.00 m. 2025-01-08T21:14:58.201Z,1736370898.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:58.203Z,1736370898.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755456 2025-01-08T21:14:58.452Z,1736370898.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:58.452Z,1736370898.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005640 2025-01-08T21:14:58.493Z,1736370898.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:58.502Z,1736370898.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 596.00 m. 2025-01-08T21:14:58.505Z,1736370898.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 596.000000 m, nav range: 12.861643 m, bearing: 216.189007 deg, approach rate: -0.328615 m/s, LOS rate: 0.870089 deg/s, cmd heading: 285.312083 deg, new cmd heading: 286.248796 deg. 2025-01-08T21:14:58.506Z,1736370898.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995984 target range: 596.000000 and range: 596.00 m. 2025-01-08T21:14:58.705Z,1736370898.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:58.706Z,1736370898.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259404 2025-01-08T21:14:58.885Z,1736370898.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:58.893Z,1736370898.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 596.00 m. 2025-01-08T21:14:58.914Z,1736370898.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 596.000000 m, nav range: 12.733709 m, bearing: 216.539284 deg, approach rate: -0.326739 m/s, LOS rate: 0.903581 deg/s, cmd heading: 286.248802 deg, new cmd heading: 287.310062 deg. 2025-01-08T21:14:58.915Z,1736370898.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.014506 target range: 596.000000 and range: 596.00 m. 2025-01-08T21:14:58.956Z,1736370898.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:58.957Z,1736370898.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509840 2025-01-08T21:14:59.208Z,1736370899.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:59.208Z,1736370899.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761648 2025-01-08T21:14:59.329Z,1736370899.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:59.341Z,1736370899.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 596.00 m. 2025-01-08T21:14:59.344Z,1736370899.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 596.000000 m, nav range: 12.603181 m, bearing: 217.087695 deg, approach rate: -0.291677 m/s, LOS rate: 1.238144 deg/s, cmd heading: 287.310050 deg, new cmd heading: 288.971832 deg. 2025-01-08T21:14:59.345Z,1736370899.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.043510 target range: 596.000000 and range: 596.00 m. 2025-01-08T21:14:59.466Z,1736370899.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:59.467Z,1736370899.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019932 2025-01-08T21:14:59.709Z,1736370899.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:14:59.716Z,1736370899.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:59.717Z,1736370899.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269829 2025-01-08T21:14:59.719Z,1736370899.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 596.00 m. 2025-01-08T21:14:59.733Z,1736370899.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 596.000000 m, nav range: 12.492634 m, bearing: 217.570693 deg, approach rate: -0.292304 m/s, LOS rate: 1.288408 deg/s, cmd heading: 288.971835 deg, new cmd heading: 290.433314 deg. 2025-01-08T21:14:59.735Z,1736370899.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.069017 target range: 596.000000 and range: 596.00 m. 2025-01-08T21:14:59.968Z,1736370899.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:14:59.968Z,1736370899.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521676 2025-01-08T21:15:00.168Z,1736370900.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:00.176Z,1736370900.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:00.178Z,1736370900.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 596.00 m. 2025-01-08T21:15:00.181Z,1736370900.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 596.000000 m, nav range: 12.371098 m, bearing: 218.285509 deg, approach rate: -0.264622 m/s, LOS rate: 1.571626 deg/s, cmd heading: 290.433304 deg, new cmd heading: 292.597733 deg. 2025-01-08T21:15:00.182Z,1736370900.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.106794 target range: 596.000000 and range: 596.00 m. 2025-01-08T21:15:00.220Z,1736370900.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:00.221Z,1736370900.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773988 2025-01-08T21:15:00.472Z,1736370900.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:00.472Z,1736370900.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025731 2025-01-08T21:15:00.504Z,1736370900.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:00.541Z,1736370900.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 596.00 m. 2025-01-08T21:15:00.545Z,1736370900.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 596.000000 m, nav range: 12.283005 m, bearing: 218.815129 deg, approach rate: -0.242888 m/s, LOS rate: 1.470712 deg/s, cmd heading: 292.597736 deg, new cmd heading: 294.197553 deg. 2025-01-08T21:15:00.546Z,1736370900.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.134716 target range: 596.000000 and range: 596.00 m. 2025-01-08T21:15:00.724Z,1736370900.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:00.724Z,1736370900.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277635 2025-01-08T21:15:00.908Z,1736370900.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:00.917Z,1736370900.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 596.00 m. 2025-01-08T21:15:00.920Z,1736370900.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 596.000000 m, nav range: 12.177535 m, bearing: 219.456305 deg, approach rate: -0.280440 m/s, LOS rate: 1.719597 deg/s, cmd heading: 294.197558 deg, new cmd heading: 296.136965 deg. 2025-01-08T21:15:00.921Z,1736370900.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.168565 target range: 596.000000 and range: 596.00 m. 2025-01-08T21:15:00.978Z,1736370900.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:00.979Z,1736370900.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531810 2025-01-08T21:15:01.229Z,1736370901.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:01.230Z,1736370901.230 [DAT](INFO): DAT read: Rx Time:21:14:59.9087 2025-01-08T21:15:01.230Z,1736370901.230 [DAT](INFO): Rx dataTimestamp_ set to:1736370901.229725 2025-01-08T21:15:01.231Z,1736370901.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783838 2025-01-08T21:15:01.334Z,1736370901.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:01.342Z,1736370901.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 596.00 m. 2025-01-08T21:15:01.346Z,1736370901.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 596.000000 m, nav range: 12.070365 m, bearing: 220.191379 deg, approach rate: -0.252176 m/s, LOS rate: 1.744972 deg/s, cmd heading: 296.136976 deg, new cmd heading: 298.360600 deg. 2025-01-08T21:15:01.348Z,1736370901.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.207375 target range: 596.000000 and range: 596.00 m. 2025-01-08T21:15:01.480Z,1736370901.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:01.480Z,1736370901.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033703 2025-01-08T21:15:01.727Z,1736370901.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:01.732Z,1736370901.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:01.738Z,1736370901.738 [DAT](INFO): DAT read: 21:14:59.9087 LVL= 13024, 24289, 17490, 22515, AGC= 69, IDX= 430, 0.08, 1.658, 0.745,-0.228, 0.484, PHS= 1.262, 0.308,-0.716, RAW= 58.8, -10.0, CAL= 68.2, -17.5, ROT= 81.8, 17.5 2025-01-08T21:15:01.742Z,1736370901.742 [DAT](INFO): got valid direction response: 21:14:59.9087 LVL= 13024, 24289, 17490, 22515, AGC= 69, IDX= 430, 0.08, 1.658, 0.745,-0.228, 0.484, PHS= 1.262, 0.308,-0.716, RAW= 58.8, -10.0, CAL= 68.2, -17.5, ROT= 81.8, 17.5 2025-01-08T21:15:01.743Z,1736370901.743 [DAT](INFO): DAT read: Bearing 81.8, 17.5 (Local) 2025-01-08T21:15:01.743Z,1736370901.743 [DAT](INFO): Local bearing/azimuth received: Bearing 81.8, 17.5 (Local) 2025-01-08T21:15:01.745Z,1736370901.745 [DAT](INFO): DAT read: Range 10 to 50 : 590.2 m (Round-trip 787.0 ms) speed -0.1 m/s 2025-01-08T21:15:01.745Z,1736370901.745 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:15:01.746Z,1736370901.746 [DAT](INFO): direction in FSK: [0.158519,0.572831,0.804199] 2025-01-08T21:15:01.746Z,1736370901.746 [DAT](INFO): publishing direction and range info 2025-01-08T21:15:01.775Z,1736370901.775 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:01.783Z,1736370901.783 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:01.783Z,1736370901.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:01.795Z,1736370901.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 590.200012 m, deltaT: 4.540206 s, deltaX: -5.799988 m, approachRate: -1.277472 m/s, rangeRepo size: 4 2025-01-08T21:15:01.805Z,1736370901.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 590.200012 m, bearing: 245.196130 deg, lat: 36.904310 deg, lon: -122.112784 deg, deltaT: 4.540206 s, deltaX: -5.799988 m, approachRate: -1.277472 m/s, posRepo size: 4 2025-01-08T21:15:01.806Z,1736370901.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:01.814Z,1736370901.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 33.360523 m, bearing: 244.960095 deg, approach rate: 0.000000 m/s, LOS rate: 1.744972 deg/s, cmd heading: 298.360613 deg, new cmd heading: 300.721041 deg. 2025-01-08T21:15:01.815Z,1736370901.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.248572 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:01.984Z,1736370901.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:01.984Z,1736370901.984 [DAT](INFO): DAT read: user:1614> 2025-01-08T21:15:01.985Z,1736370901.985 [DAT](INFO): DAT read: Tx time:21:15:01.2676 2025-01-08T21:15:01.986Z,1736370901.986 [DAT](INFO): Ping request sent. 2025-01-08T21:15:01.986Z,1736370901.986 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:15:01.986Z,1736370901.986 [DAT](INFO): publishing transmit ping time 2025-01-08T21:15:01.986Z,1736370901.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-01-08T21:15:02.236Z,1736370902.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:02.237Z,1736370902.237 [DAT](INFO): DAT read: TxSync time:21:15:01.2668 2025-01-08T21:15:02.237Z,1736370902.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251660 2025-01-08T21:15:02.306Z,1736370902.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:02.318Z,1736370902.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:02.328Z,1736370902.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:02.331Z,1736370902.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 33.297375 m, bearing: 245.391372 deg, approach rate: -0.119204 m/s, LOS rate: 0.815649 deg/s, cmd heading: 300.721044 deg, new cmd heading: 302.017093 deg. 2025-01-08T21:15:02.336Z,1736370902.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271193 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:02.488Z,1736370902.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:02.489Z,1736370902.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502904 2025-01-08T21:15:02.672Z,1736370902.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:02.706Z,1736370902.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:02.720Z,1736370902.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 33.256382 m, bearing: 245.649694 deg, approach rate: -0.107249 m/s, LOS rate: 0.676676 deg/s, cmd heading: 302.017086 deg, new cmd heading: 302.792958 deg. 2025-01-08T21:15:02.721Z,1736370902.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.284734 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:02.741Z,1736370902.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:02.742Z,1736370902.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756621 2025-01-08T21:15:02.992Z,1736370902.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:02.993Z,1736370902.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007367 2025-01-08T21:15:03.076Z,1736370903.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:03.089Z,1736370903.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:03.092Z,1736370903.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 33.203072 m, bearing: 245.959811 deg, approach rate: -0.138817 m/s, LOS rate: 0.808815 deg/s, cmd heading: 302.792968 deg, new cmd heading: 303.724726 deg. 2025-01-08T21:15:03.093Z,1736370903.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300996 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:03.244Z,1736370903.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:03.245Z,1736370903.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259390 2025-01-08T21:15:03.493Z,1736370903.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:03.496Z,1736370903.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:03.497Z,1736370903.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511182 2025-01-08T21:15:03.504Z,1736370903.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:03.507Z,1736370903.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 33.125519 m, bearing: 246.250681 deg, approach rate: -0.186876 m/s, LOS rate: 0.702538 deg/s, cmd heading: 303.724715 deg, new cmd heading: 304.599299 deg. 2025-01-08T21:15:03.508Z,1736370903.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316261 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:03.749Z,1736370903.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:03.750Z,1736370903.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764240 2025-01-08T21:15:03.877Z,1736370903.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:03.886Z,1736370903.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:03.889Z,1736370903.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 33.050251 m, bearing: 246.516312 deg, approach rate: -0.197341 m/s, LOS rate: 0.698029 deg/s, cmd heading: 304.599307 deg, new cmd heading: 305.397959 deg. 2025-01-08T21:15:03.890Z,1736370903.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330200 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:03.000Z,1736370904.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:04.000Z,1736370904.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014785 2025-01-08T21:15:04.252Z,1736370904.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:04.252Z,1736370904.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266701 2025-01-08T21:15:04.320Z,1736370904.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:04.327Z,1736370904.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:04.329Z,1736370904.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:04.332Z,1736370904.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 32.933689 m, bearing: 246.796984 deg, approach rate: -0.262806 m/s, LOS rate: 0.635052 deg/s, cmd heading: 305.397948 deg, new cmd heading: 306.242878 deg. 2025-01-08T21:15:04.333Z,1736370904.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344946 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:04.504Z,1736370904.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:04.505Z,1736370904.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519060 2025-01-08T21:15:04.698Z,1736370904.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:04.714Z,1736370904.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:04.718Z,1736370904.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 32.831081 m, bearing: 247.033542 deg, approach rate: -0.267322 m/s, LOS rate: 0.618225 deg/s, cmd heading: 306.242870 deg, new cmd heading: 306.954723 deg. 2025-01-08T21:15:04.719Z,1736370904.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357370 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:04.756Z,1736370904.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:04.756Z,1736370904.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770715 2025-01-08T21:15:05.008Z,1736370905.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:05.009Z,1736370905.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023275 2025-01-08T21:15:05.104Z,1736370905.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:05.114Z,1736370905.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:05.121Z,1736370905.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 32.721325 m, bearing: 247.289692 deg, approach rate: -0.274123 m/s, LOS rate: 0.641891 deg/s, cmd heading: 306.954712 deg, new cmd heading: 307.725689 deg. 2025-01-08T21:15:05.122Z,1736370905.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.370826 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:05.260Z,1736370905.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:05.261Z,1736370905.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275152 2025-01-08T21:15:05.512Z,1736370905.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:05.513Z,1736370905.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526898 2025-01-08T21:15:05.517Z,1736370905.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:05.526Z,1736370905.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:05.557Z,1736370905.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 32.568165 m, bearing: 247.526593 deg, approach rate: -0.371500 m/s, LOS rate: 0.577321 deg/s, cmd heading: 307.725676 deg, new cmd heading: 308.439684 deg. 2025-01-08T21:15:05.558Z,1736370905.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383288 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:05.765Z,1736370905.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:05.767Z,1736370905.767 [DAT](INFO): DAT read: Rx Time:21:15:04.4587 2025-01-08T21:15:05.768Z,1736370905.768 [DAT](INFO): Rx dataTimestamp_ set to:1736370905.767568 2025-01-08T21:15:05.769Z,1736370905.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783716 2025-01-08T21:15:05.893Z,1736370905.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:05.918Z,1736370905.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:05.925Z,1736370905.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 32.426521 m, bearing: 247.738728 deg, approach rate: -0.360899 m/s, LOS rate: 0.542867 deg/s, cmd heading: 308.439677 deg, new cmd heading: 309.078834 deg. 2025-01-08T21:15:05.926Z,1736370905.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.394444 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:06.017Z,1736370906.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:06.018Z,1736370906.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032671 2025-01-08T21:15:06.268Z,1736370906.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:06.282Z,1736370906.282 [DAT](INFO): DAT read: 21:15:04.4587 LVL= 18128, 32497, 19650, 27443, AGC= 67, IDX= 423,-0.24,-0.427,-2.007,-2.164,-1.497, PHS= 1.158,-0.463,-0.669, RAW= 84.1, -0.3, CAL= 90.8, -4.9, ROT= 59.2, 4.9 2025-01-08T21:15:06.284Z,1736370906.284 [DAT](INFO): got valid direction response: 21:15:04.4587 LVL= 18128, 32497, 19650, 27443, AGC= 67, IDX= 423,-0.24,-0.427,-2.007,-2.164,-1.497, PHS= 1.158,-0.463,-0.669, RAW= 84.1, -0.3, CAL= 90.8, -4.9, ROT= 59.2, 4.9 2025-01-08T21:15:06.285Z,1736370906.285 [DAT](INFO): DAT read: Bearing 59.2, 4.9 (Local) 2025-01-08T21:15:06.285Z,1736370906.285 [DAT](INFO): Local bearing/azimuth received: Bearing 59.2, 4.9 (Local) 2025-01-08T21:15:06.286Z,1736370906.286 [DAT](INFO): DAT read: Range 10 to 50 : 590.2 m (Round-trip 787.0 ms) speed 0.2 m/s 2025-01-08T21:15:06.295Z,1736370906.295 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:15:06.296Z,1736370906.296 [DAT](INFO): direction in FSK: [-0.069458,0.208003,0.975659] 2025-01-08T21:15:06.297Z,1736370906.297 [DAT](INFO): publishing direction and range info 2025-01-08T21:15:06.300Z,1736370906.300 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:06.300Z,1736370906.300 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:06.300Z,1736370906.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:06.398Z,1736370906.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:06.438Z,1736370906.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 590.200012 m, deltaT: 4.535874 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T21:15:06.446Z,1736370906.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 590.200012 m, bearing: 117.449787 deg, lat: 36.904267 deg, lon: -122.112784 deg, deltaT: 4.535874 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T21:15:06.447Z,1736370906.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:06.454Z,1736370906.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 34.293743 m, bearing: 240.525432 deg, approach rate: 0.000000 m/s, LOS rate: 0.542867 deg/s, cmd heading: 309.078846 deg, new cmd heading: 309.923603 deg. 2025-01-08T21:15:06.455Z,1736370906.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409187 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:06.522Z,1736370906.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:06.522Z,1736370906.522 [DAT](INFO): DAT read: user:1615> 2025-01-08T21:15:06.523Z,1736370906.523 [DAT](INFO): DAT read: Tx time:21:15:05.7676 2025-01-08T21:15:06.524Z,1736370906.524 [DAT](INFO): Ping request sent. 2025-01-08T21:15:06.524Z,1736370906.524 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:15:06.524Z,1736370906.524 [DAT](INFO): publishing transmit ping time 2025-01-08T21:15:06.525Z,1736370906.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-01-08T21:15:06.772Z,1736370906.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:06.773Z,1736370906.773 [DAT](INFO): DAT read: TxSync time:21:15:05.7668 2025-01-08T21:15:06.773Z,1736370906.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249574 2025-01-08T21:15:06.817Z,1736370906.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:06.831Z,1736370906.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:06.833Z,1736370906.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:06.842Z,1736370906.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 34.086258 m, bearing: 240.691653 deg, approach rate: -0.523337 m/s, LOS rate: 0.421809 deg/s, cmd heading: 309.923604 deg, new cmd heading: 310.425289 deg. 2025-01-08T21:15:06.865Z,1736370906.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.417943 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:07.024Z,1736370907.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:07.024Z,1736370907.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500636 2025-01-08T21:15:07.264Z,1736370907.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:07.273Z,1736370907.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:07.276Z,1736370907.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:07.277Z,1736370907.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752838 2025-01-08T21:15:07.279Z,1736370907.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 33.841694 m, bearing: 240.874541 deg, approach rate: -0.556689 m/s, LOS rate: 0.419307 deg/s, cmd heading: 310.425295 deg, new cmd heading: 310.977907 deg. 2025-01-08T21:15:07.280Z,1736370907.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427588 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:07.529Z,1736370907.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:07.530Z,1736370907.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005918 2025-01-08T21:15:07.617Z,1736370907.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:07.627Z,1736370907.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:07.632Z,1736370907.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 33.649303 m, bearing: 241.020466 deg, approach rate: -0.543946 m/s, LOS rate: 0.414932 deg/s, cmd heading: 310.977912 deg, new cmd heading: 311.418180 deg. 2025-01-08T21:15:07.633Z,1736370907.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.435273 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:07.780Z,1736370907.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:07.780Z,1736370907.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256604 2025-01-08T21:15:08.020Z,1736370908.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:08.032Z,1736370908.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:08.033Z,1736370908.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509082 2025-01-08T21:15:08.067Z,1736370908.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:08.070Z,1736370908.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 33.430050 m, bearing: 241.189020 deg, approach rate: -0.497533 m/s, LOS rate: 0.384994 deg/s, cmd heading: 311.418186 deg, new cmd heading: 311.927151 deg. 2025-01-08T21:15:08.071Z,1736370908.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444156 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:08.284Z,1736370908.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:08.284Z,1736370908.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760487 2025-01-08T21:15:08.433Z,1736370908.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:08.443Z,1736370908.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:08.447Z,1736370908.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 33.185638 m, bearing: 241.329993 deg, approach rate: -0.650924 m/s, LOS rate: 0.378209 deg/s, cmd heading: 311.927144 deg, new cmd heading: 312.353170 deg. 2025-01-08T21:15:08.472Z,1736370908.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451591 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:08.536Z,1736370908.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:08.537Z,1736370908.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012996 2025-01-08T21:15:08.788Z,1736370908.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:08.788Z,1736370908.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264563 2025-01-08T21:15:08.831Z,1736370908.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:08.841Z,1736370908.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:08.852Z,1736370908.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:08.855Z,1736370908.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 32.949501 m, bearing: 241.458665 deg, approach rate: -0.576838 m/s, LOS rate: 0.316573 deg/s, cmd heading: 312.353157 deg, new cmd heading: 312.741933 deg. 2025-01-08T21:15:08.860Z,1736370908.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458376 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:09.040Z,1736370909.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:09.040Z,1736370909.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516513 2025-01-08T21:15:09.272Z,1736370909.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:09.281Z,1736370909.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:09.284Z,1736370909.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 32.685955 m, bearing: 241.592992 deg, approach rate: -0.614176 m/s, LOS rate: 0.315564 deg/s, cmd heading: 312.741931 deg, new cmd heading: 313.148155 deg. 2025-01-08T21:15:09.285Z,1736370909.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465466 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:09.292Z,1736370909.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:09.293Z,1736370909.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768682 2025-01-08T21:15:09.544Z,1736370909.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:09.545Z,1736370909.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021263 2025-01-08T21:15:09.648Z,1736370909.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:09.664Z,1736370909.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:09.669Z,1736370909.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 32.459412 m, bearing: 241.715545 deg, approach rate: -0.593972 m/s, LOS rate: 0.323561 deg/s, cmd heading: 313.148163 deg, new cmd heading: 313.518381 deg. 2025-01-08T21:15:09.670Z,1736370909.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471928 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:09.798Z,1736370909.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:09.800Z,1736370909.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275946 2025-01-08T21:15:10.034Z,1736370910.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:10.042Z,1736370910.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:10.046Z,1736370910.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 32.225864 m, bearing: 241.843777 deg, approach rate: -0.615260 m/s, LOS rate: 0.340265 deg/s, cmd heading: 313.518387 deg, new cmd heading: 313.905866 deg. 2025-01-08T21:15:10.047Z,1736370910.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478691 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:10.068Z,1736370910.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:10.068Z,1736370910.068 [DAT](INFO): DAT read: Rx Time:21:15:08.9569 2025-01-08T21:15:10.069Z,1736370910.069 [DAT](INFO): Rx dataTimestamp_ set to:1736370910.068564 2025-01-08T21:15:10.069Z,1736370910.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545543 2025-01-08T21:15:10.320Z,1736370910.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:10.321Z,1736370910.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.797175 2025-01-08T21:15:10.443Z,1736370910.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:10.476Z,1736370910.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.20 m. 2025-01-08T21:15:10.484Z,1736370910.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.200012 m, nav range: 31.987982 m, bearing: 241.989387 deg, approach rate: -0.548045 m/s, LOS rate: 0.337958 deg/s, cmd heading: 313.905877 deg, new cmd heading: 314.345948 deg. 2025-01-08T21:15:10.485Z,1736370910.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486372 target range: 590.200012 and range: 590.20 m. 2025-01-08T21:15:10.572Z,1736370910.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:10.573Z,1736370910.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.049410 2025-01-08T21:15:10.824Z,1736370910.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:10.830Z,1736370910.830 [DAT](INFO): DAT read: 21:15:08.9569 LVL= 17088, 32753, 29170, 32755, AGC= 67, IDX= 419, 0.01,-1.239,-2.808,-2.483,-1.975, PHS= 0.825,-0.785,-0.510, RAW= 99.2, 6.4, CAL= 108.8, 5.1, ROT= 41.2, -5.1 2025-01-08T21:15:10.833Z,1736370910.833 [DAT](INFO): got valid direction response: 21:15:08.9569 LVL= 17088, 32753, 29170, 32755, AGC= 67, IDX= 419, 0.01,-1.239,-2.808,-2.483,-1.975, PHS= 0.825,-0.785,-0.510, RAW= 99.2, 6.4, CAL= 108.8, 5.1, ROT= 41.2, -5.1 2025-01-08T21:15:10.834Z,1736370910.834 [DAT](INFO): DAT read: Bearing 41.2, -5.1 (Local) 2025-01-08T21:15:10.834Z,1736370910.834 [DAT](INFO): Local bearing/azimuth received: Bearing 41.2, -5.1 (Local) 2025-01-08T21:15:10.853Z,1736370910.853 [DAT](INFO): DAT read: Range 10 to 50 : 588.7 m (Round-trip 785.0 ms) speed 0.3 m/s 2025-01-08T21:15:10.854Z,1736370910.854 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:15:10.860Z,1736370910.860 [DAT](INFO): direction in FSK: [-0.219301,-0.045942,0.974575] 2025-01-08T21:15:10.860Z,1736370910.860 [DAT](INFO): publishing direction and range info 2025-01-08T21:15:10.880Z,1736370910.880 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:10.880Z,1736370910.880 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:10.880Z,1736370910.880 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:10.892Z,1736370910.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:10.941Z,1736370910.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 588.700012 m, deltaT: 4.556086 s, deltaX: -1.500000 m, approachRate: -0.329230 m/s, rangeRepo size: 4 2025-01-08T21:15:10.947Z,1736370910.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 588.700012 m, bearing: 97.022057 deg, lat: 36.904267 deg, lon: -122.112784 deg, deltaT: 4.556086 s, deltaX: -1.500000 m, approachRate: -0.329230 m/s, posRepo size: 4 2025-01-08T21:15:10.951Z,1736370910.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 588.70 m. 2025-01-08T21:15:10.969Z,1736370910.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 588.700012 m, nav range: 31.724403 m, bearing: 242.139711 deg, approach rate: 0.000000 m/s, LOS rate: 0.337958 deg/s, cmd heading: 314.345960 deg, new cmd heading: 314.816598 deg. 2025-01-08T21:15:10.970Z,1736370910.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494586 target range: 588.700012 and range: 588.70 m. 2025-01-08T21:15:11.077Z,1736370911.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:11.078Z,1736370911.078 [DAT](INFO): DAT read: user:1616> 2025-01-08T21:15:11.080Z,1736370911.080 [DAT](INFO): DAT read: Tx time:21:15:10.3677 2025-01-08T21:15:11.080Z,1736370911.080 [DAT](INFO): Ping request sent. 2025-01-08T21:15:11.080Z,1736370911.080 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:15:11.081Z,1736370911.081 [DAT](INFO): publishing transmit ping time 2025-01-08T21:15:11.082Z,1736370911.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001141 2025-01-08T21:15:11.328Z,1736370911.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:11.329Z,1736370911.329 [DAT](INFO): DAT read: TxSync time:21:15:10.3669 2025-01-08T21:15:11.330Z,1736370911.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249543 2025-01-08T21:15:11.337Z,1736370911.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:11.345Z,1736370911.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:11.347Z,1736370911.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 588.70 m. 2025-01-08T21:15:11.386Z,1736370911.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 588.700012 m, nav range: 31.480412 m, bearing: 242.307188 deg, approach rate: -0.600397 m/s, LOS rate: 0.415307 deg/s, cmd heading: 314.816587 deg, new cmd heading: 315.322896 deg. 2025-01-08T21:15:11.387Z,1736370911.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503423 target range: 588.700012 and range: 588.70 m. 2025-01-08T21:15:11.580Z,1736370911.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:11.580Z,1736370911.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500189 2025-01-08T21:15:11.709Z,1736370911.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:11.728Z,1736370911.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 588.70 m. 2025-01-08T21:15:11.733Z,1736370911.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 588.700012 m, nav range: 31.274942 m, bearing: 242.439381 deg, approach rate: -0.541656 m/s, LOS rate: 0.350777 deg/s, cmd heading: 315.322896 deg, new cmd heading: 315.722076 deg. 2025-01-08T21:15:11.736Z,1736370911.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510390 target range: 588.700012 and range: 588.70 m. 2025-01-08T21:15:11.833Z,1736370911.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:11.834Z,1736370911.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753852 2025-01-08T21:15:12.084Z,1736370912.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:12.084Z,1736370912.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004163 2025-01-08T21:15:12.109Z,1736370912.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:12.118Z,1736370912.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 588.70 m. 2025-01-08T21:15:12.121Z,1736370912.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 588.700012 m, nav range: 31.051754 m, bearing: 242.573534 deg, approach rate: -0.569063 m/s, LOS rate: 0.344508 deg/s, cmd heading: 315.722079 deg, new cmd heading: 316.127424 deg. 2025-01-08T21:15:12.122Z,1736370912.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517465 target range: 588.700012 and range: 588.70 m. 2025-01-08T21:15:12.337Z,1736370912.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:12.337Z,1736370912.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257277 2025-01-08T21:15:12.563Z,1736370912.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:12.572Z,1736370912.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 588.70 m. 2025-01-08T21:15:12.574Z,1736370912.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 588.700012 m, nav range: 30.825140 m, bearing: 242.734254 deg, approach rate: -0.499652 m/s, LOS rate: 0.356968 deg/s, cmd heading: 316.127437 deg, new cmd heading: 316.613128 deg. 2025-01-08T21:15:12.576Z,1736370912.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525941 target range: 588.700012 and range: 588.70 m. 2025-01-08T21:15:12.588Z,1736370912.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:12.589Z,1736370912.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508376 2025-01-08T21:15:12.840Z,1736370912.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:12.842Z,1736370912.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761565 2025-01-08T21:15:12.918Z,1736370912.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:12.927Z,1736370912.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 588.70 m. 2025-01-08T21:15:12.929Z,1736370912.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 588.700012 m, nav range: 30.646080 m, bearing: 242.853050 deg, approach rate: -0.504603 m/s, LOS rate: 0.336731 deg/s, cmd heading: 316.613118 deg, new cmd heading: 316.971584 deg. 2025-01-08T21:15:12.930Z,1736370912.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.532198 target range: 588.700012 and range: 588.70 m. 2025-01-08T21:15:13.092Z,1736370913.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:13.093Z,1736370913.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012491 2025-01-08T21:15:13.345Z,1736370913.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:13.345Z,1736370913.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265161 2025-01-08T21:15:13.367Z,1736370913.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:13.398Z,1736370913.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:13.404Z,1736370913.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 588.70 m. 2025-01-08T21:15:13.406Z,1736370913.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 588.700012 m, nav range: 30.445711 m, bearing: 243.014770 deg, approach rate: -0.419884 m/s, LOS rate: 0.341123 deg/s, cmd heading: 316.971594 deg, new cmd heading: 317.459935 deg. 2025-01-08T21:15:13.412Z,1736370913.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540721 target range: 588.700012 and range: 588.70 m. 2025-01-08T21:15:13.596Z,1736370913.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:13.597Z,1736370913.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516410 2025-01-08T21:15:13.743Z,1736370913.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:13.753Z,1736370913.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 588.70 m. 2025-01-08T21:15:13.756Z,1736370913.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 588.700012 m, nav range: 30.277531 m, bearing: 243.152319 deg, approach rate: -0.482228 m/s, LOS rate: 0.396587 deg/s, cmd heading: 317.459925 deg, new cmd heading: 317.874856 deg. 2025-01-08T21:15:13.756Z,1736370913.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.547963 target range: 588.700012 and range: 588.70 m. 2025-01-08T21:15:13.848Z,1736370913.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:13.850Z,1736370913.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769782 2025-01-08T21:15:14.100Z,1736370914.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:14.100Z,1736370914.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020295 2025-01-08T21:15:14.127Z,1736370914.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:14.153Z,1736370914.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 588.70 m. 2025-01-08T21:15:14.160Z,1736370914.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 588.700012 m, nav range: 30.102095 m, bearing: 243.274220 deg, approach rate: -0.438525 m/s, LOS rate: 0.306484 deg/s, cmd heading: 317.874846 deg, new cmd heading: 318.242676 deg. 2025-01-08T21:15:14.161Z,1736370914.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554382 target range: 588.700012 and range: 588.70 m. 2025-01-08T21:15:14.352Z,1736370914.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:14.352Z,1736370914.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272092 2025-01-08T21:15:14.570Z,1736370914.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:14.579Z,1736370914.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 588.70 m. 2025-01-08T21:15:14.582Z,1736370914.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 588.700012 m, nav range: 29.919115 m, bearing: 243.417874 deg, approach rate: -0.429077 m/s, LOS rate: 0.338921 deg/s, cmd heading: 318.242665 deg, new cmd heading: 318.676255 deg. 2025-01-08T21:15:14.583Z,1736370914.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561950 target range: 588.700012 and range: 588.70 m. 2025-01-08T21:15:14.604Z,1736370914.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:14.605Z,1736370914.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524437 2025-01-08T21:15:14.856Z,1736370914.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:14.856Z,1736370914.856 [DAT](INFO): DAT read: Rx Time:21:15:13.5614 2025-01-08T21:15:14.857Z,1736370914.857 [DAT](INFO): Rx dataTimestamp_ set to:1736370914.856647 2025-01-08T21:15:14.857Z,1736370914.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777305 2025-01-08T21:15:14.961Z,1736370914.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:14.969Z,1736370914.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 588.70 m. 2025-01-08T21:15:14.975Z,1736370914.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 588.700012 m, nav range: 29.753899 m, bearing: 243.526649 deg, approach rate: -0.423768 m/s, LOS rate: 0.280546 deg/s, cmd heading: 318.676245 deg, new cmd heading: 319.004376 deg. 2025-01-08T21:15:14.977Z,1736370914.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.567677 target range: 588.700012 and range: 588.70 m. 2025-01-08T21:15:15.109Z,1736370915.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:15.111Z,1736370915.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030384 2025-01-08T21:15:15.360Z,1736370915.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:15.367Z,1736370915.367 [DAT](INFO): DAT read: 21:15:13.5614 LVL= 24496, 32753, 29378, 32755, AGC= 69, IDX= 411,-0.22,-0.504,-1.958,-1.206,-0.979, PHS= 0.563,-0.932,-0.230, RAW= 118.0, 9.3, CAL= 126.7, 5.6, ROT= 23.3, -5.6 2025-01-08T21:15:15.368Z,1736370915.368 [DAT](INFO): got valid direction response: 21:15:13.5614 LVL= 24496, 32753, 29378, 32755, AGC= 69, IDX= 411,-0.22,-0.504,-1.958,-1.206,-0.979, PHS= 0.563,-0.932,-0.230, RAW= 118.0, 9.3, CAL= 126.7, 5.6, ROT= 23.3, -5.6 2025-01-08T21:15:15.369Z,1736370915.369 [DAT](INFO): DAT read: Bearing 23.3, -5.6 (Local) 2025-01-08T21:15:15.369Z,1736370915.369 [DAT](INFO): Local bearing/azimuth received: Bearing 23.3, -5.6 (Local) 2025-01-08T21:15:15.371Z,1736370915.371 [DAT](INFO): DAT read: Range 10 to 50 : 592.1 m (Round-trip 789.5 ms) speed 0.4 m/s 2025-01-08T21:15:15.372Z,1736370915.372 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:15:15.372Z,1736370915.372 [DAT](INFO): direction in FSK: [-0.295177,-0.362552,0.883983] 2025-01-08T21:15:15.373Z,1736370915.373 [DAT](INFO): publishing direction and range info 2025-01-08T21:15:15.392Z,1736370915.392 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:15.392Z,1736370915.392 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:15.393Z,1736370915.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:15.501Z,1736370915.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:15.533Z,1736370915.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 592.099976 m, deltaT: 4.535954 s, deltaX: 3.399963 m, approachRate: 0.749559 m/s, rangeRepo size: 4 2025-01-08T21:15:15.535Z,1736370915.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 592.099976 m, bearing: 119.645749 deg, lat: 36.904166 deg, lon: -122.112083 deg, deltaT: 4.535954 s, deltaX: 3.399963 m, approachRate: 0.749559 m/s, posRepo size: 4 2025-01-08T21:15:15.539Z,1736370915.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:15.542Z,1736370915.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 43.306164 m, bearing: 124.089319 deg, approach rate: 0.000000 m/s, LOS rate: 0.280546 deg/s, cmd heading: 319.004368 deg, new cmd heading: 319.478049 deg. 2025-01-08T21:15:15.547Z,1736370915.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575944 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:15.612Z,1736370915.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:15.613Z,1736370915.613 [DAT](INFO): DAT read: user:1617> 2025-01-08T21:15:15.614Z,1736370915.614 [DAT](INFO): DAT read: Tx time:21:15:14.8677 2025-01-08T21:15:15.614Z,1736370915.614 [DAT](INFO): Ping request sent. 2025-01-08T21:15:15.614Z,1736370915.614 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:15:15.614Z,1736370915.614 [DAT](INFO): publishing transmit ping time 2025-01-08T21:15:15.615Z,1736370915.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738 2025-01-08T21:15:15.847Z,1736370915.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:15.854Z,1736370915.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:15.857Z,1736370915.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:15.859Z,1736370915.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 43.341087 m, bearing: 123.902142 deg, approach rate: 0.107557 m/s, LOS rate: -0.576000 deg/s, cmd heading: 319.478055 deg, new cmd heading: 318.916995 deg. 2025-01-08T21:15:15.860Z,1736370915.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.566152 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:15.864Z,1736370915.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:15.865Z,1736370915.865 [DAT](INFO): DAT read: TxSync time:21:15:14.8669 2025-01-08T21:15:15.865Z,1736370915.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251242 2025-01-08T21:15:16.116Z,1736370916.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:16.117Z,1736370916.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502418 2025-01-08T21:15:16.266Z,1736370916.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:16.287Z,1736370916.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:16.300Z,1736370916.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 43.389107 m, bearing: 123.677451 deg, approach rate: 0.112114 m/s, LOS rate: -0.524021 deg/s, cmd heading: 318.916996 deg, new cmd heading: 318.243701 deg. 2025-01-08T21:15:16.324Z,1736370916.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554400 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:16.368Z,1736370916.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:16.369Z,1736370916.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754379 2025-01-08T21:15:16.621Z,1736370916.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:16.621Z,1736370916.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007091 2025-01-08T21:15:16.708Z,1736370916.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:16.718Z,1736370916.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:16.721Z,1736370916.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 43.455643 m, bearing: 123.448012 deg, approach rate: 0.153542 m/s, LOS rate: -0.528656 deg/s, cmd heading: 318.243703 deg, new cmd heading: 317.556475 deg. 2025-01-08T21:15:16.722Z,1736370916.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.542406 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:16.872Z,1736370916.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:16.873Z,1736370916.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258550 2025-01-08T21:15:17.059Z,1736370917.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:17.091Z,1736370917.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:17.095Z,1736370917.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 43.513073 m, bearing: 123.269660 deg, approach rate: 0.155731 m/s, LOS rate: -0.482989 deg/s, cmd heading: 317.556477 deg, new cmd heading: 317.022144 deg. 2025-01-08T21:15:17.104Z,1736370917.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.533080 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:17.124Z,1736370917.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:17.125Z,1736370917.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510378 2025-01-08T21:15:17.388Z,1736370917.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:17.389Z,1736370917.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774588 2025-01-08T21:15:17.526Z,1736370917.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:17.536Z,1736370917.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:17.538Z,1736370917.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 43.617508 m, bearing: 123.031146 deg, approach rate: 0.232931 m/s, LOS rate: -0.530704 deg/s, cmd heading: 317.022137 deg, new cmd heading: 316.308348 deg. 2025-01-08T21:15:17.540Z,1736370917.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520622 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:17.638Z,1736370917.638 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:17.638Z,1736370917.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024305 2025-01-08T21:15:17.883Z,1736370917.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:17.889Z,1736370917.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:17.892Z,1736370917.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:17.893Z,1736370917.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278401 2025-01-08T21:15:17.893Z,1736370917.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:17.896Z,1736370917.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 43.706314 m, bearing: 122.857442 deg, approach rate: 0.249402 m/s, LOS rate: -0.486835 deg/s, cmd heading: 316.308355 deg, new cmd heading: 315.788317 deg. 2025-01-08T21:15:17.897Z,1736370917.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511546 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:18.144Z,1736370918.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:18.145Z,1736370918.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530791 2025-01-08T21:15:18.286Z,1736370918.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:18.299Z,1736370918.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:18.302Z,1736370918.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 43.811852 m, bearing: 122.665705 deg, approach rate: 0.259038 m/s, LOS rate: -0.469478 deg/s, cmd heading: 315.788305 deg, new cmd heading: 315.214500 deg. 2025-01-08T21:15:18.303Z,1736370918.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501531 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:18.396Z,1736370918.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:18.397Z,1736370918.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782388 2025-01-08T21:15:18.649Z,1736370918.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:18.650Z,1736370918.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035605 2025-01-08T21:15:18.722Z,1736370918.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:18.732Z,1736370918.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:18.734Z,1736370918.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 43.956470 m, bearing: 122.454517 deg, approach rate: 0.334621 m/s, LOS rate: -0.487040 deg/s, cmd heading: 315.214487 deg, new cmd heading: 314.583033 deg. 2025-01-08T21:15:18.735Z,1736370918.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.490510 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:18.900Z,1736370918.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:18.900Z,1736370918.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286216 2025-01-08T21:15:19.086Z,1736370919.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:19.096Z,1736370919.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:19.098Z,1736370919.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 44.081718 m, bearing: 122.283712 deg, approach rate: 0.343713 m/s, LOS rate: -0.467401 deg/s, cmd heading: 314.583022 deg, new cmd heading: 314.072077 deg. 2025-01-08T21:15:19.099Z,1736370919.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481592 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:19.152Z,1736370919.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:19.153Z,1736370919.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538400 2025-01-08T21:15:19.405Z,1736370919.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:19.408Z,1736370919.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793295 2025-01-08T21:15:19.505Z,1736370919.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:19.531Z,1736370919.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:19.534Z,1736370919.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 44.262344 m, bearing: 122.078343 deg, approach rate: 0.430524 m/s, LOS rate: -0.487500 deg/s, cmd heading: 314.072070 deg, new cmd heading: 313.458502 deg. 2025-01-08T21:15:19.539Z,1736370919.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470883 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:19.656Z,1736370919.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:19.657Z,1736370919.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042862 2025-01-08T21:15:19.894Z,1736370919.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:19.901Z,1736370919.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:19.903Z,1736370919.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:19.912Z,1736370919.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:19.912Z,1736370919.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.298138 2025-01-08T21:15:19.922Z,1736370919.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 44.434761 m, bearing: 121.895496 deg, approach rate: 0.444513 m/s, LOS rate: -0.469573 deg/s, cmd heading: 313.458500 deg, new cmd heading: 312.912106 deg. 2025-01-08T21:15:19.923Z,1736370919.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461347 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:20.164Z,1736370920.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:20.165Z,1736370920.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550382 2025-01-08T21:15:20.295Z,1736370920.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:20.320Z,1736370920.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:20.322Z,1736370920.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 44.616631 m, bearing: 121.714963 deg, approach rate: 0.453959 m/s, LOS rate: -0.448786 deg/s, cmd heading: 312.912112 deg, new cmd heading: 312.372736 deg. 2025-01-08T21:15:20.329Z,1736370920.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451933 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:20.416Z,1736370920.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:20.417Z,1736370920.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802556 2025-01-08T21:15:20.476Z,1736370920.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:15:20.668Z,1736370920.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:20.670Z,1736370920.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.055275 2025-01-08T21:15:20.756Z,1736370920.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:20.783Z,1736370920.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:20.790Z,1736370920.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 44.866177 m, bearing: 121.494193 deg, approach rate: 0.520764 m/s, LOS rate: -0.458150 deg/s, cmd heading: 312.372746 deg, new cmd heading: 311.714150 deg. 2025-01-08T21:15:20.791Z,1736370920.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440438 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:20.924Z,1736370920.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:20.925Z,1736370920.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.310912 2025-01-08T21:15:21.118Z,1736370921.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:21.132Z,1736370921.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:21.134Z,1736370921.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 45.066246 m, bearing: 121.329038 deg, approach rate: 0.572845 m/s, LOS rate: -0.470775 deg/s, cmd heading: 311.714152 deg, new cmd heading: 311.220901 deg. 2025-01-08T21:15:21.136Z,1736370921.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.431829 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:21.176Z,1736370921.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:21.176Z,1736370921.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.562340 2025-01-08T21:15:21.430Z,1736370921.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:21.432Z,1736370921.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.817587 2025-01-08T21:15:21.480Z,1736370921.480 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:15:21.632Z,1736370921.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:21.640Z,1736370921.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:21.660Z,1736370921.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 45.377037 m, bearing: 121.075444 deg, approach rate: 0.611421 m/s, LOS rate: -0.495480 deg/s, cmd heading: 311.220903 deg, new cmd heading: 310.465375 deg. 2025-01-08T21:15:21.662Z,1736370921.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.418643 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:21.680Z,1736370921.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:21.681Z,1736370921.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.067077 2025-01-08T21:15:21.932Z,1736370921.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:21.933Z,1736370921.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.319112 2025-01-08T21:15:22.114Z,1736370922.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:22.147Z,1736370922.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:22.149Z,1736370922.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:22.152Z,1736370922.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 45.678406 m, bearing: 120.860266 deg, approach rate: 0.592071 m/s, LOS rate: -0.419949 deg/s, cmd heading: 310.465374 deg, new cmd heading: 309.824129 deg. 2025-01-08T21:15:22.153Z,1736370922.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.407451 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:22.184Z,1736370922.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:22.185Z,1736370922.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.571136 2025-01-08T21:15:22.438Z,1736370922.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:22.440Z,1736370922.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.825596 2025-01-08T21:15:22.623Z,1736370922.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:22.632Z,1736370922.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:22.635Z,1736370922.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 46.015182 m, bearing: 120.623630 deg, approach rate: 0.697367 m/s, LOS rate: -0.486418 deg/s, cmd heading: 309.824129 deg, new cmd heading: 309.119452 deg. 2025-01-08T21:15:22.636Z,1736370922.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395152 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:22.690Z,1736370922.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:22.690Z,1736370922.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.076233 2025-01-08T21:15:22.940Z,1736370922.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:22.940Z,1736370922.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.326233 2025-01-08T21:15:23.024Z,1736370923.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:23.033Z,1736370923.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:23.036Z,1736370923.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 46.284164 m, bearing: 120.448331 deg, approach rate: 0.671490 m/s, LOS rate: -0.435072 deg/s, cmd heading: 309.119445 deg, new cmd heading: 308.596622 deg. 2025-01-08T21:15:23.037Z,1736370923.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.386027 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:23.192Z,1736370923.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:23.193Z,1736370923.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.578381 2025-01-08T21:15:23.455Z,1736370923.455 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:23.457Z,1736370923.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.842815 2025-01-08T21:15:23.497Z,1736370923.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:23.509Z,1736370923.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:23.517Z,1736370923.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 46.602852 m, bearing: 120.243614 deg, approach rate: 0.668590 m/s, LOS rate: -0.426549 deg/s, cmd heading: 308.596635 deg, new cmd heading: 307.986706 deg. 2025-01-08T21:15:23.518Z,1736370923.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.375382 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:23.704Z,1736370923.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:23.704Z,1736370923.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.090251 2025-01-08T21:15:23.867Z,1736370923.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:23.876Z,1736370923.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:23.881Z,1736370923.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 46.857414 m, bearing: 120.095436 deg, approach rate: 0.694217 m/s, LOS rate: -0.401899 deg/s, cmd heading: 307.986699 deg, new cmd heading: 307.544591 deg. 2025-01-08T21:15:23.881Z,1736370923.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367666 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:23.956Z,1736370923.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:23.957Z,1736370923.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.342445 2025-01-08T21:15:24.208Z,1736370924.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:24.208Z,1736370924.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.594203 2025-01-08T21:15:24.256Z,1736370924.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:24.264Z,1736370924.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:24.266Z,1736370924.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:24.269Z,1736370924.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 47.125553 m, bearing: 119.941278 deg, approach rate: 0.687925 m/s, LOS rate: -0.393251 deg/s, cmd heading: 307.544594 deg, new cmd heading: 307.084761 deg. 2025-01-08T21:15:24.270Z,1736370924.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359640 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:24.461Z,1736370924.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:24.464Z,1736370924.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.849252 2025-01-08T21:15:24.696Z,1736370924.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:24.706Z,1736370924.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:24.708Z,1736370924.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 47.402748 m, bearing: 119.791873 deg, approach rate: 0.630467 m/s, LOS rate: -0.337828 deg/s, cmd heading: 307.084759 deg, new cmd heading: 306.639174 deg. 2025-01-08T21:15:24.709Z,1736370924.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.351863 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:24.713Z,1736370924.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:24.713Z,1736370924.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.099182 2025-01-08T21:15:24.965Z,1736370924.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:24.965Z,1736370924.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.351339 2025-01-08T21:15:25.066Z,1736370925.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:25.075Z,1736370925.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:25.077Z,1736370925.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 47.660118 m, bearing: 119.664663 deg, approach rate: 0.697546 m/s, LOS rate: -0.342914 deg/s, cmd heading: 306.639184 deg, new cmd heading: 306.259621 deg. 2025-01-08T21:15:25.078Z,1736370925.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345239 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:25.216Z,1736370925.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:25.217Z,1736370925.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.602697 2025-01-08T21:15:25.470Z,1736370925.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:25.472Z,1736370925.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.857423 2025-01-08T21:15:25.572Z,1736370925.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:25.582Z,1736370925.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:25.585Z,1736370925.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 47.957542 m, bearing: 119.516551 deg, approach rate: 0.586030 m/s, LOS rate: -0.290021 deg/s, cmd heading: 306.259617 deg, new cmd heading: 305.818049 deg. 2025-01-08T21:15:25.586Z,1736370925.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.337532 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:25.720Z,1736370925.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:25.720Z,1736370925.720 [DAT](INFO): Reached modem response timeout 2025-01-08T21:15:25.720Z,1736370925.720 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:15:25.720Z,1736370925.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:25.879Z,1736370925.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:25.908Z,1736370925.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:25.910Z,1736370925.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 48.139416 m, bearing: 119.433810 deg, approach rate: 0.595531 m/s, LOS rate: -0.269908 deg/s, cmd heading: 305.818059 deg, new cmd heading: 305.570774 deg. 2025-01-08T21:15:25.916Z,1736370925.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.333216 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:25.973Z,1736370925.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:25.973Z,1736370925.973 [DAT](INFO): Reached modem response timeout 2025-01-08T21:15:25.973Z,1736370925.973 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:15:25.974Z,1736370925.974 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:26.224Z,1736370926.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:26.224Z,1736370926.224 [DAT](INFO): Reached modem response timeout 2025-01-08T21:15:26.224Z,1736370926.224 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:15:26.225Z,1736370926.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:26.291Z,1736370926.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:26.299Z,1736370926.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:26.301Z,1736370926.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:26.304Z,1736370926.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 48.387169 m, bearing: 119.331143 deg, approach rate: 0.599281 m/s, LOS rate: -0.247067 deg/s, cmd heading: 305.570779 deg, new cmd heading: 305.264357 deg. 2025-01-08T21:15:26.305Z,1736370926.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327868 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:26.478Z,1736370926.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:26.481Z,1736370926.481 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:15:26.482Z,1736370926.482 [DAT](INFO): response not received 2025-01-08T21:15:26.483Z,1736370926.483 [DAT](INFO): DAT read: user:1618> 2025-01-08T21:15:26.486Z,1736370926.486 [DAT](INFO): DAT read: Tx time:21:15:25.8178 2025-01-08T21:15:26.487Z,1736370926.487 [DAT](INFO): Ping request sent. 2025-01-08T21:15:26.488Z,1736370926.488 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:15:26.489Z,1736370926.489 [DAT](INFO): publishing transmit ping time 2025-01-08T21:15:26.490Z,1736370926.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002895 2025-01-08T21:15:26.711Z,1736370926.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:26.728Z,1736370926.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:26.729Z,1736370926.729 [DAT](INFO): DAT read: TxSync time:21:15:25.8170 2025-01-08T21:15:26.730Z,1736370926.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242920 2025-01-08T21:15:26.756Z,1736370926.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:26.758Z,1736370926.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 48.606468 m, bearing: 119.248658 deg, approach rate: 0.487009 m/s, LOS rate: -0.182352 deg/s, cmd heading: 305.264349 deg, new cmd heading: 305.018013 deg. 2025-01-08T21:15:26.768Z,1736370926.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323569 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:26.980Z,1736370926.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:26.981Z,1736370926.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493480 2025-01-08T21:15:27.098Z,1736370927.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:27.106Z,1736370927.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:27.109Z,1736370927.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 48.810493 m, bearing: 119.179400 deg, approach rate: 0.574218 m/s, LOS rate: -0.194108 deg/s, cmd heading: 305.018025 deg, new cmd heading: 304.811121 deg. 2025-01-08T21:15:27.110Z,1736370927.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319958 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:27.232Z,1736370927.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:27.233Z,1736370927.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745804 2025-01-08T21:15:27.485Z,1736370927.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:27.488Z,1736370927.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000092 2025-01-08T21:15:27.597Z,1736370927.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:27.606Z,1736370927.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:27.609Z,1736370927.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 49.035278 m, bearing: 119.123261 deg, approach rate: 0.450079 m/s, LOS rate: -0.111890 deg/s, cmd heading: 304.811125 deg, new cmd heading: 304.643481 deg. 2025-01-08T21:15:27.610Z,1736370927.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317032 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:27.736Z,1736370927.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:27.737Z,1736370927.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249911 2025-01-08T21:15:27.905Z,1736370927.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:27.914Z,1736370927.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:27.917Z,1736370927.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 49.174282 m, bearing: 119.093398 deg, approach rate: 0.450736 m/s, LOS rate: -0.096561 deg/s, cmd heading: 304.643485 deg, new cmd heading: 304.554149 deg. 2025-01-08T21:15:27.918Z,1736370927.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315473 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:27.988Z,1736370927.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:27.989Z,1736370927.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502104 2025-01-08T21:15:28.240Z,1736370928.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:28.241Z,1736370928.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753595 2025-01-08T21:15:28.312Z,1736370928.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:28.319Z,1736370928.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:28.337Z,1736370928.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:28.344Z,1736370928.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 49.359188 m, bearing: 119.060718 deg, approach rate: 0.437556 m/s, LOS rate: -0.077044 deg/s, cmd heading: 304.554146 deg, new cmd heading: 304.456473 deg. 2025-01-08T21:15:28.346Z,1736370928.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313768 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:28.494Z,1736370928.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:28.497Z,1736370928.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009231 2025-01-08T21:15:28.744Z,1736370928.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:28.746Z,1736370928.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258525 2025-01-08T21:15:28.750Z,1736370928.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:28.759Z,1736370928.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:28.786Z,1736370928.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 49.541466 m, bearing: 119.050390 deg, approach rate: 0.432123 m/s, LOS rate: -0.024393 deg/s, cmd heading: 304.456475 deg, new cmd heading: 304.425606 deg. 2025-01-08T21:15:28.792Z,1736370928.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313229 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:28.996Z,1736370928.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:28.997Z,1736370928.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509840 2025-01-08T21:15:29.139Z,1736370929.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:29.152Z,1736370929.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:29.155Z,1736370929.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 49.703068 m, bearing: 119.041298 deg, approach rate: 0.412391 m/s, LOS rate: -0.023128 deg/s, cmd heading: 304.425602 deg, new cmd heading: 304.398413 deg. 2025-01-08T21:15:29.160Z,1736370929.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.312755 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:29.248Z,1736370929.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:29.250Z,1736370929.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762339 2025-01-08T21:15:29.501Z,1736370929.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:29.504Z,1736370929.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015754 2025-01-08T21:15:29.602Z,1736370929.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:29.610Z,1736370929.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:29.614Z,1736370929.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 49.886620 m, bearing: 119.067834 deg, approach rate: 0.399296 m/s, LOS rate: 0.057515 deg/s, cmd heading: 304.398418 deg, new cmd heading: 304.477735 deg. 2025-01-08T21:15:29.615Z,1736370929.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314139 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:29.752Z,1736370929.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:29.755Z,1736370929.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267106 2025-01-08T21:15:29.933Z,1736370929.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:29.953Z,1736370929.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:29.961Z,1736370929.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 50.017464 m, bearing: 119.090895 deg, approach rate: 0.381772 m/s, LOS rate: 0.067111 deg/s, cmd heading: 304.477730 deg, new cmd heading: 304.546732 deg. 2025-01-08T21:15:29.962Z,1736370929.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315343 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:30.006Z,1736370930.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:30.007Z,1736370930.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519477 2025-01-08T21:15:30.256Z,1736370930.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:30.256Z,1736370930.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769339 2025-01-08T21:15:30.344Z,1736370930.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:30.351Z,1736370930.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:30.353Z,1736370930.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:30.356Z,1736370930.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 50.179146 m, bearing: 119.124351 deg, approach rate: 0.404064 m/s, LOS rate: 0.083339 deg/s, cmd heading: 304.546742 deg, new cmd heading: 304.646784 deg. 2025-01-08T21:15:30.357Z,1736370930.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317090 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:30.526Z,1736370930.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:30.528Z,1736370930.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040914 2025-01-08T21:15:30.765Z,1736370930.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:30.774Z,1736370930.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:30.776Z,1736370930.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:30.777Z,1736370930.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289566 2025-01-08T21:15:30.780Z,1736370930.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 50.357605 m, bearing: 119.175285 deg, approach rate: 0.424352 m/s, LOS rate: 0.120685 deg/s, cmd heading: 304.646791 deg, new cmd heading: 304.799051 deg. 2025-01-08T21:15:30.781Z,1736370930.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319747 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:31.028Z,1736370931.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:31.029Z,1736370931.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.541994 2025-01-08T21:15:31.154Z,1736370931.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:31.162Z,1736370931.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:31.170Z,1736370931.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 50.521275 m, bearing: 119.226311 deg, approach rate: 0.421230 m/s, LOS rate: 0.130899 deg/s, cmd heading: 304.799050 deg, new cmd heading: 304.951632 deg. 2025-01-08T21:15:31.171Z,1736370931.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322410 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:31.281Z,1736370931.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:31.281Z,1736370931.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794277 2025-01-08T21:15:31.533Z,1736370931.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:31.536Z,1736370931.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047630 2025-01-08T21:15:31.634Z,1736370931.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:31.643Z,1736370931.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:31.668Z,1736370931.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 50.752388 m, bearing: 119.298530 deg, approach rate: 0.481149 m/s, LOS rate: 0.149665 deg/s, cmd heading: 304.951636 deg, new cmd heading: 305.167304 deg. 2025-01-08T21:15:31.673Z,1736370931.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326174 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:31.789Z,1736370931.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:31.789Z,1736370931.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.302249 2025-01-08T21:15:31.952Z,1736370931.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:31.960Z,1736370931.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:31.980Z,1736370931.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 50.904762 m, bearing: 119.348725 deg, approach rate: 0.479866 m/s, LOS rate: 0.157607 deg/s, cmd heading: 305.167306 deg, new cmd heading: 305.317443 deg. 2025-01-08T21:15:31.981Z,1736370931.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.328794 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:32.040Z,1736370932.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:32.040Z,1736370932.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.553391 2025-01-08T21:15:32.292Z,1736370932.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:32.292Z,1736370932.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.805390 2025-01-08T21:15:32.361Z,1736370932.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:32.368Z,1736370932.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:32.370Z,1736370932.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:32.373Z,1736370932.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 51.100079 m, bearing: 119.415969 deg, approach rate: 0.476233 m/s, LOS rate: 0.163331 deg/s, cmd heading: 305.317434 deg, new cmd heading: 305.518392 deg. 2025-01-08T21:15:32.374Z,1736370932.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.332302 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:32.546Z,1736370932.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:32.549Z,1736370932.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.061260 2025-01-08T21:15:32.758Z,1736370932.758 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250108135.0, +11.4, 0.0,1495.1, 0 2025-01-08T21:15:32.773Z,1736370932.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:15:32.773Z,1736370932.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:32.796Z,1736370932.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:32.796Z,1736370932.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.309444 2025-01-08T21:15:32.802Z,1736370932.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:32.809Z,1736370932.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 51.296215 m, bearing: 119.485446 deg, approach rate: 0.453738 m/s, LOS rate: 0.160113 deg/s, cmd heading: 305.518405 deg, new cmd heading: 305.726039 deg. 2025-01-08T21:15:32.811Z,1736370932.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.335926 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:33.048Z,1736370933.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:33.048Z,1736370933.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.561435 2025-01-08T21:15:33.193Z,1736370933.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:15:33.193Z,1736370933.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:33.201Z,1736370933.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:33.220Z,1736370933.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 51.495724 m, bearing: 119.557410 deg, approach rate: 0.500363 m/s, LOS rate: 0.179784 deg/s, cmd heading: 305.726043 deg, new cmd heading: 305.941096 deg. 2025-01-08T21:15:33.221Z,1736370933.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339679 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:33.300Z,1736370933.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:33.300Z,1736370933.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813440 2025-01-08T21:15:33.553Z,1736370933.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:33.556Z,1736370933.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.068352 2025-01-08T21:15:33.679Z,1736370933.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:33.713Z,1736370933.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:33.724Z,1736370933.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 51.814701 m, bearing: 119.621356 deg, approach rate: 0.623732 m/s, LOS rate: 0.124271 deg/s, cmd heading: 305.941084 deg, new cmd heading: 306.131741 deg. 2025-01-08T21:15:33.725Z,1736370933.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343007 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:33.804Z,1736370933.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:33.804Z,1736370933.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.317400 2025-01-08T21:15:34.057Z,1736370934.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:34.057Z,1736370934.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570288 2025-01-08T21:15:34.090Z,1736370934.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:34.113Z,1736370934.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:34.122Z,1736370934.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 52.085594 m, bearing: 119.675189 deg, approach rate: 0.677538 m/s, LOS rate: 0.133944 deg/s, cmd heading: 306.131729 deg, new cmd heading: 306.292389 deg. 2025-01-08T21:15:34.127Z,1736370934.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345811 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:34.313Z,1736370934.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:34.315Z,1736370934.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.827530 2025-01-08T21:15:34.574Z,1736370934.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:34.577Z,1736370934.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.088883 2025-01-08T21:15:34.626Z,1736370934.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:34.653Z,1736370934.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:34.662Z,1736370934.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:34.670Z,1736370934.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 52.438118 m, bearing: 119.743328 deg, approach rate: 0.642698 m/s, LOS rate: 0.123390 deg/s, cmd heading: 306.292402 deg, new cmd heading: 306.495441 deg. 2025-01-08T21:15:34.676Z,1736370934.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.349355 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:34.824Z,1736370934.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:34.824Z,1736370934.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.337335 2025-01-08T21:15:34.991Z,1736370934.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:35.001Z,1736370935.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:35.004Z,1736370935.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 52.706955 m, bearing: 119.772438 deg, approach rate: 0.790848 m/s, LOS rate: 0.085200 deg/s, cmd heading: 306.495450 deg, new cmd heading: 306.582337 deg. 2025-01-08T21:15:35.005Z,1736370935.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.350871 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:35.076Z,1736370935.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:35.077Z,1736370935.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.589597 2025-01-08T21:15:35.329Z,1736370935.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:35.330Z,1736370935.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.842773 2025-01-08T21:15:35.381Z,1736370935.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:35.404Z,1736370935.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:35.424Z,1736370935.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 52.994728 m, bearing: 119.801597 deg, approach rate: 0.716089 m/s, LOS rate: 0.072164 deg/s, cmd heading: 306.582330 deg, new cmd heading: 306.669331 deg. 2025-01-08T21:15:35.425Z,1736370935.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.352389 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:35.580Z,1736370935.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:35.581Z,1736370935.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.093782 2025-01-08T21:15:35.802Z,1736370935.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:35.812Z,1736370935.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:35.815Z,1736370935.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 53.329132 m, bearing: 119.822248 deg, approach rate: 0.820148 m/s, LOS rate: 0.050330 deg/s, cmd heading: 306.669319 deg, new cmd heading: 306.730883 deg. 2025-01-08T21:15:35.816Z,1736370935.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.353464 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:35.832Z,1736370935.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:35.833Z,1736370935.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.345480 2025-01-08T21:15:36.084Z,1736370936.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:36.084Z,1736370936.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.597424 2025-01-08T21:15:36.195Z,1736370936.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:36.203Z,1736370936.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:36.206Z,1736370936.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 53.640953 m, bearing: 119.837990 deg, approach rate: 0.794691 m/s, LOS rate: 0.039885 deg/s, cmd heading: 306.730873 deg, new cmd heading: 306.777824 deg. 2025-01-08T21:15:36.207Z,1736370936.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.354283 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:36.336Z,1736370936.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:36.338Z,1736370936.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.850977 2025-01-08T21:15:36.589Z,1736370936.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:36.591Z,1736370936.591 [DAT](INFO): Reached modem response timeout 2025-01-08T21:15:36.592Z,1736370936.592 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:15:36.592Z,1736370936.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:36.733Z,1736370936.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:36.740Z,1736370936.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:36.742Z,1736370936.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:36.746Z,1736370936.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 54.077736 m, bearing: 119.846472 deg, approach rate: 0.810510 m/s, LOS rate: 0.015613 deg/s, cmd heading: 306.777837 deg, new cmd heading: 306.803079 deg. 2025-01-08T21:15:36.748Z,1736370936.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.354724 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:36.840Z,1736370936.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:36.840Z,1736370936.840 [DAT](INFO): Reached modem response timeout 2025-01-08T21:15:36.841Z,1736370936.841 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:15:36.841Z,1736370936.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:37.080Z,1736370937.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:37.089Z,1736370937.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:37.092Z,1736370937.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:37.092Z,1736370937.092 [DAT](INFO): Reached modem response timeout 2025-01-08T21:15:37.092Z,1736370937.092 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:15:37.093Z,1736370937.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:37.094Z,1736370937.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 54.359497 m, bearing: 119.850707 deg, approach rate: 0.812577 m/s, LOS rate: 0.012150 deg/s, cmd heading: 306.803082 deg, new cmd heading: 306.815721 deg. 2025-01-08T21:15:37.099Z,1736370937.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.354945 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:37.350Z,1736370937.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:37.352Z,1736370937.352 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:15:37.353Z,1736370937.353 [DAT](INFO): response not received 2025-01-08T21:15:37.354Z,1736370937.354 [DAT](INFO): DAT read: user:1619> 2025-01-08T21:15:37.355Z,1736370937.355 [DAT](ERROR): No response from remote modem. 2025-01-08T21:15:37.356Z,1736370937.356 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:15:37.357Z,1736370937.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:37.541Z,1736370937.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:37.551Z,1736370937.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:37.554Z,1736370937.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 54.733688 m, bearing: 119.855145 deg, approach rate: 0.808980 m/s, LOS rate: 0.009530 deg/s, cmd heading: 306.815731 deg, new cmd heading: 306.828955 deg. 2025-01-08T21:15:37.555Z,1736370937.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355175 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:37.600Z,1736370937.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:37.601Z,1736370937.601 [DAT](INFO): DAT read: Tx time:21:15:36.7680 2025-01-08T21:15:37.601Z,1736370937.601 [DAT](INFO): Ping request sent. 2025-01-08T21:15:37.601Z,1736370937.601 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:15:37.602Z,1736370937.602 [DAT](INFO): DAT read: TxSync time:21:15:36.7672 2025-01-08T21:15:37.602Z,1736370937.602 [DAT](INFO): publishing transmit ping time 2025-01-08T21:15:37.603Z,1736370937.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001562 2025-01-08T21:15:37.852Z,1736370937.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:37.852Z,1736370937.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251373 2025-01-08T21:15:37.962Z,1736370937.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:37.970Z,1736370937.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:37.974Z,1736370937.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 55.061260 m, bearing: 119.854280 deg, approach rate: 0.781490 m/s, LOS rate: -0.002053 deg/s, cmd heading: 306.828954 deg, new cmd heading: 306.826373 deg. 2025-01-08T21:15:37.975Z,1736370937.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355131 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:38.104Z,1736370938.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:38.104Z,1736370938.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503460 2025-01-08T21:15:38.318Z,1736370938.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:38.332Z,1736370938.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:38.335Z,1736370938.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 55.338417 m, bearing: 119.852458 deg, approach rate: 0.765910 m/s, LOS rate: -0.005008 deg/s, cmd heading: 306.826386 deg, new cmd heading: 306.820950 deg. 2025-01-08T21:15:38.336Z,1736370938.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355036 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:38.357Z,1736370938.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:38.359Z,1736370938.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757382 2025-01-08T21:15:38.609Z,1736370938.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:38.610Z,1736370938.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009033 2025-01-08T21:15:38.737Z,1736370938.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:38.784Z,1736370938.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:38.794Z,1736370938.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:38.805Z,1736370938.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 55.639629 m, bearing: 119.852853 deg, approach rate: 0.654179 m/s, LOS rate: 0.000854 deg/s, cmd heading: 306.820949 deg, new cmd heading: 306.822128 deg. 2025-01-08T21:15:38.806Z,1736370938.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355056 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:38.861Z,1736370938.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:38.862Z,1736370938.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261051 2025-01-08T21:15:39.112Z,1736370939.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:39.113Z,1736370939.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511767 2025-01-08T21:15:39.148Z,1736370939.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:39.165Z,1736370939.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:39.174Z,1736370939.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 55.931179 m, bearing: 119.852678 deg, approach rate: 0.783294 m/s, LOS rate: -0.000468 deg/s, cmd heading: 306.822124 deg, new cmd heading: 306.821602 deg. 2025-01-08T21:15:39.180Z,1736370939.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355047 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:39.364Z,1736370939.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:39.364Z,1736370939.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763358 2025-01-08T21:15:39.534Z,1736370939.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:39.543Z,1736370939.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:39.548Z,1736370939.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 56.211773 m, bearing: 119.853392 deg, approach rate: 0.742542 m/s, LOS rate: 0.001879 deg/s, cmd heading: 306.821605 deg, new cmd heading: 306.823736 deg. 2025-01-08T21:15:39.549Z,1736370939.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355084 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:39.616Z,1736370939.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:39.617Z,1736370939.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016458 2025-01-08T21:15:39.868Z,1736370939.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:39.868Z,1736370939.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267420 2025-01-08T21:15:39.989Z,1736370939.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:39.998Z,1736370939.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:40.001Z,1736370940.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 56.505783 m, bearing: 119.866258 deg, approach rate: 0.645179 m/s, LOS rate: 0.028085 deg/s, cmd heading: 306.823736 deg, new cmd heading: 306.862132 deg. 2025-01-08T21:15:40.002Z,1736370940.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355754 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:40.120Z,1736370940.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:40.120Z,1736370940.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519470 2025-01-08T21:15:40.344Z,1736370940.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:40.371Z,1736370940.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:40.372Z,1736370940.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:40.373Z,1736370940.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771777 2025-01-08T21:15:40.378Z,1736370940.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 56.735313 m, bearing: 119.877173 deg, approach rate: 0.616114 m/s, LOS rate: 0.029181 deg/s, cmd heading: 306.862122 deg, new cmd heading: 306.894736 deg. 2025-01-08T21:15:40.379Z,1736370940.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.356324 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:40.625Z,1736370940.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:40.628Z,1736370940.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026667 2025-01-08T21:15:40.789Z,1736370940.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:40.801Z,1736370940.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:40.804Z,1736370940.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:40.815Z,1736370940.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 57.000404 m, bearing: 119.904329 deg, approach rate: 0.613284 m/s, LOS rate: 0.062532 deg/s, cmd heading: 306.894743 deg, new cmd heading: 306.975830 deg. 2025-01-08T21:15:40.816Z,1736370940.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357739 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:40.876Z,1736370940.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:40.878Z,1736370940.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276655 2025-01-08T21:15:41.128Z,1736370941.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:41.129Z,1736370941.129 [DAT](INFO): DAT read: Rx Time:21:15:39.9503 2025-01-08T21:15:41.130Z,1736370941.130 [DAT](INFO): Rx dataTimestamp_ set to:1736370941.129408 2025-01-08T21:15:41.130Z,1736370941.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529254 2025-01-08T21:15:41.178Z,1736370941.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:41.197Z,1736370941.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:41.209Z,1736370941.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 57.231773 m, bearing: 119.929046 deg, approach rate: 0.587925 m/s, LOS rate: 0.062554 deg/s, cmd heading: 306.975831 deg, new cmd heading: 307.049682 deg. 2025-01-08T21:15:41.210Z,1736370941.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359028 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:41.380Z,1736370941.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:41.381Z,1736370941.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779686 2025-01-08T21:15:41.565Z,1736370941.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:41.573Z,1736370941.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.10 m. 2025-01-08T21:15:41.576Z,1736370941.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.099976 m, nav range: 57.461739 m, bearing: 119.955454 deg, approach rate: 0.610342 m/s, LOS rate: 0.069809 deg/s, cmd heading: 307.049679 deg, new cmd heading: 307.128587 deg. 2025-01-08T21:15:41.578Z,1736370941.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.360405 target range: 592.099976 and range: 592.10 m. 2025-01-08T21:15:41.634Z,1736370941.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:41.670Z,1736370941.670 [DAT](INFO): DAT read: 21:15:39.9503 LVL= 27840, 27441, 14146, 32755, AGC= 71, IDX= 269, 0.08, 1.053, 0.408, 2.417, 1.411, PHS=-0.270,-0.955, 1.003, RAW= 189.8, 2.6, CAL= 189.8, -5.4, ROT= 320.2, 5.4 2025-01-08T21:15:41.688Z,1736370941.688 [DAT](INFO): got valid direction response: 21:15:39.9503 LVL= 27840, 27441, 14146, 32755, AGC= 71, IDX= 269, 0.08, 1.053, 0.408, 2.417, 1.411, PHS=-0.270,-0.955, 1.003, RAW= 189.8, 2.6, CAL= 189.8, -5.4, ROT= 320.2, 5.4 2025-01-08T21:15:41.691Z,1736370941.691 [DAT](INFO): DAT read: Bearing 320.2, 5.4 (Local) 2025-01-08T21:15:41.698Z,1736370941.698 [DAT](INFO): Local bearing/azimuth received: Bearing 320.2, 5.4 (Local) 2025-01-08T21:15:41.713Z,1736370941.713 [DAT](INFO): DAT read: Range 10 to 50 : 583.6 m (Round-trip 778.2 ms) speed 0.2 m/s 2025-01-08T21:15:41.721Z,1736370941.721 [DAT](INFO): DAT read: user:1620> 2025-01-08T21:15:41.728Z,1736370941.728 [DAT](INFO): DAT read: Tx time:21:15:41.0680 2025-01-08T21:15:41.729Z,1736370941.729 [DAT](INFO): Ping request sent. 2025-01-08T21:15:41.730Z,1736370941.730 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:15:41.731Z,1736370941.731 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:15:41.743Z,1736370941.743 [DAT](INFO): direction in FSK: [-0.120174,-0.984475,-0.127936] 2025-01-08T21:15:41.743Z,1736370941.743 [DAT](INFO): publishing transmit ping time 2025-01-08T21:15:41.747Z,1736370941.747 [DAT](INFO): publishing direction and range info 2025-01-08T21:15:41.751Z,1736370941.751 [DAT](INFO): publishing transmit ping time 2025-01-08T21:15:41.751Z,1736370941.751 [DAT](INFO): publishing direction and range info 2025-01-08T21:15:41.884Z,1736370941.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:41.885Z,1736370941.885 [DAT](INFO): DAT read: TxSync time:21:15:41.0672 2025-01-08T21:15:42.036Z,1736370942.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:42.079Z,1736370942.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 583.599976 m, deltaT: 26.274308 s, deltaX: -8.500000 m, approachRate: -0.323510 m/s, rangeRepo size: 4 2025-01-08T21:15:42.081Z,1736370942.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 583.599976 m, bearing: 210.619219 deg, lat: 36.903310 deg, lon: -122.112083 deg, deltaT: 26.274308 s, deltaX: -8.500000 m, approachRate: -0.323510 m/s, posRepo size: 4 2025-01-08T21:15:42.084Z,1736370942.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.60 m. 2025-01-08T21:15:42.086Z,1736370942.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.599976 m, nav range: 133.779236 m, bearing: 158.058684 deg, approach rate: 0.000000 m/s, LOS rate: 0.069809 deg/s, cmd heading: 307.128581 deg, new cmd heading: 307.232644 deg. 2025-01-08T21:15:42.088Z,1736370942.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.362221 target range: 583.599976 and range: 583.60 m. 2025-01-08T21:15:42.137Z,1736370942.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:42.389Z,1736370942.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:42.492Z,1736370942.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:42.542Z,1736370942.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.60 m. 2025-01-08T21:15:42.549Z,1736370942.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.599976 m, nav range: 134.005539 m, bearing: 158.007856 deg, approach rate: 0.479920 m/s, LOS rate: -0.107608 deg/s, cmd heading: 307.232646 deg, new cmd heading: 307.080421 deg. 2025-01-08T21:15:42.550Z,1736370942.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359564 target range: 583.599976 and range: 583.60 m. 2025-01-08T21:15:42.640Z,1736370942.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:42.892Z,1736370942.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:42.941Z,1736370942.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:42.949Z,1736370942.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:42.951Z,1736370942.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.60 m. 2025-01-08T21:15:42.954Z,1736370942.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.599976 m, nav range: 134.230759 m, bearing: 157.962054 deg, approach rate: 0.550288 m/s, LOS rate: -0.111722 deg/s, cmd heading: 307.080415 deg, new cmd heading: 306.943239 deg. 2025-01-08T21:15:42.955Z,1736370942.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357170 target range: 583.599976 and range: 583.60 m. 2025-01-08T21:15:43.145Z,1736370943.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:43.146Z,1736370943.146 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:43.146Z,1736370943.146 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:43.146Z,1736370943.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:43.340Z,1736370943.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:43.369Z,1736370943.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.60 m. 2025-01-08T21:15:43.379Z,1736370943.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.599976 m, nav range: 134.431732 m, bearing: 157.921914 deg, approach rate: 0.481270 m/s, LOS rate: -0.095980 deg/s, cmd heading: 306.943237 deg, new cmd heading: 306.822996 deg. 2025-01-08T21:15:43.382Z,1736370943.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355072 target range: 583.599976 and range: 583.60 m. 2025-01-08T21:15:43.396Z,1736370943.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:43.396Z,1736370943.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.667288 2025-01-08T21:15:43.648Z,1736370943.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:43.649Z,1736370943.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.920072 2025-01-08T21:15:43.806Z,1736370943.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:43.816Z,1736370943.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.60 m. 2025-01-08T21:15:43.818Z,1736370943.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.599976 m, nav range: 134.676712 m, bearing: 157.877068 deg, approach rate: 0.547846 m/s, LOS rate: -0.100107 deg/s, cmd heading: 306.822998 deg, new cmd heading: 306.688705 deg. 2025-01-08T21:15:43.820Z,1736370943.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.352728 target range: 583.599976 and range: 583.60 m. 2025-01-08T21:15:43.903Z,1736370943.903 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:43.904Z,1736370943.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.174683 2025-01-08T21:15:44.153Z,1736370944.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:44.164Z,1736370944.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:44.165Z,1736370944.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.435335 2025-01-08T21:15:44.191Z,1736370944.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.60 m. 2025-01-08T21:15:44.195Z,1736370944.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.599976 m, nav range: 134.859314 m, bearing: 157.843757 deg, approach rate: 0.486962 m/s, LOS rate: -0.088713 deg/s, cmd heading: 306.688717 deg, new cmd heading: 306.588919 deg. 2025-01-08T21:15:44.197Z,1736370944.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.350986 target range: 583.599976 and range: 583.60 m. 2025-01-08T21:15:44.416Z,1736370944.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:44.417Z,1736370944.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687725 2025-01-08T21:15:44.549Z,1736370944.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:44.557Z,1736370944.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.60 m. 2025-01-08T21:15:44.560Z,1736370944.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.599976 m, nav range: 135.068207 m, bearing: 157.806462 deg, approach rate: 0.570532 m/s, LOS rate: -0.101702 deg/s, cmd heading: 306.588914 deg, new cmd heading: 306.477204 deg. 2025-01-08T21:15:44.562Z,1736370944.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.349036 target range: 583.599976 and range: 583.60 m. 2025-01-08T21:15:44.669Z,1736370944.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:44.670Z,1736370944.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.940858 2025-01-08T21:15:44.920Z,1736370944.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:44.920Z,1736370944.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191169 2025-01-08T21:15:44.993Z,1736370944.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:45.001Z,1736370945.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:45.004Z,1736370945.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.60 m. 2025-01-08T21:15:45.006Z,1736370945.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.599976 m, nav range: 135.314316 m, bearing: 157.762330 deg, approach rate: 0.551657 m/s, LOS rate: -0.098744 deg/s, cmd heading: 306.477200 deg, new cmd heading: 306.345043 deg. 2025-01-08T21:15:45.007Z,1736370945.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346730 target range: 583.599976 and range: 583.60 m. 2025-01-08T21:15:45.172Z,1736370945.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:45.173Z,1736370945.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443441 2025-01-08T21:15:45.376Z,1736370945.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:45.388Z,1736370945.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.60 m. 2025-01-08T21:15:45.390Z,1736370945.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.599976 m, nav range: 135.525986 m, bearing: 157.724510 deg, approach rate: 0.550828 m/s, LOS rate: -0.098263 deg/s, cmd heading: 306.345049 deg, new cmd heading: 306.231769 deg. 2025-01-08T21:15:45.392Z,1736370945.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344753 target range: 583.599976 and range: 583.60 m. 2025-01-08T21:15:45.424Z,1736370945.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:45.424Z,1736370945.424 [DAT](INFO): DAT read: Rx Time:21:15:44.2478 2025-01-08T21:15:45.425Z,1736370945.425 [DAT](INFO): Rx dataTimestamp_ set to:1736370945.424678 2025-01-08T21:15:45.425Z,1736370945.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.696319 2025-01-08T21:15:45.676Z,1736370945.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:45.678Z,1736370945.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.948424 2025-01-08T21:15:45.836Z,1736370945.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:45.846Z,1736370945.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.60 m. 2025-01-08T21:15:45.849Z,1736370945.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.599976 m, nav range: 135.795471 m, bearing: 157.674894 deg, approach rate: 0.587315 m/s, LOS rate: -0.107919 deg/s, cmd heading: 306.231777 deg, new cmd heading: 306.083224 deg. 2025-01-08T21:15:45.850Z,1736370945.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.342160 target range: 583.599976 and range: 583.60 m. 2025-01-08T21:15:45.930Z,1736370945.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:45.933Z,1736370945.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.202906 2025-01-08T21:15:46.172Z,1736370946.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:46.180Z,1736370946.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:46.187Z,1736370946.187 [DAT](INFO): DAT read: 21:15:44.2478 LVL= 28560, 32753, 15858, 32755, AGC= 72, IDX= 419,-0.17, 0.214,-0.311, 1.655, 0.529, PHS=-0.227,-0.793, 1.123, RAW= 193.3, -1.2, CAL= 192.9, -8.4, ROT= 317.1, 8.4 2025-01-08T21:15:46.188Z,1736370946.188 [DAT](INFO): got valid direction response: 21:15:44.2478 LVL= 28560, 32753, 15858, 32755, AGC= 72, IDX= 419,-0.17, 0.214,-0.311, 1.655, 0.529, PHS=-0.227,-0.793, 1.123, RAW= 193.3, -1.2, CAL= 192.9, -8.4, ROT= 317.1, 8.4 2025-01-08T21:15:46.189Z,1736370946.189 [DAT](INFO): DAT read: Bearing 317.1, 8.4 (Local) 2025-01-08T21:15:46.190Z,1736370946.190 [DAT](INFO): Local bearing/azimuth received: Bearing 317.1, 8.4 (Local) 2025-01-08T21:15:46.191Z,1736370946.191 [DAT](INFO): DAT read: Range 10 to 50 : 581.7 m (Round-trip 775.6 ms) speed 0.4 m/s 2025-01-08T21:15:46.192Z,1736370946.192 [DAT](INFO): DAT read: user:1621> 2025-01-08T21:15:46.193Z,1736370946.193 [DAT](INFO): DAT read: Tx time:21:15:45.3680 2025-01-08T21:15:46.193Z,1736370946.193 [DAT](INFO): Ping request sent. 2025-01-08T21:15:46.193Z,1736370946.193 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:15:46.195Z,1736370946.195 [DAT](INFO): DAT read: TxSync time:21:15:45.3672 2025-01-08T21:15:46.198Z,1736370946.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.60 m. 2025-01-08T21:15:46.216Z,1736370946.216 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:15:46.217Z,1736370946.217 [DAT](INFO): direction in FSK: [-0.041806,-0.982517,-0.181418] 2025-01-08T21:15:46.217Z,1736370946.217 [DAT](INFO): publishing transmit ping time 2025-01-08T21:15:46.217Z,1736370946.217 [DAT](INFO): publishing direction and range info 2025-01-08T21:15:46.222Z,1736370946.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.599976 m, nav range: 135.991394 m, bearing: 157.639207 deg, approach rate: 0.556523 m/s, LOS rate: -0.101224 deg/s, cmd heading: 306.083234 deg, new cmd heading: 305.976328 deg. 2025-01-08T21:15:46.223Z,1736370946.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.340294 target range: 583.599976 and range: 583.60 m. 2025-01-08T21:15:46.230Z,1736370946.230 [DAT](INFO): publishing transmit ping time 2025-01-08T21:15:46.231Z,1736370946.231 [DAT](INFO): publishing direction and range info 2025-01-08T21:15:46.434Z,1736370946.434 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:46.569Z,1736370946.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:46.601Z,1736370946.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 581.700012 m, deltaT: 4.545751 s, deltaX: -1.899963 m, approachRate: -0.417965 m/s, rangeRepo size: 4 2025-01-08T21:15:46.603Z,1736370946.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 581.700012 m, bearing: 217.541585 deg, lat: 36.902659 deg, lon: -122.112083 deg, deltaT: 4.545751 s, deltaX: -1.899963 m, approachRate: -0.417965 m/s, posRepo size: 4 2025-01-08T21:15:46.608Z,1736370946.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:46.610Z,1736370946.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 204.971863 m, bearing: 165.327688 deg, approach rate: 0.000000 m/s, LOS rate: -0.101224 deg/s, cmd heading: 305.976328 deg, new cmd heading: 305.855738 deg. 2025-01-08T21:15:46.613Z,1736370946.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.338190 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:46.685Z,1736370946.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:46.936Z,1736370946.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:46.998Z,1736370946.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:47.005Z,1736370947.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:47.007Z,1736370947.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:47.009Z,1736370947.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 205.210678 m, bearing: 165.284877 deg, approach rate: 0.580932 m/s, LOS rate: -0.104019 deg/s, cmd heading: 305.855734 deg, new cmd heading: 305.727451 deg. 2025-01-08T21:15:47.011Z,1736370947.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.335951 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:47.188Z,1736370947.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:47.188Z,1736370947.188 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:47.188Z,1736370947.188 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:47.189Z,1736370947.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:47.368Z,1736370947.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:47.392Z,1736370947.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:47.402Z,1736370947.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 205.416763 m, bearing: 165.247931 deg, approach rate: 0.533967 m/s, LOS rate: -0.095632 deg/s, cmd heading: 305.727463 deg, new cmd heading: 305.616736 deg. 2025-01-08T21:15:47.406Z,1736370947.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.334018 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:47.440Z,1736370947.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:47.441Z,1736370947.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247222 2025-01-08T21:15:47.692Z,1736370947.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:47.692Z,1736370947.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499022 2025-01-08T21:15:47.887Z,1736370947.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:47.897Z,1736370947.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:47.916Z,1736370947.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 205.712173 m, bearing: 165.191540 deg, approach rate: 0.585382 m/s, LOS rate: -0.111584 deg/s, cmd heading: 305.616732 deg, new cmd heading: 305.447802 deg. 2025-01-08T21:15:47.917Z,1736370947.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.331070 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:47.945Z,1736370947.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:47.946Z,1736370947.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752502 2025-01-08T21:15:48.196Z,1736370948.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:48.197Z,1736370948.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003551 2025-01-08T21:15:48.278Z,1736370948.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:48.292Z,1736370948.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:48.296Z,1736370948.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 205.933990 m, bearing: 165.149218 deg, approach rate: 0.562807 m/s, LOS rate: -0.107266 deg/s, cmd heading: 305.447808 deg, new cmd heading: 305.320979 deg. 2025-01-08T21:15:48.297Z,1736370948.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.328856 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:48.448Z,1736370948.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:48.449Z,1736370948.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255841 2025-01-08T21:15:48.693Z,1736370948.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:48.700Z,1736370948.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:48.700Z,1736370948.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507199 2025-01-08T21:15:48.705Z,1736370948.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:48.708Z,1736370948.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 206.169373 m, bearing: 165.103717 deg, approach rate: 0.569139 m/s, LOS rate: -0.109892 deg/s, cmd heading: 305.320985 deg, new cmd heading: 305.184640 deg. 2025-01-08T21:15:48.709Z,1736370948.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326477 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:48.952Z,1736370948.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:48.953Z,1736370948.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759239 2025-01-08T21:15:49.117Z,1736370949.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:49.126Z,1736370949.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:49.129Z,1736370949.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:49.132Z,1736370949.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 206.410263 m, bearing: 165.054753 deg, approach rate: 0.568054 m/s, LOS rate: -0.115330 deg/s, cmd heading: 305.184627 deg, new cmd heading: 305.037906 deg. 2025-01-08T21:15:49.133Z,1736370949.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323916 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:49.204Z,1736370949.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:49.205Z,1736370949.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011348 2025-01-08T21:15:49.456Z,1736370949.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:49.456Z,1736370949.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263091 2025-01-08T21:15:49.510Z,1736370949.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:49.528Z,1736370949.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:49.530Z,1736370949.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 206.633911 m, bearing: 165.009070 deg, approach rate: 0.572634 m/s, LOS rate: -0.116842 deg/s, cmd heading: 305.037915 deg, new cmd heading: 304.901014 deg. 2025-01-08T21:15:49.536Z,1736370949.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321527 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:49.708Z,1736370949.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:49.708Z,1736370949.708 [DAT](INFO): DAT read: Rx Time:21:15:48.5455 2025-01-08T21:15:49.709Z,1736370949.709 [DAT](INFO): Rx dataTimestamp_ set to:1736370949.708649 2025-01-08T21:15:49.709Z,1736370949.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516194 2025-01-08T21:15:49.931Z,1736370949.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:49.940Z,1736370949.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:49.943Z,1736370949.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 206.870972 m, bearing: 164.958175 deg, approach rate: 0.563747 m/s, LOS rate: -0.120892 deg/s, cmd heading: 304.901011 deg, new cmd heading: 304.748503 deg. 2025-01-08T21:15:49.944Z,1736370949.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318865 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:49.960Z,1736370949.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:49.961Z,1736370949.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767160 2025-01-08T21:15:50.213Z,1736370950.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:50.216Z,1736370950.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021662 2025-01-08T21:15:50.309Z,1736370950.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:50.318Z,1736370950.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:50.321Z,1736370950.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 207.083893 m, bearing: 164.912594 deg, approach rate: 0.562929 m/s, LOS rate: -0.120386 deg/s, cmd heading: 304.748506 deg, new cmd heading: 304.611903 deg. 2025-01-08T21:15:50.322Z,1736370950.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316481 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:50.465Z,1736370950.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:50.474Z,1736370950.474 [DAT](INFO): DAT read: 21:15:48.5455 LVL= 23536, 28209, 14562, 30355, AGC= 62, IDX= 409, 0.39,-3.029, 2.758,-1.618,-2.771, PHS=-0.170,-0.707, 1.150, RAW= 193.7, -3.3, CAL= 193.1, -10.1, ROT= 316.9, 10.1 2025-01-08T21:15:50.475Z,1736370950.475 [DAT](INFO): got valid direction response: 21:15:48.5455 LVL= 23536, 28209, 14562, 30355, AGC= 62, IDX= 409, 0.39,-3.029, 2.758,-1.618,-2.771, PHS=-0.170,-0.707, 1.150, RAW= 193.7, -3.3, CAL= 193.1, -10.1, ROT= 316.9, 10.1 2025-01-08T21:15:50.476Z,1736370950.476 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:15:50.476Z,1736370950.476 [DAT](INFO): Received a bad header 2025-01-08T21:15:50.489Z,1736370950.489 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:15:50.491Z,1736370950.491 [DAT](INFO): direction in FSK: [-0.001200,-0.982721,-0.185092] 2025-01-08T21:15:50.494Z,1736370950.494 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:50.494Z,1736370950.494 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:50.494Z,1736370950.494 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:50.707Z,1736370950.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:50.716Z,1736370950.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:50.716Z,1736370950.716 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:50.716Z,1736370950.716 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:50.716Z,1736370950.716 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:50.732Z,1736370950.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:50.735Z,1736370950.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 207.306610 m, bearing: 164.864082 deg, approach rate: 0.538072 m/s, LOS rate: -0.117076 deg/s, cmd heading: 304.611902 deg, new cmd heading: 304.466523 deg. 2025-01-08T21:15:50.736Z,1736370950.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313943 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:50.968Z,1736370950.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:50.968Z,1736370950.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:50.968Z,1736370950.968 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:50.968Z,1736370950.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:51.114Z,1736370951.114 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +30.75, 0.00 2025-01-08T21:15:51.122Z,1736370951.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:15:51.122Z,1736370951.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:51.130Z,1736370951.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:51.132Z,1736370951.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:51.135Z,1736370951.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 207.537994 m, bearing: 164.813478 deg, approach rate: 0.578597 m/s, LOS rate: -0.126397 deg/s, cmd heading: 304.466529 deg, new cmd heading: 304.314888 deg. 2025-01-08T21:15:51.136Z,1736370951.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.311297 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:51.220Z,1736370951.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:51.221Z,1736370951.221 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:51.221Z,1736370951.221 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:51.221Z,1736370951.221 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:51.472Z,1736370951.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:51.472Z,1736370951.472 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:51.472Z,1736370951.472 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:51.472Z,1736370951.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:51.536Z,1736370951.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:15:51.536Z,1736370951.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:51.553Z,1736370951.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:51.560Z,1736370951.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 207.765686 m, bearing: 164.763584 deg, approach rate: 0.541113 m/s, LOS rate: -0.118446 deg/s, cmd heading: 304.314898 deg, new cmd heading: 304.165379 deg. 2025-01-08T21:15:51.561Z,1736370951.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308687 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:51.601Z,1736370951.601 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:15:51.724Z,1736370951.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:51.724Z,1736370951.724 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:51.724Z,1736370951.724 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:51.724Z,1736370951.724 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:51.939Z,1736370951.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:51.949Z,1736370951.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:51.971Z,1736370951.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 207.987961 m, bearing: 164.711518 deg, approach rate: 0.561740 m/s, LOS rate: -0.131441 deg/s, cmd heading: 304.165372 deg, new cmd heading: 304.009342 deg. 2025-01-08T21:15:51.972Z,1736370951.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.305964 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:51.976Z,1736370951.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:51.976Z,1736370951.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:51.976Z,1736370951.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:51.977Z,1736370951.977 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:52.229Z,1736370952.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:52.229Z,1736370952.229 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:52.229Z,1736370952.229 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:52.229Z,1736370952.229 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:52.337Z,1736370952.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:52.347Z,1736370952.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:52.350Z,1736370952.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 208.204285 m, bearing: 164.660756 deg, approach rate: 0.543413 m/s, LOS rate: -0.127384 deg/s, cmd heading: 304.009343 deg, new cmd heading: 303.857215 deg. 2025-01-08T21:15:52.351Z,1736370952.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303309 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:52.480Z,1736370952.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:52.480Z,1736370952.480 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:52.480Z,1736370952.480 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:52.481Z,1736370952.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:52.604Z,1736370952.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:15:52.732Z,1736370952.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:52.732Z,1736370952.732 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:52.732Z,1736370952.732 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:52.732Z,1736370952.732 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:52.741Z,1736370952.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:52.750Z,1736370952.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:52.773Z,1736370952.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 208.423523 m, bearing: 164.609459 deg, approach rate: 0.543141 m/s, LOS rate: -0.126949 deg/s, cmd heading: 303.857221 deg, new cmd heading: 303.703493 deg. 2025-01-08T21:15:52.774Z,1736370952.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300626 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:52.984Z,1736370952.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:52.984Z,1736370952.984 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:52.984Z,1736370952.984 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:52.984Z,1736370952.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:53.147Z,1736370953.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:53.154Z,1736370953.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:53.156Z,1736370953.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:53.159Z,1736370953.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 208.640350 m, bearing: 164.557948 deg, approach rate: 0.534034 m/s, LOS rate: -0.126737 deg/s, cmd heading: 303.703487 deg, new cmd heading: 303.549115 deg. 2025-01-08T21:15:53.180Z,1736370953.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297932 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:53.237Z,1736370953.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:53.237Z,1736370953.237 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:53.237Z,1736370953.237 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:53.238Z,1736370953.238 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:53.488Z,1736370953.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:53.488Z,1736370953.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:53.488Z,1736370953.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:53.488Z,1736370953.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:53.568Z,1736370953.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:53.584Z,1736370953.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:53.586Z,1736370953.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 208.862427 m, bearing: 164.505110 deg, approach rate: 0.519210 m/s, LOS rate: -0.123403 deg/s, cmd heading: 303.549125 deg, new cmd heading: 303.390780 deg. 2025-01-08T21:15:53.592Z,1736370953.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295168 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:53.740Z,1736370953.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:53.740Z,1736370953.740 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:53.740Z,1736370953.740 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:53.740Z,1736370953.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:53.973Z,1736370953.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:53.983Z,1736370953.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:53.986Z,1736370953.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 209.078156 m, bearing: 164.451689 deg, approach rate: 0.540663 m/s, LOS rate: -0.133747 deg/s, cmd heading: 303.390774 deg, new cmd heading: 303.230676 deg. 2025-01-08T21:15:53.987Z,1736370953.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292374 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:53.992Z,1736370953.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:53.992Z,1736370953.992 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:53.992Z,1736370953.992 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:53.993Z,1736370953.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:54.244Z,1736370954.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:54.245Z,1736370954.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:54.245Z,1736370954.245 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:54.245Z,1736370954.245 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:54.345Z,1736370954.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:54.354Z,1736370954.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:54.357Z,1736370954.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 209.273788 m, bearing: 164.403187 deg, approach rate: 0.527159 m/s, LOS rate: -0.130572 deg/s, cmd heading: 303.230674 deg, new cmd heading: 303.085305 deg. 2025-01-08T21:15:54.358Z,1736370954.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289836 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:54.496Z,1736370954.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:54.497Z,1736370954.497 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:54.497Z,1736370954.497 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:54.497Z,1736370954.497 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:54.745Z,1736370954.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:54.748Z,1736370954.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:54.748Z,1736370954.748 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:54.748Z,1736370954.748 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:54.749Z,1736370954.749 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:54.756Z,1736370954.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:54.758Z,1736370954.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 209.483429 m, bearing: 164.351075 deg, approach rate: 0.521753 m/s, LOS rate: -0.129566 deg/s, cmd heading: 303.085300 deg, new cmd heading: 302.929122 deg. 2025-01-08T21:15:54.760Z,1736370954.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287111 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:54.000Z,1736370955.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:55.000Z,1736370955.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:55.000Z,1736370955.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:55.001Z,1736370955.001 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:55.182Z,1736370955.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:55.190Z,1736370955.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:55.192Z,1736370955.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:55.196Z,1736370955.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 209.706848 m, bearing: 164.293259 deg, approach rate: 0.512327 m/s, LOS rate: -0.132439 deg/s, cmd heading: 302.929135 deg, new cmd heading: 302.755870 deg. 2025-01-08T21:15:55.197Z,1736370955.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.284087 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:55.253Z,1736370955.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:55.254Z,1736370955.254 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:55.254Z,1736370955.254 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:55.254Z,1736370955.254 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:55.504Z,1736370955.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:55.504Z,1736370955.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:55.504Z,1736370955.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:55.504Z,1736370955.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:55.566Z,1736370955.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:55.574Z,1736370955.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:55.577Z,1736370955.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 209.902008 m, bearing: 164.242485 deg, approach rate: 0.510906 m/s, LOS rate: -0.132797 deg/s, cmd heading: 302.755867 deg, new cmd heading: 302.603687 deg. 2025-01-08T21:15:55.580Z,1736370955.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281431 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:55.756Z,1736370955.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:55.756Z,1736370955.756 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:55.756Z,1736370955.756 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:55.756Z,1736370955.756 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:56.005Z,1736370956.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:56.008Z,1736370956.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:56.008Z,1736370956.008 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:15:56.008Z,1736370956.008 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:15:56.008Z,1736370956.008 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:15:56.045Z,1736370956.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:56.052Z,1736370956.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 210.124374 m, bearing: 164.186202 deg, approach rate: 0.472968 m/s, LOS rate: -0.119585 deg/s, cmd heading: 302.603690 deg, new cmd heading: 302.435021 deg. 2025-01-08T21:15:56.053Z,1736370956.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278487 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:56.260Z,1736370956.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:56.260Z,1736370956.260 [DAT](INFO): Reached modem response timeout 2025-01-08T21:15:56.260Z,1736370956.260 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:15:56.261Z,1736370956.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:56.364Z,1736370956.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:56.373Z,1736370956.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:56.376Z,1736370956.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 210.305573 m, bearing: 164.140138 deg, approach rate: 0.551049 m/s, LOS rate: -0.139965 deg/s, cmd heading: 302.435012 deg, new cmd heading: 302.296941 deg. 2025-01-08T21:15:56.377Z,1736370956.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276077 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:56.512Z,1736370956.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:56.512Z,1736370956.512 [DAT](INFO): Reached modem response timeout 2025-01-08T21:15:56.513Z,1736370956.513 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:15:56.513Z,1736370956.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:56.764Z,1736370956.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:56.764Z,1736370956.764 [DAT](INFO): Reached modem response timeout 2025-01-08T21:15:56.764Z,1736370956.764 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:15:56.765Z,1736370956.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:15:56.792Z,1736370956.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:56.801Z,1736370956.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:56.804Z,1736370956.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 210.521378 m, bearing: 164.085340 deg, approach rate: 0.503904 m/s, LOS rate: -0.127824 deg/s, cmd heading: 302.296933 deg, new cmd heading: 302.132705 deg. 2025-01-08T21:15:56.806Z,1736370956.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273211 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:57.016Z,1736370957.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:57.016Z,1736370957.016 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:15:57.017Z,1736370957.017 [DAT](INFO): response not received 2025-01-08T21:15:57.017Z,1736370957.017 [DAT](INFO): DAT read: user:1623> 2025-01-08T21:15:57.018Z,1736370957.018 [DAT](INFO): DAT read: Tx time:21:15:56.3181 2025-01-08T21:15:57.018Z,1736370957.018 [DAT](INFO): Ping request sent. 2025-01-08T21:15:57.018Z,1736370957.018 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:15:57.018Z,1736370957.018 [DAT](INFO): publishing transmit ping time 2025-01-08T21:15:57.019Z,1736370957.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726 2025-01-08T21:15:57.209Z,1736370957.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:57.217Z,1736370957.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:57.220Z,1736370957.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:57.222Z,1736370957.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 210.727875 m, bearing: 164.033789 deg, approach rate: 0.493981 m/s, LOS rate: -0.123198 deg/s, cmd heading: 302.132708 deg, new cmd heading: 301.978208 deg. 2025-01-08T21:15:57.239Z,1736370957.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.270514 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:57.270Z,1736370957.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:57.271Z,1736370957.271 [DAT](INFO): DAT read: TxSync time:21:15:56.3173 2025-01-08T21:15:57.272Z,1736370957.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253606 2025-01-08T21:15:57.520Z,1736370957.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:57.520Z,1736370957.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502052 2025-01-08T21:15:57.599Z,1736370957.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:57.617Z,1736370957.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:57.626Z,1736370957.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 210.918259 m, bearing: 163.986148 deg, approach rate: 0.479237 m/s, LOS rate: -0.119815 deg/s, cmd heading: 301.978209 deg, new cmd heading: 301.835414 deg. 2025-01-08T21:15:57.627Z,1736370957.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.268022 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:57.772Z,1736370957.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:57.772Z,1736370957.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754133 2025-01-08T21:15:58.024Z,1736370958.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:58.025Z,1736370958.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006401 2025-01-08T21:15:58.038Z,1736370958.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:58.048Z,1736370958.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:58.051Z,1736370958.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 211.130539 m, bearing: 163.934554 deg, approach rate: 0.491772 m/s, LOS rate: -0.119402 deg/s, cmd heading: 301.835403 deg, new cmd heading: 301.680779 deg. 2025-01-08T21:15:58.052Z,1736370958.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.265323 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:58.278Z,1736370958.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:58.279Z,1736370958.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260739 2025-01-08T21:15:58.400Z,1736370958.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:58.409Z,1736370958.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:58.413Z,1736370958.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 211.304352 m, bearing: 163.892416 deg, approach rate: 0.481014 m/s, LOS rate: -0.116517 deg/s, cmd heading: 301.680768 deg, new cmd heading: 301.554459 deg. 2025-01-08T21:15:58.414Z,1736370958.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.263118 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:58.529Z,1736370958.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:58.530Z,1736370958.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511377 2025-01-08T21:15:58.780Z,1736370958.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:58.781Z,1736370958.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762314 2025-01-08T21:15:58.786Z,1736370958.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:58.796Z,1736370958.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:58.798Z,1736370958.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 211.489120 m, bearing: 163.847690 deg, approach rate: 0.478885 m/s, LOS rate: -0.115821 deg/s, cmd heading: 301.554464 deg, new cmd heading: 301.420402 deg. 2025-01-08T21:15:58.819Z,1736370958.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.260778 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:59.032Z,1736370959.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:59.033Z,1736370959.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014817 2025-01-08T21:15:59.224Z,1736370959.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:59.232Z,1736370959.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:15:59.234Z,1736370959.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:59.237Z,1736370959.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 211.707123 m, bearing: 163.799603 deg, approach rate: 0.497100 m/s, LOS rate: -0.109537 deg/s, cmd heading: 301.420401 deg, new cmd heading: 301.276290 deg. 2025-01-08T21:15:59.238Z,1736370959.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.258263 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:59.284Z,1736370959.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:59.284Z,1736370959.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266232 2025-01-08T21:15:59.536Z,1736370959.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:59.536Z,1736370959.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518114 2025-01-08T21:15:59.594Z,1736370959.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:15:59.603Z,1736370959.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:15:59.606Z,1736370959.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 211.891205 m, bearing: 163.759130 deg, approach rate: 0.499192 m/s, LOS rate: -0.109660 deg/s, cmd heading: 301.276284 deg, new cmd heading: 301.154970 deg. 2025-01-08T21:15:59.607Z,1736370959.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256146 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:15:59.788Z,1736370959.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:15:59.788Z,1736370959.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770179 2025-01-08T21:16:00.040Z,1736370960.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:00.041Z,1736370960.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022364 2025-01-08T21:16:00.059Z,1736370960.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:00.069Z,1736370960.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:16:00.072Z,1736370960.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 212.123962 m, bearing: 163.711813 deg, approach rate: 0.499204 m/s, LOS rate: -0.101371 deg/s, cmd heading: 301.154980 deg, new cmd heading: 301.013185 deg. 2025-01-08T21:16:00.073Z,1736370960.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.253671 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:16:00.293Z,1736370960.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:00.294Z,1736370960.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275525 2025-01-08T21:16:00.407Z,1736370960.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:00.417Z,1736370960.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:16:00.420Z,1736370960.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 212.298309 m, bearing: 163.676393 deg, approach rate: 0.501047 m/s, LOS rate: -0.101709 deg/s, cmd heading: 301.013185 deg, new cmd heading: 300.907012 deg. 2025-01-08T21:16:00.421Z,1736370960.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.251818 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:16:00.544Z,1736370960.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:00.545Z,1736370960.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526839 2025-01-08T21:16:00.796Z,1736370960.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:00.797Z,1736370960.797 [DAT](INFO): DAT read: Rx Time:21:15:59.4881 2025-01-08T21:16:00.797Z,1736370960.797 [DAT](INFO): Rx dataTimestamp_ set to:1736370960.797024 2025-01-08T21:16:00.798Z,1736370960.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779574 2025-01-08T21:16:00.815Z,1736370960.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:00.823Z,1736370960.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:16:00.826Z,1736370960.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 212.502289 m, bearing: 163.634867 deg, approach rate: 0.502180 m/s, LOS rate: -0.102136 deg/s, cmd heading: 300.907016 deg, new cmd heading: 300.782557 deg. 2025-01-08T21:16:00.827Z,1736370960.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.249646 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:16:01.049Z,1736370961.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:01.052Z,1736370961.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033401 2025-01-08T21:16:01.241Z,1736370961.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:01.249Z,1736370961.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:01.251Z,1736370961.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.70 m. 2025-01-08T21:16:01.254Z,1736370961.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 581.700012 m, nav range: 212.718933 m, bearing: 163.595593 deg, approach rate: 0.506148 m/s, LOS rate: -0.091663 deg/s, cmd heading: 300.782570 deg, new cmd heading: 300.664868 deg. 2025-01-08T21:16:01.255Z,1736370961.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.247592 target range: 581.700012 and range: 581.70 m. 2025-01-08T21:16:01.300Z,1736370961.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:01.306Z,1736370961.306 [DAT](INFO): DAT read: 21:15:59.4881 LVL= 24480, 28737, 14178, 32291, AGC= 67, IDX= 305, 0.02,-1.610,-2.492,-0.454,-1.326, PHS=-0.196,-1.119, 0.869, RAW= 182.3, 5.2, CAL= 182.3, -3.6, ROT= 327.7, 3.6 2025-01-08T21:16:01.308Z,1736370961.308 [DAT](INFO): got valid direction response: 21:15:59.4881 LVL= 24480, 28737, 14178, 32291, AGC= 67, IDX= 305, 0.02,-1.610,-2.492,-0.454,-1.326, PHS=-0.196,-1.119, 0.869, RAW= 182.3, 5.2, CAL= 182.3, -3.6, ROT= 327.7, 3.6 2025-01-08T21:16:01.309Z,1736370961.309 [DAT](INFO): DAT read: Bearing 327.7, 3.6 (Local) 2025-01-08T21:16:01.309Z,1736370961.309 [DAT](INFO): Local bearing/azimuth received: Bearing 327.7, 3.6 (Local) 2025-01-08T21:16:01.311Z,1736370961.311 [DAT](INFO): DAT read: Range 10 to 50 : 574.4 m (Round-trip 765.9 ms) speed 0.3 m/s 2025-01-08T21:16:01.312Z,1736370961.312 [DAT](INFO): DAT read: user:1624> 2025-01-08T21:16:01.313Z,1736370961.313 [DAT](INFO): DAT read: Tx time:21:16:00.5681 2025-01-08T21:16:01.313Z,1736370961.313 [DAT](INFO): Ping request sent. 2025-01-08T21:16:01.314Z,1736370961.314 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:16:01.314Z,1736370961.314 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:16:01.315Z,1736370961.315 [DAT](INFO): direction in FSK: [-0.182167,-0.983260,-0.003758] 2025-01-08T21:16:01.316Z,1736370961.316 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:01.316Z,1736370961.316 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:01.343Z,1736370961.343 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:01.344Z,1736370961.344 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:01.552Z,1736370961.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:01.553Z,1736370961.553 [DAT](INFO): DAT read: TxSync time:21:16:00.5673 2025-01-08T21:16:01.635Z,1736370961.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:01.667Z,1736370961.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 574.400024 m, deltaT: 15.119977 s, deltaX: -7.299988 m, approachRate: -0.482804 m/s, rangeRepo size: 4 2025-01-08T21:16:01.688Z,1736370961.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 574.400024 m, bearing: 202.866020 deg, lat: 36.900510 deg, lon: -122.115245 deg, deltaT: 15.119977 s, deltaX: -7.299988 m, approachRate: -0.482804 m/s, posRepo size: 4 2025-01-08T21:16:01.689Z,1736370961.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.40 m. 2025-01-08T21:16:01.698Z,1736370961.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.400024 m, nav range: 495.226776 m, bearing: 206.490883 deg, approach rate: 0.000000 m/s, LOS rate: -0.091663 deg/s, cmd heading: 300.664873 deg, new cmd heading: 300.550945 deg. 2025-01-08T21:16:01.704Z,1736370961.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245604 target range: 574.400024 and range: 574.40 m. 2025-01-08T21:16:01.804Z,1736370961.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:02.056Z,1736370962.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:02.105Z,1736370962.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:02.114Z,1736370962.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.40 m. 2025-01-08T21:16:02.117Z,1736370962.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.400024 m, nav range: 495.303406 m, bearing: 206.457074 deg, approach rate: 0.170665 m/s, LOS rate: -0.075287 deg/s, cmd heading: 300.550945 deg, new cmd heading: 300.449533 deg. 2025-01-08T21:16:02.118Z,1736370962.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.243834 target range: 574.400024 and range: 574.40 m. 2025-01-08T21:16:02.308Z,1736370962.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:02.430Z,1736370962.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:02.438Z,1736370962.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.40 m. 2025-01-08T21:16:02.441Z,1736370962.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.400024 m, nav range: 495.352783 m, bearing: 206.434981 deg, approach rate: 0.152416 m/s, LOS rate: -0.068189 deg/s, cmd heading: 300.449530 deg, new cmd heading: 300.383258 deg. 2025-01-08T21:16:02.443Z,1736370962.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.242677 target range: 574.400024 and range: 574.40 m. 2025-01-08T21:16:02.561Z,1736370962.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:02.814Z,1736370962.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:02.833Z,1736370962.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:02.860Z,1736370962.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.40 m. 2025-01-08T21:16:02.868Z,1736370962.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.400024 m, nav range: 495.416931 m, bearing: 206.405889 deg, approach rate: 0.153838 m/s, LOS rate: -0.069759 deg/s, cmd heading: 300.383250 deg, new cmd heading: 300.295985 deg. 2025-01-08T21:16:02.869Z,1736370962.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241154 target range: 574.400024 and range: 574.40 m. 2025-01-08T21:16:03.065Z,1736370963.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:03.249Z,1736370963.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:03.285Z,1736370963.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:03.287Z,1736370963.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.40 m. 2025-01-08T21:16:03.298Z,1736370963.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.400024 m, nav range: 495.490448 m, bearing: 206.377088 deg, approach rate: 0.170461 m/s, LOS rate: -0.066770 deg/s, cmd heading: 300.295988 deg, new cmd heading: 300.209598 deg. 2025-01-08T21:16:03.307Z,1736370963.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.239646 target range: 574.400024 and range: 574.40 m. 2025-01-08T21:16:03.316Z,1736370963.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:03.317Z,1736370963.317 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:03.317Z,1736370963.317 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:03.317Z,1736370963.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:03.568Z,1736370963.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:03.568Z,1736370963.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254760 2025-01-08T21:16:03.640Z,1736370963.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:03.667Z,1736370963.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.40 m. 2025-01-08T21:16:03.680Z,1736370963.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.400024 m, nav range: 495.559601 m, bearing: 206.349844 deg, approach rate: 0.182041 m/s, LOS rate: -0.071706 deg/s, cmd heading: 300.209600 deg, new cmd heading: 300.127881 deg. 2025-01-08T21:16:03.681Z,1736370963.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.238220 target range: 574.400024 and range: 574.40 m. 2025-01-08T21:16:03.820Z,1736370963.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:03.821Z,1736370963.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507084 2025-01-08T21:16:04.073Z,1736370964.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:04.077Z,1736370964.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762948 2025-01-08T21:16:04.140Z,1736370964.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:04.149Z,1736370964.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.40 m. 2025-01-08T21:16:04.152Z,1736370964.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.400024 m, nav range: 495.639221 m, bearing: 206.313985 deg, approach rate: 0.164890 m/s, LOS rate: -0.074252 deg/s, cmd heading: 300.127883 deg, new cmd heading: 300.020322 deg. 2025-01-08T21:16:04.153Z,1736370964.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.236342 target range: 574.400024 and range: 574.40 m. 2025-01-08T21:16:04.324Z,1736370964.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:04.324Z,1736370964.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010800 2025-01-08T21:16:04.462Z,1736370964.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:04.486Z,1736370964.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.40 m. 2025-01-08T21:16:04.489Z,1736370964.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.400024 m, nav range: 495.690491 m, bearing: 206.290953 deg, approach rate: 0.152387 m/s, LOS rate: -0.068450 deg/s, cmd heading: 300.020321 deg, new cmd heading: 299.951232 deg. 2025-01-08T21:16:04.490Z,1736370964.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.235137 target range: 574.400024 and range: 574.40 m. 2025-01-08T21:16:04.576Z,1736370964.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:04.577Z,1736370964.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263528 2025-01-08T21:16:04.830Z,1736370964.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:04.833Z,1736370964.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518936 2025-01-08T21:16:04.873Z,1736370964.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:04.890Z,1736370964.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.40 m. 2025-01-08T21:16:04.897Z,1736370964.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.400024 m, nav range: 495.754059 m, bearing: 206.261285 deg, approach rate: 0.157248 m/s, LOS rate: -0.073380 deg/s, cmd heading: 299.951227 deg, new cmd heading: 299.862235 deg. 2025-01-08T21:16:04.898Z,1736370964.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.233583 target range: 574.400024 and range: 574.40 m. 2025-01-08T21:16:05.089Z,1736370965.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:05.092Z,1736370965.092 [DAT](INFO): DAT read: Rx Time:21:16:03.7358 2025-01-08T21:16:05.093Z,1736370965.093 [DAT](INFO): Rx dataTimestamp_ set to:1736370965.092046 2025-01-08T21:16:05.096Z,1736370965.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781144 2025-01-08T21:16:05.268Z,1736370965.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:05.291Z,1736370965.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:05.297Z,1736370965.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.40 m. 2025-01-08T21:16:05.304Z,1736370965.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.400024 m, nav range: 495.813599 m, bearing: 206.232175 deg, approach rate: 0.146213 m/s, LOS rate: -0.071477 deg/s, cmd heading: 299.862243 deg, new cmd heading: 299.774924 deg. 2025-01-08T21:16:05.305Z,1736370965.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.232059 target range: 574.400024 and range: 574.40 m. 2025-01-08T21:16:05.340Z,1736370965.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:05.340Z,1736370965.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026886 2025-01-08T21:16:05.592Z,1736370965.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:05.599Z,1736370965.599 [DAT](INFO): DAT read: 21:16:03.7358 LVL= 31792, 32753, 15474, 32755, AGC= 71, IDX= 345,-0.30,-0.887,-1.811, 0.350,-0.632, PHS=-0.167,-1.132, 0.979, RAW= 182.8, 3.5, CAL= 182.9, -5.0, ROT= 327.1, 5.0 2025-01-08T21:16:05.600Z,1736370965.600 [DAT](INFO): got valid direction response: 21:16:03.7358 LVL= 31792, 32753, 15474, 32755, AGC= 71, IDX= 345,-0.30,-0.887,-1.811, 0.350,-0.632, PHS=-0.167,-1.132, 0.979, RAW= 182.8, 3.5, CAL= 182.9, -5.0, ROT= 327.1, 5.0 2025-01-08T21:16:05.601Z,1736370965.601 [DAT](INFO): DAT read: Bearing 327.1, 5.0 (Local) 2025-01-08T21:16:05.601Z,1736370965.601 [DAT](INFO): Local bearing/azimuth received: Bearing 327.1, 5.0 (Local) 2025-01-08T21:16:05.603Z,1736370965.603 [DAT](INFO): DAT read: Range 10 to 50 : 572.5 m (Round-trip 763.4 ms) speed 0.3 m/s 2025-01-08T21:16:05.604Z,1736370965.604 [DAT](INFO): DAT read: user:1625> 2025-01-08T21:16:05.605Z,1736370965.605 [DAT](INFO): DAT read: Tx time:21:16:04.8182 2025-01-08T21:16:05.605Z,1736370965.605 [DAT](INFO): Ping request sent. 2025-01-08T21:16:05.605Z,1736370965.605 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:16:05.605Z,1736370965.605 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:16:05.606Z,1736370965.606 [DAT](INFO): direction in FSK: [-0.149781,-0.988671,-0.009739] 2025-01-08T21:16:05.607Z,1736370965.607 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:05.607Z,1736370965.607 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:05.610Z,1736370965.610 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:05.610Z,1736370965.610 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:05.700Z,1736370965.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:05.734Z,1736370965.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 572.500000 m, deltaT: 4.291929 s, deltaX: -1.900024 m, approachRate: -0.442697 m/s, rangeRepo size: 4 2025-01-08T21:16:05.744Z,1736370965.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 572.500000 m, bearing: 202.911990 deg, lat: 36.900104 deg, lon: -122.115266 deg, deltaT: 4.291929 s, deltaX: -1.900024 m, approachRate: -0.442697 m/s, posRepo size: 4 2025-01-08T21:16:05.747Z,1736370965.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.50 m. 2025-01-08T21:16:05.760Z,1736370965.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 572.500000 m, nav range: 537.517456 m, bearing: 204.255957 deg, approach rate: 0.000000 m/s, LOS rate: -0.071477 deg/s, cmd heading: 299.774926 deg, new cmd heading: 299.681486 deg. 2025-01-08T21:16:05.762Z,1736370965.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.230429 target range: 572.500000 and range: 572.50 m. 2025-01-08T21:16:05.845Z,1736370965.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:05.846Z,1736370965.846 [DAT](INFO): DAT read: TxSync time:21:16:04.8174 2025-01-08T21:16:06.097Z,1736370966.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:06.223Z,1736370966.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:06.233Z,1736370966.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.50 m. 2025-01-08T21:16:06.236Z,1736370966.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 572.500000 m, nav range: 537.593323 m, bearing: 204.218652 deg, approach rate: 0.151835 m/s, LOS rate: -0.074649 deg/s, cmd heading: 299.681489 deg, new cmd heading: 299.569591 deg. 2025-01-08T21:16:06.236Z,1736370966.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.228476 target range: 572.500000 and range: 572.50 m. 2025-01-08T21:16:06.348Z,1736370966.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:06.598Z,1736370966.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:06.600Z,1736370966.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:06.608Z,1736370966.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.50 m. 2025-01-08T21:16:06.635Z,1736370966.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 572.500000 m, nav range: 537.646912 m, bearing: 204.191853 deg, approach rate: 0.142833 m/s, LOS rate: -0.071422 deg/s, cmd heading: 299.569583 deg, new cmd heading: 299.489194 deg. 2025-01-08T21:16:06.641Z,1736370966.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.227073 target range: 572.500000 and range: 572.50 m. 2025-01-08T21:16:06.852Z,1736370966.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:07.057Z,1736370967.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:07.068Z,1736370967.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.50 m. 2025-01-08T21:16:07.071Z,1736370967.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 572.500000 m, nav range: 537.710876 m, bearing: 204.159133 deg, approach rate: 0.138925 m/s, LOS rate: -0.071055 deg/s, cmd heading: 299.489206 deg, new cmd heading: 299.391058 deg. 2025-01-08T21:16:07.091Z,1736370967.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.225360 target range: 572.500000 and range: 572.50 m. 2025-01-08T21:16:07.114Z,1736370967.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:07.364Z,1736370967.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:07.602Z,1736370967.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:07.609Z,1736370967.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:07.612Z,1736370967.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.50 m. 2025-01-08T21:16:07.614Z,1736370967.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 572.500000 m, nav range: 537.775269 m, bearing: 204.118475 deg, approach rate: 0.118697 m/s, LOS rate: -0.074939 deg/s, cmd heading: 299.391070 deg, new cmd heading: 299.269109 deg. 2025-01-08T21:16:07.616Z,1736370967.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:07.616Z,1736370967.616 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:07.616Z,1736370967.616 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:07.617Z,1736370967.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:07.639Z,1736370967.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223231 target range: 572.500000 and range: 572.50 m. 2025-01-08T21:16:07.868Z,1736370967.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:07.869Z,1736370967.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264099 2025-01-08T21:16:07.950Z,1736370967.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:07.958Z,1736370967.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.50 m. 2025-01-08T21:16:07.964Z,1736370967.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 572.500000 m, nav range: 537.815918 m, bearing: 204.092522 deg, approach rate: 0.116922 m/s, LOS rate: -0.074645 deg/s, cmd heading: 299.269110 deg, new cmd heading: 299.191256 deg. 2025-01-08T21:16:07.965Z,1736370967.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.221872 target range: 572.500000 and range: 572.50 m. 2025-01-08T21:16:08.121Z,1736370968.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:08.124Z,1736370968.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517860 2025-01-08T21:16:08.372Z,1736370968.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:08.372Z,1736370968.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767252 2025-01-08T21:16:08.384Z,1736370968.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:08.415Z,1736370968.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.50 m. 2025-01-08T21:16:08.418Z,1736370968.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 572.500000 m, nav range: 537.848206 m, bearing: 204.059641 deg, approach rate: 0.070738 m/s, LOS rate: -0.072033 deg/s, cmd heading: 299.191246 deg, new cmd heading: 299.092610 deg. 2025-01-08T21:16:08.428Z,1736370968.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.220151 target range: 572.500000 and range: 572.50 m. 2025-01-08T21:16:08.624Z,1736370968.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:08.624Z,1736370968.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019311 2025-01-08T21:16:08.743Z,1736370968.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:08.773Z,1736370968.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.50 m. 2025-01-08T21:16:08.782Z,1736370968.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 572.500000 m, nav range: 537.874573 m, bearing: 204.032201 deg, approach rate: 0.073619 m/s, LOS rate: -0.076612 deg/s, cmd heading: 299.092618 deg, new cmd heading: 299.010300 deg. 2025-01-08T21:16:08.783Z,1736370968.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.218714 target range: 572.500000 and range: 572.50 m. 2025-01-08T21:16:08.876Z,1736370968.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:08.878Z,1736370968.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271975 2025-01-08T21:16:09.129Z,1736370969.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:09.132Z,1736370969.132 [DAT](INFO): DAT read: Rx Time:21:16:07.9832 2025-01-08T21:16:09.134Z,1736370969.134 [DAT](INFO): Rx dataTimestamp_ set to:1736370969.132606 2025-01-08T21:16:09.136Z,1736370969.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529720 2025-01-08T21:16:09.261Z,1736370969.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:09.270Z,1736370969.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.50 m. 2025-01-08T21:16:09.293Z,1736370969.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 572.500000 m, nav range: 537.894958 m, bearing: 203.991835 deg, approach rate: 0.041034 m/s, LOS rate: -0.081247 deg/s, cmd heading: 299.010300 deg, new cmd heading: 298.889210 deg. 2025-01-08T21:16:09.294Z,1736370969.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.216601 target range: 572.500000 and range: 572.50 m. 2025-01-08T21:16:09.380Z,1736370969.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:09.381Z,1736370969.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775383 2025-01-08T21:16:09.585Z,1736370969.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:09.593Z,1736370969.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.50 m. 2025-01-08T21:16:09.597Z,1736370969.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 572.500000 m, nav range: 537.907837 m, bearing: 203.966649 deg, approach rate: 0.039831 m/s, LOS rate: -0.077894 deg/s, cmd heading: 298.889215 deg, new cmd heading: 298.813658 deg. 2025-01-08T21:16:09.598Z,1736370969.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215282 target range: 572.500000 and range: 572.50 m. 2025-01-08T21:16:09.633Z,1736370969.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:09.635Z,1736370969.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029524 2025-01-08T21:16:09.885Z,1736370969.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:09.897Z,1736370969.897 [DAT](INFO): DAT read: 21:16:07.9832 LVL= 29680, 32753, 16242, 32755, AGC= 64, IDX= 411,-0.19,-0.505,-1.051, 0.684,-0.290, PHS=-0.126,-0.714, 0.971, RAW= 189.9, -1.8, CAL= 189.7, -8.9, ROT= 320.3, 8.9 2025-01-08T21:16:09.898Z,1736370969.898 [DAT](INFO): got valid direction response: 21:16:07.9832 LVL= 29680, 32753, 16242, 32755, AGC= 64, IDX= 411,-0.19,-0.505,-1.051, 0.684,-0.290, PHS=-0.126,-0.714, 0.971, RAW= 189.9, -1.8, CAL= 189.7, -8.9, ROT= 320.3, 8.9 2025-01-08T21:16:09.899Z,1736370969.899 [DAT](INFO): DAT read: Bearing 320.3, 8.9 (Local) 2025-01-08T21:16:09.899Z,1736370969.899 [DAT](INFO): Local bearing/azimuth received: Bearing 320.3, 8.9 (Local) 2025-01-08T21:16:09.901Z,1736370969.901 [DAT](INFO): DAT read: Range 10 to 50 : 570.6 m (Round-trip 760.8 ms) speed 0.6 m/s 2025-01-08T21:16:09.902Z,1736370969.902 [DAT](INFO): DAT read: user:1626> 2025-01-08T21:16:09.902Z,1736370969.902 [DAT](INFO): DAT read: Tx time:21:16:09.0682 2025-01-08T21:16:09.903Z,1736370969.903 [DAT](INFO): Ping request sent. 2025-01-08T21:16:09.903Z,1736370969.903 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:16:09.904Z,1736370969.904 [DAT](INFO): DAT read: TxSync time:21:16:09.0674 2025-01-08T21:16:09.905Z,1736370969.905 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:16:09.908Z,1736370969.908 [DAT](INFO): direction in FSK: [-0.037134,-0.991625,-0.123700] 2025-01-08T21:16:09.908Z,1736370969.908 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:09.909Z,1736370969.909 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:09.913Z,1736370969.913 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:09.913Z,1736370969.913 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:10.044Z,1736370970.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:10.075Z,1736370970.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 570.599976 m, deltaT: 4.293552 s, deltaX: -1.900024 m, approachRate: -0.442530 m/s, rangeRepo size: 4 2025-01-08T21:16:10.078Z,1736370970.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 570.599976 m, bearing: 208.872835 deg, lat: 36.900104 deg, lon: -122.115822 deg, deltaT: 4.293552 s, deltaX: -1.900024 m, approachRate: -0.442530 m/s, posRepo size: 4 2025-01-08T21:16:10.079Z,1736370970.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.60 m. 2025-01-08T21:16:10.091Z,1736370970.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 570.599976 m, nav range: 559.802734 m, bearing: 208.560826 deg, approach rate: 0.000000 m/s, LOS rate: -0.077894 deg/s, cmd heading: 298.813645 deg, new cmd heading: 298.702136 deg. 2025-01-08T21:16:10.092Z,1736370970.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.213336 target range: 570.599976 and range: 570.60 m. 2025-01-08T21:16:10.138Z,1736370970.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:10.388Z,1736370970.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:10.462Z,1736370970.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:10.485Z,1736370970.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:10.492Z,1736370970.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.60 m. 2025-01-08T21:16:10.499Z,1736370970.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 570.599976 m, nav range: 559.785278 m, bearing: 208.528852 deg, approach rate: -0.041870 m/s, LOS rate: -0.076694 deg/s, cmd heading: 298.702149 deg, new cmd heading: 298.606225 deg. 2025-01-08T21:16:10.500Z,1736370970.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.211662 target range: 570.599976 and range: 570.60 m. 2025-01-08T21:16:10.640Z,1736370970.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:10.641Z,1736370970.641 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:10.641Z,1736370970.641 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:10.642Z,1736370970.642 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:10.844Z,1736370970.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:10.871Z,1736370970.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.60 m. 2025-01-08T21:16:10.878Z,1736370970.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 570.599976 m, nav range: 559.768372 m, bearing: 208.499721 deg, approach rate: -0.044079 m/s, LOS rate: -0.075951 deg/s, cmd heading: 298.606226 deg, new cmd heading: 298.518832 deg. 2025-01-08T21:16:10.879Z,1736370970.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.210136 target range: 570.599976 and range: 570.60 m. 2025-01-08T21:16:10.892Z,1736370970.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:10.893Z,1736370970.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989924 2025-01-08T21:16:11.146Z,1736370971.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:11.149Z,1736370971.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245863 2025-01-08T21:16:11.349Z,1736370971.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:11.358Z,1736370971.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.60 m. 2025-01-08T21:16:11.378Z,1736370971.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 570.599976 m, nav range: 559.739136 m, bearing: 208.460932 deg, approach rate: -0.059994 m/s, LOS rate: -0.079602 deg/s, cmd heading: 298.518827 deg, new cmd heading: 298.402454 deg. 2025-01-08T21:16:11.380Z,1736370971.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.208105 target range: 570.599976 and range: 570.60 m. 2025-01-08T21:16:11.396Z,1736370971.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:11.397Z,1736370971.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493788 2025-01-08T21:16:11.648Z,1736370971.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:11.649Z,1736370971.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746502 2025-01-08T21:16:11.732Z,1736370971.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:11.741Z,1736370971.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.60 m. 2025-01-08T21:16:11.745Z,1736370971.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 570.599976 m, nav range: 559.717102 m, bearing: 208.431575 deg, approach rate: -0.057509 m/s, LOS rate: -0.076627 deg/s, cmd heading: 298.402441 deg, new cmd heading: 298.314366 deg. 2025-01-08T21:16:11.746Z,1736370971.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206568 target range: 570.599976 and range: 570.60 m. 2025-01-08T21:16:11.900Z,1736370971.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:11.902Z,1736370971.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998405 2025-01-08T21:16:12.124Z,1736370972.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:12.137Z,1736370972.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.60 m. 2025-01-08T21:16:12.153Z,1736370972.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:12.156Z,1736370972.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253014 2025-01-08T21:16:12.176Z,1736370972.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 570.599976 m, nav range: 559.693115 m, bearing: 208.401577 deg, approach rate: -0.060948 m/s, LOS rate: -0.076224 deg/s, cmd heading: 298.314359 deg, new cmd heading: 298.224362 deg. 2025-01-08T21:16:12.184Z,1736370972.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204997 target range: 570.599976 and range: 570.60 m. 2025-01-08T21:16:12.405Z,1736370972.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:12.406Z,1736370972.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502719 2025-01-08T21:16:12.576Z,1736370972.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:12.596Z,1736370972.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:12.605Z,1736370972.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.60 m. 2025-01-08T21:16:12.621Z,1736370972.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 570.599976 m, nav range: 559.669006 m, bearing: 208.368638 deg, approach rate: -0.051320 m/s, LOS rate: -0.070121 deg/s, cmd heading: 298.224364 deg, new cmd heading: 298.125541 deg. 2025-01-08T21:16:12.627Z,1736370972.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203272 target range: 570.599976 and range: 570.60 m. 2025-01-08T21:16:12.656Z,1736370972.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:12.657Z,1736370972.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754651 2025-01-08T21:16:12.908Z,1736370972.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:12.908Z,1736370972.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005722 2025-01-08T21:16:12.951Z,1736370972.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:12.965Z,1736370972.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.60 m. 2025-01-08T21:16:12.980Z,1736370972.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 570.599976 m, nav range: 559.648804 m, bearing: 208.341218 deg, approach rate: -0.056082 m/s, LOS rate: -0.076118 deg/s, cmd heading: 298.125545 deg, new cmd heading: 298.043284 deg. 2025-01-08T21:16:12.981Z,1736370972.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.201837 target range: 570.599976 and range: 570.60 m. 2025-01-08T21:16:13.160Z,1736370973.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:13.161Z,1736370973.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257940 2025-01-08T21:16:13.381Z,1736370973.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:13.390Z,1736370973.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.60 m. 2025-01-08T21:16:13.393Z,1736370973.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 570.599976 m, nav range: 559.627869 m, bearing: 208.310936 deg, approach rate: -0.049251 m/s, LOS rate: -0.071243 deg/s, cmd heading: 298.043282 deg, new cmd heading: 297.952433 deg. 2025-01-08T21:16:13.394Z,1736370973.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200251 target range: 570.599976 and range: 570.60 m. 2025-01-08T21:16:13.412Z,1736370973.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:13.413Z,1736370973.413 [DAT](INFO): DAT read: Rx Time:21:16:12.2292 2025-01-08T21:16:13.413Z,1736370973.413 [DAT](INFO): Rx dataTimestamp_ set to:1736370973.413026 2025-01-08T21:16:13.414Z,1736370973.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511108 2025-01-08T21:16:13.664Z,1736370973.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:13.666Z,1736370973.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762939 2025-01-08T21:16:13.754Z,1736370973.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:13.763Z,1736370973.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 570.60 m. 2025-01-08T21:16:13.766Z,1736370973.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 570.599976 m, nav range: 559.609741 m, bearing: 208.284709 deg, approach rate: -0.048559 m/s, LOS rate: -0.070259 deg/s, cmd heading: 297.952441 deg, new cmd heading: 297.873756 deg. 2025-01-08T21:16:13.767Z,1736370973.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198878 target range: 570.599976 and range: 570.60 m. 2025-01-08T21:16:13.918Z,1736370973.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:13.937Z,1736370973.937 [DAT](INFO): DAT read: 21:16:12.2293 LVL= 28720, 32753, 15730, 32755, AGC= 70, IDX= 403, 0.40,-0.144,-0.760, 1.040, 0.041, PHS=-0.097,-0.753, 0.996, RAW= 188.2, -1.9, CAL= 188.2, -9.1, ROT= 321.8, 9.1 2025-01-08T21:16:13.938Z,1736370973.938 [DAT](INFO): got valid direction response: 21:16:12.2293 LVL= 28720, 32753, 15730, 32755, AGC= 70, IDX= 403, 0.40,-0.144,-0.760, 1.040, 0.041, PHS=-0.097,-0.753, 0.996, RAW= 188.2, -1.9, CAL= 188.2, -9.1, ROT= 321.8, 9.1 2025-01-08T21:16:13.939Z,1736370973.939 [DAT](INFO): DAT read: Bearing 321.8, 9.1 (Local) 2025-01-08T21:16:13.943Z,1736370973.943 [DAT](INFO): Local bearing/azimuth received: Bearing 321.8, 9.1 (Local) 2025-01-08T21:16:13.945Z,1736370973.945 [DAT](INFO): DAT read: Range 10 to 50 : 567.6 m (Round-trip 756.9 ms) speed 0.7 m/s 2025-01-08T21:16:13.946Z,1736370973.946 [DAT](INFO): DAT read: user:1627> 2025-01-08T21:16:13.952Z,1736370973.952 [DAT](INFO): DAT read: Tx time:21:16:13.3183 2025-01-08T21:16:13.952Z,1736370973.952 [DAT](INFO): Ping request sent. 2025-01-08T21:16:13.952Z,1736370973.952 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:16:13.953Z,1736370973.953 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:16:13.954Z,1736370973.954 [DAT](INFO): direction in FSK: [-0.037375,-0.994778,-0.094969] 2025-01-08T21:16:13.954Z,1736370973.954 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:13.954Z,1736370973.954 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:13.969Z,1736370973.969 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:13.969Z,1736370973.969 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:14.169Z,1736370974.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:14.172Z,1736370974.172 [DAT](INFO): DAT read: TxSync time:21:16:13.3175 2025-01-08T21:16:14.182Z,1736370974.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:14.252Z,1736370974.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 567.599976 m, deltaT: 4.032819 s, deltaX: -3.000000 m, approachRate: -0.743897 m/s, rangeRepo size: 4 2025-01-08T21:16:14.254Z,1736370974.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 567.599976 m, bearing: 207.989766 deg, lat: 36.900139 deg, lon: -122.115766 deg, deltaT: 4.032819 s, deltaX: -3.000000 m, approachRate: -0.743897 m/s, posRepo size: 4 2025-01-08T21:16:14.255Z,1736370974.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:14.262Z,1736370974.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 553.824402 m, bearing: 207.991328 deg, approach rate: 0.000000 m/s, LOS rate: -0.070259 deg/s, cmd heading: 297.873757 deg, new cmd heading: 297.772665 deg. 2025-01-08T21:16:14.267Z,1736370974.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.197114 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:14.420Z,1736370974.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:14.572Z,1736370974.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:14.604Z,1736370974.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:14.606Z,1736370974.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:14.609Z,1736370974.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 553.819763 m, bearing: 207.964981 deg, approach rate: -0.012779 m/s, LOS rate: -0.072583 deg/s, cmd heading: 297.772670 deg, new cmd heading: 297.693626 deg. 2025-01-08T21:16:14.610Z,1736370974.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195734 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:14.672Z,1736370974.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:14.673Z,1736370974.673 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:14.673Z,1736370974.673 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:14.674Z,1736370974.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:14.924Z,1736370974.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:14.924Z,1736370974.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972308 2025-01-08T21:16:14.951Z,1736370974.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:14.960Z,1736370974.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:14.962Z,1736370974.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 553.815002 m, bearing: 207.939406 deg, approach rate: -0.013453 m/s, LOS rate: -0.072272 deg/s, cmd heading: 297.693631 deg, new cmd heading: 297.616906 deg. 2025-01-08T21:16:14.965Z,1736370974.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.194395 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:15.178Z,1736370975.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:15.180Z,1736370975.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227947 2025-01-08T21:16:15.407Z,1736370975.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:15.417Z,1736370975.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:15.420Z,1736370975.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 553.825623 m, bearing: 207.910220 deg, approach rate: 0.023239 m/s, LOS rate: -0.063864 deg/s, cmd heading: 297.616914 deg, new cmd heading: 297.529358 deg. 2025-01-08T21:16:15.421Z,1736370975.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.192867 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:15.432Z,1736370975.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:15.433Z,1736370975.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480777 2025-01-08T21:16:15.684Z,1736370975.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:15.684Z,1736370975.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732332 2025-01-08T21:16:15.833Z,1736370975.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:15.841Z,1736370975.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:15.845Z,1736370975.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 553.835938 m, bearing: 207.882958 deg, approach rate: 0.024288 m/s, LOS rate: -0.064190 deg/s, cmd heading: 297.529351 deg, new cmd heading: 297.447569 deg. 2025-01-08T21:16:15.846Z,1736370975.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.191440 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:15.938Z,1736370975.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:15.940Z,1736370975.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988035 2025-01-08T21:16:16.188Z,1736370976.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:16.188Z,1736370976.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236432 2025-01-08T21:16:16.312Z,1736370976.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:16.338Z,1736370976.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:16.346Z,1736370976.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 553.863281 m, bearing: 207.853496 deg, approach rate: 0.055011 m/s, LOS rate: -0.059269 deg/s, cmd heading: 297.447580 deg, new cmd heading: 297.359200 deg. 2025-01-08T21:16:16.347Z,1736370976.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189897 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:16.440Z,1736370976.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:16.440Z,1736370976.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488473 2025-01-08T21:16:16.692Z,1736370976.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:16.692Z,1736370976.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740429 2025-01-08T21:16:16.808Z,1736370976.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:16.816Z,1736370976.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:16.818Z,1736370976.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:16.821Z,1736370976.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 553.891602 m, bearing: 207.823014 deg, approach rate: 0.059027 m/s, LOS rate: -0.063530 deg/s, cmd heading: 297.359198 deg, new cmd heading: 297.267755 deg. 2025-01-08T21:16:16.822Z,1736370976.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188301 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:16.944Z,1736370976.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:16.946Z,1736370976.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993478 2025-01-08T21:16:17.196Z,1736370977.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:17.196Z,1736370977.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244493 2025-01-08T21:16:17.247Z,1736370977.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:17.299Z,1736370977.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:17.306Z,1736370977.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 553.916626 m, bearing: 207.796186 deg, approach rate: 0.052096 m/s, LOS rate: -0.055848 deg/s, cmd heading: 297.267755 deg, new cmd heading: 297.187275 deg. 2025-01-08T21:16:17.307Z,1736370977.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.186896 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:17.448Z,1736370977.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:17.448Z,1736370977.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496453 2025-01-08T21:16:17.638Z,1736370977.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:17.676Z,1736370977.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:17.685Z,1736370977.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 553.953674 m, bearing: 207.772773 deg, approach rate: 0.098167 m/s, LOS rate: -0.062033 deg/s, cmd heading: 297.187268 deg, new cmd heading: 297.117034 deg. 2025-01-08T21:16:17.686Z,1736370977.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185670 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:17.700Z,1736370977.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:17.701Z,1736370977.701 [DAT](INFO): DAT read: Rx Time:21:16:16.4768 2025-01-08T21:16:17.701Z,1736370977.701 [DAT](INFO): Rx dataTimestamp_ set to:1736370977.701021 2025-01-08T21:16:17.702Z,1736370977.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749837 2025-01-08T21:16:17.952Z,1736370977.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:17.952Z,1736370977.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000381 2025-01-08T21:16:18.010Z,1736370978.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:18.031Z,1736370978.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:18.034Z,1736370978.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 553.988770 m, bearing: 207.750510 deg, approach rate: 0.099955 m/s, LOS rate: -0.063404 deg/s, cmd heading: 297.117026 deg, new cmd heading: 297.050241 deg. 2025-01-08T21:16:18.035Z,1736370978.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.184505 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:18.205Z,1736370978.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:18.215Z,1736370978.215 [DAT](INFO): DAT read: 21:16:16.4768 LVL= 32752, 32753, 16530, 32755, AGC= 72, IDX= 325,-0.12, 1.588, 0.727, 2.627, 1.787, PHS=-0.111,-1.013, 0.838, RAW= 180.8, 3.6, CAL= 180.9, -5.0, ROT= 329.1, 5.0 2025-01-08T21:16:18.217Z,1736370978.217 [DAT](INFO): got valid direction response: 21:16:16.4768 LVL= 32752, 32753, 16530, 32755, AGC= 72, IDX= 325,-0.12, 1.588, 0.727, 2.627, 1.787, PHS=-0.111,-1.013, 0.838, RAW= 180.8, 3.6, CAL= 180.9, -5.0, ROT= 329.1, 5.0 2025-01-08T21:16:18.217Z,1736370978.217 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:16:18.218Z,1736370978.218 [DAT](INFO): Received a bad header 2025-01-08T21:16:18.233Z,1736370978.233 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:16:18.238Z,1736370978.238 [DAT](INFO): direction in FSK: [-0.154457,-0.987696,0.024477] 2025-01-08T21:16:18.309Z,1736370978.309 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:18.309Z,1736370978.309 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:18.309Z,1736370978.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:18.450Z,1736370978.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:18.456Z,1736370978.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:18.456Z,1736370978.456 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:18.456Z,1736370978.456 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:18.456Z,1736370978.456 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:18.474Z,1736370978.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:18.481Z,1736370978.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.038635 m, bearing: 207.724289 deg, approach rate: 0.111651 m/s, LOS rate: -0.058703 deg/s, cmd heading: 297.050255 deg, new cmd heading: 296.971600 deg. 2025-01-08T21:16:18.482Z,1736370978.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.183132 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:18.708Z,1736370978.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:18.708Z,1736370978.708 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:18.708Z,1736370978.708 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:18.708Z,1736370978.708 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:18.822Z,1736370978.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:18.830Z,1736370978.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:18.832Z,1736370978.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:18.835Z,1736370978.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.080444 m, bearing: 207.702077 deg, approach rate: 0.116616 m/s, LOS rate: -0.061950 deg/s, cmd heading: 296.971598 deg, new cmd heading: 296.904968 deg. 2025-01-08T21:16:18.836Z,1736370978.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181969 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:18.960Z,1736370978.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:18.960Z,1736370978.960 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:18.960Z,1736370978.960 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:18.960Z,1736370978.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:19.213Z,1736370979.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:19.213Z,1736370979.213 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:19.213Z,1736370979.213 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:19.214Z,1736370979.214 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:19.232Z,1736370979.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:19.246Z,1736370979.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:19.249Z,1736370979.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.126404 m, bearing: 207.677582 deg, approach rate: 0.111017 m/s, LOS rate: -0.059164 deg/s, cmd heading: 296.904963 deg, new cmd heading: 296.831483 deg. 2025-01-08T21:16:19.250Z,1736370979.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180686 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:19.464Z,1736370979.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:19.464Z,1736370979.464 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:19.464Z,1736370979.464 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:19.464Z,1736370979.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:19.672Z,1736370979.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:19.690Z,1736370979.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:19.698Z,1736370979.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.177246 m, bearing: 207.652176 deg, approach rate: 0.114511 m/s, LOS rate: -0.057217 deg/s, cmd heading: 296.831470 deg, new cmd heading: 296.755258 deg. 2025-01-08T21:16:19.699Z,1736370979.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.179356 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:19.716Z,1736370979.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:19.716Z,1736370979.716 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:19.717Z,1736370979.717 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:19.717Z,1736370979.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:19.968Z,1736370979.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:19.968Z,1736370979.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:19.968Z,1736370979.968 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:19.968Z,1736370979.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:20.047Z,1736370980.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:20.058Z,1736370980.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:20.061Z,1736370980.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.224060 m, bearing: 207.628664 deg, approach rate: 0.127138 m/s, LOS rate: -0.063848 deg/s, cmd heading: 296.755245 deg, new cmd heading: 296.684716 deg. 2025-01-08T21:16:20.062Z,1736370980.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.178125 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:20.220Z,1736370980.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:20.220Z,1736370980.220 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:20.220Z,1736370980.220 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:20.220Z,1736370980.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:20.465Z,1736370980.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:20.473Z,1736370980.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:20.474Z,1736370980.474 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:20.474Z,1736370980.474 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:20.474Z,1736370980.474 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:20.477Z,1736370980.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:20.481Z,1736370980.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.269043 m, bearing: 207.602275 deg, approach rate: 0.107473 m/s, LOS rate: -0.063045 deg/s, cmd heading: 296.684703 deg, new cmd heading: 296.605541 deg. 2025-01-08T21:16:20.482Z,1736370980.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176744 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:20.724Z,1736370980.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:20.724Z,1736370980.724 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:20.724Z,1736370980.724 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:20.724Z,1736370980.724 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:20.924Z,1736370980.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:20.932Z,1736370980.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:20.934Z,1736370980.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:20.938Z,1736370980.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.318054 m, bearing: 207.573342 deg, approach rate: 0.107227 m/s, LOS rate: -0.063294 deg/s, cmd heading: 296.605555 deg, new cmd heading: 296.518764 deg. 2025-01-08T21:16:20.938Z,1736370980.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.175229 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:20.977Z,1736370980.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:20.977Z,1736370980.977 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:20.978Z,1736370980.978 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:20.978Z,1736370980.978 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:21.228Z,1736370981.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:21.229Z,1736370981.229 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:21.229Z,1736370981.229 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:21.229Z,1736370981.229 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:21.392Z,1736370981.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:21.402Z,1736370981.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:21.405Z,1736370981.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.353455 m, bearing: 207.542922 deg, approach rate: 0.075676 m/s, LOS rate: -0.065024 deg/s, cmd heading: 296.518757 deg, new cmd heading: 296.427504 deg. 2025-01-08T21:16:21.407Z,1736370981.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.173636 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:21.480Z,1736370981.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:21.481Z,1736370981.481 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:21.481Z,1736370981.481 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:21.481Z,1736370981.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:21.732Z,1736370981.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:21.732Z,1736370981.732 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:21.732Z,1736370981.732 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:21.733Z,1736370981.733 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:21.846Z,1736370981.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:21.854Z,1736370981.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:21.857Z,1736370981.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.387085 m, bearing: 207.513401 deg, approach rate: 0.074313 m/s, LOS rate: -0.065230 deg/s, cmd heading: 296.427505 deg, new cmd heading: 296.338946 deg. 2025-01-08T21:16:21.858Z,1736370981.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.172091 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:21.984Z,1736370981.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:21.984Z,1736370981.984 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:21.984Z,1736370981.984 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:21.984Z,1736370981.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:22.236Z,1736370982.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:22.236Z,1736370982.236 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:22.237Z,1736370982.237 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:22.237Z,1736370982.237 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:22.276Z,1736370982.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:22.308Z,1736370982.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:22.326Z,1736370982.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.418640 m, bearing: 207.485405 deg, approach rate: 0.069859 m/s, LOS rate: -0.061975 deg/s, cmd heading: 296.338959 deg, new cmd heading: 296.254976 deg. 2025-01-08T21:16:22.334Z,1736370982.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.170625 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:22.488Z,1736370982.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:22.488Z,1736370982.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:22.488Z,1736370982.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:22.488Z,1736370982.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:22.700Z,1736370982.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:22.709Z,1736370982.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:22.713Z,1736370982.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.440857 m, bearing: 207.456458 deg, approach rate: 0.055197 m/s, LOS rate: -0.071916 deg/s, cmd heading: 296.254975 deg, new cmd heading: 296.168137 deg. 2025-01-08T21:16:22.714Z,1736370982.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.169109 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:22.732Z,1736370982.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:16:22.762Z,1736370982.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:22.764Z,1736370982.764 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:22.764Z,1736370982.764 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:22.764Z,1736370982.764 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:23.012Z,1736370983.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:23.012Z,1736370983.012 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:23.012Z,1736370983.012 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:23.012Z,1736370983.012 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:23.080Z,1736370983.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:23.095Z,1736370983.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:23.099Z,1736370983.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:23.110Z,1736370983.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.459961 m, bearing: 207.430513 deg, approach rate: 0.049060 m/s, LOS rate: -0.066627 deg/s, cmd heading: 296.168149 deg, new cmd heading: 296.090315 deg. 2025-01-08T21:16:23.111Z,1736370983.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167751 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:23.264Z,1736370983.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:23.264Z,1736370983.264 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:23.264Z,1736370983.264 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:23.264Z,1736370983.264 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:23.493Z,1736370983.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:23.516Z,1736370983.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:23.516Z,1736370983.516 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:23.516Z,1736370983.516 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:23.517Z,1736370983.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:23.522Z,1736370983.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:23.526Z,1736370983.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.473633 m, bearing: 207.400829 deg, approach rate: 0.032230 m/s, LOS rate: -0.069975 deg/s, cmd heading: 296.090312 deg, new cmd heading: 296.001264 deg. 2025-01-08T21:16:23.527Z,1736370983.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166197 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:23.736Z,1736370983.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:16:23.768Z,1736370983.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:23.768Z,1736370983.768 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:23.768Z,1736370983.768 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:23.768Z,1736370983.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:23.867Z,1736370983.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:23.887Z,1736370983.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:23.893Z,1736370983.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.484863 m, bearing: 207.373887 deg, approach rate: 0.030834 m/s, LOS rate: -0.073969 deg/s, cmd heading: 296.001274 deg, new cmd heading: 295.920451 deg. 2025-01-08T21:16:23.895Z,1736370983.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.164786 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:24.020Z,1736370984.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:24.020Z,1736370984.020 [DAT](INFO): Reached modem response timeout 2025-01-08T21:16:24.020Z,1736370984.020 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:16:24.021Z,1736370984.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:24.272Z,1736370984.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:24.272Z,1736370984.272 [DAT](INFO): Reached modem response timeout 2025-01-08T21:16:24.272Z,1736370984.272 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:16:24.272Z,1736370984.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:24.282Z,1736370984.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:24.291Z,1736370984.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:24.298Z,1736370984.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.497009 m, bearing: 207.344010 deg, approach rate: 0.030039 m/s, LOS rate: -0.073892 deg/s, cmd heading: 295.920459 deg, new cmd heading: 295.830828 deg. 2025-01-08T21:16:24.300Z,1736370984.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163222 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:24.524Z,1736370984.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:24.524Z,1736370984.524 [DAT](INFO): Reached modem response timeout 2025-01-08T21:16:24.524Z,1736370984.524 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:16:24.525Z,1736370984.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:24.708Z,1736370984.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:24.718Z,1736370984.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:24.721Z,1736370984.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.490051 m, bearing: 207.312741 deg, approach rate: -0.016287 m/s, LOS rate: -0.073193 deg/s, cmd heading: 295.830820 deg, new cmd heading: 295.737013 deg. 2025-01-08T21:16:24.722Z,1736370984.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.161584 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:24.777Z,1736370984.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:24.777Z,1736370984.777 [DAT](INFO): Reached modem response timeout 2025-01-08T21:16:24.778Z,1736370984.778 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:16:24.778Z,1736370984.778 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:25.029Z,1736370985.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:25.030Z,1736370985.030 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:16:25.031Z,1736370985.031 [DAT](INFO): response not received 2025-01-08T21:16:25.031Z,1736370985.031 [DAT](INFO): DAT read: user:1629> 2025-01-08T21:16:25.032Z,1736370985.032 [DAT](INFO): DAT read: Tx time:21:16:24.2684 2025-01-08T21:16:25.032Z,1736370985.032 [DAT](INFO): Ping request sent. 2025-01-08T21:16:25.032Z,1736370985.032 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:16:25.032Z,1736370985.032 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:25.033Z,1736370985.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729 2025-01-08T21:16:25.113Z,1736370985.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:25.137Z,1736370985.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:25.143Z,1736370985.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:25.146Z,1736370985.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.483032 m, bearing: 207.283020 deg, approach rate: -0.016665 m/s, LOS rate: -0.070566 deg/s, cmd heading: 295.737000 deg, new cmd heading: 295.647837 deg. 2025-01-08T21:16:25.147Z,1736370985.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160028 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:25.280Z,1736370985.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:25.281Z,1736370985.281 [DAT](INFO): DAT read: TxSync time:21:16:24.2676 2025-01-08T21:16:25.281Z,1736370985.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249147 2025-01-08T21:16:25.526Z,1736370985.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:25.532Z,1736370985.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:25.533Z,1736370985.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500439 2025-01-08T21:16:25.537Z,1736370985.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:25.540Z,1736370985.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.467834 m, bearing: 207.252552 deg, approach rate: -0.038179 m/s, LOS rate: -0.076544 deg/s, cmd heading: 295.647825 deg, new cmd heading: 295.556417 deg. 2025-01-08T21:16:25.541Z,1736370985.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.158432 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:25.784Z,1736370985.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:25.786Z,1736370985.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753258 2025-01-08T21:16:25.882Z,1736370985.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:25.891Z,1736370985.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:25.894Z,1736370985.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.453064 m, bearing: 207.226292 deg, approach rate: -0.041798 m/s, LOS rate: -0.074313 deg/s, cmd heading: 295.556410 deg, new cmd heading: 295.477629 deg. 2025-01-08T21:16:25.896Z,1736370985.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.157057 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:26.038Z,1736370986.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:26.038Z,1736370986.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006197 2025-01-08T21:16:26.285Z,1736370986.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:26.288Z,1736370986.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:26.288Z,1736370986.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256201 2025-01-08T21:16:26.296Z,1736370986.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:26.299Z,1736370986.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.435974 m, bearing: 207.196631 deg, approach rate: -0.042209 m/s, LOS rate: -0.073259 deg/s, cmd heading: 295.477617 deg, new cmd heading: 295.388633 deg. 2025-01-08T21:16:26.300Z,1736370986.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.155504 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:26.542Z,1736370986.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:26.544Z,1736370986.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511708 2025-01-08T21:16:26.716Z,1736370986.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:26.725Z,1736370986.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:26.729Z,1736370986.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.413330 m, bearing: 207.165025 deg, approach rate: -0.052722 m/s, LOS rate: -0.073591 deg/s, cmd heading: 295.388633 deg, new cmd heading: 295.293811 deg. 2025-01-08T21:16:26.730Z,1736370986.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153849 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:26.792Z,1736370986.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:26.794Z,1736370986.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761292 2025-01-08T21:16:27.044Z,1736370987.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:27.045Z,1736370987.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012954 2025-01-08T21:16:27.090Z,1736370987.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:27.117Z,1736370987.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:27.134Z,1736370987.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.393616 m, bearing: 207.137597 deg, approach rate: -0.050337 m/s, LOS rate: -0.070036 deg/s, cmd heading: 295.293803 deg, new cmd heading: 295.211515 deg. 2025-01-08T21:16:27.135Z,1736370987.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152413 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:27.296Z,1736370987.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:27.297Z,1736370987.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264686 2025-01-08T21:16:27.534Z,1736370987.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:27.541Z,1736370987.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:27.543Z,1736370987.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:27.548Z,1736370987.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:27.549Z,1736370987.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516618 2025-01-08T21:16:27.580Z,1736370987.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.370361 m, bearing: 207.105514 deg, approach rate: -0.054595 m/s, LOS rate: -0.075326 deg/s, cmd heading: 295.211513 deg, new cmd heading: 295.115260 deg. 2025-01-08T21:16:27.581Z,1736370987.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.150733 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:27.800Z,1736370987.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:27.800Z,1736370987.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768224 2025-01-08T21:16:27.903Z,1736370987.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:27.913Z,1736370987.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:27.916Z,1736370987.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.351013 m, bearing: 207.078775 deg, approach rate: -0.052222 m/s, LOS rate: -0.072173 deg/s, cmd heading: 295.115262 deg, new cmd heading: 295.035043 deg. 2025-01-08T21:16:27.917Z,1736370987.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.149333 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:28.052Z,1736370988.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:28.052Z,1736370988.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020143 2025-01-08T21:16:28.303Z,1736370988.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:28.304Z,1736370988.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:28.305Z,1736370988.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272281 2025-01-08T21:16:28.314Z,1736370988.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:28.317Z,1736370988.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.329956 m, bearing: 207.049837 deg, approach rate: -0.052563 m/s, LOS rate: -0.072240 deg/s, cmd heading: 295.035048 deg, new cmd heading: 294.948229 deg. 2025-01-08T21:16:28.317Z,1736370988.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.147818 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:28.557Z,1736370988.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:28.560Z,1736370988.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527331 2025-01-08T21:16:28.732Z,1736370988.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:28.741Z,1736370988.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:28.744Z,1736370988.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.309570 m, bearing: 207.019443 deg, approach rate: -0.047712 m/s, LOS rate: -0.071138 deg/s, cmd heading: 294.948223 deg, new cmd heading: 294.857039 deg. 2025-01-08T21:16:28.746Z,1736370988.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.146226 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:28.808Z,1736370988.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:28.809Z,1736370988.809 [DAT](INFO): DAT read: Rx Time:21:16:27.4196 2025-01-08T21:16:28.809Z,1736370988.809 [DAT](INFO): Rx dataTimestamp_ set to:1736370988.808805 2025-01-08T21:16:28.810Z,1736370988.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777382 2025-01-08T21:16:29.060Z,1736370989.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:29.061Z,1736370989.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028136 2025-01-08T21:16:29.173Z,1736370989.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:29.181Z,1736370989.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.60 m. 2025-01-08T21:16:29.184Z,1736370989.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.599976 m, nav range: 554.288635 m, bearing: 206.988258 deg, approach rate: -0.047565 m/s, LOS rate: -0.070857 deg/s, cmd heading: 294.857026 deg, new cmd heading: 294.763467 deg. 2025-01-08T21:16:29.185Z,1736370989.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.144593 target range: 567.599976 and range: 567.60 m. 2025-01-08T21:16:29.312Z,1736370989.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:29.319Z,1736370989.319 [DAT](INFO): DAT read: 21:16:27.4196 LVL= 29344, 32753, 14690, 32755, AGC= 67, IDX= 301, 0.40, 2.095, 1.304,-3.126, 2.294, PHS=-0.111,-0.943, 0.861, RAW= 182.6, 2.5, CAL= 182.7, -5.8, ROT= 327.3, 5.8 2025-01-08T21:16:29.320Z,1736370989.320 [DAT](INFO): got valid direction response: 21:16:27.4196 LVL= 29344, 32753, 14690, 32755, AGC= 67, IDX= 301, 0.40, 2.095, 1.304,-3.126, 2.294, PHS=-0.111,-0.943, 0.861, RAW= 182.6, 2.5, CAL= 182.7, -5.8, ROT= 327.3, 5.8 2025-01-08T21:16:29.321Z,1736370989.321 [DAT](INFO): DAT read: Bearing 327.3, 5.8 (Local) 2025-01-08T21:16:29.322Z,1736370989.322 [DAT](INFO): Local bearing/azimuth received: Bearing 327.3, 5.8 (Local) 2025-01-08T21:16:29.324Z,1736370989.324 [DAT](INFO): DAT read: Range 10 to 50 : 560.2 m (Round-trip 747.0 ms) speed 0.6 m/s 2025-01-08T21:16:29.325Z,1736370989.325 [DAT](INFO): DAT read: user:1630> 2025-01-08T21:16:29.325Z,1736370989.325 [DAT](INFO): DAT read: Tx time:21:16:28.5184 2025-01-08T21:16:29.326Z,1736370989.326 [DAT](INFO): Ping request sent. 2025-01-08T21:16:29.326Z,1736370989.326 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:16:29.326Z,1736370989.326 [DAT](INFO): DAT read: TxSync time:21:16:28.5176 2025-01-08T21:16:29.327Z,1736370989.327 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:16:29.354Z,1736370989.354 [DAT](INFO): direction in FSK: [-0.130722,-0.991412,-0.003815] 2025-01-08T21:16:29.354Z,1736370989.354 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:29.354Z,1736370989.354 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:29.357Z,1736370989.357 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:29.357Z,1736370989.357 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:29.564Z,1736370989.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:29.606Z,1736370989.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:29.635Z,1736370989.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 560.200012 m, deltaT: 15.394336 s, deltaX: -7.399963 m, approachRate: -0.480694 m/s, rangeRepo size: 4 2025-01-08T21:16:29.637Z,1736370989.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 560.200012 m, bearing: 198.659116 deg, lat: 36.899865 deg, lon: -122.115266 deg, deltaT: 15.394336 s, deltaX: -7.399963 m, approachRate: -0.480694 m/s, posRepo size: 4 2025-01-08T21:16:29.638Z,1736370989.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.20 m. 2025-01-08T21:16:29.646Z,1736370989.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 560.200012 m, nav range: 563.790161 m, bearing: 201.520540 deg, approach rate: 0.000000 m/s, LOS rate: -0.070857 deg/s, cmd heading: 294.763480 deg, new cmd heading: 294.667224 deg. 2025-01-08T21:16:29.652Z,1736370989.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.142913 target range: 560.200012 and range: 560.20 m. 2025-01-08T21:16:29.816Z,1736370989.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:30.068Z,1736370990.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:30.074Z,1736370990.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:30.109Z,1736370990.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:30.111Z,1736370990.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.20 m. 2025-01-08T21:16:30.118Z,1736370990.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 560.200012 m, nav range: 563.807251 m, bearing: 201.489034 deg, approach rate: 0.035823 m/s, LOS rate: -0.066037 deg/s, cmd heading: 294.667229 deg, new cmd heading: 294.572716 deg. 2025-01-08T21:16:30.119Z,1736370990.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.141264 target range: 560.200012 and range: 560.20 m. 2025-01-08T21:16:30.320Z,1736370990.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:30.320Z,1736370990.320 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:30.320Z,1736370990.320 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:30.320Z,1736370990.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:30.534Z,1736370990.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:30.542Z,1736370990.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.20 m. 2025-01-08T21:16:30.546Z,1736370990.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 560.200012 m, nav range: 563.829285 m, bearing: 201.459033 deg, approach rate: 0.051110 m/s, LOS rate: -0.069589 deg/s, cmd heading: 294.572726 deg, new cmd heading: 294.482726 deg. 2025-01-08T21:16:30.546Z,1736370990.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.139693 target range: 560.200012 and range: 560.20 m. 2025-01-08T21:16:30.572Z,1736370990.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:30.573Z,1736370990.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246681 2025-01-08T21:16:30.824Z,1736370990.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:30.825Z,1736370990.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499596 2025-01-08T21:16:30.898Z,1736370990.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:30.907Z,1736370990.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.20 m. 2025-01-08T21:16:30.910Z,1736370990.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 560.200012 m, nav range: 563.846924 m, bearing: 201.435213 deg, approach rate: 0.048363 m/s, LOS rate: -0.065307 deg/s, cmd heading: 294.482732 deg, new cmd heading: 294.411275 deg. 2025-01-08T21:16:30.912Z,1736370990.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.138446 target range: 560.200012 and range: 560.20 m. 2025-01-08T21:16:31.076Z,1736370991.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:31.077Z,1736370991.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751032 2025-01-08T21:16:31.302Z,1736370991.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:31.326Z,1736370991.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.20 m. 2025-01-08T21:16:31.328Z,1736370991.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:31.329Z,1736370991.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003233 2025-01-08T21:16:31.331Z,1736370991.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 560.200012 m, nav range: 563.867676 m, bearing: 201.408777 deg, approach rate: 0.049532 m/s, LOS rate: -0.063097 deg/s, cmd heading: 294.411288 deg, new cmd heading: 294.331983 deg. 2025-01-08T21:16:31.332Z,1736370991.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.137062 target range: 560.200012 and range: 560.20 m. 2025-01-08T21:16:31.580Z,1736370991.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:31.580Z,1736370991.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254579 2025-01-08T21:16:31.724Z,1736370991.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:31.733Z,1736370991.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.20 m. 2025-01-08T21:16:31.736Z,1736370991.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 560.200012 m, nav range: 563.895325 m, bearing: 201.382005 deg, approach rate: 0.067861 m/s, LOS rate: -0.065705 deg/s, cmd heading: 294.331976 deg, new cmd heading: 294.251664 deg. 2025-01-08T21:16:31.737Z,1736370991.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.135660 target range: 560.200012 and range: 560.20 m. 2025-01-08T21:16:31.832Z,1736370991.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:31.833Z,1736370991.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507089 2025-01-08T21:16:32.084Z,1736370992.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:32.084Z,1736370992.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758530 2025-01-08T21:16:32.099Z,1736370992.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:32.108Z,1736370992.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.20 m. 2025-01-08T21:16:32.139Z,1736370992.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 560.200012 m, nav range: 563.920349 m, bearing: 201.358206 deg, approach rate: 0.066754 m/s, LOS rate: -0.063484 deg/s, cmd heading: 294.251653 deg, new cmd heading: 294.180258 deg. 2025-01-08T21:16:32.140Z,1736370992.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.134414 target range: 560.200012 and range: 560.20 m. 2025-01-08T21:16:32.336Z,1736370992.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:32.337Z,1736370992.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011313 2025-01-08T21:16:32.588Z,1736370992.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:32.588Z,1736370992.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262603 2025-01-08T21:16:32.619Z,1736370992.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:32.626Z,1736370992.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:32.629Z,1736370992.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.20 m. 2025-01-08T21:16:32.632Z,1736370992.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 560.200012 m, nav range: 563.967651 m, bearing: 201.327221 deg, approach rate: 0.090812 m/s, LOS rate: -0.059480 deg/s, cmd heading: 294.180264 deg, new cmd heading: 294.087318 deg. 2025-01-08T21:16:32.633Z,1736370992.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.132792 target range: 560.200012 and range: 560.20 m. 2025-01-08T21:16:32.840Z,1736370992.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:32.841Z,1736370992.841 [DAT](INFO): DAT read: Rx Time:21:16:31.6660 2025-01-08T21:16:32.841Z,1736370992.841 [DAT](INFO): Rx dataTimestamp_ set to:1736370992.840779 2025-01-08T21:16:32.842Z,1736370992.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515766 2025-01-08T21:16:32.957Z,1736370992.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:32.967Z,1736370992.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.20 m. 2025-01-08T21:16:32.970Z,1736370992.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 560.200012 m, nav range: 564.002563 m, bearing: 201.304597 deg, approach rate: 0.103182 m/s, LOS rate: -0.066863 deg/s, cmd heading: 294.087318 deg, new cmd heading: 294.019448 deg. 2025-01-08T21:16:32.971Z,1736370992.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.131608 target range: 560.200012 and range: 560.20 m. 2025-01-08T21:16:33.092Z,1736370993.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:33.093Z,1736370993.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767312 2025-01-08T21:16:33.346Z,1736370993.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:33.350Z,1736370993.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023028 2025-01-08T21:16:33.405Z,1736370993.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:33.416Z,1736370993.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 560.20 m. 2025-01-08T21:16:33.418Z,1736370993.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 560.200012 m, nav range: 564.046265 m, bearing: 201.276450 deg, approach rate: 0.097547 m/s, LOS rate: -0.062822 deg/s, cmd heading: 294.019454 deg, new cmd heading: 293.935021 deg. 2025-01-08T21:16:33.419Z,1736370993.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130134 target range: 560.200012 and range: 560.20 m. 2025-01-08T21:16:33.596Z,1736370993.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:33.604Z,1736370993.604 [DAT](INFO): DAT read: 21:16:31.6660 LVL= 32752, 32753, 20146, 32755, AGC= 71, IDX= 329,-0.39,-1.717,-2.594,-0.521,-1.500, PHS=-0.129,-1.047, 0.976, RAW= 183.0, 2.3, CAL= 183.2, -5.9, ROT= 326.8, 5.9 2025-01-08T21:16:33.605Z,1736370993.605 [DAT](INFO): got valid direction response: 21:16:31.6660 LVL= 32752, 32753, 20146, 32755, AGC= 71, IDX= 329,-0.39,-1.717,-2.594,-0.521,-1.500, PHS=-0.129,-1.047, 0.976, RAW= 183.0, 2.3, CAL= 183.2, -5.9, ROT= 326.8, 5.9 2025-01-08T21:16:33.606Z,1736370993.606 [DAT](INFO): DAT read: Bearing 326.8, 5.9 (Local) 2025-01-08T21:16:33.606Z,1736370993.606 [DAT](INFO): Local bearing/azimuth received: Bearing 326.8, 5.9 (Local) 2025-01-08T21:16:33.608Z,1736370993.608 [DAT](INFO): DAT read: Range 10 to 50 : 557.5 m (Round-trip 743.4 ms) speed 0.1 m/s 2025-01-08T21:16:33.609Z,1736370993.609 [DAT](INFO): DAT read: user:1631> 2025-01-08T21:16:33.610Z,1736370993.610 [DAT](INFO): DAT read: Tx time:21:16:32.7684 2025-01-08T21:16:33.610Z,1736370993.610 [DAT](INFO): Ping request sent. 2025-01-08T21:16:33.610Z,1736370993.610 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:16:33.624Z,1736370993.624 [DAT](INFO): DAT read: TxSync time:21:16:32.7676 2025-01-08T21:16:33.624Z,1736370993.624 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:16:33.625Z,1736370993.625 [DAT](INFO): direction in FSK: [-0.126318,-0.991917,-0.011999] 2025-01-08T21:16:33.625Z,1736370993.625 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:33.626Z,1736370993.626 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:33.635Z,1736370993.635 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:33.635Z,1736370993.635 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:33.808Z,1736370993.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:33.842Z,1736370993.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 557.500000 m, deltaT: 4.284080 s, deltaX: -2.700012 m, approachRate: -0.630243 m/s, rangeRepo size: 4 2025-01-08T21:16:33.848Z,1736370993.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:33.850Z,1736370993.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 557.500000 m, bearing: 198.735854 deg, lat: 36.899902 deg, lon: -122.115266 deg, deltaT: 4.284080 s, deltaX: -2.700012 m, approachRate: -0.630243 m/s, posRepo size: 4 2025-01-08T21:16:33.851Z,1736370993.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:33.858Z,1736370993.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.212585 m, bearing: 201.405483 deg, approach rate: 0.000000 m/s, LOS rate: -0.062822 deg/s, cmd heading: 293.935033 deg, new cmd heading: 293.854648 deg. 2025-01-08T21:16:33.859Z,1736370993.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128731 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:34.100Z,1736370994.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:34.172Z,1736370994.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:34.196Z,1736370994.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:34.198Z,1736370994.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.252502 m, bearing: 201.382418 deg, approach rate: 0.114164 m/s, LOS rate: -0.065961 deg/s, cmd heading: 293.854655 deg, new cmd heading: 293.785466 deg. 2025-01-08T21:16:34.200Z,1736370994.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.127524 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:34.352Z,1736370994.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:34.597Z,1736370994.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:34.604Z,1736370994.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:34.608Z,1736370994.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:34.610Z,1736370994.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.304626 m, bearing: 201.355711 deg, approach rate: 0.125359 m/s, LOS rate: -0.064224 deg/s, cmd heading: 293.785479 deg, new cmd heading: 293.705366 deg. 2025-01-08T21:16:34.613Z,1736370994.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126126 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:34.856Z,1736370994.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:34.969Z,1736370994.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:34.977Z,1736370994.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:34.980Z,1736370994.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:34.983Z,1736370994.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.350281 m, bearing: 201.332339 deg, approach rate: 0.122329 m/s, LOS rate: -0.062620 deg/s, cmd heading: 293.705374 deg, new cmd heading: 293.635263 deg. 2025-01-08T21:16:34.984Z,1736370994.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.124902 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:35.108Z,1736370995.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:35.108Z,1736370995.108 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:35.108Z,1736370995.108 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:35.109Z,1736370995.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:35.360Z,1736370995.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:35.362Z,1736370995.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751512 2025-01-08T21:16:35.379Z,1736370995.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:35.388Z,1736370995.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:35.390Z,1736370995.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.400879 m, bearing: 201.306575 deg, approach rate: 0.124349 m/s, LOS rate: -0.063310 deg/s, cmd heading: 293.635269 deg, new cmd heading: 293.557987 deg. 2025-01-08T21:16:35.391Z,1736370995.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.123553 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:35.613Z,1736370995.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:35.614Z,1736370995.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003739 2025-01-08T21:16:35.797Z,1736370995.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:35.806Z,1736370995.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:35.809Z,1736370995.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.455322 m, bearing: 201.280677 deg, approach rate: 0.129970 m/s, LOS rate: -0.061820 deg/s, cmd heading: 293.557979 deg, new cmd heading: 293.480292 deg. 2025-01-08T21:16:35.810Z,1736370995.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.122197 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:35.864Z,1736370995.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:35.865Z,1736370995.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254785 2025-01-08T21:16:36.116Z,1736370996.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:36.116Z,1736370996.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506449 2025-01-08T21:16:36.201Z,1736370996.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:36.226Z,1736370996.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:36.229Z,1736370996.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.507996 m, bearing: 201.255690 deg, approach rate: 0.125503 m/s, LOS rate: -0.059530 deg/s, cmd heading: 293.480279 deg, new cmd heading: 293.405324 deg. 2025-01-08T21:16:36.230Z,1736370996.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.120889 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:36.368Z,1736370996.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:36.368Z,1736370996.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758463 2025-01-08T21:16:36.620Z,1736370996.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:36.621Z,1736370996.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011023 2025-01-08T21:16:36.622Z,1736370996.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:36.632Z,1736370996.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:36.635Z,1736370996.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.562195 m, bearing: 201.228919 deg, approach rate: 0.133692 m/s, LOS rate: -0.066030 deg/s, cmd heading: 293.405338 deg, new cmd heading: 293.325032 deg. 2025-01-08T21:16:36.652Z,1736370996.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.119488 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:36.664Z,1736370996.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 57.239529 m. 2025-01-08T21:16:36.872Z,1736370996.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:36.873Z,1736370996.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263428 2025-01-08T21:16:36.989Z,1736370996.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:36.997Z,1736370996.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:36.000Z,1736370997.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:37.002Z,1736370997.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.608948 m, bearing: 201.205599 deg, approach rate: 0.127144 m/s, LOS rate: -0.063413 deg/s, cmd heading: 293.325042 deg, new cmd heading: 293.255088 deg. 2025-01-08T21:16:37.004Z,1736370997.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.118267 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:37.124Z,1736370997.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:37.124Z,1736370997.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514504 2025-01-08T21:16:37.376Z,1736370997.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:37.377Z,1736370997.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766428 2025-01-08T21:16:37.470Z,1736370997.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:37.480Z,1736370997.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:37.482Z,1736370997.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.670349 m, bearing: 201.174708 deg, approach rate: 0.127843 m/s, LOS rate: -0.064311 deg/s, cmd heading: 293.255101 deg, new cmd heading: 293.162439 deg. 2025-01-08T21:16:37.483Z,1736370997.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.116650 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:37.628Z,1736370997.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:37.629Z,1736370997.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019104 2025-01-08T21:16:37.880Z,1736370997.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:37.880Z,1736370997.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270531 2025-01-08T21:16:37.889Z,1736370997.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:16:37.889Z,1736370997.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:37.898Z,1736370997.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:37.901Z,1736370997.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.723694 m, bearing: 201.147944 deg, approach rate: 0.127324 m/s, LOS rate: -0.063874 deg/s, cmd heading: 293.162429 deg, new cmd heading: 293.082145 deg. 2025-01-08T21:16:37.902Z,1736370997.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.115248 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:38.132Z,1736370998.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:38.132Z,1736370998.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.522489 2025-01-08T21:16:38.313Z,1736370998.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:16:38.314Z,1736370998.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:38.324Z,1736370998.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:38.327Z,1736370998.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.777039 m, bearing: 201.120856 deg, approach rate: 0.125232 m/s, LOS rate: -0.063587 deg/s, cmd heading: 293.082133 deg, new cmd heading: 293.000876 deg. 2025-01-08T21:16:38.328Z,1736370998.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113830 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:38.387Z,1736370998.387 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:38.390Z,1736370998.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779192 2025-01-08T21:16:38.640Z,1736370998.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:38.640Z,1736370998.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030407 2025-01-08T21:16:38.746Z,1736370998.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:38.756Z,1736370998.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:38.758Z,1736370998.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.825806 m, bearing: 201.093216 deg, approach rate: 0.113185 m/s, LOS rate: -0.064144 deg/s, cmd heading: 293.000881 deg, new cmd heading: 292.917970 deg. 2025-01-08T21:16:38.759Z,1736370998.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.112383 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:38.892Z,1736370998.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:38.893Z,1736370998.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282646 2025-01-08T21:16:39.121Z,1736370999.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:39.129Z,1736370999.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:39.131Z,1736370999.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:39.134Z,1736370999.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.868103 m, bearing: 201.069351 deg, approach rate: 0.112542 m/s, LOS rate: -0.063494 deg/s, cmd heading: 292.917963 deg, new cmd heading: 292.846372 deg. 2025-01-08T21:16:39.135Z,1736370999.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.111134 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:39.144Z,1736370999.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:39.145Z,1736370999.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.535295 2025-01-08T21:16:39.397Z,1736370999.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:39.398Z,1736370999.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788031 2025-01-08T21:16:39.520Z,1736370999.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:39.529Z,1736370999.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:39.532Z,1736370999.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.912292 m, bearing: 201.043941 deg, approach rate: 0.110915 m/s, LOS rate: -0.063773 deg/s, cmd heading: 292.846382 deg, new cmd heading: 292.770159 deg. 2025-01-08T21:16:39.535Z,1736370999.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.109803 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:39.649Z,1736370999.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:39.650Z,1736370999.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039842 2025-01-08T21:16:39.900Z,1736370999.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:39.901Z,1736370999.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291389 2025-01-08T21:16:39.990Z,1736370999.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:40.021Z,1736371000.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:40.028Z,1736371000.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.957886 m, bearing: 201.013789 deg, approach rate: 0.092768 m/s, LOS rate: -0.061345 deg/s, cmd heading: 292.770157 deg, new cmd heading: 292.679709 deg. 2025-01-08T21:16:40.029Z,1736371000.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.108224 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:40.153Z,1736371000.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:40.154Z,1736371000.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543444 2025-01-08T21:16:40.389Z,1736371000.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:40.399Z,1736371000.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:40.404Z,1736371000.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:40.405Z,1736371000.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794619 2025-01-08T21:16:40.406Z,1736371000.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 560.995605 m, bearing: 200.988130 deg, approach rate: 0.100142 m/s, LOS rate: -0.068117 deg/s, cmd heading: 292.679698 deg, new cmd heading: 292.602727 deg. 2025-01-08T21:16:40.407Z,1736371000.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.106881 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:40.656Z,1736371000.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:40.657Z,1736371000.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046944 2025-01-08T21:16:40.838Z,1736371000.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:40.849Z,1736371000.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:40.852Z,1736371000.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.027832 m, bearing: 200.959267 deg, approach rate: 0.071441 m/s, LOS rate: -0.063982 deg/s, cmd heading: 292.602736 deg, new cmd heading: 292.516151 deg. 2025-01-08T21:16:40.853Z,1736371000.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.105370 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:40.909Z,1736371000.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:40.910Z,1736371000.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299808 2025-01-08T21:16:41.160Z,1736371001.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:41.161Z,1736371001.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.550423 2025-01-08T21:16:41.201Z,1736371001.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:41.229Z,1736371001.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:41.231Z,1736371001.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:41.234Z,1736371001.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.053589 m, bearing: 200.935958 deg, approach rate: 0.067372 m/s, LOS rate: -0.060965 deg/s, cmd heading: 292.516156 deg, new cmd heading: 292.446234 deg. 2025-01-08T21:16:41.235Z,1736371001.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.104150 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:41.412Z,1736371001.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:41.412Z,1736371001.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802365 2025-01-08T21:16:41.665Z,1736371001.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:41.666Z,1736371001.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055418 2025-01-08T21:16:41.669Z,1736371001.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:41.690Z,1736371001.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:41.701Z,1736371001.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.086426 m, bearing: 200.905883 deg, approach rate: 0.071561 m/s, LOS rate: -0.065540 deg/s, cmd heading: 292.446243 deg, new cmd heading: 292.356020 deg. 2025-01-08T21:16:41.702Z,1736371001.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.102575 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:41.917Z,1736371001.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:41.920Z,1736371001.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308837 2025-01-08T21:16:42.024Z,1736371002.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:42.057Z,1736371002.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:42.064Z,1736371002.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.110718 m, bearing: 200.883000 deg, approach rate: 0.066144 m/s, LOS rate: -0.062304 deg/s, cmd heading: 292.356029 deg, new cmd heading: 292.287384 deg. 2025-01-08T21:16:42.065Z,1736371002.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101377 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:42.169Z,1736371002.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:42.169Z,1736371002.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559480 2025-01-08T21:16:42.415Z,1736371002.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:42.420Z,1736371002.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:42.420Z,1736371002.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810500 2025-01-08T21:16:42.425Z,1736371002.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:42.428Z,1736371002.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.137024 m, bearing: 200.857889 deg, approach rate: 0.071409 m/s, LOS rate: -0.068161 deg/s, cmd heading: 292.287372 deg, new cmd heading: 292.212044 deg. 2025-01-08T21:16:42.429Z,1736371002.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100062 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:42.672Z,1736371002.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:42.673Z,1736371002.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063328 2025-01-08T21:16:42.834Z,1736371002.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:16:42.834Z,1736371002.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:42.844Z,1736371002.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:42.847Z,1736371002.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.165283 m, bearing: 200.830944 deg, approach rate: 0.067643 m/s, LOS rate: -0.064494 deg/s, cmd heading: 292.212049 deg, new cmd heading: 292.131218 deg. 2025-01-08T21:16:42.848Z,1736371002.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.098651 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:42.924Z,1736371002.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:42.924Z,1736371002.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314514 2025-01-08T21:16:43.176Z,1736371003.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:43.176Z,1736371003.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.566355 2025-01-08T21:16:43.232Z,1736371003.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:16:43.232Z,1736371003.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:43.239Z,1736371003.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:43.241Z,1736371003.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:43.245Z,1736371003.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.191345 m, bearing: 200.805361 deg, approach rate: 0.065487 m/s, LOS rate: -0.064281 deg/s, cmd heading: 292.131207 deg, new cmd heading: 292.054462 deg. 2025-01-08T21:16:43.246Z,1736371003.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.097312 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:43.428Z,1736371003.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:43.428Z,1736371003.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.818463 2025-01-08T21:16:43.682Z,1736371003.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:43.682Z,1736371003.682 [DAT](INFO): Reached modem response timeout 2025-01-08T21:16:43.682Z,1736371003.682 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:16:43.683Z,1736371003.683 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:43.687Z,1736371003.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T21:16:43.687Z,1736371003.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:43.713Z,1736371003.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:43.720Z,1736371003.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.220703 m, bearing: 200.776082 deg, approach rate: 0.062232 m/s, LOS rate: -0.062061 deg/s, cmd heading: 292.054463 deg, new cmd heading: 291.966631 deg. 2025-01-08T21:16:43.721Z,1736371003.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.095779 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:43.932Z,1736371003.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:43.932Z,1736371003.932 [DAT](INFO): Reached modem response timeout 2025-01-08T21:16:43.932Z,1736371003.932 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:16:43.933Z,1736371003.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:44.045Z,1736371004.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:44.054Z,1736371004.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:44.057Z,1736371004.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.228638 m, bearing: 200.752367 deg, approach rate: 0.023242 m/s, LOS rate: -0.069465 deg/s, cmd heading: 291.966627 deg, new cmd heading: 291.895483 deg. 2025-01-08T21:16:44.058Z,1736371004.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.094537 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:44.187Z,1736371004.187 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:44.188Z,1736371004.188 [DAT](INFO): Reached modem response timeout 2025-01-08T21:16:44.188Z,1736371004.188 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:16:44.189Z,1736371004.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:44.440Z,1736371004.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:44.440Z,1736371004.440 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:16:44.441Z,1736371004.441 [DAT](INFO): response not received 2025-01-08T21:16:44.441Z,1736371004.441 [DAT](INFO): DAT read: user:1632> 2025-01-08T21:16:44.442Z,1736371004.442 [DAT](INFO): DAT read: Tx time:21:16:43.7186 2025-01-08T21:16:44.442Z,1736371004.442 [DAT](INFO): Ping request sent. 2025-01-08T21:16:44.442Z,1736371004.442 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:16:44.442Z,1736371004.442 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:44.443Z,1736371004.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732 2025-01-08T21:16:44.456Z,1736371004.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:44.468Z,1736371004.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:44.472Z,1736371004.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.237915 m, bearing: 200.725198 deg, approach rate: 0.022486 m/s, LOS rate: -0.065852 deg/s, cmd heading: 291.895483 deg, new cmd heading: 291.813976 deg. 2025-01-08T21:16:44.473Z,1736371004.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093115 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:44.692Z,1736371004.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:44.693Z,1736371004.693 [DAT](INFO): DAT read: TxSync time:21:16:43.7178 2025-01-08T21:16:44.693Z,1736371004.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251182 2025-01-08T21:16:44.857Z,1736371004.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:44.867Z,1736371004.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:44.870Z,1736371004.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.245728 m, bearing: 200.698143 deg, approach rate: 0.019535 m/s, LOS rate: -0.067651 deg/s, cmd heading: 291.813986 deg, new cmd heading: 291.732822 deg. 2025-01-08T21:16:44.871Z,1736371004.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.091698 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:44.945Z,1736371004.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:44.946Z,1736371004.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503435 2025-01-08T21:16:45.196Z,1736371005.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:45.196Z,1736371005.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754279 2025-01-08T21:16:45.253Z,1736371005.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:45.259Z,1736371005.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:45.262Z,1736371005.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:45.265Z,1736371005.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.252625 m, bearing: 200.671484 deg, approach rate: 0.017448 m/s, LOS rate: -0.067443 deg/s, cmd heading: 291.732816 deg, new cmd heading: 291.652839 deg. 2025-01-08T21:16:45.266Z,1736371005.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.090302 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:45.449Z,1736371005.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:45.450Z,1736371005.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008047 2025-01-08T21:16:45.698Z,1736371005.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:45.701Z,1736371005.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:45.704Z,1736371005.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261468 2025-01-08T21:16:45.727Z,1736371005.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:45.734Z,1736371005.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.259094 m, bearing: 200.641468 deg, approach rate: 0.013925 m/s, LOS rate: -0.064604 deg/s, cmd heading: 291.652848 deg, new cmd heading: 291.562802 deg. 2025-01-08T21:16:45.735Z,1736371005.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088731 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:45.952Z,1736371005.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:45.954Z,1736371005.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510978 2025-01-08T21:16:46.072Z,1736371006.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:46.102Z,1736371006.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:46.105Z,1736371006.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.261780 m, bearing: 200.616015 deg, approach rate: 0.007156 m/s, LOS rate: -0.067824 deg/s, cmd heading: 291.562799 deg, new cmd heading: 291.486441 deg. 2025-01-08T21:16:46.106Z,1736371006.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.087398 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:46.204Z,1736371006.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:46.204Z,1736371006.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762277 2025-01-08T21:16:46.457Z,1736371006.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:46.458Z,1736371006.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015771 2025-01-08T21:16:46.473Z,1736371006.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:46.518Z,1736371006.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:46.526Z,1736371006.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.264587 m, bearing: 200.588635 deg, approach rate: 0.006750 m/s, LOS rate: -0.065821 deg/s, cmd heading: 291.486437 deg, new cmd heading: 291.404297 deg. 2025-01-08T21:16:46.532Z,1736371006.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085965 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:46.709Z,1736371006.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:46.712Z,1736371006.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269534 2025-01-08T21:16:46.888Z,1736371006.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:46.898Z,1736371006.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:46.901Z,1736371006.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.277161 m, bearing: 200.560257 deg, approach rate: 0.033110 m/s, LOS rate: -0.074730 deg/s, cmd heading: 291.404311 deg, new cmd heading: 291.319176 deg. 2025-01-08T21:16:46.901Z,1736371006.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.084479 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:46.961Z,1736371006.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:46.962Z,1736371006.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519873 2025-01-08T21:16:47.212Z,1736371007.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:47.213Z,1736371007.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770648 2025-01-08T21:16:47.255Z,1736371007.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:47.286Z,1736371007.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:47.292Z,1736371007.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:47.308Z,1736371007.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.288086 m, bearing: 200.535154 deg, approach rate: 0.027681 m/s, LOS rate: -0.063601 deg/s, cmd heading: 291.319179 deg, new cmd heading: 291.243873 deg. 2025-01-08T21:16:47.309Z,1736371007.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.083165 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:47.465Z,1736371007.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:47.466Z,1736371007.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024309 2025-01-08T21:16:47.688Z,1736371007.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:47.718Z,1736371007.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:47.720Z,1736371007.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277352 2025-01-08T21:16:47.748Z,1736371007.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:47.751Z,1736371007.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.300720 m, bearing: 200.506453 deg, approach rate: 0.027730 m/s, LOS rate: -0.062992 deg/s, cmd heading: 291.243883 deg, new cmd heading: 291.157783 deg. 2025-01-08T21:16:47.756Z,1736371007.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.081662 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:47.968Z,1736371007.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:47.969Z,1736371007.969 [DAT](INFO): DAT read: Rx Time:21:16:46.8485 2025-01-08T21:16:47.969Z,1736371007.969 [DAT](INFO): Rx dataTimestamp_ set to:1736371007.968726 2025-01-08T21:16:47.970Z,1736371007.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527408 2025-01-08T21:16:48.090Z,1736371008.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:48.100Z,1736371008.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:48.103Z,1736371008.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.308655 m, bearing: 200.477844 deg, approach rate: 0.022534 m/s, LOS rate: -0.081248 deg/s, cmd heading: 291.157796 deg, new cmd heading: 291.071970 deg. 2025-01-08T21:16:48.124Z,1736371008.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.080164 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:48.221Z,1736371008.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:48.222Z,1736371008.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779598 2025-01-08T21:16:48.467Z,1736371008.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:48.472Z,1736371008.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:48.473Z,1736371008.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030583 2025-01-08T21:16:48.477Z,1736371008.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:48.484Z,1736371008.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.315979 m, bearing: 200.451980 deg, approach rate: 0.019433 m/s, LOS rate: -0.068624 deg/s, cmd heading: 291.071981 deg, new cmd heading: 290.994391 deg. 2025-01-08T21:16:48.486Z,1736371008.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.078810 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:48.726Z,1736371008.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:48.749Z,1736371008.749 [DAT](INFO): DAT read: 21:16:46.8485 LVL= 32112, 27377, 16658, 32755, AGC= 74, IDX= 228, 0.17, 2.290, 1.318,-2.881, 2.461, PHS=-0.083,-1.096, 0.939, RAW= 180.1, 2.8, CAL= 180.3, -5.7, ROT= 329.7, 5.7 2025-01-08T21:16:48.750Z,1736371008.750 [DAT](INFO): got valid direction response: 21:16:46.8485 LVL= 32112, 27377, 16658, 32755, AGC= 74, IDX= 228, 0.17, 2.290, 1.318,-2.881, 2.461, PHS=-0.083,-1.096, 0.939, RAW= 180.1, 2.8, CAL= 180.3, -5.7, ROT= 329.7, 5.7 2025-01-08T21:16:48.751Z,1736371008.751 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:16:48.756Z,1736371008.756 [DAT](INFO): Received a bad header 2025-01-08T21:16:48.768Z,1736371008.768 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:16:48.769Z,1736371008.769 [DAT](INFO): direction in FSK: [-0.139560,-0.989501,0.037573] 2025-01-08T21:16:48.772Z,1736371008.772 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:48.772Z,1736371008.772 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:48.772Z,1736371008.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:48.920Z,1736371008.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:48.937Z,1736371008.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:48.945Z,1736371008.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.335632 m, bearing: 200.420790 deg, approach rate: 0.042698 m/s, LOS rate: -0.067760 deg/s, cmd heading: 290.994390 deg, new cmd heading: 290.900823 deg. 2025-01-08T21:16:48.946Z,1736371008.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.077177 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:48.976Z,1736371008.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:48.976Z,1736371008.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:48.976Z,1736371008.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:48.977Z,1736371008.977 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:49.228Z,1736371009.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:49.229Z,1736371009.229 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:49.229Z,1736371009.229 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:49.230Z,1736371009.230 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:49.300Z,1736371009.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:49.306Z,1736371009.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:49.321Z,1736371009.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:49.328Z,1736371009.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.352173 m, bearing: 200.394644 deg, approach rate: 0.043134 m/s, LOS rate: -0.068182 deg/s, cmd heading: 290.900817 deg, new cmd heading: 290.822380 deg. 2025-01-08T21:16:49.330Z,1736371009.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075808 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:49.480Z,1736371009.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:49.480Z,1736371009.480 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:49.480Z,1736371009.480 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:49.481Z,1736371009.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:49.692Z,1736371009.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:49.734Z,1736371009.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:49.736Z,1736371009.736 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:49.736Z,1736371009.736 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:49.736Z,1736371009.736 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:49.738Z,1736371009.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:49.760Z,1736371009.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.368835 m, bearing: 200.367695 deg, approach rate: 0.041148 m/s, LOS rate: -0.066548 deg/s, cmd heading: 290.822379 deg, new cmd heading: 290.741534 deg. 2025-01-08T21:16:49.769Z,1736371009.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074397 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:49.984Z,1736371009.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:49.984Z,1736371009.984 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:49.984Z,1736371009.984 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:49.984Z,1736371009.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:50.115Z,1736371010.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:50.124Z,1736371010.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:50.126Z,1736371010.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.396667 m, bearing: 200.338562 deg, approach rate: 0.069929 m/s, LOS rate: -0.073194 deg/s, cmd heading: 290.741537 deg, new cmd heading: 290.654143 deg. 2025-01-08T21:16:50.128Z,1736371010.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.072872 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:50.236Z,1736371010.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:50.236Z,1736371010.236 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:50.236Z,1736371010.236 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:50.236Z,1736371010.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:50.488Z,1736371010.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:50.488Z,1736371010.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:50.488Z,1736371010.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:50.489Z,1736371010.489 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:50.537Z,1736371010.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:50.553Z,1736371010.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:50.560Z,1736371010.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.424133 m, bearing: 200.309518 deg, approach rate: 0.063950 m/s, LOS rate: -0.067621 deg/s, cmd heading: 290.654138 deg, new cmd heading: 290.567010 deg. 2025-01-08T21:16:50.561Z,1736371010.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.071351 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:50.741Z,1736371010.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:50.743Z,1736371010.743 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:50.744Z,1736371010.744 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:50.744Z,1736371010.744 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:50.913Z,1736371010.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:50.921Z,1736371010.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:50.924Z,1736371010.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.441223 m, bearing: 200.284609 deg, approach rate: 0.046455 m/s, LOS rate: -0.067708 deg/s, cmd heading: 290.567012 deg, new cmd heading: 290.492286 deg. 2025-01-08T21:16:50.925Z,1736371010.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.070047 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:50.992Z,1736371010.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:50.992Z,1736371010.992 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:50.993Z,1736371010.993 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:50.993Z,1736371010.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:51.244Z,1736371011.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:51.245Z,1736371011.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:51.245Z,1736371011.245 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:51.245Z,1736371011.245 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:51.317Z,1736371011.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:51.324Z,1736371011.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:51.326Z,1736371011.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:51.337Z,1736371011.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.459290 m, bearing: 200.257802 deg, approach rate: 0.044648 m/s, LOS rate: -0.066247 deg/s, cmd heading: 290.492289 deg, new cmd heading: 290.411871 deg. 2025-01-08T21:16:51.338Z,1736371011.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.068644 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:51.496Z,1736371011.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:51.496Z,1736371011.496 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:51.496Z,1736371011.496 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:51.496Z,1736371011.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:51.702Z,1736371011.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:51.739Z,1736371011.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:51.750Z,1736371011.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:51.752Z,1736371011.752 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:51.752Z,1736371011.752 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:51.752Z,1736371011.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:51.771Z,1736371011.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.476135 m, bearing: 200.232270 deg, approach rate: 0.040973 m/s, LOS rate: -0.062098 deg/s, cmd heading: 290.411884 deg, new cmd heading: 290.335292 deg. 2025-01-08T21:16:51.788Z,1736371011.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.067307 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:51.000Z,1736371012.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:52.000Z,1736371012.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:52.000Z,1736371012.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:52.000Z,1736371012.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:52.166Z,1736371012.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:52.174Z,1736371012.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:52.178Z,1736371012.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.503601 m, bearing: 200.202511 deg, approach rate: 0.062763 m/s, LOS rate: -0.068000 deg/s, cmd heading: 290.335304 deg, new cmd heading: 290.246032 deg. 2025-01-08T21:16:52.180Z,1736371012.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.065749 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:52.252Z,1736371012.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:52.252Z,1736371012.252 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:52.253Z,1736371012.253 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:52.253Z,1736371012.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:52.504Z,1736371012.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:52.504Z,1736371012.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:52.505Z,1736371012.505 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:52.505Z,1736371012.505 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:52.512Z,1736371012.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:52.526Z,1736371012.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:52.529Z,1736371012.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.523499 m, bearing: 200.180307 deg, approach rate: 0.056536 m/s, LOS rate: -0.063090 deg/s, cmd heading: 290.246020 deg, new cmd heading: 290.179408 deg. 2025-01-08T21:16:52.530Z,1736371012.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.064586 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:52.757Z,1736371012.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:52.759Z,1736371012.759 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:52.759Z,1736371012.759 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:52.760Z,1736371012.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:52.949Z,1736371012.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:52.958Z,1736371012.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:52.961Z,1736371012.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.548950 m, bearing: 200.153208 deg, approach rate: 0.058997 m/s, LOS rate: -0.062812 deg/s, cmd heading: 290.179412 deg, new cmd heading: 290.098120 deg. 2025-01-08T21:16:52.963Z,1736371012.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063168 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:53.008Z,1736371013.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:53.009Z,1736371013.009 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:53.009Z,1736371013.009 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:53.009Z,1736371013.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:53.260Z,1736371013.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:53.260Z,1736371013.260 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:53.260Z,1736371013.260 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:53.260Z,1736371013.260 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:53.326Z,1736371013.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:53.333Z,1736371013.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:53.336Z,1736371013.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:53.338Z,1736371013.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.570618 m, bearing: 200.129860 deg, approach rate: 0.057384 m/s, LOS rate: -0.061833 deg/s, cmd heading: 290.098133 deg, new cmd heading: 290.028091 deg. 2025-01-08T21:16:53.340Z,1736371013.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.061945 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:53.517Z,1736371013.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:53.518Z,1736371013.518 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:53.518Z,1736371013.518 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:53.518Z,1736371013.518 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:53.733Z,1736371013.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:53.742Z,1736371013.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:53.748Z,1736371013.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.593872 m, bearing: 200.104597 deg, approach rate: 0.057251 m/s, LOS rate: -0.062192 deg/s, cmd heading: 290.028082 deg, new cmd heading: 289.952298 deg. 2025-01-08T21:16:53.750Z,1736371013.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060622 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:53.766Z,1736371013.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:53.768Z,1736371013.768 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:53.768Z,1736371013.768 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:53.768Z,1736371013.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:53.860Z,1736371013.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:16:54.017Z,1736371014.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:54.018Z,1736371014.018 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:54.018Z,1736371014.018 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:54.018Z,1736371014.018 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:54.162Z,1736371014.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:54.177Z,1736371014.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:54.181Z,1736371014.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.617981 m, bearing: 200.078900 deg, approach rate: 0.055392 m/s, LOS rate: -0.059040 deg/s, cmd heading: 289.952295 deg, new cmd heading: 289.875205 deg. 2025-01-08T21:16:54.182Z,1736371014.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059277 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:54.268Z,1736371014.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:54.268Z,1736371014.268 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:16:54.268Z,1736371014.268 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:16:54.268Z,1736371014.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:16:54.520Z,1736371014.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:54.520Z,1736371014.520 [DAT](INFO): Reached modem response timeout 2025-01-08T21:16:54.521Z,1736371014.521 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:16:54.521Z,1736371014.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:54.539Z,1736371014.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:54.570Z,1736371014.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:54.573Z,1736371014.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.638672 m, bearing: 200.056276 deg, approach rate: 0.055833 m/s, LOS rate: -0.061045 deg/s, cmd heading: 289.875195 deg, new cmd heading: 289.807328 deg. 2025-01-08T21:16:54.574Z,1736371014.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058092 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:54.774Z,1736371014.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:54.775Z,1736371014.775 [DAT](INFO): Reached modem response timeout 2025-01-08T21:16:54.776Z,1736371014.776 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:16:54.777Z,1736371014.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:54.864Z,1736371014.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:16:54.970Z,1736371014.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:54.987Z,1736371014.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:54.990Z,1736371014.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.666382 m, bearing: 200.030958 deg, approach rate: 0.063013 m/s, LOS rate: -0.057571 deg/s, cmd heading: 289.807331 deg, new cmd heading: 289.731380 deg. 2025-01-08T21:16:54.991Z,1736371014.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056767 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:55.024Z,1736371015.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:55.024Z,1736371015.024 [DAT](INFO): Reached modem response timeout 2025-01-08T21:16:55.024Z,1736371015.024 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:16:55.025Z,1736371015.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:16:55.276Z,1736371015.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:55.277Z,1736371015.277 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:16:55.277Z,1736371015.277 [DAT](INFO): response not received 2025-01-08T21:16:55.278Z,1736371015.278 [DAT](INFO): DAT read: user:1634> 2025-01-08T21:16:55.279Z,1736371015.279 [DAT](INFO): DAT read: Tx time:21:16:54.6687 2025-01-08T21:16:55.279Z,1736371015.279 [DAT](INFO): Ping request sent. 2025-01-08T21:16:55.279Z,1736371015.279 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:16:55.279Z,1736371015.279 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:55.280Z,1736371015.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-01-08T21:16:55.395Z,1736371015.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:55.402Z,1736371015.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:55.404Z,1736371015.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:55.407Z,1736371015.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.693115 m, bearing: 200.006058 deg, approach rate: 0.064130 m/s, LOS rate: -0.059728 deg/s, cmd heading: 289.731379 deg, new cmd heading: 289.656683 deg. 2025-01-08T21:16:55.408Z,1736371015.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.055463 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:55.529Z,1736371015.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:55.530Z,1736371015.530 [DAT](INFO): DAT read: TxSync time:21:16:54.6679 2025-01-08T21:16:55.530Z,1736371015.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251042 2025-01-08T21:16:55.762Z,1736371015.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:55.771Z,1736371015.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:55.774Z,1736371015.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.716431 m, bearing: 199.984426 deg, approach rate: 0.063595 m/s, LOS rate: -0.059004 deg/s, cmd heading: 289.656684 deg, new cmd heading: 289.591788 deg. 2025-01-08T21:16:55.778Z,1736371015.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.054330 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:55.780Z,1736371015.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:55.781Z,1736371015.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501347 2025-01-08T21:16:56.032Z,1736371016.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:56.032Z,1736371016.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753207 2025-01-08T21:16:56.187Z,1736371016.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:56.197Z,1736371016.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:56.200Z,1736371016.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.744263 m, bearing: 199.960028 deg, approach rate: 0.065306 m/s, LOS rate: -0.057245 deg/s, cmd heading: 289.591797 deg, new cmd heading: 289.518607 deg. 2025-01-08T21:16:56.201Z,1736371016.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.053053 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:56.284Z,1736371016.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:56.286Z,1736371016.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006178 2025-01-08T21:16:56.536Z,1736371016.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:56.536Z,1736371016.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257130 2025-01-08T21:16:56.585Z,1736371016.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:56.627Z,1736371016.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:56.636Z,1736371016.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.768677 m, bearing: 199.937512 deg, approach rate: 0.057321 m/s, LOS rate: -0.052862 deg/s, cmd heading: 289.518605 deg, new cmd heading: 289.451060 deg. 2025-01-08T21:16:56.637Z,1736371016.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051874 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:56.788Z,1736371016.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:56.788Z,1736371016.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509240 2025-01-08T21:16:56.982Z,1736371016.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:56.990Z,1736371016.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:57.009Z,1736371017.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.794678 m, bearing: 199.914326 deg, approach rate: 0.070720 m/s, LOS rate: -0.063060 deg/s, cmd heading: 289.451068 deg, new cmd heading: 289.381513 deg. 2025-01-08T21:16:57.010Z,1736371017.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.050660 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:57.040Z,1736371017.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:57.041Z,1736371017.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761280 2025-01-08T21:16:57.292Z,1736371017.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:57.292Z,1736371017.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013096 2025-01-08T21:16:57.375Z,1736371017.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:57.385Z,1736371017.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:57.387Z,1736371017.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.820496 m, bearing: 199.891701 deg, approach rate: 0.065486 m/s, LOS rate: -0.057383 deg/s, cmd heading: 289.381509 deg, new cmd heading: 289.313640 deg. 2025-01-08T21:16:57.388Z,1736371017.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.049476 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:57.545Z,1736371017.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:57.546Z,1736371017.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266501 2025-01-08T21:16:57.774Z,1736371017.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:57.782Z,1736371017.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:16:57.784Z,1736371017.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:57.787Z,1736371017.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.846802 m, bearing: 199.868737 deg, approach rate: 0.065864 m/s, LOS rate: -0.057494 deg/s, cmd heading: 289.313645 deg, new cmd heading: 289.244755 deg. 2025-01-08T21:16:57.788Z,1736371017.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.048273 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:57.796Z,1736371017.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:57.797Z,1736371017.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517689 2025-01-08T21:16:58.048Z,1736371018.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:58.048Z,1736371018.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769078 2025-01-08T21:16:58.213Z,1736371018.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:58.222Z,1736371018.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:58.225Z,1736371018.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.874329 m, bearing: 199.842846 deg, approach rate: 0.062895 m/s, LOS rate: -0.059156 deg/s, cmd heading: 289.244742 deg, new cmd heading: 289.167071 deg. 2025-01-08T21:16:58.226Z,1736371018.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.046917 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:58.300Z,1736371018.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:58.301Z,1736371018.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021327 2025-01-08T21:16:58.552Z,1736371018.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:58.553Z,1736371018.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273292 2025-01-08T21:16:58.571Z,1736371018.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:58.608Z,1736371018.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:58.610Z,1736371018.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.896545 m, bearing: 199.821792 deg, approach rate: 0.058197 m/s, LOS rate: -0.055148 deg/s, cmd heading: 289.167069 deg, new cmd heading: 289.103910 deg. 2025-01-08T21:16:58.616Z,1736371018.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.045815 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:58.805Z,1736371018.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:58.808Z,1736371018.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527714 2025-01-08T21:16:58.992Z,1736371018.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:59.025Z,1736371019.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:59.031Z,1736371019.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.922791 m, bearing: 199.795491 deg, approach rate: 0.062329 m/s, LOS rate: -0.062458 deg/s, cmd heading: 289.103903 deg, new cmd heading: 289.025005 deg. 2025-01-08T21:16:59.032Z,1736371019.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.044438 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:59.056Z,1736371019.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:59.057Z,1736371019.057 [DAT](INFO): DAT read: Rx Time:21:16:57.7906 2025-01-08T21:16:59.057Z,1736371019.057 [DAT](INFO): Rx dataTimestamp_ set to:1736371019.056820 2025-01-08T21:16:59.058Z,1736371019.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778383 2025-01-08T21:16:59.308Z,1736371019.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:59.308Z,1736371019.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029218 2025-01-08T21:16:59.384Z,1736371019.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:59.397Z,1736371019.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.50 m. 2025-01-08T21:16:59.403Z,1736371019.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.500000 m, nav range: 561.946777 m, bearing: 199.771062 deg, approach rate: 0.064462 m/s, LOS rate: -0.065649 deg/s, cmd heading: 289.025001 deg, new cmd heading: 288.951715 deg. 2025-01-08T21:16:59.404Z,1736371019.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.043159 target range: 557.500000 and range: 557.50 m. 2025-01-08T21:16:59.560Z,1736371019.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:59.567Z,1736371019.567 [DAT](INFO): DAT read: 21:16:57.7906 LVL= 32752, 32753, 17314, 32755, AGC= 70, IDX= 455,-0.17,-1.230,-2.185,-0.461,-1.169, PHS= 0.027,-0.969, 0.705, RAW= 173.7, 3.3, CAL= 174.0, -5.4, ROT= 336.0, 5.4 2025-01-08T21:16:59.568Z,1736371019.568 [DAT](INFO): got valid direction response: 21:16:57.7906 LVL= 32752, 32753, 17314, 32755, AGC= 70, IDX= 455,-0.17,-1.230,-2.185,-0.461,-1.169, PHS= 0.027,-0.969, 0.705, RAW= 173.7, 3.3, CAL= 174.0, -5.4, ROT= 336.0, 5.4 2025-01-08T21:16:59.569Z,1736371019.569 [DAT](INFO): DAT read: Bearing 336.0, 5.4 (Local) 2025-01-08T21:16:59.569Z,1736371019.569 [DAT](INFO): Local bearing/azimuth received: Bearing 336.0, 5.4 (Local) 2025-01-08T21:16:59.572Z,1736371019.572 [DAT](INFO): DAT read: Range 10 to 50 : 538.2 m (Round-trip 717.7 ms) speed 0.6 m/s 2025-01-08T21:16:59.572Z,1736371019.572 [DAT](INFO): DAT read: user:1635> 2025-01-08T21:16:59.573Z,1736371019.573 [DAT](INFO): DAT read: Tx time:21:16:58.9187 2025-01-08T21:16:59.573Z,1736371019.573 [DAT](INFO): Ping request sent. 2025-01-08T21:16:59.573Z,1736371019.573 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:16:59.574Z,1736371019.574 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:16:59.575Z,1736371019.575 [DAT](INFO): direction in FSK: [-0.159473,-0.976109,0.147580] 2025-01-08T21:16:59.575Z,1736371019.575 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:59.575Z,1736371019.575 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:59.579Z,1736371019.579 [DAT](INFO): publishing transmit ping time 2025-01-08T21:16:59.580Z,1736371019.580 [DAT](INFO): publishing direction and range info 2025-01-08T21:16:59.793Z,1736371019.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:16:59.812Z,1736371019.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:16:59.813Z,1736371019.813 [DAT](INFO): DAT read: TxSync time:21:16:58.9179 2025-01-08T21:16:59.846Z,1736371019.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 538.200012 m, deltaT: 25.963187 s, deltaX: -19.299988 m, approachRate: -0.743360 m/s, rangeRepo size: 4 2025-01-08T21:16:59.854Z,1736371019.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 538.200012 m, bearing: 190.483549 deg, lat: 36.899902 deg, lon: -122.114956 deg, deltaT: 25.963187 s, deltaX: -19.299988 m, approachRate: -0.743360 m/s, posRepo size: 4 2025-01-08T21:16:59.861Z,1736371019.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.20 m. 2025-01-08T21:16:59.887Z,1736371019.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.200012 m, nav range: 553.275146 m, bearing: 197.060074 deg, approach rate: 0.000000 m/s, LOS rate: -0.065649 deg/s, cmd heading: 288.951727 deg, new cmd heading: 288.863558 deg. 2025-01-08T21:16:59.895Z,1736371019.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.041620 target range: 538.200012 and range: 538.20 m. 2025-01-08T21:17:00.064Z,1736371020.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:00.242Z,1736371020.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:00.258Z,1736371020.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:00.264Z,1736371020.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.20 m. 2025-01-08T21:17:00.266Z,1736371020.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.200012 m, nav range: 553.308350 m, bearing: 197.030000 deg, approach rate: 0.079974 m/s, LOS rate: -0.072432 deg/s, cmd heading: 288.863562 deg, new cmd heading: 288.773347 deg. 2025-01-08T21:17:00.272Z,1736371020.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.040046 target range: 538.200012 and range: 538.20 m. 2025-01-08T21:17:00.316Z,1736371020.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:00.316Z,1736371020.316 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:00.316Z,1736371020.316 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:00.317Z,1736371020.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:00.568Z,1736371020.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:00.569Z,1736371020.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995166 2025-01-08T21:17:00.630Z,1736371020.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:00.638Z,1736371020.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.20 m. 2025-01-08T21:17:00.641Z,1736371020.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.200012 m, nav range: 553.336365 m, bearing: 197.004028 deg, approach rate: 0.073942 m/s, LOS rate: -0.068547 deg/s, cmd heading: 288.773349 deg, new cmd heading: 288.695436 deg. 2025-01-08T21:17:00.642Z,1736371020.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038686 target range: 538.200012 and range: 538.20 m. 2025-01-08T21:17:00.820Z,1736371020.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:00.821Z,1736371020.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247057 2025-01-08T21:17:01.049Z,1736371021.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:01.058Z,1736371021.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.20 m. 2025-01-08T21:17:01.062Z,1736371021.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.200012 m, nav range: 553.357727 m, bearing: 196.974548 deg, approach rate: 0.050892 m/s, LOS rate: -0.070230 deg/s, cmd heading: 288.695431 deg, new cmd heading: 288.606993 deg. 2025-01-08T21:17:01.063Z,1736371021.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.037142 target range: 538.200012 and range: 538.20 m. 2025-01-08T21:17:01.072Z,1736371021.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:01.072Z,1736371021.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498984 2025-01-08T21:17:01.324Z,1736371021.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:01.324Z,1736371021.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750910 2025-01-08T21:17:01.432Z,1736371021.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:01.441Z,1736371021.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.20 m. 2025-01-08T21:17:01.443Z,1736371021.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.200012 m, nav range: 553.377258 m, bearing: 196.947695 deg, approach rate: 0.051079 m/s, LOS rate: -0.070223 deg/s, cmd heading: 288.606993 deg, new cmd heading: 288.526438 deg. 2025-01-08T21:17:01.445Z,1736371021.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.035737 target range: 538.200012 and range: 538.20 m. 2025-01-08T21:17:01.576Z,1736371021.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:01.576Z,1736371021.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002934 2025-01-08T21:17:01.826Z,1736371021.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:01.828Z,1736371021.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:01.829Z,1736371021.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255476 2025-01-08T21:17:01.862Z,1736371021.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.20 m. 2025-01-08T21:17:01.870Z,1736371021.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.200012 m, nav range: 553.396667 m, bearing: 196.919973 deg, approach rate: 0.046062 m/s, LOS rate: -0.065788 deg/s, cmd heading: 288.526452 deg, new cmd heading: 288.443288 deg. 2025-01-08T21:17:01.875Z,1736371021.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.034285 target range: 538.200012 and range: 538.20 m. 2025-01-08T21:17:02.080Z,1736371022.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:02.080Z,1736371022.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506980 2025-01-08T21:17:02.272Z,1736371022.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:02.286Z,1736371022.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:02.293Z,1736371022.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.20 m. 2025-01-08T21:17:02.301Z,1736371022.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.200012 m, nav range: 553.410522 m, bearing: 196.886165 deg, approach rate: 0.032166 m/s, LOS rate: -0.078486 deg/s, cmd heading: 288.443287 deg, new cmd heading: 288.341867 deg. 2025-01-08T21:17:02.302Z,1736371022.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.032515 target range: 538.200012 and range: 538.20 m. 2025-01-08T21:17:02.332Z,1736371022.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:02.333Z,1736371022.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759123 2025-01-08T21:17:02.584Z,1736371022.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:02.585Z,1736371022.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011452 2025-01-08T21:17:02.647Z,1736371022.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:02.678Z,1736371022.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.20 m. 2025-01-08T21:17:02.685Z,1736371022.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.200012 m, nav range: 553.421692 m, bearing: 196.857745 deg, approach rate: 0.028999 m/s, LOS rate: -0.073784 deg/s, cmd heading: 288.341873 deg, new cmd heading: 288.256615 deg. 2025-01-08T21:17:02.686Z,1736371022.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.031027 target range: 538.200012 and range: 538.20 m. 2025-01-08T21:17:02.836Z,1736371022.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:02.836Z,1736371022.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262962 2025-01-08T21:17:03.061Z,1736371023.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:03.070Z,1736371023.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.20 m. 2025-01-08T21:17:03.073Z,1736371023.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.200012 m, nav range: 553.430542 m, bearing: 196.825575 deg, approach rate: 0.022540 m/s, LOS rate: -0.081932 deg/s, cmd heading: 288.256605 deg, new cmd heading: 288.160095 deg. 2025-01-08T21:17:03.074Z,1736371023.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.029343 target range: 538.200012 and range: 538.20 m. 2025-01-08T21:17:03.088Z,1736371023.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:03.088Z,1736371023.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515025 2025-01-08T21:17:03.340Z,1736371023.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:03.341Z,1736371023.341 [DAT](INFO): DAT read: Rx Time:21:17:02.0291 2025-01-08T21:17:03.341Z,1736371023.341 [DAT](INFO): Rx dataTimestamp_ set to:1736371023.340693 2025-01-08T21:17:03.341Z,1736371023.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768044 2025-01-08T21:17:03.447Z,1736371023.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:03.456Z,1736371023.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.20 m. 2025-01-08T21:17:03.458Z,1736371023.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.200012 m, nav range: 553.438171 m, bearing: 196.795546 deg, approach rate: 0.019817 m/s, LOS rate: -0.077996 deg/s, cmd heading: 288.160108 deg, new cmd heading: 288.070022 deg. 2025-01-08T21:17:03.459Z,1736371023.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.027771 target range: 538.200012 and range: 538.20 m. 2025-01-08T21:17:03.592Z,1736371023.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:03.593Z,1736371023.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019243 2025-01-08T21:17:03.844Z,1736371023.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:03.864Z,1736371023.864 [DAT](INFO): DAT read: 21:17:02.0291 LVL= 23792, 24225, 13874, 29907, AGC= 71, IDX= 403, 0.50, 1.774, 0.750, 2.537, 1.665, PHS= 0.196,-0.868, 0.869, RAW= 172.6, -2.6, CAL= 174.1, -10.2, ROT= 335.9, 10.2 2025-01-08T21:17:03.865Z,1736371023.865 [DAT](INFO): got valid direction response: 21:17:02.0291 LVL= 23792, 24225, 13874, 29907, AGC= 71, IDX= 403, 0.50, 1.774, 0.750, 2.537, 1.665, PHS= 0.196,-0.868, 0.869, RAW= 172.6, -2.6, CAL= 174.1, -10.2, ROT= 335.9, 10.2 2025-01-08T21:17:03.866Z,1736371023.866 [DAT](INFO): DAT read: Bearing 335.9, 10.2 (Local) 2025-01-08T21:17:03.867Z,1736371023.867 [DAT](INFO): Local bearing/azimuth received: Bearing 335.9, 10.2 (Local) 2025-01-08T21:17:03.869Z,1736371023.869 [DAT](INFO): DAT read: Range 10 to 50 : 529.6 m (Round-trip 706.2 ms) speed 0.6 m/s 2025-01-08T21:17:03.869Z,1736371023.869 [DAT](INFO): DAT read: user:1636> 2025-01-08T21:17:03.870Z,1736371023.870 [DAT](INFO): DAT read: Tx time:21:17:03.1187 2025-01-08T21:17:03.870Z,1736371023.870 [DAT](INFO): Ping request sent. 2025-01-08T21:17:03.871Z,1736371023.871 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:17:03.871Z,1736371023.871 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:17:03.872Z,1736371023.872 [DAT](INFO): direction in FSK: [-0.047997,-0.983267,0.175731] 2025-01-08T21:17:03.872Z,1736371023.872 [DAT](INFO): publishing transmit ping time 2025-01-08T21:17:03.872Z,1736371023.872 [DAT](INFO): publishing direction and range info 2025-01-08T21:17:03.887Z,1736371023.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:03.901Z,1736371023.901 [DAT](INFO): publishing transmit ping time 2025-01-08T21:17:03.901Z,1736371023.901 [DAT](INFO): publishing direction and range info 2025-01-08T21:17:03.990Z,1736371023.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 529.599976 m, deltaT: 4.285047 s, deltaX: -8.600037 m, approachRate: -2.006988 m/s, rangeRepo size: 4 2025-01-08T21:17:03.996Z,1736371023.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 529.599976 m, bearing: 195.260340 deg, lat: 36.899902 deg, lon: -122.114932 deg, deltaT: 4.285047 s, deltaX: -8.600037 m, approachRate: -2.006988 m/s, posRepo size: 4 2025-01-08T21:17:03.997Z,1736371023.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:04.004Z,1736371024.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.828979 m, bearing: 196.548006 deg, approach rate: 0.000000 m/s, LOS rate: -0.077996 deg/s, cmd heading: 288.070031 deg, new cmd heading: 287.945199 deg. 2025-01-08T21:17:04.005Z,1736371024.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025592 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:04.097Z,1736371024.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:04.098Z,1736371024.098 [DAT](INFO): DAT read: TxSync time:21:17:03.1179 2025-01-08T21:17:04.345Z,1736371024.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:04.348Z,1736371024.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:04.372Z,1736371024.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:04.374Z,1736371024.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:04.381Z,1736371024.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.832031 m, bearing: 196.512721 deg, approach rate: 0.007932 m/s, LOS rate: -0.091716 deg/s, cmd heading: 287.945203 deg, new cmd heading: 287.839348 deg. 2025-01-08T21:17:04.382Z,1736371024.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.023745 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:04.600Z,1736371024.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:04.600Z,1736371024.600 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:04.600Z,1736371024.600 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:04.601Z,1736371024.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:04.706Z,1736371024.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:04.723Z,1736371024.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:04.729Z,1736371024.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.833740 m, bearing: 196.485005 deg, approach rate: 0.004898 m/s, LOS rate: -0.079439 deg/s, cmd heading: 287.839362 deg, new cmd heading: 287.756216 deg. 2025-01-08T21:17:04.730Z,1736371024.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022294 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:04.852Z,1736371024.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:04.853Z,1736371024.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982213 2025-01-08T21:17:05.104Z,1736371025.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:05.104Z,1736371025.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233819 2025-01-08T21:17:05.119Z,1736371025.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:05.128Z,1736371025.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:05.131Z,1736371025.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.833618 m, bearing: 196.454936 deg, approach rate: -0.000302 m/s, LOS rate: -0.074308 deg/s, cmd heading: 287.756225 deg, new cmd heading: 287.666018 deg. 2025-01-08T21:17:05.132Z,1736371025.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.020719 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:05.357Z,1736371025.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:05.358Z,1736371025.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487032 2025-01-08T21:17:05.492Z,1736371025.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:05.502Z,1736371025.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:05.505Z,1736371025.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.833008 m, bearing: 196.427737 deg, approach rate: -0.001630 m/s, LOS rate: -0.072623 deg/s, cmd heading: 287.666012 deg, new cmd heading: 287.584413 deg. 2025-01-08T21:17:05.506Z,1736371025.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.019295 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:05.609Z,1736371025.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:05.610Z,1736371025.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739325 2025-01-08T21:17:05.860Z,1736371025.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:05.860Z,1736371025.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989754 2025-01-08T21:17:05.900Z,1736371025.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:05.931Z,1736371025.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:05.937Z,1736371025.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.832153 m, bearing: 196.398074 deg, approach rate: -0.001993 m/s, LOS rate: -0.069173 deg/s, cmd heading: 287.584405 deg, new cmd heading: 287.495417 deg. 2025-01-08T21:17:05.938Z,1736371025.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.017742 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:06.117Z,1736371026.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:06.118Z,1736371026.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247618 2025-01-08T21:17:06.350Z,1736371026.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:06.358Z,1736371026.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:06.362Z,1736371026.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.840942 m, bearing: 196.366919 deg, approach rate: 0.020545 m/s, LOS rate: -0.072826 deg/s, cmd heading: 287.495421 deg, new cmd heading: 287.401957 deg. 2025-01-08T21:17:06.364Z,1736371026.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.016110 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:06.368Z,1736371026.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:06.368Z,1736371026.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497865 2025-01-08T21:17:06.620Z,1736371026.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:06.621Z,1736371026.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750378 2025-01-08T21:17:06.703Z,1736371026.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:06.710Z,1736371026.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:06.713Z,1736371026.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:06.716Z,1736371026.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.847412 m, bearing: 196.342462 deg, approach rate: 0.018229 m/s, LOS rate: -0.068907 deg/s, cmd heading: 287.401957 deg, new cmd heading: 287.328587 deg. 2025-01-08T21:17:06.717Z,1736371026.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.014830 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:06.872Z,1736371026.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:06.873Z,1736371026.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001981 2025-01-08T21:17:07.124Z,1736371027.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:07.124Z,1736371027.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253842 2025-01-08T21:17:07.130Z,1736371027.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:07.138Z,1736371027.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:07.141Z,1736371027.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.860107 m, bearing: 196.314985 deg, approach rate: 0.029861 m/s, LOS rate: -0.064629 deg/s, cmd heading: 287.328573 deg, new cmd heading: 287.246144 deg. 2025-01-08T21:17:07.142Z,1736371027.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.013391 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:07.376Z,1736371027.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:07.377Z,1736371027.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506153 2025-01-08T21:17:07.507Z,1736371027.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:07.537Z,1736371027.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:07.549Z,1736371027.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.871216 m, bearing: 196.290686 deg, approach rate: 0.027836 m/s, LOS rate: -0.060888 deg/s, cmd heading: 287.246146 deg, new cmd heading: 287.173252 deg. 2025-01-08T21:17:07.550Z,1736371027.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.012119 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:07.629Z,1736371027.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:07.630Z,1736371027.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759463 2025-01-08T21:17:07.881Z,1736371027.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:07.882Z,1736371027.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.011243 2025-01-08T21:17:07.936Z,1736371027.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:07.946Z,1736371027.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:07.948Z,1736371027.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.884033 m, bearing: 196.263073 deg, approach rate: 0.031471 m/s, LOS rate: -0.067798 deg/s, cmd heading: 287.173255 deg, new cmd heading: 287.090418 deg. 2025-01-08T21:17:07.949Z,1736371027.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.010673 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:08.132Z,1736371028.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:08.132Z,1736371028.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.261842 2025-01-08T21:17:08.364Z,1736371028.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:08.372Z,1736371028.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:08.375Z,1736371028.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.909851 m, bearing: 196.237414 deg, approach rate: 0.060381 m/s, LOS rate: -0.060008 deg/s, cmd heading: 287.090418 deg, new cmd heading: 287.013443 deg. 2025-01-08T21:17:08.376Z,1736371028.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.009330 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:08.386Z,1736371028.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:08.386Z,1736371028.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.515761 2025-01-08T21:17:08.636Z,1736371028.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:08.636Z,1736371028.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.765757 2025-01-08T21:17:08.724Z,1736371028.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:08.731Z,1736371028.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:08.733Z,1736371028.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:08.736Z,1736371028.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.931274 m, bearing: 196.215850 deg, approach rate: 0.059347 m/s, LOS rate: -0.059734 deg/s, cmd heading: 287.013455 deg, new cmd heading: 286.948766 deg. 2025-01-08T21:17:08.737Z,1736371028.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.008201 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:08.889Z,1736371028.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:08.890Z,1736371028.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.019326 2025-01-08T21:17:09.140Z,1736371029.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:09.141Z,1736371029.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.269899 2025-01-08T21:17:09.152Z,1736371029.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:09.161Z,1736371029.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:09.164Z,1736371029.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.964233 m, bearing: 196.190945 deg, approach rate: 0.077155 m/s, LOS rate: -0.058297 deg/s, cmd heading: 286.948760 deg, new cmd heading: 286.874050 deg. 2025-01-08T21:17:09.165Z,1736371029.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006896 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:09.392Z,1736371029.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:09.393Z,1736371029.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.522376 2025-01-08T21:17:09.534Z,1736371029.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:09.558Z,1736371029.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:09.562Z,1736371029.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 552.993591 m, bearing: 196.168779 deg, approach rate: 0.073780 m/s, LOS rate: -0.055702 deg/s, cmd heading: 286.874038 deg, new cmd heading: 286.807544 deg. 2025-01-08T21:17:09.563Z,1736371029.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.005736 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:09.645Z,1736371029.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:09.646Z,1736371029.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.775066 2025-01-08T21:17:09.896Z,1736371029.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:09.896Z,1736371029.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.025800 2025-01-08T21:17:09.967Z,1736371029.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:09.980Z,1736371029.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:09.988Z,1736371029.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.026672 m, bearing: 196.143898 deg, approach rate: 0.078391 m/s, LOS rate: -0.058956 deg/s, cmd heading: 286.807539 deg, new cmd heading: 286.732901 deg. 2025-01-08T21:17:09.989Z,1736371029.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004433 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:10.149Z,1736371030.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:10.150Z,1736371030.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.279037 2025-01-08T21:17:10.370Z,1736371030.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:10.380Z,1736371030.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:10.383Z,1736371030.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.064026 m, bearing: 196.119997 deg, approach rate: 0.093513 m/s, LOS rate: -0.059831 deg/s, cmd heading: 286.732899 deg, new cmd heading: 286.661200 deg. 2025-01-08T21:17:10.384Z,1736371030.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003182 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:10.400Z,1736371030.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:10.400Z,1736371030.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.529820 2025-01-08T21:17:10.652Z,1736371030.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:10.653Z,1736371030.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.782691 2025-01-08T21:17:10.756Z,1736371030.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:10.764Z,1736371030.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:10.766Z,1736371030.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:10.769Z,1736371030.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.099487 m, bearing: 196.097375 deg, approach rate: 0.091890 m/s, LOS rate: -0.058617 deg/s, cmd heading: 286.661209 deg, new cmd heading: 286.593346 deg. 2025-01-08T21:17:10.770Z,1736371030.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001997 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:10.904Z,1736371030.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:10.905Z,1736371030.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.034079 2025-01-08T21:17:11.156Z,1736371031.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:11.156Z,1736371031.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.285822 2025-01-08T21:17:11.177Z,1736371031.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:11.186Z,1736371031.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:11.212Z,1736371031.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.137451 m, bearing: 196.072367 deg, approach rate: 0.090349 m/s, LOS rate: -0.059510 deg/s, cmd heading: 286.593344 deg, new cmd heading: 286.518327 deg. 2025-01-08T21:17:11.213Z,1736371031.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000688 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:11.408Z,1736371031.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:11.408Z,1736371031.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.537855 2025-01-08T21:17:11.556Z,1736371031.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:11.565Z,1736371031.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:11.588Z,1736371031.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.171448 m, bearing: 196.049828 deg, approach rate: 0.089644 m/s, LOS rate: -0.059430 deg/s, cmd heading: 286.518321 deg, new cmd heading: 286.450706 deg. 2025-01-08T21:17:11.589Z,1736371031.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999508 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:11.661Z,1736371031.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:11.662Z,1736371031.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.791364 2025-01-08T21:17:11.912Z,1736371031.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:11.912Z,1736371031.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.041745 2025-01-08T21:17:11.968Z,1736371031.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:11.986Z,1736371031.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:11.989Z,1736371031.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.207947 m, bearing: 196.025319 deg, approach rate: 0.086706 m/s, LOS rate: -0.058218 deg/s, cmd heading: 286.450703 deg, new cmd heading: 286.377182 deg. 2025-01-08T21:17:11.990Z,1736371031.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998225 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:12.164Z,1736371032.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:12.164Z,1736371032.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.293876 2025-01-08T21:17:12.392Z,1736371032.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:12.416Z,1736371032.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:12.417Z,1736371032.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.545916 2025-01-08T21:17:12.423Z,1736371032.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:12.433Z,1736371032.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.240417 m, bearing: 195.999138 deg, approach rate: 0.074409 m/s, LOS rate: -0.059993 deg/s, cmd heading: 286.377182 deg, new cmd heading: 286.298642 deg. 2025-01-08T21:17:12.434Z,1736371032.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996854 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:12.670Z,1736371032.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:12.673Z,1736371032.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.801729 2025-01-08T21:17:12.762Z,1736371032.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:12.769Z,1736371032.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:12.780Z,1736371032.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:12.783Z,1736371032.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.268433 m, bearing: 195.976216 deg, approach rate: 0.080344 m/s, LOS rate: -0.065733 deg/s, cmd heading: 286.298635 deg, new cmd heading: 286.229875 deg. 2025-01-08T21:17:12.788Z,1736371032.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995654 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:12.920Z,1736371032.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:12.920Z,1736371032.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.049847 2025-01-08T21:17:13.172Z,1736371033.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:13.172Z,1736371033.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.301791 2025-01-08T21:17:13.184Z,1736371033.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:13.213Z,1736371033.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:13.227Z,1736371033.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.293152 m, bearing: 195.948735 deg, approach rate: 0.055893 m/s, LOS rate: -0.062137 deg/s, cmd heading: 286.229869 deg, new cmd heading: 286.147428 deg. 2025-01-08T21:17:13.229Z,1736371033.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994215 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:13.424Z,1736371033.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:13.424Z,1736371033.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.553765 2025-01-08T21:17:13.571Z,1736371033.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:13.581Z,1736371033.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:13.584Z,1736371033.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.315186 m, bearing: 195.923572 deg, approach rate: 0.060002 m/s, LOS rate: -0.068521 deg/s, cmd heading: 286.147415 deg, new cmd heading: 286.071929 deg. 2025-01-08T21:17:13.585Z,1736371033.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.992897 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:13.677Z,1736371033.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:13.678Z,1736371033.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.807630 2025-01-08T21:17:13.928Z,1736371033.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:13.928Z,1736371033.928 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:13.928Z,1736371033.928 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:13.928Z,1736371033.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:13.999Z,1736371033.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:14.030Z,1736371034.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:14.037Z,1736371034.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.339233 m, bearing: 195.895698 deg, approach rate: 0.053504 m/s, LOS rate: -0.062013 deg/s, cmd heading: 286.071928 deg, new cmd heading: 285.988310 deg. 2025-01-08T21:17:14.038Z,1736371034.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.991437 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:14.181Z,1736371034.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:14.181Z,1736371034.181 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:14.182Z,1736371034.182 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:14.182Z,1736371034.182 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:14.416Z,1736371034.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:14.425Z,1736371034.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:14.428Z,1736371034.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.354858 m, bearing: 195.867085 deg, approach rate: 0.039615 m/s, LOS rate: -0.072541 deg/s, cmd heading: 285.988299 deg, new cmd heading: 285.902463 deg. 2025-01-08T21:17:14.429Z,1736371034.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989939 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:14.432Z,1736371034.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:14.432Z,1736371034.432 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:14.433Z,1736371034.433 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:14.433Z,1736371034.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:14.684Z,1736371034.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:14.684Z,1736371034.684 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:17:14.685Z,1736371034.685 [DAT](INFO): response not received 2025-01-08T21:17:14.685Z,1736371034.685 [DAT](INFO): DAT read: user:1637> 2025-01-08T21:17:14.686Z,1736371034.686 [DAT](INFO): DAT read: Tx time:21:17:14.0689 2025-01-08T21:17:14.686Z,1736371034.686 [DAT](INFO): Ping request sent. 2025-01-08T21:17:14.686Z,1736371034.686 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:17:14.686Z,1736371034.686 [DAT](INFO): publishing transmit ping time 2025-01-08T21:17:14.687Z,1736371034.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723 2025-01-08T21:17:14.802Z,1736371034.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:14.809Z,1736371034.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:14.812Z,1736371034.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:14.815Z,1736371034.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.369019 m, bearing: 195.840553 deg, approach rate: 0.036523 m/s, LOS rate: -0.068432 deg/s, cmd heading: 285.902457 deg, new cmd heading: 285.822863 deg. 2025-01-08T21:17:14.816Z,1736371034.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988550 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:14.936Z,1736371034.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:14.937Z,1736371034.937 [DAT](INFO): DAT read: TxSync time:21:17:14.0681 2025-01-08T21:17:14.937Z,1736371034.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251122 2025-01-08T21:17:15.188Z,1736371035.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:15.188Z,1736371035.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502236 2025-01-08T21:17:15.236Z,1736371035.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:15.252Z,1736371035.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:15.255Z,1736371035.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.376892 m, bearing: 195.809772 deg, approach rate: 0.017894 m/s, LOS rate: -0.069955 deg/s, cmd heading: 285.822872 deg, new cmd heading: 285.730528 deg. 2025-01-08T21:17:15.260Z,1736371035.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.986938 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:15.440Z,1736371035.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:15.440Z,1736371035.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754124 2025-01-08T21:17:15.630Z,1736371035.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:15.638Z,1736371035.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:15.641Z,1736371035.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.384216 m, bearing: 195.781801 deg, approach rate: 0.018971 m/s, LOS rate: -0.072449 deg/s, cmd heading: 285.730527 deg, new cmd heading: 285.646617 deg. 2025-01-08T21:17:15.642Z,1736371035.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.985474 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:15.692Z,1736371035.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:15.693Z,1736371035.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007223 2025-01-08T21:17:15.944Z,1736371035.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:15.944Z,1736371035.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258259 2025-01-08T21:17:16.021Z,1736371036.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:16.029Z,1736371036.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:16.032Z,1736371036.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.388916 m, bearing: 195.754028 deg, approach rate: 0.012027 m/s, LOS rate: -0.071072 deg/s, cmd heading: 285.646625 deg, new cmd heading: 285.563307 deg. 2025-01-08T21:17:16.033Z,1736371036.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.984020 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:16.196Z,1736371036.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:16.197Z,1736371036.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510495 2025-01-08T21:17:16.427Z,1736371036.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:16.448Z,1736371036.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:16.448Z,1736371036.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762267 2025-01-08T21:17:16.460Z,1736371036.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:16.463Z,1736371036.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.385986 m, bearing: 195.724744 deg, approach rate: -0.006851 m/s, LOS rate: -0.068481 deg/s, cmd heading: 285.563297 deg, new cmd heading: 285.475444 deg. 2025-01-08T21:17:16.464Z,1736371036.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.982486 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:16.700Z,1736371036.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:16.700Z,1736371036.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014154 2025-01-08T21:17:16.817Z,1736371036.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:16.824Z,1736371036.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:16.826Z,1736371036.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:16.829Z,1736371036.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.383301 m, bearing: 195.696621 deg, approach rate: -0.007277 m/s, LOS rate: -0.076204 deg/s, cmd heading: 285.475433 deg, new cmd heading: 285.391063 deg. 2025-01-08T21:17:16.830Z,1736371036.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.981014 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:16.954Z,1736371036.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:16.957Z,1736371036.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268816 2025-01-08T21:17:17.204Z,1736371037.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:17.205Z,1736371037.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518484 2025-01-08T21:17:17.253Z,1736371037.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:17.270Z,1736371037.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:17.277Z,1736371037.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.381836 m, bearing: 195.665187 deg, approach rate: -0.003300 m/s, LOS rate: -0.070807 deg/s, cmd heading: 285.391067 deg, new cmd heading: 285.296767 deg. 2025-01-08T21:17:17.278Z,1736371037.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.979368 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:17.456Z,1736371037.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:17.456Z,1736371037.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770157 2025-01-08T21:17:17.648Z,1736371037.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:17.682Z,1736371037.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:17.689Z,1736371037.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.380371 m, bearing: 195.636782 deg, approach rate: -0.003552 m/s, LOS rate: -0.068877 deg/s, cmd heading: 285.296756 deg, new cmd heading: 285.211540 deg. 2025-01-08T21:17:17.690Z,1736371037.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.977880 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:17.708Z,1736371037.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:17.709Z,1736371037.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022333 2025-01-08T21:17:17.960Z,1736371037.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:17.960Z,1736371037.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274126 2025-01-08T21:17:18.050Z,1736371038.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:18.060Z,1736371038.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:18.063Z,1736371038.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.378723 m, bearing: 195.607794 deg, approach rate: -0.004359 m/s, LOS rate: -0.076681 deg/s, cmd heading: 285.211542 deg, new cmd heading: 285.124577 deg. 2025-01-08T21:17:18.064Z,1736371038.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.976363 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:18.212Z,1736371038.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:18.213Z,1736371038.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526707 2025-01-08T21:17:18.451Z,1736371038.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:18.460Z,1736371038.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:18.464Z,1736371038.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:18.465Z,1736371038.465 [DAT](INFO): DAT read: Rx Time:21:17:17.1765 2025-01-08T21:17:18.465Z,1736371038.465 [DAT](INFO): Rx dataTimestamp_ set to:1736371038.464808 2025-01-08T21:17:18.466Z,1736371038.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779381 2025-01-08T21:17:18.480Z,1736371038.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.377747 m, bearing: 195.578888 deg, approach rate: -0.002443 m/s, LOS rate: -0.072322 deg/s, cmd heading: 285.124580 deg, new cmd heading: 285.037864 deg. 2025-01-08T21:17:18.481Z,1736371038.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.974849 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:18.716Z,1736371038.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:18.717Z,1736371038.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030805 2025-01-08T21:17:18.857Z,1736371038.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:18.893Z,1736371038.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:18.900Z,1736371038.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:18.903Z,1736371038.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.376648 m, bearing: 195.549657 deg, approach rate: -0.002495 m/s, LOS rate: -0.066372 deg/s, cmd heading: 285.037864 deg, new cmd heading: 284.950169 deg. 2025-01-08T21:17:18.906Z,1736371038.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.973319 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:18.968Z,1736371038.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:18.981Z,1736371038.981 [DAT](INFO): DAT read: 21:17:17.1765 LVL= 28880, 32753, 25330, 32755, AGC= 73, IDX= 384, 0.21,-1.310,-2.394,-0.363,-1.207, PHS=-0.015,-1.140, 0.840, RAW= 175.5, 3.7, CAL= 175.7, -5.1, ROT= 334.3, 5.1 2025-01-08T21:17:18.984Z,1736371038.984 [DAT](INFO): got valid direction response: 21:17:17.1765 LVL= 28880, 32753, 25330, 32755, AGC= 73, IDX= 384, 0.21,-1.310,-2.394,-0.363,-1.207, PHS=-0.015,-1.140, 0.840, RAW= 175.5, 3.7, CAL= 175.7, -5.1, ROT= 334.3, 5.1 2025-01-08T21:17:18.986Z,1736371038.986 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:17:18.989Z,1736371038.989 [DAT](INFO): Received a bad header 2025-01-08T21:17:19.008Z,1736371039.008 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:17:19.009Z,1736371039.009 [DAT](INFO): direction in FSK: [-0.164706,-0.979429,0.116576] 2025-01-08T21:17:19.017Z,1736371039.017 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:19.017Z,1736371039.017 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:19.017Z,1736371039.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:19.220Z,1736371039.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:19.220Z,1736371039.220 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:19.220Z,1736371039.220 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:19.220Z,1736371039.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:19.280Z,1736371039.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:19.296Z,1736371039.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:19.298Z,1736371039.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.380127 m, bearing: 195.519690 deg, approach rate: 0.008897 m/s, LOS rate: -0.076634 deg/s, cmd heading: 284.950165 deg, new cmd heading: 284.860263 deg. 2025-01-08T21:17:19.303Z,1736371039.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.971749 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:19.472Z,1736371039.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:19.472Z,1736371039.472 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:19.472Z,1736371039.472 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:19.472Z,1736371039.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:19.646Z,1736371039.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:19.663Z,1736371039.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:19.686Z,1736371039.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.383118 m, bearing: 195.493757 deg, approach rate: 0.008065 m/s, LOS rate: -0.069930 deg/s, cmd heading: 284.860252 deg, new cmd heading: 284.782455 deg. 2025-01-08T21:17:19.687Z,1736371039.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.970391 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:19.724Z,1736371039.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:19.725Z,1736371039.725 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:19.725Z,1736371039.725 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:19.725Z,1736371039.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:19.976Z,1736371039.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:19.976Z,1736371039.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:19.976Z,1736371039.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:19.976Z,1736371039.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:20.066Z,1736371040.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:20.091Z,1736371040.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:20.094Z,1736371040.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.386169 m, bearing: 195.464054 deg, approach rate: 0.007114 m/s, LOS rate: -0.069235 deg/s, cmd heading: 284.782443 deg, new cmd heading: 284.693335 deg. 2025-01-08T21:17:20.095Z,1736371040.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.968836 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:20.229Z,1736371040.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:20.230Z,1736371040.230 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:20.230Z,1736371040.230 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:20.230Z,1736371040.230 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:20.474Z,1736371040.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:20.480Z,1736371040.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:20.480Z,1736371040.480 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:20.480Z,1736371040.480 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:20.481Z,1736371040.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:20.506Z,1736371040.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:20.513Z,1736371040.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.394958 m, bearing: 195.435927 deg, approach rate: 0.021199 m/s, LOS rate: -0.067841 deg/s, cmd heading: 284.693322 deg, new cmd heading: 284.608942 deg. 2025-01-08T21:17:20.514Z,1736371040.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.967363 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:20.732Z,1736371040.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:20.732Z,1736371040.732 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:20.732Z,1736371040.732 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:20.733Z,1736371040.733 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:20.860Z,1736371040.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:20.870Z,1736371040.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:20.873Z,1736371040.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.403015 m, bearing: 195.409260 deg, approach rate: 0.022122 m/s, LOS rate: -0.073221 deg/s, cmd heading: 284.608956 deg, new cmd heading: 284.528955 deg. 2025-01-08T21:17:20.874Z,1736371040.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.965967 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:20.984Z,1736371040.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:20.984Z,1736371040.984 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:20.984Z,1736371040.984 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:20.984Z,1736371040.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:21.236Z,1736371041.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:21.236Z,1736371041.236 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:21.236Z,1736371041.236 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:21.236Z,1736371041.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:21.276Z,1736371041.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:21.313Z,1736371041.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:21.319Z,1736371041.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:21.322Z,1736371041.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.416931 m, bearing: 195.381749 deg, approach rate: 0.031267 m/s, LOS rate: -0.061811 deg/s, cmd heading: 284.528961 deg, new cmd heading: 284.446431 deg. 2025-01-08T21:17:21.323Z,1736371041.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.964527 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:21.488Z,1736371041.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:21.488Z,1736371041.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:21.488Z,1736371041.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:21.488Z,1736371041.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:21.688Z,1736371041.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:21.706Z,1736371041.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:21.709Z,1736371041.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.430542 m, bearing: 195.354498 deg, approach rate: 0.034814 m/s, LOS rate: -0.069703 deg/s, cmd heading: 284.446425 deg, new cmd heading: 284.364672 deg. 2025-01-08T21:17:21.710Z,1736371041.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.963100 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:21.740Z,1736371041.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:21.741Z,1736371041.741 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:21.741Z,1736371041.741 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:21.741Z,1736371041.741 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:21.992Z,1736371041.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:21.992Z,1736371041.992 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:21.992Z,1736371041.992 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:21.992Z,1736371041.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:22.096Z,1736371042.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:22.106Z,1736371042.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:22.111Z,1736371042.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.443848 m, bearing: 195.327555 deg, approach rate: 0.033365 m/s, LOS rate: -0.067561 deg/s, cmd heading: 284.364681 deg, new cmd heading: 284.283852 deg. 2025-01-08T21:17:22.112Z,1736371042.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.961689 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:22.247Z,1736371042.247 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:22.248Z,1736371042.248 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:22.248Z,1736371042.248 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:22.249Z,1736371042.249 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:22.494Z,1736371042.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:22.496Z,1736371042.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:22.496Z,1736371042.496 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:22.496Z,1736371042.496 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:22.496Z,1736371042.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:22.505Z,1736371042.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:22.508Z,1736371042.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.461792 m, bearing: 195.301836 deg, approach rate: 0.044851 m/s, LOS rate: -0.064280 deg/s, cmd heading: 284.283866 deg, new cmd heading: 284.206714 deg. 2025-01-08T21:17:22.509Z,1736371042.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.960343 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:22.748Z,1736371042.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:22.749Z,1736371042.749 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:22.749Z,1736371042.749 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:22.749Z,1736371042.749 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:22.892Z,1736371042.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:22.906Z,1736371042.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:22.908Z,1736371042.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.479919 m, bearing: 195.276037 deg, approach rate: 0.045244 m/s, LOS rate: -0.064391 deg/s, cmd heading: 284.206712 deg, new cmd heading: 284.129316 deg. 2025-01-08T21:17:22.909Z,1736371042.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.958992 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:22.000Z,1736371043.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:23.000Z,1736371043.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:23.000Z,1736371043.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:23.000Z,1736371043.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:23.253Z,1736371043.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:23.253Z,1736371043.253 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:23.253Z,1736371043.253 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:23.253Z,1736371043.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:23.320Z,1736371043.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:23.327Z,1736371043.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:23.330Z,1736371043.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:23.341Z,1736371043.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.497498 m, bearing: 195.249343 deg, approach rate: 0.041431 m/s, LOS rate: -0.062914 deg/s, cmd heading: 284.129312 deg, new cmd heading: 284.049235 deg. 2025-01-08T21:17:23.342Z,1736371043.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.957594 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:23.504Z,1736371043.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:23.504Z,1736371043.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:23.504Z,1736371043.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:23.504Z,1736371043.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:23.722Z,1736371043.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:23.733Z,1736371043.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:23.735Z,1736371043.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.514099 m, bearing: 195.224254 deg, approach rate: 0.041212 m/s, LOS rate: -0.062279 deg/s, cmd heading: 284.049235 deg, new cmd heading: 283.973971 deg. 2025-01-08T21:17:23.736Z,1736371043.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.956281 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:23.756Z,1736371043.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:23.757Z,1736371043.757 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:23.757Z,1736371043.757 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:23.757Z,1736371043.757 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:24.008Z,1736371044.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:24.008Z,1736371044.008 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:24.008Z,1736371044.008 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:24.008Z,1736371044.008 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:24.107Z,1736371044.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:24.120Z,1736371044.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:24.122Z,1736371044.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.529846 m, bearing: 195.200277 deg, approach rate: 0.040842 m/s, LOS rate: -0.062188 deg/s, cmd heading: 283.973967 deg, new cmd heading: 283.902036 deg. 2025-01-08T21:17:24.124Z,1736371044.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.955025 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:24.264Z,1736371044.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:24.265Z,1736371044.265 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:24.266Z,1736371044.266 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:24.266Z,1736371044.266 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:24.513Z,1736371044.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:24.513Z,1736371044.513 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:24.513Z,1736371044.513 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:24.513Z,1736371044.513 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:17:24.514Z,1736371044.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:24.523Z,1736371044.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:24.526Z,1736371044.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.546387 m, bearing: 195.174866 deg, approach rate: 0.040877 m/s, LOS rate: -0.062796 deg/s, cmd heading: 283.902031 deg, new cmd heading: 283.825801 deg. 2025-01-08T21:17:24.527Z,1736371044.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.953695 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:24.764Z,1736371044.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:24.764Z,1736371044.764 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:24.764Z,1736371044.764 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:24.765Z,1736371044.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:24.897Z,1736371044.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:24.905Z,1736371044.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:24.908Z,1736371044.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.561951 m, bearing: 195.151029 deg, approach rate: 0.040696 m/s, LOS rate: -0.062326 deg/s, cmd heading: 283.825806 deg, new cmd heading: 283.754298 deg. 2025-01-08T21:17:24.909Z,1736371044.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.952447 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:24.996Z,1736371044.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:17:25.016Z,1736371045.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:25.017Z,1736371045.017 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:25.017Z,1736371045.017 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:25.017Z,1736371045.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:25.269Z,1736371045.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:25.270Z,1736371045.270 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:25.271Z,1736371045.271 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:25.272Z,1736371045.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:25.346Z,1736371045.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:25.355Z,1736371045.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:25.361Z,1736371045.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:25.365Z,1736371045.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.577759 m, bearing: 195.123245 deg, approach rate: 0.034719 m/s, LOS rate: -0.061021 deg/s, cmd heading: 283.754308 deg, new cmd heading: 283.670957 deg. 2025-01-08T21:17:25.366Z,1736371045.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.950992 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:25.520Z,1736371045.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:25.520Z,1736371045.520 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:25.520Z,1736371045.520 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:25.520Z,1736371045.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:25.706Z,1736371045.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:25.715Z,1736371045.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:25.718Z,1736371045.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.590332 m, bearing: 195.101034 deg, approach rate: 0.035501 m/s, LOS rate: -0.062709 deg/s, cmd heading: 283.670952 deg, new cmd heading: 283.604323 deg. 2025-01-08T21:17:25.719Z,1736371045.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.949829 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:25.772Z,1736371045.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:25.773Z,1736371045.773 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:17:25.773Z,1736371045.773 [DAT](INFO): response not received 2025-01-08T21:17:25.774Z,1736371045.774 [DAT](INFO): DAT read: user:1639> 2025-01-08T21:17:25.776Z,1736371045.776 [DAT](INFO): DAT read: Tx time:21:17:25.0190 2025-01-08T21:17:25.776Z,1736371045.776 [DAT](INFO): Ping request sent. 2025-01-08T21:17:25.776Z,1736371045.776 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:17:25.777Z,1736371045.777 [DAT](INFO): publishing transmit ping time 2025-01-08T21:17:25.778Z,1736371045.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001399 2025-01-08T21:17:25.000Z,1736371046.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:17:26.024Z,1736371046.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:26.025Z,1736371046.025 [DAT](INFO): DAT read: TxSync time:21:17:25.0182 2025-01-08T21:17:26.026Z,1736371046.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249452 2025-01-08T21:17:26.130Z,1736371046.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:26.138Z,1736371046.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:26.141Z,1736371046.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.605286 m, bearing: 195.074814 deg, approach rate: 0.035303 m/s, LOS rate: -0.061901 deg/s, cmd heading: 283.604317 deg, new cmd heading: 283.525657 deg. 2025-01-08T21:17:26.142Z,1736371046.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.948456 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:26.279Z,1736371046.279 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:26.281Z,1736371046.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504574 2025-01-08T21:17:26.529Z,1736371046.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:26.529Z,1736371046.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753165 2025-01-08T21:17:26.552Z,1736371046.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:26.562Z,1736371046.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:26.565Z,1736371046.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.616577 m, bearing: 195.048056 deg, approach rate: 0.026643 m/s, LOS rate: -0.063134 deg/s, cmd heading: 283.525660 deg, new cmd heading: 283.445390 deg. 2025-01-08T21:17:26.566Z,1736371046.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.947055 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:26.780Z,1736371046.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:26.780Z,1736371046.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004318 2025-01-08T21:17:26.913Z,1736371046.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:26.922Z,1736371046.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:26.925Z,1736371046.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.625488 m, bearing: 195.025194 deg, approach rate: 0.024770 m/s, LOS rate: -0.063548 deg/s, cmd heading: 283.445392 deg, new cmd heading: 283.376807 deg. 2025-01-08T21:17:26.926Z,1736371046.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.945858 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:27.036Z,1736371047.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:27.038Z,1736371047.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261345 2025-01-08T21:17:27.289Z,1736371047.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:27.300Z,1736371047.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514799 2025-01-08T21:17:27.372Z,1736371047.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:27.380Z,1736371047.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:27.382Z,1736371047.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:27.385Z,1736371047.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.632874 m, bearing: 194.995588 deg, approach rate: 0.016038 m/s, LOS rate: -0.064291 deg/s, cmd heading: 283.376817 deg, new cmd heading: 283.288000 deg. 2025-01-08T21:17:27.386Z,1736371047.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.944308 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:27.540Z,1736371047.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:27.540Z,1736371047.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764309 2025-01-08T21:17:27.736Z,1736371047.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:27.746Z,1736371047.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:27.749Z,1736371047.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.638794 m, bearing: 194.972115 deg, approach rate: 0.016304 m/s, LOS rate: -0.064642 deg/s, cmd heading: 283.287997 deg, new cmd heading: 283.217579 deg. 2025-01-08T21:17:27.750Z,1736371047.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.943079 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:27.792Z,1736371047.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:27.793Z,1736371047.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016493 2025-01-08T21:17:28.044Z,1736371048.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:28.045Z,1736371048.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268983 2025-01-08T21:17:28.130Z,1736371048.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:28.162Z,1736371048.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:28.177Z,1736371048.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.645264 m, bearing: 194.946740 deg, approach rate: 0.015567 m/s, LOS rate: -0.061056 deg/s, cmd heading: 283.217592 deg, new cmd heading: 283.141465 deg. 2025-01-08T21:17:28.181Z,1736371048.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.941751 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:28.298Z,1736371048.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:28.300Z,1736371048.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523342 2025-01-08T21:17:28.548Z,1736371048.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:28.548Z,1736371048.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772308 2025-01-08T21:17:28.588Z,1736371048.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:28.598Z,1736371048.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:28.600Z,1736371048.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.647217 m, bearing: 194.916640 deg, approach rate: 0.004475 m/s, LOS rate: -0.068969 deg/s, cmd heading: 283.141476 deg, new cmd heading: 283.051177 deg. 2025-01-08T21:17:28.601Z,1736371048.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.940175 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:28.800Z,1736371048.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:28.800Z,1736371048.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024204 2025-01-08T21:17:28.937Z,1736371048.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:28.947Z,1736371048.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:28.950Z,1736371048.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.648376 m, bearing: 194.893660 deg, approach rate: 0.003323 m/s, LOS rate: -0.065846 deg/s, cmd heading: 283.051181 deg, new cmd heading: 282.982240 deg. 2025-01-08T21:17:28.951Z,1736371048.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.938972 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:29.052Z,1736371049.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:29.053Z,1736371049.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277275 2025-01-08T21:17:29.306Z,1736371049.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:29.309Z,1736371049.309 [DAT](INFO): DAT read: Rx Time:21:17:28.1174 2025-01-08T21:17:29.311Z,1736371049.311 [DAT](INFO): Rx dataTimestamp_ set to:1736371049.309694 2025-01-08T21:17:29.313Z,1736371049.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536706 2025-01-08T21:17:29.419Z,1736371049.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:29.448Z,1736371049.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:29.450Z,1736371049.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:29.457Z,1736371049.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.648071 m, bearing: 194.861733 deg, approach rate: -0.000606 m/s, LOS rate: -0.063364 deg/s, cmd heading: 282.982251 deg, new cmd heading: 282.886470 deg. 2025-01-08T21:17:29.458Z,1736371049.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.937300 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:29.556Z,1736371049.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:29.557Z,1736371049.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780800 2025-01-08T21:17:29.744Z,1736371049.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:29.754Z,1736371049.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 529.60 m. 2025-01-08T21:17:29.757Z,1736371049.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 529.599976 m, nav range: 553.647461 m, bearing: 194.840228 deg, approach rate: -0.002013 m/s, LOS rate: -0.070927 deg/s, cmd heading: 282.886464 deg, new cmd heading: 282.821950 deg. 2025-01-08T21:17:29.761Z,1736371049.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.936174 target range: 529.599976 and range: 529.60 m. 2025-01-08T21:17:29.810Z,1736371049.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:29.831Z,1736371049.831 [DAT](INFO): DAT read: 21:17:28.1174 LVL= 32752, 32753, 22834, 32755, AGC= 69, IDX= 352, 0.50,-3.035, 2.414,-2.306,-3.045, PHS= 0.098,-0.777, 0.735, RAW= 174.8, -0.9, CAL= 175.8, -8.7, ROT= 334.2, 8.7 2025-01-08T21:17:29.832Z,1736371049.832 [DAT](INFO): got valid direction response: 21:17:28.1174 LVL= 32752, 32753, 22834, 32755, AGC= 69, IDX= 352, 0.50,-3.035, 2.414,-2.306,-3.045, PHS= 0.098,-0.777, 0.735, RAW= 174.8, -0.9, CAL= 175.8, -8.7, ROT= 334.2, 8.7 2025-01-08T21:17:29.833Z,1736371049.833 [DAT](INFO): DAT read: Bearing 334.2, 8.7 (Local) 2025-01-08T21:17:29.834Z,1736371049.834 [DAT](INFO): Local bearing/azimuth received: Bearing 334.2, 8.7 (Local) 2025-01-08T21:17:29.843Z,1736371049.843 [DAT](INFO): DAT read: Range 10 to 50 : 520.6 m (Round-trip 694.2 ms) speed 0.8 m/s 2025-01-08T21:17:29.845Z,1736371049.845 [DAT](INFO): DAT read: user:1640> 2025-01-08T21:17:29.846Z,1736371049.846 [DAT](INFO): DAT read: Tx time:21:17:29.2191 2025-01-08T21:17:29.846Z,1736371049.846 [DAT](INFO): Ping request sent. 2025-01-08T21:17:29.846Z,1736371049.846 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:17:29.847Z,1736371049.847 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:17:29.856Z,1736371049.856 [DAT](INFO): direction in FSK: [-0.078900,-0.987692,0.135051] 2025-01-08T21:17:29.856Z,1736371049.856 [DAT](INFO): publishing transmit ping time 2025-01-08T21:17:29.856Z,1736371049.856 [DAT](INFO): publishing direction and range info 2025-01-08T21:17:29.865Z,1736371049.865 [DAT](INFO): publishing transmit ping time 2025-01-08T21:17:29.865Z,1736371049.865 [DAT](INFO): publishing direction and range info 2025-01-08T21:17:30.060Z,1736371050.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:30.061Z,1736371050.061 [DAT](INFO): DAT read: TxSync time:21:17:29.2183 2025-01-08T21:17:30.156Z,1736371050.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:30.180Z,1736371050.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 520.599976 m, deltaT: 25.965190 s, deltaX: -9.000000 m, approachRate: -0.346618 m/s, rangeRepo size: 4 2025-01-08T21:17:30.184Z,1736371050.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 520.599976 m, bearing: 188.759204 deg, lat: 36.899902 deg, lon: -122.114727 deg, deltaT: 25.965190 s, deltaX: -9.000000 m, approachRate: -0.346618 m/s, posRepo size: 4 2025-01-08T21:17:30.185Z,1736371050.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:30.188Z,1736371050.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.260559 m, bearing: 192.970427 deg, approach rate: 0.000000 m/s, LOS rate: -0.070927 deg/s, cmd heading: 282.821960 deg, new cmd heading: 282.731752 deg. 2025-01-08T21:17:30.189Z,1736371050.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.934600 target range: 520.599976 and range: 520.60 m. 2025-01-08T21:17:30.314Z,1736371050.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:30.564Z,1736371050.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:30.642Z,1736371050.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:30.657Z,1736371050.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:30.662Z,1736371050.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.269653 m, bearing: 192.937093 deg, approach rate: 0.019001 m/s, LOS rate: -0.069646 deg/s, cmd heading: 282.731747 deg, new cmd heading: 282.631746 deg. 2025-01-08T21:17:30.664Z,1736371050.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932855 target range: 520.599976 and range: 520.60 m. 2025-01-08T21:17:30.816Z,1736371050.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:31.017Z,1736371051.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:31.027Z,1736371051.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:31.030Z,1736371051.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.276367 m, bearing: 192.911308 deg, approach rate: 0.018123 m/s, LOS rate: -0.069600 deg/s, cmd heading: 282.631753 deg, new cmd heading: 282.554399 deg. 2025-01-08T21:17:31.032Z,1736371051.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.931505 target range: 520.599976 and range: 520.60 m. 2025-01-08T21:17:31.068Z,1736371051.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:31.321Z,1736371051.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:31.439Z,1736371051.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:31.450Z,1736371051.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:31.453Z,1736371051.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.280212 m, bearing: 192.882367 deg, approach rate: 0.009083 m/s, LOS rate: -0.068358 deg/s, cmd heading: 282.554407 deg, new cmd heading: 282.467587 deg. 2025-01-08T21:17:31.454Z,1736371051.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.929989 target range: 520.599976 and range: 520.60 m. 2025-01-08T21:17:31.577Z,1736371051.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:31.826Z,1736371051.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:31.828Z,1736371051.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:31.835Z,1736371051.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:31.837Z,1736371051.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:31.840Z,1736371051.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.283875 m, bearing: 192.855790 deg, approach rate: 0.009462 m/s, LOS rate: -0.068671 deg/s, cmd heading: 282.467582 deg, new cmd heading: 282.387851 deg. 2025-01-08T21:17:31.841Z,1736371051.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.928598 target range: 520.599976 and range: 520.60 m. 2025-01-08T21:17:32.080Z,1736371052.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:32.080Z,1736371052.080 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:32.080Z,1736371052.080 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:32.081Z,1736371052.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:32.230Z,1736371052.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:32.238Z,1736371052.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:32.241Z,1736371052.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.287415 m, bearing: 192.828054 deg, approach rate: 0.008831 m/s, LOS rate: -0.069191 deg/s, cmd heading: 282.387860 deg, new cmd heading: 282.304652 deg. 2025-01-08T21:17:32.242Z,1736371052.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.927145 target range: 520.599976 and range: 520.60 m. 2025-01-08T21:17:32.334Z,1736371052.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:32.336Z,1736371052.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489229 2025-01-08T21:17:32.584Z,1736371052.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:32.585Z,1736371052.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738146 2025-01-08T21:17:32.730Z,1736371052.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:32.739Z,1736371052.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:32.742Z,1736371052.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.296326 m, bearing: 192.794174 deg, approach rate: 0.017789 m/s, LOS rate: -0.067634 deg/s, cmd heading: 282.304641 deg, new cmd heading: 282.203003 deg. 2025-01-08T21:17:32.743Z,1736371052.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.925372 target range: 520.599976 and range: 520.60 m. 2025-01-08T21:17:32.837Z,1736371052.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:32.838Z,1736371052.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991178 2025-01-08T21:17:33.029Z,1736371053.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:33.038Z,1736371053.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:33.040Z,1736371053.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.301270 m, bearing: 192.774089 deg, approach rate: 0.016551 m/s, LOS rate: -0.067239 deg/s, cmd heading: 282.203008 deg, new cmd heading: 282.142755 deg. 2025-01-08T21:17:33.041Z,1736371053.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.924320 target range: 520.599976 and range: 520.60 m. 2025-01-08T21:17:33.088Z,1736371053.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:33.088Z,1736371053.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241959 2025-01-08T21:17:33.341Z,1736371053.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:33.343Z,1736371053.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496297 2025-01-08T21:17:33.462Z,1736371053.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:33.471Z,1736371053.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:33.474Z,1736371053.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.307617 m, bearing: 192.744521 deg, approach rate: 0.014646 m/s, LOS rate: -0.068221 deg/s, cmd heading: 282.142766 deg, new cmd heading: 282.054062 deg. 2025-01-08T21:17:33.475Z,1736371053.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.922772 target range: 520.599976 and range: 520.60 m. 2025-01-08T21:17:33.592Z,1736371053.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:33.593Z,1736371053.593 [DAT](INFO): DAT read: Rx Time:21:17:32.3049 2025-01-08T21:17:33.593Z,1736371053.593 [DAT](INFO): Rx dataTimestamp_ set to:1736371053.592748 2025-01-08T21:17:33.594Z,1736371053.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747071 2025-01-08T21:17:33.844Z,1736371053.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:33.845Z,1736371053.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.998247 2025-01-08T21:17:33.850Z,1736371053.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:33.857Z,1736371053.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:33.860Z,1736371053.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:33.863Z,1736371053.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.312927 m, bearing: 192.718162 deg, approach rate: 0.013672 m/s, LOS rate: -0.067869 deg/s, cmd heading: 282.054055 deg, new cmd heading: 281.974978 deg. 2025-01-08T21:17:33.866Z,1736371053.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.921392 target range: 520.599976 and range: 520.60 m. 2025-01-08T21:17:34.096Z,1736371054.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:34.098Z,1736371054.098 [DAT](INFO): DAT read: Range 10 to 50 : 511.2 m (Round-trip 681.7 ms) speed 0.5 m/s 2025-01-08T21:17:34.099Z,1736371054.099 [DAT](INFO): DAT read: user:1641> 2025-01-08T21:17:34.100Z,1736371054.100 [DAT](INFO): DAT read: Tx time:21:17:33.4191 2025-01-08T21:17:34.100Z,1736371054.100 [DAT](INFO): Ping request sent. 2025-01-08T21:17:34.100Z,1736371054.100 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:17:34.101Z,1736371054.101 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:17:34.101Z,1736371054.101 [DAT](INFO): publishing transmit ping time 2025-01-08T21:17:34.101Z,1736371054.101 [DAT](INFO): publishing transmit ping time 2025-01-08T21:17:34.255Z,1736371054.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:34.264Z,1736371054.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 511.200012 m, deltaT: 4.285878 s, deltaX: -9.399963 m, approachRate: -2.193241 m/s, rangeRepo size: 4 2025-01-08T21:17:34.265Z,1736371054.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:34.269Z,1736371054.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.318359 m, bearing: 192.690678 deg, approach rate: 0.013447 m/s, LOS rate: -0.068033 deg/s, cmd heading: 281.974989 deg, new cmd heading: 281.892539 deg. 2025-01-08T21:17:34.270Z,1736371054.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.919953 target range: 520.599976 and range: 511.20 m. 2025-01-08T21:17:34.352Z,1736371054.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:34.354Z,1736371054.354 [DAT](INFO): DAT read: TxSync time:21:17:33.4183 2025-01-08T21:17:34.604Z,1736371054.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:34.702Z,1736371054.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:34.712Z,1736371054.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:34.715Z,1736371054.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.324524 m, bearing: 192.660858 deg, approach rate: 0.013760 m/s, LOS rate: -0.066563 deg/s, cmd heading: 281.892535 deg, new cmd heading: 281.803074 deg. 2025-01-08T21:17:34.716Z,1736371054.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.918392 target range: 520.599976 and range: 511.20 m. 2025-01-08T21:17:34.856Z,1736371054.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:35.055Z,1736371055.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:35.064Z,1736371055.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:35.068Z,1736371055.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.329041 m, bearing: 192.637367 deg, approach rate: 0.012788 m/s, LOS rate: -0.066510 deg/s, cmd heading: 281.803087 deg, new cmd heading: 281.732616 deg. 2025-01-08T21:17:35.069Z,1736371055.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.917162 target range: 520.599976 and range: 511.20 m. 2025-01-08T21:17:35.108Z,1736371055.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:35.360Z,1736371055.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:35.491Z,1736371055.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:35.501Z,1736371055.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:35.504Z,1736371055.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.336914 m, bearing: 192.608596 deg, approach rate: 0.018053 m/s, LOS rate: -0.065968 deg/s, cmd heading: 281.732626 deg, new cmd heading: 281.646315 deg. 2025-01-08T21:17:35.504Z,1736371055.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.915656 target range: 520.599976 and range: 511.20 m. 2025-01-08T21:17:35.612Z,1736371055.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:35.864Z,1736371055.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:35.875Z,1736371055.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:35.883Z,1736371055.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:35.885Z,1736371055.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:35.888Z,1736371055.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.343445 m, bearing: 192.584262 deg, approach rate: 0.016971 m/s, LOS rate: -0.063234 deg/s, cmd heading: 281.646320 deg, new cmd heading: 281.573318 deg. 2025-01-08T21:17:35.889Z,1736371055.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.914382 target range: 520.599976 and range: 511.20 m. 2025-01-08T21:17:36.116Z,1736371056.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:36.117Z,1736371056.117 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:36.117Z,1736371056.117 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:36.117Z,1736371056.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:36.265Z,1736371056.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:36.279Z,1736371056.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:36.285Z,1736371056.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.350647 m, bearing: 192.557512 deg, approach rate: 0.018338 m/s, LOS rate: -0.068112 deg/s, cmd heading: 281.573319 deg, new cmd heading: 281.493070 deg. 2025-01-08T21:17:36.286Z,1736371056.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.912981 target range: 520.599976 and range: 511.20 m. 2025-01-08T21:17:36.368Z,1736371056.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:36.370Z,1736371056.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269256 2025-01-08T21:17:36.620Z,1736371056.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:36.621Z,1736371056.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520538 2025-01-08T21:17:36.727Z,1736371056.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:36.737Z,1736371056.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:36.740Z,1736371056.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.361938 m, bearing: 192.527362 deg, approach rate: 0.024602 m/s, LOS rate: -0.065689 deg/s, cmd heading: 281.493078 deg, new cmd heading: 281.402632 deg. 2025-01-08T21:17:36.741Z,1736371056.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.911402 target range: 520.599976 and range: 511.20 m. 2025-01-08T21:17:36.872Z,1736371056.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:36.872Z,1736371056.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772062 2025-01-08T21:17:37.071Z,1736371057.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:37.082Z,1736371057.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:37.085Z,1736371057.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.370178 m, bearing: 192.504917 deg, approach rate: 0.023866 m/s, LOS rate: -0.065009 deg/s, cmd heading: 281.402619 deg, new cmd heading: 281.335284 deg. 2025-01-08T21:17:37.086Z,1736371057.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.910227 target range: 520.599976 and range: 511.20 m. 2025-01-08T21:17:37.126Z,1736371057.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:37.127Z,1736371057.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026221 2025-01-08T21:17:37.378Z,1736371057.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:37.380Z,1736371057.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279643 2025-01-08T21:17:37.507Z,1736371057.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:37.525Z,1736371057.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:37.544Z,1736371057.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.383545 m, bearing: 192.476352 deg, approach rate: 0.030221 m/s, LOS rate: -0.064581 deg/s, cmd heading: 281.335273 deg, new cmd heading: 281.249581 deg. 2025-01-08T21:17:37.546Z,1736371057.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.908731 target range: 520.599976 and range: 511.20 m. 2025-01-08T21:17:37.628Z,1736371057.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:37.629Z,1736371057.629 [DAT](INFO): DAT read: R1:17:36.5020 2025-01-08T21:17:37.630Z,1736371057.630 [DAT](INFO): unknown deviceResponse_: R1:17:36.5020 2025-01-08T21:17:37.630Z,1736371057.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529906 2025-01-08T21:17:37.875Z,1736371057.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:37.880Z,1736371057.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:37.881Z,1736371057.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780234 2025-01-08T21:17:37.901Z,1736371057.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:37.903Z,1736371057.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:37.909Z,1736371057.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.394531 m, bearing: 192.452209 deg, approach rate: 0.029067 m/s, LOS rate: -0.063875 deg/s, cmd heading: 281.249568 deg, new cmd heading: 281.177141 deg. 2025-01-08T21:17:37.910Z,1736371057.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.907467 target range: 520.599976 and range: 511.20 m. 2025-01-08T21:17:38.132Z,1736371058.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:38.133Z,1736371058.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032954 2025-01-08T21:17:38.287Z,1736371058.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:38.298Z,1736371058.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.60 m. 2025-01-08T21:17:38.307Z,1736371058.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.599976 m, nav range: 549.406555 m, bearing: 192.425229 deg, approach rate: 0.030469 m/s, LOS rate: -0.068368 deg/s, cmd heading: 281.177141 deg, new cmd heading: 281.096201 deg. 2025-01-08T21:17:38.308Z,1736371058.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.906054 target range: 520.599976 and range: 511.20 m. 2025-01-08T21:17:38.386Z,1736371058.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:38.397Z,1736371058.397 [DAT](INFO): DAT read: 21:17:36.5020 LVL= 31536, 32657, 17394, 32755, AGC= 68, IDX= 418,-0.25, 1.552, 0.567, 2.286, 1.573, PHS= 0.067,-0.959, 0.710, RAW= 172.4, 2.5, CAL= 173.0, -6.1, ROT= 337.0, 6.1 2025-01-08T21:17:38.398Z,1736371058.398 [DAT](INFO): got valid direction response: 21:17:36.5020 LVL= 31536, 32657, 17394, 32755, AGC= 68, IDX= 418,-0.25, 1.552, 0.567, 2.286, 1.573, PHS= 0.067,-0.959, 0.710, RAW= 172.4, 2.5, CAL= 173.0, -6.1, ROT= 337.0, 6.1 2025-01-08T21:17:38.400Z,1736371058.400 [DAT](INFO): DAT read: Bearing 337.0, 6.1 (Local) 2025-01-08T21:17:38.401Z,1736371058.401 [DAT](INFO): Local bearing/azimuth received: Bearing 337.0, 6.1 (Local) 2025-01-08T21:17:38.404Z,1736371058.404 [DAT](INFO): DAT read: Range 10 to 50 : 509.0 m (Round-trip 678.7 ms) speed 0.4 m/s 2025-01-08T21:17:38.416Z,1736371058.416 [DAT](INFO): DAT read: user:1642> 2025-01-08T21:17:38.417Z,1736371058.417 [DAT](INFO): DAT read: Tx time:21:17:37.6192 2025-01-08T21:17:38.418Z,1736371058.418 [DAT](INFO): Ping request sent. 2025-01-08T21:17:38.418Z,1736371058.418 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:17:38.429Z,1736371058.429 [DAT](INFO): DAT read: TxSync time:21:17:37.6184 2025-01-08T21:17:38.436Z,1736371058.436 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:17:38.450Z,1736371058.450 [DAT](INFO): direction in FSK: [-0.146917,-0.974252,0.171021] 2025-01-08T21:17:38.456Z,1736371058.456 [DAT](INFO): publishing transmit ping time 2025-01-08T21:17:38.457Z,1736371058.457 [DAT](INFO): publishing direction and range info 2025-01-08T21:17:38.509Z,1736371058.509 [DAT](INFO): publishing transmit ping time 2025-01-08T21:17:38.509Z,1736371058.509 [DAT](INFO): publishing direction and range info 2025-01-08T21:17:38.636Z,1736371058.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:38.788Z,1736371058.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:38.814Z,1736371058.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 509.000000 m, deltaT: 4.289923 s, deltaX: -2.200012 m, approachRate: -0.512833 m/s, rangeRepo size: 4 2025-01-08T21:17:38.821Z,1736371058.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 509.000000 m, bearing: 182.725387 deg, lat: 36.900080 deg, lon: -122.114232 deg, deltaT: 8.575801 s, deltaX: -11.599976 m, approachRate: -1.352641 m/s, posRepo size: 4 2025-01-08T21:17:38.822Z,1736371058.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:38.829Z,1736371058.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.093811 m, bearing: 188.137987 deg, approach rate: 0.000000 m/s, LOS rate: -0.068368 deg/s, cmd heading: 281.096189 deg, new cmd heading: 280.990265 deg. 2025-01-08T21:17:38.830Z,1736371058.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.904205 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:38.889Z,1736371058.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:39.118Z,1736371059.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:39.127Z,1736371059.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:39.140Z,1736371059.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:39.159Z,1736371059.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.119202 m, bearing: 188.114101 deg, approach rate: 0.081089 m/s, LOS rate: -0.076281 deg/s, cmd heading: 280.990267 deg, new cmd heading: 280.918612 deg. 2025-01-08T21:17:39.161Z,1736371059.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.902955 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:39.393Z,1736371059.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:39.542Z,1736371059.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:39.588Z,1736371059.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:39.591Z,1736371059.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.148743 m, bearing: 188.083671 deg, approach rate: 0.064045 m/s, LOS rate: -0.065968 deg/s, cmd heading: 280.918604 deg, new cmd heading: 280.827320 deg. 2025-01-08T21:17:39.596Z,1736371059.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.901361 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:39.646Z,1736371059.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:39.896Z,1736371059.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:39.924Z,1736371059.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:39.932Z,1736371059.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:39.934Z,1736371059.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:39.937Z,1736371059.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.174561 m, bearing: 188.056352 deg, approach rate: 0.074725 m/s, LOS rate: -0.079066 deg/s, cmd heading: 280.827326 deg, new cmd heading: 280.745373 deg. 2025-01-08T21:17:39.938Z,1736371059.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.899931 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:40.150Z,1736371060.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:40.152Z,1736371060.152 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:17:40.152Z,1736371060.152 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:17:40.152Z,1736371060.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:40.335Z,1736371060.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:40.349Z,1736371060.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:40.385Z,1736371060.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.202148 m, bearing: 188.026892 deg, approach rate: 0.066550 m/s, LOS rate: -0.071061 deg/s, cmd heading: 280.745364 deg, new cmd heading: 280.656989 deg. 2025-01-08T21:17:40.386Z,1736371060.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898388 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:40.400Z,1736371060.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:40.401Z,1736371060.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982482 2025-01-08T21:17:40.652Z,1736371060.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:40.653Z,1736371060.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235188 2025-01-08T21:17:40.774Z,1736371060.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:40.804Z,1736371060.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:40.806Z,1736371060.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.232849 m, bearing: 187.994990 deg, approach rate: 0.070551 m/s, LOS rate: -0.073308 deg/s, cmd heading: 280.656981 deg, new cmd heading: 280.561280 deg. 2025-01-08T21:17:40.812Z,1736371060.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.896718 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:40.905Z,1736371060.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:40.905Z,1736371060.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487247 2025-01-08T21:17:41.141Z,1736371061.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:41.154Z,1736371061.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:41.156Z,1736371061.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:41.157Z,1736371061.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738680 2025-01-08T21:17:41.166Z,1736371061.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.258057 m, bearing: 187.968367 deg, approach rate: 0.067921 m/s, LOS rate: -0.071733 deg/s, cmd heading: 280.561276 deg, new cmd heading: 280.481410 deg. 2025-01-08T21:17:41.168Z,1736371061.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895324 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:41.408Z,1736371061.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:41.408Z,1736371061.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990349 2025-01-08T21:17:41.589Z,1736371061.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:41.599Z,1736371061.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:41.602Z,1736371061.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.288269 m, bearing: 187.935419 deg, approach rate: 0.067994 m/s, LOS rate: -0.074146 deg/s, cmd heading: 280.481418 deg, new cmd heading: 280.382580 deg. 2025-01-08T21:17:41.603Z,1736371061.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893599 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:41.661Z,1736371061.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:41.662Z,1736371061.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243775 2025-01-08T21:17:41.912Z,1736371061.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:41.913Z,1736371061.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494701 2025-01-08T21:17:41.954Z,1736371061.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:41.989Z,1736371061.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:41.996Z,1736371061.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:41.998Z,1736371061.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.311707 m, bearing: 187.908599 deg, approach rate: 0.059714 m/s, LOS rate: -0.068329 deg/s, cmd heading: 280.382571 deg, new cmd heading: 280.302115 deg. 2025-01-08T21:17:42.005Z,1736371062.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.892195 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:42.164Z,1736371062.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:42.164Z,1736371062.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746234 2025-01-08T21:17:42.354Z,1736371062.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:42.367Z,1736371062.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:42.392Z,1736371062.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.337097 m, bearing: 187.879145 deg, approach rate: 0.067753 m/s, LOS rate: -0.078593 deg/s, cmd heading: 280.302112 deg, new cmd heading: 280.213753 deg. 2025-01-08T21:17:42.393Z,1736371062.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.890653 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:42.417Z,1736371062.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:42.419Z,1736371062.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000288 2025-01-08T21:17:42.668Z,1736371062.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:42.670Z,1736371062.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.251155 2025-01-08T21:17:42.814Z,1736371062.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:42.859Z,1736371062.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:42.863Z,1736371062.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.364746 m, bearing: 187.845968 deg, approach rate: 0.058523 m/s, LOS rate: -0.070220 deg/s, cmd heading: 280.213756 deg, new cmd heading: 280.114231 deg. 2025-01-08T21:17:42.872Z,1736371062.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888916 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:42.920Z,1736371062.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:42.921Z,1736371062.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.502509 2025-01-08T21:17:43.160Z,1736371063.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:43.172Z,1736371063.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:43.172Z,1736371063.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.754389 2025-01-08T21:17:43.186Z,1736371063.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:43.193Z,1736371063.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.385376 m, bearing: 187.820900 deg, approach rate: 0.059380 m/s, LOS rate: -0.072151 deg/s, cmd heading: 280.114227 deg, new cmd heading: 280.039026 deg. 2025-01-08T21:17:43.194Z,1736371063.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.887603 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:43.424Z,1736371063.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:43.424Z,1736371063.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.006361 2025-01-08T21:17:43.612Z,1736371063.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:43.622Z,1736371063.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:43.624Z,1736371063.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.413940 m, bearing: 187.789182 deg, approach rate: 0.065552 m/s, LOS rate: -0.072785 deg/s, cmd heading: 280.039013 deg, new cmd heading: 279.943865 deg. 2025-01-08T21:17:43.625Z,1736371063.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.885942 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:43.676Z,1736371063.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:43.678Z,1736371063.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.259212 2025-01-08T21:17:43.928Z,1736371063.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:43.929Z,1736371063.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.510987 2025-01-08T21:17:43.999Z,1736371063.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:44.022Z,1736371064.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:44.029Z,1736371064.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:44.036Z,1736371064.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.438232 m, bearing: 187.761919 deg, approach rate: 0.059638 m/s, LOS rate: -0.066929 deg/s, cmd heading: 279.943855 deg, new cmd heading: 279.862069 deg. 2025-01-08T21:17:44.037Z,1736371064.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.884514 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:44.180Z,1736371064.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:44.181Z,1736371064.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.762510 2025-01-08T21:17:44.376Z,1736371064.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:44.384Z,1736371064.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:44.387Z,1736371064.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.461670 m, bearing: 187.735396 deg, approach rate: 0.065979 m/s, LOS rate: -0.074660 deg/s, cmd heading: 279.862056 deg, new cmd heading: 279.782492 deg. 2025-01-08T21:17:44.388Z,1736371064.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.883126 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:44.432Z,1736371064.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:44.432Z,1736371064.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.014423 2025-01-08T21:17:44.684Z,1736371064.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:44.684Z,1736371064.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.266356 2025-01-08T21:17:44.827Z,1736371064.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:44.837Z,1736371064.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:44.840Z,1736371064.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.491943 m, bearing: 187.705640 deg, approach rate: 0.066889 m/s, LOS rate: -0.065743 deg/s, cmd heading: 279.782498 deg, new cmd heading: 279.693234 deg. 2025-01-08T21:17:44.841Z,1736371064.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881568 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:44.937Z,1736371064.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:44.939Z,1736371064.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.520152 2025-01-08T21:17:45.188Z,1736371065.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:45.188Z,1736371065.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.770371 2025-01-08T21:17:45.236Z,1736371065.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:45.259Z,1736371065.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:45.262Z,1736371065.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.519592 m, bearing: 187.678572 deg, approach rate: 0.065556 m/s, LOS rate: -0.064173 deg/s, cmd heading: 279.693241 deg, new cmd heading: 279.612044 deg. 2025-01-08T21:17:45.263Z,1736371065.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.880151 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:45.440Z,1736371065.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:45.441Z,1736371065.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.023187 2025-01-08T21:17:45.692Z,1736371065.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:45.693Z,1736371065.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.274463 2025-01-08T21:17:45.695Z,1736371065.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:45.704Z,1736371065.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:45.706Z,1736371065.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.546753 m, bearing: 187.649616 deg, approach rate: 0.061057 m/s, LOS rate: -0.065091 deg/s, cmd heading: 279.612044 deg, new cmd heading: 279.525179 deg. 2025-01-08T21:17:45.732Z,1736371065.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.878635 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:45.944Z,1736371065.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:45.945Z,1736371065.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.526945 2025-01-08T21:17:46.117Z,1736371066.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:46.124Z,1736371066.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:46.126Z,1736371066.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:46.146Z,1736371066.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.571655 m, bearing: 187.622864 deg, approach rate: 0.058885 m/s, LOS rate: -0.063255 deg/s, cmd heading: 279.525191 deg, new cmd heading: 279.444940 deg. 2025-01-08T21:17:46.152Z,1736371066.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.877234 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:46.197Z,1736371066.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:46.198Z,1736371066.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.779828 2025-01-08T21:17:46.449Z,1736371066.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:46.450Z,1736371066.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.032216 2025-01-08T21:17:46.535Z,1736371066.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:46.608Z,1736371066.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:46.617Z,1736371066.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.596191 m, bearing: 187.596468 deg, approach rate: 0.052444 m/s, LOS rate: -0.056417 deg/s, cmd heading: 279.444950 deg, new cmd heading: 279.365765 deg. 2025-01-08T21:17:46.618Z,1736371066.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875853 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:46.700Z,1736371066.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:46.701Z,1736371066.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.282453 2025-01-08T21:17:46.949Z,1736371066.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:46.952Z,1736371066.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:46.953Z,1736371066.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.534596 2025-01-08T21:17:46.960Z,1736371066.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:46.964Z,1736371066.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.621826 m, bearing: 187.571058 deg, approach rate: 0.070212 m/s, LOS rate: -0.069591 deg/s, cmd heading: 279.365775 deg, new cmd heading: 279.289551 deg. 2025-01-08T21:17:46.965Z,1736371066.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874522 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:47.204Z,1736371067.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:47.205Z,1736371067.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.786529 2025-01-08T21:17:47.332Z,1736371067.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:47.349Z,1736371067.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:47.354Z,1736371067.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.645569 m, bearing: 187.547544 deg, approach rate: 0.060995 m/s, LOS rate: -0.060405 deg/s, cmd heading: 279.289550 deg, new cmd heading: 279.219010 deg. 2025-01-08T21:17:47.356Z,1736371067.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873291 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:47.456Z,1736371067.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:47.457Z,1736371067.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.038977 2025-01-08T21:17:47.708Z,1736371067.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:47.708Z,1736371067.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.290263 2025-01-08T21:17:47.779Z,1736371067.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:47.792Z,1736371067.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:47.795Z,1736371067.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.674622 m, bearing: 187.520470 deg, approach rate: 0.065596 m/s, LOS rate: -0.061126 deg/s, cmd heading: 279.219008 deg, new cmd heading: 279.137788 deg. 2025-01-08T21:17:47.796Z,1736371067.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871873 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:47.960Z,1736371067.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:47.961Z,1736371067.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.542450 2025-01-08T21:17:48.140Z,1736371068.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:48.147Z,1736371068.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:48.149Z,1736371068.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:48.168Z,1736371068.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.698120 m, bearing: 187.498595 deg, approach rate: 0.065641 m/s, LOS rate: -0.061101 deg/s, cmd heading: 279.137783 deg, new cmd heading: 279.072163 deg. 2025-01-08T21:17:48.169Z,1736371068.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870728 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:48.213Z,1736371068.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:48.214Z,1736371068.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.795430 2025-01-08T21:17:48.465Z,1736371068.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:48.466Z,1736371068.466 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:48.467Z,1736371068.467 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:48.469Z,1736371068.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:48.551Z,1736371068.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:48.564Z,1736371068.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:48.566Z,1736371068.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.724792 m, bearing: 187.473674 deg, approach rate: 0.064408 m/s, LOS rate: -0.060176 deg/s, cmd heading: 279.072158 deg, new cmd heading: 278.997398 deg. 2025-01-08T21:17:48.567Z,1736371068.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869423 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:48.717Z,1736371068.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:48.717Z,1736371068.717 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:48.718Z,1736371068.718 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:48.718Z,1736371068.718 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:48.967Z,1736371068.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:48.968Z,1736371068.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:48.968Z,1736371068.968 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:48.968Z,1736371068.968 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:48.969Z,1736371068.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:49.002Z,1736371069.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:49.017Z,1736371069.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.755981 m, bearing: 187.447457 deg, approach rate: 0.071627 m/s, LOS rate: -0.060205 deg/s, cmd heading: 278.997409 deg, new cmd heading: 278.918762 deg. 2025-01-08T21:17:49.018Z,1736371069.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868051 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:49.223Z,1736371069.223 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:49.224Z,1736371069.224 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:17:49.224Z,1736371069.224 [DAT](INFO): response not received 2025-01-08T21:17:49.224Z,1736371069.224 [DAT](INFO): DAT read: user:1643> 2025-01-08T21:17:49.225Z,1736371069.225 [DAT](INFO): DAT read: Tx time:21:17:48.5693 2025-01-08T21:17:49.225Z,1736371069.225 [DAT](INFO): Ping request sent. 2025-01-08T21:17:49.225Z,1736371069.225 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:17:49.226Z,1736371069.226 [DAT](INFO): publishing transmit ping time 2025-01-08T21:17:49.226Z,1736371069.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727 2025-01-08T21:17:49.366Z,1736371069.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:49.375Z,1736371069.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:49.379Z,1736371069.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.785767 m, bearing: 187.422244 deg, approach rate: 0.079223 m/s, LOS rate: -0.067058 deg/s, cmd heading: 278.918752 deg, new cmd heading: 278.843118 deg. 2025-01-08T21:17:49.380Z,1736371069.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866731 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:49.472Z,1736371069.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:49.473Z,1736371069.473 [DAT](INFO): DAT read: TxSync time:21:17:48.5685 2025-01-08T21:17:49.473Z,1736371069.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248077 2025-01-08T21:17:49.724Z,1736371069.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:49.724Z,1736371069.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498927 2025-01-08T21:17:49.805Z,1736371069.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:49.814Z,1736371069.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:49.817Z,1736371069.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.814575 m, bearing: 187.392607 deg, approach rate: 0.065650 m/s, LOS rate: -0.067533 deg/s, cmd heading: 278.843129 deg, new cmd heading: 278.754224 deg. 2025-01-08T21:17:49.818Z,1736371069.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865179 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:49.976Z,1736371069.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:49.976Z,1736371069.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750950 2025-01-08T21:17:50.155Z,1736371070.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:50.174Z,1736371070.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:50.180Z,1736371070.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:50.182Z,1736371070.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.837280 m, bearing: 187.368964 deg, approach rate: 0.062764 m/s, LOS rate: -0.065355 deg/s, cmd heading: 278.754227 deg, new cmd heading: 278.683299 deg. 2025-01-08T21:17:50.188Z,1736371070.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863941 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:50.229Z,1736371070.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:50.230Z,1736371070.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004891 2025-01-08T21:17:50.480Z,1736371070.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:50.480Z,1736371070.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254941 2025-01-08T21:17:50.562Z,1736371070.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:50.572Z,1736371070.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:50.593Z,1736371070.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.862854 m, bearing: 187.341415 deg, approach rate: 0.064718 m/s, LOS rate: -0.069711 deg/s, cmd heading: 278.683302 deg, new cmd heading: 278.600662 deg. 2025-01-08T21:17:50.594Z,1736371070.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.862499 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:50.733Z,1736371070.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:50.734Z,1736371070.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509017 2025-01-08T21:17:50.984Z,1736371070.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:50.985Z,1736371070.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759259 2025-01-08T21:17:51.018Z,1736371071.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:51.027Z,1736371071.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:51.030Z,1736371071.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.893677 m, bearing: 187.308436 deg, approach rate: 0.067549 m/s, LOS rate: -0.072271 deg/s, cmd heading: 278.600657 deg, new cmd heading: 278.501724 deg. 2025-01-08T21:17:51.032Z,1736371071.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860772 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:51.236Z,1736371071.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:51.236Z,1736371071.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010892 2025-01-08T21:17:51.369Z,1736371071.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:51.396Z,1736371071.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:51.399Z,1736371071.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.916504 m, bearing: 187.283103 deg, approach rate: 0.061827 m/s, LOS rate: -0.068611 deg/s, cmd heading: 278.501728 deg, new cmd heading: 278.425732 deg. 2025-01-08T21:17:51.404Z,1736371071.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.859446 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:51.489Z,1736371071.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:51.490Z,1736371071.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264483 2025-01-08T21:17:51.740Z,1736371071.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:51.740Z,1736371071.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515023 2025-01-08T21:17:51.819Z,1736371071.819 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-01-08T21:17:51.819Z,1736371071.819 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-01-08T21:17:51.819Z,1736371071.819 [RDI_Pathfinder](ERROR): Communications Fault 2025-01-08T21:17:51.833Z,1736371071.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:17:51.834Z,1736371071.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:51.842Z,1736371071.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:51.846Z,1736371071.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.946472 m, bearing: 187.249528 deg, approach rate: 0.067205 m/s, LOS rate: -0.075288 deg/s, cmd heading: 278.425722 deg, new cmd heading: 278.325004 deg. 2025-01-08T21:17:51.847Z,1736371071.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857688 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:51.992Z,1736371071.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:51.993Z,1736371071.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767101 2025-01-08T21:17:52.119Z,1736371072.119 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-01-08T21:17:52.169Z,1736371072.169 [RDI_Pathfinder](INFO): Powering down 2025-01-08T21:17:52.177Z,1736371072.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:17:52.177Z,1736371072.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:52.205Z,1736371072.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:52.207Z,1736371072.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:52.217Z,1736371072.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.968079 m, bearing: 187.224714 deg, approach rate: 0.059257 m/s, LOS rate: -0.068050 deg/s, cmd heading: 278.325018 deg, new cmd heading: 278.250580 deg. 2025-01-08T21:17:52.218Z,1736371072.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.856389 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:52.244Z,1736371072.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:52.245Z,1736371072.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019809 2025-01-08T21:17:52.496Z,1736371072.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:52.496Z,1736371072.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270991 2025-01-08T21:17:52.588Z,1736371072.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:17:52.588Z,1736371072.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:52.604Z,1736371072.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:52.656Z,1736371072.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 522.993469 m, bearing: 187.194963 deg, approach rate: 0.064008 m/s, LOS rate: -0.074997 deg/s, cmd heading: 278.250569 deg, new cmd heading: 278.161319 deg. 2025-01-08T21:17:52.658Z,1736371072.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.854831 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:52.750Z,1736371072.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:52.751Z,1736371072.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525240 2025-01-08T21:17:53.001Z,1736371073.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:53.001Z,1736371073.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775890 2025-01-08T21:17:53.017Z,1736371073.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:17:53.017Z,1736371073.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:53.034Z,1736371073.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:53.041Z,1736371073.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.019226 m, bearing: 187.163981 deg, approach rate: 0.059836 m/s, LOS rate: -0.071972 deg/s, cmd heading: 278.161312 deg, new cmd heading: 278.068369 deg. 2025-01-08T21:17:53.042Z,1736371073.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853209 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:53.252Z,1736371073.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:53.253Z,1736371073.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027124 2025-01-08T21:17:53.298Z,1736371073.298 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-01-08T21:17:53.299Z,1736371073.299 [RDI_Pathfinder] No Fault, FailCount= 1 2025-01-08T21:17:53.396Z,1736371073.396 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-08T21:17:53.403Z,1736371073.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:17:53.403Z,1736371073.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:53.412Z,1736371073.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:53.415Z,1736371073.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.041687 m, bearing: 187.136062 deg, approach rate: 0.059331 m/s, LOS rate: -0.073744 deg/s, cmd heading: 278.068367 deg, new cmd heading: 277.984615 deg. 2025-01-08T21:17:53.416Z,1736371073.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851747 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:53.505Z,1736371073.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:53.506Z,1736371073.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280174 2025-01-08T21:17:53.756Z,1736371073.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:53.756Z,1736371073.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530905 2025-01-08T21:17:53.808Z,1736371073.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:17:53.808Z,1736371073.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:53.818Z,1736371073.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:53.821Z,1736371073.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.063721 m, bearing: 187.106788 deg, approach rate: 0.054333 m/s, LOS rate: -0.072184 deg/s, cmd heading: 277.984601 deg, new cmd heading: 277.896782 deg. 2025-01-08T21:17:53.822Z,1736371073.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.850214 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:54.008Z,1736371074.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:54.008Z,1736371074.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782988 2025-01-08T21:17:54.215Z,1736371074.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T21:17:54.225Z,1736371074.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:54.233Z,1736371074.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:54.235Z,1736371074.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:54.238Z,1736371074.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.085327 m, bearing: 187.077369 deg, approach rate: 0.051784 m/s, LOS rate: -0.070505 deg/s, cmd heading: 277.896792 deg, new cmd heading: 277.808539 deg. 2025-01-08T21:17:54.239Z,1736371074.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.848674 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:54.260Z,1736371074.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:54.260Z,1736371074.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034991 2025-01-08T21:17:54.512Z,1736371074.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:54.512Z,1736371074.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287027 2025-01-08T21:17:54.610Z,1736371074.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s. 2025-01-08T21:17:54.610Z,1736371074.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:54.640Z,1736371074.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:54.649Z,1736371074.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.105713 m, bearing: 187.048799 deg, approach rate: 0.050979 m/s, LOS rate: -0.071442 deg/s, cmd heading: 277.808546 deg, new cmd heading: 277.722841 deg. 2025-01-08T21:17:54.655Z,1736371074.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.847178 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:54.765Z,1736371074.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:54.766Z,1736371074.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540259 2025-01-08T21:17:55.012Z,1736371075.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s. 2025-01-08T21:17:55.013Z,1736371075.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:55.016Z,1736371075.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:55.017Z,1736371075.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791244 2025-01-08T21:17:55.023Z,1736371075.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:55.026Z,1736371075.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.125977 m, bearing: 187.019739 deg, approach rate: 0.052244 m/s, LOS rate: -0.074920 deg/s, cmd heading: 277.722841 deg, new cmd heading: 277.635664 deg. 2025-01-08T21:17:55.027Z,1736371075.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845656 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:55.268Z,1736371075.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:55.269Z,1736371075.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043338 2025-01-08T21:17:55.416Z,1736371075.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s. 2025-01-08T21:17:55.416Z,1736371075.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:55.425Z,1736371075.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:55.429Z,1736371075.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.145874 m, bearing: 186.990584 deg, approach rate: 0.049434 m/s, LOS rate: -0.072432 deg/s, cmd heading: 277.635660 deg, new cmd heading: 277.548197 deg. 2025-01-08T21:17:55.430Z,1736371075.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.844130 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:55.520Z,1736371075.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:55.521Z,1736371075.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295134 2025-01-08T21:17:55.772Z,1736371075.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:55.772Z,1736371075.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546933 2025-01-08T21:17:55.812Z,1736371075.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s. 2025-01-08T21:17:55.812Z,1736371075.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:55.821Z,1736371075.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:55.832Z,1736371075.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.165344 m, bearing: 186.961961 deg, approach rate: 0.049256 m/s, LOS rate: -0.072406 deg/s, cmd heading: 277.548207 deg, new cmd heading: 277.462343 deg. 2025-01-08T21:17:55.833Z,1736371075.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842631 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:56.026Z,1736371076.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:56.028Z,1736371076.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802245 2025-01-08T21:17:56.124Z,1736371076.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:17:56.230Z,1736371076.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s. 2025-01-08T21:17:56.230Z,1736371076.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:56.237Z,1736371076.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:56.239Z,1736371076.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:56.242Z,1736371076.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.186035 m, bearing: 186.931801 deg, approach rate: 0.049461 m/s, LOS rate: -0.072093 deg/s, cmd heading: 277.462338 deg, new cmd heading: 277.371862 deg. 2025-01-08T21:17:56.243Z,1736371076.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.841052 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:56.276Z,1736371076.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:56.278Z,1736371076.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051630 2025-01-08T21:17:56.529Z,1736371076.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:56.529Z,1736371076.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304044 2025-01-08T21:17:56.638Z,1736371076.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s. 2025-01-08T21:17:56.638Z,1736371076.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:56.653Z,1736371076.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:56.657Z,1736371076.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.206116 m, bearing: 186.902297 deg, approach rate: 0.048525 m/s, LOS rate: -0.071295 deg/s, cmd heading: 277.371851 deg, new cmd heading: 277.283341 deg. 2025-01-08T21:17:56.660Z,1736371076.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839507 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:56.780Z,1736371076.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:56.781Z,1736371076.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555364 2025-01-08T21:17:57.025Z,1736371077.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s. 2025-01-08T21:17:57.025Z,1736371077.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:57.032Z,1736371077.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:57.033Z,1736371077.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807368 2025-01-08T21:17:57.037Z,1736371077.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:57.040Z,1736371077.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.225220 m, bearing: 186.874365 deg, approach rate: 0.049712 m/s, LOS rate: -0.072681 deg/s, cmd heading: 277.283332 deg, new cmd heading: 277.199540 deg. 2025-01-08T21:17:57.041Z,1736371077.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838045 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:57.129Z,1736371077.129 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:17:57.284Z,1736371077.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:57.284Z,1736371077.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059008 2025-01-08T21:17:57.439Z,1736371077.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s. 2025-01-08T21:17:57.439Z,1736371077.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:57.449Z,1736371077.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:57.452Z,1736371077.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.245911 m, bearing: 186.844489 deg, approach rate: 0.050184 m/s, LOS rate: -0.072458 deg/s, cmd heading: 277.199539 deg, new cmd heading: 277.109915 deg. 2025-01-08T21:17:57.453Z,1736371077.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836481 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:57.536Z,1736371077.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:57.537Z,1736371077.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311911 2025-01-08T21:17:57.788Z,1736371077.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:57.788Z,1736371077.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562981 2025-01-08T21:17:57.849Z,1736371077.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s. 2025-01-08T21:17:57.850Z,1736371077.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:57.858Z,1736371077.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:57.862Z,1736371077.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.266602 m, bearing: 186.814863 deg, approach rate: 0.050616 m/s, LOS rate: -0.072471 deg/s, cmd heading: 277.109927 deg, new cmd heading: 277.021053 deg. 2025-01-08T21:17:57.863Z,1736371077.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834929 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:58.040Z,1736371078.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:58.041Z,1736371078.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815181 2025-01-08T21:17:58.237Z,1736371078.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s. 2025-01-08T21:17:58.237Z,1736371078.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:58.244Z,1736371078.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:17:58.246Z,1736371078.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:58.249Z,1736371078.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.286194 m, bearing: 186.786939 deg, approach rate: 0.050481 m/s, LOS rate: -0.071947 deg/s, cmd heading: 277.021053 deg, new cmd heading: 276.937282 deg. 2025-01-08T21:17:58.250Z,1736371078.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833467 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:58.292Z,1736371078.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:58.293Z,1736371078.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067110 2025-01-08T21:17:58.544Z,1736371078.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:58.545Z,1736371078.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319695 2025-01-08T21:17:58.688Z,1736371078.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T21:17:58.688Z,1736371078.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:58.699Z,1736371078.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:58.702Z,1736371078.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.309265 m, bearing: 186.754414 deg, approach rate: 0.050966 m/s, LOS rate: -0.071846 deg/s, cmd heading: 276.937287 deg, new cmd heading: 276.839719 deg. 2025-01-08T21:17:58.703Z,1736371078.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831765 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:58.796Z,1736371078.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:58.796Z,1736371078.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571075 2025-01-08T21:17:59.043Z,1736371079.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T21:17:59.043Z,1736371079.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:59.048Z,1736371079.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:59.049Z,1736371079.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823278 2025-01-08T21:17:59.055Z,1736371079.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:59.057Z,1736371079.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.327454 m, bearing: 186.728765 deg, approach rate: 0.051151 m/s, LOS rate: -0.072130 deg/s, cmd heading: 276.839725 deg, new cmd heading: 276.762779 deg. 2025-01-08T21:17:59.058Z,1736371079.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830422 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:59.300Z,1736371079.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:59.302Z,1736371079.302 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:59.303Z,1736371079.303 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:59.304Z,1736371079.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:59.449Z,1736371079.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:17:59.450Z,1736371079.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:59.458Z,1736371079.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:59.462Z,1736371079.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.348511 m, bearing: 186.699459 deg, approach rate: 0.052161 m/s, LOS rate: -0.072592 deg/s, cmd heading: 276.762790 deg, new cmd heading: 276.674875 deg. 2025-01-08T21:17:59.463Z,1736371079.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828887 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:17:59.552Z,1736371079.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:59.552Z,1736371079.552 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:59.553Z,1736371079.553 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:59.553Z,1736371079.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:59.804Z,1736371079.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:17:59.804Z,1736371079.804 [DAT](INFO): Reached modem response timeout 2025-01-08T21:17:59.804Z,1736371079.804 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:17:59.804Z,1736371079.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:17:59.864Z,1736371079.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:17:59.864Z,1736371079.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:17:59.881Z,1736371079.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:17:59.887Z,1736371079.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.369751 m, bearing: 186.669903 deg, approach rate: 0.050307 m/s, LOS rate: -0.070000 deg/s, cmd heading: 276.674871 deg, new cmd heading: 276.586207 deg. 2025-01-08T21:17:59.888Z,1736371079.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827340 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:18:00.056Z,1736371080.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:00.056Z,1736371080.056 [DAT](INFO): Reached modem response timeout 2025-01-08T21:18:00.056Z,1736371080.056 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:18:00.057Z,1736371080.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:00.280Z,1736371080.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:18:00.280Z,1736371080.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:00.303Z,1736371080.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:00.305Z,1736371080.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:18:00.308Z,1736371080.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:00.310Z,1736371080.310 [DAT](INFO): DAT read: Rsose Not Received 2025-01-08T21:18:00.314Z,1736371080.314 [DAT](INFO): unknown deviceResponse_: Rsose Not Received 2025-01-08T21:18:00.314Z,1736371080.314 [DAT](INFO): DAT read: user:1644> 2025-01-08T21:18:00.315Z,1736371080.315 [DAT](INFO): DAT read: Tx time:21:17:59.5195 2025-01-08T21:18:00.316Z,1736371080.316 [DAT](INFO): Ping request sent. 2025-01-08T21:18:00.316Z,1736371080.316 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:00.316Z,1736371080.316 [DAT](INFO): DAT read: TxSync time:21:17:59.5187 2025-01-08T21:18:00.317Z,1736371080.317 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:00.317Z,1736371080.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001602 2025-01-08T21:18:00.319Z,1736371080.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.391663 m, bearing: 186.639552 deg, approach rate: 0.051567 m/s, LOS rate: -0.071426 deg/s, cmd heading: 276.586215 deg, new cmd heading: 276.495167 deg. 2025-01-08T21:18:00.320Z,1736371080.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825751 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:18:00.560Z,1736371080.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:00.560Z,1736371080.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244565 2025-01-08T21:18:00.686Z,1736371080.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:18:00.686Z,1736371080.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:00.695Z,1736371080.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:18:00.697Z,1736371080.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.412781 m, bearing: 186.610330 deg, approach rate: 0.054259 m/s, LOS rate: -0.075077 deg/s, cmd heading: 276.495155 deg, new cmd heading: 276.407493 deg. 2025-01-08T21:18:00.698Z,1736371080.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824221 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:18:00.813Z,1736371080.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:00.813Z,1736371080.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497457 2025-01-08T21:18:01.064Z,1736371081.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:01.064Z,1736371081.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748638 2025-01-08T21:18:01.070Z,1736371081.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:18:01.070Z,1736371081.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:01.080Z,1736371081.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:18:01.082Z,1736371081.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.432617 m, bearing: 186.582641 deg, approach rate: 0.051485 m/s, LOS rate: -0.071864 deg/s, cmd heading: 276.407483 deg, new cmd heading: 276.324419 deg. 2025-01-08T21:18:01.084Z,1736371081.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822771 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:18:01.316Z,1736371081.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:01.317Z,1736371081.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000596 2025-01-08T21:18:01.481Z,1736371081.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T21:18:01.481Z,1736371081.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:01.490Z,1736371081.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:18:01.492Z,1736371081.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.453369 m, bearing: 186.553054 deg, approach rate: 0.050669 m/s, LOS rate: -0.072238 deg/s, cmd heading: 276.324428 deg, new cmd heading: 276.235670 deg. 2025-01-08T21:18:01.493Z,1736371081.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821222 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:18:01.569Z,1736371081.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:01.570Z,1736371081.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254243 2025-01-08T21:18:01.820Z,1736371081.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:01.820Z,1736371081.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504517 2025-01-08T21:18:01.887Z,1736371081.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s. 2025-01-08T21:18:01.887Z,1736371081.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:01.908Z,1736371081.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:18:01.910Z,1736371081.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.473877 m, bearing: 186.523814 deg, approach rate: 0.049555 m/s, LOS rate: -0.070652 deg/s, cmd heading: 276.235663 deg, new cmd heading: 276.147947 deg. 2025-01-08T21:18:01.916Z,1736371081.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819691 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:18:02.072Z,1736371082.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:02.073Z,1736371082.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756778 2025-01-08T21:18:02.289Z,1736371082.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s. 2025-01-08T21:18:02.289Z,1736371082.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:02.300Z,1736371082.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:18:02.302Z,1736371082.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.494446 m, bearing: 186.494801 deg, approach rate: 0.051949 m/s, LOS rate: -0.073272 deg/s, cmd heading: 276.147936 deg, new cmd heading: 276.060901 deg. 2025-01-08T21:18:02.304Z,1736371082.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818172 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:18:02.324Z,1736371082.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:02.324Z,1736371082.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008637 2025-01-08T21:18:02.576Z,1736371082.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:02.576Z,1736371082.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260563 2025-01-08T21:18:02.730Z,1736371082.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.4 s old, using for 20.0 s. 2025-01-08T21:18:02.730Z,1736371082.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:02.745Z,1736371082.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:02.753Z,1736371082.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:18:02.760Z,1736371082.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.516907 m, bearing: 186.463059 deg, approach rate: 0.049596 m/s, LOS rate: -0.070087 deg/s, cmd heading: 276.060892 deg, new cmd heading: 275.965669 deg. 2025-01-08T21:18:02.761Z,1736371082.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816510 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:18:02.828Z,1736371082.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:02.829Z,1736371082.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513246 2025-01-08T21:18:03.080Z,1736371083.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:03.081Z,1736371083.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764675 2025-01-08T21:18:03.089Z,1736371083.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s. 2025-01-08T21:18:03.089Z,1736371083.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:03.119Z,1736371083.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:18:03.122Z,1736371083.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.535156 m, bearing: 186.437176 deg, approach rate: 0.052578 m/s, LOS rate: -0.074567 deg/s, cmd heading: 275.965679 deg, new cmd heading: 275.888034 deg. 2025-01-08T21:18:03.123Z,1736371083.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815155 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:18:03.332Z,1736371083.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:03.332Z,1736371083.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016578 2025-01-08T21:18:03.493Z,1736371083.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.1 s old, using for 20.0 s. 2025-01-08T21:18:03.493Z,1736371083.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:03.503Z,1736371083.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:18:03.506Z,1736371083.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.555176 m, bearing: 186.408110 deg, approach rate: 0.049643 m/s, LOS rate: -0.072071 deg/s, cmd heading: 275.888034 deg, new cmd heading: 275.800840 deg. 2025-01-08T21:18:03.507Z,1736371083.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813633 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:18:03.586Z,1736371083.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:03.588Z,1736371083.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271854 2025-01-08T21:18:03.836Z,1736371083.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:03.837Z,1736371083.837 [DAT](INFO): DAT read: Rx Time:21:18:02.5898 2025-01-08T21:18:03.837Z,1736371083.837 [DAT](INFO): Rx dataTimestamp_ set to:1736371083.836735 2025-01-08T21:18:03.838Z,1736371083.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521713 2025-01-08T21:18:03.914Z,1736371083.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.5 s old, using for 20.0 s. 2025-01-08T21:18:03.915Z,1736371083.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:03.932Z,1736371083.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:18:03.935Z,1736371083.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.576294 m, bearing: 186.377745 deg, approach rate: 0.049153 m/s, LOS rate: -0.070673 deg/s, cmd heading: 275.800853 deg, new cmd heading: 275.709761 deg. 2025-01-08T21:18:03.944Z,1736371083.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812043 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:18:04.091Z,1736371084.091 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:04.092Z,1736371084.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775728 2025-01-08T21:18:04.318Z,1736371084.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.9 s old, using for 20.0 s. 2025-01-08T21:18:04.318Z,1736371084.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:04.328Z,1736371084.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.00 m. 2025-01-08T21:18:04.331Z,1736371084.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.000000 m, nav range: 523.595947 m, bearing: 186.348695 deg, approach rate: 0.049764 m/s, LOS rate: -0.073554 deg/s, cmd heading: 275.709766 deg, new cmd heading: 275.622618 deg. 2025-01-08T21:18:04.332Z,1736371084.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810522 target range: 509.000000 and range: 509.00 m. 2025-01-08T21:18:04.344Z,1736371084.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:04.360Z,1736371084.360 [DAT](INFO): DAT read: 21:18:02.5898 LVL= 29344, 32753, 18642, 32755, AGC= 70, IDX= 242,-0.25, 2.940, 1.851,-2.809, 2.621, PHS= 0.407,-0.722, 0.851, RAW= 165.9, -7.7, CAL= 169.3, -14.5, ROT= 340.7, 14.5 2025-01-08T21:18:04.361Z,1736371084.361 [DAT](INFO): got valid direction response: 21:18:02.5898 LVL= 29344, 32753, 18642, 32755, AGC= 70, IDX= 242,-0.25, 2.940, 1.851,-2.809, 2.621, PHS= 0.407,-0.722, 0.851, RAW= 165.9, -7.7, CAL= 169.3, -14.5, ROT= 340.7, 14.5 2025-01-08T21:18:04.362Z,1736371084.362 [DAT](INFO): DAT read: Bearing 340.7, 14.5 (Local) 2025-01-08T21:18:04.363Z,1736371084.363 [DAT](INFO): Local bearing/azimuth received: Bearing 340.7, 14.5 (Local) 2025-01-08T21:18:04.364Z,1736371084.364 [DAT](INFO): DAT read: Range 10 to 50 : 499.6 m (Round-trip 666.2 ms) speed 0.4 m/s 2025-01-08T21:18:04.365Z,1736371084.365 [DAT](INFO): DAT read: user:1645> 2025-01-08T21:18:04.366Z,1736371084.366 [DAT](INFO): DAT read: Tx time:21:18:03.6695 2025-01-08T21:18:04.366Z,1736371084.366 [DAT](INFO): Ping request sent. 2025-01-08T21:18:04.366Z,1736371084.366 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:04.367Z,1736371084.367 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:04.384Z,1736371084.384 [DAT](INFO): direction in FSK: [0.042113,-0.954236,0.296076] 2025-01-08T21:18:04.384Z,1736371084.384 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:04.384Z,1736371084.384 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:04.396Z,1736371084.396 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:04.396Z,1736371084.396 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:04.597Z,1736371084.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:04.600Z,1736371084.600 [DAT](INFO): DAT read: TxSync time:21:18:03.6687 2025-01-08T21:18:04.715Z,1736371084.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.3 s old, using for 20.0 s. 2025-01-08T21:18:04.716Z,1736371084.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:04.764Z,1736371084.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 499.600006 m, deltaT: 25.959068 s, deltaX: -9.399994 m, approachRate: -0.362108 m/s, rangeRepo size: 4 2025-01-08T21:18:04.766Z,1736371084.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 499.600006 m, bearing: 186.829228 deg, lat: 36.900089 deg, lon: -122.114232 deg, deltaT: 25.959068 s, deltaX: -9.399994 m, approachRate: -0.362108 m/s, posRepo size: 4 2025-01-08T21:18:04.766Z,1736371084.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.60 m. 2025-01-08T21:18:04.773Z,1736371084.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.600006 m, nav range: 522.636475 m, bearing: 186.332247 deg, approach rate: 0.000000 m/s, LOS rate: -0.073554 deg/s, cmd heading: 275.622612 deg, new cmd heading: 275.527340 deg. 2025-01-08T21:18:04.774Z,1736371084.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808859 target range: 499.600006 and range: 499.60 m. 2025-01-08T21:18:04.849Z,1736371084.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:05.100Z,1736371085.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:05.124Z,1736371085.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.8 s old, using for 20.0 s. 2025-01-08T21:18:05.124Z,1736371085.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:05.133Z,1736371085.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:05.135Z,1736371085.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.60 m. 2025-01-08T21:18:05.138Z,1736371085.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.600006 m, nav range: 522.655334 m, bearing: 186.302493 deg, approach rate: 0.050183 m/s, LOS rate: -0.079169 deg/s, cmd heading: 275.527345 deg, new cmd heading: 275.438085 deg. 2025-01-08T21:18:05.140Z,1736371085.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807302 target range: 499.600006 and range: 499.60 m. 2025-01-08T21:18:05.353Z,1736371085.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:05.354Z,1736371085.354 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:05.354Z,1736371085.354 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:05.354Z,1736371085.354 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:05.521Z,1736371085.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.2 s old, using for 20.0 s. 2025-01-08T21:18:05.522Z,1736371085.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:05.532Z,1736371085.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.60 m. 2025-01-08T21:18:05.535Z,1736371085.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.600006 m, nav range: 522.672668 m, bearing: 186.273796 deg, approach rate: 0.043573 m/s, LOS rate: -0.072134 deg/s, cmd heading: 275.438088 deg, new cmd heading: 275.352002 deg. 2025-01-08T21:18:05.536Z,1736371085.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805799 target range: 499.600006 and range: 499.60 m. 2025-01-08T21:18:05.605Z,1736371085.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:05.606Z,1736371085.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239212 2025-01-08T21:18:05.857Z,1736371085.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:05.858Z,1736371085.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491838 2025-01-08T21:18:05.940Z,1736371085.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.6 s old, using for 20.0 s. 2025-01-08T21:18:05.940Z,1736371085.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:05.950Z,1736371085.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.60 m. 2025-01-08T21:18:05.969Z,1736371085.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.600006 m, nav range: 522.691040 m, bearing: 186.243656 deg, approach rate: 0.044034 m/s, LOS rate: -0.072240 deg/s, cmd heading: 275.352000 deg, new cmd heading: 275.261582 deg. 2025-01-08T21:18:05.970Z,1736371085.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804221 target range: 499.600006 and range: 499.60 m. 2025-01-08T21:18:06.108Z,1736371086.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:06.108Z,1736371086.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742129 2025-01-08T21:18:06.324Z,1736371086.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.0 s old, using for 20.0 s. 2025-01-08T21:18:06.324Z,1736371086.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:06.333Z,1736371086.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.60 m. 2025-01-08T21:18:06.336Z,1736371086.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.600006 m, nav range: 522.707275 m, bearing: 186.215933 deg, approach rate: 0.042314 m/s, LOS rate: -0.072252 deg/s, cmd heading: 275.261596 deg, new cmd heading: 275.178428 deg. 2025-01-08T21:18:06.337Z,1736371086.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802770 target range: 499.600006 and range: 499.60 m. 2025-01-08T21:18:06.360Z,1736371086.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:06.360Z,1736371086.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994083 2025-01-08T21:18:06.613Z,1736371086.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:06.614Z,1736371086.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247578 2025-01-08T21:18:06.784Z,1736371086.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:06.807Z,1736371086.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.60 m. 2025-01-08T21:18:06.810Z,1736371086.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.600006 m, nav range: 522.722229 m, bearing: 186.185168 deg, approach rate: 0.031992 m/s, LOS rate: -0.065817 deg/s, cmd heading: 275.178432 deg, new cmd heading: 275.086139 deg. 2025-01-08T21:18:06.811Z,1736371086.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801159 target range: 499.600006 and range: 499.60 m. 2025-01-08T21:18:06.864Z,1736371086.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:06.865Z,1736371086.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498716 2025-01-08T21:18:07.116Z,1736371087.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:07.116Z,1736371087.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750243 2025-01-08T21:18:07.153Z,1736371087.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:07.170Z,1736371087.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:07.176Z,1736371087.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.60 m. 2025-01-08T21:18:07.185Z,1736371087.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.600006 m, nav range: 522.734619 m, bearing: 186.159872 deg, approach rate: 0.032994 m/s, LOS rate: -0.067358 deg/s, cmd heading: 275.086142 deg, new cmd heading: 275.010257 deg. 2025-01-08T21:18:07.186Z,1736371087.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.799834 target range: 499.600006 and range: 499.60 m. 2025-01-08T21:18:07.368Z,1736371087.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:07.368Z,1736371087.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002066 2025-01-08T21:18:07.533Z,1736371087.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:07.541Z,1736371087.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.60 m. 2025-01-08T21:18:07.546Z,1736371087.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.600006 m, nav range: 522.747314 m, bearing: 186.134172 deg, approach rate: 0.034768 m/s, LOS rate: -0.070380 deg/s, cmd heading: 275.010245 deg, new cmd heading: 274.933148 deg. 2025-01-08T21:18:07.547Z,1736371087.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798489 target range: 499.600006 and range: 499.60 m. 2025-01-08T21:18:07.621Z,1736371087.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:07.623Z,1736371087.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256340 2025-01-08T21:18:07.872Z,1736371087.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:07.872Z,1736371087.872 [DAT](INFO): DAT read: Rx Time:21:18:06.7276 2025-01-08T21:18:07.873Z,1736371087.873 [DAT](INFO): Rx dataTimestamp_ set to:1736371087.872557 2025-01-08T21:18:07.873Z,1736371087.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507125 2025-01-08T21:18:07.950Z,1736371087.950 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS3191300,35.0, +11.1, 0.0,1494.0, 0 2025-01-08T21:18:07.970Z,1736371087.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:18:07.970Z,1736371087.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:07.995Z,1736371087.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.60 m. 2025-01-08T21:18:08.002Z,1736371088.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.600006 m, nav range: 522.762024 m, bearing: 186.104680 deg, approach rate: 0.032484 m/s, LOS rate: -0.065127 deg/s, cmd heading: 274.933146 deg, new cmd heading: 274.844673 deg. 2025-01-08T21:18:08.007Z,1736371088.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796945 target range: 499.600006 and range: 499.60 m. 2025-01-08T21:18:08.124Z,1736371088.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:08.125Z,1736371088.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758418 2025-01-08T21:18:08.340Z,1736371088.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:18:08.340Z,1736371088.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:08.350Z,1736371088.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.60 m. 2025-01-08T21:18:08.352Z,1736371088.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.600006 m, nav range: 522.774719 m, bearing: 186.079708 deg, approach rate: 0.035739 m/s, LOS rate: -0.070300 deg/s, cmd heading: 274.844681 deg, new cmd heading: 274.769765 deg. 2025-01-08T21:18:08.353Z,1736371088.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795637 target range: 499.600006 and range: 499.60 m. 2025-01-08T21:18:08.377Z,1736371088.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:08.380Z,1736371088.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013121 2025-01-08T21:18:08.630Z,1736371088.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:08.637Z,1736371088.637 [DAT](INFO): DAT read: 21:18:06.7276 LVL= 19872, 26209, 12466, 25251, AGC= 72, IDX= 309, 0.23,-0.073,-1.065, 0.450,-0.322, PHS= 0.338,-0.695, 0.769, RAW= 166.7, -6.4, CAL= 169.7, -13.4, ROT= 340.3, 13.4 2025-01-08T21:18:08.638Z,1736371088.638 [DAT](INFO): got valid direction response: 21:18:06.7276 LVL= 19872, 26209, 12466, 25251, AGC= 72, IDX= 309, 0.23,-0.073,-1.065, 0.450,-0.322, PHS= 0.338,-0.695, 0.769, RAW= 166.7, -6.4, CAL= 169.7, -13.4, ROT= 340.3, 13.4 2025-01-08T21:18:08.644Z,1736371088.644 [DAT](INFO): DAT read: Bearing 340.3, 13.4 (Local) 2025-01-08T21:18:08.645Z,1736371088.645 [DAT](INFO): Local bearing/azimuth received: Bearing 340.3, 13.4 (Local) 2025-01-08T21:18:08.647Z,1736371088.647 [DAT](INFO): DAT read: Range 10 to 50 : 490.5 m (Round-trip 654.0 ms) speed 0.4 m/s 2025-01-08T21:18:08.648Z,1736371088.648 [DAT](INFO): DAT read: user:1646> 2025-01-08T21:18:08.650Z,1736371088.650 [DAT](INFO): DAT read: Tx time:21:18:07.8195 2025-01-08T21:18:08.650Z,1736371088.650 [DAT](INFO): Ping request sent. 2025-01-08T21:18:08.650Z,1736371088.650 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:08.672Z,1736371088.672 [DAT](INFO): DAT read: TxSync time:21:18:07.8187 2025-01-08T21:18:08.674Z,1736371088.674 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:08.698Z,1736371088.698 [DAT](INFO): direction in FSK: [0.017490,-0.959191,0.282218] 2025-01-08T21:18:08.704Z,1736371088.704 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:08.705Z,1736371088.705 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:08.749Z,1736371088.749 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:08.749Z,1736371088.749 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:08.884Z,1736371088.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:08.894Z,1736371088.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:08.935Z,1736371088.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 490.500000 m, deltaT: 4.285108 s, deltaX: -9.100006 m, approachRate: -2.123635 m/s, rangeRepo size: 4 2025-01-08T21:18:08.937Z,1736371088.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 490.500000 m, bearing: 184.902890 deg, lat: 36.900161 deg, lon: -122.114232 deg, deltaT: 4.285108 s, deltaX: -9.100006 m, approachRate: -2.123635 m/s, posRepo size: 4 2025-01-08T21:18:08.938Z,1736371088.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:18:08.946Z,1736371088.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 514.870056 m, bearing: 186.135946 deg, approach rate: 0.000000 m/s, LOS rate: -0.070300 deg/s, cmd heading: 274.769768 deg, new cmd heading: 274.647281 deg. 2025-01-08T21:18:08.946Z,1736371088.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793499 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:18:09.136Z,1736371089.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:09.230Z,1736371089.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:09.237Z,1736371089.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:09.239Z,1736371089.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:18:09.242Z,1736371089.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 514.875793 m, bearing: 186.113963 deg, approach rate: 0.018577 m/s, LOS rate: -0.071177 deg/s, cmd heading: 274.647289 deg, new cmd heading: 274.581343 deg. 2025-01-08T21:18:09.243Z,1736371089.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792348 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:18:09.388Z,1736371089.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:09.388Z,1736371089.388 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:09.388Z,1736371089.388 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:09.389Z,1736371089.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:09.636Z,1736371089.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:09.640Z,1736371089.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:09.640Z,1736371089.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990227 2025-01-08T21:18:09.649Z,1736371089.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:18:09.653Z,1736371089.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 514.882507 m, bearing: 186.087477 deg, approach rate: 0.016402 m/s, LOS rate: -0.064705 deg/s, cmd heading: 274.581336 deg, new cmd heading: 274.501878 deg. 2025-01-08T21:18:09.659Z,1736371089.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790962 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:18:09.893Z,1736371089.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:09.894Z,1736371089.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243390 2025-01-08T21:18:10.065Z,1736371090.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:10.073Z,1736371090.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:18:10.076Z,1736371090.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 514.885376 m, bearing: 186.058783 deg, approach rate: 0.006757 m/s, LOS rate: -0.067583 deg/s, cmd heading: 274.501888 deg, new cmd heading: 274.415808 deg. 2025-01-08T21:18:10.077Z,1736371090.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789459 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:18:10.144Z,1736371090.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:10.145Z,1736371090.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494620 2025-01-08T21:18:10.396Z,1736371090.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:10.397Z,1736371090.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746435 2025-01-08T21:18:10.465Z,1736371090.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:10.478Z,1736371090.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:18:10.485Z,1736371090.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 514.888306 m, bearing: 186.032002 deg, approach rate: 0.007243 m/s, LOS rate: -0.066210 deg/s, cmd heading: 274.415800 deg, new cmd heading: 274.335455 deg. 2025-01-08T21:18:10.486Z,1736371090.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788057 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:18:10.648Z,1736371090.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:10.649Z,1736371090.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998921 2025-01-08T21:18:10.892Z,1736371090.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:10.900Z,1736371090.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:10.900Z,1736371090.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250232 2025-01-08T21:18:10.902Z,1736371090.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:18:10.907Z,1736371090.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 514.891785 m, bearing: 186.002110 deg, approach rate: 0.008203 m/s, LOS rate: -0.070478 deg/s, cmd heading: 274.335450 deg, new cmd heading: 274.245775 deg. 2025-01-08T21:18:10.909Z,1736371090.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786492 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:18:11.152Z,1736371091.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:11.152Z,1736371091.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502201 2025-01-08T21:18:11.255Z,1736371091.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:11.263Z,1736371091.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:11.266Z,1736371091.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:18:11.268Z,1736371091.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 514.894592 m, bearing: 185.976652 deg, approach rate: 0.007715 m/s, LOS rate: -0.069952 deg/s, cmd heading: 274.245783 deg, new cmd heading: 274.169409 deg. 2025-01-08T21:18:11.269Z,1736371091.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785159 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:18:11.404Z,1736371091.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:11.404Z,1736371091.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754205 2025-01-08T21:18:11.656Z,1736371091.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:11.657Z,1736371091.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007115 2025-01-08T21:18:11.699Z,1736371091.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:11.762Z,1736371091.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:18:11.777Z,1736371091.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 514.897888 m, bearing: 185.945560 deg, approach rate: 0.006658 m/s, LOS rate: -0.062810 deg/s, cmd heading: 274.169421 deg, new cmd heading: 274.076145 deg. 2025-01-08T21:18:11.778Z,1736371091.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783531 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:18:11.912Z,1736371091.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:11.913Z,1736371091.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263025 2025-01-08T21:18:12.074Z,1736371092.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:12.084Z,1736371092.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:18:12.087Z,1736371092.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 514.900757 m, bearing: 185.917760 deg, approach rate: 0.008861 m/s, LOS rate: -0.085875 deg/s, cmd heading: 274.076148 deg, new cmd heading: 273.992749 deg. 2025-01-08T21:18:12.088Z,1736371092.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782075 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:18:12.165Z,1736371092.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:12.167Z,1736371092.167 [DAT](INFO): DAT read: Rx Time:21:18:10.8738 2025-01-08T21:18:12.167Z,1736371092.167 [DAT](INFO): Rx dataTimestamp_ set to:1736371092.167216 2025-01-08T21:18:12.169Z,1736371092.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518569 2025-01-08T21:18:12.416Z,1736371092.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:12.416Z,1736371092.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766088 2025-01-08T21:18:12.479Z,1736371092.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:12.488Z,1736371092.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:18:12.491Z,1736371092.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 514.903259 m, bearing: 185.887831 deg, approach rate: 0.006209 m/s, LOS rate: -0.074260 deg/s, cmd heading: 273.992738 deg, new cmd heading: 273.902953 deg. 2025-01-08T21:18:12.492Z,1736371092.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780509 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:18:12.669Z,1736371092.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:12.693Z,1736371092.693 [DAT](INFO): DAT read: 21:18:10.8738 LVL= 28656, 31729, 16610, 29475, AGC= 68, IDX= 398,-0.02,-1.924,-2.791,-1.335,-2.096, PHS= 0.260,-0.647, 0.758, RAW= 170.5, -6.1, CAL= 172.9, -13.0, ROT= 337.1, 13.0 2025-01-08T21:18:12.695Z,1736371092.695 [DAT](INFO): got valid direction response: 21:18:10.8738 LVL= 28656, 31729, 16610, 29475, AGC= 68, IDX= 398,-0.02,-1.924,-2.791,-1.335,-2.096, PHS= 0.260,-0.647, 0.758, RAW= 170.5, -6.1, CAL= 172.9, -13.0, ROT= 337.1, 13.0 2025-01-08T21:18:12.696Z,1736371092.696 [DAT](INFO): DAT read: Bearing 337.1, 13.0 (Local) 2025-01-08T21:18:12.697Z,1736371092.697 [DAT](INFO): Local bearing/azimuth received: Bearing 337.1, 13.0 (Local) 2025-01-08T21:18:12.698Z,1736371092.698 [DAT](INFO): DAT read: Range 10 to 50 : 487.5 m (Round-trip 650.1 ms) speed 0.7 m/s 2025-01-08T21:18:12.703Z,1736371092.703 [DAT](INFO): DAT read: user:1647> 2025-01-08T21:18:12.705Z,1736371092.705 [DAT](INFO): DAT read: Tx time:21:18:11.9695 2025-01-08T21:18:12.705Z,1736371092.705 [DAT](INFO): Ping request sent. 2025-01-08T21:18:12.705Z,1736371092.705 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:12.706Z,1736371092.706 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:12.721Z,1736371092.721 [DAT](INFO): direction in FSK: [0.015838,-0.976162,0.216464] 2025-01-08T21:18:12.721Z,1736371092.721 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:12.721Z,1736371092.721 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:12.731Z,1736371092.731 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:12.748Z,1736371092.748 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:12.911Z,1736371092.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:12.920Z,1736371092.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:12.921Z,1736371092.921 [DAT](INFO): DAT read: TxSync time:21:18:11.9687 2025-01-08T21:18:12.962Z,1736371092.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 487.500000 m, deltaT: 4.039598 s, deltaX: -3.000000 m, approachRate: -0.742648 m/s, rangeRepo size: 4 2025-01-08T21:18:12.968Z,1736371092.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 487.500000 m, bearing: 184.920043 deg, lat: 36.900371 deg, lon: -122.114109 deg, deltaT: 4.039598 s, deltaX: -3.000000 m, approachRate: -0.742648 m/s, posRepo size: 4 2025-01-08T21:18:12.973Z,1736371092.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.50 m. 2025-01-08T21:18:12.992Z,1736371092.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.500000 m, nav range: 490.569733 m, bearing: 184.863031 deg, approach rate: 0.000000 m/s, LOS rate: -0.074260 deg/s, cmd heading: 273.902962 deg, new cmd heading: 273.797426 deg. 2025-01-08T21:18:12.993Z,1736371092.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.778666 target range: 487.500000 and range: 487.50 m. 2025-01-08T21:18:13.172Z,1736371093.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:13.268Z,1736371093.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:13.275Z,1736371093.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:13.278Z,1736371093.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.50 m. 2025-01-08T21:18:13.281Z,1736371093.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.500000 m, nav range: 490.574738 m, bearing: 184.833350 deg, approach rate: 0.015826 m/s, LOS rate: -0.093853 deg/s, cmd heading: 273.797422 deg, new cmd heading: 273.708379 deg. 2025-01-08T21:18:13.282Z,1736371093.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.777112 target range: 487.500000 and range: 487.50 m. 2025-01-08T21:18:13.424Z,1736371093.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:13.424Z,1736371093.424 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:13.424Z,1736371093.424 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:13.425Z,1736371093.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:13.680Z,1736371093.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:13.681Z,1736371093.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975738 2025-01-08T21:18:13.700Z,1736371093.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:13.708Z,1736371093.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.50 m. 2025-01-08T21:18:13.712Z,1736371093.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.500000 m, nav range: 490.579529 m, bearing: 184.797570 deg, approach rate: 0.011116 m/s, LOS rate: -0.083010 deg/s, cmd heading: 273.708384 deg, new cmd heading: 273.601044 deg. 2025-01-08T21:18:13.713Z,1736371093.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.775239 target range: 487.500000 and range: 487.50 m. 2025-01-08T21:18:13.932Z,1736371093.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:13.934Z,1736371093.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228493 2025-01-08T21:18:14.098Z,1736371094.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:14.106Z,1736371094.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.50 m. 2025-01-08T21:18:14.109Z,1736371094.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.500000 m, nav range: 490.583344 m, bearing: 184.763533 deg, approach rate: 0.009583 m/s, LOS rate: -0.085505 deg/s, cmd heading: 273.601040 deg, new cmd heading: 273.498930 deg. 2025-01-08T21:18:14.110Z,1736371094.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.773457 target range: 487.500000 and range: 487.50 m. 2025-01-08T21:18:14.184Z,1736371094.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:14.186Z,1736371094.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480259 2025-01-08T21:18:14.437Z,1736371094.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:14.438Z,1736371094.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732722 2025-01-08T21:18:14.492Z,1736371094.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:14.502Z,1736371094.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.50 m. 2025-01-08T21:18:14.505Z,1736371094.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.500000 m, nav range: 490.586945 m, bearing: 184.729817 deg, approach rate: 0.009098 m/s, LOS rate: -0.085179 deg/s, cmd heading: 273.498943 deg, new cmd heading: 273.397794 deg. 2025-01-08T21:18:14.506Z,1736371094.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.771692 target range: 487.500000 and range: 487.50 m. 2025-01-08T21:18:14.688Z,1736371094.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:14.688Z,1736371094.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983244 2025-01-08T21:18:14.917Z,1736371094.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:14.926Z,1736371094.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.50 m. 2025-01-08T21:18:14.929Z,1736371094.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.500000 m, nav range: 490.596344 m, bearing: 184.692855 deg, approach rate: 0.022202 m/s, LOS rate: -0.087304 deg/s, cmd heading: 273.397801 deg, new cmd heading: 273.286918 deg. 2025-01-08T21:18:14.929Z,1736371094.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.769756 target range: 487.500000 and range: 487.50 m. 2025-01-08T21:18:14.940Z,1736371094.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:14.940Z,1736371094.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235362 2025-01-08T21:18:15.192Z,1736371095.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:15.192Z,1736371095.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487337 2025-01-08T21:18:15.288Z,1736371095.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:15.313Z,1736371095.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:15.315Z,1736371095.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.50 m. 2025-01-08T21:18:15.339Z,1736371095.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.500000 m, nav range: 490.604034 m, bearing: 184.660480 deg, approach rate: 0.019766 m/s, LOS rate: -0.083210 deg/s, cmd heading: 273.286906 deg, new cmd heading: 273.189784 deg. 2025-01-08T21:18:15.340Z,1736371095.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.768061 target range: 487.500000 and range: 487.50 m. 2025-01-08T21:18:15.444Z,1736371095.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:15.445Z,1736371095.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739418 2025-01-08T21:18:15.692Z,1736371095.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:15.696Z,1736371095.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:15.697Z,1736371095.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991711 2025-01-08T21:18:15.704Z,1736371095.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.50 m. 2025-01-08T21:18:15.706Z,1736371095.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.500000 m, nav range: 490.611908 m, bearing: 184.625193 deg, approach rate: 0.020252 m/s, LOS rate: -0.090761 deg/s, cmd heading: 273.189781 deg, new cmd heading: 273.083923 deg. 2025-01-08T21:18:15.732Z,1736371095.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.766213 target range: 487.500000 and range: 487.50 m. 2025-01-08T21:18:15.948Z,1736371095.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:15.948Z,1736371095.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243288 2025-01-08T21:18:16.116Z,1736371096.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:16.124Z,1736371096.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.50 m. 2025-01-08T21:18:16.127Z,1736371096.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.500000 m, nav range: 490.622131 m, bearing: 184.589202 deg, approach rate: 0.024307 m/s, LOS rate: -0.085569 deg/s, cmd heading: 273.083913 deg, new cmd heading: 272.975943 deg. 2025-01-08T21:18:16.130Z,1736371096.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.764329 target range: 487.500000 and range: 487.50 m. 2025-01-08T21:18:16.200Z,1736371096.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:16.201Z,1736371096.201 [DAT](INFO): DAT read: Rx Time:21:18:15.0294 2025-01-08T21:18:16.201Z,1736371096.201 [DAT](INFO): Rx dataTimestamp_ set to:1736371096.200881 2025-01-08T21:18:16.202Z,1736371096.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496579 2025-01-08T21:18:16.452Z,1736371096.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:16.453Z,1736371096.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747447 2025-01-08T21:18:16.504Z,1736371096.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:16.513Z,1736371096.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.50 m. 2025-01-08T21:18:16.517Z,1736371096.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.500000 m, nav range: 490.631012 m, bearing: 184.556220 deg, approach rate: 0.022813 m/s, LOS rate: -0.084726 deg/s, cmd heading: 272.975941 deg, new cmd heading: 272.876997 deg. 2025-01-08T21:18:16.517Z,1736371096.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762602 target range: 487.500000 and range: 487.50 m. 2025-01-08T21:18:16.705Z,1736371096.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:16.707Z,1736371096.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.001464 2025-01-08T21:18:16.936Z,1736371096.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:16.950Z,1736371096.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.50 m. 2025-01-08T21:18:16.953Z,1736371096.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.500000 m, nav range: 490.641846 m, bearing: 184.520998 deg, approach rate: 0.024882 m/s, LOS rate: -0.080894 deg/s, cmd heading: 272.876986 deg, new cmd heading: 272.771321 deg. 2025-01-08T21:18:16.954Z,1736371096.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.760757 target range: 487.500000 and range: 487.50 m. 2025-01-08T21:18:16.956Z,1736371096.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:16.963Z,1736371096.963 [DAT](INFO): DAT read: 21:18:15.0294 LVL= 32752, 32753, 21474, 32755, AGC= 66, IDX= 506,-0.14, 1.690, 0.456, 2.042, 1.218, PHS= 0.560,-0.714, 0.821, RAW= 159.2, -9.4, CAL= 164.0, -16.4, ROT= 346.0, 16.4 2025-01-08T21:18:16.964Z,1736371096.964 [DAT](INFO): got valid direction response: 21:18:15.0294 LVL= 32752, 32753, 21474, 32755, AGC= 66, IDX= 506,-0.14, 1.690, 0.456, 2.042, 1.218, PHS= 0.560,-0.714, 0.821, RAW= 159.2, -9.4, CAL= 164.0, -16.4, ROT= 346.0, 16.4 2025-01-08T21:18:16.965Z,1736371096.965 [DAT](INFO): DAT read: Bearing 346.0, 16.4 (Local) 2025-01-08T21:18:16.965Z,1736371096.965 [DAT](INFO): Local bearing/azimuth received: Bearing 346.0, 16.4 (Local) 2025-01-08T21:18:16.976Z,1736371096.976 [DAT](INFO): DAT read: Range 10 to 50 : 491.7 m (Round-trip 655.7 ms) speed 0.4 m/s 2025-01-08T21:18:16.976Z,1736371096.976 [DAT](INFO): DAT read: user:1648> 2025-01-08T21:18:16.977Z,1736371096.977 [DAT](INFO): DAT read: Tx time:21:18:16.1196 2025-01-08T21:18:16.977Z,1736371096.977 [DAT](INFO): Ping request sent. 2025-01-08T21:18:16.978Z,1736371096.978 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:16.978Z,1736371096.978 [DAT](INFO): DAT read: TxSync time:21:18:16.1188 2025-01-08T21:18:16.979Z,1736371096.979 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:16.985Z,1736371096.985 [DAT](INFO): direction in FSK: [0.069699,-0.909701,0.409372] 2025-01-08T21:18:16.985Z,1736371096.985 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:16.986Z,1736371096.986 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:17.011Z,1736371097.011 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:17.011Z,1736371097.011 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:17.208Z,1736371097.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:17.312Z,1736371097.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:17.326Z,1736371097.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 491.700012 m, deltaT: 4.286276 s, deltaX: 4.200012 m, approachRate: 0.979874 m/s, rangeRepo size: 4 2025-01-08T21:18:17.329Z,1736371097.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 491.700012 m, bearing: 184.158166 deg, lat: 36.900423 deg, lon: -122.114078 deg, deltaT: 4.286276 s, deltaX: 4.200012 m, approachRate: 0.979874 m/s, posRepo size: 4 2025-01-08T21:18:17.330Z,1736371097.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.70 m. 2025-01-08T21:18:17.333Z,1736371097.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.700012 m, nav range: 484.736877 m, bearing: 184.216118 deg, approach rate: 0.000000 m/s, LOS rate: -0.080894 deg/s, cmd heading: 272.771309 deg, new cmd heading: 272.679930 deg. 2025-01-08T21:18:17.334Z,1736371097.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759162 target range: 491.700012 and range: 491.70 m. 2025-01-08T21:18:17.465Z,1736371097.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:17.713Z,1736371097.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:17.716Z,1736371097.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:17.721Z,1736371097.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:17.724Z,1736371097.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.70 m. 2025-01-08T21:18:17.727Z,1736371097.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.700012 m, nav range: 484.746155 m, bearing: 184.183014 deg, approach rate: 0.023319 m/s, LOS rate: -0.083208 deg/s, cmd heading: 272.679921 deg, new cmd heading: 272.580612 deg. 2025-01-08T21:18:17.744Z,1736371097.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.757429 target range: 491.700012 and range: 491.70 m. 2025-01-08T21:18:17.968Z,1736371097.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:17.969Z,1736371097.969 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:17.969Z,1736371097.969 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:17.969Z,1736371097.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:18.152Z,1736371098.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:18.161Z,1736371098.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.70 m. 2025-01-08T21:18:18.164Z,1736371098.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.700012 m, nav range: 484.759186 m, bearing: 184.148814 deg, approach rate: 0.029791 m/s, LOS rate: -0.078185 deg/s, cmd heading: 272.580610 deg, new cmd heading: 272.478013 deg. 2025-01-08T21:18:18.165Z,1736371098.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.755639 target range: 491.700012 and range: 491.70 m. 2025-01-08T21:18:18.220Z,1736371098.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:18.222Z,1736371098.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243959 2025-01-08T21:18:18.472Z,1736371098.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:18.472Z,1736371098.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494739 2025-01-08T21:18:18.521Z,1736371098.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:18.546Z,1736371098.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.70 m. 2025-01-08T21:18:18.553Z,1736371098.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.700012 m, nav range: 484.768738 m, bearing: 184.120116 deg, approach rate: 0.024803 m/s, LOS rate: -0.074519 deg/s, cmd heading: 272.478021 deg, new cmd heading: 272.391927 deg. 2025-01-08T21:18:18.553Z,1736371098.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.754136 target range: 491.700012 and range: 491.70 m. 2025-01-08T21:18:18.724Z,1736371098.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:18.725Z,1736371098.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746936 2025-01-08T21:18:18.976Z,1736371098.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:18.977Z,1736371098.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998969 2025-01-08T21:18:18.992Z,1736371098.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:19.009Z,1736371099.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.70 m. 2025-01-08T21:18:19.018Z,1736371099.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.700012 m, nav range: 484.787659 m, bearing: 184.086972 deg, approach rate: 0.040852 m/s, LOS rate: -0.071557 deg/s, cmd heading: 272.391933 deg, new cmd heading: 272.292507 deg. 2025-01-08T21:18:19.024Z,1736371099.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.752401 target range: 491.700012 and range: 491.70 m. 2025-01-08T21:18:19.229Z,1736371099.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:19.229Z,1736371099.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251841 2025-01-08T21:18:19.327Z,1736371099.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:19.336Z,1736371099.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.70 m. 2025-01-08T21:18:19.339Z,1736371099.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.700012 m, nav range: 484.801025 m, bearing: 184.063469 deg, approach rate: 0.040830 m/s, LOS rate: -0.071792 deg/s, cmd heading: 272.292513 deg, new cmd heading: 272.222004 deg. 2025-01-08T21:18:19.340Z,1736371099.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.751170 target range: 491.700012 and range: 491.70 m. 2025-01-08T21:18:19.480Z,1736371099.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:19.480Z,1736371099.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502722 2025-01-08T21:18:19.732Z,1736371099.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:19.733Z,1736371099.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754934 2025-01-08T21:18:19.734Z,1736371099.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:19.741Z,1736371099.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:19.743Z,1736371099.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.70 m. 2025-01-08T21:18:19.747Z,1736371099.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.700012 m, nav range: 484.817108 m, bearing: 184.034847 deg, approach rate: 0.039551 m/s, LOS rate: -0.070384 deg/s, cmd heading: 272.221998 deg, new cmd heading: 272.136135 deg. 2025-01-08T21:18:19.748Z,1736371099.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749671 target range: 491.700012 and range: 491.70 m. 2025-01-08T21:18:19.985Z,1736371099.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:19.987Z,1736371099.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008687 2025-01-08T21:18:20.175Z,1736371100.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:20.184Z,1736371100.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.70 m. 2025-01-08T21:18:20.187Z,1736371100.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.700012 m, nav range: 484.831207 m, bearing: 184.006514 deg, approach rate: 0.031949 m/s, LOS rate: -0.064202 deg/s, cmd heading: 272.136129 deg, new cmd heading: 272.051130 deg. 2025-01-08T21:18:20.188Z,1736371100.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.748188 target range: 491.700012 and range: 491.70 m. 2025-01-08T21:18:20.236Z,1736371100.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:20.237Z,1736371100.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259483 2025-01-08T21:18:20.488Z,1736371100.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:20.489Z,1736371100.489 [DAT](INFO): DAT read: Rx Time:21:18:19.1872 2025-01-08T21:18:20.489Z,1736371100.489 [DAT](INFO): Rx dataTimestamp_ set to:1736371100.488857 2025-01-08T21:18:20.490Z,1736371100.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512055 2025-01-08T21:18:20.550Z,1736371100.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:20.566Z,1736371100.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.70 m. 2025-01-08T21:18:20.573Z,1736371100.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.700012 m, nav range: 484.842865 m, bearing: 183.982396 deg, approach rate: 0.030502 m/s, LOS rate: -0.063101 deg/s, cmd heading: 272.051134 deg, new cmd heading: 271.978783 deg. 2025-01-08T21:18:20.574Z,1736371100.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.746925 target range: 491.700012 and range: 491.70 m. 2025-01-08T21:18:20.740Z,1736371100.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:20.740Z,1736371100.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762687 2025-01-08T21:18:20.980Z,1736371100.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:20.989Z,1736371100.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.70 m. 2025-01-08T21:18:20.992Z,1736371100.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:21.006Z,1736371101.006 [DAT](INFO): DAT read: 21:18:19.1872 LVL= 14176, 17249, 9074, 15603, AGC= 70, IDX= 5, 0.28,-1.842,-2.959,-1.500,-2.320, PHS= 0.565,-0.593, 0.817, RAW= 159.6, -12.1, CAL= 165.1, -18.6, ROT= 344.9, 18.6 2025-01-08T21:18:21.007Z,1736371101.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.700012 m, nav range: 484.855255 m, bearing: 183.957017 deg, approach rate: 0.029347 m/s, LOS rate: -0.060113 deg/s, cmd heading: 271.978788 deg, new cmd heading: 271.902652 deg. 2025-01-08T21:18:21.008Z,1736371101.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.745596 target range: 491.700012 and range: 491.70 m. 2025-01-08T21:18:21.013Z,1736371101.013 [DAT](INFO): got valid direction response: 21:18:19.1872 LVL= 14176, 17249, 9074, 15603, AGC= 70, IDX= 5, 0.28,-1.842,-2.959,-1.500,-2.320, PHS= 0.565,-0.593, 0.817, RAW= 159.6, -12.1, CAL= 165.1, -18.6, ROT= 344.9, 18.6 2025-01-08T21:18:21.036Z,1736371101.036 [DAT](INFO): DAT read: Bearing 344.9, 18.6 (Local) 2025-01-08T21:18:21.036Z,1736371101.036 [DAT](INFO): Local bearing/azimuth received: Bearing 344.9, 18.6 (Local) 2025-01-08T21:18:21.038Z,1736371101.038 [DAT](INFO): DAT read: Range 10 to 50 : 497.5 m (Round-trip 663.4 ms) speed 0.1 m/s 2025-01-08T21:18:21.038Z,1736371101.038 [DAT](INFO): DAT read: user:1649> 2025-01-08T21:18:21.050Z,1736371101.050 [DAT](INFO): DAT read: Tx time:21:18:20.2696 2025-01-08T21:18:21.050Z,1736371101.050 [DAT](INFO): Ping request sent. 2025-01-08T21:18:21.051Z,1736371101.051 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:21.054Z,1736371101.054 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:21.072Z,1736371101.072 [DAT](INFO): direction in FSK: [0.122364,-0.907872,0.400993] 2025-01-08T21:18:21.073Z,1736371101.073 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:21.074Z,1736371101.074 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:21.087Z,1736371101.087 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:21.088Z,1736371101.088 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:21.249Z,1736371101.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:21.250Z,1736371101.250 [DAT](INFO): DAT read: TxSync time:21:18:20.2688 2025-01-08T21:18:21.454Z,1736371101.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:21.470Z,1736371101.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 497.500000 m, deltaT: 4.036180 s, deltaX: 5.799988 m, approachRate: 1.436999 m/s, rangeRepo size: 4 2025-01-08T21:18:21.472Z,1736371101.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 497.500000 m, bearing: 186.239434 deg, lat: 36.900432 deg, lon: -122.114109 deg, deltaT: 4.036180 s, deltaX: 5.799988 m, approachRate: 1.436999 m/s, posRepo size: 4 2025-01-08T21:18:21.473Z,1736371101.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:21.476Z,1736371101.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.080170 m, bearing: 184.264756 deg, approach rate: 0.000000 m/s, LOS rate: -0.060113 deg/s, cmd heading: 271.902645 deg, new cmd heading: 271.815997 deg. 2025-01-08T21:18:21.477Z,1736371101.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744084 target range: 497.500000 and range: 497.50 m. 2025-01-08T21:18:21.500Z,1736371101.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:21.752Z,1736371101.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:21.848Z,1736371101.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:21.866Z,1736371101.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:21.923Z,1736371101.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:21.930Z,1736371101.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.089661 m, bearing: 184.241472 deg, approach rate: 0.020954 m/s, LOS rate: -0.051406 deg/s, cmd heading: 271.815984 deg, new cmd heading: 271.746133 deg. 2025-01-08T21:18:21.935Z,1736371101.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.742865 target range: 497.500000 and range: 497.50 m. 2025-01-08T21:18:22.004Z,1736371102.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:22.004Z,1736371102.004 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:22.004Z,1736371102.004 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:22.005Z,1736371102.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:22.256Z,1736371102.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:22.256Z,1736371102.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206121 2025-01-08T21:18:22.418Z,1736371102.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:22.427Z,1736371102.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:22.430Z,1736371102.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.102203 m, bearing: 184.208762 deg, approach rate: 0.024846 m/s, LOS rate: -0.064793 deg/s, cmd heading: 271.746125 deg, new cmd heading: 271.647999 deg. 2025-01-08T21:18:22.432Z,1736371102.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.741152 target range: 497.500000 and range: 497.50 m. 2025-01-08T21:18:22.508Z,1736371102.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:22.509Z,1736371102.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458286 2025-01-08T21:18:22.760Z,1736371102.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:22.760Z,1736371102.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710096 2025-01-08T21:18:22.812Z,1736371102.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:22.836Z,1736371102.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:22.843Z,1736371102.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.111267 m, bearing: 184.186205 deg, approach rate: 0.022126 m/s, LOS rate: -0.055064 deg/s, cmd heading: 271.647989 deg, new cmd heading: 271.580318 deg. 2025-01-08T21:18:22.845Z,1736371102.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.739971 target range: 497.500000 and range: 497.50 m. 2025-01-08T21:18:23.012Z,1736371103.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:23.014Z,1736371103.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963091 2025-01-08T21:18:23.241Z,1736371103.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:23.250Z,1736371103.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:23.253Z,1736371103.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.120575 m, bearing: 184.160491 deg, approach rate: 0.022515 m/s, LOS rate: -0.062197 deg/s, cmd heading: 271.580315 deg, new cmd heading: 271.503176 deg. 2025-01-08T21:18:23.254Z,1736371103.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738625 target range: 497.500000 and range: 497.50 m. 2025-01-08T21:18:23.264Z,1736371103.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:23.265Z,1736371103.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214244 2025-01-08T21:18:23.516Z,1736371103.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:23.516Z,1736371103.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466188 2025-01-08T21:18:23.625Z,1736371103.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:23.636Z,1736371103.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:23.639Z,1736371103.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.129211 m, bearing: 184.137481 deg, approach rate: 0.022356 m/s, LOS rate: -0.059562 deg/s, cmd heading: 271.503189 deg, new cmd heading: 271.434158 deg. 2025-01-08T21:18:23.640Z,1736371103.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.737420 target range: 497.500000 and range: 497.50 m. 2025-01-08T21:18:23.768Z,1736371103.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:23.768Z,1736371103.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718107 2025-01-08T21:18:24.020Z,1736371104.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:24.020Z,1736371104.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970183 2025-01-08T21:18:24.080Z,1736371104.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:24.089Z,1736371104.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:24.091Z,1736371104.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:24.094Z,1736371104.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.138306 m, bearing: 184.107967 deg, approach rate: 0.020003 m/s, LOS rate: -0.064916 deg/s, cmd heading: 271.434149 deg, new cmd heading: 271.345609 deg. 2025-01-08T21:18:24.094Z,1736371104.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.735874 target range: 497.500000 and range: 497.50 m. 2025-01-08T21:18:24.272Z,1736371104.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:24.272Z,1736371104.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222146 2025-01-08T21:18:24.426Z,1736371104.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:24.435Z,1736371104.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:24.438Z,1736371104.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.145477 m, bearing: 184.085497 deg, approach rate: 0.020827 m/s, LOS rate: -0.065253 deg/s, cmd heading: 271.345603 deg, new cmd heading: 271.278194 deg. 2025-01-08T21:18:24.439Z,1736371104.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.734698 target range: 497.500000 and range: 497.50 m. 2025-01-08T21:18:24.526Z,1736371104.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:24.526Z,1736371104.526 [DAT](INFO): DAT read: Rx Time:21:18:23.3368 2025-01-08T21:18:24.527Z,1736371104.527 [DAT](INFO): Rx dataTimestamp_ set to:1736371104.526675 2025-01-08T21:18:24.528Z,1736371104.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477653 2025-01-08T21:18:24.780Z,1736371104.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:24.781Z,1736371104.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.730422 2025-01-08T21:18:24.838Z,1736371104.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:24.860Z,1736371104.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:24.869Z,1736371104.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.154022 m, bearing: 184.058749 deg, approach rate: 0.020099 m/s, LOS rate: -0.062913 deg/s, cmd heading: 271.278202 deg, new cmd heading: 271.197960 deg. 2025-01-08T21:18:24.870Z,1736371104.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733297 target range: 497.500000 and range: 497.50 m. 2025-01-08T21:18:25.033Z,1736371105.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:25.035Z,1736371105.035 [DAT](INFO): DAT read: Range 10 to 50 : 497.2 m (Round-trip 663.0 ms) speed 0.4 m/s 2025-01-08T21:18:25.037Z,1736371105.037 [DAT](INFO): DAT read: user:1650> 2025-01-08T21:18:25.038Z,1736371105.038 [DAT](INFO): DAT read: Tx time:21:18:24.4197 2025-01-08T21:18:25.038Z,1736371105.038 [DAT](INFO): Ping request sent. 2025-01-08T21:18:25.038Z,1736371105.038 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:25.039Z,1736371105.039 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:18:25.040Z,1736371105.040 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:25.041Z,1736371105.041 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:25.284Z,1736371105.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:25.285Z,1736371105.285 [DAT](INFO): DAT read: TxSync time:21:18:24.4189 2025-01-08T21:18:25.289Z,1736371105.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:25.323Z,1736371105.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 497.200012 m, deltaT: 4.040659 s, deltaX: -0.299988 m, approachRate: -0.074242 m/s, rangeRepo size: 4 2025-01-08T21:18:25.324Z,1736371105.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:25.326Z,1736371105.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.163086 m, bearing: 184.025624 deg, approach rate: 0.019788 m/s, LOS rate: -0.072317 deg/s, cmd heading: 271.197961 deg, new cmd heading: 271.098589 deg. 2025-01-08T21:18:25.332Z,1736371105.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731563 target range: 497.500000 and range: 497.20 m. 2025-01-08T21:18:25.536Z,1736371105.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:25.676Z,1736371105.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:25.686Z,1736371105.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:25.689Z,1736371105.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.170746 m, bearing: 183.997298 deg, approach rate: 0.020843 m/s, LOS rate: -0.077073 deg/s, cmd heading: 271.098596 deg, new cmd heading: 271.013620 deg. 2025-01-08T21:18:25.690Z,1736371105.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730080 target range: 497.500000 and range: 497.20 m. 2025-01-08T21:18:25.789Z,1736371105.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:26.040Z,1736371106.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:26.120Z,1736371106.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:26.127Z,1736371106.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:26.129Z,1736371106.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:26.138Z,1736371106.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.180573 m, bearing: 183.960407 deg, approach rate: 0.022182 m/s, LOS rate: -0.083273 deg/s, cmd heading: 271.013628 deg, new cmd heading: 270.902956 deg. 2025-01-08T21:18:26.139Z,1736371106.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728148 target range: 497.500000 and range: 497.20 m. 2025-01-08T21:18:26.292Z,1736371106.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:26.292Z,1736371106.292 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:26.292Z,1736371106.292 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:26.292Z,1736371106.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:26.471Z,1736371106.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:26.493Z,1736371106.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:26.496Z,1736371106.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.186523 m, bearing: 183.931368 deg, approach rate: 0.016363 m/s, LOS rate: -0.079846 deg/s, cmd heading: 270.902952 deg, new cmd heading: 270.815835 deg. 2025-01-08T21:18:26.497Z,1736371106.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.726628 target range: 497.500000 and range: 497.20 m. 2025-01-08T21:18:26.545Z,1736371106.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:26.546Z,1736371106.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507714 2025-01-08T21:18:26.797Z,1736371106.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:26.797Z,1736371106.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759168 2025-01-08T21:18:26.883Z,1736371106.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:26.899Z,1736371106.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:26.902Z,1736371106.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.192932 m, bearing: 183.897219 deg, approach rate: 0.015759 m/s, LOS rate: -0.083971 deg/s, cmd heading: 270.815826 deg, new cmd heading: 270.713383 deg. 2025-01-08T21:18:26.903Z,1736371106.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724840 target range: 497.500000 and range: 497.20 m. 2025-01-08T21:18:27.048Z,1736371107.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:27.049Z,1736371107.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010563 2025-01-08T21:18:27.248Z,1736371107.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:18:27.299Z,1736371107.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:27.300Z,1736371107.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:27.300Z,1736371107.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262245 2025-01-08T21:18:27.309Z,1736371107.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:27.313Z,1736371107.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.199005 m, bearing: 183.859309 deg, approach rate: 0.014806 m/s, LOS rate: -0.092425 deg/s, cmd heading: 270.713373 deg, new cmd heading: 270.599644 deg. 2025-01-08T21:18:27.314Z,1736371107.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722855 target range: 497.500000 and range: 497.20 m. 2025-01-08T21:18:27.552Z,1736371107.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:27.553Z,1736371107.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514330 2025-01-08T21:18:27.716Z,1736371107.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:27.730Z,1736371107.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:27.733Z,1736371107.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.204041 m, bearing: 183.821327 deg, approach rate: 0.011979 m/s, LOS rate: -0.090362 deg/s, cmd heading: 270.599637 deg, new cmd heading: 270.485690 deg. 2025-01-08T21:18:27.734Z,1736371107.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720866 target range: 497.500000 and range: 497.20 m. 2025-01-08T21:18:27.804Z,1736371107.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:27.805Z,1736371107.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767209 2025-01-08T21:18:28.056Z,1736371108.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:28.056Z,1736371108.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018292 2025-01-08T21:18:28.115Z,1736371108.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:28.148Z,1736371108.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:28.150Z,1736371108.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:28.157Z,1736371108.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.207245 m, bearing: 183.782887 deg, approach rate: 0.007620 m/s, LOS rate: -0.091412 deg/s, cmd heading: 270.485682 deg, new cmd heading: 270.370363 deg. 2025-01-08T21:18:28.158Z,1736371108.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.718853 target range: 497.500000 and range: 497.20 m. 2025-01-08T21:18:28.253Z,1736371108.253 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:18:28.308Z,1736371108.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:28.309Z,1736371108.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270570 2025-01-08T21:18:28.518Z,1736371108.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:28.526Z,1736371108.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:28.530Z,1736371108.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.210724 m, bearing: 183.744052 deg, approach rate: 0.009253 m/s, LOS rate: -0.103283 deg/s, cmd heading: 270.370361 deg, new cmd heading: 270.253857 deg. 2025-01-08T21:18:28.531Z,1736371108.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716820 target range: 497.500000 and range: 497.20 m. 2025-01-08T21:18:28.560Z,1736371108.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:28.560Z,1736371108.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522105 2025-01-08T21:18:28.813Z,1736371108.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:28.813Z,1736371108.813 [DAT](INFO): DAT read: Rx Time:21:18:27.4823 2025-01-08T21:18:28.814Z,1736371108.814 [DAT](INFO): Rx dataTimestamp_ set to:1736371108.813587 2025-01-08T21:18:28.814Z,1736371108.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776205 2025-01-08T21:18:28.924Z,1736371108.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:28.933Z,1736371108.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.50 m. 2025-01-08T21:18:28.936Z,1736371108.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 497.500000 m, nav range: 484.214447 m, bearing: 183.704944 deg, approach rate: 0.009151 m/s, LOS rate: -0.096117 deg/s, cmd heading: 270.253865 deg, new cmd heading: 270.136542 deg. 2025-01-08T21:18:28.937Z,1736371108.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714772 target range: 497.500000 and range: 497.20 m. 2025-01-08T21:18:29.066Z,1736371109.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:29.067Z,1736371109.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028645 2025-01-08T21:18:29.320Z,1736371109.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:29.326Z,1736371109.326 [DAT](INFO): DAT read: 21:18:27.4823 LVL= 23760, 32753, 18242, 32755, AGC= 64, IDX= 267, 0.04,-0.997,-2.000,-0.555,-1.272, PHS= 0.362,-0.682, 0.714, RAW= 164.0, -6.3, CAL= 167.4, -13.5, ROT= 342.6, 13.5 2025-01-08T21:18:29.328Z,1736371109.328 [DAT](INFO): got valid direction response: 21:18:27.4823 LVL= 23760, 32753, 18242, 32755, AGC= 64, IDX= 267, 0.04,-0.997,-2.000,-0.555,-1.272, PHS= 0.362,-0.682, 0.714, RAW= 164.0, -6.3, CAL= 167.4, -13.5, ROT= 342.6, 13.5 2025-01-08T21:18:29.329Z,1736371109.329 [DAT](INFO): DAT read: Bearing 342.6, 13.5 (Local) 2025-01-08T21:18:29.330Z,1736371109.330 [DAT](INFO): Local bearing/azimuth received: Bearing 342.6, 13.5 (Local) 2025-01-08T21:18:29.331Z,1736371109.331 [DAT](INFO): DAT read: Range 10 to 50 : 493.8 m (Round-trip 658.4 ms) speed 0.9 m/s 2025-01-08T21:18:29.332Z,1736371109.332 [DAT](INFO): DAT read: user:1651> 2025-01-08T21:18:29.333Z,1736371109.333 [DAT](INFO): DAT read: Tx time:21:18:28.5697 2025-01-08T21:18:29.333Z,1736371109.333 [DAT](INFO): Ping request sent. 2025-01-08T21:18:29.333Z,1736371109.333 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:29.333Z,1736371109.333 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:29.334Z,1736371109.334 [DAT](INFO): direction in FSK: [0.013638,-0.945061,0.326610] 2025-01-08T21:18:29.334Z,1736371109.334 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:29.335Z,1736371109.335 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:29.338Z,1736371109.338 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:29.338Z,1736371109.338 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:29.349Z,1736371109.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:29.385Z,1736371109.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 493.799988 m, deltaT: 4.287148 s, deltaX: -3.400024 m, approachRate: -0.793074 m/s, rangeRepo size: 4 2025-01-08T21:18:29.396Z,1736371109.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 493.799988 m, bearing: 178.709236 deg, lat: 36.900442 deg, lon: -122.114078 deg, deltaT: 8.327807 s, deltaX: -3.700012 m, approachRate: -0.444296 m/s, posRepo size: 4 2025-01-08T21:18:29.396Z,1736371109.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:18:29.399Z,1736371109.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 482.870270 m, bearing: 183.343955 deg, approach rate: 0.000000 m/s, LOS rate: -0.096117 deg/s, cmd heading: 270.136550 deg, new cmd heading: 270.006348 deg. 2025-01-08T21:18:29.404Z,1736371109.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712500 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:18:29.572Z,1736371109.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:29.573Z,1736371109.573 [DAT](INFO): DAT read: TxSync time:21:18:28.5689 2025-01-08T21:18:29.733Z,1736371109.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:29.755Z,1736371109.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:18:29.762Z,1736371109.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 482.862793 m, bearing: 183.306487 deg, approach rate: -0.020212 m/s, LOS rate: -0.101288 deg/s, cmd heading: 270.006339 deg, new cmd heading: 269.893932 deg. 2025-01-08T21:18:29.768Z,1736371109.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710538 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:18:29.825Z,1736371109.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:30.076Z,1736371110.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:30.195Z,1736371110.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:30.239Z,1736371110.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:30.249Z,1736371110.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:18:30.271Z,1736371110.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 482.851868 m, bearing: 183.263695 deg, approach rate: -0.022090 m/s, LOS rate: -0.086520 deg/s, cmd heading: 269.893942 deg, new cmd heading: 269.765565 deg. 2025-01-08T21:18:30.272Z,1736371110.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708297 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:18:30.329Z,1736371110.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:30.330Z,1736371110.330 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:30.330Z,1736371110.330 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:30.330Z,1736371110.330 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:30.560Z,1736371110.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:30.569Z,1736371110.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:18:30.572Z,1736371110.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 482.841797 m, bearing: 183.229879 deg, approach rate: -0.031512 m/s, LOS rate: -0.105816 deg/s, cmd heading: 269.765561 deg, new cmd heading: 269.664110 deg. 2025-01-08T21:18:30.573Z,1736371110.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706527 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:18:30.580Z,1736371110.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:30.581Z,1736371110.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247479 2025-01-08T21:18:30.832Z,1736371110.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:30.832Z,1736371110.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499410 2025-01-08T21:18:30.969Z,1736371110.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:30.977Z,1736371110.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:18:30.981Z,1736371110.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 482.829926 m, bearing: 183.191904 deg, approach rate: -0.029069 m/s, LOS rate: -0.092990 deg/s, cmd heading: 269.664119 deg, new cmd heading: 269.550191 deg. 2025-01-08T21:18:30.982Z,1736371110.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704538 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:18:31.084Z,1736371111.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:31.085Z,1736371111.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751697 2025-01-08T21:18:31.336Z,1736371111.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:31.336Z,1736371111.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003256 2025-01-08T21:18:31.417Z,1736371111.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:31.426Z,1736371111.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:18:31.445Z,1736371111.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 482.812256 m, bearing: 183.154913 deg, approach rate: -0.039378 m/s, LOS rate: -0.082440 deg/s, cmd heading: 269.550192 deg, new cmd heading: 269.439215 deg. 2025-01-08T21:18:31.446Z,1736371111.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702601 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:18:31.588Z,1736371111.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:31.588Z,1736371111.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255368 2025-01-08T21:18:31.780Z,1736371111.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:31.789Z,1736371111.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:18:31.792Z,1736371111.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 482.798126 m, bearing: 183.125019 deg, approach rate: -0.038892 m/s, LOS rate: -0.082284 deg/s, cmd heading: 269.439215 deg, new cmd heading: 269.349532 deg. 2025-01-08T21:18:31.793Z,1736371111.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701036 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:18:31.841Z,1736371111.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:31.842Z,1736371111.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508794 2025-01-08T21:18:32.092Z,1736371112.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:32.092Z,1736371112.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759304 2025-01-08T21:18:32.206Z,1736371112.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:32.215Z,1736371112.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:18:32.217Z,1736371112.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 482.777832 m, bearing: 183.093254 deg, approach rate: -0.047704 m/s, LOS rate: -0.074672 deg/s, cmd heading: 269.349521 deg, new cmd heading: 269.254220 deg. 2025-01-08T21:18:32.218Z,1736371112.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699373 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:18:32.344Z,1736371112.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:32.345Z,1736371112.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011891 2025-01-08T21:18:32.589Z,1736371112.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:32.596Z,1736371112.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:32.597Z,1736371112.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263542 2025-01-08T21:18:32.598Z,1736371112.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:32.600Z,1736371112.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:18:32.603Z,1736371112.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 482.759705 m, bearing: 183.064693 deg, approach rate: -0.046976 m/s, LOS rate: -0.074017 deg/s, cmd heading: 269.254226 deg, new cmd heading: 269.168540 deg. 2025-01-08T21:18:32.604Z,1736371112.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697877 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:18:32.849Z,1736371112.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:32.849Z,1736371112.849 [DAT](INFO): DAT read: Rx Time:21:18:31.6271 2025-01-08T21:18:32.850Z,1736371112.850 [DAT](INFO): Rx dataTimestamp_ set to:1736371112.849502 2025-01-08T21:18:32.850Z,1736371112.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517292 2025-01-08T21:18:32.981Z,1736371112.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:32.989Z,1736371112.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:18:32.992Z,1736371112.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 482.741943 m, bearing: 183.035439 deg, approach rate: -0.045674 m/s, LOS rate: -0.075230 deg/s, cmd heading: 269.168548 deg, new cmd heading: 269.080783 deg. 2025-01-08T21:18:32.993Z,1736371112.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696346 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:18:33.102Z,1736371113.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:33.104Z,1736371113.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770583 2025-01-08T21:18:33.132Z,1736371113.132 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:18:33.352Z,1736371113.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:33.364Z,1736371113.364 [DAT](INFO): DAT read: 21:18:31.6271 LVL= 24240, 24481, 18738, 29683, AGC= 72, IDX= 382,-0.44,-0.994,-2.466,-0.825,-1.613, PHS= 0.708,-0.806, 0.785, RAW= 152.5, -8.9, CAL= 158.3, -16.6, ROT= 351.7, 16.6 2025-01-08T21:18:33.365Z,1736371113.365 [DAT](INFO): got valid direction response: 21:18:31.6271 LVL= 24240, 24481, 18738, 29683, AGC= 72, IDX= 382,-0.44,-0.994,-2.466,-0.825,-1.613, PHS= 0.708,-0.806, 0.785, RAW= 152.5, -8.9, CAL= 158.3, -16.6, ROT= 351.7, 16.6 2025-01-08T21:18:33.366Z,1736371113.366 [DAT](INFO): DAT read: Bearing 351.7, 16.6 (Local) 2025-01-08T21:18:33.366Z,1736371113.366 [DAT](INFO): Local bearing/azimuth received: Bearing 351.7, 16.6 (Local) 2025-01-08T21:18:33.377Z,1736371113.377 [DAT](INFO): DAT read: Range 10 to 50 : 489.9 m (Round-trip 653.3 ms) speed 0.3 m/s 2025-01-08T21:18:33.377Z,1736371113.377 [DAT](INFO): DAT read: user:1652> 2025-01-08T21:18:33.379Z,1736371113.379 [DAT](INFO): DAT read: Tx time:21:18:32.7197 2025-01-08T21:18:33.379Z,1736371113.379 [DAT](INFO): Ping request sent. 2025-01-08T21:18:33.379Z,1736371113.379 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:33.380Z,1736371113.380 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:33.381Z,1736371113.381 [DAT](INFO): direction in FSK: [0.054684,-0.854829,0.516021] 2025-01-08T21:18:33.381Z,1736371113.381 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:33.381Z,1736371113.381 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:33.388Z,1736371113.388 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:33.388Z,1736371113.388 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:33.467Z,1736371113.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:33.505Z,1736371113.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 489.899994 m, deltaT: 4.031954 s, deltaX: -3.899994 m, approachRate: -0.967271 m/s, rangeRepo size: 4 2025-01-08T21:18:33.513Z,1736371113.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 489.899994 m, bearing: 178.607077 deg, lat: 36.900539 deg, lon: -122.114058 deg, deltaT: 4.031954 s, deltaX: -3.899994 m, approachRate: -0.967271 m/s, posRepo size: 4 2025-01-08T21:18:33.515Z,1736371113.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:18:33.522Z,1736371113.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 471.884369 m, bearing: 182.859644 deg, approach rate: 0.000000 m/s, LOS rate: -0.075230 deg/s, cmd heading: 269.080794 deg, new cmd heading: 268.964466 deg. 2025-01-08T21:18:33.528Z,1736371113.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694315 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:18:33.604Z,1736371113.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:33.606Z,1736371113.606 [DAT](INFO): DAT read: TxSync time:21:18:32.7189 2025-01-08T21:18:33.822Z,1736371113.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:33.843Z,1736371113.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:18:33.847Z,1736371113.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 471.870636 m, bearing: 182.836610 deg, approach rate: -0.041073 m/s, LOS rate: -0.068893 deg/s, cmd heading: 268.964462 deg, new cmd heading: 268.895358 deg. 2025-01-08T21:18:33.852Z,1736371113.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693110 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:18:33.856Z,1736371113.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:34.108Z,1736371114.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:34.253Z,1736371114.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:34.262Z,1736371114.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:18:34.268Z,1736371114.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 471.850342 m, bearing: 182.812017 deg, approach rate: -0.048002 m/s, LOS rate: -0.058172 deg/s, cmd heading: 268.895368 deg, new cmd heading: 268.821586 deg. 2025-01-08T21:18:34.270Z,1736371114.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691822 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:18:34.360Z,1736371114.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:34.612Z,1736371114.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:34.621Z,1736371114.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:34.629Z,1736371114.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:34.650Z,1736371114.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:18:34.665Z,1736371114.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 471.833588 m, bearing: 182.791058 deg, approach rate: -0.045378 m/s, LOS rate: -0.056769 deg/s, cmd heading: 268.821574 deg, new cmd heading: 268.758695 deg. 2025-01-08T21:18:34.666Z,1736371114.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690724 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:18:34.866Z,1736371114.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:34.867Z,1736371114.867 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:34.867Z,1736371114.867 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:34.867Z,1736371114.867 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:35.040Z,1736371115.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:35.058Z,1736371115.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:18:35.074Z,1736371115.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 471.815491 m, bearing: 182.767179 deg, approach rate: -0.042394 m/s, LOS rate: -0.055944 deg/s, cmd heading: 268.758682 deg, new cmd heading: 268.687040 deg. 2025-01-08T21:18:35.084Z,1736371115.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689474 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:18:35.118Z,1736371115.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:35.120Z,1736371115.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740176 2025-01-08T21:18:35.368Z,1736371115.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:35.368Z,1736371115.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988946 2025-01-08T21:18:35.466Z,1736371115.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:35.474Z,1736371115.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:18:35.477Z,1736371115.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 471.801941 m, bearing: 182.744927 deg, approach rate: -0.032569 m/s, LOS rate: -0.053488 deg/s, cmd heading: 268.687047 deg, new cmd heading: 268.620290 deg. 2025-01-08T21:18:35.478Z,1736371115.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688309 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:18:35.624Z,1736371115.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:35.624Z,1736371115.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245074 2025-01-08T21:18:35.850Z,1736371115.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:35.869Z,1736371115.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:18:35.876Z,1736371115.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:35.878Z,1736371115.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498466 2025-01-08T21:18:35.899Z,1736371115.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 471.790375 m, bearing: 182.724814 deg, approach rate: -0.029287 m/s, LOS rate: -0.050930 deg/s, cmd heading: 268.620302 deg, new cmd heading: 268.559962 deg. 2025-01-08T21:18:35.900Z,1736371115.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687255 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:18:36.130Z,1736371116.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:36.132Z,1736371116.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752465 2025-01-08T21:18:36.334Z,1736371116.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:36.343Z,1736371116.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:18:36.370Z,1736371116.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 471.786499 m, bearing: 182.698479 deg, approach rate: -0.008182 m/s, LOS rate: -0.055593 deg/s, cmd heading: 268.559951 deg, new cmd heading: 268.480947 deg. 2025-01-08T21:18:36.371Z,1736371116.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685876 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:18:36.380Z,1736371116.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:36.381Z,1736371116.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001235 2025-01-08T21:18:36.632Z,1736371116.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:36.633Z,1736371116.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253165 2025-01-08T21:18:36.710Z,1736371116.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:36.718Z,1736371116.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:36.720Z,1736371116.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:18:36.722Z,1736371116.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 471.783936 m, bearing: 182.678030 deg, approach rate: -0.006795 m/s, LOS rate: -0.054206 deg/s, cmd heading: 268.480939 deg, new cmd heading: 268.419590 deg. 2025-01-08T21:18:36.736Z,1736371116.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684805 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:18:36.884Z,1736371116.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:36.885Z,1736371116.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506067 2025-01-08T21:18:37.137Z,1736371117.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:37.140Z,1736371117.140 [DAT](INFO): DAT read: Rx Time:21:18:35.7760 2025-01-08T21:18:37.141Z,1736371117.141 [DAT](INFO): Rx dataTimestamp_ set to:1736371117.140430 2025-01-08T21:18:37.143Z,1736371117.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763332 2025-01-08T21:18:37.243Z,1736371117.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:37.252Z,1736371117.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:18:37.254Z,1736371117.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 471.793335 m, bearing: 182.645389 deg, approach rate: 0.017683 m/s, LOS rate: -0.061406 deg/s, cmd heading: 268.419577 deg, new cmd heading: 268.321657 deg. 2025-01-08T21:18:37.255Z,1736371117.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683096 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:18:37.388Z,1736371117.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:37.388Z,1736371117.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.008954 2025-01-08T21:18:37.640Z,1736371117.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:37.664Z,1736371117.664 [DAT](INFO): DAT read: 21:18:35.7760 LVL= 24784, 32753, 18114, 32755, AGC= 70, IDX= 433, 0.27,-2.356, 2.848,-2.037,-2.852, PHS= 0.585,-0.535, 0.812, RAW= 159.1, -13.7, CAL= 165.1, -19.9, ROT= 344.9, 19.9 2025-01-08T21:18:37.693Z,1736371117.693 [DAT](INFO): got valid direction response: 21:18:35.7760 LVL= 24784, 32753, 18114, 32755, AGC= 70, IDX= 433, 0.27,-2.356, 2.848,-2.037,-2.852, PHS= 0.585,-0.535, 0.812, RAW= 159.1, -13.7, CAL= 165.1, -19.9, ROT= 344.9, 19.9 2025-01-08T21:18:37.704Z,1736371117.704 [DAT](INFO): DAT read: Bearing 344.9, 19.9 (Local) 2025-01-08T21:18:37.704Z,1736371117.704 [DAT](INFO): Local bearing/azimuth received: Bearing 344.9, 19.9 (Local) 2025-01-08T21:18:37.706Z,1736371117.706 [DAT](INFO): DAT read: Range 10 to 50 : 489.0 m (Round-trip 652.1 ms) speed 0.4 m/s 2025-01-08T21:18:37.707Z,1736371117.707 [DAT](INFO): DAT read: user:1653> 2025-01-08T21:18:37.720Z,1736371117.720 [DAT](INFO): DAT read: Tx time:21:18:36.8698 2025-01-08T21:18:37.720Z,1736371117.720 [DAT](INFO): Ping request sent. 2025-01-08T21:18:37.720Z,1736371117.720 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:37.721Z,1736371117.721 [DAT](INFO): DAT read: TxSync time:21:18:36.8690 2025-01-08T21:18:37.721Z,1736371117.721 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:37.722Z,1736371117.722 [DAT](INFO): direction in FSK: [0.153438,-0.899133,0.409899] 2025-01-08T21:18:37.722Z,1736371117.722 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:37.723Z,1736371117.723 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:37.739Z,1736371117.739 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:37.740Z,1736371117.740 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:37.750Z,1736371117.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:37.791Z,1736371117.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 489.000000 m, deltaT: 4.288290 s, deltaX: -0.899994 m, approachRate: -0.209872 m/s, rangeRepo size: 4 2025-01-08T21:18:37.805Z,1736371117.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 489.000000 m, bearing: 186.966045 deg, lat: 36.900580 deg, lon: -122.114058 deg, deltaT: 4.288290 s, deltaX: -0.899994 m, approachRate: -0.209872 m/s, posRepo size: 4 2025-01-08T21:18:37.806Z,1736371117.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:18:37.813Z,1736371117.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 467.242889 m, bearing: 182.639847 deg, approach rate: 0.000000 m/s, LOS rate: -0.061406 deg/s, cmd heading: 268.321659 deg, new cmd heading: 268.222451 deg. 2025-01-08T21:18:37.814Z,1736371117.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681365 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:18:37.893Z,1736371117.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:38.090Z,1736371118.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:38.146Z,1736371118.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:38.190Z,1736371118.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:18:38.197Z,1736371118.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 467.247955 m, bearing: 182.618804 deg, approach rate: 0.012664 m/s, LOS rate: -0.052604 deg/s, cmd heading: 268.222458 deg, new cmd heading: 268.159328 deg. 2025-01-08T21:18:38.198Z,1736371118.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680263 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:18:38.397Z,1736371118.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:38.520Z,1736371118.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:38.539Z,1736371118.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:18:38.542Z,1736371118.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 467.257935 m, bearing: 182.588329 deg, approach rate: 0.028924 m/s, LOS rate: -0.088328 deg/s, cmd heading: 268.159319 deg, new cmd heading: 268.067896 deg. 2025-01-08T21:18:38.543Z,1736371118.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678668 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:18:38.648Z,1736371118.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:38.889Z,1736371118.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:38.897Z,1736371118.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:38.900Z,1736371118.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:38.900Z,1736371118.900 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:38.900Z,1736371118.900 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:38.901Z,1736371118.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:38.902Z,1736371118.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:18:38.906Z,1736371118.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 467.265350 m, bearing: 182.562060 deg, approach rate: 0.020367 m/s, LOS rate: -0.072145 deg/s, cmd heading: 268.067904 deg, new cmd heading: 267.989099 deg. 2025-01-08T21:18:38.907Z,1736371118.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677292 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:18:39.153Z,1736371119.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:39.156Z,1736371119.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.435152 2025-01-08T21:18:39.335Z,1736371119.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:39.352Z,1736371119.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:18:39.357Z,1736371119.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 467.278320 m, bearing: 182.526064 deg, approach rate: 0.029220 m/s, LOS rate: -0.081092 deg/s, cmd heading: 267.989111 deg, new cmd heading: 267.881126 deg. 2025-01-08T21:18:39.358Z,1736371119.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675408 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:18:39.404Z,1736371119.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:39.406Z,1736371119.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.685712 2025-01-08T21:18:39.656Z,1736371119.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:39.657Z,1736371119.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.937125 2025-01-08T21:18:39.704Z,1736371119.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:39.729Z,1736371119.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:18:39.740Z,1736371119.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 467.288177 m, bearing: 182.496254 deg, approach rate: 0.025522 m/s, LOS rate: -0.077181 deg/s, cmd heading: 267.881139 deg, new cmd heading: 267.791712 deg. 2025-01-08T21:18:39.741Z,1736371119.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673847 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:18:39.908Z,1736371119.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:39.908Z,1736371119.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.188149 2025-01-08T21:18:40.101Z,1736371120.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:40.114Z,1736371120.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:18:40.118Z,1736371120.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 467.297791 m, bearing: 182.464107 deg, approach rate: 0.024960 m/s, LOS rate: -0.083467 deg/s, cmd heading: 267.791719 deg, new cmd heading: 267.695280 deg. 2025-01-08T21:18:40.119Z,1736371120.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672164 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:18:40.162Z,1736371120.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:40.164Z,1736371120.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443849 2025-01-08T21:18:40.412Z,1736371120.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:40.412Z,1736371120.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.692136 2025-01-08T21:18:40.525Z,1736371120.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:40.555Z,1736371120.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:18:40.562Z,1736371120.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 467.307678 m, bearing: 182.426089 deg, approach rate: 0.022455 m/s, LOS rate: -0.086337 deg/s, cmd heading: 267.695276 deg, new cmd heading: 267.581224 deg. 2025-01-08T21:18:40.568Z,1736371120.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670173 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:18:40.664Z,1736371120.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:40.665Z,1736371120.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.944851 2025-01-08T21:18:40.916Z,1736371120.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:40.916Z,1736371120.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196323 2025-01-08T21:18:40.983Z,1736371120.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:40.997Z,1736371120.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:40.999Z,1736371120.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:18:41.002Z,1736371121.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 467.318604 m, bearing: 182.385103 deg, approach rate: 0.024595 m/s, LOS rate: -0.092265 deg/s, cmd heading: 267.581212 deg, new cmd heading: 267.458256 deg. 2025-01-08T21:18:41.003Z,1736371121.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668027 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:18:41.169Z,1736371121.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:41.172Z,1736371121.172 [DAT](INFO): DAT read: Rx Time:21:18:39.9221 2025-01-08T21:18:41.173Z,1736371121.173 [DAT](INFO): Rx dataTimestamp_ set to:1736371121.172722 2025-01-08T21:18:41.176Z,1736371121.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.454833 2025-01-08T21:18:41.391Z,1736371121.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:41.420Z,1736371121.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:41.420Z,1736371121.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.700269 2025-01-08T21:18:41.424Z,1736371121.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:18:41.427Z,1736371121.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 467.320984 m, bearing: 182.345421 deg, approach rate: 0.005595 m/s, LOS rate: -0.093264 deg/s, cmd heading: 267.458269 deg, new cmd heading: 267.339225 deg. 2025-01-08T21:18:41.432Z,1736371121.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665950 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:18:41.677Z,1736371121.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:41.686Z,1736371121.686 [DAT](INFO): DAT read: 21:18:39.9221 LVL= 26016, 32369, 22130, 32755, AGC= 66, IDX= 393, 0.10,-2.883, 2.169,-2.769, 2.787, PHS= 0.701,-0.571, 0.724, RAW= 150.9, -13.2, CAL= 157.8, -20.7, ROT= 352.2, 20.7 2025-01-08T21:18:41.687Z,1736371121.687 [DAT](INFO): got valid direction response: 21:18:39.9221 LVL= 26016, 32369, 22130, 32755, AGC= 66, IDX= 393, 0.10,-2.883, 2.169,-2.769, 2.787, PHS= 0.701,-0.571, 0.724, RAW= 150.9, -13.2, CAL= 157.8, -20.7, ROT= 352.2, 20.7 2025-01-08T21:18:41.696Z,1736371121.696 [DAT](INFO): DAT read: Bearing 352.2, 20.7 (Local) 2025-01-08T21:18:41.697Z,1736371121.697 [DAT](INFO): Local bearing/azimuth received: Bearing 352.2, 20.7 (Local) 2025-01-08T21:18:41.698Z,1736371121.698 [DAT](INFO): DAT read: Range 10 to 50 : 486.1 m (Round-trip 648.2 ms) speed 0.8 m/s 2025-01-08T21:18:41.700Z,1736371121.700 [DAT](INFO): DAT read: user:1654> 2025-01-08T21:18:41.701Z,1736371121.701 [DAT](INFO): DAT read: Tx time:21:18:41.0198 2025-01-08T21:18:41.701Z,1736371121.701 [DAT](INFO): Ping request sent. 2025-01-08T21:18:41.701Z,1736371121.701 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:41.701Z,1736371121.701 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:41.702Z,1736371121.702 [DAT](INFO): direction in FSK: [0.139296,-0.831577,0.537658] 2025-01-08T21:18:41.703Z,1736371121.703 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:41.703Z,1736371121.703 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:41.731Z,1736371121.731 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:41.756Z,1736371121.756 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:41.872Z,1736371121.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:41.906Z,1736371121.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 486.100006 m, deltaT: 4.036964 s, deltaX: -2.899994 m, approachRate: -0.718360 m/s, rangeRepo size: 4 2025-01-08T21:18:41.913Z,1736371121.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 486.100006 m, bearing: 183.347723 deg, lat: 36.900626 deg, lon: -122.114132 deg, deltaT: 4.036964 s, deltaX: -2.899994 m, approachRate: -0.718360 m/s, posRepo size: 4 2025-01-08T21:18:41.914Z,1736371121.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:18:41.921Z,1736371121.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 462.572052 m, bearing: 183.136363 deg, approach rate: 0.000000 m/s, LOS rate: -0.093264 deg/s, cmd heading: 267.339232 deg, new cmd heading: 267.204555 deg. 2025-01-08T21:18:41.921Z,1736371121.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663599 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:18:41.928Z,1736371121.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:41.929Z,1736371121.929 [DAT](INFO): DAT read: TxSync time:21:18:41.0190 2025-01-08T21:18:42.182Z,1736371122.182 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:42.291Z,1736371122.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:42.302Z,1736371122.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:18:42.305Z,1736371122.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 462.564026 m, bearing: 183.096569 deg, approach rate: -0.020235 m/s, LOS rate: -0.100326 deg/s, cmd heading: 267.204568 deg, new cmd heading: 267.085185 deg. 2025-01-08T21:18:42.306Z,1736371122.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661516 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:18:42.432Z,1736371122.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:42.685Z,1736371122.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:42.702Z,1736371122.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:42.740Z,1736371122.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:18:42.742Z,1736371122.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 462.555756 m, bearing: 183.054345 deg, approach rate: -0.019108 m/s, LOS rate: -0.097558 deg/s, cmd heading: 267.085176 deg, new cmd heading: 266.958503 deg. 2025-01-08T21:18:42.744Z,1736371122.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659305 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:18:42.936Z,1736371122.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:43.064Z,1736371123.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:43.075Z,1736371123.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:43.093Z,1736371123.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:18:43.097Z,1736371123.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 462.544952 m, bearing: 183.018638 deg, approach rate: -0.030203 m/s, LOS rate: -0.099830 deg/s, cmd heading: 266.958490 deg, new cmd heading: 266.851366 deg. 2025-01-08T21:18:43.098Z,1736371123.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657435 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:18:43.189Z,1736371123.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:43.198Z,1736371123.198 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:43.198Z,1736371123.198 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:43.199Z,1736371123.199 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:43.441Z,1736371123.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:43.443Z,1736371123.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741036 2025-01-08T21:18:43.515Z,1736371123.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:43.533Z,1736371123.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:18:43.540Z,1736371123.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 462.520233 m, bearing: 182.975935 deg, approach rate: -0.056165 m/s, LOS rate: -0.097030 deg/s, cmd heading: 266.851365 deg, new cmd heading: 266.723251 deg. 2025-01-08T21:18:43.541Z,1736371123.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655199 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:18:43.692Z,1736371123.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:43.692Z,1736371123.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991172 2025-01-08T21:18:43.885Z,1736371123.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:43.894Z,1736371123.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:18:43.898Z,1736371123.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 462.499695 m, bearing: 182.940071 deg, approach rate: -0.056903 m/s, LOS rate: -0.099369 deg/s, cmd heading: 266.723258 deg, new cmd heading: 266.615661 deg. 2025-01-08T21:18:43.899Z,1736371123.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653321 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:18:43.944Z,1736371123.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:43.946Z,1736371123.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244395 2025-01-08T21:18:44.203Z,1736371124.203 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:44.206Z,1736371124.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503773 2025-01-08T21:18:44.307Z,1736371124.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:44.334Z,1736371124.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:18:44.337Z,1736371124.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 462.467865 m, bearing: 182.902895 deg, approach rate: -0.072381 m/s, LOS rate: -0.084545 deg/s, cmd heading: 266.615669 deg, new cmd heading: 266.504132 deg. 2025-01-08T21:18:44.337Z,1736371124.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651374 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:18:44.452Z,1736371124.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:44.452Z,1736371124.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751145 2025-01-08T21:18:44.694Z,1736371124.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:44.704Z,1736371124.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:44.705Z,1736371124.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003382 2025-01-08T21:18:44.712Z,1736371124.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:18:44.715Z,1736371124.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 462.438538 m, bearing: 182.868798 deg, approach rate: -0.077475 m/s, LOS rate: -0.090080 deg/s, cmd heading: 266.504119 deg, new cmd heading: 266.401822 deg. 2025-01-08T21:18:44.716Z,1736371124.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649589 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:18:44.956Z,1736371124.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:44.956Z,1736371124.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255180 2025-01-08T21:18:45.098Z,1736371125.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:45.105Z,1736371125.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:45.107Z,1736371125.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:18:45.109Z,1736371125.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 462.407990 m, bearing: 182.833189 deg, approach rate: -0.077469 m/s, LOS rate: -0.090310 deg/s, cmd heading: 266.401830 deg, new cmd heading: 266.294995 deg. 2025-01-08T21:18:45.110Z,1736371125.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647725 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:18:45.208Z,1736371125.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:45.209Z,1736371125.209 [DAT](INFO): DAT read: Rx Time:21:18:44.0461 2025-01-08T21:18:45.209Z,1736371125.209 [DAT](INFO): Rx dataTimestamp_ set to:1736371125.208880 2025-01-08T21:18:45.210Z,1736371125.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508508 2025-01-08T21:18:45.460Z,1736371125.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:45.460Z,1736371125.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759185 2025-01-08T21:18:45.536Z,1736371125.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:45.554Z,1736371125.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:18:45.562Z,1736371125.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 462.367004 m, bearing: 182.799204 deg, approach rate: -0.091723 m/s, LOS rate: -0.076064 deg/s, cmd heading: 266.295006 deg, new cmd heading: 266.193041 deg. 2025-01-08T21:18:45.563Z,1736371125.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645945 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:18:45.713Z,1736371125.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:45.716Z,1736371125.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013834 2025-01-08T21:18:45.898Z,1736371125.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:45.907Z,1736371125.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:18:45.910Z,1736371125.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 462.332550 m, bearing: 182.770413 deg, approach rate: -0.097508 m/s, LOS rate: -0.081485 deg/s, cmd heading: 266.193044 deg, new cmd heading: 266.106667 deg. 2025-01-08T21:18:45.911Z,1736371125.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644437 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:18:45.965Z,1736371125.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:45.984Z,1736371125.984 [DAT](INFO): DAT read: 21:18:44.0461 LVL= 25760, 22289, 18738, 32755, AGC= 69, IDX= 285, 0.12, 2.731, 1.236, 2.884, 2.066, PHS= 0.753,-0.782, 0.816, RAW= 152.0, -10.1, CAL= 158.2, -17.7, ROT= 351.8, 17.7 2025-01-08T21:18:45.985Z,1736371125.985 [DAT](INFO): got valid direction response: 21:18:44.0461 LVL= 25760, 22289, 18738, 32755, AGC= 69, IDX= 285, 0.12, 2.731, 1.236, 2.884, 2.066, PHS= 0.753,-0.782, 0.816, RAW= 152.0, -10.1, CAL= 158.2, -17.7, ROT= 351.8, 17.7 2025-01-08T21:18:45.986Z,1736371125.986 [DAT](INFO): DAT read: Bearing 351.8, 17.7 (Local) 2025-01-08T21:18:45.987Z,1736371125.987 [DAT](INFO): Local bearing/azimuth received: Bearing 351.8, 17.7 (Local) 2025-01-08T21:18:45.998Z,1736371125.998 [DAT](INFO): DAT read: Range 10 to 50 : 466.6 m (Round-trip 622.2 ms) speed 0.4 m/s 2025-01-08T21:18:45.999Z,1736371125.999 [DAT](INFO): DAT read: user:1655> 2025-01-08T21:18:46.025Z,1736371126.025 [DAT](INFO): DAT read: Tx time:21:18:45.1698 2025-01-08T21:18:46.026Z,1736371126.026 [DAT](INFO): Ping request sent. 2025-01-08T21:18:46.026Z,1736371126.026 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:46.027Z,1736371126.027 [DAT](INFO): DAT read: TxSync time:21:18:45.1690 2025-01-08T21:18:46.033Z,1736371126.033 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:46.034Z,1736371126.034 [DAT](INFO): direction in FSK: [0.077693,-0.848798,0.522978] 2025-01-08T21:18:46.040Z,1736371126.040 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:46.040Z,1736371126.040 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:46.056Z,1736371126.056 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:46.056Z,1736371126.056 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:46.218Z,1736371126.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:46.388Z,1736371126.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:46.440Z,1736371126.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 466.600006 m, deltaT: 4.288567 s, deltaX: -19.500000 m, approachRate: -4.546973 m/s, rangeRepo size: 4 2025-01-08T21:18:46.442Z,1736371126.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 466.600006 m, bearing: 177.557815 deg, lat: 36.900740 deg, lon: -122.113680 deg, deltaT: 4.288567 s, deltaX: -19.500000 m, approachRate: -4.546973 m/s, posRepo size: 4 2025-01-08T21:18:46.443Z,1736371126.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.60 m. 2025-01-08T21:18:46.453Z,1736371126.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 466.600006 m, nav range: 449.352997 m, bearing: 177.692103 deg, approach rate: 0.000000 m/s, LOS rate: -0.081485 deg/s, cmd heading: 266.106656 deg, new cmd heading: 265.979473 deg. 2025-01-08T21:18:46.454Z,1736371126.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642218 target range: 466.600006 and range: 466.60 m. 2025-01-08T21:18:46.469Z,1736371126.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:46.720Z,1736371126.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:46.782Z,1736371126.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:46.791Z,1736371126.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.60 m. 2025-01-08T21:18:46.794Z,1736371126.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 466.600006 m, nav range: 449.334961 m, bearing: 177.663685 deg, approach rate: -0.049562 m/s, LOS rate: -0.078095 deg/s, cmd heading: 265.979478 deg, new cmd heading: 265.894220 deg. 2025-01-08T21:18:46.796Z,1736371126.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640729 target range: 466.600006 and range: 466.60 m. 2025-01-08T21:18:46.972Z,1736371126.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:47.206Z,1736371127.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:47.214Z,1736371127.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:47.216Z,1736371127.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.60 m. 2025-01-08T21:18:47.218Z,1736371127.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 466.600006 m, nav range: 449.315338 m, bearing: 177.633163 deg, approach rate: -0.046218 m/s, LOS rate: -0.071892 deg/s, cmd heading: 265.894210 deg, new cmd heading: 265.802639 deg. 2025-01-08T21:18:47.220Z,1736371127.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639131 target range: 466.600006 and range: 466.60 m. 2025-01-08T21:18:47.225Z,1736371127.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:47.227Z,1736371127.227 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:47.227Z,1736371127.227 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:47.228Z,1736371127.228 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:47.476Z,1736371127.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:47.476Z,1736371127.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450371 2025-01-08T21:18:47.620Z,1736371127.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:47.629Z,1736371127.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.60 m. 2025-01-08T21:18:47.649Z,1736371127.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 466.600006 m, nav range: 449.293762 m, bearing: 177.605243 deg, approach rate: -0.052128 m/s, LOS rate: -0.067457 deg/s, cmd heading: 265.802631 deg, new cmd heading: 265.718868 deg. 2025-01-08T21:18:47.653Z,1736371127.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637669 target range: 466.600006 and range: 466.60 m. 2025-01-08T21:18:47.729Z,1736371127.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:47.730Z,1736371127.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703717 2025-01-08T21:18:47.980Z,1736371127.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:47.980Z,1736371127.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954290 2025-01-08T21:18:48.108Z,1736371128.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:48.117Z,1736371128.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.60 m. 2025-01-08T21:18:48.120Z,1736371128.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 466.600006 m, nav range: 449.269073 m, bearing: 177.572239 deg, approach rate: -0.050626 m/s, LOS rate: -0.067681 deg/s, cmd heading: 265.718865 deg, new cmd heading: 265.619847 deg. 2025-01-08T21:18:48.121Z,1736371128.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635941 target range: 466.600006 and range: 466.60 m. 2025-01-08T21:18:48.232Z,1736371128.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:48.233Z,1736371128.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206588 2025-01-08T21:18:48.484Z,1736371128.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:48.485Z,1736371128.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459312 2025-01-08T21:18:48.582Z,1736371128.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:48.590Z,1736371128.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.60 m. 2025-01-08T21:18:48.593Z,1736371128.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 466.600006 m, nav range: 449.248291 m, bearing: 177.541709 deg, approach rate: -0.043944 m/s, LOS rate: -0.064558 deg/s, cmd heading: 265.619855 deg, new cmd heading: 265.528262 deg. 2025-01-08T21:18:48.594Z,1736371128.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634343 target range: 466.600006 and range: 466.60 m. 2025-01-08T21:18:48.736Z,1736371128.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:48.736Z,1736371128.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710440 2025-01-08T21:18:48.952Z,1736371128.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:48.960Z,1736371128.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.60 m. 2025-01-08T21:18:48.964Z,1736371128.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 466.600006 m, nav range: 449.232544 m, bearing: 177.517854 deg, approach rate: -0.042503 m/s, LOS rate: -0.064391 deg/s, cmd heading: 265.528276 deg, new cmd heading: 265.456707 deg. 2025-01-08T21:18:48.965Z,1736371128.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633093 target range: 466.600006 and range: 466.60 m. 2025-01-08T21:18:48.988Z,1736371128.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:48.988Z,1736371128.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962505 2025-01-08T21:18:49.240Z,1736371129.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:49.242Z,1736371129.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215177 2025-01-08T21:18:49.388Z,1736371129.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:49.428Z,1736371129.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:49.430Z,1736371129.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.60 m. 2025-01-08T21:18:49.439Z,1736371129.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 466.600006 m, nav range: 449.219391 m, bearing: 177.490406 deg, approach rate: -0.028039 m/s, LOS rate: -0.058513 deg/s, cmd heading: 265.456695 deg, new cmd heading: 265.374350 deg. 2025-01-08T21:18:49.444Z,1736371129.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631656 target range: 466.600006 and range: 466.60 m. 2025-01-08T21:18:49.492Z,1736371129.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:49.493Z,1736371129.493 [DAT](INFO): DAT read: Rx Time:21:18:48.2151 2025-01-08T21:18:49.493Z,1736371129.493 [DAT](INFO): Rx dataTimestamp_ set to:1736371129.492843 2025-01-08T21:18:49.494Z,1736371129.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467685 2025-01-08T21:18:49.744Z,1736371129.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:49.747Z,1736371129.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.720344 2025-01-08T21:18:49.769Z,1736371129.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:49.777Z,1736371129.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.60 m. 2025-01-08T21:18:49.781Z,1736371129.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 466.600006 m, nav range: 449.208344 m, bearing: 177.466481 deg, approach rate: -0.031804 m/s, LOS rate: -0.068880 deg/s, cmd heading: 265.374351 deg, new cmd heading: 265.302574 deg. 2025-01-08T21:18:49.782Z,1736371129.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630404 target range: 466.600006 and range: 466.60 m. 2025-01-08T21:18:49.996Z,1736371129.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:50.003Z,1736371130.003 [DAT](INFO): DAT read: 21:18:48.2151 LVL= 14240, 18673, 11074, 20467, AGC= 73, IDX= 128,-0.31, 0.866,-0.305, 0.902, 0.223, PHS= 0.731,-0.481, 0.677, RAW= 147.7, -15.4, CAL= 154.1, -23.2, ROT= 355.9, 23.2 2025-01-08T21:18:50.004Z,1736371130.004 [DAT](INFO): got valid direction response: 21:18:48.2151 LVL= 14240, 18673, 11074, 20467, AGC= 73, IDX= 128,-0.31, 0.866,-0.305, 0.902, 0.223, PHS= 0.731,-0.481, 0.677, RAW= 147.7, -15.4, CAL= 154.1, -23.2, ROT= 355.9, 23.2 2025-01-08T21:18:50.005Z,1736371130.005 [DAT](INFO): DAT read: Bearing 355.9, 23.2 (Local) 2025-01-08T21:18:50.006Z,1736371130.006 [DAT](INFO): Local bearing/azimuth received: Bearing 355.9, 23.2 (Local) 2025-01-08T21:18:50.009Z,1736371130.009 [DAT](INFO): DAT read: Range 10 to 50 : 480.8 m (Round-trip 641.1 ms) speed 0.4 m/s 2025-01-08T21:18:50.012Z,1736371130.012 [DAT](INFO): DAT read: user:1656> 2025-01-08T21:18:50.016Z,1736371130.016 [DAT](INFO): DAT read: Tx time:21:18:49.3199 2025-01-08T21:18:50.016Z,1736371130.016 [DAT](INFO): Ping request sent. 2025-01-08T21:18:50.017Z,1736371130.017 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:50.017Z,1736371130.017 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:50.018Z,1736371130.018 [DAT](INFO): direction in FSK: [0.181054,-0.793603,0.580873] 2025-01-08T21:18:50.018Z,1736371130.018 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:50.018Z,1736371130.018 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:50.022Z,1736371130.022 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:50.022Z,1736371130.022 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:50.172Z,1736371130.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:50.199Z,1736371130.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 480.799988 m, deltaT: 4.031104 s, deltaX: 14.199982 m, approachRate: 3.522604 m/s, rangeRepo size: 4 2025-01-08T21:18:50.207Z,1736371130.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 480.799988 m, bearing: 184.998012 deg, lat: 36.900889 deg, lon: -122.114132 deg, deltaT: 4.031104 s, deltaX: 14.199982 m, approachRate: 3.522604 m/s, posRepo size: 4 2025-01-08T21:18:50.216Z,1736371130.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.80 m. 2025-01-08T21:18:50.218Z,1736371130.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.799988 m, nav range: 432.741943 m, bearing: 182.663695 deg, approach rate: 0.000000 m/s, LOS rate: -0.068880 deg/s, cmd heading: 265.302579 deg, new cmd heading: 265.215573 deg. 2025-01-08T21:18:50.231Z,1736371130.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628885 target range: 480.799988 and range: 480.80 m. 2025-01-08T21:18:50.248Z,1736371130.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:50.249Z,1736371130.249 [DAT](INFO): DAT read: TxSync time:21:18:49.3191 2025-01-08T21:18:50.501Z,1736371130.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:50.703Z,1736371130.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:50.715Z,1736371130.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.80 m. 2025-01-08T21:18:50.717Z,1736371130.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.799988 m, nav range: 432.716766 m, bearing: 182.627680 deg, approach rate: -0.048734 m/s, LOS rate: -0.069719 deg/s, cmd heading: 265.215562 deg, new cmd heading: 265.107509 deg. 2025-01-08T21:18:50.718Z,1736371130.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626999 target range: 480.799988 and range: 480.80 m. 2025-01-08T21:18:50.752Z,1736371130.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:51.004Z,1736371131.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:51.065Z,1736371131.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:51.074Z,1736371131.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.80 m. 2025-01-08T21:18:51.085Z,1736371131.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.799988 m, nav range: 432.699188 m, bearing: 182.603086 deg, approach rate: -0.048970 m/s, LOS rate: -0.068518 deg/s, cmd heading: 265.107509 deg, new cmd heading: 265.033725 deg. 2025-01-08T21:18:51.086Z,1736371131.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625711 target range: 480.799988 and range: 480.80 m. 2025-01-08T21:18:51.256Z,1736371131.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:51.508Z,1736371131.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:51.552Z,1736371131.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:51.584Z,1736371131.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:51.586Z,1736371131.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.80 m. 2025-01-08T21:18:51.593Z,1736371131.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.799988 m, nav range: 432.679626 m, bearing: 182.566574 deg, approach rate: -0.038182 m/s, LOS rate: -0.071271 deg/s, cmd heading: 265.033715 deg, new cmd heading: 264.924174 deg. 2025-01-08T21:18:51.594Z,1736371131.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623799 target range: 480.799988 and range: 480.80 m. 2025-01-08T21:18:51.760Z,1736371131.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:51.760Z,1736371131.760 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:51.760Z,1736371131.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:51.760Z,1736371131.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:51.914Z,1736371131.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:51.923Z,1736371131.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.80 m. 2025-01-08T21:18:51.926Z,1736371131.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.799988 m, nav range: 432.665253 m, bearing: 182.539431 deg, approach rate: -0.042698 m/s, LOS rate: -0.080632 deg/s, cmd heading: 264.924187 deg, new cmd heading: 264.842756 deg. 2025-01-08T21:18:51.926Z,1736371131.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622378 target range: 480.799988 and range: 480.80 m. 2025-01-08T21:18:52.012Z,1736371132.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:52.013Z,1736371132.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996354 2025-01-08T21:18:52.264Z,1736371132.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:52.264Z,1736371132.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247904 2025-01-08T21:18:52.418Z,1736371132.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:52.427Z,1736371132.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.80 m. 2025-01-08T21:18:52.430Z,1736371132.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.799988 m, nav range: 432.652466 m, bearing: 182.498255 deg, approach rate: -0.025359 m/s, LOS rate: -0.081664 deg/s, cmd heading: 264.842743 deg, new cmd heading: 264.719212 deg. 2025-01-08T21:18:52.432Z,1736371132.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620222 target range: 480.799988 and range: 480.80 m. 2025-01-08T21:18:52.517Z,1736371132.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:52.520Z,1736371132.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502285 2025-01-08T21:18:52.730Z,1736371132.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:52.738Z,1736371132.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.80 m. 2025-01-08T21:18:52.741Z,1736371132.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.799988 m, nav range: 432.644409 m, bearing: 182.472826 deg, approach rate: -0.025880 m/s, LOS rate: -0.081684 deg/s, cmd heading: 264.719199 deg, new cmd heading: 264.642911 deg. 2025-01-08T21:18:52.742Z,1736371132.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618890 target range: 480.799988 and range: 480.80 m. 2025-01-08T21:18:52.768Z,1736371132.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:52.768Z,1736371132.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751880 2025-01-08T21:18:53.020Z,1736371133.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:53.020Z,1736371133.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003833 2025-01-08T21:18:53.125Z,1736371133.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:53.134Z,1736371133.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.80 m. 2025-01-08T21:18:53.137Z,1736371133.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.799988 m, nav range: 432.633881 m, bearing: 182.440579 deg, approach rate: -0.026563 m/s, LOS rate: -0.081359 deg/s, cmd heading: 264.642919 deg, new cmd heading: 264.546177 deg. 2025-01-08T21:18:53.138Z,1736371133.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617202 target range: 480.799988 and range: 480.80 m. 2025-01-08T21:18:53.272Z,1736371133.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:53.272Z,1736371133.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255760 2025-01-08T21:18:53.524Z,1736371133.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:53.524Z,1736371133.524 [DAT](INFO): DAT read: Rx Time:21:18:52.3512 2025-01-08T21:18:53.525Z,1736371133.525 [DAT](INFO): Rx dataTimestamp_ set to:1736371133.524605 2025-01-08T21:18:53.525Z,1736371133.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508828 2025-01-08T21:18:53.594Z,1736371133.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:53.614Z,1736371133.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:53.617Z,1736371133.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.80 m. 2025-01-08T21:18:53.624Z,1736371133.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.799988 m, nav range: 432.630615 m, bearing: 182.398453 deg, approach rate: -0.006770 m/s, LOS rate: -0.087339 deg/s, cmd heading: 264.546177 deg, new cmd heading: 264.419797 deg. 2025-01-08T21:18:53.625Z,1736371133.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614996 target range: 480.799988 and range: 480.80 m. 2025-01-08T21:18:53.778Z,1736371133.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:53.780Z,1736371133.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763819 2025-01-08T21:18:53.950Z,1736371133.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:53.958Z,1736371133.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.80 m. 2025-01-08T21:18:53.962Z,1736371133.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.799988 m, nav range: 432.627136 m, bearing: 182.366563 deg, approach rate: -0.010183 m/s, LOS rate: -0.093346 deg/s, cmd heading: 264.419791 deg, new cmd heading: 264.324121 deg. 2025-01-08T21:18:53.964Z,1736371133.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613326 target range: 480.799988 and range: 480.80 m. 2025-01-08T21:18:54.030Z,1736371134.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:54.033Z,1736371134.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016015 2025-01-08T21:18:54.280Z,1736371134.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:54.287Z,1736371134.287 [DAT](INFO): DAT read: 21:18:52.3512 LVL= 25696, 30961, 23458, 32755, AGC= 69, IDX= 424, 0.25,-2.959, 1.847,-2.854, 2.668, PHS= 0.744,-0.774, 0.759, RAW= 150.5, -9.6, CAL= 156.7, -17.5, ROT= 353.3, 17.5 2025-01-08T21:18:54.288Z,1736371134.288 [DAT](INFO): got valid direction response: 21:18:52.3512 LVL= 25696, 30961, 23458, 32755, AGC= 69, IDX= 424, 0.25,-2.959, 1.847,-2.854, 2.668, PHS= 0.744,-0.774, 0.759, RAW= 150.5, -9.6, CAL= 156.7, -17.5, ROT= 353.3, 17.5 2025-01-08T21:18:54.289Z,1736371134.289 [DAT](INFO): DAT read: Bearing 353.3, 17.5 (Local) 2025-01-08T21:18:54.289Z,1736371134.289 [DAT](INFO): Local bearing/azimuth received: Bearing 353.3, 17.5 (Local) 2025-01-08T21:18:54.291Z,1736371134.291 [DAT](INFO): DAT read: Range 10 to 50 : 470.4 m (Round-trip 627.2 ms) speed 0.4 m/s 2025-01-08T21:18:54.292Z,1736371134.292 [DAT](INFO): DAT read: user:1657> 2025-01-08T21:18:54.293Z,1736371134.293 [DAT](INFO): DAT read: Tx time:21:18:53.4699 2025-01-08T21:18:54.293Z,1736371134.293 [DAT](INFO): Ping request sent. 2025-01-08T21:18:54.293Z,1736371134.293 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:54.294Z,1736371134.294 [DAT](INFO): DAT read: TxSync time:21:18:53.4691 2025-01-08T21:18:54.295Z,1736371134.295 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:54.296Z,1736371134.296 [DAT](INFO): direction in FSK: [0.067506,-0.834955,0.546162] 2025-01-08T21:18:54.297Z,1736371134.297 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:54.297Z,1736371134.297 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:54.300Z,1736371134.300 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:54.300Z,1736371134.300 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:54.493Z,1736371134.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:54.514Z,1736371134.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 470.399994 m, deltaT: 4.283380 s, deltaX: -10.399994 m, approachRate: -2.427988 m/s, rangeRepo size: 4 2025-01-08T21:18:54.525Z,1736371134.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 470.399994 m, bearing: 177.274446 deg, lat: 36.900963 deg, lon: -122.114132 deg, deltaT: 4.283380 s, deltaX: -10.399994 m, approachRate: -2.427988 m/s, posRepo size: 4 2025-01-08T21:18:54.525Z,1736371134.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.40 m. 2025-01-08T21:18:54.532Z,1736371134.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:54.533Z,1736371134.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.399994 m, nav range: 424.364380 m, bearing: 182.361157 deg, approach rate: 0.000000 m/s, LOS rate: -0.093346 deg/s, cmd heading: 264.324113 deg, new cmd heading: 264.168623 deg. 2025-01-08T21:18:54.534Z,1736371134.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610612 target range: 470.399994 and range: 470.40 m. 2025-01-08T21:18:54.784Z,1736371134.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:54.825Z,1736371134.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:54.834Z,1736371134.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.40 m. 2025-01-08T21:18:54.837Z,1736371134.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.399994 m, nav range: 424.359558 m, bearing: 182.329648 deg, approach rate: -0.015032 m/s, LOS rate: -0.098231 deg/s, cmd heading: 264.168631 deg, new cmd heading: 264.074102 deg. 2025-01-08T21:18:54.838Z,1736371134.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608963 target range: 470.399994 and range: 470.40 m. 2025-01-08T21:18:55.038Z,1736371135.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:55.237Z,1736371135.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:55.256Z,1736371135.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.40 m. 2025-01-08T21:18:55.258Z,1736371135.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.399994 m, nav range: 424.352417 m, bearing: 182.290482 deg, approach rate: -0.017300 m/s, LOS rate: -0.094882 deg/s, cmd heading: 264.074101 deg, new cmd heading: 263.956604 deg. 2025-01-08T21:18:55.263Z,1736371135.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606912 target range: 470.399994 and range: 470.40 m. 2025-01-08T21:18:55.288Z,1736371135.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:55.540Z,1736371135.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:55.677Z,1736371135.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:55.700Z,1736371135.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:55.702Z,1736371135.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.40 m. 2025-01-08T21:18:55.709Z,1736371135.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.399994 m, nav range: 424.339478 m, bearing: 182.246912 deg, approach rate: -0.028430 m/s, LOS rate: -0.095735 deg/s, cmd heading: 263.956595 deg, new cmd heading: 263.825879 deg. 2025-01-08T21:18:55.710Z,1736371135.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604630 target range: 470.399994 and range: 470.40 m. 2025-01-08T21:18:55.792Z,1736371135.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:55.793Z,1736371135.793 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:55.793Z,1736371135.793 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:55.794Z,1736371135.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:18:56.044Z,1736371136.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:56.045Z,1736371136.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751761 2025-01-08T21:18:56.048Z,1736371136.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:56.057Z,1736371136.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.40 m. 2025-01-08T21:18:56.060Z,1736371136.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.399994 m, nav range: 424.328156 m, bearing: 182.210073 deg, approach rate: -0.031928 m/s, LOS rate: -0.103887 deg/s, cmd heading: 263.825892 deg, new cmd heading: 263.715373 deg. 2025-01-08T21:18:56.061Z,1736371136.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602702 target range: 470.399994 and range: 470.40 m. 2025-01-08T21:18:56.296Z,1736371136.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:56.297Z,1736371136.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003102 2025-01-08T21:18:56.471Z,1736371136.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:56.500Z,1736371136.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.40 m. 2025-01-08T21:18:56.503Z,1736371136.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.399994 m, nav range: 424.305786 m, bearing: 182.168122 deg, approach rate: -0.050451 m/s, LOS rate: -0.094618 deg/s, cmd heading: 263.715380 deg, new cmd heading: 263.589521 deg. 2025-01-08T21:18:56.504Z,1736371136.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.600505 target range: 470.399994 and range: 470.40 m. 2025-01-08T21:18:56.549Z,1736371136.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:56.550Z,1736371136.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256310 2025-01-08T21:18:56.800Z,1736371136.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:56.800Z,1736371136.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507030 2025-01-08T21:18:56.840Z,1736371136.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:56.850Z,1736371136.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.40 m. 2025-01-08T21:18:56.852Z,1736371136.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.399994 m, nav range: 424.285583 m, bearing: 182.131482 deg, approach rate: -0.057838 m/s, LOS rate: -0.104901 deg/s, cmd heading: 263.589513 deg, new cmd heading: 263.479588 deg. 2025-01-08T21:18:56.853Z,1736371136.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598587 target range: 470.399994 and range: 470.40 m. 2025-01-08T21:18:57.052Z,1736371137.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:57.052Z,1736371137.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758915 2025-01-08T21:18:57.260Z,1736371137.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:57.270Z,1736371137.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.40 m. 2025-01-08T21:18:57.273Z,1736371137.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.399994 m, nav range: 424.262787 m, bearing: 182.089679 deg, approach rate: -0.054189 m/s, LOS rate: -0.099374 deg/s, cmd heading: 263.479602 deg, new cmd heading: 263.354186 deg. 2025-01-08T21:18:57.274Z,1736371137.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596398 target range: 470.399994 and range: 470.40 m. 2025-01-08T21:18:57.305Z,1736371137.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:57.308Z,1736371137.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013000 2025-01-08T21:18:57.556Z,1736371137.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:57.557Z,1736371137.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263044 2025-01-08T21:18:57.746Z,1736371137.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:57.761Z,1736371137.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:57.768Z,1736371137.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.40 m. 2025-01-08T21:18:57.770Z,1736371137.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.399994 m, nav range: 424.230011 m, bearing: 182.043309 deg, approach rate: -0.066460 m/s, LOS rate: -0.094033 deg/s, cmd heading: 263.354199 deg, new cmd heading: 263.215078 deg. 2025-01-08T21:18:57.776Z,1736371137.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593970 target range: 470.399994 and range: 470.40 m. 2025-01-08T21:18:57.808Z,1736371137.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:57.808Z,1736371137.808 [DAT](INFO): DAT read: Rx Time:21:18:56.5091 2025-01-08T21:18:57.809Z,1736371137.809 [DAT](INFO): Rx dataTimestamp_ set to:1736371137.808664 2025-01-08T21:18:57.809Z,1736371137.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516015 2025-01-08T21:18:58.060Z,1736371138.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:58.060Z,1736371138.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767035 2025-01-08T21:18:58.077Z,1736371138.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:58.098Z,1736371138.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.40 m. 2025-01-08T21:18:58.105Z,1736371138.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.399994 m, nav range: 424.207245 m, bearing: 182.011672 deg, approach rate: -0.067983 m/s, LOS rate: -0.094478 deg/s, cmd heading: 263.215082 deg, new cmd heading: 263.120166 deg. 2025-01-08T21:18:58.106Z,1736371138.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592313 target range: 470.399994 and range: 470.40 m. 2025-01-08T21:18:58.312Z,1736371138.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:58.319Z,1736371138.319 [DAT](INFO): DAT read: 21:18:56.5092 LVL= 12400, 19409, 9762, 15139, AGC= 70, IDX= 3,-0.03,-1.758,-2.963,-1.732,-2.336, PHS= 0.666,-0.580, 0.601, RAW= 147.3, -11.3, CAL= 154.4, -19.7, ROT= 355.6, 19.7 2025-01-08T21:18:58.320Z,1736371138.320 [DAT](INFO): got valid direction response: 21:18:56.5092 LVL= 12400, 19409, 9762, 15139, AGC= 70, IDX= 3,-0.03,-1.758,-2.963,-1.732,-2.336, PHS= 0.666,-0.580, 0.601, RAW= 147.3, -11.3, CAL= 154.4, -19.7, ROT= 355.6, 19.7 2025-01-08T21:18:58.321Z,1736371138.321 [DAT](INFO): DAT read: Bearing 355.6, 19.7 (Local) 2025-01-08T21:18:58.321Z,1736371138.321 [DAT](INFO): Local bearing/azimuth received: Bearing 355.6, 19.7 (Local) 2025-01-08T21:18:58.323Z,1736371138.323 [DAT](INFO): DAT read: Range 10 to 50 : 476.3 m (Round-trip 635.1 ms) speed 0.8 m/s 2025-01-08T21:18:58.324Z,1736371138.324 [DAT](INFO): DAT read: user:1658> 2025-01-08T21:18:58.325Z,1736371138.325 [DAT](INFO): DAT read: Tx time:21:18:57.6200 2025-01-08T21:18:58.325Z,1736371138.325 [DAT](INFO): Ping request sent. 2025-01-08T21:18:58.325Z,1736371138.325 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:18:58.325Z,1736371138.325 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:18:58.326Z,1736371138.326 [DAT](INFO): direction in FSK: [0.099922,-0.799755,0.591952] 2025-01-08T21:18:58.326Z,1736371138.326 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:58.327Z,1736371138.327 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:58.331Z,1736371138.331 [DAT](INFO): publishing transmit ping time 2025-01-08T21:18:58.331Z,1736371138.331 [DAT](INFO): publishing direction and range info 2025-01-08T21:18:58.388Z,1736371138.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:18:58.564Z,1736371138.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:58.565Z,1736371138.565 [DAT](INFO): DAT read: TxSync time:21:18:57.6192 2025-01-08T21:18:58.566Z,1736371138.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:58.593Z,1736371138.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 476.299988 m, deltaT: 4.032251 s, deltaX: 5.899994 m, approachRate: 1.463201 m/s, rangeRepo size: 4 2025-01-08T21:18:58.595Z,1736371138.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 476.299988 m, bearing: 177.748614 deg, lat: 36.900989 deg, lon: -122.113786 deg, deltaT: 4.032251 s, deltaX: 5.899994 m, approachRate: 1.463201 m/s, posRepo size: 4 2025-01-08T21:18:58.600Z,1736371138.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:18:58.602Z,1736371138.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 421.306244 m, bearing: 177.793882 deg, approach rate: 0.000000 m/s, LOS rate: -0.094478 deg/s, cmd heading: 263.120170 deg, new cmd heading: 262.980186 deg. 2025-01-08T21:18:58.608Z,1736371138.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589870 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:18:58.816Z,1736371138.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:58.893Z,1736371138.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:58.902Z,1736371138.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:18:58.906Z,1736371138.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 421.291382 m, bearing: 177.763579 deg, approach rate: -0.047976 m/s, LOS rate: -0.097824 deg/s, cmd heading: 262.980178 deg, new cmd heading: 262.889266 deg. 2025-01-08T21:18:58.912Z,1736371138.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588283 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:18:59.068Z,1736371139.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:59.287Z,1736371139.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:59.297Z,1736371139.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:18:59.299Z,1736371139.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 421.271881 m, bearing: 177.726973 deg, approach rate: -0.049415 m/s, LOS rate: -0.092763 deg/s, cmd heading: 262.889255 deg, new cmd heading: 262.779433 deg. 2025-01-08T21:18:59.302Z,1736371139.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.586366 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:18:59.320Z,1736371139.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:59.392Z,1736371139.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:18:59.572Z,1736371139.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:59.734Z,1736371139.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:18:59.763Z,1736371139.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:18:59.765Z,1736371139.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:18:59.776Z,1736371139.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 421.239258 m, bearing: 177.688359 deg, approach rate: -0.069594 m/s, LOS rate: -0.082380 deg/s, cmd heading: 262.779425 deg, new cmd heading: 262.663574 deg. 2025-01-08T21:18:59.777Z,1736371139.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584344 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:18:59.824Z,1736371139.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:18:59.824Z,1736371139.824 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:18:59.824Z,1736371139.824 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:18:59.825Z,1736371139.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:00.076Z,1736371140.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:00.076Z,1736371140.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751229 2025-01-08T21:19:00.118Z,1736371140.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:00.144Z,1736371140.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:00.153Z,1736371140.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 421.211609 m, bearing: 177.655131 deg, approach rate: -0.073921 m/s, LOS rate: -0.088843 deg/s, cmd heading: 262.663585 deg, new cmd heading: 262.563894 deg. 2025-01-08T21:19:00.153Z,1736371140.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582604 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:00.328Z,1736371140.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:00.330Z,1736371140.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004774 2025-01-08T21:19:00.553Z,1736371140.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:00.580Z,1736371140.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:00.581Z,1736371140.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255840 2025-01-08T21:19:00.582Z,1736371140.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:00.590Z,1736371140.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 421.178375 m, bearing: 177.619330 deg, approach rate: -0.078423 m/s, LOS rate: -0.084488 deg/s, cmd heading: 262.563892 deg, new cmd heading: 262.456480 deg. 2025-01-08T21:19:00.591Z,1736371140.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580729 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:00.832Z,1736371140.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:00.832Z,1736371140.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507463 2025-01-08T21:19:00.910Z,1736371140.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:00.919Z,1736371140.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:00.922Z,1736371140.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 421.151825 m, bearing: 177.590061 deg, approach rate: -0.074666 m/s, LOS rate: -0.082316 deg/s, cmd heading: 262.456467 deg, new cmd heading: 262.368655 deg. 2025-01-08T21:19:00.923Z,1736371140.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579197 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:01.084Z,1736371141.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:01.084Z,1736371141.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759486 2025-01-08T21:19:01.307Z,1736371141.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:01.316Z,1736371141.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:01.318Z,1736371141.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 421.122681 m, bearing: 177.557403 deg, approach rate: -0.073403 m/s, LOS rate: -0.082259 deg/s, cmd heading: 262.368658 deg, new cmd heading: 262.270676 deg. 2025-01-08T21:19:01.320Z,1736371141.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577487 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:01.336Z,1736371141.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:01.336Z,1736371141.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011493 2025-01-08T21:19:01.588Z,1736371141.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:01.588Z,1736371141.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263359 2025-01-08T21:19:01.751Z,1736371141.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:01.759Z,1736371141.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:01.785Z,1736371141.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 421.084900 m, bearing: 177.522937 deg, approach rate: -0.085266 m/s, LOS rate: -0.077792 deg/s, cmd heading: 262.270685 deg, new cmd heading: 262.167278 deg. 2025-01-08T21:19:01.786Z,1736371141.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575682 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:01.841Z,1736371141.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:01.842Z,1736371141.842 [DAT](INFO): DAT read: Rx Time:21:19:00.6323 2025-01-08T21:19:01.843Z,1736371141.843 [DAT](INFO): Rx dataTimestamp_ set to:1736371141.842512 2025-01-08T21:19:01.843Z,1736371141.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518442 2025-01-08T21:19:02.092Z,1736371142.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:02.092Z,1736371142.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767433 2025-01-08T21:19:02.126Z,1736371142.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:02.165Z,1736371142.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:02.171Z,1736371142.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:02.174Z,1736371142.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 421.053101 m, bearing: 177.493782 deg, approach rate: -0.077901 m/s, LOS rate: -0.071428 deg/s, cmd heading: 262.167276 deg, new cmd heading: 262.079805 deg. 2025-01-08T21:19:02.175Z,1736371142.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574155 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:02.344Z,1736371142.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:02.351Z,1736371142.351 [DAT](INFO): DAT read: 21:19:00.6323 LVL= 22400, 26417, 21298, 32755, AGC= 73, IDX= 278, 0.13, 0.964,-0.824, 0.988, 0.193, PHS= 0.859,-0.971, 0.792, RAW= 148.2, -7.6, CAL= 154.0, -16.1, ROT= 356.0, 16.1 2025-01-08T21:19:02.355Z,1736371142.355 [DAT](INFO): got valid direction response: 21:19:00.6323 LVL= 22400, 26417, 21298, 32755, AGC= 73, IDX= 278, 0.13, 0.964,-0.824, 0.988, 0.193, PHS= 0.859,-0.971, 0.792, RAW= 148.2, -7.6, CAL= 154.0, -16.1, ROT= 356.0, 16.1 2025-01-08T21:19:02.371Z,1736371142.371 [DAT](INFO): DAT read: Bearing 356.0, 16.1 (Local) 2025-01-08T21:19:02.373Z,1736371142.373 [DAT](INFO): Local bearing/azimuth received: Bearing 356.0, 16.1 (Local) 2025-01-08T21:19:02.389Z,1736371142.389 [DAT](INFO): DAT read: Range 10 to 50 : 456.1 m (Round-trip 608.2 ms) speed 0.4 m/s 2025-01-08T21:19:02.390Z,1736371142.390 [DAT](INFO): DAT read: user:1659> 2025-01-08T21:19:02.396Z,1736371142.396 [DAT](INFO): DAT read: Tx time:21:19:01.7200 2025-01-08T21:19:02.398Z,1736371142.398 [DAT](INFO): Ping request sent. 2025-01-08T21:19:02.398Z,1736371142.398 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:19:02.398Z,1736371142.398 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:19:02.407Z,1736371142.407 [DAT](INFO): direction in FSK: [0.027467,-0.813065,0.581525] 2025-01-08T21:19:02.408Z,1736371142.408 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:02.409Z,1736371142.409 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:02.432Z,1736371142.432 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:02.432Z,1736371142.432 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:02.596Z,1736371142.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:02.597Z,1736371142.597 [DAT](INFO): DAT read: TxSync time:21:19:01.7192 2025-01-08T21:19:02.628Z,1736371142.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:02.656Z,1736371142.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 456.100006 m, deltaT: 4.031726 s, deltaX: -20.199982 m, approachRate: -5.010257 m/s, rangeRepo size: 4 2025-01-08T21:19:02.657Z,1736371142.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:02.666Z,1736371142.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 421.019257 m, bearing: 177.456395 deg, approach rate: -0.070128 m/s, LOS rate: -0.077476 deg/s, cmd heading: 262.079795 deg, new cmd heading: 261.967625 deg. 2025-01-08T21:19:02.689Z,1736371142.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572197 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:02.848Z,1736371142.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:03.010Z,1736371143.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:03.019Z,1736371143.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:03.022Z,1736371143.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 420.993103 m, bearing: 177.427337 deg, approach rate: -0.070843 m/s, LOS rate: -0.078715 deg/s, cmd heading: 261.967616 deg, new cmd heading: 261.880438 deg. 2025-01-08T21:19:03.023Z,1736371143.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570676 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:03.100Z,1736371143.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:03.352Z,1736371143.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:03.410Z,1736371143.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:03.420Z,1736371143.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:03.422Z,1736371143.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 420.964905 m, bearing: 177.397265 deg, approach rate: -0.070461 m/s, LOS rate: -0.075147 deg/s, cmd heading: 261.880436 deg, new cmd heading: 261.790215 deg. 2025-01-08T21:19:03.423Z,1736371143.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569101 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:03.604Z,1736371143.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:03.843Z,1736371143.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:03.852Z,1736371143.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:03.855Z,1736371143.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 420.937103 m, bearing: 177.364125 deg, approach rate: -0.064190 m/s, LOS rate: -0.076521 deg/s, cmd heading: 261.790223 deg, new cmd heading: 261.690795 deg. 2025-01-08T21:19:03.856Z,1736371143.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:03.857Z,1736371143.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567366 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:04.108Z,1736371144.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:04.221Z,1736371144.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:04.229Z,1736371144.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:04.231Z,1736371144.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:04.233Z,1736371144.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 420.912659 m, bearing: 177.335180 deg, approach rate: -0.064600 m/s, LOS rate: -0.076496 deg/s, cmd heading: 261.690802 deg, new cmd heading: 261.603964 deg. 2025-01-08T21:19:04.234Z,1736371144.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565851 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:04.360Z,1736371144.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:04.360Z,1736371144.360 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:04.360Z,1736371144.360 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:04.361Z,1736371144.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:04.612Z,1736371144.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:04.613Z,1736371144.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214901 2025-01-08T21:19:04.632Z,1736371144.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:04.641Z,1736371144.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:04.676Z,1736371144.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 420.898163 m, bearing: 177.303350 deg, approach rate: -0.035372 m/s, LOS rate: -0.077674 deg/s, cmd heading: 261.603977 deg, new cmd heading: 261.508482 deg. 2025-01-08T21:19:04.677Z,1736371144.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564184 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:04.864Z,1736371144.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:04.864Z,1736371144.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466677 2025-01-08T21:19:05.019Z,1736371145.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:05.029Z,1736371145.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:05.033Z,1736371145.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 420.884705 m, bearing: 177.273328 deg, approach rate: -0.034625 m/s, LOS rate: -0.077242 deg/s, cmd heading: 261.508491 deg, new cmd heading: 261.418422 deg. 2025-01-08T21:19:05.034Z,1736371145.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562612 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:05.116Z,1736371145.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:05.117Z,1736371145.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719584 2025-01-08T21:19:05.368Z,1736371145.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:05.368Z,1736371145.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970602 2025-01-08T21:19:05.421Z,1736371145.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:05.452Z,1736371145.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:05.454Z,1736371145.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 420.870605 m, bearing: 177.242171 deg, approach rate: -0.033718 m/s, LOS rate: -0.074512 deg/s, cmd heading: 261.418414 deg, new cmd heading: 261.324942 deg. 2025-01-08T21:19:05.455Z,1736371145.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560981 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:05.623Z,1736371145.623 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:05.624Z,1736371145.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225987 2025-01-08T21:19:05.850Z,1736371145.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:05.860Z,1736371145.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:05.876Z,1736371145.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:05.876Z,1736371145.876 [DAT](INFO): DAT read: Rx Time:21:19:04.7404 2025-01-08T21:19:05.877Z,1736371145.877 [DAT](INFO): Rx dataTimestamp_ set to:1736371145.876589 2025-01-08T21:19:05.878Z,1736371145.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479653 2025-01-08T21:19:05.885Z,1736371145.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 420.861633 m, bearing: 177.207551 deg, approach rate: -0.021723 m/s, LOS rate: -0.083823 deg/s, cmd heading: 261.324950 deg, new cmd heading: 261.221086 deg. 2025-01-08T21:19:05.886Z,1736371145.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559168 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:06.128Z,1736371146.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:06.129Z,1736371146.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731338 2025-01-08T21:19:06.243Z,1736371146.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:06.268Z,1736371146.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:06.270Z,1736371146.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.30 m. 2025-01-08T21:19:06.273Z,1736371146.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.299988 m, nav range: 420.853516 m, bearing: 177.175707 deg, approach rate: -0.019820 m/s, LOS rate: -0.077752 deg/s, cmd heading: 261.221077 deg, new cmd heading: 261.125542 deg. 2025-01-08T21:19:06.274Z,1736371146.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557500 target range: 476.299988 and range: 476.30 m. 2025-01-08T21:19:06.380Z,1736371146.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:06.381Z,1736371146.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.982946 2025-01-08T21:19:06.632Z,1736371146.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:06.638Z,1736371146.638 [DAT](INFO): DAT read: 21:19:04.7404 LVL= 17456, 23697, 16482, 23027, AGC= 73, IDX= 19, 0.13, 0.041,-1.331, 0.050,-0.372, PHS= 0.501,-0.912, 0.419, RAW= 147.0, -0.1, CAL= 150.7, -9.1, ROT= 359.3, 9.1 2025-01-08T21:19:06.639Z,1736371146.639 [DAT](INFO): got valid direction response: 21:19:04.7404 LVL= 17456, 23697, 16482, 23027, AGC= 73, IDX= 19, 0.13, 0.041,-1.331, 0.050,-0.372, PHS= 0.501,-0.912, 0.419, RAW= 147.0, -0.1, CAL= 150.7, -9.1, ROT= 359.3, 9.1 2025-01-08T21:19:06.640Z,1736371146.640 [DAT](INFO): DAT read: Bearing 359.3, 9.1 (Local) 2025-01-08T21:19:06.641Z,1736371146.641 [DAT](INFO): Local bearing/azimuth received: Bearing 359.3, 9.1 (Local) 2025-01-08T21:19:06.642Z,1736371146.642 [DAT](INFO): DAT read: Range 10 to 50 : 462.2 m (Round-trip 616.3 ms) speed 0.2 m/s 2025-01-08T21:19:06.644Z,1736371146.644 [DAT](INFO): DAT read: user:1660> 2025-01-08T21:19:06.645Z,1736371146.645 [DAT](INFO): DAT read: Tx time:21:19:05.8700 2025-01-08T21:19:06.645Z,1736371146.645 [DAT](INFO): Ping request sent. 2025-01-08T21:19:06.645Z,1736371146.645 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:19:06.646Z,1736371146.646 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:19:06.647Z,1736371146.647 [DAT](INFO): direction in FSK: [-0.120701,-0.797380,0.591284] 2025-01-08T21:19:06.648Z,1736371146.648 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:06.648Z,1736371146.648 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:06.660Z,1736371146.660 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:06.660Z,1736371146.660 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:06.774Z,1736371146.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:06.830Z,1736371146.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 462.200012 m, deltaT: 8.319361 s, deltaX: -14.099976 m, approachRate: -1.694839 m/s, rangeRepo size: 4 2025-01-08T21:19:06.837Z,1736371146.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 462.200012 m, bearing: 163.390618 deg, lat: 36.901066 deg, lon: -122.113710 deg, deltaT: 8.319361 s, deltaX: -14.099976 m, approachRate: -1.694839 m/s, posRepo size: 4 2025-01-08T21:19:06.838Z,1736371146.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.20 m. 2025-01-08T21:19:06.846Z,1736371146.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.200012 m, nav range: 412.771942 m, bearing: 176.135697 deg, approach rate: 0.000000 m/s, LOS rate: -0.077752 deg/s, cmd heading: 261.125536 deg, new cmd heading: 260.995159 deg. 2025-01-08T21:19:06.851Z,1736371146.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555225 target range: 462.200012 and range: 462.20 m. 2025-01-08T21:19:06.884Z,1736371146.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:06.885Z,1736371146.885 [DAT](INFO): DAT read: TxSync time:21:19:05.8692 2025-01-08T21:19:07.136Z,1736371147.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:07.152Z,1736371147.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:07.161Z,1736371147.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.20 m. 2025-01-08T21:19:07.164Z,1736371147.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.200012 m, nav range: 412.775085 m, bearing: 176.103283 deg, approach rate: 0.009478 m/s, LOS rate: -0.097732 deg/s, cmd heading: 260.995161 deg, new cmd heading: 260.897921 deg. 2025-01-08T21:19:07.165Z,1736371147.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.553528 target range: 462.200012 and range: 462.20 m. 2025-01-08T21:19:07.388Z,1736371147.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:07.537Z,1736371147.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:07.558Z,1736371147.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.20 m. 2025-01-08T21:19:07.590Z,1736371147.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.200012 m, nav range: 412.777161 m, bearing: 176.070311 deg, approach rate: 0.005248 m/s, LOS rate: -0.083376 deg/s, cmd heading: 260.897927 deg, new cmd heading: 260.799010 deg. 2025-01-08T21:19:07.599Z,1736371147.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551801 target range: 462.200012 and range: 462.20 m. 2025-01-08T21:19:07.642Z,1736371147.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:07.892Z,1736371147.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:07.972Z,1736371147.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:07.981Z,1736371147.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.20 m. 2025-01-08T21:19:07.984Z,1736371147.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.200012 m, nav range: 412.781067 m, bearing: 176.032214 deg, approach rate: 0.009186 m/s, LOS rate: -0.089589 deg/s, cmd heading: 260.798998 deg, new cmd heading: 260.684708 deg. 2025-01-08T21:19:07.989Z,1736371147.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549807 target range: 462.200012 and range: 462.20 m. 2025-01-08T21:19:08.144Z,1736371148.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:08.345Z,1736371148.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:08.372Z,1736371148.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:08.374Z,1736371148.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.20 m. 2025-01-08T21:19:08.377Z,1736371148.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.200012 m, nav range: 412.782562 m, bearing: 175.999520 deg, approach rate: 0.003810 m/s, LOS rate: -0.083301 deg/s, cmd heading: 260.684715 deg, new cmd heading: 260.586634 deg. 2025-01-08T21:19:08.378Z,1736371148.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548095 target range: 462.200012 and range: 462.20 m. 2025-01-08T21:19:08.396Z,1736371148.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:08.396Z,1736371148.396 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:08.396Z,1736371148.396 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:08.397Z,1736371148.397 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:08.648Z,1736371148.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:08.649Z,1736371148.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003626 2025-01-08T21:19:08.762Z,1736371148.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:08.806Z,1736371148.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.20 m. 2025-01-08T21:19:08.812Z,1736371148.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.200012 m, nav range: 412.783783 m, bearing: 175.962827 deg, approach rate: 0.002827 m/s, LOS rate: -0.084979 deg/s, cmd heading: 260.586634 deg, new cmd heading: 260.476554 deg. 2025-01-08T21:19:08.813Z,1736371148.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546174 target range: 462.200012 and range: 462.20 m. 2025-01-08T21:19:08.902Z,1736371148.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:08.904Z,1736371148.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257596 2025-01-08T21:19:09.152Z,1736371149.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:09.152Z,1736371149.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506981 2025-01-08T21:19:09.157Z,1736371149.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:09.167Z,1736371149.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.20 m. 2025-01-08T21:19:09.199Z,1736371149.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.200012 m, nav range: 412.784180 m, bearing: 175.928054 deg, approach rate: 0.001097 m/s, LOS rate: -0.096131 deg/s, cmd heading: 260.476559 deg, new cmd heading: 260.372240 deg. 2025-01-08T21:19:09.200Z,1736371149.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544353 target range: 462.200012 and range: 462.20 m. 2025-01-08T21:19:09.404Z,1736371149.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:09.406Z,1736371149.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760252 2025-01-08T21:19:09.581Z,1736371149.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:09.656Z,1736371149.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:09.657Z,1736371149.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011901 2025-01-08T21:19:09.658Z,1736371149.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.20 m. 2025-01-08T21:19:09.672Z,1736371149.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.200012 m, nav range: 412.784760 m, bearing: 175.890823 deg, approach rate: 0.001194 m/s, LOS rate: -0.076676 deg/s, cmd heading: 260.372248 deg, new cmd heading: 260.260558 deg. 2025-01-08T21:19:09.673Z,1736371149.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542404 target range: 462.200012 and range: 462.20 m. 2025-01-08T21:19:09.909Z,1736371149.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:09.910Z,1736371149.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264873 2025-01-08T21:19:10.042Z,1736371150.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:10.052Z,1736371150.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.20 m. 2025-01-08T21:19:10.054Z,1736371150.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.200012 m, nav range: 412.777100 m, bearing: 175.850512 deg, approach rate: -0.019200 m/s, LOS rate: -0.101046 deg/s, cmd heading: 260.260561 deg, new cmd heading: 260.139624 deg. 2025-01-08T21:19:10.056Z,1736371150.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540293 target range: 462.200012 and range: 462.20 m. 2025-01-08T21:19:10.160Z,1736371150.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:10.161Z,1736371150.161 [DAT](INFO): DAT read: Rx Time:21:19:08.8875 2025-01-08T21:19:10.162Z,1736371150.162 [DAT](INFO): Rx dataTimestamp_ set to:1736371150.161058 2025-01-08T21:19:10.163Z,1736371150.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517159 2025-01-08T21:19:10.408Z,1736371150.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:10.412Z,1736371150.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:10.413Z,1736371150.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767764 2025-01-08T21:19:10.432Z,1736371150.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:10.434Z,1736371150.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.20 m. 2025-01-08T21:19:10.449Z,1736371150.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.200012 m, nav range: 412.770660 m, bearing: 175.818576 deg, approach rate: -0.016826 m/s, LOS rate: -0.083452 deg/s, cmd heading: 260.139612 deg, new cmd heading: 260.043803 deg. 2025-01-08T21:19:10.450Z,1736371150.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538620 target range: 462.200012 and range: 462.20 m. 2025-01-08T21:19:10.664Z,1736371150.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:10.674Z,1736371150.674 [DAT](INFO): DAT read: 21:19:08.8875 LVL= 19680, 31409, 20178, 32755, AGC= 71, IDX= 404, 0.18, 0.383,-1.237, 0.335,-0.371, PHS= 0.843,-0.819, 0.704, RAW= 145.7, -9.2, CAL= 152.2, -17.9, ROT= 357.8, 17.9 2025-01-08T21:19:10.676Z,1736371150.676 [DAT](INFO): got valid direction response: 21:19:08.8875 LVL= 19680, 31409, 20178, 32755, AGC= 71, IDX= 404, 0.18, 0.383,-1.237, 0.335,-0.371, PHS= 0.843,-0.819, 0.704, RAW= 145.7, -9.2, CAL= 152.2, -17.9, ROT= 357.8, 17.9 2025-01-08T21:19:10.678Z,1736371150.678 [DAT](INFO): DAT read: Bearing 357.8, 17.9 (Local) 2025-01-08T21:19:10.679Z,1736371150.679 [DAT](INFO): Local bearing/azimuth received: Bearing 357.8, 17.9 (Local) 2025-01-08T21:19:10.681Z,1736371150.681 [DAT](INFO): DAT read: Range 10 to 50 : 459.9 m (Round-trip 613.3 ms) speed 0.5 m/s 2025-01-08T21:19:10.681Z,1736371150.681 [DAT](INFO): DAT read: user:1661> 2025-01-08T21:19:10.682Z,1736371150.682 [DAT](INFO): DAT read: Tx time:21:19:09.9700 2025-01-08T21:19:10.682Z,1736371150.682 [DAT](INFO): Ping request sent. 2025-01-08T21:19:10.683Z,1736371150.683 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:19:10.683Z,1736371150.683 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:19:10.684Z,1736371150.684 [DAT](INFO): direction in FSK: [0.056861,-0.784624,0.617359] 2025-01-08T21:19:10.684Z,1736371150.684 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:10.685Z,1736371150.685 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:10.688Z,1736371150.688 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:10.688Z,1736371150.688 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:10.896Z,1736371150.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:10.916Z,1736371150.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:10.917Z,1736371150.917 [DAT](INFO): DAT read: TxSync time:21:19:09.9692 2025-01-08T21:19:10.930Z,1736371150.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 459.899994 m, deltaT: 4.032778 s, deltaX: -2.300018 m, approachRate: -0.570331 m/s, rangeRepo size: 4 2025-01-08T21:19:10.937Z,1736371150.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 459.899994 m, bearing: 173.086222 deg, lat: 36.901192 deg, lon: -122.113522 deg, deltaT: 4.032778 s, deltaX: -2.300018 m, approachRate: -0.570331 m/s, posRepo size: 4 2025-01-08T21:19:10.938Z,1736371150.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.90 m. 2025-01-08T21:19:10.945Z,1736371150.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.899994 m, nav range: 400.349792 m, bearing: 173.242527 deg, approach rate: 0.000000 m/s, LOS rate: -0.083452 deg/s, cmd heading: 260.043798 deg, new cmd heading: 259.921461 deg. 2025-01-08T21:19:10.946Z,1736371150.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536485 target range: 459.899994 and range: 459.90 m. 2025-01-08T21:19:11.168Z,1736371151.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:11.230Z,1736371151.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:11.238Z,1736371151.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.90 m. 2025-01-08T21:19:11.241Z,1736371151.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.899994 m, nav range: 400.347137 m, bearing: 173.213164 deg, approach rate: -0.008423 m/s, LOS rate: -0.093153 deg/s, cmd heading: 259.921456 deg, new cmd heading: 259.833369 deg. 2025-01-08T21:19:11.242Z,1736371151.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534948 target range: 459.899994 and range: 459.90 m. 2025-01-08T21:19:11.420Z,1736371151.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:11.673Z,1736371151.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:11.719Z,1736371151.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:11.729Z,1736371151.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.90 m. 2025-01-08T21:19:11.731Z,1736371151.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.899994 m, nav range: 400.335052 m, bearing: 173.170191 deg, approach rate: -0.024707 m/s, LOS rate: -0.087858 deg/s, cmd heading: 259.833373 deg, new cmd heading: 259.704451 deg. 2025-01-08T21:19:11.732Z,1736371151.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532698 target range: 459.899994 and range: 459.90 m. 2025-01-08T21:19:11.924Z,1736371151.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:12.043Z,1736371152.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:12.053Z,1736371152.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.90 m. 2025-01-08T21:19:12.055Z,1736371152.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.899994 m, nav range: 400.326141 m, bearing: 173.141744 deg, approach rate: -0.027396 m/s, LOS rate: -0.087461 deg/s, cmd heading: 259.704447 deg, new cmd heading: 259.619101 deg. 2025-01-08T21:19:12.056Z,1736371152.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531208 target range: 459.899994 and range: 459.90 m. 2025-01-08T21:19:12.176Z,1736371152.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:12.429Z,1736371152.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:12.469Z,1736371152.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:12.475Z,1736371152.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:12.478Z,1736371152.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.90 m. 2025-01-08T21:19:12.481Z,1736371152.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.899994 m, nav range: 400.314606 m, bearing: 173.104401 deg, approach rate: -0.027163 m/s, LOS rate: -0.087935 deg/s, cmd heading: 259.619097 deg, new cmd heading: 259.507065 deg. 2025-01-08T21:19:12.482Z,1736371152.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529253 target range: 459.899994 and range: 459.90 m. 2025-01-08T21:19:12.680Z,1736371152.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:12.681Z,1736371152.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:12.681Z,1736371152.681 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:12.681Z,1736371152.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:12.875Z,1736371152.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:12.906Z,1736371152.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.90 m. 2025-01-08T21:19:12.916Z,1736371152.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.899994 m, nav range: 400.298889 m, bearing: 173.068549 deg, approach rate: -0.036702 m/s, LOS rate: -0.083726 deg/s, cmd heading: 259.507054 deg, new cmd heading: 259.399495 deg. 2025-01-08T21:19:12.917Z,1736371152.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527375 target range: 459.899994 and range: 459.90 m. 2025-01-08T21:19:12.932Z,1736371152.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:12.932Z,1736371152.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249875 2025-01-08T21:19:13.184Z,1736371153.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:13.185Z,1736371153.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501899 2025-01-08T21:19:13.248Z,1736371153.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:13.273Z,1736371153.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.90 m. 2025-01-08T21:19:13.280Z,1736371153.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.899994 m, nav range: 400.284546 m, bearing: 173.035581 deg, approach rate: -0.038999 m/s, LOS rate: -0.089642 deg/s, cmd heading: 259.399492 deg, new cmd heading: 259.300586 deg. 2025-01-08T21:19:13.281Z,1736371153.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525649 target range: 459.899994 and range: 459.90 m. 2025-01-08T21:19:13.439Z,1736371153.439 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:13.440Z,1736371153.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756985 2025-01-08T21:19:13.689Z,1736371153.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:13.692Z,1736371153.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008354 2025-01-08T21:19:13.766Z,1736371153.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:13.774Z,1736371153.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.90 m. 2025-01-08T21:19:13.777Z,1736371153.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.899994 m, nav range: 400.264526 m, bearing: 172.988803 deg, approach rate: -0.039974 m/s, LOS rate: -0.093410 deg/s, cmd heading: 259.300591 deg, new cmd heading: 259.160249 deg. 2025-01-08T21:19:13.779Z,1736371153.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523200 target range: 459.899994 and range: 459.90 m. 2025-01-08T21:19:13.941Z,1736371153.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:13.943Z,1736371153.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260415 2025-01-08T21:19:14.057Z,1736371154.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:14.067Z,1736371154.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.90 m. 2025-01-08T21:19:14.069Z,1736371154.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.899994 m, nav range: 400.253448 m, bearing: 172.962406 deg, approach rate: -0.037885 m/s, LOS rate: -0.090275 deg/s, cmd heading: 259.160245 deg, new cmd heading: 259.081053 deg. 2025-01-08T21:19:14.070Z,1736371154.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521817 target range: 459.899994 and range: 459.90 m. 2025-01-08T21:19:14.192Z,1736371154.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:14.193Z,1736371154.193 [DAT](INFO): DAT read: Rx Time:21:19:12.9850 2025-01-08T21:19:14.193Z,1736371154.193 [DAT](INFO): Rx dataTimestamp_ set to:1736371154.192775 2025-01-08T21:19:14.194Z,1736371154.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510978 2025-01-08T21:19:14.444Z,1736371154.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:14.445Z,1736371154.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762277 2025-01-08T21:19:14.481Z,1736371154.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:14.496Z,1736371154.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:14.498Z,1736371154.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.90 m. 2025-01-08T21:19:14.505Z,1736371154.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.899994 m, nav range: 400.237396 m, bearing: 172.924092 deg, approach rate: -0.037231 m/s, LOS rate: -0.088868 deg/s, cmd heading: 259.081042 deg, new cmd heading: 258.966095 deg. 2025-01-08T21:19:14.506Z,1736371154.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519811 target range: 459.899994 and range: 459.90 m. 2025-01-08T21:19:14.698Z,1736371154.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:14.714Z,1736371154.714 [DAT](INFO): DAT read: 21:19:12.9850 LVL= 20448, 25905, 17314, 32067, AGC= 72, IDX= 411, 0.23, 0.147,-1.135, 0.010,-0.296, PHS= 0.530,-0.792, 0.303, RAW= 140.7, -0.7, CAL= 145.3, -9.8, ROT= 4.7, 9.8 2025-01-08T21:19:14.717Z,1736371154.717 [DAT](INFO): got valid direction response: 21:19:12.9850 LVL= 20448, 25905, 17314, 32067, AGC= 72, IDX= 411, 0.23, 0.147,-1.135, 0.010,-0.296, PHS= 0.530,-0.792, 0.303, RAW= 140.7, -0.7, CAL= 145.3, -9.8, ROT= 4.7, 9.8 2025-01-08T21:19:14.718Z,1736371154.718 [DAT](INFO): DAT read: Bearing 4.7, 9.8 (Local) 2025-01-08T21:19:14.719Z,1736371154.719 [DAT](INFO): Local bearing/azimuth received: Bearing 4.7, 9.8 (Local) 2025-01-08T21:19:14.721Z,1736371154.721 [DAT](INFO): DAT read: Range 10 to 50 : 458.1 m (Round-trip 610.8 ms) speed 0.8 m/s 2025-01-08T21:19:14.721Z,1736371154.721 [DAT](INFO): DAT read: user:1662> 2025-01-08T21:19:14.722Z,1736371154.722 [DAT](INFO): DAT read: Tx time:21:19:14.0701 2025-01-08T21:19:14.722Z,1736371154.722 [DAT](INFO): Ping request sent. 2025-01-08T21:19:14.722Z,1736371154.722 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:19:14.723Z,1736371154.723 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:19:14.724Z,1736371154.724 [DAT](INFO): direction in FSK: [-0.111915,-0.723964,0.680699] 2025-01-08T21:19:14.725Z,1736371154.725 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:14.725Z,1736371154.725 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:14.731Z,1736371154.731 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:14.732Z,1736371154.732 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:14.930Z,1736371154.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:14.948Z,1736371154.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:14.949Z,1736371154.949 [DAT](INFO): DAT read: TxSync time:21:19:14.0693 2025-01-08T21:19:14.966Z,1736371154.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 458.100006 m, deltaT: 4.034675 s, deltaX: -1.799988 m, approachRate: -0.446130 m/s, rangeRepo size: 4 2025-01-08T21:19:14.973Z,1736371154.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 458.100006 m, bearing: 160.872863 deg, lat: 36.901274 deg, lon: -122.113473 deg, deltaT: 4.034675 s, deltaX: -1.799988 m, approachRate: -0.446130 m/s, posRepo size: 4 2025-01-08T21:19:14.973Z,1736371154.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.10 m. 2025-01-08T21:19:14.980Z,1736371154.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.100006 m, nav range: 391.769470 m, bearing: 172.087969 deg, approach rate: 0.000000 m/s, LOS rate: -0.088868 deg/s, cmd heading: 258.966103 deg, new cmd heading: 258.841323 deg. 2025-01-08T21:19:14.981Z,1736371154.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517633 target range: 458.100006 and range: 458.10 m. 2025-01-08T21:19:15.200Z,1736371155.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:15.273Z,1736371155.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:15.282Z,1736371155.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.10 m. 2025-01-08T21:19:15.285Z,1736371155.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.100006 m, nav range: 391.755005 m, bearing: 172.055880 deg, approach rate: -0.045758 m/s, LOS rate: -0.101510 deg/s, cmd heading: 258.841329 deg, new cmd heading: 258.745060 deg. 2025-01-08T21:19:15.286Z,1736371155.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515953 target range: 458.100006 and range: 458.10 m. 2025-01-08T21:19:15.452Z,1736371155.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:15.706Z,1736371155.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:15.749Z,1736371155.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:15.766Z,1736371155.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.10 m. 2025-01-08T21:19:15.773Z,1736371155.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.100006 m, nav range: 391.734375 m, bearing: 172.011329 deg, approach rate: -0.042585 m/s, LOS rate: -0.091969 deg/s, cmd heading: 258.745051 deg, new cmd heading: 258.611390 deg. 2025-01-08T21:19:15.774Z,1736371155.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513620 target range: 458.100006 and range: 458.10 m. 2025-01-08T21:19:15.956Z,1736371155.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:16.106Z,1736371156.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:16.115Z,1736371156.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.10 m. 2025-01-08T21:19:16.118Z,1736371156.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.100006 m, nav range: 391.721680 m, bearing: 171.977126 deg, approach rate: -0.036453 m/s, LOS rate: -0.098213 deg/s, cmd heading: 258.611398 deg, new cmd heading: 258.508786 deg. 2025-01-08T21:19:16.119Z,1736371156.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511829 target range: 458.100006 and range: 458.10 m. 2025-01-08T21:19:16.209Z,1736371156.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:16.460Z,1736371156.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:16.512Z,1736371156.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:16.520Z,1736371156.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:16.522Z,1736371156.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.10 m. 2025-01-08T21:19:16.524Z,1736371156.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.100006 m, nav range: 391.707458 m, bearing: 171.938150 deg, approach rate: -0.034946 m/s, LOS rate: -0.095779 deg/s, cmd heading: 258.508781 deg, new cmd heading: 258.391849 deg. 2025-01-08T21:19:16.525Z,1736371156.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509789 target range: 458.100006 and range: 458.10 m. 2025-01-08T21:19:16.720Z,1736371156.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:16.721Z,1736371156.721 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:16.722Z,1736371156.722 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:16.722Z,1736371156.722 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:16.935Z,1736371156.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:16.943Z,1736371156.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.10 m. 2025-01-08T21:19:16.946Z,1736371156.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.100006 m, nav range: 391.694153 m, bearing: 171.895737 deg, approach rate: -0.031554 m/s, LOS rate: -0.100586 deg/s, cmd heading: 258.391848 deg, new cmd heading: 258.264605 deg. 2025-01-08T21:19:16.947Z,1736371156.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507568 target range: 458.100006 and range: 458.10 m. 2025-01-08T21:19:16.972Z,1736371156.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:16.972Z,1736371156.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249824 2025-01-08T21:19:17.224Z,1736371157.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:17.224Z,1736371157.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501956 2025-01-08T21:19:17.293Z,1736371157.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:17.303Z,1736371157.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.10 m. 2025-01-08T21:19:17.305Z,1736371157.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.100006 m, nav range: 391.683258 m, bearing: 171.859743 deg, approach rate: -0.030307 m/s, LOS rate: -0.100132 deg/s, cmd heading: 258.264616 deg, new cmd heading: 258.156630 deg. 2025-01-08T21:19:17.306Z,1736371157.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505683 target range: 458.100006 and range: 458.10 m. 2025-01-08T21:19:17.476Z,1736371157.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:17.476Z,1736371157.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753910 2025-01-08T21:19:17.731Z,1736371157.731 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:17.733Z,1736371157.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010374 2025-01-08T21:19:17.830Z,1736371157.830 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +5, +696, 2025-01-08T21:19:17.842Z,1736371157.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:19:17.842Z,1736371157.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:17.869Z,1736371157.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.10 m. 2025-01-08T21:19:17.875Z,1736371157.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.100006 m, nav range: 391.666595 m, bearing: 171.804710 deg, approach rate: -0.029446 m/s, LOS rate: -0.097256 deg/s, cmd heading: 258.156617 deg, new cmd heading: 257.991512 deg. 2025-01-08T21:19:17.876Z,1736371157.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502801 target range: 458.100006 and range: 458.10 m. 2025-01-08T21:19:17.980Z,1736371157.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:17.982Z,1736371157.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258751 2025-01-08T21:19:18.190Z,1736371158.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:19:18.190Z,1736371158.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:18.200Z,1736371158.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.10 m. 2025-01-08T21:19:18.203Z,1736371158.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.100006 m, nav range: 391.655762 m, bearing: 171.769770 deg, approach rate: -0.032768 m/s, LOS rate: -0.105684 deg/s, cmd heading: 257.991517 deg, new cmd heading: 257.886693 deg. 2025-01-08T21:19:18.204Z,1736371158.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500972 target range: 458.100006 and range: 458.10 m. 2025-01-08T21:19:18.232Z,1736371158.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:18.233Z,1736371158.233 [DAT](INFO): DAT read: Rx Time:21:19:17.0688 2025-01-08T21:19:18.233Z,1736371158.233 [DAT](INFO): Rx dataTimestamp_ set to:1736371158.232732 2025-01-08T21:19:18.234Z,1736371158.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511112 2025-01-08T21:19:18.484Z,1736371158.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:18.485Z,1736371158.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762131 2025-01-08T21:19:18.599Z,1736371158.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T21:19:18.599Z,1736371158.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:18.606Z,1736371158.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:18.609Z,1736371158.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.10 m. 2025-01-08T21:19:18.612Z,1736371158.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 458.100006 m, nav range: 391.642822 m, bearing: 171.728718 deg, approach rate: -0.031611 m/s, LOS rate: -0.100294 deg/s, cmd heading: 257.886688 deg, new cmd heading: 257.763528 deg. 2025-01-08T21:19:18.613Z,1736371158.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498822 target range: 458.100006 and range: 458.10 m. 2025-01-08T21:19:18.770Z,1736371158.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:18.781Z,1736371158.781 [DAT](INFO): DAT read: 21:19:17.0688 LVL= 29520, 32753, 28914, 32755, AGC= 66, IDX= 398, 0.09,-2.953, 1.937,-3.126, 2.639, PHS= 0.779,-0.655, 0.515, RAW= 140.0, -9.7, CAL= 146.7, -19.7, ROT= 3.3, 19.7 2025-01-08T21:19:18.782Z,1736371158.782 [DAT](INFO): got valid direction response: 21:19:17.0688 LVL= 29520, 32753, 28914, 32755, AGC= 66, IDX= 398, 0.09,-2.953, 1.937,-3.126, 2.639, PHS= 0.779,-0.655, 0.515, RAW= 140.0, -9.7, CAL= 146.7, -19.7, ROT= 3.3, 19.7 2025-01-08T21:19:18.783Z,1736371158.783 [DAT](INFO): DAT read: Bearing 3.3, 19.7 (Local) 2025-01-08T21:19:18.784Z,1736371158.784 [DAT](INFO): Local bearing/azimuth received: Bearing 3.3, 19.7 (Local) 2025-01-08T21:19:18.785Z,1736371158.785 [DAT](INFO): DAT read: Range 10 to 50 : 445.9 m (Round-trip 594.6 ms) speed 0.9 m/s 2025-01-08T21:19:18.786Z,1736371158.786 [DAT](INFO): DAT read: user:1663> 2025-01-08T21:19:18.786Z,1736371158.786 [DAT](INFO): DAT read: Tx time:21:19:18.1701 2025-01-08T21:19:18.787Z,1736371158.787 [DAT](INFO): Ping request sent. 2025-01-08T21:19:18.787Z,1736371158.787 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:19:18.787Z,1736371158.787 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:19:18.788Z,1736371158.788 [DAT](INFO): direction in FSK: [0.066199,-0.716455,0.694485] 2025-01-08T21:19:18.788Z,1736371158.788 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:18.789Z,1736371158.789 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:18.792Z,1736371158.792 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:18.792Z,1736371158.792 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:18.795Z,1736371158.795 [RudderServo](ERROR): getPosition uart error serial timeout 2025-01-08T21:19:18.795Z,1736371158.795 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout 2025-01-08T21:19:18.796Z,1736371158.796 [RudderServo] Communications Fault, FailCount= 1 2025-01-08T21:19:18.796Z,1736371158.796 [RudderServo](ERROR): Communications Fault 2025-01-08T21:19:18.828Z,1736371158.828 [CBIT](ERROR): Communications Fault in component: RudderServo 2025-01-08T21:19:18.921Z,1736371158.921 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:19:19.020Z,1736371159.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:19.021Z,1736371159.021 [DAT](INFO): DAT read: TxSync time:21:19:18.1693 2025-01-08T21:19:19.051Z,1736371159.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:19.091Z,1736371159.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 445.899994 m, deltaT: 4.071549 s, deltaX: -12.200012 m, approachRate: -2.996406 m/s, rangeRepo size: 4 2025-01-08T21:19:19.097Z,1736371159.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 445.899994 m, bearing: 173.652707 deg, lat: 36.901288 deg, lon: -122.113473 deg, deltaT: 4.071549 s, deltaX: -12.200012 m, approachRate: -2.996406 m/s, posRepo size: 4 2025-01-08T21:19:19.098Z,1736371159.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:19.105Z,1736371159.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 390.032715 m, bearing: 171.649727 deg, approach rate: 0.000000 m/s, LOS rate: -0.100294 deg/s, cmd heading: 257.763526 deg, new cmd heading: 257.618658 deg. 2025-01-08T21:19:19.106Z,1736371159.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496294 target range: 445.899994 and range: 445.90 m. 2025-01-08T21:19:19.193Z,1736371159.193 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2025-01-08T21:19:19.193Z,1736371159.193 [RudderServo](INFO): Powering down 2025-01-08T21:19:19.272Z,1736371159.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:19.405Z,1736371159.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:19.415Z,1736371159.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:19.418Z,1736371159.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 390.026276 m, bearing: 171.614651 deg, approach rate: -0.019836 m/s, LOS rate: -0.108048 deg/s, cmd heading: 257.618671 deg, new cmd heading: 257.513444 deg. 2025-01-08T21:19:19.420Z,1736371159.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494457 target range: 445.899994 and range: 445.90 m. 2025-01-08T21:19:19.524Z,1736371159.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:19.788Z,1736371159.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:19.852Z,1736371159.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:19.870Z,1736371159.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:19.896Z,1736371159.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 390.016479 m, bearing: 171.571336 deg, approach rate: -0.021548 m/s, LOS rate: -0.095282 deg/s, cmd heading: 257.513431 deg, new cmd heading: 257.383482 deg. 2025-01-08T21:19:19.897Z,1736371159.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492189 target range: 445.899994 and range: 445.90 m. 2025-01-08T21:19:19.977Z,1736371159.977 [RudderServo](DEBUG): Initializing EZServoServo. 2025-01-08T21:19:20.041Z,1736371160.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:20.096Z,1736371160.096 [RudderServo](DEBUG): Initializing RudderServo. 2025-01-08T21:19:20.127Z,1736371160.127 [CBIT](INFO): Clearing failed state for component RudderServo 2025-01-08T21:19:20.127Z,1736371160.127 [RudderServo] No Fault, FailCount= 1 2025-01-08T21:19:20.206Z,1736371160.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:20.216Z,1736371160.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:20.218Z,1736371160.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 390.008453 m, bearing: 171.537087 deg, approach rate: -0.023185 m/s, LOS rate: -0.098937 deg/s, cmd heading: 257.383494 deg, new cmd heading: 257.280744 deg. 2025-01-08T21:19:20.220Z,1736371160.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490396 target range: 445.899994 and range: 445.90 m. 2025-01-08T21:19:20.292Z,1736371160.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:20.544Z,1736371160.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:20.617Z,1736371160.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:20.641Z,1736371160.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:20.649Z,1736371160.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:20.657Z,1736371160.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.998810 m, bearing: 171.497442 deg, approach rate: -0.022270 m/s, LOS rate: -0.091555 deg/s, cmd heading: 257.280740 deg, new cmd heading: 257.161804 deg. 2025-01-08T21:19:20.664Z,1736371160.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488320 target range: 445.899994 and range: 445.90 m. 2025-01-08T21:19:20.797Z,1736371160.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:20.798Z,1736371160.798 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:20.798Z,1736371160.798 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:20.799Z,1736371160.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:21.048Z,1736371161.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:21.048Z,1736371161.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261625 2025-01-08T21:19:21.082Z,1736371161.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:21.096Z,1736371161.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:21.102Z,1736371161.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.989929 m, bearing: 171.454255 deg, approach rate: -0.019913 m/s, LOS rate: -0.096841 deg/s, cmd heading: 257.161813 deg, new cmd heading: 257.032250 deg. 2025-01-08T21:19:21.103Z,1736371161.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486059 target range: 445.899994 and range: 445.90 m. 2025-01-08T21:19:21.300Z,1736371161.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:21.300Z,1736371161.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513497 2025-01-08T21:19:21.461Z,1736371161.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:21.470Z,1736371161.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:21.473Z,1736371161.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.982880 m, bearing: 171.419117 deg, approach rate: -0.018765 m/s, LOS rate: -0.093535 deg/s, cmd heading: 257.032258 deg, new cmd heading: 256.926841 deg. 2025-01-08T21:19:21.474Z,1736371161.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484220 target range: 445.899994 and range: 445.90 m. 2025-01-08T21:19:21.552Z,1736371161.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:21.553Z,1736371161.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765877 2025-01-08T21:19:21.808Z,1736371161.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:21.810Z,1736371161.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023266 2025-01-08T21:19:21.891Z,1736371161.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:21.900Z,1736371161.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:21.903Z,1736371161.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.978699 m, bearing: 171.381044 deg, approach rate: -0.009723 m/s, LOS rate: -0.088544 deg/s, cmd heading: 256.926855 deg, new cmd heading: 256.812634 deg. 2025-01-08T21:19:21.905Z,1736371161.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482226 target range: 445.899994 and range: 445.90 m. 2025-01-08T21:19:22.060Z,1736371162.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:22.060Z,1736371162.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273636 2025-01-08T21:19:22.226Z,1736371162.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:22.236Z,1736371162.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:22.238Z,1736371162.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.974457 m, bearing: 171.351396 deg, approach rate: -0.012652 m/s, LOS rate: -0.088428 deg/s, cmd heading: 256.812627 deg, new cmd heading: 256.723684 deg. 2025-01-08T21:19:22.240Z,1736371162.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480674 target range: 445.899994 and range: 445.90 m. 2025-01-08T21:19:22.312Z,1736371162.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:22.313Z,1736371162.313 [DAT](INFO): DAT read: Rx Time:21:19:21.1649 2025-01-08T21:19:22.313Z,1736371162.313 [DAT](INFO): Rx dataTimestamp_ set to:1736371162.312991 2025-01-08T21:19:22.314Z,1736371162.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526946 2025-01-08T21:19:22.564Z,1736371162.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:22.564Z,1736371162.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777580 2025-01-08T21:19:22.633Z,1736371162.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:22.641Z,1736371162.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:22.646Z,1736371162.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.968994 m, bearing: 171.315367 deg, approach rate: -0.013461 m/s, LOS rate: -0.088784 deg/s, cmd heading: 256.723698 deg, new cmd heading: 256.615608 deg. 2025-01-08T21:19:22.649Z,1736371162.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478787 target range: 445.899994 and range: 445.90 m. 2025-01-08T21:19:22.818Z,1736371162.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:22.829Z,1736371162.829 [DAT](INFO): DAT read: Range 10 to 50 : 443.0 m (Round-trip 590.7 ms) speed 0.3 m/s 2025-01-08T21:19:22.829Z,1736371162.829 [DAT](INFO): DAT read: user:1664> 2025-01-08T21:19:22.830Z,1736371162.830 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:19:22.831Z,1736371162.831 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:22.831Z,1736371162.831 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:22.831Z,1736371162.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:23.069Z,1736371163.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:23.070Z,1736371163.070 [DAT](INFO): DAT read: Tx time:21:19:22.2702 2025-01-08T21:19:23.071Z,1736371163.071 [DAT](INFO): Ping request sent. 2025-01-08T21:19:23.071Z,1736371163.071 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:19:23.072Z,1736371163.072 [DAT](INFO): DAT read: TxSync time:21:19:22.2694 2025-01-08T21:19:23.072Z,1736371163.072 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:23.073Z,1736371163.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001993 2025-01-08T21:19:23.082Z,1736371163.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:23.093Z,1736371163.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:23.097Z,1736371163.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 443.000000 m, deltaT: 4.048042 s, deltaX: -2.899994 m, approachRate: -0.716394 m/s, rangeRepo size: 4 2025-01-08T21:19:23.097Z,1736371163.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:23.100Z,1736371163.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.961792 m, bearing: 171.277236 deg, approach rate: -0.015868 m/s, LOS rate: -0.084014 deg/s, cmd heading: 256.615617 deg, new cmd heading: 256.501223 deg. 2025-01-08T21:19:23.101Z,1736371163.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476791 target range: 445.899994 and range: 443.00 m. 2025-01-08T21:19:23.320Z,1736371163.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:23.320Z,1736371163.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249635 2025-01-08T21:19:23.466Z,1736371163.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:23.475Z,1736371163.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:23.478Z,1736371163.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.954620 m, bearing: 171.244675 deg, approach rate: -0.018894 m/s, LOS rate: -0.085789 deg/s, cmd heading: 256.501225 deg, new cmd heading: 256.403538 deg. 2025-01-08T21:19:23.496Z,1736371163.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475086 target range: 445.899994 and range: 443.00 m. 2025-01-08T21:19:23.572Z,1736371163.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:23.573Z,1736371163.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502632 2025-01-08T21:19:23.827Z,1736371163.827 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:23.830Z,1736371163.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758409 2025-01-08T21:19:23.900Z,1736371163.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:23.930Z,1736371163.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:23.937Z,1736371163.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.942780 m, bearing: 171.208963 deg, approach rate: -0.025993 m/s, LOS rate: -0.078398 deg/s, cmd heading: 256.403526 deg, new cmd heading: 256.296387 deg. 2025-01-08T21:19:23.938Z,1736371163.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473216 target range: 445.899994 and range: 443.00 m. 2025-01-08T21:19:24.080Z,1736371164.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:24.082Z,1736371164.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010699 2025-01-08T21:19:24.245Z,1736371164.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:24.270Z,1736371164.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:24.273Z,1736371164.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.932800 m, bearing: 171.180626 deg, approach rate: -0.029355 m/s, LOS rate: -0.083360 deg/s, cmd heading: 256.296401 deg, new cmd heading: 256.211386 deg. 2025-01-08T21:19:24.274Z,1736371164.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471732 target range: 445.899994 and range: 443.00 m. 2025-01-08T21:19:24.332Z,1736371164.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:24.333Z,1736371164.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262458 2025-01-08T21:19:24.584Z,1736371164.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:24.584Z,1736371164.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513511 2025-01-08T21:19:24.667Z,1736371164.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:24.682Z,1736371164.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:24.685Z,1736371164.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.920166 m, bearing: 171.146003 deg, approach rate: -0.030687 m/s, LOS rate: -0.084096 deg/s, cmd heading: 256.211379 deg, new cmd heading: 256.107508 deg. 2025-01-08T21:19:24.686Z,1736371164.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469919 target range: 445.899994 and range: 443.00 m. 2025-01-08T21:19:24.837Z,1736371164.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:24.840Z,1736371164.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768645 2025-01-08T21:19:25.088Z,1736371165.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:25.088Z,1736371165.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017636 2025-01-08T21:19:25.090Z,1736371165.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:25.098Z,1736371165.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:25.104Z,1736371165.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:25.106Z,1736371165.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.905518 m, bearing: 171.113253 deg, approach rate: -0.034758 m/s, LOS rate: -0.077711 deg/s, cmd heading: 256.107505 deg, new cmd heading: 256.009252 deg. 2025-01-08T21:19:25.107Z,1736371165.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468204 target range: 445.899994 and range: 443.00 m. 2025-01-08T21:19:25.340Z,1736371165.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:25.340Z,1736371165.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269661 2025-01-08T21:19:25.463Z,1736371165.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:25.472Z,1736371165.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:25.474Z,1736371165.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.892517 m, bearing: 171.084420 deg, approach rate: -0.035330 m/s, LOS rate: -0.078360 deg/s, cmd heading: 256.009260 deg, new cmd heading: 255.922757 deg. 2025-01-08T21:19:25.476Z,1736371165.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466695 target range: 445.899994 and range: 443.00 m. 2025-01-08T21:19:25.592Z,1736371165.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:25.593Z,1736371165.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521739 2025-01-08T21:19:25.853Z,1736371165.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:25.855Z,1736371165.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783890 2025-01-08T21:19:25.945Z,1736371165.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:25.954Z,1736371165.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:25.957Z,1736371165.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.867126 m, bearing: 171.046201 deg, approach rate: -0.052640 m/s, LOS rate: -0.079240 deg/s, cmd heading: 255.922762 deg, new cmd heading: 255.808098 deg. 2025-01-08T21:19:25.958Z,1736371165.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464694 target range: 445.899994 and range: 443.00 m. 2025-01-08T21:19:26.104Z,1736371166.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:26.104Z,1736371166.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033542 2025-01-08T21:19:26.269Z,1736371166.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:26.277Z,1736371166.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:26.281Z,1736371166.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.850159 m, bearing: 171.020452 deg, approach rate: -0.052471 m/s, LOS rate: -0.079628 deg/s, cmd heading: 255.808097 deg, new cmd heading: 255.730848 deg. 2025-01-08T21:19:26.282Z,1736371166.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463346 target range: 445.899994 and range: 443.00 m. 2025-01-08T21:19:26.356Z,1736371166.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:26.357Z,1736371166.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285816 2025-01-08T21:19:26.608Z,1736371166.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:26.608Z,1736371166.608 [DAT](INFO): DAT read: Rx Time:21:19:25.2625 2025-01-08T21:19:26.609Z,1736371166.609 [DAT](INFO): Rx dataTimestamp_ set to:1736371166.608548 2025-01-08T21:19:26.609Z,1736371166.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538549 2025-01-08T21:19:26.711Z,1736371166.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:26.720Z,1736371166.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T21:19:26.722Z,1736371166.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 389.827271 m, bearing: 170.985355 deg, approach rate: -0.051677 m/s, LOS rate: -0.079248 deg/s, cmd heading: 255.730861 deg, new cmd heading: 255.625562 deg. 2025-01-08T21:19:26.724Z,1736371166.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461508 target range: 445.899994 and range: 443.00 m. 2025-01-08T21:19:26.862Z,1736371166.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:26.864Z,1736371166.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793076 2025-01-08T21:19:27.112Z,1736371167.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:27.118Z,1736371167.118 [DAT](INFO): DAT read: 21:19:25.2625 LVL= 24624, 31777, 26802, 32755, AGC= 68, IDX= 419, 0.18,-2.374, 2.350,-2.836,-2.958, PHS= 0.672,-0.928, 0.119, RAW= 130.1, 2.0, CAL= 136.3, -5.7, ROT= 13.7, 5.7 2025-01-08T21:19:27.120Z,1736371167.120 [DAT](INFO): got valid direction response: 21:19:25.2625 LVL= 24624, 31777, 26802, 32755, AGC= 68, IDX= 419, 0.18,-2.374, 2.350,-2.836,-2.958, PHS= 0.672,-0.928, 0.119, RAW= 130.1, 2.0, CAL= 136.3, -5.7, ROT= 13.7, 5.7 2025-01-08T21:19:27.121Z,1736371167.121 [DAT](INFO): DAT read: Bearing 13.7, 5.7 (Local) 2025-01-08T21:19:27.121Z,1736371167.121 [DAT](INFO): Local bearing/azimuth received: Bearing 13.7, 5.7 (Local) 2025-01-08T21:19:27.123Z,1736371167.123 [DAT](INFO): DAT read: Range 10 to 50 : 441.0 m (Round-trip 588.1 ms) speed 0.6 m/s 2025-01-08T21:19:27.124Z,1736371167.124 [DAT](INFO): DAT read: user:1665> 2025-01-08T21:19:27.124Z,1736371167.124 [DAT](INFO): DAT read: Tx time:21:19:26.3702 2025-01-08T21:19:27.125Z,1736371167.125 [DAT](INFO): Ping request sent. 2025-01-08T21:19:27.125Z,1736371167.125 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:19:27.125Z,1736371167.125 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:19:27.126Z,1736371167.126 [DAT](INFO): direction in FSK: [-0.163375,-0.571551,0.804138] 2025-01-08T21:19:27.126Z,1736371167.126 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:27.126Z,1736371167.126 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:27.184Z,1736371167.184 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:27.184Z,1736371167.184 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:27.193Z,1736371167.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:27.231Z,1736371167.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 441.000000 m, deltaT: 4.293109 s, deltaX: -2.000000 m, approachRate: -0.465863 m/s, rangeRepo size: 4 2025-01-08T21:19:27.237Z,1736371167.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 441.000000 m, bearing: 154.816748 deg, lat: 36.901587 deg, lon: -122.112747 deg, deltaT: 8.341151 s, deltaX: -4.899994 m, approachRate: -0.587448 m/s, posRepo size: 4 2025-01-08T21:19:27.238Z,1736371167.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:27.246Z,1736371167.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 373.585114 m, bearing: 160.305742 deg, approach rate: 0.000000 m/s, LOS rate: -0.079248 deg/s, cmd heading: 255.625567 deg, new cmd heading: 255.504234 deg. 2025-01-08T21:19:27.247Z,1736371167.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459390 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:27.364Z,1736371167.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:27.365Z,1736371167.365 [DAT](INFO): DAT read: TxSync time:21:19:26.3694 2025-01-08T21:19:27.541Z,1736371167.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:27.556Z,1736371167.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:27.558Z,1736371167.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:27.565Z,1736371167.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 373.604187 m, bearing: 160.276171 deg, approach rate: 0.058268 m/s, LOS rate: -0.090333 deg/s, cmd heading: 255.504236 deg, new cmd heading: 255.415527 deg. 2025-01-08T21:19:27.566Z,1736371167.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457842 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:27.616Z,1736371167.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:27.618Z,1736371167.618 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:27.618Z,1736371167.618 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:27.618Z,1736371167.618 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:27.869Z,1736371167.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:27.872Z,1736371167.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746932 2025-01-08T21:19:27.976Z,1736371167.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:27.986Z,1736371167.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:27.989Z,1736371167.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 373.632660 m, bearing: 160.237734 deg, approach rate: 0.066529 m/s, LOS rate: -0.089805 deg/s, cmd heading: 255.415525 deg, new cmd heading: 255.300222 deg. 2025-01-08T21:19:27.990Z,1736371167.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455830 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:28.122Z,1736371168.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:28.123Z,1736371168.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997867 2025-01-08T21:19:28.336Z,1736371168.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:28.360Z,1736371168.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:28.368Z,1736371168.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 373.656189 m, bearing: 160.205993 deg, approach rate: 0.062788 m/s, LOS rate: -0.084695 deg/s, cmd heading: 255.300231 deg, new cmd heading: 255.205016 deg. 2025-01-08T21:19:28.369Z,1736371168.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454168 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:28.372Z,1736371168.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:28.372Z,1736371168.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247589 2025-01-08T21:19:28.624Z,1736371168.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:28.625Z,1736371168.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499720 2025-01-08T21:19:28.752Z,1736371168.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:28.762Z,1736371168.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:28.765Z,1736371168.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 373.683899 m, bearing: 160.169259 deg, approach rate: 0.069167 m/s, LOS rate: -0.091685 deg/s, cmd heading: 255.205019 deg, new cmd heading: 255.094825 deg. 2025-01-08T21:19:28.766Z,1736371168.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452245 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:28.878Z,1736371168.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:28.881Z,1736371168.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755054 2025-01-08T21:19:29.128Z,1736371169.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:29.129Z,1736371169.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003432 2025-01-08T21:19:29.256Z,1736371169.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:29.265Z,1736371169.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:29.268Z,1736371169.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 373.723480 m, bearing: 160.121422 deg, approach rate: 0.078496 m/s, LOS rate: -0.094860 deg/s, cmd heading: 255.094834 deg, new cmd heading: 254.951336 deg. 2025-01-08T21:19:29.269Z,1736371169.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449740 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:29.380Z,1736371169.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:29.381Z,1736371169.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255778 2025-01-08T21:19:29.512Z,1736371169.512 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:19:29.556Z,1736371169.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:29.564Z,1736371169.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:29.566Z,1736371169.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:29.569Z,1736371169.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 373.747223 m, bearing: 160.092886 deg, approach rate: 0.078930 m/s, LOS rate: -0.094859 deg/s, cmd heading: 254.951345 deg, new cmd heading: 254.865743 deg. 2025-01-08T21:19:29.570Z,1736371169.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448246 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:29.633Z,1736371169.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:29.634Z,1736371169.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508519 2025-01-08T21:19:29.885Z,1736371169.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:29.888Z,1736371169.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763138 2025-01-08T21:19:30.004Z,1736371170.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:30.034Z,1736371170.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:30.048Z,1736371170.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 373.793243 m, bearing: 160.047865 deg, approach rate: 0.098396 m/s, LOS rate: -0.096245 deg/s, cmd heading: 254.865749 deg, new cmd heading: 254.730706 deg. 2025-01-08T21:19:30.049Z,1736371170.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445889 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:30.137Z,1736371170.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:30.140Z,1736371170.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013852 2025-01-08T21:19:30.360Z,1736371170.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:30.369Z,1736371170.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:30.372Z,1736371170.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 373.829620 m, bearing: 160.012142 deg, approach rate: 0.108507 m/s, LOS rate: -0.106548 deg/s, cmd heading: 254.730703 deg, new cmd heading: 254.623542 deg. 2025-01-08T21:19:30.373Z,1736371170.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.444019 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:30.388Z,1736371170.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:30.388Z,1736371170.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263503 2025-01-08T21:19:30.517Z,1736371170.517 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:19:30.640Z,1736371170.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:30.640Z,1736371170.640 [DAT](INFO): DAT read: Rx Time:21:19:29.3836 2025-01-08T21:19:30.641Z,1736371170.641 [DAT](INFO): Rx dataTimestamp_ set to:1736371170.640616 2025-01-08T21:19:30.641Z,1736371170.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516605 2025-01-08T21:19:30.760Z,1736371170.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:30.770Z,1736371170.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:30.773Z,1736371170.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 373.869995 m, bearing: 159.971866 deg, approach rate: 0.100686 m/s, LOS rate: -0.100427 deg/s, cmd heading: 254.623551 deg, new cmd heading: 254.502739 deg. 2025-01-08T21:19:30.774Z,1736371170.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.441911 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:30.894Z,1736371170.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:30.897Z,1736371170.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771548 2025-01-08T21:19:31.145Z,1736371171.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:31.162Z,1736371171.162 [DAT](INFO): DAT read: 21:19:29.3836 LVL= 24224, 32753, 23986, 29171, AGC= 73, IDX= 140,-0.46,-2.269, 2.257,-2.514,-3.095, PHS= 0.914,-0.884, 0.578, RAW= 139.9, -7.4, CAL= 146.0, -17.2, ROT= 4.0, 17.2 2025-01-08T21:19:31.169Z,1736371171.169 [DAT](INFO): got valid direction response: 21:19:29.3836 LVL= 24224, 32753, 23986, 29171, AGC= 73, IDX= 140,-0.46,-2.269, 2.257,-2.514,-3.095, PHS= 0.914,-0.884, 0.578, RAW= 139.9, -7.4, CAL= 146.0, -17.2, ROT= 4.0, 17.2 2025-01-08T21:19:31.170Z,1736371171.170 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:19:31.215Z,1736371171.215 [DAT](INFO): Received a bad header 2025-01-08T21:19:31.228Z,1736371171.228 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:19:31.229Z,1736371171.229 [DAT](INFO): direction in FSK: [0.020581,-0.716132,0.697661] 2025-01-08T21:19:31.232Z,1736371171.232 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:31.232Z,1736371171.232 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:31.233Z,1736371171.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:31.332Z,1736371171.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:31.345Z,1736371171.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:31.352Z,1736371171.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 373.937317 m, bearing: 159.910028 deg, approach rate: 0.117243 m/s, LOS rate: -0.107675 deg/s, cmd heading: 254.502739 deg, new cmd heading: 254.317256 deg. 2025-01-08T21:19:31.353Z,1736371171.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.438673 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:31.396Z,1736371171.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:31.396Z,1736371171.396 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:31.397Z,1736371171.397 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:31.397Z,1736371171.397 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:31.648Z,1736371171.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:31.649Z,1736371171.649 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:31.649Z,1736371171.649 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:31.649Z,1736371171.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:31.785Z,1736371171.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:31.792Z,1736371171.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:31.795Z,1736371171.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:31.798Z,1736371171.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 373.987579 m, bearing: 159.860855 deg, approach rate: 0.111676 m/s, LOS rate: -0.109241 deg/s, cmd heading: 254.317258 deg, new cmd heading: 254.169760 deg. 2025-01-08T21:19:31.799Z,1736371171.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.436099 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:31.901Z,1736371171.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:31.901Z,1736371171.901 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:31.901Z,1736371171.901 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:31.902Z,1736371171.902 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:32.152Z,1736371172.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:32.152Z,1736371172.152 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:32.152Z,1736371172.152 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:32.152Z,1736371172.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:32.253Z,1736371172.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:32.262Z,1736371172.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:32.265Z,1736371172.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.042755 m, bearing: 159.808486 deg, approach rate: 0.118045 m/s, LOS rate: -0.112024 deg/s, cmd heading: 254.169753 deg, new cmd heading: 254.012669 deg. 2025-01-08T21:19:32.265Z,1736371172.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.433357 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:32.404Z,1736371172.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:32.404Z,1736371172.404 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:32.404Z,1736371172.404 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:32.404Z,1736371172.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:32.660Z,1736371172.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:32.661Z,1736371172.661 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:32.662Z,1736371172.662 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:32.662Z,1736371172.662 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:32.758Z,1736371172.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:32.779Z,1736371172.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:32.782Z,1736371172.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.099121 m, bearing: 159.751904 deg, approach rate: 0.109031 m/s, LOS rate: -0.109432 deg/s, cmd heading: 254.012659 deg, new cmd heading: 253.842939 deg. 2025-01-08T21:19:32.783Z,1736371172.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.430395 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:32.909Z,1736371172.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:32.911Z,1736371172.911 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:32.912Z,1736371172.912 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:32.912Z,1736371172.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:33.160Z,1736371173.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:33.160Z,1736371173.160 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:33.160Z,1736371173.160 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:33.160Z,1736371173.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:33.243Z,1736371173.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:33.266Z,1736371173.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:33.273Z,1736371173.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.151367 m, bearing: 159.697205 deg, approach rate: 0.107284 m/s, LOS rate: -0.112304 deg/s, cmd heading: 253.842942 deg, new cmd heading: 253.678870 deg. 2025-01-08T21:19:33.273Z,1736371173.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427532 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:33.413Z,1736371173.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:33.414Z,1736371173.414 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:33.414Z,1736371173.414 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:33.414Z,1736371173.414 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:33.582Z,1736371173.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:33.591Z,1736371173.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:33.594Z,1736371173.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.187469 m, bearing: 159.658201 deg, approach rate: 0.111016 m/s, LOS rate: -0.119927 deg/s, cmd heading: 253.678881 deg, new cmd heading: 253.561881 deg. 2025-01-08T21:19:33.596Z,1736371173.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425490 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:33.664Z,1736371173.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:33.665Z,1736371173.665 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:33.665Z,1736371173.665 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:33.666Z,1736371173.666 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:33.917Z,1736371173.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:33.919Z,1736371173.919 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:33.919Z,1736371173.919 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:33.920Z,1736371173.920 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:34.057Z,1736371174.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:34.064Z,1736371174.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:34.066Z,1736371174.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:34.069Z,1736371174.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.229797 m, bearing: 159.605607 deg, approach rate: 0.088979 m/s, LOS rate: -0.110548 deg/s, cmd heading: 253.561894 deg, new cmd heading: 253.404129 deg. 2025-01-08T21:19:34.070Z,1736371174.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422736 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:34.168Z,1736371174.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:34.168Z,1736371174.168 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:34.168Z,1736371174.168 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:34.168Z,1736371174.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:34.420Z,1736371174.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:34.420Z,1736371174.420 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:34.420Z,1736371174.420 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:34.420Z,1736371174.420 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:34.481Z,1736371174.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:34.502Z,1736371174.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:34.505Z,1736371174.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.266449 m, bearing: 159.558582 deg, approach rate: 0.084136 m/s, LOS rate: -0.107939 deg/s, cmd heading: 253.404116 deg, new cmd heading: 253.263054 deg. 2025-01-08T21:19:34.506Z,1736371174.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.420274 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:34.673Z,1736371174.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:34.674Z,1736371174.674 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:34.674Z,1736371174.674 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:34.674Z,1736371174.674 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:34.822Z,1736371174.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:34.852Z,1736371174.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:34.855Z,1736371174.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.295105 m, bearing: 159.520691 deg, approach rate: 0.081871 m/s, LOS rate: -0.108246 deg/s, cmd heading: 253.263059 deg, new cmd heading: 253.149395 deg. 2025-01-08T21:19:34.880Z,1736371174.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418291 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:34.924Z,1736371174.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:34.924Z,1736371174.924 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:34.924Z,1736371174.924 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:34.925Z,1736371174.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:35.176Z,1736371175.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:35.176Z,1736371175.176 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:35.176Z,1736371175.176 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:35.177Z,1736371175.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:35.264Z,1736371175.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:35.276Z,1736371175.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:35.279Z,1736371175.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.331268 m, bearing: 159.472639 deg, approach rate: 0.085310 m/s, LOS rate: -0.113343 deg/s, cmd heading: 253.149405 deg, new cmd heading: 253.005264 deg. 2025-01-08T21:19:35.280Z,1736371175.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.415775 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:35.428Z,1736371175.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:35.429Z,1736371175.429 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:35.429Z,1736371175.429 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:35.429Z,1736371175.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:35.601Z,1736371175.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:35.610Z,1736371175.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:35.613Z,1736371175.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.358124 m, bearing: 159.435777 deg, approach rate: 0.080473 m/s, LOS rate: -0.110449 deg/s, cmd heading: 253.005261 deg, new cmd heading: 252.894683 deg. 2025-01-08T21:19:35.614Z,1736371175.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.413845 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:35.685Z,1736371175.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:35.686Z,1736371175.686 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:35.686Z,1736371175.686 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:35.686Z,1736371175.686 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:35.936Z,1736371175.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:35.936Z,1736371175.936 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:35.936Z,1736371175.936 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:35.936Z,1736371175.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:36.101Z,1736371176.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:36.108Z,1736371176.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:36.110Z,1736371176.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:36.113Z,1736371176.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.385895 m, bearing: 159.386095 deg, approach rate: 0.055523 m/s, LOS rate: -0.099323 deg/s, cmd heading: 252.894693 deg, new cmd heading: 252.745659 deg. 2025-01-08T21:19:36.114Z,1736371176.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411244 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:36.188Z,1736371176.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:36.188Z,1736371176.188 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:36.189Z,1736371176.189 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:36.189Z,1736371176.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:36.422Z,1736371176.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:36.432Z,1736371176.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:36.434Z,1736371176.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.403900 m, bearing: 159.354134 deg, approach rate: 0.055944 m/s, LOS rate: -0.099302 deg/s, cmd heading: 252.745659 deg, new cmd heading: 252.649779 deg. 2025-01-08T21:19:36.436Z,1736371176.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409571 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:36.440Z,1736371176.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:36.440Z,1736371176.440 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:36.440Z,1736371176.440 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:36.440Z,1736371176.440 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:36.692Z,1736371176.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:36.692Z,1736371176.692 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:36.692Z,1736371176.692 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:36.692Z,1736371176.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:36.830Z,1736371176.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:36.839Z,1736371176.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:36.841Z,1736371176.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.422913 m, bearing: 159.313584 deg, approach rate: 0.046729 m/s, LOS rate: -0.099658 deg/s, cmd heading: 252.649790 deg, new cmd heading: 252.528148 deg. 2025-01-08T21:19:36.842Z,1736371176.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407448 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:36.946Z,1736371176.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:36.948Z,1736371176.948 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:36.948Z,1736371176.948 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:36.948Z,1736371176.948 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:19:37.198Z,1736371177.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:37.199Z,1736371177.199 [DAT](INFO): Reached modem response timeout 2025-01-08T21:19:37.200Z,1736371177.200 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:19:37.201Z,1736371177.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:37.274Z,1736371177.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:37.289Z,1736371177.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:37.296Z,1736371177.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.428528 m, bearing: 159.272818 deg, approach rate: 0.012463 m/s, LOS rate: -0.090475 deg/s, cmd heading: 252.528158 deg, new cmd heading: 252.405862 deg. 2025-01-08T21:19:37.299Z,1736371177.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405313 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:37.448Z,1736371177.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:37.448Z,1736371177.448 [DAT](INFO): Reached modem response timeout 2025-01-08T21:19:37.448Z,1736371177.448 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:19:37.449Z,1736371177.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:37.623Z,1736371177.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:37.633Z,1736371177.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:37.635Z,1736371177.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.432617 m, bearing: 159.241162 deg, approach rate: 0.011911 m/s, LOS rate: -0.092204 deg/s, cmd heading: 252.405871 deg, new cmd heading: 252.310904 deg. 2025-01-08T21:19:37.636Z,1736371177.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403656 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:37.703Z,1736371177.703 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:37.705Z,1736371177.705 [DAT](INFO): Reached modem response timeout 2025-01-08T21:19:37.708Z,1736371177.708 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:19:37.711Z,1736371177.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:37.952Z,1736371177.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:37.952Z,1736371177.952 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:19:37.953Z,1736371177.953 [DAT](INFO): response not received 2025-01-08T21:19:37.953Z,1736371177.953 [DAT](INFO): DAT read: user:1667> 2025-01-08T21:19:37.954Z,1736371177.954 [DAT](INFO): DAT read: Tx time:21:19:37.3203 2025-01-08T21:19:37.954Z,1736371177.954 [DAT](INFO): Ping request sent. 2025-01-08T21:19:37.954Z,1736371177.954 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:19:37.954Z,1736371177.954 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:37.955Z,1736371177.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727 2025-01-08T21:19:38.161Z,1736371178.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:38.176Z,1736371178.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:38.184Z,1736371178.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:38.186Z,1736371178.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.426666 m, bearing: 159.195690 deg, approach rate: -0.010883 m/s, LOS rate: -0.083156 deg/s, cmd heading: 252.310904 deg, new cmd heading: 252.174486 deg. 2025-01-08T21:19:38.191Z,1736371178.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401275 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:38.204Z,1736371178.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:38.205Z,1736371178.205 [DAT](INFO): DAT read: TxSync time:21:19:37.3195 2025-01-08T21:19:38.205Z,1736371178.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251121 2025-01-08T21:19:38.456Z,1736371178.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:38.457Z,1736371178.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502887 2025-01-08T21:19:38.501Z,1736371178.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:38.509Z,1736371178.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:38.524Z,1736371178.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.422607 m, bearing: 159.167119 deg, approach rate: -0.012308 m/s, LOS rate: -0.086643 deg/s, cmd heading: 252.174491 deg, new cmd heading: 252.088775 deg. 2025-01-08T21:19:38.525Z,1736371178.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399779 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:38.708Z,1736371178.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:38.708Z,1736371178.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754190 2025-01-08T21:19:38.923Z,1736371178.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:38.933Z,1736371178.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:38.936Z,1736371178.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.417206 m, bearing: 159.131656 deg, approach rate: -0.012750 m/s, LOS rate: -0.083706 deg/s, cmd heading: 252.088786 deg, new cmd heading: 251.982398 deg. 2025-01-08T21:19:38.937Z,1736371178.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397923 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:38.960Z,1736371178.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:38.960Z,1736371178.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006172 2025-01-08T21:19:39.213Z,1736371179.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:39.213Z,1736371179.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259087 2025-01-08T21:19:39.339Z,1736371179.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:39.372Z,1736371179.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:39.375Z,1736371179.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.400696 m, bearing: 159.099846 deg, approach rate: -0.037580 m/s, LOS rate: -0.072408 deg/s, cmd heading: 251.982399 deg, new cmd heading: 251.886965 deg. 2025-01-08T21:19:39.377Z,1736371179.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396257 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:39.464Z,1736371179.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:39.465Z,1736371179.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511059 2025-01-08T21:19:39.716Z,1736371179.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:39.716Z,1736371179.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762177 2025-01-08T21:19:39.719Z,1736371179.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:39.729Z,1736371179.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:39.732Z,1736371179.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.386169 m, bearing: 159.070763 deg, approach rate: -0.040663 m/s, LOS rate: -0.081417 deg/s, cmd heading: 251.886967 deg, new cmd heading: 251.799713 deg. 2025-01-08T21:19:39.733Z,1736371179.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394734 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:39.968Z,1736371179.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:39.969Z,1736371179.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014412 2025-01-08T21:19:40.153Z,1736371180.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:40.162Z,1736371180.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:40.168Z,1736371180.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.369507 m, bearing: 159.038776 deg, approach rate: -0.038597 m/s, LOS rate: -0.074097 deg/s, cmd heading: 251.799705 deg, new cmd heading: 251.703740 deg. 2025-01-08T21:19:40.172Z,1736371180.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.393059 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:40.220Z,1736371180.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:40.221Z,1736371180.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266275 2025-01-08T21:19:40.472Z,1736371180.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:40.472Z,1736371180.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518137 2025-01-08T21:19:40.527Z,1736371180.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:40.534Z,1736371180.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:40.537Z,1736371180.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:40.539Z,1736371180.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.355652 m, bearing: 159.011139 deg, approach rate: -0.036899 m/s, LOS rate: -0.073606 deg/s, cmd heading: 251.703727 deg, new cmd heading: 251.620814 deg. 2025-01-08T21:19:40.540Z,1736371180.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391612 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:40.725Z,1736371180.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:40.726Z,1736371180.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771557 2025-01-08T21:19:40.976Z,1736371180.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:40.976Z,1736371180.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022167 2025-01-08T21:19:40.984Z,1736371180.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:41.015Z,1736371181.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:41.022Z,1736371181.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.338837 m, bearing: 158.977392 deg, approach rate: -0.035159 m/s, LOS rate: -0.070564 deg/s, cmd heading: 251.620809 deg, new cmd heading: 251.519564 deg. 2025-01-08T21:19:41.030Z,1736371181.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.389844 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:41.229Z,1736371181.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:41.229Z,1736371181.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274986 2025-01-08T21:19:41.480Z,1736371181.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:41.481Z,1736371181.481 [DAT](INFO): DAT read: Rx Time:21:19:40.3121 2025-01-08T21:19:41.481Z,1736371181.481 [DAT](INFO): Rx dataTimestamp_ set to:1736371181.480892 2025-01-08T21:19:41.482Z,1736371181.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527454 2025-01-08T21:19:41.550Z,1736371181.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:41.577Z,1736371181.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:41.585Z,1736371181.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.328461 m, bearing: 158.934714 deg, approach rate: -0.018470 m/s, LOS rate: -0.075974 deg/s, cmd heading: 251.519558 deg, new cmd heading: 251.391520 deg. 2025-01-08T21:19:41.585Z,1736371181.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.387610 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:41.732Z,1736371181.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:41.732Z,1736371181.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778184 2025-01-08T21:19:41.896Z,1736371181.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:41.921Z,1736371181.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.00 m. 2025-01-08T21:19:41.928Z,1736371181.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.000000 m, nav range: 374.322388 m, bearing: 158.908573 deg, approach rate: -0.017640 m/s, LOS rate: -0.075931 deg/s, cmd heading: 251.391533 deg, new cmd heading: 251.313108 deg. 2025-01-08T21:19:41.929Z,1736371181.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386241 target range: 441.000000 and range: 441.00 m. 2025-01-08T21:19:41.986Z,1736371181.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:41.989Z,1736371181.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033927 2025-01-08T21:19:42.236Z,1736371182.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:42.243Z,1736371182.243 [DAT](INFO): DAT read: 21:19:40.3121 LVL= 23456, 31345, 24418, 32755, AGC= 73, IDX= 221,-0.37,-0.636,-2.249,-0.921,-1.298, PHS= 0.750,-0.904, 0.374, RAW= 137.5, -3.0, CAL= 142.8, -12.5, ROT= 7.2, 12.5 2025-01-08T21:19:42.244Z,1736371182.244 [DAT](INFO): got valid direction response: 21:19:40.3121 LVL= 23456, 31345, 24418, 32755, AGC= 73, IDX= 221,-0.37,-0.636,-2.249,-0.921,-1.298, PHS= 0.750,-0.904, 0.374, RAW= 137.5, -3.0, CAL= 142.8, -12.5, ROT= 7.2, 12.5 2025-01-08T21:19:42.246Z,1736371182.246 [DAT](INFO): DAT read: Bearing 7.2, 12.5 (Local) 2025-01-08T21:19:42.246Z,1736371182.246 [DAT](INFO): Local bearing/azimuth received: Bearing 7.2, 12.5 (Local) 2025-01-08T21:19:42.248Z,1736371182.248 [DAT](INFO): DAT read: Range 10 to 50 : 440.6 m (Round-trip 587.5 ms) speed 0.3 m/s 2025-01-08T21:19:42.249Z,1736371182.249 [DAT](INFO): DAT read: user:1668> 2025-01-08T21:19:42.250Z,1736371182.250 [DAT](INFO): DAT read: Tx time:21:19:41.4204 2025-01-08T21:19:42.250Z,1736371182.250 [DAT](INFO): Ping request sent. 2025-01-08T21:19:42.250Z,1736371182.250 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:19:42.251Z,1736371182.251 [DAT](INFO): DAT read: TxSync time:21:19:41.4196 2025-01-08T21:19:42.251Z,1736371182.251 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:19:42.252Z,1736371182.252 [DAT](INFO): direction in FSK: [-0.067420,-0.683652,0.726687] 2025-01-08T21:19:42.253Z,1736371182.253 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:42.253Z,1736371182.253 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:42.272Z,1736371182.272 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:42.272Z,1736371182.272 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:42.426Z,1736371182.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:42.480Z,1736371182.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 440.600006 m, deltaT: 15.123947 s, deltaX: -0.399994 m, approachRate: -0.026448 m/s, rangeRepo size: 4 2025-01-08T21:19:42.482Z,1736371182.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 440.600006 m, bearing: 160.973695 deg, lat: 36.901613 deg, lon: -122.113023 deg, deltaT: 15.123947 s, deltaX: -0.399994 m, approachRate: -0.026448 m/s, posRepo size: 4 2025-01-08T21:19:42.488Z,1736371182.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:42.488Z,1736371182.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T21:19:42.499Z,1736371182.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 363.468811 m, bearing: 162.315358 deg, approach rate: 0.000000 m/s, LOS rate: -0.075931 deg/s, cmd heading: 251.313095 deg, new cmd heading: 251.186779 deg. 2025-01-08T21:19:42.500Z,1736371182.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.384037 target range: 440.600006 and range: 440.60 m. 2025-01-08T21:19:42.740Z,1736371182.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:42.800Z,1736371182.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:42.830Z,1736371182.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:42.833Z,1736371182.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T21:19:42.836Z,1736371182.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 363.457977 m, bearing: 162.284971 deg, approach rate: -0.030259 m/s, LOS rate: -0.084874 deg/s, cmd heading: 251.186791 deg, new cmd heading: 251.095629 deg. 2025-01-08T21:19:42.837Z,1736371182.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382445 target range: 440.600006 and range: 440.60 m. 2025-01-08T21:19:42.992Z,1736371182.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:42.993Z,1736371182.993 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:42.993Z,1736371182.993 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:42.993Z,1736371182.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:43.190Z,1736371183.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:43.199Z,1736371183.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T21:19:43.202Z,1736371183.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 363.455200 m, bearing: 162.250547 deg, approach rate: -0.007597 m/s, LOS rate: -0.094168 deg/s, cmd heading: 251.095622 deg, new cmd heading: 250.992349 deg. 2025-01-08T21:19:43.203Z,1736371183.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380643 target range: 440.600006 and range: 440.60 m. 2025-01-08T21:19:43.245Z,1736371183.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:43.246Z,1736371183.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995601 2025-01-08T21:19:43.496Z,1736371183.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:43.497Z,1736371183.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246261 2025-01-08T21:19:43.588Z,1736371183.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:43.597Z,1736371183.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T21:19:43.600Z,1736371183.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 363.451904 m, bearing: 162.215299 deg, approach rate: -0.008280 m/s, LOS rate: -0.088551 deg/s, cmd heading: 250.992349 deg, new cmd heading: 250.886604 deg. 2025-01-08T21:19:43.601Z,1736371183.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.378797 target range: 440.600006 and range: 440.60 m. 2025-01-08T21:19:43.748Z,1736371183.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:43.749Z,1736371183.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498364 2025-01-08T21:19:43.970Z,1736371183.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:43.979Z,1736371183.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T21:19:43.982Z,1736371183.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 363.448395 m, bearing: 162.181557 deg, approach rate: -0.009193 m/s, LOS rate: -0.088389 deg/s, cmd heading: 250.886591 deg, new cmd heading: 250.785363 deg. 2025-01-08T21:19:43.983Z,1736371183.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377030 target range: 440.600006 and range: 440.60 m. 2025-01-08T21:19:44.002Z,1736371184.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:44.003Z,1736371184.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752710 2025-01-08T21:19:44.252Z,1736371184.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:44.252Z,1736371184.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002184 2025-01-08T21:19:44.453Z,1736371184.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:44.462Z,1736371184.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T21:19:44.464Z,1736371184.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 363.457001 m, bearing: 162.133278 deg, approach rate: 0.017823 m/s, LOS rate: -0.099984 deg/s, cmd heading: 250.785367 deg, new cmd heading: 250.640536 deg. 2025-01-08T21:19:44.465Z,1736371184.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.374503 target range: 440.600006 and range: 440.60 m. 2025-01-08T21:19:44.504Z,1736371184.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:44.504Z,1736371184.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254236 2025-01-08T21:19:44.756Z,1736371184.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:44.757Z,1736371184.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506274 2025-01-08T21:19:44.775Z,1736371184.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:44.804Z,1736371184.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T21:19:44.807Z,1736371184.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 363.462311 m, bearing: 162.101180 deg, approach rate: 0.015492 m/s, LOS rate: -0.093647 deg/s, cmd heading: 250.640540 deg, new cmd heading: 250.544246 deg. 2025-01-08T21:19:44.812Z,1736371184.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372822 target range: 440.600006 and range: 440.60 m. 2025-01-08T21:19:45.008Z,1736371185.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:45.008Z,1736371185.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758161 2025-01-08T21:19:45.223Z,1736371185.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:45.232Z,1736371185.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:45.234Z,1736371185.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T21:19:45.249Z,1736371185.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 363.476685 m, bearing: 162.052515 deg, approach rate: 0.033463 m/s, LOS rate: -0.113291 deg/s, cmd heading: 250.544234 deg, new cmd heading: 250.398245 deg. 2025-01-08T21:19:45.250Z,1736371185.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370274 target range: 440.600006 and range: 440.60 m. 2025-01-08T21:19:45.260Z,1736371185.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:45.260Z,1736371185.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010006 2025-01-08T21:19:45.513Z,1736371185.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:45.516Z,1736371185.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265251 2025-01-08T21:19:45.708Z,1736371185.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:45.718Z,1736371185.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T21:19:45.721Z,1736371185.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 363.490234 m, bearing: 161.999812 deg, approach rate: 0.028002 m/s, LOS rate: -0.108910 deg/s, cmd heading: 250.398232 deg, new cmd heading: 250.240130 deg. 2025-01-08T21:19:45.722Z,1736371185.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367514 target range: 440.600006 and range: 440.60 m. 2025-01-08T21:19:45.764Z,1736371185.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:45.765Z,1736371185.765 [DAT](INFO): DAT read: Rx Time:21:19:44.4221 2025-01-08T21:19:45.765Z,1736371185.765 [DAT](INFO): Rx dataTimestamp_ set to:1736371185.764697 2025-01-08T21:19:45.765Z,1736371185.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515272 2025-01-08T21:19:46.016Z,1736371186.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:46.017Z,1736371186.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766857 2025-01-08T21:19:46.214Z,1736371186.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:46.222Z,1736371186.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T21:19:46.225Z,1736371186.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 363.511292 m, bearing: 161.940739 deg, approach rate: 0.041756 m/s, LOS rate: -0.117135 deg/s, cmd heading: 250.240127 deg, new cmd heading: 250.062918 deg. 2025-01-08T21:19:46.226Z,1736371186.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364421 target range: 440.600006 and range: 440.60 m. 2025-01-08T21:19:46.268Z,1736371186.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:46.279Z,1736371186.279 [DAT](INFO): DAT read: 21:19:44.4221 LVL= 19760, 32753, 23330, 32755, AGC= 75, IDX= 33,-0.19, 2.030, 0.484, 1.694, 1.363, PHS= 0.756,-0.832, 0.328, RAW= 134.9, -3.6, CAL= 140.4, -13.5, ROT= 9.6, 13.5 2025-01-08T21:19:46.281Z,1736371186.281 [DAT](INFO): got valid direction response: 21:19:44.4221 LVL= 19760, 32753, 23330, 32755, AGC= 75, IDX= 33,-0.19, 2.030, 0.484, 1.694, 1.363, PHS= 0.756,-0.832, 0.328, RAW= 134.9, -3.6, CAL= 140.4, -13.5, ROT= 9.6, 13.5 2025-01-08T21:19:46.282Z,1736371186.282 [DAT](INFO): DAT read: Bearing 9.6, 13.5 (Local) 2025-01-08T21:19:46.282Z,1736371186.282 [DAT](INFO): Local bearing/azimuth received: Bearing 9.6, 13.5 (Local) 2025-01-08T21:19:46.289Z,1736371186.289 [DAT](INFO): DAT read: Range 10 to 50 : 448.2 m (Round-trip 597.6 ms) speed 0.4 m/s 2025-01-08T21:19:46.290Z,1736371186.290 [DAT](INFO): DAT read: user:1669> 2025-01-08T21:19:46.291Z,1736371186.291 [DAT](INFO): DAT read: Tx time:21:19:45.5204 2025-01-08T21:19:46.296Z,1736371186.296 [DAT](INFO): Ping request sent. 2025-01-08T21:19:46.296Z,1736371186.296 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:19:46.296Z,1736371186.296 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:19:46.297Z,1736371186.297 [DAT](INFO): direction in FSK: [-0.055274,-0.648714,0.759022] 2025-01-08T21:19:46.298Z,1736371186.298 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:46.298Z,1736371186.298 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:46.305Z,1736371186.305 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:46.305Z,1736371186.305 [DAT](INFO): publishing direction and range info 2025-01-08T21:19:46.520Z,1736371186.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:46.521Z,1736371186.521 [DAT](INFO): DAT read: TxSync time:21:19:45.5196 2025-01-08T21:19:46.653Z,1736371186.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:46.702Z,1736371186.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 448.200012 m, deltaT: 4.032063 s, deltaX: 7.600006 m, approachRate: 1.884893 m/s, rangeRepo size: 4 2025-01-08T21:19:46.708Z,1736371186.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 448.200012 m, bearing: 160.483094 deg, lat: 36.901848 deg, lon: -122.113023 deg, deltaT: 4.032063 s, deltaX: 7.600006 m, approachRate: 1.884893 m/s, posRepo size: 4 2025-01-08T21:19:46.709Z,1736371186.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:46.716Z,1736371186.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.800964 m, bearing: 160.516281 deg, approach rate: 0.000000 m/s, LOS rate: -0.117135 deg/s, cmd heading: 250.062924 deg, new cmd heading: 249.894654 deg. 2025-01-08T21:19:46.716Z,1736371186.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361485 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:46.773Z,1736371186.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:47.024Z,1736371187.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:47.061Z,1736371187.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:47.075Z,1736371187.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:47.079Z,1736371187.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.823120 m, bearing: 160.465092 deg, approach rate: 0.059209 m/s, LOS rate: -0.136789 deg/s, cmd heading: 249.894656 deg, new cmd heading: 249.741099 deg. 2025-01-08T21:19:47.080Z,1736371187.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358804 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:47.276Z,1736371187.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:47.488Z,1736371187.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:47.499Z,1736371187.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:47.501Z,1736371187.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:47.504Z,1736371187.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.851379 m, bearing: 160.409964 deg, approach rate: 0.066387 m/s, LOS rate: -0.129496 deg/s, cmd heading: 249.741086 deg, new cmd heading: 249.575716 deg. 2025-01-08T21:19:47.505Z,1736371187.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355918 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:47.529Z,1736371187.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:47.530Z,1736371187.530 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:19:47.530Z,1736371187.530 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:19:47.531Z,1736371187.531 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:47.780Z,1736371187.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:47.780Z,1736371187.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484352 2025-01-08T21:19:47.868Z,1736371187.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:47.876Z,1736371187.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:47.880Z,1736371187.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.875244 m, bearing: 160.360815 deg, approach rate: 0.063621 m/s, LOS rate: -0.131015 deg/s, cmd heading: 249.575713 deg, new cmd heading: 249.428279 deg. 2025-01-08T21:19:47.881Z,1736371187.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353345 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:48.032Z,1736371188.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:48.032Z,1736371188.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736311 2025-01-08T21:19:48.284Z,1736371188.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:48.284Z,1736371188.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988324 2025-01-08T21:19:48.314Z,1736371188.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:48.336Z,1736371188.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:48.343Z,1736371188.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.900024 m, bearing: 160.303173 deg, approach rate: 0.053811 m/s, LOS rate: -0.125163 deg/s, cmd heading: 249.428291 deg, new cmd heading: 249.255375 deg. 2025-01-08T21:19:48.345Z,1736371188.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350327 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:48.536Z,1736371188.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:48.536Z,1736371188.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240251 2025-01-08T21:19:48.684Z,1736371188.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:48.692Z,1736371188.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:48.696Z,1736371188.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.919983 m, bearing: 160.255498 deg, approach rate: 0.056087 m/s, LOS rate: -0.133966 deg/s, cmd heading: 249.255377 deg, new cmd heading: 249.112364 deg. 2025-01-08T21:19:48.697Z,1736371188.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347831 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:48.788Z,1736371188.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:48.789Z,1736371188.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492920 2025-01-08T21:19:49.042Z,1736371189.042 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:49.043Z,1736371189.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746901 2025-01-08T21:19:49.088Z,1736371189.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:49.098Z,1736371189.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:49.101Z,1736371189.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.940979 m, bearing: 160.203384 deg, approach rate: 0.051757 m/s, LOS rate: -0.128457 deg/s, cmd heading: 249.112353 deg, new cmd heading: 248.956020 deg. 2025-01-08T21:19:49.102Z,1736371189.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345102 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:49.292Z,1736371189.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:49.292Z,1736371189.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996182 2025-01-08T21:19:49.515Z,1736371189.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:49.533Z,1736371189.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:49.534Z,1736371189.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:49.541Z,1736371189.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.951782 m, bearing: 160.150543 deg, approach rate: 0.024746 m/s, LOS rate: -0.121037 deg/s, cmd heading: 248.956024 deg, new cmd heading: 248.797505 deg. 2025-01-08T21:19:49.542Z,1736371189.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342336 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:49.544Z,1736371189.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:49.544Z,1736371189.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248349 2025-01-08T21:19:49.799Z,1736371189.799 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:49.799Z,1736371189.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503196 2025-01-08T21:19:49.890Z,1736371189.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:49.903Z,1736371189.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:49.905Z,1736371189.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.960724 m, bearing: 160.104187 deg, approach rate: 0.024294 m/s, LOS rate: -0.125941 deg/s, cmd heading: 248.797509 deg, new cmd heading: 248.658447 deg. 2025-01-08T21:19:49.906Z,1736371189.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339909 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:50.052Z,1736371190.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:50.053Z,1736371190.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756978 2025-01-08T21:19:50.304Z,1736371190.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:50.304Z,1736371190.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.008274 2025-01-08T21:19:50.356Z,1736371190.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:50.370Z,1736371190.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:50.373Z,1736371190.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.954376 m, bearing: 160.051922 deg, approach rate: -0.013581 m/s, LOS rate: -0.111825 deg/s, cmd heading: 248.658446 deg, new cmd heading: 248.501648 deg. 2025-01-08T21:19:50.374Z,1736371190.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337172 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:50.556Z,1736371190.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:50.557Z,1736371190.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.260538 2025-01-08T21:19:50.702Z,1736371190.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:50.711Z,1736371190.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:50.714Z,1736371190.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.949371 m, bearing: 160.011339 deg, approach rate: -0.014687 m/s, LOS rate: -0.119097 deg/s, cmd heading: 248.501652 deg, new cmd heading: 248.379902 deg. 2025-01-08T21:19:50.716Z,1736371190.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335047 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:50.808Z,1736371190.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:50.809Z,1736371190.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.512746 2025-01-08T21:19:51.060Z,1736371191.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:51.060Z,1736371191.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.764182 2025-01-08T21:19:51.119Z,1736371191.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:51.128Z,1736371191.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:51.132Z,1736371191.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.943726 m, bearing: 159.963735 deg, approach rate: -0.013549 m/s, LOS rate: -0.114246 deg/s, cmd heading: 248.379911 deg, new cmd heading: 248.237097 deg. 2025-01-08T21:19:51.133Z,1736371191.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332555 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:51.312Z,1736371191.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:51.313Z,1736371191.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.016960 2025-01-08T21:19:51.531Z,1736371191.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:51.564Z,1736371191.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:51.565Z,1736371191.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.268520 2025-01-08T21:19:51.566Z,1736371191.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:51.572Z,1736371191.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:51.574Z,1736371191.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.934631 m, bearing: 159.919761 deg, approach rate: -0.020465 m/s, LOS rate: -0.098959 deg/s, cmd heading: 248.237106 deg, new cmd heading: 248.105180 deg. 2025-01-08T21:19:51.580Z,1736371191.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330252 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:51.816Z,1736371191.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:51.816Z,1736371191.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.520167 2025-01-08T21:19:51.906Z,1736371191.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:51.916Z,1736371191.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:51.919Z,1736371191.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.925964 m, bearing: 159.879493 deg, approach rate: -0.025162 m/s, LOS rate: -0.116909 deg/s, cmd heading: 248.105174 deg, new cmd heading: 247.984368 deg. 2025-01-08T21:19:51.920Z,1736371191.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328144 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:52.068Z,1736371192.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:52.069Z,1736371192.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.772427 2025-01-08T21:19:52.331Z,1736371192.331 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:52.332Z,1736371192.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035546 2025-01-08T21:19:52.358Z,1736371192.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:52.368Z,1736371192.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:52.371Z,1736371192.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.902954 m, bearing: 159.835524 deg, approach rate: -0.050928 m/s, LOS rate: -0.097324 deg/s, cmd heading: 247.984361 deg, new cmd heading: 247.852443 deg. 2025-01-08T21:19:52.388Z,1736371192.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325841 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:52.585Z,1736371192.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:52.586Z,1736371192.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289832 2025-01-08T21:19:52.752Z,1736371192.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:52.769Z,1736371192.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:52.776Z,1736371192.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.882599 m, bearing: 159.797114 deg, approach rate: -0.050712 m/s, LOS rate: -0.095699 deg/s, cmd heading: 247.852457 deg, new cmd heading: 247.737219 deg. 2025-01-08T21:19:52.777Z,1736371192.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323830 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:52.836Z,1736371192.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:52.838Z,1736371192.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541418 2025-01-08T21:19:53.088Z,1736371193.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:53.088Z,1736371193.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792237 2025-01-08T21:19:53.126Z,1736371193.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:53.136Z,1736371193.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:53.139Z,1736371193.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.863190 m, bearing: 159.760646 deg, approach rate: -0.052951 m/s, LOS rate: -0.099493 deg/s, cmd heading: 247.737218 deg, new cmd heading: 247.627810 deg. 2025-01-08T21:19:53.140Z,1736371193.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321920 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:53.340Z,1736371193.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:53.340Z,1736371193.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044211 2025-01-08T21:19:53.555Z,1736371193.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:53.565Z,1736371193.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:53.571Z,1736371193.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.836670 m, bearing: 159.721421 deg, approach rate: -0.061904 m/s, LOS rate: -0.091568 deg/s, cmd heading: 247.627798 deg, new cmd heading: 247.510114 deg. 2025-01-08T21:19:53.572Z,1736371193.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319866 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:53.610Z,1736371193.610 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:53.611Z,1736371193.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314540 2025-01-08T21:19:53.860Z,1736371193.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:53.860Z,1736371193.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.564308 2025-01-08T21:19:53.952Z,1736371193.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:53.973Z,1736371193.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:53.975Z,1736371193.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:53.978Z,1736371193.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.812225 m, bearing: 159.685077 deg, approach rate: -0.059569 m/s, LOS rate: -0.088573 deg/s, cmd heading: 247.510100 deg, new cmd heading: 247.401061 deg. 2025-01-08T21:19:53.980Z,1736371193.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317963 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:54.113Z,1736371194.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:54.113Z,1736371194.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817209 2025-01-08T21:19:54.361Z,1736371194.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:54.364Z,1736371194.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:54.365Z,1736371194.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068404 2025-01-08T21:19:54.372Z,1736371194.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:54.375Z,1736371194.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.782776 m, bearing: 159.649907 deg, approach rate: -0.074112 m/s, LOS rate: -0.088516 deg/s, cmd heading: 247.401063 deg, new cmd heading: 247.295544 deg. 2025-01-08T21:19:54.376Z,1736371194.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316122 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:54.616Z,1736371194.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:54.616Z,1736371194.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320302 2025-01-08T21:19:54.736Z,1736371194.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:54.746Z,1736371194.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:54.748Z,1736371194.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.755676 m, bearing: 159.617540 deg, approach rate: -0.072639 m/s, LOS rate: -0.086767 deg/s, cmd heading: 247.295550 deg, new cmd heading: 247.198439 deg. 2025-01-08T21:19:54.749Z,1736371194.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314427 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:54.868Z,1736371194.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:54.868Z,1736371194.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572343 2025-01-08T21:19:55.120Z,1736371195.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:55.120Z,1736371195.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824304 2025-01-08T21:19:55.138Z,1736371195.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:55.166Z,1736371195.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:55.173Z,1736371195.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.726868 m, bearing: 159.582952 deg, approach rate: -0.068382 m/s, LOS rate: -0.082107 deg/s, cmd heading: 247.198452 deg, new cmd heading: 247.094681 deg. 2025-01-08T21:19:55.174Z,1736371195.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312616 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:55.372Z,1736371195.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:55.373Z,1736371195.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076462 2025-01-08T21:19:55.588Z,1736371195.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:55.596Z,1736371195.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:55.603Z,1736371195.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.693939 m, bearing: 159.544113 deg, approach rate: -0.076646 m/s, LOS rate: -0.090412 deg/s, cmd heading: 247.094688 deg, new cmd heading: 246.978162 deg. 2025-01-08T21:19:55.604Z,1736371195.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310582 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:55.624Z,1736371195.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:55.626Z,1736371195.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330060 2025-01-08T21:19:55.876Z,1736371195.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:55.876Z,1736371195.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.580152 2025-01-08T21:19:55.954Z,1736371195.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:55.971Z,1736371195.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:55.976Z,1736371195.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.667053 m, bearing: 159.512433 deg, approach rate: -0.071927 m/s, LOS rate: -0.084761 deg/s, cmd heading: 246.978165 deg, new cmd heading: 246.883115 deg. 2025-01-08T21:19:55.978Z,1736371195.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308923 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:56.128Z,1736371196.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:56.129Z,1736371196.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832967 2025-01-08T21:19:56.380Z,1736371196.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:56.380Z,1736371196.380 [DAT](INFO): Reached modem response timeout 2025-01-08T21:19:56.380Z,1736371196.380 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:19:56.381Z,1736371196.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:56.390Z,1736371196.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:56.398Z,1736371196.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:56.400Z,1736371196.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:56.402Z,1736371196.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.640228 m, bearing: 159.474019 deg, approach rate: -0.062377 m/s, LOS rate: -0.089332 deg/s, cmd heading: 246.883116 deg, new cmd heading: 246.767866 deg. 2025-01-08T21:19:56.404Z,1736371196.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306912 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:56.632Z,1736371196.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:56.633Z,1736371196.633 [DAT](INFO): Reached modem response timeout 2025-01-08T21:19:56.633Z,1736371196.633 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:19:56.633Z,1736371196.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:56.759Z,1736371196.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:56.768Z,1736371196.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:56.771Z,1736371196.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.617493 m, bearing: 159.441471 deg, approach rate: -0.061691 m/s, LOS rate: -0.088321 deg/s, cmd heading: 246.767877 deg, new cmd heading: 246.670228 deg. 2025-01-08T21:19:56.772Z,1736371196.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305208 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:56.884Z,1736371196.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:56.884Z,1736371196.884 [DAT](INFO): Reached modem response timeout 2025-01-08T21:19:56.884Z,1736371196.884 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:19:56.885Z,1736371196.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:19:57.136Z,1736371197.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:57.137Z,1736371197.137 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:19:57.137Z,1736371197.137 [DAT](INFO): response not received 2025-01-08T21:19:57.137Z,1736371197.137 [DAT](INFO): DAT read: user:1670> 2025-01-08T21:19:57.138Z,1736371197.138 [DAT](INFO): DAT read: Tx time:21:19:56.4705 2025-01-08T21:19:57.138Z,1736371197.138 [DAT](INFO): Ping request sent. 2025-01-08T21:19:57.138Z,1736371197.138 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:19:57.138Z,1736371197.138 [DAT](INFO): publishing transmit ping time 2025-01-08T21:19:57.139Z,1736371197.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726 2025-01-08T21:19:57.159Z,1736371197.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:57.169Z,1736371197.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:57.172Z,1736371197.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.592896 m, bearing: 159.406165 deg, approach rate: -0.061429 m/s, LOS rate: -0.088180 deg/s, cmd heading: 246.670233 deg, new cmd heading: 246.564307 deg. 2025-01-08T21:19:57.173Z,1736371197.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303359 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:57.390Z,1736371197.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:57.392Z,1736371197.392 [DAT](INFO): DAT read: TxSync time:21:19:56.4697 2025-01-08T21:19:57.393Z,1736371197.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254415 2025-01-08T21:19:57.617Z,1736371197.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:57.627Z,1736371197.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:57.630Z,1736371197.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.569824 m, bearing: 159.362586 deg, approach rate: -0.050337 m/s, LOS rate: -0.095088 deg/s, cmd heading: 246.564310 deg, new cmd heading: 246.433564 deg. 2025-01-08T21:19:57.635Z,1736371197.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301077 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:57.640Z,1736371197.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:57.641Z,1736371197.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502266 2025-01-08T21:19:57.892Z,1736371197.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:57.892Z,1736371197.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754120 2025-01-08T21:19:57.969Z,1736371197.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:57.977Z,1736371197.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:57.993Z,1736371197.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.551392 m, bearing: 159.329191 deg, approach rate: -0.052671 m/s, LOS rate: -0.095431 deg/s, cmd heading: 246.433553 deg, new cmd heading: 246.333362 deg. 2025-01-08T21:19:57.994Z,1736371197.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299328 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:58.144Z,1736371198.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:58.145Z,1736371198.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006914 2025-01-08T21:19:58.396Z,1736371198.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:58.397Z,1736371198.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258328 2025-01-08T21:19:58.406Z,1736371198.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:58.437Z,1736371198.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:19:58.439Z,1736371198.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:58.446Z,1736371198.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.534637 m, bearing: 159.285454 deg, approach rate: -0.036300 m/s, LOS rate: -0.094765 deg/s, cmd heading: 246.333368 deg, new cmd heading: 246.202152 deg. 2025-01-08T21:19:58.452Z,1736371198.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297038 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:58.649Z,1736371198.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:58.651Z,1736371198.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512439 2025-01-08T21:19:58.771Z,1736371198.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:58.781Z,1736371198.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:58.796Z,1736371198.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.520203 m, bearing: 159.248849 deg, approach rate: -0.042152 m/s, LOS rate: -0.106897 deg/s, cmd heading: 246.202146 deg, new cmd heading: 246.092326 deg. 2025-01-08T21:19:58.797Z,1736371198.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295121 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:58.900Z,1736371198.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:58.901Z,1736371198.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762527 2025-01-08T21:19:59.152Z,1736371199.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:59.152Z,1736371199.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014049 2025-01-08T21:19:59.187Z,1736371199.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:59.212Z,1736371199.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:59.215Z,1736371199.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.503845 m, bearing: 159.207276 deg, approach rate: -0.037953 m/s, LOS rate: -0.096464 deg/s, cmd heading: 246.092317 deg, new cmd heading: 245.967591 deg. 2025-01-08T21:19:59.216Z,1736371199.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292944 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:59.404Z,1736371199.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:59.405Z,1736371199.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266615 2025-01-08T21:19:59.610Z,1736371199.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:19:59.627Z,1736371199.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:19:59.656Z,1736371199.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:59.657Z,1736371199.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518967 2025-01-08T21:19:59.658Z,1736371199.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.498474 m, bearing: 159.161762 deg, approach rate: -0.012954 m/s, LOS rate: -0.109771 deg/s, cmd heading: 245.967598 deg, new cmd heading: 245.831056 deg. 2025-01-08T21:19:59.666Z,1736371199.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290561 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:19:59.908Z,1736371199.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:19:59.910Z,1736371199.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771280 2025-01-08T21:19:59.991Z,1736371199.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:00.001Z,1736371200.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:20:00.004Z,1736371200.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.493225 m, bearing: 159.120743 deg, approach rate: -0.014043 m/s, LOS rate: -0.109739 deg/s, cmd heading: 245.831048 deg, new cmd heading: 245.707990 deg. 2025-01-08T21:20:00.005Z,1736371200.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288414 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:20:00.160Z,1736371200.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:00.161Z,1736371200.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022479 2025-01-08T21:20:00.412Z,1736371200.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:00.413Z,1736371200.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274844 2025-01-08T21:20:00.456Z,1736371200.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:00.464Z,1736371200.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:00.466Z,1736371200.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:20:00.469Z,1736371200.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.494446 m, bearing: 159.068339 deg, approach rate: 0.002621 m/s, LOS rate: -0.112537 deg/s, cmd heading: 245.707996 deg, new cmd heading: 245.550784 deg. 2025-01-08T21:20:00.470Z,1736371200.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285670 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:20:00.637Z,1736371200.637 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:20:00.664Z,1736371200.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:00.666Z,1736371200.666 [DAT](INFO): DAT read: Rx Time:21:19:59.4591 2025-01-08T21:20:00.666Z,1736371200.666 [DAT](INFO): Rx dataTimestamp_ set to:1736371200.665899 2025-01-08T21:20:00.668Z,1736371200.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528716 2025-01-08T21:20:00.916Z,1736371200.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:00.916Z,1736371200.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778151 2025-01-08T21:20:00.918Z,1736371200.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:00.927Z,1736371200.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-01-08T21:20:00.930Z,1736371200.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.200012 m, nav range: 338.494385 m, bearing: 159.016269 deg, approach rate: -0.000133 m/s, LOS rate: -0.113123 deg/s, cmd heading: 245.550792 deg, new cmd heading: 245.394581 deg. 2025-01-08T21:20:00.931Z,1736371200.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.282943 target range: 448.200012 and range: 448.20 m. 2025-01-08T21:20:01.170Z,1736371201.170 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:01.177Z,1736371201.177 [DAT](INFO): DAT read: 21:19:59.4591 LVL= 28528, 32753, 26658, 32755, AGC= 70, IDX= 269, 0.08,-1.626, 2.919,-1.984,-2.379, PHS= 0.841,-0.938, 0.392, RAW= 136.0, -3.7, CAL= 141.4, -13.6, ROT= 8.6, 13.6 2025-01-08T21:20:01.185Z,1736371201.185 [DAT](INFO): got valid direction response: 21:19:59.4591 LVL= 28528, 32753, 26658, 32755, AGC= 70, IDX= 269, 0.08,-1.626, 2.919,-1.984,-2.379, PHS= 0.841,-0.938, 0.392, RAW= 136.0, -3.7, CAL= 141.4, -13.6, ROT= 8.6, 13.6 2025-01-08T21:20:01.187Z,1736371201.187 [DAT](INFO): DAT read: Bearing 8.6, 13.6 (Local) 2025-01-08T21:20:01.191Z,1736371201.191 [DAT](INFO): Local bearing/azimuth received: Bearing 8.6, 13.6 (Local) 2025-01-08T21:20:01.193Z,1736371201.193 [DAT](INFO): DAT read: Range 10 to 50 : 438.3 m (Round-trip 584.4 ms) speed 0.6 m/s 2025-01-08T21:20:01.194Z,1736371201.194 [DAT](INFO): DAT read: user:1671> 2025-01-08T21:20:01.206Z,1736371201.206 [DAT](INFO): DAT read: Tx time:21:20:00.5721 2025-01-08T21:20:01.207Z,1736371201.207 [DAT](INFO): Ping request sent. 2025-01-08T21:20:01.207Z,1736371201.207 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:01.216Z,1736371201.216 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:20:01.217Z,1736371201.217 [DAT](INFO): direction in FSK: [-0.052489,-0.663472,0.746358] 2025-01-08T21:20:01.217Z,1736371201.217 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:01.217Z,1736371201.217 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:01.233Z,1736371201.233 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:01.233Z,1736371201.233 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:01.391Z,1736371201.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:01.420Z,1736371201.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:01.421Z,1736371201.421 [DAT](INFO): DAT read: TxSync time:21:20:00.5713 2025-01-08T21:20:01.440Z,1736371201.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 438.299988 m, deltaT: 14.902082 s, deltaX: -9.900024 m, approachRate: -0.664338 m/s, rangeRepo size: 4 2025-01-08T21:20:01.442Z,1736371201.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 438.299988 m, bearing: 156.213508 deg, lat: 36.901936 deg, lon: -122.113023 deg, deltaT: 14.902082 s, deltaX: -9.900024 m, approachRate: -0.664338 m/s, posRepo size: 4 2025-01-08T21:20:01.443Z,1736371201.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.30 m. 2025-01-08T21:20:01.450Z,1736371201.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.299988 m, nav range: 329.320374 m, bearing: 158.348010 deg, approach rate: 0.000000 m/s, LOS rate: -0.113123 deg/s, cmd heading: 245.394572 deg, new cmd heading: 245.224689 deg. 2025-01-08T21:20:01.451Z,1736371201.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279978 target range: 438.299988 and range: 438.30 m. 2025-01-08T21:20:01.641Z,1736371201.641 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:20:01.674Z,1736371201.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:01.889Z,1736371201.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:01.899Z,1736371201.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.30 m. 2025-01-08T21:20:01.901Z,1736371201.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.299988 m, nav range: 329.326691 m, bearing: 158.288566 deg, approach rate: 0.013401 m/s, LOS rate: -0.126101 deg/s, cmd heading: 245.224692 deg, new cmd heading: 245.046362 deg. 2025-01-08T21:20:01.902Z,1736371201.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276866 target range: 438.299988 and range: 438.30 m. 2025-01-08T21:20:01.924Z,1736371201.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:02.176Z,1736371202.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:02.268Z,1736371202.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:02.293Z,1736371202.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.30 m. 2025-01-08T21:20:02.301Z,1736371202.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.299988 m, nav range: 329.330566 m, bearing: 158.243422 deg, approach rate: 0.009822 m/s, LOS rate: -0.114407 deg/s, cmd heading: 245.046369 deg, new cmd heading: 244.910940 deg. 2025-01-08T21:20:02.302Z,1736371202.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274502 target range: 438.299988 and range: 438.30 m. 2025-01-08T21:20:02.429Z,1736371202.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:02.681Z,1736371202.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:02.709Z,1736371202.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:02.777Z,1736371202.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:02.786Z,1736371202.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.30 m. 2025-01-08T21:20:02.793Z,1736371202.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.299988 m, nav range: 329.336426 m, bearing: 158.189520 deg, approach rate: 0.011894 m/s, LOS rate: -0.109414 deg/s, cmd heading: 244.910940 deg, new cmd heading: 244.749239 deg. 2025-01-08T21:20:02.794Z,1736371202.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271680 target range: 438.299988 and range: 438.30 m. 2025-01-08T21:20:02.932Z,1736371202.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:02.932Z,1736371202.932 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:02.932Z,1736371202.932 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:02.933Z,1736371202.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:03.072Z,1736371203.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:03.082Z,1736371203.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.30 m. 2025-01-08T21:20:03.085Z,1736371203.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.299988 m, nav range: 329.340210 m, bearing: 158.145133 deg, approach rate: 0.012784 m/s, LOS rate: -0.149953 deg/s, cmd heading: 244.749228 deg, new cmd heading: 244.616069 deg. 2025-01-08T21:20:03.086Z,1736371203.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.269356 target range: 438.299988 and range: 438.30 m. 2025-01-08T21:20:03.184Z,1736371203.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:03.184Z,1736371203.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977473 2025-01-08T21:20:03.436Z,1736371203.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:03.436Z,1736371203.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229389 2025-01-08T21:20:03.519Z,1736371203.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:03.528Z,1736371203.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.30 m. 2025-01-08T21:20:03.548Z,1736371203.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.299988 m, nav range: 329.346222 m, bearing: 158.091170 deg, approach rate: 0.013490 m/s, LOS rate: -0.121081 deg/s, cmd heading: 244.616067 deg, new cmd heading: 244.454181 deg. 2025-01-08T21:20:03.549Z,1736371203.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266531 target range: 438.299988 and range: 438.30 m. 2025-01-08T21:20:03.689Z,1736371203.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:03.691Z,1736371203.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483759 2025-01-08T21:20:03.901Z,1736371203.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:03.909Z,1736371203.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.30 m. 2025-01-08T21:20:03.913Z,1736371203.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.299988 m, nav range: 329.350922 m, bearing: 158.044991 deg, approach rate: 0.012305 m/s, LOS rate: -0.120907 deg/s, cmd heading: 244.454192 deg, new cmd heading: 244.315656 deg. 2025-01-08T21:20:03.914Z,1736371203.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264112 target range: 438.299988 and range: 438.30 m. 2025-01-08T21:20:03.940Z,1736371203.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:03.940Z,1736371203.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733408 2025-01-08T21:20:04.192Z,1736371204.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:04.192Z,1736371204.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985495 2025-01-08T21:20:04.300Z,1736371204.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:04.309Z,1736371204.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.30 m. 2025-01-08T21:20:04.312Z,1736371204.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.299988 m, nav range: 329.355255 m, bearing: 157.996842 deg, approach rate: 0.010855 m/s, LOS rate: -0.120605 deg/s, cmd heading: 244.315648 deg, new cmd heading: 244.171205 deg. 2025-01-08T21:20:04.313Z,1736371204.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261591 target range: 438.299988 and range: 438.30 m. 2025-01-08T21:20:04.445Z,1736371204.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:04.448Z,1736371204.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240759 2025-01-08T21:20:04.697Z,1736371204.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:04.698Z,1736371204.698 [DAT](INFO): DAT read: Rx Time:21:20:03.5449 2025-01-08T21:20:04.700Z,1736371204.700 [DAT](INFO): Rx dataTimestamp_ set to:1736371204.698751 2025-01-08T21:20:04.701Z,1736371204.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493999 2025-01-08T21:20:04.766Z,1736371204.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:04.780Z,1736371204.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.30 m. 2025-01-08T21:20:04.782Z,1736371204.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.299988 m, nav range: 329.352966 m, bearing: 157.941369 deg, approach rate: -0.004871 m/s, LOS rate: -0.118047 deg/s, cmd heading: 244.171203 deg, new cmd heading: 244.004783 deg. 2025-01-08T21:20:04.783Z,1736371204.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258687 target range: 438.299988 and range: 438.30 m. 2025-01-08T21:20:04.948Z,1736371204.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:04.949Z,1736371204.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741623 2025-01-08T21:20:05.091Z,1736371205.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:05.114Z,1736371205.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:05.121Z,1736371205.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.30 m. 2025-01-08T21:20:05.126Z,1736371205.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 438.299988 m, nav range: 329.351105 m, bearing: 157.902773 deg, approach rate: -0.005439 m/s, LOS rate: -0.112775 deg/s, cmd heading: 244.004792 deg, new cmd heading: 243.889005 deg. 2025-01-08T21:20:05.127Z,1736371205.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256666 target range: 438.299988 and range: 438.30 m. 2025-01-08T21:20:05.202Z,1736371205.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:05.205Z,1736371205.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.997396 2025-01-08T21:20:05.453Z,1736371205.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:05.469Z,1736371205.469 [DAT](INFO): DAT read: 21:20:03.5449 LVL= 26880, 32753, 31730, 32755, AGC= 69, IDX= 288,-0.03,-2.394, 2.520,-2.831,-2.969, PHS= 0.663,-0.748, 0.135, RAW= 128.2, -0.8, CAL= 134.4, -9.6, ROT= 15.6, 9.6 2025-01-08T21:20:05.471Z,1736371205.471 [DAT](INFO): got valid direction response: 21:20:03.5449 LVL= 26880, 32753, 31730, 32755, AGC= 69, IDX= 288,-0.03,-2.394, 2.520,-2.831,-2.969, PHS= 0.663,-0.748, 0.135, RAW= 128.2, -0.8, CAL= 134.4, -9.6, ROT= 15.6, 9.6 2025-01-08T21:20:05.492Z,1736371205.492 [DAT](INFO): DAT read: Bearing 15.6, 9.6 (Local) 2025-01-08T21:20:05.492Z,1736371205.492 [DAT](INFO): Local bearing/azimuth received: Bearing 15.6, 9.6 (Local) 2025-01-08T21:20:05.494Z,1736371205.494 [DAT](INFO): DAT read: Range 10 to 50 : 426.4 m (Round-trip 568.6 ms) speed 0.6 m/s 2025-01-08T21:20:05.500Z,1736371205.500 [DAT](INFO): DAT read: user:1672> 2025-01-08T21:20:05.501Z,1736371205.501 [DAT](INFO): DAT read: Tx time:21:20:04.6706 2025-01-08T21:20:05.501Z,1736371205.501 [DAT](INFO): Ping request sent. 2025-01-08T21:20:05.501Z,1736371205.501 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:05.502Z,1736371205.502 [DAT](INFO): DAT read: TxSync time:21:20:04.6698 2025-01-08T21:20:05.502Z,1736371205.502 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:20:05.523Z,1736371205.523 [DAT](INFO): direction in FSK: [-0.108485,-0.548127,0.829330] 2025-01-08T21:20:05.523Z,1736371205.523 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:05.524Z,1736371205.524 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:05.527Z,1736371205.527 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:05.527Z,1736371205.527 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:05.635Z,1736371205.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:05.689Z,1736371205.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 426.399994 m, deltaT: 4.283254 s, deltaX: -11.899994 m, approachRate: -2.778260 m/s, rangeRepo size: 4 2025-01-08T21:20:05.698Z,1736371205.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 426.399994 m, bearing: 149.244938 deg, lat: 36.901999 deg, lon: -122.112907 deg, deltaT: 4.283254 s, deltaX: -11.899994 m, approachRate: -2.778260 m/s, posRepo size: 4 2025-01-08T21:20:05.698Z,1736371205.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m. 2025-01-08T21:20:05.704Z,1736371205.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:05.706Z,1736371205.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.399994 m, nav range: 326.988800 m, bearing: 155.700461 deg, approach rate: 0.000000 m/s, LOS rate: -0.112775 deg/s, cmd heading: 243.889007 deg, new cmd heading: 243.696861 deg. 2025-01-08T21:20:05.713Z,1736371205.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.253313 target range: 426.399994 and range: 426.40 m. 2025-01-08T21:20:05.956Z,1736371205.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:05.982Z,1736371205.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:06.016Z,1736371206.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m. 2025-01-08T21:20:06.019Z,1736371206.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.399994 m, nav range: 326.989441 m, bearing: 155.659510 deg, approach rate: 0.001988 m/s, LOS rate: -0.127045 deg/s, cmd heading: 243.696860 deg, new cmd heading: 243.574008 deg. 2025-01-08T21:20:06.020Z,1736371206.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251168 target range: 426.399994 and range: 426.40 m. 2025-01-08T21:20:06.208Z,1736371206.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:06.404Z,1736371206.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:06.456Z,1736371206.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m. 2025-01-08T21:20:06.462Z,1736371206.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:06.483Z,1736371206.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.399994 m, nav range: 326.989685 m, bearing: 155.609663 deg, approach rate: 0.000572 m/s, LOS rate: -0.116840 deg/s, cmd heading: 243.573999 deg, new cmd heading: 243.424459 deg. 2025-01-08T21:20:06.484Z,1736371206.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248558 target range: 426.399994 and range: 426.40 m. 2025-01-08T21:20:06.712Z,1736371206.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:06.831Z,1736371206.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:06.845Z,1736371206.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m. 2025-01-08T21:20:06.854Z,1736371206.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.399994 m, nav range: 326.984253 m, bearing: 155.561134 deg, approach rate: -0.013351 m/s, LOS rate: -0.119279 deg/s, cmd heading: 243.424445 deg, new cmd heading: 243.278854 deg. 2025-01-08T21:20:06.854Z,1736371206.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246017 target range: 426.399994 and range: 426.40 m. 2025-01-08T21:20:06.964Z,1736371206.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:07.193Z,1736371207.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:07.205Z,1736371207.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:07.207Z,1736371207.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m. 2025-01-08T21:20:07.209Z,1736371207.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.399994 m, nav range: 326.979919 m, bearing: 155.519975 deg, approach rate: -0.011968 m/s, LOS rate: -0.113676 deg/s, cmd heading: 243.278853 deg, new cmd heading: 243.155373 deg. 2025-01-08T21:20:07.210Z,1736371207.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.243862 target range: 426.399994 and range: 426.40 m. 2025-01-08T21:20:07.216Z,1736371207.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:07.216Z,1736371207.216 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:07.217Z,1736371207.217 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:07.217Z,1736371207.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:07.469Z,1736371207.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:07.472Z,1736371207.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970453 2025-01-08T21:20:07.632Z,1736371207.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:07.641Z,1736371207.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m. 2025-01-08T21:20:07.645Z,1736371207.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.399994 m, nav range: 326.966766 m, bearing: 155.472133 deg, approach rate: -0.030299 m/s, LOS rate: -0.110209 deg/s, cmd heading: 243.155363 deg, new cmd heading: 243.011833 deg. 2025-01-08T21:20:07.647Z,1736371207.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.241356 target range: 426.399994 and range: 426.40 m. 2025-01-08T21:20:07.721Z,1736371207.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:07.722Z,1736371207.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220715 2025-01-08T21:20:07.972Z,1736371207.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:07.972Z,1736371207.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471371 2025-01-08T21:20:08.019Z,1736371208.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:08.027Z,1736371208.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m. 2025-01-08T21:20:08.031Z,1736371208.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.399994 m, nav range: 326.954407 m, bearing: 155.430002 deg, approach rate: -0.031986 m/s, LOS rate: -0.109037 deg/s, cmd heading: 243.011820 deg, new cmd heading: 242.885423 deg. 2025-01-08T21:20:08.032Z,1736371208.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.239151 target range: 426.399994 and range: 426.40 m. 2025-01-08T21:20:08.224Z,1736371208.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:08.224Z,1736371208.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723441 2025-01-08T21:20:08.449Z,1736371208.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:08.478Z,1736371208.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:08.480Z,1736371208.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978611 2025-01-08T21:20:08.510Z,1736371208.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m. 2025-01-08T21:20:08.518Z,1736371208.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.399994 m, nav range: 326.940948 m, bearing: 155.383240 deg, approach rate: -0.027977 m/s, LOS rate: -0.097213 deg/s, cmd heading: 242.885434 deg, new cmd heading: 242.745141 deg. 2025-01-08T21:20:08.518Z,1736371208.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.236702 target range: 426.399994 and range: 426.40 m. 2025-01-08T21:20:08.728Z,1736371208.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:08.728Z,1736371208.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227379 2025-01-08T21:20:08.859Z,1736371208.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:08.885Z,1736371208.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m. 2025-01-08T21:20:08.892Z,1736371208.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.399994 m, nav range: 326.923584 m, bearing: 155.338940 deg, approach rate: -0.046139 m/s, LOS rate: -0.117715 deg/s, cmd heading: 242.745142 deg, new cmd heading: 242.612236 deg. 2025-01-08T21:20:08.893Z,1736371208.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.234382 target range: 426.399994 and range: 426.40 m. 2025-01-08T21:20:08.980Z,1736371208.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:08.981Z,1736371208.981 [DAT](INFO): DAT read: Rx Time:21:20:07.6396 2025-01-08T21:20:08.981Z,1736371208.981 [DAT](INFO): Rx dataTimestamp_ set to:1736371208.980801 2025-01-08T21:20:08.982Z,1736371208.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480631 2025-01-08T21:20:09.227Z,1736371209.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:09.232Z,1736371209.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:09.232Z,1736371209.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731464 2025-01-08T21:20:09.255Z,1736371209.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:09.257Z,1736371209.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.40 m. 2025-01-08T21:20:09.276Z,1736371209.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.399994 m, nav range: 326.907745 m, bearing: 155.299283 deg, approach rate: -0.042479 m/s, LOS rate: -0.106366 deg/s, cmd heading: 242.612226 deg, new cmd heading: 242.493247 deg. 2025-01-08T21:20:09.277Z,1736371209.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232306 target range: 426.399994 and range: 426.40 m. 2025-01-08T21:20:09.485Z,1736371209.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:09.529Z,1736371209.529 [DAT](INFO): DAT read: 21:20:07.6396 LVL= 30752, 32753, 32754, 32755, AGC= 72, IDX= 403,-0.03,-1.517,-3.117,-2.144,-1.876, PHS= 0.447,-1.194,-0.271, RAW= 124.1, 14.2, CAL= 130.6, 10.0, ROT= 19.4, -10.0 2025-01-08T21:20:09.531Z,1736371209.531 [DAT](INFO): got valid direction response: 21:20:07.6396 LVL= 30752, 32753, 32754, 32755, AGC= 72, IDX= 403,-0.03,-1.517,-3.117,-2.144,-1.876, PHS= 0.447,-1.194,-0.271, RAW= 124.1, 14.2, CAL= 130.6, 10.0, ROT= 19.4, -10.0 2025-01-08T21:20:09.537Z,1736371209.537 [DAT](INFO): DAT read: Bearing 19.4, -10.0 (Local) 2025-01-08T21:20:09.539Z,1736371209.539 [DAT](INFO): Local bearing/azimuth received: Bearing 19.4, -10.0 (Local) 2025-01-08T21:20:09.570Z,1736371209.570 [DAT](INFO): DAT read: Range 10 to 50 : 423.6 m (Round-trip 564.9 ms) speed 0.4 m/s 2025-01-08T21:20:09.572Z,1736371209.572 [DAT](INFO): DAT read: user:1673> 2025-01-08T21:20:09.572Z,1736371209.572 [DAT](INFO): DAT read: Tx time:21:20:08.7206 2025-01-08T21:20:09.573Z,1736371209.573 [DAT](INFO): Ping request sent. 2025-01-08T21:20:09.573Z,1736371209.573 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:09.574Z,1736371209.574 [DAT](INFO): DAT read: TxSync time:21:20:08.7198 2025-01-08T21:20:09.574Z,1736371209.574 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:20:09.584Z,1736371209.584 [DAT](INFO): direction in FSK: [-0.387033,-0.444268,0.807980] 2025-01-08T21:20:09.585Z,1736371209.585 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:09.585Z,1736371209.585 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:09.601Z,1736371209.601 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:09.601Z,1736371209.601 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:09.713Z,1736371209.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:09.736Z,1736371209.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:09.748Z,1736371209.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 423.600006 m, deltaT: 4.032630 s, deltaX: -2.799988 m, approachRate: -0.694333 m/s, rangeRepo size: 4 2025-01-08T21:20:09.750Z,1736371209.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 423.600006 m, bearing: 120.246285 deg, lat: 36.901999 deg, lon: -122.112907 deg, deltaT: 4.032630 s, deltaX: -2.799988 m, approachRate: -0.694333 m/s, posRepo size: 4 2025-01-08T21:20:09.750Z,1736371209.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.60 m. 2025-01-08T21:20:09.757Z,1736371209.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.600006 m, nav range: 326.883972 m, bearing: 155.249161 deg, approach rate: 0.000000 m/s, LOS rate: -0.106366 deg/s, cmd heading: 242.493244 deg, new cmd heading: 242.338385 deg. 2025-01-08T21:20:09.758Z,1736371209.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229603 target range: 423.600006 and range: 423.60 m. 2025-01-08T21:20:09.989Z,1736371209.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:10.063Z,1736371210.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:10.072Z,1736371210.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.60 m. 2025-01-08T21:20:10.075Z,1736371210.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.600006 m, nav range: 326.866516 m, bearing: 155.212982 deg, approach rate: -0.053115 m/s, LOS rate: -0.110089 deg/s, cmd heading: 242.338390 deg, new cmd heading: 242.229849 deg. 2025-01-08T21:20:10.076Z,1736371210.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227708 target range: 423.600006 and range: 423.60 m. 2025-01-08T21:20:10.240Z,1736371210.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:10.463Z,1736371210.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:10.471Z,1736371210.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.60 m. 2025-01-08T21:20:10.480Z,1736371210.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.600006 m, nav range: 326.846161 m, bearing: 155.171635 deg, approach rate: -0.050899 m/s, LOS rate: -0.103395 deg/s, cmd heading: 242.229845 deg, new cmd heading: 242.105797 deg. 2025-01-08T21:20:10.484Z,1736371210.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225543 target range: 423.600006 and range: 423.60 m. 2025-01-08T21:20:10.493Z,1736371210.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:10.744Z,1736371210.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:10.897Z,1736371210.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:10.909Z,1736371210.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.60 m. 2025-01-08T21:20:10.918Z,1736371210.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.600006 m, nav range: 326.819031 m, bearing: 155.128220 deg, approach rate: -0.062236 m/s, LOS rate: -0.099602 deg/s, cmd heading: 242.105809 deg, new cmd heading: 241.975551 deg. 2025-01-08T21:20:10.921Z,1736371210.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223270 target range: 423.600006 and range: 423.60 m. 2025-01-08T21:20:10.997Z,1736371210.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:11.248Z,1736371211.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:11.272Z,1736371211.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:11.280Z,1736371211.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:11.282Z,1736371211.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.60 m. 2025-01-08T21:20:11.285Z,1736371211.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.600006 m, nav range: 326.795776 m, bearing: 155.090728 deg, approach rate: -0.062055 m/s, LOS rate: -0.100055 deg/s, cmd heading: 241.975543 deg, new cmd heading: 241.863060 deg. 2025-01-08T21:20:11.286Z,1736371211.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221307 target range: 423.600006 and range: 423.60 m. 2025-01-08T21:20:11.501Z,1736371211.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:11.503Z,1736371211.503 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:11.503Z,1736371211.503 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:11.504Z,1736371211.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:11.708Z,1736371211.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:11.717Z,1736371211.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.60 m. 2025-01-08T21:20:11.720Z,1736371211.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.600006 m, nav range: 326.765106 m, bearing: 155.047109 deg, approach rate: -0.070455 m/s, LOS rate: -0.100210 deg/s, cmd heading: 241.863064 deg, new cmd heading: 241.732195 deg. 2025-01-08T21:20:11.721Z,1736371211.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.219023 target range: 423.600006 and range: 423.60 m. 2025-01-08T21:20:11.752Z,1736371211.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:11.753Z,1736371211.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.179782 2025-01-08T21:20:12.004Z,1736371212.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:12.004Z,1736371212.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.431476 2025-01-08T21:20:12.102Z,1736371212.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:12.110Z,1736371212.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.60 m. 2025-01-08T21:20:12.113Z,1736371212.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.600006 m, nav range: 326.737549 m, bearing: 155.007709 deg, approach rate: -0.070155 m/s, LOS rate: -0.100313 deg/s, cmd heading: 241.732197 deg, new cmd heading: 241.613987 deg. 2025-01-08T21:20:12.114Z,1736371212.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216959 target range: 423.600006 and range: 423.60 m. 2025-01-08T21:20:12.256Z,1736371212.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:12.256Z,1736371212.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683487 2025-01-08T21:20:12.481Z,1736371212.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:12.495Z,1736371212.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.60 m. 2025-01-08T21:20:12.498Z,1736371212.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.600006 m, nav range: 326.709930 m, bearing: 154.969740 deg, approach rate: -0.071848 m/s, LOS rate: -0.098783 deg/s, cmd heading: 241.613980 deg, new cmd heading: 241.500065 deg. 2025-01-08T21:20:12.500Z,1736371212.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214971 target range: 423.600006 and range: 423.60 m. 2025-01-08T21:20:12.510Z,1736371212.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:12.513Z,1736371212.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939154 2025-01-08T21:20:12.760Z,1736371212.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:12.761Z,1736371212.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.187590 2025-01-08T21:20:12.937Z,1736371212.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:12.953Z,1736371212.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.60 m. 2025-01-08T21:20:12.968Z,1736371212.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.600006 m, nav range: 326.679657 m, bearing: 154.924077 deg, approach rate: -0.065980 m/s, LOS rate: -0.099531 deg/s, cmd heading: 241.500053 deg, new cmd heading: 241.363051 deg. 2025-01-08T21:20:12.972Z,1736371212.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212580 target range: 423.600006 and range: 423.60 m. 2025-01-08T21:20:13.013Z,1736371213.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:13.014Z,1736371213.014 [DAT](INFO): DAT read: Rx Time:21:20:11.6872 2025-01-08T21:20:13.014Z,1736371213.014 [DAT](INFO): Rx dataTimestamp_ set to:1736371213.013813 2025-01-08T21:20:13.015Z,1736371213.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.442084 2025-01-08T21:20:13.264Z,1736371213.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:13.264Z,1736371213.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.691482 2025-01-08T21:20:13.313Z,1736371213.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:13.323Z,1736371213.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:13.325Z,1736371213.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.60 m. 2025-01-08T21:20:13.329Z,1736371213.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.600006 m, nav range: 326.654816 m, bearing: 154.886365 deg, approach rate: -0.066733 m/s, LOS rate: -0.101318 deg/s, cmd heading: 241.363039 deg, new cmd heading: 241.249894 deg. 2025-01-08T21:20:13.332Z,1736371213.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210605 target range: 423.600006 and range: 423.60 m. 2025-01-08T21:20:13.518Z,1736371213.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:13.541Z,1736371213.541 [DAT](INFO): DAT read: 21:20:11.6872 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410, 0.47,-1.895, 2.937,-2.322,-2.449, PHS= 0.642,-0.850, 0.124, RAW= 130.0, 1.3, CAL= 136.1, -6.7, ROT= 13.9, 6.7 2025-01-08T21:20:13.545Z,1736371213.545 [DAT](INFO): got valid direction response: 21:20:11.6872 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410, 0.47,-1.895, 2.937,-2.322,-2.449, PHS= 0.642,-0.850, 0.124, RAW= 130.0, 1.3, CAL= 136.1, -6.7, ROT= 13.9, 6.7 2025-01-08T21:20:13.555Z,1736371213.555 [DAT](INFO): DAT read: Bearing 13.9, 6.7 (Local) 2025-01-08T21:20:13.557Z,1736371213.557 [DAT](INFO): Local bearing/azimuth received: Bearing 13.9, 6.7 (Local) 2025-01-08T21:20:13.572Z,1736371213.572 [DAT](INFO): DAT read: Range 10 to 50 : 421.8 m (Round-trip 562.4 ms) speed 0.5 m/s 2025-01-08T21:20:13.579Z,1736371213.579 [DAT](INFO): DAT read: user:1674> 2025-01-08T21:20:13.580Z,1736371213.580 [DAT](INFO): DAT read: Tx time:21:20:12.7707 2025-01-08T21:20:13.581Z,1736371213.581 [DAT](INFO): Ping request sent. 2025-01-08T21:20:13.581Z,1736371213.581 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:13.581Z,1736371213.581 [DAT](INFO): DAT read: TxSync time:21:20:12.7699 2025-01-08T21:20:13.582Z,1736371213.582 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:20:13.583Z,1736371213.583 [DAT](INFO): direction in FSK: [-0.150275,-0.571311,0.806859] 2025-01-08T21:20:13.583Z,1736371213.583 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:13.588Z,1736371213.588 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:13.598Z,1736371213.598 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:13.598Z,1736371213.598 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:13.768Z,1736371213.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:13.784Z,1736371213.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:13.815Z,1736371213.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 421.799988 m, deltaT: 4.032706 s, deltaX: -1.800018 m, approachRate: -0.446355 m/s, rangeRepo size: 4 2025-01-08T21:20:13.818Z,1736371213.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 421.799988 m, bearing: 142.665323 deg, lat: 36.902570 deg, lon: -122.112850 deg, deltaT: 4.032706 s, deltaX: -1.800018 m, approachRate: -0.446355 m/s, posRepo size: 4 2025-01-08T21:20:13.818Z,1736371213.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m. 2025-01-08T21:20:13.826Z,1736371213.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 421.799988 m, nav range: 273.100525 m, bearing: 148.211568 deg, approach rate: 0.000000 m/s, LOS rate: -0.101318 deg/s, cmd heading: 241.249904 deg, new cmd heading: 241.102475 deg. 2025-01-08T21:20:13.827Z,1736371213.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208032 target range: 421.799988 and range: 421.80 m. 2025-01-08T21:20:14.023Z,1736371214.023 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:14.106Z,1736371214.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:14.115Z,1736371214.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m. 2025-01-08T21:20:14.118Z,1736371214.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 421.799988 m, nav range: 273.100555 m, bearing: 148.173077 deg, approach rate: 0.000100 m/s, LOS rate: -0.126351 deg/s, cmd heading: 241.102481 deg, new cmd heading: 240.987008 deg. 2025-01-08T21:20:14.119Z,1736371214.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206017 target range: 421.799988 and range: 421.80 m. 2025-01-08T21:20:14.272Z,1736371214.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:14.508Z,1736371214.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:14.522Z,1736371214.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m. 2025-01-08T21:20:14.524Z,1736371214.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:14.526Z,1736371214.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 421.799988 m, nav range: 273.099731 m, bearing: 148.124996 deg, approach rate: -0.002024 m/s, LOS rate: -0.118115 deg/s, cmd heading: 240.986996 deg, new cmd heading: 240.842754 deg. 2025-01-08T21:20:14.545Z,1736371214.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203499 target range: 421.799988 and range: 421.80 m. 2025-01-08T21:20:14.778Z,1736371214.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:14.964Z,1736371214.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:14.973Z,1736371214.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m. 2025-01-08T21:20:14.976Z,1736371214.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 421.799988 m, nav range: 273.104553 m, bearing: 148.069860 deg, approach rate: 0.010697 m/s, LOS rate: -0.122319 deg/s, cmd heading: 240.842743 deg, new cmd heading: 240.677339 deg. 2025-01-08T21:20:14.977Z,1736371214.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200612 target range: 421.799988 and range: 421.80 m. 2025-01-08T21:20:15.029Z,1736371215.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:15.280Z,1736371215.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:15.323Z,1736371215.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:15.331Z,1736371215.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:15.333Z,1736371215.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m. 2025-01-08T21:20:15.339Z,1736371215.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 421.799988 m, nav range: 273.107819 m, bearing: 148.026348 deg, approach rate: 0.009065 m/s, LOS rate: -0.120787 deg/s, cmd heading: 240.677343 deg, new cmd heading: 240.546808 deg. 2025-01-08T21:20:15.340Z,1736371215.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.198334 target range: 421.799988 and range: 421.80 m. 2025-01-08T21:20:15.532Z,1736371215.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:15.533Z,1736371215.533 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:15.533Z,1736371215.533 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:15.534Z,1736371215.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:15.784Z,1736371215.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:15.785Z,1736371215.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203910 2025-01-08T21:20:15.827Z,1736371215.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:15.837Z,1736371215.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m. 2025-01-08T21:20:15.843Z,1736371215.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 421.799988 m, nav range: 273.126007 m, bearing: 147.962095 deg, approach rate: 0.036126 m/s, LOS rate: -0.127612 deg/s, cmd heading: 240.546804 deg, new cmd heading: 240.354058 deg. 2025-01-08T21:20:15.844Z,1736371215.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194970 target range: 421.799988 and range: 421.80 m. 2025-01-08T21:20:16.036Z,1736371216.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:16.036Z,1736371216.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455708 2025-01-08T21:20:16.191Z,1736371216.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:16.217Z,1736371216.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m. 2025-01-08T21:20:16.230Z,1736371216.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 421.799988 m, nav range: 273.139008 m, bearing: 147.915595 deg, approach rate: 0.034183 m/s, LOS rate: -0.122262 deg/s, cmd heading: 240.354056 deg, new cmd heading: 240.214563 deg. 2025-01-08T21:20:16.231Z,1736371216.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192535 target range: 421.799988 and range: 421.80 m. 2025-01-08T21:20:16.289Z,1736371216.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:16.290Z,1736371216.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709380 2025-01-08T21:20:16.540Z,1736371216.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:16.540Z,1736371216.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959769 2025-01-08T21:20:16.701Z,1736371216.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:16.709Z,1736371216.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m. 2025-01-08T21:20:16.713Z,1736371216.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 421.799988 m, nav range: 273.170044 m, bearing: 147.847474 deg, approach rate: 0.063055 m/s, LOS rate: -0.138381 deg/s, cmd heading: 240.214557 deg, new cmd heading: 240.010219 deg. 2025-01-08T21:20:16.713Z,1736371216.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.188969 target range: 421.799988 and range: 421.80 m. 2025-01-08T21:20:16.793Z,1736371216.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:16.794Z,1736371216.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213188 2025-01-08T21:20:17.044Z,1736371217.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:17.045Z,1736371217.045 [DAT](INFO): DAT read: Rx Time:21:20:15.7470 2025-01-08T21:20:17.046Z,1736371217.046 [DAT](INFO): Rx dataTimestamp_ set to:1736371217.045304 2025-01-08T21:20:17.046Z,1736371217.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465473 2025-01-08T21:20:17.061Z,1736371217.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:17.075Z,1736371217.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m. 2025-01-08T21:20:17.106Z,1736371217.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 421.799988 m, nav range: 273.191498 m, bearing: 147.799334 deg, approach rate: 0.058674 m/s, LOS rate: -0.131647 deg/s, cmd heading: 240.010225 deg, new cmd heading: 239.865817 deg. 2025-01-08T21:20:17.107Z,1736371217.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186448 target range: 421.799988 and range: 421.80 m. 2025-01-08T21:20:17.296Z,1736371217.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:17.297Z,1736371217.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.715994 2025-01-08T21:20:17.483Z,1736371217.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:17.489Z,1736371217.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:17.492Z,1736371217.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m. 2025-01-08T21:20:17.495Z,1736371217.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 421.799988 m, nav range: 273.215118 m, bearing: 147.742877 deg, approach rate: 0.056710 m/s, LOS rate: -0.135535 deg/s, cmd heading: 239.865807 deg, new cmd heading: 239.696451 deg. 2025-01-08T21:20:17.497Z,1736371217.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.183492 target range: 421.799988 and range: 421.80 m. 2025-01-08T21:20:17.550Z,1736371217.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:17.559Z,1736371217.559 [DAT](INFO): DAT read: 21:20:15.7470 LVL= 26160, 29105, 31186, 30195, AGC= 71, IDX= 31, 0.16, 0.483,-1.060,-0.026,-0.117, PHS= 0.688,-0.896, 0.088, RAW= 128.0, 1.8, CAL= 134.6, -5.8, ROT= 15.4, 5.8 2025-01-08T21:20:17.571Z,1736371217.571 [DAT](INFO): got valid direction response: 21:20:15.7470 LVL= 26160, 29105, 31186, 30195, AGC= 71, IDX= 31, 0.16, 0.483,-1.060,-0.026,-0.117, PHS= 0.688,-0.896, 0.088, RAW= 128.0, 1.8, CAL= 134.6, -5.8, ROT= 15.4, 5.8 2025-01-08T21:20:17.579Z,1736371217.579 [DAT](INFO): DAT read: Bearing 15.4, 5.8 (Local) 2025-01-08T21:20:17.585Z,1736371217.585 [DAT](INFO): Local bearing/azimuth received: Bearing 15.4, 5.8 (Local) 2025-01-08T21:20:17.622Z,1736371217.622 [DAT](INFO): DAT read: Range 10 to 50 : 429.1 m (Round-trip 572.2 ms) speed 0.6 m/s 2025-01-08T21:20:17.652Z,1736371217.652 [DAT](INFO): DAT read: user:1675> 2025-01-08T21:20:17.653Z,1736371217.653 [DAT](INFO): DAT read: Tx time:21:20:16.8707 2025-01-08T21:20:17.654Z,1736371217.654 [DAT](INFO): Ping request sent. 2025-01-08T21:20:17.654Z,1736371217.654 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:17.654Z,1736371217.654 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:20:17.666Z,1736371217.666 [DAT](INFO): direction in FSK: [-0.158556,-0.539483,0.826933] 2025-01-08T21:20:17.672Z,1736371217.672 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:17.673Z,1736371217.673 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:17.681Z,1736371217.681 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:17.681Z,1736371217.681 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:17.800Z,1736371217.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:17.801Z,1736371217.801 [DAT](INFO): DAT read: TxSync time:21:20:16.8699 2025-01-08T21:20:17.926Z,1736371217.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:17.971Z,1736371217.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 429.100006 m, deltaT: 4.031346 s, deltaX: 7.300018 m, approachRate: 1.810814 m/s, rangeRepo size: 4 2025-01-08T21:20:17.974Z,1736371217.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 429.100006 m, bearing: 139.078932 deg, lat: 36.902646 deg, lon: -122.112549 deg, deltaT: 4.031346 s, deltaX: 7.300018 m, approachRate: 1.810814 m/s, posRepo size: 4 2025-01-08T21:20:17.976Z,1736371217.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:17.978Z,1736371217.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 281.799225 m, bearing: 142.155824 deg, approach rate: 0.000000 m/s, LOS rate: -0.135535 deg/s, cmd heading: 239.696446 deg, new cmd heading: 239.503191 deg. 2025-01-08T21:20:17.979Z,1736371217.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180119 target range: 429.100006 and range: 429.10 m. 2025-01-08T21:20:18.052Z,1736371218.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:18.304Z,1736371218.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:18.324Z,1736371218.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:18.333Z,1736371218.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:18.336Z,1736371218.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 281.855682 m, bearing: 142.103609 deg, approach rate: 0.153971 m/s, LOS rate: -0.142373 deg/s, cmd heading: 239.503179 deg, new cmd heading: 239.346565 deg. 2025-01-08T21:20:18.337Z,1736371218.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177386 target range: 429.100006 and range: 429.10 m. 2025-01-08T21:20:18.557Z,1736371218.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:18.769Z,1736371218.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:18.781Z,1736371218.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:18.783Z,1736371218.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 281.927063 m, bearing: 142.042911 deg, approach rate: 0.159632 m/s, LOS rate: -0.135707 deg/s, cmd heading: 239.346576 deg, new cmd heading: 239.164529 deg. 2025-01-08T21:20:18.784Z,1736371218.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174209 target range: 429.100006 and range: 429.10 m. 2025-01-08T21:20:18.808Z,1736371218.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:19.060Z,1736371219.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:19.120Z,1736371219.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:19.130Z,1736371219.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:19.153Z,1736371219.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 281.981628 m, bearing: 141.995122 deg, approach rate: 0.155989 m/s, LOS rate: -0.136589 deg/s, cmd heading: 239.164538 deg, new cmd heading: 239.021200 deg. 2025-01-08T21:20:19.154Z,1736371219.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171707 target range: 429.100006 and range: 429.10 m. 2025-01-08T21:20:19.312Z,1736371219.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:19.529Z,1736371219.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:19.536Z,1736371219.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:19.538Z,1736371219.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:19.541Z,1736371219.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.043427 m, bearing: 141.939535 deg, approach rate: 0.151537 m/s, LOS rate: -0.136278 deg/s, cmd heading: 239.021213 deg, new cmd heading: 238.854488 deg. 2025-01-08T21:20:19.542Z,1736371219.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168797 target range: 429.100006 and range: 429.10 m. 2025-01-08T21:20:19.564Z,1736371219.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:19.564Z,1736371219.564 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:19.564Z,1736371219.564 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:19.565Z,1736371219.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:19.816Z,1736371219.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:19.816Z,1736371219.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.162338 2025-01-08T21:20:19.954Z,1736371219.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:19.964Z,1736371219.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:19.973Z,1736371219.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.106049 m, bearing: 141.880274 deg, approach rate: 0.147399 m/s, LOS rate: -0.139456 deg/s, cmd heading: 238.854475 deg, new cmd heading: 238.676732 deg. 2025-01-08T21:20:19.974Z,1736371219.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165695 target range: 429.100006 and range: 429.10 m. 2025-01-08T21:20:20.069Z,1736371220.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:20.070Z,1736371220.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.415602 2025-01-08T21:20:20.320Z,1736371220.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:20.320Z,1736371220.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.666413 2025-01-08T21:20:20.348Z,1736371220.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:20.357Z,1736371220.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:20.360Z,1736371220.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.162354 m, bearing: 141.825288 deg, approach rate: 0.142880 m/s, LOS rate: -0.139504 deg/s, cmd heading: 238.676726 deg, new cmd heading: 238.511803 deg. 2025-01-08T21:20:20.361Z,1736371220.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162816 target range: 429.100006 and range: 429.10 m. 2025-01-08T21:20:20.573Z,1736371220.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:20.573Z,1736371220.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.919335 2025-01-08T21:20:20.824Z,1736371220.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:20.824Z,1736371220.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.170388 2025-01-08T21:20:20.829Z,1736371220.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:20.838Z,1736371220.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:20.841Z,1736371220.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.220703 m, bearing: 141.757596 deg, approach rate: 0.121348 m/s, LOS rate: -0.140748 deg/s, cmd heading: 238.511790 deg, new cmd heading: 238.308757 deg. 2025-01-08T21:20:20.842Z,1736371220.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159273 target range: 429.100006 and range: 429.10 m. 2025-01-08T21:20:21.076Z,1736371221.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:21.076Z,1736371221.076 [DAT](INFO): DAT read: Rx Time:21:20:19.8438 2025-01-08T21:20:21.077Z,1736371221.077 [DAT](INFO): Rx dataTimestamp_ set to:1736371221.076618 2025-01-08T21:20:21.077Z,1736371221.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.423351 2025-01-08T21:20:21.171Z,1736371221.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:21.181Z,1736371221.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:21.183Z,1736371221.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.259827 m, bearing: 141.709378 deg, approach rate: 0.114179 m/s, LOS rate: -0.140701 deg/s, cmd heading: 238.308770 deg, new cmd heading: 238.164136 deg. 2025-01-08T21:20:21.184Z,1736371221.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156748 target range: 429.100006 and range: 429.10 m. 2025-01-08T21:20:21.331Z,1736371221.331 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:21.332Z,1736371221.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.677672 2025-01-08T21:20:21.575Z,1736371221.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:21.583Z,1736371221.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:21.584Z,1736371221.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:21.590Z,1736371221.590 [DAT](INFO): DAT read: 21:20:19.8438 LVL= 25408, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.47,-0.951,-2.564,-1.463,-1.513, PHS= 0.649,-1.004, 0.047, RAW= 128.9, 4.3, CAL= 135.7, -2.1, ROT= 14.3, 2.1 2025-01-08T21:20:21.596Z,1736371221.596 [DAT](INFO): got valid direction response: 21:20:19.8438 LVL= 25408, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.47,-0.951,-2.564,-1.463,-1.513, PHS= 0.649,-1.004, 0.047, RAW= 128.9, 4.3, CAL= 135.7, -2.1, ROT= 14.3, 2.1 2025-01-08T21:20:21.597Z,1736371221.597 [DAT](INFO): DAT read: Bearing 14.3, 2.1 (Local) 2025-01-08T21:20:21.597Z,1736371221.597 [DAT](INFO): Local bearing/azimuth received: Bearing 14.3, 2.1 (Local) 2025-01-08T21:20:21.599Z,1736371221.599 [DAT](INFO): DAT read: Range 10 to 50 : 426.7 m (Round-trip 569.0 ms) speed 0.3 m/s 2025-01-08T21:20:21.600Z,1736371221.600 [DAT](INFO): DAT read: user:1676> 2025-01-08T21:20:21.600Z,1736371221.600 [DAT](INFO): DAT read: Tx time:21:20:20.9707 2025-01-08T21:20:21.601Z,1736371221.601 [DAT](INFO): Ping request sent. 2025-01-08T21:20:21.601Z,1736371221.601 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:21.601Z,1736371221.601 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:20:21.602Z,1736371221.602 [DAT](INFO): direction in FSK: [-0.207792,-0.548512,0.809912] 2025-01-08T21:20:21.602Z,1736371221.602 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:21.602Z,1736371221.602 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:21.617Z,1736371221.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 426.700012 m, deltaT: 4.033970 s, deltaX: -2.399994 m, approachRate: -0.594946 m/s, rangeRepo size: 4 2025-01-08T21:20:21.617Z,1736371221.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:21.622Z,1736371221.622 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:21.637Z,1736371221.637 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:21.647Z,1736371221.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.305084 m, bearing: 141.652383 deg, approach rate: 0.103948 m/s, LOS rate: -0.130886 deg/s, cmd heading: 238.164134 deg, new cmd heading: 237.993176 deg. 2025-01-08T21:20:21.681Z,1736371221.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153765 target range: 429.100006 and range: 426.70 m. 2025-01-08T21:20:21.836Z,1736371221.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:21.837Z,1736371221.837 [DAT](INFO): DAT read: TxSync time:21:20:20.9699 2025-01-08T21:20:22.086Z,1736371222.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:22.088Z,1736371222.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:22.141Z,1736371222.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:22.153Z,1736371222.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.347137 m, bearing: 141.583258 deg, approach rate: 0.080040 m/s, LOS rate: -0.131546 deg/s, cmd heading: 237.993188 deg, new cmd heading: 237.785846 deg. 2025-01-08T21:20:22.154Z,1736371222.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.150146 target range: 429.100006 and range: 426.70 m. 2025-01-08T21:20:22.340Z,1736371222.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:22.492Z,1736371222.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:22.509Z,1736371222.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:22.516Z,1736371222.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.379272 m, bearing: 141.528852 deg, approach rate: 0.087431 m/s, LOS rate: -0.148009 deg/s, cmd heading: 237.785851 deg, new cmd heading: 237.622650 deg. 2025-01-08T21:20:22.517Z,1736371222.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147298 target range: 429.100006 and range: 426.70 m. 2025-01-08T21:20:22.594Z,1736371222.594 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:22.844Z,1736371222.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:22.897Z,1736371222.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:22.905Z,1736371222.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:22.908Z,1736371222.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.399963 m, bearing: 141.474315 deg, approach rate: 0.052177 m/s, LOS rate: -0.137519 deg/s, cmd heading: 237.622664 deg, new cmd heading: 237.459065 deg. 2025-01-08T21:20:22.909Z,1736371222.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144443 target range: 429.100006 and range: 426.70 m. 2025-01-08T21:20:23.098Z,1736371223.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:23.263Z,1736371223.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:23.292Z,1736371223.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:23.297Z,1736371223.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.417664 m, bearing: 141.425413 deg, approach rate: 0.045779 m/s, LOS rate: -0.126469 deg/s, cmd heading: 237.459067 deg, new cmd heading: 237.312371 deg. 2025-01-08T21:20:23.298Z,1736371223.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141882 target range: 429.100006 and range: 426.70 m. 2025-01-08T21:20:23.348Z,1736371223.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:23.600Z,1736371223.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:23.726Z,1736371223.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:23.735Z,1736371223.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:23.757Z,1736371223.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:23.761Z,1736371223.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.440338 m, bearing: 141.363597 deg, approach rate: 0.048742 m/s, LOS rate: -0.132871 deg/s, cmd heading: 237.312382 deg, new cmd heading: 237.126951 deg. 2025-01-08T21:20:23.762Z,1736371223.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138646 target range: 429.100006 and range: 426.70 m. 2025-01-08T21:20:23.852Z,1736371223.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:23.853Z,1736371223.853 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:23.853Z,1736371223.853 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:23.854Z,1736371223.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:24.097Z,1736371224.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:24.104Z,1736371224.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:24.105Z,1736371224.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504301 2025-01-08T21:20:24.125Z,1736371224.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:24.132Z,1736371224.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.446045 m, bearing: 141.316254 deg, approach rate: 0.015500 m/s, LOS rate: -0.128586 deg/s, cmd heading: 237.126956 deg, new cmd heading: 236.984930 deg. 2025-01-08T21:20:24.133Z,1736371224.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136168 target range: 429.100006 and range: 426.70 m. 2025-01-08T21:20:24.356Z,1736371224.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:24.356Z,1736371224.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755714 2025-01-08T21:20:24.487Z,1736371224.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:24.497Z,1736371224.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:24.500Z,1736371224.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.452240 m, bearing: 141.266563 deg, approach rate: 0.016687 m/s, LOS rate: -0.133849 deg/s, cmd heading: 236.984943 deg, new cmd heading: 236.835871 deg. 2025-01-08T21:20:24.501Z,1736371224.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133566 target range: 429.100006 and range: 426.70 m. 2025-01-08T21:20:24.608Z,1736371224.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:24.609Z,1736371224.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008290 2025-01-08T21:20:24.860Z,1736371224.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:24.860Z,1736371224.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259751 2025-01-08T21:20:24.925Z,1736371224.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:24.935Z,1736371224.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:24.937Z,1736371224.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.448639 m, bearing: 141.213555 deg, approach rate: -0.008222 m/s, LOS rate: -0.121034 deg/s, cmd heading: 236.835881 deg, new cmd heading: 236.676857 deg. 2025-01-08T21:20:24.938Z,1736371224.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130790 target range: 429.100006 and range: 426.70 m. 2025-01-08T21:20:25.112Z,1736371225.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:25.112Z,1736371225.112 [DAT](INFO): DAT read: Rx Time:21:20:23.9274 2025-01-08T21:20:25.113Z,1736371225.113 [DAT](INFO): Rx dataTimestamp_ set to:1736371225.112537 2025-01-08T21:20:25.113Z,1736371225.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512654 2025-01-08T21:20:25.282Z,1736371225.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:25.316Z,1736371225.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:25.321Z,1736371225.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.445923 m, bearing: 141.170307 deg, approach rate: -0.007140 m/s, LOS rate: -0.113686 deg/s, cmd heading: 236.676846 deg, new cmd heading: 236.547100 deg. 2025-01-08T21:20:25.323Z,1736371225.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128526 target range: 429.100006 and range: 426.70 m. 2025-01-08T21:20:25.364Z,1736371225.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:25.365Z,1736371225.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763964 2025-01-08T21:20:25.617Z,1736371225.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:25.620Z,1736371225.620 [DAT](INFO): DAT read: Range 10 to 50 : 414.3 m (Round-trip 552.5 ms) speed 0.4 m/s 2025-01-08T21:20:25.621Z,1736371225.621 [DAT](INFO): DAT read: user:1677> 2025-01-08T21:20:25.622Z,1736371225.622 [DAT](INFO): DAT read: Tx time:21:20:25.0208 2025-01-08T21:20:25.622Z,1736371225.622 [DAT](INFO): Ping request sent. 2025-01-08T21:20:25.622Z,1736371225.622 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:25.623Z,1736371225.623 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:20:25.623Z,1736371225.623 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:25.624Z,1736371225.624 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:25.852Z,1736371225.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:25.869Z,1736371225.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:25.870Z,1736371225.870 [DAT](INFO): DAT read: TxSync time:21:20:25.0200 2025-01-08T21:20:25.876Z,1736371225.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:25.888Z,1736371225.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 414.299988 m, deltaT: 4.033976 s, deltaX: -12.400024 m, approachRate: -3.073896 m/s, rangeRepo size: 4 2025-01-08T21:20:25.889Z,1736371225.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:25.896Z,1736371225.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.442352 m, bearing: 141.102350 deg, approach rate: -0.006345 m/s, LOS rate: -0.120766 deg/s, cmd heading: 236.547100 deg, new cmd heading: 236.343228 deg. 2025-01-08T21:20:25.897Z,1736371225.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124968 target range: 429.100006 and range: 414.30 m. 2025-01-08T21:20:26.120Z,1736371226.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:26.121Z,1736371226.121 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:26.121Z,1736371226.121 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:26.122Z,1736371226.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:26.219Z,1736371226.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:26.228Z,1736371226.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:26.231Z,1736371226.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.439941 m, bearing: 141.058560 deg, approach rate: -0.006894 m/s, LOS rate: -0.125221 deg/s, cmd heading: 236.343233 deg, new cmd heading: 236.211862 deg. 2025-01-08T21:20:26.232Z,1736371226.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.122675 target range: 429.100006 and range: 414.30 m. 2025-01-08T21:20:26.372Z,1736371226.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:26.374Z,1736371226.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751172 2025-01-08T21:20:26.624Z,1736371226.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:26.624Z,1736371226.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002101 2025-01-08T21:20:26.627Z,1736371226.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:26.662Z,1736371226.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:26.676Z,1736371226.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.437134 m, bearing: 141.009994 deg, approach rate: -0.006463 m/s, LOS rate: -0.111797 deg/s, cmd heading: 236.211874 deg, new cmd heading: 236.066175 deg. 2025-01-08T21:20:26.677Z,1736371226.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.120132 target range: 429.100006 and range: 414.30 m. 2025-01-08T21:20:26.876Z,1736371226.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:26.877Z,1736371226.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254139 2025-01-08T21:20:27.128Z,1736371227.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:27.129Z,1736371227.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506176 2025-01-08T21:20:27.185Z,1736371227.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:27.206Z,1736371227.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:27.214Z,1736371227.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.440552 m, bearing: 140.943726 deg, approach rate: 0.006277 m/s, LOS rate: -0.121703 deg/s, cmd heading: 236.066173 deg, new cmd heading: 235.867373 deg. 2025-01-08T21:20:27.215Z,1736371227.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.116662 target range: 429.100006 and range: 414.30 m. 2025-01-08T21:20:27.380Z,1736371227.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:27.380Z,1736371227.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758084 2025-01-08T21:20:27.625Z,1736371227.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:27.632Z,1736371227.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:27.633Z,1736371227.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010201 2025-01-08T21:20:27.653Z,1736371227.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:27.661Z,1736371227.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.442871 m, bearing: 140.891453 deg, approach rate: 0.005258 m/s, LOS rate: -0.118497 deg/s, cmd heading: 235.867360 deg, new cmd heading: 235.710542 deg. 2025-01-08T21:20:27.663Z,1736371227.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113925 target range: 429.100006 and range: 414.30 m. 2025-01-08T21:20:27.884Z,1736371227.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:27.885Z,1736371227.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262300 2025-01-08T21:20:28.050Z,1736371228.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:28.057Z,1736371228.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:28.059Z,1736371228.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:28.061Z,1736371228.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.445343 m, bearing: 140.840987 deg, approach rate: 0.006013 m/s, LOS rate: -0.122764 deg/s, cmd heading: 235.710539 deg, new cmd heading: 235.559140 deg. 2025-01-08T21:20:28.062Z,1736371228.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111282 target range: 429.100006 and range: 414.30 m. 2025-01-08T21:20:28.137Z,1736371228.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:28.138Z,1736371228.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515470 2025-01-08T21:20:28.388Z,1736371228.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:28.388Z,1736371228.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766014 2025-01-08T21:20:28.440Z,1736371228.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:28.472Z,1736371228.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:28.479Z,1736371228.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.447052 m, bearing: 140.794660 deg, approach rate: 0.004129 m/s, LOS rate: -0.111931 deg/s, cmd heading: 235.559127 deg, new cmd heading: 235.420149 deg. 2025-01-08T21:20:28.480Z,1736371228.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108857 target range: 429.100006 and range: 414.30 m. 2025-01-08T21:20:28.640Z,1736371228.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:28.640Z,1736371228.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018075 2025-01-08T21:20:28.867Z,1736371228.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:20:28.867Z,1736371228.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:28.892Z,1736371228.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:28.893Z,1736371228.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270260 2025-01-08T21:20:28.896Z,1736371228.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:28.899Z,1736371228.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.448700 m, bearing: 140.743998 deg, approach rate: 0.003933 m/s, LOS rate: -0.120923 deg/s, cmd heading: 235.420146 deg, new cmd heading: 235.268161 deg. 2025-01-08T21:20:28.904Z,1736371228.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106204 target range: 429.100006 and range: 414.30 m. 2025-01-08T21:20:29.144Z,1736371229.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:29.145Z,1736371229.145 [DAT](INFO): DAT read: Rx Time:21:20:27.9875 2025-01-08T21:20:29.146Z,1736371229.146 [DAT](INFO): Rx dataTimestamp_ set to:1736371229.145347 2025-01-08T21:20:29.147Z,1736371229.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524189 2025-01-08T21:20:29.254Z,1736371229.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:20:29.254Z,1736371229.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:29.264Z,1736371229.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:29.266Z,1736371229.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.450104 m, bearing: 140.697988 deg, approach rate: 0.003773 m/s, LOS rate: -0.123676 deg/s, cmd heading: 235.268161 deg, new cmd heading: 235.130132 deg. 2025-01-08T21:20:29.268Z,1736371229.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103795 target range: 429.100006 and range: 414.30 m. 2025-01-08T21:20:29.396Z,1736371229.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:29.397Z,1736371229.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774280 2025-01-08T21:20:29.648Z,1736371229.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:29.651Z,1736371229.651 [DAT](INFO): DAT read: Range 10 to 50 : 421.9 m (Round-trip 562.6 ms) speed 0.4 m/s 2025-01-08T21:20:29.652Z,1736371229.652 [DAT](INFO): DAT read: user:1678> 2025-01-08T21:20:29.653Z,1736371229.653 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:20:29.654Z,1736371229.654 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:29.655Z,1736371229.655 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:29.655Z,1736371229.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:29.677Z,1736371229.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:20:29.677Z,1736371229.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:29.704Z,1736371229.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 421.899994 m, deltaT: 4.030466 s, deltaX: 7.600006 m, approachRate: 1.885640 m/s, rangeRepo size: 4 2025-01-08T21:20:29.705Z,1736371229.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:29.716Z,1736371229.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.451324 m, bearing: 140.647827 deg, approach rate: 0.002882 m/s, LOS rate: -0.118428 deg/s, cmd heading: 235.130136 deg, new cmd heading: 234.979654 deg. 2025-01-08T21:20:29.717Z,1736371229.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.101169 target range: 429.100006 and range: 421.90 m. 2025-01-08T21:20:29.900Z,1736371229.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:29.901Z,1736371229.901 [DAT](INFO): DAT read: Tx time:21:20:29.0708 2025-01-08T21:20:29.901Z,1736371229.901 [DAT](INFO): Ping request sent. 2025-01-08T21:20:29.901Z,1736371229.901 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:29.902Z,1736371229.902 [DAT](INFO): DAT read: TxSync time:21:20:29.0700 2025-01-08T21:20:29.902Z,1736371229.902 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:29.903Z,1736371229.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001560 2025-01-08T21:20:30.080Z,1736371230.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:30.087Z,1736371230.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:30.107Z,1736371230.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:30.110Z,1736371230.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.482330 m, bearing: 140.599102 deg, approach rate: 0.076875 m/s, LOS rate: -0.120795 deg/s, cmd heading: 234.979654 deg, new cmd heading: 234.833494 deg. 2025-01-08T21:20:30.123Z,1736371230.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.098618 target range: 429.100006 and range: 421.90 m. 2025-01-08T21:20:30.152Z,1736371230.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:30.153Z,1736371230.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251221 2025-01-08T21:20:30.404Z,1736371230.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:30.404Z,1736371230.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502976 2025-01-08T21:20:30.473Z,1736371230.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:30.497Z,1736371230.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:30.504Z,1736371230.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.511871 m, bearing: 140.551754 deg, approach rate: 0.072643 m/s, LOS rate: -0.116418 deg/s, cmd heading: 234.833488 deg, new cmd heading: 234.691461 deg. 2025-01-08T21:20:30.508Z,1736371230.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096139 target range: 429.100006 and range: 421.90 m. 2025-01-08T21:20:30.656Z,1736371230.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:30.657Z,1736371230.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755842 2025-01-08T21:20:30.892Z,1736371230.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:30.908Z,1736371230.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:30.908Z,1736371230.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007068 2025-01-08T21:20:30.936Z,1736371230.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:30.948Z,1736371230.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.542297 m, bearing: 140.500727 deg, approach rate: 0.070101 m/s, LOS rate: -0.117553 deg/s, cmd heading: 234.691474 deg, new cmd heading: 234.538409 deg. 2025-01-08T21:20:30.950Z,1736371230.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093467 target range: 429.100006 and range: 421.90 m. 2025-01-08T21:20:31.160Z,1736371231.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:31.160Z,1736371231.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259044 2025-01-08T21:20:31.264Z,1736371231.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:31.296Z,1736371231.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:31.299Z,1736371231.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.568878 m, bearing: 140.455593 deg, approach rate: 0.072780 m/s, LOS rate: -0.123568 deg/s, cmd heading: 234.538396 deg, new cmd heading: 234.403008 deg. 2025-01-08T21:20:31.304Z,1736371231.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091105 target range: 429.100006 and range: 421.90 m. 2025-01-08T21:20:31.412Z,1736371231.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:31.413Z,1736371231.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511517 2025-01-08T21:20:31.664Z,1736371231.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:31.666Z,1736371231.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764151 2025-01-08T21:20:31.698Z,1736371231.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:31.715Z,1736371231.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:31.721Z,1736371231.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.599457 m, bearing: 140.402801 deg, approach rate: 0.073071 m/s, LOS rate: -0.126140 deg/s, cmd heading: 234.403022 deg, new cmd heading: 234.244661 deg. 2025-01-08T21:20:31.722Z,1736371231.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.088341 target range: 429.100006 and range: 421.90 m. 2025-01-08T21:20:31.761Z,1736371231.761 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:20:31.916Z,1736371231.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:31.916Z,1736371231.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014971 2025-01-08T21:20:32.125Z,1736371232.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:32.133Z,1736371232.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:32.152Z,1736371232.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:32.155Z,1736371232.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.630310 m, bearing: 140.350010 deg, approach rate: 0.073349 m/s, LOS rate: -0.125489 deg/s, cmd heading: 234.244671 deg, new cmd heading: 234.086316 deg. 2025-01-08T21:20:32.160Z,1736371232.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085577 target range: 429.100006 and range: 421.90 m. 2025-01-08T21:20:32.169Z,1736371232.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:32.170Z,1736371232.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268771 2025-01-08T21:20:32.420Z,1736371232.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:32.420Z,1736371232.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519016 2025-01-08T21:20:32.508Z,1736371232.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:32.529Z,1736371232.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:32.542Z,1736371232.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.657043 m, bearing: 140.302676 deg, approach rate: 0.067841 m/s, LOS rate: -0.120107 deg/s, cmd heading: 234.086320 deg, new cmd heading: 233.944333 deg. 2025-01-08T21:20:32.543Z,1736371232.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.083099 target range: 429.100006 and range: 421.90 m. 2025-01-08T21:20:32.672Z,1736371232.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:32.673Z,1736371232.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771698 2025-01-08T21:20:32.764Z,1736371232.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:20:32.924Z,1736371232.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:32.925Z,1736371232.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023224 2025-01-08T21:20:32.962Z,1736371232.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:32.975Z,1736371232.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:32.982Z,1736371232.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.686279 m, bearing: 140.245015 deg, approach rate: 0.065665 m/s, LOS rate: -0.129498 deg/s, cmd heading: 233.944334 deg, new cmd heading: 233.771368 deg. 2025-01-08T21:20:32.982Z,1736371232.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080080 target range: 429.100006 and range: 421.90 m. 2025-01-08T21:20:33.176Z,1736371233.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:33.176Z,1736371233.176 [DAT](INFO): DAT read: Rx Time:21:20:32.0351 2025-01-08T21:20:33.177Z,1736371233.177 [DAT](INFO): Rx dataTimestamp_ set to:1736371233.176674 2025-01-08T21:20:33.177Z,1736371233.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276130 2025-01-08T21:20:33.307Z,1736371233.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:33.316Z,1736371233.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:33.319Z,1736371233.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.707886 m, bearing: 140.200971 deg, approach rate: 0.063235 m/s, LOS rate: -0.128893 deg/s, cmd heading: 233.771366 deg, new cmd heading: 233.639245 deg. 2025-01-08T21:20:33.329Z,1736371233.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077774 target range: 429.100006 and range: 421.90 m. 2025-01-08T21:20:33.428Z,1736371233.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:33.429Z,1736371233.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527923 2025-01-08T21:20:33.680Z,1736371233.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:33.682Z,1736371233.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779781 2025-01-08T21:20:33.710Z,1736371233.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:33.723Z,1736371233.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:33.726Z,1736371233.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.732513 m, bearing: 140.149756 deg, approach rate: 0.060567 m/s, LOS rate: -0.125942 deg/s, cmd heading: 233.639243 deg, new cmd heading: 233.485612 deg. 2025-01-08T21:20:33.727Z,1736371233.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075093 target range: 429.100006 and range: 421.90 m. 2025-01-08T21:20:33.932Z,1736371233.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:33.934Z,1736371233.934 [DAT](INFO): DAT read: Range 10 to 50 : 420.1 m (Round-trip 560.2 ms) speed 0.7 m/s 2025-01-08T21:20:33.934Z,1736371233.934 [DAT](INFO): DAT read: user:1679> 2025-01-08T21:20:33.935Z,1736371233.935 [DAT](INFO): DAT read: Tx time:21:20:33.1208 2025-01-08T21:20:33.936Z,1736371233.936 [DAT](INFO): Ping request sent. 2025-01-08T21:20:33.936Z,1736371233.936 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:33.936Z,1736371233.936 [DAT](INFO): DAT read: TxSync time:21:20:33.1200 2025-01-08T21:20:33.937Z,1736371233.937 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:20:33.937Z,1736371233.937 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:33.938Z,1736371233.938 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:34.121Z,1736371234.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:34.134Z,1736371234.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 420.100006 m, deltaT: 4.283574 s, deltaX: -1.799988 m, approachRate: -0.420207 m/s, rangeRepo size: 4 2025-01-08T21:20:34.135Z,1736371234.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:34.138Z,1736371234.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.749512 m, bearing: 140.098147 deg, approach rate: 0.041655 m/s, LOS rate: -0.126462 deg/s, cmd heading: 233.485618 deg, new cmd heading: 233.330801 deg. 2025-01-08T21:20:34.139Z,1736371234.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.072391 target range: 429.100006 and range: 420.10 m. 2025-01-08T21:20:34.185Z,1736371234.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:34.437Z,1736371234.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:34.515Z,1736371234.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:34.522Z,1736371234.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:34.524Z,1736371234.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:34.527Z,1736371234.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.764374 m, bearing: 140.048641 deg, approach rate: 0.037804 m/s, LOS rate: -0.125919 deg/s, cmd heading: 233.330791 deg, new cmd heading: 233.182281 deg. 2025-01-08T21:20:34.529Z,1736371234.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.069798 target range: 429.100006 and range: 420.10 m. 2025-01-08T21:20:34.688Z,1736371234.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:34.688Z,1736371234.688 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:34.688Z,1736371234.688 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:34.689Z,1736371234.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:34.940Z,1736371234.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:34.940Z,1736371234.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004606 2025-01-08T21:20:34.961Z,1736371234.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:34.994Z,1736371234.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:35.002Z,1736371235.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.778259 m, bearing: 139.991193 deg, approach rate: 0.029544 m/s, LOS rate: -0.122226 deg/s, cmd heading: 233.182276 deg, new cmd heading: 233.009940 deg. 2025-01-08T21:20:35.003Z,1736371235.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.066791 target range: 429.100006 and range: 420.10 m. 2025-01-08T21:20:35.192Z,1736371235.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:35.192Z,1736371235.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256538 2025-01-08T21:20:35.314Z,1736371235.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:35.326Z,1736371235.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:35.332Z,1736371235.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.787018 m, bearing: 139.945598 deg, approach rate: 0.026436 m/s, LOS rate: -0.137613 deg/s, cmd heading: 233.009936 deg, new cmd heading: 232.873158 deg. 2025-01-08T21:20:35.335Z,1736371235.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.064404 target range: 429.100006 and range: 420.10 m. 2025-01-08T21:20:35.444Z,1736371235.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:35.445Z,1736371235.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508656 2025-01-08T21:20:35.696Z,1736371235.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:35.696Z,1736371235.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760691 2025-01-08T21:20:35.730Z,1736371235.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:35.739Z,1736371235.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:35.742Z,1736371235.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.796967 m, bearing: 139.891896 deg, approach rate: 0.024057 m/s, LOS rate: -0.129853 deg/s, cmd heading: 232.873169 deg, new cmd heading: 232.712069 deg. 2025-01-08T21:20:35.743Z,1736371235.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.061592 target range: 429.100006 and range: 420.10 m. 2025-01-08T21:20:35.948Z,1736371235.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:35.949Z,1736371235.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012797 2025-01-08T21:20:36.141Z,1736371236.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:36.151Z,1736371236.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:36.153Z,1736371236.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.803741 m, bearing: 139.838199 deg, approach rate: 0.016460 m/s, LOS rate: -0.130454 deg/s, cmd heading: 232.712058 deg, new cmd heading: 232.550972 deg. 2025-01-08T21:20:36.154Z,1736371236.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.058780 target range: 429.100006 and range: 420.10 m. 2025-01-08T21:20:36.200Z,1736371236.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:36.201Z,1736371236.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265579 2025-01-08T21:20:36.452Z,1736371236.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:36.452Z,1736371236.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516594 2025-01-08T21:20:36.525Z,1736371236.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:36.552Z,1736371236.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:36.554Z,1736371236.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:36.557Z,1736371236.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.809631 m, bearing: 139.787986 deg, approach rate: 0.014600 m/s, LOS rate: -0.124472 deg/s, cmd heading: 232.550975 deg, new cmd heading: 232.400337 deg. 2025-01-08T21:20:36.558Z,1736371236.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.056151 target range: 429.100006 and range: 420.10 m. 2025-01-08T21:20:36.704Z,1736371236.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:36.704Z,1736371236.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768547 2025-01-08T21:20:36.956Z,1736371236.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:36.957Z,1736371236.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020877 2025-01-08T21:20:36.986Z,1736371236.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:36.995Z,1736371236.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:37.002Z,1736371237.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.821838 m, bearing: 139.727184 deg, approach rate: 0.027720 m/s, LOS rate: -0.138062 deg/s, cmd heading: 232.400328 deg, new cmd heading: 232.217932 deg. 2025-01-08T21:20:37.003Z,1736371237.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.052968 target range: 429.100006 and range: 420.10 m. 2025-01-08T21:20:37.210Z,1736371237.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:37.211Z,1736371237.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274920 2025-01-08T21:20:37.332Z,1736371237.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:37.340Z,1736371237.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:37.343Z,1736371237.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.830475 m, bearing: 139.681528 deg, approach rate: 0.024980 m/s, LOS rate: -0.132051 deg/s, cmd heading: 232.217935 deg, new cmd heading: 232.080971 deg. 2025-01-08T21:20:37.344Z,1736371237.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.050577 target range: 429.100006 and range: 420.10 m. 2025-01-08T21:20:37.460Z,1736371237.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:37.461Z,1736371237.461 [DAT](INFO): DAT read: Rx Time:21:20:36.0691 2025-01-08T21:20:37.461Z,1736371237.461 [DAT](INFO): Rx dataTimestamp_ set to:1736371237.460779 2025-01-08T21:20:37.462Z,1736371237.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526486 2025-01-08T21:20:37.713Z,1736371237.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:37.716Z,1736371237.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779942 2025-01-08T21:20:37.861Z,1736371237.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:37.939Z,1736371237.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.10 m. 2025-01-08T21:20:37.950Z,1736371237.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.100006 m, nav range: 282.842926 m, bearing: 139.611720 deg, approach rate: 0.020797 m/s, LOS rate: -0.116593 deg/s, cmd heading: 232.080976 deg, new cmd heading: 231.871562 deg. 2025-01-08T21:20:37.951Z,1736371237.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.046922 target range: 429.100006 and range: 420.10 m. 2025-01-08T21:20:37.964Z,1736371237.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:37.975Z,1736371237.975 [DAT](INFO): DAT read: 21:20:36.0691 LVL= 21744, 32753, 28066, 32755, AGC= 70, IDX= 273,-0.06, 2.913, 1.408, 2.096, 2.550, PHS= 0.451,-1.095,-0.456, RAW= 114.3, 16.1, CAL= 121.6, 13.5, ROT= 28.4, -13.5 2025-01-08T21:20:37.976Z,1736371237.976 [DAT](INFO): got valid direction response: 21:20:36.0691 LVL= 21744, 32753, 28066, 32755, AGC= 70, IDX= 273,-0.06, 2.913, 1.408, 2.096, 2.550, PHS= 0.451,-1.095,-0.456, RAW= 114.3, 16.1, CAL= 121.6, 13.5, ROT= 28.4, -13.5 2025-01-08T21:20:37.977Z,1736371237.977 [DAT](INFO): DAT read: Bearing 28.4, -13.5 (Local) 2025-01-08T21:20:37.977Z,1736371237.977 [DAT](INFO): Local bearing/azimuth received: Bearing 28.4, -13.5 (Local) 2025-01-08T21:20:37.980Z,1736371237.980 [DAT](INFO): DAT read: Range 10 to 50 : 408.0 m (Round-trip 544.1 ms) speed 0.3 m/s 2025-01-08T21:20:37.981Z,1736371237.981 [DAT](INFO): DAT read: user:1680> 2025-01-08T21:20:37.982Z,1736371237.982 [DAT](INFO): DAT read: Tx time:21:20:37.1708 2025-01-08T21:20:37.982Z,1736371237.982 [DAT](INFO): Ping request sent. 2025-01-08T21:20:37.982Z,1736371237.982 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:37.983Z,1736371237.983 [DAT](INFO): DAT read: TxSync time:21:20:37.1701 2025-01-08T21:20:37.992Z,1736371237.992 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:20:37.993Z,1736371237.993 [DAT](INFO): direction in FSK: [-0.413208,-0.282880,0.865585] 2025-01-08T21:20:37.993Z,1736371237.993 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:37.993Z,1736371237.993 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:38.005Z,1736371238.005 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:38.005Z,1736371238.005 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:38.216Z,1736371238.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:38.325Z,1736371238.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:38.361Z,1736371238.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 408.000000 m, deltaT: 4.031943 s, deltaX: -12.100006 m, approachRate: -3.001036 m/s, rangeRepo size: 4 2025-01-08T21:20:38.363Z,1736371238.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 408.000000 m, bearing: 92.636150 deg, lat: 36.902997 deg, lon: -122.112092 deg, deltaT: 20.413929 s, deltaX: -21.100006 m, approachRate: -1.033608 m/s, posRepo size: 4 2025-01-08T21:20:38.373Z,1736371238.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T21:20:38.404Z,1736371238.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 285.080017 m, bearing: 128.165527 deg, approach rate: 0.000000 m/s, LOS rate: -0.116593 deg/s, cmd heading: 231.871562 deg, new cmd heading: 231.724211 deg. 2025-01-08T21:20:38.405Z,1736371238.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.044351 target range: 408.000000 and range: 408.00 m. 2025-01-08T21:20:38.468Z,1736371238.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:38.717Z,1736371238.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:38.720Z,1736371238.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:38.725Z,1736371238.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:38.727Z,1736371238.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T21:20:38.731Z,1736371238.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 285.138000 m, bearing: 128.114814 deg, approach rate: 0.158179 m/s, LOS rate: -0.138317 deg/s, cmd heading: 231.724222 deg, new cmd heading: 231.572114 deg. 2025-01-08T21:20:38.752Z,1736371238.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.041696 target range: 408.000000 and range: 408.00 m. 2025-01-08T21:20:38.974Z,1736371238.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:38.974Z,1736371238.974 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:38.975Z,1736371238.975 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:38.975Z,1736371238.975 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:39.220Z,1736371239.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:39.224Z,1736371239.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:39.225Z,1736371239.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242444 2025-01-08T21:20:39.230Z,1736371239.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T21:20:39.257Z,1736371239.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 285.209686 m, bearing: 128.050960 deg, approach rate: 0.142297 m/s, LOS rate: -0.126719 deg/s, cmd heading: 231.572127 deg, new cmd heading: 231.380614 deg. 2025-01-08T21:20:39.258Z,1736371239.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.038353 target range: 408.000000 and range: 408.00 m. 2025-01-08T21:20:39.476Z,1736371239.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:39.476Z,1736371239.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494219 2025-01-08T21:20:39.590Z,1736371239.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:39.600Z,1736371239.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T21:20:39.603Z,1736371239.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 285.262024 m, bearing: 128.003909 deg, approach rate: 0.141456 m/s, LOS rate: -0.127145 deg/s, cmd heading: 231.380608 deg, new cmd heading: 231.239481 deg. 2025-01-08T21:20:39.627Z,1736371239.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.035890 target range: 408.000000 and range: 408.00 m. 2025-01-08T21:20:39.728Z,1736371239.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:39.729Z,1736371239.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747084 2025-01-08T21:20:39.980Z,1736371239.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:39.981Z,1736371239.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999234 2025-01-08T21:20:40.050Z,1736371240.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:40.059Z,1736371240.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T21:20:40.093Z,1736371240.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 285.327423 m, bearing: 127.946374 deg, approach rate: 0.142668 m/s, LOS rate: -0.125484 deg/s, cmd heading: 231.239469 deg, new cmd heading: 231.066903 deg. 2025-01-08T21:20:40.094Z,1736371240.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.032878 target range: 408.000000 and range: 408.00 m. 2025-01-08T21:20:40.232Z,1736371240.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:40.232Z,1736371240.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250367 2025-01-08T21:20:40.401Z,1736371240.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:40.421Z,1736371240.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T21:20:40.424Z,1736371240.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 285.376740 m, bearing: 127.901760 deg, approach rate: 0.136255 m/s, LOS rate: -0.123239 deg/s, cmd heading: 231.066912 deg, new cmd heading: 230.933095 deg. 2025-01-08T21:20:40.424Z,1736371240.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.030543 target range: 408.000000 and range: 408.00 m. 2025-01-08T21:20:40.484Z,1736371240.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:40.485Z,1736371240.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502668 2025-01-08T21:20:40.736Z,1736371240.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:40.736Z,1736371240.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754348 2025-01-08T21:20:40.811Z,1736371240.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:40.818Z,1736371240.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:40.821Z,1736371240.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T21:20:40.832Z,1736371240.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 285.433228 m, bearing: 127.850101 deg, approach rate: 0.141214 m/s, LOS rate: -0.129118 deg/s, cmd heading: 230.933094 deg, new cmd heading: 230.778147 deg. 2025-01-08T21:20:40.833Z,1736371240.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.027839 target range: 408.000000 and range: 408.00 m. 2025-01-08T21:20:40.990Z,1736371240.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:40.992Z,1736371240.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009012 2025-01-08T21:20:41.233Z,1736371241.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:41.240Z,1736371241.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:41.241Z,1736371241.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258519 2025-01-08T21:20:41.244Z,1736371241.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T21:20:41.250Z,1736371241.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 285.481934 m, bearing: 127.798191 deg, approach rate: 0.115111 m/s, LOS rate: -0.122661 deg/s, cmd heading: 230.778158 deg, new cmd heading: 230.622457 deg. 2025-01-08T21:20:41.251Z,1736371241.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.025121 target range: 408.000000 and range: 408.00 m. 2025-01-08T21:20:41.492Z,1736371241.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:41.492Z,1736371241.492 [DAT](INFO): DAT read: Rx Time:21:20:40.1165 2025-01-08T21:20:41.493Z,1736371241.493 [DAT](INFO): Rx dataTimestamp_ set to:1736371241.492667 2025-01-08T21:20:41.493Z,1736371241.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511396 2025-01-08T21:20:41.628Z,1736371241.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:41.656Z,1736371241.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m. 2025-01-08T21:20:41.664Z,1736371241.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.000000 m, nav range: 285.526825 m, bearing: 127.749737 deg, approach rate: 0.111382 m/s, LOS rate: -0.120202 deg/s, cmd heading: 230.622457 deg, new cmd heading: 230.477119 deg. 2025-01-08T21:20:41.666Z,1736371241.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.022584 target range: 408.000000 and range: 408.00 m. 2025-01-08T21:20:41.745Z,1736371241.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:41.746Z,1736371241.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763711 2025-01-08T21:20:41.996Z,1736371241.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:42.003Z,1736371242.003 [DAT](INFO): DAT read: 21:20:40.1165 LVL= 29872, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.12, 0.801,-0.714,-0.080, 0.353, PHS= 0.535,-1.020,-0.437, RAW= 111.8, 13.5, CAL= 120.2, 11.0, ROT= 29.8, -11.0 2025-01-08T21:20:42.009Z,1736371242.009 [DAT](INFO): got valid direction response: 21:20:40.1165 LVL= 29872, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.12, 0.801,-0.714,-0.080, 0.353, PHS= 0.535,-1.020,-0.437, RAW= 111.8, 13.5, CAL= 120.2, 11.0, ROT= 29.8, -11.0 2025-01-08T21:20:42.010Z,1736371242.010 [DAT](INFO): DAT read: Bearing 29.8, -11.0 (Local) 2025-01-08T21:20:42.010Z,1736371242.010 [DAT](INFO): Local bearing/azimuth received: Bearing 29.8, -11.0 (Local) 2025-01-08T21:20:42.012Z,1736371242.012 [DAT](INFO): DAT read: Range 10 to 50 : 406.1 m (Round-trip 541.5 ms) speed 0.4 m/s 2025-01-08T21:20:42.013Z,1736371242.013 [DAT](INFO): DAT read: user:1681> 2025-01-08T21:20:42.014Z,1736371242.014 [DAT](INFO): DAT read: Tx time:21:20:41.2208 2025-01-08T21:20:42.014Z,1736371242.014 [DAT](INFO): Ping request sent. 2025-01-08T21:20:42.014Z,1736371242.014 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:42.023Z,1736371242.023 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:20:42.024Z,1736371242.024 [DAT](INFO): direction in FSK: [-0.364708,-0.249192,0.897158] 2025-01-08T21:20:42.024Z,1736371242.024 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:42.025Z,1736371242.025 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:42.056Z,1736371242.056 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:42.056Z,1736371242.056 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:42.145Z,1736371242.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:42.185Z,1736371242.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 406.100006 m, deltaT: 4.032274 s, deltaX: -1.899994 m, approachRate: -0.471197 m/s, rangeRepo size: 4 2025-01-08T21:20:42.186Z,1736371242.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 406.100006 m, bearing: 91.472630 deg, lat: 36.902997 deg, lon: -122.112218 deg, deltaT: 4.032274 s, deltaX: -1.899994 m, approachRate: -0.471197 m/s, posRepo size: 4 2025-01-08T21:20:42.196Z,1736371242.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:42.198Z,1736371242.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 276.794861 m, bearing: 129.105840 deg, approach rate: 0.000000 m/s, LOS rate: -0.120202 deg/s, cmd heading: 230.477111 deg, new cmd heading: 230.285087 deg. 2025-01-08T21:20:42.204Z,1736371242.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.019233 target range: 406.100006 and range: 406.10 m. 2025-01-08T21:20:42.249Z,1736371242.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:42.251Z,1736371242.251 [DAT](INFO): DAT read: TxSync time:21:20:41.2201 2025-01-08T21:20:42.498Z,1736371242.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:42.500Z,1736371242.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:42.524Z,1736371242.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:42.539Z,1736371242.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 276.824005 m, bearing: 129.061842 deg, approach rate: 0.084472 m/s, LOS rate: -0.127511 deg/s, cmd heading: 230.285073 deg, new cmd heading: 230.153093 deg. 2025-01-08T21:20:42.540Z,1736371242.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.016929 target range: 406.100006 and range: 406.10 m. 2025-01-08T21:20:42.752Z,1736371242.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:42.904Z,1736371242.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:42.913Z,1736371242.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:42.915Z,1736371242.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:42.918Z,1736371242.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 276.856506 m, bearing: 129.011331 deg, approach rate: 0.083271 m/s, LOS rate: -0.129400 deg/s, cmd heading: 230.153087 deg, new cmd heading: 230.001571 deg. 2025-01-08T21:20:42.919Z,1736371242.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.014285 target range: 406.100006 and range: 406.10 m. 2025-01-08T21:20:43.006Z,1736371243.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:43.008Z,1736371243.008 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:43.009Z,1736371243.009 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:43.009Z,1736371243.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:43.256Z,1736371243.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:43.256Z,1736371243.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242081 2025-01-08T21:20:43.349Z,1736371243.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:43.372Z,1736371243.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:43.409Z,1736371243.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 276.886658 m, bearing: 128.956549 deg, approach rate: 0.066157 m/s, LOS rate: -0.120187 deg/s, cmd heading: 230.001566 deg, new cmd heading: 229.837239 deg. 2025-01-08T21:20:43.410Z,1736371243.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.011416 target range: 406.100006 and range: 406.10 m. 2025-01-08T21:20:43.508Z,1736371243.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:43.509Z,1736371243.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495008 2025-01-08T21:20:43.720Z,1736371243.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:43.729Z,1736371243.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:43.732Z,1736371243.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 276.911713 m, bearing: 128.910607 deg, approach rate: 0.069816 m/s, LOS rate: -0.128006 deg/s, cmd heading: 229.837232 deg, new cmd heading: 229.699418 deg. 2025-01-08T21:20:43.733Z,1736371243.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.009011 target range: 406.100006 and range: 406.10 m. 2025-01-08T21:20:43.760Z,1736371243.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:43.760Z,1736371243.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746198 2025-01-08T21:20:44.013Z,1736371244.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:44.016Z,1736371244.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000784 2025-01-08T21:20:44.135Z,1736371244.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:44.160Z,1736371244.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:44.164Z,1736371244.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 276.943634 m, bearing: 128.859139 deg, approach rate: 0.074118 m/s, LOS rate: -0.119491 deg/s, cmd heading: 229.699426 deg, new cmd heading: 229.545039 deg. 2025-01-08T21:20:44.165Z,1736371244.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.006317 target range: 406.100006 and range: 406.10 m. 2025-01-08T21:20:44.264Z,1736371244.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:44.265Z,1736371244.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250645 2025-01-08T21:20:44.516Z,1736371244.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:44.517Z,1736371244.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502356 2025-01-08T21:20:44.542Z,1736371244.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:44.552Z,1736371244.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:44.555Z,1736371244.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 276.974792 m, bearing: 128.808562 deg, approach rate: 0.079439 m/s, LOS rate: -0.128932 deg/s, cmd heading: 229.545036 deg, new cmd heading: 229.393324 deg. 2025-01-08T21:20:44.556Z,1736371244.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.003669 target range: 406.100006 and range: 406.10 m. 2025-01-08T21:20:44.768Z,1736371244.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:44.769Z,1736371244.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754344 2025-01-08T21:20:44.924Z,1736371244.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:44.932Z,1736371244.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:44.934Z,1736371244.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:44.937Z,1736371244.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.003998 m, bearing: 128.761139 deg, approach rate: 0.076456 m/s, LOS rate: -0.124135 deg/s, cmd heading: 229.393324 deg, new cmd heading: 229.251069 deg. 2025-01-08T21:20:44.938Z,1736371244.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.001186 target range: 406.100006 and range: 406.10 m. 2025-01-08T21:20:45.021Z,1736371245.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:45.026Z,1736371245.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010794 2025-01-08T21:20:45.272Z,1736371245.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:45.272Z,1736371245.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258198 2025-01-08T21:20:45.360Z,1736371245.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:45.400Z,1736371245.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:45.403Z,1736371245.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.037628 m, bearing: 128.706010 deg, approach rate: 0.072968 m/s, LOS rate: -0.119600 deg/s, cmd heading: 229.251065 deg, new cmd heading: 229.085697 deg. 2025-01-08T21:20:45.410Z,1736371245.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.998300 target range: 406.100006 and range: 406.10 m. 2025-01-08T21:20:45.524Z,1736371245.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:45.525Z,1736371245.525 [DAT](INFO): DAT read: Rx Time:21:20:44.1769 2025-01-08T21:20:45.526Z,1736371245.526 [DAT](INFO): Rx dataTimestamp_ set to:1736371245.525488 2025-01-08T21:20:45.527Z,1736371245.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512490 2025-01-08T21:20:45.741Z,1736371245.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:45.750Z,1736371245.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:45.753Z,1736371245.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.066864 m, bearing: 128.657794 deg, approach rate: 0.082439 m/s, LOS rate: -0.135943 deg/s, cmd heading: 229.085692 deg, new cmd heading: 228.941061 deg. 2025-01-08T21:20:45.754Z,1736371245.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.995775 target range: 406.100006 and range: 406.10 m. 2025-01-08T21:20:45.776Z,1736371245.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:45.777Z,1736371245.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762353 2025-01-08T21:20:46.030Z,1736371246.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:46.036Z,1736371246.036 [DAT](INFO): DAT read: Range 10 to 50 : 413.8 m (Round-trip 551.8 ms) speed 0.4 m/s 2025-01-08T21:20:46.039Z,1736371246.039 [DAT](INFO): DAT read: user:1682> 2025-01-08T21:20:46.041Z,1736371246.041 [DAT](INFO): DAT read: Tx time:21:20:45.2709 2025-01-08T21:20:46.042Z,1736371246.042 [DAT](INFO): Ping request sent. 2025-01-08T21:20:46.043Z,1736371246.043 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:46.045Z,1736371246.045 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:20:46.045Z,1736371246.045 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:46.048Z,1736371246.048 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:46.179Z,1736371246.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:46.197Z,1736371246.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 413.799988 m, deltaT: 4.034958 s, deltaX: 7.699982 m, approachRate: 1.908318 m/s, rangeRepo size: 4 2025-01-08T21:20:46.198Z,1736371246.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:46.205Z,1736371246.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.107483 m, bearing: 128.602913 deg, approach rate: 0.090925 m/s, LOS rate: -0.122833 deg/s, cmd heading: 228.941056 deg, new cmd heading: 228.776436 deg. 2025-01-08T21:20:46.206Z,1736371246.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.992902 target range: 406.100006 and range: 413.80 m. 2025-01-08T21:20:46.280Z,1736371246.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:46.282Z,1736371246.282 [DAT](INFO): DAT read: TxSync time:21:20:45.2702 2025-01-08T21:20:46.532Z,1736371246.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:46.555Z,1736371246.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:46.564Z,1736371246.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:46.567Z,1736371246.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.142120 m, bearing: 128.555793 deg, approach rate: 0.094242 m/s, LOS rate: -0.128187 deg/s, cmd heading: 228.776435 deg, new cmd heading: 228.635095 deg. 2025-01-08T21:20:46.580Z,1736371246.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.990435 target range: 406.100006 and range: 413.80 m. 2025-01-08T21:20:46.784Z,1736371246.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:46.956Z,1736371246.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:46.964Z,1736371246.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:46.966Z,1736371246.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:46.969Z,1736371246.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.178802 m, bearing: 128.505499 deg, approach rate: 0.091331 m/s, LOS rate: -0.125205 deg/s, cmd heading: 228.635091 deg, new cmd heading: 228.484229 deg. 2025-01-08T21:20:46.969Z,1736371246.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.987802 target range: 406.100006 and range: 413.80 m. 2025-01-08T21:20:47.037Z,1736371247.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:47.039Z,1736371247.039 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:47.039Z,1736371247.039 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:47.040Z,1736371247.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:47.288Z,1736371247.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:47.288Z,1736371247.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246304 2025-01-08T21:20:47.388Z,1736371247.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:47.397Z,1736371247.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:47.416Z,1736371247.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.224487 m, bearing: 128.449500 deg, approach rate: 0.106048 m/s, LOS rate: -0.129969 deg/s, cmd heading: 228.484226 deg, new cmd heading: 228.316257 deg. 2025-01-08T21:20:47.418Z,1736371247.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.984870 target range: 406.100006 and range: 413.80 m. 2025-01-08T21:20:47.540Z,1736371247.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:47.540Z,1736371247.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498449 2025-01-08T21:20:47.756Z,1736371247.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:47.792Z,1736371247.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:47.792Z,1736371247.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750329 2025-01-08T21:20:47.807Z,1736371247.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:47.810Z,1736371247.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.261688 m, bearing: 128.401846 deg, approach rate: 0.092127 m/s, LOS rate: -0.117998 deg/s, cmd heading: 228.316258 deg, new cmd heading: 228.173316 deg. 2025-01-08T21:20:47.811Z,1736371247.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.982376 target range: 406.100006 and range: 413.80 m. 2025-01-08T21:20:48.046Z,1736371248.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:48.049Z,1736371248.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006359 2025-01-08T21:20:48.192Z,1736371248.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:48.209Z,1736371248.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:48.216Z,1736371248.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.305267 m, bearing: 128.345460 deg, approach rate: 0.106599 m/s, LOS rate: -0.137905 deg/s, cmd heading: 228.173316 deg, new cmd heading: 228.004183 deg. 2025-01-08T21:20:48.217Z,1736371248.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.979424 target range: 406.100006 and range: 413.80 m. 2025-01-08T21:20:48.296Z,1736371248.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:48.297Z,1736371248.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255400 2025-01-08T21:20:48.549Z,1736371248.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:48.550Z,1736371248.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508199 2025-01-08T21:20:48.585Z,1736371248.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:48.593Z,1736371248.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:48.597Z,1736371248.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.343872 m, bearing: 128.294635 deg, approach rate: 0.100475 m/s, LOS rate: -0.132259 deg/s, cmd heading: 228.004186 deg, new cmd heading: 227.851736 deg. 2025-01-08T21:20:48.598Z,1736371248.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.976763 target range: 406.100006 and range: 413.80 m. 2025-01-08T21:20:48.800Z,1736371248.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:48.800Z,1736371248.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758304 2025-01-08T21:20:48.970Z,1736371248.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:48.977Z,1736371248.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:48.980Z,1736371248.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:48.983Z,1736371248.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.381256 m, bearing: 128.244863 deg, approach rate: 0.096574 m/s, LOS rate: -0.128561 deg/s, cmd heading: 227.851737 deg, new cmd heading: 227.702439 deg. 2025-01-08T21:20:48.984Z,1736371248.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.974157 target range: 406.100006 and range: 413.80 m. 2025-01-08T21:20:49.054Z,1736371249.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:49.056Z,1736371249.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013787 2025-01-08T21:20:49.304Z,1736371249.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:49.304Z,1736371249.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262263 2025-01-08T21:20:49.402Z,1736371249.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:49.412Z,1736371249.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:49.415Z,1736371249.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.427399 m, bearing: 128.188678 deg, approach rate: 0.106844 m/s, LOS rate: -0.130075 deg/s, cmd heading: 227.702442 deg, new cmd heading: 227.533917 deg. 2025-01-08T21:20:49.416Z,1736371249.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.971216 target range: 406.100006 and range: 413.80 m. 2025-01-08T21:20:49.556Z,1736371249.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:49.558Z,1736371249.558 [DAT](INFO): DAT read: Rx Time:21:20:48.2242 2025-01-08T21:20:49.560Z,1736371249.560 [DAT](INFO): Rx dataTimestamp_ set to:1736371249.558488 2025-01-08T21:20:49.561Z,1736371249.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518260 2025-01-08T21:20:49.776Z,1736371249.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:49.786Z,1736371249.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.10 m. 2025-01-08T21:20:49.789Z,1736371249.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.100006 m, nav range: 277.467194 m, bearing: 128.139992 deg, approach rate: 0.106568 m/s, LOS rate: -0.130360 deg/s, cmd heading: 227.533914 deg, new cmd heading: 227.387876 deg. 2025-01-08T21:20:49.789Z,1736371249.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.968667 target range: 406.100006 and range: 413.80 m. 2025-01-08T21:20:49.808Z,1736371249.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:49.809Z,1736371249.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766606 2025-01-08T21:20:50.062Z,1736371250.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:50.114Z,1736371250.114 [DAT](INFO): DAT read: 21:20:48.2242 LVL= 31152, 32753, 32754, 32755, AGC= 67, IDX= 282, 0.30, 1.646, 0.045, 0.750, 1.069, PHS= 0.665,-0.977,-0.322, RAW= 113.4, 8.9, CAL= 122.7, 5.8, ROT= 27.3, -5.8 2025-01-08T21:20:50.115Z,1736371250.115 [DAT](INFO): got valid direction response: 21:20:48.2242 LVL= 31152, 32753, 32754, 32755, AGC= 67, IDX= 282, 0.30, 1.646, 0.045, 0.750, 1.069, PHS= 0.665,-0.977,-0.322, RAW= 113.4, 8.9, CAL= 122.7, 5.8, ROT= 27.3, -5.8 2025-01-08T21:20:50.122Z,1736371250.122 [DAT](INFO): DAT read: Bearing 27.3, -5.8 (Local) 2025-01-08T21:20:50.123Z,1736371250.123 [DAT](INFO): Local bearing/azimuth received: Bearing 27.3, -5.8 (Local) 2025-01-08T21:20:50.131Z,1736371250.131 [DAT](INFO): DAT read: Range 10 to 50 : 411.8 m (Round-trip 549.1 ms) speed 0.5 m/s 2025-01-08T21:20:50.148Z,1736371250.148 [DAT](INFO): DAT read: user:1683> 2025-01-08T21:20:50.149Z,1736371250.149 [DAT](INFO): DAT read: Tx time:21:20:49.3209 2025-01-08T21:20:50.150Z,1736371250.150 [DAT](INFO): Ping request sent. 2025-01-08T21:20:50.150Z,1736371250.150 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:50.172Z,1736371250.172 [DAT](INFO): DAT read: TxSync time:21:20:49.3202 2025-01-08T21:20:50.173Z,1736371250.173 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:20:50.174Z,1736371250.174 [DAT](INFO): direction in FSK: [-0.283923,-0.286127,0.915161] 2025-01-08T21:20:50.174Z,1736371250.174 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:50.174Z,1736371250.174 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:50.185Z,1736371250.185 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:50.186Z,1736371250.186 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:50.268Z,1736371250.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:50.313Z,1736371250.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:50.326Z,1736371250.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 411.799988 m, deltaT: 4.031003 s, deltaX: -2.000000 m, approachRate: -0.496154 m/s, rangeRepo size: 4 2025-01-08T21:20:50.344Z,1736371250.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 411.799988 m, bearing: 96.587236 deg, lat: 36.904318 deg, lon: -122.112218 deg, deltaT: 8.065961 s, deltaX: 5.699982 m, approachRate: 0.706671 m/s, posRepo size: 4 2025-01-08T21:20:50.345Z,1736371250.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.80 m. 2025-01-08T21:20:50.352Z,1736371250.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.799988 m, nav range: 219.786682 m, bearing: 96.330274 deg, approach rate: 0.000000 m/s, LOS rate: -0.130360 deg/s, cmd heading: 227.387871 deg, new cmd heading: 227.176887 deg. 2025-01-08T21:20:50.353Z,1736371250.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.964985 target range: 411.799988 and range: 411.80 m. 2025-01-08T21:20:50.564Z,1736371250.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:50.638Z,1736371250.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:50.664Z,1736371250.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.80 m. 2025-01-08T21:20:50.673Z,1736371250.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.799988 m, nav range: 219.934021 m, bearing: 96.284303 deg, approach rate: 0.441727 m/s, LOS rate: -0.137729 deg/s, cmd heading: 227.176887 deg, new cmd heading: 227.039067 deg. 2025-01-08T21:20:50.674Z,1736371250.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.962579 target range: 411.799988 and range: 411.80 m. 2025-01-08T21:20:50.816Z,1736371250.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:51.021Z,1736371251.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:51.028Z,1736371251.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:51.031Z,1736371251.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.80 m. 2025-01-08T21:20:51.033Z,1736371251.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.799988 m, nav range: 220.086060 m, bearing: 96.236545 deg, approach rate: 0.408980 m/s, LOS rate: -0.128378 deg/s, cmd heading: 227.039067 deg, new cmd heading: 226.895894 deg. 2025-01-08T21:20:51.034Z,1736371251.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.960080 target range: 411.799988 and range: 411.80 m. 2025-01-08T21:20:51.068Z,1736371251.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:51.068Z,1736371251.068 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:51.069Z,1736371251.069 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:51.069Z,1736371251.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:51.320Z,1736371251.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:51.321Z,1736371251.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.170352 2025-01-08T21:20:51.464Z,1736371251.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:51.482Z,1736371251.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.80 m. 2025-01-08T21:20:51.496Z,1736371251.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.799988 m, nav range: 220.256165 m, bearing: 96.182205 deg, approach rate: 0.377252 m/s, LOS rate: -0.120421 deg/s, cmd heading: 226.895893 deg, new cmd heading: 226.732997 deg. 2025-01-08T21:20:51.499Z,1736371251.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.957237 target range: 411.799988 and range: 411.80 m. 2025-01-08T21:20:51.572Z,1736371251.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:51.573Z,1736371251.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.423274 2025-01-08T21:20:51.824Z,1736371251.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:51.824Z,1736371251.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.674293 2025-01-08T21:20:51.832Z,1736371251.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:51.869Z,1736371251.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.80 m. 2025-01-08T21:20:51.876Z,1736371251.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.799988 m, nav range: 220.398087 m, bearing: 96.137108 deg, approach rate: 0.366177 m/s, LOS rate: -0.116280 deg/s, cmd heading: 226.732993 deg, new cmd heading: 226.597790 deg. 2025-01-08T21:20:51.877Z,1736371251.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954878 target range: 411.799988 and range: 411.80 m. 2025-01-08T21:20:52.077Z,1736371252.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:52.080Z,1736371252.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.929398 2025-01-08T21:20:52.267Z,1736371252.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:52.275Z,1736371252.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.80 m. 2025-01-08T21:20:52.279Z,1736371252.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.799988 m, nav range: 220.558014 m, bearing: 96.083149 deg, approach rate: 0.393947 m/s, LOS rate: -0.132821 deg/s, cmd heading: 226.597796 deg, new cmd heading: 226.436036 deg. 2025-01-08T21:20:52.280Z,1736371252.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.952054 target range: 411.799988 and range: 411.80 m. 2025-01-08T21:20:52.329Z,1736371252.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:52.330Z,1736371252.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.179557 2025-01-08T21:20:52.580Z,1736371252.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:52.581Z,1736371252.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430755 2025-01-08T21:20:52.652Z,1736371252.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:52.666Z,1736371252.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.80 m. 2025-01-08T21:20:52.680Z,1736371252.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.799988 m, nav range: 220.700470 m, bearing: 96.035373 deg, approach rate: 0.364289 m/s, LOS rate: -0.122095 deg/s, cmd heading: 226.436030 deg, new cmd heading: 226.292794 deg. 2025-01-08T21:20:52.681Z,1736371252.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.949554 target range: 411.799988 and range: 411.80 m. 2025-01-08T21:20:52.832Z,1736371252.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:52.833Z,1736371252.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682388 2025-01-08T21:20:53.041Z,1736371253.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:53.048Z,1736371253.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:53.050Z,1736371253.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.80 m. 2025-01-08T21:20:53.053Z,1736371253.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.799988 m, nav range: 220.843811 m, bearing: 95.987174 deg, approach rate: 0.372891 m/s, LOS rate: -0.125304 deg/s, cmd heading: 226.292801 deg, new cmd heading: 226.148299 deg. 2025-01-08T21:20:53.054Z,1736371253.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.947032 target range: 411.799988 and range: 411.80 m. 2025-01-08T21:20:53.085Z,1736371253.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:53.088Z,1736371253.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.936965 2025-01-08T21:20:53.336Z,1736371253.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:53.336Z,1736371253.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.186213 2025-01-08T21:20:53.469Z,1736371253.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:53.494Z,1736371253.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.80 m. 2025-01-08T21:20:53.501Z,1736371253.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.799988 m, nav range: 221.000641 m, bearing: 95.931676 deg, approach rate: 0.353734 m/s, LOS rate: -0.125088 deg/s, cmd heading: 226.148301 deg, new cmd heading: 225.981927 deg. 2025-01-08T21:20:53.502Z,1736371253.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.944129 target range: 411.799988 and range: 411.80 m. 2025-01-08T21:20:53.589Z,1736371253.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:53.591Z,1736371253.591 [DAT](INFO): DAT read: Rx Time:21:20:52.2715 2025-01-08T21:20:53.592Z,1736371253.592 [DAT](INFO): Rx dataTimestamp_ set to:1736371253.591332 2025-01-08T21:20:53.593Z,1736371253.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443052 2025-01-08T21:20:53.840Z,1736371253.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:53.840Z,1736371253.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.690020 2025-01-08T21:20:53.868Z,1736371253.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:53.877Z,1736371253.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.80 m. 2025-01-08T21:20:53.881Z,1736371253.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.799988 m, nav range: 221.146088 m, bearing: 95.879923 deg, approach rate: 0.379178 m/s, LOS rate: -0.134832 deg/s, cmd heading: 225.981931 deg, new cmd heading: 225.826773 deg. 2025-01-08T21:20:53.882Z,1736371253.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.941421 target range: 411.799988 and range: 411.80 m. 2025-01-08T21:20:54.093Z,1736371254.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:54.100Z,1736371254.100 [DAT](INFO): DAT read: 21:20:52.2715 LVL= 26832, 32753, 32754, 32755, AGC= 68, IDX= 276,-0.17,-2.785, 1.789, 2.487, 2.969, PHS= 0.618,-1.133,-0.485, RAW= 111.5, 13.0, CAL= 120.0, 10.5, ROT= 30.0, -10.5 2025-01-08T21:20:54.101Z,1736371254.101 [DAT](INFO): got valid direction response: 21:20:52.2715 LVL= 26832, 32753, 32754, 32755, AGC= 68, IDX= 276,-0.17,-2.785, 1.789, 2.487, 2.969, PHS= 0.618,-1.133,-0.485, RAW= 111.5, 13.0, CAL= 120.0, 10.5, ROT= 30.0, -10.5 2025-01-08T21:20:54.104Z,1736371254.104 [DAT](INFO): DAT read: Bearing 30.0, -10.5 (Local) 2025-01-08T21:20:54.105Z,1736371254.105 [DAT](INFO): Local bearing/azimuth received: Bearing 30.0, -10.5 (Local) 2025-01-08T21:20:54.114Z,1736371254.114 [DAT](INFO): DAT read: Range 10 to 50 : 409.8 m (Round-trip 546.4 ms) speed 0.4 m/s 2025-01-08T21:20:54.117Z,1736371254.117 [DAT](INFO): DAT read: user:1684> 2025-01-08T21:20:54.136Z,1736371254.136 [DAT](INFO): DAT read: Tx time:21:20:53.3709 2025-01-08T21:20:54.138Z,1736371254.138 [DAT](INFO): Ping request sent. 2025-01-08T21:20:54.138Z,1736371254.138 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:54.139Z,1736371254.139 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:20:54.175Z,1736371254.175 [DAT](INFO): direction in FSK: [-0.355741,-0.245182,0.901850] 2025-01-08T21:20:54.176Z,1736371254.176 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:54.176Z,1736371254.176 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:54.192Z,1736371254.192 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:54.192Z,1736371254.192 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:54.344Z,1736371254.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:54.345Z,1736371254.345 [DAT](INFO): DAT read: TxSync time:21:20:53.3702 2025-01-08T21:20:54.380Z,1736371254.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:54.406Z,1736371254.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 409.799988 m, deltaT: 4.031085 s, deltaX: -2.000000 m, approachRate: -0.496144 m/s, rangeRepo size: 4 2025-01-08T21:20:54.415Z,1736371254.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 409.799988 m, bearing: 86.665886 deg, lat: 36.904483 deg, lon: -122.112218 deg, deltaT: 4.031085 s, deltaX: -2.000000 m, approachRate: -0.496144 m/s, posRepo size: 4 2025-01-08T21:20:54.420Z,1736371254.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T21:20:54.422Z,1736371254.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 220.227783 m, bearing: 91.056393 deg, approach rate: 0.000000 m/s, LOS rate: -0.134832 deg/s, cmd heading: 225.826777 deg, new cmd heading: 225.613039 deg. 2025-01-08T21:20:54.432Z,1736371254.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.937690 target range: 409.799988 and range: 409.80 m. 2025-01-08T21:20:54.596Z,1736371254.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:54.710Z,1736371254.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:54.743Z,1736371254.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T21:20:54.747Z,1736371254.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 220.357773 m, bearing: 91.015662 deg, approach rate: 0.390159 m/s, LOS rate: -0.122183 deg/s, cmd heading: 225.613033 deg, new cmd heading: 225.490909 deg. 2025-01-08T21:20:54.756Z,1736371254.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.935559 target range: 409.799988 and range: 409.80 m. 2025-01-08T21:20:54.848Z,1736371254.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:55.100Z,1736371255.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:55.110Z,1736371255.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:55.160Z,1736371255.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:55.178Z,1736371255.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T21:20:55.205Z,1736371255.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 220.514740 m, bearing: 90.966024 deg, approach rate: 0.362929 m/s, LOS rate: -0.114686 deg/s, cmd heading: 225.490909 deg, new cmd heading: 225.342103 deg. 2025-01-08T21:20:55.206Z,1736371255.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.932962 target range: 409.799988 and range: 409.80 m. 2025-01-08T21:20:55.354Z,1736371255.354 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:55.356Z,1736371255.356 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:55.356Z,1736371255.356 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:55.357Z,1736371255.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:55.550Z,1736371255.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:55.565Z,1736371255.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T21:20:55.569Z,1736371255.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 220.691177 m, bearing: 90.910610 deg, approach rate: 0.448804 m/s, LOS rate: -0.140845 deg/s, cmd heading: 225.342107 deg, new cmd heading: 225.175997 deg. 2025-01-08T21:20:55.570Z,1736371255.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.930063 target range: 409.799988 and range: 409.80 m. 2025-01-08T21:20:55.604Z,1736371255.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:55.604Z,1736371255.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467012 2025-01-08T21:20:55.856Z,1736371255.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:55.856Z,1736371255.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718909 2025-01-08T21:20:55.916Z,1736371255.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:55.941Z,1736371255.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T21:20:55.948Z,1736371255.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 220.838104 m, bearing: 90.864309 deg, approach rate: 0.390447 m/s, LOS rate: -0.122959 deg/s, cmd heading: 225.175996 deg, new cmd heading: 225.037187 deg. 2025-01-08T21:20:55.949Z,1736371255.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.927640 target range: 409.799988 and range: 409.80 m. 2025-01-08T21:20:56.108Z,1736371256.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:56.108Z,1736371256.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970828 2025-01-08T21:20:56.348Z,1736371256.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:56.357Z,1736371256.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T21:20:56.360Z,1736371256.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:56.361Z,1736371256.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223126 2025-01-08T21:20:56.362Z,1736371256.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 221.012695 m, bearing: 90.809618 deg, approach rate: 0.419970 m/s, LOS rate: -0.131453 deg/s, cmd heading: 225.037193 deg, new cmd heading: 224.873250 deg. 2025-01-08T21:20:56.363Z,1736371256.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.924779 target range: 409.799988 and range: 409.80 m. 2025-01-08T21:20:56.612Z,1736371256.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:56.612Z,1736371256.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474950 2025-01-08T21:20:56.723Z,1736371256.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:56.733Z,1736371256.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T21:20:56.756Z,1736371256.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 221.163803 m, bearing: 90.762097 deg, approach rate: 0.401559 m/s, LOS rate: -0.126196 deg/s, cmd heading: 224.873255 deg, new cmd heading: 224.730791 deg. 2025-01-08T21:20:56.757Z,1736371256.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.922292 target range: 409.799988 and range: 409.80 m. 2025-01-08T21:20:56.866Z,1736371256.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:56.866Z,1736371256.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728915 2025-01-08T21:20:57.116Z,1736371257.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:57.116Z,1736371257.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978973 2025-01-08T21:20:57.125Z,1736371257.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:57.134Z,1736371257.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T21:20:57.137Z,1736371257.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 221.325394 m, bearing: 90.711137 deg, approach rate: 0.402926 m/s, LOS rate: -0.126977 deg/s, cmd heading: 224.730791 deg, new cmd heading: 224.578022 deg. 2025-01-08T21:20:57.138Z,1736371257.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919626 target range: 409.799988 and range: 409.80 m. 2025-01-08T21:20:57.368Z,1736371257.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:57.368Z,1736371257.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230916 2025-01-08T21:20:57.570Z,1736371257.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:57.577Z,1736371257.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:57.582Z,1736371257.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T21:20:57.590Z,1736371257.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 221.511322 m, bearing: 90.653637 deg, approach rate: 0.416004 m/s, LOS rate: -0.128545 deg/s, cmd heading: 224.578027 deg, new cmd heading: 224.405672 deg. 2025-01-08T21:20:57.591Z,1736371257.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.916618 target range: 409.799988 and range: 409.80 m. 2025-01-08T21:20:57.620Z,1736371257.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:57.621Z,1736371257.621 [DAT](INFO): DAT read: Rx Time:21:20:56.3196 2025-01-08T21:20:57.621Z,1736371257.621 [DAT](INFO): Rx dataTimestamp_ set to:1736371257.621186 2025-01-08T21:20:57.624Z,1736371257.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486218 2025-01-08T21:20:57.872Z,1736371257.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:57.872Z,1736371257.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734932 2025-01-08T21:20:57.945Z,1736371257.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:57.954Z,1736371257.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.80 m. 2025-01-08T21:20:57.957Z,1736371257.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.799988 m, nav range: 221.667404 m, bearing: 90.605182 deg, approach rate: 0.418399 m/s, LOS rate: -0.129799 deg/s, cmd heading: 224.405674 deg, new cmd heading: 224.260411 deg. 2025-01-08T21:20:57.958Z,1736371257.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.914083 target range: 409.799988 and range: 409.80 m. 2025-01-08T21:20:58.124Z,1736371258.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:58.131Z,1736371258.131 [DAT](INFO): DAT read: 21:20:56.3196 LVL= 29472, 32753, 32754, 32755, AGC= 69, IDX= 419,-0.11,-1.327,-2.715,-2.293,-2.266, PHS= 1.027,-0.402,-0.030, RAW= 104.5, -9.3, CAL= 110.5, -21.1, ROT= 39.5, 21.1 2025-01-08T21:20:58.133Z,1736371258.133 [DAT](INFO): got valid direction response: 21:20:56.3196 LVL= 29472, 32753, 32754, 32755, AGC= 69, IDX= 419,-0.11,-1.327,-2.715,-2.293,-2.266, PHS= 1.027,-0.402,-0.030, RAW= 104.5, -9.3, CAL= 110.5, -21.1, ROT= 39.5, 21.1 2025-01-08T21:20:58.134Z,1736371258.134 [DAT](INFO): DAT read: Bearing 39.5, 21.1 (Local) 2025-01-08T21:20:58.134Z,1736371258.134 [DAT](INFO): Local bearing/azimuth received: Bearing 39.5, 21.1 (Local) 2025-01-08T21:20:58.135Z,1736371258.135 [DAT](INFO): DAT read: Range 10 to 50 : 408.3 m (Round-trip 544.4 ms) speed 0.4 m/s 2025-01-08T21:20:58.136Z,1736371258.136 [DAT](INFO): DAT read: user:1685> 2025-01-08T21:20:58.137Z,1736371258.137 [DAT](INFO): DAT read: Tx time:21:20:57.4210 2025-01-08T21:20:58.137Z,1736371258.137 [DAT](INFO): Ping request sent. 2025-01-08T21:20:58.137Z,1736371258.137 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:20:58.138Z,1736371258.138 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:20:58.138Z,1736371258.138 [DAT](INFO): direction in FSK: [0.074958,-0.155666,0.984962] 2025-01-08T21:20:58.139Z,1736371258.139 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:58.143Z,1736371258.143 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:58.158Z,1736371258.158 [DAT](INFO): publishing transmit ping time 2025-01-08T21:20:58.158Z,1736371258.158 [DAT](INFO): publishing direction and range info 2025-01-08T21:20:58.376Z,1736371258.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:58.377Z,1736371258.377 [DAT](INFO): DAT read: TxSync time:21:20:57.4203 2025-01-08T21:20:58.401Z,1736371258.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:58.433Z,1736371258.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 408.299988 m, deltaT: 4.030760 s, deltaX: -1.500000 m, approachRate: -0.372138 m/s, rangeRepo size: 4 2025-01-08T21:20:58.435Z,1736371258.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 408.299988 m, bearing: 136.921177 deg, lat: 36.904483 deg, lon: -122.112223 deg, deltaT: 4.030760 s, deltaX: -1.500000 m, approachRate: -0.372138 m/s, posRepo size: 4 2025-01-08T21:20:58.444Z,1736371258.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m. 2025-01-08T21:20:58.455Z,1736371258.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.299988 m, nav range: 221.439636 m, bearing: 90.547862 deg, approach rate: 0.000000 m/s, LOS rate: -0.129799 deg/s, cmd heading: 224.260409 deg, new cmd heading: 224.074176 deg. 2025-01-08T21:20:58.456Z,1736371258.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.910832 target range: 408.299988 and range: 408.30 m. 2025-01-08T21:20:58.628Z,1736371258.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:58.743Z,1736371258.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:58.753Z,1736371258.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m. 2025-01-08T21:20:58.755Z,1736371258.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.299988 m, nav range: 221.583267 m, bearing: 90.504024 deg, approach rate: 0.448270 m/s, LOS rate: -0.136727 deg/s, cmd heading: 224.074178 deg, new cmd heading: 223.942751 deg. 2025-01-08T21:20:58.756Z,1736371258.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.908538 target range: 408.299988 and range: 408.30 m. 2025-01-08T21:20:58.880Z,1736371258.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:59.132Z,1736371259.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:59.141Z,1736371259.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:59.159Z,1736371259.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m. 2025-01-08T21:20:59.214Z,1736371259.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.299988 m, nav range: 221.750076 m, bearing: 90.453056 deg, approach rate: 0.411689 m/s, LOS rate: -0.125696 deg/s, cmd heading: 223.942751 deg, new cmd heading: 223.789963 deg. 2025-01-08T21:20:59.254Z,1736371259.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.905872 target range: 408.299988 and range: 408.30 m. 2025-01-08T21:20:59.384Z,1736371259.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:59.579Z,1736371259.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:59.586Z,1736371259.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:20:59.588Z,1736371259.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m. 2025-01-08T21:20:59.591Z,1736371259.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.299988 m, nav range: 221.939468 m, bearing: 90.397710 deg, approach rate: 0.440107 m/s, LOS rate: -0.128504 deg/s, cmd heading: 223.789960 deg, new cmd heading: 223.624061 deg. 2025-01-08T21:20:59.608Z,1736371259.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.902976 target range: 408.299988 and range: 408.30 m. 2025-01-08T21:20:59.636Z,1736371259.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:59.636Z,1736371259.636 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:20:59.636Z,1736371259.636 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:20:59.637Z,1736371259.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:20:59.888Z,1736371259.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:20:59.889Z,1736371259.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751574 2025-01-08T21:20:59.953Z,1736371259.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:20:59.962Z,1736371259.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m. 2025-01-08T21:20:59.989Z,1736371259.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.299988 m, nav range: 222.100739 m, bearing: 90.350222 deg, approach rate: 0.431964 m/s, LOS rate: -0.127103 deg/s, cmd heading: 223.624068 deg, new cmd heading: 223.481710 deg. 2025-01-08T21:20:59.990Z,1736371259.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.900492 target range: 408.299988 and range: 408.30 m. 2025-01-08T21:21:00.140Z,1736371260.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:00.140Z,1736371260.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003034 2025-01-08T21:21:00.372Z,1736371260.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:00.382Z,1736371260.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m. 2025-01-08T21:21:00.392Z,1736371260.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:00.392Z,1736371260.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255133 2025-01-08T21:21:00.409Z,1736371260.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.299988 m, nav range: 222.289886 m, bearing: 90.298233 deg, approach rate: 0.449665 m/s, LOS rate: -0.123490 deg/s, cmd heading: 223.481713 deg, new cmd heading: 223.325878 deg. 2025-01-08T21:21:00.410Z,1736371260.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.897772 target range: 408.299988 and range: 408.30 m. 2025-01-08T21:21:00.644Z,1736371260.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:00.646Z,1736371260.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508223 2025-01-08T21:21:00.779Z,1736371260.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:00.787Z,1736371260.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m. 2025-01-08T21:21:00.790Z,1736371260.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.299988 m, nav range: 222.472153 m, bearing: 90.247704 deg, approach rate: 0.450128 m/s, LOS rate: -0.124684 deg/s, cmd heading: 223.325876 deg, new cmd heading: 223.174414 deg. 2025-01-08T21:21:00.791Z,1736371260.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.895128 target range: 408.299988 and range: 408.30 m. 2025-01-08T21:21:00.896Z,1736371260.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:00.897Z,1736371260.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759856 2025-01-08T21:21:01.148Z,1736371261.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:01.149Z,1736371261.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011266 2025-01-08T21:21:01.163Z,1736371261.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:01.172Z,1736371261.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m. 2025-01-08T21:21:01.174Z,1736371261.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.299988 m, nav range: 222.644211 m, bearing: 90.199700 deg, approach rate: 0.447772 m/s, LOS rate: -0.124832 deg/s, cmd heading: 223.174409 deg, new cmd heading: 223.030509 deg. 2025-01-08T21:21:01.175Z,1736371261.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.892617 target range: 408.299988 and range: 408.30 m. 2025-01-08T21:21:01.401Z,1736371261.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:01.403Z,1736371261.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264946 2025-01-08T21:21:01.614Z,1736371261.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:01.622Z,1736371261.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:01.624Z,1736371261.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m. 2025-01-08T21:21:01.626Z,1736371261.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.299988 m, nav range: 222.851151 m, bearing: 90.145143 deg, approach rate: 0.457649 m/s, LOS rate: -0.120542 deg/s, cmd heading: 223.030511 deg, new cmd heading: 222.866991 deg. 2025-01-08T21:21:01.628Z,1736371261.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.889763 target range: 408.299988 and range: 408.30 m. 2025-01-08T21:21:01.670Z,1736371261.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:01.674Z,1736371261.674 [DAT](INFO): DAT read: Rx Time:21:21:00.3675 2025-01-08T21:21:01.679Z,1736371261.679 [DAT](INFO): Rx dataTimestamp_ set to:1736371261.674698 2025-01-08T21:21:01.680Z,1736371261.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542731 2025-01-08T21:21:01.921Z,1736371261.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:01.922Z,1736371261.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784780 2025-01-08T21:21:01.967Z,1736371261.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:01.986Z,1736371261.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.30 m. 2025-01-08T21:21:01.990Z,1736371261.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.299988 m, nav range: 223.012177 m, bearing: 90.102270 deg, approach rate: 0.443956 m/s, LOS rate: -0.118117 deg/s, cmd heading: 222.866996 deg, new cmd heading: 222.738471 deg. 2025-01-08T21:21:01.991Z,1736371261.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.887520 target range: 408.299988 and range: 408.30 m. 2025-01-08T21:21:02.172Z,1736371262.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:02.179Z,1736371262.179 [DAT](INFO): DAT read: 21:21:00.3675 LVL= 27600, 32753, 32754, 32755, AGC= 69, IDX= 415,-0.33, 3.092, 1.678, 2.060, 2.175, PHS= 1.005,-0.450,-0.118, RAW= 102.6, -6.7, CAL= 109.0, -17.8, ROT= 41.0, 17.8 2025-01-08T21:21:02.180Z,1736371262.180 [DAT](INFO): got valid direction response: 21:21:00.3675 LVL= 27600, 32753, 32754, 32755, AGC= 69, IDX= 415,-0.33, 3.092, 1.678, 2.060, 2.175, PHS= 1.005,-0.450,-0.118, RAW= 102.6, -6.7, CAL= 109.0, -17.8, ROT= 41.0, 17.8 2025-01-08T21:21:02.181Z,1736371262.181 [DAT](INFO): DAT read: Bearing 41.0, 17.8 (Local) 2025-01-08T21:21:02.182Z,1736371262.182 [DAT](INFO): Local bearing/azimuth received: Bearing 41.0, 17.8 (Local) 2025-01-08T21:21:02.183Z,1736371262.183 [DAT](INFO): DAT read: Range 10 to 50 : 406.7 m (Round-trip 542.3 ms) speed 0.6 m/s 2025-01-08T21:21:02.184Z,1736371262.184 [DAT](INFO): DAT read: user:1686> 2025-01-08T21:21:02.185Z,1736371262.185 [DAT](INFO): DAT read: Tx time:21:21:01.4710 2025-01-08T21:21:02.185Z,1736371262.185 [DAT](INFO): Ping request sent. 2025-01-08T21:21:02.185Z,1736371262.185 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:02.185Z,1736371262.185 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:02.186Z,1736371262.186 [DAT](INFO): direction in FSK: [0.025942,-0.119433,0.992503] 2025-01-08T21:21:02.187Z,1736371262.187 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:02.187Z,1736371262.187 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:02.190Z,1736371262.190 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:02.191Z,1736371262.191 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:02.424Z,1736371262.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:02.425Z,1736371262.425 [DAT](INFO): DAT read: TxSync time:21:21:01.4703 2025-01-08T21:21:02.431Z,1736371262.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:02.471Z,1736371262.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 406.700012 m, deltaT: 4.048468 s, deltaX: -1.599976 m, approachRate: -0.395205 m/s, rangeRepo size: 4 2025-01-08T21:21:02.474Z,1736371262.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 406.700012 m, bearing: 122.558613 deg, lat: 36.904318 deg, lon: -122.112314 deg, deltaT: 4.048468 s, deltaX: -1.599976 m, approachRate: -0.395205 m/s, posRepo size: 4 2025-01-08T21:21:02.474Z,1736371262.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:02.482Z,1736371262.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 215.886551 m, bearing: 94.927541 deg, approach rate: 0.000000 m/s, LOS rate: -0.118117 deg/s, cmd heading: 222.738466 deg, new cmd heading: 222.568236 deg. 2025-01-08T21:21:02.483Z,1736371262.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.884548 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:02.676Z,1736371262.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:02.795Z,1736371262.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:02.844Z,1736371262.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:02.859Z,1736371262.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 216.043549 m, bearing: 94.880276 deg, approach rate: 0.421135 m/s, LOS rate: -0.126693 deg/s, cmd heading: 222.568230 deg, new cmd heading: 222.426538 deg. 2025-01-08T21:21:02.860Z,1736371262.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882076 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:02.884Z,1736371262.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:21:02.928Z,1736371262.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:03.180Z,1736371263.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:03.181Z,1736371263.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:03.212Z,1736371263.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:03.215Z,1736371263.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 216.215256 m, bearing: 94.828371 deg, approach rate: 0.463696 m/s, LOS rate: -0.140056 deg/s, cmd heading: 222.426545 deg, new cmd heading: 222.270956 deg. 2025-01-08T21:21:03.216Z,1736371263.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879360 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:03.432Z,1736371263.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:03.618Z,1736371263.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:03.626Z,1736371263.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:03.628Z,1736371263.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:03.634Z,1736371263.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 216.403137 m, bearing: 94.768942 deg, approach rate: 0.449726 m/s, LOS rate: -0.142131 deg/s, cmd heading: 222.270953 deg, new cmd heading: 222.092820 deg. 2025-01-08T21:21:03.635Z,1736371263.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.876251 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:03.685Z,1736371263.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:03.686Z,1736371263.686 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:03.686Z,1736371263.686 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:03.686Z,1736371263.686 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:03.888Z,1736371263.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:21:03.936Z,1736371263.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:03.936Z,1736371263.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751106 2025-01-08T21:21:04.003Z,1736371264.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:04.011Z,1736371264.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:04.014Z,1736371264.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 216.563538 m, bearing: 94.718195 deg, approach rate: 0.418383 m/s, LOS rate: -0.132267 deg/s, cmd heading: 222.092822 deg, new cmd heading: 221.940696 deg. 2025-01-08T21:21:04.015Z,1736371264.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.873596 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:04.188Z,1736371264.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:04.188Z,1736371264.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003222 2025-01-08T21:21:04.440Z,1736371264.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:04.440Z,1736371264.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255210 2025-01-08T21:21:04.502Z,1736371264.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:04.511Z,1736371264.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:04.514Z,1736371264.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 216.771027 m, bearing: 94.650383 deg, approach rate: 0.415140 m/s, LOS rate: -0.135549 deg/s, cmd heading: 221.940700 deg, new cmd heading: 221.737457 deg. 2025-01-08T21:21:04.515Z,1736371264.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.870049 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:04.692Z,1736371264.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:04.693Z,1736371264.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508200 2025-01-08T21:21:04.808Z,1736371264.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:04.845Z,1736371264.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:04.852Z,1736371264.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 216.894974 m, bearing: 94.609739 deg, approach rate: 0.371499 m/s, LOS rate: -0.121749 deg/s, cmd heading: 221.737461 deg, new cmd heading: 221.615599 deg. 2025-01-08T21:21:04.853Z,1736371264.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.867922 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:04.944Z,1736371264.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:04.945Z,1736371264.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759314 2025-01-08T21:21:05.198Z,1736371265.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:05.199Z,1736371265.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014218 2025-01-08T21:21:05.356Z,1736371265.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:05.384Z,1736371265.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:05.387Z,1736371265.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 217.111725 m, bearing: 94.537808 deg, approach rate: 0.401460 m/s, LOS rate: -0.133094 deg/s, cmd heading: 221.615596 deg, new cmd heading: 221.400021 deg. 2025-01-08T21:21:05.391Z,1736371265.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.864159 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:05.449Z,1736371265.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:05.450Z,1736371265.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264616 2025-01-08T21:21:05.700Z,1736371265.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:05.700Z,1736371265.700 [DAT](INFO): DAT read: Rx Time:21:21:04.3878 2025-01-08T21:21:05.701Z,1736371265.701 [DAT](INFO): Rx dataTimestamp_ set to:1736371265.700628 2025-01-08T21:21:05.701Z,1736371265.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516241 2025-01-08T21:21:05.855Z,1736371265.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:05.879Z,1736371265.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:05.885Z,1736371265.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:05.892Z,1736371265.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 217.298233 m, bearing: 94.468733 deg, approach rate: 0.372442 m/s, LOS rate: -0.137819 deg/s, cmd heading: 221.400022 deg, new cmd heading: 221.192975 deg. 2025-01-08T21:21:05.893Z,1736371265.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.860546 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:05.952Z,1736371265.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:05.953Z,1736371265.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767319 2025-01-08T21:21:06.204Z,1736371266.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:06.210Z,1736371266.210 [DAT](INFO): DAT read: 21:21:04.3878 LVL= 25008, 32753, 31586, 32755, AGC= 68, IDX= 142,-0.12, 2.570, 0.763, 1.325, 1.854, PHS= 0.804,-1.043,-0.532, RAW= 105.6, 9.4, CAL= 115.1, 7.6, ROT= 34.9, -7.6 2025-01-08T21:21:06.212Z,1736371266.212 [DAT](INFO): got valid direction response: 21:21:04.3878 LVL= 25008, 32753, 31586, 32755, AGC= 68, IDX= 142,-0.12, 2.570, 0.763, 1.325, 1.854, PHS= 0.804,-1.043,-0.532, RAW= 105.6, 9.4, CAL= 115.1, 7.6, ROT= 34.9, -7.6 2025-01-08T21:21:06.213Z,1736371266.213 [DAT](INFO): DAT read: Bearing 34.9, -7.6 (Local) 2025-01-08T21:21:06.214Z,1736371266.214 [DAT](INFO): Local bearing/azimuth received: Bearing 34.9, -7.6 (Local) 2025-01-08T21:21:06.216Z,1736371266.216 [DAT](INFO): DAT read: Range 10 to 50 : 384.4 m (Round-trip 512.6 ms) speed 0.4 m/s 2025-01-08T21:21:06.216Z,1736371266.216 [DAT](INFO): DAT read: user:1687> 2025-01-08T21:21:06.217Z,1736371266.217 [DAT](INFO): DAT read: Tx time:21:21:05.4710 2025-01-08T21:21:06.217Z,1736371266.217 [DAT](INFO): Ping request sent. 2025-01-08T21:21:06.217Z,1736371266.217 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:06.218Z,1736371266.218 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:06.219Z,1736371266.219 [DAT](INFO): direction in FSK: [-0.283684,-0.151976,0.946798] 2025-01-08T21:21:06.219Z,1736371266.219 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:06.219Z,1736371266.219 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:06.222Z,1736371266.222 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:06.223Z,1736371266.223 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:06.456Z,1736371266.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:06.457Z,1736371266.457 [DAT](INFO): DAT read: TxSync time:21:21:05.4703 2025-01-08T21:21:06.476Z,1736371266.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:06.520Z,1736371266.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 384.399994 m, deltaT: 4.031616 s, deltaX: -22.300018 m, approachRate: -5.531285 m/s, rangeRepo size: 4 2025-01-08T21:21:06.521Z,1736371266.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:06.529Z,1736371266.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 217.503021 m, bearing: 94.382915 deg, approach rate: 0.327467 m/s, LOS rate: -0.137099 deg/s, cmd heading: 221.192972 deg, new cmd heading: 220.935760 deg. 2025-01-08T21:21:06.530Z,1736371266.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.856056 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:06.708Z,1736371266.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:06.809Z,1736371266.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:06.818Z,1736371266.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:06.820Z,1736371266.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 217.612549 m, bearing: 94.336892 deg, approach rate: 0.356426 m/s, LOS rate: -0.149691 deg/s, cmd heading: 220.935760 deg, new cmd heading: 220.797763 deg. 2025-01-08T21:21:06.823Z,1736371266.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.853648 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:06.960Z,1736371266.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:07.212Z,1736371267.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:07.216Z,1736371267.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:07.224Z,1736371267.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:07.226Z,1736371267.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 217.744507 m, bearing: 94.280623 deg, approach rate: 0.324845 m/s, LOS rate: -0.138437 deg/s, cmd heading: 220.797763 deg, new cmd heading: 220.629057 deg. 2025-01-08T21:21:07.228Z,1736371267.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.850703 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:07.464Z,1736371267.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:07.645Z,1736371267.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:07.683Z,1736371267.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:07.686Z,1736371267.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 217.859146 m, bearing: 94.219304 deg, approach rate: 0.252123 m/s, LOS rate: -0.134787 deg/s, cmd heading: 220.629057 deg, new cmd heading: 220.445198 deg. 2025-01-08T21:21:07.687Z,1736371267.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.847495 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:07.716Z,1736371267.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:07.968Z,1736371267.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:08.030Z,1736371268.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:08.037Z,1736371268.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:08.039Z,1736371268.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:08.041Z,1736371268.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 217.959778 m, bearing: 94.165779 deg, approach rate: 0.279435 m/s, LOS rate: -0.148560 deg/s, cmd heading: 220.445202 deg, new cmd heading: 220.284702 deg. 2025-01-08T21:21:08.042Z,1736371268.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844693 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:08.223Z,1736371268.223 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:08.225Z,1736371268.225 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:08.225Z,1736371268.225 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:08.225Z,1736371268.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:08.455Z,1736371268.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:08.472Z,1736371268.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:08.472Z,1736371268.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254877 2025-01-08T21:21:08.485Z,1736371268.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:08.492Z,1736371268.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 218.064957 m, bearing: 94.101302 deg, approach rate: 0.235667 m/s, LOS rate: -0.144398 deg/s, cmd heading: 220.284707 deg, new cmd heading: 220.091371 deg. 2025-01-08T21:21:08.493Z,1736371268.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.841319 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:08.727Z,1736371268.727 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:08.727Z,1736371268.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509915 2025-01-08T21:21:08.838Z,1736371268.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:08.847Z,1736371268.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:08.849Z,1736371268.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 218.158112 m, bearing: 94.044679 deg, approach rate: 0.257539 m/s, LOS rate: -0.156475 deg/s, cmd heading: 220.091371 deg, new cmd heading: 219.921575 deg. 2025-01-08T21:21:08.850Z,1736371268.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838356 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:08.976Z,1736371268.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:08.976Z,1736371268.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758841 2025-01-08T21:21:09.229Z,1736371269.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:09.229Z,1736371269.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011739 2025-01-08T21:21:09.230Z,1736371269.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:09.240Z,1736371269.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:09.242Z,1736371269.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 218.253723 m, bearing: 93.986832 deg, approach rate: 0.243495 m/s, LOS rate: -0.147256 deg/s, cmd heading: 219.921573 deg, new cmd heading: 219.748107 deg. 2025-01-08T21:21:09.243Z,1736371269.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.835328 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:09.480Z,1736371269.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:09.481Z,1736371269.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262967 2025-01-08T21:21:09.669Z,1736371269.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:09.699Z,1736371269.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:09.706Z,1736371269.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 218.363785 m, bearing: 93.922451 deg, approach rate: 0.239665 m/s, LOS rate: -0.140122 deg/s, cmd heading: 219.748113 deg, new cmd heading: 219.555069 deg. 2025-01-08T21:21:09.707Z,1736371269.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.831959 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:09.732Z,1736371269.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:09.733Z,1736371269.733 [DAT](INFO): DAT read: Rx Time:21:21:08.3862 2025-01-08T21:21:09.733Z,1736371269.733 [DAT](INFO): Rx dataTimestamp_ set to:1736371269.732780 2025-01-08T21:21:09.734Z,1736371269.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516061 2025-01-08T21:21:09.984Z,1736371269.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:09.984Z,1736371269.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766787 2025-01-08T21:21:10.045Z,1736371270.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:10.098Z,1736371270.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:10.105Z,1736371270.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.70 m. 2025-01-08T21:21:10.112Z,1736371270.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 406.700012 m, nav range: 218.457901 m, bearing: 93.867506 deg, approach rate: 0.231723 m/s, LOS rate: -0.135220 deg/s, cmd heading: 219.555065 deg, new cmd heading: 219.390302 deg. 2025-01-08T21:21:10.113Z,1736371270.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829083 target range: 406.700012 and range: 406.70 m. 2025-01-08T21:21:10.236Z,1736371270.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:10.242Z,1736371270.242 [DAT](INFO): DAT read: 21:21:08.3862 LVL= 20320, 32753, 27458, 32755, AGC= 65, IDX= 428,-0.12, 2.733, 0.988, 1.476, 1.941, PHS= 0.880,-0.906,-0.468, RAW= 103.6, 6.2, CAL= 113.8, 4.3, ROT= 36.2, -4.3 2025-01-08T21:21:10.244Z,1736371270.244 [DAT](INFO): got valid direction response: 21:21:08.3862 LVL= 20320, 32753, 27458, 32755, AGC= 65, IDX= 428,-0.12, 2.733, 0.988, 1.476, 1.941, PHS= 0.880,-0.906,-0.468, RAW= 103.6, 6.2, CAL= 113.8, 4.3, ROT= 36.2, -4.3 2025-01-08T21:21:10.245Z,1736371270.245 [DAT](INFO): DAT read: Bearing 36.2, -4.3 (Local) 2025-01-08T21:21:10.246Z,1736371270.246 [DAT](INFO): Local bearing/azimuth received: Bearing 36.2, -4.3 (Local) 2025-01-08T21:21:10.247Z,1736371270.247 [DAT](INFO): DAT read: Range 10 to 50 : 383.1 m (Round-trip 510.9 ms) speed 0.2 m/s 2025-01-08T21:21:10.248Z,1736371270.248 [DAT](INFO): DAT read: user:1688> 2025-01-08T21:21:10.249Z,1736371270.249 [DAT](INFO): DAT read: Tx time:21:21:09.4711 2025-01-08T21:21:10.249Z,1736371270.249 [DAT](INFO): Ping request sent. 2025-01-08T21:21:10.249Z,1736371270.249 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:10.249Z,1736371270.249 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:10.250Z,1736371270.250 [DAT](INFO): direction in FSK: [-0.222213,-0.123365,0.967162] 2025-01-08T21:21:10.251Z,1736371270.251 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:10.251Z,1736371270.251 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:10.254Z,1736371270.254 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:10.255Z,1736371270.255 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:10.488Z,1736371270.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:10.489Z,1736371270.489 [DAT](INFO): DAT read: TxSync time:21:21:09.4704 2025-01-08T21:21:10.556Z,1736371270.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:10.594Z,1736371270.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 383.100006 m, deltaT: 8.063479 s, deltaX: -23.600006 m, approachRate: -2.926777 m/s, rangeRepo size: 4 2025-01-08T21:21:10.597Z,1736371270.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 383.100006 m, bearing: 80.352636 deg, lat: 36.904635 deg, lon: -122.113206 deg, deltaT: 8.063479 s, deltaX: -23.600006 m, approachRate: -2.926777 m/s, posRepo size: 4 2025-01-08T21:21:10.598Z,1736371270.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m. 2025-01-08T21:21:10.605Z,1736371270.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.100006 m, nav range: 140.371979 m, bearing: 81.492266 deg, approach rate: 0.000000 m/s, LOS rate: -0.135220 deg/s, cmd heading: 219.390307 deg, new cmd heading: 219.192110 deg. 2025-01-08T21:21:10.606Z,1736371270.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.825624 target range: 383.100006 and range: 383.10 m. 2025-01-08T21:21:10.740Z,1736371270.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:10.887Z,1736371270.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:10.918Z,1736371270.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m. 2025-01-08T21:21:10.936Z,1736371270.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.100006 m, nav range: 140.496826 m, bearing: 81.425092 deg, approach rate: 0.384487 m/s, LOS rate: -0.206690 deg/s, cmd heading: 219.192109 deg, new cmd heading: 218.990766 deg. 2025-01-08T21:21:10.937Z,1736371270.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.822110 target range: 383.100006 and range: 383.10 m. 2025-01-08T21:21:10.992Z,1736371270.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:11.244Z,1736371271.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:11.287Z,1736371271.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:11.297Z,1736371271.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m. 2025-01-08T21:21:11.300Z,1736371271.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.100006 m, nav range: 140.647873 m, bearing: 81.343717 deg, approach rate: 0.398657 m/s, LOS rate: -0.214540 deg/s, cmd heading: 218.990768 deg, new cmd heading: 218.746909 deg. 2025-01-08T21:21:11.301Z,1736371271.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.817854 target range: 383.100006 and range: 383.10 m. 2025-01-08T21:21:11.497Z,1736371271.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:11.716Z,1736371271.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:11.741Z,1736371271.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m. 2025-01-08T21:21:11.748Z,1736371271.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:11.749Z,1736371271.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.100006 m, nav range: 140.825012 m, bearing: 81.262251 deg, approach rate: 0.399157 m/s, LOS rate: -0.183340 deg/s, cmd heading: 218.746903 deg, new cmd heading: 218.502815 deg. 2025-01-08T21:21:11.750Z,1736371271.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.813594 target range: 383.100006 and range: 383.10 m. 2025-01-08T21:21:12.000Z,1736371272.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:12.095Z,1736371272.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:12.102Z,1736371272.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:12.116Z,1736371272.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m. 2025-01-08T21:21:12.119Z,1736371272.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.100006 m, nav range: 140.981644 m, bearing: 81.190256 deg, approach rate: 0.417023 m/s, LOS rate: -0.191472 deg/s, cmd heading: 218.502820 deg, new cmd heading: 218.287074 deg. 2025-01-08T21:21:12.124Z,1736371272.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.809828 target range: 383.100006 and range: 383.10 m. 2025-01-08T21:21:12.252Z,1736371272.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:12.252Z,1736371272.252 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:12.252Z,1736371272.252 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:12.252Z,1736371272.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:12.504Z,1736371272.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:12.505Z,1736371272.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255554 2025-01-08T21:21:12.521Z,1736371272.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:12.566Z,1736371272.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m. 2025-01-08T21:21:12.569Z,1736371272.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.100006 m, nav range: 141.181641 m, bearing: 81.109551 deg, approach rate: 0.444360 m/s, LOS rate: -0.179058 deg/s, cmd heading: 218.287068 deg, new cmd heading: 218.045298 deg. 2025-01-08T21:21:12.570Z,1736371272.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.805608 target range: 383.100006 and range: 383.10 m. 2025-01-08T21:21:12.756Z,1736371272.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:12.756Z,1736371272.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507249 2025-01-08T21:21:12.908Z,1736371272.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:12.916Z,1736371272.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m. 2025-01-08T21:21:12.919Z,1736371272.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.100006 m, nav range: 141.363342 m, bearing: 81.035951 deg, approach rate: 0.518998 m/s, LOS rate: -0.209956 deg/s, cmd heading: 218.045292 deg, new cmd heading: 217.824776 deg. 2025-01-08T21:21:12.920Z,1736371272.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.801759 target range: 383.100006 and range: 383.10 m. 2025-01-08T21:21:13.010Z,1736371273.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:13.011Z,1736371273.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761540 2025-01-08T21:21:13.264Z,1736371273.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:13.265Z,1736371273.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015480 2025-01-08T21:21:13.314Z,1736371273.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:13.323Z,1736371273.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m. 2025-01-08T21:21:13.326Z,1736371273.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.100006 m, nav range: 141.553284 m, bearing: 80.958751 deg, approach rate: 0.467476 m/s, LOS rate: -0.189744 deg/s, cmd heading: 217.824773 deg, new cmd heading: 217.593488 deg. 2025-01-08T21:21:13.326Z,1736371273.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797723 target range: 383.100006 and range: 383.10 m. 2025-01-08T21:21:13.518Z,1736371273.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:13.520Z,1736371273.520 [DAT](INFO): DAT read: Rx Time:21:21:12.3975 2025-01-08T21:21:13.520Z,1736371273.520 [DAT](INFO): Rx dataTimestamp_ set to:1736371273.520072 2025-01-08T21:21:13.521Z,1736371273.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271782 2025-01-08T21:21:13.748Z,1736371273.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:13.756Z,1736371273.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m. 2025-01-08T21:21:13.759Z,1736371273.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.100006 m, nav range: 141.779922 m, bearing: 80.881724 deg, approach rate: 0.522875 m/s, LOS rate: -0.177426 deg/s, cmd heading: 217.593489 deg, new cmd heading: 217.362777 deg. 2025-01-08T21:21:13.760Z,1736371273.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793696 target range: 383.100006 and range: 383.10 m. 2025-01-08T21:21:13.768Z,1736371273.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:13.769Z,1736371273.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519622 2025-01-08T21:21:14.020Z,1736371274.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:14.020Z,1736371274.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771326 2025-01-08T21:21:14.132Z,1736371274.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:14.139Z,1736371274.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:14.141Z,1736371274.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m. 2025-01-08T21:21:14.144Z,1736371274.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.100006 m, nav range: 141.979675 m, bearing: 80.812571 deg, approach rate: 0.519451 m/s, LOS rate: -0.179577 deg/s, cmd heading: 217.362779 deg, new cmd heading: 217.155613 deg. 2025-01-08T21:21:14.145Z,1736371274.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790081 target range: 383.100006 and range: 383.10 m. 2025-01-08T21:21:14.272Z,1736371274.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:14.279Z,1736371274.279 [DAT](INFO): DAT read: 21:21:12.3975 LVL= 18304, 32753, 25074, 31331, AGC= 71, IDX= 48, 0.36,-0.892,-2.800,-2.352,-1.862, PHS= 1.058,-0.891,-0.493, RAW= 101.1, 3.7, CAL= 111.5, 1.6, ROT= 38.5, -1.6 2025-01-08T21:21:14.280Z,1736371274.280 [DAT](INFO): got valid direction response: 21:21:12.3975 LVL= 18304, 32753, 25074, 31331, AGC= 71, IDX= 48, 0.36,-0.892,-2.800,-2.352,-1.862, PHS= 1.058,-0.891,-0.493, RAW= 101.1, 3.7, CAL= 111.5, 1.6, ROT= 38.5, -1.6 2025-01-08T21:21:14.281Z,1736371274.281 [DAT](INFO): DAT read: Bearing 38.5, -1.6 (Local) 2025-01-08T21:21:14.281Z,1736371274.281 [DAT](INFO): Local bearing/azimuth received: Bearing 38.5, -1.6 (Local) 2025-01-08T21:21:14.283Z,1736371274.283 [DAT](INFO): DAT read: Range 10 to 50 : 391.6 m (Round-trip 522.2 ms) speed 0.7 m/s 2025-01-08T21:21:14.284Z,1736371274.284 [DAT](INFO): DAT read: user:1689> 2025-01-08T21:21:14.284Z,1736371274.284 [DAT](INFO): DAT read: Tx time:21:21:13.5211 2025-01-08T21:21:14.285Z,1736371274.285 [DAT](INFO): Ping request sent. 2025-01-08T21:21:14.285Z,1736371274.285 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:14.285Z,1736371274.285 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:14.286Z,1736371274.286 [DAT](INFO): direction in FSK: [-0.172111,-0.083381,0.981542] 2025-01-08T21:21:14.286Z,1736371274.286 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:14.287Z,1736371274.287 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:14.290Z,1736371274.290 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:14.290Z,1736371274.290 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:14.524Z,1736371274.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:14.524Z,1736371274.524 [DAT](INFO): DAT read: TxSync time:21:21:13.5204 2025-01-08T21:21:14.582Z,1736371274.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:14.618Z,1736371274.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 391.600006 m, deltaT: 4.035931 s, deltaX: 8.500000 m, approachRate: 2.106081 m/s, rangeRepo size: 4 2025-01-08T21:21:14.632Z,1736371274.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 391.600006 m, bearing: 78.043838 deg, lat: 36.904641 deg, lon: -122.113535 deg, deltaT: 4.035931 s, deltaX: 8.500000 m, approachRate: 2.106081 m/s, posRepo size: 4 2025-01-08T21:21:14.633Z,1736371274.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.60 m. 2025-01-08T21:21:14.639Z,1736371274.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.600006 m, nav range: 113.623962 m, bearing: 78.043447 deg, approach rate: 0.000000 m/s, LOS rate: -0.179577 deg/s, cmd heading: 217.155619 deg, new cmd heading: 216.899147 deg. 2025-01-08T21:21:14.640Z,1736371274.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.785604 target range: 391.600006 and range: 391.60 m. 2025-01-08T21:21:14.776Z,1736371274.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:14.947Z,1736371274.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:14.971Z,1736371274.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.60 m. 2025-01-08T21:21:14.973Z,1736371274.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.600006 m, nav range: 113.835999 m, bearing: 77.971582 deg, approach rate: 0.600998 m/s, LOS rate: -0.203315 deg/s, cmd heading: 216.899146 deg, new cmd heading: 216.683954 deg. 2025-01-08T21:21:14.974Z,1736371274.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781848 target range: 391.600006 and range: 391.60 m. 2025-01-08T21:21:15.029Z,1736371275.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:15.280Z,1736371275.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:15.336Z,1736371275.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:15.346Z,1736371275.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.60 m. 2025-01-08T21:21:15.348Z,1736371275.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.600006 m, nav range: 114.061562 m, bearing: 77.894190 deg, approach rate: 0.601364 m/s, LOS rate: -0.205924 deg/s, cmd heading: 216.683954 deg, new cmd heading: 216.452238 deg. 2025-01-08T21:21:15.349Z,1736371275.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777804 target range: 391.600006 and range: 391.60 m. 2025-01-08T21:21:15.532Z,1736371275.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:15.768Z,1736371275.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:15.777Z,1736371275.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.60 m. 2025-01-08T21:21:15.781Z,1736371275.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.600006 m, nav range: 114.310287 m, bearing: 77.812399 deg, approach rate: 0.575415 m/s, LOS rate: -0.188807 deg/s, cmd heading: 216.452233 deg, new cmd heading: 216.207396 deg. 2025-01-08T21:21:15.782Z,1736371275.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773531 target range: 391.600006 and range: 391.60 m. 2025-01-08T21:21:15.784Z,1736371275.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:16.036Z,1736371276.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:16.151Z,1736371276.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:16.158Z,1736371276.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:16.160Z,1736371276.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.60 m. 2025-01-08T21:21:16.164Z,1736371276.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.600006 m, nav range: 114.528740 m, bearing: 77.738708 deg, approach rate: 0.570542 m/s, LOS rate: -0.192094 deg/s, cmd heading: 216.207398 deg, new cmd heading: 215.986749 deg. 2025-01-08T21:21:16.165Z,1736371276.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769680 target range: 391.600006 and range: 391.60 m. 2025-01-08T21:21:16.288Z,1736371276.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:16.288Z,1736371276.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:16.288Z,1736371276.288 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:16.289Z,1736371276.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:16.540Z,1736371276.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:16.540Z,1736371276.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255362 2025-01-08T21:21:16.569Z,1736371276.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:16.579Z,1736371276.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.60 m. 2025-01-08T21:21:16.582Z,1736371276.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.600006 m, nav range: 114.755646 m, bearing: 77.658735 deg, approach rate: 0.542836 m/s, LOS rate: -0.190945 deg/s, cmd heading: 215.986742 deg, new cmd heading: 215.747297 deg. 2025-01-08T21:21:16.583Z,1736371276.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765501 target range: 391.600006 and range: 391.60 m. 2025-01-08T21:21:16.792Z,1736371276.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:16.793Z,1736371276.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507633 2025-01-08T21:21:16.964Z,1736371276.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:16.976Z,1736371276.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.60 m. 2025-01-08T21:21:16.979Z,1736371276.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.600006 m, nav range: 114.962135 m, bearing: 77.585487 deg, approach rate: 0.518434 m/s, LOS rate: -0.183574 deg/s, cmd heading: 215.747303 deg, new cmd heading: 215.527954 deg. 2025-01-08T21:21:16.980Z,1736371276.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.761672 target range: 391.600006 and range: 391.60 m. 2025-01-08T21:21:17.044Z,1736371277.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:17.045Z,1736371277.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759962 2025-01-08T21:21:17.296Z,1736371277.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:17.297Z,1736371277.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011908 2025-01-08T21:21:17.362Z,1736371277.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:17.374Z,1736371277.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.60 m. 2025-01-08T21:21:17.377Z,1736371277.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.600006 m, nav range: 115.183731 m, bearing: 77.506313 deg, approach rate: 0.561272 m/s, LOS rate: -0.200151 deg/s, cmd heading: 215.527958 deg, new cmd heading: 215.290894 deg. 2025-01-08T21:21:17.379Z,1736371277.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.757535 target range: 391.600006 and range: 391.60 m. 2025-01-08T21:21:17.548Z,1736371277.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:17.548Z,1736371277.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263627 2025-01-08T21:21:17.794Z,1736371277.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:17.800Z,1736371277.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:17.801Z,1736371277.801 [DAT](INFO): DAT read: Rx Time:21:21:16.4307 2025-01-08T21:21:17.801Z,1736371277.801 [DAT](INFO): Rx dataTimestamp_ set to:1736371277.800960 2025-01-08T21:21:17.802Z,1736371277.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516908 2025-01-08T21:21:17.873Z,1736371277.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.60 m. 2025-01-08T21:21:17.880Z,1736371277.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.600006 m, nav range: 115.402527 m, bearing: 77.420151 deg, approach rate: 0.438150 m/s, LOS rate: -0.172215 deg/s, cmd heading: 215.290896 deg, new cmd heading: 215.032904 deg. 2025-01-08T21:21:17.881Z,1736371277.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753032 target range: 391.600006 and range: 391.60 m. 2025-01-08T21:21:18.053Z,1736371278.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:18.054Z,1736371278.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769087 2025-01-08T21:21:18.187Z,1736371278.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:18.194Z,1736371278.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:18.197Z,1736371278.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.60 m. 2025-01-08T21:21:18.216Z,1736371278.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.600006 m, nav range: 115.602318 m, bearing: 77.341845 deg, approach rate: 0.611223 m/s, LOS rate: -0.239150 deg/s, cmd heading: 215.032906 deg, new cmd heading: 214.798393 deg. 2025-01-08T21:21:18.217Z,1736371278.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748939 target range: 391.600006 and range: 391.60 m. 2025-01-08T21:21:18.305Z,1736371278.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:18.318Z,1736371278.318 [DAT](INFO): DAT read: 21:21:16.4307 LVL= 22720, 32753, 29394, 32755, AGC= 67, IDX= 276,-0.01, 1.595,-0.202, 0.211, 0.799, PHS= 0.885,-0.953,-0.591, RAW= 100.7, 7.9, CAL= 110.4, 6.6, ROT= 39.6, -6.6 2025-01-08T21:21:18.320Z,1736371278.320 [DAT](INFO): got valid direction response: 21:21:16.4307 LVL= 22720, 32753, 29394, 32755, AGC= 67, IDX= 276,-0.01, 1.595,-0.202, 0.211, 0.799, PHS= 0.885,-0.953,-0.591, RAW= 100.7, 7.9, CAL= 110.4, 6.6, ROT= 39.6, -6.6 2025-01-08T21:21:18.322Z,1736371278.322 [DAT](INFO): DAT read: Bearing 39.6, -6.6 (Local) 2025-01-08T21:21:18.332Z,1736371278.332 [DAT](INFO): Local bearing/azimuth received: Bearing 39.6, -6.6 (Local) 2025-01-08T21:21:18.341Z,1736371278.341 [DAT](INFO): DAT read: Range 10 to 50 : 379.0 m (Round-trip 505.4 ms) speed 0.3 m/s 2025-01-08T21:21:18.342Z,1736371278.342 [DAT](INFO): DAT read: user:1690> 2025-01-08T21:21:18.348Z,1736371278.348 [DAT](INFO): DAT read: Tx time:21:21:17.5211 2025-01-08T21:21:18.348Z,1736371278.348 [DAT](INFO): Ping request sent. 2025-01-08T21:21:18.348Z,1736371278.348 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:18.350Z,1736371278.350 [DAT](INFO): DAT read: TxSync time:21:21:17.5204 2025-01-08T21:21:18.361Z,1736371278.361 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:18.362Z,1736371278.362 [DAT](INFO): direction in FSK: [-0.249503,-0.070660,0.965793] 2025-01-08T21:21:18.363Z,1736371278.363 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:18.363Z,1736371278.363 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:18.370Z,1736371278.370 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:18.370Z,1736371278.370 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:18.556Z,1736371278.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:18.622Z,1736371278.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:18.673Z,1736371278.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 379.000000 m, deltaT: 4.033754 s, deltaX: -12.600006 m, approachRate: -3.123643 m/s, rangeRepo size: 4 2025-01-08T21:21:18.680Z,1736371278.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 379.000000 m, bearing: 64.399227 deg, lat: 36.904661 deg, lon: -122.113510 deg, deltaT: 4.033754 s, deltaX: -12.600006 m, approachRate: -3.123643 m/s, posRepo size: 4 2025-01-08T21:21:18.681Z,1736371278.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.00 m. 2025-01-08T21:21:18.688Z,1736371278.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.000000 m, nav range: 118.419716 m, bearing: 76.447006 deg, approach rate: 0.000000 m/s, LOS rate: -0.239150 deg/s, cmd heading: 214.798398 deg, new cmd heading: 214.461467 deg. 2025-01-08T21:21:18.689Z,1736371278.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.743059 target range: 379.000000 and range: 379.00 m. 2025-01-08T21:21:18.808Z,1736371278.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:18.981Z,1736371278.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:18.990Z,1736371278.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.00 m. 2025-01-08T21:21:18.993Z,1736371278.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.000000 m, nav range: 118.584030 m, bearing: 76.370765 deg, approach rate: 0.508611 m/s, LOS rate: -0.235664 deg/s, cmd heading: 214.461465 deg, new cmd heading: 214.233062 deg. 2025-01-08T21:21:18.994Z,1736371278.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.739072 target range: 379.000000 and range: 379.00 m. 2025-01-08T21:21:19.061Z,1736371279.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:19.313Z,1736371279.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:19.377Z,1736371279.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:19.386Z,1736371279.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.00 m. 2025-01-08T21:21:19.389Z,1736371279.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.000000 m, nav range: 118.764168 m, bearing: 76.286527 deg, approach rate: 0.454558 m/s, LOS rate: -0.212244 deg/s, cmd heading: 214.233063 deg, new cmd heading: 213.980733 deg. 2025-01-08T21:21:19.390Z,1736371279.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734668 target range: 379.000000 and range: 379.00 m. 2025-01-08T21:21:19.566Z,1736371279.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:19.791Z,1736371279.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:19.816Z,1736371279.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:19.832Z,1736371279.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.00 m. 2025-01-08T21:21:19.834Z,1736371279.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.000000 m, nav range: 118.932243 m, bearing: 76.193809 deg, approach rate: 0.381553 m/s, LOS rate: -0.210184 deg/s, cmd heading: 213.980729 deg, new cmd heading: 213.702970 deg. 2025-01-08T21:21:19.842Z,1736371279.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.729820 target range: 379.000000 and range: 379.00 m. 2025-01-08T21:21:20.068Z,1736371280.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:20.177Z,1736371280.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:20.186Z,1736371280.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.00 m. 2025-01-08T21:21:20.189Z,1736371280.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.000000 m, nav range: 119.089035 m, bearing: 76.107413 deg, approach rate: 0.436502 m/s, LOS rate: -0.240206 deg/s, cmd heading: 213.702972 deg, new cmd heading: 213.444128 deg. 2025-01-08T21:21:20.190Z,1736371280.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.725303 target range: 379.000000 and range: 379.00 m. 2025-01-08T21:21:20.320Z,1736371280.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:20.573Z,1736371280.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:20.677Z,1736371280.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:20.685Z,1736371280.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:20.688Z,1736371280.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.00 m. 2025-01-08T21:21:20.690Z,1736371280.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.000000 m, nav range: 119.280540 m, bearing: 75.988299 deg, approach rate: 0.381992 m/s, LOS rate: -0.237214 deg/s, cmd heading: 213.444122 deg, new cmd heading: 213.087357 deg. 2025-01-08T21:21:20.691Z,1736371280.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.719076 target range: 379.000000 and range: 379.00 m. 2025-01-08T21:21:20.824Z,1736371280.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:20.824Z,1736371280.824 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:20.825Z,1736371280.825 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:20.825Z,1736371280.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:20.992Z,1736371280.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:21.022Z,1736371281.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.00 m. 2025-01-08T21:21:21.028Z,1736371281.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.000000 m, nav range: 119.401421 m, bearing: 75.913229 deg, approach rate: 0.361546 m/s, LOS rate: -0.224300 deg/s, cmd heading: 213.087354 deg, new cmd heading: 212.862376 deg. 2025-01-08T21:21:21.029Z,1736371281.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.715149 target range: 379.000000 and range: 379.00 m. 2025-01-08T21:21:21.076Z,1736371281.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:21.076Z,1736371281.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728007 2025-01-08T21:21:21.328Z,1736371281.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:21.329Z,1736371281.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980628 2025-01-08T21:21:21.392Z,1736371281.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:21.426Z,1736371281.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.00 m. 2025-01-08T21:21:21.430Z,1736371281.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.000000 m, nav range: 119.555336 m, bearing: 75.818005 deg, approach rate: 0.380552 m/s, LOS rate: -0.235136 deg/s, cmd heading: 212.862381 deg, new cmd heading: 212.577079 deg. 2025-01-08T21:21:21.432Z,1736371281.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.710170 target range: 379.000000 and range: 379.00 m. 2025-01-08T21:21:21.581Z,1736371281.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:21.584Z,1736371281.584 [DAT](INFO): DAT read: Rx Time:21:21:20.4431 2025-01-08T21:21:21.585Z,1736371281.585 [DAT](INFO): Rx dataTimestamp_ set to:1736371281.584525 2025-01-08T21:21:21.589Z,1736371281.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238141 2025-01-08T21:21:21.832Z,1736371281.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:21.833Z,1736371281.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484163 2025-01-08T21:21:21.841Z,1736371281.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:21.854Z,1736371281.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.00 m. 2025-01-08T21:21:21.862Z,1736371281.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.000000 m, nav range: 119.721840 m, bearing: 75.705284 deg, approach rate: 0.388969 m/s, LOS rate: -0.262960 deg/s, cmd heading: 212.577084 deg, new cmd heading: 212.239395 deg. 2025-01-08T21:21:21.868Z,1736371281.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.704276 target range: 379.000000 and range: 379.00 m. 2025-01-08T21:21:22.086Z,1736371282.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:22.086Z,1736371282.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.737929 2025-01-08T21:21:22.204Z,1736371282.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:22.229Z,1736371282.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.00 m. 2025-01-08T21:21:22.236Z,1736371282.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.000000 m, nav range: 119.856972 m, bearing: 75.614090 deg, approach rate: 0.361348 m/s, LOS rate: -0.243583 deg/s, cmd heading: 212.239399 deg, new cmd heading: 211.966126 deg. 2025-01-08T21:21:22.237Z,1736371282.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.699507 target range: 379.000000 and range: 379.00 m. 2025-01-08T21:21:22.337Z,1736371282.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:22.348Z,1736371282.348 [DAT](INFO): DAT read: 21:21:20.4431 LVL= 18160, 28401, 20962, 24643, AGC= 68, IDX= 50, 0.37, 2.063, 0.167, 0.537, 1.050, PHS= 1.100,-0.836,-0.516, RAW= 98.9, 2.8, CAL= 109.0, 0.8, ROT= 41.0, -0.8 2025-01-08T21:21:22.349Z,1736371282.349 [DAT](INFO): got valid direction response: 21:21:20.4431 LVL= 18160, 28401, 20962, 24643, AGC= 68, IDX= 50, 0.37, 2.063, 0.167, 0.537, 1.050, PHS= 1.100,-0.836,-0.516, RAW= 98.9, 2.8, CAL= 109.0, 0.8, ROT= 41.0, -0.8 2025-01-08T21:21:22.350Z,1736371282.350 [DAT](INFO): DAT read: Bearing 41.0, -0.8 (Local) 2025-01-08T21:21:22.350Z,1736371282.350 [DAT](INFO): Local bearing/azimuth received: Bearing 41.0, -0.8 (Local) 2025-01-08T21:21:22.352Z,1736371282.352 [DAT](INFO): DAT read: Range 10 to 50 : 388.2 m (Round-trip 517.7 ms) speed 0.3 m/s 2025-01-08T21:21:22.352Z,1736371282.352 [DAT](INFO): DAT read: user:1691> 2025-01-08T21:21:22.353Z,1736371282.353 [DAT](INFO): DAT read: Tx time:21:21:21.5712 2025-01-08T21:21:22.353Z,1736371282.353 [DAT](INFO): Ping request sent. 2025-01-08T21:21:22.353Z,1736371282.353 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:22.354Z,1736371282.354 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:22.355Z,1736371282.355 [DAT](INFO): direction in FSK: [-0.152624,-0.044390,0.987287] 2025-01-08T21:21:22.355Z,1736371282.355 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:22.359Z,1736371282.359 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:22.366Z,1736371282.366 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:22.366Z,1736371282.366 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:22.590Z,1736371282.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:22.594Z,1736371282.594 [DAT](INFO): DAT read: TxSync time:21:21:21.5705 2025-01-08T21:21:22.693Z,1736371282.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:22.724Z,1736371282.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 388.200012 m, deltaT: 4.032135 s, deltaX: 9.200012 m, approachRate: 2.281673 m/s, rangeRepo size: 4 2025-01-08T21:21:22.726Z,1736371282.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 388.200012 m, bearing: 70.630863 deg, lat: 36.904671 deg, lon: -122.113510 deg, deltaT: 4.032135 s, deltaX: 9.200012 m, approachRate: 2.281673 m/s, posRepo size: 4 2025-01-08T21:21:22.727Z,1736371282.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T21:21:22.734Z,1736371282.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 120.329338 m, bearing: 74.970987 deg, approach rate: 0.000000 m/s, LOS rate: -0.243583 deg/s, cmd heading: 211.966124 deg, new cmd heading: 211.607311 deg. 2025-01-08T21:21:22.735Z,1736371282.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693244 target range: 388.200012 and range: 388.20 m. 2025-01-08T21:21:22.842Z,1736371282.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:23.043Z,1736371283.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:23.050Z,1736371283.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:23.052Z,1736371283.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T21:21:23.054Z,1736371283.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 120.462387 m, bearing: 74.883672 deg, approach rate: 0.400334 m/s, LOS rate: -0.262435 deg/s, cmd heading: 211.607306 deg, new cmd heading: 211.345652 deg. 2025-01-08T21:21:23.055Z,1736371283.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.688678 target range: 388.200012 and range: 388.20 m. 2025-01-08T21:21:23.092Z,1736371283.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:23.094Z,1736371283.094 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:23.094Z,1736371283.094 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:23.094Z,1736371283.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:23.344Z,1736371283.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:23.345Z,1736371283.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991257 2025-01-08T21:21:23.443Z,1736371283.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:23.453Z,1736371283.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T21:21:23.456Z,1736371283.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 120.615234 m, bearing: 74.783832 deg, approach rate: 0.380369 m/s, LOS rate: -0.248144 deg/s, cmd heading: 211.345656 deg, new cmd heading: 211.046516 deg. 2025-01-08T21:21:23.457Z,1736371283.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.683457 target range: 388.200012 and range: 388.20 m. 2025-01-08T21:21:23.598Z,1736371283.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:23.600Z,1736371283.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246368 2025-01-08T21:21:23.848Z,1736371283.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:23.849Z,1736371283.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495153 2025-01-08T21:21:23.882Z,1736371283.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:23.891Z,1736371283.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T21:21:23.894Z,1736371283.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 120.795738 m, bearing: 74.676964 deg, approach rate: 0.412662 m/s, LOS rate: -0.243953 deg/s, cmd heading: 211.046521 deg, new cmd heading: 210.726400 deg. 2025-01-08T21:21:23.896Z,1736371283.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.677870 target range: 388.200012 and range: 388.20 m. 2025-01-08T21:21:24.102Z,1736371284.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:24.103Z,1736371284.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749962 2025-01-08T21:21:24.244Z,1736371284.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:24.254Z,1736371284.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T21:21:24.257Z,1736371284.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 120.942863 m, bearing: 74.588418 deg, approach rate: 0.405231 m/s, LOS rate: -0.243586 deg/s, cmd heading: 210.726403 deg, new cmd heading: 210.461092 deg. 2025-01-08T21:21:24.257Z,1736371284.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.673239 target range: 388.200012 and range: 388.20 m. 2025-01-08T21:21:24.352Z,1736371284.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:24.353Z,1736371284.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999281 2025-01-08T21:21:24.605Z,1736371284.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:24.608Z,1736371284.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254114 2025-01-08T21:21:24.737Z,1736371284.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:24.747Z,1736371284.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T21:21:24.750Z,1736371284.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 121.161156 m, bearing: 74.475264 deg, approach rate: 0.442730 m/s, LOS rate: -0.229081 deg/s, cmd heading: 210.461091 deg, new cmd heading: 210.122244 deg. 2025-01-08T21:21:24.751Z,1736371284.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.667325 target range: 388.200012 and range: 388.20 m. 2025-01-08T21:21:24.857Z,1736371284.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:24.858Z,1736371284.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503837 2025-01-08T21:21:25.108Z,1736371285.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:25.110Z,1736371285.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756244 2025-01-08T21:21:25.130Z,1736371285.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:25.150Z,1736371285.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:25.157Z,1736371285.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T21:21:25.172Z,1736371285.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 121.332390 m, bearing: 74.385116 deg, approach rate: 0.423185 m/s, LOS rate: -0.222476 deg/s, cmd heading: 210.122246 deg, new cmd heading: 209.852184 deg. 2025-01-08T21:21:25.173Z,1736371285.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.662611 target range: 388.200012 and range: 388.20 m. 2025-01-08T21:21:25.361Z,1736371285.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:25.362Z,1736371285.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008754 2025-01-08T21:21:25.579Z,1736371285.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:25.589Z,1736371285.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T21:21:25.591Z,1736371285.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 121.527924 m, bearing: 74.281405 deg, approach rate: 0.447401 m/s, LOS rate: -0.236919 deg/s, cmd heading: 209.852180 deg, new cmd heading: 209.541552 deg. 2025-01-08T21:21:25.592Z,1736371285.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.657190 target range: 388.200012 and range: 388.20 m. 2025-01-08T21:21:25.614Z,1736371285.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:25.624Z,1736371285.624 [DAT](INFO): DAT read: Rx Time:21:21:24.4770 2025-01-08T21:21:25.625Z,1736371285.625 [DAT](INFO): Rx dataTimestamp_ set to:1736371285.624487 2025-01-08T21:21:25.636Z,1736371285.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273159 2025-01-08T21:21:25.864Z,1736371285.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:25.865Z,1736371285.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511175 2025-01-08T21:21:26.033Z,1736371286.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:26.076Z,1736371286.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T21:21:26.088Z,1736371286.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 121.738647 m, bearing: 74.181195 deg, approach rate: 0.431871 m/s, LOS rate: -0.205021 deg/s, cmd heading: 209.541557 deg, new cmd heading: 209.241449 deg. 2025-01-08T21:21:26.089Z,1736371286.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.651952 target range: 388.200012 and range: 388.20 m. 2025-01-08T21:21:26.117Z,1736371286.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:26.120Z,1736371286.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766198 2025-01-08T21:21:26.368Z,1736371286.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:26.375Z,1736371286.375 [DAT](INFO): DAT read: 21:21:24.4770 LVL= 19856, 32753, 25202, 32755, AGC= 67, IDX= 269,-0.01, 2.784, 1.026, 1.253, 1.835, PHS= 1.037,-0.762,-0.585, RAW= 95.1, 3.7, CAL= 104.0, 1.8, ROT= 46.0, -1.8 2025-01-08T21:21:26.386Z,1736371286.386 [DAT](INFO): got valid direction response: 21:21:24.4770 LVL= 19856, 32753, 25202, 32755, AGC= 67, IDX= 269,-0.01, 2.784, 1.026, 1.253, 1.835, PHS= 1.037,-0.762,-0.585, RAW= 95.1, 3.7, CAL= 104.0, 1.8, ROT= 46.0, -1.8 2025-01-08T21:21:26.388Z,1736371286.388 [DAT](INFO): DAT read: Bearing 46.0, -1.8 (Local) 2025-01-08T21:21:26.388Z,1736371286.388 [DAT](INFO): Local bearing/azimuth received: Bearing 46.0, -1.8 (Local) 2025-01-08T21:21:26.390Z,1736371286.390 [DAT](INFO): DAT read: Range 10 to 50 : 376.2 m (Round-trip 501.6 ms) speed 0.8 m/s 2025-01-08T21:21:26.390Z,1736371286.390 [DAT](INFO): DAT read: user:1692> 2025-01-08T21:21:26.399Z,1736371286.399 [DAT](INFO): DAT read: Tx time:21:21:25.5712 2025-01-08T21:21:26.400Z,1736371286.400 [DAT](INFO): Ping request sent. 2025-01-08T21:21:26.400Z,1736371286.400 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:26.400Z,1736371286.400 [DAT](INFO): DAT read: TxSync time:21:21:25.5705 2025-01-08T21:21:26.401Z,1736371286.401 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:26.402Z,1736371286.402 [DAT](INFO): direction in FSK: [-0.162457,0.022171,0.986467] 2025-01-08T21:21:26.402Z,1736371286.402 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:26.402Z,1736371286.402 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:26.406Z,1736371286.406 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:26.406Z,1736371286.406 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:26.468Z,1736371286.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:26.504Z,1736371286.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 376.200012 m, deltaT: 4.030214 s, deltaX: -12.000000 m, approachRate: -2.977509 m/s, rangeRepo size: 4 2025-01-08T21:21:26.506Z,1736371286.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 376.200012 m, bearing: 49.635557 deg, lat: 36.904671 deg, lon: -122.113535 deg, deltaT: 4.030214 s, deltaX: -12.000000 m, approachRate: -2.977509 m/s, posRepo size: 4 2025-01-08T21:21:26.507Z,1736371286.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.20 m. 2025-01-08T21:21:26.510Z,1736371286.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.200012 m, nav range: 119.845337 m, bearing: 73.799967 deg, approach rate: 0.000000 m/s, LOS rate: -0.205021 deg/s, cmd heading: 209.241452 deg, new cmd heading: 208.981667 deg. 2025-01-08T21:21:26.511Z,1736371286.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.647418 target range: 376.200012 and range: 376.20 m. 2025-01-08T21:21:26.624Z,1736371286.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:26.876Z,1736371286.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:26.888Z,1736371286.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:26.905Z,1736371286.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.20 m. 2025-01-08T21:21:26.914Z,1736371286.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.200012 m, nav range: 120.046974 m, bearing: 73.710221 deg, approach rate: 0.496353 m/s, LOS rate: -0.220549 deg/s, cmd heading: 208.981672 deg, new cmd heading: 208.712888 deg. 2025-01-08T21:21:26.915Z,1736371286.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.642727 target range: 376.200012 and range: 376.20 m. 2025-01-08T21:21:27.128Z,1736371287.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:27.221Z,1736371287.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:27.227Z,1736371287.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:27.230Z,1736371287.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.20 m. 2025-01-08T21:21:27.233Z,1736371287.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.200012 m, nav range: 120.205444 m, bearing: 73.638676 deg, approach rate: 0.487416 m/s, LOS rate: -0.219766 deg/s, cmd heading: 208.712891 deg, new cmd heading: 208.498539 deg. 2025-01-08T21:21:27.234Z,1736371287.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.638986 target range: 376.200012 and range: 376.20 m. 2025-01-08T21:21:27.380Z,1736371287.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:27.381Z,1736371287.381 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:27.381Z,1736371287.381 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:27.381Z,1736371287.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:27.621Z,1736371287.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:27.634Z,1736371287.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:27.637Z,1736371287.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236483 2025-01-08T21:21:27.697Z,1736371287.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.20 m. 2025-01-08T21:21:27.704Z,1736371287.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.200012 m, nav range: 120.394997 m, bearing: 73.551991 deg, approach rate: 0.405857 m/s, LOS rate: -0.185311 deg/s, cmd heading: 208.498546 deg, new cmd heading: 208.238904 deg. 2025-01-08T21:21:27.705Z,1736371287.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.634454 target range: 376.200012 and range: 376.20 m. 2025-01-08T21:21:27.884Z,1736371287.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:27.884Z,1736371287.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484491 2025-01-08T21:21:28.047Z,1736371288.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:28.056Z,1736371288.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.20 m. 2025-01-08T21:21:28.058Z,1736371288.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.200012 m, nav range: 120.603806 m, bearing: 73.461218 deg, approach rate: 0.582366 m/s, LOS rate: -0.252728 deg/s, cmd heading: 208.238903 deg, new cmd heading: 207.967056 deg. 2025-01-08T21:21:28.060Z,1736371288.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.629710 target range: 376.200012 and range: 376.20 m. 2025-01-08T21:21:28.136Z,1736371288.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:28.138Z,1736371288.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737698 2025-01-08T21:21:28.388Z,1736371288.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:28.388Z,1736371288.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988565 2025-01-08T21:21:28.423Z,1736371288.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:28.433Z,1736371288.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.20 m. 2025-01-08T21:21:28.452Z,1736371288.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.200012 m, nav range: 120.786873 m, bearing: 73.380928 deg, approach rate: 0.485353 m/s, LOS rate: -0.212543 deg/s, cmd heading: 207.967062 deg, new cmd heading: 207.726560 deg. 2025-01-08T21:21:28.453Z,1736371288.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.625512 target range: 376.200012 and range: 376.20 m. 2025-01-08T21:21:28.642Z,1736371288.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:28.645Z,1736371288.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243992 2025-01-08T21:21:28.857Z,1736371288.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:28.868Z,1736371288.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.20 m. 2025-01-08T21:21:28.870Z,1736371288.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.200012 m, nav range: 120.989914 m, bearing: 73.288514 deg, approach rate: 0.466919 m/s, LOS rate: -0.212162 deg/s, cmd heading: 207.726557 deg, new cmd heading: 207.449781 deg. 2025-01-08T21:21:28.872Z,1736371288.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.620682 target range: 376.200012 and range: 376.20 m. 2025-01-08T21:21:28.892Z,1736371288.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:28.892Z,1736371288.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492530 2025-01-08T21:21:29.144Z,1736371289.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:29.144Z,1736371289.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744545 2025-01-08T21:21:29.257Z,1736371289.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:29.265Z,1736371289.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:29.268Z,1736371289.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.20 m. 2025-01-08T21:21:29.270Z,1736371289.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.200012 m, nav range: 121.175865 m, bearing: 73.203334 deg, approach rate: 0.465333 m/s, LOS rate: -0.212833 deg/s, cmd heading: 207.449784 deg, new cmd heading: 207.194636 deg. 2025-01-08T21:21:29.271Z,1736371289.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.616229 target range: 376.200012 and range: 376.20 m. 2025-01-08T21:21:29.397Z,1736371289.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:29.397Z,1736371289.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997310 2025-01-08T21:21:29.649Z,1736371289.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:29.650Z,1736371289.650 [DAT](INFO): DAT read: Rx Time:21:21:28.4750 2025-01-08T21:21:29.650Z,1736371289.650 [DAT](INFO): Rx dataTimestamp_ set to:1736371289.649858 2025-01-08T21:21:29.651Z,1736371289.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251213 2025-01-08T21:21:29.725Z,1736371289.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:29.747Z,1736371289.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.20 m. 2025-01-08T21:21:29.754Z,1736371289.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.200012 m, nav range: 121.392616 m, bearing: 73.103307 deg, approach rate: 0.452038 m/s, LOS rate: -0.208234 deg/s, cmd heading: 207.194635 deg, new cmd heading: 206.895094 deg. 2025-01-08T21:21:29.755Z,1736371289.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611001 target range: 376.200012 and range: 376.20 m. 2025-01-08T21:21:29.900Z,1736371289.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:29.901Z,1736371289.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501118 2025-01-08T21:21:30.093Z,1736371290.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:30.102Z,1736371290.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.20 m. 2025-01-08T21:21:30.105Z,1736371290.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 376.200012 m, nav range: 121.550148 m, bearing: 73.026292 deg, approach rate: 0.443901 m/s, LOS rate: -0.216737 deg/s, cmd heading: 206.895091 deg, new cmd heading: 206.664345 deg. 2025-01-08T21:21:30.106Z,1736371290.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606973 target range: 376.200012 and range: 376.20 m. 2025-01-08T21:21:30.153Z,1736371290.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:30.156Z,1736371290.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755190 2025-01-08T21:21:30.404Z,1736371290.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:30.414Z,1736371290.414 [DAT](INFO): DAT read: 21:21:28.4750 LVL= 15168, 27825, 20274, 32755, AGC= 63, IDX= 424,-0.17, 0.583,-1.175,-1.040,-0.423, PHS= 1.093,-0.705,-0.621, RAW= 92.4, 2.7, CAL= 100.4, 0.5, ROT= 49.6, -0.5 2025-01-08T21:21:30.415Z,1736371290.415 [DAT](INFO): got valid direction response: 21:21:28.4750 LVL= 15168, 27825, 20274, 32755, AGC= 63, IDX= 424,-0.17, 0.583,-1.175,-1.040,-0.423, PHS= 1.093,-0.705,-0.621, RAW= 92.4, 2.7, CAL= 100.4, 0.5, ROT= 49.6, -0.5 2025-01-08T21:21:30.416Z,1736371290.416 [DAT](INFO): DAT read: Bearing 49.6, -0.5 (Local) 2025-01-08T21:21:30.416Z,1736371290.416 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, -0.5 (Local) 2025-01-08T21:21:30.418Z,1736371290.418 [DAT](INFO): DAT read: Range 10 to 50 : 374.7 m (Round-trip 499.6 ms) speed 0.0 m/s 2025-01-08T21:21:30.419Z,1736371290.419 [DAT](INFO): DAT read: user:1693> 2025-01-08T21:21:30.420Z,1736371290.420 [DAT](INFO): DAT read: Tx time:21:21:29.5712 2025-01-08T21:21:30.420Z,1736371290.420 [DAT](INFO): Ping request sent. 2025-01-08T21:21:30.420Z,1736371290.420 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:30.421Z,1736371290.421 [DAT](INFO): DAT read: TxSync time:21:21:29.5705 2025-01-08T21:21:30.421Z,1736371290.421 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:30.422Z,1736371290.422 [DAT](INFO): direction in FSK: [-0.139856,0.069101,0.987758] 2025-01-08T21:21:30.422Z,1736371290.422 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:30.423Z,1736371290.423 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:30.426Z,1736371290.426 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:30.426Z,1736371290.426 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:30.509Z,1736371290.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:30.552Z,1736371290.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 374.700012 m, deltaT: 4.036249 s, deltaX: -1.500000 m, approachRate: -0.371632 m/s, rangeRepo size: 4 2025-01-08T21:21:30.554Z,1736371290.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 374.700012 m, bearing: 33.953218 deg, lat: 36.904817 deg, lon: -122.113819 deg, deltaT: 4.036249 s, deltaX: -1.500000 m, approachRate: -0.371632 m/s, posRepo size: 4 2025-01-08T21:21:30.559Z,1736371290.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.70 m. 2025-01-08T21:21:30.563Z,1736371290.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.700012 m, nav range: 104.882347 m, bearing: 60.286358 deg, approach rate: 0.000000 m/s, LOS rate: -0.216737 deg/s, cmd heading: 206.664340 deg, new cmd heading: 206.374712 deg. 2025-01-08T21:21:30.576Z,1736371290.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601918 target range: 374.700012 and range: 374.70 m. 2025-01-08T21:21:30.667Z,1736371290.667 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:30.916Z,1736371290.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:30.932Z,1736371290.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:30.949Z,1736371290.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.70 m. 2025-01-08T21:21:30.956Z,1736371290.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.700012 m, nav range: 105.086441 m, bearing: 60.197949 deg, approach rate: 0.507722 m/s, LOS rate: -0.219506 deg/s, cmd heading: 206.374712 deg, new cmd heading: 206.110003 deg. 2025-01-08T21:21:30.957Z,1736371290.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597298 target range: 374.700012 and range: 374.70 m. 2025-01-08T21:21:31.168Z,1736371291.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:31.282Z,1736371291.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:31.291Z,1736371291.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:31.293Z,1736371291.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.70 m. 2025-01-08T21:21:31.297Z,1736371291.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.700012 m, nav range: 105.254333 m, bearing: 60.124775 deg, approach rate: 0.488321 m/s, LOS rate: -0.212488 deg/s, cmd heading: 206.110001 deg, new cmd heading: 205.890832 deg. 2025-01-08T21:21:31.298Z,1736371291.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593473 target range: 374.700012 and range: 374.70 m. 2025-01-08T21:21:31.420Z,1736371291.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:31.420Z,1736371291.420 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:31.420Z,1736371291.420 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:31.421Z,1736371291.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:31.673Z,1736371291.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:31.674Z,1736371291.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253908 2025-01-08T21:21:31.782Z,1736371291.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:31.812Z,1736371291.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.70 m. 2025-01-08T21:21:31.815Z,1736371291.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.700012 m, nav range: 105.487061 m, bearing: 60.018949 deg, approach rate: 0.452569 m/s, LOS rate: -0.205339 deg/s, cmd heading: 205.890834 deg, new cmd heading: 205.574061 deg. 2025-01-08T21:21:31.816Z,1736371291.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587944 target range: 374.700012 and range: 374.70 m. 2025-01-08T21:21:31.924Z,1736371291.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:31.925Z,1736371291.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505170 2025-01-08T21:21:32.116Z,1736371292.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:32.127Z,1736371292.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.70 m. 2025-01-08T21:21:32.130Z,1736371292.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.700012 m, nav range: 105.640793 m, bearing: 59.947627 deg, approach rate: 0.481120 m/s, LOS rate: -0.222885 deg/s, cmd heading: 205.574064 deg, new cmd heading: 205.360409 deg. 2025-01-08T21:21:32.130Z,1736371292.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584215 target range: 374.700012 and range: 374.70 m. 2025-01-08T21:21:32.177Z,1736371292.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:32.177Z,1736371292.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757327 2025-01-08T21:21:32.429Z,1736371292.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:32.429Z,1736371292.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009416 2025-01-08T21:21:32.513Z,1736371292.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:32.521Z,1736371292.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.70 m. 2025-01-08T21:21:32.527Z,1736371292.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.700012 m, nav range: 105.823486 m, bearing: 59.862900 deg, approach rate: 0.462871 m/s, LOS rate: -0.214293 deg/s, cmd heading: 205.360415 deg, new cmd heading: 205.106676 deg. 2025-01-08T21:21:32.529Z,1736371292.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579787 target range: 374.700012 and range: 374.70 m. 2025-01-08T21:21:32.680Z,1736371292.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:32.681Z,1736371292.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260654 2025-01-08T21:21:32.932Z,1736371292.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:32.933Z,1736371292.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512477 2025-01-08T21:21:32.942Z,1736371292.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:32.952Z,1736371292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.70 m. 2025-01-08T21:21:32.954Z,1736371292.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.700012 m, nav range: 106.014145 m, bearing: 59.765082 deg, approach rate: 0.443470 m/s, LOS rate: -0.227115 deg/s, cmd heading: 205.106674 deg, new cmd heading: 204.813750 deg. 2025-01-08T21:21:32.956Z,1736371292.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.574674 target range: 374.700012 and range: 374.70 m. 2025-01-08T21:21:33.184Z,1736371293.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:33.184Z,1736371293.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764240 2025-01-08T21:21:33.330Z,1736371293.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:33.336Z,1736371293.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:33.338Z,1736371293.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.70 m. 2025-01-08T21:21:33.357Z,1736371293.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.700012 m, nav range: 106.186424 m, bearing: 59.676969 deg, approach rate: 0.445119 m/s, LOS rate: -0.227289 deg/s, cmd heading: 204.813754 deg, new cmd heading: 204.549846 deg. 2025-01-08T21:21:33.358Z,1736371293.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570068 target range: 374.700012 and range: 374.70 m. 2025-01-08T21:21:33.436Z,1736371293.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:33.437Z,1736371293.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017125 2025-01-08T21:21:33.690Z,1736371293.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:33.691Z,1736371293.691 [DAT](INFO): DAT read: Rx Time:21:21:32.4740 2025-01-08T21:21:33.692Z,1736371293.692 [DAT](INFO): Rx dataTimestamp_ set to:1736371293.691454 2025-01-08T21:21:33.692Z,1736371293.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272205 2025-01-08T21:21:33.844Z,1736371293.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:33.862Z,1736371293.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.70 m. 2025-01-08T21:21:33.866Z,1736371293.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.700012 m, nav range: 106.427673 m, bearing: 59.561610 deg, approach rate: 0.461439 m/s, LOS rate: -0.220148 deg/s, cmd heading: 204.549850 deg, new cmd heading: 204.204561 deg. 2025-01-08T21:21:33.880Z,1736371293.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.564042 target range: 374.700012 and range: 374.70 m. 2025-01-08T21:21:33.945Z,1736371293.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:33.946Z,1736371293.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525626 2025-01-08T21:21:34.013Z,1736371294.013 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:21:34.196Z,1736371294.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:34.202Z,1736371294.202 [DAT](INFO): DAT read: 21:21:32.4740 LVL= 21232, 31841, 23170, 32755, AGC= 68, IDX= 429, 0.06, 1.727,-0.041, 0.004, 0.601, PHS= 1.215,-0.595,-0.600, RAW= 89.9, -0.2, CAL= 97.5, -4.7, ROT= 52.5, 4.7 2025-01-08T21:21:34.204Z,1736371294.204 [DAT](INFO): got valid direction response: 21:21:32.4740 LVL= 21232, 31841, 23170, 32755, AGC= 68, IDX= 429, 0.06, 1.727,-0.041, 0.004, 0.601, PHS= 1.215,-0.595,-0.600, RAW= 89.9, -0.2, CAL= 97.5, -4.7, ROT= 52.5, 4.7 2025-01-08T21:21:34.205Z,1736371294.205 [DAT](INFO): DAT read: Bearing 52.5, 4.7 (Local) 2025-01-08T21:21:34.205Z,1736371294.205 [DAT](INFO): Local bearing/azimuth received: Bearing 52.5, 4.7 (Local) 2025-01-08T21:21:34.207Z,1736371294.207 [DAT](INFO): DAT read: Range 10 to 50 : 373.8 m (Round-trip 498.5 ms) speed -0.1 m/s 2025-01-08T21:21:34.207Z,1736371294.207 [DAT](INFO): DAT read: user:1694> 2025-01-08T21:21:34.208Z,1736371294.208 [DAT](INFO): DAT read: Tx time:21:21:33.5713 2025-01-08T21:21:34.209Z,1736371294.209 [DAT](INFO): Ping request sent. 2025-01-08T21:21:34.209Z,1736371294.209 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:34.209Z,1736371294.209 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:34.210Z,1736371294.210 [DAT](INFO): direction in FSK: [-0.080637,0.109776,0.990680] 2025-01-08T21:21:34.210Z,1736371294.210 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:34.210Z,1736371294.210 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:34.218Z,1736371294.218 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:34.218Z,1736371294.218 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:34.273Z,1736371294.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:34.323Z,1736371294.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 373.799988 m, deltaT: 3.791776 s, deltaX: -0.900024 m, approachRate: -0.237362 m/s, rangeRepo size: 4 2025-01-08T21:21:34.340Z,1736371294.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 373.799988 m, bearing: 19.092189 deg, lat: 36.904817 deg, lon: -122.114141 deg, deltaT: 3.791776 s, deltaX: -0.900024 m, approachRate: -0.237362 m/s, posRepo size: 4 2025-01-08T21:21:34.341Z,1736371294.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m. 2025-01-08T21:21:34.352Z,1736371294.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.799988 m, nav range: 83.278839 m, bearing: 49.415898 deg, approach rate: 0.000000 m/s, LOS rate: -0.220148 deg/s, cmd heading: 204.204556 deg, new cmd heading: 203.901242 deg. 2025-01-08T21:21:34.353Z,1736371294.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558748 target range: 373.799988 and range: 373.80 m. 2025-01-08T21:21:34.448Z,1736371294.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:34.449Z,1736371294.449 [DAT](INFO): DAT read: TxSync time:21:21:33.5706 2025-01-08T21:21:34.642Z,1736371294.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:34.674Z,1736371294.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m. 2025-01-08T21:21:34.682Z,1736371294.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.799988 m, nav range: 83.478333 m, bearing: 49.331948 deg, approach rate: 0.564403 m/s, LOS rate: -0.236942 deg/s, cmd heading: 203.901241 deg, new cmd heading: 203.649995 deg. 2025-01-08T21:21:34.687Z,1736371294.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554363 target range: 373.799988 and range: 373.80 m. 2025-01-08T21:21:34.700Z,1736371294.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:34.952Z,1736371294.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:35.016Z,1736371295.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:21:35.048Z,1736371295.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:35.057Z,1736371295.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m. 2025-01-08T21:21:35.060Z,1736371295.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.799988 m, nav range: 83.697968 m, bearing: 49.236322 deg, approach rate: 0.573912 m/s, LOS rate: -0.249218 deg/s, cmd heading: 203.649999 deg, new cmd heading: 203.363876 deg. 2025-01-08T21:21:35.060Z,1736371295.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.549369 target range: 373.799988 and range: 373.80 m. 2025-01-08T21:21:35.204Z,1736371295.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:35.429Z,1736371295.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:35.456Z,1736371295.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:35.457Z,1736371295.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:35.459Z,1736371295.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m. 2025-01-08T21:21:35.462Z,1736371295.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.799988 m, nav range: 83.904037 m, bearing: 49.146299 deg, approach rate: 0.512784 m/s, LOS rate: -0.223461 deg/s, cmd heading: 203.363869 deg, new cmd heading: 203.094467 deg. 2025-01-08T21:21:35.463Z,1736371295.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544667 target range: 373.799988 and range: 373.80 m. 2025-01-08T21:21:35.708Z,1736371295.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:35.708Z,1736371295.708 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:35.708Z,1736371295.708 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:35.708Z,1736371295.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:35.855Z,1736371295.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:35.865Z,1736371295.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m. 2025-01-08T21:21:35.884Z,1736371295.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.799988 m, nav range: 84.151871 m, bearing: 49.049876 deg, approach rate: 0.610285 m/s, LOS rate: -0.236742 deg/s, cmd heading: 203.094473 deg, new cmd heading: 202.806057 deg. 2025-01-08T21:21:35.885Z,1736371295.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539634 target range: 373.799988 and range: 373.80 m. 2025-01-08T21:21:35.960Z,1736371295.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:35.962Z,1736371295.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752977 2025-01-08T21:21:36.212Z,1736371296.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:36.212Z,1736371296.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003774 2025-01-08T21:21:36.232Z,1736371296.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:36.240Z,1736371296.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m. 2025-01-08T21:21:36.243Z,1736371296.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.799988 m, nav range: 84.371231 m, bearing: 48.964490 deg, approach rate: 0.583852 m/s, LOS rate: -0.226673 deg/s, cmd heading: 202.806061 deg, new cmd heading: 202.550572 deg. 2025-01-08T21:21:36.244Z,1736371296.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535174 target range: 373.799988 and range: 373.80 m. 2025-01-08T21:21:36.464Z,1736371296.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:36.465Z,1736371296.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256170 2025-01-08T21:21:36.646Z,1736371296.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:36.662Z,1736371296.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m. 2025-01-08T21:21:36.666Z,1736371296.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.799988 m, nav range: 84.612000 m, bearing: 48.870414 deg, approach rate: 0.572466 m/s, LOS rate: -0.223044 deg/s, cmd heading: 202.550571 deg, new cmd heading: 202.269150 deg. 2025-01-08T21:21:36.668Z,1736371296.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530263 target range: 373.799988 and range: 373.80 m. 2025-01-08T21:21:36.716Z,1736371296.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:36.717Z,1736371296.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507972 2025-01-08T21:21:36.968Z,1736371296.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:36.968Z,1736371296.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759721 2025-01-08T21:21:37.080Z,1736371297.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:37.089Z,1736371297.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m. 2025-01-08T21:21:37.091Z,1736371297.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.799988 m, nav range: 84.869316 m, bearing: 48.786315 deg, approach rate: 0.601696 m/s, LOS rate: -0.196059 deg/s, cmd heading: 202.269154 deg, new cmd heading: 202.017621 deg. 2025-01-08T21:21:37.092Z,1736371297.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.525873 target range: 373.799988 and range: 373.80 m. 2025-01-08T21:21:37.220Z,1736371297.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:37.220Z,1736371297.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011825 2025-01-08T21:21:37.460Z,1736371297.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:37.467Z,1736371297.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:37.469Z,1736371297.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m. 2025-01-08T21:21:37.473Z,1736371297.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:37.474Z,1736371297.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265466 2025-01-08T21:21:37.476Z,1736371297.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.799988 m, nav range: 85.093712 m, bearing: 48.711652 deg, approach rate: 0.589406 m/s, LOS rate: -0.195595 deg/s, cmd heading: 202.017625 deg, new cmd heading: 201.794228 deg. 2025-01-08T21:21:37.477Z,1736371297.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521974 target range: 373.799988 and range: 373.80 m. 2025-01-08T21:21:37.724Z,1736371297.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:37.725Z,1736371297.725 [DAT](INFO): DAT read: Rx Time:21:21:36.4871 2025-01-08T21:21:37.725Z,1736371297.725 [DAT](INFO): Rx dataTimestamp_ set to:1736371297.725012 2025-01-08T21:21:37.726Z,1736371297.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517183 2025-01-08T21:21:37.898Z,1736371297.898 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +0.44,35 -0.05, 7.69, 0.00 2025-01-08T21:21:37.906Z,1736371297.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:21:37.906Z,1736371297.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:37.917Z,1736371297.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m. 2025-01-08T21:21:37.939Z,1736371297.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 373.799988 m, nav range: 85.356728 m, bearing: 48.623536 deg, approach rate: 0.588177 m/s, LOS rate: -0.196443 deg/s, cmd heading: 201.794223 deg, new cmd heading: 201.530694 deg. 2025-01-08T21:21:37.940Z,1736371297.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517374 target range: 373.799988 and range: 373.80 m. 2025-01-08T21:21:37.976Z,1736371297.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:37.977Z,1736371297.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768122 2025-01-08T21:21:38.243Z,1736371298.243 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:38.250Z,1736371298.250 [DAT](INFO): DAT read: 21:21:36.4871 LVL= 11888, 22801, 17842, 24915, AGC= 68, IDX= 51,-0.14,-0.184,-1.841,-1.875,-1.214, PHS= 1.118,-0.580,-0.664, RAW= 87.6, 1.5, CAL= 94.4, -1.9, ROT= 55.6, 1.9 2025-01-08T21:21:38.251Z,1736371298.251 [DAT](INFO): got valid direction response: 21:21:36.4871 LVL= 11888, 22801, 17842, 24915, AGC= 68, IDX= 51,-0.14,-0.184,-1.841,-1.875,-1.214, PHS= 1.118,-0.580,-0.664, RAW= 87.6, 1.5, CAL= 94.4, -1.9, ROT= 55.6, 1.9 2025-01-08T21:21:38.252Z,1736371298.252 [DAT](INFO): DAT read: Bearing 55.6, 1.9 (Local) 2025-01-08T21:21:38.252Z,1736371298.252 [DAT](INFO): Local bearing/azimuth received: Bearing 55.6, 1.9 (Local) 2025-01-08T21:21:38.254Z,1736371298.254 [DAT](INFO): DAT read: Range 10 to 50 : 383.7 m (Round-trip 511.6 ms) speed 0.4 m/s 2025-01-08T21:21:38.254Z,1736371298.254 [DAT](INFO): DAT read: user:1695> 2025-01-08T21:21:38.259Z,1736371298.259 [DAT](INFO): DAT read: Tx time:21:21:37.5713 2025-01-08T21:21:38.260Z,1736371298.260 [DAT](INFO): Ping request sent. 2025-01-08T21:21:38.260Z,1736371298.260 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:38.260Z,1736371298.260 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:38.261Z,1736371298.261 [DAT](INFO): direction in FSK: [-0.108972,0.150110,0.982645] 2025-01-08T21:21:38.261Z,1736371298.261 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:38.262Z,1736371298.262 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:38.269Z,1736371298.269 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:38.269Z,1736371298.269 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:38.277Z,1736371298.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:21:38.277Z,1736371298.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:38.337Z,1736371298.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 383.700012 m, deltaT: 4.047218 s, deltaX: 9.900024 m, approachRate: 2.446131 m/s, rangeRepo size: 4 2025-01-08T21:21:38.348Z,1736371298.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 383.700012 m, bearing: 355.964909 deg, lat: 36.904766 deg, lon: -122.114450 deg, deltaT: 4.047218 s, deltaX: 9.900024 m, approachRate: 2.446131 m/s, posRepo size: 4 2025-01-08T21:21:38.348Z,1736371298.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.70 m. 2025-01-08T21:21:38.351Z,1736371298.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.700012 m, nav range: 62.810669 m, bearing: 35.696578 deg, approach rate: 0.000000 m/s, LOS rate: -0.196443 deg/s, cmd heading: 201.530687 deg, new cmd heading: 201.283315 deg. 2025-01-08T21:21:38.368Z,1736371298.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513057 target range: 383.700012 and range: 383.70 m. 2025-01-08T21:21:38.492Z,1736371298.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:38.493Z,1736371298.493 [DAT](INFO): DAT read: TxSync time:21:21:37.5706 2025-01-08T21:21:38.707Z,1736371298.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:21:38.707Z,1736371298.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:38.716Z,1736371298.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.70 m. 2025-01-08T21:21:38.719Z,1736371298.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.700012 m, nav range: 63.086231 m, bearing: 35.632892 deg, approach rate: 0.724866 m/s, LOS rate: -0.166795 deg/s, cmd heading: 201.283312 deg, new cmd heading: 201.093088 deg. 2025-01-08T21:21:38.720Z,1736371298.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.509737 target range: 383.700012 and range: 383.70 m. 2025-01-08T21:21:38.744Z,1736371298.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:38.997Z,1736371298.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:39.112Z,1736371299.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:39.130Z,1736371299.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.70 m. 2025-01-08T21:21:39.137Z,1736371299.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.700012 m, nav range: 63.368256 m, bearing: 35.586109 deg, approach rate: 0.682093 m/s, LOS rate: -0.112645 deg/s, cmd heading: 201.093091 deg, new cmd heading: 200.953366 deg. 2025-01-08T21:21:39.138Z,1736371299.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507298 target range: 383.700012 and range: 383.70 m. 2025-01-08T21:21:39.248Z,1736371299.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:39.485Z,1736371299.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:39.500Z,1736371299.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:39.515Z,1736371299.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:39.521Z,1736371299.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.70 m. 2025-01-08T21:21:39.528Z,1736371299.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.700012 m, nav range: 63.626850 m, bearing: 35.540307 deg, approach rate: 0.661470 m/s, LOS rate: -0.116682 deg/s, cmd heading: 200.953359 deg, new cmd heading: 200.816512 deg. 2025-01-08T21:21:39.530Z,1736371299.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.504909 target range: 383.700012 and range: 383.70 m. 2025-01-08T21:21:39.752Z,1736371299.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:39.753Z,1736371299.753 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:39.753Z,1736371299.753 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:39.753Z,1736371299.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:39.929Z,1736371299.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:39.938Z,1736371299.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.70 m. 2025-01-08T21:21:39.940Z,1736371299.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.700012 m, nav range: 63.928162 m, bearing: 35.479880 deg, approach rate: 0.722812 m/s, LOS rate: -0.144274 deg/s, cmd heading: 200.816509 deg, new cmd heading: 200.636084 deg. 2025-01-08T21:21:39.941Z,1736371299.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.501760 target range: 383.700012 and range: 383.70 m. 2025-01-08T21:21:40.004Z,1736371300.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:40.005Z,1736371300.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744878 2025-01-08T21:21:40.256Z,1736371300.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:40.256Z,1736371300.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996581 2025-01-08T21:21:40.320Z,1736371300.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:40.344Z,1736371300.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.70 m. 2025-01-08T21:21:40.347Z,1736371300.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.700012 m, nav range: 64.190651 m, bearing: 35.425955 deg, approach rate: 0.645436 m/s, LOS rate: -0.132055 deg/s, cmd heading: 200.636083 deg, new cmd heading: 200.474969 deg. 2025-01-08T21:21:40.360Z,1736371300.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498948 target range: 383.700012 and range: 383.70 m. 2025-01-08T21:21:40.508Z,1736371300.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:40.508Z,1736371300.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248578 2025-01-08T21:21:40.699Z,1736371300.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:40.712Z,1736371300.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.70 m. 2025-01-08T21:21:40.715Z,1736371300.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.700012 m, nav range: 64.451462 m, bearing: 35.371340 deg, approach rate: 0.708567 m/s, LOS rate: -0.147777 deg/s, cmd heading: 200.474972 deg, new cmd heading: 200.311791 deg. 2025-01-08T21:21:40.716Z,1736371300.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.496100 target range: 383.700012 and range: 383.70 m. 2025-01-08T21:21:40.760Z,1736371300.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:40.760Z,1736371300.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500549 2025-01-08T21:21:41.012Z,1736371301.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:41.013Z,1736371301.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753307 2025-01-08T21:21:41.128Z,1736371301.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:41.137Z,1736371301.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.70 m. 2025-01-08T21:21:41.142Z,1736371301.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.700012 m, nav range: 64.734222 m, bearing: 35.304843 deg, approach rate: 0.665618 m/s, LOS rate: -0.155850 deg/s, cmd heading: 200.311785 deg, new cmd heading: 200.113167 deg. 2025-01-08T21:21:41.146Z,1736371301.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492634 target range: 383.700012 and range: 383.70 m. 2025-01-08T21:21:41.264Z,1736371301.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:41.264Z,1736371301.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004622 2025-01-08T21:21:41.505Z,1736371301.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:41.514Z,1736371301.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.70 m. 2025-01-08T21:21:41.516Z,1736371301.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:41.517Z,1736371301.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256707 2025-01-08T21:21:41.518Z,1736371301.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.700012 m, nav range: 64.982574 m, bearing: 35.245874 deg, approach rate: 0.660023 m/s, LOS rate: -0.156118 deg/s, cmd heading: 200.113164 deg, new cmd heading: 199.936933 deg. 2025-01-08T21:21:41.519Z,1736371301.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489558 target range: 383.700012 and range: 383.70 m. 2025-01-08T21:21:41.768Z,1736371301.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:41.768Z,1736371301.768 [DAT](INFO): DAT read: Rx Time:21:21:40.4704 2025-01-08T21:21:41.769Z,1736371301.769 [DAT](INFO): Rx dataTimestamp_ set to:1736371301.768670 2025-01-08T21:21:41.769Z,1736371301.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509657 2025-01-08T21:21:41.948Z,1736371301.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:41.971Z,1736371301.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:41.977Z,1736371301.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.70 m. 2025-01-08T21:21:41.985Z,1736371301.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.700012 m, nav range: 65.263443 m, bearing: 35.166557 deg, approach rate: 0.605883 m/s, LOS rate: -0.170364 deg/s, cmd heading: 199.936931 deg, new cmd heading: 199.700006 deg. 2025-01-08T21:21:41.986Z,1736371301.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.485423 target range: 383.700012 and range: 383.70 m. 2025-01-08T21:21:42.023Z,1736371302.023 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:42.024Z,1736371302.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763668 2025-01-08T21:21:42.276Z,1736371302.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:42.284Z,1736371302.284 [DAT](INFO): DAT read: 21:21:40.4705 LVL= 13648, 24561, 21490, 24435, AGC= 67, IDX= 264,-0.03, 2.480, 0.982, 0.761, 1.622, PHS= 0.947,-0.593,-0.863, RAW= 82.0, 6.1, CAL= 87.3, 6.2, ROT= 62.7, -6.2 2025-01-08T21:21:42.285Z,1736371302.285 [DAT](INFO): got valid direction response: 21:21:40.4705 LVL= 13648, 24561, 21490, 24435, AGC= 67, IDX= 264,-0.03, 2.480, 0.982, 0.761, 1.622, PHS= 0.947,-0.593,-0.863, RAW= 82.0, 6.1, CAL= 87.3, 6.2, ROT= 62.7, -6.2 2025-01-08T21:21:42.286Z,1736371302.286 [DAT](INFO): DAT read: Bearing 62.7, -6.2 (Local) 2025-01-08T21:21:42.286Z,1736371302.286 [DAT](INFO): Local bearing/azimuth received: Bearing 62.7, -6.2 (Local) 2025-01-08T21:21:42.297Z,1736371302.297 [DAT](INFO): DAT read: Range 10 to 50 : 371.1 m (Round-trip 494.9 ms) speed 0.4 m/s 2025-01-08T21:21:42.297Z,1736371302.297 [DAT](INFO): DAT read: user:1696> 2025-01-08T21:21:42.298Z,1736371302.298 [DAT](INFO): DAT read: Tx time:21:21:41.5714 2025-01-08T21:21:42.298Z,1736371302.298 [DAT](INFO): Ping request sent. 2025-01-08T21:21:42.299Z,1736371302.299 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:42.299Z,1736371302.299 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:42.300Z,1736371302.300 [DAT](INFO): direction in FSK: [-0.185395,0.246347,0.951284] 2025-01-08T21:21:42.300Z,1736371302.300 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:42.300Z,1736371302.300 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:42.341Z,1736371302.341 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:42.341Z,1736371302.341 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:42.385Z,1736371302.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:42.445Z,1736371302.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 371.100006 m, deltaT: 4.033037 s, deltaX: -12.600006 m, approachRate: -3.124198 m/s, rangeRepo size: 4 2025-01-08T21:21:42.447Z,1736371302.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 371.100006 m, bearing: 339.369317 deg, lat: 36.904817 deg, lon: -122.114717 deg, deltaT: 4.033037 s, deltaX: -12.600006 m, approachRate: -3.124198 m/s, posRepo size: 4 2025-01-08T21:21:42.452Z,1736371302.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.10 m. 2025-01-08T21:21:42.460Z,1736371302.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.100006 m, nav range: 60.886581 m, bearing: 13.241462 deg, approach rate: 0.000000 m/s, LOS rate: -0.170364 deg/s, cmd heading: 199.700005 deg, new cmd heading: 199.461302 deg. 2025-01-08T21:21:42.462Z,1736371302.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.481256 target range: 371.100006 and range: 371.10 m. 2025-01-08T21:21:42.529Z,1736371302.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:42.530Z,1736371302.530 [DAT](INFO): DAT read: TxSync time:21:21:41.5707 2025-01-08T21:21:42.766Z,1736371302.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:42.775Z,1736371302.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.10 m. 2025-01-08T21:21:42.778Z,1736371302.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.100006 m, nav range: 61.140530 m, bearing: 13.256516 deg, approach rate: 0.768083 m/s, LOS rate: 0.045340 deg/s, cmd heading: 199.461304 deg, new cmd heading: 199.506276 deg. 2025-01-08T21:21:42.780Z,1736371302.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:42.782Z,1736371302.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.482041 target range: 371.100006 and range: 371.10 m. 2025-01-08T21:21:43.032Z,1736371303.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:43.173Z,1736371303.173 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250108132248 +10.9, 0.0,1493.3, 0 2025-01-08T21:21:43.181Z,1736371303.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:21:43.182Z,1736371303.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:43.190Z,1736371303.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.10 m. 2025-01-08T21:21:43.193Z,1736371303.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.100006 m, nav range: 61.416656 m, bearing: 13.272045 deg, approach rate: 0.664254 m/s, LOS rate: 0.037191 deg/s, cmd heading: 199.506274 deg, new cmd heading: 199.552654 deg. 2025-01-08T21:21:43.194Z,1736371303.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.482851 target range: 371.100006 and range: 371.10 m. 2025-01-08T21:21:43.285Z,1736371303.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:43.536Z,1736371303.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:43.573Z,1736371303.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:21:43.573Z,1736371303.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:43.582Z,1736371303.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.10 m. 2025-01-08T21:21:43.585Z,1736371303.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.100006 m, nav range: 61.677151 m, bearing: 13.286088 deg, approach rate: 0.664684 m/s, LOS rate: 0.035679 deg/s, cmd heading: 199.552651 deg, new cmd heading: 199.594600 deg. 2025-01-08T21:21:43.586Z,1736371303.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.483583 target range: 371.100006 and range: 371.10 m. 2025-01-08T21:21:43.788Z,1736371303.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:44.040Z,1736371304.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:44.041Z,1736371304.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:44.069Z,1736371304.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:44.071Z,1736371304.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.10 m. 2025-01-08T21:21:44.078Z,1736371304.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.100006 m, nav range: 61.973667 m, bearing: 13.271446 deg, approach rate: 0.607020 m/s, LOS rate: -0.029831 deg/s, cmd heading: 199.594602 deg, new cmd heading: 199.550886 deg. 2025-01-08T21:21:44.084Z,1736371304.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.482820 target range: 371.100006 and range: 371.10 m. 2025-01-08T21:21:44.292Z,1736371304.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:44.293Z,1736371304.293 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:44.293Z,1736371304.293 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:44.294Z,1736371304.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:44.410Z,1736371304.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:44.418Z,1736371304.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.10 m. 2025-01-08T21:21:44.421Z,1736371304.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.100006 m, nav range: 62.207092 m, bearing: 13.259471 deg, approach rate: 0.671855 m/s, LOS rate: -0.034336 deg/s, cmd heading: 199.550889 deg, new cmd heading: 199.515101 deg. 2025-01-08T21:21:44.422Z,1736371304.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.482195 target range: 371.100006 and range: 371.10 m. 2025-01-08T21:21:44.544Z,1736371304.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:44.545Z,1736371304.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245779 2025-01-08T21:21:44.794Z,1736371304.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:44.796Z,1736371304.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:44.797Z,1736371304.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498128 2025-01-08T21:21:44.805Z,1736371304.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.10 m. 2025-01-08T21:21:44.808Z,1736371304.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.100006 m, nav range: 62.449944 m, bearing: 13.246921 deg, approach rate: 0.627941 m/s, LOS rate: -0.032324 deg/s, cmd heading: 199.515099 deg, new cmd heading: 199.477595 deg. 2025-01-08T21:21:44.809Z,1736371304.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.481541 target range: 371.100006 and range: 371.10 m. 2025-01-08T21:21:45.048Z,1736371305.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:45.049Z,1736371305.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749939 2025-01-08T21:21:45.209Z,1736371305.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:45.218Z,1736371305.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.10 m. 2025-01-08T21:21:45.221Z,1736371305.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.100006 m, nav range: 62.710735 m, bearing: 13.222159 deg, approach rate: 0.631561 m/s, LOS rate: -0.059718 deg/s, cmd heading: 199.477601 deg, new cmd heading: 199.403623 deg. 2025-01-08T21:21:45.222Z,1736371305.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.480250 target range: 371.100006 and range: 371.10 m. 2025-01-08T21:21:45.300Z,1736371305.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:45.301Z,1736371305.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002723 2025-01-08T21:21:45.552Z,1736371305.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:45.552Z,1736371305.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253733 2025-01-08T21:21:45.618Z,1736371305.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:45.644Z,1736371305.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.10 m. 2025-01-08T21:21:45.653Z,1736371305.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.100006 m, nav range: 62.968254 m, bearing: 13.197910 deg, approach rate: 0.611519 m/s, LOS rate: -0.057348 deg/s, cmd heading: 199.403616 deg, new cmd heading: 199.331166 deg. 2025-01-08T21:21:45.654Z,1736371305.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.478985 target range: 371.100006 and range: 371.10 m. 2025-01-08T21:21:45.804Z,1736371305.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:45.805Z,1736371305.805 [DAT](INFO): DAT read: Rx Time:21:21:44.4691 2025-01-08T21:21:45.805Z,1736371305.805 [DAT](INFO): Rx dataTimestamp_ set to:1736371305.804697 2025-01-08T21:21:45.805Z,1736371305.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506892 2025-01-08T21:21:46.040Z,1736371306.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:46.050Z,1736371306.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.10 m. 2025-01-08T21:21:46.053Z,1736371306.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.100006 m, nav range: 63.232994 m, bearing: 13.165792 deg, approach rate: 0.643624 m/s, LOS rate: -0.077756 deg/s, cmd heading: 199.331162 deg, new cmd heading: 199.235212 deg. 2025-01-08T21:21:46.054Z,1736371306.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.477310 target range: 371.100006 and range: 371.10 m. 2025-01-08T21:21:46.056Z,1736371306.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:46.056Z,1736371306.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757841 2025-01-08T21:21:46.308Z,1736371306.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:46.316Z,1736371306.316 [DAT](INFO): DAT read: 21:21:44.4691 LVL= 14096, 27969, 24290, 28035, AGC= 67, IDX= 426, 0.02, 1.962, 0.480, 0.102, 1.012, PHS= 1.038,-0.485,-0.913, RAW= 78.0, 4.1, CAL= 82.1, 2.5, ROT= 67.9, -2.5 2025-01-08T21:21:46.317Z,1736371306.317 [DAT](INFO): got valid direction response: 21:21:44.4691 LVL= 14096, 27969, 24290, 28035, AGC= 67, IDX= 426, 0.02, 1.962, 0.480, 0.102, 1.012, PHS= 1.038,-0.485,-0.913, RAW= 78.0, 4.1, CAL= 82.1, 2.5, ROT= 67.9, -2.5 2025-01-08T21:21:46.318Z,1736371306.318 [DAT](INFO): DAT read: Bearing 67.9, -2.5 (Local) 2025-01-08T21:21:46.318Z,1736371306.318 [DAT](INFO): Local bearing/azimuth received: Bearing 67.9, -2.5 (Local) 2025-01-08T21:21:46.320Z,1736371306.320 [DAT](INFO): DAT read: Range 10 to 50 : 370.1 m (Round-trip 493.5 ms) speed -0.1 m/s 2025-01-08T21:21:46.321Z,1736371306.321 [DAT](INFO): DAT read: user:1697> 2025-01-08T21:21:46.321Z,1736371306.321 [DAT](INFO): DAT read: Tx time:21:21:45.5714 2025-01-08T21:21:46.322Z,1736371306.322 [DAT](INFO): Ping request sent. 2025-01-08T21:21:46.322Z,1736371306.322 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:46.322Z,1736371306.322 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:46.324Z,1736371306.324 [DAT](INFO): direction in FSK: [-0.141060,0.312222,0.939478] 2025-01-08T21:21:46.324Z,1736371306.324 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:46.324Z,1736371306.324 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:46.331Z,1736371306.331 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:46.334Z,1736371306.334 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:46.465Z,1736371306.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:46.507Z,1736371306.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 370.100006 m, deltaT: 4.032196 s, deltaX: -1.000000 m, approachRate: -0.248004 m/s, rangeRepo size: 4 2025-01-08T21:21:46.509Z,1736371306.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 370.100006 m, bearing: 322.783508 deg, lat: 36.904817 deg, lon: -122.114903 deg, deltaT: 4.032196 s, deltaX: -1.000000 m, approachRate: -0.248004 m/s, posRepo size: 4 2025-01-08T21:21:46.510Z,1736371306.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.10 m. 2025-01-08T21:21:46.517Z,1736371306.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.100006 m, nav range: 61.873211 m, bearing: 358.063223 deg, approach rate: 0.000000 m/s, LOS rate: -0.077756 deg/s, cmd heading: 199.235211 deg, new cmd heading: 199.129752 deg. 2025-01-08T21:21:46.518Z,1736371306.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.475470 target range: 370.100006 and range: 370.10 m. 2025-01-08T21:21:46.560Z,1736371306.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:46.561Z,1736371306.561 [DAT](INFO): DAT read: TxSync time:21:21:45.5707 2025-01-08T21:21:46.812Z,1736371306.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:46.849Z,1736371306.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:46.864Z,1736371306.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:46.866Z,1736371306.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.10 m. 2025-01-08T21:21:46.873Z,1736371306.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.100006 m, nav range: 62.115009 m, bearing: 358.092186 deg, approach rate: 0.665944 m/s, LOS rate: 0.079458 deg/s, cmd heading: 199.129753 deg, new cmd heading: 199.216305 deg. 2025-01-08T21:21:46.873Z,1736371306.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.476980 target range: 370.100006 and range: 370.10 m. 2025-01-08T21:21:47.066Z,1736371307.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:47.067Z,1736371307.067 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:47.067Z,1736371307.067 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:47.068Z,1736371307.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:47.229Z,1736371307.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:47.238Z,1736371307.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.10 m. 2025-01-08T21:21:47.261Z,1736371307.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.100006 m, nav range: 62.347244 m, bearing: 358.134170 deg, approach rate: 0.623515 m/s, LOS rate: 0.112301 deg/s, cmd heading: 199.216305 deg, new cmd heading: 199.341788 deg. 2025-01-08T21:21:47.263Z,1736371307.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.479171 target range: 370.100006 and range: 370.10 m. 2025-01-08T21:21:47.316Z,1736371307.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:47.317Z,1736371307.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994798 2025-01-08T21:21:47.568Z,1736371307.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:47.568Z,1736371307.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246510 2025-01-08T21:21:47.614Z,1736371307.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:47.625Z,1736371307.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.10 m. 2025-01-08T21:21:47.627Z,1736371307.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.100006 m, nav range: 62.582153 m, bearing: 358.176207 deg, approach rate: 0.607575 m/s, LOS rate: 0.108316 deg/s, cmd heading: 199.341789 deg, new cmd heading: 199.467425 deg. 2025-01-08T21:21:47.629Z,1736371307.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.481363 target range: 370.100006 and range: 370.10 m. 2025-01-08T21:21:47.820Z,1736371307.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:47.820Z,1736371307.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498647 2025-01-08T21:21:48.056Z,1736371308.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:48.072Z,1736371308.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:48.073Z,1736371308.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751135 2025-01-08T21:21:48.085Z,1736371308.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.10 m. 2025-01-08T21:21:48.092Z,1736371308.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.100006 m, nav range: 62.855854 m, bearing: 358.229109 deg, approach rate: 0.594804 m/s, LOS rate: 0.114467 deg/s, cmd heading: 199.467424 deg, new cmd heading: 199.625441 deg. 2025-01-08T21:21:48.093Z,1736371308.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.484121 target range: 370.100006 and range: 370.10 m. 2025-01-08T21:21:48.324Z,1736371308.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:48.325Z,1736371308.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003417 2025-01-08T21:21:48.437Z,1736371308.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:48.448Z,1736371308.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.10 m. 2025-01-08T21:21:48.455Z,1736371308.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.100006 m, nav range: 63.093178 m, bearing: 358.273424 deg, approach rate: 0.654851 m/s, LOS rate: 0.121819 deg/s, cmd heading: 199.625447 deg, new cmd heading: 199.757892 deg. 2025-01-08T21:21:48.457Z,1736371308.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.486433 target range: 370.100006 and range: 370.10 m. 2025-01-08T21:21:48.576Z,1736371308.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:48.576Z,1736371308.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254604 2025-01-08T21:21:48.828Z,1736371308.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:48.829Z,1736371308.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507268 2025-01-08T21:21:48.836Z,1736371308.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:48.845Z,1736371308.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.10 m. 2025-01-08T21:21:48.848Z,1736371308.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.100006 m, nav range: 63.340420 m, bearing: 358.318716 deg, approach rate: 0.622387 m/s, LOS rate: 0.113569 deg/s, cmd heading: 199.757898 deg, new cmd heading: 199.893243 deg. 2025-01-08T21:21:48.849Z,1736371308.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488795 target range: 370.100006 and range: 370.10 m. 2025-01-08T21:21:49.080Z,1736371309.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:49.080Z,1736371309.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758484 2025-01-08T21:21:49.259Z,1736371309.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:49.267Z,1736371309.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:49.269Z,1736371309.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.10 m. 2025-01-08T21:21:49.272Z,1736371309.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.100006 m, nav range: 63.601814 m, bearing: 358.382552 deg, approach rate: 0.615454 m/s, LOS rate: 0.149683 deg/s, cmd heading: 199.893245 deg, new cmd heading: 200.083964 deg. 2025-01-08T21:21:49.273Z,1736371309.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492124 target range: 370.100006 and range: 370.10 m. 2025-01-08T21:21:49.332Z,1736371309.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:49.334Z,1736371309.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011739 2025-01-08T21:21:49.585Z,1736371309.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:49.587Z,1736371309.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264864 2025-01-08T21:21:49.646Z,1736371309.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:49.660Z,1736371309.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.10 m. 2025-01-08T21:21:49.665Z,1736371309.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.100006 m, nav range: 63.840832 m, bearing: 358.440428 deg, approach rate: 0.612609 m/s, LOS rate: 0.147782 deg/s, cmd heading: 200.083958 deg, new cmd heading: 200.256934 deg. 2025-01-08T21:21:49.666Z,1736371309.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.495143 target range: 370.100006 and range: 370.10 m. 2025-01-08T21:21:49.836Z,1736371309.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:49.836Z,1736371309.836 [DAT](INFO): DAT read: Rx Time:21:21:48.4694 2025-01-08T21:21:49.837Z,1736371309.837 [DAT](INFO): Rx dataTimestamp_ set to:1736371309.836557 2025-01-08T21:21:49.837Z,1736371309.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515553 2025-01-08T21:21:50.068Z,1736371310.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:50.088Z,1736371310.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:50.088Z,1736371310.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766570 2025-01-08T21:21:50.113Z,1736371310.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.10 m. 2025-01-08T21:21:50.156Z,1736371310.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.100006 m, nav range: 64.104721 m, bearing: 358.517053 deg, approach rate: 0.585323 m/s, LOS rate: 0.169260 deg/s, cmd heading: 200.256939 deg, new cmd heading: 200.485868 deg. 2025-01-08T21:21:50.169Z,1736371310.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499139 target range: 370.100006 and range: 370.10 m. 2025-01-08T21:21:50.340Z,1736371310.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:50.347Z,1736371310.347 [DAT](INFO): DAT read: 21:21:48.4694 LVL= 14544, 28881, 22354, 31059, AGC= 63, IDX= 428, 0.29, 0.394,-0.989,-1.480,-0.610, PHS= 1.092,-0.332,-0.874, RAW= 74.5, 1.3, CAL= 79.1, -2.3, ROT= 70.9, 2.3 2025-01-08T21:21:50.348Z,1736371310.348 [DAT](INFO): got valid direction response: 21:21:48.4694 LVL= 14544, 28881, 22354, 31059, AGC= 63, IDX= 428, 0.29, 0.394,-0.989,-1.480,-0.610, PHS= 1.092,-0.332,-0.874, RAW= 74.5, 1.3, CAL= 79.1, -2.3, ROT= 70.9, 2.3 2025-01-08T21:21:50.349Z,1736371310.349 [DAT](INFO): DAT read: Bearing 70.9, 2.3 (Local) 2025-01-08T21:21:50.350Z,1736371310.350 [DAT](INFO): Local bearing/azimuth received: Bearing 70.9, 2.3 (Local) 2025-01-08T21:21:50.351Z,1736371310.351 [DAT](INFO): DAT read: Range 10 to 50 : 370.3 m (Round-trip 493.8 ms) speed 0.1 m/s 2025-01-08T21:21:50.352Z,1736371310.352 [DAT](INFO): DAT read: user:1698> 2025-01-08T21:21:50.353Z,1736371310.353 [DAT](INFO): DAT read: Tx time:21:21:49.5714 2025-01-08T21:21:50.353Z,1736371310.353 [DAT](INFO): Ping request sent. 2025-01-08T21:21:50.353Z,1736371310.353 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:50.353Z,1736371310.353 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:50.354Z,1736371310.354 [DAT](INFO): direction in FSK: [-0.082461,0.365154,0.927288] 2025-01-08T21:21:50.354Z,1736371310.354 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:50.355Z,1736371310.355 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:50.358Z,1736371310.358 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:50.358Z,1736371310.358 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:50.480Z,1736371310.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:50.523Z,1736371310.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 370.299988 m, deltaT: 4.031652 s, deltaX: 0.199982 m, approachRate: 0.049603 m/s, rangeRepo size: 4 2025-01-08T21:21:50.525Z,1736371310.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 370.299988 m, bearing: 306.855850 deg, lat: 36.904766 deg, lon: -122.115233 deg, deltaT: 4.031652 s, deltaX: 0.199982 m, approachRate: 0.049603 m/s, posRepo size: 4 2025-01-08T21:21:50.526Z,1736371310.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.30 m. 2025-01-08T21:21:50.538Z,1736371310.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.299988 m, nav range: 66.384224 m, bearing: 332.158471 deg, approach rate: 0.000000 m/s, LOS rate: 0.169260 deg/s, cmd heading: 200.485873 deg, new cmd heading: 200.693097 deg. 2025-01-08T21:21:50.539Z,1736371310.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.502755 target range: 370.299988 and range: 370.30 m. 2025-01-08T21:21:50.594Z,1736371310.594 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:50.596Z,1736371310.596 [DAT](INFO): DAT read: TxSync time:21:21:49.5707 2025-01-08T21:21:50.844Z,1736371310.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:50.876Z,1736371310.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:50.885Z,1736371310.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.30 m. 2025-01-08T21:21:50.888Z,1736371310.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.299988 m, nav range: 66.574440 m, bearing: 332.318474 deg, approach rate: 0.518665 m/s, LOS rate: 0.435034 deg/s, cmd heading: 200.693101 deg, new cmd heading: 201.171725 deg. 2025-01-08T21:21:50.889Z,1736371310.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.511109 target range: 370.299988 and range: 370.30 m. 2025-01-08T21:21:51.096Z,1736371311.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:51.307Z,1736371311.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:51.314Z,1736371311.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:51.317Z,1736371311.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.30 m. 2025-01-08T21:21:51.319Z,1736371311.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.299988 m, nav range: 66.767952 m, bearing: 332.500067 deg, approach rate: 0.448430 m/s, LOS rate: 0.419590 deg/s, cmd heading: 201.171720 deg, new cmd heading: 201.714904 deg. 2025-01-08T21:21:51.320Z,1736371311.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520589 target range: 370.299988 and range: 370.30 m. 2025-01-08T21:21:51.360Z,1736371311.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:51.361Z,1736371311.361 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:51.361Z,1736371311.361 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:51.362Z,1736371311.362 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:51.613Z,1736371311.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:51.615Z,1736371311.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261168 2025-01-08T21:21:51.698Z,1736371311.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:51.707Z,1736371311.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.30 m. 2025-01-08T21:21:51.710Z,1736371311.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.299988 m, nav range: 66.944160 m, bearing: 332.664059 deg, approach rate: 0.451521 m/s, LOS rate: 0.419110 deg/s, cmd heading: 201.714898 deg, new cmd heading: 202.205565 deg. 2025-01-08T21:21:51.711Z,1736371311.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529153 target range: 370.299988 and range: 370.30 m. 2025-01-08T21:21:51.864Z,1736371311.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:51.865Z,1736371311.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511491 2025-01-08T21:21:52.116Z,1736371312.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:52.117Z,1736371312.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763593 2025-01-08T21:21:52.118Z,1736371312.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:52.127Z,1736371312.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.30 m. 2025-01-08T21:21:52.131Z,1736371312.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.299988 m, nav range: 67.125412 m, bearing: 332.849505 deg, approach rate: 0.431258 m/s, LOS rate: 0.440046 deg/s, cmd heading: 202.205565 deg, new cmd heading: 202.760383 deg. 2025-01-08T21:21:52.132Z,1736371312.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538836 target range: 370.299988 and range: 370.30 m. 2025-01-08T21:21:52.368Z,1736371312.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:52.368Z,1736371312.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015355 2025-01-08T21:21:52.489Z,1736371312.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:52.498Z,1736371312.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.30 m. 2025-01-08T21:21:52.501Z,1736371312.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.299988 m, nav range: 67.285889 m, bearing: 333.012510 deg, approach rate: 0.432988 m/s, LOS rate: 0.438762 deg/s, cmd heading: 202.760381 deg, new cmd heading: 203.248219 deg. 2025-01-08T21:21:52.501Z,1736371312.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547351 target range: 370.299988 and range: 370.30 m. 2025-01-08T21:21:52.620Z,1736371312.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:52.622Z,1736371312.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268445 2025-01-08T21:21:52.872Z,1736371312.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:52.872Z,1736371312.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519248 2025-01-08T21:21:52.893Z,1736371312.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:52.904Z,1736371312.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.30 m. 2025-01-08T21:21:52.907Z,1736371312.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.299988 m, nav range: 67.460983 m, bearing: 333.189254 deg, approach rate: 0.430849 m/s, LOS rate: 0.433776 deg/s, cmd heading: 203.248220 deg, new cmd heading: 203.777058 deg. 2025-01-08T21:21:52.908Z,1736371312.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.556581 target range: 370.299988 and range: 370.30 m. 2025-01-08T21:21:53.124Z,1736371313.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:53.125Z,1736371313.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771700 2025-01-08T21:21:53.349Z,1736371313.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:53.356Z,1736371313.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:53.358Z,1736371313.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.30 m. 2025-01-08T21:21:53.361Z,1736371313.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.299988 m, nav range: 67.650711 m, bearing: 333.391082 deg, approach rate: 0.418070 m/s, LOS rate: 0.443487 deg/s, cmd heading: 203.777055 deg, new cmd heading: 204.380819 deg. 2025-01-08T21:21:53.364Z,1736371313.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567118 target range: 370.299988 and range: 370.30 m. 2025-01-08T21:21:53.376Z,1736371313.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:53.377Z,1736371313.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023476 2025-01-08T21:21:53.628Z,1736371313.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:53.630Z,1736371313.630 [DAT](INFO): DAT read: Rx Time:21:21:52.4682 2025-01-08T21:21:53.630Z,1736371313.630 [DAT](INFO): Rx dataTimestamp_ set to:1736371313.629776 2025-01-08T21:21:53.631Z,1736371313.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277593 2025-01-08T21:21:53.740Z,1736371313.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:53.750Z,1736371313.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.30 m. 2025-01-08T21:21:53.753Z,1736371313.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.299988 m, nav range: 67.813217 m, bearing: 333.564068 deg, approach rate: 0.414111 m/s, LOS rate: 0.439757 deg/s, cmd heading: 204.380816 deg, new cmd heading: 204.898513 deg. 2025-01-08T21:21:53.754Z,1736371313.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576154 target range: 370.299988 and range: 370.30 m. 2025-01-08T21:21:53.880Z,1736371313.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:53.881Z,1736371313.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527926 2025-01-08T21:21:54.133Z,1736371314.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:54.136Z,1736371314.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781689 2025-01-08T21:21:54.246Z,1736371314.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:54.256Z,1736371314.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 370.30 m. 2025-01-08T21:21:54.258Z,1736371314.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 370.299988 m, nav range: 68.026779 m, bearing: 333.788328 deg, approach rate: 0.423006 m/s, LOS rate: 0.442801 deg/s, cmd heading: 204.898517 deg, new cmd heading: 205.569155 deg. 2025-01-08T21:21:54.259Z,1736371314.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587859 target range: 370.299988 and range: 370.30 m. 2025-01-08T21:21:54.384Z,1736371314.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:54.391Z,1736371314.391 [DAT](INFO): DAT read: 21:21:52.4682 LVL= 12384, 23537, 16002, 23795, AGC= 68, IDX= 432,-0.14,-0.573,-1.850,-2.210,-1.357, PHS= 0.872,-0.446,-0.856, RAW= 76.9, 5.6, CAL= 80.8, 5.6, ROT= 69.2, -5.6 2025-01-08T21:21:54.392Z,1736371314.392 [DAT](INFO): got valid direction response: 21:21:52.4682 LVL= 12384, 23537, 16002, 23795, AGC= 68, IDX= 432,-0.14,-0.573,-1.850,-2.210,-1.357, PHS= 0.872,-0.446,-0.856, RAW= 76.9, 5.6, CAL= 80.8, 5.6, ROT= 69.2, -5.6 2025-01-08T21:21:54.393Z,1736371314.393 [DAT](INFO): DAT read: Bearing 69.2, -5.6 (Local) 2025-01-08T21:21:54.393Z,1736371314.393 [DAT](INFO): Local bearing/azimuth received: Bearing 69.2, -5.6 (Local) 2025-01-08T21:21:54.397Z,1736371314.397 [DAT](INFO): DAT read: Range 10 to 50 : 369.3 m (Round-trip 492.5 ms) speed 0.7 m/s 2025-01-08T21:21:54.398Z,1736371314.398 [DAT](INFO): DAT read: user:1699> 2025-01-08T21:21:54.398Z,1736371314.398 [DAT](INFO): DAT read: Tx time:21:21:53.5715 2025-01-08T21:21:54.399Z,1736371314.399 [DAT](INFO): Ping request sent. 2025-01-08T21:21:54.399Z,1736371314.399 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:54.400Z,1736371314.400 [DAT](INFO): DAT read: TxSync time:21:21:53.5708 2025-01-08T21:21:54.400Z,1736371314.400 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:54.401Z,1736371314.401 [DAT](INFO): direction in FSK: [-0.165990,0.329987,0.929277] 2025-01-08T21:21:54.401Z,1736371314.401 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:54.401Z,1736371314.401 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:54.408Z,1736371314.408 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:54.408Z,1736371314.408 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:54.548Z,1736371314.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:54.593Z,1736371314.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 369.299988 m, deltaT: 4.043696 s, deltaX: -1.000000 m, approachRate: -0.247299 m/s, rangeRepo size: 4 2025-01-08T21:21:54.607Z,1736371314.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 369.299988 m, bearing: 332.991013 deg, lat: 36.904918 deg, lon: -122.115374 deg, deltaT: 4.043696 s, deltaX: -1.000000 m, approachRate: -0.247299 m/s, posRepo size: 4 2025-01-08T21:21:54.608Z,1736371314.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.30 m. 2025-01-08T21:21:54.611Z,1736371314.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.299988 m, nav range: 88.844025 m, bearing: 331.425192 deg, approach rate: 0.000000 m/s, LOS rate: 0.442801 deg/s, cmd heading: 205.569160 deg, new cmd heading: 206.017174 deg. 2025-01-08T21:21:54.616Z,1736371314.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595678 target range: 369.299988 and range: 369.30 m. 2025-01-08T21:21:54.636Z,1736371314.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:54.888Z,1736371314.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:54.930Z,1736371314.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:54.939Z,1736371314.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.30 m. 2025-01-08T21:21:54.942Z,1736371314.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.299988 m, nav range: 88.998596 m, bearing: 331.562479 deg, approach rate: 0.446180 m/s, LOS rate: 0.395598 deg/s, cmd heading: 206.017179 deg, new cmd heading: 206.428317 deg. 2025-01-08T21:21:54.943Z,1736371314.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602854 target range: 369.299988 and range: 369.30 m. 2025-01-08T21:21:55.140Z,1736371315.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:55.372Z,1736371315.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:55.381Z,1736371315.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:55.383Z,1736371315.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.30 m. 2025-01-08T21:21:55.386Z,1736371315.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.299988 m, nav range: 89.187737 m, bearing: 331.712230 deg, approach rate: 0.426191 m/s, LOS rate: 0.336719 deg/s, cmd heading: 206.428316 deg, new cmd heading: 206.876606 deg. 2025-01-08T21:21:55.387Z,1736371315.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610678 target range: 369.299988 and range: 369.30 m. 2025-01-08T21:21:55.392Z,1736371315.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:55.392Z,1736371315.392 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:55.392Z,1736371315.392 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:55.393Z,1736371315.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:55.644Z,1736371315.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:55.645Z,1736371315.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246132 2025-01-08T21:21:55.734Z,1736371315.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:55.742Z,1736371315.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.30 m. 2025-01-08T21:21:55.761Z,1736371315.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.299988 m, nav range: 89.340698 m, bearing: 331.835047 deg, approach rate: 0.425917 m/s, LOS rate: 0.341393 deg/s, cmd heading: 206.876608 deg, new cmd heading: 207.244422 deg. 2025-01-08T21:21:55.762Z,1736371315.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.617098 target range: 369.299988 and range: 369.30 m. 2025-01-08T21:21:55.896Z,1736371315.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:55.897Z,1736371315.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498403 2025-01-08T21:21:56.148Z,1736371316.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:56.148Z,1736371316.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749699 2025-01-08T21:21:56.163Z,1736371316.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:56.200Z,1736371316.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.30 m. 2025-01-08T21:21:56.203Z,1736371316.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.299988 m, nav range: 89.532059 m, bearing: 331.971752 deg, approach rate: 0.417374 m/s, LOS rate: 0.297529 deg/s, cmd heading: 207.244427 deg, new cmd heading: 207.653659 deg. 2025-01-08T21:21:56.208Z,1736371316.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.624240 target range: 369.299988 and range: 369.30 m. 2025-01-08T21:21:56.400Z,1736371316.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:56.400Z,1736371316.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001688 2025-01-08T21:21:56.547Z,1736371316.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:56.555Z,1736371316.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.30 m. 2025-01-08T21:21:56.558Z,1736371316.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.299988 m, nav range: 89.701897 m, bearing: 332.094442 deg, approach rate: 0.478730 m/s, LOS rate: 0.345176 deg/s, cmd heading: 207.653665 deg, new cmd heading: 208.021032 deg. 2025-01-08T21:21:56.559Z,1736371316.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.630652 target range: 369.299988 and range: 369.30 m. 2025-01-08T21:21:56.653Z,1736371316.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:56.654Z,1736371316.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254647 2025-01-08T21:21:56.904Z,1736371316.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:56.904Z,1736371316.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505616 2025-01-08T21:21:56.953Z,1736371316.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:56.973Z,1736371316.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.30 m. 2025-01-08T21:21:56.980Z,1736371316.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.299988 m, nav range: 89.878922 m, bearing: 332.225312 deg, approach rate: 0.423297 m/s, LOS rate: 0.312317 deg/s, cmd heading: 208.021034 deg, new cmd heading: 208.412866 deg. 2025-01-08T21:21:56.981Z,1736371316.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.637491 target range: 369.299988 and range: 369.30 m. 2025-01-08T21:21:57.156Z,1736371317.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:57.157Z,1736371317.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757765 2025-01-08T21:21:57.376Z,1736371317.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:57.385Z,1736371317.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:57.387Z,1736371317.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.30 m. 2025-01-08T21:21:57.390Z,1736371317.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.299988 m, nav range: 90.081291 m, bearing: 332.347142 deg, approach rate: 0.489430 m/s, LOS rate: 0.293981 deg/s, cmd heading: 208.412868 deg, new cmd heading: 208.777529 deg. 2025-01-08T21:21:57.391Z,1736371317.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.643855 target range: 369.299988 and range: 369.30 m. 2025-01-08T21:21:57.408Z,1736371317.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:57.408Z,1736371317.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009665 2025-01-08T21:21:57.660Z,1736371317.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:57.662Z,1736371317.662 [DAT](INFO): DAT read: Rx Time:21:21:56.4658 2025-01-08T21:21:57.662Z,1736371317.662 [DAT](INFO): Rx dataTimestamp_ set to:1736371317.662071 2025-01-08T21:21:57.663Z,1736371317.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264639 2025-01-08T21:21:57.760Z,1736371317.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:57.770Z,1736371317.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.30 m. 2025-01-08T21:21:57.772Z,1736371317.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.299988 m, nav range: 90.263451 m, bearing: 332.457669 deg, approach rate: 0.475882 m/s, LOS rate: 0.288165 deg/s, cmd heading: 208.777532 deg, new cmd heading: 209.108442 deg. 2025-01-08T21:21:57.773Z,1736371317.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.649631 target range: 369.299988 and range: 369.30 m. 2025-01-08T21:21:57.913Z,1736371317.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:57.913Z,1736371317.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514698 2025-01-08T21:21:58.165Z,1736371318.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:58.178Z,1736371318.178 [DAT](INFO): DAT read: 21:21:56.4658 LVL= 13488, 29665, 21794, 26419, AGC= 62, IDX= 423, 0.10,-0.191,-1.746,-1.823,-1.169, PHS= 1.067,-0.530,-0.657, RAW= 86.2, 1.5, CAL= 92.7, -2.0, ROT= 57.3, 2.0 2025-01-08T21:21:58.184Z,1736371318.184 [DAT](INFO): got valid direction response: 21:21:56.4658 LVL= 13488, 29665, 21794, 26419, AGC= 62, IDX= 423, 0.10,-0.191,-1.746,-1.823,-1.169, PHS= 1.067,-0.530,-0.657, RAW= 86.2, 1.5, CAL= 92.7, -2.0, ROT= 57.3, 2.0 2025-01-08T21:21:58.185Z,1736371318.185 [DAT](INFO): DAT read: Bearing 57.3, 2.0 (Local) 2025-01-08T21:21:58.185Z,1736371318.185 [DAT](INFO): Local bearing/azimuth received: Bearing 57.3, 2.0 (Local) 2025-01-08T21:21:58.187Z,1736371318.187 [DAT](INFO): DAT read: Range 10 to 50 : 367.5 m (Round-trip 490.1 ms) speed 0.0 m/s 2025-01-08T21:21:58.189Z,1736371318.189 [DAT](INFO): DAT read: user:1700> 2025-01-08T21:21:58.190Z,1736371318.190 [DAT](INFO): DAT read: Tx time:21:21:57.5715 2025-01-08T21:21:58.190Z,1736371318.190 [DAT](INFO): Ping request sent. 2025-01-08T21:21:58.190Z,1736371318.190 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:21:58.190Z,1736371318.190 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:21:58.216Z,1736371318.216 [DAT](INFO): direction in FSK: [-0.106504,0.173852,0.978996] 2025-01-08T21:21:58.216Z,1736371318.216 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:58.216Z,1736371318.216 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:58.227Z,1736371318.227 [DAT](INFO): publishing transmit ping time 2025-01-08T21:21:58.228Z,1736371318.228 [DAT](INFO): publishing direction and range info 2025-01-08T21:21:58.298Z,1736371318.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:58.337Z,1736371318.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 367.500000 m, deltaT: 3.781831 s, deltaX: -1.799988 m, approachRate: -0.475957 m/s, rangeRepo size: 4 2025-01-08T21:21:58.339Z,1736371318.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 367.500000 m, bearing: 31.207319 deg, lat: 36.904918 deg, lon: -122.115374 deg, deltaT: 3.781831 s, deltaX: -1.799988 m, approachRate: -0.475957 m/s, posRepo size: 4 2025-01-08T21:21:58.344Z,1736371318.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:21:58.352Z,1736371318.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 90.533722 m, bearing: 332.598691 deg, approach rate: 0.000000 m/s, LOS rate: 0.288165 deg/s, cmd heading: 209.108441 deg, new cmd heading: 209.598185 deg. 2025-01-08T21:21:58.353Z,1736371318.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.658178 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:21:58.416Z,1736371318.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:58.416Z,1736371318.416 [DAT](INFO): DAT read: TxSync time:21:21:57.5708 2025-01-08T21:21:58.668Z,1736371318.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:58.701Z,1736371318.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:58.710Z,1736371318.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:21:58.712Z,1736371318.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 90.733482 m, bearing: 332.706051 deg, approach rate: 0.534883 m/s, LOS rate: 0.286835 deg/s, cmd heading: 209.598179 deg, new cmd heading: 209.919545 deg. 2025-01-08T21:21:58.713Z,1736371318.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.663787 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:21:58.920Z,1736371318.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:59.090Z,1736371319.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:59.146Z,1736371319.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:21:59.152Z,1736371319.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 90.922958 m, bearing: 332.810068 deg, approach rate: 0.435091 m/s, LOS rate: 0.238356 deg/s, cmd heading: 209.919539 deg, new cmd heading: 210.230938 deg. 2025-01-08T21:21:59.156Z,1736371319.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.669222 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:21:59.172Z,1736371319.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:59.424Z,1736371319.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:59.519Z,1736371319.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:59.526Z,1736371319.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:21:59.532Z,1736371319.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:21:59.539Z,1736371319.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 91.132622 m, bearing: 332.911390 deg, approach rate: 0.541223 m/s, LOS rate: 0.260950 deg/s, cmd heading: 210.230941 deg, new cmd heading: 210.534205 deg. 2025-01-08T21:21:59.540Z,1736371319.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.674515 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:21:59.676Z,1736371319.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:59.677Z,1736371319.677 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:21:59.677Z,1736371319.677 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:21:59.678Z,1736371319.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:21:59.886Z,1736371319.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:21:59.896Z,1736371319.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:21:59.898Z,1736371319.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 91.327660 m, bearing: 333.007587 deg, approach rate: 0.538310 m/s, LOS rate: 0.264939 deg/s, cmd heading: 210.534202 deg, new cmd heading: 210.822173 deg. 2025-01-08T21:21:59.900Z,1736371319.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.679541 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:21:59.928Z,1736371319.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:21:59.929Z,1736371319.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739269 2025-01-08T21:22:00.180Z,1736371320.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:00.180Z,1736371320.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990390 2025-01-08T21:22:00.333Z,1736371320.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:00.341Z,1736371320.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:00.345Z,1736371320.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 91.555656 m, bearing: 333.114488 deg, approach rate: 0.510480 m/s, LOS rate: 0.238753 deg/s, cmd heading: 210.822176 deg, new cmd heading: 211.142078 deg. 2025-01-08T21:22:00.346Z,1736371320.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.685124 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:00.432Z,1736371320.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:00.433Z,1736371320.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242392 2025-01-08T21:22:00.686Z,1736371320.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:00.687Z,1736371320.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496562 2025-01-08T21:22:00.757Z,1736371320.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:00.773Z,1736371320.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:00.776Z,1736371320.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 91.768280 m, bearing: 333.218400 deg, approach rate: 0.492523 m/s, LOS rate: 0.240146 deg/s, cmd heading: 211.142075 deg, new cmd heading: 211.453087 deg. 2025-01-08T21:22:00.777Z,1736371320.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.690552 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:00.937Z,1736371320.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:00.937Z,1736371320.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747184 2025-01-08T21:22:01.188Z,1736371321.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:01.188Z,1736371321.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998308 2025-01-08T21:22:01.243Z,1736371321.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:01.268Z,1736371321.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:01.271Z,1736371321.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 92.002213 m, bearing: 333.342406 deg, approach rate: 0.472680 m/s, LOS rate: 0.249926 deg/s, cmd heading: 211.453081 deg, new cmd heading: 211.824145 deg. 2025-01-08T21:22:01.277Z,1736371321.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.697029 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:01.440Z,1736371321.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:01.441Z,1736371321.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250890 2025-01-08T21:22:01.692Z,1736371321.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:01.693Z,1736371321.693 [DAT](INFO): DAT read: Rx Time:21:22:00.4658 2025-01-08T21:22:01.693Z,1736371321.693 [DAT](INFO): Rx dataTimestamp_ set to:1736371321.692684 2025-01-08T21:22:01.693Z,1736371321.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503399 2025-01-08T21:22:01.718Z,1736371321.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:01.726Z,1736371321.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:01.752Z,1736371321.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:01.755Z,1736371321.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 92.234108 m, bearing: 333.464491 deg, approach rate: 0.479204 m/s, LOS rate: 0.251650 deg/s, cmd heading: 211.824151 deg, new cmd heading: 212.189480 deg. 2025-01-08T21:22:01.760Z,1736371321.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.703405 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:01.944Z,1736371321.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:01.944Z,1736371321.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754247 2025-01-08T21:22:02.086Z,1736371322.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:02.094Z,1736371322.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:02.098Z,1736371322.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 92.408730 m, bearing: 333.560869 deg, approach rate: 0.509959 m/s, LOS rate: 0.280928 deg/s, cmd heading: 212.189484 deg, new cmd heading: 212.478070 deg. 2025-01-08T21:22:02.099Z,1736371322.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.708442 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:02.198Z,1736371322.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:02.218Z,1736371322.218 [DAT](INFO): DAT read: 21:22:00.4658 LVL= 14688, 27505, 19794, 23939, AGC= 66, IDX= 439, 0.01, 2.055, 0.343, 0.342, 0.974, PHS= 1.168,-0.585,-0.636, RAW= 88.6, 0.6, CAL= 95.8, -3.3, ROT= 54.2, 3.3 2025-01-08T21:22:02.224Z,1736371322.224 [DAT](INFO): got valid direction response: 21:22:00.4658 LVL= 14688, 27505, 19794, 23939, AGC= 66, IDX= 439, 0.01, 2.055, 0.343, 0.342, 0.974, PHS= 1.168,-0.585,-0.636, RAW= 88.6, 0.6, CAL= 95.8, -3.3, ROT= 54.2, 3.3 2025-01-08T21:22:02.225Z,1736371322.225 [DAT](INFO): DAT read: Bearing 54.2, 3.3 (Local) 2025-01-08T21:22:02.225Z,1736371322.225 [DAT](INFO): Local bearing/azimuth received: Bearing 54.2, 3.3 (Local) 2025-01-08T21:22:02.226Z,1736371322.226 [DAT](INFO): DAT read: Range 10 to 50 : 367.5 m (Round-trip 490.1 ms) speed -0.3 m/s 2025-01-08T21:22:02.233Z,1736371322.233 [DAT](INFO): DAT read: user:1701> 2025-01-08T21:22:02.234Z,1736371322.234 [DAT](INFO): DAT read: Tx time:21:22:01.5715 2025-01-08T21:22:02.234Z,1736371322.234 [DAT](INFO): Ping request sent. 2025-01-08T21:22:02.234Z,1736371322.234 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:02.235Z,1736371322.235 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:22:02.245Z,1736371322.245 [DAT](INFO): direction in FSK: [-0.094263,0.132697,0.986664] 2025-01-08T21:22:02.246Z,1736371322.246 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:02.246Z,1736371322.246 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:02.256Z,1736371322.256 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:02.256Z,1736371322.256 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:02.448Z,1736371322.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:02.449Z,1736371322.449 [DAT](INFO): DAT read: TxSync time:21:22:01.5708 2025-01-08T21:22:02.543Z,1736371322.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:02.576Z,1736371322.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 367.500000 m, deltaT: 4.034404 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T21:22:02.583Z,1736371322.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 367.500000 m, bearing: 48.687094 deg, lat: 36.904758 deg, lon: -122.115374 deg, deltaT: 4.034404 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T21:22:02.584Z,1736371322.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:02.587Z,1736371322.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 77.093605 m, bearing: 327.832120 deg, approach rate: 0.000000 m/s, LOS rate: 0.280928 deg/s, cmd heading: 212.478074 deg, new cmd heading: 212.876775 deg. 2025-01-08T21:22:02.592Z,1736371322.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.715401 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:02.700Z,1736371322.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:02.890Z,1736371322.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:02.900Z,1736371322.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:02.903Z,1736371322.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 77.228546 m, bearing: 327.963621 deg, approach rate: 0.405404 m/s, LOS rate: 0.394379 deg/s, cmd heading: 212.876779 deg, new cmd heading: 213.270587 deg. 2025-01-08T21:22:02.904Z,1736371322.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722274 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:02.952Z,1736371322.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:03.204Z,1736371323.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:03.317Z,1736371323.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:03.325Z,1736371323.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:03.329Z,1736371323.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 77.370850 m, bearing: 328.137583 deg, approach rate: 0.334817 m/s, LOS rate: 0.408552 deg/s, cmd heading: 213.270580 deg, new cmd heading: 213.791493 deg. 2025-01-08T21:22:03.330Z,1736371323.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.731365 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:03.456Z,1736371323.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:03.708Z,1736371323.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:03.720Z,1736371323.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:03.727Z,1736371323.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:03.729Z,1736371323.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:03.732Z,1736371323.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 77.506187 m, bearing: 328.301644 deg, approach rate: 0.335163 m/s, LOS rate: 0.405584 deg/s, cmd heading: 213.791492 deg, new cmd heading: 214.282801 deg. 2025-01-08T21:22:03.733Z,1736371323.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.739940 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:03.960Z,1736371323.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:03.960Z,1736371323.960 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:22:03.960Z,1736371323.960 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:22:03.961Z,1736371323.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:04.103Z,1736371324.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:04.112Z,1736371324.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:04.114Z,1736371324.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 77.633179 m, bearing: 328.457274 deg, approach rate: 0.332387 m/s, LOS rate: 0.406680 deg/s, cmd heading: 214.282801 deg, new cmd heading: 214.748918 deg. 2025-01-08T21:22:04.116Z,1736371324.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748076 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:04.213Z,1736371324.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:04.216Z,1736371324.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980803 2025-01-08T21:22:04.464Z,1736371324.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:04.464Z,1736371324.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229988 2025-01-08T21:22:04.540Z,1736371324.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:04.550Z,1736371324.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:04.553Z,1736371324.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 77.757072 m, bearing: 328.653632 deg, approach rate: 0.282498 m/s, LOS rate: 0.447013 deg/s, cmd heading: 214.748920 deg, new cmd heading: 215.337032 deg. 2025-01-08T21:22:04.554Z,1736371324.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.758340 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:04.717Z,1736371324.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:04.719Z,1736371324.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483718 2025-01-08T21:22:04.916Z,1736371324.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:04.924Z,1736371324.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:04.927Z,1736371324.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 77.863548 m, bearing: 328.821786 deg, approach rate: 0.284356 m/s, LOS rate: 0.448462 deg/s, cmd heading: 215.337027 deg, new cmd heading: 215.840787 deg. 2025-01-08T21:22:04.929Z,1736371324.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767132 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:04.968Z,1736371324.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:04.969Z,1736371324.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734858 2025-01-08T21:22:05.146Z,1736371325.146 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:22:05.222Z,1736371325.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:05.226Z,1736371325.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991076 2025-01-08T21:22:05.351Z,1736371325.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:05.359Z,1736371325.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:05.363Z,1736371325.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 77.965454 m, bearing: 329.032013 deg, approach rate: 0.234369 m/s, LOS rate: 0.482857 deg/s, cmd heading: 215.840781 deg, new cmd heading: 216.470609 deg. 2025-01-08T21:22:05.364Z,1736371325.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778125 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:05.472Z,1736371325.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:05.473Z,1736371325.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238187 2025-01-08T21:22:05.724Z,1736371325.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:05.725Z,1736371325.725 [DAT](INFO): DAT read: Rx Time:21:22:04.4941 2025-01-08T21:22:05.727Z,1736371325.727 [DAT](INFO): Rx dataTimestamp_ set to:1736371325.725774 2025-01-08T21:22:05.728Z,1736371325.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493077 2025-01-08T21:22:05.755Z,1736371325.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:05.774Z,1736371325.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:05.781Z,1736371325.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:05.789Z,1736371325.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 78.059120 m, bearing: 329.225534 deg, approach rate: 0.222318 m/s, LOS rate: 0.458773 deg/s, cmd heading: 216.470606 deg, new cmd heading: 217.050451 deg. 2025-01-08T21:22:05.790Z,1736371325.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788245 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:05.976Z,1736371325.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:05.976Z,1736371325.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741886 2025-01-08T21:22:06.123Z,1736371326.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:06.133Z,1736371326.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:06.138Z,1736371326.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 78.146225 m, bearing: 329.405014 deg, approach rate: 0.247148 m/s, LOS rate: 0.508683 deg/s, cmd heading: 217.050448 deg, new cmd heading: 217.588273 deg. 2025-01-08T21:22:06.143Z,1736371326.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797632 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:06.158Z,1736371326.158 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:22:06.230Z,1736371326.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:06.269Z,1736371326.269 [DAT](INFO): DAT read: 21:22:04.4941 LVL= 18960, 30961, 26098, 28131, AGC= 71, IDX= 200, 0.01,-0.826,-1.917,-2.250,-2.049, PHS= 1.311, 0.179,-0.203, RAW= 75.9, -18.4, CAL= 88.9, -26.6, ROT= 61.1, 26.6 2025-01-08T21:22:06.270Z,1736371326.270 [DAT](INFO): got valid direction response: 21:22:04.4941 LVL= 18960, 30961, 26098, 28131, AGC= 71, IDX= 200, 0.01,-0.826,-1.917,-2.250,-2.049, PHS= 1.311, 0.179,-0.203, RAW= 75.9, -18.4, CAL= 88.9, -26.6, ROT= 61.1, 26.6 2025-01-08T21:22:06.280Z,1736371326.280 [DAT](INFO): DAT read: Bearing 61.1, 26.6 (Local) 2025-01-08T21:22:06.280Z,1736371326.280 [DAT](INFO): Local bearing/azimuth received: Bearing 61.1, 26.6 (Local) 2025-01-08T21:22:06.282Z,1736371326.282 [DAT](INFO): DAT read: Range 10 to 50 : 388.7 m (Round-trip 518.3 ms) speed 0.6 m/s 2025-01-08T21:22:06.282Z,1736371326.282 [DAT](INFO): DAT read: user:1702> 2025-01-08T21:22:06.289Z,1736371326.289 [DAT](INFO): DAT read: Tx time:21:22:05.5716 2025-01-08T21:22:06.291Z,1736371326.291 [DAT](INFO): Ping request sent. 2025-01-08T21:22:06.291Z,1736371326.291 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:06.291Z,1736371326.291 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:22:06.292Z,1736371326.292 [DAT](INFO): direction in FSK: [0.283119,0.304294,0.909532] 2025-01-08T21:22:06.292Z,1736371326.292 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:06.293Z,1736371326.293 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:06.300Z,1736371326.300 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:06.301Z,1736371326.301 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:06.482Z,1736371326.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:06.483Z,1736371326.483 [DAT](INFO): DAT read: TxSync time:21:22:05.5708 2025-01-08T21:22:06.606Z,1736371326.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:06.633Z,1736371326.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 388.700012 m, deltaT: 4.030724 s, deltaX: 21.200012 m, approachRate: 5.259604 m/s, rangeRepo size: 4 2025-01-08T21:22:06.634Z,1736371326.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:06.641Z,1736371326.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 78.250435 m, bearing: 329.650592 deg, approach rate: 0.208503 m/s, LOS rate: 0.490695 deg/s, cmd heading: 217.588271 deg, new cmd heading: 218.323979 deg. 2025-01-08T21:22:06.642Z,1736371326.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810472 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:06.737Z,1736371326.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:06.949Z,1736371326.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:06.957Z,1736371326.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:06.960Z,1736371326.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 78.325340 m, bearing: 329.824660 deg, approach rate: 0.230599 m/s, LOS rate: 0.535362 deg/s, cmd heading: 218.323978 deg, new cmd heading: 218.845667 deg. 2025-01-08T21:22:06.962Z,1736371326.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.819577 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:06.988Z,1736371326.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:07.241Z,1736371327.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:07.389Z,1736371327.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:07.399Z,1736371327.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:07.402Z,1736371327.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 78.424622 m, bearing: 330.051231 deg, approach rate: 0.224920 m/s, LOS rate: 0.512640 deg/s, cmd heading: 218.845668 deg, new cmd heading: 219.524486 deg. 2025-01-08T21:22:07.403Z,1736371327.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.831425 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:07.492Z,1736371327.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:07.744Z,1736371327.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:07.744Z,1736371327.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:07.753Z,1736371327.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:07.774Z,1736371327.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 78.501091 m, bearing: 330.233866 deg, approach rate: 0.215639 m/s, LOS rate: 0.514518 deg/s, cmd heading: 219.524493 deg, new cmd heading: 220.071848 deg. 2025-01-08T21:22:07.775Z,1736371327.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840978 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:07.996Z,1736371327.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:08.143Z,1736371328.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:08.151Z,1736371328.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:08.153Z,1736371328.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:08.156Z,1736371328.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 78.586525 m, bearing: 330.440150 deg, approach rate: 0.213889 m/s, LOS rate: 0.515881 deg/s, cmd heading: 220.071851 deg, new cmd heading: 220.690003 deg. 2025-01-08T21:22:08.157Z,1736371328.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.851767 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:08.249Z,1736371328.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:08.251Z,1736371328.251 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:22:08.251Z,1736371328.251 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:22:08.252Z,1736371328.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:08.500Z,1736371328.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:08.501Z,1736371328.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.209858 2025-01-08T21:22:08.577Z,1736371328.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:08.586Z,1736371328.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:08.590Z,1736371328.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 78.688576 m, bearing: 330.651384 deg, approach rate: 0.235406 m/s, LOS rate: 0.486633 deg/s, cmd heading: 220.690010 deg, new cmd heading: 221.322863 deg. 2025-01-08T21:22:08.591Z,1736371328.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.862813 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:08.752Z,1736371328.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:08.752Z,1736371328.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461685 2025-01-08T21:22:08.956Z,1736371328.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:08.974Z,1736371328.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:08.980Z,1736371328.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 78.777000 m, bearing: 330.835967 deg, approach rate: 0.228379 m/s, LOS rate: 0.476196 deg/s, cmd heading: 221.322868 deg, new cmd heading: 221.875977 deg. 2025-01-08T21:22:08.981Z,1736371328.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.872466 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:09.004Z,1736371329.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:09.005Z,1736371329.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713875 2025-01-08T21:22:09.259Z,1736371329.259 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:09.262Z,1736371329.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970694 2025-01-08T21:22:09.381Z,1736371329.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:09.389Z,1736371329.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:09.392Z,1736371329.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 78.895302 m, bearing: 331.028947 deg, approach rate: 0.284480 m/s, LOS rate: 0.463362 deg/s, cmd heading: 221.875977 deg, new cmd heading: 222.454028 deg. 2025-01-08T21:22:09.393Z,1736371329.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882555 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:09.508Z,1736371329.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:09.509Z,1736371329.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217864 2025-01-08T21:22:09.760Z,1736371329.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:09.760Z,1736371329.760 [DAT](INFO): DAT read: Rx Time:21:22:08.4617 2025-01-08T21:22:09.761Z,1736371329.761 [DAT](INFO): Rx dataTimestamp_ set to:1736371329.760677 2025-01-08T21:22:09.761Z,1736371329.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.470849 2025-01-08T21:22:09.800Z,1736371329.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:09.830Z,1736371329.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:09.837Z,1736371329.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 79.010452 m, bearing: 331.218785 deg, approach rate: 0.261556 m/s, LOS rate: 0.430574 deg/s, cmd heading: 222.454029 deg, new cmd heading: 223.022694 deg. 2025-01-08T21:22:09.838Z,1736371329.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.892480 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:10.014Z,1736371330.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:10.015Z,1736371330.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.724070 2025-01-08T21:22:10.186Z,1736371330.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:10.193Z,1736371330.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:10.197Z,1736371330.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.50 m. 2025-01-08T21:22:10.200Z,1736371330.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.500000 m, nav range: 79.116096 m, bearing: 331.395355 deg, approach rate: 0.287850 m/s, LOS rate: 0.480460 deg/s, cmd heading: 223.022697 deg, new cmd heading: 223.551685 deg. 2025-01-08T21:22:10.201Z,1736371330.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.901713 target range: 367.500000 and range: 367.50 m. 2025-01-08T21:22:10.269Z,1736371330.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:10.325Z,1736371330.325 [DAT](INFO): DAT read: 21:22:08.4617 LVL= 28848, 32753, 32754, 32755, AGC= 71, IDX= 111, 0.14, 2.856, 1.018, 1.321, 1.843, PHS= 1.100,-0.779,-0.525, RAW= 97.1, 2.3, CAL= 106.7, 0.1, ROT= 43.3, -0.1 2025-01-08T21:22:10.326Z,1736371330.326 [DAT](INFO): got valid direction response: 21:22:08.4617 LVL= 28848, 32753, 32754, 32755, AGC= 71, IDX= 111, 0.14, 2.856, 1.018, 1.321, 1.843, PHS= 1.100,-0.779,-0.525, RAW= 97.1, 2.3, CAL= 106.7, 0.1, ROT= 43.3, -0.1 2025-01-08T21:22:10.332Z,1736371330.332 [DAT](INFO): DAT read: Bearing 43.3, -0.1 (Local) 2025-01-08T21:22:10.333Z,1736371330.333 [DAT](INFO): Local bearing/azimuth received: Bearing 43.3, -0.1 (Local) 2025-01-08T21:22:10.335Z,1736371330.335 [DAT](INFO): DAT read: Range 10 to 50 : 364.4 m (Round-trip 485.9 ms) speed 0.9 m/s 2025-01-08T21:22:10.344Z,1736371330.344 [DAT](INFO): DAT read: user:1703> 2025-01-08T21:22:10.345Z,1736371330.345 [DAT](INFO): DAT read: Tx time:21:22:09.5716 2025-01-08T21:22:10.346Z,1736371330.346 [DAT](INFO): Ping request sent. 2025-01-08T21:22:10.346Z,1736371330.346 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:10.346Z,1736371330.346 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:22:10.347Z,1736371330.347 [DAT](INFO): direction in FSK: [-0.140671,-0.014827,0.989945] 2025-01-08T21:22:10.359Z,1736371330.359 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:10.360Z,1736371330.360 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:10.376Z,1736371330.376 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:10.376Z,1736371330.376 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:10.520Z,1736371330.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:10.521Z,1736371330.521 [DAT](INFO): DAT read: TxSync time:21:22:09.5708 2025-01-08T21:22:10.606Z,1736371330.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:10.641Z,1736371330.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 364.399994 m, deltaT: 8.069990 s, deltaX: -3.100006 m, approachRate: -0.384140 m/s, rangeRepo size: 4 2025-01-08T21:22:10.649Z,1736371330.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 364.399994 m, bearing: 87.186193 deg, lat: 36.904486 deg, lon: -122.114604 deg, deltaT: 8.069990 s, deltaX: -3.100006 m, approachRate: -0.384140 m/s, posRepo size: 4 2025-01-08T21:22:10.650Z,1736371330.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:22:10.658Z,1736371330.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 50.039185 m, bearing: 37.902447 deg, approach rate: 0.000000 m/s, LOS rate: 0.480460 deg/s, cmd heading: 223.551682 deg, new cmd heading: 224.191444 deg. 2025-01-08T21:22:10.664Z,1736371330.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.912879 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:22:10.772Z,1736371330.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:10.977Z,1736371330.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:10.987Z,1736371330.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:22:10.989Z,1736371330.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 50.278515 m, bearing: 37.875323 deg, approach rate: 0.691644 m/s, LOS rate: -0.078013 deg/s, cmd heading: 224.191438 deg, new cmd heading: 224.110454 deg. 2025-01-08T21:22:10.990Z,1736371330.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.911465 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:22:11.024Z,1736371331.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:11.277Z,1736371331.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:11.414Z,1736371331.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:11.423Z,1736371331.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:22:11.426Z,1736371331.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 50.539848 m, bearing: 37.816026 deg, approach rate: 0.598778 m/s, LOS rate: -0.135162 deg/s, cmd heading: 224.110459 deg, new cmd heading: 223.933487 deg. 2025-01-08T21:22:11.427Z,1736371331.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.908377 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:22:11.528Z,1736371331.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:11.780Z,1736371331.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:11.787Z,1736371331.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:11.824Z,1736371331.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:22:11.826Z,1736371331.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 50.762814 m, bearing: 37.768923 deg, approach rate: 0.562366 m/s, LOS rate: -0.118282 deg/s, cmd heading: 223.933489 deg, new cmd heading: 223.792802 deg. 2025-01-08T21:22:11.842Z,1736371331.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.905921 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:22:12.032Z,1736371332.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:12.193Z,1736371332.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:12.201Z,1736371332.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:12.204Z,1736371332.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:22:12.206Z,1736371332.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 51.006866 m, bearing: 37.720938 deg, approach rate: 0.635788 m/s, LOS rate: -0.124407 deg/s, cmd heading: 223.792801 deg, new cmd heading: 223.649537 deg. 2025-01-08T21:22:12.207Z,1736371332.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.903421 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:22:12.286Z,1736371332.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:12.288Z,1736371332.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:22:12.289Z,1736371332.289 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:22:12.290Z,1736371332.290 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:12.536Z,1736371332.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:12.536Z,1736371332.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.190762 2025-01-08T21:22:12.627Z,1736371332.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:12.657Z,1736371332.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:22:12.662Z,1736371332.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 51.246006 m, bearing: 37.649107 deg, approach rate: 0.527485 m/s, LOS rate: -0.157703 deg/s, cmd heading: 223.649531 deg, new cmd heading: 223.435044 deg. 2025-01-08T21:22:12.664Z,1736371332.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.899677 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:22:12.788Z,1736371332.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:12.788Z,1736371332.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.442555 2025-01-08T21:22:13.011Z,1736371333.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:13.022Z,1736371333.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:22:13.024Z,1736371333.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 51.458050 m, bearing: 37.585994 deg, approach rate: 0.581002 m/s, LOS rate: -0.172220 deg/s, cmd heading: 223.435049 deg, new cmd heading: 223.246489 deg. 2025-01-08T21:22:13.025Z,1736371333.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.896386 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:22:13.040Z,1736371333.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:13.040Z,1736371333.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694685 2025-01-08T21:22:13.294Z,1736371333.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:13.297Z,1736371333.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950360 2025-01-08T21:22:13.416Z,1736371333.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:13.425Z,1736371333.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:22:13.429Z,1736371333.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 51.672222 m, bearing: 37.523879 deg, approach rate: 0.530639 m/s, LOS rate: -0.153259 deg/s, cmd heading: 223.246495 deg, new cmd heading: 223.060925 deg. 2025-01-08T21:22:13.430Z,1736371333.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.893147 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:22:13.545Z,1736371333.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:13.546Z,1736371333.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.200340 2025-01-08T21:22:13.796Z,1736371333.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:13.797Z,1736371333.797 [DAT](INFO): DAT read: Rx Time:21:22:12.4592 2025-01-08T21:22:13.797Z,1736371333.797 [DAT](INFO): Rx dataTimestamp_ set to:1736371333.797142 2025-01-08T21:22:13.798Z,1736371333.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.452281 2025-01-08T21:22:13.856Z,1736371333.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:13.872Z,1736371333.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:22:13.876Z,1736371333.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 51.905190 m, bearing: 37.459945 deg, approach rate: 0.523612 m/s, LOS rate: -0.143051 deg/s, cmd heading: 223.060919 deg, new cmd heading: 222.869979 deg. 2025-01-08T21:22:13.877Z,1736371333.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.889815 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:22:14.048Z,1736371334.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:14.049Z,1736371334.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.702839 2025-01-08T21:22:14.214Z,1736371334.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:14.225Z,1736371334.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:14.226Z,1736371334.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:22:14.230Z,1736371334.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 52.095520 m, bearing: 37.410469 deg, approach rate: 0.534140 m/s, LOS rate: -0.138341 deg/s, cmd heading: 222.869974 deg, new cmd heading: 222.722089 deg. 2025-01-08T21:22:14.232Z,1736371334.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.887234 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:22:14.303Z,1736371334.303 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:14.310Z,1736371334.310 [DAT](INFO): DAT read: 21:22:12.4593 LVL= 24640, 32753, 27378, 32755, AGC= 68, IDX= 419, 0.15,-0.100,-1.824,-1.474,-0.945, PHS= 0.933,-0.832,-0.532, RAW= 99.1, 5.3, CAL= 108.9, 3.8, ROT= 41.1, -3.8 2025-01-08T21:22:14.312Z,1736371334.312 [DAT](INFO): got valid direction response: 21:22:12.4593 LVL= 24640, 32753, 27378, 32755, AGC= 68, IDX= 419, 0.15,-0.100,-1.824,-1.474,-0.945, PHS= 0.933,-0.832,-0.532, RAW= 99.1, 5.3, CAL= 108.9, 3.8, ROT= 41.1, -3.8 2025-01-08T21:22:14.314Z,1736371334.314 [DAT](INFO): DAT read: Bearing 41.1, -3.8 (Local) 2025-01-08T21:22:14.315Z,1736371334.315 [DAT](INFO): Local bearing/azimuth received: Bearing 41.1, -3.8 (Local) 2025-01-08T21:22:14.329Z,1736371334.329 [DAT](INFO): DAT read: Range 10 to 50 : 362.5 m (Round-trip 483.4 ms) speed 0.0 m/s 2025-01-08T21:22:14.354Z,1736371334.354 [DAT](INFO): DAT read: user:1704> 2025-01-08T21:22:14.369Z,1736371334.369 [DAT](INFO): DAT read: Tx time:21:22:13.5733 2025-01-08T21:22:14.371Z,1736371334.371 [DAT](INFO): Ping request sent. 2025-01-08T21:22:14.385Z,1736371334.385 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:14.392Z,1736371334.392 [DAT](INFO): DAT read: TxSync time:21:22:13.5725 2025-01-08T21:22:14.393Z,1736371334.393 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:22:14.393Z,1736371334.393 [DAT](INFO): direction in FSK: [-0.199896,-0.046307,0.978722] 2025-01-08T21:22:14.394Z,1736371334.394 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:14.394Z,1736371334.394 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:14.410Z,1736371334.410 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:14.410Z,1736371334.410 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:14.556Z,1736371334.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:14.673Z,1736371334.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:14.706Z,1736371334.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 362.500000 m, deltaT: 4.033488 s, deltaX: -1.899994 m, approachRate: -0.471055 m/s, rangeRepo size: 4 2025-01-08T21:22:14.713Z,1736371334.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 362.500000 m, bearing: 88.100780 deg, lat: 36.904175 deg, lon: -122.114464 deg, deltaT: 4.033488 s, deltaX: -1.899994 m, approachRate: -0.471055 m/s, posRepo size: 4 2025-01-08T21:22:14.714Z,1736371334.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.50 m. 2025-01-08T21:22:14.721Z,1736371334.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.500000 m, nav range: 44.757153 m, bearing: 80.998715 deg, approach rate: 0.000000 m/s, LOS rate: -0.138341 deg/s, cmd heading: 222.722087 deg, new cmd heading: 222.523193 deg. 2025-01-08T21:22:14.722Z,1736371334.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883762 target range: 362.500000 and range: 362.50 m. 2025-01-08T21:22:14.809Z,1736371334.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:15.043Z,1736371335.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:15.053Z,1736371335.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.50 m. 2025-01-08T21:22:15.056Z,1736371335.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.500000 m, nav range: 44.870537 m, bearing: 80.790211 deg, approach rate: 0.326375 m/s, LOS rate: -0.598658 deg/s, cmd heading: 222.523192 deg, new cmd heading: 221.899286 deg. 2025-01-08T21:22:15.057Z,1736371335.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.872873 target range: 362.500000 and range: 362.50 m. 2025-01-08T21:22:15.060Z,1736371335.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:15.064Z,1736371335.064 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T21:12:14.8Z 2025-01-08T21:22:15.064Z,1736371335.064 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T21:22:15.064Z,1736371335.064 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:22:15.064Z,1736371335.064 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T21:22:15.064Z,1736371335.064 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:22:15.064Z,1736371335.064 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T21:22:15.312Z,1736371335.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:15.506Z,1736371335.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:15.515Z,1736371335.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.50 m. 2025-01-08T21:22:15.520Z,1736371335.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.500000 m, nav range: 45.028019 m, bearing: 80.547656 deg, approach rate: 0.341098 m/s, LOS rate: -0.523522 deg/s, cmd heading: 221.899281 deg, new cmd heading: 221.174202 deg. 2025-01-08T21:22:15.521Z,1736371335.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.860218 target range: 362.500000 and range: 362.50 m. 2025-01-08T21:22:15.525Z,1736371335.525 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T21:22:15.525Z,1736371335.525 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T21:22:15.525Z,1736371335.525 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T21:22:15.525Z,1736371335.525 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:22:15.525Z,1736371335.525 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T21:22:15.564Z,1736371335.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:15.816Z,1736371335.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:15.998Z,1736371335.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:16.012Z,1736371336.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.50 m. 2025-01-08T21:22:16.020Z,1736371336.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.500000 m, nav range: 45.197243 m, bearing: 80.292074 deg, approach rate: 0.340574 m/s, LOS rate: -0.512447 deg/s, cmd heading: 221.174202 deg, new cmd heading: 220.410376 deg. 2025-01-08T21:22:16.021Z,1736371336.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.846887 target range: 362.500000 and range: 362.50 m. 2025-01-08T21:22:16.069Z,1736371336.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:16.320Z,1736371336.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:16.459Z,1736371336.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:16.467Z,1736371336.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:16.469Z,1736371336.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.50 m. 2025-01-08T21:22:16.472Z,1736371336.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.500000 m, nav range: 45.389275 m, bearing: 80.066814 deg, approach rate: 0.419778 m/s, LOS rate: -0.490330 deg/s, cmd heading: 220.410382 deg, new cmd heading: 219.737494 deg. 2025-01-08T21:22:16.473Z,1736371336.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.835143 target range: 362.500000 and range: 362.50 m. 2025-01-08T21:22:16.572Z,1736371336.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:16.572Z,1736371336.572 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:22:16.573Z,1736371336.573 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:22:16.573Z,1736371336.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:16.807Z,1736371336.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:16.818Z,1736371336.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.50 m. 2025-01-08T21:22:16.821Z,1736371336.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.500000 m, nav range: 45.534527 m, bearing: 79.897940 deg, approach rate: 0.416195 m/s, LOS rate: -0.482336 deg/s, cmd heading: 219.737499 deg, new cmd heading: 219.232506 deg. 2025-01-08T21:22:16.822Z,1736371336.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.826329 target range: 362.500000 and range: 362.50 m. 2025-01-08T21:22:16.824Z,1736371336.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:16.824Z,1736371336.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.453929 2025-01-08T21:22:17.076Z,1736371337.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:17.076Z,1736371337.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.705878 2025-01-08T21:22:17.207Z,1736371337.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:17.216Z,1736371337.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.50 m. 2025-01-08T21:22:17.219Z,1736371337.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.500000 m, nav range: 45.701378 m, bearing: 79.704328 deg, approach rate: 0.419203 m/s, LOS rate: -0.484661 deg/s, cmd heading: 219.232502 deg, new cmd heading: 218.653807 deg. 2025-01-08T21:22:17.221Z,1736371337.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.816229 target range: 362.500000 and range: 362.50 m. 2025-01-08T21:22:17.330Z,1736371337.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:17.331Z,1736371337.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960183 2025-01-08T21:22:17.580Z,1736371337.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:17.581Z,1736371337.581 [DAT](INFO): DAT read: Rx Time:21:22:16.4603 2025-01-08T21:22:17.582Z,1736371337.582 [DAT](INFO): Rx dataTimestamp_ set to:1736371337.581375 2025-01-08T21:22:17.582Z,1736371337.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211642 2025-01-08T21:22:17.673Z,1736371337.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:17.691Z,1736371337.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.50 m. 2025-01-08T21:22:17.698Z,1736371337.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.500000 m, nav range: 45.929089 m, bearing: 79.486152 deg, approach rate: 0.479976 m/s, LOS rate: -0.457598 deg/s, cmd heading: 218.653808 deg, new cmd heading: 218.002554 deg. 2025-01-08T21:22:17.699Z,1736371337.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.804862 target range: 362.500000 and range: 362.50 m. 2025-01-08T21:22:17.832Z,1736371337.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:17.833Z,1736371337.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.461963 2025-01-08T21:22:18.022Z,1736371338.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:18.045Z,1736371338.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.50 m. 2025-01-08T21:22:18.053Z,1736371338.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.500000 m, nav range: 46.099102 m, bearing: 79.322730 deg, approach rate: 0.480277 m/s, LOS rate: -0.459953 deg/s, cmd heading: 218.002549 deg, new cmd heading: 217.514105 deg. 2025-01-08T21:22:18.054Z,1736371338.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796337 target range: 362.500000 and range: 362.50 m. 2025-01-08T21:22:18.084Z,1736371338.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:18.085Z,1736371338.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.714067 2025-01-08T21:22:18.336Z,1736371338.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:18.343Z,1736371338.343 [DAT](INFO): DAT read: 21:22:16.4603 LVL= 18784, 32753, 25314, 32755, AGC= 67, IDX= 429, 0.43,-0.338,-2.247,-1.781,-1.303, PHS= 1.053,-0.897,-0.481, RAW= 101.7, 3.7, CAL= 112.2, 1.6, ROT= 37.8, -1.6 2025-01-08T21:22:18.345Z,1736371338.345 [DAT](INFO): got valid direction response: 21:22:16.4603 LVL= 18784, 32753, 25314, 32755, AGC= 67, IDX= 429, 0.43,-0.338,-2.247,-1.781,-1.303, PHS= 1.053,-0.897,-0.481, RAW= 101.7, 3.7, CAL= 112.2, 1.6, ROT= 37.8, -1.6 2025-01-08T21:22:18.346Z,1736371338.346 [DAT](INFO): DAT read: Bearing 37.8, -1.6 (Local) 2025-01-08T21:22:18.347Z,1736371338.347 [DAT](INFO): Local bearing/azimuth received: Bearing 37.8, -1.6 (Local) 2025-01-08T21:22:18.349Z,1736371338.349 [DAT](INFO): DAT read: Range 10 to 50 : 362.1 m (Round-trip 482.9 ms) speed 0.0 m/s 2025-01-08T21:22:18.351Z,1736371338.351 [DAT](INFO): DAT read: user:1705> 2025-01-08T21:22:18.357Z,1736371338.357 [DAT](INFO): DAT read: Tx time:21:22:17.5733 2025-01-08T21:22:18.358Z,1736371338.358 [DAT](INFO): Ping request sent. 2025-01-08T21:22:18.358Z,1736371338.358 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:18.362Z,1736371338.362 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:22:18.366Z,1736371338.366 [DAT](INFO): direction in FSK: [-0.172823,-0.092921,0.980560] 2025-01-08T21:22:18.366Z,1736371338.366 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:18.366Z,1736371338.366 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:18.402Z,1736371338.402 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:18.428Z,1736371338.428 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:18.588Z,1736371338.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:18.589Z,1736371338.589 [DAT](INFO): DAT read: TxSync time:21:22:17.5725 2025-01-08T21:22:18.596Z,1736371338.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:18.631Z,1736371338.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 362.100006 m, deltaT: 4.032318 s, deltaX: -0.399994 m, approachRate: -0.099197 m/s, rangeRepo size: 4 2025-01-08T21:22:18.633Z,1736371338.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 362.100006 m, bearing: 91.635613 deg, lat: 36.904147 deg, lon: -122.113892 deg, deltaT: 4.032318 s, deltaX: -0.399994 m, approachRate: -0.099197 m/s, posRepo size: 4 2025-01-08T21:22:18.634Z,1736371338.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.10 m. 2025-01-08T21:22:18.653Z,1736371338.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.100006 m, nav range: 96.612755 m, bearing: 86.590808 deg, approach rate: 0.000000 m/s, LOS rate: -0.459953 deg/s, cmd heading: 217.514109 deg, new cmd heading: 216.706560 deg. 2025-01-08T21:22:18.655Z,1736371338.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782243 target range: 362.100006 and range: 362.10 m. 2025-01-08T21:22:18.840Z,1736371338.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:19.092Z,1736371339.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:19.094Z,1736371339.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:19.101Z,1736371339.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:19.103Z,1736371339.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.10 m. 2025-01-08T21:22:19.106Z,1736371339.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.100006 m, nav range: 96.869728 m, bearing: 86.455274 deg, approach rate: 0.542909 m/s, LOS rate: -0.285584 deg/s, cmd heading: 216.706562 deg, new cmd heading: 216.301045 deg. 2025-01-08T21:22:19.107Z,1736371339.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775165 target range: 362.100006 and range: 362.10 m. 2025-01-08T21:22:19.344Z,1736371339.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:19.344Z,1736371339.344 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:22:19.344Z,1736371339.344 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:22:19.345Z,1736371339.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:19.507Z,1736371339.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:19.518Z,1736371339.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.10 m. 2025-01-08T21:22:19.521Z,1736371339.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.100006 m, nav range: 97.110878 m, bearing: 86.343016 deg, approach rate: 0.581545 m/s, LOS rate: -0.270043 deg/s, cmd heading: 216.301040 deg, new cmd heading: 215.965106 deg. 2025-01-08T21:22:19.522Z,1736371339.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769302 target range: 362.100006 and range: 362.10 m. 2025-01-08T21:22:19.596Z,1736371339.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:19.597Z,1736371339.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239462 2025-01-08T21:22:19.848Z,1736371339.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:19.848Z,1736371339.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490492 2025-01-08T21:22:19.912Z,1736371339.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:19.937Z,1736371339.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.10 m. 2025-01-08T21:22:19.940Z,1736371339.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.100006 m, nav range: 97.344048 m, bearing: 86.230423 deg, approach rate: 0.556837 m/s, LOS rate: -0.268240 deg/s, cmd heading: 215.965104 deg, new cmd heading: 215.628140 deg. 2025-01-08T21:22:19.941Z,1736371339.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763421 target range: 362.100006 and range: 362.10 m. 2025-01-08T21:22:20.100Z,1736371340.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:20.100Z,1736371340.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742644 2025-01-08T21:22:20.298Z,1736371340.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:20.307Z,1736371340.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.10 m. 2025-01-08T21:22:20.313Z,1736371340.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.100006 m, nav range: 97.563789 m, bearing: 86.122035 deg, approach rate: 0.593781 m/s, LOS rate: -0.292226 deg/s, cmd heading: 215.628143 deg, new cmd heading: 215.303713 deg. 2025-01-08T21:22:20.314Z,1736371340.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.757759 target range: 362.100006 and range: 362.10 m. 2025-01-08T21:22:20.352Z,1736371340.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:20.353Z,1736371340.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995187 2025-01-08T21:22:20.604Z,1736371340.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:20.604Z,1736371340.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246534 2025-01-08T21:22:20.720Z,1736371340.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:20.729Z,1736371340.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.10 m. 2025-01-08T21:22:20.732Z,1736371340.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.100006 m, nav range: 97.819031 m, bearing: 86.003618 deg, approach rate: 0.604165 m/s, LOS rate: -0.279565 deg/s, cmd heading: 215.303709 deg, new cmd heading: 214.949390 deg. 2025-01-08T21:22:20.733Z,1736371340.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.751575 target range: 362.100006 and range: 362.10 m. 2025-01-08T21:22:20.856Z,1736371340.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:20.856Z,1736371340.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498547 2025-01-08T21:22:21.109Z,1736371341.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:21.109Z,1736371341.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751372 2025-01-08T21:22:21.110Z,1736371341.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:21.118Z,1736371341.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:21.140Z,1736371341.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.10 m. 2025-01-08T21:22:21.143Z,1736371341.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.100006 m, nav range: 98.050232 m, bearing: 85.893478 deg, approach rate: 0.562759 m/s, LOS rate: -0.267456 deg/s, cmd heading: 214.949386 deg, new cmd heading: 214.619749 deg. 2025-01-08T21:22:21.148Z,1736371341.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745821 target range: 362.100006 and range: 362.10 m. 2025-01-08T21:22:21.360Z,1736371341.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:21.360Z,1736371341.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002474 2025-01-08T21:22:21.550Z,1736371341.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:21.576Z,1736371341.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.10 m. 2025-01-08T21:22:21.581Z,1736371341.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.100006 m, nav range: 98.324387 m, bearing: 85.761525 deg, approach rate: 0.628466 m/s, LOS rate: -0.301641 deg/s, cmd heading: 214.619748 deg, new cmd heading: 214.225001 deg. 2025-01-08T21:22:21.582Z,1736371341.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.738932 target range: 362.100006 and range: 362.10 m. 2025-01-08T21:22:21.614Z,1736371341.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:21.617Z,1736371341.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258679 2025-01-08T21:22:21.864Z,1736371341.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:21.864Z,1736371341.864 [DAT](INFO): DAT read: Rx Time:21:22:20.4735 2025-01-08T21:22:21.865Z,1736371341.865 [DAT](INFO): Rx dataTimestamp_ set to:1736371341.864554 2025-01-08T21:22:21.865Z,1736371341.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507533 2025-01-08T21:22:21.957Z,1736371341.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:21.965Z,1736371341.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.10 m. 2025-01-08T21:22:21.968Z,1736371341.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.100006 m, nav range: 98.569328 m, bearing: 85.636660 deg, approach rate: 0.629337 m/s, LOS rate: -0.320022 deg/s, cmd heading: 214.225004 deg, new cmd heading: 213.851345 deg. 2025-01-08T21:22:21.969Z,1736371341.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732410 target range: 362.100006 and range: 362.10 m. 2025-01-08T21:22:22.117Z,1736371342.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:22.120Z,1736371342.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760897 2025-01-08T21:22:22.368Z,1736371342.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:22.375Z,1736371342.375 [DAT](INFO): DAT read: 21:22:20.4735 LVL= 20464, 28433, 21730, 22339, AGC= 67, IDX= 68,-0.20, 0.541,-1.483,-1.164,-0.635, PHS= 1.264,-0.801,-0.531, RAW= 96.9, 0.7, CAL= 106.0, -3.0, ROT= 44.0, 3.0 2025-01-08T21:22:22.376Z,1736371342.376 [DAT](INFO): got valid direction response: 21:22:20.4735 LVL= 20464, 28433, 21730, 22339, AGC= 67, IDX= 68,-0.20, 0.541,-1.483,-1.164,-0.635, PHS= 1.264,-0.801,-0.531, RAW= 96.9, 0.7, CAL= 106.0, -3.0, ROT= 44.0, 3.0 2025-01-08T21:22:22.377Z,1736371342.377 [DAT](INFO): DAT read: Bearing 44.0, 3.0 (Local) 2025-01-08T21:22:22.377Z,1736371342.377 [DAT](INFO): Local bearing/azimuth received: Bearing 44.0, 3.0 (Local) 2025-01-08T21:22:22.380Z,1736371342.380 [DAT](INFO): DAT read: Range 10 to 50 : 372.0 m (Round-trip 496.0 ms) speed 0.4 m/s 2025-01-08T21:22:22.381Z,1736371342.381 [DAT](INFO): DAT read: user:1706> 2025-01-08T21:22:22.381Z,1736371342.381 [DAT](INFO): DAT read: Tx time:21:22:21.5717 2025-01-08T21:22:22.382Z,1736371342.382 [DAT](INFO): Ping request sent. 2025-01-08T21:22:22.382Z,1736371342.382 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:22.382Z,1736371342.382 [DAT](INFO): DAT read: TxSync time:21:22:21.5709 2025-01-08T21:22:22.383Z,1736371342.383 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:22:22.384Z,1736371342.384 [DAT](INFO): direction in FSK: [-0.109232,-0.012180,0.993942] 2025-01-08T21:22:22.385Z,1736371342.385 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:22.385Z,1736371342.385 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:22.388Z,1736371342.388 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:22.388Z,1736371342.388 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:22.398Z,1736371342.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:22.515Z,1736371342.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 372.000000 m, deltaT: 4.032073 s, deltaX: 9.899994 m, approachRate: 2.455311 m/s, rangeRepo size: 4 2025-01-08T21:22:22.523Z,1736371342.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 372.000000 m, bearing: 72.888507 deg, lat: 36.904147 deg, lon: -122.113892 deg, deltaT: 4.032073 s, deltaX: 9.899994 m, approachRate: 2.455311 m/s, posRepo size: 4 2025-01-08T21:22:22.532Z,1736371342.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.00 m. 2025-01-08T21:22:22.534Z,1736371342.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.000000 m, nav range: 98.832108 m, bearing: 85.499971 deg, approach rate: 0.000000 m/s, LOS rate: -0.320022 deg/s, cmd heading: 213.851351 deg, new cmd heading: 213.324666 deg. 2025-01-08T21:22:22.544Z,1736371342.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723218 target range: 372.000000 and range: 372.00 m. 2025-01-08T21:22:22.621Z,1736371342.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:22.832Z,1736371342.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:22.872Z,1736371342.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:22.882Z,1736371342.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.00 m. 2025-01-08T21:22:22.894Z,1736371342.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.000000 m, nav range: 99.071793 m, bearing: 85.365905 deg, approach rate: 0.680804 m/s, LOS rate: -0.379882 deg/s, cmd heading: 213.324662 deg, new cmd heading: 212.923442 deg. 2025-01-08T21:22:22.900Z,1736371342.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.716215 target range: 372.000000 and range: 372.00 m. 2025-01-08T21:22:23.125Z,1736371343.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:23.196Z,1736371343.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:23.202Z,1736371343.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:23.205Z,1736371343.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.00 m. 2025-01-08T21:22:23.207Z,1736371343.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.000000 m, nav range: 99.275642 m, bearing: 85.250608 deg, approach rate: 0.602190 m/s, LOS rate: -0.339897 deg/s, cmd heading: 212.923443 deg, new cmd heading: 212.578268 deg. 2025-01-08T21:22:23.208Z,1736371343.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.710191 target range: 372.000000 and range: 372.00 m. 2025-01-08T21:22:23.378Z,1736371343.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:23.381Z,1736371343.381 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:22:23.382Z,1736371343.382 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:22:23.382Z,1736371343.382 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:23.628Z,1736371343.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:23.629Z,1736371343.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247373 2025-01-08T21:22:23.632Z,1736371343.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:23.641Z,1736371343.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.00 m. 2025-01-08T21:22:23.646Z,1736371343.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.000000 m, nav range: 99.490211 m, bearing: 85.111135 deg, approach rate: 0.492077 m/s, LOS rate: -0.319166 deg/s, cmd heading: 212.578272 deg, new cmd heading: 212.160764 deg. 2025-01-08T21:22:23.647Z,1736371343.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.702904 target range: 372.000000 and range: 372.00 m. 2025-01-08T21:22:23.880Z,1736371343.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:23.881Z,1736371343.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499187 2025-01-08T21:22:24.084Z,1736371344.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:24.095Z,1736371344.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.00 m. 2025-01-08T21:22:24.098Z,1736371344.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.000000 m, nav range: 99.709763 m, bearing: 84.966964 deg, approach rate: 0.483709 m/s, LOS rate: -0.316934 deg/s, cmd heading: 212.160770 deg, new cmd heading: 211.729218 deg. 2025-01-08T21:22:24.098Z,1736371344.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.695372 target range: 372.000000 and range: 372.00 m. 2025-01-08T21:22:24.134Z,1736371344.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:24.135Z,1736371344.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752887 2025-01-08T21:22:24.384Z,1736371344.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:24.384Z,1736371344.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002486 2025-01-08T21:22:24.542Z,1736371344.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:24.552Z,1736371344.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.00 m. 2025-01-08T21:22:24.554Z,1736371344.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.000000 m, nav range: 99.931793 m, bearing: 84.819724 deg, approach rate: 0.486106 m/s, LOS rate: -0.321645 deg/s, cmd heading: 211.729212 deg, new cmd heading: 211.288482 deg. 2025-01-08T21:22:24.555Z,1736371344.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.687680 target range: 372.000000 and range: 372.00 m. 2025-01-08T21:22:24.636Z,1736371344.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:24.637Z,1736371344.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254786 2025-01-08T21:22:24.889Z,1736371344.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:24.890Z,1736371344.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508114 2025-01-08T21:22:25.020Z,1736371345.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:25.029Z,1736371345.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.00 m. 2025-01-08T21:22:25.033Z,1736371345.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.000000 m, nav range: 100.121780 m, bearing: 84.669081 deg, approach rate: 0.398011 m/s, LOS rate: -0.314989 deg/s, cmd heading: 211.288487 deg, new cmd heading: 210.837424 deg. 2025-01-08T21:22:25.034Z,1736371345.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.679807 target range: 372.000000 and range: 372.00 m. 2025-01-08T21:22:25.140Z,1736371345.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:25.141Z,1736371345.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759503 2025-01-08T21:22:25.371Z,1736371345.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:25.392Z,1736371345.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:25.392Z,1736371345.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010418 2025-01-08T21:22:25.405Z,1736371345.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:25.413Z,1736371345.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.00 m. 2025-01-08T21:22:25.420Z,1736371345.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.000000 m, nav range: 100.260429 m, bearing: 84.558663 deg, approach rate: 0.366167 m/s, LOS rate: -0.291206 deg/s, cmd heading: 210.837421 deg, new cmd heading: 210.506630 deg. 2025-01-08T21:22:25.421Z,1736371345.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.674034 target range: 372.000000 and range: 372.00 m. 2025-01-08T21:22:25.645Z,1736371345.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:25.646Z,1736371345.646 [DAT](INFO): DAT read: Rx Time:21:22:24.4681 2025-01-08T21:22:25.646Z,1736371345.646 [DAT](INFO): Rx dataTimestamp_ set to:1736371345.646198 2025-01-08T21:22:25.647Z,1736371345.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265129 2025-01-08T21:22:25.806Z,1736371345.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:25.816Z,1736371345.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.00 m. 2025-01-08T21:22:25.818Z,1736371345.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.000000 m, nav range: 100.392426 m, bearing: 84.424320 deg, approach rate: 0.323414 m/s, LOS rate: -0.328731 deg/s, cmd heading: 210.506635 deg, new cmd heading: 210.104143 deg. 2025-01-08T21:22:25.819Z,1736371345.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.667009 target range: 372.000000 and range: 372.00 m. 2025-01-08T21:22:25.896Z,1736371345.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:25.897Z,1736371345.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515440 2025-01-08T21:22:26.149Z,1736371346.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:26.163Z,1736371346.163 [DAT](INFO): DAT read: 21:22:24.4681 LVL= 12528, 32433, 20978, 32755, AGC= 60, IDX= 397, 0.13,-1.692,-2.893, 3.120,-2.736, PHS= 1.132,-0.110,-0.430, RAW= 78.8, -8.3, CAL= 88.9, -17.1, ROT= 61.1, 17.1 2025-01-08T21:22:26.176Z,1736371346.176 [DAT](INFO): got valid direction response: 21:22:24.4681 LVL= 12528, 32433, 20978, 32755, AGC= 60, IDX= 397, 0.13,-1.692,-2.893, 3.120,-2.736, PHS= 1.132,-0.110,-0.430, RAW= 78.8, -8.3, CAL= 88.9, -17.1, ROT= 61.1, 17.1 2025-01-08T21:22:26.178Z,1736371346.178 [DAT](INFO): DAT read: Bearing 61.1, 17.1 (Local) 2025-01-08T21:22:26.179Z,1736371346.179 [DAT](INFO): Local bearing/azimuth received: Bearing 61.1, 17.1 (Local) 2025-01-08T21:22:26.183Z,1736371346.183 [DAT](INFO): DAT read: Range 10 to 50 : 369.1 m (Round-trip 492.2 ms) speed 0.5 m/s 2025-01-08T21:22:26.192Z,1736371346.192 [DAT](INFO): DAT read: user:1707> 2025-01-08T21:22:26.199Z,1736371346.199 [DAT](INFO): DAT read: Tx time:21:22:25.5717 2025-01-08T21:22:26.223Z,1736371346.223 [DAT](INFO): Ping request sent. 2025-01-08T21:22:26.224Z,1736371346.224 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:26.224Z,1736371346.224 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:22:26.225Z,1736371346.225 [DAT](INFO): direction in FSK: [0.091698,0.284083,0.954405] 2025-01-08T21:22:26.225Z,1736371346.225 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:26.225Z,1736371346.225 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:26.241Z,1736371346.241 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:26.241Z,1736371346.241 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:26.297Z,1736371346.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:26.337Z,1736371346.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 369.100006 m, deltaT: 3.781581 s, deltaX: -2.899994 m, approachRate: -0.766873 m/s, rangeRepo size: 4 2025-01-08T21:22:26.339Z,1736371346.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 369.100006 m, bearing: 268.862801 deg, lat: 36.904147 deg, lon: -122.113892 deg, deltaT: 3.781581 s, deltaX: -2.899994 m, approachRate: -0.766873 m/s, posRepo size: 4 2025-01-08T21:22:26.348Z,1736371346.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.10 m. 2025-01-08T21:22:26.350Z,1736371346.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.100006 m, nav range: 100.541786 m, bearing: 84.273397 deg, approach rate: 0.000000 m/s, LOS rate: -0.328731 deg/s, cmd heading: 210.104146 deg, new cmd heading: 209.590626 deg. 2025-01-08T21:22:26.356Z,1736371346.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.658046 target range: 369.100006 and range: 369.10 m. 2025-01-08T21:22:26.400Z,1736371346.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:26.401Z,1736371346.401 [DAT](INFO): DAT read: TxSync time:21:22:25.5709 2025-01-08T21:22:26.652Z,1736371346.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:26.717Z,1736371346.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:26.738Z,1736371346.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.10 m. 2025-01-08T21:22:26.749Z,1736371346.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.100006 m, nav range: 100.632004 m, bearing: 84.145087 deg, approach rate: 0.224494 m/s, LOS rate: -0.318997 deg/s, cmd heading: 209.590625 deg, new cmd heading: 209.206044 deg. 2025-01-08T21:22:26.750Z,1736371346.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.651334 target range: 369.100006 and range: 369.10 m. 2025-01-08T21:22:26.904Z,1736371346.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:27.039Z,1736371347.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:27.049Z,1736371347.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.10 m. 2025-01-08T21:22:27.052Z,1736371347.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.100006 m, nav range: 100.700081 m, bearing: 84.046177 deg, approach rate: 0.218894 m/s, LOS rate: -0.317818 deg/s, cmd heading: 209.206044 deg, new cmd heading: 208.909517 deg. 2025-01-08T21:22:27.053Z,1736371347.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.646159 target range: 369.100006 and range: 369.10 m. 2025-01-08T21:22:27.157Z,1736371347.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:27.408Z,1736371347.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:27.455Z,1736371347.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:27.462Z,1736371347.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:27.465Z,1736371347.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.10 m. 2025-01-08T21:22:27.468Z,1736371347.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.100006 m, nav range: 100.787857 m, bearing: 83.918754 deg, approach rate: 0.211227 m/s, LOS rate: -0.306367 deg/s, cmd heading: 208.909518 deg, new cmd heading: 208.527588 deg. 2025-01-08T21:22:27.469Z,1736371347.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.639493 target range: 369.100006 and range: 369.10 m. 2025-01-08T21:22:27.660Z,1736371347.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:27.661Z,1736371347.661 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:22:27.661Z,1736371347.661 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:22:27.662Z,1736371347.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:27.904Z,1736371347.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:27.912Z,1736371347.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:27.913Z,1736371347.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.689434 2025-01-08T21:22:27.921Z,1736371347.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.10 m. 2025-01-08T21:22:27.936Z,1736371347.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.100006 m, nav range: 100.858505 m, bearing: 83.784294 deg, approach rate: 0.154799 m/s, LOS rate: -0.294412 deg/s, cmd heading: 208.527588 deg, new cmd heading: 208.124497 deg. 2025-01-08T21:22:27.937Z,1736371347.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.632458 target range: 369.100006 and range: 369.10 m. 2025-01-08T21:22:28.164Z,1736371348.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:28.164Z,1736371348.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940875 2025-01-08T21:22:28.352Z,1736371348.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:28.360Z,1736371348.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.10 m. 2025-01-08T21:22:28.364Z,1736371348.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.100006 m, nav range: 100.928894 m, bearing: 83.650559 deg, approach rate: 0.160163 m/s, LOS rate: -0.304089 deg/s, cmd heading: 208.124497 deg, new cmd heading: 207.723580 deg. 2025-01-08T21:22:28.365Z,1736371348.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.625460 target range: 369.100006 and range: 369.10 m. 2025-01-08T21:22:28.416Z,1736371348.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:28.417Z,1736371348.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.193028 2025-01-08T21:22:28.668Z,1736371348.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:28.670Z,1736371348.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445608 2025-01-08T21:22:28.790Z,1736371348.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:28.800Z,1736371348.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.10 m. 2025-01-08T21:22:28.802Z,1736371348.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.100006 m, nav range: 100.982948 m, bearing: 83.518702 deg, approach rate: 0.123240 m/s, LOS rate: -0.300465 deg/s, cmd heading: 207.723579 deg, new cmd heading: 207.328225 deg. 2025-01-08T21:22:28.803Z,1736371348.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.618560 target range: 369.100006 and range: 369.10 m. 2025-01-08T21:22:28.920Z,1736371348.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:28.920Z,1736371348.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.696865 2025-01-08T21:22:29.172Z,1736371349.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:29.172Z,1736371349.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.948870 2025-01-08T21:22:29.246Z,1736371349.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:29.256Z,1736371349.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.10 m. 2025-01-08T21:22:29.258Z,1736371349.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.100006 m, nav range: 101.038948 m, bearing: 83.381072 deg, approach rate: 0.122739 m/s, LOS rate: -0.301486 deg/s, cmd heading: 207.328220 deg, new cmd heading: 206.915568 deg. 2025-01-08T21:22:29.259Z,1736371349.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611358 target range: 369.100006 and range: 369.10 m. 2025-01-08T21:22:29.425Z,1736371349.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:29.426Z,1736371349.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202099 2025-01-08T21:22:29.676Z,1736371349.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:29.678Z,1736371349.678 [DAT](INFO): DAT read: Rx Time:21:22:28.4522 2025-01-08T21:22:29.679Z,1736371349.679 [DAT](INFO): Rx dataTimestamp_ set to:1736371349.678692 2025-01-08T21:22:29.680Z,1736371349.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.456182 2025-01-08T21:22:29.686Z,1736371349.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:29.714Z,1736371349.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:29.720Z,1736371349.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.10 m. 2025-01-08T21:22:29.723Z,1736371349.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.100006 m, nav range: 101.097572 m, bearing: 83.253535 deg, approach rate: 0.126172 m/s, LOS rate: -0.274326 deg/s, cmd heading: 206.915568 deg, new cmd heading: 206.533185 deg. 2025-01-08T21:22:29.729Z,1736371349.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604684 target range: 369.100006 and range: 369.10 m. 2025-01-08T21:22:29.928Z,1736371349.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:29.929Z,1736371349.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.705558 2025-01-08T21:22:30.046Z,1736371350.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:30.072Z,1736371350.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.10 m. 2025-01-08T21:22:30.074Z,1736371350.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.100006 m, nav range: 101.145081 m, bearing: 83.149416 deg, approach rate: 0.135226 m/s, LOS rate: -0.296221 deg/s, cmd heading: 206.533186 deg, new cmd heading: 206.220979 deg. 2025-01-08T21:22:30.076Z,1736371350.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599235 target range: 369.100006 and range: 369.10 m. 2025-01-08T21:22:30.180Z,1736371350.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:30.192Z,1736371350.192 [DAT](INFO): DAT read: 21:22:28.4522 LVL= 14944, 31697, 22386, 31459, AGC= 60, IDX= 281,-0.35,-3.094, 1.334, 1.321, 2.058, PHS= 1.219,-0.677,-0.741, RAW= 88.4, 2.1, CAL= 95.2, -0.8, ROT= 54.8, 0.8 2025-01-08T21:22:30.193Z,1736371350.193 [DAT](INFO): got valid direction response: 21:22:28.4522 LVL= 14944, 31697, 22386, 31459, AGC= 60, IDX= 281,-0.35,-3.094, 1.334, 1.321, 2.058, PHS= 1.219,-0.677,-0.741, RAW= 88.4, 2.1, CAL= 95.2, -0.8, ROT= 54.8, 0.8 2025-01-08T21:22:30.194Z,1736371350.194 [DAT](INFO): DAT read: Bearing 54.8, 0.8 (Local) 2025-01-08T21:22:30.195Z,1736371350.195 [DAT](INFO): Local bearing/azimuth received: Bearing 54.8, 0.8 (Local) 2025-01-08T21:22:30.201Z,1736371350.201 [DAT](INFO): DAT read: Range 10 to 50 : 357.1 m (Round-trip 476.2 ms) speed -0.1 m/s 2025-01-08T21:22:30.202Z,1736371350.202 [DAT](INFO): DAT read: user:1708> 2025-01-08T21:22:30.203Z,1736371350.203 [DAT](INFO): DAT read: Tx time:21:22:29.5718 2025-01-08T21:22:30.203Z,1736371350.203 [DAT](INFO): Ping request sent. 2025-01-08T21:22:30.204Z,1736371350.204 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:30.204Z,1736371350.204 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:22:30.206Z,1736371350.206 [DAT](INFO): direction in FSK: [-0.122024,0.137877,0.982904] 2025-01-08T21:22:30.206Z,1736371350.206 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:30.207Z,1736371350.207 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:30.240Z,1736371350.240 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:30.240Z,1736371350.240 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:30.432Z,1736371350.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:30.432Z,1736371350.432 [DAT](INFO): DAT read: TxSync time:21:22:29.5710 2025-01-08T21:22:30.468Z,1736371350.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:30.490Z,1736371350.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 357.100006 m, deltaT: 4.030563 s, deltaX: -12.000000 m, approachRate: -2.977252 m/s, rangeRepo size: 4 2025-01-08T21:22:30.493Z,1736371350.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 357.100006 m, bearing: 359.112803 deg, lat: 36.904147 deg, lon: -122.114645 deg, deltaT: 4.030563 s, deltaX: -12.000000 m, approachRate: -2.977252 m/s, posRepo size: 4 2025-01-08T21:22:30.493Z,1736371350.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.10 m. 2025-01-08T21:22:30.513Z,1736371350.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.100006 m, nav range: 35.674755 m, bearing: 69.856169 deg, approach rate: 0.000000 m/s, LOS rate: -0.296221 deg/s, cmd heading: 206.220978 deg, new cmd heading: 205.849190 deg. 2025-01-08T21:22:30.516Z,1736371350.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592746 target range: 357.100006 and range: 357.10 m. 2025-01-08T21:22:30.684Z,1736371350.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:30.883Z,1736371350.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:30.892Z,1736371350.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.10 m. 2025-01-08T21:22:30.894Z,1736371350.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.100006 m, nav range: 35.802715 m, bearing: 69.542527 deg, approach rate: 0.318490 m/s, LOS rate: -0.777855 deg/s, cmd heading: 205.849184 deg, new cmd heading: 204.911709 deg. 2025-01-08T21:22:30.896Z,1736371350.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576384 target range: 357.100006 and range: 357.10 m. 2025-01-08T21:22:30.936Z,1736371350.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:31.188Z,1736371351.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:31.249Z,1736371351.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:31.281Z,1736371351.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.10 m. 2025-01-08T21:22:31.284Z,1736371351.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.100006 m, nav range: 35.914852 m, bearing: 69.265986 deg, approach rate: 0.288029 m/s, LOS rate: -0.708087 deg/s, cmd heading: 204.911713 deg, new cmd heading: 204.084742 deg. 2025-01-08T21:22:31.285Z,1736371351.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561951 target range: 357.100006 and range: 357.10 m. 2025-01-08T21:22:31.440Z,1736371351.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:31.692Z,1736371351.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:31.710Z,1736371351.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:31.718Z,1736371351.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:31.720Z,1736371351.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.10 m. 2025-01-08T21:22:31.722Z,1736371351.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.100006 m, nav range: 36.088673 m, bearing: 68.927883 deg, approach rate: 0.395888 m/s, LOS rate: -0.766339 deg/s, cmd heading: 204.084741 deg, new cmd heading: 203.075427 deg. 2025-01-08T21:22:31.724Z,1736371351.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544335 target range: 357.100006 and range: 357.10 m. 2025-01-08T21:22:31.944Z,1736371351.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:31.944Z,1736371351.944 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:22:31.944Z,1736371351.944 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:22:31.945Z,1736371351.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:32.070Z,1736371352.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:32.100Z,1736371352.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.10 m. 2025-01-08T21:22:32.102Z,1736371352.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.100006 m, nav range: 36.224155 m, bearing: 68.663459 deg, approach rate: 0.376840 m/s, LOS rate: -0.732732 deg/s, cmd heading: 203.075430 deg, new cmd heading: 202.285178 deg. 2025-01-08T21:22:32.108Z,1736371352.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530542 target range: 357.100006 and range: 357.10 m. 2025-01-08T21:22:32.197Z,1736371352.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:32.197Z,1736371352.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993891 2025-01-08T21:22:32.448Z,1736371352.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:32.448Z,1736371352.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244907 2025-01-08T21:22:32.489Z,1736371352.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:32.498Z,1736371352.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.10 m. 2025-01-08T21:22:32.501Z,1736371352.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.100006 m, nav range: 36.382561 m, bearing: 68.358660 deg, approach rate: 0.378071 m/s, LOS rate: -0.724303 deg/s, cmd heading: 202.285177 deg, new cmd heading: 201.374842 deg. 2025-01-08T21:22:32.502Z,1736371352.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.514654 target range: 357.100006 and range: 357.10 m. 2025-01-08T21:22:32.700Z,1736371352.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:32.701Z,1736371352.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497026 2025-01-08T21:22:32.927Z,1736371352.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:32.942Z,1736371352.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.10 m. 2025-01-08T21:22:32.946Z,1736371352.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.100006 m, nav range: 36.583344 m, bearing: 68.044603 deg, approach rate: 0.452435 m/s, LOS rate: -0.703793 deg/s, cmd heading: 201.374836 deg, new cmd heading: 200.437925 deg. 2025-01-08T21:22:32.952Z,1736371352.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:32.953Z,1736371352.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748942 2025-01-08T21:22:32.968Z,1736371352.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498302 target range: 357.100006 and range: 357.10 m. 2025-01-08T21:22:33.204Z,1736371353.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:33.204Z,1736371353.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000839 2025-01-08T21:22:33.278Z,1736371353.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:33.287Z,1736371353.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.10 m. 2025-01-08T21:22:33.293Z,1736371353.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.100006 m, nav range: 36.743626 m, bearing: 67.791154 deg, approach rate: 0.465194 m/s, LOS rate: -0.732384 deg/s, cmd heading: 200.437925 deg, new cmd heading: 199.680943 deg. 2025-01-08T21:22:33.296Z,1736371353.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.485090 target range: 357.100006 and range: 357.10 m. 2025-01-08T21:22:33.456Z,1736371353.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:33.456Z,1736371353.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252784 2025-01-08T21:22:33.708Z,1736371353.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:33.709Z,1736371353.709 [DAT](INFO): DAT read: Rx Time:21:22:32.4520 2025-01-08T21:22:33.709Z,1736371353.709 [DAT](INFO): Rx dataTimestamp_ set to:1736371353.708736 2025-01-08T21:22:33.710Z,1736371353.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505982 2025-01-08T21:22:33.721Z,1736371353.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:33.729Z,1736371353.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:33.731Z,1736371353.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.10 m. 2025-01-08T21:22:33.734Z,1736371353.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.100006 m, nav range: 36.982323 m, bearing: 67.491237 deg, approach rate: 0.537191 m/s, LOS rate: -0.670608 deg/s, cmd heading: 199.680949 deg, new cmd heading: 198.787082 deg. 2025-01-08T21:22:33.735Z,1736371353.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.469489 target range: 357.100006 and range: 357.10 m. 2025-01-08T21:22:33.960Z,1736371353.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:33.960Z,1736371353.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756734 2025-01-08T21:22:34.086Z,1736371354.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:34.142Z,1736371354.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.10 m. 2025-01-08T21:22:34.156Z,1736371354.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.100006 m, nav range: 37.175121 m, bearing: 67.238937 deg, approach rate: 0.486382 m/s, LOS rate: -0.633188 deg/s, cmd heading: 198.787082 deg, new cmd heading: 198.034152 deg. 2025-01-08T21:22:34.157Z,1736371354.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.456348 target range: 357.100006 and range: 357.10 m. 2025-01-08T21:22:34.213Z,1736371354.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:34.225Z,1736371354.225 [DAT](INFO): DAT read: 21:22:32.4520 LVL= 14480, 26897, 26738, 32147, AGC= 63, IDX= 423, 0.03, 0.152,-1.450,-1.683,-0.804, PHS= 1.044,-0.599,-0.882, RAW= 82.2, 4.9, CAL= 87.4, 4.0, ROT= 62.6, -4.0 2025-01-08T21:22:34.226Z,1736371354.226 [DAT](INFO): got valid direction response: 21:22:32.4520 LVL= 14480, 26897, 26738, 32147, AGC= 63, IDX= 423, 0.03, 0.152,-1.450,-1.683,-0.804, PHS= 1.044,-0.599,-0.882, RAW= 82.2, 4.9, CAL= 87.4, 4.0, ROT= 62.6, -4.0 2025-01-08T21:22:34.234Z,1736371354.234 [DAT](INFO): DAT read: Bearing 62.6, -4.0 (Local) 2025-01-08T21:22:34.234Z,1736371354.234 [DAT](INFO): Local bearing/azimuth received: Bearing 62.6, -4.0 (Local) 2025-01-08T21:22:34.236Z,1736371354.236 [DAT](INFO): DAT read: Range 10 to 50 : 357.0 m (Round-trip 476.0 ms) speed 0.2 m/s 2025-01-08T21:22:34.237Z,1736371354.237 [DAT](INFO): DAT read: user:1709> 2025-01-08T21:22:34.238Z,1736371354.238 [DAT](INFO): DAT read: Tx time:21:22:33.5718 2025-01-08T21:22:34.238Z,1736371354.238 [DAT](INFO): Ping request sent. 2025-01-08T21:22:34.238Z,1736371354.238 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:34.238Z,1736371354.238 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:22:34.239Z,1736371354.239 [DAT](INFO): direction in FSK: [-0.163899,0.243731,0.955894] 2025-01-08T21:22:34.240Z,1736371354.240 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:34.240Z,1736371354.240 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:34.264Z,1736371354.264 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:34.264Z,1736371354.264 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:34.464Z,1736371354.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:34.465Z,1736371354.465 [DAT](INFO): DAT read: TxSync time:21:22:33.5710 2025-01-08T21:22:34.497Z,1736371354.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:34.526Z,1736371354.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 357.000000 m, deltaT: 4.033478 s, deltaX: -0.100006 m, approachRate: -0.024794 m/s, rangeRepo size: 4 2025-01-08T21:22:34.533Z,1736371354.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 357.000000 m, bearing: 329.840989 deg, lat: 36.904165 deg, lon: -122.115029 deg, deltaT: 4.033478 s, deltaX: -0.100006 m, approachRate: -0.024794 m/s, posRepo size: 4 2025-01-08T21:22:34.533Z,1736371354.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:34.548Z,1736371354.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 16.605686 m, bearing: 1.054010 deg, approach rate: 0.000000 m/s, LOS rate: -0.633188 deg/s, cmd heading: 198.034150 deg, new cmd heading: 197.277908 deg. 2025-01-08T21:22:34.549Z,1736371354.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.443149 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:34.719Z,1736371354.719 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:34.972Z,1736371354.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:34.990Z,1736371354.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:34.000Z,1736371355.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:35.002Z,1736371355.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 16.925920 m, bearing: 1.615706 deg, approach rate: 0.676355 m/s, LOS rate: 1.163872 deg/s, cmd heading: 197.277911 deg, new cmd heading: 198.930632 deg. 2025-01-08T21:22:35.024Z,1736371355.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.471994 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:35.225Z,1736371355.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:35.468Z,1736371355.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:35.476Z,1736371355.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:35.501Z,1736371355.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:35.505Z,1736371355.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 17.237947 m, bearing: 2.140403 deg, approach rate: 0.621210 m/s, LOS rate: 1.025690 deg/s, cmd heading: 198.930626 deg, new cmd heading: 200.475829 deg. 2025-01-08T21:22:35.506Z,1736371355.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498963 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:35.729Z,1736371355.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:35.887Z,1736371355.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:35.894Z,1736371355.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:35.897Z,1736371355.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:35.900Z,1736371355.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 17.510643 m, bearing: 2.650034 deg, approach rate: 0.689271 m/s, LOS rate: 1.268074 deg/s, cmd heading: 200.475833 deg, new cmd heading: 201.980548 deg. 2025-01-08T21:22:35.901Z,1736371355.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.525226 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:35.981Z,1736371355.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:35.982Z,1736371355.982 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:22:35.982Z,1736371355.982 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:22:35.982Z,1736371355.982 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:36.233Z,1736371356.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:36.235Z,1736371356.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996268 2025-01-08T21:22:36.280Z,1736371356.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:22:36.287Z,1736371356.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:36.308Z,1736371356.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:36.316Z,1736371356.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 17.778326 m, bearing: 3.083072 deg, approach rate: 0.658987 m/s, LOS rate: 1.050001 deg/s, cmd heading: 201.980551 deg, new cmd heading: 203.259882 deg. 2025-01-08T21:22:36.317Z,1736371356.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547554 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:36.484Z,1736371356.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:36.484Z,1736371356.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246358 2025-01-08T21:22:36.736Z,1736371356.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:36.737Z,1736371356.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498747 2025-01-08T21:22:36.744Z,1736371356.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:36.774Z,1736371356.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:36.781Z,1736371356.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 18.080238 m, bearing: 3.543645 deg, approach rate: 0.641328 m/s, LOS rate: 0.962010 deg/s, cmd heading: 203.259886 deg, new cmd heading: 204.618262 deg. 2025-01-08T21:22:36.782Z,1736371356.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571262 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:36.988Z,1736371356.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:36.988Z,1736371356.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750391 2025-01-08T21:22:37.073Z,1736371357.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:37.107Z,1736371357.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:37.110Z,1736371357.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 18.299101 m, bearing: 3.855677 deg, approach rate: 0.657466 m/s, LOS rate: 0.926133 deg/s, cmd heading: 204.618261 deg, new cmd heading: 205.543076 deg. 2025-01-08T21:22:37.111Z,1736371357.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587404 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:37.240Z,1736371357.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:37.240Z,1736371357.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002492 2025-01-08T21:22:37.284Z,1736371357.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:22:37.475Z,1736371357.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:37.484Z,1736371357.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:37.487Z,1736371357.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 18.568644 m, bearing: 4.217537 deg, approach rate: 0.713742 m/s, LOS rate: 0.944282 deg/s, cmd heading: 205.543082 deg, new cmd heading: 206.612774 deg. 2025-01-08T21:22:37.488Z,1736371357.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606073 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:37.492Z,1736371357.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:37.493Z,1736371357.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254591 2025-01-08T21:22:37.744Z,1736371357.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:37.744Z,1736371357.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506330 2025-01-08T21:22:37.932Z,1736371357.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:37.939Z,1736371357.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:37.941Z,1736371357.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:37.944Z,1736371357.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 18.874475 m, bearing: 4.543649 deg, approach rate: 0.669619 m/s, LOS rate: 0.702448 deg/s, cmd heading: 206.612772 deg, new cmd heading: 207.575157 deg. 2025-01-08T21:22:37.946Z,1736371357.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.622870 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:37.997Z,1736371357.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:37.998Z,1736371357.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759703 2025-01-08T21:22:38.248Z,1736371358.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:38.248Z,1736371358.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010458 2025-01-08T21:22:38.305Z,1736371358.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:38.323Z,1736371358.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:38.329Z,1736371358.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 19.124638 m, bearing: 4.799684 deg, approach rate: 0.655614 m/s, LOS rate: 0.662226 deg/s, cmd heading: 207.575159 deg, new cmd heading: 208.333169 deg. 2025-01-08T21:22:38.330Z,1736371358.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.636100 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:38.500Z,1736371358.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:38.501Z,1736371358.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.263160 2025-01-08T21:22:38.752Z,1736371358.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:38.753Z,1736371358.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.514768 2025-01-08T21:22:38.790Z,1736371358.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:38.813Z,1736371358.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:38.820Z,1736371358.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 19.443962 m, bearing: 5.034601 deg, approach rate: 0.651508 m/s, LOS rate: 0.471423 deg/s, cmd heading: 208.333173 deg, new cmd heading: 209.026317 deg. 2025-01-08T21:22:38.821Z,1736371358.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.648197 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:39.004Z,1736371359.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:39.005Z,1736371359.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.766652 2025-01-08T21:22:39.103Z,1736371359.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:39.113Z,1736371359.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:39.118Z,1736371359.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 19.649687 m, bearing: 5.183198 deg, approach rate: 0.687240 m/s, LOS rate: 0.491201 deg/s, cmd heading: 209.026315 deg, new cmd heading: 209.467428 deg. 2025-01-08T21:22:39.119Z,1736371359.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.655896 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:39.256Z,1736371359.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:39.256Z,1736371359.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.018537 2025-01-08T21:22:39.501Z,1736371359.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:39.508Z,1736371359.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:39.508Z,1736371359.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.270521 2025-01-08T21:22:39.511Z,1736371359.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:39.514Z,1736371359.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 19.910858 m, bearing: 5.372427 deg, approach rate: 0.655600 m/s, LOS rate: 0.468776 deg/s, cmd heading: 209.467422 deg, new cmd heading: 210.027643 deg. 2025-01-08T21:22:39.515Z,1736371359.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.665674 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:39.760Z,1736371359.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:39.760Z,1736371359.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.522461 2025-01-08T21:22:39.938Z,1736371359.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:39.946Z,1736371359.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:39.948Z,1736371359.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:39.951Z,1736371359.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 20.187983 m, bearing: 5.487112 deg, approach rate: 0.632931 m/s, LOS rate: 0.258338 deg/s, cmd heading: 210.027648 deg, new cmd heading: 210.366978 deg. 2025-01-08T21:22:39.952Z,1736371359.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.671596 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:40.013Z,1736371360.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:40.013Z,1736371360.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.775337 2025-01-08T21:22:40.264Z,1736371360.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:40.264Z,1736371360.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.026421 2025-01-08T21:22:40.336Z,1736371360.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:40.345Z,1736371360.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:40.348Z,1736371360.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 20.439819 m, bearing: 5.604167 deg, approach rate: 0.635776 m/s, LOS rate: 0.291869 deg/s, cmd heading: 210.366971 deg, new cmd heading: 210.713803 deg. 2025-01-08T21:22:40.353Z,1736371360.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.677650 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:40.516Z,1736371360.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:40.517Z,1736371360.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.278886 2025-01-08T21:22:40.770Z,1736371360.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:40.772Z,1736371360.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.533616 2025-01-08T21:22:40.814Z,1736371360.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:40.823Z,1736371360.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:40.826Z,1736371360.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 20.734053 m, bearing: 5.657951 deg, approach rate: 0.615264 m/s, LOS rate: 0.110871 deg/s, cmd heading: 210.713808 deg, new cmd heading: 210.872872 deg. 2025-01-08T21:22:40.826Z,1736371360.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.680426 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:41.020Z,1736371361.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:41.020Z,1736371361.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.782364 2025-01-08T21:22:41.160Z,1736371361.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:41.178Z,1736371361.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:41.181Z,1736371361.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 20.947350 m, bearing: 5.695994 deg, approach rate: 0.601153 m/s, LOS rate: 0.106127 deg/s, cmd heading: 210.872870 deg, new cmd heading: 210.985835 deg. 2025-01-08T21:22:41.182Z,1736371361.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.682398 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:41.272Z,1736371361.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:41.274Z,1736371361.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.035601 2025-01-08T21:22:41.517Z,1736371361.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:41.524Z,1736371361.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:41.524Z,1736371361.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.286495 2025-01-08T21:22:41.527Z,1736371361.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:41.530Z,1736371361.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 21.166172 m, bearing: 5.756171 deg, approach rate: 0.626866 m/s, LOS rate: 0.170608 deg/s, cmd heading: 210.985841 deg, new cmd heading: 211.164505 deg. 2025-01-08T21:22:41.531Z,1736371361.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.685516 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:41.776Z,1736371361.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:41.777Z,1736371361.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.538666 2025-01-08T21:22:41.968Z,1736371361.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:41.975Z,1736371361.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:41.977Z,1736371361.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:41.981Z,1736371361.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 21.434082 m, bearing: 5.793939 deg, approach rate: 0.595063 m/s, LOS rate: 0.082840 deg/s, cmd heading: 211.164505 deg, new cmd heading: 211.276395 deg. 2025-01-08T21:22:41.982Z,1736371361.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.687469 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:42.028Z,1736371362.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:42.029Z,1736371362.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.791493 2025-01-08T21:22:42.280Z,1736371362.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:42.280Z,1736371362.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.042417 2025-01-08T21:22:42.352Z,1736371362.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:42.368Z,1736371362.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:42.371Z,1736371362.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 21.662458 m, bearing: 5.837462 deg, approach rate: 0.583557 m/s, LOS rate: 0.110039 deg/s, cmd heading: 211.276397 deg, new cmd heading: 211.405590 deg. 2025-01-08T21:22:42.376Z,1736371362.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.689723 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:42.532Z,1736371362.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:42.533Z,1736371362.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.294555 2025-01-08T21:22:42.732Z,1736371362.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:42.785Z,1736371362.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:42.788Z,1736371362.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.549070 2025-01-08T21:22:42.811Z,1736371362.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:42.814Z,1736371362.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 21.888178 m, bearing: 5.892198 deg, approach rate: 0.514335 m/s, LOS rate: 0.123437 deg/s, cmd heading: 211.405584 deg, new cmd heading: 211.568097 deg. 2025-01-08T21:22:42.820Z,1736371362.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.692560 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:43.036Z,1736371363.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:43.036Z,1736371363.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.798348 2025-01-08T21:22:43.250Z,1736371363.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:43.259Z,1736371363.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:43.262Z,1736371363.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 22.187017 m, bearing: 5.962179 deg, approach rate: 0.661992 m/s, LOS rate: 0.152935 deg/s, cmd heading: 211.568101 deg, new cmd heading: 211.775216 deg. 2025-01-08T21:22:43.264Z,1736371363.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.696175 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:43.288Z,1736371363.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:43.289Z,1736371363.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.050652 2025-01-08T21:22:43.540Z,1736371363.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:43.540Z,1736371363.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.302458 2025-01-08T21:22:43.627Z,1736371363.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:43.636Z,1736371363.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:43.639Z,1736371363.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 22.404396 m, bearing: 6.021282 deg, approach rate: 0.575644 m/s, LOS rate: 0.154993 deg/s, cmd heading: 211.775220 deg, new cmd heading: 211.950808 deg. 2025-01-08T21:22:43.640Z,1736371363.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.699239 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:43.794Z,1736371363.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:43.797Z,1736371363.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.558405 2025-01-08T21:22:44.044Z,1736371364.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:44.044Z,1736371364.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.806452 2025-01-08T21:22:44.126Z,1736371364.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:44.141Z,1736371364.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:44.143Z,1736371364.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:44.149Z,1736371364.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 22.693129 m, bearing: 6.108478 deg, approach rate: 0.569940 m/s, LOS rate: 0.169929 deg/s, cmd heading: 211.950810 deg, new cmd heading: 212.209067 deg. 2025-01-08T21:22:44.150Z,1736371364.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.703747 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:44.297Z,1736371364.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:44.299Z,1736371364.299 [DAT](INFO): Reached modem response timeout 2025-01-08T21:22:44.301Z,1736371364.301 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:22:44.302Z,1736371364.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:44.466Z,1736371364.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:44.486Z,1736371364.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:44.493Z,1736371364.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 22.890196 m, bearing: 6.172667 deg, approach rate: 0.573550 m/s, LOS rate: 0.185209 deg/s, cmd heading: 212.209073 deg, new cmd heading: 212.399982 deg. 2025-01-08T21:22:44.496Z,1736371364.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.707079 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:44.548Z,1736371364.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:44.548Z,1736371364.548 [DAT](INFO): Reached modem response timeout 2025-01-08T21:22:44.548Z,1736371364.548 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:22:44.549Z,1736371364.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:44.801Z,1736371364.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:44.804Z,1736371364.804 [DAT](INFO): Reached modem response timeout 2025-01-08T21:22:44.804Z,1736371364.804 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:22:44.805Z,1736371364.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:44.905Z,1736371364.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:44.914Z,1736371364.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:44.917Z,1736371364.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 23.143318 m, bearing: 6.283830 deg, approach rate: 0.591211 m/s, LOS rate: 0.256800 deg/s, cmd heading: 212.399977 deg, new cmd heading: 212.729814 deg. 2025-01-08T21:22:44.918Z,1736371364.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.712836 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:45.053Z,1736371365.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:45.053Z,1736371365.053 [DAT](INFO): Reached modem response timeout 2025-01-08T21:22:45.054Z,1736371365.054 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:22:45.054Z,1736371365.054 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:45.304Z,1736371365.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:45.304Z,1736371365.304 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:22:45.305Z,1736371365.305 [DAT](INFO): response not received 2025-01-08T21:22:45.305Z,1736371365.305 [DAT](INFO): DAT read: user:1710> 2025-01-08T21:22:45.306Z,1736371365.306 [DAT](INFO): DAT read: Tx time:21:22:44.5219 2025-01-08T21:22:45.306Z,1736371365.306 [DAT](INFO): Ping request sent. 2025-01-08T21:22:45.306Z,1736371365.306 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:45.306Z,1736371365.306 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:45.307Z,1736371365.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-01-08T21:22:45.370Z,1736371365.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:45.404Z,1736371365.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:45.415Z,1736371365.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 23.411648 m, bearing: 6.404112 deg, approach rate: 0.553778 m/s, LOS rate: 0.245393 deg/s, cmd heading: 212.729821 deg, new cmd heading: 213.086528 deg. 2025-01-08T21:22:45.420Z,1736371365.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.719062 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:45.556Z,1736371365.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:45.557Z,1736371365.557 [DAT](INFO): DAT read: TxSync time:21:22:44.5211 2025-01-08T21:22:45.557Z,1736371365.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250976 2025-01-08T21:22:45.706Z,1736371365.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:45.716Z,1736371365.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:45.718Z,1736371365.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 23.604931 m, bearing: 6.491482 deg, approach rate: 0.611232 m/s, LOS rate: 0.274034 deg/s, cmd heading: 213.086534 deg, new cmd heading: 213.346497 deg. 2025-01-08T21:22:45.719Z,1736371365.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723599 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:45.809Z,1736371365.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:45.813Z,1736371365.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505699 2025-01-08T21:22:46.060Z,1736371366.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:46.060Z,1736371366.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754063 2025-01-08T21:22:46.125Z,1736371366.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:46.156Z,1736371366.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:46.158Z,1736371366.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:46.165Z,1736371366.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 23.854057 m, bearing: 6.620120 deg, approach rate: 0.562576 m/s, LOS rate: 0.287455 deg/s, cmd heading: 213.346491 deg, new cmd heading: 213.728369 deg. 2025-01-08T21:22:46.166Z,1736371366.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.730264 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:46.313Z,1736371366.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:46.313Z,1736371366.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007000 2025-01-08T21:22:46.504Z,1736371366.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:46.513Z,1736371366.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:46.516Z,1736371366.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 24.079380 m, bearing: 6.734985 deg, approach rate: 0.635011 m/s, LOS rate: 0.320686 deg/s, cmd heading: 213.728367 deg, new cmd heading: 214.069733 deg. 2025-01-08T21:22:46.517Z,1736371366.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.736222 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:46.565Z,1736371366.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:46.567Z,1736371366.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260267 2025-01-08T21:22:46.817Z,1736371366.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:46.820Z,1736371366.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512506 2025-01-08T21:22:46.940Z,1736371366.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:46.950Z,1736371366.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:46.952Z,1736371366.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 24.335348 m, bearing: 6.936682 deg, approach rate: 0.586189 m/s, LOS rate: 0.457042 deg/s, cmd heading: 214.069740 deg, new cmd heading: 214.668441 deg. 2025-01-08T21:22:46.953Z,1736371366.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.746671 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:47.069Z,1736371367.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:47.070Z,1736371367.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763728 2025-01-08T21:22:47.320Z,1736371367.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:47.321Z,1736371367.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014235 2025-01-08T21:22:47.323Z,1736371367.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:47.334Z,1736371367.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:47.336Z,1736371367.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 24.560522 m, bearing: 7.110448 deg, approach rate: 0.586467 m/s, LOS rate: 0.448426 deg/s, cmd heading: 214.668447 deg, new cmd heading: 215.184952 deg. 2025-01-08T21:22:47.337Z,1736371367.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.755686 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:47.572Z,1736371367.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:47.572Z,1736371367.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266102 2025-01-08T21:22:47.713Z,1736371367.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:47.722Z,1736371367.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:47.724Z,1736371367.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 24.789383 m, bearing: 7.287481 deg, approach rate: 0.589680 m/s, LOS rate: 0.451930 deg/s, cmd heading: 215.184946 deg, new cmd heading: 215.711127 deg. 2025-01-08T21:22:47.725Z,1736371367.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.764869 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:47.828Z,1736371367.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:47.830Z,1736371367.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523299 2025-01-08T21:22:48.080Z,1736371368.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:48.081Z,1736371368.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774466 2025-01-08T21:22:48.158Z,1736371368.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:48.166Z,1736371368.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:48.168Z,1736371368.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:48.171Z,1736371368.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 25.053249 m, bearing: 7.538338 deg, approach rate: 0.590583 m/s, LOS rate: 0.555549 deg/s, cmd heading: 215.711130 deg, new cmd heading: 216.455729 deg. 2025-01-08T21:22:48.188Z,1736371368.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777865 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:48.332Z,1736371368.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:48.332Z,1736371368.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026025 2025-01-08T21:22:48.534Z,1736371368.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:48.543Z,1736371368.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:48.545Z,1736371368.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 25.276247 m, bearing: 7.749840 deg, approach rate: 0.596016 m/s, LOS rate: 0.560304 deg/s, cmd heading: 216.455730 deg, new cmd heading: 217.084612 deg. 2025-01-08T21:22:48.546Z,1736371368.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788841 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:48.584Z,1736371368.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:48.586Z,1736371368.586 [DAT](INFO): DAT read: Rx Time:21:22:47.3986 2025-01-08T21:22:48.587Z,1736371368.587 [DAT](INFO): Rx dataTimestamp_ set to:1736371368.586298 2025-01-08T21:22:48.588Z,1736371368.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281372 2025-01-08T21:22:48.838Z,1736371368.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:48.840Z,1736371368.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533430 2025-01-08T21:22:48.957Z,1736371368.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:48.967Z,1736371368.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.00 m. 2025-01-08T21:22:48.969Z,1736371368.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.000000 m, nav range: 25.526548 m, bearing: 8.029132 deg, approach rate: 0.590292 m/s, LOS rate: 0.652198 deg/s, cmd heading: 217.084613 deg, new cmd heading: 217.914210 deg. 2025-01-08T21:22:48.970Z,1736371368.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803320 target range: 357.000000 and range: 357.00 m. 2025-01-08T21:22:49.092Z,1736371369.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:49.108Z,1736371369.108 [DAT](INFO): DAT read: 21:22:47.3986 LVL= 16544, 32753, 25522, 32755, AGC= 65, IDX= 370, 0.24, 2.867, 1.136, 1.096, 1.749, PHS= 1.206,-0.566,-0.656, RAW= 87.5, 0.2, CAL= 94.7, -4.0, ROT= 55.3, 4.0 2025-01-08T21:22:49.109Z,1736371369.109 [DAT](INFO): got valid direction response: 21:22:47.3986 LVL= 16544, 32753, 25522, 32755, AGC= 65, IDX= 370, 0.24, 2.867, 1.136, 1.096, 1.749, PHS= 1.206,-0.566,-0.656, RAW= 87.5, 0.2, CAL= 94.7, -4.0, ROT= 55.3, 4.0 2025-01-08T21:22:49.110Z,1736371369.110 [DAT](INFO): DAT read: Bearing 55.3, 4.0 (Local) 2025-01-08T21:22:49.111Z,1736371369.111 [DAT](INFO): Local bearing/azimuth received: Bearing 55.3, 4.0 (Local) 2025-01-08T21:22:49.114Z,1736371369.114 [DAT](INFO): DAT read: Range 10 to 50 : 354.3 m (Round-trip 472.4 ms) speed 0.3 m/s 2025-01-08T21:22:49.132Z,1736371369.132 [DAT](INFO): DAT read: user:1711> 2025-01-08T21:22:49.133Z,1736371369.133 [DAT](INFO): DAT read: Tx time:21:22:48.5220 2025-01-08T21:22:49.133Z,1736371369.133 [DAT](INFO): Ping request sent. 2025-01-08T21:22:49.133Z,1736371369.133 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:49.133Z,1736371369.133 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:22:49.134Z,1736371369.134 [DAT](INFO): direction in FSK: [-0.084472,0.149992,0.985072] 2025-01-08T21:22:49.135Z,1736371369.135 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:49.135Z,1736371369.135 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:49.142Z,1736371369.142 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:49.142Z,1736371369.142 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:49.344Z,1736371369.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:49.346Z,1736371369.346 [DAT](INFO): DAT read: TxSync time:21:22:48.5212 2025-01-08T21:22:49.361Z,1736371369.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:49.388Z,1736371369.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 354.299988 m, deltaT: 14.878678 s, deltaX: -2.700012 m, approachRate: -0.181469 m/s, rangeRepo size: 4 2025-01-08T21:22:49.390Z,1736371369.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 354.299988 m, bearing: 33.786779 deg, lat: 36.904287 deg, lon: -122.115029 deg, deltaT: 14.878678 s, deltaX: -2.700012 m, approachRate: -0.181469 m/s, posRepo size: 4 2025-01-08T21:22:49.390Z,1736371369.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.30 m. 2025-01-08T21:22:49.440Z,1736371369.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.299988 m, nav range: 39.235550 m, bearing: 5.433310 deg, approach rate: 0.000000 m/s, LOS rate: 0.652198 deg/s, cmd heading: 217.914208 deg, new cmd heading: 218.736250 deg. 2025-01-08T21:22:49.441Z,1736371369.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.817668 target range: 354.299988 and range: 354.30 m. 2025-01-08T21:22:49.596Z,1736371369.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:49.752Z,1736371369.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:49.761Z,1736371369.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.30 m. 2025-01-08T21:22:49.764Z,1736371369.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.299988 m, nav range: 39.461159 m, bearing: 5.616818 deg, approach rate: 0.603085 m/s, LOS rate: 0.487739 deg/s, cmd heading: 218.736248 deg, new cmd heading: 219.283608 deg. 2025-01-08T21:22:49.765Z,1736371369.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.827221 target range: 354.299988 and range: 354.30 m. 2025-01-08T21:22:49.850Z,1736371369.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:50.100Z,1736371370.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:50.186Z,1736371370.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:50.201Z,1736371370.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:50.203Z,1736371370.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.30 m. 2025-01-08T21:22:50.205Z,1736371370.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.299988 m, nav range: 39.713715 m, bearing: 5.837485 deg, approach rate: 0.571582 m/s, LOS rate: 0.496233 deg/s, cmd heading: 219.283606 deg, new cmd heading: 219.941365 deg. 2025-01-08T21:22:50.206Z,1736371370.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838701 target range: 354.299988 and range: 354.30 m. 2025-01-08T21:22:50.355Z,1736371370.355 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:50.356Z,1736371370.356 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:22:50.356Z,1736371370.356 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:22:50.356Z,1736371370.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:50.542Z,1736371370.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:50.550Z,1736371370.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.30 m. 2025-01-08T21:22:50.553Z,1736371370.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.299988 m, nav range: 39.920666 m, bearing: 6.019986 deg, approach rate: 0.595199 m/s, LOS rate: 0.522157 deg/s, cmd heading: 219.941367 deg, new cmd heading: 220.486014 deg. 2025-01-08T21:22:50.554Z,1736371370.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.848207 target range: 354.299988 and range: 354.30 m. 2025-01-08T21:22:50.608Z,1736371370.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:50.608Z,1736371370.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475341 2025-01-08T21:22:50.862Z,1736371370.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:50.865Z,1736371370.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731997 2025-01-08T21:22:50.980Z,1736371370.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:50.989Z,1736371370.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.30 m. 2025-01-08T21:22:50.992Z,1736371370.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.299988 m, nav range: 40.174179 m, bearing: 6.259657 deg, approach rate: 0.577841 m/s, LOS rate: 0.542841 deg/s, cmd heading: 220.486020 deg, new cmd heading: 221.200457 deg. 2025-01-08T21:22:50.993Z,1736371370.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.860676 target range: 354.299988 and range: 354.30 m. 2025-01-08T21:22:51.113Z,1736371371.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:51.113Z,1736371371.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980188 2025-01-08T21:22:51.349Z,1736371371.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:51.364Z,1736371371.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:51.365Z,1736371371.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231434 2025-01-08T21:22:51.378Z,1736371371.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.30 m. 2025-01-08T21:22:51.385Z,1736371371.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.299988 m, nav range: 40.386829 m, bearing: 6.461156 deg, approach rate: 0.547275 m/s, LOS rate: 0.515845 deg/s, cmd heading: 221.200457 deg, new cmd heading: 221.801749 deg. 2025-01-08T21:22:51.386Z,1736371371.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.871171 target range: 354.299988 and range: 354.30 m. 2025-01-08T21:22:51.616Z,1736371371.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:51.618Z,1736371371.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484541 2025-01-08T21:22:51.752Z,1736371371.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:51.760Z,1736371371.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.30 m. 2025-01-08T21:22:51.764Z,1736371371.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.299988 m, nav range: 40.618641 m, bearing: 6.681904 deg, approach rate: 0.606254 m/s, LOS rate: 0.574025 deg/s, cmd heading: 221.801746 deg, new cmd heading: 222.460182 deg. 2025-01-08T21:22:51.765Z,1736371371.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882663 target range: 354.299988 and range: 354.30 m. 2025-01-08T21:22:51.869Z,1736371371.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:51.872Z,1736371371.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738044 2025-01-08T21:22:52.120Z,1736371372.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:52.120Z,1736371372.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987199 2025-01-08T21:22:52.205Z,1736371372.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:52.215Z,1736371372.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:52.217Z,1736371372.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.30 m. 2025-01-08T21:22:52.225Z,1736371372.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.299988 m, nav range: 40.874115 m, bearing: 6.925663 deg, approach rate: 0.558487 m/s, LOS rate: 0.529544 deg/s, cmd heading: 222.460177 deg, new cmd heading: 223.186842 deg. 2025-01-08T21:22:52.226Z,1736371372.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.895345 target range: 354.299988 and range: 354.30 m. 2025-01-08T21:22:52.372Z,1736371372.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:52.372Z,1736371372.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239276 2025-01-08T21:22:52.558Z,1736371372.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:52.599Z,1736371372.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.30 m. 2025-01-08T21:22:52.602Z,1736371372.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.299988 m, nav range: 41.072968 m, bearing: 7.116379 deg, approach rate: 0.526451 m/s, LOS rate: 0.502463 deg/s, cmd heading: 223.186840 deg, new cmd heading: 223.756197 deg. 2025-01-08T21:22:52.603Z,1736371372.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.905282 target range: 354.299988 and range: 354.30 m. 2025-01-08T21:22:52.625Z,1736371372.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:52.627Z,1736371372.627 [DAT](INFO): DAT read: Rx Time:21:22:51.3963 2025-01-08T21:22:52.628Z,1736371372.628 [DAT](INFO): Rx dataTimestamp_ set to:1736371372.627719 2025-01-08T21:22:52.630Z,1736371372.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496542 2025-01-08T21:22:52.876Z,1736371372.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:52.876Z,1736371372.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743235 2025-01-08T21:22:52.997Z,1736371372.997 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 89.38, 77.82 2025-01-08T21:22:53.005Z,1736371373.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:22:53.005Z,1736371373.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:53.014Z,1736371373.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.30 m. 2025-01-08T21:22:53.017Z,1736371373.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.299988 m, nav range: 41.321453 m, bearing: 7.360735 deg, approach rate: 0.592969 m/s, LOS rate: 0.579606 deg/s, cmd heading: 223.756191 deg, new cmd heading: 224.484808 deg. 2025-01-08T21:22:53.018Z,1736371373.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917999 target range: 354.299988 and range: 354.30 m. 2025-01-08T21:22:53.128Z,1736371373.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:53.135Z,1736371373.135 [DAT](INFO): DAT read: 21:22:51.3963 LVL= 19328, 32753, 22482, 31715, AGC= 68, IDX= 412,-0.46, 1.865, 0.221, 0.302, 0.891, PHS= 1.061,-0.623,-0.592, RAW= 90.9, 1.9, CAL= 98.5, -1.0, ROT= 51.5, 1.0 2025-01-08T21:22:53.136Z,1736371373.136 [DAT](INFO): got valid direction response: 21:22:51.3963 LVL= 19328, 32753, 22482, 31715, AGC= 68, IDX= 412,-0.46, 1.865, 0.221, 0.302, 0.891, PHS= 1.061,-0.623,-0.592, RAW= 90.9, 1.9, CAL= 98.5, -1.0, ROT= 51.5, 1.0 2025-01-08T21:22:53.137Z,1736371373.137 [DAT](INFO): DAT read: Bearing 51.5, 1.0 (Local) 2025-01-08T21:22:53.138Z,1736371373.138 [DAT](INFO): Local bearing/azimuth received: Bearing 51.5, 1.0 (Local) 2025-01-08T21:22:53.140Z,1736371373.140 [DAT](INFO): DAT read: Range 10 to 50 : 352.6 m (Round-trip 470.2 ms) speed 0.4 m/s 2025-01-08T21:22:53.142Z,1736371373.142 [DAT](INFO): DAT read: user:1712> 2025-01-08T21:22:53.143Z,1736371373.143 [DAT](INFO): DAT read: Tx time:21:22:52.4720 2025-01-08T21:22:53.144Z,1736371373.144 [DAT](INFO): Ping request sent. 2025-01-08T21:22:53.145Z,1736371373.145 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:53.146Z,1736371373.146 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:22:53.147Z,1736371373.147 [DAT](INFO): direction in FSK: [-0.122100,0.093480,0.988106] 2025-01-08T21:22:53.148Z,1736371373.148 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:53.148Z,1736371373.148 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:53.153Z,1736371373.153 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:53.154Z,1736371373.154 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:53.381Z,1736371373.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:53.382Z,1736371373.382 [DAT](INFO): DAT read: TxSync time:21:22:52.4712 2025-01-08T21:22:53.413Z,1736371373.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:22:53.413Z,1736371373.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:53.441Z,1736371373.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 352.600006 m, deltaT: 4.035992 s, deltaX: -1.699982 m, approachRate: -0.421205 m/s, rangeRepo size: 4 2025-01-08T21:22:53.443Z,1736371373.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 352.600006 m, bearing: 72.277696 deg, lat: 36.904287 deg, lon: -122.115029 deg, deltaT: 4.035992 s, deltaX: -1.699982 m, approachRate: -0.421205 m/s, posRepo size: 4 2025-01-08T21:22:53.448Z,1736371373.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.60 m. 2025-01-08T21:22:53.450Z,1736371373.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.600006 m, nav range: 41.549545 m, bearing: 7.581829 deg, approach rate: 0.000000 m/s, LOS rate: 0.579606 deg/s, cmd heading: 224.484809 deg, new cmd heading: 225.225103 deg. 2025-01-08T21:22:53.455Z,1736371373.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.930920 target range: 352.600006 and range: 352.60 m. 2025-01-08T21:22:53.632Z,1736371373.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:53.801Z,1736371373.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:22:53.801Z,1736371373.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:53.809Z,1736371373.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.60 m. 2025-01-08T21:22:53.813Z,1736371373.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.600006 m, nav range: 41.763393 m, bearing: 7.794690 deg, approach rate: 0.579234 m/s, LOS rate: 0.573606 deg/s, cmd heading: 225.225105 deg, new cmd heading: 225.860390 deg. 2025-01-08T21:22:53.814Z,1736371373.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.942008 target range: 352.600006 and range: 352.60 m. 2025-01-08T21:22:53.886Z,1736371373.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:54.136Z,1736371374.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:54.253Z,1736371374.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:54.269Z,1736371374.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:54.275Z,1736371374.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.60 m. 2025-01-08T21:22:54.278Z,1736371374.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.600006 m, nav range: 42.020794 m, bearing: 8.003859 deg, approach rate: 0.557371 m/s, LOS rate: 0.450155 deg/s, cmd heading: 225.860395 deg, new cmd heading: 226.484031 deg. 2025-01-08T21:22:54.284Z,1736371374.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.952892 target range: 352.600006 and range: 352.60 m. 2025-01-08T21:22:54.388Z,1736371374.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:54.389Z,1736371374.389 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:22:54.389Z,1736371374.389 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:22:54.390Z,1736371374.390 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:54.596Z,1736371374.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:54.618Z,1736371374.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.60 m. 2025-01-08T21:22:54.632Z,1736371374.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.600006 m, nav range: 42.214939 m, bearing: 8.163014 deg, approach rate: 0.558992 m/s, LOS rate: 0.456138 deg/s, cmd heading: 226.484032 deg, new cmd heading: 226.959289 deg. 2025-01-08T21:22:54.633Z,1736371374.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.961187 target range: 352.600006 and range: 352.60 m. 2025-01-08T21:22:54.640Z,1736371374.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:54.640Z,1736371374.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497327 2025-01-08T21:22:54.892Z,1736371374.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:54.893Z,1736371374.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749485 2025-01-08T21:22:55.057Z,1736371375.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:55.066Z,1736371375.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.60 m. 2025-01-08T21:22:55.069Z,1736371375.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.600006 m, nav range: 42.476078 m, bearing: 8.342997 deg, approach rate: 0.583227 m/s, LOS rate: 0.399503 deg/s, cmd heading: 226.959290 deg, new cmd heading: 227.495905 deg. 2025-01-08T21:22:55.070Z,1736371375.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.970553 target range: 352.600006 and range: 352.60 m. 2025-01-08T21:22:55.146Z,1736371375.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:55.147Z,1736371375.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003611 2025-01-08T21:22:55.400Z,1736371375.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:55.400Z,1736371375.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257340 2025-01-08T21:22:55.405Z,1736371375.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:55.414Z,1736371375.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.60 m. 2025-01-08T21:22:55.417Z,1736371375.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.600006 m, nav range: 42.671360 m, bearing: 8.483938 deg, approach rate: 0.560701 m/s, LOS rate: 0.402822 deg/s, cmd heading: 227.495911 deg, new cmd heading: 227.916791 deg. 2025-01-08T21:22:55.418Z,1736371375.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.977898 target range: 352.600006 and range: 352.60 m. 2025-01-08T21:22:55.653Z,1736371375.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:55.654Z,1736371375.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510444 2025-01-08T21:22:55.808Z,1736371375.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:55.830Z,1736371375.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.60 m. 2025-01-08T21:22:55.837Z,1736371375.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.600006 m, nav range: 42.896152 m, bearing: 8.649068 deg, approach rate: 0.541141 m/s, LOS rate: 0.395432 deg/s, cmd heading: 227.916787 deg, new cmd heading: 228.409568 deg. 2025-01-08T21:22:55.838Z,1736371375.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.986499 target range: 352.600006 and range: 352.60 m. 2025-01-08T21:22:55.904Z,1736371375.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:55.905Z,1736371375.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761752 2025-01-08T21:22:56.156Z,1736371376.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:56.156Z,1736371376.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013258 2025-01-08T21:22:56.251Z,1736371376.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:56.260Z,1736371376.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.60 m. 2025-01-08T21:22:56.263Z,1736371376.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.600006 m, nav range: 43.144421 m, bearing: 8.800758 deg, approach rate: 0.577947 m/s, LOS rate: 0.351088 deg/s, cmd heading: 228.409572 deg, new cmd heading: 228.862012 deg. 2025-01-08T21:22:56.264Z,1736371376.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.994396 target range: 352.600006 and range: 352.60 m. 2025-01-08T21:22:56.409Z,1736371376.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:56.409Z,1736371376.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266224 2025-01-08T21:22:56.621Z,1736371376.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:56.628Z,1736371376.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:56.632Z,1736371376.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.60 m. 2025-01-08T21:22:56.637Z,1736371376.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.600006 m, nav range: 43.349670 m, bearing: 8.933146 deg, approach rate: 0.553124 m/s, LOS rate: 0.355080 deg/s, cmd heading: 228.862017 deg, new cmd heading: 229.257294 deg. 2025-01-08T21:22:56.638Z,1736371376.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.001295 target range: 352.600006 and range: 352.60 m. 2025-01-08T21:22:56.660Z,1736371376.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:56.661Z,1736371376.661 [DAT](INFO): DAT read: Rx Time:21:22:55.3439 2025-01-08T21:22:56.662Z,1736371376.662 [DAT](INFO): Rx dataTimestamp_ set to:1736371376.661433 2025-01-08T21:22:56.663Z,1736371376.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519704 2025-01-08T21:22:56.912Z,1736371376.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:56.913Z,1736371376.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769973 2025-01-08T21:22:57.109Z,1736371377.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:57.119Z,1736371377.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.60 m. 2025-01-08T21:22:57.121Z,1736371377.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.600006 m, nav range: 43.625450 m, bearing: 9.087342 deg, approach rate: 0.564950 m/s, LOS rate: 0.313881 deg/s, cmd heading: 229.257294 deg, new cmd heading: 229.716946 deg. 2025-01-08T21:22:57.122Z,1736371377.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.009317 target range: 352.600006 and range: 352.60 m. 2025-01-08T21:22:57.164Z,1736371377.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:57.171Z,1736371377.171 [DAT](INFO): DAT read: 21:22:55.3439 LVL= 17600, 30385, 24130, 32755, AGC= 62, IDX= 417, 0.06,-3.020, 1.625, 1.876, 2.430, PHS= 0.921,-0.759,-0.558, RAW= 96.3, 5.0, CAL= 105.4, 3.6, ROT= 44.6, -3.6 2025-01-08T21:22:57.172Z,1736371377.172 [DAT](INFO): got valid direction response: 21:22:55.3439 LVL= 17600, 30385, 24130, 32755, AGC= 62, IDX= 417, 0.06,-3.020, 1.625, 1.876, 2.430, PHS= 0.921,-0.759,-0.558, RAW= 96.3, 5.0, CAL= 105.4, 3.6, ROT= 44.6, -3.6 2025-01-08T21:22:57.173Z,1736371377.173 [DAT](INFO): DAT read: Bearing 44.6, -3.6 (Local) 2025-01-08T21:22:57.173Z,1736371377.173 [DAT](INFO): Local bearing/azimuth received: Bearing 44.6, -3.6 (Local) 2025-01-08T21:22:57.175Z,1736371377.175 [DAT](INFO): DAT read: Range 10 to 50 : 350.7 m (Round-trip 467.6 ms) speed 0.1 m/s 2025-01-08T21:22:57.176Z,1736371377.176 [DAT](INFO): DAT read: user:1713> 2025-01-08T21:22:57.177Z,1736371377.177 [DAT](INFO): DAT read: Tx time:21:22:56.4221 2025-01-08T21:22:57.177Z,1736371377.177 [DAT](INFO): Ping request sent. 2025-01-08T21:22:57.177Z,1736371377.177 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:22:57.177Z,1736371377.177 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:22:57.179Z,1736371377.179 [DAT](INFO): direction in FSK: [-0.190269,0.003184,0.981727] 2025-01-08T21:22:57.179Z,1736371377.179 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:57.180Z,1736371377.180 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:57.183Z,1736371377.183 [DAT](INFO): publishing transmit ping time 2025-01-08T21:22:57.183Z,1736371377.183 [DAT](INFO): publishing direction and range info 2025-01-08T21:22:57.416Z,1736371377.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:57.416Z,1736371377.416 [DAT](INFO): DAT read: TxSync time:21:22:56.4213 2025-01-08T21:22:57.433Z,1736371377.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:57.472Z,1736371377.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 350.700012 m, deltaT: 4.036158 s, deltaX: -1.899994 m, approachRate: -0.470743 m/s, rangeRepo size: 4 2025-01-08T21:22:57.474Z,1736371377.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 350.700012 m, bearing: 87.106671 deg, lat: 36.904287 deg, lon: -122.114777 deg, deltaT: 4.036158 s, deltaX: -1.899994 m, approachRate: -0.470743 m/s, posRepo size: 4 2025-01-08T21:22:57.475Z,1736371377.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T21:22:57.486Z,1736371377.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 52.302402 m, bearing: 34.228288 deg, approach rate: 0.000000 m/s, LOS rate: 0.313881 deg/s, cmd heading: 229.716938 deg, new cmd heading: 230.045419 deg. 2025-01-08T21:22:57.487Z,1736371377.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.015050 target range: 350.700012 and range: 350.70 m. 2025-01-08T21:22:57.668Z,1736371377.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:57.833Z,1736371377.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:57.860Z,1736371377.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T21:22:57.864Z,1736371377.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 52.548325 m, bearing: 34.226945 deg, approach rate: 0.625931 m/s, LOS rate: -0.003403 deg/s, cmd heading: 230.045416 deg, new cmd heading: 230.041404 deg. 2025-01-08T21:22:57.865Z,1736371377.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.014980 target range: 350.700012 and range: 350.70 m. 2025-01-08T21:22:57.921Z,1736371377.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:58.172Z,1736371378.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:58.258Z,1736371378.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:58.268Z,1736371378.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T21:22:58.270Z,1736371378.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 52.811401 m, bearing: 34.224242 deg, approach rate: 0.645563 m/s, LOS rate: -0.006598 deg/s, cmd heading: 230.041400 deg, new cmd heading: 230.033333 deg. 2025-01-08T21:22:58.272Z,1736371378.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.014839 target range: 350.700012 and range: 350.70 m. 2025-01-08T21:22:58.424Z,1736371378.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:58.650Z,1736371378.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:58.662Z,1736371378.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:22:58.677Z,1736371378.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:58.678Z,1736371378.678 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:22:58.678Z,1736371378.678 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:22:58.678Z,1736371378.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:22:58.682Z,1736371378.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T21:22:58.691Z,1736371378.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 53.054024 m, bearing: 34.224478 deg, approach rate: 0.585760 m/s, LOS rate: 0.000567 deg/s, cmd heading: 230.033340 deg, new cmd heading: 230.034044 deg. 2025-01-08T21:22:58.697Z,1736371378.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.014852 target range: 350.700012 and range: 350.70 m. 2025-01-08T21:22:58.929Z,1736371378.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:58.930Z,1736371378.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753019 2025-01-08T21:22:59.109Z,1736371379.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:59.118Z,1736371379.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T21:22:59.121Z,1736371379.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 53.332466 m, bearing: 34.231264 deg, approach rate: 0.638217 m/s, LOS rate: 0.015472 deg/s, cmd heading: 230.034050 deg, new cmd heading: 230.054300 deg. 2025-01-08T21:22:59.122Z,1736371379.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.015205 target range: 350.700012 and range: 350.70 m. 2025-01-08T21:22:59.180Z,1736371379.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:59.181Z,1736371379.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004202 2025-01-08T21:22:59.432Z,1736371379.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:59.433Z,1736371379.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255504 2025-01-08T21:22:59.465Z,1736371379.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:59.473Z,1736371379.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T21:22:59.476Z,1736371379.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 53.548649 m, bearing: 34.238336 deg, approach rate: 0.609377 m/s, LOS rate: 0.019854 deg/s, cmd heading: 230.054295 deg, new cmd heading: 230.075426 deg. 2025-01-08T21:22:59.477Z,1736371379.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.015574 target range: 350.700012 and range: 350.70 m. 2025-01-08T21:22:59.684Z,1736371379.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:59.687Z,1736371379.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509227 2025-01-08T21:22:59.848Z,1736371379.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:22:59.875Z,1736371379.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T21:22:59.885Z,1736371379.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 53.780960 m, bearing: 34.247601 deg, approach rate: 0.603875 m/s, LOS rate: 0.023981 deg/s, cmd heading: 230.075414 deg, new cmd heading: 230.103091 deg. 2025-01-08T21:22:59.891Z,1736371379.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.016057 target range: 350.700012 and range: 350.70 m. 2025-01-08T21:22:59.936Z,1736371379.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:22:59.937Z,1736371379.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759574 2025-01-08T21:23:00.188Z,1736371380.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:00.189Z,1736371380.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011546 2025-01-08T21:23:00.313Z,1736371380.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:00.322Z,1736371380.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T21:23:00.325Z,1736371380.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 54.062878 m, bearing: 34.275796 deg, approach rate: 0.607670 m/s, LOS rate: 0.060457 deg/s, cmd heading: 230.103090 deg, new cmd heading: 230.187234 deg. 2025-01-08T21:23:00.325Z,1736371380.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.017525 target range: 350.700012 and range: 350.70 m. 2025-01-08T21:23:00.440Z,1736371380.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:00.441Z,1736371380.441 [DAT](INFO): DAT read: Rx Time:21:22:59.2927 2025-01-08T21:23:00.442Z,1736371380.442 [DAT](INFO): Rx dataTimestamp_ set to:1736371380.441868 2025-01-08T21:23:00.443Z,1736371380.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265853 2025-01-08T21:23:00.692Z,1736371380.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:00.692Z,1736371380.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515238 2025-01-08T21:23:00.720Z,1736371380.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:00.737Z,1736371380.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:00.740Z,1736371380.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T21:23:00.742Z,1736371380.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 54.309227 m, bearing: 34.302050 deg, approach rate: 0.589844 m/s, LOS rate: 0.062574 deg/s, cmd heading: 230.187238 deg, new cmd heading: 230.265641 deg. 2025-01-08T21:23:00.751Z,1736371380.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.018894 target range: 350.700012 and range: 350.70 m. 2025-01-08T21:23:00.946Z,1736371380.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:00.948Z,1736371380.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770884 2025-01-08T21:23:01.185Z,1736371381.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:01.196Z,1736371381.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:01.203Z,1736371381.203 [DAT](INFO): DAT read: 21:22:59.2927 LVL= 30320, 32753, 32754, 32755, AGC= 65, IDX= 437,-0.08,-1.850, 2.884,-3.086,-2.616, PHS= 0.855,-0.736,-0.473, RAW= 98.9, 4.9, CAL= 108.7, 3.2, ROT= 41.3, -3.2 2025-01-08T21:23:01.204Z,1736371381.204 [DAT](INFO): got valid direction response: 21:22:59.2927 LVL= 30320, 32753, 32754, 32755, AGC= 65, IDX= 437,-0.08,-1.850, 2.884,-3.086,-2.616, PHS= 0.855,-0.736,-0.473, RAW= 98.9, 4.9, CAL= 108.7, 3.2, ROT= 41.3, -3.2 2025-01-08T21:23:01.205Z,1736371381.205 [DAT](INFO): DAT read: Bearing 41.3, -3.2 (Local) 2025-01-08T21:23:01.206Z,1736371381.206 [DAT](INFO): Local bearing/azimuth received: Bearing 41.3, -3.2 (Local) 2025-01-08T21:23:01.207Z,1736371381.207 [DAT](INFO): DAT read: Range 10 to 50 : 349.8 m (Round-trip 466.5 ms) speed 0.1 m/s 2025-01-08T21:23:01.208Z,1736371381.208 [DAT](INFO): DAT read: user:1714> 2025-01-08T21:23:01.209Z,1736371381.209 [DAT](INFO): DAT read: Tx time:21:23:00.3721 2025-01-08T21:23:01.209Z,1736371381.209 [DAT](INFO): Ping request sent. 2025-01-08T21:23:01.209Z,1736371381.209 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:01.210Z,1736371381.210 [DAT](INFO): DAT read: TxSync time:21:23:00.3713 2025-01-08T21:23:01.210Z,1736371381.210 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:01.213Z,1736371381.213 [DAT](INFO): direction in FSK: [-0.190512,-0.042146,0.980780] 2025-01-08T21:23:01.213Z,1736371381.213 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:01.213Z,1736371381.213 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:01.216Z,1736371381.216 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:01.216Z,1736371381.216 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:01.285Z,1736371381.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 349.799988 m, deltaT: 4.031742 s, deltaX: -0.900024 m, approachRate: -0.223235 m/s, rangeRepo size: 4 2025-01-08T21:23:01.287Z,1736371381.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 349.799988 m, bearing: 93.750347 deg, lat: 36.904107 deg, lon: -122.114348 deg, deltaT: 4.031742 s, deltaX: -0.900024 m, approachRate: -0.223235 m/s, posRepo size: 4 2025-01-08T21:23:01.297Z,1736371381.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.80 m. 2025-01-08T21:23:01.308Z,1736371381.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.799988 m, nav range: 73.342354 m, bearing: 70.077516 deg, approach rate: 0.000000 m/s, LOS rate: 0.062574 deg/s, cmd heading: 230.265648 deg, new cmd heading: 230.367867 deg. 2025-01-08T21:23:01.309Z,1736371381.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.020678 target range: 349.799988 and range: 349.80 m. 2025-01-08T21:23:01.449Z,1736371381.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:01.643Z,1736371381.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:01.687Z,1736371381.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.80 m. 2025-01-08T21:23:01.690Z,1736371381.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.799988 m, nav range: 73.601585 m, bearing: 69.982176 deg, approach rate: 0.650378 m/s, LOS rate: -0.238351 deg/s, cmd heading: 230.367855 deg, new cmd heading: 230.082847 deg. 2025-01-08T21:23:01.691Z,1736371381.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.015703 target range: 349.799988 and range: 349.80 m. 2025-01-08T21:23:01.700Z,1736371381.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:01.952Z,1736371381.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:02.157Z,1736371382.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:02.167Z,1736371382.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.80 m. 2025-01-08T21:23:02.170Z,1736371382.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.799988 m, nav range: 73.909515 m, bearing: 69.884853 deg, approach rate: 0.635842 m/s, LOS rate: -0.200125 deg/s, cmd heading: 230.082845 deg, new cmd heading: 229.792094 deg. 2025-01-08T21:23:02.171Z,1736371382.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.010629 target range: 349.799988 and range: 349.80 m. 2025-01-08T21:23:02.204Z,1736371382.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:02.459Z,1736371382.459 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:02.486Z,1736371382.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:02.496Z,1736371382.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.80 m. 2025-01-08T21:23:02.499Z,1736371382.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.799988 m, nav range: 74.107376 m, bearing: 69.825444 deg, approach rate: 0.602920 m/s, LOS rate: -0.180547 deg/s, cmd heading: 229.792098 deg, new cmd heading: 229.614348 deg. 2025-01-08T21:23:02.500Z,1736371382.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.007526 target range: 349.799988 and range: 349.80 m. 2025-01-08T21:23:02.708Z,1736371382.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:02.877Z,1736371382.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:02.896Z,1736371382.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:02.924Z,1736371382.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.80 m. 2025-01-08T21:23:02.926Z,1736371382.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.799988 m, nav range: 74.343224 m, bearing: 69.755939 deg, approach rate: 0.567774 m/s, LOS rate: -0.166793 deg/s, cmd heading: 229.614349 deg, new cmd heading: 229.406497 deg. 2025-01-08T21:23:02.932Z,1736371382.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.003899 target range: 349.799988 and range: 349.80 m. 2025-01-08T21:23:02.960Z,1736371382.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:02.960Z,1736371382.960 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:02.960Z,1736371382.960 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:02.961Z,1736371382.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:03.212Z,1736371383.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:03.213Z,1736371383.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003827 2025-01-08T21:23:03.330Z,1736371383.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:03.339Z,1736371383.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.80 m. 2025-01-08T21:23:03.342Z,1736371383.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.799988 m, nav range: 74.635399 m, bearing: 69.691393 deg, approach rate: 0.681600 m/s, LOS rate: -0.149987 deg/s, cmd heading: 229.406493 deg, new cmd heading: 229.213612 deg. 2025-01-08T21:23:03.343Z,1736371383.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.000532 target range: 349.799988 and range: 349.80 m. 2025-01-08T21:23:03.464Z,1736371383.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:03.465Z,1736371383.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255459 2025-01-08T21:23:03.683Z,1736371383.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:03.691Z,1736371383.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.80 m. 2025-01-08T21:23:03.694Z,1736371383.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.799988 m, nav range: 74.862617 m, bearing: 69.641511 deg, approach rate: 0.645181 m/s, LOS rate: -0.141209 deg/s, cmd heading: 229.213608 deg, new cmd heading: 229.064416 deg. 2025-01-08T21:23:03.711Z,1736371383.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.997928 target range: 349.799988 and range: 349.80 m. 2025-01-08T21:23:03.717Z,1736371383.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:03.718Z,1736371383.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508544 2025-01-08T21:23:03.968Z,1736371383.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:03.968Z,1736371383.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759073 2025-01-08T21:23:04.164Z,1736371384.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:04.199Z,1736371384.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.80 m. 2025-01-08T21:23:04.202Z,1736371384.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.799988 m, nav range: 75.186035 m, bearing: 69.580506 deg, approach rate: 0.637441 m/s, LOS rate: -0.119719 deg/s, cmd heading: 229.064409 deg, new cmd heading: 228.882185 deg. 2025-01-08T21:23:04.203Z,1736371384.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.994748 target range: 349.799988 and range: 349.80 m. 2025-01-08T21:23:04.224Z,1736371384.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:04.224Z,1736371384.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015131 2025-01-08T21:23:04.476Z,1736371384.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:04.476Z,1736371384.476 [DAT](INFO): DAT read: Rx Time:21:23:03.2409 2025-01-08T21:23:04.477Z,1736371384.477 [DAT](INFO): Rx dataTimestamp_ set to:1736371384.476569 2025-01-08T21:23:04.477Z,1736371384.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268028 2025-01-08T21:23:04.514Z,1736371384.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:04.535Z,1736371384.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.80 m. 2025-01-08T21:23:04.542Z,1736371384.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.799988 m, nav range: 75.421417 m, bearing: 69.535384 deg, approach rate: 0.700348 m/s, LOS rate: -0.133836 deg/s, cmd heading: 228.882180 deg, new cmd heading: 228.747236 deg. 2025-01-08T21:23:04.543Z,1736371384.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.992393 target range: 349.799988 and range: 349.80 m. 2025-01-08T21:23:04.728Z,1736371384.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:04.728Z,1736371384.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519135 2025-01-08T21:23:04.886Z,1736371384.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:04.933Z,1736371384.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:04.949Z,1736371384.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.80 m. 2025-01-08T21:23:04.957Z,1736371384.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 349.799988 m, nav range: 75.671249 m, bearing: 69.486904 deg, approach rate: 0.611726 m/s, LOS rate: -0.118313 deg/s, cmd heading: 228.747243 deg, new cmd heading: 228.602284 deg. 2025-01-08T21:23:04.958Z,1736371384.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.989862 target range: 349.799988 and range: 349.80 m. 2025-01-08T21:23:04.980Z,1736371384.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:04.987Z,1736371384.987 [DAT](INFO): DAT read: 21:23:03.2409 LVL= 23808, 32753, 29874, 32755, AGC= 70, IDX= 418,-0.11,-0.826,-2.508,-2.019,-1.570, PHS= 0.832,-0.891,-0.452, RAW= 104.2, 6.6, CAL= 114.3, 4.7, ROT= 35.7, -4.7 2025-01-08T21:23:04.988Z,1736371384.988 [DAT](INFO): got valid direction response: 21:23:03.2409 LVL= 23808, 32753, 29874, 32755, AGC= 70, IDX= 418,-0.11,-0.826,-2.508,-2.019,-1.570, PHS= 0.832,-0.891,-0.452, RAW= 104.2, 6.6, CAL= 114.3, 4.7, ROT= 35.7, -4.7 2025-01-08T21:23:04.989Z,1736371384.989 [DAT](INFO): DAT read: Bearing 35.7, -4.7 (Local) 2025-01-08T21:23:04.989Z,1736371384.989 [DAT](INFO): Local bearing/azimuth received: Bearing 35.7, -4.7 (Local) 2025-01-08T21:23:04.991Z,1736371384.991 [DAT](INFO): DAT read: Range 10 to 50 : 348.4 m (Round-trip 464.6 ms) speed 0.2 m/s 2025-01-08T21:23:04.992Z,1736371384.992 [DAT](INFO): DAT read: user:1715> 2025-01-08T21:23:04.992Z,1736371384.992 [DAT](INFO): DAT read: Tx time:21:23:04.3221 2025-01-08T21:23:04.993Z,1736371384.993 [DAT](INFO): Ping request sent. 2025-01-08T21:23:04.993Z,1736371384.993 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:04.993Z,1736371384.993 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:04.994Z,1736371384.994 [DAT](INFO): direction in FSK: [-0.231606,-0.132875,0.963692] 2025-01-08T21:23:04.994Z,1736371384.994 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:04.995Z,1736371384.995 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:04.999Z,1736371384.999 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:04.999Z,1736371384.999 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:05.234Z,1736371385.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:05.235Z,1736371385.235 [DAT](INFO): DAT read: TxSync time:21:23:04.3213 2025-01-08T21:23:05.348Z,1736371385.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:05.383Z,1736371385.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 348.399994 m, deltaT: 3.784054 s, deltaX: -1.399994 m, approachRate: -0.369972 m/s, rangeRepo size: 4 2025-01-08T21:23:05.385Z,1736371385.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 348.399994 m, bearing: 97.350700 deg, lat: 36.903948 deg, lon: -122.113905 deg, deltaT: 3.784054 s, deltaX: -1.399994 m, approachRate: -0.369972 m/s, posRepo size: 4 2025-01-08T21:23:05.386Z,1736371385.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.40 m. 2025-01-08T21:23:05.393Z,1736371385.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.399994 m, nav range: 110.852562 m, bearing: 85.318066 deg, approach rate: 0.000000 m/s, LOS rate: -0.118313 deg/s, cmd heading: 228.602279 deg, new cmd heading: 228.448072 deg. 2025-01-08T21:23:05.394Z,1736371385.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.987171 target range: 348.399994 and range: 348.40 m. 2025-01-08T21:23:05.484Z,1736371385.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:05.703Z,1736371385.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:05.712Z,1736371385.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.40 m. 2025-01-08T21:23:05.714Z,1736371385.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.399994 m, nav range: 111.070770 m, bearing: 85.250313 deg, approach rate: 0.653256 m/s, LOS rate: -0.202435 deg/s, cmd heading: 228.448067 deg, new cmd heading: 228.245209 deg. 2025-01-08T21:23:05.716Z,1736371385.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.983630 target range: 348.399994 and range: 348.40 m. 2025-01-08T21:23:05.741Z,1736371385.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:05.992Z,1736371385.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:06.187Z,1736371386.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:06.196Z,1736371386.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.40 m. 2025-01-08T21:23:06.199Z,1736371386.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.399994 m, nav range: 111.356972 m, bearing: 85.159824 deg, approach rate: 0.590273 m/s, LOS rate: -0.186148 deg/s, cmd heading: 228.245210 deg, new cmd heading: 227.974443 deg. 2025-01-08T21:23:06.200Z,1736371386.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.978905 target range: 348.399994 and range: 348.40 m. 2025-01-08T21:23:06.244Z,1736371386.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:06.496Z,1736371386.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:06.565Z,1736371386.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:06.574Z,1736371386.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.40 m. 2025-01-08T21:23:06.577Z,1736371386.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.399994 m, nav range: 111.580185 m, bearing: 85.089143 deg, approach rate: 0.591365 m/s, LOS rate: -0.186882 deg/s, cmd heading: 227.974448 deg, new cmd heading: 227.762831 deg. 2025-01-08T21:23:06.578Z,1736371386.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.975211 target range: 348.399994 and range: 348.40 m. 2025-01-08T21:23:06.749Z,1736371386.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:06.959Z,1736371386.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:06.966Z,1736371386.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:06.968Z,1736371386.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.40 m. 2025-01-08T21:23:06.971Z,1736371386.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.399994 m, nav range: 111.812401 m, bearing: 85.015275 deg, approach rate: 0.588577 m/s, LOS rate: -0.186838 deg/s, cmd heading: 227.762835 deg, new cmd heading: 227.541692 deg. 2025-01-08T21:23:06.972Z,1736371386.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.971352 target range: 348.399994 and range: 348.40 m. 2025-01-08T21:23:06.000Z,1736371387.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:07.000Z,1736371387.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:07.000Z,1736371387.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:07.001Z,1736371387.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:07.252Z,1736371387.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:07.252Z,1736371387.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259439 2025-01-08T21:23:07.396Z,1736371387.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:07.405Z,1736371387.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.40 m. 2025-01-08T21:23:07.408Z,1736371387.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:23:07.410Z,1736371387.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.399994 m, nav range: 112.047417 m, bearing: 84.932242 deg, approach rate: 0.537871 m/s, LOS rate: -0.189636 deg/s, cmd heading: 227.541687 deg, new cmd heading: 227.293112 deg. 2025-01-08T21:23:07.411Z,1736371387.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.967013 target range: 348.399994 and range: 348.40 m. 2025-01-08T21:23:07.508Z,1736371387.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:07.509Z,1736371387.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516035 2025-01-08T21:23:07.761Z,1736371387.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:07.762Z,1736371387.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769253 2025-01-08T21:23:07.802Z,1736371387.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:07.822Z,1736371387.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.40 m. 2025-01-08T21:23:07.830Z,1736371387.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.399994 m, nav range: 112.264626 m, bearing: 84.854823 deg, approach rate: 0.521373 m/s, LOS rate: -0.185472 deg/s, cmd heading: 227.293109 deg, new cmd heading: 227.061302 deg. 2025-01-08T21:23:07.836Z,1736371387.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.962967 target range: 348.399994 and range: 348.40 m. 2025-01-08T21:23:08.012Z,1736371388.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:08.013Z,1736371388.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020231 2025-01-08T21:23:08.205Z,1736371388.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:08.214Z,1736371388.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.40 m. 2025-01-08T21:23:08.217Z,1736371388.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.399994 m, nav range: 112.468193 m, bearing: 84.771659 deg, approach rate: 0.518922 m/s, LOS rate: -0.211612 deg/s, cmd heading: 227.061306 deg, new cmd heading: 226.812268 deg. 2025-01-08T21:23:08.218Z,1736371388.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.958621 target range: 348.399994 and range: 348.40 m. 2025-01-08T21:23:08.264Z,1736371388.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:08.265Z,1736371388.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271679 2025-01-08T21:23:08.412Z,1736371388.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:23:08.516Z,1736371388.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:08.517Z,1736371388.517 [DAT](INFO): DAT read: Rx Time:21:23:07.1881 2025-01-08T21:23:08.517Z,1736371388.517 [DAT](INFO): Rx dataTimestamp_ set to:1736371388.516738 2025-01-08T21:23:08.518Z,1736371388.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524706 2025-01-08T21:23:08.605Z,1736371388.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:08.616Z,1736371388.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.40 m. 2025-01-08T21:23:08.619Z,1736371388.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.399994 m, nav range: 112.669304 m, bearing: 84.688548 deg, approach rate: 0.500248 m/s, LOS rate: -0.206364 deg/s, cmd heading: 226.812264 deg, new cmd heading: 226.563377 deg. 2025-01-08T21:23:08.621Z,1736371388.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954277 target range: 348.399994 and range: 348.40 m. 2025-01-08T21:23:08.768Z,1736371388.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:08.768Z,1736371388.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775449 2025-01-08T21:23:08.985Z,1736371388.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:08.992Z,1736371388.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:08.994Z,1736371388.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.40 m. 2025-01-08T21:23:08.998Z,1736371388.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.399994 m, nav range: 112.859367 m, bearing: 84.609074 deg, approach rate: 0.503009 m/s, LOS rate: -0.209978 deg/s, cmd heading: 226.563372 deg, new cmd heading: 226.325351 deg. 2025-01-08T21:23:08.999Z,1736371388.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.950123 target range: 348.399994 and range: 348.40 m. 2025-01-08T21:23:09.020Z,1736371389.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:09.036Z,1736371389.036 [DAT](INFO): DAT read: 21:23:07.1881 LVL= 20720, 32753, 30530, 32755, AGC= 69, IDX= 405,-0.15,-1.482, 3.051,-2.788,-2.244, PHS= 0.850,-0.942,-0.547, RAW= 102.1, 7.9, CAL= 111.8, 6.4, ROT= 38.2, -6.4 2025-01-08T21:23:09.038Z,1736371389.038 [DAT](INFO): got valid direction response: 21:23:07.1881 LVL= 20720, 32753, 30530, 32755, AGC= 69, IDX= 405,-0.15,-1.482, 3.051,-2.788,-2.244, PHS= 0.850,-0.942,-0.547, RAW= 102.1, 7.9, CAL= 111.8, 6.4, ROT= 38.2, -6.4 2025-01-08T21:23:09.071Z,1736371389.071 [DAT](INFO): DAT read: Bearing 38.2, -6.4 (Local) 2025-01-08T21:23:09.072Z,1736371389.072 [DAT](INFO): Local bearing/azimuth received: Bearing 38.2, -6.4 (Local) 2025-01-08T21:23:09.073Z,1736371389.073 [DAT](INFO): DAT read: Range 10 to 50 : 346.3 m (Round-trip 461.8 ms) speed 0.4 m/s 2025-01-08T21:23:09.074Z,1736371389.074 [DAT](INFO): DAT read: user:1716> 2025-01-08T21:23:09.076Z,1736371389.076 [DAT](INFO): DAT read: Tx time:21:23:08.2722 2025-01-08T21:23:09.076Z,1736371389.076 [DAT](INFO): Ping request sent. 2025-01-08T21:23:09.077Z,1736371389.077 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:09.078Z,1736371389.078 [DAT](INFO): DAT read: TxSync time:21:23:08.2714 2025-01-08T21:23:09.081Z,1736371389.081 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:09.082Z,1736371389.082 [DAT](INFO): direction in FSK: [-0.251855,-0.094869,0.963104] 2025-01-08T21:23:09.083Z,1736371389.083 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:09.098Z,1736371389.098 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:09.101Z,1736371389.101 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:09.101Z,1736371389.101 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:09.272Z,1736371389.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:09.429Z,1736371389.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:09.462Z,1736371389.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 346.299988 m, deltaT: 4.039775 s, deltaX: -2.100006 m, approachRate: -0.519832 m/s, rangeRepo size: 4 2025-01-08T21:23:09.469Z,1736371389.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 346.299988 m, bearing: 87.405337 deg, lat: 36.903890 deg, lon: -122.113905 deg, deltaT: 4.039775 s, deltaX: -2.100006 m, approachRate: -0.519832 m/s, posRepo size: 4 2025-01-08T21:23:09.470Z,1736371389.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.30 m. 2025-01-08T21:23:09.476Z,1736371389.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.299988 m, nav range: 112.620804 m, bearing: 87.745283 deg, approach rate: 0.000000 m/s, LOS rate: -0.209978 deg/s, cmd heading: 226.325353 deg, new cmd heading: 226.031326 deg. 2025-01-08T21:23:09.477Z,1736371389.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.944991 target range: 346.299988 and range: 346.30 m. 2025-01-08T21:23:09.525Z,1736371389.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:09.776Z,1736371389.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:09.800Z,1736371389.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:09.818Z,1736371389.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.30 m. 2025-01-08T21:23:09.821Z,1736371389.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.299988 m, nav range: 112.771904 m, bearing: 87.656674 deg, approach rate: 0.422827 m/s, LOS rate: -0.247626 deg/s, cmd heading: 226.031327 deg, new cmd heading: 225.765857 deg. 2025-01-08T21:23:09.822Z,1736371389.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.940357 target range: 346.299988 and range: 346.30 m. 2025-01-08T21:23:10.029Z,1736371390.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:10.235Z,1736371390.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:10.244Z,1736371390.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.30 m. 2025-01-08T21:23:10.247Z,1736371390.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.299988 m, nav range: 112.937607 m, bearing: 87.552342 deg, approach rate: 0.389850 m/s, LOS rate: -0.245100 deg/s, cmd heading: 225.765851 deg, new cmd heading: 225.453320 deg. 2025-01-08T21:23:10.248Z,1736371390.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.934903 target range: 346.299988 and range: 346.30 m. 2025-01-08T21:23:10.280Z,1736371390.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:10.532Z,1736371390.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:10.594Z,1736371390.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:10.603Z,1736371390.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.30 m. 2025-01-08T21:23:10.606Z,1736371390.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.299988 m, nav range: 113.073990 m, bearing: 87.466487 deg, approach rate: 0.379069 m/s, LOS rate: -0.238343 deg/s, cmd heading: 225.453316 deg, new cmd heading: 225.196061 deg. 2025-01-08T21:23:10.607Z,1736371390.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.930413 target range: 346.299988 and range: 346.30 m. 2025-01-08T21:23:10.784Z,1736371390.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:10.997Z,1736371390.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:11.004Z,1736371391.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:11.006Z,1736371391.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.30 m. 2025-01-08T21:23:11.009Z,1736371391.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.299988 m, nav range: 113.227547 m, bearing: 87.370391 deg, approach rate: 0.380771 m/s, LOS rate: -0.237964 deg/s, cmd heading: 225.196063 deg, new cmd heading: 224.908168 deg. 2025-01-08T21:23:11.010Z,1736371391.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.925388 target range: 346.299988 and range: 346.30 m. 2025-01-08T21:23:11.036Z,1736371391.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:11.036Z,1736371391.036 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:11.036Z,1736371391.036 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:11.037Z,1736371391.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:11.288Z,1736371391.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:11.288Z,1736371391.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211831 2025-01-08T21:23:11.454Z,1736371391.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:11.464Z,1736371391.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.30 m. 2025-01-08T21:23:11.467Z,1736371391.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.299988 m, nav range: 113.385529 m, bearing: 87.256828 deg, approach rate: 0.345915 m/s, LOS rate: -0.248309 deg/s, cmd heading: 224.908171 deg, new cmd heading: 224.567962 deg. 2025-01-08T21:23:11.468Z,1736371391.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919450 target range: 346.299988 and range: 346.30 m. 2025-01-08T21:23:11.540Z,1736371391.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:11.541Z,1736371391.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464082 2025-01-08T21:23:11.792Z,1736371391.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:11.792Z,1736371391.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715672 2025-01-08T21:23:11.811Z,1736371391.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:11.820Z,1736371391.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.30 m. 2025-01-08T21:23:11.822Z,1736371391.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.299988 m, nav range: 113.509735 m, bearing: 87.168157 deg, approach rate: 0.348540 m/s, LOS rate: -0.248550 deg/s, cmd heading: 224.567959 deg, new cmd heading: 224.302240 deg. 2025-01-08T21:23:11.824Z,1736371391.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.914813 target range: 346.299988 and range: 346.30 m. 2025-01-08T21:23:12.044Z,1736371392.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:12.044Z,1736371392.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967891 2025-01-08T21:23:12.296Z,1736371392.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:12.298Z,1736371392.298 [DAT](INFO): DAT read: Rx Time:21:23:11.1360 2025-01-08T21:23:12.299Z,1736371392.299 [DAT](INFO): Rx dataTimestamp_ set to:1736371392.298428 2025-01-08T21:23:12.299Z,1736371392.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222788 2025-01-08T21:23:12.307Z,1736371392.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:12.318Z,1736371392.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.30 m. 2025-01-08T21:23:12.320Z,1736371392.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.299988 m, nav range: 113.677780 m, bearing: 87.044969 deg, approach rate: 0.337340 m/s, LOS rate: -0.246927 deg/s, cmd heading: 224.302238 deg, new cmd heading: 223.933225 deg. 2025-01-08T21:23:12.321Z,1736371392.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.908372 target range: 346.299988 and range: 346.30 m. 2025-01-08T21:23:12.548Z,1736371392.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:12.548Z,1736371392.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471730 2025-01-08T21:23:12.644Z,1736371392.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:12.700Z,1736371392.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.30 m. 2025-01-08T21:23:12.702Z,1736371392.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.299988 m, nav range: 113.792198 m, bearing: 86.961668 deg, approach rate: 0.299360 m/s, LOS rate: -0.217728 deg/s, cmd heading: 223.933230 deg, new cmd heading: 223.683579 deg. 2025-01-08T21:23:12.712Z,1736371392.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.904015 target range: 346.299988 and range: 346.30 m. 2025-01-08T21:23:12.801Z,1736371392.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:12.804Z,1736371392.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.727030 2025-01-08T21:23:13.049Z,1736371393.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:13.052Z,1736371393.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:13.059Z,1736371393.059 [DAT](INFO): DAT read: 21:23:11.1360 LVL= 25584, 32753, 32322, 32755, AGC= 67, IDX= 412,-0.06, 3.038, 1.238, 1.644, 2.235, PHS= 0.891,-0.950,-0.594, RAW= 100.5, 7.8, CAL= 110.1, 6.5, ROT= 39.9, -6.5 2025-01-08T21:23:13.060Z,1736371393.060 [DAT](INFO): got valid direction response: 21:23:11.1360 LVL= 25584, 32753, 32322, 32755, AGC= 67, IDX= 412,-0.06, 3.038, 1.238, 1.644, 2.235, PHS= 0.891,-0.950,-0.594, RAW= 100.5, 7.8, CAL= 110.1, 6.5, ROT= 39.9, -6.5 2025-01-08T21:23:13.061Z,1736371393.061 [DAT](INFO): DAT read: Bearing 39.9, -6.5 (Local) 2025-01-08T21:23:13.062Z,1736371393.062 [DAT](INFO): Local bearing/azimuth received: Bearing 39.9, -6.5 (Local) 2025-01-08T21:23:13.064Z,1736371393.064 [DAT](INFO): DAT read: Range 10 to 50 : 344.7 m (Round-trip 459.6 ms) speed 0.2 m/s 2025-01-08T21:23:13.065Z,1736371393.065 [DAT](INFO): DAT read: user:1717> 2025-01-08T21:23:13.066Z,1736371393.066 [DAT](INFO): DAT read: Tx time:21:23:12.2222 2025-01-08T21:23:13.066Z,1736371393.066 [DAT](INFO): Ping request sent. 2025-01-08T21:23:13.066Z,1736371393.066 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:13.067Z,1736371393.067 [DAT](INFO): DAT read: TxSync time:21:23:12.2214 2025-01-08T21:23:13.071Z,1736371393.071 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:13.072Z,1736371393.072 [DAT](INFO): direction in FSK: [-0.247481,-0.067118,0.966565] 2025-01-08T21:23:13.072Z,1736371393.072 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:13.073Z,1736371393.073 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:13.080Z,1736371393.080 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:13.080Z,1736371393.080 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:13.136Z,1736371393.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 344.700012 m, deltaT: 4.032067 s, deltaX: -1.599976 m, approachRate: -0.396813 m/s, rangeRepo size: 4 2025-01-08T21:23:13.138Z,1736371393.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 344.700012 m, bearing: 87.934635 deg, lat: 36.903863 deg, lon: -122.113905 deg, deltaT: 4.032067 s, deltaX: -1.599976 m, approachRate: -0.396813 m/s, posRepo size: 4 2025-01-08T21:23:13.138Z,1736371393.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.70 m. 2025-01-08T21:23:13.148Z,1736371393.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 344.700012 m, nav range: 113.803741 m, bearing: 88.402158 deg, approach rate: 0.000000 m/s, LOS rate: -0.217728 deg/s, cmd heading: 223.683573 deg, new cmd heading: 223.430703 deg. 2025-01-08T21:23:13.149Z,1736371393.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.899601 target range: 344.700012 and range: 344.70 m. 2025-01-08T21:23:13.304Z,1736371393.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:13.556Z,1736371393.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:13.634Z,1736371393.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:13.684Z,1736371393.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.70 m. 2025-01-08T21:23:13.686Z,1736371393.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 344.700012 m, nav range: 114.009583 m, bearing: 88.257475 deg, approach rate: 0.348088 m/s, LOS rate: -0.244225 deg/s, cmd heading: 223.430705 deg, new cmd heading: 222.997448 deg. 2025-01-08T21:23:13.691Z,1736371393.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.892040 target range: 344.700012 and range: 344.70 m. 2025-01-08T21:23:13.808Z,1736371393.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:14.007Z,1736371394.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:14.015Z,1736371394.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:14.017Z,1736371394.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.70 m. 2025-01-08T21:23:14.020Z,1736371394.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 344.700012 m, nav range: 114.141289 m, bearing: 88.165433 deg, approach rate: 0.388980 m/s, LOS rate: -0.271521 deg/s, cmd heading: 222.997453 deg, new cmd heading: 222.721649 deg. 2025-01-08T21:23:14.020Z,1736371394.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.887226 target range: 344.700012 and range: 344.70 m. 2025-01-08T21:23:14.060Z,1736371394.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:14.060Z,1736371394.060 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:14.060Z,1736371394.060 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:14.061Z,1736371394.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:14.313Z,1736371394.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:14.314Z,1736371394.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247606 2025-01-08T21:23:14.437Z,1736371394.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:14.447Z,1736371394.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.70 m. 2025-01-08T21:23:14.450Z,1736371394.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 344.700012 m, nav range: 114.309807 m, bearing: 88.063934 deg, approach rate: 0.391613 m/s, LOS rate: -0.235522 deg/s, cmd heading: 222.721650 deg, new cmd heading: 222.417605 deg. 2025-01-08T21:23:14.451Z,1736371394.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.881920 target range: 344.700012 and range: 344.70 m. 2025-01-08T21:23:14.564Z,1736371394.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:14.565Z,1736371394.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498653 2025-01-08T21:23:14.816Z,1736371394.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:14.816Z,1736371394.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750288 2025-01-08T21:23:14.828Z,1736371394.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:14.836Z,1736371394.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.70 m. 2025-01-08T21:23:14.839Z,1736371394.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 344.700012 m, nav range: 114.462372 m, bearing: 87.971876 deg, approach rate: 0.392296 m/s, LOS rate: -0.236398 deg/s, cmd heading: 222.417611 deg, new cmd heading: 222.141805 deg. 2025-01-08T21:23:14.840Z,1736371394.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.877106 target range: 344.700012 and range: 344.70 m. 2025-01-08T21:23:15.068Z,1736371395.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:15.069Z,1736371395.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002645 2025-01-08T21:23:15.288Z,1736371395.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:15.297Z,1736371395.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.70 m. 2025-01-08T21:23:15.300Z,1736371395.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 344.700012 m, nav range: 114.641609 m, bearing: 87.863222 deg, approach rate: 0.388546 m/s, LOS rate: -0.235168 deg/s, cmd heading: 222.141808 deg, new cmd heading: 221.816360 deg. 2025-01-08T21:23:15.301Z,1736371395.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.871426 target range: 344.700012 and range: 344.70 m. 2025-01-08T21:23:15.320Z,1736371395.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:15.321Z,1736371395.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255207 2025-01-08T21:23:15.572Z,1736371395.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:15.572Z,1736371395.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506347 2025-01-08T21:23:15.693Z,1736371395.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:15.702Z,1736371395.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.70 m. 2025-01-08T21:23:15.714Z,1736371395.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 344.700012 m, nav range: 114.819122 m, bearing: 87.772067 deg, approach rate: 0.438599 m/s, LOS rate: -0.224876 deg/s, cmd heading: 221.816363 deg, new cmd heading: 221.543324 deg. 2025-01-08T21:23:15.714Z,1736371395.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.866660 target range: 344.700012 and range: 344.70 m. 2025-01-08T21:23:15.824Z,1736371395.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:15.824Z,1736371395.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758403 2025-01-08T21:23:16.055Z,1736371396.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:16.063Z,1736371396.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:16.065Z,1736371396.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.70 m. 2025-01-08T21:23:16.068Z,1736371396.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 344.700012 m, nav range: 114.978340 m, bearing: 87.690674 deg, approach rate: 0.438582 m/s, LOS rate: -0.223895 deg/s, cmd heading: 221.543319 deg, new cmd heading: 221.299480 deg. 2025-01-08T21:23:16.069Z,1736371396.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.862405 target range: 344.700012 and range: 344.70 m. 2025-01-08T21:23:16.092Z,1736371396.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:16.093Z,1736371396.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026590 2025-01-08T21:23:16.344Z,1736371396.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:16.346Z,1736371396.346 [DAT](INFO): DAT read: Rx Time:21:23:15.0842 2025-01-08T21:23:16.346Z,1736371396.346 [DAT](INFO): Rx dataTimestamp_ set to:1736371396.346069 2025-01-08T21:23:16.347Z,1736371396.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280956 2025-01-08T21:23:16.479Z,1736371396.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:16.489Z,1736371396.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.70 m. 2025-01-08T21:23:16.491Z,1736371396.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 344.700012 m, nav range: 115.187637 m, bearing: 87.601827 deg, approach rate: 0.494289 m/s, LOS rate: -0.209446 deg/s, cmd heading: 221.299481 deg, new cmd heading: 221.033426 deg. 2025-01-08T21:23:16.492Z,1736371396.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.857761 target range: 344.700012 and range: 344.70 m. 2025-01-08T21:23:16.596Z,1736371396.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:16.597Z,1736371396.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531120 2025-01-08T21:23:16.848Z,1736371396.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:16.859Z,1736371396.859 [DAT](INFO): DAT read: 21:23:15.0842 LVL= 16592, 28657, 21138, 32051, AGC= 64, IDX= 429,-0.34,-0.985,-2.862,-2.506,-1.967, PHS= 1.070,-0.849,-0.542, RAW= 98.6, 3.6, CAL= 108.4, 1.7, ROT= 41.6, -1.7 2025-01-08T21:23:16.861Z,1736371396.861 [DAT](INFO): got valid direction response: 21:23:15.0842 LVL= 16592, 28657, 21138, 32051, AGC= 64, IDX= 429,-0.34,-0.985,-2.862,-2.506,-1.967, PHS= 1.070,-0.849,-0.542, RAW= 98.6, 3.6, CAL= 108.4, 1.7, ROT= 41.6, -1.7 2025-01-08T21:23:16.863Z,1736371396.863 [DAT](INFO): DAT read: Bearing 41.6, -1.7 (Local) 2025-01-08T21:23:16.864Z,1736371396.864 [DAT](INFO): Local bearing/azimuth received: Bearing 41.6, -1.7 (Local) 2025-01-08T21:23:16.865Z,1736371396.865 [DAT](INFO): DAT read: Range 10 to 50 : 343.4 m (Round-trip 457.9 ms) speed 0.1 m/s 2025-01-08T21:23:16.866Z,1736371396.866 [DAT](INFO): DAT read: user:1718> 2025-01-08T21:23:16.867Z,1736371396.867 [DAT](INFO): DAT read: Tx time:21:23:16.1722 2025-01-08T21:23:16.911Z,1736371396.911 [DAT](INFO): Ping request sent. 2025-01-08T21:23:16.911Z,1736371396.911 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:16.912Z,1736371396.912 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:16.927Z,1736371396.927 [DAT](INFO): direction in FSK: [-0.167334,-0.038140,0.985162] 2025-01-08T21:23:16.928Z,1736371396.928 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:16.928Z,1736371396.928 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:16.949Z,1736371396.949 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:16.949Z,1736371396.949 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:17.006Z,1736371397.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:17.056Z,1736371397.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 343.399994 m, deltaT: 3.795973 s, deltaX: -1.300018 m, approachRate: -0.342473 m/s, rangeRepo size: 4 2025-01-08T21:23:17.059Z,1736371397.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 343.399994 m, bearing: 92.364308 deg, lat: 36.903854 deg, lon: -122.114183 deg, deltaT: 3.795973 s, deltaX: -1.300018 m, approachRate: -0.342473 m/s, posRepo size: 4 2025-01-08T21:23:17.065Z,1736371397.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.40 m. 2025-01-08T21:23:17.072Z,1736371397.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.399994 m, nav range: 90.678513 m, bearing: 87.386610 deg, approach rate: 0.000000 m/s, LOS rate: -0.209446 deg/s, cmd heading: 221.033432 deg, new cmd heading: 220.679716 deg. 2025-01-08T21:23:17.073Z,1736371397.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.851588 target range: 343.399994 and range: 343.40 m. 2025-01-08T21:23:17.100Z,1736371397.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:17.101Z,1736371397.101 [DAT](INFO): DAT read: TxSync time:21:23:16.1715 2025-01-08T21:23:17.352Z,1736371397.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:17.517Z,1736371397.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:17.526Z,1736371397.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.40 m. 2025-01-08T21:23:17.530Z,1736371397.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.399994 m, nav range: 90.947777 m, bearing: 87.246858 deg, approach rate: 0.567704 m/s, LOS rate: -0.293774 deg/s, cmd heading: 220.679710 deg, new cmd heading: 220.261702 deg. 2025-01-08T21:23:17.531Z,1736371397.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844292 target range: 343.399994 and range: 343.40 m. 2025-01-08T21:23:17.604Z,1736371397.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:17.856Z,1736371397.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:17.931Z,1736371397.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:17.968Z,1736371397.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.40 m. 2025-01-08T21:23:17.970Z,1736371397.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.399994 m, nav range: 91.148796 m, bearing: 87.141125 deg, approach rate: 0.459215 m/s, LOS rate: -0.241007 deg/s, cmd heading: 220.261703 deg, new cmd heading: 219.945207 deg. 2025-01-08T21:23:17.976Z,1736371397.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838768 target range: 343.399994 and range: 343.40 m. 2025-01-08T21:23:18.108Z,1736371398.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:18.360Z,1736371398.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:18.373Z,1736371398.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:18.384Z,1736371398.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:18.386Z,1736371398.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.40 m. 2025-01-08T21:23:18.389Z,1736371398.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.399994 m, nav range: 91.408539 m, bearing: 87.013780 deg, approach rate: 0.614111 m/s, LOS rate: -0.300228 deg/s, cmd heading: 219.945205 deg, new cmd heading: 219.564260 deg. 2025-01-08T21:23:18.390Z,1736371398.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.832119 target range: 343.399994 and range: 343.40 m. 2025-01-08T21:23:18.612Z,1736371398.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:18.613Z,1736371398.613 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:18.613Z,1736371398.613 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:18.613Z,1736371398.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:18.707Z,1736371398.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:18.717Z,1736371398.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.40 m. 2025-01-08T21:23:18.720Z,1736371398.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.399994 m, nav range: 91.591766 m, bearing: 86.920493 deg, approach rate: 0.554988 m/s, LOS rate: -0.281994 deg/s, cmd heading: 219.564258 deg, new cmd heading: 219.284962 deg. 2025-01-08T21:23:18.721Z,1736371398.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.827245 target range: 343.399994 and range: 343.40 m. 2025-01-08T21:23:18.864Z,1736371398.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:18.865Z,1736371398.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953183 2025-01-08T21:23:19.107Z,1736371399.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:19.117Z,1736371399.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:19.118Z,1736371399.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206714 2025-01-08T21:23:19.153Z,1736371399.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.40 m. 2025-01-08T21:23:19.165Z,1736371399.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.399994 m, nav range: 91.809624 m, bearing: 86.807911 deg, approach rate: 0.510509 m/s, LOS rate: -0.263191 deg/s, cmd heading: 219.284958 deg, new cmd heading: 218.948016 deg. 2025-01-08T21:23:19.166Z,1736371399.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.821364 target range: 343.399994 and range: 343.40 m. 2025-01-08T21:23:19.368Z,1736371399.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:19.368Z,1736371399.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456956 2025-01-08T21:23:19.554Z,1736371399.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:19.564Z,1736371399.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.40 m. 2025-01-08T21:23:19.566Z,1736371399.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.399994 m, nav range: 92.056480 m, bearing: 86.681922 deg, approach rate: 0.587040 m/s, LOS rate: -0.298805 deg/s, cmd heading: 218.948011 deg, new cmd heading: 218.571064 deg. 2025-01-08T21:23:19.569Z,1736371399.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.814785 target range: 343.399994 and range: 343.40 m. 2025-01-08T21:23:19.622Z,1736371399.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:19.623Z,1736371399.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711402 2025-01-08T21:23:19.872Z,1736371399.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:19.872Z,1736371399.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961019 2025-01-08T21:23:19.918Z,1736371399.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:19.943Z,1736371399.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.40 m. 2025-01-08T21:23:19.950Z,1736371399.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.399994 m, nav range: 92.256432 m, bearing: 86.578806 deg, approach rate: 0.527939 m/s, LOS rate: -0.271672 deg/s, cmd heading: 218.571067 deg, new cmd heading: 218.262392 deg. 2025-01-08T21:23:19.951Z,1736371399.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.809397 target range: 343.399994 and range: 343.40 m. 2025-01-08T21:23:20.124Z,1736371400.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:20.124Z,1736371400.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213107 2025-01-08T21:23:20.376Z,1736371400.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:20.377Z,1736371400.377 [DAT](INFO): DAT read: Rx Time:21:23:19.0326 2025-01-08T21:23:20.377Z,1736371400.377 [DAT](INFO): Rx dataTimestamp_ set to:1736371400.376761 2025-01-08T21:23:20.378Z,1736371400.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466218 2025-01-08T21:23:20.382Z,1736371400.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:20.389Z,1736371400.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:20.412Z,1736371400.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.40 m. 2025-01-08T21:23:20.415Z,1736371400.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.399994 m, nav range: 92.502266 m, bearing: 86.444837 deg, approach rate: 0.548046 m/s, LOS rate: -0.297867 deg/s, cmd heading: 218.262397 deg, new cmd heading: 217.861565 deg. 2025-01-08T21:23:20.420Z,1736371400.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.802402 target range: 343.399994 and range: 343.40 m. 2025-01-08T21:23:20.628Z,1736371400.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:20.630Z,1736371400.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.718099 2025-01-08T21:23:20.758Z,1736371400.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:20.768Z,1736371400.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.40 m. 2025-01-08T21:23:20.771Z,1736371400.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.399994 m, nav range: 92.700516 m, bearing: 86.335915 deg, approach rate: 0.525909 m/s, LOS rate: -0.288326 deg/s, cmd heading: 217.861560 deg, new cmd heading: 217.535496 deg. 2025-01-08T21:23:20.772Z,1736371400.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796711 target range: 343.399994 and range: 343.40 m. 2025-01-08T21:23:20.880Z,1736371400.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:20.886Z,1736371400.886 [DAT](INFO): DAT read: 21:23:19.0326 LVL= 23184, 32753, 28466, 32755, AGC= 65, IDX= 427,-0.00, 1.398,-0.633,-0.476, 0.212, PHS= 1.273,-0.798,-0.691, RAW= 92.6, 2.2, CAL= 100.7, -0.3, ROT= 49.3, 0.3 2025-01-08T21:23:20.888Z,1736371400.888 [DAT](INFO): got valid direction response: 21:23:19.0326 LVL= 23184, 32753, 28466, 32755, AGC= 65, IDX= 427,-0.00, 1.398,-0.633,-0.476, 0.212, PHS= 1.273,-0.798,-0.691, RAW= 92.6, 2.2, CAL= 100.7, -0.3, ROT= 49.3, 0.3 2025-01-08T21:23:20.889Z,1736371400.889 [DAT](INFO): DAT read: Bearing 49.3, 0.3 (Local) 2025-01-08T21:23:20.889Z,1736371400.889 [DAT](INFO): Local bearing/azimuth received: Bearing 49.3, 0.3 (Local) 2025-01-08T21:23:20.891Z,1736371400.891 [DAT](INFO): DAT read: Range 10 to 50 : 342.0 m (Round-trip 456.1 ms) speed 0.3 m/s 2025-01-08T21:23:20.892Z,1736371400.892 [DAT](INFO): DAT read: user:1719> 2025-01-08T21:23:20.893Z,1736371400.893 [DAT](INFO): DAT read: Tx time:21:23:20.1223 2025-01-08T21:23:20.893Z,1736371400.893 [DAT](INFO): Ping request sent. 2025-01-08T21:23:20.893Z,1736371400.893 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:20.893Z,1736371400.893 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:20.894Z,1736371400.894 [DAT](INFO): direction in FSK: [-0.130459,0.064139,0.989377] 2025-01-08T21:23:20.894Z,1736371400.894 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:20.895Z,1736371400.895 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:20.898Z,1736371400.898 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:20.899Z,1736371400.899 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:21.132Z,1736371401.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:21.133Z,1736371401.133 [DAT](INFO): DAT read: TxSync time:21:23:20.1215 2025-01-08T21:23:21.169Z,1736371401.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:21.196Z,1736371401.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 342.000000 m, deltaT: 4.032148 s, deltaX: -1.399994 m, approachRate: -0.347208 m/s, rangeRepo size: 4 2025-01-08T21:23:21.198Z,1736371401.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 342.000000 m, bearing: 53.583459 deg, lat: 36.903863 deg, lon: -122.114195 deg, deltaT: 4.032148 s, deltaX: -1.399994 m, approachRate: -0.347208 m/s, posRepo size: 4 2025-01-08T21:23:21.203Z,1736371401.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T21:23:21.206Z,1736371401.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 91.941612 m, bearing: 85.601843 deg, approach rate: 0.000000 m/s, LOS rate: -0.288326 deg/s, cmd heading: 217.535501 deg, new cmd heading: 217.166523 deg. 2025-01-08T21:23:21.207Z,1736371401.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790271 target range: 342.000000 and range: 342.00 m. 2025-01-08T21:23:21.384Z,1736371401.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:21.573Z,1736371401.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:21.583Z,1736371401.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T21:23:21.586Z,1736371401.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 92.145943 m, bearing: 85.476935 deg, approach rate: 0.526709 m/s, LOS rate: -0.321264 deg/s, cmd heading: 217.166520 deg, new cmd heading: 216.792634 deg. 2025-01-08T21:23:21.587Z,1736371401.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.783745 target range: 342.000000 and range: 342.00 m. 2025-01-08T21:23:21.636Z,1736371401.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:21.888Z,1736371401.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:21.956Z,1736371401.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:21.964Z,1736371401.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T21:23:21.967Z,1736371401.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 92.338531 m, bearing: 85.358486 deg, approach rate: 0.504865 m/s, LOS rate: -0.309863 deg/s, cmd heading: 216.792636 deg, new cmd heading: 216.438033 deg. 2025-01-08T21:23:21.968Z,1736371401.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777556 target range: 342.000000 and range: 342.00 m. 2025-01-08T21:23:22.140Z,1736371402.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:22.392Z,1736371402.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:22.413Z,1736371402.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:22.450Z,1736371402.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:22.457Z,1736371402.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T21:23:22.464Z,1736371402.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 92.544121 m, bearing: 85.211266 deg, approach rate: 0.417002 m/s, LOS rate: -0.297945 deg/s, cmd heading: 216.438040 deg, new cmd heading: 215.997372 deg. 2025-01-08T21:23:22.465Z,1736371402.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769865 target range: 342.000000 and range: 342.00 m. 2025-01-08T21:23:22.644Z,1736371402.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:22.646Z,1736371402.646 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:22.646Z,1736371402.646 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:22.646Z,1736371402.646 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:22.774Z,1736371402.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:22.784Z,1736371402.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T21:23:22.786Z,1736371402.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 92.706314 m, bearing: 85.095006 deg, approach rate: 0.497423 m/s, LOS rate: -0.355929 deg/s, cmd heading: 215.997370 deg, new cmd heading: 215.649204 deg. 2025-01-08T21:23:22.787Z,1736371402.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763789 target range: 342.000000 and range: 342.00 m. 2025-01-08T21:23:22.896Z,1736371402.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:22.897Z,1736371402.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004084 2025-01-08T21:23:23.156Z,1736371403.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:23.156Z,1736371403.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263520 2025-01-08T21:23:23.179Z,1736371403.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:23.196Z,1736371403.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T21:23:23.198Z,1736371403.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 92.887299 m, bearing: 84.965038 deg, approach rate: 0.447873 m/s, LOS rate: -0.320999 deg/s, cmd heading: 215.649207 deg, new cmd heading: 215.260069 deg. 2025-01-08T21:23:23.205Z,1736371403.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.756997 target range: 342.000000 and range: 342.00 m. 2025-01-08T21:23:23.408Z,1736371403.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:23.409Z,1736371403.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516136 2025-01-08T21:23:23.624Z,1736371403.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:23.633Z,1736371403.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T21:23:23.636Z,1736371403.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 93.060989 m, bearing: 84.818792 deg, approach rate: 0.389514 m/s, LOS rate: -0.327355 deg/s, cmd heading: 215.260064 deg, new cmd heading: 214.822153 deg. 2025-01-08T21:23:23.637Z,1736371403.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.749354 target range: 342.000000 and range: 342.00 m. 2025-01-08T21:23:23.660Z,1736371403.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:23.662Z,1736371403.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768335 2025-01-08T21:23:23.912Z,1736371403.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:23.913Z,1736371403.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020158 2025-01-08T21:23:23.971Z,1736371403.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:23.989Z,1736371403.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T21:23:23.994Z,1736371403.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 93.196007 m, bearing: 84.704931 deg, approach rate: 0.379660 m/s, LOS rate: -0.319706 deg/s, cmd heading: 214.822154 deg, new cmd heading: 214.481070 deg. 2025-01-08T21:23:23.999Z,1736371403.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.743401 target range: 342.000000 and range: 342.00 m. 2025-01-08T21:23:24.166Z,1736371404.166 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:24.170Z,1736371404.170 [DAT](INFO): DAT read: Rx Time:21:23:22.9801 2025-01-08T21:23:24.170Z,1736371404.170 [DAT](INFO): Rx dataTimestamp_ set to:1736371404.170059 2025-01-08T21:23:24.171Z,1736371404.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277944 2025-01-08T21:23:24.416Z,1736371404.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:24.416Z,1736371404.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523516 2025-01-08T21:23:24.443Z,1736371404.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:24.451Z,1736371404.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:24.453Z,1736371404.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.00 m. 2025-01-08T21:23:24.474Z,1736371404.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 342.000000 m, nav range: 93.362434 m, bearing: 84.546357 deg, approach rate: 0.358265 m/s, LOS rate: -0.340748 deg/s, cmd heading: 214.481068 deg, new cmd heading: 214.006208 deg. 2025-01-08T21:23:24.480Z,1736371404.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.735113 target range: 342.000000 and range: 342.00 m. 2025-01-08T21:23:24.670Z,1736371404.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:24.708Z,1736371404.708 [DAT](INFO): DAT read: 21:23:22.9801 LVL= 17232, 32753, 23938, 32755, AGC= 67, IDX= 418, 0.31, 2.250, 0.440, 0.478, 1.128, PHS= 1.210,-0.641,-0.653, RAW= 89.7, 0.9, CAL= 97.1, -2.7, ROT= 52.9, 2.7 2025-01-08T21:23:24.709Z,1736371404.709 [DAT](INFO): got valid direction response: 21:23:22.9801 LVL= 17232, 32753, 23938, 32755, AGC= 67, IDX= 418, 0.31, 2.250, 0.440, 0.478, 1.128, PHS= 1.210,-0.641,-0.653, RAW= 89.7, 0.9, CAL= 97.1, -2.7, ROT= 52.9, 2.7 2025-01-08T21:23:24.711Z,1736371404.711 [DAT](INFO): DAT read: Bearing 52.9, 2.7 (Local) 2025-01-08T21:23:24.712Z,1736371404.712 [DAT](INFO): Local bearing/azimuth received: Bearing 52.9, 2.7 (Local) 2025-01-08T21:23:24.713Z,1736371404.713 [DAT](INFO): DAT read: Range 10 to 50 : 340.2 m (Round-trip 453.7 ms) speed 0.2 m/s 2025-01-08T21:23:24.714Z,1736371404.714 [DAT](INFO): DAT read: user:1720> 2025-01-08T21:23:24.722Z,1736371404.722 [DAT](INFO): DAT read: Tx time:21:23:24.0723 2025-01-08T21:23:24.722Z,1736371404.722 [DAT](INFO): Ping request sent. 2025-01-08T21:23:24.722Z,1736371404.722 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:24.722Z,1736371404.722 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:24.724Z,1736371404.724 [DAT](INFO): direction in FSK: [-0.102012,0.114044,0.988224] 2025-01-08T21:23:24.724Z,1736371404.724 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:24.724Z,1736371404.724 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:24.727Z,1736371404.727 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:24.728Z,1736371404.728 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:24.853Z,1736371404.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:24.889Z,1736371404.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 340.200012 m, deltaT: 3.790149 s, deltaX: -1.799988 m, approachRate: -0.474912 m/s, rangeRepo size: 4 2025-01-08T21:23:24.896Z,1736371404.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 340.200012 m, bearing: 21.586060 deg, lat: 36.903863 deg, lon: -122.114597 deg, deltaT: 3.790149 s, deltaX: -1.799988 m, approachRate: -0.474912 m/s, posRepo size: 4 2025-01-08T21:23:24.897Z,1736371404.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m. 2025-01-08T21:23:24.908Z,1736371404.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 340.200012 m, nav range: 58.056503 m, bearing: 80.972438 deg, approach rate: 0.000000 m/s, LOS rate: -0.340748 deg/s, cmd heading: 214.006205 deg, new cmd heading: 213.561056 deg. 2025-01-08T21:23:24.909Z,1736371404.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.727344 target range: 340.200012 and range: 340.20 m. 2025-01-08T21:23:24.920Z,1736371404.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:24.921Z,1736371404.921 [DAT](INFO): DAT read: TxSync time:21:23:24.0715 2025-01-08T21:23:25.172Z,1736371405.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:25.208Z,1736371405.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:25.217Z,1736371405.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m. 2025-01-08T21:23:25.220Z,1736371405.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 340.200012 m, nav range: 58.193119 m, bearing: 80.788477 deg, approach rate: 0.415850 m/s, LOS rate: -0.558650 deg/s, cmd heading: 213.561055 deg, new cmd heading: 213.010486 deg. 2025-01-08T21:23:25.221Z,1736371405.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.717734 target range: 340.200012 and range: 340.20 m. 2025-01-08T21:23:25.426Z,1736371405.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:25.632Z,1736371405.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:25.640Z,1736371405.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m. 2025-01-08T21:23:25.644Z,1736371405.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 340.200012 m, nav range: 58.333000 m, bearing: 80.566002 deg, approach rate: 0.330875 m/s, LOS rate: -0.524979 deg/s, cmd heading: 213.010487 deg, new cmd heading: 212.344694 deg. 2025-01-08T21:23:25.646Z,1736371405.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.706114 target range: 340.200012 and range: 340.20 m. 2025-01-08T21:23:25.677Z,1736371405.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:25.928Z,1736371405.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:26.014Z,1736371406.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:26.026Z,1736371406.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m. 2025-01-08T21:23:26.028Z,1736371406.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 340.200012 m, nav range: 58.458889 m, bearing: 80.364641 deg, approach rate: 0.326584 m/s, LOS rate: -0.521249 deg/s, cmd heading: 212.344694 deg, new cmd heading: 211.741936 deg. 2025-01-08T21:23:26.029Z,1736371406.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.695594 target range: 340.200012 and range: 340.20 m. 2025-01-08T21:23:26.180Z,1736371406.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:26.433Z,1736371406.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:26.472Z,1736371406.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:26.479Z,1736371406.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:26.481Z,1736371406.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m. 2025-01-08T21:23:26.485Z,1736371406.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 340.200012 m, nav range: 58.601025 m, bearing: 80.125158 deg, approach rate: 0.311865 m/s, LOS rate: -0.524182 deg/s, cmd heading: 211.741929 deg, new cmd heading: 211.025264 deg. 2025-01-08T21:23:26.486Z,1736371406.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.683086 target range: 340.200012 and range: 340.20 m. 2025-01-08T21:23:26.684Z,1736371406.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:26.684Z,1736371406.684 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:26.684Z,1736371406.684 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:26.685Z,1736371406.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:26.813Z,1736371406.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:26.822Z,1736371406.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m. 2025-01-08T21:23:26.825Z,1736371406.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 340.200012 m, nav range: 58.707249 m, bearing: 79.946328 deg, approach rate: 0.312019 m/s, LOS rate: -0.524340 deg/s, cmd heading: 211.025265 deg, new cmd heading: 210.489760 deg. 2025-01-08T21:23:26.826Z,1736371406.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.673739 target range: 340.200012 and range: 340.20 m. 2025-01-08T21:23:26.937Z,1736371406.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:26.939Z,1736371406.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216111 2025-01-08T21:23:27.188Z,1736371407.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:27.189Z,1736371407.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466498 2025-01-08T21:23:27.220Z,1736371407.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:27.253Z,1736371407.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m. 2025-01-08T21:23:27.260Z,1736371407.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 340.200012 m, nav range: 58.833515 m, bearing: 79.733826 deg, approach rate: 0.292833 m/s, LOS rate: -0.491767 deg/s, cmd heading: 210.489765 deg, new cmd heading: 209.853655 deg. 2025-01-08T21:23:27.261Z,1736371407.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.662637 target range: 340.200012 and range: 340.20 m. 2025-01-08T21:23:27.441Z,1736371407.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:27.452Z,1736371407.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729334 2025-01-08T21:23:27.637Z,1736371407.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:27.660Z,1736371407.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m. 2025-01-08T21:23:27.681Z,1736371407.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 340.200012 m, nav range: 58.955490 m, bearing: 79.519749 deg, approach rate: 0.300621 m/s, LOS rate: -0.526524 deg/s, cmd heading: 209.853655 deg, new cmd heading: 209.212782 deg. 2025-01-08T21:23:27.682Z,1736371407.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.651452 target range: 340.200012 and range: 340.20 m. 2025-01-08T21:23:27.692Z,1736371407.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:27.692Z,1736371407.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970351 2025-01-08T21:23:27.944Z,1736371407.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:27.944Z,1736371407.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222190 2025-01-08T21:23:28.024Z,1736371408.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:28.057Z,1736371408.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m. 2025-01-08T21:23:28.062Z,1736371408.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 340.200012 m, nav range: 59.069416 m, bearing: 79.321875 deg, approach rate: 0.290056 m/s, LOS rate: -0.502815 deg/s, cmd heading: 209.212779 deg, new cmd heading: 208.620324 deg. 2025-01-08T21:23:28.066Z,1736371408.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.641112 target range: 340.200012 and range: 340.20 m. 2025-01-08T21:23:28.196Z,1736371408.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:28.197Z,1736371408.197 [DAT](INFO): DAT read: Rx Time:21:23:26.9288 2025-01-08T21:23:28.198Z,1736371408.198 [DAT](INFO): Rx dataTimestamp_ set to:1736371408.197654 2025-01-08T21:23:28.198Z,1736371408.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476358 2025-01-08T21:23:28.484Z,1736371408.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:28.484Z,1736371408.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762149 2025-01-08T21:23:28.548Z,1736371408.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:28.568Z,1736371408.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:28.570Z,1736371408.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.20 m. 2025-01-08T21:23:28.586Z,1736371408.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 340.200012 m, nav range: 59.230934 m, bearing: 79.062430 deg, approach rate: 0.311794 m/s, LOS rate: -0.499464 deg/s, cmd heading: 208.620328 deg, new cmd heading: 207.844166 deg. 2025-01-08T21:23:28.593Z,1736371408.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627565 target range: 340.200012 and range: 340.20 m. 2025-01-08T21:23:28.736Z,1736371408.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:28.743Z,1736371408.743 [DAT](INFO): DAT read: 21:23:26.9288 LVL= 13952, 26097, 17618, 28883, AGC= 63, IDX= 420, 0.04,-2.220, 2.335, 2.263, 3.047, PHS= 1.104,-0.666,-0.787, RAW= 86.7, 3.8, CAL= 93.0, 2.0, ROT= 57.0, -2.0 2025-01-08T21:23:28.744Z,1736371408.744 [DAT](INFO): got valid direction response: 21:23:26.9288 LVL= 13952, 26097, 17618, 28883, AGC= 63, IDX= 420, 0.04,-2.220, 2.335, 2.263, 3.047, PHS= 1.104,-0.666,-0.787, RAW= 86.7, 3.8, CAL= 93.0, 2.0, ROT= 57.0, -2.0 2025-01-08T21:23:28.746Z,1736371408.746 [DAT](INFO): DAT read: Bearing 57.0, -2.0 (Local) 2025-01-08T21:23:28.746Z,1736371408.746 [DAT](INFO): Local bearing/azimuth received: Bearing 57.0, -2.0 (Local) 2025-01-08T21:23:28.753Z,1736371408.753 [DAT](INFO): DAT read: Range 10 to 50 : 339.2 m (Round-trip 452.3 ms) speed -0.1 m/s 2025-01-08T21:23:28.754Z,1736371408.754 [DAT](INFO): DAT read: user:1721> 2025-01-08T21:23:28.755Z,1736371408.755 [DAT](INFO): DAT read: Tx time:21:23:28.0223 2025-01-08T21:23:28.755Z,1736371408.755 [DAT](INFO): Ping request sent. 2025-01-08T21:23:28.755Z,1736371408.755 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:28.756Z,1736371408.756 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:28.757Z,1736371408.757 [DAT](INFO): direction in FSK: [-0.152374,0.167040,0.974105] 2025-01-08T21:23:28.757Z,1736371408.757 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:28.757Z,1736371408.757 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:28.761Z,1736371408.761 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:28.762Z,1736371408.762 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:28.862Z,1736371408.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:28.921Z,1736371408.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 339.200012 m, deltaT: 4.066046 s, deltaX: -1.000000 m, approachRate: -0.245939 m/s, rangeRepo size: 4 2025-01-08T21:23:28.923Z,1736371408.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 339.200012 m, bearing: 358.064052 deg, lat: 36.903960 deg, lon: -122.114954 deg, deltaT: 4.066046 s, deltaX: -1.000000 m, approachRate: -0.245939 m/s, posRepo size: 4 2025-01-08T21:23:28.928Z,1736371408.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.20 m. 2025-01-08T21:23:28.943Z,1736371408.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.200012 m, nav range: 34.595440 m, bearing: 49.997381 deg, approach rate: 0.000000 m/s, LOS rate: -0.499464 deg/s, cmd heading: 207.844159 deg, new cmd heading: 207.318661 deg. 2025-01-08T21:23:28.944Z,1736371408.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.618393 target range: 339.200012 and range: 339.20 m. 2025-01-08T21:23:28.988Z,1736371408.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:28.989Z,1736371408.989 [DAT](INFO): DAT read: TxSync time:21:23:28.0215 2025-01-08T21:23:29.241Z,1736371409.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:29.256Z,1736371409.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:29.265Z,1736371409.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.20 m. 2025-01-08T21:23:29.288Z,1736371409.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.200012 m, nav range: 34.798138 m, bearing: 49.798571 deg, approach rate: 0.588403 m/s, LOS rate: -0.573753 deg/s, cmd heading: 207.318658 deg, new cmd heading: 206.725726 deg. 2025-01-08T21:23:29.289Z,1736371409.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608045 target range: 339.200012 and range: 339.20 m. 2025-01-08T21:23:29.494Z,1736371409.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:29.700Z,1736371409.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:29.709Z,1736371409.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.20 m. 2025-01-08T21:23:29.712Z,1736371409.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.200012 m, nav range: 35.034519 m, bearing: 49.587475 deg, approach rate: 0.532644 m/s, LOS rate: -0.472458 deg/s, cmd heading: 206.725729 deg, new cmd heading: 206.096739 deg. 2025-01-08T21:23:29.713Z,1736371409.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597067 target range: 339.200012 and range: 339.20 m. 2025-01-08T21:23:29.744Z,1736371409.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:29.996Z,1736371409.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:30.044Z,1736371410.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:30.054Z,1736371410.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.20 m. 2025-01-08T21:23:30.057Z,1736371410.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.200012 m, nav range: 35.216484 m, bearing: 49.418389 deg, approach rate: 0.527088 m/s, LOS rate: -0.487250 deg/s, cmd heading: 206.096737 deg, new cmd heading: 205.592115 deg. 2025-01-08T21:23:30.057Z,1736371410.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588259 target range: 339.200012 and range: 339.20 m. 2025-01-08T21:23:30.248Z,1736371410.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:30.500Z,1736371410.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:30.559Z,1736371410.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:30.569Z,1736371410.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.20 m. 2025-01-08T21:23:30.572Z,1736371410.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.200012 m, nav range: 35.504021 m, bearing: 49.193674 deg, approach rate: 0.558326 m/s, LOS rate: -0.432807 deg/s, cmd heading: 205.592109 deg, new cmd heading: 204.923455 deg. 2025-01-08T21:23:30.573Z,1736371410.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576589 target range: 339.200012 and range: 339.20 m. 2025-01-08T21:23:30.752Z,1736371410.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:30.872Z,1736371410.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:30.904Z,1736371410.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:30.906Z,1736371410.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.20 m. 2025-01-08T21:23:30.909Z,1736371410.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.200012 m, nav range: 35.679207 m, bearing: 49.058744 deg, approach rate: 0.518744 m/s, LOS rate: -0.397581 deg/s, cmd heading: 204.923461 deg, new cmd heading: 204.520664 deg. 2025-01-08T21:23:30.910Z,1736371410.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569559 target range: 339.200012 and range: 339.20 m. 2025-01-08T21:23:31.004Z,1736371411.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:31.004Z,1736371411.004 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:31.004Z,1736371411.004 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:31.005Z,1736371411.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:31.256Z,1736371411.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:31.256Z,1736371411.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501350 2025-01-08T21:23:31.286Z,1736371411.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:31.297Z,1736371411.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.20 m. 2025-01-08T21:23:31.300Z,1736371411.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.200012 m, nav range: 35.908066 m, bearing: 48.872900 deg, approach rate: 0.585747 m/s, LOS rate: -0.472621 deg/s, cmd heading: 204.520671 deg, new cmd heading: 203.966711 deg. 2025-01-08T21:23:31.301Z,1736371411.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559891 target range: 339.200012 and range: 339.20 m. 2025-01-08T21:23:31.509Z,1736371411.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:31.515Z,1736371411.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755498 2025-01-08T21:23:31.714Z,1736371411.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:31.723Z,1736371411.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.20 m. 2025-01-08T21:23:31.726Z,1736371411.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.200012 m, nav range: 36.161453 m, bearing: 48.703675 deg, approach rate: 0.595357 m/s, LOS rate: -0.394823 deg/s, cmd heading: 203.966715 deg, new cmd heading: 203.462612 deg. 2025-01-08T21:23:31.727Z,1736371411.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.551092 target range: 339.200012 and range: 339.20 m. 2025-01-08T21:23:31.760Z,1736371411.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:31.762Z,1736371411.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006101 2025-01-08T21:23:32.012Z,1736371412.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:32.014Z,1736371412.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258786 2025-01-08T21:23:32.069Z,1736371412.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:32.077Z,1736371412.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.20 m. 2025-01-08T21:23:32.081Z,1736371412.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.200012 m, nav range: 36.370079 m, bearing: 48.561105 deg, approach rate: 0.588836 m/s, LOS rate: -0.400087 deg/s, cmd heading: 203.462606 deg, new cmd heading: 203.037359 deg. 2025-01-08T21:23:32.082Z,1736371412.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.543670 target range: 339.200012 and range: 339.20 m. 2025-01-08T21:23:32.264Z,1736371412.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:32.265Z,1736371412.265 [DAT](INFO): DAT read: Rx Time:21:23:30.8782 2025-01-08T21:23:32.265Z,1736371412.265 [DAT](INFO): Rx dataTimestamp_ set to:1736371412.265170 2025-01-08T21:23:32.266Z,1736371412.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510857 2025-01-08T21:23:32.528Z,1736371412.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:32.531Z,1736371412.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775211 2025-01-08T21:23:32.617Z,1736371412.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:32.653Z,1736371412.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.20 m. 2025-01-08T21:23:32.666Z,1736371412.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 339.200012 m, nav range: 36.692993 m, bearing: 48.343924 deg, approach rate: 0.560623 m/s, LOS rate: -0.373737 deg/s, cmd heading: 203.037359 deg, new cmd heading: 202.391578 deg. 2025-01-08T21:23:32.676Z,1736371412.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532399 target range: 339.200012 and range: 339.20 m. 2025-01-08T21:23:32.780Z,1736371412.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:32.792Z,1736371412.792 [DAT](INFO): DAT read: 21:23:30.8782 LVL= 15056, 29425, 19762, 32755, AGC= 63, IDX= 415,-0.18,-2.694, 2.172, 1.832, 2.703, PHS= 0.974,-0.485,-0.874, RAW= 78.5, 4.6, CAL= 82.8, 3.5, ROT= 67.2, -3.5 2025-01-08T21:23:32.793Z,1736371412.793 [DAT](INFO): got valid direction response: 21:23:30.8782 LVL= 15056, 29425, 19762, 32755, AGC= 63, IDX= 415,-0.18,-2.694, 2.172, 1.832, 2.703, PHS= 0.974,-0.485,-0.874, RAW= 78.5, 4.6, CAL= 82.8, 3.5, ROT= 67.2, -3.5 2025-01-08T21:23:32.794Z,1736371412.794 [DAT](INFO): DAT read: Bearing 67.2, -3.5 (Local) 2025-01-08T21:23:32.794Z,1736371412.794 [DAT](INFO): Local bearing/azimuth received: Bearing 67.2, -3.5 (Local) 2025-01-08T21:23:32.797Z,1736371412.797 [DAT](INFO): DAT read: Range 10 to 50 : 338.7 m (Round-trip 451.6 ms) speed 0.0 m/s 2025-01-08T21:23:32.797Z,1736371412.797 [DAT](INFO): DAT read: user:1722> 2025-01-08T21:23:32.798Z,1736371412.798 [DAT](INFO): DAT read: Tx time:21:23:31.9724 2025-01-08T21:23:32.798Z,1736371412.798 [DAT](INFO): Ping request sent. 2025-01-08T21:23:32.798Z,1736371412.798 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:32.807Z,1736371412.807 [DAT](INFO): DAT read: TxSync time:21:23:31.9716 2025-01-08T21:23:32.808Z,1736371412.808 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:32.809Z,1736371412.809 [DAT](INFO): direction in FSK: [-0.151604,0.303915,0.940559] 2025-01-08T21:23:32.809Z,1736371412.809 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:32.809Z,1736371412.809 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:32.818Z,1736371412.818 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:32.819Z,1736371412.819 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:33.032Z,1736371413.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:33.072Z,1736371413.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:33.098Z,1736371413.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 338.700012 m, deltaT: 4.044591 s, deltaX: -0.500000 m, approachRate: -0.123622 m/s, rangeRepo size: 4 2025-01-08T21:23:33.109Z,1736371413.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 338.700012 m, bearing: 323.255639 deg, lat: 36.904010 deg, lon: -122.115128 deg, deltaT: 4.044591 s, deltaX: -0.500000 m, approachRate: -0.123622 m/s, posRepo size: 4 2025-01-08T21:23:33.109Z,1736371413.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.70 m. 2025-01-08T21:23:33.116Z,1736371413.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.700012 m, nav range: 32.562462 m, bearing: 21.691790 deg, approach rate: 0.000000 m/s, LOS rate: -0.373737 deg/s, cmd heading: 202.391578 deg, new cmd heading: 201.893020 deg. 2025-01-08T21:23:33.117Z,1736371413.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.523698 target range: 338.700012 and range: 338.70 m. 2025-01-08T21:23:33.284Z,1736371413.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:33.410Z,1736371413.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:33.418Z,1736371413.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:33.420Z,1736371413.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.70 m. 2025-01-08T21:23:33.423Z,1736371413.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.700012 m, nav range: 32.782402 m, bearing: 21.724847 deg, approach rate: 0.682163 m/s, LOS rate: 0.101841 deg/s, cmd heading: 201.893015 deg, new cmd heading: 201.991520 deg. 2025-01-08T21:23:33.424Z,1736371413.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.525417 target range: 338.700012 and range: 338.70 m. 2025-01-08T21:23:33.538Z,1736371413.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:33.540Z,1736371413.540 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:33.540Z,1736371413.540 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:33.541Z,1736371413.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:33.788Z,1736371413.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:33.788Z,1736371413.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989775 2025-01-08T21:23:33.853Z,1736371413.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:33.861Z,1736371413.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.70 m. 2025-01-08T21:23:33.865Z,1736371413.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.700012 m, nav range: 33.078316 m, bearing: 21.784652 deg, approach rate: 0.671292 m/s, LOS rate: 0.134456 deg/s, cmd heading: 201.991520 deg, new cmd heading: 202.169329 deg. 2025-01-08T21:23:33.866Z,1736371413.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528520 target range: 338.700012 and range: 338.70 m. 2025-01-08T21:23:34.040Z,1736371414.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:34.041Z,1736371414.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242169 2025-01-08T21:23:34.228Z,1736371414.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:34.237Z,1736371414.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.70 m. 2025-01-08T21:23:34.240Z,1736371414.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.700012 m, nav range: 33.330215 m, bearing: 21.829275 deg, approach rate: 0.670408 m/s, LOS rate: 0.117861 deg/s, cmd heading: 202.169324 deg, new cmd heading: 202.302179 deg. 2025-01-08T21:23:34.240Z,1736371414.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530839 target range: 338.700012 and range: 338.70 m. 2025-01-08T21:23:34.292Z,1736371414.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:34.293Z,1736371414.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494069 2025-01-08T21:23:34.545Z,1736371414.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:34.548Z,1736371414.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748923 2025-01-08T21:23:34.665Z,1736371414.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:34.680Z,1736371414.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.70 m. 2025-01-08T21:23:34.683Z,1736371414.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.700012 m, nav range: 33.634773 m, bearing: 21.894005 deg, approach rate: 0.686669 m/s, LOS rate: 0.144622 deg/s, cmd heading: 202.302185 deg, new cmd heading: 202.494615 deg. 2025-01-08T21:23:34.684Z,1736371414.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534198 target range: 338.700012 and range: 338.70 m. 2025-01-08T21:23:34.797Z,1736371414.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:34.797Z,1736371414.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998739 2025-01-08T21:23:35.039Z,1736371415.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:35.048Z,1736371415.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:35.049Z,1736371415.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250063 2025-01-08T21:23:35.050Z,1736371415.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.70 m. 2025-01-08T21:23:35.053Z,1736371415.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.700012 m, nav range: 33.895977 m, bearing: 21.944173 deg, approach rate: 0.706061 m/s, LOS rate: 0.134564 deg/s, cmd heading: 202.494618 deg, new cmd heading: 202.643962 deg. 2025-01-08T21:23:35.054Z,1736371415.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536804 target range: 338.700012 and range: 338.70 m. 2025-01-08T21:23:35.300Z,1736371415.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:35.300Z,1736371415.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501806 2025-01-08T21:23:35.444Z,1736371415.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:35.452Z,1736371415.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:35.454Z,1736371415.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.70 m. 2025-01-08T21:23:35.457Z,1736371415.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.700012 m, nav range: 34.179512 m, bearing: 21.993302 deg, approach rate: 0.701543 m/s, LOS rate: 0.120552 deg/s, cmd heading: 202.643967 deg, new cmd heading: 202.790134 deg. 2025-01-08T21:23:35.458Z,1736371415.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539356 target range: 338.700012 and range: 338.70 m. 2025-01-08T21:23:35.554Z,1736371415.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:35.558Z,1736371415.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759079 2025-01-08T21:23:35.804Z,1736371415.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:35.804Z,1736371415.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005906 2025-01-08T21:23:35.874Z,1736371415.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:35.899Z,1736371415.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.70 m. 2025-01-08T21:23:35.902Z,1736371415.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.700012 m, nav range: 34.482285 m, bearing: 22.042240 deg, approach rate: 0.706262 m/s, LOS rate: 0.113151 deg/s, cmd heading: 202.790133 deg, new cmd heading: 202.935655 deg. 2025-01-08T21:23:35.903Z,1736371415.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541895 target range: 338.700012 and range: 338.70 m. 2025-01-08T21:23:36.056Z,1736371416.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:36.056Z,1736371416.056 [DAT](INFO): DAT read: Rx Time:21:23:34.8270 2025-01-08T21:23:36.057Z,1736371416.057 [DAT](INFO): Rx dataTimestamp_ set to:1736371416.056620 2025-01-08T21:23:36.057Z,1736371416.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258899 2025-01-08T21:23:36.254Z,1736371416.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:36.262Z,1736371416.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.70 m. 2025-01-08T21:23:36.265Z,1736371416.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 338.700012 m, nav range: 34.750473 m, bearing: 22.082139 deg, approach rate: 0.707049 m/s, LOS rate: 0.104378 deg/s, cmd heading: 202.935657 deg, new cmd heading: 203.054431 deg. 2025-01-08T21:23:36.266Z,1736371416.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.543968 target range: 338.700012 and range: 338.70 m. 2025-01-08T21:23:36.308Z,1736371416.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:36.310Z,1736371416.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510981 2025-01-08T21:23:36.561Z,1736371416.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:36.588Z,1736371416.588 [DAT](INFO): DAT read: 21:23:34.8270 LVL= 14160, 29553, 22178, 28483, AGC= 63, IDX= 433, 0.00,-0.754,-1.995,-2.777,-1.643, PHS= 0.978,-0.304,-1.137, RAW= 67.0, 5.1, CAL= 68.5, 5.3, ROT= 81.5, -5.3 2025-01-08T21:23:36.589Z,1736371416.589 [DAT](INFO): got valid direction response: 21:23:34.8270 LVL= 14160, 29553, 22178, 28483, AGC= 63, IDX= 433, 0.00,-0.754,-1.995,-2.777,-1.643, PHS= 0.978,-0.304,-1.137, RAW= 67.0, 5.1, CAL= 68.5, 5.3, ROT= 81.5, -5.3 2025-01-08T21:23:36.590Z,1736371416.590 [DAT](INFO): DAT read: Bearing 81.5, -5.3 (Local) 2025-01-08T21:23:36.590Z,1736371416.590 [DAT](INFO): Local bearing/azimuth received: Bearing 81.5, -5.3 (Local) 2025-01-08T21:23:36.592Z,1736371416.592 [DAT](INFO): DAT read: Range 10 to 50 : 337.8 m (Round-trip 450.4 ms) speed 0.2 m/s 2025-01-08T21:23:36.593Z,1736371416.593 [DAT](INFO): DAT read: user:1723> 2025-01-08T21:23:36.593Z,1736371416.593 [DAT](INFO): DAT read: Tx time:21:23:35.9224 2025-01-08T21:23:36.594Z,1736371416.594 [DAT](INFO): Ping request sent. 2025-01-08T21:23:36.594Z,1736371416.594 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:36.594Z,1736371416.594 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:36.596Z,1736371416.596 [DAT](INFO): direction in FSK: [-0.137534,0.480965,0.865885] 2025-01-08T21:23:36.596Z,1736371416.596 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:36.597Z,1736371416.597 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:36.600Z,1736371416.600 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:36.600Z,1736371416.600 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:36.777Z,1736371416.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:36.813Z,1736371416.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:36.813Z,1736371416.813 [DAT](INFO): DAT read: TxSync time:21:23:35.9216 2025-01-08T21:23:36.820Z,1736371416.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 337.799988 m, deltaT: 3.781004 s, deltaX: -0.900024 m, approachRate: -0.238038 m/s, rangeRepo size: 4 2025-01-08T21:23:36.822Z,1736371416.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 337.799988 m, bearing: 309.108588 deg, lat: 36.904279 deg, lon: -122.115274 deg, deltaT: 3.781004 s, deltaX: -0.900024 m, approachRate: -0.238038 m/s, posRepo size: 4 2025-01-08T21:23:36.823Z,1736371416.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.80 m. 2025-01-08T21:23:36.830Z,1736371416.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.799988 m, nav range: 62.394577 m, bearing: 0.259677 deg, approach rate: 0.000000 m/s, LOS rate: 0.104378 deg/s, cmd heading: 203.054434 deg, new cmd heading: 203.227515 deg. 2025-01-08T21:23:36.836Z,1736371416.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546989 target range: 337.799988 and range: 337.80 m. 2025-01-08T21:23:37.064Z,1736371417.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:37.148Z,1736371417.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:37.157Z,1736371417.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.80 m. 2025-01-08T21:23:37.160Z,1736371417.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.799988 m, nav range: 62.631428 m, bearing: 0.359173 deg, approach rate: 0.692730 m/s, LOS rate: 0.289903 deg/s, cmd heading: 203.227511 deg, new cmd heading: 203.524870 deg. 2025-01-08T21:23:37.161Z,1736371417.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.552179 target range: 337.799988 and range: 337.80 m. 2025-01-08T21:23:37.317Z,1736371417.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:37.537Z,1736371417.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:37.548Z,1736371417.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:37.557Z,1736371417.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.80 m. 2025-01-08T21:23:37.570Z,1736371417.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:37.572Z,1736371417.572 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:37.572Z,1736371417.572 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:37.573Z,1736371417.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:37.613Z,1736371417.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.799988 m, nav range: 62.879356 m, bearing: 0.461598 deg, approach rate: 0.623463 m/s, LOS rate: 0.256550 deg/s, cmd heading: 203.524870 deg, new cmd heading: 203.830929 deg. 2025-01-08T21:23:37.614Z,1736371417.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557521 target range: 337.799988 and range: 337.80 m. 2025-01-08T21:23:37.822Z,1736371417.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:37.824Z,1736371417.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230081 2025-01-08T21:23:37.986Z,1736371417.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:37.996Z,1736371417.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.80 m. 2025-01-08T21:23:37.998Z,1736371417.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.799988 m, nav range: 63.169285 m, bearing: 0.566926 deg, approach rate: 0.658771 m/s, LOS rate: 0.238227 deg/s, cmd heading: 203.830931 deg, new cmd heading: 204.145463 deg. 2025-01-08T21:23:37.000Z,1736371418.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.563010 target range: 337.799988 and range: 337.80 m. 2025-01-08T21:23:38.073Z,1736371418.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:38.074Z,1736371418.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480212 2025-01-08T21:23:38.324Z,1736371418.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:38.325Z,1736371418.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731121 2025-01-08T21:23:38.372Z,1736371418.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:38.386Z,1736371418.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.80 m. 2025-01-08T21:23:38.391Z,1736371418.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.799988 m, nav range: 63.418839 m, bearing: 0.656757 deg, approach rate: 0.638023 m/s, LOS rate: 0.228762 deg/s, cmd heading: 204.145461 deg, new cmd heading: 204.413890 deg. 2025-01-08T21:23:38.394Z,1736371418.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567695 target range: 337.799988 and range: 337.80 m. 2025-01-08T21:23:38.536Z,1736371418.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:23:38.577Z,1736371418.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:38.581Z,1736371418.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986599 2025-01-08T21:23:38.763Z,1736371418.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:38.797Z,1736371418.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.80 m. 2025-01-08T21:23:38.804Z,1736371418.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.799988 m, nav range: 63.675869 m, bearing: 0.727598 deg, approach rate: 0.624653 m/s, LOS rate: 0.171468 deg/s, cmd heading: 204.413888 deg, new cmd heading: 204.625552 deg. 2025-01-08T21:23:38.805Z,1736371418.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571390 target range: 337.799988 and range: 337.80 m. 2025-01-08T21:23:38.828Z,1736371418.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:38.829Z,1736371418.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235259 2025-01-08T21:23:39.080Z,1736371419.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:39.080Z,1736371419.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486668 2025-01-08T21:23:39.156Z,1736371419.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:39.170Z,1736371419.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.80 m. 2025-01-08T21:23:39.173Z,1736371419.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.799988 m, nav range: 63.934711 m, bearing: 0.798362 deg, approach rate: 0.693856 m/s, LOS rate: 0.188923 deg/s, cmd heading: 204.625555 deg, new cmd heading: 204.836987 deg. 2025-01-08T21:23:39.174Z,1736371419.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575080 target range: 337.799988 and range: 337.80 m. 2025-01-08T21:23:39.333Z,1736371419.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:39.334Z,1736371419.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740451 2025-01-08T21:23:39.540Z,1736371419.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:23:39.545Z,1736371419.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:39.552Z,1736371419.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:39.555Z,1736371419.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.80 m. 2025-01-08T21:23:39.565Z,1736371419.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.799988 m, nav range: 64.190437 m, bearing: 0.868318 deg, approach rate: 0.666307 m/s, LOS rate: 0.181549 deg/s, cmd heading: 204.836991 deg, new cmd heading: 205.046023 deg. 2025-01-08T21:23:39.566Z,1736371419.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578728 target range: 337.799988 and range: 337.80 m. 2025-01-08T21:23:39.585Z,1736371419.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:39.588Z,1736371419.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993617 2025-01-08T21:23:39.836Z,1736371419.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:39.836Z,1736371419.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242620 2025-01-08T21:23:39.986Z,1736371419.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:39.994Z,1736371419.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.80 m. 2025-01-08T21:23:40.017Z,1736371420.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.799988 m, nav range: 64.480515 m, bearing: 0.927561 deg, approach rate: 0.659278 m/s, LOS rate: 0.134040 deg/s, cmd heading: 205.046022 deg, new cmd heading: 205.222950 deg. 2025-01-08T21:23:40.018Z,1736371420.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581816 target range: 337.799988 and range: 337.80 m. 2025-01-08T21:23:40.088Z,1736371420.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:40.090Z,1736371420.090 [DAT](INFO): DAT read: Rx Time:21:23:38.7761 2025-01-08T21:23:40.090Z,1736371420.090 [DAT](INFO): Rx dataTimestamp_ set to:1736371420.089898 2025-01-08T21:23:40.091Z,1736371420.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497360 2025-01-08T21:23:40.340Z,1736371420.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:40.341Z,1736371420.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746766 2025-01-08T21:23:40.378Z,1736371420.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:40.395Z,1736371420.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.80 m. 2025-01-08T21:23:40.408Z,1736371420.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.799988 m, nav range: 64.737915 m, bearing: 0.981855 deg, approach rate: 0.643045 m/s, LOS rate: 0.135100 deg/s, cmd heading: 205.222951 deg, new cmd heading: 205.385186 deg. 2025-01-08T21:23:40.409Z,1736371420.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584648 target range: 337.799988 and range: 337.80 m. 2025-01-08T21:23:40.593Z,1736371420.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:40.644Z,1736371420.644 [DAT](INFO): DAT read: 21:23:38.7761 LVL= 16032, 25073, 21186, 27523, AGC= 64, IDX= 442,-0.06,-1.352,-2.126,-2.902,-1.994, PHS= 0.730,-0.085,-0.912, RAW= 59.8, 3.8, CAL= 60.2, 3.4, ROT= 89.8, -3.4 2025-01-08T21:23:40.646Z,1736371420.646 [DAT](INFO): got valid direction response: 21:23:38.7761 LVL= 16032, 25073, 21186, 27523, AGC= 64, IDX= 442,-0.06,-1.352,-2.126,-2.902,-1.994, PHS= 0.730,-0.085,-0.912, RAW= 59.8, 3.8, CAL= 60.2, 3.4, ROT= 89.8, -3.4 2025-01-08T21:23:40.647Z,1736371420.647 [DAT](INFO): DAT read: Bearing 89.8, -3.4 (Local) 2025-01-08T21:23:40.648Z,1736371420.648 [DAT](INFO): Local bearing/azimuth received: Bearing 89.8, -3.4 (Local) 2025-01-08T21:23:40.650Z,1736371420.650 [DAT](INFO): DAT read: Range 10 to 50 : 337.2 m (Round-trip 449.6 ms) speed 0.2 m/s 2025-01-08T21:23:40.672Z,1736371420.672 [DAT](INFO): DAT read: user:1724> 2025-01-08T21:23:40.673Z,1736371420.673 [DAT](INFO): DAT read: Tx time:21:23:39.8724 2025-01-08T21:23:40.674Z,1736371420.674 [DAT](INFO): Ping request sent. 2025-01-08T21:23:40.674Z,1736371420.674 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:40.675Z,1736371420.675 [DAT](INFO): DAT read: TxSync time:21:23:39.8716 2025-01-08T21:23:40.680Z,1736371420.680 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:40.681Z,1736371420.681 [DAT](INFO): direction in FSK: [-0.099285,0.582260,0.806917] 2025-01-08T21:23:40.681Z,1736371420.681 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:40.681Z,1736371420.681 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:40.701Z,1736371420.701 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:40.702Z,1736371420.702 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:40.844Z,1736371420.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:40.860Z,1736371420.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:40.900Z,1736371420.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 337.200012 m, deltaT: 4.031720 s, deltaX: -0.599976 m, approachRate: -0.148814 m/s, rangeRepo size: 4 2025-01-08T21:23:40.902Z,1736371420.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 337.200012 m, bearing: 308.320265 deg, lat: 36.904473 deg, lon: -122.115949 deg, deltaT: 4.031720 s, deltaX: -0.599976 m, approachRate: -0.148814 m/s, posRepo size: 4 2025-01-08T21:23:40.903Z,1736371420.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.20 m. 2025-01-08T21:23:40.910Z,1736371420.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.200012 m, nav range: 104.733238 m, bearing: 325.775212 deg, approach rate: 0.000000 m/s, LOS rate: 0.135100 deg/s, cmd heading: 205.385182 deg, new cmd heading: 205.586336 deg. 2025-01-08T21:23:40.910Z,1736371420.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588158 target range: 337.200012 and range: 337.20 m. 2025-01-08T21:23:41.096Z,1736371421.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:41.167Z,1736371421.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:41.176Z,1736371421.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.20 m. 2025-01-08T21:23:41.191Z,1736371421.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.200012 m, nav range: 104.875427 m, bearing: 325.853999 deg, approach rate: 0.499035 m/s, LOS rate: 0.276141 deg/s, cmd heading: 205.586331 deg, new cmd heading: 205.822370 deg. 2025-01-08T21:23:41.192Z,1736371421.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592278 target range: 337.200012 and range: 337.20 m. 2025-01-08T21:23:41.348Z,1736371421.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:41.593Z,1736371421.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:41.600Z,1736371421.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:41.630Z,1736371421.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:41.677Z,1736371421.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.20 m. 2025-01-08T21:23:41.682Z,1736371421.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.200012 m, nav range: 105.072853 m, bearing: 325.962858 deg, approach rate: 0.393893 m/s, LOS rate: 0.216782 deg/s, cmd heading: 205.822368 deg, new cmd heading: 206.148329 deg. 2025-01-08T21:23:41.692Z,1736371421.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597967 target range: 337.200012 and range: 337.20 m. 2025-01-08T21:23:41.852Z,1736371421.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:41.852Z,1736371421.852 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:41.852Z,1736371421.852 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:41.852Z,1736371421.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:41.988Z,1736371421.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:41.997Z,1736371421.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.20 m. 2025-01-08T21:23:42.001Z,1736371422.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.200012 m, nav range: 105.261406 m, bearing: 326.056702 deg, approach rate: 0.588404 m/s, LOS rate: 0.292329 deg/s, cmd heading: 206.148332 deg, new cmd heading: 206.429359 deg. 2025-01-08T21:23:42.002Z,1736371422.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602872 target range: 337.200012 and range: 337.20 m. 2025-01-08T21:23:42.104Z,1736371422.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:42.104Z,1736371422.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.430654 2025-01-08T21:23:42.356Z,1736371422.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:42.357Z,1736371422.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.682953 2025-01-08T21:23:42.444Z,1736371422.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:42.472Z,1736371422.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.20 m. 2025-01-08T21:23:42.474Z,1736371422.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.200012 m, nav range: 105.478157 m, bearing: 326.165461 deg, approach rate: 0.458578 m/s, LOS rate: 0.229628 deg/s, cmd heading: 206.429354 deg, new cmd heading: 206.754957 deg. 2025-01-08T21:23:42.475Z,1736371422.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608555 target range: 337.200012 and range: 337.20 m. 2025-01-08T21:23:42.609Z,1736371422.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:42.612Z,1736371422.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.937365 2025-01-08T21:23:42.860Z,1736371422.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:42.860Z,1736371422.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.186726 2025-01-08T21:23:42.865Z,1736371422.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:42.874Z,1736371422.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.20 m. 2025-01-08T21:23:42.877Z,1736371422.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.200012 m, nav range: 105.673294 m, bearing: 326.263154 deg, approach rate: 0.483137 m/s, LOS rate: 0.241429 deg/s, cmd heading: 206.754962 deg, new cmd heading: 207.047497 deg. 2025-01-08T21:23:42.878Z,1736371422.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613661 target range: 337.200012 and range: 337.20 m. 2025-01-08T21:23:43.115Z,1736371423.115 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:43.116Z,1736371423.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.442678 2025-01-08T21:23:43.322Z,1736371423.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:43.332Z,1736371423.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.20 m. 2025-01-08T21:23:43.335Z,1736371423.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.200012 m, nav range: 105.884209 m, bearing: 326.369743 deg, approach rate: 0.460272 m/s, LOS rate: 0.232143 deg/s, cmd heading: 207.047499 deg, new cmd heading: 207.366627 deg. 2025-01-08T21:23:43.338Z,1736371423.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.619231 target range: 337.200012 and range: 337.20 m. 2025-01-08T21:23:43.364Z,1736371423.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:43.364Z,1736371423.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.690784 2025-01-08T21:23:43.617Z,1736371423.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:43.621Z,1736371423.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945177 2025-01-08T21:23:43.756Z,1736371423.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:43.764Z,1736371423.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:43.766Z,1736371423.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.20 m. 2025-01-08T21:23:43.769Z,1736371423.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.200012 m, nav range: 106.081139 m, bearing: 326.468836 deg, approach rate: 0.453988 m/s, LOS rate: 0.228017 deg/s, cmd heading: 207.366633 deg, new cmd heading: 207.663357 deg. 2025-01-08T21:23:43.770Z,1736371423.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.624409 target range: 337.200012 and range: 337.20 m. 2025-01-08T21:23:43.868Z,1736371423.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:43.868Z,1736371423.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.194679 2025-01-08T21:23:44.120Z,1736371424.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:44.121Z,1736371424.121 [DAT](INFO): DAT read: Rx Time:21:23:42.7255 2025-01-08T21:23:44.121Z,1736371424.121 [DAT](INFO): Rx dataTimestamp_ set to:1736371424.120791 2025-01-08T21:23:44.122Z,1736371424.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.447887 2025-01-08T21:23:44.127Z,1736371424.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:44.139Z,1736371424.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.20 m. 2025-01-08T21:23:44.166Z,1736371424.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.200012 m, nav range: 106.248383 m, bearing: 326.553822 deg, approach rate: 0.448451 m/s, LOS rate: 0.227524 deg/s, cmd heading: 207.663350 deg, new cmd heading: 207.917905 deg. 2025-01-08T21:23:44.168Z,1736371424.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.628852 target range: 337.200012 and range: 337.20 m. 2025-01-08T21:23:44.372Z,1736371424.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:44.374Z,1736371424.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.700186 2025-01-08T21:23:44.537Z,1736371424.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:44.546Z,1736371424.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.20 m. 2025-01-08T21:23:44.569Z,1736371424.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.200012 m, nav range: 106.432373 m, bearing: 326.648386 deg, approach rate: 0.451877 m/s, LOS rate: 0.231846 deg/s, cmd heading: 207.917911 deg, new cmd heading: 208.201111 deg. 2025-01-08T21:23:44.570Z,1736371424.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.633795 target range: 337.200012 and range: 337.20 m. 2025-01-08T21:23:44.624Z,1736371424.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:44.637Z,1736371424.637 [DAT](INFO): DAT read: 21:23:42.7255 LVL= 15040, 23153, 17522, 23779, AGC= 65, IDX= 435, 0.22,-2.084,-3.015, 2.660,-2.770, PHS= 0.773,-0.198,-0.857, RAW= 66.3, 4.0, CAL= 68.0, 3.1, ROT= 82.0, -3.1 2025-01-08T21:23:44.641Z,1736371424.641 [DAT](INFO): got valid direction response: 21:23:42.7255 LVL= 15040, 23153, 17522, 23779, AGC= 65, IDX= 435, 0.22,-2.084,-3.015, 2.660,-2.770, PHS= 0.773,-0.198,-0.857, RAW= 66.3, 4.0, CAL= 68.0, 3.1, ROT= 82.0, -3.1 2025-01-08T21:23:44.673Z,1736371424.673 [DAT](INFO): DAT read: Bearing 82.0, -3.1 (Local) 2025-01-08T21:23:44.674Z,1736371424.674 [DAT](INFO): Local bearing/azimuth received: Bearing 82.0, -3.1 (Local) 2025-01-08T21:23:44.688Z,1736371424.688 [DAT](INFO): DAT read: Range 10 to 50 : 336.6 m (Round-trip 448.9 ms) speed -0.1 m/s 2025-01-08T21:23:44.700Z,1736371424.700 [DAT](INFO): DAT read: user:1725> 2025-01-08T21:23:44.712Z,1736371424.712 [DAT](INFO): DAT read: Tx time:21:23:43.8225 2025-01-08T21:23:44.712Z,1736371424.712 [DAT](INFO): Ping request sent. 2025-01-08T21:23:44.712Z,1736371424.712 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:44.713Z,1736371424.713 [DAT](INFO): DAT read: TxSync time:21:23:43.8217 2025-01-08T21:23:44.714Z,1736371424.714 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:44.714Z,1736371424.714 [DAT](INFO): direction in FSK: [-0.116663,0.490728,0.863467] 2025-01-08T21:23:44.715Z,1736371424.715 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:44.723Z,1736371424.723 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:44.736Z,1736371424.736 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:44.736Z,1736371424.736 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:44.876Z,1736371424.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:44.966Z,1736371424.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:44.984Z,1736371424.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 336.600006 m, deltaT: 4.030509 s, deltaX: -0.600006 m, approachRate: -0.148866 m/s, rangeRepo size: 4 2025-01-08T21:23:44.989Z,1736371424.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 336.600006 m, bearing: 322.384696 deg, lat: 36.904552 deg, lon: -122.116183 deg, deltaT: 4.030509 s, deltaX: -0.600006 m, approachRate: -0.148866 m/s, posRepo size: 4 2025-01-08T21:23:44.991Z,1736371424.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.60 m. 2025-01-08T21:23:45.013Z,1736371425.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.600006 m, nav range: 126.023521 m, bearing: 321.043739 deg, approach rate: 0.000000 m/s, LOS rate: 0.231846 deg/s, cmd heading: 208.201105 deg, new cmd heading: 208.503535 deg. 2025-01-08T21:23:45.015Z,1736371425.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.639073 target range: 336.600006 and range: 336.60 m. 2025-01-08T21:23:45.128Z,1736371425.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:45.337Z,1736371425.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:45.347Z,1736371425.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.60 m. 2025-01-08T21:23:45.350Z,1736371425.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.600006 m, nav range: 126.163490 m, bearing: 321.125160 deg, approach rate: 0.382861 m/s, LOS rate: 0.222467 deg/s, cmd heading: 208.503532 deg, new cmd heading: 208.747524 deg. 2025-01-08T21:23:45.351Z,1736371425.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.643332 target range: 336.600006 and range: 336.60 m. 2025-01-08T21:23:45.380Z,1736371425.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:45.632Z,1736371425.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:45.780Z,1736371425.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:45.787Z,1736371425.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:45.789Z,1736371425.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.60 m. 2025-01-08T21:23:45.792Z,1736371425.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.600006 m, nav range: 126.313286 m, bearing: 321.227272 deg, approach rate: 0.338366 m/s, LOS rate: 0.230382 deg/s, cmd heading: 208.747520 deg, new cmd heading: 209.053489 deg. 2025-01-08T21:23:45.793Z,1736371425.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.648672 target range: 336.600006 and range: 336.60 m. 2025-01-08T21:23:45.884Z,1736371425.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:45.885Z,1736371425.885 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:45.885Z,1736371425.885 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:45.886Z,1736371425.886 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:46.136Z,1736371426.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:46.138Z,1736371426.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.425319 2025-01-08T21:23:46.179Z,1736371426.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:46.200Z,1736371426.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.60 m. 2025-01-08T21:23:46.203Z,1736371426.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.600006 m, nav range: 126.447212 m, bearing: 321.319005 deg, approach rate: 0.325985 m/s, LOS rate: 0.223048 deg/s, cmd heading: 209.053485 deg, new cmd heading: 209.328391 deg. 2025-01-08T21:23:46.213Z,1736371426.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.653470 target range: 336.600006 and range: 336.60 m. 2025-01-08T21:23:46.388Z,1736371426.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:46.388Z,1736371426.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.676066 2025-01-08T21:23:46.554Z,1736371426.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:46.562Z,1736371426.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.60 m. 2025-01-08T21:23:46.565Z,1736371426.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.600006 m, nav range: 126.572975 m, bearing: 321.405766 deg, approach rate: 0.347338 m/s, LOS rate: 0.239382 deg/s, cmd heading: 209.328387 deg, new cmd heading: 209.588409 deg. 2025-01-08T21:23:46.566Z,1736371426.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.658008 target range: 336.600006 and range: 336.60 m. 2025-01-08T21:23:46.640Z,1736371426.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:46.641Z,1736371426.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.928270 2025-01-08T21:23:46.892Z,1736371426.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:46.893Z,1736371426.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180530 2025-01-08T21:23:46.997Z,1736371426.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:47.006Z,1736371427.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.60 m. 2025-01-08T21:23:47.009Z,1736371427.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.600006 m, nav range: 126.703575 m, bearing: 321.515906 deg, approach rate: 0.294553 m/s, LOS rate: 0.248152 deg/s, cmd heading: 209.588412 deg, new cmd heading: 209.918488 deg. 2025-01-08T21:23:47.010Z,1736371427.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.663769 target range: 336.600006 and range: 336.60 m. 2025-01-08T21:23:47.144Z,1736371427.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:47.144Z,1736371427.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.432079 2025-01-08T21:23:47.360Z,1736371427.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:47.385Z,1736371427.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.60 m. 2025-01-08T21:23:47.392Z,1736371427.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.600006 m, nav range: 126.808762 m, bearing: 321.606381 deg, approach rate: 0.276823 m/s, LOS rate: 0.237908 deg/s, cmd heading: 209.918488 deg, new cmd heading: 210.189685 deg. 2025-01-08T21:23:47.393Z,1736371427.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.668502 target range: 336.600006 and range: 336.60 m. 2025-01-08T21:23:47.396Z,1736371427.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:47.397Z,1736371427.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.684368 2025-01-08T21:23:47.648Z,1736371427.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:47.650Z,1736371427.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.936850 2025-01-08T21:23:47.799Z,1736371427.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:47.806Z,1736371427.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:47.808Z,1736371427.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.60 m. 2025-01-08T21:23:47.810Z,1736371427.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.600006 m, nav range: 126.921318 m, bearing: 321.722012 deg, approach rate: 0.266456 m/s, LOS rate: 0.273491 deg/s, cmd heading: 210.189687 deg, new cmd heading: 210.536268 deg. 2025-01-08T21:23:47.812Z,1736371427.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.674551 target range: 336.600006 and range: 336.60 m. 2025-01-08T21:23:47.901Z,1736371427.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:47.902Z,1736371427.902 [DAT](INFO): DAT read: Rx Time:21:23:46.6749 2025-01-08T21:23:47.903Z,1736371427.903 [DAT](INFO): Rx dataTimestamp_ set to:1736371427.902280 2025-01-08T21:23:47.904Z,1736371427.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191456 2025-01-08T21:23:48.152Z,1736371428.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:48.152Z,1736371428.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.440074 2025-01-08T21:23:48.185Z,1736371428.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:48.202Z,1736371428.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.60 m. 2025-01-08T21:23:48.209Z,1736371428.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.600006 m, nav range: 127.019623 m, bearing: 321.823741 deg, approach rate: 0.249521 m/s, LOS rate: 0.258012 deg/s, cmd heading: 210.536264 deg, new cmd heading: 210.841212 deg. 2025-01-08T21:23:48.210Z,1736371428.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.679873 target range: 336.600006 and range: 336.60 m. 2025-01-08T21:23:48.404Z,1736371428.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:48.411Z,1736371428.411 [DAT](INFO): DAT read: 21:23:46.6749 LVL= 15584, 26961, 22482, 24355, AGC= 62, IDX= 426, 0.02, 2.558, 1.189, 0.486, 1.414, PHS= 1.232,-0.178,-0.931, RAW= 70.0, -1.3, CAL= 75.4, -5.8, ROT= 74.6, 5.8 2025-01-08T21:23:48.412Z,1736371428.412 [DAT](INFO): got valid direction response: 21:23:46.6749 LVL= 15584, 26961, 22482, 24355, AGC= 62, IDX= 426, 0.02, 2.558, 1.189, 0.486, 1.414, PHS= 1.232,-0.178,-0.931, RAW= 70.0, -1.3, CAL= 75.4, -5.8, ROT= 74.6, 5.8 2025-01-08T21:23:48.413Z,1736371428.413 [DAT](INFO): DAT read: Bearing 74.6, 5.8 (Local) 2025-01-08T21:23:48.414Z,1736371428.414 [DAT](INFO): Local bearing/azimuth received: Bearing 74.6, 5.8 (Local) 2025-01-08T21:23:48.415Z,1736371428.415 [DAT](INFO): DAT read: Range 10 to 50 : 336.1 m (Round-trip 448.2 ms) speed 0.0 m/s 2025-01-08T21:23:48.416Z,1736371428.416 [DAT](INFO): DAT read: user:1726> 2025-01-08T21:23:48.417Z,1736371428.417 [DAT](INFO): DAT read: Tx time:21:23:47.7725 2025-01-08T21:23:48.417Z,1736371428.417 [DAT](INFO): Ping request sent. 2025-01-08T21:23:48.417Z,1736371428.417 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:48.417Z,1736371428.417 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:48.418Z,1736371428.418 [DAT](INFO): direction in FSK: [-0.024489,0.433191,0.900969] 2025-01-08T21:23:48.419Z,1736371428.419 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:48.419Z,1736371428.419 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:48.422Z,1736371428.422 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:48.423Z,1736371428.423 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:48.591Z,1736371428.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:48.644Z,1736371428.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 336.100006 m, deltaT: 3.780171 s, deltaX: -0.500000 m, approachRate: -0.132269 m/s, rangeRepo size: 4 2025-01-08T21:23:48.653Z,1736371428.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 336.100006 m, bearing: 316.866617 deg, lat: 36.904552 deg, lon: -122.116183 deg, deltaT: 3.780171 s, deltaX: -0.500000 m, approachRate: -0.132269 m/s, posRepo size: 4 2025-01-08T21:23:48.654Z,1736371428.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.10 m. 2025-01-08T21:23:48.659Z,1736371428.659 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:48.660Z,1736371428.660 [DAT](INFO): DAT read: TxSync time:21:23:47.7717 2025-01-08T21:23:48.684Z,1736371428.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.100006 m, nav range: 127.122505 m, bearing: 321.930748 deg, approach rate: 0.000000 m/s, LOS rate: 0.258012 deg/s, cmd heading: 210.841219 deg, new cmd heading: 211.177716 deg. 2025-01-08T21:23:48.686Z,1736371428.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.685746 target range: 336.100006 and range: 336.10 m. 2025-01-08T21:23:48.912Z,1736371428.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:49.050Z,1736371429.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:49.058Z,1736371429.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.10 m. 2025-01-08T21:23:49.061Z,1736371429.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.100006 m, nav range: 127.231262 m, bearing: 322.056982 deg, approach rate: 0.257948 m/s, LOS rate: 0.299143 deg/s, cmd heading: 211.177715 deg, new cmd heading: 211.556086 deg. 2025-01-08T21:23:49.063Z,1736371429.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.692350 target range: 336.100006 and range: 336.10 m. 2025-01-08T21:23:49.165Z,1736371429.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:49.416Z,1736371429.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:49.429Z,1736371429.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:49.440Z,1736371429.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.10 m. 2025-01-08T21:23:49.442Z,1736371429.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.100006 m, nav range: 127.320267 m, bearing: 322.160799 deg, approach rate: 0.233575 m/s, LOS rate: 0.272256 deg/s, cmd heading: 211.556080 deg, new cmd heading: 211.867310 deg. 2025-01-08T21:23:49.443Z,1736371429.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.697782 target range: 336.100006 and range: 336.10 m. 2025-01-08T21:23:49.669Z,1736371429.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:49.860Z,1736371429.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:49.888Z,1736371429.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:49.890Z,1736371429.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.10 m. 2025-01-08T21:23:49.898Z,1736371429.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.100006 m, nav range: 127.413795 m, bearing: 322.284196 deg, approach rate: 0.207459 m/s, LOS rate: 0.273509 deg/s, cmd heading: 211.867304 deg, new cmd heading: 212.237218 deg. 2025-01-08T21:23:49.905Z,1736371429.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.704238 target range: 336.100006 and range: 336.10 m. 2025-01-08T21:23:49.920Z,1736371429.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:49.920Z,1736371429.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:49.920Z,1736371429.920 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:49.921Z,1736371429.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:50.172Z,1736371430.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:50.173Z,1736371430.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755425 2025-01-08T21:23:50.248Z,1736371430.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:50.261Z,1736371430.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.10 m. 2025-01-08T21:23:50.265Z,1736371430.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.100006 m, nav range: 127.496742 m, bearing: 322.394926 deg, approach rate: 0.223897 m/s, LOS rate: 0.298699 deg/s, cmd heading: 212.237214 deg, new cmd heading: 212.569185 deg. 2025-01-08T21:23:50.266Z,1736371430.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.710032 target range: 336.100006 and range: 336.10 m. 2025-01-08T21:23:50.424Z,1736371430.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:50.424Z,1736371430.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007157 2025-01-08T21:23:50.676Z,1736371430.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:50.678Z,1736371430.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259998 2025-01-08T21:23:50.704Z,1736371430.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:50.728Z,1736371430.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.10 m. 2025-01-08T21:23:50.747Z,1736371430.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.100006 m, nav range: 127.594093 m, bearing: 322.524890 deg, approach rate: 0.212293 m/s, LOS rate: 0.283194 deg/s, cmd heading: 212.569188 deg, new cmd heading: 212.958775 deg. 2025-01-08T21:23:50.761Z,1736371430.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.716832 target range: 336.100006 and range: 336.10 m. 2025-01-08T21:23:50.928Z,1736371430.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:50.929Z,1736371430.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511712 2025-01-08T21:23:51.096Z,1736371431.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:51.105Z,1736371431.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.10 m. 2025-01-08T21:23:51.124Z,1736371431.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.100006 m, nav range: 127.684074 m, bearing: 322.637992 deg, approach rate: 0.233176 m/s, LOS rate: 0.292886 deg/s, cmd heading: 212.958769 deg, new cmd heading: 213.297834 deg. 2025-01-08T21:23:51.125Z,1736371431.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722749 target range: 336.100006 and range: 336.10 m. 2025-01-08T21:23:51.181Z,1736371431.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:51.182Z,1736371431.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764678 2025-01-08T21:23:51.432Z,1736371431.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:51.432Z,1736371431.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015284 2025-01-08T21:23:51.492Z,1736371431.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:51.508Z,1736371431.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.10 m. 2025-01-08T21:23:51.511Z,1736371431.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.100006 m, nav range: 127.774178 m, bearing: 322.751904 deg, approach rate: 0.223530 m/s, LOS rate: 0.282395 deg/s, cmd heading: 213.297833 deg, new cmd heading: 213.639322 deg. 2025-01-08T21:23:51.516Z,1736371431.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728710 target range: 336.100006 and range: 336.10 m. 2025-01-08T21:23:51.684Z,1736371431.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:51.685Z,1736371431.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267458 2025-01-08T21:23:51.921Z,1736371431.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:51.930Z,1736371431.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:51.932Z,1736371431.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.10 m. 2025-01-08T21:23:51.936Z,1736371431.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:51.937Z,1736371431.937 [DAT](INFO): DAT read: Rx Time:21:23:50.6242 2025-01-08T21:23:51.937Z,1736371431.937 [DAT](INFO): Rx dataTimestamp_ set to:1736371431.936730 2025-01-08T21:23:51.938Z,1736371431.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520395 2025-01-08T21:23:51.938Z,1736371431.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.100006 m, nav range: 127.882370 m, bearing: 322.874875 deg, approach rate: 0.254994 m/s, LOS rate: 0.289579 deg/s, cmd heading: 213.639329 deg, new cmd heading: 214.007924 deg. 2025-01-08T21:23:51.939Z,1736371431.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.735143 target range: 336.100006 and range: 336.10 m. 2025-01-08T21:23:52.188Z,1736371432.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:52.189Z,1736371432.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771385 2025-01-08T21:23:52.349Z,1736371432.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:52.358Z,1736371432.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.10 m. 2025-01-08T21:23:52.361Z,1736371432.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.100006 m, nav range: 127.988792 m, bearing: 322.997993 deg, approach rate: 0.250237 m/s, LOS rate: 0.289254 deg/s, cmd heading: 214.007927 deg, new cmd heading: 214.376969 deg. 2025-01-08T21:23:52.362Z,1736371432.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.741584 target range: 336.100006 and range: 336.10 m. 2025-01-08T21:23:52.440Z,1736371432.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:52.450Z,1736371432.450 [DAT](INFO): DAT read: 21:23:50.6242 LVL= 17136, 24353, 21186, 25187, AGC= 64, IDX= 435, 0.08, 2.213, 0.736, 0.328, 1.123, PHS= 1.178,-0.340,-0.798, RAW= 77.2, -0.4, CAL= 83.2, -5.0, ROT= 66.8, 5.0 2025-01-08T21:23:52.451Z,1736371432.451 [DAT](INFO): got valid direction response: 21:23:50.6242 LVL= 17136, 24353, 21186, 25187, AGC= 64, IDX= 435, 0.08, 2.213, 0.736, 0.328, 1.123, PHS= 1.178,-0.340,-0.798, RAW= 77.2, -0.4, CAL= 83.2, -5.0, ROT= 66.8, 5.0 2025-01-08T21:23:52.452Z,1736371432.452 [DAT](INFO): DAT read: Bearing 66.8, 5.0 (Local) 2025-01-08T21:23:52.453Z,1736371432.453 [DAT](INFO): Local bearing/azimuth received: Bearing 66.8, 5.0 (Local) 2025-01-08T21:23:52.454Z,1736371432.454 [DAT](INFO): DAT read: Range 10 to 50 : 335.6 m (Round-trip 447.5 ms) speed -0.1 m/s 2025-01-08T21:23:52.455Z,1736371432.455 [DAT](INFO): DAT read: user:1727> 2025-01-08T21:23:52.456Z,1736371432.456 [DAT](INFO): DAT read: Tx time:21:23:51.7225 2025-01-08T21:23:52.457Z,1736371432.457 [DAT](INFO): Ping request sent. 2025-01-08T21:23:52.457Z,1736371432.457 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:52.457Z,1736371432.457 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:52.458Z,1736371432.458 [DAT](INFO): direction in FSK: [-0.054332,0.320976,0.945528] 2025-01-08T21:23:52.458Z,1736371432.458 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:52.458Z,1736371432.458 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:52.462Z,1736371432.462 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:52.463Z,1736371432.463 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:52.692Z,1736371432.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:52.693Z,1736371432.693 [DAT](INFO): DAT read: TxSync time:21:23:51.7217 2025-01-08T21:23:52.718Z,1736371432.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:52.802Z,1736371432.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 335.600006 m, deltaT: 4.036587 s, deltaX: -0.500000 m, approachRate: -0.123867 m/s, rangeRepo size: 4 2025-01-08T21:23:52.824Z,1736371432.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 335.600006 m, bearing: 340.842530 deg, lat: 36.904552 deg, lon: -122.116183 deg, deltaT: 4.036587 s, deltaX: -0.500000 m, approachRate: -0.123867 m/s, posRepo size: 4 2025-01-08T21:23:52.824Z,1736371432.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.60 m. 2025-01-08T21:23:52.830Z,1736371432.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.600006 m, nav range: 128.079559 m, bearing: 323.103957 deg, approach rate: 0.000000 m/s, LOS rate: 0.289254 deg/s, cmd heading: 214.376975 deg, new cmd heading: 214.755442 deg. 2025-01-08T21:23:52.831Z,1736371432.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748189 target range: 335.600006 and range: 335.60 m. 2025-01-08T21:23:52.944Z,1736371432.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:53.110Z,1736371433.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:53.140Z,1736371433.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.60 m. 2025-01-08T21:23:53.142Z,1736371433.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.600006 m, nav range: 128.178711 m, bearing: 323.213802 deg, approach rate: 0.290421 m/s, LOS rate: 0.321496 deg/s, cmd heading: 214.755436 deg, new cmd heading: 215.084715 deg. 2025-01-08T21:23:53.148Z,1736371433.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753937 target range: 335.600006 and range: 335.60 m. 2025-01-08T21:23:53.197Z,1736371433.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:53.448Z,1736371433.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:53.501Z,1736371433.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:53.510Z,1736371433.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.60 m. 2025-01-08T21:23:53.514Z,1736371433.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.600006 m, nav range: 128.275696 m, bearing: 323.323706 deg, approach rate: 0.259087 m/s, LOS rate: 0.293377 deg/s, cmd heading: 215.084720 deg, new cmd heading: 215.414178 deg. 2025-01-08T21:23:53.515Z,1736371433.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.759687 target range: 335.600006 and range: 335.60 m. 2025-01-08T21:23:53.700Z,1736371433.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:53.942Z,1736371433.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:53.952Z,1736371433.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:53.953Z,1736371433.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:53.955Z,1736371433.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.60 m. 2025-01-08T21:23:53.958Z,1736371433.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.600006 m, nav range: 128.395584 m, bearing: 323.443530 deg, approach rate: 0.269217 m/s, LOS rate: 0.268819 deg/s, cmd heading: 215.414181 deg, new cmd heading: 215.773310 deg. 2025-01-08T21:23:53.959Z,1736371433.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765955 target range: 335.600006 and range: 335.60 m. 2025-01-08T21:23:54.204Z,1736371434.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:54.204Z,1736371434.204 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:54.204Z,1736371434.204 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:54.204Z,1736371434.204 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:54.310Z,1736371434.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:54.320Z,1736371434.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.60 m. 2025-01-08T21:23:54.322Z,1736371434.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.600006 m, nav range: 128.494400 m, bearing: 323.543840 deg, approach rate: 0.271318 m/s, LOS rate: 0.275209 deg/s, cmd heading: 215.773312 deg, new cmd heading: 216.074008 deg. 2025-01-08T21:23:54.323Z,1736371434.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.771203 target range: 335.600006 and range: 335.60 m. 2025-01-08T21:23:54.456Z,1736371434.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:54.457Z,1736371434.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999907 2025-01-08T21:23:54.709Z,1736371434.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:54.713Z,1736371434.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253864 2025-01-08T21:23:54.721Z,1736371434.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:54.750Z,1736371434.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.60 m. 2025-01-08T21:23:54.763Z,1736371434.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.600006 m, nav range: 128.603516 m, bearing: 323.655929 deg, approach rate: 0.253514 m/s, LOS rate: 0.260202 deg/s, cmd heading: 216.074004 deg, new cmd heading: 216.409983 deg. 2025-01-08T21:23:54.764Z,1736371434.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777067 target range: 335.600006 and range: 335.60 m. 2025-01-08T21:23:54.960Z,1736371434.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:54.960Z,1736371434.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503644 2025-01-08T21:23:55.213Z,1736371435.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:55.213Z,1736371435.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756659 2025-01-08T21:23:55.294Z,1736371435.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:55.304Z,1736371435.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.60 m. 2025-01-08T21:23:55.306Z,1736371435.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.600006 m, nav range: 128.765717 m, bearing: 323.808293 deg, approach rate: 0.292625 m/s, LOS rate: 0.274532 deg/s, cmd heading: 216.409981 deg, new cmd heading: 216.866488 deg. 2025-01-08T21:23:55.308Z,1736371435.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.785034 target range: 335.600006 and range: 335.60 m. 2025-01-08T21:23:55.464Z,1736371435.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:55.464Z,1736371435.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007721 2025-01-08T21:23:55.678Z,1736371435.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:55.688Z,1736371435.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.60 m. 2025-01-08T21:23:55.709Z,1736371435.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.600006 m, nav range: 128.873520 m, bearing: 323.910252 deg, approach rate: 0.281115 m/s, LOS rate: 0.265651 deg/s, cmd heading: 216.866484 deg, new cmd heading: 217.172100 deg. 2025-01-08T21:23:55.710Z,1736371435.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790368 target range: 335.600006 and range: 335.60 m. 2025-01-08T21:23:55.717Z,1736371435.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:55.719Z,1736371435.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262049 2025-01-08T21:23:55.968Z,1736371435.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:55.968Z,1736371435.968 [DAT](INFO): DAT read: Rx Time:21:23:54.5732 2025-01-08T21:23:55.969Z,1736371435.969 [DAT](INFO): Rx dataTimestamp_ set to:1736371435.968662 2025-01-08T21:23:55.969Z,1736371435.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512708 2025-01-08T21:23:56.181Z,1736371436.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:56.188Z,1736371436.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:56.190Z,1736371436.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.60 m. 2025-01-08T21:23:56.193Z,1736371436.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.600006 m, nav range: 129.017517 m, bearing: 324.041526 deg, approach rate: 0.286617 m/s, LOS rate: 0.261001 deg/s, cmd heading: 217.172094 deg, new cmd heading: 217.565470 deg. 2025-01-08T21:23:56.193Z,1736371436.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797234 target range: 335.600006 and range: 335.60 m. 2025-01-08T21:23:56.221Z,1736371436.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:56.226Z,1736371436.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768778 2025-01-08T21:23:56.472Z,1736371436.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:56.479Z,1736371436.479 [DAT](INFO): DAT read: 21:23:54.5732 LVL= 19712, 30481, 29890, 29859, AGC= 67, IDX= 408,-0.12, 0.982,-0.589,-0.824,-0.092, PHS= 1.162,-0.450,-0.735, RAW= 82.0, 0.3, CAL= 88.3, -4.0, ROT= 61.7, 4.0 2025-01-08T21:23:56.480Z,1736371436.480 [DAT](INFO): got valid direction response: 21:23:54.5732 LVL= 19712, 30481, 29890, 29859, AGC= 67, IDX= 408,-0.12, 0.982,-0.589,-0.824,-0.092, PHS= 1.162,-0.450,-0.735, RAW= 82.0, 0.3, CAL= 88.3, -4.0, ROT= 61.7, 4.0 2025-01-08T21:23:56.481Z,1736371436.481 [DAT](INFO): DAT read: Bearing 61.7, 4.0 (Local) 2025-01-08T21:23:56.481Z,1736371436.481 [DAT](INFO): Local bearing/azimuth received: Bearing 61.7, 4.0 (Local) 2025-01-08T21:23:56.483Z,1736371436.483 [DAT](INFO): DAT read: Range 10 to 50 : 334.8 m (Round-trip 446.4 ms) speed 0.2 m/s 2025-01-08T21:23:56.484Z,1736371436.484 [DAT](INFO): DAT read: user:1728> 2025-01-08T21:23:56.485Z,1736371436.485 [DAT](INFO): DAT read: Tx time:21:23:55.6726 2025-01-08T21:23:56.485Z,1736371436.485 [DAT](INFO): Ping request sent. 2025-01-08T21:23:56.485Z,1736371436.485 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:23:56.486Z,1736371436.486 [DAT](INFO): DAT read: TxSync time:21:23:55.6718 2025-01-08T21:23:56.486Z,1736371436.486 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:23:56.492Z,1736371436.492 [DAT](INFO): direction in FSK: [-0.076500,0.243567,0.966862] 2025-01-08T21:23:56.492Z,1736371436.492 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:56.492Z,1736371436.492 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:56.497Z,1736371436.497 [DAT](INFO): publishing transmit ping time 2025-01-08T21:23:56.497Z,1736371436.497 [DAT](INFO): publishing direction and range info 2025-01-08T21:23:56.594Z,1736371436.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:56.641Z,1736371436.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 334.799988 m, deltaT: 4.030907 s, deltaX: -0.800018 m, approachRate: -0.198471 m/s, rangeRepo size: 4 2025-01-08T21:23:56.651Z,1736371436.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 334.799988 m, bearing: 10.032206 deg, lat: 36.904317 deg, lon: -122.116080 deg, deltaT: 4.030907 s, deltaX: -0.800018 m, approachRate: -0.198471 m/s, posRepo size: 4 2025-01-08T21:23:56.652Z,1736371436.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.80 m. 2025-01-08T21:23:56.673Z,1736371436.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 334.799988 m, nav range: 102.865982 m, bearing: 319.736454 deg, approach rate: 0.000000 m/s, LOS rate: 0.261001 deg/s, cmd heading: 217.565472 deg, new cmd heading: 217.913058 deg. 2025-01-08T21:23:56.675Z,1736371436.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803300 target range: 334.799988 and range: 334.80 m. 2025-01-08T21:23:56.725Z,1736371436.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:56.976Z,1736371436.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:57.019Z,1736371437.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:57.040Z,1736371437.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.80 m. 2025-01-08T21:23:57.042Z,1736371437.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 334.799988 m, nav range: 102.968170 m, bearing: 319.876406 deg, approach rate: 0.254321 m/s, LOS rate: 0.347960 deg/s, cmd heading: 217.913060 deg, new cmd heading: 218.332492 deg. 2025-01-08T21:23:57.048Z,1736371437.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810621 target range: 334.799988 and range: 334.80 m. 2025-01-08T21:23:57.228Z,1736371437.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:57.382Z,1736371437.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:57.390Z,1736371437.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.80 m. 2025-01-08T21:23:57.399Z,1736371437.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 334.799988 m, nav range: 103.055977 m, bearing: 319.995774 deg, approach rate: 0.247493 m/s, LOS rate: 0.336163 deg/s, cmd heading: 218.332488 deg, new cmd heading: 218.690281 deg. 2025-01-08T21:23:57.401Z,1736371437.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.816865 target range: 334.799988 and range: 334.80 m. 2025-01-08T21:23:57.480Z,1736371437.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:57.732Z,1736371437.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:57.787Z,1736371437.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:57.797Z,1736371437.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.80 m. 2025-01-08T21:23:57.799Z,1736371437.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 334.799988 m, nav range: 103.150085 m, bearing: 320.129853 deg, approach rate: 0.231586 m/s, LOS rate: 0.329647 deg/s, cmd heading: 218.690281 deg, new cmd heading: 219.092146 deg. 2025-01-08T21:23:57.800Z,1736371437.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.823879 target range: 334.799988 and range: 334.80 m. 2025-01-08T21:23:57.984Z,1736371437.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:58.200Z,1736371438.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:58.206Z,1736371438.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:23:58.209Z,1736371438.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.80 m. 2025-01-08T21:23:58.211Z,1736371438.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 334.799988 m, nav range: 103.244728 m, bearing: 320.260349 deg, approach rate: 0.229704 m/s, LOS rate: 0.316431 deg/s, cmd heading: 219.092142 deg, new cmd heading: 219.483263 deg. 2025-01-08T21:23:58.213Z,1736371438.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.830706 target range: 334.799988 and range: 334.80 m. 2025-01-08T21:23:58.236Z,1736371438.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:58.236Z,1736371438.236 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:23:58.236Z,1736371438.236 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:23:58.236Z,1736371438.236 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:23:58.488Z,1736371438.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:58.488Z,1736371438.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003221 2025-01-08T21:23:58.580Z,1736371438.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:58.589Z,1736371438.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.80 m. 2025-01-08T21:23:58.592Z,1736371438.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 334.799988 m, nav range: 103.331024 m, bearing: 320.380992 deg, approach rate: 0.226910 m/s, LOS rate: 0.316959 deg/s, cmd heading: 219.483266 deg, new cmd heading: 219.844888 deg. 2025-01-08T21:23:58.593Z,1736371438.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.837017 target range: 334.799988 and range: 334.80 m. 2025-01-08T21:23:58.740Z,1736371438.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:58.740Z,1736371438.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255276 2025-01-08T21:23:58.992Z,1736371438.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:58.992Z,1736371438.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507233 2025-01-08T21:23:59.025Z,1736371439.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:59.037Z,1736371439.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.80 m. 2025-01-08T21:23:59.040Z,1736371439.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 334.799988 m, nav range: 103.430992 m, bearing: 320.519840 deg, approach rate: 0.223126 m/s, LOS rate: 0.309606 deg/s, cmd heading: 219.844883 deg, new cmd heading: 220.261018 deg. 2025-01-08T21:23:59.041Z,1736371439.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844280 target range: 334.799988 and range: 334.80 m. 2025-01-08T21:23:59.244Z,1736371439.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:59.244Z,1736371439.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759208 2025-01-08T21:23:59.401Z,1736371439.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:59.409Z,1736371439.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.80 m. 2025-01-08T21:23:59.414Z,1736371439.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 334.799988 m, nav range: 103.515999 m, bearing: 320.637051 deg, approach rate: 0.228263 m/s, LOS rate: 0.314480 deg/s, cmd heading: 220.261020 deg, new cmd heading: 220.612359 deg. 2025-01-08T21:23:59.415Z,1736371439.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.850412 target range: 334.799988 and range: 334.80 m. 2025-01-08T21:23:59.497Z,1736371439.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:59.498Z,1736371439.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012586 2025-01-08T21:23:59.749Z,1736371439.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:23:59.751Z,1736371439.751 [DAT](INFO): DAT read: Rx Time:21:23:58.5215 2025-01-08T21:23:59.757Z,1736371439.757 [DAT](INFO): Rx dataTimestamp_ set to:1736371439.756343 2025-01-08T21:23:59.757Z,1736371439.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271984 2025-01-08T21:23:59.822Z,1736371439.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:23:59.851Z,1736371439.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.80 m. 2025-01-08T21:23:59.854Z,1736371439.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 334.799988 m, nav range: 103.607948 m, bearing: 320.768793 deg, approach rate: 0.209695 m/s, LOS rate: 0.300176 deg/s, cmd heading: 220.612364 deg, new cmd heading: 221.007232 deg. 2025-01-08T21:23:59.856Z,1736371439.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.857304 target range: 334.799988 and range: 334.80 m. 2025-01-08T21:23:59.000Z,1736371440.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:00.001Z,1736371440.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515359 2025-01-08T21:24:00.252Z,1736371440.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:00.259Z,1736371440.259 [DAT](INFO): DAT read: 21:23:58.5215 LVL= 16336, 31393, 23794, 31539, AGC= 67, IDX= 423, 0.27, 1.079,-0.514,-0.658,-0.028, PHS= 1.194,-0.440,-0.634, RAW= 84.5, -1.4, CAL= 91.7, -6.6, ROT= 58.3, 6.6 2025-01-08T21:24:00.260Z,1736371440.260 [DAT](INFO): got valid direction response: 21:23:58.5215 LVL= 16336, 31393, 23794, 31539, AGC= 67, IDX= 423, 0.27, 1.079,-0.514,-0.658,-0.028, PHS= 1.194,-0.440,-0.634, RAW= 84.5, -1.4, CAL= 91.7, -6.6, ROT= 58.3, 6.6 2025-01-08T21:24:00.261Z,1736371440.261 [DAT](INFO): DAT read: Bearing 58.3, 6.6 (Local) 2025-01-08T21:24:00.262Z,1736371440.262 [DAT](INFO): Local bearing/azimuth received: Bearing 58.3, 6.6 (Local) 2025-01-08T21:24:00.265Z,1736371440.265 [DAT](INFO): DAT read: Range 10 to 50 : 333.6 m (Round-trip 444.8 ms) speed 0.3 m/s 2025-01-08T21:24:00.266Z,1736371440.266 [DAT](INFO): DAT read: user:1729> 2025-01-08T21:24:00.266Z,1736371440.266 [DAT](INFO): DAT read: Tx time:21:23:59.6226 2025-01-08T21:24:00.267Z,1736371440.267 [DAT](INFO): Ping request sent. 2025-01-08T21:24:00.267Z,1736371440.267 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:00.267Z,1736371440.267 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:00.268Z,1736371440.268 [DAT](INFO): direction in FSK: [-0.049333,0.200781,0.978393] 2025-01-08T21:24:00.268Z,1736371440.268 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:00.269Z,1736371440.269 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:00.276Z,1736371440.276 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:00.276Z,1736371440.276 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:00.346Z,1736371440.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:00.390Z,1736371440.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 333.600006 m, deltaT: 3.780292 s, deltaX: -1.199982 m, approachRate: -0.317431 m/s, rangeRepo size: 4 2025-01-08T21:24:00.396Z,1736371440.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 333.600006 m, bearing: 23.041122 deg, lat: 36.904248 deg, lon: -122.115586 deg, deltaT: 3.780292 s, deltaX: -1.199982 m, approachRate: -0.317431 m/s, posRepo size: 4 2025-01-08T21:24:00.397Z,1736371440.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.60 m. 2025-01-08T21:24:00.418Z,1736371440.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.600006 m, nav range: 75.971687 m, bearing: 343.595794 deg, approach rate: 0.000000 m/s, LOS rate: 0.300176 deg/s, cmd heading: 221.007231 deg, new cmd heading: 221.494477 deg. 2025-01-08T21:24:00.424Z,1736371440.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.865808 target range: 333.600006 and range: 333.60 m. 2025-01-08T21:24:00.504Z,1736371440.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:00.505Z,1736371440.505 [DAT](INFO): DAT read: TxSync time:21:23:59.6218 2025-01-08T21:24:00.702Z,1736371440.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:00.708Z,1736371440.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:00.710Z,1736371440.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.60 m. 2025-01-08T21:24:00.732Z,1736371440.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.600006 m, nav range: 76.117081 m, bearing: 343.712964 deg, approach rate: 0.452308 m/s, LOS rate: 0.363811 deg/s, cmd heading: 221.494483 deg, new cmd heading: 221.845318 deg. 2025-01-08T21:24:00.735Z,1736371440.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.871931 target range: 333.600006 and range: 333.60 m. 2025-01-08T21:24:00.756Z,1736371440.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:00.756Z,1736371440.756 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:00.756Z,1736371440.756 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:00.757Z,1736371440.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:01.008Z,1736371441.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:01.009Z,1736371441.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742199 2025-01-08T21:24:01.148Z,1736371441.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:01.157Z,1736371441.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.60 m. 2025-01-08T21:24:01.163Z,1736371441.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.600006 m, nav range: 76.292442 m, bearing: 343.857484 deg, approach rate: 0.392510 m/s, LOS rate: 0.322733 deg/s, cmd heading: 221.845323 deg, new cmd heading: 222.277877 deg. 2025-01-08T21:24:01.164Z,1736371441.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879481 target range: 333.600006 and range: 333.60 m. 2025-01-08T21:24:01.260Z,1736371441.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:01.261Z,1736371441.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993719 2025-01-08T21:24:01.508Z,1736371441.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:01.513Z,1736371441.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:01.513Z,1736371441.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246635 2025-01-08T21:24:01.548Z,1736371441.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.60 m. 2025-01-08T21:24:01.550Z,1736371441.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.600006 m, nav range: 76.432938 m, bearing: 343.974610 deg, approach rate: 0.371451 m/s, LOS rate: 0.309096 deg/s, cmd heading: 222.277879 deg, new cmd heading: 222.628606 deg. 2025-01-08T21:24:01.552Z,1736371441.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.885602 target range: 333.600006 and range: 333.60 m. 2025-01-08T21:24:01.764Z,1736371441.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:01.764Z,1736371441.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497538 2025-01-08T21:24:01.976Z,1736371441.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:01.996Z,1736371441.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.60 m. 2025-01-08T21:24:01.998Z,1736371441.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.600006 m, nav range: 76.612953 m, bearing: 344.125035 deg, approach rate: 0.393714 m/s, LOS rate: 0.328222 deg/s, cmd heading: 222.628609 deg, new cmd heading: 223.078813 deg. 2025-01-08T21:24:01.000Z,1736371442.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.893460 target range: 333.600006 and range: 333.60 m. 2025-01-08T21:24:02.016Z,1736371442.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:02.017Z,1736371442.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749769 2025-01-08T21:24:02.268Z,1736371442.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:02.269Z,1736371442.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001744 2025-01-08T21:24:02.350Z,1736371442.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:02.359Z,1736371442.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.60 m. 2025-01-08T21:24:02.362Z,1736371442.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.600006 m, nav range: 76.764114 m, bearing: 344.251276 deg, approach rate: 0.412661 m/s, LOS rate: 0.343951 deg/s, cmd heading: 223.078814 deg, new cmd heading: 223.456785 deg. 2025-01-08T21:24:02.364Z,1736371442.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.900057 target range: 333.600006 and range: 333.60 m. 2025-01-08T21:24:02.520Z,1736371442.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:02.520Z,1736371442.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253522 2025-01-08T21:24:02.723Z,1736371442.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:02.753Z,1736371442.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:02.761Z,1736371442.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.60 m. 2025-01-08T21:24:02.769Z,1736371442.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.600006 m, nav range: 76.912071 m, bearing: 344.375743 deg, approach rate: 0.368341 m/s, LOS rate: 0.309268 deg/s, cmd heading: 223.456783 deg, new cmd heading: 223.829462 deg. 2025-01-08T21:24:02.770Z,1736371442.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.906561 target range: 333.600006 and range: 333.60 m. 2025-01-08T21:24:02.772Z,1736371442.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:02.773Z,1736371442.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505775 2025-01-08T21:24:03.024Z,1736371443.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:03.024Z,1736371443.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757626 2025-01-08T21:24:03.188Z,1736371443.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:24:03.188Z,1736371443.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:03.198Z,1736371443.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.60 m. 2025-01-08T21:24:03.200Z,1736371443.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.600006 m, nav range: 77.095123 m, bearing: 344.531146 deg, approach rate: 0.418872 m/s, LOS rate: 0.354759 deg/s, cmd heading: 223.829466 deg, new cmd heading: 224.294558 deg. 2025-01-08T21:24:03.201Z,1736371443.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.914679 target range: 333.600006 and range: 333.60 m. 2025-01-08T21:24:03.276Z,1736371443.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:03.276Z,1736371443.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009715 2025-01-08T21:24:03.528Z,1736371443.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:03.529Z,1736371443.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262551 2025-01-08T21:24:03.594Z,1736371443.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:24:03.594Z,1736371443.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:03.604Z,1736371443.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.60 m. 2025-01-08T21:24:03.607Z,1736371443.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.600006 m, nav range: 77.255745 m, bearing: 344.666501 deg, approach rate: 0.396036 m/s, LOS rate: 0.333042 deg/s, cmd heading: 224.294560 deg, new cmd heading: 224.699772 deg. 2025-01-08T21:24:03.608Z,1736371443.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.921751 target range: 333.600006 and range: 333.60 m. 2025-01-08T21:24:03.780Z,1736371443.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:03.782Z,1736371443.782 [DAT](INFO): DAT read: Rx Time:21:24:02.4703 2025-01-08T21:24:03.784Z,1736371443.784 [DAT](INFO): Rx dataTimestamp_ set to:1736371443.782519 2025-01-08T21:24:03.785Z,1736371443.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518035 2025-01-08T21:24:04.034Z,1736371444.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:04.037Z,1736371444.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769880 2025-01-08T21:24:04.056Z,1736371444.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:04.084Z,1736371444.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.60 m. 2025-01-08T21:24:04.091Z,1736371444.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.600006 m, nav range: 77.430725 m, bearing: 344.839342 deg, approach rate: 0.363590 m/s, LOS rate: 0.358334 deg/s, cmd heading: 224.699768 deg, new cmd heading: 225.217107 deg. 2025-01-08T21:24:04.092Z,1736371444.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.930780 target range: 333.600006 and range: 333.60 m. 2025-01-08T21:24:04.284Z,1736371444.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:04.290Z,1736371444.290 [DAT](INFO): DAT read: 21:24:02.4704 LVL= 12496, 32593, 22946, 29267, AGC= 64, IDX= 426,-0.07,-0.965,-2.570,-2.633,-1.994, PHS= 1.117,-0.529,-0.642, RAW= 86.7, 0.6, CAL= 93.5, -3.3, ROT= 56.5, 3.3 2025-01-08T21:24:04.296Z,1736371444.296 [DAT](INFO): got valid direction response: 21:24:02.4704 LVL= 12496, 32593, 22946, 29267, AGC= 64, IDX= 426,-0.07,-0.965,-2.570,-2.633,-1.994, PHS= 1.117,-0.529,-0.642, RAW= 86.7, 0.6, CAL= 93.5, -3.3, ROT= 56.5, 3.3 2025-01-08T21:24:04.297Z,1736371444.297 [DAT](INFO): DAT read: Bearing 56.5, 3.3 (Local) 2025-01-08T21:24:04.297Z,1736371444.297 [DAT](INFO): Local bearing/azimuth received: Bearing 56.5, 3.3 (Local) 2025-01-08T21:24:04.299Z,1736371444.299 [DAT](INFO): DAT read: Range 10 to 50 : 332.6 m (Round-trip 443.5 ms) speed 0.0 m/s 2025-01-08T21:24:04.321Z,1736371444.321 [DAT](INFO): DAT read: user:1730> 2025-01-08T21:24:04.321Z,1736371444.321 [DAT](INFO): DAT read: Tx time:21:24:03.5727 2025-01-08T21:24:04.322Z,1736371444.322 [DAT](INFO): Ping request sent. 2025-01-08T21:24:04.322Z,1736371444.322 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:04.322Z,1736371444.322 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:04.323Z,1736371444.323 [DAT](INFO): direction in FSK: [-0.091857,0.164635,0.982068] 2025-01-08T21:24:04.323Z,1736371444.323 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:04.324Z,1736371444.324 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:04.327Z,1736371444.327 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:04.327Z,1736371444.327 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:04.444Z,1736371444.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:04.480Z,1736371444.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 332.600006 m, deltaT: 4.031780 s, deltaX: -1.000000 m, approachRate: -0.248029 m/s, rangeRepo size: 4 2025-01-08T21:24:04.482Z,1736371444.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 332.600006 m, bearing: 43.655033 deg, lat: 36.904162 deg, lon: -122.115210 deg, deltaT: 4.031780 s, deltaX: -1.000000 m, approachRate: -0.248029 m/s, posRepo size: 4 2025-01-08T21:24:04.491Z,1736371444.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.60 m. 2025-01-08T21:24:04.494Z,1736371444.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.600006 m, nav range: 66.712212 m, bearing: 11.511572 deg, approach rate: 0.000000 m/s, LOS rate: 0.358334 deg/s, cmd heading: 225.217100 deg, new cmd heading: 225.637354 deg. 2025-01-08T21:24:04.499Z,1736371444.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.938115 target range: 332.600006 and range: 332.60 m. 2025-01-08T21:24:04.536Z,1736371444.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:04.537Z,1736371444.537 [DAT](INFO): DAT read: TxSync time:21:24:03.5719 2025-01-08T21:24:04.789Z,1736371444.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:04.818Z,1736371444.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:04.845Z,1736371444.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:04.852Z,1736371444.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.60 m. 2025-01-08T21:24:04.854Z,1736371444.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.600006 m, nav range: 66.922417 m, bearing: 11.604214 deg, approach rate: 0.565298 m/s, LOS rate: 0.248355 deg/s, cmd heading: 225.637348 deg, new cmd heading: 225.914397 deg. 2025-01-08T21:24:04.860Z,1736371444.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.942950 target range: 332.600006 and range: 332.60 m. 2025-01-08T21:24:05.040Z,1736371445.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:05.040Z,1736371445.040 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:05.041Z,1736371445.041 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:05.041Z,1736371445.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:05.256Z,1736371445.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:05.283Z,1736371445.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.60 m. 2025-01-08T21:24:05.294Z,1736371445.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:05.296Z,1736371445.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974033 2025-01-08T21:24:05.302Z,1736371445.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.600006 m, nav range: 67.174011 m, bearing: 11.721125 deg, approach rate: 0.578045 m/s, LOS rate: 0.267601 deg/s, cmd heading: 225.914394 deg, new cmd heading: 226.263811 deg. 2025-01-08T21:24:05.306Z,1736371445.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.949049 target range: 332.600006 and range: 332.60 m. 2025-01-08T21:24:05.544Z,1736371445.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:05.544Z,1736371445.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222470 2025-01-08T21:24:05.636Z,1736371445.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:05.672Z,1736371445.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.60 m. 2025-01-08T21:24:05.680Z,1736371445.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.600006 m, nav range: 67.391266 m, bearing: 11.824587 deg, approach rate: 0.596115 m/s, LOS rate: 0.282969 deg/s, cmd heading: 226.263813 deg, new cmd heading: 226.573195 deg. 2025-01-08T21:24:05.681Z,1736371445.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954448 target range: 332.600006 and range: 332.60 m. 2025-01-08T21:24:05.797Z,1736371445.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:05.798Z,1736371445.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476637 2025-01-08T21:24:06.048Z,1736371446.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:06.049Z,1736371446.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726678 2025-01-08T21:24:06.101Z,1736371446.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:06.109Z,1736371446.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.60 m. 2025-01-08T21:24:06.112Z,1736371446.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.600006 m, nav range: 67.659325 m, bearing: 11.968594 deg, approach rate: 0.580290 m/s, LOS rate: 0.310510 deg/s, cmd heading: 226.573193 deg, new cmd heading: 227.003495 deg. 2025-01-08T21:24:06.113Z,1736371446.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.961958 target range: 332.600006 and range: 332.60 m. 2025-01-08T21:24:06.300Z,1736371446.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:06.301Z,1736371446.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978677 2025-01-08T21:24:06.453Z,1736371446.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:06.478Z,1736371446.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.60 m. 2025-01-08T21:24:06.492Z,1736371446.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.600006 m, nav range: 67.861275 m, bearing: 12.079050 deg, approach rate: 0.547495 m/s, LOS rate: 0.298560 deg/s, cmd heading: 227.003495 deg, new cmd heading: 227.333874 deg. 2025-01-08T21:24:06.493Z,1736371446.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.967725 target range: 332.600006 and range: 332.60 m. 2025-01-08T21:24:06.553Z,1736371446.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:06.554Z,1736371446.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231974 2025-01-08T21:24:06.804Z,1736371446.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:06.804Z,1736371446.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482574 2025-01-08T21:24:06.857Z,1736371446.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:06.872Z,1736371446.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:06.874Z,1736371446.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.60 m. 2025-01-08T21:24:06.881Z,1736371446.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.600006 m, nav range: 68.092056 m, bearing: 12.205714 deg, approach rate: 0.581976 m/s, LOS rate: 0.318332 deg/s, cmd heading: 227.333872 deg, new cmd heading: 227.712568 deg. 2025-01-08T21:24:06.882Z,1736371446.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.974334 target range: 332.600006 and range: 332.60 m. 2025-01-08T21:24:07.056Z,1736371447.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:07.056Z,1736371447.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734567 2025-01-08T21:24:07.270Z,1736371447.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:07.280Z,1736371447.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.60 m. 2025-01-08T21:24:07.283Z,1736371447.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.600006 m, nav range: 68.330826 m, bearing: 12.343514 deg, approach rate: 0.588360 m/s, LOS rate: 0.338371 deg/s, cmd heading: 227.712565 deg, new cmd heading: 228.124513 deg. 2025-01-08T21:24:07.304Z,1736371447.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.981524 target range: 332.600006 and range: 332.60 m. 2025-01-08T21:24:07.308Z,1736371447.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:07.308Z,1736371447.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986582 2025-01-08T21:24:07.561Z,1736371447.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:07.561Z,1736371447.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239469 2025-01-08T21:24:07.674Z,1736371447.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:07.685Z,1736371447.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.60 m. 2025-01-08T21:24:07.688Z,1736371447.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.600006 m, nav range: 68.563118 m, bearing: 12.477930 deg, approach rate: 0.573980 m/s, LOS rate: 0.331009 deg/s, cmd heading: 228.124507 deg, new cmd heading: 228.526383 deg. 2025-01-08T21:24:07.689Z,1736371447.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.988538 target range: 332.600006 and range: 332.60 m. 2025-01-08T21:24:07.812Z,1736371447.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:07.812Z,1736371447.812 [DAT](INFO): DAT read: Rx Time:21:24:06.4192 2025-01-08T21:24:07.813Z,1736371447.813 [DAT](INFO): Rx dataTimestamp_ set to:1736371447.812560 2025-01-08T21:24:07.814Z,1736371447.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491984 2025-01-08T21:24:08.064Z,1736371448.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:08.065Z,1736371448.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743140 2025-01-08T21:24:08.158Z,1736371448.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:08.169Z,1736371448.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.60 m. 2025-01-08T21:24:08.175Z,1736371448.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.600006 m, nav range: 68.847885 m, bearing: 12.649299 deg, approach rate: 0.588021 m/s, LOS rate: 0.352398 deg/s, cmd heading: 228.526382 deg, new cmd heading: 229.038348 deg. 2025-01-08T21:24:08.176Z,1736371448.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.997473 target range: 332.600006 and range: 332.60 m. 2025-01-08T21:24:08.317Z,1736371448.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:08.330Z,1736371448.330 [DAT](INFO): DAT read: 21:24:06.4192 LVL= 24016, 32753, 32754, 32755, AGC= 59, IDX= 430, 0.23,-1.429,-3.012,-2.997,-2.393, PHS= 1.052,-0.572,-0.607, RAW= 88.9, 1.6, CAL= 96.1, -1.7, ROT= 53.9, 1.7 2025-01-08T21:24:08.337Z,1736371448.337 [DAT](INFO): got valid direction response: 21:24:06.4192 LVL= 24016, 32753, 32754, 32755, AGC= 59, IDX= 430, 0.23,-1.429,-3.012,-2.997,-2.393, PHS= 1.052,-0.572,-0.607, RAW= 88.9, 1.6, CAL= 96.1, -1.7, ROT= 53.9, 1.7 2025-01-08T21:24:08.338Z,1736371448.338 [DAT](INFO): DAT read: Bearing 53.9, 1.7 (Local) 2025-01-08T21:24:08.338Z,1736371448.338 [DAT](INFO): Local bearing/azimuth received: Bearing 53.9, 1.7 (Local) 2025-01-08T21:24:08.353Z,1736371448.353 [DAT](INFO): DAT read: Range 10 to 50 : 331.7 m (Round-trip 442.3 ms) speed 0.4 m/s 2025-01-08T21:24:08.356Z,1736371448.356 [DAT](INFO): DAT read: user:1731> 2025-01-08T21:24:08.357Z,1736371448.357 [DAT](INFO): DAT read: Tx time:21:24:07.5227 2025-01-08T21:24:08.357Z,1736371448.357 [DAT](INFO): Ping request sent. 2025-01-08T21:24:08.357Z,1736371448.357 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:08.358Z,1736371448.358 [DAT](INFO): DAT read: TxSync time:21:24:07.5219 2025-01-08T21:24:08.358Z,1736371448.358 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:08.368Z,1736371448.368 [DAT](INFO): direction in FSK: [-0.113127,0.127323,0.985389] 2025-01-08T21:24:08.370Z,1736371448.370 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:08.371Z,1736371448.371 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:08.403Z,1736371448.403 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:08.404Z,1736371448.404 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:08.490Z,1736371448.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:08.532Z,1736371448.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 331.700012 m, deltaT: 4.033852 s, deltaX: -0.899994 m, approachRate: -0.223110 m/s, rangeRepo size: 4 2025-01-08T21:24:08.534Z,1736371448.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 331.700012 m, bearing: 59.744516 deg, lat: 36.903976 deg, lon: -122.115141 deg, deltaT: 4.033852 s, deltaX: -0.899994 m, approachRate: -0.223110 m/s, posRepo size: 4 2025-01-08T21:24:08.539Z,1736371448.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.70 m. 2025-01-08T21:24:08.542Z,1736371448.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.700012 m, nav range: 51.318466 m, bearing: 24.679358 deg, approach rate: 0.000000 m/s, LOS rate: 0.352398 deg/s, cmd heading: 229.038345 deg, new cmd heading: 229.408496 deg. 2025-01-08T21:24:08.543Z,1736371448.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.003933 target range: 331.700012 and range: 331.70 m. 2025-01-08T21:24:08.568Z,1736371448.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:08.820Z,1736371448.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:08.883Z,1736371448.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:08.889Z,1736371448.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:08.891Z,1736371448.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.70 m. 2025-01-08T21:24:08.894Z,1736371448.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.700012 m, nav range: 51.578144 m, bearing: 24.809503 deg, approach rate: 0.697913 m/s, LOS rate: 0.348019 deg/s, cmd heading: 229.408487 deg, new cmd heading: 229.796952 deg. 2025-01-08T21:24:08.895Z,1736371448.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.010714 target range: 331.700012 and range: 331.70 m. 2025-01-08T21:24:09.072Z,1736371449.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:09.072Z,1736371449.072 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:09.072Z,1736371449.072 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:09.073Z,1736371449.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:09.284Z,1736371449.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:09.293Z,1736371449.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.70 m. 2025-01-08T21:24:09.296Z,1736371449.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.700012 m, nav range: 51.837448 m, bearing: 24.944161 deg, approach rate: 0.645833 m/s, LOS rate: 0.333706 deg/s, cmd heading: 229.796961 deg, new cmd heading: 230.198906 deg. 2025-01-08T21:24:09.297Z,1736371449.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.017729 target range: 331.700012 and range: 331.70 m. 2025-01-08T21:24:09.324Z,1736371449.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:09.324Z,1736371449.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967476 2025-01-08T21:24:09.580Z,1736371449.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:09.581Z,1736371449.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223559 2025-01-08T21:24:09.660Z,1736371449.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:24:09.689Z,1736371449.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:09.698Z,1736371449.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.70 m. 2025-01-08T21:24:09.701Z,1736371449.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.700012 m, nav range: 52.098209 m, bearing: 25.080231 deg, approach rate: 0.643647 m/s, LOS rate: 0.334185 deg/s, cmd heading: 230.198904 deg, new cmd heading: 230.605063 deg. 2025-01-08T21:24:09.702Z,1736371449.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.024817 target range: 331.700012 and range: 331.70 m. 2025-01-08T21:24:09.833Z,1736371449.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:09.834Z,1736371449.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477009 2025-01-08T21:24:10.085Z,1736371450.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:10.088Z,1736371450.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730343 2025-01-08T21:24:10.141Z,1736371450.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:10.151Z,1736371450.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.70 m. 2025-01-08T21:24:10.154Z,1736371450.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.700012 m, nav range: 52.381790 m, bearing: 25.220918 deg, approach rate: 0.626479 m/s, LOS rate: 0.309120 deg/s, cmd heading: 230.605054 deg, new cmd heading: 231.024823 deg. 2025-01-08T21:24:10.155Z,1736371450.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.032144 target range: 331.700012 and range: 331.70 m. 2025-01-08T21:24:10.336Z,1736371450.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:10.336Z,1736371450.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979321 2025-01-08T21:24:10.480Z,1736371450.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:10.489Z,1736371450.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.70 m. 2025-01-08T21:24:10.492Z,1736371450.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.700012 m, nav range: 52.593903 m, bearing: 25.326810 deg, approach rate: 0.626986 m/s, LOS rate: 0.311744 deg/s, cmd heading: 231.024810 deg, new cmd heading: 231.341201 deg. 2025-01-08T21:24:10.493Z,1736371450.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.037666 target range: 331.700012 and range: 331.70 m. 2025-01-08T21:24:10.588Z,1736371450.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:10.589Z,1736371450.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232421 2025-01-08T21:24:10.664Z,1736371450.664 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:24:10.840Z,1736371450.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:10.840Z,1736371450.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483343 2025-01-08T21:24:10.878Z,1736371450.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:10.894Z,1736371450.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:10.912Z,1736371450.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.70 m. 2025-01-08T21:24:10.915Z,1736371450.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.700012 m, nav range: 52.842045 m, bearing: 25.451702 deg, approach rate: 0.586494 m/s, LOS rate: 0.293801 deg/s, cmd heading: 231.341212 deg, new cmd heading: 231.714123 deg. 2025-01-08T21:24:10.916Z,1736371450.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.044174 target range: 331.700012 and range: 331.70 m. 2025-01-08T21:24:11.093Z,1736371451.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:11.094Z,1736371451.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736740 2025-01-08T21:24:11.305Z,1736371451.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:11.314Z,1736371451.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.70 m. 2025-01-08T21:24:11.317Z,1736371451.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.700012 m, nav range: 53.097565 m, bearing: 25.570476 deg, approach rate: 0.635476 m/s, LOS rate: 0.293968 deg/s, cmd heading: 231.714113 deg, new cmd heading: 232.068715 deg. 2025-01-08T21:24:11.318Z,1736371451.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.050363 target range: 331.700012 and range: 331.70 m. 2025-01-08T21:24:11.344Z,1736371451.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:11.345Z,1736371451.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987567 2025-01-08T21:24:11.596Z,1736371451.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:11.597Z,1736371451.597 [DAT](INFO): DAT read: Rx Time:21:24:10.3672 2025-01-08T21:24:11.597Z,1736371451.597 [DAT](INFO): Rx dataTimestamp_ set to:1736371451.597150 2025-01-08T21:24:11.598Z,1736371451.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240972 2025-01-08T21:24:11.703Z,1736371451.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:11.713Z,1736371451.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.70 m. 2025-01-08T21:24:11.716Z,1736371451.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.700012 m, nav range: 53.335468 m, bearing: 25.682135 deg, approach rate: 0.596342 m/s, LOS rate: 0.278642 deg/s, cmd heading: 232.068709 deg, new cmd heading: 232.402188 deg. 2025-01-08T21:24:11.717Z,1736371451.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.056183 target range: 331.700012 and range: 331.70 m. 2025-01-08T21:24:11.848Z,1736371451.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:11.848Z,1736371451.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491370 2025-01-08T21:24:12.102Z,1736371452.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:12.129Z,1736371452.129 [DAT](INFO): DAT read: 21:24:10.3672 LVL= 16336, 31137, 22450, 32755, AGC= 66, IDX= 426, 0.17,-2.249, 2.401, 2.597, 3.125, PHS= 0.997,-0.677,-0.532, RAW= 94.5, 2.7, CAL= 103.2, 0.5, ROT= 46.8, -0.5 2025-01-08T21:24:12.130Z,1736371452.130 [DAT](INFO): got valid direction response: 21:24:10.3672 LVL= 16336, 31137, 22450, 32755, AGC= 66, IDX= 426, 0.17,-2.249, 2.401, 2.597, 3.125, PHS= 0.997,-0.677,-0.532, RAW= 94.5, 2.7, CAL= 103.2, 0.5, ROT= 46.8, -0.5 2025-01-08T21:24:12.147Z,1736371452.147 [DAT](INFO): DAT read: Bearing 46.8, -0.5 (Local) 2025-01-08T21:24:12.148Z,1736371452.148 [DAT](INFO): Local bearing/azimuth received: Bearing 46.8, -0.5 (Local) 2025-01-08T21:24:12.149Z,1736371452.149 [DAT](INFO): DAT read: Range 10 to 50 : 330.3 m (Round-trip 440.4 ms) speed 0.4 m/s 2025-01-08T21:24:12.150Z,1736371452.150 [DAT](INFO): DAT read: user:1732> 2025-01-08T21:24:12.151Z,1736371452.151 [DAT](INFO): DAT read: Tx time:21:24:11.4727 2025-01-08T21:24:12.157Z,1736371452.157 [DAT](INFO): Ping request sent. 2025-01-08T21:24:12.157Z,1736371452.157 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:12.158Z,1736371452.158 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:12.158Z,1736371452.158 [DAT](INFO): direction in FSK: [-0.142944,0.032330,0.989203] 2025-01-08T21:24:12.159Z,1736371452.159 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:12.163Z,1736371452.163 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:12.166Z,1736371452.166 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:12.166Z,1736371452.166 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:12.237Z,1736371452.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:12.281Z,1736371452.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 330.299988 m, deltaT: 3.784491 s, deltaX: -1.400024 m, approachRate: -0.369937 m/s, rangeRepo size: 4 2025-01-08T21:24:12.287Z,1736371452.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 330.299988 m, bearing: 85.378316 deg, lat: 36.903934 deg, lon: -122.114931 deg, deltaT: 3.784491 s, deltaX: -1.400024 m, approachRate: -0.369937 m/s, posRepo size: 4 2025-01-08T21:24:12.288Z,1736371452.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.30 m. 2025-01-08T21:24:12.291Z,1736371452.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.299988 m, nav range: 60.523945 m, bearing: 43.937103 deg, approach rate: 0.000000 m/s, LOS rate: 0.278642 deg/s, cmd heading: 232.402186 deg, new cmd heading: 232.876609 deg. 2025-01-08T21:24:12.300Z,1736371452.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.064464 target range: 330.299988 and range: 330.30 m. 2025-01-08T21:24:12.352Z,1736371452.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:12.354Z,1736371452.354 [DAT](INFO): DAT read: TxSync time:21:24:11.4719 2025-01-08T21:24:12.600Z,1736371452.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:12.604Z,1736371452.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:12.614Z,1736371452.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.30 m. 2025-01-08T21:24:12.618Z,1736371452.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.299988 m, nav range: 60.752510 m, bearing: 43.949208 deg, approach rate: 0.685059 m/s, LOS rate: 0.036145 deg/s, cmd heading: 232.876611 deg, new cmd heading: 232.912790 deg. 2025-01-08T21:24:12.627Z,1736371452.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.065095 target range: 330.299988 and range: 330.30 m. 2025-01-08T21:24:12.857Z,1736371452.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:13.009Z,1736371453.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:13.016Z,1736371453.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:13.018Z,1736371453.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.30 m. 2025-01-08T21:24:13.021Z,1736371453.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.299988 m, nav range: 61.010574 m, bearing: 43.963691 deg, approach rate: 0.639029 m/s, LOS rate: 0.035710 deg/s, cmd heading: 232.912784 deg, new cmd heading: 232.956046 deg. 2025-01-08T21:24:13.024Z,1736371453.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.065850 target range: 330.299988 and range: 330.30 m. 2025-01-08T21:24:13.110Z,1736371453.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:13.112Z,1736371453.112 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:13.113Z,1736371453.113 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:13.114Z,1736371453.114 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:13.360Z,1736371453.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:13.360Z,1736371453.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.203015 2025-01-08T21:24:13.431Z,1736371453.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:13.440Z,1736371453.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.30 m. 2025-01-08T21:24:13.443Z,1736371453.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.299988 m, nav range: 61.259819 m, bearing: 43.963478 deg, approach rate: 0.590640 m/s, LOS rate: -0.000503 deg/s, cmd heading: 232.956060 deg, new cmd heading: 232.955423 deg. 2025-01-08T21:24:13.444Z,1736371453.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.065839 target range: 330.299988 and range: 330.30 m. 2025-01-08T21:24:13.612Z,1736371453.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:13.613Z,1736371453.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.455932 2025-01-08T21:24:13.782Z,1736371453.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:13.791Z,1736371453.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.30 m. 2025-01-08T21:24:13.794Z,1736371453.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.299988 m, nav range: 61.467197 m, bearing: 43.967729 deg, approach rate: 0.591575 m/s, LOS rate: 0.012086 deg/s, cmd heading: 232.955432 deg, new cmd heading: 232.968142 deg. 2025-01-08T21:24:13.794Z,1736371453.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.066061 target range: 330.299988 and range: 330.30 m. 2025-01-08T21:24:13.864Z,1736371453.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:13.866Z,1736371453.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.708153 2025-01-08T21:24:14.118Z,1736371454.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:14.120Z,1736371454.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962358 2025-01-08T21:24:14.220Z,1736371454.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:14.230Z,1736371454.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.30 m. 2025-01-08T21:24:14.233Z,1736371454.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.299988 m, nav range: 61.713062 m, bearing: 43.966820 deg, approach rate: 0.560630 m/s, LOS rate: -0.002063 deg/s, cmd heading: 232.968136 deg, new cmd heading: 232.965421 deg. 2025-01-08T21:24:14.234Z,1736371454.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.066014 target range: 330.299988 and range: 330.30 m. 2025-01-08T21:24:14.368Z,1736371454.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:14.370Z,1736371454.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212295 2025-01-08T21:24:14.597Z,1736371454.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:14.605Z,1736371454.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.30 m. 2025-01-08T21:24:14.608Z,1736371454.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.299988 m, nav range: 61.924530 m, bearing: 43.967961 deg, approach rate: 0.562156 m/s, LOS rate: 0.003022 deg/s, cmd heading: 232.965431 deg, new cmd heading: 232.968842 deg. 2025-01-08T21:24:14.609Z,1736371454.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.066073 target range: 330.299988 and range: 330.30 m. 2025-01-08T21:24:14.620Z,1736371454.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:14.621Z,1736371454.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463569 2025-01-08T21:24:14.872Z,1736371454.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:14.873Z,1736371454.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715667 2025-01-08T21:24:14.993Z,1736371454.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:15.006Z,1736371455.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.30 m. 2025-01-08T21:24:15.009Z,1736371455.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.299988 m, nav range: 62.146881 m, bearing: 43.970787 deg, approach rate: 0.555213 m/s, LOS rate: 0.007033 deg/s, cmd heading: 232.968846 deg, new cmd heading: 232.977295 deg. 2025-01-08T21:24:15.010Z,1736371455.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.066221 target range: 330.299988 and range: 330.30 m. 2025-01-08T21:24:15.126Z,1736371455.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:15.129Z,1736371455.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970922 2025-01-08T21:24:15.376Z,1736371455.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:15.377Z,1736371455.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219394 2025-01-08T21:24:15.454Z,1736371455.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:15.489Z,1736371455.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:15.496Z,1736371455.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.30 m. 2025-01-08T21:24:15.498Z,1736371455.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.299988 m, nav range: 62.400562 m, bearing: 43.971815 deg, approach rate: 0.522824 m/s, LOS rate: 0.002109 deg/s, cmd heading: 232.977288 deg, new cmd heading: 232.980358 deg. 2025-01-08T21:24:15.504Z,1736371455.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.066274 target range: 330.299988 and range: 330.30 m. 2025-01-08T21:24:15.629Z,1736371455.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:15.630Z,1736371455.630 [DAT](INFO): DAT read: Rx Time:21:24:14.3153 2025-01-08T21:24:15.630Z,1736371455.630 [DAT](INFO): Rx dataTimestamp_ set to:1736371455.629908 2025-01-08T21:24:15.631Z,1736371455.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.473481 2025-01-08T21:24:15.807Z,1736371455.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:15.817Z,1736371455.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.30 m. 2025-01-08T21:24:15.819Z,1736371455.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 330.299988 m, nav range: 62.594467 m, bearing: 43.973613 deg, approach rate: 0.595725 m/s, LOS rate: 0.005508 deg/s, cmd heading: 232.980348 deg, new cmd heading: 232.985727 deg. 2025-01-08T21:24:15.820Z,1736371455.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.066368 target range: 330.299988 and range: 330.30 m. 2025-01-08T21:24:15.880Z,1736371455.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:15.881Z,1736371455.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.723357 2025-01-08T21:24:16.133Z,1736371456.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:16.154Z,1736371456.154 [DAT](INFO): DAT read: 21:24:14.3154 LVL= 22320, 32753, 32690, 32755, AGC= 66, IDX= 419, 0.49, 0.977,-0.729,-0.441, 0.205, PHS= 0.860,-0.887,-0.649, RAW= 97.2, 8.3, CAL= 106.2, 7.7, ROT= 43.8, -7.7 2025-01-08T21:24:16.158Z,1736371456.158 [DAT](INFO): got valid direction response: 21:24:14.3154 LVL= 22320, 32753, 32690, 32755, AGC= 66, IDX= 419, 0.49, 0.977,-0.729,-0.441, 0.205, PHS= 0.860,-0.887,-0.649, RAW= 97.2, 8.3, CAL= 106.2, 7.7, ROT= 43.8, -7.7 2025-01-08T21:24:16.161Z,1736371456.161 [DAT](INFO): DAT read: Bearing 43.8, -7.7 (Local) 2025-01-08T21:24:16.163Z,1736371456.163 [DAT](INFO): Local bearing/azimuth received: Bearing 43.8, -7.7 (Local) 2025-01-08T21:24:16.168Z,1736371456.168 [DAT](INFO): DAT read: Range 10 to 50 : 328.8 m (Round-trip 438.4 ms) speed 0.4 m/s 2025-01-08T21:24:16.171Z,1736371456.171 [DAT](INFO): DAT read: user:1733> 2025-01-08T21:24:16.174Z,1736371456.174 [DAT](INFO): DAT read: Tx time:21:24:15.4228 2025-01-08T21:24:16.175Z,1736371456.175 [DAT](INFO): Ping request sent. 2025-01-08T21:24:16.243Z,1736371456.243 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:16.244Z,1736371456.244 [DAT](INFO): DAT read: TxSync time:21:24:15.4220 2025-01-08T21:24:16.245Z,1736371456.245 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:16.246Z,1736371456.246 [DAT](INFO): direction in FSK: [-0.252064,-0.009499,0.967664] 2025-01-08T21:24:16.247Z,1736371456.247 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:16.247Z,1736371456.247 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:16.254Z,1736371456.254 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:16.254Z,1736371456.254 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:16.296Z,1736371456.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:16.364Z,1736371456.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 328.799988 m, deltaT: 4.031846 s, deltaX: -1.500000 m, approachRate: -0.372038 m/s, rangeRepo size: 4 2025-01-08T21:24:16.366Z,1736371456.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 328.799988 m, bearing: 84.196609 deg, lat: 36.903819 deg, lon: -122.114819 deg, deltaT: 4.031846 s, deltaX: -1.500000 m, approachRate: -0.372038 m/s, posRepo size: 4 2025-01-08T21:24:16.366Z,1736371456.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m. 2025-01-08T21:24:16.377Z,1736371456.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 328.799988 m, nav range: 62.764885 m, bearing: 58.778665 deg, approach rate: 0.000000 m/s, LOS rate: 0.005508 deg/s, cmd heading: 232.985730 deg, new cmd heading: 232.994488 deg. 2025-01-08T21:24:16.384Z,1736371456.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:16.385Z,1736371456.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.066521 target range: 328.799988 and range: 328.80 m. 2025-01-08T21:24:16.636Z,1736371456.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:16.702Z,1736371456.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:16.719Z,1736371456.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m. 2025-01-08T21:24:16.726Z,1736371456.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 328.799988 m, nav range: 62.986137 m, bearing: 58.731124 deg, approach rate: 0.594726 m/s, LOS rate: -0.127341 deg/s, cmd heading: 232.994500 deg, new cmd heading: 232.852379 deg. 2025-01-08T21:24:16.727Z,1736371456.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.064041 target range: 328.799988 and range: 328.80 m. 2025-01-08T21:24:16.888Z,1736371456.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:17.076Z,1736371457.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:17.085Z,1736371457.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m. 2025-01-08T21:24:17.088Z,1736371457.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 328.799988 m, nav range: 63.186089 m, bearing: 58.688455 deg, approach rate: 0.546109 m/s, LOS rate: -0.116171 deg/s, cmd heading: 232.852378 deg, new cmd heading: 232.724774 deg. 2025-01-08T21:24:17.090Z,1736371457.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.061813 target range: 328.799988 and range: 328.80 m. 2025-01-08T21:24:17.141Z,1736371457.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:17.392Z,1736371457.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:17.491Z,1736371457.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:17.499Z,1736371457.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:17.521Z,1736371457.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m. 2025-01-08T21:24:17.528Z,1736371457.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 328.799988 m, nav range: 63.416115 m, bearing: 58.650250 deg, approach rate: 0.527055 m/s, LOS rate: -0.087220 deg/s, cmd heading: 232.724762 deg, new cmd heading: 232.610564 deg. 2025-01-08T21:24:17.530Z,1736371457.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.059820 target range: 328.799988 and range: 328.80 m. 2025-01-08T21:24:17.644Z,1736371457.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:17.645Z,1736371457.645 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:17.645Z,1736371457.645 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:17.646Z,1736371457.646 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:17.874Z,1736371457.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:17.884Z,1736371457.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m. 2025-01-08T21:24:17.887Z,1736371457.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 328.799988 m, nav range: 63.628254 m, bearing: 58.615805 deg, approach rate: 0.584666 m/s, LOS rate: -0.094614 deg/s, cmd heading: 232.610562 deg, new cmd heading: 232.507573 deg. 2025-01-08T21:24:17.888Z,1736371457.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.058022 target range: 328.799988 and range: 328.80 m. 2025-01-08T21:24:17.896Z,1736371457.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:17.897Z,1736371457.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722146 2025-01-08T21:24:18.150Z,1736371458.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:18.152Z,1736371458.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976957 2025-01-08T21:24:18.299Z,1736371458.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:18.308Z,1736371458.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m. 2025-01-08T21:24:18.310Z,1736371458.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 328.799988 m, nav range: 63.879887 m, bearing: 58.585517 deg, approach rate: 0.593895 m/s, LOS rate: -0.071204 deg/s, cmd heading: 232.507562 deg, new cmd heading: 232.417055 deg. 2025-01-08T21:24:18.312Z,1736371458.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.056443 target range: 328.799988 and range: 328.80 m. 2025-01-08T21:24:18.400Z,1736371458.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:18.401Z,1736371458.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226384 2025-01-08T21:24:18.652Z,1736371458.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:18.654Z,1736371458.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478712 2025-01-08T21:24:18.689Z,1736371458.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:18.720Z,1736371458.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m. 2025-01-08T21:24:18.722Z,1736371458.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 328.799988 m, nav range: 64.110786 m, bearing: 58.557651 deg, approach rate: 0.560087 m/s, LOS rate: -0.067350 deg/s, cmd heading: 232.417049 deg, new cmd heading: 232.333752 deg. 2025-01-08T21:24:18.728Z,1736371458.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.054989 target range: 328.799988 and range: 328.80 m. 2025-01-08T21:24:18.904Z,1736371458.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:18.905Z,1736371458.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729723 2025-01-08T21:24:19.108Z,1736371459.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:19.117Z,1736371459.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m. 2025-01-08T21:24:19.139Z,1736371459.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 328.799988 m, nav range: 64.359322 m, bearing: 58.527883 deg, approach rate: 0.626611 m/s, LOS rate: -0.074762 deg/s, cmd heading: 232.333748 deg, new cmd heading: 232.244788 deg. 2025-01-08T21:24:19.140Z,1736371459.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.053436 target range: 328.799988 and range: 328.80 m. 2025-01-08T21:24:19.157Z,1736371459.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:19.160Z,1736371459.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984694 2025-01-08T21:24:19.408Z,1736371459.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:19.409Z,1736371459.409 [DAT](INFO): DAT read: Rx Time:21:24:18.2633 2025-01-08T21:24:19.410Z,1736371459.410 [DAT](INFO): Rx dataTimestamp_ set to:1736371459.409687 2025-01-08T21:24:19.410Z,1736371459.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235631 2025-01-08T21:24:19.507Z,1736371459.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:19.515Z,1736371459.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:19.517Z,1736371459.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m. 2025-01-08T21:24:19.520Z,1736371459.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 328.799988 m, nav range: 64.611198 m, bearing: 58.508204 deg, approach rate: 0.628936 m/s, LOS rate: -0.048946 deg/s, cmd heading: 232.244791 deg, new cmd heading: 232.185985 deg. 2025-01-08T21:24:19.521Z,1736371459.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.052410 target range: 328.799988 and range: 328.80 m. 2025-01-08T21:24:19.660Z,1736371459.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:19.661Z,1736371459.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486353 2025-01-08T21:24:19.888Z,1736371459.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:19.913Z,1736371459.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:19.919Z,1736371459.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743445 2025-01-08T21:24:19.951Z,1736371459.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m. 2025-01-08T21:24:19.978Z,1736371459.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 328.799988 m, nav range: 64.851669 m, bearing: 58.488815 deg, approach rate: 0.556102 m/s, LOS rate: -0.044672 deg/s, cmd heading: 232.185997 deg, new cmd heading: 232.128045 deg. 2025-01-08T21:24:19.984Z,1736371459.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.051399 target range: 328.799988 and range: 328.80 m. 2025-01-08T21:24:20.164Z,1736371460.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:20.181Z,1736371460.181 [DAT](INFO): DAT read: 21:24:18.2633 LVL= 18768, 32753, 25250, 32755, AGC= 67, IDX= 414,-0.04, 1.594,-0.062, 0.295, 0.895, PHS= 0.787,-0.909,-0.603, RAW= 99.8, 9.3, CAL= 109.0, 8.5, ROT= 41.0, -8.5 2025-01-08T21:24:20.185Z,1736371460.185 [DAT](INFO): got valid direction response: 21:24:18.2633 LVL= 18768, 32753, 25250, 32755, AGC= 67, IDX= 414,-0.04, 1.594,-0.062, 0.295, 0.895, PHS= 0.787,-0.909,-0.603, RAW= 99.8, 9.3, CAL= 109.0, 8.5, ROT= 41.0, -8.5 2025-01-08T21:24:20.189Z,1736371460.189 [DAT](INFO): DAT read: Bearing 41.0, -8.5 (Local) 2025-01-08T21:24:20.190Z,1736371460.190 [DAT](INFO): Local bearing/azimuth received: Bearing 41.0, -8.5 (Local) 2025-01-08T21:24:20.197Z,1736371460.197 [DAT](INFO): DAT read: Range 10 to 50 : 327.3 m (Round-trip 436.4 ms) speed 0.4 m/s 2025-01-08T21:24:20.199Z,1736371460.199 [DAT](INFO): DAT read: user:1734> 2025-01-08T21:24:20.210Z,1736371460.210 [DAT](INFO): DAT read: Tx time:21:24:19.3728 2025-01-08T21:24:20.247Z,1736371460.247 [DAT](INFO): Ping request sent. 2025-01-08T21:24:20.247Z,1736371460.247 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:20.248Z,1736371460.248 [DAT](INFO): DAT read: TxSync time:21:24:19.3720 2025-01-08T21:24:20.249Z,1736371460.249 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:20.250Z,1736371460.250 [DAT](INFO): direction in FSK: [-0.274391,-0.052056,0.960208] 2025-01-08T21:24:20.250Z,1736371460.250 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:20.250Z,1736371460.250 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:20.263Z,1736371460.263 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:20.264Z,1736371460.264 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:20.393Z,1736371460.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:20.416Z,1736371460.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:20.438Z,1736371460.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 327.299988 m, deltaT: 4.029877 s, deltaX: -1.500000 m, approachRate: -0.372220 m/s, rangeRepo size: 4 2025-01-08T21:24:20.444Z,1736371460.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 327.299988 m, bearing: 83.472564 deg, lat: 36.903623 deg, lon: -122.114549 deg, deltaT: 4.029877 s, deltaX: -1.500000 m, approachRate: -0.372220 m/s, posRepo size: 4 2025-01-08T21:24:20.446Z,1736371460.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T21:24:20.453Z,1736371460.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 80.515678 m, bearing: 81.255973 deg, approach rate: 0.000000 m/s, LOS rate: -0.044672 deg/s, cmd heading: 232.128050 deg, new cmd heading: 232.062670 deg. 2025-01-08T21:24:20.454Z,1736371460.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.050258 target range: 327.299988 and range: 327.30 m. 2025-01-08T21:24:20.668Z,1736371460.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:20.783Z,1736371460.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:20.815Z,1736371460.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T21:24:20.818Z,1736371460.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 80.750710 m, bearing: 81.171578 deg, approach rate: 0.635571 m/s, LOS rate: -0.227559 deg/s, cmd heading: 232.062671 deg, new cmd heading: 231.810223 deg. 2025-01-08T21:24:20.827Z,1736371460.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.045852 target range: 327.299988 and range: 327.30 m. 2025-01-08T21:24:20.921Z,1736371460.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:21.164Z,1736371461.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:21.172Z,1736371461.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:21.209Z,1736371461.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T21:24:21.233Z,1736371461.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 80.979530 m, bearing: 81.088581 deg, approach rate: 0.603496 m/s, LOS rate: -0.218280 deg/s, cmd heading: 231.810227 deg, new cmd heading: 231.561941 deg. 2025-01-08T21:24:21.241Z,1736371461.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.041518 target range: 327.299988 and range: 327.30 m. 2025-01-08T21:24:21.424Z,1736371461.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:21.677Z,1736371461.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:21.705Z,1736371461.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:21.715Z,1736371461.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:21.717Z,1736371461.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T21:24:21.720Z,1736371461.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 81.322609 m, bearing: 80.975112 deg, approach rate: 0.646356 m/s, LOS rate: -0.212872 deg/s, cmd heading: 231.561936 deg, new cmd heading: 231.222970 deg. 2025-01-08T21:24:21.721Z,1736371461.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.035602 target range: 327.299988 and range: 327.30 m. 2025-01-08T21:24:21.928Z,1736371461.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:21.929Z,1736371461.929 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:21.929Z,1736371461.929 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:21.929Z,1736371461.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:22.066Z,1736371462.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:22.097Z,1736371462.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T21:24:22.104Z,1736371462.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 81.550659 m, bearing: 80.899544 deg, approach rate: 0.600437 m/s, LOS rate: -0.198408 deg/s, cmd heading: 231.222968 deg, new cmd heading: 230.996899 deg. 2025-01-08T21:24:22.105Z,1736371462.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.031656 target range: 327.299988 and range: 327.30 m. 2025-01-08T21:24:22.180Z,1736371462.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:22.182Z,1736371462.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.934277 2025-01-08T21:24:22.432Z,1736371462.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:22.432Z,1736371462.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184845 2025-01-08T21:24:22.558Z,1736371462.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:22.568Z,1736371462.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T21:24:22.571Z,1736371462.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 81.874435 m, bearing: 80.799738 deg, approach rate: 0.688007 m/s, LOS rate: -0.211242 deg/s, cmd heading: 230.996888 deg, new cmd heading: 230.698660 deg. 2025-01-08T21:24:22.572Z,1736371462.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.026451 target range: 327.299988 and range: 327.30 m. 2025-01-08T21:24:22.684Z,1736371462.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:22.685Z,1736371462.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437235 2025-01-08T21:24:22.927Z,1736371462.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:22.936Z,1736371462.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:22.936Z,1736371462.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.688968 2025-01-08T21:24:22.938Z,1736371462.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T21:24:22.942Z,1736371462.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 82.115913 m, bearing: 80.724127 deg, approach rate: 0.650895 m/s, LOS rate: -0.203209 deg/s, cmd heading: 230.698655 deg, new cmd heading: 230.472488 deg. 2025-01-08T21:24:22.943Z,1736371462.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.022504 target range: 327.299988 and range: 327.30 m. 2025-01-08T21:24:23.190Z,1736371463.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:23.193Z,1736371463.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945192 2025-01-08T21:24:23.396Z,1736371463.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:23.410Z,1736371463.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T21:24:23.414Z,1736371463.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 82.431313 m, bearing: 80.629711 deg, approach rate: 0.668907 m/s, LOS rate: -0.199472 deg/s, cmd heading: 230.472494 deg, new cmd heading: 230.190334 deg. 2025-01-08T21:24:23.415Z,1736371463.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.017579 target range: 327.299988 and range: 327.30 m. 2025-01-08T21:24:23.440Z,1736371463.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:23.441Z,1736371463.441 [DAT](INFO): DAT read: Rx Time:21:24:22.2112 2025-01-08T21:24:23.441Z,1736371463.441 [DAT](INFO): Rx dataTimestamp_ set to:1736371463.440728 2025-01-08T21:24:23.442Z,1736371463.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.194067 2025-01-08T21:24:23.692Z,1736371463.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:23.692Z,1736371463.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.444874 2025-01-08T21:24:23.738Z,1736371463.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:23.744Z,1736371463.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:23.748Z,1736371463.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.30 m. 2025-01-08T21:24:23.751Z,1736371463.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.299988 m, nav range: 82.660431 m, bearing: 80.559772 deg, approach rate: 0.679254 m/s, LOS rate: -0.206771 deg/s, cmd heading: 230.190325 deg, new cmd heading: 229.981089 deg. 2025-01-08T21:24:23.772Z,1736371463.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.013927 target range: 327.299988 and range: 327.30 m. 2025-01-08T21:24:23.944Z,1736371463.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:23.951Z,1736371463.951 [DAT](INFO): DAT read: 21:24:22.2112 LVL= 19184, 30769, 24306, 32307, AGC= 65, IDX= 427, 0.05, 2.423, 0.661, 1.008, 1.555, PHS= 0.956,-0.846,-0.550, RAW= 98.8, 5.3, CAL= 108.5, 3.8, ROT= 41.5, -3.8 2025-01-08T21:24:23.953Z,1736371463.953 [DAT](INFO): got valid direction response: 21:24:22.2112 LVL= 19184, 30769, 24306, 32307, AGC= 65, IDX= 427, 0.05, 2.423, 0.661, 1.008, 1.555, PHS= 0.956,-0.846,-0.550, RAW= 98.8, 5.3, CAL= 108.5, 3.8, ROT= 41.5, -3.8 2025-01-08T21:24:23.954Z,1736371463.954 [DAT](INFO): DAT read: Bearing 41.5, -3.8 (Local) 2025-01-08T21:24:23.954Z,1736371463.954 [DAT](INFO): Local bearing/azimuth received: Bearing 41.5, -3.8 (Local) 2025-01-08T21:24:23.956Z,1736371463.956 [DAT](INFO): DAT read: Range 10 to 50 : 325.6 m (Round-trip 434.2 ms) speed 0.3 m/s 2025-01-08T21:24:23.956Z,1736371463.956 [DAT](INFO): DAT read: user:1735> 2025-01-08T21:24:23.957Z,1736371463.957 [DAT](INFO): DAT read: Tx time:21:24:23.3244 2025-01-08T21:24:23.957Z,1736371463.957 [DAT](INFO): Ping request sent. 2025-01-08T21:24:23.958Z,1736371463.958 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:23.958Z,1736371463.958 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:23.959Z,1736371463.959 [DAT](INFO): direction in FSK: [-0.199190,-0.040562,0.979121] 2025-01-08T21:24:23.960Z,1736371463.960 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:23.960Z,1736371463.960 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:23.964Z,1736371463.964 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:23.964Z,1736371463.964 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:24.158Z,1736371464.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:24.196Z,1736371464.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:24.197Z,1736371464.197 [DAT](INFO): DAT read: TxSync time:21:24:23.3236 2025-01-08T21:24:24.225Z,1736371464.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 325.600006 m, deltaT: 3.779922 s, deltaX: -1.699982 m, approachRate: -0.449740 m/s, rangeRepo size: 4 2025-01-08T21:24:24.227Z,1736371464.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 325.600006 m, bearing: 86.295532 deg, lat: 36.903619 deg, lon: -122.114549 deg, deltaT: 3.779922 s, deltaX: -1.699982 m, approachRate: -0.449740 m/s, posRepo size: 4 2025-01-08T21:24:24.241Z,1736371464.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.60 m. 2025-01-08T21:24:24.266Z,1736371464.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 325.600006 m, nav range: 82.869507 m, bearing: 80.776030 deg, approach rate: 0.000000 m/s, LOS rate: -0.206771 deg/s, cmd heading: 229.981075 deg, new cmd heading: 229.685401 deg. 2025-01-08T21:24:24.274Z,1736371464.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.008767 target range: 325.600006 and range: 325.60 m. 2025-01-08T21:24:24.448Z,1736371464.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:24.616Z,1736371464.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:24.625Z,1736371464.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.60 m. 2025-01-08T21:24:24.629Z,1736371464.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 325.600006 m, nav range: 83.163239 m, bearing: 80.676793 deg, approach rate: 0.731901 m/s, LOS rate: -0.246399 deg/s, cmd heading: 229.685410 deg, new cmd heading: 229.388753 deg. 2025-01-08T21:24:24.630Z,1736371464.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.003589 target range: 325.600006 and range: 325.60 m. 2025-01-08T21:24:24.700Z,1736371464.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:24.954Z,1736371464.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:24.996Z,1736371464.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:25.004Z,1736371465.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.60 m. 2025-01-08T21:24:25.007Z,1736371465.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 325.600006 m, nav range: 83.406288 m, bearing: 80.594235 deg, approach rate: 0.641114 m/s, LOS rate: -0.217135 deg/s, cmd heading: 229.388761 deg, new cmd heading: 229.141811 deg. 2025-01-08T21:24:25.016Z,1736371465.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.999279 target range: 325.600006 and range: 325.60 m. 2025-01-08T21:24:25.204Z,1736371465.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:25.423Z,1736371465.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:25.458Z,1736371465.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:25.464Z,1736371465.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.60 m. 2025-01-08T21:24:25.467Z,1736371465.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 325.600006 m, nav range: 83.674248 m, bearing: 80.501340 deg, approach rate: 0.599686 m/s, LOS rate: -0.207231 deg/s, cmd heading: 229.141809 deg, new cmd heading: 228.864018 deg. 2025-01-08T21:24:25.472Z,1736371465.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.994431 target range: 325.600006 and range: 325.60 m. 2025-01-08T21:24:25.713Z,1736371465.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:25.805Z,1736371465.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:25.828Z,1736371465.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:25.830Z,1736371465.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.60 m. 2025-01-08T21:24:25.837Z,1736371465.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 325.600006 m, nav range: 83.913635 m, bearing: 80.417967 deg, approach rate: 0.631329 m/s, LOS rate: -0.219249 deg/s, cmd heading: 228.864012 deg, new cmd heading: 228.614609 deg. 2025-01-08T21:24:25.838Z,1736371465.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.990078 target range: 325.600006 and range: 325.60 m. 2025-01-08T21:24:25.964Z,1736371465.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:25.964Z,1736371465.964 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:25.964Z,1736371465.964 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:25.965Z,1736371465.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:26.216Z,1736371466.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:26.216Z,1736371466.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258873 2025-01-08T21:24:26.243Z,1736371466.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:26.292Z,1736371466.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.60 m. 2025-01-08T21:24:26.321Z,1736371466.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 325.600006 m, nav range: 84.187584 m, bearing: 80.322362 deg, approach rate: 0.601065 m/s, LOS rate: -0.209083 deg/s, cmd heading: 228.614614 deg, new cmd heading: 228.328734 deg. 2025-01-08T21:24:26.329Z,1736371466.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.985088 target range: 325.600006 and range: 325.60 m. 2025-01-08T21:24:26.468Z,1736371466.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:26.468Z,1736371466.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510811 2025-01-08T21:24:26.664Z,1736371466.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:26.679Z,1736371466.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.60 m. 2025-01-08T21:24:26.682Z,1736371466.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 325.600006 m, nav range: 84.429443 m, bearing: 80.231831 deg, approach rate: 0.616936 m/s, LOS rate: -0.230265 deg/s, cmd heading: 228.328730 deg, new cmd heading: 228.057917 deg. 2025-01-08T21:24:26.700Z,1736371466.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.980361 target range: 325.600006 and range: 325.60 m. 2025-01-08T21:24:26.721Z,1736371466.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:26.722Z,1736371466.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764291 2025-01-08T21:24:26.973Z,1736371466.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:26.974Z,1736371466.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016284 2025-01-08T21:24:27.044Z,1736371467.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:27.063Z,1736371467.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.60 m. 2025-01-08T21:24:27.072Z,1736371467.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 325.600006 m, nav range: 84.647751 m, bearing: 80.150509 deg, approach rate: 0.568982 m/s, LOS rate: -0.211406 deg/s, cmd heading: 228.057913 deg, new cmd heading: 227.814577 deg. 2025-01-08T21:24:27.073Z,1736371467.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.976115 target range: 325.600006 and range: 325.60 m. 2025-01-08T21:24:27.224Z,1736371467.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:27.226Z,1736371467.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268230 2025-01-08T21:24:27.438Z,1736371467.438 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010813253262,35.0, 0.0,1493.3, 0 2025-01-08T21:24:27.445Z,1736371467.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:24:27.446Z,1736371467.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:27.474Z,1736371467.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.60 m. 2025-01-08T21:24:27.476Z,1736371467.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:27.477Z,1736371467.477 [DAT](INFO): DAT read: Rx Time:21:24:26.1608 2025-01-08T21:24:27.477Z,1736371467.477 [DAT](INFO): Rx dataTimestamp_ set to:1736371467.476746 2025-01-08T21:24:27.478Z,1736371467.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519927 2025-01-08T21:24:27.481Z,1736371467.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 325.600006 m, nav range: 84.877144 m, bearing: 80.065156 deg, approach rate: 0.555988 m/s, LOS rate: -0.206315 deg/s, cmd heading: 227.814580 deg, new cmd heading: 227.559214 deg. 2025-01-08T21:24:27.482Z,1736371467.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.971658 target range: 325.600006 and range: 325.60 m. 2025-01-08T21:24:27.728Z,1736371467.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:27.729Z,1736371467.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771420 2025-01-08T21:24:27.891Z,1736371467.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:24:27.891Z,1736371467.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:27.898Z,1736371467.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:27.901Z,1736371467.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.60 m. 2025-01-08T21:24:27.904Z,1736371467.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 325.600006 m, nav range: 85.132942 m, bearing: 79.970375 deg, approach rate: 0.599870 m/s, LOS rate: -0.221601 deg/s, cmd heading: 227.559213 deg, new cmd heading: 227.275728 deg. 2025-01-08T21:24:27.905Z,1736371467.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.966710 target range: 325.600006 and range: 325.60 m. 2025-01-08T21:24:27.980Z,1736371467.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:27.990Z,1736371467.990 [DAT](INFO): DAT read: 21:24:26.1607 LVL= 20976, 27441, 19426, 31715, AGC= 68, IDX= 422, 0.37, 1.965, 0.137, 0.420, 1.002, PHS= 1.051,-0.818,-0.585, RAW= 96.6, 4.0, CAL= 105.8, 2.3, ROT= 44.2, -2.3 2025-01-08T21:24:27.991Z,1736371467.991 [DAT](INFO): got valid direction response: 21:24:26.1607 LVL= 20976, 27441, 19426, 31715, AGC= 68, IDX= 422, 0.37, 1.965, 0.137, 0.420, 1.002, PHS= 1.051,-0.818,-0.585, RAW= 96.6, 4.0, CAL= 105.8, 2.3, ROT= 44.2, -2.3 2025-01-08T21:24:27.992Z,1736371467.992 [DAT](INFO): DAT read: Bearing 44.2, -2.3 (Local) 2025-01-08T21:24:27.993Z,1736371467.993 [DAT](INFO): Local bearing/azimuth received: Bearing 44.2, -2.3 (Local) 2025-01-08T21:24:27.994Z,1736371467.994 [DAT](INFO): DAT read: Range 10 to 50 : 324.1 m (Round-trip 432.2 ms) speed 0.4 m/s 2025-01-08T21:24:27.996Z,1736371467.996 [DAT](INFO): DAT read: user:1736> 2025-01-08T21:24:27.997Z,1736371467.997 [DAT](INFO): DAT read: Tx time:21:24:27.2744 2025-01-08T21:24:27.997Z,1736371467.997 [DAT](INFO): Ping request sent. 2025-01-08T21:24:27.997Z,1736371467.997 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:27.997Z,1736371467.997 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:27.998Z,1736371467.998 [DAT](INFO): direction in FSK: [-0.171900,-0.002731,0.985111] 2025-01-08T21:24:27.998Z,1736371467.998 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:27.999Z,1736371467.999 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:28.002Z,1736371468.002 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:28.002Z,1736371468.002 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:28.232Z,1736371468.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:28.232Z,1736371468.232 [DAT](INFO): DAT read: TxSync time:21:24:27.2736 2025-01-08T21:24:28.268Z,1736371468.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:24:28.268Z,1736371468.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:28.349Z,1736371468.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 324.100006 m, deltaT: 4.036383 s, deltaX: -1.500000 m, approachRate: -0.371620 m/s, rangeRepo size: 4 2025-01-08T21:24:28.364Z,1736371468.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 324.100006 m, bearing: 81.240414 deg, lat: 36.903597 deg, lon: -122.114549 deg, deltaT: 4.036383 s, deltaX: -1.500000 m, approachRate: -0.371620 m/s, posRepo size: 4 2025-01-08T21:24:28.368Z,1736371468.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.10 m. 2025-01-08T21:24:28.370Z,1736371468.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.100006 m, nav range: 84.954651 m, bearing: 81.511962 deg, approach rate: 0.000000 m/s, LOS rate: -0.221601 deg/s, cmd heading: 227.275733 deg, new cmd heading: 226.983083 deg. 2025-01-08T21:24:28.372Z,1736371468.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.961602 target range: 324.100006 and range: 324.10 m. 2025-01-08T21:24:28.484Z,1736371468.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:28.683Z,1736371468.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:28.716Z,1736371468.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.10 m. 2025-01-08T21:24:28.718Z,1736371468.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.100006 m, nav range: 85.162491 m, bearing: 81.417742 deg, approach rate: 0.561276 m/s, LOS rate: -0.253821 deg/s, cmd heading: 226.983087 deg, new cmd heading: 226.701120 deg. 2025-01-08T21:24:28.721Z,1736371468.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.956681 target range: 324.100006 and range: 324.10 m. 2025-01-08T21:24:28.736Z,1736371468.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:28.989Z,1736371468.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:29.074Z,1736371469.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:29.084Z,1736371469.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.10 m. 2025-01-08T21:24:29.086Z,1736371469.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.100006 m, nav range: 85.358398 m, bearing: 81.329450 deg, approach rate: 0.526742 m/s, LOS rate: -0.236850 deg/s, cmd heading: 226.701123 deg, new cmd heading: 226.436855 deg. 2025-01-08T21:24:29.087Z,1736371469.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.952069 target range: 324.100006 and range: 324.10 m. 2025-01-08T21:24:29.241Z,1736371469.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:29.487Z,1736371469.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:29.492Z,1736371469.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:29.497Z,1736371469.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.10 m. 2025-01-08T21:24:29.529Z,1736371469.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.100006 m, nav range: 85.551392 m, bearing: 81.233301 deg, approach rate: 0.466347 m/s, LOS rate: -0.231807 deg/s, cmd heading: 226.436849 deg, new cmd heading: 226.149058 deg. 2025-01-08T21:24:29.530Z,1736371469.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.947046 target range: 324.100006 and range: 324.10 m. 2025-01-08T21:24:29.744Z,1736371469.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:29.859Z,1736371469.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:29.868Z,1736371469.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.10 m. 2025-01-08T21:24:29.871Z,1736371469.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.100006 m, nav range: 85.725876 m, bearing: 81.147387 deg, approach rate: 0.470447 m/s, LOS rate: -0.231173 deg/s, cmd heading: 226.149052 deg, new cmd heading: 225.891835 deg. 2025-01-08T21:24:29.872Z,1736371469.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.942556 target range: 324.100006 and range: 324.10 m. 2025-01-08T21:24:29.996Z,1736371469.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:30.248Z,1736371470.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:30.292Z,1736371470.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:30.299Z,1736371470.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:30.301Z,1736371470.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.10 m. 2025-01-08T21:24:30.304Z,1736371470.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.100006 m, nav range: 85.929245 m, bearing: 81.047620 deg, approach rate: 0.469775 m/s, LOS rate: -0.229912 deg/s, cmd heading: 225.891841 deg, new cmd heading: 225.593252 deg. 2025-01-08T21:24:30.306Z,1736371470.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.937345 target range: 324.100006 and range: 324.10 m. 2025-01-08T21:24:30.500Z,1736371470.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:30.500Z,1736371470.500 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:30.500Z,1736371470.500 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:30.500Z,1736371470.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:30.700Z,1736371470.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:30.709Z,1736371470.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.10 m. 2025-01-08T21:24:30.732Z,1736371470.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.100006 m, nav range: 86.107407 m, bearing: 80.951272 deg, approach rate: 0.436635 m/s, LOS rate: -0.235639 deg/s, cmd heading: 225.593253 deg, new cmd heading: 225.304810 deg. 2025-01-08T21:24:30.733Z,1736371470.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.932311 target range: 324.100006 and range: 324.10 m. 2025-01-08T21:24:30.752Z,1736371470.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:30.752Z,1736371470.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755444 2025-01-08T21:24:31.004Z,1736371471.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:31.004Z,1736371471.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007426 2025-01-08T21:24:31.072Z,1736371471.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:31.098Z,1736371471.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.10 m. 2025-01-08T21:24:31.101Z,1736371471.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.100006 m, nav range: 86.269516 m, bearing: 80.863269 deg, approach rate: 0.417218 m/s, LOS rate: -0.226067 deg/s, cmd heading: 225.304814 deg, new cmd heading: 225.041302 deg. 2025-01-08T21:24:31.102Z,1736371471.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.927712 target range: 324.100006 and range: 324.10 m. 2025-01-08T21:24:31.256Z,1736371471.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:31.257Z,1736371471.257 [DAT](INFO): DAT read: Rx Time:21:24:30.1087 2025-01-08T21:24:31.259Z,1736371471.259 [DAT](INFO): Rx dataTimestamp_ set to:1736371471.257957 2025-01-08T21:24:31.260Z,1736371471.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262597 2025-01-08T21:24:31.502Z,1736371471.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:31.508Z,1736371471.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:31.508Z,1736371471.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511488 2025-01-08T21:24:31.513Z,1736371471.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.10 m. 2025-01-08T21:24:31.516Z,1736371471.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.100006 m, nav range: 86.458626 m, bearing: 80.755399 deg, approach rate: 0.455656 m/s, LOS rate: -0.259341 deg/s, cmd heading: 225.041305 deg, new cmd heading: 224.718407 deg. 2025-01-08T21:24:31.517Z,1736371471.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.922076 target range: 324.100006 and range: 324.10 m. 2025-01-08T21:24:31.761Z,1736371471.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:31.764Z,1736371471.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766762 2025-01-08T21:24:31.880Z,1736371471.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:31.889Z,1736371471.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.10 m. 2025-01-08T21:24:31.892Z,1736371471.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.100006 m, nav range: 86.624702 m, bearing: 80.660096 deg, approach rate: 0.441311 m/s, LOS rate: -0.252761 deg/s, cmd heading: 224.718401 deg, new cmd heading: 224.433042 deg. 2025-01-08T21:24:31.893Z,1736371471.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917095 target range: 324.100006 and range: 324.10 m. 2025-01-08T21:24:32.012Z,1736371472.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:32.024Z,1736371472.024 [DAT](INFO): DAT read: 21:24:30.1087 LVL= 16304, 32753, 22994, 32755, AGC= 64, IDX= 417,-0.23,-2.050, 2.395, 2.603,-3.117, PHS= 1.155,-0.724,-0.566, RAW= 94.4, 1.5, CAL= 102.9, -1.5, ROT= 47.1, 1.5 2025-01-08T21:24:32.025Z,1736371472.025 [DAT](INFO): got valid direction response: 21:24:30.1087 LVL= 16304, 32753, 22994, 32755, AGC= 64, IDX= 417,-0.23,-2.050, 2.395, 2.603,-3.117, PHS= 1.155,-0.724,-0.566, RAW= 94.4, 1.5, CAL= 102.9, -1.5, ROT= 47.1, 1.5 2025-01-08T21:24:32.026Z,1736371472.026 [DAT](INFO): DAT read: Bearing 47.1, 1.5 (Local) 2025-01-08T21:24:32.027Z,1736371472.027 [DAT](INFO): Local bearing/azimuth received: Bearing 47.1, 1.5 (Local) 2025-01-08T21:24:32.029Z,1736371472.029 [DAT](INFO): DAT read: Range 10 to 50 : 322.5 m (Round-trip 430.1 ms) speed 0.4 m/s 2025-01-08T21:24:32.030Z,1736371472.030 [DAT](INFO): DAT read: user:1737> 2025-01-08T21:24:32.031Z,1736371472.031 [DAT](INFO): DAT read: Tx time:21:24:31.2229 2025-01-08T21:24:32.031Z,1736371472.031 [DAT](INFO): Ping request sent. 2025-01-08T21:24:32.032Z,1736371472.032 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:32.033Z,1736371472.033 [DAT](INFO): DAT read: TxSync time:21:24:31.2221 2025-01-08T21:24:32.033Z,1736371472.033 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:32.034Z,1736371472.034 [DAT](INFO): direction in FSK: [-0.120778,0.033561,0.992112] 2025-01-08T21:24:32.035Z,1736371472.035 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:32.035Z,1736371472.035 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:32.038Z,1736371472.038 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:32.038Z,1736371472.038 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:32.264Z,1736371472.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:32.296Z,1736371472.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:32.328Z,1736371472.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 322.500000 m, deltaT: 4.032403 s, deltaX: -1.600006 m, approachRate: -0.396787 m/s, rangeRepo size: 4 2025-01-08T21:24:32.330Z,1736371472.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 322.500000 m, bearing: 74.290405 deg, lat: 36.903562 deg, lon: -122.114643 deg, deltaT: 4.032403 s, deltaX: -1.600006 m, approachRate: -0.396787 m/s, posRepo size: 4 2025-01-08T21:24:32.330Z,1736371472.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.50 m. 2025-01-08T21:24:32.346Z,1736371472.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.500000 m, nav range: 77.937561 m, bearing: 82.348753 deg, approach rate: 0.000000 m/s, LOS rate: -0.252761 deg/s, cmd heading: 224.433036 deg, new cmd heading: 224.100971 deg. 2025-01-08T21:24:32.352Z,1736371472.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.911300 target range: 322.500000 and range: 322.50 m. 2025-01-08T21:24:32.518Z,1736371472.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:32.732Z,1736371472.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:32.739Z,1736371472.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:32.761Z,1736371472.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.50 m. 2025-01-08T21:24:32.769Z,1736371472.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.500000 m, nav range: 78.125465 m, bearing: 82.222835 deg, approach rate: 0.432529 m/s, LOS rate: -0.289149 deg/s, cmd heading: 224.100966 deg, new cmd heading: 223.724124 deg. 2025-01-08T21:24:32.770Z,1736371472.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.904723 target range: 322.500000 and range: 322.50 m. 2025-01-08T21:24:32.772Z,1736371472.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:32.772Z,1736371472.772 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:32.772Z,1736371472.772 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:32.773Z,1736371472.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:33.024Z,1736371473.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:33.025Z,1736371473.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994203 2025-01-08T21:24:33.112Z,1736371473.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:33.139Z,1736371473.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.50 m. 2025-01-08T21:24:33.142Z,1736371473.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.500000 m, nav range: 78.289085 m, bearing: 82.112735 deg, approach rate: 0.433650 m/s, LOS rate: -0.291193 deg/s, cmd heading: 223.724130 deg, new cmd heading: 223.394525 deg. 2025-01-08T21:24:33.143Z,1736371473.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.898970 target range: 322.500000 and range: 322.50 m. 2025-01-08T21:24:33.276Z,1736371473.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:33.276Z,1736371473.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245378 2025-01-08T21:24:33.528Z,1736371473.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:33.529Z,1736371473.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497595 2025-01-08T21:24:33.593Z,1736371473.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:33.614Z,1736371473.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.50 m. 2025-01-08T21:24:33.621Z,1736371473.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.500000 m, nav range: 78.504631 m, bearing: 81.969168 deg, approach rate: 0.453701 m/s, LOS rate: -0.301364 deg/s, cmd heading: 223.394519 deg, new cmd heading: 222.965009 deg. 2025-01-08T21:24:33.622Z,1736371473.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.891474 target range: 322.500000 and range: 322.50 m. 2025-01-08T21:24:33.780Z,1736371473.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:33.780Z,1736371473.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749387 2025-01-08T21:24:34.035Z,1736371474.035 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:34.036Z,1736371474.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005138 2025-01-08T21:24:34.086Z,1736371474.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:34.103Z,1736371474.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.50 m. 2025-01-08T21:24:34.110Z,1736371474.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.500000 m, nav range: 78.723824 m, bearing: 81.821159 deg, approach rate: 0.448016 m/s, LOS rate: -0.301677 deg/s, cmd heading: 222.965009 deg, new cmd heading: 222.522230 deg. 2025-01-08T21:24:34.111Z,1736371474.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883746 target range: 322.500000 and range: 322.50 m. 2025-01-08T21:24:34.285Z,1736371474.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:34.285Z,1736371474.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254268 2025-01-08T21:24:34.519Z,1736371474.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:34.528Z,1736371474.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.50 m. 2025-01-08T21:24:34.531Z,1736371474.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.500000 m, nav range: 78.931534 m, bearing: 81.690238 deg, approach rate: 0.489331 m/s, LOS rate: -0.307617 deg/s, cmd heading: 222.522236 deg, new cmd heading: 222.130511 deg. 2025-01-08T21:24:34.532Z,1736371474.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.876909 target range: 322.500000 and range: 322.50 m. 2025-01-08T21:24:34.536Z,1736371474.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:34.536Z,1736371474.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505464 2025-01-08T21:24:34.788Z,1736371474.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:34.788Z,1736371474.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757372 2025-01-08T21:24:34.940Z,1736371474.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:34.948Z,1736371474.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:34.950Z,1736371474.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.50 m. 2025-01-08T21:24:34.953Z,1736371474.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.500000 m, nav range: 79.131500 m, bearing: 81.561771 deg, approach rate: 0.473559 m/s, LOS rate: -0.303465 deg/s, cmd heading: 222.130511 deg, new cmd heading: 221.746090 deg. 2025-01-08T21:24:34.954Z,1736371474.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.870199 target range: 322.500000 and range: 322.50 m. 2025-01-08T21:24:35.040Z,1736371475.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:35.041Z,1736371475.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009675 2025-01-08T21:24:35.292Z,1736371475.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:35.293Z,1736371475.293 [DAT](INFO): DAT read: Rx Time:21:24:34.0550 2025-01-08T21:24:35.293Z,1736371475.293 [DAT](INFO): Rx dataTimestamp_ set to:1736371475.292841 2025-01-08T21:24:35.294Z,1736371475.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262647 2025-01-08T21:24:35.346Z,1736371475.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:35.373Z,1736371475.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.50 m. 2025-01-08T21:24:35.380Z,1736371475.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.500000 m, nav range: 79.323723 m, bearing: 81.437339 deg, approach rate: 0.454296 m/s, LOS rate: -0.293368 deg/s, cmd heading: 221.746094 deg, new cmd heading: 221.373708 deg. 2025-01-08T21:24:35.381Z,1736371475.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.863700 target range: 322.500000 and range: 322.50 m. 2025-01-08T21:24:35.544Z,1736371475.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:35.544Z,1736371475.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513470 2025-01-08T21:24:35.796Z,1736371475.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:35.803Z,1736371475.803 [DAT](INFO): DAT read: 21:24:34.0550 LVL= 13440, 29361, 19234, 32755, AGC= 59, IDX= 427, 0.26, 1.579,-0.305,-0.265, 0.403, PHS= 1.263,-0.661,-0.672, RAW= 89.7, 0.7, CAL= 97.2, -3.0, ROT= 52.8, 3.0 2025-01-08T21:24:35.804Z,1736371475.804 [DAT](INFO): got valid direction response: 21:24:34.0550 LVL= 13440, 29361, 19234, 32755, AGC= 59, IDX= 427, 0.26, 1.579,-0.305,-0.265, 0.403, PHS= 1.263,-0.661,-0.672, RAW= 89.7, 0.7, CAL= 97.2, -3.0, ROT= 52.8, 3.0 2025-01-08T21:24:35.805Z,1736371475.805 [DAT](INFO): DAT read: Bearing 52.8, 3.0 (Local) 2025-01-08T21:24:35.806Z,1736371475.806 [DAT](INFO): Local bearing/azimuth received: Bearing 52.8, 3.0 (Local) 2025-01-08T21:24:35.807Z,1736371475.807 [DAT](INFO): DAT read: Range 10 to 50 : 321.0 m (Round-trip 428.0 ms) speed 0.4 m/s 2025-01-08T21:24:35.808Z,1736371475.808 [DAT](INFO): DAT read: user:1738> 2025-01-08T21:24:35.809Z,1736371475.809 [DAT](INFO): DAT read: Tx time:21:24:35.1729 2025-01-08T21:24:35.809Z,1736371475.809 [DAT](INFO): Ping request sent. 2025-01-08T21:24:35.809Z,1736371475.809 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:35.809Z,1736371475.809 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:35.810Z,1736371475.810 [DAT](INFO): direction in FSK: [-0.098630,0.113222,0.988662] 2025-01-08T21:24:35.810Z,1736371475.810 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:35.811Z,1736371475.811 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:35.818Z,1736371475.818 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:35.818Z,1736371475.818 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:35.904Z,1736371475.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:35.936Z,1736371475.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 321.000000 m, deltaT: 3.783743 s, deltaX: -1.500000 m, approachRate: -0.396433 m/s, rangeRepo size: 4 2025-01-08T21:24:35.938Z,1736371475.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 321.000000 m, bearing: 10.028100 deg, lat: 36.903562 deg, lon: -122.114861 deg, deltaT: 3.783743 s, deltaX: -1.500000 m, approachRate: -0.396433 m/s, posRepo size: 4 2025-01-08T21:24:35.939Z,1736371475.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.00 m. 2025-01-08T21:24:35.946Z,1736371475.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.000000 m, nav range: 60.526741 m, bearing: 78.489874 deg, approach rate: 0.000000 m/s, LOS rate: -0.293368 deg/s, cmd heading: 221.373712 deg, new cmd heading: 220.882566 deg. 2025-01-08T21:24:35.952Z,1736371475.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.855128 target range: 321.000000 and range: 321.00 m. 2025-01-08T21:24:36.049Z,1736371476.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:36.050Z,1736371476.050 [DAT](INFO): DAT read: TxSync time:21:24:35.1721 2025-01-08T21:24:36.240Z,1736371476.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:36.249Z,1736371476.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.00 m. 2025-01-08T21:24:36.251Z,1736371476.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.000000 m, nav range: 60.696102 m, bearing: 78.366124 deg, approach rate: 0.532882 m/s, LOS rate: -0.388284 deg/s, cmd heading: 220.882567 deg, new cmd heading: 220.512357 deg. 2025-01-08T21:24:36.252Z,1736371476.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.848667 target range: 321.000000 and range: 321.00 m. 2025-01-08T21:24:36.302Z,1736371476.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:36.552Z,1736371476.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:36.683Z,1736371476.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:36.692Z,1736371476.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.00 m. 2025-01-08T21:24:36.695Z,1736371476.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.000000 m, nav range: 60.932823 m, bearing: 78.204294 deg, approach rate: 0.533791 m/s, LOS rate: -0.363499 deg/s, cmd heading: 220.512357 deg, new cmd heading: 220.028765 deg. 2025-01-08T21:24:36.696Z,1736371476.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840226 target range: 321.000000 and range: 321.00 m. 2025-01-08T21:24:36.804Z,1736371476.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:37.042Z,1736371477.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:37.050Z,1736371477.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:37.052Z,1736371477.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.00 m. 2025-01-08T21:24:37.055Z,1736371477.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.000000 m, nav range: 61.123077 m, bearing: 78.071667 deg, approach rate: 0.528135 m/s, LOS rate: -0.367019 deg/s, cmd heading: 220.028766 deg, new cmd heading: 219.632129 deg. 2025-01-08T21:24:37.056Z,1736371477.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:37.056Z,1736371477.056 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:37.056Z,1736371477.056 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:37.057Z,1736371477.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:37.061Z,1736371477.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833304 target range: 321.000000 and range: 321.00 m. 2025-01-08T21:24:37.308Z,1736371477.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:37.308Z,1736371477.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499292 2025-01-08T21:24:37.518Z,1736371477.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:37.552Z,1736371477.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.00 m. 2025-01-08T21:24:37.554Z,1736371477.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.000000 m, nav range: 61.384941 m, bearing: 77.902165 deg, approach rate: 0.524429 m/s, LOS rate: -0.338009 deg/s, cmd heading: 219.632123 deg, new cmd heading: 219.125800 deg. 2025-01-08T21:24:37.560Z,1736371477.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:37.561Z,1736371477.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751518 2025-01-08T21:24:37.564Z,1736371477.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.824467 target range: 321.000000 and range: 321.00 m. 2025-01-08T21:24:37.812Z,1736371477.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:37.813Z,1736371477.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004209 2025-01-08T21:24:37.860Z,1736371477.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:37.870Z,1736371477.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.00 m. 2025-01-08T21:24:37.872Z,1736371477.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.000000 m, nav range: 61.572727 m, bearing: 77.780499 deg, approach rate: 0.590513 m/s, LOS rate: -0.381423 deg/s, cmd heading: 219.125801 deg, new cmd heading: 218.761922 deg. 2025-01-08T21:24:37.873Z,1736371477.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.818116 target range: 321.000000 and range: 321.00 m. 2025-01-08T21:24:38.064Z,1736371478.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:38.064Z,1736371478.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255280 2025-01-08T21:24:38.285Z,1736371478.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:38.294Z,1736371478.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.00 m. 2025-01-08T21:24:38.297Z,1736371478.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.000000 m, nav range: 61.806522 m, bearing: 77.630303 deg, approach rate: 0.551233 m/s, LOS rate: -0.352787 deg/s, cmd heading: 218.761916 deg, new cmd heading: 218.313042 deg. 2025-01-08T21:24:38.298Z,1736371478.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810281 target range: 321.000000 and range: 321.00 m. 2025-01-08T21:24:38.316Z,1736371478.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:38.317Z,1736371478.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507714 2025-01-08T21:24:38.568Z,1736371478.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:38.568Z,1736371478.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759393 2025-01-08T21:24:38.704Z,1736371478.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:38.737Z,1736371478.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.00 m. 2025-01-08T21:24:38.744Z,1736371478.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.000000 m, nav range: 62.051949 m, bearing: 77.483280 deg, approach rate: 0.553913 m/s, LOS rate: -0.330510 deg/s, cmd heading: 218.313036 deg, new cmd heading: 217.873720 deg. 2025-01-08T21:24:38.749Z,1736371478.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.802614 target range: 321.000000 and range: 321.00 m. 2025-01-08T21:24:38.820Z,1736371478.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:38.821Z,1736371478.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011518 2025-01-08T21:24:39.072Z,1736371479.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:39.073Z,1736371479.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263764 2025-01-08T21:24:39.083Z,1736371479.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:39.090Z,1736371479.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:39.092Z,1736371479.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.00 m. 2025-01-08T21:24:39.096Z,1736371479.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.000000 m, nav range: 62.274208 m, bearing: 77.351344 deg, approach rate: 0.625109 m/s, LOS rate: -0.369750 deg/s, cmd heading: 217.873718 deg, new cmd heading: 217.479328 deg. 2025-01-08T21:24:39.097Z,1736371479.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795730 target range: 321.000000 and range: 321.00 m. 2025-01-08T21:24:39.324Z,1736371479.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:39.325Z,1736371479.325 [DAT](INFO): DAT read: Rx Time:21:24:38.0038 2025-01-08T21:24:39.325Z,1736371479.325 [DAT](INFO): Rx dataTimestamp_ set to:1736371479.324769 2025-01-08T21:24:39.326Z,1736371479.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516551 2025-01-08T21:24:39.566Z,1736371479.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:39.576Z,1736371479.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:39.576Z,1736371479.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767436 2025-01-08T21:24:39.577Z,1736371479.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.00 m. 2025-01-08T21:24:39.581Z,1736371479.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 321.000000 m, nav range: 62.562111 m, bearing: 77.184241 deg, approach rate: 0.596532 m/s, LOS rate: -0.344641 deg/s, cmd heading: 217.479329 deg, new cmd heading: 216.980341 deg. 2025-01-08T21:24:39.582Z,1736371479.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.787021 target range: 321.000000 and range: 321.00 m. 2025-01-08T21:24:39.828Z,1736371479.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:39.835Z,1736371479.835 [DAT](INFO): DAT read: 21:24:38.0038 LVL= 14288, 29329, 17618, 26595, AGC= 66, IDX= 430,-0.23,-0.949,-2.655,-2.806,-1.978, PHS= 1.117,-0.630,-0.831, RAW= 84.6, 3.8, CAL= 90.3, 1.7, ROT= 59.7, -1.7 2025-01-08T21:24:39.836Z,1736371479.836 [DAT](INFO): got valid direction response: 21:24:38.0038 LVL= 14288, 29329, 17618, 26595, AGC= 66, IDX= 430,-0.23,-0.949,-2.655,-2.806,-1.978, PHS= 1.117,-0.630,-0.831, RAW= 84.6, 3.8, CAL= 90.3, 1.7, ROT= 59.7, -1.7 2025-01-08T21:24:39.838Z,1736371479.838 [DAT](INFO): DAT read: Bearing 59.7, -1.7 (Local) 2025-01-08T21:24:39.838Z,1736371479.838 [DAT](INFO): Local bearing/azimuth received: Bearing 59.7, -1.7 (Local) 2025-01-08T21:24:39.841Z,1736371479.841 [DAT](INFO): DAT read: Range 10 to 50 : 320.0 m (Round-trip 426.7 ms) speed 0.0 m/s 2025-01-08T21:24:39.842Z,1736371479.842 [DAT](INFO): DAT read: user:1739> 2025-01-08T21:24:39.843Z,1736371479.843 [DAT](INFO): DAT read: Tx time:21:24:39.1229 2025-01-08T21:24:39.843Z,1736371479.843 [DAT](INFO): Ping request sent. 2025-01-08T21:24:39.844Z,1736371479.844 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:39.844Z,1736371479.844 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:39.845Z,1736371479.845 [DAT](INFO): direction in FSK: [-0.146791,0.202484,0.968221] 2025-01-08T21:24:39.846Z,1736371479.846 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:39.846Z,1736371479.846 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:39.854Z,1736371479.854 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:39.854Z,1736371479.854 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:39.964Z,1736371479.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:39.995Z,1736371479.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 320.000000 m, deltaT: 4.031430 s, deltaX: -1.000000 m, approachRate: -0.248051 m/s, rangeRepo size: 4 2025-01-08T21:24:40.001Z,1736371480.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 320.000000 m, bearing: 353.292750 deg, lat: 36.903562 deg, lon: -122.115157 deg, deltaT: 4.031430 s, deltaX: -1.000000 m, approachRate: -0.248051 m/s, posRepo size: 4 2025-01-08T21:24:40.002Z,1736371480.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.00 m. 2025-01-08T21:24:40.009Z,1736371480.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.000000 m, nav range: 37.563438 m, bearing: 67.990544 deg, approach rate: 0.000000 m/s, LOS rate: -0.344641 deg/s, cmd heading: 216.980343 deg, new cmd heading: 216.547216 deg. 2025-01-08T21:24:40.010Z,1736371480.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.779462 target range: 320.000000 and range: 320.00 m. 2025-01-08T21:24:40.080Z,1736371480.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:40.082Z,1736371480.082 [DAT](INFO): DAT read: TxSync time:21:24:39.1221 2025-01-08T21:24:40.319Z,1736371480.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:40.327Z,1736371480.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.00 m. 2025-01-08T21:24:40.330Z,1736371480.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.000000 m, nav range: 37.791821 m, bearing: 67.835716 deg, approach rate: 0.685729 m/s, LOS rate: -0.462069 deg/s, cmd heading: 216.547213 deg, new cmd heading: 216.085547 deg. 2025-01-08T21:24:40.331Z,1736371480.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.771404 target range: 320.000000 and range: 320.00 m. 2025-01-08T21:24:40.332Z,1736371480.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:40.584Z,1736371480.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:40.751Z,1736371480.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:40.769Z,1736371480.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.00 m. 2025-01-08T21:24:40.776Z,1736371480.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.000000 m, nav range: 38.062935 m, bearing: 67.654929 deg, approach rate: 0.613911 m/s, LOS rate: -0.406457 deg/s, cmd heading: 216.085547 deg, new cmd heading: 215.547067 deg. 2025-01-08T21:24:40.776Z,1736371480.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.762006 target range: 320.000000 and range: 320.00 m. 2025-01-08T21:24:40.784Z,1736371480.784 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:24:40.836Z,1736371480.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:41.088Z,1736371481.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:41.126Z,1736371481.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:41.134Z,1736371481.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:41.141Z,1736371481.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.00 m. 2025-01-08T21:24:41.144Z,1736371481.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.000000 m, nav range: 38.312057 m, bearing: 67.487437 deg, approach rate: 0.669130 m/s, LOS rate: -0.446949 deg/s, cmd heading: 215.547069 deg, new cmd heading: 215.047873 deg. 2025-01-08T21:24:41.146Z,1736371481.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753294 target range: 320.000000 and range: 320.00 m. 2025-01-08T21:24:41.340Z,1736371481.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:41.340Z,1736371481.340 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:41.340Z,1736371481.340 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:41.341Z,1736371481.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:41.592Z,1736371481.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:41.593Z,1736371481.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749470 2025-01-08T21:24:41.600Z,1736371481.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:41.641Z,1736371481.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.00 m. 2025-01-08T21:24:41.649Z,1736371481.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.000000 m, nav range: 38.617950 m, bearing: 67.289545 deg, approach rate: 0.612091 m/s, LOS rate: -0.392844 deg/s, cmd heading: 215.047878 deg, new cmd heading: 214.458926 deg. 2025-01-08T21:24:41.650Z,1736371481.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.743014 target range: 320.000000 and range: 320.00 m. 2025-01-08T21:24:41.788Z,1736371481.788 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:24:41.844Z,1736371481.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:41.844Z,1736371481.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001264 2025-01-08T21:24:41.961Z,1736371481.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:41.971Z,1736371481.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.00 m. 2025-01-08T21:24:41.973Z,1736371481.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.000000 m, nav range: 38.848736 m, bearing: 67.131285 deg, approach rate: 0.699727 m/s, LOS rate: -0.476985 deg/s, cmd heading: 214.458924 deg, new cmd heading: 213.986974 deg. 2025-01-08T21:24:41.974Z,1736371481.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734777 target range: 320.000000 and range: 320.00 m. 2025-01-08T21:24:42.100Z,1736371482.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:42.102Z,1736371482.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258599 2025-01-08T21:24:42.352Z,1736371482.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:42.352Z,1736371482.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509454 2025-01-08T21:24:42.393Z,1736371482.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:42.409Z,1736371482.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.00 m. 2025-01-08T21:24:42.411Z,1736371482.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.000000 m, nav range: 39.123482 m, bearing: 66.941037 deg, approach rate: 0.627106 m/s, LOS rate: -0.431189 deg/s, cmd heading: 213.986972 deg, new cmd heading: 213.420256 deg. 2025-01-08T21:24:42.414Z,1736371482.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.724886 target range: 320.000000 and range: 320.00 m. 2025-01-08T21:24:42.604Z,1736371482.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:42.604Z,1736371482.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761261 2025-01-08T21:24:42.793Z,1736371482.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:42.802Z,1736371482.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.00 m. 2025-01-08T21:24:42.805Z,1736371482.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.000000 m, nav range: 39.374432 m, bearing: 66.760032 deg, approach rate: 0.638134 m/s, LOS rate: -0.457339 deg/s, cmd heading: 213.420257 deg, new cmd heading: 212.880719 deg. 2025-01-08T21:24:42.806Z,1736371482.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.715469 target range: 320.000000 and range: 320.00 m. 2025-01-08T21:24:42.856Z,1736371482.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:42.857Z,1736371482.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013523 2025-01-08T21:24:43.108Z,1736371483.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:43.112Z,1736371483.112 [DAT](INFO): DAT read: Rx Time:21:24:41.9529 2025-01-08T21:24:43.114Z,1736371483.114 [DAT](INFO): Rx dataTimestamp_ set to:1736371483.112999 2025-01-08T21:24:43.114Z,1736371483.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271413 2025-01-08T21:24:43.183Z,1736371483.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:43.190Z,1736371483.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:43.192Z,1736371483.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.00 m. 2025-01-08T21:24:43.194Z,1736371483.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.000000 m, nav range: 39.617939 m, bearing: 66.582475 deg, approach rate: 0.624392 m/s, LOS rate: -0.452485 deg/s, cmd heading: 212.880713 deg, new cmd heading: 212.351334 deg. 2025-01-08T21:24:43.196Z,1736371483.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.706230 target range: 320.000000 and range: 320.00 m. 2025-01-08T21:24:43.360Z,1736371483.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:43.361Z,1736371483.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517484 2025-01-08T21:24:43.614Z,1736371483.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:43.623Z,1736371483.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778787 2025-01-08T21:24:43.703Z,1736371483.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:43.713Z,1736371483.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 320.00 m. 2025-01-08T21:24:43.715Z,1736371483.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 320.000000 m, nav range: 39.920475 m, bearing: 66.346679 deg, approach rate: 0.581944 m/s, LOS rate: -0.450127 deg/s, cmd heading: 212.351333 deg, new cmd heading: 211.649343 deg. 2025-01-08T21:24:43.716Z,1736371483.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693978 target range: 320.000000 and range: 320.00 m. 2025-01-08T21:24:43.864Z,1736371483.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:43.874Z,1736371483.874 [DAT](INFO): DAT read: 21:24:41.9529 LVL= 12064, 22609, 21474, 25251, AGC= 66, IDX= 434, 0.41,-0.911,-2.167,-2.475,-1.603, PHS= 0.780,-0.516,-0.875, RAW= 78.1, 8.2, CAL= 82.3, 10.9, ROT= 67.7, -10.9 2025-01-08T21:24:43.876Z,1736371483.876 [DAT](INFO): got valid direction response: 21:24:41.9529 LVL= 12064, 22609, 21474, 25251, AGC= 66, IDX= 434, 0.41,-0.911,-2.167,-2.475,-1.603, PHS= 0.780,-0.516,-0.875, RAW= 78.1, 8.2, CAL= 82.3, 10.9, ROT= 67.7, -10.9 2025-01-08T21:24:43.877Z,1736371483.877 [DAT](INFO): DAT read: Bearing 67.7, -10.9 (Local) 2025-01-08T21:24:43.877Z,1736371483.877 [DAT](INFO): Local bearing/azimuth received: Bearing 67.7, -10.9 (Local) 2025-01-08T21:24:43.879Z,1736371483.879 [DAT](INFO): DAT read: Range 10 to 50 : 319.2 m (Round-trip 425.7 ms) speed 0.4 m/s 2025-01-08T21:24:43.880Z,1736371483.880 [DAT](INFO): DAT read: user:1740> 2025-01-08T21:24:43.881Z,1736371483.881 [DAT](INFO): DAT read: Tx time:21:24:43.0730 2025-01-08T21:24:43.881Z,1736371483.881 [DAT](INFO): Ping request sent. 2025-01-08T21:24:43.881Z,1736371483.881 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:43.882Z,1736371483.882 [DAT](INFO): DAT read: TxSync time:21:24:43.0722 2025-01-08T21:24:43.882Z,1736371483.882 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:43.884Z,1736371483.884 [DAT](INFO): direction in FSK: [-0.216165,0.310829,0.925558] 2025-01-08T21:24:43.884Z,1736371483.884 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:43.884Z,1736371483.884 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:43.887Z,1736371483.887 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:43.888Z,1736371483.888 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:44.030Z,1736371484.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:44.084Z,1736371484.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 319.200012 m, deltaT: 4.036210 s, deltaX: -0.799988 m, approachRate: -0.198203 m/s, rangeRepo size: 4 2025-01-08T21:24:44.086Z,1736371484.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 319.200012 m, bearing: 344.610967 deg, lat: 36.903686 deg, lon: -122.115476 deg, deltaT: 4.036210 s, deltaX: -0.799988 m, approachRate: -0.198203 m/s, posRepo size: 4 2025-01-08T21:24:44.086Z,1736371484.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.20 m. 2025-01-08T21:24:44.093Z,1736371484.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.200012 m, nav range: 31.047104 m, bearing: 15.556311 deg, approach rate: 0.000000 m/s, LOS rate: -0.450127 deg/s, cmd heading: 211.649339 deg, new cmd heading: 211.155074 deg. 2025-01-08T21:24:44.094Z,1736371484.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.685351 target range: 319.200012 and range: 319.20 m. 2025-01-08T21:24:44.116Z,1736371484.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:44.368Z,1736371484.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:44.400Z,1736371484.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:44.430Z,1736371484.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.20 m. 2025-01-08T21:24:44.444Z,1736371484.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.200012 m, nav range: 31.276234 m, bearing: 15.715737 deg, approach rate: 0.652977 m/s, LOS rate: 0.451006 deg/s, cmd heading: 211.155080 deg, new cmd heading: 211.629843 deg. 2025-01-08T21:24:44.445Z,1736371484.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693638 target range: 319.200012 and range: 319.20 m. 2025-01-08T21:24:44.620Z,1736371484.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:44.844Z,1736371484.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:44.854Z,1736371484.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.20 m. 2025-01-08T21:24:44.857Z,1736371484.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.200012 m, nav range: 31.549171 m, bearing: 15.870757 deg, approach rate: 0.641725 m/s, LOS rate: 0.361327 deg/s, cmd heading: 211.629846 deg, new cmd heading: 212.090873 deg. 2025-01-08T21:24:44.858Z,1736371484.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.701684 target range: 319.200012 and range: 319.20 m. 2025-01-08T21:24:44.872Z,1736371484.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:45.124Z,1736371485.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:45.210Z,1736371485.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:45.218Z,1736371485.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:45.220Z,1736371485.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.20 m. 2025-01-08T21:24:45.222Z,1736371485.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.200012 m, nav range: 31.774536 m, bearing: 15.993538 deg, approach rate: 0.616010 m/s, LOS rate: 0.333227 deg/s, cmd heading: 212.090870 deg, new cmd heading: 212.456595 deg. 2025-01-08T21:24:45.224Z,1736371485.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.708067 target range: 319.200012 and range: 319.20 m. 2025-01-08T21:24:45.388Z,1736371485.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:45.388Z,1736371485.388 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:45.388Z,1736371485.388 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:45.389Z,1736371485.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:45.628Z,1736371485.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:45.629Z,1736371485.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747535 2025-01-08T21:24:45.672Z,1736371485.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:45.691Z,1736371485.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.20 m. 2025-01-08T21:24:45.694Z,1736371485.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.200012 m, nav range: 32.036812 m, bearing: 16.096161 deg, approach rate: 0.561502 m/s, LOS rate: 0.217905 deg/s, cmd heading: 212.456599 deg, new cmd heading: 212.761946 deg. 2025-01-08T21:24:45.695Z,1736371485.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.713397 target range: 319.200012 and range: 319.20 m. 2025-01-08T21:24:45.881Z,1736371485.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:45.882Z,1736371485.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000560 2025-01-08T21:24:46.007Z,1736371486.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:46.017Z,1736371486.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.20 m. 2025-01-08T21:24:46.020Z,1736371486.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.200012 m, nav range: 32.257961 m, bearing: 16.178691 deg, approach rate: 0.670550 m/s, LOS rate: 0.248522 deg/s, cmd heading: 212.761950 deg, new cmd heading: 213.007839 deg. 2025-01-08T21:24:46.021Z,1736371486.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.717688 target range: 319.200012 and range: 319.20 m. 2025-01-08T21:24:46.134Z,1736371486.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:46.134Z,1736371486.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253002 2025-01-08T21:24:46.384Z,1736371486.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:46.384Z,1736371486.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503085 2025-01-08T21:24:46.429Z,1736371486.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:46.438Z,1736371486.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.20 m. 2025-01-08T21:24:46.441Z,1736371486.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.200012 m, nav range: 32.514145 m, bearing: 16.270897 deg, approach rate: 0.608399 m/s, LOS rate: 0.217252 deg/s, cmd heading: 213.007837 deg, new cmd heading: 213.282275 deg. 2025-01-08T21:24:46.442Z,1736371486.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722478 target range: 319.200012 and range: 319.20 m. 2025-01-08T21:24:46.636Z,1736371486.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:46.636Z,1736371486.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755141 2025-01-08T21:24:46.840Z,1736371486.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:46.849Z,1736371486.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.20 m. 2025-01-08T21:24:46.853Z,1736371486.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.200012 m, nav range: 32.758614 m, bearing: 16.324675 deg, approach rate: 0.594034 m/s, LOS rate: 0.129700 deg/s, cmd heading: 213.282274 deg, new cmd heading: 213.442404 deg. 2025-01-08T21:24:46.854Z,1736371486.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.725273 target range: 319.200012 and range: 319.20 m. 2025-01-08T21:24:46.889Z,1736371486.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:46.889Z,1736371486.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008045 2025-01-08T21:24:47.140Z,1736371487.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:47.140Z,1736371487.140 [DAT](INFO): DAT read: Rx Time:21:24:45.9010 2025-01-08T21:24:47.141Z,1736371487.141 [DAT](INFO): Rx dataTimestamp_ set to:1736371487.140661 2025-01-08T21:24:47.141Z,1736371487.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260155 2025-01-08T21:24:47.225Z,1736371487.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:47.235Z,1736371487.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:47.237Z,1736371487.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.20 m. 2025-01-08T21:24:47.240Z,1736371487.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.200012 m, nav range: 32.987858 m, bearing: 16.373611 deg, approach rate: 0.591413 m/s, LOS rate: 0.125368 deg/s, cmd heading: 213.442401 deg, new cmd heading: 213.588187 deg. 2025-01-08T21:24:47.241Z,1736371487.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.727817 target range: 319.200012 and range: 319.20 m. 2025-01-08T21:24:47.392Z,1736371487.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:47.392Z,1736371487.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511022 2025-01-08T21:24:47.644Z,1736371487.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:47.654Z,1736371487.654 [DAT](INFO): DAT read: 21:24:45.9010 LVL= 16048, 27809, 25442, 31443, AGC= 63, IDX= 417,-0.03,-1.637,-2.867, 2.726,-2.418, PHS= 0.869,-0.403,-1.143, RAW= 68.7, 7.7, CAL= 69.8, 10.9, ROT= 80.2, -10.9 2025-01-08T21:24:47.657Z,1736371487.657 [DAT](INFO): got valid direction response: 21:24:45.9010 LVL= 16048, 27809, 25442, 31443, AGC= 63, IDX= 417,-0.03,-1.637,-2.867, 2.726,-2.418, PHS= 0.869,-0.403,-1.143, RAW= 68.7, 7.7, CAL= 69.8, 10.9, ROT= 80.2, -10.9 2025-01-08T21:24:47.659Z,1736371487.659 [DAT](INFO): DAT read: Bearing 80.2, -10.9 (Local) 2025-01-08T21:24:47.659Z,1736371487.659 [DAT](INFO): Local bearing/azimuth received: Bearing 80.2, -10.9 (Local) 2025-01-08T21:24:47.661Z,1736371487.661 [DAT](INFO): DAT read: Range 10 to 50 : 317.9 m (Round-trip 423.9 ms) speed 0.2 m/s 2025-01-08T21:24:47.663Z,1736371487.663 [DAT](INFO): DAT read: user:1741> 2025-01-08T21:24:47.673Z,1736371487.673 [DAT](INFO): DAT read: Tx time:21:24:47.0230 2025-01-08T21:24:47.673Z,1736371487.673 [DAT](INFO): Ping request sent. 2025-01-08T21:24:47.673Z,1736371487.673 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:47.674Z,1736371487.674 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:47.732Z,1736371487.732 [DAT](INFO): direction in FSK: [-0.189913,0.455770,0.869602] 2025-01-08T21:24:47.732Z,1736371487.732 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:47.732Z,1736371487.732 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:47.746Z,1736371487.746 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:47.746Z,1736371487.746 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:47.790Z,1736371487.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:47.828Z,1736371487.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 317.899994 m, deltaT: 3.780451 s, deltaX: -1.300018 m, approachRate: -0.343879 m/s, rangeRepo size: 4 2025-01-08T21:24:47.831Z,1736371487.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 317.899994 m, bearing: 327.990494 deg, lat: 36.903976 deg, lon: -122.115628 deg, deltaT: 3.780451 s, deltaX: -1.300018 m, approachRate: -0.343879 m/s, posRepo size: 4 2025-01-08T21:24:47.836Z,1736371487.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.90 m. 2025-01-08T21:24:47.838Z,1736371487.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.899994 m, nav range: 64.346428 m, bearing: 356.347963 deg, approach rate: 0.000000 m/s, LOS rate: 0.125368 deg/s, cmd heading: 213.588184 deg, new cmd heading: 213.808664 deg. 2025-01-08T21:24:47.844Z,1736371487.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.731665 target range: 317.899994 and range: 317.90 m. 2025-01-08T21:24:47.896Z,1736371487.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:47.898Z,1736371487.898 [DAT](INFO): DAT read: TxSync time:21:24:47.0222 2025-01-08T21:24:48.118Z,1736371488.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:48.127Z,1736371488.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.90 m. 2025-01-08T21:24:48.148Z,1736371488.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:48.151Z,1736371488.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.899994 m, nav range: 64.528519 m, bearing: 356.418354 deg, approach rate: 0.600027 m/s, LOS rate: 0.231299 deg/s, cmd heading: 213.808663 deg, new cmd heading: 214.019240 deg. 2025-01-08T21:24:48.156Z,1736371488.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.735340 target range: 317.899994 and range: 317.90 m. 2025-01-08T21:24:48.400Z,1736371488.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:48.581Z,1736371488.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:48.629Z,1736371488.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.90 m. 2025-01-08T21:24:48.654Z,1736371488.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:48.664Z,1736371488.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.899994 m, nav range: 64.785973 m, bearing: 356.517297 deg, approach rate: 0.527391 m/s, LOS rate: 0.201877 deg/s, cmd heading: 214.019237 deg, new cmd heading: 214.314883 deg. 2025-01-08T21:24:48.669Z,1736371488.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740500 target range: 317.899994 and range: 317.90 m. 2025-01-08T21:24:48.904Z,1736371488.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:48.997Z,1736371488.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:49.022Z,1736371489.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.90 m. 2025-01-08T21:24:49.035Z,1736371489.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.899994 m, nav range: 65.010536 m, bearing: 356.611122 deg, approach rate: 0.551504 m/s, LOS rate: 0.229628 deg/s, cmd heading: 214.314889 deg, new cmd heading: 214.595390 deg. 2025-01-08T21:24:49.036Z,1736371489.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745396 target range: 317.899994 and range: 317.90 m. 2025-01-08T21:24:49.157Z,1736371489.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:49.341Z,1736371489.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:49.357Z,1736371489.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:49.358Z,1736371489.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.90 m. 2025-01-08T21:24:49.378Z,1736371489.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.899994 m, nav range: 65.196320 m, bearing: 356.689066 deg, approach rate: 0.552179 m/s, LOS rate: 0.231002 deg/s, cmd heading: 214.595391 deg, new cmd heading: 214.828555 deg. 2025-01-08T21:24:49.384Z,1736371489.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.749466 target range: 317.899994 and range: 317.90 m. 2025-01-08T21:24:49.408Z,1736371489.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:49.408Z,1736371489.408 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:49.409Z,1736371489.409 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:49.409Z,1736371489.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:49.662Z,1736371489.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:49.664Z,1736371489.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990340 2025-01-08T21:24:49.769Z,1736371489.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:49.780Z,1736371489.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.90 m. 2025-01-08T21:24:49.782Z,1736371489.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.899994 m, nav range: 65.443970 m, bearing: 356.773938 deg, approach rate: 0.589507 m/s, LOS rate: 0.201266 deg/s, cmd heading: 214.828560 deg, new cmd heading: 215.082212 deg. 2025-01-08T21:24:49.783Z,1736371489.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753893 target range: 317.899994 and range: 317.90 m. 2025-01-08T21:24:49.912Z,1736371489.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:49.913Z,1736371489.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239985 2025-01-08T21:24:50.164Z,1736371490.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:50.165Z,1736371490.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491054 2025-01-08T21:24:50.170Z,1736371490.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:50.181Z,1736371490.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.90 m. 2025-01-08T21:24:50.184Z,1736371490.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.899994 m, nav range: 65.675117 m, bearing: 356.853993 deg, approach rate: 0.574834 m/s, LOS rate: 0.198387 deg/s, cmd heading: 215.082206 deg, new cmd heading: 215.321526 deg. 2025-01-08T21:24:50.185Z,1736371490.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.758070 target range: 317.899994 and range: 317.90 m. 2025-01-08T21:24:50.418Z,1736371490.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:50.420Z,1736371490.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745586 2025-01-08T21:24:50.568Z,1736371490.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:50.576Z,1736371490.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.90 m. 2025-01-08T21:24:50.578Z,1736371490.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.899994 m, nav range: 65.904350 m, bearing: 356.934056 deg, approach rate: 0.580201 m/s, LOS rate: 0.201939 deg/s, cmd heading: 215.321522 deg, new cmd heading: 215.560875 deg. 2025-01-08T21:24:50.580Z,1736371490.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.762247 target range: 317.899994 and range: 317.90 m. 2025-01-08T21:24:50.670Z,1736371490.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:50.673Z,1736371490.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998741 2025-01-08T21:24:50.920Z,1736371490.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:50.920Z,1736371490.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246910 2025-01-08T21:24:50.991Z,1736371490.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:51.000Z,1736371491.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.90 m. 2025-01-08T21:24:51.009Z,1736371491.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.899994 m, nav range: 66.145248 m, bearing: 357.031583 deg, approach rate: 0.567380 m/s, LOS rate: 0.228865 deg/s, cmd heading: 215.560879 deg, new cmd heading: 215.852391 deg. 2025-01-08T21:24:51.010Z,1736371491.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767335 target range: 317.899994 and range: 317.90 m. 2025-01-08T21:24:51.172Z,1736371491.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:51.172Z,1736371491.172 [DAT](INFO): DAT read: Rx Time:21:24:49.8502 2025-01-08T21:24:51.173Z,1736371491.173 [DAT](INFO): Rx dataTimestamp_ set to:1736371491.172588 2025-01-08T21:24:51.173Z,1736371491.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499904 2025-01-08T21:24:51.361Z,1736371491.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:51.370Z,1736371491.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:51.373Z,1736371491.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.90 m. 2025-01-08T21:24:51.376Z,1736371491.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.899994 m, nav range: 66.355118 m, bearing: 357.117006 deg, approach rate: 0.563857 m/s, LOS rate: 0.228781 deg/s, cmd heading: 215.852392 deg, new cmd heading: 216.107849 deg. 2025-01-08T21:24:51.377Z,1736371491.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.771794 target range: 317.899994 and range: 317.90 m. 2025-01-08T21:24:51.424Z,1736371491.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:51.425Z,1736371491.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751812 2025-01-08T21:24:51.678Z,1736371491.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:51.699Z,1736371491.699 [DAT](INFO): DAT read: 21:24:49.8502 LVL= 13696, 24561, 20386, 28371, AGC= 63, IDX= 443,-0.09, 2.586, 1.627, 1.096, 1.996, PHS= 0.678,-0.321,-0.903, RAW= 68.7, 7.9, CAL= 69.8, 11.3, ROT= 80.2, -11.3 2025-01-08T21:24:51.700Z,1736371491.700 [DAT](INFO): got valid direction response: 21:24:49.8502 LVL= 13696, 24561, 20386, 28371, AGC= 63, IDX= 443,-0.09, 2.586, 1.627, 1.096, 1.996, PHS= 0.678,-0.321,-0.903, RAW= 68.7, 7.9, CAL= 69.8, 11.3, ROT= 80.2, -11.3 2025-01-08T21:24:51.701Z,1736371491.701 [DAT](INFO): DAT read: Bearing 80.2, -11.3 (Local) 2025-01-08T21:24:51.702Z,1736371491.702 [DAT](INFO): Local bearing/azimuth received: Bearing 80.2, -11.3 (Local) 2025-01-08T21:24:51.703Z,1736371491.703 [DAT](INFO): DAT read: Range 10 to 50 : 317.3 m (Round-trip 423.1 ms) speed 0.0 m/s 2025-01-08T21:24:51.704Z,1736371491.704 [DAT](INFO): DAT read: user:1742> 2025-01-08T21:24:51.705Z,1736371491.705 [DAT](INFO): DAT read: Tx time:21:24:50.9730 2025-01-08T21:24:51.705Z,1736371491.705 [DAT](INFO): Ping request sent. 2025-01-08T21:24:51.705Z,1736371491.705 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:51.706Z,1736371491.706 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:51.706Z,1736371491.706 [DAT](INFO): direction in FSK: [-0.193555,0.456014,0.868670] 2025-01-08T21:24:51.707Z,1736371491.707 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:51.707Z,1736371491.707 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:51.710Z,1736371491.710 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:51.710Z,1736371491.710 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:51.844Z,1736371491.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:51.866Z,1736371491.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 317.299988 m, deltaT: 4.033570 s, deltaX: -0.600006 m, approachRate: -0.148753 m/s, rangeRepo size: 4 2025-01-08T21:24:51.872Z,1736371491.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 317.299988 m, bearing: 336.272670 deg, lat: 36.904329 deg, lon: -122.115884 deg, deltaT: 4.033570 s, deltaX: -0.600006 m, approachRate: -0.148753 m/s, posRepo size: 4 2025-01-08T21:24:51.873Z,1736371491.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.30 m. 2025-01-08T21:24:51.880Z,1736371491.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.299988 m, nav range: 108.988441 m, bearing: 346.231931 deg, approach rate: 0.000000 m/s, LOS rate: 0.228781 deg/s, cmd heading: 216.107855 deg, new cmd heading: 216.445824 deg. 2025-01-08T21:24:51.881Z,1736371491.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777692 target range: 317.299988 and range: 317.30 m. 2025-01-08T21:24:51.928Z,1736371491.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:51.929Z,1736371491.929 [DAT](INFO): DAT read: TxSync time:21:24:50.9722 2025-01-08T21:24:52.170Z,1736371492.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:52.180Z,1736371492.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:52.182Z,1736371492.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.30 m. 2025-01-08T21:24:52.185Z,1736371492.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.299988 m, nav range: 109.149017 m, bearing: 346.302912 deg, approach rate: 0.505910 m/s, LOS rate: 0.223304 deg/s, cmd heading: 216.445826 deg, new cmd heading: 216.658455 deg. 2025-01-08T21:24:52.186Z,1736371492.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781403 target range: 317.299988 and range: 317.30 m. 2025-01-08T21:24:52.432Z,1736371492.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:52.614Z,1736371492.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:52.644Z,1736371492.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.30 m. 2025-01-08T21:24:52.686Z,1736371492.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:52.691Z,1736371492.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.299988 m, nav range: 109.367386 m, bearing: 346.399731 deg, approach rate: 0.472715 m/s, LOS rate: 0.209172 deg/s, cmd heading: 216.658450 deg, new cmd heading: 216.948325 deg. 2025-01-08T21:24:52.706Z,1736371492.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786463 target range: 317.299988 and range: 317.30 m. 2025-01-08T21:24:52.938Z,1736371492.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:53.076Z,1736371493.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:53.086Z,1736371493.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.30 m. 2025-01-08T21:24:53.089Z,1736371493.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.299988 m, nav range: 109.586670 m, bearing: 346.513518 deg, approach rate: 0.497068 m/s, LOS rate: 0.257412 deg/s, cmd heading: 216.948323 deg, new cmd heading: 217.288995 deg. 2025-01-08T21:24:53.090Z,1736371493.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792408 target range: 317.299988 and range: 317.30 m. 2025-01-08T21:24:53.188Z,1736371493.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:53.440Z,1736371493.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:53.447Z,1736371493.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:53.454Z,1736371493.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:53.456Z,1736371493.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.30 m. 2025-01-08T21:24:53.459Z,1736371493.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.299988 m, nav range: 109.760406 m, bearing: 346.605474 deg, approach rate: 0.468459 m/s, LOS rate: 0.247557 deg/s, cmd heading: 217.288999 deg, new cmd heading: 217.564430 deg. 2025-01-08T21:24:53.460Z,1736371493.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797216 target range: 317.299988 and range: 317.30 m. 2025-01-08T21:24:53.694Z,1736371493.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:53.697Z,1736371493.697 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:53.697Z,1736371493.697 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:53.699Z,1736371493.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:53.881Z,1736371493.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:53.889Z,1736371493.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.30 m. 2025-01-08T21:24:53.892Z,1736371493.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.299988 m, nav range: 109.954765 m, bearing: 346.725053 deg, approach rate: 0.448915 m/s, LOS rate: 0.275706 deg/s, cmd heading: 217.564434 deg, new cmd heading: 217.922532 deg. 2025-01-08T21:24:53.893Z,1736371493.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803466 target range: 317.299988 and range: 317.30 m. 2025-01-08T21:24:53.945Z,1736371493.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:53.946Z,1736371493.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240692 2025-01-08T21:24:54.196Z,1736371494.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:54.197Z,1736371494.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491728 2025-01-08T21:24:54.266Z,1736371494.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:54.282Z,1736371494.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.30 m. 2025-01-08T21:24:54.289Z,1736371494.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.299988 m, nav range: 110.126671 m, bearing: 346.831036 deg, approach rate: 0.437392 m/s, LOS rate: 0.269239 deg/s, cmd heading: 217.922527 deg, new cmd heading: 218.239976 deg. 2025-01-08T21:24:54.290Z,1736371494.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.809006 target range: 317.299988 and range: 317.30 m. 2025-01-08T21:24:54.448Z,1736371494.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:54.448Z,1736371494.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743179 2025-01-08T21:24:54.682Z,1736371494.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:54.701Z,1736371494.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:54.704Z,1736371494.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998629 2025-01-08T21:24:54.754Z,1736371494.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.30 m. 2025-01-08T21:24:54.761Z,1736371494.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.299988 m, nav range: 110.312614 m, bearing: 346.945653 deg, approach rate: 0.394111 m/s, LOS rate: 0.242522 deg/s, cmd heading: 218.239980 deg, new cmd heading: 218.583246 deg. 2025-01-08T21:24:54.763Z,1736371494.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.814997 target range: 317.299988 and range: 317.30 m. 2025-01-08T21:24:54.954Z,1736371494.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:54.957Z,1736371494.957 [DAT](INFO): DAT read: Rx Time:21:24:53.8000 2025-01-08T21:24:54.957Z,1736371494.957 [DAT](INFO): Rx dataTimestamp_ set to:1736371494.956759 2025-01-08T21:24:54.958Z,1736371494.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252415 2025-01-08T21:24:55.076Z,1736371495.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:55.087Z,1736371495.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.30 m. 2025-01-08T21:24:55.089Z,1736371495.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.299988 m, nav range: 110.479080 m, bearing: 347.063415 deg, approach rate: 0.500884 m/s, LOS rate: 0.353802 deg/s, cmd heading: 218.583252 deg, new cmd heading: 218.936000 deg. 2025-01-08T21:24:55.090Z,1736371495.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.821154 target range: 317.299988 and range: 317.30 m. 2025-01-08T21:24:55.204Z,1736371495.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:55.204Z,1736371495.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499192 2025-01-08T21:24:55.457Z,1736371495.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:55.460Z,1736371495.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753874 2025-01-08T21:24:55.511Z,1736371495.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:55.536Z,1736371495.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:55.538Z,1736371495.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.30 m. 2025-01-08T21:24:55.546Z,1736371495.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.299988 m, nav range: 110.662689 m, bearing: 347.193097 deg, approach rate: 0.406364 m/s, LOS rate: 0.286536 deg/s, cmd heading: 218.936004 deg, new cmd heading: 219.324399 deg. 2025-01-08T21:24:55.554Z,1736371495.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.827933 target range: 317.299988 and range: 317.30 m. 2025-01-08T21:24:55.709Z,1736371495.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:55.754Z,1736371495.754 [DAT](INFO): DAT read: 21:24:53.8000 LVL= 18064, 30401, 24370, 28723, AGC= 59, IDX= 440, 0.32,-1.625,-2.675,-3.100,-2.310, PHS= 0.774,-0.318,-0.793, RAW= 72.8, 4.9, CAL= 75.7, 4.5, ROT= 74.3, -4.5 2025-01-08T21:24:55.764Z,1736371495.764 [DAT](INFO): got valid direction response: 21:24:53.8000 LVL= 18064, 30401, 24370, 28723, AGC= 59, IDX= 440, 0.32,-1.625,-2.675,-3.100,-2.310, PHS= 0.774,-0.318,-0.793, RAW= 72.8, 4.9, CAL= 75.7, 4.5, ROT= 74.3, -4.5 2025-01-08T21:24:55.765Z,1736371495.765 [DAT](INFO): DAT read: Bearing 74.3, -4.5 (Local) 2025-01-08T21:24:55.766Z,1736371495.766 [DAT](INFO): Local bearing/azimuth received: Bearing 74.3, -4.5 (Local) 2025-01-08T21:24:55.793Z,1736371495.793 [DAT](INFO): DAT read: Range 10 to 50 : 317.1 m (Round-trip 422.8 ms) speed 0.1 m/s 2025-01-08T21:24:55.795Z,1736371495.795 [DAT](INFO): DAT read: user:1743> 2025-01-08T21:24:55.797Z,1736371495.797 [DAT](INFO): DAT read: Tx time:21:24:54.9231 2025-01-08T21:24:55.797Z,1736371495.797 [DAT](INFO): Ping request sent. 2025-01-08T21:24:55.797Z,1736371495.797 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:55.798Z,1736371495.798 [DAT](INFO): DAT read: TxSync time:21:24:54.9223 2025-01-08T21:24:55.799Z,1736371495.799 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:55.810Z,1736371495.810 [DAT](INFO): direction in FSK: [-0.145880,0.393586,0.907640] 2025-01-08T21:24:55.810Z,1736371495.810 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:55.810Z,1736371495.810 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:55.822Z,1736371495.822 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:55.822Z,1736371495.822 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:55.940Z,1736371495.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:55.960Z,1736371495.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:55.969Z,1736371495.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 317.100006 m, deltaT: 4.031314 s, deltaX: -0.199982 m, approachRate: -0.049607 m/s, rangeRepo size: 4 2025-01-08T21:24:55.976Z,1736371495.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 317.100006 m, bearing: 341.343682 deg, lat: 36.904329 deg, lon: -122.115966 deg, deltaT: 4.031314 s, deltaX: -0.199982 m, approachRate: -0.049607 m/s, posRepo size: 4 2025-01-08T21:24:55.976Z,1736371495.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.10 m. 2025-01-08T21:24:55.988Z,1736371495.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.100006 m, nav range: 112.656876 m, bearing: 343.719542 deg, approach rate: 0.000000 m/s, LOS rate: 0.286536 deg/s, cmd heading: 219.324396 deg, new cmd heading: 219.694258 deg. 2025-01-08T21:24:55.989Z,1736371495.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.834388 target range: 317.100006 and range: 317.10 m. 2025-01-08T21:24:56.212Z,1736371496.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:56.289Z,1736371496.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:56.308Z,1736371496.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.10 m. 2025-01-08T21:24:56.311Z,1736371496.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.100006 m, nav range: 112.786865 m, bearing: 343.829907 deg, approach rate: 0.382519 m/s, LOS rate: 0.324396 deg/s, cmd heading: 219.694264 deg, new cmd heading: 220.024974 deg. 2025-01-08T21:24:56.313Z,1736371496.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840160 target range: 317.100006 and range: 317.10 m. 2025-01-08T21:24:56.464Z,1736371496.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:56.695Z,1736371496.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:56.711Z,1736371496.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.10 m. 2025-01-08T21:24:56.718Z,1736371496.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:56.730Z,1736371496.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.100006 m, nav range: 112.938515 m, bearing: 343.958242 deg, approach rate: 0.376540 m/s, LOS rate: 0.318221 deg/s, cmd heading: 220.024968 deg, new cmd heading: 220.409449 deg. 2025-01-08T21:24:56.754Z,1736371496.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.846871 target range: 317.100006 and range: 317.10 m. 2025-01-08T21:24:56.968Z,1736371496.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:57.092Z,1736371497.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:57.117Z,1736371497.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.10 m. 2025-01-08T21:24:57.124Z,1736371497.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.100006 m, nav range: 113.085625 m, bearing: 344.086504 deg, approach rate: 0.362691 m/s, LOS rate: 0.315812 deg/s, cmd heading: 220.409453 deg, new cmd heading: 220.793735 deg. 2025-01-08T21:24:57.125Z,1736371497.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.853578 target range: 317.100006 and range: 317.10 m. 2025-01-08T21:24:57.221Z,1736371497.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:57.472Z,1736371497.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:57.492Z,1736371497.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:57.501Z,1736371497.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.10 m. 2025-01-08T21:24:57.504Z,1736371497.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.100006 m, nav range: 113.233475 m, bearing: 344.215746 deg, approach rate: 0.384372 m/s, LOS rate: 0.335555 deg/s, cmd heading: 220.793733 deg, new cmd heading: 221.180945 deg. 2025-01-08T21:24:57.505Z,1736371497.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.860336 target range: 317.100006 and range: 317.10 m. 2025-01-08T21:24:57.726Z,1736371497.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:57.909Z,1736371497.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:57.917Z,1736371497.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:24:57.919Z,1736371497.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.10 m. 2025-01-08T21:24:57.922Z,1736371497.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.100006 m, nav range: 113.387627 m, bearing: 344.344762 deg, approach rate: 0.369277 m/s, LOS rate: 0.308644 deg/s, cmd heading: 221.180950 deg, new cmd heading: 221.567468 deg. 2025-01-08T21:24:57.923Z,1736371497.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.867082 target range: 317.100006 and range: 317.10 m. 2025-01-08T21:24:57.977Z,1736371497.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:57.977Z,1736371497.977 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:24:57.978Z,1736371497.978 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:24:57.978Z,1736371497.978 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:24:58.228Z,1736371498.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:58.229Z,1736371498.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.432343 2025-01-08T21:24:58.300Z,1736371498.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:58.309Z,1736371498.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.10 m. 2025-01-08T21:24:58.313Z,1736371498.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.100006 m, nav range: 113.532913 m, bearing: 344.465598 deg, approach rate: 0.372800 m/s, LOS rate: 0.309663 deg/s, cmd heading: 221.567471 deg, new cmd heading: 221.929509 deg. 2025-01-08T21:24:58.316Z,1736371498.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.873401 target range: 317.100006 and range: 317.10 m. 2025-01-08T21:24:58.480Z,1736371498.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:58.481Z,1736371498.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683645 2025-01-08T21:24:58.702Z,1736371498.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:58.710Z,1736371498.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.10 m. 2025-01-08T21:24:58.713Z,1736371498.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.100006 m, nav range: 113.679939 m, bearing: 344.589847 deg, approach rate: 0.366172 m/s, LOS rate: 0.309044 deg/s, cmd heading: 221.929512 deg, new cmd heading: 222.301771 deg. 2025-01-08T21:24:58.715Z,1736371498.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879898 target range: 317.100006 and range: 317.10 m. 2025-01-08T21:24:58.732Z,1736371498.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:58.732Z,1736371498.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.935197 2025-01-08T21:24:58.984Z,1736371498.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:58.985Z,1736371498.985 [DAT](INFO): DAT read: Rx Time:21:24:57.7485 2025-01-08T21:24:58.985Z,1736371498.985 [DAT](INFO): Rx dataTimestamp_ set to:1736371498.985095 2025-01-08T21:24:58.986Z,1736371498.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.188856 2025-01-08T21:24:59.119Z,1736371499.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:59.128Z,1736371499.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.10 m. 2025-01-08T21:24:59.131Z,1736371499.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.100006 m, nav range: 113.839653 m, bearing: 344.710010 deg, approach rate: 0.382808 m/s, LOS rate: 0.287608 deg/s, cmd heading: 222.301771 deg, new cmd heading: 222.661751 deg. 2025-01-08T21:24:59.133Z,1736371499.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.886181 target range: 317.100006 and range: 317.10 m. 2025-01-08T21:24:59.236Z,1736371499.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:59.237Z,1736371499.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.439442 2025-01-08T21:24:59.488Z,1736371499.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:59.494Z,1736371499.494 [DAT](INFO): DAT read: 21:24:57.7485 LVL= 14512, 30193, 24434, 28115, AGC= 64, IDX= 424,-0.15, 2.599, 1.292, 1.031, 1.779, PHS= 0.908,-0.440,-0.751, RAW= 79.8, 3.7, CAL= 84.4, 1.7, ROT= 65.6, -1.7 2025-01-08T21:24:59.496Z,1736371499.496 [DAT](INFO): got valid direction response: 21:24:57.7485 LVL= 14512, 30193, 24434, 28115, AGC= 64, IDX= 424,-0.15, 2.599, 1.292, 1.031, 1.779, PHS= 0.908,-0.440,-0.751, RAW= 79.8, 3.7, CAL= 84.4, 1.7, ROT= 65.6, -1.7 2025-01-08T21:24:59.497Z,1736371499.497 [DAT](INFO): DAT read: Bearing 65.6, -1.7 (Local) 2025-01-08T21:24:59.497Z,1736371499.497 [DAT](INFO): Local bearing/azimuth received: Bearing 65.6, -1.7 (Local) 2025-01-08T21:24:59.499Z,1736371499.499 [DAT](INFO): DAT read: Range 10 to 50 : 315.9 m (Round-trip 421.2 ms) speed 0.1 m/s 2025-01-08T21:24:59.499Z,1736371499.499 [DAT](INFO): DAT read: user:1744> 2025-01-08T21:24:59.500Z,1736371499.500 [DAT](INFO): DAT read: Tx time:21:24:58.8731 2025-01-08T21:24:59.500Z,1736371499.500 [DAT](INFO): Ping request sent. 2025-01-08T21:24:59.500Z,1736371499.500 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:24:59.501Z,1736371499.501 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:24:59.502Z,1736371499.502 [DAT](INFO): direction in FSK: [-0.138061,0.281455,0.949591] 2025-01-08T21:24:59.502Z,1736371499.502 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:59.502Z,1736371499.502 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:59.506Z,1736371499.506 [DAT](INFO): publishing transmit ping time 2025-01-08T21:24:59.506Z,1736371499.506 [DAT](INFO): publishing direction and range info 2025-01-08T21:24:59.524Z,1736371499.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:24:59.568Z,1736371499.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 315.899994 m, deltaT: 3.778374 s, deltaX: -1.200012 m, approachRate: -0.317600 m/s, rangeRepo size: 4 2025-01-08T21:24:59.570Z,1736371499.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 315.899994 m, bearing: 7.257025 deg, lat: 36.904329 deg, lon: -122.115966 deg, deltaT: 3.778374 s, deltaX: -1.200012 m, approachRate: -0.317600 m/s, posRepo size: 4 2025-01-08T21:24:59.576Z,1736371499.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.90 m. 2025-01-08T21:24:59.583Z,1736371499.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.899994 m, nav range: 113.993439 m, bearing: 344.826754 deg, approach rate: 0.000000 m/s, LOS rate: 0.287608 deg/s, cmd heading: 222.661749 deg, new cmd heading: 223.041767 deg. 2025-01-08T21:24:59.592Z,1736371499.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.892813 target range: 315.899994 and range: 315.90 m. 2025-01-08T21:24:59.740Z,1736371499.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:59.741Z,1736371499.741 [DAT](INFO): DAT read: TxSync time:21:24:58.8723 2025-01-08T21:24:59.992Z,1736371499.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:24:59.994Z,1736371499.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:00.009Z,1736371500.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:00.011Z,1736371500.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.90 m. 2025-01-08T21:25:00.018Z,1736371500.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.899994 m, nav range: 114.179970 m, bearing: 344.950849 deg, approach rate: 0.420926 m/s, LOS rate: 0.279575 deg/s, cmd heading: 223.041767 deg, new cmd heading: 223.413439 deg. 2025-01-08T21:25:00.019Z,1736371500.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.899300 target range: 315.899994 and range: 315.90 m. 2025-01-08T21:25:00.244Z,1736371500.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:00.245Z,1736371500.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:00.246Z,1736371500.246 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:00.246Z,1736371500.246 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:00.322Z,1736371500.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:00.331Z,1736371500.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.90 m. 2025-01-08T21:25:00.334Z,1736371500.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.899994 m, nav range: 114.309120 m, bearing: 345.037406 deg, approach rate: 0.403483 m/s, LOS rate: 0.270110 deg/s, cmd heading: 223.413439 deg, new cmd heading: 223.672815 deg. 2025-01-08T21:25:00.335Z,1736371500.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.903827 target range: 315.899994 and range: 315.90 m. 2025-01-08T21:25:00.496Z,1736371500.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:00.497Z,1736371500.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996318 2025-01-08T21:25:00.749Z,1736371500.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:00.752Z,1736371500.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250557 2025-01-08T21:25:00.847Z,1736371500.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:00.868Z,1736371500.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.90 m. 2025-01-08T21:25:00.877Z,1736371500.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.899994 m, nav range: 114.514969 m, bearing: 345.176307 deg, approach rate: 0.383026 m/s, LOS rate: 0.257989 deg/s, cmd heading: 223.672808 deg, new cmd heading: 224.088753 deg. 2025-01-08T21:25:00.880Z,1736371500.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.911087 target range: 315.899994 and range: 315.90 m. 2025-01-08T21:25:00.000Z,1736371501.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:01.000Z,1736371501.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499814 2025-01-08T21:25:01.252Z,1736371501.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:01.253Z,1736371501.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752612 2025-01-08T21:25:01.331Z,1736371501.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:01.340Z,1736371501.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.90 m. 2025-01-08T21:25:01.342Z,1736371501.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.899994 m, nav range: 114.713753 m, bearing: 345.292850 deg, approach rate: 0.421716 m/s, LOS rate: 0.246815 deg/s, cmd heading: 224.088753 deg, new cmd heading: 224.437772 deg. 2025-01-08T21:25:01.344Z,1736371501.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917178 target range: 315.899994 and range: 315.90 m. 2025-01-08T21:25:01.505Z,1736371501.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:01.506Z,1736371501.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005335 2025-01-08T21:25:01.747Z,1736371501.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:01.758Z,1736371501.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:01.762Z,1736371501.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261873 2025-01-08T21:25:01.763Z,1736371501.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.90 m. 2025-01-08T21:25:01.769Z,1736371501.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.899994 m, nav range: 114.882988 m, bearing: 345.393477 deg, approach rate: 0.407333 m/s, LOS rate: 0.241843 deg/s, cmd heading: 224.437776 deg, new cmd heading: 224.739209 deg. 2025-01-08T21:25:01.780Z,1736371501.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.922439 target range: 315.899994 and range: 315.90 m. 2025-01-08T21:25:02.008Z,1736371502.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:02.008Z,1736371502.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507863 2025-01-08T21:25:02.162Z,1736371502.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:02.169Z,1736371502.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:02.172Z,1736371502.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.90 m. 2025-01-08T21:25:02.174Z,1736371502.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.899994 m, nav range: 115.057343 m, bearing: 345.484481 deg, approach rate: 0.419008 m/s, LOS rate: 0.218369 deg/s, cmd heading: 224.739206 deg, new cmd heading: 225.011803 deg. 2025-01-08T21:25:02.175Z,1736371502.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.927197 target range: 315.899994 and range: 315.90 m. 2025-01-08T21:25:02.263Z,1736371502.263 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:02.264Z,1736371502.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763177 2025-01-08T21:25:02.516Z,1736371502.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:02.516Z,1736371502.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015986 2025-01-08T21:25:02.538Z,1736371502.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:02.548Z,1736371502.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.90 m. 2025-01-08T21:25:02.550Z,1736371502.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.899994 m, nav range: 115.214401 m, bearing: 345.567703 deg, approach rate: 0.417240 m/s, LOS rate: 0.220785 deg/s, cmd heading: 225.011799 deg, new cmd heading: 225.261123 deg. 2025-01-08T21:25:02.552Z,1736371502.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.931548 target range: 315.899994 and range: 315.90 m. 2025-01-08T21:25:02.768Z,1736371502.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:02.769Z,1736371502.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268153 2025-01-08T21:25:02.974Z,1736371502.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:03.020Z,1736371503.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:03.021Z,1736371503.021 [DAT](INFO): DAT read: Rx Time:21:25:01.6969 2025-01-08T21:25:03.021Z,1736371503.021 [DAT](INFO): Rx dataTimestamp_ set to:1736371503.020803 2025-01-08T21:25:03.022Z,1736371503.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521114 2025-01-08T21:25:03.030Z,1736371503.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.90 m. 2025-01-08T21:25:03.037Z,1736371503.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.899994 m, nav range: 115.401566 m, bearing: 345.658859 deg, approach rate: 0.387971 m/s, LOS rate: 0.188649 deg/s, cmd heading: 225.261128 deg, new cmd heading: 225.534149 deg. 2025-01-08T21:25:03.038Z,1736371503.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.936313 target range: 315.899994 and range: 315.90 m. 2025-01-08T21:25:03.273Z,1736371503.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:03.273Z,1736371503.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773010 2025-01-08T21:25:03.368Z,1736371503.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:03.411Z,1736371503.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.90 m. 2025-01-08T21:25:03.415Z,1736371503.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.899994 m, nav range: 115.565163 m, bearing: 345.741352 deg, approach rate: 0.433966 m/s, LOS rate: 0.218517 deg/s, cmd heading: 225.534144 deg, new cmd heading: 225.781273 deg. 2025-01-08T21:25:03.422Z,1736371503.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.940627 target range: 315.899994 and range: 315.90 m. 2025-01-08T21:25:03.524Z,1736371503.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:03.531Z,1736371503.531 [DAT](INFO): DAT read: 21:25:01.6969 LVL= 16112, 28913, 25330, 28307, AGC= 63, IDX= 422,-0.18, 0.224,-1.362,-1.501,-0.890, PHS= 1.202,-0.425,-0.614, RAW= 84.6, -1.9, CAL= 92.1, -7.4, ROT= 57.9, 7.4 2025-01-08T21:25:03.532Z,1736371503.532 [DAT](INFO): got valid direction response: 21:25:01.6969 LVL= 16112, 28913, 25330, 28307, AGC= 63, IDX= 422,-0.18, 0.224,-1.362,-1.501,-0.890, PHS= 1.202,-0.425,-0.614, RAW= 84.6, -1.9, CAL= 92.1, -7.4, ROT= 57.9, 7.4 2025-01-08T21:25:03.533Z,1736371503.533 [DAT](INFO): DAT read: Bearing 57.9, 7.4 (Local) 2025-01-08T21:25:03.533Z,1736371503.533 [DAT](INFO): Local bearing/azimuth received: Bearing 57.9, 7.4 (Local) 2025-01-08T21:25:03.535Z,1736371503.535 [DAT](INFO): DAT read: Range 10 to 50 : 314.7 m (Round-trip 419.7 ms) speed 0.0 m/s 2025-01-08T21:25:03.539Z,1736371503.539 [DAT](INFO): DAT read: user:1745> 2025-01-08T21:25:03.540Z,1736371503.540 [DAT](INFO): DAT read: Tx time:21:25:02.8231 2025-01-08T21:25:03.540Z,1736371503.540 [DAT](INFO): Ping request sent. 2025-01-08T21:25:03.540Z,1736371503.540 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:03.540Z,1736371503.540 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:03.541Z,1736371503.541 [DAT](INFO): direction in FSK: [-0.039808,0.198345,0.979324] 2025-01-08T21:25:03.541Z,1736371503.541 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:03.542Z,1736371503.542 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:03.574Z,1736371503.574 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:03.574Z,1736371503.574 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:03.776Z,1736371503.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:03.777Z,1736371503.777 [DAT](INFO): DAT read: TxSync time:21:25:02.8223 2025-01-08T21:25:03.927Z,1736371503.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:03.978Z,1736371503.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 314.700012 m, deltaT: 4.036077 s, deltaX: -1.199982 m, approachRate: -0.297314 m/s, rangeRepo size: 4 2025-01-08T21:25:03.986Z,1736371503.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 314.700012 m, bearing: 34.615281 deg, lat: 36.904198 deg, lon: -122.115966 deg, deltaT: 4.036077 s, deltaX: -1.199982 m, approachRate: -0.297314 m/s, posRepo size: 4 2025-01-08T21:25:03.987Z,1736371503.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m. 2025-01-08T21:25:03.994Z,1736371503.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.700012 m, nav range: 101.711685 m, bearing: 343.846451 deg, approach rate: 0.000000 m/s, LOS rate: 0.218517 deg/s, cmd heading: 225.781274 deg, new cmd heading: 226.154136 deg. 2025-01-08T21:25:03.995Z,1736371503.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.947134 target range: 314.700012 and range: 314.70 m. 2025-01-08T21:25:04.028Z,1736371504.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:04.276Z,1736371504.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:04.280Z,1736371504.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:04.286Z,1736371504.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:04.288Z,1736371504.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m. 2025-01-08T21:25:04.291Z,1736371504.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.700012 m, nav range: 101.853798 m, bearing: 343.930665 deg, approach rate: 0.455348 m/s, LOS rate: 0.269457 deg/s, cmd heading: 226.154134 deg, new cmd heading: 226.406423 deg. 2025-01-08T21:25:04.335Z,1736371504.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.951538 target range: 314.700012 and range: 314.70 m. 2025-01-08T21:25:04.533Z,1736371504.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:04.533Z,1736371504.533 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:04.534Z,1736371504.534 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:04.534Z,1736371504.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:04.747Z,1736371504.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:04.755Z,1736371504.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m. 2025-01-08T21:25:04.758Z,1736371504.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.700012 m, nav range: 102.043716 m, bearing: 344.044359 deg, approach rate: 0.406729 m/s, LOS rate: 0.243034 deg/s, cmd heading: 226.406428 deg, new cmd heading: 226.746871 deg. 2025-01-08T21:25:04.759Z,1736371504.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.957479 target range: 314.700012 and range: 314.70 m. 2025-01-08T21:25:04.785Z,1736371504.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:04.785Z,1736371504.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245301 2025-01-08T21:25:05.036Z,1736371505.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:05.036Z,1736371505.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496447 2025-01-08T21:25:05.183Z,1736371505.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:05.192Z,1736371505.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m. 2025-01-08T21:25:05.195Z,1736371505.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.700012 m, nav range: 102.214127 m, bearing: 344.153525 deg, approach rate: 0.389972 m/s, LOS rate: 0.249401 deg/s, cmd heading: 226.746872 deg, new cmd heading: 227.073818 deg. 2025-01-08T21:25:05.196Z,1736371505.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.963186 target range: 314.700012 and range: 314.70 m. 2025-01-08T21:25:05.288Z,1736371505.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:05.289Z,1736371505.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748802 2025-01-08T21:25:05.540Z,1736371505.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:05.540Z,1736371505.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000313 2025-01-08T21:25:05.551Z,1736371505.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:05.589Z,1736371505.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m. 2025-01-08T21:25:05.596Z,1736371505.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.700012 m, nav range: 102.355087 m, bearing: 344.246484 deg, approach rate: 0.355359 m/s, LOS rate: 0.234024 deg/s, cmd heading: 227.073819 deg, new cmd heading: 227.352309 deg. 2025-01-08T21:25:05.598Z,1736371505.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.968046 target range: 314.700012 and range: 314.70 m. 2025-01-08T21:25:05.792Z,1736371505.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:05.792Z,1736371505.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252535 2025-01-08T21:25:05.973Z,1736371505.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:05.982Z,1736371505.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m. 2025-01-08T21:25:05.985Z,1736371505.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.700012 m, nav range: 102.514763 m, bearing: 344.358228 deg, approach rate: 0.405648 m/s, LOS rate: 0.283438 deg/s, cmd heading: 227.352313 deg, new cmd heading: 227.687019 deg. 2025-01-08T21:25:05.986Z,1736371505.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.973888 target range: 314.700012 and range: 314.70 m. 2025-01-08T21:25:06.045Z,1736371506.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:06.046Z,1736371506.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506026 2025-01-08T21:25:06.296Z,1736371506.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:06.297Z,1736371506.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757085 2025-01-08T21:25:06.370Z,1736371506.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:06.381Z,1736371506.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:06.383Z,1736371506.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m. 2025-01-08T21:25:06.398Z,1736371506.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.700012 m, nav range: 102.664291 m, bearing: 344.463768 deg, approach rate: 0.373349 m/s, LOS rate: 0.263134 deg/s, cmd heading: 227.687020 deg, new cmd heading: 228.003177 deg. 2025-01-08T21:25:06.404Z,1736371506.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.979406 target range: 314.700012 and range: 314.70 m. 2025-01-08T21:25:06.548Z,1736371506.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:06.548Z,1736371506.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008521 2025-01-08T21:25:06.779Z,1736371506.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:06.801Z,1736371506.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:06.802Z,1736371506.802 [DAT](INFO): DAT read: Rx Time:21:25:05.6462 2025-01-08T21:25:06.804Z,1736371506.804 [DAT](INFO): Rx dataTimestamp_ set to:1736371506.802767 2025-01-08T21:25:06.805Z,1736371506.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265091 2025-01-08T21:25:06.816Z,1736371506.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m. 2025-01-08T21:25:06.824Z,1736371506.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.700012 m, nav range: 102.818230 m, bearing: 344.571848 deg, approach rate: 0.359416 m/s, LOS rate: 0.251968 deg/s, cmd heading: 228.003176 deg, new cmd heading: 228.326926 deg. 2025-01-08T21:25:06.831Z,1736371506.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.985057 target range: 314.700012 and range: 314.70 m. 2025-01-08T21:25:07.052Z,1736371507.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:07.053Z,1736371507.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512886 2025-01-08T21:25:07.202Z,1736371507.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:07.211Z,1736371507.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m. 2025-01-08T21:25:07.214Z,1736371507.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.700012 m, nav range: 102.961655 m, bearing: 344.693963 deg, approach rate: 0.358777 m/s, LOS rate: 0.305045 deg/s, cmd heading: 228.326927 deg, new cmd heading: 228.692756 deg. 2025-01-08T21:25:07.216Z,1736371507.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.991441 target range: 314.700012 and range: 314.70 m. 2025-01-08T21:25:07.306Z,1736371507.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:07.308Z,1736371507.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767930 2025-01-08T21:25:07.556Z,1736371507.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:07.567Z,1736371507.567 [DAT](INFO): DAT read: 21:25:05.6462 LVL= 15600, 32753, 23746, 32755, AGC= 65, IDX= 430, 0.18,-0.799,-2.522,-2.570,-1.936, PHS= 1.225,-0.539,-0.638, RAW= 87.3, -0.5, CAL= 94.6, -5.2, ROT= 55.4, 5.2 2025-01-08T21:25:07.568Z,1736371507.568 [DAT](INFO): got valid direction response: 21:25:05.6462 LVL= 15600, 32753, 23746, 32755, AGC= 65, IDX= 430, 0.18,-0.799,-2.522,-2.570,-1.936, PHS= 1.225,-0.539,-0.638, RAW= 87.3, -0.5, CAL= 94.6, -5.2, ROT= 55.4, 5.2 2025-01-08T21:25:07.569Z,1736371507.569 [DAT](INFO): DAT read: Bearing 55.4, 5.2 (Local) 2025-01-08T21:25:07.569Z,1736371507.569 [DAT](INFO): Local bearing/azimuth received: Bearing 55.4, 5.2 (Local) 2025-01-08T21:25:07.571Z,1736371507.571 [DAT](INFO): DAT read: Range 10 to 50 : 314.1 m (Round-trip 418.9 ms) speed 0.0 m/s 2025-01-08T21:25:07.576Z,1736371507.576 [DAT](INFO): DAT read: user:1746> 2025-01-08T21:25:07.577Z,1736371507.577 [DAT](INFO): DAT read: Tx time:21:25:06.7732 2025-01-08T21:25:07.577Z,1736371507.577 [DAT](INFO): Ping request sent. 2025-01-08T21:25:07.577Z,1736371507.577 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:07.578Z,1736371507.578 [DAT](INFO): DAT read: TxSync time:21:25:06.7724 2025-01-08T21:25:07.579Z,1736371507.579 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:07.604Z,1736371507.604 [DAT](INFO): direction in FSK: [-0.070491,0.153575,0.985619] 2025-01-08T21:25:07.604Z,1736371507.604 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:07.605Z,1736371507.605 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:07.616Z,1736371507.616 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:07.616Z,1736371507.616 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:07.629Z,1736371507.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:07.692Z,1736371507.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 314.100006 m, deltaT: 4.032106 s, deltaX: -0.600006 m, approachRate: -0.148807 m/s, rangeRepo size: 4 2025-01-08T21:25:07.694Z,1736371507.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 314.100006 m, bearing: 53.500772 deg, lat: 36.903974 deg, lon: -122.115529 deg, deltaT: 4.032106 s, deltaX: -0.600006 m, approachRate: -0.148807 m/s, posRepo size: 4 2025-01-08T21:25:07.694Z,1736371507.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:07.702Z,1736371507.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 75.599594 m, bearing: 8.996300 deg, approach rate: 0.000000 m/s, LOS rate: 0.305045 deg/s, cmd heading: 228.692751 deg, new cmd heading: 229.128125 deg. 2025-01-08T21:25:07.703Z,1736371507.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.999040 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:07.808Z,1736371507.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:08.060Z,1736371508.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:08.111Z,1736371508.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:08.131Z,1736371508.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:08.134Z,1736371508.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 75.846405 m, bearing: 9.141288 deg, approach rate: 0.560272 m/s, LOS rate: 0.328058 deg/s, cmd heading: 229.128121 deg, new cmd heading: 229.561662 deg. 2025-01-08T21:25:08.135Z,1736371508.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.006607 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:08.312Z,1736371508.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:08.425Z,1736371508.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:08.459Z,1736371508.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:08.462Z,1736371508.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:08.476Z,1736371508.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 76.006958 m, bearing: 9.235382 deg, approach rate: 0.480242 m/s, LOS rate: 0.280856 deg/s, cmd heading: 229.561674 deg, new cmd heading: 229.843357 deg. 2025-01-08T21:25:08.478Z,1736371508.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.011523 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:08.565Z,1736371508.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:08.566Z,1736371508.566 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:08.566Z,1736371508.566 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:08.566Z,1736371508.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:08.816Z,1736371508.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:08.816Z,1736371508.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239141 2025-01-08T21:25:08.821Z,1736371508.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:08.842Z,1736371508.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:08.845Z,1736371508.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 76.209557 m, bearing: 9.354226 deg, approach rate: 0.532759 m/s, LOS rate: 0.311684 deg/s, cmd heading: 229.843351 deg, new cmd heading: 230.198930 deg. 2025-01-08T21:25:08.847Z,1736371508.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.017729 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:09.068Z,1736371509.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:09.068Z,1736371509.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491076 2025-01-08T21:25:09.240Z,1736371509.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:09.250Z,1736371509.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:09.252Z,1736371509.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 76.418617 m, bearing: 9.492735 deg, approach rate: 0.512784 m/s, LOS rate: 0.338807 deg/s, cmd heading: 230.198931 deg, new cmd heading: 230.613316 deg. 2025-01-08T21:25:09.253Z,1736371509.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.024961 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:09.320Z,1736371509.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:09.321Z,1736371509.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743295 2025-01-08T21:25:09.572Z,1736371509.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:09.572Z,1736371509.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995054 2025-01-08T21:25:09.654Z,1736371509.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:09.677Z,1736371509.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:09.685Z,1736371509.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 76.624771 m, bearing: 9.629403 deg, approach rate: 0.482172 m/s, LOS rate: 0.318791 deg/s, cmd heading: 230.613305 deg, new cmd heading: 231.022198 deg. 2025-01-08T21:25:09.686Z,1736371509.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.032098 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:09.824Z,1736371509.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:09.824Z,1736371509.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247135 2025-01-08T21:25:10.057Z,1736371510.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:10.066Z,1736371510.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:10.069Z,1736371510.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 76.826477 m, bearing: 9.774718 deg, approach rate: 0.518798 m/s, LOS rate: 0.372775 deg/s, cmd heading: 231.022187 deg, new cmd heading: 231.456978 deg. 2025-01-08T21:25:10.070Z,1736371510.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.039686 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:10.076Z,1736371510.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:10.076Z,1736371510.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499150 2025-01-08T21:25:10.328Z,1736371510.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:10.329Z,1736371510.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751808 2025-01-08T21:25:10.430Z,1736371510.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:10.438Z,1736371510.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:10.441Z,1736371510.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 77.012550 m, bearing: 9.909405 deg, approach rate: 0.499853 m/s, LOS rate: 0.360939 deg/s, cmd heading: 231.456970 deg, new cmd heading: 231.860048 deg. 2025-01-08T21:25:10.442Z,1736371510.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.046721 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:10.580Z,1736371510.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:10.581Z,1736371510.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003690 2025-01-08T21:25:10.832Z,1736371510.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:10.832Z,1736371510.832 [DAT](INFO): DAT read: Rx Time:21:25:09.6295 2025-01-08T21:25:10.833Z,1736371510.833 [DAT](INFO): Rx dataTimestamp_ set to:1736371510.832513 2025-01-08T21:25:10.833Z,1736371510.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256015 2025-01-08T21:25:10.839Z,1736371510.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:10.850Z,1736371510.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:10.881Z,1736371510.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:10.897Z,1736371510.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 77.216537 m, bearing: 10.056974 deg, approach rate: 0.493411 m/s, LOS rate: 0.356003 deg/s, cmd heading: 231.860060 deg, new cmd heading: 232.301590 deg. 2025-01-08T21:25:10.898Z,1736371510.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.054428 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:11.084Z,1736371511.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:11.084Z,1736371511.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507021 2025-01-08T21:25:11.265Z,1736371511.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:11.338Z,1736371511.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:11.347Z,1736371511.347 [DAT](INFO): DAT read: 21:25:09.6295 LVL= 20368, 31681, 21714, 29587, AGC= 66, IDX= 275, 0.14,-2.458, 2.780, 2.344, 2.490, PHS= 1.422, 0.336,-0.150, RAW= 72.4, -22.2, CAL= 86.4, -29.8, ROT= 63.6, 29.8 2025-01-08T21:25:11.349Z,1736371511.349 [DAT](INFO): got valid direction response: 21:25:09.6295 LVL= 20368, 31681, 21714, 29587, AGC= 66, IDX= 275, 0.14,-2.458, 2.780, 2.344, 2.490, PHS= 1.422, 0.336,-0.150, RAW= 72.4, -22.2, CAL= 86.4, -29.8, ROT= 63.6, 29.8 2025-01-08T21:25:11.350Z,1736371511.350 [DAT](INFO): DAT read: Bearing 63.6, 29.8 (Local) 2025-01-08T21:25:11.350Z,1736371511.350 [DAT](INFO): Local bearing/azimuth received: Bearing 63.6, 29.8 (Local) 2025-01-08T21:25:11.352Z,1736371511.352 [DAT](INFO): DAT read: Range 10 to 50 : 339.1 m (Round-trip 452.2 ms) speed 0.4 m/s 2025-01-08T21:25:11.353Z,1736371511.353 [DAT](INFO): DAT read: user:1747> 2025-01-08T21:25:11.353Z,1736371511.353 [DAT](INFO): DAT read: Tx time:21:25:10.7232 2025-01-08T21:25:11.354Z,1736371511.354 [DAT](INFO): Ping request sent. 2025-01-08T21:25:11.354Z,1736371511.354 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:11.354Z,1736371511.354 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:11.359Z,1736371511.359 [DAT](INFO): direction in FSK: [0.354100,0.343105,0.869995] 2025-01-08T21:25:11.360Z,1736371511.360 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:11.360Z,1736371511.360 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:11.363Z,1736371511.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:11.365Z,1736371511.365 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:11.365Z,1736371511.365 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:11.377Z,1736371511.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 77.429466 m, bearing: 10.215556 deg, approach rate: 0.441019 m/s, LOS rate: 0.327552 deg/s, cmd heading: 232.301591 deg, new cmd heading: 232.776018 deg. 2025-01-08T21:25:11.378Z,1736371511.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.062708 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:11.588Z,1736371511.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:11.589Z,1736371511.589 [DAT](INFO): DAT read: TxSync time:21:25:10.7224 2025-01-08T21:25:11.700Z,1736371511.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:11.715Z,1736371511.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 339.100006 m, deltaT: 3.782532 s, deltaX: 25.000000 m, approachRate: 6.609329 m/s, rangeRepo size: 4 2025-01-08T21:25:11.716Z,1736371511.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:11.718Z,1736371511.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 77.646355 m, bearing: 10.376976 deg, approach rate: 0.570924 m/s, LOS rate: 0.423723 deg/s, cmd heading: 232.776016 deg, new cmd heading: 233.258909 deg. 2025-01-08T21:25:11.720Z,1736371511.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.071136 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:11.843Z,1736371511.843 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:11.909Z,1736371511.909 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:25:12.096Z,1736371512.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:12.106Z,1736371512.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:12.116Z,1736371512.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:12.119Z,1736371512.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 77.854240 m, bearing: 10.524191 deg, approach rate: 0.516999 m/s, LOS rate: 0.365138 deg/s, cmd heading: 233.258910 deg, new cmd heading: 233.699369 deg. 2025-01-08T21:25:12.121Z,1736371512.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.078824 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:12.348Z,1736371512.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:12.476Z,1736371512.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:12.501Z,1736371512.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:12.508Z,1736371512.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 78.042213 m, bearing: 10.657767 deg, approach rate: 0.488103 m/s, LOS rate: 0.346017 deg/s, cmd heading: 233.699376 deg, new cmd heading: 234.099132 deg. 2025-01-08T21:25:12.509Z,1736371512.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085801 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:12.600Z,1736371512.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:12.852Z,1736371512.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:12.887Z,1736371512.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:12.894Z,1736371512.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:12.897Z,1736371512.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:12.905Z,1736371512.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 78.252083 m, bearing: 10.806708 deg, approach rate: 0.531066 m/s, LOS rate: 0.375876 deg/s, cmd heading: 234.099133 deg, new cmd heading: 234.544746 deg. 2025-01-08T21:25:12.908Z,1736371512.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093578 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:12.912Z,1736371512.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:25:13.104Z,1736371513.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:13.104Z,1736371513.104 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:13.104Z,1736371513.104 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:13.105Z,1736371513.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:13.306Z,1736371513.306 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +708, +12,A 2025-01-08T21:25:13.315Z,1736371513.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:25:13.315Z,1736371513.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:13.324Z,1736371513.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:13.326Z,1736371513.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 78.469406 m, bearing: 10.960965 deg, approach rate: 0.509091 m/s, LOS rate: 0.360356 deg/s, cmd heading: 234.544735 deg, new cmd heading: 235.006216 deg. 2025-01-08T21:25:13.327Z,1736371513.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.101632 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:13.356Z,1736371513.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:13.357Z,1736371513.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002666 2025-01-08T21:25:13.608Z,1736371513.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:13.609Z,1736371513.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254698 2025-01-08T21:25:13.697Z,1736371513.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:25:13.697Z,1736371513.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:13.706Z,1736371513.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:13.709Z,1736371513.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 78.663124 m, bearing: 11.098974 deg, approach rate: 0.506858 m/s, LOS rate: 0.360206 deg/s, cmd heading: 235.006209 deg, new cmd heading: 235.419208 deg. 2025-01-08T21:25:13.710Z,1736371513.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108840 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:13.862Z,1736371513.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:13.863Z,1736371513.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509068 2025-01-08T21:25:14.117Z,1736371514.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:14.118Z,1736371514.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763473 2025-01-08T21:25:14.155Z,1736371514.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:14.165Z,1736371514.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:14.167Z,1736371514.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 78.901398 m, bearing: 11.240232 deg, approach rate: 0.519345 m/s, LOS rate: 0.306958 deg/s, cmd heading: 235.419217 deg, new cmd heading: 235.841703 deg. 2025-01-08T21:25:14.168Z,1736371514.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.116214 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:14.368Z,1736371514.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:14.368Z,1736371514.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014520 2025-01-08T21:25:14.496Z,1736371514.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:14.505Z,1736371514.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:14.508Z,1736371514.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 79.078232 m, bearing: 11.346111 deg, approach rate: 0.519318 m/s, LOS rate: 0.310247 deg/s, cmd heading: 235.841706 deg, new cmd heading: 236.158631 deg. 2025-01-08T21:25:14.509Z,1736371514.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.121746 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:14.621Z,1736371514.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:14.621Z,1736371514.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267580 2025-01-08T21:25:14.872Z,1736371514.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:14.873Z,1736371514.873 [DAT](INFO): DAT read: Rx Time:21:25:13.5601 2025-01-08T21:25:14.873Z,1736371514.873 [DAT](INFO): Rx dataTimestamp_ set to:1736371514.872812 2025-01-08T21:25:14.874Z,1736371514.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519779 2025-01-08T21:25:14.921Z,1736371514.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:14.933Z,1736371514.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:14.944Z,1736371514.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:14.952Z,1736371514.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 79.296600 m, bearing: 11.478293 deg, approach rate: 0.496972 m/s, LOS rate: 0.299996 deg/s, cmd heading: 236.158626 deg, new cmd heading: 236.554073 deg. 2025-01-08T21:25:14.953Z,1736371514.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128647 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:15.124Z,1736371515.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:15.124Z,1736371515.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770585 2025-01-08T21:25:15.332Z,1736371515.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:15.341Z,1736371515.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.10 m. 2025-01-08T21:25:15.344Z,1736371515.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.100006 m, nav range: 79.507248 m, bearing: 11.595210 deg, approach rate: 0.531410 m/s, LOS rate: 0.294171 deg/s, cmd heading: 236.554067 deg, new cmd heading: 236.903885 deg. 2025-01-08T21:25:15.346Z,1736371515.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134753 target range: 314.100006 and range: 314.10 m. 2025-01-08T21:25:15.376Z,1736371515.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:15.386Z,1736371515.386 [DAT](INFO): DAT read: 21:25:13.5602 LVL= 13920, 30033, 19442, 24211, AGC= 63, IDX= 235, 0.48,-2.547, 2.717, 2.415, 2.593, PHS= 1.231, 0.170,-0.181, RAW= 76.2, -18.7, CAL= 89.2, -26.8, ROT= 60.8, 26.8 2025-01-08T21:25:15.388Z,1736371515.388 [DAT](INFO): got valid direction response: 21:25:13.5602 LVL= 13920, 30033, 19442, 24211, AGC= 63, IDX= 235, 0.48,-2.547, 2.717, 2.415, 2.593, PHS= 1.231, 0.170,-0.181, RAW= 76.2, -18.7, CAL= 89.2, -26.8, ROT= 60.8, 26.8 2025-01-08T21:25:15.389Z,1736371515.389 [DAT](INFO): DAT read: Bearing 60.8, 26.8 (Local) 2025-01-08T21:25:15.389Z,1736371515.389 [DAT](INFO): Local bearing/azimuth received: Bearing 60.8, 26.8 (Local) 2025-01-08T21:25:15.391Z,1736371515.391 [DAT](INFO): DAT read: Range 10 to 50 : 324.6 m (Round-trip 432.8 ms) speed 0.2 m/s 2025-01-08T21:25:15.391Z,1736371515.391 [DAT](INFO): DAT read: user:1748> 2025-01-08T21:25:15.392Z,1736371515.392 [DAT](INFO): DAT read: Tx time:21:25:14.6733 2025-01-08T21:25:15.393Z,1736371515.393 [DAT](INFO): Ping request sent. 2025-01-08T21:25:15.393Z,1736371515.393 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:15.393Z,1736371515.393 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:15.394Z,1736371515.394 [DAT](INFO): direction in FSK: [0.287491,0.300078,0.909562] 2025-01-08T21:25:15.394Z,1736371515.394 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:15.394Z,1736371515.394 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:15.410Z,1736371515.410 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:15.410Z,1736371515.410 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:15.628Z,1736371515.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:15.629Z,1736371515.629 [DAT](INFO): DAT read: TxSync time:21:25:14.6725 2025-01-08T21:25:15.716Z,1736371515.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:15.742Z,1736371515.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 324.600006 m, deltaT: 7.820334 s, deltaX: 10.500000 m, approachRate: 1.342654 m/s, rangeRepo size: 4 2025-01-08T21:25:15.748Z,1736371515.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 324.600006 m, bearing: 257.263263 deg, lat: 36.903498 deg, lon: -122.115529 deg, deltaT: 7.820334 s, deltaX: 10.500000 m, approachRate: 1.342654 m/s, posRepo size: 4 2025-01-08T21:25:15.749Z,1736371515.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T21:25:15.753Z,1736371515.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 29.843298 m, bearing: 32.807611 deg, approach rate: 0.000000 m/s, LOS rate: 0.294171 deg/s, cmd heading: 236.903882 deg, new cmd heading: 237.257292 deg. 2025-01-08T21:25:15.754Z,1736371515.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140921 target range: 324.600006 and range: 324.60 m. 2025-01-08T21:25:15.880Z,1736371515.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:16.132Z,1736371516.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:16.138Z,1736371516.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:16.148Z,1736371516.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T21:25:16.150Z,1736371516.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 30.103764 m, bearing: 32.932420 deg, approach rate: 0.641494 m/s, LOS rate: 0.304729 deg/s, cmd heading: 237.257303 deg, new cmd heading: 237.628485 deg. 2025-01-08T21:25:16.151Z,1736371516.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147399 target range: 324.600006 and range: 324.60 m. 2025-01-08T21:25:16.384Z,1736371516.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:16.517Z,1736371516.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:16.526Z,1736371516.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T21:25:16.530Z,1736371516.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 30.337633 m, bearing: 33.046490 deg, approach rate: 0.617959 m/s, LOS rate: 0.299087 deg/s, cmd heading: 237.628483 deg, new cmd heading: 237.968052 deg. 2025-01-08T21:25:16.531Z,1736371516.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153326 target range: 324.600006 and range: 324.60 m. 2025-01-08T21:25:16.636Z,1736371516.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:16.888Z,1736371516.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:16.926Z,1736371516.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:16.933Z,1736371516.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:16.936Z,1736371516.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T21:25:16.938Z,1736371516.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 30.589029 m, bearing: 33.171006 deg, approach rate: 0.614144 m/s, LOS rate: 0.301684 deg/s, cmd heading: 237.968053 deg, new cmd heading: 238.338525 deg. 2025-01-08T21:25:16.939Z,1736371516.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159792 target range: 324.600006 and range: 324.60 m. 2025-01-08T21:25:17.140Z,1736371517.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:17.140Z,1736371517.140 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:17.140Z,1736371517.140 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:17.140Z,1736371517.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:17.376Z,1736371517.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:17.386Z,1736371517.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T21:25:17.389Z,1736371517.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 30.860415 m, bearing: 33.272739 deg, approach rate: 0.601900 m/s, LOS rate: 0.223648 deg/s, cmd heading: 238.338522 deg, new cmd heading: 238.641035 deg. 2025-01-08T21:25:17.390Z,1736371517.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165072 target range: 324.600006 and range: 324.60 m. 2025-01-08T21:25:17.392Z,1736371517.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:17.393Z,1736371517.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999897 2025-01-08T21:25:17.644Z,1736371517.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:17.645Z,1736371517.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252190 2025-01-08T21:25:17.732Z,1736371517.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:17.741Z,1736371517.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T21:25:17.744Z,1736371517.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 31.073790 m, bearing: 33.360430 deg, approach rate: 0.600674 m/s, LOS rate: 0.245163 deg/s, cmd heading: 238.641045 deg, new cmd heading: 238.902308 deg. 2025-01-08T21:25:17.745Z,1736371517.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169632 target range: 324.600006 and range: 324.60 m. 2025-01-08T21:25:17.896Z,1736371517.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:17.897Z,1736371517.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504331 2025-01-08T21:25:18.148Z,1736371518.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:18.149Z,1736371518.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755925 2025-01-08T21:25:18.169Z,1736371518.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:18.178Z,1736371518.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T21:25:18.201Z,1736371518.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 31.330385 m, bearing: 33.480992 deg, approach rate: 0.587952 m/s, LOS rate: 0.273989 deg/s, cmd heading: 238.902313 deg, new cmd heading: 239.261034 deg. 2025-01-08T21:25:18.202Z,1736371518.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175893 target range: 324.600006 and range: 324.60 m. 2025-01-08T21:25:18.400Z,1736371518.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:18.401Z,1736371518.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008450 2025-01-08T21:25:18.536Z,1736371518.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:18.564Z,1736371518.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T21:25:18.566Z,1736371518.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 31.545650 m, bearing: 33.584375 deg, approach rate: 0.561647 m/s, LOS rate: 0.267894 deg/s, cmd heading: 239.261035 deg, new cmd heading: 239.569063 deg. 2025-01-08T21:25:18.568Z,1736371518.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.181269 target range: 324.600006 and range: 324.60 m. 2025-01-08T21:25:18.653Z,1736371518.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:18.654Z,1736371518.654 [DAT](INFO): DAT read: Rx Time:21:25:17.4910 2025-01-08T21:25:18.655Z,1736371518.655 [DAT](INFO): Rx dataTimestamp_ set to:1736371518.654350 2025-01-08T21:25:18.656Z,1736371518.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263495 2025-01-08T21:25:18.904Z,1736371518.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:18.904Z,1736371518.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511812 2025-01-08T21:25:18.944Z,1736371518.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:18.968Z,1736371518.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:18.970Z,1736371518.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T21:25:18.981Z,1736371518.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 31.783882 m, bearing: 33.701766 deg, approach rate: 0.582522 m/s, LOS rate: 0.284891 deg/s, cmd heading: 239.569076 deg, new cmd heading: 239.918605 deg. 2025-01-08T21:25:18.982Z,1736371518.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.187370 target range: 324.600006 and range: 324.60 m. 2025-01-08T21:25:19.158Z,1736371519.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:19.160Z,1736371519.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767120 2025-01-08T21:25:19.371Z,1736371519.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:19.383Z,1736371519.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.60 m. 2025-01-08T21:25:19.386Z,1736371519.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.600006 m, nav range: 32.027279 m, bearing: 33.823541 deg, approach rate: 0.589156 m/s, LOS rate: 0.292522 deg/s, cmd heading: 239.918618 deg, new cmd heading: 240.281161 deg. 2025-01-08T21:25:19.387Z,1736371519.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193697 target range: 324.600006 and range: 324.60 m. 2025-01-08T21:25:19.408Z,1736371519.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:19.416Z,1736371519.416 [DAT](INFO): DAT read: 21:25:17.4910 LVL= 21744, 32753, 25234, 32755, AGC= 65, IDX= 247, 0.11,-2.945, 1.781, 2.012, 2.592, PHS= 0.834,-0.763,-0.583, RAW= 95.9, 6.8, CAL= 104.7, 6.0, ROT= 45.3, -6.0 2025-01-08T21:25:19.417Z,1736371519.417 [DAT](INFO): got valid direction response: 21:25:17.4910 LVL= 21744, 32753, 25234, 32755, AGC= 65, IDX= 247, 0.11,-2.945, 1.781, 2.012, 2.592, PHS= 0.834,-0.763,-0.583, RAW= 95.9, 6.8, CAL= 104.7, 6.0, ROT= 45.3, -6.0 2025-01-08T21:25:19.420Z,1736371519.420 [DAT](INFO): DAT read: Bearing 45.3, -6.0 (Local) 2025-01-08T21:25:19.421Z,1736371519.421 [DAT](INFO): Local bearing/azimuth received: Bearing 45.3, -6.0 (Local) 2025-01-08T21:25:19.425Z,1736371519.425 [DAT](INFO): DAT read: Range 10 to 50 : 310.1 m (Round-trip 413.5 ms) speed 0.3 m/s 2025-01-08T21:25:19.437Z,1736371519.437 [DAT](INFO): DAT read: user:1749> 2025-01-08T21:25:19.438Z,1736371519.438 [DAT](INFO): DAT read: Tx time:21:25:18.5733 2025-01-08T21:25:19.439Z,1736371519.439 [DAT](INFO): Ping request sent. 2025-01-08T21:25:19.439Z,1736371519.439 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:19.440Z,1736371519.440 [DAT](INFO): DAT read: TxSync time:21:25:18.5725 2025-01-08T21:25:19.441Z,1736371519.441 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:19.443Z,1736371519.443 [DAT](INFO): direction in FSK: [-0.222842,0.011664,0.974785] 2025-01-08T21:25:19.450Z,1736371519.450 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:19.453Z,1736371519.453 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:19.466Z,1736371519.466 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:19.466Z,1736371519.466 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:19.660Z,1736371519.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:19.778Z,1736371519.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:19.809Z,1736371519.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 310.100006 m, deltaT: 4.031731 s, deltaX: -14.500000 m, approachRate: -3.596470 m/s, rangeRepo size: 4 2025-01-08T21:25:19.816Z,1736371519.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 310.100006 m, bearing: 94.788053 deg, lat: 36.903191 deg, lon: -122.115439 deg, deltaT: 4.031731 s, deltaX: -14.500000 m, approachRate: -3.596470 m/s, posRepo size: 4 2025-01-08T21:25:19.817Z,1736371519.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.10 m. 2025-01-08T21:25:19.825Z,1736371519.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.100006 m, nav range: 27.076933 m, bearing: 105.958099 deg, approach rate: 0.000000 m/s, LOS rate: 0.292522 deg/s, cmd heading: 240.281165 deg, new cmd heading: 240.654423 deg. 2025-01-08T21:25:19.826Z,1736371519.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200212 target range: 310.100006 and range: 310.10 m. 2025-01-08T21:25:19.913Z,1736371519.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:20.165Z,1736371520.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:20.183Z,1736371520.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:20.222Z,1736371520.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.10 m. 2025-01-08T21:25:20.230Z,1736371520.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.100006 m, nav range: 27.224726 m, bearing: 105.561036 deg, approach rate: 0.357141 m/s, LOS rate: -0.954285 deg/s, cmd heading: 240.654421 deg, new cmd heading: 239.469877 deg. 2025-01-08T21:25:20.231Z,1736371520.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179538 target range: 310.100006 and range: 310.10 m. 2025-01-08T21:25:20.416Z,1736371520.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:20.565Z,1736371520.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:20.573Z,1736371520.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.10 m. 2025-01-08T21:25:20.576Z,1736371520.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.100006 m, nav range: 27.366608 m, bearing: 105.191600 deg, approach rate: 0.404154 m/s, LOS rate: -1.046884 deg/s, cmd heading: 239.469875 deg, new cmd heading: 238.367457 deg. 2025-01-08T21:25:20.577Z,1736371520.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160297 target range: 310.100006 and range: 310.10 m. 2025-01-08T21:25:20.669Z,1736371520.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:20.920Z,1736371520.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:20.981Z,1736371520.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:20.996Z,1736371520.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:20.998Z,1736371520.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.10 m. 2025-01-08T21:25:21.016Z,1736371521.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.100006 m, nav range: 27.523355 m, bearing: 104.795171 deg, approach rate: 0.368685 m/s, LOS rate: -0.927119 deg/s, cmd heading: 238.367455 deg, new cmd heading: 237.185118 deg. 2025-01-08T21:25:21.017Z,1736371521.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139661 target range: 310.100006 and range: 310.10 m. 2025-01-08T21:25:21.173Z,1736371521.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:21.174Z,1736371521.174 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:21.174Z,1736371521.174 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:21.175Z,1736371521.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:21.420Z,1736371521.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:21.424Z,1736371521.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:21.424Z,1736371521.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985572 2025-01-08T21:25:21.434Z,1736371521.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.10 m. 2025-01-08T21:25:21.436Z,1736371521.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.100006 m, nav range: 27.701759 m, bearing: 104.393371 deg, approach rate: 0.409840 m/s, LOS rate: -0.917088 deg/s, cmd heading: 237.185122 deg, new cmd heading: 235.987669 deg. 2025-01-08T21:25:21.437Z,1736371521.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118762 target range: 310.100006 and range: 310.10 m. 2025-01-08T21:25:21.676Z,1736371521.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:21.677Z,1736371521.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238124 2025-01-08T21:25:21.777Z,1736371521.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:21.786Z,1736371521.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.10 m. 2025-01-08T21:25:21.789Z,1736371521.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.100006 m, nav range: 27.848936 m, bearing: 104.074206 deg, approach rate: 0.417524 m/s, LOS rate: -0.900646 deg/s, cmd heading: 235.987680 deg, new cmd heading: 235.035337 deg. 2025-01-08T21:25:21.790Z,1736371521.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102140 target range: 310.100006 and range: 310.10 m. 2025-01-08T21:25:21.928Z,1736371521.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:21.929Z,1736371521.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489945 2025-01-08T21:25:22.180Z,1736371522.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:22.180Z,1736371522.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741434 2025-01-08T21:25:22.235Z,1736371522.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:22.243Z,1736371522.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.10 m. 2025-01-08T21:25:22.247Z,1736371522.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.100006 m, nav range: 28.055082 m, bearing: 103.681908 deg, approach rate: 0.451249 m/s, LOS rate: -0.852412 deg/s, cmd heading: 235.035333 deg, new cmd heading: 233.867260 deg. 2025-01-08T21:25:22.249Z,1736371522.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.081754 target range: 310.100006 and range: 310.10 m. 2025-01-08T21:25:22.432Z,1736371522.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:22.432Z,1736371522.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993557 2025-01-08T21:25:22.594Z,1736371522.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:22.619Z,1736371522.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.10 m. 2025-01-08T21:25:22.622Z,1736371522.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.100006 m, nav range: 28.217581 m, bearing: 103.378421 deg, approach rate: 0.432319 m/s, LOS rate: -0.802760 deg/s, cmd heading: 233.867262 deg, new cmd heading: 232.962123 deg. 2025-01-08T21:25:22.624Z,1736371522.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.065956 target range: 310.100006 and range: 310.10 m. 2025-01-08T21:25:22.684Z,1736371522.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:22.685Z,1736371522.685 [DAT](INFO): DAT read: Rx Time:21:25:21.3892 2025-01-08T21:25:22.685Z,1736371522.685 [DAT](INFO): Rx dataTimestamp_ set to:1736371522.684752 2025-01-08T21:25:22.686Z,1736371522.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246712 2025-01-08T21:25:22.936Z,1736371522.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:22.936Z,1736371522.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497492 2025-01-08T21:25:23.049Z,1736371523.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:23.104Z,1736371523.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:23.128Z,1736371523.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.10 m. 2025-01-08T21:25:23.168Z,1736371523.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.100006 m, nav range: 28.415411 m, bearing: 103.019312 deg, approach rate: 0.392915 m/s, LOS rate: -0.708264 deg/s, cmd heading: 232.962125 deg, new cmd heading: 231.892430 deg. 2025-01-08T21:25:23.176Z,1736371523.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.047287 target range: 310.100006 and range: 310.10 m. 2025-01-08T21:25:23.188Z,1736371523.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:23.194Z,1736371523.194 [DAT](INFO): DAT read: 21:25:21.3892 LVL= 24112, 32753, 26866, 32755, AGC= 66, IDX= 421,-0.14,-1.678, 3.025,-2.911,-2.369, PHS= 0.779,-0.842,-0.545, RAW= 99.9, 8.2, CAL= 109.4, 7.2, ROT= 40.6, -7.2 2025-01-08T21:25:23.196Z,1736371523.196 [DAT](INFO): got valid direction response: 21:25:21.3892 LVL= 24112, 32753, 26866, 32755, AGC= 66, IDX= 421,-0.14,-1.678, 3.025,-2.911,-2.369, PHS= 0.779,-0.842,-0.545, RAW= 99.9, 8.2, CAL= 109.4, 7.2, ROT= 40.6, -7.2 2025-01-08T21:25:23.197Z,1736371523.197 [DAT](INFO): DAT read: Bearing 40.6, -7.2 (Local) 2025-01-08T21:25:23.197Z,1736371523.197 [DAT](INFO): Local bearing/azimuth received: Bearing 40.6, -7.2 (Local) 2025-01-08T21:25:23.198Z,1736371523.198 [DAT](INFO): DAT read: Range 10 to 50 : 308.8 m (Round-trip 411.8 ms) speed 0.1 m/s 2025-01-08T21:25:23.199Z,1736371523.199 [DAT](INFO): DAT read: user:1750> 2025-01-08T21:25:23.200Z,1736371523.200 [DAT](INFO): DAT read: Tx time:21:25:22.4733 2025-01-08T21:25:23.200Z,1736371523.200 [DAT](INFO): Ping request sent. 2025-01-08T21:25:23.200Z,1736371523.200 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:23.201Z,1736371523.201 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:23.202Z,1736371523.202 [DAT](INFO): direction in FSK: [-0.254190,-0.056273,0.965516] 2025-01-08T21:25:23.202Z,1736371523.202 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:23.202Z,1736371523.202 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:23.220Z,1736371523.220 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:23.220Z,1736371523.220 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:23.440Z,1736371523.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:23.441Z,1736371523.441 [DAT](INFO): DAT read: TxSync time:21:25:22.4725 2025-01-08T21:25:23.476Z,1736371523.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:23.506Z,1736371523.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 308.799988 m, deltaT: 3.780021 s, deltaX: -1.300018 m, approachRate: -0.343918 m/s, rangeRepo size: 4 2025-01-08T21:25:23.513Z,1736371523.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 308.799988 m, bearing: 95.673148 deg, lat: 36.903162 deg, lon: -122.115332 deg, deltaT: 3.780021 s, deltaX: -1.300018 m, approachRate: -0.343918 m/s, posRepo size: 4 2025-01-08T21:25:23.516Z,1736371523.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m. 2025-01-08T21:25:23.518Z,1736371523.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.799988 m, nav range: 38.611763 m, bearing: 104.212180 deg, approach rate: 0.000000 m/s, LOS rate: -0.708264 deg/s, cmd heading: 231.892436 deg, new cmd heading: 231.078187 deg. 2025-01-08T21:25:23.519Z,1736371523.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.033075 target range: 308.799988 and range: 308.80 m. 2025-01-08T21:25:23.692Z,1736371523.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:23.815Z,1736371523.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:23.828Z,1736371523.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m. 2025-01-08T21:25:23.835Z,1736371523.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.799988 m, nav range: 38.769020 m, bearing: 104.003968 deg, approach rate: 0.494724 m/s, LOS rate: -0.652368 deg/s, cmd heading: 231.078195 deg, new cmd heading: 230.456119 deg. 2025-01-08T21:25:23.836Z,1736371523.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.022218 target range: 308.799988 and range: 308.80 m. 2025-01-08T21:25:23.944Z,1736371523.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:24.196Z,1736371524.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:24.249Z,1736371524.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:24.262Z,1736371524.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m. 2025-01-08T21:25:24.268Z,1736371524.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.799988 m, nav range: 38.992546 m, bearing: 103.718186 deg, approach rate: 0.510929 m/s, LOS rate: -0.649484 deg/s, cmd heading: 230.456129 deg, new cmd heading: 229.603766 deg. 2025-01-08T21:25:24.269Z,1736371524.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.007342 target range: 308.799988 and range: 308.80 m. 2025-01-08T21:25:24.448Z,1736371524.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:24.604Z,1736371524.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:24.615Z,1736371524.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m. 2025-01-08T21:25:24.618Z,1736371524.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.799988 m, nav range: 39.168068 m, bearing: 103.488365 deg, approach rate: 0.496165 m/s, LOS rate: -0.646745 deg/s, cmd heading: 229.603776 deg, new cmd heading: 228.917437 deg. 2025-01-08T21:25:24.618Z,1736371524.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.995363 target range: 308.799988 and range: 308.80 m. 2025-01-08T21:25:24.700Z,1736371524.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:24.954Z,1736371524.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:24.000Z,1736371525.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:25.008Z,1736371525.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m. 2025-01-08T21:25:25.011Z,1736371525.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.799988 m, nav range: 39.362358 m, bearing: 103.231085 deg, approach rate: 0.493837 m/s, LOS rate: -0.650713 deg/s, cmd heading: 228.917437 deg, new cmd heading: 228.149453 deg. 2025-01-08T21:25:25.013Z,1736371525.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.981959 target range: 308.799988 and range: 308.80 m. 2025-01-08T21:25:25.204Z,1736371525.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:25.445Z,1736371525.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:25.452Z,1736371525.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:25.454Z,1736371525.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m. 2025-01-08T21:25:25.456Z,1736371525.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:25.456Z,1736371525.456 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:25.456Z,1736371525.456 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:25.457Z,1736371525.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:25.482Z,1736371525.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.799988 m, nav range: 39.584156 m, bearing: 102.938216 deg, approach rate: 0.497024 m/s, LOS rate: -0.652606 deg/s, cmd heading: 228.149451 deg, new cmd heading: 227.275839 deg. 2025-01-08T21:25:25.482Z,1736371525.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.966712 target range: 308.799988 and range: 308.80 m. 2025-01-08T21:25:25.709Z,1736371525.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:25.710Z,1736371525.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509844 2025-01-08T21:25:25.809Z,1736371525.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:25.819Z,1736371525.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m. 2025-01-08T21:25:25.822Z,1736371525.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.799988 m, nav range: 39.763905 m, bearing: 102.696414 deg, approach rate: 0.493603 m/s, LOS rate: -0.661004 deg/s, cmd heading: 227.275842 deg, new cmd heading: 226.553755 deg. 2025-01-08T21:25:25.822Z,1736371525.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954109 target range: 308.799988 and range: 308.80 m. 2025-01-08T21:25:25.960Z,1736371525.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:25.960Z,1736371525.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759892 2025-01-08T21:25:26.212Z,1736371526.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:26.212Z,1736371526.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012049 2025-01-08T21:25:26.290Z,1736371526.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:26.299Z,1736371526.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m. 2025-01-08T21:25:26.302Z,1736371526.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.799988 m, nav range: 40.003136 m, bearing: 102.368155 deg, approach rate: 0.498211 m/s, LOS rate: -0.679524 deg/s, cmd heading: 226.553755 deg, new cmd heading: 225.574969 deg. 2025-01-08T21:25:26.303Z,1736371526.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.937026 target range: 308.799988 and range: 308.80 m. 2025-01-08T21:25:26.464Z,1736371526.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:26.465Z,1736371526.465 [DAT](INFO): DAT read: Rx Time:21:25:25.2876 2025-01-08T21:25:26.465Z,1736371526.465 [DAT](INFO): Rx dataTimestamp_ set to:1736371526.464725 2025-01-08T21:25:26.466Z,1736371526.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265151 2025-01-08T21:25:26.624Z,1736371526.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:26.633Z,1736371526.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m. 2025-01-08T21:25:26.636Z,1736371526.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.799988 m, nav range: 40.164692 m, bearing: 102.133593 deg, approach rate: 0.482687 m/s, LOS rate: -0.697987 deg/s, cmd heading: 225.574975 deg, new cmd heading: 224.874157 deg. 2025-01-08T21:25:26.637Z,1736371526.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.924794 target range: 308.799988 and range: 308.80 m. 2025-01-08T21:25:26.716Z,1736371526.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:26.716Z,1736371526.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516048 2025-01-08T21:25:26.970Z,1736371526.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:26.976Z,1736371526.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774274 2025-01-08T21:25:27.040Z,1736371527.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:27.061Z,1736371527.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m. 2025-01-08T21:25:27.068Z,1736371527.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.799988 m, nav range: 40.362900 m, bearing: 101.839122 deg, approach rate: 0.463808 m/s, LOS rate: -0.685678 deg/s, cmd heading: 224.874157 deg, new cmd heading: 223.995154 deg. 2025-01-08T21:25:27.069Z,1736371527.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.909453 target range: 308.799988 and range: 308.80 m. 2025-01-08T21:25:27.222Z,1736371527.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:27.246Z,1736371527.246 [DAT](INFO): DAT read: 21:25:25.2876 LVL= 13792, 26065, 19506, 30899, AGC= 62, IDX= 420,-0.42, 1.344,-0.599,-0.318, 0.257, PHS= 1.175,-0.810,-0.578, RAW= 96.1, 2.3, CAL= 105.4, 0.0, ROT= 44.6, -0.0 2025-01-08T21:25:27.252Z,1736371527.252 [DAT](INFO): got valid direction response: 21:25:25.2876 LVL= 13792, 26065, 19506, 30899, AGC= 62, IDX= 420,-0.42, 1.344,-0.599,-0.318, 0.257, PHS= 1.175,-0.810,-0.578, RAW= 96.1, 2.3, CAL= 105.4, 0.0, ROT= 44.6, -0.0 2025-01-08T21:25:27.253Z,1736371527.253 [DAT](INFO): DAT read: Bearing 44.6, -0.0 (Local) 2025-01-08T21:25:27.254Z,1736371527.254 [DAT](INFO): Local bearing/azimuth received: Bearing 44.6, -0.0 (Local) 2025-01-08T21:25:27.277Z,1736371527.277 [DAT](INFO): DAT read: Range 10 to 50 : 307.5 m (Round-trip 410.1 ms) speed 0.4 m/s 2025-01-08T21:25:27.279Z,1736371527.279 [DAT](INFO): DAT read: user:1751> 2025-01-08T21:25:27.285Z,1736371527.285 [DAT](INFO): DAT read: Tx time:21:25:26.3734 2025-01-08T21:25:27.285Z,1736371527.285 [DAT](INFO): Ping request sent. 2025-01-08T21:25:27.286Z,1736371527.286 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:27.286Z,1736371527.286 [DAT](INFO): DAT read: TxSync time:21:25:26.3726 2025-01-08T21:25:27.287Z,1736371527.287 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:27.299Z,1736371527.299 [DAT](INFO): direction in FSK: [-0.138304,0.003035,0.990385] 2025-01-08T21:25:27.300Z,1736371527.300 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:27.300Z,1736371527.300 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:27.317Z,1736371527.317 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:27.318Z,1736371527.318 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:27.472Z,1736371527.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:27.486Z,1736371527.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:27.511Z,1736371527.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 307.500000 m, deltaT: 4.034416 s, deltaX: -1.299988 m, approachRate: -0.322225 m/s, rangeRepo size: 4 2025-01-08T21:25:27.524Z,1736371527.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 307.500000 m, bearing: 59.380153 deg, lat: 36.903162 deg, lon: -122.115481 deg, deltaT: 4.034416 s, deltaX: -1.299988 m, approachRate: -0.322225 m/s, posRepo size: 4 2025-01-08T21:25:27.525Z,1736371527.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.50 m. 2025-01-08T21:25:27.532Z,1736371527.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.500000 m, nav range: 27.739367 m, bearing: 106.976207 deg, approach rate: 0.000000 m/s, LOS rate: -0.685678 deg/s, cmd heading: 223.995152 deg, new cmd heading: 223.071133 deg. 2025-01-08T21:25:27.533Z,1736371527.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.893326 target range: 307.500000 and range: 307.50 m. 2025-01-08T21:25:27.725Z,1736371527.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:27.849Z,1736371527.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:27.871Z,1736371527.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:27.873Z,1736371527.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.50 m. 2025-01-08T21:25:27.876Z,1736371527.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.500000 m, nav range: 27.885500 m, bearing: 106.566786 deg, approach rate: 0.402189 m/s, LOS rate: -1.120898 deg/s, cmd heading: 223.071137 deg, new cmd heading: 221.849504 deg. 2025-01-08T21:25:27.877Z,1736371527.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.872004 target range: 307.500000 and range: 307.50 m. 2025-01-08T21:25:27.978Z,1736371527.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:27.978Z,1736371527.978 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:27.978Z,1736371527.978 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:27.979Z,1736371527.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:28.229Z,1736371528.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:28.232Z,1736371528.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.945569 2025-01-08T21:25:28.286Z,1736371528.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:28.320Z,1736371528.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.50 m. 2025-01-08T21:25:28.322Z,1736371528.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.500000 m, nav range: 28.042009 m, bearing: 106.055222 deg, approach rate: 0.354028 m/s, LOS rate: -1.150696 deg/s, cmd heading: 221.849503 deg, new cmd heading: 220.323758 deg. 2025-01-08T21:25:28.327Z,1736371528.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845375 target range: 307.500000 and range: 307.50 m. 2025-01-08T21:25:28.480Z,1736371528.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:28.481Z,1736371528.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.195314 2025-01-08T21:25:28.633Z,1736371528.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:28.641Z,1736371528.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.50 m. 2025-01-08T21:25:28.645Z,1736371528.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.500000 m, nav range: 28.163933 m, bearing: 105.649561 deg, approach rate: 0.374347 m/s, LOS rate: -1.240118 deg/s, cmd heading: 220.323762 deg, new cmd heading: 219.112237 deg. 2025-01-08T21:25:28.647Z,1736371528.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.824230 target range: 307.500000 and range: 307.50 m. 2025-01-08T21:25:28.734Z,1736371528.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:28.734Z,1736371528.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449143 2025-01-08T21:25:28.984Z,1736371528.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:28.984Z,1736371528.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.698997 2025-01-08T21:25:29.075Z,1736371529.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:29.084Z,1736371529.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.50 m. 2025-01-08T21:25:29.087Z,1736371529.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.500000 m, nav range: 28.321581 m, bearing: 105.136906 deg, approach rate: 0.355711 m/s, LOS rate: -1.150279 deg/s, cmd heading: 219.112236 deg, new cmd heading: 217.583215 deg. 2025-01-08T21:25:29.088Z,1736371529.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797544 target range: 307.500000 and range: 307.50 m. 2025-01-08T21:25:29.237Z,1736371529.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:29.240Z,1736371529.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953535 2025-01-08T21:25:29.468Z,1736371529.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:29.476Z,1736371529.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.50 m. 2025-01-08T21:25:29.480Z,1736371529.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.500000 m, nav range: 28.444561 m, bearing: 104.683601 deg, approach rate: 0.313969 m/s, LOS rate: -1.152275 deg/s, cmd heading: 217.583217 deg, new cmd heading: 216.229447 deg. 2025-01-08T21:25:29.481Z,1736371529.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773916 target range: 307.500000 and range: 307.50 m. 2025-01-08T21:25:29.488Z,1736371529.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:29.489Z,1736371529.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203217 2025-01-08T21:25:29.740Z,1736371529.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:29.740Z,1736371529.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455146 2025-01-08T21:25:29.853Z,1736371529.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:29.861Z,1736371529.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.50 m. 2025-01-08T21:25:29.865Z,1736371529.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.500000 m, nav range: 28.563568 m, bearing: 104.239337 deg, approach rate: 0.308976 m/s, LOS rate: -1.148617 deg/s, cmd heading: 216.229446 deg, new cmd heading: 214.902459 deg. 2025-01-08T21:25:29.866Z,1736371529.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.750756 target range: 307.500000 and range: 307.50 m. 2025-01-08T21:25:29.992Z,1736371529.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:29.993Z,1736371529.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707196 2025-01-08T21:25:30.245Z,1736371530.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:30.248Z,1736371530.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961759 2025-01-08T21:25:30.333Z,1736371530.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:30.356Z,1736371530.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:30.358Z,1736371530.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.50 m. 2025-01-08T21:25:30.361Z,1736371530.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.500000 m, nav range: 28.698362 m, bearing: 103.682527 deg, approach rate: 0.271236 m/s, LOS rate: -1.115145 deg/s, cmd heading: 214.902463 deg, new cmd heading: 213.240371 deg. 2025-01-08T21:25:30.363Z,1736371530.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721747 target range: 307.500000 and range: 307.50 m. 2025-01-08T21:25:30.496Z,1736371530.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:30.497Z,1736371530.497 [DAT](INFO): DAT read: Rx Time:21:25:29.1858 2025-01-08T21:25:30.497Z,1736371530.497 [DAT](INFO): Rx dataTimestamp_ set to:1736371530.497216 2025-01-08T21:25:30.498Z,1736371530.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212718 2025-01-08T21:25:30.660Z,1736371530.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:30.692Z,1736371530.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.50 m. 2025-01-08T21:25:30.694Z,1736371530.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.500000 m, nav range: 28.788860 m, bearing: 103.303383 deg, approach rate: 0.271601 m/s, LOS rate: -1.134296 deg/s, cmd heading: 213.240377 deg, new cmd heading: 212.106676 deg. 2025-01-08T21:25:30.704Z,1736371530.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.701960 target range: 307.500000 and range: 307.50 m. 2025-01-08T21:25:30.748Z,1736371530.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:30.748Z,1736371530.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463101 2025-01-08T21:25:30.000Z,1736371531.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:31.006Z,1736371531.006 [DAT](INFO): DAT read: 21:25:29.1858 LVL= 13088, 27617, 20658, 26547, AGC= 63, IDX= 417, 0.15,-1.958, 2.642, 2.481,-2.922, PHS= 1.052,-0.672,-0.883, RAW= 84.3, 5.5, CAL= 90.1, 5.0, ROT= 59.9, -5.0 2025-01-08T21:25:31.007Z,1736371531.007 [DAT](INFO): got valid direction response: 21:25:29.1858 LVL= 13088, 27617, 20658, 26547, AGC= 63, IDX= 417, 0.15,-1.958, 2.642, 2.481,-2.922, PHS= 1.052,-0.672,-0.883, RAW= 84.3, 5.5, CAL= 90.1, 5.0, ROT= 59.9, -5.0 2025-01-08T21:25:31.008Z,1736371531.008 [DAT](INFO): DAT read: Bearing 59.9, -5.0 (Local) 2025-01-08T21:25:31.009Z,1736371531.009 [DAT](INFO): Local bearing/azimuth received: Bearing 59.9, -5.0 (Local) 2025-01-08T21:25:31.010Z,1736371531.010 [DAT](INFO): DAT read: Range 10 to 50 : 306.2 m (Round-trip 408.3 ms) speed 0.2 m/s 2025-01-08T21:25:31.012Z,1736371531.012 [DAT](INFO): DAT read: user:1752> 2025-01-08T21:25:31.013Z,1736371531.013 [DAT](INFO): DAT read: Tx time:21:25:30.2734 2025-01-08T21:25:31.014Z,1736371531.014 [DAT](INFO): Ping request sent. 2025-01-08T21:25:31.014Z,1736371531.014 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:31.014Z,1736371531.014 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:31.015Z,1736371531.015 [DAT](INFO): direction in FSK: [-0.179315,0.208921,0.961352] 2025-01-08T21:25:31.015Z,1736371531.015 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:31.016Z,1736371531.016 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:31.019Z,1736371531.019 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:31.019Z,1736371531.019 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:31.124Z,1736371531.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:31.155Z,1736371531.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 306.200012 m, deltaT: 3.777535 s, deltaX: -1.299988 m, approachRate: -0.344137 m/s, rangeRepo size: 4 2025-01-08T21:25:31.157Z,1736371531.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 306.200012 m, bearing: 345.750559 deg, lat: 36.903191 deg, lon: -122.115481 deg, deltaT: 3.777535 s, deltaX: -1.299988 m, approachRate: -0.344137 m/s, posRepo size: 4 2025-01-08T21:25:31.158Z,1736371531.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m. 2025-01-08T21:25:31.178Z,1736371531.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.200012 m, nav range: 28.381800 m, bearing: 96.446268 deg, approach rate: 0.000000 m/s, LOS rate: -1.134296 deg/s, cmd heading: 212.106675 deg, new cmd heading: 210.545163 deg. 2025-01-08T21:25:31.184Z,1736371531.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.674706 target range: 306.200012 and range: 306.20 m. 2025-01-08T21:25:31.254Z,1736371531.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:31.258Z,1736371531.258 [DAT](INFO): DAT read: TxSync time:21:25:30.2726 2025-01-08T21:25:31.504Z,1736371531.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:31.541Z,1736371531.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:31.550Z,1736371531.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m. 2025-01-08T21:25:31.553Z,1736371531.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.200012 m, nav range: 28.519161 m, bearing: 95.994073 deg, approach rate: 0.343583 m/s, LOS rate: -1.125619 deg/s, cmd heading: 210.545157 deg, new cmd heading: 209.195370 deg. 2025-01-08T21:25:31.554Z,1736371531.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.651148 target range: 306.200012 and range: 306.20 m. 2025-01-08T21:25:31.756Z,1736371531.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:31.885Z,1736371531.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:31.913Z,1736371531.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m. 2025-01-08T21:25:31.916Z,1736371531.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.200012 m, nav range: 28.623196 m, bearing: 95.616716 deg, approach rate: 0.286341 m/s, LOS rate: -1.034839 deg/s, cmd heading: 209.195375 deg, new cmd heading: 208.067575 deg. 2025-01-08T21:25:31.917Z,1736371531.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.631464 target range: 306.200012 and range: 306.20 m. 2025-01-08T21:25:32.008Z,1736371532.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:32.261Z,1736371532.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:32.350Z,1736371532.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:32.361Z,1736371532.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:32.369Z,1736371532.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m. 2025-01-08T21:25:32.372Z,1736371532.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.200012 m, nav range: 28.758352 m, bearing: 95.129907 deg, approach rate: 0.297438 m/s, LOS rate: -1.066270 deg/s, cmd heading: 208.067575 deg, new cmd heading: 206.614338 deg. 2025-01-08T21:25:32.373Z,1736371532.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606101 target range: 306.200012 and range: 306.20 m. 2025-01-08T21:25:32.513Z,1736371532.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:32.513Z,1736371532.513 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:32.513Z,1736371532.513 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:32.514Z,1736371532.514 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:32.765Z,1736371532.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:32.765Z,1736371532.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751355 2025-01-08T21:25:32.813Z,1736371532.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:32.830Z,1736371532.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m. 2025-01-08T21:25:32.847Z,1736371532.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.200012 m, nav range: 28.890665 m, bearing: 94.645584 deg, approach rate: 0.286030 m/s, LOS rate: -1.042188 deg/s, cmd heading: 206.614343 deg, new cmd heading: 205.168354 deg. 2025-01-08T21:25:32.853Z,1736371532.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.580863 target range: 306.200012 and range: 306.20 m. 2025-01-08T21:25:33.016Z,1736371533.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:33.018Z,1736371533.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004051 2025-01-08T21:25:33.270Z,1736371533.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:33.273Z,1736371533.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258448 2025-01-08T21:25:33.332Z,1736371533.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:33.356Z,1736371533.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m. 2025-01-08T21:25:33.359Z,1736371533.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.200012 m, nav range: 29.041782 m, bearing: 94.106668 deg, approach rate: 0.287520 m/s, LOS rate: -1.020008 deg/s, cmd heading: 205.168351 deg, new cmd heading: 203.560462 deg. 2025-01-08T21:25:33.364Z,1736371533.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.552800 target range: 306.200012 and range: 306.20 m. 2025-01-08T21:25:33.520Z,1736371533.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:33.520Z,1736371533.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506502 2025-01-08T21:25:33.694Z,1736371533.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:33.725Z,1736371533.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m. 2025-01-08T21:25:33.732Z,1736371533.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.200012 m, nav range: 29.128111 m, bearing: 93.725026 deg, approach rate: 0.234050 m/s, LOS rate: -1.031615 deg/s, cmd heading: 203.560456 deg, new cmd heading: 202.419082 deg. 2025-01-08T21:25:33.733Z,1736371533.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532879 target range: 306.200012 and range: 306.20 m. 2025-01-08T21:25:33.772Z,1736371533.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:33.773Z,1736371533.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758772 2025-01-08T21:25:34.024Z,1736371534.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:34.024Z,1736371534.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010589 2025-01-08T21:25:34.068Z,1736371534.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:34.076Z,1736371534.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m. 2025-01-08T21:25:34.080Z,1736371534.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.200012 m, nav range: 29.214369 m, bearing: 93.329457 deg, approach rate: 0.245335 m/s, LOS rate: -1.121746 deg/s, cmd heading: 202.419076 deg, new cmd heading: 201.236051 deg. 2025-01-08T21:25:34.081Z,1736371534.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512232 target range: 306.200012 and range: 306.20 m. 2025-01-08T21:25:34.277Z,1736371534.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:34.280Z,1736371534.280 [DAT](INFO): DAT read: Rx Time:21:25:33.0841 2025-01-08T21:25:34.282Z,1736371534.282 [DAT](INFO): Rx dataTimestamp_ set to:1736371534.280435 2025-01-08T21:25:34.284Z,1736371534.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269698 2025-01-08T21:25:34.496Z,1736371534.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:34.503Z,1736371534.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:34.505Z,1736371534.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.20 m. 2025-01-08T21:25:34.508Z,1736371534.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.200012 m, nav range: 29.314999 m, bearing: 92.874569 deg, approach rate: 0.234638 m/s, LOS rate: -1.057009 deg/s, cmd heading: 201.236047 deg, new cmd heading: 199.876337 deg. 2025-01-08T21:25:34.509Z,1736371534.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488500 target range: 306.200012 and range: 306.20 m. 2025-01-08T21:25:34.529Z,1736371534.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:34.530Z,1736371534.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515917 2025-01-08T21:25:34.781Z,1736371534.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:34.797Z,1736371534.797 [DAT](INFO): DAT read: 21:25:33.0841 LVL= 13040, 22193, 19026, 27363, AGC= 64, IDX= 432,-0.02,-1.715, 2.997, 2.152,-2.820, PHS= 1.194,-0.419,-1.314, RAW= 69.4, 5.0, CAL= 71.5, 4.9, ROT= 78.5, -4.9 2025-01-08T21:25:34.798Z,1736371534.798 [DAT](INFO): got valid direction response: 21:25:33.0841 LVL= 13040, 22193, 19026, 27363, AGC= 64, IDX= 432,-0.02,-1.715, 2.997, 2.152,-2.820, PHS= 1.194,-0.419,-1.314, RAW= 69.4, 5.0, CAL= 71.5, 4.9, ROT= 78.5, -4.9 2025-01-08T21:25:34.799Z,1736371534.799 [DAT](INFO): DAT read: Bearing 78.5, -4.9 (Local) 2025-01-08T21:25:34.799Z,1736371534.799 [DAT](INFO): Local bearing/azimuth received: Bearing 78.5, -4.9 (Local) 2025-01-08T21:25:34.801Z,1736371534.801 [DAT](INFO): DAT read: Range 10 to 50 : 304.9 m (Round-trip 406.6 ms) speed 0.0 m/s 2025-01-08T21:25:34.801Z,1736371534.801 [DAT](INFO): DAT read: user:1753> 2025-01-08T21:25:34.802Z,1736371534.802 [DAT](INFO): DAT read: Tx time:21:25:34.1734 2025-01-08T21:25:34.802Z,1736371534.802 [DAT](INFO): Ping request sent. 2025-01-08T21:25:34.803Z,1736371534.803 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:34.803Z,1736371534.803 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:34.804Z,1736371534.804 [DAT](INFO): direction in FSK: [-0.140097,0.445550,0.884227] 2025-01-08T21:25:34.804Z,1736371534.804 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:34.804Z,1736371534.804 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:34.808Z,1736371534.808 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:34.808Z,1736371534.808 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:34.892Z,1736371534.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:34.930Z,1736371534.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 304.899994 m, deltaT: 3.781823 s, deltaX: -1.300018 m, approachRate: -0.343754 m/s, rangeRepo size: 4 2025-01-08T21:25:34.936Z,1736371534.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 304.899994 m, bearing: 310.794770 deg, lat: 36.903376 deg, lon: -122.115481 deg, deltaT: 3.781823 s, deltaX: -1.300018 m, approachRate: -0.343754 m/s, posRepo size: 4 2025-01-08T21:25:34.937Z,1736371534.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:34.944Z,1736371534.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 35.170113 m, bearing: 56.648585 deg, approach rate: 0.000000 m/s, LOS rate: -1.057009 deg/s, cmd heading: 199.876334 deg, new cmd heading: 198.551477 deg. 2025-01-08T21:25:34.946Z,1736371534.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.465377 target range: 304.899994 and range: 304.90 m. 2025-01-08T21:25:35.032Z,1736371535.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:35.033Z,1736371535.033 [DAT](INFO): DAT read: TxSync time:21:25:34.1726 2025-01-08T21:25:35.285Z,1736371535.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:35.353Z,1736371535.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:35.362Z,1736371535.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:35.369Z,1736371535.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 35.402889 m, bearing: 56.419361 deg, approach rate: 0.530259 m/s, LOS rate: -0.518733 deg/s, cmd heading: 198.551482 deg, new cmd heading: 197.868364 deg. 2025-01-08T21:25:35.370Z,1736371535.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.453454 target range: 304.899994 and range: 304.90 m. 2025-01-08T21:25:35.536Z,1736371535.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:35.712Z,1736371535.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:35.721Z,1736371535.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:35.744Z,1736371535.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 35.583447 m, bearing: 56.232832 deg, approach rate: 0.503171 m/s, LOS rate: -0.517174 deg/s, cmd heading: 197.868367 deg, new cmd heading: 197.311638 deg. 2025-01-08T21:25:35.745Z,1736371535.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.443738 target range: 304.899994 and range: 304.90 m. 2025-01-08T21:25:35.788Z,1736371535.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:36.040Z,1736371536.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:36.083Z,1736371536.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:36.092Z,1736371536.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:36.094Z,1736371536.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 35.768295 m, bearing: 56.034754 deg, approach rate: 0.498980 m/s, LOS rate: -0.531926 deg/s, cmd heading: 197.311639 deg, new cmd heading: 196.720498 deg. 2025-01-08T21:25:36.096Z,1736371536.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.433420 target range: 304.899994 and range: 304.90 m. 2025-01-08T21:25:36.293Z,1736371536.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:36.506Z,1736371536.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:36.533Z,1736371536.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:36.539Z,1736371536.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:36.542Z,1736371536.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 35.982113 m, bearing: 55.815618 deg, approach rate: 0.481942 m/s, LOS rate: -0.490992 deg/s, cmd heading: 196.720499 deg, new cmd heading: 196.067030 deg. 2025-01-08T21:25:36.543Z,1736371536.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.422015 target range: 304.899994 and range: 304.90 m. 2025-01-08T21:25:36.544Z,1736371536.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:36.544Z,1736371536.544 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:36.544Z,1736371536.544 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:36.545Z,1736371536.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:36.797Z,1736371536.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:36.797Z,1736371536.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994848 2025-01-08T21:25:36.886Z,1736371536.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:36.894Z,1736371536.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:36.898Z,1736371536.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 36.171635 m, bearing: 55.614302 deg, approach rate: 0.527570 m/s, LOS rate: -0.557467 deg/s, cmd heading: 196.067028 deg, new cmd heading: 195.466265 deg. 2025-01-08T21:25:36.899Z,1736371536.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.411530 target range: 304.899994 and range: 304.90 m. 2025-01-08T21:25:37.048Z,1736371537.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:37.049Z,1736371537.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246026 2025-01-08T21:25:37.293Z,1736371537.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:37.301Z,1736371537.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:37.302Z,1736371537.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499227 2025-01-08T21:25:37.310Z,1736371537.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:37.312Z,1736371537.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 36.372181 m, bearing: 55.393820 deg, approach rate: 0.483005 m/s, LOS rate: -0.528090 deg/s, cmd heading: 195.466272 deg, new cmd heading: 194.808504 deg. 2025-01-08T21:25:37.315Z,1736371537.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.400050 target range: 304.899994 and range: 304.90 m. 2025-01-08T21:25:37.552Z,1736371537.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:37.553Z,1736371537.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750880 2025-01-08T21:25:37.807Z,1736371537.807 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:37.808Z,1736371537.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005508 2025-01-08T21:25:37.833Z,1736371537.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:37.865Z,1736371537.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:37.872Z,1736371537.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 36.649578 m, bearing: 55.095809 deg, approach rate: 0.499169 m/s, LOS rate: -0.532202 deg/s, cmd heading: 194.808497 deg, new cmd heading: 193.921305 deg. 2025-01-08T21:25:37.873Z,1736371537.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.384565 target range: 304.899994 and range: 304.90 m. 2025-01-08T21:25:38.060Z,1736371538.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:38.060Z,1736371538.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257845 2025-01-08T21:25:38.197Z,1736371538.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:38.210Z,1736371538.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:38.217Z,1736371538.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 36.834694 m, bearing: 54.890695 deg, approach rate: 0.536375 m/s, LOS rate: -0.591329 deg/s, cmd heading: 193.921310 deg, new cmd heading: 193.309088 deg. 2025-01-08T21:25:38.218Z,1736371538.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.373880 target range: 304.899994 and range: 304.90 m. 2025-01-08T21:25:38.312Z,1736371538.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:38.313Z,1736371538.313 [DAT](INFO): DAT read: Rx Time:21:25:36.9840 2025-01-08T21:25:38.314Z,1736371538.314 [DAT](INFO): Rx dataTimestamp_ set to:1736371538.312699 2025-01-08T21:25:38.315Z,1736371538.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512358 2025-01-08T21:25:38.564Z,1736371538.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:38.565Z,1736371538.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762080 2025-01-08T21:25:38.624Z,1736371538.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:38.665Z,1736371538.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:38.673Z,1736371538.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:38.681Z,1736371538.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 37.054249 m, bearing: 54.652312 deg, approach rate: 0.474794 m/s, LOS rate: -0.512456 deg/s, cmd heading: 193.309093 deg, new cmd heading: 192.598218 deg. 2025-01-08T21:25:38.682Z,1736371538.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.361473 target range: 304.899994 and range: 304.90 m. 2025-01-08T21:25:38.816Z,1736371538.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:38.817Z,1736371538.817 [DAT](INFO): DAT read: Range 10 to 50 : 304.8 m (Round-trip 406.5 ms) speed -0.2 m/s 2025-01-08T21:25:38.818Z,1736371538.818 [DAT](INFO): DAT read: user:1754> 2025-01-08T21:25:38.820Z,1736371538.820 [DAT](INFO): DAT read: Tx time:21:25:38.0734 2025-01-08T21:25:38.820Z,1736371538.820 [DAT](INFO): Ping request sent. 2025-01-08T21:25:38.820Z,1736371538.820 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:38.820Z,1736371538.820 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:25:38.821Z,1736371538.821 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:38.821Z,1736371538.821 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:38.999Z,1736371538.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:39.008Z,1736371539.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 304.799988 m, deltaT: 4.034135 s, deltaX: -0.100006 m, approachRate: -0.024790 m/s, rangeRepo size: 4 2025-01-08T21:25:39.009Z,1736371539.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:39.012Z,1736371539.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 37.245335 m, bearing: 54.438570 deg, approach rate: 0.571870 m/s, LOS rate: -0.636390 deg/s, cmd heading: 192.598221 deg, new cmd heading: 191.960313 deg. 2025-01-08T21:25:39.013Z,1736371539.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.350339 target range: 304.899994 and range: 304.80 m. 2025-01-08T21:25:39.069Z,1736371539.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:39.070Z,1736371539.070 [DAT](INFO): DAT read: TxSync time:21:25:38.0726 2025-01-08T21:25:39.320Z,1736371539.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:39.463Z,1736371539.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:39.472Z,1736371539.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:39.493Z,1736371539.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 37.489769 m, bearing: 54.169950 deg, approach rate: 0.526726 m/s, LOS rate: -0.575067 deg/s, cmd heading: 191.960308 deg, new cmd heading: 191.159756 deg. 2025-01-08T21:25:39.494Z,1736371539.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.336367 target range: 304.899994 and range: 304.80 m. 2025-01-08T21:25:39.572Z,1736371539.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:39.810Z,1736371539.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:39.820Z,1736371539.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:39.822Z,1736371539.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 37.670589 m, bearing: 53.965476 deg, approach rate: 0.519377 m/s, LOS rate: -0.584496 deg/s, cmd heading: 191.159755 deg, new cmd heading: 190.549303 deg. 2025-01-08T21:25:39.824Z,1736371539.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:39.825Z,1736371539.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.325713 target range: 304.899994 and range: 304.80 m. 2025-01-08T21:25:40.078Z,1736371540.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:40.213Z,1736371540.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:40.222Z,1736371540.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:40.225Z,1736371540.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 37.878460 m, bearing: 53.724493 deg, approach rate: 0.516443 m/s, LOS rate: -0.595421 deg/s, cmd heading: 190.549300 deg, new cmd heading: 189.830360 deg. 2025-01-08T21:25:40.226Z,1736371540.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.313165 target range: 304.899994 and range: 304.80 m. 2025-01-08T21:25:40.329Z,1736371540.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:40.583Z,1736371540.583 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:40.704Z,1736371540.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:40.710Z,1736371540.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:40.714Z,1736371540.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:40.716Z,1736371540.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 38.124249 m, bearing: 53.431736 deg, approach rate: 0.499808 m/s, LOS rate: -0.591478 deg/s, cmd heading: 189.830355 deg, new cmd heading: 188.957817 deg. 2025-01-08T21:25:40.717Z,1736371540.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.297936 target range: 304.899994 and range: 304.80 m. 2025-01-08T21:25:40.832Z,1736371540.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:40.832Z,1736371540.832 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:40.832Z,1736371540.832 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:40.833Z,1736371540.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:41.067Z,1736371541.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:41.077Z,1736371541.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:41.081Z,1736371541.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 38.304539 m, bearing: 53.213376 deg, approach rate: 0.495625 m/s, LOS rate: -0.597453 deg/s, cmd heading: 188.957812 deg, new cmd heading: 188.305846 deg. 2025-01-08T21:25:41.082Z,1736371541.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.286557 target range: 304.899994 and range: 304.80 m. 2025-01-08T21:25:41.084Z,1736371541.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:41.085Z,1736371541.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264577 2025-01-08T21:25:41.336Z,1736371541.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:41.336Z,1736371541.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516191 2025-01-08T21:25:41.508Z,1736371541.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:41.543Z,1736371541.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:41.556Z,1736371541.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 38.526333 m, bearing: 52.950557 deg, approach rate: 0.477432 m/s, LOS rate: -0.562483 deg/s, cmd heading: 188.305843 deg, new cmd heading: 187.521977 deg. 2025-01-08T21:25:41.557Z,1736371541.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.272876 target range: 304.899994 and range: 304.80 m. 2025-01-08T21:25:41.588Z,1736371541.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:41.589Z,1736371541.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769019 2025-01-08T21:25:41.840Z,1736371541.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:41.840Z,1736371541.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020248 2025-01-08T21:25:41.899Z,1736371541.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:41.908Z,1736371541.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:41.910Z,1736371541.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 38.721863 m, bearing: 52.716082 deg, approach rate: 0.534911 m/s, LOS rate: -0.638214 deg/s, cmd heading: 187.521983 deg, new cmd heading: 186.822145 deg. 2025-01-08T21:25:41.913Z,1736371541.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.260662 target range: 304.899994 and range: 304.80 m. 2025-01-08T21:25:42.092Z,1736371542.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:42.093Z,1736371542.093 [DAT](INFO): DAT read: Rx Time:21:25:40.8847 2025-01-08T21:25:42.093Z,1736371542.093 [DAT](INFO): Rx dataTimestamp_ set to:1736371542.092850 2025-01-08T21:25:42.094Z,1736371542.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273551 2025-01-08T21:25:42.287Z,1736371542.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:42.296Z,1736371542.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:42.299Z,1736371542.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 38.914505 m, bearing: 52.482579 deg, approach rate: 0.496556 m/s, LOS rate: -0.598896 deg/s, cmd heading: 186.822148 deg, new cmd heading: 186.125145 deg. 2025-01-08T21:25:42.300Z,1736371542.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.248497 target range: 304.899994 and range: 304.80 m. 2025-01-08T21:25:42.344Z,1736371542.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:42.345Z,1736371542.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524547 2025-01-08T21:25:42.596Z,1736371542.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:42.598Z,1736371542.598 [DAT](INFO): DAT read: Range 10 to 50 : 305.3 m (Round-trip 407.1 ms) speed 0.0 m/s 2025-01-08T21:25:42.599Z,1736371542.599 [DAT](INFO): DAT read: user:1755> 2025-01-08T21:25:42.600Z,1736371542.600 [DAT](INFO): DAT read: Tx time:21:25:41.9735 2025-01-08T21:25:42.600Z,1736371542.600 [DAT](INFO): Ping request sent. 2025-01-08T21:25:42.600Z,1736371542.600 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:42.601Z,1736371542.601 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:25:42.601Z,1736371542.601 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:42.601Z,1736371542.601 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:42.759Z,1736371542.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:42.780Z,1736371542.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:42.783Z,1736371542.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 305.299988 m, deltaT: 3.780734 s, deltaX: 0.500000 m, approachRate: 0.132249 m/s, rangeRepo size: 4 2025-01-08T21:25:42.790Z,1736371542.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:42.793Z,1736371542.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 39.145294 m, bearing: 52.190193 deg, approach rate: 0.474182 m/s, LOS rate: -0.597196 deg/s, cmd heading: 186.125141 deg, new cmd heading: 185.253224 deg. 2025-01-08T21:25:42.794Z,1736371542.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.233279 target range: 304.899994 and range: 305.30 m. 2025-01-08T21:25:42.850Z,1736371542.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:42.850Z,1736371542.850 [DAT](INFO): DAT read: TxSync time:21:25:41.9727 2025-01-08T21:25:42.851Z,1736371542.851 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:42.851Z,1736371542.851 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:42.851Z,1736371542.851 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:43.068Z,1736371543.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:25:43.096Z,1736371543.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:43.100Z,1736371543.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:43.101Z,1736371543.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500362 2025-01-08T21:25:43.133Z,1736371543.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:43.140Z,1736371543.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 39.309616 m, bearing: 51.980666 deg, approach rate: 0.468199 m/s, LOS rate: -0.594503 deg/s, cmd heading: 185.253226 deg, new cmd heading: 184.627301 deg. 2025-01-08T21:25:43.141Z,1736371543.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.222354 target range: 304.899994 and range: 305.30 m. 2025-01-08T21:25:43.352Z,1736371543.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:43.352Z,1736371543.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752110 2025-01-08T21:25:43.544Z,1736371543.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:43.554Z,1736371543.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:43.556Z,1736371543.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 39.516148 m, bearing: 51.697584 deg, approach rate: 0.491020 m/s, LOS rate: -0.669495 deg/s, cmd heading: 184.627294 deg, new cmd heading: 183.782552 deg. 2025-01-08T21:25:43.557Z,1736371543.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.207611 target range: 304.899994 and range: 305.30 m. 2025-01-08T21:25:43.604Z,1736371543.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:43.605Z,1736371543.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005083 2025-01-08T21:25:43.856Z,1736371543.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:43.856Z,1736371543.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256129 2025-01-08T21:25:43.922Z,1736371543.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:43.931Z,1736371543.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:43.934Z,1736371543.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 39.688648 m, bearing: 51.456117 deg, approach rate: 0.456981 m/s, LOS rate: -0.636903 deg/s, cmd heading: 183.782550 deg, new cmd heading: 183.061335 deg. 2025-01-08T21:25:43.935Z,1736371543.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.195023 target range: 304.899994 and range: 305.30 m. 2025-01-08T21:25:44.072Z,1736371544.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:25:44.108Z,1736371544.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:44.108Z,1736371544.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508104 2025-01-08T21:25:44.316Z,1736371544.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:44.325Z,1736371544.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:44.328Z,1736371544.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 39.867027 m, bearing: 51.204044 deg, approach rate: 0.453167 m/s, LOS rate: -0.637516 deg/s, cmd heading: 183.061337 deg, new cmd heading: 182.308547 deg. 2025-01-08T21:25:44.330Z,1736371544.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.181884 target range: 304.899994 and range: 305.30 m. 2025-01-08T21:25:44.360Z,1736371544.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:44.360Z,1736371544.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760213 2025-01-08T21:25:44.612Z,1736371544.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:44.613Z,1736371544.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012938 2025-01-08T21:25:44.750Z,1736371544.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:44.758Z,1736371544.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:44.761Z,1736371544.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 40.051453 m, bearing: 50.917580 deg, approach rate: 0.425262 m/s, LOS rate: -0.657505 deg/s, cmd heading: 182.308541 deg, new cmd heading: 181.453174 deg. 2025-01-08T21:25:44.763Z,1736371544.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.166955 target range: 304.899994 and range: 305.30 m. 2025-01-08T21:25:44.865Z,1736371544.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:44.866Z,1736371544.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265555 2025-01-08T21:25:45.114Z,1736371545.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:45.116Z,1736371545.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:45.116Z,1736371545.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516247 2025-01-08T21:25:45.149Z,1736371545.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:45.156Z,1736371545.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:45.158Z,1736371545.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 40.204781 m, bearing: 50.677196 deg, approach rate: 0.390413 m/s, LOS rate: -0.609744 deg/s, cmd heading: 181.453169 deg, new cmd heading: 180.734806 deg. 2025-01-08T21:25:45.163Z,1736371545.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.154418 target range: 304.899994 and range: 305.30 m. 2025-01-08T21:25:45.368Z,1736371545.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:45.368Z,1736371545.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768173 2025-01-08T21:25:45.571Z,1736371545.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:45.584Z,1736371545.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:45.587Z,1736371545.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 40.391823 m, bearing: 50.369010 deg, approach rate: 0.432094 m/s, LOS rate: -0.708652 deg/s, cmd heading: 180.734810 deg, new cmd heading: 179.814618 deg. 2025-01-08T21:25:45.588Z,1736371545.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.138357 target range: 304.899994 and range: 305.30 m. 2025-01-08T21:25:45.620Z,1736371545.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:45.621Z,1736371545.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020713 2025-01-08T21:25:45.874Z,1736371545.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:45.875Z,1736371545.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274986 2025-01-08T21:25:45.935Z,1736371545.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:45.944Z,1736371545.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:45.947Z,1736371545.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 40.538036 m, bearing: 50.120579 deg, approach rate: 0.407083 m/s, LOS rate: -0.689175 deg/s, cmd heading: 179.814620 deg, new cmd heading: 179.072060 deg. 2025-01-08T21:25:45.948Z,1736371545.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.125397 target range: 304.899994 and range: 305.30 m. 2025-01-08T21:25:46.124Z,1736371546.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:46.124Z,1736371546.124 [DAT](INFO): DAT read: Rx Time:21:25:44.7849 2025-01-08T21:25:46.125Z,1736371546.125 [DAT](INFO): Rx dataTimestamp_ set to:1736371546.124668 2025-01-08T21:25:46.125Z,1736371546.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525254 2025-01-08T21:25:46.327Z,1736371546.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:46.337Z,1736371546.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.90 m. 2025-01-08T21:25:46.339Z,1736371546.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.899994 m, nav range: 40.694187 m, bearing: 49.852377 deg, approach rate: 0.396849 m/s, LOS rate: -0.679002 deg/s, cmd heading: 179.072056 deg, new cmd heading: 178.270592 deg. 2025-01-08T21:25:46.340Z,1736371546.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.111409 target range: 304.899994 and range: 305.30 m. 2025-01-08T21:25:46.376Z,1736371546.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:46.377Z,1736371546.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776346 2025-01-08T21:25:46.629Z,1736371546.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:46.643Z,1736371546.643 [DAT](INFO): DAT read: 21:25:44.7849 LVL= 15328, 19601, 19522, 24771, AGC= 66, IDX= 439, 0.05, 0.626,-0.294,-1.847,-0.535, PHS= 1.249, 0.288,-1.315, RAW= 51.8, -2.0, CAL= 53.9, -5.4, ROT= 96.1, 5.4 2025-01-08T21:25:46.644Z,1736371546.644 [DAT](INFO): got valid direction response: 21:25:44.7849 LVL= 15328, 19601, 19522, 24771, AGC= 66, IDX= 439, 0.05, 0.626,-0.294,-1.847,-0.535, PHS= 1.249, 0.288,-1.315, RAW= 51.8, -2.0, CAL= 53.9, -5.4, ROT= 96.1, 5.4 2025-01-08T21:25:46.646Z,1736371546.646 [DAT](INFO): DAT read: Bearing 96.1, 5.4 (Local) 2025-01-08T21:25:46.646Z,1736371546.646 [DAT](INFO): Local bearing/azimuth received: Bearing 96.1, 5.4 (Local) 2025-01-08T21:25:46.649Z,1736371546.649 [DAT](INFO): DAT read: Range 10 to 50 : 305.4 m (Round-trip 407.3 ms) speed -0.1 m/s 2025-01-08T21:25:46.650Z,1736371546.650 [DAT](INFO): DAT read: user:1756> 2025-01-08T21:25:46.655Z,1736371546.655 [DAT](INFO): DAT read: Tx time:21:25:45.8735 2025-01-08T21:25:46.656Z,1736371546.656 [DAT](INFO): Ping request sent. 2025-01-08T21:25:46.656Z,1736371546.656 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:46.657Z,1736371546.657 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:46.658Z,1736371546.658 [DAT](INFO): direction in FSK: [0.024878,0.679414,0.733334] 2025-01-08T21:25:46.669Z,1736371546.669 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:46.670Z,1736371546.670 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:46.674Z,1736371546.674 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:46.675Z,1736371546.675 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:46.839Z,1736371546.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:46.877Z,1736371546.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 305.399994 m, deltaT: 4.033447 s, deltaX: 0.100006 m, approachRate: 0.024794 m/s, rangeRepo size: 4 2025-01-08T21:25:46.880Z,1736371546.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:46.881Z,1736371546.881 [DAT](INFO): DAT read: TxSync time:21:25:45.8727 2025-01-08T21:25:46.888Z,1736371546.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 305.399994 m, bearing: 272.206075 deg, lat: 36.903376 deg, lon: -122.115992 deg, deltaT: 11.848316 s, deltaX: 0.500000 m, approachRate: 0.042200 m/s, posRepo size: 4 2025-01-08T21:25:46.889Z,1736371546.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m. 2025-01-08T21:25:46.896Z,1736371546.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.399994 m, nav range: 30.171139 m, bearing: 331.668154 deg, approach rate: 0.000000 m/s, LOS rate: -0.679002 deg/s, cmd heading: 178.270587 deg, new cmd heading: 177.170826 deg. 2025-01-08T21:25:46.897Z,1736371546.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.092214 target range: 305.399994 and range: 305.40 m. 2025-01-08T21:25:47.136Z,1736371547.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:47.163Z,1736371547.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:47.174Z,1736371547.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:47.181Z,1736371547.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m. 2025-01-08T21:25:47.188Z,1736371547.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.399994 m, nav range: 30.352551 m, bearing: 331.831094 deg, approach rate: 0.596153 m/s, LOS rate: 0.532250 deg/s, cmd heading: 177.170831 deg, new cmd heading: 177.656717 deg. 2025-01-08T21:25:47.189Z,1736371547.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.100695 target range: 305.399994 and range: 305.40 m. 2025-01-08T21:25:47.389Z,1736371547.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:47.389Z,1736371547.389 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:47.389Z,1736371547.389 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:47.390Z,1736371547.390 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:47.580Z,1736371547.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:47.594Z,1736371547.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m. 2025-01-08T21:25:47.597Z,1736371547.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.399994 m, nav range: 30.599661 m, bearing: 332.020381 deg, approach rate: 0.598084 m/s, LOS rate: 0.454433 deg/s, cmd heading: 177.656717 deg, new cmd heading: 178.219974 deg. 2025-01-08T21:25:47.598Z,1736371547.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.110525 target range: 305.399994 and range: 305.40 m. 2025-01-08T21:25:47.641Z,1736371547.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:47.646Z,1736371547.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986560 2025-01-08T21:25:47.892Z,1736371547.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:47.892Z,1736371547.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236467 2025-01-08T21:25:47.984Z,1736371547.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:47.994Z,1736371547.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m. 2025-01-08T21:25:47.997Z,1736371547.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.399994 m, nav range: 30.830370 m, bearing: 332.187231 deg, approach rate: 0.577528 m/s, LOS rate: 0.414546 deg/s, cmd heading: 178.219976 deg, new cmd heading: 178.716769 deg. 2025-01-08T21:25:47.998Z,1736371547.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.119196 target range: 305.399994 and range: 305.40 m. 2025-01-08T21:25:48.144Z,1736371548.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:48.144Z,1736371548.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488542 2025-01-08T21:25:48.360Z,1736371548.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:48.369Z,1736371548.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m. 2025-01-08T21:25:48.394Z,1736371548.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.399994 m, nav range: 31.061657 m, bearing: 332.344803 deg, approach rate: 0.615500 m/s, LOS rate: 0.416206 deg/s, cmd heading: 178.716763 deg, new cmd heading: 179.185947 deg. 2025-01-08T21:25:48.394Z,1736371548.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.127385 target range: 305.399994 and range: 305.40 m. 2025-01-08T21:25:48.396Z,1736371548.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:48.397Z,1736371548.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741117 2025-01-08T21:25:48.648Z,1736371548.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:48.649Z,1736371548.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993364 2025-01-08T21:25:48.778Z,1736371548.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:48.811Z,1736371548.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m. 2025-01-08T21:25:48.815Z,1736371548.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.399994 m, nav range: 31.318674 m, bearing: 332.489229 deg, approach rate: 0.587071 m/s, LOS rate: 0.327185 deg/s, cmd heading: 179.185942 deg, new cmd heading: 179.615655 deg. 2025-01-08T21:25:48.816Z,1736371548.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.134885 target range: 305.399994 and range: 305.40 m. 2025-01-08T21:25:48.900Z,1736371548.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:48.900Z,1736371548.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244527 2025-01-08T21:25:49.152Z,1736371549.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:49.153Z,1736371549.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496566 2025-01-08T21:25:49.167Z,1736371549.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:49.175Z,1736371549.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m. 2025-01-08T21:25:49.178Z,1736371549.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.399994 m, nav range: 31.558731 m, bearing: 332.616463 deg, approach rate: 0.652660 m/s, LOS rate: 0.343288 deg/s, cmd heading: 179.615657 deg, new cmd heading: 179.994449 deg. 2025-01-08T21:25:49.180Z,1736371549.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.141496 target range: 305.399994 and range: 305.40 m. 2025-01-08T21:25:49.404Z,1736371549.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:49.404Z,1736371549.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748405 2025-01-08T21:25:49.632Z,1736371549.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:49.650Z,1736371549.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:49.657Z,1736371549.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:49.658Z,1736371549.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001291 2025-01-08T21:25:49.665Z,1736371549.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m. 2025-01-08T21:25:49.680Z,1736371549.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.399994 m, nav range: 31.836679 m, bearing: 332.757673 deg, approach rate: 0.567537 m/s, LOS rate: 0.285817 deg/s, cmd heading: 179.994445 deg, new cmd heading: 180.414370 deg. 2025-01-08T21:25:49.682Z,1736371549.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.148825 target range: 305.399994 and range: 305.40 m. 2025-01-08T21:25:49.908Z,1736371549.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:49.908Z,1736371549.908 [DAT](INFO): DAT read: Rx Time:21:25:48.6857 2025-01-08T21:25:49.909Z,1736371549.909 [DAT](INFO): Rx dataTimestamp_ set to:1736371549.908628 2025-01-08T21:25:49.909Z,1736371549.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253503 2025-01-08T21:25:50.020Z,1736371550.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:50.029Z,1736371550.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m. 2025-01-08T21:25:50.033Z,1736371550.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 305.399994 m, nav range: 32.089241 m, bearing: 332.879902 deg, approach rate: 0.694287 m/s, LOS rate: 0.333362 deg/s, cmd heading: 180.414365 deg, new cmd heading: 180.778163 deg. 2025-01-08T21:25:50.034Z,1736371550.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.155174 target range: 305.399994 and range: 305.40 m. 2025-01-08T21:25:50.160Z,1736371550.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:50.160Z,1736371550.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504548 2025-01-08T21:25:50.412Z,1736371550.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:50.419Z,1736371550.419 [DAT](INFO): DAT read: 21:25:48.6857 LVL= 14784, 17377, 18258, 22963, AGC= 65, IDX= 430, 0.47,-2.951, 2.866, 1.025, 2.522, PHS= 0.898, 0.391,-1.500, RAW= 41.6, 2.0, CAL= 40.6, 1.3, ROT= 109.4, -1.3 2025-01-08T21:25:50.421Z,1736371550.421 [DAT](INFO): got valid direction response: 21:25:48.6857 LVL= 14784, 17377, 18258, 22963, AGC= 65, IDX= 430, 0.47,-2.951, 2.866, 1.025, 2.522, PHS= 0.898, 0.391,-1.500, RAW= 41.6, 2.0, CAL= 40.6, 1.3, ROT= 109.4, -1.3 2025-01-08T21:25:50.421Z,1736371550.421 [DAT](INFO): DAT read: Bearing 109.4, -1.3 (Local) 2025-01-08T21:25:50.422Z,1736371550.422 [DAT](INFO): Local bearing/azimuth received: Bearing 109.4, -1.3 (Local) 2025-01-08T21:25:50.423Z,1736371550.423 [DAT](INFO): DAT read: Range 10 to 50 : 306.0 m (Round-trip 408.1 ms) speed -0.4 m/s 2025-01-08T21:25:50.424Z,1736371550.424 [DAT](INFO): DAT read: user:1757> 2025-01-08T21:25:50.425Z,1736371550.425 [DAT](INFO): DAT read: Tx time:21:25:49.7735 2025-01-08T21:25:50.425Z,1736371550.425 [DAT](INFO): Ping request sent. 2025-01-08T21:25:50.425Z,1736371550.425 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:50.426Z,1736371550.426 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:50.426Z,1736371550.426 [DAT](INFO): direction in FSK: [-0.027443,0.795649,0.605137] 2025-01-08T21:25:50.427Z,1736371550.427 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:50.427Z,1736371550.427 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:50.431Z,1736371550.431 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:50.431Z,1736371550.431 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:50.437Z,1736371550.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:50.488Z,1736371550.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 306.000000 m, deltaT: 3.782686 s, deltaX: 0.600006 m, approachRate: 0.158619 m/s, rangeRepo size: 4 2025-01-08T21:25:50.490Z,1736371550.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 306.000000 m, bearing: 271.427055 deg, lat: 36.903376 deg, lon: -122.117012 deg, deltaT: 3.782686 s, deltaX: 0.600006 m, approachRate: 0.158619 m/s, posRepo size: 4 2025-01-08T21:25:50.491Z,1736371550.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:25:50.538Z,1736371550.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 109.270683 m, bearing: 285.294874 deg, approach rate: 0.000000 m/s, LOS rate: 0.333362 deg/s, cmd heading: 180.778168 deg, new cmd heading: 181.220879 deg. 2025-01-08T21:25:50.547Z,1736371550.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.162901 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:25:50.665Z,1736371550.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:50.666Z,1736371550.666 [DAT](INFO): DAT read: TxSync time:21:25:49.7727 2025-01-08T21:25:50.893Z,1736371550.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:50.906Z,1736371550.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:25:50.914Z,1736371550.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 109.411148 m, bearing: 285.437199 deg, approach rate: 0.322702 m/s, LOS rate: 0.326555 deg/s, cmd heading: 181.220874 deg, new cmd heading: 181.647291 deg. 2025-01-08T21:25:50.916Z,1736371550.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:50.920Z,1736371550.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.170343 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:25:51.168Z,1736371551.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:51.232Z,1736371551.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:51.240Z,1736371551.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:25:51.243Z,1736371551.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 109.516876 m, bearing: 285.542107 deg, approach rate: 0.316472 m/s, LOS rate: 0.313716 deg/s, cmd heading: 181.647296 deg, new cmd heading: 181.961715 deg. 2025-01-08T21:25:51.244Z,1736371551.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.175831 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:25:51.422Z,1736371551.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:51.673Z,1736371551.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:51.689Z,1736371551.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:51.696Z,1736371551.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:51.698Z,1736371551.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:25:51.721Z,1736371551.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 109.647919 m, bearing: 285.685735 deg, approach rate: 0.286601 m/s, LOS rate: 0.313751 deg/s, cmd heading: 181.961717 deg, new cmd heading: 182.392078 deg. 2025-01-08T21:25:51.722Z,1736371551.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.183342 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:25:51.924Z,1736371551.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:51.924Z,1736371551.924 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:51.924Z,1736371551.924 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:51.924Z,1736371551.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:52.036Z,1736371552.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:52.044Z,1736371552.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:25:52.048Z,1736371552.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 109.747322 m, bearing: 285.794433 deg, approach rate: 0.286688 m/s, LOS rate: 0.313208 deg/s, cmd heading: 182.392074 deg, new cmd heading: 182.717866 deg. 2025-01-08T21:25:52.049Z,1736371552.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.189028 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:25:52.176Z,1736371552.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:52.177Z,1736371552.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751490 2025-01-08T21:25:52.425Z,1736371552.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:52.428Z,1736371552.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:52.428Z,1736371552.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003134 2025-01-08T21:25:52.436Z,1736371552.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:25:52.439Z,1736371552.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 109.859245 m, bearing: 285.916601 deg, approach rate: 0.285766 m/s, LOS rate: 0.311606 deg/s, cmd heading: 182.717860 deg, new cmd heading: 183.083986 deg. 2025-01-08T21:25:52.440Z,1736371552.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.195418 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:25:52.680Z,1736371552.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:52.681Z,1736371552.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255617 2025-01-08T21:25:52.867Z,1736371552.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:52.876Z,1736371552.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:25:52.880Z,1736371552.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 109.974419 m, bearing: 286.059339 deg, approach rate: 0.261790 m/s, LOS rate: 0.324105 deg/s, cmd heading: 183.083986 deg, new cmd heading: 183.511744 deg. 2025-01-08T21:25:52.881Z,1736371552.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.202884 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:25:52.932Z,1736371552.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:52.933Z,1736371552.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507300 2025-01-08T21:25:53.184Z,1736371553.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:53.184Z,1736371553.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759123 2025-01-08T21:25:53.259Z,1736371553.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:53.284Z,1736371553.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:25:53.287Z,1736371553.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 110.077187 m, bearing: 286.185748 deg, approach rate: 0.251838 m/s, LOS rate: 0.309481 deg/s, cmd heading: 183.511747 deg, new cmd heading: 183.890612 deg. 2025-01-08T21:25:53.288Z,1736371553.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.209497 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:25:53.436Z,1736371553.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:53.436Z,1736371553.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011143 2025-01-08T21:25:53.688Z,1736371553.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:53.689Z,1736371553.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263290 2025-01-08T21:25:53.725Z,1736371553.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:53.741Z,1736371553.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:53.755Z,1736371553.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:25:53.758Z,1736371553.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 110.178444 m, bearing: 286.335029 deg, approach rate: 0.217379 m/s, LOS rate: 0.320180 deg/s, cmd heading: 183.890617 deg, new cmd heading: 184.338038 deg. 2025-01-08T21:25:53.759Z,1736371553.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.217306 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:25:53.940Z,1736371553.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:53.940Z,1736371553.940 [DAT](INFO): DAT read: Rx Time:21:25:52.5879 2025-01-08T21:25:53.941Z,1736371553.941 [DAT](INFO): Rx dataTimestamp_ set to:1736371553.940599 2025-01-08T21:25:53.941Z,1736371553.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516182 2025-01-08T21:25:54.055Z,1736371554.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:54.071Z,1736371554.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:25:54.074Z,1736371554.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 110.248421 m, bearing: 286.439641 deg, approach rate: 0.220533 m/s, LOS rate: 0.329479 deg/s, cmd heading: 184.338036 deg, new cmd heading: 184.651671 deg. 2025-01-08T21:25:54.080Z,1736371554.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.222780 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:25:54.192Z,1736371554.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:54.192Z,1736371554.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767196 2025-01-08T21:25:54.444Z,1736371554.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:54.451Z,1736371554.451 [DAT](INFO): DAT read: 21:25:52.5879 LVL= 14368, 21233, 18738, 25939, AGC= 64, IDX= 468, 0.21,-2.389,-2.817, 1.633, 3.010, PHS= 0.972, 0.503,-1.380, RAW= 40.8, -0.9, CAL= 40.8, -3.1, ROT= 109.2, 3.1 2025-01-08T21:25:54.452Z,1736371554.452 [DAT](INFO): got valid direction response: 21:25:52.5879 LVL= 14368, 21233, 18738, 25939, AGC= 64, IDX= 468, 0.21,-2.389,-2.817, 1.633, 3.010, PHS= 0.972, 0.503,-1.380, RAW= 40.8, -0.9, CAL= 40.8, -3.1, ROT= 109.2, 3.1 2025-01-08T21:25:54.453Z,1736371554.453 [DAT](INFO): DAT read: Bearing 109.2, 3.1 (Local) 2025-01-08T21:25:54.454Z,1736371554.454 [DAT](INFO): Local bearing/azimuth received: Bearing 109.2, 3.1 (Local) 2025-01-08T21:25:54.455Z,1736371554.455 [DAT](INFO): DAT read: Range 10 to 50 : 307.6 m (Round-trip 410.2 ms) speed -0.4 m/s 2025-01-08T21:25:54.456Z,1736371554.456 [DAT](INFO): DAT read: user:1758> 2025-01-08T21:25:54.457Z,1736371554.457 [DAT](INFO): DAT read: Tx time:21:25:53.6736 2025-01-08T21:25:54.457Z,1736371554.457 [DAT](INFO): Ping request sent. 2025-01-08T21:25:54.457Z,1736371554.457 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:54.457Z,1736371554.457 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:54.458Z,1736371554.458 [DAT](INFO): direction in FSK: [0.026841,0.799960,0.599452] 2025-01-08T21:25:54.459Z,1736371554.459 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:54.459Z,1736371554.459 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:54.474Z,1736371554.474 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:54.474Z,1736371554.474 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:54.476Z,1736371554.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:54.505Z,1736371554.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 307.600006 m, deltaT: 4.031215 s, deltaX: 1.600006 m, approachRate: 0.396904 m/s, rangeRepo size: 4 2025-01-08T21:25:54.512Z,1736371554.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 307.600006 m, bearing: 270.627300 deg, lat: 36.903205 deg, lon: -122.118042 deg, deltaT: 4.031215 s, deltaX: 1.600006 m, approachRate: 0.396904 m/s, posRepo size: 4 2025-01-08T21:25:54.513Z,1736371554.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.60 m. 2025-01-08T21:25:54.524Z,1736371554.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.600006 m, nav range: 197.723572 m, bearing: 273.623512 deg, approach rate: 0.000000 m/s, LOS rate: 0.329479 deg/s, cmd heading: 184.651664 deg, new cmd heading: 185.084042 deg. 2025-01-08T21:25:54.525Z,1736371554.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.230326 target range: 307.600006 and range: 307.60 m. 2025-01-08T21:25:54.696Z,1736371554.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:54.697Z,1736371554.697 [DAT](INFO): DAT read: TxSync time:21:25:53.6728 2025-01-08T21:25:54.944Z,1736371554.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:54.950Z,1736371554.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:54.966Z,1736371554.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.60 m. 2025-01-08T21:25:54.973Z,1736371554.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.600006 m, nav range: 197.739426 m, bearing: 273.712676 deg, approach rate: 0.034359 m/s, LOS rate: 0.193224 deg/s, cmd heading: 185.084043 deg, new cmd heading: 185.351512 deg. 2025-01-08T21:25:54.974Z,1736371554.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.234994 target range: 307.600006 and range: 307.60 m. 2025-01-08T21:25:55.200Z,1736371555.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:55.296Z,1736371555.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:55.305Z,1736371555.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.60 m. 2025-01-08T21:25:55.309Z,1736371555.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.600006 m, nav range: 197.749344 m, bearing: 273.779652 deg, approach rate: 0.029284 m/s, LOS rate: 0.197738 deg/s, cmd heading: 185.351513 deg, new cmd heading: 185.552429 deg. 2025-01-08T21:25:55.310Z,1736371555.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.238501 target range: 307.600006 and range: 307.60 m. 2025-01-08T21:25:55.452Z,1736371555.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:55.704Z,1736371555.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:55.721Z,1736371555.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:55.730Z,1736371555.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.60 m. 2025-01-08T21:25:55.732Z,1736371555.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.600006 m, nav range: 197.745743 m, bearing: 273.859137 deg, approach rate: -0.008476 m/s, LOS rate: 0.187098 deg/s, cmd heading: 185.552430 deg, new cmd heading: 185.790887 deg. 2025-01-08T21:25:55.733Z,1736371555.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.242663 target range: 307.600006 and range: 307.60 m. 2025-01-08T21:25:55.956Z,1736371555.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:56.092Z,1736371556.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:56.108Z,1736371556.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:56.110Z,1736371556.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.60 m. 2025-01-08T21:25:56.117Z,1736371556.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.600006 m, nav range: 197.741577 m, bearing: 273.928504 deg, approach rate: -0.010958 m/s, LOS rate: 0.182472 deg/s, cmd heading: 185.790885 deg, new cmd heading: 185.998992 deg. 2025-01-08T21:25:56.118Z,1736371556.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.246295 target range: 307.600006 and range: 307.60 m. 2025-01-08T21:25:56.208Z,1736371556.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:56.209Z,1736371556.209 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:25:56.209Z,1736371556.209 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:25:56.210Z,1736371556.210 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:25:56.460Z,1736371556.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:56.460Z,1736371556.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003130 2025-01-08T21:25:56.473Z,1736371556.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:56.483Z,1736371556.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.60 m. 2025-01-08T21:25:56.485Z,1736371556.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.600006 m, nav range: 197.736572 m, bearing: 273.999713 deg, approach rate: -0.013428 m/s, LOS rate: 0.191050 deg/s, cmd heading: 185.998987 deg, new cmd heading: 186.212617 deg. 2025-01-08T21:25:56.486Z,1736371556.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.250023 target range: 307.600006 and range: 307.60 m. 2025-01-08T21:25:56.712Z,1736371556.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:56.712Z,1736371556.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255338 2025-01-08T21:25:56.908Z,1736371556.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:56.918Z,1736371556.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.60 m. 2025-01-08T21:25:56.921Z,1736371556.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.600006 m, nav range: 197.728302 m, bearing: 274.079747 deg, approach rate: -0.019002 m/s, LOS rate: 0.183896 deg/s, cmd heading: 186.212622 deg, new cmd heading: 186.452733 deg. 2025-01-08T21:25:56.926Z,1736371556.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.254214 target range: 307.600006 and range: 307.60 m. 2025-01-08T21:25:56.964Z,1736371556.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:56.965Z,1736371556.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507976 2025-01-08T21:25:57.216Z,1736371557.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:57.217Z,1736371557.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759451 2025-01-08T21:25:57.280Z,1736371557.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:57.306Z,1736371557.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.60 m. 2025-01-08T21:25:57.313Z,1736371557.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.600006 m, nav range: 197.720474 m, bearing: 274.148175 deg, approach rate: -0.020183 m/s, LOS rate: 0.176438 deg/s, cmd heading: 186.452731 deg, new cmd heading: 186.658021 deg. 2025-01-08T21:25:57.314Z,1736371557.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.257797 target range: 307.600006 and range: 307.60 m. 2025-01-08T21:25:57.468Z,1736371557.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:57.468Z,1736371557.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011265 2025-01-08T21:25:57.720Z,1736371557.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:57.721Z,1736371557.721 [DAT](INFO): DAT read: Rx Time:21:25:56.4896 2025-01-08T21:25:57.721Z,1736371557.721 [DAT](INFO): Rx dataTimestamp_ set to:1736371557.720711 2025-01-08T21:25:57.721Z,1736371557.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264398 2025-01-08T21:25:57.763Z,1736371557.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:57.786Z,1736371557.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.60 m. 2025-01-08T21:25:57.800Z,1736371557.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.600006 m, nav range: 197.716476 m, bearing: 274.236186 deg, approach rate: -0.008330 m/s, LOS rate: 0.183385 deg/s, cmd heading: 186.658019 deg, new cmd heading: 186.922055 deg. 2025-01-08T21:25:57.801Z,1736371557.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.262405 target range: 307.600006 and range: 307.60 m. 2025-01-08T21:25:57.972Z,1736371557.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:57.972Z,1736371557.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515173 2025-01-08T21:25:58.144Z,1736371558.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:58.201Z,1736371558.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:25:58.208Z,1736371558.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.60 m. 2025-01-08T21:25:58.210Z,1736371558.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.600006 m, nav range: 197.712402 m, bearing: 274.305411 deg, approach rate: -0.009755 m/s, LOS rate: 0.165755 deg/s, cmd heading: 186.922060 deg, new cmd heading: 187.129739 deg. 2025-01-08T21:25:58.216Z,1736371558.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.266030 target range: 307.600006 and range: 307.60 m. 2025-01-08T21:25:58.224Z,1736371558.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:58.235Z,1736371558.235 [DAT](INFO): DAT read: 21:25:56.4896 LVL= 17744, 24865, 27122, 32499, AGC= 65, IDX= 453, 0.44,-2.536, 3.081, 1.389, 2.614, PHS= 1.221, 0.514,-1.228, RAW= 46.3, -4.7, CAL= 48.8, -9.0, ROT= 101.2, 9.0 2025-01-08T21:25:58.236Z,1736371558.236 [DAT](INFO): got valid direction response: 21:25:56.4896 LVL= 17744, 24865, 27122, 32499, AGC= 65, IDX= 453, 0.44,-2.536, 3.081, 1.389, 2.614, PHS= 1.221, 0.514,-1.228, RAW= 46.3, -4.7, CAL= 48.8, -9.0, ROT= 101.2, 9.0 2025-01-08T21:25:58.237Z,1736371558.237 [DAT](INFO): DAT read: Bearing 101.2, 9.0 (Local) 2025-01-08T21:25:58.238Z,1736371558.238 [DAT](INFO): Local bearing/azimuth received: Bearing 101.2, 9.0 (Local) 2025-01-08T21:25:58.240Z,1736371558.240 [DAT](INFO): DAT read: Range 10 to 50 : 308.9 m (Round-trip 411.9 ms) speed 0.1 m/s 2025-01-08T21:25:58.240Z,1736371558.240 [DAT](INFO): DAT read: user:1759> 2025-01-08T21:25:58.241Z,1736371558.241 [DAT](INFO): DAT read: Tx time:21:25:57.5736 2025-01-08T21:25:58.241Z,1736371558.241 [DAT](INFO): Ping request sent. 2025-01-08T21:25:58.241Z,1736371558.241 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:25:58.242Z,1736371558.242 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:25:58.243Z,1736371558.243 [DAT](INFO): direction in FSK: [0.086002,0.737059,0.670334] 2025-01-08T21:25:58.243Z,1736371558.243 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:58.243Z,1736371558.243 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:58.248Z,1736371558.248 [DAT](INFO): publishing transmit ping time 2025-01-08T21:25:58.248Z,1736371558.248 [DAT](INFO): publishing direction and range info 2025-01-08T21:25:58.476Z,1736371558.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:58.477Z,1736371558.477 [DAT](INFO): DAT read: TxSync time:21:25:57.5728 2025-01-08T21:25:58.722Z,1736371558.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:58.728Z,1736371558.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:58.759Z,1736371558.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 308.899994 m, deltaT: 3.780155 s, deltaX: 1.299988 m, approachRate: 0.343898 m/s, rangeRepo size: 4 2025-01-08T21:25:58.773Z,1736371558.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 308.899994 m, bearing: 272.343691 deg, lat: 36.903169 deg, lon: -122.118042 deg, deltaT: 3.780155 s, deltaX: 1.299988 m, approachRate: 0.343898 m/s, posRepo size: 4 2025-01-08T21:25:58.774Z,1736371558.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T21:25:58.780Z,1736371558.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 197.449600 m, bearing: 273.251713 deg, approach rate: 0.000000 m/s, LOS rate: 0.165755 deg/s, cmd heading: 187.129739 deg, new cmd heading: 187.405615 deg. 2025-01-08T21:25:58.781Z,1736371558.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.270845 target range: 308.899994 and range: 308.90 m. 2025-01-08T21:25:58.980Z,1736371558.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:59.055Z,1736371559.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:59.067Z,1736371559.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T21:25:59.069Z,1736371559.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 197.448792 m, bearing: 273.314334 deg, approach rate: -0.002619 m/s, LOS rate: 0.202832 deg/s, cmd heading: 187.405610 deg, new cmd heading: 187.593474 deg. 2025-01-08T21:25:59.070Z,1736371559.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.274124 target range: 308.899994 and range: 308.90 m. 2025-01-08T21:25:59.233Z,1736371559.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:59.450Z,1736371559.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:59.459Z,1736371559.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T21:25:59.464Z,1736371559.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 197.443527 m, bearing: 273.388593 deg, approach rate: -0.013428 m/s, LOS rate: 0.189418 deg/s, cmd heading: 187.593468 deg, new cmd heading: 187.816250 deg. 2025-01-08T21:25:59.465Z,1736371559.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.278012 target range: 308.899994 and range: 308.90 m. 2025-01-08T21:25:59.484Z,1736371559.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:59.685Z,1736371559.685 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:25:59.736Z,1736371559.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:25:59.889Z,1736371559.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:25:59.902Z,1736371559.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T21:25:59.917Z,1736371559.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 197.455856 m, bearing: 273.469527 deg, approach rate: 0.027827 m/s, LOS rate: 0.182656 deg/s, cmd heading: 187.816255 deg, new cmd heading: 188.059040 deg. 2025-01-08T21:25:59.918Z,1736371559.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.282249 target range: 308.899994 and range: 308.90 m. 2025-01-08T21:25:59.988Z,1736371559.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:00.240Z,1736371560.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:00.249Z,1736371560.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:00.256Z,1736371560.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:00.258Z,1736371560.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T21:26:00.262Z,1736371560.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 197.463791 m, bearing: 273.536057 deg, approach rate: 0.022302 m/s, LOS rate: 0.186992 deg/s, cmd heading: 188.059041 deg, new cmd heading: 188.258622 deg. 2025-01-08T21:26:00.264Z,1736371560.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.285733 target range: 308.899994 and range: 308.90 m. 2025-01-08T21:26:00.492Z,1736371560.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:00.492Z,1736371560.492 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:00.492Z,1736371560.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:00.493Z,1736371560.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:00.715Z,1736371560.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:00.727Z,1736371560.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T21:26:00.734Z,1736371560.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 197.473465 m, bearing: 273.622139 deg, approach rate: 0.020622 m/s, LOS rate: 0.183488 deg/s, cmd heading: 188.258619 deg, new cmd heading: 188.516851 deg. 2025-01-08T21:26:00.735Z,1736371560.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.290240 target range: 308.899994 and range: 308.90 m. 2025-01-08T21:26:00.744Z,1736371560.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:00.744Z,1736371560.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502977 2025-01-08T21:26:00.997Z,1736371560.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:00.997Z,1736371560.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755972 2025-01-08T21:26:01.171Z,1736371561.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:01.180Z,1736371561.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T21:26:01.183Z,1736371561.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 197.506454 m, bearing: 273.708352 deg, approach rate: 0.072781 m/s, LOS rate: 0.190170 deg/s, cmd heading: 188.516855 deg, new cmd heading: 188.775448 deg. 2025-01-08T21:26:01.204Z,1736371561.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.294753 target range: 308.899994 and range: 308.90 m. 2025-01-08T21:26:01.248Z,1736371561.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:01.249Z,1736371561.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007174 2025-01-08T21:26:01.501Z,1736371561.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:01.502Z,1736371561.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260957 2025-01-08T21:26:01.556Z,1736371561.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:01.565Z,1736371561.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T21:26:01.584Z,1736371561.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 197.532959 m, bearing: 273.780914 deg, approach rate: 0.068891 m/s, LOS rate: 0.188578 deg/s, cmd heading: 188.775446 deg, new cmd heading: 188.993101 deg. 2025-01-08T21:26:01.585Z,1736371561.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.298552 target range: 308.899994 and range: 308.90 m. 2025-01-08T21:26:01.752Z,1736371561.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:01.753Z,1736371561.753 [DAT](INFO): DAT read: Rx Time:21:26:00.3903 2025-01-08T21:26:01.753Z,1736371561.753 [DAT](INFO): Rx dataTimestamp_ set to:1736371561.752913 2025-01-08T21:26:01.754Z,1736371561.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512291 2025-01-08T21:26:02.004Z,1736371562.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:02.004Z,1736371562.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763040 2025-01-08T21:26:02.028Z,1736371562.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:02.044Z,1736371562.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.90 m. 2025-01-08T21:26:02.102Z,1736371562.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.899994 m, nav range: 197.584244 m, bearing: 273.871455 deg, approach rate: 0.107455 m/s, LOS rate: 0.189658 deg/s, cmd heading: 188.993097 deg, new cmd heading: 189.264648 deg. 2025-01-08T21:26:02.102Z,1736371562.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.303291 target range: 308.899994 and range: 308.90 m. 2025-01-08T21:26:02.256Z,1736371562.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:02.266Z,1736371562.266 [DAT](INFO): DAT read: 21:26:00.3903 LVL= 16368, 25457, 27490, 31699, AGC= 64, IDX= 444, 0.50,-0.236,-1.127,-2.682,-1.448, PHS= 1.300, 0.368,-1.237, RAW= 51.3, -3.9, CAL= 54.5, -8.2, ROT= 95.5, 8.2 2025-01-08T21:26:02.268Z,1736371562.268 [DAT](INFO): got valid direction response: 21:26:00.3903 LVL= 16368, 25457, 27490, 31699, AGC= 64, IDX= 444, 0.50,-0.236,-1.127,-2.682,-1.448, PHS= 1.300, 0.368,-1.237, RAW= 51.3, -3.9, CAL= 54.5, -8.2, ROT= 95.5, 8.2 2025-01-08T21:26:02.269Z,1736371562.269 [DAT](INFO): DAT read: Bearing 95.5, 8.2 (Local) 2025-01-08T21:26:02.269Z,1736371562.269 [DAT](INFO): Local bearing/azimuth received: Bearing 95.5, 8.2 (Local) 2025-01-08T21:26:02.271Z,1736371562.271 [DAT](INFO): DAT read: Range 10 to 50 : 309.3 m (Round-trip 412.5 ms) speed -0.3 m/s 2025-01-08T21:26:02.272Z,1736371562.272 [DAT](INFO): DAT read: user:1760> 2025-01-08T21:26:02.273Z,1736371562.273 [DAT](INFO): DAT read: Tx time:21:26:01.4736 2025-01-08T21:26:02.273Z,1736371562.273 [DAT](INFO): Ping request sent. 2025-01-08T21:26:02.273Z,1736371562.273 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:02.274Z,1736371562.274 [DAT](INFO): DAT read: TxSync time:21:26:01.4728 2025-01-08T21:26:02.274Z,1736371562.274 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:02.276Z,1736371562.276 [DAT](INFO): direction in FSK: [0.061453,0.681885,0.728874] 2025-01-08T21:26:02.276Z,1736371562.276 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:02.277Z,1736371562.277 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:02.282Z,1736371562.282 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:02.282Z,1736371562.282 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:02.427Z,1736371562.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:02.472Z,1736371562.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 309.299988 m, deltaT: 4.031877 s, deltaX: 0.399994 m, approachRate: 0.099208 m/s, rangeRepo size: 4 2025-01-08T21:26:02.474Z,1736371562.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 309.299988 m, bearing: 278.770019 deg, lat: 36.903169 deg, lon: -122.118042 deg, deltaT: 4.031877 s, deltaX: 0.399994 m, approachRate: 0.099208 m/s, posRepo size: 4 2025-01-08T21:26:02.474Z,1736371562.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:02.482Z,1736371562.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 197.628082 m, bearing: 273.948144 deg, approach rate: 0.000000 m/s, LOS rate: 0.189658 deg/s, cmd heading: 189.264651 deg, new cmd heading: 189.506369 deg. 2025-01-08T21:26:02.483Z,1736371562.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.307510 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:26:02.508Z,1736371562.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:02.760Z,1736371562.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:02.874Z,1736371562.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:02.901Z,1736371562.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:02.908Z,1736371562.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:02.915Z,1736371562.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 197.693695 m, bearing: 274.033833 deg, approach rate: 0.148581 m/s, LOS rate: 0.193981 deg/s, cmd heading: 189.506372 deg, new cmd heading: 189.763353 deg. 2025-01-08T21:26:02.916Z,1736371562.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.311995 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:26:03.013Z,1736371563.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:03.013Z,1736371563.013 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:03.014Z,1736371563.014 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:03.014Z,1736371563.014 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:03.197Z,1736371563.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:03.206Z,1736371563.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:03.209Z,1736371563.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 197.734360 m, bearing: 274.096061 deg, approach rate: 0.136590 m/s, LOS rate: 0.208976 deg/s, cmd heading: 189.763351 deg, new cmd heading: 189.949995 deg. 2025-01-08T21:26:03.210Z,1736371563.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.315253 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:26:03.266Z,1736371563.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:03.266Z,1736371563.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993072 2025-01-08T21:26:03.520Z,1736371563.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:03.520Z,1736371563.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247115 2025-01-08T21:26:03.614Z,1736371563.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:03.623Z,1736371563.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:03.626Z,1736371563.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 197.785187 m, bearing: 274.176362 deg, approach rate: 0.121937 m/s, LOS rate: 0.192598 deg/s, cmd heading: 189.949992 deg, new cmd heading: 190.190832 deg. 2025-01-08T21:26:03.627Z,1736371563.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.319456 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:26:03.774Z,1736371563.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:03.774Z,1736371563.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501029 2025-01-08T21:26:04.024Z,1736371564.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:04.024Z,1736371564.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751160 2025-01-08T21:26:04.026Z,1736371564.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:04.039Z,1736371564.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:04.042Z,1736371564.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 197.837631 m, bearing: 274.257661 deg, approach rate: 0.126066 m/s, LOS rate: 0.195374 deg/s, cmd heading: 190.190838 deg, new cmd heading: 190.434668 deg. 2025-01-08T21:26:04.043Z,1736371564.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.323712 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:26:04.276Z,1736371564.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:04.276Z,1736371564.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003175 2025-01-08T21:26:04.470Z,1736371564.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:04.478Z,1736371564.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:04.482Z,1736371564.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 197.888885 m, bearing: 274.345568 deg, approach rate: 0.116757 m/s, LOS rate: 0.200198 deg/s, cmd heading: 190.434663 deg, new cmd heading: 190.698312 deg. 2025-01-08T21:26:04.483Z,1736371564.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.328313 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:26:04.528Z,1736371564.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:04.528Z,1736371564.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254988 2025-01-08T21:26:04.780Z,1736371564.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:04.781Z,1736371564.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507320 2025-01-08T21:26:04.874Z,1736371564.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:04.904Z,1736371564.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:04.906Z,1736371564.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:04.913Z,1736371564.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 197.931519 m, bearing: 274.424686 deg, approach rate: 0.099523 m/s, LOS rate: 0.184656 deg/s, cmd heading: 190.698308 deg, new cmd heading: 190.935611 deg. 2025-01-08T21:26:04.914Z,1736371564.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.332455 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:26:05.032Z,1736371565.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:05.033Z,1736371565.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759272 2025-01-08T21:26:05.237Z,1736371565.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:05.245Z,1736371565.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:05.249Z,1736371565.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 197.966156 m, bearing: 274.495911 deg, approach rate: 0.102228 m/s, LOS rate: 0.210174 deg/s, cmd heading: 190.935616 deg, new cmd heading: 191.149252 deg. 2025-01-08T21:26:05.250Z,1736371565.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.336184 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:26:05.284Z,1736371565.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:05.284Z,1736371565.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011116 2025-01-08T21:26:05.536Z,1736371565.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:05.536Z,1736371565.536 [DAT](INFO): DAT read: Rx Time:21:26:04.2916 2025-01-08T21:26:05.537Z,1736371565.537 [DAT](INFO): Rx dataTimestamp_ set to:1736371565.536629 2025-01-08T21:26:05.537Z,1736371565.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264136 2025-01-08T21:26:05.665Z,1736371565.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:05.680Z,1736371565.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:05.699Z,1736371565.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 198.005844 m, bearing: 274.579866 deg, approach rate: 0.091583 m/s, LOS rate: 0.193691 deg/s, cmd heading: 191.149251 deg, new cmd heading: 191.401062 deg. 2025-01-08T21:26:05.700Z,1736371565.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.340579 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:26:05.790Z,1736371565.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:05.793Z,1736371565.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518962 2025-01-08T21:26:06.040Z,1736371566.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:06.041Z,1736371566.041 [DAT](INFO): DAT read: Range 10 to 50 : 310.3 m (Round-trip 413.8 ms) speed -0.4 m/s 2025-01-08T21:26:06.042Z,1736371566.042 [DAT](INFO): DAT read: user:1761> 2025-01-08T21:26:06.043Z,1736371566.043 [DAT](INFO): DAT read: Tx time:21:26:05.3737 2025-01-08T21:26:06.043Z,1736371566.043 [DAT](INFO): Ping request sent. 2025-01-08T21:26:06.043Z,1736371566.043 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:06.044Z,1736371566.044 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:26:06.044Z,1736371566.044 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:06.045Z,1736371566.045 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:06.101Z,1736371566.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:06.128Z,1736371566.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 310.299988 m, deltaT: 3.783892 s, deltaX: 1.000000 m, approachRate: 0.264278 m/s, rangeRepo size: 4 2025-01-08T21:26:06.128Z,1736371566.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:06.136Z,1736371566.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 198.031616 m, bearing: 274.664260 deg, approach rate: 0.058019 m/s, LOS rate: 0.189966 deg/s, cmd heading: 191.401066 deg, new cmd heading: 191.654215 deg. 2025-01-08T21:26:06.137Z,1736371566.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.344997 target range: 309.299988 and range: 310.30 m. 2025-01-08T21:26:06.292Z,1736371566.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:06.293Z,1736371566.293 [DAT](INFO): DAT read: TxSync time:21:26:05.3729 2025-01-08T21:26:06.466Z,1736371566.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:06.474Z,1736371566.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:06.477Z,1736371566.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 198.052734 m, bearing: 274.734745 deg, approach rate: 0.060052 m/s, LOS rate: 0.200410 deg/s, cmd heading: 191.654220 deg, new cmd heading: 191.865652 deg. 2025-01-08T21:26:06.478Z,1736371566.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.348687 target range: 309.299988 and range: 310.30 m. 2025-01-08T21:26:06.545Z,1736371566.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:06.797Z,1736371566.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:06.913Z,1736371566.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:06.920Z,1736371566.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:06.923Z,1736371566.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:06.929Z,1736371566.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 198.052963 m, bearing: 274.819403 deg, approach rate: 0.000512 m/s, LOS rate: 0.189247 deg/s, cmd heading: 191.865656 deg, new cmd heading: 192.119627 deg. 2025-01-08T21:26:06.931Z,1736371566.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.353120 target range: 309.299988 and range: 310.30 m. 2025-01-08T21:26:07.048Z,1736371567.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:07.049Z,1736371567.049 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:07.049Z,1736371567.049 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:07.049Z,1736371567.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:07.276Z,1736371567.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:07.285Z,1736371567.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:07.288Z,1736371567.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 198.052551 m, bearing: 274.888222 deg, approach rate: -0.001133 m/s, LOS rate: 0.189233 deg/s, cmd heading: 192.119629 deg, new cmd heading: 192.326084 deg. 2025-01-08T21:26:07.289Z,1736371567.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.356723 target range: 309.299988 and range: 310.30 m. 2025-01-08T21:26:07.300Z,1736371567.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:07.301Z,1736371567.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257095 2025-01-08T21:26:07.552Z,1736371567.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:07.552Z,1736371567.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508812 2025-01-08T21:26:07.690Z,1736371567.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:07.699Z,1736371567.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:07.701Z,1736371567.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 198.052017 m, bearing: 274.966455 deg, approach rate: -0.001292 m/s, LOS rate: 0.189306 deg/s, cmd heading: 192.326079 deg, new cmd heading: 192.560778 deg. 2025-01-08T21:26:07.702Z,1736371567.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.360820 target range: 309.299988 and range: 310.30 m. 2025-01-08T21:26:07.805Z,1736371567.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:07.809Z,1736371567.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764766 2025-01-08T21:26:08.057Z,1736371568.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:08.057Z,1736371568.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013789 2025-01-08T21:26:08.144Z,1736371568.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:08.153Z,1736371568.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:08.156Z,1736371568.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 198.027023 m, bearing: 275.051070 deg, approach rate: -0.055013 m/s, LOS rate: 0.186265 deg/s, cmd heading: 192.560778 deg, new cmd heading: 192.814652 deg. 2025-01-08T21:26:08.157Z,1736371568.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.365251 target range: 309.299988 and range: 310.30 m. 2025-01-08T21:26:08.308Z,1736371568.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:08.308Z,1736371568.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264789 2025-01-08T21:26:08.492Z,1736371568.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:08.501Z,1736371568.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:08.504Z,1736371568.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 198.007980 m, bearing: 275.115951 deg, approach rate: -0.054752 m/s, LOS rate: 0.186564 deg/s, cmd heading: 192.814656 deg, new cmd heading: 193.009319 deg. 2025-01-08T21:26:08.505Z,1736371568.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.368648 target range: 309.299988 and range: 310.30 m. 2025-01-08T21:26:08.561Z,1736371568.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:08.562Z,1736371568.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518634 2025-01-08T21:26:08.814Z,1736371568.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:08.822Z,1736371568.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777473 2025-01-08T21:26:08.926Z,1736371568.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:08.937Z,1736371568.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:08.939Z,1736371568.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:08.962Z,1736371568.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 197.959015 m, bearing: 275.197198 deg, approach rate: -0.111762 m/s, LOS rate: 0.185487 deg/s, cmd heading: 193.009316 deg, new cmd heading: 193.253113 deg. 2025-01-08T21:26:08.965Z,1736371568.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.372903 target range: 309.299988 and range: 310.30 m. 2025-01-08T21:26:09.064Z,1736371569.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:09.065Z,1736371569.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021516 2025-01-08T21:26:09.295Z,1736371569.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:09.304Z,1736371569.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:09.306Z,1736371569.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 197.917236 m, bearing: 275.266277 deg, approach rate: -0.114481 m/s, LOS rate: 0.189331 deg/s, cmd heading: 193.253113 deg, new cmd heading: 193.460395 deg. 2025-01-08T21:26:09.308Z,1736371569.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.376521 target range: 309.299988 and range: 310.30 m. 2025-01-08T21:26:09.328Z,1736371569.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:09.330Z,1736371569.330 [DAT](INFO): DAT read: Rx Time:21:26:08.1932 2025-01-08T21:26:09.330Z,1736371569.330 [DAT](INFO): Rx dataTimestamp_ set to:1736371569.329692 2025-01-08T21:26:09.330Z,1736371569.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287016 2025-01-08T21:26:09.580Z,1736371569.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:09.581Z,1736371569.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537229 2025-01-08T21:26:09.722Z,1736371569.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:09.753Z,1736371569.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:26:09.756Z,1736371569.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 197.869110 m, bearing: 275.346261 deg, approach rate: -0.107075 m/s, LOS rate: 0.177997 deg/s, cmd heading: 193.460395 deg, new cmd heading: 193.700404 deg. 2025-01-08T21:26:09.757Z,1736371569.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.380710 target range: 309.299988 and range: 310.30 m. 2025-01-08T21:26:09.833Z,1736371569.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:09.836Z,1736371569.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791985 2025-01-08T21:26:10.084Z,1736371570.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:10.091Z,1736371570.091 [DAT](INFO): DAT read: 21:26:08.1932 LVL= 23792, 32753, 32690, 32755, AGC= 62, IDX= 458, 0.16,-2.923, 2.451, 1.046, 2.177, PHS= 1.272, 0.321,-1.134, RAW= 53.1, -4.4, CAL= 57.0, -9.1, ROT= 93.0, 9.1 2025-01-08T21:26:10.092Z,1736371570.092 [DAT](INFO): got valid direction response: 21:26:08.1932 LVL= 23792, 32753, 32690, 32755, AGC= 62, IDX= 458, 0.16,-2.923, 2.451, 1.046, 2.177, PHS= 1.272, 0.321,-1.134, RAW= 53.1, -4.4, CAL= 57.0, -9.1, ROT= 93.0, 9.1 2025-01-08T21:26:10.093Z,1736371570.093 [DAT](INFO): DAT read: Bearing 93.0, 9.1 (Local) 2025-01-08T21:26:10.093Z,1736371570.093 [DAT](INFO): Local bearing/azimuth received: Bearing 93.0, 9.1 (Local) 2025-01-08T21:26:10.095Z,1736371570.095 [DAT](INFO): DAT read: Range 10 to 50 : 311.5 m (Round-trip 415.4 ms) speed 0.0 m/s 2025-01-08T21:26:10.097Z,1736371570.097 [DAT](INFO): DAT read: user:1762> 2025-01-08T21:26:10.098Z,1736371570.098 [DAT](INFO): DAT read: Tx time:21:26:09.2737 2025-01-08T21:26:10.098Z,1736371570.098 [DAT](INFO): Ping request sent. 2025-01-08T21:26:10.098Z,1736371570.098 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:10.099Z,1736371570.099 [DAT](INFO): DAT read: TxSync time:21:26:09.2729 2025-01-08T21:26:10.104Z,1736371570.104 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:10.104Z,1736371570.104 [DAT](INFO): direction in FSK: [0.067014,0.659129,0.749038] 2025-01-08T21:26:10.105Z,1736371570.105 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:10.105Z,1736371570.105 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:10.114Z,1736371570.114 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:10.114Z,1736371570.114 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:10.279Z,1736371570.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:10.332Z,1736371570.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 311.500000 m, deltaT: 4.043903 s, deltaX: 1.200012 m, approachRate: 0.296746 m/s, rangeRepo size: 4 2025-01-08T21:26:10.334Z,1736371570.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 311.500000 m, bearing: 279.158576 deg, lat: 36.903169 deg, lon: -122.117900 deg, deltaT: 7.827795 s, deltaX: 2.200012 m, approachRate: 0.281051 m/s, posRepo size: 4 2025-01-08T21:26:10.335Z,1736371570.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.50 m. 2025-01-08T21:26:10.336Z,1736371570.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:10.360Z,1736371570.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.500000 m, nav range: 185.272369 m, bearing: 275.817650 deg, approach rate: 0.000000 m/s, LOS rate: 0.177997 deg/s, cmd heading: 193.700408 deg, new cmd heading: 194.000265 deg. 2025-01-08T21:26:10.361Z,1736371570.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.385943 target range: 311.500000 and range: 311.50 m. 2025-01-08T21:26:10.592Z,1736371570.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:10.841Z,1736371570.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:10.944Z,1736371570.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:10.951Z,1736371570.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:10.953Z,1736371570.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.50 m. 2025-01-08T21:26:10.956Z,1736371570.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.500000 m, nav range: 185.160904 m, bearing: 275.950921 deg, approach rate: -0.174663 m/s, LOS rate: 0.208957 deg/s, cmd heading: 194.000267 deg, new cmd heading: 194.400313 deg. 2025-01-08T21:26:10.957Z,1736371570.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.392926 target range: 311.500000 and range: 311.50 m. 2025-01-08T21:26:11.092Z,1736371571.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:11.092Z,1736371571.092 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:11.092Z,1736371571.092 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:11.092Z,1736371571.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:11.255Z,1736371571.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:11.264Z,1736371571.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.50 m. 2025-01-08T21:26:11.267Z,1736371571.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.500000 m, nav range: 185.109665 m, bearing: 276.012861 deg, approach rate: -0.164654 m/s, LOS rate: 0.199098 deg/s, cmd heading: 194.400311 deg, new cmd heading: 194.586184 deg. 2025-01-08T21:26:11.287Z,1736371571.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.396170 target range: 311.500000 and range: 311.50 m. 2025-01-08T21:26:11.344Z,1736371571.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:11.345Z,1736371571.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246282 2025-01-08T21:26:11.597Z,1736371571.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:11.597Z,1736371571.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499164 2025-01-08T21:26:11.682Z,1736371571.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:11.691Z,1736371571.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.50 m. 2025-01-08T21:26:11.694Z,1736371571.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.500000 m, nav range: 185.039749 m, bearing: 276.098185 deg, approach rate: -0.163962 m/s, LOS rate: 0.200171 deg/s, cmd heading: 194.586188 deg, new cmd heading: 194.842253 deg. 2025-01-08T21:26:11.695Z,1736371571.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.400639 target range: 311.500000 and range: 311.50 m. 2025-01-08T21:26:11.849Z,1736371571.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:11.878Z,1736371571.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.779488 2025-01-08T21:26:12.091Z,1736371572.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:12.100Z,1736371572.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:12.100Z,1736371572.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002004 2025-01-08T21:26:12.124Z,1736371572.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.50 m. 2025-01-08T21:26:12.126Z,1736371572.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.500000 m, nav range: 184.972427 m, bearing: 276.179233 deg, approach rate: -0.157024 m/s, LOS rate: 0.189109 deg/s, cmd heading: 194.842252 deg, new cmd heading: 195.085484 deg. 2025-01-08T21:26:12.131Z,1736371572.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.404884 target range: 311.500000 and range: 311.50 m. 2025-01-08T21:26:12.352Z,1736371572.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:12.352Z,1736371572.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254116 2025-01-08T21:26:12.473Z,1736371572.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:12.482Z,1736371572.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.50 m. 2025-01-08T21:26:12.485Z,1736371572.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.500000 m, nav range: 184.909470 m, bearing: 276.255021 deg, approach rate: -0.173494 m/s, LOS rate: 0.208923 deg/s, cmd heading: 195.085489 deg, new cmd heading: 195.312930 deg. 2025-01-08T21:26:12.486Z,1736371572.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.408854 target range: 311.500000 and range: 311.50 m. 2025-01-08T21:26:12.609Z,1736371572.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:12.609Z,1736371572.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511224 2025-01-08T21:26:12.870Z,1736371572.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:12.886Z,1736371572.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786823 2025-01-08T21:26:12.972Z,1736371572.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:12.978Z,1736371572.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:12.980Z,1736371572.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.50 m. 2025-01-08T21:26:12.983Z,1736371572.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.500000 m, nav range: 184.845612 m, bearing: 276.354517 deg, approach rate: -0.128180 m/s, LOS rate: 0.199784 deg/s, cmd heading: 195.312934 deg, new cmd heading: 195.611522 deg. 2025-01-08T21:26:12.984Z,1736371572.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.414065 target range: 311.500000 and range: 311.50 m. 2025-01-08T21:26:13.120Z,1736371573.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:13.120Z,1736371573.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022225 2025-01-08T21:26:13.275Z,1736371573.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:13.300Z,1736371573.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.50 m. 2025-01-08T21:26:13.308Z,1736371573.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.500000 m, nav range: 184.806274 m, bearing: 276.415103 deg, approach rate: -0.122925 m/s, LOS rate: 0.189366 deg/s, cmd heading: 195.611523 deg, new cmd heading: 195.793319 deg. 2025-01-08T21:26:13.309Z,1736371573.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.417238 target range: 311.500000 and range: 311.50 m. 2025-01-08T21:26:13.372Z,1736371573.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:13.374Z,1736371573.374 [DAT](INFO): DAT read: Rx Time:21:26:12.0937 2025-01-08T21:26:13.374Z,1736371573.374 [DAT](INFO): Rx dataTimestamp_ set to:1736371573.374023 2025-01-08T21:26:13.377Z,1736371573.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278999 2025-01-08T21:26:13.624Z,1736371573.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:13.624Z,1736371573.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526091 2025-01-08T21:26:13.737Z,1736371573.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:13.799Z,1736371573.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.50 m. 2025-01-08T21:26:13.806Z,1736371573.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.500000 m, nav range: 184.746002 m, bearing: 276.507146 deg, approach rate: -0.121325 m/s, LOS rate: 0.185337 deg/s, cmd heading: 195.793315 deg, new cmd heading: 196.069530 deg. 2025-01-08T21:26:13.807Z,1736371573.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.422059 target range: 311.500000 and range: 311.50 m. 2025-01-08T21:26:13.877Z,1736371573.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:13.911Z,1736371573.911 [DAT](INFO): DAT read: 21:26:12.0937 LVL= 20336, 30801, 26002, 32755, AGC= 68, IDX= 447, 0.36,-2.376, 2.779, 1.437, 2.638, PHS= 1.357, 0.188,-1.204, RAW= 57.1, -3.1, CAL= 61.1, -7.4, ROT= 88.9, 7.4 2025-01-08T21:26:13.933Z,1736371573.933 [DAT](INFO): got valid direction response: 21:26:12.0937 LVL= 20336, 30801, 26002, 32755, AGC= 68, IDX= 447, 0.36,-2.376, 2.779, 1.437, 2.638, PHS= 1.357, 0.188,-1.204, RAW= 57.1, -3.1, CAL= 61.1, -7.4, ROT= 88.9, 7.4 2025-01-08T21:26:13.934Z,1736371573.934 [DAT](INFO): DAT read: Bearing 88.9, 7.4 (Local) 2025-01-08T21:26:13.934Z,1736371573.934 [DAT](INFO): Local bearing/azimuth received: Bearing 88.9, 7.4 (Local) 2025-01-08T21:26:13.941Z,1736371573.941 [DAT](INFO): DAT read: Range 10 to 50 : 311.9 m (Round-trip 415.9 ms) speed 0.0 m/s 2025-01-08T21:26:13.942Z,1736371573.942 [DAT](INFO): DAT read: user:1763> 2025-01-08T21:26:13.943Z,1736371573.943 [DAT](INFO): DAT read: Tx time:21:26:13.1737 2025-01-08T21:26:13.943Z,1736371573.943 [DAT](INFO): Ping request sent. 2025-01-08T21:26:13.947Z,1736371573.947 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:13.948Z,1736371573.948 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:13.949Z,1736371573.949 [DAT](INFO): direction in FSK: [0.034480,0.610992,0.790886] 2025-01-08T21:26:13.949Z,1736371573.949 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:13.949Z,1736371573.949 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:13.957Z,1736371573.957 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:13.958Z,1736371573.958 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:14.129Z,1736371574.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:14.130Z,1736371574.130 [DAT](INFO): DAT read: TxSync time:21:26:13.1729 2025-01-08T21:26:14.196Z,1736371574.196 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:26:14.365Z,1736371574.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:14.380Z,1736371574.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:14.381Z,1736371574.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 311.899994 m, deltaT: 3.793373 s, deltaX: 0.399994 m, approachRate: 0.105445 m/s, rangeRepo size: 4 2025-01-08T21:26:14.383Z,1736371574.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 311.899994 m, bearing: 280.878540 deg, lat: 36.903232 deg, lon: -122.117726 deg, deltaT: 3.793373 s, deltaX: 0.399994 m, approachRate: 0.105445 m/s, posRepo size: 4 2025-01-08T21:26:14.387Z,1736371574.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T21:26:14.390Z,1736371574.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 170.367783 m, bearing: 279.566067 deg, approach rate: 0.000000 m/s, LOS rate: 0.185337 deg/s, cmd heading: 196.069528 deg, new cmd heading: 196.392393 deg. 2025-01-08T21:26:14.390Z,1736371574.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.427694 target range: 311.899994 and range: 311.90 m. 2025-01-08T21:26:14.632Z,1736371574.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:14.793Z,1736371574.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:14.802Z,1736371574.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T21:26:14.805Z,1736371574.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 170.345154 m, bearing: 279.662250 deg, approach rate: -0.053379 m/s, LOS rate: 0.226917 deg/s, cmd heading: 196.392391 deg, new cmd heading: 196.680976 deg. 2025-01-08T21:26:14.806Z,1736371574.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.432731 target range: 311.899994 and range: 311.90 m. 2025-01-08T21:26:14.885Z,1736371574.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:15.136Z,1736371575.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:15.204Z,1736371575.204 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:26:15.219Z,1736371575.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:15.226Z,1736371575.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:15.228Z,1736371575.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T21:26:15.232Z,1736371575.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 170.349808 m, bearing: 279.758505 deg, approach rate: 0.010917 m/s, LOS rate: 0.225788 deg/s, cmd heading: 196.680980 deg, new cmd heading: 196.969735 deg. 2025-01-08T21:26:15.233Z,1736371575.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.437770 target range: 311.899994 and range: 311.90 m. 2025-01-08T21:26:15.388Z,1736371575.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:15.388Z,1736371575.388 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:15.388Z,1736371575.388 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:15.388Z,1736371575.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:15.605Z,1736371575.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:15.630Z,1736371575.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T21:26:15.637Z,1736371575.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 170.352707 m, bearing: 279.845540 deg, approach rate: 0.007213 m/s, LOS rate: 0.216520 deg/s, cmd heading: 196.969733 deg, new cmd heading: 197.230831 deg. 2025-01-08T21:26:15.638Z,1736371575.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.442327 target range: 311.899994 and range: 311.90 m. 2025-01-08T21:26:15.640Z,1736371575.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:15.641Z,1736371575.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.697538 2025-01-08T21:26:15.893Z,1736371575.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:15.900Z,1736371575.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955678 2025-01-08T21:26:16.038Z,1736371576.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:16.047Z,1736371576.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T21:26:16.054Z,1736371576.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 170.382584 m, bearing: 279.944094 deg, approach rate: 0.071694 m/s, LOS rate: 0.236454 deg/s, cmd heading: 197.230837 deg, new cmd heading: 197.526444 deg. 2025-01-08T21:26:16.056Z,1736371576.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.447487 target range: 311.899994 and range: 311.90 m. 2025-01-08T21:26:16.148Z,1736371576.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:16.150Z,1736371576.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206663 2025-01-08T21:26:16.400Z,1736371576.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:16.401Z,1736371576.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457593 2025-01-08T21:26:16.409Z,1736371576.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:16.418Z,1736371576.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T21:26:16.421Z,1736371576.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 170.405045 m, bearing: 280.028340 deg, approach rate: 0.060452 m/s, LOS rate: 0.226713 deg/s, cmd heading: 197.526448 deg, new cmd heading: 197.779154 deg. 2025-01-08T21:26:16.422Z,1736371576.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.451897 target range: 311.899994 and range: 311.90 m. 2025-01-08T21:26:16.652Z,1736371576.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:16.653Z,1736371576.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710104 2025-01-08T21:26:16.808Z,1736371576.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:16.818Z,1736371576.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T21:26:16.821Z,1736371576.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 170.427460 m, bearing: 280.119228 deg, approach rate: 0.056022 m/s, LOS rate: 0.227123 deg/s, cmd heading: 197.779151 deg, new cmd heading: 198.051776 deg. 2025-01-08T21:26:16.822Z,1736371576.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.456656 target range: 311.899994 and range: 311.90 m. 2025-01-08T21:26:16.906Z,1736371576.906 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:16.910Z,1736371576.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966387 2025-01-08T21:26:17.156Z,1736371577.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:17.156Z,1736371577.156 [DAT](INFO): DAT read: Rx Time:21:26:15.9942 2025-01-08T21:26:17.157Z,1736371577.157 [DAT](INFO): Rx dataTimestamp_ set to:1736371577.156661 2025-01-08T21:26:17.157Z,1736371577.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214482 2025-01-08T21:26:17.265Z,1736371577.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:17.275Z,1736371577.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:17.282Z,1736371577.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T21:26:17.288Z,1736371577.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 170.473236 m, bearing: 280.221862 deg, approach rate: 0.098881 m/s, LOS rate: 0.221638 deg/s, cmd heading: 198.051772 deg, new cmd heading: 198.359587 deg. 2025-01-08T21:26:17.290Z,1736371577.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.462028 target range: 311.899994 and range: 311.90 m. 2025-01-08T21:26:17.408Z,1736371577.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:17.409Z,1736371577.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465631 2025-01-08T21:26:17.624Z,1736371577.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:17.634Z,1736371577.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T21:26:17.639Z,1736371577.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 170.507706 m, bearing: 280.302751 deg, approach rate: 0.097774 m/s, LOS rate: 0.229397 deg/s, cmd heading: 198.359581 deg, new cmd heading: 198.602196 deg. 2025-01-08T21:26:17.644Z,1736371577.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.466262 target range: 311.899994 and range: 311.90 m. 2025-01-08T21:26:17.661Z,1736371577.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:17.664Z,1736371577.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.720897 2025-01-08T21:26:17.913Z,1736371577.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:17.980Z,1736371577.980 [DAT](INFO): DAT read: 21:26:15.9942 LVL= 21600, 27105, 27586, 31891, AGC= 64, IDX= 451, 0.07, 2.298, 1.228,-0.100, 1.079, PHS= 1.307, 0.196,-1.183, RAW= 56.4, -3.0, CAL= 60.2, -7.2, ROT= 89.8, 7.2 2025-01-08T21:26:17.992Z,1736371577.992 [DAT](INFO): got valid direction response: 21:26:15.9942 LVL= 21600, 27105, 27586, 31891, AGC= 64, IDX= 451, 0.07, 2.298, 1.228,-0.100, 1.079, PHS= 1.307, 0.196,-1.183, RAW= 56.4, -3.0, CAL= 60.2, -7.2, ROT= 89.8, 7.2 2025-01-08T21:26:17.993Z,1736371577.993 [DAT](INFO): DAT read: Bearing 89.8, 7.2 (Local) 2025-01-08T21:26:17.993Z,1736371577.993 [DAT](INFO): Local bearing/azimuth received: Bearing 89.8, 7.2 (Local) 2025-01-08T21:26:17.995Z,1736371577.995 [DAT](INFO): DAT read: Range 10 to 50 : 312.2 m (Round-trip 416.3 ms) speed -0.3 m/s 2025-01-08T21:26:18.016Z,1736371578.016 [DAT](INFO): DAT read: user:1764> 2025-01-08T21:26:18.016Z,1736371578.016 [DAT](INFO): DAT read: Tx time:21:26:17.0738 2025-01-08T21:26:18.017Z,1736371578.017 [DAT](INFO): Ping request sent. 2025-01-08T21:26:18.017Z,1736371578.017 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:18.017Z,1736371578.017 [DAT](INFO): DAT read: TxSync time:21:26:17.0730 2025-01-08T21:26:18.018Z,1736371578.018 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:18.019Z,1736371578.019 [DAT](INFO): direction in FSK: [0.033806,0.619911,0.783944] 2025-01-08T21:26:18.027Z,1736371578.027 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:18.028Z,1736371578.028 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:18.042Z,1736371578.042 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:18.042Z,1736371578.042 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:18.126Z,1736371578.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:18.164Z,1736371578.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:18.166Z,1736371578.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 312.200012 m, deltaT: 4.036396 s, deltaX: 0.300018 m, approachRate: 0.074328 m/s, rangeRepo size: 4 2025-01-08T21:26:18.173Z,1736371578.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 312.200012 m, bearing: 284.153682 deg, lat: 36.903245 deg, lon: -122.117679 deg, deltaT: 4.036396 s, deltaX: 0.300018 m, approachRate: 0.074328 m/s, posRepo size: 4 2025-01-08T21:26:18.173Z,1736371578.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:18.181Z,1736371578.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 166.724319 m, bearing: 281.175255 deg, approach rate: 0.000000 m/s, LOS rate: 0.229397 deg/s, cmd heading: 198.602203 deg, new cmd heading: 198.968201 deg. 2025-01-08T21:26:18.182Z,1736371578.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.472650 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:18.417Z,1736371578.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:18.487Z,1736371578.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:18.508Z,1736371578.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:18.511Z,1736371578.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 166.764938 m, bearing: 281.257438 deg, approach rate: 0.118589 m/s, LOS rate: 0.239877 deg/s, cmd heading: 198.968205 deg, new cmd heading: 199.214691 deg. 2025-01-08T21:26:18.517Z,1736371578.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.476952 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:18.668Z,1736371578.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:18.893Z,1736371578.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:18.922Z,1736371578.922 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:18.973Z,1736371578.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:18.991Z,1736371578.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 166.811081 m, bearing: 281.349907 deg, approach rate: 0.100564 m/s, LOS rate: 0.201474 deg/s, cmd heading: 199.214693 deg, new cmd heading: 199.492022 deg. 2025-01-08T21:26:18.996Z,1736371578.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.481793 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:19.172Z,1736371579.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:19.315Z,1736371579.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:19.346Z,1736371579.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:19.349Z,1736371579.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:19.351Z,1736371579.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 166.851334 m, bearing: 281.444795 deg, approach rate: 0.105502 m/s, LOS rate: 0.248640 deg/s, cmd heading: 199.492026 deg, new cmd heading: 199.776620 deg. 2025-01-08T21:26:19.352Z,1736371579.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.486760 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:19.426Z,1736371579.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:19.427Z,1736371579.427 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:19.428Z,1736371579.428 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:19.429Z,1736371579.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:19.680Z,1736371579.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:19.681Z,1736371579.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.664268 2025-01-08T21:26:19.691Z,1736371579.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:19.714Z,1736371579.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:19.721Z,1736371579.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 166.884430 m, bearing: 281.529339 deg, approach rate: 0.090630 m/s, LOS rate: 0.231464 deg/s, cmd heading: 199.776613 deg, new cmd heading: 200.030191 deg. 2025-01-08T21:26:19.722Z,1736371579.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.491185 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:19.932Z,1736371579.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:19.933Z,1736371579.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.915713 2025-01-08T21:26:20.114Z,1736371580.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:20.152Z,1736371580.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:20.154Z,1736371580.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 166.908951 m, bearing: 281.623578 deg, approach rate: 0.056628 m/s, LOS rate: 0.217606 deg/s, cmd heading: 200.030190 deg, new cmd heading: 200.312866 deg. 2025-01-08T21:26:20.160Z,1736371580.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.496119 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:20.186Z,1736371580.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:20.186Z,1736371580.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.169515 2025-01-08T21:26:20.436Z,1736371580.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:20.436Z,1736371580.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.419474 2025-01-08T21:26:20.517Z,1736371580.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:20.541Z,1736371580.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:20.544Z,1736371580.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 166.932800 m, bearing: 281.713597 deg, approach rate: 0.060498 m/s, LOS rate: 0.228311 deg/s, cmd heading: 200.312865 deg, new cmd heading: 200.582879 deg. 2025-01-08T21:26:20.546Z,1736371580.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.500832 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:20.688Z,1736371580.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:20.689Z,1736371580.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.671993 2025-01-08T21:26:20.907Z,1736371580.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:20.917Z,1736371580.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:20.920Z,1736371580.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 166.953094 m, bearing: 281.800557 deg, approach rate: 0.053953 m/s, LOS rate: 0.231158 deg/s, cmd heading: 200.582876 deg, new cmd heading: 200.843723 deg. 2025-01-08T21:26:20.921Z,1736371580.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.505384 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:20.942Z,1736371580.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:20.945Z,1736371580.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.927868 2025-01-08T21:26:21.192Z,1736371581.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:21.194Z,1736371581.194 [DAT](INFO): DAT read: Rx Time:21:26:19.8952 2025-01-08T21:26:21.195Z,1736371581.195 [DAT](INFO): Rx dataTimestamp_ set to:1736371581.194376 2025-01-08T21:26:21.197Z,1736371581.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.179796 2025-01-08T21:26:21.326Z,1736371581.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:21.360Z,1736371581.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:21.364Z,1736371581.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 166.955368 m, bearing: 281.893189 deg, approach rate: 0.005135 m/s, LOS rate: 0.209226 deg/s, cmd heading: 200.843721 deg, new cmd heading: 201.121610 deg. 2025-01-08T21:26:21.365Z,1736371581.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510234 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:21.445Z,1736371581.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:21.446Z,1736371581.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.428961 2025-01-08T21:26:21.696Z,1736371581.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:21.703Z,1736371581.703 [DAT](INFO): DAT read: 21:26:19.8952 LVL= 21824, 32753, 28258, 32755, AGC= 66, IDX= 430,-0.23,-2.898, 2.382, 1.057, 2.273, PHS= 1.201, 0.156,-1.218, RAW= 55.5, -1.3, CAL= 58.0, -4.7, ROT= 92.0, 4.7 2025-01-08T21:26:21.704Z,1736371581.704 [DAT](INFO): got valid direction response: 21:26:19.8952 LVL= 21824, 32753, 28258, 32755, AGC= 66, IDX= 430,-0.23,-2.898, 2.382, 1.057, 2.273, PHS= 1.201, 0.156,-1.218, RAW= 55.5, -1.3, CAL= 58.0, -4.7, ROT= 92.0, 4.7 2025-01-08T21:26:21.705Z,1736371581.705 [DAT](INFO): DAT read: Bearing 92.0, 4.7 (Local) 2025-01-08T21:26:21.705Z,1736371581.705 [DAT](INFO): Local bearing/azimuth received: Bearing 92.0, 4.7 (Local) 2025-01-08T21:26:21.707Z,1736371581.707 [DAT](INFO): DAT read: Range 10 to 50 : 312.9 m (Round-trip 417.2 ms) speed 0.0 m/s 2025-01-08T21:26:21.708Z,1736371581.708 [DAT](INFO): DAT read: user:1765> 2025-01-08T21:26:21.709Z,1736371581.709 [DAT](INFO): DAT read: Tx time:21:26:20.9738 2025-01-08T21:26:21.709Z,1736371581.709 [DAT](INFO): Ping request sent. 2025-01-08T21:26:21.709Z,1736371581.709 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:21.709Z,1736371581.709 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:21.710Z,1736371581.710 [DAT](INFO): direction in FSK: [0.004875,0.634224,0.773134] 2025-01-08T21:26:21.711Z,1736371581.711 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:21.711Z,1736371581.711 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:21.715Z,1736371581.715 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:21.724Z,1736371581.724 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:21.745Z,1736371581.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:21.826Z,1736371581.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 312.899994 m, deltaT: 3.783032 s, deltaX: 0.699982 m, approachRate: 0.185032 m/s, rangeRepo size: 4 2025-01-08T21:26:21.833Z,1736371581.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 312.899994 m, bearing: 290.984193 deg, lat: 36.903275 deg, lon: -122.117497 deg, deltaT: 3.783032 s, deltaX: 0.699982 m, approachRate: 0.185032 m/s, posRepo size: 4 2025-01-08T21:26:21.833Z,1736371581.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.90 m. 2025-01-08T21:26:21.842Z,1736371581.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.899994 m, nav range: 151.953995 m, bearing: 284.507309 deg, approach rate: 0.000000 m/s, LOS rate: 0.209226 deg/s, cmd heading: 201.121614 deg, new cmd heading: 201.413851 deg. 2025-01-08T21:26:21.843Z,1736371581.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.515335 target range: 312.899994 and range: 312.90 m. 2025-01-08T21:26:21.948Z,1736371581.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:21.949Z,1736371581.949 [DAT](INFO): DAT read: TxSync time:21:26:20.9730 2025-01-08T21:26:22.200Z,1736371582.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:22.231Z,1736371582.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:22.246Z,1736371582.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:22.253Z,1736371582.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.90 m. 2025-01-08T21:26:22.259Z,1736371582.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.899994 m, nav range: 151.941116 m, bearing: 284.624290 deg, approach rate: -0.030160 m/s, LOS rate: 0.273983 deg/s, cmd heading: 201.413850 deg, new cmd heading: 201.764817 deg. 2025-01-08T21:26:22.260Z,1736371582.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521460 target range: 312.899994 and range: 312.90 m. 2025-01-08T21:26:22.452Z,1736371582.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:22.452Z,1736371582.452 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:22.452Z,1736371582.452 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:22.453Z,1736371582.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:22.525Z,1736371582.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:22.535Z,1736371582.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.90 m. 2025-01-08T21:26:22.538Z,1736371582.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.899994 m, nav range: 151.932709 m, bearing: 284.695159 deg, approach rate: -0.029778 m/s, LOS rate: 0.251017 deg/s, cmd heading: 201.764813 deg, new cmd heading: 201.977432 deg. 2025-01-08T21:26:22.539Z,1736371582.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.525171 target range: 312.899994 and range: 312.90 m. 2025-01-08T21:26:22.704Z,1736371582.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:22.704Z,1736371582.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995174 2025-01-08T21:26:22.941Z,1736371582.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:22.957Z,1736371582.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:22.960Z,1736371582.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249949 2025-01-08T21:26:23.020Z,1736371583.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.90 m. 2025-01-08T21:26:23.039Z,1736371583.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.899994 m, nav range: 151.920609 m, bearing: 284.795493 deg, approach rate: -0.025267 m/s, LOS rate: 0.209527 deg/s, cmd heading: 201.977436 deg, new cmd heading: 202.278459 deg. 2025-01-08T21:26:23.045Z,1736371583.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530425 target range: 312.899994 and range: 312.90 m. 2025-01-08T21:26:23.208Z,1736371583.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:23.208Z,1736371583.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499212 2025-01-08T21:26:23.399Z,1736371583.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:23.408Z,1736371583.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.90 m. 2025-01-08T21:26:23.410Z,1736371583.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.899994 m, nav range: 151.887360 m, bearing: 284.909063 deg, approach rate: -0.084387 m/s, LOS rate: 0.288308 deg/s, cmd heading: 202.278456 deg, new cmd heading: 202.619236 deg. 2025-01-08T21:26:23.413Z,1736371583.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536373 target range: 312.899994 and range: 312.90 m. 2025-01-08T21:26:23.460Z,1736371583.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:23.461Z,1736371583.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752236 2025-01-08T21:26:23.712Z,1736371583.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:23.713Z,1736371583.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003909 2025-01-08T21:26:23.783Z,1736371583.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:23.792Z,1736371583.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.90 m. 2025-01-08T21:26:23.794Z,1736371583.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.899994 m, nav range: 151.859955 m, bearing: 285.004249 deg, approach rate: -0.071380 m/s, LOS rate: 0.247973 deg/s, cmd heading: 202.619242 deg, new cmd heading: 202.904849 deg. 2025-01-08T21:26:23.796Z,1736371583.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541358 target range: 312.899994 and range: 312.90 m. 2025-01-08T21:26:23.966Z,1736371583.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:23.967Z,1736371583.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258243 2025-01-08T21:26:24.216Z,1736371584.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:24.216Z,1736371584.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507307 2025-01-08T21:26:24.223Z,1736371584.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:24.232Z,1736371584.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.90 m. 2025-01-08T21:26:24.234Z,1736371584.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.899994 m, nav range: 151.805588 m, bearing: 285.113507 deg, approach rate: -0.123559 m/s, LOS rate: 0.248397 deg/s, cmd heading: 202.904853 deg, new cmd heading: 203.232741 deg. 2025-01-08T21:26:24.236Z,1736371584.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547081 target range: 312.899994 and range: 312.90 m. 2025-01-08T21:26:24.468Z,1736371584.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:24.468Z,1736371584.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759200 2025-01-08T21:26:24.571Z,1736371584.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:24.578Z,1736371584.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:24.582Z,1736371584.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.90 m. 2025-01-08T21:26:24.585Z,1736371584.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.899994 m, nav range: 151.762253 m, bearing: 285.199827 deg, approach rate: -0.123778 m/s, LOS rate: 0.246626 deg/s, cmd heading: 203.232743 deg, new cmd heading: 203.491775 deg. 2025-01-08T21:26:24.586Z,1736371584.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.551601 target range: 312.899994 and range: 312.90 m. 2025-01-08T21:26:24.720Z,1736371584.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:24.721Z,1736371584.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011337 2025-01-08T21:26:24.972Z,1736371584.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:24.973Z,1736371584.973 [DAT](INFO): DAT read: Rx Time:21:26:23.7960 2025-01-08T21:26:24.973Z,1736371584.973 [DAT](INFO): Rx dataTimestamp_ set to:1736371584.972741 2025-01-08T21:26:24.974Z,1736371584.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264385 2025-01-08T21:26:24.987Z,1736371584.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:25.017Z,1736371585.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.90 m. 2025-01-08T21:26:25.060Z,1736371585.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.899994 m, nav range: 151.709930 m, bearing: 285.302904 deg, approach rate: -0.122226 m/s, LOS rate: 0.240873 deg/s, cmd heading: 203.491771 deg, new cmd heading: 203.801106 deg. 2025-01-08T21:26:25.069Z,1736371585.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557000 target range: 312.899994 and range: 312.90 m. 2025-01-08T21:26:25.225Z,1736371585.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:25.226Z,1736371585.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516924 2025-01-08T21:26:25.402Z,1736371585.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:25.410Z,1736371585.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.90 m. 2025-01-08T21:26:25.415Z,1736371585.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.899994 m, nav range: 151.648773 m, bearing: 285.406275 deg, approach rate: -0.152994 m/s, LOS rate: 0.258702 deg/s, cmd heading: 203.801111 deg, new cmd heading: 204.111346 deg. 2025-01-08T21:26:25.416Z,1736371585.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.562415 target range: 312.899994 and range: 312.90 m. 2025-01-08T21:26:25.477Z,1736371585.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:25.481Z,1736371585.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770856 2025-01-08T21:26:25.728Z,1736371585.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:25.738Z,1736371585.738 [DAT](INFO): DAT read: 21:26:23.7960 LVL= 25584, 28801, 28562, 32755, AGC= 66, IDX= 438, 0.16,-0.050,-0.951,-2.164,-1.066, PHS= 1.104, 0.163,-1.100, RAW= 55.2, -1.8, CAL= 57.9, -5.3, ROT= 92.1, 5.3 2025-01-08T21:26:25.742Z,1736371585.742 [DAT](INFO): got valid direction response: 21:26:23.7960 LVL= 25584, 28801, 28562, 32755, AGC= 66, IDX= 438, 0.16,-0.050,-0.951,-2.164,-1.066, PHS= 1.104, 0.163,-1.100, RAW= 55.2, -1.8, CAL= 57.9, -5.3, ROT= 92.1, 5.3 2025-01-08T21:26:25.743Z,1736371585.743 [DAT](INFO): DAT read: Bearing 92.1, 5.3 (Local) 2025-01-08T21:26:25.744Z,1736371585.744 [DAT](INFO): Local bearing/azimuth received: Bearing 92.1, 5.3 (Local) 2025-01-08T21:26:25.746Z,1736371585.746 [DAT](INFO): DAT read: Range 10 to 50 : 313.5 m (Round-trip 418.1 ms) speed -0.2 m/s 2025-01-08T21:26:25.748Z,1736371585.748 [DAT](INFO): DAT read: user:1766> 2025-01-08T21:26:25.749Z,1736371585.749 [DAT](INFO): DAT read: Tx time:21:26:24.9238 2025-01-08T21:26:25.749Z,1736371585.749 [DAT](INFO): Ping request sent. 2025-01-08T21:26:25.749Z,1736371585.749 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:25.750Z,1736371585.750 [DAT](INFO): DAT read: TxSync time:21:26:24.9230 2025-01-08T21:26:25.750Z,1736371585.750 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:25.760Z,1736371585.760 [DAT](INFO): direction in FSK: [0.013472,0.637861,0.770034] 2025-01-08T21:26:25.760Z,1736371585.760 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:25.760Z,1736371585.760 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:25.785Z,1736371585.785 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:25.785Z,1736371585.785 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:25.849Z,1736371585.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:25.893Z,1736371585.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 313.500000 m, deltaT: 4.031230 s, deltaX: 0.600006 m, approachRate: 0.148839 m/s, rangeRepo size: 4 2025-01-08T21:26:25.904Z,1736371585.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 313.500000 m, bearing: 293.326935 deg, lat: 36.903285 deg, lon: -122.117497 deg, deltaT: 4.031230 s, deltaX: 0.600006 m, approachRate: 0.148839 m/s, posRepo size: 4 2025-01-08T21:26:25.905Z,1736371585.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:25.911Z,1736371585.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 151.883087 m, bearing: 285.921371 deg, approach rate: 0.000000 m/s, LOS rate: 0.258702 deg/s, cmd heading: 204.111351 deg, new cmd heading: 204.486248 deg. 2025-01-08T21:26:25.914Z,1736371585.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.568958 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:25.981Z,1736371585.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:26.232Z,1736371586.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:26.320Z,1736371586.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:26.350Z,1736371586.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:26.359Z,1736371586.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 151.809158 m, bearing: 286.040484 deg, approach rate: -0.161750 m/s, LOS rate: 0.260737 deg/s, cmd heading: 204.486247 deg, new cmd heading: 204.843758 deg. 2025-01-08T21:26:26.360Z,1736371586.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575198 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:26.484Z,1736371586.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:26.631Z,1736371586.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:26.638Z,1736371586.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:26.640Z,1736371586.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:26.644Z,1736371586.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 151.760376 m, bearing: 286.119038 deg, approach rate: -0.168096 m/s, LOS rate: 0.270769 deg/s, cmd heading: 204.843753 deg, new cmd heading: 205.079487 deg. 2025-01-08T21:26:26.647Z,1736371586.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579312 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:26.737Z,1736371586.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:26.738Z,1736371586.738 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:26.738Z,1736371586.738 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:26.738Z,1736371586.738 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:26.988Z,1736371586.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:26.988Z,1736371586.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239193 2025-01-08T21:26:27.095Z,1736371587.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:27.119Z,1736371587.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:27.132Z,1736371587.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 151.686966 m, bearing: 286.236097 deg, approach rate: -0.153371 m/s, LOS rate: 0.244683 deg/s, cmd heading: 205.079490 deg, new cmd heading: 205.430832 deg. 2025-01-08T21:26:27.133Z,1736371587.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585444 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:27.240Z,1736371587.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:27.240Z,1736371587.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491073 2025-01-08T21:26:27.477Z,1736371587.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:27.486Z,1736371587.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:27.489Z,1736371587.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 151.634933 m, bearing: 286.332856 deg, approach rate: -0.141666 m/s, LOS rate: 0.263532 deg/s, cmd heading: 205.430835 deg, new cmd heading: 205.721210 deg. 2025-01-08T21:26:27.490Z,1736371587.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590513 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:27.492Z,1736371587.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:27.492Z,1736371587.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743256 2025-01-08T21:26:27.744Z,1736371587.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:27.746Z,1736371587.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996197 2025-01-08T21:26:27.837Z,1736371587.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:27.867Z,1736371587.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:27.870Z,1736371587.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 151.584198 m, bearing: 286.423887 deg, approach rate: -0.134845 m/s, LOS rate: 0.242024 deg/s, cmd heading: 205.721213 deg, new cmd heading: 205.994395 deg. 2025-01-08T21:26:27.871Z,1736371587.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595280 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:27.996Z,1736371587.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:27.997Z,1736371587.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247793 2025-01-08T21:26:28.248Z,1736371588.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:28.250Z,1736371588.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500747 2025-01-08T21:26:28.278Z,1736371588.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:28.287Z,1736371588.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:28.290Z,1736371588.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 151.527725 m, bearing: 286.533054 deg, approach rate: -0.132979 m/s, LOS rate: 0.257154 deg/s, cmd heading: 205.994394 deg, new cmd heading: 206.322011 deg. 2025-01-08T21:26:28.291Z,1736371588.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600998 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:28.502Z,1736371588.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:28.505Z,1736371588.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755281 2025-01-08T21:26:28.646Z,1736371588.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:28.658Z,1736371588.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:28.663Z,1736371588.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:28.686Z,1736371588.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 151.479691 m, bearing: 286.624652 deg, approach rate: -0.128137 m/s, LOS rate: 0.244425 deg/s, cmd heading: 206.322010 deg, new cmd heading: 206.596892 deg. 2025-01-08T21:26:28.687Z,1736371588.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605796 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:28.752Z,1736371588.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:28.756Z,1736371588.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006707 2025-01-08T21:26:29.004Z,1736371589.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:29.005Z,1736371589.005 [DAT](INFO): DAT read: Rx Time:21:26:27.7643 2025-01-08T21:26:29.005Z,1736371589.005 [DAT](INFO): Rx dataTimestamp_ set to:1736371589.005021 2025-01-08T21:26:29.006Z,1736371589.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256601 2025-01-08T21:26:29.138Z,1736371589.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:29.160Z,1736371589.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:29.162Z,1736371589.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 151.414154 m, bearing: 286.746761 deg, approach rate: -0.131575 m/s, LOS rate: 0.245260 deg/s, cmd heading: 206.596898 deg, new cmd heading: 206.963379 deg. 2025-01-08T21:26:29.168Z,1736371589.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612192 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:29.257Z,1736371589.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:29.258Z,1736371589.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508459 2025-01-08T21:26:29.508Z,1736371589.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:29.515Z,1736371589.515 [DAT](INFO): DAT read: 21:26:27.7643 LVL= 17456, 21793, 24338, 24723, AGC= 70, IDX= 96, 0.01,-2.801, 2.421, 1.226, 2.287, PHS= 1.283, 0.180,-1.064, RAW= 58.0, -4.0, CAL= 62.8, -8.7, ROT= 87.2, 8.7 2025-01-08T21:26:29.516Z,1736371589.516 [DAT](INFO): got valid direction response: 21:26:27.7643 LVL= 17456, 21793, 24338, 24723, AGC= 70, IDX= 96, 0.01,-2.801, 2.421, 1.226, 2.287, PHS= 1.283, 0.180,-1.064, RAW= 58.0, -4.0, CAL= 62.8, -8.7, ROT= 87.2, 8.7 2025-01-08T21:26:29.517Z,1736371589.517 [DAT](INFO): DAT read: Bearing 87.2, 8.7 (Local) 2025-01-08T21:26:29.518Z,1736371589.518 [DAT](INFO): Local bearing/azimuth received: Bearing 87.2, 8.7 (Local) 2025-01-08T21:26:29.520Z,1736371589.520 [DAT](INFO): DAT read: Range 10 to 50 : 327.2 m (Round-trip 436.3 ms) speed 0.0 m/s 2025-01-08T21:26:29.521Z,1736371589.521 [DAT](INFO): DAT read: user:1767> 2025-01-08T21:26:29.522Z,1736371589.522 [DAT](INFO): DAT read: Tx time:21:26:28.8739 2025-01-08T21:26:29.522Z,1736371589.522 [DAT](INFO): Ping request sent. 2025-01-08T21:26:29.522Z,1736371589.522 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:29.522Z,1736371589.522 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:29.524Z,1736371589.524 [DAT](INFO): direction in FSK: [0.048684,0.597911,0.800082] 2025-01-08T21:26:29.524Z,1736371589.524 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:29.524Z,1736371589.524 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:29.531Z,1736371589.531 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:29.532Z,1736371589.532 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:29.570Z,1736371589.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:29.621Z,1736371589.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 327.200012 m, deltaT: 3.780056 s, deltaX: 13.700012 m, approachRate: 3.624288 m/s, rangeRepo size: 4 2025-01-08T21:26:29.628Z,1736371589.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 327.200012 m, bearing: 292.264288 deg, lat: 36.903406 deg, lon: -122.117494 deg, deltaT: 3.780056 s, deltaX: 13.700012 m, approachRate: 3.624288 m/s, posRepo size: 4 2025-01-08T21:26:29.629Z,1736371589.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.20 m. 2025-01-08T21:26:29.645Z,1736371589.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.200012 m, nav range: 155.520584 m, bearing: 291.616757 deg, approach rate: 0.000000 m/s, LOS rate: 0.245260 deg/s, cmd heading: 206.963379 deg, new cmd heading: 207.302352 deg. 2025-01-08T21:26:29.647Z,1736371589.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.618109 target range: 327.200012 and range: 327.20 m. 2025-01-08T21:26:29.761Z,1736371589.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:29.761Z,1736371589.761 [DAT](INFO): DAT read: TxSync time:21:26:28.8731 2025-01-08T21:26:29.974Z,1736371589.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:29.995Z,1736371589.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.20 m. 2025-01-08T21:26:30.002Z,1736371590.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.200012 m, nav range: 155.506744 m, bearing: 291.715825 deg, approach rate: -0.036984 m/s, LOS rate: 0.264762 deg/s, cmd heading: 207.302347 deg, new cmd heading: 207.599573 deg. 2025-01-08T21:26:30.003Z,1736371590.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623296 target range: 327.200012 and range: 327.20 m. 2025-01-08T21:26:30.012Z,1736371590.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:30.264Z,1736371590.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:30.422Z,1736371590.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:30.431Z,1736371590.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.20 m. 2025-01-08T21:26:30.434Z,1736371590.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.200012 m, nav range: 155.509048 m, bearing: 291.825544 deg, approach rate: 0.005279 m/s, LOS rate: 0.251394 deg/s, cmd heading: 207.599570 deg, new cmd heading: 207.928719 deg. 2025-01-08T21:26:30.435Z,1736371590.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.629041 target range: 327.200012 and range: 327.20 m. 2025-01-08T21:26:30.516Z,1736371590.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:30.760Z,1736371590.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:30.768Z,1736371590.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:30.769Z,1736371590.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:30.771Z,1736371590.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.20 m. 2025-01-08T21:26:30.774Z,1736371590.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.200012 m, nav range: 155.508423 m, bearing: 291.908514 deg, approach rate: -0.001843 m/s, LOS rate: 0.244466 deg/s, cmd heading: 207.928717 deg, new cmd heading: 208.177626 deg. 2025-01-08T21:26:30.774Z,1736371590.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.633385 target range: 327.200012 and range: 327.20 m. 2025-01-08T21:26:31.020Z,1736371591.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:31.020Z,1736371591.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:31.020Z,1736371591.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:31.020Z,1736371591.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:31.225Z,1736371591.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:31.234Z,1736371591.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.20 m. 2025-01-08T21:26:31.237Z,1736371591.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.200012 m, nav range: 155.522568 m, bearing: 292.020501 deg, approach rate: 0.030526 m/s, LOS rate: 0.241657 deg/s, cmd heading: 208.177623 deg, new cmd heading: 208.513548 deg. 2025-01-08T21:26:31.238Z,1736371591.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.639248 target range: 327.200012 and range: 327.20 m. 2025-01-08T21:26:31.272Z,1736371591.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:31.272Z,1736371591.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750225 2025-01-08T21:26:31.524Z,1736371591.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:31.524Z,1736371591.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002211 2025-01-08T21:26:31.583Z,1736371591.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:31.591Z,1736371591.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.20 m. 2025-01-08T21:26:31.594Z,1736371591.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.200012 m, nav range: 155.530106 m, bearing: 292.106399 deg, approach rate: 0.021112 m/s, LOS rate: 0.240575 deg/s, cmd heading: 208.513545 deg, new cmd heading: 208.771226 deg. 2025-01-08T21:26:31.595Z,1736371591.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.643745 target range: 327.200012 and range: 327.20 m. 2025-01-08T21:26:31.777Z,1736371591.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:31.778Z,1736371591.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255209 2025-01-08T21:26:32.028Z,1736371592.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:32.028Z,1736371592.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506119 2025-01-08T21:26:32.036Z,1736371592.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:32.049Z,1736371592.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.20 m. 2025-01-08T21:26:32.081Z,1736371592.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.200012 m, nav range: 155.537506 m, bearing: 292.215272 deg, approach rate: 0.016143 m/s, LOS rate: 0.237484 deg/s, cmd heading: 208.771221 deg, new cmd heading: 209.097821 deg. 2025-01-08T21:26:32.082Z,1736371592.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.649446 target range: 327.200012 and range: 327.20 m. 2025-01-08T21:26:32.281Z,1736371592.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:32.282Z,1736371592.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759843 2025-01-08T21:26:32.463Z,1736371592.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:32.472Z,1736371592.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.20 m. 2025-01-08T21:26:32.474Z,1736371592.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.200012 m, nav range: 155.559036 m, bearing: 292.317180 deg, approach rate: 0.051031 m/s, LOS rate: 0.241510 deg/s, cmd heading: 209.097827 deg, new cmd heading: 209.403503 deg. 2025-01-08T21:26:32.475Z,1736371592.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.654781 target range: 327.200012 and range: 327.20 m. 2025-01-08T21:26:32.532Z,1736371592.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:32.533Z,1736371592.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010357 2025-01-08T21:26:32.784Z,1736371592.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:32.784Z,1736371592.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262103 2025-01-08T21:26:32.886Z,1736371592.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:32.893Z,1736371592.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:32.896Z,1736371592.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.20 m. 2025-01-08T21:26:32.898Z,1736371592.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.200012 m, nav range: 155.576492 m, bearing: 292.418563 deg, approach rate: 0.041184 m/s, LOS rate: 0.239169 deg/s, cmd heading: 209.403505 deg, new cmd heading: 209.707619 deg. 2025-01-08T21:26:32.900Z,1736371592.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.660088 target range: 327.200012 and range: 327.20 m. 2025-01-08T21:26:33.036Z,1736371593.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:33.038Z,1736371593.038 [DAT](INFO): DAT read: Rx Time:21:26:31.7133 2025-01-08T21:26:33.038Z,1736371593.038 [DAT](INFO): Rx dataTimestamp_ set to:1736371593.037850 2025-01-08T21:26:33.040Z,1736371593.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516828 2025-01-08T21:26:33.289Z,1736371593.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:33.290Z,1736371593.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767735 2025-01-08T21:26:33.350Z,1736371593.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:33.378Z,1736371593.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.20 m. 2025-01-08T21:26:33.409Z,1736371593.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 327.200012 m, nav range: 155.597778 m, bearing: 292.527581 deg, approach rate: 0.044438 m/s, LOS rate: 0.227563 deg/s, cmd heading: 209.707612 deg, new cmd heading: 210.034617 deg. 2025-01-08T21:26:33.417Z,1736371593.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.665796 target range: 327.200012 and range: 327.20 m. 2025-01-08T21:26:33.540Z,1736371593.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:33.547Z,1736371593.547 [DAT](INFO): DAT read: 21:26:31.7133 LVL= 22400, 31825, 26994, 32755, AGC= 64, IDX= 263,-0.38,-0.225,-0.894,-2.180,-1.106, PHS= 0.969, 0.259,-1.077, RAW= 50.0, -1.7, CAL= 51.6, -4.8, ROT= 98.4, 4.8 2025-01-08T21:26:33.548Z,1736371593.548 [DAT](INFO): got valid direction response: 21:26:31.7133 LVL= 22400, 31825, 26994, 32755, AGC= 64, IDX= 263,-0.38,-0.225,-0.894,-2.180,-1.106, PHS= 0.969, 0.259,-1.077, RAW= 50.0, -1.7, CAL= 51.6, -4.8, ROT= 98.4, 4.8 2025-01-08T21:26:33.549Z,1736371593.549 [DAT](INFO): DAT read: Bearing 98.4, 4.8 (Local) 2025-01-08T21:26:33.549Z,1736371593.549 [DAT](INFO): Local bearing/azimuth received: Bearing 98.4, 4.8 (Local) 2025-01-08T21:26:33.551Z,1736371593.551 [DAT](INFO): DAT read: Range 10 to 50 : 326.4 m (Round-trip 435.3 ms) speed 0.0 m/s 2025-01-08T21:26:33.555Z,1736371593.555 [DAT](INFO): DAT read: user:1768> 2025-01-08T21:26:33.558Z,1736371593.558 [DAT](INFO): DAT read: Tx time:21:26:32.8239 2025-01-08T21:26:33.559Z,1736371593.559 [DAT](INFO): Ping request sent. 2025-01-08T21:26:33.559Z,1736371593.559 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:33.571Z,1736371593.571 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:33.572Z,1736371593.572 [DAT](INFO): direction in FSK: [0.022924,0.701019,0.712774] 2025-01-08T21:26:33.573Z,1736371593.573 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:33.573Z,1736371593.573 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:33.576Z,1736371593.576 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:33.576Z,1736371593.576 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:33.730Z,1736371593.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:33.760Z,1736371593.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 326.399994 m, deltaT: 4.031898 s, deltaX: -0.800018 m, approachRate: -0.198422 m/s, rangeRepo size: 4 2025-01-08T21:26:33.762Z,1736371593.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 326.399994 m, bearing: 299.994954 deg, lat: 36.903440 deg, lon: -122.117497 deg, deltaT: 4.031898 s, deltaX: -0.800018 m, approachRate: -0.198422 m/s, posRepo size: 4 2025-01-08T21:26:33.768Z,1736371593.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T21:26:33.770Z,1736371593.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 157.399338 m, bearing: 293.868623 deg, approach rate: 0.000000 m/s, LOS rate: 0.227563 deg/s, cmd heading: 210.034614 deg, new cmd heading: 210.294447 deg. 2025-01-08T21:26:33.775Z,1736371593.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.670331 target range: 326.399994 and range: 326.40 m. 2025-01-08T21:26:33.792Z,1736371593.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:33.793Z,1736371593.793 [DAT](INFO): DAT read: TxSync time:21:26:32.8231 2025-01-08T21:26:34.044Z,1736371594.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:34.113Z,1736371594.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:34.148Z,1736371594.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T21:26:34.151Z,1736371594.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 157.419601 m, bearing: 293.957553 deg, approach rate: 0.052128 m/s, LOS rate: 0.228741 deg/s, cmd heading: 210.294448 deg, new cmd heading: 210.561201 deg. 2025-01-08T21:26:34.172Z,1736371594.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.674986 target range: 326.399994 and range: 326.40 m. 2025-01-08T21:26:34.296Z,1736371594.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:34.531Z,1736371594.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:34.539Z,1736371594.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T21:26:34.542Z,1736371594.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 157.439392 m, bearing: 294.052371 deg, approach rate: 0.050023 m/s, LOS rate: 0.239633 deg/s, cmd heading: 210.561195 deg, new cmd heading: 210.845610 deg. 2025-01-08T21:26:34.543Z,1736371594.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.679950 target range: 326.399994 and range: 326.40 m. 2025-01-08T21:26:34.548Z,1736371594.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:34.800Z,1736371594.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:34.913Z,1736371594.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:34.920Z,1736371594.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:34.922Z,1736371594.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T21:26:34.925Z,1736371594.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 157.457047 m, bearing: 294.139167 deg, approach rate: 0.046106 m/s, LOS rate: 0.226650 deg/s, cmd heading: 210.845604 deg, new cmd heading: 211.105963 deg. 2025-01-08T21:26:34.926Z,1736371594.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.684494 target range: 326.399994 and range: 326.40 m. 2025-01-08T21:26:35.052Z,1736371595.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:35.052Z,1736371595.052 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:35.052Z,1736371595.052 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:35.052Z,1736371595.052 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:35.304Z,1736371595.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:35.304Z,1736371595.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745752 2025-01-08T21:26:35.381Z,1736371595.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:35.411Z,1736371595.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T21:26:35.414Z,1736371595.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 157.473511 m, bearing: 294.246635 deg, approach rate: 0.033951 m/s, LOS rate: 0.221586 deg/s, cmd heading: 211.105957 deg, new cmd heading: 211.428322 deg. 2025-01-08T21:26:35.415Z,1736371595.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.690120 target range: 326.399994 and range: 326.40 m. 2025-01-08T21:26:35.556Z,1736371595.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:35.556Z,1736371595.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997702 2025-01-08T21:26:35.720Z,1736371595.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:35.728Z,1736371595.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T21:26:35.732Z,1736371595.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 157.482971 m, bearing: 294.324153 deg, approach rate: 0.029470 m/s, LOS rate: 0.241457 deg/s, cmd heading: 211.428328 deg, new cmd heading: 211.660868 deg. 2025-01-08T21:26:35.733Z,1736371595.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.694179 target range: 326.399994 and range: 326.40 m. 2025-01-08T21:26:35.808Z,1736371595.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:35.809Z,1736371595.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250733 2025-01-08T21:26:36.060Z,1736371596.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:36.060Z,1736371596.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501693 2025-01-08T21:26:36.134Z,1736371596.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:36.143Z,1736371596.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T21:26:36.146Z,1736371596.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 157.493149 m, bearing: 294.419358 deg, approach rate: 0.024539 m/s, LOS rate: 0.229535 deg/s, cmd heading: 211.660869 deg, new cmd heading: 211.946461 deg. 2025-01-08T21:26:36.160Z,1736371596.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.699164 target range: 326.399994 and range: 326.40 m. 2025-01-08T21:26:36.313Z,1736371596.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:36.313Z,1736371596.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754775 2025-01-08T21:26:36.549Z,1736371596.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:36.558Z,1736371596.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T21:26:36.561Z,1736371596.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 157.489304 m, bearing: 294.514447 deg, approach rate: -0.009263 m/s, LOS rate: 0.229065 deg/s, cmd heading: 211.946466 deg, new cmd heading: 212.231740 deg. 2025-01-08T21:26:36.562Z,1736371596.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.704143 target range: 326.399994 and range: 326.40 m. 2025-01-08T21:26:36.564Z,1736371596.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:36.565Z,1736371596.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005840 2025-01-08T21:26:36.816Z,1736371596.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:36.817Z,1736371596.817 [DAT](INFO): DAT read: Rx Time:21:26:35.6461 2025-01-08T21:26:36.817Z,1736371596.817 [DAT](INFO): Rx dataTimestamp_ set to:1736371596.816695 2025-01-08T21:26:36.818Z,1736371596.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258848 2025-01-08T21:26:36.941Z,1736371596.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:36.948Z,1736371596.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:36.950Z,1736371596.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T21:26:36.954Z,1736371596.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 157.484619 m, bearing: 294.604089 deg, approach rate: -0.011931 m/s, LOS rate: 0.228325 deg/s, cmd heading: 212.231736 deg, new cmd heading: 212.500668 deg. 2025-01-08T21:26:36.954Z,1736371596.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.708836 target range: 326.399994 and range: 326.40 m. 2025-01-08T21:26:37.068Z,1736371597.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:37.069Z,1736371597.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509856 2025-01-08T21:26:37.321Z,1736371597.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:37.323Z,1736371597.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764130 2025-01-08T21:26:37.466Z,1736371597.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:37.477Z,1736371597.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m. 2025-01-08T21:26:37.481Z,1736371597.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.399994 m, nav range: 157.458786 m, bearing: 294.725049 deg, approach rate: -0.049097 m/s, LOS rate: 0.229927 deg/s, cmd heading: 212.500668 deg, new cmd heading: 212.863601 deg. 2025-01-08T21:26:37.482Z,1736371597.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.715171 target range: 326.399994 and range: 326.40 m. 2025-01-08T21:26:37.573Z,1736371597.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:37.591Z,1736371597.591 [DAT](INFO): DAT read: 21:26:35.6461 LVL= 15024, 20337, 21426, 25939, AGC= 66, IDX= 262,-0.31, 2.050, 1.317,-0.042, 1.107, PHS= 1.031, 0.258,-1.151, RAW= 50.4, -1.5, CAL= 52.0, -4.5, ROT= 98.0, 4.5 2025-01-08T21:26:37.602Z,1736371597.602 [DAT](INFO): got valid direction response: 21:26:35.6461 LVL= 15024, 20337, 21426, 25939, AGC= 66, IDX= 262,-0.31, 2.050, 1.317,-0.042, 1.107, PHS= 1.031, 0.258,-1.151, RAW= 50.4, -1.5, CAL= 52.0, -4.5, ROT= 98.0, 4.5 2025-01-08T21:26:37.608Z,1736371597.608 [DAT](INFO): DAT read: Bearing 98.0, 4.5 (Local) 2025-01-08T21:26:37.609Z,1736371597.609 [DAT](INFO): Local bearing/azimuth received: Bearing 98.0, 4.5 (Local) 2025-01-08T21:26:37.616Z,1736371597.616 [DAT](INFO): DAT read: Range 10 to 50 : 313.5 m (Round-trip 418.1 ms) speed 0.0 m/s 2025-01-08T21:26:37.617Z,1736371597.617 [DAT](INFO): DAT read: user:1769> 2025-01-08T21:26:37.618Z,1736371597.618 [DAT](INFO): DAT read: Tx time:21:26:36.7239 2025-01-08T21:26:37.619Z,1736371597.619 [DAT](INFO): Ping request sent. 2025-01-08T21:26:37.623Z,1736371597.623 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:37.624Z,1736371597.624 [DAT](INFO): DAT read: TxSync time:21:26:36.7231 2025-01-08T21:26:37.624Z,1736371597.624 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:37.625Z,1736371597.625 [DAT](INFO): direction in FSK: [0.017490,0.695917,0.717909] 2025-01-08T21:26:37.626Z,1736371597.626 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:37.626Z,1736371597.626 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:37.633Z,1736371597.633 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:37.634Z,1736371597.634 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:37.803Z,1736371597.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:37.824Z,1736371597.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:37.834Z,1736371597.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 313.500000 m, deltaT: 4.032935 s, deltaX: -12.899994 m, approachRate: -3.198662 m/s, rangeRepo size: 4 2025-01-08T21:26:37.841Z,1736371597.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 313.500000 m, bearing: 303.050503 deg, lat: 36.903479 deg, lon: -122.117501 deg, deltaT: 4.032935 s, deltaX: -12.899994 m, approachRate: -3.198662 m/s, posRepo size: 4 2025-01-08T21:26:37.841Z,1736371597.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:37.849Z,1736371597.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 159.598679 m, bearing: 296.125089 deg, approach rate: 0.000000 m/s, LOS rate: 0.229927 deg/s, cmd heading: 212.863597 deg, new cmd heading: 213.109971 deg. 2025-01-08T21:26:37.849Z,1736371597.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.719471 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:38.078Z,1736371598.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:38.189Z,1736371598.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:38.202Z,1736371598.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:38.205Z,1736371598.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 159.582123 m, bearing: 296.213773 deg, approach rate: -0.044946 m/s, LOS rate: 0.240783 deg/s, cmd heading: 213.109975 deg, new cmd heading: 213.376052 deg. 2025-01-08T21:26:38.206Z,1736371598.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.724115 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:38.328Z,1736371598.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:38.580Z,1736371598.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:38.600Z,1736371598.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:38.630Z,1736371598.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:38.637Z,1736371598.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 159.544067 m, bearing: 296.308785 deg, approach rate: -0.089182 m/s, LOS rate: 0.222713 deg/s, cmd heading: 213.376052 deg, new cmd heading: 213.661154 deg. 2025-01-08T21:26:38.638Z,1736371598.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.729091 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:38.832Z,1736371598.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:39.001Z,1736371599.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:39.016Z,1736371599.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:39.021Z,1736371599.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:39.024Z,1736371599.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 159.506409 m, bearing: 296.401290 deg, approach rate: -0.096019 m/s, LOS rate: 0.235915 deg/s, cmd heading: 213.661158 deg, new cmd heading: 213.938735 deg. 2025-01-08T21:26:39.025Z,1736371599.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.733935 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:39.085Z,1736371599.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:39.086Z,1736371599.086 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:39.086Z,1736371599.086 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:39.086Z,1736371599.086 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:39.336Z,1736371599.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:39.336Z,1736371599.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717712 2025-01-08T21:26:39.428Z,1736371599.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:39.441Z,1736371599.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:39.444Z,1736371599.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 159.451950 m, bearing: 296.502545 deg, approach rate: -0.129642 m/s, LOS rate: 0.241128 deg/s, cmd heading: 213.938737 deg, new cmd heading: 214.242604 deg. 2025-01-08T21:26:39.445Z,1736371599.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.739239 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:39.588Z,1736371599.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:39.588Z,1736371599.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969821 2025-01-08T21:26:39.792Z,1736371599.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:39.801Z,1736371599.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:39.823Z,1736371599.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 159.405090 m, bearing: 296.588576 deg, approach rate: -0.130377 m/s, LOS rate: 0.239431 deg/s, cmd heading: 214.242598 deg, new cmd heading: 214.500763 deg. 2025-01-08T21:26:39.824Z,1736371599.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.743745 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:39.841Z,1736371599.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:39.842Z,1736371599.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223335 2025-01-08T21:26:40.092Z,1736371600.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:40.093Z,1736371600.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474084 2025-01-08T21:26:40.201Z,1736371600.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:40.210Z,1736371600.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:40.213Z,1736371600.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 159.351852 m, bearing: 296.685823 deg, approach rate: -0.130162 m/s, LOS rate: 0.237840 deg/s, cmd heading: 214.500766 deg, new cmd heading: 214.792601 deg. 2025-01-08T21:26:40.214Z,1736371600.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748838 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:40.347Z,1736371600.347 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:40.348Z,1736371600.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729073 2025-01-08T21:26:40.600Z,1736371600.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:40.601Z,1736371600.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981919 2025-01-08T21:26:40.622Z,1736371600.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:40.658Z,1736371600.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:40.673Z,1736371600.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 159.284988 m, bearing: 296.786719 deg, approach rate: -0.149372 m/s, LOS rate: 0.225493 deg/s, cmd heading: 214.792606 deg, new cmd heading: 215.095418 deg. 2025-01-08T21:26:40.675Z,1736371600.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.754123 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:40.852Z,1736371600.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:40.852Z,1736371600.852 [DAT](INFO): DAT read: Rx Time:21:26:39.5464 2025-01-08T21:26:40.853Z,1736371600.853 [DAT](INFO): Rx dataTimestamp_ set to:1736371600.852536 2025-01-08T21:26:40.853Z,1736371600.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234712 2025-01-08T21:26:41.028Z,1736371601.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:41.036Z,1736371601.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:41.038Z,1736371601.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.50 m. 2025-01-08T21:26:41.041Z,1736371601.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.500000 m, nav range: 159.220139 m, bearing: 296.884124 deg, approach rate: -0.170279 m/s, LOS rate: 0.255865 deg/s, cmd heading: 215.095416 deg, new cmd heading: 215.387748 deg. 2025-01-08T21:26:41.042Z,1736371601.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.759225 target range: 313.500000 and range: 313.50 m. 2025-01-08T21:26:41.106Z,1736371601.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:41.107Z,1736371601.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488058 2025-01-08T21:26:41.357Z,1736371601.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:41.364Z,1736371601.364 [DAT](INFO): DAT read: 21:26:39.5465 LVL= 21680, 32753, 29010, 32755, AGC= 66, IDX= 438, 0.42,-2.623, 3.025, 1.743, 2.841, PHS= 0.907, 0.230,-1.101, RAW= 49.3, -0.4, CAL= 50.1, -2.8, ROT= 99.9, 2.8 2025-01-08T21:26:41.365Z,1736371601.365 [DAT](INFO): got valid direction response: 21:26:39.5465 LVL= 21680, 32753, 29010, 32755, AGC= 66, IDX= 438, 0.42,-2.623, 3.025, 1.743, 2.841, PHS= 0.907, 0.230,-1.101, RAW= 49.3, -0.4, CAL= 50.1, -2.8, ROT= 99.9, 2.8 2025-01-08T21:26:41.366Z,1736371601.366 [DAT](INFO): DAT read: Bearing 99.9, 2.8 (Local) 2025-01-08T21:26:41.366Z,1736371601.366 [DAT](INFO): Local bearing/azimuth received: Bearing 99.9, 2.8 (Local) 2025-01-08T21:26:41.379Z,1736371601.379 [DAT](INFO): DAT read: Range 10 to 50 : 313.8 m (Round-trip 418.4 ms) speed 0.0 m/s 2025-01-08T21:26:41.380Z,1736371601.380 [DAT](INFO): DAT read: user:1770> 2025-01-08T21:26:41.381Z,1736371601.381 [DAT](INFO): DAT read: Tx time:21:26:40.6240 2025-01-08T21:26:41.381Z,1736371601.381 [DAT](INFO): Ping request sent. 2025-01-08T21:26:41.381Z,1736371601.381 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:41.382Z,1736371601.382 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:41.382Z,1736371601.382 [DAT](INFO): direction in FSK: [0.000328,0.709981,0.704221] 2025-01-08T21:26:41.383Z,1736371601.383 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:41.399Z,1736371601.399 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:41.402Z,1736371601.402 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:41.402Z,1736371601.402 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:41.518Z,1736371601.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:41.558Z,1736371601.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 313.799988 m, deltaT: 3.784715 s, deltaX: 0.299988 m, approachRate: 0.079263 m/s, rangeRepo size: 4 2025-01-08T21:26:41.568Z,1736371601.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 313.799988 m, bearing: 305.893555 deg, lat: 36.903713 deg, lon: -122.117615 deg, deltaT: 3.784715 s, deltaX: 0.299988 m, approachRate: 0.079263 m/s, posRepo size: 4 2025-01-08T21:26:41.569Z,1736371601.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.80 m. 2025-01-08T21:26:41.572Z,1736371601.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.799988 m, nav range: 180.961548 m, bearing: 302.929132 deg, approach rate: 0.000000 m/s, LOS rate: 0.255865 deg/s, cmd heading: 215.387748 deg, new cmd heading: 215.786443 deg. 2025-01-08T21:26:41.573Z,1736371601.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766184 target range: 313.799988 and range: 313.80 m. 2025-01-08T21:26:41.608Z,1736371601.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:41.609Z,1736371601.609 [DAT](INFO): DAT read: TxSync time:21:26:40.6232 2025-01-08T21:26:41.858Z,1736371601.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:41.860Z,1736371601.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:41.875Z,1736371601.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.80 m. 2025-01-08T21:26:41.886Z,1736371601.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.799988 m, nav range: 180.925201 m, bearing: 303.003935 deg, approach rate: -0.114618 m/s, LOS rate: 0.235936 deg/s, cmd heading: 215.786440 deg, new cmd heading: 216.010892 deg. 2025-01-08T21:26:41.886Z,1736371601.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770101 target range: 313.799988 and range: 313.80 m. 2025-01-08T21:26:42.113Z,1736371602.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:42.248Z,1736371602.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:42.282Z,1736371602.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.80 m. 2025-01-08T21:26:42.305Z,1736371602.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.799988 m, nav range: 180.883423 m, bearing: 303.089657 deg, approach rate: -0.102854 m/s, LOS rate: 0.211089 deg/s, cmd heading: 216.010893 deg, new cmd heading: 216.268119 deg. 2025-01-08T21:26:42.313Z,1736371602.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.774591 target range: 313.799988 and range: 313.80 m. 2025-01-08T21:26:42.364Z,1736371602.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:42.616Z,1736371602.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:42.697Z,1736371602.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:42.705Z,1736371602.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.80 m. 2025-01-08T21:26:42.708Z,1736371602.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.799988 m, nav range: 180.840347 m, bearing: 303.189154 deg, approach rate: -0.101483 m/s, LOS rate: 0.234461 deg/s, cmd heading: 216.268118 deg, new cmd heading: 216.566676 deg. 2025-01-08T21:26:42.714Z,1736371602.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.779802 target range: 313.799988 and range: 313.80 m. 2025-01-08T21:26:42.868Z,1736371602.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:43.055Z,1736371603.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:43.063Z,1736371603.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:43.065Z,1736371603.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.80 m. 2025-01-08T21:26:43.110Z,1736371603.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.799988 m, nav range: 180.806244 m, bearing: 303.268681 deg, approach rate: -0.094742 m/s, LOS rate: 0.220975 deg/s, cmd heading: 216.566679 deg, new cmd heading: 216.805304 deg. 2025-01-08T21:26:43.111Z,1736371603.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.783966 target range: 313.799988 and range: 313.80 m. 2025-01-08T21:26:43.120Z,1736371603.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:43.120Z,1736371603.120 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:43.121Z,1736371603.121 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:43.121Z,1736371603.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:43.372Z,1736371603.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:43.372Z,1736371603.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991017 2025-01-08T21:26:43.489Z,1736371603.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:43.497Z,1736371603.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.80 m. 2025-01-08T21:26:43.506Z,1736371603.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.799988 m, nav range: 180.772400 m, bearing: 303.364814 deg, approach rate: -0.078329 m/s, LOS rate: 0.222535 deg/s, cmd heading: 216.805299 deg, new cmd heading: 217.093751 deg. 2025-01-08T21:26:43.506Z,1736371603.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789001 target range: 313.799988 and range: 313.80 m. 2025-01-08T21:26:43.624Z,1736371603.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:43.625Z,1736371603.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243658 2025-01-08T21:26:43.869Z,1736371603.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:43.876Z,1736371603.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:43.876Z,1736371603.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495174 2025-01-08T21:26:43.880Z,1736371603.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.80 m. 2025-01-08T21:26:43.883Z,1736371603.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.799988 m, nav range: 180.741989 m, bearing: 303.449044 deg, approach rate: -0.079680 m/s, LOS rate: 0.220730 deg/s, cmd heading: 217.093752 deg, new cmd heading: 217.346481 deg. 2025-01-08T21:26:43.884Z,1736371603.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793412 target range: 313.799988 and range: 313.80 m. 2025-01-08T21:26:44.128Z,1736371604.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:44.129Z,1736371604.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747705 2025-01-08T21:26:44.268Z,1736371604.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:44.277Z,1736371604.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.80 m. 2025-01-08T21:26:44.281Z,1736371604.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.799988 m, nav range: 180.709244 m, bearing: 303.537623 deg, approach rate: -0.082248 m/s, LOS rate: 0.222528 deg/s, cmd heading: 217.346482 deg, new cmd heading: 217.612265 deg. 2025-01-08T21:26:44.282Z,1736371604.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798050 target range: 313.799988 and range: 313.80 m. 2025-01-08T21:26:44.380Z,1736371604.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:44.381Z,1736371604.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999639 2025-01-08T21:26:44.632Z,1736371604.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:44.633Z,1736371604.633 [DAT](INFO): DAT read: Rx Time:21:26:43.4638 2025-01-08T21:26:44.633Z,1736371604.633 [DAT](INFO): Rx dataTimestamp_ set to:1736371604.632824 2025-01-08T21:26:44.634Z,1736371604.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252356 2025-01-08T21:26:44.738Z,1736371604.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:44.747Z,1736371604.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.80 m. 2025-01-08T21:26:44.766Z,1736371604.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.799988 m, nav range: 180.683090 m, bearing: 303.640800 deg, approach rate: -0.055672 m/s, LOS rate: 0.219661 deg/s, cmd heading: 217.612259 deg, new cmd heading: 217.921833 deg. 2025-01-08T21:26:44.772Z,1736371604.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803453 target range: 313.799988 and range: 313.80 m. 2025-01-08T21:26:44.884Z,1736371604.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:44.884Z,1736371604.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503048 2025-01-08T21:26:45.092Z,1736371605.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:45.137Z,1736371605.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:45.140Z,1736371605.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757825 2025-01-08T21:26:45.149Z,1736371605.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:45.167Z,1736371605.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.80 m. 2025-01-08T21:26:45.179Z,1736371605.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.799988 m, nav range: 180.663696 m, bearing: 303.718855 deg, approach rate: -0.046348 m/s, LOS rate: 0.186556 deg/s, cmd heading: 217.921830 deg, new cmd heading: 218.156018 deg. 2025-01-08T21:26:45.184Z,1736371605.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.807541 target range: 313.799988 and range: 313.80 m. 2025-01-08T21:26:45.329Z,1736371605.329 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:26:45.390Z,1736371605.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:45.409Z,1736371605.409 [DAT](INFO): DAT read: 21:26:43.4638 LVL= 13296, 20193, 19618, 22339, AGC= 67, IDX= 283,-0.14,-0.323,-1.529,-2.357,-2.054, PHS= 1.819, 0.572,-0.306, RAW= 65.7, -21.7, CAL= 79.6, -29.7, ROT= 70.4, 29.7 2025-01-08T21:26:45.410Z,1736371605.410 [DAT](INFO): got valid direction response: 21:26:43.4638 LVL= 13296, 20193, 19618, 22339, AGC= 67, IDX= 283,-0.14,-0.323,-1.529,-2.357,-2.054, PHS= 1.819, 0.572,-0.306, RAW= 65.7, -21.7, CAL= 79.6, -29.7, ROT= 70.4, 29.7 2025-01-08T21:26:45.414Z,1736371605.414 [DAT](INFO): DAT read: Bearing 70.4, 29.7 (Local) 2025-01-08T21:26:45.418Z,1736371605.418 [DAT](INFO): Local bearing/azimuth received: Bearing 70.4, 29.7 (Local) 2025-01-08T21:26:45.422Z,1736371605.422 [DAT](INFO): DAT read: Range 10 to 50 : 326.7 m (Round-trip 435.7 ms) speed 0.2 m/s 2025-01-08T21:26:45.422Z,1736371605.422 [DAT](INFO): DAT read: user:1771> 2025-01-08T21:26:45.424Z,1736371605.424 [DAT](INFO): DAT read: Tx time:21:26:44.5740 2025-01-08T21:26:45.424Z,1736371605.424 [DAT](INFO): Ping request sent. 2025-01-08T21:26:45.424Z,1736371605.424 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:45.425Z,1736371605.425 [DAT](INFO): DAT read: TxSync time:21:26:44.5732 2025-01-08T21:26:45.425Z,1736371605.425 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:45.427Z,1736371605.427 [DAT](INFO): direction in FSK: [0.356104,0.437038,0.825946] 2025-01-08T21:26:45.428Z,1736371605.428 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:45.428Z,1736371605.428 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:45.433Z,1736371605.433 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:45.434Z,1736371605.434 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:45.582Z,1736371605.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:45.640Z,1736371605.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:45.641Z,1736371605.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 326.700012 m, deltaT: 4.033413 s, deltaX: 12.900024 m, approachRate: 3.198290 m/s, rangeRepo size: 4 2025-01-08T21:26:45.648Z,1736371605.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 326.700012 m, bearing: 259.467251 deg, lat: 36.903713 deg, lon: -122.117615 deg, deltaT: 4.033413 s, deltaX: 12.900024 m, approachRate: 3.198290 m/s, posRepo size: 4 2025-01-08T21:26:45.649Z,1736371605.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.70 m. 2025-01-08T21:26:45.672Z,1736371605.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.700012 m, nav range: 180.656738 m, bearing: 303.822753 deg, approach rate: 0.000000 m/s, LOS rate: 0.186556 deg/s, cmd heading: 218.156024 deg, new cmd heading: 218.418712 deg. 2025-01-08T21:26:45.673Z,1736371605.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.812126 target range: 326.700012 and range: 326.70 m. 2025-01-08T21:26:45.892Z,1736371605.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:45.957Z,1736371605.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:45.986Z,1736371605.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.70 m. 2025-01-08T21:26:45.989Z,1736371605.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.700012 m, nav range: 180.650299 m, bearing: 303.902201 deg, approach rate: -0.018334 m/s, LOS rate: 0.226215 deg/s, cmd heading: 218.418713 deg, new cmd heading: 218.657065 deg. 2025-01-08T21:26:45.990Z,1736371605.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.816286 target range: 326.700012 and range: 326.70 m. 2025-01-08T21:26:46.144Z,1736371606.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:46.332Z,1736371606.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:26:46.398Z,1736371606.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:46.460Z,1736371606.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:46.469Z,1736371606.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.70 m. 2025-01-08T21:26:46.472Z,1736371606.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.700012 m, nav range: 180.659637 m, bearing: 304.006073 deg, approach rate: 0.019341 m/s, LOS rate: 0.215124 deg/s, cmd heading: 218.657059 deg, new cmd heading: 218.968654 deg. 2025-01-08T21:26:46.473Z,1736371606.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.821724 target range: 326.700012 and range: 326.70 m. 2025-01-08T21:26:46.648Z,1736371606.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:46.764Z,1736371606.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:46.772Z,1736371606.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.70 m. 2025-01-08T21:26:46.775Z,1736371606.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.700012 m, nav range: 180.662186 m, bearing: 304.068774 deg, approach rate: 0.008389 m/s, LOS rate: 0.206406 deg/s, cmd heading: 218.968652 deg, new cmd heading: 219.156751 deg. 2025-01-08T21:26:46.776Z,1736371606.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.825007 target range: 326.700012 and range: 326.70 m. 2025-01-08T21:26:46.900Z,1736371606.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:47.152Z,1736371607.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:47.172Z,1736371607.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:47.180Z,1736371607.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:47.182Z,1736371607.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.70 m. 2025-01-08T21:26:47.185Z,1736371607.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.700012 m, nav range: 180.664124 m, bearing: 304.152947 deg, approach rate: 0.004729 m/s, LOS rate: 0.205424 deg/s, cmd heading: 219.156756 deg, new cmd heading: 219.409271 deg. 2025-01-08T21:26:47.186Z,1736371607.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829414 target range: 326.700012 and range: 326.70 m. 2025-01-08T21:26:47.405Z,1736371607.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:47.405Z,1736371607.405 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:47.405Z,1736371607.405 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:47.405Z,1736371607.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:47.590Z,1736371607.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:47.636Z,1736371607.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.70 m. 2025-01-08T21:26:47.639Z,1736371607.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.700012 m, nav range: 180.675842 m, bearing: 304.234926 deg, approach rate: 0.026097 m/s, LOS rate: 0.182551 deg/s, cmd heading: 219.409268 deg, new cmd heading: 219.655189 deg. 2025-01-08T21:26:47.640Z,1736371607.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833706 target range: 326.700012 and range: 326.70 m. 2025-01-08T21:26:47.657Z,1736371607.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:47.658Z,1736371607.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233420 2025-01-08T21:26:47.908Z,1736371607.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:47.908Z,1736371607.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484530 2025-01-08T21:26:47.973Z,1736371607.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:47.982Z,1736371607.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.70 m. 2025-01-08T21:26:47.985Z,1736371607.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.700012 m, nav range: 180.685577 m, bearing: 304.310547 deg, approach rate: 0.027761 m/s, LOS rate: 0.215631 deg/s, cmd heading: 219.655195 deg, new cmd heading: 219.882045 deg. 2025-01-08T21:26:47.986Z,1736371607.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.837666 target range: 326.700012 and range: 326.70 m. 2025-01-08T21:26:48.160Z,1736371608.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:48.162Z,1736371608.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737689 2025-01-08T21:26:48.414Z,1736371608.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:48.417Z,1736371608.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992345 2025-01-08T21:26:48.480Z,1736371608.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:48.489Z,1736371608.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.70 m. 2025-01-08T21:26:48.508Z,1736371608.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.700012 m, nav range: 180.704285 m, bearing: 304.410327 deg, approach rate: 0.036905 m/s, LOS rate: 0.196821 deg/s, cmd heading: 219.882040 deg, new cmd heading: 220.181343 deg. 2025-01-08T21:26:48.509Z,1736371608.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.842889 target range: 326.700012 and range: 326.70 m. 2025-01-08T21:26:48.664Z,1736371608.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:48.665Z,1736371608.665 [DAT](INFO): DAT read: Rx Time:21:26:47.3956 2025-01-08T21:26:48.666Z,1736371608.666 [DAT](INFO): Rx dataTimestamp_ set to:1736371608.665598 2025-01-08T21:26:48.667Z,1736371608.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242784 2025-01-08T21:26:48.827Z,1736371608.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:48.836Z,1736371608.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.70 m. 2025-01-08T21:26:48.839Z,1736371608.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.700012 m, nav range: 180.716232 m, bearing: 304.478515 deg, approach rate: 0.034394 m/s, LOS rate: 0.196281 deg/s, cmd heading: 220.181339 deg, new cmd heading: 220.385889 deg. 2025-01-08T21:26:48.840Z,1736371608.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.846459 target range: 326.700012 and range: 326.70 m. 2025-01-08T21:26:48.916Z,1736371608.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:48.917Z,1736371608.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492717 2025-01-08T21:26:49.168Z,1736371609.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:49.177Z,1736371609.177 [DAT](INFO): DAT read: 21:26:47.3956 LVL= 13536, 24177, 17298, 27731, AGC= 66, IDX= 255,-0.24,-2.497,-3.095, 2.073,-3.105, PHS= 0.696, 0.057,-1.108, RAW= 50.4, 4.5, CAL= 49.3, 5.4, ROT= 100.7, -5.4 2025-01-08T21:26:49.179Z,1736371609.179 [DAT](INFO): got valid direction response: 21:26:47.3956 LVL= 13536, 24177, 17298, 27731, AGC= 66, IDX= 255,-0.24,-2.497,-3.095, 2.073,-3.105, PHS= 0.696, 0.057,-1.108, RAW= 50.4, 4.5, CAL= 49.3, 5.4, ROT= 100.7, -5.4 2025-01-08T21:26:49.180Z,1736371609.180 [DAT](INFO): DAT read: Bearing 100.7, -5.4 (Local) 2025-01-08T21:26:49.180Z,1736371609.180 [DAT](INFO): Local bearing/azimuth received: Bearing 100.7, -5.4 (Local) 2025-01-08T21:26:49.182Z,1736371609.182 [DAT](INFO): DAT read: Range 10 to 50 : 313.0 m (Round-trip 417.4 ms) speed 0.3 m/s 2025-01-08T21:26:49.183Z,1736371609.183 [DAT](INFO): DAT read: user:1772> 2025-01-08T21:26:49.206Z,1736371609.206 [DAT](INFO): DAT read: Tx time:21:26:48.4740 2025-01-08T21:26:49.206Z,1736371609.206 [DAT](INFO): Ping request sent. 2025-01-08T21:26:49.206Z,1736371609.206 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:49.207Z,1736371609.207 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:49.208Z,1736371609.208 [DAT](INFO): direction in FSK: [-0.093560,0.699773,0.708212] 2025-01-08T21:26:49.208Z,1736371609.208 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:49.208Z,1736371609.208 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:49.231Z,1736371609.231 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:49.232Z,1736371609.232 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:49.296Z,1736371609.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:49.334Z,1736371609.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 313.000000 m, deltaT: 3.776910 s, deltaX: -13.700012 m, approachRate: -3.627307 m/s, rangeRepo size: 4 2025-01-08T21:26:49.352Z,1736371609.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 313.000000 m, bearing: 320.881082 deg, lat: 36.903744 deg, lon: -122.117615 deg, deltaT: 3.776910 s, deltaX: -13.700012 m, approachRate: -3.627307 m/s, posRepo size: 4 2025-01-08T21:26:49.352Z,1736371609.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.00 m. 2025-01-08T21:26:49.356Z,1736371609.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.000000 m, nav range: 182.693085 m, bearing: 305.453939 deg, approach rate: 0.000000 m/s, LOS rate: 0.196281 deg/s, cmd heading: 220.385889 deg, new cmd heading: 220.678799 deg. 2025-01-08T21:26:49.357Z,1736371609.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.851572 target range: 313.000000 and range: 313.00 m. 2025-01-08T21:26:49.422Z,1736371609.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:49.426Z,1736371609.426 [DAT](INFO): DAT read: TxSync time:21:26:48.4732 2025-01-08T21:26:49.672Z,1736371609.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:49.752Z,1736371609.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:49.759Z,1736371609.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:49.761Z,1736371609.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.00 m. 2025-01-08T21:26:49.764Z,1736371609.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.000000 m, nav range: 182.712967 m, bearing: 305.541705 deg, approach rate: 0.046556 m/s, LOS rate: 0.205490 deg/s, cmd heading: 220.678795 deg, new cmd heading: 220.942062 deg. 2025-01-08T21:26:49.765Z,1736371609.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.856166 target range: 313.000000 and range: 313.00 m. 2025-01-08T21:26:49.924Z,1736371609.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:49.924Z,1736371609.924 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:49.924Z,1736371609.924 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:49.924Z,1736371609.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:50.105Z,1736371610.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:50.115Z,1736371610.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.00 m. 2025-01-08T21:26:50.118Z,1736371610.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.000000 m, nav range: 182.726654 m, bearing: 305.609790 deg, approach rate: 0.038631 m/s, LOS rate: 0.192151 deg/s, cmd heading: 220.942058 deg, new cmd heading: 221.146295 deg. 2025-01-08T21:26:50.119Z,1736371610.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.859731 target range: 313.000000 and range: 313.00 m. 2025-01-08T21:26:50.176Z,1736371610.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:50.178Z,1736371610.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.970947 2025-01-08T21:26:50.429Z,1736371610.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:50.432Z,1736371610.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225398 2025-01-08T21:26:50.530Z,1736371610.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:50.538Z,1736371610.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.00 m. 2025-01-08T21:26:50.541Z,1736371610.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.000000 m, nav range: 182.737549 m, bearing: 305.690381 deg, approach rate: 0.025755 m/s, LOS rate: 0.190507 deg/s, cmd heading: 221.146294 deg, new cmd heading: 221.388054 deg. 2025-01-08T21:26:50.542Z,1736371610.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.863950 target range: 313.000000 and range: 313.00 m. 2025-01-08T21:26:50.681Z,1736371610.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:50.682Z,1736371610.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475624 2025-01-08T21:26:50.911Z,1736371610.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:50.932Z,1736371610.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:50.933Z,1736371610.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726220 2025-01-08T21:26:50.941Z,1736371610.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.00 m. 2025-01-08T21:26:50.943Z,1736371610.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.000000 m, nav range: 182.745407 m, bearing: 305.762801 deg, approach rate: 0.019518 m/s, LOS rate: 0.179860 deg/s, cmd heading: 221.388055 deg, new cmd heading: 221.605304 deg. 2025-01-08T21:26:50.944Z,1736371610.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.867742 target range: 313.000000 and range: 313.00 m. 2025-01-08T21:26:51.184Z,1736371611.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:51.184Z,1736371611.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978100 2025-01-08T21:26:51.320Z,1736371611.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:51.328Z,1736371611.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.00 m. 2025-01-08T21:26:51.332Z,1736371611.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.000000 m, nav range: 182.752167 m, bearing: 305.840481 deg, approach rate: 0.017440 m/s, LOS rate: 0.200415 deg/s, cmd heading: 221.605310 deg, new cmd heading: 221.838341 deg. 2025-01-08T21:26:51.333Z,1736371611.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.871809 target range: 313.000000 and range: 313.00 m. 2025-01-08T21:26:51.437Z,1736371611.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:51.440Z,1736371611.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233327 2025-01-08T21:26:51.688Z,1736371611.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:51.689Z,1736371611.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482347 2025-01-08T21:26:51.752Z,1736371611.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:51.760Z,1736371611.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:51.762Z,1736371611.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.00 m. 2025-01-08T21:26:51.782Z,1736371611.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.000000 m, nav range: 182.750534 m, bearing: 305.925109 deg, approach rate: -0.003767 m/s, LOS rate: 0.195252 deg/s, cmd heading: 221.838342 deg, new cmd heading: 222.092226 deg. 2025-01-08T21:26:51.783Z,1736371611.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.876240 target range: 313.000000 and range: 313.00 m. 2025-01-08T21:26:51.940Z,1736371611.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:51.940Z,1736371611.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734044 2025-01-08T21:26:52.131Z,1736371612.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:52.140Z,1736371612.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.00 m. 2025-01-08T21:26:52.142Z,1736371612.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.000000 m, nav range: 182.746826 m, bearing: 305.999136 deg, approach rate: -0.009817 m/s, LOS rate: 0.196004 deg/s, cmd heading: 222.092221 deg, new cmd heading: 222.314306 deg. 2025-01-08T21:26:52.143Z,1736371612.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880117 target range: 313.000000 and range: 313.00 m. 2025-01-08T21:26:52.192Z,1736371612.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:52.194Z,1736371612.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987224 2025-01-08T21:26:52.445Z,1736371612.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:52.448Z,1736371612.448 [DAT](INFO): DAT read: Rx Time:21:26:51.2945 2025-01-08T21:26:52.449Z,1736371612.449 [DAT](INFO): Rx dataTimestamp_ set to:1736371612.448595 2025-01-08T21:26:52.454Z,1736371612.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244493 2025-01-08T21:26:52.562Z,1736371612.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:52.570Z,1736371612.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.00 m. 2025-01-08T21:26:52.588Z,1736371612.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.000000 m, nav range: 182.733688 m, bearing: 306.086034 deg, approach rate: -0.030485 m/s, LOS rate: 0.201654 deg/s, cmd heading: 222.314311 deg, new cmd heading: 222.575021 deg. 2025-01-08T21:26:52.589Z,1736371612.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.884667 target range: 313.000000 and range: 313.00 m. 2025-01-08T21:26:52.696Z,1736371612.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:52.697Z,1736371612.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490978 2025-01-08T21:26:52.923Z,1736371612.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:52.933Z,1736371612.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.00 m. 2025-01-08T21:26:52.940Z,1736371612.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 313.000000 m, nav range: 182.722153 m, bearing: 306.158889 deg, approach rate: -0.031835 m/s, LOS rate: 0.201068 deg/s, cmd heading: 222.575019 deg, new cmd heading: 222.793596 deg. 2025-01-08T21:26:52.944Z,1736371612.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.888482 target range: 313.000000 and range: 313.00 m. 2025-01-08T21:26:52.950Z,1736371612.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:52.952Z,1736371612.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.744684 2025-01-08T21:26:53.200Z,1736371613.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:53.207Z,1736371613.207 [DAT](INFO): DAT read: 21:26:51.2945 LVL= 18912, 30545, 30610, 32755, AGC= 64, IDX= 435, 0.10, 2.415, 1.436, 0.231, 1.350, PHS= 1.153, 0.132,-1.122, RAW= 56.6, -1.7, CAL= 59.5, -5.3, ROT= 90.5, 5.3 2025-01-08T21:26:53.208Z,1736371613.208 [DAT](INFO): got valid direction response: 21:26:51.2945 LVL= 18912, 30545, 30610, 32755, AGC= 64, IDX= 435, 0.10, 2.415, 1.436, 0.231, 1.350, PHS= 1.153, 0.132,-1.122, RAW= 56.6, -1.7, CAL= 59.5, -5.3, ROT= 90.5, 5.3 2025-01-08T21:26:53.209Z,1736371613.209 [DAT](INFO): DAT read: Bearing 90.5, 5.3 (Local) 2025-01-08T21:26:53.209Z,1736371613.209 [DAT](INFO): Local bearing/azimuth received: Bearing 90.5, 5.3 (Local) 2025-01-08T21:26:53.211Z,1736371613.211 [DAT](INFO): DAT read: Range 10 to 50 : 312.2 m (Round-trip 416.3 ms) speed 0.0 m/s 2025-01-08T21:26:53.211Z,1736371613.211 [DAT](INFO): DAT read: user:1773> 2025-01-08T21:26:53.213Z,1736371613.213 [DAT](INFO): DAT read: Tx time:21:26:52.3741 2025-01-08T21:26:53.213Z,1736371613.213 [DAT](INFO): Ping request sent. 2025-01-08T21:26:53.213Z,1736371613.213 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:53.214Z,1736371613.214 [DAT](INFO): DAT read: TxSync time:21:26:52.3733 2025-01-08T21:26:53.214Z,1736371613.214 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:53.216Z,1736371613.216 [DAT](INFO): direction in FSK: [0.008808,0.619649,0.784830] 2025-01-08T21:26:53.217Z,1736371613.217 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:53.217Z,1736371613.217 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:53.220Z,1736371613.220 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:53.220Z,1736371613.220 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:53.349Z,1736371613.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:53.412Z,1736371613.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 312.200012 m, deltaT: 4.032023 s, deltaX: -0.799988 m, approachRate: -0.198409 m/s, rangeRepo size: 4 2025-01-08T21:26:53.415Z,1736371613.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 312.200012 m, bearing: 313.119533 deg, lat: 36.903744 deg, lon: -122.117589 deg, deltaT: 4.032023 s, deltaX: -0.799988 m, approachRate: -0.198409 m/s, posRepo size: 4 2025-01-08T21:26:53.420Z,1736371613.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:53.422Z,1736371613.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 180.846542 m, bearing: 306.678443 deg, approach rate: 0.000000 m/s, LOS rate: 0.201068 deg/s, cmd heading: 222.793599 deg, new cmd heading: 223.076981 deg. 2025-01-08T21:26:53.429Z,1736371613.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.893428 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:53.454Z,1736371613.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:53.705Z,1736371613.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:53.802Z,1736371613.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:53.809Z,1736371613.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:53.812Z,1736371613.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:53.815Z,1736371613.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 180.816757 m, bearing: 306.774637 deg, approach rate: -0.072854 m/s, LOS rate: 0.235327 deg/s, cmd heading: 223.076984 deg, new cmd heading: 223.365610 deg. 2025-01-08T21:26:53.816Z,1736371613.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.898465 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:53.956Z,1736371613.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:53.956Z,1736371613.956 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:53.957Z,1736371613.957 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:53.957Z,1736371613.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:54.149Z,1736371614.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:54.174Z,1736371614.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:54.181Z,1736371614.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 180.794205 m, bearing: 306.848217 deg, approach rate: -0.062210 m/s, LOS rate: 0.202994 deg/s, cmd heading: 223.365614 deg, new cmd heading: 223.586380 deg. 2025-01-08T21:26:54.182Z,1736371614.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.902318 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:54.208Z,1736371614.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:54.208Z,1736371614.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995096 2025-01-08T21:26:54.461Z,1736371614.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:54.464Z,1736371614.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249701 2025-01-08T21:26:54.590Z,1736371614.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:54.598Z,1736371614.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:54.601Z,1736371614.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 180.746170 m, bearing: 306.942922 deg, approach rate: -0.113135 m/s, LOS rate: 0.223116 deg/s, cmd heading: 223.586379 deg, new cmd heading: 223.870567 deg. 2025-01-08T21:26:54.602Z,1736371614.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.907279 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:54.712Z,1736371614.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:54.714Z,1736371614.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500340 2025-01-08T21:26:54.958Z,1736371614.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:54.964Z,1736371614.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:54.965Z,1736371614.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751177 2025-01-08T21:26:54.969Z,1736371614.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:54.972Z,1736371614.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 180.705505 m, bearing: 307.022292 deg, approach rate: -0.109628 m/s, LOS rate: 0.214023 deg/s, cmd heading: 223.870570 deg, new cmd heading: 224.108733 deg. 2025-01-08T21:26:54.973Z,1736371614.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.911435 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:55.216Z,1736371615.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:55.216Z,1736371615.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002946 2025-01-08T21:26:55.364Z,1736371615.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:55.373Z,1736371615.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:55.376Z,1736371615.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 180.660583 m, bearing: 307.109426 deg, approach rate: -0.111392 m/s, LOS rate: 0.216117 deg/s, cmd heading: 224.108738 deg, new cmd heading: 224.370201 deg. 2025-01-08T21:26:55.377Z,1736371615.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.915999 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:55.470Z,1736371615.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:55.473Z,1736371615.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258660 2025-01-08T21:26:55.720Z,1736371615.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:55.720Z,1736371615.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507028 2025-01-08T21:26:55.811Z,1736371615.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:55.819Z,1736371615.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:55.821Z,1736371615.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:55.825Z,1736371615.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 180.598465 m, bearing: 307.208346 deg, approach rate: -0.138425 m/s, LOS rate: 0.220511 deg/s, cmd heading: 224.370198 deg, new cmd heading: 224.667059 deg. 2025-01-08T21:26:55.826Z,1736371615.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.921180 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:55.972Z,1736371615.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:55.972Z,1736371615.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758980 2025-01-08T21:26:56.180Z,1736371616.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:56.189Z,1736371616.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:56.192Z,1736371616.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 180.547791 m, bearing: 307.290014 deg, approach rate: -0.137922 m/s, LOS rate: 0.222339 deg/s, cmd heading: 224.667065 deg, new cmd heading: 224.912135 deg. 2025-01-08T21:26:56.193Z,1736371616.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.925457 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:56.224Z,1736371616.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:56.225Z,1736371616.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011307 2025-01-08T21:26:56.476Z,1736371616.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:56.476Z,1736371616.476 [DAT](INFO): DAT read: Rx Time:21:26:55.1944 2025-01-08T21:26:56.477Z,1736371616.477 [DAT](INFO): Rx dataTimestamp_ set to:1736371616.476670 2025-01-08T21:26:56.477Z,1736371616.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264120 2025-01-08T21:26:56.624Z,1736371616.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:56.661Z,1736371616.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.20 m. 2025-01-08T21:26:56.670Z,1736371616.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.200012 m, nav range: 180.477036 m, bearing: 307.390541 deg, approach rate: -0.149954 m/s, LOS rate: 0.213136 deg/s, cmd heading: 224.912132 deg, new cmd heading: 225.213831 deg. 2025-01-08T21:26:56.687Z,1736371616.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.930723 target range: 312.200012 and range: 312.20 m. 2025-01-08T21:26:56.728Z,1736371616.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:56.729Z,1736371616.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515279 2025-01-08T21:26:56.980Z,1736371616.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:56.987Z,1736371616.987 [DAT](INFO): DAT read: 21:26:55.1944 LVL= 14496, 25073, 16178, 25971, AGC= 65, IDX= 433, 0.16, 2.409, 1.506, 0.423, 1.524, PHS= 0.972, 0.029,-1.105, RAW= 57.0, 1.2, CAL= 58.1, -1.1, ROT= 91.9, 1.1 2025-01-08T21:26:56.988Z,1736371616.988 [DAT](INFO): got valid direction response: 21:26:55.1944 LVL= 14496, 25073, 16178, 25971, AGC= 65, IDX= 433, 0.16, 2.409, 1.506, 0.423, 1.524, PHS= 0.972, 0.029,-1.105, RAW= 57.0, 1.2, CAL= 58.1, -1.1, ROT= 91.9, 1.1 2025-01-08T21:26:56.989Z,1736371616.989 [DAT](INFO): DAT read: Bearing 91.9, 1.1 (Local) 2025-01-08T21:26:56.989Z,1736371616.989 [DAT](INFO): Local bearing/azimuth received: Bearing 91.9, 1.1 (Local) 2025-01-08T21:26:56.991Z,1736371616.991 [DAT](INFO): DAT read: Range 10 to 50 : 312.1 m (Round-trip 416.2 ms) speed 0.0 m/s 2025-01-08T21:26:56.992Z,1736371616.992 [DAT](INFO): DAT read: user:1774> 2025-01-08T21:26:56.992Z,1736371616.992 [DAT](INFO): DAT read: Tx time:21:26:56.2741 2025-01-08T21:26:56.993Z,1736371616.993 [DAT](INFO): Ping request sent. 2025-01-08T21:26:56.993Z,1736371616.993 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:26:56.993Z,1736371616.993 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:26:56.994Z,1736371616.994 [DAT](INFO): direction in FSK: [-0.044765,0.618079,0.784840] 2025-01-08T21:26:56.994Z,1736371616.994 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:56.994Z,1736371616.994 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:56.998Z,1736371616.998 [DAT](INFO): publishing transmit ping time 2025-01-08T21:26:56.998Z,1736371616.998 [DAT](INFO): publishing direction and range info 2025-01-08T21:26:57.013Z,1736371617.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:57.045Z,1736371617.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 312.100006 m, deltaT: 3.780463 s, deltaX: -0.100006 m, approachRate: -0.026453 m/s, rangeRepo size: 4 2025-01-08T21:26:57.051Z,1736371617.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 312.100006 m, bearing: 318.491528 deg, lat: 36.903826 deg, lon: -122.117270 deg, deltaT: 3.780463 s, deltaX: -0.100006 m, approachRate: -0.026453 m/s, posRepo size: 4 2025-01-08T21:26:57.052Z,1736371617.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:26:57.055Z,1736371617.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.230835 m, bearing: 315.997171 deg, approach rate: 0.000000 m/s, LOS rate: 0.213136 deg/s, cmd heading: 225.213836 deg, new cmd heading: 225.450718 deg. 2025-01-08T21:26:57.067Z,1736371617.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.934857 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:26:57.232Z,1736371617.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:57.234Z,1736371617.234 [DAT](INFO): DAT read: TxSync time:21:26:56.2733 2025-01-08T21:26:57.408Z,1736371617.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:57.425Z,1736371617.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:26:57.432Z,1736371617.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.211670 m, bearing: 316.097360 deg, approach rate: -0.048625 m/s, LOS rate: 0.254227 deg/s, cmd heading: 225.450720 deg, new cmd heading: 225.751319 deg. 2025-01-08T21:26:57.433Z,1736371617.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.940104 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:26:57.485Z,1736371617.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:57.736Z,1736371617.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:57.820Z,1736371617.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:57.827Z,1736371617.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:57.830Z,1736371617.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:26:57.834Z,1736371617.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.192047 m, bearing: 316.202047 deg, approach rate: -0.048441 m/s, LOS rate: 0.258464 deg/s, cmd heading: 225.751317 deg, new cmd heading: 226.065412 deg. 2025-01-08T21:26:57.835Z,1736371617.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.945586 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:26:57.988Z,1736371617.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:57.989Z,1736371617.989 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:26:57.989Z,1736371617.989 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:26:57.990Z,1736371617.990 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:26:58.192Z,1736371618.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:58.202Z,1736371618.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:26:58.221Z,1736371618.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.174515 m, bearing: 316.296460 deg, approach rate: -0.047200 m/s, LOS rate: 0.254201 deg/s, cmd heading: 226.065410 deg, new cmd heading: 226.348675 deg. 2025-01-08T21:26:58.222Z,1736371618.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.950530 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:26:58.240Z,1736371618.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:58.240Z,1736371618.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247840 2025-01-08T21:26:58.492Z,1736371618.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:58.492Z,1736371618.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499693 2025-01-08T21:26:58.721Z,1736371618.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:58.734Z,1736371618.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:26:58.740Z,1736371618.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.148376 m, bearing: 316.428859 deg, approach rate: -0.049154 m/s, LOS rate: 0.249018 deg/s, cmd heading: 226.348672 deg, new cmd heading: 226.745925 deg. 2025-01-08T21:26:58.744Z,1736371618.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:58.745Z,1736371618.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751879 2025-01-08T21:26:58.746Z,1736371618.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.957463 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:26:58.996Z,1736371618.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:58.997Z,1736371618.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004124 2025-01-08T21:26:59.072Z,1736371619.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:59.113Z,1736371619.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:26:59.120Z,1736371619.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.131790 m, bearing: 316.516649 deg, approach rate: -0.043790 m/s, LOS rate: 0.231800 deg/s, cmd heading: 226.745929 deg, new cmd heading: 227.009325 deg. 2025-01-08T21:26:59.121Z,1736371619.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.962060 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:26:59.248Z,1736371619.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:59.248Z,1736371619.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255687 2025-01-08T21:26:59.465Z,1736371619.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:59.474Z,1736371619.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:26:59.477Z,1736371619.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.114120 m, bearing: 316.615109 deg, approach rate: -0.048891 m/s, LOS rate: 0.272462 deg/s, cmd heading: 227.009328 deg, new cmd heading: 227.304735 deg. 2025-01-08T21:26:59.478Z,1736371619.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.967216 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:26:59.501Z,1736371619.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:59.502Z,1736371619.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509104 2025-01-08T21:26:59.752Z,1736371619.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:26:59.752Z,1736371619.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759836 2025-01-08T21:26:59.878Z,1736371619.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:26:59.932Z,1736371619.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:26:59.934Z,1736371619.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:26:59.946Z,1736371619.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.109940 m, bearing: 316.716923 deg, approach rate: -0.009077 m/s, LOS rate: 0.221045 deg/s, cmd heading: 227.304734 deg, new cmd heading: 227.610183 deg. 2025-01-08T21:26:59.947Z,1736371619.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.972547 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:27:00.004Z,1736371620.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:00.006Z,1736371620.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012894 2025-01-08T21:27:00.256Z,1736371620.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:00.256Z,1736371620.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263798 2025-01-08T21:27:00.282Z,1736371620.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:00.304Z,1736371620.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:27:00.306Z,1736371620.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.105591 m, bearing: 316.816393 deg, approach rate: -0.011922 m/s, LOS rate: 0.272704 deg/s, cmd heading: 227.610180 deg, new cmd heading: 227.908593 deg. 2025-01-08T21:27:00.311Z,1736371620.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.977755 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:27:00.508Z,1736371620.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:00.509Z,1736371620.509 [DAT](INFO): DAT read: Rx Time:21:26:59.1292 2025-01-08T21:27:00.509Z,1736371620.509 [DAT](INFO): Rx dataTimestamp_ set to:1736371620.508770 2025-01-08T21:27:00.510Z,1736371620.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516941 2025-01-08T21:27:00.700Z,1736371620.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:00.728Z,1736371620.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:27:00.743Z,1736371620.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.112244 m, bearing: 316.913574 deg, approach rate: 0.015502 m/s, LOS rate: 0.226443 deg/s, cmd heading: 227.908591 deg, new cmd heading: 228.200120 deg. 2025-01-08T21:27:00.744Z,1736371620.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.982843 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:27:00.760Z,1736371620.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:00.761Z,1736371620.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768125 2025-01-08T21:27:01.012Z,1736371621.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:01.023Z,1736371621.023 [DAT](INFO): DAT read: 21:26:59.1292 LVL= 19168, 25457, 22306, 25507, AGC= 66, IDX= 279,-0.09, 1.646, 0.143,-0.612,-0.274, PHS= 2.008, 0.464,-0.341, RAW= 70.3, -20.0, CAL= 83.8, -28.0, ROT= 66.2, 28.0 2025-01-08T21:27:01.024Z,1736371621.024 [DAT](INFO): got valid direction response: 21:26:59.1292 LVL= 19168, 25457, 22306, 25507, AGC= 66, IDX= 279,-0.09, 1.646, 0.143,-0.612,-0.274, PHS= 2.008, 0.464,-0.341, RAW= 70.3, -20.0, CAL= 83.8, -28.0, ROT= 66.2, 28.0 2025-01-08T21:27:01.025Z,1736371621.025 [DAT](INFO): DAT read: Bearing 66.2, 28.0 (Local) 2025-01-08T21:27:01.026Z,1736371621.026 [DAT](INFO): Local bearing/azimuth received: Bearing 66.2, 28.0 (Local) 2025-01-08T21:27:01.032Z,1736371621.032 [DAT](INFO): DAT read: Range 10 to 50 : 338.2 m (Round-trip 451.0 ms) speed 0.4 m/s 2025-01-08T21:27:01.032Z,1736371621.032 [DAT](INFO): DAT read: user:1775> 2025-01-08T21:27:01.033Z,1736371621.033 [DAT](INFO): DAT read: Tx time:21:27:00.2241 2025-01-08T21:27:01.033Z,1736371621.033 [DAT](INFO): Ping request sent. 2025-01-08T21:27:01.034Z,1736371621.034 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:01.034Z,1736371621.034 [DAT](INFO): DAT read: TxSync time:21:27:00.2233 2025-01-08T21:27:01.035Z,1736371621.035 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:01.036Z,1736371621.036 [DAT](INFO): direction in FSK: [0.319400,0.381488,0.867439] 2025-01-08T21:27:01.036Z,1736371621.036 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:01.036Z,1736371621.036 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:01.074Z,1736371621.074 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:01.074Z,1736371621.074 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:01.114Z,1736371621.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:01.149Z,1736371621.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 338.200012 m, deltaT: 4.032021 s, deltaX: 26.100006 m, approachRate: 6.473182 m/s, rangeRepo size: 4 2025-01-08T21:27:01.149Z,1736371621.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:27:01.156Z,1736371621.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.117615 m, bearing: 317.009826 deg, approach rate: 0.012792 m/s, LOS rate: 0.229239 deg/s, cmd heading: 228.200117 deg, new cmd heading: 228.488862 deg. 2025-01-08T21:27:01.157Z,1736371621.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.987883 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:27:01.266Z,1736371621.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:01.472Z,1736371621.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:01.482Z,1736371621.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:27:01.485Z,1736371621.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.120941 m, bearing: 317.093250 deg, approach rate: 0.009952 m/s, LOS rate: 0.249583 deg/s, cmd heading: 228.488857 deg, new cmd heading: 228.739122 deg. 2025-01-08T21:27:01.486Z,1736371621.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.992251 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:27:01.516Z,1736371621.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:01.768Z,1736371621.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:01.906Z,1736371621.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:01.915Z,1736371621.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:27:01.934Z,1736371621.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.144928 m, bearing: 317.190710 deg, approach rate: 0.055457 m/s, LOS rate: 0.225292 deg/s, cmd heading: 228.739128 deg, new cmd heading: 229.031463 deg. 2025-01-08T21:27:01.935Z,1736371621.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.997353 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:27:02.021Z,1736371622.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:02.272Z,1736371622.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:02.282Z,1736371622.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:02.309Z,1736371622.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:02.311Z,1736371622.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:27:02.321Z,1736371622.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.164627 m, bearing: 317.275462 deg, approach rate: 0.049785 m/s, LOS rate: 0.214163 deg/s, cmd heading: 229.031461 deg, new cmd heading: 229.285683 deg. 2025-01-08T21:27:02.322Z,1736371622.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.001790 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:27:02.524Z,1736371622.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:02.524Z,1736371622.524 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:02.524Z,1736371622.524 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:02.525Z,1736371622.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:02.714Z,1736371622.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:02.743Z,1736371622.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:27:02.749Z,1736371622.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.198334 m, bearing: 317.366650 deg, approach rate: 0.078032 m/s, LOS rate: 0.211060 deg/s, cmd heading: 229.285680 deg, new cmd heading: 229.559188 deg. 2025-01-08T21:27:02.750Z,1736371622.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.006564 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:27:02.776Z,1736371622.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:02.776Z,1736371622.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742903 2025-01-08T21:27:03.028Z,1736371623.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:03.029Z,1736371623.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994890 2025-01-08T21:27:03.132Z,1736371623.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:03.166Z,1736371623.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:27:03.169Z,1736371623.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.231339 m, bearing: 317.454879 deg, approach rate: 0.078651 m/s, LOS rate: 0.210209 deg/s, cmd heading: 229.559188 deg, new cmd heading: 229.823821 deg. 2025-01-08T21:27:03.170Z,1736371623.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.011182 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:27:03.285Z,1736371623.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:03.286Z,1736371623.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252571 2025-01-08T21:27:03.497Z,1736371623.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:03.522Z,1736371623.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:27:03.537Z,1736371623.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:03.538Z,1736371623.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504425 2025-01-08T21:27:03.539Z,1736371623.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.255615 m, bearing: 317.532031 deg, approach rate: 0.067559 m/s, LOS rate: 0.214672 deg/s, cmd heading: 229.823817 deg, new cmd heading: 230.055236 deg. 2025-01-08T21:27:03.545Z,1736371623.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.015221 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:27:03.788Z,1736371623.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:03.790Z,1736371623.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756098 2025-01-08T21:27:03.954Z,1736371623.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:03.964Z,1736371623.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:27:03.966Z,1736371623.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.302353 m, bearing: 317.628058 deg, approach rate: 0.105922 m/s, LOS rate: 0.217566 deg/s, cmd heading: 230.055224 deg, new cmd heading: 230.343223 deg. 2025-01-08T21:27:03.967Z,1736371623.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.020247 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:27:04.040Z,1736371624.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:04.041Z,1736371624.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007819 2025-01-08T21:27:04.292Z,1736371624.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:04.292Z,1736371624.292 [DAT](INFO): DAT read: Rx Time:21:27:03.0425 2025-01-08T21:27:04.293Z,1736371624.293 [DAT](INFO): Rx dataTimestamp_ set to:1736371624.292553 2025-01-08T21:27:04.293Z,1736371624.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259790 2025-01-08T21:27:04.364Z,1736371624.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:04.376Z,1736371624.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:04.378Z,1736371624.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.10 m. 2025-01-08T21:27:04.385Z,1736371624.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.100006 m, nav range: 165.341934 m, bearing: 317.714323 deg, approach rate: 0.095365 m/s, LOS rate: 0.207791 deg/s, cmd heading: 230.343212 deg, new cmd heading: 230.601941 deg. 2025-01-08T21:27:04.386Z,1736371624.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.024763 target range: 312.100006 and range: 312.10 m. 2025-01-08T21:27:04.544Z,1736371624.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:04.544Z,1736371624.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510863 2025-01-08T21:27:04.789Z,1736371624.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:04.805Z,1736371624.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:04.823Z,1736371624.823 [DAT](INFO): DAT read: 21:27:03.0425 LVL= 14320, 24913, 21490, 23587, AGC= 70, IDX= 62,-0.37, 1.779, 0.563,-0.195, 0.730, PHS= 1.137,-0.121,-0.929, RAW= 67.2, -1.0, CAL= 71.9, -5.1, ROT= 78.1, 5.1 2025-01-08T21:27:04.824Z,1736371624.824 [DAT](INFO): got valid direction response: 21:27:03.0425 LVL= 14320, 24913, 21490, 23587, AGC= 70, IDX= 62,-0.37, 1.779, 0.563,-0.195, 0.730, PHS= 1.137,-0.121,-0.929, RAW= 67.2, -1.0, CAL= 71.9, -5.1, ROT= 78.1, 5.1 2025-01-08T21:27:04.825Z,1736371624.825 [DAT](INFO): DAT read: Bearing 78.1, 5.1 (Local) 2025-01-08T21:27:04.825Z,1736371624.825 [DAT](INFO): Local bearing/azimuth received: Bearing 78.1, 5.1 (Local) 2025-01-08T21:27:04.827Z,1736371624.827 [DAT](INFO): DAT read: Range 10 to 50 : 310.6 m (Round-trip 414.2 ms) speed 0.0 m/s 2025-01-08T21:27:04.828Z,1736371624.828 [DAT](INFO): DAT read: user:1776> 2025-01-08T21:27:04.828Z,1736371624.828 [DAT](INFO): DAT read: Tx time:21:27:04.1242 2025-01-08T21:27:04.829Z,1736371624.829 [DAT](INFO): Ping request sent. 2025-01-08T21:27:04.829Z,1736371624.829 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:04.829Z,1736371624.829 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:04.830Z,1736371624.830 [DAT](INFO): direction in FSK: [-0.025312,0.474879,0.879687] 2025-01-08T21:27:04.830Z,1736371624.830 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:04.830Z,1736371624.830 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:04.834Z,1736371624.834 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:04.834Z,1736371624.834 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:04.860Z,1736371624.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 310.600006 m, deltaT: 7.825723 s, deltaX: -1.500000 m, approachRate: -0.191676 m/s, rangeRepo size: 4 2025-01-08T21:27:04.862Z,1736371624.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 310.600006 m, bearing: 324.522384 deg, lat: 36.903742 deg, lon: -122.117252 deg, deltaT: 7.825723 s, deltaX: -1.500000 m, approachRate: -0.191676 m/s, posRepo size: 4 2025-01-08T21:27:04.863Z,1736371624.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.60 m. 2025-01-08T21:27:04.870Z,1736371624.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.600006 m, nav range: 157.515366 m, bearing: 315.942258 deg, approach rate: 0.000000 m/s, LOS rate: 0.207791 deg/s, cmd heading: 230.601940 deg, new cmd heading: 230.899649 deg. 2025-01-08T21:27:04.871Z,1736371624.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.029959 target range: 310.600006 and range: 310.60 m. 2025-01-08T21:27:05.056Z,1736371625.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:05.057Z,1736371625.057 [DAT](INFO): DAT read: TxSync time:21:27:04.1234 2025-01-08T21:27:05.145Z,1736371625.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:05.166Z,1736371625.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.60 m. 2025-01-08T21:27:05.177Z,1736371625.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.600006 m, nav range: 157.546387 m, bearing: 316.018560 deg, approach rate: 0.099769 m/s, LOS rate: 0.245353 deg/s, cmd heading: 230.899654 deg, new cmd heading: 231.128515 deg. 2025-01-08T21:27:05.178Z,1736371625.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.033954 target range: 310.600006 and range: 310.60 m. 2025-01-08T21:27:05.308Z,1736371625.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:05.563Z,1736371625.563 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:05.673Z,1736371625.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:05.691Z,1736371625.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.60 m. 2025-01-08T21:27:05.698Z,1736371625.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.600006 m, nav range: 157.590790 m, bearing: 316.131573 deg, approach rate: 0.084654 m/s, LOS rate: 0.215398 deg/s, cmd heading: 231.128520 deg, new cmd heading: 231.467460 deg. 2025-01-08T21:27:05.704Z,1736371625.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.039869 target range: 310.600006 and range: 310.60 m. 2025-01-08T21:27:05.817Z,1736371625.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:06.042Z,1736371626.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:06.052Z,1736371626.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.60 m. 2025-01-08T21:27:06.055Z,1736371626.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.600006 m, nav range: 157.624527 m, bearing: 316.210863 deg, approach rate: 0.093426 m/s, LOS rate: 0.219524 deg/s, cmd heading: 231.467461 deg, new cmd heading: 231.705278 deg. 2025-01-08T21:27:06.056Z,1736371626.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.044020 target range: 310.600006 and range: 310.60 m. 2025-01-08T21:27:06.068Z,1736371626.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:06.320Z,1736371626.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:06.456Z,1736371626.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:06.463Z,1736371626.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:06.465Z,1736371626.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.60 m. 2025-01-08T21:27:06.468Z,1736371626.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.600006 m, nav range: 157.656418 m, bearing: 316.299674 deg, approach rate: 0.077153 m/s, LOS rate: 0.214815 deg/s, cmd heading: 231.705288 deg, new cmd heading: 231.971666 deg. 2025-01-08T21:27:06.469Z,1736371626.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.048669 target range: 310.600006 and range: 310.60 m. 2025-01-08T21:27:06.573Z,1736371626.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:06.573Z,1736371626.573 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:06.574Z,1736371626.574 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:06.574Z,1736371626.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:06.824Z,1736371626.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:06.825Z,1736371626.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995823 2025-01-08T21:27:06.894Z,1736371626.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:06.916Z,1736371626.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.60 m. 2025-01-08T21:27:06.926Z,1736371626.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.600006 m, nav range: 157.682312 m, bearing: 316.395851 deg, approach rate: 0.059151 m/s, LOS rate: 0.219665 deg/s, cmd heading: 231.971666 deg, new cmd heading: 232.260147 deg. 2025-01-08T21:27:06.932Z,1736371626.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.053704 target range: 310.600006 and range: 310.60 m. 2025-01-08T21:27:07.076Z,1736371627.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:07.076Z,1736371627.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247622 2025-01-08T21:27:07.258Z,1736371627.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:07.268Z,1736371627.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.60 m. 2025-01-08T21:27:07.271Z,1736371627.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.600006 m, nav range: 157.700684 m, bearing: 316.475657 deg, approach rate: 0.050438 m/s, LOS rate: 0.219077 deg/s, cmd heading: 232.260146 deg, new cmd heading: 232.499533 deg. 2025-01-08T21:27:07.272Z,1736371627.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.057882 target range: 310.600006 and range: 310.60 m. 2025-01-08T21:27:07.328Z,1736371627.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:07.329Z,1736371627.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500679 2025-01-08T21:27:07.586Z,1736371627.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:07.587Z,1736371627.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758087 2025-01-08T21:27:07.748Z,1736371627.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:07.756Z,1736371627.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.60 m. 2025-01-08T21:27:07.759Z,1736371627.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.600006 m, nav range: 157.705673 m, bearing: 316.586236 deg, approach rate: 0.010204 m/s, LOS rate: 0.226132 deg/s, cmd heading: 232.499530 deg, new cmd heading: 232.831255 deg. 2025-01-08T21:27:07.760Z,1736371627.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.063672 target range: 310.600006 and range: 310.60 m. 2025-01-08T21:27:07.840Z,1736371627.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:07.842Z,1736371627.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012841 2025-01-08T21:27:08.092Z,1736371628.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:08.093Z,1736371628.093 [DAT](INFO): DAT read: Rx Time:21:27:06.9416 2025-01-08T21:27:08.093Z,1736371628.093 [DAT](INFO): Rx dataTimestamp_ set to:1736371628.092712 2025-01-08T21:27:08.094Z,1736371628.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264732 2025-01-08T21:27:08.095Z,1736371628.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:08.167Z,1736371628.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.60 m. 2025-01-08T21:27:08.170Z,1736371628.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.600006 m, nav range: 157.708313 m, bearing: 316.664551 deg, approach rate: 0.006494 m/s, LOS rate: 0.192645 deg/s, cmd heading: 232.831259 deg, new cmd heading: 233.066196 deg. 2025-01-08T21:27:08.176Z,1736371628.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.067772 target range: 310.600006 and range: 310.60 m. 2025-01-08T21:27:08.344Z,1736371628.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:08.344Z,1736371628.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515571 2025-01-08T21:27:08.498Z,1736371628.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:08.505Z,1736371628.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:08.507Z,1736371628.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.60 m. 2025-01-08T21:27:08.510Z,1736371628.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.600006 m, nav range: 157.710129 m, bearing: 316.755546 deg, approach rate: 0.005281 m/s, LOS rate: 0.264639 deg/s, cmd heading: 233.066190 deg, new cmd heading: 233.339171 deg. 2025-01-08T21:27:08.511Z,1736371628.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.072537 target range: 310.600006 and range: 310.60 m. 2025-01-08T21:27:08.598Z,1736371628.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:08.600Z,1736371628.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771202 2025-01-08T21:27:08.848Z,1736371628.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:08.855Z,1736371628.855 [DAT](INFO): DAT read: 21:27:06.9416 LVL= 17392, 29057, 21618, 29635, AGC= 65, IDX= 437, 0.07,-2.810, 2.039, 1.583, 2.434, PHS= 1.127,-0.347,-0.854, RAW= 75.8, 0.8, CAL= 80.8, -3.1, ROT= 69.2, 3.1 2025-01-08T21:27:08.856Z,1736371628.856 [DAT](INFO): got valid direction response: 21:27:06.9416 LVL= 17392, 29057, 21618, 29635, AGC= 65, IDX= 437, 0.07,-2.810, 2.039, 1.583, 2.434, PHS= 1.127,-0.347,-0.854, RAW= 75.8, 0.8, CAL= 80.8, -3.1, ROT= 69.2, 3.1 2025-01-08T21:27:08.857Z,1736371628.857 [DAT](INFO): DAT read: Bearing 69.2, 3.1 (Local) 2025-01-08T21:27:08.857Z,1736371628.857 [DAT](INFO): Local bearing/azimuth received: Bearing 69.2, 3.1 (Local) 2025-01-08T21:27:08.859Z,1736371628.859 [DAT](INFO): DAT read: Range 10 to 50 : 309.9 m (Round-trip 413.3 ms) speed -0.1 m/s 2025-01-08T21:27:08.860Z,1736371628.860 [DAT](INFO): DAT read: user:1777> 2025-01-08T21:27:08.861Z,1736371628.861 [DAT](INFO): DAT read: Tx time:21:27:08.0242 2025-01-08T21:27:08.861Z,1736371628.861 [DAT](INFO): Ping request sent. 2025-01-08T21:27:08.862Z,1736371628.862 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:08.862Z,1736371628.862 [DAT](INFO): DAT read: TxSync time:21:27:08.0234 2025-01-08T21:27:08.864Z,1736371628.864 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:08.866Z,1736371628.866 [DAT](INFO): direction in FSK: [-0.075919,0.345567,0.935318] 2025-01-08T21:27:08.887Z,1736371628.887 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:08.888Z,1736371628.888 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:08.890Z,1736371628.890 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:08.891Z,1736371628.891 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:09.006Z,1736371629.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:09.034Z,1736371629.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 309.899994 m, deltaT: 4.041838 s, deltaX: -0.700012 m, approachRate: -0.173192 m/s, rangeRepo size: 4 2025-01-08T21:27:09.040Z,1736371629.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 309.899994 m, bearing: 344.796599 deg, lat: 36.903442 deg, lon: -122.117162 deg, deltaT: 4.041838 s, deltaX: -0.700012 m, approachRate: -0.173192 m/s, posRepo size: 4 2025-01-08T21:27:09.041Z,1736371629.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.90 m. 2025-01-08T21:27:09.048Z,1736371629.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.899994 m, nav range: 128.994324 m, bearing: 309.353532 deg, approach rate: 0.000000 m/s, LOS rate: 0.264639 deg/s, cmd heading: 233.339179 deg, new cmd heading: 233.757172 deg. 2025-01-08T21:27:09.049Z,1736371629.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.079832 target range: 309.899994 and range: 309.90 m. 2025-01-08T21:27:09.101Z,1736371629.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:09.345Z,1736371629.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:09.352Z,1736371629.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:09.368Z,1736371629.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.90 m. 2025-01-08T21:27:09.371Z,1736371629.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.899994 m, nav range: 128.950058 m, bearing: 309.451264 deg, approach rate: -0.132194 m/s, LOS rate: 0.291964 deg/s, cmd heading: 233.757159 deg, new cmd heading: 234.050452 deg. 2025-01-08T21:27:09.377Z,1736371629.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.084951 target range: 309.899994 and range: 309.90 m. 2025-01-08T21:27:09.604Z,1736371629.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:09.771Z,1736371629.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:09.780Z,1736371629.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.90 m. 2025-01-08T21:27:09.783Z,1736371629.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.899994 m, nav range: 128.870209 m, bearing: 309.579735 deg, approach rate: -0.194152 m/s, LOS rate: 0.312568 deg/s, cmd heading: 234.050447 deg, new cmd heading: 234.436092 deg. 2025-01-08T21:27:09.784Z,1736371629.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091681 target range: 309.899994 and range: 309.90 m. 2025-01-08T21:27:09.857Z,1736371629.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:10.108Z,1736371630.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:10.133Z,1736371630.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:10.164Z,1736371630.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.90 m. 2025-01-08T21:27:10.167Z,1736371630.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.899994 m, nav range: 128.802780 m, bearing: 309.689150 deg, approach rate: -0.175277 m/s, LOS rate: 0.284568 deg/s, cmd heading: 234.436080 deg, new cmd heading: 234.764493 deg. 2025-01-08T21:27:10.168Z,1736371630.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097414 target range: 309.899994 and range: 309.90 m. 2025-01-08T21:27:10.360Z,1736371630.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:10.525Z,1736371630.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:10.533Z,1736371630.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:10.535Z,1736371630.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.90 m. 2025-01-08T21:27:10.538Z,1736371630.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.899994 m, nav range: 128.729050 m, bearing: 309.807447 deg, approach rate: -0.198774 m/s, LOS rate: 0.319105 deg/s, cmd heading: 234.764503 deg, new cmd heading: 235.119592 deg. 2025-01-08T21:27:10.539Z,1736371630.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103611 target range: 309.899994 and range: 309.90 m. 2025-01-08T21:27:10.612Z,1736371630.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:10.613Z,1736371630.613 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:10.613Z,1736371630.613 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:10.613Z,1736371630.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:10.864Z,1736371630.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:10.864Z,1736371630.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002844 2025-01-08T21:27:10.986Z,1736371630.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:10.995Z,1736371630.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.90 m. 2025-01-08T21:27:10.998Z,1736371630.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.899994 m, nav range: 128.618484 m, bearing: 309.951113 deg, approach rate: -0.240424 m/s, LOS rate: 0.312670 deg/s, cmd heading: 235.119591 deg, new cmd heading: 235.550951 deg. 2025-01-08T21:27:10.999Z,1736371630.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111140 target range: 309.899994 and range: 309.90 m. 2025-01-08T21:27:11.118Z,1736371631.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:11.118Z,1736371631.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256882 2025-01-08T21:27:11.332Z,1736371631.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:11.341Z,1736371631.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.90 m. 2025-01-08T21:27:11.344Z,1736371631.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.899994 m, nav range: 128.535645 m, bearing: 310.058897 deg, approach rate: -0.239346 m/s, LOS rate: 0.311617 deg/s, cmd heading: 235.550958 deg, new cmd heading: 235.874515 deg. 2025-01-08T21:27:11.345Z,1736371631.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.116787 target range: 309.899994 and range: 309.90 m. 2025-01-08T21:27:11.368Z,1736371631.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:11.368Z,1736371631.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506931 2025-01-08T21:27:11.620Z,1736371631.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:11.621Z,1736371631.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759325 2025-01-08T21:27:11.797Z,1736371631.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:11.806Z,1736371631.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.90 m. 2025-01-08T21:27:11.809Z,1736371631.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.899994 m, nav range: 128.405563 m, bearing: 310.206442 deg, approach rate: -0.279766 m/s, LOS rate: 0.317646 deg/s, cmd heading: 235.874518 deg, new cmd heading: 236.317591 deg. 2025-01-08T21:27:11.810Z,1736371631.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124520 target range: 309.899994 and range: 309.90 m. 2025-01-08T21:27:11.872Z,1736371631.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:11.873Z,1736371631.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010954 2025-01-08T21:27:12.124Z,1736371632.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:12.124Z,1736371632.124 [DAT](INFO): DAT read: Rx Time:21:27:10.8408 2025-01-08T21:27:12.125Z,1736371632.125 [DAT](INFO): Rx dataTimestamp_ set to:1736371632.124511 2025-01-08T21:27:12.125Z,1736371632.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263761 2025-01-08T21:27:12.140Z,1736371632.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:12.181Z,1736371632.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.90 m. 2025-01-08T21:27:12.188Z,1736371632.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.899994 m, nav range: 128.310165 m, bearing: 310.315483 deg, approach rate: -0.254195 m/s, LOS rate: 0.290762 deg/s, cmd heading: 236.317578 deg, new cmd heading: 236.644940 deg. 2025-01-08T21:27:12.189Z,1736371632.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130233 target range: 309.899994 and range: 309.90 m. 2025-01-08T21:27:12.377Z,1736371632.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:12.378Z,1736371632.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516374 2025-01-08T21:27:12.604Z,1736371632.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:12.611Z,1736371632.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:12.614Z,1736371632.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.90 m. 2025-01-08T21:27:12.628Z,1736371632.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:12.635Z,1736371632.635 [DAT](INFO): DAT read: 21:27:10.8408 LVL= 14160, 25665, 21858, 28787, AGC= 63, IDX= 412, 0.20, 0.382,-1.103,-1.450,-0.570, PHS= 1.041,-0.486,-0.883, RAW= 78.7, 3.8, CAL= 83.1, 1.8, ROT= 66.9, -1.8 2025-01-08T21:27:12.636Z,1736371632.636 [DAT](INFO): got valid direction response: 21:27:10.8408 LVL= 14160, 25665, 21858, 28787, AGC= 63, IDX= 412, 0.20, 0.382,-1.103,-1.450,-0.570, PHS= 1.041,-0.486,-0.883, RAW= 78.7, 3.8, CAL= 83.1, 1.8, ROT= 66.9, -1.8 2025-01-08T21:27:12.637Z,1736371632.637 [DAT](INFO): DAT read: Bearing 66.9, -1.8 (Local) 2025-01-08T21:27:12.638Z,1736371632.638 [DAT](INFO): Local bearing/azimuth received: Bearing 66.9, -1.8 (Local) 2025-01-08T21:27:12.639Z,1736371632.639 [DAT](INFO): DAT read: Range 10 to 50 : 309.3 m (Round-trip 412.5 ms) speed 0.1 m/s 2025-01-08T21:27:12.640Z,1736371632.640 [DAT](INFO): DAT read: user:1778> 2025-01-08T21:27:12.641Z,1736371632.641 [DAT](INFO): DAT read: Tx time:21:27:11.9242 2025-01-08T21:27:12.641Z,1736371632.641 [DAT](INFO): Ping request sent. 2025-01-08T21:27:12.641Z,1736371632.641 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:12.641Z,1736371632.641 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:12.642Z,1736371632.642 [DAT](INFO): direction in FSK: [-0.136412,0.299534,0.944283] 2025-01-08T21:27:12.652Z,1736371632.652 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:12.652Z,1736371632.652 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:12.659Z,1736371632.659 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:12.659Z,1736371632.659 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:12.662Z,1736371632.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.899994 m, nav range: 128.181854 m, bearing: 310.463267 deg, approach rate: -0.296618 m/s, LOS rate: 0.341976 deg/s, cmd heading: 236.644936 deg, new cmd heading: 237.088723 deg. 2025-01-08T21:27:12.673Z,1736371632.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137979 target range: 309.899994 and range: 309.90 m. 2025-01-08T21:27:12.880Z,1736371632.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:12.881Z,1736371632.881 [DAT](INFO): DAT read: TxSync time:21:27:11.9234 2025-01-08T21:27:13.069Z,1736371633.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:13.095Z,1736371633.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 309.299988 m, deltaT: 3.780087 s, deltaX: -0.600006 m, approachRate: -0.158728 m/s, rangeRepo size: 4 2025-01-08T21:27:13.132Z,1736371633.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:13.133Z,1736371633.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 309.299988 m, bearing: 2.463399 deg, lat: 36.903283 deg, lon: -122.116661 deg, deltaT: 3.780087 s, deltaX: -0.600006 m, approachRate: -0.158728 m/s, posRepo size: 4 2025-01-08T21:27:13.133Z,1736371633.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:27:13.145Z,1736371633.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 84.124840 m, bearing: 321.251833 deg, approach rate: 0.000000 m/s, LOS rate: 0.341976 deg/s, cmd heading: 237.088734 deg, new cmd heading: 237.581475 deg. 2025-01-08T21:27:13.147Z,1736371633.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146579 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:27:13.384Z,1736371633.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:13.545Z,1736371633.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:13.554Z,1736371633.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:27:13.557Z,1736371633.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 84.058319 m, bearing: 321.503494 deg, approach rate: -0.144578 m/s, LOS rate: 0.547398 deg/s, cmd heading: 237.581464 deg, new cmd heading: 238.337000 deg. 2025-01-08T21:27:13.558Z,1736371633.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159765 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:27:13.636Z,1736371633.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:13.888Z,1736371633.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:13.993Z,1736371633.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:14.006Z,1736371634.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:27:14.009Z,1736371634.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 84.003578 m, bearing: 321.734525 deg, approach rate: -0.121247 m/s, LOS rate: 0.512047 deg/s, cmd heading: 238.336992 deg, new cmd heading: 239.030500 deg. 2025-01-08T21:27:14.010Z,1736371634.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171869 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:27:14.140Z,1736371634.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:14.357Z,1736371634.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:14.366Z,1736371634.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:27:14.369Z,1736371634.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 83.959152 m, bearing: 321.922557 deg, approach rate: -0.123247 m/s, LOS rate: 0.521915 deg/s, cmd heading: 239.030502 deg, new cmd heading: 239.594878 deg. 2025-01-08T21:27:14.370Z,1736371634.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.181719 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:27:14.392Z,1736371634.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:14.644Z,1736371634.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:14.825Z,1736371634.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:14.843Z,1736371634.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:14.849Z,1736371634.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:27:14.856Z,1736371634.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 83.901642 m, bearing: 322.164213 deg, approach rate: -0.118977 m/s, LOS rate: 0.500277 deg/s, cmd heading: 239.594867 deg, new cmd heading: 240.320291 deg. 2025-01-08T21:27:14.857Z,1736371634.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194380 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:27:14.897Z,1736371634.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:14.897Z,1736371634.897 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:14.897Z,1736371634.897 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:14.898Z,1736371634.898 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:15.148Z,1736371635.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:15.148Z,1736371635.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507345 2025-01-08T21:27:15.243Z,1736371635.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:15.253Z,1736371635.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:27:15.280Z,1736371635.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 83.864594 m, bearing: 322.374222 deg, approach rate: -0.091907 m/s, LOS rate: 0.521203 deg/s, cmd heading: 240.320288 deg, new cmd heading: 240.950566 deg. 2025-01-08T21:27:15.281Z,1736371635.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.205381 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:27:15.400Z,1736371635.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:15.401Z,1736371635.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759420 2025-01-08T21:27:15.565Z,1736371635.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:15.574Z,1736371635.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:27:15.577Z,1736371635.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 83.834930 m, bearing: 322.535943 deg, approach rate: -0.092290 m/s, LOS rate: 0.503339 deg/s, cmd heading: 240.950578 deg, new cmd heading: 241.435902 deg. 2025-01-08T21:27:15.578Z,1736371635.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213851 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:27:15.653Z,1736371635.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:15.654Z,1736371635.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012638 2025-01-08T21:27:15.904Z,1736371635.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:15.904Z,1736371635.904 [DAT](INFO): DAT read: Rx Time:21:27:14.7394 2025-01-08T21:27:15.905Z,1736371635.905 [DAT](INFO): Rx dataTimestamp_ set to:1736371635.904612 2025-01-08T21:27:15.905Z,1736371635.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264348 2025-01-08T21:27:16.011Z,1736371636.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:16.035Z,1736371636.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:27:16.040Z,1736371636.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 83.818993 m, bearing: 322.741708 deg, approach rate: -0.035812 m/s, LOS rate: 0.462438 deg/s, cmd heading: 241.435904 deg, new cmd heading: 242.053289 deg. 2025-01-08T21:27:16.041Z,1736371636.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224627 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:27:16.156Z,1736371636.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:16.157Z,1736371636.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516147 2025-01-08T21:27:16.376Z,1736371636.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:16.414Z,1736371636.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:16.417Z,1736371636.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775256 2025-01-08T21:27:16.447Z,1736371636.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 309.30 m. 2025-01-08T21:27:16.450Z,1736371636.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 309.299988 m, nav range: 83.804276 m, bearing: 322.910552 deg, approach rate: -0.034422 m/s, LOS rate: 0.394976 deg/s, cmd heading: 242.053298 deg, new cmd heading: 242.559907 deg. 2025-01-08T21:27:16.456Z,1736371636.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:27:16.456Z,1736371636.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.233469 target range: 309.299988 and range: 309.30 m. 2025-01-08T21:27:16.665Z,1736371636.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:16.676Z,1736371636.676 [DAT](INFO): DAT read: 21:27:14.7394 LVL= 17824, 30257, 25650, 32403, AGC= 62, IDX= 429, 0.05, 1.819, 0.347, 0.185, 0.833, PHS= 1.074,-0.439,-0.651, RAW= 83.5, 0.2, CAL= 90.0, -4.1, ROT= 60.0, 4.1 2025-01-08T21:27:16.677Z,1736371636.677 [DAT](INFO): got valid direction response: 21:27:14.7394 LVL= 17824, 30257, 25650, 32403, AGC= 62, IDX= 429, 0.05, 1.819, 0.347, 0.185, 0.833, PHS= 1.074,-0.439,-0.651, RAW= 83.5, 0.2, CAL= 90.0, -4.1, ROT= 60.0, 4.1 2025-01-08T21:27:16.703Z,1736371636.703 [DAT](INFO): DAT read: Bearing 60.0, 4.1 (Local) 2025-01-08T21:27:16.704Z,1736371636.704 [DAT](INFO): Local bearing/azimuth received: Bearing 60.0, 4.1 (Local) 2025-01-08T21:27:16.705Z,1736371636.705 [DAT](INFO): DAT read: Range 10 to 50 : 308.2 m (Round-trip 411.0 ms) speed 0.3 m/s 2025-01-08T21:27:16.706Z,1736371636.706 [DAT](INFO): DAT read: user:1779> 2025-01-08T21:27:16.715Z,1736371636.715 [DAT](INFO): DAT read: Tx time:21:27:15.8243 2025-01-08T21:27:16.716Z,1736371636.716 [DAT](INFO): Ping request sent. 2025-01-08T21:27:16.716Z,1736371636.716 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:16.716Z,1736371636.716 [DAT](INFO): DAT read: TxSync time:21:27:15.8235 2025-01-08T21:27:16.717Z,1736371636.717 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:16.718Z,1736371636.718 [DAT](INFO): direction in FSK: [-0.078001,0.217894,0.972850] 2025-01-08T21:27:16.718Z,1736371636.718 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:16.718Z,1736371636.718 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:16.730Z,1736371636.730 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:16.731Z,1736371636.731 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:16.853Z,1736371636.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:16.893Z,1736371636.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 308.200012 m, deltaT: 4.037356 s, deltaX: -1.099976 m, approachRate: -0.272449 m/s, rangeRepo size: 4 2025-01-08T21:27:16.895Z,1736371636.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 308.200012 m, bearing: 37.197037 deg, lat: 36.903274 deg, lon: -122.116236 deg, deltaT: 4.037356 s, deltaX: -1.099976 m, approachRate: -0.272449 m/s, posRepo size: 4 2025-01-08T21:27:16.904Z,1736371636.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.20 m. 2025-01-08T21:27:16.906Z,1736371636.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.200012 m, nav range: 67.227165 m, bearing: 349.299680 deg, approach rate: 0.000000 m/s, LOS rate: 0.394976 deg/s, cmd heading: 242.559907 deg, new cmd heading: 243.087886 deg. 2025-01-08T21:27:16.914Z,1736371636.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.242684 target range: 308.200012 and range: 308.20 m. 2025-01-08T21:27:16.916Z,1736371636.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:17.168Z,1736371637.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:17.251Z,1736371637.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:17.258Z,1736371637.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:17.265Z,1736371637.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.20 m. 2025-01-08T21:27:17.272Z,1736371637.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.200012 m, nav range: 67.343796 m, bearing: 349.493594 deg, approach rate: 0.312898 m/s, LOS rate: 0.519332 deg/s, cmd heading: 243.087881 deg, new cmd heading: 243.668593 deg. 2025-01-08T21:27:17.273Z,1736371637.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252819 target range: 308.200012 and range: 308.20 m. 2025-01-08T21:27:17.420Z,1736371637.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:17.420Z,1736371637.420 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:17.420Z,1736371637.420 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:17.421Z,1736371637.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:17.460Z,1736371637.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:27:17.596Z,1736371637.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:17.624Z,1736371637.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.20 m. 2025-01-08T21:27:17.626Z,1736371637.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.200012 m, nav range: 67.442764 m, bearing: 349.661440 deg, approach rate: 0.276161 m/s, LOS rate: 0.467669 deg/s, cmd heading: 243.668583 deg, new cmd heading: 244.171369 deg. 2025-01-08T21:27:17.628Z,1736371637.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261594 target range: 308.200012 and range: 308.20 m. 2025-01-08T21:27:17.673Z,1736371637.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:17.674Z,1736371637.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.958157 2025-01-08T21:27:17.924Z,1736371637.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:17.924Z,1736371637.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.208547 2025-01-08T21:27:18.046Z,1736371638.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:18.054Z,1736371638.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.20 m. 2025-01-08T21:27:18.057Z,1736371638.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.200012 m, nav range: 67.578384 m, bearing: 349.852047 deg, approach rate: 0.314536 m/s, LOS rate: 0.441177 deg/s, cmd heading: 244.171367 deg, new cmd heading: 244.742022 deg. 2025-01-08T21:27:18.058Z,1736371638.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271554 target range: 308.200012 and range: 308.20 m. 2025-01-08T21:27:18.176Z,1736371638.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:18.177Z,1736371638.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460764 2025-01-08T21:27:18.405Z,1736371638.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:18.428Z,1736371638.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:18.429Z,1736371638.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712747 2025-01-08T21:27:18.436Z,1736371638.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.20 m. 2025-01-08T21:27:18.438Z,1736371638.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.200012 m, nav range: 67.681915 m, bearing: 350.005867 deg, approach rate: 0.286873 m/s, LOS rate: 0.425565 deg/s, cmd heading: 244.742016 deg, new cmd heading: 245.202758 deg. 2025-01-08T21:27:18.444Z,1736371638.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279595 target range: 308.200012 and range: 308.20 m. 2025-01-08T21:27:18.680Z,1736371638.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:18.681Z,1736371638.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964866 2025-01-08T21:27:18.809Z,1736371638.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:18.850Z,1736371638.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.20 m. 2025-01-08T21:27:18.874Z,1736371638.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.200012 m, nav range: 67.796288 m, bearing: 350.180186 deg, approach rate: 0.264125 m/s, LOS rate: 0.401883 deg/s, cmd heading: 245.202753 deg, new cmd heading: 245.724813 deg. 2025-01-08T21:27:18.883Z,1736371638.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288707 target range: 308.200012 and range: 308.20 m. 2025-01-08T21:27:18.932Z,1736371638.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:18.933Z,1736371638.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217521 2025-01-08T21:27:19.184Z,1736371639.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:19.185Z,1736371639.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469270 2025-01-08T21:27:19.389Z,1736371639.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:19.397Z,1736371639.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:19.399Z,1736371639.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.20 m. 2025-01-08T21:27:19.402Z,1736371639.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.200012 m, nav range: 67.964813 m, bearing: 350.416167 deg, approach rate: 0.306200 m/s, LOS rate: 0.427698 deg/s, cmd heading: 245.724825 deg, new cmd heading: 246.430977 deg. 2025-01-08T21:27:19.403Z,1736371639.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301032 target range: 308.200012 and range: 308.20 m. 2025-01-08T21:27:19.436Z,1736371639.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:19.437Z,1736371639.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720781 2025-01-08T21:27:19.688Z,1736371639.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:19.688Z,1736371639.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972678 2025-01-08T21:27:19.722Z,1736371639.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:19.744Z,1736371639.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.20 m. 2025-01-08T21:27:19.752Z,1736371639.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.200012 m, nav range: 68.057106 m, bearing: 350.553378 deg, approach rate: 0.267185 m/s, LOS rate: 0.396684 deg/s, cmd heading: 246.430985 deg, new cmd heading: 246.842052 deg. 2025-01-08T21:27:19.753Z,1736371639.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308207 target range: 308.200012 and range: 308.20 m. 2025-01-08T21:27:19.940Z,1736371639.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:19.941Z,1736371639.941 [DAT](INFO): DAT read: Rx Time:21:27:18.6378 2025-01-08T21:27:19.942Z,1736371639.942 [DAT](INFO): Rx dataTimestamp_ set to:1736371639.941037 2025-01-08T21:27:19.943Z,1736371639.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226444 2025-01-08T21:27:20.192Z,1736371640.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:20.192Z,1736371640.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476552 2025-01-08T21:27:20.228Z,1736371640.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:20.253Z,1736371640.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.20 m. 2025-01-08T21:27:20.260Z,1736371640.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.200012 m, nav range: 68.190117 m, bearing: 350.755140 deg, approach rate: 0.261243 m/s, LOS rate: 0.395500 deg/s, cmd heading: 246.842053 deg, new cmd heading: 247.446133 deg. 2025-01-08T21:27:20.261Z,1736371640.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318750 target range: 308.200012 and range: 308.20 m. 2025-01-08T21:27:20.444Z,1736371640.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:20.473Z,1736371640.473 [DAT](INFO): DAT read: 21:27:18.6378 LVL= 15632, 32753, 32178, 32755, AGC= 61, IDX= 429, 0.01,-3.084, 1.579, 1.532, 2.154, PHS= 1.134,-0.528,-0.624, RAW= 87.2, 0.2, CAL= 94.3, -4.0, ROT= 55.7, 4.0 2025-01-08T21:27:20.480Z,1736371640.480 [DAT](INFO): got valid direction response: 21:27:18.6378 LVL= 15632, 32753, 32178, 32755, AGC= 61, IDX= 429, 0.01,-3.084, 1.579, 1.532, 2.154, PHS= 1.134,-0.528,-0.624, RAW= 87.2, 0.2, CAL= 94.3, -4.0, ROT= 55.7, 4.0 2025-01-08T21:27:20.481Z,1736371640.481 [DAT](INFO): DAT read: Bearing 55.7, 4.0 (Local) 2025-01-08T21:27:20.482Z,1736371640.482 [DAT](INFO): Local bearing/azimuth received: Bearing 55.7, 4.0 (Local) 2025-01-08T21:27:20.490Z,1736371640.490 [DAT](INFO): DAT read: Range 10 to 50 : 307.0 m (Round-trip 409.4 ms) speed 0.2 m/s 2025-01-08T21:27:20.491Z,1736371640.491 [DAT](INFO): DAT read: user:1780> 2025-01-08T21:27:20.496Z,1736371640.496 [DAT](INFO): DAT read: Tx time:21:27:19.7243 2025-01-08T21:27:20.497Z,1736371640.497 [DAT](INFO): Ping request sent. 2025-01-08T21:27:20.497Z,1736371640.497 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:20.497Z,1736371640.497 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:20.498Z,1736371640.498 [DAT](INFO): direction in FSK: [-0.084584,0.155610,0.984191] 2025-01-08T21:27:20.498Z,1736371640.498 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:20.498Z,1736371640.498 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:20.506Z,1736371640.506 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:20.506Z,1736371640.506 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:20.624Z,1736371640.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:20.676Z,1736371640.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 307.000000 m, deltaT: 3.778841 s, deltaX: -1.200012 m, approachRate: -0.317561 m/s, rangeRepo size: 4 2025-01-08T21:27:20.683Z,1736371640.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 307.000000 m, bearing: 98.766507 deg, lat: 36.903274 deg, lon: -122.116037 deg, deltaT: 3.778841 s, deltaX: -1.200012 m, approachRate: -0.317561 m/s, posRepo size: 4 2025-01-08T21:27:20.684Z,1736371640.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.00 m. 2025-01-08T21:27:20.687Z,1736371640.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.000000 m, nav range: 67.780838 m, bearing: 5.808749 deg, approach rate: 0.000000 m/s, LOS rate: 0.395500 deg/s, cmd heading: 247.446142 deg, new cmd heading: 247.940126 deg. 2025-01-08T21:27:20.692Z,1736371640.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327372 target range: 307.000000 and range: 307.00 m. 2025-01-08T21:27:20.697Z,1736371640.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:20.697Z,1736371640.697 [DAT](INFO): DAT read: TxSync time:21:27:19.7235 2025-01-08T21:27:20.948Z,1736371640.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:21.026Z,1736371641.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:21.034Z,1736371641.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.00 m. 2025-01-08T21:27:21.037Z,1736371641.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.000000 m, nav range: 67.925224 m, bearing: 5.952533 deg, approach rate: 0.396038 m/s, LOS rate: 0.393546 deg/s, cmd heading: 247.940129 deg, new cmd heading: 248.370554 deg. 2025-01-08T21:27:21.038Z,1736371641.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334884 target range: 307.000000 and range: 307.00 m. 2025-01-08T21:27:21.200Z,1736371641.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:21.402Z,1736371641.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:21.431Z,1736371641.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:21.433Z,1736371641.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.00 m. 2025-01-08T21:27:21.444Z,1736371641.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.000000 m, nav range: 68.059319 m, bearing: 6.087590 deg, approach rate: 0.335978 m/s, LOS rate: 0.337724 deg/s, cmd heading: 248.370567 deg, new cmd heading: 248.774934 deg. 2025-01-08T21:27:21.446Z,1736371641.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341942 target range: 307.000000 and range: 307.00 m. 2025-01-08T21:27:21.452Z,1736371641.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:21.452Z,1736371641.452 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:21.452Z,1736371641.452 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:21.453Z,1736371641.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:21.706Z,1736371641.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:21.707Z,1736371641.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.210031 2025-01-08T21:27:21.806Z,1736371641.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:21.833Z,1736371641.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.00 m. 2025-01-08T21:27:21.836Z,1736371641.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.000000 m, nav range: 68.200882 m, bearing: 6.234713 deg, approach rate: 0.354179 m/s, LOS rate: 0.367326 deg/s, cmd heading: 248.774942 deg, new cmd heading: 249.215387 deg. 2025-01-08T21:27:21.837Z,1736371641.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349629 target range: 307.000000 and range: 307.00 m. 2025-01-08T21:27:21.960Z,1736371641.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:21.960Z,1736371641.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463755 2025-01-08T21:27:22.212Z,1736371642.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:22.213Z,1736371642.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716553 2025-01-08T21:27:22.258Z,1736371642.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:22.267Z,1736371642.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.00 m. 2025-01-08T21:27:22.270Z,1736371642.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.000000 m, nav range: 68.353630 m, bearing: 6.418406 deg, approach rate: 0.352021 m/s, LOS rate: 0.422389 deg/s, cmd heading: 249.215380 deg, new cmd heading: 249.765209 deg. 2025-01-08T21:27:22.271Z,1736371642.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359225 target range: 307.000000 and range: 307.00 m. 2025-01-08T21:27:22.464Z,1736371642.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:22.465Z,1736371642.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967802 2025-01-08T21:27:22.612Z,1736371642.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:22.622Z,1736371642.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.00 m. 2025-01-08T21:27:22.641Z,1736371642.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.000000 m, nav range: 68.472130 m, bearing: 6.562536 deg, approach rate: 0.334064 m/s, LOS rate: 0.405612 deg/s, cmd heading: 249.765210 deg, new cmd heading: 250.196841 deg. 2025-01-08T21:27:22.642Z,1736371642.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366759 target range: 307.000000 and range: 307.00 m. 2025-01-08T21:27:22.717Z,1736371642.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:22.719Z,1736371642.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221857 2025-01-08T21:27:22.968Z,1736371642.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:22.968Z,1736371642.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471709 2025-01-08T21:27:23.060Z,1736371643.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:23.078Z,1736371643.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.00 m. 2025-01-08T21:27:23.081Z,1736371643.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.000000 m, nav range: 68.621895 m, bearing: 6.766763 deg, approach rate: 0.328176 m/s, LOS rate: 0.446539 deg/s, cmd heading: 250.196851 deg, new cmd heading: 250.808170 deg. 2025-01-08T21:27:23.082Z,1736371643.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377429 target range: 307.000000 and range: 307.00 m. 2025-01-08T21:27:23.225Z,1736371643.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:23.225Z,1736371643.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728772 2025-01-08T21:27:23.419Z,1736371643.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:23.446Z,1736371643.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:23.452Z,1736371643.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.00 m. 2025-01-08T21:27:23.455Z,1736371643.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.000000 m, nav range: 68.741280 m, bearing: 6.930247 deg, approach rate: 0.319769 m/s, LOS rate: 0.437128 deg/s, cmd heading: 250.808180 deg, new cmd heading: 251.297769 deg. 2025-01-08T21:27:23.456Z,1736371643.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385973 target range: 307.000000 and range: 307.00 m. 2025-01-08T21:27:23.493Z,1736371643.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:23.494Z,1736371643.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997640 2025-01-08T21:27:23.744Z,1736371643.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:23.744Z,1736371643.744 [DAT](INFO): DAT read: Rx Time:21:27:22.5365 2025-01-08T21:27:23.745Z,1736371643.745 [DAT](INFO): Rx dataTimestamp_ set to:1736371643.744627 2025-01-08T21:27:23.746Z,1736371643.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248735 2025-01-08T21:27:23.860Z,1736371643.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:23.909Z,1736371643.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.00 m. 2025-01-08T21:27:23.938Z,1736371643.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.000000 m, nav range: 68.885635 m, bearing: 7.128582 deg, approach rate: 0.319492 m/s, LOS rate: 0.438039 deg/s, cmd heading: 251.297768 deg, new cmd heading: 251.891503 deg. 2025-01-08T21:27:23.944Z,1736371643.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396336 target range: 307.000000 and range: 307.00 m. 2025-01-08T21:27:23.997Z,1736371643.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:23.998Z,1736371643.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501183 2025-01-08T21:27:24.248Z,1736371644.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:24.255Z,1736371644.255 [DAT](INFO): DAT read: 21:27:22.5365 LVL= 22608, 32753, 27314, 31987, AGC= 63, IDX= 431, 0.37,-1.413,-3.037,-2.912,-2.326, PHS= 1.001,-0.665,-0.589, RAW= 92.3, 3.1, CAL= 100.3, 1.1, ROT= 49.7, -1.1 2025-01-08T21:27:24.256Z,1736371644.256 [DAT](INFO): got valid direction response: 21:27:22.5365 LVL= 22608, 32753, 27314, 31987, AGC= 63, IDX= 431, 0.37,-1.413,-3.037,-2.912,-2.326, PHS= 1.001,-0.665,-0.589, RAW= 92.3, 3.1, CAL= 100.3, 1.1, ROT= 49.7, -1.1 2025-01-08T21:27:24.257Z,1736371644.257 [DAT](INFO): DAT read: Bearing 49.7, -1.1 (Local) 2025-01-08T21:27:24.257Z,1736371644.257 [DAT](INFO): Local bearing/azimuth received: Bearing 49.7, -1.1 (Local) 2025-01-08T21:27:24.259Z,1736371644.259 [DAT](INFO): DAT read: Range 10 to 50 : 306.0 m (Round-trip 408.1 ms) speed 0.2 m/s 2025-01-08T21:27:24.260Z,1736371644.260 [DAT](INFO): DAT read: user:1781> 2025-01-08T21:27:24.260Z,1736371644.260 [DAT](INFO): DAT read: Tx time:21:27:23.6243 2025-01-08T21:27:24.261Z,1736371644.261 [DAT](INFO): Ping request sent. 2025-01-08T21:27:24.261Z,1736371644.261 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:24.261Z,1736371644.261 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:24.262Z,1736371644.262 [DAT](INFO): direction in FSK: [-0.148429,0.070516,0.986406] 2025-01-08T21:27:24.263Z,1736371644.263 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:24.263Z,1736371644.263 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:24.266Z,1736371644.266 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:24.267Z,1736371644.267 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:24.370Z,1736371644.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:24.428Z,1736371644.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 306.000000 m, deltaT: 3.803883 s, deltaX: -1.000000 m, approachRate: -0.262889 m/s, rangeRepo size: 4 2025-01-08T21:27:24.435Z,1736371644.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 306.000000 m, bearing: 106.731637 deg, lat: 36.902856 deg, lon: -122.115928 deg, deltaT: 3.803883 s, deltaX: -1.000000 m, approachRate: -0.262889 m/s, posRepo size: 4 2025-01-08T21:27:24.436Z,1736371644.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:27:24.438Z,1736371644.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 28.819841 m, bearing: 40.181035 deg, approach rate: 0.000000 m/s, LOS rate: 0.438039 deg/s, cmd heading: 251.891503 deg, new cmd heading: 252.567222 deg. 2025-01-08T21:27:24.448Z,1736371644.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.408130 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:27:24.501Z,1736371644.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:24.502Z,1736371644.502 [DAT](INFO): DAT read: TxSync time:21:27:23.6235 2025-01-08T21:27:24.704Z,1736371644.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:24.725Z,1736371644.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:27:24.728Z,1736371644.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 29.027418 m, bearing: 40.404064 deg, approach rate: 0.674362 m/s, LOS rate: 0.719381 deg/s, cmd heading: 252.567227 deg, new cmd heading: 253.231499 deg. 2025-01-08T21:27:24.730Z,1736371644.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.419724 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:27:24.752Z,1736371644.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:25.004Z,1736371645.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:25.161Z,1736371645.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:25.169Z,1736371645.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:27:25.172Z,1736371645.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 29.315849 m, bearing: 40.748000 deg, approach rate: 0.649729 m/s, LOS rate: 0.767133 deg/s, cmd heading: 253.231504 deg, new cmd heading: 254.253044 deg. 2025-01-08T21:27:25.173Z,1736371645.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437553 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:27:25.256Z,1736371645.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:25.508Z,1736371645.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:25.509Z,1736371645.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:25.517Z,1736371645.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:25.539Z,1736371645.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:27:25.542Z,1736371645.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 29.536083 m, bearing: 41.007736 deg, approach rate: 0.629639 m/s, LOS rate: 0.737035 deg/s, cmd heading: 254.253054 deg, new cmd heading: 255.026403 deg. 2025-01-08T21:27:25.543Z,1736371645.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.451050 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:27:25.760Z,1736371645.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:25.760Z,1736371645.760 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:25.760Z,1736371645.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:25.760Z,1736371645.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:25.974Z,1736371645.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:25.997Z,1736371645.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:27:26.008Z,1736371646.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 29.829754 m, bearing: 41.350313 deg, approach rate: 0.614226 m/s, LOS rate: 0.709458 deg/s, cmd heading: 255.026396 deg, new cmd heading: 256.043896 deg. 2025-01-08T21:27:26.009Z,1736371646.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468809 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:27:26.012Z,1736371646.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:26.013Z,1736371646.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752593 2025-01-08T21:27:26.265Z,1736371646.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:26.267Z,1736371646.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005730 2025-01-08T21:27:26.348Z,1736371646.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:26.356Z,1736371646.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:27:26.359Z,1736371646.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 30.080122 m, bearing: 41.615584 deg, approach rate: 0.697451 m/s, LOS rate: 0.732814 deg/s, cmd heading: 256.043902 deg, new cmd heading: 256.833040 deg. 2025-01-08T21:27:26.360Z,1736371646.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482582 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:27:26.516Z,1736371646.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:26.516Z,1736371646.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255736 2025-01-08T21:27:26.725Z,1736371646.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:26.735Z,1736371646.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:27:26.737Z,1736371646.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 30.332756 m, bearing: 41.882928 deg, approach rate: 0.667095 m/s, LOS rate: 0.700054 deg/s, cmd heading: 256.833035 deg, new cmd heading: 257.628332 deg. 2025-01-08T21:27:26.738Z,1736371646.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496463 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:27:26.768Z,1736371646.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:26.769Z,1736371646.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508517 2025-01-08T21:27:27.020Z,1736371647.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:27.020Z,1736371647.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759621 2025-01-08T21:27:27.162Z,1736371647.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:27.178Z,1736371647.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:27:27.185Z,1736371647.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 30.618128 m, bearing: 42.197696 deg, approach rate: 0.643484 m/s, LOS rate: 0.703152 deg/s, cmd heading: 257.628342 deg, new cmd heading: 258.563759 deg. 2025-01-08T21:27:27.186Z,1736371647.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512789 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:27:27.273Z,1736371647.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:27.274Z,1736371647.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013608 2025-01-08T21:27:27.524Z,1736371647.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:27.525Z,1736371647.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263781 2025-01-08T21:27:27.554Z,1736371647.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:27.560Z,1736371647.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:27.563Z,1736371647.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:27:27.570Z,1736371647.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 30.872448 m, bearing: 42.483978 deg, approach rate: 0.662280 m/s, LOS rate: 0.739368 deg/s, cmd heading: 258.563751 deg, new cmd heading: 259.415455 deg. 2025-01-08T21:27:27.571Z,1736371647.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527654 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:27:27.776Z,1736371647.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:27.776Z,1736371647.776 [DAT](INFO): DAT read: Rx Time:21:27:26.4349 2025-01-08T21:27:27.777Z,1736371647.777 [DAT](INFO): Rx dataTimestamp_ set to:1736371647.776599 2025-01-08T21:27:27.777Z,1736371647.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516686 2025-01-08T21:27:27.944Z,1736371647.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:28.004Z,1736371648.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.00 m. 2025-01-08T21:27:28.007Z,1736371648.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.000000 m, nav range: 31.124041 m, bearing: 42.768224 deg, approach rate: 0.575940 m/s, LOS rate: 0.645427 deg/s, cmd heading: 259.415448 deg, new cmd heading: 260.261227 deg. 2025-01-08T21:27:28.012Z,1736371648.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542415 target range: 306.000000 and range: 306.00 m. 2025-01-08T21:27:28.028Z,1736371648.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:28.030Z,1736371648.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768649 2025-01-08T21:27:28.280Z,1736371648.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:28.290Z,1736371648.290 [DAT](INFO): DAT read: 21:27:26.4349 LVL= 23504, 32753, 25874, 32755, AGC= 64, IDX= 430,-0.01, 2.718, 1.113, 1.342, 1.900, PHS= 0.906,-0.740,-0.561, RAW= 95.7, 5.1, CAL= 104.6, 3.7, ROT= 45.4, -3.7 2025-01-08T21:27:28.301Z,1736371648.301 [DAT](INFO): got valid direction response: 21:27:26.4349 LVL= 23504, 32753, 25874, 32755, AGC= 64, IDX= 430,-0.01, 2.718, 1.113, 1.342, 1.900, PHS= 0.906,-0.740,-0.561, RAW= 95.7, 5.1, CAL= 104.6, 3.7, ROT= 45.4, -3.7 2025-01-08T21:27:28.303Z,1736371648.303 [DAT](INFO): DAT read: Bearing 45.4, -3.7 (Local) 2025-01-08T21:27:28.303Z,1736371648.303 [DAT](INFO): Local bearing/azimuth received: Bearing 45.4, -3.7 (Local) 2025-01-08T21:27:28.305Z,1736371648.305 [DAT](INFO): DAT read: Range 10 to 50 : 304.8 m (Round-trip 406.4 ms) speed 0.6 m/s 2025-01-08T21:27:28.306Z,1736371648.306 [DAT](INFO): DAT read: user:1782> 2025-01-08T21:27:28.306Z,1736371648.306 [DAT](INFO): DAT read: Tx time:21:27:27.5244 2025-01-08T21:27:28.307Z,1736371648.307 [DAT](INFO): Ping request sent. 2025-01-08T21:27:28.307Z,1736371648.307 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:28.339Z,1736371648.339 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:28.340Z,1736371648.340 [DAT](INFO): direction in FSK: [-0.190596,0.013736,0.981573] 2025-01-08T21:27:28.340Z,1736371648.340 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:28.341Z,1736371648.341 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:28.355Z,1736371648.355 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:28.368Z,1736371648.368 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:28.472Z,1736371648.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:28.494Z,1736371648.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 304.799988 m, deltaT: 4.032727 s, deltaX: -1.200012 m, approachRate: -0.297568 m/s, rangeRepo size: 4 2025-01-08T21:27:28.502Z,1736371648.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 304.799988 m, bearing: 118.407259 deg, lat: 36.902624 deg, lon: -122.115756 deg, deltaT: 4.032727 s, deltaX: -1.200012 m, approachRate: -0.297568 m/s, posRepo size: 4 2025-01-08T21:27:28.503Z,1736371648.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m. 2025-01-08T21:27:28.510Z,1736371648.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.799988 m, nav range: 36.919350 m, bearing: 94.541209 deg, approach rate: 0.000000 m/s, LOS rate: 0.645427 deg/s, cmd heading: 260.261216 deg, new cmd heading: 261.218180 deg. 2025-01-08T21:27:28.510Z,1736371648.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559117 target range: 304.799988 and range: 304.80 m. 2025-01-08T21:27:28.532Z,1736371648.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:28.533Z,1736371648.533 [DAT](INFO): DAT read: TxSync time:21:27:27.5236 2025-01-08T21:27:28.784Z,1736371648.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:28.799Z,1736371648.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:28.816Z,1736371648.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m. 2025-01-08T21:27:28.818Z,1736371648.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.799988 m, nav range: 37.143173 m, bearing: 94.415762 deg, approach rate: 0.693902 m/s, LOS rate: -0.386571 deg/s, cmd heading: 261.218181 deg, new cmd heading: 260.844112 deg. 2025-01-08T21:27:28.826Z,1736371648.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552588 target range: 304.799988 and range: 304.80 m. 2025-01-08T21:27:29.036Z,1736371649.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:29.239Z,1736371649.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:29.247Z,1736371649.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m. 2025-01-08T21:27:29.268Z,1736371649.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.799988 m, nav range: 37.424561 m, bearing: 94.251409 deg, approach rate: 0.652644 m/s, LOS rate: -0.378331 deg/s, cmd heading: 260.844105 deg, new cmd heading: 260.354765 deg. 2025-01-08T21:27:29.269Z,1736371649.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544048 target range: 304.799988 and range: 304.80 m. 2025-01-08T21:27:29.290Z,1736371649.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:29.540Z,1736371649.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:29.606Z,1736371649.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:29.614Z,1736371649.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:29.633Z,1736371649.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m. 2025-01-08T21:27:29.640Z,1736371649.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.799988 m, nav range: 37.661804 m, bearing: 94.124832 deg, approach rate: 0.615196 m/s, LOS rate: -0.326157 deg/s, cmd heading: 260.354763 deg, new cmd heading: 259.977432 deg. 2025-01-08T21:27:29.641Z,1736371649.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537462 target range: 304.799988 and range: 304.80 m. 2025-01-08T21:27:29.793Z,1736371649.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:29.794Z,1736371649.794 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:29.794Z,1736371649.794 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:29.794Z,1736371649.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:30.044Z,1736371650.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:30.044Z,1736371650.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737776 2025-01-08T21:27:30.092Z,1736371650.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:30.109Z,1736371650.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m. 2025-01-08T21:27:30.116Z,1736371650.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.799988 m, nav range: 37.953690 m, bearing: 93.974714 deg, approach rate: 0.612402 m/s, LOS rate: -0.312539 deg/s, cmd heading: 259.977436 deg, new cmd heading: 259.530554 deg. 2025-01-08T21:27:30.117Z,1736371650.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529663 target range: 304.799988 and range: 304.80 m. 2025-01-08T21:27:30.296Z,1736371650.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:30.298Z,1736371650.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990517 2025-01-08T21:27:30.413Z,1736371650.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:30.422Z,1736371650.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m. 2025-01-08T21:27:30.425Z,1736371650.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.799988 m, nav range: 38.147686 m, bearing: 93.881777 deg, approach rate: 0.620578 m/s, LOS rate: -0.295785 deg/s, cmd heading: 259.530550 deg, new cmd heading: 259.253160 deg. 2025-01-08T21:27:30.426Z,1736371650.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524821 target range: 304.799988 and range: 304.80 m. 2025-01-08T21:27:30.552Z,1736371650.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:30.553Z,1736371650.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246813 2025-01-08T21:27:30.804Z,1736371650.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:30.804Z,1736371650.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497561 2025-01-08T21:27:30.818Z,1736371650.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:30.842Z,1736371650.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m. 2025-01-08T21:27:30.849Z,1736371650.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.799988 m, nav range: 38.393219 m, bearing: 93.772163 deg, approach rate: 0.584579 m/s, LOS rate: -0.259306 deg/s, cmd heading: 259.253162 deg, new cmd heading: 258.926428 deg. 2025-01-08T21:27:30.850Z,1736371650.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519119 target range: 304.799988 and range: 304.80 m. 2025-01-08T21:27:31.058Z,1736371651.058 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:31.060Z,1736371651.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752952 2025-01-08T21:27:31.270Z,1736371651.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:31.279Z,1736371651.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m. 2025-01-08T21:27:31.284Z,1736371651.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.799988 m, nav range: 38.659336 m, bearing: 93.662067 deg, approach rate: 0.609206 m/s, LOS rate: -0.250303 deg/s, cmd heading: 258.926434 deg, new cmd heading: 258.598421 deg. 2025-01-08T21:27:31.286Z,1736371651.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513394 target range: 304.799988 and range: 304.80 m. 2025-01-08T21:27:31.308Z,1736371651.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:31.310Z,1736371651.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003433 2025-01-08T21:27:31.560Z,1736371651.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:31.560Z,1736371651.560 [DAT](INFO): DAT read: Rx Time:21:27:30.3327 2025-01-08T21:27:31.561Z,1736371651.561 [DAT](INFO): Rx dataTimestamp_ set to:1736371651.560595 2025-01-08T21:27:31.561Z,1736371651.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254732 2025-01-08T21:27:31.635Z,1736371651.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:31.669Z,1736371651.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:31.677Z,1736371651.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m. 2025-01-08T21:27:31.685Z,1736371651.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 304.799988 m, nav range: 38.874470 m, bearing: 93.578740 deg, approach rate: 0.541115 m/s, LOS rate: -0.208427 deg/s, cmd heading: 258.598421 deg, new cmd heading: 258.349825 deg. 2025-01-08T21:27:31.686Z,1736371651.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509055 target range: 304.799988 and range: 304.80 m. 2025-01-08T21:27:31.814Z,1736371651.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:31.814Z,1736371651.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507535 2025-01-08T21:27:32.064Z,1736371652.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:32.071Z,1736371652.071 [DAT](INFO): DAT read: 21:27:30.3327 LVL= 20560, 32753, 31714, 32755, AGC= 67, IDX= 424,-0.18,-2.655, 2.057, 2.427, 2.869, PHS= 0.847,-0.765,-0.445, RAW= 100.8, 5.0, CAL= 111.0, 3.2, ROT= 39.0, -3.2 2025-01-08T21:27:32.072Z,1736371652.072 [DAT](INFO): got valid direction response: 21:27:30.3327 LVL= 20560, 32753, 31714, 32755, AGC= 67, IDX= 424,-0.18,-2.655, 2.057, 2.427, 2.869, PHS= 0.847,-0.765,-0.445, RAW= 100.8, 5.0, CAL= 111.0, 3.2, ROT= 39.0, -3.2 2025-01-08T21:27:32.073Z,1736371652.073 [DAT](INFO): DAT read: Bearing 39.0, -3.2 (Local) 2025-01-08T21:27:32.074Z,1736371652.074 [DAT](INFO): Local bearing/azimuth received: Bearing 39.0, -3.2 (Local) 2025-01-08T21:27:32.075Z,1736371652.075 [DAT](INFO): DAT read: Range 10 to 50 : 303.0 m (Round-trip 404.1 ms) speed 0.4 m/s 2025-01-08T21:27:32.076Z,1736371652.076 [DAT](INFO): DAT read: user:1783> 2025-01-08T21:27:32.077Z,1736371652.077 [DAT](INFO): DAT read: Tx time:21:27:31.4244 2025-01-08T21:27:32.077Z,1736371652.077 [DAT](INFO): Ping request sent. 2025-01-08T21:27:32.077Z,1736371652.077 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:32.078Z,1736371652.078 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:32.078Z,1736371652.078 [DAT](INFO): direction in FSK: [-0.195510,-0.075927,0.977758] 2025-01-08T21:27:32.084Z,1736371652.084 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:32.084Z,1736371652.084 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:32.087Z,1736371652.087 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:32.088Z,1736371652.088 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:32.209Z,1736371652.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:32.255Z,1736371652.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 303.000000 m, deltaT: 3.783999 s, deltaX: -1.799988 m, approachRate: -0.475684 m/s, rangeRepo size: 4 2025-01-08T21:27:32.261Z,1736371652.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 303.000000 m, bearing: 135.653381 deg, lat: 36.902511 deg, lon: -122.115524 deg, deltaT: 3.783999 s, deltaX: -1.799988 m, approachRate: -0.475684 m/s, posRepo size: 4 2025-01-08T21:27:32.262Z,1736371652.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T21:27:32.269Z,1736371652.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 61.560059 m, bearing: 103.991431 deg, approach rate: 0.000000 m/s, LOS rate: -0.208427 deg/s, cmd heading: 258.349829 deg, new cmd heading: 257.989684 deg. 2025-01-08T21:27:32.270Z,1736371652.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502769 target range: 303.000000 and range: 303.00 m. 2025-01-08T21:27:32.316Z,1736371652.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:32.317Z,1736371652.317 [DAT](INFO): DAT read: TxSync time:21:27:31.4236 2025-01-08T21:27:32.472Z,1736371652.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:32.489Z,1736371652.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T21:27:32.500Z,1736371652.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 61.699306 m, bearing: 103.930672 deg, approach rate: 0.587904 m/s, LOS rate: -0.255946 deg/s, cmd heading: 257.989687 deg, new cmd heading: 257.807821 deg. 2025-01-08T21:27:32.501Z,1736371652.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499595 target range: 303.000000 and range: 303.00 m. 2025-01-08T21:27:32.569Z,1736371652.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:32.824Z,1736371652.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:32.851Z,1736371652.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:32.894Z,1736371652.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T21:27:32.901Z,1736371652.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 61.902893 m, bearing: 103.848406 deg, approach rate: 0.503090 m/s, LOS rate: -0.202621 deg/s, cmd heading: 257.807812 deg, new cmd heading: 257.561828 deg. 2025-01-08T21:27:32.902Z,1736371652.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495302 target range: 303.000000 and range: 303.00 m. 2025-01-08T21:27:33.077Z,1736371653.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:33.298Z,1736371653.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:33.306Z,1736371653.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T21:27:33.309Z,1736371653.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 62.142014 m, bearing: 103.750217 deg, approach rate: 0.579938 m/s, LOS rate: -0.237221 deg/s, cmd heading: 257.561816 deg, new cmd heading: 257.268385 deg. 2025-01-08T21:27:33.310Z,1736371653.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490180 target range: 303.000000 and range: 303.00 m. 2025-01-08T21:27:33.328Z,1736371653.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:33.580Z,1736371653.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:33.664Z,1736371653.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:33.692Z,1736371653.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:33.694Z,1736371653.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T21:27:33.702Z,1736371653.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 62.338650 m, bearing: 103.670233 deg, approach rate: 0.506548 m/s, LOS rate: -0.205395 deg/s, cmd heading: 257.268391 deg, new cmd heading: 257.029197 deg. 2025-01-08T21:27:33.703Z,1736371653.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486006 target range: 303.000000 and range: 303.00 m. 2025-01-08T21:27:33.832Z,1736371653.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:33.832Z,1736371653.832 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:33.832Z,1736371653.832 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:33.832Z,1736371653.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:34.086Z,1736371654.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:34.088Z,1736371654.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010762 2025-01-08T21:27:34.139Z,1736371654.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:34.168Z,1736371654.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T21:27:34.175Z,1736371654.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 62.595592 m, bearing: 103.565787 deg, approach rate: 0.542030 m/s, LOS rate: -0.219428 deg/s, cmd heading: 257.029198 deg, new cmd heading: 256.717149 deg. 2025-01-08T21:27:34.176Z,1736371654.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480559 target range: 303.000000 and range: 303.00 m. 2025-01-08T21:27:34.336Z,1736371654.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:34.338Z,1736371654.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260455 2025-01-08T21:27:34.497Z,1736371654.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:34.521Z,1736371654.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T21:27:34.529Z,1736371654.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 62.789139 m, bearing: 103.487190 deg, approach rate: 0.548744 m/s, LOS rate: -0.222152 deg/s, cmd heading: 256.717141 deg, new cmd heading: 256.482078 deg. 2025-01-08T21:27:34.530Z,1736371654.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476457 target range: 303.000000 and range: 303.00 m. 2025-01-08T21:27:34.588Z,1736371654.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:34.589Z,1736371654.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512210 2025-01-08T21:27:34.840Z,1736371654.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:34.840Z,1736371654.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763062 2025-01-08T21:27:34.904Z,1736371654.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:34.915Z,1736371654.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T21:27:34.917Z,1736371654.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 63.009907 m, bearing: 103.397354 deg, approach rate: 0.561107 m/s, LOS rate: -0.227528 deg/s, cmd heading: 256.482073 deg, new cmd heading: 256.213511 deg. 2025-01-08T21:27:34.918Z,1736371654.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471769 target range: 303.000000 and range: 303.00 m. 2025-01-08T21:27:35.097Z,1736371655.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:35.100Z,1736371655.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022216 2025-01-08T21:27:35.339Z,1736371655.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:35.348Z,1736371655.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:35.350Z,1736371655.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272388 2025-01-08T21:27:35.352Z,1736371655.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T21:27:35.356Z,1736371655.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 63.250240 m, bearing: 103.301099 deg, approach rate: 0.555727 m/s, LOS rate: -0.221725 deg/s, cmd heading: 256.213510 deg, new cmd heading: 255.925845 deg. 2025-01-08T21:27:35.357Z,1736371655.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466749 target range: 303.000000 and range: 303.00 m. 2025-01-08T21:27:35.600Z,1736371655.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:35.602Z,1736371655.602 [DAT](INFO): DAT read: Rx Time:21:27:34.2302 2025-01-08T21:27:35.604Z,1736371655.604 [DAT](INFO): Rx dataTimestamp_ set to:1736371655.602624 2025-01-08T21:27:35.607Z,1736371655.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528654 2025-01-08T21:27:35.713Z,1736371655.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:35.721Z,1736371655.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:35.723Z,1736371655.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.00 m. 2025-01-08T21:27:35.726Z,1736371655.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 303.000000 m, nav range: 63.456730 m, bearing: 103.217503 deg, approach rate: 0.549357 m/s, LOS rate: -0.221680 deg/s, cmd heading: 255.925849 deg, new cmd heading: 255.675879 deg. 2025-01-08T21:27:35.727Z,1736371655.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462386 target range: 303.000000 and range: 303.00 m. 2025-01-08T21:27:35.852Z,1736371655.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:35.853Z,1736371655.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775356 2025-01-08T21:27:36.105Z,1736371656.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:36.130Z,1736371656.130 [DAT](INFO): DAT read: 21:27:34.2302 LVL= 20816, 32753, 27954, 32755, AGC= 67, IDX= 414, 0.34,-1.060,-2.791,-2.270,-1.791, PHS= 0.819,-0.953,-0.482, RAW= 104.9, 7.8, CAL= 114.7, 5.9, ROT= 35.3, -5.9 2025-01-08T21:27:36.132Z,1736371656.132 [DAT](INFO): got valid direction response: 21:27:34.2302 LVL= 20816, 32753, 27954, 32755, AGC= 67, IDX= 414, 0.34,-1.060,-2.791,-2.270,-1.791, PHS= 0.819,-0.953,-0.482, RAW= 104.9, 7.8, CAL= 114.7, 5.9, ROT= 35.3, -5.9 2025-01-08T21:27:36.133Z,1736371656.133 [DAT](INFO): DAT read: Bearing 35.3, -5.9 (Local) 2025-01-08T21:27:36.133Z,1736371656.133 [DAT](INFO): Local bearing/azimuth received: Bearing 35.3, -5.9 (Local) 2025-01-08T21:27:36.143Z,1736371656.143 [DAT](INFO): DAT read: Range 10 to 50 : 301.2 m (Round-trip 401.7 ms) speed 0.4 m/s 2025-01-08T21:27:36.144Z,1736371656.144 [DAT](INFO): DAT read: user:1784> 2025-01-08T21:27:36.145Z,1736371656.145 [DAT](INFO): DAT read: Tx time:21:27:35.3244 2025-01-08T21:27:36.145Z,1736371656.145 [DAT](INFO): Ping request sent. 2025-01-08T21:27:36.145Z,1736371656.145 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:36.155Z,1736371656.155 [DAT](INFO): DAT read: TxSync time:21:27:35.3236 2025-01-08T21:27:36.156Z,1736371656.156 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:36.157Z,1736371656.157 [DAT](INFO): direction in FSK: [-0.253955,-0.142901,0.956601] 2025-01-08T21:27:36.157Z,1736371656.157 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:36.157Z,1736371656.157 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:36.173Z,1736371656.173 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:36.173Z,1736371656.173 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:36.278Z,1736371656.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:36.313Z,1736371656.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 301.200012 m, deltaT: 4.040991 s, deltaX: -1.799988 m, approachRate: -0.445432 m/s, rangeRepo size: 4 2025-01-08T21:27:36.315Z,1736371656.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 301.200012 m, bearing: 124.553776 deg, lat: 36.902294 deg, lon: -122.115347 deg, deltaT: 4.040991 s, deltaX: -1.799988 m, approachRate: -0.445432 m/s, posRepo size: 4 2025-01-08T21:27:36.320Z,1736371656.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m. 2025-01-08T21:27:36.322Z,1736371656.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 301.200012 m, nav range: 86.953972 m, bearing: 116.347630 deg, approach rate: 0.000000 m/s, LOS rate: -0.221680 deg/s, cmd heading: 255.675892 deg, new cmd heading: 255.283956 deg. 2025-01-08T21:27:36.328Z,1736371656.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455545 target range: 301.200012 and range: 301.20 m. 2025-01-08T21:27:36.356Z,1736371656.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:36.608Z,1736371656.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:36.639Z,1736371656.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:36.670Z,1736371656.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m. 2025-01-08T21:27:36.692Z,1736371656.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 301.200012 m, nav range: 87.131172 m, bearing: 116.257000 deg, approach rate: 0.495708 m/s, LOS rate: -0.253017 deg/s, cmd heading: 255.283948 deg, new cmd heading: 255.012613 deg. 2025-01-08T21:27:36.693Z,1736371656.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450810 target range: 301.200012 and range: 301.20 m. 2025-01-08T21:27:36.860Z,1736371656.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:37.020Z,1736371657.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:37.029Z,1736371657.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m. 2025-01-08T21:27:37.032Z,1736371657.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 301.200012 m, nav range: 87.317673 m, bearing: 116.160414 deg, approach rate: 0.519612 m/s, LOS rate: -0.268522 deg/s, cmd heading: 255.012626 deg, new cmd heading: 254.723492 deg. 2025-01-08T21:27:37.033Z,1736371657.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445764 target range: 301.200012 and range: 301.20 m. 2025-01-08T21:27:37.114Z,1736371657.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:37.365Z,1736371657.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:37.457Z,1736371657.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:37.485Z,1736371657.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m. 2025-01-08T21:27:37.492Z,1736371657.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 301.200012 m, nav range: 87.548042 m, bearing: 116.041829 deg, approach rate: 0.505118 m/s, LOS rate: -0.259332 deg/s, cmd heading: 254.723490 deg, new cmd heading: 254.368674 deg. 2025-01-08T21:27:37.498Z,1736371657.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439571 target range: 301.200012 and range: 301.20 m. 2025-01-08T21:27:37.616Z,1736371657.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:37.830Z,1736371657.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:37.837Z,1736371657.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:37.839Z,1736371657.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m. 2025-01-08T21:27:37.842Z,1736371657.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 301.200012 m, nav range: 87.744644 m, bearing: 115.939798 deg, approach rate: 0.554663 m/s, LOS rate: -0.287209 deg/s, cmd heading: 254.368676 deg, new cmd heading: 254.063273 deg. 2025-01-08T21:27:37.843Z,1736371657.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434241 target range: 301.200012 and range: 301.20 m. 2025-01-08T21:27:37.868Z,1736371657.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:37.868Z,1736371657.868 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:37.868Z,1736371657.868 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:37.869Z,1736371657.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:38.121Z,1736371658.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:38.124Z,1736371658.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977575 2025-01-08T21:27:38.252Z,1736371658.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:38.261Z,1736371658.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m. 2025-01-08T21:27:38.265Z,1736371658.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 301.200012 m, nav range: 87.967018 m, bearing: 115.825117 deg, approach rate: 0.527479 m/s, LOS rate: -0.271340 deg/s, cmd heading: 254.063284 deg, new cmd heading: 253.720115 deg. 2025-01-08T21:27:38.266Z,1736371658.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428251 target range: 301.200012 and range: 301.20 m. 2025-01-08T21:27:38.373Z,1736371658.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:38.375Z,1736371658.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229346 2025-01-08T21:27:38.624Z,1736371658.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:38.624Z,1736371658.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479238 2025-01-08T21:27:38.667Z,1736371658.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:38.693Z,1736371658.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m. 2025-01-08T21:27:38.701Z,1736371658.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 301.200012 m, nav range: 88.183266 m, bearing: 115.711421 deg, approach rate: 0.500098 m/s, LOS rate: -0.262289 deg/s, cmd heading: 253.720108 deg, new cmd heading: 253.379863 deg. 2025-01-08T21:27:38.702Z,1736371658.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422313 target range: 301.200012 and range: 301.20 m. 2025-01-08T21:27:38.876Z,1736371658.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:38.876Z,1736371658.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731178 2025-01-08T21:27:39.060Z,1736371659.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:39.070Z,1736371659.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m. 2025-01-08T21:27:39.073Z,1736371659.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 301.200012 m, nav range: 88.389229 m, bearing: 115.603814 deg, approach rate: 0.546500 m/s, LOS rate: -0.284858 deg/s, cmd heading: 253.379855 deg, new cmd heading: 253.057789 deg. 2025-01-08T21:27:39.074Z,1736371659.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.416692 target range: 301.200012 and range: 301.20 m. 2025-01-08T21:27:39.130Z,1736371659.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:39.133Z,1736371659.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987080 2025-01-08T21:27:39.381Z,1736371659.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:39.384Z,1736371659.384 [DAT](INFO): DAT read: Rx Time:21:27:38.1283 2025-01-08T21:27:39.385Z,1736371659.385 [DAT](INFO): Rx dataTimestamp_ set to:1736371659.384133 2025-01-08T21:27:39.387Z,1736371659.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240978 2025-01-08T21:27:39.563Z,1736371659.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:27:39.563Z,1736371659.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:39.572Z,1736371659.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m. 2025-01-08T21:27:39.575Z,1736371659.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 301.200012 m, nav range: 88.651711 m, bearing: 115.467640 deg, approach rate: 0.522989 m/s, LOS rate: -0.270520 deg/s, cmd heading: 253.057798 deg, new cmd heading: 252.650493 deg. 2025-01-08T21:27:39.576Z,1736371659.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409583 target range: 301.200012 and range: 301.20 m. 2025-01-08T21:27:39.632Z,1736371659.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:39.634Z,1736371659.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488247 2025-01-08T21:27:39.884Z,1736371659.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:39.890Z,1736371659.890 [DAT](INFO): DAT read: 21:27:38.1283 LVL= 19312, 32145, 23650, 32755, AGC= 66, IDX= 421, 0.40, 0.002,-1.866,-1.448,-0.912, PHS= 1.002,-0.907,-0.539, RAW= 100.5, 5.1, CAL= 110.5, 3.4, ROT= 39.5, -3.4 2025-01-08T21:27:39.891Z,1736371659.891 [DAT](INFO): got valid direction response: 21:27:38.1283 LVL= 19312, 32145, 23650, 32755, AGC= 66, IDX= 421, 0.40, 0.002,-1.866,-1.448,-0.912, PHS= 1.002,-0.907,-0.539, RAW= 100.5, 5.1, CAL= 110.5, 3.4, ROT= 39.5, -3.4 2025-01-08T21:27:39.892Z,1736371659.892 [DAT](INFO): DAT read: Bearing 39.5, -3.4 (Local) 2025-01-08T21:27:39.893Z,1736371659.893 [DAT](INFO): Local bearing/azimuth received: Bearing 39.5, -3.4 (Local) 2025-01-08T21:27:39.894Z,1736371659.894 [DAT](INFO): DAT read: Range 10 to 50 : 299.7 m (Round-trip 399.7 ms) speed 0.3 m/s 2025-01-08T21:27:39.895Z,1736371659.895 [DAT](INFO): DAT read: user:1785> 2025-01-08T21:27:39.897Z,1736371659.897 [DAT](INFO): DAT read: Tx time:21:27:39.2245 2025-01-08T21:27:39.897Z,1736371659.897 [DAT](INFO): Ping request sent. 2025-01-08T21:27:39.897Z,1736371659.897 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:39.897Z,1736371659.897 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:39.898Z,1736371659.898 [DAT](INFO): direction in FSK: [-0.197884,-0.069818,0.977736] 2025-01-08T21:27:39.899Z,1736371659.899 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:39.899Z,1736371659.899 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:39.902Z,1736371659.902 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:39.902Z,1736371659.902 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:40.038Z,1736371660.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T21:27:40.038Z,1736371660.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:40.078Z,1736371660.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 299.700012 m, deltaT: 3.778152 s, deltaX: -1.500000 m, approachRate: -0.397020 m/s, rangeRepo size: 4 2025-01-08T21:27:40.092Z,1736371660.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 299.700012 m, bearing: 119.762800 deg, lat: 36.902294 deg, lon: -122.115347 deg, deltaT: 3.778152 s, deltaX: -1.500000 m, approachRate: -0.397020 m/s, posRepo size: 4 2025-01-08T21:27:40.093Z,1736371660.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m. 2025-01-08T21:27:40.108Z,1736371660.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.700012 m, nav range: 88.895470 m, bearing: 115.334856 deg, approach rate: 0.000000 m/s, LOS rate: -0.270520 deg/s, cmd heading: 252.650501 deg, new cmd heading: 252.240678 deg. 2025-01-08T21:27:40.109Z,1736371660.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402431 target range: 299.700012 and range: 299.70 m. 2025-01-08T21:27:40.138Z,1736371660.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:40.141Z,1736371660.141 [DAT](INFO): DAT read: TxSync time:21:27:39.2237 2025-01-08T21:27:40.388Z,1736371660.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:40.585Z,1736371660.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:40.592Z,1736371660.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:40.594Z,1736371660.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m. 2025-01-08T21:27:40.614Z,1736371660.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.700012 m, nav range: 89.197998 m, bearing: 115.181999 deg, approach rate: 0.585015 m/s, LOS rate: -0.294585 deg/s, cmd heading: 252.240689 deg, new cmd heading: 251.783683 deg. 2025-01-08T21:27:40.615Z,1736371660.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394454 target range: 299.700012 and range: 299.70 m. 2025-01-08T21:27:40.640Z,1736371660.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:40.640Z,1736371660.640 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:40.640Z,1736371660.640 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:40.641Z,1736371660.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:40.892Z,1736371660.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:40.892Z,1736371660.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995323 2025-01-08T21:27:40.976Z,1736371660.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:40.985Z,1736371660.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m. 2025-01-08T21:27:40.988Z,1736371660.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.700012 m, nav range: 89.413216 m, bearing: 115.072341 deg, approach rate: 0.550054 m/s, LOS rate: -0.279590 deg/s, cmd heading: 251.783695 deg, new cmd heading: 251.455516 deg. 2025-01-08T21:27:40.989Z,1736371660.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388727 target range: 299.700012 and range: 299.70 m. 2025-01-08T21:27:41.145Z,1736371661.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:41.147Z,1736371661.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249707 2025-01-08T21:27:41.396Z,1736371661.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:41.396Z,1736371661.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499348 2025-01-08T21:27:41.403Z,1736371661.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:41.411Z,1736371661.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m. 2025-01-08T21:27:41.419Z,1736371661.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.700012 m, nav range: 89.640648 m, bearing: 114.952116 deg, approach rate: 0.534097 m/s, LOS rate: -0.281616 deg/s, cmd heading: 251.455518 deg, new cmd heading: 251.095765 deg. 2025-01-08T21:27:41.422Z,1736371661.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382448 target range: 299.700012 and range: 299.70 m. 2025-01-08T21:27:41.650Z,1736371661.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:41.652Z,1736371661.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755266 2025-01-08T21:27:41.778Z,1736371661.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:41.788Z,1736371661.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m. 2025-01-08T21:27:41.791Z,1736371661.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.700012 m, nav range: 89.840630 m, bearing: 114.846044 deg, approach rate: 0.530117 m/s, LOS rate: -0.280553 deg/s, cmd heading: 251.095758 deg, new cmd heading: 250.778253 deg. 2025-01-08T21:27:41.792Z,1736371661.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.376906 target range: 299.700012 and range: 299.70 m. 2025-01-08T21:27:41.901Z,1736371661.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:41.902Z,1736371661.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004434 2025-01-08T21:27:42.153Z,1736371662.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:42.155Z,1736371662.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257559 2025-01-08T21:27:42.269Z,1736371662.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:42.290Z,1736371662.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m. 2025-01-08T21:27:42.298Z,1736371662.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.700012 m, nav range: 90.100426 m, bearing: 114.714727 deg, approach rate: 0.518051 m/s, LOS rate: -0.261100 deg/s, cmd heading: 250.778264 deg, new cmd heading: 250.385454 deg. 2025-01-08T21:27:42.298Z,1736371662.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370050 target range: 299.700012 and range: 299.70 m. 2025-01-08T21:27:42.404Z,1736371662.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:42.404Z,1736371662.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507249 2025-01-08T21:27:42.656Z,1736371662.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:42.658Z,1736371662.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760584 2025-01-08T21:27:42.735Z,1736371662.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:42.758Z,1736371662.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:42.764Z,1736371662.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m. 2025-01-08T21:27:42.766Z,1736371662.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.700012 m, nav range: 90.344788 m, bearing: 114.589076 deg, approach rate: 0.515686 m/s, LOS rate: -0.264448 deg/s, cmd heading: 250.385446 deg, new cmd heading: 250.009520 deg. 2025-01-08T21:27:42.772Z,1736371662.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363489 target range: 299.700012 and range: 299.70 m. 2025-01-08T21:27:42.908Z,1736371662.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:42.908Z,1736371662.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011344 2025-01-08T21:27:43.146Z,1736371663.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:43.164Z,1736371663.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:43.165Z,1736371663.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267938 2025-01-08T21:27:43.257Z,1736371663.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m. 2025-01-08T21:27:43.272Z,1736371663.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.700012 m, nav range: 90.558350 m, bearing: 114.478697 deg, approach rate: 0.432954 m/s, LOS rate: -0.223244 deg/s, cmd heading: 250.009512 deg, new cmd heading: 249.679159 deg. 2025-01-08T21:27:43.273Z,1736371663.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357723 target range: 299.700012 and range: 299.70 m. 2025-01-08T21:27:43.416Z,1736371663.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:43.416Z,1736371663.416 [DAT](INFO): DAT read: Rx Time:21:27:42.0260 2025-01-08T21:27:43.417Z,1736371663.417 [DAT](INFO): Rx dataTimestamp_ set to:1736371663.416655 2025-01-08T21:27:43.417Z,1736371663.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520410 2025-01-08T21:27:43.668Z,1736371663.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:43.669Z,1736371663.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771662 2025-01-08T21:27:43.754Z,1736371663.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:43.771Z,1736371663.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m. 2025-01-08T21:27:43.777Z,1736371663.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 299.700012 m, nav range: 90.873558 m, bearing: 114.312837 deg, approach rate: 0.613714 m/s, LOS rate: -0.321810 deg/s, cmd heading: 249.679150 deg, new cmd heading: 249.183310 deg. 2025-01-08T21:27:43.778Z,1736371663.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349069 target range: 299.700012 and range: 299.70 m. 2025-01-08T21:27:43.920Z,1736371663.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:43.928Z,1736371663.928 [DAT](INFO): DAT read: 21:27:42.0260 LVL= 17088, 32753, 26674, 32755, AGC= 65, IDX= 418,-0.09, 2.545, 0.592, 0.920, 1.438, PHS= 1.196,-0.799,-0.521, RAW= 97.4, 1.3, CAL= 106.8, -1.7, ROT= 43.2, 1.7 2025-01-08T21:27:43.930Z,1736371663.930 [DAT](INFO): got valid direction response: 21:27:42.0260 LVL= 17088, 32753, 26674, 32755, AGC= 65, IDX= 418,-0.09, 2.545, 0.592, 0.920, 1.438, PHS= 1.196,-0.799,-0.521, RAW= 97.4, 1.3, CAL= 106.8, -1.7, ROT= 43.2, 1.7 2025-01-08T21:27:43.931Z,1736371663.931 [DAT](INFO): DAT read: Bearing 43.2, 1.7 (Local) 2025-01-08T21:27:43.932Z,1736371663.932 [DAT](INFO): Local bearing/azimuth received: Bearing 43.2, 1.7 (Local) 2025-01-08T21:27:43.933Z,1736371663.933 [DAT](INFO): DAT read: Range 10 to 50 : 298.0 m (Round-trip 397.4 ms) speed 0.2 m/s 2025-01-08T21:27:43.934Z,1736371663.934 [DAT](INFO): DAT read: user:1786> 2025-01-08T21:27:43.935Z,1736371663.935 [DAT](INFO): DAT read: Tx time:21:27:43.1245 2025-01-08T21:27:43.935Z,1736371663.935 [DAT](INFO): Ping request sent. 2025-01-08T21:27:43.935Z,1736371663.935 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:43.936Z,1736371663.936 [DAT](INFO): DAT read: TxSync time:21:27:43.1237 2025-01-08T21:27:43.937Z,1736371663.937 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:43.937Z,1736371663.937 [DAT](INFO): direction in FSK: [-0.122028,-0.020010,0.992325] 2025-01-08T21:27:43.938Z,1736371663.938 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:43.938Z,1736371663.938 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:43.941Z,1736371663.941 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:43.941Z,1736371663.941 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:44.086Z,1736371664.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:44.121Z,1736371664.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 298.000000 m, deltaT: 4.036773 s, deltaX: -1.700012 m, approachRate: -0.421131 m/s, rangeRepo size: 4 2025-01-08T21:27:44.136Z,1736371664.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 298.000000 m, bearing: 131.248990 deg, lat: 36.902294 deg, lon: -122.115347 deg, deltaT: 4.036773 s, deltaX: -1.700012 m, approachRate: -0.421131 m/s, posRepo size: 4 2025-01-08T21:27:44.138Z,1736371664.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T21:27:44.156Z,1736371664.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 91.044090 m, bearing: 114.222806 deg, approach rate: 0.000000 m/s, LOS rate: -0.321810 deg/s, cmd heading: 249.183305 deg, new cmd heading: 248.845322 deg. 2025-01-08T21:27:44.167Z,1736371664.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343170 target range: 298.000000 and range: 298.00 m. 2025-01-08T21:27:44.172Z,1736371664.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:44.424Z,1736371664.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:44.553Z,1736371664.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:44.561Z,1736371664.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T21:27:44.564Z,1736371664.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 91.266090 m, bearing: 114.097535 deg, approach rate: 0.503713 m/s, LOS rate: -0.283547 deg/s, cmd heading: 248.845320 deg, new cmd heading: 248.470425 deg. 2025-01-08T21:27:44.565Z,1736371664.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336627 target range: 298.000000 and range: 298.00 m. 2025-01-08T21:27:44.677Z,1736371664.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:44.909Z,1736371664.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:44.917Z,1736371664.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:44.919Z,1736371664.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T21:27:44.922Z,1736371664.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 91.434372 m, bearing: 114.001996 deg, approach rate: 0.471208 m/s, LOS rate: -0.267027 deg/s, cmd heading: 248.470425 deg, new cmd heading: 248.184339 deg. 2025-01-08T21:27:44.922Z,1736371664.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331634 target range: 298.000000 and range: 298.00 m. 2025-01-08T21:27:44.928Z,1736371664.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:44.928Z,1736371664.928 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:44.928Z,1736371664.928 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:44.929Z,1736371664.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:45.180Z,1736371665.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:45.180Z,1736371665.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244885 2025-01-08T21:27:45.339Z,1736371665.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:45.369Z,1736371665.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T21:27:45.376Z,1736371665.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 91.631859 m, bearing: 113.890320 deg, approach rate: 0.438729 m/s, LOS rate: -0.247560 deg/s, cmd heading: 248.184349 deg, new cmd heading: 247.850047 deg. 2025-01-08T21:27:45.377Z,1736371665.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325799 target range: 298.000000 and range: 298.00 m. 2025-01-08T21:27:45.432Z,1736371665.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:45.432Z,1736371665.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496980 2025-01-08T21:27:45.684Z,1736371665.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:45.684Z,1736371665.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749017 2025-01-08T21:27:45.711Z,1736371665.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:45.721Z,1736371665.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T21:27:45.723Z,1736371665.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 91.802345 m, bearing: 113.793856 deg, approach rate: 0.484397 m/s, LOS rate: -0.273570 deg/s, cmd heading: 247.850052 deg, new cmd heading: 247.561201 deg. 2025-01-08T21:27:45.724Z,1736371665.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320758 target range: 298.000000 and range: 298.00 m. 2025-01-08T21:27:45.936Z,1736371665.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:45.937Z,1736371665.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001144 2025-01-08T21:27:46.117Z,1736371666.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:46.127Z,1736371666.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T21:27:46.130Z,1736371666.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 91.988182 m, bearing: 113.688414 deg, approach rate: 0.457690 m/s, LOS rate: -0.259165 deg/s, cmd heading: 247.561190 deg, new cmd heading: 247.245505 deg. 2025-01-08T21:27:46.132Z,1736371666.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315248 target range: 298.000000 and range: 298.00 m. 2025-01-08T21:27:46.190Z,1736371666.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:46.192Z,1736371666.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256497 2025-01-08T21:27:46.440Z,1736371666.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:46.440Z,1736371666.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504931 2025-01-08T21:27:46.565Z,1736371666.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:46.577Z,1736371666.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T21:27:46.581Z,1736371666.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 92.184387 m, bearing: 113.574789 deg, approach rate: 0.437632 m/s, LOS rate: -0.252898 deg/s, cmd heading: 247.245499 deg, new cmd heading: 246.905354 deg. 2025-01-08T21:27:46.582Z,1736371666.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309311 target range: 298.000000 and range: 298.00 m. 2025-01-08T21:27:46.692Z,1736371666.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:46.692Z,1736371666.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756968 2025-01-08T21:27:46.934Z,1736371666.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:46.941Z,1736371666.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:46.944Z,1736371666.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:46.945Z,1736371666.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009123 2025-01-08T21:27:46.943Z,1736371666.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T21:27:46.949Z,1736371666.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 92.341209 m, bearing: 113.483619 deg, approach rate: 0.426227 m/s, LOS rate: -0.247370 deg/s, cmd heading: 246.905355 deg, new cmd heading: 246.632312 deg. 2025-01-08T21:27:46.950Z,1736371666.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304546 target range: 298.000000 and range: 298.00 m. 2025-01-08T21:27:47.197Z,1736371667.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:47.197Z,1736371667.197 [DAT](INFO): DAT read: Rx Time:21:27:45.9242 2025-01-08T21:27:47.198Z,1736371667.198 [DAT](INFO): Rx dataTimestamp_ set to:1736371667.197576 2025-01-08T21:27:47.198Z,1736371667.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262931 2025-01-08T21:27:47.380Z,1736371667.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:47.389Z,1736371667.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m. 2025-01-08T21:27:47.397Z,1736371667.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 298.000000 m, nav range: 92.531006 m, bearing: 113.365781 deg, approach rate: 0.425519 m/s, LOS rate: -0.263649 deg/s, cmd heading: 246.632312 deg, new cmd heading: 246.279526 deg. 2025-01-08T21:27:47.398Z,1736371667.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298388 target range: 298.000000 and range: 298.00 m. 2025-01-08T21:27:47.449Z,1736371667.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:47.450Z,1736371667.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514037 2025-01-08T21:27:47.581Z,1736371667.581 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:27:47.700Z,1736371667.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:47.707Z,1736371667.707 [DAT](INFO): DAT read: 21:27:45.9242 LVL= 20688, 32753, 24882, 31555, AGC= 63, IDX= 415,-0.13, 2.166, 0.204, 0.409, 0.987, PHS= 1.267,-0.736,-0.581, RAW= 94.0, 0.5, CAL= 102.4, -3.3, ROT= 47.6, 3.3 2025-01-08T21:27:47.712Z,1736371667.712 [DAT](INFO): got valid direction response: 21:27:45.9242 LVL= 20688, 32753, 24882, 31555, AGC= 63, IDX= 415,-0.13, 2.166, 0.204, 0.409, 0.987, PHS= 1.267,-0.736,-0.581, RAW= 94.0, 0.5, CAL= 102.4, -3.3, ROT= 47.6, 3.3 2025-01-08T21:27:47.714Z,1736371667.714 [DAT](INFO): DAT read: Bearing 47.6, 3.3 (Local) 2025-01-08T21:27:47.714Z,1736371667.714 [DAT](INFO): Local bearing/azimuth received: Bearing 47.6, 3.3 (Local) 2025-01-08T21:27:47.716Z,1736371667.716 [DAT](INFO): DAT read: Range 10 to 50 : 296.7 m (Round-trip 395.6 ms) speed 0.3 m/s 2025-01-08T21:27:47.717Z,1736371667.717 [DAT](INFO): DAT read: user:1787> 2025-01-08T21:27:47.717Z,1736371667.717 [DAT](INFO): DAT read: Tx time:21:27:47.0245 2025-01-08T21:27:47.718Z,1736371667.718 [DAT](INFO): Ping request sent. 2025-01-08T21:27:47.718Z,1736371667.718 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:47.718Z,1736371667.718 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:47.719Z,1736371667.719 [DAT](INFO): direction in FSK: [-0.101374,0.038849,0.994090] 2025-01-08T21:27:47.720Z,1736371667.720 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:47.720Z,1736371667.720 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:47.723Z,1736371667.723 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:47.723Z,1736371667.723 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:47.806Z,1736371667.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:47.882Z,1736371667.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 296.700012 m, deltaT: 3.779602 s, deltaX: -1.299988 m, approachRate: -0.343948 m/s, rangeRepo size: 4 2025-01-08T21:27:47.889Z,1736371667.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 296.700012 m, bearing: 117.750866 deg, lat: 36.902352 deg, lon: -122.115630 deg, deltaT: 3.779602 s, deltaX: -1.299988 m, approachRate: -0.343948 m/s, posRepo size: 4 2025-01-08T21:27:47.889Z,1736371667.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.70 m. 2025-01-08T21:27:47.897Z,1736371667.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.700012 m, nav range: 67.149704 m, bearing: 116.645944 deg, approach rate: 0.000000 m/s, LOS rate: -0.263649 deg/s, cmd heading: 246.279519 deg, new cmd heading: 245.889820 deg. 2025-01-08T21:27:47.898Z,1736371667.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291587 target range: 296.700012 and range: 296.70 m. 2025-01-08T21:27:47.953Z,1736371667.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:47.954Z,1736371667.954 [DAT](INFO): DAT read: TxSync time:21:27:47.0237 2025-01-08T21:27:48.204Z,1736371668.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:48.234Z,1736371668.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:48.307Z,1736371668.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.70 m. 2025-01-08T21:27:48.314Z,1736371668.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.700012 m, nav range: 67.318153 m, bearing: 116.482028 deg, approach rate: 0.396308 m/s, LOS rate: -0.384677 deg/s, cmd heading: 245.889815 deg, new cmd heading: 245.399310 deg. 2025-01-08T21:27:48.319Z,1736371668.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283026 target range: 296.700012 and range: 296.70 m. 2025-01-08T21:27:48.458Z,1736371668.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:48.584Z,1736371668.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:27:48.682Z,1736371668.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:48.691Z,1736371668.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.70 m. 2025-01-08T21:27:48.693Z,1736371668.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.700012 m, nav range: 67.493256 m, bearing: 116.314366 deg, approach rate: 0.456103 m/s, LOS rate: -0.435591 deg/s, cmd heading: 245.399299 deg, new cmd heading: 244.897630 deg. 2025-01-08T21:27:48.694Z,1736371668.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274270 target range: 296.700012 and range: 296.70 m. 2025-01-08T21:27:48.708Z,1736371668.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:48.960Z,1736371668.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:49.012Z,1736371669.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:49.019Z,1736371669.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:49.026Z,1736371669.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.70 m. 2025-01-08T21:27:49.030Z,1736371669.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.700012 m, nav range: 67.619965 m, bearing: 116.190277 deg, approach rate: 0.381246 m/s, LOS rate: -0.372664 deg/s, cmd heading: 244.897635 deg, new cmd heading: 244.526070 deg. 2025-01-08T21:27:49.031Z,1736371669.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.267785 target range: 296.700012 and range: 296.70 m. 2025-01-08T21:27:49.212Z,1736371669.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:49.213Z,1736371669.213 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:49.213Z,1736371669.213 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:49.213Z,1736371669.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:49.436Z,1736371669.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:49.445Z,1736371669.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.70 m. 2025-01-08T21:27:49.448Z,1736371669.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.700012 m, nav range: 67.779800 m, bearing: 116.024169 deg, approach rate: 0.378944 m/s, LOS rate: -0.392883 deg/s, cmd heading: 244.526073 deg, new cmd heading: 244.028939 deg. 2025-01-08T21:27:49.449Z,1736371669.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259109 target range: 296.700012 and range: 296.70 m. 2025-01-08T21:27:49.464Z,1736371669.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:49.465Z,1736371669.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746884 2025-01-08T21:27:49.716Z,1736371669.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:49.717Z,1736371669.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999492 2025-01-08T21:27:49.824Z,1736371669.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:49.850Z,1736371669.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.70 m. 2025-01-08T21:27:49.856Z,1736371669.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.700012 m, nav range: 67.925690 m, bearing: 115.872313 deg, approach rate: 0.360357 m/s, LOS rate: -0.374290 deg/s, cmd heading: 244.028944 deg, new cmd heading: 243.574362 deg. 2025-01-08T21:27:49.857Z,1736371669.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251174 target range: 296.700012 and range: 296.70 m. 2025-01-08T21:27:49.968Z,1736371669.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:49.968Z,1736371669.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250759 2025-01-08T21:27:50.220Z,1736371670.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:50.221Z,1736371670.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502843 2025-01-08T21:27:50.256Z,1736371670.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:50.324Z,1736371670.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.70 m. 2025-01-08T21:27:50.339Z,1736371670.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.700012 m, nav range: 68.087463 m, bearing: 115.703401 deg, approach rate: 0.345784 m/s, LOS rate: -0.360183 deg/s, cmd heading: 243.574354 deg, new cmd heading: 243.068837 deg. 2025-01-08T21:27:50.340Z,1736371670.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.242352 target range: 296.700012 and range: 296.70 m. 2025-01-08T21:27:50.472Z,1736371670.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:50.472Z,1736371670.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754634 2025-01-08T21:27:50.690Z,1736371670.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:50.720Z,1736371670.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.70 m. 2025-01-08T21:27:50.723Z,1736371670.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.700012 m, nav range: 68.259628 m, bearing: 115.528441 deg, approach rate: 0.427566 m/s, LOS rate: -0.433411 deg/s, cmd heading: 243.068838 deg, new cmd heading: 242.545297 deg. 2025-01-08T21:27:50.724Z,1736371670.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:50.724Z,1736371670.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006764 2025-01-08T21:27:50.726Z,1736371670.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.233214 target range: 296.700012 and range: 296.70 m. 2025-01-08T21:27:50.976Z,1736371670.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:50.977Z,1736371670.977 [DAT](INFO): DAT read: Rx Time:21:27:49.8222 2025-01-08T21:27:50.977Z,1736371670.977 [DAT](INFO): Rx dataTimestamp_ set to:1736371670.976840 2025-01-08T21:27:50.978Z,1736371670.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259982 2025-01-08T21:27:51.070Z,1736371671.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:51.077Z,1736371671.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:51.080Z,1736371671.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.70 m. 2025-01-08T21:27:51.083Z,1736371671.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.700012 m, nav range: 68.409790 m, bearing: 115.375491 deg, approach rate: 0.417961 m/s, LOS rate: -0.424788 deg/s, cmd heading: 242.545290 deg, new cmd heading: 242.087457 deg. 2025-01-08T21:27:51.084Z,1736371671.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225223 target range: 296.700012 and range: 296.70 m. 2025-01-08T21:27:51.228Z,1736371671.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:51.228Z,1736371671.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510656 2025-01-08T21:27:51.484Z,1736371671.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:51.486Z,1736371671.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768279 2025-01-08T21:27:51.592Z,1736371671.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:51.625Z,1736371671.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.70 m. 2025-01-08T21:27:51.634Z,1736371671.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 296.700012 m, nav range: 68.623695 m, bearing: 115.161546 deg, approach rate: 0.392028 m/s, LOS rate: -0.390876 deg/s, cmd heading: 242.087449 deg, new cmd heading: 241.447645 deg. 2025-01-08T21:27:51.642Z,1736371671.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214056 target range: 296.700012 and range: 296.70 m. 2025-01-08T21:27:51.732Z,1736371671.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:51.740Z,1736371671.740 [DAT](INFO): DAT read: 21:27:49.8222 LVL= 18640, 32753, 26386, 32755, AGC= 62, IDX= 426,-0.40, 0.970,-0.831,-0.792,-0.100, PHS= 1.158,-0.684,-0.695, RAW= 89.7, 2.4, CAL= 96.8, -0.2, ROT= 53.2, 0.2 2025-01-08T21:27:51.741Z,1736371671.741 [DAT](INFO): got valid direction response: 21:27:49.8222 LVL= 18640, 32753, 26386, 32755, AGC= 62, IDX= 426,-0.40, 0.970,-0.831,-0.792,-0.100, PHS= 1.158,-0.684,-0.695, RAW= 89.7, 2.4, CAL= 96.8, -0.2, ROT= 53.2, 0.2 2025-01-08T21:27:51.742Z,1736371671.742 [DAT](INFO): DAT read: Bearing 53.2, 0.2 (Local) 2025-01-08T21:27:51.742Z,1736371671.742 [DAT](INFO): Local bearing/azimuth received: Bearing 53.2, 0.2 (Local) 2025-01-08T21:27:51.744Z,1736371671.744 [DAT](INFO): DAT read: Range 10 to 50 : 295.1 m (Round-trip 393.5 ms) speed 0.4 m/s 2025-01-08T21:27:51.745Z,1736371671.745 [DAT](INFO): DAT read: user:1788> 2025-01-08T21:27:51.746Z,1736371671.746 [DAT](INFO): DAT read: Tx time:21:27:50.9246 2025-01-08T21:27:51.747Z,1736371671.747 [DAT](INFO): Ping request sent. 2025-01-08T21:27:51.747Z,1736371671.747 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:51.748Z,1736371671.748 [DAT](INFO): DAT read: TxSync time:21:27:50.9238 2025-01-08T21:27:51.749Z,1736371671.749 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:51.750Z,1736371671.750 [DAT](INFO): direction in FSK: [-0.130563,0.114976,0.984751] 2025-01-08T21:27:51.750Z,1736371671.750 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:51.750Z,1736371671.750 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:51.753Z,1736371671.753 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:51.753Z,1736371671.753 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:51.984Z,1736371671.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:52.113Z,1736371672.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:52.127Z,1736371672.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 295.100006 m, deltaT: 4.032392 s, deltaX: -1.600006 m, approachRate: -0.396788 m/s, rangeRepo size: 4 2025-01-08T21:27:52.145Z,1736371672.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 295.100006 m, bearing: 43.568182 deg, lat: 36.902421 deg, lon: -122.115982 deg, deltaT: 4.032392 s, deltaX: -1.600006 m, approachRate: -0.396788 m/s, posRepo size: 4 2025-01-08T21:27:52.146Z,1736371672.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T21:27:52.149Z,1736371672.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 37.709465 m, bearing: 124.580089 deg, approach rate: 0.000000 m/s, LOS rate: -0.390876 deg/s, cmd heading: 241.447652 deg, new cmd heading: 240.859903 deg. 2025-01-08T21:27:52.150Z,1736371672.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203798 target range: 295.100006 and range: 295.10 m. 2025-01-08T21:27:52.236Z,1736371672.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:52.488Z,1736371672.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:52.603Z,1736371672.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:52.620Z,1736371672.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T21:27:52.622Z,1736371672.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 37.874672 m, bearing: 124.159406 deg, approach rate: 0.335228 m/s, LOS rate: -0.849892 deg/s, cmd heading: 240.859900 deg, new cmd heading: 239.603570 deg. 2025-01-08T21:27:52.640Z,1736371672.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.181871 target range: 295.100006 and range: 295.10 m. 2025-01-08T21:27:52.740Z,1736371672.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:52.981Z,1736371672.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:52.992Z,1736371672.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:53.009Z,1736371673.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T21:27:53.016Z,1736371673.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 38.002872 m, bearing: 123.834469 deg, approach rate: 0.328495 m/s, LOS rate: -0.829791 deg/s, cmd heading: 239.603582 deg, new cmd heading: 238.632158 deg. 2025-01-08T21:27:53.017Z,1736371673.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164917 target range: 295.100006 and range: 295.10 m. 2025-01-08T21:27:53.244Z,1736371673.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:53.460Z,1736371673.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:53.468Z,1736371673.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:53.470Z,1736371673.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T21:27:53.473Z,1736371673.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 38.174339 m, bearing: 123.430119 deg, approach rate: 0.372081 m/s, LOS rate: -0.873486 deg/s, cmd heading: 238.632166 deg, new cmd heading: 237.424754 deg. 2025-01-08T21:27:53.474Z,1736371673.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143844 target range: 295.100006 and range: 295.10 m. 2025-01-08T21:27:53.497Z,1736371673.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:53.497Z,1736371673.497 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:53.497Z,1736371673.497 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:53.497Z,1736371673.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:53.748Z,1736371673.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:53.748Z,1736371673.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001699 2025-01-08T21:27:53.780Z,1736371673.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:53.789Z,1736371673.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T21:27:53.791Z,1736371673.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 38.285881 m, bearing: 123.158616 deg, approach rate: 0.350203 m/s, LOS rate: -0.849942 deg/s, cmd heading: 237.424752 deg, new cmd heading: 236.612672 deg. 2025-01-08T21:27:53.792Z,1736371673.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129670 target range: 295.100006 and range: 295.10 m. 2025-01-08T21:27:53.000Z,1736371674.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:54.001Z,1736371674.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253757 2025-01-08T21:27:54.185Z,1736371674.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:54.198Z,1736371674.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T21:27:54.201Z,1736371674.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 38.426121 m, bearing: 122.814937 deg, approach rate: 0.342915 m/s, LOS rate: -0.837293 deg/s, cmd heading: 236.612670 deg, new cmd heading: 235.585514 deg. 2025-01-08T21:27:54.201Z,1736371674.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111743 target range: 295.100006 and range: 295.10 m. 2025-01-08T21:27:54.252Z,1736371674.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:54.254Z,1736371674.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506581 2025-01-08T21:27:54.504Z,1736371674.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:54.504Z,1736371674.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757609 2025-01-08T21:27:54.609Z,1736371674.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:54.618Z,1736371674.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T21:27:54.621Z,1736371674.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 38.587521 m, bearing: 122.433739 deg, approach rate: 0.384279 m/s, LOS rate: -0.903797 deg/s, cmd heading: 235.585519 deg, new cmd heading: 234.446865 deg. 2025-01-08T21:27:54.622Z,1736371674.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091870 target range: 295.100006 and range: 295.10 m. 2025-01-08T21:27:54.756Z,1736371674.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:54.757Z,1736371674.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010013 2025-01-08T21:27:54.989Z,1736371674.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:54.999Z,1736371674.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T21:27:55.002Z,1736371675.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 38.730728 m, bearing: 122.092128 deg, approach rate: 0.375624 m/s, LOS rate: -0.892704 deg/s, cmd heading: 234.446872 deg, new cmd heading: 233.425944 deg. 2025-01-08T21:27:55.003Z,1736371675.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.074051 target range: 295.100006 and range: 295.10 m. 2025-01-08T21:27:55.016Z,1736371675.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:55.017Z,1736371675.017 [DAT](INFO): DAT read: Rx Time:21:27:53.7203 2025-01-08T21:27:55.017Z,1736371675.017 [DAT](INFO): Rx dataTimestamp_ set to:1736371675.016885 2025-01-08T21:27:55.018Z,1736371675.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270942 2025-01-08T21:27:55.268Z,1736371675.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:55.268Z,1736371675.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521554 2025-01-08T21:27:55.477Z,1736371675.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:55.485Z,1736371675.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:55.487Z,1736371675.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m. 2025-01-08T21:27:55.490Z,1736371675.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 295.100006 m, nav range: 38.910812 m, bearing: 121.659281 deg, approach rate: 0.369277 m/s, LOS rate: -0.883473 deg/s, cmd heading: 233.425950 deg, new cmd heading: 232.133648 deg. 2025-01-08T21:27:55.491Z,1736371675.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.051497 target range: 295.100006 and range: 295.10 m. 2025-01-08T21:27:55.520Z,1736371675.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:55.530Z,1736371675.530 [DAT](INFO): DAT read: 21:27:53.7203 LVL= 15328, 32753, 26994, 32755, AGC= 63, IDX= 422, 0.16, 1.817, 0.150,-0.012, 0.787, PHS= 1.118,-0.590,-0.803, RAW= 84.2, 3.0, CAL= 89.7, 0.4, ROT= 60.3, -0.4 2025-01-08T21:27:55.533Z,1736371675.533 [DAT](INFO): got valid direction response: 21:27:53.7203 LVL= 15328, 32753, 26994, 32755, AGC= 63, IDX= 422, 0.16, 1.817, 0.150,-0.012, 0.787, PHS= 1.118,-0.590,-0.803, RAW= 84.2, 3.0, CAL= 89.7, 0.4, ROT= 60.3, -0.4 2025-01-08T21:27:55.535Z,1736371675.535 [DAT](INFO): DAT read: Bearing 60.3, -0.4 (Local) 2025-01-08T21:27:55.536Z,1736371675.536 [DAT](INFO): Local bearing/azimuth received: Bearing 60.3, -0.4 (Local) 2025-01-08T21:27:55.538Z,1736371675.538 [DAT](INFO): DAT read: Range 10 to 50 : 293.7 m (Round-trip 391.6 ms) speed 0.1 m/s 2025-01-08T21:27:55.540Z,1736371675.540 [DAT](INFO): DAT read: user:1789> 2025-01-08T21:27:55.541Z,1736371675.541 [DAT](INFO): DAT read: Tx time:21:27:54.8246 2025-01-08T21:27:55.541Z,1736371675.541 [DAT](INFO): Ping request sent. 2025-01-08T21:27:55.542Z,1736371675.542 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:27:55.542Z,1736371675.542 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:27:55.555Z,1736371675.555 [DAT](INFO): direction in FSK: [-0.132948,0.209081,0.968819] 2025-01-08T21:27:55.556Z,1736371675.556 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:55.556Z,1736371675.556 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:55.559Z,1736371675.559 [DAT](INFO): publishing transmit ping time 2025-01-08T21:27:55.564Z,1736371675.564 [DAT](INFO): publishing direction and range info 2025-01-08T21:27:55.772Z,1736371675.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:55.773Z,1736371675.773 [DAT](INFO): DAT read: TxSync time:21:27:54.8238 2025-01-08T21:27:55.826Z,1736371675.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:55.856Z,1736371675.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 293.700012 m, deltaT: 3.787676 s, deltaX: -1.399994 m, approachRate: -0.369618 m/s, rangeRepo size: 4 2025-01-08T21:27:55.858Z,1736371675.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 293.700012 m, bearing: 4.270238 deg, lat: 36.902543 deg, lon: -122.116115 deg, deltaT: 3.787676 s, deltaX: -1.399994 m, approachRate: -0.369618 m/s, posRepo size: 4 2025-01-08T21:27:55.858Z,1736371675.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:27:55.865Z,1736371675.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 22.537123 m, bearing: 107.258473 deg, approach rate: 0.000000 m/s, LOS rate: -0.883473 deg/s, cmd heading: 232.133650 deg, new cmd heading: 231.168521 deg. 2025-01-08T21:27:55.866Z,1736371675.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034652 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:27:56.024Z,1736371676.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:56.210Z,1736371676.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:56.219Z,1736371676.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:27:56.222Z,1736371676.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 22.727484 m, bearing: 106.769962 deg, approach rate: 0.516606 m/s, LOS rate: -1.314613 deg/s, cmd heading: 231.168517 deg, new cmd heading: 229.715588 deg. 2025-01-08T21:27:56.223Z,1736371676.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.009294 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:27:56.277Z,1736371676.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:56.528Z,1736371676.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:56.628Z,1736371676.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:56.653Z,1736371676.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:27:56.662Z,1736371676.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 22.932873 m, bearing: 106.255696 deg, approach rate: 0.474274 m/s, LOS rate: -1.176867 deg/s, cmd heading: 229.715600 deg, new cmd heading: 228.187001 deg. 2025-01-08T21:27:56.669Z,1736371676.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.982615 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:27:56.780Z,1736371676.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:57.015Z,1736371677.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:57.032Z,1736371677.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:57.038Z,1736371677.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:27:57.040Z,1736371677.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 23.122271 m, bearing: 105.778984 deg, approach rate: 0.491659 m/s, LOS rate: -1.227347 deg/s, cmd heading: 228.187003 deg, new cmd heading: 226.768889 deg. 2025-01-08T21:27:57.041Z,1736371677.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.957864 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:27:57.284Z,1736371677.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:57.485Z,1736371677.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:57.493Z,1736371677.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:57.495Z,1736371677.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:27:57.498Z,1736371677.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 23.337568 m, bearing: 105.211257 deg, approach rate: 0.470645 m/s, LOS rate: -1.229595 deg/s, cmd heading: 226.768892 deg, new cmd heading: 225.081937 deg. 2025-01-08T21:27:57.520Z,1736371677.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.928421 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:27:57.536Z,1736371677.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:57.536Z,1736371677.536 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:27:57.536Z,1736371677.536 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:27:57.537Z,1736371677.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:27:57.788Z,1736371677.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:57.788Z,1736371677.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247111 2025-01-08T21:27:57.853Z,1736371677.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:57.861Z,1736371677.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:27:57.872Z,1736371677.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 23.504105 m, bearing: 104.768766 deg, approach rate: 0.455116 m/s, LOS rate: -1.200671 deg/s, cmd heading: 225.081931 deg, new cmd heading: 223.764111 deg. 2025-01-08T21:27:57.873Z,1736371677.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.905421 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:27:58.042Z,1736371678.042 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:58.043Z,1736371678.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501927 2025-01-08T21:27:58.220Z,1736371678.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:58.230Z,1736371678.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:27:58.233Z,1736371678.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 23.669056 m, bearing: 104.325042 deg, approach rate: 0.447265 m/s, LOS rate: -1.194761 deg/s, cmd heading: 223.764114 deg, new cmd heading: 222.442465 deg. 2025-01-08T21:27:58.234Z,1736371678.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882353 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:27:58.296Z,1736371678.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:58.297Z,1736371678.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756189 2025-01-08T21:27:58.548Z,1736371678.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:58.548Z,1736371678.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007129 2025-01-08T21:27:58.689Z,1736371678.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:58.705Z,1736371678.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:27:58.712Z,1736371678.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 23.876728 m, bearing: 103.753648 deg, approach rate: 0.436883 m/s, LOS rate: -1.191573 deg/s, cmd heading: 222.442459 deg, new cmd heading: 220.743714 deg. 2025-01-08T21:27:58.727Z,1736371678.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.852705 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:27:58.801Z,1736371678.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:58.804Z,1736371678.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261493 2025-01-08T21:27:59.027Z,1736371679.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:59.036Z,1736371679.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:27:59.038Z,1736371679.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 24.021786 m, bearing: 103.334324 deg, approach rate: 0.438373 m/s, LOS rate: -1.259558 deg/s, cmd heading: 220.743709 deg, new cmd heading: 219.493544 deg. 2025-01-08T21:27:59.040Z,1736371679.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.830885 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:27:59.054Z,1736371679.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:59.055Z,1736371679.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513646 2025-01-08T21:27:59.308Z,1736371679.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:59.310Z,1736371679.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768228 2025-01-08T21:27:59.487Z,1736371679.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:59.510Z,1736371679.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:27:59.516Z,1736371679.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:27:59.523Z,1736371679.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 24.216959 m, bearing: 102.762312 deg, approach rate: 0.406231 m/s, LOS rate: -1.180964 deg/s, cmd heading: 219.493538 deg, new cmd heading: 217.791860 deg. 2025-01-08T21:27:59.524Z,1736371679.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.801185 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:27:59.561Z,1736371679.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:59.562Z,1736371679.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020159 2025-01-08T21:27:59.812Z,1736371679.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:27:59.812Z,1736371679.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271020 2025-01-08T21:27:59.884Z,1736371679.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:27:59.893Z,1736371679.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:27:59.897Z,1736371679.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 24.371733 m, bearing: 102.277081 deg, approach rate: 0.410784 m/s, LOS rate: -1.279655 deg/s, cmd heading: 217.791865 deg, new cmd heading: 216.345743 deg. 2025-01-08T21:27:59.898Z,1736371679.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775945 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:00.064Z,1736371680.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:00.065Z,1736371680.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523806 2025-01-08T21:28:00.314Z,1736371680.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:00.316Z,1736371680.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:00.317Z,1736371680.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775227 2025-01-08T21:28:00.340Z,1736371680.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:00.343Z,1736371680.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 24.536222 m, bearing: 101.750835 deg, approach rate: 0.367974 m/s, LOS rate: -1.169337 deg/s, cmd heading: 216.345737 deg, new cmd heading: 214.777994 deg. 2025-01-08T21:28:00.348Z,1736371680.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748583 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:00.568Z,1736371680.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:00.568Z,1736371680.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027077 2025-01-08T21:28:00.771Z,1736371680.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:00.780Z,1736371680.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:00.782Z,1736371680.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 24.703596 m, bearing: 101.204074 deg, approach rate: 0.380788 m/s, LOS rate: -1.235479 deg/s, cmd heading: 214.777990 deg, new cmd heading: 213.149283 deg. 2025-01-08T21:28:00.784Z,1736371680.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720157 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:00.820Z,1736371680.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:00.821Z,1736371680.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279259 2025-01-08T21:28:01.072Z,1736371681.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:01.074Z,1736371681.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531863 2025-01-08T21:28:01.135Z,1736371681.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:01.144Z,1736371681.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:01.148Z,1736371681.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 24.829891 m, bearing: 100.760050 deg, approach rate: 0.347391 m/s, LOS rate: -1.215120 deg/s, cmd heading: 213.149276 deg, new cmd heading: 211.824231 deg. 2025-01-08T21:28:01.149Z,1736371681.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.697030 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:01.324Z,1736371681.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:01.324Z,1736371681.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783011 2025-01-08T21:28:01.568Z,1736371681.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:01.576Z,1736371681.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:01.577Z,1736371681.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035228 2025-01-08T21:28:01.577Z,1736371681.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:01.580Z,1736371681.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:01.582Z,1736371681.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 24.967525 m, bearing: 100.229572 deg, approach rate: 0.315955 m/s, LOS rate: -1.211043 deg/s, cmd heading: 211.824233 deg, new cmd heading: 210.241997 deg. 2025-01-08T21:28:01.584Z,1736371681.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.669415 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:01.828Z,1736371681.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:01.828Z,1736371681.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287011 2025-01-08T21:28:01.943Z,1736371681.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:01.952Z,1736371681.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:01.955Z,1736371681.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 25.083668 m, bearing: 99.769820 deg, approach rate: 0.311091 m/s, LOS rate: -1.225749 deg/s, cmd heading: 210.241993 deg, new cmd heading: 208.869399 deg. 2025-01-08T21:28:01.956Z,1736371681.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.645459 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:02.080Z,1736371682.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:02.081Z,1736371682.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539538 2025-01-08T21:28:02.332Z,1736371682.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:02.333Z,1736371682.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791560 2025-01-08T21:28:02.338Z,1736371682.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:02.375Z,1736371682.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:02.378Z,1736371682.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 25.202658 m, bearing: 99.282327 deg, approach rate: 0.295304 m/s, LOS rate: -1.204111 deg/s, cmd heading: 208.869398 deg, new cmd heading: 207.414154 deg. 2025-01-08T21:28:02.384Z,1736371682.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.620060 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:02.584Z,1736371682.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:02.584Z,1736371682.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043117 2025-01-08T21:28:02.773Z,1736371682.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:02.809Z,1736371682.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:02.817Z,1736371682.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 25.327768 m, bearing: 98.765825 deg, approach rate: 0.275444 m/s, LOS rate: -1.131501 deg/s, cmd heading: 207.414158 deg, new cmd heading: 205.872699 deg. 2025-01-08T21:28:02.818Z,1736371682.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593156 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:02.838Z,1736371682.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:02.841Z,1736371682.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299223 2025-01-08T21:28:03.088Z,1736371683.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:03.088Z,1736371683.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547113 2025-01-08T21:28:03.180Z,1736371683.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:03.189Z,1736371683.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:03.192Z,1736371683.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 25.436033 m, bearing: 98.273639 deg, approach rate: 0.285317 m/s, LOS rate: -1.291550 deg/s, cmd heading: 205.872693 deg, new cmd heading: 204.402760 deg. 2025-01-08T21:28:03.193Z,1736371683.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567501 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:03.341Z,1736371683.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:03.342Z,1736371683.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800557 2025-01-08T21:28:03.592Z,1736371683.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:03.592Z,1736371683.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051042 2025-01-08T21:28:03.609Z,1736371683.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:03.618Z,1736371683.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:03.620Z,1736371683.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:03.623Z,1736371683.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 25.544518 m, bearing: 97.758697 deg, approach rate: 0.251373 m/s, LOS rate: -1.188108 deg/s, cmd heading: 204.402755 deg, new cmd heading: 202.864880 deg. 2025-01-08T21:28:03.624Z,1736371683.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540660 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:03.844Z,1736371683.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:03.845Z,1736371683.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303196 2025-01-08T21:28:03.969Z,1736371683.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:03.979Z,1736371683.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:03.982Z,1736371683.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 25.632183 m, bearing: 97.323794 deg, approach rate: 0.244697 m/s, LOS rate: -1.209759 deg/s, cmd heading: 202.864883 deg, new cmd heading: 201.564874 deg. 2025-01-08T21:28:03.984Z,1736371683.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517971 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:04.097Z,1736371684.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:04.098Z,1736371684.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555978 2025-01-08T21:28:04.352Z,1736371684.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:04.353Z,1736371684.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.811787 2025-01-08T21:28:04.364Z,1736371684.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:04.373Z,1736371684.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:04.376Z,1736371684.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 25.724262 m, bearing: 96.843707 deg, approach rate: 0.233433 m/s, LOS rate: -1.212714 deg/s, cmd heading: 201.564879 deg, new cmd heading: 200.130089 deg. 2025-01-08T21:28:04.377Z,1736371684.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492929 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:04.604Z,1736371684.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:04.605Z,1736371684.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063410 2025-01-08T21:28:04.789Z,1736371684.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:04.800Z,1736371684.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:04.803Z,1736371684.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 25.818377 m, bearing: 96.333868 deg, approach rate: 0.220390 m/s, LOS rate: -1.189536 deg/s, cmd heading: 200.130089 deg, new cmd heading: 198.606527 deg. 2025-01-08T21:28:04.804Z,1736371684.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.466338 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:04.858Z,1736371684.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:04.859Z,1736371684.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.317426 2025-01-08T21:28:05.108Z,1736371685.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:05.108Z,1736371685.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.567057 2025-01-08T21:28:05.179Z,1736371685.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:05.188Z,1736371685.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:05.190Z,1736371685.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 25.894955 m, bearing: 95.860135 deg, approach rate: 0.197531 m/s, LOS rate: -1.218355 deg/s, cmd heading: 198.606533 deg, new cmd heading: 197.189841 deg. 2025-01-08T21:28:05.192Z,1736371685.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.441612 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:05.360Z,1736371685.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:05.360Z,1736371685.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.819147 2025-01-08T21:28:05.612Z,1736371685.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:05.613Z,1736371685.613 [DAT](INFO): Reached modem response timeout 2025-01-08T21:28:05.613Z,1736371685.613 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:28:05.613Z,1736371685.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:05.637Z,1736371685.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:05.646Z,1736371685.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:05.650Z,1736371685.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:05.685Z,1736371685.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 25.977417 m, bearing: 95.304408 deg, approach rate: 0.178731 m/s, LOS rate: -1.200657 deg/s, cmd heading: 197.189843 deg, new cmd heading: 195.528446 deg. 2025-01-08T21:28:05.688Z,1736371685.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.412615 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:05.864Z,1736371685.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:05.865Z,1736371685.865 [DAT](INFO): Reached modem response timeout 2025-01-08T21:28:05.866Z,1736371685.866 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:28:05.866Z,1736371685.866 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:05.968Z,1736371685.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:06.005Z,1736371686.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:06.012Z,1736371686.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.033455 m, bearing: 94.902511 deg, approach rate: 0.157546 m/s, LOS rate: -1.127460 deg/s, cmd heading: 195.528440 deg, new cmd heading: 194.325531 deg. 2025-01-08T21:28:06.014Z,1736371686.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.391620 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:06.116Z,1736371686.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:06.117Z,1736371686.117 [DAT](INFO): Reached modem response timeout 2025-01-08T21:28:06.117Z,1736371686.117 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:28:06.117Z,1736371686.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:06.369Z,1736371686.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:06.371Z,1736371686.371 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:28:06.372Z,1736371686.372 [DAT](INFO): response not received 2025-01-08T21:28:06.372Z,1736371686.372 [DAT](INFO): DAT read: user:1790> 2025-01-08T21:28:06.373Z,1736371686.373 [DAT](INFO): DAT read: Tx time:21:28:05.7748 2025-01-08T21:28:06.373Z,1736371686.373 [DAT](INFO): Ping request sent. 2025-01-08T21:28:06.374Z,1736371686.374 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:06.374Z,1736371686.374 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:06.374Z,1736371686.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719 2025-01-08T21:28:06.450Z,1736371686.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:06.467Z,1736371686.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:06.474Z,1736371686.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.110806 m, bearing: 94.314202 deg, approach rate: 0.167450 m/s, LOS rate: -1.269789 deg/s, cmd heading: 194.325534 deg, new cmd heading: 192.566419 deg. 2025-01-08T21:28:06.475Z,1736371686.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.360918 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:06.621Z,1736371686.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:06.623Z,1736371686.623 [DAT](INFO): DAT read: TxSync time:21:28:05.7740 2025-01-08T21:28:06.624Z,1736371686.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250293 2025-01-08T21:28:06.827Z,1736371686.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:06.835Z,1736371686.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:06.838Z,1736371686.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.165651 m, bearing: 93.849591 deg, approach rate: 0.148993 m/s, LOS rate: -1.259497 deg/s, cmd heading: 192.566419 deg, new cmd heading: 191.175796 deg. 2025-01-08T21:28:06.839Z,1736371686.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.336647 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:06.873Z,1736371686.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:06.874Z,1736371686.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500074 2025-01-08T21:28:07.124Z,1736371687.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:07.124Z,1736371687.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750772 2025-01-08T21:28:07.201Z,1736371687.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:07.210Z,1736371687.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:07.214Z,1736371687.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.210903 m, bearing: 93.382548 deg, approach rate: 0.120621 m/s, LOS rate: -1.242762 deg/s, cmd heading: 191.175793 deg, new cmd heading: 189.777377 deg. 2025-01-08T21:28:07.215Z,1736371687.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.312240 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:07.376Z,1736371687.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:07.377Z,1736371687.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003297 2025-01-08T21:28:07.628Z,1736371687.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:07.628Z,1736371687.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254820 2025-01-08T21:28:07.689Z,1736371687.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:07.697Z,1736371687.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:07.699Z,1736371687.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:07.702Z,1736371687.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.278790 m, bearing: 92.777079 deg, approach rate: 0.138899 m/s, LOS rate: -1.235598 deg/s, cmd heading: 189.777380 deg, new cmd heading: 187.966303 deg. 2025-01-08T21:28:07.703Z,1736371687.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.280631 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:07.880Z,1736371687.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:07.880Z,1736371687.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506770 2025-01-08T21:28:08.009Z,1736371688.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:08.025Z,1736371688.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:08.027Z,1736371688.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.316517 m, bearing: 92.378275 deg, approach rate: 0.115854 m/s, LOS rate: -1.222893 deg/s, cmd heading: 187.966301 deg, new cmd heading: 186.771786 deg. 2025-01-08T21:28:08.028Z,1736371688.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.259783 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:08.132Z,1736371688.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:08.133Z,1736371688.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759050 2025-01-08T21:28:08.384Z,1736371688.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:08.384Z,1736371688.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010836 2025-01-08T21:28:08.423Z,1736371688.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:08.437Z,1736371688.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:08.443Z,1736371688.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.361637 m, bearing: 91.860181 deg, approach rate: 0.109505 m/s, LOS rate: -1.255229 deg/s, cmd heading: 186.771782 deg, new cmd heading: 185.220559 deg. 2025-01-08T21:28:08.444Z,1736371688.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.232709 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:08.636Z,1736371688.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:08.637Z,1736371688.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263054 2025-01-08T21:28:08.836Z,1736371688.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:08.844Z,1736371688.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:08.848Z,1736371688.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.414131 m, bearing: 91.346014 deg, approach rate: 0.128758 m/s, LOS rate: -1.258626 deg/s, cmd heading: 185.220564 deg, new cmd heading: 183.681520 deg. 2025-01-08T21:28:08.849Z,1736371688.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.205847 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:08.888Z,1736371688.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:08.889Z,1736371688.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514943 2025-01-08T21:28:09.140Z,1736371689.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:09.140Z,1736371689.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766837 2025-01-08T21:28:09.221Z,1736371689.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:09.230Z,1736371689.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:09.233Z,1736371689.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.459673 m, bearing: 90.865142 deg, approach rate: 0.118059 m/s, LOS rate: -1.244417 deg/s, cmd heading: 183.681518 deg, new cmd heading: 182.241705 deg. 2025-01-08T21:28:09.234Z,1736371689.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.180718 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:09.395Z,1736371689.395 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:09.398Z,1736371689.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023790 2025-01-08T21:28:09.644Z,1736371689.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:09.646Z,1736371689.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271765 2025-01-08T21:28:09.724Z,1736371689.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:09.751Z,1736371689.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:09.753Z,1736371689.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:09.762Z,1736371689.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.543461 m, bearing: 90.252039 deg, approach rate: 0.160144 m/s, LOS rate: -1.168099 deg/s, cmd heading: 182.241700 deg, new cmd heading: 180.408859 deg. 2025-01-08T21:28:09.772Z,1736371689.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.148729 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:09.896Z,1736371689.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:09.896Z,1736371689.896 [DAT](INFO): DAT read: Rx Time:21:28:08.5690 2025-01-08T21:28:09.897Z,1736371689.897 [DAT](INFO): Rx dataTimestamp_ set to:1736371689.896659 2025-01-08T21:28:09.898Z,1736371689.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524375 2025-01-08T21:28:10.098Z,1736371690.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:10.114Z,1736371690.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:10.117Z,1736371690.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.597692 m, bearing: 89.791595 deg, approach rate: 0.150472 m/s, LOS rate: -1.274940 deg/s, cmd heading: 180.408860 deg, new cmd heading: 179.030623 deg. 2025-01-08T21:28:10.118Z,1736371690.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.124674 target range: 293.700012 and range: 293.70 m. 2025-01-08T21:28:10.148Z,1736371690.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:10.148Z,1736371690.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774927 2025-01-08T21:28:10.401Z,1736371690.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:10.403Z,1736371690.403 [DAT](INFO): DAT read: Range 10 to 50 : 292.5 m (Round-trip 390.1 ms) speed -0.3 m/s 2025-01-08T21:28:10.404Z,1736371690.404 [DAT](INFO): DAT read: user:1791> 2025-01-08T21:28:10.405Z,1736371690.405 [DAT](INFO): DAT read: Tx time:21:28:09.6748 2025-01-08T21:28:10.405Z,1736371690.405 [DAT](INFO): Ping request sent. 2025-01-08T21:28:10.405Z,1736371690.405 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:10.406Z,1736371690.406 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:28:10.406Z,1736371690.406 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:10.406Z,1736371690.406 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:10.544Z,1736371690.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:10.570Z,1736371690.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 292.500000 m, deltaT: 14.880377 s, deltaX: -1.200012 m, approachRate: -0.080644 m/s, rangeRepo size: 4 2025-01-08T21:28:10.584Z,1736371690.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:10.603Z,1736371690.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.658331 m, bearing: 89.241192 deg, approach rate: 0.135037 m/s, LOS rate: -1.222894 deg/s, cmd heading: 179.030624 deg, new cmd heading: 177.383652 deg. 2025-01-08T21:28:10.611Z,1736371690.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.095929 target range: 293.700012 and range: 292.50 m. 2025-01-08T21:28:10.652Z,1736371690.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:10.654Z,1736371690.654 [DAT](INFO): DAT read: TxSync time:21:28:09.6740 2025-01-08T21:28:10.904Z,1736371690.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:10.978Z,1736371690.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:10.995Z,1736371690.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:11.008Z,1736371691.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.714256 m, bearing: 88.714444 deg, approach rate: 0.129460 m/s, LOS rate: -1.216789 deg/s, cmd heading: 177.383646 deg, new cmd heading: 175.807130 deg. 2025-01-08T21:28:11.012Z,1736371691.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.068413 target range: 293.700012 and range: 292.50 m. 2025-01-08T21:28:11.156Z,1736371691.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:11.332Z,1736371691.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:11.341Z,1736371691.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:11.344Z,1736371691.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.756870 m, bearing: 88.282335 deg, approach rate: 0.123042 m/s, LOS rate: -1.245659 deg/s, cmd heading: 175.807129 deg, new cmd heading: 174.513100 deg. 2025-01-08T21:28:11.345Z,1736371691.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.045828 target range: 293.700012 and range: 292.50 m. 2025-01-08T21:28:11.408Z,1736371691.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:11.661Z,1736371691.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:11.768Z,1736371691.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:11.775Z,1736371691.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:11.777Z,1736371691.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:11.780Z,1736371691.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.817427 m, bearing: 87.744157 deg, approach rate: 0.138842 m/s, LOS rate: -1.231113 deg/s, cmd heading: 174.513095 deg, new cmd heading: 172.902656 deg. 2025-01-08T21:28:11.781Z,1736371691.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.017721 target range: 293.700012 and range: 292.50 m. 2025-01-08T21:28:11.912Z,1736371691.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:11.912Z,1736371691.912 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:11.912Z,1736371691.912 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:11.913Z,1736371691.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:12.155Z,1736371692.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:12.164Z,1736371692.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:12.165Z,1736371692.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759815 2025-01-08T21:28:12.166Z,1736371692.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:12.169Z,1736371692.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.873287 m, bearing: 87.267382 deg, approach rate: 0.143469 m/s, LOS rate: -1.221966 deg/s, cmd heading: 172.902660 deg, new cmd heading: 171.475619 deg. 2025-01-08T21:28:12.170Z,1736371692.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.992814 target range: 293.700012 and range: 292.50 m. 2025-01-08T21:28:12.416Z,1736371692.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:12.417Z,1736371692.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011232 2025-01-08T21:28:12.545Z,1736371692.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:12.555Z,1736371692.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:12.558Z,1736371692.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.919371 m, bearing: 86.783002 deg, approach rate: 0.118773 m/s, LOS rate: -1.246261 deg/s, cmd heading: 171.475615 deg, new cmd heading: 170.025288 deg. 2025-01-08T21:28:12.558Z,1736371692.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.967501 target range: 293.700012 and range: 292.50 m. 2025-01-08T21:28:12.668Z,1736371692.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:12.669Z,1736371692.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264041 2025-01-08T21:28:12.920Z,1736371692.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:12.920Z,1736371692.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515158 2025-01-08T21:28:12.988Z,1736371692.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:13.021Z,1736371693.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:13.028Z,1736371693.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 26.972197 m, bearing: 86.246253 deg, approach rate: 0.113293 m/s, LOS rate: -1.148866 deg/s, cmd heading: 170.025292 deg, new cmd heading: 168.418644 deg. 2025-01-08T21:28:13.029Z,1736371693.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.939460 target range: 293.700012 and range: 292.50 m. 2025-01-08T21:28:13.175Z,1736371693.175 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:13.176Z,1736371693.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770680 2025-01-08T21:28:13.432Z,1736371693.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:13.433Z,1736371693.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027656 2025-01-08T21:28:13.488Z,1736371693.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:13.521Z,1736371693.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:13.528Z,1736371693.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 27.027063 m, bearing: 85.637576 deg, approach rate: 0.109674 m/s, LOS rate: -1.214197 deg/s, cmd heading: 168.418641 deg, new cmd heading: 166.596965 deg. 2025-01-08T21:28:13.530Z,1736371693.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.907665 target range: 293.700012 and range: 292.50 m. 2025-01-08T21:28:13.685Z,1736371693.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:13.688Z,1736371693.688 [DAT](INFO): DAT read: Rx Time:21:28:12.4892 2025-01-08T21:28:13.689Z,1736371693.689 [DAT](INFO): Rx dataTimestamp_ set to:1736371693.688489 2025-01-08T21:28:13.694Z,1736371693.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285390 2025-01-08T21:28:13.884Z,1736371693.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:13.911Z,1736371693.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:13.917Z,1736371693.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.70 m. 2025-01-08T21:28:13.924Z,1736371693.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.700012 m, nav range: 27.060057 m, bearing: 85.159575 deg, approach rate: 0.083346 m/s, LOS rate: -1.206018 deg/s, cmd heading: 166.596961 deg, new cmd heading: 165.165023 deg. 2025-01-08T21:28:13.925Z,1736371693.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.882674 target range: 293.700012 and range: 292.50 m. 2025-01-08T21:28:13.938Z,1736371693.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:13.939Z,1736371693.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533446 2025-01-08T21:28:14.193Z,1736371694.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:14.203Z,1736371694.203 [DAT](INFO): DAT read: 21:28:12.4892 LVL= 9904, 12193, 10642, 12851, AGC= 63, IDX= 118,-0.07,-0.014, 0.122,-1.804,-1.135, PHS= 1.209, 1.304,-0.672, RAW= 27.5, -18.6, CAL= 32.8, -27.6, ROT= 117.2, 27.6 2025-01-08T21:28:14.204Z,1736371694.204 [DAT](INFO): got valid direction response: 21:28:12.4892 LVL= 9904, 12193, 10642, 12851, AGC= 63, IDX= 118,-0.07,-0.014, 0.122,-1.804,-1.135, PHS= 1.209, 1.304,-0.672, RAW= 27.5, -18.6, CAL= 32.8, -27.6, ROT= 117.2, 27.6 2025-01-08T21:28:14.205Z,1736371694.205 [DAT](INFO): DAT read: Bearing 117.2, 27.6 (Local) 2025-01-08T21:28:14.205Z,1736371694.205 [DAT](INFO): Local bearing/azimuth received: Bearing 117.2, 27.6 (Local) 2025-01-08T21:28:14.207Z,1736371694.207 [DAT](INFO): DAT read: Range 10 to 50 : 307.7 m (Round-trip 410.3 ms) speed -0.2 m/s 2025-01-08T21:28:14.208Z,1736371694.208 [DAT](INFO): DAT read: user:1792> 2025-01-08T21:28:14.208Z,1736371694.208 [DAT](INFO): DAT read: Tx time:21:28:13.5748 2025-01-08T21:28:14.209Z,1736371694.209 [DAT](INFO): Ping request sent. 2025-01-08T21:28:14.209Z,1736371694.209 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:14.209Z,1736371694.209 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:28:14.210Z,1736371694.210 [DAT](INFO): direction in FSK: [0.372249,0.834477,0.406299] 2025-01-08T21:28:14.210Z,1736371694.210 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:14.210Z,1736371694.210 [DAT](INFO): publishing direction and range info 2025-01-08T21:28:14.214Z,1736371694.214 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:14.214Z,1736371694.214 [DAT](INFO): publishing direction and range info 2025-01-08T21:28:14.282Z,1736371694.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:14.325Z,1736371694.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 307.700012 m, deltaT: 3.793112 s, deltaX: 15.200012 m, approachRate: 4.007267 m/s, rangeRepo size: 4 2025-01-08T21:28:14.336Z,1736371694.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 307.700012 m, bearing: 242.997818 deg, lat: 36.902543 deg, lon: -122.116128 deg, deltaT: 18.673489 s, deltaX: 14.000000 m, approachRate: 0.749726 m/s, posRepo size: 4 2025-01-08T21:28:14.337Z,1736371694.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:14.347Z,1736371694.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.965166 m, bearing: 84.448105 deg, approach rate: 0.000000 m/s, LOS rate: -1.206018 deg/s, cmd heading: 165.165025 deg, new cmd heading: 163.689450 deg. 2025-01-08T21:28:14.348Z,1736371694.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856920 target range: 307.700012 and range: 307.70 m. 2025-01-08T21:28:14.444Z,1736371694.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:14.445Z,1736371694.445 [DAT](INFO): DAT read: TxSync time:21:28:13.5740 2025-01-08T21:28:14.696Z,1736371694.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:14.760Z,1736371694.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:14.770Z,1736371694.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:14.773Z,1736371694.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.997873 m, bearing: 83.822440 deg, approach rate: 0.073490 m/s, LOS rate: -1.404018 deg/s, cmd heading: 163.689445 deg, new cmd heading: 161.815517 deg. 2025-01-08T21:28:14.774Z,1736371694.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.824214 target range: 307.700012 and range: 307.70 m. 2025-01-08T21:28:14.951Z,1736371694.951 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:15.110Z,1736371695.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:15.118Z,1736371695.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:15.121Z,1736371695.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 26.023752 m, bearing: 83.365887 deg, approach rate: 0.074289 m/s, LOS rate: -1.309282 deg/s, cmd heading: 161.815514 deg, new cmd heading: 160.447493 deg. 2025-01-08T21:28:15.124Z,1736371695.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.800337 target range: 307.700012 and range: 307.70 m. 2025-01-08T21:28:15.205Z,1736371695.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:15.456Z,1736371695.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:15.500Z,1736371695.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:15.510Z,1736371695.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:15.513Z,1736371695.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 26.036732 m, bearing: 82.854894 deg, approach rate: 0.033167 m/s, LOS rate: -1.305085 deg/s, cmd heading: 160.447496 deg, new cmd heading: 158.915665 deg. 2025-01-08T21:28:15.514Z,1736371695.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.773602 target range: 307.700012 and range: 307.70 m. 2025-01-08T21:28:15.709Z,1736371695.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:15.914Z,1736371695.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:15.921Z,1736371695.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:15.924Z,1736371695.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:15.926Z,1736371695.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 26.026854 m, bearing: 82.304543 deg, approach rate: -0.023874 m/s, LOS rate: -1.330600 deg/s, cmd heading: 158.915662 deg, new cmd heading: 157.264464 deg. 2025-01-08T21:28:15.927Z,1736371695.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.744783 target range: 307.700012 and range: 307.70 m. 2025-01-08T21:28:15.960Z,1736371695.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:15.961Z,1736371695.961 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:15.961Z,1736371695.961 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:15.962Z,1736371695.962 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:16.212Z,1736371696.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:16.213Z,1736371696.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004202 2025-01-08T21:28:16.297Z,1736371696.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:16.305Z,1736371696.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:16.308Z,1736371696.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 26.013781 m, bearing: 81.799620 deg, approach rate: -0.034252 m/s, LOS rate: -1.323578 deg/s, cmd heading: 157.264464 deg, new cmd heading: 155.749307 deg. 2025-01-08T21:28:16.309Z,1736371696.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.718338 target range: 307.700012 and range: 307.70 m. 2025-01-08T21:28:16.464Z,1736371696.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:16.465Z,1736371696.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255821 2025-01-08T21:28:16.717Z,1736371696.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:16.720Z,1736371696.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510175 2025-01-08T21:28:16.791Z,1736371696.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:16.801Z,1736371696.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:16.804Z,1736371696.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.985287 m, bearing: 81.136965 deg, approach rate: -0.057491 m/s, LOS rate: -1.338453 deg/s, cmd heading: 155.749309 deg, new cmd heading: 153.760008 deg. 2025-01-08T21:28:16.804Z,1736371696.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683618 target range: 307.700012 and range: 307.70 m. 2025-01-08T21:28:16.968Z,1736371696.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:16.968Z,1736371696.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759556 2025-01-08T21:28:17.113Z,1736371697.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:17.137Z,1736371697.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:17.140Z,1736371697.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.958488 m, bearing: 80.708169 deg, approach rate: -0.079756 m/s, LOS rate: -1.277473 deg/s, cmd heading: 153.760003 deg, new cmd heading: 152.472515 deg. 2025-01-08T21:28:17.141Z,1736371697.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661147 target range: 307.700012 and range: 307.70 m. 2025-01-08T21:28:17.221Z,1736371697.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:17.222Z,1736371697.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012416 2025-01-08T21:28:17.472Z,1736371697.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:17.472Z,1736371697.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263581 2025-01-08T21:28:17.494Z,1736371697.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:17.503Z,1736371697.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:17.506Z,1736371697.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.922821 m, bearing: 80.202341 deg, approach rate: -0.097304 m/s, LOS rate: -1.381820 deg/s, cmd heading: 152.472512 deg, new cmd heading: 150.953317 deg. 2025-01-08T21:28:17.507Z,1736371697.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.634632 target range: 307.700012 and range: 307.70 m. 2025-01-08T21:28:17.726Z,1736371697.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:17.737Z,1736371697.737 [DAT](INFO): DAT read: Rx Time:21:28:16.3911 2025-01-08T21:28:17.738Z,1736371697.738 [DAT](INFO): Rx dataTimestamp_ set to:1736371697.737313 2025-01-08T21:28:17.741Z,1736371697.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531166 2025-01-08T21:28:17.922Z,1736371697.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:17.930Z,1736371697.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:17.933Z,1736371697.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:17.936Z,1736371697.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.868645 m, bearing: 79.616344 deg, approach rate: -0.126035 m/s, LOS rate: -1.366090 deg/s, cmd heading: 150.953314 deg, new cmd heading: 149.192227 deg. 2025-01-08T21:28:17.937Z,1736371697.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.603896 target range: 307.700012 and range: 307.70 m. 2025-01-08T21:28:17.977Z,1736371697.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:17.978Z,1736371697.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769132 2025-01-08T21:28:18.228Z,1736371698.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:18.231Z,1736371698.231 [DAT](INFO): DAT read: Range 10 to 50 : 309.0 m (Round-trip 412.1 ms) speed -0.4 m/s 2025-01-08T21:28:18.235Z,1736371698.235 [DAT](INFO): DAT read: user:1793> 2025-01-08T21:28:18.236Z,1736371698.236 [DAT](INFO): DAT read: Tx time:21:28:17.4749 2025-01-08T21:28:18.237Z,1736371698.237 [DAT](INFO): Ping request sent. 2025-01-08T21:28:18.237Z,1736371698.237 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:18.237Z,1736371698.237 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:28:18.237Z,1736371698.237 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:18.238Z,1736371698.238 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:18.347Z,1736371698.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:18.365Z,1736371698.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 309.000000 m, deltaT: 4.034086 s, deltaX: 1.299988 m, approachRate: 0.322251 m/s, rangeRepo size: 4 2025-01-08T21:28:18.365Z,1736371698.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:18.372Z,1736371698.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.811747 m, bearing: 79.039967 deg, approach rate: -0.132024 m/s, LOS rate: -1.340331 deg/s, cmd heading: 149.192232 deg, new cmd heading: 147.459845 deg. 2025-01-08T21:28:18.373Z,1736371698.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.573660 target range: 307.700012 and range: 309.00 m. 2025-01-08T21:28:18.480Z,1736371698.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:18.481Z,1736371698.481 [DAT](INFO): DAT read: TxSync time:21:28:17.4741 2025-01-08T21:28:18.713Z,1736371698.713 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:28:18.734Z,1736371698.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:18.793Z,1736371698.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:18.802Z,1736371698.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:18.821Z,1736371698.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.736191 m, bearing: 78.418590 deg, approach rate: -0.172394 m/s, LOS rate: -1.421915 deg/s, cmd heading: 147.459850 deg, new cmd heading: 145.590948 deg. 2025-01-08T21:28:18.822Z,1736371698.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541041 target range: 307.700012 and range: 309.00 m. 2025-01-08T21:28:18.984Z,1736371698.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:19.178Z,1736371699.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:19.215Z,1736371699.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:19.218Z,1736371699.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.667557 m, bearing: 77.886577 deg, approach rate: -0.169553 m/s, LOS rate: -1.317776 deg/s, cmd heading: 145.590946 deg, new cmd heading: 143.991078 deg. 2025-01-08T21:28:19.219Z,1736371699.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513119 target range: 307.700012 and range: 309.00 m. 2025-01-08T21:28:19.236Z,1736371699.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:19.488Z,1736371699.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:19.530Z,1736371699.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:19.558Z,1736371699.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:19.566Z,1736371699.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.602230 m, bearing: 77.403344 deg, approach rate: -0.186006 m/s, LOS rate: -1.379414 deg/s, cmd heading: 143.991084 deg, new cmd heading: 142.538012 deg. 2025-01-08T21:28:19.567Z,1736371699.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.487758 target range: 307.700012 and range: 309.00 m. 2025-01-08T21:28:19.717Z,1736371699.717 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:28:19.742Z,1736371699.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:19.947Z,1736371699.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:19.954Z,1736371699.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:19.980Z,1736371699.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:19.983Z,1736371699.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.517967 m, bearing: 76.827429 deg, approach rate: -0.199720 m/s, LOS rate: -1.369518 deg/s, cmd heading: 142.538016 deg, new cmd heading: 140.805124 deg. 2025-01-08T21:28:19.992Z,1736371699.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:19.992Z,1736371699.992 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:19.992Z,1736371699.992 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:19.993Z,1736371699.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:19.000Z,1736371700.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457513 target range: 307.700012 and range: 309.00 m. 2025-01-08T21:28:20.244Z,1736371700.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:20.246Z,1736371700.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008413 2025-01-08T21:28:20.339Z,1736371700.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:20.348Z,1736371700.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:20.351Z,1736371700.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.435291 m, bearing: 76.288231 deg, approach rate: -0.224549 m/s, LOS rate: -1.469209 deg/s, cmd heading: 140.805128 deg, new cmd heading: 139.182735 deg. 2025-01-08T21:28:20.352Z,1736371700.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429197 target range: 307.700012 and range: 309.00 m. 2025-01-08T21:28:20.500Z,1736371700.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:20.501Z,1736371700.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263897 2025-01-08T21:28:20.753Z,1736371700.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:20.756Z,1736371700.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517920 2025-01-08T21:28:20.823Z,1736371700.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:20.833Z,1736371700.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:20.836Z,1736371700.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.331488 m, bearing: 75.615797 deg, approach rate: -0.214434 m/s, LOS rate: -1.394749 deg/s, cmd heading: 139.182740 deg, new cmd heading: 137.158060 deg. 2025-01-08T21:28:20.837Z,1736371700.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.393860 target range: 307.700012 and range: 309.00 m. 2025-01-08T21:28:21.004Z,1736371701.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:21.005Z,1736371701.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767850 2025-01-08T21:28:21.146Z,1736371701.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:21.171Z,1736371701.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:21.174Z,1736371701.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.258942 m, bearing: 75.166734 deg, approach rate: -0.214399 m/s, LOS rate: -1.330939 deg/s, cmd heading: 137.158053 deg, new cmd heading: 135.807258 deg. 2025-01-08T21:28:21.175Z,1736371701.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.370284 target range: 307.700012 and range: 309.00 m. 2025-01-08T21:28:21.256Z,1736371701.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:21.257Z,1736371701.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019866 2025-01-08T21:28:21.509Z,1736371701.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:21.510Z,1736371701.510 [DAT](INFO): DAT read: Rx Time:21:28:20.3117 2025-01-08T21:28:21.510Z,1736371701.510 [DAT](INFO): Rx dataTimestamp_ set to:1736371701.510187 2025-01-08T21:28:21.511Z,1736371701.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274298 2025-01-08T21:28:21.573Z,1736371701.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:21.586Z,1736371701.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.70 m. 2025-01-08T21:28:21.592Z,1736371701.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 307.700012 m, nav range: 25.159378 m, bearing: 74.577142 deg, approach rate: -0.240097 m/s, LOS rate: -1.427398 deg/s, cmd heading: 135.807260 deg, new cmd heading: 134.032085 deg. 2025-01-08T21:28:21.593Z,1736371701.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.339301 target range: 307.700012 and range: 309.00 m. 2025-01-08T21:28:21.761Z,1736371701.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:21.764Z,1736371701.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526860 2025-01-08T21:28:22.014Z,1736371702.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:22.027Z,1736371702.027 [DAT](INFO): DAT read: 21:28:20.3117 LVL= 14000, 17457, 17234, 23123, AGC= 67, IDX= 123, 0.07,-0.056, 1.600,-0.554,-0.438, PHS= 0.470, 2.085,-0.119, RAW= 345.0, -23.5, CAL= 349.9, -34.2, ROT= 160.1, 34.2 2025-01-08T21:28:22.028Z,1736371702.028 [DAT](INFO): got valid direction response: 21:28:20.3117 LVL= 14000, 17457, 17234, 23123, AGC= 67, IDX= 123, 0.07,-0.056, 1.600,-0.554,-0.438, PHS= 0.470, 2.085,-0.119, RAW= 345.0, -23.5, CAL= 349.9, -34.2, ROT= 160.1, 34.2 2025-01-08T21:28:22.030Z,1736371702.030 [DAT](INFO): DAT read: Bearing 160.1, 34.2 (Local) 2025-01-08T21:28:22.030Z,1736371702.030 [DAT](INFO): Local bearing/azimuth received: Bearing 160.1, 34.2 (Local) 2025-01-08T21:28:22.032Z,1736371702.032 [DAT](INFO): DAT read: Range 10 to 50 : 324.5 m (Round-trip 432.7 ms) speed -0.7 m/s 2025-01-08T21:28:22.033Z,1736371702.033 [DAT](INFO): DAT read: user:1794> 2025-01-08T21:28:22.034Z,1736371702.034 [DAT](INFO): DAT read: Tx time:21:28:21.4264 2025-01-08T21:28:22.034Z,1736371702.034 [DAT](INFO): Ping request sent. 2025-01-08T21:28:22.034Z,1736371702.034 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:22.034Z,1736371702.034 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:28:22.035Z,1736371702.035 [DAT](INFO): direction in FSK: [0.524673,0.816542,-0.240786] 2025-01-08T21:28:22.036Z,1736371702.036 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:22.036Z,1736371702.036 [DAT](INFO): publishing direction and range info 2025-01-08T21:28:22.039Z,1736371702.039 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:22.064Z,1736371702.064 [DAT](INFO): publishing direction and range info 2025-01-08T21:28:22.067Z,1736371702.067 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:28:22.117Z,1736371702.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:22.166Z,1736371702.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 324.500000 m, deltaT: 3.786497 s, deltaX: 15.500000 m, approachRate: 4.093493 m/s, rangeRepo size: 4 2025-01-08T21:28:22.173Z,1736371702.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 324.500000 m, bearing: 208.194878 deg, lat: 36.902543 deg, lon: -122.116311 deg, deltaT: 7.820583 s, deltaX: 16.799988 m, approachRate: 2.148176 m/s, posRepo size: 4 2025-01-08T21:28:22.173Z,1736371702.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:22.188Z,1736371702.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.456848 m, bearing: 48.189568 deg, approach rate: 0.000000 m/s, LOS rate: -1.427398 deg/s, cmd heading: 134.032081 deg, new cmd heading: 131.549317 deg. 2025-01-08T21:28:22.189Z,1736371702.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295969 target range: 324.500000 and range: 324.50 m. 2025-01-08T21:28:22.264Z,1736371702.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:22.265Z,1736371702.265 [DAT](INFO): DAT read: TxSync time:21:28:21.4256 2025-01-08T21:28:22.486Z,1736371702.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:22.517Z,1736371702.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:22.526Z,1736371702.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:22.537Z,1736371702.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:22.543Z,1736371702.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.470961 m, bearing: 46.906846 deg, approach rate: 0.038047 m/s, LOS rate: -3.453238 deg/s, cmd heading: 131.549320 deg, new cmd heading: 127.712410 deg. 2025-01-08T21:28:22.544Z,1736371702.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229002 target range: 324.500000 and range: 324.50 m. 2025-01-08T21:28:22.769Z,1736371702.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:22.771Z,1736371702.771 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:22.772Z,1736371702.772 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:22.772Z,1736371702.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:22.897Z,1736371702.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:22.905Z,1736371702.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:22.908Z,1736371702.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.493271 m, bearing: 45.489972 deg, approach rate: 0.060487 m/s, LOS rate: -3.832834 deg/s, cmd heading: 127.712407 deg, new cmd heading: 123.478975 deg. 2025-01-08T21:28:22.909Z,1736371702.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.155115 target range: 324.500000 and range: 324.50 m. 2025-01-08T21:28:23.021Z,1736371703.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:23.022Z,1736371703.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987654 2025-01-08T21:28:23.272Z,1736371703.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:23.273Z,1736371703.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238677 2025-01-08T21:28:23.295Z,1736371703.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:23.305Z,1736371703.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:23.307Z,1736371703.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.515143 m, bearing: 44.119592 deg, approach rate: 0.054790 m/s, LOS rate: -3.425280 deg/s, cmd heading: 123.478974 deg, new cmd heading: 119.383764 deg. 2025-01-08T21:28:23.308Z,1736371703.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.083640 target range: 324.500000 and range: 324.50 m. 2025-01-08T21:28:23.524Z,1736371703.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:23.524Z,1736371703.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490240 2025-01-08T21:28:23.690Z,1736371703.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:23.700Z,1736371703.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:23.703Z,1736371703.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.536269 m, bearing: 42.762353 deg, approach rate: 0.053392 m/s, LOS rate: -3.422988 deg/s, cmd heading: 119.383770 deg, new cmd heading: 115.327389 deg. 2025-01-08T21:28:23.720Z,1736371703.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.012843 target range: 324.500000 and range: 324.50 m. 2025-01-08T21:28:23.779Z,1736371703.779 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:23.782Z,1736371703.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747237 2025-01-08T21:28:24.028Z,1736371704.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:24.028Z,1736371704.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994200 2025-01-08T21:28:24.119Z,1736371704.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:24.128Z,1736371704.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:24.130Z,1736371704.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.564037 m, bearing: 41.341484 deg, approach rate: 0.065015 m/s, LOS rate: -3.317652 deg/s, cmd heading: 115.327389 deg, new cmd heading: 111.084196 deg. 2025-01-08T21:28:24.131Z,1736371704.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.938785 target range: 324.500000 and range: 324.50 m. 2025-01-08T21:28:24.281Z,1736371704.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:24.283Z,1736371704.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248367 2025-01-08T21:28:24.496Z,1736371704.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:24.526Z,1736371704.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:24.533Z,1736371704.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:24.534Z,1736371704.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499798 2025-01-08T21:28:24.544Z,1736371704.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.586658 m, bearing: 40.096798 deg, approach rate: 0.056773 m/s, LOS rate: -3.117026 deg/s, cmd heading: 111.084195 deg, new cmd heading: 107.363646 deg. 2025-01-08T21:28:24.545Z,1736371704.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.873849 target range: 324.500000 and range: 324.50 m. 2025-01-08T21:28:24.786Z,1736371704.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:24.789Z,1736371704.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753891 2025-01-08T21:28:24.921Z,1736371704.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:24.946Z,1736371704.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:24.949Z,1736371704.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:24.956Z,1736371704.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.618813 m, bearing: 38.741233 deg, approach rate: 0.075987 m/s, LOS rate: -3.193405 deg/s, cmd heading: 107.363648 deg, new cmd heading: 103.316390 deg. 2025-01-08T21:28:24.957Z,1736371704.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.803211 target range: 324.500000 and range: 324.50 m. 2025-01-08T21:28:25.036Z,1736371705.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:25.038Z,1736371705.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003685 2025-01-08T21:28:25.288Z,1736371705.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:25.289Z,1736371705.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254187 2025-01-08T21:28:25.331Z,1736371705.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:25.345Z,1736371705.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:25.349Z,1736371705.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.647949 m, bearing: 37.436336 deg, approach rate: 0.073653 m/s, LOS rate: -3.289266 deg/s, cmd heading: 103.316392 deg, new cmd heading: 99.418774 deg. 2025-01-08T21:28:25.350Z,1736371705.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.735185 target range: 324.500000 and range: 324.50 m. 2025-01-08T21:28:25.540Z,1736371705.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:25.540Z,1736371705.540 [DAT](INFO): DAT read: Rx Time:21:28:24.2668 2025-01-08T21:28:25.541Z,1736371705.541 [DAT](INFO): Rx dataTimestamp_ set to:1736371705.540572 2025-01-08T21:28:25.541Z,1736371705.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507203 2025-01-08T21:28:25.718Z,1736371705.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:25.726Z,1736371705.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:25.749Z,1736371705.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.680439 m, bearing: 36.213529 deg, approach rate: 0.085129 m/s, LOS rate: -3.193970 deg/s, cmd heading: 99.418772 deg, new cmd heading: 95.766742 deg. 2025-01-08T21:28:25.750Z,1736371705.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671445 target range: 324.500000 and range: 324.50 m. 2025-01-08T21:28:25.792Z,1736371705.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:25.793Z,1736371705.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758670 2025-01-08T21:28:26.044Z,1736371706.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:26.046Z,1736371706.046 [DAT](INFO): DAT read: Range 10 to 50 : 327.1 m (Round-trip 436.2 ms) speed -0.8 m/s 2025-01-08T21:28:26.047Z,1736371706.047 [DAT](INFO): DAT read: user:1795> 2025-01-08T21:28:26.048Z,1736371706.048 [DAT](INFO): DAT read: Tx time:21:28:25.3750 2025-01-08T21:28:26.048Z,1736371706.048 [DAT](INFO): Ping request sent. 2025-01-08T21:28:26.049Z,1736371706.049 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:26.049Z,1736371706.049 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:28:26.049Z,1736371706.049 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:26.050Z,1736371706.050 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:26.192Z,1736371706.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:26.220Z,1736371706.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 327.100006 m, deltaT: 4.029516 s, deltaX: 2.600006 m, approachRate: 0.645240 m/s, rangeRepo size: 4 2025-01-08T21:28:26.221Z,1736371706.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:26.228Z,1736371706.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.711259 m, bearing: 34.767201 deg, approach rate: 0.063543 m/s, LOS rate: -2.973076 deg/s, cmd heading: 95.766745 deg, new cmd heading: 91.448898 deg. 2025-01-08T21:28:26.229Z,1736371706.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.596084 target range: 324.500000 and range: 327.10 m. 2025-01-08T21:28:26.297Z,1736371706.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:26.298Z,1736371706.298 [DAT](INFO): DAT read: TxSync time:21:28:25.3742 2025-01-08T21:28:26.509Z,1736371706.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:26.521Z,1736371706.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:26.526Z,1736371706.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.730129 m, bearing: 33.799710 deg, approach rate: 0.061295 m/s, LOS rate: -3.136967 deg/s, cmd heading: 91.448897 deg, new cmd heading: 88.554132 deg. 2025-01-08T21:28:26.528Z,1736371706.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545561 target range: 324.500000 and range: 327.10 m. 2025-01-08T21:28:26.548Z,1736371706.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:26.800Z,1736371706.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:26.946Z,1736371706.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:26.953Z,1736371706.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:26.956Z,1736371706.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:26.958Z,1736371706.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.753682 m, bearing: 32.500169 deg, approach rate: 0.053984 m/s, LOS rate: -2.971818 deg/s, cmd heading: 88.554133 deg, new cmd heading: 84.670343 deg. 2025-01-08T21:28:26.959Z,1736371706.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477776 target range: 324.500000 and range: 327.10 m. 2025-01-08T21:28:27.052Z,1736371707.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:27.053Z,1736371707.053 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:27.054Z,1736371707.054 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:27.054Z,1736371707.054 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:27.304Z,1736371707.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:27.305Z,1736371707.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255932 2025-01-08T21:28:27.336Z,1736371707.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:27.371Z,1736371707.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:27.373Z,1736371707.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.767394 m, bearing: 31.340404 deg, approach rate: 0.033023 m/s, LOS rate: -2.789347 deg/s, cmd heading: 84.670344 deg, new cmd heading: 81.199967 deg. 2025-01-08T21:28:27.374Z,1736371707.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.417207 target range: 324.500000 and range: 327.10 m. 2025-01-08T21:28:27.556Z,1736371707.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:27.556Z,1736371707.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507796 2025-01-08T21:28:27.727Z,1736371707.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:27.736Z,1736371707.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:27.740Z,1736371707.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.778582 m, bearing: 30.171671 deg, approach rate: 0.030582 m/s, LOS rate: -3.191301 deg/s, cmd heading: 81.199966 deg, new cmd heading: 77.702003 deg. 2025-01-08T21:28:27.741Z,1736371707.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356156 target range: 324.500000 and range: 327.10 m. 2025-01-08T21:28:27.808Z,1736371707.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:27.808Z,1736371707.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759917 2025-01-08T21:28:28.062Z,1736371708.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:28.064Z,1736371708.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015544 2025-01-08T21:28:28.218Z,1736371708.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:28.227Z,1736371708.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:28.230Z,1736371708.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.789358 m, bearing: 28.707157 deg, approach rate: 0.021985 m/s, LOS rate: -2.984471 deg/s, cmd heading: 77.702001 deg, new cmd heading: 73.321878 deg. 2025-01-08T21:28:28.233Z,1736371708.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.279708 target range: 324.500000 and range: 327.10 m. 2025-01-08T21:28:28.312Z,1736371708.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:28.312Z,1736371708.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263854 2025-01-08T21:28:28.564Z,1736371708.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:28.565Z,1736371708.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516005 2025-01-08T21:28:28.600Z,1736371708.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:28.609Z,1736371708.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:28.611Z,1736371708.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.802579 m, bearing: 27.572420 deg, approach rate: 0.034613 m/s, LOS rate: -2.966958 deg/s, cmd heading: 73.321876 deg, new cmd heading: 69.926035 deg. 2025-01-08T21:28:28.613Z,1736371708.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220440 target range: 324.500000 and range: 327.10 m. 2025-01-08T21:28:28.817Z,1736371708.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:28.824Z,1736371708.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775033 2025-01-08T21:28:29.068Z,1736371709.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:29.068Z,1736371709.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019776 2025-01-08T21:28:29.094Z,1736371709.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:29.102Z,1736371709.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:29.104Z,1736371709.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:29.107Z,1736371709.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.810287 m, bearing: 26.077794 deg, approach rate: 0.015558 m/s, LOS rate: -3.014156 deg/s, cmd heading: 69.926036 deg, new cmd heading: 65.454960 deg. 2025-01-08T21:28:29.128Z,1736371709.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.142405 target range: 324.500000 and range: 327.10 m. 2025-01-08T21:28:29.321Z,1736371709.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:29.322Z,1736371709.322 [DAT](INFO): DAT read: Rx Time:21:28:28.2178 2025-01-08T21:28:29.323Z,1736371709.323 [DAT](INFO): Rx dataTimestamp_ set to:1736371709.322706 2025-01-08T21:28:29.324Z,1736371709.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275475 2025-01-08T21:28:29.473Z,1736371709.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:29.482Z,1736371709.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:29.505Z,1736371709.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.814569 m, bearing: 24.930104 deg, approach rate: 0.011325 m/s, LOS rate: -3.033961 deg/s, cmd heading: 65.454960 deg, new cmd heading: 62.017613 deg. 2025-01-08T21:28:29.506Z,1736371709.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.082412 target range: 324.500000 and range: 327.10 m. 2025-01-08T21:28:29.572Z,1736371709.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:29.573Z,1736371709.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524830 2025-01-08T21:28:29.824Z,1736371709.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:29.824Z,1736371709.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775782 2025-01-08T21:28:29.941Z,1736371709.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:29.957Z,1736371709.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:29.964Z,1736371709.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.817713 m, bearing: 23.517221 deg, approach rate: 0.006619 m/s, LOS rate: -2.973821 deg/s, cmd heading: 62.017612 deg, new cmd heading: 57.788321 deg. 2025-01-08T21:28:29.965Z,1736371709.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008596 target range: 324.500000 and range: 327.10 m. 2025-01-08T21:28:30.078Z,1736371710.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:30.080Z,1736371710.080 [DAT](INFO): DAT read: Range 10 to 50 : 329.0 m (Round-trip 438.7 ms) speed -0.3 m/s 2025-01-08T21:28:30.081Z,1736371710.081 [DAT](INFO): DAT read: user:1796> 2025-01-08T21:28:30.082Z,1736371710.082 [DAT](INFO): DAT read: Tx time:21:28:29.3250 2025-01-08T21:28:30.082Z,1736371710.082 [DAT](INFO): Ping request sent. 2025-01-08T21:28:30.082Z,1736371710.082 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:30.082Z,1736371710.082 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:28:30.083Z,1736371710.083 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:30.084Z,1736371710.084 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:30.307Z,1736371710.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:30.328Z,1736371710.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:30.329Z,1736371710.329 [DAT](INFO): DAT read: TxSync time:21:28:29.3242 2025-01-08T21:28:30.340Z,1736371710.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 329.000000 m, deltaT: 4.033891 s, deltaX: 1.899994 m, approachRate: 0.471008 m/s, rangeRepo size: 4 2025-01-08T21:28:30.341Z,1736371710.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:30.349Z,1736371710.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.817108 m, bearing: 22.389440 deg, approach rate: -0.001681 m/s, LOS rate: -3.135250 deg/s, cmd heading: 57.788318 deg, new cmd heading: 54.408928 deg. 2025-01-08T21:28:30.350Z,1736371710.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.949615 target range: 324.500000 and range: 329.00 m. 2025-01-08T21:28:30.580Z,1736371710.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:30.690Z,1736371710.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:30.700Z,1736371710.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:30.702Z,1736371710.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.814875 m, bearing: 21.209516 deg, approach rate: -0.005829 m/s, LOS rate: -3.079639 deg/s, cmd heading: 54.408928 deg, new cmd heading: 50.873172 deg. 2025-01-08T21:28:30.704Z,1736371710.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.887904 target range: 324.500000 and range: 329.00 m. 2025-01-08T21:28:30.832Z,1736371710.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:31.084Z,1736371711.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:31.117Z,1736371711.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:31.124Z,1736371711.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:31.126Z,1736371711.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:31.130Z,1736371711.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.803940 m, bearing: 19.824358 deg, approach rate: -0.025651 m/s, LOS rate: -3.252335 deg/s, cmd heading: 50.873172 deg, new cmd heading: 46.721180 deg. 2025-01-08T21:28:31.131Z,1736371711.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815438 target range: 324.500000 and range: 329.00 m. 2025-01-08T21:28:31.336Z,1736371711.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:31.337Z,1736371711.337 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:31.338Z,1736371711.338 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:31.338Z,1736371711.338 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:31.492Z,1736371711.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:31.540Z,1736371711.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:31.543Z,1736371711.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.793143 m, bearing: 18.607722 deg, approach rate: -0.026333 m/s, LOS rate: -2.970113 deg/s, cmd heading: 46.721178 deg, new cmd heading: 43.072834 deg. 2025-01-08T21:28:31.544Z,1736371711.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751763 target range: 324.500000 and range: 329.00 m. 2025-01-08T21:28:31.588Z,1736371711.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:31.589Z,1736371711.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506396 2025-01-08T21:28:31.840Z,1736371711.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:31.840Z,1736371711.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758239 2025-01-08T21:28:31.951Z,1736371711.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:31.978Z,1736371711.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:31.985Z,1736371711.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.777625 m, bearing: 17.121769 deg, approach rate: -0.035142 m/s, LOS rate: -3.369550 deg/s, cmd heading: 43.072833 deg, new cmd heading: 38.618054 deg. 2025-01-08T21:28:31.986Z,1736371711.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674012 target range: 324.500000 and range: 329.00 m. 2025-01-08T21:28:32.092Z,1736371712.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:32.092Z,1736371712.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010183 2025-01-08T21:28:32.330Z,1736371712.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:32.338Z,1736371712.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:32.341Z,1736371712.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.762826 m, bearing: 15.843157 deg, approach rate: -0.041056 m/s, LOS rate: -3.551721 deg/s, cmd heading: 38.618053 deg, new cmd heading: 34.782999 deg. 2025-01-08T21:28:32.342Z,1736371712.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607078 target range: 324.500000 and range: 329.00 m. 2025-01-08T21:28:32.344Z,1736371712.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:32.344Z,1736371712.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262298 2025-01-08T21:28:32.597Z,1736371712.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:32.597Z,1736371712.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515300 2025-01-08T21:28:32.708Z,1736371712.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:32.717Z,1736371712.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:32.720Z,1736371712.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.746066 m, bearing: 14.570495 deg, approach rate: -0.044218 m/s, LOS rate: -3.362623 deg/s, cmd heading: 34.782998 deg, new cmd heading: 30.965034 deg. 2025-01-08T21:28:32.721Z,1736371712.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540442 target range: 324.500000 and range: 329.00 m. 2025-01-08T21:28:32.848Z,1736371712.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:32.848Z,1736371712.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766215 2025-01-08T21:28:33.100Z,1736371713.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:33.100Z,1736371713.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018295 2025-01-08T21:28:33.149Z,1736371713.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:33.160Z,1736371713.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:33.162Z,1736371713.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:33.169Z,1736371713.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.724285 m, bearing: 13.066732 deg, approach rate: -0.049022 m/s, LOS rate: -3.390968 deg/s, cmd heading: 30.965035 deg, new cmd heading: 26.454442 deg. 2025-01-08T21:28:33.170Z,1736371713.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461717 target range: 324.500000 and range: 329.00 m. 2025-01-08T21:28:33.352Z,1736371713.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:33.352Z,1736371713.352 [DAT](INFO): DAT read: Rx Time:21:28:32.1708 2025-01-08T21:28:33.353Z,1736371713.353 [DAT](INFO): Rx dataTimestamp_ set to:1736371713.352668 2025-01-08T21:28:33.353Z,1736371713.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271288 2025-01-08T21:28:33.518Z,1736371713.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:33.526Z,1736371713.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.50 m. 2025-01-08T21:28:33.530Z,1736371713.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.500000 m, nav range: 10.704739 m, bearing: 11.804227 deg, approach rate: -0.053587 m/s, LOS rate: -3.467234 deg/s, cmd heading: 26.454443 deg, new cmd heading: 22.665849 deg. 2025-01-08T21:28:33.533Z,1736371713.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.395594 target range: 324.500000 and range: 329.00 m. 2025-01-08T21:28:33.604Z,1736371713.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:33.605Z,1736371713.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522373 2025-01-08T21:28:33.858Z,1736371713.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:33.880Z,1736371713.880 [DAT](INFO): DAT read: 21:28:32.1708 LVL= 26864, 23217, 17026, 32755, AGC= 68, IDX= 455,-0.05,-0.769, 1.645,-0.003,-0.346, PHS=-0.335, 2.039, 0.340, RAW= 314.0, -18.8, CAL= 317.4, -27.1, ROT= 192.6, 27.1 2025-01-08T21:28:33.882Z,1736371713.882 [DAT](INFO): got valid direction response: 21:28:32.1708 LVL= 26864, 23217, 17026, 32755, AGC= 68, IDX= 455,-0.05,-0.769, 1.645,-0.003,-0.346, PHS=-0.335, 2.039, 0.340, RAW= 314.0, -18.8, CAL= 317.4, -27.1, ROT= 192.6, 27.1 2025-01-08T21:28:33.909Z,1736371713.909 [DAT](INFO): DAT read: Bearing 192.6, 27.1 (Local) 2025-01-08T21:28:33.910Z,1736371713.910 [DAT](INFO): Local bearing/azimuth received: Bearing 192.6, 27.1 (Local) 2025-01-08T21:28:33.918Z,1736371713.918 [DAT](INFO): DAT read: Range 10 to 50 : 331.2 m (Round-trip 441.6 ms) speed 0.0 m/s 2025-01-08T21:28:33.920Z,1736371713.920 [DAT](INFO): DAT read: user:1797> 2025-01-08T21:28:33.921Z,1736371713.921 [DAT](INFO): DAT read: Tx time:21:28:33.2750 2025-01-08T21:28:33.921Z,1736371713.921 [DAT](INFO): Ping request sent. 2025-01-08T21:28:33.921Z,1736371713.921 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:33.921Z,1736371713.921 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:28:33.922Z,1736371713.922 [DAT](INFO): direction in FSK: [0.469114,0.562534,-0.680800] 2025-01-08T21:28:33.923Z,1736371713.923 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:33.923Z,1736371713.923 [DAT](INFO): publishing direction and range info 2025-01-08T21:28:33.959Z,1736371713.959 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:33.995Z,1736371713.995 [DAT](INFO): publishing direction and range info 2025-01-08T21:28:34.007Z,1736371714.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:34.062Z,1736371714.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 331.200012 m, deltaT: 3.780463 s, deltaX: 2.200012 m, approachRate: 0.581943 m/s, rangeRepo size: 4 2025-01-08T21:28:34.081Z,1736371714.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 331.200012 m, bearing: 149.842247 deg, lat: 36.901375 deg, lon: -122.116311 deg, deltaT: 11.843870 s, deltaX: 6.700012 m, approachRate: 0.565695 m/s, posRepo size: 4 2025-01-08T21:28:34.082Z,1736371714.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T21:28:34.089Z,1736371714.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 119.383759 m, bearing: 179.098536 deg, approach rate: 0.000000 m/s, LOS rate: -3.467234 deg/s, cmd heading: 22.665848 deg, new cmd heading: 17.122984 deg. 2025-01-08T21:28:34.090Z,1736371714.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.298852 target range: 331.200012 and range: 331.20 m. 2025-01-08T21:28:34.108Z,1736371714.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:34.109Z,1736371714.109 [DAT](INFO): DAT read: TxSync time:21:28:33.2743 2025-01-08T21:28:34.360Z,1736371714.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:34.561Z,1736371714.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:34.586Z,1736371714.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T21:28:34.593Z,1736371714.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 119.358406 m, bearing: 179.270959 deg, approach rate: -0.048249 m/s, LOS rate: 0.328211 deg/s, cmd heading: 17.122984 deg, new cmd heading: 17.640349 deg. 2025-01-08T21:28:34.594Z,1736371714.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307882 target range: 331.200012 and range: 331.20 m. 2025-01-08T21:28:34.613Z,1736371714.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:34.864Z,1736371714.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:35.091Z,1736371715.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:35.100Z,1736371715.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T21:28:35.103Z,1736371715.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 119.344864 m, bearing: 179.436628 deg, approach rate: -0.026347 m/s, LOS rate: 0.322353 deg/s, cmd heading: 17.640350 deg, new cmd heading: 18.137401 deg. 2025-01-08T21:28:35.104Z,1736371715.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.316557 target range: 331.200012 and range: 331.20 m. 2025-01-08T21:28:35.116Z,1736371715.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:35.368Z,1736371715.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:35.528Z,1736371715.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:35.554Z,1736371715.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:35.560Z,1736371715.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T21:28:35.571Z,1736371715.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 119.342331 m, bearing: 179.573583 deg, approach rate: -0.005513 m/s, LOS rate: 0.298090 deg/s, cmd heading: 18.137402 deg, new cmd heading: 18.548266 deg. 2025-01-08T21:28:35.572Z,1736371715.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.323728 target range: 331.200012 and range: 331.20 m. 2025-01-08T21:28:35.620Z,1736371715.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:35.621Z,1736371715.621 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:35.621Z,1736371715.621 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:35.621Z,1736371715.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:35.872Z,1736371715.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:35.872Z,1736371715.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.951330 2025-01-08T21:28:35.947Z,1736371715.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:35.961Z,1736371715.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T21:28:35.973Z,1736371715.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 119.349556 m, bearing: 179.704432 deg, approach rate: 0.018085 m/s, LOS rate: 0.327508 deg/s, cmd heading: 18.548265 deg, new cmd heading: 18.940783 deg. 2025-01-08T21:28:35.977Z,1736371715.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.330579 target range: 331.200012 and range: 331.20 m. 2025-01-08T21:28:36.124Z,1736371716.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:36.125Z,1736371716.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203828 2025-01-08T21:28:36.376Z,1736371716.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:36.377Z,1736371716.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455463 2025-01-08T21:28:36.393Z,1736371716.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:36.401Z,1736371716.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T21:28:36.404Z,1736371716.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 119.355667 m, bearing: 179.840547 deg, approach rate: 0.013825 m/s, LOS rate: 0.307921 deg/s, cmd heading: 18.940782 deg, new cmd heading: 19.349100 deg. 2025-01-08T21:28:36.405Z,1736371716.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.337705 target range: 331.200012 and range: 331.20 m. 2025-01-08T21:28:36.628Z,1736371716.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:36.630Z,1736371716.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708478 2025-01-08T21:28:36.744Z,1736371716.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:36.753Z,1736371716.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T21:28:36.756Z,1736371716.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 119.375061 m, bearing: 179.946835 deg, approach rate: 0.055098 m/s, LOS rate: 0.301912 deg/s, cmd heading: 19.349099 deg, new cmd heading: 19.667908 deg. 2025-01-08T21:28:36.757Z,1736371716.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.343270 target range: 331.200012 and range: 331.20 m. 2025-01-08T21:28:36.880Z,1736371716.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:36.881Z,1736371716.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959590 2025-01-08T21:28:37.132Z,1736371717.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:37.133Z,1736371717.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211459 2025-01-08T21:28:37.202Z,1736371717.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:37.212Z,1736371717.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T21:28:37.215Z,1736371717.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 119.407997 m, bearing: 180.082272 deg, approach rate: 0.071927 m/s, LOS rate: 0.295691 deg/s, cmd heading: 19.667909 deg, new cmd heading: 20.074099 deg. 2025-01-08T21:28:37.216Z,1736371717.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.350359 target range: 331.200012 and range: 331.20 m. 2025-01-08T21:28:37.388Z,1736371717.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:37.390Z,1736371717.390 [DAT](INFO): DAT read: Rx Time:21:28:36.1222 2025-01-08T21:28:37.391Z,1736371717.391 [DAT](INFO): Rx dataTimestamp_ set to:1736371717.390532 2025-01-08T21:28:37.392Z,1736371717.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.470826 2025-01-08T21:28:37.592Z,1736371717.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:37.600Z,1736371717.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:37.602Z,1736371717.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T21:28:37.604Z,1736371717.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 119.443947 m, bearing: 180.196689 deg, approach rate: 0.092112 m/s, LOS rate: 0.293076 deg/s, cmd heading: 20.074098 deg, new cmd heading: 20.417241 deg. 2025-01-08T21:28:37.605Z,1736371717.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.356348 target range: 331.200012 and range: 331.20 m. 2025-01-08T21:28:37.637Z,1736371717.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:37.638Z,1736371717.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.716233 2025-01-08T21:28:37.888Z,1736371717.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:37.894Z,1736371717.894 [DAT](INFO): DAT read: 21:28:36.1222 LVL= 20208, 20209, 12562, 23171, AGC= 60, IDX= 452, 0.37,-2.073, 0.302,-0.608,-1.443, PHS=-0.541, 1.792, 0.832, RAW= 294.2, -19.9, CAL= 295.5, -29.3, ROT= 214.5, 29.3 2025-01-08T21:28:37.896Z,1736371717.896 [DAT](INFO): got valid direction response: 21:28:36.1222 LVL= 20208, 20209, 12562, 23171, AGC= 60, IDX= 452, 0.37,-2.073, 0.302,-0.608,-1.443, PHS=-0.541, 1.792, 0.832, RAW= 294.2, -19.9, CAL= 295.5, -29.3, ROT= 214.5, 29.3 2025-01-08T21:28:37.897Z,1736371717.897 [DAT](INFO): DAT read: Bearing 214.5, 29.3 (Local) 2025-01-08T21:28:37.897Z,1736371717.897 [DAT](INFO): Local bearing/azimuth received: Bearing 214.5, 29.3 (Local) 2025-01-08T21:28:37.919Z,1736371717.919 [DAT](INFO): DAT read: Range 10 to 50 : 332.2 m (Round-trip 443.0 ms) speed -0.4 m/s 2025-01-08T21:28:37.920Z,1736371717.920 [DAT](INFO): DAT read: user:1798> 2025-01-08T21:28:37.921Z,1736371717.921 [DAT](INFO): DAT read: Tx time:21:28:37.2250 2025-01-08T21:28:37.921Z,1736371717.921 [DAT](INFO): Ping request sent. 2025-01-08T21:28:37.921Z,1736371717.921 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:37.922Z,1736371717.922 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:28:37.922Z,1736371717.922 [DAT](INFO): direction in FSK: [0.476680,0.268979,-0.836915] 2025-01-08T21:28:37.923Z,1736371717.923 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:37.923Z,1736371717.923 [DAT](INFO): publishing direction and range info 2025-01-08T21:28:37.948Z,1736371717.948 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:37.948Z,1736371717.948 [DAT](INFO): publishing direction and range info 2025-01-08T21:28:38.134Z,1736371718.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:38.140Z,1736371718.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:38.141Z,1736371718.141 [DAT](INFO): DAT read: TxSync time:21:28:37.2243 2025-01-08T21:28:38.172Z,1736371718.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 332.200012 m, deltaT: 4.029636 s, deltaX: 1.000000 m, approachRate: 0.248161 m/s, rangeRepo size: 4 2025-01-08T21:28:38.174Z,1736371718.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 332.200012 m, bearing: 113.787454 deg, lat: 36.901375 deg, lon: -122.116311 deg, deltaT: 4.029636 s, deltaX: 1.000000 m, approachRate: 0.248161 m/s, posRepo size: 4 2025-01-08T21:28:38.174Z,1736371718.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:38.208Z,1736371718.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 119.492226 m, bearing: 180.350501 deg, approach rate: 0.000000 m/s, LOS rate: 0.293076 deg/s, cmd heading: 20.417240 deg, new cmd heading: 20.914023 deg. 2025-01-08T21:28:38.209Z,1736371718.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.365019 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:38.392Z,1736371718.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:38.495Z,1736371718.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:38.504Z,1736371718.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:38.509Z,1736371718.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 119.544456 m, bearing: 180.451227 deg, approach rate: 0.155108 m/s, LOS rate: 0.298992 deg/s, cmd heading: 20.914024 deg, new cmd heading: 21.216067 deg. 2025-01-08T21:28:38.512Z,1736371718.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.370290 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:38.644Z,1736371718.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:38.888Z,1736371718.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:38.897Z,1736371718.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:38.898Z,1736371718.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:38.901Z,1736371718.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 119.608574 m, bearing: 180.559780 deg, approach rate: 0.162277 m/s, LOS rate: 0.274593 deg/s, cmd heading: 21.216067 deg, new cmd heading: 21.541547 deg. 2025-01-08T21:28:38.902Z,1736371718.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.375971 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:39.148Z,1736371719.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:39.311Z,1736371719.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:39.341Z,1736371719.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:39.347Z,1736371719.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 119.682076 m, bearing: 180.673690 deg, approach rate: 0.166264 m/s, LOS rate: 0.257513 deg/s, cmd heading: 21.541548 deg, new cmd heading: 21.883066 deg. 2025-01-08T21:28:39.348Z,1736371719.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.381932 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:39.400Z,1736371719.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:39.652Z,1736371719.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:39.703Z,1736371719.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:39.718Z,1736371719.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:39.724Z,1736371719.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:39.726Z,1736371719.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 119.757957 m, bearing: 180.778116 deg, approach rate: 0.198048 m/s, LOS rate: 0.272371 deg/s, cmd heading: 21.883065 deg, new cmd heading: 22.196139 deg. 2025-01-08T21:28:39.732Z,1736371719.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.387396 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:39.904Z,1736371719.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:39.904Z,1736371719.904 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:39.904Z,1736371719.904 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:39.904Z,1736371719.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:40.148Z,1736371720.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:40.156Z,1736371720.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:40.157Z,1736371720.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235270 2025-01-08T21:28:40.161Z,1736371720.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:40.168Z,1736371720.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 119.840828 m, bearing: 180.887998 deg, approach rate: 0.189710 m/s, LOS rate: 0.251372 deg/s, cmd heading: 22.196139 deg, new cmd heading: 22.525554 deg. 2025-01-08T21:28:40.169Z,1736371720.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393145 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:40.408Z,1736371720.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:40.409Z,1736371720.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487394 2025-01-08T21:28:40.525Z,1736371720.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:40.540Z,1736371720.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:40.557Z,1736371720.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 119.924362 m, bearing: 180.987904 deg, approach rate: 0.220981 m/s, LOS rate: 0.264106 deg/s, cmd heading: 22.525554 deg, new cmd heading: 22.825060 deg. 2025-01-08T21:28:40.576Z,1736371720.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.398372 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:40.661Z,1736371720.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:40.662Z,1736371720.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740672 2025-01-08T21:28:40.908Z,1736371720.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:40.912Z,1736371720.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:40.914Z,1736371720.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992009 2025-01-08T21:28:40.919Z,1736371720.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:40.922Z,1736371720.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 120.012550 m, bearing: 181.083437 deg, approach rate: 0.231862 m/s, LOS rate: 0.250988 deg/s, cmd heading: 22.825060 deg, new cmd heading: 23.111446 deg. 2025-01-08T21:28:40.923Z,1736371720.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.403371 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:41.164Z,1736371721.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:41.165Z,1736371721.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244214 2025-01-08T21:28:41.336Z,1736371721.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:41.370Z,1736371721.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:41.377Z,1736371721.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 120.125381 m, bearing: 181.186267 deg, approach rate: 0.250265 m/s, LOS rate: 0.227867 deg/s, cmd heading: 23.111446 deg, new cmd heading: 23.419643 deg. 2025-01-08T21:28:41.378Z,1736371721.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.408750 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:41.416Z,1736371721.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:41.417Z,1736371721.417 [DAT](INFO): DAT read: Rx Time:21:28:40.0396 2025-01-08T21:28:41.417Z,1736371721.417 [DAT](INFO): Rx dataTimestamp_ set to:1736371721.416764 2025-01-08T21:28:41.418Z,1736371721.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496311 2025-01-08T21:28:41.668Z,1736371721.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:41.670Z,1736371721.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.748175 2025-01-08T21:28:41.784Z,1736371721.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:41.790Z,1736371721.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:41.792Z,1736371721.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:41.795Z,1736371721.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 120.250763 m, bearing: 181.291506 deg, approach rate: 0.296667 m/s, LOS rate: 0.248748 deg/s, cmd heading: 23.419643 deg, new cmd heading: 23.735027 deg. 2025-01-08T21:28:41.800Z,1736371721.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414254 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:41.922Z,1736371721.922 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:41.930Z,1736371721.930 [DAT](INFO): DAT read: 21:28:40.0396 LVL= 18000, 16737, 11810, 20051, AGC= 65, IDX= 86, 0.14,-2.255, 0.011, 0.053,-0.674, PHS=-1.493, 0.732, 0.723, RAW= 270.2, 0.3, CAL= 271.9, -0.1, ROT= 238.1, 0.1 2025-01-08T21:28:41.932Z,1736371721.932 [DAT](INFO): got valid direction response: 21:28:40.0396 LVL= 18000, 16737, 11810, 20051, AGC= 65, IDX= 86, 0.14,-2.255, 0.011, 0.053,-0.674, PHS=-1.493, 0.732, 0.723, RAW= 270.2, 0.3, CAL= 271.9, -0.1, ROT= 238.1, 0.1 2025-01-08T21:28:41.933Z,1736371721.933 [DAT](INFO): DAT read: Bearing 238.1, 0.1 (Local) 2025-01-08T21:28:41.933Z,1736371721.933 [DAT](INFO): Local bearing/azimuth received: Bearing 238.1, 0.1 (Local) 2025-01-08T21:28:41.935Z,1736371721.935 [DAT](INFO): DAT read: Range 10 to 50 : 307.8 m (Round-trip 410.4 ms) speed -0.4 m/s 2025-01-08T21:28:41.936Z,1736371721.936 [DAT](INFO): DAT read: user:1799> 2025-01-08T21:28:41.936Z,1736371721.936 [DAT](INFO): DAT read: Tx time:21:28:41.1250 2025-01-08T21:28:41.937Z,1736371721.937 [DAT](INFO): Ping request sent. 2025-01-08T21:28:41.937Z,1736371721.937 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:41.937Z,1736371721.937 [DAT](INFO): DAT read: TxSync time:21:28:41.1244 2025-01-08T21:28:41.938Z,1736371721.938 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:28:41.939Z,1736371721.939 [DAT](INFO): direction in FSK: [0.078834,-0.103818,-0.991467] 2025-01-08T21:28:41.943Z,1736371721.943 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:41.944Z,1736371721.944 [DAT](INFO): publishing direction and range info 2025-01-08T21:28:41.965Z,1736371721.965 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:41.965Z,1736371721.965 [DAT](INFO): publishing direction and range info 2025-01-08T21:28:42.172Z,1736371722.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:42.211Z,1736371722.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:42.239Z,1736371722.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 307.799988 m, deltaT: 4.034544 s, deltaX: -24.400024 m, approachRate: -6.047778 m/s, rangeRepo size: 4 2025-01-08T21:28:42.248Z,1736371722.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:42.250Z,1736371722.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 120.373596 m, bearing: 181.390712 deg, approach rate: 0.275572 m/s, LOS rate: 0.222339 deg/s, cmd heading: 23.735027 deg, new cmd heading: 24.032340 deg. 2025-01-08T21:28:42.256Z,1736371722.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419443 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:42.424Z,1736371722.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:42.676Z,1736371722.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:42.697Z,1736371722.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:42.721Z,1736371722.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:42.728Z,1736371722.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 120.523026 m, bearing: 181.502868 deg, approach rate: 0.309400 m/s, LOS rate: 0.231936 deg/s, cmd heading: 24.032340 deg, new cmd heading: 24.368387 deg. 2025-01-08T21:28:42.730Z,1736371722.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425309 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:42.928Z,1736371722.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:43.180Z,1736371723.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:43.255Z,1736371723.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:43.264Z,1736371723.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:43.267Z,1736371723.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 120.693642 m, bearing: 181.630171 deg, approach rate: 0.314092 m/s, LOS rate: 0.234024 deg/s, cmd heading: 24.368387 deg, new cmd heading: 24.749750 deg. 2025-01-08T21:28:43.268Z,1736371723.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431965 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:43.432Z,1736371723.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:43.684Z,1736371723.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:43.688Z,1736371723.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:43.698Z,1736371723.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:43.701Z,1736371723.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 120.844734 m, bearing: 181.722394 deg, approach rate: 0.348354 m/s, LOS rate: 0.212361 deg/s, cmd heading: 24.749751 deg, new cmd heading: 25.026072 deg. 2025-01-08T21:28:43.702Z,1736371723.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436787 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:43.936Z,1736371723.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:44.174Z,1736371724.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:44.188Z,1736371724.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:44.187Z,1736371724.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:44.193Z,1736371724.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:44.200Z,1736371724.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 121.025742 m, bearing: 181.823597 deg, approach rate: 0.365345 m/s, LOS rate: 0.203961 deg/s, cmd heading: 25.026071 deg, new cmd heading: 25.329221 deg. 2025-01-08T21:28:44.201Z,1736371724.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442078 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:44.440Z,1736371724.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:44.440Z,1736371724.440 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:44.440Z,1736371724.440 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:44.441Z,1736371724.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:44.526Z,1736371724.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:44.543Z,1736371724.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:44.556Z,1736371724.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 121.162750 m, bearing: 181.894816 deg, approach rate: 0.392442 m/s, LOS rate: 0.203766 deg/s, cmd heading: 25.329220 deg, new cmd heading: 25.542635 deg. 2025-01-08T21:28:44.557Z,1736371724.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445803 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:44.692Z,1736371724.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:44.692Z,1736371724.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755628 2025-01-08T21:28:44.913Z,1736371724.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:44.921Z,1736371724.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:44.924Z,1736371724.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 121.312874 m, bearing: 181.972559 deg, approach rate: 0.396342 m/s, LOS rate: 0.204997 deg/s, cmd heading: 25.542635 deg, new cmd heading: 25.775575 deg. 2025-01-08T21:28:44.925Z,1736371724.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449869 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:44.944Z,1736371724.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:44.945Z,1736371724.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008194 2025-01-08T21:28:45.196Z,1736371725.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:45.197Z,1736371725.197 [DAT](INFO): DAT read: Rx Time:21:28:43.9418 2025-01-08T21:28:45.198Z,1736371725.198 [DAT](INFO): Rx dataTimestamp_ set to:1736371725.197381 2025-01-08T21:28:45.198Z,1736371725.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261426 2025-01-08T21:28:45.336Z,1736371725.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:45.367Z,1736371725.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:45.370Z,1736371725.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 121.478363 m, bearing: 182.059684 deg, approach rate: 0.371582 m/s, LOS rate: 0.195359 deg/s, cmd heading: 25.775575 deg, new cmd heading: 26.036591 deg. 2025-01-08T21:28:45.371Z,1736371725.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454424 target range: 332.200012 and range: 332.20 m. 2025-01-08T21:28:45.448Z,1736371725.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:45.449Z,1736371725.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511803 2025-01-08T21:28:45.700Z,1736371725.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:45.701Z,1736371725.701 [DAT](INFO): DAT read: Range 10 to 50 : 309.3 m (Round-trip 412.5 ms) speed 0.3 m/s 2025-01-08T21:28:45.702Z,1736371725.702 [DAT](INFO): DAT read: user:1800> 2025-01-08T21:28:45.703Z,1736371725.703 [DAT](INFO): DAT read: Tx time:21:28:45.0251 2025-01-08T21:28:45.703Z,1736371725.703 [DAT](INFO): Ping request sent. 2025-01-08T21:28:45.703Z,1736371725.703 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:45.704Z,1736371725.704 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:28:45.704Z,1736371725.704 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:45.704Z,1736371725.704 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:45.711Z,1736371725.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:45.765Z,1736371725.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 309.299988 m, deltaT: 7.811938 s, deltaX: -22.900024 m, approachRate: -2.931414 m/s, rangeRepo size: 4 2025-01-08T21:28:45.766Z,1736371725.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:45.772Z,1736371725.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 121.640129 m, bearing: 182.129385 deg, approach rate: 0.406900 m/s, LOS rate: 0.175091 deg/s, cmd heading: 26.036591 deg, new cmd heading: 26.245416 deg. 2025-01-08T21:28:45.773Z,1736371725.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.458069 target range: 332.200012 and range: 309.30 m. 2025-01-08T21:28:45.952Z,1736371725.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:45.952Z,1736371725.952 [DAT](INFO): DAT read: TxSync time:21:28:45.0244 2025-01-08T21:28:46.172Z,1736371726.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:46.204Z,1736371726.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:46.216Z,1736371726.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:46.218Z,1736371726.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:46.225Z,1736371726.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 121.842842 m, bearing: 182.210926 deg, approach rate: 0.446736 m/s, LOS rate: 0.179399 deg/s, cmd heading: 26.245417 deg, new cmd heading: 26.489630 deg. 2025-01-08T21:28:46.226Z,1736371726.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.462331 target range: 332.200012 and range: 309.30 m. 2025-01-08T21:28:46.456Z,1736371726.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:46.456Z,1736371726.456 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:46.456Z,1736371726.456 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:46.456Z,1736371726.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:46.566Z,1736371726.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:46.575Z,1736371726.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:46.578Z,1736371726.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 122.028206 m, bearing: 182.284580 deg, approach rate: 0.519560 m/s, LOS rate: 0.206133 deg/s, cmd heading: 26.489630 deg, new cmd heading: 26.710256 deg. 2025-01-08T21:28:46.579Z,1736371726.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466182 target range: 332.200012 and range: 309.30 m. 2025-01-08T21:28:46.709Z,1736371726.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:46.709Z,1736371726.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006008 2025-01-08T21:28:46.921Z,1736371726.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:46.947Z,1736371726.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:46.950Z,1736371726.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 122.197197 m, bearing: 182.347696 deg, approach rate: 0.455564 m/s, LOS rate: 0.169913 deg/s, cmd heading: 26.710256 deg, new cmd heading: 26.899342 deg. 2025-01-08T21:28:46.956Z,1736371726.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.469482 target range: 332.200012 and range: 309.30 m. 2025-01-08T21:28:46.960Z,1736371726.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:46.961Z,1736371726.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257129 2025-01-08T21:28:47.213Z,1736371727.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:47.214Z,1736371727.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510828 2025-01-08T21:28:47.366Z,1736371727.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:47.375Z,1736371727.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:47.378Z,1736371727.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 122.415367 m, bearing: 182.428157 deg, approach rate: 0.508445 m/s, LOS rate: 0.187179 deg/s, cmd heading: 26.899343 deg, new cmd heading: 27.140292 deg. 2025-01-08T21:28:47.380Z,1736371727.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473687 target range: 332.200012 and range: 309.30 m. 2025-01-08T21:28:47.464Z,1736371727.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:47.465Z,1736371727.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761700 2025-01-08T21:28:47.716Z,1736371727.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:47.717Z,1736371727.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013153 2025-01-08T21:28:47.750Z,1736371727.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:47.768Z,1736371727.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:47.771Z,1736371727.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 122.608490 m, bearing: 182.494659 deg, approach rate: 0.491101 m/s, LOS rate: 0.168844 deg/s, cmd heading: 27.140293 deg, new cmd heading: 27.339483 deg. 2025-01-08T21:28:47.776Z,1736371727.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.477164 target range: 332.200012 and range: 309.30 m. 2025-01-08T21:28:47.968Z,1736371727.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:47.968Z,1736371727.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264996 2025-01-08T21:28:48.142Z,1736371728.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:48.220Z,1736371728.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:48.221Z,1736371728.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517282 2025-01-08T21:28:48.235Z,1736371728.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:48.241Z,1736371728.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:48.248Z,1736371728.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 122.809433 m, bearing: 182.559201 deg, approach rate: 0.424816 m/s, LOS rate: 0.136227 deg/s, cmd heading: 27.339483 deg, new cmd heading: 27.532793 deg. 2025-01-08T21:28:48.249Z,1736371728.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.480538 target range: 332.200012 and range: 309.30 m. 2025-01-08T21:28:48.472Z,1736371728.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:48.473Z,1736371728.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769111 2025-01-08T21:28:48.556Z,1736371728.556 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, 1, + -3.31, 8.71, 0.00 2025-01-08T21:28:48.564Z,1736371728.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:28:48.565Z,1736371728.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:48.586Z,1736371728.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:48.608Z,1736371728.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 123.030983 m, bearing: 182.625742 deg, approach rate: 0.643302 m/s, LOS rate: 0.192865 deg/s, cmd heading: 27.532793 deg, new cmd heading: 27.732057 deg. 2025-01-08T21:28:48.609Z,1736371728.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484016 target range: 332.200012 and range: 309.30 m. 2025-01-08T21:28:48.724Z,1736371728.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:48.725Z,1736371728.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021925 2025-01-08T21:28:48.937Z,1736371728.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:28:48.937Z,1736371728.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:48.945Z,1736371728.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:48.949Z,1736371728.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 123.230255 m, bearing: 182.681857 deg, approach rate: 0.553931 m/s, LOS rate: 0.155732 deg/s, cmd heading: 27.732057 deg, new cmd heading: 27.900127 deg. 2025-01-08T21:28:48.950Z,1736371728.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486949 target range: 332.200012 and range: 309.30 m. 2025-01-08T21:28:48.976Z,1736371728.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:48.977Z,1736371728.977 [DAT](INFO): DAT read: Rx Time:21:28:47.8424 2025-01-08T21:28:48.977Z,1736371728.977 [DAT](INFO): Rx dataTimestamp_ set to:1736371728.976728 2025-01-08T21:28:48.978Z,1736371728.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274125 2025-01-08T21:28:49.228Z,1736371729.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:49.228Z,1736371729.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524971 2025-01-08T21:28:49.359Z,1736371729.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:49.389Z,1736371729.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:49.393Z,1736371729.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 123.455437 m, bearing: 182.751796 deg, approach rate: 0.507941 m/s, LOS rate: 0.157475 deg/s, cmd heading: 27.900126 deg, new cmd heading: 28.109562 deg. 2025-01-08T21:28:49.394Z,1736371729.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490604 target range: 332.200012 and range: 309.30 m. 2025-01-08T21:28:49.480Z,1736371729.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:49.481Z,1736371729.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777895 2025-01-08T21:28:49.732Z,1736371729.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:49.734Z,1736371729.734 [DAT](INFO): DAT read: Range 10 to 50 : 309.8 m (Round-trip 413.1 ms) speed 0.0 m/s 2025-01-08T21:28:49.735Z,1736371729.735 [DAT](INFO): DAT read: user:1801> 2025-01-08T21:28:49.736Z,1736371729.736 [DAT](INFO): DAT read: Tx time:21:28:48.9251 2025-01-08T21:28:49.736Z,1736371729.736 [DAT](INFO): Ping request sent. 2025-01-08T21:28:49.736Z,1736371729.736 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:49.737Z,1736371729.737 [DAT](INFO): DAT read: TxSync time:21:28:48.9244 2025-01-08T21:28:49.737Z,1736371729.737 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:28:49.737Z,1736371729.737 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:49.738Z,1736371729.738 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:49.790Z,1736371729.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:49.816Z,1736371729.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 309.799988 m, deltaT: 4.032448 s, deltaX: 0.500000 m, approachRate: 0.123994 m/s, rangeRepo size: 4 2025-01-08T21:28:49.817Z,1736371729.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:49.824Z,1736371729.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 123.688538 m, bearing: 182.820520 deg, approach rate: 0.556933 m/s, LOS rate: 0.163886 deg/s, cmd heading: 28.109562 deg, new cmd heading: 28.315341 deg. 2025-01-08T21:28:49.825Z,1736371729.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.494196 target range: 332.200012 and range: 309.80 m. 2025-01-08T21:28:49.839Z,1736371729.839 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:28:49.984Z,1736371729.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:50.159Z,1736371730.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:50.185Z,1736371730.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:50.195Z,1736371730.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 123.890633 m, bearing: 182.877389 deg, approach rate: 0.537641 m/s, LOS rate: 0.151046 deg/s, cmd heading: 28.315342 deg, new cmd heading: 28.485672 deg. 2025-01-08T21:28:50.226Z,1736371730.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497169 target range: 332.200012 and range: 309.80 m. 2025-01-08T21:28:50.236Z,1736371730.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:50.488Z,1736371730.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:50.594Z,1736371730.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:28:50.594Z,1736371730.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:50.611Z,1736371730.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:50.615Z,1736371730.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:50.638Z,1736371730.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 124.128975 m, bearing: 182.944178 deg, approach rate: 0.553204 m/s, LOS rate: 0.154723 deg/s, cmd heading: 28.485671 deg, new cmd heading: 28.685653 deg. 2025-01-08T21:28:50.664Z,1736371730.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500659 target range: 332.200012 and range: 309.80 m. 2025-01-08T21:28:50.740Z,1736371730.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:50.740Z,1736371730.740 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:50.740Z,1736371730.740 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:50.741Z,1736371730.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:50.840Z,1736371730.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:28:50.966Z,1736371730.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:28:50.966Z,1736371730.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:50.991Z,1736371730.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:50.995Z,1736371730.995 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:50.997Z,1736371730.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261263 2025-01-08T21:28:51.004Z,1736371731.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 124.335922 m, bearing: 182.998250 deg, approach rate: 0.549414 m/s, LOS rate: 0.143314 deg/s, cmd heading: 28.685654 deg, new cmd heading: 28.847599 deg. 2025-01-08T21:28:51.005Z,1736371731.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503486 target range: 332.200012 and range: 309.80 m. 2025-01-08T21:28:51.244Z,1736371731.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:51.244Z,1736371731.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508281 2025-01-08T21:28:51.405Z,1736371731.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:51.427Z,1736371731.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:51.431Z,1736371731.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 124.582664 m, bearing: 183.065887 deg, approach rate: 0.570539 m/s, LOS rate: 0.156086 deg/s, cmd heading: 28.847598 deg, new cmd heading: 29.050105 deg. 2025-01-08T21:28:51.436Z,1736371731.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507020 target range: 332.200012 and range: 309.80 m. 2025-01-08T21:28:51.496Z,1736371731.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:51.497Z,1736371731.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761148 2025-01-08T21:28:51.748Z,1736371731.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:51.748Z,1736371731.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012321 2025-01-08T21:28:51.872Z,1736371731.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:51.881Z,1736371731.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:51.884Z,1736371731.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 124.845123 m, bearing: 183.136552 deg, approach rate: 0.573008 m/s, LOS rate: 0.153953 deg/s, cmd heading: 29.050106 deg, new cmd heading: 29.261654 deg. 2025-01-08T21:28:51.885Z,1736371731.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510712 target range: 332.200012 and range: 309.80 m. 2025-01-08T21:28:52.000Z,1736371732.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:52.001Z,1736371732.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265094 2025-01-08T21:28:52.253Z,1736371732.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:52.256Z,1736371732.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519049 2025-01-08T21:28:52.333Z,1736371732.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:52.342Z,1736371732.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:52.345Z,1736371732.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 125.102661 m, bearing: 183.206022 deg, approach rate: 0.558614 m/s, LOS rate: 0.150374 deg/s, cmd heading: 29.261654 deg, new cmd heading: 29.469633 deg. 2025-01-08T21:28:52.346Z,1736371732.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514342 target range: 332.200012 and range: 309.80 m. 2025-01-08T21:28:52.504Z,1736371732.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:52.505Z,1736371732.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769123 2025-01-08T21:28:52.694Z,1736371732.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:52.701Z,1736371732.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:52.703Z,1736371732.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:52.706Z,1736371732.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 125.303368 m, bearing: 183.260193 deg, approach rate: 0.556455 m/s, LOS rate: 0.149950 deg/s, cmd heading: 29.469633 deg, new cmd heading: 29.631888 deg. 2025-01-08T21:28:52.709Z,1736371732.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517174 target range: 332.200012 and range: 309.80 m. 2025-01-08T21:28:52.757Z,1736371732.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:52.758Z,1736371732.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021839 2025-01-08T21:28:53.008Z,1736371733.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:53.008Z,1736371733.008 [DAT](INFO): DAT read: Rx Time:21:28:51.7425 2025-01-08T21:28:53.009Z,1736371733.009 [DAT](INFO): Rx dataTimestamp_ set to:1736371733.008672 2025-01-08T21:28:53.009Z,1736371733.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273404 2025-01-08T21:28:53.086Z,1736371733.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:53.102Z,1736371733.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:53.109Z,1736371733.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 125.520973 m, bearing: 183.319012 deg, approach rate: 0.545014 m/s, LOS rate: 0.147062 deg/s, cmd heading: 29.631888 deg, new cmd heading: 29.808038 deg. 2025-01-08T21:28:53.110Z,1736371733.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520248 target range: 332.200012 and range: 309.80 m. 2025-01-08T21:28:53.261Z,1736371733.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:53.264Z,1736371733.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527722 2025-01-08T21:28:53.493Z,1736371733.493 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010813295855,35.0, +10.9, 0.0,14 2025-01-08T21:28:53.502Z,1736371733.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:28:53.502Z,1736371733.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:53.510Z,1736371733.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:53.512Z,1736371733.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:53.514Z,1736371733.514 [DAT](INFO): DAT read: Range 10 to 50 : 309.9 m (Round-trip 413.2 ms) speed -0.1 m/s 2025-01-08T21:28:53.515Z,1736371733.515 [DAT](INFO): DAT read: user:1802> 2025-01-08T21:28:53.516Z,1736371733.516 [DAT](INFO): DAT read: Tx time:21:28:52.8251 2025-01-08T21:28:53.516Z,1736371733.516 [DAT](INFO): Ping request sent. 2025-01-08T21:28:53.516Z,1736371733.516 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:53.517Z,1736371733.517 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:28:53.517Z,1736371733.517 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:53.517Z,1736371733.517 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:53.541Z,1736371733.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 125.752136 m, bearing: 183.381233 deg, approach rate: 0.566343 m/s, LOS rate: 0.152158 deg/s, cmd heading: 29.808038 deg, new cmd heading: 29.994356 deg. 2025-01-08T21:28:53.542Z,1736371733.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523500 target range: 332.200012 and range: 309.80 m. 2025-01-08T21:28:53.764Z,1736371733.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:53.767Z,1736371733.767 [DAT](INFO): DAT read: TxSync time:21:28:52.8244 2025-01-08T21:28:53.885Z,1736371733.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:28:53.885Z,1736371733.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:53.894Z,1736371733.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 309.899994 m, deltaT: 3.779753 s, deltaX: 0.100006 m, approachRate: 0.026458 m/s, rangeRepo size: 4 2025-01-08T21:28:53.895Z,1736371733.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:53.898Z,1736371733.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 125.963509 m, bearing: 183.439001 deg, approach rate: 0.551733 m/s, LOS rate: 0.150535 deg/s, cmd heading: 29.994356 deg, new cmd heading: 30.167368 deg. 2025-01-08T21:28:53.899Z,1736371733.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526520 target range: 332.200012 and range: 309.90 m. 2025-01-08T21:28:54.016Z,1736371734.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:54.269Z,1736371734.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:54.370Z,1736371734.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:54.404Z,1736371734.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:54.406Z,1736371734.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 126.237732 m, bearing: 183.498381 deg, approach rate: 0.541740 m/s, LOS rate: 0.117053 deg/s, cmd heading: 30.167368 deg, new cmd heading: 30.345121 deg. 2025-01-08T21:28:54.412Z,1736371734.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529622 target range: 332.200012 and range: 309.90 m. 2025-01-08T21:28:54.521Z,1736371734.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:54.757Z,1736371734.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:54.763Z,1736371734.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:54.765Z,1736371734.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:54.768Z,1736371734.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 126.454460 m, bearing: 183.546248 deg, approach rate: 0.592196 m/s, LOS rate: 0.130568 deg/s, cmd heading: 30.345120 deg, new cmd heading: 30.488473 deg. 2025-01-08T21:28:54.769Z,1736371734.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.532124 target range: 332.200012 and range: 309.90 m. 2025-01-08T21:28:54.773Z,1736371734.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:54.774Z,1736371734.774 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:54.774Z,1736371734.774 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:54.775Z,1736371734.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:55.024Z,1736371735.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:55.024Z,1736371735.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507994 2025-01-08T21:28:55.183Z,1736371735.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:55.192Z,1736371735.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:55.196Z,1736371735.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 126.692177 m, bearing: 183.599971 deg, approach rate: 0.557317 m/s, LOS rate: 0.125717 deg/s, cmd heading: 30.488472 deg, new cmd heading: 30.649341 deg. 2025-01-08T21:28:55.199Z,1736371735.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534932 target range: 332.200012 and range: 309.90 m. 2025-01-08T21:28:55.278Z,1736371735.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:55.280Z,1736371735.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763578 2025-01-08T21:28:55.528Z,1736371735.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:55.528Z,1736371735.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012054 2025-01-08T21:28:55.631Z,1736371735.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:55.664Z,1736371735.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:55.673Z,1736371735.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 126.943665 m, bearing: 183.646439 deg, approach rate: 0.537928 m/s, LOS rate: 0.099197 deg/s, cmd heading: 30.649340 deg, new cmd heading: 30.788467 deg. 2025-01-08T21:28:55.674Z,1736371735.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537360 target range: 332.200012 and range: 309.90 m. 2025-01-08T21:28:55.780Z,1736371735.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:55.781Z,1736371735.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264975 2025-01-08T21:28:56.014Z,1736371736.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:56.023Z,1736371736.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:56.025Z,1736371736.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 127.159241 m, bearing: 183.686113 deg, approach rate: 0.593784 m/s, LOS rate: 0.109094 deg/s, cmd heading: 30.788468 deg, new cmd heading: 30.907289 deg. 2025-01-08T21:28:56.026Z,1736371736.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.539434 target range: 332.200012 and range: 309.90 m. 2025-01-08T21:28:56.032Z,1736371736.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:56.033Z,1736371736.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516255 2025-01-08T21:28:56.286Z,1736371736.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:56.288Z,1736371736.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771068 2025-01-08T21:28:56.423Z,1736371736.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:56.433Z,1736371736.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:56.456Z,1736371736.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 127.391472 m, bearing: 183.725740 deg, approach rate: 0.566101 m/s, LOS rate: 0.096420 deg/s, cmd heading: 30.907289 deg, new cmd heading: 31.025952 deg. 2025-01-08T21:28:56.457Z,1736371736.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541505 target range: 332.200012 and range: 309.90 m. 2025-01-08T21:28:56.536Z,1736371736.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:56.536Z,1736371736.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020147 2025-01-08T21:28:56.788Z,1736371736.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:56.788Z,1736371736.788 [DAT](INFO): DAT read: Rx Time:21:28:55.6424 2025-01-08T21:28:56.789Z,1736371736.789 [DAT](INFO): Rx dataTimestamp_ set to:1736371736.788625 2025-01-08T21:28:56.789Z,1736371736.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273147 2025-01-08T21:28:56.896Z,1736371736.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:56.903Z,1736371736.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:56.906Z,1736371736.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:56.908Z,1736371736.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 127.659096 m, bearing: 183.771948 deg, approach rate: 0.566083 m/s, LOS rate: 0.097536 deg/s, cmd heading: 31.025953 deg, new cmd heading: 31.164287 deg. 2025-01-08T21:28:56.909Z,1736371736.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543919 target range: 332.200012 and range: 309.90 m. 2025-01-08T21:28:57.040Z,1736371737.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:57.041Z,1736371737.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524729 2025-01-08T21:28:57.294Z,1736371737.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:57.298Z,1736371737.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780740 2025-01-08T21:28:57.389Z,1736371737.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:57.398Z,1736371737.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:57.401Z,1736371737.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 127.946335 m, bearing: 183.813692 deg, approach rate: 0.583717 m/s, LOS rate: 0.084639 deg/s, cmd heading: 31.164289 deg, new cmd heading: 31.289238 deg. 2025-01-08T21:28:57.402Z,1736371737.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546100 target range: 332.200012 and range: 309.90 m. 2025-01-08T21:28:57.544Z,1736371737.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:57.546Z,1736371737.546 [DAT](INFO): DAT read: Range 10 to 50 : 309.7 m (Round-trip 413.0 ms) speed -0.1 m/s 2025-01-08T21:28:57.547Z,1736371737.547 [DAT](INFO): DAT read: user:1803> 2025-01-08T21:28:57.548Z,1736371737.548 [DAT](INFO): DAT read: Tx time:21:28:56.7252 2025-01-08T21:28:57.549Z,1736371737.549 [DAT](INFO): Ping request sent. 2025-01-08T21:28:57.549Z,1736371737.549 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:28:57.550Z,1736371737.550 [DAT](INFO): DAT read: TxSync time:21:28:56.7245 2025-01-08T21:28:57.551Z,1736371737.551 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:28:57.551Z,1736371737.551 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:57.556Z,1736371737.556 [DAT](INFO): publishing transmit ping time 2025-01-08T21:28:57.796Z,1736371737.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:57.809Z,1736371737.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:57.841Z,1736371737.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 309.700012 m, deltaT: 4.031927 s, deltaX: -0.199982 m, approachRate: -0.049600 m/s, rangeRepo size: 4 2025-01-08T21:28:57.842Z,1736371737.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:57.849Z,1736371737.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 128.189392 m, bearing: 183.850102 deg, approach rate: 0.548558 m/s, LOS rate: 0.082018 deg/s, cmd heading: 31.289237 deg, new cmd heading: 31.398259 deg. 2025-01-08T21:28:57.850Z,1736371737.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548003 target range: 332.200012 and range: 309.70 m. 2025-01-08T21:28:58.049Z,1736371738.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:58.255Z,1736371738.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:58.265Z,1736371738.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:58.273Z,1736371738.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 128.447083 m, bearing: 183.889002 deg, approach rate: 0.607083 m/s, LOS rate: 0.091459 deg/s, cmd heading: 31.398260 deg, new cmd heading: 31.514725 deg. 2025-01-08T21:28:58.274Z,1736371738.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550036 target range: 332.200012 and range: 309.70 m. 2025-01-08T21:28:58.301Z,1736371738.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:58.552Z,1736371738.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:58.697Z,1736371738.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:58.705Z,1736371738.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:58.708Z,1736371738.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 128.707291 m, bearing: 183.925020 deg, approach rate: 0.591478 m/s, LOS rate: 0.081709 deg/s, cmd heading: 31.514725 deg, new cmd heading: 31.622563 deg. 2025-01-08T21:28:58.709Z,1736371738.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.551918 target range: 332.200012 and range: 309.70 m. 2025-01-08T21:28:58.804Z,1736371738.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:59.056Z,1736371739.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:59.078Z,1736371739.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:59.087Z,1736371739.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:28:59.117Z,1736371739.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:59.131Z,1736371739.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 128.932312 m, bearing: 183.956044 deg, approach rate: 0.546436 m/s, LOS rate: 0.075204 deg/s, cmd heading: 31.622563 deg, new cmd heading: 31.715470 deg. 2025-01-08T21:28:59.132Z,1736371739.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553539 target range: 332.200012 and range: 309.70 m. 2025-01-08T21:28:59.309Z,1736371739.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:59.311Z,1736371739.311 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:28:59.311Z,1736371739.311 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:28:59.312Z,1736371739.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:28:59.500Z,1736371739.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:28:59.530Z,1736371739.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:28:59.538Z,1736371739.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 129.186646 m, bearing: 183.990290 deg, approach rate: 0.616270 m/s, LOS rate: 0.082818 deg/s, cmd heading: 31.715471 deg, new cmd heading: 31.818008 deg. 2025-01-08T21:28:59.539Z,1736371739.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555329 target range: 332.200012 and range: 309.70 m. 2025-01-08T21:28:59.560Z,1736371739.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:59.561Z,1736371739.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011863 2025-01-08T21:28:59.812Z,1736371739.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:28:59.813Z,1736371739.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264223 2025-01-08T21:29:00.014Z,1736371740.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:00.023Z,1736371740.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:00.025Z,1736371740.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 129.496475 m, bearing: 184.031821 deg, approach rate: 0.628593 m/s, LOS rate: 0.084058 deg/s, cmd heading: 31.818009 deg, new cmd heading: 31.942304 deg. 2025-01-08T21:29:00.026Z,1736371740.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557498 target range: 332.200012 and range: 309.70 m. 2025-01-08T21:29:00.064Z,1736371740.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:00.064Z,1736371740.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515649 2025-01-08T21:29:00.317Z,1736371740.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:00.320Z,1736371740.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770214 2025-01-08T21:29:00.433Z,1736371740.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:00.441Z,1736371740.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:00.444Z,1736371740.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 129.755753 m, bearing: 184.073073 deg, approach rate: 0.619242 m/s, LOS rate: 0.098328 deg/s, cmd heading: 31.942305 deg, new cmd heading: 32.065815 deg. 2025-01-08T21:29:00.445Z,1736371740.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559654 target range: 332.200012 and range: 309.70 m. 2025-01-08T21:29:00.568Z,1736371740.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:00.568Z,1736371740.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019664 2025-01-08T21:29:00.820Z,1736371740.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:00.821Z,1736371740.821 [DAT](INFO): DAT read: Rx Time:21:28:59.5422 2025-01-08T21:29:00.822Z,1736371740.822 [DAT](INFO): Rx dataTimestamp_ set to:1736371740.821736 2025-01-08T21:29:00.823Z,1736371740.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273851 2025-01-08T21:29:00.910Z,1736371740.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:00.927Z,1736371740.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:00.933Z,1736371740.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 130.050812 m, bearing: 184.120470 deg, approach rate: 0.607737 m/s, LOS rate: 0.097402 deg/s, cmd heading: 32.065815 deg, new cmd heading: 32.207683 deg. 2025-01-08T21:29:00.934Z,1736371740.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562130 target range: 332.200012 and range: 309.70 m. 2025-01-08T21:29:01.072Z,1736371741.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:01.072Z,1736371741.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523709 2025-01-08T21:29:01.275Z,1736371741.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:01.282Z,1736371741.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:01.285Z,1736371741.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:01.288Z,1736371741.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 130.276428 m, bearing: 184.156555 deg, approach rate: 0.630161 m/s, LOS rate: 0.100614 deg/s, cmd heading: 32.207682 deg, new cmd heading: 32.315750 deg. 2025-01-08T21:29:01.289Z,1736371741.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564016 target range: 332.200012 and range: 309.70 m. 2025-01-08T21:29:01.326Z,1736371741.326 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:01.332Z,1736371741.332 [DAT](INFO): DAT read: Range 10 to 50 : 309.6 m (Round-trip 412.8 ms) speed 0.1 m/s 2025-01-08T21:29:01.335Z,1736371741.335 [DAT](INFO): DAT read: user:1804> 2025-01-08T21:29:01.338Z,1736371741.338 [DAT](INFO): DAT read: Tx time:21:29:00.6252 2025-01-08T21:29:01.339Z,1736371741.339 [DAT](INFO): Ping request sent. 2025-01-08T21:29:01.344Z,1736371741.344 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:01.345Z,1736371741.345 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:29:01.346Z,1736371741.346 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:01.359Z,1736371741.359 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:01.576Z,1736371741.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:01.577Z,1736371741.577 [DAT](INFO): DAT read: TxSync time:21:29:00.6245 2025-01-08T21:29:01.774Z,1736371741.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:01.792Z,1736371741.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 309.600006 m, deltaT: 3.782236 s, deltaX: -0.100006 m, approachRate: -0.026441 m/s, rangeRepo size: 4 2025-01-08T21:29:01.793Z,1736371741.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:01.812Z,1736371741.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 130.582672 m, bearing: 184.213467 deg, approach rate: 0.607591 m/s, LOS rate: 0.112647 deg/s, cmd heading: 32.315749 deg, new cmd heading: 32.486081 deg. 2025-01-08T21:29:01.813Z,1736371741.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566989 target range: 332.200012 and range: 309.60 m. 2025-01-08T21:29:01.828Z,1736371741.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:02.080Z,1736371742.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:02.154Z,1736371742.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:02.163Z,1736371742.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:02.166Z,1736371742.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 130.815033 m, bearing: 184.257093 deg, approach rate: 0.622092 m/s, LOS rate: 0.116593 deg/s, cmd heading: 32.486080 deg, new cmd heading: 32.616728 deg. 2025-01-08T21:29:02.167Z,1736371742.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569269 target range: 332.200012 and range: 309.60 m. 2025-01-08T21:29:02.332Z,1736371742.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:02.577Z,1736371742.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:02.584Z,1736371742.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:02.591Z,1736371742.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:02.616Z,1736371742.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 131.081955 m, bearing: 184.315473 deg, approach rate: 0.622760 m/s, LOS rate: 0.135931 deg/s, cmd heading: 32.616728 deg, new cmd heading: 32.791512 deg. 2025-01-08T21:29:02.617Z,1736371742.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572320 target range: 332.200012 and range: 309.60 m. 2025-01-08T21:29:02.838Z,1736371742.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:02.955Z,1736371742.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:02.981Z,1736371742.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:02.987Z,1736371742.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 131.320267 m, bearing: 184.367995 deg, approach rate: 0.611671 m/s, LOS rate: 0.134561 deg/s, cmd heading: 32.791513 deg, new cmd heading: 32.948791 deg. 2025-01-08T21:29:02.988Z,1736371742.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575065 target range: 332.200012 and range: 309.60 m. 2025-01-08T21:29:03.089Z,1736371743.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:03.340Z,1736371743.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:03.471Z,1736371743.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:03.478Z,1736371743.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:03.481Z,1736371743.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:03.484Z,1736371743.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 131.639297 m, bearing: 184.446574 deg, approach rate: 0.637318 m/s, LOS rate: 0.156594 deg/s, cmd heading: 32.948792 deg, new cmd heading: 33.183956 deg. 2025-01-08T21:29:03.485Z,1736371743.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579169 target range: 332.200012 and range: 309.60 m. 2025-01-08T21:29:03.592Z,1736371743.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:03.592Z,1736371743.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:29:03.592Z,1736371743.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:29:03.593Z,1736371743.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:03.844Z,1736371743.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:03.846Z,1736371743.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506553 2025-01-08T21:29:03.885Z,1736371743.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:03.914Z,1736371743.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:03.921Z,1736371743.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 131.894745 m, bearing: 184.510224 deg, approach rate: 0.589842 m/s, LOS rate: 0.146686 deg/s, cmd heading: 33.183955 deg, new cmd heading: 33.374534 deg. 2025-01-08T21:29:03.923Z,1736371743.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582496 target range: 332.200012 and range: 309.60 m. 2025-01-08T21:29:04.098Z,1736371744.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:04.099Z,1736371744.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760075 2025-01-08T21:29:04.285Z,1736371744.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:04.294Z,1736371744.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:04.298Z,1736371744.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 132.141083 m, bearing: 184.571864 deg, approach rate: 0.648437 m/s, LOS rate: 0.161954 deg/s, cmd heading: 33.374534 deg, new cmd heading: 33.559110 deg. 2025-01-08T21:29:04.299Z,1736371744.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585717 target range: 332.200012 and range: 309.60 m. 2025-01-08T21:29:04.352Z,1736371744.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:04.353Z,1736371744.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014034 2025-01-08T21:29:04.604Z,1736371744.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:04.604Z,1736371744.604 [DAT](INFO): DAT read: Rx Time:21:29:03.4420 2025-01-08T21:29:04.605Z,1736371744.605 [DAT](INFO): Rx dataTimestamp_ set to:1736371744.604613 2025-01-08T21:29:04.605Z,1736371744.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266745 2025-01-08T21:29:04.736Z,1736371744.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:04.757Z,1736371744.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:04.764Z,1736371744.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 132.424744 m, bearing: 184.649420 deg, approach rate: 0.612278 m/s, LOS rate: 0.167046 deg/s, cmd heading: 33.559110 deg, new cmd heading: 33.791279 deg. 2025-01-08T21:29:04.765Z,1736371744.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589769 target range: 332.200012 and range: 309.60 m. 2025-01-08T21:29:04.856Z,1736371744.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:04.857Z,1736371744.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518026 2025-01-08T21:29:05.108Z,1736371745.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:05.110Z,1736371745.110 [DAT](INFO): DAT read: Range 10 to 50 : 309.4 m (Round-trip 412.6 ms) speed 0.0 m/s 2025-01-08T21:29:05.111Z,1736371745.111 [DAT](INFO): DAT read: user:1805> 2025-01-08T21:29:05.112Z,1736371745.112 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:29:05.113Z,1736371745.113 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:29:05.113Z,1736371745.113 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:29:05.113Z,1736371745.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:05.232Z,1736371745.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:05.242Z,1736371745.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 309.399994 m, deltaT: 3.782089 s, deltaX: -0.200012 m, approachRate: -0.052884 m/s, rangeRepo size: 4 2025-01-08T21:29:05.242Z,1736371745.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:05.245Z,1736371745.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 132.736603 m, bearing: 184.734231 deg, approach rate: 0.644898 m/s, LOS rate: 0.174970 deg/s, cmd heading: 33.791278 deg, new cmd heading: 34.045112 deg. 2025-01-08T21:29:05.247Z,1736371745.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594199 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:05.362Z,1736371745.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:05.365Z,1736371745.365 [DAT](INFO): DAT read: Tx time:21:29:04.5252 2025-01-08T21:29:05.366Z,1736371745.366 [DAT](INFO): Ping request sent. 2025-01-08T21:29:05.366Z,1736371745.366 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:05.367Z,1736371745.367 [DAT](INFO): DAT read: TxSync time:21:29:04.5245 2025-01-08T21:29:05.368Z,1736371745.368 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:05.370Z,1736371745.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003433 2025-01-08T21:29:05.616Z,1736371745.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:05.617Z,1736371745.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250731 2025-01-08T21:29:05.643Z,1736371745.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:05.672Z,1736371745.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:05.680Z,1736371745.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:05.683Z,1736371745.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 132.994049 m, bearing: 184.808359 deg, approach rate: 0.592885 m/s, LOS rate: 0.170382 deg/s, cmd heading: 34.045112 deg, new cmd heading: 34.267064 deg. 2025-01-08T21:29:05.692Z,1736371745.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598073 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:05.868Z,1736371745.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:05.869Z,1736371745.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503198 2025-01-08T21:29:06.003Z,1736371746.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:06.012Z,1736371746.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:06.015Z,1736371746.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 133.220154 m, bearing: 184.873932 deg, approach rate: 0.672350 m/s, LOS rate: 0.194658 deg/s, cmd heading: 34.267062 deg, new cmd heading: 34.463447 deg. 2025-01-08T21:29:06.016Z,1736371746.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601501 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:06.120Z,1736371746.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:06.120Z,1736371746.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754688 2025-01-08T21:29:06.376Z,1736371746.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:06.377Z,1736371746.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010818 2025-01-08T21:29:06.488Z,1736371746.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:06.508Z,1736371746.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:06.510Z,1736371746.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 133.523132 m, bearing: 184.961368 deg, approach rate: 0.612607 m/s, LOS rate: 0.176389 deg/s, cmd heading: 34.463447 deg, new cmd heading: 34.725157 deg. 2025-01-08T21:29:06.512Z,1736371746.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606068 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:06.632Z,1736371746.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:06.632Z,1736371746.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266588 2025-01-08T21:29:06.881Z,1736371746.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:06.884Z,1736371746.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517171 2025-01-08T21:29:07.005Z,1736371747.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:07.014Z,1736371747.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:07.017Z,1736371747.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 133.841156 m, bearing: 185.056691 deg, approach rate: 0.625708 m/s, LOS rate: 0.187102 deg/s, cmd heading: 34.725156 deg, new cmd heading: 35.010445 deg. 2025-01-08T21:29:07.018Z,1736371747.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.611048 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:07.132Z,1736371747.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:07.133Z,1736371747.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767296 2025-01-08T21:29:07.342Z,1736371747.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:07.353Z,1736371747.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:07.356Z,1736371747.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 134.047546 m, bearing: 185.119013 deg, approach rate: 0.609344 m/s, LOS rate: 0.183714 deg/s, cmd heading: 35.010447 deg, new cmd heading: 35.197123 deg. 2025-01-08T21:29:07.357Z,1736371747.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.614306 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:07.384Z,1736371747.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:07.384Z,1736371747.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018695 2025-01-08T21:29:07.637Z,1736371747.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:07.637Z,1736371747.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271536 2025-01-08T21:29:07.761Z,1736371747.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:07.770Z,1736371747.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:07.772Z,1736371747.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:07.775Z,1736371747.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 134.304916 m, bearing: 185.193486 deg, approach rate: 0.613638 m/s, LOS rate: 0.177224 deg/s, cmd heading: 35.197123 deg, new cmd heading: 35.420114 deg. 2025-01-08T21:29:07.776Z,1736371747.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618198 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:07.895Z,1736371747.895 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:07.896Z,1736371747.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530480 2025-01-08T21:29:08.144Z,1736371748.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:08.145Z,1736371748.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778721 2025-01-08T21:29:08.149Z,1736371748.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:08.158Z,1736371748.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:08.160Z,1736371748.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 134.542221 m, bearing: 185.262943 deg, approach rate: 0.616006 m/s, LOS rate: 0.179982 deg/s, cmd heading: 35.420115 deg, new cmd heading: 35.628117 deg. 2025-01-08T21:29:08.161Z,1736371748.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621828 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:08.397Z,1736371748.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:08.397Z,1736371748.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031526 2025-01-08T21:29:08.576Z,1736371748.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:08.586Z,1736371748.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:08.589Z,1736371748.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 134.807922 m, bearing: 185.331653 deg, approach rate: 0.620642 m/s, LOS rate: 0.160180 deg/s, cmd heading: 35.628118 deg, new cmd heading: 35.833839 deg. 2025-01-08T21:29:08.589Z,1736371748.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.625418 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:08.649Z,1736371748.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:08.650Z,1736371748.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283960 2025-01-08T21:29:08.901Z,1736371748.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:08.903Z,1736371748.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537059 2025-01-08T21:29:08.973Z,1736371748.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:08.996Z,1736371748.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:09.002Z,1736371749.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 135.054916 m, bearing: 185.395693 deg, approach rate: 0.601333 m/s, LOS rate: 0.155626 deg/s, cmd heading: 35.833840 deg, new cmd heading: 36.025607 deg. 2025-01-08T21:29:09.013Z,1736371749.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628765 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:09.154Z,1736371749.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:09.155Z,1736371749.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789083 2025-01-08T21:29:09.355Z,1736371749.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:09.365Z,1736371749.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:09.368Z,1736371749.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 135.292557 m, bearing: 185.457493 deg, approach rate: 0.644550 m/s, LOS rate: 0.167325 deg/s, cmd heading: 36.025607 deg, new cmd heading: 36.210681 deg. 2025-01-08T21:29:09.369Z,1736371749.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631996 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:09.404Z,1736371749.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:09.405Z,1736371749.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039256 2025-01-08T21:29:09.657Z,1736371749.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:09.658Z,1736371749.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.292037 2025-01-08T21:29:09.791Z,1736371749.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:09.799Z,1736371749.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:09.801Z,1736371749.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:09.804Z,1736371749.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 135.562927 m, bearing: 185.519151 deg, approach rate: 0.620289 m/s, LOS rate: 0.141177 deg/s, cmd heading: 36.210682 deg, new cmd heading: 36.395289 deg. 2025-01-08T21:29:09.805Z,1736371749.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635218 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:09.908Z,1736371749.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:09.908Z,1736371749.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542691 2025-01-08T21:29:10.160Z,1736371750.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:10.160Z,1736371750.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794616 2025-01-08T21:29:10.164Z,1736371750.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:10.172Z,1736371750.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:10.175Z,1736371750.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 135.794159 m, bearing: 185.571866 deg, approach rate: 0.622996 m/s, LOS rate: 0.141784 deg/s, cmd heading: 36.395288 deg, new cmd heading: 36.553162 deg. 2025-01-08T21:29:10.176Z,1736371750.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637973 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:10.412Z,1736371750.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:10.413Z,1736371750.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047039 2025-01-08T21:29:10.584Z,1736371750.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:10.593Z,1736371750.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:10.597Z,1736371750.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 136.058487 m, bearing: 185.620122 deg, approach rate: 0.628447 m/s, LOS rate: 0.114507 deg/s, cmd heading: 36.553161 deg, new cmd heading: 36.697648 deg. 2025-01-08T21:29:10.598Z,1736371750.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640495 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:10.665Z,1736371750.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:10.666Z,1736371750.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.300493 2025-01-08T21:29:10.916Z,1736371750.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:10.916Z,1736371750.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550492 2025-01-08T21:29:10.977Z,1736371750.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:10.998Z,1736371750.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:11.002Z,1736371751.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 136.305649 m, bearing: 185.665251 deg, approach rate: 0.611722 m/s, LOS rate: 0.111491 deg/s, cmd heading: 36.697647 deg, new cmd heading: 36.832788 deg. 2025-01-08T21:29:11.004Z,1736371751.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642853 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:11.168Z,1736371751.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:11.168Z,1736371751.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802646 2025-01-08T21:29:11.376Z,1736371751.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:11.385Z,1736371751.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:11.387Z,1736371751.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 136.556137 m, bearing: 185.710848 deg, approach rate: 0.645960 m/s, LOS rate: 0.117370 deg/s, cmd heading: 36.832789 deg, new cmd heading: 36.969329 deg. 2025-01-08T21:29:11.388Z,1736371751.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645236 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:11.420Z,1736371751.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:11.421Z,1736371751.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054716 2025-01-08T21:29:11.672Z,1736371751.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:11.673Z,1736371751.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307142 2025-01-08T21:29:11.825Z,1736371751.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:11.833Z,1736371751.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:11.835Z,1736371751.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:11.838Z,1736371751.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 136.837616 m, bearing: 185.754989 deg, approach rate: 0.625582 m/s, LOS rate: 0.097902 deg/s, cmd heading: 36.969328 deg, new cmd heading: 37.101479 deg. 2025-01-08T21:29:11.839Z,1736371751.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647543 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:11.925Z,1736371751.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:11.926Z,1736371751.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.560104 2025-01-08T21:29:12.176Z,1736371752.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:12.176Z,1736371752.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810624 2025-01-08T21:29:12.181Z,1736371752.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:12.190Z,1736371752.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:12.192Z,1736371752.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 137.060455 m, bearing: 185.789892 deg, approach rate: 0.627526 m/s, LOS rate: 0.098126 deg/s, cmd heading: 37.101478 deg, new cmd heading: 37.206015 deg. 2025-01-08T21:29:12.193Z,1736371752.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649367 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:12.428Z,1736371752.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:12.429Z,1736371752.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063057 2025-01-08T21:29:12.616Z,1736371752.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:12.630Z,1736371752.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:12.633Z,1736371752.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 137.331482 m, bearing: 185.828302 deg, approach rate: 0.616517 m/s, LOS rate: 0.087202 deg/s, cmd heading: 37.206014 deg, new cmd heading: 37.321019 deg. 2025-01-08T21:29:12.634Z,1736371752.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651375 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:12.680Z,1736371752.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:12.681Z,1736371752.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315351 2025-01-08T21:29:12.932Z,1736371752.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:12.932Z,1736371752.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566547 2025-01-08T21:29:13.007Z,1736371753.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:13.017Z,1736371753.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:13.022Z,1736371753.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 137.574722 m, bearing: 185.862767 deg, approach rate: 0.629235 m/s, LOS rate: 0.088998 deg/s, cmd heading: 37.321018 deg, new cmd heading: 37.424228 deg. 2025-01-08T21:29:13.040Z,1736371753.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653176 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:13.184Z,1736371753.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:13.184Z,1736371753.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818624 2025-01-08T21:29:13.393Z,1736371753.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:13.402Z,1736371753.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:13.405Z,1736371753.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 137.815552 m, bearing: 185.896840 deg, approach rate: 0.622942 m/s, LOS rate: 0.087981 deg/s, cmd heading: 37.424229 deg, new cmd heading: 37.526269 deg. 2025-01-08T21:29:13.406Z,1736371753.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654957 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:13.436Z,1736371753.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:13.437Z,1736371753.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071207 2025-01-08T21:29:13.688Z,1736371753.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:13.688Z,1736371753.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322552 2025-01-08T21:29:13.834Z,1736371753.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:13.841Z,1736371753.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:13.843Z,1736371753.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:13.846Z,1736371753.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 138.090195 m, bearing: 185.938123 deg, approach rate: 0.623624 m/s, LOS rate: 0.093556 deg/s, cmd heading: 37.526268 deg, new cmd heading: 37.649873 deg. 2025-01-08T21:29:13.848Z,1736371753.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657114 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:13.940Z,1736371753.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:13.941Z,1736371753.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574727 2025-01-08T21:29:14.192Z,1736371754.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:14.192Z,1736371754.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826495 2025-01-08T21:29:14.202Z,1736371754.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:14.231Z,1736371754.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:14.234Z,1736371754.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 138.319199 m, bearing: 185.972736 deg, approach rate: 0.590196 m/s, LOS rate: 0.089057 deg/s, cmd heading: 37.649874 deg, new cmd heading: 37.753540 deg. 2025-01-08T21:29:14.235Z,1736371754.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658924 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:14.444Z,1736371754.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:14.444Z,1736371754.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078610 2025-01-08T21:29:14.665Z,1736371754.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:14.696Z,1736371754.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:14.697Z,1736371754.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331380 2025-01-08T21:29:14.704Z,1736371754.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:14.707Z,1736371754.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 138.615265 m, bearing: 186.019971 deg, approach rate: 0.625330 m/s, LOS rate: 0.099553 deg/s, cmd heading: 37.753539 deg, new cmd heading: 37.894941 deg. 2025-01-08T21:29:14.713Z,1736371754.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661391 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:14.948Z,1736371754.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:14.950Z,1736371754.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583592 2025-01-08T21:29:15.029Z,1736371755.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:15.037Z,1736371755.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:15.040Z,1736371755.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 138.848221 m, bearing: 186.057143 deg, approach rate: 0.699963 m/s, LOS rate: 0.111504 deg/s, cmd heading: 37.894941 deg, new cmd heading: 38.006271 deg. 2025-01-08T21:29:15.041Z,1736371755.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663335 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:15.200Z,1736371755.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:15.200Z,1736371755.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834504 2025-01-08T21:29:15.417Z,1736371755.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:15.426Z,1736371755.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:15.428Z,1736371755.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 139.096527 m, bearing: 186.096962 deg, approach rate: 0.639381 m/s, LOS rate: 0.102348 deg/s, cmd heading: 38.006270 deg, new cmd heading: 38.125512 deg. 2025-01-08T21:29:15.430Z,1736371755.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665416 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:15.452Z,1736371755.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:15.452Z,1736371755.452 [DAT](INFO): Reached modem response timeout 2025-01-08T21:29:15.452Z,1736371755.452 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:29:15.453Z,1736371755.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:15.704Z,1736371755.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:15.704Z,1736371755.704 [DAT](INFO): Reached modem response timeout 2025-01-08T21:29:15.704Z,1736371755.704 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:29:15.705Z,1736371755.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:15.849Z,1736371755.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:15.856Z,1736371755.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:15.858Z,1736371755.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:15.866Z,1736371755.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 139.373276 m, bearing: 186.150602 deg, approach rate: 0.640268 m/s, LOS rate: 0.123852 deg/s, cmd heading: 38.125511 deg, new cmd heading: 38.286112 deg. 2025-01-08T21:29:15.867Z,1736371755.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668219 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:15.956Z,1736371755.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:15.957Z,1736371755.957 [DAT](INFO): Reached modem response timeout 2025-01-08T21:29:15.957Z,1736371755.957 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:29:15.958Z,1736371755.958 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:16.208Z,1736371756.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:16.209Z,1736371756.209 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:29:16.209Z,1736371756.209 [DAT](INFO): response not received 2025-01-08T21:29:16.209Z,1736371756.209 [DAT](INFO): DAT read: user:1806> 2025-01-08T21:29:16.210Z,1736371756.210 [DAT](INFO): DAT read: Tx time:21:29:15.4754 2025-01-08T21:29:16.210Z,1736371756.210 [DAT](INFO): Ping request sent. 2025-01-08T21:29:16.210Z,1736371756.210 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:16.211Z,1736371756.211 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:16.211Z,1736371756.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725 2025-01-08T21:29:16.270Z,1736371756.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:16.297Z,1736371756.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:16.303Z,1736371756.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 139.642761 m, bearing: 186.203069 deg, approach rate: 0.615106 m/s, LOS rate: 0.119527 deg/s, cmd heading: 38.286113 deg, new cmd heading: 38.443211 deg. 2025-01-08T21:29:16.304Z,1736371756.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670961 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:16.460Z,1736371756.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:16.461Z,1736371756.461 [DAT](INFO): DAT read: TxSync time:21:29:15.4747 2025-01-08T21:29:16.461Z,1736371756.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251106 2025-01-08T21:29:16.703Z,1736371756.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:16.712Z,1736371756.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:16.713Z,1736371756.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502709 2025-01-08T21:29:16.714Z,1736371756.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:16.717Z,1736371756.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 139.923782 m, bearing: 186.264033 deg, approach rate: 0.676794 m/s, LOS rate: 0.146527 deg/s, cmd heading: 38.443211 deg, new cmd heading: 38.625735 deg. 2025-01-08T21:29:16.717Z,1736371756.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674146 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:16.964Z,1736371756.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:16.965Z,1736371756.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754472 2025-01-08T21:29:17.060Z,1736371757.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:17.076Z,1736371757.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:17.079Z,1736371757.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 140.155945 m, bearing: 186.314186 deg, approach rate: 0.636008 m/s, LOS rate: 0.137164 deg/s, cmd heading: 38.625734 deg, new cmd heading: 38.775941 deg. 2025-01-08T21:29:17.085Z,1736371757.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676768 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:17.216Z,1736371757.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:17.216Z,1736371757.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006085 2025-01-08T21:29:17.438Z,1736371757.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:17.452Z,1736371757.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:17.455Z,1736371757.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 140.400101 m, bearing: 186.367492 deg, approach rate: 0.650553 m/s, LOS rate: 0.141789 deg/s, cmd heading: 38.775940 deg, new cmd heading: 38.935582 deg. 2025-01-08T21:29:17.456Z,1736371757.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679554 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:17.468Z,1736371757.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:17.469Z,1736371757.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258290 2025-01-08T21:29:17.720Z,1736371757.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:17.720Z,1736371757.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510017 2025-01-08T21:29:17.867Z,1736371757.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:17.874Z,1736371757.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:17.876Z,1736371757.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:17.900Z,1736371757.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 140.683914 m, bearing: 186.437141 deg, approach rate: 0.667798 m/s, LOS rate: 0.163550 deg/s, cmd heading: 38.935582 deg, new cmd heading: 39.144107 deg. 2025-01-08T21:29:17.901Z,1736371757.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683194 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:17.972Z,1736371757.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:17.973Z,1736371757.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762413 2025-01-08T21:29:18.224Z,1736371758.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:18.224Z,1736371758.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013849 2025-01-08T21:29:18.297Z,1736371758.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:18.321Z,1736371758.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:18.324Z,1736371758.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 140.968414 m, bearing: 186.506631 deg, approach rate: 0.640231 m/s, LOS rate: 0.156062 deg/s, cmd heading: 39.144108 deg, new cmd heading: 39.352155 deg. 2025-01-08T21:29:18.325Z,1736371758.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686825 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:18.476Z,1736371758.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:18.476Z,1736371758.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265983 2025-01-08T21:29:18.719Z,1736371758.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:18.736Z,1736371758.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:18.737Z,1736371758.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526333 2025-01-08T21:29:18.748Z,1736371758.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:18.750Z,1736371758.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 141.249420 m, bearing: 186.578130 deg, approach rate: 0.691805 m/s, LOS rate: 0.175673 deg/s, cmd heading: 39.352155 deg, new cmd heading: 39.566225 deg. 2025-01-08T21:29:18.755Z,1736371758.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690561 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:18.988Z,1736371758.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:18.989Z,1736371758.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778645 2025-01-08T21:29:19.061Z,1736371759.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:19.078Z,1736371759.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:19.083Z,1736371759.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 141.475540 m, bearing: 186.637640 deg, approach rate: 0.644944 m/s, LOS rate: 0.169462 deg/s, cmd heading: 39.566224 deg, new cmd heading: 39.744465 deg. 2025-01-08T21:29:19.085Z,1736371759.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693672 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:19.240Z,1736371759.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:19.240Z,1736371759.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029920 2025-01-08T21:29:19.472Z,1736371759.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:19.492Z,1736371759.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:19.493Z,1736371759.493 [DAT](INFO): DAT read: Rx Time:21:29:18.2932 2025-01-08T21:29:19.493Z,1736371759.493 [DAT](INFO): Rx dataTimestamp_ set to:1736371759.493083 2025-01-08T21:29:19.494Z,1736371759.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283509 2025-01-08T21:29:19.501Z,1736371759.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:19.508Z,1736371759.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 141.747391 m, bearing: 186.708883 deg, approach rate: 0.641661 m/s, LOS rate: 0.167836 deg/s, cmd heading: 39.744464 deg, new cmd heading: 39.957783 deg. 2025-01-08T21:29:19.509Z,1736371759.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697395 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:19.744Z,1736371759.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:19.744Z,1736371759.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533976 2025-01-08T21:29:19.889Z,1736371759.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:19.896Z,1736371759.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:19.898Z,1736371759.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:19.901Z,1736371759.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 142.021347 m, bearing: 186.785186 deg, approach rate: 0.689912 m/s, LOS rate: 0.191787 deg/s, cmd heading: 39.957781 deg, new cmd heading: 40.186249 deg. 2025-01-08T21:29:19.902Z,1736371759.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701382 target range: 332.200012 and range: 309.40 m. 2025-01-08T21:29:19.997Z,1736371759.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:19.999Z,1736371759.999 [DAT](INFO): DAT read: Range 10 to 50 : 310.2 m (Round-trip 413.6 ms) speed 0.0 m/s 2025-01-08T21:29:19.000Z,1736371760.000 [DAT](INFO): DAT read: user:1807> 2025-01-08T21:29:20.000Z,1736371760.000 [DAT](INFO): DAT read: Tx time:21:29:19.3754 2025-01-08T21:29:20.001Z,1736371760.001 [DAT](INFO): Ping request sent. 2025-01-08T21:29:20.001Z,1736371760.001 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:20.001Z,1736371760.001 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:29:20.001Z,1736371760.001 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:20.002Z,1736371760.002 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:20.248Z,1736371760.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:20.249Z,1736371760.249 [DAT](INFO): DAT read: TxSync time:21:29:19.3747 2025-01-08T21:29:20.286Z,1736371760.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:20.296Z,1736371760.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 310.200012 m, deltaT: 14.888866 s, deltaX: 0.800018 m, approachRate: 0.053733 m/s, rangeRepo size: 4 2025-01-08T21:29:20.297Z,1736371760.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:20.300Z,1736371760.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 142.282562 m, bearing: 186.858325 deg, approach rate: 0.659235 m/s, LOS rate: 0.184243 deg/s, cmd heading: 40.186248 deg, new cmd heading: 40.405260 deg. 2025-01-08T21:29:20.301Z,1736371760.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705205 target range: 332.200012 and range: 310.20 m. 2025-01-08T21:29:20.500Z,1736371760.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:20.743Z,1736371760.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:20.752Z,1736371760.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:20.754Z,1736371760.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:20.757Z,1736371760.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 142.583099 m, bearing: 186.941956 deg, approach rate: 0.654578 m/s, LOS rate: 0.181767 deg/s, cmd heading: 40.405261 deg, new cmd heading: 40.655624 deg. 2025-01-08T21:29:20.758Z,1736371760.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709575 target range: 332.200012 and range: 310.20 m. 2025-01-08T21:29:20.972Z,1736371760.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:29:21.004Z,1736371761.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:21.075Z,1736371761.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:21.111Z,1736371761.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:21.125Z,1736371761.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 142.800583 m, bearing: 187.002954 deg, approach rate: 0.609361 m/s, LOS rate: 0.170648 deg/s, cmd heading: 40.655625 deg, new cmd heading: 40.838339 deg. 2025-01-08T21:29:21.126Z,1736371761.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712763 target range: 332.200012 and range: 310.20 m. 2025-01-08T21:29:21.256Z,1736371761.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:21.484Z,1736371761.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:21.492Z,1736371761.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:21.495Z,1736371761.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 143.068253 m, bearing: 187.078386 deg, approach rate: 0.701466 m/s, LOS rate: 0.197309 deg/s, cmd heading: 40.838340 deg, new cmd heading: 41.064210 deg. 2025-01-08T21:29:21.497Z,1736371761.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716706 target range: 332.200012 and range: 310.20 m. 2025-01-08T21:29:21.508Z,1736371761.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:21.760Z,1736371761.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:21.915Z,1736371761.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:21.922Z,1736371761.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:21.925Z,1736371761.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:21.927Z,1736371761.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 143.351807 m, bearing: 187.155595 deg, approach rate: 0.655850 m/s, LOS rate: 0.178230 deg/s, cmd heading: 41.064211 deg, new cmd heading: 41.295380 deg. 2025-01-08T21:29:21.928Z,1736371761.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.720740 target range: 332.200012 and range: 310.20 m. 2025-01-08T21:29:21.976Z,1736371761.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:29:22.013Z,1736371762.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:22.014Z,1736371762.014 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:29:22.014Z,1736371762.014 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:29:22.014Z,1736371762.014 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:22.264Z,1736371762.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:22.264Z,1736371762.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263686 2025-01-08T21:29:22.326Z,1736371762.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:22.336Z,1736371762.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:22.338Z,1736371762.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 143.621277 m, bearing: 187.229198 deg, approach rate: 0.655992 m/s, LOS rate: 0.178841 deg/s, cmd heading: 41.295382 deg, new cmd heading: 41.515775 deg. 2025-01-08T21:29:22.339Z,1736371762.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.724587 target range: 332.200012 and range: 310.20 m. 2025-01-08T21:29:22.516Z,1736371762.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:22.516Z,1736371762.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515666 2025-01-08T21:29:22.768Z,1736371762.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:22.768Z,1736371762.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767718 2025-01-08T21:29:22.809Z,1736371762.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:22.818Z,1736371762.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:22.821Z,1736371762.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 143.942734 m, bearing: 187.313656 deg, approach rate: 0.665551 m/s, LOS rate: 0.174472 deg/s, cmd heading: 41.515775 deg, new cmd heading: 41.768580 deg. 2025-01-08T21:29:22.822Z,1736371762.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.728999 target range: 332.200012 and range: 310.20 m. 2025-01-08T21:29:23.020Z,1736371763.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:23.020Z,1736371763.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019574 2025-01-08T21:29:23.188Z,1736371763.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:23.196Z,1736371763.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:23.199Z,1736371763.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 144.195465 m, bearing: 187.379735 deg, approach rate: 0.668395 m/s, LOS rate: 0.174451 deg/s, cmd heading: 41.768581 deg, new cmd heading: 41.966468 deg. 2025-01-08T21:29:23.200Z,1736371763.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732453 target range: 332.200012 and range: 310.20 m. 2025-01-08T21:29:23.272Z,1736371763.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:23.273Z,1736371763.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271865 2025-01-08T21:29:23.524Z,1736371763.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:23.524Z,1736371763.524 [DAT](INFO): DAT read: Rx Time:21:29:22.1935 2025-01-08T21:29:23.525Z,1736371763.525 [DAT](INFO): Rx dataTimestamp_ set to:1736371763.524549 2025-01-08T21:29:23.525Z,1736371763.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524623 2025-01-08T21:29:23.640Z,1736371763.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:23.720Z,1736371763.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:23.723Z,1736371763.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 144.497147 m, bearing: 187.458245 deg, approach rate: 0.576066 m/s, LOS rate: 0.149604 deg/s, cmd heading: 41.966468 deg, new cmd heading: 42.201507 deg. 2025-01-08T21:29:23.728Z,1736371763.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.736555 target range: 332.200012 and range: 310.20 m. 2025-01-08T21:29:23.776Z,1736371763.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:23.777Z,1736371763.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776341 2025-01-08T21:29:24.028Z,1736371764.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:24.030Z,1736371764.030 [DAT](INFO): DAT read: Range 10 to 50 : 310.4 m (Round-trip 413.9 ms) speed -0.2 m/s 2025-01-08T21:29:24.032Z,1736371764.032 [DAT](INFO): DAT read: user:1808> 2025-01-08T21:29:24.033Z,1736371764.033 [DAT](INFO): DAT read: Tx time:21:29:23.2754 2025-01-08T21:29:24.033Z,1736371764.033 [DAT](INFO): Ping request sent. 2025-01-08T21:29:24.033Z,1736371764.033 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:24.033Z,1736371764.033 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:29:24.034Z,1736371764.034 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:24.034Z,1736371764.034 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:24.053Z,1736371764.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:24.063Z,1736371764.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:24.094Z,1736371764.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 310.399994 m, deltaT: 4.030815 s, deltaX: 0.199982 m, approachRate: 0.049613 m/s, rangeRepo size: 4 2025-01-08T21:29:24.094Z,1736371764.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:24.101Z,1736371764.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 144.764069 m, bearing: 187.527628 deg, approach rate: 0.715547 m/s, LOS rate: 0.185654 deg/s, cmd heading: 42.201505 deg, new cmd heading: 42.409269 deg. 2025-01-08T21:29:24.102Z,1736371764.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740181 target range: 332.200012 and range: 310.40 m. 2025-01-08T21:29:24.281Z,1736371764.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:24.282Z,1736371764.282 [DAT](INFO): DAT read: TxSync time:21:29:23.2747 2025-01-08T21:29:24.282Z,1736371764.282 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:29:24.282Z,1736371764.282 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:29:24.283Z,1736371764.283 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:24.433Z,1736371764.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:24.442Z,1736371764.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:24.444Z,1736371764.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 145.009003 m, bearing: 187.591606 deg, approach rate: 0.702961 m/s, LOS rate: 0.183307 deg/s, cmd heading: 42.409270 deg, new cmd heading: 42.600879 deg. 2025-01-08T21:29:24.445Z,1736371764.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743526 target range: 332.200012 and range: 310.40 m. 2025-01-08T21:29:24.533Z,1736371764.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:24.536Z,1736371764.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501257 2025-01-08T21:29:24.784Z,1736371764.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:24.784Z,1736371764.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751262 2025-01-08T21:29:24.864Z,1736371764.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:24.885Z,1736371764.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:24.891Z,1736371764.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 145.279404 m, bearing: 187.658589 deg, approach rate: 0.610456 m/s, LOS rate: 0.150939 deg/s, cmd heading: 42.600880 deg, new cmd heading: 42.801454 deg. 2025-01-08T21:29:24.892Z,1736371764.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747026 target range: 332.200012 and range: 310.40 m. 2025-01-08T21:29:25.036Z,1736371765.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:25.036Z,1736371765.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003225 2025-01-08T21:29:25.248Z,1736371765.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:25.256Z,1736371765.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:25.259Z,1736371765.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 145.520554 m, bearing: 187.718960 deg, approach rate: 0.648415 m/s, LOS rate: 0.162060 deg/s, cmd heading: 42.801456 deg, new cmd heading: 42.982268 deg. 2025-01-08T21:29:25.260Z,1736371765.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.750182 target range: 332.200012 and range: 310.40 m. 2025-01-08T21:29:25.289Z,1736371765.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:25.290Z,1736371765.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256449 2025-01-08T21:29:25.540Z,1736371765.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:25.540Z,1736371765.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507205 2025-01-08T21:29:25.645Z,1736371765.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:25.670Z,1736371765.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:25.711Z,1736371765.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 145.769073 m, bearing: 187.781663 deg, approach rate: 0.601481 m/s, LOS rate: 0.151499 deg/s, cmd heading: 42.982268 deg, new cmd heading: 43.170056 deg. 2025-01-08T21:29:25.719Z,1736371765.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753460 target range: 332.200012 and range: 310.40 m. 2025-01-08T21:29:25.792Z,1736371765.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:25.793Z,1736371765.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760278 2025-01-08T21:29:26.044Z,1736371766.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:26.044Z,1736371766.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011287 2025-01-08T21:29:26.074Z,1736371766.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:26.114Z,1736371766.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:26.129Z,1736371766.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:26.136Z,1736371766.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 146.032471 m, bearing: 187.845962 deg, approach rate: 0.573143 m/s, LOS rate: 0.139659 deg/s, cmd heading: 43.170057 deg, new cmd heading: 43.362604 deg. 2025-01-08T21:29:26.137Z,1736371766.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756820 target range: 332.200012 and range: 310.40 m. 2025-01-08T21:29:26.297Z,1736371766.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:26.298Z,1736371766.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264794 2025-01-08T21:29:26.445Z,1736371766.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:26.454Z,1736371766.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:26.458Z,1736371766.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 146.259598 m, bearing: 187.901788 deg, approach rate: 0.698384 m/s, LOS rate: 0.171392 deg/s, cmd heading: 43.362603 deg, new cmd heading: 43.529822 deg. 2025-01-08T21:29:26.459Z,1736371766.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759739 target range: 332.200012 and range: 310.40 m. 2025-01-08T21:29:26.548Z,1736371766.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:26.549Z,1736371766.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515872 2025-01-08T21:29:26.801Z,1736371766.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:26.801Z,1736371766.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768225 2025-01-08T21:29:26.880Z,1736371766.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:26.889Z,1736371766.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:26.908Z,1736371766.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 146.524445 m, bearing: 187.961707 deg, approach rate: 0.609771 m/s, LOS rate: 0.137704 deg/s, cmd heading: 43.529824 deg, new cmd heading: 43.709253 deg. 2025-01-08T21:29:26.909Z,1736371766.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762870 target range: 332.200012 and range: 310.40 m. 2025-01-08T21:29:27.052Z,1736371767.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:27.052Z,1736371767.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019178 2025-01-08T21:29:27.260Z,1736371767.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:27.269Z,1736371767.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:27.272Z,1736371767.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 146.755630 m, bearing: 188.014067 deg, approach rate: 0.607541 m/s, LOS rate: 0.137384 deg/s, cmd heading: 43.709253 deg, new cmd heading: 43.866087 deg. 2025-01-08T21:29:27.275Z,1736371767.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765608 target range: 332.200012 and range: 310.40 m. 2025-01-08T21:29:27.304Z,1736371767.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:27.304Z,1736371767.304 [DAT](INFO): DAT read: Rx Time:21:29:26.0943 2025-01-08T21:29:27.305Z,1736371767.305 [DAT](INFO): Rx dataTimestamp_ set to:1736371767.304630 2025-01-08T21:29:27.308Z,1736371767.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273490 2025-01-08T21:29:27.556Z,1736371767.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:27.556Z,1736371767.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523107 2025-01-08T21:29:27.697Z,1736371767.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:27.726Z,1736371767.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:27.775Z,1736371767.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 147.021500 m, bearing: 188.074044 deg, approach rate: 0.583924 m/s, LOS rate: 0.131488 deg/s, cmd heading: 43.866087 deg, new cmd heading: 44.045692 deg. 2025-01-08T21:29:27.776Z,1736371767.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768742 target range: 332.200012 and range: 310.40 m. 2025-01-08T21:29:27.808Z,1736371767.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:27.810Z,1736371767.810 [DAT](INFO): DAT read: Range 10 to 50 : 310.9 m (Round-trip 414.6 ms) speed 0.0 m/s 2025-01-08T21:29:27.810Z,1736371767.810 [DAT](INFO): DAT read: user:1809> 2025-01-08T21:29:27.814Z,1736371767.814 [DAT](INFO): DAT read: Tx time:21:29:27.1755 2025-01-08T21:29:27.814Z,1736371767.814 [DAT](INFO): Ping request sent. 2025-01-08T21:29:27.814Z,1736371767.814 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:27.814Z,1736371767.814 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:29:27.814Z,1736371767.814 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:27.815Z,1736371767.815 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:28.060Z,1736371768.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:28.061Z,1736371768.061 [DAT](INFO): DAT read: TxSync time:21:29:27.1748 2025-01-08T21:29:28.119Z,1736371768.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:28.126Z,1736371768.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:28.137Z,1736371768.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 310.899994 m, deltaT: 3.780085 s, deltaX: 0.500000 m, approachRate: 0.132272 m/s, rangeRepo size: 4 2025-01-08T21:29:28.137Z,1736371768.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:28.144Z,1736371768.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 147.276917 m, bearing: 188.129601 deg, approach rate: 0.620807 m/s, LOS rate: 0.134801 deg/s, cmd heading: 44.045691 deg, new cmd heading: 44.212072 deg. 2025-01-08T21:29:28.145Z,1736371768.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771646 target range: 332.200012 and range: 310.90 m. 2025-01-08T21:29:28.312Z,1736371768.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:28.312Z,1736371768.312 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:29:28.312Z,1736371768.312 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:29:28.313Z,1736371768.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:28.471Z,1736371768.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:28.481Z,1736371768.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:28.484Z,1736371768.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 147.489944 m, bearing: 188.175900 deg, approach rate: 0.618065 m/s, LOS rate: 0.134134 deg/s, cmd heading: 44.212074 deg, new cmd heading: 44.350769 deg. 2025-01-08T21:29:28.484Z,1736371768.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774067 target range: 332.200012 and range: 310.90 m. 2025-01-08T21:29:28.564Z,1736371768.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:28.565Z,1736371768.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750833 2025-01-08T21:29:28.816Z,1736371768.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:28.816Z,1736371768.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002217 2025-01-08T21:29:28.915Z,1736371768.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:28.924Z,1736371768.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:28.926Z,1736371768.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 147.760574 m, bearing: 188.233013 deg, approach rate: 0.611409 m/s, LOS rate: 0.128793 deg/s, cmd heading: 44.350768 deg, new cmd heading: 44.521792 deg. 2025-01-08T21:29:28.927Z,1736371768.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.777052 target range: 332.200012 and range: 310.90 m. 2025-01-08T21:29:29.068Z,1736371769.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:29.070Z,1736371769.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255579 2025-01-08T21:29:29.273Z,1736371769.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:29.294Z,1736371769.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:29.296Z,1736371769.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 147.977890 m, bearing: 188.279758 deg, approach rate: 0.586845 m/s, LOS rate: 0.126046 deg/s, cmd heading: 44.521792 deg, new cmd heading: 44.661821 deg. 2025-01-08T21:29:29.297Z,1736371769.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779496 target range: 332.200012 and range: 310.90 m. 2025-01-08T21:29:29.320Z,1736371769.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:29.321Z,1736371769.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506430 2025-01-08T21:29:29.572Z,1736371769.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:29.572Z,1736371769.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758248 2025-01-08T21:29:29.690Z,1736371769.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:29.731Z,1736371769.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:29.734Z,1736371769.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 148.230408 m, bearing: 188.334507 deg, approach rate: 0.582408 m/s, LOS rate: 0.126059 deg/s, cmd heading: 44.661822 deg, new cmd heading: 44.825789 deg. 2025-01-08T21:29:29.749Z,1736371769.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782358 target range: 332.200012 and range: 310.90 m. 2025-01-08T21:29:29.824Z,1736371769.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:29.825Z,1736371769.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010525 2025-01-08T21:29:30.076Z,1736371770.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:30.077Z,1736371770.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262471 2025-01-08T21:29:30.126Z,1736371770.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:30.133Z,1736371770.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:30.136Z,1736371770.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:30.138Z,1736371770.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 148.493988 m, bearing: 188.390273 deg, approach rate: 0.645994 m/s, LOS rate: 0.136430 deg/s, cmd heading: 44.825790 deg, new cmd heading: 44.992790 deg. 2025-01-08T21:29:30.139Z,1736371770.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785272 target range: 332.200012 and range: 310.90 m. 2025-01-08T21:29:30.328Z,1736371770.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:30.329Z,1736371770.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514861 2025-01-08T21:29:30.497Z,1736371770.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:30.505Z,1736371770.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:30.508Z,1736371770.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 148.717636 m, bearing: 188.437494 deg, approach rate: 0.604345 m/s, LOS rate: 0.127410 deg/s, cmd heading: 44.992789 deg, new cmd heading: 45.134239 deg. 2025-01-08T21:29:30.509Z,1736371770.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787741 target range: 332.200012 and range: 310.90 m. 2025-01-08T21:29:30.580Z,1736371770.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:30.581Z,1736371770.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767352 2025-01-08T21:29:30.834Z,1736371770.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:30.834Z,1736371770.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020236 2025-01-08T21:29:30.919Z,1736371770.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:30.953Z,1736371770.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:30.959Z,1736371770.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 148.969406 m, bearing: 188.492720 deg, approach rate: 0.563027 m/s, LOS rate: 0.123292 deg/s, cmd heading: 45.134238 deg, new cmd heading: 45.299636 deg. 2025-01-08T21:29:30.960Z,1736371770.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790628 target range: 332.200012 and range: 310.90 m. 2025-01-08T21:29:31.084Z,1736371771.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:31.084Z,1736371771.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270221 2025-01-08T21:29:31.308Z,1736371771.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:31.326Z,1736371771.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:31.336Z,1736371771.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:31.336Z,1736371771.336 [DAT](INFO): DAT read: Rx Time:21:29:29.9956 2025-01-08T21:29:31.337Z,1736371771.337 [DAT](INFO): Rx dataTimestamp_ set to:1736371771.336597 2025-01-08T21:29:31.337Z,1736371771.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523323 2025-01-08T21:29:31.346Z,1736371771.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 149.200409 m, bearing: 188.543277 deg, approach rate: 0.619766 m/s, LOS rate: 0.135431 deg/s, cmd heading: 45.299635 deg, new cmd heading: 45.451071 deg. 2025-01-08T21:29:31.352Z,1736371771.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793271 target range: 332.200012 and range: 310.90 m. 2025-01-08T21:29:31.588Z,1736371771.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:31.589Z,1736371771.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774909 2025-01-08T21:29:31.718Z,1736371771.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:31.743Z,1736371771.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:31.752Z,1736371771.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 149.444519 m, bearing: 188.596503 deg, approach rate: 0.589669 m/s, LOS rate: 0.128362 deg/s, cmd heading: 45.451070 deg, new cmd heading: 45.610487 deg. 2025-01-08T21:29:31.753Z,1736371771.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796053 target range: 332.200012 and range: 310.90 m. 2025-01-08T21:29:31.842Z,1736371771.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:31.844Z,1736371771.844 [DAT](INFO): DAT read: Range 10 to 50 : 311.9 m (Round-trip 415.9 ms) speed -0.3 m/s 2025-01-08T21:29:31.845Z,1736371771.845 [DAT](INFO): DAT read: user:1810> 2025-01-08T21:29:31.845Z,1736371771.845 [DAT](INFO): DAT read: Tx time:21:29:31.0755 2025-01-08T21:29:31.846Z,1736371771.846 [DAT](INFO): Ping request sent. 2025-01-08T21:29:31.846Z,1736371771.846 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:31.847Z,1736371771.847 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:29:31.847Z,1736371771.847 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:31.848Z,1736371771.848 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:32.092Z,1736371772.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:32.093Z,1736371772.093 [DAT](INFO): DAT read: TxSync time:21:29:31.0748 2025-01-08T21:29:32.142Z,1736371772.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:32.150Z,1736371772.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:32.169Z,1736371772.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 311.899994 m, deltaT: 4.034211 s, deltaX: 1.000000 m, approachRate: 0.247880 m/s, rangeRepo size: 4 2025-01-08T21:29:32.170Z,1736371772.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:32.176Z,1736371772.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 149.696442 m, bearing: 188.653882 deg, approach rate: 0.587061 m/s, LOS rate: 0.133485 deg/s, cmd heading: 45.610487 deg, new cmd heading: 45.782332 deg. 2025-01-08T21:29:32.177Z,1736371772.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.799052 target range: 332.200012 and range: 311.90 m. 2025-01-08T21:29:32.344Z,1736371772.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:32.344Z,1736371772.344 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:29:32.344Z,1736371772.344 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:29:32.344Z,1736371772.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:32.514Z,1736371772.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:32.523Z,1736371772.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:32.526Z,1736371772.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 149.910965 m, bearing: 188.702717 deg, approach rate: 0.604840 m/s, LOS rate: 0.137493 deg/s, cmd heading: 45.782331 deg, new cmd heading: 45.928628 deg. 2025-01-08T21:29:32.527Z,1736371772.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.801606 target range: 332.200012 and range: 311.90 m. 2025-01-08T21:29:32.596Z,1736371772.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:32.597Z,1736371772.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751117 2025-01-08T21:29:32.850Z,1736371772.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:32.852Z,1736371772.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005712 2025-01-08T21:29:32.958Z,1736371772.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:32.968Z,1736371772.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:32.970Z,1736371772.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 150.185532 m, bearing: 188.769646 deg, approach rate: 0.618139 m/s, LOS rate: 0.150403 deg/s, cmd heading: 45.928627 deg, new cmd heading: 46.129046 deg. 2025-01-08T21:29:32.971Z,1736371772.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805104 target range: 332.200012 and range: 311.90 m. 2025-01-08T21:29:33.100Z,1736371773.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:33.100Z,1736371773.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254462 2025-01-08T21:29:33.329Z,1736371773.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:33.337Z,1736371773.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:33.340Z,1736371773.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 150.409271 m, bearing: 188.824239 deg, approach rate: 0.605025 m/s, LOS rate: 0.147406 deg/s, cmd heading: 46.129045 deg, new cmd heading: 46.292578 deg. 2025-01-08T21:29:33.341Z,1736371773.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807958 target range: 332.200012 and range: 311.90 m. 2025-01-08T21:29:33.352Z,1736371773.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:33.354Z,1736371773.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507967 2025-01-08T21:29:33.604Z,1736371773.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:33.604Z,1736371773.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758279 2025-01-08T21:29:33.728Z,1736371773.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:33.737Z,1736371773.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:33.740Z,1736371773.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 150.649628 m, bearing: 188.882849 deg, approach rate: 0.600264 m/s, LOS rate: 0.146139 deg/s, cmd heading: 46.292577 deg, new cmd heading: 46.468126 deg. 2025-01-08T21:29:33.741Z,1736371773.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.811022 target range: 332.200012 and range: 311.90 m. 2025-01-08T21:29:33.857Z,1736371773.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:33.860Z,1736371773.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013967 2025-01-08T21:29:34.108Z,1736371774.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:34.109Z,1736371774.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262527 2025-01-08T21:29:34.181Z,1736371774.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:34.188Z,1736371774.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:34.190Z,1736371774.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:34.193Z,1736371774.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 150.930817 m, bearing: 188.954566 deg, approach rate: 0.621655 m/s, LOS rate: 0.158258 deg/s, cmd heading: 46.468127 deg, new cmd heading: 46.682876 deg. 2025-01-08T21:29:34.194Z,1736371774.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814770 target range: 332.200012 and range: 311.90 m. 2025-01-08T21:29:34.360Z,1736371774.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:34.360Z,1736371774.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514316 2025-01-08T21:29:34.549Z,1736371774.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:34.558Z,1736371774.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:34.560Z,1736371774.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 151.159073 m, bearing: 189.012916 deg, approach rate: 0.620366 m/s, LOS rate: 0.158347 deg/s, cmd heading: 46.682878 deg, new cmd heading: 46.857663 deg. 2025-01-08T21:29:34.561Z,1736371774.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817820 target range: 332.200012 and range: 311.90 m. 2025-01-08T21:29:34.612Z,1736371774.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:34.613Z,1736371774.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767436 2025-01-08T21:29:34.866Z,1736371774.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:34.869Z,1736371774.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022316 2025-01-08T21:29:34.971Z,1736371774.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:34.000Z,1736371775.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:35.002Z,1736371775.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 151.416367 m, bearing: 189.086369 deg, approach rate: 0.588045 m/s, LOS rate: 0.167592 deg/s, cmd heading: 46.857662 deg, new cmd heading: 47.077647 deg. 2025-01-08T21:29:35.007Z,1736371775.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821660 target range: 332.200012 and range: 311.90 m. 2025-01-08T21:29:35.116Z,1736371775.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:35.117Z,1736371775.117 [DAT](INFO): DAT read: Rx Time:21:29:33.9146 2025-01-08T21:29:35.117Z,1736371775.117 [DAT](INFO): Rx dataTimestamp_ set to:1736371775.116707 2025-01-08T21:29:35.117Z,1736371775.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271482 2025-01-08T21:29:35.368Z,1736371775.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:35.368Z,1736371775.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522443 2025-01-08T21:29:35.371Z,1736371775.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:35.380Z,1736371775.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.20 m. 2025-01-08T21:29:35.386Z,1736371775.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.200012 m, nav range: 151.660355 m, bearing: 189.156341 deg, approach rate: 0.633929 m/s, LOS rate: 0.181509 deg/s, cmd heading: 47.077646 deg, new cmd heading: 47.287223 deg. 2025-01-08T21:29:35.388Z,1736371775.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825318 target range: 332.200012 and range: 311.90 m. 2025-01-08T21:29:35.623Z,1736371775.623 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:35.632Z,1736371775.632 [DAT](INFO): DAT read: 21:29:33.9146 LVL= 14672, 13153, 8930, 17011, AGC= 65, IDX= 115,-0.43,-0.161, 1.750, 2.333, 1.414, PHS=-1.487, 0.383, 0.916, RAW= 257.8, 1.8, CAL= 261.5, 2.9, ROT= 248.5, -2.9 2025-01-08T21:29:35.633Z,1736371775.633 [DAT](INFO): got valid direction response: 21:29:33.9146 LVL= 14672, 13153, 8930, 17011, AGC= 65, IDX= 115,-0.43,-0.161, 1.750, 2.333, 1.414, PHS=-1.487, 0.383, 0.916, RAW= 257.8, 1.8, CAL= 261.5, 2.9, ROT= 248.5, -2.9 2025-01-08T21:29:35.634Z,1736371775.634 [DAT](INFO): DAT read: Bearing 248.5, -2.9 (Local) 2025-01-08T21:29:35.634Z,1736371775.634 [DAT](INFO): Local bearing/azimuth received: Bearing 248.5, -2.9 (Local) 2025-01-08T21:29:35.669Z,1736371775.669 [DAT](INFO): DAT read: Range 10 to 50 : 326.1 m (Round-trip 434.9 ms) speed 0.0 m/s 2025-01-08T21:29:35.670Z,1736371775.670 [DAT](INFO): DAT read: user:1811> 2025-01-08T21:29:35.674Z,1736371775.674 [DAT](INFO): DAT read: Tx time:21:29:35.0255 2025-01-08T21:29:35.674Z,1736371775.674 [DAT](INFO): Ping request sent. 2025-01-08T21:29:35.674Z,1736371775.674 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:35.675Z,1736371775.675 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:29:35.681Z,1736371775.681 [DAT](INFO): direction in FSK: [0.031101,-0.309982,-0.950234] 2025-01-08T21:29:35.681Z,1736371775.681 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:35.681Z,1736371775.681 [DAT](INFO): publishing direction and range info 2025-01-08T21:29:35.689Z,1736371775.689 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:35.689Z,1736371775.689 [DAT](INFO): publishing direction and range info 2025-01-08T21:29:35.772Z,1736371775.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:35.809Z,1736371775.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 326.100006 m, deltaT: 3.781451 s, deltaX: 14.200012 m, approachRate: 3.755176 m/s, rangeRepo size: 4 2025-01-08T21:29:35.826Z,1736371775.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 326.100006 m, bearing: 322.537927 deg, lat: 36.901787 deg, lon: -122.116154 deg, deltaT: 57.735819 s, deltaX: -6.100006 m, approachRate: -0.105654 m/s, posRepo size: 4 2025-01-08T21:29:35.833Z,1736371775.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:35.857Z,1736371775.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 104.663712 m, bearing: 185.718651 deg, approach rate: 0.000000 m/s, LOS rate: 0.181509 deg/s, cmd heading: 47.287223 deg, new cmd heading: 47.515123 deg. 2025-01-08T21:29:35.866Z,1736371775.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829295 target range: 326.100006 and range: 326.10 m. 2025-01-08T21:29:35.873Z,1736371775.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:35.876Z,1736371775.876 [DAT](INFO): DAT read: TxSync time:21:29:35.0248 2025-01-08T21:29:36.125Z,1736371776.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:36.217Z,1736371776.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:36.224Z,1736371776.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:36.226Z,1736371776.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:36.229Z,1736371776.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 104.921631 m, bearing: 185.851245 deg, approach rate: 0.603636 m/s, LOS rate: 0.309562 deg/s, cmd heading: 47.515123 deg, new cmd heading: 47.911922 deg. 2025-01-08T21:29:36.230Z,1736371776.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836221 target range: 326.100006 and range: 326.10 m. 2025-01-08T21:29:36.376Z,1736371776.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:36.376Z,1736371776.376 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:29:36.376Z,1736371776.376 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:29:36.376Z,1736371776.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:36.565Z,1736371776.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:36.574Z,1736371776.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:36.577Z,1736371776.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 105.123314 m, bearing: 185.955239 deg, approach rate: 0.579534 m/s, LOS rate: 0.298252 deg/s, cmd heading: 47.911923 deg, new cmd heading: 48.223302 deg. 2025-01-08T21:29:36.578Z,1736371776.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841655 target range: 326.100006 and range: 326.10 m. 2025-01-08T21:29:36.629Z,1736371776.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:36.630Z,1736371776.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.955822 2025-01-08T21:29:36.881Z,1736371776.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:36.884Z,1736371776.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.208835 2025-01-08T21:29:37.009Z,1736371777.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:37.018Z,1736371777.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:37.021Z,1736371777.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 105.383774 m, bearing: 186.088311 deg, approach rate: 0.586364 m/s, LOS rate: 0.298839 deg/s, cmd heading: 48.223301 deg, new cmd heading: 48.621523 deg. 2025-01-08T21:29:37.022Z,1736371777.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.848606 target range: 326.100006 and range: 326.10 m. 2025-01-08T21:29:37.132Z,1736371777.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:37.133Z,1736371777.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458025 2025-01-08T21:29:37.384Z,1736371777.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:37.386Z,1736371777.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711054 2025-01-08T21:29:37.400Z,1736371777.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:37.423Z,1736371777.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:37.426Z,1736371777.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 105.612587 m, bearing: 186.205870 deg, approach rate: 0.571387 m/s, LOS rate: 0.292930 deg/s, cmd heading: 48.621521 deg, new cmd heading: 48.973430 deg. 2025-01-08T21:29:37.427Z,1736371777.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.854748 target range: 326.100006 and range: 326.10 m. 2025-01-08T21:29:37.636Z,1736371777.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:37.638Z,1736371777.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963145 2025-01-08T21:29:37.889Z,1736371777.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:37.892Z,1736371777.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216477 2025-01-08T21:29:37.902Z,1736371777.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:37.938Z,1736371777.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:37.945Z,1736371777.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 105.905548 m, bearing: 186.356585 deg, approach rate: 0.563774 m/s, LOS rate: 0.289233 deg/s, cmd heading: 48.973430 deg, new cmd heading: 49.424313 deg. 2025-01-08T21:29:37.947Z,1736371777.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.862617 target range: 326.100006 and range: 326.10 m. 2025-01-08T21:29:38.140Z,1736371778.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:38.140Z,1736371778.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465797 2025-01-08T21:29:38.305Z,1736371778.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:38.312Z,1736371778.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:38.316Z,1736371778.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:38.318Z,1736371778.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 106.134750 m, bearing: 186.477908 deg, approach rate: 0.607748 m/s, LOS rate: 0.321003 deg/s, cmd heading: 49.424314 deg, new cmd heading: 49.787492 deg. 2025-01-08T21:29:38.335Z,1736371778.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.868956 target range: 326.100006 and range: 326.10 m. 2025-01-08T21:29:38.392Z,1736371778.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:38.393Z,1736371778.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718207 2025-01-08T21:29:38.644Z,1736371778.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:38.645Z,1736371778.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970723 2025-01-08T21:29:38.782Z,1736371778.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:38.791Z,1736371778.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:38.794Z,1736371778.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 106.403244 m, bearing: 186.622120 deg, approach rate: 0.564933 m/s, LOS rate: 0.302669 deg/s, cmd heading: 49.787493 deg, new cmd heading: 50.219029 deg. 2025-01-08T21:29:38.795Z,1736371778.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876487 target range: 326.100006 and range: 326.10 m. 2025-01-08T21:29:38.900Z,1736371778.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:38.903Z,1736371778.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227478 2025-01-08T21:29:39.153Z,1736371779.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:39.154Z,1736371779.154 [DAT](INFO): DAT read: Rx Time:21:29:37.8649 2025-01-08T21:29:39.154Z,1736371779.154 [DAT](INFO): Rx dataTimestamp_ set to:1736371779.153759 2025-01-08T21:29:39.155Z,1736371779.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480074 2025-01-08T21:29:39.240Z,1736371779.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:39.261Z,1736371779.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:39.268Z,1736371779.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 106.662354 m, bearing: 186.757745 deg, approach rate: 0.550812 m/s, LOS rate: 0.287607 deg/s, cmd heading: 50.219027 deg, new cmd heading: 50.624904 deg. 2025-01-08T21:29:39.269Z,1736371779.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.883571 target range: 326.100006 and range: 326.10 m. 2025-01-08T21:29:39.406Z,1736371779.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:39.407Z,1736371779.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731852 2025-01-08T21:29:39.577Z,1736371779.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:39.586Z,1736371779.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:39.589Z,1736371779.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 106.851898 m, bearing: 186.857435 deg, approach rate: 0.583841 m/s, LOS rate: 0.306523 deg/s, cmd heading: 50.624905 deg, new cmd heading: 50.923441 deg. 2025-01-08T21:29:39.590Z,1736371779.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.888782 target range: 326.100006 and range: 326.10 m. 2025-01-08T21:29:39.657Z,1736371779.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:39.659Z,1736371779.659 [DAT](INFO): DAT read: Range 10 to 50 : 326.3 m (Round-trip 435.1 ms) speed 0.0 m/s 2025-01-08T21:29:39.660Z,1736371779.660 [DAT](INFO): DAT read: user:1812> 2025-01-08T21:29:39.662Z,1736371779.662 [DAT](INFO): DAT read: Tx time:21:29:38.9756 2025-01-08T21:29:39.662Z,1736371779.662 [DAT](INFO): Ping request sent. 2025-01-08T21:29:39.662Z,1736371779.662 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:39.666Z,1736371779.666 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:29:39.666Z,1736371779.666 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:39.667Z,1736371779.667 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:39.910Z,1736371779.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:39.913Z,1736371779.913 [DAT](INFO): DAT read: TxSync time:21:29:38.9749 2025-01-08T21:29:40.010Z,1736371780.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:40.021Z,1736371780.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 326.299988 m, deltaT: 4.032987 s, deltaX: 0.199982 m, approachRate: 0.049586 m/s, rangeRepo size: 4 2025-01-08T21:29:40.021Z,1736371780.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:40.024Z,1736371780.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 107.099724 m, bearing: 186.977378 deg, approach rate: 0.570410 m/s, LOS rate: 0.275430 deg/s, cmd heading: 50.923442 deg, new cmd heading: 51.282435 deg. 2025-01-08T21:29:40.025Z,1736371780.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.895047 target range: 326.100006 and range: 326.30 m. 2025-01-08T21:29:40.160Z,1736371780.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:40.382Z,1736371780.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:40.389Z,1736371780.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:40.391Z,1736371780.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:40.394Z,1736371780.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 107.310272 m, bearing: 187.081486 deg, approach rate: 0.567658 m/s, LOS rate: 0.280134 deg/s, cmd heading: 51.282437 deg, new cmd heading: 51.594144 deg. 2025-01-08T21:29:40.395Z,1736371780.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.900488 target range: 326.100006 and range: 326.30 m. 2025-01-08T21:29:40.412Z,1736371780.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:40.412Z,1736371780.412 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:29:40.412Z,1736371780.412 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:29:40.412Z,1736371780.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:40.667Z,1736371780.667 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:40.668Z,1736371780.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006045 2025-01-08T21:29:40.799Z,1736371780.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:40.808Z,1736371780.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:40.810Z,1736371780.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 107.544113 m, bearing: 187.198673 deg, approach rate: 0.561704 m/s, LOS rate: 0.280880 deg/s, cmd heading: 51.594142 deg, new cmd heading: 51.944935 deg. 2025-01-08T21:29:40.811Z,1736371780.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.906610 target range: 326.100006 and range: 326.30 m. 2025-01-08T21:29:40.922Z,1736371780.922 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:40.924Z,1736371780.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261904 2025-01-08T21:29:41.172Z,1736371781.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:41.173Z,1736371781.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510669 2025-01-08T21:29:41.210Z,1736371781.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:41.240Z,1736371781.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:41.243Z,1736371781.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 107.767128 m, bearing: 187.308097 deg, approach rate: 0.515102 m/s, LOS rate: 0.252215 deg/s, cmd heading: 51.944934 deg, new cmd heading: 52.272522 deg. 2025-01-08T21:29:41.248Z,1736371781.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.912328 target range: 326.100006 and range: 326.30 m. 2025-01-08T21:29:41.424Z,1736371781.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:41.424Z,1736371781.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762350 2025-01-08T21:29:41.597Z,1736371781.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:41.605Z,1736371781.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:41.608Z,1736371781.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 107.975197 m, bearing: 187.410604 deg, approach rate: 0.570506 m/s, LOS rate: 0.280524 deg/s, cmd heading: 52.272524 deg, new cmd heading: 52.579449 deg. 2025-01-08T21:29:41.609Z,1736371781.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.917684 target range: 326.100006 and range: 326.30 m. 2025-01-08T21:29:41.676Z,1736371781.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:41.678Z,1736371781.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015305 2025-01-08T21:29:41.929Z,1736371781.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:41.932Z,1736371781.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269782 2025-01-08T21:29:42.039Z,1736371782.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:42.048Z,1736371782.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:42.051Z,1736371782.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 108.213936 m, bearing: 187.520928 deg, approach rate: 0.538465 m/s, LOS rate: 0.248281 deg/s, cmd heading: 52.579449 deg, new cmd heading: 52.909686 deg. 2025-01-08T21:29:42.052Z,1736371782.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.923448 target range: 326.100006 and range: 326.30 m. 2025-01-08T21:29:42.180Z,1736371782.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:42.181Z,1736371782.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519197 2025-01-08T21:29:42.402Z,1736371782.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:42.424Z,1736371782.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:42.426Z,1736371782.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:42.429Z,1736371782.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 108.409065 m, bearing: 187.611369 deg, approach rate: 0.516264 m/s, LOS rate: 0.238855 deg/s, cmd heading: 52.909685 deg, new cmd heading: 53.180518 deg. 2025-01-08T21:29:42.430Z,1736371782.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928175 target range: 326.100006 and range: 326.30 m. 2025-01-08T21:29:42.432Z,1736371782.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:42.432Z,1736371782.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770425 2025-01-08T21:29:42.684Z,1736371782.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:42.684Z,1736371782.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022438 2025-01-08T21:29:42.811Z,1736371782.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:42.821Z,1736371782.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:42.824Z,1736371782.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 108.628731 m, bearing: 187.713455 deg, approach rate: 0.556840 m/s, LOS rate: 0.258258 deg/s, cmd heading: 53.180519 deg, new cmd heading: 53.486153 deg. 2025-01-08T21:29:42.825Z,1736371782.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.933509 target range: 326.100006 and range: 326.30 m. 2025-01-08T21:29:42.936Z,1736371782.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:42.937Z,1736371782.937 [DAT](INFO): DAT read: Rx Time:21:29:41.7997 2025-01-08T21:29:42.937Z,1736371782.937 [DAT](INFO): Rx dataTimestamp_ set to:1736371782.936921 2025-01-08T21:29:42.938Z,1736371782.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275692 2025-01-08T21:29:43.188Z,1736371783.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:43.188Z,1736371783.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526353 2025-01-08T21:29:43.230Z,1736371783.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:43.282Z,1736371783.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:43.289Z,1736371783.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 108.849045 m, bearing: 187.808739 deg, approach rate: 0.477405 m/s, LOS rate: 0.206056 deg/s, cmd heading: 53.486153 deg, new cmd heading: 53.771424 deg. 2025-01-08T21:29:43.290Z,1736371783.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.938488 target range: 326.100006 and range: 326.30 m. 2025-01-08T21:29:43.440Z,1736371783.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:43.440Z,1736371783.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778316 2025-01-08T21:29:43.633Z,1736371783.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:43.641Z,1736371783.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.10 m. 2025-01-08T21:29:43.645Z,1736371783.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 326.100006 m, nav range: 109.062073 m, bearing: 187.900385 deg, approach rate: 0.594132 m/s, LOS rate: 0.255101 deg/s, cmd heading: 53.771422 deg, new cmd heading: 54.045822 deg. 2025-01-08T21:29:43.647Z,1736371783.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.943278 target range: 326.100006 and range: 326.30 m. 2025-01-08T21:29:43.692Z,1736371783.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:43.702Z,1736371783.702 [DAT](INFO): DAT read: 21:29:41.7997 LVL= 20976, 20193, 15826, 29075, AGC= 64, IDX= 280,-0.14, 1.984,-2.080,-1.983,-2.600, PHS=-1.611, 0.567, 0.614, RAW= 268.9, 4.0, CAL= 272.4, 5.2, ROT= 237.6, -5.2 2025-01-08T21:29:43.704Z,1736371783.704 [DAT](INFO): got valid direction response: 21:29:41.7997 LVL= 20976, 20193, 15826, 29075, AGC= 64, IDX= 280,-0.14, 1.984,-2.080,-1.983,-2.600, PHS=-1.611, 0.567, 0.614, RAW= 268.9, 4.0, CAL= 272.4, 5.2, ROT= 237.6, -5.2 2025-01-08T21:29:43.706Z,1736371783.706 [DAT](INFO): DAT read: Bearing 237.6, -5.2 (Local) 2025-01-08T21:29:43.706Z,1736371783.706 [DAT](INFO): Local bearing/azimuth received: Bearing 237.6, -5.2 (Local) 2025-01-08T21:29:43.709Z,1736371783.709 [DAT](INFO): DAT read: Range 10 to 50 : 314.9 m (Round-trip 419.9 ms) speed -0.3 m/s 2025-01-08T21:29:43.712Z,1736371783.712 [DAT](INFO): DAT read: user:1813> 2025-01-08T21:29:43.718Z,1736371783.718 [DAT](INFO): DAT read: Tx time:21:29:42.9256 2025-01-08T21:29:43.718Z,1736371783.718 [DAT](INFO): Ping request sent. 2025-01-08T21:29:43.718Z,1736371783.718 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:43.720Z,1736371783.720 [DAT](INFO): DAT read: TxSync time:21:29:42.9249 2025-01-08T21:29:43.721Z,1736371783.721 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:29:43.723Z,1736371783.723 [DAT](INFO): direction in FSK: [0.007991,-0.121675,-0.992538] 2025-01-08T21:29:43.731Z,1736371783.731 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:43.735Z,1736371783.735 [DAT](INFO): publishing direction and range info 2025-01-08T21:29:43.747Z,1736371783.747 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:43.747Z,1736371783.747 [DAT](INFO): publishing direction and range info 2025-01-08T21:29:43.945Z,1736371783.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:44.083Z,1736371784.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:44.097Z,1736371784.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 314.899994 m, deltaT: 4.035698 s, deltaX: -11.399994 m, approachRate: -2.824789 m/s, rangeRepo size: 4 2025-01-08T21:29:44.100Z,1736371784.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 314.899994 m, bearing: 193.741289 deg, lat: 36.902541 deg, lon: -122.116050 deg, deltaT: 8.068685 s, deltaX: -11.200012 m, approachRate: -1.388084 m/s, posRepo size: 4 2025-01-08T21:29:44.101Z,1736371784.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:44.103Z,1736371784.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 25.071823 m, bearing: 193.741328 deg, approach rate: 0.000000 m/s, LOS rate: 0.255101 deg/s, cmd heading: 54.045822 deg, new cmd heading: 54.394568 deg. 2025-01-08T21:29:44.104Z,1736371784.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.949364 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:44.197Z,1736371784.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:44.424Z,1736371784.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:44.430Z,1736371784.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:44.432Z,1736371784.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:44.435Z,1736371784.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 25.263432 m, bearing: 194.004102 deg, approach rate: 0.570421 m/s, LOS rate: 0.776346 deg/s, cmd heading: 54.394568 deg, new cmd heading: 55.176859 deg. 2025-01-08T21:29:44.436Z,1736371784.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.963018 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:44.448Z,1736371784.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:44.448Z,1736371784.448 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:29:44.448Z,1736371784.448 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:29:44.449Z,1736371784.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:44.700Z,1736371784.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:44.700Z,1736371784.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982013 2025-01-08T21:29:44.854Z,1736371784.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:44.884Z,1736371784.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:44.887Z,1736371784.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 25.505268 m, bearing: 194.333028 deg, approach rate: 0.535119 m/s, LOS rate: 0.720920 deg/s, cmd heading: 55.176860 deg, new cmd heading: 56.154181 deg. 2025-01-08T21:29:44.892Z,1736371784.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.980075 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:44.952Z,1736371784.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:44.953Z,1736371784.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234753 2025-01-08T21:29:45.204Z,1736371785.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:45.204Z,1736371785.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485970 2025-01-08T21:29:45.285Z,1736371785.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:45.293Z,1736371785.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:45.297Z,1736371785.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 25.744993 m, bearing: 194.650091 deg, approach rate: 0.586119 m/s, LOS rate: 0.767984 deg/s, cmd heading: 56.154182 deg, new cmd heading: 57.096423 deg. 2025-01-08T21:29:45.298Z,1736371785.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996521 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:45.456Z,1736371785.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:45.457Z,1736371785.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738753 2025-01-08T21:29:45.701Z,1736371785.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:45.708Z,1736371785.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:45.709Z,1736371785.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990321 2025-01-08T21:29:45.711Z,1736371785.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:45.714Z,1736371785.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 25.976799 m, bearing: 194.951676 deg, approach rate: 0.555222 m/s, LOS rate: 0.715910 deg/s, cmd heading: 57.096423 deg, new cmd heading: 57.993029 deg. 2025-01-08T21:29:45.716Z,1736371785.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.012169 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:45.961Z,1736371785.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:45.963Z,1736371785.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243974 2025-01-08T21:29:46.119Z,1736371786.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:46.127Z,1736371786.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:46.131Z,1736371786.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 26.208952 m, bearing: 195.256164 deg, approach rate: 0.557799 m/s, LOS rate: 0.725115 deg/s, cmd heading: 57.993033 deg, new cmd heading: 58.898324 deg. 2025-01-08T21:29:46.132Z,1736371786.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.027970 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:46.212Z,1736371786.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:46.213Z,1736371786.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494421 2025-01-08T21:29:46.464Z,1736371786.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:46.464Z,1736371786.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745998 2025-01-08T21:29:46.509Z,1736371786.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:46.524Z,1736371786.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:46.526Z,1736371786.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:46.529Z,1736371786.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 26.425943 m, bearing: 195.537877 deg, approach rate: 0.543553 m/s, LOS rate: 0.699882 deg/s, cmd heading: 58.898326 deg, new cmd heading: 59.736464 deg. 2025-01-08T21:29:46.540Z,1736371786.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.042598 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:46.716Z,1736371786.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:46.716Z,1736371786.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998073 2025-01-08T21:29:46.900Z,1736371786.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:46.909Z,1736371786.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:46.913Z,1736371786.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 26.643118 m, bearing: 195.817412 deg, approach rate: 0.567913 m/s, LOS rate: 0.725025 deg/s, cmd heading: 59.736466 deg, new cmd heading: 60.568173 deg. 2025-01-08T21:29:46.917Z,1736371786.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.057114 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:46.968Z,1736371786.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:46.969Z,1736371786.969 [DAT](INFO): DAT read: Rx Time:21:29:45.7863 2025-01-08T21:29:46.969Z,1736371786.969 [DAT](INFO): Rx dataTimestamp_ set to:1736371786.969154 2025-01-08T21:29:46.970Z,1736371786.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252004 2025-01-08T21:29:47.220Z,1736371787.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:47.221Z,1736371787.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502228 2025-01-08T21:29:47.335Z,1736371787.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:47.344Z,1736371787.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:47.364Z,1736371787.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 26.887901 m, bearing: 196.153609 deg, approach rate: 0.562644 m/s, LOS rate: 0.765721 deg/s, cmd heading: 60.568171 deg, new cmd heading: 61.567471 deg. 2025-01-08T21:29:47.365Z,1736371787.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074555 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:47.473Z,1736371787.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:47.495Z,1736371787.495 [DAT](INFO): DAT read: 21:29:45.7863 LVL= 18400, 14577, 12338, 19059, AGC= 67, IDX= 108, 0.42,-0.596, 1.664, 1.731, 1.090, PHS=-1.598, 0.621, 0.638, RAW= 269.6, 3.1, CAL= 272.6, 3.9, ROT= 237.4, -3.9 2025-01-08T21:29:47.496Z,1736371787.496 [DAT](INFO): got valid direction response: 21:29:45.7863 LVL= 18400, 14577, 12338, 19059, AGC= 67, IDX= 108, 0.42,-0.596, 1.664, 1.731, 1.090, PHS=-1.598, 0.621, 0.638, RAW= 269.6, 3.1, CAL= 272.6, 3.9, ROT= 237.4, -3.9 2025-01-08T21:29:47.497Z,1736371787.497 [DAT](INFO): DAT read: Bearing 237.4, -3.9 (Local) 2025-01-08T21:29:47.498Z,1736371787.498 [DAT](INFO): Local bearing/azimuth received: Bearing 237.4, -3.9 (Local) 2025-01-08T21:29:47.503Z,1736371787.503 [DAT](INFO): DAT read: Range 10 to 50 : 342.3 m (Round-trip 456.5 ms) speed 0.0 m/s 2025-01-08T21:29:47.505Z,1736371787.505 [DAT](INFO): DAT read: user:1814> 2025-01-08T21:29:47.506Z,1736371787.506 [DAT](INFO): DAT read: Tx time:21:29:46.8756 2025-01-08T21:29:47.506Z,1736371787.506 [DAT](INFO): Ping request sent. 2025-01-08T21:29:47.506Z,1736371787.506 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:47.507Z,1736371787.507 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:29:47.508Z,1736371787.508 [DAT](INFO): direction in FSK: [0.025701,-0.110953,-0.993493] 2025-01-08T21:29:47.509Z,1736371787.509 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:47.509Z,1736371787.509 [DAT](INFO): publishing direction and range info 2025-01-08T21:29:47.513Z,1736371787.513 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:47.513Z,1736371787.513 [DAT](INFO): publishing direction and range info 2025-01-08T21:29:47.721Z,1736371787.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:47.724Z,1736371787.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:47.725Z,1736371787.725 [DAT](INFO): DAT read: TxSync time:21:29:46.8749 2025-01-08T21:29:47.756Z,1736371787.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 342.299988 m, deltaT: 3.781380 s, deltaX: 27.399994 m, approachRate: 7.246030 m/s, rangeRepo size: 4 2025-01-08T21:29:47.757Z,1736371787.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:47.768Z,1736371787.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 27.106081 m, bearing: 196.447120 deg, approach rate: 0.535316 m/s, LOS rate: 0.714345 deg/s, cmd heading: 61.567469 deg, new cmd heading: 62.440843 deg. 2025-01-08T21:29:47.769Z,1736371787.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089798 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:47.976Z,1736371787.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:48.137Z,1736371788.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:48.146Z,1736371788.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:48.149Z,1736371788.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 27.344990 m, bearing: 196.781670 deg, approach rate: 0.605978 m/s, LOS rate: 0.841149 deg/s, cmd heading: 62.440845 deg, new cmd heading: 63.435622 deg. 2025-01-08T21:29:48.150Z,1736371788.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107160 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:48.233Z,1736371788.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:48.484Z,1736371788.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:48.520Z,1736371788.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:48.531Z,1736371788.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:48.537Z,1736371788.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:48.544Z,1736371788.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 27.564102 m, bearing: 197.091319 deg, approach rate: 0.559720 m/s, LOS rate: 0.784701 deg/s, cmd heading: 63.435621 deg, new cmd heading: 64.357098 deg. 2025-01-08T21:29:48.545Z,1736371788.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123243 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:48.736Z,1736371788.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:48.736Z,1736371788.736 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:29:48.737Z,1736371788.737 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:29:48.737Z,1736371788.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:48.923Z,1736371788.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:48.933Z,1736371788.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:48.936Z,1736371788.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 27.792959 m, bearing: 197.418981 deg, approach rate: 0.578036 m/s, LOS rate: 0.820775 deg/s, cmd heading: 64.357095 deg, new cmd heading: 65.331890 deg. 2025-01-08T21:29:48.937Z,1736371788.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140257 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:48.988Z,1736371788.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:48.989Z,1736371788.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482207 2025-01-08T21:29:49.242Z,1736371789.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:49.242Z,1736371789.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735979 2025-01-08T21:29:49.383Z,1736371789.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:49.392Z,1736371789.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:49.395Z,1736371789.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 28.064028 m, bearing: 197.833331 deg, approach rate: 0.590151 m/s, LOS rate: 0.893371 deg/s, cmd heading: 65.331893 deg, new cmd heading: 66.562736 deg. 2025-01-08T21:29:49.416Z,1736371789.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.161739 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:49.492Z,1736371789.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:49.493Z,1736371789.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986149 2025-01-08T21:29:49.727Z,1736371789.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:49.736Z,1736371789.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:49.738Z,1736371789.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 28.264305 m, bearing: 198.150032 deg, approach rate: 0.582789 m/s, LOS rate: 0.915036 deg/s, cmd heading: 66.562734 deg, new cmd heading: 67.506014 deg. 2025-01-08T21:29:49.740Z,1736371789.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.178202 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:49.744Z,1736371789.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:49.745Z,1736371789.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238172 2025-01-08T21:29:49.996Z,1736371789.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:49.997Z,1736371789.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490715 2025-01-08T21:29:50.161Z,1736371790.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:50.171Z,1736371790.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:50.175Z,1736371790.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 28.519117 m, bearing: 198.577270 deg, approach rate: 0.586217 m/s, LOS rate: 0.974107 deg/s, cmd heading: 67.506011 deg, new cmd heading: 68.776054 deg. 2025-01-08T21:29:50.176Z,1736371790.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.200369 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:50.249Z,1736371790.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:50.250Z,1736371790.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743215 2025-01-08T21:29:50.501Z,1736371790.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:50.502Z,1736371790.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995861 2025-01-08T21:29:50.556Z,1736371790.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:50.562Z,1736371790.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:50.564Z,1736371790.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:50.567Z,1736371790.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 28.748857 m, bearing: 198.965349 deg, approach rate: 0.583430 m/s, LOS rate: 0.977651 deg/s, cmd heading: 68.776057 deg, new cmd heading: 69.930824 deg. 2025-01-08T21:29:50.568Z,1736371790.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220523 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:50.752Z,1736371790.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:50.752Z,1736371790.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245905 2025-01-08T21:29:50.940Z,1736371790.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:50.970Z,1736371790.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:50.973Z,1736371790.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 28.971033 m, bearing: 199.344790 deg, approach rate: 0.547628 m/s, LOS rate: 0.928085 deg/s, cmd heading: 69.930824 deg, new cmd heading: 71.060263 deg. 2025-01-08T21:29:50.974Z,1736371790.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240236 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:51.004Z,1736371791.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:51.005Z,1736371791.005 [DAT](INFO): DAT read: Rx Time:21:29:49.7195 2025-01-08T21:29:51.006Z,1736371791.006 [DAT](INFO): Rx dataTimestamp_ set to:1736371791.005569 2025-01-08T21:29:51.007Z,1736371791.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500437 2025-01-08T21:29:51.256Z,1736371791.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:51.257Z,1736371791.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750138 2025-01-08T21:29:51.456Z,1736371791.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:51.465Z,1736371791.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.90 m. 2025-01-08T21:29:51.468Z,1736371791.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 314.899994 m, nav range: 29.277468 m, bearing: 199.883678 deg, approach rate: 0.618661 m/s, LOS rate: 1.076558 deg/s, cmd heading: 71.060264 deg, new cmd heading: 72.659567 deg. 2025-01-08T21:29:51.469Z,1736371791.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268149 target range: 314.899994 and range: 314.90 m. 2025-01-08T21:29:51.508Z,1736371791.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:51.515Z,1736371791.515 [DAT](INFO): DAT read: 21:29:49.7195 LVL= 19296, 21473, 12946, 27827, AGC= 66, IDX= 277,-0.08, 0.920, 3.068, 2.856, 2.541, PHS=-1.533, 0.574, 0.312, RAW= 276.6, 6.6, CAL= 281.1, 9.0, ROT= 228.9, -9.0 2025-01-08T21:29:51.516Z,1736371791.516 [DAT](INFO): got valid direction response: 21:29:49.7195 LVL= 19296, 21473, 12946, 27827, AGC= 66, IDX= 277,-0.08, 0.920, 3.068, 2.856, 2.541, PHS=-1.533, 0.574, 0.312, RAW= 276.6, 6.6, CAL= 281.1, 9.0, ROT= 228.9, -9.0 2025-01-08T21:29:51.517Z,1736371791.517 [DAT](INFO): DAT read: Bearing 228.9, -9.0 (Local) 2025-01-08T21:29:51.518Z,1736371791.518 [DAT](INFO): Local bearing/azimuth received: Bearing 228.9, -9.0 (Local) 2025-01-08T21:29:51.519Z,1736371791.519 [DAT](INFO): DAT read: Range 10 to 50 : 329.7 m (Round-trip 439.7 ms) speed -0.4 m/s 2025-01-08T21:29:51.520Z,1736371791.520 [DAT](INFO): DAT read: user:1815> 2025-01-08T21:29:51.521Z,1736371791.521 [DAT](INFO): DAT read: Tx time:21:29:50.8256 2025-01-08T21:29:51.521Z,1736371791.521 [DAT](INFO): Ping request sent. 2025-01-08T21:29:51.521Z,1736371791.521 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:51.521Z,1736371791.521 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:29:51.522Z,1736371791.522 [DAT](INFO): direction in FSK: [-0.031229,0.013417,-0.999422] 2025-01-08T21:29:51.523Z,1736371791.523 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:51.523Z,1736371791.523 [DAT](INFO): publishing direction and range info 2025-01-08T21:29:51.526Z,1736371791.526 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:51.526Z,1736371791.526 [DAT](INFO): publishing direction and range info 2025-01-08T21:29:51.760Z,1736371791.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:51.761Z,1736371791.761 [DAT](INFO): DAT read: TxSync time:21:29:50.8249 2025-01-08T21:29:51.857Z,1736371791.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:51.884Z,1736371791.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 329.700012 m, deltaT: 7.815487 s, deltaX: 14.800018 m, approachRate: 1.893678 m/s, rangeRepo size: 4 2025-01-08T21:29:51.886Z,1736371791.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 329.700012 m, bearing: 173.452307 deg, lat: 36.902541 deg, lon: -122.116050 deg, deltaT: 7.815487 s, deltaX: 14.800018 m, approachRate: 1.893678 m/s, posRepo size: 4 2025-01-08T21:29:51.887Z,1736371791.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.70 m. 2025-01-08T21:29:51.894Z,1736371791.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.700012 m, nav range: 29.505453 m, bearing: 200.320276 deg, approach rate: 0.000000 m/s, LOS rate: 1.076558 deg/s, cmd heading: 72.659566 deg, new cmd heading: 73.994065 deg. 2025-01-08T21:29:51.895Z,1736371791.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.291440 target range: 329.700012 and range: 329.70 m. 2025-01-08T21:29:52.012Z,1736371792.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:52.097Z,1736371792.097 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:29:52.262Z,1736371792.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:52.264Z,1736371792.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:52.293Z,1736371792.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.70 m. 2025-01-08T21:29:52.300Z,1736371792.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.700012 m, nav range: 29.731581 m, bearing: 200.781527 deg, approach rate: 0.545200 m/s, LOS rate: 1.103619 deg/s, cmd heading: 73.994062 deg, new cmd heading: 75.367014 deg. 2025-01-08T21:29:52.301Z,1736371792.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315403 target range: 329.700012 and range: 329.70 m. 2025-01-08T21:29:52.516Z,1736371792.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:52.555Z,1736371792.555 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:29:52.660Z,1736371792.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:52.673Z,1736371792.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:52.676Z,1736371792.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.70 m. 2025-01-08T21:29:52.680Z,1736371792.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.700012 m, nav range: 29.950052 m, bearing: 201.237130 deg, approach rate: 0.571032 m/s, LOS rate: 1.182136 deg/s, cmd heading: 75.367012 deg, new cmd heading: 76.723582 deg. 2025-01-08T21:29:52.681Z,1736371792.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339079 target range: 329.700012 and range: 329.70 m. 2025-01-08T21:29:52.769Z,1736371792.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:52.769Z,1736371792.769 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:29:52.769Z,1736371792.769 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:29:52.770Z,1736371792.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:53.020Z,1736371793.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:53.020Z,1736371793.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499102 2025-01-08T21:29:53.062Z,1736371793.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:53.071Z,1736371793.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.70 m. 2025-01-08T21:29:53.074Z,1736371793.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.700012 m, nav range: 30.168327 m, bearing: 201.700831 deg, approach rate: 0.552907 m/s, LOS rate: 1.166078 deg/s, cmd heading: 76.723583 deg, new cmd heading: 78.104338 deg. 2025-01-08T21:29:53.075Z,1736371793.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363178 target range: 329.700012 and range: 329.70 m. 2025-01-08T21:29:53.101Z,1736371793.101 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:29:53.272Z,1736371793.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:53.273Z,1736371793.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751410 2025-01-08T21:29:53.486Z,1736371793.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:53.494Z,1736371793.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.70 m. 2025-01-08T21:29:53.498Z,1736371793.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.700012 m, nav range: 30.394196 m, bearing: 202.185315 deg, approach rate: 0.533362 m/s, LOS rate: 1.135539 deg/s, cmd heading: 78.104340 deg, new cmd heading: 79.546670 deg. 2025-01-08T21:29:53.499Z,1736371793.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388351 target range: 329.700012 and range: 329.70 m. 2025-01-08T21:29:53.524Z,1736371793.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:53.524Z,1736371793.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003174 2025-01-08T21:29:53.776Z,1736371793.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:53.776Z,1736371793.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255119 2025-01-08T21:29:53.876Z,1736371793.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:53.893Z,1736371793.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.70 m. 2025-01-08T21:29:53.898Z,1736371793.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.700012 m, nav range: 30.598940 m, bearing: 202.633626 deg, approach rate: 0.513973 m/s, LOS rate: 1.117861 deg/s, cmd heading: 79.546671 deg, new cmd heading: 80.882349 deg. 2025-01-08T21:29:53.899Z,1736371793.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411663 target range: 329.700012 and range: 329.70 m. 2025-01-08T21:29:54.029Z,1736371794.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:54.030Z,1736371794.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509040 2025-01-08T21:29:54.280Z,1736371794.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:54.281Z,1736371794.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759752 2025-01-08T21:29:54.330Z,1736371794.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:54.355Z,1736371794.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.70 m. 2025-01-08T21:29:54.362Z,1736371794.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.700012 m, nav range: 30.833536 m, bearing: 203.117391 deg, approach rate: 0.507740 m/s, LOS rate: 1.039041 deg/s, cmd heading: 80.882349 deg, new cmd heading: 82.322281 deg. 2025-01-08T21:29:54.366Z,1736371794.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436795 target range: 329.700012 and range: 329.70 m. 2025-01-08T21:29:54.532Z,1736371794.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:54.532Z,1736371794.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011253 2025-01-08T21:29:54.689Z,1736371794.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:54.696Z,1736371794.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:54.698Z,1736371794.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.70 m. 2025-01-08T21:29:54.705Z,1736371794.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.700012 m, nav range: 31.010729 m, bearing: 203.507729 deg, approach rate: 0.516597 m/s, LOS rate: 1.131502 deg/s, cmd heading: 82.322282 deg, new cmd heading: 83.486437 deg. 2025-01-08T21:29:54.706Z,1736371794.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457113 target range: 329.700012 and range: 329.70 m. 2025-01-08T21:29:54.785Z,1736371794.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:54.786Z,1736371794.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264677 2025-01-08T21:29:55.036Z,1736371795.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:55.036Z,1736371795.036 [DAT](INFO): DAT read: Rx Time:21:29:53.6731 2025-01-08T21:29:55.037Z,1736371795.037 [DAT](INFO): Rx dataTimestamp_ set to:1736371795.036683 2025-01-08T21:29:55.037Z,1736371795.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516315 2025-01-08T21:29:55.077Z,1736371795.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:55.118Z,1736371795.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.70 m. 2025-01-08T21:29:55.132Z,1736371795.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.700012 m, nav range: 31.200741 m, bearing: 203.935641 deg, approach rate: 0.452459 m/s, LOS rate: 1.012734 deg/s, cmd heading: 83.486440 deg, new cmd heading: 84.762135 deg. 2025-01-08T21:29:55.140Z,1736371795.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.479378 target range: 329.700012 and range: 329.70 m. 2025-01-08T21:29:55.288Z,1736371795.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:55.289Z,1736371795.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767409 2025-01-08T21:29:55.520Z,1736371795.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:55.528Z,1736371795.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.70 m. 2025-01-08T21:29:55.532Z,1736371795.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.700012 m, nav range: 31.403763 m, bearing: 204.376441 deg, approach rate: 0.494234 m/s, LOS rate: 1.066130 deg/s, cmd heading: 84.762135 deg, new cmd heading: 86.075743 deg. 2025-01-08T21:29:55.533Z,1736371795.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.502305 target range: 329.700012 and range: 329.70 m. 2025-01-08T21:29:55.540Z,1736371795.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:55.547Z,1736371795.547 [DAT](INFO): DAT read: 21:29:53.6731 LVL= 18928, 19569, 11250, 20035, AGC= 65, IDX= 275,-0.06,-3.045,-0.558,-1.338,-1.534, PHS=-1.424, 1.023, 0.193, RAW= 289.5, 2.0, CAL= 292.3, 2.1, ROT= 217.7, -2.1 2025-01-08T21:29:55.549Z,1736371795.549 [DAT](INFO): got valid direction response: 21:29:53.6731 LVL= 18928, 19569, 11250, 20035, AGC= 65, IDX= 275,-0.06,-3.045,-0.558,-1.338,-1.534, PHS=-1.424, 1.023, 0.193, RAW= 289.5, 2.0, CAL= 292.3, 2.1, ROT= 217.7, -2.1 2025-01-08T21:29:55.550Z,1736371795.550 [DAT](INFO): DAT read: Bearing 217.7, -2.1 (Local) 2025-01-08T21:29:55.550Z,1736371795.550 [DAT](INFO): Local bearing/azimuth received: Bearing 217.7, -2.1 (Local) 2025-01-08T21:29:55.551Z,1736371795.551 [DAT](INFO): DAT read: Range 10 to 50 : 332.4 m (Round-trip 443.2 ms) speed -0.2 m/s 2025-01-08T21:29:55.552Z,1736371795.552 [DAT](INFO): DAT read: user:1816> 2025-01-08T21:29:55.553Z,1736371795.553 [DAT](INFO): DAT read: Tx time:21:29:54.7757 2025-01-08T21:29:55.553Z,1736371795.553 [DAT](INFO): Ping request sent. 2025-01-08T21:29:55.553Z,1736371795.553 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:55.554Z,1736371795.554 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:29:55.554Z,1736371795.554 [DAT](INFO): direction in FSK: [0.073508,0.236776,-0.968780] 2025-01-08T21:29:55.555Z,1736371795.555 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:55.580Z,1736371795.580 [DAT](INFO): publishing direction and range info 2025-01-08T21:29:55.584Z,1736371795.584 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:55.584Z,1736371795.584 [DAT](INFO): publishing direction and range info 2025-01-08T21:29:55.792Z,1736371795.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:55.793Z,1736371795.793 [DAT](INFO): DAT read: TxSync time:21:29:54.7750 2025-01-08T21:29:55.888Z,1736371795.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:55.917Z,1736371795.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 332.399994 m, deltaT: 4.032099 s, deltaX: 2.699982 m, approachRate: 0.669622 m/s, rangeRepo size: 4 2025-01-08T21:29:55.924Z,1736371795.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 332.399994 m, bearing: 163.140862 deg, lat: 36.902486 deg, lon: -122.115989 deg, deltaT: 4.032099 s, deltaX: 2.699982 m, approachRate: 0.669622 m/s, posRepo size: 4 2025-01-08T21:29:55.924Z,1736371795.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.40 m. 2025-01-08T21:29:55.927Z,1736371795.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.399994 m, nav range: 35.657738 m, bearing: 192.661933 deg, approach rate: 0.000000 m/s, LOS rate: 1.066130 deg/s, cmd heading: 86.075745 deg, new cmd heading: 87.317520 deg. 2025-01-08T21:29:55.932Z,1736371795.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.523978 target range: 332.399994 and range: 332.40 m. 2025-01-08T21:29:56.044Z,1736371796.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:56.296Z,1736371796.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:56.388Z,1736371796.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:56.408Z,1736371796.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.40 m. 2025-01-08T21:29:56.411Z,1736371796.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.399994 m, nav range: 35.804344 m, bearing: 193.123490 deg, approach rate: 0.298317 m/s, LOS rate: 0.935327 deg/s, cmd heading: 87.317521 deg, new cmd heading: 88.696240 deg. 2025-01-08T21:29:56.416Z,1736371796.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548041 target range: 332.399994 and range: 332.40 m. 2025-01-08T21:29:56.548Z,1736371796.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:56.746Z,1736371796.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:56.753Z,1736371796.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:56.755Z,1736371796.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.40 m. 2025-01-08T21:29:56.776Z,1736371796.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.399994 m, nav range: 35.901100 m, bearing: 193.459915 deg, approach rate: 0.278907 m/s, LOS rate: 0.967155 deg/s, cmd heading: 88.696242 deg, new cmd heading: 89.702689 deg. 2025-01-08T21:29:56.777Z,1736371796.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.565607 target range: 332.399994 and range: 332.40 m. 2025-01-08T21:29:56.806Z,1736371796.806 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:56.806Z,1736371796.806 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:29:56.807Z,1736371796.807 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:29:56.807Z,1736371796.807 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:29:57.060Z,1736371797.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:57.061Z,1736371797.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507790 2025-01-08T21:29:57.154Z,1736371797.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:57.222Z,1736371797.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.40 m. 2025-01-08T21:29:57.230Z,1736371797.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.399994 m, nav range: 36.007454 m, bearing: 193.843735 deg, approach rate: 0.231482 m/s, LOS rate: 0.832919 deg/s, cmd heading: 89.702691 deg, new cmd heading: 90.850586 deg. 2025-01-08T21:29:57.235Z,1736371797.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.585642 target range: 332.399994 and range: 332.40 m. 2025-01-08T21:29:57.313Z,1736371797.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:57.314Z,1736371797.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760590 2025-01-08T21:29:57.564Z,1736371797.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:57.565Z,1736371797.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011349 2025-01-08T21:29:57.578Z,1736371797.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:57.587Z,1736371797.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.40 m. 2025-01-08T21:29:57.590Z,1736371797.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.399994 m, nav range: 36.119411 m, bearing: 194.208475 deg, approach rate: 0.300798 m/s, LOS rate: 0.976909 deg/s, cmd heading: 90.850586 deg, new cmd heading: 91.941278 deg. 2025-01-08T21:29:57.590Z,1736371797.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.604678 target range: 332.399994 and range: 332.40 m. 2025-01-08T21:29:57.816Z,1736371797.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:57.818Z,1736371797.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264267 2025-01-08T21:29:57.960Z,1736371797.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:57.970Z,1736371797.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.40 m. 2025-01-08T21:29:57.972Z,1736371797.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.399994 m, nav range: 36.217873 m, bearing: 194.538833 deg, approach rate: 0.257219 m/s, LOS rate: 0.860672 deg/s, cmd heading: 91.941279 deg, new cmd heading: 92.929554 deg. 2025-01-08T21:29:57.973Z,1736371797.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621927 target range: 332.399994 and range: 332.40 m. 2025-01-08T21:29:58.068Z,1736371798.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:58.070Z,1736371798.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516316 2025-01-08T21:29:58.320Z,1736371798.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:58.320Z,1736371798.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767066 2025-01-08T21:29:58.399Z,1736371798.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:58.416Z,1736371798.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.40 m. 2025-01-08T21:29:58.418Z,1736371798.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.399994 m, nav range: 36.319447 m, bearing: 194.892157 deg, approach rate: 0.227844 m/s, LOS rate: 0.790334 deg/s, cmd heading: 92.929553 deg, new cmd heading: 93.986434 deg. 2025-01-08T21:29:58.419Z,1736371798.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.640373 target range: 332.399994 and range: 332.40 m. 2025-01-08T21:29:58.572Z,1736371798.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:58.572Z,1736371798.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019113 2025-01-08T21:29:58.765Z,1736371798.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:58.787Z,1736371798.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:29:58.791Z,1736371798.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.40 m. 2025-01-08T21:29:58.796Z,1736371798.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.399994 m, nav range: 36.401833 m, bearing: 195.188646 deg, approach rate: 0.220133 m/s, LOS rate: 0.790414 deg/s, cmd heading: 93.986436 deg, new cmd heading: 94.873814 deg. 2025-01-08T21:29:58.798Z,1736371798.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.655860 target range: 332.399994 and range: 332.40 m. 2025-01-08T21:29:58.825Z,1736371798.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:58.826Z,1736371798.826 [DAT](INFO): DAT read: Rx Time:21:29:57.6425 2025-01-08T21:29:58.827Z,1736371798.827 [DAT](INFO): Rx dataTimestamp_ set to:1736371798.826265 2025-01-08T21:29:58.828Z,1736371798.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274649 2025-01-08T21:29:59.076Z,1736371799.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:59.076Z,1736371799.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523024 2025-01-08T21:29:59.173Z,1736371799.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:59.244Z,1736371799.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.40 m. 2025-01-08T21:29:59.260Z,1736371799.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.399994 m, nav range: 36.491070 m, bearing: 195.521321 deg, approach rate: 0.198929 m/s, LOS rate: 0.739788 deg/s, cmd heading: 94.873814 deg, new cmd heading: 95.869294 deg. 2025-01-08T21:29:59.261Z,1736371799.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673235 target range: 332.399994 and range: 332.40 m. 2025-01-08T21:29:59.330Z,1736371799.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:59.388Z,1736371799.388 [DAT](INFO): DAT read: 21:29:57.6425 LVL= 21104, 18833, 12498, 29219, AGC= 70, IDX= 111,-0.07,-1.077, 1.444, 0.092,-0.184, PHS=-0.805, 1.675, 0.273, RAW= 304.3, -10.6, CAL= 309.3, -14.6, ROT= 200.7, 14.6 2025-01-08T21:29:59.389Z,1736371799.389 [DAT](INFO): got valid direction response: 21:29:57.6425 LVL= 21104, 18833, 12498, 29219, AGC= 70, IDX= 111,-0.07,-1.077, 1.444, 0.092,-0.184, PHS=-0.805, 1.675, 0.273, RAW= 304.3, -10.6, CAL= 309.3, -14.6, ROT= 200.7, 14.6 2025-01-08T21:29:59.390Z,1736371799.390 [DAT](INFO): DAT read: Bearing 200.7, 14.6 (Local) 2025-01-08T21:29:59.390Z,1736371799.390 [DAT](INFO): Local bearing/azimuth received: Bearing 200.7, 14.6 (Local) 2025-01-08T21:29:59.392Z,1736371799.392 [DAT](INFO): DAT read: Range 10 to 50 : 346.9 m (Round-trip 462.6 ms) speed -0.3 m/s 2025-01-08T21:29:59.393Z,1736371799.393 [DAT](INFO): DAT read: user:1817> 2025-01-08T21:29:59.394Z,1736371799.394 [DAT](INFO): DAT read: Tx time:21:29:58.7257 2025-01-08T21:29:59.394Z,1736371799.394 [DAT](INFO): Ping request sent. 2025-01-08T21:29:59.394Z,1736371799.394 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:29:59.394Z,1736371799.394 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:29:59.400Z,1736371799.400 [DAT](INFO): direction in FSK: [0.323887,0.459731,-0.826888] 2025-01-08T21:29:59.400Z,1736371799.400 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:59.400Z,1736371799.400 [DAT](INFO): publishing direction and range info 2025-01-08T21:29:59.407Z,1736371799.407 [DAT](INFO): publishing transmit ping time 2025-01-08T21:29:59.408Z,1736371799.408 [DAT](INFO): publishing direction and range info 2025-01-08T21:29:59.581Z,1736371799.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:29:59.581Z,1736371799.581 [DAT](INFO): DAT read: TxSync time:21:29:58.7250 2025-01-08T21:29:59.651Z,1736371799.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:29:59.702Z,1736371799.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 346.899994 m, deltaT: 3.790608 s, deltaX: 14.500000 m, approachRate: 3.825244 m/s, rangeRepo size: 4 2025-01-08T21:29:59.709Z,1736371799.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 346.899994 m, bearing: 154.085574 deg, lat: 36.901922 deg, lon: -122.115810 deg, deltaT: 3.790608 s, deltaX: 14.500000 m, approachRate: 3.825244 m/s, posRepo size: 4 2025-01-08T21:29:59.709Z,1736371799.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:29:59.718Z,1736371799.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.150276 m, bearing: 176.548099 deg, approach rate: 0.000000 m/s, LOS rate: 0.739788 deg/s, cmd heading: 95.869293 deg, new cmd heading: 96.897572 deg. 2025-01-08T21:29:59.719Z,1736371799.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.691182 target range: 346.899994 and range: 346.90 m. 2025-01-08T21:29:59.833Z,1736371799.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:00.009Z,1736371800.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:00.018Z,1736371800.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:00.021Z,1736371800.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.161179 m, bearing: 176.661370 deg, approach rate: 0.034403 m/s, LOS rate: 0.357393 deg/s, cmd heading: 96.897571 deg, new cmd heading: 97.237345 deg. 2025-01-08T21:30:00.022Z,1736371800.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.697112 target range: 346.899994 and range: 346.90 m. 2025-01-08T21:30:00.084Z,1736371800.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:00.336Z,1736371800.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:00.433Z,1736371800.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:00.468Z,1736371800.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:00.471Z,1736371800.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.173019 m, bearing: 176.803266 deg, approach rate: 0.026341 m/s, LOS rate: 0.315618 deg/s, cmd heading: 97.237346 deg, new cmd heading: 97.662974 deg. 2025-01-08T21:30:00.476Z,1736371800.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.704540 target range: 346.899994 and range: 346.90 m. 2025-01-08T21:30:00.588Z,1736371800.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:00.814Z,1736371800.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:00.831Z,1736371800.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:00.833Z,1736371800.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:00.840Z,1736371800.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:00.840Z,1736371800.840 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:00.840Z,1736371800.840 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:00.841Z,1736371800.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:00.863Z,1736371800.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.179680 m, bearing: 176.930577 deg, approach rate: 0.018232 m/s, LOS rate: 0.348473 deg/s, cmd heading: 97.662976 deg, new cmd heading: 98.044877 deg. 2025-01-08T21:30:00.866Z,1736371800.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.711206 target range: 346.899994 and range: 346.90 m. 2025-01-08T21:30:01.092Z,1736371801.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:01.092Z,1736371801.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.698235 2025-01-08T21:30:01.272Z,1736371801.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:01.298Z,1736371801.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:01.305Z,1736371801.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.183022 m, bearing: 177.081964 deg, approach rate: 0.007186 m/s, LOS rate: 0.325522 deg/s, cmd heading: 98.044879 deg, new cmd heading: 98.499014 deg. 2025-01-08T21:30:01.306Z,1736371801.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.719132 target range: 346.899994 and range: 346.90 m. 2025-01-08T21:30:01.346Z,1736371801.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:01.347Z,1736371801.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952819 2025-01-08T21:30:01.600Z,1736371801.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:01.600Z,1736371801.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206281 2025-01-08T21:30:01.670Z,1736371801.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:01.702Z,1736371801.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:01.709Z,1736371801.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.185585 m, bearing: 177.225699 deg, approach rate: 0.006349 m/s, LOS rate: 0.355981 deg/s, cmd heading: 98.499012 deg, new cmd heading: 98.930197 deg. 2025-01-08T21:30:01.710Z,1736371801.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726658 target range: 346.899994 and range: 346.90 m. 2025-01-08T21:30:01.852Z,1736371801.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:01.853Z,1736371801.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458400 2025-01-08T21:30:02.023Z,1736371802.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:02.051Z,1736371802.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:02.054Z,1736371802.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.184540 m, bearing: 177.351692 deg, approach rate: -0.002994 m/s, LOS rate: 0.360928 deg/s, cmd heading: 98.930195 deg, new cmd heading: 99.308172 deg. 2025-01-08T21:30:02.055Z,1736371802.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.733255 target range: 346.899994 and range: 346.90 m. 2025-01-08T21:30:02.105Z,1736371802.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:02.106Z,1736371802.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711500 2025-01-08T21:30:02.356Z,1736371802.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:02.356Z,1736371802.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962111 2025-01-08T21:30:02.460Z,1736371802.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:02.490Z,1736371802.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:02.497Z,1736371802.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.170700 m, bearing: 177.518434 deg, approach rate: -0.031556 m/s, LOS rate: 0.380242 deg/s, cmd heading: 99.308171 deg, new cmd heading: 99.808455 deg. 2025-01-08T21:30:02.498Z,1736371802.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.741986 target range: 346.899994 and range: 346.90 m. 2025-01-08T21:30:02.608Z,1736371802.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:02.609Z,1736371802.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214627 2025-01-08T21:30:02.842Z,1736371802.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:02.849Z,1736371802.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:02.851Z,1736371802.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:02.854Z,1736371802.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.154968 m, bearing: 177.663638 deg, approach rate: -0.043534 m/s, LOS rate: 0.401876 deg/s, cmd heading: 99.808455 deg, new cmd heading: 100.244126 deg. 2025-01-08T21:30:02.855Z,1736371802.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749590 target range: 346.899994 and range: 346.90 m. 2025-01-08T21:30:02.860Z,1736371802.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:02.861Z,1736371802.861 [DAT](INFO): DAT read: Rx Time:21:30:01.5941 2025-01-08T21:30:02.861Z,1736371802.861 [DAT](INFO): Rx dataTimestamp_ set to:1736371802.860724 2025-01-08T21:30:02.862Z,1736371802.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467331 2025-01-08T21:30:03.112Z,1736371803.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:03.113Z,1736371803.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.718149 2025-01-08T21:30:03.334Z,1736371803.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:30:03.334Z,1736371803.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:03.344Z,1736371803.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:03.348Z,1736371803.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.135612 m, bearing: 177.850960 deg, approach rate: -0.039332 m/s, LOS rate: 0.380721 deg/s, cmd heading: 100.244125 deg, new cmd heading: 100.806184 deg. 2025-01-08T21:30:03.349Z,1736371803.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.759400 target range: 346.899994 and range: 346.90 m. 2025-01-08T21:30:03.364Z,1736371803.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:03.366Z,1736371803.366 [DAT](INFO): DAT read: Range 10 to 50 : 348.1 m (Round-trip 464.2 ms) speed -0.6 m/s 2025-01-08T21:30:03.366Z,1736371803.366 [DAT](INFO): DAT read: user:1818> 2025-01-08T21:30:03.367Z,1736371803.367 [DAT](INFO): DAT read: Tx time:21:30:02.6758 2025-01-08T21:30:03.368Z,1736371803.368 [DAT](INFO): Ping request sent. 2025-01-08T21:30:03.368Z,1736371803.368 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:03.368Z,1736371803.368 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:30:03.368Z,1736371803.368 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:03.369Z,1736371803.369 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:03.616Z,1736371803.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:03.616Z,1736371803.616 [DAT](INFO): DAT read: TxSync time:21:30:02.6750 2025-01-08T21:30:03.668Z,1736371803.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:30:03.668Z,1736371803.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:03.696Z,1736371803.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 348.100006 m, deltaT: 4.033476 s, deltaX: 1.200012 m, approachRate: 0.297513 m/s, rangeRepo size: 4 2025-01-08T21:30:03.697Z,1736371803.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:03.704Z,1736371803.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.114235 m, bearing: 177.971384 deg, approach rate: -0.061519 m/s, LOS rate: 0.346623 deg/s, cmd heading: 100.806181 deg, new cmd heading: 101.167526 deg. 2025-01-08T21:30:03.705Z,1736371803.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.765706 target range: 346.899994 and range: 348.10 m. 2025-01-08T21:30:03.869Z,1736371803.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:04.060Z,1736371804.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:30:04.060Z,1736371804.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:04.071Z,1736371804.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:04.074Z,1736371804.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.083054 m, bearing: 178.126309 deg, approach rate: -0.081999 m/s, LOS rate: 0.407543 deg/s, cmd heading: 101.167526 deg, new cmd heading: 101.632438 deg. 2025-01-08T21:30:04.075Z,1736371804.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.773821 target range: 346.899994 and range: 348.10 m. 2025-01-08T21:30:04.120Z,1736371804.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:04.372Z,1736371804.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:04.485Z,1736371804.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:04.494Z,1736371804.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:04.513Z,1736371804.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.053436 m, bearing: 178.306942 deg, approach rate: -0.070096 m/s, LOS rate: 0.427637 deg/s, cmd heading: 101.632436 deg, new cmd heading: 102.174481 deg. 2025-01-08T21:30:04.514Z,1736371804.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.783281 target range: 346.899994 and range: 348.10 m. 2025-01-08T21:30:04.624Z,1736371804.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:04.874Z,1736371804.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:04.876Z,1736371804.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:04.884Z,1736371804.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:04.888Z,1736371804.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:04.891Z,1736371804.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 98.023781 m, bearing: 178.472101 deg, approach rate: -0.075100 m/s, LOS rate: 0.418377 deg/s, cmd heading: 102.174480 deg, new cmd heading: 102.670094 deg. 2025-01-08T21:30:04.892Z,1736371804.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.791931 target range: 346.899994 and range: 348.10 m. 2025-01-08T21:30:05.128Z,1736371805.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:05.128Z,1736371805.128 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:05.128Z,1736371805.128 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:05.128Z,1736371805.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:05.296Z,1736371805.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:05.349Z,1736371805.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:05.356Z,1736371805.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 97.990761 m, bearing: 178.648748 deg, approach rate: -0.071639 m/s, LOS rate: 0.383374 deg/s, cmd heading: 102.670092 deg, new cmd heading: 103.200197 deg. 2025-01-08T21:30:05.357Z,1736371805.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.801183 target range: 346.899994 and range: 348.10 m. 2025-01-08T21:30:05.380Z,1736371805.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:05.381Z,1736371805.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013250 2025-01-08T21:30:05.632Z,1736371805.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:05.632Z,1736371805.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264784 2025-01-08T21:30:05.706Z,1736371805.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:05.716Z,1736371805.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:05.719Z,1736371805.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 97.954811 m, bearing: 178.828791 deg, approach rate: -0.098187 m/s, LOS rate: 0.491920 deg/s, cmd heading: 103.200197 deg, new cmd heading: 103.740507 deg. 2025-01-08T21:30:05.720Z,1736371805.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.810613 target range: 346.899994 and range: 348.10 m. 2025-01-08T21:30:05.884Z,1736371805.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:05.884Z,1736371805.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516672 2025-01-08T21:30:06.064Z,1736371806.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:06.073Z,1736371806.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:06.076Z,1736371806.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 97.922791 m, bearing: 178.984036 deg, approach rate: -0.089610 m/s, LOS rate: 0.434597 deg/s, cmd heading: 103.740506 deg, new cmd heading: 104.206383 deg. 2025-01-08T21:30:06.077Z,1736371806.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.818745 target range: 346.899994 and range: 348.10 m. 2025-01-08T21:30:06.137Z,1736371806.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:06.138Z,1736371806.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770177 2025-01-08T21:30:06.388Z,1736371806.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:06.389Z,1736371806.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021320 2025-01-08T21:30:06.499Z,1736371806.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:06.508Z,1736371806.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:06.511Z,1736371806.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 97.878693 m, bearing: 179.167461 deg, approach rate: -0.101257 m/s, LOS rate: 0.421365 deg/s, cmd heading: 104.206386 deg, new cmd heading: 104.756890 deg. 2025-01-08T21:30:06.512Z,1736371806.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.828353 target range: 346.899994 and range: 348.10 m. 2025-01-08T21:30:06.640Z,1736371806.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:06.640Z,1736371806.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272787 2025-01-08T21:30:06.892Z,1736371806.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:06.893Z,1736371806.893 [DAT](INFO): DAT read: Rx Time:21:30:05.5482 2025-01-08T21:30:06.893Z,1736371806.893 [DAT](INFO): Rx dataTimestamp_ set to:1736371806.892791 2025-01-08T21:30:06.894Z,1736371806.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525925 2025-01-08T21:30:06.899Z,1736371806.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:06.910Z,1736371806.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:06.917Z,1736371806.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:06.948Z,1736371806.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 97.839333 m, bearing: 179.329300 deg, approach rate: -0.096485 m/s, LOS rate: 0.396883 deg/s, cmd heading: 104.756893 deg, new cmd heading: 105.242592 deg. 2025-01-08T21:30:06.949Z,1736371806.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.836830 target range: 346.899994 and range: 348.10 m. 2025-01-08T21:30:07.144Z,1736371807.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:07.144Z,1736371807.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776704 2025-01-08T21:30:07.297Z,1736371807.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:07.342Z,1736371807.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.90 m. 2025-01-08T21:30:07.365Z,1736371807.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 346.899994 m, nav range: 97.795822 m, bearing: 179.504219 deg, approach rate: -0.102606 m/s, LOS rate: 0.412677 deg/s, cmd heading: 105.242594 deg, new cmd heading: 105.767569 deg. 2025-01-08T21:30:07.373Z,1736371807.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.845992 target range: 346.899994 and range: 348.10 m. 2025-01-08T21:30:07.397Z,1736371807.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:07.406Z,1736371807.406 [DAT](INFO): DAT read: 21:30:05.5482 LVL= 28896, 22065, 16450, 30275, AGC= 65, IDX= 471, 0.13,-2.524,-0.187,-1.881,-2.181, PHS=-0.255, 2.040, 0.296, RAW= 316.7, -19.5, CAL= 320.0, -28.3, ROT= 190.0, 28.3 2025-01-08T21:30:07.409Z,1736371807.409 [DAT](INFO): got valid direction response: 21:30:05.5482 LVL= 28896, 22065, 16450, 30275, AGC= 65, IDX= 471, 0.13,-2.524,-0.187,-1.881,-2.181, PHS=-0.255, 2.040, 0.296, RAW= 316.7, -19.5, CAL= 320.0, -28.3, ROT= 190.0, 28.3 2025-01-08T21:30:07.416Z,1736371807.416 [DAT](INFO): DAT read: Bearing 190.0, 28.3 (Local) 2025-01-08T21:30:07.416Z,1736371807.416 [DAT](INFO): Local bearing/azimuth received: Bearing 190.0, 28.3 (Local) 2025-01-08T21:30:07.445Z,1736371807.445 [DAT](INFO): DAT read: Range 10 to 50 : 351.1 m (Round-trip 468.2 ms) speed -0.8 m/s 2025-01-08T21:30:07.447Z,1736371807.447 [DAT](INFO): DAT read: user:1819> 2025-01-08T21:30:07.452Z,1736371807.452 [DAT](INFO): DAT read: Tx time:21:30:06.6758 2025-01-08T21:30:07.453Z,1736371807.453 [DAT](INFO): Ping request sent. 2025-01-08T21:30:07.453Z,1736371807.453 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:07.453Z,1736371807.453 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:30:07.455Z,1736371807.455 [DAT](INFO): direction in FSK: [0.480400,0.593352,-0.645871] 2025-01-08T21:30:07.460Z,1736371807.460 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:07.460Z,1736371807.460 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:07.482Z,1736371807.482 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:07.482Z,1736371807.482 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:07.656Z,1736371807.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:07.657Z,1736371807.657 [DAT](INFO): DAT read: TxSync time:21:30:06.6750 2025-01-08T21:30:07.752Z,1736371807.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:07.778Z,1736371807.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 351.100006 m, deltaT: 4.032660 s, deltaX: 3.000000 m, approachRate: 0.743926 m/s, rangeRepo size: 4 2025-01-08T21:30:07.784Z,1736371807.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 351.100006 m, bearing: 162.753496 deg, lat: 36.901358 deg, lon: -122.115355 deg, deltaT: 8.066136 s, deltaX: 4.200012 m, approachRate: 0.520697 m/s, posRepo size: 4 2025-01-08T21:30:07.785Z,1736371807.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.10 m. 2025-01-08T21:30:07.792Z,1736371807.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.100006 m, nav range: 165.573318 m, bearing: 165.670873 deg, approach rate: 0.000000 m/s, LOS rate: 0.412677 deg/s, cmd heading: 105.767569 deg, new cmd heading: 106.308135 deg. 2025-01-08T21:30:07.793Z,1736371807.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.855427 target range: 351.100006 and range: 351.10 m. 2025-01-08T21:30:07.908Z,1736371807.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:08.087Z,1736371808.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:08.095Z,1736371808.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.10 m. 2025-01-08T21:30:08.099Z,1736371808.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.100006 m, nav range: 165.476685 m, bearing: 165.748737 deg, approach rate: -0.303771 m/s, LOS rate: 0.244912 deg/s, cmd heading: 106.308138 deg, new cmd heading: 106.541866 deg. 2025-01-08T21:30:08.100Z,1736371808.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.859506 target range: 351.100006 and range: 351.10 m. 2025-01-08T21:30:08.160Z,1736371808.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:08.412Z,1736371808.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:08.521Z,1736371808.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:08.532Z,1736371808.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.10 m. 2025-01-08T21:30:08.540Z,1736371808.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.100006 m, nav range: 165.352997 m, bearing: 165.841364 deg, approach rate: -0.283914 m/s, LOS rate: 0.212776 deg/s, cmd heading: 106.541867 deg, new cmd heading: 106.819954 deg. 2025-01-08T21:30:08.541Z,1736371808.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.864360 target range: 351.100006 and range: 351.10 m. 2025-01-08T21:30:08.665Z,1736371808.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:08.900Z,1736371808.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:08.912Z,1736371808.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:08.917Z,1736371808.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:08.918Z,1736371808.918 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:08.918Z,1736371808.918 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:08.919Z,1736371808.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:08.932Z,1736371808.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.10 m. 2025-01-08T21:30:08.935Z,1736371808.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.100006 m, nav range: 165.243790 m, bearing: 165.921762 deg, approach rate: -0.272074 m/s, LOS rate: 0.200433 deg/s, cmd heading: 106.819951 deg, new cmd heading: 107.061303 deg. 2025-01-08T21:30:08.948Z,1736371808.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.868572 target range: 351.100006 and range: 351.10 m. 2025-01-08T21:30:09.168Z,1736371809.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:09.168Z,1736371809.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715550 2025-01-08T21:30:09.329Z,1736371809.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:09.350Z,1736371809.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.10 m. 2025-01-08T21:30:09.361Z,1736371809.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.100006 m, nav range: 165.119461 m, bearing: 166.012805 deg, approach rate: -0.298646 m/s, LOS rate: 0.218857 deg/s, cmd heading: 107.061303 deg, new cmd heading: 107.334636 deg. 2025-01-08T21:30:09.390Z,1736371809.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.873343 target range: 351.100006 and range: 351.10 m. 2025-01-08T21:30:09.420Z,1736371809.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:09.420Z,1736371809.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967623 2025-01-08T21:30:09.673Z,1736371809.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:09.674Z,1736371809.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220550 2025-01-08T21:30:09.760Z,1736371809.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:09.769Z,1736371809.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.10 m. 2025-01-08T21:30:09.772Z,1736371809.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.100006 m, nav range: 165.000412 m, bearing: 166.100431 deg, approach rate: -0.282883 m/s, LOS rate: 0.208365 deg/s, cmd heading: 107.334633 deg, new cmd heading: 107.597698 deg. 2025-01-08T21:30:09.773Z,1736371809.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.877934 target range: 351.100006 and range: 351.10 m. 2025-01-08T21:30:09.924Z,1736371809.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:09.925Z,1736371809.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472692 2025-01-08T21:30:10.141Z,1736371810.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:10.166Z,1736371810.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.10 m. 2025-01-08T21:30:10.173Z,1736371810.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.100006 m, nav range: 164.894379 m, bearing: 166.177718 deg, approach rate: -0.267068 m/s, LOS rate: 0.194789 deg/s, cmd heading: 107.597698 deg, new cmd heading: 107.829707 deg. 2025-01-08T21:30:10.174Z,1736371810.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.881983 target range: 351.100006 and range: 351.10 m. 2025-01-08T21:30:10.176Z,1736371810.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:10.177Z,1736371810.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723795 2025-01-08T21:30:10.428Z,1736371810.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:10.428Z,1736371810.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975660 2025-01-08T21:30:10.572Z,1736371810.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:10.581Z,1736371810.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.10 m. 2025-01-08T21:30:10.584Z,1736371810.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.100006 m, nav range: 164.776962 m, bearing: 166.260670 deg, approach rate: -0.282899 m/s, LOS rate: 0.200004 deg/s, cmd heading: 107.829706 deg, new cmd heading: 108.078738 deg. 2025-01-08T21:30:10.585Z,1736371810.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.886330 target range: 351.100006 and range: 351.10 m. 2025-01-08T21:30:10.681Z,1736371810.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:10.682Z,1736371810.682 [DAT](INFO): DAT read: Rx Time:21:30:09.5515 2025-01-08T21:30:10.682Z,1736371810.682 [DAT](INFO): Rx dataTimestamp_ set to:1736371810.681895 2025-01-08T21:30:10.683Z,1736371810.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230334 2025-01-08T21:30:10.932Z,1736371810.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:10.934Z,1736371810.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480948 2025-01-08T21:30:10.961Z,1736371810.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:10.980Z,1736371810.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:10.982Z,1736371810.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.10 m. 2025-01-08T21:30:10.990Z,1736371810.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.100006 m, nav range: 164.670380 m, bearing: 166.335166 deg, approach rate: -0.266344 m/s, LOS rate: 0.186282 deg/s, cmd heading: 108.078741 deg, new cmd heading: 108.302374 deg. 2025-01-08T21:30:10.995Z,1736371810.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.890233 target range: 351.100006 and range: 351.10 m. 2025-01-08T21:30:11.184Z,1736371811.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:11.184Z,1736371811.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731523 2025-01-08T21:30:11.363Z,1736371811.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:11.398Z,1736371811.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.10 m. 2025-01-08T21:30:11.430Z,1736371811.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 351.100006 m, nav range: 164.559448 m, bearing: 166.412086 deg, approach rate: -0.266793 m/s, LOS rate: 0.185119 deg/s, cmd heading: 108.302375 deg, new cmd heading: 108.533289 deg. 2025-01-08T21:30:11.437Z,1736371811.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:11.443Z,1736371811.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.894263 target range: 351.100006 and range: 351.10 m. 2025-01-08T21:30:11.448Z,1736371811.448 [DAT](INFO): DAT read: 21:30:09.5515 LVL= 23488, 22081, 17362, 32643, AGC= 69, IDX= 457,-0.16,-2.115, 0.231,-1.413,-1.773, PHS=-0.254, 2.051, 0.357, RAW= 315.2, -20.2, CAL= 318.1, -29.5, ROT= 191.9, 29.5 2025-01-08T21:30:11.449Z,1736371811.449 [DAT](INFO): got valid direction response: 21:30:09.5515 LVL= 23488, 22081, 17362, 32643, AGC= 69, IDX= 457,-0.16,-2.115, 0.231,-1.413,-1.773, PHS=-0.254, 2.051, 0.357, RAW= 315.2, -20.2, CAL= 318.1, -29.5, ROT= 191.9, 29.5 2025-01-08T21:30:11.450Z,1736371811.450 [DAT](INFO): DAT read: Bearing 191.9, 29.5 (Local) 2025-01-08T21:30:11.450Z,1736371811.450 [DAT](INFO): Local bearing/azimuth received: Bearing 191.9, 29.5 (Local) 2025-01-08T21:30:11.461Z,1736371811.461 [DAT](INFO): DAT read: Range 10 to 50 : 353.6 m (Round-trip 471.5 ms) speed -0.1 m/s 2025-01-08T21:30:11.462Z,1736371811.462 [DAT](INFO): DAT read: user:1820> 2025-01-08T21:30:11.472Z,1736371811.472 [DAT](INFO): DAT read: Tx time:21:30:10.6758 2025-01-08T21:30:11.472Z,1736371811.472 [DAT](INFO): Ping request sent. 2025-01-08T21:30:11.472Z,1736371811.472 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:11.473Z,1736371811.473 [DAT](INFO): DAT read: TxSync time:21:30:10.6750 2025-01-08T21:30:11.473Z,1736371811.473 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:30:11.474Z,1736371811.474 [DAT](INFO): direction in FSK: [0.491657,0.569998,-0.658313] 2025-01-08T21:30:11.474Z,1736371811.474 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:11.475Z,1736371811.475 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:11.493Z,1736371811.493 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:11.493Z,1736371811.493 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:11.688Z,1736371811.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:11.803Z,1736371811.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:11.830Z,1736371811.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 353.600006 m, deltaT: 4.040380 s, deltaX: 2.500000 m, approachRate: 0.618754 m/s, rangeRepo size: 4 2025-01-08T21:30:11.837Z,1736371811.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 353.600006 m, bearing: 166.101225 deg, lat: 36.900741 deg, lon: -122.115024 deg, deltaT: 4.040380 s, deltaX: 2.500000 m, approachRate: 0.618754 m/s, posRepo size: 4 2025-01-08T21:30:11.837Z,1736371811.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.60 m. 2025-01-08T21:30:11.844Z,1736371811.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.600006 m, nav range: 238.375534 m, bearing: 163.456953 deg, approach rate: 0.000000 m/s, LOS rate: 0.185119 deg/s, cmd heading: 108.533291 deg, new cmd heading: 108.772921 deg. 2025-01-08T21:30:11.845Z,1736371811.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.898446 target range: 353.600006 and range: 353.60 m. 2025-01-08T21:30:11.941Z,1736371811.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:12.155Z,1736371812.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:12.165Z,1736371812.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.60 m. 2025-01-08T21:30:12.184Z,1736371812.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.600006 m, nav range: 238.263672 m, bearing: 163.500157 deg, approach rate: -0.332738 m/s, LOS rate: 0.128574 deg/s, cmd heading: 108.772921 deg, new cmd heading: 108.902595 deg. 2025-01-08T21:30:12.185Z,1736371812.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.900709 target range: 353.600006 and range: 353.60 m. 2025-01-08T21:30:12.192Z,1736371812.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:12.444Z,1736371812.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:12.584Z,1736371812.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:12.593Z,1736371812.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.60 m. 2025-01-08T21:30:12.595Z,1736371812.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.600006 m, nav range: 238.122177 m, bearing: 163.552204 deg, approach rate: -0.330934 m/s, LOS rate: 0.121801 deg/s, cmd heading: 108.902592 deg, new cmd heading: 109.058824 deg. 2025-01-08T21:30:12.597Z,1736371812.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.903436 target range: 353.600006 and range: 353.60 m. 2025-01-08T21:30:12.697Z,1736371812.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:12.948Z,1736371812.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:13.013Z,1736371813.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:13.025Z,1736371813.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:13.027Z,1736371813.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.60 m. 2025-01-08T21:30:13.030Z,1736371813.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.600006 m, nav range: 237.979279 m, bearing: 163.604143 deg, approach rate: -0.329006 m/s, LOS rate: 0.119656 deg/s, cmd heading: 109.058826 deg, new cmd heading: 109.214738 deg. 2025-01-08T21:30:13.031Z,1736371813.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.906157 target range: 353.600006 and range: 353.60 m. 2025-01-08T21:30:13.200Z,1736371813.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:13.200Z,1736371813.200 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:13.200Z,1736371813.200 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:13.201Z,1736371813.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:13.453Z,1736371813.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:13.456Z,1736371813.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982684 2025-01-08T21:30:13.513Z,1736371813.513 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -14.51, +47 2025-01-08T21:30:13.521Z,1736371813.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:30:13.521Z,1736371813.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:13.543Z,1736371813.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.60 m. 2025-01-08T21:30:13.552Z,1736371813.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.600006 m, nav range: 237.810043 m, bearing: 163.665386 deg, approach rate: -0.335913 m/s, LOS rate: 0.121647 deg/s, cmd heading: 109.214738 deg, new cmd heading: 109.398597 deg. 2025-01-08T21:30:13.553Z,1736371813.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.909366 target range: 353.600006 and range: 353.60 m. 2025-01-08T21:30:13.704Z,1736371813.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:13.704Z,1736371813.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232137 2025-01-08T21:30:13.956Z,1736371813.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:13.957Z,1736371813.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484322 2025-01-08T21:30:13.972Z,1736371813.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T21:30:13.972Z,1736371813.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:14.005Z,1736371814.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.60 m. 2025-01-08T21:30:14.012Z,1736371814.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.600006 m, nav range: 237.658539 m, bearing: 163.719638 deg, approach rate: -0.319081 m/s, LOS rate: 0.114332 deg/s, cmd heading: 109.398600 deg, new cmd heading: 109.561459 deg. 2025-01-08T21:30:14.013Z,1736371814.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.912208 target range: 353.600006 and range: 353.60 m. 2025-01-08T21:30:14.208Z,1736371814.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:14.209Z,1736371814.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736929 2025-01-08T21:30:14.361Z,1736371814.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T21:30:14.361Z,1736371814.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:14.371Z,1736371814.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.60 m. 2025-01-08T21:30:14.374Z,1736371814.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.600006 m, nav range: 237.527405 m, bearing: 163.766286 deg, approach rate: -0.358499 m/s, LOS rate: 0.127598 deg/s, cmd heading: 109.561459 deg, new cmd heading: 109.701480 deg. 2025-01-08T21:30:14.375Z,1736371814.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.914652 target range: 353.600006 and range: 353.60 m. 2025-01-08T21:30:14.462Z,1736371814.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:14.464Z,1736371814.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991399 2025-01-08T21:30:14.712Z,1736371814.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:14.713Z,1736371814.713 [DAT](INFO): DAT read: Rx Time:21:30:13.5532 2025-01-08T21:30:14.714Z,1736371814.714 [DAT](INFO): Rx dataTimestamp_ set to:1736371814.713255 2025-01-08T21:30:14.714Z,1736371814.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241962 2025-01-08T21:30:14.798Z,1736371814.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:14.806Z,1736371814.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.60 m. 2025-01-08T21:30:14.809Z,1736371814.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.600006 m, nav range: 237.370758 m, bearing: 163.822748 deg, approach rate: -0.360034 m/s, LOS rate: 0.129858 deg/s, cmd heading: 109.701478 deg, new cmd heading: 109.870977 deg. 2025-01-08T21:30:14.810Z,1736371814.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.917610 target range: 353.600006 and range: 353.60 m. 2025-01-08T21:30:14.964Z,1736371814.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:14.964Z,1736371814.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492200 2025-01-08T21:30:15.167Z,1736371815.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:15.174Z,1736371815.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:15.176Z,1736371815.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.60 m. 2025-01-08T21:30:15.179Z,1736371815.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.600006 m, nav range: 237.237747 m, bearing: 163.870401 deg, approach rate: -0.359799 m/s, LOS rate: 0.128975 deg/s, cmd heading: 109.870976 deg, new cmd heading: 110.014014 deg. 2025-01-08T21:30:15.180Z,1736371815.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.920107 target range: 353.600006 and range: 353.60 m. 2025-01-08T21:30:15.217Z,1736371815.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:15.220Z,1736371815.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746843 2025-01-08T21:30:15.470Z,1736371815.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:15.509Z,1736371815.509 [DAT](INFO): DAT read: 21:30:13.5533 LVL= 18656, 14721, 13986, 28099, AGC= 60, IDX= 442,-0.07,-1.796, 0.474,-1.293,-1.656, PHS=-0.052, 2.177, 0.360, RAW= 320.0, -23.2, CAL= 322.0, -34.5, ROT= 188.0, 34.5 2025-01-08T21:30:15.511Z,1736371815.511 [DAT](INFO): got valid direction response: 21:30:13.5533 LVL= 18656, 14721, 13986, 28099, AGC= 60, IDX= 442,-0.07,-1.796, 0.474,-1.293,-1.656, PHS=-0.052, 2.177, 0.360, RAW= 320.0, -23.2, CAL= 322.0, -34.5, ROT= 188.0, 34.5 2025-01-08T21:30:15.512Z,1736371815.512 [DAT](INFO): DAT read: Bearing 188.0, 34.5 (Local) 2025-01-08T21:30:15.512Z,1736371815.512 [DAT](INFO): Local bearing/azimuth received: Bearing 188.0, 34.5 (Local) 2025-01-08T21:30:15.515Z,1736371815.515 [DAT](INFO): DAT read: Range 10 to 50 : 354.9 m (Round-trip 473.2 ms) speed -0.4 m/s 2025-01-08T21:30:15.516Z,1736371815.516 [DAT](INFO): DAT read: user:1821> 2025-01-08T21:30:15.517Z,1736371815.517 [DAT](INFO): DAT read: Tx time:21:30:14.6759 2025-01-08T21:30:15.517Z,1736371815.517 [DAT](INFO): Ping request sent. 2025-01-08T21:30:15.517Z,1736371815.517 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:15.518Z,1736371815.518 [DAT](INFO): DAT read: TxSync time:21:30:14.6751 2025-01-08T21:30:15.518Z,1736371815.518 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:30:15.519Z,1736371815.519 [DAT](INFO): direction in FSK: [0.537603,0.609199,-0.582974] 2025-01-08T21:30:15.520Z,1736371815.520 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:15.520Z,1736371815.520 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:15.523Z,1736371815.523 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:15.523Z,1736371815.523 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:15.693Z,1736371815.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:15.720Z,1736371815.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:15.724Z,1736371815.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 354.899994 m, deltaT: 4.033102 s, deltaX: 1.299988 m, approachRate: 0.322330 m/s, rangeRepo size: 4 2025-01-08T21:30:15.726Z,1736371815.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 354.899994 m, bearing: 166.814415 deg, lat: 36.900329 deg, lon: -122.114999 deg, deltaT: 4.033102 s, deltaX: 1.299988 m, approachRate: 0.322330 m/s, posRepo size: 4 2025-01-08T21:30:15.726Z,1736371815.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.90 m. 2025-01-08T21:30:15.737Z,1736371815.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.899994 m, nav range: 281.841125 m, bearing: 166.081780 deg, approach rate: 0.000000 m/s, LOS rate: 0.128975 deg/s, cmd heading: 110.014014 deg, new cmd heading: 110.224033 deg. 2025-01-08T21:30:15.738Z,1736371815.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.923772 target range: 354.899994 and range: 354.90 m. 2025-01-08T21:30:15.972Z,1736371815.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:16.012Z,1736371816.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:16.029Z,1736371816.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.90 m. 2025-01-08T21:30:16.034Z,1736371816.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.899994 m, nav range: 281.726776 m, bearing: 166.118539 deg, approach rate: -0.368984 m/s, LOS rate: 0.118662 deg/s, cmd heading: 110.224036 deg, new cmd heading: 110.334356 deg. 2025-01-08T21:30:16.036Z,1736371816.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.925698 target range: 354.899994 and range: 354.90 m. 2025-01-08T21:30:16.224Z,1736371816.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:16.417Z,1736371816.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:16.430Z,1736371816.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.90 m. 2025-01-08T21:30:16.464Z,1736371816.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.899994 m, nav range: 281.581085 m, bearing: 166.165120 deg, approach rate: -0.365954 m/s, LOS rate: 0.117065 deg/s, cmd heading: 110.334357 deg, new cmd heading: 110.474172 deg. 2025-01-08T21:30:16.472Z,1736371816.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.928138 target range: 354.899994 and range: 354.90 m. 2025-01-08T21:30:16.477Z,1736371816.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:16.728Z,1736371816.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:16.834Z,1736371816.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:16.868Z,1736371816.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.90 m. 2025-01-08T21:30:16.870Z,1736371816.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.899994 m, nav range: 281.430267 m, bearing: 166.214448 deg, approach rate: -0.345986 m/s, LOS rate: 0.113221 deg/s, cmd heading: 110.474171 deg, new cmd heading: 110.622233 deg. 2025-01-08T21:30:16.884Z,1736371816.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.930722 target range: 354.899994 and range: 354.90 m. 2025-01-08T21:30:16.983Z,1736371816.983 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:17.232Z,1736371817.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:17.244Z,1736371817.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:17.252Z,1736371817.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:17.254Z,1736371817.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.90 m. 2025-01-08T21:30:17.258Z,1736371817.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.899994 m, nav range: 281.282257 m, bearing: 166.262973 deg, approach rate: -0.378512 m/s, LOS rate: 0.124160 deg/s, cmd heading: 110.622236 deg, new cmd heading: 110.767887 deg. 2025-01-08T21:30:17.260Z,1736371817.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.933264 target range: 354.899994 and range: 354.90 m. 2025-01-08T21:30:17.485Z,1736371817.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:17.487Z,1736371817.487 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:17.488Z,1736371817.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:17.489Z,1736371817.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:17.664Z,1736371817.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:17.694Z,1736371817.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.90 m. 2025-01-08T21:30:17.701Z,1736371817.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.899994 m, nav range: 281.122009 m, bearing: 166.314326 deg, approach rate: -0.364194 m/s, LOS rate: 0.116776 deg/s, cmd heading: 110.767889 deg, new cmd heading: 110.922035 deg. 2025-01-08T21:30:17.702Z,1736371817.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.935955 target range: 354.899994 and range: 354.90 m. 2025-01-08T21:30:17.736Z,1736371817.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:17.737Z,1736371817.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219698 2025-01-08T21:30:17.988Z,1736371817.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:17.988Z,1736371817.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471276 2025-01-08T21:30:18.064Z,1736371818.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:18.075Z,1736371818.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.90 m. 2025-01-08T21:30:18.077Z,1736371818.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.899994 m, nav range: 280.966675 m, bearing: 166.363167 deg, approach rate: -0.407850 m/s, LOS rate: 0.128310 deg/s, cmd heading: 110.922033 deg, new cmd heading: 111.068638 deg. 2025-01-08T21:30:18.078Z,1736371818.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.938513 target range: 354.899994 and range: 354.90 m. 2025-01-08T21:30:18.240Z,1736371818.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:18.241Z,1736371818.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723809 2025-01-08T21:30:18.434Z,1736371818.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:18.484Z,1736371818.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.90 m. 2025-01-08T21:30:18.493Z,1736371818.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:18.496Z,1736371818.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978652 2025-01-08T21:30:18.520Z,1736371818.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.899994 m, nav range: 280.822083 m, bearing: 166.408432 deg, approach rate: -0.358533 m/s, LOS rate: 0.112296 deg/s, cmd heading: 111.068636 deg, new cmd heading: 111.204499 deg. 2025-01-08T21:30:18.527Z,1736371818.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.940885 target range: 354.899994 and range: 354.90 m. 2025-01-08T21:30:18.744Z,1736371818.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:18.745Z,1736371818.745 [DAT](INFO): DAT read: Rx Time:21:30:17.5566 2025-01-08T21:30:18.747Z,1736371818.747 [DAT](INFO): Rx dataTimestamp_ set to:1736371818.745531 2025-01-08T21:30:18.748Z,1736371818.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230682 2025-01-08T21:30:18.873Z,1736371818.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:18.901Z,1736371818.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 354.90 m. 2025-01-08T21:30:18.908Z,1736371818.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 354.899994 m, nav range: 280.654755 m, bearing: 166.461789 deg, approach rate: -0.395278 m/s, LOS rate: 0.126122 deg/s, cmd heading: 111.204502 deg, new cmd heading: 111.364671 deg. 2025-01-08T21:30:18.909Z,1736371818.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.943680 target range: 354.899994 and range: 354.90 m. 2025-01-08T21:30:18.996Z,1736371818.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:18.998Z,1736371818.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480861 2025-01-08T21:30:19.250Z,1736371819.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:19.287Z,1736371819.287 [DAT](INFO): DAT read: 21:30:17.5566 LVL= 22448, 20033, 16146, 32755, AGC= 67, IDX= 460, 0.05, 2.505,-1.595, 2.928, 2.605, PHS=-0.012, 2.130, 0.320, RAW= 321.7, -23.3, CAL= 324.0, -34.7, ROT= 186.0, 34.7 2025-01-08T21:30:19.289Z,1736371819.289 [DAT](INFO): got valid direction response: 21:30:17.5566 LVL= 22448, 20033, 16146, 32755, AGC= 67, IDX= 460, 0.05, 2.505,-1.595, 2.928, 2.605, PHS=-0.012, 2.130, 0.320, RAW= 321.7, -23.3, CAL= 324.0, -34.7, ROT= 186.0, 34.7 2025-01-08T21:30:19.290Z,1736371819.290 [DAT](INFO): DAT read: Bearing 186.0, 34.7 (Local) 2025-01-08T21:30:19.291Z,1736371819.291 [DAT](INFO): Local bearing/azimuth received: Bearing 186.0, 34.7 (Local) 2025-01-08T21:30:19.294Z,1736371819.294 [DAT](INFO): DAT read: Range 10 to 50 : 357.3 m (Round-trip 476.5 ms) speed -1.0 m/s 2025-01-08T21:30:19.295Z,1736371819.295 [DAT](INFO): DAT read: user:1822> 2025-01-08T21:30:19.312Z,1736371819.312 [DAT](INFO): DAT read: Tx time:21:30:18.6759 2025-01-08T21:30:19.312Z,1736371819.312 [DAT](INFO): Ping request sent. 2025-01-08T21:30:19.312Z,1736371819.312 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:19.313Z,1736371819.313 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:30:19.314Z,1736371819.314 [DAT](INFO): direction in FSK: [0.540118,0.627174,-0.561183] 2025-01-08T21:30:19.315Z,1736371819.315 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:19.315Z,1736371819.315 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:19.342Z,1736371819.342 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:19.342Z,1736371819.342 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:19.373Z,1736371819.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:19.424Z,1736371819.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 357.299988 m, deltaT: 3.779840 s, deltaX: 2.399994 m, approachRate: 0.634946 m/s, rangeRepo size: 4 2025-01-08T21:30:19.426Z,1736371819.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 357.299988 m, bearing: 169.347762 deg, lat: 36.900321 deg, lon: -122.114999 deg, deltaT: 3.779840 s, deltaX: 2.399994 m, approachRate: 0.634946 m/s, posRepo size: 4 2025-01-08T21:30:19.427Z,1736371819.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.30 m. 2025-01-08T21:30:19.434Z,1736371819.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.299988 m, nav range: 281.396545 m, bearing: 166.568123 deg, approach rate: 0.000000 m/s, LOS rate: 0.126122 deg/s, cmd heading: 111.364670 deg, new cmd heading: 111.559067 deg. 2025-01-08T21:30:19.440Z,1736371819.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.947073 target range: 357.299988 and range: 357.30 m. 2025-01-08T21:30:19.502Z,1736371819.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:19.505Z,1736371819.505 [DAT](INFO): DAT read: TxSync time:21:30:18.6751 2025-01-08T21:30:19.752Z,1736371819.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:19.898Z,1736371819.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:19.905Z,1736371819.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:19.908Z,1736371819.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.30 m. 2025-01-08T21:30:19.910Z,1736371819.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.299988 m, nav range: 281.200409 m, bearing: 166.630505 deg, approach rate: -0.398505 m/s, LOS rate: 0.126833 deg/s, cmd heading: 111.559064 deg, new cmd heading: 111.746338 deg. 2025-01-08T21:30:19.912Z,1736371819.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.950342 target range: 357.299988 and range: 357.30 m. 2025-01-08T21:30:20.004Z,1736371820.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:20.004Z,1736371820.004 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:20.004Z,1736371820.004 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:20.005Z,1736371820.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:20.256Z,1736371820.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:20.256Z,1736371820.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.944060 2025-01-08T21:30:20.326Z,1736371820.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:20.336Z,1736371820.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.30 m. 2025-01-08T21:30:20.339Z,1736371820.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.299988 m, nav range: 281.039520 m, bearing: 166.681268 deg, approach rate: -0.375072 m/s, LOS rate: 0.118410 deg/s, cmd heading: 111.746341 deg, new cmd heading: 111.898718 deg. 2025-01-08T21:30:20.340Z,1736371820.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.953001 target range: 357.299988 and range: 357.30 m. 2025-01-08T21:30:20.509Z,1736371820.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:20.512Z,1736371820.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.198734 2025-01-08T21:30:20.760Z,1736371820.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:20.760Z,1736371820.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.448263 2025-01-08T21:30:20.761Z,1736371820.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:20.773Z,1736371820.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.30 m. 2025-01-08T21:30:20.776Z,1736371820.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.299988 m, nav range: 280.872711 m, bearing: 166.731907 deg, approach rate: -0.382176 m/s, LOS rate: 0.116087 deg/s, cmd heading: 111.898716 deg, new cmd heading: 112.050722 deg. 2025-01-08T21:30:20.776Z,1736371820.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.955654 target range: 357.299988 and range: 357.30 m. 2025-01-08T21:30:21.012Z,1736371821.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:21.013Z,1736371821.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700139 2025-01-08T21:30:21.129Z,1736371821.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:21.164Z,1736371821.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.30 m. 2025-01-08T21:30:21.167Z,1736371821.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.299988 m, nav range: 280.730347 m, bearing: 166.774586 deg, approach rate: -0.363599 m/s, LOS rate: 0.109057 deg/s, cmd heading: 112.050722 deg, new cmd heading: 112.178823 deg. 2025-01-08T21:30:21.172Z,1736371821.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.957890 target range: 357.299988 and range: 357.30 m. 2025-01-08T21:30:21.267Z,1736371821.267 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:21.268Z,1736371821.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955469 2025-01-08T21:30:21.522Z,1736371821.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:21.524Z,1736371821.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211134 2025-01-08T21:30:21.621Z,1736371821.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:21.630Z,1736371821.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.30 m. 2025-01-08T21:30:21.633Z,1736371821.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.299988 m, nav range: 280.555267 m, bearing: 166.829405 deg, approach rate: -0.376111 m/s, LOS rate: 0.117838 deg/s, cmd heading: 112.178822 deg, new cmd heading: 112.343382 deg. 2025-01-08T21:30:21.634Z,1736371821.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.960762 target range: 357.299988 and range: 357.30 m. 2025-01-08T21:30:21.772Z,1736371821.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:21.772Z,1736371821.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460210 2025-01-08T21:30:21.931Z,1736371821.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:21.938Z,1736371821.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:21.940Z,1736371821.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.30 m. 2025-01-08T21:30:21.943Z,1736371821.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.299988 m, nav range: 280.444977 m, bearing: 166.864026 deg, approach rate: -0.355193 m/s, LOS rate: 0.111541 deg/s, cmd heading: 112.343382 deg, new cmd heading: 112.447285 deg. 2025-01-08T21:30:21.944Z,1736371821.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.962575 target range: 357.299988 and range: 357.30 m. 2025-01-08T21:30:22.025Z,1736371822.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:22.026Z,1736371822.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713756 2025-01-08T21:30:22.276Z,1736371822.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:22.276Z,1736371822.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964187 2025-01-08T21:30:22.342Z,1736371822.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:22.351Z,1736371822.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.30 m. 2025-01-08T21:30:22.354Z,1736371822.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.299988 m, nav range: 280.298676 m, bearing: 166.909930 deg, approach rate: -0.356026 m/s, LOS rate: 0.111767 deg/s, cmd heading: 112.447283 deg, new cmd heading: 112.585067 deg. 2025-01-08T21:30:22.355Z,1736371822.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.964980 target range: 357.299988 and range: 357.30 m. 2025-01-08T21:30:22.529Z,1736371822.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:22.534Z,1736371822.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220718 2025-01-08T21:30:22.780Z,1736371822.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:22.781Z,1736371822.781 [DAT](INFO): DAT read: Rx Time:21:30:21.5610 2025-01-08T21:30:22.781Z,1736371822.781 [DAT](INFO): Rx dataTimestamp_ set to:1736371822.781185 2025-01-08T21:30:22.782Z,1736371822.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469773 2025-01-08T21:30:22.790Z,1736371822.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:22.799Z,1736371822.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.30 m. 2025-01-08T21:30:22.802Z,1736371822.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.299988 m, nav range: 280.147858 m, bearing: 166.956825 deg, approach rate: -0.336722 m/s, LOS rate: 0.104756 deg/s, cmd heading: 112.585068 deg, new cmd heading: 112.725828 deg. 2025-01-08T21:30:22.803Z,1736371822.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.967437 target range: 357.299988 and range: 357.30 m. 2025-01-08T21:30:23.032Z,1736371823.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:23.033Z,1736371823.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.720347 2025-01-08T21:30:23.157Z,1736371823.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:23.165Z,1736371823.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.30 m. 2025-01-08T21:30:23.168Z,1736371823.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.299988 m, nav range: 280.024292 m, bearing: 166.995211 deg, approach rate: -0.337728 m/s, LOS rate: 0.104962 deg/s, cmd heading: 112.725831 deg, new cmd heading: 112.841040 deg. 2025-01-08T21:30:23.169Z,1736371823.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.969448 target range: 357.299988 and range: 357.30 m. 2025-01-08T21:30:23.226Z,1736371823.226 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:30:23.284Z,1736371823.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:23.291Z,1736371823.291 [DAT](INFO): DAT read: 21:30:21.5610 LVL= 20944, 23585, 17906, 32755, AGC= 66, IDX= 473,-0.48,-1.640, 0.523,-1.302,-1.575, PHS= 0.023, 2.145, 0.271, RAW= 323.9, -23.2, CAL= 326.5, -34.4, ROT= 183.5, 34.4 2025-01-08T21:30:23.292Z,1736371823.292 [DAT](INFO): got valid direction response: 21:30:21.5610 LVL= 20944, 23585, 17906, 32755, AGC= 66, IDX= 473,-0.48,-1.640, 0.523,-1.302,-1.575, PHS= 0.023, 2.145, 0.271, RAW= 323.9, -23.2, CAL= 326.5, -34.4, ROT= 183.5, 34.4 2025-01-08T21:30:23.293Z,1736371823.293 [DAT](INFO): DAT read: Bearing 183.5, 34.4 (Local) 2025-01-08T21:30:23.294Z,1736371823.294 [DAT](INFO): Local bearing/azimuth received: Bearing 183.5, 34.4 (Local) 2025-01-08T21:30:23.295Z,1736371823.295 [DAT](INFO): DAT read: Range 10 to 50 : 360.6 m (Round-trip 480.9 ms) speed -0.5 m/s 2025-01-08T21:30:23.297Z,1736371823.297 [DAT](INFO): DAT read: user:1823> 2025-01-08T21:30:23.298Z,1736371823.298 [DAT](INFO): DAT read: Tx time:21:30:22.6759 2025-01-08T21:30:23.298Z,1736371823.298 [DAT](INFO): Ping request sent. 2025-01-08T21:30:23.298Z,1736371823.298 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:23.298Z,1736371823.298 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:30:23.299Z,1736371823.299 [DAT](INFO): direction in FSK: [0.537469,0.651201,-0.535784] 2025-01-08T21:30:23.300Z,1736371823.300 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:23.300Z,1736371823.300 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:23.303Z,1736371823.303 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:23.303Z,1736371823.303 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:23.536Z,1736371823.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:23.537Z,1736371823.537 [DAT](INFO): DAT read: TxSync time:21:30:22.6751 2025-01-08T21:30:23.705Z,1736371823.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:23.735Z,1736371823.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 360.600006 m, deltaT: 4.034537 s, deltaX: 3.300018 m, approachRate: 0.817942 m/s, rangeRepo size: 4 2025-01-08T21:30:23.738Z,1736371823.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 360.600006 m, bearing: 171.321854 deg, lat: 36.900187 deg, lon: -122.115024 deg, deltaT: 4.034537 s, deltaX: 3.300018 m, approachRate: 0.817942 m/s, posRepo size: 4 2025-01-08T21:30:23.738Z,1736371823.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:23.745Z,1736371823.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 293.850677 m, bearing: 168.120947 deg, approach rate: 0.000000 m/s, LOS rate: 0.104962 deg/s, cmd heading: 112.841043 deg, new cmd heading: 113.015331 deg. 2025-01-08T21:30:23.746Z,1736371823.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.972490 target range: 360.600006 and range: 360.60 m. 2025-01-08T21:30:23.788Z,1736371823.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:24.040Z,1736371824.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:24.174Z,1736371824.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:24.181Z,1736371824.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:24.183Z,1736371824.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:24.185Z,1736371824.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 293.702423 m, bearing: 168.166817 deg, approach rate: -0.319434 m/s, LOS rate: 0.098882 deg/s, cmd heading: 113.015329 deg, new cmd heading: 113.153007 deg. 2025-01-08T21:30:24.186Z,1736371824.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.974892 target range: 360.600006 and range: 360.60 m. 2025-01-08T21:30:24.228Z,1736371824.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:30:24.292Z,1736371824.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:24.292Z,1736371824.292 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:24.292Z,1736371824.292 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:24.293Z,1736371824.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:24.546Z,1736371824.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:24.549Z,1736371824.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250244 2025-01-08T21:30:24.688Z,1736371824.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:24.708Z,1736371824.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:24.710Z,1736371824.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 293.537231 m, bearing: 168.216742 deg, approach rate: -0.314431 m/s, LOS rate: 0.095083 deg/s, cmd heading: 113.153005 deg, new cmd heading: 113.302865 deg. 2025-01-08T21:30:24.716Z,1736371824.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.977508 target range: 360.600006 and range: 360.60 m. 2025-01-08T21:30:24.798Z,1736371824.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:24.800Z,1736371824.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501728 2025-01-08T21:30:24.995Z,1736371824.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:25.005Z,1736371825.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:25.007Z,1736371825.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 293.438507 m, bearing: 168.246706 deg, approach rate: -0.332671 m/s, LOS rate: 0.101003 deg/s, cmd heading: 113.302866 deg, new cmd heading: 113.392788 deg. 2025-01-08T21:30:25.008Z,1736371825.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.979077 target range: 360.600006 and range: 360.60 m. 2025-01-08T21:30:25.048Z,1736371825.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:25.048Z,1736371825.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750528 2025-01-08T21:30:25.300Z,1736371825.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:25.300Z,1736371825.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002519 2025-01-08T21:30:25.407Z,1736371825.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:25.427Z,1736371825.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:25.431Z,1736371825.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 293.306976 m, bearing: 168.286887 deg, approach rate: -0.311326 m/s, LOS rate: 0.095148 deg/s, cmd heading: 113.392786 deg, new cmd heading: 113.513382 deg. 2025-01-08T21:30:25.432Z,1736371825.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.981182 target range: 360.600006 and range: 360.60 m. 2025-01-08T21:30:25.552Z,1736371825.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:25.552Z,1736371825.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254421 2025-01-08T21:30:25.804Z,1736371825.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:25.805Z,1736371825.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506612 2025-01-08T21:30:25.843Z,1736371825.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:25.853Z,1736371825.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:25.856Z,1736371825.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 293.165009 m, bearing: 168.330855 deg, approach rate: -0.333697 m/s, LOS rate: 0.103396 deg/s, cmd heading: 113.513380 deg, new cmd heading: 113.645346 deg. 2025-01-08T21:30:25.857Z,1736371825.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.983485 target range: 360.600006 and range: 360.60 m. 2025-01-08T21:30:26.056Z,1736371826.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:26.057Z,1736371826.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758727 2025-01-08T21:30:26.223Z,1736371826.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:26.230Z,1736371826.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:26.233Z,1736371826.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:26.269Z,1736371826.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 293.041412 m, bearing: 168.369183 deg, approach rate: -0.325462 m/s, LOS rate: 0.100971 deg/s, cmd heading: 113.645346 deg, new cmd heading: 113.760378 deg. 2025-01-08T21:30:26.270Z,1736371826.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.985493 target range: 360.600006 and range: 360.60 m. 2025-01-08T21:30:26.308Z,1736371826.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:26.309Z,1736371826.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010558 2025-01-08T21:30:26.564Z,1736371826.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:26.565Z,1736371826.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266987 2025-01-08T21:30:26.717Z,1736371826.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:26.746Z,1736371826.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:26.753Z,1736371826.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 292.875275 m, bearing: 168.420963 deg, approach rate: -0.323769 m/s, LOS rate: 0.100967 deg/s, cmd heading: 113.760380 deg, new cmd heading: 113.915809 deg. 2025-01-08T21:30:26.754Z,1736371826.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.988206 target range: 360.600006 and range: 360.60 m. 2025-01-08T21:30:26.816Z,1736371826.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:26.817Z,1736371826.817 [DAT](INFO): DAT read: Rx Time:21:30:25.5646 2025-01-08T21:30:26.817Z,1736371826.817 [DAT](INFO): Rx dataTimestamp_ set to:1736371826.817162 2025-01-08T21:30:26.818Z,1736371826.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520015 2025-01-08T21:30:27.066Z,1736371827.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:27.068Z,1736371827.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:27.069Z,1736371827.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770573 2025-01-08T21:30:27.087Z,1736371827.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:27.094Z,1736371827.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 292.757721 m, bearing: 168.457528 deg, approach rate: -0.344534 m/s, LOS rate: 0.107208 deg/s, cmd heading: 113.915807 deg, new cmd heading: 114.025545 deg. 2025-01-08T21:30:27.094Z,1736371827.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.990121 target range: 360.600006 and range: 360.60 m. 2025-01-08T21:30:27.321Z,1736371827.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:27.323Z,1736371827.323 [DAT](INFO): DAT read: Range 10 to 50 : 363.3 m (Round-trip 484.4 ms) speed -0.3 m/s 2025-01-08T21:30:27.323Z,1736371827.323 [DAT](INFO): DAT read: user:1824> 2025-01-08T21:30:27.324Z,1736371827.324 [DAT](INFO): DAT read: Tx time:21:30:26.6760 2025-01-08T21:30:27.324Z,1736371827.324 [DAT](INFO): Ping request sent. 2025-01-08T21:30:27.324Z,1736371827.324 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:27.325Z,1736371827.325 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:30:27.325Z,1736371827.325 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:27.326Z,1736371827.326 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:27.476Z,1736371827.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:27.486Z,1736371827.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 363.299988 m, deltaT: 4.036402 s, deltaX: 2.699982 m, approachRate: 0.668908 m/s, rangeRepo size: 4 2025-01-08T21:30:27.487Z,1736371827.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:27.490Z,1736371827.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 292.619446 m, bearing: 168.500544 deg, approach rate: -0.346633 m/s, LOS rate: 0.107884 deg/s, cmd heading: 114.025541 deg, new cmd heading: 114.154649 deg. 2025-01-08T21:30:27.491Z,1736371827.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.992375 target range: 360.600006 and range: 363.30 m. 2025-01-08T21:30:27.572Z,1736371827.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:27.573Z,1736371827.573 [DAT](INFO): DAT read: TxSync time:21:30:26.6752 2025-01-08T21:30:27.825Z,1736371827.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:27.905Z,1736371827.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:27.916Z,1736371827.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:27.919Z,1736371827.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 292.461853 m, bearing: 168.548539 deg, approach rate: -0.367248 m/s, LOS rate: 0.111907 deg/s, cmd heading: 114.154652 deg, new cmd heading: 114.298715 deg. 2025-01-08T21:30:27.920Z,1736371827.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.994889 target range: 360.600006 and range: 363.30 m. 2025-01-08T21:30:28.076Z,1736371828.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:28.314Z,1736371828.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:28.321Z,1736371828.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:28.328Z,1736371828.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:28.329Z,1736371828.329 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:28.330Z,1736371828.330 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:28.331Z,1736371828.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:28.348Z,1736371828.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:28.351Z,1736371828.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 292.310760 m, bearing: 168.594226 deg, approach rate: -0.348508 m/s, LOS rate: 0.105435 deg/s, cmd heading: 114.298715 deg, new cmd heading: 114.435846 deg. 2025-01-08T21:30:28.356Z,1736371828.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.997282 target range: 360.600006 and range: 363.30 m. 2025-01-08T21:30:28.580Z,1736371828.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:28.581Z,1736371828.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256401 2025-01-08T21:30:28.773Z,1736371828.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:28.782Z,1736371828.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:28.785Z,1736371828.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 292.128357 m, bearing: 168.649146 deg, approach rate: -0.420209 m/s, LOS rate: 0.126601 deg/s, cmd heading: 114.435844 deg, new cmd heading: 114.600708 deg. 2025-01-08T21:30:28.786Z,1736371828.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.000160 target range: 360.600006 and range: 363.30 m. 2025-01-08T21:30:28.833Z,1736371828.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:28.833Z,1736371828.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508721 2025-01-08T21:30:29.084Z,1736371829.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:29.084Z,1736371829.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759930 2025-01-08T21:30:29.165Z,1736371829.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:29.176Z,1736371829.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:29.178Z,1736371829.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 291.972473 m, bearing: 168.696025 deg, approach rate: -0.396124 m/s, LOS rate: 0.119191 deg/s, cmd heading: 114.600711 deg, new cmd heading: 114.741424 deg. 2025-01-08T21:30:29.180Z,1736371829.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.002616 target range: 360.600006 and range: 363.30 m. 2025-01-08T21:30:29.336Z,1736371829.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:29.336Z,1736371829.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011755 2025-01-08T21:30:29.554Z,1736371829.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:29.562Z,1736371829.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:29.566Z,1736371829.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 291.817688 m, bearing: 168.742545 deg, approach rate: -0.400537 m/s, LOS rate: 0.120443 deg/s, cmd heading: 114.741427 deg, new cmd heading: 114.881061 deg. 2025-01-08T21:30:29.567Z,1736371829.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.005053 target range: 360.600006 and range: 363.30 m. 2025-01-08T21:30:29.588Z,1736371829.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:29.588Z,1736371829.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263920 2025-01-08T21:30:29.840Z,1736371829.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:29.840Z,1736371829.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515876 2025-01-08T21:30:30.014Z,1736371830.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:30.023Z,1736371830.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:30.026Z,1736371830.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 291.627075 m, bearing: 168.800005 deg, approach rate: -0.413706 m/s, LOS rate: 0.124791 deg/s, cmd heading: 114.881063 deg, new cmd heading: 115.053553 deg. 2025-01-08T21:30:30.027Z,1736371830.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.008063 target range: 360.600006 and range: 363.30 m. 2025-01-08T21:30:30.093Z,1736371830.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:30.094Z,1736371830.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769521 2025-01-08T21:30:30.344Z,1736371830.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:30.344Z,1736371830.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019727 2025-01-08T21:30:30.404Z,1736371830.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:30.410Z,1736371830.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:30.413Z,1736371830.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:30.417Z,1736371830.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 291.464813 m, bearing: 168.848577 deg, approach rate: -0.416565 m/s, LOS rate: 0.124766 deg/s, cmd heading: 115.053553 deg, new cmd heading: 115.199351 deg. 2025-01-08T21:30:30.418Z,1736371830.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.010608 target range: 360.600006 and range: 363.30 m. 2025-01-08T21:30:30.596Z,1736371830.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:30.598Z,1736371830.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273001 2025-01-08T21:30:30.801Z,1736371830.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:30.810Z,1736371830.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:30.814Z,1736371830.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 291.293488 m, bearing: 168.898869 deg, approach rate: -0.430850 m/s, LOS rate: 0.126550 deg/s, cmd heading: 115.199350 deg, new cmd heading: 115.350316 deg. 2025-01-08T21:30:30.815Z,1736371830.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.013243 target range: 360.600006 and range: 363.30 m. 2025-01-08T21:30:30.848Z,1736371830.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:30.849Z,1736371830.849 [DAT](INFO): DAT read: Rx Time:21:30:29.5661 2025-01-08T21:30:30.849Z,1736371830.849 [DAT](INFO): Rx dataTimestamp_ set to:1736371830.848751 2025-01-08T21:30:30.850Z,1736371830.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525015 2025-01-08T21:30:31.101Z,1736371831.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:31.103Z,1736371831.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778072 2025-01-08T21:30:31.180Z,1736371831.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:31.219Z,1736371831.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.60 m. 2025-01-08T21:30:31.241Z,1736371831.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.600006 m, nav range: 291.130157 m, bearing: 168.946657 deg, approach rate: -0.401154 m/s, LOS rate: 0.117438 deg/s, cmd heading: 115.350311 deg, new cmd heading: 115.493755 deg. 2025-01-08T21:30:31.248Z,1736371831.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.015746 target range: 360.600006 and range: 363.30 m. 2025-01-08T21:30:31.352Z,1736371831.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:31.363Z,1736371831.363 [DAT](INFO): DAT read: 21:30:29.5661 LVL= 20144, 29937, 18418, 29555, AGC= 69, IDX= 444,-0.04, 3.125,-0.989,-2.847,-3.052, PHS=-0.019, 2.110, 0.202, RAW= 324.6, -21.8, CAL= 327.6, -31.9, ROT= 182.4, 31.9 2025-01-08T21:30:31.365Z,1736371831.365 [DAT](INFO): got valid direction response: 21:30:29.5661 LVL= 20144, 29937, 18418, 29555, AGC= 69, IDX= 444,-0.04, 3.125,-0.989,-2.847,-3.052, PHS=-0.019, 2.110, 0.202, RAW= 324.6, -21.8, CAL= 327.6, -31.9, ROT= 182.4, 31.9 2025-01-08T21:30:31.367Z,1736371831.367 [DAT](INFO): DAT read: Bearing 182.4, 31.9 (Local) 2025-01-08T21:30:31.367Z,1736371831.367 [DAT](INFO): Local bearing/azimuth received: Bearing 182.4, 31.9 (Local) 2025-01-08T21:30:31.370Z,1736371831.370 [DAT](INFO): DAT read: Range 10 to 50 : 364.4 m (Round-trip 485.9 ms) speed -0.6 m/s 2025-01-08T21:30:31.372Z,1736371831.372 [DAT](INFO): DAT read: user:1825> 2025-01-08T21:30:31.374Z,1736371831.374 [DAT](INFO): DAT read: Tx time:21:30:30.6760 2025-01-08T21:30:31.374Z,1736371831.374 [DAT](INFO): Ping request sent. 2025-01-08T21:30:31.375Z,1736371831.375 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:31.377Z,1736371831.377 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:30:31.379Z,1736371831.379 [DAT](INFO): direction in FSK: [0.514847,0.669180,-0.535846] 2025-01-08T21:30:31.380Z,1736371831.380 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:31.380Z,1736371831.380 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:31.392Z,1736371831.392 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:31.393Z,1736371831.393 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:31.595Z,1736371831.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:31.604Z,1736371831.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:31.605Z,1736371831.605 [DAT](INFO): DAT read: TxSync time:21:30:30.6752 2025-01-08T21:30:31.657Z,1736371831.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 364.399994 m, deltaT: 4.031748 s, deltaX: 1.100006 m, approachRate: 0.272836 m/s, rangeRepo size: 4 2025-01-08T21:30:31.666Z,1736371831.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 364.399994 m, bearing: 174.225491 deg, lat: 36.900118 deg, lon: -122.115107 deg, deltaT: 8.068150 s, deltaX: 3.799988 m, approachRate: 0.470986 m/s, posRepo size: 4 2025-01-08T21:30:31.673Z,1736371831.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:30:31.697Z,1736371831.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 297.217957 m, bearing: 170.687794 deg, approach rate: 0.000000 m/s, LOS rate: 0.117438 deg/s, cmd heading: 115.493759 deg, new cmd heading: 115.639458 deg. 2025-01-08T21:30:31.704Z,1736371831.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.018289 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:30:31.856Z,1736371831.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:32.031Z,1736371832.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:32.045Z,1736371832.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:30:32.068Z,1736371832.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 297.038116 m, bearing: 170.742080 deg, approach rate: -0.436202 m/s, LOS rate: 0.131750 deg/s, cmd heading: 115.639460 deg, new cmd heading: 115.802416 deg. 2025-01-08T21:30:32.069Z,1736371832.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.021133 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:30:32.110Z,1736371832.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:32.365Z,1736371832.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:32.425Z,1736371832.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:32.432Z,1736371832.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:32.440Z,1736371832.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:30:32.442Z,1736371832.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 296.874329 m, bearing: 170.791073 deg, approach rate: -0.413079 m/s, LOS rate: 0.123630 deg/s, cmd heading: 115.802415 deg, new cmd heading: 115.949475 deg. 2025-01-08T21:30:32.443Z,1736371832.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.023700 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:30:32.616Z,1736371832.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:32.616Z,1736371832.616 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:32.616Z,1736371832.616 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:32.617Z,1736371832.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:32.845Z,1736371832.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:32.854Z,1736371832.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:30:32.857Z,1736371832.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 296.705597 m, bearing: 170.842129 deg, approach rate: -0.406843 m/s, LOS rate: 0.123176 deg/s, cmd heading: 115.949469 deg, new cmd heading: 116.102725 deg. 2025-01-08T21:30:32.858Z,1736371832.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.026375 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:30:32.868Z,1736371832.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:32.868Z,1736371832.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494001 2025-01-08T21:30:33.120Z,1736371833.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:33.122Z,1736371833.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747157 2025-01-08T21:30:33.228Z,1736371833.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:33.238Z,1736371833.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:30:33.243Z,1736371833.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 296.551544 m, bearing: 170.888452 deg, approach rate: -0.401792 m/s, LOS rate: 0.120879 deg/s, cmd heading: 116.102725 deg, new cmd heading: 116.241765 deg. 2025-01-08T21:30:33.244Z,1736371833.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.028801 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:30:33.374Z,1736371833.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:33.376Z,1736371833.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001319 2025-01-08T21:30:33.624Z,1736371833.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:33.625Z,1736371833.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250482 2025-01-08T21:30:33.629Z,1736371833.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:33.638Z,1736371833.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:30:33.641Z,1736371833.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 296.388855 m, bearing: 170.937240 deg, approach rate: -0.406670 m/s, LOS rate: 0.122022 deg/s, cmd heading: 116.241760 deg, new cmd heading: 116.388205 deg. 2025-01-08T21:30:33.642Z,1736371833.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.031357 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:30:33.876Z,1736371833.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:33.876Z,1736371833.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501924 2025-01-08T21:30:34.055Z,1736371834.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:34.064Z,1736371834.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:30:34.067Z,1736371834.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 296.215637 m, bearing: 170.986172 deg, approach rate: -0.406353 m/s, LOS rate: 0.114856 deg/s, cmd heading: 116.388199 deg, new cmd heading: 116.535079 deg. 2025-01-08T21:30:34.068Z,1736371834.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.033921 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:30:34.128Z,1736371834.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:34.129Z,1736371834.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754257 2025-01-08T21:30:34.380Z,1736371834.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:34.380Z,1736371834.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006053 2025-01-08T21:30:34.448Z,1736371834.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:34.468Z,1736371834.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:34.470Z,1736371834.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:30:34.477Z,1736371834.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 296.055298 m, bearing: 171.031453 deg, approach rate: -0.394901 m/s, LOS rate: 0.111585 deg/s, cmd heading: 116.535076 deg, new cmd heading: 116.670994 deg. 2025-01-08T21:30:34.478Z,1736371834.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.036293 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:30:34.632Z,1736371834.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:34.632Z,1736371834.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258084 2025-01-08T21:30:34.859Z,1736371834.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:34.884Z,1736371834.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:34.885Z,1736371834.885 [DAT](INFO): DAT read: Rx Time:21:30:33.5698 2025-01-08T21:30:34.885Z,1736371834.885 [DAT](INFO): Rx dataTimestamp_ set to:1736371834.884761 2025-01-08T21:30:34.886Z,1736371834.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511188 2025-01-08T21:30:34.888Z,1736371834.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:30:34.890Z,1736371834.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 295.893768 m, bearing: 171.076372 deg, approach rate: -0.406665 m/s, LOS rate: 0.113148 deg/s, cmd heading: 116.670996 deg, new cmd heading: 116.805825 deg. 2025-01-08T21:30:34.898Z,1736371834.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.038646 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:30:35.136Z,1736371835.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:35.137Z,1736371835.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762908 2025-01-08T21:30:35.298Z,1736371835.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:35.319Z,1736371835.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.40 m. 2025-01-08T21:30:35.322Z,1736371835.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.399994 m, nav range: 295.721008 m, bearing: 171.124562 deg, approach rate: -0.389260 m/s, LOS rate: 0.108645 deg/s, cmd heading: 116.805824 deg, new cmd heading: 116.950479 deg. 2025-01-08T21:30:35.323Z,1736371835.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.041171 target range: 364.399994 and range: 364.40 m. 2025-01-08T21:30:35.388Z,1736371835.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:35.396Z,1736371835.396 [DAT](INFO): DAT read: 21:30:33.5698 LVL= 21120, 29169, 17906, 27299, AGC= 70, IDX= 466, 0.06,-0.492, 1.678,-0.272,-0.427, PHS= 0.023, 2.152, 0.152, RAW= 326.9, -21.7, CAL= 330.2, -31.7, ROT= 179.8, 31.7 2025-01-08T21:30:35.397Z,1736371835.397 [DAT](INFO): got valid direction response: 21:30:33.5698 LVL= 21120, 29169, 17906, 27299, AGC= 70, IDX= 466, 0.06,-0.492, 1.678,-0.272,-0.427, PHS= 0.023, 2.152, 0.152, RAW= 326.9, -21.7, CAL= 330.2, -31.7, ROT= 179.8, 31.7 2025-01-08T21:30:35.398Z,1736371835.398 [DAT](INFO): DAT read: Bearing 179.8, 31.7 (Local) 2025-01-08T21:30:35.398Z,1736371835.398 [DAT](INFO): Local bearing/azimuth received: Bearing 179.8, 31.7 (Local) 2025-01-08T21:30:35.400Z,1736371835.400 [DAT](INFO): DAT read: Range 10 to 50 : 367.2 m (Round-trip 489.6 ms) speed -0.7 m/s 2025-01-08T21:30:35.401Z,1736371835.401 [DAT](INFO): DAT read: user:1826> 2025-01-08T21:30:35.402Z,1736371835.402 [DAT](INFO): DAT read: Tx time:21:30:34.6760 2025-01-08T21:30:35.402Z,1736371835.402 [DAT](INFO): Ping request sent. 2025-01-08T21:30:35.402Z,1736371835.402 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:35.402Z,1736371835.402 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:30:35.403Z,1736371835.403 [DAT](INFO): direction in FSK: [0.512227,0.693669,-0.506406] 2025-01-08T21:30:35.404Z,1736371835.404 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:35.404Z,1736371835.404 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:35.424Z,1736371835.424 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:35.425Z,1736371835.425 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:35.640Z,1736371835.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:35.641Z,1736371835.641 [DAT](INFO): DAT read: TxSync time:21:30:34.6752 2025-01-08T21:30:35.827Z,1736371835.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:35.841Z,1736371835.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 367.200012 m, deltaT: 4.035867 s, deltaX: 2.800018 m, approachRate: 0.693784 m/s, rangeRepo size: 4 2025-01-08T21:30:35.864Z,1736371835.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 367.200012 m, bearing: 175.613167 deg, lat: 36.900032 deg, lon: -122.115181 deg, deltaT: 4.035867 s, deltaX: 2.800018 m, approachRate: 0.693784 m/s, posRepo size: 4 2025-01-08T21:30:35.865Z,1736371835.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:35.871Z,1736371835.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 304.114960 m, bearing: 172.671544 deg, approach rate: 0.000000 m/s, LOS rate: 0.108645 deg/s, cmd heading: 116.950474 deg, new cmd heading: 117.123046 deg. 2025-01-08T21:30:35.872Z,1736371835.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.044183 target range: 367.200012 and range: 367.20 m. 2025-01-08T21:30:35.892Z,1736371835.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:36.144Z,1736371836.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:36.290Z,1736371836.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:36.314Z,1736371836.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:36.321Z,1736371836.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 303.950836 m, bearing: 172.717959 deg, approach rate: -0.346687 m/s, LOS rate: 0.098099 deg/s, cmd heading: 117.123046 deg, new cmd heading: 117.262368 deg. 2025-01-08T21:30:36.322Z,1736371836.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046614 target range: 367.200012 and range: 367.20 m. 2025-01-08T21:30:36.396Z,1736371836.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:36.650Z,1736371836.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:36.793Z,1736371836.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:36.809Z,1736371836.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:36.815Z,1736371836.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:36.818Z,1736371836.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 303.772705 m, bearing: 172.768504 deg, approach rate: -0.358401 m/s, LOS rate: 0.101757 deg/s, cmd heading: 117.262368 deg, new cmd heading: 117.414092 deg. 2025-01-08T21:30:36.819Z,1736371836.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049263 target range: 367.200012 and range: 367.20 m. 2025-01-08T21:30:36.900Z,1736371836.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:36.901Z,1736371836.901 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:36.901Z,1736371836.901 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:36.901Z,1736371836.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:37.152Z,1736371837.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:37.152Z,1736371837.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750242 2025-01-08T21:30:37.203Z,1736371837.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:37.217Z,1736371837.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:37.224Z,1736371837.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 303.629395 m, bearing: 172.808695 deg, approach rate: -0.353405 m/s, LOS rate: 0.099156 deg/s, cmd heading: 117.414094 deg, new cmd heading: 117.534722 deg. 2025-01-08T21:30:37.224Z,1736371837.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051368 target range: 367.200012 and range: 367.20 m. 2025-01-08T21:30:37.404Z,1736371837.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:37.404Z,1736371837.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002191 2025-01-08T21:30:37.539Z,1736371837.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:37.548Z,1736371837.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:37.551Z,1736371837.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 303.512482 m, bearing: 172.841710 deg, approach rate: -0.352397 m/s, LOS rate: 0.099551 deg/s, cmd heading: 117.534715 deg, new cmd heading: 117.633797 deg. 2025-01-08T21:30:37.552Z,1736371837.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053097 target range: 367.200012 and range: 367.20 m. 2025-01-08T21:30:37.657Z,1736371837.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:37.658Z,1736371837.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255820 2025-01-08T21:30:37.908Z,1736371837.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:37.908Z,1736371837.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506212 2025-01-08T21:30:37.990Z,1736371837.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:38.012Z,1736371838.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:38.020Z,1736371838.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 303.356537 m, bearing: 172.885650 deg, approach rate: -0.336248 m/s, LOS rate: 0.094793 deg/s, cmd heading: 117.633794 deg, new cmd heading: 117.765682 deg. 2025-01-08T21:30:38.021Z,1736371838.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055399 target range: 367.200012 and range: 367.20 m. 2025-01-08T21:30:38.160Z,1736371838.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:38.160Z,1736371838.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758309 2025-01-08T21:30:38.364Z,1736371838.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:38.372Z,1736371838.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:38.374Z,1736371838.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 303.227905 m, bearing: 172.922009 deg, approach rate: -0.357579 m/s, LOS rate: 0.101117 deg/s, cmd heading: 117.765685 deg, new cmd heading: 117.874809 deg. 2025-01-08T21:30:38.376Z,1736371838.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057303 target range: 367.200012 and range: 367.20 m. 2025-01-08T21:30:38.414Z,1736371838.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:38.415Z,1736371838.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012622 2025-01-08T21:30:38.664Z,1736371838.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:38.665Z,1736371838.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263086 2025-01-08T21:30:38.782Z,1736371838.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:38.836Z,1736371838.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:38.838Z,1736371838.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:38.845Z,1736371838.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 303.083954 m, bearing: 172.962701 deg, approach rate: -0.309026 m/s, LOS rate: 0.087395 deg/s, cmd heading: 117.874804 deg, new cmd heading: 117.996936 deg. 2025-01-08T21:30:38.846Z,1736371838.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059435 target range: 367.200012 and range: 367.20 m. 2025-01-08T21:30:38.916Z,1736371838.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:38.917Z,1736371838.917 [DAT](INFO): DAT read: Rx Time:21:30:37.5737 2025-01-08T21:30:38.917Z,1736371838.917 [DAT](INFO): Rx dataTimestamp_ set to:1736371838.916866 2025-01-08T21:30:38.918Z,1736371838.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515501 2025-01-08T21:30:39.168Z,1736371839.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:39.168Z,1736371839.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766142 2025-01-08T21:30:39.300Z,1736371839.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:39.308Z,1736371839.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:39.311Z,1736371839.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 302.904968 m, bearing: 173.013916 deg, approach rate: -0.380502 m/s, LOS rate: 0.108942 deg/s, cmd heading: 117.996941 deg, new cmd heading: 118.150677 deg. 2025-01-08T21:30:39.312Z,1736371839.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.062118 target range: 367.200012 and range: 367.20 m. 2025-01-08T21:30:39.420Z,1736371839.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:39.423Z,1736371839.423 [DAT](INFO): DAT read: Range 10 to 50 : 370.0 m (Round-trip 493.4 ms) speed -0.4 m/s 2025-01-08T21:30:39.425Z,1736371839.425 [DAT](INFO): DAT read: user:1827> 2025-01-08T21:30:39.426Z,1736371839.426 [DAT](INFO): DAT read: Tx time:21:30:38.6761 2025-01-08T21:30:39.426Z,1736371839.426 [DAT](INFO): Ping request sent. 2025-01-08T21:30:39.426Z,1736371839.426 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:39.426Z,1736371839.426 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:30:39.426Z,1736371839.426 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:39.430Z,1736371839.430 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:39.651Z,1736371839.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:39.667Z,1736371839.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 370.000000 m, deltaT: 4.032009 s, deltaX: 2.799988 m, approachRate: 0.694440 m/s, rangeRepo size: 4 2025-01-08T21:30:39.669Z,1736371839.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:39.672Z,1736371839.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:39.674Z,1736371839.674 [DAT](INFO): DAT read: TxSync time:21:30:38.6753 2025-01-08T21:30:39.693Z,1736371839.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 302.783539 m, bearing: 173.048630 deg, approach rate: -0.339811 m/s, LOS rate: 0.097184 deg/s, cmd heading: 118.150675 deg, new cmd heading: 118.254859 deg. 2025-01-08T21:30:39.694Z,1736371839.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063937 target range: 367.200012 and range: 370.00 m. 2025-01-08T21:30:39.940Z,1736371839.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:40.115Z,1736371840.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:40.133Z,1736371840.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:40.138Z,1736371840.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 302.622131 m, bearing: 173.095997 deg, approach rate: -0.345771 m/s, LOS rate: 0.101524 deg/s, cmd heading: 118.254863 deg, new cmd heading: 118.397038 deg. 2025-01-08T21:30:40.140Z,1736371840.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.066418 target range: 367.200012 and range: 370.00 m. 2025-01-08T21:30:40.192Z,1736371840.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:40.444Z,1736371840.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:40.482Z,1736371840.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:40.510Z,1736371840.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:40.517Z,1736371840.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 302.494049 m, bearing: 173.133341 deg, approach rate: -0.339192 m/s, LOS rate: 0.098939 deg/s, cmd heading: 118.397040 deg, new cmd heading: 118.509121 deg. 2025-01-08T21:30:40.518Z,1736371840.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068374 target range: 367.200012 and range: 370.00 m. 2025-01-08T21:30:40.696Z,1736371840.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:40.907Z,1736371840.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:40.934Z,1736371840.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:40.936Z,1736371840.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:40.939Z,1736371840.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 302.335144 m, bearing: 173.178727 deg, approach rate: -0.372657 m/s, LOS rate: 0.106491 deg/s, cmd heading: 118.509123 deg, new cmd heading: 118.645350 deg. 2025-01-08T21:30:40.940Z,1736371840.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070752 target range: 367.200012 and range: 370.00 m. 2025-01-08T21:30:40.948Z,1736371840.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:40.948Z,1736371840.948 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:40.948Z,1736371840.948 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:40.949Z,1736371840.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:41.200Z,1736371841.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:41.201Z,1736371841.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775190 2025-01-08T21:30:41.298Z,1736371841.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:41.309Z,1736371841.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:41.312Z,1736371841.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 302.188538 m, bearing: 173.220590 deg, approach rate: -0.393014 m/s, LOS rate: 0.112279 deg/s, cmd heading: 118.645345 deg, new cmd heading: 118.770995 deg. 2025-01-08T21:30:41.314Z,1736371841.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072945 target range: 367.200012 and range: 370.00 m. 2025-01-08T21:30:41.452Z,1736371841.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:41.453Z,1736371841.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026977 2025-01-08T21:30:41.704Z,1736371841.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:41.705Z,1736371841.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278475 2025-01-08T21:30:41.714Z,1736371841.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:41.751Z,1736371841.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:41.754Z,1736371841.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 302.033020 m, bearing: 173.265092 deg, approach rate: -0.355406 m/s, LOS rate: 0.101754 deg/s, cmd heading: 118.770993 deg, new cmd heading: 118.904568 deg. 2025-01-08T21:30:41.755Z,1736371841.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075276 target range: 367.200012 and range: 370.00 m. 2025-01-08T21:30:41.956Z,1736371841.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:41.956Z,1736371841.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530397 2025-01-08T21:30:42.126Z,1736371842.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:42.136Z,1736371842.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:42.138Z,1736371842.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 301.880493 m, bearing: 173.311258 deg, approach rate: -0.392574 m/s, LOS rate: 0.118883 deg/s, cmd heading: 118.904564 deg, new cmd heading: 119.043133 deg. 2025-01-08T21:30:42.140Z,1736371842.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077695 target range: 367.200012 and range: 370.00 m. 2025-01-08T21:30:42.208Z,1736371842.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:42.209Z,1736371842.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782536 2025-01-08T21:30:42.460Z,1736371842.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:42.460Z,1736371842.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034362 2025-01-08T21:30:42.518Z,1736371842.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:42.531Z,1736371842.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:42.534Z,1736371842.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 301.734894 m, bearing: 173.355153 deg, approach rate: -0.368890 m/s, LOS rate: 0.111264 deg/s, cmd heading: 119.043135 deg, new cmd heading: 119.174880 deg. 2025-01-08T21:30:42.547Z,1736371842.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.079994 target range: 367.200012 and range: 370.00 m. 2025-01-08T21:30:42.712Z,1736371842.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:42.713Z,1736371842.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286443 2025-01-08T21:30:42.928Z,1736371842.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:42.936Z,1736371842.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:42.938Z,1736371842.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:42.957Z,1736371842.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 301.574890 m, bearing: 173.403533 deg, approach rate: -0.392131 m/s, LOS rate: 0.118631 deg/s, cmd heading: 119.174876 deg, new cmd heading: 119.320093 deg. 2025-01-08T21:30:42.958Z,1736371842.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082529 target range: 367.200012 and range: 370.00 m. 2025-01-08T21:30:42.964Z,1736371842.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:42.965Z,1736371842.965 [DAT](INFO): DAT read: Rx Time:21:30:41.5769 2025-01-08T21:30:42.965Z,1736371842.965 [DAT](INFO): Rx dataTimestamp_ set to:1736371842.965074 2025-01-08T21:30:42.966Z,1736371842.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539812 2025-01-08T21:30:43.216Z,1736371843.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:43.217Z,1736371843.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790445 2025-01-08T21:30:43.337Z,1736371843.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:43.346Z,1736371843.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:43.349Z,1736371843.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 301.414764 m, bearing: 173.451751 deg, approach rate: -0.392957 m/s, LOS rate: 0.118392 deg/s, cmd heading: 119.320099 deg, new cmd heading: 119.464829 deg. 2025-01-08T21:30:43.350Z,1736371843.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085055 target range: 367.200012 and range: 370.00 m. 2025-01-08T21:30:43.470Z,1736371843.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:43.474Z,1736371843.474 [DAT](INFO): DAT read: Range 10 to 50 : 372.4 m (Round-trip 496.6 ms) speed -0.5 m/s 2025-01-08T21:30:43.476Z,1736371843.476 [DAT](INFO): DAT read: user:1828> 2025-01-08T21:30:43.476Z,1736371843.476 [DAT](INFO): DAT read: Tx time:21:30:42.6761 2025-01-08T21:30:43.477Z,1736371843.477 [DAT](INFO): Ping request sent. 2025-01-08T21:30:43.477Z,1736371843.477 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:43.477Z,1736371843.477 [DAT](INFO): DAT read: TxSync time:21:30:42.6753 2025-01-08T21:30:43.478Z,1736371843.478 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:30:43.478Z,1736371843.478 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:43.479Z,1736371843.479 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:43.720Z,1736371843.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:43.724Z,1736371843.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:43.733Z,1736371843.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 372.399994 m, deltaT: 4.049168 s, deltaX: 2.399994 m, approachRate: 0.592713 m/s, rangeRepo size: 4 2025-01-08T21:30:43.734Z,1736371843.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:43.737Z,1736371843.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 301.262878 m, bearing: 173.497261 deg, approach rate: -0.392337 m/s, LOS rate: 0.117618 deg/s, cmd heading: 119.464831 deg, new cmd heading: 119.601431 deg. 2025-01-08T21:30:43.738Z,1736371843.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.087439 target range: 367.200012 and range: 372.40 m. 2025-01-08T21:30:43.972Z,1736371843.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:44.145Z,1736371844.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:44.155Z,1736371844.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:44.158Z,1736371844.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 301.099304 m, bearing: 173.547277 deg, approach rate: -0.387584 m/s, LOS rate: 0.118575 deg/s, cmd heading: 119.601434 deg, new cmd heading: 119.751564 deg. 2025-01-08T21:30:44.159Z,1736371844.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.090059 target range: 367.200012 and range: 372.40 m. 2025-01-08T21:30:44.224Z,1736371844.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:44.476Z,1736371844.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:44.527Z,1736371844.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:44.540Z,1736371844.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:44.542Z,1736371844.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 300.950470 m, bearing: 173.592606 deg, approach rate: -0.386565 m/s, LOS rate: 0.117792 deg/s, cmd heading: 119.751562 deg, new cmd heading: 119.887617 deg. 2025-01-08T21:30:44.544Z,1736371844.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092434 target range: 367.200012 and range: 372.40 m. 2025-01-08T21:30:44.730Z,1736371844.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:44.956Z,1736371844.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:44.964Z,1736371844.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:44.966Z,1736371844.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:44.969Z,1736371844.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 300.778351 m, bearing: 173.645110 deg, approach rate: -0.403678 m/s, LOS rate: 0.123210 deg/s, cmd heading: 119.887619 deg, new cmd heading: 120.045221 deg. 2025-01-08T21:30:44.970Z,1736371844.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.095184 target range: 367.200012 and range: 372.40 m. 2025-01-08T21:30:44.981Z,1736371844.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:44.982Z,1736371844.982 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:44.982Z,1736371844.982 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:44.982Z,1736371844.982 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:45.232Z,1736371845.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:45.233Z,1736371845.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756363 2025-01-08T21:30:45.332Z,1736371845.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:45.361Z,1736371845.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:45.364Z,1736371845.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 300.628235 m, bearing: 173.691009 deg, approach rate: -0.380558 m/s, LOS rate: 0.116416 deg/s, cmd heading: 120.045219 deg, new cmd heading: 120.182985 deg. 2025-01-08T21:30:45.365Z,1736371845.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.097589 target range: 367.200012 and range: 372.40 m. 2025-01-08T21:30:45.484Z,1736371845.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:45.484Z,1736371845.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007459 2025-01-08T21:30:45.736Z,1736371845.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:45.737Z,1736371845.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259611 2025-01-08T21:30:45.741Z,1736371845.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:45.751Z,1736371845.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:45.754Z,1736371845.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 300.463715 m, bearing: 173.741216 deg, approach rate: -0.421730 m/s, LOS rate: 0.128770 deg/s, cmd heading: 120.182984 deg, new cmd heading: 120.333687 deg. 2025-01-08T21:30:45.755Z,1736371845.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.100219 target range: 367.200012 and range: 372.40 m. 2025-01-08T21:30:45.988Z,1736371845.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:45.989Z,1736371845.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512048 2025-01-08T21:30:46.165Z,1736371846.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:46.174Z,1736371846.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:46.177Z,1736371846.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 300.297974 m, bearing: 173.793172 deg, approach rate: -0.391835 m/s, LOS rate: 0.122899 deg/s, cmd heading: 120.333685 deg, new cmd heading: 120.489640 deg. 2025-01-08T21:30:46.178Z,1736371846.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102941 target range: 367.200012 and range: 372.40 m. 2025-01-08T21:30:46.241Z,1736371846.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:46.242Z,1736371846.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764591 2025-01-08T21:30:46.492Z,1736371846.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:46.492Z,1736371846.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015527 2025-01-08T21:30:46.558Z,1736371846.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:46.571Z,1736371846.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:46.574Z,1736371846.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 300.143799 m, bearing: 173.841371 deg, approach rate: -0.389293 m/s, LOS rate: 0.121765 deg/s, cmd heading: 120.489646 deg, new cmd heading: 120.634316 deg. 2025-01-08T21:30:46.575Z,1736371846.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105466 target range: 367.200012 and range: 372.40 m. 2025-01-08T21:30:46.744Z,1736371846.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:46.744Z,1736371846.744 [DAT](INFO): DAT read: Rx Time:21:30:45.5809 2025-01-08T21:30:46.745Z,1736371846.745 [DAT](INFO): Rx dataTimestamp_ set to:1736371846.744590 2025-01-08T21:30:46.745Z,1736371846.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268510 2025-01-08T21:30:46.985Z,1736371846.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:46.996Z,1736371846.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:46.997Z,1736371846.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520163 2025-01-08T21:30:47.012Z,1736371847.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:47.020Z,1736371847.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:47.022Z,1736371847.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 299.970062 m, bearing: 173.894025 deg, approach rate: -0.389805 m/s, LOS rate: 0.118205 deg/s, cmd heading: 120.634309 deg, new cmd heading: 120.792361 deg. 2025-01-08T21:30:47.028Z,1736371847.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108224 target range: 367.200012 and range: 372.40 m. 2025-01-08T21:30:47.248Z,1736371847.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:47.250Z,1736371847.250 [DAT](INFO): DAT read: Range 10 to 50 : 375.4 m (Round-trip 500.6 ms) speed -0.8 m/s 2025-01-08T21:30:47.250Z,1736371847.250 [DAT](INFO): DAT read: user:1829> 2025-01-08T21:30:47.251Z,1736371847.251 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:30:47.252Z,1736371847.252 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:47.252Z,1736371847.252 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:47.252Z,1736371847.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:47.377Z,1736371847.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:47.387Z,1736371847.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 375.399994 m, deltaT: 3.778381 s, deltaX: 3.000000 m, approachRate: 0.793991 m/s, rangeRepo size: 4 2025-01-08T21:30:47.388Z,1736371847.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:47.390Z,1736371847.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 299.810272 m, bearing: 173.942282 deg, approach rate: -0.431335 m/s, LOS rate: 0.130335 deg/s, cmd heading: 120.792360 deg, new cmd heading: 120.937209 deg. 2025-01-08T21:30:47.391Z,1736371847.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.110753 target range: 367.200012 and range: 375.40 m. 2025-01-08T21:30:47.500Z,1736371847.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:47.501Z,1736371847.501 [DAT](INFO): DAT read: Tx time:21:30:46.6761 2025-01-08T21:30:47.501Z,1736371847.501 [DAT](INFO): Ping request sent. 2025-01-08T21:30:47.501Z,1736371847.501 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:47.502Z,1736371847.502 [DAT](INFO): DAT read: TxSync time:21:30:46.6753 2025-01-08T21:30:47.503Z,1736371847.503 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:47.504Z,1736371847.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002965 2025-01-08T21:30:47.752Z,1736371847.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:47.753Z,1736371847.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251675 2025-01-08T21:30:47.768Z,1736371847.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:47.801Z,1736371847.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:47.808Z,1736371847.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 299.650482 m, bearing: 173.990661 deg, approach rate: -0.385152 m/s, LOS rate: 0.116672 deg/s, cmd heading: 120.937215 deg, new cmd heading: 121.082427 deg. 2025-01-08T21:30:47.809Z,1736371847.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.113287 target range: 367.200012 and range: 375.40 m. 2025-01-08T21:30:48.004Z,1736371848.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:48.004Z,1736371848.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503204 2025-01-08T21:30:48.205Z,1736371848.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:48.215Z,1736371848.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:48.218Z,1736371848.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 299.473450 m, bearing: 174.043478 deg, approach rate: -0.427683 m/s, LOS rate: 0.127674 deg/s, cmd heading: 121.082424 deg, new cmd heading: 121.240970 deg. 2025-01-08T21:30:48.219Z,1736371848.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.116054 target range: 367.200012 and range: 375.40 m. 2025-01-08T21:30:48.256Z,1736371848.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:48.257Z,1736371848.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756227 2025-01-08T21:30:48.508Z,1736371848.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:48.508Z,1736371848.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007200 2025-01-08T21:30:48.616Z,1736371848.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:48.646Z,1736371848.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:48.662Z,1736371848.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 299.303802 m, bearing: 174.092911 deg, approach rate: -0.393554 m/s, LOS rate: 0.114742 deg/s, cmd heading: 121.240967 deg, new cmd heading: 121.389350 deg. 2025-01-08T21:30:48.669Z,1736371848.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118644 target range: 367.200012 and range: 375.40 m. 2025-01-08T21:30:48.760Z,1736371848.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:48.761Z,1736371848.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260208 2025-01-08T21:30:49.014Z,1736371849.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:49.017Z,1736371849.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515844 2025-01-08T21:30:49.199Z,1736371849.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:49.215Z,1736371849.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:49.217Z,1736371849.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:49.224Z,1736371849.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 299.069183 m, bearing: 174.162856 deg, approach rate: -0.410553 m/s, LOS rate: 0.122491 deg/s, cmd heading: 121.389346 deg, new cmd heading: 121.599344 deg. 2025-01-08T21:30:49.225Z,1736371849.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.122309 target range: 367.200012 and range: 375.40 m. 2025-01-08T21:30:49.264Z,1736371849.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:49.265Z,1736371849.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763765 2025-01-08T21:30:49.516Z,1736371849.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:49.516Z,1736371849.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015166 2025-01-08T21:30:49.669Z,1736371849.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:49.689Z,1736371849.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:49.691Z,1736371849.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 298.878448 m, bearing: 174.219091 deg, approach rate: -0.404703 m/s, LOS rate: 0.119396 deg/s, cmd heading: 121.599347 deg, new cmd heading: 121.768159 deg. 2025-01-08T21:30:49.692Z,1736371849.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.125255 target range: 367.200012 and range: 375.40 m. 2025-01-08T21:30:49.768Z,1736371849.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:49.769Z,1736371849.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268110 2025-01-08T21:30:50.020Z,1736371850.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:50.020Z,1736371850.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519184 2025-01-08T21:30:50.086Z,1736371850.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:50.095Z,1736371850.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:50.098Z,1736371850.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 298.707123 m, bearing: 174.267864 deg, approach rate: -0.421839 m/s, LOS rate: 0.120157 deg/s, cmd heading: 121.768162 deg, new cmd heading: 121.914563 deg. 2025-01-08T21:30:50.100Z,1736371850.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.127810 target range: 367.200012 and range: 375.40 m. 2025-01-08T21:30:50.273Z,1736371850.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:50.275Z,1736371850.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773391 2025-01-08T21:30:50.467Z,1736371850.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:50.476Z,1736371850.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:50.478Z,1736371850.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 298.550659 m, bearing: 174.312327 deg, approach rate: -0.411074 m/s, LOS rate: 0.116878 deg/s, cmd heading: 121.914560 deg, new cmd heading: 122.048019 deg. 2025-01-08T21:30:50.480Z,1736371850.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.130140 target range: 367.200012 and range: 375.40 m. 2025-01-08T21:30:50.524Z,1736371850.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:50.525Z,1736371850.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023601 2025-01-08T21:30:50.776Z,1736371850.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:50.777Z,1736371850.777 [DAT](INFO): DAT read: Rx Time:21:30:49.5846 2025-01-08T21:30:50.777Z,1736371850.777 [DAT](INFO): Rx dataTimestamp_ set to:1736371850.776762 2025-01-08T21:30:50.778Z,1736371850.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276397 2025-01-08T21:30:50.875Z,1736371850.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:50.900Z,1736371850.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:50.903Z,1736371850.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 298.383087 m, bearing: 174.360053 deg, approach rate: -0.394166 m/s, LOS rate: 0.112327 deg/s, cmd heading: 122.048022 deg, new cmd heading: 122.191282 deg. 2025-01-08T21:30:50.904Z,1736371850.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.132640 target range: 367.200012 and range: 375.40 m. 2025-01-08T21:30:51.029Z,1736371851.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:51.030Z,1736371851.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528632 2025-01-08T21:30:51.280Z,1736371851.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:51.282Z,1736371851.282 [DAT](INFO): DAT read: Range 10 to 50 : 378.1 m (Round-trip 504.2 ms) speed -0.8 m/s 2025-01-08T21:30:51.283Z,1736371851.283 [DAT](INFO): DAT read: user:1830> 2025-01-08T21:30:51.284Z,1736371851.284 [DAT](INFO): DAT read: Tx time:21:30:50.6762 2025-01-08T21:30:51.284Z,1736371851.284 [DAT](INFO): Ping request sent. 2025-01-08T21:30:51.284Z,1736371851.284 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:51.284Z,1736371851.284 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:30:51.284Z,1736371851.284 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:51.285Z,1736371851.285 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:51.376Z,1736371851.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:51.393Z,1736371851.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:51.402Z,1736371851.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 378.100006 m, deltaT: 4.032353 s, deltaX: 2.700012 m, approachRate: 0.669587 m/s, rangeRepo size: 4 2025-01-08T21:30:51.408Z,1736371851.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:51.417Z,1736371851.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 298.176971 m, bearing: 174.417076 deg, approach rate: -0.416762 m/s, LOS rate: 0.115378 deg/s, cmd heading: 122.191278 deg, new cmd heading: 122.362463 deg. 2025-01-08T21:30:51.424Z,1736371851.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.135628 target range: 367.200012 and range: 378.10 m. 2025-01-08T21:30:51.532Z,1736371851.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:51.533Z,1736371851.533 [DAT](INFO): DAT read: TxSync time:21:30:50.6754 2025-01-08T21:30:51.534Z,1736371851.534 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:51.534Z,1736371851.534 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:51.534Z,1736371851.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:51.722Z,1736371851.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:51.732Z,1736371851.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:51.734Z,1736371851.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 298.033875 m, bearing: 174.456335 deg, approach rate: -0.424701 m/s, LOS rate: 0.116574 deg/s, cmd heading: 122.362456 deg, new cmd heading: 122.480291 deg. 2025-01-08T21:30:51.736Z,1736371851.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.137684 target range: 367.200012 and range: 378.10 m. 2025-01-08T21:30:51.784Z,1736371851.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:51.786Z,1736371851.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501437 2025-01-08T21:30:52.036Z,1736371852.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:52.037Z,1736371852.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752444 2025-01-08T21:30:52.139Z,1736371852.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:52.149Z,1736371852.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:52.176Z,1736371852.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 297.859314 m, bearing: 174.502720 deg, approach rate: -0.418658 m/s, LOS rate: 0.111312 deg/s, cmd heading: 122.480291 deg, new cmd heading: 122.619526 deg. 2025-01-08T21:30:52.177Z,1736371852.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.140115 target range: 367.200012 and range: 378.10 m. 2025-01-08T21:30:52.288Z,1736371852.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:52.289Z,1736371852.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004978 2025-01-08T21:30:52.525Z,1736371852.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:52.540Z,1736371852.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:52.541Z,1736371852.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256897 2025-01-08T21:30:52.546Z,1736371852.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:52.554Z,1736371852.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 297.697632 m, bearing: 174.545628 deg, approach rate: -0.408206 m/s, LOS rate: 0.108390 deg/s, cmd heading: 122.619531 deg, new cmd heading: 122.748325 deg. 2025-01-08T21:30:52.556Z,1736371852.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.142362 target range: 367.200012 and range: 378.10 m. 2025-01-08T21:30:52.792Z,1736371852.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:52.792Z,1736371852.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508216 2025-01-08T21:30:52.922Z,1736371852.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:52.931Z,1736371852.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:52.934Z,1736371852.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 297.530609 m, bearing: 174.589749 deg, approach rate: -0.433024 m/s, LOS rate: 0.114452 deg/s, cmd heading: 122.748321 deg, new cmd heading: 122.880758 deg. 2025-01-08T21:30:52.934Z,1736371852.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.144674 target range: 367.200012 and range: 378.10 m. 2025-01-08T21:30:53.044Z,1736371853.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:53.045Z,1736371853.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760519 2025-01-08T21:30:53.296Z,1736371853.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:53.297Z,1736371853.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012980 2025-01-08T21:30:53.412Z,1736371853.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:53.420Z,1736371853.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:53.422Z,1736371853.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:53.425Z,1736371853.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 297.327332 m, bearing: 174.642252 deg, approach rate: -0.413816 m/s, LOS rate: 0.106954 deg/s, cmd heading: 122.880759 deg, new cmd heading: 123.038375 deg. 2025-01-08T21:30:53.426Z,1736371853.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.147425 target range: 367.200012 and range: 378.10 m. 2025-01-08T21:30:53.553Z,1736371853.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:53.554Z,1736371853.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269436 2025-01-08T21:30:53.780Z,1736371853.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:53.789Z,1736371853.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:53.791Z,1736371853.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 297.175385 m, bearing: 174.681584 deg, approach rate: -0.414344 m/s, LOS rate: 0.107312 deg/s, cmd heading: 123.038372 deg, new cmd heading: 123.156431 deg. 2025-01-08T21:30:53.792Z,1736371853.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.149485 target range: 367.200012 and range: 378.10 m. 2025-01-08T21:30:53.804Z,1736371853.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:53.805Z,1736371853.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520640 2025-01-08T21:30:54.057Z,1736371854.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:54.060Z,1736371854.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775308 2025-01-08T21:30:54.267Z,1736371854.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:54.299Z,1736371854.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:54.302Z,1736371854.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 296.973022 m, bearing: 174.734189 deg, approach rate: -0.415950 m/s, LOS rate: 0.108201 deg/s, cmd heading: 123.156425 deg, new cmd heading: 123.314346 deg. 2025-01-08T21:30:54.308Z,1736371854.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:54.308Z,1736371854.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024352 2025-01-08T21:30:54.303Z,1736371854.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.152241 target range: 367.200012 and range: 378.10 m. 2025-01-08T21:30:54.356Z,1736371854.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:30:54.560Z,1736371854.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:54.560Z,1736371854.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276322 2025-01-08T21:30:54.620Z,1736371854.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:54.628Z,1736371854.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:54.631Z,1736371854.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 296.826752 m, bearing: 174.772195 deg, approach rate: -0.414420 m/s, LOS rate: 0.107733 deg/s, cmd heading: 123.314339 deg, new cmd heading: 123.428413 deg. 2025-01-08T21:30:54.632Z,1736371854.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.154232 target range: 367.200012 and range: 378.10 m. 2025-01-08T21:30:54.817Z,1736371854.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:54.818Z,1736371854.818 [DAT](INFO): DAT read: Rx Time:21:30:53.5882 2025-01-08T21:30:54.819Z,1736371854.819 [DAT](INFO): Rx dataTimestamp_ set to:1736371854.818370 2025-01-08T21:30:54.819Z,1736371854.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535205 2025-01-08T21:30:55.068Z,1736371855.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:55.069Z,1736371855.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784569 2025-01-08T21:30:55.074Z,1736371855.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:55.099Z,1736371855.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.20 m. 2025-01-08T21:30:55.102Z,1736371855.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.200012 m, nav range: 296.637604 m, bearing: 174.821261 deg, approach rate: -0.408510 m/s, LOS rate: 0.106037 deg/s, cmd heading: 123.428417 deg, new cmd heading: 123.575707 deg. 2025-01-08T21:30:55.107Z,1736371855.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156803 target range: 367.200012 and range: 378.10 m. 2025-01-08T21:30:55.320Z,1736371855.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:55.327Z,1736371855.327 [DAT](INFO): DAT read: 21:30:53.5882 LVL= 18976, 22769, 20818, 30051, AGC= 63, IDX= 467, 0.11, 1.960,-2.177, 1.995, 2.122, PHS=-0.074, 2.031,-0.130, RAW= 331.3, -16.8, CAL= 334.7, -23.3, ROT= 175.3, 23.3 2025-01-08T21:30:55.332Z,1736371855.332 [DAT](INFO): got valid direction response: 21:30:53.5882 LVL= 18976, 22769, 20818, 30051, AGC= 63, IDX= 467, 0.11, 1.960,-2.177, 1.995, 2.122, PHS=-0.074, 2.031,-0.130, RAW= 331.3, -16.8, CAL= 334.7, -23.3, ROT= 175.3, 23.3 2025-01-08T21:30:55.333Z,1736371855.333 [DAT](INFO): DAT read: Bearing 175.3, 23.3 (Local) 2025-01-08T21:30:55.334Z,1736371855.334 [DAT](INFO): Local bearing/azimuth received: Bearing 175.3, 23.3 (Local) 2025-01-08T21:30:55.336Z,1736371855.336 [DAT](INFO): DAT read: Range 10 to 50 : 380.9 m (Round-trip 507.9 ms) speed -0.4 m/s 2025-01-08T21:30:55.336Z,1736371855.336 [DAT](INFO): DAT read: user:1831> 2025-01-08T21:30:55.337Z,1736371855.337 [DAT](INFO): DAT read: Tx time:21:30:54.6762 2025-01-08T21:30:55.337Z,1736371855.337 [DAT](INFO): Ping request sent. 2025-01-08T21:30:55.338Z,1736371855.338 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:55.338Z,1736371855.338 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:30:55.339Z,1736371855.339 [DAT](INFO): direction in FSK: [0.429999,0.769934,-0.471491] 2025-01-08T21:30:55.346Z,1736371855.346 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:55.347Z,1736371855.347 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:55.360Z,1736371855.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:30:55.365Z,1736371855.365 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:55.366Z,1736371855.366 [DAT](INFO): publishing direction and range info 2025-01-08T21:30:55.489Z,1736371855.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:55.533Z,1736371855.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 380.899994 m, deltaT: 4.039330 s, deltaX: 2.799988 m, approachRate: 0.693181 m/s, rangeRepo size: 4 2025-01-08T21:30:55.539Z,1736371855.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 380.899994 m, bearing: 185.308222 deg, lat: 36.899937 deg, lon: -122.115292 deg, deltaT: 19.931241 s, deltaX: 13.699982 m, approachRate: 0.687362 m/s, posRepo size: 4 2025-01-08T21:30:55.540Z,1736371855.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:30:55.543Z,1736371855.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 306.308014 m, bearing: 176.880101 deg, approach rate: 0.000000 m/s, LOS rate: 0.106037 deg/s, cmd heading: 123.575703 deg, new cmd heading: 123.716066 deg. 2025-01-08T21:30:55.548Z,1736371855.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.159253 target range: 380.899994 and range: 380.90 m. 2025-01-08T21:30:55.572Z,1736371855.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:55.573Z,1736371855.573 [DAT](INFO): DAT read: TxSync time:21:30:54.6754 2025-01-08T21:30:55.824Z,1736371855.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:55.854Z,1736371855.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:55.869Z,1736371855.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:55.875Z,1736371855.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:30:55.878Z,1736371855.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 306.163940 m, bearing: 176.918584 deg, approach rate: -0.425513 m/s, LOS rate: 0.113709 deg/s, cmd heading: 123.716063 deg, new cmd heading: 123.831565 deg. 2025-01-08T21:30:55.879Z,1736371855.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.161268 target range: 380.899994 and range: 380.90 m. 2025-01-08T21:30:56.078Z,1736371856.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:56.080Z,1736371856.080 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:30:56.080Z,1736371856.080 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:30:56.081Z,1736371856.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:30:56.252Z,1736371856.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:56.277Z,1736371856.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:30:56.283Z,1736371856.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 306.006927 m, bearing: 176.960546 deg, approach rate: -0.387120 m/s, LOS rate: 0.103513 deg/s, cmd heading: 123.831562 deg, new cmd heading: 123.957514 deg. 2025-01-08T21:30:56.284Z,1736371856.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.163467 target range: 380.899994 and range: 380.90 m. 2025-01-08T21:30:56.328Z,1736371856.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:56.329Z,1736371856.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991223 2025-01-08T21:30:56.580Z,1736371856.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:56.581Z,1736371856.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243471 2025-01-08T21:30:56.655Z,1736371856.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:56.669Z,1736371856.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:30:56.674Z,1736371856.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 305.847595 m, bearing: 177.002952 deg, approach rate: -0.405962 m/s, LOS rate: 0.108102 deg/s, cmd heading: 123.957511 deg, new cmd heading: 124.084794 deg. 2025-01-08T21:30:56.676Z,1736371856.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.165688 target range: 380.899994 and range: 380.90 m. 2025-01-08T21:30:56.832Z,1736371856.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:56.833Z,1736371856.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495210 2025-01-08T21:30:57.085Z,1736371857.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:57.088Z,1736371857.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749814 2025-01-08T21:30:57.148Z,1736371857.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:57.157Z,1736371857.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:30:57.160Z,1736371857.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 305.654633 m, bearing: 177.055365 deg, approach rate: -0.395328 m/s, LOS rate: 0.107447 deg/s, cmd heading: 124.084798 deg, new cmd heading: 124.242135 deg. 2025-01-08T21:30:57.161Z,1736371857.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168434 target range: 380.899994 and range: 380.90 m. 2025-01-08T21:30:57.338Z,1736371857.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:57.339Z,1736371857.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001689 2025-01-08T21:30:57.448Z,1736371857.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:57.457Z,1736371857.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:30:57.460Z,1736371857.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 305.537537 m, bearing: 177.087208 deg, approach rate: -0.390791 m/s, LOS rate: 0.106312 deg/s, cmd heading: 124.242138 deg, new cmd heading: 124.337703 deg. 2025-01-08T21:30:57.461Z,1736371857.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.170102 target range: 380.899994 and range: 380.90 m. 2025-01-08T21:30:57.588Z,1736371857.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:57.588Z,1736371857.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250871 2025-01-08T21:30:57.840Z,1736371857.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:57.840Z,1736371857.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502898 2025-01-08T21:30:57.850Z,1736371857.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:57.877Z,1736371857.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:57.883Z,1736371857.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:30:57.890Z,1736371857.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 305.380157 m, bearing: 177.129877 deg, approach rate: -0.372565 m/s, LOS rate: 0.101064 deg/s, cmd heading: 124.337706 deg, new cmd heading: 124.465781 deg. 2025-01-08T21:30:57.891Z,1736371857.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.172338 target range: 380.899994 and range: 380.90 m. 2025-01-08T21:30:58.094Z,1736371858.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:58.097Z,1736371858.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759214 2025-01-08T21:30:58.289Z,1736371858.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:58.298Z,1736371858.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:30:58.302Z,1736371858.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 305.212677 m, bearing: 177.177267 deg, approach rate: -0.399490 m/s, LOS rate: 0.113100 deg/s, cmd heading: 124.465786 deg, new cmd heading: 124.608032 deg. 2025-01-08T21:30:58.302Z,1736371858.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174820 target range: 380.899994 and range: 380.90 m. 2025-01-08T21:30:58.344Z,1736371858.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:58.344Z,1736371858.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006884 2025-01-08T21:30:58.596Z,1736371858.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:58.597Z,1736371858.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259710 2025-01-08T21:30:58.677Z,1736371858.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:58.702Z,1736371858.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:30:58.705Z,1736371858.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 305.063843 m, bearing: 177.218983 deg, approach rate: -0.369005 m/s, LOS rate: 0.103478 deg/s, cmd heading: 124.608031 deg, new cmd heading: 124.733242 deg. 2025-01-08T21:30:58.705Z,1736371858.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.177006 target range: 380.899994 and range: 380.90 m. 2025-01-08T21:30:58.848Z,1736371858.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:58.848Z,1736371858.848 [DAT](INFO): DAT read: Rx Time:21:30:57.5916 2025-01-08T21:30:58.849Z,1736371858.849 [DAT](INFO): Rx dataTimestamp_ set to:1736371858.848670 2025-01-08T21:30:58.849Z,1736371858.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511902 2025-01-08T21:30:59.102Z,1736371859.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:59.104Z,1736371859.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766060 2025-01-08T21:30:59.170Z,1736371859.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:59.179Z,1736371859.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:30:59.182Z,1736371859.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 304.878571 m, bearing: 177.273276 deg, approach rate: -0.388543 m/s, LOS rate: 0.113930 deg/s, cmd heading: 124.733242 deg, new cmd heading: 124.896221 deg. 2025-01-08T21:30:59.184Z,1736371859.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.179850 target range: 380.899994 and range: 380.90 m. 2025-01-08T21:30:59.352Z,1736371859.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:59.353Z,1736371859.353 [DAT](INFO): DAT read: Range 10 to 50 : 383.4 m (Round-trip 511.3 ms) speed -1.1 m/s 2025-01-08T21:30:59.354Z,1736371859.354 [DAT](INFO): DAT read: user:1832> 2025-01-08T21:30:59.355Z,1736371859.355 [DAT](INFO): DAT read: Tx time:21:30:58.6762 2025-01-08T21:30:59.355Z,1736371859.355 [DAT](INFO): Ping request sent. 2025-01-08T21:30:59.355Z,1736371859.355 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:30:59.356Z,1736371859.356 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:30:59.356Z,1736371859.356 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:59.356Z,1736371859.356 [DAT](INFO): publishing transmit ping time 2025-01-08T21:30:59.489Z,1736371859.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:59.511Z,1736371859.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 383.399994 m, deltaT: 4.032001 s, deltaX: 2.500000 m, approachRate: 0.620040 m/s, rangeRepo size: 4 2025-01-08T21:30:59.512Z,1736371859.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:30:59.520Z,1736371859.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 304.758453 m, bearing: 177.308370 deg, approach rate: -0.366473 m/s, LOS rate: 0.107112 deg/s, cmd heading: 124.896224 deg, new cmd heading: 125.001547 deg. 2025-01-08T21:30:59.521Z,1736371859.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.181689 target range: 380.899994 and range: 383.40 m. 2025-01-08T21:30:59.605Z,1736371859.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:59.606Z,1736371859.606 [DAT](INFO): DAT read: TxSync time:21:30:58.6754 2025-01-08T21:30:59.856Z,1736371859.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:30:59.876Z,1736371859.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:30:59.884Z,1736371859.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:30:59.886Z,1736371859.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:30:59.909Z,1736371859.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 304.612061 m, bearing: 177.350843 deg, approach rate: -0.385889 m/s, LOS rate: 0.112011 deg/s, cmd heading: 125.001546 deg, new cmd heading: 125.129025 deg. 2025-01-08T21:30:59.912Z,1736371859.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.183913 target range: 380.899994 and range: 383.40 m. 2025-01-08T21:31:00.109Z,1736371860.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:00.110Z,1736371860.110 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:00.111Z,1736371860.111 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:00.112Z,1736371860.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:00.311Z,1736371860.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:00.342Z,1736371860.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:00.345Z,1736371860.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 304.446045 m, bearing: 177.399343 deg, approach rate: -0.363622 m/s, LOS rate: 0.106287 deg/s, cmd heading: 125.129025 deg, new cmd heading: 125.274604 deg. 2025-01-08T21:31:00.351Z,1736371860.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186454 target range: 380.899994 and range: 383.40 m. 2025-01-08T21:31:00.360Z,1736371860.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:00.360Z,1736371860.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005036 2025-01-08T21:31:00.612Z,1736371860.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:00.613Z,1736371860.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257093 2025-01-08T21:31:00.693Z,1736371860.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:00.701Z,1736371860.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:00.704Z,1736371860.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 304.298676 m, bearing: 177.441818 deg, approach rate: -0.410347 m/s, LOS rate: 0.118326 deg/s, cmd heading: 125.274603 deg, new cmd heading: 125.402088 deg. 2025-01-08T21:31:00.705Z,1736371860.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.188679 target range: 380.899994 and range: 383.40 m. 2025-01-08T21:31:00.865Z,1736371860.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:00.867Z,1736371860.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511315 2025-01-08T21:31:01.118Z,1736371861.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:01.120Z,1736371861.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763858 2025-01-08T21:31:01.158Z,1736371861.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:01.182Z,1736371861.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:01.189Z,1736371861.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 304.118835 m, bearing: 177.493440 deg, approach rate: -0.374377 m/s, LOS rate: 0.107527 deg/s, cmd heading: 125.402082 deg, new cmd heading: 125.557040 deg. 2025-01-08T21:31:01.190Z,1736371861.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.191384 target range: 380.899994 and range: 383.40 m. 2025-01-08T21:31:01.368Z,1736371861.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:01.369Z,1736371861.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013232 2025-01-08T21:31:01.525Z,1736371861.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:01.534Z,1736371861.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:01.537Z,1736371861.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 303.978790 m, bearing: 177.534718 deg, approach rate: -0.397843 m/s, LOS rate: 0.117317 deg/s, cmd heading: 125.557045 deg, new cmd heading: 125.680936 deg. 2025-01-08T21:31:01.538Z,1736371861.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.193546 target range: 380.899994 and range: 383.40 m. 2025-01-08T21:31:01.621Z,1736371861.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:01.622Z,1736371861.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266861 2025-01-08T21:31:01.872Z,1736371861.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:01.873Z,1736371861.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517291 2025-01-08T21:31:01.921Z,1736371861.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:01.928Z,1736371861.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:01.931Z,1736371861.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:01.934Z,1736371861.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 303.826691 m, bearing: 177.579373 deg, approach rate: -0.383166 m/s, LOS rate: 0.112551 deg/s, cmd heading: 125.680931 deg, new cmd heading: 125.814964 deg. 2025-01-08T21:31:01.935Z,1736371861.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.195885 target range: 380.899994 and range: 383.40 m. 2025-01-08T21:31:02.125Z,1736371862.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:02.128Z,1736371862.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771651 2025-01-08T21:31:02.330Z,1736371862.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:31:02.331Z,1736371862.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:02.340Z,1736371862.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:02.342Z,1736371862.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 303.669891 m, bearing: 177.625314 deg, approach rate: -0.383795 m/s, LOS rate: 0.112508 deg/s, cmd heading: 125.814967 deg, new cmd heading: 125.952862 deg. 2025-01-08T21:31:02.344Z,1736371862.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.198292 target range: 380.899994 and range: 383.40 m. 2025-01-08T21:31:02.378Z,1736371862.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:02.379Z,1736371862.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023215 2025-01-08T21:31:02.628Z,1736371862.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:02.628Z,1736371862.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272928 2025-01-08T21:31:02.731Z,1736371862.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:31:02.731Z,1736371862.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:02.740Z,1736371862.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:02.742Z,1736371862.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 303.515076 m, bearing: 177.670393 deg, approach rate: -0.387029 m/s, LOS rate: 0.112750 deg/s, cmd heading: 125.952868 deg, new cmd heading: 126.088172 deg. 2025-01-08T21:31:02.743Z,1736371862.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200654 target range: 380.899994 and range: 383.40 m. 2025-01-08T21:31:02.880Z,1736371862.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:02.881Z,1736371862.881 [DAT](INFO): DAT read: Rx Time:21:31:01.5958 2025-01-08T21:31:02.881Z,1736371862.881 [DAT](INFO): Rx dataTimestamp_ set to:1736371862.880879 2025-01-08T21:31:02.882Z,1736371862.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526236 2025-01-08T21:31:03.126Z,1736371863.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:31:03.126Z,1736371863.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:03.134Z,1736371863.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:03.136Z,1736371863.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780491 2025-01-08T21:31:03.189Z,1736371863.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:03.197Z,1736371863.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 303.363037 m, bearing: 177.714494 deg, approach rate: -0.337883 m/s, LOS rate: 0.098058 deg/s, cmd heading: 126.088174 deg, new cmd heading: 126.220545 deg. 2025-01-08T21:31:03.198Z,1736371863.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202964 target range: 380.899994 and range: 383.40 m. 2025-01-08T21:31:03.384Z,1736371863.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:03.385Z,1736371863.385 [DAT](INFO): DAT read: Range 10 to 50 : 386.4 m (Round-trip 515.3 ms) speed -1.1 m/s 2025-01-08T21:31:03.386Z,1736371863.386 [DAT](INFO): DAT read: user:1833> 2025-01-08T21:31:03.387Z,1736371863.387 [DAT](INFO): DAT read: Tx time:21:31:02.6763 2025-01-08T21:31:03.387Z,1736371863.387 [DAT](INFO): Ping request sent. 2025-01-08T21:31:03.387Z,1736371863.387 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:03.388Z,1736371863.388 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:31:03.388Z,1736371863.388 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:03.389Z,1736371863.389 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:03.546Z,1736371863.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:03.556Z,1736371863.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 386.399994 m, deltaT: 4.032084 s, deltaX: 3.000000 m, approachRate: 0.744032 m/s, rangeRepo size: 4 2025-01-08T21:31:03.557Z,1736371863.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:03.560Z,1736371863.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 303.192841 m, bearing: 177.762669 deg, approach rate: -0.465209 m/s, LOS rate: 0.131754 deg/s, cmd heading: 126.220543 deg, new cmd heading: 126.365150 deg. 2025-01-08T21:31:03.561Z,1736371863.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205488 target range: 380.899994 and range: 386.40 m. 2025-01-08T21:31:03.637Z,1736371863.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:03.638Z,1736371863.638 [DAT](INFO): DAT read: TxSync time:21:31:02.6755 2025-01-08T21:31:03.888Z,1736371863.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:03.938Z,1736371863.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:03.945Z,1736371863.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:03.948Z,1736371863.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:03.951Z,1736371863.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 303.034698 m, bearing: 177.807293 deg, approach rate: -0.402541 m/s, LOS rate: 0.113645 deg/s, cmd heading: 126.365152 deg, new cmd heading: 126.499091 deg. 2025-01-08T21:31:03.952Z,1736371863.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.207826 target range: 380.899994 and range: 386.40 m. 2025-01-08T21:31:04.140Z,1736371864.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:04.140Z,1736371864.140 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:04.140Z,1736371864.140 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:04.140Z,1736371864.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:04.354Z,1736371864.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:04.364Z,1736371864.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:04.366Z,1736371864.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 302.860596 m, bearing: 177.854807 deg, approach rate: -0.419711 m/s, LOS rate: 0.114610 deg/s, cmd heading: 126.499092 deg, new cmd heading: 126.641718 deg. 2025-01-08T21:31:04.368Z,1736371864.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210315 target range: 380.899994 and range: 386.40 m. 2025-01-08T21:31:04.392Z,1736371864.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:04.392Z,1736371864.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004961 2025-01-08T21:31:04.644Z,1736371864.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:04.645Z,1736371864.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257777 2025-01-08T21:31:04.736Z,1736371864.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:04.749Z,1736371864.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:04.753Z,1736371864.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 302.700287 m, bearing: 177.898416 deg, approach rate: -0.415144 m/s, LOS rate: 0.112992 deg/s, cmd heading: 126.641720 deg, new cmd heading: 126.772616 deg. 2025-01-08T21:31:04.754Z,1736371864.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.212600 target range: 380.899994 and range: 386.40 m. 2025-01-08T21:31:04.896Z,1736371864.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:04.898Z,1736371864.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510063 2025-01-08T21:31:05.139Z,1736371865.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:05.150Z,1736371865.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:05.152Z,1736371865.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764018 2025-01-08T21:31:05.198Z,1736371865.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:05.217Z,1736371865.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 302.530731 m, bearing: 177.944335 deg, approach rate: -0.383515 m/s, LOS rate: 0.103920 deg/s, cmd heading: 126.772614 deg, new cmd heading: 126.910446 deg. 2025-01-08T21:31:05.218Z,1736371865.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.215005 target range: 380.899994 and range: 386.40 m. 2025-01-08T21:31:05.400Z,1736371865.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:05.400Z,1736371865.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012871 2025-01-08T21:31:05.574Z,1736371865.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:05.607Z,1736371865.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:05.610Z,1736371865.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 302.349426 m, bearing: 177.993675 deg, approach rate: -0.436204 m/s, LOS rate: 0.118780 deg/s, cmd heading: 126.910447 deg, new cmd heading: 127.058557 deg. 2025-01-08T21:31:05.611Z,1736371865.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217590 target range: 380.899994 and range: 386.40 m. 2025-01-08T21:31:05.652Z,1736371865.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:05.653Z,1736371865.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265707 2025-01-08T21:31:05.904Z,1736371865.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:05.904Z,1736371865.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516804 2025-01-08T21:31:05.954Z,1736371865.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:05.970Z,1736371865.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:05.976Z,1736371865.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:05.978Z,1736371865.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 302.190979 m, bearing: 178.036701 deg, approach rate: -0.434440 m/s, LOS rate: 0.118034 deg/s, cmd heading: 127.058553 deg, new cmd heading: 127.187699 deg. 2025-01-08T21:31:05.984Z,1736371865.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.219844 target range: 380.899994 and range: 386.40 m. 2025-01-08T21:31:06.156Z,1736371866.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:06.157Z,1736371866.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769274 2025-01-08T21:31:06.368Z,1736371866.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:06.377Z,1736371866.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:06.400Z,1736371866.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 302.017120 m, bearing: 178.082391 deg, approach rate: -0.429074 m/s, LOS rate: 0.112825 deg/s, cmd heading: 127.187698 deg, new cmd heading: 127.324846 deg. 2025-01-08T21:31:06.401Z,1736371866.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.222238 target range: 380.899994 and range: 386.40 m. 2025-01-08T21:31:06.408Z,1736371866.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:06.409Z,1736371866.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021151 2025-01-08T21:31:06.660Z,1736371866.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:06.661Z,1736371866.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273496 2025-01-08T21:31:06.756Z,1736371866.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:06.782Z,1736371866.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:06.789Z,1736371866.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 301.854065 m, bearing: 178.125142 deg, approach rate: -0.402205 m/s, LOS rate: 0.105510 deg/s, cmd heading: 127.324848 deg, new cmd heading: 127.453171 deg. 2025-01-08T21:31:06.790Z,1736371866.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.224478 target range: 380.899994 and range: 386.40 m. 2025-01-08T21:31:06.912Z,1736371866.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:06.913Z,1736371866.913 [DAT](INFO): DAT read: Rx Time:21:31:05.5996 2025-01-08T21:31:06.913Z,1736371866.913 [DAT](INFO): Rx dataTimestamp_ set to:1736371866.913124 2025-01-08T21:31:06.914Z,1736371866.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526433 2025-01-08T21:31:07.158Z,1736371867.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:07.164Z,1736371867.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:07.165Z,1736371867.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777304 2025-01-08T21:31:07.218Z,1736371867.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:07.257Z,1736371867.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 301.683960 m, bearing: 178.169494 deg, approach rate: -0.396679 m/s, LOS rate: 0.103485 deg/s, cmd heading: 127.453174 deg, new cmd heading: 127.586304 deg. 2025-01-08T21:31:07.258Z,1736371867.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.226801 target range: 380.899994 and range: 386.40 m. 2025-01-08T21:31:07.416Z,1736371867.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:07.418Z,1736371867.418 [DAT](INFO): DAT read: Range 10 to 50 : 389.3 m (Round-trip 519.1 ms) speed -0.4 m/s 2025-01-08T21:31:07.418Z,1736371867.418 [DAT](INFO): DAT read: user:1834> 2025-01-08T21:31:07.419Z,1736371867.419 [DAT](INFO): DAT read: Tx time:21:31:06.6763 2025-01-08T21:31:07.420Z,1736371867.420 [DAT](INFO): Ping request sent. 2025-01-08T21:31:07.420Z,1736371867.420 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:07.420Z,1736371867.420 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:31:07.420Z,1736371867.420 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:07.421Z,1736371867.421 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:07.594Z,1736371867.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:07.604Z,1736371867.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 389.299988 m, deltaT: 4.032169 s, deltaX: 2.899994 m, approachRate: 0.719214 m/s, rangeRepo size: 4 2025-01-08T21:31:07.605Z,1736371867.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:07.608Z,1736371867.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 301.498749 m, bearing: 178.218314 deg, approach rate: -0.471987 m/s, LOS rate: 0.124487 deg/s, cmd heading: 127.586308 deg, new cmd heading: 127.732857 deg. 2025-01-08T21:31:07.609Z,1736371867.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229359 target range: 380.899994 and range: 389.30 m. 2025-01-08T21:31:07.668Z,1736371867.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:07.670Z,1736371867.670 [DAT](INFO): DAT read: TxSync time:21:31:06.6755 2025-01-08T21:31:07.921Z,1736371867.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:07.988Z,1736371867.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:07.998Z,1736371867.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:08.005Z,1736371868.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:08.012Z,1736371868.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 301.330811 m, bearing: 178.262394 deg, approach rate: -0.418345 m/s, LOS rate: 0.109869 deg/s, cmd heading: 127.732857 deg, new cmd heading: 127.865172 deg. 2025-01-08T21:31:08.013Z,1736371868.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.231668 target range: 380.899994 and range: 389.30 m. 2025-01-08T21:31:08.172Z,1736371868.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:08.172Z,1736371868.172 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:08.172Z,1736371868.172 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:08.172Z,1736371868.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:08.421Z,1736371868.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:08.424Z,1736371868.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:08.425Z,1736371868.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004863 2025-01-08T21:31:08.433Z,1736371868.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:08.460Z,1736371868.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 301.147644 m, bearing: 178.309757 deg, approach rate: -0.427841 m/s, LOS rate: 0.110698 deg/s, cmd heading: 127.865171 deg, new cmd heading: 128.007346 deg. 2025-01-08T21:31:08.461Z,1736371868.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.234150 target range: 380.899994 and range: 389.30 m. 2025-01-08T21:31:08.677Z,1736371868.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:08.678Z,1736371868.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258451 2025-01-08T21:31:08.775Z,1736371868.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:08.784Z,1736371868.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:08.786Z,1736371868.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 300.997894 m, bearing: 178.348413 deg, approach rate: -0.427260 m/s, LOS rate: 0.110346 deg/s, cmd heading: 128.007348 deg, new cmd heading: 128.123373 deg. 2025-01-08T21:31:08.787Z,1736371868.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.236175 target range: 380.899994 and range: 389.30 m. 2025-01-08T21:31:08.928Z,1736371868.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:08.929Z,1736371868.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508937 2025-01-08T21:31:09.172Z,1736371869.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:09.180Z,1736371869.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:09.181Z,1736371869.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761551 2025-01-08T21:31:09.206Z,1736371869.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:09.232Z,1736371869.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 300.829895 m, bearing: 178.391979 deg, approach rate: -0.398596 m/s, LOS rate: 0.103423 deg/s, cmd heading: 128.123380 deg, new cmd heading: 128.254151 deg. 2025-01-08T21:31:09.244Z,1736371869.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.238457 target range: 380.899994 and range: 389.30 m. 2025-01-08T21:31:09.432Z,1736371869.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:09.432Z,1736371869.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012727 2025-01-08T21:31:09.598Z,1736371869.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:09.623Z,1736371869.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:09.630Z,1736371869.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 300.654175 m, bearing: 178.437773 deg, approach rate: -0.420440 m/s, LOS rate: 0.109634 deg/s, cmd heading: 128.254150 deg, new cmd heading: 128.391613 deg. 2025-01-08T21:31:09.636Z,1736371869.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240856 target range: 380.899994 and range: 389.30 m. 2025-01-08T21:31:09.684Z,1736371869.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:09.684Z,1736371869.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264732 2025-01-08T21:31:09.937Z,1736371869.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:09.938Z,1736371869.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518019 2025-01-08T21:31:10.002Z,1736371870.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:10.016Z,1736371870.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:10.021Z,1736371870.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:10.024Z,1736371870.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 300.486969 m, bearing: 178.481345 deg, approach rate: -0.420058 m/s, LOS rate: 0.109523 deg/s, cmd heading: 128.391615 deg, new cmd heading: 128.522403 deg. 2025-01-08T21:31:10.025Z,1736371870.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.243139 target range: 380.899994 and range: 389.30 m. 2025-01-08T21:31:10.188Z,1736371870.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:10.188Z,1736371870.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768670 2025-01-08T21:31:10.410Z,1736371870.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:10.420Z,1736371870.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:10.423Z,1736371870.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 300.325073 m, bearing: 178.525555 deg, approach rate: -0.406524 m/s, LOS rate: 0.111072 deg/s, cmd heading: 128.522399 deg, new cmd heading: 128.655100 deg. 2025-01-08T21:31:10.424Z,1736371870.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.245455 target range: 380.899994 and range: 389.30 m. 2025-01-08T21:31:10.440Z,1736371870.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:10.440Z,1736371870.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020659 2025-01-08T21:31:10.692Z,1736371870.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:10.692Z,1736371870.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272724 2025-01-08T21:31:10.792Z,1736371870.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:10.802Z,1736371870.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:10.805Z,1736371870.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 300.172791 m, bearing: 178.567068 deg, approach rate: -0.397928 m/s, LOS rate: 0.108531 deg/s, cmd heading: 128.655096 deg, new cmd heading: 128.779697 deg. 2025-01-08T21:31:10.805Z,1736371870.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.247630 target range: 380.899994 and range: 389.30 m. 2025-01-08T21:31:10.944Z,1736371870.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:10.945Z,1736371870.945 [DAT](INFO): DAT read: Rx Time:21:31:09.6016 2025-01-08T21:31:10.945Z,1736371870.945 [DAT](INFO): Rx dataTimestamp_ set to:1736371870.944767 2025-01-08T21:31:10.946Z,1736371870.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525893 2025-01-08T21:31:11.196Z,1736371871.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:11.197Z,1736371871.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777563 2025-01-08T21:31:11.198Z,1736371871.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:11.206Z,1736371871.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:11.209Z,1736371871.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 300.012115 m, bearing: 178.610746 deg, approach rate: -0.397196 m/s, LOS rate: 0.108032 deg/s, cmd heading: 128.779692 deg, new cmd heading: 128.910796 deg. 2025-01-08T21:31:11.210Z,1736371871.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249918 target range: 380.899994 and range: 389.30 m. 2025-01-08T21:31:11.448Z,1736371871.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:11.450Z,1736371871.450 [DAT](INFO): DAT read: Range 10 to 50 : 390.8 m (Round-trip 521.1 ms) speed -0.6 m/s 2025-01-08T21:31:11.451Z,1736371871.451 [DAT](INFO): DAT read: user:1835> 2025-01-08T21:31:11.451Z,1736371871.451 [DAT](INFO): DAT read: Tx time:21:31:10.6763 2025-01-08T21:31:11.452Z,1736371871.452 [DAT](INFO): Ping request sent. 2025-01-08T21:31:11.452Z,1736371871.452 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:11.452Z,1736371871.452 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:31:11.452Z,1736371871.452 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:11.453Z,1736371871.453 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:11.619Z,1736371871.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:11.629Z,1736371871.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 390.799988 m, deltaT: 4.032176 s, deltaX: 1.500000 m, approachRate: 0.372008 m/s, rangeRepo size: 4 2025-01-08T21:31:11.630Z,1736371871.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:11.633Z,1736371871.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 299.835022 m, bearing: 178.658081 deg, approach rate: -0.419981 m/s, LOS rate: 0.112323 deg/s, cmd heading: 128.910791 deg, new cmd heading: 129.052881 deg. 2025-01-08T21:31:11.634Z,1736371871.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252398 target range: 380.899994 and range: 390.80 m. 2025-01-08T21:31:11.700Z,1736371871.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:11.701Z,1736371871.701 [DAT](INFO): DAT read: TxSync time:21:31:10.6755 2025-01-08T21:31:11.953Z,1736371871.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:12.006Z,1736371872.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:12.025Z,1736371872.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:12.031Z,1736371872.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:12.034Z,1736371872.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 299.673248 m, bearing: 178.700979 deg, approach rate: -0.405340 m/s, LOS rate: 0.107544 deg/s, cmd heading: 129.052886 deg, new cmd heading: 129.181650 deg. 2025-01-08T21:31:12.035Z,1736371872.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.254645 target range: 380.899994 and range: 390.80 m. 2025-01-08T21:31:12.204Z,1736371872.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:12.204Z,1736371872.204 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:12.204Z,1736371872.204 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:12.204Z,1736371872.204 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:12.437Z,1736371872.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:12.445Z,1736371872.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:12.456Z,1736371872.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:12.456Z,1736371872.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004325 2025-01-08T21:31:12.469Z,1736371872.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 299.497040 m, bearing: 178.750225 deg, approach rate: -0.421358 m/s, LOS rate: 0.117828 deg/s, cmd heading: 129.181649 deg, new cmd heading: 129.329473 deg. 2025-01-08T21:31:12.470Z,1736371872.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257225 target range: 380.899994 and range: 390.80 m. 2025-01-08T21:31:12.708Z,1736371872.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:12.709Z,1736371872.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257222 2025-01-08T21:31:12.833Z,1736371872.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:12.856Z,1736371872.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:12.861Z,1736371872.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 299.336456 m, bearing: 178.795209 deg, approach rate: -0.392085 m/s, LOS rate: 0.109894 deg/s, cmd heading: 129.329468 deg, new cmd heading: 129.464493 deg. 2025-01-08T21:31:12.864Z,1736371872.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.259582 target range: 380.899994 and range: 390.80 m. 2025-01-08T21:31:12.961Z,1736371872.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:12.962Z,1736371872.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510061 2025-01-08T21:31:13.212Z,1736371873.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:13.213Z,1736371873.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760687 2025-01-08T21:31:13.227Z,1736371873.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:13.236Z,1736371873.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:13.239Z,1736371873.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 299.176666 m, bearing: 178.840077 deg, approach rate: -0.418658 m/s, LOS rate: 0.117618 deg/s, cmd heading: 129.464487 deg, new cmd heading: 129.599162 deg. 2025-01-08T21:31:13.240Z,1736371873.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.261932 target range: 380.899994 and range: 390.80 m. 2025-01-08T21:31:13.464Z,1736371873.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:13.465Z,1736371873.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013268 2025-01-08T21:31:13.633Z,1736371873.633 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -16.84, +512.9 -9.19, 0.00 2025-01-08T21:31:13.640Z,1736371873.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:31:13.641Z,1736371873.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:13.655Z,1736371873.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:13.660Z,1736371873.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 299.005981 m, bearing: 178.886667 deg, approach rate: -0.408674 m/s, LOS rate: 0.111616 deg/s, cmd heading: 129.599165 deg, new cmd heading: 129.739015 deg. 2025-01-08T21:31:13.661Z,1736371873.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.264373 target range: 380.899994 and range: 390.80 m. 2025-01-08T21:31:13.716Z,1736371873.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:13.716Z,1736371873.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264449 2025-01-08T21:31:13.968Z,1736371873.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:13.970Z,1736371873.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518148 2025-01-08T21:31:14.052Z,1736371874.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:31:14.052Z,1736371874.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:14.059Z,1736371874.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:14.061Z,1736371874.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:14.072Z,1736371874.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 298.835480 m, bearing: 178.932969 deg, approach rate: -0.419238 m/s, LOS rate: 0.113913 deg/s, cmd heading: 129.739020 deg, new cmd heading: 129.878002 deg. 2025-01-08T21:31:14.074Z,1736371874.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.266799 target range: 380.899994 and range: 390.80 m. 2025-01-08T21:31:14.220Z,1736371874.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:14.221Z,1736371874.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768928 2025-01-08T21:31:14.462Z,1736371874.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:14.472Z,1736371874.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:14.473Z,1736371874.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020838 2025-01-08T21:31:14.473Z,1736371874.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:14.476Z,1736371874.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 298.660400 m, bearing: 178.981914 deg, approach rate: -0.426630 m/s, LOS rate: 0.119339 deg/s, cmd heading: 129.878001 deg, new cmd heading: 130.024922 deg. 2025-01-08T21:31:14.477Z,1736371874.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269363 target range: 380.899994 and range: 390.80 m. 2025-01-08T21:31:14.724Z,1736371874.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:14.725Z,1736371874.725 [DAT](INFO): DAT read: Rx Time:21:31:13.6061 2025-01-08T21:31:14.725Z,1736371874.725 [DAT](INFO): Rx dataTimestamp_ set to:1736371874.724949 2025-01-08T21:31:14.726Z,1736371874.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273870 2025-01-08T21:31:14.837Z,1736371874.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:14.849Z,1736371874.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:14.852Z,1736371874.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 298.499695 m, bearing: 179.026340 deg, approach rate: -0.425757 m/s, LOS rate: 0.117763 deg/s, cmd heading: 130.024918 deg, new cmd heading: 130.158269 deg. 2025-01-08T21:31:14.853Z,1736371874.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.271690 target range: 380.899994 and range: 390.80 m. 2025-01-08T21:31:14.976Z,1736371874.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:14.977Z,1736371874.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525506 2025-01-08T21:31:15.228Z,1736371875.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:15.228Z,1736371875.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776391 2025-01-08T21:31:15.272Z,1736371875.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:15.291Z,1736371875.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:15.351Z,1736371875.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 298.312378 m, bearing: 179.077937 deg, approach rate: -0.423590 m/s, LOS rate: 0.116752 deg/s, cmd heading: 130.158270 deg, new cmd heading: 130.313157 deg. 2025-01-08T21:31:15.365Z,1736371875.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.274394 target range: 380.899994 and range: 390.80 m. 2025-01-08T21:31:15.481Z,1736371875.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:15.483Z,1736371875.483 [DAT](INFO): DAT read: Range 10 to 50 : 394.1 m (Round-trip 525.5 ms) speed -0.8 m/s 2025-01-08T21:31:15.484Z,1736371875.484 [DAT](INFO): DAT read: user:1836> 2025-01-08T21:31:15.485Z,1736371875.485 [DAT](INFO): DAT read: Tx time:21:31:14.7264 2025-01-08T21:31:15.485Z,1736371875.485 [DAT](INFO): Ping request sent. 2025-01-08T21:31:15.485Z,1736371875.485 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:15.486Z,1736371875.486 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:31:15.486Z,1736371875.486 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:15.486Z,1736371875.486 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:15.700Z,1736371875.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:15.709Z,1736371875.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 394.100006 m, deltaT: 4.032413 s, deltaX: 3.300018 m, approachRate: 0.818373 m/s, rangeRepo size: 4 2025-01-08T21:31:15.710Z,1736371875.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:15.714Z,1736371875.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 298.125824 m, bearing: 179.128617 deg, approach rate: -0.446574 m/s, LOS rate: 0.121394 deg/s, cmd heading: 130.313152 deg, new cmd heading: 130.465287 deg. 2025-01-08T21:31:15.715Z,1736371875.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277049 target range: 380.899994 and range: 394.10 m. 2025-01-08T21:31:15.732Z,1736371875.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:15.733Z,1736371875.733 [DAT](INFO): DAT read: TxSync time:21:31:14.7256 2025-01-08T21:31:15.984Z,1736371875.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:16.066Z,1736371876.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:16.076Z,1736371876.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:16.079Z,1736371876.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:16.083Z,1736371876.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 297.964447 m, bearing: 179.171988 deg, approach rate: -0.435995 m/s, LOS rate: 0.117239 deg/s, cmd heading: 130.465287 deg, new cmd heading: 130.595470 deg. 2025-01-08T21:31:16.084Z,1736371876.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279321 target range: 380.899994 and range: 394.10 m. 2025-01-08T21:31:16.237Z,1736371876.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:16.238Z,1736371876.238 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:16.238Z,1736371876.238 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:16.238Z,1736371876.238 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:16.488Z,1736371876.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:16.489Z,1736371876.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003290 2025-01-08T21:31:16.495Z,1736371876.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:16.505Z,1736371876.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:16.507Z,1736371876.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 297.774719 m, bearing: 179.219852 deg, approach rate: -0.445560 m/s, LOS rate: 0.112477 deg/s, cmd heading: 130.595471 deg, new cmd heading: 130.739155 deg. 2025-01-08T21:31:16.508Z,1736371876.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281829 target range: 380.899994 and range: 394.10 m. 2025-01-08T21:31:16.740Z,1736371876.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:16.741Z,1736371876.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255215 2025-01-08T21:31:16.867Z,1736371876.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:16.876Z,1736371876.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:16.878Z,1736371876.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 297.609436 m, bearing: 179.261347 deg, approach rate: -0.446217 m/s, LOS rate: 0.112085 deg/s, cmd heading: 130.739151 deg, new cmd heading: 130.863702 deg. 2025-01-08T21:31:16.880Z,1736371876.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284003 target range: 380.899994 and range: 394.10 m. 2025-01-08T21:31:16.992Z,1736371876.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:16.992Z,1736371876.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507096 2025-01-08T21:31:17.244Z,1736371877.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:17.244Z,1736371877.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758971 2025-01-08T21:31:17.285Z,1736371877.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:17.302Z,1736371877.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:17.316Z,1736371877.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 297.423737 m, bearing: 179.308081 deg, approach rate: -0.435009 m/s, LOS rate: 0.109545 deg/s, cmd heading: 130.863706 deg, new cmd heading: 131.003995 deg. 2025-01-08T21:31:17.317Z,1736371877.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286451 target range: 380.899994 and range: 394.10 m. 2025-01-08T21:31:17.496Z,1736371877.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:17.497Z,1736371877.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011729 2025-01-08T21:31:17.722Z,1736371877.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:17.732Z,1736371877.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:17.734Z,1736371877.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 297.227875 m, bearing: 179.354563 deg, approach rate: -0.456143 m/s, LOS rate: 0.108324 deg/s, cmd heading: 131.003998 deg, new cmd heading: 131.143536 deg. 2025-01-08T21:31:17.735Z,1736371877.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288887 target range: 380.899994 and range: 394.10 m. 2025-01-08T21:31:17.748Z,1736371877.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:17.748Z,1736371877.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263167 2025-01-08T21:31:17.000Z,1736371878.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:18.000Z,1736371878.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514970 2025-01-08T21:31:18.076Z,1736371878.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:18.093Z,1736371878.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:18.095Z,1736371878.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:18.102Z,1736371878.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 297.069214 m, bearing: 179.392263 deg, approach rate: -0.436332 m/s, LOS rate: 0.103734 deg/s, cmd heading: 131.143539 deg, new cmd heading: 131.256699 deg. 2025-01-08T21:31:18.103Z,1736371878.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290862 target range: 380.899994 and range: 394.10 m. 2025-01-08T21:31:18.252Z,1736371878.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:18.252Z,1736371878.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767060 2025-01-08T21:31:18.504Z,1736371878.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:18.506Z,1736371878.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019782 2025-01-08T21:31:18.536Z,1736371878.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:18.545Z,1736371878.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:18.548Z,1736371878.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 296.864014 m, bearing: 179.437503 deg, approach rate: -0.456376 m/s, LOS rate: 0.100686 deg/s, cmd heading: 131.256702 deg, new cmd heading: 131.392516 deg. 2025-01-08T21:31:18.549Z,1736371878.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293232 target range: 380.899994 and range: 394.10 m. 2025-01-08T21:31:18.756Z,1736371878.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:18.756Z,1736371878.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271107 2025-01-08T21:31:18.894Z,1736371878.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:18.904Z,1736371878.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:18.907Z,1736371878.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 296.704071 m, bearing: 179.472768 deg, approach rate: -0.444757 m/s, LOS rate: 0.098114 deg/s, cmd heading: 131.392513 deg, new cmd heading: 131.498364 deg. 2025-01-08T21:31:18.908Z,1736371878.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.295079 target range: 380.899994 and range: 394.10 m. 2025-01-08T21:31:19.008Z,1736371879.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:19.009Z,1736371879.009 [DAT](INFO): DAT read: Rx Time:21:31:17.6610 2025-01-08T21:31:19.010Z,1736371879.010 [DAT](INFO): Rx dataTimestamp_ set to:1736371879.009129 2025-01-08T21:31:19.013Z,1736371879.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527115 2025-01-08T21:31:19.260Z,1736371879.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:19.260Z,1736371879.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775044 2025-01-08T21:31:19.298Z,1736371879.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:19.306Z,1736371879.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:19.315Z,1736371879.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 296.524017 m, bearing: 179.512412 deg, approach rate: -0.447908 m/s, LOS rate: 0.098681 deg/s, cmd heading: 131.498367 deg, new cmd heading: 131.617373 deg. 2025-01-08T21:31:19.318Z,1736371879.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.297157 target range: 380.899994 and range: 394.10 m. 2025-01-08T21:31:19.512Z,1736371879.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:19.514Z,1736371879.514 [DAT](INFO): DAT read: Range 10 to 50 : 397.8 m (Round-trip 530.4 ms) speed -0.3 m/s 2025-01-08T21:31:19.515Z,1736371879.515 [DAT](INFO): DAT read: user:1837> 2025-01-08T21:31:19.516Z,1736371879.516 [DAT](INFO): DAT read: Tx time:21:31:18.7764 2025-01-08T21:31:19.516Z,1736371879.516 [DAT](INFO): Ping request sent. 2025-01-08T21:31:19.516Z,1736371879.516 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:19.517Z,1736371879.517 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:31:19.517Z,1736371879.517 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:19.517Z,1736371879.517 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:19.724Z,1736371879.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:19.735Z,1736371879.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 397.799988 m, deltaT: 4.031539 s, deltaX: 3.699982 m, approachRate: 0.917759 m/s, rangeRepo size: 4 2025-01-08T21:31:19.736Z,1736371879.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:19.738Z,1736371879.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 296.334900 m, bearing: 179.552443 deg, approach rate: -0.441801 m/s, LOS rate: 0.093576 deg/s, cmd heading: 131.617376 deg, new cmd heading: 131.737545 deg. 2025-01-08T21:31:19.740Z,1736371879.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299254 target range: 380.899994 and range: 397.80 m. 2025-01-08T21:31:19.764Z,1736371879.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:19.765Z,1736371879.765 [DAT](INFO): DAT read: TxSync time:21:31:18.7756 2025-01-08T21:31:20.016Z,1736371880.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:20.110Z,1736371880.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:20.122Z,1736371880.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:20.124Z,1736371880.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:20.127Z,1736371880.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 296.163391 m, bearing: 179.588683 deg, approach rate: -0.439879 m/s, LOS rate: 0.093001 deg/s, cmd heading: 131.737547 deg, new cmd heading: 131.846330 deg. 2025-01-08T21:31:20.128Z,1736371880.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301152 target range: 380.899994 and range: 397.80 m. 2025-01-08T21:31:20.268Z,1736371880.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:20.268Z,1736371880.268 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:20.268Z,1736371880.268 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:20.269Z,1736371880.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:20.520Z,1736371880.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:20.520Z,1736371880.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004060 2025-01-08T21:31:20.541Z,1736371880.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:20.551Z,1736371880.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:20.553Z,1736371880.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 295.978394 m, bearing: 179.627895 deg, approach rate: -0.433852 m/s, LOS rate: 0.092015 deg/s, cmd heading: 131.846324 deg, new cmd heading: 131.964031 deg. 2025-01-08T21:31:20.554Z,1736371880.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303207 target range: 380.899994 and range: 397.80 m. 2025-01-08T21:31:20.772Z,1736371880.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:20.773Z,1736371880.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256578 2025-01-08T21:31:20.907Z,1736371880.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:20.933Z,1736371880.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:20.940Z,1736371880.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 295.821045 m, bearing: 179.661288 deg, approach rate: -0.411317 m/s, LOS rate: 0.087338 deg/s, cmd heading: 131.964036 deg, new cmd heading: 132.064269 deg. 2025-01-08T21:31:20.941Z,1736371880.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304956 target range: 380.899994 and range: 397.80 m. 2025-01-08T21:31:21.024Z,1736371881.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:21.025Z,1736371881.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508950 2025-01-08T21:31:21.276Z,1736371881.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:21.276Z,1736371881.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760011 2025-01-08T21:31:21.317Z,1736371881.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:21.325Z,1736371881.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:21.328Z,1736371881.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 295.645416 m, bearing: 179.698759 deg, approach rate: -0.447548 m/s, LOS rate: 0.095544 deg/s, cmd heading: 132.064276 deg, new cmd heading: 132.176756 deg. 2025-01-08T21:31:21.330Z,1736371881.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306920 target range: 380.899994 and range: 397.80 m. 2025-01-08T21:31:21.528Z,1736371881.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:21.529Z,1736371881.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012153 2025-01-08T21:31:21.756Z,1736371881.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:21.765Z,1736371881.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:21.768Z,1736371881.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 295.460297 m, bearing: 179.739509 deg, approach rate: -0.420940 m/s, LOS rate: 0.092718 deg/s, cmd heading: 132.176755 deg, new cmd heading: 132.299082 deg. 2025-01-08T21:31:21.769Z,1736371881.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309055 target range: 380.899994 and range: 397.80 m. 2025-01-08T21:31:21.780Z,1736371881.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:21.781Z,1736371881.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264470 2025-01-08T21:31:22.032Z,1736371882.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:22.032Z,1736371882.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516053 2025-01-08T21:31:22.136Z,1736371882.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:22.147Z,1736371882.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:22.152Z,1736371882.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:22.156Z,1736371882.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 295.301056 m, bearing: 179.775000 deg, approach rate: -0.413656 m/s, LOS rate: 0.092244 deg/s, cmd heading: 132.299084 deg, new cmd heading: 132.405614 deg. 2025-01-08T21:31:22.157Z,1736371882.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310914 target range: 380.899994 and range: 397.80 m. 2025-01-08T21:31:22.284Z,1736371882.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:22.284Z,1736371882.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768042 2025-01-08T21:31:22.544Z,1736371882.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:22.545Z,1736371882.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028314 2025-01-08T21:31:22.553Z,1736371882.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:22.564Z,1736371882.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:22.570Z,1736371882.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 295.134857 m, bearing: 179.816438 deg, approach rate: -0.403741 m/s, LOS rate: 0.100720 deg/s, cmd heading: 132.405608 deg, new cmd heading: 132.529990 deg. 2025-01-08T21:31:22.571Z,1736371882.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313085 target range: 380.899994 and range: 397.80 m. 2025-01-08T21:31:22.796Z,1736371882.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:22.797Z,1736371882.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280434 2025-01-08T21:31:22.929Z,1736371882.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:22.938Z,1736371882.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:22.941Z,1736371882.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 294.985016 m, bearing: 179.853824 deg, approach rate: -0.398133 m/s, LOS rate: 0.099388 deg/s, cmd heading: 132.529985 deg, new cmd heading: 132.642202 deg. 2025-01-08T21:31:22.942Z,1736371882.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315043 target range: 380.899994 and range: 397.80 m. 2025-01-08T21:31:23.048Z,1736371883.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:23.049Z,1736371883.049 [DAT](INFO): DAT read: Rx Time:21:31:21.7125 2025-01-08T21:31:23.049Z,1736371883.049 [DAT](INFO): Rx dataTimestamp_ set to:1736371883.048747 2025-01-08T21:31:23.050Z,1736371883.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533128 2025-01-08T21:31:23.300Z,1736371883.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:23.300Z,1736371883.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783997 2025-01-08T21:31:23.385Z,1736371883.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:23.396Z,1736371883.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:23.403Z,1736371883.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 294.802734 m, bearing: 179.899205 deg, approach rate: -0.398694 m/s, LOS rate: 0.099319 deg/s, cmd heading: 132.642205 deg, new cmd heading: 132.778431 deg. 2025-01-08T21:31:23.404Z,1736371883.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.317421 target range: 380.899994 and range: 397.80 m. 2025-01-08T21:31:23.552Z,1736371883.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:23.554Z,1736371883.554 [DAT](INFO): DAT read: Range 10 to 50 : 398.9 m (Round-trip 531.9 ms) speed -0.4 m/s 2025-01-08T21:31:23.555Z,1736371883.555 [DAT](INFO): DAT read: user:1838> 2025-01-08T21:31:23.556Z,1736371883.556 [DAT](INFO): DAT read: Tx time:21:31:22.8280 2025-01-08T21:31:23.556Z,1736371883.556 [DAT](INFO): Ping request sent. 2025-01-08T21:31:23.556Z,1736371883.556 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:23.556Z,1736371883.556 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:31:23.557Z,1736371883.557 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:23.557Z,1736371883.557 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:23.775Z,1736371883.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:23.786Z,1736371883.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 398.899994 m, deltaT: 4.040325 s, deltaX: 1.100006 m, approachRate: 0.272257 m/s, rangeRepo size: 4 2025-01-08T21:31:23.786Z,1736371883.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:23.789Z,1736371883.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 294.646820 m, bearing: 179.941580 deg, approach rate: -0.400355 m/s, LOS rate: 0.108867 deg/s, cmd heading: 132.778427 deg, new cmd heading: 132.905618 deg. 2025-01-08T21:31:23.790Z,1736371883.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319641 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:23.804Z,1736371883.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:23.804Z,1736371883.804 [DAT](INFO): DAT read: TxSync time:21:31:22.8272 2025-01-08T21:31:24.056Z,1736371884.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:24.166Z,1736371884.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:24.174Z,1736371884.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:24.200Z,1736371884.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:24.202Z,1736371884.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 294.487885 m, bearing: 179.983798 deg, approach rate: -0.406858 m/s, LOS rate: 0.108133 deg/s, cmd heading: 132.905618 deg, new cmd heading: 133.032342 deg. 2025-01-08T21:31:24.208Z,1736371884.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321852 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:24.308Z,1736371884.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:24.309Z,1736371884.309 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:24.309Z,1736371884.309 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:24.310Z,1736371884.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:24.560Z,1736371884.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:24.560Z,1736371884.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004243 2025-01-08T21:31:24.575Z,1736371884.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:24.584Z,1736371884.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:24.587Z,1736371884.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 294.319000 m, bearing: 180.031320 deg, approach rate: -0.413069 m/s, LOS rate: 0.116299 deg/s, cmd heading: 133.032346 deg, new cmd heading: 133.174993 deg. 2025-01-08T21:31:24.588Z,1736371884.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324342 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:24.812Z,1736371884.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:24.813Z,1736371884.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256398 2025-01-08T21:31:24.954Z,1736371884.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:24.964Z,1736371884.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:24.966Z,1736371884.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 294.161499 m, bearing: 180.075467 deg, approach rate: -0.416260 m/s, LOS rate: 0.116738 deg/s, cmd heading: 133.174987 deg, new cmd heading: 133.307499 deg. 2025-01-08T21:31:24.968Z,1736371884.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.326655 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:25.064Z,1736371885.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:25.065Z,1736371885.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508949 2025-01-08T21:31:25.316Z,1736371885.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:25.316Z,1736371885.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760283 2025-01-08T21:31:25.359Z,1736371885.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:25.369Z,1736371885.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:25.388Z,1736371885.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 293.992615 m, bearing: 180.122469 deg, approach rate: -0.415990 m/s, LOS rate: 0.115841 deg/s, cmd heading: 133.307493 deg, new cmd heading: 133.448580 deg. 2025-01-08T21:31:25.388Z,1736371885.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329117 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:25.481Z,1736371885.481 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:31:25.568Z,1736371885.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:25.569Z,1736371885.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012458 2025-01-08T21:31:25.782Z,1736371885.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:25.791Z,1736371885.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:25.794Z,1736371885.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 293.804291 m, bearing: 180.176544 deg, approach rate: -0.445710 m/s, LOS rate: 0.128062 deg/s, cmd heading: 133.448578 deg, new cmd heading: 133.610906 deg. 2025-01-08T21:31:25.795Z,1736371885.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331950 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:25.820Z,1736371885.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:25.820Z,1736371885.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264348 2025-01-08T21:31:26.072Z,1736371886.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:26.072Z,1736371886.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516159 2025-01-08T21:31:26.162Z,1736371886.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:26.177Z,1736371886.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:26.180Z,1736371886.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:26.186Z,1736371886.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 293.634094 m, bearing: 180.225006 deg, approach rate: -0.438419 m/s, LOS rate: 0.124909 deg/s, cmd heading: 133.610904 deg, new cmd heading: 133.756374 deg. 2025-01-08T21:31:26.187Z,1736371886.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334489 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:26.324Z,1736371886.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:26.324Z,1736371886.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768217 2025-01-08T21:31:26.484Z,1736371886.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:31:26.576Z,1736371886.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:26.576Z,1736371886.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020264 2025-01-08T21:31:26.605Z,1736371886.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:26.642Z,1736371886.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:26.650Z,1736371886.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 293.432068 m, bearing: 180.283052 deg, approach rate: -0.436955 m/s, LOS rate: 0.125631 deg/s, cmd heading: 133.756373 deg, new cmd heading: 133.930629 deg. 2025-01-08T21:31:26.672Z,1736371886.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.337530 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:26.828Z,1736371886.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:26.828Z,1736371886.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272153 2025-01-08T21:31:26.971Z,1736371886.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:26.980Z,1736371886.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:26.983Z,1736371886.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 293.263031 m, bearing: 180.330759 deg, approach rate: -0.501140 m/s, LOS rate: 0.141519 deg/s, cmd heading: 133.930625 deg, new cmd heading: 134.073830 deg. 2025-01-08T21:31:26.984Z,1736371886.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340030 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:27.081Z,1736371887.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:27.082Z,1736371887.082 [DAT](INFO): DAT read: Rx Time:21:31:25.7684 2025-01-08T21:31:27.082Z,1736371887.082 [DAT](INFO): Rx dataTimestamp_ set to:1736371887.081916 2025-01-08T21:31:27.083Z,1736371887.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526582 2025-01-08T21:31:27.332Z,1736371887.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:27.332Z,1736371887.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776281 2025-01-08T21:31:27.384Z,1736371887.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:27.394Z,1736371887.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:27.398Z,1736371887.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 293.070374 m, bearing: 180.384574 deg, approach rate: -0.464134 m/s, LOS rate: 0.129731 deg/s, cmd heading: 134.073827 deg, new cmd heading: 134.235376 deg. 2025-01-08T21:31:27.399Z,1736371887.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342849 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:27.584Z,1736371887.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:27.585Z,1736371887.585 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:31:27.585Z,1736371887.585 [DAT](INFO): Received a bad header 2025-01-08T21:31:27.600Z,1736371887.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.043406 2025-01-08T21:31:27.791Z,1736371887.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:27.800Z,1736371887.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:27.803Z,1736371887.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 292.870300 m, bearing: 180.437113 deg, approach rate: -0.492490 m/s, LOS rate: 0.129415 deg/s, cmd heading: 134.235374 deg, new cmd heading: 134.393098 deg. 2025-01-08T21:31:27.804Z,1736371887.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.345602 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:27.836Z,1736371887.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:27.836Z,1736371887.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280343 2025-01-08T21:31:28.089Z,1736371888.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:28.093Z,1736371888.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536013 2025-01-08T21:31:28.232Z,1736371888.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:28.239Z,1736371888.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:28.241Z,1736371888.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:28.244Z,1736371888.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 292.652191 m, bearing: 180.493904 deg, approach rate: -0.494992 m/s, LOS rate: 0.128983 deg/s, cmd heading: 134.393097 deg, new cmd heading: 134.563598 deg. 2025-01-08T21:31:28.245Z,1736371888.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.348578 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:28.341Z,1736371888.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:28.341Z,1736371888.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785123 2025-01-08T21:31:28.592Z,1736371888.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:28.592Z,1736371888.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036187 2025-01-08T21:31:28.706Z,1736371888.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:28.715Z,1736371888.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:28.718Z,1736371888.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 292.412933 m, bearing: 180.552490 deg, approach rate: -0.504906 m/s, LOS rate: 0.123736 deg/s, cmd heading: 134.563592 deg, new cmd heading: 134.739494 deg. 2025-01-08T21:31:28.719Z,1736371888.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.351648 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:28.844Z,1736371888.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:28.845Z,1736371888.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288874 2025-01-08T21:31:29.096Z,1736371889.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:29.097Z,1736371889.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541177 2025-01-08T21:31:29.123Z,1736371889.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:29.133Z,1736371889.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:29.136Z,1736371889.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 292.200592 m, bearing: 180.603857 deg, approach rate: -0.507549 m/s, LOS rate: 0.122869 deg/s, cmd heading: 134.739497 deg, new cmd heading: 134.893709 deg. 2025-01-08T21:31:29.137Z,1736371889.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.354339 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:29.348Z,1736371889.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:29.349Z,1736371889.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792447 2025-01-08T21:31:29.521Z,1736371889.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:29.581Z,1736371889.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:29.588Z,1736371889.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 291.997803 m, bearing: 180.652736 deg, approach rate: -0.452501 m/s, LOS rate: 0.109143 deg/s, cmd heading: 134.893709 deg, new cmd heading: 135.040446 deg. 2025-01-08T21:31:29.589Z,1736371889.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.356900 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:29.600Z,1736371889.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:29.601Z,1736371889.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044467 2025-01-08T21:31:29.852Z,1736371889.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:29.852Z,1736371889.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296243 2025-01-08T21:31:29.981Z,1736371889.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:29.998Z,1736371889.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:30.005Z,1736371890.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 291.763947 m, bearing: 180.703646 deg, approach rate: -0.561285 m/s, LOS rate: 0.122290 deg/s, cmd heading: 135.040449 deg, new cmd heading: 135.193302 deg. 2025-01-08T21:31:30.006Z,1736371890.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.359568 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:30.104Z,1736371890.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:30.105Z,1736371890.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548504 2025-01-08T21:31:30.322Z,1736371890.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:30.329Z,1736371890.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:30.332Z,1736371890.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:30.334Z,1736371890.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 291.589600 m, bearing: 180.741264 deg, approach rate: -0.523113 m/s, LOS rate: 0.112936 deg/s, cmd heading: 135.193308 deg, new cmd heading: 135.306229 deg. 2025-01-08T21:31:30.335Z,1736371890.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.361539 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:30.356Z,1736371890.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:30.357Z,1736371890.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800446 2025-01-08T21:31:30.608Z,1736371890.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:30.608Z,1736371890.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052275 2025-01-08T21:31:30.731Z,1736371890.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:30.756Z,1736371890.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:30.758Z,1736371890.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 291.383575 m, bearing: 180.781455 deg, approach rate: -0.504987 m/s, LOS rate: 0.098583 deg/s, cmd heading: 135.306225 deg, new cmd heading: 135.426884 deg. 2025-01-08T21:31:30.762Z,1736371890.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.363645 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:30.862Z,1736371890.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:30.862Z,1736371890.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306032 2025-01-08T21:31:31.112Z,1736371891.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:31.113Z,1736371891.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556393 2025-01-08T21:31:31.117Z,1736371891.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:31.125Z,1736371891.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:31.128Z,1736371891.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 291.188690 m, bearing: 180.819440 deg, approach rate: -0.505169 m/s, LOS rate: 0.098526 deg/s, cmd heading: 135.426887 deg, new cmd heading: 135.540916 deg. 2025-01-08T21:31:31.129Z,1736371891.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.365635 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:31.365Z,1736371891.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:31.367Z,1736371891.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810485 2025-01-08T21:31:31.528Z,1736371891.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:31.544Z,1736371891.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:31.570Z,1736371891.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 290.981476 m, bearing: 180.859848 deg, approach rate: -0.496814 m/s, LOS rate: 0.096952 deg/s, cmd heading: 135.540910 deg, new cmd heading: 135.662222 deg. 2025-01-08T21:31:31.578Z,1736371891.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.367753 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:31.616Z,1736371891.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:31.617Z,1736371891.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060675 2025-01-08T21:31:31.868Z,1736371891.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:31.868Z,1736371891.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312280 2025-01-08T21:31:31.959Z,1736371891.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:31.981Z,1736371891.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:31.989Z,1736371891.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 290.778870 m, bearing: 180.896118 deg, approach rate: -0.461466 m/s, LOS rate: 0.082667 deg/s, cmd heading: 135.662228 deg, new cmd heading: 135.771112 deg. 2025-01-08T21:31:31.990Z,1736371891.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.369653 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:32.120Z,1736371892.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:32.121Z,1736371892.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564631 2025-01-08T21:31:32.329Z,1736371892.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:32.358Z,1736371892.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:32.372Z,1736371892.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:32.374Z,1736371892.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817164 2025-01-08T21:31:32.381Z,1736371892.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:32.389Z,1736371892.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 290.605713 m, bearing: 180.927171 deg, approach rate: -0.448324 m/s, LOS rate: 0.080450 deg/s, cmd heading: 135.771115 deg, new cmd heading: 135.864331 deg. 2025-01-08T21:31:32.390Z,1736371892.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.371280 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:32.625Z,1736371892.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:32.628Z,1736371892.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070745 2025-01-08T21:31:32.757Z,1736371892.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:32.766Z,1736371892.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:32.769Z,1736371892.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 290.412750 m, bearing: 180.960872 deg, approach rate: -0.483878 m/s, LOS rate: 0.084564 deg/s, cmd heading: 135.864333 deg, new cmd heading: 135.965502 deg. 2025-01-08T21:31:32.770Z,1736371892.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373046 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:32.876Z,1736371892.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:32.877Z,1736371892.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321228 2025-01-08T21:31:33.128Z,1736371893.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:33.129Z,1736371893.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572602 2025-01-08T21:31:33.174Z,1736371893.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:33.197Z,1736371893.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:33.204Z,1736371893.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 290.225159 m, bearing: 180.993741 deg, approach rate: -0.436436 m/s, LOS rate: 0.076521 deg/s, cmd heading: 135.965502 deg, new cmd heading: 136.064175 deg. 2025-01-08T21:31:33.205Z,1736371893.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.374768 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:33.380Z,1736371893.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:33.380Z,1736371893.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824321 2025-01-08T21:31:33.543Z,1736371893.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:33.557Z,1736371893.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:33.559Z,1736371893.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 290.059113 m, bearing: 181.022865 deg, approach rate: -0.460573 m/s, LOS rate: 0.080827 deg/s, cmd heading: 136.064171 deg, new cmd heading: 136.151591 deg. 2025-01-08T21:31:33.560Z,1736371893.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376294 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:33.634Z,1736371893.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:33.635Z,1736371893.635 [DAT](INFO): Reached modem response timeout 2025-01-08T21:31:33.635Z,1736371893.635 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:31:33.636Z,1736371893.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:33.884Z,1736371893.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:33.884Z,1736371893.884 [DAT](INFO): Reached modem response timeout 2025-01-08T21:31:33.884Z,1736371893.884 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:31:33.885Z,1736371893.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:33.982Z,1736371893.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:33.991Z,1736371893.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:33.994Z,1736371893.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 289.868896 m, bearing: 181.055837 deg, approach rate: -0.438153 m/s, LOS rate: 0.076000 deg/s, cmd heading: 136.151598 deg, new cmd heading: 136.250579 deg. 2025-01-08T21:31:33.995Z,1736371893.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.378021 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:34.136Z,1736371894.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:34.136Z,1736371894.136 [DAT](INFO): Reached modem response timeout 2025-01-08T21:31:34.136Z,1736371894.136 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:31:34.137Z,1736371894.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:34.356Z,1736371894.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:34.385Z,1736371894.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:34.387Z,1736371894.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:34.388Z,1736371894.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:34.389Z,1736371894.389 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:31:34.389Z,1736371894.389 [DAT](INFO): response not received 2025-01-08T21:31:34.389Z,1736371894.389 [DAT](INFO): DAT read: user:1840> 2025-01-08T21:31:34.390Z,1736371894.390 [DAT](INFO): DAT read: Tx time:21:31:33.7766 2025-01-08T21:31:34.390Z,1736371894.390 [DAT](INFO): Ping request sent. 2025-01-08T21:31:34.390Z,1736371894.390 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:34.391Z,1736371894.391 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:34.391Z,1736371894.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723 2025-01-08T21:31:34.398Z,1736371894.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 289.707336 m, bearing: 181.083975 deg, approach rate: -0.407996 m/s, LOS rate: 0.071097 deg/s, cmd heading: 136.250581 deg, new cmd heading: 136.335040 deg. 2025-01-08T21:31:34.399Z,1736371894.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.379495 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:34.641Z,1736371894.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:34.645Z,1736371894.645 [DAT](INFO): DAT read: TxSync time:21:31:33.7758 2025-01-08T21:31:34.648Z,1736371894.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257231 2025-01-08T21:31:34.782Z,1736371894.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:34.790Z,1736371894.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:34.793Z,1736371894.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 289.531616 m, bearing: 181.118051 deg, approach rate: -0.435487 m/s, LOS rate: 0.084504 deg/s, cmd heading: 136.335043 deg, new cmd heading: 136.437335 deg. 2025-01-08T21:31:34.794Z,1736371894.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.381281 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:34.892Z,1736371894.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:34.893Z,1736371894.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502111 2025-01-08T21:31:35.147Z,1736371895.147 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:35.150Z,1736371895.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758952 2025-01-08T21:31:35.256Z,1736371895.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:35.264Z,1736371895.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:35.267Z,1736371895.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 289.334869 m, bearing: 181.155780 deg, approach rate: -0.415121 m/s, LOS rate: 0.079658 deg/s, cmd heading: 136.437332 deg, new cmd heading: 136.550593 deg. 2025-01-08T21:31:35.268Z,1736371895.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.383257 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:35.396Z,1736371895.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:35.398Z,1736371895.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007156 2025-01-08T21:31:35.650Z,1736371895.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:35.653Z,1736371895.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261528 2025-01-08T21:31:35.720Z,1736371895.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:35.749Z,1736371895.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:35.756Z,1736371895.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 289.144379 m, bearing: 181.197486 deg, approach rate: -0.392896 m/s, LOS rate: 0.086078 deg/s, cmd heading: 136.550590 deg, new cmd heading: 136.675792 deg. 2025-01-08T21:31:35.757Z,1736371895.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385442 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:35.900Z,1736371895.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:35.900Z,1736371895.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509892 2025-01-08T21:31:36.152Z,1736371896.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:36.153Z,1736371896.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762678 2025-01-08T21:31:36.184Z,1736371896.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:36.192Z,1736371896.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:36.195Z,1736371896.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 288.953705 m, bearing: 181.239129 deg, approach rate: -0.430164 m/s, LOS rate: 0.094010 deg/s, cmd heading: 136.675787 deg, new cmd heading: 136.800799 deg. 2025-01-08T21:31:36.224Z,1736371896.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387624 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:36.404Z,1736371896.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:36.405Z,1736371896.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014821 2025-01-08T21:31:36.658Z,1736371896.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:36.661Z,1736371896.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269740 2025-01-08T21:31:36.732Z,1736371896.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:36.739Z,1736371896.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:36.741Z,1736371896.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:36.747Z,1736371896.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 288.733154 m, bearing: 181.296822 deg, approach rate: -0.402087 m/s, LOS rate: 0.105261 deg/s, cmd heading: 136.800793 deg, new cmd heading: 136.974005 deg. 2025-01-08T21:31:36.764Z,1736371896.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.390647 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:36.908Z,1736371896.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:36.908Z,1736371896.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517987 2025-01-08T21:31:37.050Z,1736371897.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:37.058Z,1736371897.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:37.077Z,1736371897.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 288.604950 m, bearing: 181.330278 deg, approach rate: -0.403704 m/s, LOS rate: 0.105396 deg/s, cmd heading: 136.974007 deg, new cmd heading: 137.074419 deg. 2025-01-08T21:31:37.078Z,1736371897.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392400 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:37.160Z,1736371897.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:37.161Z,1736371897.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770787 2025-01-08T21:31:37.413Z,1736371897.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:37.414Z,1736371897.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023479 2025-01-08T21:31:37.472Z,1736371897.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:37.489Z,1736371897.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:37.497Z,1736371897.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 288.434509 m, bearing: 181.374675 deg, approach rate: -0.395350 m/s, LOS rate: 0.103041 deg/s, cmd heading: 137.074424 deg, new cmd heading: 137.207692 deg. 2025-01-08T21:31:37.498Z,1736371897.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.394726 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:37.666Z,1736371897.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:37.669Z,1736371897.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277883 2025-01-08T21:31:37.888Z,1736371897.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:37.897Z,1736371897.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:37.900Z,1736371897.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 288.258759 m, bearing: 181.422774 deg, approach rate: -0.431883 m/s, LOS rate: 0.118271 deg/s, cmd heading: 137.207695 deg, new cmd heading: 137.352082 deg. 2025-01-08T21:31:37.901Z,1736371897.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.397246 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:37.916Z,1736371897.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:37.917Z,1736371897.917 [DAT](INFO): DAT read: Rx Time:21:31:36.7264 2025-01-08T21:31:37.917Z,1736371897.917 [DAT](INFO): Rx dataTimestamp_ set to:1736371897.916803 2025-01-08T21:31:37.918Z,1736371897.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527217 2025-01-08T21:31:38.168Z,1736371898.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:38.168Z,1736371898.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778011 2025-01-08T21:31:38.262Z,1736371898.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:38.288Z,1736371898.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:38.290Z,1736371898.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 288.100220 m, bearing: 181.465925 deg, approach rate: -0.409761 m/s, LOS rate: 0.111590 deg/s, cmd heading: 137.352085 deg, new cmd heading: 137.481609 deg. 2025-01-08T21:31:38.295Z,1736371898.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.399507 target range: 380.899994 and range: 398.90 m. 2025-01-08T21:31:38.422Z,1736371898.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:38.435Z,1736371898.435 [DAT](INFO): DAT read: 21:31:36.7264 LVL 16241, 10690, 15763, AGC= 72, IDX= 34,-0.34,-2.430,-0.699,-2.968,-2.551, PHS= 0.210, 1.899,-0.419, RAW= 345.2, -16.0, CAL= 347.4, -22.0, ROT= 162.6, 22.0 2025-01-08T21:31:38.436Z,1736371898.436 [DAT](INFO): unknown deviceResponse_: 21:31:36.7264 LVL 16241, 10690, 15763, AGC= 72, IDX= 34,-0.34,-2.430,-0.699,-2.968,-2.551, PHS= 0.210, 1.899,-0.419, RAW= 345.2, -16.0, CAL= 347.4, -22.0, ROT= 162.6, 22.0 2025-01-08T21:31:38.438Z,1736371898.438 [DAT](INFO): DAT read: Range 10 to 50 : 409.2 m (Round-trip 545.7 ms) speed -0.8 m/s 2025-01-08T21:31:38.438Z,1736371898.438 [DAT](INFO): DAT read: user:1841> 2025-01-08T21:31:38.444Z,1736371898.444 [DAT](INFO): DAT read: Tx time:21:31:37.8266 2025-01-08T21:31:38.444Z,1736371898.444 [DAT](INFO): Ping request sent. 2025-01-08T21:31:38.444Z,1736371898.444 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:38.445Z,1736371898.445 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:31:38.445Z,1736371898.445 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:38.446Z,1736371898.446 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:38.674Z,1736371898.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:38.677Z,1736371898.677 [DAT](INFO): DAT read: TxSync time:21:31:37.8258 2025-01-08T21:31:38.766Z,1736371898.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:38.797Z,1736371898.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:38.806Z,1736371898.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 409.200012 m, deltaT: 14.869753 s, deltaX: 10.300018 m, approachRate: 0.692683 m/s, rangeRepo size: 4 2025-01-08T21:31:38.812Z,1736371898.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:38.817Z,1736371898.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 287.880981 m, bearing: 181.531504 deg, approach rate: -0.420605 m/s, LOS rate: 0.125907 deg/s, cmd heading: 137.481613 deg, new cmd heading: 137.678498 deg. 2025-01-08T21:31:38.818Z,1736371898.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402943 target range: 380.899994 and range: 409.20 m. 2025-01-08T21:31:38.924Z,1736371898.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:38.925Z,1736371898.925 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:38.925Z,1736371898.925 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:38.926Z,1736371898.926 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:39.105Z,1736371899.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:39.114Z,1736371899.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:39.117Z,1736371899.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 287.732178 m, bearing: 181.575265 deg, approach rate: -0.480811 m/s, LOS rate: 0.141472 deg/s, cmd heading: 137.678500 deg, new cmd heading: 137.809850 deg. 2025-01-08T21:31:39.118Z,1736371899.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405236 target range: 380.899994 and range: 409.20 m. 2025-01-08T21:31:39.177Z,1736371899.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:39.177Z,1736371899.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.733241 2025-01-08T21:31:39.428Z,1736371899.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:39.428Z,1736371899.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984313 2025-01-08T21:31:39.518Z,1736371899.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:39.526Z,1736371899.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:39.529Z,1736371899.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 287.549377 m, bearing: 181.628579 deg, approach rate: -0.443395 m/s, LOS rate: 0.129398 deg/s, cmd heading: 137.809845 deg, new cmd heading: 137.969886 deg. 2025-01-08T21:31:39.531Z,1736371899.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.408029 target range: 380.899994 and range: 409.20 m. 2025-01-08T21:31:39.682Z,1736371899.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:39.684Z,1736371899.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238976 2025-01-08T21:31:39.935Z,1736371899.935 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:39.936Z,1736371899.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491888 2025-01-08T21:31:39.968Z,1736371899.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:39.985Z,1736371899.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:39.992Z,1736371899.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 287.336029 m, bearing: 181.688365 deg, approach rate: -0.465158 m/s, LOS rate: 0.130447 deg/s, cmd heading: 137.969890 deg, new cmd heading: 138.149381 deg. 2025-01-08T21:31:39.993Z,1736371899.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.411162 target range: 380.899994 and range: 409.20 m. 2025-01-08T21:31:40.184Z,1736371900.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:40.184Z,1736371900.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740324 2025-01-08T21:31:40.308Z,1736371900.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:40.343Z,1736371900.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:40.346Z,1736371900.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 287.173981 m, bearing: 181.733340 deg, approach rate: -0.457685 m/s, LOS rate: 0.127100 deg/s, cmd heading: 138.149387 deg, new cmd heading: 138.284390 deg. 2025-01-08T21:31:40.347Z,1736371900.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413518 target range: 380.899994 and range: 409.20 m. 2025-01-08T21:31:40.436Z,1736371900.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:40.437Z,1736371900.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992560 2025-01-08T21:31:40.689Z,1736371900.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:40.692Z,1736371900.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247463 2025-01-08T21:31:40.808Z,1736371900.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:40.836Z,1736371900.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:40.838Z,1736371900.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:40.845Z,1736371900.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 286.922974 m, bearing: 181.800078 deg, approach rate: -0.502717 m/s, LOS rate: 0.133778 deg/s, cmd heading: 138.284392 deg, new cmd heading: 138.484779 deg. 2025-01-08T21:31:40.847Z,1736371900.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417015 target range: 380.899994 and range: 409.20 m. 2025-01-08T21:31:40.940Z,1736371900.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:40.940Z,1736371900.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496272 2025-01-08T21:31:41.193Z,1736371901.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:41.194Z,1736371901.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749342 2025-01-08T21:31:41.291Z,1736371901.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:41.308Z,1736371901.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:41.310Z,1736371901.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 286.681641 m, bearing: 181.863701 deg, approach rate: -0.513974 m/s, LOS rate: 0.135615 deg/s, cmd heading: 138.484777 deg, new cmd heading: 138.675808 deg. 2025-01-08T21:31:41.316Z,1736371901.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420349 target range: 380.899994 and range: 409.20 m. 2025-01-08T21:31:41.445Z,1736371901.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:41.446Z,1736371901.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001703 2025-01-08T21:31:41.689Z,1736371901.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:41.698Z,1736371901.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:41.700Z,1736371901.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255630 2025-01-08T21:31:41.757Z,1736371901.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:41.771Z,1736371901.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 286.478302 m, bearing: 181.916955 deg, approach rate: -0.452512 m/s, LOS rate: 0.118594 deg/s, cmd heading: 138.675803 deg, new cmd heading: 138.835676 deg. 2025-01-08T21:31:41.772Z,1736371901.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423140 target range: 380.899994 and range: 409.20 m. 2025-01-08T21:31:41.948Z,1736371901.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:41.950Z,1736371901.950 [DAT](INFO): DAT read: Rx Time:21:31:40.7804 2025-01-08T21:31:41.950Z,1736371901.950 [DAT](INFO): Rx dataTimestamp_ set to:1736371901.949789 2025-01-08T21:31:41.951Z,1736371901.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506900 2025-01-08T21:31:42.200Z,1736371902.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:42.201Z,1736371902.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756427 2025-01-08T21:31:42.240Z,1736371902.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:42.261Z,1736371902.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:42.265Z,1736371902.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 286.189423 m, bearing: 181.986736 deg, approach rate: -0.573126 m/s, LOS rate: 0.138584 deg/s, cmd heading: 138.835671 deg, new cmd heading: 139.045226 deg. 2025-01-08T21:31:42.266Z,1736371902.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426797 target range: 380.899994 and range: 409.20 m. 2025-01-08T21:31:42.453Z,1736371902.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:42.454Z,1736371902.454 [DAT](INFO): DAT read: Range 10 to 50 : 412.2 m (Round-trip 549.7 ms) speed -1.0 m/s 2025-01-08T21:31:42.455Z,1736371902.455 [DAT](INFO): DAT read: user:1842> 2025-01-08T21:31:42.456Z,1736371902.456 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:31:42.456Z,1736371902.456 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:42.457Z,1736371902.457 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:42.457Z,1736371902.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:42.591Z,1736371902.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:42.601Z,1736371902.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 412.200012 m, deltaT: 4.030697 s, deltaX: 3.000000 m, approachRate: 0.744288 m/s, rangeRepo size: 4 2025-01-08T21:31:42.602Z,1736371902.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:42.605Z,1736371902.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 286.005249 m, bearing: 182.031136 deg, approach rate: -0.542942 m/s, LOS rate: 0.130974 deg/s, cmd heading: 139.045221 deg, new cmd heading: 139.178505 deg. 2025-01-08T21:31:42.605Z,1736371902.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429123 target range: 380.899994 and range: 412.20 m. 2025-01-08T21:31:42.706Z,1736371902.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:42.706Z,1736371902.706 [DAT](INFO): DAT read: Tx time:21:31:41.8766 2025-01-08T21:31:42.707Z,1736371902.707 [DAT](INFO): Ping request sent. 2025-01-08T21:31:42.707Z,1736371902.707 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:42.708Z,1736371902.708 [DAT](INFO): DAT read: TxSync time:21:31:41.8758 2025-01-08T21:31:42.708Z,1736371902.708 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:42.709Z,1736371902.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001681 2025-01-08T21:31:42.956Z,1736371902.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:42.956Z,1736371902.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249473 2025-01-08T21:31:43.025Z,1736371903.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:43.033Z,1736371903.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:43.036Z,1736371903.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:43.038Z,1736371903.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 285.780762 m, bearing: 182.080198 deg, approach rate: -0.516267 m/s, LOS rate: 0.112920 deg/s, cmd heading: 139.178505 deg, new cmd heading: 139.325807 deg. 2025-01-08T21:31:43.040Z,1736371903.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431694 target range: 380.899994 and range: 412.20 m. 2025-01-08T21:31:43.208Z,1736371903.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:43.208Z,1736371903.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501491 2025-01-08T21:31:43.425Z,1736371903.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:43.434Z,1736371903.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:43.437Z,1736371903.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 285.573303 m, bearing: 182.125650 deg, approach rate: -0.520404 m/s, LOS rate: 0.114098 deg/s, cmd heading: 139.325805 deg, new cmd heading: 139.462260 deg. 2025-01-08T21:31:43.438Z,1736371903.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434076 target range: 380.899994 and range: 412.20 m. 2025-01-08T21:31:43.460Z,1736371903.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:43.460Z,1736371903.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753554 2025-01-08T21:31:43.712Z,1736371903.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:43.712Z,1736371903.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005473 2025-01-08T21:31:43.838Z,1736371903.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:43.849Z,1736371903.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:43.852Z,1736371903.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 285.358429 m, bearing: 182.166283 deg, approach rate: -0.518188 m/s, LOS rate: 0.098062 deg/s, cmd heading: 139.462259 deg, new cmd heading: 139.584247 deg. 2025-01-08T21:31:43.852Z,1736371903.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436205 target range: 380.899994 and range: 412.20 m. 2025-01-08T21:31:43.965Z,1736371903.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:43.965Z,1736371903.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258562 2025-01-08T21:31:44.209Z,1736371904.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:44.216Z,1736371904.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:44.217Z,1736371904.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509596 2025-01-08T21:31:44.221Z,1736371904.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:44.223Z,1736371904.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 285.165649 m, bearing: 182.202896 deg, approach rate: -0.518194 m/s, LOS rate: 0.098485 deg/s, cmd heading: 139.584246 deg, new cmd heading: 139.694161 deg. 2025-01-08T21:31:44.224Z,1736371904.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438123 target range: 380.899994 and range: 412.20 m. 2025-01-08T21:31:44.469Z,1736371904.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:44.471Z,1736371904.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763494 2025-01-08T21:31:44.608Z,1736371904.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:44.636Z,1736371904.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:44.639Z,1736371904.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 284.959564 m, bearing: 182.242496 deg, approach rate: -0.496040 m/s, LOS rate: 0.095384 deg/s, cmd heading: 139.694157 deg, new cmd heading: 139.813042 deg. 2025-01-08T21:31:44.640Z,1736371904.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440198 target range: 380.899994 and range: 412.20 m. 2025-01-08T21:31:44.720Z,1736371904.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:44.721Z,1736371904.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013643 2025-01-08T21:31:44.972Z,1736371904.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:44.972Z,1736371904.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265453 2025-01-08T21:31:45.048Z,1736371905.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:45.055Z,1736371905.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:45.057Z,1736371905.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:45.061Z,1736371905.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 284.736938 m, bearing: 182.280289 deg, approach rate: -0.528388 m/s, LOS rate: 0.089769 deg/s, cmd heading: 139.813043 deg, new cmd heading: 139.926510 deg. 2025-01-08T21:31:45.067Z,1736371905.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442178 target range: 380.899994 and range: 412.20 m. 2025-01-08T21:31:45.224Z,1736371905.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:45.225Z,1736371905.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517656 2025-01-08T21:31:45.420Z,1736371905.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:45.451Z,1736371905.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:45.453Z,1736371905.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 284.549744 m, bearing: 182.312335 deg, approach rate: -0.476267 m/s, LOS rate: 0.081587 deg/s, cmd heading: 139.926507 deg, new cmd heading: 140.022708 deg. 2025-01-08T21:31:45.454Z,1736371905.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443857 target range: 380.899994 and range: 412.20 m. 2025-01-08T21:31:45.493Z,1736371905.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:45.494Z,1736371905.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787016 2025-01-08T21:31:45.744Z,1736371905.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:45.746Z,1736371905.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038185 2025-01-08T21:31:45.874Z,1736371905.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:45.884Z,1736371905.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:45.886Z,1736371905.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 284.328644 m, bearing: 182.346971 deg, approach rate: -0.510945 m/s, LOS rate: 0.080105 deg/s, cmd heading: 140.022703 deg, new cmd heading: 140.126693 deg. 2025-01-08T21:31:45.887Z,1736371905.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445672 target range: 380.899994 and range: 412.20 m. 2025-01-08T21:31:45.996Z,1736371905.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:45.997Z,1736371905.997 [DAT](INFO): DAT read: Rx Time:21:31:44.8347 2025-01-08T21:31:45.998Z,1736371905.998 [DAT](INFO): Rx dataTimestamp_ set to:1736371905.997569 2025-01-08T21:31:45.998Z,1736371905.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291480 2025-01-08T21:31:46.231Z,1736371906.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:46.239Z,1736371906.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:46.242Z,1736371906.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 284.155304 m, bearing: 182.374290 deg, approach rate: -0.486971 m/s, LOS rate: 0.076795 deg/s, cmd heading: 140.126699 deg, new cmd heading: 140.208707 deg. 2025-01-08T21:31:46.243Z,1736371906.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447104 target range: 380.899994 and range: 412.20 m. 2025-01-08T21:31:46.251Z,1736371906.251 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:46.256Z,1736371906.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.548777 2025-01-08T21:31:46.500Z,1736371906.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:46.504Z,1736371906.504 [DAT](INFO): DAT read: Range 10 to 50 : 415.4 m (Round-trip 553.9 ms) speed -0.4 m/s 2025-01-08T21:31:46.506Z,1736371906.506 [DAT](INFO): DAT read: user:1843> 2025-01-08T21:31:46.508Z,1736371906.508 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:31:46.509Z,1736371906.509 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:46.509Z,1736371906.509 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:46.509Z,1736371906.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:46.639Z,1736371906.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:46.658Z,1736371906.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 415.399994 m, deltaT: 4.047575 s, deltaX: 3.199982 m, approachRate: 0.790592 m/s, rangeRepo size: 4 2025-01-08T21:31:46.660Z,1736371906.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:46.665Z,1736371906.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 283.957245 m, bearing: 182.405676 deg, approach rate: -0.473945 m/s, LOS rate: 0.075157 deg/s, cmd heading: 140.208703 deg, new cmd heading: 140.302926 deg. 2025-01-08T21:31:46.666Z,1736371906.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448748 target range: 380.899994 and range: 415.40 m. 2025-01-08T21:31:46.753Z,1736371906.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:46.754Z,1736371906.754 [DAT](INFO): DAT read: Tx time:21:31:45.9267 2025-01-08T21:31:46.755Z,1736371906.755 [DAT](INFO): Ping request sent. 2025-01-08T21:31:46.755Z,1736371906.755 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:46.756Z,1736371906.756 [DAT](INFO): DAT read: TxSync time:21:31:45.9259 2025-01-08T21:31:46.757Z,1736371906.757 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:46.762Z,1736371906.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006235 2025-01-08T21:31:47.004Z,1736371907.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:47.004Z,1736371907.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249658 2025-01-08T21:31:47.064Z,1736371907.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:47.090Z,1736371907.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:47.098Z,1736371907.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:47.108Z,1736371907.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 283.760956 m, bearing: 182.435775 deg, approach rate: -0.445612 m/s, LOS rate: 0.068377 deg/s, cmd heading: 140.302932 deg, new cmd heading: 140.393290 deg. 2025-01-08T21:31:47.109Z,1736371907.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450325 target range: 380.899994 and range: 415.40 m. 2025-01-08T21:31:47.256Z,1736371907.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:47.256Z,1736371907.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501601 2025-01-08T21:31:47.441Z,1736371907.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:47.450Z,1736371907.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:47.453Z,1736371907.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 283.585907 m, bearing: 182.462528 deg, approach rate: -0.496101 m/s, LOS rate: 0.075867 deg/s, cmd heading: 140.393295 deg, new cmd heading: 140.473604 deg. 2025-01-08T21:31:47.454Z,1736371907.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451727 target range: 380.899994 and range: 415.40 m. 2025-01-08T21:31:47.508Z,1736371907.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:47.510Z,1736371907.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754699 2025-01-08T21:31:47.761Z,1736371907.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:47.762Z,1736371907.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007686 2025-01-08T21:31:47.940Z,1736371907.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:47.950Z,1736371907.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:47.953Z,1736371907.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 283.354431 m, bearing: 182.500207 deg, approach rate: -0.463264 m/s, LOS rate: 0.075469 deg/s, cmd heading: 140.473605 deg, new cmd heading: 140.586732 deg. 2025-01-08T21:31:47.954Z,1736371907.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453701 target range: 380.899994 and range: 415.40 m. 2025-01-08T21:31:48.012Z,1736371908.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:48.013Z,1736371908.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257910 2025-01-08T21:31:48.264Z,1736371908.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:48.265Z,1736371908.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509913 2025-01-08T21:31:48.316Z,1736371908.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:48.333Z,1736371908.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:48.341Z,1736371908.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 283.179810 m, bearing: 182.528613 deg, approach rate: -0.455952 m/s, LOS rate: 0.074218 deg/s, cmd heading: 140.586726 deg, new cmd heading: 140.671998 deg. 2025-01-08T21:31:48.342Z,1736371908.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455189 target range: 380.899994 and range: 415.40 m. 2025-01-08T21:31:48.516Z,1736371908.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:48.516Z,1736371908.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761703 2025-01-08T21:31:48.768Z,1736371908.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:48.768Z,1736371908.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013755 2025-01-08T21:31:48.862Z,1736371908.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:48.898Z,1736371908.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:48.901Z,1736371908.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 282.927307 m, bearing: 182.569821 deg, approach rate: -0.446921 m/s, LOS rate: 0.073002 deg/s, cmd heading: 140.671994 deg, new cmd heading: 140.795728 deg. 2025-01-08T21:31:48.902Z,1736371908.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457349 target range: 380.899994 and range: 415.40 m. 2025-01-08T21:31:49.020Z,1736371909.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:49.020Z,1736371909.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265701 2025-01-08T21:31:49.237Z,1736371909.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:49.244Z,1736371909.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:49.246Z,1736371909.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:49.249Z,1736371909.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 282.763611 m, bearing: 182.601046 deg, approach rate: -0.470991 m/s, LOS rate: 0.089893 deg/s, cmd heading: 140.795730 deg, new cmd heading: 140.889459 deg. 2025-01-08T21:31:49.250Z,1736371909.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.458985 target range: 380.899994 and range: 415.40 m. 2025-01-08T21:31:49.272Z,1736371909.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:49.272Z,1736371909.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517709 2025-01-08T21:31:49.528Z,1736371909.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:49.528Z,1736371909.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773740 2025-01-08T21:31:49.611Z,1736371909.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:49.620Z,1736371909.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:49.623Z,1736371909.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 282.600159 m, bearing: 182.632131 deg, approach rate: -0.437606 m/s, LOS rate: 0.083272 deg/s, cmd heading: 140.889454 deg, new cmd heading: 140.982764 deg. 2025-01-08T21:31:49.625Z,1736371909.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460613 target range: 380.899994 and range: 415.40 m. 2025-01-08T21:31:49.780Z,1736371909.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:49.781Z,1736371909.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026643 2025-01-08T21:31:50.032Z,1736371910.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:50.033Z,1736371910.033 [DAT](INFO): DAT read: Rx Time:21:31:48.8870 2025-01-08T21:31:50.033Z,1736371910.033 [DAT](INFO): Rx dataTimestamp_ set to:1736371910.032791 2025-01-08T21:31:50.034Z,1736371910.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278886 2025-01-08T21:31:50.037Z,1736371910.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:50.046Z,1736371910.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:50.097Z,1736371910.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 282.409943 m, bearing: 182.672757 deg, approach rate: -0.445966 m/s, LOS rate: 0.095312 deg/s, cmd heading: 140.982768 deg, new cmd heading: 141.104726 deg. 2025-01-08T21:31:50.098Z,1736371910.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462742 target range: 380.899994 and range: 415.40 m. 2025-01-08T21:31:50.284Z,1736371910.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:50.284Z,1736371910.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529551 2025-01-08T21:31:50.416Z,1736371910.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:50.425Z,1736371910.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:50.428Z,1736371910.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 282.240234 m, bearing: 182.708768 deg, approach rate: -0.447621 m/s, LOS rate: 0.095039 deg/s, cmd heading: 141.104728 deg, new cmd heading: 141.212825 deg. 2025-01-08T21:31:50.429Z,1736371910.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464629 target range: 380.899994 and range: 415.40 m. 2025-01-08T21:31:50.537Z,1736371910.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:50.540Z,1736371910.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784752 2025-01-08T21:31:50.788Z,1736371910.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:50.790Z,1736371910.790 [DAT](INFO): DAT read: Range 10 to 50 : 417.0 m (Round-trip 556.1 ms) speed -0.7 m/s 2025-01-08T21:31:50.790Z,1736371910.790 [DAT](INFO): DAT read: user:1844> 2025-01-08T21:31:50.797Z,1736371910.797 [DAT](INFO): DAT read: Tx time:21:31:49.9767 2025-01-08T21:31:50.798Z,1736371910.798 [DAT](INFO): Ping request sent. 2025-01-08T21:31:50.798Z,1736371910.798 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:50.798Z,1736371910.798 [DAT](INFO): DAT read: TxSync time:21:31:49.9759 2025-01-08T21:31:50.799Z,1736371910.799 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:31:50.799Z,1736371910.799 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:50.800Z,1736371910.800 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:50.910Z,1736371910.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:50.927Z,1736371910.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 417.000000 m, deltaT: 4.287311 s, deltaX: 1.600006 m, approachRate: 0.373196 m/s, rangeRepo size: 4 2025-01-08T21:31:50.932Z,1736371910.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:50.934Z,1736371910.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 282.018433 m, bearing: 182.755615 deg, approach rate: -0.442364 m/s, LOS rate: 0.093507 deg/s, cmd heading: 141.212822 deg, new cmd heading: 141.353475 deg. 2025-01-08T21:31:50.948Z,1736371910.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.467083 target range: 380.899994 and range: 417.00 m. 2025-01-08T21:31:51.040Z,1736371911.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:51.265Z,1736371911.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:51.277Z,1736371911.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:51.279Z,1736371911.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:51.282Z,1736371911.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 281.863647 m, bearing: 182.793540 deg, approach rate: -0.439270 m/s, LOS rate: 0.107687 deg/s, cmd heading: 141.353470 deg, new cmd heading: 141.467306 deg. 2025-01-08T21:31:51.283Z,1736371911.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469070 target range: 380.899994 and range: 417.00 m. 2025-01-08T21:31:51.292Z,1736371911.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:51.292Z,1736371911.292 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:51.293Z,1736371911.293 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:51.293Z,1736371911.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:51.544Z,1736371911.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:51.545Z,1736371911.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747014 2025-01-08T21:31:51.650Z,1736371911.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:51.686Z,1736371911.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:51.703Z,1736371911.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 281.696350 m, bearing: 182.834607 deg, approach rate: -0.410888 m/s, LOS rate: 0.100922 deg/s, cmd heading: 141.467302 deg, new cmd heading: 141.590576 deg. 2025-01-08T21:31:51.708Z,1736371911.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471222 target range: 380.899994 and range: 417.00 m. 2025-01-08T21:31:51.797Z,1736371911.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:51.798Z,1736371911.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000163 2025-01-08T21:31:52.048Z,1736371912.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:52.048Z,1736371912.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250855 2025-01-08T21:31:52.061Z,1736371912.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:52.070Z,1736371912.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:52.073Z,1736371912.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 281.510681 m, bearing: 182.883640 deg, approach rate: -0.483152 m/s, LOS rate: 0.127678 deg/s, cmd heading: 141.590573 deg, new cmd heading: 141.737767 deg. 2025-01-08T21:31:52.074Z,1736371912.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473791 target range: 380.899994 and range: 417.00 m. 2025-01-08T21:31:52.300Z,1736371912.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:52.301Z,1736371912.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503319 2025-01-08T21:31:52.447Z,1736371912.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:52.469Z,1736371912.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:52.472Z,1736371912.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 281.334595 m, bearing: 182.929566 deg, approach rate: -0.441618 m/s, LOS rate: 0.115254 deg/s, cmd heading: 141.737763 deg, new cmd heading: 141.875629 deg. 2025-01-08T21:31:52.473Z,1736371912.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476197 target range: 380.899994 and range: 417.00 m. 2025-01-08T21:31:52.553Z,1736371912.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:52.554Z,1736371912.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755818 2025-01-08T21:31:52.804Z,1736371912.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:52.804Z,1736371912.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006725 2025-01-08T21:31:52.864Z,1736371912.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:52.943Z,1736371912.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:52.946Z,1736371912.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 281.143524 m, bearing: 182.979009 deg, approach rate: -0.420461 m/s, LOS rate: 0.108876 deg/s, cmd heading: 141.875624 deg, new cmd heading: 142.024053 deg. 2025-01-08T21:31:52.952Z,1736371912.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.478787 target range: 380.899994 and range: 417.00 m. 2025-01-08T21:31:53.056Z,1736371913.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:53.058Z,1736371913.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259785 2025-01-08T21:31:53.290Z,1736371913.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:53.297Z,1736371913.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:53.300Z,1736371913.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:53.302Z,1736371913.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 280.946564 m, bearing: 183.032012 deg, approach rate: -0.523441 m/s, LOS rate: 0.140958 deg/s, cmd heading: 142.024058 deg, new cmd heading: 142.183176 deg. 2025-01-08T21:31:53.304Z,1736371913.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.481565 target range: 380.899994 and range: 417.00 m. 2025-01-08T21:31:53.308Z,1736371913.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:53.308Z,1736371913.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510822 2025-01-08T21:31:53.560Z,1736371913.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:53.560Z,1736371913.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762777 2025-01-08T21:31:53.676Z,1736371913.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:53.686Z,1736371913.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:53.689Z,1736371913.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 280.767975 m, bearing: 183.079904 deg, approach rate: -0.461897 m/s, LOS rate: 0.123947 deg/s, cmd heading: 142.183174 deg, new cmd heading: 142.326943 deg. 2025-01-08T21:31:53.692Z,1736371913.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.484074 target range: 380.899994 and range: 417.00 m. 2025-01-08T21:31:53.812Z,1736371913.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:53.813Z,1736371913.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014947 2025-01-08T21:31:54.064Z,1736371914.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:54.065Z,1736371914.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267176 2025-01-08T21:31:54.202Z,1736371914.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:54.211Z,1736371914.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:54.214Z,1736371914.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 280.509888 m, bearing: 183.146620 deg, approach rate: -0.492035 m/s, LOS rate: 0.127309 deg/s, cmd heading: 142.326949 deg, new cmd heading: 142.527281 deg. 2025-01-08T21:31:54.216Z,1736371914.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.487570 target range: 380.899994 and range: 417.00 m. 2025-01-08T21:31:54.317Z,1736371914.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:54.318Z,1736371914.318 [DAT](INFO): DAT read: Rx Time:21:31:52.9406 2025-01-08T21:31:54.319Z,1736371914.319 [DAT](INFO): Rx dataTimestamp_ set to:1736371914.318315 2025-01-08T21:31:54.320Z,1736371914.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521843 2025-01-08T21:31:54.568Z,1736371914.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:54.569Z,1736371914.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770917 2025-01-08T21:31:54.665Z,1736371914.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:54.690Z,1736371914.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.90 m. 2025-01-08T21:31:54.697Z,1736371914.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.899994 m, nav range: 280.281555 m, bearing: 183.205226 deg, approach rate: -0.476066 m/s, LOS rate: 0.122291 deg/s, cmd heading: 142.527279 deg, new cmd heading: 142.703239 deg. 2025-01-08T21:31:54.698Z,1736371914.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490641 target range: 380.899994 and range: 417.00 m. 2025-01-08T21:31:54.821Z,1736371914.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:54.829Z,1736371914.829 [DAT](INFO): DAT read: 21:31:52.9406 LVL= 23680, 26689, 27330, 32755, AGC= 71, IDX= 463,-0.04,-2.900,-1.167, 2.826,-3.013, PHS= 0.201, 1.894,-0.446, RAW= 345.5, -15.6, CAL= 347.5, -21.2, ROT= 162.5, 21.2 2025-01-08T21:31:54.831Z,1736371914.831 [DAT](INFO): got valid direction response: 21:31:52.9406 LVL= 23680, 26689, 27330, 32755, AGC= 71, IDX= 463,-0.04,-2.900,-1.167, 2.826,-3.013, PHS= 0.201, 1.894,-0.446, RAW= 345.5, -15.6, CAL= 347.5, -21.2, ROT= 162.5, 21.2 2025-01-08T21:31:54.832Z,1736371914.832 [DAT](INFO): DAT read: Bearing 162.5, 21.2 (Local) 2025-01-08T21:31:54.832Z,1736371914.832 [DAT](INFO): Local bearing/azimuth received: Bearing 162.5, 21.2 (Local) 2025-01-08T21:31:54.834Z,1736371914.834 [DAT](INFO): DAT read: Range 10 to 50 : 419.7 m (Round-trip 559.6 ms) speed -0.8 m/s 2025-01-08T21:31:54.835Z,1736371914.835 [DAT](INFO): DAT read: user:1845> 2025-01-08T21:31:54.836Z,1736371914.836 [DAT](INFO): DAT read: Tx time:21:31:54.0268 2025-01-08T21:31:54.836Z,1736371914.836 [DAT](INFO): Ping request sent. 2025-01-08T21:31:54.836Z,1736371914.836 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:54.837Z,1736371914.837 [DAT](INFO): DAT read: TxSync time:21:31:54.0260 2025-01-08T21:31:54.837Z,1736371914.837 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:31:54.838Z,1736371914.838 [DAT](INFO): direction in FSK: [0.393623,0.882199,-0.258430] 2025-01-08T21:31:54.838Z,1736371914.838 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:54.838Z,1736371914.838 [DAT](INFO): publishing direction and range info 2025-01-08T21:31:54.842Z,1736371914.842 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:54.842Z,1736371914.842 [DAT](INFO): publishing direction and range info 2025-01-08T21:31:55.072Z,1736371915.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:55.166Z,1736371915.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:55.197Z,1736371915.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 419.700012 m, deltaT: 4.034136 s, deltaX: 2.700012 m, approachRate: 0.669291 m/s, rangeRepo size: 4 2025-01-08T21:31:55.203Z,1736371915.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 419.700012 m, bearing: 209.835548 deg, lat: 36.899814 deg, lon: -122.115336 deg, deltaT: 59.502179 s, deltaX: 38.800018 m, approachRate: 0.652077 m/s, posRepo size: 4 2025-01-08T21:31:55.204Z,1736371915.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:31:55.206Z,1736371915.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 293.865692 m, bearing: 183.880647 deg, approach rate: 0.000000 m/s, LOS rate: 0.122291 deg/s, cmd heading: 142.703238 deg, new cmd heading: 142.882603 deg. 2025-01-08T21:31:55.212Z,1736371915.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.493772 target range: 419.700012 and range: 419.70 m. 2025-01-08T21:31:55.326Z,1736371915.326 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:55.544Z,1736371915.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:55.552Z,1736371915.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:55.554Z,1736371915.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:31:55.557Z,1736371915.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 293.678772 m, bearing: 183.924683 deg, approach rate: -0.498460 m/s, LOS rate: 0.117506 deg/s, cmd heading: 142.882599 deg, new cmd heading: 143.014791 deg. 2025-01-08T21:31:55.558Z,1736371915.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.496079 target range: 419.700012 and range: 419.70 m. 2025-01-08T21:31:55.576Z,1736371915.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:55.577Z,1736371915.577 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:55.577Z,1736371915.577 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:55.577Z,1736371915.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:55.828Z,1736371915.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:55.828Z,1736371915.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992351 2025-01-08T21:31:56.010Z,1736371916.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:56.020Z,1736371916.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:31:56.022Z,1736371916.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 293.444641 m, bearing: 183.976787 deg, approach rate: -0.503186 m/s, LOS rate: 0.112071 deg/s, cmd heading: 143.014790 deg, new cmd heading: 143.171228 deg. 2025-01-08T21:31:56.024Z,1736371916.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.498809 target range: 419.700012 and range: 419.70 m. 2025-01-08T21:31:56.081Z,1736371916.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:56.082Z,1736371916.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246095 2025-01-08T21:31:56.332Z,1736371916.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:56.332Z,1736371916.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496230 2025-01-08T21:31:56.350Z,1736371916.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:56.359Z,1736371916.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:31:56.362Z,1736371916.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 293.273712 m, bearing: 184.014871 deg, approach rate: -0.504098 m/s, LOS rate: 0.112380 deg/s, cmd heading: 143.171229 deg, new cmd heading: 143.285546 deg. 2025-01-08T21:31:56.384Z,1736371916.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500805 target range: 419.700012 and range: 419.70 m. 2025-01-08T21:31:56.584Z,1736371916.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:56.584Z,1736371916.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748410 2025-01-08T21:31:56.612Z,1736371916.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:31:56.773Z,1736371916.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:56.791Z,1736371916.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:31:56.793Z,1736371916.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 293.061340 m, bearing: 184.062291 deg, approach rate: -0.491520 m/s, LOS rate: 0.109829 deg/s, cmd heading: 143.285553 deg, new cmd heading: 143.427914 deg. 2025-01-08T21:31:56.794Z,1736371916.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503289 target range: 419.700012 and range: 419.70 m. 2025-01-08T21:31:56.837Z,1736371916.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:56.838Z,1736371916.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002003 2025-01-08T21:31:57.088Z,1736371917.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:57.088Z,1736371917.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252260 2025-01-08T21:31:57.186Z,1736371917.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:57.196Z,1736371917.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:31:57.219Z,1736371917.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 292.850220 m, bearing: 184.105103 deg, approach rate: -0.521507 m/s, LOS rate: 0.105830 deg/s, cmd heading: 143.427921 deg, new cmd heading: 143.556449 deg. 2025-01-08T21:31:57.220Z,1736371917.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505533 target range: 419.700012 and range: 419.70 m. 2025-01-08T21:31:57.340Z,1736371917.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:57.341Z,1736371917.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505072 2025-01-08T21:31:57.560Z,1736371917.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:57.568Z,1736371917.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:57.570Z,1736371917.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:31:57.572Z,1736371917.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 292.659363 m, bearing: 184.143831 deg, approach rate: -0.509953 m/s, LOS rate: 0.103547 deg/s, cmd heading: 143.556452 deg, new cmd heading: 143.672713 deg. 2025-01-08T21:31:57.573Z,1736371917.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.507562 target range: 419.700012 and range: 419.70 m. 2025-01-08T21:31:57.592Z,1736371917.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:57.593Z,1736371917.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756536 2025-01-08T21:31:57.616Z,1736371917.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:31:57.844Z,1736371917.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:57.844Z,1736371917.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008364 2025-01-08T21:31:58.036Z,1736371918.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:58.045Z,1736371918.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:31:58.049Z,1736371918.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 292.415649 m, bearing: 184.189410 deg, approach rate: -0.512650 m/s, LOS rate: 0.095956 deg/s, cmd heading: 143.672715 deg, new cmd heading: 143.809566 deg. 2025-01-08T21:31:58.050Z,1736371918.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509950 target range: 419.700012 and range: 419.70 m. 2025-01-08T21:31:58.097Z,1736371918.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:58.098Z,1736371918.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262358 2025-01-08T21:31:58.348Z,1736371918.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:58.349Z,1736371918.349 [DAT](INFO): DAT read: Rx Time:21:31:56.9943 2025-01-08T21:31:58.349Z,1736371918.349 [DAT](INFO): Rx dataTimestamp_ set to:1736371918.348758 2025-01-08T21:31:58.350Z,1736371918.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513549 2025-01-08T21:31:58.436Z,1736371918.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:58.454Z,1736371918.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:31:58.460Z,1736371918.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 292.210327 m, bearing: 184.227775 deg, approach rate: -0.502496 m/s, LOS rate: 0.093957 deg/s, cmd heading: 143.809565 deg, new cmd heading: 143.924738 deg. 2025-01-08T21:31:58.461Z,1736371918.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511961 target range: 419.700012 and range: 419.70 m. 2025-01-08T21:31:58.600Z,1736371918.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:58.600Z,1736371918.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764394 2025-01-08T21:31:58.779Z,1736371918.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:58.789Z,1736371918.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:31:58.804Z,1736371918.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 292.034729 m, bearing: 184.260626 deg, approach rate: -0.524224 m/s, LOS rate: 0.098131 deg/s, cmd heading: 143.924735 deg, new cmd heading: 144.023348 deg. 2025-01-08T21:31:58.805Z,1736371918.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513682 target range: 419.700012 and range: 419.70 m. 2025-01-08T21:31:58.852Z,1736371918.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:58.854Z,1736371918.854 [DAT](INFO): DAT read: Range 10 to 50 : 422.4 m (Round-trip 563.3 ms) speed -0.7 m/s 2025-01-08T21:31:58.855Z,1736371918.855 [DAT](INFO): DAT read: user:1846> 2025-01-08T21:31:58.856Z,1736371918.856 [DAT](INFO): DAT read: Tx time:21:31:58.0768 2025-01-08T21:31:58.856Z,1736371918.856 [DAT](INFO): Ping request sent. 2025-01-08T21:31:58.856Z,1736371918.856 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:31:58.856Z,1736371918.856 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:31:58.856Z,1736371918.856 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:58.857Z,1736371918.857 [DAT](INFO): publishing transmit ping time 2025-01-08T21:31:59.104Z,1736371919.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:59.106Z,1736371919.106 [DAT](INFO): DAT read: TxSync time:21:31:58.0760 2025-01-08T21:31:59.212Z,1736371919.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:59.222Z,1736371919.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 422.399994 m, deltaT: 4.030334 s, deltaX: 2.699982 m, approachRate: 0.669915 m/s, rangeRepo size: 4 2025-01-08T21:31:59.223Z,1736371919.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:31:59.226Z,1736371919.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 291.816132 m, bearing: 184.299428 deg, approach rate: -0.504779 m/s, LOS rate: 0.089667 deg/s, cmd heading: 144.023350 deg, new cmd heading: 144.139842 deg. 2025-01-08T21:31:59.227Z,1736371919.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515715 target range: 419.700012 and range: 422.40 m. 2025-01-08T21:31:59.356Z,1736371919.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:59.584Z,1736371919.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:31:59.591Z,1736371919.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:31:59.594Z,1736371919.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:31:59.598Z,1736371919.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 291.628113 m, bearing: 184.332699 deg, approach rate: -0.504744 m/s, LOS rate: 0.089377 deg/s, cmd heading: 144.139845 deg, new cmd heading: 144.239725 deg. 2025-01-08T21:31:59.599Z,1736371919.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517458 target range: 419.700012 and range: 422.40 m. 2025-01-08T21:31:59.608Z,1736371919.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:59.608Z,1736371919.608 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:31:59.608Z,1736371919.608 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:31:59.609Z,1736371919.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:31:59.860Z,1736371919.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:31:59.860Z,1736371919.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004457 2025-01-08T21:32:00.074Z,1736371920.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:00.095Z,1736371920.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:32:00.099Z,1736371920.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 291.371796 m, bearing: 184.374308 deg, approach rate: -0.515805 m/s, LOS rate: 0.083806 deg/s, cmd heading: 144.239730 deg, new cmd heading: 144.364665 deg. 2025-01-08T21:32:00.108Z,1736371920.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519639 target range: 419.700012 and range: 422.40 m. 2025-01-08T21:32:00.112Z,1736371920.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:00.112Z,1736371920.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256538 2025-01-08T21:32:00.364Z,1736371920.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:00.365Z,1736371920.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508786 2025-01-08T21:32:00.402Z,1736371920.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:00.410Z,1736371920.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:32:00.415Z,1736371920.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 291.199615 m, bearing: 184.402131 deg, approach rate: -0.539232 m/s, LOS rate: 0.087186 deg/s, cmd heading: 144.364668 deg, new cmd heading: 144.448185 deg. 2025-01-08T21:32:00.416Z,1736371920.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.521096 target range: 419.700012 and range: 422.40 m. 2025-01-08T21:32:00.617Z,1736371920.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:00.618Z,1736371920.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761858 2025-01-08T21:32:00.795Z,1736371920.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:00.803Z,1736371920.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:32:00.806Z,1736371920.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 290.993622 m, bearing: 184.435513 deg, approach rate: -0.524847 m/s, LOS rate: 0.085114 deg/s, cmd heading: 144.448187 deg, new cmd heading: 144.548405 deg. 2025-01-08T21:32:00.808Z,1736371920.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.522846 target range: 419.700012 and range: 422.40 m. 2025-01-08T21:32:00.868Z,1736371920.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:00.869Z,1736371920.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013350 2025-01-08T21:32:01.120Z,1736371921.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:01.120Z,1736371921.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264413 2025-01-08T21:32:01.225Z,1736371921.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:01.236Z,1736371921.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:32:01.238Z,1736371921.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 290.772186 m, bearing: 184.472504 deg, approach rate: -0.512030 m/s, LOS rate: 0.085601 deg/s, cmd heading: 144.548400 deg, new cmd heading: 144.659458 deg. 2025-01-08T21:32:01.240Z,1736371921.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.524784 target range: 419.700012 and range: 422.40 m. 2025-01-08T21:32:01.373Z,1736371921.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:01.374Z,1736371921.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517914 2025-01-08T21:32:01.610Z,1736371921.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:01.618Z,1736371921.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:01.621Z,1736371921.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:32:01.624Z,1736371921.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:01.625Z,1736371921.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768548 2025-01-08T21:32:01.625Z,1736371921.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 290.574524 m, bearing: 184.505582 deg, approach rate: -0.513254 m/s, LOS rate: 0.085950 deg/s, cmd heading: 144.659459 deg, new cmd heading: 144.758761 deg. 2025-01-08T21:32:01.626Z,1736371921.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.526517 target range: 419.700012 and range: 422.40 m. 2025-01-08T21:32:01.876Z,1736371921.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:01.876Z,1736371921.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020409 2025-01-08T21:32:02.059Z,1736371922.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:02.084Z,1736371922.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:32:02.087Z,1736371922.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 290.343811 m, bearing: 184.544172 deg, approach rate: -0.497777 m/s, LOS rate: 0.083325 deg/s, cmd heading: 144.758756 deg, new cmd heading: 144.874616 deg. 2025-01-08T21:32:02.094Z,1736371922.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528539 target range: 419.700012 and range: 422.40 m. 2025-01-08T21:32:02.128Z,1736371922.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:02.129Z,1736371922.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272628 2025-01-08T21:32:02.380Z,1736371922.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:02.381Z,1736371922.381 [DAT](INFO): DAT read: Rx Time:21:32:01.0475 2025-01-08T21:32:02.382Z,1736371922.382 [DAT](INFO): Rx dataTimestamp_ set to:1736371922.381379 2025-01-08T21:32:02.382Z,1736371922.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526241 2025-01-08T21:32:02.459Z,1736371922.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:02.468Z,1736371922.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:32:02.472Z,1736371922.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 290.139618 m, bearing: 184.579352 deg, approach rate: -0.531306 m/s, LOS rate: 0.091603 deg/s, cmd heading: 144.874610 deg, new cmd heading: 144.980225 deg. 2025-01-08T21:32:02.475Z,1736371922.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530382 target range: 419.700012 and range: 422.40 m. 2025-01-08T21:32:02.632Z,1736371922.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:02.633Z,1736371922.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776646 2025-01-08T21:32:02.812Z,1736371922.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:02.830Z,1736371922.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.70 m. 2025-01-08T21:32:02.833Z,1736371922.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.700012 m, nav range: 289.959351 m, bearing: 184.610359 deg, approach rate: -0.497826 m/s, LOS rate: 0.085682 deg/s, cmd heading: 144.980232 deg, new cmd heading: 145.073311 deg. 2025-01-08T21:32:02.834Z,1736371922.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.532007 target range: 419.700012 and range: 422.40 m. 2025-01-08T21:32:02.885Z,1736371922.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:02.897Z,1736371922.897 [DAT](INFO): DAT read: 21:32:01.0475 LVL= 26816, 25521, 30450, 32755, AGC= 70, IDX= 450, 0.01, 1.124, 2.774, 0.403, 0.938, PHS= 0.274, 1.883,-0.538, RAW= 349.2, -15.0, CAL= 350.6, -20.4, ROT= 159.4, 20.4 2025-01-08T21:32:02.898Z,1736371922.898 [DAT](INFO): got valid direction response: 21:32:01.0475 LVL= 26816, 25521, 30450, 32755, AGC= 70, IDX= 450, 0.01, 1.124, 2.774, 0.403, 0.938, PHS= 0.274, 1.883,-0.538, RAW= 349.2, -15.0, CAL= 350.6, -20.4, ROT= 159.4, 20.4 2025-01-08T21:32:02.904Z,1736371922.904 [DAT](INFO): DAT read: Bearing 159.4, 20.4 (Local) 2025-01-08T21:32:02.905Z,1736371922.905 [DAT](INFO): Local bearing/azimuth received: Bearing 159.4, 20.4 (Local) 2025-01-08T21:32:02.923Z,1736371922.923 [DAT](INFO): DAT read: Range 10 to 50 : 424.9 m (Round-trip 566.6 ms) speed -0.7 m/s 2025-01-08T21:32:02.938Z,1736371922.938 [DAT](INFO): DAT read: user:1847> 2025-01-08T21:32:02.939Z,1736371922.939 [DAT](INFO): DAT read: Tx time:21:32:02.1768 2025-01-08T21:32:02.940Z,1736371922.940 [DAT](INFO): Ping request sent. 2025-01-08T21:32:02.940Z,1736371922.940 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:02.940Z,1736371922.940 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:32:02.942Z,1736371922.942 [DAT](INFO): direction in FSK: [0.379098,0.903504,-0.199914] 2025-01-08T21:32:02.942Z,1736371922.942 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:02.950Z,1736371922.950 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:02.966Z,1736371922.966 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:02.966Z,1736371922.966 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:03.136Z,1736371923.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:03.137Z,1736371923.137 [DAT](INFO): DAT read: TxSync time:21:32:02.1760 2025-01-08T21:32:03.261Z,1736371923.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:03.291Z,1736371923.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 424.899994 m, deltaT: 4.032759 s, deltaX: 2.500000 m, approachRate: 0.619923 m/s, rangeRepo size: 4 2025-01-08T21:32:03.294Z,1736371923.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 424.899994 m, bearing: 212.131177 deg, lat: 36.899489 deg, lon: -122.115851 deg, deltaT: 8.063093 s, deltaX: 5.199982 m, approachRate: 0.644912 m/s, posRepo size: 4 2025-01-08T21:32:03.294Z,1736371923.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:03.302Z,1736371923.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 332.200623 m, bearing: 192.036371 deg, approach rate: 0.000000 m/s, LOS rate: 0.085682 deg/s, cmd heading: 145.073314 deg, new cmd heading: 145.190527 deg. 2025-01-08T21:32:03.302Z,1736371923.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534053 target range: 424.899994 and range: 424.90 m. 2025-01-08T21:32:03.388Z,1736371923.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:03.640Z,1736371923.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:03.648Z,1736371923.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:03.685Z,1736371923.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:03.687Z,1736371923.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:03.693Z,1736371923.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 332.028320 m, bearing: 192.071558 deg, approach rate: -0.430565 m/s, LOS rate: 0.087974 deg/s, cmd heading: 145.190533 deg, new cmd heading: 145.296148 deg. 2025-01-08T21:32:03.694Z,1736371923.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535896 target range: 424.899994 and range: 424.90 m. 2025-01-08T21:32:03.894Z,1736371923.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:03.895Z,1736371923.895 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:32:03.896Z,1736371923.896 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:32:03.896Z,1736371923.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:04.094Z,1736371924.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:04.103Z,1736371924.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:04.106Z,1736371924.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 331.828400 m, bearing: 192.112306 deg, approach rate: -0.479822 m/s, LOS rate: 0.097856 deg/s, cmd heading: 145.296142 deg, new cmd heading: 145.418459 deg. 2025-01-08T21:32:04.107Z,1736371924.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538031 target range: 424.899994 and range: 424.90 m. 2025-01-08T21:32:04.144Z,1736371924.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:04.145Z,1736371924.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.204873 2025-01-08T21:32:04.396Z,1736371924.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:04.397Z,1736371924.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.456727 2025-01-08T21:32:04.473Z,1736371924.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:04.499Z,1736371924.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:04.512Z,1736371924.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 331.666168 m, bearing: 192.148183 deg, approach rate: -0.410414 m/s, LOS rate: 0.090807 deg/s, cmd heading: 145.418457 deg, new cmd heading: 145.526141 deg. 2025-01-08T21:32:04.513Z,1736371924.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539910 target range: 424.899994 and range: 424.90 m. 2025-01-08T21:32:04.649Z,1736371924.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:04.650Z,1736371924.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709418 2025-01-08T21:32:04.838Z,1736371924.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:04.846Z,1736371924.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:04.850Z,1736371924.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 331.510529 m, bearing: 192.182787 deg, approach rate: -0.447986 m/s, LOS rate: 0.099649 deg/s, cmd heading: 145.526141 deg, new cmd heading: 145.630002 deg. 2025-01-08T21:32:04.853Z,1736371924.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541723 target range: 424.899994 and range: 424.90 m. 2025-01-08T21:32:04.900Z,1736371924.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:04.900Z,1736371924.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960309 2025-01-08T21:32:05.152Z,1736371925.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:05.152Z,1736371925.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212231 2025-01-08T21:32:05.272Z,1736371925.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:05.282Z,1736371925.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:05.285Z,1736371925.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 331.330780 m, bearing: 192.223215 deg, approach rate: -0.412728 m/s, LOS rate: 0.092878 deg/s, cmd heading: 145.630001 deg, new cmd heading: 145.751350 deg. 2025-01-08T21:32:05.286Z,1736371925.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543841 target range: 424.899994 and range: 424.90 m. 2025-01-08T21:32:05.404Z,1736371925.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:05.405Z,1736371925.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464320 2025-01-08T21:32:05.649Z,1736371925.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:05.656Z,1736371925.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:05.657Z,1736371925.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716820 2025-01-08T21:32:05.668Z,1736371925.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:05.673Z,1736371925.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 331.161255 m, bearing: 192.261320 deg, approach rate: -0.439967 m/s, LOS rate: 0.098945 deg/s, cmd heading: 145.751346 deg, new cmd heading: 145.865720 deg. 2025-01-08T21:32:05.674Z,1736371925.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545837 target range: 424.899994 and range: 424.90 m. 2025-01-08T21:32:05.908Z,1736371925.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:05.908Z,1736371925.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968302 2025-01-08T21:32:06.055Z,1736371926.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:06.119Z,1736371926.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:06.121Z,1736371926.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:06.124Z,1736371926.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 330.985779 m, bearing: 192.300500 deg, approach rate: -0.386071 m/s, LOS rate: 0.086246 deg/s, cmd heading: 145.865725 deg, new cmd heading: 145.983326 deg. 2025-01-08T21:32:06.125Z,1736371926.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.547890 target range: 424.899994 and range: 424.90 m. 2025-01-08T21:32:06.163Z,1736371926.163 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:06.164Z,1736371926.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223945 2025-01-08T21:32:06.416Z,1736371926.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:06.417Z,1736371926.417 [DAT](INFO): DAT read: Rx Time:21:32:05.1519 2025-01-08T21:32:06.417Z,1736371926.417 [DAT](INFO): Rx dataTimestamp_ set to:1736371926.416686 2025-01-08T21:32:06.417Z,1736371926.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477315 2025-01-08T21:32:06.488Z,1736371926.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:06.498Z,1736371926.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:06.501Z,1736371926.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 330.807098 m, bearing: 192.342313 deg, approach rate: -0.474718 m/s, LOS rate: 0.111149 deg/s, cmd heading: 145.983327 deg, new cmd heading: 146.108834 deg. 2025-01-08T21:32:06.502Z,1736371926.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.550080 target range: 424.899994 and range: 424.90 m. 2025-01-08T21:32:06.669Z,1736371926.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:06.670Z,1736371926.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.730086 2025-01-08T21:32:06.869Z,1736371926.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:06.878Z,1736371926.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:06.881Z,1736371926.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 330.649628 m, bearing: 192.378912 deg, approach rate: -0.413829 m/s, LOS rate: 0.096227 deg/s, cmd heading: 146.108839 deg, new cmd heading: 146.218688 deg. 2025-01-08T21:32:06.884Z,1736371926.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551997 target range: 424.899994 and range: 424.90 m. 2025-01-08T21:32:06.920Z,1736371926.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:06.923Z,1736371926.923 [DAT](INFO): DAT read: Range 10 to 50 : 428.1 m (Round-trip 570.9 ms) speed -0.4 m/s 2025-01-08T21:32:06.924Z,1736371926.924 [DAT](INFO): DAT read: user:1848> 2025-01-08T21:32:06.925Z,1736371926.925 [DAT](INFO): DAT read: Tx time:21:32:06.2268 2025-01-08T21:32:06.926Z,1736371926.926 [DAT](INFO): Ping request sent. 2025-01-08T21:32:06.926Z,1736371926.926 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:06.927Z,1736371926.927 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:32:06.927Z,1736371926.927 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:06.929Z,1736371926.929 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:07.172Z,1736371927.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:07.173Z,1736371927.173 [DAT](INFO): DAT read: TxSync time:21:32:06.2260 2025-01-08T21:32:07.284Z,1736371927.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:07.293Z,1736371927.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 428.100006 m, deltaT: 4.035374 s, deltaX: 3.200012 m, approachRate: 0.792990 m/s, rangeRepo size: 4 2025-01-08T21:32:07.294Z,1736371927.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:07.317Z,1736371927.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 330.478973 m, bearing: 192.418865 deg, approach rate: -0.411952 m/s, LOS rate: 0.096494 deg/s, cmd heading: 146.218682 deg, new cmd heading: 146.338602 deg. 2025-01-08T21:32:07.318Z,1736371927.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554090 target range: 424.899994 and range: 428.10 m. 2025-01-08T21:32:07.425Z,1736371927.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:07.673Z,1736371927.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:07.676Z,1736371927.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:07.686Z,1736371927.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:07.689Z,1736371927.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 330.316833 m, bearing: 192.456435 deg, approach rate: -0.411525 m/s, LOS rate: 0.095404 deg/s, cmd heading: 146.338606 deg, new cmd heading: 146.451373 deg. 2025-01-08T21:32:07.690Z,1736371927.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556059 target range: 424.899994 and range: 428.10 m. 2025-01-08T21:32:07.928Z,1736371927.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:08.108Z,1736371928.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:08.151Z,1736371928.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:08.153Z,1736371928.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:08.160Z,1736371928.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 330.136902 m, bearing: 192.498204 deg, approach rate: -0.385311 m/s, LOS rate: 0.089494 deg/s, cmd heading: 146.451373 deg, new cmd heading: 146.576748 deg. 2025-01-08T21:32:08.161Z,1736371928.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558247 target range: 424.899994 and range: 428.10 m. 2025-01-08T21:32:08.181Z,1736371928.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:08.181Z,1736371928.181 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:32:08.181Z,1736371928.181 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:32:08.181Z,1736371928.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:08.432Z,1736371928.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:08.433Z,1736371928.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506642 2025-01-08T21:32:08.509Z,1736371928.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:08.518Z,1736371928.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:08.537Z,1736371928.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 329.964966 m, bearing: 192.537221 deg, approach rate: -0.471723 m/s, LOS rate: 0.107102 deg/s, cmd heading: 146.576748 deg, new cmd heading: 146.693859 deg. 2025-01-08T21:32:08.538Z,1736371928.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560291 target range: 424.899994 and range: 428.10 m. 2025-01-08T21:32:08.684Z,1736371928.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:08.685Z,1736371928.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758645 2025-01-08T21:32:08.878Z,1736371928.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:08.907Z,1736371928.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:08.913Z,1736371928.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 329.807007 m, bearing: 192.573197 deg, approach rate: -0.406504 m/s, LOS rate: 0.092629 deg/s, cmd heading: 146.693858 deg, new cmd heading: 146.801838 deg. 2025-01-08T21:32:08.914Z,1736371928.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562176 target range: 424.899994 and range: 428.10 m. 2025-01-08T21:32:08.936Z,1736371928.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:08.937Z,1736371928.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010696 2025-01-08T21:32:09.189Z,1736371929.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:09.189Z,1736371929.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263521 2025-01-08T21:32:09.307Z,1736371929.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:09.317Z,1736371929.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:09.319Z,1736371929.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 329.619873 m, bearing: 192.614373 deg, approach rate: -0.456263 m/s, LOS rate: 0.100450 deg/s, cmd heading: 146.801843 deg, new cmd heading: 146.925440 deg. 2025-01-08T21:32:09.320Z,1736371929.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564333 target range: 424.899994 and range: 428.10 m. 2025-01-08T21:32:09.440Z,1736371929.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:09.440Z,1736371929.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514625 2025-01-08T21:32:09.689Z,1736371929.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:09.692Z,1736371929.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:09.693Z,1736371929.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766673 2025-01-08T21:32:09.718Z,1736371929.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:09.725Z,1736371929.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 329.452362 m, bearing: 192.651032 deg, approach rate: -0.417527 m/s, LOS rate: 0.091421 deg/s, cmd heading: 146.925442 deg, new cmd heading: 147.035475 deg. 2025-01-08T21:32:09.726Z,1736371929.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566253 target range: 424.899994 and range: 428.10 m. 2025-01-08T21:32:09.946Z,1736371929.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:09.948Z,1736371929.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021653 2025-01-08T21:32:10.101Z,1736371930.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:10.154Z,1736371930.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:10.176Z,1736371930.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 329.272217 m, bearing: 192.690529 deg, approach rate: -0.414255 m/s, LOS rate: 0.090875 deg/s, cmd heading: 147.035477 deg, new cmd heading: 147.154031 deg. 2025-01-08T21:32:10.177Z,1736371930.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568322 target range: 424.899994 and range: 428.10 m. 2025-01-08T21:32:10.196Z,1736371930.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:10.197Z,1736371930.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271378 2025-01-08T21:32:10.448Z,1736371930.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:10.448Z,1736371930.448 [DAT](INFO): DAT read: Rx Time:21:32:09.2043 2025-01-08T21:32:10.449Z,1736371930.449 [DAT](INFO): Rx dataTimestamp_ set to:1736371930.448664 2025-01-08T21:32:10.449Z,1736371930.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523607 2025-01-08T21:32:10.528Z,1736371930.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:10.536Z,1736371930.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:10.538Z,1736371930.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:10.541Z,1736371930.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 329.079407 m, bearing: 192.730906 deg, approach rate: -0.499944 m/s, LOS rate: 0.104758 deg/s, cmd heading: 147.154035 deg, new cmd heading: 147.275238 deg. 2025-01-08T21:32:10.542Z,1736371930.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570438 target range: 424.899994 and range: 428.10 m. 2025-01-08T21:32:10.700Z,1736371930.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:10.701Z,1736371930.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774658 2025-01-08T21:32:10.928Z,1736371930.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:10.937Z,1736371930.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.90 m. 2025-01-08T21:32:10.940Z,1736371930.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 424.899994 m, nav range: 328.898438 m, bearing: 192.768598 deg, approach rate: -0.453645 m/s, LOS rate: 0.094535 deg/s, cmd heading: 147.275244 deg, new cmd heading: 147.388380 deg. 2025-01-08T21:32:10.941Z,1736371930.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572412 target range: 424.899994 and range: 428.10 m. 2025-01-08T21:32:10.953Z,1736371930.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:10.969Z,1736371930.969 [DAT](INFO): DAT read: 21:32:09.2043 LVL= 23104, 31441, 32306, 32755, AGC= 70, IDX= 442, 0.41, 2.845,-1.823, 2.048, 2.708, PHS= 0.224, 1.799,-0.663, RAW= 350.9, -12.5, CAL= 351.9, -17.2, ROT= 158.1, 17.2 2025-01-08T21:32:10.970Z,1736371930.970 [DAT](INFO): got valid direction response: 21:32:09.2043 LVL= 23104, 31441, 32306, 32755, AGC= 70, IDX= 442, 0.41, 2.845,-1.823, 2.048, 2.708, PHS= 0.224, 1.799,-0.663, RAW= 350.9, -12.5, CAL= 351.9, -17.2, ROT= 158.1, 17.2 2025-01-08T21:32:10.979Z,1736371930.979 [DAT](INFO): DAT read: Bearing 158.1, 17.2 (Local) 2025-01-08T21:32:10.980Z,1736371930.980 [DAT](INFO): Local bearing/azimuth received: Bearing 158.1, 17.2 (Local) 2025-01-08T21:32:10.982Z,1736371930.982 [DAT](INFO): DAT read: Range 10 to 50 : 429.9 m (Round-trip 573.3 ms) speed -0.3 m/s 2025-01-08T21:32:10.991Z,1736371930.991 [DAT](INFO): DAT read: user:1849> 2025-01-08T21:32:10.992Z,1736371930.992 [DAT](INFO): DAT read: Tx time:21:32:10.3269 2025-01-08T21:32:10.992Z,1736371930.992 [DAT](INFO): Ping request sent. 2025-01-08T21:32:10.992Z,1736371930.992 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:10.993Z,1736371930.993 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:32:10.994Z,1736371930.994 [DAT](INFO): direction in FSK: [0.333751,0.925408,-0.179528] 2025-01-08T21:32:10.994Z,1736371930.994 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:10.994Z,1736371930.994 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:11.002Z,1736371931.002 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:11.003Z,1736371931.003 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:11.205Z,1736371931.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:11.206Z,1736371931.206 [DAT](INFO): DAT read: TxSync time:21:32:10.3261 2025-01-08T21:32:11.337Z,1736371931.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:11.373Z,1736371931.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 429.899994 m, deltaT: 4.033380 s, deltaX: 1.799988 m, approachRate: 0.446273 m/s, rangeRepo size: 4 2025-01-08T21:32:11.375Z,1736371931.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 429.899994 m, bearing: 217.726232 deg, lat: 36.899315 deg, lon: -122.117448 deg, deltaT: 8.068754 s, deltaX: 5.000000 m, approachRate: 0.619674 m/s, posRepo size: 4 2025-01-08T21:32:11.381Z,1736371931.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:11.385Z,1736371931.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 402.092987 m, bearing: 212.297898 deg, approach rate: 0.000000 m/s, LOS rate: 0.094535 deg/s, cmd heading: 147.388379 deg, new cmd heading: 147.510363 deg. 2025-01-08T21:32:11.386Z,1736371931.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.574542 target range: 429.899994 and range: 429.90 m. 2025-01-08T21:32:11.457Z,1736371931.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:11.703Z,1736371931.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:11.708Z,1736371931.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:11.714Z,1736371931.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:11.717Z,1736371931.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 401.997803 m, bearing: 212.332115 deg, approach rate: -0.275215 m/s, LOS rate: 0.098960 deg/s, cmd heading: 147.510366 deg, new cmd heading: 147.613044 deg. 2025-01-08T21:32:11.718Z,1736371931.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576334 target range: 429.899994 and range: 429.90 m. 2025-01-08T21:32:11.960Z,1736371931.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:12.116Z,1736371932.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:12.129Z,1736371932.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:12.132Z,1736371932.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 401.888947 m, bearing: 212.370548 deg, approach rate: -0.262139 m/s, LOS rate: 0.092576 deg/s, cmd heading: 147.613037 deg, new cmd heading: 147.728367 deg. 2025-01-08T21:32:12.133Z,1736371932.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.578346 target range: 429.899994 and range: 429.90 m. 2025-01-08T21:32:12.212Z,1736371932.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:12.464Z,1736371932.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:12.544Z,1736371932.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:12.552Z,1736371932.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:12.554Z,1736371932.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:12.557Z,1736371932.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 401.778168 m, bearing: 212.410738 deg, approach rate: -0.260517 m/s, LOS rate: 0.094540 deg/s, cmd heading: 147.728372 deg, new cmd heading: 147.848974 deg. 2025-01-08T21:32:12.558Z,1736371932.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.580451 target range: 429.899994 and range: 429.90 m. 2025-01-08T21:32:12.716Z,1736371932.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:12.716Z,1736371932.716 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:32:12.716Z,1736371932.716 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:32:12.717Z,1736371932.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:12.924Z,1736371932.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:12.940Z,1736371932.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:12.944Z,1736371932.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 401.679688 m, bearing: 212.446367 deg, approach rate: -0.255735 m/s, LOS rate: 0.092543 deg/s, cmd heading: 147.848980 deg, new cmd heading: 147.955891 deg. 2025-01-08T21:32:12.945Z,1736371932.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.582317 target range: 429.899994 and range: 429.90 m. 2025-01-08T21:32:12.968Z,1736371932.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:12.968Z,1736371932.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975992 2025-01-08T21:32:13.221Z,1736371933.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:13.225Z,1736371933.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231722 2025-01-08T21:32:13.348Z,1736371933.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:13.356Z,1736371933.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:13.358Z,1736371933.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 401.564972 m, bearing: 212.486553 deg, approach rate: -0.275064 m/s, LOS rate: 0.096387 deg/s, cmd heading: 147.955886 deg, new cmd heading: 148.076480 deg. 2025-01-08T21:32:13.364Z,1736371933.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.584422 target range: 429.899994 and range: 429.90 m. 2025-01-08T21:32:13.473Z,1736371933.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:13.474Z,1736371933.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481294 2025-01-08T21:32:13.724Z,1736371933.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:13.724Z,1736371933.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731748 2025-01-08T21:32:13.752Z,1736371933.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:13.772Z,1736371933.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:13.777Z,1736371933.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 401.454803 m, bearing: 212.525239 deg, approach rate: -0.265797 m/s, LOS rate: 0.093360 deg/s, cmd heading: 148.076479 deg, new cmd heading: 148.192568 deg. 2025-01-08T21:32:13.779Z,1736371933.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586448 target range: 429.899994 and range: 429.90 m. 2025-01-08T21:32:13.976Z,1736371933.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:13.976Z,1736371933.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983914 2025-01-08T21:32:14.124Z,1736371934.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:14.134Z,1736371934.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:14.136Z,1736371934.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 401.353058 m, bearing: 212.560654 deg, approach rate: -0.280075 m/s, LOS rate: 0.097513 deg/s, cmd heading: 148.192565 deg, new cmd heading: 148.298839 deg. 2025-01-08T21:32:14.137Z,1736371934.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.588303 target range: 429.899994 and range: 429.90 m. 2025-01-08T21:32:14.232Z,1736371934.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:14.234Z,1736371934.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241477 2025-01-08T21:32:14.480Z,1736371934.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:14.481Z,1736371934.481 [DAT](INFO): DAT read: Rx Time:21:32:13.2939 2025-01-08T21:32:14.482Z,1736371934.482 [DAT](INFO): Rx dataTimestamp_ set to:1736371934.481373 2025-01-08T21:32:14.482Z,1736371934.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489726 2025-01-08T21:32:14.564Z,1736371934.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:14.570Z,1736371934.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:14.572Z,1736371934.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:14.575Z,1736371934.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 401.238159 m, bearing: 212.603039 deg, approach rate: -0.261881 m/s, LOS rate: 0.096633 deg/s, cmd heading: 148.298843 deg, new cmd heading: 148.426034 deg. 2025-01-08T21:32:14.576Z,1736371934.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.590523 target range: 429.899994 and range: 429.90 m. 2025-01-08T21:32:14.732Z,1736371934.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:14.733Z,1736371934.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740106 2025-01-08T21:32:14.943Z,1736371934.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:14.985Z,1736371934.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:14.987Z,1736371934.987 [DAT](INFO): DAT read: Range 10 to 50 : 422.1 m (Round-trip 562.8 ms) speed -0.6 m/s 2025-01-08T21:32:14.988Z,1736371934.988 [DAT](INFO): DAT read: user:1850> 2025-01-08T21:32:14.989Z,1736371934.989 [DAT](INFO): DAT read: Tx time:21:32:14.3769 2025-01-08T21:32:14.989Z,1736371934.989 [DAT](INFO): Ping request sent. 2025-01-08T21:32:14.989Z,1736371934.989 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:14.989Z,1736371934.989 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:32:14.989Z,1736371934.989 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:14.990Z,1736371934.990 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:14.994Z,1736371934.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 422.100006 m, deltaT: 4.031118 s, deltaX: -7.799988 m, approachRate: -1.934944 m/s, rangeRepo size: 4 2025-01-08T21:32:14.995Z,1736371934.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:15.023Z,1736371935.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 401.138611 m, bearing: 212.639715 deg, approach rate: -0.236496 m/s, LOS rate: 0.087151 deg/s, cmd heading: 148.426035 deg, new cmd heading: 148.536088 deg. 2025-01-08T21:32:15.049Z,1736371935.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592444 target range: 429.899994 and range: 422.10 m. 2025-01-08T21:32:15.238Z,1736371935.238 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:15.240Z,1736371935.240 [DAT](INFO): DAT read: TxSync time:21:32:14.3761 2025-01-08T21:32:15.381Z,1736371935.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:15.415Z,1736371935.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:15.422Z,1736371935.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 401.027771 m, bearing: 212.682453 deg, approach rate: -0.263078 m/s, LOS rate: 0.101467 deg/s, cmd heading: 148.536083 deg, new cmd heading: 148.664333 deg. 2025-01-08T21:32:15.428Z,1736371935.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.594682 target range: 429.899994 and range: 422.10 m. 2025-01-08T21:32:15.488Z,1736371935.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:15.740Z,1736371935.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:15.768Z,1736371935.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:15.777Z,1736371935.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:15.780Z,1736371935.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 400.929688 m, bearing: 212.720192 deg, approach rate: -0.271063 m/s, LOS rate: 0.104322 deg/s, cmd heading: 148.664327 deg, new cmd heading: 148.777572 deg. 2025-01-08T21:32:15.781Z,1736371935.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.596658 target range: 429.899994 and range: 422.10 m. 2025-01-08T21:32:15.786Z,1736371935.786 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T21:22:15.5Z 2025-01-08T21:32:15.786Z,1736371935.786 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T21:32:15.786Z,1736371935.786 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:32:15.786Z,1736371935.786 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T21:32:15.786Z,1736371935.786 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:32:15.786Z,1736371935.786 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T21:32:15.992Z,1736371935.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:16.160Z,1736371936.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:16.168Z,1736371936.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:16.187Z,1736371936.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 400.830353 m, bearing: 212.758315 deg, approach rate: -0.253448 m/s, LOS rate: 0.097293 deg/s, cmd heading: 148.777571 deg, new cmd heading: 148.891968 deg. 2025-01-08T21:32:16.188Z,1736371936.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598655 target range: 429.899994 and range: 422.10 m. 2025-01-08T21:32:16.205Z,1736371936.205 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T21:32:16.205Z,1736371936.205 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T21:32:16.206Z,1736371936.206 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T21:32:16.206Z,1736371936.206 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:32:16.206Z,1736371936.206 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T21:32:16.247Z,1736371936.247 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:16.496Z,1736371936.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:16.748Z,1736371936.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:16.858Z,1736371936.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:16.865Z,1736371936.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:16.868Z,1736371936.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:16.870Z,1736371936.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 400.654846 m, bearing: 212.824667 deg, approach rate: -0.251077 m/s, LOS rate: 0.094963 deg/s, cmd heading: 148.891963 deg, new cmd heading: 149.091105 deg. 2025-01-08T21:32:16.872Z,1736371936.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.602131 target range: 429.899994 and range: 422.10 m. 2025-01-08T21:32:17.001Z,1736371937.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:17.002Z,1736371937.002 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:32:17.003Z,1736371937.003 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:32:17.003Z,1736371937.003 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:17.253Z,1736371937.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:17.256Z,1736371937.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266527 2025-01-08T21:32:17.316Z,1736371937.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:17.355Z,1736371937.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:17.358Z,1736371937.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 400.539276 m, bearing: 212.868149 deg, approach rate: -0.239031 m/s, LOS rate: 0.089958 deg/s, cmd heading: 149.091104 deg, new cmd heading: 149.221586 deg. 2025-01-08T21:32:17.359Z,1736371937.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.604408 target range: 429.899994 and range: 422.10 m. 2025-01-08T21:32:17.504Z,1736371937.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:17.505Z,1736371937.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516145 2025-01-08T21:32:17.724Z,1736371937.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:17.734Z,1736371937.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:17.737Z,1736371937.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 400.433685 m, bearing: 212.907876 deg, approach rate: -0.275867 m/s, LOS rate: 0.103818 deg/s, cmd heading: 149.221588 deg, new cmd heading: 149.340800 deg. 2025-01-08T21:32:17.738Z,1736371937.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606489 target range: 429.899994 and range: 422.10 m. 2025-01-08T21:32:17.756Z,1736371937.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:17.756Z,1736371937.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767255 2025-01-08T21:32:18.008Z,1736371938.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:18.008Z,1736371938.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019306 2025-01-08T21:32:18.101Z,1736371938.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:18.109Z,1736371938.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:18.112Z,1736371938.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 400.336334 m, bearing: 212.944518 deg, approach rate: -0.259417 m/s, LOS rate: 0.097666 deg/s, cmd heading: 149.340802 deg, new cmd heading: 149.450756 deg. 2025-01-08T21:32:18.113Z,1736371938.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608408 target range: 429.899994 and range: 422.10 m. 2025-01-08T21:32:18.261Z,1736371938.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:18.264Z,1736371938.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274034 2025-01-08T21:32:18.512Z,1736371938.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:18.513Z,1736371938.513 [DAT](INFO): DAT read: Rx Time:21:32:17.3611 2025-01-08T21:32:18.514Z,1736371938.514 [DAT](INFO): Rx dataTimestamp_ set to:1736371938.513128 2025-01-08T21:32:18.515Z,1736371938.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525608 2025-01-08T21:32:18.560Z,1736371938.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:18.577Z,1736371938.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:18.588Z,1736371938.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 400.216370 m, bearing: 212.987329 deg, approach rate: -0.256312 m/s, LOS rate: 0.091496 deg/s, cmd heading: 149.450755 deg, new cmd heading: 149.579226 deg. 2025-01-08T21:32:18.589Z,1736371938.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.610650 target range: 429.899994 and range: 422.10 m. 2025-01-08T21:32:18.764Z,1736371938.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:18.765Z,1736371938.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775987 2025-01-08T21:32:18.907Z,1736371938.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:18.915Z,1736371938.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:18.917Z,1736371938.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.90 m. 2025-01-08T21:32:18.920Z,1736371938.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 429.899994 m, nav range: 400.121826 m, bearing: 213.021149 deg, approach rate: -0.278065 m/s, LOS rate: 0.099492 deg/s, cmd heading: 149.579230 deg, new cmd heading: 149.680714 deg. 2025-01-08T21:32:18.921Z,1736371938.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.612421 target range: 429.899994 and range: 422.10 m. 2025-01-08T21:32:19.017Z,1736371939.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:19.020Z,1736371939.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030629 2025-01-08T21:32:19.270Z,1736371939.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:19.328Z,1736371939.328 [DAT](INFO): DAT read: 21:32:17.3611 LVL= 12608, 13905, 15506, 20371, AGC= 69, IDX= 96,-0.30,-0.521, 0.903,-1.416,-0.838, PHS= 0.405, 1.788,-0.582, RAW= 354.5, -15.4, CAL= 355.6, -21.4, ROT= 154.4, 21.4 2025-01-08T21:32:19.329Z,1736371939.329 [DAT](INFO): got valid direction response: 21:32:17.3611 LVL= 12608, 13905, 15506, 20371, AGC= 69, IDX= 96,-0.30,-0.521, 0.903,-1.416,-0.838, PHS= 0.405, 1.788,-0.582, RAW= 354.5, -15.4, CAL= 355.6, -21.4, ROT= 154.4, 21.4 2025-01-08T21:32:19.330Z,1736371939.330 [DAT](INFO): DAT read: Bearing 154.4, 21.4 (Local) 2025-01-08T21:32:19.331Z,1736371939.331 [DAT](INFO): Local bearing/azimuth received: Bearing 154.4, 21.4 (Local) 2025-01-08T21:32:19.345Z,1736371939.345 [DAT](INFO): DAT read: Range 10 to 50 : 435.0 m (Round-trip 580.0 ms) speed -0.6 m/s 2025-01-08T21:32:19.345Z,1736371939.345 [DAT](INFO): DAT read: user:1851> 2025-01-08T21:32:19.346Z,1736371939.346 [DAT](INFO): DAT read: Tx time:21:32:18.4769 2025-01-08T21:32:19.372Z,1736371939.372 [DAT](INFO): Ping request sent. 2025-01-08T21:32:19.372Z,1736371939.372 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:19.373Z,1736371939.373 [DAT](INFO): DAT read: TxSync time:21:32:18.4761 2025-01-08T21:32:19.374Z,1736371939.374 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:32:19.374Z,1736371939.374 [DAT](INFO): direction in FSK: [0.378645,0.918626,-0.112938] 2025-01-08T21:32:19.375Z,1736371939.375 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:19.387Z,1736371939.387 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:19.390Z,1736371939.390 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:19.390Z,1736371939.390 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:19.513Z,1736371939.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:19.520Z,1736371939.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:19.552Z,1736371939.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 435.000000 m, deltaT: 4.285837 s, deltaX: 12.899994 m, approachRate: 3.009912 m/s, rangeRepo size: 4 2025-01-08T21:32:19.554Z,1736371939.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 435.000000 m, bearing: 217.953028 deg, lat: 36.899246 deg, lon: -122.117609 deg, deltaT: 8.316955 s, deltaX: 5.100006 m, approachRate: 0.613206 m/s, posRepo size: 4 2025-01-08T21:32:19.559Z,1736371939.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:19.566Z,1736371939.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 414.358795 m, bearing: 214.161679 deg, approach rate: 0.000000 m/s, LOS rate: 0.099492 deg/s, cmd heading: 149.680713 deg, new cmd heading: 149.868845 deg. 2025-01-08T21:32:19.567Z,1736371939.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.615705 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:19.772Z,1736371939.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:19.849Z,1736371939.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:19.858Z,1736371939.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:19.861Z,1736371939.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 414.272949 m, bearing: 214.192362 deg, approach rate: -0.276685 m/s, LOS rate: 0.098911 deg/s, cmd heading: 149.868844 deg, new cmd heading: 149.960910 deg. 2025-01-08T21:32:19.862Z,1736371939.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.617312 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:20.024Z,1736371940.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:20.265Z,1736371940.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:20.278Z,1736371940.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:20.328Z,1736371940.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:20.335Z,1736371940.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 414.166992 m, bearing: 214.230174 deg, approach rate: -0.225289 m/s, LOS rate: 0.080420 deg/s, cmd heading: 149.960915 deg, new cmd heading: 150.074382 deg. 2025-01-08T21:32:20.336Z,1736371940.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.619292 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:20.532Z,1736371940.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:20.699Z,1736371940.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:20.708Z,1736371940.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:20.710Z,1736371940.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 414.053528 m, bearing: 214.268892 deg, approach rate: -0.299052 m/s, LOS rate: 0.102073 deg/s, cmd heading: 150.074378 deg, new cmd heading: 150.190561 deg. 2025-01-08T21:32:20.712Z,1736371940.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.621320 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:20.784Z,1736371940.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:21.036Z,1736371941.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:21.090Z,1736371941.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:21.102Z,1736371941.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:21.108Z,1736371941.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:21.111Z,1736371941.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 413.951599 m, bearing: 214.303807 deg, approach rate: -0.254236 m/s, LOS rate: 0.087109 deg/s, cmd heading: 150.190560 deg, new cmd heading: 150.295331 deg. 2025-01-08T21:32:21.118Z,1736371941.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623148 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:21.289Z,1736371941.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:21.291Z,1736371941.291 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:32:21.292Z,1736371941.292 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:32:21.292Z,1736371941.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:21.493Z,1736371941.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:21.503Z,1736371941.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:21.505Z,1736371941.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 413.836334 m, bearing: 214.337879 deg, approach rate: -0.292336 m/s, LOS rate: 0.086437 deg/s, cmd heading: 150.295335 deg, new cmd heading: 150.397579 deg. 2025-01-08T21:32:21.506Z,1736371941.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.624933 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:21.542Z,1736371941.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:21.543Z,1736371941.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.171102 2025-01-08T21:32:21.792Z,1736371941.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:21.792Z,1736371941.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.420008 2025-01-08T21:32:21.877Z,1736371941.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:21.886Z,1736371941.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:21.889Z,1736371941.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 413.726593 m, bearing: 214.370376 deg, approach rate: -0.286006 m/s, LOS rate: 0.084717 deg/s, cmd heading: 150.397583 deg, new cmd heading: 150.495101 deg. 2025-01-08T21:32:21.890Z,1736371941.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.626635 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:22.044Z,1736371942.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:22.044Z,1736371942.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.672026 2025-01-08T21:32:22.277Z,1736371942.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:22.294Z,1736371942.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:22.298Z,1736371942.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:22.309Z,1736371942.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.935950 2025-01-08T21:32:22.328Z,1736371942.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 413.612213 m, bearing: 214.404286 deg, approach rate: -0.283347 m/s, LOS rate: 0.084025 deg/s, cmd heading: 150.495104 deg, new cmd heading: 150.596860 deg. 2025-01-08T21:32:22.336Z,1736371942.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.628411 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:22.548Z,1736371942.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:22.549Z,1736371942.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.176217 2025-01-08T21:32:22.707Z,1736371942.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:22.717Z,1736371942.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:22.740Z,1736371942.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 413.490967 m, bearing: 214.439603 deg, approach rate: -0.283724 m/s, LOS rate: 0.082668 deg/s, cmd heading: 150.596860 deg, new cmd heading: 150.702842 deg. 2025-01-08T21:32:22.741Z,1736371942.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.630261 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:22.802Z,1736371942.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:22.804Z,1736371942.804 [DAT](INFO): DAT read: Rx Time:21:32:21.4650 2025-01-08T21:32:22.805Z,1736371942.805 [DAT](INFO): Rx dataTimestamp_ set to:1736371942.804330 2025-01-08T21:32:22.806Z,1736371942.806 [DAT](INFO): DAT read: $Low SNR acquisition 2025-01-08T21:32:22.807Z,1736371942.807 [DAT](INFO): Received low SNR in chirp 2025-01-08T21:32:22.820Z,1736371942.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.447464 2025-01-08T21:32:23.052Z,1736371943.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:23.052Z,1736371943.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.679974 2025-01-08T21:32:23.083Z,1736371943.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:23.109Z,1736371943.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:23.121Z,1736371943.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 413.384644 m, bearing: 214.470506 deg, approach rate: -0.284355 m/s, LOS rate: 0.082670 deg/s, cmd heading: 150.702837 deg, new cmd heading: 150.795571 deg. 2025-01-08T21:32:23.122Z,1736371943.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.631879 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:23.304Z,1736371943.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:23.305Z,1736371943.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.932162 2025-01-08T21:32:23.525Z,1736371943.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:23.553Z,1736371943.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:23.555Z,1736371943.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:23.556Z,1736371943.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:23.557Z,1736371943.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.184393 2025-01-08T21:32:23.562Z,1736371943.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 413.257996 m, bearing: 214.505982 deg, approach rate: -0.273124 m/s, LOS rate: 0.076530 deg/s, cmd heading: 150.795578 deg, new cmd heading: 150.902039 deg. 2025-01-08T21:32:23.563Z,1736371943.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.633737 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:23.808Z,1736371943.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:23.808Z,1736371943.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.435948 2025-01-08T21:32:23.890Z,1736371943.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:23.900Z,1736371943.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:23.903Z,1736371943.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 413.152985 m, bearing: 214.535278 deg, approach rate: -0.304057 m/s, LOS rate: 0.084846 deg/s, cmd heading: 150.902033 deg, new cmd heading: 150.989942 deg. 2025-01-08T21:32:23.904Z,1736371943.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.635272 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:24.060Z,1736371944.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:24.060Z,1736371944.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.687968 2025-01-08T21:32:24.294Z,1736371944.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:24.306Z,1736371944.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:24.309Z,1736371944.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 413.036957 m, bearing: 214.567633 deg, approach rate: -0.285667 m/s, LOS rate: 0.079682 deg/s, cmd heading: 150.989938 deg, new cmd heading: 151.087030 deg. 2025-01-08T21:32:24.310Z,1736371944.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.636966 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:24.312Z,1736371944.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:24.313Z,1736371944.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.940171 2025-01-08T21:32:24.564Z,1736371944.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:24.565Z,1736371944.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.192678 2025-01-08T21:32:24.734Z,1736371944.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:24.743Z,1736371944.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:24.746Z,1736371944.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 412.908691 m, bearing: 214.602972 deg, approach rate: -0.293738 m/s, LOS rate: 0.080954 deg/s, cmd heading: 151.087036 deg, new cmd heading: 151.193086 deg. 2025-01-08T21:32:24.748Z,1736371944.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.638817 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:24.816Z,1736371944.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:24.817Z,1736371944.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.444451 2025-01-08T21:32:25.068Z,1736371945.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:25.069Z,1736371945.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.696554 2025-01-08T21:32:25.124Z,1736371945.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:25.144Z,1736371945.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:25.147Z,1736371945.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 412.794983 m, bearing: 214.634354 deg, approach rate: -0.283436 m/s, LOS rate: 0.078247 deg/s, cmd heading: 151.193081 deg, new cmd heading: 151.287254 deg. 2025-01-08T21:32:25.164Z,1736371945.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.640461 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:25.320Z,1736371945.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:25.320Z,1736371945.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.948124 2025-01-08T21:32:25.572Z,1736371945.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:25.573Z,1736371945.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.200340 2025-01-08T21:32:25.642Z,1736371945.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:25.680Z,1736371945.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:25.682Z,1736371945.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:25.689Z,1736371945.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 412.648315 m, bearing: 214.675991 deg, approach rate: -0.272788 m/s, LOS rate: 0.077469 deg/s, cmd heading: 151.287256 deg, new cmd heading: 151.412211 deg. 2025-01-08T21:32:25.690Z,1736371945.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.642642 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:25.824Z,1736371945.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:25.824Z,1736371945.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.452085 2025-01-08T21:32:26.078Z,1736371946.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:26.078Z,1736371946.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.705834 2025-01-08T21:32:26.116Z,1736371946.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:26.125Z,1736371946.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:26.141Z,1736371946.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 412.514069 m, bearing: 214.714032 deg, approach rate: -0.302864 m/s, LOS rate: 0.085848 deg/s, cmd heading: 151.412207 deg, new cmd heading: 151.526365 deg. 2025-01-08T21:32:26.142Z,1736371946.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.644634 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:26.329Z,1736371946.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:26.332Z,1736371946.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.959262 2025-01-08T21:32:26.581Z,1736371946.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:26.581Z,1736371946.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.208922 2025-01-08T21:32:26.585Z,1736371946.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:26.594Z,1736371946.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:26.597Z,1736371946.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 412.376740 m, bearing: 214.753111 deg, approach rate: -0.293184 m/s, LOS rate: 0.083459 deg/s, cmd heading: 151.526367 deg, new cmd heading: 151.643645 deg. 2025-01-08T21:32:26.598Z,1736371946.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.646681 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:26.832Z,1736371946.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:26.833Z,1736371946.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.460158 2025-01-08T21:32:26.953Z,1736371946.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:26.962Z,1736371946.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:26.965Z,1736371946.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 412.269073 m, bearing: 214.783640 deg, approach rate: -0.292588 m/s, LOS rate: 0.082986 deg/s, cmd heading: 151.643641 deg, new cmd heading: 151.735252 deg. 2025-01-08T21:32:26.966Z,1736371946.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.648280 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:27.084Z,1736371947.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:27.085Z,1736371947.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.712172 2025-01-08T21:32:27.336Z,1736371947.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:27.336Z,1736371947.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.963983 2025-01-08T21:32:27.365Z,1736371947.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:27.373Z,1736371947.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:27.409Z,1736371947.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 412.147827 m, bearing: 214.817747 deg, approach rate: -0.294532 m/s, LOS rate: 0.082877 deg/s, cmd heading: 151.735248 deg, new cmd heading: 151.837598 deg. 2025-01-08T21:32:27.437Z,1736371947.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.650066 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:27.588Z,1736371947.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:27.588Z,1736371947.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.215995 2025-01-08T21:32:27.747Z,1736371947.747 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:32:27.786Z,1736371947.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:27.793Z,1736371947.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:27.795Z,1736371947.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:27.799Z,1736371947.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 412.037842 m, bearing: 214.854582 deg, approach rate: -0.260730 m/s, LOS rate: 0.087345 deg/s, cmd heading: 151.837591 deg, new cmd heading: 151.948127 deg. 2025-01-08T21:32:27.800Z,1736371947.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.651995 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:27.842Z,1736371947.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:27.842Z,1736371947.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.470100 2025-01-08T21:32:28.092Z,1736371948.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:28.092Z,1736371948.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.720019 2025-01-08T21:32:28.169Z,1736371948.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:28.178Z,1736371948.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:28.183Z,1736371948.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 411.937042 m, bearing: 214.888026 deg, approach rate: -0.263419 m/s, LOS rate: 0.087420 deg/s, cmd heading: 151.948131 deg, new cmd heading: 152.048487 deg. 2025-01-08T21:32:28.185Z,1736371948.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.653747 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:28.344Z,1736371948.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:28.344Z,1736371948.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.971972 2025-01-08T21:32:28.581Z,1736371948.581 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,32768,-32768,V 2025-01-08T21:32:28.588Z,1736371948.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:32:28.588Z,1736371948.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:28.596Z,1736371948.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:28.597Z,1736371948.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.224902 2025-01-08T21:32:28.600Z,1736371948.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:28.602Z,1736371948.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 411.826324 m, bearing: 214.924525 deg, approach rate: -0.262501 m/s, LOS rate: 0.086559 deg/s, cmd heading: 152.048480 deg, new cmd heading: 152.158007 deg. 2025-01-08T21:32:28.604Z,1736371948.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.655658 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:28.752Z,1736371948.752 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:32:28.848Z,1736371948.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:28.849Z,1736371948.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.476214 2025-01-08T21:32:28.969Z,1736371948.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:32:28.969Z,1736371948.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:28.977Z,1736371948.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:28.981Z,1736371948.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 411.724915 m, bearing: 214.957670 deg, approach rate: -0.268335 m/s, LOS rate: 0.087724 deg/s, cmd heading: 152.158009 deg, new cmd heading: 152.257468 deg. 2025-01-08T21:32:28.982Z,1736371948.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.657394 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:29.100Z,1736371949.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:29.100Z,1736371949.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.728102 2025-01-08T21:32:29.352Z,1736371949.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:29.352Z,1736371949.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.979993 2025-01-08T21:32:29.373Z,1736371949.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:32:29.373Z,1736371949.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:29.383Z,1736371949.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:29.386Z,1736371949.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 411.616272 m, bearing: 214.992888 deg, approach rate: -0.267851 m/s, LOS rate: 0.086850 deg/s, cmd heading: 152.257470 deg, new cmd heading: 152.363152 deg. 2025-01-08T21:32:29.410Z,1736371949.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.659239 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:29.604Z,1736371949.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:29.604Z,1736371949.604 [DAT](INFO): Reached modem response timeout 2025-01-08T21:32:29.604Z,1736371949.604 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:32:29.605Z,1736371949.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:29.805Z,1736371949.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:29.812Z,1736371949.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:29.815Z,1736371949.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:29.834Z,1736371949.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 411.505554 m, bearing: 215.034861 deg, approach rate: -0.256382 m/s, LOS rate: 0.097221 deg/s, cmd heading: 152.363147 deg, new cmd heading: 152.489101 deg. 2025-01-08T21:32:29.835Z,1736371949.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661437 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:29.856Z,1736371949.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:29.856Z,1736371949.856 [DAT](INFO): Reached modem response timeout 2025-01-08T21:32:29.856Z,1736371949.856 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:32:29.857Z,1736371949.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:30.108Z,1736371950.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:30.109Z,1736371950.109 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:32:30.109Z,1736371950.109 [DAT](INFO): response not received 2025-01-08T21:32:30.109Z,1736371950.109 [DAT](INFO): DAT read: user:1853> 2025-01-08T21:32:30.110Z,1736371950.110 [DAT](INFO): DAT read: Tx time:21:32:29.4271 2025-01-08T21:32:30.110Z,1736371950.110 [DAT](INFO): Ping request sent. 2025-01-08T21:32:30.110Z,1736371950.110 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:30.111Z,1736371950.111 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:30.111Z,1736371950.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000834 2025-01-08T21:32:30.201Z,1736371950.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:30.226Z,1736371950.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:30.240Z,1736371950.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 411.403290 m, bearing: 215.073260 deg, approach rate: -0.249008 m/s, LOS rate: 0.093523 deg/s, cmd heading: 152.489096 deg, new cmd heading: 152.604322 deg. 2025-01-08T21:32:30.244Z,1736371950.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.663448 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:30.360Z,1736371950.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:30.361Z,1736371950.361 [DAT](INFO): DAT read: TxSync time:21:32:29.4263 2025-01-08T21:32:30.361Z,1736371950.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250797 2025-01-08T21:32:30.612Z,1736371950.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:30.612Z,1736371950.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501941 2025-01-08T21:32:30.622Z,1736371950.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:30.632Z,1736371950.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:30.635Z,1736371950.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 411.300659 m, bearing: 215.114954 deg, approach rate: -0.252394 m/s, LOS rate: 0.102560 deg/s, cmd heading: 152.604321 deg, new cmd heading: 152.729433 deg. 2025-01-08T21:32:30.661Z,1736371950.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.665632 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:30.864Z,1736371950.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:30.865Z,1736371950.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754763 2025-01-08T21:32:30.995Z,1736371950.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:31.005Z,1736371951.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:31.007Z,1736371951.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 411.207886 m, bearing: 215.151653 deg, approach rate: -0.249158 m/s, LOS rate: 0.098584 deg/s, cmd heading: 152.729437 deg, new cmd heading: 152.839559 deg. 2025-01-08T21:32:31.008Z,1736371951.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.667553 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:31.117Z,1736371951.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:31.118Z,1736371951.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007342 2025-01-08T21:32:31.368Z,1736371951.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:31.368Z,1736371951.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257849 2025-01-08T21:32:31.407Z,1736371951.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:31.418Z,1736371951.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:31.430Z,1736371951.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 411.103546 m, bearing: 215.192205 deg, approach rate: -0.253248 m/s, LOS rate: 0.098449 deg/s, cmd heading: 152.839553 deg, new cmd heading: 152.961237 deg. 2025-01-08T21:32:31.439Z,1736371951.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669677 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:31.620Z,1736371951.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:31.621Z,1736371951.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510375 2025-01-08T21:32:31.842Z,1736371951.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:31.850Z,1736371951.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:31.853Z,1736371951.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:31.855Z,1736371951.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 410.990417 m, bearing: 215.235797 deg, approach rate: -0.259396 m/s, LOS rate: 0.099981 deg/s, cmd heading: 152.961240 deg, new cmd heading: 153.092051 deg. 2025-01-08T21:32:31.856Z,1736371951.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671960 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:31.872Z,1736371951.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:31.872Z,1736371951.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761940 2025-01-08T21:32:32.124Z,1736371952.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:32.124Z,1736371952.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013787 2025-01-08T21:32:32.269Z,1736371952.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:32.286Z,1736371952.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:32.293Z,1736371952.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 410.878601 m, bearing: 215.278527 deg, approach rate: -0.258071 m/s, LOS rate: 0.098647 deg/s, cmd heading: 153.092051 deg, new cmd heading: 153.220276 deg. 2025-01-08T21:32:32.294Z,1736371952.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674198 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:32.376Z,1736371952.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:32.378Z,1736371952.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266811 2025-01-08T21:32:32.628Z,1736371952.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:32.629Z,1736371952.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518027 2025-01-08T21:32:32.635Z,1736371952.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:32.645Z,1736371952.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:32.651Z,1736371952.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 410.778381 m, bearing: 215.314873 deg, approach rate: -0.279208 m/s, LOS rate: 0.101285 deg/s, cmd heading: 153.220281 deg, new cmd heading: 153.329347 deg. 2025-01-08T21:32:32.653Z,1736371952.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.676102 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:32.881Z,1736371952.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:32.882Z,1736371952.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771150 2025-01-08T21:32:33.074Z,1736371953.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:33.084Z,1736371953.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:33.087Z,1736371953.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 410.657562 m, bearing: 215.358573 deg, approach rate: -0.275152 m/s, LOS rate: 0.099551 deg/s, cmd heading: 153.329346 deg, new cmd heading: 153.460484 deg. 2025-01-08T21:32:33.088Z,1736371953.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678391 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:33.132Z,1736371953.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:33.133Z,1736371953.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022774 2025-01-08T21:32:33.385Z,1736371953.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:33.387Z,1736371953.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276395 2025-01-08T21:32:33.542Z,1736371953.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:33.562Z,1736371953.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:33.579Z,1736371953.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 410.528931 m, bearing: 215.405054 deg, approach rate: -0.269035 m/s, LOS rate: 0.097247 deg/s, cmd heading: 153.460485 deg, new cmd heading: 153.599972 deg. 2025-01-08T21:32:33.581Z,1736371953.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680825 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:33.636Z,1736371953.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:33.637Z,1736371953.637 [DAT](INFO): DAT read: Rx Time:21:32:32.4234 2025-01-08T21:32:33.637Z,1736371953.637 [DAT](INFO): Rx dataTimestamp_ set to:1736371953.636826 2025-01-08T21:32:33.638Z,1736371953.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527144 2025-01-08T21:32:33.888Z,1736371953.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:33.889Z,1736371953.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778667 2025-01-08T21:32:33.982Z,1736371953.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:33.989Z,1736371953.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:33.991Z,1736371953.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.00 m. 2025-01-08T21:32:33.994Z,1736371953.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.000000 m, nav range: 410.404175 m, bearing: 215.446654 deg, approach rate: -0.290727 m/s, LOS rate: 0.096973 deg/s, cmd heading: 153.599971 deg, new cmd heading: 153.724809 deg. 2025-01-08T21:32:33.995Z,1736371953.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683004 target range: 435.000000 and range: 435.00 m. 2025-01-08T21:32:34.140Z,1736371954.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:34.149Z,1736371954.149 [DAT](INFO): DAT read: 21:32:32.4234 LVL= 28656, 29233, 32754, 32755, AGC= 67, IDX= 508, 0.00, 1.649, 3.053, 0.731, 1.357, PHS= 0.381, 1.744,-0.629, RAW= 355.1, -14.4, CAL= 355.7, -19.8, ROT= 154.3, 19.8 2025-01-08T21:32:34.150Z,1736371954.150 [DAT](INFO): got valid direction response: 21:32:32.4234 LVL= 28656, 29233, 32754, 32755, AGC= 67, IDX= 508, 0.00, 1.649, 3.053, 0.731, 1.357, PHS= 0.381, 1.744,-0.629, RAW= 355.1, -14.4, CAL= 355.7, -19.8, ROT= 154.3, 19.8 2025-01-08T21:32:34.152Z,1736371954.152 [DAT](INFO): DAT read: Range 10 to 50 : 444.0 m (Round-trip 592.1 ms) speed -0.6 m/s 2025-01-08T21:32:34.153Z,1736371954.153 [DAT](INFO): DAT read: user:1854> 2025-01-08T21:32:34.154Z,1736371954.154 [DAT](INFO): DAT read: Tx time:21:32:33.5271 2025-01-08T21:32:34.154Z,1736371954.154 [DAT](INFO): Ping request sent. 2025-01-08T21:32:34.154Z,1736371954.154 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:34.155Z,1736371954.155 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:32:34.160Z,1736371954.160 [DAT](INFO): direction in FSK: [0.359395,0.927247,-0.105112] 2025-01-08T21:32:34.160Z,1736371954.160 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:34.160Z,1736371954.160 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:34.165Z,1736371954.165 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:34.165Z,1736371954.165 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:34.374Z,1736371954.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:34.393Z,1736371954.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:34.395Z,1736371954.395 [DAT](INFO): DAT read: TxSync time:21:32:33.5263 2025-01-08T21:32:34.419Z,1736371954.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 444.000000 m, deltaT: 14.869195 s, deltaX: 9.000000 m, approachRate: 0.605278 m/s, rangeRepo size: 4 2025-01-08T21:32:34.425Z,1736371954.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 444.000000 m, bearing: 223.764787 deg, lat: 36.899246 deg, lon: -122.117989 deg, deltaT: 14.869195 s, deltaX: 9.000000 m, approachRate: 0.605278 m/s, posRepo size: 4 2025-01-08T21:32:34.426Z,1736371954.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m. 2025-01-08T21:32:34.433Z,1736371954.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.000000 m, nav range: 430.742371 m, bearing: 219.138590 deg, approach rate: 0.000000 m/s, LOS rate: 0.096973 deg/s, cmd heading: 153.724814 deg, new cmd heading: 153.849016 deg. 2025-01-08T21:32:34.434Z,1736371954.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685172 target range: 444.000000 and range: 444.00 m. 2025-01-08T21:32:34.645Z,1736371954.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:34.786Z,1736371954.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:34.800Z,1736371954.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m. 2025-01-08T21:32:34.803Z,1736371954.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.000000 m, nav range: 430.637512 m, bearing: 219.174415 deg, approach rate: -0.278478 m/s, LOS rate: 0.095165 deg/s, cmd heading: 153.849014 deg, new cmd heading: 153.956514 deg. 2025-01-08T21:32:34.804Z,1736371954.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687048 target range: 444.000000 and range: 444.00 m. 2025-01-08T21:32:34.896Z,1736371954.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:35.148Z,1736371955.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:35.190Z,1736371955.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:35.227Z,1736371955.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m. 2025-01-08T21:32:35.239Z,1736371955.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.000000 m, nav range: 430.535156 m, bearing: 219.209460 deg, approach rate: -0.237040 m/s, LOS rate: 0.081179 deg/s, cmd heading: 153.956507 deg, new cmd heading: 154.061669 deg. 2025-01-08T21:32:35.242Z,1736371955.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688883 target range: 444.000000 and range: 444.00 m. 2025-01-08T21:32:35.400Z,1736371955.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:35.610Z,1736371955.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:35.620Z,1736371955.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m. 2025-01-08T21:32:35.622Z,1736371955.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.000000 m, nav range: 430.417267 m, bearing: 219.243425 deg, approach rate: -0.300302 m/s, LOS rate: 0.086544 deg/s, cmd heading: 154.061665 deg, new cmd heading: 154.163588 deg. 2025-01-08T21:32:35.640Z,1736371955.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690662 target range: 444.000000 and range: 444.00 m. 2025-01-08T21:32:35.652Z,1736371955.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:35.904Z,1736371955.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:35.976Z,1736371955.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:36.005Z,1736371956.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m. 2025-01-08T21:32:36.012Z,1736371956.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.000000 m, nav range: 430.315704 m, bearing: 219.272970 deg, approach rate: -0.263282 m/s, LOS rate: 0.076609 deg/s, cmd heading: 154.163585 deg, new cmd heading: 154.252242 deg. 2025-01-08T21:32:36.013Z,1736371956.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.692209 target range: 444.000000 and range: 444.00 m. 2025-01-08T21:32:36.156Z,1736371956.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:36.388Z,1736371956.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:36.400Z,1736371956.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:36.402Z,1736371956.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m. 2025-01-08T21:32:36.405Z,1736371956.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.000000 m, nav range: 430.202454 m, bearing: 219.306370 deg, approach rate: -0.285281 m/s, LOS rate: 0.084157 deg/s, cmd heading: 154.252241 deg, new cmd heading: 154.352467 deg. 2025-01-08T21:32:36.406Z,1736371956.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.693959 target range: 444.000000 and range: 444.00 m. 2025-01-08T21:32:36.408Z,1736371956.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:36.408Z,1736371956.408 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:32:36.408Z,1736371956.408 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:32:36.409Z,1736371956.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:36.660Z,1736371956.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:36.661Z,1736371956.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506760 2025-01-08T21:32:36.821Z,1736371956.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:36.829Z,1736371956.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m. 2025-01-08T21:32:36.853Z,1736371956.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.000000 m, nav range: 430.078125 m, bearing: 219.338960 deg, approach rate: -0.290923 m/s, LOS rate: 0.076280 deg/s, cmd heading: 154.352467 deg, new cmd heading: 154.450263 deg. 2025-01-08T21:32:36.854Z,1736371956.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.695666 target range: 444.000000 and range: 444.00 m. 2025-01-08T21:32:36.912Z,1736371956.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:36.913Z,1736371956.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758336 2025-01-08T21:32:37.166Z,1736371957.166 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:37.169Z,1736371957.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014297 2025-01-08T21:32:37.194Z,1736371957.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:37.204Z,1736371957.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m. 2025-01-08T21:32:37.206Z,1736371957.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.000000 m, nav range: 429.971222 m, bearing: 219.367077 deg, approach rate: -0.285794 m/s, LOS rate: 0.075188 deg/s, cmd heading: 154.450262 deg, new cmd heading: 154.534635 deg. 2025-01-08T21:32:37.207Z,1736371957.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697138 target range: 444.000000 and range: 444.00 m. 2025-01-08T21:32:37.416Z,1736371957.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:37.416Z,1736371957.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262174 2025-01-08T21:32:37.650Z,1736371957.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:37.668Z,1736371957.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:37.671Z,1736371957.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516251 2025-01-08T21:32:37.698Z,1736371957.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m. 2025-01-08T21:32:37.705Z,1736371957.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.000000 m, nav range: 429.833313 m, bearing: 219.400207 deg, approach rate: -0.278835 m/s, LOS rate: 0.067006 deg/s, cmd heading: 154.534642 deg, new cmd heading: 154.634063 deg. 2025-01-08T21:32:37.706Z,1736371957.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.698874 target range: 444.000000 and range: 444.00 m. 2025-01-08T21:32:37.920Z,1736371957.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:37.920Z,1736371957.920 [DAT](INFO): DAT read: Rx Time:21:32:36.5273 2025-01-08T21:32:37.921Z,1736371957.921 [DAT](INFO): Rx dataTimestamp_ set to:1736371957.920647 2025-01-08T21:32:37.921Z,1736371957.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767229 2025-01-08T21:32:38.033Z,1736371958.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:38.052Z,1736371958.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m. 2025-01-08T21:32:38.054Z,1736371958.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.000000 m, nav range: 429.717346 m, bearing: 219.428119 deg, approach rate: -0.329147 m/s, LOS rate: 0.079245 deg/s, cmd heading: 154.634062 deg, new cmd heading: 154.717822 deg. 2025-01-08T21:32:38.056Z,1736371958.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700336 target range: 444.000000 and range: 444.00 m. 2025-01-08T21:32:38.173Z,1736371958.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:38.176Z,1736371958.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020592 2025-01-08T21:32:38.425Z,1736371958.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:38.435Z,1736371958.435 [DAT](INFO): DAT read: 21:32:36.5273 LVL= 25584, 32753, 30898, 32755, AGC= 68, IDX= 468, 0.31,-1.265, 0.139,-2.246,-1.501, PHS= 0.324, 1.688,-0.748, RAW= 356.1, -11.9, CAL= 356.6, -16.6, ROT= 153.4, 16.6 2025-01-08T21:32:38.436Z,1736371958.436 [DAT](INFO): got valid direction response: 21:32:36.5273 LVL= 25584, 32753, 30898, 32755, AGC= 68, IDX= 468, 0.31,-1.265, 0.139,-2.246,-1.501, PHS= 0.324, 1.688,-0.748, RAW= 356.1, -11.9, CAL= 356.6, -16.6, ROT= 153.4, 16.6 2025-01-08T21:32:38.437Z,1736371958.437 [DAT](INFO): DAT read: Bearing 153.4, 16.6 (Local) 2025-01-08T21:32:38.437Z,1736371958.437 [DAT](INFO): Local bearing/azimuth received: Bearing 153.4, 16.6 (Local) 2025-01-08T21:32:38.441Z,1736371958.441 [DAT](INFO): DAT read: Range 10 to 50 : 447.0 m (Round-trip 596.0 ms) speed -0.4 m/s 2025-01-08T21:32:38.453Z,1736371958.453 [DAT](INFO): DAT read: user:1855> 2025-01-08T21:32:38.454Z,1736371958.454 [DAT](INFO): DAT read: Tx time:21:32:37.6271 2025-01-08T21:32:38.454Z,1736371958.454 [DAT](INFO): Ping request sent. 2025-01-08T21:32:38.454Z,1736371958.454 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:38.455Z,1736371958.455 [DAT](INFO): DAT read: TxSync time:21:32:37.6263 2025-01-08T21:32:38.456Z,1736371958.456 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:32:38.459Z,1736371958.459 [DAT](INFO): direction in FSK: [0.314812,0.944509,-0.093790] 2025-01-08T21:32:38.495Z,1736371958.495 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:38.496Z,1736371958.496 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:38.516Z,1736371958.516 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:38.516Z,1736371958.516 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:38.615Z,1736371958.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:38.661Z,1736371958.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 447.000000 m, deltaT: 4.285744 s, deltaX: 3.000000 m, approachRate: 0.699995 m/s, rangeRepo size: 4 2025-01-08T21:32:38.669Z,1736371958.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 447.000000 m, bearing: 225.586836 deg, lat: 36.899315 deg, lon: -122.118000 deg, deltaT: 4.285744 s, deltaX: 3.000000 m, approachRate: 0.699995 m/s, posRepo size: 4 2025-01-08T21:32:38.670Z,1736371958.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T21:32:38.676Z,1736371958.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:38.685Z,1736371958.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 424.278748 m, bearing: 220.241779 deg, approach rate: 0.000000 m/s, LOS rate: 0.079245 deg/s, cmd heading: 154.717828 deg, new cmd heading: 154.861679 deg. 2025-01-08T21:32:38.686Z,1736371958.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702846 target range: 447.000000 and range: 447.00 m. 2025-01-08T21:32:38.928Z,1736371958.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:39.006Z,1736371959.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:39.014Z,1736371959.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:39.016Z,1736371959.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T21:32:39.019Z,1736371959.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 424.160370 m, bearing: 220.270152 deg, approach rate: -0.327711 m/s, LOS rate: 0.078567 deg/s, cmd heading: 154.861685 deg, new cmd heading: 154.946826 deg. 2025-01-08T21:32:39.020Z,1736371959.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704332 target range: 447.000000 and range: 447.00 m. 2025-01-08T21:32:39.180Z,1736371959.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:39.181Z,1736371959.181 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:32:39.181Z,1736371959.181 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:32:39.181Z,1736371959.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:39.395Z,1736371959.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:39.406Z,1736371959.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T21:32:39.409Z,1736371959.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 424.043640 m, bearing: 220.298046 deg, approach rate: -0.299868 m/s, LOS rate: 0.071677 deg/s, cmd heading: 154.946830 deg, new cmd heading: 155.030536 deg. 2025-01-08T21:32:39.409Z,1736371959.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.705793 target range: 447.000000 and range: 447.00 m. 2025-01-08T21:32:39.449Z,1736371959.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:39.450Z,1736371959.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995409 2025-01-08T21:32:39.696Z,1736371959.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:39.696Z,1736371959.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241807 2025-01-08T21:32:39.815Z,1736371959.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:39.838Z,1736371959.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T21:32:39.841Z,1736371959.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 423.922455 m, bearing: 220.328878 deg, approach rate: -0.280099 m/s, LOS rate: 0.071282 deg/s, cmd heading: 155.030541 deg, new cmd heading: 155.123062 deg. 2025-01-08T21:32:39.842Z,1736371959.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.707408 target range: 447.000000 and range: 447.00 m. 2025-01-08T21:32:39.948Z,1736371959.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:39.948Z,1736371959.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493901 2025-01-08T21:32:40.179Z,1736371960.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:40.200Z,1736371960.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:40.201Z,1736371960.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746014 2025-01-08T21:32:40.211Z,1736371960.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T21:32:40.222Z,1736371960.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 423.817596 m, bearing: 220.355672 deg, approach rate: -0.281671 m/s, LOS rate: 0.071994 deg/s, cmd heading: 155.123063 deg, new cmd heading: 155.203466 deg. 2025-01-08T21:32:40.223Z,1736371960.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.708812 target range: 447.000000 and range: 447.00 m. 2025-01-08T21:32:40.452Z,1736371960.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:40.453Z,1736371960.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998709 2025-01-08T21:32:40.683Z,1736371960.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:40.704Z,1736371960.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:40.704Z,1736371960.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249902 2025-01-08T21:32:40.705Z,1736371960.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T21:32:40.708Z,1736371960.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 423.684448 m, bearing: 220.394981 deg, approach rate: -0.269166 m/s, LOS rate: 0.079490 deg/s, cmd heading: 155.203468 deg, new cmd heading: 155.321431 deg. 2025-01-08T21:32:40.709Z,1736371960.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710870 target range: 447.000000 and range: 447.00 m. 2025-01-08T21:32:40.956Z,1736371960.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:40.957Z,1736371960.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501863 2025-01-08T21:32:41.019Z,1736371961.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:41.039Z,1736371961.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:41.041Z,1736371961.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T21:32:41.060Z,1736371961.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 423.595306 m, bearing: 220.421213 deg, approach rate: -0.265568 m/s, LOS rate: 0.078165 deg/s, cmd heading: 155.321425 deg, new cmd heading: 155.400137 deg. 2025-01-08T21:32:41.061Z,1736371961.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.712244 target range: 447.000000 and range: 447.00 m. 2025-01-08T21:32:41.208Z,1736371961.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:41.208Z,1736371961.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753906 2025-01-08T21:32:41.417Z,1736371961.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:41.426Z,1736371961.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T21:32:41.430Z,1736371961.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 423.489838 m, bearing: 220.452240 deg, approach rate: -0.274070 m/s, LOS rate: 0.080646 deg/s, cmd heading: 155.400136 deg, new cmd heading: 155.493239 deg. 2025-01-08T21:32:41.432Z,1736371961.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.713869 target range: 447.000000 and range: 447.00 m. 2025-01-08T21:32:41.460Z,1736371961.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:41.460Z,1736371961.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005906 2025-01-08T21:32:41.712Z,1736371961.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:41.713Z,1736371961.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258082 2025-01-08T21:32:41.851Z,1736371961.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:41.860Z,1736371961.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T21:32:41.862Z,1736371961.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 423.389709 m, bearing: 220.489804 deg, approach rate: -0.230704 m/s, LOS rate: 0.086571 deg/s, cmd heading: 155.493245 deg, new cmd heading: 155.605963 deg. 2025-01-08T21:32:41.865Z,1736371961.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.715836 target range: 447.000000 and range: 447.00 m. 2025-01-08T21:32:41.965Z,1736371961.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:41.967Z,1736371961.967 [DAT](INFO): DAT read: Rx Time:21:32:40.6283 2025-01-08T21:32:41.968Z,1736371961.968 [DAT](INFO): Rx dataTimestamp_ set to:1736371961.967455 2025-01-08T21:32:41.968Z,1736371961.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513760 2025-01-08T21:32:42.216Z,1736371962.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:42.217Z,1736371962.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762074 2025-01-08T21:32:42.219Z,1736371962.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:42.228Z,1736371962.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T21:32:42.231Z,1736371962.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 423.304504 m, bearing: 220.521599 deg, approach rate: -0.231854 m/s, LOS rate: 0.086537 deg/s, cmd heading: 155.605957 deg, new cmd heading: 155.701362 deg. 2025-01-08T21:32:42.232Z,1736371962.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.717501 target range: 447.000000 and range: 447.00 m. 2025-01-08T21:32:42.469Z,1736371962.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:42.482Z,1736371962.482 [DAT](INFO): DAT read: 21:32:40.6283 LVL= 24992, 27041, 30194, 32755, AGC= 68, IDX= 429, 0.41,-0.004, 1.393,-0.940,-0.320, PHS= 0.404, 1.760,-0.623, RAW= 355.4, -14.7, CAL= 356.1, -20.4, ROT= 153.9, 20.4 2025-01-08T21:32:42.483Z,1736371962.483 [DAT](INFO): got valid direction response: 21:32:40.6283 LVL= 24992, 27041, 30194, 32755, AGC= 68, IDX= 429, 0.41,-0.004, 1.393,-0.940,-0.320, PHS= 0.404, 1.760,-0.623, RAW= 355.4, -14.7, CAL= 356.1, -20.4, ROT= 153.9, 20.4 2025-01-08T21:32:42.484Z,1736371962.484 [DAT](INFO): DAT read: Bearing 153.9, 20.4 (Local) 2025-01-08T21:32:42.485Z,1736371962.485 [DAT](INFO): Local bearing/azimuth received: Bearing 153.9, 20.4 (Local) 2025-01-08T21:32:42.486Z,1736371962.486 [DAT](INFO): DAT read: Range 10 to 50 : 447.6 m (Round-trip 596.9 ms) speed -0.4 m/s 2025-01-08T21:32:42.487Z,1736371962.487 [DAT](INFO): DAT read: user:1856> 2025-01-08T21:32:42.488Z,1736371962.488 [DAT](INFO): DAT read: Tx time:21:32:41.7272 2025-01-08T21:32:42.488Z,1736371962.488 [DAT](INFO): Ping request sent. 2025-01-08T21:32:42.488Z,1736371962.488 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:42.489Z,1736371962.489 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:32:42.491Z,1736371962.491 [DAT](INFO): direction in FSK: [0.365112,0.925726,-0.098617] 2025-01-08T21:32:42.492Z,1736371962.492 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:42.492Z,1736371962.492 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:42.501Z,1736371962.501 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:42.501Z,1736371962.501 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:42.720Z,1736371962.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:42.721Z,1736371962.721 [DAT](INFO): DAT read: TxSync time:21:32:41.7264 2025-01-08T21:32:42.764Z,1736371962.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:42.804Z,1736371962.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 447.600006 m, deltaT: 4.043319 s, deltaX: 0.600006 m, approachRate: 0.148394 m/s, rangeRepo size: 4 2025-01-08T21:32:42.806Z,1736371962.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 447.600006 m, bearing: 223.359416 deg, lat: 36.899315 deg, lon: -122.118356 deg, deltaT: 4.043319 s, deltaX: 0.600006 m, approachRate: 0.148394 m/s, posRepo size: 4 2025-01-08T21:32:42.807Z,1736371962.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:42.814Z,1736371962.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 444.411346 m, bearing: 223.670471 deg, approach rate: 0.000000 m/s, LOS rate: 0.086537 deg/s, cmd heading: 155.701361 deg, new cmd heading: 155.849756 deg. 2025-01-08T21:32:42.820Z,1736371962.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.720091 target range: 447.600006 and range: 447.60 m. 2025-01-08T21:32:42.972Z,1736371962.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:43.129Z,1736371963.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:43.137Z,1736371963.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:43.139Z,1736371963.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:43.142Z,1736371963.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 444.347229 m, bearing: 223.702884 deg, approach rate: -0.188719 m/s, LOS rate: 0.095415 deg/s, cmd heading: 155.849754 deg, new cmd heading: 155.947006 deg. 2025-01-08T21:32:43.143Z,1736371963.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.721789 target range: 447.600006 and range: 447.60 m. 2025-01-08T21:32:43.224Z,1736371963.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:43.225Z,1736371963.225 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:32:43.225Z,1736371963.225 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:32:43.225Z,1736371963.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:43.476Z,1736371963.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:43.476Z,1736371963.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987881 2025-01-08T21:32:43.536Z,1736371963.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:43.559Z,1736371963.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:43.566Z,1736371963.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 444.273773 m, bearing: 223.738910 deg, approach rate: -0.174800 m/s, LOS rate: 0.085744 deg/s, cmd heading: 155.947002 deg, new cmd heading: 156.055098 deg. 2025-01-08T21:32:43.567Z,1736371963.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.723675 target range: 447.600006 and range: 447.60 m. 2025-01-08T21:32:43.728Z,1736371963.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:43.728Z,1736371963.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239935 2025-01-08T21:32:43.954Z,1736371963.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:43.962Z,1736371963.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:43.966Z,1736371963.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 444.206940 m, bearing: 223.778451 deg, approach rate: -0.165790 m/s, LOS rate: 0.098101 deg/s, cmd heading: 156.055097 deg, new cmd heading: 156.173736 deg. 2025-01-08T21:32:43.967Z,1736371963.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.725746 target range: 447.600006 and range: 447.60 m. 2025-01-08T21:32:43.981Z,1736371963.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:43.981Z,1736371963.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492723 2025-01-08T21:32:44.232Z,1736371964.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:44.233Z,1736371964.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744449 2025-01-08T21:32:44.323Z,1736371964.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:44.346Z,1736371964.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:44.350Z,1736371964.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 444.144257 m, bearing: 223.813342 deg, approach rate: -0.164451 m/s, LOS rate: 0.091551 deg/s, cmd heading: 156.173737 deg, new cmd heading: 156.278425 deg. 2025-01-08T21:32:44.351Z,1736371964.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.727573 target range: 447.600006 and range: 447.60 m. 2025-01-08T21:32:44.484Z,1736371964.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:44.484Z,1736371964.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995828 2025-01-08T21:32:44.736Z,1736371964.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:44.736Z,1736371964.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247946 2025-01-08T21:32:44.768Z,1736371964.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:44.776Z,1736371964.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:44.779Z,1736371964.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 444.074768 m, bearing: 223.855994 deg, approach rate: -0.160383 m/s, LOS rate: 0.098459 deg/s, cmd heading: 156.278430 deg, new cmd heading: 156.406406 deg. 2025-01-08T21:32:44.781Z,1736371964.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.729807 target range: 447.600006 and range: 447.60 m. 2025-01-08T21:32:44.988Z,1736371964.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:44.989Z,1736371964.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500109 2025-01-08T21:32:45.116Z,1736371965.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:45.125Z,1736371965.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:45.128Z,1736371965.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 444.018219 m, bearing: 223.889277 deg, approach rate: -0.162282 m/s, LOS rate: 0.095525 deg/s, cmd heading: 156.406401 deg, new cmd heading: 156.506261 deg. 2025-01-08T21:32:45.129Z,1736371965.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.731550 target range: 447.600006 and range: 447.60 m. 2025-01-08T21:32:45.240Z,1736371965.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:45.240Z,1736371965.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751910 2025-01-08T21:32:45.493Z,1736371965.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:45.493Z,1736371965.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004798 2025-01-08T21:32:45.527Z,1736371965.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:45.538Z,1736371965.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:45.549Z,1736371965.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:45.556Z,1736371965.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 443.950531 m, bearing: 223.928522 deg, approach rate: -0.159921 m/s, LOS rate: 0.092736 deg/s, cmd heading: 156.506258 deg, new cmd heading: 156.624012 deg. 2025-01-08T21:32:45.556Z,1736371965.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.733605 target range: 447.600006 and range: 447.60 m. 2025-01-08T21:32:45.745Z,1736371965.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:45.746Z,1736371965.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257232 2025-01-08T21:32:45.980Z,1736371965.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:45.989Z,1736371965.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:45.996Z,1736371965.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:45.997Z,1736371965.997 [DAT](INFO): DAT read: Rx Time:21:32:44.7326 2025-01-08T21:32:45.997Z,1736371965.997 [DAT](INFO): Rx dataTimestamp_ set to:1736371965.997178 2025-01-08T21:32:45.998Z,1736371965.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509509 2025-01-08T21:32:46.008Z,1736371966.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 443.877686 m, bearing: 223.972436 deg, approach rate: -0.165179 m/s, LOS rate: 0.099593 deg/s, cmd heading: 156.624010 deg, new cmd heading: 156.755774 deg. 2025-01-08T21:32:46.009Z,1736371966.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.735904 target range: 447.600006 and range: 447.60 m. 2025-01-08T21:32:46.248Z,1736371966.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:46.249Z,1736371966.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760162 2025-01-08T21:32:46.364Z,1736371966.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:46.373Z,1736371966.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:46.376Z,1736371966.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 443.815613 m, bearing: 224.009729 deg, approach rate: -0.161764 m/s, LOS rate: 0.097201 deg/s, cmd heading: 156.755778 deg, new cmd heading: 156.867673 deg. 2025-01-08T21:32:46.378Z,1736371966.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.737857 target range: 447.600006 and range: 447.60 m. 2025-01-08T21:32:46.501Z,1736371966.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:46.505Z,1736371966.505 [DAT](INFO): DAT read: Range 10 to 50 : 450.9 m (Round-trip 601.2 ms) speed -0.6 m/s 2025-01-08T21:32:46.506Z,1736371966.506 [DAT](INFO): DAT read: user:1857> 2025-01-08T21:32:46.506Z,1736371966.506 [DAT](INFO): DAT read: Tx time:21:32:45.8272 2025-01-08T21:32:46.507Z,1736371966.507 [DAT](INFO): Ping request sent. 2025-01-08T21:32:46.507Z,1736371966.507 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:46.507Z,1736371966.507 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:32:46.507Z,1736371966.507 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:46.508Z,1736371966.508 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:46.752Z,1736371966.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:46.753Z,1736371966.753 [DAT](INFO): DAT read: TxSync time:21:32:45.8264 2025-01-08T21:32:46.845Z,1736371966.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:46.855Z,1736371966.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 450.899994 m, deltaT: 4.032376 s, deltaX: 3.299988 m, approachRate: 0.818373 m/s, rangeRepo size: 4 2025-01-08T21:32:46.856Z,1736371966.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:46.858Z,1736371966.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 443.729523 m, bearing: 224.054949 deg, approach rate: -0.178923 m/s, LOS rate: 0.094000 deg/s, cmd heading: 156.867671 deg, new cmd heading: 157.003358 deg. 2025-01-08T21:32:46.859Z,1736371966.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.740226 target range: 447.600006 and range: 450.90 m. 2025-01-08T21:32:47.004Z,1736371967.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:47.256Z,1736371967.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:47.259Z,1736371967.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:47.268Z,1736371967.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:47.270Z,1736371967.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 443.654999 m, bearing: 224.093875 deg, approach rate: -0.180087 m/s, LOS rate: 0.094080 deg/s, cmd heading: 157.003359 deg, new cmd heading: 157.120156 deg. 2025-01-08T21:32:47.272Z,1736371967.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.742264 target range: 447.600006 and range: 450.90 m. 2025-01-08T21:32:47.508Z,1736371967.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:47.670Z,1736371967.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:47.692Z,1736371967.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:47.720Z,1736371967.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:47.745Z,1736371967.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 443.581207 m, bearing: 224.132535 deg, approach rate: -0.165082 m/s, LOS rate: 0.086501 deg/s, cmd heading: 157.120155 deg, new cmd heading: 157.236153 deg. 2025-01-08T21:32:47.746Z,1736371967.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.744289 target range: 447.600006 and range: 450.90 m. 2025-01-08T21:32:47.760Z,1736371967.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:47.760Z,1736371967.760 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:32:47.760Z,1736371967.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:32:47.761Z,1736371967.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:48.012Z,1736371968.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:48.012Z,1736371968.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505654 2025-01-08T21:32:48.098Z,1736371968.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:48.129Z,1736371968.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:48.133Z,1736371968.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 443.488434 m, bearing: 224.170678 deg, approach rate: -0.223865 m/s, LOS rate: 0.092061 deg/s, cmd heading: 157.236159 deg, new cmd heading: 157.350614 deg. 2025-01-08T21:32:48.134Z,1736371968.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.746286 target range: 447.600006 and range: 450.90 m. 2025-01-08T21:32:48.264Z,1736371968.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:48.265Z,1736371968.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758129 2025-01-08T21:32:48.483Z,1736371968.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:48.491Z,1736371968.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:48.494Z,1736371968.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 443.405182 m, bearing: 224.204977 deg, approach rate: -0.230010 m/s, LOS rate: 0.094777 deg/s, cmd heading: 157.350620 deg, new cmd heading: 157.453533 deg. 2025-01-08T21:32:48.495Z,1736371968.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.748083 target range: 447.600006 and range: 450.90 m. 2025-01-08T21:32:48.517Z,1736371968.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:48.519Z,1736371968.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011777 2025-01-08T21:32:48.768Z,1736371968.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:48.769Z,1736371968.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261689 2025-01-08T21:32:48.901Z,1736371968.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:48.910Z,1736371968.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:48.929Z,1736371968.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 443.299469 m, bearing: 224.239425 deg, approach rate: -0.252397 m/s, LOS rate: 0.082268 deg/s, cmd heading: 157.453537 deg, new cmd heading: 157.556907 deg. 2025-01-08T21:32:48.931Z,1736371968.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.749887 target range: 447.600006 and range: 450.90 m. 2025-01-08T21:32:49.020Z,1736371969.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:49.020Z,1736371969.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513631 2025-01-08T21:32:49.272Z,1736371969.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:49.272Z,1736371969.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765491 2025-01-08T21:32:49.343Z,1736371969.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:49.414Z,1736371969.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:49.417Z,1736371969.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 443.198456 m, bearing: 224.272534 deg, approach rate: -0.200771 m/s, LOS rate: 0.065820 deg/s, cmd heading: 157.556905 deg, new cmd heading: 157.656253 deg. 2025-01-08T21:32:49.418Z,1736371969.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.751621 target range: 447.600006 and range: 450.90 m. 2025-01-08T21:32:49.524Z,1736371969.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:49.527Z,1736371969.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019955 2025-01-08T21:32:49.701Z,1736371969.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:49.721Z,1736371969.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:49.750Z,1736371969.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:49.773Z,1736371969.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 443.098602 m, bearing: 224.305350 deg, approach rate: -0.297385 m/s, LOS rate: 0.097756 deg/s, cmd heading: 157.656257 deg, new cmd heading: 157.754728 deg. 2025-01-08T21:32:49.776Z,1736371969.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:49.777Z,1736371969.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269987 2025-01-08T21:32:49.780Z,1736371969.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.753340 target range: 447.600006 and range: 450.90 m. 2025-01-08T21:32:50.028Z,1736371970.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:50.029Z,1736371970.029 [DAT](INFO): DAT read: Rx Time:21:32:48.8353 2025-01-08T21:32:50.030Z,1736371970.030 [DAT](INFO): Rx dataTimestamp_ set to:1736371970.029349 2025-01-08T21:32:50.031Z,1736371970.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524139 2025-01-08T21:32:50.116Z,1736371970.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:50.125Z,1736371970.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.60 m. 2025-01-08T21:32:50.128Z,1736371970.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.600006 m, nav range: 442.978149 m, bearing: 224.336438 deg, approach rate: -0.320063 m/s, LOS rate: 0.082630 deg/s, cmd heading: 157.754735 deg, new cmd heading: 157.848025 deg. 2025-01-08T21:32:50.129Z,1736371970.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.754968 target range: 447.600006 and range: 450.90 m. 2025-01-08T21:32:50.281Z,1736371970.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:50.281Z,1736371970.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774533 2025-01-08T21:32:50.534Z,1736371970.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:50.554Z,1736371970.554 [DAT](INFO): DAT read: 21:32:48.8353 LVL= 25488, 28401, 29378, 32755, AGC= 72, IDX= 453,-0.00,-0.484, 0.888,-1.524,-0.822, PHS= 0.426, 1.757,-0.705, RAW= 357.3, -13.8, CAL= 357.7, -19.1, ROT= 152.3, 19.1 2025-01-08T21:32:50.569Z,1736371970.569 [DAT](INFO): got valid direction response: 21:32:48.8353 LVL= 25488, 28401, 29378, 32755, AGC= 72, IDX= 453,-0.00,-0.484, 0.888,-1.524,-0.822, PHS= 0.426, 1.757,-0.705, RAW= 357.3, -13.8, CAL= 357.7, -19.1, ROT= 152.3, 19.1 2025-01-08T21:32:50.570Z,1736371970.570 [DAT](INFO): DAT read: Bearing 152.3, 19.1 (Local) 2025-01-08T21:32:50.571Z,1736371970.571 [DAT](INFO): Local bearing/azimuth received: Bearing 152.3, 19.1 (Local) 2025-01-08T21:32:50.575Z,1736371970.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:50.582Z,1736371970.582 [DAT](INFO): DAT read: Range 10 to 50 : 453.0 m (Round-trip 604.0 ms) speed -0.6 m/s 2025-01-08T21:32:50.592Z,1736371970.592 [DAT](INFO): DAT read: user:1858> 2025-01-08T21:32:50.592Z,1736371970.592 [DAT](INFO): DAT read: Tx time:21:32:49.9272 2025-01-08T21:32:50.593Z,1736371970.593 [DAT](INFO): Ping request sent. 2025-01-08T21:32:50.593Z,1736371970.593 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:50.593Z,1736371970.593 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:32:50.594Z,1736371970.594 [DAT](INFO): direction in FSK: [0.344910,0.936068,-0.069385] 2025-01-08T21:32:50.594Z,1736371970.594 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:50.594Z,1736371970.594 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:50.614Z,1736371970.614 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:50.614Z,1736371970.614 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:50.664Z,1736371970.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 453.000000 m, deltaT: 4.032447 s, deltaX: 2.100006 m, approachRate: 0.520777 m/s, rangeRepo size: 4 2025-01-08T21:32:50.673Z,1736371970.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 453.000000 m, bearing: 227.714395 deg, lat: 36.899369 deg, lon: -122.118382 deg, deltaT: 8.064823 s, deltaX: 5.399994 m, approachRate: 0.669574 m/s, posRepo size: 4 2025-01-08T21:32:50.675Z,1736371970.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T21:32:50.686Z,1736371970.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 440.253174 m, bearing: 225.131732 deg, approach rate: 0.000000 m/s, LOS rate: 0.082630 deg/s, cmd heading: 157.848021 deg, new cmd heading: 157.979766 deg. 2025-01-08T21:32:50.695Z,1736371970.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.757267 target range: 453.000000 and range: 453.00 m. 2025-01-08T21:32:50.784Z,1736371970.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:50.785Z,1736371970.785 [DAT](INFO): DAT read: TxSync time:21:32:49.9264 2025-01-08T21:32:51.036Z,1736371971.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:51.110Z,1736371971.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:51.132Z,1736371971.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T21:32:51.134Z,1736371971.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 440.089569 m, bearing: 225.170020 deg, approach rate: -0.347733 m/s, LOS rate: 0.081410 deg/s, cmd heading: 157.979762 deg, new cmd heading: 158.094669 deg. 2025-01-08T21:32:51.144Z,1736371971.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.759273 target range: 453.000000 and range: 453.00 m. 2025-01-08T21:32:51.288Z,1736371971.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:51.427Z,1736371971.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:51.437Z,1736371971.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T21:32:51.440Z,1736371971.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 439.992798 m, bearing: 225.192740 deg, approach rate: -0.312625 m/s, LOS rate: 0.073415 deg/s, cmd heading: 158.094673 deg, new cmd heading: 158.162848 deg. 2025-01-08T21:32:51.441Z,1736371971.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.760463 target range: 453.000000 and range: 453.00 m. 2025-01-08T21:32:51.540Z,1736371971.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:51.793Z,1736371971.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:51.861Z,1736371971.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:51.868Z,1736371971.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:51.870Z,1736371971.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T21:32:51.873Z,1736371971.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 439.855835 m, bearing: 225.223401 deg, approach rate: -0.316144 m/s, LOS rate: 0.070794 deg/s, cmd heading: 158.162852 deg, new cmd heading: 158.254863 deg. 2025-01-08T21:32:51.874Z,1736371971.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.762069 target range: 453.000000 and range: 453.00 m. 2025-01-08T21:32:52.044Z,1736371972.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:52.044Z,1736371972.044 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:32:52.044Z,1736371972.044 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:32:52.045Z,1736371972.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:52.250Z,1736371972.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:52.259Z,1736371972.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T21:32:52.262Z,1736371972.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 439.733490 m, bearing: 225.251021 deg, approach rate: -0.314796 m/s, LOS rate: 0.071088 deg/s, cmd heading: 158.254868 deg, new cmd heading: 158.337753 deg. 2025-01-08T21:32:52.263Z,1736371972.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.763515 target range: 453.000000 and range: 453.00 m. 2025-01-08T21:32:52.296Z,1736371972.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:52.297Z,1736371972.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704538 2025-01-08T21:32:52.548Z,1736371972.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:52.548Z,1736371972.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955561 2025-01-08T21:32:52.648Z,1736371972.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:52.662Z,1736371972.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T21:32:52.666Z,1736371972.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 439.609375 m, bearing: 225.279216 deg, approach rate: -0.308279 m/s, LOS rate: 0.070051 deg/s, cmd heading: 158.337746 deg, new cmd heading: 158.422354 deg. 2025-01-08T21:32:52.668Z,1736371972.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.764992 target range: 453.000000 and range: 453.00 m. 2025-01-08T21:32:52.802Z,1736371972.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:52.804Z,1736371972.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210846 2025-01-08T21:32:53.052Z,1736371973.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:53.052Z,1736371973.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459430 2025-01-08T21:32:53.094Z,1736371973.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:53.104Z,1736371973.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T21:32:53.106Z,1736371973.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 439.471558 m, bearing: 225.311227 deg, approach rate: -0.311712 m/s, LOS rate: 0.072424 deg/s, cmd heading: 158.422358 deg, new cmd heading: 158.518420 deg. 2025-01-08T21:32:53.107Z,1736371973.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.766668 target range: 453.000000 and range: 453.00 m. 2025-01-08T21:32:53.307Z,1736371973.307 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:53.308Z,1736371973.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715150 2025-01-08T21:32:53.474Z,1736371973.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:53.484Z,1736371973.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T21:32:53.486Z,1736371973.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 439.354156 m, bearing: 225.338511 deg, approach rate: -0.308562 m/s, LOS rate: 0.071729 deg/s, cmd heading: 158.518418 deg, new cmd heading: 158.600292 deg. 2025-01-08T21:32:53.488Z,1736371973.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.768097 target range: 453.000000 and range: 453.00 m. 2025-01-08T21:32:53.556Z,1736371973.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:53.556Z,1736371973.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963626 2025-01-08T21:32:53.809Z,1736371973.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:53.812Z,1736371973.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218130 2025-01-08T21:32:53.889Z,1736371973.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:53.898Z,1736371973.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:53.920Z,1736371973.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T21:32:53.923Z,1736371973.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 439.234619 m, bearing: 225.369669 deg, approach rate: -0.274154 m/s, LOS rate: 0.071479 deg/s, cmd heading: 158.600298 deg, new cmd heading: 158.693798 deg. 2025-01-08T21:32:53.924Z,1736371973.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.769729 target range: 453.000000 and range: 453.00 m. 2025-01-08T21:32:54.060Z,1736371974.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:54.060Z,1736371974.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467614 2025-01-08T21:32:54.265Z,1736371974.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:54.273Z,1736371974.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T21:32:54.276Z,1736371974.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 439.126282 m, bearing: 225.397847 deg, approach rate: -0.306639 m/s, LOS rate: 0.079773 deg/s, cmd heading: 158.693804 deg, new cmd heading: 158.778357 deg. 2025-01-08T21:32:54.277Z,1736371974.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.771205 target range: 453.000000 and range: 453.00 m. 2025-01-08T21:32:54.312Z,1736371974.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:54.314Z,1736371974.314 [DAT](INFO): DAT read: Rx Time:21:32:52.9389 2025-01-08T21:32:54.314Z,1736371974.314 [DAT](INFO): Rx dataTimestamp_ set to:1736371974.313808 2025-01-08T21:32:54.315Z,1736371974.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722073 2025-01-08T21:32:54.565Z,1736371974.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:54.565Z,1736371974.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.972614 2025-01-08T21:32:54.692Z,1736371974.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:54.701Z,1736371974.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T21:32:54.704Z,1736371974.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 439.002563 m, bearing: 225.429938 deg, approach rate: -0.289339 m/s, LOS rate: 0.075073 deg/s, cmd heading: 158.778361 deg, new cmd heading: 158.874663 deg. 2025-01-08T21:32:54.705Z,1736371974.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.772886 target range: 453.000000 and range: 453.00 m. 2025-01-08T21:32:54.818Z,1736371974.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:54.837Z,1736371974.837 [DAT](INFO): DAT read: 21:32:52.9389 LVL= 28624, 32417, 27442, 32755, AGC= 70, IDX= 457, 0.04,-1.542,-0.312,-2.632,-1.967, PHS= 0.513, 1.702,-0.668, RAW= 359.9, -14.9, CAL= 0.3, -20.9, ROT= 149.7, 20.9 2025-01-08T21:32:54.838Z,1736371974.838 [DAT](INFO): got valid direction response: 21:32:52.9389 LVL= 28624, 32417, 27442, 32755, AGC= 70, IDX= 457, 0.04,-1.542,-0.312,-2.632,-1.967, PHS= 0.513, 1.702,-0.668, RAW= 359.9, -14.9, CAL= 0.3, -20.9, ROT= 149.7, 20.9 2025-01-08T21:32:54.839Z,1736371974.839 [DAT](INFO): DAT read: Bearing 149.7, 20.9 (Local) 2025-01-08T21:32:54.839Z,1736371974.839 [DAT](INFO): Local bearing/azimuth received: Bearing 149.7, 20.9 (Local) 2025-01-08T21:32:54.841Z,1736371974.841 [DAT](INFO): DAT read: Range 10 to 50 : 455.6 m (Round-trip 607.5 ms) speed -0.1 m/s 2025-01-08T21:32:54.842Z,1736371974.842 [DAT](INFO): DAT read: user:1859> 2025-01-08T21:32:54.843Z,1736371974.843 [DAT](INFO): DAT read: Tx time:21:32:54.0273 2025-01-08T21:32:54.843Z,1736371974.843 [DAT](INFO): Ping request sent. 2025-01-08T21:32:54.843Z,1736371974.843 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:54.844Z,1736371974.844 [DAT](INFO): DAT read: TxSync time:21:32:54.0265 2025-01-08T21:32:54.844Z,1736371974.844 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:32:54.845Z,1736371974.845 [DAT](INFO): direction in FSK: [0.360888,0.932275,-0.024970] 2025-01-08T21:32:54.846Z,1736371974.846 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:54.846Z,1736371974.846 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:54.858Z,1736371974.858 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:54.859Z,1736371974.859 [DAT](INFO): publishing direction and range info 2025-01-08T21:32:55.068Z,1736371975.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:55.130Z,1736371975.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:55.145Z,1736371975.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 455.600006 m, deltaT: 4.284384 s, deltaX: 2.600006 m, approachRate: 0.606856 m/s, rangeRepo size: 4 2025-01-08T21:32:55.164Z,1736371975.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 455.600006 m, bearing: 226.758243 deg, lat: 36.899369 deg, lon: -122.118504 deg, deltaT: 4.284384 s, deltaX: 2.600006 m, approachRate: 0.606856 m/s, posRepo size: 4 2025-01-08T21:32:55.165Z,1736371975.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:55.172Z,1736371975.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 446.666077 m, bearing: 226.437961 deg, approach rate: 0.000000 m/s, LOS rate: 0.075073 deg/s, cmd heading: 158.874667 deg, new cmd heading: 158.974579 deg. 2025-01-08T21:32:55.173Z,1736371975.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.774630 target range: 455.600006 and range: 455.60 m. 2025-01-08T21:32:55.322Z,1736371975.322 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:55.515Z,1736371975.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:55.557Z,1736371975.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:55.564Z,1736371975.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 446.567841 m, bearing: 226.467809 deg, approach rate: -0.238270 m/s, LOS rate: 0.072411 deg/s, cmd heading: 158.974579 deg, new cmd heading: 159.064142 deg. 2025-01-08T21:32:55.565Z,1736371975.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.776193 target range: 455.600006 and range: 455.60 m. 2025-01-08T21:32:55.572Z,1736371975.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:55.828Z,1736371975.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:55.920Z,1736371975.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:55.927Z,1736371975.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:55.929Z,1736371975.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:55.933Z,1736371975.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 446.481262 m, bearing: 226.500838 deg, approach rate: -0.232406 m/s, LOS rate: 0.088678 deg/s, cmd heading: 159.064136 deg, new cmd heading: 159.163242 deg. 2025-01-08T21:32:55.934Z,1736371975.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.777923 target range: 455.600006 and range: 455.60 m. 2025-01-08T21:32:56.076Z,1736371976.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:56.076Z,1736371976.076 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:32:56.076Z,1736371976.076 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:32:56.077Z,1736371976.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:32:56.301Z,1736371976.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:56.309Z,1736371976.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:56.328Z,1736371976.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:56.328Z,1736371976.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485056 2025-01-08T21:32:56.331Z,1736371976.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 446.399689 m, bearing: 226.531777 deg, approach rate: -0.214635 m/s, LOS rate: 0.081423 deg/s, cmd heading: 159.163243 deg, new cmd heading: 159.256078 deg. 2025-01-08T21:32:56.332Z,1736371976.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779543 target range: 455.600006 and range: 455.60 m. 2025-01-08T21:32:56.582Z,1736371976.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:56.583Z,1736371976.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739426 2025-01-08T21:32:56.713Z,1736371976.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:56.747Z,1736371976.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:56.751Z,1736371976.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 446.310791 m, bearing: 226.565274 deg, approach rate: -0.203354 m/s, LOS rate: 0.076639 deg/s, cmd heading: 159.256078 deg, new cmd heading: 159.356588 deg. 2025-01-08T21:32:56.752Z,1736371976.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781297 target range: 455.600006 and range: 455.60 m. 2025-01-08T21:32:56.838Z,1736371976.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:56.841Z,1736371976.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997307 2025-01-08T21:32:57.088Z,1736371977.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:57.088Z,1736371977.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245055 2025-01-08T21:32:57.156Z,1736371977.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:57.165Z,1736371977.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:57.168Z,1736371977.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 446.227844 m, bearing: 226.603775 deg, approach rate: -0.198176 m/s, LOS rate: 0.092003 deg/s, cmd heading: 159.356592 deg, new cmd heading: 159.472115 deg. 2025-01-08T21:32:57.169Z,1736371977.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.783314 target range: 455.600006 and range: 455.60 m. 2025-01-08T21:32:57.340Z,1736371977.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:57.340Z,1736371977.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496922 2025-01-08T21:32:57.518Z,1736371977.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:57.527Z,1736371977.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:57.531Z,1736371977.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 446.159180 m, bearing: 226.635260 deg, approach rate: -0.189807 m/s, LOS rate: 0.087048 deg/s, cmd heading: 159.472117 deg, new cmd heading: 159.566589 deg. 2025-01-08T21:32:57.532Z,1736371977.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.784962 target range: 455.600006 and range: 455.60 m. 2025-01-08T21:32:57.592Z,1736371977.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:57.593Z,1736371977.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749917 2025-01-08T21:32:57.846Z,1736371977.846 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:57.849Z,1736371977.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004958 2025-01-08T21:32:57.943Z,1736371977.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:57.950Z,1736371977.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:57.968Z,1736371977.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:57.971Z,1736371977.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 446.089508 m, bearing: 226.673683 deg, approach rate: -0.157816 m/s, LOS rate: 0.087046 deg/s, cmd heading: 159.566593 deg, new cmd heading: 159.681878 deg. 2025-01-08T21:32:57.976Z,1736371977.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.786974 target range: 455.600006 and range: 455.60 m. 2025-01-08T21:32:58.096Z,1736371978.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:58.097Z,1736371978.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253490 2025-01-08T21:32:58.323Z,1736371978.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:58.348Z,1736371978.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:58.349Z,1736371978.349 [DAT](INFO): DAT read: Rx Time:21:32:57.0286 2025-01-08T21:32:58.349Z,1736371978.349 [DAT](INFO): Rx dataTimestamp_ set to:1736371978.348829 2025-01-08T21:32:58.350Z,1736371978.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506261 2025-01-08T21:32:58.354Z,1736371978.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:58.361Z,1736371978.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 446.025909 m, bearing: 226.708138 deg, approach rate: -0.164689 m/s, LOS rate: 0.089234 deg/s, cmd heading: 159.681872 deg, new cmd heading: 159.785252 deg. 2025-01-08T21:32:58.362Z,1736371978.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.788779 target range: 455.600006 and range: 455.60 m. 2025-01-08T21:32:58.600Z,1736371978.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:58.600Z,1736371978.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757063 2025-01-08T21:32:58.740Z,1736371978.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:58.749Z,1736371978.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:58.756Z,1736371978.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.954987 m, bearing: 226.745851 deg, approach rate: -0.179978 m/s, LOS rate: 0.095717 deg/s, cmd heading: 159.785254 deg, new cmd heading: 159.898410 deg. 2025-01-08T21:32:58.757Z,1736371978.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.790754 target range: 455.600006 and range: 455.60 m. 2025-01-08T21:32:58.854Z,1736371978.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:58.859Z,1736371978.859 [DAT](INFO): DAT read: Range 10 to 50 : 447.8 m (Round-trip 597.1 ms) speed -0.1 m/s 2025-01-08T21:32:58.862Z,1736371978.862 [DAT](INFO): DAT read: user:1860> 2025-01-08T21:32:58.865Z,1736371978.865 [DAT](INFO): DAT read: Tx time:21:32:58.1273 2025-01-08T21:32:58.866Z,1736371978.866 [DAT](INFO): Ping request sent. 2025-01-08T21:32:58.867Z,1736371978.867 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:32:58.868Z,1736371978.868 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:32:58.869Z,1736371978.869 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:58.871Z,1736371978.871 [DAT](INFO): publishing transmit ping time 2025-01-08T21:32:58.873Z,1736371978.873 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:32:59.104Z,1736371979.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:59.104Z,1736371979.104 [DAT](INFO): DAT read: TxSync time:21:32:58.1265 2025-01-08T21:32:59.177Z,1736371979.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:59.187Z,1736371979.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 447.799988 m, deltaT: 4.035933 s, deltaX: -7.800018 m, approachRate: -1.932643 m/s, rangeRepo size: 4 2025-01-08T21:32:59.188Z,1736371979.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:59.190Z,1736371979.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.884705 m, bearing: 226.786037 deg, approach rate: -0.160630 m/s, LOS rate: 0.091860 deg/s, cmd heading: 159.898417 deg, new cmd heading: 160.018993 deg. 2025-01-08T21:32:59.208Z,1736371979.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.792858 target range: 455.600006 and range: 447.80 m. 2025-01-08T21:32:59.356Z,1736371979.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:59.548Z,1736371979.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:59.557Z,1736371979.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:59.560Z,1736371979.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.822327 m, bearing: 226.820209 deg, approach rate: -0.168136 m/s, LOS rate: 0.092122 deg/s, cmd heading: 160.018997 deg, new cmd heading: 160.121527 deg. 2025-01-08T21:32:59.561Z,1736371979.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.794648 target range: 455.600006 and range: 447.80 m. 2025-01-08T21:32:59.608Z,1736371979.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:59.862Z,1736371979.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:32:59.878Z,1736371979.878 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:32:59.971Z,1736371979.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:32:59.978Z,1736371979.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:32:59.981Z,1736371979.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:32:59.983Z,1736371979.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.753662 m, bearing: 226.858915 deg, approach rate: -0.162427 m/s, LOS rate: 0.091573 deg/s, cmd heading: 160.121532 deg, new cmd heading: 160.237667 deg. 2025-01-08T21:32:59.984Z,1736371979.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796675 target range: 455.600006 and range: 447.80 m. 2025-01-08T21:33:00.113Z,1736371980.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:00.114Z,1736371980.114 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:00.114Z,1736371980.114 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:00.114Z,1736371980.114 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:00.339Z,1736371980.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:00.349Z,1736371980.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:00.352Z,1736371980.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.692017 m, bearing: 226.892640 deg, approach rate: -0.166994 m/s, LOS rate: 0.091373 deg/s, cmd heading: 160.237672 deg, new cmd heading: 160.338862 deg. 2025-01-08T21:33:00.353Z,1736371980.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798441 target range: 455.600006 and range: 447.80 m. 2025-01-08T21:33:00.364Z,1736371980.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:00.365Z,1736371980.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499060 2025-01-08T21:33:00.616Z,1736371980.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:00.616Z,1736371980.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750274 2025-01-08T21:33:00.763Z,1736371980.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:00.788Z,1736371980.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:00.791Z,1736371980.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.620026 m, bearing: 226.931412 deg, approach rate: -0.170364 m/s, LOS rate: 0.091767 deg/s, cmd heading: 160.338868 deg, new cmd heading: 160.455202 deg. 2025-01-08T21:33:00.792Z,1736371980.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.800472 target range: 455.600006 and range: 447.80 m. 2025-01-08T21:33:00.871Z,1736371980.871 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:00.874Z,1736371980.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007211 2025-01-08T21:33:01.120Z,1736371981.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:01.120Z,1736371981.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254248 2025-01-08T21:33:01.199Z,1736371981.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:01.208Z,1736371981.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:01.210Z,1736371981.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.549255 m, bearing: 226.970288 deg, approach rate: -0.162320 m/s, LOS rate: 0.089181 deg/s, cmd heading: 160.455200 deg, new cmd heading: 160.571847 deg. 2025-01-08T21:33:01.212Z,1736371981.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802507 target range: 455.600006 and range: 447.80 m. 2025-01-08T21:33:01.372Z,1736371981.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:01.372Z,1736371981.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506334 2025-01-08T21:33:01.560Z,1736371981.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:01.591Z,1736371981.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:01.599Z,1736371981.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.490540 m, bearing: 227.002443 deg, approach rate: -0.153203 m/s, LOS rate: 0.083912 deg/s, cmd heading: 160.571846 deg, new cmd heading: 160.668325 deg. 2025-01-08T21:33:01.616Z,1736371981.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804191 target range: 455.600006 and range: 447.80 m. 2025-01-08T21:33:01.624Z,1736371981.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:01.625Z,1736371981.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758604 2025-01-08T21:33:01.876Z,1736371981.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:01.877Z,1736371981.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010916 2025-01-08T21:33:02.006Z,1736371982.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:02.013Z,1736371982.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:02.016Z,1736371982.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:02.018Z,1736371982.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.409210 m, bearing: 227.041143 deg, approach rate: -0.191575 m/s, LOS rate: 0.091175 deg/s, cmd heading: 160.668329 deg, new cmd heading: 160.784449 deg. 2025-01-08T21:33:02.035Z,1736371982.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806218 target range: 455.600006 and range: 447.80 m. 2025-01-08T21:33:02.128Z,1736371982.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:02.129Z,1736371982.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263256 2025-01-08T21:33:02.381Z,1736371982.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:02.381Z,1736371982.381 [DAT](INFO): DAT read: Rx Time:21:33:01.1314 2025-01-08T21:33:02.382Z,1736371982.382 [DAT](INFO): Rx dataTimestamp_ set to:1736371982.381579 2025-01-08T21:33:02.382Z,1736371982.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516359 2025-01-08T21:33:02.383Z,1736371982.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:02.392Z,1736371982.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:02.394Z,1736371982.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.340515 m, bearing: 227.073869 deg, approach rate: -0.182421 m/s, LOS rate: 0.086918 deg/s, cmd heading: 160.784443 deg, new cmd heading: 160.882636 deg. 2025-01-08T21:33:02.396Z,1736371982.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.807932 target range: 455.600006 and range: 447.80 m. 2025-01-08T21:33:02.632Z,1736371982.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:02.633Z,1736371982.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766481 2025-01-08T21:33:02.803Z,1736371982.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:02.811Z,1736371982.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:02.814Z,1736371982.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.264557 m, bearing: 227.110281 deg, approach rate: -0.181136 m/s, LOS rate: 0.086846 deg/s, cmd heading: 160.882633 deg, new cmd heading: 160.991888 deg. 2025-01-08T21:33:02.815Z,1736371982.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.809839 target range: 455.600006 and range: 447.80 m. 2025-01-08T21:33:02.890Z,1736371982.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:02.897Z,1736371982.897 [DAT](INFO): DAT read: Range 10 to 50 : 450.0 m (Round-trip 600.0 ms) speed -0.4 m/s 2025-01-08T21:33:02.901Z,1736371982.901 [DAT](INFO): DAT read: user:1861> 2025-01-08T21:33:02.903Z,1736371982.903 [DAT](INFO): DAT read: Tx time:21:33:02.2273 2025-01-08T21:33:02.908Z,1736371982.908 [DAT](INFO): Ping request sent. 2025-01-08T21:33:02.909Z,1736371982.909 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:02.910Z,1736371982.910 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:33:02.910Z,1736371982.910 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:02.937Z,1736371982.937 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:03.136Z,1736371983.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:03.137Z,1736371983.137 [DAT](INFO): DAT read: TxSync time:21:33:02.2265 2025-01-08T21:33:03.232Z,1736371983.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:03.241Z,1736371983.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 450.000000 m, deltaT: 4.038061 s, deltaX: 2.200012 m, approachRate: 0.544819 m/s, rangeRepo size: 4 2025-01-08T21:33:03.242Z,1736371983.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:03.262Z,1736371983.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.177490 m, bearing: 227.146006 deg, approach rate: -0.202885 m/s, LOS rate: 0.083264 deg/s, cmd heading: 160.991889 deg, new cmd heading: 161.099085 deg. 2025-01-08T21:33:03.268Z,1736371983.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.811709 target range: 455.600006 and range: 450.00 m. 2025-01-08T21:33:03.388Z,1736371983.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:03.614Z,1736371983.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:03.636Z,1736371983.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:03.639Z,1736371983.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 445.100433 m, bearing: 227.177718 deg, approach rate: -0.194715 m/s, LOS rate: 0.080145 deg/s, cmd heading: 161.099082 deg, new cmd heading: 161.194233 deg. 2025-01-08T21:33:03.640Z,1736371983.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:03.641Z,1736371983.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.813370 target range: 455.600006 and range: 450.00 m. 2025-01-08T21:33:03.893Z,1736371983.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:04.032Z,1736371984.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:04.038Z,1736371984.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:04.041Z,1736371984.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:04.059Z,1736371984.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 444.997253 m, bearing: 227.211121 deg, approach rate: -0.255141 m/s, LOS rate: 0.082618 deg/s, cmd heading: 161.194227 deg, new cmd heading: 161.294459 deg. 2025-01-08T21:33:04.060Z,1736371984.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.815119 target range: 455.600006 and range: 450.00 m. 2025-01-08T21:33:04.145Z,1736371984.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:04.145Z,1736371984.145 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:04.146Z,1736371984.146 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:04.146Z,1736371984.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:04.396Z,1736371984.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:04.397Z,1736371984.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487863 2025-01-08T21:33:04.433Z,1736371984.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:04.442Z,1736371984.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:04.445Z,1736371984.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 444.897369 m, bearing: 227.243062 deg, approach rate: -0.248755 m/s, LOS rate: 0.079565 deg/s, cmd heading: 161.294453 deg, new cmd heading: 161.390297 deg. 2025-01-08T21:33:04.446Z,1736371984.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816792 target range: 455.600006 and range: 450.00 m. 2025-01-08T21:33:04.648Z,1736371984.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:04.650Z,1736371984.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741014 2025-01-08T21:33:04.826Z,1736371984.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:04.835Z,1736371984.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:04.838Z,1736371984.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 444.799744 m, bearing: 227.274330 deg, approach rate: -0.248634 m/s, LOS rate: 0.079651 deg/s, cmd heading: 161.390294 deg, new cmd heading: 161.484118 deg. 2025-01-08T21:33:04.839Z,1736371984.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.818429 target range: 455.600006 and range: 450.00 m. 2025-01-08T21:33:04.902Z,1736371984.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:04.902Z,1736371984.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993964 2025-01-08T21:33:05.152Z,1736371985.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:05.152Z,1736371985.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243869 2025-01-08T21:33:05.242Z,1736371985.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:05.252Z,1736371985.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:05.255Z,1736371985.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 444.685852 m, bearing: 227.306869 deg, approach rate: -0.273423 m/s, LOS rate: 0.078139 deg/s, cmd heading: 161.484113 deg, new cmd heading: 161.581758 deg. 2025-01-08T21:33:05.256Z,1736371985.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.820134 target range: 455.600006 and range: 450.00 m. 2025-01-08T21:33:05.404Z,1736371985.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:05.405Z,1736371985.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496161 2025-01-08T21:33:05.625Z,1736371985.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:05.634Z,1736371985.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:05.637Z,1736371985.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 444.581055 m, bearing: 227.336874 deg, approach rate: -0.273646 m/s, LOS rate: 0.078366 deg/s, cmd heading: 161.581758 deg, new cmd heading: 161.671793 deg. 2025-01-08T21:33:05.638Z,1736371985.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.821705 target range: 455.600006 and range: 450.00 m. 2025-01-08T21:33:05.658Z,1736371985.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:05.660Z,1736371985.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750348 2025-01-08T21:33:05.908Z,1736371985.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:05.908Z,1736371985.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999820 2025-01-08T21:33:06.086Z,1736371986.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:06.093Z,1736371986.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:06.095Z,1736371986.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:06.099Z,1736371986.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 444.446014 m, bearing: 227.372034 deg, approach rate: -0.293078 m/s, LOS rate: 0.076332 deg/s, cmd heading: 161.671793 deg, new cmd heading: 161.777306 deg. 2025-01-08T21:33:06.102Z,1736371986.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.823547 target range: 455.600006 and range: 450.00 m. 2025-01-08T21:33:06.164Z,1736371986.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:06.165Z,1736371986.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256733 2025-01-08T21:33:06.416Z,1736371986.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:06.416Z,1736371986.416 [DAT](INFO): DAT read: Rx Time:21:33:05.2347 2025-01-08T21:33:06.417Z,1736371986.417 [DAT](INFO): Rx dataTimestamp_ set to:1736371986.416524 2025-01-08T21:33:06.417Z,1736371986.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508824 2025-01-08T21:33:06.457Z,1736371986.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:06.474Z,1736371986.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:06.481Z,1736371986.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 444.338440 m, bearing: 227.400338 deg, approach rate: -0.284122 m/s, LOS rate: 0.074773 deg/s, cmd heading: 161.777306 deg, new cmd heading: 161.862238 deg. 2025-01-08T21:33:06.482Z,1736371986.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.825029 target range: 455.600006 and range: 450.00 m. 2025-01-08T21:33:06.668Z,1736371986.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:06.669Z,1736371986.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760823 2025-01-08T21:33:06.853Z,1736371986.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:06.877Z,1736371986.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.60 m. 2025-01-08T21:33:06.895Z,1736371986.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.600006 m, nav range: 444.223969 m, bearing: 227.430638 deg, approach rate: -0.283606 m/s, LOS rate: 0.075088 deg/s, cmd heading: 161.862233 deg, new cmd heading: 161.953156 deg. 2025-01-08T21:33:06.903Z,1736371986.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.826616 target range: 455.600006 and range: 450.00 m. 2025-01-08T21:33:06.922Z,1736371986.922 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:06.941Z,1736371986.941 [DAT](INFO): DAT read: 21:33:05.2348 LVL= 24288, 31329, 25746, 32755, AGC= 68, IDX= 465,-0.00, 3.095,-2.068, 2.013, 2.564, PHS= 0.620, 1.698,-0.554, RAW= 1.4, -17.7, CAL= 3.4, -25.3, ROT= 146.6, 25.3 2025-01-08T21:33:06.948Z,1736371986.948 [DAT](INFO): got valid direction response: 21:33:05.2348 LVL= 24288, 31329, 25746, 32755, AGC= 68, IDX= 465,-0.00, 3.095,-2.068, 2.013, 2.564, PHS= 0.620, 1.698,-0.554, RAW= 1.4, -17.7, CAL= 3.4, -25.3, ROT= 146.6, 25.3 2025-01-08T21:33:06.968Z,1736371986.968 [DAT](INFO): DAT read: Bearing 146.6, 25.3 (Local) 2025-01-08T21:33:06.969Z,1736371986.969 [DAT](INFO): Local bearing/azimuth received: Bearing 146.6, 25.3 (Local) 2025-01-08T21:33:06.982Z,1736371986.982 [DAT](INFO): DAT read: Range 10 to 50 : 452.4 m (Round-trip 603.3 ms) speed -0.7 m/s 2025-01-08T21:33:06.993Z,1736371986.993 [DAT](INFO): DAT read: user:1862> 2025-01-08T21:33:07.016Z,1736371987.016 [DAT](INFO): DAT read: Tx time:21:33:06.3274 2025-01-08T21:33:07.016Z,1736371987.016 [DAT](INFO): Ping request sent. 2025-01-08T21:33:07.016Z,1736371987.016 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:07.017Z,1736371987.017 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:33:07.018Z,1736371987.018 [DAT](INFO): direction in FSK: [0.406128,0.913809,0.003707] 2025-01-08T21:33:07.018Z,1736371987.018 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:07.018Z,1736371987.018 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:07.050Z,1736371987.050 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:07.050Z,1736371987.050 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:07.172Z,1736371987.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:07.173Z,1736371987.173 [DAT](INFO): DAT read: TxSync time:21:33:06.3266 2025-01-08T21:33:07.344Z,1736371987.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:07.376Z,1736371987.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 452.399994 m, deltaT: 4.030205 s, deltaX: 2.399994 m, approachRate: 0.595502 m/s, rangeRepo size: 4 2025-01-08T21:33:07.378Z,1736371987.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 452.399994 m, bearing: 227.669672 deg, lat: 36.899350 deg, lon: -122.118556 deg, deltaT: 12.104199 s, deltaX: -3.200012 m, approachRate: -0.264372 m/s, posRepo size: 4 2025-01-08T21:33:07.378Z,1736371987.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:07.382Z,1736371987.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 448.872833 m, bearing: 227.671302 deg, approach rate: 0.000000 m/s, LOS rate: 0.075088 deg/s, cmd heading: 161.953156 deg, new cmd heading: 162.061566 deg. 2025-01-08T21:33:07.387Z,1736371987.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.828508 target range: 452.399994 and range: 452.40 m. 2025-01-08T21:33:07.424Z,1736371987.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:07.676Z,1736371987.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:07.723Z,1736371987.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:07.732Z,1736371987.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:07.735Z,1736371987.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 448.758026 m, bearing: 227.699977 deg, approach rate: -0.306946 m/s, LOS rate: 0.076684 deg/s, cmd heading: 162.061565 deg, new cmd heading: 162.147612 deg. 2025-01-08T21:33:07.736Z,1736371987.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.830010 target range: 452.399994 and range: 452.40 m. 2025-01-08T21:33:07.929Z,1736371987.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:08.134Z,1736371988.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:08.157Z,1736371988.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:08.159Z,1736371988.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:08.166Z,1736371988.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 448.626068 m, bearing: 227.730870 deg, approach rate: -0.309631 m/s, LOS rate: 0.072511 deg/s, cmd heading: 162.147612 deg, new cmd heading: 162.240320 deg. 2025-01-08T21:33:08.172Z,1736371988.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831628 target range: 452.399994 and range: 452.40 m. 2025-01-08T21:33:08.181Z,1736371988.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:08.181Z,1736371988.181 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:08.181Z,1736371988.181 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:08.181Z,1736371988.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:08.432Z,1736371988.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:08.433Z,1736371988.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.415998 2025-01-08T21:33:08.528Z,1736371988.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:08.538Z,1736371988.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:08.541Z,1736371988.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 448.499512 m, bearing: 227.760563 deg, approach rate: -0.333840 m/s, LOS rate: 0.078348 deg/s, cmd heading: 162.240325 deg, new cmd heading: 162.329428 deg. 2025-01-08T21:33:08.542Z,1736371988.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833183 target range: 452.399994 and range: 452.40 m. 2025-01-08T21:33:08.684Z,1736371988.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:08.685Z,1736371988.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.668446 2025-01-08T21:33:08.924Z,1736371988.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:08.934Z,1736371988.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:08.936Z,1736371988.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:08.937Z,1736371988.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.920224 2025-01-08T21:33:08.939Z,1736371988.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 448.373383 m, bearing: 227.790391 deg, approach rate: -0.318282 m/s, LOS rate: 0.075292 deg/s, cmd heading: 162.329431 deg, new cmd heading: 162.418942 deg. 2025-01-08T21:33:08.941Z,1736371988.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834745 target range: 452.399994 and range: 452.40 m. 2025-01-08T21:33:09.189Z,1736371989.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:09.190Z,1736371989.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.173640 2025-01-08T21:33:09.354Z,1736371989.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:09.364Z,1736371989.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:09.366Z,1736371989.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 448.239197 m, bearing: 227.823893 deg, approach rate: -0.312815 m/s, LOS rate: 0.078121 deg/s, cmd heading: 162.418948 deg, new cmd heading: 162.519481 deg. 2025-01-08T21:33:09.368Z,1736371989.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836500 target range: 452.399994 and range: 452.40 m. 2025-01-08T21:33:09.441Z,1736371989.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:09.442Z,1736371989.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.425251 2025-01-08T21:33:09.692Z,1736371989.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:09.692Z,1736371989.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.675792 2025-01-08T21:33:09.752Z,1736371989.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:09.760Z,1736371989.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:09.762Z,1736371989.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 448.116058 m, bearing: 227.854815 deg, approach rate: -0.310256 m/s, LOS rate: 0.077932 deg/s, cmd heading: 162.519475 deg, new cmd heading: 162.612267 deg. 2025-01-08T21:33:09.764Z,1736371989.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838120 target range: 452.399994 and range: 452.40 m. 2025-01-08T21:33:09.944Z,1736371989.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:09.945Z,1736371989.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.927993 2025-01-08T21:33:10.154Z,1736371990.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:10.185Z,1736371990.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:10.194Z,1736371990.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:10.197Z,1736371990.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:10.198Z,1736371990.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.181562 2025-01-08T21:33:10.201Z,1736371990.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 447.993164 m, bearing: 227.886629 deg, approach rate: -0.283259 m/s, LOS rate: 0.073349 deg/s, cmd heading: 162.612269 deg, new cmd heading: 162.707739 deg. 2025-01-08T21:33:10.202Z,1736371990.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839786 target range: 452.399994 and range: 452.40 m. 2025-01-08T21:33:10.448Z,1736371990.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:10.449Z,1736371990.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.432008 2025-01-08T21:33:10.541Z,1736371990.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:10.552Z,1736371990.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:10.555Z,1736371990.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 447.874451 m, bearing: 227.917241 deg, approach rate: -0.331179 m/s, LOS rate: 0.085420 deg/s, cmd heading: 162.707742 deg, new cmd heading: 162.799600 deg. 2025-01-08T21:33:10.557Z,1736371990.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841389 target range: 452.399994 and range: 452.40 m. 2025-01-08T21:33:10.700Z,1736371990.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:10.701Z,1736371990.701 [DAT](INFO): DAT read: Rx Time:21:33:09.3385 2025-01-08T21:33:10.701Z,1736371990.701 [DAT](INFO): Rx dataTimestamp_ set to:1736371990.700822 2025-01-08T21:33:10.702Z,1736371990.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.685122 2025-01-08T21:33:10.952Z,1736371990.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:10.954Z,1736371990.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.937370 2025-01-08T21:33:10.957Z,1736371990.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:10.965Z,1736371990.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:10.968Z,1736371990.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 447.746674 m, bearing: 227.950091 deg, approach rate: -0.309341 m/s, LOS rate: 0.079551 deg/s, cmd heading: 162.799594 deg, new cmd heading: 162.898173 deg. 2025-01-08T21:33:10.969Z,1736371990.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.843109 target range: 452.399994 and range: 452.40 m. 2025-01-08T21:33:11.204Z,1736371991.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:11.205Z,1736371991.205 [DAT](INFO): DAT read: Range 10 to 50 : 455.2 m (Round-trip 607.0 ms) speed -0.4 m/s 2025-01-08T21:33:11.206Z,1736371991.206 [DAT](INFO): DAT read: user:1863> 2025-01-08T21:33:11.207Z,1736371991.207 [DAT](INFO): DAT read: Tx time:21:33:10.4274 2025-01-08T21:33:11.207Z,1736371991.207 [DAT](INFO): Ping request sent. 2025-01-08T21:33:11.207Z,1736371991.207 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:11.208Z,1736371991.208 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:33:11.208Z,1736371991.208 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:11.208Z,1736371991.208 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:11.377Z,1736371991.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:11.407Z,1736371991.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 455.200012 m, deltaT: 4.281432 s, deltaX: 2.800018 m, approachRate: 0.653991 m/s, rangeRepo size: 4 2025-01-08T21:33:11.412Z,1736371991.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:11.435Z,1736371991.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 447.624268 m, bearing: 227.983027 deg, approach rate: -0.277749 m/s, LOS rate: 0.074755 deg/s, cmd heading: 162.898168 deg, new cmd heading: 162.997002 deg. 2025-01-08T21:33:11.437Z,1736371991.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.844834 target range: 452.399994 and range: 455.20 m. 2025-01-08T21:33:11.456Z,1736371991.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:11.457Z,1736371991.457 [DAT](INFO): DAT read: TxSync time:21:33:10.4266 2025-01-08T21:33:11.708Z,1736371991.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:11.768Z,1736371991.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:11.785Z,1736371991.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:11.792Z,1736371991.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 447.509338 m, bearing: 228.013713 deg, approach rate: -0.303217 m/s, LOS rate: 0.080979 deg/s, cmd heading: 162.997000 deg, new cmd heading: 163.089082 deg. 2025-01-08T21:33:11.793Z,1736371991.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846442 target range: 452.399994 and range: 455.20 m. 2025-01-08T21:33:11.960Z,1736371991.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:12.188Z,1736371992.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:12.204Z,1736371992.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:12.206Z,1736371992.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:12.212Z,1736371992.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:12.212Z,1736371992.212 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:12.212Z,1736371992.212 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:12.213Z,1736371992.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:12.221Z,1736371992.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 447.399017 m, bearing: 228.047337 deg, approach rate: -0.262124 m/s, LOS rate: 0.079912 deg/s, cmd heading: 163.089085 deg, new cmd heading: 163.189983 deg. 2025-01-08T21:33:12.222Z,1736371992.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848202 target range: 452.399994 and range: 455.20 m. 2025-01-08T21:33:12.464Z,1736371992.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:12.465Z,1736371992.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257534 2025-01-08T21:33:12.559Z,1736371992.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:12.570Z,1736371992.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:12.573Z,1736371992.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 447.300964 m, bearing: 228.076966 deg, approach rate: -0.269134 m/s, LOS rate: 0.081342 deg/s, cmd heading: 163.189981 deg, new cmd heading: 163.278886 deg. 2025-01-08T21:33:12.574Z,1736371992.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849754 target range: 452.399994 and range: 455.20 m. 2025-01-08T21:33:12.716Z,1736371992.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:12.716Z,1736371992.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508948 2025-01-08T21:33:12.967Z,1736371992.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:12.968Z,1736371992.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:12.969Z,1736371992.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761054 2025-01-08T21:33:12.997Z,1736371992.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:13.004Z,1736371993.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 447.192780 m, bearing: 228.109543 deg, approach rate: -0.253238 m/s, LOS rate: 0.076274 deg/s, cmd heading: 163.278882 deg, new cmd heading: 163.376637 deg. 2025-01-08T21:33:13.005Z,1736371993.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851460 target range: 452.399994 and range: 455.20 m. 2025-01-08T21:33:13.220Z,1736371993.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:13.220Z,1736371993.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012852 2025-01-08T21:33:13.408Z,1736371993.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:13.461Z,1736371993.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:13.468Z,1736371993.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 447.084595 m, bearing: 228.143986 deg, approach rate: -0.233627 m/s, LOS rate: 0.074397 deg/s, cmd heading: 163.376636 deg, new cmd heading: 163.479989 deg. 2025-01-08T21:33:13.469Z,1736371993.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853264 target range: 452.399994 and range: 455.20 m. 2025-01-08T21:33:13.472Z,1736371993.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:13.474Z,1736371993.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266474 2025-01-08T21:33:13.724Z,1736371993.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:13.725Z,1736371993.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516895 2025-01-08T21:33:13.773Z,1736371993.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:13.796Z,1736371993.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:13.799Z,1736371993.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 446.994293 m, bearing: 228.172370 deg, approach rate: -0.269715 m/s, LOS rate: 0.084798 deg/s, cmd heading: 163.479990 deg, new cmd heading: 163.565162 deg. 2025-01-08T21:33:13.804Z,1736371993.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.854751 target range: 452.399994 and range: 455.20 m. 2025-01-08T21:33:13.976Z,1736371993.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:13.976Z,1736371993.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768955 2025-01-08T21:33:14.204Z,1736371994.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:14.210Z,1736371994.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:14.213Z,1736371994.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:14.216Z,1736371994.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 446.903778 m, bearing: 228.207061 deg, approach rate: -0.216922 m/s, LOS rate: 0.083153 deg/s, cmd heading: 163.565163 deg, new cmd heading: 163.669254 deg. 2025-01-08T21:33:14.217Z,1736371994.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856567 target range: 452.399994 and range: 455.20 m. 2025-01-08T21:33:14.228Z,1736371994.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:14.228Z,1736371994.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020950 2025-01-08T21:33:14.480Z,1736371994.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:14.481Z,1736371994.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273765 2025-01-08T21:33:14.594Z,1736371994.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:14.609Z,1736371994.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:14.612Z,1736371994.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 446.820770 m, bearing: 228.238574 deg, approach rate: -0.209119 m/s, LOS rate: 0.079406 deg/s, cmd heading: 163.669255 deg, new cmd heading: 163.763813 deg. 2025-01-08T21:33:14.614Z,1736371994.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858218 target range: 452.399994 and range: 455.20 m. 2025-01-08T21:33:14.732Z,1736371994.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:14.733Z,1736371994.733 [DAT](INFO): DAT read: Rx Time:21:33:13.4402 2025-01-08T21:33:14.733Z,1736371994.733 [DAT](INFO): Rx dataTimestamp_ set to:1736371994.732736 2025-01-08T21:33:14.734Z,1736371994.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526064 2025-01-08T21:33:14.984Z,1736371994.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:14.986Z,1736371994.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778509 2025-01-08T21:33:14.996Z,1736371994.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:15.004Z,1736371995.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.40 m. 2025-01-08T21:33:15.006Z,1736371995.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 452.399994 m, nav range: 446.735046 m, bearing: 228.270907 deg, approach rate: -0.217350 m/s, LOS rate: 0.081994 deg/s, cmd heading: 163.763812 deg, new cmd heading: 163.860828 deg. 2025-01-08T21:33:15.008Z,1736371995.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859911 target range: 452.399994 and range: 455.20 m. 2025-01-08T21:33:15.236Z,1736371995.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:15.244Z,1736371995.244 [DAT](INFO): DAT read: 21:33:13.4402 LVL= 21472, 24017, 22834, 30563, AGC= 69, IDX= 438,-0.42,-0.963, 0.017,-2.279,-1.548, PHS= 0.673, 1.612,-0.734, RAW= 6.6, -15.0, CAL= 7.0, -21.6, ROT= 143.0, 21.6 2025-01-08T21:33:15.245Z,1736371995.245 [DAT](INFO): got valid direction response: 21:33:13.4402 LVL= 21472, 24017, 22834, 30563, AGC= 69, IDX= 438,-0.42,-0.963, 0.017,-2.279,-1.548, PHS= 0.673, 1.612,-0.734, RAW= 6.6, -15.0, CAL= 7.0, -21.6, ROT= 143.0, 21.6 2025-01-08T21:33:15.248Z,1736371995.248 [DAT](INFO): DAT read: Bearing 143.0, 21.6 (Local) 2025-01-08T21:33:15.249Z,1736371995.249 [DAT](INFO): Local bearing/azimuth received: Bearing 143.0, 21.6 (Local) 2025-01-08T21:33:15.266Z,1736371995.266 [DAT](INFO): DAT read: Range 10 to 50 : 456.4 m (Round-trip 608.6 ms) speed 0.0 m/s 2025-01-08T21:33:15.266Z,1736371995.266 [DAT](INFO): DAT read: user:1864> 2025-01-08T21:33:15.267Z,1736371995.267 [DAT](INFO): DAT read: Tx time:21:33:14.5274 2025-01-08T21:33:15.267Z,1736371995.267 [DAT](INFO): Ping request sent. 2025-01-08T21:33:15.268Z,1736371995.268 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:15.268Z,1736371995.268 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:33:15.269Z,1736371995.269 [DAT](INFO): direction in FSK: [0.350664,0.932664,0.084692] 2025-01-08T21:33:15.269Z,1736371995.269 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:15.269Z,1736371995.269 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:15.289Z,1736371995.289 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:15.289Z,1736371995.289 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:15.432Z,1736371995.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:33:15.432Z,1736371995.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:15.469Z,1736371995.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 456.399994 m, deltaT: 4.032026 s, deltaX: 1.199982 m, approachRate: 0.297613 m/s, rangeRepo size: 4 2025-01-08T21:33:15.470Z,1736371995.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 456.399994 m, bearing: 232.219711 deg, lat: 36.899350 deg, lon: -122.118572 deg, deltaT: 8.313458 s, deltaX: 4.000000 m, approachRate: 0.481148 m/s, posRepo size: 4 2025-01-08T21:33:15.475Z,1736371995.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:15.478Z,1736371995.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 447.707733 m, bearing: 228.427495 deg, approach rate: 0.000000 m/s, LOS rate: 0.081994 deg/s, cmd heading: 163.860828 deg, new cmd heading: 163.974954 deg. 2025-01-08T21:33:15.479Z,1736371995.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.861903 target range: 456.399994 and range: 456.40 m. 2025-01-08T21:33:15.488Z,1736371995.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:15.489Z,1736371995.489 [DAT](INFO): DAT read: TxSync time:21:33:14.5266 2025-01-08T21:33:15.740Z,1736371995.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:15.789Z,1736371995.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:33:15.789Z,1736371995.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:15.824Z,1736371995.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:15.835Z,1736371995.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 447.630402 m, bearing: 228.456094 deg, approach rate: -0.219991 m/s, LOS rate: 0.081371 deg/s, cmd heading: 163.974961 deg, new cmd heading: 164.060771 deg. 2025-01-08T21:33:15.840Z,1736371995.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863401 target range: 456.399994 and range: 456.40 m. 2025-01-08T21:33:15.992Z,1736371995.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:16.225Z,1736371996.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:16.245Z,1736371996.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:16.256Z,1736371996.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:16.261Z,1736371996.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:16.265Z,1736371996.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 447.556152 m, bearing: 228.492882 deg, approach rate: -0.168084 m/s, LOS rate: 0.083293 deg/s, cmd heading: 164.060775 deg, new cmd heading: 164.171157 deg. 2025-01-08T21:33:16.265Z,1736371996.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865327 target range: 456.399994 and range: 456.40 m. 2025-01-08T21:33:16.497Z,1736371996.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:16.498Z,1736371996.498 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:16.498Z,1736371996.498 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:16.498Z,1736371996.498 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:16.596Z,1736371996.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:16.606Z,1736371996.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:16.633Z,1736371996.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 447.493073 m, bearing: 228.524139 deg, approach rate: -0.183027 m/s, LOS rate: 0.090706 deg/s, cmd heading: 164.171151 deg, new cmd heading: 164.264936 deg. 2025-01-08T21:33:16.640Z,1736371996.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866964 target range: 456.399994 and range: 456.40 m. 2025-01-08T21:33:16.748Z,1736371996.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:16.749Z,1736371996.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481705 2025-01-08T21:33:17.001Z,1736371997.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:17.003Z,1736371997.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734995 2025-01-08T21:33:17.011Z,1736371997.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:17.071Z,1736371997.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:17.091Z,1736371997.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 447.421875 m, bearing: 228.559064 deg, approach rate: -0.154350 m/s, LOS rate: 0.075727 deg/s, cmd heading: 164.264929 deg, new cmd heading: 164.369722 deg. 2025-01-08T21:33:17.092Z,1736371997.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868793 target range: 456.399994 and range: 456.40 m. 2025-01-08T21:33:17.252Z,1736371997.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:17.252Z,1736371997.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984808 2025-01-08T21:33:17.485Z,1736371997.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:17.494Z,1736371997.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:17.498Z,1736371997.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 447.344391 m, bearing: 228.599802 deg, approach rate: -0.181495 m/s, LOS rate: 0.095440 deg/s, cmd heading: 164.369718 deg, new cmd heading: 164.491954 deg. 2025-01-08T21:33:17.499Z,1736371997.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870926 target range: 456.399994 and range: 456.40 m. 2025-01-08T21:33:17.504Z,1736371997.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:17.505Z,1736371997.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236978 2025-01-08T21:33:17.756Z,1736371997.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:17.757Z,1736371997.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488961 2025-01-08T21:33:17.856Z,1736371997.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:17.865Z,1736371997.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:17.868Z,1736371997.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 447.282684 m, bearing: 228.631592 deg, approach rate: -0.166323 m/s, LOS rate: 0.085697 deg/s, cmd heading: 164.491951 deg, new cmd heading: 164.587333 deg. 2025-01-08T21:33:17.869Z,1736371997.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.872591 target range: 456.399994 and range: 456.40 m. 2025-01-08T21:33:18.008Z,1736371998.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:18.010Z,1736371998.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741924 2025-01-08T21:33:18.260Z,1736371998.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:18.261Z,1736371998.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992946 2025-01-08T21:33:18.329Z,1736371998.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:18.337Z,1736371998.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:18.339Z,1736371998.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:18.342Z,1736371998.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 447.207001 m, bearing: 228.674141 deg, approach rate: -0.159738 m/s, LOS rate: 0.089820 deg/s, cmd heading: 164.587328 deg, new cmd heading: 164.714998 deg. 2025-01-08T21:33:18.343Z,1736371998.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874819 target range: 456.399994 and range: 456.40 m. 2025-01-08T21:33:18.512Z,1736371998.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:18.512Z,1736371998.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244765 2025-01-08T21:33:18.693Z,1736371998.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:18.703Z,1736371998.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:18.705Z,1736371998.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 447.146576 m, bearing: 228.706827 deg, approach rate: -0.166081 m/s, LOS rate: 0.089850 deg/s, cmd heading: 164.714998 deg, new cmd heading: 164.813068 deg. 2025-01-08T21:33:18.706Z,1736371998.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.876531 target range: 456.399994 and range: 456.40 m. 2025-01-08T21:33:18.764Z,1736371998.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:18.765Z,1736371998.765 [DAT](INFO): DAT read: Rx Time:21:33:17.5311 2025-01-08T21:33:18.766Z,1736371998.766 [DAT](INFO): Rx dataTimestamp_ set to:1736371998.765285 2025-01-08T21:33:18.766Z,1736371998.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498535 2025-01-08T21:33:19.016Z,1736371999.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:19.017Z,1736371999.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749052 2025-01-08T21:33:19.110Z,1736371999.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:19.150Z,1736371999.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:19.177Z,1736371999.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 447.076782 m, bearing: 228.744091 deg, approach rate: -0.158456 m/s, LOS rate: 0.084616 deg/s, cmd heading: 164.813066 deg, new cmd heading: 164.924876 deg. 2025-01-08T21:33:19.186Z,1736371999.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878482 target range: 456.399994 and range: 456.40 m. 2025-01-08T21:33:19.268Z,1736371999.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:19.271Z,1736371999.271 [DAT](INFO): DAT read: Range 10 to 50 : 449.6 m (Round-trip 599.5 ms) speed -1.0 m/s 2025-01-08T21:33:19.272Z,1736371999.272 [DAT](INFO): DAT read: user:1865> 2025-01-08T21:33:19.273Z,1736371999.273 [DAT](INFO): DAT read: Tx time:21:33:18.6275 2025-01-08T21:33:19.274Z,1736371999.274 [DAT](INFO): Ping request sent. 2025-01-08T21:33:19.274Z,1736371999.274 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:19.275Z,1736371999.275 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:33:19.275Z,1736371999.275 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:19.276Z,1736371999.276 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:19.520Z,1736371999.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:19.521Z,1736371999.521 [DAT](INFO): DAT read: TxSync time:21:33:18.6267 2025-01-08T21:33:19.543Z,1736371999.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:19.574Z,1736371999.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 449.600006 m, deltaT: 4.032782 s, deltaX: -6.799988 m, approachRate: -1.686178 m/s, rangeRepo size: 4 2025-01-08T21:33:19.574Z,1736371999.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:19.577Z,1736371999.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 446.993286 m, bearing: 228.783137 deg, approach rate: -0.194194 m/s, LOS rate: 0.090829 deg/s, cmd heading: 164.924876 deg, new cmd heading: 165.042035 deg. 2025-01-08T21:33:19.578Z,1736371999.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.880527 target range: 456.399994 and range: 449.60 m. 2025-01-08T21:33:19.772Z,1736371999.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:19.911Z,1736371999.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:19.921Z,1736371999.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:19.923Z,1736371999.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 446.921967 m, bearing: 228.816148 deg, approach rate: -0.205200 m/s, LOS rate: 0.094995 deg/s, cmd heading: 165.042041 deg, new cmd heading: 165.141090 deg. 2025-01-08T21:33:19.924Z,1736371999.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.882256 target range: 456.399994 and range: 449.60 m. 2025-01-08T21:33:20.024Z,1736372000.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:20.276Z,1736372000.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:20.360Z,1736372000.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:20.368Z,1736372000.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:20.370Z,1736372000.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:20.373Z,1736372000.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 446.823730 m, bearing: 228.855914 deg, approach rate: -0.218624 m/s, LOS rate: 0.088518 deg/s, cmd heading: 165.141092 deg, new cmd heading: 165.260416 deg. 2025-01-08T21:33:20.374Z,1736372000.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.884338 target range: 456.399994 and range: 449.60 m. 2025-01-08T21:33:20.528Z,1736372000.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:20.528Z,1736372000.528 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:20.528Z,1736372000.528 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:20.529Z,1736372000.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:20.734Z,1736372000.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:20.743Z,1736372000.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:20.746Z,1736372000.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 446.742218 m, bearing: 228.888984 deg, approach rate: -0.218600 m/s, LOS rate: 0.088702 deg/s, cmd heading: 165.260416 deg, new cmd heading: 165.359643 deg. 2025-01-08T21:33:20.749Z,1736372000.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.886070 target range: 456.399994 and range: 449.60 m. 2025-01-08T21:33:20.780Z,1736372000.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:20.781Z,1736372000.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507028 2025-01-08T21:33:21.032Z,1736372001.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:21.033Z,1736372001.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758429 2025-01-08T21:33:21.125Z,1736372001.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:21.133Z,1736372001.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:21.136Z,1736372001.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 446.657288 m, bearing: 228.923528 deg, approach rate: -0.217678 m/s, LOS rate: 0.088555 deg/s, cmd heading: 165.359645 deg, new cmd heading: 165.463298 deg. 2025-01-08T21:33:21.138Z,1736372001.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.887879 target range: 456.399994 and range: 449.60 m. 2025-01-08T21:33:21.284Z,1736372001.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:21.285Z,1736372001.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010541 2025-01-08T21:33:21.536Z,1736372001.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:21.536Z,1736372001.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262159 2025-01-08T21:33:21.585Z,1736372001.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:21.628Z,1736372001.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:21.635Z,1736372001.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 446.545837 m, bearing: 228.963232 deg, approach rate: -0.227392 m/s, LOS rate: 0.081029 deg/s, cmd heading: 165.463300 deg, new cmd heading: 165.582442 deg. 2025-01-08T21:33:21.636Z,1736372001.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.889959 target range: 456.399994 and range: 449.60 m. 2025-01-08T21:33:21.788Z,1736372001.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:21.789Z,1736372001.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514443 2025-01-08T21:33:21.931Z,1736372001.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:21.939Z,1736372001.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:21.942Z,1736372001.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 446.462158 m, bearing: 228.992903 deg, approach rate: -0.264720 m/s, LOS rate: 0.093880 deg/s, cmd heading: 165.582446 deg, new cmd heading: 165.671473 deg. 2025-01-08T21:33:21.943Z,1736372001.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.891513 target range: 456.399994 and range: 449.60 m. 2025-01-08T21:33:22.040Z,1736372002.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:22.042Z,1736372002.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767057 2025-01-08T21:33:22.292Z,1736372002.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:22.292Z,1736372002.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018178 2025-01-08T21:33:22.361Z,1736372002.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:22.385Z,1736372002.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:22.387Z,1736372002.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:22.394Z,1736372002.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 446.339996 m, bearing: 229.028768 deg, approach rate: -0.272889 m/s, LOS rate: 0.080138 deg/s, cmd heading: 165.671470 deg, new cmd heading: 165.779095 deg. 2025-01-08T21:33:22.395Z,1736372002.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.893391 target range: 456.399994 and range: 449.60 m. 2025-01-08T21:33:22.544Z,1736372002.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:22.544Z,1736372002.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270318 2025-01-08T21:33:22.742Z,1736372002.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:22.752Z,1736372002.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:22.755Z,1736372002.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 446.231812 m, bearing: 229.060356 deg, approach rate: -0.296059 m/s, LOS rate: 0.086467 deg/s, cmd heading: 165.779100 deg, new cmd heading: 165.873889 deg. 2025-01-08T21:33:22.756Z,1736372002.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.895046 target range: 456.399994 and range: 449.60 m. 2025-01-08T21:33:22.796Z,1736372002.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:22.797Z,1736372002.797 [DAT](INFO): DAT read: Rx Time:21:33:21.6590 2025-01-08T21:33:22.798Z,1736372002.798 [DAT](INFO): Rx dataTimestamp_ set to:1736372002.797648 2025-01-08T21:33:22.799Z,1736372002.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524414 2025-01-08T21:33:23.048Z,1736372003.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:23.048Z,1736372003.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774165 2025-01-08T21:33:23.147Z,1736372003.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:23.160Z,1736372003.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:23.183Z,1736372003.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 446.116486 m, bearing: 229.093985 deg, approach rate: -0.282542 m/s, LOS rate: 0.082409 deg/s, cmd heading: 165.873890 deg, new cmd heading: 165.974801 deg. 2025-01-08T21:33:23.184Z,1736372003.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.896807 target range: 456.399994 and range: 449.60 m. 2025-01-08T21:33:23.300Z,1736372003.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:23.301Z,1736372003.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026337 2025-01-08T21:33:23.552Z,1736372003.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:23.554Z,1736372003.554 [DAT](INFO): DAT read: Range 10 to 50 : 470.5 m (Round-trip 627.4 ms) speed -0.5 m/s 2025-01-08T21:33:23.554Z,1736372003.554 [DAT](INFO): DAT read: user:1866> 2025-01-08T21:33:23.555Z,1736372003.555 [DAT](INFO): DAT read: Tx time:21:33:22.7775 2025-01-08T21:33:23.555Z,1736372003.555 [DAT](INFO): Ping request sent. 2025-01-08T21:33:23.555Z,1736372003.555 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:23.556Z,1736372003.556 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:33:23.556Z,1736372003.556 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:23.557Z,1736372003.557 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:23.600Z,1736372003.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:23.622Z,1736372003.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 470.500000 m, deltaT: 4.283239 s, deltaX: 20.899994 m, approachRate: 4.879484 m/s, rangeRepo size: 4 2025-01-08T21:33:23.623Z,1736372003.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:23.630Z,1736372003.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 445.975739 m, bearing: 229.128508 deg, approach rate: -0.305243 m/s, LOS rate: 0.074894 deg/s, cmd heading: 165.974799 deg, new cmd heading: 166.078400 deg. 2025-01-08T21:33:23.636Z,1736372003.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.898615 target range: 456.399994 and range: 470.50 m. 2025-01-08T21:33:23.804Z,1736372003.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:23.805Z,1736372003.805 [DAT](INFO): DAT read: TxSync time:21:33:22.7767 2025-01-08T21:33:23.953Z,1736372003.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:23.962Z,1736372003.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:23.965Z,1736372003.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 445.863220 m, bearing: 229.156072 deg, approach rate: -0.330464 m/s, LOS rate: 0.080976 deg/s, cmd heading: 166.078399 deg, new cmd heading: 166.161112 deg. 2025-01-08T21:33:23.966Z,1736372003.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.900059 target range: 456.399994 and range: 470.50 m. 2025-01-08T21:33:24.056Z,1736372004.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:24.308Z,1736372004.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:24.383Z,1736372004.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:24.390Z,1736372004.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:24.392Z,1736372004.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:24.395Z,1736372004.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 445.704651 m, bearing: 229.187270 deg, approach rate: -0.368586 m/s, LOS rate: 0.072543 deg/s, cmd heading: 166.161113 deg, new cmd heading: 166.254739 deg. 2025-01-08T21:33:24.396Z,1736372004.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.901693 target range: 456.399994 and range: 470.50 m. 2025-01-08T21:33:24.560Z,1736372004.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:24.560Z,1736372004.560 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:24.560Z,1736372004.560 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:24.560Z,1736372004.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:24.768Z,1736372004.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:24.777Z,1736372004.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:24.779Z,1736372004.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 445.562683 m, bearing: 229.215231 deg, approach rate: -0.369290 m/s, LOS rate: 0.072758 deg/s, cmd heading: 166.254741 deg, new cmd heading: 166.338652 deg. 2025-01-08T21:33:24.781Z,1736372004.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.903157 target range: 456.399994 and range: 470.50 m. 2025-01-08T21:33:24.812Z,1736372004.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:24.812Z,1736372004.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256916 2025-01-08T21:33:25.065Z,1736372005.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:25.066Z,1736372005.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509992 2025-01-08T21:33:25.181Z,1736372005.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:25.212Z,1736372005.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:25.222Z,1736372005.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 445.410278 m, bearing: 229.245179 deg, approach rate: -0.354139 m/s, LOS rate: 0.069613 deg/s, cmd heading: 166.338657 deg, new cmd heading: 166.428531 deg. 2025-01-08T21:33:25.236Z,1736372005.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.904726 target range: 456.399994 and range: 470.50 m. 2025-01-08T21:33:25.316Z,1736372005.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:25.317Z,1736372005.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761120 2025-01-08T21:33:25.568Z,1736372005.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:25.569Z,1736372005.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012976 2025-01-08T21:33:25.589Z,1736372005.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:25.599Z,1736372005.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:25.602Z,1736372005.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 445.243713 m, bearing: 229.273487 deg, approach rate: -0.425434 m/s, LOS rate: 0.072329 deg/s, cmd heading: 166.428528 deg, new cmd heading: 166.513483 deg. 2025-01-08T21:33:25.603Z,1736372005.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.906209 target range: 456.399994 and range: 470.50 m. 2025-01-08T21:33:25.820Z,1736372005.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:25.820Z,1736372005.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264844 2025-01-08T21:33:25.981Z,1736372005.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:26.016Z,1736372006.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:26.018Z,1736372006.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 445.083954 m, bearing: 229.300708 deg, approach rate: -0.387207 m/s, LOS rate: 0.065999 deg/s, cmd heading: 166.513482 deg, new cmd heading: 166.595175 deg. 2025-01-08T21:33:26.024Z,1736372006.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.907634 target range: 456.399994 and range: 470.50 m. 2025-01-08T21:33:26.072Z,1736372006.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:26.072Z,1736372006.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516902 2025-01-08T21:33:26.324Z,1736372006.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:26.324Z,1736372006.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768827 2025-01-08T21:33:26.396Z,1736372006.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:26.404Z,1736372006.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:26.406Z,1736372006.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:26.409Z,1736372006.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 444.913422 m, bearing: 229.328233 deg, approach rate: -0.431962 m/s, LOS rate: 0.069749 deg/s, cmd heading: 166.595171 deg, new cmd heading: 166.677779 deg. 2025-01-08T21:33:26.410Z,1736372006.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.909076 target range: 456.399994 and range: 470.50 m. 2025-01-08T21:33:26.576Z,1736372006.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:26.576Z,1736372006.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020849 2025-01-08T21:33:26.791Z,1736372006.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:26.800Z,1736372006.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:26.803Z,1736372006.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 444.756195 m, bearing: 229.353681 deg, approach rate: -0.398669 m/s, LOS rate: 0.064550 deg/s, cmd heading: 166.677776 deg, new cmd heading: 166.754147 deg. 2025-01-08T21:33:26.804Z,1736372006.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.910409 target range: 456.399994 and range: 470.50 m. 2025-01-08T21:33:26.828Z,1736372006.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:26.829Z,1736372006.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272977 2025-01-08T21:33:27.080Z,1736372007.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:27.081Z,1736372007.081 [DAT](INFO): DAT read: Rx Time:21:33:25.7993 2025-01-08T21:33:27.082Z,1736372007.082 [DAT](INFO): Rx dataTimestamp_ set to:1736372007.081622 2025-01-08T21:33:27.082Z,1736372007.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526907 2025-01-08T21:33:27.204Z,1736372007.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:27.223Z,1736372007.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.40 m. 2025-01-08T21:33:27.226Z,1736372007.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.399994 m, nav range: 444.581970 m, bearing: 229.382004 deg, approach rate: -0.412278 m/s, LOS rate: 0.067047 deg/s, cmd heading: 166.754151 deg, new cmd heading: 166.839152 deg. 2025-01-08T21:33:27.236Z,1736372007.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.911892 target range: 456.399994 and range: 470.50 m. 2025-01-08T21:33:27.332Z,1736372007.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:27.333Z,1736372007.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777185 2025-01-08T21:33:27.584Z,1736372007.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:27.590Z,1736372007.590 [DAT](INFO): DAT read: 21:33:25.7993 LVL= 20672, 21537, 21922, 29875, AGC= 68, IDX= 321,-0.10,-2.016,-1.268, 2.827,-2.851, PHS= 0.923, 1.630,-0.609, RAW= 12.0, -19.1, CAL= 15.3, -27.8, ROT= 134.7, 27.8 2025-01-08T21:33:27.592Z,1736372007.592 [DAT](INFO): got valid direction response: 21:33:25.7993 LVL= 20672, 21537, 21922, 29875, AGC= 68, IDX= 321,-0.10,-2.016,-1.268, 2.827,-2.851, PHS= 0.923, 1.630,-0.609, RAW= 12.0, -19.1, CAL= 15.3, -27.8, ROT= 134.7, 27.8 2025-01-08T21:33:27.592Z,1736372007.592 [DAT](INFO): DAT read: Bearing 134.7, 27.8 (Local) 2025-01-08T21:33:27.593Z,1736372007.593 [DAT](INFO): Local bearing/azimuth received: Bearing 134.7, 27.8 (Local) 2025-01-08T21:33:27.594Z,1736372007.594 [DAT](INFO): DAT read: Range 10 to 50 : 463.2 m (Round-trip 617.6 ms) speed -0.3 m/s 2025-01-08T21:33:27.595Z,1736372007.595 [DAT](INFO): DAT read: user:1867> 2025-01-08T21:33:27.596Z,1736372007.596 [DAT](INFO): DAT read: Tx time:21:33:26.9275 2025-01-08T21:33:27.596Z,1736372007.596 [DAT](INFO): Ping request sent. 2025-01-08T21:33:27.597Z,1736372007.597 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:27.597Z,1736372007.597 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:33:27.599Z,1736372007.599 [DAT](INFO): direction in FSK: [0.410321,0.895348,0.173172] 2025-01-08T21:33:27.599Z,1736372007.599 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:27.640Z,1736372007.640 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:27.668Z,1736372007.668 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:27.669Z,1736372007.669 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:27.736Z,1736372007.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:27.772Z,1736372007.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 463.200012 m, deltaT: 4.031968 s, deltaX: -7.299988 m, approachRate: -1.810527 m/s, rangeRepo size: 4 2025-01-08T21:33:27.774Z,1736372007.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 463.200012 m, bearing: 230.613650 deg, lat: 36.899409 deg, lon: -122.118632 deg, deltaT: 12.347989 s, deltaX: 6.800018 m, approachRate: 0.550698 m/s, posRepo size: 4 2025-01-08T21:33:27.774Z,1736372007.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:27.782Z,1736372007.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 444.277191 m, bearing: 230.507780 deg, approach rate: 0.000000 m/s, LOS rate: 0.067047 deg/s, cmd heading: 166.839146 deg, new cmd heading: 166.948552 deg. 2025-01-08T21:33:27.787Z,1736372007.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.913802 target range: 463.200012 and range: 463.20 m. 2025-01-08T21:33:27.837Z,1736372007.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:27.838Z,1736372007.838 [DAT](INFO): DAT read: TxSync time:21:33:26.9267 2025-01-08T21:33:28.059Z,1736372008.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:28.068Z,1736372008.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:28.071Z,1736372008.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 444.141998 m, bearing: 230.528612 deg, approach rate: -0.448915 m/s, LOS rate: 0.069193 deg/s, cmd heading: 166.948552 deg, new cmd heading: 167.011065 deg. 2025-01-08T21:33:28.072Z,1736372008.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.914893 target range: 463.200012 and range: 463.20 m. 2025-01-08T21:33:28.088Z,1736372008.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:28.342Z,1736372008.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:28.517Z,1736372008.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:28.527Z,1736372008.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:28.529Z,1736372008.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:28.533Z,1736372008.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 443.976105 m, bearing: 230.560166 deg, approach rate: -0.359780 m/s, LOS rate: 0.068459 deg/s, cmd heading: 167.011062 deg, new cmd heading: 167.105760 deg. 2025-01-08T21:33:28.534Z,1736372008.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.916546 target range: 463.200012 and range: 463.20 m. 2025-01-08T21:33:28.593Z,1736372008.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:28.593Z,1736372008.593 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:28.594Z,1736372008.594 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:28.594Z,1736372008.594 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:28.844Z,1736372008.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:28.844Z,1736372008.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248128 2025-01-08T21:33:28.962Z,1736372008.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:28.972Z,1736372008.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:28.975Z,1736372008.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 443.814392 m, bearing: 230.590711 deg, approach rate: -0.365900 m/s, LOS rate: 0.069139 deg/s, cmd heading: 167.105755 deg, new cmd heading: 167.197425 deg. 2025-01-08T21:33:28.976Z,1736372008.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.918146 target range: 463.200012 and range: 463.20 m. 2025-01-08T21:33:29.097Z,1736372009.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:29.098Z,1736372009.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501572 2025-01-08T21:33:29.349Z,1736372009.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:29.352Z,1736372009.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754634 2025-01-08T21:33:29.416Z,1736372009.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:29.445Z,1736372009.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:29.452Z,1736372009.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 443.663910 m, bearing: 230.623529 deg, approach rate: -0.317673 m/s, LOS rate: 0.069303 deg/s, cmd heading: 167.197430 deg, new cmd heading: 167.295917 deg. 2025-01-08T21:33:29.453Z,1736372009.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.919865 target range: 463.200012 and range: 463.20 m. 2025-01-08T21:33:29.600Z,1736372009.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:29.600Z,1736372009.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004173 2025-01-08T21:33:29.852Z,1736372009.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:29.852Z,1736372009.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256197 2025-01-08T21:33:29.889Z,1736372009.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:29.898Z,1736372009.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:29.901Z,1736372009.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 443.507111 m, bearing: 230.657727 deg, approach rate: -0.345586 m/s, LOS rate: 0.075398 deg/s, cmd heading: 167.295921 deg, new cmd heading: 167.398551 deg. 2025-01-08T21:33:29.902Z,1736372009.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.921656 target range: 463.200012 and range: 463.20 m. 2025-01-08T21:33:29.996Z,1736372009.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:33:30.104Z,1736372010.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:30.105Z,1736372010.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508437 2025-01-08T21:33:30.302Z,1736372010.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:30.330Z,1736372010.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:30.358Z,1736372010.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:30.360Z,1736372010.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763883 2025-01-08T21:33:30.380Z,1736372010.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 443.370056 m, bearing: 230.687562 deg, approach rate: -0.319110 m/s, LOS rate: 0.069488 deg/s, cmd heading: 167.398552 deg, new cmd heading: 167.488086 deg. 2025-01-08T21:33:30.381Z,1736372010.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.923218 target range: 463.200012 and range: 463.20 m. 2025-01-08T21:33:30.608Z,1736372010.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:30.609Z,1736372010.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012095 2025-01-08T21:33:30.747Z,1736372010.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:30.760Z,1736372010.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:30.762Z,1736372010.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:30.765Z,1736372010.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 443.251495 m, bearing: 230.722235 deg, approach rate: -0.273339 m/s, LOS rate: 0.079958 deg/s, cmd heading: 167.488082 deg, new cmd heading: 167.592127 deg. 2025-01-08T21:33:30.766Z,1736372010.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.925035 target range: 463.200012 and range: 463.20 m. 2025-01-08T21:33:30.860Z,1736372010.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:30.861Z,1736372010.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264332 2025-01-08T21:33:30.000Z,1736372011.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:33:31.093Z,1736372011.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:31.102Z,1736372011.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:31.105Z,1736372011.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 443.158936 m, bearing: 230.749233 deg, approach rate: -0.271993 m/s, LOS rate: 0.079352 deg/s, cmd heading: 167.592133 deg, new cmd heading: 167.673144 deg. 2025-01-08T21:33:31.106Z,1736372011.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.926448 target range: 463.200012 and range: 463.20 m. 2025-01-08T21:33:31.112Z,1736372011.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:31.113Z,1736372011.113 [DAT](INFO): DAT read: Rx Time:21:33:29.9393 2025-01-08T21:33:31.114Z,1736372011.114 [DAT](INFO): Rx dataTimestamp_ set to:1736372011.112868 2025-01-08T21:33:31.114Z,1736372011.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518161 2025-01-08T21:33:31.366Z,1736372011.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:31.368Z,1736372011.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771370 2025-01-08T21:33:31.534Z,1736372011.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:31.542Z,1736372011.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:31.545Z,1736372011.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 443.072205 m, bearing: 230.786285 deg, approach rate: -0.196924 m/s, LOS rate: 0.084143 deg/s, cmd heading: 167.673139 deg, new cmd heading: 167.784317 deg. 2025-01-08T21:33:31.547Z,1736372011.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.928389 target range: 463.200012 and range: 463.20 m. 2025-01-08T21:33:31.627Z,1736372011.627 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:31.630Z,1736372011.630 [DAT](INFO): DAT read: Range 10 to 50 : 455.7 m (Round-trip 607.6 ms) speed -0.7 m/s 2025-01-08T21:33:31.634Z,1736372011.634 [DAT](INFO): DAT read: user:1868> 2025-01-08T21:33:31.638Z,1736372011.638 [DAT](INFO): DAT read: Tx time:21:33:31.0276 2025-01-08T21:33:31.640Z,1736372011.640 [DAT](INFO): Ping request sent. 2025-01-08T21:33:31.640Z,1736372011.640 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:31.640Z,1736372011.640 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:33:31.641Z,1736372011.641 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:31.642Z,1736372011.642 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:31.880Z,1736372011.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:31.881Z,1736372011.881 [DAT](INFO): DAT read: TxSync time:21:33:31.0268 2025-01-08T21:33:31.912Z,1736372011.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:31.950Z,1736372011.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 455.700012 m, deltaT: 4.043406 s, deltaX: -7.500000 m, approachRate: -1.854872 m/s, rangeRepo size: 4 2025-01-08T21:33:31.952Z,1736372011.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:31.954Z,1736372011.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 442.996307 m, bearing: 230.817920 deg, approach rate: -0.186596 m/s, LOS rate: 0.077790 deg/s, cmd heading: 167.784321 deg, new cmd heading: 167.879244 deg. 2025-01-08T21:33:31.956Z,1736372011.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.930046 target range: 463.200012 and range: 455.70 m. 2025-01-08T21:33:32.132Z,1736372012.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:32.306Z,1736372012.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:32.314Z,1736372012.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:32.333Z,1736372012.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 442.915955 m, bearing: 230.850918 deg, approach rate: -0.220019 m/s, LOS rate: 0.090370 deg/s, cmd heading: 167.879247 deg, new cmd heading: 167.978259 deg. 2025-01-08T21:33:32.334Z,1736372012.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.931774 target range: 463.200012 and range: 455.70 m. 2025-01-08T21:33:32.385Z,1736372012.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:32.636Z,1736372012.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:32.757Z,1736372012.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:32.766Z,1736372012.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:32.768Z,1736372012.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:32.771Z,1736372012.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 442.842712 m, bearing: 230.891698 deg, approach rate: -0.161391 m/s, LOS rate: 0.089873 deg/s, cmd heading: 167.978257 deg, new cmd heading: 168.100615 deg. 2025-01-08T21:33:32.788Z,1736372012.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.933909 target range: 463.200012 and range: 455.70 m. 2025-01-08T21:33:32.888Z,1736372012.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:32.888Z,1736372012.888 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:32.888Z,1736372012.888 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:32.889Z,1736372012.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:33.114Z,1736372013.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:33.123Z,1736372013.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:33.126Z,1736372013.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 442.783020 m, bearing: 230.924105 deg, approach rate: -0.168238 m/s, LOS rate: 0.091351 deg/s, cmd heading: 168.100613 deg, new cmd heading: 168.197850 deg. 2025-01-08T21:33:33.127Z,1736372013.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.935606 target range: 463.200012 and range: 455.70 m. 2025-01-08T21:33:33.140Z,1736372013.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:33.141Z,1736372013.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501668 2025-01-08T21:33:33.393Z,1736372013.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:33.396Z,1736372013.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756626 2025-01-08T21:33:33.535Z,1736372013.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:33.563Z,1736372013.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:33.570Z,1736372013.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 442.724792 m, bearing: 230.963867 deg, approach rate: -0.132442 m/s, LOS rate: 0.090453 deg/s, cmd heading: 168.197848 deg, new cmd heading: 168.317149 deg. 2025-01-08T21:33:33.571Z,1736372013.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.937688 target range: 463.200012 and range: 455.70 m. 2025-01-08T21:33:33.644Z,1736372013.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:33.646Z,1736372013.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006367 2025-01-08T21:33:33.896Z,1736372013.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:33.896Z,1736372013.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257306 2025-01-08T21:33:33.940Z,1736372013.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:33.949Z,1736372013.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:33.952Z,1736372013.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 442.667206 m, bearing: 231.002091 deg, approach rate: -0.149094 m/s, LOS rate: 0.098975 deg/s, cmd heading: 168.317144 deg, new cmd heading: 168.431830 deg. 2025-01-08T21:33:33.953Z,1736372013.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.939690 target range: 463.200012 and range: 455.70 m. 2025-01-08T21:33:34.148Z,1736372014.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:34.149Z,1736372014.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510111 2025-01-08T21:33:34.324Z,1736372014.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:34.354Z,1736372014.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:34.363Z,1736372014.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 442.611023 m, bearing: 231.038465 deg, approach rate: -0.138671 m/s, LOS rate: 0.089789 deg/s, cmd heading: 168.431837 deg, new cmd heading: 168.540972 deg. 2025-01-08T21:33:34.371Z,1736372014.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941595 target range: 463.200012 and range: 455.70 m. 2025-01-08T21:33:34.402Z,1736372014.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:34.405Z,1736372014.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765787 2025-01-08T21:33:34.654Z,1736372014.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:34.655Z,1736372014.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015704 2025-01-08T21:33:34.773Z,1736372014.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:34.781Z,1736372014.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:34.784Z,1736372014.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:34.786Z,1736372014.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 442.545380 m, bearing: 231.081810 deg, approach rate: -0.153034 m/s, LOS rate: 0.101064 deg/s, cmd heading: 168.540969 deg, new cmd heading: 168.671023 deg. 2025-01-08T21:33:34.788Z,1736372014.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943865 target range: 463.200012 and range: 455.70 m. 2025-01-08T21:33:34.905Z,1736372014.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:34.906Z,1736372014.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266694 2025-01-08T21:33:35.139Z,1736372015.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:35.149Z,1736372015.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:35.152Z,1736372015.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 442.489471 m, bearing: 231.117102 deg, approach rate: -0.152852 m/s, LOS rate: 0.096501 deg/s, cmd heading: 168.671016 deg, new cmd heading: 168.776907 deg. 2025-01-08T21:33:35.153Z,1736372015.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.945713 target range: 463.200012 and range: 455.70 m. 2025-01-08T21:33:35.156Z,1736372015.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:35.156Z,1736372015.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517450 2025-01-08T21:33:35.410Z,1736372015.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:35.413Z,1736372015.413 [DAT](INFO): DAT read: Rx Time:21:33:34.0653 2025-01-08T21:33:35.415Z,1736372015.415 [DAT](INFO): Rx dataTimestamp_ set to:1736372015.413677 2025-01-08T21:33:35.418Z,1736372015.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777903 2025-01-08T21:33:35.559Z,1736372015.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:35.568Z,1736372015.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.20 m. 2025-01-08T21:33:35.571Z,1736372015.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.200012 m, nav range: 442.422272 m, bearing: 231.157382 deg, approach rate: -0.160271 m/s, LOS rate: 0.096081 deg/s, cmd heading: 168.776911 deg, new cmd heading: 168.897768 deg. 2025-01-08T21:33:35.572Z,1736372015.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.947822 target range: 463.200012 and range: 455.70 m. 2025-01-08T21:33:35.661Z,1736372015.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:35.662Z,1736372015.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022721 2025-01-08T21:33:35.912Z,1736372015.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:35.924Z,1736372015.924 [DAT](INFO): DAT read: 21:33:34.0653 LVL= 19136, 19537, 18418, 23443, AGC= 71, IDX= 180,-0.16, 2.489,-3.082, 1.002, 1.709, PHS= 0.868, 1.540,-0.709, RAW= 13.1, -16.7, CAL= 14.9, -24.4, ROT= 135.1, 24.4 2025-01-08T21:33:35.925Z,1736372015.925 [DAT](INFO): got valid direction response: 21:33:34.0653 LVL= 19136, 19537, 18418, 23443, AGC= 71, IDX= 180,-0.16, 2.489,-3.082, 1.002, 1.709, PHS= 0.868, 1.540,-0.709, RAW= 13.1, -16.7, CAL= 14.9, -24.4, ROT= 135.1, 24.4 2025-01-08T21:33:35.926Z,1736372015.926 [DAT](INFO): DAT read: Bearing 135.1, 24.4 (Local) 2025-01-08T21:33:35.926Z,1736372015.926 [DAT](INFO): Local bearing/azimuth received: Bearing 135.1, 24.4 (Local) 2025-01-08T21:33:35.936Z,1736372015.936 [DAT](INFO): DAT read: Range 10 to 50 : 475.1 m (Round-trip 633.5 ms) speed -0.8 m/s 2025-01-08T21:33:35.937Z,1736372015.937 [DAT](INFO): DAT read: user:1869> 2025-01-08T21:33:35.938Z,1736372015.938 [DAT](INFO): DAT read: Tx time:21:33:35.1776 2025-01-08T21:33:35.938Z,1736372015.938 [DAT](INFO): Ping request sent. 2025-01-08T21:33:35.938Z,1736372015.938 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:35.938Z,1736372015.938 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:33:35.940Z,1736372015.940 [DAT](INFO): direction in FSK: [0.367906,0.910288,0.189793] 2025-01-08T21:33:35.940Z,1736372015.940 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:35.940Z,1736372015.940 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:35.943Z,1736372015.943 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:35.944Z,1736372015.944 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:35.959Z,1736372015.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:36.049Z,1736372016.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 475.100006 m, deltaT: 4.284505 s, deltaX: 19.399994 m, approachRate: 4.527943 m/s, rangeRepo size: 4 2025-01-08T21:33:36.056Z,1736372016.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 475.100006 m, bearing: 237.090610 deg, lat: 36.899409 deg, lon: -122.118647 deg, deltaT: 8.327911 s, deltaX: 11.899994 m, approachRate: 1.428929 m/s, posRepo size: 4 2025-01-08T21:33:36.056Z,1736372016.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:36.059Z,1736372016.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 443.381897 m, bearing: 231.302170 deg, approach rate: 0.000000 m/s, LOS rate: 0.096081 deg/s, cmd heading: 168.897765 deg, new cmd heading: 169.036293 deg. 2025-01-08T21:33:36.064Z,1736372016.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.950240 target range: 475.100006 and range: 475.10 m. 2025-01-08T21:33:36.164Z,1736372016.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:36.166Z,1736372016.166 [DAT](INFO): DAT read: TxSync time:21:33:35.1768 2025-01-08T21:33:36.417Z,1736372016.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:36.438Z,1736372016.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:36.476Z,1736372016.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:36.483Z,1736372016.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 443.304962 m, bearing: 231.348041 deg, approach rate: -0.179816 m/s, LOS rate: 0.107231 deg/s, cmd heading: 169.036295 deg, new cmd heading: 169.173931 deg. 2025-01-08T21:33:36.484Z,1736372016.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.952642 target range: 475.100006 and range: 475.10 m. 2025-01-08T21:33:36.668Z,1736372016.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:36.790Z,1736372016.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:36.798Z,1736372016.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:36.800Z,1736372016.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:36.803Z,1736372016.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 443.233856 m, bearing: 231.380741 deg, approach rate: -0.219677 m/s, LOS rate: 0.101040 deg/s, cmd heading: 169.173937 deg, new cmd heading: 169.272052 deg. 2025-01-08T21:33:36.804Z,1736372016.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.954355 target range: 475.100006 and range: 475.10 m. 2025-01-08T21:33:36.920Z,1736372016.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:36.920Z,1736372016.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:36.920Z,1736372016.920 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:36.921Z,1736372016.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:37.165Z,1736372017.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:37.172Z,1736372017.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:37.173Z,1736372017.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234407 2025-01-08T21:33:37.176Z,1736372017.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:37.178Z,1736372017.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 443.157776 m, bearing: 231.415571 deg, approach rate: -0.202728 m/s, LOS rate: 0.092825 deg/s, cmd heading: 169.272045 deg, new cmd heading: 169.376552 deg. 2025-01-08T21:33:37.182Z,1736372017.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.956178 target range: 475.100006 and range: 475.10 m. 2025-01-08T21:33:37.430Z,1736372017.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:37.432Z,1736372017.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493397 2025-01-08T21:33:37.603Z,1736372017.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:37.612Z,1736372017.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:37.615Z,1736372017.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 443.044037 m, bearing: 231.453919 deg, approach rate: -0.260881 m/s, LOS rate: 0.087982 deg/s, cmd heading: 169.376547 deg, new cmd heading: 169.491623 deg. 2025-01-08T21:33:37.616Z,1736372017.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.958187 target range: 475.100006 and range: 475.10 m. 2025-01-08T21:33:37.682Z,1736372017.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:37.683Z,1736372017.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744708 2025-01-08T21:33:37.936Z,1736372017.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:37.936Z,1736372017.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998314 2025-01-08T21:33:37.990Z,1736372017.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:37.999Z,1736372017.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:38.002Z,1736372018.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 442.944031 m, bearing: 231.487835 deg, approach rate: -0.258150 m/s, LOS rate: 0.087567 deg/s, cmd heading: 169.491622 deg, new cmd heading: 169.593391 deg. 2025-01-08T21:33:38.003Z,1736372018.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.959963 target range: 475.100006 and range: 475.10 m. 2025-01-08T21:33:38.188Z,1736372018.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:38.188Z,1736372018.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250245 2025-01-08T21:33:38.412Z,1736372018.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:38.441Z,1736372018.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:38.444Z,1736372018.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505214 2025-01-08T21:33:38.506Z,1736372018.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:38.513Z,1736372018.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 442.835388 m, bearing: 231.524746 deg, approach rate: -0.214217 m/s, LOS rate: 0.072798 deg/s, cmd heading: 169.593392 deg, new cmd heading: 169.704153 deg. 2025-01-08T21:33:38.515Z,1736372018.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.961896 target range: 475.100006 and range: 475.10 m. 2025-01-08T21:33:38.692Z,1736372018.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:38.692Z,1736372018.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754292 2025-01-08T21:33:38.786Z,1736372018.786 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.0 +0.00, 20.00,935.82 2025-01-08T21:33:38.793Z,1736372018.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:33:38.793Z,1736372018.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:38.801Z,1736372018.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:38.803Z,1736372018.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:38.806Z,1736372018.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 442.737762 m, bearing: 231.558394 deg, approach rate: -0.328407 m/s, LOS rate: 0.113214 deg/s, cmd heading: 169.704151 deg, new cmd heading: 169.805116 deg. 2025-01-08T21:33:38.807Z,1736372018.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.963658 target range: 475.100006 and range: 475.10 m. 2025-01-08T21:33:38.948Z,1736372018.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:38.949Z,1736372018.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010991 2025-01-08T21:33:39.188Z,1736372019.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:33:39.188Z,1736372019.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:39.197Z,1736372019.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:39.200Z,1736372019.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:39.201Z,1736372019.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262456 2025-01-08T21:33:39.202Z,1736372019.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 442.637817 m, bearing: 231.593095 deg, approach rate: -0.254080 m/s, LOS rate: 0.088238 deg/s, cmd heading: 169.805114 deg, new cmd heading: 169.909243 deg. 2025-01-08T21:33:39.203Z,1736372019.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.965476 target range: 475.100006 and range: 475.10 m. 2025-01-08T21:33:39.453Z,1736372019.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:39.456Z,1736372019.456 [DAT](INFO): DAT read: Rx Time:21:33:38.2198 2025-01-08T21:33:39.458Z,1736372019.458 [DAT](INFO): Rx dataTimestamp_ set to:1736372019.457119 2025-01-08T21:33:39.460Z,1736372019.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521293 2025-01-08T21:33:39.620Z,1736372019.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:39.637Z,1736372019.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:39.653Z,1736372019.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 442.493011 m, bearing: 231.623916 deg, approach rate: -0.328823 m/s, LOS rate: 0.070011 deg/s, cmd heading: 169.909247 deg, new cmd heading: 170.001741 deg. 2025-01-08T21:33:39.655Z,1736372019.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.967090 target range: 475.100006 and range: 475.10 m. 2025-01-08T21:33:39.704Z,1736372019.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:39.704Z,1736372019.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766239 2025-01-08T21:33:39.956Z,1736372019.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:39.957Z,1736372019.957 [DAT](INFO): DAT read: Range 10 to 50 : 478.5 m (Round-trip 638.0 ms) speed -0.4 m/s 2025-01-08T21:33:39.958Z,1736372019.958 [DAT](INFO): DAT read: user:1870> 2025-01-08T21:33:39.959Z,1736372019.959 [DAT](INFO): DAT read: Tx time:21:33:39.3276 2025-01-08T21:33:39.959Z,1736372019.959 [DAT](INFO): Ping request sent. 2025-01-08T21:33:39.959Z,1736372019.959 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:39.960Z,1736372019.960 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:33:39.960Z,1736372019.960 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:39.960Z,1736372019.960 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:40.006Z,1736372020.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:40.040Z,1736372020.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 478.500000 m, deltaT: 4.043993 s, deltaX: 3.399994 m, approachRate: 0.840752 m/s, rangeRepo size: 4 2025-01-08T21:33:40.041Z,1736372020.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:40.045Z,1736372020.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 442.353699 m, bearing: 231.653825 deg, approach rate: -0.349876 m/s, LOS rate: 0.075138 deg/s, cmd heading: 170.001742 deg, new cmd heading: 170.091497 deg. 2025-01-08T21:33:40.046Z,1736372020.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.968657 target range: 475.100006 and range: 478.50 m. 2025-01-08T21:33:40.208Z,1736372020.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:40.209Z,1736372020.209 [DAT](INFO): DAT read: TxSync time:21:33:39.3268 2025-01-08T21:33:40.409Z,1736372020.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:40.417Z,1736372020.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:40.420Z,1736372020.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 442.214813 m, bearing: 231.683845 deg, approach rate: -0.363348 m/s, LOS rate: 0.078561 deg/s, cmd heading: 170.091491 deg, new cmd heading: 170.181578 deg. 2025-01-08T21:33:40.421Z,1736372020.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.970229 target range: 475.100006 and range: 478.50 m. 2025-01-08T21:33:40.462Z,1736372020.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:40.714Z,1736372020.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:40.833Z,1736372020.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:40.852Z,1736372020.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:40.854Z,1736372020.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:40.864Z,1736372020.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 442.050415 m, bearing: 231.713227 deg, approach rate: -0.376181 m/s, LOS rate: 0.067257 deg/s, cmd heading: 170.181581 deg, new cmd heading: 170.269759 deg. 2025-01-08T21:33:40.865Z,1736372020.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.971768 target range: 475.100006 and range: 478.50 m. 2025-01-08T21:33:40.964Z,1736372020.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:40.965Z,1736372020.965 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:40.965Z,1736372020.965 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:40.966Z,1736372020.966 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:41.205Z,1736372021.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:41.216Z,1736372021.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:41.217Z,1736372021.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257242 2025-01-08T21:33:41.218Z,1736372021.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:41.221Z,1736372021.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 441.907166 m, bearing: 231.739046 deg, approach rate: -0.394237 m/s, LOS rate: 0.071080 deg/s, cmd heading: 170.269758 deg, new cmd heading: 170.347241 deg. 2025-01-08T21:33:41.222Z,1736372021.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.973120 target range: 475.100006 and range: 478.50 m. 2025-01-08T21:33:41.469Z,1736372021.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:41.472Z,1736372021.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512142 2025-01-08T21:33:41.645Z,1736372021.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:41.660Z,1736372021.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:41.688Z,1736372021.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 441.724884 m, bearing: 231.767218 deg, approach rate: -0.412975 m/s, LOS rate: 0.063853 deg/s, cmd heading: 170.347240 deg, new cmd heading: 170.431792 deg. 2025-01-08T21:33:41.689Z,1736372021.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.974596 target range: 475.100006 and range: 478.50 m. 2025-01-08T21:33:41.720Z,1736372021.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:41.721Z,1736372021.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761128 2025-01-08T21:33:41.972Z,1736372021.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:41.972Z,1736372021.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013005 2025-01-08T21:33:42.023Z,1736372022.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:42.033Z,1736372022.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:42.036Z,1736372022.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 441.569427 m, bearing: 231.791642 deg, approach rate: -0.416155 m/s, LOS rate: 0.065404 deg/s, cmd heading: 170.431798 deg, new cmd heading: 170.505093 deg. 2025-01-08T21:33:42.037Z,1736372022.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.975875 target range: 475.100006 and range: 478.50 m. 2025-01-08T21:33:42.224Z,1736372022.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:42.224Z,1736372022.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264997 2025-01-08T21:33:42.410Z,1736372022.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:42.441Z,1736372022.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:42.448Z,1736372022.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 441.410797 m, bearing: 231.816710 deg, approach rate: -0.388194 m/s, LOS rate: 0.061369 deg/s, cmd heading: 170.505099 deg, new cmd heading: 170.580333 deg. 2025-01-08T21:33:42.449Z,1736372022.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.977188 target range: 475.100006 and range: 478.50 m. 2025-01-08T21:33:42.476Z,1736372022.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:42.477Z,1736372022.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517224 2025-01-08T21:33:42.728Z,1736372022.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:42.729Z,1736372022.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769827 2025-01-08T21:33:42.981Z,1736372022.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:42.981Z,1736372022.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021992 2025-01-08T21:33:42.986Z,1736372022.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:42.993Z,1736372022.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:42.995Z,1736372022.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:42.998Z,1736372022.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 441.171051 m, bearing: 231.853054 deg, approach rate: -0.433311 m/s, LOS rate: 0.065723 deg/s, cmd heading: 170.580327 deg, new cmd heading: 170.689419 deg. 2025-01-08T21:33:42.000Z,1736372023.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.979092 target range: 475.100006 and range: 478.50 m. 2025-01-08T21:33:43.232Z,1736372023.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:43.232Z,1736372023.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273057 2025-01-08T21:33:43.358Z,1736372023.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:43.368Z,1736372023.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:43.371Z,1736372023.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 441.016327 m, bearing: 231.876566 deg, approach rate: -0.415102 m/s, LOS rate: 0.063099 deg/s, cmd heading: 170.689419 deg, new cmd heading: 170.759977 deg. 2025-01-08T21:33:43.374Z,1736372023.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.980324 target range: 475.100006 and range: 478.50 m. 2025-01-08T21:33:43.485Z,1736372023.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:43.488Z,1736372023.488 [DAT](INFO): DAT read: Rx Time:21:33:42.3708 2025-01-08T21:33:43.490Z,1736372023.490 [DAT](INFO): Rx dataTimestamp_ set to:1736372023.489002 2025-01-08T21:33:43.493Z,1736372023.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533016 2025-01-08T21:33:43.736Z,1736372023.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:43.736Z,1736372023.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777080 2025-01-08T21:33:43.795Z,1736372023.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:43.825Z,1736372023.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:43.832Z,1736372023.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 440.840393 m, bearing: 231.905093 deg, approach rate: -0.384305 m/s, LOS rate: 0.062340 deg/s, cmd heading: 170.759975 deg, new cmd heading: 170.845591 deg. 2025-01-08T21:33:43.833Z,1736372023.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.981818 target range: 475.100006 and range: 478.50 m. 2025-01-08T21:33:43.988Z,1736372023.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:43.990Z,1736372023.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029967 2025-01-08T21:33:44.164Z,1736372024.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:44.173Z,1736372024.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:44.176Z,1736372024.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 440.691681 m, bearing: 231.929223 deg, approach rate: -0.427798 m/s, LOS rate: 0.069437 deg/s, cmd heading: 170.845598 deg, new cmd heading: 170.918012 deg. 2025-01-08T21:33:44.177Z,1736372024.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.983082 target range: 475.100006 and range: 478.50 m. 2025-01-08T21:33:44.241Z,1736372024.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:44.243Z,1736372024.243 [DAT](INFO): DAT read: Range 10 to 50 : 479.1 m (Round-trip 638.9 ms) speed -0.4 m/s 2025-01-08T21:33:44.245Z,1736372024.245 [DAT](INFO): DAT read: user:1871> 2025-01-08T21:33:44.246Z,1736372024.246 [DAT](INFO): DAT read: Tx time:21:33:43.4777 2025-01-08T21:33:44.247Z,1736372024.247 [DAT](INFO): Ping request sent. 2025-01-08T21:33:44.247Z,1736372024.247 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:44.248Z,1736372024.248 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:33:44.248Z,1736372024.248 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:44.249Z,1736372024.249 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:44.492Z,1736372024.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:44.492Z,1736372024.492 [DAT](INFO): DAT read: TxSync time:21:33:43.4769 2025-01-08T21:33:44.671Z,1736372024.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:44.697Z,1736372024.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 479.100006 m, deltaT: 4.285141 s, deltaX: 0.600006 m, approachRate: 0.140020 m/s, rangeRepo size: 4 2025-01-08T21:33:44.698Z,1736372024.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:44.709Z,1736372024.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 440.497559 m, bearing: 231.963350 deg, approach rate: -0.371059 m/s, LOS rate: 0.065262 deg/s, cmd heading: 170.918012 deg, new cmd heading: 171.020438 deg. 2025-01-08T21:33:44.710Z,1736372024.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.984870 target range: 475.100006 and range: 479.10 m. 2025-01-08T21:33:44.744Z,1736372024.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:44.996Z,1736372024.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:45.033Z,1736372025.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:45.040Z,1736372025.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:45.042Z,1736372025.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:45.045Z,1736372025.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 440.356018 m, bearing: 231.988266 deg, approach rate: -0.409169 m/s, LOS rate: 0.072052 deg/s, cmd heading: 171.020437 deg, new cmd heading: 171.095210 deg. 2025-01-08T21:33:45.046Z,1736372025.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.986175 target range: 475.100006 and range: 479.10 m. 2025-01-08T21:33:45.249Z,1736372025.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:45.250Z,1736372025.250 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:45.250Z,1736372025.250 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:45.250Z,1736372025.250 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:45.428Z,1736372025.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:45.436Z,1736372025.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:45.439Z,1736372025.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 440.202637 m, bearing: 232.014962 deg, approach rate: -0.389052 m/s, LOS rate: 0.067738 deg/s, cmd heading: 171.095214 deg, new cmd heading: 171.175330 deg. 2025-01-08T21:33:45.440Z,1736372025.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.987573 target range: 475.100006 and range: 479.10 m. 2025-01-08T21:33:45.502Z,1736372025.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:45.503Z,1736372025.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256385 2025-01-08T21:33:45.752Z,1736372025.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:45.752Z,1736372025.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505641 2025-01-08T21:33:45.840Z,1736372025.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:45.874Z,1736372025.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:45.882Z,1736372025.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 440.064484 m, bearing: 232.045188 deg, approach rate: -0.315672 m/s, LOS rate: 0.069085 deg/s, cmd heading: 171.175332 deg, new cmd heading: 171.266037 deg. 2025-01-08T21:33:45.888Z,1736372025.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.989156 target range: 475.100006 and range: 479.10 m. 2025-01-08T21:33:46.004Z,1736372026.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:46.004Z,1736372026.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757813 2025-01-08T21:33:46.228Z,1736372026.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:46.240Z,1736372026.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:46.245Z,1736372026.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 439.934998 m, bearing: 232.073493 deg, approach rate: -0.356351 m/s, LOS rate: 0.077921 deg/s, cmd heading: 171.266037 deg, new cmd heading: 171.350979 deg. 2025-01-08T21:33:46.246Z,1736372026.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.990639 target range: 475.100006 and range: 479.10 m. 2025-01-08T21:33:46.256Z,1736372026.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:46.257Z,1736372026.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009959 2025-01-08T21:33:46.508Z,1736372026.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:46.509Z,1736372026.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262188 2025-01-08T21:33:46.690Z,1736372026.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:46.702Z,1736372026.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:46.709Z,1736372026.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 439.802643 m, bearing: 232.111580 deg, approach rate: -0.284671 m/s, LOS rate: 0.081941 deg/s, cmd heading: 171.350977 deg, new cmd heading: 171.465270 deg. 2025-01-08T21:33:46.710Z,1736372026.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.992634 target range: 475.100006 and range: 479.10 m. 2025-01-08T21:33:46.760Z,1736372026.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:46.760Z,1736372026.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513833 2025-01-08T21:33:46.860Z,1736372026.860 [RudderServo](FAULT): Invalid EZ Servo response:"\r" 2025-01-08T21:33:46.860Z,1736372026.860 [RudderServo] Communications Fault, FailCount= 1 2025-01-08T21:33:46.860Z,1736372026.860 [RudderServo](ERROR): Communications Fault 2025-01-08T21:33:46.860Z,1736372026.860 [RudderServo](ERROR): Rudder reporting null position 2025-01-08T21:33:46.900Z,1736372026.900 [CBIT](ERROR): Communications Fault in component: RudderServo 2025-01-08T21:33:47.012Z,1736372027.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:47.012Z,1736372027.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765730 2025-01-08T21:33:47.047Z,1736372027.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:47.055Z,1736372027.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:47.061Z,1736372027.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:47.084Z,1736372027.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 439.701141 m, bearing: 232.140528 deg, approach rate: -0.283041 m/s, LOS rate: 0.080742 deg/s, cmd heading: 171.465274 deg, new cmd heading: 171.552139 deg. 2025-01-08T21:33:47.085Z,1736372027.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.994150 target range: 475.100006 and range: 479.10 m. 2025-01-08T21:33:47.177Z,1736372027.177 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2025-01-08T21:33:47.177Z,1736372027.177 [RudderServo](INFO): Powering down 2025-01-08T21:33:47.264Z,1736372027.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:47.265Z,1736372027.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018348 2025-01-08T21:33:47.446Z,1736372027.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:47.470Z,1736372027.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:47.473Z,1736372027.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 439.581909 m, bearing: 232.173616 deg, approach rate: -0.291213 m/s, LOS rate: 0.080838 deg/s, cmd heading: 171.552140 deg, new cmd heading: 171.651433 deg. 2025-01-08T21:33:47.474Z,1736372027.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.995883 target range: 475.100006 and range: 479.10 m. 2025-01-08T21:33:47.516Z,1736372027.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:47.518Z,1736372027.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271688 2025-01-08T21:33:47.768Z,1736372027.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:47.769Z,1736372027.769 [DAT](INFO): DAT read: Rx Time:21:33:46.5114 2025-01-08T21:33:47.769Z,1736372027.769 [DAT](INFO): Rx dataTimestamp_ set to:1736372027.768753 2025-01-08T21:33:47.770Z,1736372027.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522973 2025-01-08T21:33:47.882Z,1736372027.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:47.903Z,1736372027.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:47.910Z,1736372027.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 439.476471 m, bearing: 232.212120 deg, approach rate: -0.243649 m/s, LOS rate: 0.088997 deg/s, cmd heading: 171.651437 deg, new cmd heading: 171.766977 deg. 2025-01-08T21:33:47.911Z,1736372027.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.997899 target range: 475.100006 and range: 479.10 m. 2025-01-08T21:33:48.001Z,1736372028.001 [RudderServo](DEBUG): Initializing EZServoServo. 2025-01-08T21:33:48.020Z,1736372028.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:48.020Z,1736372028.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773695 2025-01-08T21:33:48.120Z,1736372028.120 [RudderServo](DEBUG): Initializing RudderServo. 2025-01-08T21:33:48.151Z,1736372028.151 [CBIT](INFO): Clearing failed state for component RudderServo 2025-01-08T21:33:48.151Z,1736372028.151 [RudderServo] No Fault, FailCount= 1 2025-01-08T21:33:48.264Z,1736372028.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:48.272Z,1736372028.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:48.279Z,1736372028.279 [DAT](INFO): DAT read: 21:33:46.5114 LVL= 22224, 21809, 19858, 29939, AGC= 69, IDX= 330, 0.28,-2.089,-1.039, 2.772,-2.235, PHS= 0.234, 1.243,-1.279, RAW= 6.6, -1.8, CAL= 6.5, -3.7, ROT= 143.5, 3.7 2025-01-08T21:33:48.281Z,1736372028.281 [DAT](INFO): got valid direction response: 21:33:46.5114 LVL= 22224, 21809, 19858, 29939, AGC= 69, IDX= 330, 0.28,-2.089,-1.039, 2.772,-2.235, PHS= 0.234, 1.243,-1.279, RAW= 6.6, -1.8, CAL= 6.5, -3.7, ROT= 143.5, 3.7 2025-01-08T21:33:48.282Z,1736372028.282 [DAT](INFO): DAT read: Bearing 143.5, 3.7 (Local) 2025-01-08T21:33:48.282Z,1736372028.282 [DAT](INFO): Local bearing/azimuth received: Bearing 143.5, 3.7 (Local) 2025-01-08T21:33:48.296Z,1736372028.296 [DAT](INFO): DAT read: Range 10 to 50 : 472.1 m (Round-trip 629.5 ms) speed -0.5 m/s 2025-01-08T21:33:48.297Z,1736372028.297 [DAT](INFO): DAT read: user:1872> 2025-01-08T21:33:48.298Z,1736372028.298 [DAT](INFO): DAT read: Tx time:21:33:47.6277 2025-01-08T21:33:48.298Z,1736372028.298 [DAT](INFO): Ping request sent. 2025-01-08T21:33:48.298Z,1736372028.298 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:48.299Z,1736372028.299 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:33:48.300Z,1736372028.300 [DAT](INFO): direction in FSK: [0.111172,0.991201,0.071849] 2025-01-08T21:33:48.300Z,1736372028.300 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:48.301Z,1736372028.301 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:48.309Z,1736372028.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 472.100006 m, deltaT: 4.031323 s, deltaX: -7.000000 m, approachRate: -1.736403 m/s, rangeRepo size: 4 2025-01-08T21:33:48.310Z,1736372028.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:48.312Z,1736372028.312 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:48.312Z,1736372028.312 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:48.321Z,1736372028.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 439.384491 m, bearing: 232.245782 deg, approach rate: -0.226630 m/s, LOS rate: 0.082956 deg/s, cmd heading: 171.766977 deg, new cmd heading: 171.867982 deg. 2025-01-08T21:33:48.322Z,1736372028.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.999662 target range: 475.100006 and range: 472.10 m. 2025-01-08T21:33:48.526Z,1736372028.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:48.528Z,1736372028.528 [DAT](INFO): DAT read: TxSync time:21:33:47.6269 2025-01-08T21:33:48.733Z,1736372028.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:33:48.734Z,1736372028.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:48.773Z,1736372028.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:48.776Z,1736372028.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:48.784Z,1736372028.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 439.267120 m, bearing: 232.287099 deg, approach rate: -0.253047 m/s, LOS rate: 0.089102 deg/s, cmd heading: 171.867982 deg, new cmd heading: 171.991966 deg. 2025-01-08T21:33:48.785Z,1736372028.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.001826 target range: 475.100006 and range: 472.10 m. 2025-01-08T21:33:49.028Z,1736372029.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:49.069Z,1736372029.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:33:49.070Z,1736372029.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:49.078Z,1736372029.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:49.080Z,1736372029.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:49.085Z,1736372029.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 439.183319 m, bearing: 232.316670 deg, approach rate: -0.272873 m/s, LOS rate: 0.096306 deg/s, cmd heading: 171.991963 deg, new cmd heading: 172.080692 deg. 2025-01-08T21:33:49.086Z,1736372029.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.003375 target range: 475.100006 and range: 472.10 m. 2025-01-08T21:33:49.281Z,1736372029.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:49.282Z,1736372029.282 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:49.282Z,1736372029.282 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:49.283Z,1736372029.283 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:49.460Z,1736372029.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:33:49.460Z,1736372029.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:49.470Z,1736372029.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:49.473Z,1736372029.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 439.083252 m, bearing: 232.350840 deg, approach rate: -0.256095 m/s, LOS rate: 0.087470 deg/s, cmd heading: 172.080688 deg, new cmd heading: 172.183222 deg. 2025-01-08T21:33:49.474Z,1736372029.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.005164 target range: 475.100006 and range: 472.10 m. 2025-01-08T21:33:49.533Z,1736372029.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:49.535Z,1736372029.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235761 2025-01-08T21:33:49.784Z,1736372029.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:49.785Z,1736372029.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486179 2025-01-08T21:33:49.895Z,1736372029.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:49.917Z,1736372029.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:49.924Z,1736372029.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 438.998138 m, bearing: 232.393367 deg, approach rate: -0.190463 m/s, LOS rate: 0.095183 deg/s, cmd heading: 172.183222 deg, new cmd heading: 172.310827 deg. 2025-01-08T21:33:49.925Z,1736372029.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.007391 target range: 475.100006 and range: 472.10 m. 2025-01-08T21:33:50.036Z,1736372030.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:50.037Z,1736372030.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737991 2025-01-08T21:33:50.260Z,1736372030.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:50.288Z,1736372030.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:50.288Z,1736372030.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989904 2025-01-08T21:33:50.292Z,1736372030.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:50.294Z,1736372030.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 438.925415 m, bearing: 232.428932 deg, approach rate: -0.194888 m/s, LOS rate: 0.095327 deg/s, cmd heading: 172.310824 deg, new cmd heading: 172.417538 deg. 2025-01-08T21:33:50.296Z,1736372030.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.009254 target range: 475.100006 and range: 472.10 m. 2025-01-08T21:33:50.540Z,1736372030.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:50.540Z,1736372030.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241841 2025-01-08T21:33:50.718Z,1736372030.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:50.727Z,1736372030.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:50.731Z,1736372030.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 438.841980 m, bearing: 232.473285 deg, approach rate: -0.191075 m/s, LOS rate: 0.101592 deg/s, cmd heading: 172.417539 deg, new cmd heading: 172.550623 deg. 2025-01-08T21:33:50.732Z,1736372030.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.011576 target range: 475.100006 and range: 472.10 m. 2025-01-08T21:33:50.794Z,1736372030.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:50.796Z,1736372030.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496583 2025-01-08T21:33:51.044Z,1736372031.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:51.044Z,1736372031.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745775 2025-01-08T21:33:51.091Z,1736372031.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:51.102Z,1736372031.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:51.109Z,1736372031.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:51.116Z,1736372031.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 438.773132 m, bearing: 232.508884 deg, approach rate: -0.180214 m/s, LOS rate: 0.093197 deg/s, cmd heading: 172.550618 deg, new cmd heading: 172.657430 deg. 2025-01-08T21:33:51.117Z,1736372031.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.013441 target range: 475.100006 and range: 472.10 m. 2025-01-08T21:33:51.296Z,1736372031.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:51.297Z,1736372031.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997851 2025-01-08T21:33:51.472Z,1736372031.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:51.481Z,1736372031.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:51.484Z,1736372031.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 438.699554 m, bearing: 232.545890 deg, approach rate: -0.198415 m/s, LOS rate: 0.099811 deg/s, cmd heading: 172.657429 deg, new cmd heading: 172.768467 deg. 2025-01-08T21:33:51.485Z,1736372031.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.015378 target range: 475.100006 and range: 472.10 m. 2025-01-08T21:33:51.548Z,1736372031.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:51.549Z,1736372031.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250046 2025-01-08T21:33:51.800Z,1736372031.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:51.801Z,1736372031.801 [DAT](INFO): DAT read: Rx Time:21:33:50.6649 2025-01-08T21:33:51.801Z,1736372031.801 [DAT](INFO): Rx dataTimestamp_ set to:1736372031.800822 2025-01-08T21:33:51.802Z,1736372031.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503116 2025-01-08T21:33:51.925Z,1736372031.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:51.961Z,1736372031.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:51.972Z,1736372031.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 438.598877 m, bearing: 232.587684 deg, approach rate: -0.209129 m/s, LOS rate: 0.086835 deg/s, cmd heading: 172.768460 deg, new cmd heading: 172.893870 deg. 2025-01-08T21:33:51.973Z,1736372031.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.017567 target range: 475.100006 and range: 472.10 m. 2025-01-08T21:33:52.052Z,1736372032.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:52.053Z,1736372032.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754582 2025-01-08T21:33:52.279Z,1736372032.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:52.289Z,1736372032.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T21:33:52.291Z,1736372032.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 438.517029 m, bearing: 232.620216 deg, approach rate: -0.250138 m/s, LOS rate: 0.099441 deg/s, cmd heading: 172.893876 deg, new cmd heading: 172.991491 deg. 2025-01-08T21:33:52.292Z,1736372032.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.019271 target range: 475.100006 and range: 472.10 m. 2025-01-08T21:33:52.304Z,1736372032.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:52.305Z,1736372032.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.005997 2025-01-08T21:33:52.558Z,1736372032.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:52.569Z,1736372032.569 [DAT](INFO): DAT read: 21:33:50.6649 LVL= 16368, 20465, 18034, 27043, AGC= 67, IDX= 462, 0.10,-1.878,-1.057, 2.844,-2.145, PHS= 0.355, 1.134,-1.297, RAW= 11.7, -1.8, CAL= 11.5, -3.9, ROT= 138.5, 3.9 2025-01-08T21:33:52.570Z,1736372032.570 [DAT](INFO): got valid direction response: 21:33:50.6649 LVL= 16368, 20465, 18034, 27043, AGC= 67, IDX= 462, 0.10,-1.878,-1.057, 2.844,-2.145, PHS= 0.355, 1.134,-1.297, RAW= 11.7, -1.8, CAL= 11.5, -3.9, ROT= 138.5, 3.9 2025-01-08T21:33:52.574Z,1736372032.574 [DAT](INFO): DAT read: Bearing 138.5, 3.9 (Local) 2025-01-08T21:33:52.574Z,1736372032.574 [DAT](INFO): Local bearing/azimuth received: Bearing 138.5, 3.9 (Local) 2025-01-08T21:33:52.580Z,1736372032.580 [DAT](INFO): DAT read: Range 10 to 50 : 474.7 m (Round-trip 633.0 ms) speed -0.7 m/s 2025-01-08T21:33:52.582Z,1736372032.582 [DAT](INFO): DAT read: user:1873> 2025-01-08T21:33:52.588Z,1736372032.588 [DAT](INFO): DAT read: Tx time:21:33:51.7793 2025-01-08T21:33:52.589Z,1736372032.589 [DAT](INFO): Ping request sent. 2025-01-08T21:33:52.589Z,1736372032.589 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:52.591Z,1736372032.591 [DAT](INFO): DAT read: TxSync time:21:33:51.7786 2025-01-08T21:33:52.596Z,1736372032.596 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:33:52.597Z,1736372032.597 [DAT](INFO): direction in FSK: [0.101712,0.982091,0.158595] 2025-01-08T21:33:52.597Z,1736372032.597 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:52.598Z,1736372032.598 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:52.606Z,1736372032.606 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:52.606Z,1736372032.606 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:52.779Z,1736372032.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:52.808Z,1736372032.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:52.810Z,1736372032.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 474.700012 m, deltaT: 4.286020 s, deltaX: 2.600006 m, approachRate: 0.606625 m/s, rangeRepo size: 4 2025-01-08T21:33:52.817Z,1736372032.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 474.700012 m, bearing: 260.098828 deg, lat: 36.899688 deg, lon: -122.119034 deg, deltaT: 16.646477 s, deltaX: -0.399994 m, approachRate: -0.024029 m/s, posRepo size: 4 2025-01-08T21:33:52.818Z,1736372032.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.70 m. 2025-01-08T21:33:52.833Z,1736372032.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.700012 m, nav range: 449.206421 m, bearing: 238.479585 deg, approach rate: 0.000000 m/s, LOS rate: 0.099441 deg/s, cmd heading: 172.991493 deg, new cmd heading: 173.146915 deg. 2025-01-08T21:33:52.834Z,1736372032.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.021984 target range: 474.700012 and range: 474.70 m. 2025-01-08T21:33:53.060Z,1736372033.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:53.163Z,1736372033.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:53.186Z,1736372033.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:53.189Z,1736372033.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.70 m. 2025-01-08T21:33:53.198Z,1736372033.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.700012 m, nav range: 449.130035 m, bearing: 238.512885 deg, approach rate: -0.201173 m/s, LOS rate: 0.087717 deg/s, cmd heading: 173.146921 deg, new cmd heading: 173.246839 deg. 2025-01-08T21:33:53.199Z,1736372033.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.023728 target range: 474.700012 and range: 474.70 m. 2025-01-08T21:33:53.312Z,1736372033.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:53.312Z,1736372033.312 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:53.312Z,1736372033.312 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:53.313Z,1736372033.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:53.548Z,1736372033.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:53.561Z,1736372033.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.70 m. 2025-01-08T21:33:53.564Z,1736372033.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:53.565Z,1736372033.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975728 2025-01-08T21:33:53.568Z,1736372033.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.700012 m, nav range: 449.054108 m, bearing: 238.546391 deg, approach rate: -0.204370 m/s, LOS rate: 0.090200 deg/s, cmd heading: 173.246833 deg, new cmd heading: 173.347367 deg. 2025-01-08T21:33:53.569Z,1736372033.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.025482 target range: 474.700012 and range: 474.70 m. 2025-01-08T21:33:53.816Z,1736372033.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:53.817Z,1736372033.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228238 2025-01-08T21:33:53.956Z,1736372033.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:53.965Z,1736372033.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.70 m. 2025-01-08T21:33:53.968Z,1736372033.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.700012 m, nav range: 448.951477 m, bearing: 238.578897 deg, approach rate: -0.253932 m/s, LOS rate: 0.080447 deg/s, cmd heading: 173.347373 deg, new cmd heading: 173.444915 deg. 2025-01-08T21:33:53.969Z,1736372033.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.027185 target range: 474.700012 and range: 474.70 m. 2025-01-08T21:33:54.068Z,1736372034.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:54.069Z,1736372034.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479822 2025-01-08T21:33:54.320Z,1736372034.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:54.321Z,1736372034.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731874 2025-01-08T21:33:54.345Z,1736372034.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:54.355Z,1736372034.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.70 m. 2025-01-08T21:33:54.357Z,1736372034.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.700012 m, nav range: 448.854370 m, bearing: 238.609982 deg, approach rate: -0.249185 m/s, LOS rate: 0.079783 deg/s, cmd heading: 173.444922 deg, new cmd heading: 173.538196 deg. 2025-01-08T21:33:54.358Z,1736372034.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.028813 target range: 474.700012 and range: 474.70 m. 2025-01-08T21:33:54.572Z,1736372034.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:54.573Z,1736372034.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983751 2025-01-08T21:33:54.785Z,1736372034.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:54.793Z,1736372034.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.70 m. 2025-01-08T21:33:54.796Z,1736372034.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.700012 m, nav range: 448.715424 m, bearing: 238.641522 deg, approach rate: -0.316706 m/s, LOS rate: 0.071913 deg/s, cmd heading: 173.538195 deg, new cmd heading: 173.632845 deg. 2025-01-08T21:33:54.798Z,1736372034.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.030465 target range: 474.700012 and range: 474.70 m. 2025-01-08T21:33:54.824Z,1736372034.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:54.824Z,1736372034.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235487 2025-01-08T21:33:55.077Z,1736372035.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:55.078Z,1736372035.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489216 2025-01-08T21:33:55.156Z,1736372035.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:55.164Z,1736372035.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.70 m. 2025-01-08T21:33:55.168Z,1736372035.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.700012 m, nav range: 448.599152 m, bearing: 238.668104 deg, approach rate: -0.313331 m/s, LOS rate: 0.071653 deg/s, cmd heading: 173.632848 deg, new cmd heading: 173.712616 deg. 2025-01-08T21:33:55.169Z,1736372035.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.031857 target range: 474.700012 and range: 474.70 m. 2025-01-08T21:33:55.328Z,1736372035.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:55.328Z,1736372035.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739668 2025-01-08T21:33:55.543Z,1736372035.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:55.552Z,1736372035.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:55.554Z,1736372035.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.70 m. 2025-01-08T21:33:55.556Z,1736372035.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.700012 m, nav range: 448.478363 m, bearing: 238.696019 deg, approach rate: -0.310388 m/s, LOS rate: 0.071752 deg/s, cmd heading: 173.712611 deg, new cmd heading: 173.796378 deg. 2025-01-08T21:33:55.557Z,1736372035.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.033319 target range: 474.700012 and range: 474.70 m. 2025-01-08T21:33:55.580Z,1736372035.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:55.580Z,1736372035.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991660 2025-01-08T21:33:55.832Z,1736372035.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:55.832Z,1736372035.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243491 2025-01-08T21:33:55.970Z,1736372035.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:55.979Z,1736372035.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.70 m. 2025-01-08T21:33:55.985Z,1736372035.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.700012 m, nav range: 448.328644 m, bearing: 238.725363 deg, approach rate: -0.352075 m/s, LOS rate: 0.069028 deg/s, cmd heading: 173.796376 deg, new cmd heading: 173.884438 deg. 2025-01-08T21:33:55.986Z,1736372035.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.034856 target range: 474.700012 and range: 474.70 m. 2025-01-08T21:33:56.084Z,1736372036.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:56.085Z,1736372036.085 [DAT](INFO): DAT read: Rx Time:21:33:54.8199 2025-01-08T21:33:56.085Z,1736372036.085 [DAT](INFO): Rx dataTimestamp_ set to:1736372036.084827 2025-01-08T21:33:56.086Z,1736372036.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496866 2025-01-08T21:33:56.336Z,1736372036.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:56.336Z,1736372036.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747678 2025-01-08T21:33:56.354Z,1736372036.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:56.363Z,1736372036.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.70 m. 2025-01-08T21:33:56.366Z,1736372036.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.700012 m, nav range: 448.194916 m, bearing: 238.751799 deg, approach rate: -0.348216 m/s, LOS rate: 0.068857 deg/s, cmd heading: 173.884445 deg, new cmd heading: 173.963776 deg. 2025-01-08T21:33:56.367Z,1736372036.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.036241 target range: 474.700012 and range: 474.70 m. 2025-01-08T21:33:56.588Z,1736372036.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:56.594Z,1736372036.594 [DAT](INFO): DAT read: 21:33:54.8199 LVL= 14640, 19169, 16962, 23667, AGC= 68, IDX= 465,-0.18,-2.703,-1.769, 2.023,-2.912, PHS= 0.297, 1.190,-1.351, RAW= 9.7, -1.2, CAL= 9.6, -3.0, ROT= 140.4, 3.0 2025-01-08T21:33:56.595Z,1736372036.595 [DAT](INFO): got valid direction response: 21:33:54.8199 LVL= 14640, 19169, 16962, 23667, AGC= 68, IDX= 465,-0.18,-2.703,-1.769, 2.023,-2.912, PHS= 0.297, 1.190,-1.351, RAW= 9.7, -1.2, CAL= 9.6, -3.0, ROT= 140.4, 3.0 2025-01-08T21:33:56.596Z,1736372036.596 [DAT](INFO): DAT read: Bearing 140.4, 3.0 (Local) 2025-01-08T21:33:56.597Z,1736372036.597 [DAT](INFO): Local bearing/azimuth received: Bearing 140.4, 3.0 (Local) 2025-01-08T21:33:56.598Z,1736372036.598 [DAT](INFO): DAT read: Range 10 to 50 : 477.3 m (Round-trip 636.4 ms) speed -0.3 m/s 2025-01-08T21:33:56.599Z,1736372036.599 [DAT](INFO): DAT read: user:1874> 2025-01-08T21:33:56.600Z,1736372036.600 [DAT](INFO): DAT read: Tx time:21:33:55.9278 2025-01-08T21:33:56.600Z,1736372036.600 [DAT](INFO): Ping request sent. 2025-01-08T21:33:56.600Z,1736372036.600 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:33:56.600Z,1736372036.600 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:33:56.601Z,1736372036.601 [DAT](INFO): direction in FSK: [0.094506,0.987686,0.124682] 2025-01-08T21:33:56.602Z,1736372036.602 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:56.602Z,1736372036.602 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:56.607Z,1736372036.607 [DAT](INFO): publishing transmit ping time 2025-01-08T21:33:56.608Z,1736372036.608 [DAT](INFO): publishing direction and range info 2025-01-08T21:33:56.840Z,1736372036.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:56.841Z,1736372036.841 [DAT](INFO): DAT read: TxSync time:21:33:55.9270 2025-01-08T21:33:56.871Z,1736372036.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:56.909Z,1736372036.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 477.299988 m, deltaT: 4.029552 s, deltaX: 2.599976 m, approachRate: 0.645227 m/s, rangeRepo size: 4 2025-01-08T21:33:56.918Z,1736372036.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 477.299988 m, bearing: 259.462438 deg, lat: 36.900800 deg, lon: -122.119720 deg, deltaT: 4.029552 s, deltaX: 2.599976 m, approachRate: 0.645227 m/s, posRepo size: 4 2025-01-08T21:33:56.923Z,1736372036.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.30 m. 2025-01-08T21:33:56.926Z,1736372036.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.299988 m, nav range: 457.187744 m, bearing: 256.264745 deg, approach rate: 0.000000 m/s, LOS rate: 0.068857 deg/s, cmd heading: 173.963771 deg, new cmd heading: 174.076540 deg. 2025-01-08T21:33:56.931Z,1736372036.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.038209 target range: 477.299988 and range: 477.30 m. 2025-01-08T21:33:57.092Z,1736372037.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:57.227Z,1736372037.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:57.236Z,1736372037.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.30 m. 2025-01-08T21:33:57.239Z,1736372037.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.299988 m, nav range: 457.106903 m, bearing: 256.292198 deg, approach rate: -0.246925 m/s, LOS rate: 0.083868 deg/s, cmd heading: 174.076537 deg, new cmd heading: 174.158910 deg. 2025-01-08T21:33:57.240Z,1736372037.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.039646 target range: 477.299988 and range: 477.30 m. 2025-01-08T21:33:57.344Z,1736372037.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:57.596Z,1736372037.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:57.632Z,1736372037.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:57.681Z,1736372037.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:57.697Z,1736372037.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.30 m. 2025-01-08T21:33:57.730Z,1736372037.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.299988 m, nav range: 457.016937 m, bearing: 256.322805 deg, approach rate: -0.197721 m/s, LOS rate: 0.067280 deg/s, cmd heading: 174.158909 deg, new cmd heading: 174.250749 deg. 2025-01-08T21:33:57.738Z,1736372037.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.041249 target range: 477.299988 and range: 477.30 m. 2025-01-08T21:33:57.848Z,1736372037.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:57.848Z,1736372037.848 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:33:57.849Z,1736372037.849 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:33:57.849Z,1736372037.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:33:58.100Z,1736372038.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:58.101Z,1736372038.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500529 2025-01-08T21:33:58.210Z,1736372038.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:58.221Z,1736372038.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.30 m. 2025-01-08T21:33:58.224Z,1736372038.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.299988 m, nav range: 456.894531 m, bearing: 256.367044 deg, approach rate: -0.231061 m/s, LOS rate: 0.083530 deg/s, cmd heading: 174.250748 deg, new cmd heading: 174.383499 deg. 2025-01-08T21:33:58.225Z,1736372038.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.043566 target range: 477.299988 and range: 477.30 m. 2025-01-08T21:33:58.352Z,1736372038.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:58.353Z,1736372038.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752673 2025-01-08T21:33:58.600Z,1736372038.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:58.604Z,1736372038.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:58.604Z,1736372038.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004213 2025-01-08T21:33:58.610Z,1736372038.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.30 m. 2025-01-08T21:33:58.613Z,1736372038.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.299988 m, nav range: 456.812103 m, bearing: 256.396915 deg, approach rate: -0.212019 m/s, LOS rate: 0.076848 deg/s, cmd heading: 174.383499 deg, new cmd heading: 174.473129 deg. 2025-01-08T21:33:58.615Z,1736372038.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.045130 target range: 477.299988 and range: 477.30 m. 2025-01-08T21:33:58.856Z,1736372038.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:58.857Z,1736372038.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256736 2025-01-08T21:33:59.012Z,1736372039.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:59.021Z,1736372039.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.30 m. 2025-01-08T21:33:59.024Z,1736372039.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.299988 m, nav range: 456.734161 m, bearing: 256.429598 deg, approach rate: -0.189363 m/s, LOS rate: 0.079418 deg/s, cmd heading: 174.473125 deg, new cmd heading: 174.571190 deg. 2025-01-08T21:33:59.025Z,1736372039.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.046842 target range: 477.299988 and range: 477.30 m. 2025-01-08T21:33:59.109Z,1736372039.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:59.110Z,1736372039.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509613 2025-01-08T21:33:59.360Z,1736372039.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:59.360Z,1736372039.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760121 2025-01-08T21:33:59.399Z,1736372039.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:59.408Z,1736372039.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.30 m. 2025-01-08T21:33:59.410Z,1736372039.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.299988 m, nav range: 456.661469 m, bearing: 256.460312 deg, approach rate: -0.188109 m/s, LOS rate: 0.079493 deg/s, cmd heading: 174.571193 deg, new cmd heading: 174.663351 deg. 2025-01-08T21:33:59.412Z,1736372039.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.048450 target range: 477.299988 and range: 477.30 m. 2025-01-08T21:33:59.612Z,1736372039.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:59.612Z,1736372039.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012137 2025-01-08T21:33:59.861Z,1736372039.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:33:59.864Z,1736372039.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:33:59.865Z,1736372039.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264835 2025-01-08T21:33:59.870Z,1736372039.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:33:59.872Z,1736372039.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.30 m. 2025-01-08T21:33:59.875Z,1736372039.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.299988 m, nav range: 456.598816 m, bearing: 256.498539 deg, approach rate: -0.134972 m/s, LOS rate: 0.082363 deg/s, cmd heading: 174.663346 deg, new cmd heading: 174.778042 deg. 2025-01-08T21:33:59.896Z,1736372039.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.050452 target range: 477.299988 and range: 477.30 m. 2025-01-08T21:34:00.116Z,1736372040.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:00.116Z,1736372040.116 [DAT](INFO): DAT read: Rx Time:21:33:58.9702 2025-01-08T21:34:00.117Z,1736372040.117 [DAT](INFO): Rx dataTimestamp_ set to:1736372040.116709 2025-01-08T21:34:00.118Z,1736372040.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517318 2025-01-08T21:34:00.208Z,1736372040.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:00.225Z,1736372040.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.30 m. 2025-01-08T21:34:00.232Z,1736372040.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.299988 m, nav range: 456.551758 m, bearing: 256.527272 deg, approach rate: -0.133432 m/s, LOS rate: 0.081479 deg/s, cmd heading: 174.778039 deg, new cmd heading: 174.864245 deg. 2025-01-08T21:34:00.233Z,1736372040.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.051957 target range: 477.299988 and range: 477.30 m. 2025-01-08T21:34:00.368Z,1736372040.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:00.369Z,1736372040.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768747 2025-01-08T21:34:00.610Z,1736372040.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:00.624Z,1736372040.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:00.627Z,1736372040.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026011 2025-01-08T21:34:00.646Z,1736372040.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.30 m. 2025-01-08T21:34:00.693Z,1736372040.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.299988 m, nav range: 456.496552 m, bearing: 256.560508 deg, approach rate: -0.131423 m/s, LOS rate: 0.079132 deg/s, cmd heading: 174.864249 deg, new cmd heading: 174.963971 deg. 2025-01-08T21:34:00.694Z,1736372040.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.053697 target range: 477.299988 and range: 477.30 m. 2025-01-08T21:34:00.876Z,1736372040.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:00.884Z,1736372040.884 [DAT](INFO): DAT read: 21:33:58.9702 LVL= 20352, 23265, 23442, 32755, AGC= 64, IDX= 452,-0.43, 0.618, 1.413,-0.869, 0.389, PHS= 0.317, 1.071,-1.261, RAW= 11.5, -1.3, CAL= 11.3, -3.1, ROT= 138.7, 3.1 2025-01-08T21:34:00.885Z,1736372040.885 [DAT](INFO): got valid direction response: 21:33:58.9702 LVL= 20352, 23265, 23442, 32755, AGC= 64, IDX= 452,-0.43, 0.618, 1.413,-0.869, 0.389, PHS= 0.317, 1.071,-1.261, RAW= 11.5, -1.3, CAL= 11.3, -3.1, ROT= 138.7, 3.1 2025-01-08T21:34:00.886Z,1736372040.886 [DAT](INFO): DAT read: Bearing 138.7, 3.1 (Local) 2025-01-08T21:34:00.886Z,1736372040.886 [DAT](INFO): Local bearing/azimuth received: Bearing 138.7, 3.1 (Local) 2025-01-08T21:34:00.888Z,1736372040.888 [DAT](INFO): DAT read: Range 10 to 50 : 478.6 m (Round-trip 638.2 ms) speed -0.3 m/s 2025-01-08T21:34:00.888Z,1736372040.888 [DAT](INFO): DAT read: user:1875> 2025-01-08T21:34:00.889Z,1736372040.889 [DAT](INFO): DAT read: Tx time:21:34:00.0778 2025-01-08T21:34:00.889Z,1736372040.889 [DAT](INFO): Ping request sent. 2025-01-08T21:34:00.890Z,1736372040.890 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:34:00.890Z,1736372040.890 [DAT](INFO): DAT read: TxSync time:21:34:00.0770 2025-01-08T21:34:00.891Z,1736372040.891 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:34:00.898Z,1736372040.898 [DAT](INFO): direction in FSK: [0.091531,0.983679,0.154914] 2025-01-08T21:34:00.898Z,1736372040.898 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:00.899Z,1736372040.899 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:00.939Z,1736372040.939 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:00.950Z,1736372040.950 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:01.102Z,1736372041.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:01.120Z,1736372041.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:34:01.128Z,1736372041.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:01.144Z,1736372041.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 478.600006 m, deltaT: 4.288018 s, deltaX: 1.300018 m, approachRate: 0.303175 m/s, rangeRepo size: 4 2025-01-08T21:34:01.146Z,1736372041.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 478.600006 m, bearing: 259.316008 deg, lat: 36.900989 deg, lon: -122.119746 deg, deltaT: 4.288018 s, deltaX: 1.300018 m, approachRate: 0.303175 m/s, posRepo size: 4 2025-01-08T21:34:01.152Z,1736372041.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.60 m. 2025-01-08T21:34:01.155Z,1736372041.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.600006 m, nav range: 454.350433 m, bearing: 259.253523 deg, approach rate: 0.000000 m/s, LOS rate: 0.079132 deg/s, cmd heading: 174.963970 deg, new cmd heading: 175.081296 deg. 2025-01-08T21:34:01.160Z,1736372041.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.055745 target range: 478.600006 and range: 478.60 m. 2025-01-08T21:34:01.381Z,1736372041.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:01.440Z,1736372041.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:01.450Z,1736372041.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.60 m. 2025-01-08T21:34:01.452Z,1736372041.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.600006 m, nav range: 454.339539 m, bearing: 259.283247 deg, approach rate: -0.035075 m/s, LOS rate: 0.095693 deg/s, cmd heading: 175.081299 deg, new cmd heading: 175.170471 deg. 2025-01-08T21:34:01.453Z,1736372041.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.057302 target range: 478.600006 and range: 478.60 m. 2025-01-08T21:34:01.634Z,1736372041.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:01.878Z,1736372041.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:01.884Z,1736372041.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:01.907Z,1736372041.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:01.909Z,1736372041.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.60 m. 2025-01-08T21:34:01.916Z,1736372041.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.600006 m, nav range: 454.353027 m, bearing: 259.323213 deg, approach rate: 0.029357 m/s, LOS rate: 0.086978 deg/s, cmd heading: 175.170474 deg, new cmd heading: 175.290368 deg. 2025-01-08T21:34:01.917Z,1736372041.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.059394 target range: 478.600006 and range: 478.60 m. 2025-01-08T21:34:02.124Z,1736372042.124 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:34:02.139Z,1736372042.139 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:02.139Z,1736372042.139 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:02.140Z,1736372042.140 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:02.140Z,1736372042.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:02.261Z,1736372042.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:02.270Z,1736372042.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.60 m. 2025-01-08T21:34:02.273Z,1736372042.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.600006 m, nav range: 454.365051 m, bearing: 259.358203 deg, approach rate: 0.033276 m/s, LOS rate: 0.096831 deg/s, cmd heading: 175.290371 deg, new cmd heading: 175.395339 deg. 2025-01-08T21:34:02.274Z,1736372042.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.061226 target range: 478.600006 and range: 478.60 m. 2025-01-08T21:34:02.388Z,1736372042.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:02.388Z,1736372042.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498785 2025-01-08T21:34:02.640Z,1736372042.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:02.640Z,1736372042.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750857 2025-01-08T21:34:02.656Z,1736372042.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:02.670Z,1736372042.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.60 m. 2025-01-08T21:34:02.703Z,1736372042.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.600006 m, nav range: 454.375336 m, bearing: 259.394196 deg, approach rate: 0.025753 m/s, LOS rate: 0.090128 deg/s, cmd heading: 175.395337 deg, new cmd heading: 175.503314 deg. 2025-01-08T21:34:02.704Z,1736372042.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.063111 target range: 478.600006 and range: 478.60 m. 2025-01-08T21:34:02.894Z,1736372042.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:02.895Z,1736372042.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005803 2025-01-08T21:34:03.086Z,1736372043.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:03.101Z,1736372043.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.60 m. 2025-01-08T21:34:03.132Z,1736372043.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.600006 m, nav range: 454.405670 m, bearing: 259.433993 deg, approach rate: 0.070421 m/s, LOS rate: 0.092381 deg/s, cmd heading: 175.503309 deg, new cmd heading: 175.622690 deg. 2025-01-08T21:34:03.133Z,1736372043.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.065194 target range: 478.600006 and range: 478.60 m. 2025-01-08T21:34:03.144Z,1736372043.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:03.144Z,1736372043.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254852 2025-01-08T21:34:03.396Z,1736372043.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:03.397Z,1736372043.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506807 2025-01-08T21:34:03.468Z,1736372043.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:03.518Z,1736372043.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.60 m. 2025-01-08T21:34:03.521Z,1736372043.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.600006 m, nav range: 454.430298 m, bearing: 259.469288 deg, approach rate: 0.058980 m/s, LOS rate: 0.084524 deg/s, cmd heading: 175.622687 deg, new cmd heading: 175.728568 deg. 2025-01-08T21:34:03.522Z,1736372043.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.067042 target range: 478.600006 and range: 478.60 m. 2025-01-08T21:34:03.648Z,1736372043.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:03.649Z,1736372043.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759697 2025-01-08T21:34:03.900Z,1736372043.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:03.900Z,1736372043.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010889 2025-01-08T21:34:03.917Z,1736372043.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:03.924Z,1736372043.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:03.926Z,1736372043.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.60 m. 2025-01-08T21:34:03.949Z,1736372043.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.600006 m, nav range: 454.470245 m, bearing: 259.511421 deg, approach rate: 0.097879 m/s, LOS rate: 0.103223 deg/s, cmd heading: 175.728569 deg, new cmd heading: 175.854954 deg. 2025-01-08T21:34:03.950Z,1736372043.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.069248 target range: 478.600006 and range: 478.60 m. 2025-01-08T21:34:04.152Z,1736372044.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:04.153Z,1736372044.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263755 2025-01-08T21:34:04.376Z,1736372044.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:04.386Z,1736372044.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.60 m. 2025-01-08T21:34:04.389Z,1736372044.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.600006 m, nav range: 454.509674 m, bearing: 259.554445 deg, approach rate: 0.085746 m/s, LOS rate: 0.093557 deg/s, cmd heading: 175.854954 deg, new cmd heading: 175.984017 deg. 2025-01-08T21:34:04.390Z,1736372044.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.071501 target range: 478.600006 and range: 478.60 m. 2025-01-08T21:34:04.404Z,1736372044.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:04.404Z,1736372044.404 [DAT](INFO): DAT read: Rx Time:21:34:03.1227 2025-01-08T21:34:04.405Z,1736372044.405 [DAT](INFO): Rx dataTimestamp_ set to:1736372044.404631 2025-01-08T21:34:04.405Z,1736372044.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515849 2025-01-08T21:34:04.656Z,1736372044.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:04.658Z,1736372044.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767663 2025-01-08T21:34:04.841Z,1736372044.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:04.900Z,1736372044.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.60 m. 2025-01-08T21:34:04.908Z,1736372044.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:04.917Z,1736372044.917 [DAT](INFO): DAT read: 21:34:03.1227 LVL= 15584, 17857, 18530, 25667, AGC= 67, IDX= 444, 0.33, 0.478, 1.282,-1.106, 0.245, PHS= 0.321, 1.084,-1.354, RAW= 12.2, -0.5, CAL= 12.0, -2.0, ROT= 138.0, 2.0 2025-01-08T21:34:04.918Z,1736372044.918 [DAT](INFO): got valid direction response: 21:34:03.1227 LVL= 15584, 17857, 18530, 25667, AGC= 67, IDX= 444, 0.33, 0.478, 1.282,-1.106, 0.245, PHS= 0.321, 1.084,-1.354, RAW= 12.2, -0.5, CAL= 12.0, -2.0, ROT= 138.0, 2.0 2025-01-08T21:34:04.919Z,1736372044.919 [DAT](INFO): DAT read: Bearing 138.0, 2.0 (Local) 2025-01-08T21:34:04.919Z,1736372044.919 [DAT](INFO): Local bearing/azimuth received: Bearing 138.0, 2.0 (Local) 2025-01-08T21:34:04.921Z,1736372044.921 [DAT](INFO): DAT read: Range 10 to 50 : 480.5 m (Round-trip 640.7 ms) speed -0.5 m/s 2025-01-08T21:34:04.921Z,1736372044.921 [DAT](INFO): DAT read: user:1876> 2025-01-08T21:34:04.922Z,1736372044.922 [DAT](INFO): DAT read: Tx time:21:34:04.2279 2025-01-08T21:34:04.922Z,1736372044.922 [DAT](INFO): Ping request sent. 2025-01-08T21:34:04.922Z,1736372044.922 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:34:04.923Z,1736372044.923 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:34:04.925Z,1736372044.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.600006 m, nav range: 454.548096 m, bearing: 259.597974 deg, approach rate: 0.075603 m/s, LOS rate: 0.085645 deg/s, cmd heading: 175.984018 deg, new cmd heading: 176.114592 deg. 2025-01-08T21:34:04.926Z,1736372044.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.073780 target range: 478.600006 and range: 478.60 m. 2025-01-08T21:34:04.928Z,1736372044.928 [DAT](INFO): direction in FSK: [0.075868,0.983365,0.165036] 2025-01-08T21:34:04.928Z,1736372044.928 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:04.928Z,1736372044.928 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:04.940Z,1736372044.940 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:04.941Z,1736372044.941 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:05.160Z,1736372045.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:05.161Z,1736372045.161 [DAT](INFO): DAT read: TxSync time:21:34:04.2271 2025-01-08T21:34:05.370Z,1736372045.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:05.385Z,1736372045.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 480.500000 m, deltaT: 4.033009 s, deltaX: 1.899994 m, approachRate: 0.471111 m/s, rangeRepo size: 4 2025-01-08T21:34:05.387Z,1736372045.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 480.500000 m, bearing: 263.317544 deg, lat: 36.901015 deg, lon: -122.119777 deg, deltaT: 4.033009 s, deltaX: 1.899994 m, approachRate: 0.471111 m/s, posRepo size: 4 2025-01-08T21:34:05.388Z,1736372045.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.50 m. 2025-01-08T21:34:05.390Z,1736372045.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.500000 m, nav range: 456.774323 m, bearing: 260.062920 deg, approach rate: 0.000000 m/s, LOS rate: 0.085645 deg/s, cmd heading: 176.114597 deg, new cmd heading: 176.240495 deg. 2025-01-08T21:34:05.392Z,1736372045.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.075977 target range: 480.500000 and range: 480.50 m. 2025-01-08T21:34:05.412Z,1736372045.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:05.664Z,1736372045.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:05.787Z,1736372045.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:05.811Z,1736372045.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.50 m. 2025-01-08T21:34:05.815Z,1736372045.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.500000 m, nav range: 456.804016 m, bearing: 260.101052 deg, approach rate: 0.072247 m/s, LOS rate: 0.092772 deg/s, cmd heading: 176.240491 deg, new cmd heading: 176.354879 deg. 2025-01-08T21:34:05.844Z,1736372045.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.077973 target range: 480.500000 and range: 480.50 m. 2025-01-08T21:34:05.917Z,1736372045.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:06.168Z,1736372046.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:06.217Z,1736372046.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:06.226Z,1736372046.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:06.228Z,1736372046.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.50 m. 2025-01-08T21:34:06.252Z,1736372046.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.500000 m, nav range: 456.817780 m, bearing: 260.139650 deg, approach rate: 0.031792 m/s, LOS rate: 0.089155 deg/s, cmd heading: 176.354883 deg, new cmd heading: 176.470674 deg. 2025-01-08T21:34:06.253Z,1736372046.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.079994 target range: 480.500000 and range: 480.50 m. 2025-01-08T21:34:06.420Z,1736372046.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:06.420Z,1736372046.420 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:06.420Z,1736372046.420 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:06.421Z,1736372046.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:06.618Z,1736372046.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:06.627Z,1736372046.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.50 m. 2025-01-08T21:34:06.631Z,1736372046.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.500000 m, nav range: 456.829926 m, bearing: 260.175573 deg, approach rate: 0.030449 m/s, LOS rate: 0.090055 deg/s, cmd heading: 176.470669 deg, new cmd heading: 176.578435 deg. 2025-01-08T21:34:06.632Z,1736372046.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.081875 target range: 480.500000 and range: 480.50 m. 2025-01-08T21:34:06.672Z,1736372046.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:06.673Z,1736372046.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750657 2025-01-08T21:34:06.924Z,1736372046.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:06.926Z,1736372046.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003301 2025-01-08T21:34:07.032Z,1736372047.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:07.056Z,1736372047.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.50 m. 2025-01-08T21:34:07.059Z,1736372047.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.500000 m, nav range: 456.828156 m, bearing: 260.210778 deg, approach rate: -0.004124 m/s, LOS rate: 0.082033 deg/s, cmd heading: 176.578435 deg, new cmd heading: 176.684052 deg. 2025-01-08T21:34:07.068Z,1736372047.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.083719 target range: 480.500000 and range: 480.50 m. 2025-01-08T21:34:07.176Z,1736372047.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:07.177Z,1736372047.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254479 2025-01-08T21:34:07.406Z,1736372047.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:07.416Z,1736372047.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.50 m. 2025-01-08T21:34:07.418Z,1736372047.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.500000 m, nav range: 456.826202 m, bearing: 260.242639 deg, approach rate: -0.005439 m/s, LOS rate: 0.088720 deg/s, cmd heading: 176.684057 deg, new cmd heading: 176.779639 deg. 2025-01-08T21:34:07.419Z,1736372047.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.085387 target range: 480.500000 and range: 480.50 m. 2025-01-08T21:34:07.428Z,1736372047.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:07.429Z,1736372047.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505992 2025-01-08T21:34:07.681Z,1736372047.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:07.681Z,1736372047.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758864 2025-01-08T21:34:07.829Z,1736372047.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:07.852Z,1736372047.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.50 m. 2025-01-08T21:34:07.863Z,1736372047.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.500000 m, nav range: 456.824188 m, bearing: 260.277135 deg, approach rate: -0.004633 m/s, LOS rate: 0.079349 deg/s, cmd heading: 176.779639 deg, new cmd heading: 176.883128 deg. 2025-01-08T21:34:07.890Z,1736372047.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.087193 target range: 480.500000 and range: 480.50 m. 2025-01-08T21:34:07.932Z,1736372047.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:07.933Z,1736372047.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010198 2025-01-08T21:34:08.184Z,1736372048.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:08.185Z,1736372048.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261994 2025-01-08T21:34:08.254Z,1736372048.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:08.273Z,1736372048.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:08.275Z,1736372048.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.50 m. 2025-01-08T21:34:08.283Z,1736372048.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.500000 m, nav range: 456.800018 m, bearing: 260.313665 deg, approach rate: -0.056896 m/s, LOS rate: 0.085996 deg/s, cmd heading: 176.883130 deg, new cmd heading: 176.992725 deg. 2025-01-08T21:34:08.288Z,1736372048.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.089106 target range: 480.500000 and range: 480.50 m. 2025-01-08T21:34:08.436Z,1736372048.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:08.437Z,1736372048.437 [DAT](INFO): DAT read: Rx Time:21:34:07.2753 2025-01-08T21:34:08.437Z,1736372048.437 [DAT](INFO): Rx dataTimestamp_ set to:1736372048.436789 2025-01-08T21:34:08.438Z,1736372048.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515088 2025-01-08T21:34:08.624Z,1736372048.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:08.633Z,1736372048.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.50 m. 2025-01-08T21:34:08.637Z,1736372048.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.500000 m, nav range: 456.779816 m, bearing: 260.344233 deg, approach rate: -0.056377 m/s, LOS rate: 0.085306 deg/s, cmd heading: 176.992727 deg, new cmd heading: 177.084436 deg. 2025-01-08T21:34:08.638Z,1736372048.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.090706 target range: 480.500000 and range: 480.50 m. 2025-01-08T21:34:08.689Z,1736372048.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:08.690Z,1736372048.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767160 2025-01-08T21:34:08.942Z,1736372048.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:08.946Z,1736372048.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022527 2025-01-08T21:34:09.067Z,1736372049.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:09.088Z,1736372049.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.50 m. 2025-01-08T21:34:09.091Z,1736372049.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.500000 m, nav range: 456.734406 m, bearing: 260.379970 deg, approach rate: -0.099865 m/s, LOS rate: 0.078602 deg/s, cmd heading: 177.084429 deg, new cmd heading: 177.191653 deg. 2025-01-08T21:34:09.096Z,1736372049.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.092578 target range: 480.500000 and range: 480.50 m. 2025-01-08T21:34:09.192Z,1736372049.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:09.200Z,1736372049.200 [DAT](INFO): DAT read: 21:34:07.2753 LVL= 20208, 23217, 21698, 28531, AGC= 68, IDX= 455, 0.22, 1.354, 2.112,-0.325, 1.035, PHS= 0.408, 1.124,-1.363, RAW= 13.8, -1.5, CAL= 13.5, -3.5, ROT= 136.5, 3.5 2025-01-08T21:34:09.201Z,1736372049.201 [DAT](INFO): got valid direction response: 21:34:07.2753 LVL= 20208, 23217, 21698, 28531, AGC= 68, IDX= 455, 0.22, 1.354, 2.112,-0.325, 1.035, PHS= 0.408, 1.124,-1.363, RAW= 13.8, -1.5, CAL= 13.5, -3.5, ROT= 136.5, 3.5 2025-01-08T21:34:09.202Z,1736372049.202 [DAT](INFO): DAT read: Bearing 136.5, 3.5 (Local) 2025-01-08T21:34:09.202Z,1736372049.202 [DAT](INFO): Local bearing/azimuth received: Bearing 136.5, 3.5 (Local) 2025-01-08T21:34:09.204Z,1736372049.204 [DAT](INFO): DAT read: Range 10 to 50 : 482.4 m (Round-trip 643.3 ms) speed -0.3 m/s 2025-01-08T21:34:09.205Z,1736372049.205 [DAT](INFO): DAT read: user:1877> 2025-01-08T21:34:09.206Z,1736372049.206 [DAT](INFO): DAT read: Tx time:21:34:08.3779 2025-01-08T21:34:09.206Z,1736372049.206 [DAT](INFO): Ping request sent. 2025-01-08T21:34:09.206Z,1736372049.206 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:34:09.207Z,1736372049.207 [DAT](INFO): DAT read: TxSync time:21:34:08.3771 2025-01-08T21:34:09.208Z,1736372049.208 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:34:09.208Z,1736372049.208 [DAT](INFO): direction in FSK: [0.092969,0.976896,0.192434] 2025-01-08T21:34:09.209Z,1736372049.209 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:09.209Z,1736372049.209 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:09.213Z,1736372049.213 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:09.213Z,1736372049.213 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:09.441Z,1736372049.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:09.444Z,1736372049.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:09.458Z,1736372049.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 482.399994 m, deltaT: 4.283332 s, deltaX: 1.899994 m, approachRate: 0.443578 m/s, rangeRepo size: 4 2025-01-08T21:34:09.460Z,1736372049.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 482.399994 m, bearing: 262.904496 deg, lat: 36.901103 deg, lon: -122.119802 deg, deltaT: 4.283332 s, deltaX: 1.899994 m, approachRate: 0.443578 m/s, posRepo size: 4 2025-01-08T21:34:09.461Z,1736372049.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.40 m. 2025-01-08T21:34:09.464Z,1736372049.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.399994 m, nav range: 457.410126 m, bearing: 261.673362 deg, approach rate: 0.000000 m/s, LOS rate: 0.078602 deg/s, cmd heading: 177.191650 deg, new cmd heading: 177.278722 deg. 2025-01-08T21:34:09.465Z,1736372049.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.094097 target range: 482.399994 and range: 482.40 m. 2025-01-08T21:34:09.696Z,1736372049.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:09.840Z,1736372049.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:09.849Z,1736372049.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.40 m. 2025-01-08T21:34:09.852Z,1736372049.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.399994 m, nav range: 457.375580 m, bearing: 261.705611 deg, approach rate: -0.088214 m/s, LOS rate: 0.082355 deg/s, cmd heading: 177.278721 deg, new cmd heading: 177.375475 deg. 2025-01-08T21:34:09.853Z,1736372049.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.095786 target range: 482.399994 and range: 482.40 m. 2025-01-08T21:34:09.949Z,1736372049.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:10.200Z,1736372050.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:10.283Z,1736372050.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:10.290Z,1736372050.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:10.312Z,1736372050.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.40 m. 2025-01-08T21:34:10.321Z,1736372050.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.399994 m, nav range: 457.323700 m, bearing: 261.741427 deg, approach rate: -0.111979 m/s, LOS rate: 0.077314 deg/s, cmd heading: 177.375477 deg, new cmd heading: 177.482937 deg. 2025-01-08T21:34:10.322Z,1736372050.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.097661 target range: 482.399994 and range: 482.40 m. 2025-01-08T21:34:10.452Z,1736372050.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:10.452Z,1736372050.452 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:10.452Z,1736372050.452 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:10.453Z,1736372050.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:10.640Z,1736372050.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:10.653Z,1736372050.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.40 m. 2025-01-08T21:34:10.678Z,1736372050.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.399994 m, nav range: 457.281342 m, bearing: 261.770362 deg, approach rate: -0.124239 m/s, LOS rate: 0.084877 deg/s, cmd heading: 177.482930 deg, new cmd heading: 177.569745 deg. 2025-01-08T21:34:10.684Z,1736372050.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.099177 target range: 482.399994 and range: 482.40 m. 2025-01-08T21:34:10.704Z,1736372050.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:10.704Z,1736372050.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498179 2025-01-08T21:34:10.958Z,1736372050.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:10.961Z,1736372050.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753875 2025-01-08T21:34:11.074Z,1736372051.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:11.083Z,1736372051.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.40 m. 2025-01-08T21:34:11.110Z,1736372051.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.399994 m, nav range: 457.226044 m, bearing: 261.804906 deg, approach rate: -0.128683 m/s, LOS rate: 0.080395 deg/s, cmd heading: 177.569742 deg, new cmd heading: 177.673384 deg. 2025-01-08T21:34:11.117Z,1736372051.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.100986 target range: 482.399994 and range: 482.40 m. 2025-01-08T21:34:11.208Z,1736372051.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:11.209Z,1736372051.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002269 2025-01-08T21:34:11.449Z,1736372051.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:11.460Z,1736372051.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:11.460Z,1736372051.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254162 2025-01-08T21:34:11.473Z,1736372051.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.40 m. 2025-01-08T21:34:11.481Z,1736372051.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.399994 m, nav range: 457.178467 m, bearing: 261.834802 deg, approach rate: -0.121848 m/s, LOS rate: 0.076575 deg/s, cmd heading: 177.673383 deg, new cmd heading: 177.763082 deg. 2025-01-08T21:34:11.482Z,1736372051.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.102551 target range: 482.399994 and range: 482.40 m. 2025-01-08T21:34:11.712Z,1736372051.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:11.713Z,1736372051.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506565 2025-01-08T21:34:11.858Z,1736372051.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:11.867Z,1736372051.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.40 m. 2025-01-08T21:34:11.886Z,1736372051.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.399994 m, nav range: 457.126892 m, bearing: 261.867461 deg, approach rate: -0.131049 m/s, LOS rate: 0.082993 deg/s, cmd heading: 177.763077 deg, new cmd heading: 177.861064 deg. 2025-01-08T21:34:11.886Z,1736372051.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.104261 target range: 482.399994 and range: 482.40 m. 2025-01-08T21:34:11.965Z,1736372051.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:11.968Z,1736372051.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761099 2025-01-08T21:34:12.217Z,1736372052.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:12.223Z,1736372052.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012366 2025-01-08T21:34:12.316Z,1736372052.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:12.323Z,1736372052.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:12.325Z,1736372052.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.40 m. 2025-01-08T21:34:12.328Z,1736372052.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.399994 m, nav range: 457.069550 m, bearing: 261.904859 deg, approach rate: -0.125126 m/s, LOS rate: 0.081615 deg/s, cmd heading: 177.861063 deg, new cmd heading: 177.973271 deg. 2025-01-08T21:34:12.329Z,1736372052.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.106220 target range: 482.399994 and range: 482.40 m. 2025-01-08T21:34:12.468Z,1736372052.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:12.468Z,1736372052.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262079 2025-01-08T21:34:12.670Z,1736372052.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:12.700Z,1736372052.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.40 m. 2025-01-08T21:34:12.705Z,1736372052.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.399994 m, nav range: 457.025574 m, bearing: 261.933733 deg, approach rate: -0.117322 m/s, LOS rate: 0.077040 deg/s, cmd heading: 177.973269 deg, new cmd heading: 178.059900 deg. 2025-01-08T21:34:12.706Z,1736372052.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.107732 target range: 482.399994 and range: 482.40 m. 2025-01-08T21:34:12.721Z,1736372052.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:12.722Z,1736372052.722 [DAT](INFO): DAT read: Rx Time:21:34:11.4271 2025-01-08T21:34:12.723Z,1736372052.723 [DAT](INFO): Rx dataTimestamp_ set to:1736372052.722302 2025-01-08T21:34:12.723Z,1736372052.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516859 2025-01-08T21:34:12.973Z,1736372052.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:12.976Z,1736372052.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769211 2025-01-08T21:34:13.139Z,1736372053.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:13.159Z,1736372053.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.40 m. 2025-01-08T21:34:13.170Z,1736372053.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.399994 m, nav range: 456.975891 m, bearing: 261.973223 deg, approach rate: -0.109100 m/s, LOS rate: 0.086727 deg/s, cmd heading: 178.059903 deg, new cmd heading: 178.178387 deg. 2025-01-08T21:34:13.179Z,1736372053.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.109800 target range: 482.399994 and range: 482.40 m. 2025-01-08T21:34:13.224Z,1736372053.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:13.231Z,1736372053.231 [DAT](INFO): DAT read: 21:34:11.4271 LVL= 18448, 20689, 19074, 28947, AGC= 64, IDX= 442,-0.43, 3.023,-2.537, 1.437, 2.776, PHS= 0.336, 1.018,-1.342, RAW= 13.7, -0.1, CAL= 13.4, -1.5, ROT= 136.6, 1.5 2025-01-08T21:34:13.232Z,1736372053.232 [DAT](INFO): got valid direction response: 21:34:11.4271 LVL= 18448, 20689, 19074, 28947, AGC= 64, IDX= 442,-0.43, 3.023,-2.537, 1.437, 2.776, PHS= 0.336, 1.018,-1.342, RAW= 13.7, -0.1, CAL= 13.4, -1.5, ROT= 136.6, 1.5 2025-01-08T21:34:13.233Z,1736372053.233 [DAT](INFO): DAT read: Bearing 136.6, 1.5 (Local) 2025-01-08T21:34:13.234Z,1736372053.234 [DAT](INFO): Local bearing/azimuth received: Bearing 136.6, 1.5 (Local) 2025-01-08T21:34:13.235Z,1736372053.235 [DAT](INFO): DAT read: Range 10 to 50 : 483.8 m (Round-trip 645.1 ms) speed -0.4 m/s 2025-01-08T21:34:13.236Z,1736372053.236 [DAT](INFO): DAT read: user:1878> 2025-01-08T21:34:13.237Z,1736372053.237 [DAT](INFO): DAT read: Tx time:21:34:12.5279 2025-01-08T21:34:13.237Z,1736372053.237 [DAT](INFO): Ping request sent. 2025-01-08T21:34:13.237Z,1736372053.237 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:34:13.237Z,1736372053.237 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:34:13.238Z,1736372053.238 [DAT](INFO): direction in FSK: [0.066290,0.979598,0.189718] 2025-01-08T21:34:13.238Z,1736372053.238 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:13.239Z,1736372053.239 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:13.253Z,1736372053.253 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:13.254Z,1736372053.254 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:13.478Z,1736372053.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:13.481Z,1736372053.481 [DAT](INFO): DAT read: TxSync time:21:34:12.5271 2025-01-08T21:34:13.520Z,1736372053.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:13.560Z,1736372053.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 483.799988 m, deltaT: 4.031735 s, deltaX: 1.399994 m, approachRate: 0.347244 m/s, rangeRepo size: 4 2025-01-08T21:34:13.562Z,1736372053.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 483.799988 m, bearing: 264.290627 deg, lat: 36.901193 deg, lon: -122.119830 deg, deltaT: 4.031735 s, deltaX: 1.399994 m, approachRate: 0.347244 m/s, posRepo size: 4 2025-01-08T21:34:13.563Z,1736372053.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:13.569Z,1736372053.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 458.079163 m, bearing: 263.276047 deg, approach rate: 0.000000 m/s, LOS rate: 0.086727 deg/s, cmd heading: 178.178394 deg, new cmd heading: 178.281306 deg. 2025-01-08T21:34:13.570Z,1736372053.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.111596 target range: 483.799988 and range: 483.80 m. 2025-01-08T21:34:13.728Z,1736372053.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:13.884Z,1736372053.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:13.893Z,1736372053.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:13.896Z,1736372053.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 458.045990 m, bearing: 263.306763 deg, approach rate: -0.097019 m/s, LOS rate: 0.089839 deg/s, cmd heading: 178.281311 deg, new cmd heading: 178.373464 deg. 2025-01-08T21:34:13.897Z,1736372053.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.113204 target range: 483.799988 and range: 483.80 m. 2025-01-08T21:34:13.981Z,1736372053.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:14.232Z,1736372054.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:14.315Z,1736372054.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:14.324Z,1736372054.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:14.327Z,1736372054.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 458.017303 m, bearing: 263.343339 deg, approach rate: -0.066523 m/s, LOS rate: 0.084824 deg/s, cmd heading: 178.373464 deg, new cmd heading: 178.483199 deg. 2025-01-08T21:34:14.344Z,1736372054.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115119 target range: 483.799988 and range: 483.80 m. 2025-01-08T21:34:14.485Z,1736372054.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:14.693Z,1736372054.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:14.701Z,1736372054.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:14.703Z,1736372054.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:14.706Z,1736372054.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 457.992584 m, bearing: 263.375459 deg, approach rate: -0.065208 m/s, LOS rate: 0.084735 deg/s, cmd heading: 178.483198 deg, new cmd heading: 178.579563 deg. 2025-01-08T21:34:14.707Z,1736372054.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.116801 target range: 483.799988 and range: 483.80 m. 2025-01-08T21:34:14.736Z,1736372054.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:14.736Z,1736372054.736 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:14.736Z,1736372054.736 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:14.737Z,1736372054.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:14.989Z,1736372054.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:14.992Z,1736372054.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753987 2025-01-08T21:34:15.122Z,1736372055.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:15.132Z,1736372055.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:15.134Z,1736372055.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 457.976837 m, bearing: 263.412492 deg, approach rate: -0.036769 m/s, LOS rate: 0.086476 deg/s, cmd heading: 178.579558 deg, new cmd heading: 178.690663 deg. 2025-01-08T21:34:15.135Z,1736372055.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.118740 target range: 483.799988 and range: 483.80 m. 2025-01-08T21:34:15.241Z,1736372055.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:15.242Z,1736372055.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004219 2025-01-08T21:34:15.492Z,1736372055.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:15.492Z,1736372055.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255386 2025-01-08T21:34:15.493Z,1736372055.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:15.502Z,1736372055.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:15.505Z,1736372055.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 457.963226 m, bearing: 263.444379 deg, approach rate: -0.036671 m/s, LOS rate: 0.085913 deg/s, cmd heading: 178.690658 deg, new cmd heading: 178.786319 deg. 2025-01-08T21:34:15.506Z,1736372055.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.120410 target range: 483.799988 and range: 483.80 m. 2025-01-08T21:34:15.744Z,1736372055.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:15.744Z,1736372055.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507338 2025-01-08T21:34:15.909Z,1736372055.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:15.919Z,1736372055.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:15.922Z,1736372055.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 457.947296 m, bearing: 263.480422 deg, approach rate: -0.038224 m/s, LOS rate: 0.086489 deg/s, cmd heading: 178.786321 deg, new cmd heading: 178.894456 deg. 2025-01-08T21:34:15.923Z,1736372055.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.122297 target range: 483.799988 and range: 483.80 m. 2025-01-08T21:34:15.997Z,1736372055.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:15.000Z,1736372056.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762386 2025-01-08T21:34:16.248Z,1736372056.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:16.249Z,1736372056.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011513 2025-01-08T21:34:16.347Z,1736372056.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:16.357Z,1736372056.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:16.360Z,1736372056.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 457.942841 m, bearing: 263.518541 deg, approach rate: -0.010184 m/s, LOS rate: 0.087131 deg/s, cmd heading: 178.894457 deg, new cmd heading: 179.008815 deg. 2025-01-08T21:34:16.361Z,1736372056.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.124293 target range: 483.799988 and range: 483.80 m. 2025-01-08T21:34:16.500Z,1736372056.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:16.500Z,1736372056.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263336 2025-01-08T21:34:16.701Z,1736372056.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:16.709Z,1736372056.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:16.710Z,1736372056.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:16.736Z,1736372056.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 457.938263 m, bearing: 263.549458 deg, approach rate: -0.012940 m/s, LOS rate: 0.087399 deg/s, cmd heading: 179.008808 deg, new cmd heading: 179.101559 deg. 2025-01-08T21:34:16.739Z,1736372056.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.125912 target range: 483.799988 and range: 483.80 m. 2025-01-08T21:34:16.752Z,1736372056.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:16.753Z,1736372056.753 [DAT](INFO): DAT read: Rx Time:21:34:15.5804 2025-01-08T21:34:16.755Z,1736372056.755 [DAT](INFO): Rx dataTimestamp_ set to:1736372056.753976 2025-01-08T21:34:16.756Z,1736372056.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519136 2025-01-08T21:34:17.006Z,1736372057.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:17.008Z,1736372057.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770714 2025-01-08T21:34:17.130Z,1736372057.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:17.139Z,1736372057.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:17.162Z,1736372057.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 457.946136 m, bearing: 263.586866 deg, approach rate: 0.018380 m/s, LOS rate: 0.087324 deg/s, cmd heading: 179.101562 deg, new cmd heading: 179.213785 deg. 2025-01-08T21:34:17.163Z,1736372057.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.127871 target range: 483.799988 and range: 483.80 m. 2025-01-08T21:34:17.256Z,1736372057.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:17.259Z,1736372057.259 [DAT](INFO): DAT read: Range 10 to 50 : 486.3 m (Round-trip 648.4 ms) speed -0.4 m/s 2025-01-08T21:34:17.260Z,1736372057.260 [DAT](INFO): DAT read: user:1879> 2025-01-08T21:34:17.261Z,1736372057.261 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:34:17.262Z,1736372057.262 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:17.262Z,1736372057.262 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:17.262Z,1736372057.262 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:17.508Z,1736372057.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:17.508Z,1736372057.508 [DAT](INFO): DAT read: T time:21:34:16.6780 2025-01-08T21:34:17.509Z,1736372057.509 [DAT](INFO): unknown deviceResponse_: T time:21:34:16.6780 2025-01-08T21:34:17.509Z,1736372057.509 [DAT](INFO): DAT read: TxSync time:21:34:16.6772 2025-01-08T21:34:17.510Z,1736372057.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272955 2025-01-08T21:34:17.543Z,1736372057.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:17.562Z,1736372057.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 486.299988 m, deltaT: 4.032528 s, deltaX: 2.500000 m, approachRate: 0.619959 m/s, rangeRepo size: 4 2025-01-08T21:34:17.563Z,1736372057.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:17.573Z,1736372057.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 457.952484 m, bearing: 263.622657 deg, approach rate: 0.015025 m/s, LOS rate: 0.084713 deg/s, cmd heading: 179.213782 deg, new cmd heading: 179.321151 deg. 2025-01-08T21:34:17.574Z,1736372057.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.129745 target range: 483.799988 and range: 486.30 m. 2025-01-08T21:34:17.760Z,1736372057.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:17.760Z,1736372057.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523296 2025-01-08T21:34:17.918Z,1736372057.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:17.927Z,1736372057.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:17.930Z,1736372057.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 457.957245 m, bearing: 263.655796 deg, approach rate: 0.013020 m/s, LOS rate: 0.090632 deg/s, cmd heading: 179.321153 deg, new cmd heading: 179.420569 deg. 2025-01-08T21:34:17.933Z,1736372057.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.131480 target range: 483.799988 and range: 486.30 m. 2025-01-08T21:34:18.014Z,1736372058.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:18.017Z,1736372058.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779153 2025-01-08T21:34:18.264Z,1736372058.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:18.265Z,1736372058.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027979 2025-01-08T21:34:18.344Z,1736372058.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:18.357Z,1736372058.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:18.360Z,1736372058.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 457.969330 m, bearing: 263.692308 deg, approach rate: 0.028119 m/s, LOS rate: 0.084954 deg/s, cmd heading: 179.420573 deg, new cmd heading: 179.530106 deg. 2025-01-08T21:34:18.361Z,1736372058.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.133391 target range: 483.799988 and range: 486.30 m. 2025-01-08T21:34:18.516Z,1736372058.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:18.517Z,1736372058.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279466 2025-01-08T21:34:18.731Z,1736372058.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:18.738Z,1736372058.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:18.740Z,1736372058.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:18.743Z,1736372058.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 457.978729 m, bearing: 263.725456 deg, approach rate: 0.024503 m/s, LOS rate: 0.086410 deg/s, cmd heading: 179.530102 deg, new cmd heading: 179.629542 deg. 2025-01-08T21:34:18.745Z,1736372058.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.135127 target range: 483.799988 and range: 486.30 m. 2025-01-08T21:34:18.785Z,1736372058.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:18.786Z,1736372058.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549129 2025-01-08T21:34:19.038Z,1736372059.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:19.040Z,1736372059.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802712 2025-01-08T21:34:19.168Z,1736372059.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:19.185Z,1736372059.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:19.194Z,1736372059.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 457.991119 m, bearing: 263.762310 deg, approach rate: 0.027881 m/s, LOS rate: 0.082930 deg/s, cmd heading: 179.629549 deg, new cmd heading: 179.740108 deg. 2025-01-08T21:34:19.195Z,1736372059.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.137057 target range: 483.799988 and range: 486.30 m. 2025-01-08T21:34:19.288Z,1736372059.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:19.289Z,1736372059.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052034 2025-01-08T21:34:19.540Z,1736372059.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:19.541Z,1736372059.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303448 2025-01-08T21:34:19.542Z,1736372059.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:19.552Z,1736372059.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:19.554Z,1736372059.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 458.001282 m, bearing: 263.793861 deg, approach rate: 0.027712 m/s, LOS rate: 0.086035 deg/s, cmd heading: 179.740103 deg, new cmd heading: 179.834754 deg. 2025-01-08T21:34:19.581Z,1736372059.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.138709 target range: 483.799988 and range: 486.30 m. 2025-01-08T21:34:19.794Z,1736372059.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:19.794Z,1736372059.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557101 2025-01-08T21:34:19.934Z,1736372059.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:19.963Z,1736372059.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:19.970Z,1736372059.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 458.010925 m, bearing: 263.826907 deg, approach rate: 0.023639 m/s, LOS rate: 0.081001 deg/s, cmd heading: 179.834755 deg, new cmd heading: 179.933890 deg. 2025-01-08T21:34:19.971Z,1736372059.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.140439 target range: 483.799988 and range: 486.30 m. 2025-01-08T21:34:20.046Z,1736372060.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:20.050Z,1736372060.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811886 2025-01-08T21:34:20.296Z,1736372060.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:20.297Z,1736372060.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059328 2025-01-08T21:34:20.383Z,1736372060.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:20.400Z,1736372060.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:20.402Z,1736372060.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 458.017151 m, bearing: 263.864080 deg, approach rate: 0.014287 m/s, LOS rate: 0.085309 deg/s, cmd heading: 179.933889 deg, new cmd heading: 180.045407 deg. 2025-01-08T21:34:20.408Z,1736372060.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.142385 target range: 483.799988 and range: 486.30 m. 2025-01-08T21:34:20.548Z,1736372060.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:20.549Z,1736372060.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311972 2025-01-08T21:34:20.742Z,1736372060.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:20.767Z,1736372060.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:20.769Z,1736372060.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:20.776Z,1736372060.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 458.021637 m, bearing: 263.893825 deg, approach rate: 0.011999 m/s, LOS rate: 0.079560 deg/s, cmd heading: 180.045412 deg, new cmd heading: 180.134647 deg. 2025-01-08T21:34:20.777Z,1736372060.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.143943 target range: 483.799988 and range: 486.30 m. 2025-01-08T21:34:20.800Z,1736372060.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:20.801Z,1736372060.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563459 2025-01-08T21:34:21.053Z,1736372061.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:21.056Z,1736372061.056 [DAT](INFO): DAT read: Rx Time:21:34:19.7208 2025-01-08T21:34:21.058Z,1736372061.058 [DAT](INFO): Rx dataTimestamp_ set to:1736372061.056539 2025-01-08T21:34:21.065Z,1736372061.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826911 2025-01-08T21:34:21.201Z,1736372061.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:21.232Z,1736372061.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.80 m. 2025-01-08T21:34:21.234Z,1736372061.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.799988 m, nav range: 458.024689 m, bearing: 263.931691 deg, approach rate: 0.006658 m/s, LOS rate: 0.082612 deg/s, cmd heading: 180.134642 deg, new cmd heading: 180.248238 deg. 2025-01-08T21:34:21.242Z,1736372061.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.145925 target range: 483.799988 and range: 486.30 m. 2025-01-08T21:34:21.304Z,1736372061.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:21.305Z,1736372061.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067512 2025-01-08T21:34:21.556Z,1736372061.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:21.562Z,1736372061.562 [DAT](INFO): DAT read: 21:34:19.7208 LVL= 17584, 17009, 17026, 25587, AGC= 67, IDX= 329, 0.12, 0.577, 1.152,-1.171, 0.189, PHS= 0.477, 1.010,-1.363, RAW= 17.6, -1.2, CAL= 17.3, -3.0, ROT= 132.7, 3.0 2025-01-08T21:34:21.565Z,1736372061.565 [DAT](INFO): got valid direction response: 21:34:19.7208 LVL= 17584, 17009, 17026, 25587, AGC= 67, IDX= 329, 0.12, 0.577, 1.152,-1.171, 0.189, PHS= 0.477, 1.010,-1.363, RAW= 17.6, -1.2, CAL= 17.3, -3.0, ROT= 132.7, 3.0 2025-01-08T21:34:21.565Z,1736372061.565 [DAT](INFO): DAT read: Bearing 132.7, 3.0 (Local) 2025-01-08T21:34:21.566Z,1736372061.566 [DAT](INFO): Local bearing/azimuth received: Bearing 132.7, 3.0 (Local) 2025-01-08T21:34:21.567Z,1736372061.567 [DAT](INFO): DAT read: Range 10 to 50 : 479.0 m (Round-trip 638.7 ms) speed -0.2 m/s 2025-01-08T21:34:21.568Z,1736372061.568 [DAT](INFO): DAT read: user:1880> 2025-01-08T21:34:21.569Z,1736372061.569 [DAT](INFO): DAT read: Tx time:21:34:20.8280 2025-01-08T21:34:21.569Z,1736372061.569 [DAT](INFO): Ping request sent. 2025-01-08T21:34:21.569Z,1736372061.569 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:34:21.570Z,1736372061.570 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:34:21.570Z,1736372061.570 [DAT](INFO): direction in FSK: [0.078569,0.963561,0.255690] 2025-01-08T21:34:21.571Z,1736372061.571 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:21.571Z,1736372061.571 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:21.574Z,1736372061.574 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:21.575Z,1736372061.575 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:21.662Z,1736372061.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:21.712Z,1736372061.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 479.000000 m, deltaT: 4.299442 s, deltaX: -7.299988 m, approachRate: -1.697892 m/s, rangeRepo size: 4 2025-01-08T21:34:21.721Z,1736372061.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 479.000000 m, bearing: 267.066971 deg, lat: 36.901245 deg, lon: -122.119802 deg, deltaT: 8.331970 s, deltaX: -4.799988 m, approachRate: -0.576093 m/s, posRepo size: 4 2025-01-08T21:34:21.722Z,1736372061.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T21:34:21.729Z,1736372061.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 455.029480 m, bearing: 264.665238 deg, approach rate: 0.000000 m/s, LOS rate: 0.082612 deg/s, cmd heading: 180.248241 deg, new cmd heading: 180.365203 deg. 2025-01-08T21:34:21.730Z,1736372061.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.147967 target range: 479.000000 and range: 479.00 m. 2025-01-08T21:34:21.812Z,1736372061.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:21.814Z,1736372061.814 [DAT](INFO): DAT read: TxSync time:21:34:20.8272 2025-01-08T21:34:22.021Z,1736372062.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:22.029Z,1736372062.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T21:34:22.032Z,1736372062.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 455.034088 m, bearing: 264.695085 deg, approach rate: 0.013958 m/s, LOS rate: 0.090405 deg/s, cmd heading: 180.365202 deg, new cmd heading: 180.454742 deg. 2025-01-08T21:34:22.033Z,1736372062.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.149529 target range: 479.000000 and range: 479.00 m. 2025-01-08T21:34:22.066Z,1736372062.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:22.316Z,1736372062.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:22.436Z,1736372062.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:22.460Z,1736372062.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T21:34:22.463Z,1736372062.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 455.025848 m, bearing: 264.728583 deg, approach rate: -0.019125 m/s, LOS rate: 0.077754 deg/s, cmd heading: 180.454745 deg, new cmd heading: 180.555242 deg. 2025-01-08T21:34:22.465Z,1736372062.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.151284 target range: 479.000000 and range: 479.00 m. 2025-01-08T21:34:22.568Z,1736372062.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:22.819Z,1736372062.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:22.820Z,1736372062.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:22.827Z,1736372062.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:22.829Z,1736372062.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T21:34:22.833Z,1736372062.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 455.017456 m, bearing: 264.759505 deg, approach rate: -0.022757 m/s, LOS rate: 0.083852 deg/s, cmd heading: 180.555245 deg, new cmd heading: 180.648013 deg. 2025-01-08T21:34:22.834Z,1736372062.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.152903 target range: 479.000000 and range: 479.00 m. 2025-01-08T21:34:23.073Z,1736372063.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:23.074Z,1736372063.074 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:23.074Z,1736372063.074 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:23.074Z,1736372063.074 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:23.239Z,1736372063.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:23.249Z,1736372063.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T21:34:23.267Z,1736372063.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 455.000488 m, bearing: 264.793853 deg, approach rate: -0.040445 m/s, LOS rate: 0.081876 deg/s, cmd heading: 180.648012 deg, new cmd heading: 180.751060 deg. 2025-01-08T21:34:23.268Z,1736372063.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.154701 target range: 479.000000 and range: 479.00 m. 2025-01-08T21:34:23.324Z,1736372063.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:23.326Z,1736372063.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756271 2025-01-08T21:34:23.576Z,1736372063.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:23.576Z,1736372063.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007078 2025-01-08T21:34:23.638Z,1736372063.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:23.650Z,1736372063.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T21:34:23.655Z,1736372063.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 454.984131 m, bearing: 264.826472 deg, approach rate: -0.040757 m/s, LOS rate: 0.081279 deg/s, cmd heading: 180.751066 deg, new cmd heading: 180.848927 deg. 2025-01-08T21:34:23.657Z,1736372063.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.156409 target range: 479.000000 and range: 479.00 m. 2025-01-08T21:34:23.828Z,1736372063.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:23.829Z,1736372063.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259258 2025-01-08T21:34:24.026Z,1736372064.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:24.038Z,1736372064.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T21:34:24.041Z,1736372064.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 454.968445 m, bearing: 264.858211 deg, approach rate: -0.040395 m/s, LOS rate: 0.081735 deg/s, cmd heading: 180.848929 deg, new cmd heading: 180.944148 deg. 2025-01-08T21:34:24.042Z,1736372064.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.158071 target range: 479.000000 and range: 479.00 m. 2025-01-08T21:34:24.080Z,1736372064.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:24.081Z,1736372064.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512071 2025-01-08T21:34:24.332Z,1736372064.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:24.332Z,1736372064.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763131 2025-01-08T21:34:24.469Z,1736372064.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:24.478Z,1736372064.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T21:34:24.482Z,1736372064.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 454.934052 m, bearing: 264.893913 deg, approach rate: -0.078194 m/s, LOS rate: 0.081177 deg/s, cmd heading: 180.944142 deg, new cmd heading: 181.051257 deg. 2025-01-08T21:34:24.483Z,1736372064.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.159940 target range: 479.000000 and range: 479.00 m. 2025-01-08T21:34:24.584Z,1736372064.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:24.585Z,1736372064.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015297 2025-01-08T21:34:24.829Z,1736372064.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:24.836Z,1736372064.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:24.837Z,1736372064.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267242 2025-01-08T21:34:24.838Z,1736372064.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:24.841Z,1736372064.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T21:34:24.860Z,1736372064.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 454.905975 m, bearing: 264.922854 deg, approach rate: -0.077442 m/s, LOS rate: 0.079831 deg/s, cmd heading: 181.051253 deg, new cmd heading: 181.138081 deg. 2025-01-08T21:34:24.860Z,1736372064.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.161456 target range: 479.000000 and range: 479.00 m. 2025-01-08T21:34:25.088Z,1736372065.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:25.088Z,1736372065.088 [DAT](INFO): DAT read: Rx Time:21:34:23.8838 2025-01-08T21:34:25.089Z,1736372065.089 [DAT](INFO): Rx dataTimestamp_ set to:1736372065.088656 2025-01-08T21:34:25.089Z,1736372065.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520195 2025-01-08T21:34:25.272Z,1736372065.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:25.282Z,1736372065.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T21:34:25.284Z,1736372065.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 454.861237 m, bearing: 264.959524 deg, approach rate: -0.101488 m/s, LOS rate: 0.083192 deg/s, cmd heading: 181.138078 deg, new cmd heading: 181.248099 deg. 2025-01-08T21:34:25.285Z,1736372065.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.163376 target range: 479.000000 and range: 479.00 m. 2025-01-08T21:34:25.341Z,1736372065.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:25.342Z,1736372065.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772554 2025-01-08T21:34:25.593Z,1736372065.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:25.602Z,1736372065.602 [DAT](INFO): DAT read: 21:34:23.8838 LVL= 12960, 11441, 12578, 17955, AGC= 68, IDX= 46,-0.03, 3.010,-2.757, 1.170, 2.603, PHS= 0.495, 0.970,-1.436, RAW= 19.3, -0.3, CAL= 18.8, -1.8, ROT= 131.2, 1.8 2025-01-08T21:34:25.603Z,1736372065.603 [DAT](INFO): got valid direction response: 21:34:23.8838 LVL= 12960, 11441, 12578, 17955, AGC= 68, IDX= 46,-0.03, 3.010,-2.757, 1.170, 2.603, PHS= 0.495, 0.970,-1.436, RAW= 19.3, -0.3, CAL= 18.8, -1.8, ROT= 131.2, 1.8 2025-01-08T21:34:25.604Z,1736372065.604 [DAT](INFO): DAT read: Bearing 131.2, 1.8 (Local) 2025-01-08T21:34:25.605Z,1736372065.605 [DAT](INFO): Local bearing/azimuth received: Bearing 131.2, 1.8 (Local) 2025-01-08T21:34:25.606Z,1736372065.606 [DAT](INFO): DAT read: Range 10 to 50 : 488.7 m (Round-trip 651.7 ms) speed -0.4 m/s 2025-01-08T21:34:25.607Z,1736372065.607 [DAT](INFO): DAT read: user:1881> 2025-01-08T21:34:25.612Z,1736372065.612 [DAT](INFO): DAT read: Tx time:21:34:24.9780 2025-01-08T21:34:25.612Z,1736372065.612 [DAT](INFO): Ping request sent. 2025-01-08T21:34:25.612Z,1736372065.612 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:34:25.613Z,1736372065.613 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:34:25.614Z,1736372065.614 [DAT](INFO): direction in FSK: [0.058657,0.957951,0.280873] 2025-01-08T21:34:25.615Z,1736372065.615 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:25.615Z,1736372065.615 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:25.618Z,1736372065.618 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:25.618Z,1736372065.618 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:25.741Z,1736372065.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:25.790Z,1736372065.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 488.700012 m, deltaT: 4.037567 s, deltaX: 9.700012 m, approachRate: 2.402440 m/s, rangeRepo size: 4 2025-01-08T21:34:25.796Z,1736372065.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 488.700012 m, bearing: 268.804315 deg, lat: 36.901266 deg, lon: -122.119802 deg, deltaT: 4.037567 s, deltaX: 9.700012 m, approachRate: 2.402440 m/s, posRepo size: 4 2025-01-08T21:34:25.797Z,1736372065.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.70 m. 2025-01-08T21:34:25.804Z,1736372065.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.700012 m, nav range: 454.617096 m, bearing: 265.290431 deg, approach rate: 0.000000 m/s, LOS rate: 0.083192 deg/s, cmd heading: 181.248099 deg, new cmd heading: 181.374784 deg. 2025-01-08T21:34:25.805Z,1736372065.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.165587 target range: 488.700012 and range: 488.70 m. 2025-01-08T21:34:25.844Z,1736372065.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:25.845Z,1736372065.845 [DAT](INFO): DAT read: TxSync time:21:34:24.9772 2025-01-08T21:34:26.096Z,1736372066.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:26.107Z,1736372066.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:26.181Z,1736372066.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.70 m. 2025-01-08T21:34:26.200Z,1736372066.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.700012 m, nav range: 454.581940 m, bearing: 265.320625 deg, approach rate: -0.091177 m/s, LOS rate: 0.078312 deg/s, cmd heading: 181.374785 deg, new cmd heading: 181.465373 deg. 2025-01-08T21:34:26.201Z,1736372066.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.167168 target range: 488.700012 and range: 488.70 m. 2025-01-08T21:34:26.348Z,1736372066.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:26.526Z,1736372066.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:26.536Z,1736372066.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.70 m. 2025-01-08T21:34:26.538Z,1736372066.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.700012 m, nav range: 454.538055 m, bearing: 265.355734 deg, approach rate: -0.121629 m/s, LOS rate: 0.097320 deg/s, cmd heading: 181.465367 deg, new cmd heading: 181.570707 deg. 2025-01-08T21:34:26.556Z,1736372066.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.169007 target range: 488.700012 and range: 488.70 m. 2025-01-08T21:34:26.600Z,1736372066.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:26.852Z,1736372066.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:26.927Z,1736372066.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:26.934Z,1736372066.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:26.937Z,1736372066.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.70 m. 2025-01-08T21:34:26.960Z,1736372066.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.700012 m, nav range: 454.495514 m, bearing: 265.389168 deg, approach rate: -0.106068 m/s, LOS rate: 0.083368 deg/s, cmd heading: 181.570703 deg, new cmd heading: 181.671014 deg. 2025-01-08T21:34:26.961Z,1736372066.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.170757 target range: 488.700012 and range: 488.70 m. 2025-01-08T21:34:27.104Z,1736372067.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:27.104Z,1736372067.104 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:27.104Z,1736372067.104 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:27.105Z,1736372067.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:27.324Z,1736372067.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:27.353Z,1736372067.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.70 m. 2025-01-08T21:34:27.356Z,1736372067.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:27.356Z,1736372067.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744146 2025-01-08T21:34:27.360Z,1736372067.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.700012 m, nav range: 454.446808 m, bearing: 265.422844 deg, approach rate: -0.116820 m/s, LOS rate: 0.080778 deg/s, cmd heading: 181.671011 deg, new cmd heading: 181.772048 deg. 2025-01-08T21:34:27.361Z,1736372067.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.172521 target range: 488.700012 and range: 488.70 m. 2025-01-08T21:34:27.608Z,1736372067.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:27.609Z,1736372067.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996311 2025-01-08T21:34:27.718Z,1736372067.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:27.727Z,1736372067.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.70 m. 2025-01-08T21:34:27.730Z,1736372067.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.700012 m, nav range: 454.398621 m, bearing: 265.456216 deg, approach rate: -0.129080 m/s, LOS rate: 0.089403 deg/s, cmd heading: 181.772043 deg, new cmd heading: 181.872169 deg. 2025-01-08T21:34:27.732Z,1736372067.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.174268 target range: 488.700012 and range: 488.70 m. 2025-01-08T21:34:27.860Z,1736372067.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:27.861Z,1736372067.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248241 2025-01-08T21:34:28.112Z,1736372068.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:28.112Z,1736372068.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500154 2025-01-08T21:34:28.113Z,1736372068.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:28.122Z,1736372068.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.70 m. 2025-01-08T21:34:28.125Z,1736372068.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.700012 m, nav range: 454.350861 m, bearing: 265.489515 deg, approach rate: -0.120941 m/s, LOS rate: 0.084332 deg/s, cmd heading: 181.872174 deg, new cmd heading: 181.972083 deg. 2025-01-08T21:34:28.125Z,1736372068.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.176012 target range: 488.700012 and range: 488.70 m. 2025-01-08T21:34:28.364Z,1736372068.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:28.365Z,1736372068.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752533 2025-01-08T21:34:28.578Z,1736372068.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:28.589Z,1736372068.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.70 m. 2025-01-08T21:34:28.592Z,1736372068.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.700012 m, nav range: 454.301697 m, bearing: 265.528921 deg, approach rate: -0.105171 m/s, LOS rate: 0.084306 deg/s, cmd heading: 181.972086 deg, new cmd heading: 182.090315 deg. 2025-01-08T21:34:28.593Z,1736372068.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.178076 target range: 488.700012 and range: 488.70 m. 2025-01-08T21:34:28.616Z,1736372068.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:28.617Z,1736372068.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004302 2025-01-08T21:34:28.870Z,1736372068.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:28.872Z,1736372068.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259496 2025-01-08T21:34:28.936Z,1736372068.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:28.943Z,1736372068.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:28.945Z,1736372068.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.70 m. 2025-01-08T21:34:28.949Z,1736372068.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.700012 m, nav range: 454.263794 m, bearing: 265.559222 deg, approach rate: -0.106441 m/s, LOS rate: 0.085101 deg/s, cmd heading: 182.090316 deg, new cmd heading: 182.181227 deg. 2025-01-08T21:34:28.950Z,1736372068.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.179662 target range: 488.700012 and range: 488.70 m. 2025-01-08T21:34:29.120Z,1736372069.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:29.120Z,1736372069.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508189 2025-01-08T21:34:29.349Z,1736372069.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:29.358Z,1736372069.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.70 m. 2025-01-08T21:34:29.360Z,1736372069.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.700012 m, nav range: 454.225220 m, bearing: 265.594380 deg, approach rate: -0.093541 m/s, LOS rate: 0.085263 deg/s, cmd heading: 182.181226 deg, new cmd heading: 182.286708 deg. 2025-01-08T21:34:29.361Z,1736372069.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.181503 target range: 488.700012 and range: 488.70 m. 2025-01-08T21:34:29.372Z,1736372069.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:29.373Z,1736372069.373 [DAT](INFO): DAT read: Rx Time:21:34:28.0362 2025-01-08T21:34:29.373Z,1736372069.373 [DAT](INFO): Rx dataTimestamp_ set to:1736372069.372783 2025-01-08T21:34:29.374Z,1736372069.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761331 2025-01-08T21:34:29.624Z,1736372069.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:29.625Z,1736372069.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012391 2025-01-08T21:34:29.758Z,1736372069.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:29.768Z,1736372069.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.70 m. 2025-01-08T21:34:29.771Z,1736372069.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.700012 m, nav range: 454.186615 m, bearing: 265.629240 deg, approach rate: -0.094061 m/s, LOS rate: 0.084945 deg/s, cmd heading: 182.286711 deg, new cmd heading: 182.391302 deg. 2025-01-08T21:34:29.794Z,1736372069.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.183329 target range: 488.700012 and range: 488.70 m. 2025-01-08T21:34:29.876Z,1736372069.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:29.890Z,1736372069.890 [DAT](INFO): DAT read: 21:34:28.0362 LVL= 18368, 17473, 18114, 26739, AGC= 63, IDX= 453,-0.04,-2.433,-2.182, 2.200, 2.908, PHS= 1.030, 1.240,-0.711, RAW= 24.4, -16.5, CAL= 27.7, -24.8, ROT= 122.3, 24.8 2025-01-08T21:34:29.891Z,1736372069.891 [DAT](INFO): got valid direction response: 21:34:28.0362 LVL= 18368, 17473, 18114, 26739, AGC= 63, IDX= 453,-0.04,-2.433,-2.182, 2.200, 2.908, PHS= 1.030, 1.240,-0.711, RAW= 24.4, -16.5, CAL= 27.7, -24.8, ROT= 122.3, 24.8 2025-01-08T21:34:29.909Z,1736372069.909 [DAT](INFO): DAT read: Bearing 122.3, 24.8 (Local) 2025-01-08T21:34:29.909Z,1736372069.909 [DAT](INFO): Local bearing/azimuth received: Bearing 122.3, 24.8 (Local) 2025-01-08T21:34:29.924Z,1736372069.924 [DAT](INFO): DAT read: Range 10 to 50 : 490.5 m (Round-trip 654.0 ms) speed -0.7 m/s 2025-01-08T21:34:29.925Z,1736372069.925 [DAT](INFO): DAT read: user:1882> 2025-01-08T21:34:29.926Z,1736372069.926 [DAT](INFO): DAT read: Tx time:21:34:29.1281 2025-01-08T21:34:29.926Z,1736372069.926 [DAT](INFO): Ping request sent. 2025-01-08T21:34:29.926Z,1736372069.926 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:34:29.927Z,1736372069.927 [DAT](INFO): DAT read: TxSync time:21:34:29.1273 2025-01-08T21:34:29.936Z,1736372069.936 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:34:29.936Z,1736372069.936 [DAT](INFO): direction in FSK: [0.343022,0.866493,0.362666] 2025-01-08T21:34:29.937Z,1736372069.937 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:29.937Z,1736372069.937 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:29.944Z,1736372069.944 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:29.944Z,1736372069.944 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:30.128Z,1736372070.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:30.138Z,1736372070.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:30.154Z,1736372070.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 490.500000 m, deltaT: 4.282878 s, deltaX: 1.799988 m, approachRate: 0.420275 m/s, rangeRepo size: 4 2025-01-08T21:34:30.157Z,1736372070.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 490.500000 m, bearing: 249.896088 deg, lat: 36.901266 deg, lon: -122.119715 deg, deltaT: 4.282878 s, deltaX: 1.799988 m, approachRate: 0.420275 m/s, posRepo size: 4 2025-01-08T21:34:30.159Z,1736372070.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:30.165Z,1736372070.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.416443 m, bearing: 265.586178 deg, approach rate: 0.000000 m/s, LOS rate: 0.084945 deg/s, cmd heading: 182.391295 deg, new cmd heading: 182.489509 deg. 2025-01-08T21:34:30.166Z,1736372070.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.185043 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:30.380Z,1736372070.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:30.555Z,1736372070.555 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 87.78, 80.54, 81.55 2025-01-08T21:34:30.563Z,1736372070.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:34:30.563Z,1736372070.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:30.599Z,1736372070.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:30.604Z,1736372070.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.375946 m, bearing: 265.622952 deg, approach rate: -0.090971 m/s, LOS rate: 0.082615 deg/s, cmd heading: 182.489513 deg, new cmd heading: 182.599844 deg. 2025-01-08T21:34:30.605Z,1736372070.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.186969 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:30.632Z,1736372070.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:30.884Z,1736372070.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:30.957Z,1736372070.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:34:30.958Z,1736372070.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:30.966Z,1736372070.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:30.968Z,1736372070.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:30.970Z,1736372070.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.336670 m, bearing: 265.657132 deg, approach rate: -0.106348 m/s, LOS rate: 0.092559 deg/s, cmd heading: 182.599848 deg, new cmd heading: 182.702398 deg. 2025-01-08T21:34:30.972Z,1736372070.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.188758 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:31.136Z,1736372071.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:31.136Z,1736372071.136 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:31.136Z,1736372071.136 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:31.136Z,1736372071.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:31.379Z,1736372071.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:31.396Z,1736372071.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:31.398Z,1736372071.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472092 2025-01-08T21:34:31.417Z,1736372071.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:31.431Z,1736372071.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.315460 m, bearing: 265.693664 deg, approach rate: -0.047228 m/s, LOS rate: 0.081350 deg/s, cmd heading: 182.702397 deg, new cmd heading: 182.811998 deg. 2025-01-08T21:34:31.432Z,1736372071.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.190671 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:31.648Z,1736372071.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:31.649Z,1736372071.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723310 2025-01-08T21:34:31.750Z,1736372071.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:31.758Z,1736372071.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:31.761Z,1736372071.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.294312 m, bearing: 265.725719 deg, approach rate: -0.061965 m/s, LOS rate: 0.093924 deg/s, cmd heading: 182.811994 deg, new cmd heading: 182.908163 deg. 2025-01-08T21:34:31.762Z,1736372071.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.192350 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:31.900Z,1736372071.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:31.900Z,1736372071.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974365 2025-01-08T21:34:32.152Z,1736372072.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:32.153Z,1736372072.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226898 2025-01-08T21:34:32.162Z,1736372072.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:32.173Z,1736372072.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:32.176Z,1736372072.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.270264 m, bearing: 265.761378 deg, approach rate: -0.057938 m/s, LOS rate: 0.085917 deg/s, cmd heading: 182.908163 deg, new cmd heading: 183.015146 deg. 2025-01-08T21:34:32.177Z,1736372072.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.194217 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:32.246Z,1736372072.246 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:34:32.404Z,1736372072.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:32.404Z,1736372072.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478472 2025-01-08T21:34:32.596Z,1736372072.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:32.606Z,1736372072.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:32.609Z,1736372072.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.258484 m, bearing: 265.799298 deg, approach rate: -0.027222 m/s, LOS rate: 0.087633 deg/s, cmd heading: 183.015151 deg, new cmd heading: 183.128914 deg. 2025-01-08T21:34:32.610Z,1736372072.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.196203 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:32.656Z,1736372072.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:32.658Z,1736372072.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731426 2025-01-08T21:34:32.908Z,1736372072.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:32.908Z,1736372072.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982395 2025-01-08T21:34:32.972Z,1736372072.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:32.979Z,1736372072.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:32.983Z,1736372072.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:32.985Z,1736372072.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.248291 m, bearing: 265.832137 deg, approach rate: -0.027077 m/s, LOS rate: 0.087236 deg/s, cmd heading: 183.128915 deg, new cmd heading: 183.227434 deg. 2025-01-08T21:34:32.986Z,1736372072.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.197922 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:33.160Z,1736372073.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:33.160Z,1736372073.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234435 2025-01-08T21:34:33.260Z,1736372073.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:34:33.388Z,1736372073.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:33.412Z,1736372073.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:33.413Z,1736372073.413 [DAT](INFO): DAT read: Rx Time:21:34:32.1774 2025-01-08T21:34:33.413Z,1736372073.413 [DAT](INFO): Rx dataTimestamp_ set to:1736372073.412687 2025-01-08T21:34:33.413Z,1736372073.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487549 2025-01-08T21:34:33.416Z,1736372073.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:33.419Z,1736372073.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.241516 m, bearing: 265.867082 deg, approach rate: -0.015621 m/s, LOS rate: 0.080572 deg/s, cmd heading: 183.227433 deg, new cmd heading: 183.332270 deg. 2025-01-08T21:34:33.422Z,1736372073.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.199752 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:33.665Z,1736372073.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:33.667Z,1736372073.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740383 2025-01-08T21:34:33.771Z,1736372073.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:33.781Z,1736372073.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:33.784Z,1736372073.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.235352 m, bearing: 265.899309 deg, approach rate: -0.016947 m/s, LOS rate: 0.088599 deg/s, cmd heading: 183.332277 deg, new cmd heading: 183.428959 deg. 2025-01-08T21:34:33.785Z,1736372073.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.201439 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:33.916Z,1736372073.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:33.923Z,1736372073.923 [DAT](INFO): DAT read: 21:34:32.1774 LVL= 17392, 18641, 16562, 27203, AGC= 69, IDX= 331, 0.23, 0.099, 0.485,-1.796,-0.383, PHS= 0.570, 0.915,-1.416, RAW= 22.1, -0.6, CAL= 21.7, -2.3, ROT= 128.3, 2.3 2025-01-08T21:34:33.924Z,1736372073.924 [DAT](INFO): got valid direction response: 21:34:32.1774 LVL= 17392, 18641, 16562, 27203, AGC= 69, IDX= 331, 0.23, 0.099, 0.485,-1.796,-0.383, PHS= 0.570, 0.915,-1.416, RAW= 22.1, -0.6, CAL= 21.7, -2.3, ROT= 128.3, 2.3 2025-01-08T21:34:33.925Z,1736372073.925 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:34:33.925Z,1736372073.925 [DAT](INFO): Received a bad header 2025-01-08T21:34:33.940Z,1736372073.940 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:34:33.941Z,1736372073.941 [DAT](INFO): direction in FSK: [0.060136,0.943164,0.326840] 2025-01-08T21:34:33.944Z,1736372073.944 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:33.944Z,1736372073.944 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:33.944Z,1736372073.944 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:34.168Z,1736372074.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:34.168Z,1736372074.168 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:34.168Z,1736372074.168 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:34.168Z,1736372074.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:34.174Z,1736372074.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:34.184Z,1736372074.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:34.186Z,1736372074.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.228424 m, bearing: 265.933162 deg, approach rate: -0.017178 m/s, LOS rate: 0.083946 deg/s, cmd heading: 183.428965 deg, new cmd heading: 183.530524 deg. 2025-01-08T21:34:34.188Z,1736372074.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.203212 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:34.420Z,1736372074.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:34.421Z,1736372074.421 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:34.421Z,1736372074.421 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:34.421Z,1736372074.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:34.613Z,1736372074.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:34.623Z,1736372074.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:34.626Z,1736372074.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.229340 m, bearing: 265.969722 deg, approach rate: 0.002082 m/s, LOS rate: 0.083160 deg/s, cmd heading: 183.530530 deg, new cmd heading: 183.640211 deg. 2025-01-08T21:34:34.627Z,1736372074.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.205126 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:34.672Z,1736372074.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:34.673Z,1736372074.673 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:34.673Z,1736372074.673 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:34.673Z,1736372074.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:34.924Z,1736372074.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:34.924Z,1736372074.924 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:34.924Z,1736372074.924 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:34.924Z,1736372074.924 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:34.994Z,1736372074.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:35.016Z,1736372075.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:35.018Z,1736372075.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:35.025Z,1736372075.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.229828 m, bearing: 266.001485 deg, approach rate: 0.001236 m/s, LOS rate: 0.080430 deg/s, cmd heading: 183.640209 deg, new cmd heading: 183.735496 deg. 2025-01-08T21:34:35.026Z,1736372075.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.206789 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:35.176Z,1736372075.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:35.176Z,1736372075.176 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:35.176Z,1736372075.176 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:35.177Z,1736372075.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:35.419Z,1736372075.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:35.428Z,1736372075.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:35.428Z,1736372075.428 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:35.428Z,1736372075.428 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:35.428Z,1736372075.428 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:35.456Z,1736372075.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:35.459Z,1736372075.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.202454 m, bearing: 266.036194 deg, approach rate: -0.062451 m/s, LOS rate: 0.079191 deg/s, cmd heading: 183.735490 deg, new cmd heading: 183.839625 deg. 2025-01-08T21:34:35.461Z,1736372075.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.208607 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:35.681Z,1736372075.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:35.681Z,1736372075.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:35.682Z,1736372075.682 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:35.682Z,1736372075.682 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:35.792Z,1736372075.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:35.801Z,1736372075.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:35.820Z,1736372075.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.177979 m, bearing: 266.066690 deg, approach rate: -0.070900 m/s, LOS rate: 0.088345 deg/s, cmd heading: 183.839623 deg, new cmd heading: 183.931115 deg. 2025-01-08T21:34:35.821Z,1736372075.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.210204 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:35.933Z,1736372075.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:35.934Z,1736372075.934 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:35.934Z,1736372075.934 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:35.934Z,1736372075.934 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:36.184Z,1736372076.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:36.184Z,1736372076.184 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:36.184Z,1736372076.184 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:36.184Z,1736372076.184 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:36.191Z,1736372076.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:36.234Z,1736372076.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:36.241Z,1736372076.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.151672 m, bearing: 266.099283 deg, approach rate: -0.060802 m/s, LOS rate: 0.075338 deg/s, cmd heading: 183.931120 deg, new cmd heading: 184.028906 deg. 2025-01-08T21:34:36.242Z,1736372076.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.211910 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:36.436Z,1736372076.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:36.436Z,1736372076.436 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:36.436Z,1736372076.436 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:36.437Z,1736372076.437 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:36.619Z,1736372076.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:36.628Z,1736372076.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:36.632Z,1736372076.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.150146 m, bearing: 266.134315 deg, approach rate: -0.003873 m/s, LOS rate: 0.088920 deg/s, cmd heading: 184.028901 deg, new cmd heading: 184.133996 deg. 2025-01-08T21:34:36.633Z,1736372076.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.213744 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:36.688Z,1736372076.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:36.688Z,1736372076.688 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:36.688Z,1736372076.688 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:36.688Z,1736372076.688 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:36.940Z,1736372076.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:36.940Z,1736372076.940 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:36.940Z,1736372076.940 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:36.940Z,1736372076.940 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:37.013Z,1736372077.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:37.022Z,1736372077.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:37.024Z,1736372077.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:37.027Z,1736372077.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.148285 m, bearing: 266.165765 deg, approach rate: -0.004699 m/s, LOS rate: 0.079393 deg/s, cmd heading: 184.133991 deg, new cmd heading: 184.228340 deg. 2025-01-08T21:34:37.028Z,1736372077.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.215391 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:37.192Z,1736372077.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:37.192Z,1736372077.192 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:37.192Z,1736372077.192 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:37.192Z,1736372077.192 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:37.433Z,1736372077.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:37.444Z,1736372077.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:37.444Z,1736372077.444 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:37.444Z,1736372077.444 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:37.445Z,1736372077.445 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:37.450Z,1736372077.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:37.481Z,1736372077.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.138855 m, bearing: 266.200584 deg, approach rate: -0.022132 m/s, LOS rate: 0.081720 deg/s, cmd heading: 184.228343 deg, new cmd heading: 184.332802 deg. 2025-01-08T21:34:37.482Z,1736372077.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.217214 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:37.696Z,1736372077.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:37.696Z,1736372077.696 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:37.697Z,1736372077.697 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:37.697Z,1736372077.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:37.805Z,1736372077.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:37.814Z,1736372077.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:37.817Z,1736372077.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.130249 m, bearing: 266.230807 deg, approach rate: -0.023704 m/s, LOS rate: 0.083248 deg/s, cmd heading: 184.332804 deg, new cmd heading: 184.423475 deg. 2025-01-08T21:34:37.818Z,1736372077.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.218797 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:37.950Z,1736372077.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:37.950Z,1736372077.950 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:37.950Z,1736372077.950 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:37.950Z,1736372077.950 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:38.200Z,1736372078.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:38.201Z,1736372078.201 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:38.201Z,1736372078.201 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:38.201Z,1736372078.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:38.244Z,1736372078.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:38.261Z,1736372078.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:38.269Z,1736372078.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.119843 m, bearing: 266.266417 deg, approach rate: -0.023250 m/s, LOS rate: 0.079562 deg/s, cmd heading: 184.423481 deg, new cmd heading: 184.530313 deg. 2025-01-08T21:34:38.270Z,1736372078.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.220662 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:38.453Z,1736372078.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:38.454Z,1736372078.454 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:38.455Z,1736372078.455 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:38.455Z,1736372078.455 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:38.646Z,1736372078.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:38.661Z,1736372078.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:38.666Z,1736372078.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.098663 m, bearing: 266.299010 deg, approach rate: -0.052996 m/s, LOS rate: 0.081560 deg/s, cmd heading: 184.530319 deg, new cmd heading: 184.628103 deg. 2025-01-08T21:34:38.700Z,1736372078.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.222368 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:38.704Z,1736372078.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:38.704Z,1736372078.704 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:38.704Z,1736372078.704 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:38.704Z,1736372078.704 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:38.956Z,1736372078.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:38.956Z,1736372078.956 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:38.956Z,1736372078.956 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:38.956Z,1736372078.956 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:39.046Z,1736372079.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:39.053Z,1736372079.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:39.056Z,1736372079.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:39.058Z,1736372079.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.077179 m, bearing: 266.331324 deg, approach rate: -0.054399 m/s, LOS rate: 0.081825 deg/s, cmd heading: 184.628100 deg, new cmd heading: 184.725048 deg. 2025-01-08T21:34:39.059Z,1736372079.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.224060 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:39.208Z,1736372079.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:39.208Z,1736372079.208 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:39.208Z,1736372079.208 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:39.209Z,1736372079.209 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:39.451Z,1736372079.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:39.461Z,1736372079.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:39.462Z,1736372079.462 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:39.462Z,1736372079.462 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:39.462Z,1736372079.462 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:39.470Z,1736372079.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:39.473Z,1736372079.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.047607 m, bearing: 266.365104 deg, approach rate: -0.071479 m/s, LOS rate: 0.081656 deg/s, cmd heading: 184.725048 deg, new cmd heading: 184.826393 deg. 2025-01-08T21:34:39.474Z,1736372079.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.225829 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:39.712Z,1736372079.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:39.713Z,1736372079.713 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:39.713Z,1736372079.713 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:39.713Z,1736372079.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:34:39.828Z,1736372079.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:39.837Z,1736372079.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:39.840Z,1736372079.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 446.019836 m, bearing: 266.396445 deg, approach rate: -0.075498 m/s, LOS rate: 0.085210 deg/s, cmd heading: 184.826394 deg, new cmd heading: 184.920425 deg. 2025-01-08T21:34:39.841Z,1736372079.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.227470 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:39.964Z,1736372079.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:39.965Z,1736372079.965 [DAT](INFO): Reached modem response timeout 2025-01-08T21:34:39.965Z,1736372079.965 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:34:39.965Z,1736372079.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:40.216Z,1736372080.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:40.216Z,1736372080.216 [DAT](INFO): Reached modem response timeout 2025-01-08T21:34:40.216Z,1736372080.216 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:34:40.216Z,1736372080.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:40.232Z,1736372080.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:40.241Z,1736372080.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:40.243Z,1736372080.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 445.989899 m, bearing: 266.430151 deg, approach rate: -0.074174 m/s, LOS rate: 0.083516 deg/s, cmd heading: 184.920419 deg, new cmd heading: 185.021543 deg. 2025-01-08T21:34:40.244Z,1736372080.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.229235 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:40.468Z,1736372080.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:40.468Z,1736372080.468 [DAT](INFO): Reached modem response timeout 2025-01-08T21:34:40.468Z,1736372080.468 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:34:40.468Z,1736372080.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:40.682Z,1736372080.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:40.699Z,1736372080.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:40.706Z,1736372080.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 445.944916 m, bearing: 266.467511 deg, approach rate: -0.098157 m/s, LOS rate: 0.081531 deg/s, cmd heading: 185.021546 deg, new cmd heading: 185.133638 deg. 2025-01-08T21:34:40.707Z,1736372080.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.231192 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:40.720Z,1736372080.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:40.721Z,1736372080.721 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:34:40.721Z,1736372080.721 [DAT](INFO): response not received 2025-01-08T21:34:40.721Z,1736372080.721 [DAT](INFO): DAT read: user:1884> 2025-01-08T21:34:40.722Z,1736372080.722 [DAT](INFO): DAT read: Tx time:21:34:40.0782 2025-01-08T21:34:40.722Z,1736372080.722 [DAT](INFO): Ping request sent. 2025-01-08T21:34:40.723Z,1736372080.723 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:34:40.723Z,1736372080.723 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:40.726Z,1736372080.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003504 2025-01-08T21:34:40.972Z,1736372080.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:40.973Z,1736372080.973 [DAT](INFO): DAT read: TxSync time:21:34:40.0774 2025-01-08T21:34:40.975Z,1736372080.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251598 2025-01-08T21:34:41.055Z,1736372081.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:41.067Z,1736372081.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:41.073Z,1736372081.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:41.081Z,1736372081.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 445.907532 m, bearing: 266.498228 deg, approach rate: -0.099833 m/s, LOS rate: 0.082036 deg/s, cmd heading: 185.133643 deg, new cmd heading: 185.225803 deg. 2025-01-08T21:34:41.082Z,1736372081.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.232800 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:41.224Z,1736372081.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:41.225Z,1736372081.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501930 2025-01-08T21:34:41.473Z,1736372081.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:41.484Z,1736372081.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:41.484Z,1736372081.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761879 2025-01-08T21:34:41.513Z,1736372081.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:41.520Z,1736372081.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 445.867584 m, bearing: 266.533034 deg, approach rate: -0.090909 m/s, LOS rate: 0.079214 deg/s, cmd heading: 185.225796 deg, new cmd heading: 185.330221 deg. 2025-01-08T21:34:41.521Z,1736372081.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.234622 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:41.736Z,1736372081.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:41.736Z,1736372081.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013884 2025-01-08T21:34:41.845Z,1736372081.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:41.855Z,1736372081.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:41.858Z,1736372081.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 445.831940 m, bearing: 266.563753 deg, approach rate: -0.104232 m/s, LOS rate: 0.089837 deg/s, cmd heading: 185.330216 deg, new cmd heading: 185.422382 deg. 2025-01-08T21:34:41.859Z,1736372081.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.236231 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:41.988Z,1736372081.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:41.989Z,1736372081.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266062 2025-01-08T21:34:42.240Z,1736372082.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:42.241Z,1736372082.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517927 2025-01-08T21:34:42.250Z,1736372082.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:42.259Z,1736372082.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:42.261Z,1736372082.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 445.793304 m, bearing: 266.597111 deg, approach rate: -0.095664 m/s, LOS rate: 0.082604 deg/s, cmd heading: 185.422383 deg, new cmd heading: 185.522466 deg. 2025-01-08T21:34:42.262Z,1736372082.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.237978 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:42.492Z,1736372082.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:42.492Z,1736372082.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769712 2025-01-08T21:34:42.712Z,1736372082.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:42.744Z,1736372082.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:42.744Z,1736372082.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021775 2025-01-08T21:34:42.749Z,1736372082.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:42.753Z,1736372082.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 445.742340 m, bearing: 266.636958 deg, approach rate: -0.103826 m/s, LOS rate: 0.081186 deg/s, cmd heading: 185.522459 deg, new cmd heading: 185.642012 deg. 2025-01-08T21:34:42.753Z,1736372082.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.240064 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:42.996Z,1736372082.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:42.998Z,1736372082.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274833 2025-01-08T21:34:43.059Z,1736372083.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:43.068Z,1736372083.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:43.071Z,1736372083.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 445.704834 m, bearing: 266.666902 deg, approach rate: -0.117591 m/s, LOS rate: 0.093891 deg/s, cmd heading: 185.642014 deg, new cmd heading: 185.731854 deg. 2025-01-08T21:34:43.072Z,1736372083.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.241632 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:43.248Z,1736372083.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:43.249Z,1736372083.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526063 2025-01-08T21:34:43.500Z,1736372083.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:43.500Z,1736372083.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777894 2025-01-08T21:34:43.561Z,1736372083.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:43.569Z,1736372083.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:43.571Z,1736372083.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:43.574Z,1736372083.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 445.654907 m, bearing: 266.710575 deg, approach rate: -0.099377 m/s, LOS rate: 0.086940 deg/s, cmd heading: 185.731859 deg, new cmd heading: 185.862893 deg. 2025-01-08T21:34:43.574Z,1736372083.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.243919 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:43.752Z,1736372083.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:43.752Z,1736372083.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029838 2025-01-08T21:34:43.874Z,1736372083.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:43.884Z,1736372083.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:43.887Z,1736372083.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 445.623993 m, bearing: 266.737884 deg, approach rate: -0.098555 m/s, LOS rate: 0.087065 deg/s, cmd heading: 185.862889 deg, new cmd heading: 185.944820 deg. 2025-01-08T21:34:43.888Z,1736372083.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.245349 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:44.004Z,1736372084.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:44.005Z,1736372084.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281997 2025-01-08T21:34:44.256Z,1736372084.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:44.256Z,1736372084.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533825 2025-01-08T21:34:44.278Z,1736372084.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:44.312Z,1736372084.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:44.320Z,1736372084.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 445.583771 m, bearing: 266.772991 deg, approach rate: -0.094134 m/s, LOS rate: 0.082170 deg/s, cmd heading: 185.944824 deg, new cmd heading: 186.050154 deg. 2025-01-08T21:34:44.321Z,1736372084.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.247188 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:44.509Z,1736372084.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:44.511Z,1736372084.511 [DAT](INFO): DAT read: Rx Time:21:34:43.1441 2025-01-08T21:34:44.512Z,1736372084.512 [DAT](INFO): Rx dataTimestamp_ set to:1736372084.511720 2025-01-08T21:34:44.513Z,1736372084.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789968 2025-01-08T21:34:44.705Z,1736372084.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:44.730Z,1736372084.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.50 m. 2025-01-08T21:34:44.733Z,1736372084.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.500000 m, nav range: 445.543060 m, bearing: 266.810873 deg, approach rate: -0.097441 m/s, LOS rate: 0.090681 deg/s, cmd heading: 186.050159 deg, new cmd heading: 186.163817 deg. 2025-01-08T21:34:44.734Z,1736372084.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.249171 target range: 490.500000 and range: 490.50 m. 2025-01-08T21:34:44.760Z,1736372084.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:44.760Z,1736372084.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037862 2025-01-08T21:34:45.012Z,1736372085.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:45.023Z,1736372085.023 [DAT](INFO): DAT read: 21:34:43.1441 LVL= 16368, 19649, 14930, 19667, AGC= 70, IDX= 117, 0.16,-0.755,-0.396,-2.674,-1.305, PHS= 0.638, 0.957,-1.371, RAW= 22.7, -2.1, CAL= 22.4, -4.3, ROT= 127.6, 4.3 2025-01-08T21:34:45.024Z,1736372085.024 [DAT](INFO): got valid direction response: 21:34:43.1441 LVL= 16368, 19649, 14930, 19667, AGC= 70, IDX= 117, 0.16,-0.755,-0.396,-2.674,-1.305, PHS= 0.638, 0.957,-1.371, RAW= 22.7, -2.1, CAL= 22.4, -4.3, ROT= 127.6, 4.3 2025-01-08T21:34:45.025Z,1736372085.025 [DAT](INFO): DAT read: Bearing 127.6, 4.3 (Local) 2025-01-08T21:34:45.026Z,1736372085.026 [DAT](INFO): Local bearing/azimuth received: Bearing 127.6, 4.3 (Local) 2025-01-08T21:34:45.027Z,1736372085.027 [DAT](INFO): DAT read: Range 10 to 50 : 496.3 m (Round-trip 661.8 ms) speed -0.3 m/s 2025-01-08T21:34:45.028Z,1736372085.028 [DAT](INFO): DAT read: user:1885> 2025-01-08T21:34:45.029Z,1736372085.029 [DAT](INFO): DAT read: Tx time:21:34:44.2282 2025-01-08T21:34:45.029Z,1736372085.029 [DAT](INFO): Ping request sent. 2025-01-08T21:34:45.029Z,1736372085.029 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:34:45.030Z,1736372085.030 [DAT](INFO): DAT read: TxSync time:21:34:44.2274 2025-01-08T21:34:45.031Z,1736372085.031 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:34:45.032Z,1736372085.032 [DAT](INFO): direction in FSK: [0.085644,0.937243,0.337994] 2025-01-08T21:34:45.032Z,1736372085.032 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:45.033Z,1736372085.033 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:45.038Z,1736372085.038 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:45.038Z,1736372085.038 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:45.119Z,1736372085.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:45.158Z,1736372085.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.299988 m, deltaT: 15.135606 s, deltaX: 5.799988 m, approachRate: 0.383202 m/s, rangeRepo size: 4 2025-01-08T21:34:45.169Z,1736372085.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.299988 m, bearing: 270.832212 deg, lat: 36.901422 deg, lon: -122.119663 deg, deltaT: 15.135606 s, deltaX: 5.799988 m, approachRate: 0.383202 m/s, posRepo size: 4 2025-01-08T21:34:45.169Z,1736372085.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:34:45.176Z,1736372085.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 440.247070 m, bearing: 269.077723 deg, approach rate: 0.000000 m/s, LOS rate: 0.090681 deg/s, cmd heading: 186.163814 deg, new cmd heading: 186.280257 deg. 2025-01-08T21:34:45.177Z,1736372085.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.251204 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:34:45.265Z,1736372085.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:45.516Z,1736372085.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:45.572Z,1736372085.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:45.578Z,1736372085.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:45.581Z,1736372085.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:34:45.584Z,1736372085.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 440.217499 m, bearing: 269.118138 deg, approach rate: -0.069935 m/s, LOS rate: 0.095585 deg/s, cmd heading: 186.280255 deg, new cmd heading: 186.401508 deg. 2025-01-08T21:34:45.585Z,1736372085.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.253320 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:34:45.769Z,1736372085.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:45.770Z,1736372085.770 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:45.770Z,1736372085.770 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:45.770Z,1736372085.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:45.912Z,1736372085.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:45.921Z,1736372085.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:34:45.924Z,1736372085.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 440.194122 m, bearing: 269.148447 deg, approach rate: -0.068641 m/s, LOS rate: 0.089001 deg/s, cmd heading: 186.401504 deg, new cmd heading: 186.492435 deg. 2025-01-08T21:34:45.925Z,1736372085.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.254907 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:34:46.020Z,1736372086.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:46.021Z,1736372086.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991971 2025-01-08T21:34:46.272Z,1736372086.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:46.272Z,1736372086.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243081 2025-01-08T21:34:46.339Z,1736372086.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:46.348Z,1736372086.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:34:46.363Z,1736372086.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 440.164368 m, bearing: 269.186542 deg, approach rate: -0.069675 m/s, LOS rate: 0.089212 deg/s, cmd heading: 186.492441 deg, new cmd heading: 186.606734 deg. 2025-01-08T21:34:46.365Z,1736372086.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.256902 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:34:46.524Z,1736372086.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:46.524Z,1736372086.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495115 2025-01-08T21:34:46.737Z,1736372086.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:46.745Z,1736372086.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:34:46.749Z,1736372086.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 440.139923 m, bearing: 269.222088 deg, approach rate: -0.061554 m/s, LOS rate: 0.089514 deg/s, cmd heading: 186.606738 deg, new cmd heading: 186.713382 deg. 2025-01-08T21:34:46.750Z,1736372086.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.258763 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:34:46.776Z,1736372086.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:46.777Z,1736372086.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747250 2025-01-08T21:34:47.029Z,1736372087.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:47.030Z,1736372087.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000294 2025-01-08T21:34:47.131Z,1736372087.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:47.140Z,1736372087.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:34:47.142Z,1736372087.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 440.115448 m, bearing: 269.257200 deg, approach rate: -0.061995 m/s, LOS rate: 0.088944 deg/s, cmd heading: 186.713384 deg, new cmd heading: 186.818727 deg. 2025-01-08T21:34:47.144Z,1736372087.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.260602 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:34:47.280Z,1736372087.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:47.282Z,1736372087.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252046 2025-01-08T21:34:47.532Z,1736372087.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:47.533Z,1736372087.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503333 2025-01-08T21:34:47.578Z,1736372087.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:47.610Z,1736372087.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:47.616Z,1736372087.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:34:47.619Z,1736372087.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 440.086731 m, bearing: 269.296486 deg, approach rate: -0.060292 m/s, LOS rate: 0.082486 deg/s, cmd heading: 186.818733 deg, new cmd heading: 186.936598 deg. 2025-01-08T21:34:47.624Z,1736372087.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.262659 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:34:47.784Z,1736372087.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:47.785Z,1736372087.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755245 2025-01-08T21:34:47.928Z,1736372087.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:47.958Z,1736372087.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:34:47.969Z,1736372087.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 440.063385 m, bearing: 269.327194 deg, approach rate: -0.068279 m/s, LOS rate: 0.089815 deg/s, cmd heading: 186.936595 deg, new cmd heading: 187.028724 deg. 2025-01-08T21:34:47.970Z,1736372087.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.264267 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:34:48.036Z,1736372088.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:48.037Z,1736372088.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008156 2025-01-08T21:34:48.288Z,1736372088.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:48.288Z,1736372088.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259127 2025-01-08T21:34:48.360Z,1736372088.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:48.370Z,1736372088.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:34:48.373Z,1736372088.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 440.033173 m, bearing: 269.365074 deg, approach rate: -0.073379 m/s, LOS rate: 0.092009 deg/s, cmd heading: 187.028720 deg, new cmd heading: 187.142369 deg. 2025-01-08T21:34:48.374Z,1736372088.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.266251 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:34:48.540Z,1736372088.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:48.541Z,1736372088.541 [DAT](INFO): DAT read: Rx Time:21:34:47.2847 2025-01-08T21:34:48.541Z,1736372088.541 [DAT](INFO): Rx dataTimestamp_ set to:1736372088.540862 2025-01-08T21:34:48.542Z,1736372088.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512367 2025-01-08T21:34:48.760Z,1736372088.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:48.771Z,1736372088.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:34:48.774Z,1736372088.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 440.007111 m, bearing: 269.399837 deg, approach rate: -0.064981 m/s, LOS rate: 0.086680 deg/s, cmd heading: 187.142375 deg, new cmd heading: 187.246669 deg. 2025-01-08T21:34:48.775Z,1736372088.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.268071 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:34:48.794Z,1736372088.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:48.795Z,1736372088.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765259 2025-01-08T21:34:49.044Z,1736372089.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:49.051Z,1736372089.051 [DAT](INFO): DAT read: 21:34:47.2848 LVL= 16672, 19441, 15938, 24083, AGC= 66, IDX= 325,-0.19, 1.601, 1.692,-0.436, 0.929, PHS= 0.761, 0.810,-1.368, RAW= 28.9, -1.9, CAL= 28.6, -4.2, ROT= 121.4, 4.2 2025-01-08T21:34:49.052Z,1736372089.052 [DAT](INFO): got valid direction response: 21:34:47.2848 LVL= 16672, 19441, 15938, 24083, AGC= 66, IDX= 325,-0.19, 1.601, 1.692,-0.436, 0.929, PHS= 0.761, 0.810,-1.368, RAW= 28.9, -1.9, CAL= 28.6, -4.2, ROT= 121.4, 4.2 2025-01-08T21:34:49.053Z,1736372089.053 [DAT](INFO): DAT read: Bearing 121.4, 4.2 (Local) 2025-01-08T21:34:49.053Z,1736372089.053 [DAT](INFO): Local bearing/azimuth received: Bearing 121.4, 4.2 (Local) 2025-01-08T21:34:49.055Z,1736372089.055 [DAT](INFO): DAT read: Range 10 to 50 : 489.3 m (Round-trip 652.4 ms) speed -0.3 m/s 2025-01-08T21:34:49.056Z,1736372089.056 [DAT](INFO): DAT read: user:1886> 2025-01-08T21:34:49.057Z,1736372089.057 [DAT](INFO): DAT read: Tx time:21:34:48.3783 2025-01-08T21:34:49.057Z,1736372089.057 [DAT](INFO): Ping request sent. 2025-01-08T21:34:49.057Z,1736372089.057 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:34:49.057Z,1736372089.057 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:34:49.058Z,1736372089.058 [DAT](INFO): direction in FSK: [0.070285,0.899247,0.431758] 2025-01-08T21:34:49.059Z,1736372089.059 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:49.059Z,1736372089.059 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:49.062Z,1736372089.062 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:49.062Z,1736372089.062 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:49.152Z,1736372089.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:49.191Z,1736372089.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 489.299988 m, deltaT: 4.031896 s, deltaX: -7.000000 m, approachRate: -1.736156 m/s, rangeRepo size: 4 2025-01-08T21:34:49.203Z,1736372089.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 489.299988 m, bearing: 273.824094 deg, lat: 36.901518 deg, lon: -122.119633 deg, deltaT: 4.031896 s, deltaX: -7.000000 m, approachRate: -1.736156 m/s, posRepo size: 4 2025-01-08T21:34:49.208Z,1736372089.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:34:49.210Z,1736372089.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 437.371490 m, bearing: 270.823123 deg, approach rate: 0.000000 m/s, LOS rate: 0.086680 deg/s, cmd heading: 187.246672 deg, new cmd heading: 187.355599 deg. 2025-01-08T21:34:49.216Z,1736372089.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.269972 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:34:49.296Z,1736372089.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:49.297Z,1736372089.297 [DAT](INFO): DAT read: TxSync time:21:34:48.3775 2025-01-08T21:34:49.548Z,1736372089.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:49.611Z,1736372089.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:49.618Z,1736372089.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:49.621Z,1736372089.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:34:49.625Z,1736372089.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 437.346466 m, bearing: 270.861586 deg, approach rate: -0.058059 m/s, LOS rate: 0.089241 deg/s, cmd heading: 187.355600 deg, new cmd heading: 187.470994 deg. 2025-01-08T21:34:49.629Z,1736372089.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.271986 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:34:49.800Z,1736372089.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:49.800Z,1736372089.800 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:49.800Z,1736372089.800 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:49.801Z,1736372089.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:49.959Z,1736372089.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:49.969Z,1736372089.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:34:49.972Z,1736372089.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 437.327026 m, bearing: 270.890781 deg, approach rate: -0.055892 m/s, LOS rate: 0.083942 deg/s, cmd heading: 187.470989 deg, new cmd heading: 187.558577 deg. 2025-01-08T21:34:49.972Z,1736372089.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.273515 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:34:50.052Z,1736372090.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:50.053Z,1736372090.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995469 2025-01-08T21:34:50.304Z,1736372090.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:50.304Z,1736372090.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247226 2025-01-08T21:34:50.363Z,1736372090.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:50.373Z,1736372090.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:34:50.376Z,1736372090.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 437.303741 m, bearing: 270.924702 deg, approach rate: -0.057591 m/s, LOS rate: 0.083904 deg/s, cmd heading: 187.558579 deg, new cmd heading: 187.660350 deg. 2025-01-08T21:34:50.377Z,1736372090.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.275291 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:34:50.558Z,1736372090.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:50.561Z,1736372090.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503499 2025-01-08T21:34:50.777Z,1736372090.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:50.806Z,1736372090.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:34:50.808Z,1736372090.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:50.808Z,1736372090.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751328 2025-01-08T21:34:50.813Z,1736372090.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 437.279877 m, bearing: 270.959263 deg, approach rate: -0.055105 m/s, LOS rate: 0.079806 deg/s, cmd heading: 187.660349 deg, new cmd heading: 187.764035 deg. 2025-01-08T21:34:50.815Z,1736372090.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.277101 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:34:51.060Z,1736372091.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:51.061Z,1736372091.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003752 2025-01-08T21:34:51.168Z,1736372091.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:51.177Z,1736372091.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:34:51.180Z,1736372091.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 437.257416 m, bearing: 270.991975 deg, approach rate: -0.060561 m/s, LOS rate: 0.088206 deg/s, cmd heading: 187.764031 deg, new cmd heading: 187.862173 deg. 2025-01-08T21:34:51.182Z,1736372091.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.278813 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:34:51.312Z,1736372091.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:51.313Z,1736372091.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255355 2025-01-08T21:34:51.566Z,1736372091.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:51.569Z,1736372091.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511122 2025-01-08T21:34:51.643Z,1736372091.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:51.677Z,1736372091.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:51.684Z,1736372091.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:34:51.687Z,1736372091.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 437.232422 m, bearing: 271.030606 deg, approach rate: -0.049260 m/s, LOS rate: 0.076142 deg/s, cmd heading: 187.862167 deg, new cmd heading: 187.978068 deg. 2025-01-08T21:34:51.692Z,1736372091.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.280836 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:34:51.816Z,1736372091.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:51.817Z,1736372091.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759625 2025-01-08T21:34:51.982Z,1736372091.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:52.010Z,1736372092.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:34:52.018Z,1736372092.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 437.215057 m, bearing: 271.058251 deg, approach rate: -0.053286 m/s, LOS rate: 0.084834 deg/s, cmd heading: 187.978062 deg, new cmd heading: 188.060998 deg. 2025-01-08T21:34:52.019Z,1736372092.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.282284 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:34:52.069Z,1736372092.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:52.070Z,1736372092.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012612 2025-01-08T21:34:52.320Z,1736372092.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:52.320Z,1736372092.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263207 2025-01-08T21:34:52.395Z,1736372092.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:52.405Z,1736372092.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:34:52.408Z,1736372092.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 437.194458 m, bearing: 271.091963 deg, approach rate: -0.052194 m/s, LOS rate: 0.085425 deg/s, cmd heading: 188.060994 deg, new cmd heading: 188.162137 deg. 2025-01-08T21:34:52.409Z,1736372092.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.284049 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:34:52.574Z,1736372092.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:52.576Z,1736372092.576 [DAT](INFO): DAT read: Rx Time:21:34:51.4368 2025-01-08T21:34:52.576Z,1736372092.576 [DAT](INFO): Rx dataTimestamp_ set to:1736372092.576107 2025-01-08T21:34:52.577Z,1736372092.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519768 2025-01-08T21:34:52.824Z,1736372092.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:52.825Z,1736372092.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767470 2025-01-08T21:34:52.828Z,1736372092.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:52.881Z,1736372092.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:34:52.888Z,1736372092.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 437.170746 m, bearing: 271.126913 deg, approach rate: -0.049863 m/s, LOS rate: 0.073497 deg/s, cmd heading: 188.162136 deg, new cmd heading: 188.266990 deg. 2025-01-08T21:34:52.889Z,1736372092.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.285879 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:34:53.076Z,1736372093.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:53.076Z,1736372093.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019136 2025-01-08T21:34:53.205Z,1736372093.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:53.214Z,1736372093.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:34:53.217Z,1736372093.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 437.148590 m, bearing: 271.157267 deg, approach rate: -0.066567 m/s, LOS rate: 0.091205 deg/s, cmd heading: 188.266993 deg, new cmd heading: 188.358060 deg. 2025-01-08T21:34:53.218Z,1736372093.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.287468 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:34:53.328Z,1736372093.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:53.336Z,1736372093.336 [DAT](INFO): DAT read: 21:34:51.4368 LVL= 18160, 21649, 15042, 25075, AGC= 67, IDX= 441,-0.28, 2.293, 2.302, 0.200, 1.560, PHS= 0.821, 0.789,-1.363, RAW= 30.7, -2.3, CAL= 30.6, -4.9, ROT= 119.4, 4.9 2025-01-08T21:34:53.337Z,1736372093.337 [DAT](INFO): got valid direction response: 21:34:51.4368 LVL= 18160, 21649, 15042, 25075, AGC= 67, IDX= 441,-0.28, 2.293, 2.302, 0.200, 1.560, PHS= 0.821, 0.789,-1.363, RAW= 30.7, -2.3, CAL= 30.6, -4.9, ROT= 119.4, 4.9 2025-01-08T21:34:53.341Z,1736372093.341 [DAT](INFO): DAT read: Bearing 119.4, 4.9 (Local) 2025-01-08T21:34:53.343Z,1736372093.343 [DAT](INFO): Local bearing/azimuth received: Bearing 119.4, 4.9 (Local) 2025-01-08T21:34:53.346Z,1736372093.346 [DAT](INFO): DAT read: Range 10 to 50 : 490.7 m (Round-trip 654.3 ms) speed -0.2 m/s 2025-01-08T21:34:53.352Z,1736372093.352 [DAT](INFO): DAT read: user:1887> 2025-01-08T21:34:53.353Z,1736372093.353 [DAT](INFO): DAT read: Tx time:21:34:52.5283 2025-01-08T21:34:53.353Z,1736372093.353 [DAT](INFO): Ping request sent. 2025-01-08T21:34:53.353Z,1736372093.353 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:34:53.354Z,1736372093.354 [DAT](INFO): DAT read: TxSync time:21:34:52.5275 2025-01-08T21:34:53.354Z,1736372093.354 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:34:53.355Z,1736372093.355 [DAT](INFO): direction in FSK: [0.073893,0.885035,0.459623] 2025-01-08T21:34:53.359Z,1736372093.359 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:53.365Z,1736372093.365 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:53.368Z,1736372093.368 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:53.369Z,1736372093.369 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:53.581Z,1736372093.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:53.708Z,1736372093.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:53.740Z,1736372093.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 490.700012 m, deltaT: 4.284570 s, deltaX: 1.400024 m, approachRate: 0.326760 m/s, rangeRepo size: 4 2025-01-08T21:34:53.742Z,1736372093.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 490.700012 m, bearing: 274.696811 deg, lat: 36.901543 deg, lon: -122.119256 deg, deltaT: 4.284570 s, deltaX: 1.400024 m, approachRate: 0.326760 m/s, posRepo size: 4 2025-01-08T21:34:53.743Z,1736372093.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.70 m. 2025-01-08T21:34:53.750Z,1736372093.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.700012 m, nav range: 403.615814 m, bearing: 271.697389 deg, approach rate: 0.000000 m/s, LOS rate: 0.091205 deg/s, cmd heading: 188.358067 deg, new cmd heading: 188.500329 deg. 2025-01-08T21:34:53.751Z,1736372093.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.289951 target range: 490.700012 and range: 490.70 m. 2025-01-08T21:34:53.832Z,1736372093.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:54.038Z,1736372094.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:54.045Z,1736372094.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:54.056Z,1736372094.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.70 m. 2025-01-08T21:34:54.058Z,1736372094.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.700012 m, nav range: 403.597595 m, bearing: 271.725791 deg, approach rate: -0.058075 m/s, LOS rate: 0.090537 deg/s, cmd heading: 188.500326 deg, new cmd heading: 188.585534 deg. 2025-01-08T21:34:54.060Z,1736372094.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.291439 target range: 490.700012 and range: 490.70 m. 2025-01-08T21:34:54.084Z,1736372094.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:54.084Z,1736372094.084 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:54.084Z,1736372094.084 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:54.084Z,1736372094.084 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:54.336Z,1736372094.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:54.337Z,1736372094.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983632 2025-01-08T21:34:54.433Z,1736372094.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:54.442Z,1736372094.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.70 m. 2025-01-08T21:34:54.444Z,1736372094.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.700012 m, nav range: 403.574005 m, bearing: 271.759784 deg, approach rate: -0.059785 m/s, LOS rate: 0.086156 deg/s, cmd heading: 188.585539 deg, new cmd heading: 188.687526 deg. 2025-01-08T21:34:54.445Z,1736372094.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.293219 target range: 490.700012 and range: 490.70 m. 2025-01-08T21:34:54.590Z,1736372094.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:54.592Z,1736372094.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237949 2025-01-08T21:34:54.840Z,1736372094.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:54.840Z,1736372094.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487521 2025-01-08T21:34:54.865Z,1736372094.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:54.873Z,1736372094.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.70 m. 2025-01-08T21:34:54.892Z,1736372094.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.700012 m, nav range: 403.541351 m, bearing: 271.797278 deg, approach rate: -0.075600 m/s, LOS rate: 0.086812 deg/s, cmd heading: 188.687528 deg, new cmd heading: 188.800017 deg. 2025-01-08T21:34:54.893Z,1736372094.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.295182 target range: 490.700012 and range: 490.70 m. 2025-01-08T21:34:55.094Z,1736372095.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:55.096Z,1736372095.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742441 2025-01-08T21:34:55.248Z,1736372095.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:55.257Z,1736372095.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.70 m. 2025-01-08T21:34:55.261Z,1736372095.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.700012 m, nav range: 403.511169 m, bearing: 271.830380 deg, approach rate: -0.078708 m/s, LOS rate: 0.086329 deg/s, cmd heading: 188.800021 deg, new cmd heading: 188.899334 deg. 2025-01-08T21:34:55.262Z,1736372095.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.296915 target range: 490.700012 and range: 490.70 m. 2025-01-08T21:34:55.344Z,1736372095.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:55.345Z,1736372095.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991649 2025-01-08T21:34:55.597Z,1736372095.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:55.599Z,1736372095.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245770 2025-01-08T21:34:55.717Z,1736372095.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:55.741Z,1736372095.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.70 m. 2025-01-08T21:34:55.749Z,1736372095.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.700012 m, nav range: 403.461792 m, bearing: 271.870845 deg, approach rate: -0.101924 m/s, LOS rate: 0.083538 deg/s, cmd heading: 188.899332 deg, new cmd heading: 189.020741 deg. 2025-01-08T21:34:55.750Z,1736372095.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.299034 target range: 490.700012 and range: 490.70 m. 2025-01-08T21:34:55.848Z,1736372095.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:55.849Z,1736372095.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496420 2025-01-08T21:34:56.062Z,1736372096.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:56.072Z,1736372096.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:56.074Z,1736372096.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.70 m. 2025-01-08T21:34:56.077Z,1736372096.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.700012 m, nav range: 403.424744 m, bearing: 271.900596 deg, approach rate: -0.111357 m/s, LOS rate: 0.089432 deg/s, cmd heading: 189.020745 deg, new cmd heading: 189.110006 deg. 2025-01-08T21:34:56.078Z,1736372096.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.300592 target range: 490.700012 and range: 490.70 m. 2025-01-08T21:34:56.100Z,1736372096.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:56.100Z,1736372096.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747473 2025-01-08T21:34:56.352Z,1736372096.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:56.352Z,1736372096.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999495 2025-01-08T21:34:56.454Z,1736372096.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:56.463Z,1736372096.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.70 m. 2025-01-08T21:34:56.466Z,1736372096.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.700012 m, nav range: 403.382355 m, bearing: 271.934347 deg, approach rate: -0.109021 m/s, LOS rate: 0.086814 deg/s, cmd heading: 189.110002 deg, new cmd heading: 189.211265 deg. 2025-01-08T21:34:56.468Z,1736372096.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.302360 target range: 490.700012 and range: 490.70 m. 2025-01-08T21:34:56.606Z,1736372096.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:56.611Z,1736372096.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257234 2025-01-08T21:34:56.856Z,1736372096.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:56.856Z,1736372096.856 [DAT](INFO): DAT read: Rx Time:21:34:55.5889 2025-01-08T21:34:56.857Z,1736372096.857 [DAT](INFO): Rx dataTimestamp_ set to:1736372096.856653 2025-01-08T21:34:56.857Z,1736372096.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504539 2025-01-08T21:34:56.883Z,1736372096.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:56.914Z,1736372096.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.70 m. 2025-01-08T21:34:56.923Z,1736372096.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.700012 m, nav range: 403.350677 m, bearing: 271.972186 deg, approach rate: -0.070314 m/s, LOS rate: 0.083998 deg/s, cmd heading: 189.211266 deg, new cmd heading: 189.324793 deg. 2025-01-08T21:34:56.924Z,1736372096.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.304341 target range: 490.700012 and range: 490.70 m. 2025-01-08T21:34:57.108Z,1736372097.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:57.109Z,1736372097.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755591 2025-01-08T21:34:57.320Z,1736372097.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:57.344Z,1736372097.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.70 m. 2025-01-08T21:34:57.352Z,1736372097.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.700012 m, nav range: 403.318512 m, bearing: 272.010814 deg, approach rate: -0.074670 m/s, LOS rate: 0.089680 deg/s, cmd heading: 189.324798 deg, new cmd heading: 189.440691 deg. 2025-01-08T21:34:57.354Z,1736372097.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.306364 target range: 490.700012 and range: 490.70 m. 2025-01-08T21:34:57.361Z,1736372097.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:57.372Z,1736372097.372 [DAT](INFO): DAT read: 21:34:55.5889 LVL= 16928, 23889, 19170, 24387, AGC= 69, IDX= 447,-0.45, 0.153,-0.060,-1.952,-0.643, PHS= 0.884, 0.630,-1.313, RAW= 36.1, -2.0, CAL= 36.2, -4.5, ROT= 113.8, 4.5 2025-01-08T21:34:57.374Z,1736372097.374 [DAT](INFO): got valid direction response: 21:34:55.5889 LVL= 16928, 23889, 19170, 24387, AGC= 69, IDX= 447,-0.45, 0.153,-0.060,-1.952,-0.643, PHS= 0.884, 0.630,-1.313, RAW= 36.1, -2.0, CAL= 36.2, -4.5, ROT= 113.8, 4.5 2025-01-08T21:34:57.381Z,1736372097.381 [DAT](INFO): DAT read: Bearing 113.8, 4.5 (Local) 2025-01-08T21:34:57.381Z,1736372097.381 [DAT](INFO): Local bearing/azimuth received: Bearing 113.8, 4.5 (Local) 2025-01-08T21:34:57.383Z,1736372097.383 [DAT](INFO): DAT read: Range 10 to 50 : 492.3 m (Round-trip 656.5 ms) speed -0.4 m/s 2025-01-08T21:34:57.384Z,1736372097.384 [DAT](INFO): DAT read: user:1888> 2025-01-08T21:34:57.385Z,1736372097.385 [DAT](INFO): DAT read: Tx time:21:34:56.6783 2025-01-08T21:34:57.385Z,1736372097.385 [DAT](INFO): Ping request sent. 2025-01-08T21:34:57.385Z,1736372097.385 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:34:57.385Z,1736372097.385 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:34:57.386Z,1736372097.386 [DAT](INFO): direction in FSK: [0.056450,0.842598,0.535577] 2025-01-08T21:34:57.386Z,1736372097.386 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:57.387Z,1736372097.387 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:57.422Z,1736372097.422 [DAT](INFO): publishing transmit ping time 2025-01-08T21:34:57.422Z,1736372097.422 [DAT](INFO): publishing direction and range info 2025-01-08T21:34:57.615Z,1736372097.615 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:57.618Z,1736372097.618 [DAT](INFO): DAT read: TxSync time:21:34:56.6775 2025-01-08T21:34:57.777Z,1736372097.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:57.793Z,1736372097.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 492.299988 m, deltaT: 4.032653 s, deltaX: 1.599976 m, approachRate: 0.396755 m/s, rangeRepo size: 4 2025-01-08T21:34:57.808Z,1736372097.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 492.299988 m, bearing: 278.478494 deg, lat: 36.901704 deg, lon: -122.119223 deg, deltaT: 4.032653 s, deltaX: 1.599976 m, approachRate: 0.396755 m/s, posRepo size: 4 2025-01-08T21:34:57.808Z,1736372097.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:34:57.811Z,1736372097.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 401.392151 m, bearing: 274.620490 deg, approach rate: 0.000000 m/s, LOS rate: 0.089680 deg/s, cmd heading: 189.440692 deg, new cmd heading: 189.561356 deg. 2025-01-08T21:34:57.814Z,1736372097.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.308470 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:34:57.865Z,1736372097.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:58.102Z,1736372098.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:58.109Z,1736372098.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:34:58.112Z,1736372098.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:34:58.116Z,1736372098.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:58.116Z,1736372098.116 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:34:58.116Z,1736372098.116 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:34:58.117Z,1736372098.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:34:58.135Z,1736372098.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 401.380859 m, bearing: 274.650300 deg, approach rate: -0.035421 m/s, LOS rate: 0.093514 deg/s, cmd heading: 189.561355 deg, new cmd heading: 189.650786 deg. 2025-01-08T21:34:58.136Z,1736372098.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.310031 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:34:58.368Z,1736372098.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:58.369Z,1736372098.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984226 2025-01-08T21:34:58.544Z,1736372098.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:58.576Z,1736372098.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:34:58.583Z,1736372098.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 401.364868 m, bearing: 274.690772 deg, approach rate: -0.034471 m/s, LOS rate: 0.087245 deg/s, cmd heading: 189.650789 deg, new cmd heading: 189.772210 deg. 2025-01-08T21:34:58.584Z,1736372098.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.312150 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:34:58.623Z,1736372098.623 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:58.625Z,1736372098.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239827 2025-01-08T21:34:58.876Z,1736372098.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:58.877Z,1736372098.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492117 2025-01-08T21:34:58.966Z,1736372098.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:58.990Z,1736372098.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:34:58.998Z,1736372098.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 401.341888 m, bearing: 274.730083 deg, approach rate: -0.055415 m/s, LOS rate: 0.094802 deg/s, cmd heading: 189.772216 deg, new cmd heading: 189.890156 deg. 2025-01-08T21:34:58.999Z,1736372098.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.314209 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:34:59.128Z,1736372099.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:59.128Z,1736372099.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743412 2025-01-08T21:34:59.311Z,1736372099.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:59.337Z,1736372099.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:34:59.340Z,1736372099.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 401.322876 m, bearing: 274.762212 deg, approach rate: -0.054812 m/s, LOS rate: 0.092632 deg/s, cmd heading: 189.890160 deg, new cmd heading: 189.986553 deg. 2025-01-08T21:34:59.341Z,1736372099.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.315891 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:34:59.381Z,1736372099.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:59.382Z,1736372099.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996872 2025-01-08T21:34:59.633Z,1736372099.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:59.636Z,1736372099.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250675 2025-01-08T21:34:59.778Z,1736372099.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:34:59.786Z,1736372099.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:34:59.794Z,1736372099.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 401.292725 m, bearing: 274.806764 deg, approach rate: -0.067088 m/s, LOS rate: 0.099137 deg/s, cmd heading: 189.986548 deg, new cmd heading: 190.120211 deg. 2025-01-08T21:34:59.797Z,1736372099.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.318224 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:34:59.884Z,1736372099.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:34:59.885Z,1736372099.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499603 2025-01-08T21:35:00.122Z,1736372100.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:00.136Z,1736372100.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:00.136Z,1736372100.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751425 2025-01-08T21:35:00.149Z,1736372100.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:00.160Z,1736372100.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:35:00.162Z,1736372100.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 401.271118 m, bearing: 274.839605 deg, approach rate: -0.059234 m/s, LOS rate: 0.090038 deg/s, cmd heading: 190.120214 deg, new cmd heading: 190.218742 deg. 2025-01-08T21:35:00.168Z,1736372100.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.319943 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:35:00.388Z,1736372100.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:00.388Z,1736372100.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003297 2025-01-08T21:35:00.528Z,1736372100.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:00.537Z,1736372100.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:35:00.540Z,1736372100.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 401.246613 m, bearing: 274.878289 deg, approach rate: -0.063475 m/s, LOS rate: 0.100208 deg/s, cmd heading: 190.218747 deg, new cmd heading: 190.334808 deg. 2025-01-08T21:35:00.541Z,1736372100.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.321969 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:35:00.642Z,1736372100.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:00.644Z,1736372100.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258668 2025-01-08T21:35:00.892Z,1736372100.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:00.892Z,1736372100.892 [DAT](INFO): DAT read: Rx Time:21:34:59.7401 2025-01-08T21:35:00.893Z,1736372100.893 [DAT](INFO): Rx dataTimestamp_ set to:1736372100.892601 2025-01-08T21:35:00.893Z,1736372100.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508398 2025-01-08T21:35:00.981Z,1736372100.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:00.990Z,1736372100.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:35:00.993Z,1736372100.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 401.210297 m, bearing: 274.921832 deg, approach rate: -0.080120 m/s, LOS rate: 0.096072 deg/s, cmd heading: 190.334805 deg, new cmd heading: 190.465444 deg. 2025-01-08T21:35:00.994Z,1736372100.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.324249 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:35:01.144Z,1736372101.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:01.144Z,1736372101.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759407 2025-01-08T21:35:01.346Z,1736372101.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:01.356Z,1736372101.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:35:01.358Z,1736372101.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 401.181976 m, bearing: 274.956867 deg, approach rate: -0.077604 m/s, LOS rate: 0.096010 deg/s, cmd heading: 190.465439 deg, new cmd heading: 190.570551 deg. 2025-01-08T21:35:01.360Z,1736372101.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.326084 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:35:01.399Z,1736372101.399 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:01.402Z,1736372101.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016539 2025-01-08T21:35:01.653Z,1736372101.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:01.682Z,1736372101.682 [DAT](INFO): DAT read: 21:34:59.7401 LVL= 18768, 22161, 18994, 27619, AGC= 70, IDX= 458, 0.05,-3.108, 3.101, 1.103, 2.449, PHS= 0.815, 0.699,-1.349, RAW= 32.7, -1.6, CAL= 32.5, -3.8, ROT= 117.5, 3.8 2025-01-08T21:35:01.686Z,1736372101.686 [DAT](INFO): got valid direction response: 21:34:59.7401 LVL= 18768, 22161, 18994, 27619, AGC= 70, IDX= 458, 0.05,-3.108, 3.101, 1.103, 2.449, PHS= 0.815, 0.699,-1.349, RAW= 32.7, -1.6, CAL= 32.5, -3.8, ROT= 117.5, 3.8 2025-01-08T21:35:01.689Z,1736372101.689 [DAT](INFO): DAT read: Bearing 117.5, 3.8 (Local) 2025-01-08T21:35:01.690Z,1736372101.690 [DAT](INFO): Local bearing/azimuth received: Bearing 117.5, 3.8 (Local) 2025-01-08T21:35:01.696Z,1736372101.696 [DAT](INFO): DAT read: Range 10 to 50 : 493.2 m (Round-trip 657.6 ms) speed 0.1 m/s 2025-01-08T21:35:01.699Z,1736372101.699 [DAT](INFO): DAT read: user:1889> 2025-01-08T21:35:01.702Z,1736372101.702 [DAT](INFO): DAT read: Tx time:21:35:00.8284 2025-01-08T21:35:01.743Z,1736372101.743 [DAT](INFO): Ping request sent. 2025-01-08T21:35:01.743Z,1736372101.743 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:35:01.744Z,1736372101.744 [DAT](INFO): DAT read: TxSync time:21:35:00.8276 2025-01-08T21:35:01.745Z,1736372101.745 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:35:01.745Z,1736372101.745 [DAT](INFO): direction in FSK: [0.056424,0.870968,0.488090] 2025-01-08T21:35:01.746Z,1736372101.746 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:01.746Z,1736372101.746 [DAT](INFO): publishing direction and range info 2025-01-08T21:35:01.753Z,1736372101.753 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:01.753Z,1736372101.753 [DAT](INFO): publishing direction and range info 2025-01-08T21:35:01.866Z,1736372101.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:01.904Z,1736372101.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:01.909Z,1736372101.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 493.200012 m, deltaT: 4.291952 s, deltaX: 0.900024 m, approachRate: 0.209700 m/s, rangeRepo size: 4 2025-01-08T21:35:01.911Z,1736372101.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 493.200012 m, bearing: 277.951707 deg, lat: 36.901730 deg, lon: -122.119194 deg, deltaT: 4.291952 s, deltaX: 0.900024 m, approachRate: 0.209700 m/s, posRepo size: 4 2025-01-08T21:35:01.924Z,1736372101.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:01.927Z,1736372101.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.902130 m, bearing: 275.446789 deg, approach rate: 0.000000 m/s, LOS rate: 0.096010 deg/s, cmd heading: 190.570556 deg, new cmd heading: 190.729813 deg. 2025-01-08T21:35:01.949Z,1736372101.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.328863 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:02.160Z,1736372102.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:02.226Z,1736372102.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:02.241Z,1736372102.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:02.243Z,1736372102.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:02.250Z,1736372102.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.871216 m, bearing: 275.481122 deg, approach rate: -0.092448 m/s, LOS rate: 0.102681 deg/s, cmd heading: 190.729809 deg, new cmd heading: 190.832817 deg. 2025-01-08T21:35:02.251Z,1736372102.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.330661 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:02.412Z,1736372102.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:02.412Z,1736372102.412 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:02.412Z,1736372102.412 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:02.412Z,1736372102.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:02.624Z,1736372102.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:02.634Z,1736372102.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:02.637Z,1736372102.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.838104 m, bearing: 275.519149 deg, approach rate: -0.084670 m/s, LOS rate: 0.097248 deg/s, cmd heading: 190.832822 deg, new cmd heading: 190.946912 deg. 2025-01-08T21:35:02.641Z,1736372102.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.332652 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:02.685Z,1736372102.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:02.688Z,1736372102.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.943557 2025-01-08T21:35:02.936Z,1736372102.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:02.937Z,1736372102.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.193122 2025-01-08T21:35:03.049Z,1736372103.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:03.085Z,1736372103.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:03.095Z,1736372103.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.800964 m, bearing: 275.559917 deg, approach rate: -0.082242 m/s, LOS rate: 0.090285 deg/s, cmd heading: 190.946913 deg, new cmd heading: 191.069229 deg. 2025-01-08T21:35:03.100Z,1736372103.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.334787 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:03.188Z,1736372103.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:03.188Z,1736372103.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.445027 2025-01-08T21:35:03.404Z,1736372103.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:35:03.435Z,1736372103.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:03.440Z,1736372103.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:03.441Z,1736372103.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.697270 2025-01-08T21:35:03.445Z,1736372103.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:03.449Z,1736372103.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.768463 m, bearing: 275.597048 deg, approach rate: -0.090257 m/s, LOS rate: 0.103123 deg/s, cmd heading: 191.069228 deg, new cmd heading: 191.180630 deg. 2025-01-08T21:35:03.450Z,1736372103.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.336731 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:03.693Z,1736372103.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:03.696Z,1736372103.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.951728 2025-01-08T21:35:03.865Z,1736372103.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:03.900Z,1736372103.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:03.907Z,1736372103.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.728333 m, bearing: 275.637007 deg, approach rate: -0.088200 m/s, LOS rate: 0.087831 deg/s, cmd heading: 191.180629 deg, new cmd heading: 191.300516 deg. 2025-01-08T21:35:03.908Z,1736372103.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.338824 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:03.944Z,1736372103.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:03.945Z,1736372103.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.201309 2025-01-08T21:35:04.196Z,1736372104.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:04.196Z,1736372104.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452975 2025-01-08T21:35:04.232Z,1736372104.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:04.253Z,1736372104.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:04.260Z,1736372104.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.694153 m, bearing: 275.671301 deg, approach rate: -0.096985 m/s, LOS rate: 0.097318 deg/s, cmd heading: 191.300512 deg, new cmd heading: 191.403403 deg. 2025-01-08T21:35:04.261Z,1736372104.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.340620 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:04.408Z,1736372104.408 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:35:04.449Z,1736372104.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:04.450Z,1736372104.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706781 2025-01-08T21:35:04.640Z,1736372104.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:04.650Z,1736372104.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:04.654Z,1736372104.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:04.660Z,1736372104.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.655945 m, bearing: 275.709262 deg, approach rate: -0.095282 m/s, LOS rate: 0.094676 deg/s, cmd heading: 191.403402 deg, new cmd heading: 191.517297 deg. 2025-01-08T21:35:04.662Z,1736372104.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.342607 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:04.702Z,1736372104.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:04.704Z,1736372104.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960137 2025-01-08T21:35:04.952Z,1736372104.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:04.954Z,1736372104.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209742 2025-01-08T21:35:05.069Z,1736372105.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:05.078Z,1736372105.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:05.082Z,1736372105.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.616974 m, bearing: 275.748841 deg, approach rate: -0.091904 m/s, LOS rate: 0.093347 deg/s, cmd heading: 191.517302 deg, new cmd heading: 191.636050 deg. 2025-01-08T21:35:05.082Z,1736372105.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.344680 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:05.204Z,1736372105.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:05.205Z,1736372105.205 [DAT](INFO): DAT read: Rx Time:21:35:03.8916 2025-01-08T21:35:05.205Z,1736372105.205 [DAT](INFO): Rx dataTimestamp_ set to:1736372105.204883 2025-01-08T21:35:05.206Z,1736372105.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.462315 2025-01-08T21:35:05.445Z,1736372105.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:05.456Z,1736372105.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:05.456Z,1736372105.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.713076 2025-01-08T21:35:05.455Z,1736372105.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:05.460Z,1736372105.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.582245 m, bearing: 275.783499 deg, approach rate: -0.092116 m/s, LOS rate: 0.091937 deg/s, cmd heading: 191.636052 deg, new cmd heading: 191.740036 deg. 2025-01-08T21:35:05.461Z,1736372105.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.346495 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:05.708Z,1736372105.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:05.715Z,1736372105.715 [DAT](INFO): DAT read: 21:35:03.8916 LVL= 22048, 20849, 21026, 29971, AGC= 65, IDX= 457, 0.14, 0.069, 0.082,-1.926,-0.686, PHS= 0.844, 0.816,-1.243, RAW= 30.7, -4.1, CAL= 30.9, -7.5, ROT= 119.1, 7.5 2025-01-08T21:35:05.736Z,1736372105.736 [DAT](INFO): got valid direction response: 21:35:03.8916 LVL= 22048, 20849, 21026, 29971, AGC= 65, IDX= 457, 0.14, 0.069, 0.082,-1.926,-0.686, PHS= 0.844, 0.816,-1.243, RAW= 30.7, -4.1, CAL= 30.9, -7.5, ROT= 119.1, 7.5 2025-01-08T21:35:05.738Z,1736372105.738 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:35:05.739Z,1736372105.739 [DAT](INFO): Received a bad header 2025-01-08T21:35:05.757Z,1736372105.757 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:35:05.790Z,1736372105.790 [DAT](INFO): direction in FSK: [0.106621,0.881600,0.459797] 2025-01-08T21:35:05.810Z,1736372105.810 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:05.810Z,1736372105.810 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:05.810Z,1736372105.810 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:05.937Z,1736372105.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:05.955Z,1736372105.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:05.960Z,1736372105.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:05.960Z,1736372105.960 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:05.960Z,1736372105.960 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:05.960Z,1736372105.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:05.968Z,1736372105.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.544678 m, bearing: 275.827483 deg, approach rate: -0.075140 m/s, LOS rate: 0.087983 deg/s, cmd heading: 191.740035 deg, new cmd heading: 191.871999 deg. 2025-01-08T21:35:05.970Z,1736372105.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.348798 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:06.212Z,1736372106.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:06.212Z,1736372106.212 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:06.213Z,1736372106.213 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:06.213Z,1736372106.213 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:06.281Z,1736372106.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:06.304Z,1736372106.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:06.307Z,1736372106.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.517914 m, bearing: 275.858265 deg, approach rate: -0.076635 m/s, LOS rate: 0.088145 deg/s, cmd heading: 191.871994 deg, new cmd heading: 191.964345 deg. 2025-01-08T21:35:06.312Z,1736372106.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.350410 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:06.465Z,1736372106.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:06.465Z,1736372106.465 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:06.466Z,1736372106.466 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:06.466Z,1736372106.466 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:06.670Z,1736372106.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:06.694Z,1736372106.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:06.696Z,1736372106.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:06.704Z,1736372106.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.487213 m, bearing: 275.892953 deg, approach rate: -0.078296 m/s, LOS rate: 0.088471 deg/s, cmd heading: 191.964338 deg, new cmd heading: 192.068410 deg. 2025-01-08T21:35:06.705Z,1736372106.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.352226 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:06.717Z,1736372106.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:06.719Z,1736372106.719 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:06.719Z,1736372106.719 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:06.720Z,1736372106.720 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:06.968Z,1736372106.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:06.969Z,1736372106.969 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:06.969Z,1736372106.969 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:06.969Z,1736372106.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:07.120Z,1736372107.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:07.129Z,1736372107.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:07.133Z,1736372107.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.460663 m, bearing: 275.933030 deg, approach rate: -0.061361 m/s, LOS rate: 0.092628 deg/s, cmd heading: 192.068417 deg, new cmd heading: 192.188655 deg. 2025-01-08T21:35:07.134Z,1736372107.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.354325 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:07.220Z,1736372107.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:07.220Z,1736372107.220 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:07.221Z,1736372107.221 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:07.221Z,1736372107.221 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:07.468Z,1736372107.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:07.472Z,1736372107.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:07.472Z,1736372107.472 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:07.472Z,1736372107.472 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:07.472Z,1736372107.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:07.478Z,1736372107.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:07.482Z,1736372107.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.438782 m, bearing: 275.963965 deg, approach rate: -0.062633 m/s, LOS rate: 0.088556 deg/s, cmd heading: 192.188655 deg, new cmd heading: 192.281467 deg. 2025-01-08T21:35:07.483Z,1736372107.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.355945 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:07.726Z,1736372107.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:07.727Z,1736372107.727 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:07.727Z,1736372107.727 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:07.728Z,1736372107.728 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:07.903Z,1736372107.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:07.911Z,1736372107.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:07.914Z,1736372107.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.418976 m, bearing: 276.002339 deg, approach rate: -0.045763 m/s, LOS rate: 0.088669 deg/s, cmd heading: 192.281464 deg, new cmd heading: 192.396589 deg. 2025-01-08T21:35:07.915Z,1736372107.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.357954 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:07.977Z,1736372107.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:07.977Z,1736372107.977 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:07.977Z,1736372107.977 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:07.978Z,1736372107.978 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:08.228Z,1736372108.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:08.228Z,1736372108.228 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:08.228Z,1736372108.228 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:08.228Z,1736372108.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:08.308Z,1736372108.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:08.321Z,1736372108.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:08.328Z,1736372108.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.399902 m, bearing: 276.038078 deg, approach rate: -0.046474 m/s, LOS rate: 0.087086 deg/s, cmd heading: 192.396593 deg, new cmd heading: 192.503817 deg. 2025-01-08T21:35:08.329Z,1736372108.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.359825 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:08.480Z,1736372108.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:08.481Z,1736372108.481 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:08.481Z,1736372108.481 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:08.481Z,1736372108.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:08.695Z,1736372108.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:08.703Z,1736372108.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:08.705Z,1736372108.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:08.708Z,1736372108.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.381042 m, bearing: 276.072287 deg, approach rate: -0.049123 m/s, LOS rate: 0.089105 deg/s, cmd heading: 192.503814 deg, new cmd heading: 192.606445 deg. 2025-01-08T21:35:08.709Z,1736372108.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.361617 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:08.734Z,1736372108.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:08.736Z,1736372108.736 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:08.737Z,1736372108.737 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:08.737Z,1736372108.737 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:08.984Z,1736372108.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:08.984Z,1736372108.984 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:08.984Z,1736372108.984 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:08.984Z,1736372108.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:09.121Z,1736372109.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:09.150Z,1736372109.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:09.157Z,1736372109.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.367523 m, bearing: 276.109598 deg, approach rate: -0.030412 m/s, LOS rate: 0.083934 deg/s, cmd heading: 192.606444 deg, new cmd heading: 192.718382 deg. 2025-01-08T21:35:09.158Z,1736372109.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.363570 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:09.236Z,1736372109.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:09.237Z,1736372109.237 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:09.237Z,1736372109.237 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:09.237Z,1736372109.237 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:09.488Z,1736372109.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:09.488Z,1736372109.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:09.488Z,1736372109.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:09.488Z,1736372109.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:09.497Z,1736372109.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:09.506Z,1736372109.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:09.541Z,1736372109.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.355133 m, bearing: 276.142546 deg, approach rate: -0.034812 m/s, LOS rate: 0.092575 deg/s, cmd heading: 192.718377 deg, new cmd heading: 192.817223 deg. 2025-01-08T21:35:09.542Z,1736372109.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.365295 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:09.742Z,1736372109.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:09.743Z,1736372109.743 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:09.743Z,1736372109.743 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:09.743Z,1736372109.743 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:09.940Z,1736372109.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:09.948Z,1736372109.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:09.951Z,1736372109.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.347046 m, bearing: 276.181274 deg, approach rate: -0.018273 m/s, LOS rate: 0.087509 deg/s, cmd heading: 192.817224 deg, new cmd heading: 192.933410 deg. 2025-01-08T21:35:09.952Z,1736372109.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.367323 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:09.992Z,1736372109.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:09.996Z,1736372109.996 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:09.996Z,1736372109.996 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:09.996Z,1736372109.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:10.244Z,1736372110.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:10.244Z,1736372110.244 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:10.244Z,1736372110.244 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:10.244Z,1736372110.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:10.320Z,1736372110.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:10.329Z,1736372110.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:10.332Z,1736372110.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.339600 m, bearing: 276.214484 deg, approach rate: -0.019593 m/s, LOS rate: 0.087384 deg/s, cmd heading: 192.933405 deg, new cmd heading: 193.033037 deg. 2025-01-08T21:35:10.333Z,1736372110.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.369062 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:10.496Z,1736372110.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:10.496Z,1736372110.496 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:10.496Z,1736372110.496 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:10.497Z,1736372110.497 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:10.715Z,1736372110.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:10.722Z,1736372110.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:10.724Z,1736372110.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:10.727Z,1736372110.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.331238 m, bearing: 276.248980 deg, approach rate: -0.021139 m/s, LOS rate: 0.087209 deg/s, cmd heading: 193.033030 deg, new cmd heading: 193.136520 deg. 2025-01-08T21:35:10.728Z,1736372110.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.370868 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:10.748Z,1736372110.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:10.748Z,1736372110.748 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:10.749Z,1736372110.749 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:10.749Z,1736372110.749 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:10.000Z,1736372111.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:11.000Z,1736372111.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:11.000Z,1736372111.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:11.000Z,1736372111.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:11.152Z,1736372111.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:11.177Z,1736372111.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:11.184Z,1736372111.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.318756 m, bearing: 276.288039 deg, approach rate: -0.027570 m/s, LOS rate: 0.086279 deg/s, cmd heading: 193.136522 deg, new cmd heading: 193.253703 deg. 2025-01-08T21:35:11.185Z,1736372111.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.372913 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:11.253Z,1736372111.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:11.254Z,1736372111.254 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:11.254Z,1736372111.254 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:11.254Z,1736372111.254 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:11.504Z,1736372111.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:11.504Z,1736372111.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:11.504Z,1736372111.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:11.504Z,1736372111.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:11.525Z,1736372111.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:11.535Z,1736372111.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:11.537Z,1736372111.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.307617 m, bearing: 276.321303 deg, approach rate: -0.031135 m/s, LOS rate: 0.092980 deg/s, cmd heading: 193.253700 deg, new cmd heading: 193.353494 deg. 2025-01-08T21:35:11.538Z,1736372111.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.374655 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:11.756Z,1736372111.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:11.756Z,1736372111.756 [DAT](INFO): Reached modem response timeout 2025-01-08T21:35:11.756Z,1736372111.756 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:35:11.757Z,1736372111.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:11.946Z,1736372111.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:11.954Z,1736372111.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:11.976Z,1736372111.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.290192 m, bearing: 276.359164 deg, approach rate: -0.041500 m/s, LOS rate: 0.090173 deg/s, cmd heading: 193.353489 deg, new cmd heading: 193.467079 deg. 2025-01-08T21:35:11.977Z,1736372111.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.376637 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:12.008Z,1736372112.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:12.008Z,1736372112.008 [DAT](INFO): Reached modem response timeout 2025-01-08T21:35:12.008Z,1736372112.008 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:35:12.009Z,1736372112.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:12.260Z,1736372112.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:12.260Z,1736372112.260 [DAT](INFO): Reached modem response timeout 2025-01-08T21:35:12.260Z,1736372112.260 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:35:12.261Z,1736372112.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:12.361Z,1736372112.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:12.390Z,1736372112.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:12.413Z,1736372112.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.272064 m, bearing: 276.396492 deg, approach rate: -0.041616 m/s, LOS rate: 0.085698 deg/s, cmd heading: 193.467075 deg, new cmd heading: 193.579063 deg. 2025-01-08T21:35:12.415Z,1736372112.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.378592 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:12.513Z,1736372112.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:12.514Z,1736372112.514 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:35:12.515Z,1736372112.515 [DAT](INFO): response not received 2025-01-08T21:35:12.515Z,1736372112.515 [DAT](INFO): DAT read: user:1891> 2025-01-08T21:35:12.516Z,1736372112.516 [DAT](INFO): DAT read: Tx time:21:35:11.7784 2025-01-08T21:35:12.516Z,1736372112.516 [DAT](INFO): Ping request sent. 2025-01-08T21:35:12.516Z,1736372112.516 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:35:12.517Z,1736372112.517 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:12.517Z,1736372112.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-01-08T21:35:12.727Z,1736372112.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:12.735Z,1736372112.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:12.749Z,1736372112.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:12.756Z,1736372112.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.255585 m, bearing: 276.429348 deg, approach rate: -0.045877 m/s, LOS rate: 0.091470 deg/s, cmd heading: 193.579063 deg, new cmd heading: 193.677635 deg. 2025-01-08T21:35:12.757Z,1736372112.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.380312 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:12.765Z,1736372112.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:12.766Z,1736372112.766 [DAT](INFO): DAT read: TxSync time:21:35:11.7776 2025-01-08T21:35:12.766Z,1736372112.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249929 2025-01-08T21:35:13.018Z,1736372113.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:13.019Z,1736372113.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502455 2025-01-08T21:35:13.189Z,1736372113.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:13.206Z,1736372113.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:13.209Z,1736372113.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.233459 m, bearing: 276.470978 deg, approach rate: -0.048420 m/s, LOS rate: 0.091111 deg/s, cmd heading: 193.677636 deg, new cmd heading: 193.802533 deg. 2025-01-08T21:35:13.210Z,1736372113.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.382492 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:13.270Z,1736372113.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:13.270Z,1736372113.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754055 2025-01-08T21:35:13.520Z,1736372113.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:13.520Z,1736372113.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003923 2025-01-08T21:35:13.583Z,1736372113.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:13.595Z,1736372113.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:13.606Z,1736372113.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.215729 m, bearing: 276.505133 deg, approach rate: -0.045632 m/s, LOS rate: 0.087907 deg/s, cmd heading: 193.802533 deg, new cmd heading: 193.905004 deg. 2025-01-08T21:35:13.606Z,1736372113.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.384281 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:13.772Z,1736372113.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:13.773Z,1736372113.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256097 2025-01-08T21:35:13.987Z,1736372113.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:14.001Z,1736372114.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:14.004Z,1736372114.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.185822 m, bearing: 276.542294 deg, approach rate: -0.073661 m/s, LOS rate: 0.091533 deg/s, cmd heading: 193.905000 deg, new cmd heading: 194.016490 deg. 2025-01-08T21:35:14.005Z,1736372114.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.386227 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:14.025Z,1736372114.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:14.027Z,1736372114.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510403 2025-01-08T21:35:14.277Z,1736372114.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:14.279Z,1736372114.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761853 2025-01-08T21:35:14.344Z,1736372114.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:14.370Z,1736372114.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:14.376Z,1736372114.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.160583 m, bearing: 276.573876 deg, approach rate: -0.068441 m/s, LOS rate: 0.085652 deg/s, cmd heading: 194.016496 deg, new cmd heading: 194.111249 deg. 2025-01-08T21:35:14.377Z,1736372114.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.387880 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:14.528Z,1736372114.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:14.528Z,1736372114.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011856 2025-01-08T21:35:14.751Z,1736372114.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:14.758Z,1736372114.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:14.760Z,1736372114.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:14.763Z,1736372114.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.131287 m, bearing: 276.609976 deg, approach rate: -0.075030 m/s, LOS rate: 0.092459 deg/s, cmd heading: 194.111244 deg, new cmd heading: 194.219551 deg. 2025-01-08T21:35:14.765Z,1736372114.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.389771 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:14.782Z,1736372114.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:14.792Z,1736372114.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275563 2025-01-08T21:35:15.032Z,1736372115.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:15.032Z,1736372115.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515986 2025-01-08T21:35:15.186Z,1736372115.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:15.194Z,1736372115.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:15.198Z,1736372115.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.091949 m, bearing: 276.649540 deg, approach rate: -0.090626 m/s, LOS rate: 0.091157 deg/s, cmd heading: 194.219557 deg, new cmd heading: 194.338260 deg. 2025-01-08T21:35:15.199Z,1736372115.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.391843 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:15.284Z,1736372115.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:15.285Z,1736372115.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768635 2025-01-08T21:35:15.536Z,1736372115.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:15.536Z,1736372115.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019955 2025-01-08T21:35:15.573Z,1736372115.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:15.589Z,1736372115.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:15.595Z,1736372115.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.055420 m, bearing: 276.684738 deg, approach rate: -0.092596 m/s, LOS rate: 0.089230 deg/s, cmd heading: 194.338266 deg, new cmd heading: 194.443870 deg. 2025-01-08T21:35:15.596Z,1736372115.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.393686 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:15.789Z,1736372115.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:15.790Z,1736372115.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273378 2025-01-08T21:35:16.022Z,1736372116.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:16.045Z,1736372116.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:16.058Z,1736372116.058 [DAT](INFO): DAT read: 21:35:14.8462 LVL= 18480, 19745, 18466, 26803, AGC= 67, IDX= 487, 0.40, 1.108, 0.683,-1.176, 0.154, PHS= 1.042, 0.576,-1.333, RAW= 40.7, -2.6, CAL= 41.4, -5.8, ROT= 108.6, 5.8 2025-01-08T21:35:16.068Z,1736372116.068 [DAT](INFO): got valid direction response: 21:35:14.8462 LVL= 18480, 19745, 18466, 26803, AGC= 67, IDX= 487, 0.40, 1.108, 0.683,-1.176, 0.154, PHS= 1.042, 0.576,-1.333, RAW= 40.7, -2.6, CAL= 41.4, -5.8, ROT= 108.6, 5.8 2025-01-08T21:35:16.070Z,1736372116.070 [DAT](INFO): DAT read: Rx Time:21:35:14.8462 2025-01-08T21:35:16.071Z,1736372116.071 [DAT](INFO): Rx dataTimestamp_ set to:1736372116.070414 2025-01-08T21:35:16.080Z,1736372116.080 [DAT](INFO): DAT read: $Low SNR acquisition 2025-01-08T21:35:16.080Z,1736372116.080 [DAT](INFO): Received low SNR in chirp 2025-01-08T21:35:16.082Z,1736372116.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:16.089Z,1736372116.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 398.003021 m, bearing: 276.725715 deg, approach rate: -0.106111 m/s, LOS rate: 0.082992 deg/s, cmd heading: 194.443874 deg, new cmd heading: 194.566821 deg. 2025-01-08T21:35:16.090Z,1736372116.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.395832 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:16.092Z,1736372116.092 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:35:16.092Z,1736372116.092 [DAT](INFO): direction in FSK: [0.059754,0.798990,0.598368] 2025-01-08T21:35:16.099Z,1736372116.099 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:16.099Z,1736372116.099 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:16.099Z,1736372116.099 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:16.296Z,1736372116.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:16.296Z,1736372116.296 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:16.296Z,1736372116.296 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:16.296Z,1736372116.296 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:16.383Z,1736372116.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:16.392Z,1736372116.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:16.394Z,1736372116.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.960052 m, bearing: 276.758788 deg, approach rate: -0.139170 m/s, LOS rate: 0.107132 deg/s, cmd heading: 194.566818 deg, new cmd heading: 194.666049 deg. 2025-01-08T21:35:16.395Z,1736372116.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.397563 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:16.549Z,1736372116.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:16.550Z,1736372116.550 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:16.550Z,1736372116.550 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:16.550Z,1736372116.550 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:16.779Z,1736372116.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:16.787Z,1736372116.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:16.789Z,1736372116.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:16.792Z,1736372116.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.912262 m, bearing: 276.794972 deg, approach rate: -0.120107 m/s, LOS rate: 0.090949 deg/s, cmd heading: 194.666047 deg, new cmd heading: 194.774612 deg. 2025-01-08T21:35:16.793Z,1736372116.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.399458 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:16.800Z,1736372116.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:16.800Z,1736372116.800 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:16.800Z,1736372116.800 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:16.800Z,1736372116.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:17.054Z,1736372117.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:17.054Z,1736372117.054 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:17.054Z,1736372117.054 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:17.054Z,1736372117.054 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:17.215Z,1736372117.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:35:17.215Z,1736372117.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:17.224Z,1736372117.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:17.226Z,1736372117.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.860016 m, bearing: 276.834689 deg, approach rate: -0.120329 m/s, LOS rate: 0.091485 deg/s, cmd heading: 194.774606 deg, new cmd heading: 194.893772 deg. 2025-01-08T21:35:17.227Z,1736372117.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.401538 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:17.304Z,1736372117.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:17.305Z,1736372117.305 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:17.305Z,1736372117.305 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:17.305Z,1736372117.305 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:17.556Z,1736372117.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:17.556Z,1736372117.556 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:17.556Z,1736372117.556 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:17.556Z,1736372117.556 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:17.613Z,1736372117.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:35:17.614Z,1736372117.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:17.637Z,1736372117.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:17.644Z,1736372117.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.810944 m, bearing: 276.871153 deg, approach rate: -0.118697 m/s, LOS rate: 0.088210 deg/s, cmd heading: 194.893765 deg, new cmd heading: 195.003170 deg. 2025-01-08T21:35:17.646Z,1736372117.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.403447 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:17.808Z,1736372117.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:17.808Z,1736372117.808 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:17.808Z,1736372117.808 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:17.809Z,1736372117.809 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:18.027Z,1736372118.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:18.054Z,1736372118.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:18.058Z,1736372118.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.756561 m, bearing: 276.907825 deg, approach rate: -0.130302 m/s, LOS rate: 0.087880 deg/s, cmd heading: 195.003171 deg, new cmd heading: 195.113203 deg. 2025-01-08T21:35:18.060Z,1736372118.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:18.062Z,1736372118.062 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:18.062Z,1736372118.062 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:18.062Z,1736372118.062 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:18.064Z,1736372118.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.405368 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:18.312Z,1736372118.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:18.313Z,1736372118.313 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:18.313Z,1736372118.313 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:18.313Z,1736372118.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:18.406Z,1736372118.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:18.423Z,1736372118.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:18.426Z,1736372118.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.706421 m, bearing: 276.941379 deg, approach rate: -0.135938 m/s, LOS rate: 0.090981 deg/s, cmd heading: 195.113206 deg, new cmd heading: 195.213880 deg. 2025-01-08T21:35:18.427Z,1736372118.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.407125 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:18.564Z,1736372118.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:18.565Z,1736372118.565 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:18.565Z,1736372118.565 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:18.565Z,1736372118.565 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:18.816Z,1736372118.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:18.817Z,1736372118.817 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:18.817Z,1736372118.817 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:18.817Z,1736372118.817 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:18.822Z,1736372118.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:18.829Z,1736372118.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:18.832Z,1736372118.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:18.835Z,1736372118.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.650665 m, bearing: 276.978167 deg, approach rate: -0.136144 m/s, LOS rate: 0.089841 deg/s, cmd heading: 195.213883 deg, new cmd heading: 195.324262 deg. 2025-01-08T21:35:18.836Z,1736372118.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.409051 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:19.068Z,1736372119.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:19.068Z,1736372119.068 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:19.068Z,1736372119.068 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:19.068Z,1736372119.068 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:19.244Z,1736372119.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:19.261Z,1736372119.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:19.268Z,1736372119.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.594482 m, bearing: 277.015191 deg, approach rate: -0.131063 m/s, LOS rate: 0.086381 deg/s, cmd heading: 195.324258 deg, new cmd heading: 195.435345 deg. 2025-01-08T21:35:19.269Z,1736372119.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.410990 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:19.321Z,1736372119.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:19.321Z,1736372119.321 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:19.322Z,1736372119.322 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:19.322Z,1736372119.322 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:19.572Z,1736372119.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:19.572Z,1736372119.572 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:19.572Z,1736372119.572 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:19.572Z,1736372119.572 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:19.635Z,1736372119.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:19.654Z,1736372119.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:19.659Z,1736372119.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.541748 m, bearing: 277.049489 deg, approach rate: -0.134350 m/s, LOS rate: 0.087392 deg/s, cmd heading: 195.435345 deg, new cmd heading: 195.538252 deg. 2025-01-08T21:35:19.669Z,1736372119.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.412786 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:19.824Z,1736372119.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:19.824Z,1736372119.824 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:19.824Z,1736372119.824 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:19.824Z,1736372119.824 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:20.052Z,1736372120.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:20.076Z,1736372120.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:20.076Z,1736372120.076 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:20.076Z,1736372120.076 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:20.076Z,1736372120.076 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:20.078Z,1736372120.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:20.084Z,1736372120.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.494598 m, bearing: 277.086415 deg, approach rate: -0.111186 m/s, LOS rate: 0.087087 deg/s, cmd heading: 195.538248 deg, new cmd heading: 195.649039 deg. 2025-01-08T21:35:20.085Z,1736372120.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.414720 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:20.328Z,1736372120.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:20.329Z,1736372120.329 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:20.329Z,1736372120.329 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:20.329Z,1736372120.329 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:20.426Z,1736372120.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:20.436Z,1736372120.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:20.438Z,1736372120.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.451843 m, bearing: 277.119595 deg, approach rate: -0.119530 m/s, LOS rate: 0.092772 deg/s, cmd heading: 195.649034 deg, new cmd heading: 195.748585 deg. 2025-01-08T21:35:20.439Z,1736372120.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.416457 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:20.580Z,1736372120.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:20.581Z,1736372120.581 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:20.581Z,1736372120.581 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:20.581Z,1736372120.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:20.823Z,1736372120.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:20.832Z,1736372120.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:20.833Z,1736372120.833 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:20.833Z,1736372120.833 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:20.833Z,1736372120.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:20.831Z,1736372120.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:20.835Z,1736372120.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:20.838Z,1736372120.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.405884 m, bearing: 277.154800 deg, approach rate: -0.114987 m/s, LOS rate: 0.088089 deg/s, cmd heading: 195.748591 deg, new cmd heading: 195.854216 deg. 2025-01-08T21:35:20.839Z,1736372120.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.418301 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:21.085Z,1736372121.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:21.086Z,1736372121.086 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:21.086Z,1736372121.086 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:21.086Z,1736372121.086 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:21.258Z,1736372121.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:21.268Z,1736372121.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:21.270Z,1736372121.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.356598 m, bearing: 277.193559 deg, approach rate: -0.114020 m/s, LOS rate: 0.089679 deg/s, cmd heading: 195.854213 deg, new cmd heading: 195.970506 deg. 2025-01-08T21:35:21.287Z,1736372121.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.420331 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:21.336Z,1736372121.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:21.336Z,1736372121.336 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:21.336Z,1736372121.336 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:21.336Z,1736372121.336 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:21.588Z,1736372121.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:21.588Z,1736372121.588 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:21.588Z,1736372121.588 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:21.588Z,1736372121.588 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:21.651Z,1736372121.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:21.681Z,1736372121.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:21.688Z,1736372121.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.311127 m, bearing: 277.228538 deg, approach rate: -0.109863 m/s, LOS rate: 0.084522 deg/s, cmd heading: 195.970504 deg, new cmd heading: 196.075452 deg. 2025-01-08T21:35:21.689Z,1736372121.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.422162 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:21.840Z,1736372121.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:21.840Z,1736372121.840 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:21.840Z,1736372121.840 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:21.841Z,1736372121.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:22.081Z,1736372122.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:22.090Z,1736372122.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:22.092Z,1736372122.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:22.092Z,1736372122.092 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:22.092Z,1736372122.092 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:22.092Z,1736372122.092 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:22.094Z,1736372122.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.269257 m, bearing: 277.267809 deg, approach rate: -0.102446 m/s, LOS rate: 0.096097 deg/s, cmd heading: 196.075456 deg, new cmd heading: 196.193281 deg. 2025-01-08T21:35:22.095Z,1736372122.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.424219 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:22.344Z,1736372122.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:22.344Z,1736372122.344 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:22.344Z,1736372122.344 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:22.344Z,1736372122.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:35:22.441Z,1736372122.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:22.466Z,1736372122.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:22.473Z,1736372122.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.233765 m, bearing: 277.300565 deg, approach rate: -0.094355 m/s, LOS rate: 0.087089 deg/s, cmd heading: 196.193277 deg, new cmd heading: 196.291553 deg. 2025-01-08T21:35:22.474Z,1736372122.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.425934 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:22.596Z,1736372122.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:22.596Z,1736372122.596 [DAT](INFO): Reached modem response timeout 2025-01-08T21:35:22.596Z,1736372122.596 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:35:22.597Z,1736372122.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:22.848Z,1736372122.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:22.848Z,1736372122.848 [DAT](INFO): Reached modem response timeout 2025-01-08T21:35:22.849Z,1736372122.849 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:35:22.849Z,1736372122.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:22.904Z,1736372122.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:22.920Z,1736372122.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:22.922Z,1736372122.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:22.929Z,1736372122.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.187775 m, bearing: 277.342781 deg, approach rate: -0.100889 m/s, LOS rate: 0.092621 deg/s, cmd heading: 196.291550 deg, new cmd heading: 196.418214 deg. 2025-01-08T21:35:22.930Z,1736372122.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.428144 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:23.102Z,1736372123.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:23.102Z,1736372123.102 [DAT](INFO): Reached modem response timeout 2025-01-08T21:35:23.103Z,1736372123.103 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:35:23.103Z,1736372123.103 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:23.342Z,1736372123.342 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -3, -7,A 2025-01-08T21:35:23.357Z,1736372123.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:23.358Z,1736372123.358 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:35:23.358Z,1736372123.358 [DAT](INFO): response not received 2025-01-08T21:35:23.359Z,1736372123.359 [DAT](INFO): DAT read: user:1893> 2025-01-08T21:35:23.360Z,1736372123.360 [DAT](INFO): DAT read: Tx time:21:35:22.7285 2025-01-08T21:35:23.360Z,1736372123.360 [DAT](INFO): Ping request sent. 2025-01-08T21:35:23.360Z,1736372123.360 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:35:23.360Z,1736372123.360 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:23.361Z,1736372123.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-01-08T21:35:23.390Z,1736372123.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:35:23.390Z,1736372123.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:23.432Z,1736372123.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:23.435Z,1736372123.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.139771 m, bearing: 277.387077 deg, approach rate: -0.094064 m/s, LOS rate: 0.086808 deg/s, cmd heading: 196.418209 deg, new cmd heading: 196.551111 deg. 2025-01-08T21:35:23.440Z,1736372123.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.430464 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:23.608Z,1736372123.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:23.609Z,1736372123.609 [DAT](INFO): DAT read: TxSync time:21:35:22.7277 2025-01-08T21:35:23.610Z,1736372123.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250159 2025-01-08T21:35:23.830Z,1736372123.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:35:23.831Z,1736372123.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:23.840Z,1736372123.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:23.843Z,1736372123.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.094696 m, bearing: 277.427192 deg, approach rate: -0.110447 m/s, LOS rate: 0.098307 deg/s, cmd heading: 196.551111 deg, new cmd heading: 196.671470 deg. 2025-01-08T21:35:23.844Z,1736372123.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.432565 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:23.860Z,1736372123.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:23.861Z,1736372123.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500391 2025-01-08T21:35:24.112Z,1736372124.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:24.112Z,1736372124.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752187 2025-01-08T21:35:24.251Z,1736372124.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:24.260Z,1736372124.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:24.263Z,1736372124.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.060638 m, bearing: 277.466907 deg, approach rate: -0.081257 m/s, LOS rate: 0.094764 deg/s, cmd heading: 196.671472 deg, new cmd heading: 196.790628 deg. 2025-01-08T21:35:24.265Z,1736372124.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.434644 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:24.365Z,1736372124.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:24.366Z,1736372124.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005100 2025-01-08T21:35:24.616Z,1736372124.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:24.617Z,1736372124.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256307 2025-01-08T21:35:24.636Z,1736372124.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:24.648Z,1736372124.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:24.652Z,1736372124.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 397.028992 m, bearing: 277.503282 deg, approach rate: -0.081713 m/s, LOS rate: 0.093927 deg/s, cmd heading: 196.790632 deg, new cmd heading: 196.899764 deg. 2025-01-08T21:35:24.654Z,1736372124.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.436549 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:24.869Z,1736372124.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:24.870Z,1736372124.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509631 2025-01-08T21:35:25.089Z,1736372125.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:25.120Z,1736372125.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:25.121Z,1736372125.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760806 2025-01-08T21:35:25.122Z,1736372125.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:25.129Z,1736372125.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:25.136Z,1736372125.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.989777 m, bearing: 277.545432 deg, approach rate: -0.081384 m/s, LOS rate: 0.087484 deg/s, cmd heading: 196.899764 deg, new cmd heading: 197.026227 deg. 2025-01-08T21:35:25.137Z,1736372125.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.438756 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:25.372Z,1736372125.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:25.372Z,1736372125.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012118 2025-01-08T21:35:25.443Z,1736372125.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:25.454Z,1736372125.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:25.457Z,1736372125.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.959106 m, bearing: 277.578432 deg, approach rate: -0.095018 m/s, LOS rate: 0.102245 deg/s, cmd heading: 197.026232 deg, new cmd heading: 197.125241 deg. 2025-01-08T21:35:25.458Z,1736372125.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.440485 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:25.624Z,1736372125.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:25.624Z,1736372125.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264245 2025-01-08T21:35:25.843Z,1736372125.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:25.873Z,1736372125.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:25.876Z,1736372125.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:25.876Z,1736372125.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516287 2025-01-08T21:35:25.880Z,1736372125.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.924133 m, bearing: 277.615787 deg, approach rate: -0.082942 m/s, LOS rate: 0.088598 deg/s, cmd heading: 197.125243 deg, new cmd heading: 197.237317 deg. 2025-01-08T21:35:25.882Z,1736372125.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.442441 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:26.128Z,1736372126.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:26.128Z,1736372126.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768229 2025-01-08T21:35:26.287Z,1736372126.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:26.315Z,1736372126.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:26.318Z,1736372126.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.880035 m, bearing: 277.656273 deg, approach rate: -0.104454 m/s, LOS rate: 0.095910 deg/s, cmd heading: 197.237312 deg, new cmd heading: 197.358785 deg. 2025-01-08T21:35:26.323Z,1736372126.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.444561 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:26.380Z,1736372126.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:26.381Z,1736372126.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020401 2025-01-08T21:35:26.632Z,1736372126.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:26.632Z,1736372126.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272288 2025-01-08T21:35:26.662Z,1736372126.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:26.714Z,1736372126.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:26.721Z,1736372126.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.842590 m, bearing: 277.690534 deg, approach rate: -0.089558 m/s, LOS rate: 0.081950 deg/s, cmd heading: 197.358781 deg, new cmd heading: 197.461572 deg. 2025-01-08T21:35:26.722Z,1736372126.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.446355 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:26.884Z,1736372126.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:26.884Z,1736372126.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524118 2025-01-08T21:35:27.136Z,1736372127.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:27.139Z,1736372127.139 [DAT](INFO): DAT read: Rx Time:21:35:25.8000 2025-01-08T21:35:27.140Z,1736372127.140 [DAT](INFO): Rx dataTimestamp_ set to:1736372127.139263 2025-01-08T21:35:27.141Z,1736372127.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780897 2025-01-08T21:35:27.144Z,1736372127.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:27.162Z,1736372127.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:27.196Z,1736372127.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:27.199Z,1736372127.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.785736 m, bearing: 277.734407 deg, approach rate: -0.117741 m/s, LOS rate: 0.090870 deg/s, cmd heading: 197.461575 deg, new cmd heading: 197.593212 deg. 2025-01-08T21:35:27.204Z,1736372127.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.448652 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:27.388Z,1736372127.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:27.389Z,1736372127.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028441 2025-01-08T21:35:27.495Z,1736372127.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:27.506Z,1736372127.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:27.509Z,1736372127.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.744293 m, bearing: 277.766382 deg, approach rate: -0.133840 m/s, LOS rate: 0.103274 deg/s, cmd heading: 197.593206 deg, new cmd heading: 197.689141 deg. 2025-01-08T21:35:27.510Z,1736372127.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.450326 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:35:27.640Z,1736372127.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:27.642Z,1736372127.642 [DAT](INFO): DAT read: Range 10 to 50 : 500.4 m (Round-trip 667.3 ms) speed -0.2 m/s 2025-01-08T21:35:27.643Z,1736372127.643 [DAT](INFO): DAT read: user:1894> 2025-01-08T21:35:27.644Z,1736372127.644 [DAT](INFO): DAT read: Tx time:21:35:26.8786 2025-01-08T21:35:27.644Z,1736372127.644 [DAT](INFO): Ping request sent. 2025-01-08T21:35:27.645Z,1736372127.645 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:35:27.645Z,1736372127.645 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:35:27.645Z,1736372127.645 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:27.646Z,1736372127.646 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:27.886Z,1736372127.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:27.892Z,1736372127.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:27.893Z,1736372127.893 [DAT](INFO): DAT read: TxSync time:21:35:26.8778 2025-01-08T21:35:27.899Z,1736372127.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 500.399994 m, deltaT: 25.986827 s, deltaX: 7.199982 m, approachRate: 0.277063 m/s, rangeRepo size: 4 2025-01-08T21:35:27.900Z,1736372127.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:27.902Z,1736372127.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.698364 m, bearing: 277.801979 deg, approach rate: -0.117287 m/s, LOS rate: 0.090913 deg/s, cmd heading: 197.689143 deg, new cmd heading: 197.795946 deg. 2025-01-08T21:35:27.904Z,1736372127.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.452190 target range: 493.200012 and range: 500.40 m. 2025-01-08T21:35:28.144Z,1736372128.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:28.328Z,1736372128.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:28.338Z,1736372128.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:28.341Z,1736372128.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.640472 m, bearing: 277.841878 deg, approach rate: -0.131507 m/s, LOS rate: 0.090648 deg/s, cmd heading: 197.795940 deg, new cmd heading: 197.915654 deg. 2025-01-08T21:35:28.342Z,1736372128.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.454280 target range: 493.200012 and range: 500.40 m. 2025-01-08T21:35:28.397Z,1736372128.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:28.648Z,1736372128.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:28.705Z,1736372128.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:28.714Z,1736372128.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:28.717Z,1736372128.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.592163 m, bearing: 277.875901 deg, approach rate: -0.128528 m/s, LOS rate: 0.090532 deg/s, cmd heading: 197.915660 deg, new cmd heading: 198.017743 deg. 2025-01-08T21:35:28.718Z,1736372128.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.456062 target range: 493.200012 and range: 500.40 m. 2025-01-08T21:35:28.900Z,1736372128.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:29.152Z,1736372129.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:29.161Z,1736372129.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:29.204Z,1736372129.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:29.206Z,1736372129.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:29.213Z,1736372129.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.525116 m, bearing: 277.916581 deg, approach rate: -0.136056 m/s, LOS rate: 0.082563 deg/s, cmd heading: 198.017744 deg, new cmd heading: 198.139802 deg. 2025-01-08T21:35:29.214Z,1736372129.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.458192 target range: 493.200012 and range: 500.40 m. 2025-01-08T21:35:29.404Z,1736372129.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:29.404Z,1736372129.404 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:29.404Z,1736372129.404 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:29.405Z,1736372129.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:29.501Z,1736372129.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:29.510Z,1736372129.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:29.517Z,1736372129.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.475006 m, bearing: 277.946991 deg, approach rate: -0.164788 m/s, LOS rate: 0.100017 deg/s, cmd heading: 198.139799 deg, new cmd heading: 198.231040 deg. 2025-01-08T21:35:29.518Z,1736372129.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.459784 target range: 493.200012 and range: 500.40 m. 2025-01-08T21:35:29.657Z,1736372129.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:29.658Z,1736372129.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013641 2025-01-08T21:35:29.908Z,1736372129.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:29.908Z,1736372129.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264090 2025-01-08T21:35:29.909Z,1736372129.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:29.942Z,1736372129.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:29.949Z,1736372129.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.415436 m, bearing: 277.983262 deg, approach rate: -0.138099 m/s, LOS rate: 0.084099 deg/s, cmd heading: 198.231037 deg, new cmd heading: 198.339867 deg. 2025-01-08T21:35:29.950Z,1736372129.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.461684 target range: 493.200012 and range: 500.40 m. 2025-01-08T21:35:30.160Z,1736372130.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:30.160Z,1736372130.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516029 2025-01-08T21:35:30.339Z,1736372130.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:30.348Z,1736372130.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:30.350Z,1736372130.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.352875 m, bearing: 278.021326 deg, approach rate: -0.154293 m/s, LOS rate: 0.093891 deg/s, cmd heading: 198.339869 deg, new cmd heading: 198.454079 deg. 2025-01-08T21:35:30.352Z,1736372130.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.463677 target range: 493.200012 and range: 500.40 m. 2025-01-08T21:35:30.413Z,1736372130.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:30.414Z,1736372130.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769350 2025-01-08T21:35:30.664Z,1736372130.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:30.665Z,1736372130.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020704 2025-01-08T21:35:30.724Z,1736372130.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:30.733Z,1736372130.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:30.736Z,1736372130.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.297089 m, bearing: 278.055265 deg, approach rate: -0.144519 m/s, LOS rate: 0.087936 deg/s, cmd heading: 198.454083 deg, new cmd heading: 198.555916 deg. 2025-01-08T21:35:30.737Z,1736372130.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.465455 target range: 493.200012 and range: 500.40 m. 2025-01-08T21:35:30.916Z,1736372130.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:30.917Z,1736372130.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272198 2025-01-08T21:35:31.168Z,1736372131.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:31.169Z,1736372131.169 [DAT](INFO): DAT read: Rx Time:21:35:29.9515 2025-01-08T21:35:31.169Z,1736372131.169 [DAT](INFO): Rx dataTimestamp_ set to:1736372131.168796 2025-01-08T21:35:31.170Z,1736372131.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525228 2025-01-08T21:35:31.263Z,1736372131.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:31.270Z,1736372131.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:31.272Z,1736372131.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:31.279Z,1736372131.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.220459 m, bearing: 278.103137 deg, approach rate: -0.142214 m/s, LOS rate: 0.088861 deg/s, cmd heading: 198.555921 deg, new cmd heading: 198.699565 deg. 2025-01-08T21:35:31.280Z,1736372131.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.467962 target range: 493.200012 and range: 500.40 m. 2025-01-08T21:35:31.420Z,1736372131.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:31.421Z,1736372131.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776449 2025-01-08T21:35:31.572Z,1736372131.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:31.611Z,1736372131.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:31.624Z,1736372131.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.176392 m, bearing: 278.130540 deg, approach rate: -0.130081 m/s, LOS rate: 0.080897 deg/s, cmd heading: 198.699560 deg, new cmd heading: 198.781777 deg. 2025-01-08T21:35:31.626Z,1736372131.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.469397 target range: 493.200012 and range: 500.40 m. 2025-01-08T21:35:31.672Z,1736372131.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:31.676Z,1736372131.676 [DAT](INFO): DAT read: Range 10 to 50 : 501.6 m (Round-trip 668.8 ms) speed -0.3 m/s 2025-01-08T21:35:31.677Z,1736372131.677 [DAT](INFO): DAT read: user:1895> 2025-01-08T21:35:31.678Z,1736372131.678 [DAT](INFO): DAT read: Tx time:21:35:31.0286 2025-01-08T21:35:31.678Z,1736372131.678 [DAT](INFO): Ping request sent. 2025-01-08T21:35:31.679Z,1736372131.679 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:35:31.679Z,1736372131.679 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:35:31.680Z,1736372131.680 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:31.681Z,1736372131.681 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:31.924Z,1736372131.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:31.925Z,1736372131.925 [DAT](INFO): DAT read: TxSync time:21:35:31.0278 2025-01-08T21:35:31.996Z,1736372131.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:32.006Z,1736372132.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 501.600006 m, deltaT: 4.032960 s, deltaX: 1.200012 m, approachRate: 0.297551 m/s, rangeRepo size: 4 2025-01-08T21:35:32.007Z,1736372132.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:32.010Z,1736372132.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.115509 m, bearing: 278.168199 deg, approach rate: -0.154164 m/s, LOS rate: 0.095375 deg/s, cmd heading: 198.781782 deg, new cmd heading: 198.894779 deg. 2025-01-08T21:35:32.011Z,1736372132.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.471369 target range: 493.200012 and range: 501.60 m. 2025-01-08T21:35:32.176Z,1736372132.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:32.391Z,1736372132.391 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -26.51, +688.19, 0 2025-01-08T21:35:32.400Z,1736372132.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:35:32.400Z,1736372132.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:32.428Z,1736372132.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:32.430Z,1736372132.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:32.437Z,1736372132.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.057526 m, bearing: 278.203926 deg, approach rate: -0.136760 m/s, LOS rate: 0.084276 deg/s, cmd heading: 198.894781 deg, new cmd heading: 199.001975 deg. 2025-01-08T21:35:32.438Z,1736372132.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.473240 target range: 493.200012 and range: 501.60 m. 2025-01-08T21:35:32.680Z,1736372132.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:32.793Z,1736372132.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:35:32.793Z,1736372132.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:32.803Z,1736372132.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:32.805Z,1736372132.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 396.000732 m, bearing: 278.238838 deg, approach rate: -0.152282 m/s, LOS rate: 0.093627 deg/s, cmd heading: 199.001974 deg, new cmd heading: 199.106728 deg. 2025-01-08T21:35:32.806Z,1736372132.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.475068 target range: 493.200012 and range: 501.60 m. 2025-01-08T21:35:32.932Z,1736372132.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:33.184Z,1736372133.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:33.257Z,1736372133.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:33.266Z,1736372133.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:33.292Z,1736372133.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.958588 m, bearing: 278.279074 deg, approach rate: -0.090984 m/s, LOS rate: 0.086872 deg/s, cmd heading: 199.106722 deg, new cmd heading: 199.227442 deg. 2025-01-08T21:35:33.293Z,1736372133.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.477175 target range: 493.200012 and range: 501.60 m. 2025-01-08T21:35:33.436Z,1736372133.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:33.606Z,1736372133.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:33.612Z,1736372133.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:33.616Z,1736372133.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:33.618Z,1736372133.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.927368 m, bearing: 278.309238 deg, approach rate: -0.089354 m/s, LOS rate: 0.086338 deg/s, cmd heading: 199.227438 deg, new cmd heading: 199.317935 deg. 2025-01-08T21:35:33.620Z,1736372133.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.478754 target range: 493.200012 and range: 501.60 m. 2025-01-08T21:35:33.688Z,1736372133.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:33.688Z,1736372133.688 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:33.689Z,1736372133.689 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:33.689Z,1736372133.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:33.940Z,1736372133.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:33.941Z,1736372133.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261939 2025-01-08T21:35:34.009Z,1736372134.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:34.019Z,1736372134.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:34.022Z,1736372134.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.890961 m, bearing: 278.344216 deg, approach rate: -0.090194 m/s, LOS rate: 0.086662 deg/s, cmd heading: 199.317938 deg, new cmd heading: 199.422883 deg. 2025-01-08T21:35:34.023Z,1736372134.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.480586 target range: 493.200012 and range: 501.60 m. 2025-01-08T21:35:34.194Z,1736372134.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:34.196Z,1736372134.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517060 2025-01-08T21:35:34.438Z,1736372134.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:34.444Z,1736372134.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:34.444Z,1736372134.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765857 2025-01-08T21:35:34.449Z,1736372134.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:34.452Z,1736372134.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.866638 m, bearing: 278.382485 deg, approach rate: -0.056613 m/s, LOS rate: 0.089081 deg/s, cmd heading: 199.422877 deg, new cmd heading: 199.537692 deg. 2025-01-08T21:35:34.453Z,1736372134.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.482590 target range: 493.200012 and range: 501.60 m. 2025-01-08T21:35:34.528Z,1736372134.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:35:34.696Z,1736372134.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:34.697Z,1736372134.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017809 2025-01-08T21:35:34.818Z,1736372134.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:34.826Z,1736372134.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:34.829Z,1736372134.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.844177 m, bearing: 278.416494 deg, approach rate: -0.059432 m/s, LOS rate: 0.089992 deg/s, cmd heading: 199.537693 deg, new cmd heading: 199.639724 deg. 2025-01-08T21:35:34.832Z,1736372134.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.484370 target range: 493.200012 and range: 501.60 m. 2025-01-08T21:35:34.948Z,1736372134.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:34.949Z,1736372134.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270235 2025-01-08T21:35:35.202Z,1736372135.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:35.204Z,1736372135.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524893 2025-01-08T21:35:35.299Z,1736372135.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:35.308Z,1736372135.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:35.310Z,1736372135.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.815796 m, bearing: 278.459757 deg, approach rate: -0.059019 m/s, LOS rate: 0.089971 deg/s, cmd heading: 199.639722 deg, new cmd heading: 199.769519 deg. 2025-01-08T21:35:35.327Z,1736372135.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.486636 target range: 493.200012 and range: 501.60 m. 2025-01-08T21:35:35.452Z,1736372135.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:35.453Z,1736372135.453 [DAT](INFO): DAT read: Rx Time:21:35:34.1029 2025-01-08T21:35:35.453Z,1736372135.453 [DAT](INFO): Rx dataTimestamp_ set to:1736372135.452821 2025-01-08T21:35:35.454Z,1736372135.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775025 2025-01-08T21:35:35.532Z,1736372135.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:35:35.616Z,1736372135.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:35.644Z,1736372135.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:35.652Z,1736372135.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:35.661Z,1736372135.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.795166 m, bearing: 278.488276 deg, approach rate: -0.060708 m/s, LOS rate: 0.083929 deg/s, cmd heading: 199.769523 deg, new cmd heading: 199.855086 deg. 2025-01-08T21:35:35.663Z,1736372135.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488129 target range: 493.200012 and range: 501.60 m. 2025-01-08T21:35:35.704Z,1736372135.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:35.705Z,1736372135.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026231 2025-01-08T21:35:35.956Z,1736372135.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:35.957Z,1736372135.957 [DAT](INFO): DAT read: Range 10 to 50 : 502.5 m (Round-trip 670.1 ms) speed -0.4 m/s 2025-01-08T21:35:35.958Z,1736372135.958 [DAT](INFO): DAT read: user:1896> 2025-01-08T21:35:35.959Z,1736372135.959 [DAT](INFO): DAT read: Tx time:21:35:35.1787 2025-01-08T21:35:35.959Z,1736372135.959 [DAT](INFO): Ping request sent. 2025-01-08T21:35:35.959Z,1736372135.959 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:35:35.960Z,1736372135.960 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:35:35.960Z,1736372135.960 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:35.960Z,1736372135.960 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:36.037Z,1736372136.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:36.059Z,1736372136.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 502.500000 m, deltaT: 4.283011 s, deltaX: 0.899994 m, approachRate: 0.210131 m/s, rangeRepo size: 4 2025-01-08T21:35:36.065Z,1736372136.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:36.072Z,1736372136.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.766296 m, bearing: 278.526115 deg, approach rate: -0.070248 m/s, LOS rate: 0.092079 deg/s, cmd heading: 199.855092 deg, new cmd heading: 199.968616 deg. 2025-01-08T21:35:36.073Z,1736372136.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.490111 target range: 493.200012 and range: 502.50 m. 2025-01-08T21:35:36.209Z,1736372136.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:36.212Z,1736372136.212 [DAT](INFO): DAT read: TxSync time:21:35:35.1779 2025-01-08T21:35:36.454Z,1736372136.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:36.460Z,1736372136.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:36.493Z,1736372136.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:36.508Z,1736372136.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.735992 m, bearing: 278.565176 deg, approach rate: -0.069637 m/s, LOS rate: 0.089769 deg/s, cmd heading: 199.968609 deg, new cmd heading: 200.085804 deg. 2025-01-08T21:35:36.509Z,1736372136.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492156 target range: 493.200012 and range: 502.50 m. 2025-01-08T21:35:36.712Z,1736372136.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:36.824Z,1736372136.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:36.853Z,1736372136.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:36.863Z,1736372136.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.708557 m, bearing: 278.599825 deg, approach rate: -0.076352 m/s, LOS rate: 0.096434 deg/s, cmd heading: 200.085802 deg, new cmd heading: 200.189755 deg. 2025-01-08T21:35:36.870Z,1736372136.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.493970 target range: 493.200012 and range: 502.50 m. 2025-01-08T21:35:36.965Z,1736372136.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:37.217Z,1736372137.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:37.323Z,1736372137.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:37.332Z,1736372137.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:37.335Z,1736372137.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.660370 m, bearing: 278.645887 deg, approach rate: -0.100676 m/s, LOS rate: 0.096247 deg/s, cmd heading: 200.189757 deg, new cmd heading: 200.327960 deg. 2025-01-08T21:35:37.336Z,1736372137.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.496382 target range: 493.200012 and range: 502.50 m. 2025-01-08T21:35:37.468Z,1736372137.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:37.633Z,1736372137.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:37.641Z,1736372137.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:37.669Z,1736372137.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.628723 m, bearing: 278.674464 deg, approach rate: -0.102163 m/s, LOS rate: 0.092261 deg/s, cmd heading: 200.327959 deg, new cmd heading: 200.413698 deg. 2025-01-08T21:35:37.673Z,1736372137.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.497879 target range: 493.200012 and range: 502.50 m. 2025-01-08T21:35:37.720Z,1736372137.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:37.973Z,1736372137.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:38.042Z,1736372138.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:38.050Z,1736372138.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:38.052Z,1736372138.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:38.055Z,1736372138.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.585938 m, bearing: 278.712212 deg, approach rate: -0.104031 m/s, LOS rate: 0.091791 deg/s, cmd heading: 200.413692 deg, new cmd heading: 200.526946 deg. 2025-01-08T21:35:38.056Z,1736372138.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499856 target range: 493.200012 and range: 502.50 m. 2025-01-08T21:35:38.225Z,1736372138.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:38.227Z,1736372138.227 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:38.227Z,1736372138.227 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:38.228Z,1736372138.228 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:38.476Z,1736372138.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:38.477Z,1736372138.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517114 2025-01-08T21:35:38.480Z,1736372138.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:38.489Z,1736372138.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:38.520Z,1736372138.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.523651 m, bearing: 278.753594 deg, approach rate: -0.142573 m/s, LOS rate: 0.094737 deg/s, cmd heading: 200.526950 deg, new cmd heading: 200.651115 deg. 2025-01-08T21:35:38.521Z,1736372138.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.502023 target range: 493.200012 and range: 502.50 m. 2025-01-08T21:35:38.728Z,1736372138.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:38.729Z,1736372138.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769458 2025-01-08T21:35:38.852Z,1736372138.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:38.861Z,1736372138.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:38.864Z,1736372138.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.469879 m, bearing: 278.788747 deg, approach rate: -0.144806 m/s, LOS rate: 0.094680 deg/s, cmd heading: 200.651109 deg, new cmd heading: 200.756584 deg. 2025-01-08T21:35:38.865Z,1736372138.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.503863 target range: 493.200012 and range: 502.50 m. 2025-01-08T21:35:38.980Z,1736372138.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:38.981Z,1736372138.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021876 2025-01-08T21:35:39.234Z,1736372139.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:39.236Z,1736372139.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276093 2025-01-08T21:35:39.344Z,1736372139.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:39.357Z,1736372139.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:39.359Z,1736372139.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.384003 m, bearing: 278.834509 deg, approach rate: -0.173121 m/s, LOS rate: 0.092272 deg/s, cmd heading: 200.756581 deg, new cmd heading: 200.893895 deg. 2025-01-08T21:35:39.360Z,1736372139.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.506260 target range: 493.200012 and range: 502.50 m. 2025-01-08T21:35:39.484Z,1736372139.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:39.484Z,1736372139.484 [DAT](INFO): DAT read: Rx Time:21:35:38.2540 2025-01-08T21:35:39.485Z,1736372139.485 [DAT](INFO): Rx dataTimestamp_ set to:1736372139.484671 2025-01-08T21:35:39.485Z,1736372139.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526103 2025-01-08T21:35:39.684Z,1736372139.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:39.708Z,1736372139.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:35:39.711Z,1736372139.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 395.324829 m, bearing: 278.866123 deg, approach rate: -0.168267 m/s, LOS rate: 0.089912 deg/s, cmd heading: 200.893895 deg, new cmd heading: 200.988752 deg. 2025-01-08T21:35:39.718Z,1736372139.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507915 target range: 493.200012 and range: 502.50 m. 2025-01-08T21:35:39.737Z,1736372139.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:39.737Z,1736372139.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778030 2025-01-08T21:35:39.988Z,1736372139.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:39.994Z,1736372139.994 [DAT](INFO): DAT read: 21:35:38.2540 LVL= 16880, 22049, 17794, 29619, AGC= 68, IDX= 450, 0.22,-0.220,-0.898,-2.569,-1.402, PHS= 1.270, 0.552,-1.170, RAW= 46.7, -6.1, CAL= 50.0, -11.1, ROT= 100.0, 11.1 2025-01-08T21:35:39.995Z,1736372139.995 [DAT](INFO): got valid direction response: 21:35:38.2540 LVL= 16880, 22049, 17794, 29619, AGC= 68, IDX= 450, 0.22,-0.220,-0.898,-2.569,-1.402, PHS= 1.270, 0.552,-1.170, RAW= 46.7, -6.1, CAL= 50.0, -11.1, ROT= 100.0, 11.1 2025-01-08T21:35:39.996Z,1736372139.996 [DAT](INFO): DAT read: Bearing 100.0, 11.1 (Local) 2025-01-08T21:35:39.997Z,1736372139.997 [DAT](INFO): Local bearing/azimuth received: Bearing 100.0, 11.1 (Local) 2025-01-08T21:35:39.999Z,1736372139.999 [DAT](INFO): DAT read: Range 10 to 50 : 503.3 m (Round-trip 671.1 ms) speed -0.2 m/s 2025-01-08T21:35:39.000Z,1736372140.000 [DAT](INFO): DAT read: user:1897> 2025-01-08T21:35:40.000Z,1736372140.000 [DAT](INFO): DAT read: Tx time:21:35:39.3787 2025-01-08T21:35:40.001Z,1736372140.001 [DAT](INFO): Ping request sent. 2025-01-08T21:35:40.001Z,1736372140.001 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:35:40.001Z,1736372140.001 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:35:40.002Z,1736372140.002 [DAT](INFO): direction in FSK: [0.110447,0.729974,0.674492] 2025-01-08T21:35:40.002Z,1736372140.002 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:40.002Z,1736372140.002 [DAT](INFO): publishing direction and range info 2025-01-08T21:35:40.015Z,1736372140.015 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:40.015Z,1736372140.015 [DAT](INFO): publishing direction and range info 2025-01-08T21:35:40.094Z,1736372140.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:40.160Z,1736372140.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 503.299988 m, deltaT: 4.031993 s, deltaX: 0.799988 m, approachRate: 0.198410 m/s, rangeRepo size: 4 2025-01-08T21:35:40.162Z,1736372140.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 503.299988 m, bearing: 281.496426 deg, lat: 36.901752 deg, lon: -122.119139 deg, deltaT: 38.334791 s, deltaX: 10.099976 m, approachRate: 0.263468 m/s, posRepo size: 4 2025-01-08T21:35:40.167Z,1736372140.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:40.177Z,1736372140.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 390.766724 m, bearing: 279.362051 deg, approach rate: 0.000000 m/s, LOS rate: 0.089912 deg/s, cmd heading: 200.988753 deg, new cmd heading: 201.109364 deg. 2025-01-08T21:35:40.178Z,1736372140.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510020 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:35:40.242Z,1736372140.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:40.246Z,1736372140.246 [DAT](INFO): DAT read: TxSync time:21:35:39.3779 2025-01-08T21:35:40.492Z,1736372140.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:40.541Z,1736372140.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:40.556Z,1736372140.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:40.558Z,1736372140.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:40.561Z,1736372140.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 390.676483 m, bearing: 279.404447 deg, approach rate: -0.224042 m/s, LOS rate: 0.105280 deg/s, cmd heading: 201.109360 deg, new cmd heading: 201.236576 deg. 2025-01-08T21:35:40.562Z,1736372140.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512241 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:35:40.744Z,1736372140.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:40.744Z,1736372140.744 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:40.744Z,1736372140.744 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:40.745Z,1736372140.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:40.881Z,1736372140.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:40.890Z,1736372140.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:40.893Z,1736372140.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 390.608337 m, bearing: 279.436730 deg, approach rate: -0.205428 m/s, LOS rate: 0.097335 deg/s, cmd heading: 201.236579 deg, new cmd heading: 201.333445 deg. 2025-01-08T21:35:40.894Z,1736372140.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513932 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:35:40.998Z,1736372140.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:40.998Z,1736372140.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997529 2025-01-08T21:35:41.249Z,1736372141.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:41.252Z,1736372141.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250563 2025-01-08T21:35:41.350Z,1736372141.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:41.395Z,1736372141.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:41.398Z,1736372141.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 390.503204 m, bearing: 279.482203 deg, approach rate: -0.219194 m/s, LOS rate: 0.094834 deg/s, cmd heading: 201.333445 deg, new cmd heading: 201.469901 deg. 2025-01-08T21:35:41.399Z,1736372141.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516313 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:35:41.500Z,1736372141.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:41.501Z,1736372141.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499943 2025-01-08T21:35:41.692Z,1736372141.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:41.702Z,1736372141.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:41.705Z,1736372141.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 390.426788 m, bearing: 279.515638 deg, approach rate: -0.230031 m/s, LOS rate: 0.100667 deg/s, cmd heading: 201.469899 deg, new cmd heading: 201.570223 deg. 2025-01-08T21:35:41.706Z,1736372141.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.518064 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:35:41.752Z,1736372141.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:41.752Z,1736372141.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751635 2025-01-08T21:35:42.004Z,1736372142.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:42.004Z,1736372142.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003537 2025-01-08T21:35:42.091Z,1736372142.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:42.101Z,1736372142.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:42.104Z,1736372142.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 390.339142 m, bearing: 279.554524 deg, approach rate: -0.219594 m/s, LOS rate: 0.097450 deg/s, cmd heading: 201.570221 deg, new cmd heading: 201.686906 deg. 2025-01-08T21:35:42.105Z,1736372142.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520101 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:35:42.257Z,1736372142.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:42.260Z,1736372142.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258731 2025-01-08T21:35:42.509Z,1736372142.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:42.510Z,1736372142.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509322 2025-01-08T21:35:42.552Z,1736372142.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:42.560Z,1736372142.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:42.562Z,1736372142.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:42.582Z,1736372142.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 390.242859 m, bearing: 279.598250 deg, approach rate: -0.208672 m/s, LOS rate: 0.094788 deg/s, cmd heading: 201.686907 deg, new cmd heading: 201.818115 deg. 2025-01-08T21:35:42.587Z,1736372142.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522391 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:35:42.760Z,1736372142.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:42.760Z,1736372142.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759534 2025-01-08T21:35:42.895Z,1736372142.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:42.905Z,1736372142.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:42.908Z,1736372142.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 390.171814 m, bearing: 279.630803 deg, approach rate: -0.207354 m/s, LOS rate: 0.095030 deg/s, cmd heading: 201.818115 deg, new cmd heading: 201.915795 deg. 2025-01-08T21:35:42.909Z,1736372142.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.524096 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:35:43.013Z,1736372143.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:43.014Z,1736372143.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013259 2025-01-08T21:35:43.266Z,1736372143.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:43.268Z,1736372143.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266668 2025-01-08T21:35:43.374Z,1736372143.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:43.385Z,1736372143.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:43.388Z,1736372143.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 390.085999 m, bearing: 279.676633 deg, approach rate: -0.179455 m/s, LOS rate: 0.095859 deg/s, cmd heading: 201.915801 deg, new cmd heading: 202.053320 deg. 2025-01-08T21:35:43.389Z,1736372143.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.526496 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:35:43.518Z,1736372143.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:43.520Z,1736372143.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519087 2025-01-08T21:35:43.701Z,1736372143.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:43.725Z,1736372143.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:43.728Z,1736372143.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 390.027191 m, bearing: 279.707894 deg, approach rate: -0.171823 m/s, LOS rate: 0.091350 deg/s, cmd heading: 202.053320 deg, new cmd heading: 202.147115 deg. 2025-01-08T21:35:43.729Z,1736372143.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528133 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:35:43.768Z,1736372143.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:43.769Z,1736372143.769 [DAT](INFO): DAT read: Rx Time:21:35:42.4552 2025-01-08T21:35:43.770Z,1736372143.770 [DAT](INFO): Rx dataTimestamp_ set to:1736372143.769543 2025-01-08T21:35:43.771Z,1736372143.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769905 2025-01-08T21:35:44.020Z,1736372144.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:44.020Z,1736372144.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019503 2025-01-08T21:35:44.120Z,1736372144.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:44.145Z,1736372144.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:44.152Z,1736372144.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.951569 m, bearing: 279.747916 deg, approach rate: -0.180383 m/s, LOS rate: 0.095484 deg/s, cmd heading: 202.147112 deg, new cmd heading: 202.267202 deg. 2025-01-08T21:35:44.153Z,1736372144.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530229 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:35:44.273Z,1736372144.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:44.276Z,1736372144.276 [DAT](INFO): DAT read: Range 10 to 50 : 504.3 m (Round-trip 672.4 ms) speed -0.6 m/s 2025-01-08T21:35:44.277Z,1736372144.277 [DAT](INFO): DAT read: user:1898> 2025-01-08T21:35:44.279Z,1736372144.279 [DAT](INFO): DAT read: Tx time:21:35:43.5787 2025-01-08T21:35:44.279Z,1736372144.279 [DAT](INFO): Ping request sent. 2025-01-08T21:35:44.280Z,1736372144.280 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:35:44.280Z,1736372144.280 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:35:44.281Z,1736372144.281 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:44.282Z,1736372144.282 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:44.524Z,1736372144.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:44.526Z,1736372144.526 [DAT](INFO): DAT read: TxSync time:21:35:43.5779 2025-01-08T21:35:44.570Z,1736372144.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:44.591Z,1736372144.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:44.594Z,1736372144.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 504.299988 m, deltaT: 4.285513 s, deltaX: 1.000000 m, approachRate: 0.233344 m/s, rangeRepo size: 4 2025-01-08T21:35:44.594Z,1736372144.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:44.598Z,1736372144.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.881500 m, bearing: 279.790728 deg, approach rate: -0.156175 m/s, LOS rate: 0.095440 deg/s, cmd heading: 202.267200 deg, new cmd heading: 202.395658 deg. 2025-01-08T21:35:44.603Z,1736372144.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532471 target range: 503.299988 and range: 504.30 m. 2025-01-08T21:35:44.776Z,1736372144.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:44.776Z,1736372144.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:44.776Z,1736372144.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:44.777Z,1736372144.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:44.931Z,1736372144.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:44.940Z,1736372144.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:44.943Z,1736372144.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.825317 m, bearing: 279.824939 deg, approach rate: -0.162020 m/s, LOS rate: 0.098673 deg/s, cmd heading: 202.395663 deg, new cmd heading: 202.498311 deg. 2025-01-08T21:35:44.944Z,1736372144.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534262 target range: 503.299988 and range: 504.30 m. 2025-01-08T21:35:45.029Z,1736372145.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:45.029Z,1736372145.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749815 2025-01-08T21:35:45.280Z,1736372145.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:45.281Z,1736372145.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000945 2025-01-08T21:35:45.400Z,1736372145.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:45.409Z,1736372145.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:45.428Z,1736372145.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.774048 m, bearing: 279.868337 deg, approach rate: -0.109361 m/s, LOS rate: 0.092584 deg/s, cmd heading: 202.498307 deg, new cmd heading: 202.628518 deg. 2025-01-08T21:35:45.429Z,1736372145.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536535 target range: 503.299988 and range: 504.30 m. 2025-01-08T21:35:45.532Z,1736372145.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:45.532Z,1736372145.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252933 2025-01-08T21:35:45.719Z,1736372145.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:45.728Z,1736372145.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:45.731Z,1736372145.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.738831 m, bearing: 279.897743 deg, approach rate: -0.110560 m/s, LOS rate: 0.092325 deg/s, cmd heading: 202.628517 deg, new cmd heading: 202.716744 deg. 2025-01-08T21:35:45.732Z,1736372145.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538075 target range: 503.299988 and range: 504.30 m. 2025-01-08T21:35:45.785Z,1736372145.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:45.786Z,1736372145.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506372 2025-01-08T21:35:46.036Z,1736372146.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:46.036Z,1736372146.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756883 2025-01-08T21:35:46.121Z,1736372146.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:46.129Z,1736372146.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:46.132Z,1736372146.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.693817 m, bearing: 279.934795 deg, approach rate: -0.112064 m/s, LOS rate: 0.092254 deg/s, cmd heading: 202.716750 deg, new cmd heading: 202.827919 deg. 2025-01-08T21:35:46.133Z,1736372146.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540015 target range: 503.299988 and range: 504.30 m. 2025-01-08T21:35:46.288Z,1736372146.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:46.288Z,1736372146.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008731 2025-01-08T21:35:46.540Z,1736372146.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:46.541Z,1736372146.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261246 2025-01-08T21:35:46.622Z,1736372146.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:46.636Z,1736372146.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:46.638Z,1736372146.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:46.640Z,1736372146.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.656891 m, bearing: 279.981131 deg, approach rate: -0.072605 m/s, LOS rate: 0.091115 deg/s, cmd heading: 202.827918 deg, new cmd heading: 202.966939 deg. 2025-01-08T21:35:46.642Z,1736372146.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542441 target range: 503.299988 and range: 504.30 m. 2025-01-08T21:35:46.794Z,1736372146.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:46.795Z,1736372146.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515466 2025-01-08T21:35:46.988Z,1736372146.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:47.010Z,1736372147.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:47.015Z,1736372147.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.629303 m, bearing: 280.014922 deg, approach rate: -0.074393 m/s, LOS rate: 0.091127 deg/s, cmd heading: 202.966940 deg, new cmd heading: 203.068320 deg. 2025-01-08T21:35:47.017Z,1736372147.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544211 target range: 503.299988 and range: 504.30 m. 2025-01-08T21:35:47.048Z,1736372147.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:47.049Z,1736372147.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769457 2025-01-08T21:35:47.301Z,1736372147.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:47.303Z,1736372147.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023188 2025-01-08T21:35:47.479Z,1736372147.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:47.491Z,1736372147.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:47.494Z,1736372147.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.598846 m, bearing: 280.059517 deg, approach rate: -0.063112 m/s, LOS rate: 0.092417 deg/s, cmd heading: 203.068313 deg, new cmd heading: 203.202108 deg. 2025-01-08T21:35:47.495Z,1736372147.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546546 target range: 503.299988 and range: 504.30 m. 2025-01-08T21:35:47.552Z,1736372147.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:47.553Z,1736372147.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273090 2025-01-08T21:35:47.805Z,1736372147.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:47.805Z,1736372147.805 [DAT](INFO): DAT read: Rx Time:21:35:46.6570 2025-01-08T21:35:47.806Z,1736372147.806 [DAT](INFO): Rx dataTimestamp_ set to:1736372147.805509 2025-01-08T21:35:47.806Z,1736372147.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526767 2025-01-08T21:35:47.843Z,1736372147.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:47.852Z,1736372147.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:47.855Z,1736372147.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.575256 m, bearing: 280.092612 deg, approach rate: -0.065286 m/s, LOS rate: 0.091597 deg/s, cmd heading: 203.202103 deg, new cmd heading: 203.301394 deg. 2025-01-08T21:35:47.877Z,1736372147.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548279 target range: 503.299988 and range: 504.30 m. 2025-01-08T21:35:48.056Z,1736372148.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:48.057Z,1736372148.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777059 2025-01-08T21:35:48.259Z,1736372148.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:48.269Z,1736372148.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:48.272Z,1736372148.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.547485 m, bearing: 280.130415 deg, approach rate: -0.066671 m/s, LOS rate: 0.090762 deg/s, cmd heading: 203.301400 deg, new cmd heading: 203.414817 deg. 2025-01-08T21:35:48.273Z,1736372148.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550258 target range: 503.299988 and range: 504.30 m. 2025-01-08T21:35:48.310Z,1736372148.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:48.312Z,1736372148.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032493 2025-01-08T21:35:48.562Z,1736372148.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:48.564Z,1736372148.564 [DAT](INFO): DAT read: Range 10 to 50 : 505.5 m (Round-trip 674.1 ms) speed -0.3 m/s 2025-01-08T21:35:48.566Z,1736372148.566 [DAT](INFO): DAT read: user:1899> 2025-01-08T21:35:48.567Z,1736372148.567 [DAT](INFO): DAT read: Tx time:21:35:47.7788 2025-01-08T21:35:48.567Z,1736372148.567 [DAT](INFO): Ping request sent. 2025-01-08T21:35:48.567Z,1736372148.567 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:35:48.568Z,1736372148.568 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:35:48.568Z,1736372148.568 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:48.569Z,1736372148.569 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:48.732Z,1736372148.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:48.743Z,1736372148.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:48.750Z,1736372148.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 505.500000 m, deltaT: 4.288641 s, deltaX: 1.200012 m, approachRate: 0.279812 m/s, rangeRepo size: 4 2025-01-08T21:35:48.751Z,1736372148.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:48.757Z,1736372148.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.518463 m, bearing: 280.171970 deg, approach rate: -0.060409 m/s, LOS rate: 0.086502 deg/s, cmd heading: 203.414822 deg, new cmd heading: 203.539496 deg. 2025-01-08T21:35:48.758Z,1736372148.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.552434 target range: 503.299988 and range: 505.50 m. 2025-01-08T21:35:48.812Z,1736372148.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:48.814Z,1736372148.814 [DAT](INFO): DAT read: TxSync time:21:35:47.7780 2025-01-08T21:35:48.815Z,1736372148.815 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:48.815Z,1736372148.815 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:48.815Z,1736372148.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:49.052Z,1736372149.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:49.061Z,1736372149.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:49.065Z,1736372149.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:49.065Z,1736372149.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498251 2025-01-08T21:35:49.066Z,1736372149.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.498596 m, bearing: 280.200100 deg, approach rate: -0.063839 m/s, LOS rate: 0.090394 deg/s, cmd heading: 203.539501 deg, new cmd heading: 203.623893 deg. 2025-01-08T21:35:49.067Z,1736372149.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.553907 target range: 503.299988 and range: 505.50 m. 2025-01-08T21:35:49.316Z,1736372149.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:49.316Z,1736372149.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749292 2025-01-08T21:35:49.494Z,1736372149.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:49.511Z,1736372149.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:49.514Z,1736372149.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.473633 m, bearing: 280.239877 deg, approach rate: -0.055418 m/s, LOS rate: 0.088311 deg/s, cmd heading: 203.623894 deg, new cmd heading: 203.743235 deg. 2025-01-08T21:35:49.517Z,1736372149.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.555990 target range: 503.299988 and range: 505.50 m. 2025-01-08T21:35:49.576Z,1736372149.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:49.578Z,1736372149.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011049 2025-01-08T21:35:49.824Z,1736372149.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:49.824Z,1736372149.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257302 2025-01-08T21:35:49.873Z,1736372149.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:49.883Z,1736372149.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:49.885Z,1736372149.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.451202 m, bearing: 280.273905 deg, approach rate: -0.060350 m/s, LOS rate: 0.091558 deg/s, cmd heading: 203.743232 deg, new cmd heading: 203.845320 deg. 2025-01-08T21:35:49.886Z,1736372149.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557772 target range: 503.299988 and range: 505.50 m. 2025-01-08T21:35:50.076Z,1736372150.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:50.076Z,1736372150.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509225 2025-01-08T21:35:50.269Z,1736372150.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:50.294Z,1736372150.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:50.297Z,1736372150.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.427368 m, bearing: 280.309482 deg, approach rate: -0.057983 m/s, LOS rate: 0.086556 deg/s, cmd heading: 203.845316 deg, new cmd heading: 203.952052 deg. 2025-01-08T21:35:50.303Z,1736372150.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559635 target range: 503.299988 and range: 505.50 m. 2025-01-08T21:35:50.330Z,1736372150.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:50.331Z,1736372150.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763414 2025-01-08T21:35:50.580Z,1736372150.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:50.580Z,1736372150.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013371 2025-01-08T21:35:50.715Z,1736372150.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:50.724Z,1736372150.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:50.726Z,1736372150.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.384155 m, bearing: 280.350366 deg, approach rate: -0.100570 m/s, LOS rate: 0.095160 deg/s, cmd heading: 203.952058 deg, new cmd heading: 204.074723 deg. 2025-01-08T21:35:50.727Z,1736372150.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561776 target range: 503.299988 and range: 505.50 m. 2025-01-08T21:35:50.832Z,1736372150.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:50.833Z,1736372150.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265587 2025-01-08T21:35:51.072Z,1736372151.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:51.078Z,1736372151.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:51.081Z,1736372151.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:51.084Z,1736372151.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:51.085Z,1736372151.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517455 2025-01-08T21:35:51.086Z,1736372151.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.348358 m, bearing: 280.382990 deg, approach rate: -0.100237 m/s, LOS rate: 0.091362 deg/s, cmd heading: 204.074728 deg, new cmd heading: 204.172611 deg. 2025-01-08T21:35:51.111Z,1736372151.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.563484 target range: 503.299988 and range: 505.50 m. 2025-01-08T21:35:51.337Z,1736372151.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:51.338Z,1736372151.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770649 2025-01-08T21:35:51.519Z,1736372151.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:51.555Z,1736372151.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:51.558Z,1736372151.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.285431 m, bearing: 280.423637 deg, approach rate: -0.137383 m/s, LOS rate: 0.088755 deg/s, cmd heading: 204.172605 deg, new cmd heading: 204.294565 deg. 2025-01-08T21:35:51.561Z,1736372151.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.565613 target range: 503.299988 and range: 505.50 m. 2025-01-08T21:35:51.589Z,1736372151.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:51.590Z,1736372151.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022510 2025-01-08T21:35:51.840Z,1736372151.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:51.840Z,1736372151.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273273 2025-01-08T21:35:51.893Z,1736372151.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:51.920Z,1736372151.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:51.922Z,1736372151.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.231873 m, bearing: 280.457691 deg, approach rate: -0.142161 m/s, LOS rate: 0.090402 deg/s, cmd heading: 204.294564 deg, new cmd heading: 204.396740 deg. 2025-01-08T21:35:51.928Z,1736372151.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567396 target range: 503.299988 and range: 505.50 m. 2025-01-08T21:35:52.092Z,1736372152.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:52.093Z,1736372152.093 [DAT](INFO): DAT read: Rx Time:21:35:50.8580 2025-01-08T21:35:52.093Z,1736372152.093 [DAT](INFO): Rx dataTimestamp_ set to:1736372152.092704 2025-01-08T21:35:52.093Z,1736372152.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526411 2025-01-08T21:35:52.284Z,1736372152.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:52.293Z,1736372152.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:52.295Z,1736372152.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.175690 m, bearing: 280.493233 deg, approach rate: -0.148923 m/s, LOS rate: 0.094224 deg/s, cmd heading: 204.396744 deg, new cmd heading: 204.503386 deg. 2025-01-08T21:35:52.296Z,1736372152.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569257 target range: 503.299988 and range: 505.50 m. 2025-01-08T21:35:52.344Z,1736372152.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:52.345Z,1736372152.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777485 2025-01-08T21:35:52.596Z,1736372152.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:52.597Z,1736372152.597 [DAT](INFO): DAT read: Range 10 to 50 : 506.2 m (Round-trip 675.0 ms) speed 0.0 m/s 2025-01-08T21:35:52.598Z,1736372152.598 [DAT](INFO): DAT read: user:1900> 2025-01-08T21:35:52.599Z,1736372152.599 [DAT](INFO): DAT read: Tx time:21:35:51.9788 2025-01-08T21:35:52.602Z,1736372152.602 [DAT](INFO): Ping request sent. 2025-01-08T21:35:52.602Z,1736372152.602 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:35:52.603Z,1736372152.603 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:35:52.603Z,1736372152.603 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:52.605Z,1736372152.605 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:52.750Z,1736372152.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:52.759Z,1736372152.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 506.200012 m, deltaT: 4.033805 s, deltaX: 0.700012 m, approachRate: 0.173536 m/s, rangeRepo size: 4 2025-01-08T21:35:52.760Z,1736372152.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:52.762Z,1736372152.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.087494 m, bearing: 280.535842 deg, approach rate: -0.189371 m/s, LOS rate: 0.091509 deg/s, cmd heading: 204.503391 deg, new cmd heading: 204.631245 deg. 2025-01-08T21:35:52.764Z,1736372152.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571489 target range: 503.299988 and range: 506.20 m. 2025-01-08T21:35:52.848Z,1736372152.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:52.850Z,1736372152.850 [DAT](INFO): DAT read: TxSync time:21:35:51.9780 2025-01-08T21:35:53.095Z,1736372153.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:53.100Z,1736372153.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:53.104Z,1736372153.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:53.106Z,1736372153.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:53.109Z,1736372153.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 389.022186 m, bearing: 280.567472 deg, approach rate: -0.187577 m/s, LOS rate: 0.090864 deg/s, cmd heading: 204.631252 deg, new cmd heading: 204.726159 deg. 2025-01-08T21:35:53.110Z,1736372153.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.573146 target range: 503.299988 and range: 506.20 m. 2025-01-08T21:35:53.352Z,1736372153.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:53.353Z,1736372153.353 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:53.353Z,1736372153.353 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:53.353Z,1736372153.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:53.524Z,1736372153.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:53.549Z,1736372153.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:53.556Z,1736372153.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 388.925934 m, bearing: 280.607453 deg, approach rate: -0.217452 m/s, LOS rate: 0.090346 deg/s, cmd heading: 204.726164 deg, new cmd heading: 204.846136 deg. 2025-01-08T21:35:53.557Z,1736372153.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575239 target range: 503.299988 and range: 506.20 m. 2025-01-08T21:35:53.604Z,1736372153.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:53.605Z,1736372153.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003070 2025-01-08T21:35:53.856Z,1736372153.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:53.857Z,1736372153.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255462 2025-01-08T21:35:53.933Z,1736372153.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:53.942Z,1736372153.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:53.945Z,1736372153.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 388.834381 m, bearing: 280.645571 deg, approach rate: -0.233011 m/s, LOS rate: 0.097038 deg/s, cmd heading: 204.846130 deg, new cmd heading: 204.960512 deg. 2025-01-08T21:35:53.946Z,1736372153.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577236 target range: 503.299988 and range: 506.20 m. 2025-01-08T21:35:54.108Z,1736372154.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:54.109Z,1736372154.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506936 2025-01-08T21:35:54.326Z,1736372154.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:54.336Z,1736372154.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:54.339Z,1736372154.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 388.746643 m, bearing: 280.682192 deg, approach rate: -0.222627 m/s, LOS rate: 0.092941 deg/s, cmd heading: 204.960508 deg, new cmd heading: 205.070393 deg. 2025-01-08T21:35:54.340Z,1736372154.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579154 target range: 503.299988 and range: 506.20 m. 2025-01-08T21:35:54.374Z,1736372154.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:54.375Z,1736372154.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773406 2025-01-08T21:35:54.624Z,1736372154.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:54.625Z,1736372154.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022866 2025-01-08T21:35:54.736Z,1736372154.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:54.766Z,1736372154.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:54.772Z,1736372154.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 388.644775 m, bearing: 280.721766 deg, approach rate: -0.237207 m/s, LOS rate: 0.092176 deg/s, cmd heading: 205.070392 deg, new cmd heading: 205.189146 deg. 2025-01-08T21:35:54.773Z,1736372154.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581226 target range: 503.299988 and range: 506.20 m. 2025-01-08T21:35:54.876Z,1736372154.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:54.876Z,1736372154.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274652 2025-01-08T21:35:55.117Z,1736372155.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:55.124Z,1736372155.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:55.126Z,1736372155.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:55.128Z,1736372155.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:55.129Z,1736372155.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526876 2025-01-08T21:35:55.152Z,1736372155.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 388.550537 m, bearing: 280.758538 deg, approach rate: -0.261502 m/s, LOS rate: 0.102064 deg/s, cmd heading: 205.189142 deg, new cmd heading: 205.299485 deg. 2025-01-08T21:35:55.152Z,1736372155.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583152 target range: 503.299988 and range: 506.20 m. 2025-01-08T21:35:55.380Z,1736372155.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:55.381Z,1736372155.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779120 2025-01-08T21:35:55.549Z,1736372155.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:55.578Z,1736372155.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:55.585Z,1736372155.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 388.437378 m, bearing: 280.800643 deg, approach rate: -0.250339 m/s, LOS rate: 0.093175 deg/s, cmd heading: 205.299490 deg, new cmd heading: 205.425842 deg. 2025-01-08T21:35:55.586Z,1736372155.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585357 target range: 503.299988 and range: 506.20 m. 2025-01-08T21:35:55.632Z,1736372155.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:55.633Z,1736372155.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030829 2025-01-08T21:35:55.884Z,1736372155.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:55.885Z,1736372155.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283258 2025-01-08T21:35:55.921Z,1736372155.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:55.954Z,1736372155.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:55.959Z,1736372155.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 388.339844 m, bearing: 280.836840 deg, approach rate: -0.259471 m/s, LOS rate: 0.096320 deg/s, cmd heading: 205.425849 deg, new cmd heading: 205.534467 deg. 2025-01-08T21:35:55.968Z,1736372155.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587253 target range: 503.299988 and range: 506.20 m. 2025-01-08T21:35:56.138Z,1736372156.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:56.140Z,1736372156.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538041 2025-01-08T21:35:56.388Z,1736372156.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:56.389Z,1736372156.389 [DAT](INFO): DAT read: Rx Time:21:35:55.0581 2025-01-08T21:35:56.389Z,1736372156.389 [DAT](INFO): Rx dataTimestamp_ set to:1736372156.388732 2025-01-08T21:35:56.390Z,1736372156.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787876 2025-01-08T21:35:56.428Z,1736372156.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:56.495Z,1736372156.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:56.530Z,1736372156.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 388.206818 m, bearing: 280.886243 deg, approach rate: -0.249468 m/s, LOS rate: 0.092679 deg/s, cmd heading: 205.534462 deg, new cmd heading: 205.682722 deg. 2025-01-08T21:35:56.540Z,1736372156.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589841 target range: 503.299988 and range: 506.20 m. 2025-01-08T21:35:56.640Z,1736372156.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:56.641Z,1736372156.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038877 2025-01-08T21:35:56.893Z,1736372156.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:56.896Z,1736372156.896 [DAT](INFO): DAT read: Range 10 to 50 : 506.3 m (Round-trip 675.1 ms) speed -0.1 m/s 2025-01-08T21:35:56.898Z,1736372156.898 [DAT](INFO): DAT read: user:1901> 2025-01-08T21:35:56.899Z,1736372156.899 [DAT](INFO): DAT read: Tx time:21:35:56.1788 2025-01-08T21:35:56.900Z,1736372156.900 [DAT](INFO): Ping request sent. 2025-01-08T21:35:56.900Z,1736372156.900 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:35:56.900Z,1736372156.900 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:35:56.900Z,1736372156.900 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:56.901Z,1736372156.901 [DAT](INFO): publishing transmit ping time 2025-01-08T21:35:57.028Z,1736372157.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:57.038Z,1736372157.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 506.299988 m, deltaT: 4.298234 s, deltaX: 0.099976 m, approachRate: 0.023260 m/s, rangeRepo size: 4 2025-01-08T21:35:57.039Z,1736372157.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:57.042Z,1736372157.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 388.060364 m, bearing: 280.943761 deg, approach rate: -0.265934 m/s, LOS rate: 0.104481 deg/s, cmd heading: 205.682718 deg, new cmd heading: 205.855335 deg. 2025-01-08T21:35:57.043Z,1736372157.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592853 target range: 503.299988 and range: 506.30 m. 2025-01-08T21:35:57.144Z,1736372157.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:57.146Z,1736372157.146 [DAT](INFO): DAT read: TxSync time:21:35:56.1781 2025-01-08T21:35:57.396Z,1736372157.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:57.456Z,1736372157.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:57.522Z,1736372157.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:57.540Z,1736372157.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:57.543Z,1736372157.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 387.955475 m, bearing: 280.984910 deg, approach rate: -0.208736 m/s, LOS rate: 0.081912 deg/s, cmd heading: 205.855331 deg, new cmd heading: 205.978812 deg. 2025-01-08T21:35:57.552Z,1736372157.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595008 target range: 503.299988 and range: 506.30 m. 2025-01-08T21:35:57.651Z,1736372157.651 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:57.652Z,1736372157.652 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:35:57.652Z,1736372157.652 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:35:57.653Z,1736372157.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:35:57.868Z,1736372157.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:57.876Z,1736372157.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:57.879Z,1736372157.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 387.866699 m, bearing: 281.024524 deg, approach rate: -0.264113 m/s, LOS rate: 0.117880 deg/s, cmd heading: 205.978807 deg, new cmd heading: 206.097675 deg. 2025-01-08T21:35:57.881Z,1736372157.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597083 target range: 503.299988 and range: 506.30 m. 2025-01-08T21:35:57.901Z,1736372157.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:57.901Z,1736372157.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001739 2025-01-08T21:35:58.152Z,1736372158.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:58.152Z,1736372158.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252754 2025-01-08T21:35:58.252Z,1736372158.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:58.261Z,1736372158.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:58.265Z,1736372158.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 387.783844 m, bearing: 281.061732 deg, approach rate: -0.215451 m/s, LOS rate: 0.096774 deg/s, cmd heading: 206.097680 deg, new cmd heading: 206.209328 deg. 2025-01-08T21:35:58.266Z,1736372158.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599032 target range: 503.299988 and range: 506.30 m. 2025-01-08T21:35:58.407Z,1736372158.407 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:58.408Z,1736372158.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508309 2025-01-08T21:35:58.660Z,1736372158.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:58.661Z,1736372158.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761327 2025-01-08T21:35:58.712Z,1736372158.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:58.721Z,1736372158.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:58.724Z,1736372158.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 387.706879 m, bearing: 281.106072 deg, approach rate: -0.167436 m/s, LOS rate: 0.096480 deg/s, cmd heading: 206.209326 deg, new cmd heading: 206.342372 deg. 2025-01-08T21:35:58.727Z,1736372158.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601354 target range: 503.299988 and range: 506.30 m. 2025-01-08T21:35:58.912Z,1736372158.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:58.912Z,1736372158.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012649 2025-01-08T21:35:59.052Z,1736372159.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:59.076Z,1736372159.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:59.083Z,1736372159.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 387.649689 m, bearing: 281.138824 deg, approach rate: -0.160729 m/s, LOS rate: 0.092061 deg/s, cmd heading: 206.342378 deg, new cmd heading: 206.440649 deg. 2025-01-08T21:35:59.084Z,1736372159.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603069 target range: 503.299988 and range: 506.30 m. 2025-01-08T21:35:59.165Z,1736372159.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:59.166Z,1736372159.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265835 2025-01-08T21:35:59.416Z,1736372159.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:59.418Z,1736372159.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517844 2025-01-08T21:35:59.484Z,1736372159.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:59.493Z,1736372159.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:59.522Z,1736372159.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 387.576447 m, bearing: 281.180521 deg, approach rate: -0.175722 m/s, LOS rate: 0.100059 deg/s, cmd heading: 206.440651 deg, new cmd heading: 206.565766 deg. 2025-01-08T21:35:59.530Z,1736372159.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605253 target range: 503.299988 and range: 506.30 m. 2025-01-08T21:35:59.668Z,1736372159.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:59.670Z,1736372159.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770211 2025-01-08T21:35:59.878Z,1736372159.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:35:59.905Z,1736372159.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:35:59.925Z,1736372159.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:35:59.926Z,1736372159.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025970 2025-01-08T21:35:59.932Z,1736372159.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:35:59.934Z,1736372159.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 387.529114 m, bearing: 281.218172 deg, approach rate: -0.114305 m/s, LOS rate: 0.090934 deg/s, cmd heading: 206.565766 deg, new cmd heading: 206.678731 deg. 2025-01-08T21:35:59.940Z,1736372159.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607224 target range: 503.299988 and range: 506.30 m. 2025-01-08T21:36:00.176Z,1736372160.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:00.177Z,1736372160.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276847 2025-01-08T21:36:00.270Z,1736372160.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:00.302Z,1736372160.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:36:00.305Z,1736372160.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 387.481232 m, bearing: 281.255702 deg, approach rate: -0.121235 m/s, LOS rate: 0.095036 deg/s, cmd heading: 206.678738 deg, new cmd heading: 206.791341 deg. 2025-01-08T21:36:00.306Z,1736372160.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609190 target range: 503.299988 and range: 506.30 m. 2025-01-08T21:36:00.428Z,1736372160.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:00.428Z,1736372160.428 [DAT](INFO): DAT read: Rx Time:21:35:59.2600 2025-01-08T21:36:00.429Z,1736372160.429 [DAT](INFO): Rx dataTimestamp_ set to:1736372160.428651 2025-01-08T21:36:00.429Z,1736372160.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529743 2025-01-08T21:36:00.680Z,1736372160.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:00.682Z,1736372160.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781562 2025-01-08T21:36:00.726Z,1736372160.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:00.740Z,1736372160.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:36:00.742Z,1736372160.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 387.441895 m, bearing: 281.298162 deg, approach rate: -0.090027 m/s, LOS rate: 0.097184 deg/s, cmd heading: 206.791340 deg, new cmd heading: 206.918734 deg. 2025-01-08T21:36:00.760Z,1736372160.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611413 target range: 503.299988 and range: 506.30 m. 2025-01-08T21:36:00.933Z,1736372160.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:00.936Z,1736372160.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035227 2025-01-08T21:36:01.076Z,1736372161.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:01.086Z,1736372161.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:36:01.089Z,1736372161.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 387.410950 m, bearing: 281.330691 deg, approach rate: -0.089273 m/s, LOS rate: 0.093850 deg/s, cmd heading: 206.918737 deg, new cmd heading: 207.016331 deg. 2025-01-08T21:36:01.090Z,1736372161.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613117 target range: 503.299988 and range: 506.30 m. 2025-01-08T21:36:01.184Z,1736372161.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:01.192Z,1736372161.192 [DAT](INFO): DAT read: 21:35:59.2600 LVL= 19056, 27057, 25426, 30451, AGC= 66, IDX= 446, 0.08,-0.952,-1.661,-3.138,-2.021, PHS= 1.157, 0.407,-1.120, RAW= 48.9, -4.5, CAL= 51.8, -8.9, ROT= 98.2, 8.9 2025-01-08T21:36:01.194Z,1736372161.194 [DAT](INFO): got valid direction response: 21:35:59.2600 LVL= 19056, 27057, 25426, 30451, AGC= 66, IDX= 446, 0.08,-0.952,-1.661,-3.138,-2.021, PHS= 1.157, 0.407,-1.120, RAW= 48.9, -4.5, CAL= 51.8, -8.9, ROT= 98.2, 8.9 2025-01-08T21:36:01.198Z,1736372161.198 [DAT](INFO): DAT read: Bearing 98.2, 8.9 (Local) 2025-01-08T21:36:01.198Z,1736372161.198 [DAT](INFO): Local bearing/azimuth received: Bearing 98.2, 8.9 (Local) 2025-01-08T21:36:01.205Z,1736372161.205 [DAT](INFO): DAT read: Range 10 to 50 : 507.7 m (Round-trip 677.0 ms) speed -0.4 m/s 2025-01-08T21:36:01.205Z,1736372161.205 [DAT](INFO): DAT read: user:1902> 2025-01-08T21:36:01.206Z,1736372161.206 [DAT](INFO): DAT read: Tx time:21:36:00.3789 2025-01-08T21:36:01.206Z,1736372161.206 [DAT](INFO): Ping request sent. 2025-01-08T21:36:01.206Z,1736372161.206 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:01.211Z,1736372161.211 [DAT](INFO): DAT read: TxSync time:21:36:00.3781 2025-01-08T21:36:01.212Z,1736372161.212 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:36:01.213Z,1736372161.213 [DAT](INFO): direction in FSK: [0.076517,0.709071,0.700974] 2025-01-08T21:36:01.213Z,1736372161.213 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:01.213Z,1736372161.213 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:01.221Z,1736372161.221 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:01.222Z,1736372161.222 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:01.436Z,1736372161.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:01.487Z,1736372161.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:01.501Z,1736372161.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 507.700012 m, deltaT: 4.290035 s, deltaX: 1.400024 m, approachRate: 0.326343 m/s, rangeRepo size: 4 2025-01-08T21:36:01.504Z,1736372161.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 507.700012 m, bearing: 286.516609 deg, lat: 36.901856 deg, lon: -122.118911 deg, deltaT: 21.196228 s, deltaX: 4.400024 m, approachRate: 0.207585 m/s, posRepo size: 4 2025-01-08T21:36:01.505Z,1736372161.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:01.508Z,1736372161.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 370.163635 m, bearing: 283.756106 deg, approach rate: 0.000000 m/s, LOS rate: 0.093850 deg/s, cmd heading: 207.016326 deg, new cmd heading: 207.133149 deg. 2025-01-08T21:36:01.513Z,1736372161.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615155 target range: 507.700012 and range: 507.70 m. 2025-01-08T21:36:01.688Z,1736372161.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:01.905Z,1736372161.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:01.912Z,1736372161.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:01.914Z,1736372161.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:01.917Z,1736372161.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 370.151398 m, bearing: 283.797182 deg, approach rate: -0.029651 m/s, LOS rate: 0.099528 deg/s, cmd heading: 207.133150 deg, new cmd heading: 207.256381 deg. 2025-01-08T21:36:01.918Z,1736372161.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.617306 target range: 507.700012 and range: 507.70 m. 2025-01-08T21:36:01.940Z,1736372161.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:01.940Z,1736372161.940 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:01.940Z,1736372161.940 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:01.941Z,1736372161.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:02.192Z,1736372162.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:02.192Z,1736372162.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985840 2025-01-08T21:36:02.310Z,1736372162.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:02.320Z,1736372162.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:02.323Z,1736372162.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 370.139496 m, bearing: 283.835175 deg, approach rate: -0.029282 m/s, LOS rate: 0.093478 deg/s, cmd heading: 207.256380 deg, new cmd heading: 207.370364 deg. 2025-01-08T21:36:02.324Z,1736372162.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.619296 target range: 507.700012 and range: 507.70 m. 2025-01-08T21:36:02.444Z,1736372162.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:02.444Z,1736372162.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237951 2025-01-08T21:36:02.696Z,1736372162.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:02.696Z,1736372162.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489979 2025-01-08T21:36:02.749Z,1736372162.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:02.765Z,1736372162.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:02.774Z,1736372162.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 370.124725 m, bearing: 283.879789 deg, approach rate: -0.033179 m/s, LOS rate: 0.100219 deg/s, cmd heading: 207.370363 deg, new cmd heading: 207.504209 deg. 2025-01-08T21:36:02.774Z,1736372162.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.621632 target range: 507.700012 and range: 507.70 m. 2025-01-08T21:36:02.948Z,1736372162.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:02.949Z,1736372162.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742258 2025-01-08T21:36:03.103Z,1736372163.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:03.112Z,1736372163.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:03.116Z,1736372163.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 370.112274 m, bearing: 283.914285 deg, approach rate: -0.035905 m/s, LOS rate: 0.099480 deg/s, cmd heading: 207.504207 deg, new cmd heading: 207.607700 deg. 2025-01-08T21:36:03.117Z,1736372163.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623438 target range: 507.700012 and range: 507.70 m. 2025-01-08T21:36:03.201Z,1736372163.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:03.202Z,1736372163.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994840 2025-01-08T21:36:03.452Z,1736372163.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:03.452Z,1736372163.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245952 2025-01-08T21:36:03.511Z,1736372163.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:03.521Z,1736372163.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:03.524Z,1736372163.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 370.096832 m, bearing: 283.954057 deg, approach rate: -0.037736 m/s, LOS rate: 0.097197 deg/s, cmd heading: 207.607698 deg, new cmd heading: 207.727019 deg. 2025-01-08T21:36:03.525Z,1736372163.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.625520 target range: 507.700012 and range: 507.70 m. 2025-01-08T21:36:03.704Z,1736372163.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:03.704Z,1736372163.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497978 2025-01-08T21:36:03.917Z,1736372163.917 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 85.28, 72.03, 80.45 2025-01-08T21:36:03.938Z,1736372163.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:36:03.938Z,1736372163.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:03.950Z,1736372163.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:03.956Z,1736372163.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:03.956Z,1736372163.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749931 2025-01-08T21:36:03.976Z,1736372163.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:03.979Z,1736372163.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 370.080841 m, bearing: 283.995589 deg, approach rate: -0.035124 m/s, LOS rate: 0.091227 deg/s, cmd heading: 207.727021 deg, new cmd heading: 207.851621 deg. 2025-01-08T21:36:03.980Z,1736372163.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627695 target range: 507.700012 and range: 507.70 m. 2025-01-08T21:36:04.208Z,1736372164.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:04.209Z,1736372164.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002093 2025-01-08T21:36:04.310Z,1736372164.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:36:04.310Z,1736372164.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:04.320Z,1736372164.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:04.323Z,1736372164.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 370.065033 m, bearing: 284.031869 deg, approach rate: -0.046001 m/s, LOS rate: 0.105578 deg/s, cmd heading: 207.851618 deg, new cmd heading: 207.960463 deg. 2025-01-08T21:36:04.324Z,1736372164.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.629595 target range: 507.700012 and range: 507.70 m. 2025-01-08T21:36:04.460Z,1736372164.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:04.461Z,1736372164.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254095 2025-01-08T21:36:04.712Z,1736372164.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:04.713Z,1736372164.713 [DAT](INFO): DAT read: Rx Time:21:36:03.4616 2025-01-08T21:36:04.713Z,1736372164.713 [DAT](INFO): Rx dataTimestamp_ set to:1736372164.712704 2025-01-08T21:36:04.713Z,1736372164.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507002 2025-01-08T21:36:04.782Z,1736372164.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:04.794Z,1736372164.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:04.797Z,1736372164.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 370.014862 m, bearing: 284.077374 deg, approach rate: -0.105904 m/s, LOS rate: 0.096066 deg/s, cmd heading: 207.960464 deg, new cmd heading: 208.096995 deg. 2025-01-08T21:36:04.798Z,1736372164.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.631978 target range: 507.700012 and range: 507.70 m. 2025-01-08T21:36:04.964Z,1736372164.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:04.965Z,1736372164.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758684 2025-01-08T21:36:05.128Z,1736372165.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:05.137Z,1736372165.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:05.140Z,1736372165.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 369.976990 m, bearing: 284.111005 deg, approach rate: -0.110286 m/s, LOS rate: 0.097947 deg/s, cmd heading: 208.096999 deg, new cmd heading: 208.197904 deg. 2025-01-08T21:36:05.141Z,1736372165.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.633739 target range: 507.700012 and range: 507.70 m. 2025-01-08T21:36:05.217Z,1736372165.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:05.219Z,1736372165.219 [DAT](INFO): DAT read: Range 10 to 50 : 508.9 m (Round-trip 678.6 ms) speed -0.1 m/s 2025-01-08T21:36:05.220Z,1736372165.220 [DAT](INFO): DAT read: user:1903> 2025-01-08T21:36:05.221Z,1736372165.221 [DAT](INFO): DAT read: Tx time:21:36:04.5789 2025-01-08T21:36:05.221Z,1736372165.221 [DAT](INFO): Ping request sent. 2025-01-08T21:36:05.221Z,1736372165.221 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:05.222Z,1736372165.222 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:36:05.222Z,1736372165.222 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:05.222Z,1736372165.222 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:05.468Z,1736372165.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:05.469Z,1736372165.469 [DAT](INFO): DAT read: TxSync time:21:36:04.5781 2025-01-08T21:36:05.544Z,1736372165.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:05.562Z,1736372165.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 508.899994 m, deltaT: 4.032766 s, deltaX: 1.199982 m, approachRate: 0.297558 m/s, rangeRepo size: 4 2025-01-08T21:36:05.563Z,1736372165.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:05.583Z,1736372165.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 369.931824 m, bearing: 284.151262 deg, approach rate: -0.106509 m/s, LOS rate: 0.094943 deg/s, cmd heading: 208.197908 deg, new cmd heading: 208.318692 deg. 2025-01-08T21:36:05.584Z,1736372165.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.635847 target range: 507.700012 and range: 508.90 m. 2025-01-08T21:36:05.653Z,1736372165.653 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:36:05.720Z,1736372165.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:05.972Z,1736372165.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:05.994Z,1736372165.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:06.009Z,1736372166.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:06.011Z,1736372166.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:06.018Z,1736372166.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 369.853699 m, bearing: 284.194072 deg, approach rate: -0.173866 m/s, LOS rate: 0.095294 deg/s, cmd heading: 208.318693 deg, new cmd heading: 208.447152 deg. 2025-01-08T21:36:06.019Z,1736372166.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.638089 target range: 507.700012 and range: 508.90 m. 2025-01-08T21:36:06.224Z,1736372166.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:06.224Z,1736372166.224 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:06.224Z,1736372166.224 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:06.224Z,1736372166.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:06.367Z,1736372166.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:06.376Z,1736372166.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:06.378Z,1736372166.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 369.787659 m, bearing: 284.229617 deg, approach rate: -0.181110 m/s, LOS rate: 0.097498 deg/s, cmd heading: 208.447156 deg, new cmd heading: 208.553810 deg. 2025-01-08T21:36:06.380Z,1736372166.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.639951 target range: 507.700012 and range: 508.90 m. 2025-01-08T21:36:06.477Z,1736372166.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:06.478Z,1736372166.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256553 2025-01-08T21:36:06.663Z,1736372166.663 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:36:06.728Z,1736372166.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:06.728Z,1736372166.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507169 2025-01-08T21:36:06.804Z,1736372166.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:06.829Z,1736372166.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:06.836Z,1736372166.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 369.690430 m, bearing: 284.271823 deg, approach rate: -0.214418 m/s, LOS rate: 0.093101 deg/s, cmd heading: 208.553816 deg, new cmd heading: 208.680467 deg. 2025-01-08T21:36:06.839Z,1736372166.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.642161 target range: 507.700012 and range: 508.90 m. 2025-01-08T21:36:06.980Z,1736372166.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:06.981Z,1736372166.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759648 2025-01-08T21:36:07.171Z,1736372167.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:07.180Z,1736372167.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:07.183Z,1736372167.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 369.611816 m, bearing: 284.306096 deg, approach rate: -0.224133 m/s, LOS rate: 0.097735 deg/s, cmd heading: 208.680461 deg, new cmd heading: 208.783301 deg. 2025-01-08T21:36:07.184Z,1736372167.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.643956 target range: 507.700012 and range: 508.90 m. 2025-01-08T21:36:07.232Z,1736372167.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:07.233Z,1736372167.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011988 2025-01-08T21:36:07.484Z,1736372167.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:07.484Z,1736372167.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263066 2025-01-08T21:36:07.568Z,1736372167.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:07.577Z,1736372167.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:07.581Z,1736372167.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 369.521301 m, bearing: 284.345609 deg, approach rate: -0.227641 m/s, LOS rate: 0.099397 deg/s, cmd heading: 208.783296 deg, new cmd heading: 208.901863 deg. 2025-01-08T21:36:07.582Z,1736372167.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.646025 target range: 507.700012 and range: 508.90 m. 2025-01-08T21:36:07.739Z,1736372167.739 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:07.739Z,1736372167.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518122 2025-01-08T21:36:07.986Z,1736372167.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:07.992Z,1736372167.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:07.993Z,1736372167.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771257 2025-01-08T21:36:07.997Z,1736372167.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:08.033Z,1736372168.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 369.415558 m, bearing: 284.386256 deg, approach rate: -0.251990 m/s, LOS rate: 0.096892 deg/s, cmd heading: 208.901869 deg, new cmd heading: 209.023845 deg. 2025-01-08T21:36:08.034Z,1736372168.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.648154 target range: 507.700012 and range: 508.90 m. 2025-01-08T21:36:08.244Z,1736372168.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:08.244Z,1736372168.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023186 2025-01-08T21:36:08.368Z,1736372168.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:08.375Z,1736372168.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:08.398Z,1736372168.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:08.406Z,1736372168.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 369.319031 m, bearing: 284.423505 deg, approach rate: -0.241175 m/s, LOS rate: 0.093093 deg/s, cmd heading: 209.023842 deg, new cmd heading: 209.135620 deg. 2025-01-08T21:36:08.416Z,1736372168.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.650105 target range: 507.700012 and range: 508.90 m. 2025-01-08T21:36:08.497Z,1736372168.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:08.498Z,1736372168.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276652 2025-01-08T21:36:08.748Z,1736372168.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:08.749Z,1736372168.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527880 2025-01-08T21:36:08.811Z,1736372168.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:08.828Z,1736372168.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:08.847Z,1736372168.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 369.204712 m, bearing: 284.466822 deg, approach rate: -0.265530 m/s, LOS rate: 0.100644 deg/s, cmd heading: 209.135625 deg, new cmd heading: 209.265615 deg. 2025-01-08T21:36:08.848Z,1736372168.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.652374 target range: 507.700012 and range: 508.90 m. 2025-01-08T21:36:08.000Z,1736372169.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:09.001Z,1736372169.001 [DAT](INFO): DAT read: Rx Time:21:36:07.6619 2025-01-08T21:36:09.001Z,1736372169.001 [DAT](INFO): Rx dataTimestamp_ set to:1736372169.000713 2025-01-08T21:36:09.002Z,1736372169.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780258 2025-01-08T21:36:09.176Z,1736372169.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:09.185Z,1736372169.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.70 m. 2025-01-08T21:36:09.188Z,1736372169.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.700012 m, nav range: 369.110565 m, bearing: 284.502575 deg, approach rate: -0.263119 m/s, LOS rate: 0.099947 deg/s, cmd heading: 209.265617 deg, new cmd heading: 209.372904 deg. 2025-01-08T21:36:09.189Z,1736372169.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.654247 target range: 507.700012 and range: 508.90 m. 2025-01-08T21:36:09.253Z,1736372169.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:09.254Z,1736372169.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032392 2025-01-08T21:36:09.504Z,1736372169.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:09.510Z,1736372169.510 [DAT](INFO): DAT read: 21:36:07.6619 LVL= 21328, 32081, 27698, 32755, AGC= 67, IDX= 433,-0.14, 3.057, 2.177, 0.700, 1.967, PHS= 1.178, 0.256,-1.270, RAW= 51.9, -1.6, CAL= 53.7, -4.7, ROT= 96.3, 4.7 2025-01-08T21:36:09.511Z,1736372169.511 [DAT](INFO): got valid direction response: 21:36:07.6619 LVL= 21328, 32081, 27698, 32755, AGC= 67, IDX= 433,-0.14, 3.057, 2.177, 0.700, 1.967, PHS= 1.178, 0.256,-1.270, RAW= 51.9, -1.6, CAL= 53.7, -4.7, ROT= 96.3, 4.7 2025-01-08T21:36:09.512Z,1736372169.512 [DAT](INFO): DAT read: Bearing 96.2, 4.7 (Local) 2025-01-08T21:36:09.513Z,1736372169.513 [DAT](INFO): Local bearing/azimuth received: Bearing 96.2, 4.7 (Local) 2025-01-08T21:36:09.515Z,1736372169.515 [DAT](INFO): DAT read: Range 10 to 50 : 509.1 m (Round-trip 678.8 ms) speed 0.1 m/s 2025-01-08T21:36:09.516Z,1736372169.516 [DAT](INFO): DAT read: user:1904> 2025-01-08T21:36:09.518Z,1736372169.518 [DAT](INFO): DAT read: Tx time:21:36:08.7790 2025-01-08T21:36:09.519Z,1736372169.519 [DAT](INFO): Ping request sent. 2025-01-08T21:36:09.520Z,1736372169.520 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:09.521Z,1736372169.521 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:36:09.524Z,1736372169.524 [DAT](INFO): direction in FSK: [0.016228,0.678634,0.734298] 2025-01-08T21:36:09.524Z,1736372169.524 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:09.524Z,1736372169.524 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:09.527Z,1736372169.527 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:09.528Z,1736372169.528 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:09.677Z,1736372169.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:09.756Z,1736372169.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:09.757Z,1736372169.757 [DAT](INFO): DAT read: TxSync time:21:36:08.7782 2025-01-08T21:36:09.758Z,1736372169.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 509.100006 m, deltaT: 4.287069 s, deltaX: 0.200012 m, approachRate: 0.046655 m/s, rangeRepo size: 4 2025-01-08T21:36:09.766Z,1736372169.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 509.100006 m, bearing: 294.171762 deg, lat: 36.901882 deg, lon: -122.118317 deg, deltaT: 8.319835 s, deltaX: 1.399994 m, approachRate: 0.168272 m/s, posRepo size: 4 2025-01-08T21:36:09.767Z,1736372169.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:36:09.780Z,1736372169.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 318.970673 m, bearing: 287.433207 deg, approach rate: 0.000000 m/s, LOS rate: 0.099947 deg/s, cmd heading: 209.372906 deg, new cmd heading: 209.538978 deg. 2025-01-08T21:36:09.781Z,1736372169.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.657145 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:36:10.008Z,1736372170.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:10.098Z,1736372170.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:10.113Z,1736372170.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:36:10.121Z,1736372170.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 318.883392 m, bearing: 287.485643 deg, approach rate: -0.233283 m/s, LOS rate: 0.140189 deg/s, cmd heading: 209.538975 deg, new cmd heading: 209.696325 deg. 2025-01-08T21:36:10.122Z,1736372170.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.659891 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:36:10.260Z,1736372170.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:10.440Z,1736372170.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:10.460Z,1736372170.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:10.462Z,1736372170.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:36:10.469Z,1736372170.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 318.817810 m, bearing: 287.525158 deg, approach rate: -0.188215 m/s, LOS rate: 0.113427 deg/s, cmd heading: 209.696329 deg, new cmd heading: 209.814897 deg. 2025-01-08T21:36:10.470Z,1736372170.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.661961 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:36:10.512Z,1736372170.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:10.512Z,1736372170.512 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:10.512Z,1736372170.512 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:10.513Z,1736372170.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:10.764Z,1736372170.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:10.765Z,1736372170.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246416 2025-01-08T21:36:10.878Z,1736372170.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:10.886Z,1736372170.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:36:10.889Z,1736372170.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 318.750122 m, bearing: 287.575117 deg, approach rate: -0.159529 m/s, LOS rate: 0.117771 deg/s, cmd heading: 209.814901 deg, new cmd heading: 209.964810 deg. 2025-01-08T21:36:10.890Z,1736372170.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.664577 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:36:11.016Z,1736372171.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:11.017Z,1736372171.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497655 2025-01-08T21:36:11.245Z,1736372171.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:11.268Z,1736372171.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:11.268Z,1736372171.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749513 2025-01-08T21:36:11.286Z,1736372171.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:36:11.289Z,1736372171.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 318.691498 m, bearing: 287.616952 deg, approach rate: -0.146566 m/s, LOS rate: 0.104611 deg/s, cmd heading: 209.964810 deg, new cmd heading: 210.090339 deg. 2025-01-08T21:36:11.290Z,1736372171.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.666768 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:36:11.521Z,1736372171.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:11.522Z,1736372171.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002755 2025-01-08T21:36:11.701Z,1736372171.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:11.758Z,1736372171.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:36:11.761Z,1736372171.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 318.618073 m, bearing: 287.668892 deg, approach rate: -0.156494 m/s, LOS rate: 0.110727 deg/s, cmd heading: 210.090335 deg, new cmd heading: 210.246190 deg. 2025-01-08T21:36:11.762Z,1736372171.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.669488 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:36:11.775Z,1736372171.775 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:11.775Z,1736372171.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256512 2025-01-08T21:36:12.028Z,1736372172.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:12.029Z,1736372172.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510092 2025-01-08T21:36:12.103Z,1736372172.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:12.111Z,1736372172.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:36:12.115Z,1736372172.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 318.574432 m, bearing: 287.715520 deg, approach rate: -0.122662 m/s, LOS rate: 0.131078 deg/s, cmd heading: 210.246186 deg, new cmd heading: 210.386089 deg. 2025-01-08T21:36:12.116Z,1736372172.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.671930 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:36:12.280Z,1736372172.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:12.284Z,1736372172.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764115 2025-01-08T21:36:12.485Z,1736372172.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:12.492Z,1736372172.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:12.494Z,1736372172.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:36:12.497Z,1736372172.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 318.532410 m, bearing: 287.759807 deg, approach rate: -0.109663 m/s, LOS rate: 0.115586 deg/s, cmd heading: 210.386082 deg, new cmd heading: 210.518959 deg. 2025-01-08T21:36:12.499Z,1736372172.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.674249 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:36:12.532Z,1736372172.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:12.533Z,1736372172.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014293 2025-01-08T21:36:12.784Z,1736372172.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:12.784Z,1736372172.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265436 2025-01-08T21:36:12.927Z,1736372172.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:12.946Z,1736372172.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:36:12.952Z,1736372172.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 318.501709 m, bearing: 287.810241 deg, approach rate: -0.068140 m/s, LOS rate: 0.111949 deg/s, cmd heading: 210.518957 deg, new cmd heading: 210.670273 deg. 2025-01-08T21:36:12.954Z,1736372172.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.676890 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:36:13.037Z,1736372173.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:13.038Z,1736372173.038 [DAT](INFO): DAT read: Rx Time:21:36:11.8625 2025-01-08T21:36:13.039Z,1736372173.039 [DAT](INFO): Rx dataTimestamp_ set to:1736372173.037886 2025-01-08T21:36:13.040Z,1736372173.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520116 2025-01-08T21:36:13.277Z,1736372173.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:13.286Z,1736372173.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:36:13.288Z,1736372173.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:13.289Z,1736372173.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769585 2025-01-08T21:36:13.291Z,1736372173.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 318.476959 m, bearing: 287.850136 deg, approach rate: -0.072544 m/s, LOS rate: 0.116947 deg/s, cmd heading: 210.670273 deg, new cmd heading: 210.789969 deg. 2025-01-08T21:36:13.292Z,1736372173.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.678979 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:36:13.541Z,1736372173.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:13.557Z,1736372173.557 [DAT](INFO): DAT read: 21:36:11.8625 LVL= 18368, 28241, 23026, 32643, AGC= 67, IDX= 441,-0.14,-2.535, 2.849, 1.388, 2.623, PHS= 1.213, 0.273,-1.238, RAW= 52.3, -2.3, CAL= 54.8, -5.9, ROT= 95.2, 5.9 2025-01-08T21:36:13.560Z,1736372173.560 [DAT](INFO): got valid direction response: 21:36:11.8625 LVL= 18368, 28241, 23026, 32643, AGC= 67, IDX= 441,-0.14,-2.535, 2.849, 1.388, 2.623, PHS= 1.213, 0.273,-1.238, RAW= 52.3, -2.3, CAL= 54.8, -5.9, ROT= 95.2, 5.9 2025-01-08T21:36:13.563Z,1736372173.563 [DAT](INFO): DAT read: Bearing 95.2, 5.9 (Local) 2025-01-08T21:36:13.605Z,1736372173.605 [DAT](INFO): Local bearing/azimuth received: Bearing 95.2, 5.9 (Local) 2025-01-08T21:36:13.609Z,1736372173.609 [DAT](INFO): DAT read: Range 10 to 50 : 509.4 m (Round-trip 679.3 ms) speed -0.4 m/s 2025-01-08T21:36:13.610Z,1736372173.610 [DAT](INFO): DAT read: user:1905> 2025-01-08T21:36:13.611Z,1736372173.611 [DAT](INFO): DAT read: Tx time:21:36:12.9790 2025-01-08T21:36:13.611Z,1736372173.611 [DAT](INFO): Ping request sent. 2025-01-08T21:36:13.620Z,1736372173.620 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:13.620Z,1736372173.620 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:36:13.621Z,1736372173.621 [DAT](INFO): direction in FSK: [0.030043,0.672097,0.739853] 2025-01-08T21:36:13.621Z,1736372173.621 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:13.622Z,1736372173.622 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:13.629Z,1736372173.629 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:13.629Z,1736372173.629 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:13.771Z,1736372173.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:13.792Z,1736372173.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:13.793Z,1736372173.793 [DAT](INFO): DAT read: TxSync time:21:36:12.9782 2025-01-08T21:36:13.833Z,1736372173.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 509.399994 m, deltaT: 4.037632 s, deltaX: 0.299988 m, approachRate: 0.074298 m/s, rangeRepo size: 4 2025-01-08T21:36:13.835Z,1736372173.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 509.399994 m, bearing: 294.148911 deg, lat: 36.901882 deg, lon: -122.118206 deg, deltaT: 4.037632 s, deltaX: 0.299988 m, approachRate: 0.074298 m/s, posRepo size: 4 2025-01-08T21:36:13.840Z,1736372173.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:13.843Z,1736372173.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 309.038116 m, bearing: 288.470056 deg, approach rate: 0.000000 m/s, LOS rate: 0.116947 deg/s, cmd heading: 210.789965 deg, new cmd heading: 210.978300 deg. 2025-01-08T21:36:13.848Z,1736372173.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.682266 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:36:14.044Z,1736372174.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:14.173Z,1736372174.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:14.182Z,1736372174.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:14.185Z,1736372174.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 309.023224 m, bearing: 288.518648 deg, approach rate: -0.041472 m/s, LOS rate: 0.135319 deg/s, cmd heading: 210.978301 deg, new cmd heading: 211.124081 deg. 2025-01-08T21:36:14.186Z,1736372174.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.684810 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:36:14.296Z,1736372174.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:14.536Z,1736372174.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:14.548Z,1736372174.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:14.568Z,1736372174.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:14.570Z,1736372174.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:14.581Z,1736372174.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 309.009521 m, bearing: 288.562120 deg, approach rate: -0.035320 m/s, LOS rate: 0.112062 deg/s, cmd heading: 211.124084 deg, new cmd heading: 211.254507 deg. 2025-01-08T21:36:14.582Z,1736372174.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.687087 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:36:14.805Z,1736372174.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:14.807Z,1736372174.807 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:14.807Z,1736372174.807 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:14.808Z,1736372174.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:14.980Z,1736372174.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:14.989Z,1736372174.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:14.994Z,1736372174.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.994781 m, bearing: 288.614700 deg, approach rate: -0.035179 m/s, LOS rate: 0.125496 deg/s, cmd heading: 211.254514 deg, new cmd heading: 211.412262 deg. 2025-01-08T21:36:14.996Z,1736372174.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.689840 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:36:15.052Z,1736372175.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:15.053Z,1736372175.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441527 2025-01-08T21:36:15.304Z,1736372175.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:15.304Z,1736372175.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693263 2025-01-08T21:36:15.343Z,1736372175.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:15.366Z,1736372175.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:15.373Z,1736372175.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.982361 m, bearing: 288.657685 deg, approach rate: -0.032955 m/s, LOS rate: 0.114053 deg/s, cmd heading: 211.412264 deg, new cmd heading: 211.541222 deg. 2025-01-08T21:36:15.373Z,1736372175.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.692091 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:36:15.556Z,1736372175.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:15.556Z,1736372175.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945284 2025-01-08T21:36:15.788Z,1736372175.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:15.808Z,1736372175.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:15.808Z,1736372175.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197444 2025-01-08T21:36:15.832Z,1736372175.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:15.841Z,1736372175.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.966400 m, bearing: 288.710224 deg, approach rate: -0.034888 m/s, LOS rate: 0.114848 deg/s, cmd heading: 211.541218 deg, new cmd heading: 211.698842 deg. 2025-01-08T21:36:15.842Z,1736372175.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.694842 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:36:16.060Z,1736372176.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:16.060Z,1736372176.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449301 2025-01-08T21:36:16.223Z,1736372176.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:16.247Z,1736372176.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:16.254Z,1736372176.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.937653 m, bearing: 288.761023 deg, approach rate: -0.067904 m/s, LOS rate: 0.120002 deg/s, cmd heading: 211.698845 deg, new cmd heading: 211.851256 deg. 2025-01-08T21:36:16.254Z,1736372176.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.697502 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:36:16.312Z,1736372176.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:16.313Z,1736372176.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701536 2025-01-08T21:36:16.564Z,1736372176.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:16.565Z,1736372176.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954153 2025-01-08T21:36:16.704Z,1736372176.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:16.710Z,1736372176.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:16.713Z,1736372176.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:16.717Z,1736372176.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.903687 m, bearing: 288.817014 deg, approach rate: -0.072877 m/s, LOS rate: 0.120147 deg/s, cmd heading: 211.851253 deg, new cmd heading: 212.019247 deg. 2025-01-08T21:36:16.718Z,1736372176.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.700434 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:36:16.819Z,1736372176.819 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:16.822Z,1736372176.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209975 2025-01-08T21:36:17.069Z,1736372177.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:17.071Z,1736372177.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.460034 2025-01-08T21:36:17.133Z,1736372177.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:17.142Z,1736372177.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:17.145Z,1736372177.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.855560 m, bearing: 288.867571 deg, approach rate: -0.112087 m/s, LOS rate: 0.117766 deg/s, cmd heading: 212.019249 deg, new cmd heading: 212.170942 deg. 2025-01-08T21:36:17.146Z,1736372177.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.703082 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:36:17.322Z,1736372177.322 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:17.324Z,1736372177.324 [DAT](INFO): DAT read: Rx Time:21:36:16.0641 2025-01-08T21:36:17.324Z,1736372177.324 [DAT](INFO): Rx dataTimestamp_ set to:1736372177.323933 2025-01-08T21:36:17.325Z,1736372177.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.713708 2025-01-08T21:36:17.572Z,1736372177.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:17.572Z,1736372177.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.961375 2025-01-08T21:36:17.584Z,1736372177.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:17.612Z,1736372177.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:17.621Z,1736372177.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.804230 m, bearing: 288.920530 deg, approach rate: -0.109187 m/s, LOS rate: 0.112668 deg/s, cmd heading: 212.170947 deg, new cmd heading: 212.329849 deg. 2025-01-08T21:36:17.622Z,1736372177.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.705855 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:36:17.826Z,1736372177.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:17.832Z,1736372177.832 [DAT](INFO): DAT read: Range 10 to 50 : 510.7 m (Round-trip 681.0 ms) speed 0.0 m/s 2025-01-08T21:36:17.843Z,1736372177.843 [DAT](INFO): DAT read: user:1906> 2025-01-08T21:36:17.846Z,1736372177.846 [DAT](INFO): DAT read: Tx time:21:36:17.1790 2025-01-08T21:36:17.846Z,1736372177.846 [DAT](INFO): Ping request sent. 2025-01-08T21:36:17.846Z,1736372177.846 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:17.847Z,1736372177.847 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:36:17.863Z,1736372177.863 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:17.865Z,1736372177.865 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:18.076Z,1736372178.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:18.079Z,1736372178.079 [DAT](INFO): DAT read: TxSync time:21:36:17.1782 2025-01-08T21:36:18.085Z,1736372178.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:18.097Z,1736372178.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 510.700012 m, deltaT: 4.285629 s, deltaX: 1.300018 m, approachRate: 0.303344 m/s, rangeRepo size: 4 2025-01-08T21:36:18.098Z,1736372178.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:18.125Z,1736372178.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.733398 m, bearing: 288.978795 deg, approach rate: -0.146615 m/s, LOS rate: 0.120633 deg/s, cmd heading: 212.329845 deg, new cmd heading: 212.504681 deg. 2025-01-08T21:36:18.126Z,1736372178.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.708906 target range: 509.399994 and range: 510.70 m. 2025-01-08T21:36:18.328Z,1736372178.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:18.433Z,1736372178.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:18.458Z,1736372178.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:18.466Z,1736372178.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.682983 m, bearing: 289.019278 deg, approach rate: -0.138979 m/s, LOS rate: 0.111618 deg/s, cmd heading: 212.504684 deg, new cmd heading: 212.626153 deg. 2025-01-08T21:36:18.466Z,1736372178.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.711026 target range: 509.399994 and range: 510.70 m. 2025-01-08T21:36:18.581Z,1736372178.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:18.834Z,1736372178.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:18.912Z,1736372178.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:18.923Z,1736372178.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:18.925Z,1736372178.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:18.928Z,1736372178.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.593262 m, bearing: 289.074830 deg, approach rate: -0.192198 m/s, LOS rate: 0.119035 deg/s, cmd heading: 212.626152 deg, new cmd heading: 212.792855 deg. 2025-01-08T21:36:18.929Z,1736372178.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.713936 target range: 509.399994 and range: 510.70 m. 2025-01-08T21:36:19.084Z,1736372179.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:19.084Z,1736372179.084 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:19.084Z,1736372179.084 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:19.084Z,1736372179.084 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:19.241Z,1736372179.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:19.250Z,1736372179.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:19.253Z,1736372179.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.531738 m, bearing: 289.113013 deg, approach rate: -0.188960 m/s, LOS rate: 0.117298 deg/s, cmd heading: 212.792850 deg, new cmd heading: 212.907422 deg. 2025-01-08T21:36:19.254Z,1736372179.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.715935 target range: 509.399994 and range: 510.70 m. 2025-01-08T21:36:19.336Z,1736372179.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:19.337Z,1736372179.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490928 2025-01-08T21:36:19.592Z,1736372179.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:19.593Z,1736372179.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746461 2025-01-08T21:36:19.673Z,1736372179.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:19.696Z,1736372179.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:19.703Z,1736372179.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.451355 m, bearing: 289.163130 deg, approach rate: -0.182330 m/s, LOS rate: 0.113708 deg/s, cmd heading: 212.907419 deg, new cmd heading: 213.057810 deg. 2025-01-08T21:36:19.704Z,1736372179.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.718560 target range: 509.399994 and range: 510.70 m. 2025-01-08T21:36:19.845Z,1736372179.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:19.850Z,1736372179.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003381 2025-01-08T21:36:20.088Z,1736372180.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:20.096Z,1736372180.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:20.097Z,1736372180.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250352 2025-01-08T21:36:20.099Z,1736372180.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:20.101Z,1736372180.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.363525 m, bearing: 289.211436 deg, approach rate: -0.215635 m/s, LOS rate: 0.118632 deg/s, cmd heading: 213.057806 deg, new cmd heading: 213.202764 deg. 2025-01-08T21:36:20.102Z,1736372180.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721090 target range: 509.399994 and range: 510.70 m. 2025-01-08T21:36:20.348Z,1736372180.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:20.349Z,1736372180.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502550 2025-01-08T21:36:20.460Z,1736372180.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:20.469Z,1736372180.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:20.472Z,1736372180.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.284546 m, bearing: 289.254557 deg, approach rate: -0.212985 m/s, LOS rate: 0.116313 deg/s, cmd heading: 213.202770 deg, new cmd heading: 213.332165 deg. 2025-01-08T21:36:20.473Z,1736372180.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723349 target range: 509.399994 and range: 510.70 m. 2025-01-08T21:36:20.600Z,1736372180.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:20.601Z,1736372180.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754573 2025-01-08T21:36:20.854Z,1736372180.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:20.866Z,1736372180.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018864 2025-01-08T21:36:20.942Z,1736372180.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:20.952Z,1736372180.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:20.954Z,1736372180.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:20.957Z,1736372180.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.176178 m, bearing: 289.310771 deg, approach rate: -0.223620 m/s, LOS rate: 0.116040 deg/s, cmd heading: 213.332161 deg, new cmd heading: 213.500863 deg. 2025-01-08T21:36:20.958Z,1736372180.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.726293 target range: 509.399994 and range: 510.70 m. 2025-01-08T21:36:21.104Z,1736372181.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:21.104Z,1736372181.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258087 2025-01-08T21:36:21.275Z,1736372181.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:21.300Z,1736372181.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:21.303Z,1736372181.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.101593 m, bearing: 289.349591 deg, approach rate: -0.215406 m/s, LOS rate: 0.112143 deg/s, cmd heading: 213.500867 deg, new cmd heading: 213.617357 deg. 2025-01-08T21:36:21.304Z,1736372181.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728326 target range: 509.399994 and range: 510.70 m. 2025-01-08T21:36:21.356Z,1736372181.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:21.357Z,1736372181.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510198 2025-01-08T21:36:21.608Z,1736372181.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:21.608Z,1736372181.608 [DAT](INFO): DAT read: Rx Time:21:36:20.2647 2025-01-08T21:36:21.609Z,1736372181.609 [DAT](INFO): Rx dataTimestamp_ set to:1736372181.608570 2025-01-08T21:36:21.609Z,1736372181.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762996 2025-01-08T21:36:21.722Z,1736372181.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:21.746Z,1736372181.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:36:21.753Z,1736372181.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 308.000305 m, bearing: 289.401689 deg, approach rate: -0.227456 m/s, LOS rate: 0.117032 deg/s, cmd heading: 213.617363 deg, new cmd heading: 213.773707 deg. 2025-01-08T21:36:21.760Z,1736372181.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.731055 target range: 509.399994 and range: 510.70 m. 2025-01-08T21:36:21.862Z,1736372181.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:21.865Z,1736372181.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017516 2025-01-08T21:36:22.112Z,1736372182.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:22.129Z,1736372182.129 [DAT](INFO): DAT read: 21:36:20.2647 LVL= 17616, 26209, 23026, 32755, AGC= 67, IDX= 448, 0.21,-0.965,-2.108, 2.937,-2.239, PHS= 1.361, 0.178,-1.111, RAW= 58.6, -4.0, CAL= 63.6, -8.9, ROT= 86.4, 8.9 2025-01-08T21:36:22.130Z,1736372182.130 [DAT](INFO): got valid direction response: 21:36:20.2647 LVL= 17616, 26209, 23026, 32755, AGC= 67, IDX= 448, 0.21,-0.965,-2.108, 2.937,-2.239, PHS= 1.361, 0.178,-1.111, RAW= 58.6, -4.0, CAL= 63.6, -8.9, ROT= 86.4, 8.9 2025-01-08T21:36:22.132Z,1736372182.132 [DAT](INFO): DAT read: Bearing 86.4, 8.9 (Local) 2025-01-08T21:36:22.132Z,1736372182.132 [DAT](INFO): Local bearing/azimuth received: Bearing 86.4, 8.9 (Local) 2025-01-08T21:36:22.133Z,1736372182.133 [DAT](INFO): DAT read: Range 10 to 50 : 511.2 m (Round-trip 681.6 ms) speed 0.2 m/s 2025-01-08T21:36:22.134Z,1736372182.134 [DAT](INFO): DAT read: user:1907> 2025-01-08T21:36:22.135Z,1736372182.135 [DAT](INFO): DAT read: Tx time:21:36:21.3790 2025-01-08T21:36:22.139Z,1736372182.139 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, , +720.42, -6.98, 8.38, 0.00 2025-01-08T21:36:22.144Z,1736372182.144 [DAT](INFO): Ping request sent. 2025-01-08T21:36:22.144Z,1736372182.144 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:22.145Z,1736372182.145 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:36:22.147Z,1736372182.147 [DAT](INFO): direction in FSK: [0.048924,0.590308,0.805694] 2025-01-08T21:36:22.160Z,1736372182.160 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:22.160Z,1736372182.160 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:22.163Z,1736372182.163 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:22.163Z,1736372182.163 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:22.207Z,1736372182.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:36:22.208Z,1736372182.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:22.250Z,1736372182.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 511.200012 m, deltaT: 4.285159 s, deltaX: 0.500000 m, approachRate: 0.116682 m/s, rangeRepo size: 4 2025-01-08T21:36:22.256Z,1736372182.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 511.200012 m, bearing: 294.677457 deg, lat: 36.901877 deg, lon: -122.117884 deg, deltaT: 8.570788 s, deltaX: 1.800018 m, approachRate: 0.210018 m/s, posRepo size: 4 2025-01-08T21:36:22.257Z,1736372182.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:36:22.272Z,1736372182.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 280.830750 m, bearing: 291.291420 deg, approach rate: 0.000000 m/s, LOS rate: 0.117032 deg/s, cmd heading: 213.773706 deg, new cmd heading: 213.950567 deg. 2025-01-08T21:36:22.273Z,1736372182.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734142 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:36:22.365Z,1736372182.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:22.365Z,1736372182.365 [DAT](INFO): DAT read: TxSync time:21:36:21.3782 2025-01-08T21:36:22.616Z,1736372182.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:22.703Z,1736372182.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T21:36:22.707Z,1736372182.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:22.724Z,1736372182.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:36:22.727Z,1736372182.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 280.720062 m, bearing: 291.359622 deg, approach rate: -0.233063 m/s, LOS rate: 0.143662 deg/s, cmd heading: 213.950567 deg, new cmd heading: 214.155251 deg. 2025-01-08T21:36:22.728Z,1736372182.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.737714 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:36:22.870Z,1736372182.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:23.121Z,1736372183.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:23.126Z,1736372183.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:23.147Z,1736372183.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:23.149Z,1736372183.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:36:23.172Z,1736372183.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 280.645691 m, bearing: 291.414429 deg, approach rate: -0.174986 m/s, LOS rate: 0.128989 deg/s, cmd heading: 214.155254 deg, new cmd heading: 214.319720 deg. 2025-01-08T21:36:23.172Z,1736372183.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740585 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:36:23.372Z,1736372183.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:23.372Z,1736372183.372 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:23.372Z,1736372183.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:23.373Z,1736372183.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:23.488Z,1736372183.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:23.497Z,1736372183.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:36:23.501Z,1736372183.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 280.582153 m, bearing: 291.461426 deg, approach rate: -0.182796 m/s, LOS rate: 0.135240 deg/s, cmd heading: 214.319725 deg, new cmd heading: 214.460748 deg. 2025-01-08T21:36:23.502Z,1736372183.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.743046 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:36:23.624Z,1736372183.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:23.625Z,1736372183.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480750 2025-01-08T21:36:23.877Z,1736372183.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:23.880Z,1736372183.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735339 2025-01-08T21:36:23.966Z,1736372183.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:23.975Z,1736372183.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:36:23.978Z,1736372183.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 280.512604 m, bearing: 291.523414 deg, approach rate: -0.145461 m/s, LOS rate: 0.129678 deg/s, cmd heading: 214.460741 deg, new cmd heading: 214.646749 deg. 2025-01-08T21:36:23.979Z,1736372183.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.746293 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:36:24.128Z,1736372184.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:24.129Z,1736372184.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984567 2025-01-08T21:36:24.276Z,1736372184.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:24.285Z,1736372184.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:36:24.288Z,1736372184.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 280.466949 m, bearing: 291.563679 deg, approach rate: -0.147042 m/s, LOS rate: 0.129706 deg/s, cmd heading: 214.646754 deg, new cmd heading: 214.767569 deg. 2025-01-08T21:36:24.289Z,1736372184.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748401 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:36:24.380Z,1736372184.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:24.381Z,1736372184.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237316 2025-01-08T21:36:24.632Z,1736372184.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:24.633Z,1736372184.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488523 2025-01-08T21:36:24.713Z,1736372184.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:24.722Z,1736372184.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:36:24.725Z,1736372184.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 280.402191 m, bearing: 291.620391 deg, approach rate: -0.148201 m/s, LOS rate: 0.129815 deg/s, cmd heading: 214.767567 deg, new cmd heading: 214.937740 deg. 2025-01-08T21:36:24.726Z,1736372184.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.751371 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:36:24.884Z,1736372184.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:24.885Z,1736372184.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740504 2025-01-08T21:36:25.137Z,1736372185.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:25.139Z,1736372185.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994159 2025-01-08T21:36:25.149Z,1736372185.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:25.162Z,1736372185.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:25.169Z,1736372185.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:36:25.176Z,1736372185.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 280.349182 m, bearing: 291.677250 deg, approach rate: -0.118760 m/s, LOS rate: 0.127410 deg/s, cmd heading: 214.937734 deg, new cmd heading: 215.108343 deg. 2025-01-08T21:36:25.177Z,1736372185.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.754349 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:36:25.389Z,1736372185.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:25.390Z,1736372185.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246081 2025-01-08T21:36:25.492Z,1736372185.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:25.501Z,1736372185.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:36:25.504Z,1736372185.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 280.306305 m, bearing: 291.722056 deg, approach rate: -0.128874 m/s, LOS rate: 0.134691 deg/s, cmd heading: 215.108338 deg, new cmd heading: 215.242776 deg. 2025-01-08T21:36:25.505Z,1736372185.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.756695 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:36:25.640Z,1736372185.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:25.641Z,1736372185.641 [DAT](INFO): DAT read: Rx Time:21:36:24.4646 2025-01-08T21:36:25.642Z,1736372185.642 [DAT](INFO): Rx dataTimestamp_ set to:1736372185.641046 2025-01-08T21:36:25.642Z,1736372185.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498266 2025-01-08T21:36:25.893Z,1736372185.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:25.896Z,1736372185.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750822 2025-01-08T21:36:25.960Z,1736372185.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:25.978Z,1736372185.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:36:25.985Z,1736372185.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 280.247101 m, bearing: 291.783113 deg, approach rate: -0.124244 m/s, LOS rate: 0.128160 deg/s, cmd heading: 215.242770 deg, new cmd heading: 215.425980 deg. 2025-01-08T21:36:25.986Z,1736372185.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.759893 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:36:26.145Z,1736372186.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:26.164Z,1736372186.164 [DAT](INFO): DAT read: 21:36:24.4646 LVL= 17888, 26705, 23410, 32755, AGC= 69, IDX= 446,-0.12,-2.505, 2.537, 1.449, 2.520, PHS= 1.347, 0.065,-1.074, RAW= 62.0, -3.3, CAL= 67.2, -8.0, ROT= 82.8, 8.0 2025-01-08T21:36:26.165Z,1736372186.165 [DAT](INFO): got valid direction response: 21:36:24.4646 LVL= 17888, 26705, 23410, 32755, AGC= 69, IDX= 446,-0.12,-2.505, 2.537, 1.449, 2.520, PHS= 1.347, 0.065,-1.074, RAW= 62.0, -3.3, CAL= 67.2, -8.0, ROT= 82.8, 8.0 2025-01-08T21:36:26.166Z,1736372186.166 [DAT](INFO): DAT read: Bearing 82.8, 8.0 (Local) 2025-01-08T21:36:26.166Z,1736372186.166 [DAT](INFO): Local bearing/azimuth received: Bearing 82.8, 8.0 (Local) 2025-01-08T21:36:26.170Z,1736372186.170 [DAT](INFO): DAT read: Range 10 to 50 : 511.0 m (Round-trip 681.4 ms) speed 0.0 m/s 2025-01-08T21:36:26.227Z,1736372186.227 [DAT](INFO): DAT read: user:1908> 2025-01-08T21:36:26.228Z,1736372186.228 [DAT](INFO): DAT read: Tx time:21:36:25.5791 2025-01-08T21:36:26.228Z,1736372186.228 [DAT](INFO): Ping request sent. 2025-01-08T21:36:26.229Z,1736372186.229 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:26.229Z,1736372186.229 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:36:26.230Z,1736372186.230 [DAT](INFO): direction in FSK: [0.027648,0.546115,0.837254] 2025-01-08T21:36:26.230Z,1736372186.230 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:26.231Z,1736372186.231 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:26.242Z,1736372186.242 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:26.242Z,1736372186.242 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:26.376Z,1736372186.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:26.396Z,1736372186.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:26.397Z,1736372186.397 [DAT](INFO): DAT read: TxSync time:21:36:25.5783 2025-01-08T21:36:26.410Z,1736372186.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 511.000000 m, deltaT: 4.033943 s, deltaX: -0.200012 m, approachRate: -0.049582 m/s, rangeRepo size: 4 2025-01-08T21:36:26.421Z,1736372186.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 511.000000 m, bearing: 301.637904 deg, lat: 36.901962 deg, lon: -122.117851 deg, deltaT: 4.033943 s, deltaX: -0.200012 m, approachRate: -0.049582 m/s, posRepo size: 4 2025-01-08T21:36:26.422Z,1736372186.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.00 m. 2025-01-08T21:36:26.428Z,1736372186.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.000000 m, nav range: 281.212494 m, bearing: 293.831095 deg, approach rate: 0.000000 m/s, LOS rate: 0.128160 deg/s, cmd heading: 215.425983 deg, new cmd heading: 215.590993 deg. 2025-01-08T21:36:26.429Z,1736372186.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.762773 target range: 511.000000 and range: 511.00 m. 2025-01-08T21:36:26.648Z,1736372186.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:26.725Z,1736372186.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:26.743Z,1736372186.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.00 m. 2025-01-08T21:36:26.750Z,1736372186.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.000000 m, nav range: 281.185730 m, bearing: 293.876873 deg, approach rate: -0.079752 m/s, LOS rate: 0.136422 deg/s, cmd heading: 215.590987 deg, new cmd heading: 215.728332 deg. 2025-01-08T21:36:26.751Z,1736372186.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765170 target range: 511.000000 and range: 511.00 m. 2025-01-08T21:36:26.903Z,1736372186.903 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:27.145Z,1736372187.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:27.152Z,1736372187.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:27.156Z,1736372187.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.00 m. 2025-01-08T21:36:27.158Z,1736372187.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.000000 m, nav range: 281.160797 m, bearing: 293.930969 deg, approach rate: -0.060411 m/s, LOS rate: 0.131085 deg/s, cmd heading: 215.728328 deg, new cmd heading: 215.890632 deg. 2025-01-08T21:36:27.159Z,1736372187.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768002 target range: 511.000000 and range: 511.00 m. 2025-01-08T21:36:27.404Z,1736372187.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:27.518Z,1736372187.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:27.524Z,1736372187.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:27.526Z,1736372187.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.00 m. 2025-01-08T21:36:27.529Z,1736372187.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.000000 m, nav range: 281.139191 m, bearing: 293.978946 deg, approach rate: -0.058261 m/s, LOS rate: 0.129376 deg/s, cmd heading: 215.890627 deg, new cmd heading: 216.034568 deg. 2025-01-08T21:36:27.530Z,1736372187.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770514 target range: 511.000000 and range: 511.00 m. 2025-01-08T21:36:27.656Z,1736372187.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:27.657Z,1736372187.657 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:27.657Z,1736372187.657 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:27.658Z,1736372187.658 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:27.908Z,1736372187.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:27.908Z,1736372187.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679777 2025-01-08T21:36:28.000Z,1736372188.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:28.010Z,1736372188.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.00 m. 2025-01-08T21:36:28.013Z,1736372188.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.000000 m, nav range: 281.111053 m, bearing: 294.041189 deg, approach rate: -0.058199 m/s, LOS rate: 0.128759 deg/s, cmd heading: 216.034567 deg, new cmd heading: 216.221316 deg. 2025-01-08T21:36:28.015Z,1736372188.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773774 target range: 511.000000 and range: 511.00 m. 2025-01-08T21:36:28.160Z,1736372188.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:28.160Z,1736372188.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931790 2025-01-08T21:36:28.348Z,1736372188.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:28.356Z,1736372188.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.00 m. 2025-01-08T21:36:28.359Z,1736372188.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.000000 m, nav range: 281.092316 m, bearing: 294.085946 deg, approach rate: -0.054086 m/s, LOS rate: 0.129196 deg/s, cmd heading: 216.221318 deg, new cmd heading: 216.355596 deg. 2025-01-08T21:36:28.360Z,1736372188.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776118 target range: 511.000000 and range: 511.00 m. 2025-01-08T21:36:28.412Z,1736372188.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:28.414Z,1736372188.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184918 2025-01-08T21:36:28.664Z,1736372188.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:28.666Z,1736372188.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436737 2025-01-08T21:36:28.741Z,1736372188.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:28.779Z,1736372188.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.00 m. 2025-01-08T21:36:28.783Z,1736372188.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.000000 m, nav range: 281.070007 m, bearing: 294.136698 deg, approach rate: -0.053253 m/s, LOS rate: 0.121164 deg/s, cmd heading: 216.355599 deg, new cmd heading: 216.507869 deg. 2025-01-08T21:36:28.788Z,1736372188.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778775 target range: 511.000000 and range: 511.00 m. 2025-01-08T21:36:28.916Z,1736372188.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:28.917Z,1736372188.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.688327 2025-01-08T21:36:29.158Z,1736372189.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:29.169Z,1736372189.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:29.170Z,1736372189.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.941600 2025-01-08T21:36:29.190Z,1736372189.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.00 m. 2025-01-08T21:36:29.213Z,1736372189.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.000000 m, nav range: 281.042633 m, bearing: 294.191316 deg, approach rate: -0.066467 m/s, LOS rate: 0.132627 deg/s, cmd heading: 216.507872 deg, new cmd heading: 216.671739 deg. 2025-01-08T21:36:29.214Z,1736372189.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781635 target range: 511.000000 and range: 511.00 m. 2025-01-08T21:36:29.420Z,1736372189.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:29.420Z,1736372189.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191918 2025-01-08T21:36:29.548Z,1736372189.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:29.555Z,1736372189.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:29.557Z,1736372189.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.00 m. 2025-01-08T21:36:29.560Z,1736372189.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.000000 m, nav range: 281.015869 m, bearing: 294.242595 deg, approach rate: -0.072265 m/s, LOS rate: 0.138472 deg/s, cmd heading: 216.671741 deg, new cmd heading: 216.825594 deg. 2025-01-08T21:36:29.561Z,1736372189.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.784321 target range: 511.000000 and range: 511.00 m. 2025-01-08T21:36:29.672Z,1736372189.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:29.673Z,1736372189.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.444708 2025-01-08T21:36:29.924Z,1736372189.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:29.925Z,1736372189.925 [DAT](INFO): DAT read: Rx Time:21:36:28.6658 2025-01-08T21:36:29.925Z,1736372189.925 [DAT](INFO): Rx dataTimestamp_ set to:1736372189.924736 2025-01-08T21:36:29.926Z,1736372189.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.696998 2025-01-08T21:36:29.953Z,1736372189.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:30.026Z,1736372190.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.00 m. 2025-01-08T21:36:30.034Z,1736372190.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.000000 m, nav range: 280.987152 m, bearing: 294.295480 deg, approach rate: -0.061222 m/s, LOS rate: 0.112757 deg/s, cmd heading: 216.825598 deg, new cmd heading: 216.984270 deg. 2025-01-08T21:36:30.035Z,1736372190.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.787090 target range: 511.000000 and range: 511.00 m. 2025-01-08T21:36:30.176Z,1736372190.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:30.177Z,1736372190.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.948556 2025-01-08T21:36:30.416Z,1736372190.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:30.425Z,1736372190.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.00 m. 2025-01-08T21:36:30.428Z,1736372190.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:30.435Z,1736372190.435 [DAT](INFO): DAT read: 21:36:28.6658 LVL= 17744, 26609, 19538, 30291, AGC= 66, IDX= 458,-0.18,-1.827,-3.005, 2.056,-3.109, PHS= 1.370, 0.151,-1.121, RAW= 59.3, -3.7, CAL= 64.2, -8.5, ROT= 85.8, 8.5 2025-01-08T21:36:30.437Z,1736372190.437 [DAT](INFO): got valid direction response: 21:36:28.6658 LVL= 17744, 26609, 19538, 30291, AGC= 66, IDX= 458,-0.18,-1.827,-3.005, 2.056,-3.109, PHS= 1.370, 0.151,-1.121, RAW= 59.3, -3.7, CAL= 64.2, -8.5, ROT= 85.8, 8.5 2025-01-08T21:36:30.441Z,1736372190.441 [DAT](INFO): DAT read: Bearing 85.8, 8.5 (Local) 2025-01-08T21:36:30.443Z,1736372190.443 [DAT](INFO): Local bearing/azimuth received: Bearing 85.8, 8.5 (Local) 2025-01-08T21:36:30.445Z,1736372190.445 [DAT](INFO): DAT read: Range 10 to 50 : 511.9 m (Round-trip 682.6 ms) speed -0.4 m/s 2025-01-08T21:36:30.446Z,1736372190.446 [DAT](INFO): DAT read: user:1909> 2025-01-08T21:36:30.447Z,1736372190.447 [DAT](INFO): DAT read: Tx time:21:36:29.7806 2025-01-08T21:36:30.447Z,1736372190.447 [DAT](INFO): Ping request sent. 2025-01-08T21:36:30.455Z,1736372190.455 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:30.456Z,1736372190.456 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:36:30.456Z,1736372190.456 [DAT](INFO): direction in FSK: [0.042071,0.581345,0.812569] 2025-01-08T21:36:30.457Z,1736372190.457 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:30.457Z,1736372190.457 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:30.461Z,1736372190.461 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:30.461Z,1736372190.461 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:30.468Z,1736372190.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.000000 m, nav range: 280.950500 m, bearing: 294.356362 deg, approach rate: -0.091981 m/s, LOS rate: 0.152809 deg/s, cmd heading: 216.984264 deg, new cmd heading: 217.166931 deg. 2025-01-08T21:36:30.469Z,1736372190.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790278 target range: 511.000000 and range: 511.00 m. 2025-01-08T21:36:30.681Z,1736372190.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:30.682Z,1736372190.682 [DAT](INFO): DAT read: TxSync time:21:36:29.7798 2025-01-08T21:36:30.769Z,1736372190.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:30.807Z,1736372190.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 511.899994 m, deltaT: 4.281852 s, deltaX: 0.899994 m, approachRate: 0.210188 m/s, rangeRepo size: 4 2025-01-08T21:36:30.810Z,1736372190.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 511.899994 m, bearing: 305.235411 deg, lat: 36.902057 deg, lon: -122.117437 deg, deltaT: 4.281852 s, deltaX: 0.899994 m, approachRate: 0.210188 m/s, posRepo size: 4 2025-01-08T21:36:30.810Z,1736372190.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.90 m. 2025-01-08T21:36:30.817Z,1736372190.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.899994 m, nav range: 252.929840 m, bearing: 300.042152 deg, approach rate: 0.000000 m/s, LOS rate: 0.152809 deg/s, cmd heading: 217.166930 deg, new cmd heading: 217.336420 deg. 2025-01-08T21:36:30.818Z,1736372190.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793236 target range: 511.899994 and range: 511.90 m. 2025-01-08T21:36:30.933Z,1736372190.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:31.175Z,1736372191.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:31.184Z,1736372191.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:31.194Z,1736372191.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.90 m. 2025-01-08T21:36:31.197Z,1736372191.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.899994 m, nav range: 252.911560 m, bearing: 300.102402 deg, approach rate: -0.045797 m/s, LOS rate: 0.150957 deg/s, cmd heading: 217.336414 deg, new cmd heading: 217.517178 deg. 2025-01-08T21:36:31.198Z,1736372191.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796391 target range: 511.899994 and range: 511.90 m. 2025-01-08T21:36:31.436Z,1736372191.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:31.669Z,1736372191.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:31.683Z,1736372191.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:31.685Z,1736372191.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.90 m. 2025-01-08T21:36:31.688Z,1736372191.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:31.688Z,1736372191.688 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:31.688Z,1736372191.688 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:31.689Z,1736372191.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:31.712Z,1736372191.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.899994 m, nav range: 252.886383 m, bearing: 300.175557 deg, approach rate: -0.051221 m/s, LOS rate: 0.148844 deg/s, cmd heading: 217.517182 deg, new cmd heading: 217.736666 deg. 2025-01-08T21:36:31.713Z,1736372191.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.800222 target range: 511.899994 and range: 511.90 m. 2025-01-08T21:36:31.940Z,1736372191.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:31.940Z,1736372191.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493401 2025-01-08T21:36:32.109Z,1736372192.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:32.141Z,1736372192.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.90 m. 2025-01-08T21:36:32.156Z,1736372192.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.899994 m, nav range: 252.851288 m, bearing: 300.241055 deg, approach rate: -0.076985 m/s, LOS rate: 0.143696 deg/s, cmd heading: 217.736664 deg, new cmd heading: 217.933183 deg. 2025-01-08T21:36:32.157Z,1736372192.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803652 target range: 511.899994 and range: 511.90 m. 2025-01-08T21:36:32.192Z,1736372192.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:32.193Z,1736372192.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745615 2025-01-08T21:36:32.444Z,1736372192.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:32.444Z,1736372192.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997513 2025-01-08T21:36:32.556Z,1736372192.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:32.566Z,1736372192.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.90 m. 2025-01-08T21:36:32.570Z,1736372192.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.899994 m, nav range: 252.813904 m, bearing: 300.307679 deg, approach rate: -0.087903 m/s, LOS rate: 0.156681 deg/s, cmd heading: 217.933182 deg, new cmd heading: 218.133084 deg. 2025-01-08T21:36:32.570Z,1736372192.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.807141 target range: 511.899994 and range: 511.90 m. 2025-01-08T21:36:32.696Z,1736372192.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:32.696Z,1736372192.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249487 2025-01-08T21:36:32.948Z,1736372192.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:32.949Z,1736372192.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502258 2025-01-08T21:36:32.968Z,1736372192.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:32.997Z,1736372192.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.90 m. 2025-01-08T21:36:33.001Z,1736372193.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.899994 m, nav range: 252.779816 m, bearing: 300.369001 deg, approach rate: -0.079194 m/s, LOS rate: 0.142483 deg/s, cmd heading: 218.133088 deg, new cmd heading: 218.317077 deg. 2025-01-08T21:36:33.002Z,1736372193.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810352 target range: 511.899994 and range: 511.90 m. 2025-01-08T21:36:33.201Z,1736372193.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:33.205Z,1736372193.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756941 2025-01-08T21:36:33.380Z,1736372193.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:33.389Z,1736372193.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.90 m. 2025-01-08T21:36:33.392Z,1736372193.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.899994 m, nav range: 252.732925 m, bearing: 300.429611 deg, approach rate: -0.119460 m/s, LOS rate: 0.154443 deg/s, cmd heading: 218.317079 deg, new cmd heading: 218.498944 deg. 2025-01-08T21:36:33.393Z,1736372193.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.813526 target range: 511.899994 and range: 511.90 m. 2025-01-08T21:36:33.453Z,1736372193.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:33.454Z,1736372193.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006387 2025-01-08T21:36:33.704Z,1736372193.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:33.704Z,1736372193.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257486 2025-01-08T21:36:33.799Z,1736372193.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:33.806Z,1736372193.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:33.808Z,1736372193.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.90 m. 2025-01-08T21:36:33.811Z,1736372193.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.899994 m, nav range: 252.684799 m, bearing: 300.491281 deg, approach rate: -0.114923 m/s, LOS rate: 0.147293 deg/s, cmd heading: 218.498940 deg, new cmd heading: 218.683985 deg. 2025-01-08T21:36:33.812Z,1736372193.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.816756 target range: 511.899994 and range: 511.90 m. 2025-01-08T21:36:33.956Z,1736372193.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:33.956Z,1736372193.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509539 2025-01-08T21:36:34.208Z,1736372194.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:34.208Z,1736372194.208 [DAT](INFO): DAT read: Rx Time:21:36:32.8683 2025-01-08T21:36:34.209Z,1736372194.209 [DAT](INFO): Rx dataTimestamp_ set to:1736372194.208628 2025-01-08T21:36:34.209Z,1736372194.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762555 2025-01-08T21:36:34.275Z,1736372194.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:34.297Z,1736372194.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.90 m. 2025-01-08T21:36:34.304Z,1736372194.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.899994 m, nav range: 252.617783 m, bearing: 300.562010 deg, approach rate: -0.137173 m/s, LOS rate: 0.144809 deg/s, cmd heading: 218.683983 deg, new cmd heading: 218.896225 deg. 2025-01-08T21:36:34.305Z,1736372194.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.820460 target range: 511.899994 and range: 511.90 m. 2025-01-08T21:36:34.460Z,1736372194.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:34.460Z,1736372194.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013470 2025-01-08T21:36:34.603Z,1736372194.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:34.627Z,1736372194.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.90 m. 2025-01-08T21:36:34.630Z,1736372194.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.899994 m, nav range: 252.570953 m, bearing: 300.610682 deg, approach rate: -0.148875 m/s, LOS rate: 0.154762 deg/s, cmd heading: 218.896225 deg, new cmd heading: 219.042268 deg. 2025-01-08T21:36:34.632Z,1736372194.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.823009 target range: 511.899994 and range: 511.90 m. 2025-01-08T21:36:34.713Z,1736372194.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:34.723Z,1736372194.723 [DAT](INFO): DAT read: 21:36:32.8683 LVL= 14976, 23217, 18658, 30387, AGC= 71, IDX= 437,-0.30,-1.324,-2.575, 2.462,-2.679, PHS= 1.443, 0.151,-1.145, RAW= 59.9, -4.1, CAL= 65.3, -9.0, ROT= 84.7, 9.0 2025-01-08T21:36:34.726Z,1736372194.726 [DAT](INFO): got valid direction response: 21:36:32.8683 LVL= 14976, 23217, 18658, 30387, AGC= 71, IDX= 437,-0.30,-1.324,-2.575, 2.462,-2.679, PHS= 1.443, 0.151,-1.145, RAW= 59.9, -4.1, CAL= 65.3, -9.0, ROT= 84.7, 9.0 2025-01-08T21:36:34.731Z,1736372194.731 [DAT](INFO): DAT read: Bearing 84.7, 9.0 (Local) 2025-01-08T21:36:34.732Z,1736372194.732 [DAT](INFO): Local bearing/azimuth received: Bearing 84.7, 9.0 (Local) 2025-01-08T21:36:34.733Z,1736372194.733 [DAT](INFO): DAT read: Range 10 to 50 : 512.6 m (Round-trip 683.5 ms) speed 0.0 m/s 2025-01-08T21:36:34.734Z,1736372194.734 [DAT](INFO): DAT read: user:1910> 2025-01-08T21:36:34.735Z,1736372194.735 [DAT](INFO): DAT read: Tx time:21:36:33.9791 2025-01-08T21:36:34.741Z,1736372194.741 [DAT](INFO): Ping request sent. 2025-01-08T21:36:34.741Z,1736372194.741 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:34.741Z,1736372194.741 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:36:34.742Z,1736372194.742 [DAT](INFO): direction in FSK: [0.046373,0.572089,0.818879] 2025-01-08T21:36:34.742Z,1736372194.742 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:34.743Z,1736372194.743 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:34.760Z,1736372194.760 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:34.760Z,1736372194.760 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:34.964Z,1736372194.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:34.965Z,1736372194.965 [DAT](INFO): DAT read: TxSync time:21:36:33.9783 2025-01-08T21:36:35.028Z,1736372195.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:35.102Z,1736372195.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 512.599976 m, deltaT: 4.284747 s, deltaX: 0.699982 m, approachRate: 0.163366 m/s, rangeRepo size: 4 2025-01-08T21:36:35.109Z,1736372195.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 512.599976 m, bearing: 308.065380 deg, lat: 36.902057 deg, lon: -122.117145 deg, deltaT: 4.284747 s, deltaX: 0.699982 m, approachRate: 0.163366 m/s, posRepo size: 4 2025-01-08T21:36:35.110Z,1736372195.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:35.117Z,1736372195.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 230.576996 m, bearing: 303.963956 deg, approach rate: 0.000000 m/s, LOS rate: 0.154762 deg/s, cmd heading: 219.042268 deg, new cmd heading: 219.266039 deg. 2025-01-08T21:36:35.118Z,1736372195.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.826914 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:35.217Z,1736372195.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:35.427Z,1736372195.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:35.457Z,1736372195.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:35.463Z,1736372195.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 230.530838 m, bearing: 304.028913 deg, approach rate: -0.127066 m/s, LOS rate: 0.178853 deg/s, cmd heading: 219.266039 deg, new cmd heading: 219.460948 deg. 2025-01-08T21:36:35.465Z,1736372195.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.830316 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:35.468Z,1736372195.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:35.720Z,1736372195.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:35.818Z,1736372195.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:35.825Z,1736372195.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:35.828Z,1736372195.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:35.830Z,1736372195.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 230.485672 m, bearing: 304.092628 deg, approach rate: -0.121849 m/s, LOS rate: 0.171925 deg/s, cmd heading: 219.460945 deg, new cmd heading: 219.652127 deg. 2025-01-08T21:36:35.833Z,1736372195.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833653 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:35.972Z,1736372195.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:35.972Z,1736372195.972 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:35.972Z,1736372195.972 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:35.973Z,1736372195.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:36.224Z,1736372196.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:36.225Z,1736372196.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484085 2025-01-08T21:36:36.242Z,1736372196.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:36.250Z,1736372196.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:36.253Z,1736372196.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 230.442001 m, bearing: 304.162077 deg, approach rate: -0.103210 m/s, LOS rate: 0.164165 deg/s, cmd heading: 219.652122 deg, new cmd heading: 219.860508 deg. 2025-01-08T21:36:36.254Z,1736372196.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.837290 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:36.476Z,1736372196.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:36.477Z,1736372196.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736595 2025-01-08T21:36:36.619Z,1736372196.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:36.629Z,1736372196.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:36.637Z,1736372196.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 230.403702 m, bearing: 304.223938 deg, approach rate: -0.101267 m/s, LOS rate: 0.163592 deg/s, cmd heading: 219.860511 deg, new cmd heading: 220.046123 deg. 2025-01-08T21:36:36.640Z,1736372196.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840529 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:36.729Z,1736372196.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:36.730Z,1736372196.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989411 2025-01-08T21:36:36.784Z,1736372196.784 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:36:36.982Z,1736372196.982 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:36.983Z,1736372196.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242339 2025-01-08T21:36:37.040Z,1736372197.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:37.053Z,1736372197.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:37.056Z,1736372197.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 230.361176 m, bearing: 304.293126 deg, approach rate: -0.100549 m/s, LOS rate: 0.163618 deg/s, cmd heading: 220.046128 deg, new cmd heading: 220.253728 deg. 2025-01-08T21:36:37.057Z,1736372197.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844153 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:37.236Z,1736372197.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:37.236Z,1736372197.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495907 2025-01-08T21:36:37.450Z,1736372197.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:37.488Z,1736372197.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:37.488Z,1736372197.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748042 2025-01-08T21:36:37.490Z,1736372197.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:37.504Z,1736372197.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 230.321655 m, bearing: 304.360362 deg, approach rate: -0.090049 m/s, LOS rate: 0.153228 deg/s, cmd heading: 220.253725 deg, new cmd heading: 220.455468 deg. 2025-01-08T21:36:37.505Z,1736372197.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.847674 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:37.740Z,1736372197.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:37.740Z,1736372197.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000050 2025-01-08T21:36:37.791Z,1736372197.791 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:36:37.840Z,1736372197.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:37.846Z,1736372197.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:37.849Z,1736372197.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:37.852Z,1736372197.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 230.283600 m, bearing: 304.424401 deg, approach rate: -0.106122 m/s, LOS rate: 0.178609 deg/s, cmd heading: 220.455461 deg, new cmd heading: 220.647609 deg. 2025-01-08T21:36:37.853Z,1736372197.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.851027 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:37.992Z,1736372197.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:37.992Z,1736372197.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252065 2025-01-08T21:36:38.244Z,1736372198.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:38.245Z,1736372198.245 [DAT](INFO): DAT read: Rx Time:21:36:37.0668 2025-01-08T21:36:38.245Z,1736372198.245 [DAT](INFO): Rx dataTimestamp_ set to:1736372198.244691 2025-01-08T21:36:38.245Z,1736372198.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505091 2025-01-08T21:36:38.260Z,1736372198.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:38.293Z,1736372198.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:38.306Z,1736372198.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 230.250748 m, bearing: 304.493164 deg, approach rate: -0.074014 m/s, LOS rate: 0.154941 deg/s, cmd heading: 220.647608 deg, new cmd heading: 220.853926 deg. 2025-01-08T21:36:38.312Z,1736372198.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.854628 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:38.496Z,1736372198.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:38.496Z,1736372198.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755948 2025-01-08T21:36:38.674Z,1736372198.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:38.705Z,1736372198.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:38.708Z,1736372198.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 230.218735 m, bearing: 304.560912 deg, approach rate: -0.078037 m/s, LOS rate: 0.165170 deg/s, cmd heading: 220.853921 deg, new cmd heading: 221.057192 deg. 2025-01-08T21:36:38.709Z,1736372198.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.858176 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:38.749Z,1736372198.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:38.764Z,1736372198.764 [DAT](INFO): DAT read: 21:36:37.0668 LVL= 22240, 30017, 24018, 32755, AGC= 68, IDX= 436, 0.34, 0.829,-0.319,-1.550,-0.410, PHS= 1.327, 0.138,-1.142, RAW= 58.8, -3.1, CAL= 63.1, -7.5, ROT= 86.9, 7.5 2025-01-08T21:36:38.772Z,1736372198.772 [DAT](INFO): got valid direction response: 21:36:37.0668 LVL= 22240, 30017, 24018, 32755, AGC= 68, IDX= 436, 0.34, 0.829,-0.319,-1.550,-0.410, PHS= 1.327, 0.138,-1.142, RAW= 58.8, -3.1, CAL= 63.1, -7.5, ROT= 86.9, 7.5 2025-01-08T21:36:38.774Z,1736372198.774 [DAT](INFO): DAT read: Bearing 86.9, 7.5 (Local) 2025-01-08T21:36:38.782Z,1736372198.782 [DAT](INFO): Local bearing/azimuth received: Bearing 86.9, 7.5 (Local) 2025-01-08T21:36:38.788Z,1736372198.788 [DAT](INFO): DAT read: Range 10 to 50 : 512.6 m (Round-trip 683.5 ms) speed 0.0 m/s 2025-01-08T21:36:38.789Z,1736372198.789 [DAT](INFO): DAT read: user:1911> 2025-01-08T21:36:38.790Z,1736372198.790 [DAT](INFO): DAT read: Tx time:21:36:38.1807 2025-01-08T21:36:38.790Z,1736372198.790 [DAT](INFO): Ping request sent. 2025-01-08T21:36:38.790Z,1736372198.790 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:38.790Z,1736372198.790 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:36:38.799Z,1736372198.799 [DAT](INFO): direction in FSK: [0.030185,0.589335,0.807324] 2025-01-08T21:36:38.800Z,1736372198.800 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:38.800Z,1736372198.800 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:38.803Z,1736372198.803 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:38.811Z,1736372198.811 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:39.001Z,1736372199.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:39.002Z,1736372199.002 [DAT](INFO): DAT read: TxSync time:21:36:38.1799 2025-01-08T21:36:39.085Z,1736372199.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:39.173Z,1736372199.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 512.599976 m, deltaT: 4.037143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T21:36:39.179Z,1736372199.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 512.599976 m, bearing: 309.947406 deg, lat: 36.902144 deg, lon: -122.117100 deg, deltaT: 4.037143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T21:36:39.180Z,1736372199.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:39.188Z,1736372199.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 232.606644 m, bearing: 307.162885 deg, approach rate: 0.000000 m/s, LOS rate: 0.165170 deg/s, cmd heading: 221.057187 deg, new cmd heading: 221.289777 deg. 2025-01-08T21:36:39.189Z,1736372199.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.862235 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:39.252Z,1736372199.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:39.504Z,1736372199.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:39.527Z,1736372199.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:39.553Z,1736372199.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:39.556Z,1736372199.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 232.598343 m, bearing: 307.234274 deg, approach rate: -0.021811 m/s, LOS rate: 0.187583 deg/s, cmd heading: 221.289783 deg, new cmd heading: 221.503955 deg. 2025-01-08T21:36:39.557Z,1736372199.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.865973 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:39.756Z,1736372199.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:39.871Z,1736372199.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:39.878Z,1736372199.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:39.880Z,1736372199.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:39.884Z,1736372199.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 232.589264 m, bearing: 307.289947 deg, approach rate: -0.027761 m/s, LOS rate: 0.170243 deg/s, cmd heading: 221.503950 deg, new cmd heading: 221.670976 deg. 2025-01-08T21:36:39.885Z,1736372199.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.868888 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:40.008Z,1736372200.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:40.008Z,1736372200.008 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:40.009Z,1736372200.009 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:40.009Z,1736372200.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:40.260Z,1736372200.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:40.260Z,1736372200.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470480 2025-01-08T21:36:40.324Z,1736372200.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:40.335Z,1736372200.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:40.355Z,1736372200.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 232.586945 m, bearing: 307.361655 deg, approach rate: -0.005115 m/s, LOS rate: 0.158145 deg/s, cmd heading: 221.670975 deg, new cmd heading: 221.886101 deg. 2025-01-08T21:36:40.360Z,1736372200.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.872643 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:40.512Z,1736372200.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:40.512Z,1736372200.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722448 2025-01-08T21:36:40.690Z,1736372200.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:40.704Z,1736372200.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:40.708Z,1736372200.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 232.584549 m, bearing: 307.419707 deg, approach rate: -0.006502 m/s, LOS rate: 0.157556 deg/s, cmd heading: 221.886099 deg, new cmd heading: 222.060257 deg. 2025-01-08T21:36:40.709Z,1736372200.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.875683 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:40.765Z,1736372200.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:40.766Z,1736372200.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975874 2025-01-08T21:36:41.016Z,1736372201.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:41.016Z,1736372201.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226474 2025-01-08T21:36:41.088Z,1736372201.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:41.102Z,1736372201.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:41.105Z,1736372201.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 232.580444 m, bearing: 307.482767 deg, approach rate: -0.010262 m/s, LOS rate: 0.157659 deg/s, cmd heading: 222.060255 deg, new cmd heading: 222.249438 deg. 2025-01-08T21:36:41.106Z,1736372201.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878984 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:41.268Z,1736372201.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:41.269Z,1736372201.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478664 2025-01-08T21:36:41.520Z,1736372201.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:41.521Z,1736372201.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730570 2025-01-08T21:36:41.534Z,1736372201.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:41.545Z,1736372201.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:41.548Z,1736372201.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 232.579742 m, bearing: 307.553502 deg, approach rate: -0.001585 m/s, LOS rate: 0.159751 deg/s, cmd heading: 222.249438 deg, new cmd heading: 222.461642 deg. 2025-01-08T21:36:41.549Z,1736372201.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882688 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:41.772Z,1736372201.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:41.773Z,1736372201.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982786 2025-01-08T21:36:41.904Z,1736372201.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:41.911Z,1736372201.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:41.929Z,1736372201.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:41.946Z,1736372201.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 232.579422 m, bearing: 307.612165 deg, approach rate: -0.000834 m/s, LOS rate: 0.152600 deg/s, cmd heading: 222.461638 deg, new cmd heading: 222.637628 deg. 2025-01-08T21:36:41.948Z,1736372201.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.885760 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:42.024Z,1736372202.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:42.025Z,1736372202.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234671 2025-01-08T21:36:42.277Z,1736372202.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:42.280Z,1736372202.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488848 2025-01-08T21:36:42.363Z,1736372202.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:42.380Z,1736372202.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:42.387Z,1736372202.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 232.580139 m, bearing: 307.684124 deg, approach rate: 0.001590 m/s, LOS rate: 0.159519 deg/s, cmd heading: 222.637625 deg, new cmd heading: 222.853498 deg. 2025-01-08T21:36:42.404Z,1736372202.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.889527 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:42.528Z,1736372202.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:42.529Z,1736372202.529 [DAT](INFO): DAT read: Rx Time:21:36:41.2685 2025-01-08T21:36:42.530Z,1736372202.530 [DAT](INFO): Rx dataTimestamp_ set to:1736372202.529379 2025-01-08T21:36:42.530Z,1736372202.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740276 2025-01-08T21:36:42.702Z,1736372202.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:42.710Z,1736372202.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.60 m. 2025-01-08T21:36:42.729Z,1736372202.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.599976 m, nav range: 232.579224 m, bearing: 307.737236 deg, approach rate: -0.002773 m/s, LOS rate: 0.160874 deg/s, cmd heading: 222.853500 deg, new cmd heading: 223.012838 deg. 2025-01-08T21:36:42.730Z,1736372202.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.892308 target range: 512.599976 and range: 512.60 m. 2025-01-08T21:36:42.780Z,1736372202.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:42.781Z,1736372202.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.990808 2025-01-08T21:36:43.032Z,1736372203.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:43.038Z,1736372203.038 [DAT](INFO): DAT read: 21:36:41.2685 LVL= 18128, 29361, 27362, 32755, AGC= 70, IDX= 437,-0.23, 2.986, 2.012, 0.693, 1.842, PHS= 1.232, 0.217,-1.152, RAW= 55.1, -2.9, CAL= 58.5, -6.9, ROT= 91.5, 6.9 2025-01-08T21:36:43.040Z,1736372203.040 [DAT](INFO): got valid direction response: 21:36:41.2685 LVL= 18128, 29361, 27362, 32755, AGC= 70, IDX= 437,-0.23, 2.986, 2.012, 0.693, 1.842, PHS= 1.232, 0.217,-1.152, RAW= 55.1, -2.9, CAL= 58.5, -6.9, ROT= 91.5, 6.9 2025-01-08T21:36:43.040Z,1736372203.040 [DAT](INFO): DAT read: Bearing 91.5, 6.9 (Local) 2025-01-08T21:36:43.041Z,1736372203.041 [DAT](INFO): Local bearing/azimuth received: Bearing 91.5, 6.9 (Local) 2025-01-08T21:36:43.042Z,1736372203.042 [DAT](INFO): DAT read: Range 10 to 50 : 512.7 m (Round-trip 683.6 ms) speed -0.2 m/s 2025-01-08T21:36:43.043Z,1736372203.043 [DAT](INFO): DAT read: user:1912> 2025-01-08T21:36:43.044Z,1736372203.044 [DAT](INFO): DAT read: Tx time:21:36:42.3791 2025-01-08T21:36:43.044Z,1736372203.044 [DAT](INFO): Ping request sent. 2025-01-08T21:36:43.044Z,1736372203.044 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:43.045Z,1736372203.045 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:36:43.046Z,1736372203.046 [DAT](INFO): direction in FSK: [0.034739,0.637156,0.769952] 2025-01-08T21:36:43.046Z,1736372203.046 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:43.046Z,1736372203.046 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:43.050Z,1736372203.050 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:43.050Z,1736372203.050 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:43.128Z,1736372203.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:43.233Z,1736372203.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 512.700012 m, deltaT: 4.282008 s, deltaX: 0.100037 m, approachRate: 0.023362 m/s, rangeRepo size: 4 2025-01-08T21:36:43.235Z,1736372203.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 512.700012 m, bearing: 313.346308 deg, lat: 36.902187 deg, lon: -122.117100 deg, deltaT: 4.282008 s, deltaX: 0.100037 m, approachRate: 0.023362 m/s, posRepo size: 4 2025-01-08T21:36:43.244Z,1736372203.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:36:43.246Z,1736372203.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 235.568375 m, bearing: 308.730473 deg, approach rate: 0.000000 m/s, LOS rate: 0.160874 deg/s, cmd heading: 223.012834 deg, new cmd heading: 223.264207 deg. 2025-01-08T21:36:43.252Z,1736372203.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.896696 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:36:43.292Z,1736372203.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:43.293Z,1736372203.293 [DAT](INFO): DAT read: TxSync time:21:36:42.3784 2025-01-08T21:36:43.546Z,1736372203.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:43.717Z,1736372203.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:43.735Z,1736372203.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:36:43.741Z,1736372203.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 235.574631 m, bearing: 308.823506 deg, approach rate: 0.012429 m/s, LOS rate: 0.184825 deg/s, cmd heading: 223.264213 deg, new cmd heading: 223.543303 deg. 2025-01-08T21:36:43.742Z,1736372203.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.901567 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:36:43.800Z,1736372203.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:44.025Z,1736372204.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:44.034Z,1736372204.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:44.036Z,1736372204.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:36:44.039Z,1736372204.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 235.577957 m, bearing: 308.872541 deg, approach rate: 0.011032 m/s, LOS rate: 0.162620 deg/s, cmd heading: 223.543308 deg, new cmd heading: 223.690410 deg. 2025-01-08T21:36:44.040Z,1736372204.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.904134 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:36:44.052Z,1736372204.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:44.052Z,1736372204.052 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:44.052Z,1736372204.052 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:44.053Z,1736372204.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:44.304Z,1736372204.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:44.305Z,1736372204.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260300 2025-01-08T21:36:44.461Z,1736372204.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:44.482Z,1736372204.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:36:44.500Z,1736372204.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 235.580521 m, bearing: 308.941582 deg, approach rate: 0.005752 m/s, LOS rate: 0.154926 deg/s, cmd heading: 223.690417 deg, new cmd heading: 223.897536 deg. 2025-01-08T21:36:44.501Z,1736372204.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.907749 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:36:44.557Z,1736372204.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:44.558Z,1736372204.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513489 2025-01-08T21:36:44.808Z,1736372204.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:44.808Z,1736372204.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764068 2025-01-08T21:36:44.828Z,1736372204.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:44.838Z,1736372204.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:36:44.841Z,1736372204.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 235.582077 m, bearing: 308.999915 deg, approach rate: 0.004372 m/s, LOS rate: 0.163853 deg/s, cmd heading: 223.897535 deg, new cmd heading: 224.072533 deg. 2025-01-08T21:36:44.841Z,1736372204.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.910804 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:36:45.060Z,1736372205.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:45.061Z,1736372205.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016277 2025-01-08T21:36:45.287Z,1736372205.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:45.295Z,1736372205.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:36:45.312Z,1736372205.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:45.312Z,1736372205.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268143 2025-01-08T21:36:45.299Z,1736372205.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 235.573196 m, bearing: 309.072977 deg, approach rate: -0.019415 m/s, LOS rate: 0.159737 deg/s, cmd heading: 224.072538 deg, new cmd heading: 224.291732 deg. 2025-01-08T21:36:45.320Z,1736372205.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.914629 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:36:45.565Z,1736372205.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:45.566Z,1736372205.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521884 2025-01-08T21:36:45.634Z,1736372205.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:45.642Z,1736372205.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:36:45.648Z,1736372205.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 235.565567 m, bearing: 309.128261 deg, approach rate: -0.021977 m/s, LOS rate: 0.159254 deg/s, cmd heading: 224.291733 deg, new cmd heading: 224.457588 deg. 2025-01-08T21:36:45.650Z,1736372205.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917524 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:36:45.816Z,1736372205.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:45.816Z,1736372205.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772116 2025-01-08T21:36:46.056Z,1736372206.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:46.063Z,1736372206.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:46.066Z,1736372206.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:36:46.075Z,1736372206.075 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:46.076Z,1736372206.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031585 2025-01-08T21:36:46.096Z,1736372206.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 235.556564 m, bearing: 309.195545 deg, approach rate: -0.021266 m/s, LOS rate: 0.158945 deg/s, cmd heading: 224.457583 deg, new cmd heading: 224.659442 deg. 2025-01-08T21:36:46.098Z,1736372206.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.921047 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:36:46.328Z,1736372206.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:46.329Z,1736372206.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284531 2025-01-08T21:36:46.505Z,1736372206.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:46.513Z,1736372206.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:36:46.517Z,1736372206.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 235.535355 m, bearing: 309.268132 deg, approach rate: -0.047374 m/s, LOS rate: 0.162144 deg/s, cmd heading: 224.659443 deg, new cmd heading: 224.877223 deg. 2025-01-08T21:36:46.532Z,1736372206.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.924848 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:36:46.581Z,1736372206.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:46.582Z,1736372206.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537882 2025-01-08T21:36:46.832Z,1736372206.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:46.833Z,1736372206.833 [DAT](INFO): DAT read: Rx Time:21:36:45.4779 2025-01-08T21:36:46.834Z,1736372206.834 [DAT](INFO): Rx dataTimestamp_ set to:1736372206.833409 2025-01-08T21:36:46.834Z,1736372206.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789889 2025-01-08T21:36:46.872Z,1736372206.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:46.912Z,1736372206.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:36:46.920Z,1736372206.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 235.518326 m, bearing: 309.327419 deg, approach rate: -0.042678 m/s, LOS rate: 0.148598 deg/s, cmd heading: 224.877217 deg, new cmd heading: 225.055090 deg. 2025-01-08T21:36:46.921Z,1736372206.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.927952 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:36:47.084Z,1736372207.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:47.084Z,1736372207.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040086 2025-01-08T21:36:47.321Z,1736372207.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:47.329Z,1736372207.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:36:47.333Z,1736372207.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 235.479248 m, bearing: 309.400189 deg, approach rate: -0.093728 m/s, LOS rate: 0.174568 deg/s, cmd heading: 225.055088 deg, new cmd heading: 225.273433 deg. 2025-01-08T21:36:47.334Z,1736372207.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.931763 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:36:47.336Z,1736372207.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:47.342Z,1736372207.342 [DAT](INFO): DAT read: 21:36:45.4779 LVL= 18720, 24001, 27122, 32755, AGC= 75, IDX= 132, 0.48, 2.373, 1.810, 0.498, 1.362, PHS= 1.099, 0.495,-0.867, RAW= 47.5, -8.4, CAL= 52.6, -14.6, ROT= 97.4, 14.6 2025-01-08T21:36:47.344Z,1736372207.344 [DAT](INFO): got valid direction response: 21:36:45.4779 LVL= 18720, 24001, 27122, 32755, AGC= 75, IDX= 132, 0.48, 2.373, 1.810, 0.498, 1.362, PHS= 1.099, 0.495,-0.867, RAW= 47.5, -8.4, CAL= 52.6, -14.6, ROT= 97.4, 14.6 2025-01-08T21:36:47.345Z,1736372207.345 [DAT](INFO): DAT read: Bearing 97.4, 14.6 (Local) 2025-01-08T21:36:47.345Z,1736372207.345 [DAT](INFO): Local bearing/azimuth received: Bearing 97.4, 14.6 (Local) 2025-01-08T21:36:47.347Z,1736372207.347 [DAT](INFO): DAT read: Range 10 to 50 : 520.8 m (Round-trip 694.5 ms) speed -0.1 m/s 2025-01-08T21:36:47.348Z,1736372207.348 [DAT](INFO): DAT read: user:1913> 2025-01-08T21:36:47.349Z,1736372207.349 [DAT](INFO): DAT read: Tx time:21:36:46.5792 2025-01-08T21:36:47.349Z,1736372207.349 [DAT](INFO): Ping request sent. 2025-01-08T21:36:47.349Z,1736372207.349 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:47.350Z,1736372207.350 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:36:47.351Z,1736372207.351 [DAT](INFO): direction in FSK: [0.151436,0.714440,0.683112] 2025-01-08T21:36:47.351Z,1736372207.351 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:47.377Z,1736372207.377 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:47.380Z,1736372207.380 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:47.380Z,1736372207.380 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:47.588Z,1736372207.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:47.589Z,1736372207.589 [DAT](INFO): DAT read: TxSync time:21:36:46.5785 2025-01-08T21:36:47.701Z,1736372207.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:47.736Z,1736372207.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 520.799988 m, deltaT: 4.304023 s, deltaX: 8.099976 m, approachRate: 1.881955 m/s, rangeRepo size: 4 2025-01-08T21:36:47.738Z,1736372207.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 520.799988 m, bearing: 304.342335 deg, lat: 36.902277 deg, lon: -122.117145 deg, deltaT: 4.304023 s, deltaX: 8.099976 m, approachRate: 1.881955 m/s, posRepo size: 4 2025-01-08T21:36:47.739Z,1736372207.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.80 m. 2025-01-08T21:36:47.746Z,1736372207.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.799988 m, nav range: 244.919815 m, bearing: 310.651552 deg, approach rate: 0.000000 m/s, LOS rate: 0.174568 deg/s, cmd heading: 225.273436 deg, new cmd heading: 225.477648 deg. 2025-01-08T21:36:47.746Z,1736372207.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.935327 target range: 520.799988 and range: 520.80 m. 2025-01-08T21:36:47.840Z,1736372207.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:48.080Z,1736372208.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:48.092Z,1736372208.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:48.096Z,1736372208.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:48.098Z,1736372208.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.80 m. 2025-01-08T21:36:48.106Z,1736372208.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.799988 m, nav range: 244.892288 m, bearing: 310.710066 deg, approach rate: -0.072653 m/s, LOS rate: 0.154457 deg/s, cmd heading: 225.477645 deg, new cmd heading: 225.653207 deg. 2025-01-08T21:36:48.106Z,1736372208.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.938391 target range: 520.799988 and range: 520.80 m. 2025-01-08T21:36:48.344Z,1736372208.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:48.344Z,1736372208.344 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:48.344Z,1736372208.344 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:48.345Z,1736372208.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:48.522Z,1736372208.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:48.553Z,1736372208.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.80 m. 2025-01-08T21:36:48.557Z,1736372208.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.799988 m, nav range: 244.852280 m, bearing: 310.779991 deg, approach rate: -0.088121 m/s, LOS rate: 0.154039 deg/s, cmd heading: 225.653208 deg, new cmd heading: 225.863016 deg. 2025-01-08T21:36:48.558Z,1736372208.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.942053 target range: 520.799988 and range: 520.80 m. 2025-01-08T21:36:48.598Z,1736372208.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:48.600Z,1736372208.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250352 2025-01-08T21:36:48.848Z,1736372208.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:48.849Z,1736372208.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499496 2025-01-08T21:36:48.894Z,1736372208.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:48.903Z,1736372208.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.80 m. 2025-01-08T21:36:48.906Z,1736372208.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.799988 m, nav range: 244.817642 m, bearing: 310.838129 deg, approach rate: -0.098731 m/s, LOS rate: 0.165740 deg/s, cmd heading: 225.863018 deg, new cmd heading: 226.037455 deg. 2025-01-08T21:36:48.907Z,1736372208.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.945098 target range: 520.799988 and range: 520.80 m. 2025-01-08T21:36:49.100Z,1736372209.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:49.100Z,1736372209.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751044 2025-01-08T21:36:49.343Z,1736372209.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:49.352Z,1736372209.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:49.352Z,1736372209.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002835 2025-01-08T21:36:49.389Z,1736372209.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.80 m. 2025-01-08T21:36:49.396Z,1736372209.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.799988 m, nav range: 244.766953 m, bearing: 310.907994 deg, approach rate: -0.104317 m/s, LOS rate: 0.143808 deg/s, cmd heading: 226.037461 deg, new cmd heading: 226.247097 deg. 2025-01-08T21:36:49.398Z,1736372209.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.948757 target range: 520.799988 and range: 520.80 m. 2025-01-08T21:36:49.604Z,1736372209.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:49.604Z,1736372209.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254877 2025-01-08T21:36:49.695Z,1736372209.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:49.705Z,1736372209.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.80 m. 2025-01-08T21:36:49.707Z,1736372209.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.799988 m, nav range: 244.726685 m, bearing: 310.962873 deg, approach rate: -0.127521 m/s, LOS rate: 0.173821 deg/s, cmd heading: 226.247093 deg, new cmd heading: 226.411758 deg. 2025-01-08T21:36:49.708Z,1736372209.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.951631 target range: 520.799988 and range: 520.80 m. 2025-01-08T21:36:49.856Z,1736372209.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:49.856Z,1736372209.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506945 2025-01-08T21:36:50.085Z,1736372210.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:50.093Z,1736372210.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.80 m. 2025-01-08T21:36:50.096Z,1736372210.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.799988 m, nav range: 244.681824 m, bearing: 311.023525 deg, approach rate: -0.115407 m/s, LOS rate: 0.156059 deg/s, cmd heading: 226.411755 deg, new cmd heading: 226.593744 deg. 2025-01-08T21:36:50.098Z,1736372210.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954807 target range: 520.799988 and range: 520.80 m. 2025-01-08T21:36:50.112Z,1736372210.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:50.112Z,1736372210.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763017 2025-01-08T21:36:50.365Z,1736372210.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:50.365Z,1736372210.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016054 2025-01-08T21:36:50.529Z,1736372210.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:50.555Z,1736372210.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:50.561Z,1736372210.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.80 m. 2025-01-08T21:36:50.570Z,1736372210.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.799988 m, nav range: 244.629837 m, bearing: 311.092174 deg, approach rate: -0.111194 m/s, LOS rate: 0.146866 deg/s, cmd heading: 226.593739 deg, new cmd heading: 226.799730 deg. 2025-01-08T21:36:50.574Z,1736372210.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.958402 target range: 520.799988 and range: 520.80 m. 2025-01-08T21:36:50.616Z,1736372210.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:50.617Z,1736372210.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267449 2025-01-08T21:36:50.868Z,1736372210.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:50.868Z,1736372210.868 [DAT](INFO): DAT read: Rx Time:21:36:49.6678 2025-01-08T21:36:50.869Z,1736372210.869 [DAT](INFO): Rx dataTimestamp_ set to:1736372210.868579 2025-01-08T21:36:50.869Z,1736372210.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519964 2025-01-08T21:36:50.928Z,1736372210.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:50.937Z,1736372210.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.80 m. 2025-01-08T21:36:50.940Z,1736372210.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 520.799988 m, nav range: 244.586426 m, bearing: 311.149294 deg, approach rate: -0.115367 m/s, LOS rate: 0.151826 deg/s, cmd heading: 226.799724 deg, new cmd heading: 226.971113 deg. 2025-01-08T21:36:50.941Z,1736372210.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.961393 target range: 520.799988 and range: 520.80 m. 2025-01-08T21:36:51.120Z,1736372211.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:51.120Z,1736372211.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770934 2025-01-08T21:36:51.373Z,1736372211.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:51.390Z,1736372211.390 [DAT](INFO): DAT read: 21:36:49.6678 LVL= 18272, 26609, 20850, 27747, AGC= 71, IDX= 317, 0.36, 2.007, 1.270,-0.117, 1.061, PHS= 1.034, 0.256,-1.182, RAW= 50.2, -1.1, CAL= 51.5, -4.0, ROT= 98.5, 4.0 2025-01-08T21:36:51.391Z,1736372211.391 [DAT](INFO): got valid direction response: 21:36:49.6678 LVL= 18272, 26609, 20850, 27747, AGC= 71, IDX= 317, 0.36, 2.007, 1.270,-0.117, 1.061, PHS= 1.034, 0.256,-1.182, RAW= 50.2, -1.1, CAL= 51.5, -4.0, ROT= 98.5, 4.0 2025-01-08T21:36:51.392Z,1736372211.392 [DAT](INFO): DAT read: Bearing 98.5, 4.0 (Local) 2025-01-08T21:36:51.392Z,1736372211.392 [DAT](INFO): Local bearing/azimuth received: Bearing 98.5, 4.0 (Local) 2025-01-08T21:36:51.394Z,1736372211.394 [DAT](INFO): DAT read: Range 10 to 50 : 513.3 m (Round-trip 684.4 ms) speed 0.0 m/s 2025-01-08T21:36:51.395Z,1736372211.395 [DAT](INFO): DAT read: user:1914> 2025-01-08T21:36:51.404Z,1736372211.404 [DAT](INFO): DAT read: Tx time:21:36:50.7808 2025-01-08T21:36:51.404Z,1736372211.404 [DAT](INFO): Ping request sent. 2025-01-08T21:36:51.404Z,1736372211.404 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:51.405Z,1736372211.405 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:36:51.405Z,1736372211.405 [DAT](INFO): direction in FSK: [0.011688,0.698756,0.715265] 2025-01-08T21:36:51.406Z,1736372211.406 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:51.406Z,1736372211.406 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:51.413Z,1736372211.413 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:51.413Z,1736372211.413 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:51.468Z,1736372211.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:51.490Z,1736372211.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 513.299988 m, deltaT: 4.037767 s, deltaX: -7.500000 m, approachRate: -1.857462 m/s, rangeRepo size: 4 2025-01-08T21:36:51.508Z,1736372211.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 513.299988 m, bearing: 318.652094 deg, lat: 36.902479 deg, lon: -122.117175 deg, deltaT: 4.037767 s, deltaX: -7.500000 m, approachRate: -1.857462 m/s, posRepo size: 4 2025-01-08T21:36:51.509Z,1736372211.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.30 m. 2025-01-08T21:36:51.516Z,1736372211.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.299988 m, nav range: 261.844940 m, bearing: 314.548843 deg, approach rate: 0.000000 m/s, LOS rate: 0.151826 deg/s, cmd heading: 226.971107 deg, new cmd heading: 227.222591 deg. 2025-01-08T21:36:51.517Z,1736372211.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.965782 target range: 513.299988 and range: 513.30 m. 2025-01-08T21:36:51.624Z,1736372211.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:51.626Z,1736372211.626 [DAT](INFO): DAT read: TxSync time:21:36:50.7800 2025-01-08T21:36:51.820Z,1736372211.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:51.840Z,1736372211.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.30 m. 2025-01-08T21:36:51.843Z,1736372211.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.299988 m, nav range: 261.822693 m, bearing: 314.603269 deg, approach rate: -0.063382 m/s, LOS rate: 0.155073 deg/s, cmd heading: 227.222594 deg, new cmd heading: 227.385888 deg. 2025-01-08T21:36:51.852Z,1736372211.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.968632 target range: 513.299988 and range: 513.30 m. 2025-01-08T21:36:51.877Z,1736372211.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:52.128Z,1736372212.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:52.201Z,1736372212.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:52.209Z,1736372212.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.30 m. 2025-01-08T21:36:52.212Z,1736372212.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.299988 m, nav range: 261.800323 m, bearing: 314.657236 deg, approach rate: -0.060608 m/s, LOS rate: 0.146230 deg/s, cmd heading: 227.385890 deg, new cmd heading: 227.547802 deg. 2025-01-08T21:36:52.213Z,1736372212.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.971458 target range: 513.299988 and range: 513.30 m. 2025-01-08T21:36:52.380Z,1736372212.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:52.632Z,1736372212.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:52.640Z,1736372212.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:52.666Z,1736372212.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:52.674Z,1736372212.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.30 m. 2025-01-08T21:36:52.689Z,1736372212.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.299988 m, nav range: 261.781647 m, bearing: 314.718242 deg, approach rate: -0.040241 m/s, LOS rate: 0.131454 deg/s, cmd heading: 227.547807 deg, new cmd heading: 227.730839 deg. 2025-01-08T21:36:52.690Z,1736372212.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.974653 target range: 513.299988 and range: 513.30 m. 2025-01-08T21:36:52.884Z,1736372212.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:52.884Z,1736372212.884 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:52.884Z,1736372212.884 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:52.885Z,1736372212.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:53.012Z,1736372213.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:53.022Z,1736372213.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.30 m. 2025-01-08T21:36:53.025Z,1736372213.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.299988 m, nav range: 261.764984 m, bearing: 314.770022 deg, approach rate: -0.047859 m/s, LOS rate: 0.148734 deg/s, cmd heading: 227.730842 deg, new cmd heading: 227.886190 deg. 2025-01-08T21:36:53.026Z,1736372213.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.977364 target range: 513.299988 and range: 513.30 m. 2025-01-08T21:36:53.136Z,1736372213.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:53.137Z,1736372213.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732357 2025-01-08T21:36:53.388Z,1736372213.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:53.389Z,1736372213.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984453 2025-01-08T21:36:53.454Z,1736372213.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:53.471Z,1736372213.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.30 m. 2025-01-08T21:36:53.478Z,1736372213.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.299988 m, nav range: 261.754730 m, bearing: 314.830229 deg, approach rate: -0.022826 m/s, LOS rate: 0.134031 deg/s, cmd heading: 227.886188 deg, new cmd heading: 228.066817 deg. 2025-01-08T21:36:53.479Z,1736372213.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.980517 target range: 513.299988 and range: 513.30 m. 2025-01-08T21:36:53.640Z,1736372213.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:53.640Z,1736372213.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236137 2025-01-08T21:36:53.813Z,1736372213.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:53.823Z,1736372213.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.30 m. 2025-01-08T21:36:53.825Z,1736372213.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.299988 m, nav range: 261.745941 m, bearing: 314.879131 deg, approach rate: -0.024995 m/s, LOS rate: 0.139074 deg/s, cmd heading: 228.066819 deg, new cmd heading: 228.213530 deg. 2025-01-08T21:36:53.826Z,1736372213.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.983078 target range: 513.299988 and range: 513.30 m. 2025-01-08T21:36:53.893Z,1736372213.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:53.894Z,1736372213.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489579 2025-01-08T21:36:54.144Z,1736372214.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:54.144Z,1736372214.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740123 2025-01-08T21:36:54.216Z,1736372214.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:54.244Z,1736372214.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.30 m. 2025-01-08T21:36:54.248Z,1736372214.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.299988 m, nav range: 261.735474 m, bearing: 314.934150 deg, approach rate: -0.024812 m/s, LOS rate: 0.130421 deg/s, cmd heading: 228.213532 deg, new cmd heading: 228.378593 deg. 2025-01-08T21:36:54.249Z,1736372214.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.985958 target range: 513.299988 and range: 513.30 m. 2025-01-08T21:36:54.396Z,1736372214.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:54.396Z,1736372214.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992217 2025-01-08T21:36:54.648Z,1736372214.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:54.650Z,1736372214.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245018 2025-01-08T21:36:54.664Z,1736372214.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:54.700Z,1736372214.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:54.709Z,1736372214.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.30 m. 2025-01-08T21:36:54.723Z,1736372214.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.299988 m, nav range: 261.733063 m, bearing: 314.993994 deg, approach rate: -0.005257 m/s, LOS rate: 0.130495 deg/s, cmd heading: 228.378590 deg, new cmd heading: 228.558124 deg. 2025-01-08T21:36:54.728Z,1736372214.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.989092 target range: 513.299988 and range: 513.30 m. 2025-01-08T21:36:54.900Z,1736372214.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:54.900Z,1736372214.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496192 2025-01-08T21:36:55.032Z,1736372215.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:55.057Z,1736372215.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.30 m. 2025-01-08T21:36:55.064Z,1736372215.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.299988 m, nav range: 261.730713 m, bearing: 315.043331 deg, approach rate: -0.006639 m/s, LOS rate: 0.139385 deg/s, cmd heading: 228.558128 deg, new cmd heading: 228.706142 deg. 2025-01-08T21:36:55.066Z,1736372215.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.991675 target range: 513.299988 and range: 513.30 m. 2025-01-08T21:36:55.152Z,1736372215.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:55.153Z,1736372215.153 [DAT](INFO): DAT read: Rx Time:21:36:53.8690 2025-01-08T21:36:55.154Z,1736372215.154 [DAT](INFO): Rx dataTimestamp_ set to:1736372215.153518 2025-01-08T21:36:55.155Z,1736372215.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750407 2025-01-08T21:36:55.406Z,1736372215.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:55.407Z,1736372215.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.002398 2025-01-08T21:36:55.466Z,1736372215.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:55.475Z,1736372215.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.30 m. 2025-01-08T21:36:55.478Z,1736372215.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.299988 m, nav range: 261.727081 m, bearing: 315.102074 deg, approach rate: -0.008693 m/s, LOS rate: 0.140608 deg/s, cmd heading: 228.706139 deg, new cmd heading: 228.882369 deg. 2025-01-08T21:36:55.479Z,1736372215.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.994751 target range: 513.299988 and range: 513.30 m. 2025-01-08T21:36:55.656Z,1736372215.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:55.667Z,1736372215.667 [DAT](INFO): DAT read: 21:36:53.8690 LVL= 20848, 31729, 27714, 32755, AGC= 68, IDX= 441, 0.08,-1.214,-1.971, 3.006,-2.130, PHS= 1.004, 0.206,-1.150, RAW= 51.5, -0.6, CAL= 52.7, -3.3, ROT= 97.3, 3.3 2025-01-08T21:36:55.670Z,1736372215.670 [DAT](INFO): got valid direction response: 21:36:53.8690 LVL= 20848, 31729, 27714, 32755, AGC= 68, IDX= 441, 0.08,-1.214,-1.971, 3.006,-2.130, PHS= 1.004, 0.206,-1.150, RAW= 51.5, -0.6, CAL= 52.7, -3.3, ROT= 97.3, 3.3 2025-01-08T21:36:55.676Z,1736372215.676 [DAT](INFO): DAT read: Bearing 97.3, 3.3 (Local) 2025-01-08T21:36:55.677Z,1736372215.677 [DAT](INFO): Local bearing/azimuth received: Bearing 97.3, 3.3 (Local) 2025-01-08T21:36:55.687Z,1736372215.687 [DAT](INFO): DAT read: Range 10 to 50 : 513.0 m (Round-trip 684.0 ms) speed 0.1 m/s 2025-01-08T21:36:55.688Z,1736372215.688 [DAT](INFO): DAT read: user:1915> 2025-01-08T21:36:55.689Z,1736372215.689 [DAT](INFO): DAT read: Tx time:21:36:54.9792 2025-01-08T21:36:55.689Z,1736372215.689 [DAT](INFO): Ping request sent. 2025-01-08T21:36:55.689Z,1736372215.689 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:36:55.690Z,1736372215.690 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:36:55.691Z,1736372215.691 [DAT](INFO): direction in FSK: [0.000209,0.684556,0.728960] 2025-01-08T21:36:55.696Z,1736372215.696 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:55.696Z,1736372215.696 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:55.705Z,1736372215.705 [DAT](INFO): publishing transmit ping time 2025-01-08T21:36:55.705Z,1736372215.705 [DAT](INFO): publishing direction and range info 2025-01-08T21:36:55.876Z,1736372215.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:55.907Z,1736372215.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 513.000000 m, deltaT: 4.282772 s, deltaX: -0.299988 m, approachRate: -0.070045 m/s, rangeRepo size: 4 2025-01-08T21:36:55.908Z,1736372215.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:55.909Z,1736372215.909 [DAT](INFO): DAT read: TxSync time:21:36:54.9785 2025-01-08T21:36:55.913Z,1736372215.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 513.000000 m, bearing: 321.821161 deg, lat: 36.902480 deg, lon: -122.117175 deg, deltaT: 4.282772 s, deltaX: -0.299988 m, approachRate: -0.070045 m/s, posRepo size: 4 2025-01-08T21:36:55.915Z,1736372215.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:36:55.921Z,1736372215.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 261.829254 m, bearing: 315.180639 deg, approach rate: 0.000000 m/s, LOS rate: 0.140608 deg/s, cmd heading: 228.882371 deg, new cmd heading: 229.064396 deg. 2025-01-08T21:36:55.922Z,1736372215.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.997928 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:36:56.165Z,1736372216.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:56.240Z,1736372216.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:56.249Z,1736372216.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:36:56.252Z,1736372216.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 261.825623 m, bearing: 315.229907 deg, approach rate: -0.010607 m/s, LOS rate: 0.143902 deg/s, cmd heading: 229.064396 deg, new cmd heading: 229.212201 deg. 2025-01-08T21:36:56.253Z,1736372216.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.000507 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:36:56.416Z,1736372216.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:56.668Z,1736372216.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:56.700Z,1736372216.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:56.707Z,1736372216.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:56.713Z,1736372216.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:36:56.716Z,1736372216.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 261.818359 m, bearing: 315.291615 deg, approach rate: -0.015666 m/s, LOS rate: 0.133107 deg/s, cmd heading: 229.212187 deg, new cmd heading: 229.397318 deg. 2025-01-08T21:36:56.717Z,1736372216.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.003738 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:36:56.920Z,1736372216.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:56.920Z,1736372216.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:36:56.920Z,1736372216.920 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:36:56.920Z,1736372216.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:36:57.052Z,1736372217.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:57.060Z,1736372217.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:36:57.063Z,1736372217.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 261.812958 m, bearing: 315.338918 deg, approach rate: -0.015518 m/s, LOS rate: 0.135900 deg/s, cmd heading: 229.397313 deg, new cmd heading: 229.539224 deg. 2025-01-08T21:36:57.065Z,1736372217.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.006215 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:36:57.172Z,1736372217.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:57.173Z,1736372217.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483258 2025-01-08T21:36:57.426Z,1736372217.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:57.436Z,1736372217.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746383 2025-01-08T21:36:57.494Z,1736372217.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:57.506Z,1736372217.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:36:57.508Z,1736372217.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 261.799377 m, bearing: 315.401109 deg, approach rate: -0.030506 m/s, LOS rate: 0.139710 deg/s, cmd heading: 229.539217 deg, new cmd heading: 229.725797 deg. 2025-01-08T21:36:57.509Z,1736372217.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.009471 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:36:57.678Z,1736372217.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:57.679Z,1736372217.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989233 2025-01-08T21:36:57.861Z,1736372217.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:57.871Z,1736372217.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:36:57.874Z,1736372217.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 261.787659 m, bearing: 315.452715 deg, approach rate: -0.032047 m/s, LOS rate: 0.141131 deg/s, cmd heading: 229.725790 deg, new cmd heading: 229.880616 deg. 2025-01-08T21:36:57.875Z,1736372217.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.012174 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:36:57.928Z,1736372217.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:57.929Z,1736372217.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239863 2025-01-08T21:36:58.180Z,1736372218.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:58.181Z,1736372218.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491068 2025-01-08T21:36:58.259Z,1736372218.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:58.269Z,1736372218.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:36:58.272Z,1736372218.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 261.774353 m, bearing: 315.508678 deg, approach rate: -0.033462 m/s, LOS rate: 0.140746 deg/s, cmd heading: 229.880617 deg, new cmd heading: 230.048514 deg. 2025-01-08T21:36:58.273Z,1736372218.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.015104 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:36:58.434Z,1736372218.434 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:58.436Z,1736372218.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746274 2025-01-08T21:36:58.685Z,1736372218.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:58.686Z,1736372218.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996658 2025-01-08T21:36:58.732Z,1736372218.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:58.751Z,1736372218.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:36:58.757Z,1736372218.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:36:58.764Z,1736372218.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 261.751801 m, bearing: 315.575607 deg, approach rate: -0.046203 m/s, LOS rate: 0.137129 deg/s, cmd heading: 230.048503 deg, new cmd heading: 230.249308 deg. 2025-01-08T21:36:58.765Z,1736372218.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.018609 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:36:58.936Z,1736372218.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:58.936Z,1736372218.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247074 2025-01-08T21:36:59.071Z,1736372219.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:59.079Z,1736372219.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:36:59.083Z,1736372219.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 261.735016 m, bearing: 315.623445 deg, approach rate: -0.052116 m/s, LOS rate: 0.148544 deg/s, cmd heading: 230.249311 deg, new cmd heading: 230.392833 deg. 2025-01-08T21:36:59.084Z,1736372219.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.021113 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:36:59.189Z,1736372219.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:59.190Z,1736372219.190 [DAT](INFO): DAT read: Rx Time:21:36:58.0675 2025-01-08T21:36:59.190Z,1736372219.190 [DAT](INFO): Rx dataTimestamp_ set to:1736372219.190101 2025-01-08T21:36:59.191Z,1736372219.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501559 2025-01-08T21:36:59.441Z,1736372219.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:59.445Z,1736372219.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755106 2025-01-08T21:36:59.536Z,1736372219.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:59.544Z,1736372219.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:36:59.548Z,1736372219.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 261.696960 m, bearing: 315.692399 deg, approach rate: -0.081774 m/s, LOS rate: 0.148189 deg/s, cmd heading: 230.392827 deg, new cmd heading: 230.599716 deg. 2025-01-08T21:36:59.549Z,1736372219.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.024724 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:36:59.692Z,1736372219.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:59.693Z,1736372219.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.003993 2025-01-08T21:36:59.877Z,1736372219.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:36:59.886Z,1736372219.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:36:59.889Z,1736372219.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 261.668427 m, bearing: 315.743022 deg, approach rate: -0.083413 m/s, LOS rate: 0.148001 deg/s, cmd heading: 230.599727 deg, new cmd heading: 230.751611 deg. 2025-01-08T21:36:59.890Z,1736372219.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.027375 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:36:59.945Z,1736372219.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:36:59.955Z,1736372219.955 [DAT](INFO): DAT read: 21:36:58.0675 LVL= 25584, 32753, 25842, 32755, AGC= 67, IDX= 441,-0.30,-1.395,-2.064, 3.052,-2.124, PHS= 0.816, 0.107,-1.111, RAW= 51.3, 2.3, CAL= 51.0, 1.2, ROT= 99.0, -1.2 2025-01-08T21:36:59.957Z,1736372219.957 [DAT](INFO): got valid direction response: 21:36:58.0675 LVL= 25584, 32753, 25842, 32755, AGC= 67, IDX= 441,-0.30,-1.395,-2.064, 3.052,-2.124, PHS= 0.816, 0.107,-1.111, RAW= 51.3, 2.3, CAL= 51.0, 1.2, ROT= 99.0, -1.2 2025-01-08T21:36:59.958Z,1736372219.958 [DAT](INFO): DAT read: Bearing 99.0, -1.2 (Local) 2025-01-08T21:36:59.959Z,1736372219.959 [DAT](INFO): Local bearing/azimuth received: Bearing 99.0, -1.2 (Local) 2025-01-08T21:36:59.988Z,1736372219.988 [DAT](INFO): DAT read: Range 10 to 50 : 513.0 m (Round-trip 684.0 ms) speed -0.1 m/s 2025-01-08T21:36:59.989Z,1736372219.989 [DAT](INFO): DAT read: user:1916> 2025-01-08T21:36:59.990Z,1736372219.990 [DAT](INFO): DAT read: Tx time:21:36:59.1793 2025-01-08T21:36:59.990Z,1736372219.990 [DAT](INFO): Ping request sent. 2025-01-08T21:36:59.990Z,1736372219.990 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:00.000Z,1736372220.000 [DAT](INFO): DAT read: TxSync time:21:36:59.1786 2025-01-08T21:37:00.001Z,1736372220.001 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:00.007Z,1736372220.007 [DAT](INFO): direction in FSK: [-0.053278,0.688869,0.722925] 2025-01-08T21:37:00.008Z,1736372220.008 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:00.008Z,1736372220.008 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:00.011Z,1736372220.011 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:00.011Z,1736372220.011 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:00.196Z,1736372220.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:00.289Z,1736372220.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:00.303Z,1736372220.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 513.000000 m, deltaT: 4.288232 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T21:37:00.305Z,1736372220.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 513.000000 m, bearing: 328.722957 deg, lat: 36.902872 deg, lon: -122.117175 deg, deltaT: 4.288232 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T21:37:00.306Z,1736372220.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:37:00.309Z,1736372220.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 294.394012 m, bearing: 321.717730 deg, approach rate: 0.000000 m/s, LOS rate: 0.148001 deg/s, cmd heading: 230.751603 deg, new cmd heading: 230.936335 deg. 2025-01-08T21:37:00.310Z,1736372220.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.030600 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:37:00.450Z,1736372220.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:00.701Z,1736372220.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:00.734Z,1736372220.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:00.743Z,1736372220.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:37:00.746Z,1736372220.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 294.387482 m, bearing: 321.778999 deg, approach rate: -0.014839 m/s, LOS rate: 0.139220 deg/s, cmd heading: 230.936346 deg, new cmd heading: 231.120155 deg. 2025-01-08T21:37:00.747Z,1736372220.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.033808 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:37:00.952Z,1736372220.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:01.096Z,1736372221.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:01.104Z,1736372221.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:01.106Z,1736372221.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:37:01.122Z,1736372221.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 294.381958 m, bearing: 321.828700 deg, approach rate: -0.015218 m/s, LOS rate: 0.136931 deg/s, cmd heading: 231.120160 deg, new cmd heading: 231.269267 deg. 2025-01-08T21:37:01.124Z,1736372221.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.036410 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:37:01.204Z,1736372221.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:01.205Z,1736372221.205 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:01.205Z,1736372221.205 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:01.206Z,1736372221.206 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:01.458Z,1736372221.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:01.461Z,1736372221.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469878 2025-01-08T21:37:01.579Z,1736372221.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:01.593Z,1736372221.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:37:01.600Z,1736372221.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 294.372375 m, bearing: 321.892204 deg, approach rate: -0.019656 m/s, LOS rate: 0.130269 deg/s, cmd heading: 231.269276 deg, new cmd heading: 231.459794 deg. 2025-01-08T21:37:01.601Z,1736372221.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.039735 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:37:01.708Z,1736372221.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:01.708Z,1736372221.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718016 2025-01-08T21:37:01.905Z,1736372221.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:01.913Z,1736372221.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:37:01.917Z,1736372221.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 294.364807 m, bearing: 321.936770 deg, approach rate: -0.023641 m/s, LOS rate: 0.139210 deg/s, cmd heading: 231.459784 deg, new cmd heading: 231.593483 deg. 2025-01-08T21:37:01.918Z,1736372221.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.042069 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:37:01.960Z,1736372221.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:01.962Z,1736372221.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971073 2025-01-08T21:37:02.212Z,1736372222.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:02.212Z,1736372222.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221934 2025-01-08T21:37:02.308Z,1736372222.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:02.318Z,1736372222.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:37:02.320Z,1736372222.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 294.354736 m, bearing: 321.990617 deg, approach rate: -0.024908 m/s, LOS rate: 0.133186 deg/s, cmd heading: 231.593492 deg, new cmd heading: 231.755039 deg. 2025-01-08T21:37:02.321Z,1736372222.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.044888 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:37:02.466Z,1736372222.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:02.470Z,1736372222.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478963 2025-01-08T21:37:02.716Z,1736372222.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:02.717Z,1736372222.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726081 2025-01-08T21:37:02.746Z,1736372222.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:02.777Z,1736372222.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:37:02.786Z,1736372222.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 294.349670 m, bearing: 322.048849 deg, approach rate: -0.011022 m/s, LOS rate: 0.126693 deg/s, cmd heading: 231.755039 deg, new cmd heading: 231.929737 deg. 2025-01-08T21:37:02.792Z,1736372222.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.047937 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:37:02.968Z,1736372222.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:02.968Z,1736372222.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978008 2025-01-08T21:37:03.131Z,1736372223.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:03.138Z,1736372223.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:03.140Z,1736372223.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:37:03.143Z,1736372223.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 294.343231 m, bearing: 322.099883 deg, approach rate: -0.017724 m/s, LOS rate: 0.140477 deg/s, cmd heading: 231.929728 deg, new cmd heading: 232.082835 deg. 2025-01-08T21:37:03.144Z,1736372223.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.050610 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:37:03.220Z,1736372223.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:03.221Z,1736372223.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230270 2025-01-08T21:37:03.474Z,1736372223.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:03.476Z,1736372223.476 [DAT](INFO): DAT read: Rx Time:21:37:02.2674 2025-01-08T21:37:03.478Z,1736372223.478 [DAT](INFO): Rx dataTimestamp_ set to:1736372223.476856 2025-01-08T21:37:03.480Z,1736372223.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489279 2025-01-08T21:37:03.615Z,1736372223.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:03.665Z,1736372223.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.00 m. 2025-01-08T21:37:03.673Z,1736372223.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.000000 m, nav range: 294.335114 m, bearing: 322.162506 deg, approach rate: -0.015641 m/s, LOS rate: 0.120666 deg/s, cmd heading: 232.082834 deg, new cmd heading: 232.270706 deg. 2025-01-08T21:37:03.677Z,1736372223.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.053889 target range: 513.000000 and range: 513.00 m. 2025-01-08T21:37:03.724Z,1736372223.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:03.726Z,1736372223.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734957 2025-01-08T21:37:03.977Z,1736372223.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:03.985Z,1736372223.985 [DAT](INFO): DAT read: 21:37:02.2674 LVL= 17984, 31137, 27730, 32755, AGC= 71, IDX= 423, 0.40,-0.731,-1.237,-2.546,-1.413, PHS= 0.770, 0.223,-1.135, RAW= 46.2, 1.7, CAL= 45.6, 0.6, ROT= 104.4, -0.6 2025-01-08T21:37:03.986Z,1736372223.986 [DAT](INFO): got valid direction response: 21:37:02.2674 LVL= 17984, 31137, 27730, 32755, AGC= 71, IDX= 423, 0.40,-0.731,-1.237,-2.546,-1.413, PHS= 0.770, 0.223,-1.135, RAW= 46.2, 1.7, CAL= 45.6, 0.6, ROT= 104.4, -0.6 2025-01-08T21:37:03.988Z,1736372223.988 [DAT](INFO): DAT read: Bearing 104.4, -0.6 (Local) 2025-01-08T21:37:03.990Z,1736372223.990 [DAT](INFO): Local bearing/azimuth received: Bearing 104.4, -0.6 (Local) 2025-01-08T21:37:03.994Z,1736372223.994 [DAT](INFO): DAT read: Range 10 to 50 : 512.9 m (Round-trip 683.9 ms) speed 0.1 m/s 2025-01-08T21:37:03.994Z,1736372223.994 [DAT](INFO): DAT read: user:1917> 2025-01-08T21:37:03.995Z,1736372223.995 [DAT](INFO): DAT read: Tx time:21:37:03.3809 2025-01-08T21:37:03.996Z,1736372223.996 [DAT](INFO): Ping request sent. 2025-01-08T21:37:03.996Z,1736372223.996 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:03.996Z,1736372223.996 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:03.997Z,1736372223.997 [DAT](INFO): direction in FSK: [-0.032194,0.747279,0.663730] 2025-01-08T21:37:03.997Z,1736372223.997 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:03.998Z,1736372223.998 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:04.018Z,1736372224.018 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:04.018Z,1736372224.018 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:04.108Z,1736372224.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:04.142Z,1736372224.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 512.900024 m, deltaT: 4.032773 s, deltaX: -0.099976 m, approachRate: -0.024791 m/s, rangeRepo size: 4 2025-01-08T21:37:04.149Z,1736372224.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 512.900024 m, bearing: 328.163648 deg, lat: 36.902893 deg, lon: -122.117148 deg, deltaT: 4.032773 s, deltaX: -0.099976 m, approachRate: -0.024791 m/s, posRepo size: 4 2025-01-08T21:37:04.150Z,1736372224.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.90 m. 2025-01-08T21:37:04.161Z,1736372224.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.900024 m, nav range: 294.761749 m, bearing: 322.884462 deg, approach rate: 0.000000 m/s, LOS rate: 0.120666 deg/s, cmd heading: 232.270719 deg, new cmd heading: 232.445336 deg. 2025-01-08T21:37:04.162Z,1736372224.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.056936 target range: 512.900024 and range: 512.90 m. 2025-01-08T21:37:04.228Z,1736372224.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:04.229Z,1736372224.229 [DAT](INFO): DAT read: TxSync time:21:37:03.3801 2025-01-08T21:37:04.482Z,1736372224.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:04.590Z,1736372224.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:04.608Z,1736372224.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.90 m. 2025-01-08T21:37:04.610Z,1736372224.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.900024 m, nav range: 294.766113 m, bearing: 322.944826 deg, approach rate: 0.009453 m/s, LOS rate: 0.130753 deg/s, cmd heading: 232.445326 deg, new cmd heading: 232.626415 deg. 2025-01-08T21:37:04.616Z,1736372224.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.060097 target range: 512.900024 and range: 512.90 m. 2025-01-08T21:37:04.732Z,1736372224.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:04.901Z,1736372224.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:04.929Z,1736372224.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.90 m. 2025-01-08T21:37:04.932Z,1736372224.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.900024 m, nav range: 294.768616 m, bearing: 322.983749 deg, approach rate: 0.007697 m/s, LOS rate: 0.119720 deg/s, cmd heading: 232.626408 deg, new cmd heading: 232.743175 deg. 2025-01-08T21:37:04.933Z,1736372224.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.062135 target range: 512.900024 and range: 512.90 m. 2025-01-08T21:37:04.984Z,1736372224.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:05.236Z,1736372225.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:05.298Z,1736372225.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:05.305Z,1736372225.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:05.307Z,1736372225.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.90 m. 2025-01-08T21:37:05.310Z,1736372225.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.900024 m, nav range: 294.771851 m, bearing: 323.033429 deg, approach rate: 0.008548 m/s, LOS rate: 0.131276 deg/s, cmd heading: 232.743177 deg, new cmd heading: 232.892215 deg. 2025-01-08T21:37:05.311Z,1736372225.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.064736 target range: 512.900024 and range: 512.90 m. 2025-01-08T21:37:05.489Z,1736372225.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:05.492Z,1736372225.492 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:05.492Z,1736372225.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:05.493Z,1736372225.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:05.722Z,1736372225.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:05.731Z,1736372225.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.90 m. 2025-01-08T21:37:05.740Z,1736372225.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:05.740Z,1736372225.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744680 2025-01-08T21:37:05.754Z,1736372225.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.900024 m, nav range: 294.771606 m, bearing: 323.084840 deg, approach rate: -0.000576 m/s, LOS rate: 0.121311 deg/s, cmd heading: 232.892211 deg, new cmd heading: 233.046442 deg. 2025-01-08T21:37:05.755Z,1736372225.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.067428 target range: 512.900024 and range: 512.90 m. 2025-01-08T21:37:05.993Z,1736372225.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:05.994Z,1736372225.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998468 2025-01-08T21:37:06.104Z,1736372226.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:06.133Z,1736372226.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.90 m. 2025-01-08T21:37:06.136Z,1736372226.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.900024 m, nav range: 294.770233 m, bearing: 323.130991 deg, approach rate: -0.003416 m/s, LOS rate: 0.114814 deg/s, cmd heading: 233.046437 deg, new cmd heading: 233.184892 deg. 2025-01-08T21:37:06.137Z,1736372226.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.069844 target range: 512.900024 and range: 512.90 m. 2025-01-08T21:37:06.244Z,1736372226.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:06.245Z,1736372226.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249137 2025-01-08T21:37:06.497Z,1736372226.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:06.500Z,1736372226.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504131 2025-01-08T21:37:06.612Z,1736372226.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:06.634Z,1736372226.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.90 m. 2025-01-08T21:37:06.641Z,1736372226.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.900024 m, nav range: 294.764160 m, bearing: 323.191309 deg, approach rate: -0.012124 m/s, LOS rate: 0.120424 deg/s, cmd heading: 233.184899 deg, new cmd heading: 233.365854 deg. 2025-01-08T21:37:06.642Z,1736372226.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.073002 target range: 512.900024 and range: 512.90 m. 2025-01-08T21:37:06.749Z,1736372226.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:06.749Z,1736372226.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753691 2025-01-08T21:37:06.961Z,1736372226.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:06.970Z,1736372226.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.90 m. 2025-01-08T21:37:06.973Z,1736372226.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.900024 m, nav range: 294.759064 m, bearing: 323.232757 deg, approach rate: -0.015162 m/s, LOS rate: 0.123311 deg/s, cmd heading: 233.365844 deg, new cmd heading: 233.490191 deg. 2025-01-08T21:37:06.974Z,1736372226.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075172 target range: 512.900024 and range: 512.90 m. 2025-01-08T21:37:06.000Z,1736372227.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:07.001Z,1736372227.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004879 2025-01-08T21:37:07.252Z,1736372227.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:07.253Z,1736372227.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256868 2025-01-08T21:37:07.356Z,1736372227.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:07.363Z,1736372227.363 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:07.366Z,1736372227.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.90 m. 2025-01-08T21:37:07.369Z,1736372227.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.900024 m, nav range: 294.752472 m, bearing: 323.279761 deg, approach rate: -0.016623 m/s, LOS rate: 0.118533 deg/s, cmd heading: 233.490181 deg, new cmd heading: 233.631195 deg. 2025-01-08T21:37:07.370Z,1736372227.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077633 target range: 512.900024 and range: 512.90 m. 2025-01-08T21:37:07.504Z,1736372227.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:07.505Z,1736372227.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508905 2025-01-08T21:37:07.756Z,1736372227.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:07.757Z,1736372227.757 [DAT](INFO): DAT read: Rx Time:21:37:06.4684 2025-01-08T21:37:07.757Z,1736372227.757 [DAT](INFO): Rx dataTimestamp_ set to:1736372227.756695 2025-01-08T21:37:07.757Z,1736372227.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761876 2025-01-08T21:37:07.781Z,1736372227.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:07.789Z,1736372227.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.90 m. 2025-01-08T21:37:07.792Z,1736372227.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.900024 m, nav range: 294.743500 m, bearing: 323.330351 deg, approach rate: -0.021220 m/s, LOS rate: 0.119653 deg/s, cmd heading: 233.631183 deg, new cmd heading: 233.782958 deg. 2025-01-08T21:37:07.793Z,1736372227.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080282 target range: 512.900024 and range: 512.90 m. 2025-01-08T21:37:07.909Z,1736372227.909 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:37:08.008Z,1736372228.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:08.008Z,1736372228.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012778 2025-01-08T21:37:08.196Z,1736372228.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:08.208Z,1736372228.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.90 m. 2025-01-08T21:37:08.210Z,1736372228.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.900024 m, nav range: 294.734161 m, bearing: 323.379808 deg, approach rate: -0.022307 m/s, LOS rate: 0.118143 deg/s, cmd heading: 233.782950 deg, new cmd heading: 233.931325 deg. 2025-01-08T21:37:08.212Z,1736372228.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.082872 target range: 512.900024 and range: 512.90 m. 2025-01-08T21:37:08.260Z,1736372228.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:08.270Z,1736372228.270 [DAT](INFO): DAT read: 21:37:06.4684 LVL= 24816, 32753, 30226, 32755, AGC= 64, IDX= 434,-0.32, 2.836, 2.242, 0.920, 2.094, PHS= 0.830, 0.195,-1.177, RAW= 48.0, 1.7, CAL= 47.5, 0.5, ROT= 102.5, -0.5 2025-01-08T21:37:08.276Z,1736372228.276 [DAT](INFO): got valid direction response: 21:37:06.4684 LVL= 24816, 32753, 30226, 32755, AGC= 64, IDX= 434,-0.32, 2.836, 2.242, 0.920, 2.094, PHS= 0.830, 0.195,-1.177, RAW= 48.0, 1.7, CAL= 47.5, 0.5, ROT= 102.5, -0.5 2025-01-08T21:37:08.278Z,1736372228.278 [DAT](INFO): DAT read: Bearing 102.5, -0.5 (Local) 2025-01-08T21:37:08.278Z,1736372228.278 [DAT](INFO): Local bearing/azimuth received: Bearing 102.5, -0.5 (Local) 2025-01-08T21:37:08.292Z,1736372228.292 [DAT](INFO): DAT read: Range 10 to 50 : 512.4 m (Round-trip 683.3 ms) speed 0.0 m/s 2025-01-08T21:37:08.293Z,1736372228.293 [DAT](INFO): DAT read: user:1918> 2025-01-08T21:37:08.294Z,1736372228.294 [DAT](INFO): DAT read: Tx time:21:37:07.5793 2025-01-08T21:37:08.294Z,1736372228.294 [DAT](INFO): Ping request sent. 2025-01-08T21:37:08.294Z,1736372228.294 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:08.294Z,1736372228.294 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:08.301Z,1736372228.301 [DAT](INFO): direction in FSK: [-0.036747,0.726893,0.685767] 2025-01-08T21:37:08.301Z,1736372228.301 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:08.302Z,1736372228.302 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:08.310Z,1736372228.310 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:08.311Z,1736372228.311 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:08.512Z,1736372228.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:08.513Z,1736372228.513 [DAT](INFO): DAT read: TxSync time:21:37:07.5786 2025-01-08T21:37:08.703Z,1736372228.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:08.718Z,1736372228.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 512.400024 m, deltaT: 4.282776 s, deltaX: -0.500000 m, approachRate: -0.116747 m/s, rangeRepo size: 4 2025-01-08T21:37:08.737Z,1736372228.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 512.400024 m, bearing: 330.886324 deg, lat: 36.903091 deg, lon: -122.117119 deg, deltaT: 4.282776 s, deltaX: -0.500000 m, approachRate: -0.116747 m/s, posRepo size: 4 2025-01-08T21:37:08.737Z,1736372228.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.40 m. 2025-01-08T21:37:08.744Z,1736372228.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.400024 m, nav range: 311.207764 m, bearing: 326.245125 deg, approach rate: 0.000000 m/s, LOS rate: 0.118143 deg/s, cmd heading: 233.931329 deg, new cmd heading: 234.111973 deg. 2025-01-08T21:37:08.745Z,1736372228.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086025 target range: 512.400024 and range: 512.40 m. 2025-01-08T21:37:08.765Z,1736372228.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:08.912Z,1736372228.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:37:09.016Z,1736372229.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:09.017Z,1736372229.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:09.052Z,1736372229.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.40 m. 2025-01-08T21:37:09.054Z,1736372229.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.400024 m, nav range: 311.204315 m, bearing: 326.281295 deg, approach rate: -0.010451 m/s, LOS rate: 0.109614 deg/s, cmd heading: 234.111974 deg, new cmd heading: 234.220484 deg. 2025-01-08T21:37:09.060Z,1736372229.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.087919 target range: 512.400024 and range: 512.40 m. 2025-01-08T21:37:09.268Z,1736372229.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:09.417Z,1736372229.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:09.424Z,1736372229.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:09.426Z,1736372229.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.40 m. 2025-01-08T21:37:09.429Z,1736372229.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.400024 m, nav range: 311.199615 m, bearing: 326.327917 deg, approach rate: -0.012402 m/s, LOS rate: 0.123029 deg/s, cmd heading: 234.220492 deg, new cmd heading: 234.360359 deg. 2025-01-08T21:37:09.430Z,1736372229.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090360 target range: 512.400024 and range: 512.40 m. 2025-01-08T21:37:09.520Z,1736372229.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:09.520Z,1736372229.520 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:09.520Z,1736372229.520 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:09.521Z,1736372229.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:09.772Z,1736372229.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:09.772Z,1736372229.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478421 2025-01-08T21:37:09.876Z,1736372229.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:09.889Z,1736372229.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.40 m. 2025-01-08T21:37:09.892Z,1736372229.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.400024 m, nav range: 311.191345 m, bearing: 326.383113 deg, approach rate: -0.017881 m/s, LOS rate: 0.119343 deg/s, cmd heading: 234.360347 deg, new cmd heading: 234.525940 deg. 2025-01-08T21:37:09.893Z,1736372229.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093250 target range: 512.400024 and range: 512.40 m. 2025-01-08T21:37:10.025Z,1736372230.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:10.026Z,1736372230.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732093 2025-01-08T21:37:10.228Z,1736372230.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:10.238Z,1736372230.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.40 m. 2025-01-08T21:37:10.241Z,1736372230.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.400024 m, nav range: 311.184601 m, bearing: 326.425462 deg, approach rate: -0.019328 m/s, LOS rate: 0.121363 deg/s, cmd heading: 234.525938 deg, new cmd heading: 234.652987 deg. 2025-01-08T21:37:10.242Z,1736372230.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095467 target range: 512.400024 and range: 512.40 m. 2025-01-08T21:37:10.276Z,1736372230.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:10.277Z,1736372230.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983056 2025-01-08T21:37:10.529Z,1736372230.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:10.531Z,1736372230.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236419 2025-01-08T21:37:10.684Z,1736372230.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:10.716Z,1736372230.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.40 m. 2025-01-08T21:37:10.718Z,1736372230.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.400024 m, nav range: 311.175842 m, bearing: 326.480378 deg, approach rate: -0.018503 m/s, LOS rate: 0.116021 deg/s, cmd heading: 234.652979 deg, new cmd heading: 234.817733 deg. 2025-01-08T21:37:10.723Z,1736372230.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.098342 target range: 512.400024 and range: 512.40 m. 2025-01-08T21:37:10.781Z,1736372230.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:10.782Z,1736372230.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487964 2025-01-08T21:37:11.032Z,1736372231.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:11.033Z,1736372231.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739218 2025-01-08T21:37:11.038Z,1736372231.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:11.046Z,1736372231.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.40 m. 2025-01-08T21:37:11.049Z,1736372231.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.400024 m, nav range: 311.168915 m, bearing: 326.523217 deg, approach rate: -0.020695 m/s, LOS rate: 0.127978 deg/s, cmd heading: 234.817724 deg, new cmd heading: 234.946242 deg. 2025-01-08T21:37:11.050Z,1736372231.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.100585 target range: 512.400024 and range: 512.40 m. 2025-01-08T21:37:11.284Z,1736372231.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:11.285Z,1736372231.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991272 2025-01-08T21:37:11.440Z,1736372231.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:11.448Z,1736372231.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:11.450Z,1736372231.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.40 m. 2025-01-08T21:37:11.453Z,1736372231.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.400024 m, nav range: 311.160675 m, bearing: 326.571881 deg, approach rate: -0.020399 m/s, LOS rate: 0.120480 deg/s, cmd heading: 234.946240 deg, new cmd heading: 235.092236 deg. 2025-01-08T21:37:11.454Z,1736372231.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103134 target range: 512.400024 and range: 512.40 m. 2025-01-08T21:37:11.536Z,1736372231.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:11.537Z,1736372231.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243411 2025-01-08T21:37:11.788Z,1736372231.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:11.788Z,1736372231.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494485 2025-01-08T21:37:11.889Z,1736372231.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:11.900Z,1736372231.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.40 m. 2025-01-08T21:37:11.906Z,1736372231.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.400024 m, nav range: 311.155579 m, bearing: 326.626896 deg, approach rate: -0.011375 m/s, LOS rate: 0.122794 deg/s, cmd heading: 235.092243 deg, new cmd heading: 235.257289 deg. 2025-01-08T21:37:11.909Z,1736372231.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106014 target range: 512.400024 and range: 512.40 m. 2025-01-08T21:37:12.040Z,1736372232.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:12.041Z,1736372232.041 [DAT](INFO): DAT read: Rx Time:21:37:10.6767 2025-01-08T21:37:12.041Z,1736372232.041 [DAT](INFO): Rx dataTimestamp_ set to:1736372232.040743 2025-01-08T21:37:12.042Z,1736372232.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747619 2025-01-08T21:37:12.258Z,1736372232.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:12.286Z,1736372232.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.40 m. 2025-01-08T21:37:12.292Z,1736372232.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:12.293Z,1736372232.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.998688 2025-01-08T21:37:12.295Z,1736372232.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.400024 m, nav range: 311.151062 m, bearing: 326.672099 deg, approach rate: -0.011636 m/s, LOS rate: 0.116456 deg/s, cmd heading: 235.257287 deg, new cmd heading: 235.392897 deg. 2025-01-08T21:37:12.300Z,1736372232.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108381 target range: 512.400024 and range: 512.40 m. 2025-01-08T21:37:12.546Z,1736372232.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:12.557Z,1736372232.557 [DAT](INFO): DAT read: 21:37:10.6767 LVL= 12112, 21313, 12770, 20307, AGC= 71, IDX= 124, 0.36, 1.989, 1.086,-0.005, 0.670, PHS= 1.408, 0.463,-0.678, RAW= 56.9, -13.1, CAL= 67.4, -21.4, ROT= 82.6, 21.4 2025-01-08T21:37:12.631Z,1736372232.631 [DAT](INFO): got valid direction response: 21:37:10.6767 LVL= 12112, 21313, 12770, 20307, AGC= 71, IDX= 124, 0.36, 1.989, 1.086,-0.005, 0.670, PHS= 1.408, 0.463,-0.678, RAW= 56.9, -13.1, CAL= 67.4, -21.4, ROT= 82.6, 21.4 2025-01-08T21:37:12.644Z,1736372232.644 [DAT](INFO): DAT read: Bearing 82.6, 21.4 (Local) 2025-01-08T21:37:12.645Z,1736372232.645 [DAT](INFO): Local bearing/azimuth received: Bearing 82.6, 21.4 (Local) 2025-01-08T21:37:12.656Z,1736372232.656 [DAT](INFO): DAT read: Range 10 to 50 : 519.8 m (Round-trip 693.1 ms) speed 0.0 m/s 2025-01-08T21:37:12.658Z,1736372232.658 [DAT](INFO): DAT read: user:1919> 2025-01-08T21:37:12.659Z,1736372232.659 [DAT](INFO): DAT read: Tx time:21:37:11.7794 2025-01-08T21:37:12.668Z,1736372232.668 [DAT](INFO): Ping request sent. 2025-01-08T21:37:12.668Z,1736372232.668 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:12.669Z,1736372232.669 [DAT](INFO): DAT read: TxSync time:21:37:11.7787 2025-01-08T21:37:12.670Z,1736372232.670 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:12.684Z,1736372232.684 [DAT](INFO): direction in FSK: [0.219132,0.587075,0.779310] 2025-01-08T21:37:12.684Z,1736372232.684 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:12.684Z,1736372232.684 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:12.695Z,1736372232.695 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:12.696Z,1736372232.696 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:12.796Z,1736372232.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:12.822Z,1736372232.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:12.856Z,1736372232.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 519.799988 m, deltaT: 4.286353 s, deltaX: 7.399963 m, approachRate: 1.726401 m/s, rangeRepo size: 4 2025-01-08T21:37:12.858Z,1736372232.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 519.799988 m, bearing: 304.545134 deg, lat: 36.903091 deg, lon: -122.117119 deg, deltaT: 4.286353 s, deltaX: 7.399963 m, approachRate: 1.726401 m/s, posRepo size: 4 2025-01-08T21:37:12.859Z,1736372232.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.80 m. 2025-01-08T21:37:12.866Z,1736372232.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.799988 m, nav range: 311.151642 m, bearing: 326.742352 deg, approach rate: 0.000000 m/s, LOS rate: 0.116456 deg/s, cmd heading: 235.392907 deg, new cmd heading: 235.591775 deg. 2025-01-08T21:37:12.867Z,1736372232.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111852 target range: 519.799988 and range: 519.80 m. 2025-01-08T21:37:13.048Z,1736372233.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:13.170Z,1736372233.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:13.179Z,1736372233.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.80 m. 2025-01-08T21:37:13.182Z,1736372233.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.799988 m, nav range: 311.152222 m, bearing: 326.785704 deg, approach rate: 0.001794 m/s, LOS rate: 0.134095 deg/s, cmd heading: 235.591775 deg, new cmd heading: 235.721832 deg. 2025-01-08T21:37:13.184Z,1736372233.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.114122 target range: 519.799988 and range: 519.80 m. 2025-01-08T21:37:13.300Z,1736372233.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:13.552Z,1736372233.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:13.553Z,1736372233.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:13.560Z,1736372233.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:13.562Z,1736372233.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.80 m. 2025-01-08T21:37:13.566Z,1736372233.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.799988 m, nav range: 311.153717 m, bearing: 326.833128 deg, approach rate: 0.003900 m/s, LOS rate: 0.123692 deg/s, cmd heading: 235.721822 deg, new cmd heading: 235.864093 deg. 2025-01-08T21:37:13.567Z,1736372233.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.116605 target range: 519.799988 and range: 519.80 m. 2025-01-08T21:37:13.804Z,1736372233.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:13.805Z,1736372233.805 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:13.805Z,1736372233.805 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:13.805Z,1736372233.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:13.980Z,1736372233.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:13.993Z,1736372233.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.80 m. 2025-01-08T21:37:13.996Z,1736372233.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.799988 m, nav range: 311.161163 m, bearing: 326.884911 deg, approach rate: 0.017295 m/s, LOS rate: 0.120271 deg/s, cmd heading: 235.864081 deg, new cmd heading: 236.019425 deg. 2025-01-08T21:37:13.997Z,1736372233.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.119316 target range: 519.799988 and range: 519.80 m. 2025-01-08T21:37:14.056Z,1736372234.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:14.057Z,1736372234.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.390039 2025-01-08T21:37:14.308Z,1736372234.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:14.308Z,1736372234.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.640860 2025-01-08T21:37:14.361Z,1736372234.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:14.371Z,1736372234.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.80 m. 2025-01-08T21:37:14.373Z,1736372234.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.799988 m, nav range: 311.167297 m, bearing: 326.930959 deg, approach rate: 0.016223 m/s, LOS rate: 0.121787 deg/s, cmd heading: 236.019427 deg, new cmd heading: 236.157570 deg. 2025-01-08T21:37:14.374Z,1736372234.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.121727 target range: 519.799988 and range: 519.80 m. 2025-01-08T21:37:14.561Z,1736372234.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:14.562Z,1736372234.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.894323 2025-01-08T21:37:14.803Z,1736372234.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:14.812Z,1736372234.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:14.813Z,1736372234.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.145113 2025-01-08T21:37:14.813Z,1736372234.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.80 m. 2025-01-08T21:37:14.817Z,1736372234.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.799988 m, nav range: 311.177124 m, bearing: 326.983610 deg, approach rate: 0.022301 m/s, LOS rate: 0.119483 deg/s, cmd heading: 236.157561 deg, new cmd heading: 236.315508 deg. 2025-01-08T21:37:14.818Z,1736372234.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124484 target range: 519.799988 and range: 519.80 m. 2025-01-08T21:37:15.065Z,1736372235.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:15.067Z,1736372235.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.398906 2025-01-08T21:37:15.210Z,1736372235.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:15.219Z,1736372235.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.80 m. 2025-01-08T21:37:15.222Z,1736372235.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.799988 m, nav range: 311.184753 m, bearing: 327.032103 deg, approach rate: 0.018708 m/s, LOS rate: 0.118908 deg/s, cmd heading: 236.315502 deg, new cmd heading: 236.460977 deg. 2025-01-08T21:37:15.223Z,1736372235.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127023 target range: 519.799988 and range: 519.80 m. 2025-01-08T21:37:15.316Z,1736372235.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:15.317Z,1736372235.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.649994 2025-01-08T21:37:15.568Z,1736372235.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:15.568Z,1736372235.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.901036 2025-01-08T21:37:15.693Z,1736372235.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:15.717Z,1736372235.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:15.719Z,1736372235.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.80 m. 2025-01-08T21:37:15.726Z,1736372235.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.799988 m, nav range: 311.193237 m, bearing: 327.089631 deg, approach rate: 0.016978 m/s, LOS rate: 0.115119 deg/s, cmd heading: 236.460985 deg, new cmd heading: 236.633563 deg. 2025-01-08T21:37:15.727Z,1736372235.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130035 target range: 519.799988 and range: 519.80 m. 2025-01-08T21:37:15.820Z,1736372235.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:15.821Z,1736372235.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.153183 2025-01-08T21:37:16.073Z,1736372236.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:16.074Z,1736372236.074 [DAT](INFO): DAT read: Rx Time:21:37:14.8759 2025-01-08T21:37:16.075Z,1736372236.075 [DAT](INFO): Rx dataTimestamp_ set to:1736372236.074330 2025-01-08T21:37:16.076Z,1736372236.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.408513 2025-01-08T21:37:16.193Z,1736372236.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:16.202Z,1736372236.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.80 m. 2025-01-08T21:37:16.205Z,1736372236.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.799988 m, nav range: 311.202850 m, bearing: 327.149621 deg, approach rate: 0.019906 m/s, LOS rate: 0.124220 deg/s, cmd heading: 236.633570 deg, new cmd heading: 236.813536 deg. 2025-01-08T21:37:16.206Z,1736372236.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133176 target range: 519.799988 and range: 519.80 m. 2025-01-08T21:37:16.324Z,1736372236.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:16.324Z,1736372236.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.656950 2025-01-08T21:37:16.578Z,1736372236.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:16.591Z,1736372236.591 [DAT](INFO): DAT read: 21:37:14.8759 LVL= 18336, 24433, 22050, 26947, AGC= 71, IDX= 430,-0.08,-2.821, 2.879, 1.422, 2.598, PHS= 0.952, 0.328,-1.179, RAW= 46.5, -1.1, CAL= 47.3, -3.7, ROT= 102.7, 3.7 2025-01-08T21:37:16.592Z,1736372236.592 [DAT](INFO): got valid direction response: 21:37:14.8759 LVL= 18336, 24433, 22050, 26947, AGC= 71, IDX= 430,-0.08,-2.821, 2.879, 1.422, 2.598, PHS= 0.952, 0.328,-1.179, RAW= 46.5, -1.1, CAL= 47.3, -3.7, ROT= 102.7, 3.7 2025-01-08T21:37:16.593Z,1736372236.593 [DAT](INFO): DAT read: Bearing 102.7, 3.7 (Local) 2025-01-08T21:37:16.593Z,1736372236.593 [DAT](INFO): Local bearing/azimuth received: Bearing 102.7, 3.7 (Local) 2025-01-08T21:37:16.608Z,1736372236.608 [DAT](INFO): DAT read: Range 10 to 50 : 519.2 m (Round-trip 692.3 ms) speed 0.0 m/s 2025-01-08T21:37:16.609Z,1736372236.609 [DAT](INFO): DAT read: user:1920> 2025-01-08T21:37:16.610Z,1736372236.610 [DAT](INFO): DAT read: Tx time:21:37:15.9794 2025-01-08T21:37:16.610Z,1736372236.610 [DAT](INFO): Ping request sent. 2025-01-08T21:37:16.610Z,1736372236.610 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:16.610Z,1736372236.610 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:16.628Z,1736372236.628 [DAT](INFO): direction in FSK: [0.018499,0.740712,0.671568] 2025-01-08T21:37:16.628Z,1736372236.628 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:16.629Z,1736372236.629 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:16.656Z,1736372236.656 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:16.657Z,1736372236.657 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:16.824Z,1736372236.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:16.828Z,1736372236.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:16.829Z,1736372236.829 [DAT](INFO): DAT read: TxSync time:21:37:15.9787 2025-01-08T21:37:16.859Z,1736372236.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 519.200012 m, deltaT: 4.031235 s, deltaX: -0.599976 m, approachRate: -0.148832 m/s, rangeRepo size: 4 2025-01-08T21:37:16.866Z,1736372236.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 519.200012 m, bearing: 327.551687 deg, lat: 36.903258 deg, lon: -122.117119 deg, deltaT: 4.031235 s, deltaX: -0.599976 m, approachRate: -0.148832 m/s, posRepo size: 4 2025-01-08T21:37:16.866Z,1736372236.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.20 m. 2025-01-08T21:37:16.885Z,1736372236.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.200012 m, nav range: 326.972839 m, bearing: 328.986339 deg, approach rate: 0.000000 m/s, LOS rate: 0.124220 deg/s, cmd heading: 236.813532 deg, new cmd heading: 237.058049 deg. 2025-01-08T21:37:16.886Z,1736372236.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137444 target range: 519.200012 and range: 519.20 m. 2025-01-08T21:37:17.084Z,1736372237.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:17.162Z,1736372237.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:17.178Z,1736372237.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.20 m. 2025-01-08T21:37:17.185Z,1736372237.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.200012 m, nav range: 326.981110 m, bearing: 329.024645 deg, approach rate: 0.025826 m/s, LOS rate: 0.119617 deg/s, cmd heading: 237.058053 deg, new cmd heading: 237.172968 deg. 2025-01-08T21:37:17.186Z,1736372237.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139449 target range: 519.200012 and range: 519.20 m. 2025-01-08T21:37:17.336Z,1736372237.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:17.559Z,1736372237.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:17.569Z,1736372237.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.20 m. 2025-01-08T21:37:17.584Z,1736372237.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.200012 m, nav range: 326.990570 m, bearing: 329.069741 deg, approach rate: 0.024217 m/s, LOS rate: 0.115433 deg/s, cmd heading: 237.172964 deg, new cmd heading: 237.308248 deg. 2025-01-08T21:37:17.585Z,1736372237.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141810 target range: 519.200012 and range: 519.20 m. 2025-01-08T21:37:17.588Z,1736372237.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:17.840Z,1736372237.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:17.992Z,1736372237.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:18.002Z,1736372238.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:18.008Z,1736372238.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.20 m. 2025-01-08T21:37:18.012Z,1736372238.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.200012 m, nav range: 326.998108 m, bearing: 329.117894 deg, approach rate: 0.017214 m/s, LOS rate: 0.109964 deg/s, cmd heading: 237.308256 deg, new cmd heading: 237.452709 deg. 2025-01-08T21:37:18.013Z,1736372238.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144331 target range: 519.200012 and range: 519.20 m. 2025-01-08T21:37:18.093Z,1736372238.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:18.093Z,1736372238.093 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:18.093Z,1736372238.093 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:18.094Z,1736372238.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:18.344Z,1736372238.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:18.344Z,1736372238.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734101 2025-01-08T21:37:18.394Z,1736372238.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:18.428Z,1736372238.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.20 m. 2025-01-08T21:37:18.436Z,1736372238.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.200012 m, nav range: 327.005005 m, bearing: 329.162747 deg, approach rate: 0.016358 m/s, LOS rate: 0.106379 deg/s, cmd heading: 237.452701 deg, new cmd heading: 237.587258 deg. 2025-01-08T21:37:18.437Z,1736372238.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146680 target range: 519.200012 and range: 519.20 m. 2025-01-08T21:37:18.598Z,1736372238.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:18.599Z,1736372238.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988460 2025-01-08T21:37:18.786Z,1736372238.786 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 86.98, 73.39, 80.53 2025-01-08T21:37:18.794Z,1736372238.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:37:18.794Z,1736372238.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:18.804Z,1736372238.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.20 m. 2025-01-08T21:37:18.806Z,1736372238.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.200012 m, nav range: 327.011658 m, bearing: 329.207187 deg, approach rate: 0.017715 m/s, LOS rate: 0.118334 deg/s, cmd heading: 237.587256 deg, new cmd heading: 237.720573 deg. 2025-01-08T21:37:18.820Z,1736372238.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.149007 target range: 519.200012 and range: 519.20 m. 2025-01-08T21:37:18.850Z,1736372238.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:18.851Z,1736372238.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240285 2025-01-08T21:37:19.100Z,1736372239.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:19.101Z,1736372239.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490518 2025-01-08T21:37:19.192Z,1736372239.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:37:19.192Z,1736372239.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:19.201Z,1736372239.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.20 m. 2025-01-08T21:37:19.204Z,1736372239.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.200012 m, nav range: 327.018463 m, bearing: 329.251450 deg, approach rate: 0.017119 m/s, LOS rate: 0.111339 deg/s, cmd heading: 237.720581 deg, new cmd heading: 237.853367 deg. 2025-01-08T21:37:19.205Z,1736372239.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151324 target range: 519.200012 and range: 519.20 m. 2025-01-08T21:37:19.352Z,1736372239.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:19.353Z,1736372239.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742300 2025-01-08T21:37:19.581Z,1736372239.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:37:19.582Z,1736372239.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:19.591Z,1736372239.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.20 m. 2025-01-08T21:37:19.594Z,1736372239.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.200012 m, nav range: 327.023804 m, bearing: 329.294776 deg, approach rate: 0.013702 m/s, LOS rate: 0.111160 deg/s, cmd heading: 237.853360 deg, new cmd heading: 237.983335 deg. 2025-01-08T21:37:19.595Z,1736372239.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153593 target range: 519.200012 and range: 519.20 m. 2025-01-08T21:37:19.617Z,1736372239.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:19.618Z,1736372239.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007727 2025-01-08T21:37:19.868Z,1736372239.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:19.868Z,1736372239.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258235 2025-01-08T21:37:20.053Z,1736372240.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:20.076Z,1736372240.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:20.078Z,1736372240.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.20 m. 2025-01-08T21:37:20.092Z,1736372240.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.200012 m, nav range: 327.025330 m, bearing: 329.348978 deg, approach rate: 0.003133 m/s, LOS rate: 0.111282 deg/s, cmd heading: 237.983325 deg, new cmd heading: 238.145929 deg. 2025-01-08T21:37:20.093Z,1736372240.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156431 target range: 519.200012 and range: 519.20 m. 2025-01-08T21:37:20.120Z,1736372240.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:20.121Z,1736372240.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510417 2025-01-08T21:37:20.372Z,1736372240.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:20.373Z,1736372240.373 [DAT](INFO): DAT read: Rx Time:21:37:19.0653 2025-01-08T21:37:20.373Z,1736372240.373 [DAT](INFO): Rx dataTimestamp_ set to:1736372240.372691 2025-01-08T21:37:20.373Z,1736372240.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763299 2025-01-08T21:37:20.393Z,1736372240.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:20.419Z,1736372240.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.20 m. 2025-01-08T21:37:20.426Z,1736372240.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.200012 m, nav range: 327.025818 m, bearing: 329.388234 deg, approach rate: 0.001434 m/s, LOS rate: 0.115325 deg/s, cmd heading: 238.145938 deg, new cmd heading: 238.263706 deg. 2025-01-08T21:37:20.427Z,1736372240.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158486 target range: 519.200012 and range: 519.20 m. 2025-01-08T21:37:20.626Z,1736372240.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:20.626Z,1736372240.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015970 2025-01-08T21:37:20.816Z,1736372240.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:20.825Z,1736372240.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.20 m. 2025-01-08T21:37:20.828Z,1736372240.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.200012 m, nav range: 327.018341 m, bearing: 329.436645 deg, approach rate: -0.018393 m/s, LOS rate: 0.119099 deg/s, cmd heading: 238.263718 deg, new cmd heading: 238.408956 deg. 2025-01-08T21:37:20.829Z,1736372240.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161021 target range: 519.200012 and range: 519.20 m. 2025-01-08T21:37:20.876Z,1736372240.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:20.884Z,1736372240.884 [DAT](INFO): DAT read: 21:37:19.0653 LVL= 22512, 29681, 22066, 29747, AGC= 70, IDX= 441, 0.29, 2.018, 1.119, 0.105, 0.668, PHS= 1.438, 0.499,-0.566, RAW= 57.9, -15.6, CAL= 69.3, -23.9, ROT= 80.7, 23.9 2025-01-08T21:37:20.885Z,1736372240.885 [DAT](INFO): got valid direction response: 21:37:19.0653 LVL= 22512, 29681, 22066, 29747, AGC= 70, IDX= 441, 0.29, 2.018, 1.119, 0.105, 0.668, PHS= 1.438, 0.499,-0.566, RAW= 57.9, -15.6, CAL= 69.3, -23.9, ROT= 80.7, 23.9 2025-01-08T21:37:20.887Z,1736372240.887 [DAT](INFO): DAT read: Bearing 80.7, 23.9 (Local) 2025-01-08T21:37:20.888Z,1736372240.888 [DAT](INFO): Local bearing/azimuth received: Bearing 80.7, 23.9 (Local) 2025-01-08T21:37:20.890Z,1736372240.890 [DAT](INFO): DAT read: Range 10 to 50 : 511.2 m (Round-trip 681.7 ms) speed 0.0 m/s 2025-01-08T21:37:20.892Z,1736372240.892 [DAT](INFO): DAT read: user:1921> 2025-01-08T21:37:20.893Z,1736372240.893 [DAT](INFO): DAT read: Tx time:21:37:20.1794 2025-01-08T21:37:20.893Z,1736372240.893 [DAT](INFO): Ping request sent. 2025-01-08T21:37:20.893Z,1736372240.893 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:20.894Z,1736372240.894 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:20.896Z,1736372240.896 [DAT](INFO): direction in FSK: [0.261587,0.564549,0.782852] 2025-01-08T21:37:20.897Z,1736372240.897 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:20.897Z,1736372240.897 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:20.904Z,1736372240.904 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:20.904Z,1736372240.904 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:21.129Z,1736372241.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:21.130Z,1736372241.130 [DAT](INFO): DAT read: TxSync time:21:37:20.1787 2025-01-08T21:37:21.207Z,1736372241.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:21.222Z,1736372241.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 511.200012 m, deltaT: 4.298138 s, deltaX: -8.000000 m, approachRate: -1.861271 m/s, rangeRepo size: 4 2025-01-08T21:37:21.224Z,1736372241.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 511.200012 m, bearing: 299.975639 deg, lat: 36.903258 deg, lon: -122.117228 deg, deltaT: 4.298138 s, deltaX: -8.000000 m, approachRate: -1.861271 m/s, posRepo size: 4 2025-01-08T21:37:21.225Z,1736372241.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:37:21.228Z,1736372241.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 332.038605 m, bearing: 328.040185 deg, approach rate: 0.000000 m/s, LOS rate: 0.119099 deg/s, cmd heading: 238.408955 deg, new cmd heading: 238.550626 deg. 2025-01-08T21:37:21.229Z,1736372241.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163494 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:37:21.380Z,1736372241.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:21.601Z,1736372241.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:21.610Z,1736372241.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:37:21.613Z,1736372241.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 332.024445 m, bearing: 328.084573 deg, approach rate: -0.036459 m/s, LOS rate: 0.114291 deg/s, cmd heading: 238.550613 deg, new cmd heading: 238.683781 deg. 2025-01-08T21:37:21.614Z,1736372241.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165818 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:37:21.632Z,1736372241.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:21.884Z,1736372241.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:22.036Z,1736372242.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:22.046Z,1736372242.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:37:22.049Z,1736372242.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 332.010071 m, bearing: 328.133628 deg, approach rate: -0.032938 m/s, LOS rate: 0.112417 deg/s, cmd heading: 238.683775 deg, new cmd heading: 238.830946 deg. 2025-01-08T21:37:22.050Z,1736372242.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168386 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:37:22.136Z,1736372242.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:22.388Z,1736372242.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:22.408Z,1736372242.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:22.419Z,1736372242.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:22.421Z,1736372242.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:37:22.424Z,1736372242.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 331.997040 m, bearing: 328.175562 deg, approach rate: -0.034807 m/s, LOS rate: 0.112014 deg/s, cmd heading: 238.830952 deg, new cmd heading: 238.956758 deg. 2025-01-08T21:37:22.424Z,1736372242.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170582 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:37:22.640Z,1736372242.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:22.640Z,1736372242.640 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:22.640Z,1736372242.640 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:22.641Z,1736372242.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:22.845Z,1736372242.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:22.854Z,1736372242.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:37:22.857Z,1736372242.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 331.983063 m, bearing: 328.223188 deg, approach rate: -0.032280 m/s, LOS rate: 0.109997 deg/s, cmd heading: 238.956764 deg, new cmd heading: 239.099648 deg. 2025-01-08T21:37:22.858Z,1736372242.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173076 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:37:22.893Z,1736372242.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:22.896Z,1736372242.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001384 2025-01-08T21:37:23.144Z,1736372243.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:23.144Z,1736372243.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251051 2025-01-08T21:37:23.233Z,1736372243.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:23.249Z,1736372243.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:37:23.256Z,1736372243.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 331.969757 m, bearing: 328.265541 deg, approach rate: -0.033642 m/s, LOS rate: 0.107089 deg/s, cmd heading: 239.099651 deg, new cmd heading: 239.226714 deg. 2025-01-08T21:37:23.257Z,1736372243.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175294 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:37:23.396Z,1736372243.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:23.396Z,1736372243.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503162 2025-01-08T21:37:23.649Z,1736372243.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:23.650Z,1736372243.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757063 2025-01-08T21:37:23.696Z,1736372243.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:23.713Z,1736372243.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:37:23.721Z,1736372243.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 331.954132 m, bearing: 328.316082 deg, approach rate: -0.033681 m/s, LOS rate: 0.108951 deg/s, cmd heading: 239.226720 deg, new cmd heading: 239.378351 deg. 2025-01-08T21:37:23.722Z,1736372243.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177940 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:37:23.900Z,1736372243.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:23.901Z,1736372243.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007169 2025-01-08T21:37:24.095Z,1736372244.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:24.131Z,1736372244.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:37:24.134Z,1736372244.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 331.940735 m, bearing: 328.361222 deg, approach rate: -0.032355 m/s, LOS rate: 0.109018 deg/s, cmd heading: 239.378350 deg, new cmd heading: 239.513774 deg. 2025-01-08T21:37:24.135Z,1736372244.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180304 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:37:24.153Z,1736372244.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:24.154Z,1736372244.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260756 2025-01-08T21:37:24.404Z,1736372244.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:24.404Z,1736372244.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511030 2025-01-08T21:37:24.484Z,1736372244.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:24.491Z,1736372244.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:24.505Z,1736372244.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:37:24.514Z,1736372244.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 331.927338 m, bearing: 328.405266 deg, approach rate: -0.035455 m/s, LOS rate: 0.116566 deg/s, cmd heading: 239.513779 deg, new cmd heading: 239.645916 deg. 2025-01-08T21:37:24.520Z,1736372244.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182611 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:37:24.657Z,1736372244.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:24.658Z,1736372244.658 [DAT](INFO): DAT read: Rx Time:21:37:23.2753 2025-01-08T21:37:24.659Z,1736372244.659 [DAT](INFO): Rx dataTimestamp_ set to:1736372244.657893 2025-01-08T21:37:24.660Z,1736372244.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765751 2025-01-08T21:37:24.904Z,1736372244.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:24.910Z,1736372244.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:24.913Z,1736372244.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019276 2025-01-08T21:37:24.972Z,1736372244.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:37:24.989Z,1736372244.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 331.908905 m, bearing: 328.452410 deg, approach rate: -0.039933 m/s, LOS rate: 0.102141 deg/s, cmd heading: 239.645930 deg, new cmd heading: 239.787370 deg. 2025-01-08T21:37:24.990Z,1736372244.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.185079 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:37:25.160Z,1736372245.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:25.179Z,1736372245.179 [DAT](INFO): DAT read: 21:37:23.2753 LVL= 14128, 27281, 17842, 21235, AGC= 71, IDX= 39,-0.23, 1.289, 0.506,-0.788, 0.394, PHS= 0.983, 0.158,-1.186, RAW= 52.1, 0.5, CAL= 52.8, -1.7, ROT= 97.2, 1.7 2025-01-08T21:37:25.180Z,1736372245.180 [DAT](INFO): got valid direction response: 21:37:23.2753 LVL= 14128, 27281, 17842, 21235, AGC= 71, IDX= 39,-0.23, 1.289, 0.506,-0.788, 0.394, PHS= 0.983, 0.158,-1.186, RAW= 52.1, 0.5, CAL= 52.8, -1.7, ROT= 97.2, 1.7 2025-01-08T21:37:25.181Z,1736372245.181 [DAT](INFO): DAT read: Bearing 97.2, 1.7 (Local) 2025-01-08T21:37:25.181Z,1736372245.181 [DAT](INFO): Local bearing/azimuth received: Bearing 97.2, 1.7 (Local) 2025-01-08T21:37:25.183Z,1736372245.183 [DAT](INFO): DAT read: Range 10 to 50 : 518.7 m (Round-trip 691.6 ms) speed 0.0 m/s 2025-01-08T21:37:25.184Z,1736372245.184 [DAT](INFO): DAT read: user:1922> 2025-01-08T21:37:25.185Z,1736372245.185 [DAT](INFO): DAT read: Tx time:21:37:24.3795 2025-01-08T21:37:25.185Z,1736372245.185 [DAT](INFO): Ping request sent. 2025-01-08T21:37:25.185Z,1736372245.185 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:25.186Z,1736372245.186 [DAT](INFO): DAT read: TxSync time:21:37:24.3788 2025-01-08T21:37:25.186Z,1736372245.186 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:25.197Z,1736372245.197 [DAT](INFO): direction in FSK: [-0.022016,0.678005,0.734727] 2025-01-08T21:37:25.198Z,1736372245.198 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:25.198Z,1736372245.198 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:25.218Z,1736372245.218 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:25.218Z,1736372245.218 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:25.329Z,1736372245.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:25.378Z,1736372245.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 518.700012 m, deltaT: 4.284316 s, deltaX: 7.500000 m, approachRate: 1.750571 m/s, rangeRepo size: 4 2025-01-08T21:37:25.390Z,1736372245.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 518.700012 m, bearing: 333.413752 deg, lat: 36.903086 deg, lon: -122.117228 deg, deltaT: 4.284316 s, deltaX: 7.500000 m, approachRate: 1.750571 m/s, posRepo size: 4 2025-01-08T21:37:25.391Z,1736372245.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m. 2025-01-08T21:37:25.393Z,1736372245.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.700012 m, nav range: 315.683105 m, bearing: 326.679599 deg, approach rate: 0.000000 m/s, LOS rate: 0.102141 deg/s, cmd heading: 239.787369 deg, new cmd heading: 239.913294 deg. 2025-01-08T21:37:25.394Z,1736372245.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.187277 target range: 518.700012 and range: 518.70 m. 2025-01-08T21:37:25.412Z,1736372245.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:25.665Z,1736372245.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:25.712Z,1736372245.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:25.722Z,1736372245.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m. 2025-01-08T21:37:25.725Z,1736372245.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.700012 m, nav range: 315.657990 m, bearing: 326.724733 deg, approach rate: -0.072870 m/s, LOS rate: 0.130960 deg/s, cmd heading: 239.913291 deg, new cmd heading: 240.048703 deg. 2025-01-08T21:37:25.726Z,1736372245.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.189640 target range: 518.700012 and range: 518.70 m. 2025-01-08T21:37:25.916Z,1736372245.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:26.117Z,1736372246.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:26.148Z,1736372246.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m. 2025-01-08T21:37:26.156Z,1736372246.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.700012 m, nav range: 315.637756 m, bearing: 326.772378 deg, approach rate: -0.048045 m/s, LOS rate: 0.113144 deg/s, cmd heading: 240.048692 deg, new cmd heading: 240.191638 deg. 2025-01-08T21:37:26.157Z,1736372246.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192135 target range: 518.700012 and range: 518.70 m. 2025-01-08T21:37:26.168Z,1736372246.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:26.420Z,1736372246.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:26.506Z,1736372246.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:26.513Z,1736372246.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:26.516Z,1736372246.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m. 2025-01-08T21:37:26.519Z,1736372246.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.700012 m, nav range: 315.618561 m, bearing: 326.818275 deg, approach rate: -0.051477 m/s, LOS rate: 0.123089 deg/s, cmd heading: 240.191634 deg, new cmd heading: 240.329332 deg. 2025-01-08T21:37:26.520Z,1736372246.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194538 target range: 518.700012 and range: 518.70 m. 2025-01-08T21:37:26.672Z,1736372246.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:26.672Z,1736372246.672 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:26.673Z,1736372246.673 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:26.673Z,1736372246.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:26.924Z,1736372246.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:26.925Z,1736372246.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739160 2025-01-08T21:37:26.926Z,1736372246.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:26.965Z,1736372246.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m. 2025-01-08T21:37:26.972Z,1736372246.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.700012 m, nav range: 315.591766 m, bearing: 326.867316 deg, approach rate: -0.060458 m/s, LOS rate: 0.110664 deg/s, cmd heading: 240.329331 deg, new cmd heading: 240.476468 deg. 2025-01-08T21:37:26.973Z,1736372246.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197106 target range: 518.700012 and range: 518.70 m. 2025-01-08T21:37:27.176Z,1736372247.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:27.176Z,1736372247.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990937 2025-01-08T21:37:27.306Z,1736372247.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:27.316Z,1736372247.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m. 2025-01-08T21:37:27.318Z,1736372247.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.700012 m, nav range: 315.566925 m, bearing: 326.911674 deg, approach rate: -0.069710 m/s, LOS rate: 0.124487 deg/s, cmd heading: 240.476481 deg, new cmd heading: 240.609564 deg. 2025-01-08T21:37:27.320Z,1736372247.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199429 target range: 518.700012 and range: 518.70 m. 2025-01-08T21:37:27.429Z,1736372247.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:27.430Z,1736372247.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244890 2025-01-08T21:37:27.680Z,1736372247.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:27.681Z,1736372247.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495649 2025-01-08T21:37:27.749Z,1736372247.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:27.757Z,1736372247.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m. 2025-01-08T21:37:27.760Z,1736372247.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.700012 m, nav range: 315.537628 m, bearing: 326.963119 deg, approach rate: -0.066419 m/s, LOS rate: 0.116642 deg/s, cmd heading: 240.609560 deg, new cmd heading: 240.763910 deg. 2025-01-08T21:37:27.761Z,1736372247.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.202123 target range: 518.700012 and range: 518.70 m. 2025-01-08T21:37:27.932Z,1736372247.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:27.933Z,1736372247.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747200 2025-01-08T21:37:28.150Z,1736372248.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:28.159Z,1736372248.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m. 2025-01-08T21:37:28.161Z,1736372248.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.700012 m, nav range: 315.510223 m, bearing: 327.009498 deg, approach rate: -0.068225 m/s, LOS rate: 0.115470 deg/s, cmd heading: 240.763922 deg, new cmd heading: 240.903070 deg. 2025-01-08T21:37:28.162Z,1736372248.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.204552 target range: 518.700012 and range: 518.70 m. 2025-01-08T21:37:28.184Z,1736372248.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:28.186Z,1736372248.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000692 2025-01-08T21:37:28.436Z,1736372248.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:28.436Z,1736372248.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251122 2025-01-08T21:37:28.520Z,1736372248.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:28.526Z,1736372248.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:28.533Z,1736372248.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m. 2025-01-08T21:37:28.538Z,1736372248.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.700012 m, nav range: 315.484680 m, bearing: 327.052044 deg, approach rate: -0.068677 m/s, LOS rate: 0.114403 deg/s, cmd heading: 240.903067 deg, new cmd heading: 241.030717 deg. 2025-01-08T21:37:28.541Z,1736372248.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206779 target range: 518.700012 and range: 518.70 m. 2025-01-08T21:37:28.692Z,1736372248.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:28.693Z,1736372248.693 [DAT](INFO): DAT read: Rx Time:21:37:27.4641 2025-01-08T21:37:28.693Z,1736372248.693 [DAT](INFO): Rx dataTimestamp_ set to:1736372248.692812 2025-01-08T21:37:28.694Z,1736372248.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508270 2025-01-08T21:37:28.944Z,1736372248.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:28.945Z,1736372248.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759209 2025-01-08T21:37:28.973Z,1736372248.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:28.983Z,1736372248.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m. 2025-01-08T21:37:28.986Z,1736372248.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.700012 m, nav range: 315.453766 m, bearing: 327.103823 deg, approach rate: -0.068368 m/s, LOS rate: 0.114521 deg/s, cmd heading: 241.030710 deg, new cmd heading: 241.186060 deg. 2025-01-08T21:37:28.987Z,1736372248.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.209491 target range: 518.700012 and range: 518.70 m. 2025-01-08T21:37:29.196Z,1736372249.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:29.206Z,1736372249.206 [DAT](INFO): DAT read: 21:37:27.4641 LVL= 18016, 30193, 23026, 32755, AGC= 70, IDX= 435, 0.13,-2.493, 2.645, 1.789, 2.323, PHS= 1.555, 0.370,-0.537, RAW= 64.4, -15.1, CAL= 76.6, -23.5, ROT= 73.4, 23.5 2025-01-08T21:37:29.208Z,1736372249.208 [DAT](INFO): got valid direction response: 21:37:27.4641 LVL= 18016, 30193, 23026, 32755, AGC= 70, IDX= 435, 0.13,-2.493, 2.645, 1.789, 2.323, PHS= 1.555, 0.370,-0.537, RAW= 64.4, -15.1, CAL= 76.6, -23.5, ROT= 73.4, 23.5 2025-01-08T21:37:29.209Z,1736372249.209 [DAT](INFO): DAT read: Bearing 73.4, 23.5 (Local) 2025-01-08T21:37:29.209Z,1736372249.209 [DAT](INFO): Local bearing/azimuth received: Bearing 73.4, 23.5 (Local) 2025-01-08T21:37:29.211Z,1736372249.211 [DAT](INFO): DAT read: Range 10 to 50 : 510.3 m (Round-trip 680.4 ms) speed 0.1 m/s 2025-01-08T21:37:29.211Z,1736372249.211 [DAT](INFO): DAT read: user:1923> 2025-01-08T21:37:29.212Z,1736372249.212 [DAT](INFO): DAT read: Tx time:21:37:28.5795 2025-01-08T21:37:29.212Z,1736372249.212 [DAT](INFO): Ping request sent. 2025-01-08T21:37:29.213Z,1736372249.213 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:29.213Z,1736372249.213 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:29.214Z,1736372249.214 [DAT](INFO): direction in FSK: [0.241522,0.481739,0.842374] 2025-01-08T21:37:29.214Z,1736372249.214 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:29.214Z,1736372249.214 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:29.231Z,1736372249.231 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:29.232Z,1736372249.232 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:29.372Z,1736372249.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:29.406Z,1736372249.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 510.299988 m, deltaT: 4.035922 s, deltaX: -8.400024 m, approachRate: -2.081315 m/s, rangeRepo size: 4 2025-01-08T21:37:29.412Z,1736372249.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 510.299988 m, bearing: 298.202187 deg, lat: 36.902098 deg, lon: -122.117484 deg, deltaT: 4.035922 s, deltaX: -8.400024 m, approachRate: -2.081315 m/s, posRepo size: 4 2025-01-08T21:37:29.412Z,1736372249.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.30 m. 2025-01-08T21:37:29.420Z,1736372249.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.299988 m, nav range: 248.378967 m, bearing: 308.672775 deg, approach rate: 0.000000 m/s, LOS rate: 0.114521 deg/s, cmd heading: 241.186055 deg, new cmd heading: 241.331075 deg. 2025-01-08T21:37:29.421Z,1736372249.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212022 target range: 510.299988 and range: 510.30 m. 2025-01-08T21:37:29.449Z,1736372249.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:29.449Z,1736372249.449 [DAT](INFO): DAT read: TxSync time:21:37:28.5788 2025-01-08T21:37:29.700Z,1736372249.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:29.759Z,1736372249.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:29.768Z,1736372249.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.30 m. 2025-01-08T21:37:29.771Z,1736372249.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.299988 m, nav range: 248.276321 m, bearing: 308.723974 deg, approach rate: -0.282482 m/s, LOS rate: 0.140958 deg/s, cmd heading: 241.331074 deg, new cmd heading: 241.484734 deg. 2025-01-08T21:37:29.772Z,1736372249.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214704 target range: 510.299988 and range: 510.30 m. 2025-01-08T21:37:29.954Z,1736372249.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:30.166Z,1736372250.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:30.174Z,1736372250.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.30 m. 2025-01-08T21:37:30.177Z,1736372250.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.299988 m, nav range: 248.172195 m, bearing: 308.777915 deg, approach rate: -0.256406 m/s, LOS rate: 0.132885 deg/s, cmd heading: 241.484726 deg, new cmd heading: 241.646618 deg. 2025-01-08T21:37:30.178Z,1736372250.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217529 target range: 510.299988 and range: 510.30 m. 2025-01-08T21:37:30.205Z,1736372250.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:30.456Z,1736372250.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:30.561Z,1736372250.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:30.570Z,1736372250.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:30.572Z,1736372250.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.30 m. 2025-01-08T21:37:30.575Z,1736372250.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.299988 m, nav range: 248.075089 m, bearing: 308.828436 deg, approach rate: -0.244050 m/s, LOS rate: 0.127019 deg/s, cmd heading: 241.646629 deg, new cmd heading: 241.798250 deg. 2025-01-08T21:37:30.576Z,1736372250.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220176 target range: 510.299988 and range: 510.30 m. 2025-01-08T21:37:30.708Z,1736372250.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:30.708Z,1736372250.708 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:30.708Z,1736372250.708 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:30.709Z,1736372250.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:30.960Z,1736372250.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:30.960Z,1736372250.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747804 2025-01-08T21:37:30.979Z,1736372250.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:30.989Z,1736372250.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.30 m. 2025-01-08T21:37:30.991Z,1736372250.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.299988 m, nav range: 247.967804 m, bearing: 308.885760 deg, approach rate: -0.257639 m/s, LOS rate: 0.137720 deg/s, cmd heading: 241.798259 deg, new cmd heading: 241.970303 deg. 2025-01-08T21:37:30.992Z,1736372250.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223178 target range: 510.299988 and range: 510.30 m. 2025-01-08T21:37:31.212Z,1736372251.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:31.214Z,1736372251.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001000 2025-01-08T21:37:31.357Z,1736372251.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:31.367Z,1736372251.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.30 m. 2025-01-08T21:37:31.370Z,1736372251.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.299988 m, nav range: 247.873398 m, bearing: 308.935949 deg, approach rate: -0.249635 m/s, LOS rate: 0.132766 deg/s, cmd heading: 241.970298 deg, new cmd heading: 242.120924 deg. 2025-01-08T21:37:31.371Z,1736372251.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225807 target range: 510.299988 and range: 510.30 m. 2025-01-08T21:37:31.464Z,1736372251.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:31.465Z,1736372251.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252609 2025-01-08T21:37:31.716Z,1736372251.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:31.716Z,1736372251.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503695 2025-01-08T21:37:31.763Z,1736372251.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:31.785Z,1736372251.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.30 m. 2025-01-08T21:37:31.792Z,1736372251.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.299988 m, nav range: 247.771469 m, bearing: 308.989789 deg, approach rate: -0.243895 m/s, LOS rate: 0.128880 deg/s, cmd heading: 242.120917 deg, new cmd heading: 242.282501 deg. 2025-01-08T21:37:31.793Z,1736372251.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228627 target range: 510.299988 and range: 510.30 m. 2025-01-08T21:37:31.968Z,1736372251.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:31.968Z,1736372251.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755807 2025-01-08T21:37:32.196Z,1736372252.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:32.205Z,1736372252.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.30 m. 2025-01-08T21:37:32.220Z,1736372252.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:32.220Z,1736372252.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007865 2025-01-08T21:37:32.223Z,1736372252.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.299988 m, nav range: 247.668747 m, bearing: 309.046819 deg, approach rate: -0.244712 m/s, LOS rate: 0.135917 deg/s, cmd heading: 242.282492 deg, new cmd heading: 242.453652 deg. 2025-01-08T21:37:32.224Z,1736372252.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231615 target range: 510.299988 and range: 510.30 m. 2025-01-08T21:37:32.472Z,1736372252.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:32.472Z,1736372252.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259771 2025-01-08T21:37:32.563Z,1736372252.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:32.571Z,1736372252.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:32.573Z,1736372252.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.30 m. 2025-01-08T21:37:32.576Z,1736372252.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.299988 m, nav range: 247.580704 m, bearing: 309.095073 deg, approach rate: -0.239043 m/s, LOS rate: 0.131059 deg/s, cmd heading: 242.453657 deg, new cmd heading: 242.598470 deg. 2025-01-08T21:37:32.577Z,1736372252.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.234142 target range: 510.299988 and range: 510.30 m. 2025-01-08T21:37:32.724Z,1736372252.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:32.724Z,1736372252.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511781 2025-01-08T21:37:32.976Z,1736372252.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:32.977Z,1736372252.977 [DAT](INFO): DAT read: Rx Time:21:37:31.6630 2025-01-08T21:37:32.977Z,1736372252.977 [DAT](INFO): Rx dataTimestamp_ set to:1736372252.976733 2025-01-08T21:37:32.978Z,1736372252.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764931 2025-01-08T21:37:33.018Z,1736372253.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:33.041Z,1736372253.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.30 m. 2025-01-08T21:37:33.058Z,1736372253.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.299988 m, nav range: 247.473389 m, bearing: 309.153355 deg, approach rate: -0.229564 m/s, LOS rate: 0.124729 deg/s, cmd heading: 242.598457 deg, new cmd heading: 242.773378 deg. 2025-01-08T21:37:33.064Z,1736372253.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237195 target range: 510.299988 and range: 510.30 m. 2025-01-08T21:37:33.228Z,1736372253.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:33.228Z,1736372253.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015749 2025-01-08T21:37:33.402Z,1736372253.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:33.410Z,1736372253.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.30 m. 2025-01-08T21:37:33.413Z,1736372253.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.299988 m, nav range: 247.382584 m, bearing: 309.202399 deg, approach rate: -0.245444 m/s, LOS rate: 0.132614 deg/s, cmd heading: 242.773391 deg, new cmd heading: 242.920578 deg. 2025-01-08T21:37:33.415Z,1736372253.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.239764 target range: 510.299988 and range: 510.30 m. 2025-01-08T21:37:33.480Z,1736372253.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:33.488Z,1736372253.488 [DAT](INFO): DAT read: 21:37:31.6630 LVL= 17696, 24753, 22258, 26659, AGC= 68, IDX= 425, 0.26, 0.175,-0.612,-1.677,-0.543, PHS= 0.806,-0.022,-1.137, RAW= 55.1, 4.2, CAL= 54.7, 4.6, ROT= 95.3, -4.6 2025-01-08T21:37:33.489Z,1736372253.489 [DAT](INFO): got valid direction response: 21:37:31.6630 LVL= 17696, 24753, 22258, 26659, AGC= 68, IDX= 425, 0.26, 0.175,-0.612,-1.677,-0.543, PHS= 0.806,-0.022,-1.137, RAW= 55.1, 4.2, CAL= 54.7, 4.6, ROT= 95.3, -4.6 2025-01-08T21:37:33.491Z,1736372253.491 [DAT](INFO): DAT read: Bearing 95.3, -4.6 (Local) 2025-01-08T21:37:33.491Z,1736372253.491 [DAT](INFO): Local bearing/azimuth received: Bearing 95.3, -4.6 (Local) 2025-01-08T21:37:33.494Z,1736372253.494 [DAT](INFO): DAT read: Range 10 to 50 : 509.4 m (Round-trip 679.3 ms) speed 0.0 m/s 2025-01-08T21:37:33.495Z,1736372253.495 [DAT](INFO): DAT read: user:1924> 2025-01-08T21:37:33.496Z,1736372253.496 [DAT](INFO): DAT read: Tx time:21:37:32.7795 2025-01-08T21:37:33.497Z,1736372253.497 [DAT](INFO): Ping request sent. 2025-01-08T21:37:33.497Z,1736372253.497 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:33.498Z,1736372253.498 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:33.500Z,1736372253.500 [DAT](INFO): direction in FSK: [-0.097657,0.642715,0.759856] 2025-01-08T21:37:33.501Z,1736372253.501 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:33.501Z,1736372253.501 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:33.513Z,1736372253.513 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:33.513Z,1736372253.513 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:33.732Z,1736372253.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:33.733Z,1736372253.733 [DAT](INFO): DAT read: TxSync time:21:37:32.7788 2025-01-08T21:37:33.811Z,1736372253.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:33.826Z,1736372253.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 509.399994 m, deltaT: 4.283738 s, deltaX: -0.899994 m, approachRate: -0.210095 m/s, rangeRepo size: 4 2025-01-08T21:37:33.828Z,1736372253.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 509.399994 m, bearing: 342.950699 deg, lat: 36.903039 deg, lon: -122.117228 deg, deltaT: 4.283738 s, deltaX: -0.899994 m, approachRate: -0.210095 m/s, posRepo size: 4 2025-01-08T21:37:33.829Z,1736372253.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:37:33.832Z,1736372253.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 310.778320 m, bearing: 327.130004 deg, approach rate: 0.000000 m/s, LOS rate: 0.132614 deg/s, cmd heading: 242.920568 deg, new cmd heading: 243.085538 deg. 2025-01-08T21:37:33.833Z,1736372253.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.242643 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:37:33.984Z,1736372253.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:34.236Z,1736372254.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:34.328Z,1736372254.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:34.341Z,1736372254.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:37:34.343Z,1736372254.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 310.745361 m, bearing: 327.187797 deg, approach rate: -0.063927 m/s, LOS rate: 0.112106 deg/s, cmd heading: 243.085531 deg, new cmd heading: 243.258926 deg. 2025-01-08T21:37:34.344Z,1736372254.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.245669 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:37:34.488Z,1736372254.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:34.609Z,1736372254.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:34.617Z,1736372254.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:34.619Z,1736372254.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:37:34.625Z,1736372254.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 310.727295 m, bearing: 327.219291 deg, approach rate: -0.064919 m/s, LOS rate: 0.113178 deg/s, cmd heading: 243.258936 deg, new cmd heading: 243.353425 deg. 2025-01-08T21:37:34.626Z,1736372254.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247318 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:37:34.741Z,1736372254.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:34.742Z,1736372254.742 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:34.742Z,1736372254.742 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:34.742Z,1736372254.742 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:34.992Z,1736372254.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:34.992Z,1736372254.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495472 2025-01-08T21:37:35.060Z,1736372255.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:35.069Z,1736372255.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:37:35.088Z,1736372255.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 310.702606 m, bearing: 327.271046 deg, approach rate: -0.054840 m/s, LOS rate: 0.114971 deg/s, cmd heading: 243.353411 deg, new cmd heading: 243.508688 deg. 2025-01-08T21:37:35.089Z,1736372255.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250028 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:37:35.245Z,1736372255.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:35.246Z,1736372255.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748950 2025-01-08T21:37:35.423Z,1736372255.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:35.440Z,1736372255.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:37:35.442Z,1736372255.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 310.681213 m, bearing: 327.312824 deg, approach rate: -0.057683 m/s, LOS rate: 0.112656 deg/s, cmd heading: 243.508675 deg, new cmd heading: 243.634017 deg. 2025-01-08T21:37:35.448Z,1736372255.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252216 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:37:35.496Z,1736372255.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:35.497Z,1736372255.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999661 2025-01-08T21:37:35.749Z,1736372255.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:35.749Z,1736372255.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252312 2025-01-08T21:37:35.821Z,1736372255.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:35.830Z,1736372255.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:37:35.853Z,1736372255.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 310.657013 m, bearing: 327.358604 deg, approach rate: -0.062088 m/s, LOS rate: 0.117463 deg/s, cmd heading: 243.634022 deg, new cmd heading: 243.771375 deg. 2025-01-08T21:37:35.854Z,1736372255.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254613 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:37:36.002Z,1736372256.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:36.005Z,1736372256.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507684 2025-01-08T21:37:36.252Z,1736372256.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:36.252Z,1736372256.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755554 2025-01-08T21:37:36.259Z,1736372256.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:36.292Z,1736372256.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:37:36.294Z,1736372256.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 310.627411 m, bearing: 327.409993 deg, approach rate: -0.067612 m/s, LOS rate: 0.117384 deg/s, cmd heading: 243.771364 deg, new cmd heading: 243.925544 deg. 2025-01-08T21:37:36.300Z,1736372256.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257304 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:37:36.504Z,1736372256.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:36.504Z,1736372256.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007436 2025-01-08T21:37:36.624Z,1736372256.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:36.630Z,1736372256.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:36.633Z,1736372256.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:37:36.653Z,1736372256.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 310.601440 m, bearing: 327.452696 deg, approach rate: -0.070964 m/s, LOS rate: 0.116695 deg/s, cmd heading: 243.925535 deg, new cmd heading: 244.053655 deg. 2025-01-08T21:37:36.655Z,1736372256.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259540 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:37:36.756Z,1736372256.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:36.758Z,1736372256.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260512 2025-01-08T21:37:37.008Z,1736372257.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:37.009Z,1736372257.009 [DAT](INFO): DAT read: Rx Time:21:37:35.8628 2025-01-08T21:37:37.009Z,1736372257.009 [DAT](INFO): Rx dataTimestamp_ set to:1736372257.008737 2025-01-08T21:37:37.010Z,1736372257.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512645 2025-01-08T21:37:37.086Z,1736372257.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:37.094Z,1736372257.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:37:37.098Z,1736372257.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 310.564087 m, bearing: 327.509895 deg, approach rate: -0.081031 m/s, LOS rate: 0.124097 deg/s, cmd heading: 244.053642 deg, new cmd heading: 244.225258 deg. 2025-01-08T21:37:37.099Z,1736372257.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262535 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:37:37.260Z,1736372257.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:37.260Z,1736372257.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763451 2025-01-08T21:37:37.434Z,1736372257.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:37.449Z,1736372257.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.40 m. 2025-01-08T21:37:37.471Z,1736372257.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.399994 m, nav range: 310.535431 m, bearing: 327.552929 deg, approach rate: -0.080946 m/s, LOS rate: 0.121572 deg/s, cmd heading: 244.225271 deg, new cmd heading: 244.354386 deg. 2025-01-08T21:37:37.472Z,1736372257.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264789 target range: 509.399994 and range: 509.40 m. 2025-01-08T21:37:37.514Z,1736372257.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:37.517Z,1736372257.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019343 2025-01-08T21:37:37.764Z,1736372257.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:37.773Z,1736372257.773 [DAT](INFO): DAT read: 21:37:35.8628 LVL= 18400, 21457, 19618, 23699, AGC= 69, IDX= 437, 0.35, 1.425, 0.574,-0.724, 0.520, PHS= 0.993, 0.101,-1.247, RAW= 53.3, 1.6, CAL= 53.5, -0.2, ROT= 96.5, 0.2 2025-01-08T21:37:37.781Z,1736372257.781 [DAT](INFO): got valid direction response: 21:37:35.8628 LVL= 18400, 21457, 19618, 23699, AGC= 69, IDX= 437, 0.35, 1.425, 0.574,-0.724, 0.520, PHS= 0.993, 0.101,-1.247, RAW= 53.3, 1.6, CAL= 53.5, -0.2, ROT= 96.5, 0.2 2025-01-08T21:37:37.782Z,1736372257.782 [DAT](INFO): DAT read: Bearing 96.5, 0.2 (Local) 2025-01-08T21:37:37.782Z,1736372257.782 [DAT](INFO): Local bearing/azimuth received: Bearing 96.5, 0.2 (Local) 2025-01-08T21:37:37.784Z,1736372257.784 [DAT](INFO): DAT read: Range 10 to 50 : 509.3 m (Round-trip 679.1 ms) speed 0.1 m/s 2025-01-08T21:37:37.785Z,1736372257.785 [DAT](INFO): DAT read: user:1925> 2025-01-08T21:37:37.786Z,1736372257.786 [DAT](INFO): DAT read: Tx time:21:37:36.9796 2025-01-08T21:37:37.786Z,1736372257.786 [DAT](INFO): Ping request sent. 2025-01-08T21:37:37.786Z,1736372257.786 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:37.787Z,1736372257.787 [DAT](INFO): DAT read: TxSync time:21:37:36.9789 2025-01-08T21:37:37.788Z,1736372257.788 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:37.789Z,1736372257.789 [DAT](INFO): direction in FSK: [-0.044951,0.664668,0.745785] 2025-01-08T21:37:37.789Z,1736372257.789 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:37.789Z,1736372257.789 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:37.829Z,1736372257.829 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:37.829Z,1736372257.829 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:38.018Z,1736372258.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:38.093Z,1736372258.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:38.123Z,1736372258.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 509.299988 m, deltaT: 4.283996 s, deltaX: -0.100006 m, approachRate: -0.023344 m/s, rangeRepo size: 4 2025-01-08T21:37:38.126Z,1736372258.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 509.299988 m, bearing: 338.644207 deg, lat: 36.903038 deg, lon: -122.116762 deg, deltaT: 4.283996 s, deltaX: -0.100006 m, approachRate: -0.023344 m/s, posRepo size: 4 2025-01-08T21:37:38.126Z,1736372258.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.30 m. 2025-01-08T21:37:38.133Z,1736372258.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.299988 m, nav range: 290.376740 m, bearing: 334.547354 deg, approach rate: 0.000000 m/s, LOS rate: 0.121572 deg/s, cmd heading: 244.354389 deg, new cmd heading: 244.600085 deg. 2025-01-08T21:37:38.134Z,1736372258.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.269077 target range: 509.299988 and range: 509.30 m. 2025-01-08T21:37:38.268Z,1736372258.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:38.520Z,1736372258.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:38.555Z,1736372258.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:38.584Z,1736372258.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.30 m. 2025-01-08T21:37:38.586Z,1736372258.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.299988 m, nav range: 290.368622 m, bearing: 334.609995 deg, approach rate: -0.017756 m/s, LOS rate: 0.137024 deg/s, cmd heading: 244.600084 deg, new cmd heading: 244.788014 deg. 2025-01-08T21:37:38.591Z,1736372258.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272357 target range: 509.299988 and range: 509.30 m. 2025-01-08T21:37:38.773Z,1736372258.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:39.025Z,1736372259.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:39.044Z,1736372259.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:37:39.057Z,1736372259.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:39.065Z,1736372259.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:39.067Z,1736372259.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.30 m. 2025-01-08T21:37:39.070Z,1736372259.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.299988 m, nav range: 290.360168 m, bearing: 334.678133 deg, approach rate: -0.017329 m/s, LOS rate: 0.139681 deg/s, cmd heading: 244.788024 deg, new cmd heading: 244.992443 deg. 2025-01-08T21:37:39.071Z,1736372259.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275925 target range: 509.299988 and range: 509.30 m. 2025-01-08T21:37:39.276Z,1736372259.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:39.276Z,1736372259.276 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:39.276Z,1736372259.276 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:39.276Z,1736372259.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:39.414Z,1736372259.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:39.447Z,1736372259.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.30 m. 2025-01-08T21:37:39.455Z,1736372259.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.299988 m, nav range: 290.351196 m, bearing: 334.726763 deg, approach rate: -0.023908 m/s, LOS rate: 0.129585 deg/s, cmd heading: 244.992438 deg, new cmd heading: 245.138330 deg. 2025-01-08T21:37:39.456Z,1736372259.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278471 target range: 509.299988 and range: 509.30 m. 2025-01-08T21:37:39.529Z,1736372259.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:39.530Z,1736372259.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743186 2025-01-08T21:37:39.780Z,1736372259.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:39.780Z,1736372259.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993918 2025-01-08T21:37:39.845Z,1736372259.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:39.855Z,1736372259.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.30 m. 2025-01-08T21:37:39.872Z,1736372259.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.299988 m, nav range: 290.339508 m, bearing: 334.785298 deg, approach rate: -0.028330 m/s, LOS rate: 0.141885 deg/s, cmd heading: 245.138331 deg, new cmd heading: 245.313943 deg. 2025-01-08T21:37:39.873Z,1736372259.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281536 target range: 509.299988 and range: 509.30 m. 2025-01-08T21:37:40.036Z,1736372260.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:40.039Z,1736372260.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251695 2025-01-08T21:37:40.049Z,1736372260.049 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:37:40.212Z,1736372260.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:40.221Z,1736372260.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.30 m. 2025-01-08T21:37:40.224Z,1736372260.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.299988 m, nav range: 290.326752 m, bearing: 334.836217 deg, approach rate: -0.034803 m/s, LOS rate: 0.138927 deg/s, cmd heading: 245.313948 deg, new cmd heading: 245.466712 deg. 2025-01-08T21:37:40.225Z,1736372260.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284202 target range: 509.299988 and range: 509.30 m. 2025-01-08T21:37:40.285Z,1736372260.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:40.286Z,1736372260.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499004 2025-01-08T21:37:40.536Z,1736372260.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:40.536Z,1736372260.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750022 2025-01-08T21:37:40.601Z,1736372260.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:40.610Z,1736372260.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.30 m. 2025-01-08T21:37:40.613Z,1736372260.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.299988 m, nav range: 290.312805 m, bearing: 334.890248 deg, approach rate: -0.035912 m/s, LOS rate: 0.139133 deg/s, cmd heading: 245.466699 deg, new cmd heading: 245.628798 deg. 2025-01-08T21:37:40.614Z,1736372260.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287031 target range: 509.299988 and range: 509.30 m. 2025-01-08T21:37:40.788Z,1736372260.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:40.788Z,1736372260.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002019 2025-01-08T21:37:41.045Z,1736372261.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:41.048Z,1736372261.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261297 2025-01-08T21:37:41.071Z,1736372261.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:41.086Z,1736372261.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:41.099Z,1736372261.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.30 m. 2025-01-08T21:37:41.102Z,1736372261.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.299988 m, nav range: 290.296326 m, bearing: 334.955345 deg, approach rate: -0.034076 m/s, LOS rate: 0.134617 deg/s, cmd heading: 245.628793 deg, new cmd heading: 245.824095 deg. 2025-01-08T21:37:41.103Z,1736372261.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290440 target range: 509.299988 and range: 509.30 m. 2025-01-08T21:37:41.296Z,1736372261.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:41.296Z,1736372261.296 [DAT](INFO): DAT read: Rx Time:21:37:40.0617 2025-01-08T21:37:41.297Z,1736372261.297 [DAT](INFO): Rx dataTimestamp_ set to:1736372261.296622 2025-01-08T21:37:41.298Z,1736372261.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511830 2025-01-08T21:37:41.445Z,1736372261.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:41.458Z,1736372261.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.30 m. 2025-01-08T21:37:41.481Z,1736372261.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.299988 m, nav range: 290.282776 m, bearing: 335.006947 deg, approach rate: -0.037174 m/s, LOS rate: 0.141576 deg/s, cmd heading: 245.824082 deg, new cmd heading: 245.978894 deg. 2025-01-08T21:37:41.488Z,1736372261.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293141 target range: 509.299988 and range: 509.30 m. 2025-01-08T21:37:41.549Z,1736372261.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:41.550Z,1736372261.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763301 2025-01-08T21:37:41.800Z,1736372261.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:41.807Z,1736372261.807 [DAT](INFO): DAT read: 21:37:40.0617 LVL= 15408, 27057, 17330, 22867, AGC= 71, IDX= 426, 0.23,-0.794,-1.710,-2.738,-1.625, PHS= 0.919,-0.037,-1.115, RAW= 58.0, 2.7, CAL= 58.5, 1.4, ROT= 91.5, -1.4 2025-01-08T21:37:41.808Z,1736372261.808 [DAT](INFO): got valid direction response: 21:37:40.0617 LVL= 15408, 27057, 17330, 22867, AGC= 71, IDX= 426, 0.23,-0.794,-1.710,-2.738,-1.625, PHS= 0.919,-0.037,-1.115, RAW= 58.0, 2.7, CAL= 58.5, 1.4, ROT= 91.5, -1.4 2025-01-08T21:37:41.809Z,1736372261.809 [DAT](INFO): DAT read: Bearing 91.5, -1.4 (Local) 2025-01-08T21:37:41.809Z,1736372261.809 [DAT](INFO): Local bearing/azimuth received: Bearing 91.5, -1.4 (Local) 2025-01-08T21:37:41.811Z,1736372261.811 [DAT](INFO): DAT read: Range 10 to 50 : 508.4 m (Round-trip 677.9 ms) speed 0.2 m/s 2025-01-08T21:37:41.812Z,1736372261.812 [DAT](INFO): DAT read: user:1926> 2025-01-08T21:37:41.812Z,1736372261.812 [DAT](INFO): DAT read: Tx time:21:37:41.1796 2025-01-08T21:37:41.813Z,1736372261.813 [DAT](INFO): Ping request sent. 2025-01-08T21:37:41.813Z,1736372261.813 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:41.813Z,1736372261.813 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:41.815Z,1736372261.815 [DAT](INFO): direction in FSK: [-0.074911,0.605112,0.792608] 2025-01-08T21:37:41.816Z,1736372261.816 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:41.816Z,1736372261.816 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:41.819Z,1736372261.819 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:41.819Z,1736372261.819 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:41.875Z,1736372261.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:41.918Z,1736372261.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 508.399994 m, deltaT: 4.036091 s, deltaX: -0.899994 m, approachRate: -0.222987 m/s, rangeRepo size: 4 2025-01-08T21:37:41.924Z,1736372261.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 508.399994 m, bearing: 344.209529 deg, lat: 36.903038 deg, lon: -122.116511 deg, deltaT: 4.036091 s, deltaX: -0.899994 m, approachRate: -0.222987 m/s, posRepo size: 4 2025-01-08T21:37:41.925Z,1736372261.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m. 2025-01-08T21:37:41.932Z,1736372261.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.399994 m, nav range: 281.599945 m, bearing: 339.180141 deg, approach rate: 0.000000 m/s, LOS rate: 0.141576 deg/s, cmd heading: 245.978881 deg, new cmd heading: 246.173846 deg. 2025-01-08T21:37:41.933Z,1736372261.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296544 target range: 508.399994 and range: 508.40 m. 2025-01-08T21:37:42.055Z,1736372262.055 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:42.058Z,1736372262.058 [DAT](INFO): DAT read: TxSync time:21:37:41.1789 2025-01-08T21:37:42.300Z,1736372262.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:42.304Z,1736372262.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:42.317Z,1736372262.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m. 2025-01-08T21:37:42.324Z,1736372262.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.399994 m, nav range: 281.599457 m, bearing: 339.239544 deg, approach rate: -0.001220 m/s, LOS rate: 0.148470 deg/s, cmd heading: 246.173842 deg, new cmd heading: 246.352051 deg. 2025-01-08T21:37:42.325Z,1736372262.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299654 target range: 508.399994 and range: 508.40 m. 2025-01-08T21:37:42.556Z,1736372262.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:42.616Z,1736372262.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:42.625Z,1736372262.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m. 2025-01-08T21:37:42.628Z,1736372262.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.399994 m, nav range: 281.598938 m, bearing: 339.283657 deg, approach rate: -0.001685 m/s, LOS rate: 0.143262 deg/s, cmd heading: 246.352055 deg, new cmd heading: 246.484395 deg. 2025-01-08T21:37:42.629Z,1736372262.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301964 target range: 508.399994 and range: 508.40 m. 2025-01-08T21:37:42.808Z,1736372262.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:43.072Z,1736372263.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:43.104Z,1736372263.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:43.119Z,1736372263.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:43.125Z,1736372263.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m. 2025-01-08T21:37:43.133Z,1736372263.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.399994 m, nav range: 281.598450 m, bearing: 339.351698 deg, approach rate: -0.000977 m/s, LOS rate: 0.136125 deg/s, cmd heading: 246.484397 deg, new cmd heading: 246.688518 deg. 2025-01-08T21:37:43.134Z,1736372263.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305527 target range: 508.399994 and range: 508.40 m. 2025-01-08T21:37:43.316Z,1736372263.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:43.316Z,1736372263.316 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:43.316Z,1736372263.316 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:43.317Z,1736372263.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:43.477Z,1736372263.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:43.490Z,1736372263.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m. 2025-01-08T21:37:43.493Z,1736372263.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.399994 m, nav range: 281.597870 m, bearing: 339.401740 deg, approach rate: -0.001588 m/s, LOS rate: 0.137023 deg/s, cmd heading: 246.688510 deg, new cmd heading: 246.838635 deg. 2025-01-08T21:37:43.494Z,1736372263.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308147 target range: 508.399994 and range: 508.40 m. 2025-01-08T21:37:43.571Z,1736372263.571 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:43.573Z,1736372263.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759981 2025-01-08T21:37:43.824Z,1736372263.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:43.824Z,1736372263.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011536 2025-01-08T21:37:43.834Z,1736372263.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:43.842Z,1736372263.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m. 2025-01-08T21:37:43.845Z,1736372263.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.399994 m, nav range: 281.596252 m, bearing: 339.449387 deg, approach rate: -0.004592 m/s, LOS rate: 0.135262 deg/s, cmd heading: 246.838638 deg, new cmd heading: 246.981579 deg. 2025-01-08T21:37:43.846Z,1736372263.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310642 target range: 508.399994 and range: 508.40 m. 2025-01-08T21:37:44.078Z,1736372264.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:44.080Z,1736372264.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267198 2025-01-08T21:37:44.263Z,1736372264.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:44.289Z,1736372264.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m. 2025-01-08T21:37:44.296Z,1736372264.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.399994 m, nav range: 281.590179 m, bearing: 339.504393 deg, approach rate: -0.013600 m/s, LOS rate: 0.123186 deg/s, cmd heading: 246.981580 deg, new cmd heading: 247.146601 deg. 2025-01-08T21:37:44.297Z,1736372264.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313522 target range: 508.399994 and range: 508.40 m. 2025-01-08T21:37:44.329Z,1736372264.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:44.331Z,1736372264.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517982 2025-01-08T21:37:44.580Z,1736372264.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:44.580Z,1736372264.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767576 2025-01-08T21:37:44.640Z,1736372264.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:44.674Z,1736372264.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m. 2025-01-08T21:37:44.682Z,1736372264.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.399994 m, nav range: 281.584290 m, bearing: 339.552650 deg, approach rate: -0.015301 m/s, LOS rate: 0.125364 deg/s, cmd heading: 247.146598 deg, new cmd heading: 247.291372 deg. 2025-01-08T21:37:44.688Z,1736372264.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316049 target range: 508.399994 and range: 508.40 m. 2025-01-08T21:37:44.832Z,1736372264.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:44.833Z,1736372264.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020008 2025-01-08T21:37:45.046Z,1736372265.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:45.056Z,1736372265.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m. 2025-01-08T21:37:45.085Z,1736372265.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:45.088Z,1736372265.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274106 2025-01-08T21:37:45.096Z,1736372265.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.399994 m, nav range: 281.577576 m, bearing: 339.604698 deg, approach rate: -0.017576 m/s, LOS rate: 0.136256 deg/s, cmd heading: 247.291370 deg, new cmd heading: 247.447517 deg. 2025-01-08T21:37:45.106Z,1736372265.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318774 target range: 508.399994 and range: 508.40 m. 2025-01-08T21:37:45.336Z,1736372265.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:45.338Z,1736372265.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524399 2025-01-08T21:37:45.506Z,1736372265.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:45.513Z,1736372265.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:45.515Z,1736372265.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m. 2025-01-08T21:37:45.523Z,1736372265.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.399994 m, nav range: 281.573822 m, bearing: 339.659237 deg, approach rate: -0.008174 m/s, LOS rate: 0.118761 deg/s, cmd heading: 247.447508 deg, new cmd heading: 247.611128 deg. 2025-01-08T21:37:45.524Z,1736372265.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321630 target range: 508.399994 and range: 508.40 m. 2025-01-08T21:37:45.588Z,1736372265.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:45.589Z,1736372265.589 [DAT](INFO): DAT read: Rx Time:21:37:44.2603 2025-01-08T21:37:45.589Z,1736372265.589 [DAT](INFO): Rx dataTimestamp_ set to:1736372265.589155 2025-01-08T21:37:45.590Z,1736372265.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777227 2025-01-08T21:37:45.840Z,1736372265.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:45.840Z,1736372265.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027673 2025-01-08T21:37:45.855Z,1736372265.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:45.885Z,1736372265.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.40 m. 2025-01-08T21:37:45.888Z,1736372265.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.399994 m, nav range: 281.570221 m, bearing: 339.702887 deg, approach rate: -0.009740 m/s, LOS rate: 0.118059 deg/s, cmd heading: 247.611132 deg, new cmd heading: 247.742082 deg. 2025-01-08T21:37:45.889Z,1736372265.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323915 target range: 508.399994 and range: 508.40 m. 2025-01-08T21:37:46.093Z,1736372266.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:46.136Z,1736372266.136 [DAT](INFO): DAT read: 21:37:44.2603 LVL= 18224, 28305, 20594, 25875, AGC= 64, IDX= 427,-0.07,-2.240, 3.077, 2.327,-2.942, PHS= 0.790,-0.217,-1.017, RAW= 63.8, 5.7, CAL= 64.4, 6.9, ROT= 85.6, -6.9 2025-01-08T21:37:46.140Z,1736372266.140 [DAT](INFO): got valid direction response: 21:37:44.2603 LVL= 18224, 28305, 20594, 25875, AGC= 64, IDX= 427,-0.07,-2.240, 3.077, 2.327,-2.942, PHS= 0.790,-0.217,-1.017, RAW= 63.8, 5.7, CAL= 64.4, 6.9, ROT= 85.6, -6.9 2025-01-08T21:37:46.161Z,1736372266.161 [DAT](INFO): DAT read: Bearing 85.6, -6.9 (Local) 2025-01-08T21:37:46.162Z,1736372266.162 [DAT](INFO): Local bearing/azimuth received: Bearing 85.6, -6.9 (Local) 2025-01-08T21:37:46.164Z,1736372266.164 [DAT](INFO): DAT read: Range 10 to 50 : 507.3 m (Round-trip 676.4 ms) speed 0.2 m/s 2025-01-08T21:37:46.165Z,1736372266.165 [DAT](INFO): DAT read: user:1927> 2025-01-08T21:37:46.172Z,1736372266.172 [DAT](INFO): DAT read: Tx time:21:37:45.3797 2025-01-08T21:37:46.172Z,1736372266.172 [DAT](INFO): Ping request sent. 2025-01-08T21:37:46.172Z,1736372266.172 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:46.173Z,1736372266.173 [DAT](INFO): DAT read: TxSync time:21:37:45.3790 2025-01-08T21:37:46.173Z,1736372266.173 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:46.174Z,1736372266.174 [DAT](INFO): direction in FSK: [-0.142955,0.526868,0.837839] 2025-01-08T21:37:46.174Z,1736372266.174 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:46.175Z,1736372266.175 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:46.182Z,1736372266.182 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:46.183Z,1736372266.183 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:46.297Z,1736372266.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:37:46.297Z,1736372266.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:46.332Z,1736372266.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 507.299988 m, deltaT: 4.293697 s, deltaX: -1.100006 m, approachRate: -0.256191 m/s, rangeRepo size: 4 2025-01-08T21:37:46.334Z,1736372266.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 507.299988 m, bearing: 358.238469 deg, lat: 36.902829 deg, lon: -122.116231 deg, deltaT: 4.293697 s, deltaX: -1.100006 m, approachRate: -0.256191 m/s, posRepo size: 4 2025-01-08T21:37:46.334Z,1736372266.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.30 m. 2025-01-08T21:37:46.337Z,1736372266.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.299988 m, nav range: 251.574158 m, bearing: 343.255786 deg, approach rate: 0.000000 m/s, LOS rate: 0.118059 deg/s, cmd heading: 247.742081 deg, new cmd heading: 247.899327 deg. 2025-01-08T21:37:46.338Z,1736372266.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326660 target range: 507.299988 and range: 507.30 m. 2025-01-08T21:37:46.344Z,1736372266.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:46.597Z,1736372266.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:46.666Z,1736372266.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:37:46.667Z,1736372266.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:46.682Z,1736372266.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.30 m. 2025-01-08T21:37:46.685Z,1736372266.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.299988 m, nav range: 251.583298 m, bearing: 343.305961 deg, approach rate: 0.025932 m/s, LOS rate: 0.142352 deg/s, cmd heading: 247.899339 deg, new cmd heading: 248.049859 deg. 2025-01-08T21:37:46.686Z,1736372266.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329287 target range: 507.299988 and range: 507.30 m. 2025-01-08T21:37:46.848Z,1736372266.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:47.064Z,1736372267.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:37:47.064Z,1736372267.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:47.078Z,1736372267.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.30 m. 2025-01-08T21:37:47.102Z,1736372267.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:47.120Z,1736372267.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.299988 m, nav range: 251.592911 m, bearing: 343.359926 deg, approach rate: 0.024214 m/s, LOS rate: 0.135927 deg/s, cmd heading: 248.049849 deg, new cmd heading: 248.211736 deg. 2025-01-08T21:37:47.129Z,1736372267.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332112 target range: 507.299988 and range: 507.30 m. 2025-01-08T21:37:47.352Z,1736372267.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:47.530Z,1736372267.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:47.545Z,1736372267.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:47.547Z,1736372267.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.30 m. 2025-01-08T21:37:47.562Z,1736372267.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.299988 m, nav range: 251.613678 m, bearing: 343.418051 deg, approach rate: 0.044315 m/s, LOS rate: 0.124022 deg/s, cmd heading: 248.211725 deg, new cmd heading: 248.386085 deg. 2025-01-08T21:37:47.576Z,1736372267.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335155 target range: 507.299988 and range: 507.30 m. 2025-01-08T21:37:47.604Z,1736372267.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:47.604Z,1736372267.604 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:47.604Z,1736372267.604 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:47.605Z,1736372267.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:47.856Z,1736372267.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:47.856Z,1736372267.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.684438 2025-01-08T21:37:47.874Z,1736372267.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:47.883Z,1736372267.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.30 m. 2025-01-08T21:37:47.886Z,1736372267.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.299988 m, nav range: 251.628433 m, bearing: 343.460910 deg, approach rate: 0.043888 m/s, LOS rate: 0.127474 deg/s, cmd heading: 248.386086 deg, new cmd heading: 248.514657 deg. 2025-01-08T21:37:47.887Z,1736372267.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337399 target range: 507.299988 and range: 507.30 m. 2025-01-08T21:37:48.108Z,1736372268.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:48.108Z,1736372268.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.936455 2025-01-08T21:37:48.307Z,1736372268.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:48.333Z,1736372268.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.30 m. 2025-01-08T21:37:48.340Z,1736372268.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.299988 m, nav range: 251.649933 m, bearing: 343.514082 deg, approach rate: 0.047760 m/s, LOS rate: 0.118107 deg/s, cmd heading: 248.514657 deg, new cmd heading: 248.674158 deg. 2025-01-08T21:37:48.341Z,1736372268.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340183 target range: 507.299988 and range: 507.30 m. 2025-01-08T21:37:48.360Z,1736372268.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:48.360Z,1736372268.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.188440 2025-01-08T21:37:48.612Z,1736372268.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:48.612Z,1736372268.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440485 2025-01-08T21:37:48.739Z,1736372268.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:48.748Z,1736372268.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.30 m. 2025-01-08T21:37:48.751Z,1736372268.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.299988 m, nav range: 251.671570 m, bearing: 343.567046 deg, approach rate: 0.052223 m/s, LOS rate: 0.127823 deg/s, cmd heading: 248.674156 deg, new cmd heading: 248.833034 deg. 2025-01-08T21:37:48.768Z,1736372268.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342956 target range: 507.299988 and range: 507.30 m. 2025-01-08T21:37:48.865Z,1736372268.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:48.866Z,1736372268.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694171 2025-01-08T21:37:49.082Z,1736372269.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:49.092Z,1736372269.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.30 m. 2025-01-08T21:37:49.094Z,1736372269.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.299988 m, nav range: 251.686325 m, bearing: 343.609172 deg, approach rate: 0.042953 m/s, LOS rate: 0.122622 deg/s, cmd heading: 248.833026 deg, new cmd heading: 248.959394 deg. 2025-01-08T21:37:49.112Z,1736372269.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345161 target range: 507.299988 and range: 507.30 m. 2025-01-08T21:37:49.116Z,1736372269.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:49.119Z,1736372269.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945986 2025-01-08T21:37:49.370Z,1736372269.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:49.371Z,1736372269.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.199129 2025-01-08T21:37:49.506Z,1736372269.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:49.515Z,1736372269.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.30 m. 2025-01-08T21:37:49.518Z,1736372269.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.299988 m, nav range: 251.707977 m, bearing: 343.661006 deg, approach rate: 0.051071 m/s, LOS rate: 0.122250 deg/s, cmd heading: 248.959384 deg, new cmd heading: 249.114873 deg. 2025-01-08T21:37:49.519Z,1736372269.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347875 target range: 507.299988 and range: 507.30 m. 2025-01-08T21:37:49.623Z,1736372269.623 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:49.624Z,1736372269.624 [DAT](INFO): DAT read: Rx Time:21:37:48.4702 2025-01-08T21:37:49.624Z,1736372269.624 [DAT](INFO): Rx dataTimestamp_ set to:1736372269.623847 2025-01-08T21:37:49.625Z,1736372269.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.452691 2025-01-08T21:37:49.878Z,1736372269.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:49.879Z,1736372269.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.706838 2025-01-08T21:37:49.909Z,1736372269.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:49.917Z,1736372269.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:49.919Z,1736372269.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.30 m. 2025-01-08T21:37:49.922Z,1736372269.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.299988 m, nav range: 251.727554 m, bearing: 343.710373 deg, approach rate: 0.048439 m/s, LOS rate: 0.122139 deg/s, cmd heading: 249.114867 deg, new cmd heading: 249.262957 deg. 2025-01-08T21:37:49.923Z,1736372269.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350459 target range: 507.299988 and range: 507.30 m. 2025-01-08T21:37:50.134Z,1736372270.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:50.136Z,1736372270.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.964033 2025-01-08T21:37:50.325Z,1736372270.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:50.335Z,1736372270.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.30 m. 2025-01-08T21:37:50.337Z,1736372270.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.299988 m, nav range: 251.752762 m, bearing: 343.762622 deg, approach rate: 0.060681 m/s, LOS rate: 0.125764 deg/s, cmd heading: 249.262945 deg, new cmd heading: 249.419675 deg. 2025-01-08T21:37:50.338Z,1736372270.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353195 target range: 507.299988 and range: 507.30 m. 2025-01-08T21:37:50.384Z,1736372270.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:50.392Z,1736372270.392 [DAT](INFO): DAT read: 21:37:48.4702 LVL= 12608, 25553, 18642, 23187, AGC= 71, IDX= 32, 0.17, 1.261, 0.046,-0.585, 0.409, PHS= 0.941,-0.316,-0.997, RAW= 69.7, 4.4, CAL= 72.1, 3.7, ROT= 77.9, -3.7 2025-01-08T21:37:50.393Z,1736372270.393 [DAT](INFO): got valid direction response: 21:37:48.4702 LVL= 12608, 25553, 18642, 23187, AGC= 71, IDX= 32, 0.17, 1.261, 0.046,-0.585, 0.409, PHS= 0.941,-0.316,-0.997, RAW= 69.7, 4.4, CAL= 72.1, 3.7, ROT= 77.9, -3.7 2025-01-08T21:37:50.394Z,1736372270.394 [DAT](INFO): DAT read: Bearing 77.9, -3.7 (Local) 2025-01-08T21:37:50.394Z,1736372270.394 [DAT](INFO): Local bearing/azimuth received: Bearing 77.9, -3.7 (Local) 2025-01-08T21:37:50.396Z,1736372270.396 [DAT](INFO): DAT read: Range 10 to 50 : 514.7 m (Round-trip 686.3 ms) speed 0.2 m/s 2025-01-08T21:37:50.397Z,1736372270.397 [DAT](INFO): DAT read: user:1928> 2025-01-08T21:37:50.399Z,1736372270.399 [DAT](INFO): DAT read: Tx time:21:37:49.5797 2025-01-08T21:37:50.399Z,1736372270.399 [DAT](INFO): Ping request sent. 2025-01-08T21:37:50.412Z,1736372270.412 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:50.414Z,1736372270.414 [DAT](INFO): DAT read: TxSync time:21:37:49.5790 2025-01-08T21:37:50.423Z,1736372270.423 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:50.425Z,1736372270.425 [DAT](INFO): direction in FSK: [-0.130969,0.440190,0.888302] 2025-01-08T21:37:50.425Z,1736372270.425 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:50.426Z,1736372270.426 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:50.473Z,1736372270.473 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:50.474Z,1736372270.474 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:50.636Z,1736372270.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:50.713Z,1736372270.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:50.751Z,1736372270.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 514.700012 m, deltaT: 4.290185 s, deltaX: 7.400024 m, approachRate: 1.724873 m/s, rangeRepo size: 4 2025-01-08T21:37:50.762Z,1736372270.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 514.700012 m, bearing: 4.697894 deg, lat: 36.902829 deg, lon: -122.116149 deg, deltaT: 4.290185 s, deltaX: 7.400024 m, approachRate: 1.724873 m/s, posRepo size: 4 2025-01-08T21:37:50.762Z,1736372270.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.70 m. 2025-01-08T21:37:50.769Z,1736372270.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 514.700012 m, nav range: 249.839615 m, bearing: 345.417198 deg, approach rate: 0.000000 m/s, LOS rate: 0.125764 deg/s, cmd heading: 249.419684 deg, new cmd heading: 249.575077 deg. 2025-01-08T21:37:50.770Z,1736372270.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355907 target range: 514.700012 and range: 514.70 m. 2025-01-08T21:37:50.888Z,1736372270.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:51.136Z,1736372271.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:51.140Z,1736372271.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:51.146Z,1736372271.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.70 m. 2025-01-08T21:37:51.157Z,1736372271.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 514.700012 m, nav range: 249.869629 m, bearing: 345.470616 deg, approach rate: 0.075197 m/s, LOS rate: 0.133817 deg/s, cmd heading: 249.575085 deg, new cmd heading: 249.735319 deg. 2025-01-08T21:37:51.161Z,1736372271.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358704 target range: 514.700012 and range: 514.70 m. 2025-01-08T21:37:51.392Z,1736372271.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:51.561Z,1736372271.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:51.602Z,1736372271.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.70 m. 2025-01-08T21:37:51.613Z,1736372271.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 514.700012 m, nav range: 249.898010 m, bearing: 345.527631 deg, approach rate: 0.062162 m/s, LOS rate: 0.124863 deg/s, cmd heading: 249.735321 deg, new cmd heading: 249.906348 deg. 2025-01-08T21:37:51.614Z,1736372271.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361689 target range: 514.700012 and range: 514.70 m. 2025-01-08T21:37:51.645Z,1736372271.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:51.896Z,1736372271.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:51.946Z,1736372271.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:51.954Z,1736372271.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:51.972Z,1736372271.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.70 m. 2025-01-08T21:37:51.975Z,1736372271.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 514.700012 m, nav range: 249.922440 m, bearing: 345.579219 deg, approach rate: 0.066036 m/s, LOS rate: 0.139437 deg/s, cmd heading: 249.906349 deg, new cmd heading: 250.061098 deg. 2025-01-08T21:37:51.980Z,1736372271.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364389 target range: 514.700012 and range: 514.70 m. 2025-01-08T21:37:52.148Z,1736372272.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:52.149Z,1736372272.149 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:52.149Z,1736372272.149 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:52.149Z,1736372272.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:52.373Z,1736372272.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:52.382Z,1736372272.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.70 m. 2025-01-08T21:37:52.385Z,1736372272.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 514.700012 m, nav range: 249.943436 m, bearing: 345.640621 deg, approach rate: 0.051204 m/s, LOS rate: 0.149731 deg/s, cmd heading: 250.061094 deg, new cmd heading: 250.245282 deg. 2025-01-08T21:37:52.386Z,1736372272.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367604 target range: 514.700012 and range: 514.70 m. 2025-01-08T21:37:52.400Z,1736372272.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:52.400Z,1736372272.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001471 2025-01-08T21:37:52.652Z,1736372272.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:52.654Z,1736372272.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254476 2025-01-08T21:37:52.760Z,1736372272.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:52.769Z,1736372272.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.70 m. 2025-01-08T21:37:52.772Z,1736372272.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 514.700012 m, nav range: 249.961426 m, bearing: 345.696312 deg, approach rate: 0.046470 m/s, LOS rate: 0.143844 deg/s, cmd heading: 250.245290 deg, new cmd heading: 250.412351 deg. 2025-01-08T21:37:52.773Z,1736372272.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370520 target range: 514.700012 and range: 514.70 m. 2025-01-08T21:37:52.904Z,1736372272.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:52.904Z,1736372272.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505399 2025-01-08T21:37:53.156Z,1736372273.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:53.156Z,1736372273.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757389 2025-01-08T21:37:53.223Z,1736372273.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:53.261Z,1736372273.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.70 m. 2025-01-08T21:37:53.268Z,1736372273.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 514.700012 m, nav range: 249.981903 m, bearing: 345.762732 deg, approach rate: 0.041669 m/s, LOS rate: 0.135148 deg/s, cmd heading: 250.412357 deg, new cmd heading: 250.611601 deg. 2025-01-08T21:37:53.269Z,1736372273.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373998 target range: 514.700012 and range: 514.70 m. 2025-01-08T21:37:53.408Z,1736372273.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:53.408Z,1736372273.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009426 2025-01-08T21:37:53.604Z,1736372273.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:53.613Z,1736372273.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.70 m. 2025-01-08T21:37:53.619Z,1736372273.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 514.700012 m, nav range: 249.990494 m, bearing: 345.821929 deg, approach rate: 0.024404 m/s, LOS rate: 0.168157 deg/s, cmd heading: 250.611607 deg, new cmd heading: 250.789192 deg. 2025-01-08T21:37:53.623Z,1736372273.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377097 target range: 514.700012 and range: 514.70 m. 2025-01-08T21:37:53.660Z,1736372273.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:53.662Z,1736372273.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262128 2025-01-08T21:37:53.912Z,1736372273.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:53.913Z,1736372273.913 [DAT](INFO): DAT read: Rx Time:21:37:52.6691 2025-01-08T21:37:53.914Z,1736372273.914 [DAT](INFO): Rx dataTimestamp_ set to:1736372273.913673 2025-01-08T21:37:53.915Z,1736372273.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516086 2025-01-08T21:37:53.988Z,1736372273.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:53.995Z,1736372273.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:53.998Z,1736372273.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.70 m. 2025-01-08T21:37:54.001Z,1736372274.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 514.700012 m, nav range: 249.998444 m, bearing: 345.881392 deg, approach rate: 0.020671 m/s, LOS rate: 0.154612 deg/s, cmd heading: 250.789192 deg, new cmd heading: 250.967575 deg. 2025-01-08T21:37:54.002Z,1736372274.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380210 target range: 514.700012 and range: 514.70 m. 2025-01-08T21:37:54.164Z,1736372274.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:54.165Z,1736372274.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765811 2025-01-08T21:37:54.416Z,1736372274.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:54.422Z,1736372274.422 [DAT](INFO): DAT read: 21:37:52.6691 LVL= 21488, 28833, 18194, 23795, AGC= 67, IDX= 437,-0.21,-1.523,-2.893, 2.530, 2.901, PHS= 1.947, 0.536,-0.374, RAW= 67.1, -20.2, CAL= 80.7, -28.2, ROT= 69.3, 28.2 2025-01-08T21:37:54.424Z,1736372274.424 [DAT](INFO): got valid direction response: 21:37:52.6691 LVL= 21488, 28833, 18194, 23795, AGC= 67, IDX= 437,-0.21,-1.523,-2.893, 2.530, 2.901, PHS= 1.947, 0.536,-0.374, RAW= 67.1, -20.2, CAL= 80.7, -28.2, ROT= 69.3, 28.2 2025-01-08T21:37:54.425Z,1736372274.425 [DAT](INFO): DAT read: Bearing 69.3, 28.2 (Local) 2025-01-08T21:37:54.425Z,1736372274.425 [DAT](INFO): Local bearing/azimuth received: Bearing 69.3, 28.2 (Local) 2025-01-08T21:37:54.426Z,1736372274.426 [DAT](INFO): DAT read: Range 10 to 50 : 513.9 m (Round-trip 685.2 ms) speed 0.1 m/s 2025-01-08T21:37:54.428Z,1736372274.428 [DAT](INFO): DAT read: user:1929> 2025-01-08T21:37:54.428Z,1736372274.428 [DAT](INFO): DAT read: Tx time:21:37:53.7797 2025-01-08T21:37:54.429Z,1736372274.429 [DAT](INFO): Ping request sent. 2025-01-08T21:37:54.429Z,1736372274.429 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:37:54.429Z,1736372274.429 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:37:54.430Z,1736372274.430 [DAT](INFO): direction in FSK: [0.327577,0.425013,0.843835] 2025-01-08T21:37:54.430Z,1736372274.430 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:54.431Z,1736372274.431 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:54.434Z,1736372274.434 [DAT](INFO): publishing transmit ping time 2025-01-08T21:37:54.434Z,1736372274.434 [DAT](INFO): publishing direction and range info 2025-01-08T21:37:54.444Z,1736372274.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:54.523Z,1736372274.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 513.900024 m, deltaT: 4.031939 s, deltaX: -0.799988 m, approachRate: -0.198413 m/s, rangeRepo size: 4 2025-01-08T21:37:54.529Z,1736372274.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 513.900024 m, bearing: 296.109817 deg, lat: 36.902609 deg, lon: -122.116149 deg, deltaT: 4.031939 s, deltaX: -0.799988 m, approachRate: -0.198413 m/s, posRepo size: 4 2025-01-08T21:37:54.530Z,1736372274.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:54.537Z,1736372274.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.380219 m, bearing: 344.458488 deg, approach rate: 0.000000 m/s, LOS rate: 0.154612 deg/s, cmd heading: 250.967569 deg, new cmd heading: 251.211031 deg. 2025-01-08T21:37:54.538Z,1736372274.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.384459 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:54.668Z,1736372274.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:54.670Z,1736372274.670 [DAT](INFO): DAT read: TxSync time:21:37:53.7790 2025-01-08T21:37:54.841Z,1736372274.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:54.858Z,1736372274.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:54.866Z,1736372274.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.377853 m, bearing: 344.533243 deg, approach rate: -0.007034 m/s, LOS rate: 0.222318 deg/s, cmd heading: 251.211025 deg, new cmd heading: 251.435290 deg. 2025-01-08T21:37:54.871Z,1736372274.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388374 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:54.920Z,1736372274.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:55.172Z,1736372275.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:55.288Z,1736372275.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:55.306Z,1736372275.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:55.313Z,1736372275.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.376007 m, bearing: 344.617132 deg, approach rate: -0.004131 m/s, LOS rate: 0.187689 deg/s, cmd heading: 251.435301 deg, new cmd heading: 251.686968 deg. 2025-01-08T21:37:55.314Z,1736372275.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.392766 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:55.424Z,1736372275.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:55.684Z,1736372275.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:55.691Z,1736372275.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:55.709Z,1736372275.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:55.712Z,1736372275.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.361481 m, bearing: 344.697595 deg, approach rate: -0.036001 m/s, LOS rate: 0.199425 deg/s, cmd heading: 251.686979 deg, new cmd heading: 251.928382 deg. 2025-01-08T21:37:55.713Z,1736372275.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396980 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:55.936Z,1736372275.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:56.036Z,1736372276.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:56.047Z,1736372276.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:56.053Z,1736372276.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:56.060Z,1736372276.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.350632 m, bearing: 344.766388 deg, approach rate: -0.031524 m/s, LOS rate: 0.199902 deg/s, cmd heading: 251.928386 deg, new cmd heading: 252.134773 deg. 2025-01-08T21:37:56.061Z,1736372276.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400582 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:56.188Z,1736372276.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:56.188Z,1736372276.188 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:56.188Z,1736372276.188 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:56.189Z,1736372276.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:37:56.440Z,1736372276.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:56.441Z,1736372276.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011751 2025-01-08T21:37:56.478Z,1736372276.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:56.493Z,1736372276.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:56.496Z,1736372276.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.336365 m, bearing: 344.857094 deg, approach rate: -0.032401 m/s, LOS rate: 0.206010 deg/s, cmd heading: 252.134767 deg, new cmd heading: 252.406899 deg. 2025-01-08T21:37:56.497Z,1736372276.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405332 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:56.692Z,1736372276.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:56.692Z,1736372276.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263469 2025-01-08T21:37:56.837Z,1736372276.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:56.866Z,1736372276.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:56.869Z,1736372276.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.326126 m, bearing: 344.930801 deg, approach rate: -0.027484 m/s, LOS rate: 0.197863 deg/s, cmd heading: 252.406909 deg, new cmd heading: 252.628038 deg. 2025-01-08T21:37:56.870Z,1736372276.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409191 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:56.945Z,1736372276.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:56.946Z,1736372276.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516868 2025-01-08T21:37:57.196Z,1736372277.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:57.196Z,1736372277.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767535 2025-01-08T21:37:57.306Z,1736372277.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:57.330Z,1736372277.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:57.333Z,1736372277.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.313293 m, bearing: 345.027138 deg, approach rate: -0.027667 m/s, LOS rate: 0.207713 deg/s, cmd heading: 252.628043 deg, new cmd heading: 252.917070 deg. 2025-01-08T21:37:57.334Z,1736372277.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.414236 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:57.448Z,1736372277.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:57.449Z,1736372277.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020255 2025-01-08T21:37:57.700Z,1736372277.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:57.702Z,1736372277.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273039 2025-01-08T21:37:57.708Z,1736372277.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:57.717Z,1736372277.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:57.720Z,1736372277.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.304626 m, bearing: 345.108169 deg, approach rate: -0.022386 m/s, LOS rate: 0.209306 deg/s, cmd heading: 252.917069 deg, new cmd heading: 253.160170 deg. 2025-01-08T21:37:57.721Z,1736372277.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418478 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:57.952Z,1736372277.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:57.952Z,1736372277.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523605 2025-01-08T21:37:58.052Z,1736372278.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:58.059Z,1736372278.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:37:58.062Z,1736372278.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:58.083Z,1736372278.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.298279 m, bearing: 345.177478 deg, approach rate: -0.018399 m/s, LOS rate: 0.200900 deg/s, cmd heading: 253.160169 deg, new cmd heading: 253.368100 deg. 2025-01-08T21:37:58.088Z,1736372278.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422108 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:58.204Z,1736372278.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:58.205Z,1736372278.205 [DAT](INFO): DAT read: Rx Time:21:37:56.8672 2025-01-08T21:37:58.205Z,1736372278.205 [DAT](INFO): Rx dataTimestamp_ set to:1736372278.204852 2025-01-08T21:37:58.206Z,1736372278.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776796 2025-01-08T21:37:58.456Z,1736372278.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:58.457Z,1736372278.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027716 2025-01-08T21:37:58.478Z,1736372278.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:58.509Z,1736372278.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:58.528Z,1736372278.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.297913 m, bearing: 345.258303 deg, approach rate: -0.000860 m/s, LOS rate: 0.189916 deg/s, cmd heading: 253.368108 deg, new cmd heading: 253.610582 deg. 2025-01-08T21:37:58.535Z,1736372278.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.426340 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:58.708Z,1736372278.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:58.721Z,1736372278.721 [DAT](INFO): DAT read: 21:37:56.8672 LVL= 16368, 23441, 18914, 24131, AGC= 65, IDX= 417, 0.36, 0.484,-0.737,-1.236,-0.355, PHS= 0.927,-0.334,-0.884, RAW= 72.8, 3.7, CAL= 75.9, 1.8, ROT= 74.1, -1.8 2025-01-08T21:37:58.722Z,1736372278.722 [DAT](INFO): got valid direction response: 21:37:56.8672 LVL= 16368, 23441, 18914, 24131, AGC= 65, IDX= 417, 0.36, 0.484,-0.737,-1.236,-0.355, PHS= 0.927,-0.334,-0.884, RAW= 72.8, 3.7, CAL= 75.9, 1.8, ROT= 74.1, -1.8 2025-01-08T21:37:58.723Z,1736372278.723 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:37:58.723Z,1736372278.723 [DAT](INFO): Received a bad header 2025-01-08T21:37:58.736Z,1736372278.736 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:37:58.737Z,1736372278.737 [DAT](INFO): direction in FSK: [-0.122925,0.393755,0.910959] 2025-01-08T21:37:58.740Z,1736372278.740 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:58.740Z,1736372278.740 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:58.740Z,1736372278.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:37:58.873Z,1736372278.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:58.890Z,1736372278.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:58.897Z,1736372278.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.297577 m, bearing: 345.333260 deg, approach rate: -0.000834 m/s, LOS rate: 0.186143 deg/s, cmd heading: 253.610579 deg, new cmd heading: 253.835451 deg. 2025-01-08T21:37:58.899Z,1736372278.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.430264 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:58.961Z,1736372278.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:58.961Z,1736372278.961 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:58.961Z,1736372278.961 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:58.962Z,1736372278.962 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:37:59.212Z,1736372279.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:59.212Z,1736372279.212 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:59.212Z,1736372279.212 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:59.212Z,1736372279.212 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:37:59.272Z,1736372279.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:59.338Z,1736372279.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:59.345Z,1736372279.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.296814 m, bearing: 345.408037 deg, approach rate: -0.001704 m/s, LOS rate: 0.167000 deg/s, cmd heading: 253.835456 deg, new cmd heading: 254.059788 deg. 2025-01-08T21:37:59.346Z,1736372279.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434180 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:59.464Z,1736372279.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:59.464Z,1736372279.464 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:59.465Z,1736372279.465 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:59.465Z,1736372279.465 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:37:59.702Z,1736372279.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:37:59.710Z,1736372279.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:37:59.717Z,1736372279.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:59.718Z,1736372279.718 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:59.718Z,1736372279.718 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:59.719Z,1736372279.719 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:37:59.737Z,1736372279.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.301498 m, bearing: 345.483932 deg, approach rate: 0.012589 m/s, LOS rate: 0.203950 deg/s, cmd heading: 254.059787 deg, new cmd heading: 254.287464 deg. 2025-01-08T21:37:59.740Z,1736372279.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.438153 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:37:59.968Z,1736372279.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:37:59.968Z,1736372279.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:37:59.969Z,1736372279.969 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:37:59.969Z,1736372279.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:00.076Z,1736372280.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:00.105Z,1736372280.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:00.108Z,1736372280.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:00.110Z,1736372280.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.304306 m, bearing: 345.549380 deg, approach rate: 0.007064 m/s, LOS rate: 0.164668 deg/s, cmd heading: 254.287451 deg, new cmd heading: 254.483793 deg. 2025-01-08T21:38:00.112Z,1736372280.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.441580 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:00.220Z,1736372280.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:00.221Z,1736372280.221 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:00.221Z,1736372280.221 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:00.222Z,1736372280.222 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:00.472Z,1736372280.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:00.472Z,1736372280.472 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:00.472Z,1736372280.472 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:00.472Z,1736372280.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:00.528Z,1736372280.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:00.545Z,1736372280.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:00.552Z,1736372280.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.320007 m, bearing: 345.618186 deg, approach rate: 0.035912 m/s, LOS rate: 0.157360 deg/s, cmd heading: 254.483805 deg, new cmd heading: 254.690207 deg. 2025-01-08T21:38:00.553Z,1736372280.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445183 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:00.724Z,1736372280.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:00.724Z,1736372280.724 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:00.724Z,1736372280.724 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:00.724Z,1736372280.724 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:00.876Z,1736372280.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:00.885Z,1736372280.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:00.888Z,1736372280.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.331390 m, bearing: 345.674674 deg, approach rate: 0.033468 m/s, LOS rate: 0.166076 deg/s, cmd heading: 254.690214 deg, new cmd heading: 254.859668 deg. 2025-01-08T21:38:00.889Z,1736372280.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448140 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:00.976Z,1736372280.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:00.976Z,1736372280.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:00.976Z,1736372280.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:00.976Z,1736372280.977 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:01.228Z,1736372281.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:01.228Z,1736372281.228 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:01.228Z,1736372281.228 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:01.228Z,1736372281.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:01.368Z,1736372281.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:01.385Z,1736372281.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:01.392Z,1736372281.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.345215 m, bearing: 345.751912 deg, approach rate: 0.027645 m/s, LOS rate: 0.154443 deg/s, cmd heading: 254.859657 deg, new cmd heading: 255.091356 deg. 2025-01-08T21:38:01.393Z,1736372281.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452184 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:01.485Z,1736372281.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:01.485Z,1736372281.485 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:01.485Z,1736372281.485 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:01.486Z,1736372281.486 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:01.727Z,1736372281.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:01.736Z,1736372281.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:01.736Z,1736372281.736 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:01.736Z,1736372281.736 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:01.737Z,1736372281.737 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:01.738Z,1736372281.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:01.740Z,1736372281.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.360916 m, bearing: 345.802188 deg, approach rate: 0.044521 m/s, LOS rate: 0.142550 deg/s, cmd heading: 255.091364 deg, new cmd heading: 255.242182 deg. 2025-01-08T21:38:01.741Z,1736372281.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454816 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:01.988Z,1736372281.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:01.989Z,1736372281.989 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:01.989Z,1736372281.989 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:01.989Z,1736372281.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:02.100Z,1736372282.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:02.107Z,1736372282.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:02.109Z,1736372282.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:02.112Z,1736372282.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.375732 m, bearing: 345.854503 deg, approach rate: 0.039895 m/s, LOS rate: 0.140858 deg/s, cmd heading: 255.242175 deg, new cmd heading: 255.399110 deg. 2025-01-08T21:38:02.113Z,1736372282.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457555 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:02.240Z,1736372282.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:02.240Z,1736372282.240 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:02.240Z,1736372282.240 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:02.240Z,1736372282.240 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:02.492Z,1736372282.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:02.492Z,1736372282.492 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:02.492Z,1736372282.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:02.492Z,1736372282.492 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:02.516Z,1736372282.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:02.524Z,1736372282.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:02.527Z,1736372282.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.387741 m, bearing: 345.907154 deg, approach rate: 0.028913 m/s, LOS rate: 0.126760 deg/s, cmd heading: 255.399105 deg, new cmd heading: 255.557050 deg. 2025-01-08T21:38:02.528Z,1736372282.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460312 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:02.744Z,1736372282.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:02.744Z,1736372282.744 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:02.744Z,1736372282.744 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:02.744Z,1736372282.744 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:02.927Z,1736372282.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:02.937Z,1736372282.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:02.940Z,1736372282.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.399902 m, bearing: 345.959620 deg, approach rate: 0.029485 m/s, LOS rate: 0.127195 deg/s, cmd heading: 255.557047 deg, new cmd heading: 255.714434 deg. 2025-01-08T21:38:02.940Z,1736372282.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463059 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:02.997Z,1736372282.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:02.998Z,1736372282.998 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:02.998Z,1736372282.998 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:02.999Z,1736372282.999 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:03.249Z,1736372283.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:03.250Z,1736372283.250 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:03.250Z,1736372283.250 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:03.250Z,1736372283.250 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:03.301Z,1736372283.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:03.339Z,1736372283.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:03.363Z,1736372283.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.408417 m, bearing: 346.007291 deg, approach rate: 0.021232 m/s, LOS rate: 0.118874 deg/s, cmd heading: 255.714441 deg, new cmd heading: 255.857450 deg. 2025-01-08T21:38:03.379Z,1736372283.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465555 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:03.500Z,1736372283.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:03.501Z,1736372283.501 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:03.501Z,1736372283.501 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:03.501Z,1736372283.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:03.752Z,1736372283.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:03.752Z,1736372283.752 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:03.752Z,1736372283.752 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:03.752Z,1736372283.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:03.846Z,1736372283.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:03.855Z,1736372283.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:03.858Z,1736372283.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.420700 m, bearing: 346.075853 deg, approach rate: 0.023767 m/s, LOS rate: 0.132655 deg/s, cmd heading: 255.857438 deg, new cmd heading: 256.063112 deg. 2025-01-08T21:38:03.862Z,1736372283.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469144 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:04.005Z,1736372284.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:04.005Z,1736372284.005 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:04.006Z,1736372284.006 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:04.006Z,1736372284.006 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:04.183Z,1736372284.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:04.191Z,1736372284.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:04.193Z,1736372284.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:04.196Z,1736372284.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.427414 m, bearing: 346.118146 deg, approach rate: 0.019834 m/s, LOS rate: 0.124939 deg/s, cmd heading: 256.063109 deg, new cmd heading: 256.189983 deg. 2025-01-08T21:38:04.197Z,1736372284.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471359 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:04.256Z,1736372284.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:04.256Z,1736372284.256 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:04.256Z,1736372284.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:04.257Z,1736372284.257 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:04.508Z,1736372284.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:04.508Z,1736372284.508 [DAT](INFO): Reached modem response timeout 2025-01-08T21:38:04.508Z,1736372284.508 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:38:04.508Z,1736372284.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:04.628Z,1736372284.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:04.676Z,1736372284.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:04.684Z,1736372284.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.427765 m, bearing: 346.175093 deg, approach rate: 0.000727 m/s, LOS rate: 0.117897 deg/s, cmd heading: 256.189987 deg, new cmd heading: 256.360826 deg. 2025-01-08T21:38:04.685Z,1736372284.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474340 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:04.760Z,1736372284.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:04.760Z,1736372284.760 [DAT](INFO): Reached modem response timeout 2025-01-08T21:38:04.760Z,1736372284.760 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:38:04.761Z,1736372284.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:05.008Z,1736372285.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:05.012Z,1736372285.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:05.012Z,1736372285.012 [DAT](INFO): Reached modem response timeout 2025-01-08T21:38:05.012Z,1736372285.012 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:38:05.013Z,1736372285.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:05.020Z,1736372285.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:05.023Z,1736372285.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.428253 m, bearing: 346.223618 deg, approach rate: 0.001419 m/s, LOS rate: 0.141029 deg/s, cmd heading: 256.360823 deg, new cmd heading: 256.506397 deg. 2025-01-08T21:38:05.024Z,1736372285.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476881 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:05.264Z,1736372285.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:05.265Z,1736372285.265 [DAT](INFO): Reached modem response timeout 2025-01-08T21:38:05.265Z,1736372285.265 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:38:05.266Z,1736372285.266 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:05.475Z,1736372285.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:05.486Z,1736372285.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:05.488Z,1736372285.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.421707 m, bearing: 346.286073 deg, approach rate: -0.014065 m/s, LOS rate: 0.134202 deg/s, cmd heading: 256.506388 deg, new cmd heading: 256.693758 deg. 2025-01-08T21:38:05.489Z,1736372285.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480151 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:05.516Z,1736372285.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:05.519Z,1736372285.519 [DAT](INFO): DAT read: ResponseNo eeived 2025-01-08T21:38:05.520Z,1736372285.520 [DAT](INFO): unknown deviceResponse_: ResponseNo eeived 2025-01-08T21:38:05.521Z,1736372285.521 [DAT](INFO): DAT read: user:1931> 2025-01-08T21:38:05.522Z,1736372285.522 [DAT](INFO): DAT read: Tx time:21:38:04.7299 2025-01-08T21:38:05.523Z,1736372285.523 [DAT](INFO): Ping request sent. 2025-01-08T21:38:05.523Z,1736372285.523 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:05.524Z,1736372285.524 [DAT](INFO): DAT read: TxSync time:21:38:04.7291 2025-01-08T21:38:05.524Z,1736372285.524 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:05.525Z,1736372285.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001860 2025-01-08T21:38:05.768Z,1736372285.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:05.770Z,1736372285.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247185 2025-01-08T21:38:05.843Z,1736372285.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:05.862Z,1736372285.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:05.865Z,1736372285.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.413040 m, bearing: 346.334659 deg, approach rate: -0.023013 m/s, LOS rate: 0.129011 deg/s, cmd heading: 256.693754 deg, new cmd heading: 256.839518 deg. 2025-01-08T21:38:05.878Z,1736372285.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482695 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:06.020Z,1736372286.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:06.021Z,1736372286.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497918 2025-01-08T21:38:06.212Z,1736372286.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:06.220Z,1736372286.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:06.222Z,1736372286.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:06.225Z,1736372286.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.403931 m, bearing: 346.384475 deg, approach rate: -0.025306 m/s, LOS rate: 0.138395 deg/s, cmd heading: 256.839510 deg, new cmd heading: 256.988964 deg. 2025-01-08T21:38:06.226Z,1736372286.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485303 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:06.272Z,1736372286.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:06.273Z,1736372286.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750731 2025-01-08T21:38:06.524Z,1736372286.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:06.524Z,1736372286.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001638 2025-01-08T21:38:06.637Z,1736372286.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:06.650Z,1736372286.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:06.656Z,1736372286.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.383377 m, bearing: 346.445041 deg, approach rate: -0.048028 m/s, LOS rate: 0.141540 deg/s, cmd heading: 256.988955 deg, new cmd heading: 257.170668 deg. 2025-01-08T21:38:06.657Z,1736372286.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488475 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:06.785Z,1736372286.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:06.786Z,1736372286.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263306 2025-01-08T21:38:07.017Z,1736372287.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:07.025Z,1736372287.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:07.036Z,1736372287.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:07.036Z,1736372287.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513735 2025-01-08T21:38:07.050Z,1736372287.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.364792 m, bearing: 346.499153 deg, approach rate: -0.049512 m/s, LOS rate: 0.144168 deg/s, cmd heading: 257.170665 deg, new cmd heading: 257.333013 deg. 2025-01-08T21:38:07.051Z,1736372287.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491308 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:07.289Z,1736372287.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:07.290Z,1736372287.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767457 2025-01-08T21:38:07.488Z,1736372287.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:07.512Z,1736372287.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:07.516Z,1736372287.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.332031 m, bearing: 346.571970 deg, approach rate: -0.067277 m/s, LOS rate: 0.149559 deg/s, cmd heading: 257.333005 deg, new cmd heading: 257.551486 deg. 2025-01-08T21:38:07.517Z,1736372287.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495121 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:07.541Z,1736372287.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:07.542Z,1736372287.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019300 2025-01-08T21:38:07.792Z,1736372287.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:07.792Z,1736372287.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269791 2025-01-08T21:38:07.847Z,1736372287.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:07.878Z,1736372287.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:07.884Z,1736372287.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.306625 m, bearing: 346.627504 deg, approach rate: -0.069579 m/s, LOS rate: 0.152108 deg/s, cmd heading: 257.551489 deg, new cmd heading: 257.718110 deg. 2025-01-08T21:38:07.885Z,1736372287.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498030 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:08.044Z,1736372288.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:08.046Z,1736372288.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522490 2025-01-08T21:38:08.236Z,1736372288.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:08.242Z,1736372288.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:08.245Z,1736372288.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:08.248Z,1736372288.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.278778 m, bearing: 346.687614 deg, approach rate: -0.075872 m/s, LOS rate: 0.163794 deg/s, cmd heading: 257.718118 deg, new cmd heading: 257.898470 deg. 2025-01-08T21:38:08.249Z,1736372288.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501177 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:08.296Z,1736372288.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:08.298Z,1736372288.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774891 2025-01-08T21:38:08.548Z,1736372288.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:08.549Z,1736372288.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026505 2025-01-08T21:38:08.660Z,1736372288.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:08.732Z,1736372288.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:08.734Z,1736372288.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.245789 m, bearing: 346.759008 deg, approach rate: -0.068380 m/s, LOS rate: 0.148005 deg/s, cmd heading: 257.898463 deg, new cmd heading: 258.112675 deg. 2025-01-08T21:38:08.739Z,1736372288.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504916 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:08.800Z,1736372288.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:08.801Z,1736372288.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278453 2025-01-08T21:38:09.047Z,1736372289.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:09.052Z,1736372289.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:09.053Z,1736372289.053 [DAT](INFO): DAT read: Rx Time:21:38:07.8246 2025-01-08T21:38:09.053Z,1736372289.053 [DAT](INFO): Rx dataTimestamp_ set to:1736372289.052773 2025-01-08T21:38:09.054Z,1736372289.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530924 2025-01-08T21:38:09.087Z,1736372289.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.90 m. 2025-01-08T21:38:09.090Z,1736372289.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.900024 m, nav range: 226.215988 m, bearing: 346.824208 deg, approach rate: -0.084625 m/s, LOS rate: 0.185173 deg/s, cmd heading: 258.112685 deg, new cmd heading: 258.308309 deg. 2025-01-08T21:38:09.091Z,1736372289.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508330 target range: 513.900024 and range: 513.90 m. 2025-01-08T21:38:09.304Z,1736372289.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:09.305Z,1736372289.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782335 2025-01-08T21:38:09.556Z,1736372289.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:09.562Z,1736372289.562 [DAT](INFO): DAT read: 21:38:07.8246 LVL= 10960, 19521, 13858, 17059, AGC= 70, IDX= 26, 0.34, 2.284, 0.917, 0.349, 0.686, PHS= 1.686, 0.278,-0.339, RAW= 72.7, -17.7, CAL= 85.6, -26.0, ROT= 64.4, 26.0 2025-01-08T21:38:09.563Z,1736372289.563 [DAT](INFO): got valid direction response: 21:38:07.8246 LVL= 10960, 19521, 13858, 17059, AGC= 70, IDX= 26, 0.34, 2.284, 0.917, 0.349, 0.686, PHS= 1.686, 0.278,-0.339, RAW= 72.7, -17.7, CAL= 85.6, -26.0, ROT= 64.4, 26.0 2025-01-08T21:38:09.565Z,1736372289.565 [DAT](INFO): DAT read: Bearing 64.4, 26.0 (Local) 2025-01-08T21:38:09.565Z,1736372289.565 [DAT](INFO): Local bearing/azimuth received: Bearing 64.4, 26.0 (Local) 2025-01-08T21:38:09.567Z,1736372289.567 [DAT](INFO): DAT read: Range 10 to 50 : 517.8 m (Round-trip 690.5 ms) speed 0.1 m/s 2025-01-08T21:38:09.568Z,1736372289.568 [DAT](INFO): DAT read: user:1932> 2025-01-08T21:38:09.568Z,1736372289.568 [DAT](INFO): DAT read: Tx time:21:38:08.9299 2025-01-08T21:38:09.569Z,1736372289.569 [DAT](INFO): Ping request sent. 2025-01-08T21:38:09.569Z,1736372289.569 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:09.569Z,1736372289.569 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:38:09.570Z,1736372289.570 [DAT](INFO): direction in FSK: [0.274879,0.354838,0.893606] 2025-01-08T21:38:09.570Z,1736372289.570 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:09.570Z,1736372289.570 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:09.574Z,1736372289.574 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:09.574Z,1736372289.574 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:09.580Z,1736372289.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:09.626Z,1736372289.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 517.799988 m, deltaT: 15.139841 s, deltaX: 3.899963 m, approachRate: 0.257596 m/s, rangeRepo size: 4 2025-01-08T21:38:09.636Z,1736372289.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 517.799988 m, bearing: 299.563235 deg, lat: 36.902210 deg, lon: -122.116149 deg, deltaT: 15.139841 s, deltaX: 3.899963 m, approachRate: 0.257596 m/s, posRepo size: 4 2025-01-08T21:38:09.637Z,1736372289.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:38:09.657Z,1736372289.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 183.253876 m, bearing: 343.782793 deg, approach rate: 0.000000 m/s, LOS rate: 0.185173 deg/s, cmd heading: 258.308301 deg, new cmd heading: 258.605484 deg. 2025-01-08T21:38:09.659Z,1736372289.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513517 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:38:09.808Z,1736372289.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:09.809Z,1736372289.809 [DAT](INFO): DAT read: TxSync time:21:38:08.9291 2025-01-08T21:38:09.979Z,1736372289.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:10.016Z,1736372290.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:38:10.019Z,1736372290.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 183.206314 m, bearing: 343.872423 deg, approach rate: -0.118253 m/s, LOS rate: 0.222906 deg/s, cmd heading: 258.605497 deg, new cmd heading: 258.874455 deg. 2025-01-08T21:38:10.020Z,1736372290.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518211 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:38:10.060Z,1736372290.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:10.209Z,1736372290.209 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:38:10.312Z,1736372290.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:10.359Z,1736372290.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:10.367Z,1736372290.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:10.369Z,1736372290.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:38:10.372Z,1736372290.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 183.161316 m, bearing: 343.957898 deg, approach rate: -0.127481 m/s, LOS rate: 0.242215 deg/s, cmd heading: 258.874442 deg, new cmd heading: 259.130930 deg. 2025-01-08T21:38:10.373Z,1736372290.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522688 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:38:10.564Z,1736372290.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:10.565Z,1736372290.565 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:10.565Z,1736372290.565 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:10.566Z,1736372290.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:10.797Z,1736372290.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:10.806Z,1736372290.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:38:10.809Z,1736372290.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 183.113419 m, bearing: 344.060992 deg, approach rate: -0.109675 m/s, LOS rate: 0.236124 deg/s, cmd heading: 259.130929 deg, new cmd heading: 259.440287 deg. 2025-01-08T21:38:10.810Z,1736372290.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528087 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:38:10.816Z,1736372290.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:10.817Z,1736372290.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247749 2025-01-08T21:38:11.068Z,1736372291.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:11.068Z,1736372291.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499574 2025-01-08T21:38:11.212Z,1736372291.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:38:11.215Z,1736372291.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:11.224Z,1736372291.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:38:11.226Z,1736372291.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 183.068222 m, bearing: 344.159624 deg, approach rate: -0.108291 m/s, LOS rate: 0.236382 deg/s, cmd heading: 259.440282 deg, new cmd heading: 259.736251 deg. 2025-01-08T21:38:11.227Z,1736372291.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533253 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:38:11.320Z,1736372291.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:11.321Z,1736372291.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751784 2025-01-08T21:38:11.572Z,1736372291.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:11.572Z,1736372291.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003537 2025-01-08T21:38:11.692Z,1736372291.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:11.701Z,1736372291.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:38:11.720Z,1736372291.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 183.026581 m, bearing: 344.276315 deg, approach rate: -0.087129 m/s, LOS rate: 0.244216 deg/s, cmd heading: 259.736248 deg, new cmd heading: 260.086394 deg. 2025-01-08T21:38:11.721Z,1736372291.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539364 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:38:11.824Z,1736372291.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:11.824Z,1736372291.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255632 2025-01-08T21:38:12.076Z,1736372292.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:12.076Z,1736372292.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507490 2025-01-08T21:38:12.140Z,1736372292.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:12.157Z,1736372292.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:38:12.160Z,1736372292.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 182.987915 m, bearing: 344.385780 deg, approach rate: -0.084884 m/s, LOS rate: 0.240363 deg/s, cmd heading: 260.086391 deg, new cmd heading: 260.414853 deg. 2025-01-08T21:38:12.161Z,1736372292.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545096 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:38:12.328Z,1736372292.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:12.330Z,1736372292.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760570 2025-01-08T21:38:12.586Z,1736372292.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:12.587Z,1736372292.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017738 2025-01-08T21:38:12.601Z,1736372292.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:12.608Z,1736372292.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:12.610Z,1736372292.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:38:12.613Z,1736372292.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 182.947067 m, bearing: 344.501009 deg, approach rate: -0.090059 m/s, LOS rate: 0.254108 deg/s, cmd heading: 260.414841 deg, new cmd heading: 260.760600 deg. 2025-01-08T21:38:12.615Z,1736372292.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551131 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:38:12.844Z,1736372292.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:12.844Z,1736372292.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275519 2025-01-08T21:38:12.960Z,1736372292.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:12.968Z,1736372292.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:38:12.971Z,1736372292.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 182.915039 m, bearing: 344.590410 deg, approach rate: -0.089527 m/s, LOS rate: 0.249945 deg/s, cmd heading: 260.760613 deg, new cmd heading: 261.028863 deg. 2025-01-08T21:38:12.972Z,1736372292.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555813 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:38:13.094Z,1736372293.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:13.096Z,1736372293.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526777 2025-01-08T21:38:13.348Z,1736372293.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:13.349Z,1736372293.349 [DAT](INFO): DAT read: Rx Time:21:38:12.0228 2025-01-08T21:38:13.350Z,1736372293.350 [DAT](INFO): Rx dataTimestamp_ set to:1736372293.349259 2025-01-08T21:38:13.350Z,1736372293.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781240 2025-01-08T21:38:13.356Z,1736372293.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:13.366Z,1736372293.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:38:13.369Z,1736372293.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 182.879166 m, bearing: 344.689265 deg, approach rate: -0.090183 m/s, LOS rate: 0.248561 deg/s, cmd heading: 261.028875 deg, new cmd heading: 261.325493 deg. 2025-01-08T21:38:13.370Z,1736372293.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560990 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:38:13.600Z,1736372293.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:13.601Z,1736372293.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031898 2025-01-08T21:38:13.798Z,1736372293.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:13.807Z,1736372293.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:38:13.810Z,1736372293.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 182.846817 m, bearing: 344.798083 deg, approach rate: -0.073338 m/s, LOS rate: 0.246748 deg/s, cmd heading: 261.325497 deg, new cmd heading: 261.652007 deg. 2025-01-08T21:38:13.811Z,1736372293.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566689 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:38:13.854Z,1736372293.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:13.866Z,1736372293.866 [DAT](INFO): DAT read: 21:38:12.0228 LVL= 15104, 31953, 19954, 29635, AGC= 69, IDX= 425, 0.02,-2.046, 2.773, 2.384, 2.729, PHS= 1.597, 0.092,-0.348, RAW= 77.6, -15.0, CAL= 89.6, -23.8, ROT= 60.4, 23.8 2025-01-08T21:38:13.868Z,1736372293.868 [DAT](INFO): got valid direction response: 21:38:12.0228 LVL= 15104, 31953, 19954, 29635, AGC= 69, IDX= 425, 0.02,-2.046, 2.773, 2.384, 2.729, PHS= 1.597, 0.092,-0.348, RAW= 77.6, -15.0, CAL= 89.6, -23.8, ROT= 60.4, 23.8 2025-01-08T21:38:13.869Z,1736372293.869 [DAT](INFO): DAT read: Bearing 60.4, 23.8 (Local) 2025-01-08T21:38:13.870Z,1736372293.870 [DAT](INFO): Local bearing/azimuth received: Bearing 60.4, 23.8 (Local) 2025-01-08T21:38:13.872Z,1736372293.872 [DAT](INFO): DAT read: Range 10 to 50 : 516.5 m (Round-trip 688.7 ms) speed 0.2 m/s 2025-01-08T21:38:13.872Z,1736372293.872 [DAT](INFO): DAT read: user:1933> 2025-01-08T21:38:13.873Z,1736372293.873 [DAT](INFO): DAT read: Tx time:21:38:13.1299 2025-01-08T21:38:13.873Z,1736372293.873 [DAT](INFO): Ping request sent. 2025-01-08T21:38:13.873Z,1736372293.873 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:13.874Z,1736372293.874 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:38:13.875Z,1736372293.875 [DAT](INFO): direction in FSK: [0.218474,0.289723,0.931842] 2025-01-08T21:38:13.875Z,1736372293.875 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:13.879Z,1736372293.879 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:13.898Z,1736372293.898 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:13.898Z,1736372293.898 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:14.104Z,1736372294.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:14.105Z,1736372294.105 [DAT](INFO): DAT read: TxSync time:21:38:13.1291 2025-01-08T21:38:14.181Z,1736372294.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:14.212Z,1736372294.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 516.500000 m, deltaT: 4.299416 s, deltaX: -1.299988 m, approachRate: -0.302364 m/s, rangeRepo size: 4 2025-01-08T21:38:14.219Z,1736372294.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 516.500000 m, bearing: 295.719923 deg, lat: 36.901540 deg, lon: -122.116962 deg, deltaT: 4.299416 s, deltaX: -1.299988 m, approachRate: -0.302364 m/s, posRepo size: 4 2025-01-08T21:38:14.220Z,1736372294.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.50 m. 2025-01-08T21:38:14.223Z,1736372294.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.500000 m, nav range: 157.389450 m, bearing: 310.370790 deg, approach rate: 0.000000 m/s, LOS rate: 0.246748 deg/s, cmd heading: 261.652007 deg, new cmd heading: 261.948451 deg. 2025-01-08T21:38:14.228Z,1736372294.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571863 target range: 516.500000 and range: 516.50 m. 2025-01-08T21:38:14.356Z,1736372294.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:14.608Z,1736372294.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:14.621Z,1736372294.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:14.628Z,1736372294.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:14.630Z,1736372294.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.50 m. 2025-01-08T21:38:14.634Z,1736372294.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.500000 m, nav range: 157.182205 m, bearing: 310.464597 deg, approach rate: -0.490088 m/s, LOS rate: 0.222123 deg/s, cmd heading: 261.948437 deg, new cmd heading: 262.230225 deg. 2025-01-08T21:38:14.635Z,1736372294.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576781 target range: 516.500000 and range: 516.50 m. 2025-01-08T21:38:14.860Z,1736372294.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:14.860Z,1736372294.860 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:14.860Z,1736372294.860 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:14.860Z,1736372294.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:14.930Z,1736372294.930 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:38:15.010Z,1736372295.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:15.046Z,1736372295.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.50 m. 2025-01-08T21:38:15.053Z,1736372295.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.500000 m, nav range: 156.998749 m, bearing: 310.547274 deg, approach rate: -0.441941 m/s, LOS rate: 0.199400 deg/s, cmd heading: 262.230223 deg, new cmd heading: 262.478544 deg. 2025-01-08T21:38:15.054Z,1736372295.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581115 target range: 516.500000 and range: 516.50 m. 2025-01-08T21:38:15.114Z,1736372295.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:15.115Z,1736372295.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241069 2025-01-08T21:38:15.368Z,1736372295.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:15.368Z,1736372295.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494987 2025-01-08T21:38:15.426Z,1736372295.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:15.440Z,1736372295.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.50 m. 2025-01-08T21:38:15.442Z,1736372295.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.500000 m, nav range: 156.801682 m, bearing: 310.635607 deg, approach rate: -0.499541 m/s, LOS rate: 0.224195 deg/s, cmd heading: 262.478542 deg, new cmd heading: 262.743873 deg. 2025-01-08T21:38:15.444Z,1736372295.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585746 target range: 516.500000 and range: 516.50 m. 2025-01-08T21:38:15.620Z,1736372295.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:15.621Z,1736372295.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747475 2025-01-08T21:38:15.862Z,1736372295.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:15.872Z,1736372295.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:15.872Z,1736372295.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998987 2025-01-08T21:38:15.873Z,1736372295.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.50 m. 2025-01-08T21:38:15.892Z,1736372295.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.500000 m, nav range: 156.608444 m, bearing: 310.723931 deg, approach rate: -0.448155 m/s, LOS rate: 0.205092 deg/s, cmd heading: 262.743881 deg, new cmd heading: 263.009176 deg. 2025-01-08T21:38:15.893Z,1736372295.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590376 target range: 516.500000 and range: 516.50 m. 2025-01-08T21:38:16.124Z,1736372296.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:16.124Z,1736372296.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250879 2025-01-08T21:38:16.235Z,1736372296.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:16.243Z,1736372296.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.50 m. 2025-01-08T21:38:16.246Z,1736372296.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.500000 m, nav range: 156.439774 m, bearing: 310.798921 deg, approach rate: -0.453206 m/s, LOS rate: 0.201711 deg/s, cmd heading: 263.009165 deg, new cmd heading: 263.234377 deg. 2025-01-08T21:38:16.247Z,1736372296.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594306 target range: 516.500000 and range: 516.50 m. 2025-01-08T21:38:16.376Z,1736372296.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:16.377Z,1736372296.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503074 2025-01-08T21:38:16.628Z,1736372296.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:16.628Z,1736372296.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754973 2025-01-08T21:38:16.689Z,1736372296.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:16.696Z,1736372296.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:16.699Z,1736372296.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.50 m. 2025-01-08T21:38:16.702Z,1736372296.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.500000 m, nav range: 156.250244 m, bearing: 310.881411 deg, approach rate: -0.415724 m/s, LOS rate: 0.181157 deg/s, cmd heading: 263.234370 deg, new cmd heading: 263.482139 deg. 2025-01-08T21:38:16.711Z,1736372296.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598631 target range: 516.500000 and range: 516.50 m. 2025-01-08T21:38:16.880Z,1736372296.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:16.880Z,1736372296.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006927 2025-01-08T21:38:17.046Z,1736372297.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:17.065Z,1736372297.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.50 m. 2025-01-08T21:38:17.085Z,1736372297.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.500000 m, nav range: 156.100372 m, bearing: 310.945763 deg, approach rate: -0.409744 m/s, LOS rate: 0.176106 deg/s, cmd heading: 263.482142 deg, new cmd heading: 263.675384 deg. 2025-01-08T21:38:17.086Z,1736372297.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602004 target range: 516.500000 and range: 516.50 m. 2025-01-08T21:38:17.134Z,1736372297.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:17.135Z,1736372297.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261436 2025-01-08T21:38:17.388Z,1736372297.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:17.389Z,1736372297.389 [DAT](INFO): DAT read: Rx Time:21:38:16.2215 2025-01-08T21:38:17.389Z,1736372297.389 [DAT](INFO): Rx dataTimestamp_ set to:1736372297.388814 2025-01-08T21:38:17.390Z,1736372297.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516130 2025-01-08T21:38:17.456Z,1736372297.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:17.466Z,1736372297.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.50 m. 2025-01-08T21:38:17.469Z,1736372297.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.500000 m, nav range: 155.926285 m, bearing: 311.019636 deg, approach rate: -0.434343 m/s, LOS rate: 0.184517 deg/s, cmd heading: 263.675382 deg, new cmd heading: 263.897248 deg. 2025-01-08T21:38:17.470Z,1736372297.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.605876 target range: 516.500000 and range: 516.50 m. 2025-01-08T21:38:17.640Z,1736372297.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:17.640Z,1736372297.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766915 2025-01-08T21:38:17.893Z,1736372297.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:17.896Z,1736372297.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021526 2025-01-08T21:38:17.932Z,1736372297.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:17.950Z,1736372297.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.50 m. 2025-01-08T21:38:17.957Z,1736372297.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.500000 m, nav range: 155.738129 m, bearing: 311.095586 deg, approach rate: -0.388621 m/s, LOS rate: 0.157057 deg/s, cmd heading: 263.897254 deg, new cmd heading: 264.125377 deg. 2025-01-08T21:38:17.958Z,1736372297.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609858 target range: 516.500000 and range: 516.50 m. 2025-01-08T21:38:18.145Z,1736372298.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:18.157Z,1736372298.157 [DAT](INFO): DAT read: 21:38:16.2215 LVL= 15520, 32753, 20882, 32755, AGC= 68, IDX= 427,-0.06, 0.742,-0.452,-0.903,-0.467, PHS= 1.297, 0.062,-0.439, RAW= 73.7, -11.9, CAL= 85.3, -21.1, ROT= 64.7, 21.1 2025-01-08T21:38:18.158Z,1736372298.158 [DAT](INFO): got valid direction response: 21:38:16.2215 LVL= 15520, 32753, 20882, 32755, AGC= 68, IDX= 427,-0.06, 0.742,-0.452,-0.903,-0.467, PHS= 1.297, 0.062,-0.439, RAW= 73.7, -11.9, CAL= 85.3, -21.1, ROT= 64.7, 21.1 2025-01-08T21:38:18.159Z,1736372298.159 [DAT](INFO): DAT read: Bearing 64.7, 21.1 (Local) 2025-01-08T21:38:18.159Z,1736372298.159 [DAT](INFO): Local bearing/azimuth received: Bearing 64.7, 21.1 (Local) 2025-01-08T21:38:18.161Z,1736372298.161 [DAT](INFO): DAT read: Range 10 to 50 : 515.5 m (Round-trip 687.4 ms) speed 0.0 m/s 2025-01-08T21:38:18.162Z,1736372298.162 [DAT](INFO): DAT read: user:1934> 2025-01-08T21:38:18.163Z,1736372298.163 [DAT](INFO): DAT read: Tx time:21:38:17.3300 2025-01-08T21:38:18.163Z,1736372298.163 [DAT](INFO): Ping request sent. 2025-01-08T21:38:18.163Z,1736372298.163 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:18.164Z,1736372298.164 [DAT](INFO): DAT read: TxSync time:21:38:17.3292 2025-01-08T21:38:18.165Z,1736372298.165 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:38:18.166Z,1736372298.166 [DAT](INFO): direction in FSK: [0.166357,0.356497,0.919367] 2025-01-08T21:38:18.166Z,1736372298.166 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:18.167Z,1736372298.167 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:18.180Z,1736372298.180 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:18.181Z,1736372298.181 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:18.290Z,1736372298.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:18.333Z,1736372298.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 515.500000 m, deltaT: 4.290004 s, deltaX: -1.000000 m, approachRate: -0.233100 m/s, rangeRepo size: 4 2025-01-08T21:38:18.335Z,1736372298.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 515.500000 m, bearing: 318.397276 deg, lat: 36.901481 deg, lon: -122.116962 deg, deltaT: 4.290004 s, deltaX: -1.000000 m, approachRate: -0.233100 m/s, posRepo size: 4 2025-01-08T21:38:18.340Z,1736372298.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.50 m. 2025-01-08T21:38:18.342Z,1736372298.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.500000 m, nav range: 151.369995 m, bearing: 309.287181 deg, approach rate: 0.000000 m/s, LOS rate: 0.157057 deg/s, cmd heading: 264.125382 deg, new cmd heading: 264.303249 deg. 2025-01-08T21:38:18.348Z,1736372298.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612962 target range: 515.500000 and range: 515.50 m. 2025-01-08T21:38:18.396Z,1736372298.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:18.649Z,1736372298.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:18.749Z,1736372298.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:18.756Z,1736372298.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:18.758Z,1736372298.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.50 m. 2025-01-08T21:38:18.761Z,1736372298.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.500000 m, nav range: 151.189636 m, bearing: 309.353108 deg, approach rate: -0.419053 m/s, LOS rate: 0.153361 deg/s, cmd heading: 264.303240 deg, new cmd heading: 264.501258 deg. 2025-01-08T21:38:18.762Z,1736372298.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.616418 target range: 515.500000 and range: 515.50 m. 2025-01-08T21:38:18.900Z,1736372298.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:18.901Z,1736372298.901 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:18.901Z,1736372298.901 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:18.901Z,1736372298.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:19.084Z,1736372299.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:19.110Z,1736372299.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.50 m. 2025-01-08T21:38:19.116Z,1736372299.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.500000 m, nav range: 151.057266 m, bearing: 309.400823 deg, approach rate: -0.376269 m/s, LOS rate: 0.135750 deg/s, cmd heading: 264.501261 deg, new cmd heading: 264.644530 deg. 2025-01-08T21:38:19.117Z,1736372299.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618918 target range: 515.500000 and range: 515.50 m. 2025-01-08T21:38:19.152Z,1736372299.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:19.153Z,1736372299.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989502 2025-01-08T21:38:19.404Z,1736372299.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:19.404Z,1736372299.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241269 2025-01-08T21:38:19.481Z,1736372299.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:19.491Z,1736372299.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.50 m. 2025-01-08T21:38:19.494Z,1736372299.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.500000 m, nav range: 150.899643 m, bearing: 309.457126 deg, approach rate: -0.413470 m/s, LOS rate: 0.147847 deg/s, cmd heading: 264.644531 deg, new cmd heading: 264.813618 deg. 2025-01-08T21:38:19.495Z,1736372299.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621870 target range: 515.500000 and range: 515.50 m. 2025-01-08T21:38:19.661Z,1736372299.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:19.662Z,1736372299.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499084 2025-01-08T21:38:19.912Z,1736372299.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:19.912Z,1736372299.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749281 2025-01-08T21:38:19.944Z,1736372299.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:19.953Z,1736372299.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.50 m. 2025-01-08T21:38:19.968Z,1736372299.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.500000 m, nav range: 150.711945 m, bearing: 309.517447 deg, approach rate: -0.405841 m/s, LOS rate: 0.130588 deg/s, cmd heading: 264.813619 deg, new cmd heading: 264.994807 deg. 2025-01-08T21:38:19.969Z,1736372299.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625032 target range: 515.500000 and range: 515.50 m. 2025-01-08T21:38:20.164Z,1736372300.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:20.164Z,1736372300.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001251 2025-01-08T21:38:20.309Z,1736372300.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:20.319Z,1736372300.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.50 m. 2025-01-08T21:38:20.321Z,1736372300.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.500000 m, nav range: 150.563187 m, bearing: 309.564811 deg, approach rate: -0.407152 m/s, LOS rate: 0.129764 deg/s, cmd heading: 264.994811 deg, new cmd heading: 265.137043 deg. 2025-01-08T21:38:20.322Z,1736372300.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627514 target range: 515.500000 and range: 515.50 m. 2025-01-08T21:38:20.416Z,1736372300.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:20.416Z,1736372300.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253415 2025-01-08T21:38:20.668Z,1736372300.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:20.669Z,1736372300.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506315 2025-01-08T21:38:20.754Z,1736372300.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:20.761Z,1736372300.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:20.779Z,1736372300.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.50 m. 2025-01-08T21:38:20.783Z,1736372300.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.500000 m, nav range: 150.377045 m, bearing: 309.620965 deg, approach rate: -0.418803 m/s, LOS rate: 0.126497 deg/s, cmd heading: 265.137043 deg, new cmd heading: 265.305712 deg. 2025-01-08T21:38:20.784Z,1736372300.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630458 target range: 515.500000 and range: 515.50 m. 2025-01-08T21:38:20.920Z,1736372300.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:20.920Z,1736372300.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757290 2025-01-08T21:38:21.129Z,1736372301.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:21.160Z,1736372301.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.50 m. 2025-01-08T21:38:21.168Z,1736372301.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.500000 m, nav range: 150.219696 m, bearing: 309.668189 deg, approach rate: -0.401471 m/s, LOS rate: 0.120617 deg/s, cmd heading: 265.305721 deg, new cmd heading: 265.447541 deg. 2025-01-08T21:38:21.169Z,1736372301.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632934 target range: 515.500000 and range: 515.50 m. 2025-01-08T21:38:21.172Z,1736372301.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:21.173Z,1736372301.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009714 2025-01-08T21:38:21.424Z,1736372301.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:21.424Z,1736372301.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261384 2025-01-08T21:38:21.536Z,1736372301.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:21.545Z,1736372301.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.50 m. 2025-01-08T21:38:21.548Z,1736372301.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.500000 m, nav range: 150.048538 m, bearing: 309.719260 deg, approach rate: -0.439379 m/s, LOS rate: 0.131255 deg/s, cmd heading: 265.447543 deg, new cmd heading: 265.600931 deg. 2025-01-08T21:38:21.549Z,1736372301.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635611 target range: 515.500000 and range: 515.50 m. 2025-01-08T21:38:21.676Z,1736372301.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:21.678Z,1736372301.678 [DAT](INFO): DAT read: Rx Time:21:38:20.4091 2025-01-08T21:38:21.678Z,1736372301.678 [DAT](INFO): Rx dataTimestamp_ set to:1736372301.677989 2025-01-08T21:38:21.680Z,1736372301.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515956 2025-01-08T21:38:21.928Z,1736372301.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:21.928Z,1736372301.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765418 2025-01-08T21:38:22.001Z,1736372302.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:22.009Z,1736372302.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.50 m. 2025-01-08T21:38:22.012Z,1736372302.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.500000 m, nav range: 149.839783 m, bearing: 309.779403 deg, approach rate: -0.449155 m/s, LOS rate: 0.129582 deg/s, cmd heading: 265.600922 deg, new cmd heading: 265.781600 deg. 2025-01-08T21:38:22.013Z,1736372302.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638764 target range: 515.500000 and range: 515.50 m. 2025-01-08T21:38:22.180Z,1736372302.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:22.191Z,1736372302.191 [DAT](INFO): DAT read: 21:38:20.4091 LVL= 13488, 28593, 17426, 29859, AGC= 67, IDX= 316, 0.12, 2.060, 0.271, 0.314, 0.885, PHS= 1.263,-0.567,-0.574, RAW= 89.8, -1.4, CAL= 97.6, -6.6, ROT= 52.4, 6.6 2025-01-08T21:38:22.195Z,1736372302.195 [DAT](INFO): got valid direction response: 21:38:20.4091 LVL= 13488, 28593, 17426, 29859, AGC= 67, IDX= 316, 0.12, 2.060, 0.271, 0.314, 0.885, PHS= 1.263,-0.567,-0.574, RAW= 89.8, -1.4, CAL= 97.6, -6.6, ROT= 52.4, 6.6 2025-01-08T21:38:22.196Z,1736372302.196 [DAT](INFO): DAT read: Bearing 52.4, 6.6 (Local) 2025-01-08T21:38:22.196Z,1736372302.196 [DAT](INFO): Local bearing/azimuth received: Bearing 52.4, 6.6 (Local) 2025-01-08T21:38:22.198Z,1736372302.198 [DAT](INFO): DAT read: Range 10 to 50 : 506.2 m (Round-trip 675.0 ms) speed 0.4 m/s 2025-01-08T21:38:22.199Z,1736372302.199 [DAT](INFO): DAT read: user:1935> 2025-01-08T21:38:22.200Z,1736372302.200 [DAT](INFO): DAT read: Tx time:21:38:21.5300 2025-01-08T21:38:22.200Z,1736372302.200 [DAT](INFO): Ping request sent. 2025-01-08T21:38:22.200Z,1736372302.200 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:22.200Z,1736372302.200 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:38:22.201Z,1736372302.201 [DAT](INFO): direction in FSK: [-0.059115,0.109545,0.992222] 2025-01-08T21:38:22.202Z,1736372302.202 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:22.202Z,1736372302.202 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:22.207Z,1736372302.207 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:22.245Z,1736372302.245 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:22.358Z,1736372302.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:22.393Z,1736372302.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 506.200012 m, deltaT: 4.034876 s, deltaX: -9.299988 m, approachRate: -2.304900 m/s, rangeRepo size: 4 2025-01-08T21:38:22.400Z,1736372302.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 506.200012 m, bearing: 109.335688 deg, lat: 36.901436 deg, lon: -122.116962 deg, deltaT: 4.034876 s, deltaX: -9.299988 m, approachRate: -2.304900 m/s, posRepo size: 4 2025-01-08T21:38:22.400Z,1736372302.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T21:38:22.403Z,1736372302.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 146.531738 m, bearing: 308.326137 deg, approach rate: 0.000000 m/s, LOS rate: 0.129582 deg/s, cmd heading: 265.781594 deg, new cmd heading: 265.930568 deg. 2025-01-08T21:38:22.408Z,1736372302.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641364 target range: 506.200012 and range: 506.20 m. 2025-01-08T21:38:22.432Z,1736372302.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:22.433Z,1736372302.433 [DAT](INFO): DAT read: TxSync time:21:38:21.5292 2025-01-08T21:38:22.686Z,1736372302.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:22.798Z,1736372302.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:22.813Z,1736372302.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:22.821Z,1736372302.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T21:38:22.832Z,1736372302.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 146.316132 m, bearing: 308.385217 deg, approach rate: -0.503806 m/s, LOS rate: 0.138254 deg/s, cmd heading: 265.930574 deg, new cmd heading: 266.108074 deg. 2025-01-08T21:38:22.833Z,1736372302.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644462 target range: 506.200012 and range: 506.20 m. 2025-01-08T21:38:22.936Z,1736372302.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:22.936Z,1736372302.936 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:22.936Z,1736372302.936 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:22.937Z,1736372302.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:23.188Z,1736372303.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:23.188Z,1736372303.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988313 2025-01-08T21:38:23.189Z,1736372303.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:23.234Z,1736372303.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T21:38:23.242Z,1736372303.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 146.125366 m, bearing: 308.437871 deg, approach rate: -0.462230 m/s, LOS rate: 0.127750 deg/s, cmd heading: 266.108077 deg, new cmd heading: 266.266246 deg. 2025-01-08T21:38:23.242Z,1736372303.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647223 target range: 506.200012 and range: 506.20 m. 2025-01-08T21:38:23.440Z,1736372303.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:23.440Z,1736372303.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240230 2025-01-08T21:38:23.589Z,1736372303.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:23.599Z,1736372303.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T21:38:23.602Z,1736372303.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 145.928711 m, bearing: 308.492455 deg, approach rate: -0.539464 m/s, LOS rate: 0.149935 deg/s, cmd heading: 266.266237 deg, new cmd heading: 266.430208 deg. 2025-01-08T21:38:23.603Z,1736372303.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650084 target range: 506.200012 and range: 506.20 m. 2025-01-08T21:38:23.695Z,1736372303.695 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:23.697Z,1736372303.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496892 2025-01-08T21:38:23.944Z,1736372303.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:23.944Z,1736372303.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744216 2025-01-08T21:38:24.021Z,1736372304.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:24.029Z,1736372304.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T21:38:24.044Z,1736372304.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 145.709854 m, bearing: 308.557153 deg, approach rate: -0.507572 m/s, LOS rate: 0.150274 deg/s, cmd heading: 266.430216 deg, new cmd heading: 266.624603 deg. 2025-01-08T21:38:24.045Z,1736372304.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653477 target range: 506.200012 and range: 506.20 m. 2025-01-08T21:38:24.196Z,1736372304.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:24.196Z,1736372304.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996209 2025-01-08T21:38:24.410Z,1736372304.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:24.419Z,1736372304.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T21:38:24.422Z,1736372304.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 145.511963 m, bearing: 308.615525 deg, approach rate: -0.507190 m/s, LOS rate: 0.149809 deg/s, cmd heading: 266.624603 deg, new cmd heading: 266.799956 deg. 2025-01-08T21:38:24.423Z,1736372304.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656538 target range: 506.200012 and range: 506.20 m. 2025-01-08T21:38:24.448Z,1736372304.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:24.449Z,1736372304.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248789 2025-01-08T21:38:24.701Z,1736372304.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:24.704Z,1736372304.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503404 2025-01-08T21:38:24.821Z,1736372304.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:24.829Z,1736372304.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:24.852Z,1736372304.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T21:38:24.854Z,1736372304.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 145.292969 m, bearing: 308.682598 deg, approach rate: -0.531868 m/s, LOS rate: 0.163145 deg/s, cmd heading: 266.799948 deg, new cmd heading: 267.001469 deg. 2025-01-08T21:38:24.859Z,1736372304.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660055 target range: 506.200012 and range: 506.20 m. 2025-01-08T21:38:24.952Z,1736372304.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:24.953Z,1736372304.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752742 2025-01-08T21:38:25.205Z,1736372305.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:25.206Z,1736372305.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006009 2025-01-08T21:38:25.224Z,1736372305.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:25.249Z,1736372305.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T21:38:25.256Z,1736372305.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 145.078598 m, bearing: 308.748278 deg, approach rate: -0.512404 m/s, LOS rate: 0.157223 deg/s, cmd heading: 267.001466 deg, new cmd heading: 267.198794 deg. 2025-01-08T21:38:25.258Z,1736372305.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663499 target range: 506.200012 and range: 506.20 m. 2025-01-08T21:38:25.456Z,1736372305.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:25.457Z,1736372305.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256409 2025-01-08T21:38:25.609Z,1736372305.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:25.619Z,1736372305.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T21:38:25.624Z,1736372305.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 144.873108 m, bearing: 308.811315 deg, approach rate: -0.555981 m/s, LOS rate: 0.170798 deg/s, cmd heading: 267.198804 deg, new cmd heading: 267.388183 deg. 2025-01-08T21:38:25.625Z,1736372305.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666804 target range: 506.200012 and range: 506.20 m. 2025-01-08T21:38:25.710Z,1736372305.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:25.712Z,1736372305.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511693 2025-01-08T21:38:25.960Z,1736372305.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:25.961Z,1736372305.961 [DAT](INFO): DAT read: Rx Time:21:38:24.5958 2025-01-08T21:38:25.961Z,1736372305.961 [DAT](INFO): Rx dataTimestamp_ set to:1736372305.960905 2025-01-08T21:38:25.962Z,1736372305.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761568 2025-01-08T21:38:26.057Z,1736372306.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:26.071Z,1736372306.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T21:38:26.077Z,1736372306.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 144.638428 m, bearing: 308.888481 deg, approach rate: -0.520830 m/s, LOS rate: 0.171534 deg/s, cmd heading: 267.388191 deg, new cmd heading: 267.620063 deg. 2025-01-08T21:38:26.078Z,1736372306.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670851 target range: 506.200012 and range: 506.20 m. 2025-01-08T21:38:26.212Z,1736372306.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:26.213Z,1736372306.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012356 2025-01-08T21:38:26.417Z,1736372306.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:26.426Z,1736372306.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m. 2025-01-08T21:38:26.429Z,1736372306.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.200012 m, nav range: 144.449188 m, bearing: 308.950431 deg, approach rate: -0.531109 m/s, LOS rate: 0.174093 deg/s, cmd heading: 267.620062 deg, new cmd heading: 267.806155 deg. 2025-01-08T21:38:26.430Z,1736372306.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674099 target range: 506.200012 and range: 506.20 m. 2025-01-08T21:38:26.465Z,1736372306.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:26.478Z,1736372306.478 [DAT](INFO): DAT read: 21:38:24.5958 LVL= 13696, 32753, 20194, 31907, AGC= 69, IDX= 308,-0.26, 3.079, 1.319, 1.427, 2.015, PHS= 1.152,-0.649,-0.591, RAW= 91.6, 1.0, CAL= 99.5, -2.5, ROT= 50.5, 2.5 2025-01-08T21:38:26.480Z,1736372306.480 [DAT](INFO): got valid direction response: 21:38:24.5958 LVL= 13696, 32753, 20194, 31907, AGC= 69, IDX= 308,-0.26, 3.079, 1.319, 1.427, 2.015, PHS= 1.152,-0.649,-0.591, RAW= 91.6, 1.0, CAL= 99.5, -2.5, ROT= 50.5, 2.5 2025-01-08T21:38:26.483Z,1736372306.483 [DAT](INFO): DAT read: Bearing 50.5, 2.5 (Local) 2025-01-08T21:38:26.485Z,1736372306.485 [DAT](INFO): Local bearing/azimuth received: Bearing 50.5, 2.5 (Local) 2025-01-08T21:38:26.502Z,1736372306.502 [DAT](INFO): DAT read: Range 10 to 50 : 496.2 m (Round-trip 661.7 ms) speed 0.4 m/s 2025-01-08T21:38:26.503Z,1736372306.503 [DAT](INFO): DAT read: user:1936> 2025-01-08T21:38:26.512Z,1736372306.512 [DAT](INFO): DAT read: Tx time:21:38:25.6800 2025-01-08T21:38:26.513Z,1736372306.513 [DAT](INFO): Ping request sent. 2025-01-08T21:38:26.513Z,1736372306.513 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:26.514Z,1736372306.514 [DAT](INFO): DAT read: TxSync time:21:38:25.6792 2025-01-08T21:38:26.526Z,1736372306.526 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:38:26.532Z,1736372306.532 [DAT](INFO): direction in FSK: [-0.106844,0.080506,0.991011] 2025-01-08T21:38:26.533Z,1736372306.533 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:26.533Z,1736372306.533 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:26.541Z,1736372306.541 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:26.542Z,1736372306.542 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:26.718Z,1736372306.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:26.861Z,1736372306.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:26.902Z,1736372306.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.200012 m, deltaT: 4.284842 s, deltaX: -10.000000 m, approachRate: -2.333808 m/s, rangeRepo size: 4 2025-01-08T21:38:26.909Z,1736372306.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.200012 m, bearing: 114.932491 deg, lat: 36.901143 deg, lon: -122.116601 deg, deltaT: 4.284842 s, deltaX: -10.000000 m, approachRate: -2.333808 m/s, posRepo size: 4 2025-01-08T21:38:26.909Z,1736372306.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:38:26.916Z,1736372306.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 98.887421 m, bearing: 306.030284 deg, approach rate: 0.000000 m/s, LOS rate: 0.174093 deg/s, cmd heading: 267.806144 deg, new cmd heading: 268.054768 deg. 2025-01-08T21:38:26.917Z,1736372306.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678438 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:38:26.969Z,1736372306.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:27.221Z,1736372307.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:27.254Z,1736372307.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:27.271Z,1736372307.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:27.284Z,1736372307.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:38:27.287Z,1736372307.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 98.667213 m, bearing: 306.128425 deg, approach rate: -0.583449 m/s, LOS rate: 0.260610 deg/s, cmd heading: 268.054763 deg, new cmd heading: 268.349841 deg. 2025-01-08T21:38:27.294Z,1736372307.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683589 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:38:27.472Z,1736372307.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:27.472Z,1736372307.472 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:27.472Z,1736372307.472 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:27.472Z,1736372307.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:27.630Z,1736372307.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:27.674Z,1736372307.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:38:27.683Z,1736372307.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 98.456047 m, bearing: 306.222549 deg, approach rate: -0.534947 m/s, LOS rate: 0.238956 deg/s, cmd heading: 268.349854 deg, new cmd heading: 268.632830 deg. 2025-01-08T21:38:27.690Z,1736372307.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688528 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:38:27.726Z,1736372307.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:27.728Z,1736372307.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214762 2025-01-08T21:38:27.976Z,1736372307.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:27.977Z,1736372307.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464382 2025-01-08T21:38:28.079Z,1736372308.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:28.088Z,1736372308.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:38:28.091Z,1736372308.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 98.203781 m, bearing: 306.341956 deg, approach rate: -0.608753 m/s, LOS rate: 0.288886 deg/s, cmd heading: 268.632843 deg, new cmd heading: 268.991979 deg. 2025-01-08T21:38:28.092Z,1736372308.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694796 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:38:28.228Z,1736372308.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:28.228Z,1736372308.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715531 2025-01-08T21:38:28.444Z,1736372308.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:28.453Z,1736372308.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:38:28.461Z,1736372308.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 97.997589 m, bearing: 306.438472 deg, approach rate: -0.565675 m/s, LOS rate: 0.265343 deg/s, cmd heading: 268.991974 deg, new cmd heading: 269.282129 deg. 2025-01-08T21:38:28.462Z,1736372308.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699860 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:38:28.482Z,1736372308.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:28.482Z,1736372308.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969482 2025-01-08T21:38:28.734Z,1736372308.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:28.736Z,1736372308.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222377 2025-01-08T21:38:28.882Z,1736372308.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:28.895Z,1736372308.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:38:28.899Z,1736372308.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 97.752487 m, bearing: 306.552749 deg, approach rate: -0.554345 m/s, LOS rate: 0.259106 deg/s, cmd heading: 269.282120 deg, new cmd heading: 269.625805 deg. 2025-01-08T21:38:28.900Z,1736372308.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705858 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:38:28.985Z,1736372308.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:28.986Z,1736372308.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472434 2025-01-08T21:38:29.237Z,1736372309.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:29.238Z,1736372309.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724621 2025-01-08T21:38:29.280Z,1736372309.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:29.288Z,1736372309.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:29.290Z,1736372309.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:38:29.297Z,1736372309.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 97.528831 m, bearing: 306.657084 deg, approach rate: -0.566337 m/s, LOS rate: 0.264801 deg/s, cmd heading: 269.625816 deg, new cmd heading: 269.939535 deg. 2025-01-08T21:38:29.298Z,1736372309.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711334 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:38:29.488Z,1736372309.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:29.489Z,1736372309.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975659 2025-01-08T21:38:29.677Z,1736372309.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:29.706Z,1736372309.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:38:29.709Z,1736372309.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 97.306831 m, bearing: 306.759653 deg, approach rate: -0.533363 m/s, LOS rate: 0.246987 deg/s, cmd heading: 269.939540 deg, new cmd heading: 270.247944 deg. 2025-01-08T21:38:29.710Z,1736372309.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716716 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:38:29.741Z,1736372309.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:29.744Z,1736372309.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229916 2025-01-08T21:38:29.992Z,1736372309.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:29.993Z,1736372309.993 [DAT](INFO): DAT read: Rx Time:21:38:28.7541 2025-01-08T21:38:29.993Z,1736372309.993 [DAT](INFO): Rx dataTimestamp_ set to:1736372309.992813 2025-01-08T21:38:29.994Z,1736372309.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480694 2025-01-08T21:38:30.093Z,1736372310.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:30.102Z,1736372310.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:38:30.105Z,1736372310.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 97.062485 m, bearing: 306.868667 deg, approach rate: -0.616683 m/s, LOS rate: 0.275824 deg/s, cmd heading: 270.247937 deg, new cmd heading: 270.575800 deg. 2025-01-08T21:38:30.106Z,1736372310.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722439 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:38:30.244Z,1736372310.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:30.245Z,1736372310.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731819 2025-01-08T21:38:30.496Z,1736372310.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:30.503Z,1736372310.503 [DAT](INFO): DAT read: 21:38:28.7541 LVL= 9712, 16497, 11058, 13107, AGC= 68, IDX= 9, 0.03, 2.571, 0.845, 0.975, 1.489, PHS= 1.169,-0.598,-0.518, RAW= 92.3, -0.6, CAL= 100.4, -5.4, ROT= 49.6, 5.4 2025-01-08T21:38:30.504Z,1736372310.504 [DAT](INFO): got valid direction response: 21:38:28.7541 LVL= 9712, 16497, 11058, 13107, AGC= 68, IDX= 9, 0.03, 2.571, 0.845, 0.975, 1.489, PHS= 1.169,-0.598,-0.518, RAW= 92.3, -0.6, CAL= 100.4, -5.4, ROT= 49.6, 5.4 2025-01-08T21:38:30.505Z,1736372310.505 [DAT](INFO): DAT read: Bearing 49.6, 5.4 (Local) 2025-01-08T21:38:30.506Z,1736372310.506 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, 5.4 (Local) 2025-01-08T21:38:30.512Z,1736372310.512 [DAT](INFO): DAT read: Range 10 to 50 : 502.5 m (Round-trip 670.0 ms) speed 0.0 m/s 2025-01-08T21:38:30.513Z,1736372310.513 [DAT](INFO): DAT read: user:1937> 2025-01-08T21:38:30.513Z,1736372310.513 [DAT](INFO): DAT read: Tx time:21:38:29.8800 2025-01-08T21:38:30.514Z,1736372310.514 [DAT](INFO): Ping request sent. 2025-01-08T21:38:30.514Z,1736372310.514 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:30.515Z,1736372310.515 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:38:30.521Z,1736372310.521 [DAT](INFO): direction in FSK: [-0.076897,0.067185,0.994773] 2025-01-08T21:38:30.522Z,1736372310.522 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:30.522Z,1736372310.522 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:30.576Z,1736372310.576 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:30.576Z,1736372310.576 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:30.601Z,1736372310.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:30.666Z,1736372310.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 502.500000 m, deltaT: 4.030997 s, deltaX: 6.299988 m, approachRate: 1.562886 m/s, rangeRepo size: 4 2025-01-08T21:38:30.674Z,1736372310.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 502.500000 m, bearing: 133.826698 deg, lat: 36.900497 deg, lon: -122.115266 deg, deltaT: 4.030997 s, deltaX: 6.299988 m, approachRate: 1.562886 m/s, posRepo size: 4 2025-01-08T21:38:30.683Z,1736372310.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.50 m. 2025-01-08T21:38:30.686Z,1736372310.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 502.500000 m, nav range: 43.565926 m, bearing: 108.112952 deg, approach rate: 0.000000 m/s, LOS rate: 0.275824 deg/s, cmd heading: 270.575813 deg, new cmd heading: 271.040750 deg. 2025-01-08T21:38:30.687Z,1736372310.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730554 target range: 502.500000 and range: 502.50 m. 2025-01-08T21:38:30.750Z,1736372310.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:30.753Z,1736372310.753 [DAT](INFO): DAT read: TxSync time:21:38:29.8792 2025-01-08T21:38:30.000Z,1736372311.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:31.111Z,1736372311.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:31.120Z,1736372311.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.50 m. 2025-01-08T21:38:31.123Z,1736372311.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 502.500000 m, nav range: 43.924644 m, bearing: 107.970462 deg, approach rate: 0.786838 m/s, LOS rate: -0.309994 deg/s, cmd heading: 271.040758 deg, new cmd heading: 270.616787 deg. 2025-01-08T21:38:31.124Z,1736372311.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.723154 target range: 502.500000 and range: 502.50 m. 2025-01-08T21:38:31.253Z,1736372311.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:31.486Z,1736372311.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:31.493Z,1736372311.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:31.494Z,1736372311.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.50 m. 2025-01-08T21:38:31.497Z,1736372311.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 502.500000 m, nav range: 44.188736 m, bearing: 107.867979 deg, approach rate: 0.705540 m/s, LOS rate: -0.272153 deg/s, cmd heading: 270.616794 deg, new cmd heading: 270.311188 deg. 2025-01-08T21:38:31.499Z,1736372311.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717820 target range: 502.500000 and range: 502.50 m. 2025-01-08T21:38:31.504Z,1736372311.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:31.504Z,1736372311.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:31.504Z,1736372311.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:31.505Z,1736372311.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:31.758Z,1736372311.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:31.760Z,1736372311.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245824 2025-01-08T21:38:31.921Z,1736372311.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:31.929Z,1736372311.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.50 m. 2025-01-08T21:38:31.932Z,1736372311.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 502.500000 m, nav range: 44.487617 m, bearing: 107.762177 deg, approach rate: 0.687940 m/s, LOS rate: -0.241890 deg/s, cmd heading: 270.311184 deg, new cmd heading: 269.995914 deg. 2025-01-08T21:38:31.933Z,1736372311.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712317 target range: 502.500000 and range: 502.50 m. 2025-01-08T21:38:32.013Z,1736372312.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:32.014Z,1736372312.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499854 2025-01-08T21:38:32.264Z,1736372312.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:32.265Z,1736372312.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751149 2025-01-08T21:38:32.312Z,1736372312.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:32.325Z,1736372312.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.50 m. 2025-01-08T21:38:32.327Z,1736372312.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 502.500000 m, nav range: 44.756527 m, bearing: 107.668239 deg, approach rate: 0.679693 m/s, LOS rate: -0.236011 deg/s, cmd heading: 269.995903 deg, new cmd heading: 269.715782 deg. 2025-01-08T21:38:32.328Z,1736372312.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707428 target range: 502.500000 and range: 502.50 m. 2025-01-08T21:38:32.518Z,1736372312.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:32.521Z,1736372312.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006860 2025-01-08T21:38:32.716Z,1736372312.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:32.724Z,1736372312.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.50 m. 2025-01-08T21:38:32.727Z,1736372312.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 502.500000 m, nav range: 45.034599 m, bearing: 107.572321 deg, approach rate: 0.695537 m/s, LOS rate: -0.238435 deg/s, cmd heading: 269.715783 deg, new cmd heading: 269.429810 deg. 2025-01-08T21:38:32.728Z,1736372312.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702437 target range: 502.500000 and range: 502.50 m. 2025-01-08T21:38:32.768Z,1736372312.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:32.769Z,1736372312.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255213 2025-01-08T21:38:33.020Z,1736372313.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:33.020Z,1736372313.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506627 2025-01-08T21:38:33.134Z,1736372313.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:33.143Z,1736372313.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.50 m. 2025-01-08T21:38:33.146Z,1736372313.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 502.500000 m, nav range: 45.320236 m, bearing: 107.477148 deg, approach rate: 0.682115 m/s, LOS rate: -0.225846 deg/s, cmd heading: 269.429816 deg, new cmd heading: 269.146098 deg. 2025-01-08T21:38:33.147Z,1736372313.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697485 target range: 502.500000 and range: 502.50 m. 2025-01-08T21:38:33.272Z,1736372313.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:33.272Z,1736372313.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758523 2025-01-08T21:38:33.504Z,1736372313.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:33.524Z,1736372313.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:33.525Z,1736372313.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010905 2025-01-08T21:38:33.538Z,1736372313.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:33.542Z,1736372313.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.50 m. 2025-01-08T21:38:33.550Z,1736372313.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 502.500000 m, nav range: 45.573715 m, bearing: 107.400383 deg, approach rate: 0.634982 m/s, LOS rate: -0.191231 deg/s, cmd heading: 269.146090 deg, new cmd heading: 268.917078 deg. 2025-01-08T21:38:33.551Z,1736372313.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693489 target range: 502.500000 and range: 502.50 m. 2025-01-08T21:38:33.776Z,1736372313.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:33.778Z,1736372313.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263557 2025-01-08T21:38:33.935Z,1736372313.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:33.992Z,1736372313.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.50 m. 2025-01-08T21:38:34.001Z,1736372314.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 502.500000 m, nav range: 45.862907 m, bearing: 107.319727 deg, approach rate: 0.657204 m/s, LOS rate: -0.182140 deg/s, cmd heading: 268.917088 deg, new cmd heading: 268.676646 deg. 2025-01-08T21:38:34.002Z,1736372314.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689292 target range: 502.500000 and range: 502.50 m. 2025-01-08T21:38:34.028Z,1736372314.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:34.029Z,1736372314.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514706 2025-01-08T21:38:34.280Z,1736372314.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:34.280Z,1736372314.280 [DAT](INFO): DAT read: Rx Time:21:38:32.9528 2025-01-08T21:38:34.281Z,1736372314.281 [DAT](INFO): Rx dataTimestamp_ set to:1736372314.280649 2025-01-08T21:38:34.281Z,1736372314.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767663 2025-01-08T21:38:34.346Z,1736372314.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:34.372Z,1736372314.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.50 m. 2025-01-08T21:38:34.376Z,1736372314.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 502.500000 m, nav range: 46.139454 m, bearing: 107.244107 deg, approach rate: 0.714393 m/s, LOS rate: -0.194175 deg/s, cmd heading: 268.676638 deg, new cmd heading: 268.451140 deg. 2025-01-08T21:38:34.384Z,1736372314.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685356 target range: 502.500000 and range: 502.50 m. 2025-01-08T21:38:34.532Z,1736372314.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:34.533Z,1736372314.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019030 2025-01-08T21:38:34.724Z,1736372314.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:34.733Z,1736372314.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.50 m. 2025-01-08T21:38:34.736Z,1736372314.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 502.500000 m, nav range: 46.393463 m, bearing: 107.176160 deg, approach rate: 0.698728 m/s, LOS rate: -0.185884 deg/s, cmd heading: 268.451132 deg, new cmd heading: 268.248409 deg. 2025-01-08T21:38:34.737Z,1736372314.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681818 target range: 502.500000 and range: 502.50 m. 2025-01-08T21:38:34.784Z,1736372314.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:34.795Z,1736372314.795 [DAT](INFO): DAT read: 21:38:32.9528 LVL= 15856, 32753, 21058, 32755, AGC= 70, IDX= 426,-0.06, 1.089,-0.678,-0.507, 0.047, PHS= 1.130,-0.678,-0.557, RAW= 93.4, 1.2, CAL= 101.7, -2.0, ROT= 48.3, 2.0 2025-01-08T21:38:34.796Z,1736372314.796 [DAT](INFO): got valid direction response: 21:38:32.9528 LVL= 15856, 32753, 21058, 32755, AGC= 70, IDX= 426,-0.06, 1.089,-0.678,-0.507, 0.047, PHS= 1.130,-0.678,-0.557, RAW= 93.4, 1.2, CAL= 101.7, -2.0, ROT= 48.3, 2.0 2025-01-08T21:38:34.797Z,1736372314.797 [DAT](INFO): DAT read: Bearing 48.3, 2.0 (Local) 2025-01-08T21:38:34.797Z,1736372314.797 [DAT](INFO): Local bearing/azimuth received: Bearing 48.3, 2.0 (Local) 2025-01-08T21:38:34.812Z,1736372314.812 [DAT](INFO): DAT read: Range 10 to 50 : 501.3 m (Round-trip 668.5 ms) speed 0.7 m/s 2025-01-08T21:38:34.841Z,1736372314.841 [DAT](INFO): DAT read: user:1938> 2025-01-08T21:38:34.854Z,1736372314.854 [DAT](INFO): DAT read: Tx time:21:38:34.0301 2025-01-08T21:38:34.860Z,1736372314.860 [DAT](INFO): Ping request sent. 2025-01-08T21:38:34.860Z,1736372314.860 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:34.862Z,1736372314.862 [DAT](INFO): DAT read: TxSync time:21:38:34.0293 2025-01-08T21:38:34.874Z,1736372314.874 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:38:34.880Z,1736372314.880 [DAT](INFO): direction in FSK: [-0.113665,0.049251,0.992298] 2025-01-08T21:38:34.881Z,1736372314.881 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:34.882Z,1736372314.882 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:34.901Z,1736372314.901 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:34.902Z,1736372314.902 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:35.036Z,1736372315.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:35.185Z,1736372315.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:35.200Z,1736372315.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 501.299988 m, deltaT: 4.288023 s, deltaX: -1.200012 m, approachRate: -0.279852 m/s, rangeRepo size: 4 2025-01-08T21:38:35.202Z,1736372315.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 501.299988 m, bearing: 126.194168 deg, lat: 36.900379 deg, lon: -122.115234 deg, deltaT: 4.288023 s, deltaX: -1.200012 m, approachRate: -0.279852 m/s, posRepo size: 4 2025-01-08T21:38:35.203Z,1736372315.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.30 m. 2025-01-08T21:38:35.206Z,1736372315.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.299988 m, nav range: 54.577263 m, bearing: 119.529673 deg, approach rate: 0.000000 m/s, LOS rate: -0.185884 deg/s, cmd heading: 268.248412 deg, new cmd heading: 267.988636 deg. 2025-01-08T21:38:35.206Z,1736372315.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677284 target range: 501.299988 and range: 501.30 m. 2025-01-08T21:38:35.288Z,1736372315.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:35.534Z,1736372315.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:35.540Z,1736372315.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:35.542Z,1736372315.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:35.544Z,1736372315.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.30 m. 2025-01-08T21:38:35.546Z,1736372315.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.299988 m, nav range: 54.786777 m, bearing: 119.431762 deg, approach rate: 0.607139 m/s, LOS rate: -0.282646 deg/s, cmd heading: 267.988647 deg, new cmd heading: 267.696039 deg. 2025-01-08T21:38:35.548Z,1736372315.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672177 target range: 501.299988 and range: 501.30 m. 2025-01-08T21:38:35.794Z,1736372315.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:35.794Z,1736372315.794 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:35.794Z,1736372315.794 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:35.794Z,1736372315.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:35.968Z,1736372315.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:35.988Z,1736372315.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.30 m. 2025-01-08T21:38:35.991Z,1736372315.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.299988 m, nav range: 55.032040 m, bearing: 119.319317 deg, approach rate: 0.552020 m/s, LOS rate: -0.251956 deg/s, cmd heading: 267.696041 deg, new cmd heading: 267.360214 deg. 2025-01-08T21:38:35.996Z,1736372315.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666316 target range: 501.299988 and range: 501.30 m. 2025-01-08T21:38:36.044Z,1736372316.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:36.045Z,1736372316.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.184688 2025-01-08T21:38:36.296Z,1736372316.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:36.296Z,1736372316.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.436539 2025-01-08T21:38:36.374Z,1736372316.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:36.382Z,1736372316.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.30 m. 2025-01-08T21:38:36.389Z,1736372316.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.299988 m, nav range: 55.261520 m, bearing: 119.214066 deg, approach rate: 0.582271 m/s, LOS rate: -0.265947 deg/s, cmd heading: 267.360215 deg, new cmd heading: 267.045778 deg. 2025-01-08T21:38:36.390Z,1736372316.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660828 target range: 501.299988 and range: 501.30 m. 2025-01-08T21:38:36.548Z,1736372316.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:36.549Z,1736372316.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.689282 2025-01-08T21:38:36.736Z,1736372316.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:36.746Z,1736372316.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.30 m. 2025-01-08T21:38:36.768Z,1736372316.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.299988 m, nav range: 55.465466 m, bearing: 119.120888 deg, approach rate: 0.563969 m/s, LOS rate: -0.256719 deg/s, cmd heading: 267.045780 deg, new cmd heading: 266.767274 deg. 2025-01-08T21:38:36.769Z,1736372316.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655967 target range: 501.299988 and range: 501.30 m. 2025-01-08T21:38:36.800Z,1736372316.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:36.801Z,1736372316.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940912 2025-01-08T21:38:37.052Z,1736372317.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:37.052Z,1736372317.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.192553 2025-01-08T21:38:37.176Z,1736372317.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:37.185Z,1736372317.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.30 m. 2025-01-08T21:38:37.188Z,1736372317.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.299988 m, nav range: 55.693710 m, bearing: 119.012734 deg, approach rate: 0.517195 m/s, LOS rate: -0.244068 deg/s, cmd heading: 266.767272 deg, new cmd heading: 266.444144 deg. 2025-01-08T21:38:37.189Z,1736372317.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650328 target range: 501.299988 and range: 501.30 m. 2025-01-08T21:38:37.304Z,1736372317.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:37.305Z,1736372317.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.444658 2025-01-08T21:38:37.556Z,1736372317.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:37.556Z,1736372317.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.696513 2025-01-08T21:38:37.569Z,1736372317.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:37.576Z,1736372317.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:37.578Z,1736372317.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.30 m. 2025-01-08T21:38:37.582Z,1736372317.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.299988 m, nav range: 55.885838 m, bearing: 118.922025 deg, approach rate: 0.488997 m/s, LOS rate: -0.230077 deg/s, cmd heading: 266.444150 deg, new cmd heading: 266.172959 deg. 2025-01-08T21:38:37.583Z,1736372317.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645595 target range: 501.299988 and range: 501.30 m. 2025-01-08T21:38:37.808Z,1736372317.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:37.809Z,1736372317.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.948893 2025-01-08T21:38:38.008Z,1736372318.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:38.017Z,1736372318.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.30 m. 2025-01-08T21:38:38.036Z,1736372318.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.299988 m, nav range: 56.114056 m, bearing: 118.815548 deg, approach rate: 0.520069 m/s, LOS rate: -0.241654 deg/s, cmd heading: 266.172964 deg, new cmd heading: 265.854837 deg. 2025-01-08T21:38:38.037Z,1736372318.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640042 target range: 501.299988 and range: 501.30 m. 2025-01-08T21:38:38.060Z,1736372318.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:38.060Z,1736372318.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.200508 2025-01-08T21:38:38.312Z,1736372318.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:38.312Z,1736372318.312 [DAT](INFO): DAT read: Rx Time:21:38:37.1000 2025-01-08T21:38:38.313Z,1736372318.313 [DAT](INFO): Rx dataTimestamp_ set to:1736372318.312640 2025-01-08T21:38:38.313Z,1736372318.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.453576 2025-01-08T21:38:38.398Z,1736372318.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:38.415Z,1736372318.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.30 m. 2025-01-08T21:38:38.428Z,1736372318.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.299988 m, nav range: 56.307106 m, bearing: 118.723912 deg, approach rate: 0.485520 m/s, LOS rate: -0.229673 deg/s, cmd heading: 265.854841 deg, new cmd heading: 265.580877 deg. 2025-01-08T21:38:38.429Z,1736372318.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635261 target range: 501.299988 and range: 501.30 m. 2025-01-08T21:38:38.564Z,1736372318.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:38.565Z,1736372318.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.705267 2025-01-08T21:38:38.816Z,1736372318.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:38.822Z,1736372318.822 [DAT](INFO): DAT read: 21:38:37.1000 LVL= 16144, 32753, 29826, 32755, AGC= 68, IDX= 413, 0.14,-0.162,-1.424,-1.546,-0.980, PHS= 0.906,-0.397,-0.569, RAW= 83.9, 0.9, CAL= 90.1, -3.1, ROT= 59.9, 3.1 2025-01-08T21:38:38.823Z,1736372318.823 [DAT](INFO): got valid direction response: 21:38:37.1000 LVL= 16144, 32753, 29826, 32755, AGC= 68, IDX= 413, 0.14,-0.162,-1.424,-1.546,-0.980, PHS= 0.906,-0.397,-0.569, RAW= 83.9, 0.9, CAL= 90.1, -3.1, ROT= 59.9, 3.1 2025-01-08T21:38:38.824Z,1736372318.824 [DAT](INFO): DAT read: Bearing 59.9, 3.1 (Local) 2025-01-08T21:38:38.825Z,1736372318.825 [DAT](INFO): Local bearing/azimuth received: Bearing 59.9, 3.1 (Local) 2025-01-08T21:38:38.826Z,1736372318.826 [DAT](INFO): DAT read: Range 10 to 50 : 499.2 m (Round-trip 665.7 ms) speed 0.4 m/s 2025-01-08T21:38:38.827Z,1736372318.827 [DAT](INFO): DAT read: user:1939> 2025-01-08T21:38:38.828Z,1736372318.828 [DAT](INFO): DAT read: Tx time:21:38:38.1801 2025-01-08T21:38:38.828Z,1736372318.828 [DAT](INFO): Ping request sent. 2025-01-08T21:38:38.828Z,1736372318.828 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:38.829Z,1736372318.829 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:38:38.829Z,1736372318.829 [DAT](INFO): direction in FSK: [-0.091301,0.212655,0.972852] 2025-01-08T21:38:38.830Z,1736372318.830 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:38.830Z,1736372318.830 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:38.834Z,1736372318.834 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:38.834Z,1736372318.834 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:39.053Z,1736372319.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:39.068Z,1736372319.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:39.069Z,1736372319.069 [DAT](INFO): DAT read: TxSync time:21:38:38.1793 2025-01-08T21:38:39.103Z,1736372319.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 499.200012 m, deltaT: 4.031961 s, deltaX: -2.099976 m, approachRate: -0.520832 m/s, rangeRepo size: 4 2025-01-08T21:38:39.109Z,1736372319.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 499.200012 m, bearing: 36.388977 deg, lat: 36.900379 deg, lon: -122.115234 deg, deltaT: 4.031961 s, deltaX: -2.099976 m, approachRate: -0.520832 m/s, posRepo size: 4 2025-01-08T21:38:39.110Z,1736372319.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:38:39.123Z,1736372319.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 56.623421 m, bearing: 118.566418 deg, approach rate: 0.000000 m/s, LOS rate: -0.229673 deg/s, cmd heading: 265.580868 deg, new cmd heading: 265.107133 deg. 2025-01-08T21:38:39.124Z,1736372319.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626992 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:38:39.320Z,1736372319.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:39.404Z,1736372319.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:39.412Z,1736372319.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:38:39.415Z,1736372319.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 56.792397 m, bearing: 118.482094 deg, approach rate: 0.545455 m/s, LOS rate: -0.271391 deg/s, cmd heading: 265.107126 deg, new cmd heading: 264.854906 deg. 2025-01-08T21:38:39.416Z,1736372319.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622590 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:38:39.572Z,1736372319.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:39.793Z,1736372319.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:39.801Z,1736372319.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:39.803Z,1736372319.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:38:39.806Z,1736372319.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 56.980526 m, bearing: 118.386964 deg, approach rate: 0.480892 m/s, LOS rate: -0.242365 deg/s, cmd heading: 264.854901 deg, new cmd heading: 264.570457 deg. 2025-01-08T21:38:39.807Z,1736372319.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617626 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:38:39.826Z,1736372319.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:39.826Z,1736372319.826 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:39.826Z,1736372319.826 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:39.827Z,1736372319.827 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:40.076Z,1736372320.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:40.076Z,1736372320.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248096 2025-01-08T21:38:40.238Z,1736372320.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:40.246Z,1736372320.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:38:40.250Z,1736372320.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 57.197208 m, bearing: 118.274029 deg, approach rate: 0.488813 m/s, LOS rate: -0.253805 deg/s, cmd heading: 264.570465 deg, new cmd heading: 264.232947 deg. 2025-01-08T21:38:40.251Z,1736372320.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611735 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:38:40.328Z,1736372320.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:40.329Z,1736372320.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500846 2025-01-08T21:38:40.580Z,1736372320.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:40.581Z,1736372320.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752226 2025-01-08T21:38:40.602Z,1736372320.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:40.610Z,1736372320.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:38:40.613Z,1736372320.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 57.373814 m, bearing: 118.180715 deg, approach rate: 0.485990 m/s, LOS rate: -0.255995 deg/s, cmd heading: 264.232944 deg, new cmd heading: 263.953866 deg. 2025-01-08T21:38:40.614Z,1736372320.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606864 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:38:40.832Z,1736372320.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:40.833Z,1736372320.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004552 2025-01-08T21:38:41.030Z,1736372321.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:41.039Z,1736372321.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:38:41.042Z,1736372321.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 57.597427 m, bearing: 118.062304 deg, approach rate: 0.521040 m/s, LOS rate: -0.274837 deg/s, cmd heading: 263.953863 deg, new cmd heading: 263.600013 deg. 2025-01-08T21:38:41.043Z,1736372321.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.600688 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:38:41.084Z,1736372321.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:41.085Z,1736372321.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256457 2025-01-08T21:38:41.332Z,1736372321.332 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:38:41.336Z,1736372321.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:41.337Z,1736372321.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508271 2025-01-08T21:38:41.417Z,1736372321.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:41.433Z,1736372321.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:38:41.438Z,1736372321.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 57.798820 m, bearing: 117.955432 deg, approach rate: 0.513186 m/s, LOS rate: -0.271379 deg/s, cmd heading: 263.600004 deg, new cmd heading: 263.280510 deg. 2025-01-08T21:38:41.439Z,1736372321.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595112 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:38:41.588Z,1736372321.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:41.588Z,1736372321.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760079 2025-01-08T21:38:41.823Z,1736372321.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:41.830Z,1736372321.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:41.833Z,1736372321.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:38:41.835Z,1736372321.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 58.010593 m, bearing: 117.842691 deg, approach rate: 0.527965 m/s, LOS rate: -0.280044 deg/s, cmd heading: 263.280515 deg, new cmd heading: 262.943532 deg. 2025-01-08T21:38:41.836Z,1736372321.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589231 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:38:41.840Z,1736372321.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:41.840Z,1736372321.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012214 2025-01-08T21:38:42.092Z,1736372322.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:42.092Z,1736372322.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264151 2025-01-08T21:38:42.254Z,1736372322.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:42.263Z,1736372322.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:38:42.266Z,1736372322.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 58.250717 m, bearing: 117.712835 deg, approach rate: 0.557793 m/s, LOS rate: -0.300404 deg/s, cmd heading: 262.943541 deg, new cmd heading: 262.555585 deg. 2025-01-08T21:38:42.268Z,1736372322.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582459 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:38:42.336Z,1736372322.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:38:42.345Z,1736372322.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:42.346Z,1736372322.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517407 2025-01-08T21:38:42.596Z,1736372322.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:42.596Z,1736372322.596 [DAT](INFO): DAT read: Rx Time:21:38:41.2488 2025-01-08T21:38:42.597Z,1736372322.597 [DAT](INFO): Rx dataTimestamp_ set to:1736372322.596579 2025-01-08T21:38:42.598Z,1736372322.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769122 2025-01-08T21:38:42.646Z,1736372322.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:42.683Z,1736372322.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:38:42.686Z,1736372322.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 58.467117 m, bearing: 117.593443 deg, approach rate: 0.520561 m/s, LOS rate: -0.286139 deg/s, cmd heading: 262.555586 deg, new cmd heading: 262.198741 deg. 2025-01-08T21:38:42.687Z,1736372322.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576231 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:38:42.850Z,1736372322.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:42.852Z,1736372322.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023315 2025-01-08T21:38:43.100Z,1736372323.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:43.109Z,1736372323.109 [DAT](INFO): DAT read: 21:38:41.2489 LVL= 17696, 32753, 22114, 32755, AGC= 66, IDX= 433,-0.28, 0.011,-1.954,-1.777,-1.254, PHS= 1.353,-0.653,-0.526, RAW= 93.2, -1.8, CAL= 101.4, -7.5, ROT= 48.6, 7.5 2025-01-08T21:38:43.111Z,1736372323.111 [DAT](INFO): got valid direction response: 21:38:41.2489 LVL= 17696, 32753, 22114, 32755, AGC= 66, IDX= 433,-0.28, 0.011,-1.954,-1.777,-1.254, PHS= 1.353,-0.653,-0.526, RAW= 93.2, -1.8, CAL= 101.4, -7.5, ROT= 48.6, 7.5 2025-01-08T21:38:43.112Z,1736372323.112 [DAT](INFO): DAT read: Bearing 48.6, 7.5 (Local) 2025-01-08T21:38:43.113Z,1736372323.113 [DAT](INFO): Local bearing/azimuth received: Bearing 48.6, 7.5 (Local) 2025-01-08T21:38:43.114Z,1736372323.114 [DAT](INFO): DAT read: Range 10 to 50 : 498.3 m (Round-trip 664.5 ms) speed 0.3 m/s 2025-01-08T21:38:43.156Z,1736372323.156 [DAT](INFO): DAT read: user:1940> 2025-01-08T21:38:43.157Z,1736372323.157 [DAT](INFO): DAT read: Tx time:21:38:42.3302 2025-01-08T21:38:43.157Z,1736372323.157 [DAT](INFO): Ping request sent. 2025-01-08T21:38:43.157Z,1736372323.157 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:43.158Z,1736372323.158 [DAT](INFO): DAT read: TxSync time:21:38:42.3294 2025-01-08T21:38:43.158Z,1736372323.158 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:38:43.159Z,1736372323.159 [DAT](INFO): direction in FSK: [-0.055560,0.049511,0.997227] 2025-01-08T21:38:43.171Z,1736372323.171 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:43.178Z,1736372323.178 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:43.198Z,1736372323.198 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:43.199Z,1736372323.199 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:43.271Z,1736372323.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:43.301Z,1736372323.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 498.299988 m, deltaT: 4.283971 s, deltaX: -0.900024 m, approachRate: -0.210091 m/s, rangeRepo size: 4 2025-01-08T21:38:43.308Z,1736372323.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 498.299988 m, bearing: 118.262335 deg, lat: 36.900379 deg, lon: -122.115260 deg, deltaT: 4.283971 s, deltaX: -0.900024 m, approachRate: -0.210091 m/s, posRepo size: 4 2025-01-08T21:38:43.309Z,1736372323.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T21:38:43.316Z,1736372323.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 56.800323 m, bearing: 118.463384 deg, approach rate: 0.000000 m/s, LOS rate: -0.286139 deg/s, cmd heading: 262.198750 deg, new cmd heading: 261.664795 deg. 2025-01-08T21:38:43.317Z,1736372323.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566912 target range: 498.299988 and range: 498.30 m. 2025-01-08T21:38:43.352Z,1736372323.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:43.604Z,1736372323.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:43.757Z,1736372323.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:43.782Z,1736372323.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T21:38:43.789Z,1736372323.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 57.092560 m, bearing: 118.285767 deg, approach rate: 0.608447 m/s, LOS rate: -0.367911 deg/s, cmd heading: 261.664793 deg, new cmd heading: 261.134686 deg. 2025-01-08T21:38:43.790Z,1736372323.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557660 target range: 498.299988 and range: 498.30 m. 2025-01-08T21:38:43.856Z,1736372323.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:44.108Z,1736372324.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:44.197Z,1736372324.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:44.226Z,1736372324.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:44.232Z,1736372324.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T21:38:44.235Z,1736372324.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 57.376717 m, bearing: 118.117442 deg, approach rate: 0.629692 m/s, LOS rate: -0.371162 deg/s, cmd heading: 261.134688 deg, new cmd heading: 260.632226 deg. 2025-01-08T21:38:44.252Z,1736372324.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548891 target range: 498.299988 and range: 498.30 m. 2025-01-08T21:38:44.364Z,1736372324.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:44.365Z,1736372324.365 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:44.365Z,1736372324.365 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:44.366Z,1736372324.366 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:44.567Z,1736372324.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:44.604Z,1736372324.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T21:38:44.606Z,1736372324.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 57.614281 m, bearing: 117.974979 deg, approach rate: 0.647478 m/s, LOS rate: -0.386679 deg/s, cmd heading: 260.632232 deg, new cmd heading: 260.206615 deg. 2025-01-08T21:38:44.611Z,1736372324.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541462 target range: 498.299988 and range: 498.30 m. 2025-01-08T21:38:44.616Z,1736372324.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:44.617Z,1736372324.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459602 2025-01-08T21:38:44.868Z,1736372324.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:44.868Z,1736372324.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711356 2025-01-08T21:38:45.030Z,1736372325.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:45.046Z,1736372325.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T21:38:45.049Z,1736372325.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 57.912842 m, bearing: 117.797894 deg, approach rate: 0.668979 m/s, LOS rate: -0.394744 deg/s, cmd heading: 260.206602 deg, new cmd heading: 259.678101 deg. 2025-01-08T21:38:45.050Z,1736372325.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532238 target range: 498.299988 and range: 498.30 m. 2025-01-08T21:38:45.121Z,1736372325.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:45.123Z,1736372325.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965567 2025-01-08T21:38:45.372Z,1736372325.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:45.372Z,1736372325.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215466 2025-01-08T21:38:45.413Z,1736372325.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:45.424Z,1736372325.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T21:38:45.427Z,1736372325.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 58.173019 m, bearing: 117.648430 deg, approach rate: 0.688995 m/s, LOS rate: -0.394037 deg/s, cmd heading: 259.678110 deg, new cmd heading: 259.231731 deg. 2025-01-08T21:38:45.435Z,1736372325.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524447 target range: 498.299988 and range: 498.30 m. 2025-01-08T21:38:45.624Z,1736372325.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:45.625Z,1736372325.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467613 2025-01-08T21:38:45.784Z,1736372325.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:45.793Z,1736372325.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T21:38:45.795Z,1736372325.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 58.424179 m, bearing: 117.502789 deg, approach rate: 0.679859 m/s, LOS rate: -0.392536 deg/s, cmd heading: 259.231743 deg, new cmd heading: 258.796709 deg. 2025-01-08T21:38:45.796Z,1736372325.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516855 target range: 498.299988 and range: 498.30 m. 2025-01-08T21:38:45.877Z,1736372325.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:45.878Z,1736372325.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720943 2025-01-08T21:38:46.128Z,1736372326.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:46.128Z,1736372326.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971383 2025-01-08T21:38:46.216Z,1736372326.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:46.228Z,1736372326.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:46.230Z,1736372326.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T21:38:46.233Z,1736372326.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 58.718548 m, bearing: 117.330130 deg, approach rate: 0.673505 m/s, LOS rate: -0.393058 deg/s, cmd heading: 258.796715 deg, new cmd heading: 258.281347 deg. 2025-01-08T21:38:46.234Z,1736372326.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507860 target range: 498.299988 and range: 498.30 m. 2025-01-08T21:38:46.380Z,1736372326.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:46.382Z,1736372326.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224500 2025-01-08T21:38:46.594Z,1736372326.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:46.602Z,1736372326.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T21:38:46.605Z,1736372326.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 58.975395 m, bearing: 117.178089 deg, approach rate: 0.689651 m/s, LOS rate: -0.406460 deg/s, cmd heading: 258.281336 deg, new cmd heading: 257.827211 deg. 2025-01-08T21:38:46.606Z,1736372326.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499934 target range: 498.299988 and range: 498.30 m. 2025-01-08T21:38:46.633Z,1736372326.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:46.634Z,1736372326.634 [DAT](INFO): DAT read: Rx Time:21:38:45.3851 2025-01-08T21:38:46.635Z,1736372326.635 [DAT](INFO): Rx dataTimestamp_ set to:1736372326.634510 2025-01-08T21:38:46.644Z,1736372326.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486534 2025-01-08T21:38:46.884Z,1736372326.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:46.884Z,1736372326.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.727478 2025-01-08T21:38:47.119Z,1736372327.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:47.137Z,1736372327.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:47.145Z,1736372327.145 [DAT](INFO): DAT read: 21:38:45.3851 LVL= 14304, 25969, 19570, 27219, AGC= 65, IDX= 308,-0.39,-0.878,-2.556,-2.626,-1.932, PHS= 1.142,-0.577,-0.697, RAW= 86.7, 1.5, CAL= 93.2, -1.9, ROT= 56.8, 1.9 2025-01-08T21:38:47.146Z,1736372327.146 [DAT](INFO): got valid direction response: 21:38:45.3851 LVL= 14304, 25969, 19570, 27219, AGC= 65, IDX= 308,-0.39,-0.878,-2.556,-2.626,-1.932, PHS= 1.142,-0.577,-0.697, RAW= 86.7, 1.5, CAL= 93.2, -1.9, ROT= 56.8, 1.9 2025-01-08T21:38:47.147Z,1736372327.147 [DAT](INFO): DAT read: Bearing 56.8, 1.9 (Local) 2025-01-08T21:38:47.147Z,1736372327.147 [DAT](INFO): Local bearing/azimuth received: Bearing 56.8, 1.9 (Local) 2025-01-08T21:38:47.149Z,1736372327.149 [DAT](INFO): DAT read: Range 10 to 50 : 488.0 m (Round-trip 650.7 ms) speed 0.2 m/s 2025-01-08T21:38:47.150Z,1736372327.150 [DAT](INFO): DAT read: user:1941> 2025-01-08T21:38:47.151Z,1736372327.151 [DAT](INFO): DAT read: Tx time:21:38:46.4802 2025-01-08T21:38:47.159Z,1736372327.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.30 m. 2025-01-08T21:38:47.162Z,1736372327.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.299988 m, nav range: 59.329330 m, bearing: 116.971125 deg, approach rate: 0.638598 m/s, LOS rate: -0.371192 deg/s, cmd heading: 257.827210 deg, new cmd heading: 257.210048 deg. 2025-01-08T21:38:47.163Z,1736372327.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489162 target range: 498.299988 and range: 498.30 m. 2025-01-08T21:38:47.167Z,1736372327.167 [DAT](INFO): Ping request sent. 2025-01-08T21:38:47.168Z,1736372327.168 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:47.168Z,1736372327.168 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:38:47.169Z,1736372327.169 [DAT](INFO): direction in FSK: [-0.108020,0.166309,0.980139] 2025-01-08T21:38:47.169Z,1736372327.169 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:47.169Z,1736372327.169 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:47.181Z,1736372327.181 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:47.181Z,1736372327.181 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:47.388Z,1736372327.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:47.389Z,1736372327.389 [DAT](INFO): DAT read: TxSync time:21:38:46.4794 2025-01-08T21:38:47.592Z,1736372327.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:47.611Z,1736372327.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 488.000000 m, deltaT: 4.037865 s, deltaX: -10.299988 m, approachRate: -2.550850 m/s, rangeRepo size: 4 2025-01-08T21:38:47.614Z,1736372327.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 488.000000 m, bearing: 30.747365 deg, lat: 36.900524 deg, lon: -122.115266 deg, deltaT: 4.037865 s, deltaX: -10.299988 m, approachRate: -2.550850 m/s, posRepo size: 4 2025-01-08T21:38:47.614Z,1736372327.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.00 m. 2025-01-08T21:38:47.617Z,1736372327.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.000000 m, nav range: 53.779346 m, bearing: 101.528471 deg, approach rate: 0.000000 m/s, LOS rate: -0.371192 deg/s, cmd heading: 257.210034 deg, new cmd heading: 256.704403 deg. 2025-01-08T21:38:47.618Z,1736372327.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480337 target range: 488.000000 and range: 488.00 m. 2025-01-08T21:38:47.640Z,1736372327.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:47.892Z,1736372327.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:48.065Z,1736372328.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:48.087Z,1736372328.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.00 m. 2025-01-08T21:38:48.090Z,1736372328.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.000000 m, nav range: 54.135414 m, bearing: 101.408445 deg, approach rate: 0.753460 m/s, LOS rate: -0.252312 deg/s, cmd heading: 256.704409 deg, new cmd heading: 256.346703 deg. 2025-01-08T21:38:48.091Z,1736372328.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474094 target range: 488.000000 and range: 488.00 m. 2025-01-08T21:38:48.144Z,1736372328.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:48.396Z,1736372328.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:48.436Z,1736372328.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:48.443Z,1736372328.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:48.445Z,1736372328.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.00 m. 2025-01-08T21:38:48.449Z,1736372328.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.000000 m, nav range: 54.397816 m, bearing: 101.319622 deg, approach rate: 0.724494 m/s, LOS rate: -0.244059 deg/s, cmd heading: 256.346698 deg, new cmd heading: 256.081516 deg. 2025-01-08T21:38:48.450Z,1736372328.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469466 target range: 488.000000 and range: 488.00 m. 2025-01-08T21:38:48.653Z,1736372328.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:48.657Z,1736372328.657 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:48.657Z,1736372328.657 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:48.657Z,1736372328.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:48.801Z,1736372328.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:48.830Z,1736372328.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.00 m. 2025-01-08T21:38:48.840Z,1736372328.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.000000 m, nav range: 54.655445 m, bearing: 101.230665 deg, approach rate: 0.670130 m/s, LOS rate: -0.230296 deg/s, cmd heading: 256.081523 deg, new cmd heading: 255.815915 deg. 2025-01-08T21:38:48.841Z,1736372328.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464830 target range: 488.000000 and range: 488.00 m. 2025-01-08T21:38:48.900Z,1736372328.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:48.901Z,1736372328.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749923 2025-01-08T21:38:49.152Z,1736372329.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:49.152Z,1736372329.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001314 2025-01-08T21:38:49.244Z,1736372329.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:49.261Z,1736372329.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.00 m. 2025-01-08T21:38:49.268Z,1736372329.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.000000 m, nav range: 54.943119 m, bearing: 101.122234 deg, approach rate: 0.666381 m/s, LOS rate: -0.249860 deg/s, cmd heading: 255.815911 deg, new cmd heading: 255.492323 deg. 2025-01-08T21:38:49.269Z,1736372329.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459182 target range: 488.000000 and range: 488.00 m. 2025-01-08T21:38:49.404Z,1736372329.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:49.405Z,1736372329.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253479 2025-01-08T21:38:49.619Z,1736372329.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:49.641Z,1736372329.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.00 m. 2025-01-08T21:38:49.656Z,1736372329.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:49.658Z,1736372329.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506543 2025-01-08T21:38:49.666Z,1736372329.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.000000 m, nav range: 55.186424 m, bearing: 101.031466 deg, approach rate: 0.641186 m/s, LOS rate: -0.238148 deg/s, cmd heading: 255.492324 deg, new cmd heading: 255.221222 deg. 2025-01-08T21:38:49.672Z,1736372329.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454451 target range: 488.000000 and range: 488.00 m. 2025-01-08T21:38:49.908Z,1736372329.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:49.909Z,1736372329.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757626 2025-01-08T21:38:50.081Z,1736372330.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:50.104Z,1736372330.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.00 m. 2025-01-08T21:38:50.106Z,1736372330.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.000000 m, nav range: 55.484169 m, bearing: 100.917401 deg, approach rate: 0.649222 m/s, LOS rate: -0.247380 deg/s, cmd heading: 255.221220 deg, new cmd heading: 254.880864 deg. 2025-01-08T21:38:50.112Z,1736372330.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448510 target range: 488.000000 and range: 488.00 m. 2025-01-08T21:38:50.160Z,1736372330.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:50.161Z,1736372330.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009433 2025-01-08T21:38:50.412Z,1736372330.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:50.412Z,1736372330.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261390 2025-01-08T21:38:50.433Z,1736372330.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:50.493Z,1736372330.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:50.495Z,1736372330.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.00 m. 2025-01-08T21:38:50.501Z,1736372330.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.000000 m, nav range: 55.695663 m, bearing: 100.837342 deg, approach rate: 0.535315 m/s, LOS rate: -0.201867 deg/s, cmd heading: 254.880858 deg, new cmd heading: 254.641597 deg. 2025-01-08T21:38:50.502Z,1736372330.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.444335 target range: 488.000000 and range: 488.00 m. 2025-01-08T21:38:50.664Z,1736372330.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:50.665Z,1736372330.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514058 2025-01-08T21:38:50.820Z,1736372330.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:50.853Z,1736372330.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.00 m. 2025-01-08T21:38:50.860Z,1736372330.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.000000 m, nav range: 55.926338 m, bearing: 100.749642 deg, approach rate: 0.643645 m/s, LOS rate: -0.243698 deg/s, cmd heading: 254.641610 deg, new cmd heading: 254.379597 deg. 2025-01-08T21:38:50.861Z,1736372330.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439762 target range: 488.000000 and range: 488.00 m. 2025-01-08T21:38:50.918Z,1736372330.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:50.918Z,1736372330.918 [DAT](INFO): DAT read: Rx Time:21:38:49.5445 2025-01-08T21:38:50.919Z,1736372330.919 [DAT](INFO): Rx dataTimestamp_ set to:1736372330.918598 2025-01-08T21:38:50.920Z,1736372330.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768433 2025-01-08T21:38:51.172Z,1736372331.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:51.172Z,1736372331.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021334 2025-01-08T21:38:51.297Z,1736372331.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:51.306Z,1736372331.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.00 m. 2025-01-08T21:38:51.309Z,1736372331.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.000000 m, nav range: 56.181118 m, bearing: 100.648153 deg, approach rate: 0.562087 m/s, LOS rate: -0.222886 deg/s, cmd heading: 254.379604 deg, new cmd heading: 254.076520 deg. 2025-01-08T21:38:51.310Z,1736372331.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434472 target range: 488.000000 and range: 488.00 m. 2025-01-08T21:38:51.424Z,1736372331.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:51.434Z,1736372331.434 [DAT](INFO): DAT read: 21:38:49.5445 LVL= 8240, 12529, 8802, 12019, AGC= 69, IDX= 20, 0.29,-1.377,-2.794,-3.042,-2.237, PHS= 0.948,-0.510,-0.808, RAW= 80.9, 4.6, CAL= 85.8, 3.4, ROT= 64.2, -3.4 2025-01-08T21:38:51.435Z,1736372331.435 [DAT](INFO): got valid direction response: 21:38:49.5445 LVL= 8240, 12529, 8802, 12019, AGC= 69, IDX= 20, 0.29,-1.377,-2.794,-3.042,-2.237, PHS= 0.948,-0.510,-0.808, RAW= 80.9, 4.6, CAL= 85.8, 3.4, ROT= 64.2, -3.4 2025-01-08T21:38:51.436Z,1736372331.436 [DAT](INFO): DAT read: Bearing 64.2, -3.4 (Local) 2025-01-08T21:38:51.436Z,1736372331.436 [DAT](INFO): Local bearing/azimuth received: Bearing 64.2, -3.4 (Local) 2025-01-08T21:38:51.438Z,1736372331.438 [DAT](INFO): DAT read: Range 10 to 50 : 495.0 m (Round-trip 660.1 ms) speed 0.3 m/s 2025-01-08T21:38:51.438Z,1736372331.438 [DAT](INFO): DAT read: user:1942> 2025-01-08T21:38:51.448Z,1736372331.448 [DAT](INFO): DAT read: Tx time:21:38:50.6302 2025-01-08T21:38:51.449Z,1736372331.449 [DAT](INFO): Ping request sent. 2025-01-08T21:38:51.449Z,1736372331.449 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:51.449Z,1736372331.449 [DAT](INFO): DAT read: TxSync time:21:38:50.6294 2025-01-08T21:38:51.450Z,1736372331.450 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:38:51.451Z,1736372331.451 [DAT](INFO): direction in FSK: [-0.155775,0.265016,0.951578] 2025-01-08T21:38:51.451Z,1736372331.451 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:51.459Z,1736372331.459 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:51.462Z,1736372331.462 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:51.463Z,1736372331.463 [DAT](INFO): publishing direction and range info 2025-01-08T21:38:51.650Z,1736372331.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:51.676Z,1736372331.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:51.686Z,1736372331.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 495.000000 m, deltaT: 4.286509 s, deltaX: 7.000000 m, approachRate: 1.633031 m/s, rangeRepo size: 4 2025-01-08T21:38:51.698Z,1736372331.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 495.000000 m, bearing: 24.168564 deg, lat: 36.901139 deg, lon: -122.115343 deg, deltaT: 4.286509 s, deltaX: 7.000000 m, approachRate: 1.633031 m/s, posRepo size: 4 2025-01-08T21:38:51.704Z,1736372331.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:51.707Z,1736372331.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 75.736969 m, bearing: 39.953896 deg, approach rate: 0.000000 m/s, LOS rate: -0.222886 deg/s, cmd heading: 254.076507 deg, new cmd heading: 253.822920 deg. 2025-01-08T21:38:51.712Z,1736372331.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.430046 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:38:51.929Z,1736372331.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:52.094Z,1736372332.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:52.129Z,1736372332.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:52.144Z,1736372332.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 75.934769 m, bearing: 40.074286 deg, approach rate: 0.445657 m/s, LOS rate: 0.270541 deg/s, cmd heading: 253.822916 deg, new cmd heading: 254.183140 deg. 2025-01-08T21:38:52.145Z,1736372332.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.436333 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:38:52.180Z,1736372332.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:52.432Z,1736372332.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:52.473Z,1736372332.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:52.500Z,1736372332.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:52.502Z,1736372332.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:52.509Z,1736372332.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 76.094261 m, bearing: 40.165006 deg, approach rate: 0.427954 m/s, LOS rate: 0.242910 deg/s, cmd heading: 254.183140 deg, new cmd heading: 254.454726 deg. 2025-01-08T21:38:52.510Z,1736372332.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.441073 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:38:52.684Z,1736372332.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:52.684Z,1736372332.684 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:52.684Z,1736372332.684 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:52.685Z,1736372332.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:52.853Z,1736372332.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:52.881Z,1736372332.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:52.884Z,1736372332.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 76.253807 m, bearing: 40.255265 deg, approach rate: 0.421419 m/s, LOS rate: 0.237909 deg/s, cmd heading: 254.454736 deg, new cmd heading: 254.724946 deg. 2025-01-08T21:38:52.885Z,1736372332.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445789 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:38:52.937Z,1736372332.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:52.938Z,1736372332.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489294 2025-01-08T21:38:53.188Z,1736372333.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:53.188Z,1736372333.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739686 2025-01-08T21:38:53.270Z,1736372333.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:53.295Z,1736372333.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:53.302Z,1736372333.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 76.425903 m, bearing: 40.344582 deg, approach rate: 0.415537 m/s, LOS rate: 0.215176 deg/s, cmd heading: 254.724938 deg, new cmd heading: 254.992285 deg. 2025-01-08T21:38:53.302Z,1736372333.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450455 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:38:53.440Z,1736372333.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:53.440Z,1736372333.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991738 2025-01-08T21:38:53.697Z,1736372333.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:53.698Z,1736372333.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248585 2025-01-08T21:38:53.782Z,1736372333.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:53.790Z,1736372333.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:53.793Z,1736372333.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 76.637245 m, bearing: 40.453468 deg, approach rate: 0.426584 m/s, LOS rate: 0.219174 deg/s, cmd heading: 254.992272 deg, new cmd heading: 255.318025 deg. 2025-01-08T21:38:53.794Z,1736372333.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456140 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:38:53.944Z,1736372333.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:53.946Z,1736372333.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496505 2025-01-08T21:38:54.196Z,1736372334.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:54.196Z,1736372334.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747808 2025-01-08T21:38:54.226Z,1736372334.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:54.236Z,1736372334.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:54.238Z,1736372334.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 76.823906 m, bearing: 40.555207 deg, approach rate: 0.419526 m/s, LOS rate: 0.228105 deg/s, cmd heading: 255.318017 deg, new cmd heading: 255.622489 deg. 2025-01-08T21:38:54.240Z,1736372334.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461454 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:38:54.448Z,1736372334.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:54.449Z,1736372334.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000372 2025-01-08T21:38:54.617Z,1736372334.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:54.628Z,1736372334.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:54.630Z,1736372334.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:54.664Z,1736372334.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 76.987717 m, bearing: 40.644236 deg, approach rate: 0.414703 m/s, LOS rate: 0.224907 deg/s, cmd heading: 255.622480 deg, new cmd heading: 255.888998 deg. 2025-01-08T21:38:54.666Z,1736372334.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466105 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:38:54.700Z,1736372334.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:54.701Z,1736372334.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251830 2025-01-08T21:38:54.952Z,1736372334.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:54.953Z,1736372334.953 [DAT](INFO): DAT read: Rx Time:21:38:53.6931 2025-01-08T21:38:54.953Z,1736372334.953 [DAT](INFO): Rx dataTimestamp_ set to:1736372334.952728 2025-01-08T21:38:54.954Z,1736372334.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504862 2025-01-08T21:38:55.031Z,1736372335.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:55.040Z,1736372335.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:55.043Z,1736372335.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 77.161339 m, bearing: 40.738230 deg, approach rate: 0.424049 m/s, LOS rate: 0.229051 deg/s, cmd heading: 255.888994 deg, new cmd heading: 256.170339 deg. 2025-01-08T21:38:55.044Z,1736372335.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471016 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:38:55.204Z,1736372335.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:55.204Z,1736372335.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755682 2025-01-08T21:38:55.456Z,1736372335.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:55.457Z,1736372335.457 [DAT](INFO): DAT read: Range 10 to 50 : 493.9 m (Round-trip 658.6 ms) speed 0.0 m/s 2025-01-08T21:38:55.458Z,1736372335.458 [DAT](INFO): DAT read: user:1943> 2025-01-08T21:38:55.459Z,1736372335.459 [DAT](INFO): DAT read: Tx time:21:38:54.7803 2025-01-08T21:38:55.459Z,1736372335.459 [DAT](INFO): Ping request sent. 2025-01-08T21:38:55.459Z,1736372335.459 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:38:55.460Z,1736372335.460 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:38:55.460Z,1736372335.460 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:55.461Z,1736372335.461 [DAT](INFO): publishing transmit ping time 2025-01-08T21:38:55.467Z,1736372335.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:55.476Z,1736372335.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 493.899994 m, deltaT: 4.031687 s, deltaX: -1.100006 m, approachRate: -0.272840 m/s, rangeRepo size: 4 2025-01-08T21:38:55.477Z,1736372335.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:55.480Z,1736372335.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 77.358772 m, bearing: 40.843768 deg, approach rate: 0.453109 m/s, LOS rate: 0.241591 deg/s, cmd heading: 256.170343 deg, new cmd heading: 256.486146 deg. 2025-01-08T21:38:55.481Z,1736372335.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476528 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:38:55.708Z,1736372335.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:55.709Z,1736372335.709 [DAT](INFO): DAT read: TxSync time:21:38:54.7795 2025-01-08T21:38:55.820Z,1736372335.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:55.848Z,1736372335.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:55.851Z,1736372335.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 77.518715 m, bearing: 40.929168 deg, approach rate: 0.429751 m/s, LOS rate: 0.228988 deg/s, cmd heading: 256.486144 deg, new cmd heading: 256.741813 deg. 2025-01-08T21:38:55.853Z,1736372335.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480990 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:38:55.960Z,1736372335.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:56.212Z,1736372336.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:56.260Z,1736372336.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:56.277Z,1736372336.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:56.284Z,1736372336.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 77.729439 m, bearing: 41.045401 deg, approach rate: 0.490103 m/s, LOS rate: 0.269602 deg/s, cmd heading: 256.741811 deg, new cmd heading: 257.089560 deg. 2025-01-08T21:38:56.285Z,1736372336.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487059 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:38:56.464Z,1736372336.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:56.629Z,1736372336.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:56.635Z,1736372336.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:56.637Z,1736372336.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:56.640Z,1736372336.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 77.906258 m, bearing: 41.142348 deg, approach rate: 0.491331 m/s, LOS rate: 0.268778 deg/s, cmd heading: 257.089550 deg, new cmd heading: 257.379728 deg. 2025-01-08T21:38:56.641Z,1736372336.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492124 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:38:56.719Z,1736372336.719 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:56.720Z,1736372336.720 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:56.721Z,1736372336.721 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:56.721Z,1736372336.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:38:56.972Z,1736372336.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:56.972Z,1736372336.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512826 2025-01-08T21:38:57.057Z,1736372337.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:57.074Z,1736372337.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:57.082Z,1736372337.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 78.112061 m, bearing: 41.254848 deg, approach rate: 0.471586 m/s, LOS rate: 0.257108 deg/s, cmd heading: 257.379724 deg, new cmd heading: 257.716330 deg. 2025-01-08T21:38:57.083Z,1736372337.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497999 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:38:57.224Z,1736372337.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:57.225Z,1736372337.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765141 2025-01-08T21:38:57.453Z,1736372337.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:57.461Z,1736372337.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:57.465Z,1736372337.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 78.321815 m, bearing: 41.371707 deg, approach rate: 0.541310 m/s, LOS rate: 0.300768 deg/s, cmd heading: 257.716343 deg, new cmd heading: 258.065976 deg. 2025-01-08T21:38:57.466Z,1736372337.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504101 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:38:57.476Z,1736372337.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:57.476Z,1736372337.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016721 2025-01-08T21:38:57.728Z,1736372337.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:57.728Z,1736372337.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268803 2025-01-08T21:38:57.846Z,1736372337.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:57.856Z,1736372337.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:57.858Z,1736372337.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 78.530365 m, bearing: 41.487919 deg, approach rate: 0.529091 m/s, LOS rate: 0.294047 deg/s, cmd heading: 258.065966 deg, new cmd heading: 258.413672 deg. 2025-01-08T21:38:57.859Z,1736372337.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510170 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:38:57.980Z,1736372337.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:57.981Z,1736372337.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520989 2025-01-08T21:38:58.232Z,1736372338.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:58.233Z,1736372338.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773605 2025-01-08T21:38:58.262Z,1736372338.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:58.294Z,1736372338.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:58.301Z,1736372338.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 78.770966 m, bearing: 41.619248 deg, approach rate: 0.547942 m/s, LOS rate: 0.298173 deg/s, cmd heading: 258.413678 deg, new cmd heading: 258.806454 deg. 2025-01-08T21:38:58.302Z,1736372338.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517025 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:38:58.484Z,1736372338.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:58.485Z,1736372338.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025022 2025-01-08T21:38:58.652Z,1736372338.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:58.664Z,1736372338.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:38:58.668Z,1736372338.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:58.672Z,1736372338.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 78.996635 m, bearing: 41.742159 deg, approach rate: 0.605146 m/s, LOS rate: 0.328652 deg/s, cmd heading: 258.806441 deg, new cmd heading: 259.174117 deg. 2025-01-08T21:38:58.674Z,1736372338.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523442 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:38:58.736Z,1736372338.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:58.736Z,1736372338.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276967 2025-01-08T21:38:58.988Z,1736372338.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:58.988Z,1736372338.988 [DAT](INFO): DAT read: Rx Time:21:38:57.8417 2025-01-08T21:38:58.989Z,1736372338.989 [DAT](INFO): Rx dataTimestamp_ set to:1736372338.988624 2025-01-08T21:38:58.989Z,1736372338.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529919 2025-01-08T21:38:59.094Z,1736372339.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:59.104Z,1736372339.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:59.106Z,1736372339.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 79.252647 m, bearing: 41.881278 deg, approach rate: 0.586409 m/s, LOS rate: 0.317628 deg/s, cmd heading: 259.174124 deg, new cmd heading: 259.590122 deg. 2025-01-08T21:38:59.108Z,1736372339.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530702 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:38:59.240Z,1736372339.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:59.241Z,1736372339.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781052 2025-01-08T21:38:59.480Z,1736372339.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:59.493Z,1736372339.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:59.496Z,1736372339.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035844 2025-01-08T21:38:59.556Z,1736372339.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:59.558Z,1736372339.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 79.484619 m, bearing: 42.012107 deg, approach rate: 0.513338 m/s, LOS rate: 0.288671 deg/s, cmd heading: 259.590109 deg, new cmd heading: 259.981445 deg. 2025-01-08T21:38:59.564Z,1736372339.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537532 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:38:59.744Z,1736372339.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:59.750Z,1736372339.750 [DAT](INFO): DAT read: 21:38:57.8417 LVL= 13680, 27633, 18114, 26723, AGC= 66, IDX= 423,-0.29,-1.760,-2.923, 2.991,-2.516, PHS= 0.844,-0.360,-0.779, RAW= 75.6, 4.1, CAL= 79.3, 2.5, ROT= 70.7, -2.5 2025-01-08T21:38:59.752Z,1736372339.752 [DAT](INFO): got valid direction response: 21:38:57.8417 LVL= 13680, 27633, 18114, 26723, AGC= 66, IDX= 423,-0.29,-1.760,-2.923, 2.991,-2.516, PHS= 0.844,-0.360,-0.779, RAW= 75.6, 4.1, CAL= 79.3, 2.5, ROT= 70.7, -2.5 2025-01-08T21:38:59.752Z,1736372339.752 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:38:59.752Z,1736372339.752 [DAT](INFO): Received a bad header 2025-01-08T21:38:59.764Z,1736372339.764 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:38:59.764Z,1736372339.764 [DAT](INFO): direction in FSK: [-0.136366,0.349705,0.926882] 2025-01-08T21:38:59.770Z,1736372339.770 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:59.770Z,1736372339.770 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:59.771Z,1736372339.771 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:38:59.871Z,1736372339.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:38:59.896Z,1736372339.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:38:59.903Z,1736372339.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 79.719269 m, bearing: 42.144373 deg, approach rate: 0.707599 m/s, LOS rate: 0.397681 deg/s, cmd heading: 259.981452 deg, new cmd heading: 260.377076 deg. 2025-01-08T21:38:59.904Z,1736372339.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544437 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:38:59.997Z,1736372339.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:38:59.997Z,1736372339.997 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:38:59.997Z,1736372339.997 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:38:59.998Z,1736372339.998 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:00.248Z,1736372340.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:00.249Z,1736372340.249 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:00.249Z,1736372340.249 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:00.249Z,1736372340.249 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:00.320Z,1736372340.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:00.329Z,1736372340.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:00.344Z,1736372340.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 79.996986 m, bearing: 42.297548 deg, approach rate: 0.629226 m/s, LOS rate: 0.345844 deg/s, cmd heading: 260.377084 deg, new cmd heading: 260.835003 deg. 2025-01-08T21:39:00.345Z,1736372340.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552430 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:00.500Z,1736372340.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:00.500Z,1736372340.500 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:00.500Z,1736372340.500 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:00.500Z,1736372340.500 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:00.698Z,1736372340.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:00.705Z,1736372340.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:00.707Z,1736372340.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:00.710Z,1736372340.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 80.230927 m, bearing: 42.426589 deg, approach rate: 0.618209 m/s, LOS rate: 0.340010 deg/s, cmd heading: 260.835007 deg, new cmd heading: 261.220996 deg. 2025-01-08T21:39:00.711Z,1736372340.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559166 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:00.754Z,1736372340.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:00.755Z,1736372340.755 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:00.755Z,1736372340.755 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:00.755Z,1736372340.755 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:01.004Z,1736372341.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:01.004Z,1736372341.004 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:01.004Z,1736372341.004 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:01.004Z,1736372341.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:01.110Z,1736372341.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:01.127Z,1736372341.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:01.134Z,1736372341.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 80.484657 m, bearing: 42.566737 deg, approach rate: 0.604907 m/s, LOS rate: 0.333066 deg/s, cmd heading: 261.220995 deg, new cmd heading: 261.640105 deg. 2025-01-08T21:39:01.135Z,1736372341.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566481 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:01.257Z,1736372341.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:01.259Z,1736372341.259 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:01.259Z,1736372341.259 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:01.259Z,1736372341.259 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:01.508Z,1736372341.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:01.508Z,1736372341.508 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:01.508Z,1736372341.508 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:01.508Z,1736372341.508 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:01.510Z,1736372341.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:01.520Z,1736372341.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:01.522Z,1736372341.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 80.731903 m, bearing: 42.697627 deg, approach rate: 0.629940 m/s, LOS rate: 0.332463 deg/s, cmd heading: 261.640095 deg, new cmd heading: 262.031555 deg. 2025-01-08T21:39:01.523Z,1736372341.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573313 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:01.760Z,1736372341.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:01.761Z,1736372341.761 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:01.761Z,1736372341.761 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:01.761Z,1736372341.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:01.889Z,1736372341.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:01.915Z,1736372341.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:01.918Z,1736372341.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 80.964729 m, bearing: 42.822900 deg, approach rate: 0.612680 m/s, LOS rate: 0.328707 deg/s, cmd heading: 262.031547 deg, new cmd heading: 262.406280 deg. 2025-01-08T21:39:01.919Z,1736372341.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579854 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:02.012Z,1736372342.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:02.013Z,1736372342.013 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:02.013Z,1736372342.013 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:02.013Z,1736372342.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:02.265Z,1736372342.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:02.267Z,1736372342.267 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:02.267Z,1736372342.267 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:02.267Z,1736372342.267 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:02.344Z,1736372342.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:02.361Z,1736372342.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:02.368Z,1736372342.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 81.236000 m, bearing: 42.964412 deg, approach rate: 0.587428 m/s, LOS rate: 0.305416 deg/s, cmd heading: 262.406278 deg, new cmd heading: 262.829388 deg. 2025-01-08T21:39:02.369Z,1736372342.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587238 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:02.516Z,1736372342.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:02.516Z,1736372342.516 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:02.516Z,1736372342.516 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:02.516Z,1736372342.516 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:02.707Z,1736372342.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:02.713Z,1736372342.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:02.716Z,1736372342.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:02.718Z,1736372342.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 81.451508 m, bearing: 43.077887 deg, approach rate: 0.607918 m/s, LOS rate: 0.319252 deg/s, cmd heading: 262.829395 deg, new cmd heading: 263.168916 deg. 2025-01-08T21:39:02.719Z,1736372342.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593164 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:02.769Z,1736372342.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:02.770Z,1736372342.770 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:02.771Z,1736372342.771 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:02.771Z,1736372342.771 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:03.020Z,1736372343.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:03.020Z,1736372343.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:03.020Z,1736372343.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:03.020Z,1736372343.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:03.111Z,1736372343.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:03.128Z,1736372343.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:03.130Z,1736372343.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 81.690582 m, bearing: 43.204774 deg, approach rate: 0.580394 m/s, LOS rate: 0.307137 deg/s, cmd heading: 263.168910 deg, new cmd heading: 263.548451 deg. 2025-01-08T21:39:03.140Z,1736372343.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599788 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:03.273Z,1736372343.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:03.275Z,1736372343.275 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:03.275Z,1736372343.275 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:03.276Z,1736372343.276 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:03.524Z,1736372343.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:03.524Z,1736372343.524 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:03.524Z,1736372343.524 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:03.524Z,1736372343.524 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:03.528Z,1736372343.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:03.566Z,1736372343.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:03.573Z,1736372343.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 81.922714 m, bearing: 43.330237 deg, approach rate: 0.529603 m/s, LOS rate: 0.285428 deg/s, cmd heading: 263.548450 deg, new cmd heading: 263.923765 deg. 2025-01-08T21:39:03.574Z,1736372343.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606339 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:03.779Z,1736372343.779 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:03.779Z,1736372343.779 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:03.780Z,1736372343.780 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:03.780Z,1736372343.780 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:03.915Z,1736372343.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:03.942Z,1736372343.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:03.945Z,1736372343.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 82.136566 m, bearing: 43.446940 deg, approach rate: 0.568546 m/s, LOS rate: 0.309460 deg/s, cmd heading: 263.923755 deg, new cmd heading: 264.272949 deg. 2025-01-08T21:39:03.946Z,1736372343.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612433 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:04.029Z,1736372344.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:04.029Z,1736372344.029 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:04.030Z,1736372344.030 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:04.030Z,1736372344.030 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:04.281Z,1736372344.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:04.283Z,1736372344.283 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:04.283Z,1736372344.283 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:04.284Z,1736372344.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:04.357Z,1736372344.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:04.366Z,1736372344.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:04.369Z,1736372344.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 82.358566 m, bearing: 43.576076 deg, approach rate: 0.522904 m/s, LOS rate: 0.303348 deg/s, cmd heading: 264.272942 deg, new cmd heading: 264.659297 deg. 2025-01-08T21:39:04.370Z,1736372344.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619176 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:04.532Z,1736372344.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:04.533Z,1736372344.533 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:04.533Z,1736372344.533 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:04.533Z,1736372344.533 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:04.720Z,1736372344.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:04.727Z,1736372344.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:04.729Z,1736372344.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:04.733Z,1736372344.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 82.539818 m, bearing: 43.682754 deg, approach rate: 0.499342 m/s, LOS rate: 0.293249 deg/s, cmd heading: 264.659285 deg, new cmd heading: 264.978612 deg. 2025-01-08T21:39:04.734Z,1736372344.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624749 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:04.785Z,1736372344.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:04.785Z,1736372344.785 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:04.786Z,1736372344.786 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:04.786Z,1736372344.786 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:05.036Z,1736372345.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:05.036Z,1736372345.036 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:05.036Z,1736372345.036 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:05.036Z,1736372345.036 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:05.130Z,1736372345.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:05.139Z,1736372345.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:05.144Z,1736372345.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 82.742630 m, bearing: 43.803546 deg, approach rate: 0.495624 m/s, LOS rate: 0.294463 deg/s, cmd heading: 264.978610 deg, new cmd heading: 265.340092 deg. 2025-01-08T21:39:05.145Z,1736372345.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631058 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:05.290Z,1736372345.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:05.292Z,1736372345.292 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:05.292Z,1736372345.292 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:05.293Z,1736372345.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:39:05.540Z,1736372345.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:05.540Z,1736372345.540 [DAT](INFO): Reached modem response timeout 2025-01-08T21:39:05.541Z,1736372345.541 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:39:05.541Z,1736372345.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:05.549Z,1736372345.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:05.592Z,1736372345.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:05.595Z,1736372345.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 82.930870 m, bearing: 43.921587 deg, approach rate: 0.415094 m/s, LOS rate: 0.259706 deg/s, cmd heading: 265.340090 deg, new cmd heading: 265.693406 deg. 2025-01-08T21:39:05.600Z,1736372345.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637225 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:05.792Z,1736372345.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:05.792Z,1736372345.792 [DAT](INFO): Reached modem response timeout 2025-01-08T21:39:05.792Z,1736372345.792 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:39:05.792Z,1736372345.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:05.945Z,1736372345.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:05.961Z,1736372345.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:05.963Z,1736372345.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 83.108421 m, bearing: 44.034168 deg, approach rate: 0.481597 m/s, LOS rate: 0.304715 deg/s, cmd heading: 265.693402 deg, new cmd heading: 266.030419 deg. 2025-01-08T21:39:05.965Z,1736372345.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643107 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:06.045Z,1736372346.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:06.045Z,1736372346.045 [DAT](INFO): Reached modem response timeout 2025-01-08T21:39:06.045Z,1736372346.045 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:39:06.045Z,1736372346.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:06.297Z,1736372346.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:06.300Z,1736372346.300 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:39:06.301Z,1736372346.301 [DAT](INFO): response not received 2025-01-08T21:39:06.302Z,1736372346.302 [DAT](INFO): DAT read: user:1945> 2025-01-08T21:39:06.304Z,1736372346.304 [DAT](ERROR): No response from remote modem. 2025-01-08T21:39:06.305Z,1736372346.305 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:39:06.306Z,1736372346.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:06.412Z,1736372346.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:06.434Z,1736372346.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:06.441Z,1736372346.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 83.302567 m, bearing: 44.165835 deg, approach rate: 0.409930 m/s, LOS rate: 0.277361 deg/s, cmd heading: 266.030431 deg, new cmd heading: 266.424505 deg. 2025-01-08T21:39:06.442Z,1736372346.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649985 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:06.548Z,1736372346.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:06.549Z,1736372346.549 [DAT](INFO): DAT read: Tx time:21:39:05.7304 2025-01-08T21:39:06.550Z,1736372346.550 [DAT](INFO): Ping request sent. 2025-01-08T21:39:06.550Z,1736372346.550 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:06.550Z,1736372346.550 [DAT](INFO): DAT read: TxSync time:21:39:05.7296 2025-01-08T21:39:06.551Z,1736372346.551 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:06.551Z,1736372346.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001680 2025-01-08T21:39:06.800Z,1736372346.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:06.802Z,1736372346.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251989 2025-01-08T21:39:06.877Z,1736372346.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:06.895Z,1736372346.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:06.901Z,1736372346.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:06.910Z,1736372346.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 83.494957 m, bearing: 44.297255 deg, approach rate: 0.412164 m/s, LOS rate: 0.280896 deg/s, cmd heading: 266.424506 deg, new cmd heading: 266.817851 deg. 2025-01-08T21:39:06.917Z,1736372346.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656850 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:07.052Z,1736372347.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:07.053Z,1736372347.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503545 2025-01-08T21:39:07.250Z,1736372347.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:07.259Z,1736372347.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:07.262Z,1736372347.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 83.649185 m, bearing: 44.402706 deg, approach rate: 0.430984 m/s, LOS rate: 0.294137 deg/s, cmd heading: 266.817843 deg, new cmd heading: 267.133612 deg. 2025-01-08T21:39:07.263Z,1736372347.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662361 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:07.305Z,1736372347.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:07.308Z,1736372347.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757995 2025-01-08T21:39:07.556Z,1736372347.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:07.556Z,1736372347.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006678 2025-01-08T21:39:07.711Z,1736372347.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:39:07.712Z,1736372347.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:07.738Z,1736372347.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:07.745Z,1736372347.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 83.838585 m, bearing: 44.533014 deg, approach rate: 0.395250 m/s, LOS rate: 0.271319 deg/s, cmd heading: 267.133616 deg, new cmd heading: 267.523650 deg. 2025-01-08T21:39:07.746Z,1736372347.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669168 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:07.810Z,1736372347.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:07.812Z,1736372347.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261725 2025-01-08T21:39:08.060Z,1736372348.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:08.060Z,1736372348.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510740 2025-01-08T21:39:08.117Z,1736372348.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:39:08.117Z,1736372348.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:08.126Z,1736372348.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:08.128Z,1736372348.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 84.005081 m, bearing: 44.648061 deg, approach rate: 0.429589 m/s, LOS rate: 0.296251 deg/s, cmd heading: 267.523647 deg, new cmd heading: 267.868098 deg. 2025-01-08T21:39:08.129Z,1736372348.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675180 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:08.315Z,1736372348.315 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:08.320Z,1736372348.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769931 2025-01-08T21:39:08.525Z,1736372348.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:08.535Z,1736372348.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:08.538Z,1736372348.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 84.159813 m, bearing: 44.763082 deg, approach rate: 0.378317 m/s, LOS rate: 0.280709 deg/s, cmd heading: 267.868107 deg, new cmd heading: 268.212533 deg. 2025-01-08T21:39:08.539Z,1736372348.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681192 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:08.564Z,1736372348.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:08.565Z,1736372348.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014877 2025-01-08T21:39:08.816Z,1736372348.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:08.816Z,1736372348.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266652 2025-01-08T21:39:08.910Z,1736372348.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:08.916Z,1736372348.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:08.922Z,1736372348.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:08.925Z,1736372348.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 84.303276 m, bearing: 44.872243 deg, approach rate: 0.371161 m/s, LOS rate: 0.281935 deg/s, cmd heading: 268.212540 deg, new cmd heading: 268.539462 deg. 2025-01-08T21:39:08.926Z,1736372348.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686898 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:09.068Z,1736372349.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:09.069Z,1736372349.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519571 2025-01-08T21:39:09.310Z,1736372349.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:09.322Z,1736372349.322 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:09.324Z,1736372349.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774210 2025-01-08T21:39:09.360Z,1736372349.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:09.384Z,1736372349.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 84.451675 m, bearing: 44.986350 deg, approach rate: 0.342691 m/s, LOS rate: 0.263039 deg/s, cmd heading: 268.539460 deg, new cmd heading: 268.881176 deg. 2025-01-08T21:39:09.391Z,1736372349.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692862 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:09.572Z,1736372349.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:09.572Z,1736372349.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022611 2025-01-08T21:39:09.732Z,1736372349.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:09.761Z,1736372349.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:09.768Z,1736372349.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 84.614639 m, bearing: 45.111852 deg, approach rate: 0.400653 m/s, LOS rate: 0.307957 deg/s, cmd heading: 268.881188 deg, new cmd heading: 269.256964 deg. 2025-01-08T21:39:09.769Z,1736372349.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699420 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:09.825Z,1736372349.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:09.826Z,1736372349.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275796 2025-01-08T21:39:10.077Z,1736372350.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:10.078Z,1736372350.078 [DAT](INFO): DAT read: Rx Time:21:39:08.7769 2025-01-08T21:39:10.079Z,1736372350.079 [DAT](INFO): Rx dataTimestamp_ set to:1736372350.078547 2025-01-08T21:39:10.081Z,1736372350.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530499 2025-01-08T21:39:10.218Z,1736372350.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:10.273Z,1736372350.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:39:10.279Z,1736372350.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 84.800720 m, bearing: 45.256517 deg, approach rate: 0.363642 m/s, LOS rate: 0.282085 deg/s, cmd heading: 269.256958 deg, new cmd heading: 269.689991 deg. 2025-01-08T21:39:10.280Z,1736372350.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706978 target range: 495.000000 and range: 493.90 m. 2025-01-08T21:39:10.330Z,1736372350.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:10.333Z,1736372350.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782731 2025-01-08T21:39:10.580Z,1736372350.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:10.589Z,1736372350.589 [DAT](INFO): DAT read: 21:39:08.7769 LVL= 12976, 30321, 18930, 32755, AGC= 66, IDX= 302,-0.11, 1.192,-0.562,-0.570,-0.022, PHS= 1.302,-0.493,-0.551, RAW= 88.4, -2.9, CAL= 96.5, -9.1, ROT= 53.5, 9.1 2025-01-08T21:39:10.590Z,1736372350.590 [DAT](INFO): got valid direction response: 21:39:08.7769 LVL= 12976, 30321, 18930, 32755, AGC= 66, IDX= 302,-0.11, 1.192,-0.562,-0.570,-0.022, PHS= 1.302,-0.493,-0.551, RAW= 88.4, -2.9, CAL= 96.5, -9.1, ROT= 53.5, 9.1 2025-01-08T21:39:10.591Z,1736372350.591 [DAT](INFO): DAT read: Bearing 53.5, 9.1 (Local) 2025-01-08T21:39:10.591Z,1736372350.591 [DAT](INFO): Local bearing/azimuth received: Bearing 53.5, 9.1 (Local) 2025-01-08T21:39:10.598Z,1736372350.598 [DAT](INFO): DAT read: Range 10 to 50 : 481.7 m (Round-trip 642.3 ms) speed 0.3 m/s 2025-01-08T21:39:10.599Z,1736372350.599 [DAT](INFO): DAT read: user:1946> 2025-01-08T21:39:10.600Z,1736372350.600 [DAT](INFO): DAT read: Tx time:21:39:09.8804 2025-01-08T21:39:10.600Z,1736372350.600 [DAT](INFO): Ping request sent. 2025-01-08T21:39:10.600Z,1736372350.600 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:10.601Z,1736372350.601 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:39:10.602Z,1736372350.602 [DAT](INFO): direction in FSK: [-0.027978,0.131800,0.990881] 2025-01-08T21:39:10.602Z,1736372350.602 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:10.602Z,1736372350.602 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:10.606Z,1736372350.606 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:10.606Z,1736372350.606 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:10.777Z,1736372350.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:10.807Z,1736372350.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 481.700012 m, deltaT: 15.124506 s, deltaX: -12.199982 m, approachRate: -0.806637 m/s, rangeRepo size: 4 2025-01-08T21:39:10.809Z,1736372350.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 481.700012 m, bearing: 109.736376 deg, lat: 36.901139 deg, lon: -122.115473 deg, deltaT: 19.156193 s, deltaX: -13.299988 m, approachRate: -0.694292 m/s, posRepo size: 4 2025-01-08T21:39:10.810Z,1736372350.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:39:10.817Z,1736372350.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 77.177841 m, bearing: 39.357347 deg, approach rate: 0.000000 m/s, LOS rate: 0.282085 deg/s, cmd heading: 269.689992 deg, new cmd heading: 270.141326 deg. 2025-01-08T21:39:10.818Z,1736372350.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714856 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:39:10.833Z,1736372350.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:10.834Z,1736372350.833 [DAT](INFO): DAT read: TxSync time:21:39:09.8796 2025-01-08T21:39:11.086Z,1736372351.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:11.128Z,1736372351.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:11.136Z,1736372351.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:11.138Z,1736372351.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:39:11.141Z,1736372351.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 77.301109 m, bearing: 39.483874 deg, approach rate: 0.371283 m/s, LOS rate: 0.380490 deg/s, cmd heading: 270.141331 deg, new cmd heading: 270.520300 deg. 2025-01-08T21:39:11.142Z,1736372351.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721470 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:39:11.336Z,1736372351.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:11.336Z,1736372351.336 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:11.336Z,1736372351.336 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:11.336Z,1736372351.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:11.540Z,1736372351.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:11.550Z,1736372351.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:39:11.553Z,1736372351.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 77.460526 m, bearing: 39.644247 deg, approach rate: 0.387279 m/s, LOS rate: 0.388801 deg/s, cmd heading: 270.520297 deg, new cmd heading: 271.000414 deg. 2025-01-08T21:39:11.553Z,1736372351.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729849 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:39:11.588Z,1736372351.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:11.589Z,1736372351.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989123 2025-01-08T21:39:11.840Z,1736372351.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:11.840Z,1736372351.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240009 2025-01-08T21:39:11.931Z,1736372351.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:11.943Z,1736372351.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:39:11.945Z,1736372351.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 77.610931 m, bearing: 39.796011 deg, approach rate: 0.382775 m/s, LOS rate: 0.385483 deg/s, cmd heading: 271.000405 deg, new cmd heading: 271.454806 deg. 2025-01-08T21:39:11.946Z,1736372351.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.737780 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:39:12.092Z,1736372352.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:12.092Z,1736372352.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492047 2025-01-08T21:39:12.332Z,1736372352.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:12.345Z,1736372352.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:12.347Z,1736372352.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745708 2025-01-08T21:39:12.384Z,1736372352.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:39:12.403Z,1736372352.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 77.764091 m, bearing: 39.951550 deg, approach rate: 0.352171 m/s, LOS rate: 0.356934 deg/s, cmd heading: 271.454804 deg, new cmd heading: 271.920489 deg. 2025-01-08T21:39:12.411Z,1736372352.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.745908 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:39:12.460Z,1736372352.460 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:39:12.596Z,1736372352.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:12.596Z,1736372352.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995952 2025-01-08T21:39:12.759Z,1736372352.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:12.783Z,1736372352.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:39:12.786Z,1736372352.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 77.942711 m, bearing: 40.118507 deg, approach rate: 0.440459 m/s, LOS rate: 0.410756 deg/s, cmd heading: 271.920486 deg, new cmd heading: 272.420195 deg. 2025-01-08T21:39:12.787Z,1736372352.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.754629 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:39:12.849Z,1736372352.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:12.849Z,1736372352.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248913 2025-01-08T21:39:13.100Z,1736372353.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:13.100Z,1736372353.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500094 2025-01-08T21:39:13.133Z,1736372353.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:13.160Z,1736372353.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:13.166Z,1736372353.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:39:13.169Z,1736372353.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 78.096649 m, bearing: 40.265239 deg, approach rate: 0.402046 m/s, LOS rate: 0.382472 deg/s, cmd heading: 272.420183 deg, new cmd heading: 272.859504 deg. 2025-01-08T21:39:13.170Z,1736372353.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762297 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:39:13.352Z,1736372353.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:13.352Z,1736372353.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751979 2025-01-08T21:39:13.464Z,1736372353.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:39:13.604Z,1736372353.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:13.604Z,1736372353.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004154 2025-01-08T21:39:13.637Z,1736372353.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:13.649Z,1736372353.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:39:13.658Z,1736372353.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 78.322159 m, bearing: 40.465092 deg, approach rate: 0.466867 m/s, LOS rate: 0.412557 deg/s, cmd heading: 272.859500 deg, new cmd heading: 273.457309 deg. 2025-01-08T21:39:13.660Z,1736372353.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.772730 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:39:13.856Z,1736372353.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:13.856Z,1736372353.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256148 2025-01-08T21:39:13.888Z,1736372353.888 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:39:13.964Z,1736372353.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:13.977Z,1736372353.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:39:13.980Z,1736372353.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 78.467621 m, bearing: 40.594636 deg, approach rate: 0.443403 m/s, LOS rate: 0.394148 deg/s, cmd heading: 273.457306 deg, new cmd heading: 273.845210 deg. 2025-01-08T21:39:13.981Z,1736372353.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779500 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:39:14.109Z,1736372354.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:14.110Z,1736372354.110 [DAT](INFO): DAT read: Rx Time:21:39:12.9246 2025-01-08T21:39:14.110Z,1736372354.110 [DAT](INFO): Rx dataTimestamp_ set to:1736372354.109987 2025-01-08T21:39:14.111Z,1736372354.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510980 2025-01-08T21:39:14.362Z,1736372354.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:14.364Z,1736372354.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763086 2025-01-08T21:39:14.367Z,1736372354.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:14.376Z,1736372354.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:39:14.410Z,1736372354.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 78.646141 m, bearing: 40.754486 deg, approach rate: 0.448234 m/s, LOS rate: 0.400445 deg/s, cmd heading: 273.845206 deg, new cmd heading: 274.323657 deg. 2025-01-08T21:39:14.418Z,1736372354.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787851 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:39:14.613Z,1736372354.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:14.633Z,1736372354.633 [DAT](INFO): DAT read: 21:39:12.9246 LVL= 17264, 28209, 23714, 24947, AGC= 66, IDX= 422, 0.02, 2.292, 0.494, 0.512, 1.081, PHS= 1.298,-0.541,-0.572, RAW= 89.2, -2.0, CAL= 97.1, -7.7, ROT= 52.9, 7.7 2025-01-08T21:39:14.635Z,1736372354.635 [DAT](INFO): got valid direction response: 21:39:12.9246 LVL= 17264, 28209, 23714, 24947, AGC= 66, IDX= 422, 0.02, 2.292, 0.494, 0.512, 1.081, PHS= 1.298,-0.541,-0.572, RAW= 89.2, -2.0, CAL= 97.1, -7.7, ROT= 52.9, 7.7 2025-01-08T21:39:14.642Z,1736372354.642 [DAT](INFO): DAT read: Bearing 52.9, 7.7 (Local) 2025-01-08T21:39:14.644Z,1736372354.644 [DAT](INFO): Local bearing/azimuth received: Bearing 52.9, 7.7 (Local) 2025-01-08T21:39:14.646Z,1736372354.646 [DAT](INFO): DAT read: Range 10 to 50 : 480.0 m (Round-trip 640.0 ms) speed 0.3 m/s 2025-01-08T21:39:14.684Z,1736372354.684 [DAT](INFO): DAT read: user:1947> 2025-01-08T21:39:14.685Z,1736372354.685 [DAT](INFO): DAT read: Tx time:21:39:14.0304 2025-01-08T21:39:14.685Z,1736372354.685 [DAT](INFO): Ping request sent. 2025-01-08T21:39:14.686Z,1736372354.686 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:14.686Z,1736372354.686 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:39:14.701Z,1736372354.701 [DAT](INFO): direction in FSK: [-0.045260,0.119867,0.991758] 2025-01-08T21:39:14.701Z,1736372354.701 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:14.701Z,1736372354.701 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:14.713Z,1736372354.713 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:14.713Z,1736372354.713 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:14.828Z,1736372354.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:14.859Z,1736372354.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 480.000000 m, deltaT: 4.032898 s, deltaX: -1.700012 m, approachRate: -0.421536 m/s, rangeRepo size: 4 2025-01-08T21:39:14.861Z,1736372354.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 480.000000 m, bearing: 114.643104 deg, lat: 36.900524 deg, lon: -122.115548 deg, deltaT: 4.032898 s, deltaX: -1.700012 m, approachRate: -0.421536 m/s, posRepo size: 4 2025-01-08T21:39:14.862Z,1736372354.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:14.864Z,1736372354.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:14.865Z,1736372354.865 [DAT](INFO): DAT read: TxSync time:21:39:14.0296 2025-01-08T21:39:14.869Z,1736372354.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 45.858772 m, bearing: 101.101241 deg, approach rate: 0.000000 m/s, LOS rate: 0.400445 deg/s, cmd heading: 274.323647 deg, new cmd heading: 274.899070 deg. 2025-01-08T21:39:14.870Z,1736372354.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797894 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:15.116Z,1736372355.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:15.170Z,1736372355.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:15.176Z,1736372355.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:15.178Z,1736372355.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:15.182Z,1736372355.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 46.099270 m, bearing: 101.049254 deg, approach rate: 0.742226 m/s, LOS rate: -0.159606 deg/s, cmd heading: 274.899077 deg, new cmd heading: 274.743929 deg. 2025-01-08T21:39:15.183Z,1736372355.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795186 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:15.368Z,1736372355.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:15.368Z,1736372355.368 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:15.368Z,1736372355.368 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:15.369Z,1736372355.369 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:15.607Z,1736372355.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:15.616Z,1736372355.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:15.619Z,1736372355.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 46.406601 m, bearing: 100.982523 deg, approach rate: 0.701735 m/s, LOS rate: -0.151357 deg/s, cmd heading: 274.743922 deg, new cmd heading: 274.545058 deg. 2025-01-08T21:39:15.620Z,1736372355.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:15.621Z,1736372355.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.935558 2025-01-08T21:39:15.622Z,1736372355.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791715 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:15.872Z,1736372355.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:15.873Z,1736372355.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.187378 2025-01-08T21:39:15.974Z,1736372355.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:15.986Z,1736372355.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:15.993Z,1736372355.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 46.665352 m, bearing: 100.930377 deg, approach rate: 0.702173 m/s, LOS rate: -0.140725 deg/s, cmd heading: 274.545054 deg, new cmd heading: 274.389484 deg. 2025-01-08T21:39:15.994Z,1736372355.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789000 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:16.124Z,1736372356.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:16.125Z,1736372356.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.439163 2025-01-08T21:39:16.376Z,1736372356.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:16.377Z,1736372356.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.691385 2025-01-08T21:39:16.396Z,1736372356.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:16.464Z,1736372356.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:16.480Z,1736372356.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 46.962700 m, bearing: 100.871172 deg, approach rate: 0.628331 m/s, LOS rate: -0.124315 deg/s, cmd heading: 274.389490 deg, new cmd heading: 274.212999 deg. 2025-01-08T21:39:16.482Z,1736372356.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785920 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:16.628Z,1736372356.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:16.629Z,1736372356.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.943255 2025-01-08T21:39:16.809Z,1736372356.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:16.847Z,1736372356.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:16.861Z,1736372356.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 47.254238 m, bearing: 100.817172 deg, approach rate: 0.752170 m/s, LOS rate: -0.138460 deg/s, cmd heading: 274.212998 deg, new cmd heading: 274.051999 deg. 2025-01-08T21:39:16.863Z,1736372356.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783110 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:16.880Z,1736372356.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:16.881Z,1736372356.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195142 2025-01-08T21:39:17.133Z,1736372357.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:17.135Z,1736372357.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.448866 2025-01-08T21:39:17.197Z,1736372357.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:17.210Z,1736372357.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:17.217Z,1736372357.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:17.224Z,1736372357.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 47.529404 m, bearing: 100.769441 deg, approach rate: 0.741087 m/s, LOS rate: -0.127807 deg/s, cmd heading: 274.051997 deg, new cmd heading: 273.909633 deg. 2025-01-08T21:39:17.225Z,1736372357.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780625 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:17.384Z,1736372357.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:17.384Z,1736372357.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698966 2025-01-08T21:39:17.608Z,1736372357.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:17.618Z,1736372357.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:17.636Z,1736372357.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:17.637Z,1736372357.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.951153 2025-01-08T21:39:17.649Z,1736372357.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 47.816216 m, bearing: 100.728510 deg, approach rate: 0.715654 m/s, LOS rate: -0.101519 deg/s, cmd heading: 273.909628 deg, new cmd heading: 273.787571 deg. 2025-01-08T21:39:17.652Z,1736372357.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.778494 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:17.888Z,1736372357.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:17.888Z,1736372357.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203002 2025-01-08T21:39:18.002Z,1736372358.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:18.029Z,1736372358.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:18.037Z,1736372358.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 48.091507 m, bearing: 100.691648 deg, approach rate: 0.669237 m/s, LOS rate: -0.089098 deg/s, cmd heading: 273.787559 deg, new cmd heading: 273.677607 deg. 2025-01-08T21:39:18.038Z,1736372358.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.776576 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:18.140Z,1736372358.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:18.141Z,1736372358.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.455567 2025-01-08T21:39:18.392Z,1736372358.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:18.392Z,1736372358.392 [DAT](INFO): DAT read: Rx Time:21:39:17.0952 2025-01-08T21:39:18.393Z,1736372358.393 [DAT](INFO): Rx dataTimestamp_ set to:1736372358.392536 2025-01-08T21:39:18.393Z,1736372358.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.707981 2025-01-08T21:39:18.440Z,1736372358.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:18.509Z,1736372358.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:18.512Z,1736372358.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 48.371914 m, bearing: 100.656450 deg, approach rate: 0.583933 m/s, LOS rate: -0.072873 deg/s, cmd heading: 273.677620 deg, new cmd heading: 273.572639 deg. 2025-01-08T21:39:18.513Z,1736372358.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.774743 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:18.644Z,1736372358.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:18.645Z,1736372358.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.959812 2025-01-08T21:39:18.841Z,1736372358.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:18.850Z,1736372358.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:18.853Z,1736372358.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 48.673260 m, bearing: 100.626085 deg, approach rate: 0.884106 m/s, LOS rate: -0.088535 deg/s, cmd heading: 273.572627 deg, new cmd heading: 273.482096 deg. 2025-01-08T21:39:18.854Z,1736372358.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.773163 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:18.896Z,1736372358.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:18.904Z,1736372358.904 [DAT](INFO): DAT read: 21:39:17.0952 LVL= 11824, 16817, 13090, 12851, AGC= 67, IDX= 136,-0.02, 2.841, 1.641, 1.470, 1.653, PHS= 1.276, 0.035,-0.186, RAW= 81.9, -16.2, CAL= 93.7, -24.9, ROT= 56.3, 24.9 2025-01-08T21:39:18.905Z,1736372358.905 [DAT](INFO): got valid direction response: 21:39:17.0952 LVL= 11824, 16817, 13090, 12851, AGC= 67, IDX= 136,-0.02, 2.841, 1.641, 1.470, 1.653, PHS= 1.276, 0.035,-0.186, RAW= 81.9, -16.2, CAL= 93.7, -24.9, ROT= 56.3, 24.9 2025-01-08T21:39:18.906Z,1736372358.906 [DAT](INFO): DAT read: Bearing 56.3, 24.9 (Local) 2025-01-08T21:39:18.906Z,1736372358.906 [DAT](INFO): Local bearing/azimuth received: Bearing 56.3, 24.9 (Local) 2025-01-08T21:39:18.908Z,1736372358.908 [DAT](INFO): DAT read: Range 10 to 50 : 495.3 m (Round-trip 660.5 ms) speed 0.4 m/s 2025-01-08T21:39:18.909Z,1736372358.909 [DAT](INFO): DAT read: user:1948> 2025-01-08T21:39:18.909Z,1736372358.909 [DAT](INFO): DAT read: Tx time:21:39:18.1805 2025-01-08T21:39:18.910Z,1736372358.910 [DAT](INFO): Ping request sent. 2025-01-08T21:39:18.910Z,1736372358.910 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:18.910Z,1736372358.910 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:39:18.911Z,1736372358.911 [DAT](INFO): direction in FSK: [0.234533,0.217732,0.947411] 2025-01-08T21:39:18.919Z,1736372358.919 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:18.920Z,1736372358.920 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:18.922Z,1736372358.922 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:18.923Z,1736372358.923 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:19.149Z,1736372359.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:19.152Z,1736372359.152 [DAT](INFO): DAT read: TxSync time:21:39:18.1797 2025-01-08T21:39:19.226Z,1736372359.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:19.261Z,1736372359.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 495.299988 m, deltaT: 4.282963 s, deltaX: 15.299988 m, approachRate: 3.572290 m/s, rangeRepo size: 4 2025-01-08T21:39:19.263Z,1736372359.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 495.299988 m, bearing: 296.782756 deg, lat: 36.901011 deg, lon: -122.115548 deg, deltaT: 4.282963 s, deltaX: 15.299988 m, approachRate: 3.572290 m/s, posRepo size: 4 2025-01-08T21:39:19.268Z,1736372359.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m. 2025-01-08T21:39:19.270Z,1736372359.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.299988 m, nav range: 65.966209 m, bearing: 46.819862 deg, approach rate: 0.000000 m/s, LOS rate: -0.088535 deg/s, cmd heading: 273.482086 deg, new cmd heading: 273.373180 deg. 2025-01-08T21:39:19.275Z,1736372359.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.771262 target range: 495.299988 and range: 495.30 m. 2025-01-08T21:39:19.400Z,1736372359.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:19.650Z,1736372359.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:19.652Z,1736372359.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:19.664Z,1736372359.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:19.668Z,1736372359.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m. 2025-01-08T21:39:19.673Z,1736372359.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.299988 m, nav range: 66.143227 m, bearing: 47.012145 deg, approach rate: 0.435007 m/s, LOS rate: 0.471258 deg/s, cmd heading: 273.373185 deg, new cmd heading: 273.948473 deg. 2025-01-08T21:39:19.674Z,1736372359.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781303 target range: 495.299988 and range: 495.30 m. 2025-01-08T21:39:19.904Z,1736372359.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:19.905Z,1736372359.905 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:19.905Z,1736372359.905 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:19.906Z,1736372359.906 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:20.018Z,1736372360.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:20.027Z,1736372360.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m. 2025-01-08T21:39:20.030Z,1736372360.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.299988 m, nav range: 66.297997 m, bearing: 47.178638 deg, approach rate: 0.429988 m/s, LOS rate: 0.461476 deg/s, cmd heading: 273.948478 deg, new cmd heading: 274.446777 deg. 2025-01-08T21:39:20.031Z,1736372360.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790000 target range: 495.299988 and range: 495.30 m. 2025-01-08T21:39:20.156Z,1736372360.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:20.156Z,1736372360.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246786 2025-01-08T21:39:20.408Z,1736372360.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:20.409Z,1736372360.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498938 2025-01-08T21:39:20.436Z,1736372360.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:20.445Z,1736372360.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m. 2025-01-08T21:39:20.448Z,1736372360.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.299988 m, nav range: 66.474258 m, bearing: 47.366042 deg, approach rate: 0.421826 m/s, LOS rate: 0.447301 deg/s, cmd heading: 274.446782 deg, new cmd heading: 275.007485 deg. 2025-01-08T21:39:20.453Z,1736372360.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.799786 target range: 495.299988 and range: 495.30 m. 2025-01-08T21:39:20.661Z,1736372360.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:20.662Z,1736372360.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752263 2025-01-08T21:39:20.840Z,1736372360.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:20.850Z,1736372360.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m. 2025-01-08T21:39:20.853Z,1736372360.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.299988 m, nav range: 66.634071 m, bearing: 47.546994 deg, approach rate: 0.394616 m/s, LOS rate: 0.445740 deg/s, cmd heading: 275.007486 deg, new cmd heading: 275.549021 deg. 2025-01-08T21:39:20.854Z,1736372360.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809237 target range: 495.299988 and range: 495.30 m. 2025-01-08T21:39:20.912Z,1736372360.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:20.913Z,1736372360.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002968 2025-01-08T21:39:21.164Z,1736372361.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:21.164Z,1736372361.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254778 2025-01-08T21:39:21.232Z,1736372361.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:21.240Z,1736372361.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m. 2025-01-08T21:39:21.243Z,1736372361.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.299988 m, nav range: 66.789398 m, bearing: 47.721455 deg, approach rate: 0.397613 m/s, LOS rate: 0.445556 deg/s, cmd heading: 275.549010 deg, new cmd heading: 276.071162 deg. 2025-01-08T21:39:21.244Z,1736372361.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818351 target range: 495.299988 and range: 495.30 m. 2025-01-08T21:39:21.416Z,1736372361.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:21.417Z,1736372361.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506935 2025-01-08T21:39:21.660Z,1736372361.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:21.669Z,1736372361.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:21.670Z,1736372361.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759826 2025-01-08T21:39:21.675Z,1736372361.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:21.693Z,1736372361.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m. 2025-01-08T21:39:21.697Z,1736372361.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.299988 m, nav range: 66.948792 m, bearing: 47.923705 deg, approach rate: 0.352104 m/s, LOS rate: 0.445711 deg/s, cmd heading: 276.071165 deg, new cmd heading: 276.676446 deg. 2025-01-08T21:39:21.698Z,1736372361.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828915 target range: 495.299988 and range: 495.30 m. 2025-01-08T21:39:21.920Z,1736372361.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:21.921Z,1736372361.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011664 2025-01-08T21:39:22.039Z,1736372362.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:22.064Z,1736372362.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m. 2025-01-08T21:39:22.066Z,1736372362.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.299988 m, nav range: 67.091331 m, bearing: 48.102938 deg, approach rate: 0.402435 m/s, LOS rate: 0.504953 deg/s, cmd heading: 276.676456 deg, new cmd heading: 277.212994 deg. 2025-01-08T21:39:22.071Z,1736372362.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838279 target range: 495.299988 and range: 495.30 m. 2025-01-08T21:39:22.172Z,1736372362.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:22.172Z,1736372362.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262722 2025-01-08T21:39:22.424Z,1736372362.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:22.424Z,1736372362.424 [DAT](INFO): DAT read: Rx Time:21:39:21.2206 2025-01-08T21:39:22.425Z,1736372362.425 [DAT](INFO): Rx dataTimestamp_ set to:1736372362.424582 2025-01-08T21:39:22.425Z,1736372362.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515717 2025-01-08T21:39:22.590Z,1736372362.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:22.617Z,1736372362.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m. 2025-01-08T21:39:22.620Z,1736372362.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.299988 m, nav range: 67.292870 m, bearing: 48.360888 deg, approach rate: 0.354061 m/s, LOS rate: 0.451807 deg/s, cmd heading: 277.212981 deg, new cmd heading: 277.984466 deg. 2025-01-08T21:39:22.621Z,1736372362.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851744 target range: 495.299988 and range: 495.30 m. 2025-01-08T21:39:22.677Z,1736372362.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:22.678Z,1736372362.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767980 2025-01-08T21:39:22.930Z,1736372362.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:22.938Z,1736372362.938 [DAT](INFO): DAT read: 21:39:21.2206 LVL= 12768, 30497, 15842, 23651, AGC= 70, IDX= 188, 0.07, 1.827, 0.110, 0.341, 0.866, PHS= 1.048,-0.709,-0.529, RAW= 95.4, 2.3, CAL= 104.4, -0.0, ROT= 45.6, 0.0 2025-01-08T21:39:22.939Z,1736372362.939 [DAT](INFO): got valid direction response: 21:39:21.2206 LVL= 12768, 30497, 15842, 23651, AGC= 70, IDX= 188, 0.07, 1.827, 0.110, 0.341, 0.866, PHS= 1.048,-0.709,-0.529, RAW= 95.4, 2.3, CAL= 104.4, -0.0, ROT= 45.6, 0.0 2025-01-08T21:39:22.940Z,1736372362.940 [DAT](INFO): DAT read: Bearing 45.6, 0.0 (Local) 2025-01-08T21:39:22.940Z,1736372362.940 [DAT](INFO): Local bearing/azimuth received: Bearing 45.6, 0.0 (Local) 2025-01-08T21:39:22.942Z,1736372362.942 [DAT](INFO): DAT read: Range 10 to 50 : 476.9 m (Round-trip 635.9 ms) speed 0.4 m/s 2025-01-08T21:39:22.942Z,1736372362.942 [DAT](INFO): DAT read: user:1949> 2025-01-08T21:39:22.944Z,1736372362.944 [DAT](INFO): DAT read: Tx time:21:39:22.3305 2025-01-08T21:39:22.944Z,1736372362.944 [DAT](INFO): Ping request sent. 2025-01-08T21:39:22.944Z,1736372362.944 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:22.944Z,1736372362.944 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:39:22.945Z,1736372362.945 [DAT](INFO): direction in FSK: [-0.137174,0.016939,0.990402] 2025-01-08T21:39:22.945Z,1736372362.945 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:22.946Z,1736372362.946 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:22.950Z,1736372362.950 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:22.950Z,1736372362.950 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:22.996Z,1736372362.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:23.040Z,1736372363.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 476.899994 m, deltaT: 4.034256 s, deltaX: -18.399994 m, approachRate: -4.560938 m/s, rangeRepo size: 4 2025-01-08T21:39:23.042Z,1736372363.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 476.899994 m, bearing: 127.354084 deg, lat: 36.900479 deg, lon: -122.115548 deg, deltaT: 4.034256 s, deltaX: -18.399994 m, approachRate: -4.560938 m/s, posRepo size: 4 2025-01-08T21:39:23.042Z,1736372363.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.90 m. 2025-01-08T21:39:23.049Z,1736372363.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.899994 m, nav range: 52.577091 m, bearing: 105.961465 deg, approach rate: 0.000000 m/s, LOS rate: 0.451807 deg/s, cmd heading: 277.984465 deg, new cmd heading: 278.551290 deg. 2025-01-08T21:39:23.050Z,1736372363.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861637 target range: 476.899994 and range: 476.90 m. 2025-01-08T21:39:23.180Z,1736372363.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:23.181Z,1736372363.181 [DAT](INFO): DAT read: TxSync time:21:39:22.3297 2025-01-08T21:39:23.330Z,1736372363.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:23.346Z,1736372363.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.90 m. 2025-01-08T21:39:23.353Z,1736372363.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.899994 m, nav range: 52.797394 m, bearing: 105.955977 deg, approach rate: 0.707127 m/s, LOS rate: -0.017543 deg/s, cmd heading: 278.551288 deg, new cmd heading: 278.534892 deg. 2025-01-08T21:39:23.354Z,1736372363.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861351 target range: 476.899994 and range: 476.90 m. 2025-01-08T21:39:23.433Z,1736372363.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:23.684Z,1736372363.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:23.779Z,1736372363.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:23.787Z,1736372363.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:23.789Z,1736372363.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.90 m. 2025-01-08T21:39:23.792Z,1736372363.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.899994 m, nav range: 53.090282 m, bearing: 105.936201 deg, approach rate: 0.661078 m/s, LOS rate: -0.044389 deg/s, cmd heading: 278.534896 deg, new cmd heading: 278.475896 deg. 2025-01-08T21:39:23.793Z,1736372363.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860321 target range: 476.899994 and range: 476.90 m. 2025-01-08T21:39:23.936Z,1736372363.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:23.936Z,1736372363.936 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:23.936Z,1736372363.936 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:23.937Z,1736372363.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:24.116Z,1736372364.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:24.152Z,1736372364.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.90 m. 2025-01-08T21:39:24.154Z,1736372364.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.899994 m, nav range: 53.310322 m, bearing: 105.921836 deg, approach rate: 0.615058 m/s, LOS rate: -0.039987 deg/s, cmd heading: 278.475883 deg, new cmd heading: 278.432966 deg. 2025-01-08T21:39:24.159Z,1736372364.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.859572 target range: 476.899994 and range: 476.90 m. 2025-01-08T21:39:24.189Z,1736372364.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:24.190Z,1736372364.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245755 2025-01-08T21:39:24.440Z,1736372364.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:24.440Z,1736372364.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496445 2025-01-08T21:39:24.532Z,1736372364.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:24.598Z,1736372364.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.90 m. 2025-01-08T21:39:24.605Z,1736372364.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.899994 m, nav range: 53.581329 m, bearing: 105.906954 deg, approach rate: 0.601196 m/s, LOS rate: -0.032846 deg/s, cmd heading: 278.432962 deg, new cmd heading: 278.388543 deg. 2025-01-08T21:39:24.606Z,1736372364.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858797 target range: 476.899994 and range: 476.90 m. 2025-01-08T21:39:24.693Z,1736372364.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:24.694Z,1736372364.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749589 2025-01-08T21:39:24.944Z,1736372364.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:24.944Z,1736372364.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000491 2025-01-08T21:39:24.951Z,1736372364.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:24.960Z,1736372364.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.90 m. 2025-01-08T21:39:24.962Z,1736372364.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.899994 m, nav range: 53.850971 m, bearing: 105.895592 deg, approach rate: 0.745992 m/s, LOS rate: -0.031278 deg/s, cmd heading: 278.388538 deg, new cmd heading: 278.354622 deg. 2025-01-08T21:39:24.964Z,1736372364.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858205 target range: 476.899994 and range: 476.90 m. 2025-01-08T21:39:25.196Z,1736372365.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:25.196Z,1736372365.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252401 2025-01-08T21:39:25.327Z,1736372365.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:25.336Z,1736372365.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.90 m. 2025-01-08T21:39:25.339Z,1736372365.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.899994 m, nav range: 54.092621 m, bearing: 105.887338 deg, approach rate: 0.641379 m/s, LOS rate: -0.021811 deg/s, cmd heading: 278.354633 deg, new cmd heading: 278.329981 deg. 2025-01-08T21:39:25.340Z,1736372365.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857775 target range: 476.899994 and range: 476.90 m. 2025-01-08T21:39:25.449Z,1736372365.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:25.449Z,1736372365.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505260 2025-01-08T21:39:25.700Z,1736372365.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:25.700Z,1736372365.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756349 2025-01-08T21:39:25.770Z,1736372365.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:25.779Z,1736372365.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.90 m. 2025-01-08T21:39:25.782Z,1736372365.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.899994 m, nav range: 54.375675 m, bearing: 105.865552 deg, approach rate: 0.639463 m/s, LOS rate: -0.048960 deg/s, cmd heading: 278.329990 deg, new cmd heading: 278.264975 deg. 2025-01-08T21:39:25.800Z,1736372365.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.856640 target range: 476.899994 and range: 476.90 m. 2025-01-08T21:39:25.952Z,1736372365.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:25.952Z,1736372365.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008513 2025-01-08T21:39:26.149Z,1736372366.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:26.162Z,1736372366.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:26.165Z,1736372366.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.90 m. 2025-01-08T21:39:26.171Z,1736372366.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.899994 m, nav range: 54.617638 m, bearing: 105.850328 deg, approach rate: 0.627262 m/s, LOS rate: -0.039293 deg/s, cmd heading: 278.264967 deg, new cmd heading: 278.219496 deg. 2025-01-08T21:39:26.173Z,1736372366.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.855846 target range: 476.899994 and range: 476.90 m. 2025-01-08T21:39:26.205Z,1736372366.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:26.206Z,1736372366.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262172 2025-01-08T21:39:26.456Z,1736372366.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:26.456Z,1736372366.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512383 2025-01-08T21:39:26.552Z,1736372366.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:26.578Z,1736372366.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.90 m. 2025-01-08T21:39:26.599Z,1736372366.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.899994 m, nav range: 54.875698 m, bearing: 105.835718 deg, approach rate: 0.625842 m/s, LOS rate: -0.035265 deg/s, cmd heading: 278.219505 deg, new cmd heading: 278.175881 deg. 2025-01-08T21:39:26.607Z,1736372366.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.855085 target range: 476.899994 and range: 476.90 m. 2025-01-08T21:39:26.709Z,1736372366.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:26.710Z,1736372366.710 [DAT](INFO): DAT read: Rx Time:21:39:25.3679 2025-01-08T21:39:26.711Z,1736372366.711 [DAT](INFO): Rx dataTimestamp_ set to:1736372366.710282 2025-01-08T21:39:26.712Z,1736372366.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768123 2025-01-08T21:39:26.958Z,1736372366.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:26.960Z,1736372366.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:26.960Z,1736372366.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016431 2025-01-08T21:39:27.010Z,1736372367.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.90 m. 2025-01-08T21:39:27.049Z,1736372367.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.899994 m, nav range: 55.131454 m, bearing: 105.825977 deg, approach rate: 0.592027 m/s, LOS rate: -0.022445 deg/s, cmd heading: 278.175874 deg, new cmd heading: 278.146785 deg. 2025-01-08T21:39:27.057Z,1736372367.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.854577 target range: 476.899994 and range: 476.90 m. 2025-01-08T21:39:27.212Z,1736372367.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:27.227Z,1736372367.227 [DAT](INFO): DAT read: 21:39:25.3679 LVL= 16304, 32753, 28530, 32755, AGC= 70, IDX= 417, 0.08,-2.105, 2.439, 2.755,-3.052, PHS= 1.035,-0.745,-0.479, RAW= 98.0, 2.3, CAL= 107.8, 0.1, ROT= 42.2, -0.1 2025-01-08T21:39:27.228Z,1736372367.228 [DAT](INFO): got valid direction response: 21:39:25.3679 LVL= 16304, 32753, 28530, 32755, AGC= 70, IDX= 417, 0.08,-2.105, 2.439, 2.755,-3.052, PHS= 1.035,-0.745,-0.479, RAW= 98.0, 2.3, CAL= 107.8, 0.1, ROT= 42.2, -0.1 2025-01-08T21:39:27.229Z,1736372367.229 [DAT](INFO): DAT read: Bearing 42.2, -0.1 (Local) 2025-01-08T21:39:27.230Z,1736372367.230 [DAT](INFO): Local bearing/azimuth received: Bearing 42.2, -0.1 (Local) 2025-01-08T21:39:27.231Z,1736372367.231 [DAT](INFO): DAT read: Range 10 to 50 : 474.9 m (Round-trip 633.3 ms) speed 0.4 m/s 2025-01-08T21:39:27.232Z,1736372367.232 [DAT](INFO): DAT read: user:1950> 2025-01-08T21:39:27.233Z,1736372367.233 [DAT](INFO): DAT read: Tx time:21:39:26.4805 2025-01-08T21:39:27.233Z,1736372367.233 [DAT](INFO): Ping request sent. 2025-01-08T21:39:27.233Z,1736372367.233 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:27.233Z,1736372367.233 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:39:27.234Z,1736372367.234 [DAT](INFO): direction in FSK: [-0.141123,-0.029031,0.989566] 2025-01-08T21:39:27.235Z,1736372367.234 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:27.235Z,1736372367.235 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:27.238Z,1736372367.238 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:27.238Z,1736372367.238 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:27.401Z,1736372367.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:27.432Z,1736372367.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 474.899994 m, deltaT: 4.281261 s, deltaX: -2.000000 m, approachRate: -0.467152 m/s, rangeRepo size: 4 2025-01-08T21:39:27.434Z,1736372367.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 474.899994 m, bearing: 149.518581 deg, lat: 36.900417 deg, lon: -122.115548 deg, deltaT: 4.281261 s, deltaX: -2.000000 m, approachRate: -0.467152 m/s, posRepo size: 4 2025-01-08T21:39:27.435Z,1736372367.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:39:27.442Z,1736372367.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 57.657104 m, bearing: 112.384374 deg, approach rate: 0.000000 m/s, LOS rate: -0.022445 deg/s, cmd heading: 278.146777 deg, new cmd heading: 278.118656 deg. 2025-01-08T21:39:27.443Z,1736372367.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.854086 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:39:27.464Z,1736372367.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:27.465Z,1736372367.465 [DAT](INFO): DAT read: TxSync time:21:39:26.4797 2025-01-08T21:39:27.716Z,1736372367.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:27.794Z,1736372367.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:27.803Z,1736372367.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:39:27.806Z,1736372367.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 57.889664 m, bearing: 112.342494 deg, approach rate: 0.617376 m/s, LOS rate: -0.110735 deg/s, cmd heading: 278.118664 deg, new cmd heading: 277.993526 deg. 2025-01-08T21:39:27.807Z,1736372367.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851902 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:39:27.968Z,1736372367.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:28.175Z,1736372368.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:28.184Z,1736372368.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:28.190Z,1736372368.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:39:28.195Z,1736372368.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 58.116081 m, bearing: 112.302546 deg, approach rate: 0.586425 m/s, LOS rate: -0.103061 deg/s, cmd heading: 277.993535 deg, new cmd heading: 277.874161 deg. 2025-01-08T21:39:28.196Z,1736372368.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.849819 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:39:28.221Z,1736372368.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:28.222Z,1736372368.222 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:28.222Z,1736372368.222 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:28.222Z,1736372368.222 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:28.472Z,1736372368.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:28.472Z,1736372368.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239255 2025-01-08T21:39:28.585Z,1736372368.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:28.633Z,1736372368.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:39:28.658Z,1736372368.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 58.359348 m, bearing: 112.260512 deg, approach rate: 0.572307 m/s, LOS rate: -0.098478 deg/s, cmd heading: 277.874171 deg, new cmd heading: 277.748592 deg. 2025-01-08T21:39:28.664Z,1736372368.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.847628 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:39:28.724Z,1736372368.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:28.724Z,1736372368.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491328 2025-01-08T21:39:28.976Z,1736372368.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:28.977Z,1736372368.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743606 2025-01-08T21:39:29.013Z,1736372369.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:29.023Z,1736372369.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:39:29.026Z,1736372369.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 58.614098 m, bearing: 112.216471 deg, approach rate: 0.624162 m/s, LOS rate: -0.107435 deg/s, cmd heading: 277.748604 deg, new cmd heading: 277.617057 deg. 2025-01-08T21:39:29.027Z,1736372369.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845332 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:39:29.228Z,1736372369.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:29.228Z,1736372369.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995295 2025-01-08T21:39:29.391Z,1736372369.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:29.400Z,1736372369.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:39:29.403Z,1736372369.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 58.839359 m, bearing: 112.178867 deg, approach rate: 0.596254 m/s, LOS rate: -0.099153 deg/s, cmd heading: 277.617055 deg, new cmd heading: 277.504676 deg. 2025-01-08T21:39:29.404Z,1736372369.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.843370 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:39:29.480Z,1736372369.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:29.481Z,1736372369.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247880 2025-01-08T21:39:29.732Z,1736372369.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:29.733Z,1736372369.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500047 2025-01-08T21:39:29.836Z,1736372369.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:29.845Z,1736372369.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:39:29.848Z,1736372369.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 59.105404 m, bearing: 112.131979 deg, approach rate: 0.598594 m/s, LOS rate: -0.105023 deg/s, cmd heading: 277.504685 deg, new cmd heading: 277.364653 deg. 2025-01-08T21:39:29.849Z,1736372369.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.840927 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:39:29.984Z,1736372369.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:29.984Z,1736372369.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751390 2025-01-08T21:39:30.192Z,1736372370.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:30.199Z,1736372370.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:30.201Z,1736372370.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:39:30.225Z,1736372370.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 59.318447 m, bearing: 112.095848 deg, approach rate: 0.598060 m/s, LOS rate: -0.101064 deg/s, cmd heading: 277.364666 deg, new cmd heading: 277.256661 deg. 2025-01-08T21:39:30.231Z,1736372370.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839042 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:39:30.237Z,1736372370.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:30.237Z,1736372370.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004416 2025-01-08T21:39:30.488Z,1736372370.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:30.488Z,1736372370.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255367 2025-01-08T21:39:30.604Z,1736372370.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:30.613Z,1736372370.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:39:30.621Z,1736372370.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 59.564003 m, bearing: 112.054725 deg, approach rate: 0.596205 m/s, LOS rate: -0.099434 deg/s, cmd heading: 277.256667 deg, new cmd heading: 277.133807 deg. 2025-01-08T21:39:30.626Z,1736372370.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836897 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:39:30.741Z,1736372370.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:30.742Z,1736372370.742 [DAT](INFO): DAT read: Rx Time:21:39:29.5379 2025-01-08T21:39:30.743Z,1736372370.743 [DAT](INFO): Rx dataTimestamp_ set to:1736372370.741974 2025-01-08T21:39:30.744Z,1736372370.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510597 2025-01-08T21:39:30.992Z,1736372370.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:30.992Z,1736372370.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759438 2025-01-08T21:39:31.022Z,1736372371.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:31.030Z,1736372371.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:39:31.034Z,1736372371.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 59.831562 m, bearing: 112.006271 deg, approach rate: 0.641249 m/s, LOS rate: -0.115607 deg/s, cmd heading: 277.133805 deg, new cmd heading: 276.989096 deg. 2025-01-08T21:39:31.034Z,1736372371.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834372 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:39:31.244Z,1736372371.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:31.254Z,1736372371.254 [DAT](INFO): DAT read: 21:39:29.5380 LVL= 18416, 32753, 25842, 32755, AGC= 71, IDX= 142,-0.29,-2.210, 2.765, 2.991,-2.925, PHS= 0.803,-0.546,-0.370, RAW= 96.9, 1.8, CAL= 106.3, -0.9, ROT= 43.7, 0.9 2025-01-08T21:39:31.255Z,1736372371.255 [DAT](INFO): got valid direction response: 21:39:29.5380 LVL= 18416, 32753, 25842, 32755, AGC= 71, IDX= 142,-0.29,-2.210, 2.765, 2.991,-2.925, PHS= 0.803,-0.546,-0.370, RAW= 96.9, 1.8, CAL= 106.3, -0.9, ROT= 43.7, 0.9 2025-01-08T21:39:31.258Z,1736372371.258 [DAT](INFO): DAT read: Bearing 43.7, 0.9 (Local) 2025-01-08T21:39:31.258Z,1736372371.258 [DAT](INFO): Local bearing/azimuth received: Bearing 43.7, 0.9 (Local) 2025-01-08T21:39:31.260Z,1736372371.260 [DAT](INFO): DAT read: Range 10 to 50 : 489.9 m (Round-trip 653.3 ms) speed 0.6 m/s 2025-01-08T21:39:31.260Z,1736372371.260 [DAT](INFO): DAT read: user:1951> 2025-01-08T21:39:31.261Z,1736372371.261 [DAT](INFO): DAT read: Tx time:21:39:30.6306 2025-01-08T21:39:31.261Z,1736372371.261 [DAT](INFO): Ping request sent. 2025-01-08T21:39:31.261Z,1736372371.261 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:31.262Z,1736372371.262 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:39:31.263Z,1736372371.263 [DAT](INFO): direction in FSK: [-0.130060,-0.010753,0.991448] 2025-01-08T21:39:31.263Z,1736372371.263 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:31.263Z,1736372371.263 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:31.266Z,1736372371.266 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:31.266Z,1736372371.266 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:31.414Z,1736372371.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:31.451Z,1736372371.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 489.899994 m, deltaT: 4.032343 s, deltaX: 15.000000 m, approachRate: 3.719922 m/s, rangeRepo size: 4 2025-01-08T21:39:31.453Z,1736372371.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 489.899994 m, bearing: 148.958950 deg, lat: 36.900091 deg, lon: -122.115548 deg, deltaT: 4.032343 s, deltaX: 15.000000 m, approachRate: 3.719922 m/s, posRepo size: 4 2025-01-08T21:39:31.454Z,1736372371.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:39:31.461Z,1736372371.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 80.986382 m, bearing: 136.524240 deg, approach rate: 0.000000 m/s, LOS rate: -0.115607 deg/s, cmd heading: 276.989087 deg, new cmd heading: 276.844683 deg. 2025-01-08T21:39:31.462Z,1736372371.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831851 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:39:31.496Z,1736372371.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:31.497Z,1736372371.497 [DAT](INFO): DAT read: TxSync time:21:39:30.6298 2025-01-08T21:39:31.749Z,1736372371.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:31.839Z,1736372371.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:31.849Z,1736372371.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:39:31.852Z,1736372371.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 81.221107 m, bearing: 136.407209 deg, approach rate: 0.585500 m/s, LOS rate: -0.291077 deg/s, cmd heading: 276.844670 deg, new cmd heading: 276.494598 deg. 2025-01-08T21:39:31.853Z,1736372371.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825741 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:39:31.000Z,1736372372.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:32.221Z,1736372372.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:32.227Z,1736372372.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:32.229Z,1736372372.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:39:32.234Z,1736372372.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 81.431229 m, bearing: 136.301733 deg, approach rate: 0.550222 m/s, LOS rate: -0.275488 deg/s, cmd heading: 276.494609 deg, new cmd heading: 276.178999 deg. 2025-01-08T21:39:32.235Z,1736372372.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820233 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:39:32.253Z,1736372372.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:32.254Z,1736372372.254 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:32.255Z,1736372372.255 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:32.256Z,1736372372.256 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:32.504Z,1736372372.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:32.504Z,1736372372.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242962 2025-01-08T21:39:32.624Z,1736372372.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:32.646Z,1736372372.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:39:32.663Z,1736372372.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 81.652405 m, bearing: 136.190464 deg, approach rate: 0.531297 m/s, LOS rate: -0.266560 deg/s, cmd heading: 276.179000 deg, new cmd heading: 275.846101 deg. 2025-01-08T21:39:32.683Z,1736372372.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814423 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:39:32.757Z,1736372372.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:32.758Z,1736372372.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496249 2025-01-08T21:39:33.008Z,1736372373.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:33.008Z,1736372373.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746917 2025-01-08T21:39:33.160Z,1736372373.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:33.169Z,1736372373.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:39:33.172Z,1736372373.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 81.960838 m, bearing: 136.041005 deg, approach rate: 0.589049 m/s, LOS rate: -0.284363 deg/s, cmd heading: 275.846096 deg, new cmd heading: 275.399417 deg. 2025-01-08T21:39:33.173Z,1736372373.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806627 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:39:33.260Z,1736372373.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:33.262Z,1736372373.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000167 2025-01-08T21:39:33.512Z,1736372373.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:33.513Z,1736372373.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251103 2025-01-08T21:39:33.550Z,1736372373.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:33.558Z,1736372373.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:39:33.577Z,1736372373.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 82.190117 m, bearing: 135.930806 deg, approach rate: 0.589317 m/s, LOS rate: -0.282457 deg/s, cmd heading: 275.399429 deg, new cmd heading: 275.069756 deg. 2025-01-08T21:39:33.578Z,1736372373.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800873 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:39:33.766Z,1736372373.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:33.767Z,1736372373.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505238 2025-01-08T21:39:34.013Z,1736372374.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:34.016Z,1736372374.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:34.017Z,1736372374.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755657 2025-01-08T21:39:34.025Z,1736372374.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:39:34.028Z,1736372374.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 82.478729 m, bearing: 135.795903 deg, approach rate: 0.618365 m/s, LOS rate: -0.288024 deg/s, cmd heading: 275.069750 deg, new cmd heading: 274.666464 deg. 2025-01-08T21:39:34.029Z,1736372374.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793834 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:39:34.268Z,1736372374.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:34.270Z,1736372374.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007910 2025-01-08T21:39:34.453Z,1736372374.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:34.460Z,1736372374.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:34.462Z,1736372374.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:39:34.466Z,1736372374.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 82.750023 m, bearing: 135.665468 deg, approach rate: 0.620816 m/s, LOS rate: -0.297503 deg/s, cmd heading: 274.666468 deg, new cmd heading: 274.276452 deg. 2025-01-08T21:39:34.467Z,1736372374.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787027 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:39:34.521Z,1736372374.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:34.522Z,1736372374.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260205 2025-01-08T21:39:34.774Z,1736372374.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:34.775Z,1736372374.775 [DAT](INFO): DAT read: Rx Time:21:39:33.6749 2025-01-08T21:39:34.775Z,1736372374.775 [DAT](INFO): Rx dataTimestamp_ set to:1736372374.775033 2025-01-08T21:39:34.776Z,1736372374.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514469 2025-01-08T21:39:34.878Z,1736372374.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:34.898Z,1736372374.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:39:34.920Z,1736372374.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 83.013573 m, bearing: 135.540271 deg, approach rate: 0.605130 m/s, LOS rate: -0.286548 deg/s, cmd heading: 274.276464 deg, new cmd heading: 273.902072 deg. 2025-01-08T21:39:34.921Z,1736372374.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780493 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:39:35.024Z,1736372375.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:35.025Z,1736372375.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763534 2025-01-08T21:39:35.259Z,1736372375.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:35.276Z,1736372375.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:35.276Z,1736372375.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014934 2025-01-08T21:39:35.284Z,1736372375.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.90 m. 2025-01-08T21:39:35.286Z,1736372375.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.899994 m, nav range: 83.249771 m, bearing: 135.427504 deg, approach rate: 0.611582 m/s, LOS rate: -0.291155 deg/s, cmd heading: 273.902060 deg, new cmd heading: 273.564724 deg. 2025-01-08T21:39:35.288Z,1736372375.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.774605 target range: 489.899994 and range: 489.90 m. 2025-01-08T21:39:35.528Z,1736372375.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:35.535Z,1736372375.535 [DAT](INFO): DAT read: 21:39:33.6749 LVL= 24208, 32177, 24402, 32755, AGC= 63, IDX= 308, 0.17, 2.432, 1.102, 1.214, 1.554, PHS= 0.966,-0.405,-0.344, RAW= 92.3, -3.3, CAL= 100.5, -10.1, ROT= 49.5, 10.1 2025-01-08T21:39:35.536Z,1736372375.536 [DAT](INFO): got valid direction response: 21:39:33.6749 LVL= 24208, 32177, 24402, 32755, AGC= 63, IDX= 308, 0.17, 2.432, 1.102, 1.214, 1.554, PHS= 0.966,-0.405,-0.344, RAW= 92.3, -3.3, CAL= 100.5, -10.1, ROT= 49.5, 10.1 2025-01-08T21:39:35.537Z,1736372375.537 [DAT](INFO): DAT read: Bearing 49.5, 10.1 (Local) 2025-01-08T21:39:35.538Z,1736372375.538 [DAT](INFO): Local bearing/azimuth received: Bearing 49.5, 10.1 (Local) 2025-01-08T21:39:35.539Z,1736372375.539 [DAT](INFO): DAT read: Range 10 to 50 : 480.0 m (Round-trip 640.1 ms) speed 0.4 m/s 2025-01-08T21:39:35.540Z,1736372375.540 [DAT](INFO): DAT read: user:1952> 2025-01-08T21:39:35.541Z,1736372375.541 [DAT](INFO): DAT read: Tx time:21:39:34.7806 2025-01-08T21:39:35.541Z,1736372375.541 [DAT](INFO): Ping request sent. 2025-01-08T21:39:35.541Z,1736372375.541 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:35.541Z,1736372375.541 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:39:35.542Z,1736372375.542 [DAT](INFO): direction in FSK: [-0.026032,0.065105,0.997539] 2025-01-08T21:39:35.543Z,1736372375.543 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:35.543Z,1736372375.543 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:35.583Z,1736372375.583 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:35.587Z,1736372375.587 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:35.686Z,1736372375.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:35.780Z,1736372375.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:35.781Z,1736372375.781 [DAT](INFO): DAT read: TxSync time:21:39:34.7798 2025-01-08T21:39:35.784Z,1736372375.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 480.000000 m, deltaT: 4.283915 s, deltaX: -9.899994 m, approachRate: -2.310969 m/s, rangeRepo size: 4 2025-01-08T21:39:35.786Z,1736372375.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 480.000000 m, bearing: 220.164947 deg, lat: 36.900091 deg, lon: -122.115672 deg, deltaT: 4.283915 s, deltaX: -9.899994 m, approachRate: -2.310969 m/s, posRepo size: 4 2025-01-08T21:39:35.787Z,1736372375.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:35.794Z,1736372375.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 76.180176 m, bearing: 141.190569 deg, approach rate: 0.000000 m/s, LOS rate: -0.291155 deg/s, cmd heading: 273.564731 deg, new cmd heading: 273.131972 deg. 2025-01-08T21:39:35.795Z,1736372375.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.767052 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:36.033Z,1736372376.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:36.091Z,1736372376.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:36.121Z,1736372376.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:36.128Z,1736372376.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 76.415443 m, bearing: 141.042360 deg, approach rate: 0.688376 m/s, LOS rate: -0.432315 deg/s, cmd heading: 273.131970 deg, new cmd heading: 272.688719 deg. 2025-01-08T21:39:36.129Z,1736372376.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759316 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:36.284Z,1736372376.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:36.469Z,1736372376.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:36.476Z,1736372376.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:36.478Z,1736372376.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:36.481Z,1736372376.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 76.634262 m, bearing: 140.903509 deg, approach rate: 0.612953 m/s, LOS rate: -0.387835 deg/s, cmd heading: 272.688718 deg, new cmd heading: 272.273365 deg. 2025-01-08T21:39:36.483Z,1736372376.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.752067 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:36.536Z,1736372376.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:36.537Z,1736372376.537 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:36.537Z,1736372376.537 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:36.538Z,1736372376.538 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:36.788Z,1736372376.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:36.789Z,1736372376.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247423 2025-01-08T21:39:36.901Z,1736372376.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:36.910Z,1736372376.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:36.913Z,1736372376.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 76.878906 m, bearing: 140.745682 deg, approach rate: 0.566640 m/s, LOS rate: -0.364392 deg/s, cmd heading: 272.273361 deg, new cmd heading: 271.801398 deg. 2025-01-08T21:39:36.914Z,1736372376.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743829 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:37.040Z,1736372377.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:37.040Z,1736372377.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499231 2025-01-08T21:39:37.279Z,1736372377.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:37.287Z,1736372377.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:37.290Z,1736372377.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 77.092140 m, bearing: 140.607583 deg, approach rate: 0.564979 m/s, LOS rate: -0.364893 deg/s, cmd heading: 271.801395 deg, new cmd heading: 271.388250 deg. 2025-01-08T21:39:37.291Z,1736372377.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736619 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:37.292Z,1736372377.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:37.293Z,1736372377.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751408 2025-01-08T21:39:37.544Z,1736372377.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:37.544Z,1736372377.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003228 2025-01-08T21:39:37.690Z,1736372377.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:37.699Z,1736372377.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:37.702Z,1736372377.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 77.323425 m, bearing: 140.457199 deg, approach rate: 0.561944 m/s, LOS rate: -0.364289 deg/s, cmd heading: 271.388250 deg, new cmd heading: 270.938457 deg. 2025-01-08T21:39:37.703Z,1736372377.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728768 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:37.799Z,1736372377.799 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:37.801Z,1736372377.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259708 2025-01-08T21:39:38.048Z,1736372378.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:38.049Z,1736372378.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508068 2025-01-08T21:39:38.109Z,1736372378.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:38.118Z,1736372378.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:38.137Z,1736372378.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 77.546371 m, bearing: 140.314760 deg, approach rate: 0.531598 m/s, LOS rate: -0.338657 deg/s, cmd heading: 270.938469 deg, new cmd heading: 270.512389 deg. 2025-01-08T21:39:38.138Z,1736372378.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721332 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:38.300Z,1736372378.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:38.301Z,1736372378.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759362 2025-01-08T21:39:38.502Z,1736372378.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:38.509Z,1736372378.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:38.511Z,1736372378.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:38.514Z,1736372378.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 77.755424 m, bearing: 140.180763 deg, approach rate: 0.531667 m/s, LOS rate: -0.339867 deg/s, cmd heading: 270.512401 deg, new cmd heading: 270.111497 deg. 2025-01-08T21:39:38.533Z,1736372378.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714335 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:38.552Z,1736372378.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:38.552Z,1736372378.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011334 2025-01-08T21:39:38.805Z,1736372378.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:38.807Z,1736372378.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266336 2025-01-08T21:39:38.907Z,1736372378.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:39:38.907Z,1736372378.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:38.917Z,1736372378.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:38.923Z,1736372378.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 77.969559 m, bearing: 140.043394 deg, approach rate: 0.527440 m/s, LOS rate: -0.337427 deg/s, cmd heading: 270.111497 deg, new cmd heading: 269.700530 deg. 2025-01-08T21:39:38.925Z,1736372378.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707162 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:39.056Z,1736372379.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:39.056Z,1736372379.056 [DAT](INFO): DAT read: Rx Time:21:39:37.8222 2025-01-08T21:39:39.057Z,1736372379.057 [DAT](INFO): Rx dataTimestamp_ set to:1736372379.056624 2025-01-08T21:39:39.057Z,1736372379.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516315 2025-01-08T21:39:39.297Z,1736372379.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:39:39.297Z,1736372379.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:39.308Z,1736372379.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:39.308Z,1736372379.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767333 2025-01-08T21:39:39.311Z,1736372379.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:39:39.314Z,1736372379.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 78.175751 m, bearing: 139.910607 deg, approach rate: 0.523817 m/s, LOS rate: -0.336446 deg/s, cmd heading: 269.700538 deg, new cmd heading: 269.303235 deg. 2025-01-08T21:39:39.315Z,1736372379.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700228 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:39:39.560Z,1736372379.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:39.569Z,1736372379.569 [DAT](INFO): DAT read: 21:39:37.8222 LVL= 13584, 32753, 19106, 32691, AGC= 68, IDX= 412,-0.28, 0.151,-1.907,-1.602,-1.110, PHS= 1.349,-0.750,-0.495, RAW= 96.4, -1.1, CAL= 105.0, -6.3, ROT= 45.0, 6.3 2025-01-08T21:39:39.570Z,1736372379.570 [DAT](INFO): got valid direction response: 21:39:37.8222 LVL= 13584, 32753, 19106, 32691, AGC= 68, IDX= 412,-0.28, 0.151,-1.907,-1.602,-1.110, PHS= 1.349,-0.750,-0.495, RAW= 96.4, -1.1, CAL= 105.0, -6.3, ROT= 45.0, 6.3 2025-01-08T21:39:39.571Z,1736372379.571 [DAT](INFO): DAT read: Bearing 45.0, 6.3 (Local) 2025-01-08T21:39:39.571Z,1736372379.571 [DAT](INFO): Local bearing/azimuth received: Bearing 45.0, 6.3 (Local) 2025-01-08T21:39:39.572Z,1736372379.572 [DAT](INFO): DAT read: Range 10 to 50 : 478.1 m (Round-trip 637.5 ms) speed 0.4 m/s 2025-01-08T21:39:39.573Z,1736372379.573 [DAT](INFO): DAT read: user:1953> 2025-01-08T21:39:39.574Z,1736372379.574 [DAT](INFO): DAT read: Tx time:21:39:38.9306 2025-01-08T21:39:39.574Z,1736372379.574 [DAT](INFO): Ping request sent. 2025-01-08T21:39:39.574Z,1736372379.574 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:39.575Z,1736372379.575 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:39:39.576Z,1736372379.576 [DAT](INFO): direction in FSK: [-0.074567,-0.004939,0.997204] 2025-01-08T21:39:39.576Z,1736372379.576 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:39.576Z,1736372379.576 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:39.579Z,1736372379.579 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:39.580Z,1736372379.580 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:39.741Z,1736372379.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:39:39.741Z,1736372379.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:39.815Z,1736372379.815 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:39.817Z,1736372379.817 [DAT](INFO): DAT read: TxSync time:21:39:38.9298 2025-01-08T21:39:39.849Z,1736372379.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 478.100006 m, deltaT: 4.031722 s, deltaX: -1.899994 m, approachRate: -0.471261 m/s, rangeRepo size: 4 2025-01-08T21:39:39.855Z,1736372379.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 478.100006 m, bearing: 163.023562 deg, lat: 36.900091 deg, lon: -122.115672 deg, deltaT: 4.031722 s, deltaX: -1.899994 m, approachRate: -0.471261 m/s, posRepo size: 4 2025-01-08T21:39:39.856Z,1736372379.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.10 m. 2025-01-08T21:39:39.859Z,1736372379.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.100006 m, nav range: 78.410797 m, bearing: 139.760412 deg, approach rate: 0.000000 m/s, LOS rate: -0.336446 deg/s, cmd heading: 269.303239 deg, new cmd heading: 268.766077 deg. 2025-01-08T21:39:39.872Z,1736372379.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690853 target range: 478.100006 and range: 478.10 m. 2025-01-08T21:39:40.064Z,1736372380.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:40.183Z,1736372380.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:40.212Z,1736372380.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.10 m. 2025-01-08T21:39:40.220Z,1736372380.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.100006 m, nav range: 78.611778 m, bearing: 139.623765 deg, approach rate: 0.544703 m/s, LOS rate: -0.369396 deg/s, cmd heading: 268.766086 deg, new cmd heading: 268.357201 deg. 2025-01-08T21:39:40.221Z,1736372380.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683717 target range: 478.100006 and range: 478.10 m. 2025-01-08T21:39:40.318Z,1736372380.318 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:40.568Z,1736372380.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:40.580Z,1736372380.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:40.588Z,1736372380.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:40.590Z,1736372380.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.10 m. 2025-01-08T21:39:40.593Z,1736372380.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.100006 m, nav range: 78.791367 m, bearing: 139.500590 deg, approach rate: 0.474648 m/s, LOS rate: -0.324807 deg/s, cmd heading: 268.357204 deg, new cmd heading: 267.988526 deg. 2025-01-08T21:39:40.594Z,1736372380.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677282 target range: 478.100006 and range: 478.10 m. 2025-01-08T21:39:40.822Z,1736372380.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:40.823Z,1736372380.823 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:40.824Z,1736372380.824 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:40.825Z,1736372380.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:40.995Z,1736372380.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:41.005Z,1736372381.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.10 m. 2025-01-08T21:39:41.008Z,1736372381.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.100006 m, nav range: 78.972214 m, bearing: 139.378539 deg, approach rate: 0.436455 m/s, LOS rate: -0.293882 deg/s, cmd heading: 267.988537 deg, new cmd heading: 267.623228 deg. 2025-01-08T21:39:41.009Z,1736372381.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670907 target range: 478.100006 and range: 478.10 m. 2025-01-08T21:39:41.072Z,1736372381.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:41.073Z,1736372381.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498339 2025-01-08T21:39:41.324Z,1736372381.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:41.324Z,1736372381.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749958 2025-01-08T21:39:41.429Z,1736372381.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:41.438Z,1736372381.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.10 m. 2025-01-08T21:39:41.441Z,1736372381.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.100006 m, nav range: 79.161049 m, bearing: 139.250629 deg, approach rate: 0.436049 m/s, LOS rate: -0.294660 deg/s, cmd heading: 267.623231 deg, new cmd heading: 267.240422 deg. 2025-01-08T21:39:41.442Z,1736372381.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664225 target range: 478.100006 and range: 478.10 m. 2025-01-08T21:39:41.576Z,1736372381.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:41.577Z,1736372381.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002276 2025-01-08T21:39:41.830Z,1736372381.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:41.833Z,1736372381.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257544 2025-01-08T21:39:41.927Z,1736372381.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:41.937Z,1736372381.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.10 m. 2025-01-08T21:39:41.940Z,1736372381.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.100006 m, nav range: 79.364761 m, bearing: 139.105478 deg, approach rate: 0.408393 m/s, LOS rate: -0.290245 deg/s, cmd heading: 267.240413 deg, new cmd heading: 266.806086 deg. 2025-01-08T21:39:41.940Z,1736372381.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656645 target range: 478.100006 and range: 478.10 m. 2025-01-08T21:39:42.080Z,1736372382.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:42.080Z,1736372382.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505968 2025-01-08T21:39:42.332Z,1736372382.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:42.333Z,1736372382.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758368 2025-01-08T21:39:42.349Z,1736372382.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:42.358Z,1736372382.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.10 m. 2025-01-08T21:39:42.363Z,1736372382.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.100006 m, nav range: 79.536873 m, bearing: 138.982347 deg, approach rate: 0.408802 m/s, LOS rate: -0.291829 deg/s, cmd heading: 266.806095 deg, new cmd heading: 266.437508 deg. 2025-01-08T21:39:42.364Z,1736372382.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650212 target range: 478.100006 and range: 478.10 m. 2025-01-08T21:39:42.584Z,1736372382.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:42.585Z,1736372382.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010702 2025-01-08T21:39:42.721Z,1736372382.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:42.728Z,1736372382.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:42.730Z,1736372382.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.10 m. 2025-01-08T21:39:42.733Z,1736372382.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.100006 m, nav range: 79.688461 m, bearing: 138.873380 deg, approach rate: 0.407594 m/s, LOS rate: -0.292438 deg/s, cmd heading: 266.437511 deg, new cmd heading: 266.111233 deg. 2025-01-08T21:39:42.734Z,1736372382.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644517 target range: 478.100006 and range: 478.10 m. 2025-01-08T21:39:42.838Z,1736372382.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:42.844Z,1736372382.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268768 2025-01-08T21:39:43.088Z,1736372383.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:43.088Z,1736372383.088 [DAT](INFO): DAT read: Rx Time:21:39:41.9697 2025-01-08T21:39:43.089Z,1736372383.089 [DAT](INFO): Rx dataTimestamp_ set to:1736372383.088561 2025-01-08T21:39:43.089Z,1736372383.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515033 2025-01-08T21:39:43.163Z,1736372383.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:43.184Z,1736372383.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.10 m. 2025-01-08T21:39:43.187Z,1736372383.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.100006 m, nav range: 79.868568 m, bearing: 138.745680 deg, approach rate: 0.396192 m/s, LOS rate: -0.280274 deg/s, cmd heading: 266.111246 deg, new cmd heading: 265.729019 deg. 2025-01-08T21:39:43.192Z,1736372383.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637846 target range: 478.100006 and range: 478.10 m. 2025-01-08T21:39:43.340Z,1736372383.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:43.341Z,1736372383.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766159 2025-01-08T21:39:43.537Z,1736372383.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:43.555Z,1736372383.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.10 m. 2025-01-08T21:39:43.558Z,1736372383.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.100006 m, nav range: 80.020500 m, bearing: 138.637295 deg, approach rate: 0.411207 m/s, LOS rate: -0.292789 deg/s, cmd heading: 265.729029 deg, new cmd heading: 265.404495 deg. 2025-01-08T21:39:43.559Z,1736372383.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632182 target range: 478.100006 and range: 478.10 m. 2025-01-08T21:39:43.588Z,1736372383.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:39:43.592Z,1736372383.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:43.593Z,1736372383.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018707 2025-01-08T21:39:43.845Z,1736372383.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:43.868Z,1736372383.868 [DAT](INFO): DAT read: 21:39:41.9697 LVL= 18976, 30097, 19874, 29539, AGC= 64, IDX= 417,-0.14,-1.642,-3.097, 2.950,-2.709, PHS= 1.156,-0.340,-0.627, RAW= 81.4, -2.3, CAL= 88.9, -7.9, ROT= 61.1, 7.9 2025-01-08T21:39:43.884Z,1736372383.884 [DAT](INFO): got valid direction response: 21:39:41.9697 LVL= 18976, 30097, 19874, 29539, AGC= 64, IDX= 417,-0.14,-1.642,-3.097, 2.950,-2.709, PHS= 1.156,-0.340,-0.627, RAW= 81.4, -2.3, CAL= 88.9, -7.9, ROT= 61.1, 7.9 2025-01-08T21:39:43.889Z,1736372383.889 [DAT](INFO): DAT read: Bearing 61.1, 7.9 (Local) 2025-01-08T21:39:43.890Z,1736372383.890 [DAT](INFO): Local bearing/azimuth received: Bearing 61.1, 7.9 (Local) 2025-01-08T21:39:43.900Z,1736372383.900 [DAT](INFO): DAT read: Range 10 to 50 : 476.1 m (Round-trip 634.8 ms) speed 0.4 m/s 2025-01-08T21:39:43.900Z,1736372383.900 [DAT](INFO): DAT read: user:1954> 2025-01-08T21:39:43.901Z,1736372383.901 [DAT](INFO): DAT read: Tx time:21:39:43.0823 2025-01-08T21:39:43.901Z,1736372383.901 [DAT](INFO): Ping request sent. 2025-01-08T21:39:43.902Z,1736372383.902 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:43.902Z,1736372383.902 [DAT](INFO): DAT read: TxSync time:21:39:43.0815 2025-01-08T21:39:43.903Z,1736372383.903 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:39:43.936Z,1736372383.936 [DAT](INFO): direction in FSK: [-0.026752,0.251079,0.967597] 2025-01-08T21:39:43.937Z,1736372383.937 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:43.937Z,1736372383.937 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:43.947Z,1736372383.947 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:43.952Z,1736372383.952 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:44.037Z,1736372384.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:44.071Z,1736372384.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 476.100006 m, deltaT: 4.286276 s, deltaX: -2.000000 m, approachRate: -0.466606 m/s, rangeRepo size: 4 2025-01-08T21:39:44.077Z,1736372384.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 476.100006 m, bearing: 352.284953 deg, lat: 36.900288 deg, lon: -122.116111 deg, deltaT: 4.286276 s, deltaX: -2.000000 m, approachRate: -0.466606 m/s, posRepo size: 4 2025-01-08T21:39:44.078Z,1736372384.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.10 m. 2025-01-08T21:39:44.085Z,1736372384.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.100006 m, nav range: 40.631504 m, bearing: 159.715968 deg, approach rate: 0.000000 m/s, LOS rate: -0.292789 deg/s, cmd heading: 265.404485 deg, new cmd heading: 264.950923 deg. 2025-01-08T21:39:44.086Z,1736372384.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624266 target range: 476.100006 and range: 476.10 m. 2025-01-08T21:39:44.096Z,1736372384.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:44.349Z,1736372384.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:44.363Z,1736372384.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:44.385Z,1736372384.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.10 m. 2025-01-08T21:39:44.392Z,1736372384.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.100006 m, nav range: 40.701675 m, bearing: 159.471282 deg, approach rate: 0.222900 m/s, LOS rate: -0.775906 deg/s, cmd heading: 264.950934 deg, new cmd heading: 264.218182 deg. 2025-01-08T21:39:44.393Z,1736372384.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611477 target range: 476.100006 and range: 476.10 m. 2025-01-08T21:39:44.592Z,1736372384.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:39:44.600Z,1736372384.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:44.758Z,1736372384.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:44.765Z,1736372384.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:44.768Z,1736372384.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.10 m. 2025-01-08T21:39:44.770Z,1736372384.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.100006 m, nav range: 40.787621 m, bearing: 159.168821 deg, approach rate: 0.224682 m/s, LOS rate: -0.789037 deg/s, cmd heading: 264.218191 deg, new cmd heading: 263.312801 deg. 2025-01-08T21:39:44.771Z,1736372384.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595675 target range: 476.100006 and range: 476.10 m. 2025-01-08T21:39:44.855Z,1736372384.855 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:44.857Z,1736372384.857 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:44.857Z,1736372384.857 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:44.858Z,1736372384.858 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:45.104Z,1736372385.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:45.104Z,1736372385.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.202738 2025-01-08T21:39:45.197Z,1736372385.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:45.220Z,1736372385.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.10 m. 2025-01-08T21:39:45.222Z,1736372385.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.100006 m, nav range: 40.890293 m, bearing: 158.820127 deg, approach rate: 0.229452 m/s, LOS rate: -0.777297 deg/s, cmd heading: 263.312808 deg, new cmd heading: 262.269475 deg. 2025-01-08T21:39:45.227Z,1736372385.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577466 target range: 476.100006 and range: 476.10 m. 2025-01-08T21:39:45.356Z,1736372385.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:45.356Z,1736372385.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454732 2025-01-08T21:39:45.564Z,1736372385.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:45.573Z,1736372385.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.10 m. 2025-01-08T21:39:45.579Z,1736372385.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.100006 m, nav range: 40.976055 m, bearing: 158.529543 deg, approach rate: 0.239672 m/s, LOS rate: -0.810368 deg/s, cmd heading: 262.269483 deg, new cmd heading: 261.399626 deg. 2025-01-08T21:39:45.582Z,1736372385.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562284 target range: 476.100006 and range: 476.10 m. 2025-01-08T21:39:45.608Z,1736372385.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:45.608Z,1736372385.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706645 2025-01-08T21:39:45.861Z,1736372385.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:45.864Z,1736372385.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961889 2025-01-08T21:39:45.993Z,1736372385.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:46.002Z,1736372386.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.10 m. 2025-01-08T21:39:46.006Z,1736372386.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.100006 m, nav range: 41.081779 m, bearing: 158.172508 deg, approach rate: 0.245974 m/s, LOS rate: -0.828520 deg/s, cmd heading: 261.399618 deg, new cmd heading: 260.331401 deg. 2025-01-08T21:39:46.007Z,1736372386.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543640 target range: 476.100006 and range: 476.10 m. 2025-01-08T21:39:46.112Z,1736372386.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:46.113Z,1736372386.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210897 2025-01-08T21:39:46.364Z,1736372386.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:46.365Z,1736372386.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.462975 2025-01-08T21:39:46.371Z,1736372386.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:46.379Z,1736372386.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.10 m. 2025-01-08T21:39:46.383Z,1736372386.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.100006 m, nav range: 41.174488 m, bearing: 157.858387 deg, approach rate: 0.246205 m/s, LOS rate: -0.832326 deg/s, cmd heading: 260.331403 deg, new cmd heading: 259.391251 deg. 2025-01-08T21:39:46.384Z,1736372386.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527231 target range: 476.100006 and range: 476.10 m. 2025-01-08T21:39:46.616Z,1736372386.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:46.617Z,1736372386.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714989 2025-01-08T21:39:46.788Z,1736372386.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:46.795Z,1736372386.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:46.797Z,1736372386.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.10 m. 2025-01-08T21:39:46.801Z,1736372386.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.100006 m, nav range: 41.275990 m, bearing: 157.511665 deg, approach rate: 0.242967 m/s, LOS rate: -0.827912 deg/s, cmd heading: 259.391242 deg, new cmd heading: 258.353752 deg. 2025-01-08T21:39:46.802Z,1736372386.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509124 target range: 476.100006 and range: 476.10 m. 2025-01-08T21:39:46.870Z,1736372386.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:46.873Z,1736372386.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970498 2025-01-08T21:39:47.121Z,1736372387.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:47.121Z,1736372387.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219563 2025-01-08T21:39:47.249Z,1736372387.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:47.260Z,1736372387.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.10 m. 2025-01-08T21:39:47.263Z,1736372387.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.100006 m, nav range: 41.393299 m, bearing: 157.105735 deg, approach rate: 0.253169 m/s, LOS rate: -0.873557 deg/s, cmd heading: 258.353763 deg, new cmd heading: 257.139618 deg. 2025-01-08T21:39:47.272Z,1736372387.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487933 target range: 476.100006 and range: 476.10 m. 2025-01-08T21:39:47.372Z,1736372387.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:47.373Z,1736372387.373 [DAT](INFO): DAT read: Rx Time:21:39:46.1191 2025-01-08T21:39:47.373Z,1736372387.373 [DAT](INFO): Rx dataTimestamp_ set to:1736372387.372791 2025-01-08T21:39:47.374Z,1736372387.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471988 2025-01-08T21:39:47.605Z,1736372387.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:47.624Z,1736372387.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:47.624Z,1736372387.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722657 2025-01-08T21:39:47.639Z,1736372387.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.10 m. 2025-01-08T21:39:47.642Z,1736372387.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.100006 m, nav range: 41.482738 m, bearing: 156.792543 deg, approach rate: 0.238586 m/s, LOS rate: -0.833660 deg/s, cmd heading: 257.139629 deg, new cmd heading: 256.202165 deg. 2025-01-08T21:39:47.648Z,1736372387.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471571 target range: 476.100006 and range: 476.10 m. 2025-01-08T21:39:47.876Z,1736372387.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:47.885Z,1736372387.885 [DAT](INFO): DAT read: 21:39:46.1191 LVL= 12752, 25249, 18882, 23459, AGC= 66, IDX= 427,-0.28,-0.363,-1.812,-2.339,-1.744, PHS= 1.469,-0.021,-0.598, RAW= 74.3, -9.2, CAL= 84.9, -18.0, ROT= 65.1, 18.0 2025-01-08T21:39:47.886Z,1736372387.886 [DAT](INFO): got valid direction response: 21:39:46.1191 LVL= 12752, 25249, 18882, 23459, AGC= 66, IDX= 427,-0.28,-0.363,-1.812,-2.339,-1.744, PHS= 1.469,-0.021,-0.598, RAW= 74.3, -9.2, CAL= 84.9, -18.0, ROT= 65.1, 18.0 2025-01-08T21:39:47.890Z,1736372387.890 [DAT](INFO): DAT read: Bearing 65.1, 18.0 (Local) 2025-01-08T21:39:47.891Z,1736372387.891 [DAT](INFO): Local bearing/azimuth received: Bearing 65.1, 18.0 (Local) 2025-01-08T21:39:47.905Z,1736372387.905 [DAT](INFO): DAT read: Range 10 to 50 : 474.5 m (Round-trip 632.7 ms) speed 0.3 m/s 2025-01-08T21:39:47.908Z,1736372387.908 [DAT](INFO): DAT read: user:1955> 2025-01-08T21:39:47.910Z,1736372387.910 [DAT](INFO): DAT read: Tx time:21:39:47.2323 2025-01-08T21:39:47.911Z,1736372387.911 [DAT](INFO): Ping request sent. 2025-01-08T21:39:47.924Z,1736372387.924 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:47.925Z,1736372387.925 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:39:47.933Z,1736372387.933 [DAT](INFO): direction in FSK: [0.116375,0.353472,0.928178] 2025-01-08T21:39:47.934Z,1736372387.934 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:47.935Z,1736372387.935 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:47.965Z,1736372387.965 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:47.966Z,1736372387.966 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:48.128Z,1736372388.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:48.129Z,1736372388.129 [DAT](INFO): DAT read: TxSync time:21:39:47.2315 2025-01-08T21:39:48.145Z,1736372388.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:48.176Z,1736372388.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 474.500000 m, deltaT: 4.030074 s, deltaX: -1.600006 m, approachRate: -0.397017 m/s, rangeRepo size: 4 2025-01-08T21:39:48.178Z,1736372388.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 474.500000 m, bearing: 328.137140 deg, lat: 36.900568 deg, lon: -122.116269 deg, deltaT: 4.030074 s, deltaX: -1.600006 m, approachRate: -0.397017 m/s, posRepo size: 4 2025-01-08T21:39:48.178Z,1736372388.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.50 m. 2025-01-08T21:39:48.185Z,1736372388.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.500000 m, nav range: 7.582337 m, bearing: 159.143438 deg, approach rate: 0.000000 m/s, LOS rate: -0.833660 deg/s, cmd heading: 256.202172 deg, new cmd heading: 254.862804 deg. 2025-01-08T21:39:48.192Z,1736372388.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448195 target range: 474.500000 and range: 474.50 m. 2025-01-08T21:39:48.380Z,1736372388.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:48.486Z,1736372388.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:48.508Z,1736372388.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.50 m. 2025-01-08T21:39:48.510Z,1736372388.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.500000 m, nav range: 7.665712 m, bearing: 157.432656 deg, approach rate: 0.250582 m/s, LOS rate: -5.085019 deg/s, cmd heading: 254.862799 deg, new cmd heading: 249.800245 deg. 2025-01-08T21:39:48.516Z,1736372388.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359837 target range: 474.500000 and range: 474.50 m. 2025-01-08T21:39:48.632Z,1736372388.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:48.873Z,1736372388.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:48.884Z,1736372388.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:48.885Z,1736372388.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:48.891Z,1736372388.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.50 m. 2025-01-08T21:39:48.922Z,1736372388.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.500000 m, nav range: 7.763846 m, bearing: 155.533451 deg, approach rate: 0.254504 m/s, LOS rate: -4.862330 deg/s, cmd heading: 249.800235 deg, new cmd heading: 244.193631 deg. 2025-01-08T21:39:48.927Z,1736372388.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261983 target range: 474.500000 and range: 474.50 m. 2025-01-08T21:39:49.136Z,1736372389.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:49.136Z,1736372389.136 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:49.136Z,1736372389.136 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:49.137Z,1736372389.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:49.300Z,1736372389.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:49.310Z,1736372389.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.50 m. 2025-01-08T21:39:49.313Z,1736372389.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.500000 m, nav range: 7.872987 m, bearing: 153.443365 deg, approach rate: 0.259344 m/s, LOS rate: -4.896563 deg/s, cmd heading: 244.193634 deg, new cmd heading: 238.035492 deg. 2025-01-08T21:39:49.314Z,1736372389.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154503 target range: 474.500000 and range: 474.50 m. 2025-01-08T21:39:49.388Z,1736372389.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:49.390Z,1736372389.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478452 2025-01-08T21:39:49.640Z,1736372389.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:49.641Z,1736372389.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729502 2025-01-08T21:39:49.702Z,1736372389.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:49.710Z,1736372389.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.50 m. 2025-01-08T21:39:49.714Z,1736372389.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.500000 m, nav range: 7.980149 m, bearing: 151.526715 deg, approach rate: 0.267470 m/s, LOS rate: -4.718729 deg/s, cmd heading: 238.035480 deg, new cmd heading: 232.382221 deg. 2025-01-08T21:39:49.716Z,1736372389.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.055835 target range: 474.500000 and range: 474.50 m. 2025-01-08T21:39:49.892Z,1736372389.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:49.892Z,1736372389.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981378 2025-01-08T21:39:50.104Z,1736372390.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:50.112Z,1736372390.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.50 m. 2025-01-08T21:39:50.117Z,1736372390.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.500000 m, nav range: 8.090531 m, bearing: 149.694908 deg, approach rate: 0.274670 m/s, LOS rate: -4.495242 deg/s, cmd heading: 232.382215 deg, new cmd heading: 226.978769 deg. 2025-01-08T21:39:50.118Z,1736372390.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.961527 target range: 474.500000 and range: 474.50 m. 2025-01-08T21:39:50.144Z,1736372390.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:50.146Z,1736372390.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234821 2025-01-08T21:39:50.396Z,1736372390.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:50.396Z,1736372390.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485464 2025-01-08T21:39:50.489Z,1736372390.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:50.517Z,1736372390.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.50 m. 2025-01-08T21:39:50.524Z,1736372390.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.500000 m, nav range: 8.199494 m, bearing: 147.974336 deg, approach rate: 0.269197 m/s, LOS rate: -4.193621 deg/s, cmd heading: 226.978770 deg, new cmd heading: 221.899759 deg. 2025-01-08T21:39:50.525Z,1736372390.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.872881 target range: 474.500000 and range: 474.50 m. 2025-01-08T21:39:50.648Z,1736372390.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:50.649Z,1736372390.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738278 2025-01-08T21:39:50.895Z,1736372390.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:50.901Z,1736372390.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:50.904Z,1736372390.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992074 2025-01-08T21:39:50.911Z,1736372390.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:50.913Z,1736372390.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.50 m. 2025-01-08T21:39:50.917Z,1736372390.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.500000 m, nav range: 8.317183 m, bearing: 146.190188 deg, approach rate: 0.297094 m/s, LOS rate: -4.439441 deg/s, cmd heading: 221.899759 deg, new cmd heading: 216.638741 deg. 2025-01-08T21:39:50.926Z,1736372390.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781059 target range: 474.500000 and range: 474.50 m. 2025-01-08T21:39:51.152Z,1736372391.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:51.153Z,1736372391.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241547 2025-01-08T21:39:51.329Z,1736372391.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:51.338Z,1736372391.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.50 m. 2025-01-08T21:39:51.341Z,1736372391.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.500000 m, nav range: 8.449065 m, bearing: 144.328124 deg, approach rate: 0.310482 m/s, LOS rate: -4.314577 deg/s, cmd heading: 216.638738 deg, new cmd heading: 211.157490 deg. 2025-01-08T21:39:51.342Z,1736372391.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.685393 target range: 474.500000 and range: 474.50 m. 2025-01-08T21:39:51.404Z,1736372391.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:51.405Z,1736372391.405 [DAT](INFO): DAT read: Rx Time:21:39:50.2679 2025-01-08T21:39:51.405Z,1736372391.405 [DAT](INFO): Rx dataTimestamp_ set to:1736372391.405127 2025-01-08T21:39:51.406Z,1736372391.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494991 2025-01-08T21:39:51.656Z,1736372391.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:51.657Z,1736372391.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746019 2025-01-08T21:39:51.706Z,1736372391.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:51.723Z,1736372391.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.50 m. 2025-01-08T21:39:51.730Z,1736372391.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.500000 m, nav range: 8.559251 m, bearing: 142.717510 deg, approach rate: 0.286365 m/s, LOS rate: -4.131438 deg/s, cmd heading: 211.157484 deg, new cmd heading: 206.399441 deg. 2025-01-08T21:39:51.731Z,1736372391.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602350 target range: 474.500000 and range: 474.50 m. 2025-01-08T21:39:51.908Z,1736372391.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:51.908Z,1736372391.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.997424 2025-01-08T21:39:52.124Z,1736372392.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:52.134Z,1736372392.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.50 m. 2025-01-08T21:39:52.141Z,1736372392.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.500000 m, nav range: 8.677908 m, bearing: 141.008463 deg, approach rate: 0.289232 m/s, LOS rate: -4.108307 deg/s, cmd heading: 206.399437 deg, new cmd heading: 201.356216 deg. 2025-01-08T21:39:52.142Z,1736372392.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.514329 target range: 474.500000 and range: 474.50 m. 2025-01-08T21:39:52.160Z,1736372392.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:52.167Z,1736372392.167 [DAT](INFO): DAT read: 21:39:50.2679 LVL= 13936, 26097, 19666, 27427, AGC= 66, IDX= 431, 0.05, 2.696, 0.945, 0.441, 1.448, PHS= 1.336,-0.456,-1.010, RAW= 76.9, 1.2, CAL= 81.9, -2.5, ROT= 68.1, 2.5 2025-01-08T21:39:52.168Z,1736372392.168 [DAT](INFO): got valid direction response: 21:39:50.2679 LVL= 13936, 26097, 19666, 27427, AGC= 66, IDX= 431, 0.05, 2.696, 0.945, 0.441, 1.448, PHS= 1.336,-0.456,-1.010, RAW= 76.9, 1.2, CAL= 81.9, -2.5, ROT= 68.1, 2.5 2025-01-08T21:39:52.169Z,1736372392.169 [DAT](INFO): DAT read: Bearing 68.1, 2.5 (Local) 2025-01-08T21:39:52.170Z,1736372392.170 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, 2.5 (Local) 2025-01-08T21:39:52.174Z,1736372392.174 [DAT](INFO): DAT read: Range 10 to 50 : 473.6 m (Round-trip 631.5 ms) speed 0.0 m/s 2025-01-08T21:39:52.176Z,1736372392.176 [DAT](INFO): DAT read: user:1956> 2025-01-08T21:39:52.177Z,1736372392.177 [DAT](INFO): DAT read: Tx time:21:39:51.3807 2025-01-08T21:39:52.177Z,1736372392.177 [DAT](INFO): Ping request sent. 2025-01-08T21:39:52.177Z,1736372392.177 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:52.178Z,1736372392.178 [DAT](INFO): DAT read: TxSync time:21:39:51.3799 2025-01-08T21:39:52.178Z,1736372392.178 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:39:52.199Z,1736372392.199 [DAT](INFO): direction in FSK: [-0.085672,0.326677,0.941245] 2025-01-08T21:39:52.200Z,1736372392.200 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:52.200Z,1736372392.200 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:52.203Z,1736372392.203 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:52.212Z,1736372392.212 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:52.417Z,1736372392.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:52.507Z,1736372392.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:52.522Z,1736372392.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 473.600006 m, deltaT: 4.283776 s, deltaX: -0.899994 m, approachRate: -0.210094 m/s, rangeRepo size: 4 2025-01-08T21:39:52.524Z,1736372392.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 473.600006 m, bearing: 350.808600 deg, lat: 36.901477 deg, lon: -122.116413 deg, deltaT: 4.283776 s, deltaX: -0.899994 m, approachRate: -0.210094 m/s, posRepo size: 4 2025-01-08T21:39:52.525Z,1736372392.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.60 m. 2025-01-08T21:39:52.541Z,1736372392.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.600006 m, nav range: 94.692604 m, bearing: 355.710711 deg, approach rate: 0.000000 m/s, LOS rate: -4.108307 deg/s, cmd heading: 201.356217 deg, new cmd heading: 196.582329 deg. 2025-01-08T21:39:52.542Z,1736372392.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.431009 target range: 473.600006 and range: 473.60 m. 2025-01-08T21:39:52.668Z,1736372392.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:52.913Z,1736372392.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:52.920Z,1736372392.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:52.921Z,1736372392.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:52.929Z,1736372392.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.60 m. 2025-01-08T21:39:52.937Z,1736372392.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.600006 m, nav range: 94.753059 m, bearing: 355.872954 deg, approach rate: 0.149238 m/s, LOS rate: 0.400250 deg/s, cmd heading: 196.582325 deg, new cmd heading: 197.068729 deg. 2025-01-08T21:39:52.940Z,1736372392.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.439498 target range: 473.600006 and range: 473.60 m. 2025-01-08T21:39:53.172Z,1736372393.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:53.172Z,1736372393.172 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:53.172Z,1736372393.172 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:53.172Z,1736372393.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:53.341Z,1736372393.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:53.350Z,1736372393.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.60 m. 2025-01-08T21:39:53.354Z,1736372393.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.600006 m, nav range: 94.829094 m, bearing: 356.033139 deg, approach rate: 0.179375 m/s, LOS rate: 0.377592 deg/s, cmd heading: 197.068730 deg, new cmd heading: 197.548888 deg. 2025-01-08T21:39:53.355Z,1736372393.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.447879 target range: 473.600006 and range: 473.60 m. 2025-01-08T21:39:53.424Z,1736372393.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:53.426Z,1736372393.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248534 2025-01-08T21:39:53.676Z,1736372393.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:53.678Z,1736372393.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500751 2025-01-08T21:39:53.735Z,1736372393.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:53.744Z,1736372393.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.60 m. 2025-01-08T21:39:53.747Z,1736372393.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.600006 m, nav range: 94.914696 m, bearing: 356.177390 deg, approach rate: 0.217410 m/s, LOS rate: 0.366037 deg/s, cmd heading: 197.548892 deg, new cmd heading: 197.981248 deg. 2025-01-08T21:39:53.749Z,1736372393.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.455425 target range: 473.600006 and range: 473.60 m. 2025-01-08T21:39:53.928Z,1736372393.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:53.929Z,1736372393.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751613 2025-01-08T21:39:54.150Z,1736372394.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:54.160Z,1736372394.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.60 m. 2025-01-08T21:39:54.163Z,1736372394.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.600006 m, nav range: 95.013268 m, bearing: 356.318112 deg, approach rate: 0.236758 m/s, LOS rate: 0.337646 deg/s, cmd heading: 197.981243 deg, new cmd heading: 198.402961 deg. 2025-01-08T21:39:54.164Z,1736372394.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.462785 target range: 473.600006 and range: 473.60 m. 2025-01-08T21:39:54.180Z,1736372394.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:54.180Z,1736372394.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003196 2025-01-08T21:39:54.432Z,1736372394.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:54.433Z,1736372394.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255898 2025-01-08T21:39:54.552Z,1736372394.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:54.564Z,1736372394.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.60 m. 2025-01-08T21:39:54.567Z,1736372394.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.600006 m, nav range: 95.116318 m, bearing: 356.452130 deg, approach rate: 0.255760 m/s, LOS rate: 0.332259 deg/s, cmd heading: 198.402966 deg, new cmd heading: 198.804579 deg. 2025-01-08T21:39:54.568Z,1736372394.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.469795 target range: 473.600006 and range: 473.60 m. 2025-01-08T21:39:54.684Z,1736372394.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:54.685Z,1736372394.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507462 2025-01-08T21:39:54.927Z,1736372394.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:54.934Z,1736372394.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:54.936Z,1736372394.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:54.937Z,1736372394.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759485 2025-01-08T21:39:54.952Z,1736372394.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.60 m. 2025-01-08T21:39:54.955Z,1736372394.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.600006 m, nav range: 95.219147 m, bearing: 356.574693 deg, approach rate: 0.264285 m/s, LOS rate: 0.314664 deg/s, cmd heading: 198.804581 deg, new cmd heading: 199.171869 deg. 2025-01-08T21:39:54.963Z,1736372394.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.476205 target range: 473.600006 and range: 473.60 m. 2025-01-08T21:39:55.188Z,1736372395.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:55.190Z,1736372395.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012640 2025-01-08T21:39:55.352Z,1736372395.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:55.361Z,1736372395.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.60 m. 2025-01-08T21:39:55.384Z,1736372395.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.600006 m, nav range: 95.343796 m, bearing: 356.702967 deg, approach rate: 0.305054 m/s, LOS rate: 0.313514 deg/s, cmd heading: 199.171868 deg, new cmd heading: 199.556180 deg. 2025-01-08T21:39:55.385Z,1736372395.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.482912 target range: 473.600006 and range: 473.60 m. 2025-01-08T21:39:55.440Z,1736372395.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:55.441Z,1736372395.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263936 2025-01-08T21:39:55.692Z,1736372395.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:55.693Z,1736372395.693 [DAT](INFO): DAT read: Rx Time:21:39:54.4043 2025-01-08T21:39:55.693Z,1736372395.693 [DAT](INFO): Rx dataTimestamp_ set to:1736372395.693118 2025-01-08T21:39:55.694Z,1736372395.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516829 2025-01-08T21:39:55.771Z,1736372395.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:55.780Z,1736372395.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.60 m. 2025-01-08T21:39:55.783Z,1736372395.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.600006 m, nav range: 95.473488 m, bearing: 356.826326 deg, approach rate: 0.309517 m/s, LOS rate: 0.294002 deg/s, cmd heading: 199.556175 deg, new cmd heading: 199.925744 deg. 2025-01-08T21:39:55.784Z,1736372395.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489362 target range: 473.600006 and range: 473.60 m. 2025-01-08T21:39:55.944Z,1736372395.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:55.944Z,1736372395.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767228 2025-01-08T21:39:56.174Z,1736372396.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:56.185Z,1736372396.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.60 m. 2025-01-08T21:39:56.188Z,1736372396.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.600006 m, nav range: 95.599312 m, bearing: 356.937852 deg, approach rate: 0.310653 m/s, LOS rate: 0.274988 deg/s, cmd heading: 199.925743 deg, new cmd heading: 200.259876 deg. 2025-01-08T21:39:56.189Z,1736372396.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.495194 target range: 473.600006 and range: 473.60 m. 2025-01-08T21:39:56.196Z,1736372396.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:56.204Z,1736372396.204 [DAT](INFO): DAT read: 21:39:54.4043 LVL= 13280, 20945, 19298, 24339, AGC= 67, IDX= 441,-0.32,-0.299,-0.918,-2.260,-1.212, PHS= 1.001, 0.341,-1.052, RAW= 48.4, -3.2, CAL= 50.5, -7.0, ROT= 99.5, 7.0 2025-01-08T21:39:56.205Z,1736372396.205 [DAT](INFO): got valid direction response: 21:39:54.4043 LVL= 13280, 20945, 19298, 24339, AGC= 67, IDX= 441,-0.32,-0.299,-0.918,-2.260,-1.212, PHS= 1.001, 0.341,-1.052, RAW= 48.4, -3.2, CAL= 50.5, -7.0, ROT= 99.5, 7.0 2025-01-08T21:39:56.206Z,1736372396.206 [DAT](INFO): DAT read: Bearing 99.5, 7.0 (Local) 2025-01-08T21:39:56.207Z,1736372396.207 [DAT](INFO): Local bearing/azimuth received: Bearing 99.5, 7.0 (Local) 2025-01-08T21:39:56.208Z,1736372396.208 [DAT](INFO): DAT read: Range 10 to 50 : 464.5 m (Round-trip 619.4 ms) speed 0.0 m/s 2025-01-08T21:39:56.209Z,1736372396.209 [DAT](INFO): DAT read: user:1957> 2025-01-08T21:39:56.210Z,1736372396.210 [DAT](INFO): DAT read: Tx time:21:39:55.4808 2025-01-08T21:39:56.210Z,1736372396.210 [DAT](INFO): Ping request sent. 2025-01-08T21:39:56.210Z,1736372396.210 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:39:56.210Z,1736372396.210 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:39:56.212Z,1736372396.212 [DAT](INFO): direction in FSK: [0.054720,0.717203,0.694713] 2025-01-08T21:39:56.212Z,1736372396.212 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:56.212Z,1736372396.212 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:56.224Z,1736372396.224 [DAT](INFO): publishing transmit ping time 2025-01-08T21:39:56.224Z,1736372396.224 [DAT](INFO): publishing direction and range info 2025-01-08T21:39:56.453Z,1736372396.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:56.455Z,1736372396.455 [DAT](INFO): DAT read: TxSync time:21:39:55.4800 2025-01-08T21:39:56.660Z,1736372396.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:56.705Z,1736372396.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:56.707Z,1736372396.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 464.500000 m, deltaT: 4.036002 s, deltaX: -9.100006 m, approachRate: -2.254708 m/s, rangeRepo size: 4 2025-01-08T21:39:56.709Z,1736372396.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 464.500000 m, bearing: 314.204518 deg, lat: 36.901893 deg, lon: -122.116650 deg, deltaT: 4.036002 s, deltaX: -9.100006 m, approachRate: -2.254708 m/s, posRepo size: 4 2025-01-08T21:39:56.710Z,1736372396.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.50 m. 2025-01-08T21:39:56.712Z,1736372396.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.500000 m, nav range: 144.234787 m, bearing: 349.632935 deg, approach rate: 0.000000 m/s, LOS rate: 0.274988 deg/s, cmd heading: 200.259876 deg, new cmd heading: 200.684845 deg. 2025-01-08T21:39:56.713Z,1736372396.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.502611 target range: 464.500000 and range: 464.50 m. 2025-01-08T21:39:56.957Z,1736372396.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:57.109Z,1736372397.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:57.117Z,1736372397.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:57.136Z,1736372397.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.50 m. 2025-01-08T21:39:57.138Z,1736372397.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.500000 m, nav range: 144.370499 m, bearing: 349.712371 deg, approach rate: 0.323869 m/s, LOS rate: 0.189392 deg/s, cmd heading: 200.684850 deg, new cmd heading: 200.922934 deg. 2025-01-08T21:39:57.144Z,1736372397.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.506767 target range: 464.500000 and range: 464.50 m. 2025-01-08T21:39:57.208Z,1736372397.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:57.209Z,1736372397.209 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:39:57.209Z,1736372397.209 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:39:57.209Z,1736372397.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:39:57.460Z,1736372397.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:57.462Z,1736372397.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251574 2025-01-08T21:39:57.529Z,1736372397.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:57.554Z,1736372397.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.50 m. 2025-01-08T21:39:57.561Z,1736372397.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.500000 m, nav range: 144.502884 m, bearing: 349.784638 deg, approach rate: 0.304408 m/s, LOS rate: 0.166019 deg/s, cmd heading: 200.922937 deg, new cmd heading: 201.139538 deg. 2025-01-08T21:39:57.564Z,1736372397.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510547 target range: 464.500000 and range: 464.50 m. 2025-01-08T21:39:57.712Z,1736372397.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:57.712Z,1736372397.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502200 2025-01-08T21:39:57.929Z,1736372397.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:57.938Z,1736372397.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.50 m. 2025-01-08T21:39:57.941Z,1736372397.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.500000 m, nav range: 144.634216 m, bearing: 349.852001 deg, approach rate: 0.342103 m/s, LOS rate: 0.175311 deg/s, cmd heading: 201.139536 deg, new cmd heading: 201.341439 deg. 2025-01-08T21:39:57.942Z,1736372397.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.514071 target range: 464.500000 and range: 464.50 m. 2025-01-08T21:39:57.964Z,1736372397.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:57.965Z,1736372397.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754809 2025-01-08T21:39:58.216Z,1736372398.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:58.217Z,1736372398.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006732 2025-01-08T21:39:58.369Z,1736372398.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:58.378Z,1736372398.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.50 m. 2025-01-08T21:39:58.401Z,1736372398.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.500000 m, nav range: 144.780670 m, bearing: 349.920668 deg, approach rate: 0.332963 m/s, LOS rate: 0.155956 deg/s, cmd heading: 201.341437 deg, new cmd heading: 201.547228 deg. 2025-01-08T21:39:58.402Z,1736372398.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517663 target range: 464.500000 and range: 464.50 m. 2025-01-08T21:39:58.468Z,1736372398.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:58.470Z,1736372398.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259747 2025-01-08T21:39:58.720Z,1736372398.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:58.721Z,1736372398.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510509 2025-01-08T21:39:58.746Z,1736372398.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:58.754Z,1736372398.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.50 m. 2025-01-08T21:39:58.812Z,1736372398.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.500000 m, nav range: 144.914597 m, bearing: 349.976152 deg, approach rate: 0.355772 m/s, LOS rate: 0.147256 deg/s, cmd heading: 201.547230 deg, new cmd heading: 201.713528 deg. 2025-01-08T21:39:58.821Z,1736372398.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520565 target range: 464.500000 and range: 464.50 m. 2025-01-08T21:39:58.972Z,1736372398.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:58.972Z,1736372398.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762209 2025-01-08T21:39:59.165Z,1736372399.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:59.193Z,1736372399.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:39:59.195Z,1736372399.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.50 m. 2025-01-08T21:39:59.202Z,1736372399.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.500000 m, nav range: 145.067474 m, bearing: 350.034674 deg, approach rate: 0.347029 m/s, LOS rate: 0.132705 deg/s, cmd heading: 201.713532 deg, new cmd heading: 201.888913 deg. 2025-01-08T21:39:59.203Z,1736372399.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.523626 target range: 464.500000 and range: 464.50 m. 2025-01-08T21:39:59.224Z,1736372399.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:59.225Z,1736372399.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014381 2025-01-08T21:39:59.476Z,1736372399.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:59.476Z,1736372399.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266235 2025-01-08T21:39:59.622Z,1736372399.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:39:59.662Z,1736372399.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.50 m. 2025-01-08T21:39:59.676Z,1736372399.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.500000 m, nav range: 145.239334 m, bearing: 350.096358 deg, approach rate: 0.368068 m/s, LOS rate: 0.131950 deg/s, cmd heading: 201.888917 deg, new cmd heading: 202.073748 deg. 2025-01-08T21:39:59.678Z,1736372399.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.526852 target range: 464.500000 and range: 464.50 m. 2025-01-08T21:39:59.729Z,1736372399.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:59.731Z,1736372399.731 [DAT](INFO): DAT read: Rx Time:21:39:58.5042 2025-01-08T21:39:59.732Z,1736372399.732 [DAT](INFO): Rx dataTimestamp_ set to:1736372399.731144 2025-01-08T21:39:59.734Z,1736372399.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523088 2025-01-08T21:39:59.980Z,1736372399.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:39:59.980Z,1736372399.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770231 2025-01-08T21:40:00.026Z,1736372400.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:00.057Z,1736372400.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.50 m. 2025-01-08T21:40:00.072Z,1736372400.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.500000 m, nav range: 145.395813 m, bearing: 350.148972 deg, approach rate: 0.395613 m/s, LOS rate: 0.132878 deg/s, cmd heading: 202.073742 deg, new cmd heading: 202.231416 deg. 2025-01-08T21:40:00.078Z,1736372400.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529604 target range: 464.500000 and range: 464.50 m. 2025-01-08T21:40:00.233Z,1736372400.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:00.239Z,1736372400.239 [DAT](INFO): DAT read: 21:39:58.5042 LVL= 16016, 28513, 20274, 25315, AGC= 69, IDX= 434,-0.32,-2.103,-2.774, 1.788,-3.121, PHS= 1.106, 0.394,-1.377, RAW= 46.2, -1.1, CAL= 46.9, -3.7, ROT= 103.1, 3.7 2025-01-08T21:40:00.240Z,1736372400.240 [DAT](INFO): got valid direction response: 21:39:58.5042 LVL= 16016, 28513, 20274, 25315, AGC= 69, IDX= 434,-0.32,-2.103,-2.774, 1.788,-3.121, PHS= 1.106, 0.394,-1.377, RAW= 46.2, -1.1, CAL= 46.9, -3.7, ROT= 103.1, 3.7 2025-01-08T21:40:00.241Z,1736372400.241 [DAT](INFO): DAT read: Bearing 103.1, 3.7 (Local) 2025-01-08T21:40:00.242Z,1736372400.242 [DAT](INFO): Local bearing/azimuth received: Bearing 103.1, 3.7 (Local) 2025-01-08T21:40:00.243Z,1736372400.243 [DAT](INFO): DAT read: Range 10 to 50 : 464.4 m (Round-trip 619.3 ms) speed -0.2 m/s 2025-01-08T21:40:00.244Z,1736372400.244 [DAT](INFO): DAT read: user:1958> 2025-01-08T21:40:00.245Z,1736372400.245 [DAT](INFO): DAT read: Tx time:21:39:59.6308 2025-01-08T21:40:00.245Z,1736372400.245 [DAT](INFO): Ping request sent. 2025-01-08T21:40:00.245Z,1736372400.245 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:00.246Z,1736372400.246 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:40:00.246Z,1736372400.246 [DAT](INFO): direction in FSK: [0.020155,0.744792,0.666992] 2025-01-08T21:40:00.247Z,1736372400.247 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:00.247Z,1736372400.247 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:00.252Z,1736372400.252 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:00.252Z,1736372400.252 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:00.484Z,1736372400.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:00.485Z,1736372400.485 [DAT](INFO): DAT read: TxSync time:21:39:59.6300 2025-01-08T21:40:00.524Z,1736372400.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:00.555Z,1736372400.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 464.399994 m, deltaT: 4.036785 s, deltaX: -0.100006 m, approachRate: -0.024774 m/s, rangeRepo size: 4 2025-01-08T21:40:00.557Z,1736372400.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 464.399994 m, bearing: 301.093920 deg, lat: 36.902191 deg, lon: -122.117280 deg, deltaT: 4.036785 s, deltaX: -0.100006 m, approachRate: -0.024774 m/s, posRepo size: 4 2025-01-08T21:40:00.558Z,1736372400.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m. 2025-01-08T21:40:00.566Z,1736372400.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.399994 m, nav range: 194.264221 m, bearing: 335.427721 deg, approach rate: 0.000000 m/s, LOS rate: 0.132878 deg/s, cmd heading: 202.231410 deg, new cmd heading: 202.427979 deg. 2025-01-08T21:40:00.567Z,1736372400.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533035 target range: 464.399994 and range: 464.40 m. 2025-01-08T21:40:00.736Z,1736372400.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:00.879Z,1736372400.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:00.888Z,1736372400.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m. 2025-01-08T21:40:00.891Z,1736372400.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.399994 m, nav range: 194.376129 m, bearing: 335.466462 deg, approach rate: 0.331301 m/s, LOS rate: 0.114624 deg/s, cmd heading: 202.427983 deg, new cmd heading: 202.544137 deg. 2025-01-08T21:40:00.892Z,1736372400.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535062 target range: 464.399994 and range: 464.40 m. 2025-01-08T21:40:00.993Z,1736372400.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:01.258Z,1736372401.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:01.316Z,1736372401.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:01.327Z,1736372401.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:01.334Z,1736372401.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m. 2025-01-08T21:40:01.340Z,1736372401.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.399994 m, nav range: 194.518982 m, bearing: 335.515715 deg, approach rate: 0.320739 m/s, LOS rate: 0.110506 deg/s, cmd heading: 202.544137 deg, new cmd heading: 202.691790 deg. 2025-01-08T21:40:01.341Z,1736372401.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537639 target range: 464.399994 and range: 464.40 m. 2025-01-08T21:40:01.508Z,1736372401.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:01.508Z,1736372401.508 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:01.508Z,1736372401.508 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:01.509Z,1736372401.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:01.690Z,1736372401.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:01.698Z,1736372401.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m. 2025-01-08T21:40:01.701Z,1736372401.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.399994 m, nav range: 194.648529 m, bearing: 335.557652 deg, approach rate: 0.355024 m/s, LOS rate: 0.114850 deg/s, cmd heading: 202.691792 deg, new cmd heading: 202.817517 deg. 2025-01-08T21:40:01.702Z,1736372401.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539834 target range: 464.399994 and range: 464.40 m. 2025-01-08T21:40:01.761Z,1736372401.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:01.762Z,1736372401.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516274 2025-01-08T21:40:02.012Z,1736372402.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:02.012Z,1736372402.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767026 2025-01-08T21:40:02.195Z,1736372402.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:02.222Z,1736372402.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m. 2025-01-08T21:40:02.229Z,1736372402.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.399994 m, nav range: 194.819443 m, bearing: 335.618217 deg, approach rate: 0.326725 m/s, LOS rate: 0.115677 deg/s, cmd heading: 202.817522 deg, new cmd heading: 202.999058 deg. 2025-01-08T21:40:02.229Z,1736372402.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.543002 target range: 464.399994 and range: 464.40 m. 2025-01-08T21:40:02.266Z,1736372402.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:02.267Z,1736372402.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021598 2025-01-08T21:40:02.520Z,1736372402.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:02.521Z,1736372402.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275228 2025-01-08T21:40:02.524Z,1736372402.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:02.533Z,1736372402.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m. 2025-01-08T21:40:02.536Z,1736372402.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.399994 m, nav range: 194.934433 m, bearing: 335.656671 deg, approach rate: 0.369245 m/s, LOS rate: 0.123408 deg/s, cmd heading: 202.999055 deg, new cmd heading: 203.114350 deg. 2025-01-08T21:40:02.537Z,1736372402.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.545014 target range: 464.399994 and range: 464.40 m. 2025-01-08T21:40:02.773Z,1736372402.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:02.775Z,1736372402.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529105 2025-01-08T21:40:02.923Z,1736372402.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:02.948Z,1736372402.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m. 2025-01-08T21:40:02.955Z,1736372402.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.399994 m, nav range: 195.078125 m, bearing: 335.702201 deg, approach rate: 0.360585 m/s, LOS rate: 0.114169 deg/s, cmd heading: 203.114349 deg, new cmd heading: 203.250836 deg. 2025-01-08T21:40:02.956Z,1736372402.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547396 target range: 464.399994 and range: 464.40 m. 2025-01-08T21:40:03.024Z,1736372403.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:03.025Z,1736372403.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779872 2025-01-08T21:40:03.276Z,1736372403.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:03.277Z,1736372403.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031247 2025-01-08T21:40:03.372Z,1736372403.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:03.388Z,1736372403.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:03.390Z,1736372403.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m. 2025-01-08T21:40:03.397Z,1736372403.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.399994 m, nav range: 195.238052 m, bearing: 335.756962 deg, approach rate: 0.348654 m/s, LOS rate: 0.119286 deg/s, cmd heading: 203.250830 deg, new cmd heading: 203.414978 deg. 2025-01-08T21:40:03.403Z,1736372403.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550261 target range: 464.399994 and range: 464.40 m. 2025-01-08T21:40:03.528Z,1736372403.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:03.528Z,1736372403.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283061 2025-01-08T21:40:03.741Z,1736372403.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:03.750Z,1736372403.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m. 2025-01-08T21:40:03.753Z,1736372403.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.399994 m, nav range: 195.372772 m, bearing: 335.801131 deg, approach rate: 0.374212 m/s, LOS rate: 0.122604 deg/s, cmd heading: 203.414973 deg, new cmd heading: 203.547388 deg. 2025-01-08T21:40:03.754Z,1736372403.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.552572 target range: 464.399994 and range: 464.40 m. 2025-01-08T21:40:03.781Z,1736372403.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:03.781Z,1736372403.781 [DAT](INFO): DAT read: 21:40:02.6551 2025-01-08T21:40:03.783Z,1736372403.783 [DAT](INFO): unknown deviceResponse_: 21:40:02.6551 2025-01-08T21:40:03.784Z,1736372403.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538570 2025-01-08T21:40:04.032Z,1736372404.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:04.033Z,1736372404.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788161 2025-01-08T21:40:04.203Z,1736372404.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:04.211Z,1736372404.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m. 2025-01-08T21:40:04.218Z,1736372404.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.399994 m, nav range: 195.544662 m, bearing: 335.855455 deg, approach rate: 0.372929 m/s, LOS rate: 0.117758 deg/s, cmd heading: 203.547383 deg, new cmd heading: 203.710213 deg. 2025-01-08T21:40:04.221Z,1736372404.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.555414 target range: 464.399994 and range: 464.40 m. 2025-01-08T21:40:04.285Z,1736372404.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:04.286Z,1736372404.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040156 2025-01-08T21:40:04.536Z,1736372404.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:04.547Z,1736372404.547 [DAT](INFO): DAT read: 21:40:02.6551 LVL= 18192, 18001, 17362, 22003, AGC= 67, IDX= 424,-0.05, 2.352, 2.983, 0.659, 1.952, PHS= 0.488, 1.078,-1.296, RAW= 16.2, -2.6, CAL= 15.9, -4.9, ROT= 134.1, 4.9 2025-01-08T21:40:04.549Z,1736372404.549 [DAT](INFO): got valid direction response: 21:40:02.6551 LVL= 18192, 18001, 17362, 22003, AGC= 67, IDX= 424,-0.05, 2.352, 2.983, 0.659, 1.952, PHS= 0.488, 1.078,-1.296, RAW= 16.2, -2.6, CAL= 15.9, -4.9, ROT= 134.1, 4.9 2025-01-08T21:40:04.550Z,1736372404.550 [DAT](INFO): DAT read: Bearing 134.1, 4.9 (Local) 2025-01-08T21:40:04.551Z,1736372404.551 [DAT](INFO): Local bearing/azimuth received: Bearing 134.1, 4.9 (Local) 2025-01-08T21:40:04.561Z,1736372404.561 [DAT](INFO): DAT read: Range 10 to 50 : 465.1 m (Round-trip 620.2 ms) speed -0.4 m/s 2025-01-08T21:40:04.562Z,1736372404.562 [DAT](INFO): DAT read: user:1959> 2025-01-08T21:40:04.584Z,1736372404.584 [DAT](INFO): DAT read: Tx time:21:40:03.7308 2025-01-08T21:40:04.584Z,1736372404.584 [DAT](INFO): Ping request sent. 2025-01-08T21:40:04.584Z,1736372404.584 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:04.585Z,1736372404.585 [DAT](INFO): DAT read: TxSync time:21:40:03.7300 2025-01-08T21:40:04.585Z,1736372404.585 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:40:04.586Z,1736372404.586 [DAT](INFO): direction in FSK: [0.107267,0.966429,0.233470] 2025-01-08T21:40:04.586Z,1736372404.586 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:04.587Z,1736372404.587 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:04.614Z,1736372404.614 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:04.614Z,1736372404.614 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:04.710Z,1736372404.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:04.739Z,1736372404.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 465.100006 m, deltaT: 4.303618 s, deltaX: 0.700012 m, approachRate: 0.162657 m/s, rangeRepo size: 4 2025-01-08T21:40:04.749Z,1736372404.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 465.100006 m, bearing: 282.064909 deg, lat: 36.902191 deg, lon: -122.119077 deg, deltaT: 4.303618 s, deltaX: 0.700012 m, approachRate: 0.162657 m/s, posRepo size: 4 2025-01-08T21:40:04.750Z,1736372404.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:04.756Z,1736372404.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 298.965027 m, bearing: 306.706038 deg, approach rate: 0.000000 m/s, LOS rate: 0.117758 deg/s, cmd heading: 203.710214 deg, new cmd heading: 203.896354 deg. 2025-01-08T21:40:04.757Z,1736372404.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558663 target range: 465.100006 and range: 465.10 m. 2025-01-08T21:40:04.788Z,1736372404.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:04.996Z,1736372404.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:05.018Z,1736372405.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:05.029Z,1736372405.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 298.996704 m, bearing: 306.736379 deg, approach rate: 0.113247 m/s, LOS rate: 0.108459 deg/s, cmd heading: 203.896351 deg, new cmd heading: 203.987365 deg. 2025-01-08T21:40:05.029Z,1736372405.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560251 target range: 465.100006 and range: 465.10 m. 2025-01-08T21:40:05.040Z,1736372405.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:05.292Z,1736372405.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:05.408Z,1736372405.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:05.416Z,1736372405.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:05.418Z,1736372405.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:05.441Z,1736372405.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.034851 m, bearing: 306.780616 deg, approach rate: 0.095218 m/s, LOS rate: 0.110405 deg/s, cmd heading: 203.987370 deg, new cmd heading: 204.120064 deg. 2025-01-08T21:40:05.442Z,1736372405.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.562567 target range: 465.100006 and range: 465.10 m. 2025-01-08T21:40:05.544Z,1736372405.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:05.545Z,1736372405.545 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:05.545Z,1736372405.545 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:05.545Z,1736372405.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:05.762Z,1736372405.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:05.788Z,1736372405.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:05.790Z,1736372405.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.071350 m, bearing: 306.818460 deg, approach rate: 0.098734 m/s, LOS rate: 0.102358 deg/s, cmd heading: 204.120067 deg, new cmd heading: 204.233584 deg. 2025-01-08T21:40:05.796Z,1736372405.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:05.796Z,1736372405.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.212395 2025-01-08T21:40:05.797Z,1736372405.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.564548 target range: 465.100006 and range: 465.10 m. 2025-01-08T21:40:06.048Z,1736372406.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:06.049Z,1736372406.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465021 2025-01-08T21:40:06.211Z,1736372406.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:06.244Z,1736372406.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:06.246Z,1736372406.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.119385 m, bearing: 306.866441 deg, approach rate: 0.105524 m/s, LOS rate: 0.105389 deg/s, cmd heading: 204.233584 deg, new cmd heading: 204.377503 deg. 2025-01-08T21:40:06.249Z,1736372406.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567060 target range: 465.100006 and range: 465.10 m. 2025-01-08T21:40:06.300Z,1736372406.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:06.301Z,1736372406.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717273 2025-01-08T21:40:06.552Z,1736372406.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:06.552Z,1736372406.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968244 2025-01-08T21:40:06.621Z,1736372406.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:06.630Z,1736372406.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:06.633Z,1736372406.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.158173 m, bearing: 306.912545 deg, approach rate: 0.100336 m/s, LOS rate: 0.119247 deg/s, cmd heading: 204.377497 deg, new cmd heading: 204.515791 deg. 2025-01-08T21:40:06.634Z,1736372406.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569474 target range: 465.100006 and range: 465.10 m. 2025-01-08T21:40:06.804Z,1736372406.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:06.804Z,1736372406.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220330 2025-01-08T21:40:06.981Z,1736372406.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:06.990Z,1736372406.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:06.993Z,1736372406.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.193054 m, bearing: 306.952878 deg, approach rate: 0.096877 m/s, LOS rate: 0.112004 deg/s, cmd heading: 204.515794 deg, new cmd heading: 204.636778 deg. 2025-01-08T21:40:06.994Z,1736372406.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571586 target range: 465.100006 and range: 465.10 m. 2025-01-08T21:40:07.056Z,1736372407.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:07.057Z,1736372407.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472687 2025-01-08T21:40:07.308Z,1736372407.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:07.308Z,1736372407.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724342 2025-01-08T21:40:07.414Z,1736372407.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:07.422Z,1736372407.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:07.424Z,1736372407.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:07.427Z,1736372407.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.237000 m, bearing: 307.000993 deg, approach rate: 0.101106 m/s, LOS rate: 0.110684 deg/s, cmd heading: 204.636784 deg, new cmd heading: 204.781109 deg. 2025-01-08T21:40:07.428Z,1736372407.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.574105 target range: 465.100006 and range: 465.10 m. 2025-01-08T21:40:07.560Z,1736372407.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:07.561Z,1736372407.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976590 2025-01-08T21:40:07.786Z,1736372407.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:07.797Z,1736372407.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:07.799Z,1736372407.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.273560 m, bearing: 307.042287 deg, approach rate: 0.098239 m/s, LOS rate: 0.110946 deg/s, cmd heading: 204.781106 deg, new cmd heading: 204.904973 deg. 2025-01-08T21:40:07.800Z,1736372407.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576267 target range: 465.100006 and range: 465.10 m. 2025-01-08T21:40:07.812Z,1736372407.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:07.813Z,1736372407.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228478 2025-01-08T21:40:08.064Z,1736372408.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:08.065Z,1736372408.065 [DAT](INFO): DAT read: Rx Time:21:40:06.7812 2025-01-08T21:40:08.066Z,1736372408.066 [DAT](INFO): Rx dataTimestamp_ set to:1736372408.065378 2025-01-08T21:40:08.066Z,1736372408.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482173 2025-01-08T21:40:08.256Z,1736372408.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:08.266Z,1736372408.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:08.270Z,1736372408.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.319824 m, bearing: 307.094318 deg, approach rate: 0.098712 m/s, LOS rate: 0.110997 deg/s, cmd heading: 204.904978 deg, new cmd heading: 205.061046 deg. 2025-01-08T21:40:08.272Z,1736372408.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578990 target range: 465.100006 and range: 465.10 m. 2025-01-08T21:40:08.317Z,1736372408.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:08.321Z,1736372408.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.735990 2025-01-08T21:40:08.568Z,1736372408.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:08.570Z,1736372408.570 [DAT](INFO): DAT read: Range 10 to 50 : 484.5 m (Round-trip 646.1 ms) speed -0.2 m/s 2025-01-08T21:40:08.570Z,1736372408.570 [DAT](INFO): DAT read: user:1960> 2025-01-08T21:40:08.571Z,1736372408.571 [DAT](INFO): DAT read: Tx time:21:40:07.8809 2025-01-08T21:40:08.572Z,1736372408.572 [DAT](INFO): Ping request sent. 2025-01-08T21:40:08.572Z,1736372408.572 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:08.572Z,1736372408.572 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:40:08.572Z,1736372408.572 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:08.573Z,1736372408.573 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:08.700Z,1736372408.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:08.724Z,1736372408.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 484.500000 m, deltaT: 4.031673 s, deltaX: 19.399994 m, approachRate: 4.811897 m/s, rangeRepo size: 4 2025-01-08T21:40:08.725Z,1736372408.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:08.741Z,1736372408.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.376862 m, bearing: 307.143527 deg, approach rate: 0.125751 m/s, LOS rate: 0.108472 deg/s, cmd heading: 205.061048 deg, new cmd heading: 205.208649 deg. 2025-01-08T21:40:08.742Z,1736372408.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581567 target range: 465.100006 and range: 484.50 m. 2025-01-08T21:40:08.820Z,1736372408.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:08.821Z,1736372408.821 [DAT](INFO): DAT read: TxSync time:21:40:07.8801 2025-01-08T21:40:09.072Z,1736372409.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:09.322Z,1736372409.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:09.324Z,1736372409.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:09.338Z,1736372409.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:09.346Z,1736372409.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.479614 m, bearing: 307.208425 deg, approach rate: 0.165856 m/s, LOS rate: 0.104717 deg/s, cmd heading: 205.208649 deg, new cmd heading: 205.403274 deg. 2025-01-08T21:40:09.347Z,1736372409.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584963 target range: 465.100006 and range: 484.50 m. 2025-01-08T21:40:09.576Z,1736372409.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:09.638Z,1736372409.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:09.650Z,1736372409.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:09.654Z,1736372409.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:09.659Z,1736372409.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.530731 m, bearing: 307.241441 deg, approach rate: 0.162352 m/s, LOS rate: 0.104845 deg/s, cmd heading: 205.403268 deg, new cmd heading: 205.502300 deg. 2025-01-08T21:40:09.661Z,1736372409.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586692 target range: 465.100006 and range: 484.50 m. 2025-01-08T21:40:09.828Z,1736372409.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:09.828Z,1736372409.828 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:09.828Z,1736372409.828 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:09.829Z,1736372409.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:10.081Z,1736372410.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:10.083Z,1736372410.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510518 2025-01-08T21:40:10.193Z,1736372410.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:10.253Z,1736372410.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:10.292Z,1736372410.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.617828 m, bearing: 307.299433 deg, approach rate: 0.153939 m/s, LOS rate: 0.102467 deg/s, cmd heading: 205.502306 deg, new cmd heading: 205.676230 deg. 2025-01-08T21:40:10.304Z,1736372410.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589727 target range: 465.100006 and range: 484.50 m. 2025-01-08T21:40:10.332Z,1736372410.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:10.333Z,1736372410.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761099 2025-01-08T21:40:10.585Z,1736372410.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:10.586Z,1736372410.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014351 2025-01-08T21:40:10.721Z,1736372410.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:10.734Z,1736372410.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:10.741Z,1736372410.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.724182 m, bearing: 307.351605 deg, approach rate: 0.206480 m/s, LOS rate: 0.101254 deg/s, cmd heading: 205.676230 deg, new cmd heading: 205.832691 deg. 2025-01-08T21:40:10.742Z,1736372410.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592458 target range: 465.100006 and range: 484.50 m. 2025-01-08T21:40:10.836Z,1736372410.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:10.838Z,1736372410.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265786 2025-01-08T21:40:11.069Z,1736372411.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:11.088Z,1736372411.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:11.088Z,1736372411.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516508 2025-01-08T21:40:11.106Z,1736372411.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:11.117Z,1736372411.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.792511 m, bearing: 307.386129 deg, approach rate: 0.183812 m/s, LOS rate: 0.092853 deg/s, cmd heading: 205.832696 deg, new cmd heading: 205.936245 deg. 2025-01-08T21:40:11.118Z,1736372411.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594265 target range: 465.100006 and range: 484.50 m. 2025-01-08T21:40:11.340Z,1736372411.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:11.341Z,1736372411.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768892 2025-01-08T21:40:11.510Z,1736372411.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:11.544Z,1736372411.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:11.546Z,1736372411.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 299.905609 m, bearing: 307.430424 deg, approach rate: 0.260883 m/s, LOS rate: 0.102135 deg/s, cmd heading: 205.936241 deg, new cmd heading: 206.069075 deg. 2025-01-08T21:40:11.552Z,1736372411.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596584 target range: 465.100006 and range: 484.50 m. 2025-01-08T21:40:11.592Z,1736372411.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:11.592Z,1736372411.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020715 2025-01-08T21:40:11.844Z,1736372411.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:11.844Z,1736372411.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272703 2025-01-08T21:40:11.890Z,1736372411.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:11.942Z,1736372411.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:11.956Z,1736372411.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:11.963Z,1736372411.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 300.001129 m, bearing: 307.468828 deg, approach rate: 0.229055 m/s, LOS rate: 0.092062 deg/s, cmd heading: 206.069075 deg, new cmd heading: 206.184249 deg. 2025-01-08T21:40:11.964Z,1736372411.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598594 target range: 465.100006 and range: 484.50 m. 2025-01-08T21:40:12.096Z,1736372412.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:12.097Z,1736372412.097 [DAT](INFO): DAT read: Rx Time:21:40:10.9093 2025-01-08T21:40:12.097Z,1736372412.097 [DAT](INFO): Rx dataTimestamp_ set to:1736372412.096997 2025-01-08T21:40:12.099Z,1736372412.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526029 2025-01-08T21:40:12.349Z,1736372412.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:12.350Z,1736372412.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777773 2025-01-08T21:40:12.453Z,1736372412.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:12.466Z,1736372412.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.10 m. 2025-01-08T21:40:12.473Z,1736372412.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.100006 m, nav range: 300.153259 m, bearing: 307.521208 deg, approach rate: 0.298447 m/s, LOS rate: 0.102707 deg/s, cmd heading: 206.184246 deg, new cmd heading: 206.341307 deg. 2025-01-08T21:40:12.474Z,1736372412.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601335 target range: 465.100006 and range: 484.50 m. 2025-01-08T21:40:12.602Z,1736372412.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:12.618Z,1736372412.618 [DAT](INFO): DAT read: 21:40:10.9093 LVL= 18416, 18017, 16818, 22515, AGC= 70, IDX= 197, 0.24,-2.852,-2.468, 1.589, 2.910, PHS= 0.609, 0.953,-1.324, RAW= 22.0, -2.3, CAL= 21.6, -4.6, ROT= 128.4, 4.6 2025-01-08T21:40:12.619Z,1736372412.619 [DAT](INFO): got valid direction response: 21:40:10.9093 LVL= 18416, 18017, 16818, 22515, AGC= 70, IDX= 197, 0.24,-2.852,-2.468, 1.589, 2.910, PHS= 0.609, 0.953,-1.324, RAW= 22.0, -2.3, CAL= 21.6, -4.6, ROT= 128.4, 4.6 2025-01-08T21:40:12.621Z,1736372412.621 [DAT](INFO): DAT read: Bearing 128.4, 4.6 (Local) 2025-01-08T21:40:12.622Z,1736372412.622 [DAT](INFO): Local bearing/azimuth received: Bearing 128.4, 4.6 (Local) 2025-01-08T21:40:12.626Z,1736372412.626 [DAT](INFO): DAT read: Range 10 to 50 : 468.2 m (Round-trip 624.3 ms) speed -0.4 m/s 2025-01-08T21:40:12.627Z,1736372412.627 [DAT](INFO): DAT read: user:1961> 2025-01-08T21:40:12.628Z,1736372412.628 [DAT](INFO): DAT read: Tx time:21:40:12.0309 2025-01-08T21:40:12.628Z,1736372412.628 [DAT](INFO): Ping request sent. 2025-01-08T21:40:12.628Z,1736372412.628 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:12.629Z,1736372412.629 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:40:12.630Z,1736372412.630 [DAT](INFO): direction in FSK: [0.090780,0.941120,0.325657] 2025-01-08T21:40:12.630Z,1736372412.630 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:12.630Z,1736372412.630 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:12.634Z,1736372412.634 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:12.634Z,1736372412.634 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:12.852Z,1736372412.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:12.854Z,1736372412.854 [DAT](INFO): DAT read: TxSync time:21:40:12.0301 2025-01-08T21:40:12.956Z,1736372412.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:12.994Z,1736372412.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 468.200012 m, deltaT: 4.034768 s, deltaX: -16.299988 m, approachRate: -4.039882 m/s, rangeRepo size: 4 2025-01-08T21:40:13.009Z,1736372413.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 468.200012 m, bearing: 293.659109 deg, lat: 36.902191 deg, lon: -122.119693 deg, deltaT: 8.066441 s, deltaX: 3.100006 m, approachRate: 0.384309 m/s, posRepo size: 4 2025-01-08T21:40:13.019Z,1736372413.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-01-08T21:40:13.022Z,1736372413.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200012 m, nav range: 345.287109 m, bearing: 302.022175 deg, approach rate: 0.000000 m/s, LOS rate: 0.102707 deg/s, cmd heading: 206.341313 deg, new cmd heading: 206.503733 deg. 2025-01-08T21:40:13.023Z,1736372413.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604170 target range: 468.200012 and range: 468.20 m. 2025-01-08T21:40:13.104Z,1736372413.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:13.356Z,1736372413.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:13.542Z,1736372413.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:13.576Z,1736372413.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-01-08T21:40:13.578Z,1736372413.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200012 m, nav range: 345.416077 m, bearing: 302.073290 deg, approach rate: 0.224591 m/s, LOS rate: 0.088981 deg/s, cmd heading: 206.503734 deg, new cmd heading: 206.657022 deg. 2025-01-08T21:40:13.588Z,1736372413.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606845 target range: 468.200012 and range: 468.20 m. 2025-01-08T21:40:13.608Z,1736372413.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:13.860Z,1736372413.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:13.902Z,1736372413.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:13.953Z,1736372413.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-01-08T21:40:13.988Z,1736372413.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200012 m, nav range: 345.493988 m, bearing: 302.104844 deg, approach rate: 0.209475 m/s, LOS rate: 0.084818 deg/s, cmd heading: 206.657018 deg, new cmd heading: 206.751658 deg. 2025-01-08T21:40:13.989Z,1736372413.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608497 target range: 468.200012 and range: 468.20 m. 2025-01-08T21:40:14.112Z,1736372414.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:14.364Z,1736372414.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:14.426Z,1736372414.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:14.434Z,1736372414.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:14.436Z,1736372414.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-01-08T21:40:14.439Z,1736372414.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200012 m, nav range: 345.595306 m, bearing: 302.151831 deg, approach rate: 0.204050 m/s, LOS rate: 0.094601 deg/s, cmd heading: 206.751657 deg, new cmd heading: 206.892575 deg. 2025-01-08T21:40:14.440Z,1736372414.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610957 target range: 468.200012 and range: 468.20 m. 2025-01-08T21:40:14.616Z,1736372414.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:14.616Z,1736372414.616 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:14.617Z,1736372414.617 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:14.617Z,1736372414.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:14.712Z,1736372414.712 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:40:14.787Z,1736372414.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:14.797Z,1736372414.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-01-08T21:40:14.801Z,1736372414.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200012 m, nav range: 345.664032 m, bearing: 302.184248 deg, approach rate: 0.190119 m/s, LOS rate: 0.089660 deg/s, cmd heading: 206.892577 deg, new cmd heading: 206.989810 deg. 2025-01-08T21:40:14.802Z,1736372414.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612654 target range: 468.200012 and range: 468.20 m. 2025-01-08T21:40:14.868Z,1736372414.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:14.869Z,1736372414.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240273 2025-01-08T21:40:15.120Z,1736372415.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:15.122Z,1736372415.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492857 2025-01-08T21:40:15.186Z,1736372415.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:15.206Z,1736372415.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-01-08T21:40:15.213Z,1736372415.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200012 m, nav range: 345.739044 m, bearing: 302.220198 deg, approach rate: 0.183374 m/s, LOS rate: 0.087863 deg/s, cmd heading: 206.989812 deg, new cmd heading: 207.097637 deg. 2025-01-08T21:40:15.214Z,1736372415.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614536 target range: 468.200012 and range: 468.20 m. 2025-01-08T21:40:15.372Z,1736372415.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:15.374Z,1736372415.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745237 2025-01-08T21:40:15.605Z,1736372415.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:15.613Z,1736372415.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-01-08T21:40:15.624Z,1736372415.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:15.624Z,1736372415.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996036 2025-01-08T21:40:15.633Z,1736372415.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200012 m, nav range: 345.800110 m, bearing: 302.259778 deg, approach rate: 0.150123 m/s, LOS rate: 0.097287 deg/s, cmd heading: 207.097633 deg, new cmd heading: 207.216353 deg. 2025-01-08T21:40:15.634Z,1736372415.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.616608 target range: 468.200012 and range: 468.20 m. 2025-01-08T21:40:15.716Z,1736372415.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:40:15.876Z,1736372415.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:15.877Z,1736372415.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248814 2025-01-08T21:40:16.068Z,1736372416.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:16.076Z,1736372416.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-01-08T21:40:16.079Z,1736372416.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200012 m, nav range: 345.866394 m, bearing: 302.303657 deg, approach rate: 0.143098 m/s, LOS rate: 0.094710 deg/s, cmd heading: 207.216355 deg, new cmd heading: 207.347966 deg. 2025-01-08T21:40:16.080Z,1736372416.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.618905 target range: 468.200012 and range: 468.20 m. 2025-01-08T21:40:16.128Z,1736372416.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:16.129Z,1736372416.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500204 2025-01-08T21:40:16.380Z,1736372416.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:16.380Z,1736372416.380 [DAT](INFO): DAT read: Rx Time:21:40:15.0724 2025-01-08T21:40:16.381Z,1736372416.381 [DAT](INFO): Rx dataTimestamp_ set to:1736372416.380605 2025-01-08T21:40:16.382Z,1736372416.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753217 2025-01-08T21:40:16.495Z,1736372416.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:16.503Z,1736372416.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:16.505Z,1736372416.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-01-08T21:40:16.508Z,1736372416.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200012 m, nav range: 345.909271 m, bearing: 302.347008 deg, approach rate: 0.100017 m/s, LOS rate: 0.101111 deg/s, cmd heading: 207.347960 deg, new cmd heading: 207.477998 deg. 2025-01-08T21:40:16.509Z,1736372416.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.621174 target range: 468.200012 and range: 468.20 m. 2025-01-08T21:40:16.633Z,1736372416.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:16.635Z,1736372416.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.006157 2025-01-08T21:40:16.864Z,1736372416.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:16.875Z,1736372416.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-01-08T21:40:16.878Z,1736372416.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200012 m, nav range: 345.944519 m, bearing: 302.384522 deg, approach rate: 0.095301 m/s, LOS rate: 0.101417 deg/s, cmd heading: 207.477993 deg, new cmd heading: 207.590522 deg. 2025-01-08T21:40:16.879Z,1736372416.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.623138 target range: 468.200012 and range: 468.20 m. 2025-01-08T21:40:16.884Z,1736372416.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:16.890Z,1736372416.890 [DAT](INFO): DAT read: 21:40:15.0724 LVL= 17504, 19425, 19698, 23363, AGC= 71, IDX= 46, 0.01,-1.129,-0.985,-3.064,-1.673, PHS= 0.632, 0.735,-1.393, RAW= 27.5, 0.2, CAL= 26.9, -1.0, ROT= 123.1, 1.0 2025-01-08T21:40:16.892Z,1736372416.892 [DAT](INFO): got valid direction response: 21:40:15.0724 LVL= 17504, 19425, 19698, 23363, AGC= 71, IDX= 46, 0.01,-1.129,-0.985,-3.064,-1.673, PHS= 0.632, 0.735,-1.393, RAW= 27.5, 0.2, CAL= 26.9, -1.0, ROT= 123.1, 1.0 2025-01-08T21:40:16.893Z,1736372416.893 [DAT](INFO): DAT read: Bearing 123.1, 1.0 (Local) 2025-01-08T21:40:16.893Z,1736372416.893 [DAT](INFO): Local bearing/azimuth received: Bearing 123.1, 1.0 (Local) 2025-01-08T21:40:16.894Z,1736372416.894 [DAT](INFO): DAT read: Range 10 to 50 : 478.0 m (Round-trip 637.4 ms) speed -0.2 m/s 2025-01-08T21:40:16.896Z,1736372416.896 [DAT](INFO): DAT read: user:1962> 2025-01-08T21:40:16.896Z,1736372416.896 [DAT](INFO): DAT read: Tx time:21:40:16.1809 2025-01-08T21:40:16.897Z,1736372416.897 [DAT](INFO): Ping request sent. 2025-01-08T21:40:16.897Z,1736372416.897 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:16.897Z,1736372416.897 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:40:16.898Z,1736372416.898 [DAT](INFO): direction in FSK: [0.032721,0.911679,0.409599] 2025-01-08T21:40:16.899Z,1736372416.899 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:16.908Z,1736372416.908 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:16.911Z,1736372416.911 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:16.911Z,1736372416.911 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:17.137Z,1736372417.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:17.139Z,1736372417.139 [DAT](INFO): DAT read: TxSync time:21:40:16.1802 2025-01-08T21:40:17.280Z,1736372417.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:17.303Z,1736372417.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 478.000000 m, deltaT: 4.281344 s, deltaX: 9.799988 m, approachRate: 2.288998 m/s, rangeRepo size: 4 2025-01-08T21:40:17.305Z,1736372417.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 478.000000 m, bearing: 302.139642 deg, lat: 36.902204 deg, lon: -122.120263 deg, deltaT: 4.281344 s, deltaX: 9.799988 m, approachRate: 2.288998 m/s, posRepo size: 4 2025-01-08T21:40:17.306Z,1736372417.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.00 m. 2025-01-08T21:40:17.335Z,1736372417.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.000000 m, nav range: 390.432800 m, bearing: 298.613864 deg, approach rate: 0.000000 m/s, LOS rate: 0.101417 deg/s, cmd heading: 207.590527 deg, new cmd heading: 207.720518 deg. 2025-01-08T21:40:17.376Z,1736372417.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.625407 target range: 478.000000 and range: 478.00 m. 2025-01-08T21:40:17.388Z,1736372417.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:17.640Z,1736372417.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:17.715Z,1736372417.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:17.725Z,1736372417.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.00 m. 2025-01-08T21:40:17.728Z,1736372417.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.000000 m, nav range: 390.427856 m, bearing: 298.655012 deg, approach rate: -0.011696 m/s, LOS rate: 0.097350 deg/s, cmd heading: 207.720519 deg, new cmd heading: 207.843964 deg. 2025-01-08T21:40:17.729Z,1736372417.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627562 target range: 478.000000 and range: 478.00 m. 2025-01-08T21:40:17.892Z,1736372417.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:18.086Z,1736372418.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:18.098Z,1736372418.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.00 m. 2025-01-08T21:40:18.101Z,1736372418.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.000000 m, nav range: 390.423370 m, bearing: 298.690210 deg, approach rate: -0.012040 m/s, LOS rate: 0.094468 deg/s, cmd heading: 207.843968 deg, new cmd heading: 207.949566 deg. 2025-01-08T21:40:18.102Z,1736372418.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.629405 target range: 478.000000 and range: 478.00 m. 2025-01-08T21:40:18.145Z,1736372418.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:18.397Z,1736372418.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:18.504Z,1736372418.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:18.510Z,1736372418.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:18.513Z,1736372418.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.00 m. 2025-01-08T21:40:18.533Z,1736372418.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.000000 m, nav range: 390.394226 m, bearing: 298.731457 deg, approach rate: -0.070205 m/s, LOS rate: 0.099366 deg/s, cmd heading: 207.949563 deg, new cmd heading: 208.073312 deg. 2025-01-08T21:40:18.534Z,1736372418.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.631564 target range: 478.000000 and range: 478.00 m. 2025-01-08T21:40:18.648Z,1736372418.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:18.649Z,1736372418.649 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:18.649Z,1736372418.649 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:18.649Z,1736372418.649 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:18.901Z,1736372418.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:18.902Z,1736372418.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005603 2025-01-08T21:40:18.910Z,1736372418.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:18.930Z,1736372418.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.00 m. 2025-01-08T21:40:18.937Z,1736372418.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.000000 m, nav range: 390.366119 m, bearing: 298.771549 deg, approach rate: -0.067413 m/s, LOS rate: 0.096166 deg/s, cmd heading: 208.073312 deg, new cmd heading: 208.193597 deg. 2025-01-08T21:40:18.938Z,1736372418.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.633664 target range: 478.000000 and range: 478.00 m. 2025-01-08T21:40:19.153Z,1736372419.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:19.155Z,1736372419.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257916 2025-01-08T21:40:19.288Z,1736372419.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:19.299Z,1736372419.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.00 m. 2025-01-08T21:40:19.302Z,1736372419.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.000000 m, nav range: 390.340240 m, bearing: 298.808953 deg, approach rate: -0.070240 m/s, LOS rate: 0.101528 deg/s, cmd heading: 208.193592 deg, new cmd heading: 208.305810 deg. 2025-01-08T21:40:19.303Z,1736372419.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.635622 target range: 478.000000 and range: 478.00 m. 2025-01-08T21:40:19.406Z,1736372419.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:19.408Z,1736372419.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510450 2025-01-08T21:40:19.656Z,1736372419.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:19.658Z,1736372419.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760969 2025-01-08T21:40:19.738Z,1736372419.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:19.747Z,1736372419.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.00 m. 2025-01-08T21:40:19.750Z,1736372419.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.000000 m, nav range: 390.295746 m, bearing: 298.854951 deg, approach rate: -0.099192 m/s, LOS rate: 0.102555 deg/s, cmd heading: 208.305812 deg, new cmd heading: 208.443821 deg. 2025-01-08T21:40:19.778Z,1736372419.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.638031 target range: 478.000000 and range: 478.00 m. 2025-01-08T21:40:19.908Z,1736372419.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:19.908Z,1736372419.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011716 2025-01-08T21:40:20.094Z,1736372420.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:20.107Z,1736372420.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.00 m. 2025-01-08T21:40:20.110Z,1736372420.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.000000 m, nav range: 390.261719 m, bearing: 298.891345 deg, approach rate: -0.094635 m/s, LOS rate: 0.101225 deg/s, cmd heading: 208.443822 deg, new cmd heading: 208.553013 deg. 2025-01-08T21:40:20.111Z,1736372420.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.639937 target range: 478.000000 and range: 478.00 m. 2025-01-08T21:40:20.163Z,1736372420.163 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:20.165Z,1736372420.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267532 2025-01-08T21:40:20.413Z,1736372420.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:20.416Z,1736372420.416 [DAT](INFO): DAT read: Rx Time:21:40:19.2251 2025-01-08T21:40:20.418Z,1736372420.418 [DAT](INFO): Rx dataTimestamp_ set to:1736372420.416534 2025-01-08T21:40:20.427Z,1736372420.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522258 2025-01-08T21:40:20.520Z,1736372420.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:20.546Z,1736372420.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:20.560Z,1736372420.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.00 m. 2025-01-08T21:40:20.562Z,1736372420.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.000000 m, nav range: 390.208679 m, bearing: 298.934523 deg, approach rate: -0.118283 m/s, LOS rate: 0.096305 deg/s, cmd heading: 208.553010 deg, new cmd heading: 208.682563 deg. 2025-01-08T21:40:20.567Z,1736372420.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.642198 target range: 478.000000 and range: 478.00 m. 2025-01-08T21:40:20.664Z,1736372420.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:20.666Z,1736372420.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769083 2025-01-08T21:40:20.917Z,1736372420.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:20.935Z,1736372420.935 [DAT](INFO): DAT read: 21:40:19.2251 LVL= 13408, 17121, 16754, 21027, AGC= 66, IDX= 454,-0.10, 0.347, 0.730,-1.376,-0.570, PHS= 1.005, 1.347,-0.809, RAW= 21.5, -15.2, CAL= 23.5, -22.8, ROT= 126.5, 22.8 2025-01-08T21:40:20.940Z,1736372420.940 [DAT](INFO): got valid direction response: 21:40:19.2251 LVL= 13408, 17121, 16754, 21027, AGC= 66, IDX= 454,-0.10, 0.347, 0.730,-1.376,-0.570, PHS= 1.005, 1.347,-0.809, RAW= 21.5, -15.2, CAL= 23.5, -22.8, ROT= 126.5, 22.8 2025-01-08T21:40:20.941Z,1736372420.941 [DAT](INFO): DAT read: Bearing 126.5, 22.8 (Local) 2025-01-08T21:40:20.941Z,1736372420.941 [DAT](INFO): Local bearing/azimuth received: Bearing 126.5, 22.8 (Local) 2025-01-08T21:40:20.948Z,1736372420.948 [DAT](INFO): DAT read: Range 10 to 50 : 480.0 m (Round-trip 640.0 ms) speed -0.4 m/s 2025-01-08T21:40:20.985Z,1736372420.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:20.987Z,1736372420.987 [DAT](INFO): DAT read: user:1963> 2025-01-08T21:40:20.988Z,1736372420.988 [DAT](INFO): DAT read: Tx time:21:40:20.3310 2025-01-08T21:40:20.988Z,1736372420.988 [DAT](INFO): Ping request sent. 2025-01-08T21:40:20.989Z,1736372420.989 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:20.989Z,1736372420.989 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:40:20.990Z,1736372420.990 [DAT](INFO): direction in FSK: [0.325521,0.889437,0.320840] 2025-01-08T21:40:20.990Z,1736372420.990 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:20.990Z,1736372420.990 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:21.002Z,1736372421.002 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:21.002Z,1736372421.002 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:21.044Z,1736372421.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 480.000000 m, deltaT: 4.033595 s, deltaX: 2.000000 m, approachRate: 0.495836 m/s, rangeRepo size: 4 2025-01-08T21:40:21.046Z,1736372421.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 480.000000 m, bearing: 281.027212 deg, lat: 36.902006 deg, lon: -122.120571 deg, deltaT: 4.033595 s, deltaX: 2.000000 m, approachRate: 0.495836 m/s, posRepo size: 4 2025-01-08T21:40:21.047Z,1736372421.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:40:21.053Z,1736372421.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 404.730103 m, bearing: 294.366835 deg, approach rate: 0.000000 m/s, LOS rate: 0.096305 deg/s, cmd heading: 208.682565 deg, new cmd heading: 208.822546 deg. 2025-01-08T21:40:21.054Z,1736372421.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.644641 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:40:21.169Z,1736372421.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:21.170Z,1736372421.170 [DAT](INFO): DAT read: TxSync time:21:40:20.3302 2025-01-08T21:40:21.341Z,1736372421.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:21.393Z,1736372421.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:40:21.421Z,1736372421.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:21.440Z,1736372421.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 404.667755 m, bearing: 294.401155 deg, approach rate: -0.179331 m/s, LOS rate: 0.098728 deg/s, cmd heading: 208.822543 deg, new cmd heading: 208.925516 deg. 2025-01-08T21:40:21.441Z,1736372421.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.646438 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:40:21.672Z,1736372421.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:21.743Z,1736372421.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:21.771Z,1736372421.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:40:21.774Z,1736372421.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 404.604279 m, bearing: 294.438875 deg, approach rate: -0.165199 m/s, LOS rate: 0.098182 deg/s, cmd heading: 208.925515 deg, new cmd heading: 209.038692 deg. 2025-01-08T21:40:21.775Z,1736372421.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.648413 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:40:21.924Z,1736372421.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:22.118Z,1736372422.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:22.144Z,1736372422.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:40:22.146Z,1736372422.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 404.544769 m, bearing: 294.474836 deg, approach rate: -0.159893 m/s, LOS rate: 0.096638 deg/s, cmd heading: 209.038691 deg, new cmd heading: 209.146591 deg. 2025-01-08T21:40:22.151Z,1736372422.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.650297 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:40:22.176Z,1736372422.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:22.430Z,1736372422.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:22.546Z,1736372422.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:22.553Z,1736372422.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:22.556Z,1736372422.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:40:22.558Z,1736372422.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 404.489960 m, bearing: 294.513944 deg, approach rate: -0.132995 m/s, LOS rate: 0.094909 deg/s, cmd heading: 209.146594 deg, new cmd heading: 209.263935 deg. 2025-01-08T21:40:22.560Z,1736372422.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.652345 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:40:22.680Z,1736372422.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:22.681Z,1736372422.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:22.681Z,1736372422.681 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:22.681Z,1736372422.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:22.932Z,1736372422.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:22.934Z,1736372422.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944951 2025-01-08T21:40:22.952Z,1736372422.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:22.969Z,1736372422.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:40:22.976Z,1736372422.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 404.439117 m, bearing: 294.551181 deg, approach rate: -0.123040 m/s, LOS rate: 0.090126 deg/s, cmd heading: 209.263937 deg, new cmd heading: 209.375662 deg. 2025-01-08T21:40:22.977Z,1736372422.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.654295 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:40:23.184Z,1736372423.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:23.185Z,1736372423.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.196156 2025-01-08T21:40:23.344Z,1736372423.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:23.353Z,1736372423.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:40:23.356Z,1736372423.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 404.390228 m, bearing: 294.587116 deg, approach rate: -0.127131 m/s, LOS rate: 0.093456 deg/s, cmd heading: 209.375665 deg, new cmd heading: 209.483482 deg. 2025-01-08T21:40:23.357Z,1736372423.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.656177 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:40:23.452Z,1736372423.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:23.454Z,1736372423.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465460 2025-01-08T21:40:23.692Z,1736372423.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:23.693Z,1736372423.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704005 2025-01-08T21:40:23.777Z,1736372423.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:23.821Z,1736372423.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:40:23.828Z,1736372423.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 404.356964 m, bearing: 294.625574 deg, approach rate: -0.071068 m/s, LOS rate: 0.082171 deg/s, cmd heading: 209.483486 deg, new cmd heading: 209.598869 deg. 2025-01-08T21:40:23.829Z,1736372423.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.658190 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:40:23.944Z,1736372423.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:23.944Z,1736372423.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955761 2025-01-08T21:40:24.149Z,1736372424.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:24.157Z,1736372424.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:40:24.160Z,1736372424.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 404.327515 m, bearing: 294.658605 deg, approach rate: -0.087671 m/s, LOS rate: 0.098341 deg/s, cmd heading: 209.598876 deg, new cmd heading: 209.697976 deg. 2025-01-08T21:40:24.161Z,1736372424.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.659920 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:40:24.197Z,1736372424.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:24.197Z,1736372424.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208733 2025-01-08T21:40:24.450Z,1736372424.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:24.453Z,1736372424.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463322 2025-01-08T21:40:24.576Z,1736372424.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:24.605Z,1736372424.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:24.607Z,1736372424.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:40:24.614Z,1736372424.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 404.315033 m, bearing: 294.695022 deg, approach rate: -0.027771 m/s, LOS rate: 0.081028 deg/s, cmd heading: 209.697982 deg, new cmd heading: 209.807236 deg. 2025-01-08T21:40:24.623Z,1736372424.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.661827 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:40:24.700Z,1736372424.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:24.701Z,1736372424.701 [DAT](INFO): DAT read: Rx Time:21:40:23.3768 2025-01-08T21:40:24.701Z,1736372424.701 [DAT](INFO): Rx dataTimestamp_ set to:1736372424.701223 2025-01-08T21:40:24.702Z,1736372424.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.713454 2025-01-08T21:40:24.941Z,1736372424.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:24.951Z,1736372424.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.00 m. 2025-01-08T21:40:24.952Z,1736372424.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:24.953Z,1736372424.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.963947 2025-01-08T21:40:24.955Z,1736372424.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.000000 m, nav range: 404.303497 m, bearing: 294.726092 deg, approach rate: -0.033522 m/s, LOS rate: 0.090293 deg/s, cmd heading: 209.807237 deg, new cmd heading: 209.900451 deg. 2025-01-08T21:40:24.956Z,1736372424.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.663454 target range: 480.000000 and range: 480.00 m. 2025-01-08T21:40:25.204Z,1736372425.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:25.214Z,1736372425.214 [DAT](INFO): DAT read: 21:40:23.3768 LVL= 18816, 18897, 20082, 29539, AGC= 66, IDX= 321, 0.30,-1.399,-1.138, 2.964,-1.934, PHS= 0.623, 0.843,-1.389, RAW= 24.9, -0.7, CAL= 24.4, -2.5, ROT= 125.6, 2.5 2025-01-08T21:40:25.217Z,1736372425.217 [DAT](INFO): got valid direction response: 21:40:23.3768 LVL= 18816, 18897, 20082, 29539, AGC= 66, IDX= 321, 0.30,-1.399,-1.138, 2.964,-1.934, PHS= 0.623, 0.843,-1.389, RAW= 24.9, -0.7, CAL= 24.4, -2.5, ROT= 125.6, 2.5 2025-01-08T21:40:25.219Z,1736372425.219 [DAT](INFO): DAT read: Bearing 125.6, 2.5 (Local) 2025-01-08T21:40:25.219Z,1736372425.219 [DAT](INFO): Local bearing/azimuth received: Bearing 125.6, 2.5 (Local) 2025-01-08T21:40:25.221Z,1736372425.221 [DAT](INFO): DAT read: Range 10 to 50 : 481.2 m (Round-trip 641.6 ms) speed -0.3 m/s 2025-01-08T21:40:25.222Z,1736372425.222 [DAT](INFO): DAT read: user:1964> 2025-01-08T21:40:25.223Z,1736372425.223 [DAT](INFO): DAT read: Tx time:21:40:24.4810 2025-01-08T21:40:25.223Z,1736372425.223 [DAT](INFO): Ping request sent. 2025-01-08T21:40:25.223Z,1736372425.223 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:25.224Z,1736372425.224 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:40:25.224Z,1736372425.224 [DAT](INFO): direction in FSK: [0.056413,0.927372,0.369864] 2025-01-08T21:40:25.225Z,1736372425.225 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:25.225Z,1736372425.225 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:25.228Z,1736372425.228 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:25.228Z,1736372425.228 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:25.364Z,1736372425.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:25.396Z,1736372425.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 481.200012 m, deltaT: 4.286189 s, deltaX: 1.200012 m, approachRate: 0.279972 m/s, rangeRepo size: 4 2025-01-08T21:40:25.399Z,1736372425.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 481.200012 m, bearing: 298.345117 deg, lat: 36.902006 deg, lon: -122.120575 deg, deltaT: 4.286189 s, deltaX: 1.200012 m, approachRate: 0.279972 m/s, posRepo size: 4 2025-01-08T21:40:25.404Z,1736372425.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.20 m. 2025-01-08T21:40:25.406Z,1736372425.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.200012 m, nav range: 404.558380 m, bearing: 294.744484 deg, approach rate: 0.000000 m/s, LOS rate: 0.090293 deg/s, cmd heading: 209.900456 deg, new cmd heading: 210.019736 deg. 2025-01-08T21:40:25.412Z,1736372425.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.665536 target range: 481.200012 and range: 481.20 m. 2025-01-08T21:40:25.457Z,1736372425.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:25.460Z,1736372425.460 [DAT](INFO): DAT read: TxSync time:21:40:24.4802 2025-01-08T21:40:25.708Z,1736372425.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:25.825Z,1736372425.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:25.837Z,1736372425.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.20 m. 2025-01-08T21:40:25.841Z,1736372425.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.200012 m, nav range: 404.563477 m, bearing: 294.783395 deg, approach rate: 0.011420 m/s, LOS rate: 0.087192 deg/s, cmd heading: 210.019738 deg, new cmd heading: 210.136471 deg. 2025-01-08T21:40:25.842Z,1736372425.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.667573 target range: 481.200012 and range: 481.20 m. 2025-01-08T21:40:25.960Z,1736372425.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:26.167Z,1736372426.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:26.177Z,1736372426.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.20 m. 2025-01-08T21:40:26.180Z,1736372426.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.200012 m, nav range: 404.566895 m, bearing: 294.812213 deg, approach rate: 0.010061 m/s, LOS rate: 0.084826 deg/s, cmd heading: 210.136466 deg, new cmd heading: 210.222917 deg. 2025-01-08T21:40:26.181Z,1736372426.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.669082 target range: 481.200012 and range: 481.20 m. 2025-01-08T21:40:26.212Z,1736372426.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:26.466Z,1736372426.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:26.593Z,1736372426.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:26.602Z,1736372426.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.20 m. 2025-01-08T21:40:26.605Z,1736372426.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.200012 m, nav range: 404.584229 m, bearing: 294.847687 deg, approach rate: 0.040779 m/s, LOS rate: 0.083452 deg/s, cmd heading: 210.222923 deg, new cmd heading: 210.329341 deg. 2025-01-08T21:40:26.606Z,1736372426.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.670939 target range: 481.200012 and range: 481.20 m. 2025-01-08T21:40:26.716Z,1736372426.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:26.957Z,1736372426.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:26.963Z,1736372426.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:26.966Z,1736372426.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.20 m. 2025-01-08T21:40:26.968Z,1736372426.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:26.968Z,1736372426.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:26.968Z,1736372426.968 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:26.969Z,1736372426.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:26.973Z,1736372426.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.200012 m, nav range: 404.596893 m, bearing: 294.877973 deg, approach rate: 0.034794 m/s, LOS rate: 0.083201 deg/s, cmd heading: 210.329337 deg, new cmd heading: 210.420191 deg. 2025-01-08T21:40:26.974Z,1736372426.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.672525 target range: 481.200012 and range: 481.20 m. 2025-01-08T21:40:27.220Z,1736372427.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:27.222Z,1736372427.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998538 2025-01-08T21:40:27.369Z,1736372427.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:27.383Z,1736372427.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.20 m. 2025-01-08T21:40:27.393Z,1736372427.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.200012 m, nav range: 404.609985 m, bearing: 294.912330 deg, approach rate: 0.031591 m/s, LOS rate: 0.082901 deg/s, cmd heading: 210.420192 deg, new cmd heading: 210.523262 deg. 2025-01-08T21:40:27.394Z,1736372427.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.674324 target range: 481.200012 and range: 481.20 m. 2025-01-08T21:40:27.473Z,1736372427.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:27.476Z,1736372427.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252609 2025-01-08T21:40:27.724Z,1736372427.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:27.724Z,1736372427.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501236 2025-01-08T21:40:27.793Z,1736372427.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:27.822Z,1736372427.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.20 m. 2025-01-08T21:40:27.829Z,1736372427.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.200012 m, nav range: 404.637634 m, bearing: 294.946736 deg, approach rate: 0.062605 m/s, LOS rate: 0.077899 deg/s, cmd heading: 210.523260 deg, new cmd heading: 210.626470 deg. 2025-01-08T21:40:27.830Z,1736372427.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.676125 target range: 481.200012 and range: 481.20 m. 2025-01-08T21:40:27.976Z,1736372427.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:27.977Z,1736372427.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753562 2025-01-08T21:40:28.166Z,1736372428.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:28.175Z,1736372428.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.20 m. 2025-01-08T21:40:28.178Z,1736372428.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.200012 m, nav range: 404.660736 m, bearing: 294.977099 deg, approach rate: 0.065504 m/s, LOS rate: 0.086087 deg/s, cmd heading: 210.626464 deg, new cmd heading: 210.717547 deg. 2025-01-08T21:40:28.179Z,1736372428.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.677715 target range: 481.200012 and range: 481.20 m. 2025-01-08T21:40:28.228Z,1736372428.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:28.229Z,1736372428.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005531 2025-01-08T21:40:28.480Z,1736372428.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:28.480Z,1736372428.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257285 2025-01-08T21:40:28.604Z,1736372428.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:28.613Z,1736372428.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.20 m. 2025-01-08T21:40:28.617Z,1736372428.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.200012 m, nav range: 404.692291 m, bearing: 295.013746 deg, approach rate: 0.071968 m/s, LOS rate: 0.083573 deg/s, cmd heading: 210.717551 deg, new cmd heading: 210.827483 deg. 2025-01-08T21:40:28.618Z,1736372428.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.679634 target range: 481.200012 and range: 481.20 m. 2025-01-08T21:40:28.733Z,1736372428.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:28.733Z,1736372428.733 [DAT](INFO): DAT read: Rx Time:21:40:27.5171 2025-01-08T21:40:28.734Z,1736372428.734 [DAT](INFO): Rx dataTimestamp_ set to:1736372428.733498 2025-01-08T21:40:28.734Z,1736372428.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511250 2025-01-08T21:40:28.980Z,1736372428.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:28.984Z,1736372428.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:28.985Z,1736372428.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761473 2025-01-08T21:40:28.989Z,1736372428.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:28.991Z,1736372428.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.20 m. 2025-01-08T21:40:28.994Z,1736372428.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.200012 m, nav range: 404.718170 m, bearing: 295.045207 deg, approach rate: 0.068519 m/s, LOS rate: 0.083294 deg/s, cmd heading: 210.827476 deg, new cmd heading: 210.921854 deg. 2025-01-08T21:40:28.995Z,1736372428.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.681281 target range: 481.200012 and range: 481.20 m. 2025-01-08T21:40:29.237Z,1736372429.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:29.247Z,1736372429.247 [DAT](INFO): DAT read: 21:40:27.5172 LVL= 17744, 25201, 16626, 24803, AGC= 70, IDX= 324, 0.06, 2.790, 2.939, 0.857, 2.175, PHS= 0.703, 0.811,-1.321, RAW= 27.4, -1.9, CAL= 27.1, -4.1, ROT= 122.9, 4.1 2025-01-08T21:40:29.248Z,1736372429.248 [DAT](INFO): got valid direction response: 21:40:27.5172 LVL= 17744, 25201, 16626, 24803, AGC= 70, IDX= 324, 0.06, 2.790, 2.939, 0.857, 2.175, PHS= 0.703, 0.811,-1.321, RAW= 27.4, -1.9, CAL= 27.1, -4.1, ROT= 122.9, 4.1 2025-01-08T21:40:29.249Z,1736372429.249 [DAT](INFO): DAT read: Bearing 122.9, 4.1 (Local) 2025-01-08T21:40:29.250Z,1736372429.250 [DAT](INFO): Local bearing/azimuth received: Bearing 122.9, 4.1 (Local) 2025-01-08T21:40:29.253Z,1736372429.253 [DAT](INFO): DAT read: Range 10 to 50 : 474.0 m (Round-trip 632.0 ms) speed -0.3 m/s 2025-01-08T21:40:29.255Z,1736372429.255 [DAT](INFO): DAT read: user:1965> 2025-01-08T21:40:29.257Z,1736372429.257 [DAT](INFO): DAT read: Tx time:21:40:28.6327 2025-01-08T21:40:29.257Z,1736372429.257 [DAT](INFO): Ping request sent. 2025-01-08T21:40:29.257Z,1736372429.257 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:29.257Z,1736372429.257 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:40:29.258Z,1736372429.258 [DAT](INFO): direction in FSK: [0.072658,0.909198,0.409976] 2025-01-08T21:40:29.258Z,1736372429.258 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:29.259Z,1736372429.259 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:29.262Z,1736372429.262 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:29.262Z,1736372429.262 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:29.399Z,1736372429.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:29.434Z,1736372429.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 474.000000 m, deltaT: 4.033773 s, deltaX: -7.200012 m, approachRate: -1.784932 m/s, rangeRepo size: 4 2025-01-08T21:40:29.444Z,1736372429.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 474.000000 m, bearing: 299.945762 deg, lat: 36.902261 deg, lon: -122.120571 deg, deltaT: 4.033773 s, deltaX: -7.200012 m, approachRate: -1.784932 m/s, posRepo size: 4 2025-01-08T21:40:29.445Z,1736372429.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.00 m. 2025-01-08T21:40:29.452Z,1736372429.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.000000 m, nav range: 417.304901 m, bearing: 298.628758 deg, approach rate: 0.000000 m/s, LOS rate: 0.083294 deg/s, cmd heading: 210.921856 deg, new cmd heading: 211.032349 deg. 2025-01-08T21:40:29.453Z,1736372429.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.683209 target range: 474.000000 and range: 474.00 m. 2025-01-08T21:40:29.490Z,1736372429.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:29.493Z,1736372429.493 [DAT](INFO): DAT read: TxSync time:21:40:28.6319 2025-01-08T21:40:29.740Z,1736372429.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:29.812Z,1736372429.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:29.822Z,1736372429.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.00 m. 2025-01-08T21:40:29.825Z,1736372429.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.000000 m, nav range: 417.342712 m, bearing: 298.662257 deg, approach rate: 0.097231 m/s, LOS rate: 0.086135 deg/s, cmd heading: 211.032355 deg, new cmd heading: 211.132843 deg. 2025-01-08T21:40:29.826Z,1736372429.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.684963 target range: 474.000000 and range: 474.00 m. 2025-01-08T21:40:29.992Z,1736372429.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:30.208Z,1736372430.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:30.220Z,1736372430.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.00 m. 2025-01-08T21:40:30.225Z,1736372430.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.000000 m, nav range: 417.379150 m, bearing: 298.694221 deg, approach rate: 0.091947 m/s, LOS rate: 0.080650 deg/s, cmd heading: 211.132841 deg, new cmd heading: 211.228724 deg. 2025-01-08T21:40:30.244Z,1736372430.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:30.252Z,1736372430.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.686637 target range: 474.000000 and range: 474.00 m. 2025-01-08T21:40:30.496Z,1736372430.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:30.657Z,1736372430.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:30.671Z,1736372430.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.00 m. 2025-01-08T21:40:30.676Z,1736372430.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.000000 m, nav range: 417.407501 m, bearing: 298.730896 deg, approach rate: 0.062687 m/s, LOS rate: 0.081089 deg/s, cmd heading: 211.228723 deg, new cmd heading: 211.338742 deg. 2025-01-08T21:40:30.678Z,1736372430.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.688557 target range: 474.000000 and range: 474.00 m. 2025-01-08T21:40:30.749Z,1736372430.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:31.001Z,1736372431.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:31.036Z,1736372431.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:31.042Z,1736372431.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:31.045Z,1736372431.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.00 m. 2025-01-08T21:40:31.047Z,1736372431.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.000000 m, nav range: 417.431702 m, bearing: 298.761865 deg, approach rate: 0.064713 m/s, LOS rate: 0.082807 deg/s, cmd heading: 211.338743 deg, new cmd heading: 211.431644 deg. 2025-01-08T21:40:31.049Z,1736372431.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.690178 target range: 474.000000 and range: 474.00 m. 2025-01-08T21:40:31.254Z,1736372431.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:31.254Z,1736372431.254 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:31.255Z,1736372431.255 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:31.255Z,1736372431.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:31.436Z,1736372431.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:31.444Z,1736372431.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.00 m. 2025-01-08T21:40:31.446Z,1736372431.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.000000 m, nav range: 417.457489 m, bearing: 298.794588 deg, approach rate: 0.064567 m/s, LOS rate: 0.081929 deg/s, cmd heading: 211.431648 deg, new cmd heading: 211.529812 deg. 2025-01-08T21:40:31.448Z,1736372431.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.691892 target range: 474.000000 and range: 474.00 m. 2025-01-08T21:40:31.505Z,1736372431.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:31.505Z,1736372431.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248257 2025-01-08T21:40:31.756Z,1736372431.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:31.756Z,1736372431.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499273 2025-01-08T21:40:31.854Z,1736372431.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:31.862Z,1736372431.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.00 m. 2025-01-08T21:40:31.866Z,1736372431.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.000000 m, nav range: 417.467651 m, bearing: 298.829104 deg, approach rate: 0.024283 m/s, LOS rate: 0.082471 deg/s, cmd heading: 211.529811 deg, new cmd heading: 211.633355 deg. 2025-01-08T21:40:31.868Z,1736372431.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693699 target range: 474.000000 and range: 474.00 m. 2025-01-08T21:40:32.008Z,1736372432.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:32.008Z,1736372432.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751395 2025-01-08T21:40:32.258Z,1736372432.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:32.261Z,1736372432.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:32.261Z,1736372432.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004136 2025-01-08T21:40:32.292Z,1736372432.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.00 m. 2025-01-08T21:40:32.294Z,1736372432.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.000000 m, nav range: 417.477600 m, bearing: 298.862436 deg, approach rate: 0.023163 m/s, LOS rate: 0.077602 deg/s, cmd heading: 211.633357 deg, new cmd heading: 211.733351 deg. 2025-01-08T21:40:32.312Z,1736372432.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.695444 target range: 474.000000 and range: 474.00 m. 2025-01-08T21:40:32.512Z,1736372432.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:32.512Z,1736372432.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255271 2025-01-08T21:40:32.695Z,1736372432.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:32.704Z,1736372432.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.00 m. 2025-01-08T21:40:32.707Z,1736372432.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.000000 m, nav range: 417.466980 m, bearing: 298.900599 deg, approach rate: -0.025755 m/s, LOS rate: 0.092553 deg/s, cmd heading: 211.733351 deg, new cmd heading: 211.847843 deg. 2025-01-08T21:40:32.708Z,1736372432.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.697442 target range: 474.000000 and range: 474.00 m. 2025-01-08T21:40:32.765Z,1736372432.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:32.766Z,1736372432.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509002 2025-01-08T21:40:33.016Z,1736372433.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:33.017Z,1736372433.017 [DAT](INFO): DAT read: Rx Time:21:40:31.6928 2025-01-08T21:40:33.017Z,1736372433.017 [DAT](INFO): Rx dataTimestamp_ set to:1736372433.017062 2025-01-08T21:40:33.018Z,1736372433.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760842 2025-01-08T21:40:33.044Z,1736372433.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:33.052Z,1736372433.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:33.054Z,1736372433.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.00 m. 2025-01-08T21:40:33.056Z,1736372433.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.000000 m, nav range: 417.457794 m, bearing: 298.931100 deg, approach rate: -0.026298 m/s, LOS rate: 0.087323 deg/s, cmd heading: 211.847838 deg, new cmd heading: 211.939342 deg. 2025-01-08T21:40:33.057Z,1736372433.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.699039 target range: 474.000000 and range: 474.00 m. 2025-01-08T21:40:33.269Z,1736372433.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:33.272Z,1736372433.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014541 2025-01-08T21:40:33.449Z,1736372433.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:33.458Z,1736372433.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.00 m. 2025-01-08T21:40:33.461Z,1736372433.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.000000 m, nav range: 417.446625 m, bearing: 298.966458 deg, approach rate: -0.027636 m/s, LOS rate: 0.087488 deg/s, cmd heading: 211.939336 deg, new cmd heading: 212.045411 deg. 2025-01-08T21:40:33.462Z,1736372433.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.700891 target range: 474.000000 and range: 474.00 m. 2025-01-08T21:40:33.521Z,1736372433.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:33.532Z,1736372433.532 [DAT](INFO): DAT read: 21:40:31.6928 LVL= 16368, 18801, 16882, 20691, AGC= 71, IDX= 154, 0.24,-2.638,-2.851, 1.452, 2.393, PHS= 1.340, 1.086,-0.944, RAW= 35.8, -13.6, CAL= 40.2, -21.5, ROT= 109.8, 21.5 2025-01-08T21:40:33.534Z,1736372433.534 [DAT](INFO): got valid direction response: 21:40:31.6928 LVL= 16368, 18801, 16882, 20691, AGC= 71, IDX= 154, 0.24,-2.638,-2.851, 1.452, 2.393, PHS= 1.340, 1.086,-0.944, RAW= 35.8, -13.6, CAL= 40.2, -21.5, ROT= 109.8, 21.5 2025-01-08T21:40:33.536Z,1736372433.536 [DAT](INFO): DAT read: Bearing 109.8, 21.5 (Local) 2025-01-08T21:40:33.536Z,1736372433.536 [DAT](INFO): Local bearing/azimuth received: Bearing 109.8, 21.5 (Local) 2025-01-08T21:40:33.537Z,1736372433.537 [DAT](INFO): DAT read: Range 10 to 50 : 492.0 m (Round-trip 656.0 ms) speed -0.4 m/s 2025-01-08T21:40:33.538Z,1736372433.538 [DAT](INFO): DAT read: user:1966> 2025-01-08T21:40:33.539Z,1736372433.539 [DAT](INFO): DAT read: Tx time:21:40:32.7811 2025-01-08T21:40:33.543Z,1736372433.543 [DAT](INFO): Ping request sent. 2025-01-08T21:40:33.543Z,1736372433.543 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:33.544Z,1736372433.544 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:40:33.545Z,1736372433.545 [DAT](INFO): direction in FSK: [0.268536,0.805150,0.528793] 2025-01-08T21:40:33.545Z,1736372433.545 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:33.546Z,1736372433.546 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:33.620Z,1736372433.620 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:33.621Z,1736372433.621 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:33.772Z,1736372433.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:33.773Z,1736372433.773 [DAT](INFO): DAT read: TxSync time:21:40:32.7803 2025-01-08T21:40:33.903Z,1736372433.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:33.930Z,1736372433.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 492.000000 m, deltaT: 4.283157 s, deltaX: 18.000000 m, approachRate: 4.202507 m/s, rangeRepo size: 4 2025-01-08T21:40:33.937Z,1736372433.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 492.000000 m, bearing: 285.863687 deg, lat: 36.902261 deg, lon: -122.120527 deg, deltaT: 4.283157 s, deltaX: 18.000000 m, approachRate: 4.202507 m/s, posRepo size: 4 2025-01-08T21:40:33.937Z,1736372433.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:33.946Z,1736372433.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.996338 m, bearing: 299.268533 deg, approach rate: 0.000000 m/s, LOS rate: 0.087488 deg/s, cmd heading: 212.045408 deg, new cmd heading: 212.169297 deg. 2025-01-08T21:40:33.948Z,1736372433.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.703053 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:40:34.024Z,1736372434.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:34.276Z,1736372434.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:34.278Z,1736372434.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:34.320Z,1736372434.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:34.323Z,1736372434.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.968353 m, bearing: 299.302244 deg, approach rate: -0.072579 m/s, LOS rate: 0.087436 deg/s, cmd heading: 212.169294 deg, new cmd heading: 212.270434 deg. 2025-01-08T21:40:34.328Z,1736372434.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.704818 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:40:34.528Z,1736372434.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:34.732Z,1736372434.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:34.741Z,1736372434.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:34.744Z,1736372434.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.920868 m, bearing: 299.343708 deg, approach rate: -0.111570 m/s, LOS rate: 0.097432 deg/s, cmd heading: 212.270436 deg, new cmd heading: 212.394840 deg. 2025-01-08T21:40:34.745Z,1736372434.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.706989 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:40:34.780Z,1736372434.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:35.032Z,1736372435.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:35.068Z,1736372435.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:35.075Z,1736372435.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:35.077Z,1736372435.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:35.080Z,1736372435.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.886658 m, bearing: 299.374410 deg, approach rate: -0.101777 m/s, LOS rate: 0.091349 deg/s, cmd heading: 212.394841 deg, new cmd heading: 212.486955 deg. 2025-01-08T21:40:35.081Z,1736372435.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.708597 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:40:35.284Z,1736372435.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:35.284Z,1736372435.284 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:35.284Z,1736372435.284 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:35.284Z,1736372435.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:35.460Z,1736372435.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:35.485Z,1736372435.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:35.492Z,1736372435.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.847382 m, bearing: 299.410200 deg, approach rate: -0.096311 m/s, LOS rate: 0.087771 deg/s, cmd heading: 212.486953 deg, new cmd heading: 212.594333 deg. 2025-01-08T21:40:35.493Z,1736372435.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.710471 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:40:35.536Z,1736372435.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:35.537Z,1736372435.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993910 2025-01-08T21:40:35.788Z,1736372435.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:35.788Z,1736372435.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245649 2025-01-08T21:40:35.902Z,1736372435.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:35.911Z,1736372435.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:35.914Z,1736372435.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.786469 m, bearing: 299.451912 deg, approach rate: -0.143048 m/s, LOS rate: 0.097971 deg/s, cmd heading: 212.594337 deg, new cmd heading: 212.719492 deg. 2025-01-08T21:40:35.932Z,1736372435.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.712656 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:40:36.040Z,1736372436.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:36.041Z,1736372436.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498324 2025-01-08T21:40:36.271Z,1736372436.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:36.280Z,1736372436.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:36.282Z,1736372436.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.735779 m, bearing: 299.486621 deg, approach rate: -0.137482 m/s, LOS rate: 0.094149 deg/s, cmd heading: 212.719493 deg, new cmd heading: 212.823631 deg. 2025-01-08T21:40:36.283Z,1736372436.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.714473 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:40:36.292Z,1736372436.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:36.292Z,1736372436.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749759 2025-01-08T21:40:36.544Z,1736372436.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:36.544Z,1736372436.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001690 2025-01-08T21:40:36.719Z,1736372436.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:36.747Z,1736372436.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:36.751Z,1736372436.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.668488 m, bearing: 299.528636 deg, approach rate: -0.150302 m/s, LOS rate: 0.093860 deg/s, cmd heading: 212.823627 deg, new cmd heading: 212.949692 deg. 2025-01-08T21:40:36.756Z,1736372436.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.716673 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:40:36.796Z,1736372436.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:36.797Z,1736372436.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253859 2025-01-08T21:40:37.048Z,1736372437.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:37.049Z,1736372437.049 [DAT](INFO): DAT read: Rx Time:21:40:35.8207 2025-01-08T21:40:37.050Z,1736372437.050 [DAT](INFO): Rx dataTimestamp_ set to:1736372437.049322 2025-01-08T21:40:37.050Z,1736372437.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507434 2025-01-08T21:40:37.075Z,1736372437.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:37.082Z,1736372437.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:37.085Z,1736372437.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:37.088Z,1736372437.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.615021 m, bearing: 299.562018 deg, approach rate: -0.149527 m/s, LOS rate: 0.093371 deg/s, cmd heading: 212.949698 deg, new cmd heading: 213.049859 deg. 2025-01-08T21:40:37.089Z,1736372437.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.718421 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:40:37.300Z,1736372437.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:37.300Z,1736372437.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757689 2025-01-08T21:40:37.544Z,1736372437.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:37.552Z,1736372437.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:37.558Z,1736372437.558 [DAT](INFO): DAT read: 21:40:35.8207 LVL= 12960, 15345, 13042, 16979, AGC= 68, IDX= 215,-0.05,-0.449,-0.285,-2.429,-1.044, PHS= 0.683, 0.805,-1.388, RAW= 27.2, -0.9, CAL= 26.7, -2.8, ROT= 123.3, 2.8 2025-01-08T21:40:37.560Z,1736372437.560 [DAT](INFO): got valid direction response: 21:40:35.8207 LVL= 12960, 15345, 13042, 16979, AGC= 68, IDX= 215,-0.05,-0.449,-0.285,-2.429,-1.044, PHS= 0.683, 0.805,-1.388, RAW= 27.2, -0.9, CAL= 26.7, -2.8, ROT= 123.3, 2.8 2025-01-08T21:40:37.561Z,1736372437.561 [DAT](INFO): DAT read: Bearing 123.3, 2.8 (Local) 2025-01-08T21:40:37.561Z,1736372437.561 [DAT](INFO): Local bearing/azimuth received: Bearing 123.3, 2.8 (Local) 2025-01-08T21:40:37.562Z,1736372437.562 [DAT](INFO): DAT read: Range 10 to 50 : 476.5 m (Round-trip 635.4 ms) speed -0.2 m/s 2025-01-08T21:40:37.563Z,1736372437.563 [DAT](INFO): DAT read: user:1967> 2025-01-08T21:40:37.564Z,1736372437.564 [DAT](INFO): DAT read: Tx time:21:40:36.9311 2025-01-08T21:40:37.564Z,1736372437.564 [DAT](INFO): Ping request sent. 2025-01-08T21:40:37.564Z,1736372437.564 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:37.565Z,1736372437.565 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:40:37.566Z,1736372437.566 [DAT](INFO): direction in FSK: [0.055881,0.912527,0.405182] 2025-01-08T21:40:37.567Z,1736372437.567 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:37.567Z,1736372437.567 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:37.574Z,1736372437.574 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:37.574Z,1736372437.574 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:37.589Z,1736372437.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 476.500000 m, deltaT: 4.031120 s, deltaX: -15.500000 m, approachRate: -3.845085 m/s, rangeRepo size: 4 2025-01-08T21:40:37.595Z,1736372437.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:37.598Z,1736372437.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.545074 m, bearing: 299.606084 deg, approach rate: -0.140269 m/s, LOS rate: 0.088383 deg/s, cmd heading: 213.049856 deg, new cmd heading: 213.182075 deg. 2025-01-08T21:40:37.609Z,1736372437.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720729 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:37.804Z,1736372437.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:37.805Z,1736372437.805 [DAT](INFO): DAT read: TxSync time:21:40:36.9303 2025-01-08T21:40:38.005Z,1736372438.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:38.035Z,1736372438.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:38.042Z,1736372438.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.476837 m, bearing: 299.649113 deg, approach rate: -0.151109 m/s, LOS rate: 0.095301 deg/s, cmd heading: 213.182075 deg, new cmd heading: 213.311182 deg. 2025-01-08T21:40:38.048Z,1736372438.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722982 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:38.056Z,1736372438.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:38.308Z,1736372438.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:38.383Z,1736372438.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:38.420Z,1736372438.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:38.422Z,1736372438.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.421204 m, bearing: 299.684436 deg, approach rate: -0.146261 m/s, LOS rate: 0.092877 deg/s, cmd heading: 213.311179 deg, new cmd heading: 213.417163 deg. 2025-01-08T21:40:38.432Z,1736372438.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.724832 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:38.560Z,1736372438.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:38.794Z,1736372438.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:38.812Z,1736372438.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:38.852Z,1736372438.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:38.854Z,1736372438.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.362976 m, bearing: 299.722970 deg, approach rate: -0.134750 m/s, LOS rate: 0.089189 deg/s, cmd heading: 213.417156 deg, new cmd heading: 213.532776 deg. 2025-01-08T21:40:38.859Z,1736372438.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.726850 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:39.064Z,1736372439.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:39.173Z,1736372439.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:39.180Z,1736372439.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:39.184Z,1736372439.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:39.187Z,1736372439.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.308807 m, bearing: 299.758476 deg, approach rate: -0.161380 m/s, LOS rate: 0.105794 deg/s, cmd heading: 213.532778 deg, new cmd heading: 213.639310 deg. 2025-01-08T21:40:39.191Z,1736372439.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728709 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:39.316Z,1736372439.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:39.317Z,1736372439.317 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:39.317Z,1736372439.317 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:39.317Z,1736372439.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:39.568Z,1736372439.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:39.569Z,1736372439.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004168 2025-01-08T21:40:39.589Z,1736372439.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:39.610Z,1736372439.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:39.617Z,1736372439.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.249573 m, bearing: 299.797403 deg, approach rate: -0.138705 m/s, LOS rate: 0.091164 deg/s, cmd heading: 213.639315 deg, new cmd heading: 213.756112 deg. 2025-01-08T21:40:39.619Z,1736372439.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.730748 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:39.821Z,1736372439.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:39.822Z,1736372439.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257485 2025-01-08T21:40:40.019Z,1736372440.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:40.028Z,1736372440.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:40.032Z,1736372440.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.201324 m, bearing: 299.836442 deg, approach rate: -0.115340 m/s, LOS rate: 0.093336 deg/s, cmd heading: 213.756111 deg, new cmd heading: 213.873242 deg. 2025-01-08T21:40:40.033Z,1736372440.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732792 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:40.073Z,1736372440.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:40.074Z,1736372440.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508980 2025-01-08T21:40:40.325Z,1736372440.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:40.326Z,1736372440.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761205 2025-01-08T21:40:40.393Z,1736372440.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:40.421Z,1736372440.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:40.425Z,1736372440.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.159668 m, bearing: 299.870421 deg, approach rate: -0.106113 m/s, LOS rate: 0.086564 deg/s, cmd heading: 213.873249 deg, new cmd heading: 213.975195 deg. 2025-01-08T21:40:40.426Z,1736372440.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734572 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:40.576Z,1736372440.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:40.576Z,1736372440.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011988 2025-01-08T21:40:40.828Z,1736372440.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:40.829Z,1736372440.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264490 2025-01-08T21:40:40.829Z,1736372440.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:40.840Z,1736372440.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:40.843Z,1736372440.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.130310 m, bearing: 299.909194 deg, approach rate: -0.069987 m/s, LOS rate: 0.092440 deg/s, cmd heading: 213.975196 deg, new cmd heading: 214.091525 deg. 2025-01-08T21:40:40.844Z,1736372440.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.736602 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:41.082Z,1736372441.082 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:41.084Z,1736372441.084 [DAT](INFO): DAT read: Rx Time:21:40:39.9722 2025-01-08T21:40:41.084Z,1736372441.084 [DAT](INFO): Rx dataTimestamp_ set to:1736372441.083705 2025-01-08T21:40:41.085Z,1736372441.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520137 2025-01-08T21:40:41.193Z,1736372441.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:41.222Z,1736372441.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:41.228Z,1736372441.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:41.231Z,1736372441.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.106140 m, bearing: 299.941837 deg, approach rate: -0.062311 m/s, LOS rate: 0.084159 deg/s, cmd heading: 214.091528 deg, new cmd heading: 214.189461 deg. 2025-01-08T21:40:41.236Z,1736372441.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.738311 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:41.334Z,1736372441.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:41.335Z,1736372441.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770508 2025-01-08T21:40:41.588Z,1736372441.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:41.588Z,1736372441.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023988 2025-01-08T21:40:41.781Z,1736372441.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:41.791Z,1736372441.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:41.794Z,1736372441.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.096222 m, bearing: 299.991819 deg, approach rate: -0.017624 m/s, LOS rate: 0.088815 deg/s, cmd heading: 214.189459 deg, new cmd heading: 214.339409 deg. 2025-01-08T21:40:41.795Z,1736372441.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740928 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:41.842Z,1736372441.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:41.852Z,1736372441.852 [DAT](INFO): DAT read: 21:40:39.9722 LVL= 20112, 18705, 17362, 27267, AGC= 70, IDX= 439,-0.24, 0.433, 0.599,-1.610,-0.194, PHS= 0.715, 0.841,-1.419, RAW= 27.2, -1.3, CAL= 26.8, -3.2, ROT= 123.2, 3.2 2025-01-08T21:40:41.853Z,1736372441.853 [DAT](INFO): got valid direction response: 21:40:39.9722 LVL= 20112, 18705, 17362, 27267, AGC= 70, IDX= 439,-0.24, 0.433, 0.599,-1.610,-0.194, PHS= 0.715, 0.841,-1.419, RAW= 27.2, -1.3, CAL= 26.8, -3.2, ROT= 123.2, 3.2 2025-01-08T21:40:41.854Z,1736372441.854 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:40:41.854Z,1736372441.854 [DAT](INFO): Received a bad header 2025-01-08T21:40:41.873Z,1736372441.873 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:40:41.874Z,1736372441.874 [DAT](INFO): direction in FSK: [0.061711,0.912059,0.405389] 2025-01-08T21:40:41.877Z,1736372441.877 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:41.877Z,1736372441.877 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:41.877Z,1736372441.877 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:42.092Z,1736372442.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:42.092Z,1736372442.092 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:42.092Z,1736372442.092 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:42.092Z,1736372442.092 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:42.213Z,1736372442.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:42.242Z,1736372442.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:42.245Z,1736372442.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.088898 m, bearing: 300.028487 deg, approach rate: -0.016259 m/s, LOS rate: 0.081398 deg/s, cmd heading: 214.339409 deg, new cmd heading: 214.449415 deg. 2025-01-08T21:40:42.246Z,1736372442.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.742848 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:42.344Z,1736372442.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:42.344Z,1736372442.344 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:42.344Z,1736372442.344 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:42.344Z,1736372442.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:42.598Z,1736372442.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:42.598Z,1736372442.598 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:42.599Z,1736372442.599 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:42.599Z,1736372442.599 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:42.701Z,1736372442.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:42.736Z,1736372442.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:42.768Z,1736372442.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.079498 m, bearing: 300.069869 deg, approach rate: -0.019088 m/s, LOS rate: 0.084038 deg/s, cmd heading: 214.449416 deg, new cmd heading: 214.573567 deg. 2025-01-08T21:40:42.769Z,1736372442.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745015 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:42.848Z,1736372442.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:42.849Z,1736372442.849 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:42.849Z,1736372442.849 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:42.849Z,1736372442.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:43.094Z,1736372443.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:43.100Z,1736372443.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:43.100Z,1736372443.100 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:43.100Z,1736372443.100 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:43.100Z,1736372443.100 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:43.106Z,1736372443.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:43.109Z,1736372443.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.090454 m, bearing: 300.101890 deg, approach rate: 0.029476 m/s, LOS rate: 0.086147 deg/s, cmd heading: 214.573562 deg, new cmd heading: 214.669622 deg. 2025-01-08T21:40:43.110Z,1736372443.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.746692 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:43.352Z,1736372443.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:43.353Z,1736372443.353 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:43.353Z,1736372443.353 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:43.353Z,1736372443.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:43.487Z,1736372443.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:43.494Z,1736372443.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:43.520Z,1736372443.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:43.522Z,1736372443.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.099823 m, bearing: 300.133804 deg, approach rate: 0.024040 m/s, LOS rate: 0.081886 deg/s, cmd heading: 214.669622 deg, new cmd heading: 214.765359 deg. 2025-01-08T21:40:43.523Z,1736372443.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748363 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:43.605Z,1736372443.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:43.605Z,1736372443.605 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:43.606Z,1736372443.606 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:43.606Z,1736372443.606 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:43.856Z,1736372443.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:43.856Z,1736372443.856 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:43.856Z,1736372443.856 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:43.856Z,1736372443.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:43.904Z,1736372443.904 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, , 20.00,1361.05 2025-01-08T21:40:43.916Z,1736372443.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:40:43.917Z,1736372443.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:43.925Z,1736372443.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:43.944Z,1736372443.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.108795 m, bearing: 300.168316 deg, approach rate: 0.020869 m/s, LOS rate: 0.080271 deg/s, cmd heading: 214.765354 deg, new cmd heading: 214.868888 deg. 2025-01-08T21:40:43.945Z,1736372443.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.750170 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:44.108Z,1736372444.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:44.108Z,1736372444.108 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:44.108Z,1736372444.108 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:44.108Z,1736372444.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:44.273Z,1736372444.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:40:44.274Z,1736372444.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:44.283Z,1736372444.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:44.286Z,1736372444.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.115692 m, bearing: 300.197745 deg, approach rate: 0.019276 m/s, LOS rate: 0.082251 deg/s, cmd heading: 214.868886 deg, new cmd heading: 214.957172 deg. 2025-01-08T21:40:44.287Z,1736372444.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.751710 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:44.360Z,1736372444.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:44.360Z,1736372444.360 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:44.360Z,1736372444.360 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:44.360Z,1736372444.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:44.612Z,1736372444.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:44.612Z,1736372444.612 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:44.612Z,1736372444.612 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:44.612Z,1736372444.612 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:44.712Z,1736372444.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:40:44.713Z,1736372444.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:44.724Z,1736372444.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:44.726Z,1736372444.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.122589 m, bearing: 300.233298 deg, approach rate: 0.015648 m/s, LOS rate: 0.080663 deg/s, cmd heading: 214.957173 deg, new cmd heading: 215.063829 deg. 2025-01-08T21:40:44.746Z,1736372444.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753572 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:44.865Z,1736372444.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:44.866Z,1736372444.866 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:44.866Z,1736372444.866 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:44.866Z,1736372444.866 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:45.116Z,1736372445.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:45.116Z,1736372445.116 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:45.116Z,1736372445.116 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:45.116Z,1736372445.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:45.159Z,1736372445.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:45.168Z,1736372445.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:45.171Z,1736372445.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.159698 m, bearing: 300.266939 deg, approach rate: 0.083496 m/s, LOS rate: 0.075685 deg/s, cmd heading: 215.063833 deg, new cmd heading: 215.164747 deg. 2025-01-08T21:40:45.172Z,1736372445.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.755333 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:45.368Z,1736372445.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:45.368Z,1736372445.368 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:45.368Z,1736372445.368 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:45.368Z,1736372445.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:45.583Z,1736372445.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:45.590Z,1736372445.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:45.596Z,1736372445.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:45.602Z,1736372445.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.193573 m, bearing: 300.298820 deg, approach rate: 0.079575 m/s, LOS rate: 0.074886 deg/s, cmd heading: 215.164742 deg, new cmd heading: 215.260378 deg. 2025-01-08T21:40:45.620Z,1736372445.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:45.621Z,1736372445.621 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:45.621Z,1736372445.621 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:45.621Z,1736372445.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:45.622Z,1736372445.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.757002 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:45.840Z,1736372445.840 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:40:45.872Z,1736372445.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:45.872Z,1736372445.872 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:45.872Z,1736372445.872 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:45.872Z,1736372445.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:46.021Z,1736372446.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:46.029Z,1736372446.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:46.033Z,1736372446.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.227814 m, bearing: 300.331975 deg, approach rate: 0.078743 m/s, LOS rate: 0.076239 deg/s, cmd heading: 215.260378 deg, new cmd heading: 215.359834 deg. 2025-01-08T21:40:46.034Z,1736372446.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.758738 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:46.124Z,1736372446.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:46.125Z,1736372446.125 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:46.125Z,1736372446.125 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:46.125Z,1736372446.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:46.376Z,1736372446.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:46.376Z,1736372446.376 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:46.376Z,1736372446.376 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:46.376Z,1736372446.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:46.418Z,1736372446.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:46.426Z,1736372446.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:46.429Z,1736372446.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.257904 m, bearing: 300.362098 deg, approach rate: 0.075720 m/s, LOS rate: 0.075798 deg/s, cmd heading: 215.359840 deg, new cmd heading: 215.450203 deg. 2025-01-08T21:40:46.430Z,1736372446.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.760315 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:46.628Z,1736372446.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:46.628Z,1736372446.628 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:46.628Z,1736372446.628 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:46.628Z,1736372446.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:46.844Z,1736372446.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:40:46.876Z,1736372446.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:46.880Z,1736372446.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:46.881Z,1736372446.881 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:46.881Z,1736372446.881 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:46.881Z,1736372446.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:46.888Z,1736372446.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:46.890Z,1736372446.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.281647 m, bearing: 300.397393 deg, approach rate: 0.051495 m/s, LOS rate: 0.076546 deg/s, cmd heading: 215.450203 deg, new cmd heading: 215.556082 deg. 2025-01-08T21:40:46.891Z,1736372446.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.762163 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:47.132Z,1736372447.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:47.133Z,1736372447.133 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:47.133Z,1736372447.133 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:47.133Z,1736372447.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:47.221Z,1736372447.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:47.243Z,1736372447.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:47.246Z,1736372447.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.298767 m, bearing: 300.423949 deg, approach rate: 0.048190 m/s, LOS rate: 0.074745 deg/s, cmd heading: 215.556085 deg, new cmd heading: 215.635748 deg. 2025-01-08T21:40:47.247Z,1736372447.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763554 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:47.384Z,1736372447.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:47.384Z,1736372447.384 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:47.384Z,1736372447.384 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:47.385Z,1736372447.385 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:40:47.613Z,1736372447.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:47.620Z,1736372447.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:47.622Z,1736372447.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:47.626Z,1736372447.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.317169 m, bearing: 300.454165 deg, approach rate: 0.048509 m/s, LOS rate: 0.079648 deg/s, cmd heading: 215.635752 deg, new cmd heading: 215.726396 deg. 2025-01-08T21:40:47.629Z,1736372447.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765136 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:47.636Z,1736372447.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:47.637Z,1736372447.637 [DAT](INFO): Reached modem response timeout 2025-01-08T21:40:47.638Z,1736372447.638 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:40:47.638Z,1736372447.638 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:47.888Z,1736372447.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:47.888Z,1736372447.888 [DAT](INFO): Reached modem response timeout 2025-01-08T21:40:47.889Z,1736372447.889 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:40:47.889Z,1736372447.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:48.050Z,1736372448.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:48.059Z,1736372448.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:48.062Z,1736372448.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.316193 m, bearing: 300.489363 deg, approach rate: -0.002235 m/s, LOS rate: 0.080566 deg/s, cmd heading: 215.726402 deg, new cmd heading: 215.831997 deg. 2025-01-08T21:40:48.063Z,1736372448.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766979 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:48.140Z,1736372448.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:48.140Z,1736372448.140 [DAT](INFO): Reached modem response timeout 2025-01-08T21:40:48.140Z,1736372448.140 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:40:48.141Z,1736372448.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:48.392Z,1736372448.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:48.392Z,1736372448.392 [DAT](INFO): Reached modem response timeout 2025-01-08T21:40:48.392Z,1736372448.392 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:40:48.392Z,1736372448.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:48.448Z,1736372448.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:48.467Z,1736372448.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:48.485Z,1736372448.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.314026 m, bearing: 300.521452 deg, approach rate: -0.005319 m/s, LOS rate: 0.078779 deg/s, cmd heading: 215.831997 deg, new cmd heading: 215.928263 deg. 2025-01-08T21:40:48.486Z,1736372448.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768659 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:48.645Z,1736372448.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:48.647Z,1736372448.647 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:40:48.648Z,1736372448.648 [DAT](INFO): response not received 2025-01-08T21:40:48.649Z,1736372448.649 [DAT](INFO): DAT read: user:1969> 2025-01-08T21:40:48.651Z,1736372448.651 [DAT](INFO): DAT read: Tx time:21:40:47.8812 2025-01-08T21:40:48.652Z,1736372448.652 [DAT](INFO): Ping request sent. 2025-01-08T21:40:48.652Z,1736372448.652 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:48.653Z,1736372448.653 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:48.654Z,1736372448.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002297 2025-01-08T21:40:48.897Z,1736372448.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:48.897Z,1736372448.897 [DAT](INFO): DAT read: TxSync time:21:40:47.8804 2025-01-08T21:40:48.898Z,1736372448.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246450 2025-01-08T21:40:48.908Z,1736372448.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:40:48.908Z,1736372448.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:48.918Z,1736372448.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:48.921Z,1736372448.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.311157 m, bearing: 300.558434 deg, approach rate: -0.006355 m/s, LOS rate: 0.081924 deg/s, cmd heading: 215.928262 deg, new cmd heading: 216.039210 deg. 2025-01-08T21:40:48.922Z,1736372448.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770596 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:49.148Z,1736372449.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:49.149Z,1736372449.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497082 2025-01-08T21:40:49.234Z,1736372449.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:40:49.234Z,1736372449.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:49.243Z,1736372449.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:49.246Z,1736372449.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.309113 m, bearing: 300.584708 deg, approach rate: -0.006289 m/s, LOS rate: 0.080815 deg/s, cmd heading: 216.039211 deg, new cmd heading: 216.118033 deg. 2025-01-08T21:40:49.247Z,1736372449.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.771971 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:49.400Z,1736372449.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:49.401Z,1736372449.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749233 2025-01-08T21:40:49.639Z,1736372449.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:40:49.639Z,1736372449.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:49.649Z,1736372449.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:49.652Z,1736372449.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:49.653Z,1736372449.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001575 2025-01-08T21:40:49.656Z,1736372449.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:49.663Z,1736372449.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.306610 m, bearing: 300.617330 deg, approach rate: -0.006066 m/s, LOS rate: 0.079073 deg/s, cmd heading: 216.118032 deg, new cmd heading: 216.215899 deg. 2025-01-08T21:40:49.680Z,1736372449.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773679 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:49.904Z,1736372449.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:49.904Z,1736372449.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252528 2025-01-08T21:40:50.061Z,1736372450.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:50.071Z,1736372450.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:50.074Z,1736372450.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.249756 m, bearing: 300.655377 deg, approach rate: -0.136875 m/s, LOS rate: 0.091609 deg/s, cmd heading: 216.215895 deg, new cmd heading: 216.330050 deg. 2025-01-08T21:40:50.074Z,1736372450.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775672 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:50.159Z,1736372450.159 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:50.162Z,1736372450.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509795 2025-01-08T21:40:50.408Z,1736372450.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:50.408Z,1736372450.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756488 2025-01-08T21:40:50.452Z,1736372450.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:50.461Z,1736372450.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:50.465Z,1736372450.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.197174 m, bearing: 300.690551 deg, approach rate: -0.134661 m/s, LOS rate: 0.090092 deg/s, cmd heading: 216.330054 deg, new cmd heading: 216.435590 deg. 2025-01-08T21:40:50.466Z,1736372450.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777514 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:50.661Z,1736372450.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:50.662Z,1736372450.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009911 2025-01-08T21:40:50.912Z,1736372450.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:50.913Z,1736372450.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260707 2025-01-08T21:40:50.922Z,1736372450.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:50.959Z,1736372450.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:50.967Z,1736372450.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.112061 m, bearing: 300.734479 deg, approach rate: -0.171010 m/s, LOS rate: 0.088278 deg/s, cmd heading: 216.435594 deg, new cmd heading: 216.567405 deg. 2025-01-08T21:40:50.981Z,1736372450.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.779814 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:51.164Z,1736372451.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:51.166Z,1736372451.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513839 2025-01-08T21:40:51.416Z,1736372451.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:51.417Z,1736372451.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764994 2025-01-08T21:40:51.437Z,1736372451.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:51.445Z,1736372451.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:51.449Z,1736372451.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 413.019165 m, bearing: 300.782579 deg, approach rate: -0.190918 m/s, LOS rate: 0.098876 deg/s, cmd heading: 216.567403 deg, new cmd heading: 216.711735 deg. 2025-01-08T21:40:51.450Z,1736372451.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782333 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:51.668Z,1736372451.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:51.669Z,1736372451.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017116 2025-01-08T21:40:51.885Z,1736372451.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:51.902Z,1736372451.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:51.908Z,1736372451.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:51.911Z,1736372451.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 412.940765 m, bearing: 300.824509 deg, approach rate: -0.169460 m/s, LOS rate: 0.090648 deg/s, cmd heading: 216.711739 deg, new cmd heading: 216.837552 deg. 2025-01-08T21:40:51.916Z,1736372451.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.784529 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:51.920Z,1736372451.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:51.921Z,1736372451.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268682 2025-01-08T21:40:52.172Z,1736372452.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:52.172Z,1736372452.172 [DAT](INFO): DAT read: Rx Time:21:40:50.9378 2025-01-08T21:40:52.173Z,1736372452.173 [DAT](INFO): Rx dataTimestamp_ set to:1736372452.172570 2025-01-08T21:40:52.173Z,1736372452.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521569 2025-01-08T21:40:52.352Z,1736372452.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:52.362Z,1736372452.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:40:52.366Z,1736372452.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 412.849121 m, bearing: 300.869333 deg, approach rate: -0.201748 m/s, LOS rate: 0.098699 deg/s, cmd heading: 216.837551 deg, new cmd heading: 216.972053 deg. 2025-01-08T21:40:52.367Z,1736372452.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786877 target range: 492.000000 and range: 476.50 m. 2025-01-08T21:40:52.424Z,1736372452.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:52.426Z,1736372452.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773793 2025-01-08T21:40:52.677Z,1736372452.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:52.686Z,1736372452.686 [DAT](INFO): DAT read: 21:40:50.9378 LVL= 11872, 15409, 13618, 17267, AGC= 67, IDX= 86,-0.29,-2.817,-2.924, 1.409, 2.711, PHS= 0.844, 0.695,-1.305, RAW= 33.5, -2.3, CAL= 33.6, -4.9, ROT= 116.4, 4.9 2025-01-08T21:40:52.687Z,1736372452.687 [DAT](INFO): got valid direction response: 21:40:50.9378 LVL= 11872, 15409, 13618, 17267, AGC= 67, IDX= 86,-0.29,-2.817,-2.924, 1.409, 2.711, PHS= 0.844, 0.695,-1.305, RAW= 33.5, -2.3, CAL= 33.6, -4.9, ROT= 116.4, 4.9 2025-01-08T21:40:52.688Z,1736372452.688 [DAT](INFO): DAT read: Bearing 116.4, 4.9 (Local) 2025-01-08T21:40:52.689Z,1736372452.689 [DAT](INFO): Local bearing/azimuth received: Bearing 116.4, 4.9 (Local) 2025-01-08T21:40:52.690Z,1736372452.690 [DAT](INFO): DAT read: Range 10 to 50 : 489.3 m (Round-trip 652.5 ms) speed 0.0 m/s 2025-01-08T21:40:52.691Z,1736372452.691 [DAT](INFO): DAT read: user:1970> 2025-01-08T21:40:52.692Z,1736372452.692 [DAT](INFO): DAT read: Tx time:21:40:52.0312 2025-01-08T21:40:52.692Z,1736372452.692 [DAT](INFO): Ping request sent. 2025-01-08T21:40:52.692Z,1736372452.692 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:52.693Z,1736372452.693 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:40:52.694Z,1736372452.694 [DAT](INFO): direction in FSK: [0.067611,0.863083,0.500517] 2025-01-08T21:40:52.694Z,1736372452.694 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:52.694Z,1736372452.694 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:52.737Z,1736372452.737 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:52.737Z,1736372452.737 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:52.772Z,1736372452.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:52.815Z,1736372452.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 489.299988 m, deltaT: 15.125503 s, deltaX: 12.799988 m, approachRate: 0.846252 m/s, rangeRepo size: 4 2025-01-08T21:40:52.817Z,1736372452.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 489.299988 m, bearing: 301.591937 deg, lat: 36.902261 deg, lon: -122.120376 deg, deltaT: 19.156623 s, deltaX: -2.700012 m, approachRate: -0.140944 m/s, posRepo size: 4 2025-01-08T21:40:52.818Z,1736372452.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:40:52.834Z,1736372452.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 401.312073 m, bearing: 301.894041 deg, approach rate: 0.000000 m/s, LOS rate: 0.098699 deg/s, cmd heading: 216.972051 deg, new cmd heading: 217.104693 deg. 2025-01-08T21:40:52.844Z,1736372452.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.789192 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:40:52.928Z,1736372452.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:52.929Z,1736372452.929 [DAT](INFO): DAT read: TxSync time:21:40:52.0304 2025-01-08T21:40:53.180Z,1736372453.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:53.214Z,1736372453.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:53.224Z,1736372453.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:40:53.226Z,1736372453.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 401.232727 m, bearing: 301.938215 deg, approach rate: -0.192256 m/s, LOS rate: 0.107057 deg/s, cmd heading: 217.104693 deg, new cmd heading: 217.237243 deg. 2025-01-08T21:40:53.247Z,1736372453.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791505 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:40:53.432Z,1736372453.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:53.612Z,1736372453.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:53.629Z,1736372453.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:40:53.632Z,1736372453.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 401.161407 m, bearing: 301.978053 deg, approach rate: -0.175741 m/s, LOS rate: 0.098183 deg/s, cmd heading: 217.237240 deg, new cmd heading: 217.356774 deg. 2025-01-08T21:40:53.635Z,1736372453.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793591 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:40:53.685Z,1736372453.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:53.936Z,1736372453.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:54.026Z,1736372454.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:40:54.026Z,1736372454.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:54.034Z,1736372454.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:54.036Z,1736372454.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:40:54.039Z,1736372454.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 401.088623 m, bearing: 302.019463 deg, approach rate: -0.178693 m/s, LOS rate: 0.101683 deg/s, cmd heading: 217.356768 deg, new cmd heading: 217.481020 deg. 2025-01-08T21:40:54.040Z,1736372454.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795760 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:40:54.189Z,1736372454.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:54.189Z,1736372454.189 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:54.189Z,1736372454.189 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:54.190Z,1736372454.190 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:54.413Z,1736372454.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:40:54.414Z,1736372454.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:54.423Z,1736372454.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:40:54.426Z,1736372454.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 401.020538 m, bearing: 302.058296 deg, approach rate: -0.176017 m/s, LOS rate: 0.100411 deg/s, cmd heading: 217.481023 deg, new cmd heading: 217.597542 deg. 2025-01-08T21:40:54.427Z,1736372454.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.797794 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:40:54.440Z,1736372454.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:54.441Z,1736372454.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748342 2025-01-08T21:40:54.692Z,1736372454.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:54.692Z,1736372454.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000039 2025-01-08T21:40:54.811Z,1736372454.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:40:54.812Z,1736372454.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:54.821Z,1736372454.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:40:54.824Z,1736372454.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 400.950562 m, bearing: 302.098159 deg, approach rate: -0.175849 m/s, LOS rate: 0.100193 deg/s, cmd heading: 217.597546 deg, new cmd heading: 217.717158 deg. 2025-01-08T21:40:54.825Z,1736372454.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.799881 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:40:54.947Z,1736372454.947 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:54.949Z,1736372454.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256124 2025-01-08T21:40:55.196Z,1736372455.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:55.196Z,1736372455.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504100 2025-01-08T21:40:55.247Z,1736372455.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:55.281Z,1736372455.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:40:55.296Z,1736372455.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 400.910126 m, bearing: 302.138476 deg, approach rate: -0.087989 m/s, LOS rate: 0.087737 deg/s, cmd heading: 217.717157 deg, new cmd heading: 217.838117 deg. 2025-01-08T21:40:55.297Z,1736372455.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.801992 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:40:55.448Z,1736372455.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:55.449Z,1736372455.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756492 2025-01-08T21:40:55.617Z,1736372455.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:55.626Z,1736372455.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:40:55.629Z,1736372455.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 400.875366 m, bearing: 302.172766 deg, approach rate: -0.100489 m/s, LOS rate: 0.099142 deg/s, cmd heading: 217.838119 deg, new cmd heading: 217.941000 deg. 2025-01-08T21:40:55.630Z,1736372455.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803788 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:40:55.700Z,1736372455.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:55.701Z,1736372455.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008538 2025-01-08T21:40:55.952Z,1736372455.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:55.952Z,1736372455.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260067 2025-01-08T21:40:56.050Z,1736372456.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:56.057Z,1736372456.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:56.059Z,1736372456.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:40:56.062Z,1736372456.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 400.853455 m, bearing: 302.211000 deg, approach rate: -0.050650 m/s, LOS rate: 0.088382 deg/s, cmd heading: 217.940996 deg, new cmd heading: 218.055701 deg. 2025-01-08T21:40:56.063Z,1736372456.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.805790 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:40:56.204Z,1736372456.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:56.205Z,1736372456.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512224 2025-01-08T21:40:56.428Z,1736372456.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:56.438Z,1736372456.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:40:56.441Z,1736372456.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 400.833679 m, bearing: 302.244476 deg, approach rate: -0.052205 m/s, LOS rate: 0.088381 deg/s, cmd heading: 218.055702 deg, new cmd heading: 218.156137 deg. 2025-01-08T21:40:56.442Z,1736372456.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.807543 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:40:56.456Z,1736372456.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:56.457Z,1736372456.457 [DAT](INFO): DAT read: Rx Time:21:40:55.0783 2025-01-08T21:40:56.457Z,1736372456.457 [DAT](INFO): Rx dataTimestamp_ set to:1736372456.456715 2025-01-08T21:40:56.458Z,1736372456.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765156 2025-01-08T21:40:56.708Z,1736372456.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:56.708Z,1736372456.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016000 2025-01-08T21:40:56.836Z,1736372456.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:56.845Z,1736372456.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.30 m. 2025-01-08T21:40:56.848Z,1736372456.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.299988 m, nav range: 400.811615 m, bearing: 302.280584 deg, approach rate: -0.054171 m/s, LOS rate: 0.088656 deg/s, cmd heading: 218.156133 deg, new cmd heading: 218.264462 deg. 2025-01-08T21:40:56.850Z,1736372456.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.809433 target range: 489.299988 and range: 489.30 m. 2025-01-08T21:40:56.962Z,1736372456.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:56.987Z,1736372456.987 [DAT](INFO): DAT read: 21:40:55.0783 LVL= 15264, 18929, 15586, 22899, AGC= 68, IDX= 339, 0.11, 2.994, 2.865, 0.882, 2.161, PHS= 0.921, 0.751,-1.282, RAW= 34.0, -3.7, CAL= 34.4, -7.1, ROT= 115.6, 7.1 2025-01-08T21:40:56.993Z,1736372456.993 [DAT](INFO): got valid direction response: 21:40:55.0783 LVL= 15264, 18929, 15586, 22899, AGC= 68, IDX= 339, 0.11, 2.994, 2.865, 0.882, 2.161, PHS= 0.921, 0.751,-1.282, RAW= 34.0, -3.7, CAL= 34.4, -7.1, ROT= 115.6, 7.1 2025-01-08T21:40:56.994Z,1736372456.994 [DAT](INFO): DAT read: Bearing 115.6, 7.1 (Local) 2025-01-08T21:40:56.994Z,1736372456.994 [DAT](INFO): Local bearing/azimuth received: Bearing 115.6, 7.1 (Local) 2025-01-08T21:40:57.016Z,1736372457.016 [DAT](INFO): DAT read: Range 10 to 50 : 482.1 m (Round-trip 642.8 ms) speed -0.3 m/s 2025-01-08T21:40:57.017Z,1736372457.017 [DAT](INFO): DAT read: user:1971> 2025-01-08T21:40:57.017Z,1736372457.017 [DAT](INFO): DAT read: Tx time:21:40:56.1813 2025-01-08T21:40:57.018Z,1736372457.018 [DAT](INFO): Ping request sent. 2025-01-08T21:40:57.018Z,1736372457.018 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:40:57.018Z,1736372457.018 [DAT](INFO): DAT read: TxSync time:21:40:56.1805 2025-01-08T21:40:57.019Z,1736372457.019 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:40:57.033Z,1736372457.033 [DAT](INFO): direction in FSK: [0.093343,0.856685,0.507324] 2025-01-08T21:40:57.033Z,1736372457.033 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:57.033Z,1736372457.033 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:57.041Z,1736372457.041 [DAT](INFO): publishing transmit ping time 2025-01-08T21:40:57.041Z,1736372457.041 [DAT](INFO): publishing direction and range info 2025-01-08T21:40:57.212Z,1736372457.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:57.287Z,1736372457.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:57.302Z,1736372457.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 482.100006 m, deltaT: 4.284644 s, deltaX: -7.199982 m, approachRate: -1.680415 m/s, rangeRepo size: 4 2025-01-08T21:40:57.304Z,1736372457.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 482.100006 m, bearing: 299.648640 deg, lat: 36.902187 deg, lon: -122.120355 deg, deltaT: 4.284644 s, deltaX: -7.199982 m, approachRate: -1.680415 m/s, posRepo size: 4 2025-01-08T21:40:57.305Z,1736372457.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.10 m. 2025-01-08T21:40:57.308Z,1736372457.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.100006 m, nav range: 394.799561 m, bearing: 301.448614 deg, approach rate: 0.000000 m/s, LOS rate: 0.088656 deg/s, cmd heading: 218.264460 deg, new cmd heading: 218.385720 deg. 2025-01-08T21:40:57.309Z,1736372457.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.811550 target range: 482.100006 and range: 482.10 m. 2025-01-08T21:40:57.464Z,1736372457.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:57.637Z,1736372457.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:57.648Z,1736372457.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.10 m. 2025-01-08T21:40:57.653Z,1736372457.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.100006 m, nav range: 394.788300 m, bearing: 301.478966 deg, approach rate: -0.032435 m/s, LOS rate: 0.087425 deg/s, cmd heading: 218.385723 deg, new cmd heading: 218.476782 deg. 2025-01-08T21:40:57.656Z,1736372457.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.813139 target range: 482.100006 and range: 482.10 m. 2025-01-08T21:40:57.716Z,1736372457.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:57.969Z,1736372457.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:58.072Z,1736372458.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:58.079Z,1736372458.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:40:58.081Z,1736372458.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.10 m. 2025-01-08T21:40:58.085Z,1736372458.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.100006 m, nav range: 394.788544 m, bearing: 301.515063 deg, approach rate: 0.000564 m/s, LOS rate: 0.083377 deg/s, cmd heading: 218.476783 deg, new cmd heading: 218.585071 deg. 2025-01-08T21:40:58.086Z,1736372458.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.815029 target range: 482.100006 and range: 482.10 m. 2025-01-08T21:40:58.220Z,1736372458.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:58.220Z,1736372458.220 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:40:58.220Z,1736372458.220 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:40:58.220Z,1736372458.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:40:58.464Z,1736372458.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:58.472Z,1736372458.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:58.473Z,1736372458.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454996 2025-01-08T21:40:58.476Z,1736372458.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.10 m. 2025-01-08T21:40:58.478Z,1736372458.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.100006 m, nav range: 394.788879 m, bearing: 301.547608 deg, approach rate: 0.000851 m/s, LOS rate: 0.082486 deg/s, cmd heading: 218.585069 deg, new cmd heading: 218.682706 deg. 2025-01-08T21:40:58.480Z,1736372458.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.816733 target range: 482.100006 and range: 482.10 m. 2025-01-08T21:40:58.726Z,1736372458.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:58.728Z,1736372458.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709938 2025-01-08T21:40:58.891Z,1736372458.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:58.901Z,1736372458.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.10 m. 2025-01-08T21:40:58.904Z,1736372458.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.100006 m, nav range: 394.789398 m, bearing: 301.582999 deg, approach rate: 0.001219 m/s, LOS rate: 0.083173 deg/s, cmd heading: 218.682699 deg, new cmd heading: 218.788870 deg. 2025-01-08T21:40:58.905Z,1736372458.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.818586 target range: 482.100006 and range: 482.10 m. 2025-01-08T21:40:58.978Z,1736372458.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:58.981Z,1736372458.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962712 2025-01-08T21:40:59.228Z,1736372459.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:59.228Z,1736372459.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210777 2025-01-08T21:40:59.290Z,1736372459.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:59.300Z,1736372459.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.10 m. 2025-01-08T21:40:59.303Z,1736372459.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.100006 m, nav range: 394.789124 m, bearing: 301.615980 deg, approach rate: -0.000688 m/s, LOS rate: 0.082660 deg/s, cmd heading: 218.788868 deg, new cmd heading: 218.887812 deg. 2025-01-08T21:40:59.304Z,1736372459.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.820313 target range: 482.100006 and range: 482.10 m. 2025-01-08T21:40:59.480Z,1736372459.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:59.480Z,1736372459.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.462582 2025-01-08T21:40:59.673Z,1736372459.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:40:59.700Z,1736372459.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.10 m. 2025-01-08T21:40:59.703Z,1736372459.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.100006 m, nav range: 394.787598 m, bearing: 301.647573 deg, approach rate: -0.003813 m/s, LOS rate: 0.078954 deg/s, cmd heading: 218.887810 deg, new cmd heading: 218.982588 deg. 2025-01-08T21:40:59.708Z,1736372459.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.821967 target range: 482.100006 and range: 482.10 m. 2025-01-08T21:40:59.733Z,1736372459.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:59.734Z,1736372459.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716435 2025-01-08T21:40:59.985Z,1736372459.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:40:59.988Z,1736372459.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969566 2025-01-08T21:41:00.087Z,1736372460.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:00.110Z,1736372460.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:00.117Z,1736372460.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.10 m. 2025-01-08T21:41:00.124Z,1736372460.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.100006 m, nav range: 394.780609 m, bearing: 301.681529 deg, approach rate: -0.016789 m/s, LOS rate: 0.081578 deg/s, cmd heading: 218.982586 deg, new cmd heading: 219.084456 deg. 2025-01-08T21:41:00.125Z,1736372460.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.823745 target range: 482.100006 and range: 482.10 m. 2025-01-08T21:41:00.236Z,1736372460.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:00.236Z,1736372460.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218702 2025-01-08T21:41:00.474Z,1736372460.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:00.484Z,1736372460.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.10 m. 2025-01-08T21:41:00.488Z,1736372460.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:00.489Z,1736372460.489 [DAT](INFO): DAT read: Rx Time:21:40:59.2297 2025-01-08T21:41:00.489Z,1736372460.489 [DAT](INFO): Rx dataTimestamp_ set to:1736372460.489024 2025-01-08T21:41:00.490Z,1736372460.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472113 2025-01-08T21:41:00.491Z,1736372460.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.100006 m, nav range: 394.773102 m, bearing: 301.713303 deg, approach rate: -0.020407 m/s, LOS rate: 0.086372 deg/s, cmd heading: 219.084451 deg, new cmd heading: 219.179775 deg. 2025-01-08T21:41:00.492Z,1736372460.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.825409 target range: 482.100006 and range: 482.10 m. 2025-01-08T21:41:00.740Z,1736372460.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:00.742Z,1736372460.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.723927 2025-01-08T21:41:00.874Z,1736372460.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:00.943Z,1736372460.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.10 m. 2025-01-08T21:41:00.946Z,1736372460.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.100006 m, nav range: 394.764496 m, bearing: 301.746023 deg, approach rate: -0.018923 m/s, LOS rate: 0.071946 deg/s, cmd heading: 219.179773 deg, new cmd heading: 219.277933 deg. 2025-01-08T21:41:00.952Z,1736372460.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.827122 target range: 482.100006 and range: 482.10 m. 2025-01-08T21:41:00.994Z,1736372460.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:01.018Z,1736372461.018 [DAT](INFO): DAT read: 21:40:59.2297 LVL= 20384, 23793, 19442, 31331, AGC= 70, IDX= 434,-0.16,-1.891,-2.204, 2.296,-2.793, PHS= 0.990, 0.636,-1.197, RAW= 38.7, -4.3, CAL= 39.7, -8.1, ROT= 110.3, 8.1 2025-01-08T21:41:01.040Z,1736372461.040 [DAT](INFO): got valid direction response: 21:40:59.2297 LVL= 20384, 23793, 19442, 31331, AGC= 70, IDX= 434,-0.16,-1.891,-2.204, 2.296,-2.793, PHS= 0.990, 0.636,-1.197, RAW= 38.7, -4.3, CAL= 39.7, -8.1, ROT= 110.3, 8.1 2025-01-08T21:41:01.041Z,1736372461.041 [DAT](INFO): DAT read: Bearing 110.3, 8.1 (Local) 2025-01-08T21:41:01.041Z,1736372461.041 [DAT](INFO): Local bearing/azimuth received: Bearing 110.3, 8.1 (Local) 2025-01-08T21:41:01.043Z,1736372461.043 [DAT](INFO): DAT read: Range 10 to 50 : 483.2 m (Round-trip 644.3 ms) speed 0.2 m/s 2025-01-08T21:41:01.052Z,1736372461.052 [DAT](INFO): DAT read: user:1972> 2025-01-08T21:41:01.053Z,1736372461.053 [DAT](INFO): DAT read: Tx time:21:41:00.3313 2025-01-08T21:41:01.053Z,1736372461.053 [DAT](INFO): Ping request sent. 2025-01-08T21:41:01.053Z,1736372461.053 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:01.053Z,1736372461.053 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:01.054Z,1736372461.054 [DAT](INFO): direction in FSK: [0.093823,0.814516,0.572504] 2025-01-08T21:41:01.054Z,1736372461.054 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:01.055Z,1736372461.055 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:01.097Z,1736372461.097 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:01.097Z,1736372461.097 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:01.246Z,1736372461.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:01.246Z,1736372461.246 [DAT](INFO): DAT read: TxSync time:21:41:00.3305 2025-01-08T21:41:01.358Z,1736372461.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:01.392Z,1736372461.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 483.200012 m, deltaT: 4.032127 s, deltaX: 1.100006 m, approachRate: 0.272810 m/s, rangeRepo size: 4 2025-01-08T21:41:01.394Z,1736372461.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 483.200012 m, bearing: 301.909397 deg, lat: 36.902003 deg, lon: -122.120270 deg, deltaT: 4.032127 s, deltaX: 1.100006 m, approachRate: 0.272810 m/s, posRepo size: 4 2025-01-08T21:41:01.399Z,1736372461.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.20 m. 2025-01-08T21:41:01.402Z,1736372461.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.200012 m, nav range: 377.773956 m, bearing: 299.753786 deg, approach rate: 0.000000 m/s, LOS rate: 0.071946 deg/s, cmd heading: 219.277937 deg, new cmd heading: 219.374618 deg. 2025-01-08T21:41:01.403Z,1736372461.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.828809 target range: 483.200012 and range: 483.20 m. 2025-01-08T21:41:01.496Z,1736372461.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:01.702Z,1736372461.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:01.722Z,1736372461.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.20 m. 2025-01-08T21:41:01.726Z,1736372461.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.200012 m, nav range: 377.756836 m, bearing: 299.783862 deg, approach rate: -0.051091 m/s, LOS rate: 0.089760 deg/s, cmd heading: 219.374611 deg, new cmd heading: 219.464846 deg. 2025-01-08T21:41:01.727Z,1736372461.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.830384 target range: 483.200012 and range: 483.20 m. 2025-01-08T21:41:01.748Z,1736372461.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:02.002Z,1736372462.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:02.137Z,1736372462.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:02.144Z,1736372462.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:02.146Z,1736372462.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.20 m. 2025-01-08T21:41:02.150Z,1736372462.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.200012 m, nav range: 377.723999 m, bearing: 299.822510 deg, approach rate: -0.077504 m/s, LOS rate: 0.091228 deg/s, cmd heading: 219.464852 deg, new cmd heading: 219.580805 deg. 2025-01-08T21:41:02.151Z,1736372462.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.832408 target range: 483.200012 and range: 483.20 m. 2025-01-08T21:41:02.252Z,1736372462.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:02.253Z,1736372462.253 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:02.253Z,1736372462.253 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:02.253Z,1736372462.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:02.504Z,1736372462.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:02.504Z,1736372462.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.451451 2025-01-08T21:41:02.506Z,1736372462.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:02.514Z,1736372462.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.20 m. 2025-01-08T21:41:02.518Z,1736372462.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.200012 m, nav range: 377.696228 m, bearing: 299.855265 deg, approach rate: -0.075449 m/s, LOS rate: 0.088995 deg/s, cmd heading: 219.580801 deg, new cmd heading: 219.679073 deg. 2025-01-08T21:41:02.552Z,1736372462.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.834123 target range: 483.200012 and range: 483.20 m. 2025-01-08T21:41:02.756Z,1736372462.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:02.756Z,1736372462.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703308 2025-01-08T21:41:02.927Z,1736372462.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:02.936Z,1736372462.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.20 m. 2025-01-08T21:41:02.939Z,1736372462.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.200012 m, nav range: 377.664185 m, bearing: 299.892666 deg, approach rate: -0.075914 m/s, LOS rate: 0.088613 deg/s, cmd heading: 219.679074 deg, new cmd heading: 219.791285 deg. 2025-01-08T21:41:02.956Z,1736372462.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.836082 target range: 483.200012 and range: 483.20 m. 2025-01-08T21:41:03.010Z,1736372463.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:03.012Z,1736372463.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958806 2025-01-08T21:41:03.260Z,1736372463.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:03.260Z,1736372463.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207292 2025-01-08T21:41:03.337Z,1736372463.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:03.346Z,1736372463.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.20 m. 2025-01-08T21:41:03.350Z,1736372463.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.200012 m, nav range: 377.622375 m, bearing: 299.929298 deg, approach rate: -0.102061 m/s, LOS rate: 0.089435 deg/s, cmd heading: 219.791280 deg, new cmd heading: 219.901190 deg. 2025-01-08T21:41:03.351Z,1736372463.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.838000 target range: 483.200012 and range: 483.20 m. 2025-01-08T21:41:03.512Z,1736372463.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:03.512Z,1736372463.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459385 2025-01-08T21:41:03.725Z,1736372463.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:03.735Z,1736372463.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.20 m. 2025-01-08T21:41:03.738Z,1736372463.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.200012 m, nav range: 377.582550 m, bearing: 299.963836 deg, approach rate: -0.102344 m/s, LOS rate: 0.088763 deg/s, cmd heading: 219.901191 deg, new cmd heading: 220.004813 deg. 2025-01-08T21:41:03.739Z,1736372463.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.839808 target range: 483.200012 and range: 483.20 m. 2025-01-08T21:41:03.764Z,1736372463.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:03.765Z,1736372463.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711548 2025-01-08T21:41:04.018Z,1736372464.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:04.021Z,1736372464.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967140 2025-01-08T21:41:04.152Z,1736372464.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:04.159Z,1736372464.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:04.161Z,1736372464.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.20 m. 2025-01-08T21:41:04.164Z,1736372464.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.200012 m, nav range: 377.531616 m, bearing: 300.002716 deg, approach rate: -0.119419 m/s, LOS rate: 0.091172 deg/s, cmd heading: 220.004819 deg, new cmd heading: 220.121477 deg. 2025-01-08T21:41:04.166Z,1736372464.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.841845 target range: 483.200012 and range: 483.20 m. 2025-01-08T21:41:04.269Z,1736372464.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:04.269Z,1736372464.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216437 2025-01-08T21:41:04.520Z,1736372464.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:04.521Z,1736372464.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467602 2025-01-08T21:41:04.550Z,1736372464.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:04.560Z,1736372464.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.20 m. 2025-01-08T21:41:04.562Z,1736372464.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.200012 m, nav range: 377.483856 m, bearing: 300.038860 deg, approach rate: -0.120009 m/s, LOS rate: 0.090832 deg/s, cmd heading: 220.121479 deg, new cmd heading: 220.229923 deg. 2025-01-08T21:41:04.564Z,1736372464.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843737 target range: 483.200012 and range: 483.20 m. 2025-01-08T21:41:04.772Z,1736372464.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:04.772Z,1736372464.772 [DAT](INFO): DAT read: Rx Time:21:41:03.3810 2025-01-08T21:41:04.773Z,1736372464.773 [DAT](INFO): Rx dataTimestamp_ set to:1736372464.772650 2025-01-08T21:41:04.773Z,1736372464.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.720460 2025-01-08T21:41:04.937Z,1736372464.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:04.961Z,1736372464.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.20 m. 2025-01-08T21:41:04.968Z,1736372464.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.200012 m, nav range: 377.437378 m, bearing: 300.074004 deg, approach rate: -0.115722 m/s, LOS rate: 0.087513 deg/s, cmd heading: 220.229929 deg, new cmd heading: 220.335373 deg. 2025-01-08T21:41:04.969Z,1736372464.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845578 target range: 483.200012 and range: 483.20 m. 2025-01-08T21:41:05.025Z,1736372465.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:05.029Z,1736372465.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.974844 2025-01-08T21:41:05.098Z,1736372465.098 [DockingStepper](ERROR): getADC uart error serial timeout 2025-01-08T21:41:05.098Z,1736372465.098 [DockingStepper](FAULT): uart error - getPosition..serial timeout 2025-01-08T21:41:05.098Z,1736372465.098 [DockingStepper] Communications Fault, FailCount= 1 2025-01-08T21:41:05.098Z,1736372465.098 [DockingStepper](ERROR): Communications Fault 2025-01-08T21:41:05.268Z,1736372465.268 [CBIT](ERROR): Communications Fault in component: DockingStepper 2025-01-08T21:41:05.277Z,1736372465.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:05.286Z,1736372465.286 [DAT](INFO): DAT read: 21:41:03.3810 LVL= 20848, 25393, 22818, 32403, AGC= 65, IDX= 447,-0.43,-2.399,-2.728, 1.864, 3.011, PHS= 0.961, 0.591,-1.150, RAW= 39.4, -4.2, CAL= 40.6, -8.0, ROT= 109.4, 8.0 2025-01-08T21:41:05.287Z,1736372465.287 [DAT](INFO): got valid direction response: 21:41:03.3810 LVL= 20848, 25393, 22818, 32403, AGC= 65, IDX= 447,-0.43,-2.399,-2.728, 1.864, 3.011, PHS= 0.961, 0.591,-1.150, RAW= 39.4, -4.2, CAL= 40.6, -8.0, ROT= 109.4, 8.0 2025-01-08T21:41:05.288Z,1736372465.288 [DAT](INFO): DAT read: Bearing 109.4, 8.0 (Local) 2025-01-08T21:41:05.289Z,1736372465.289 [DAT](INFO): Local bearing/azimuth received: Bearing 109.4, 8.0 (Local) 2025-01-08T21:41:05.290Z,1736372465.290 [DAT](INFO): DAT read: Range 10 to 50 : 484.2 m (Round-trip 645.6 ms) speed -0.3 m/s 2025-01-08T21:41:05.292Z,1736372465.292 [DAT](INFO): DAT read: user:1973> 2025-01-08T21:41:05.293Z,1736372465.293 [DAT](INFO): DAT read: Tx time:21:41:04.4813 2025-01-08T21:41:05.293Z,1736372465.293 [DAT](INFO): Ping request sent. 2025-01-08T21:41:05.293Z,1736372465.293 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:05.294Z,1736372465.294 [DAT](INFO): DAT read: TxSync time:21:41:04.4805 2025-01-08T21:41:05.294Z,1736372465.294 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:05.295Z,1736372465.295 [DAT](INFO): direction in FSK: [0.090329,0.807548,0.582844] 2025-01-08T21:41:05.296Z,1736372465.296 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:05.296Z,1736372465.296 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:05.300Z,1736372465.300 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:05.300Z,1736372465.300 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:05.425Z,1736372465.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:05.463Z,1736372465.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 484.200012 m, deltaT: 4.283590 s, deltaX: 1.000000 m, approachRate: 0.233449 m/s, rangeRepo size: 4 2025-01-08T21:41:05.477Z,1736372465.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 484.200012 m, bearing: 303.025145 deg, lat: 36.902022 deg, lon: -122.120233 deg, deltaT: 4.283590 s, deltaX: 1.000000 m, approachRate: 0.233449 m/s, posRepo size: 4 2025-01-08T21:41:05.478Z,1736372465.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m. 2025-01-08T21:41:05.485Z,1736372465.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.200012 m, nav range: 375.574158 m, bearing: 300.651941 deg, approach rate: 0.000000 m/s, LOS rate: 0.087513 deg/s, cmd heading: 220.335373 deg, new cmd heading: 220.466929 deg. 2025-01-08T21:41:05.486Z,1736372465.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.847874 target range: 484.200012 and range: 484.20 m. 2025-01-08T21:41:05.525Z,1736372465.525 [DockingStepper](INFO): Stop 2025-01-08T21:41:05.525Z,1736372465.525 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-01-08T21:41:05.525Z,1736372465.525 [DockingStepper](INFO): Powering down 2025-01-08T21:41:05.528Z,1736372465.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:05.746Z,1736372465.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:05.766Z,1736372465.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m. 2025-01-08T21:41:05.773Z,1736372465.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.200012 m, nav range: 375.533051 m, bearing: 300.682454 deg, approach rate: -0.135192 m/s, LOS rate: 0.100363 deg/s, cmd heading: 220.466922 deg, new cmd heading: 220.558473 deg. 2025-01-08T21:41:05.774Z,1736372465.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.849472 target range: 484.200012 and range: 484.20 m. 2025-01-08T21:41:05.780Z,1736372465.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:05.800Z,1736372465.800 [DockingStepper](INFO): Stopping 2025-01-08T21:41:06.033Z,1736372466.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:06.170Z,1736372466.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:06.203Z,1736372466.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:06.205Z,1736372466.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m. 2025-01-08T21:41:06.208Z,1736372466.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.200012 m, nav range: 375.458527 m, bearing: 300.723696 deg, approach rate: -0.169935 m/s, LOS rate: 0.094061 deg/s, cmd heading: 220.558474 deg, new cmd heading: 220.682224 deg. 2025-01-08T21:41:06.209Z,1736372466.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.851631 target range: 484.200012 and range: 484.20 m. 2025-01-08T21:41:06.222Z,1736372466.222 [DockingStepper](INFO): Stopping 2025-01-08T21:41:06.285Z,1736372466.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:06.286Z,1736372466.286 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:06.286Z,1736372466.286 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:06.286Z,1736372466.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:06.536Z,1736372466.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:06.537Z,1736372466.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243478 2025-01-08T21:41:06.564Z,1736372466.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:06.574Z,1736372466.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m. 2025-01-08T21:41:06.577Z,1736372466.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.200012 m, nav range: 375.389587 m, bearing: 300.761986 deg, approach rate: -0.186859 m/s, LOS rate: 0.103803 deg/s, cmd heading: 220.682224 deg, new cmd heading: 220.797114 deg. 2025-01-08T21:41:06.577Z,1736372466.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.853637 target range: 484.200012 and range: 484.20 m. 2025-01-08T21:41:06.612Z,1736372466.612 [DockingStepper](INFO): Stopping 2025-01-08T21:41:06.788Z,1736372466.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:06.788Z,1736372466.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495257 2025-01-08T21:41:06.961Z,1736372466.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:06.971Z,1736372466.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m. 2025-01-08T21:41:06.974Z,1736372466.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.200012 m, nav range: 375.319366 m, bearing: 300.800598 deg, approach rate: -0.176802 m/s, LOS rate: 0.097235 deg/s, cmd heading: 220.797107 deg, new cmd heading: 220.912965 deg. 2025-01-08T21:41:06.991Z,1736372466.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.855659 target range: 484.200012 and range: 484.20 m. 2025-01-08T21:41:07.012Z,1736372467.012 [DockingStepper](INFO): Stopping 2025-01-08T21:41:07.041Z,1736372467.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:07.044Z,1736372467.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749872 2025-01-08T21:41:07.292Z,1736372467.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:07.292Z,1736372467.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999204 2025-01-08T21:41:07.381Z,1736372467.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:07.391Z,1736372467.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m. 2025-01-08T21:41:07.394Z,1736372467.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.200012 m, nav range: 375.246307 m, bearing: 300.842573 deg, approach rate: -0.173949 m/s, LOS rate: 0.099958 deg/s, cmd heading: 220.912961 deg, new cmd heading: 221.038909 deg. 2025-01-08T21:41:07.402Z,1736372467.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.857857 target range: 484.200012 and range: 484.20 m. 2025-01-08T21:41:07.443Z,1736372467.443 [DockingStepper](INFO): Stopping 2025-01-08T21:41:07.544Z,1736372467.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:07.545Z,1736372467.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251464 2025-01-08T21:41:07.761Z,1736372467.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:07.770Z,1736372467.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m. 2025-01-08T21:41:07.773Z,1736372467.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.200012 m, nav range: 375.179718 m, bearing: 300.880570 deg, approach rate: -0.175433 m/s, LOS rate: 0.100124 deg/s, cmd heading: 221.038910 deg, new cmd heading: 221.152922 deg. 2025-01-08T21:41:07.774Z,1736372467.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.859847 target range: 484.200012 and range: 484.20 m. 2025-01-08T21:41:07.788Z,1736372467.788 [DockingStepper](INFO): Stopping 2025-01-08T21:41:07.796Z,1736372467.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:07.796Z,1736372467.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503287 2025-01-08T21:41:08.048Z,1736372468.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:08.049Z,1736372468.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755420 2025-01-08T21:41:08.192Z,1736372468.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:08.204Z,1736372468.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m. 2025-01-08T21:41:08.207Z,1736372468.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.200012 m, nav range: 375.101196 m, bearing: 300.923870 deg, approach rate: -0.181093 m/s, LOS rate: 0.099883 deg/s, cmd heading: 221.152919 deg, new cmd heading: 221.282847 deg. 2025-01-08T21:41:08.208Z,1736372468.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.862114 target range: 484.200012 and range: 484.20 m. 2025-01-08T21:41:08.221Z,1736372468.221 [DockingStepper](INFO): Stopping 2025-01-08T21:41:08.300Z,1736372468.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:08.301Z,1736372468.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007509 2025-01-08T21:41:08.552Z,1736372468.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:08.553Z,1736372468.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260081 2025-01-08T21:41:08.579Z,1736372468.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:08.587Z,1736372468.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:08.589Z,1736372468.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m. 2025-01-08T21:41:08.592Z,1736372468.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.200012 m, nav range: 375.030487 m, bearing: 300.962751 deg, approach rate: -0.183681 m/s, LOS rate: 0.101021 deg/s, cmd heading: 221.282843 deg, new cmd heading: 221.399509 deg. 2025-01-08T21:41:08.593Z,1736372468.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.864150 target range: 484.200012 and range: 484.20 m. 2025-01-08T21:41:08.640Z,1736372468.640 [DockingStepper](INFO): Stopping 2025-01-08T21:41:08.804Z,1736372468.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:08.805Z,1736372468.805 [DAT](INFO): DAT read: Rx Time:21:41:07.5442 2025-01-08T21:41:08.806Z,1736372468.806 [DAT](INFO): Rx dataTimestamp_ set to:1736372468.805485 2025-01-08T21:41:08.807Z,1736372468.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513554 2025-01-08T21:41:08.985Z,1736372468.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:08.996Z,1736372468.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m. 2025-01-08T21:41:08.999Z,1736372468.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.200012 m, nav range: 374.956360 m, bearing: 301.003476 deg, approach rate: -0.182211 m/s, LOS rate: 0.100124 deg/s, cmd heading: 221.399503 deg, new cmd heading: 221.521701 deg. 2025-01-08T21:41:09.000Z,1736372469.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.866283 target range: 484.200012 and range: 484.20 m. 2025-01-08T21:41:09.013Z,1736372469.013 [DockingStepper](INFO): Stopping 2025-01-08T21:41:09.056Z,1736372469.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:09.057Z,1736372469.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763493 2025-01-08T21:41:09.308Z,1736372469.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:09.314Z,1736372469.314 [DAT](INFO): DAT read: 21:41:07.5442 LVL= 11664, 19121, 15858, 21123, AGC= 71, IDX= 53,-0.03,-2.481,-2.892, 1.724, 2.933, PHS= 0.957, 0.505,-1.213, RAW= 41.4, -2.5, CAL= 42.2, -5.6, ROT= 107.8, 5.6 2025-01-08T21:41:09.316Z,1736372469.316 [DAT](INFO): got valid direction response: 21:41:07.5442 LVL= 11664, 19121, 15858, 21123, AGC= 71, IDX= 53,-0.03,-2.481,-2.892, 1.724, 2.933, PHS= 0.957, 0.505,-1.213, RAW= 41.4, -2.5, CAL= 42.2, -5.6, ROT= 107.8, 5.6 2025-01-08T21:41:09.317Z,1736372469.317 [DAT](INFO): DAT read: Bearing 107.8, 5.6 (Local) 2025-01-08T21:41:09.318Z,1736372469.318 [DAT](INFO): Local bearing/azimuth received: Bearing 107.8, 5.6 (Local) 2025-01-08T21:41:09.319Z,1736372469.319 [DAT](INFO): DAT read: Range 10 to 50 : 493.9 m (Round-trip 658.6 ms) speed -0.1 m/s 2025-01-08T21:41:09.320Z,1736372469.320 [DAT](INFO): DAT read: user:1974> 2025-01-08T21:41:09.321Z,1736372469.321 [DAT](INFO): DAT read: Tx time:21:41:08.6314 2025-01-08T21:41:09.321Z,1736372469.321 [DAT](INFO): Ping request sent. 2025-01-08T21:41:09.321Z,1736372469.321 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:09.321Z,1736372469.321 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:09.322Z,1736372469.322 [DAT](INFO): direction in FSK: [0.056332,0.792189,0.607671] 2025-01-08T21:41:09.323Z,1736372469.323 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:09.323Z,1736372469.323 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:09.326Z,1736372469.326 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:09.326Z,1736372469.326 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:09.457Z,1736372469.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:09.493Z,1736372469.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 493.899994 m, deltaT: 4.029945 s, deltaX: 9.699982 m, approachRate: 2.406976 m/s, rangeRepo size: 4 2025-01-08T21:41:09.503Z,1736372469.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 493.899994 m, bearing: 306.198200 deg, lat: 36.902022 deg, lon: -122.119911 deg, deltaT: 4.029945 s, deltaX: 9.699982 m, approachRate: 2.406976 m/s, posRepo size: 4 2025-01-08T21:41:09.504Z,1736372469.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:09.506Z,1736372469.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 350.721954 m, bearing: 303.458830 deg, approach rate: 0.000000 m/s, LOS rate: 0.100124 deg/s, cmd heading: 221.521695 deg, new cmd heading: 221.670846 deg. 2025-01-08T21:41:09.512Z,1736372469.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.868886 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:09.541Z,1736372469.541 [DockingStepper](INFO): Stopping 2025-01-08T21:41:09.560Z,1736372469.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:09.561Z,1736372469.561 [DAT](INFO): DAT read: TxSync time:21:41:08.6306 2025-01-08T21:41:09.790Z,1736372469.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:09.812Z,1736372469.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:09.813Z,1736372469.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:09.820Z,1736372469.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 350.672607 m, bearing: 303.495965 deg, approach rate: -0.156812 m/s, LOS rate: 0.118020 deg/s, cmd heading: 221.670839 deg, new cmd heading: 221.782257 deg. 2025-01-08T21:41:09.821Z,1736372469.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.870831 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:09.866Z,1736372469.866 [DockingStepper](INFO): Stopping 2025-01-08T21:41:10.064Z,1736372470.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:10.208Z,1736372470.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:10.218Z,1736372470.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:10.221Z,1736372470.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 350.612701 m, bearing: 303.542270 deg, approach rate: -0.145917 m/s, LOS rate: 0.112809 deg/s, cmd heading: 221.782253 deg, new cmd heading: 221.921193 deg. 2025-01-08T21:41:10.221Z,1736372470.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.873255 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:10.238Z,1736372470.238 [DockingStepper](INFO): Stopping 2025-01-08T21:41:10.316Z,1736372470.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:10.568Z,1736372470.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:10.607Z,1736372470.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:10.614Z,1736372470.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:10.617Z,1736372470.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:10.621Z,1736372470.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 350.555634 m, bearing: 303.586424 deg, approach rate: -0.142777 m/s, LOS rate: 0.110484 deg/s, cmd heading: 221.921193 deg, new cmd heading: 222.053674 deg. 2025-01-08T21:41:10.622Z,1736372470.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.875568 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:10.673Z,1736372470.673 [DockingStepper](INFO): Stopping 2025-01-08T21:41:10.820Z,1736372470.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:10.820Z,1736372470.820 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:10.820Z,1736372470.820 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:10.820Z,1736372470.820 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:10.997Z,1736372470.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:11.030Z,1736372471.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:11.037Z,1736372471.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 350.500671 m, bearing: 303.629605 deg, approach rate: -0.133273 m/s, LOS rate: 0.104724 deg/s, cmd heading: 222.053671 deg, new cmd heading: 222.183236 deg. 2025-01-08T21:41:11.038Z,1736372471.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.877829 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:11.072Z,1736372471.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:11.073Z,1736372471.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751718 2025-01-08T21:41:11.088Z,1736372471.088 [DockingStepper](INFO): Stopping 2025-01-08T21:41:11.324Z,1736372471.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:11.324Z,1736372471.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003277 2025-01-08T21:41:11.422Z,1736372471.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:11.431Z,1736372471.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:11.457Z,1736372471.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 350.451752 m, bearing: 303.675200 deg, approach rate: -0.122032 m/s, LOS rate: 0.113753 deg/s, cmd heading: 222.183240 deg, new cmd heading: 222.320042 deg. 2025-01-08T21:41:11.458Z,1736372471.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880217 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:11.505Z,1736372471.505 [DockingStepper](INFO): Stopping 2025-01-08T21:41:11.576Z,1736372471.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:11.576Z,1736372471.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255285 2025-01-08T21:41:11.797Z,1736372471.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:11.806Z,1736372471.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:11.809Z,1736372471.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 350.409454 m, bearing: 303.715407 deg, approach rate: -0.112546 m/s, LOS rate: 0.106996 deg/s, cmd heading: 222.320048 deg, new cmd heading: 222.440683 deg. 2025-01-08T21:41:11.810Z,1736372471.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.882322 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:11.824Z,1736372471.824 [DockingStepper](INFO): Stopping 2025-01-08T21:41:11.829Z,1736372471.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:11.829Z,1736372471.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508120 2025-01-08T21:41:12.080Z,1736372472.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:12.080Z,1736372472.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759256 2025-01-08T21:41:12.244Z,1736372472.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:12.253Z,1736372472.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:12.256Z,1736372472.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 350.370636 m, bearing: 303.761169 deg, approach rate: -0.086904 m/s, LOS rate: 0.102460 deg/s, cmd heading: 222.440683 deg, new cmd heading: 222.577984 deg. 2025-01-08T21:41:12.257Z,1736372472.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.884719 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:12.278Z,1736372472.278 [DockingStepper](INFO): Stopping 2025-01-08T21:41:12.333Z,1736372472.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:12.333Z,1736372472.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012079 2025-01-08T21:41:12.584Z,1736372472.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:12.585Z,1736372472.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263622 2025-01-08T21:41:12.633Z,1736372472.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:12.650Z,1736372472.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:12.662Z,1736372472.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:12.670Z,1736372472.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 350.336609 m, bearing: 303.800961 deg, approach rate: -0.083307 m/s, LOS rate: 0.097432 deg/s, cmd heading: 222.577984 deg, new cmd heading: 222.697374 deg. 2025-01-08T21:41:12.677Z,1736372472.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.886802 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:12.697Z,1736372472.697 [DockingStepper](INFO): Stopping 2025-01-08T21:41:12.836Z,1736372472.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:12.837Z,1736372472.837 [DAT](INFO): DAT read: Rx Time:21:41:11.6837 2025-01-08T21:41:12.837Z,1736372472.837 [DAT](INFO): Rx dataTimestamp_ set to:1736372472.836730 2025-01-08T21:41:12.838Z,1736372472.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516399 2025-01-08T21:41:13.030Z,1736372473.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:13.046Z,1736372473.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:13.056Z,1736372473.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 350.301544 m, bearing: 303.841677 deg, approach rate: -0.091503 m/s, LOS rate: 0.106260 deg/s, cmd heading: 222.697375 deg, new cmd heading: 222.819534 deg. 2025-01-08T21:41:13.058Z,1736372473.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.888935 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:13.088Z,1736372473.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:13.088Z,1736372473.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767344 2025-01-08T21:41:13.121Z,1736372473.121 [DockingStepper](INFO): Stopping 2025-01-08T21:41:13.341Z,1736372473.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:13.345Z,1736372473.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021598 2025-01-08T21:41:13.450Z,1736372473.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:13.459Z,1736372473.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:13.462Z,1736372473.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 350.283051 m, bearing: 303.883722 deg, approach rate: -0.044667 m/s, LOS rate: 0.101556 deg/s, cmd heading: 222.819540 deg, new cmd heading: 222.945682 deg. 2025-01-08T21:41:13.463Z,1736372473.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.891136 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:13.501Z,1736372473.501 [DockingStepper](INFO): Stopping 2025-01-08T21:41:13.592Z,1736372473.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:13.599Z,1736372473.599 [DAT](INFO): DAT read: 21:41:11.6837 LVL= 13296, 17489, 16274, 20451, AGC= 70, IDX= 314, 0.23,-2.318,-2.722, 1.895, 3.084, PHS= 0.969, 0.524,-1.193, RAW= 41.2, -3.1, CAL= 42.2, -6.4, ROT= 107.8, 6.4 2025-01-08T21:41:13.600Z,1736372473.600 [DAT](INFO): got valid direction response: 21:41:11.6837 LVL= 13296, 17489, 16274, 20451, AGC= 70, IDX= 314, 0.23,-2.318,-2.722, 1.895, 3.084, PHS= 0.969, 0.524,-1.193, RAW= 41.2, -3.1, CAL= 42.2, -6.4, ROT= 107.8, 6.4 2025-01-08T21:41:13.601Z,1736372473.601 [DAT](INFO): DAT read: Bearing 107.8, 6.4 (Local) 2025-01-08T21:41:13.602Z,1736372473.602 [DAT](INFO): Local bearing/azimuth received: Bearing 107.8, 6.4 (Local) 2025-01-08T21:41:13.603Z,1736372473.603 [DAT](INFO): DAT read: Range 10 to 50 : 486.1 m (Round-trip 648.2 ms) speed -0.2 m/s 2025-01-08T21:41:13.604Z,1736372473.604 [DAT](INFO): DAT read: user:1975> 2025-01-08T21:41:13.605Z,1736372473.605 [DAT](INFO): DAT read: Tx time:21:41:12.7814 2025-01-08T21:41:13.605Z,1736372473.605 [DAT](INFO): Ping request sent. 2025-01-08T21:41:13.605Z,1736372473.605 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:13.606Z,1736372473.606 [DAT](INFO): DAT read: TxSync time:21:41:12.7806 2025-01-08T21:41:13.606Z,1736372473.606 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:13.607Z,1736372473.607 [DAT](INFO): direction in FSK: [0.066417,0.792639,0.606062] 2025-01-08T21:41:13.608Z,1736372473.608 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:13.608Z,1736372473.608 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:13.611Z,1736372473.611 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:13.611Z,1736372473.611 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:13.824Z,1736372473.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:13.845Z,1736372473.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:13.882Z,1736372473.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 486.100006 m, deltaT: 4.283975 s, deltaX: -7.799988 m, approachRate: -1.820736 m/s, rangeRepo size: 4 2025-01-08T21:41:13.889Z,1736372473.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 486.100006 m, bearing: 305.251651 deg, lat: 36.902022 deg, lon: -122.119910 deg, deltaT: 4.283975 s, deltaX: -7.799988 m, approachRate: -1.820736 m/s, posRepo size: 4 2025-01-08T21:41:13.889Z,1736372473.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:41:13.896Z,1736372473.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 350.188721 m, bearing: 303.929632 deg, approach rate: 0.000000 m/s, LOS rate: 0.101556 deg/s, cmd heading: 222.945680 deg, new cmd heading: 223.074247 deg. 2025-01-08T21:41:13.897Z,1736372473.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.893380 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:41:13.928Z,1736372473.928 [DockingStepper](INFO): Stopping 2025-01-08T21:41:14.096Z,1736372474.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:14.272Z,1736372474.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:14.280Z,1736372474.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:41:14.284Z,1736372474.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 350.176086 m, bearing: 303.972003 deg, approach rate: -0.031610 m/s, LOS rate: 0.106012 deg/s, cmd heading: 223.074252 deg, new cmd heading: 223.201368 deg. 2025-01-08T21:41:14.285Z,1736372474.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.895599 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:41:14.325Z,1736372474.325 [DockingStepper](INFO): Stopping 2025-01-08T21:41:14.349Z,1736372474.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:14.600Z,1736372474.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:14.647Z,1736372474.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:14.682Z,1736372474.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:14.689Z,1736372474.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:41:14.695Z,1736372474.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 350.164093 m, bearing: 304.007477 deg, approach rate: -0.029388 m/s, LOS rate: 0.086928 deg/s, cmd heading: 223.201361 deg, new cmd heading: 223.307788 deg. 2025-01-08T21:41:14.696Z,1736372474.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.897456 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:41:14.852Z,1736372474.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:14.852Z,1736372474.852 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:14.852Z,1736372474.852 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:14.852Z,1736372474.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:14.892Z,1736372474.892 [DockingStepper](INFO): Stopping 2025-01-08T21:41:15.102Z,1736372475.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:15.104Z,1736372475.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:15.105Z,1736372475.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499197 2025-01-08T21:41:15.141Z,1736372475.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:41:15.144Z,1736372475.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 350.146057 m, bearing: 304.050482 deg, approach rate: -0.039879 m/s, LOS rate: 0.095093 deg/s, cmd heading: 223.307789 deg, new cmd heading: 223.436809 deg. 2025-01-08T21:41:15.145Z,1736372475.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.899708 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:41:15.194Z,1736372475.194 [DockingStepper](INFO): Stopping 2025-01-08T21:41:15.356Z,1736372475.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:15.356Z,1736372475.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751017 2025-01-08T21:41:15.514Z,1736372475.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:15.543Z,1736372475.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:41:15.546Z,1736372475.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 350.135132 m, bearing: 304.088821 deg, approach rate: -0.028570 m/s, LOS rate: 0.100261 deg/s, cmd heading: 223.436812 deg, new cmd heading: 223.551833 deg. 2025-01-08T21:41:15.551Z,1736372475.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.901716 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:41:15.608Z,1736372475.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:15.609Z,1736372475.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003292 2025-01-08T21:41:15.712Z,1736372475.712 [DockingStepper](INFO): Stopping 2025-01-08T21:41:15.860Z,1736372475.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:15.860Z,1736372475.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255053 2025-01-08T21:41:15.920Z,1736372475.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:15.931Z,1736372475.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:41:15.933Z,1736372475.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 350.122894 m, bearing: 304.126480 deg, approach rate: -0.030041 m/s, LOS rate: 0.092448 deg/s, cmd heading: 223.551832 deg, new cmd heading: 223.664811 deg. 2025-01-08T21:41:15.934Z,1736372475.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.903687 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:41:16.088Z,1736372476.088 [DockingStepper](INFO): Stopping 2025-01-08T21:41:16.112Z,1736372476.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:16.113Z,1736372476.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507444 2025-01-08T21:41:16.348Z,1736372476.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:16.357Z,1736372476.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:41:16.360Z,1736372476.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 350.108215 m, bearing: 304.165306 deg, approach rate: -0.034395 m/s, LOS rate: 0.090979 deg/s, cmd heading: 223.664817 deg, new cmd heading: 223.781301 deg. 2025-01-08T21:41:16.361Z,1736372476.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.905720 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:41:16.364Z,1736372476.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:16.364Z,1736372476.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759148 2025-01-08T21:41:16.397Z,1736372476.397 [DockingStepper](INFO): Stopping 2025-01-08T21:41:16.620Z,1736372476.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:16.621Z,1736372476.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015687 2025-01-08T21:41:16.716Z,1736372476.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:16.740Z,1736372476.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:16.742Z,1736372476.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:41:16.750Z,1736372476.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 350.093201 m, bearing: 304.198652 deg, approach rate: -0.039042 m/s, LOS rate: 0.086711 deg/s, cmd heading: 223.781299 deg, new cmd heading: 223.881340 deg. 2025-01-08T21:41:16.751Z,1736372476.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.907466 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:41:16.793Z,1736372476.793 [DockingStepper](INFO): Stopping 2025-01-08T21:41:16.872Z,1736372476.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:16.872Z,1736372476.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266977 2025-01-08T21:41:16.977Z,1736372476.977 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:41:17.124Z,1736372477.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:17.125Z,1736372477.125 [DAT](INFO): DAT read: Rx Time:21:41:15.8352 2025-01-08T21:41:17.125Z,1736372477.125 [DAT](INFO): Rx dataTimestamp_ set to:1736372477.124729 2025-01-08T21:41:17.126Z,1736372477.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520208 2025-01-08T21:41:17.127Z,1736372477.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:17.164Z,1736372477.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:41:17.172Z,1736372477.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 350.075592 m, bearing: 304.235896 deg, approach rate: -0.041697 m/s, LOS rate: 0.088197 deg/s, cmd heading: 223.881334 deg, new cmd heading: 223.993071 deg. 2025-01-08T21:41:17.173Z,1736372477.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.909417 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:41:17.283Z,1736372477.283 [DockingStepper](INFO): Stopping 2025-01-08T21:41:17.376Z,1736372477.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:17.376Z,1736372477.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771085 2025-01-08T21:41:17.603Z,1736372477.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:17.613Z,1736372477.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:41:17.617Z,1736372477.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 350.044342 m, bearing: 304.281093 deg, approach rate: -0.069908 m/s, LOS rate: 0.101118 deg/s, cmd heading: 223.993076 deg, new cmd heading: 224.128679 deg. 2025-01-08T21:41:17.618Z,1736372477.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.911783 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:41:17.628Z,1736372477.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:17.639Z,1736372477.639 [DAT](INFO): DAT read: 21:41:15.8352 LVL= 16304, 20289, 16354, 26483, AGC= 68, IDX= 441,-0.02,-0.034,-0.599,-2.245,-1.036, PHS= 1.090, 0.484,-1.212, RAW= 44.7, -3.5, CAL= 46.4, -7.3, ROT= 103.6, 7.3 2025-01-08T21:41:17.640Z,1736372477.640 [DAT](INFO): got valid direction response: 21:41:15.8352 LVL= 16304, 20289, 16354, 26483, AGC= 68, IDX= 441,-0.02,-0.034,-0.599,-2.245,-1.036, PHS= 1.090, 0.484,-1.212, RAW= 44.7, -3.5, CAL= 46.4, -7.3, ROT= 103.6, 7.3 2025-01-08T21:41:17.641Z,1736372477.641 [DAT](INFO): DAT read: Bearing 103.6, 7.3 (Local) 2025-01-08T21:41:17.642Z,1736372477.642 [DAT](INFO): Local bearing/azimuth received: Bearing 103.6, 7.3 (Local) 2025-01-08T21:41:17.648Z,1736372477.648 [DAT](INFO): DAT read: Range 10 to 50 : 487.2 m (Round-trip 649.7 ms) speed -0.3 m/s 2025-01-08T21:41:17.650Z,1736372477.650 [DAT](INFO): DAT read: user:1976> 2025-01-08T21:41:17.651Z,1736372477.651 [DAT](INFO): DAT read: Tx time:21:41:16.9314 2025-01-08T21:41:17.656Z,1736372477.656 [DAT](INFO): Ping request sent. 2025-01-08T21:41:17.656Z,1736372477.656 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:17.657Z,1736372477.657 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:17.658Z,1736372477.658 [DAT](INFO): direction in FSK: [0.067992,0.756364,0.650608] 2025-01-08T21:41:17.659Z,1736372477.659 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:17.659Z,1736372477.659 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:17.666Z,1736372477.666 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:17.666Z,1736372477.666 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:17.700Z,1736372477.700 [DockingStepper](INFO): Stopping 2025-01-08T21:41:17.880Z,1736372477.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:17.881Z,1736372477.881 [DAT](INFO): DAT read: TxSync time:21:41:16.9306 2025-01-08T21:41:17.929Z,1736372477.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:17.968Z,1736372477.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 487.200012 m, deltaT: 4.036199 s, deltaX: 1.100006 m, approachRate: 0.272535 m/s, rangeRepo size: 4 2025-01-08T21:41:17.970Z,1736372477.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 487.200012 m, bearing: 307.596266 deg, lat: 36.902022 deg, lon: -122.119789 deg, deltaT: 4.036199 s, deltaX: 1.100006 m, approachRate: 0.272535 m/s, posRepo size: 4 2025-01-08T21:41:17.970Z,1736372477.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.20 m. 2025-01-08T21:41:17.977Z,1736372477.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.200012 m, nav range: 341.141602 m, bearing: 305.336240 deg, approach rate: 0.000000 m/s, LOS rate: 0.101118 deg/s, cmd heading: 224.128682 deg, new cmd heading: 224.235272 deg. 2025-01-08T21:41:17.978Z,1736372477.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.913644 target range: 487.200012 and range: 487.20 m. 2025-01-08T21:41:17.980Z,1736372477.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:41:18.007Z,1736372478.007 [DockingStepper](INFO): Stopping 2025-01-08T21:41:18.133Z,1736372478.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:18.356Z,1736372478.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:18.368Z,1736372478.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.20 m. 2025-01-08T21:41:18.371Z,1736372478.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.200012 m, nav range: 341.102509 m, bearing: 305.379285 deg, approach rate: -0.096348 m/s, LOS rate: 0.106100 deg/s, cmd heading: 224.235274 deg, new cmd heading: 224.364425 deg. 2025-01-08T21:41:18.372Z,1736372478.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.915898 target range: 487.200012 and range: 487.20 m. 2025-01-08T21:41:18.384Z,1736372478.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:18.409Z,1736372478.409 [DockingStepper](INFO): Stopping 2025-01-08T21:41:18.636Z,1736372478.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:18.738Z,1736372478.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:18.745Z,1736372478.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:18.747Z,1736372478.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.20 m. 2025-01-08T21:41:18.751Z,1736372478.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.200012 m, nav range: 341.066437 m, bearing: 305.417753 deg, approach rate: -0.095255 m/s, LOS rate: 0.101594 deg/s, cmd heading: 224.364420 deg, new cmd heading: 224.479836 deg. 2025-01-08T21:41:18.752Z,1736372478.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917912 target range: 487.200012 and range: 487.20 m. 2025-01-08T21:41:18.766Z,1736372478.766 [DockingStepper](INFO): Stopping 2025-01-08T21:41:18.888Z,1736372478.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:18.889Z,1736372478.889 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:18.889Z,1736372478.889 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:18.889Z,1736372478.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:19.140Z,1736372479.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:19.140Z,1736372479.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484245 2025-01-08T21:41:19.174Z,1736372479.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:19.183Z,1736372479.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.20 m. 2025-01-08T21:41:19.186Z,1736372479.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.200012 m, nav range: 341.024261 m, bearing: 305.461638 deg, approach rate: -0.096716 m/s, LOS rate: 0.100649 deg/s, cmd heading: 224.479836 deg, new cmd heading: 224.611508 deg. 2025-01-08T21:41:19.187Z,1736372479.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.920210 target range: 487.200012 and range: 487.20 m. 2025-01-08T21:41:19.243Z,1736372479.243 [DockingStepper](INFO): Stopping 2025-01-08T21:41:19.392Z,1736372479.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:19.393Z,1736372479.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737187 2025-01-08T21:41:19.570Z,1736372479.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:19.578Z,1736372479.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.20 m. 2025-01-08T21:41:19.581Z,1736372479.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.200012 m, nav range: 340.974640 m, bearing: 305.502877 deg, approach rate: -0.125608 m/s, LOS rate: 0.104404 deg/s, cmd heading: 224.611509 deg, new cmd heading: 224.735242 deg. 2025-01-08T21:41:19.584Z,1736372479.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.922370 target range: 487.200012 and range: 487.20 m. 2025-01-08T21:41:19.621Z,1736372479.621 [DockingStepper](INFO): Stopping 2025-01-08T21:41:19.645Z,1736372479.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:19.646Z,1736372479.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989673 2025-01-08T21:41:19.896Z,1736372479.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:19.896Z,1736372479.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240359 2025-01-08T21:41:19.958Z,1736372479.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:19.979Z,1736372479.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.20 m. 2025-01-08T21:41:19.994Z,1736372479.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.200012 m, nav range: 340.925507 m, bearing: 305.543384 deg, approach rate: -0.123773 m/s, LOS rate: 0.102057 deg/s, cmd heading: 224.735244 deg, new cmd heading: 224.856783 deg. 2025-01-08T21:41:19.995Z,1736372479.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.924491 target range: 487.200012 and range: 487.20 m. 2025-01-08T21:41:20.007Z,1736372480.007 [DockingStepper](INFO): Stopping 2025-01-08T21:41:20.149Z,1736372480.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:20.150Z,1736372480.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493786 2025-01-08T21:41:20.380Z,1736372480.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:20.390Z,1736372480.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.20 m. 2025-01-08T21:41:20.392Z,1736372480.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.200012 m, nav range: 340.855469 m, bearing: 305.590648 deg, approach rate: -0.169016 m/s, LOS rate: 0.114082 deg/s, cmd heading: 224.856781 deg, new cmd heading: 224.998602 deg. 2025-01-08T21:41:20.393Z,1736372480.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.926966 target range: 487.200012 and range: 487.20 m. 2025-01-08T21:41:20.400Z,1736372480.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:20.401Z,1736372480.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744619 2025-01-08T21:41:20.445Z,1736372480.445 [DockingStepper](INFO): Stopping 2025-01-08T21:41:20.652Z,1736372480.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:20.653Z,1736372480.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996873 2025-01-08T21:41:20.754Z,1736372480.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:20.761Z,1736372480.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:20.763Z,1736372480.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.20 m. 2025-01-08T21:41:20.767Z,1736372480.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.200012 m, nav range: 340.793579 m, bearing: 305.632541 deg, approach rate: -0.165622 m/s, LOS rate: 0.112127 deg/s, cmd heading: 224.998603 deg, new cmd heading: 225.124302 deg. 2025-01-08T21:41:20.768Z,1736372480.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.929160 target range: 487.200012 and range: 487.20 m. 2025-01-08T21:41:20.781Z,1736372480.781 [DockingStepper](INFO): Stopping 2025-01-08T21:41:20.909Z,1736372480.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:20.909Z,1736372480.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253363 2025-01-08T21:41:21.160Z,1736372481.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:21.161Z,1736372481.161 [DAT](INFO): DAT read: Rx Time:21:41:19.9869 2025-01-08T21:41:21.161Z,1736372481.161 [DAT](INFO): Rx dataTimestamp_ set to:1736372481.160803 2025-01-08T21:41:21.162Z,1736372481.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505681 2025-01-08T21:41:21.184Z,1736372481.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:21.211Z,1736372481.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.20 m. 2025-01-08T21:41:21.214Z,1736372481.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.200012 m, nav range: 340.726593 m, bearing: 305.677900 deg, approach rate: -0.150914 m/s, LOS rate: 0.102211 deg/s, cmd heading: 225.124305 deg, new cmd heading: 225.260410 deg. 2025-01-08T21:41:21.220Z,1736372481.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.931536 target range: 487.200012 and range: 487.20 m. 2025-01-08T21:41:21.244Z,1736372481.244 [DockingStepper](INFO): Stopping 2025-01-08T21:41:21.412Z,1736372481.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:21.412Z,1736372481.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756509 2025-01-08T21:41:21.588Z,1736372481.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:21.597Z,1736372481.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.20 m. 2025-01-08T21:41:21.601Z,1736372481.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.200012 m, nav range: 340.645111 m, bearing: 305.727226 deg, approach rate: -0.208960 m/s, LOS rate: 0.126526 deg/s, cmd heading: 225.260404 deg, new cmd heading: 225.408417 deg. 2025-01-08T21:41:21.602Z,1736372481.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.934119 target range: 487.200012 and range: 487.20 m. 2025-01-08T21:41:21.666Z,1736372481.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:21.669Z,1736372481.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012208 2025-01-08T21:41:21.689Z,1736372481.689 [DockingStepper](INFO): Stopping 2025-01-08T21:41:21.916Z,1736372481.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:21.924Z,1736372481.924 [DAT](INFO): DAT read: 21:41:19.9869 LVL= 14384, 21457, 21298, 25811, AGC= 71, IDX= 441,-0.27,-2.635, 3.059, 1.378, 2.634, PHS= 1.102, 0.472,-1.259, RAW= 44.9, -3.0, CAL= 46.4, -6.5, ROT= 103.6, 6.5 2025-01-08T21:41:21.925Z,1736372481.925 [DAT](INFO): got valid direction response: 21:41:19.9869 LVL= 14384, 21457, 21298, 25811, AGC= 71, IDX= 441,-0.27,-2.635, 3.059, 1.378, 2.634, PHS= 1.102, 0.472,-1.259, RAW= 44.9, -3.0, CAL= 46.4, -6.5, ROT= 103.6, 6.5 2025-01-08T21:41:21.926Z,1736372481.926 [DAT](INFO): DAT read: Bearing 103.6, 6.5 (Local) 2025-01-08T21:41:21.926Z,1736372481.926 [DAT](INFO): Local bearing/azimuth received: Bearing 103.6, 6.5 (Local) 2025-01-08T21:41:21.928Z,1736372481.928 [DAT](INFO): DAT read: Range 10 to 50 : 488.4 m (Round-trip 651.2 ms) speed -0.2 m/s 2025-01-08T21:41:21.929Z,1736372481.929 [DAT](INFO): DAT read: user:1977> 2025-01-08T21:41:21.930Z,1736372481.930 [DAT](INFO): DAT read: Tx time:21:41:21.0815 2025-01-08T21:41:21.930Z,1736372481.930 [DAT](INFO): Ping request sent. 2025-01-08T21:41:21.930Z,1736372481.930 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:21.931Z,1736372481.931 [DAT](INFO): DAT read: TxSync time:21:41:21.0807 2025-01-08T21:41:21.931Z,1736372481.931 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:21.934Z,1736372481.934 [DAT](INFO): direction in FSK: [0.057672,0.755053,0.653122] 2025-01-08T21:41:21.934Z,1736372481.934 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:21.934Z,1736372481.934 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:21.937Z,1736372481.937 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:21.937Z,1736372481.937 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:21.998Z,1736372481.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:22.035Z,1736372482.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 488.399994 m, deltaT: 4.288737 s, deltaX: 1.199982 m, approachRate: 0.279798 m/s, rangeRepo size: 4 2025-01-08T21:41:22.045Z,1736372482.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 488.399994 m, bearing: 308.928264 deg, lat: 36.902042 deg, lon: -122.119787 deg, deltaT: 4.288737 s, deltaX: 1.199982 m, approachRate: 0.279798 m/s, posRepo size: 4 2025-01-08T21:41:22.046Z,1736372482.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.40 m. 2025-01-08T21:41:22.058Z,1736372482.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.399994 m, nav range: 341.803101 m, bearing: 306.092140 deg, approach rate: 0.000000 m/s, LOS rate: 0.126526 deg/s, cmd heading: 225.408414 deg, new cmd heading: 225.574310 deg. 2025-01-08T21:41:22.065Z,1736372482.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.937014 target range: 488.399994 and range: 488.40 m. 2025-01-08T21:41:22.125Z,1736372482.125 [DockingStepper](INFO): Stopping 2025-01-08T21:41:22.168Z,1736372482.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:22.420Z,1736372482.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:22.440Z,1736372482.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:22.473Z,1736372482.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.40 m. 2025-01-08T21:41:22.480Z,1736372482.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.399994 m, nav range: 341.718201 m, bearing: 306.143476 deg, approach rate: -0.193585 m/s, LOS rate: 0.117083 deg/s, cmd heading: 225.574306 deg, new cmd heading: 225.728351 deg. 2025-01-08T21:41:22.481Z,1736372482.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.939703 target range: 488.399994 and range: 488.40 m. 2025-01-08T21:41:22.520Z,1736372482.520 [DockingStepper](INFO): Stopping 2025-01-08T21:41:22.672Z,1736372482.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:22.780Z,1736372482.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:22.788Z,1736372482.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:22.790Z,1736372482.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.40 m. 2025-01-08T21:41:22.793Z,1736372482.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.399994 m, nav range: 341.653900 m, bearing: 306.182975 deg, approach rate: -0.202811 m/s, LOS rate: 0.124608 deg/s, cmd heading: 225.728354 deg, new cmd heading: 225.846873 deg. 2025-01-08T21:41:22.794Z,1736372482.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.941772 target range: 488.399994 and range: 488.40 m. 2025-01-08T21:41:22.807Z,1736372482.807 [DockingStepper](INFO): Stopping 2025-01-08T21:41:22.924Z,1736372482.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:22.924Z,1736372482.924 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:22.924Z,1736372482.924 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:22.925Z,1736372482.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:23.177Z,1736372483.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:23.178Z,1736372483.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247670 2025-01-08T21:41:23.210Z,1736372483.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:23.242Z,1736372483.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.40 m. 2025-01-08T21:41:23.249Z,1736372483.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.399994 m, nav range: 341.574127 m, bearing: 306.232925 deg, approach rate: -0.176338 m/s, LOS rate: 0.110439 deg/s, cmd heading: 225.846871 deg, new cmd heading: 225.996755 deg. 2025-01-08T21:41:23.250Z,1736372483.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.944387 target range: 488.399994 and range: 488.40 m. 2025-01-08T21:41:23.409Z,1736372483.409 [DockingStepper](INFO): Stopping 2025-01-08T21:41:23.433Z,1736372483.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:23.434Z,1736372483.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503602 2025-01-08T21:41:23.654Z,1736372483.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:23.675Z,1736372483.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.40 m. 2025-01-08T21:41:23.680Z,1736372483.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.399994 m, nav range: 341.496521 m, bearing: 306.284278 deg, approach rate: -0.181103 m/s, LOS rate: 0.119866 deg/s, cmd heading: 225.996753 deg, new cmd heading: 226.150848 deg. 2025-01-08T21:41:23.681Z,1736372483.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.947077 target range: 488.399994 and range: 488.40 m. 2025-01-08T21:41:23.684Z,1736372483.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:23.685Z,1736372483.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754704 2025-01-08T21:41:23.752Z,1736372483.752 [DockingStepper](INFO): Stopping 2025-01-08T21:41:23.936Z,1736372483.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:23.936Z,1736372483.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006446 2025-01-08T21:41:24.020Z,1736372484.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:24.037Z,1736372484.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.40 m. 2025-01-08T21:41:24.044Z,1736372484.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.399994 m, nav range: 341.434540 m, bearing: 306.326739 deg, approach rate: -0.169190 m/s, LOS rate: 0.115926 deg/s, cmd heading: 226.150842 deg, new cmd heading: 226.278247 deg. 2025-01-08T21:41:24.045Z,1736372484.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.949301 target range: 488.399994 and range: 488.40 m. 2025-01-08T21:41:24.184Z,1736372484.184 [DockingStepper](INFO): Stopping 2025-01-08T21:41:24.190Z,1736372484.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:24.191Z,1736372484.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260582 2025-01-08T21:41:24.435Z,1736372484.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:24.444Z,1736372484.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:24.444Z,1736372484.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514479 2025-01-08T21:41:24.445Z,1736372484.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.40 m. 2025-01-08T21:41:24.449Z,1736372484.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.399994 m, nav range: 341.370117 m, bearing: 306.373863 deg, approach rate: -0.158498 m/s, LOS rate: 0.115960 deg/s, cmd heading: 226.278252 deg, new cmd heading: 226.419651 deg. 2025-01-08T21:41:24.450Z,1736372484.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.951768 target range: 488.399994 and range: 488.40 m. 2025-01-08T21:41:24.485Z,1736372484.485 [DockingStepper](INFO): Stopping 2025-01-08T21:41:24.696Z,1736372484.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:24.697Z,1736372484.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766659 2025-01-08T21:41:24.820Z,1736372484.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:24.826Z,1736372484.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:24.829Z,1736372484.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.40 m. 2025-01-08T21:41:24.832Z,1736372484.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.399994 m, nav range: 341.310425 m, bearing: 306.417612 deg, approach rate: -0.154938 m/s, LOS rate: 0.113576 deg/s, cmd heading: 226.419651 deg, new cmd heading: 226.550921 deg. 2025-01-08T21:41:24.833Z,1736372484.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954060 target range: 488.399994 and range: 488.40 m. 2025-01-08T21:41:24.858Z,1736372484.858 [DockingStepper](INFO): Stopping 2025-01-08T21:41:24.948Z,1736372484.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:24.949Z,1736372484.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019003 2025-01-08T21:41:25.200Z,1736372485.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:25.200Z,1736372485.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270449 2025-01-08T21:41:25.221Z,1736372485.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:25.254Z,1736372485.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.40 m. 2025-01-08T21:41:25.261Z,1736372485.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.399994 m, nav range: 341.248230 m, bearing: 306.463232 deg, approach rate: -0.146621 m/s, LOS rate: 0.107567 deg/s, cmd heading: 226.550927 deg, new cmd heading: 226.687812 deg. 2025-01-08T21:41:25.262Z,1736372485.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.956449 target range: 488.399994 and range: 488.40 m. 2025-01-08T21:41:25.302Z,1736372485.302 [DockingStepper](INFO): Stopping 2025-01-08T21:41:25.452Z,1736372485.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:25.454Z,1736372485.454 [DAT](INFO): DAT read: Rx Time:21:41:24.1375 2025-01-08T21:41:25.455Z,1736372485.455 [DAT](INFO): Rx dataTimestamp_ set to:1736372485.454559 2025-01-08T21:41:25.456Z,1736372485.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525715 2025-01-08T21:41:25.662Z,1736372485.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:25.691Z,1736372485.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.40 m. 2025-01-08T21:41:25.701Z,1736372485.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.399994 m, nav range: 341.198151 m, bearing: 306.510812 deg, approach rate: -0.114423 m/s, LOS rate: 0.108727 deg/s, cmd heading: 226.687818 deg, new cmd heading: 226.830576 deg. 2025-01-08T21:41:25.702Z,1736372485.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.958941 target range: 488.399994 and range: 488.40 m. 2025-01-08T21:41:25.704Z,1736372485.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:25.705Z,1736372485.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774560 2025-01-08T21:41:25.728Z,1736372485.728 [DockingStepper](INFO): Stopping 2025-01-08T21:41:25.956Z,1736372485.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:25.962Z,1736372485.962 [DAT](INFO): DAT read: 21:41:24.1375 LVL= 16304, 24705, 22866, 28387, AGC= 69, IDX= 432, 0.11,-1.778,-2.264, 2.352,-2.771, PHS= 1.081, 0.554,-1.163, RAW= 43.0, -4.7, CAL= 44.9, -8.9, ROT= 105.1, 8.9 2025-01-08T21:41:25.964Z,1736372485.964 [DAT](INFO): got valid direction response: 21:41:24.1375 LVL= 16304, 24705, 22866, 28387, AGC= 69, IDX= 432, 0.11,-1.778,-2.264, 2.352,-2.771, PHS= 1.081, 0.554,-1.163, RAW= 43.0, -4.7, CAL= 44.9, -8.9, ROT= 105.1, 8.9 2025-01-08T21:41:25.966Z,1736372485.966 [DAT](INFO): DAT read: Bearing 105.1, 8.9 (Local) 2025-01-08T21:41:25.966Z,1736372485.966 [DAT](INFO): Local bearing/azimuth received: Bearing 105.1, 8.9 (Local) 2025-01-08T21:41:25.968Z,1736372485.968 [DAT](INFO): DAT read: Range 10 to 50 : 488.9 m (Round-trip 651.9 ms) speed -0.2 m/s 2025-01-08T21:41:25.969Z,1736372485.969 [DAT](INFO): DAT read: user:1978> 2025-01-08T21:41:25.969Z,1736372485.969 [DAT](INFO): DAT read: Tx time:21:41:25.2315 2025-01-08T21:41:25.970Z,1736372485.970 [DAT](INFO): Ping request sent. 2025-01-08T21:41:25.970Z,1736372485.970 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:25.970Z,1736372485.970 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:25.971Z,1736372485.971 [DAT](INFO): direction in FSK: [0.092824,0.771798,0.629056] 2025-01-08T21:41:25.972Z,1736372485.972 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:25.972Z,1736372485.972 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:25.975Z,1736372485.975 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:25.975Z,1736372485.975 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:26.066Z,1736372486.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:26.143Z,1736372486.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 488.899994 m, deltaT: 4.039150 s, deltaX: 0.500000 m, approachRate: 0.123788 m/s, rangeRepo size: 4 2025-01-08T21:41:26.145Z,1736372486.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 488.899994 m, bearing: 305.213584 deg, lat: 36.902042 deg, lon: -122.119787 deg, deltaT: 4.039150 s, deltaX: 0.500000 m, approachRate: 0.123788 m/s, posRepo size: 4 2025-01-08T21:41:26.146Z,1736372486.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.90 m. 2025-01-08T21:41:26.160Z,1736372486.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.899994 m, nav range: 341.151825 m, bearing: 306.554251 deg, approach rate: 0.000000 m/s, LOS rate: 0.108727 deg/s, cmd heading: 226.830582 deg, new cmd heading: 226.976683 deg. 2025-01-08T21:41:26.161Z,1736372486.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.961490 target range: 488.899994 and range: 488.90 m. 2025-01-08T21:41:26.196Z,1736372486.196 [DockingStepper](INFO): Stopped 2025-01-08T21:41:26.208Z,1736372486.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:26.209Z,1736372486.209 [DAT](INFO): DAT read: TxSync time:21:41:25.2307 2025-01-08T21:41:26.354Z,1736372486.354 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-01-08T21:41:26.355Z,1736372486.355 [DockingStepper] No Fault, FailCount= 1 2025-01-08T21:41:26.460Z,1736372486.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:26.491Z,1736372486.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:26.512Z,1736372486.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.90 m. 2025-01-08T21:41:26.514Z,1736372486.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.899994 m, nav range: 341.112732 m, bearing: 306.597302 deg, approach rate: -0.106003 m/s, LOS rate: 0.116750 deg/s, cmd heading: 226.976680 deg, new cmd heading: 227.105850 deg. 2025-01-08T21:41:26.520Z,1736372486.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.963745 target range: 488.899994 and range: 488.90 m. 2025-01-08T21:41:26.545Z,1736372486.545 [DockingStepper](INFO): Start 2025-01-08T21:41:26.545Z,1736372486.545 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-01-08T21:41:26.670Z,1736372486.670 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-01-08T21:41:26.712Z,1736372486.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:26.840Z,1736372486.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:26.847Z,1736372486.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:26.850Z,1736372486.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.90 m. 2025-01-08T21:41:26.853Z,1736372486.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.899994 m, nav range: 341.080322 m, bearing: 306.633301 deg, approach rate: -0.094580 m/s, LOS rate: 0.105062 deg/s, cmd heading: 227.105853 deg, new cmd heading: 227.213858 deg. 2025-01-08T21:41:26.854Z,1736372486.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.965630 target range: 488.899994 and range: 488.90 m. 2025-01-08T21:41:26.890Z,1736372486.890 [DockingStepper](INFO): Starting 2025-01-08T21:41:26.964Z,1736372486.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:26.964Z,1736372486.964 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:26.964Z,1736372486.964 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:26.965Z,1736372486.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:27.217Z,1736372487.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:27.219Z,1736372487.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249027 2025-01-08T21:41:27.252Z,1736372487.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:27.289Z,1736372487.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.90 m. 2025-01-08T21:41:27.295Z,1736372487.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.899994 m, nav range: 341.042419 m, bearing: 306.675299 deg, approach rate: -0.086470 m/s, LOS rate: 0.095825 deg/s, cmd heading: 227.213852 deg, new cmd heading: 227.339861 deg. 2025-01-08T21:41:27.296Z,1736372487.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.967829 target range: 488.899994 and range: 488.90 m. 2025-01-08T21:41:27.326Z,1736372487.326 [DockingStepper](INFO): Starting 2025-01-08T21:41:27.468Z,1736372487.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:27.468Z,1736372487.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498655 2025-01-08T21:41:27.697Z,1736372487.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:27.721Z,1736372487.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:27.722Z,1736372487.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752000 2025-01-08T21:41:27.722Z,1736372487.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.90 m. 2025-01-08T21:41:27.728Z,1736372487.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.899994 m, nav range: 341.013702 m, bearing: 306.720039 deg, approach rate: -0.066679 m/s, LOS rate: 0.103892 deg/s, cmd heading: 227.339855 deg, new cmd heading: 227.474086 deg. 2025-01-08T21:41:27.730Z,1736372487.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.970172 target range: 488.899994 and range: 488.90 m. 2025-01-08T21:41:27.787Z,1736372487.787 [DockingStepper](INFO): Starting 2025-01-08T21:41:27.860Z,1736372487.860 [DockingStepper](INFO): Init string: /1z16352aE13561N3m50 2025-01-08T21:41:27.972Z,1736372487.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:27.972Z,1736372487.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002765 2025-01-08T21:41:28.099Z,1736372488.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:28.128Z,1736372488.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.90 m. 2025-01-08T21:41:28.130Z,1736372488.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.899994 m, nav range: 340.985260 m, bearing: 306.760254 deg, approach rate: -0.069535 m/s, LOS rate: 0.098325 deg/s, cmd heading: 227.474082 deg, new cmd heading: 227.594737 deg. 2025-01-08T21:41:28.136Z,1736372488.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.972277 target range: 488.899994 and range: 488.90 m. 2025-01-08T21:41:28.173Z,1736372488.173 [DockingStepper](INFO): Starting 2025-01-08T21:41:28.224Z,1736372488.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:28.226Z,1736372488.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255545 2025-01-08T21:41:28.476Z,1736372488.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:28.476Z,1736372488.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506638 2025-01-08T21:41:28.543Z,1736372488.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:28.553Z,1736372488.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.90 m. 2025-01-08T21:41:28.567Z,1736372488.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.899994 m, nav range: 340.960724 m, bearing: 306.802427 deg, approach rate: -0.057797 m/s, LOS rate: 0.099347 deg/s, cmd heading: 227.594730 deg, new cmd heading: 227.721256 deg. 2025-01-08T21:41:28.568Z,1736372488.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.974486 target range: 488.899994 and range: 488.90 m. 2025-01-08T21:41:28.594Z,1736372488.594 [DockingStepper](INFO): Starting 2025-01-08T21:41:28.728Z,1736372488.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:28.730Z,1736372488.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759580 2025-01-08T21:41:28.909Z,1736372488.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:28.916Z,1736372488.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:28.918Z,1736372488.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.90 m. 2025-01-08T21:41:28.923Z,1736372488.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.899994 m, nav range: 340.939148 m, bearing: 306.837151 deg, approach rate: -0.058976 m/s, LOS rate: 0.094923 deg/s, cmd heading: 227.721253 deg, new cmd heading: 227.825432 deg. 2025-01-08T21:41:28.930Z,1736372488.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.976304 target range: 488.899994 and range: 488.90 m. 2025-01-08T21:41:28.960Z,1736372488.960 [DockingStepper](INFO): Starting 2025-01-08T21:41:28.981Z,1736372488.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:28.982Z,1736372488.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011695 2025-01-08T21:41:29.234Z,1736372489.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:29.237Z,1736372489.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267662 2025-01-08T21:41:29.327Z,1736372489.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:29.351Z,1736372489.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.90 m. 2025-01-08T21:41:29.354Z,1736372489.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.899994 m, nav range: 340.913239 m, bearing: 306.876729 deg, approach rate: -0.060432 m/s, LOS rate: 0.092319 deg/s, cmd heading: 227.825427 deg, new cmd heading: 227.944168 deg. 2025-01-08T21:41:29.355Z,1736372489.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.978376 target range: 488.899994 and range: 488.90 m. 2025-01-08T21:41:29.387Z,1736372489.387 [DockingStepper](INFO): Starting 2025-01-08T21:41:29.417Z,1736372489.417 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2025-01-08T21:41:29.484Z,1736372489.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:29.485Z,1736372489.485 [DAT](INFO): DAT read: Rx Time:21:41:28.2888 2025-01-08T21:41:29.485Z,1736372489.485 [DAT](INFO): Rx dataTimestamp_ set to:1736372489.484822 2025-01-08T21:41:29.486Z,1736372489.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515987 2025-01-08T21:41:29.736Z,1736372489.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:29.736Z,1736372489.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766752 2025-01-08T21:41:29.780Z,1736372489.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:29.801Z,1736372489.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 488.90 m. 2025-01-08T21:41:29.808Z,1736372489.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 488.899994 m, nav range: 340.888245 m, bearing: 306.919241 deg, approach rate: -0.055033 m/s, LOS rate: 0.093614 deg/s, cmd heading: 227.944163 deg, new cmd heading: 228.071710 deg. 2025-01-08T21:41:29.809Z,1736372489.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.980602 target range: 488.899994 and range: 488.90 m. 2025-01-08T21:41:29.843Z,1736372489.843 [DockingStepper](INFO): Starting 2025-01-08T21:41:29.990Z,1736372489.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:30.002Z,1736372490.002 [DAT](INFO): DAT read: 21:41:28.2888 LVL= 14064, 20209, 17618, 25139, AGC= 66, IDX= 444,-0.16, 3.006, 2.355, 0.703, 1.911, PHS= 1.184, 0.492,-1.210, RAW= 46.3, -4.4, CAL= 48.7, -8.6, ROT= 101.3, 8.6 2025-01-08T21:41:30.003Z,1736372490.003 [DAT](INFO): got valid direction response: 21:41:28.2888 LVL= 14064, 20209, 17618, 25139, AGC= 66, IDX= 444,-0.16, 3.006, 2.355, 0.703, 1.911, PHS= 1.184, 0.492,-1.210, RAW= 46.3, -4.4, CAL= 48.7, -8.6, ROT= 101.3, 8.6 2025-01-08T21:41:30.004Z,1736372490.004 [DAT](INFO): DAT read: Bearing 101.3, 8.6 (Local) 2025-01-08T21:41:30.004Z,1736372490.004 [DAT](INFO): Local bearing/azimuth received: Bearing 101.3, 8.6 (Local) 2025-01-08T21:41:30.006Z,1736372490.006 [DAT](INFO): DAT read: Range 10 to 50 : 489.8 m (Round-trip 653.1 ms) speed -0.3 m/s 2025-01-08T21:41:30.007Z,1736372490.007 [DAT](INFO): DAT read: user:1979> 2025-01-08T21:41:30.007Z,1736372490.007 [DAT](INFO): DAT read: Tx time:21:41:29.3816 2025-01-08T21:41:30.008Z,1736372490.008 [DAT](INFO): Ping request sent. 2025-01-08T21:41:30.008Z,1736372490.008 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:30.008Z,1736372490.008 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:30.009Z,1736372490.009 [DAT](INFO): direction in FSK: [0.080803,0.737429,0.670574] 2025-01-08T21:41:30.009Z,1736372490.009 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:30.010Z,1736372490.010 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:30.013Z,1736372490.013 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:30.013Z,1736372490.013 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:30.117Z,1736372490.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:30.164Z,1736372490.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 489.799988 m, deltaT: 4.034443 s, deltaX: 0.899994 m, approachRate: 0.223078 m/s, rangeRepo size: 4 2025-01-08T21:41:30.166Z,1736372490.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 489.799988 m, bearing: 308.725071 deg, lat: 36.902018 deg, lon: -122.119536 deg, deltaT: 4.034443 s, deltaX: 0.899994 m, approachRate: 0.223078 m/s, posRepo size: 4 2025-01-08T21:41:30.167Z,1736372490.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.80 m. 2025-01-08T21:41:30.173Z,1736372490.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.799988 m, nav range: 321.599457 m, bearing: 308.980370 deg, approach rate: 0.000000 m/s, LOS rate: 0.093614 deg/s, cmd heading: 228.071710 deg, new cmd heading: 228.172225 deg. 2025-01-08T21:41:30.180Z,1736372490.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.982357 target range: 489.799988 and range: 489.80 m. 2025-01-08T21:41:30.209Z,1736372490.209 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T21:41:30.209Z,1736372490.209 [DockingStepper](INFO): Standby mode. 2025-01-08T21:41:30.240Z,1736372490.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:30.242Z,1736372490.242 [DAT](INFO): DAT read: TxSync time:21:41:29.3808 2025-01-08T21:41:30.492Z,1736372490.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:30.579Z,1736372490.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:30.589Z,1736372490.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.80 m. 2025-01-08T21:41:30.592Z,1736372490.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.799988 m, nav range: 321.575653 m, bearing: 309.026166 deg, approach rate: -0.055425 m/s, LOS rate: 0.106641 deg/s, cmd heading: 228.172223 deg, new cmd heading: 228.309623 deg. 2025-01-08T21:41:30.593Z,1736372490.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.984755 target range: 489.799988 and range: 489.80 m. 2025-01-08T21:41:30.744Z,1736372490.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:30.941Z,1736372490.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:30.951Z,1736372490.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:30.953Z,1736372490.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.80 m. 2025-01-08T21:41:30.956Z,1736372490.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.799988 m, nav range: 321.554901 m, bearing: 309.063516 deg, approach rate: -0.056950 m/s, LOS rate: 0.102507 deg/s, cmd heading: 228.309619 deg, new cmd heading: 228.421675 deg. 2025-01-08T21:41:30.957Z,1736372490.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.986710 target range: 489.799988 and range: 489.80 m. 2025-01-08T21:41:30.996Z,1736372490.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:30.997Z,1736372490.997 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:30.997Z,1736372490.997 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:30.998Z,1736372490.998 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:31.248Z,1736372491.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:31.248Z,1736372491.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240465 2025-01-08T21:41:31.335Z,1736372491.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:31.350Z,1736372491.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.80 m. 2025-01-08T21:41:31.381Z,1736372491.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.799988 m, nav range: 321.531281 m, bearing: 309.105337 deg, approach rate: -0.059574 m/s, LOS rate: 0.105487 deg/s, cmd heading: 228.421675 deg, new cmd heading: 228.547148 deg. 2025-01-08T21:41:31.382Z,1736372491.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.988900 target range: 489.799988 and range: 489.80 m. 2025-01-08T21:41:31.500Z,1736372491.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:31.501Z,1736372491.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492642 2025-01-08T21:41:31.752Z,1736372491.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:31.753Z,1736372491.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744625 2025-01-08T21:41:31.785Z,1736372491.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:31.793Z,1736372491.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.80 m. 2025-01-08T21:41:31.797Z,1736372491.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.799988 m, nav range: 321.498535 m, bearing: 309.152007 deg, approach rate: -0.073761 m/s, LOS rate: 0.105139 deg/s, cmd heading: 228.547145 deg, new cmd heading: 228.687170 deg. 2025-01-08T21:41:31.798Z,1736372491.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.991344 target range: 489.799988 and range: 489.80 m. 2025-01-08T21:41:32.004Z,1736372492.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:32.004Z,1736372492.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996388 2025-01-08T21:41:32.138Z,1736372492.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:32.147Z,1736372492.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.80 m. 2025-01-08T21:41:32.150Z,1736372492.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.799988 m, nav range: 321.472229 m, bearing: 309.188676 deg, approach rate: -0.074504 m/s, LOS rate: 0.103859 deg/s, cmd heading: 228.687164 deg, new cmd heading: 228.797178 deg. 2025-01-08T21:41:32.151Z,1736372492.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.993264 target range: 489.799988 and range: 489.80 m. 2025-01-08T21:41:32.257Z,1736372492.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:32.260Z,1736372492.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250742 2025-01-08T21:41:32.508Z,1736372492.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:32.508Z,1736372492.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500496 2025-01-08T21:41:32.578Z,1736372492.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:32.587Z,1736372492.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.80 m. 2025-01-08T21:41:32.590Z,1736372492.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.799988 m, nav range: 321.426086 m, bearing: 309.237184 deg, approach rate: -0.104695 m/s, LOS rate: 0.110079 deg/s, cmd heading: 228.797171 deg, new cmd heading: 228.942718 deg. 2025-01-08T21:41:32.591Z,1736372492.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.995804 target range: 489.799988 and range: 489.80 m. 2025-01-08T21:41:32.760Z,1736372492.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:32.760Z,1736372492.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752425 2025-01-08T21:41:32.945Z,1736372492.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:32.973Z,1736372492.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:32.975Z,1736372492.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.80 m. 2025-01-08T21:41:32.978Z,1736372492.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.799988 m, nav range: 321.387024 m, bearing: 309.277743 deg, approach rate: -0.100666 m/s, LOS rate: 0.104535 deg/s, cmd heading: 228.942723 deg, new cmd heading: 229.064415 deg. 2025-01-08T21:41:32.979Z,1736372492.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.997928 target range: 489.799988 and range: 489.80 m. 2025-01-08T21:41:33.012Z,1736372493.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:33.014Z,1736372493.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005219 2025-01-08T21:41:33.264Z,1736372493.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:33.264Z,1736372493.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256486 2025-01-08T21:41:33.363Z,1736372493.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:33.399Z,1736372493.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.80 m. 2025-01-08T21:41:33.402Z,1736372493.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.799988 m, nav range: 321.342377 m, bearing: 309.323762 deg, approach rate: -0.106360 m/s, LOS rate: 0.109642 deg/s, cmd heading: 229.064409 deg, new cmd heading: 229.202485 deg. 2025-01-08T21:41:33.403Z,1736372493.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.000338 target range: 489.799988 and range: 489.80 m. 2025-01-08T21:41:33.518Z,1736372493.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:33.519Z,1736372493.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510607 2025-01-08T21:41:33.768Z,1736372493.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:33.768Z,1736372493.768 [DAT](INFO): DAT read: Rx Time2.4405 2025-01-08T21:41:33.769Z,1736372493.769 [DAT](INFO): unknown deviceResponse_: Rx Time2.4405 2025-01-08T21:41:33.769Z,1736372493.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761435 2025-01-08T21:41:33.877Z,1736372493.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:33.902Z,1736372493.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.80 m. 2025-01-08T21:41:33.913Z,1736372493.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.799988 m, nav range: 321.273926 m, bearing: 309.383975 deg, approach rate: -0.135018 m/s, LOS rate: 0.118794 deg/s, cmd heading: 229.202488 deg, new cmd heading: 229.383165 deg. 2025-01-08T21:41:33.914Z,1736372493.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.003491 target range: 489.799988 and range: 489.80 m. 2025-01-08T21:41:34.020Z,1736372494.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:34.022Z,1736372494.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013663 2025-01-08T21:41:34.213Z,1736372494.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:34.239Z,1736372494.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.80 m. 2025-01-08T21:41:34.241Z,1736372494.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.799988 m, nav range: 321.229401 m, bearing: 309.423278 deg, approach rate: -0.132298 m/s, LOS rate: 0.116798 deg/s, cmd heading: 229.383161 deg, new cmd heading: 229.501086 deg. 2025-01-08T21:41:34.242Z,1736372494.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.005549 target range: 489.799988 and range: 489.80 m. 2025-01-08T21:41:34.272Z,1736372494.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:34.278Z,1736372494.278 [DAT](INFO): DAT read: 21:41:32.4405 LVL= 16112, 19505, 16882, 21731, AGC= 69, IDX= 445,-0.15, 1.084, 0.292,-1.219,-0.006, PHS= 1.178, 0.345,-1.217, RAW= 50.0, -2.9, CAL= 52.4, -6.7, ROT= 97.6, 6.7 2025-01-08T21:41:34.280Z,1736372494.280 [DAT](INFO): got valid direction response: 21:41:32.4405 LVL= 16112, 19505, 16882, 21731, AGC= 69, IDX= 445,-0.15, 1.084, 0.292,-1.219,-0.006, PHS= 1.178, 0.345,-1.217, RAW= 50.0, -2.9, CAL= 52.4, -6.7, ROT= 97.6, 6.7 2025-01-08T21:41:34.281Z,1736372494.281 [DAT](INFO): DAT read: Bearing 97.6, 6.7 (Local) 2025-01-08T21:41:34.281Z,1736372494.281 [DAT](INFO): Local bearing/azimuth received: Bearing 97.6, 6.7 (Local) 2025-01-08T21:41:34.285Z,1736372494.285 [DAT](INFO): DAT read: Range 10 to 50 : 491.0 m (Round-trip 654.7 ms) speed 0.0 m/s 2025-01-08T21:41:34.286Z,1736372494.286 [DAT](INFO): DAT read: user:1980> 2025-01-08T21:41:34.288Z,1736372494.288 [DAT](INFO): DAT read: Tx time:21:41:33.5316 2025-01-08T21:41:34.289Z,1736372494.289 [DAT](INFO): Ping request sent. 2025-01-08T21:41:34.289Z,1736372494.289 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:34.290Z,1736372494.290 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:34.292Z,1736372494.292 [DAT](INFO): direction in FSK: [0.045853,0.698469,0.714170] 2025-01-08T21:41:34.293Z,1736372494.293 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:34.294Z,1736372494.294 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:34.298Z,1736372494.298 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:34.298Z,1736372494.298 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:34.525Z,1736372494.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:34.526Z,1736372494.526 [DAT](INFO): DAT read: TxSync time:21:41:33.5308 2025-01-08T21:41:34.671Z,1736372494.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:34.709Z,1736372494.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 491.000000 m, deltaT: 4.281700 s, deltaX: 1.200012 m, approachRate: 0.280265 m/s, rangeRepo size: 4 2025-01-08T21:41:34.711Z,1736372494.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 491.000000 m, bearing: 313.309601 deg, lat: 36.901996 deg, lon: -122.119531 deg, deltaT: 4.281700 s, deltaX: 1.200012 m, approachRate: 0.280265 m/s, posRepo size: 4 2025-01-08T21:41:34.720Z,1736372494.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:34.722Z,1736372494.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 319.244324 m, bearing: 309.178697 deg, approach rate: 0.000000 m/s, LOS rate: 0.116798 deg/s, cmd heading: 229.501077 deg, new cmd heading: 229.665566 deg. 2025-01-08T21:41:34.723Z,1736372494.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.008420 target range: 491.000000 and range: 491.00 m. 2025-01-08T21:41:34.777Z,1736372494.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:35.020Z,1736372495.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:35.027Z,1736372495.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:35.028Z,1736372495.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:35.045Z,1736372495.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:35.052Z,1736372495.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 319.188446 m, bearing: 309.221261 deg, approach rate: -0.165775 m/s, LOS rate: 0.126299 deg/s, cmd heading: 229.665575 deg, new cmd heading: 229.793290 deg. 2025-01-08T21:41:35.053Z,1736372495.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.010650 target range: 491.000000 and range: 491.00 m. 2025-01-08T21:41:35.281Z,1736372495.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:35.282Z,1736372495.282 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:35.282Z,1736372495.282 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:35.282Z,1736372495.282 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:35.431Z,1736372495.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:35.442Z,1736372495.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:35.445Z,1736372495.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 319.122223 m, bearing: 309.271526 deg, approach rate: -0.166779 m/s, LOS rate: 0.126617 deg/s, cmd heading: 229.793300 deg, new cmd heading: 229.944128 deg. 2025-01-08T21:41:35.446Z,1736372495.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.013282 target range: 491.000000 and range: 491.00 m. 2025-01-08T21:41:35.534Z,1736372495.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:35.537Z,1736372495.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247533 2025-01-08T21:41:35.784Z,1736372495.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:35.784Z,1736372495.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495568 2025-01-08T21:41:35.879Z,1736372495.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:35.889Z,1736372495.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:35.891Z,1736372495.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 319.048584 m, bearing: 309.324693 deg, approach rate: -0.164961 m/s, LOS rate: 0.119128 deg/s, cmd heading: 229.944138 deg, new cmd heading: 230.103674 deg. 2025-01-08T21:41:35.892Z,1736372495.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.016067 target range: 491.000000 and range: 491.00 m. 2025-01-08T21:41:36.036Z,1736372496.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:36.036Z,1736372496.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747608 2025-01-08T21:41:36.232Z,1736372496.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:36.257Z,1736372496.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:36.262Z,1736372496.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.990967 m, bearing: 309.366526 deg, approach rate: -0.156394 m/s, LOS rate: 0.113571 deg/s, cmd heading: 230.103664 deg, new cmd heading: 230.229186 deg. 2025-01-08T21:41:36.267Z,1736372496.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.018257 target range: 491.000000 and range: 491.00 m. 2025-01-08T21:41:36.288Z,1736372496.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:36.289Z,1736372496.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999731 2025-01-08T21:41:36.541Z,1736372496.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:36.543Z,1736372496.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254027 2025-01-08T21:41:36.682Z,1736372496.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:36.715Z,1736372496.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:36.718Z,1736372496.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.916016 m, bearing: 309.421606 deg, approach rate: -0.163798 m/s, LOS rate: 0.120399 deg/s, cmd heading: 230.229175 deg, new cmd heading: 230.394452 deg. 2025-01-08T21:41:36.719Z,1736372496.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.021142 target range: 491.000000 and range: 491.00 m. 2025-01-08T21:41:36.793Z,1736372496.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:36.794Z,1736372496.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505290 2025-01-08T21:41:37.040Z,1736372497.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:37.044Z,1736372497.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:37.045Z,1736372497.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755816 2025-01-08T21:41:37.050Z,1736372497.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:37.052Z,1736372497.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:37.054Z,1736372497.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.856689 m, bearing: 309.465507 deg, approach rate: -0.176093 m/s, LOS rate: 0.130332 deg/s, cmd heading: 230.394466 deg, new cmd heading: 230.526193 deg. 2025-01-08T21:41:37.056Z,1736372497.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.023441 target range: 491.000000 and range: 491.00 m. 2025-01-08T21:41:37.296Z,1736372497.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:37.296Z,1736372497.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007484 2025-01-08T21:41:37.461Z,1736372497.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:37.470Z,1736372497.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:37.473Z,1736372497.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.787598 m, bearing: 309.517042 deg, approach rate: -0.165019 m/s, LOS rate: 0.123113 deg/s, cmd heading: 230.526179 deg, new cmd heading: 230.680817 deg. 2025-01-08T21:41:37.474Z,1736372497.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.026140 target range: 491.000000 and range: 491.00 m. 2025-01-08T21:41:37.551Z,1736372497.551 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:37.554Z,1736372497.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264688 2025-01-08T21:41:37.804Z,1736372497.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:37.804Z,1736372497.804 [DAT](INFO): DAT read: Rx Time:21:41:36.5914 2025-01-08T21:41:37.805Z,1736372497.805 [DAT](INFO): Rx dataTimestamp_ set to:1736372497.804675 2025-01-08T21:41:37.805Z,1736372497.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516660 2025-01-08T21:41:37.913Z,1736372497.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:37.927Z,1736372497.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:37.930Z,1736372497.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.718140 m, bearing: 309.573221 deg, approach rate: -0.152013 m/s, LOS rate: 0.122978 deg/s, cmd heading: 230.680815 deg, new cmd heading: 230.849389 deg. 2025-01-08T21:41:37.931Z,1736372497.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.029082 target range: 491.000000 and range: 491.00 m. 2025-01-08T21:41:38.061Z,1736372498.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:38.062Z,1736372498.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773241 2025-01-08T21:41:38.303Z,1736372498.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:38.314Z,1736372498.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:38.322Z,1736372498.322 [DAT](INFO): DAT read: 21:41:36.5914 LVL= 15264, 24993, 24242, 30483, AGC= 67, IDX= 454, 0.18,-2.674, 2.817, 1.301, 2.469, PHS= 1.228, 0.395,-1.172, RAW= 50.0, -4.3, CAL= 53.1, -8.7, ROT= 96.9, 8.7 2025-01-08T21:41:38.323Z,1736372498.323 [DAT](INFO): got valid direction response: 21:41:36.5914 LVL= 15264, 24993, 24242, 30483, AGC= 67, IDX= 454, 0.18,-2.674, 2.817, 1.301, 2.469, PHS= 1.228, 0.395,-1.172, RAW= 50.0, -4.3, CAL= 53.1, -8.7, ROT= 96.9, 8.7 2025-01-08T21:41:38.325Z,1736372498.325 [DAT](INFO): DAT read: Bearing 96.9, 8.7 (Local) 2025-01-08T21:41:38.325Z,1736372498.325 [DAT](INFO): Local bearing/azimuth received: Bearing 96.9, 8.7 (Local) 2025-01-08T21:41:38.326Z,1736372498.326 [DAT](INFO): DAT read: Range 10 to 50 : 491.7 m (Round-trip 655.6 ms) speed -0.1 m/s 2025-01-08T21:41:38.343Z,1736372498.343 [DAT](INFO): DAT read: user:1981> 2025-01-08T21:41:38.344Z,1736372498.344 [DAT](INFO): DAT read: Tx time:21:41:37.6816 2025-01-08T21:41:38.344Z,1736372498.344 [DAT](INFO): Ping request sent. 2025-01-08T21:41:38.345Z,1736372498.345 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:38.345Z,1736372498.345 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:38.346Z,1736372498.346 [DAT](INFO): direction in FSK: [0.071505,0.696393,0.714089] 2025-01-08T21:41:38.346Z,1736372498.346 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:38.346Z,1736372498.346 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:38.388Z,1736372498.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 491.700012 m, deltaT: 4.043189 s, deltaX: 0.700012 m, approachRate: 0.173134 m/s, rangeRepo size: 4 2025-01-08T21:41:38.388Z,1736372498.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:38.391Z,1736372498.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.658569 m, bearing: 309.621646 deg, approach rate: -0.135905 m/s, LOS rate: 0.110499 deg/s, cmd heading: 230.849384 deg, new cmd heading: 230.994685 deg. 2025-01-08T21:41:38.392Z,1736372498.392 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:38.392Z,1736372498.392 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:38.406Z,1736372498.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.031618 target range: 491.000000 and range: 491.70 m. 2025-01-08T21:41:38.567Z,1736372498.567 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:38.570Z,1736372498.570 [DAT](INFO): DAT read: TxSync time:21:41:37.6808 2025-01-08T21:41:38.780Z,1736372498.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:38.807Z,1736372498.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:38.814Z,1736372498.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.595490 m, bearing: 309.677936 deg, approach rate: -0.142949 m/s, LOS rate: 0.127588 deg/s, cmd heading: 230.994675 deg, new cmd heading: 231.163579 deg. 2025-01-08T21:41:38.819Z,1736372498.819 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:38.820Z,1736372498.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034565 target range: 491.000000 and range: 491.70 m. 2025-01-08T21:41:39.072Z,1736372499.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:39.093Z,1736372499.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:39.117Z,1736372499.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:39.123Z,1736372499.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:39.126Z,1736372499.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.553040 m, bearing: 309.715869 deg, approach rate: -0.135909 m/s, LOS rate: 0.121464 deg/s, cmd heading: 231.163572 deg, new cmd heading: 231.277387 deg. 2025-01-08T21:41:39.127Z,1736372499.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.036552 target range: 491.000000 and range: 491.70 m. 2025-01-08T21:41:39.324Z,1736372499.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:39.324Z,1736372499.324 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:39.324Z,1736372499.324 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:39.325Z,1736372499.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:39.511Z,1736372499.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:39.525Z,1736372499.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:39.528Z,1736372499.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.497650 m, bearing: 309.765729 deg, approach rate: -0.137054 m/s, LOS rate: 0.123392 deg/s, cmd heading: 231.277391 deg, new cmd heading: 231.426995 deg. 2025-01-08T21:41:39.529Z,1736372499.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.039163 target range: 491.000000 and range: 491.70 m. 2025-01-08T21:41:39.578Z,1736372499.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:39.580Z,1736372499.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234978 2025-01-08T21:41:39.828Z,1736372499.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:39.829Z,1736372499.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484188 2025-01-08T21:41:39.925Z,1736372499.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:39.937Z,1736372499.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:39.956Z,1736372499.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.457642 m, bearing: 309.813556 deg, approach rate: -0.097117 m/s, LOS rate: 0.116110 deg/s, cmd heading: 231.426999 deg, new cmd heading: 231.570497 deg. 2025-01-08T21:41:39.957Z,1736372499.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.041667 target range: 491.000000 and range: 491.70 m. 2025-01-08T21:41:40.086Z,1736372500.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:40.086Z,1736372500.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741937 2025-01-08T21:41:40.312Z,1736372500.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:40.324Z,1736372500.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:40.327Z,1736372500.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.419281 m, bearing: 309.858198 deg, approach rate: -0.098543 m/s, LOS rate: 0.114693 deg/s, cmd heading: 231.570488 deg, new cmd heading: 231.704429 deg. 2025-01-08T21:41:40.328Z,1736372500.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.044005 target range: 491.000000 and range: 491.70 m. 2025-01-08T21:41:40.336Z,1736372500.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:40.336Z,1736372500.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991881 2025-01-08T21:41:40.590Z,1736372500.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:40.592Z,1736372500.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246718 2025-01-08T21:41:40.744Z,1736372500.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:40.754Z,1736372500.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:40.756Z,1736372500.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.379395 m, bearing: 309.906288 deg, approach rate: -0.092922 m/s, LOS rate: 0.112049 deg/s, cmd heading: 231.704441 deg, new cmd heading: 231.848731 deg. 2025-01-08T21:41:40.757Z,1736372500.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.046524 target range: 491.000000 and range: 491.70 m. 2025-01-08T21:41:40.840Z,1736372500.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:40.841Z,1736372500.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496211 2025-01-08T21:41:41.092Z,1736372501.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:41.092Z,1736372501.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747862 2025-01-08T21:41:41.123Z,1736372501.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:41.130Z,1736372501.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:41.133Z,1736372501.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:41.136Z,1736372501.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.343414 m, bearing: 309.948428 deg, approach rate: -0.094866 m/s, LOS rate: 0.111119 deg/s, cmd heading: 231.848722 deg, new cmd heading: 231.975156 deg. 2025-01-08T21:41:41.137Z,1736372501.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.048730 target range: 491.000000 and range: 491.70 m. 2025-01-08T21:41:41.345Z,1736372501.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:41.346Z,1736372501.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001297 2025-01-08T21:41:41.525Z,1736372501.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:41.534Z,1736372501.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:41.537Z,1736372501.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.303802 m, bearing: 309.993077 deg, approach rate: -0.098806 m/s, LOS rate: 0.111383 deg/s, cmd heading: 231.975163 deg, new cmd heading: 232.109125 deg. 2025-01-08T21:41:41.538Z,1736372501.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.051068 target range: 491.000000 and range: 491.70 m. 2025-01-08T21:41:41.597Z,1736372501.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:41.600Z,1736372501.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255105 2025-01-08T21:41:41.848Z,1736372501.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:41.849Z,1736372501.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504748 2025-01-08T21:41:41.953Z,1736372501.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:41.961Z,1736372501.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:41.964Z,1736372501.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.266632 m, bearing: 310.039281 deg, approach rate: -0.086948 m/s, LOS rate: 0.108092 deg/s, cmd heading: 232.109116 deg, new cmd heading: 232.247744 deg. 2025-01-08T21:41:41.966Z,1736372501.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.053488 target range: 491.000000 and range: 491.70 m. 2025-01-08T21:41:42.100Z,1736372502.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:42.101Z,1736372502.101 [DAT](INFO): DAT read: Rx Time:21:41:40.7421 2025-01-08T21:41:42.101Z,1736372502.101 [DAT](INFO): Rx dataTimestamp_ set to:1736372502.100780 2025-01-08T21:41:42.102Z,1736372502.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757036 2025-01-08T21:41:42.334Z,1736372502.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:42.343Z,1736372502.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.00 m. 2025-01-08T21:41:42.346Z,1736372502.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.000000 m, nav range: 318.233185 m, bearing: 310.079206 deg, approach rate: -0.087744 m/s, LOS rate: 0.104750 deg/s, cmd heading: 232.247742 deg, new cmd heading: 232.367530 deg. 2025-01-08T21:41:42.346Z,1736372502.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.055579 target range: 491.000000 and range: 491.70 m. 2025-01-08T21:41:42.352Z,1736372502.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:42.353Z,1736372502.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.008035 2025-01-08T21:41:42.610Z,1736372502.610 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:42.642Z,1736372502.642 [DAT](INFO): DAT read: 21:41:40.7421 LVL= 18976, 28033, 23058, 32755, AGC= 66, IDX= 430, 0.16, 0.158,-0.624,-2.178,-1.046, PHS= 1.292, 0.469,-1.135, RAW= 49.5, -5.9, CAL= 53.5, -11.0, ROT= 96.5, 11.0 2025-01-08T21:41:42.644Z,1736372502.644 [DAT](INFO): got valid direction response: 21:41:40.7421 LVL= 18976, 28033, 23058, 32755, AGC= 66, IDX= 430, 0.16, 0.158,-0.624,-2.178,-1.046, PHS= 1.292, 0.469,-1.135, RAW= 49.5, -5.9, CAL= 53.5, -11.0, ROT= 96.5, 11.0 2025-01-08T21:41:42.646Z,1736372502.646 [DAT](INFO): DAT read: Bearing 96.5, 11.0 (Local) 2025-01-08T21:41:42.646Z,1736372502.646 [DAT](INFO): Local bearing/azimuth received: Bearing 96.5, 11.0 (Local) 2025-01-08T21:41:42.650Z,1736372502.650 [DAT](INFO): DAT read: Range 10 to 50 : 492.3 m (Round-trip 656.4 ms) speed -0.2 m/s 2025-01-08T21:41:42.687Z,1736372502.687 [DAT](INFO): DAT read: user:1982> 2025-01-08T21:41:42.688Z,1736372502.688 [DAT](INFO): DAT read: Tx time:21:41:41.8316 2025-01-08T21:41:42.689Z,1736372502.689 [DAT](INFO): Ping request sent. 2025-01-08T21:41:42.689Z,1736372502.689 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:42.689Z,1736372502.689 [DAT](INFO): DAT read: TxSync time:21:41:41.8308 2025-01-08T21:41:42.690Z,1736372502.690 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:42.691Z,1736372502.691 [DAT](INFO): direction in FSK: [0.101931,0.698683,0.708133] 2025-01-08T21:41:42.702Z,1736372502.702 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:42.702Z,1736372502.702 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:42.721Z,1736372502.721 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:42.721Z,1736372502.721 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:42.814Z,1736372502.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:42.844Z,1736372502.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 492.299988 m, deltaT: 4.295572 s, deltaX: 0.599976 m, approachRate: 0.139673 m/s, rangeRepo size: 4 2025-01-08T21:41:42.846Z,1736372502.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 492.299988 m, bearing: 310.465578 deg, lat: 36.901960 deg, lon: -122.119321 deg, deltaT: 8.338761 s, deltaX: 1.299988 m, approachRate: 0.155897 m/s, posRepo size: 4 2025-01-08T21:41:42.851Z,1736372502.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:41:42.854Z,1736372502.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 301.502686 m, bearing: 311.831941 deg, approach rate: 0.000000 m/s, LOS rate: 0.104750 deg/s, cmd heading: 232.367543 deg, new cmd heading: 232.523632 deg. 2025-01-08T21:41:42.856Z,1736372502.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:42.855Z,1736372502.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.058303 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:41:43.120Z,1736372503.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:43.157Z,1736372503.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:43.168Z,1736372503.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:43.170Z,1736372503.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:41:43.177Z,1736372503.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 301.473022 m, bearing: 311.870914 deg, approach rate: -0.089694 m/s, LOS rate: 0.117855 deg/s, cmd heading: 232.523627 deg, new cmd heading: 232.640557 deg. 2025-01-08T21:41:43.178Z,1736372503.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.060344 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:41:43.372Z,1736372503.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:43.372Z,1736372503.372 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:43.372Z,1736372503.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:43.372Z,1736372503.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:43.553Z,1736372503.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:43.586Z,1736372503.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:41:43.589Z,1736372503.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 301.438232 m, bearing: 311.915799 deg, approach rate: -0.083559 m/s, LOS rate: 0.107818 deg/s, cmd heading: 232.640560 deg, new cmd heading: 232.775230 deg. 2025-01-08T21:41:43.590Z,1736372503.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.062694 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:41:43.626Z,1736372503.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:43.630Z,1736372503.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.940609 2025-01-08T21:41:43.876Z,1736372503.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:43.877Z,1736372503.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.188699 2025-01-08T21:41:43.992Z,1736372503.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:44.002Z,1736372504.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:41:44.005Z,1736372504.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 301.394958 m, bearing: 311.966659 deg, approach rate: -0.104162 m/s, LOS rate: 0.122439 deg/s, cmd heading: 232.775224 deg, new cmd heading: 232.927824 deg. 2025-01-08T21:41:44.006Z,1736372504.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.065358 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:41:44.128Z,1736372504.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:44.128Z,1736372504.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.439643 2025-01-08T21:41:44.352Z,1736372504.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:44.361Z,1736372504.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:41:44.380Z,1736372504.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:44.380Z,1736372504.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.691641 2025-01-08T21:41:44.381Z,1736372504.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 301.359344 m, bearing: 312.008236 deg, approach rate: -0.099214 m/s, LOS rate: 0.115838 deg/s, cmd heading: 232.927838 deg, new cmd heading: 233.052582 deg. 2025-01-08T21:41:44.388Z,1736372504.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.067535 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:41:44.637Z,1736372504.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:44.640Z,1736372504.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950303 2025-01-08T21:41:44.791Z,1736372504.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:44.800Z,1736372504.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:41:44.803Z,1736372504.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 301.306885 m, bearing: 312.059752 deg, approach rate: -0.119407 m/s, LOS rate: 0.117281 deg/s, cmd heading: 233.052584 deg, new cmd heading: 233.207160 deg. 2025-01-08T21:41:44.804Z,1736372504.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.070233 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:41:44.889Z,1736372504.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:44.890Z,1736372504.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200762 2025-01-08T21:41:45.140Z,1736372505.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:45.140Z,1736372505.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.451715 2025-01-08T21:41:45.171Z,1736372505.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:45.178Z,1736372505.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:45.180Z,1736372505.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:41:45.184Z,1736372505.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 301.260651 m, bearing: 312.104399 deg, approach rate: -0.121720 m/s, LOS rate: 0.117559 deg/s, cmd heading: 233.207165 deg, new cmd heading: 233.341126 deg. 2025-01-08T21:41:45.185Z,1736372505.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.072571 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:41:45.392Z,1736372505.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:45.392Z,1736372505.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703686 2025-01-08T21:41:45.571Z,1736372505.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:45.604Z,1736372505.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:41:45.606Z,1736372505.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 301.211273 m, bearing: 312.151396 deg, approach rate: -0.121142 m/s, LOS rate: 0.115320 deg/s, cmd heading: 233.341119 deg, new cmd heading: 233.482132 deg. 2025-01-08T21:41:45.612Z,1736372505.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075032 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:41:45.645Z,1736372505.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:45.648Z,1736372505.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.958691 2025-01-08T21:41:45.897Z,1736372505.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:45.898Z,1736372505.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209035 2025-01-08T21:41:45.992Z,1736372505.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:46.001Z,1736372506.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:41:46.024Z,1736372506.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 301.152924 m, bearing: 312.201430 deg, approach rate: -0.141041 m/s, LOS rate: 0.120966 deg/s, cmd heading: 233.482121 deg, new cmd heading: 233.632254 deg. 2025-01-08T21:41:46.025Z,1736372506.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077652 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:41:46.148Z,1736372506.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:46.149Z,1736372506.149 [DAT](INFO): DAT read: Rx Time:21:41:44.8935 2025-01-08T21:41:46.150Z,1736372506.150 [DAT](INFO): Rx dataTimestamp_ set to:1736372506.149376 2025-01-08T21:41:46.150Z,1736372506.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.461469 2025-01-08T21:41:46.378Z,1736372506.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:46.388Z,1736372506.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.30 m. 2025-01-08T21:41:46.391Z,1736372506.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.299988 m, nav range: 301.098907 m, bearing: 312.247279 deg, approach rate: -0.139633 m/s, LOS rate: 0.118541 deg/s, cmd heading: 233.632249 deg, new cmd heading: 233.769818 deg. 2025-01-08T21:41:46.392Z,1736372506.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080053 target range: 492.299988 and range: 492.30 m. 2025-01-08T21:41:46.400Z,1736372506.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:46.401Z,1736372506.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.711890 2025-01-08T21:41:46.654Z,1736372506.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:46.677Z,1736372506.677 [DAT](INFO): DAT read: 21:41:44.8935 LVL= 20208, 30177, 31650, 32755, AGC= 68, IDX= 443,-0.39,-0.150,-0.987,-2.467,-1.347, PHS= 1.285, 0.407,-1.122, RAW= 51.1, -5.5, CAL= 55.2, -10.5, ROT= 94.8, 10.5 2025-01-08T21:41:46.704Z,1736372506.704 [DAT](INFO): got valid direction response: 21:41:44.8935 LVL= 20208, 30177, 31650, 32755, AGC= 68, IDX= 443,-0.39,-0.150,-0.987,-2.467,-1.347, PHS= 1.285, 0.407,-1.122, RAW= 51.1, -5.5, CAL= 55.2, -10.5, ROT= 94.8, 10.5 2025-01-08T21:41:46.705Z,1736372506.705 [DAT](INFO): DAT read: Bearing 94.8, 10.5 (Local) 2025-01-08T21:41:46.706Z,1736372506.706 [DAT](INFO): Local bearing/azimuth received: Bearing 94.8, 10.5 (Local) 2025-01-08T21:41:46.724Z,1736372506.724 [DAT](INFO): DAT read: Range 10 to 50 : 493.2 m (Round-trip 657.7 ms) speed -0.2 m/s 2025-01-08T21:41:46.725Z,1736372506.725 [DAT](INFO): DAT read: user:1983> 2025-01-08T21:41:46.725Z,1736372506.725 [DAT](INFO): DAT read: Tx time:21:41:45.9817 2025-01-08T21:41:46.726Z,1736372506.726 [DAT](INFO): Ping request sent. 2025-01-08T21:41:46.726Z,1736372506.726 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:46.726Z,1736372506.726 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:46.733Z,1736372506.733 [DAT](INFO): direction in FSK: [0.090188,0.680613,0.727071] 2025-01-08T21:41:46.733Z,1736372506.733 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:46.733Z,1736372506.733 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:46.742Z,1736372506.742 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:46.742Z,1736372506.742 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:46.864Z,1736372506.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:46.904Z,1736372506.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:46.906Z,1736372506.906 [DAT](INFO): DAT read: TxSync time:21:41:45.9809 2025-01-08T21:41:46.915Z,1736372506.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 493.200012 m, deltaT: 4.043590 s, deltaX: 0.900024 m, approachRate: 0.222581 m/s, rangeRepo size: 4 2025-01-08T21:41:46.929Z,1736372506.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 493.200012 m, bearing: 312.804677 deg, lat: 36.901899 deg, lon: -122.119291 deg, deltaT: 4.043590 s, deltaX: 0.900024 m, approachRate: 0.222581 m/s, posRepo size: 4 2025-01-08T21:41:46.930Z,1736372506.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:41:46.937Z,1736372506.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 294.443115 m, bearing: 311.679914 deg, approach rate: 0.000000 m/s, LOS rate: 0.118541 deg/s, cmd heading: 233.769809 deg, new cmd heading: 233.956904 deg. 2025-01-08T21:41:46.938Z,1736372506.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.083318 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:41:47.157Z,1736372507.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:47.346Z,1736372507.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:47.362Z,1736372507.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:47.368Z,1736372507.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:41:47.376Z,1736372507.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 294.363434 m, bearing: 311.739183 deg, approach rate: -0.175384 m/s, LOS rate: 0.130489 deg/s, cmd heading: 233.956901 deg, new cmd heading: 234.134754 deg. 2025-01-08T21:41:47.377Z,1736372507.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086422 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:41:47.408Z,1736372507.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:47.409Z,1736372507.409 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:47.409Z,1736372507.409 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:47.409Z,1736372507.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:47.662Z,1736372507.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:47.664Z,1736372507.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.938061 2025-01-08T21:41:47.817Z,1736372507.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:47.825Z,1736372507.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:41:47.828Z,1736372507.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 294.285217 m, bearing: 311.797430 deg, approach rate: -0.171283 m/s, LOS rate: 0.127588 deg/s, cmd heading: 234.134759 deg, new cmd heading: 234.309548 deg. 2025-01-08T21:41:47.829Z,1736372507.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.089473 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:41:47.912Z,1736372507.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:47.913Z,1736372507.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.186868 2025-01-08T21:41:48.100Z,1736372508.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:41:48.164Z,1736372508.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:48.164Z,1736372508.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438479 2025-01-08T21:41:48.204Z,1736372508.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:48.212Z,1736372508.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:41:48.215Z,1736372508.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 294.220123 m, bearing: 311.845336 deg, approach rate: -0.168240 m/s, LOS rate: 0.123843 deg/s, cmd heading: 234.309558 deg, new cmd heading: 234.453306 deg. 2025-01-08T21:41:48.216Z,1736372508.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091982 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:41:48.418Z,1736372508.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:48.419Z,1736372508.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693610 2025-01-08T21:41:48.604Z,1736372508.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:48.631Z,1736372508.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:41:48.646Z,1736372508.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 294.152130 m, bearing: 311.894814 deg, approach rate: -0.162841 m/s, LOS rate: 0.118525 deg/s, cmd heading: 234.453319 deg, new cmd heading: 234.601787 deg. 2025-01-08T21:41:48.652Z,1736372508.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.094573 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:41:48.670Z,1736372508.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:48.672Z,1736372508.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945901 2025-01-08T21:41:48.920Z,1736372508.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:48.920Z,1736372508.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194504 2025-01-08T21:41:49.022Z,1736372509.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:49.051Z,1736372509.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:41:49.053Z,1736372509.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 294.084320 m, bearing: 311.946892 deg, approach rate: -0.161042 m/s, LOS rate: 0.123710 deg/s, cmd heading: 234.601780 deg, new cmd heading: 234.758051 deg. 2025-01-08T21:41:49.054Z,1736372509.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097301 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:41:49.105Z,1736372509.105 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:41:49.172Z,1736372509.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:49.173Z,1736372509.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446817 2025-01-08T21:41:49.406Z,1736372509.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:49.413Z,1736372509.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:49.424Z,1736372509.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:49.424Z,1736372509.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698418 2025-01-08T21:41:49.436Z,1736372509.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:41:49.438Z,1736372509.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 294.021362 m, bearing: 311.994730 deg, approach rate: -0.172693 m/s, LOS rate: 0.131246 deg/s, cmd heading: 234.758055 deg, new cmd heading: 234.901598 deg. 2025-01-08T21:41:49.443Z,1736372509.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099806 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:41:49.678Z,1736372509.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:49.680Z,1736372509.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953765 2025-01-08T21:41:49.843Z,1736372509.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:49.868Z,1736372509.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:41:49.871Z,1736372509.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 293.956573 m, bearing: 312.048753 deg, approach rate: -0.142995 m/s, LOS rate: 0.119262 deg/s, cmd heading: 234.901598 deg, new cmd heading: 235.063705 deg. 2025-01-08T21:41:49.876Z,1736372509.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102635 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:41:49.928Z,1736372509.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:49.930Z,1736372509.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203533 2025-01-08T21:41:50.180Z,1736372510.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:50.180Z,1736372510.180 [DAT](INFO): DAT read: Rx Time:21:41:49.0445 2025-01-08T21:41:50.181Z,1736372510.181 [DAT](INFO): Rx dataTimestamp_ set to:1736372510.180596 2025-01-08T21:41:50.182Z,1736372510.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.455588 2025-01-08T21:41:50.246Z,1736372510.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:50.256Z,1736372510.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:41:50.259Z,1736372510.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 293.895813 m, bearing: 312.098790 deg, approach rate: -0.156593 m/s, LOS rate: 0.128982 deg/s, cmd heading: 235.063692 deg, new cmd heading: 235.213833 deg. 2025-01-08T21:41:50.260Z,1736372510.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105256 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:41:50.433Z,1736372510.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:50.433Z,1736372510.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.707440 2025-01-08T21:41:50.633Z,1736372510.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:50.642Z,1736372510.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.20 m. 2025-01-08T21:41:50.646Z,1736372510.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.200012 m, nav range: 293.837311 m, bearing: 312.146548 deg, approach rate: -0.151777 m/s, LOS rate: 0.123926 deg/s, cmd heading: 235.213820 deg, new cmd heading: 235.357121 deg. 2025-01-08T21:41:50.648Z,1736372510.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107757 target range: 493.200012 and range: 493.20 m. 2025-01-08T21:41:50.684Z,1736372510.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:50.684Z,1736372510.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.958592 2025-01-08T21:41:50.936Z,1736372510.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:50.950Z,1736372510.950 [DAT](INFO): DAT read: 21:41:49.0445 LVL= 18336, 26705, 21730, 28643, AGC= 65, IDX= 437, 0.03, 1.358, 0.432,-0.974, 0.190, PHS= 1.256, 0.289,-1.167, RAW= 53.3, -3.6, CAL= 56.8, -7.9, ROT= 93.2, 7.9 2025-01-08T21:41:50.952Z,1736372510.952 [DAT](INFO): got valid direction response: 21:41:49.0445 LVL= 18336, 26705, 21730, 28643, AGC= 65, IDX= 437, 0.03, 1.358, 0.432,-0.974, 0.190, PHS= 1.256, 0.289,-1.167, RAW= 53.3, -3.6, CAL= 56.8, -7.9, ROT= 93.2, 7.9 2025-01-08T21:41:50.953Z,1736372510.953 [DAT](INFO): DAT read: Bearing 93.2, 7.9 (Local) 2025-01-08T21:41:50.953Z,1736372510.953 [DAT](INFO): Local bearing/azimuth received: Bearing 93.2, 7.9 (Local) 2025-01-08T21:41:50.956Z,1736372510.956 [DAT](INFO): DAT read: Range 10 to 50 : 493.9 m (Round-trip 658.6 ms) speed 0.0 m/s 2025-01-08T21:41:50.957Z,1736372510.957 [DAT](INFO): DAT read: user:1984> 2025-01-08T21:41:50.957Z,1736372510.957 [DAT](INFO): DAT read: Tx time:21:41:50.1317 2025-01-08T21:41:50.958Z,1736372510.958 [DAT](INFO): Ping request sent. 2025-01-08T21:41:50.958Z,1736372510.958 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:50.958Z,1736372510.958 [DAT](INFO): DAT read: TxSync time:21:41:50.1309 2025-01-08T21:41:50.959Z,1736372510.959 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:50.960Z,1736372510.960 [DAT](INFO): direction in FSK: [0.051643,0.657609,0.751587] 2025-01-08T21:41:50.960Z,1736372510.960 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:50.961Z,1736372510.961 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:50.965Z,1736372510.965 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:50.965Z,1736372510.965 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:51.081Z,1736372511.081 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-2768,-32768,V 2025-01-08T21:41:51.102Z,1736372511.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:41:51.102Z,1736372511.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:51.133Z,1736372511.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 493.899994 m, deltaT: 4.281570 s, deltaX: 0.699982 m, approachRate: 0.163487 m/s, rangeRepo size: 4 2025-01-08T21:41:51.139Z,1736372511.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 493.899994 m, bearing: 319.141250 deg, lat: 36.901899 deg, lon: -122.119181 deg, deltaT: 4.281570 s, deltaX: 0.699982 m, approachRate: 0.163487 m/s, posRepo size: 4 2025-01-08T21:41:51.140Z,1736372511.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:51.143Z,1736372511.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 286.571289 m, bearing: 313.522807 deg, approach rate: 0.000000 m/s, LOS rate: 0.123926 deg/s, cmd heading: 235.357117 deg, new cmd heading: 235.537643 deg. 2025-01-08T21:41:51.154Z,1736372511.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110908 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:51.188Z,1736372511.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:51.440Z,1736372511.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:51.507Z,1736372511.507 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:41:51.514Z,1736372511.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:41:51.514Z,1736372511.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:51.521Z,1736372511.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:51.524Z,1736372511.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:51.526Z,1736372511.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 286.514099 m, bearing: 313.575457 deg, approach rate: -0.144409 m/s, LOS rate: 0.132974 deg/s, cmd heading: 235.537653 deg, new cmd heading: 235.695637 deg. 2025-01-08T21:41:51.527Z,1736372511.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113665 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:51.692Z,1736372511.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:51.692Z,1736372511.692 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:51.692Z,1736372511.692 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:51.692Z,1736372511.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:51.944Z,1736372511.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:51.944Z,1736372511.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986431 2025-01-08T21:41:51.966Z,1736372511.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:51.988Z,1736372511.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:51.995Z,1736372511.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 286.466766 m, bearing: 313.632464 deg, approach rate: -0.101768 m/s, LOS rate: 0.122588 deg/s, cmd heading: 235.695649 deg, new cmd heading: 235.866697 deg. 2025-01-08T21:41:51.996Z,1736372511.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.116651 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:52.196Z,1736372512.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:52.196Z,1736372512.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238596 2025-01-08T21:41:52.311Z,1736372512.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:52.337Z,1736372512.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:52.344Z,1736372512.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 286.429169 m, bearing: 313.675842 deg, approach rate: -0.107908 m/s, LOS rate: 0.124514 deg/s, cmd heading: 235.866704 deg, new cmd heading: 235.996854 deg. 2025-01-08T21:41:52.345Z,1736372512.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118922 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:52.451Z,1736372512.451 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:52.452Z,1736372512.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494272 2025-01-08T21:41:52.705Z,1736372512.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:52.706Z,1736372512.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748097 2025-01-08T21:41:52.828Z,1736372512.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:52.838Z,1736372512.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:52.841Z,1736372512.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 286.374817 m, bearing: 313.741787 deg, approach rate: -0.108431 m/s, LOS rate: 0.131583 deg/s, cmd heading: 235.996860 deg, new cmd heading: 236.194731 deg. 2025-01-08T21:41:52.842Z,1736372512.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.122376 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:52.956Z,1736372512.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:52.957Z,1736372512.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998697 2025-01-08T21:41:53.119Z,1736372513.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:53.128Z,1736372513.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:53.131Z,1736372513.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 286.343781 m, bearing: 313.778802 deg, approach rate: -0.106986 m/s, LOS rate: 0.127608 deg/s, cmd heading: 236.194744 deg, new cmd heading: 236.305801 deg. 2025-01-08T21:41:53.133Z,1736372513.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124314 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:53.208Z,1736372513.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:53.208Z,1736372513.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250647 2025-01-08T21:41:53.460Z,1736372513.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:53.461Z,1736372513.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502741 2025-01-08T21:41:53.522Z,1736372513.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:53.529Z,1736372513.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:53.532Z,1736372513.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:53.536Z,1736372513.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 286.299866 m, bearing: 313.830232 deg, approach rate: -0.108940 m/s, LOS rate: 0.127602 deg/s, cmd heading: 236.305803 deg, new cmd heading: 236.460116 deg. 2025-01-08T21:41:53.537Z,1736372513.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127007 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:53.712Z,1736372513.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:53.714Z,1736372513.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756002 2025-01-08T21:41:53.958Z,1736372513.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:53.964Z,1736372513.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:53.964Z,1736372513.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006621 2025-01-08T21:41:53.969Z,1736372513.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:53.992Z,1736372513.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 286.256897 m, bearing: 313.885630 deg, approach rate: -0.098178 m/s, LOS rate: 0.126597 deg/s, cmd heading: 236.460111 deg, new cmd heading: 236.626331 deg. 2025-01-08T21:41:53.993Z,1736372513.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129909 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:54.216Z,1736372514.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:54.217Z,1736372514.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259210 2025-01-08T21:41:54.331Z,1736372514.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:54.341Z,1736372514.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:54.343Z,1736372514.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 286.219604 m, bearing: 313.933134 deg, approach rate: -0.100369 m/s, LOS rate: 0.127869 deg/s, cmd heading: 236.626330 deg, new cmd heading: 236.768860 deg. 2025-01-08T21:41:54.344Z,1736372514.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132396 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:54.468Z,1736372514.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:54.469Z,1736372514.469 [DAT](INFO): DAT read: Rx Time:21:41:53.1954 2025-01-08T21:41:54.469Z,1736372514.469 [DAT](INFO): Rx dataTimestamp_ set to:1736372514.468763 2025-01-08T21:41:54.470Z,1736372514.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511750 2025-01-08T21:41:54.720Z,1736372514.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:54.720Z,1736372514.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762585 2025-01-08T21:41:54.821Z,1736372514.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:54.834Z,1736372514.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.90 m. 2025-01-08T21:41:54.841Z,1736372514.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.899994 m, nav range: 286.170135 m, bearing: 313.995483 deg, approach rate: -0.100182 m/s, LOS rate: 0.126288 deg/s, cmd heading: 236.768863 deg, new cmd heading: 236.955942 deg. 2025-01-08T21:41:54.848Z,1736372514.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135662 target range: 493.899994 and range: 493.90 m. 2025-01-08T21:41:54.974Z,1736372514.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:54.981Z,1736372514.981 [DAT](INFO): DAT read: 21:41:53.1954 LVL= 17184, 25537, 21746, 30595, AGC= 66, IDX= 446, 0.39,-2.167, 3.042, 1.802, 2.886, PHS= 1.317, 0.202,-1.087, RAW= 57.6, -4.2, CAL= 62.4, -9.1, ROT= 87.6, 9.1 2025-01-08T21:41:54.990Z,1736372514.990 [DAT](INFO): got valid direction response: 21:41:53.1954 LVL= 17184, 25537, 21746, 30595, AGC= 66, IDX= 446, 0.39,-2.167, 3.042, 1.802, 2.886, PHS= 1.317, 0.202,-1.087, RAW= 57.6, -4.2, CAL= 62.4, -9.1, ROT= 87.6, 9.1 2025-01-08T21:41:54.992Z,1736372514.992 [DAT](INFO): DAT read: Bearing 87.6, 9.1 (Local) 2025-01-08T21:41:54.993Z,1736372514.993 [DAT](INFO): Local bearing/azimuth received: Bearing 87.6, 9.1 (Local) 2025-01-08T21:41:54.995Z,1736372514.995 [DAT](INFO): DAT read: Range 10 to 50 : 494.6 m (Round-trip 659.5 ms) speed 0.0 m/s 2025-01-08T21:41:55.001Z,1736372515.001 [DAT](INFO): DAT read: user:1985> 2025-01-08T21:41:55.001Z,1736372515.001 [DAT](INFO): DAT read: Tx time:21:41:54.2817 2025-01-08T21:41:55.002Z,1736372515.002 [DAT](INFO): Ping request sent. 2025-01-08T21:41:55.002Z,1736372515.002 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:55.002Z,1736372515.002 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:55.003Z,1736372515.003 [DAT](INFO): direction in FSK: [0.053670,0.602810,0.796078] 2025-01-08T21:41:55.007Z,1736372515.007 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:55.008Z,1736372515.008 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:55.011Z,1736372515.011 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:55.011Z,1736372515.011 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:55.224Z,1736372515.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:55.225Z,1736372515.225 [DAT](INFO): DAT read: TxSync time:21:41:54.2809 2025-01-08T21:41:55.245Z,1736372515.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:55.280Z,1736372515.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 494.600006 m, deltaT: 4.038649 s, deltaX: 0.700012 m, approachRate: 0.173328 m/s, rangeRepo size: 4 2025-01-08T21:41:55.283Z,1736372515.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 494.600006 m, bearing: 320.622045 deg, lat: 36.901888 deg, lon: -122.119181 deg, deltaT: 4.038649 s, deltaX: 0.700012 m, approachRate: 0.173328 m/s, posRepo size: 4 2025-01-08T21:41:55.295Z,1736372515.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.60 m. 2025-01-08T21:41:55.298Z,1736372515.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.600006 m, nav range: 285.282959 m, bearing: 313.877245 deg, approach rate: 0.000000 m/s, LOS rate: 0.126288 deg/s, cmd heading: 236.955955 deg, new cmd heading: 237.121244 deg. 2025-01-08T21:41:55.304Z,1736372515.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138546 target range: 494.600006 and range: 494.60 m. 2025-01-08T21:41:55.476Z,1736372515.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:55.595Z,1736372515.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:55.603Z,1736372515.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:55.605Z,1736372515.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.60 m. 2025-01-08T21:41:55.608Z,1736372515.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.600006 m, nav range: 285.240051 m, bearing: 313.923264 deg, approach rate: -0.128166 m/s, LOS rate: 0.137480 deg/s, cmd heading: 237.121246 deg, new cmd heading: 237.259323 deg. 2025-01-08T21:41:55.609Z,1736372515.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140956 target range: 494.600006 and range: 494.60 m. 2025-01-08T21:41:55.729Z,1736372515.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:55.730Z,1736372515.730 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:41:55.730Z,1736372515.730 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:41:55.730Z,1736372515.730 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:41:55.980Z,1736372515.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:55.980Z,1736372515.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978808 2025-01-08T21:41:56.030Z,1736372516.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:56.040Z,1736372516.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.60 m. 2025-01-08T21:41:56.042Z,1736372516.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.600006 m, nav range: 285.183624 m, bearing: 313.980710 deg, approach rate: -0.129997 m/s, LOS rate: 0.132370 deg/s, cmd heading: 237.259325 deg, new cmd heading: 237.431696 deg. 2025-01-08T21:41:56.056Z,1736372516.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143965 target range: 494.600006 and range: 494.60 m. 2025-01-08T21:41:56.232Z,1736372516.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:56.233Z,1736372516.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231448 2025-01-08T21:41:56.392Z,1736372516.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:56.401Z,1736372516.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.60 m. 2025-01-08T21:41:56.406Z,1736372516.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.600006 m, nav range: 285.136536 m, bearing: 314.028450 deg, approach rate: -0.130179 m/s, LOS rate: 0.132001 deg/s, cmd heading: 237.431692 deg, new cmd heading: 237.574934 deg. 2025-01-08T21:41:56.407Z,1736372516.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146465 target range: 494.600006 and range: 494.60 m. 2025-01-08T21:41:56.484Z,1736372516.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:56.485Z,1736372516.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483061 2025-01-08T21:41:56.736Z,1736372516.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:56.737Z,1736372516.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734973 2025-01-08T21:41:56.883Z,1736372516.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:56.892Z,1736372516.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.60 m. 2025-01-08T21:41:56.894Z,1736372516.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.600006 m, nav range: 285.058228 m, bearing: 314.094102 deg, approach rate: -0.159759 m/s, LOS rate: 0.133976 deg/s, cmd heading: 237.574934 deg, new cmd heading: 237.771945 deg. 2025-01-08T21:41:56.916Z,1736372516.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.149903 target range: 494.600006 and range: 494.60 m. 2025-01-08T21:41:56.988Z,1736372516.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:56.988Z,1736372516.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986821 2025-01-08T21:41:57.207Z,1736372517.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:57.221Z,1736372517.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.60 m. 2025-01-08T21:41:57.224Z,1736372517.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.600006 m, nav range: 285.006714 m, bearing: 314.137478 deg, approach rate: -0.156222 m/s, LOS rate: 0.131567 deg/s, cmd heading: 237.771944 deg, new cmd heading: 237.902095 deg. 2025-01-08T21:41:57.225Z,1736372517.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152175 target range: 494.600006 and range: 494.60 m. 2025-01-08T21:41:57.240Z,1736372517.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:57.240Z,1736372517.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238659 2025-01-08T21:41:57.492Z,1736372517.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:57.493Z,1736372517.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490983 2025-01-08T21:41:57.593Z,1736372517.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:57.606Z,1736372517.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.60 m. 2025-01-08T21:41:57.609Z,1736372517.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.600006 m, nav range: 284.944336 m, bearing: 314.189080 deg, approach rate: -0.161893 m/s, LOS rate: 0.133955 deg/s, cmd heading: 237.902100 deg, new cmd heading: 238.056940 deg. 2025-01-08T21:41:57.610Z,1736372517.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154877 target range: 494.600006 and range: 494.60 m. 2025-01-08T21:41:57.745Z,1736372517.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:57.746Z,1736372517.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744812 2025-01-08T21:41:57.996Z,1736372517.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:57.996Z,1736372517.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994790 2025-01-08T21:41:58.037Z,1736372518.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:58.044Z,1736372518.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:41:58.052Z,1736372518.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.60 m. 2025-01-08T21:41:58.054Z,1736372518.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.600006 m, nav range: 284.863251 m, bearing: 314.248048 deg, approach rate: -0.184005 m/s, LOS rate: 0.133853 deg/s, cmd heading: 238.056927 deg, new cmd heading: 238.233881 deg. 2025-01-08T21:41:58.075Z,1736372518.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157966 target range: 494.600006 and range: 494.60 m. 2025-01-08T21:41:58.248Z,1736372518.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:58.250Z,1736372518.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247875 2025-01-08T21:41:58.400Z,1736372518.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:58.429Z,1736372518.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.60 m. 2025-01-08T21:41:58.436Z,1736372518.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.600006 m, nav range: 284.796814 m, bearing: 314.296452 deg, approach rate: -0.173928 m/s, LOS rate: 0.126748 deg/s, cmd heading: 238.233884 deg, new cmd heading: 238.379128 deg. 2025-01-08T21:41:58.437Z,1736372518.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160501 target range: 494.600006 and range: 494.60 m. 2025-01-08T21:41:58.500Z,1736372518.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:58.501Z,1736372518.501 [DAT](INFO): DAT read: Rx Time:21:41:57.3458 2025-01-08T21:41:58.502Z,1736372518.502 [DAT](INFO): Rx dataTimestamp_ set to:1736372518.502040 2025-01-08T21:41:58.503Z,1736372518.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501746 2025-01-08T21:41:58.752Z,1736372518.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:58.753Z,1736372518.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750849 2025-01-08T21:41:58.940Z,1736372518.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:58.951Z,1736372518.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.60 m. 2025-01-08T21:41:58.954Z,1736372518.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.600006 m, nav range: 284.681793 m, bearing: 314.368987 deg, approach rate: -0.220387 m/s, LOS rate: 0.139039 deg/s, cmd heading: 238.379121 deg, new cmd heading: 238.596814 deg. 2025-01-08T21:41:58.955Z,1736372518.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164300 target range: 494.600006 and range: 494.60 m. 2025-01-08T21:41:59.006Z,1736372519.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:59.008Z,1736372519.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.006545 2025-01-08T21:41:59.249Z,1736372519.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:59.256Z,1736372519.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:59.263Z,1736372519.263 [DAT](INFO): DAT read: 21:41:57.3458 LVL= 17136, 27297, 22770, 30643, AGC= 66, IDX= 450, 0.36,-0.941,-1.981, 2.911,-2.233, PHS= 1.380, 0.299,-1.142, RAW= 55.3, -4.9, CAL= 60.1, -10.0, ROT= 89.9, 10.0 2025-01-08T21:41:59.264Z,1736372519.264 [DAT](INFO): got valid direction response: 21:41:57.3458 LVL= 17136, 27297, 22770, 30643, AGC= 66, IDX= 450, 0.36,-0.941,-1.981, 2.911,-2.233, PHS= 1.380, 0.299,-1.142, RAW= 55.3, -4.9, CAL= 60.1, -10.0, ROT= 89.9, 10.0 2025-01-08T21:41:59.266Z,1736372519.266 [DAT](INFO): DAT read: Bearing 89.9, 10.0 (Local) 2025-01-08T21:41:59.266Z,1736372519.266 [DAT](INFO): Local bearing/azimuth received: Bearing 89.9, 10.0 (Local) 2025-01-08T21:41:59.276Z,1736372519.276 [DAT](INFO): DAT read: Range 10 to 50 : 494.9 m (Round-trip 659.9 ms) speed -0.1 m/s 2025-01-08T21:41:59.277Z,1736372519.277 [DAT](INFO): DAT read: user:1986> 2025-01-08T21:41:59.278Z,1736372519.278 [DAT](INFO): DAT read: Tx time:21:41:58.4318 2025-01-08T21:41:59.278Z,1736372519.278 [DAT](INFO): Ping request sent. 2025-01-08T21:41:59.278Z,1736372519.278 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:41:59.279Z,1736372519.279 [DAT](INFO): DAT read: TxSync time:21:41:58.4310 2025-01-08T21:41:59.280Z,1736372519.280 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:41:59.281Z,1736372519.281 [DAT](INFO): direction in FSK: [0.072420,0.631000,0.772395] 2025-01-08T21:41:59.281Z,1736372519.281 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:59.281Z,1736372519.281 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:59.305Z,1736372519.305 [DAT](INFO): publishing transmit ping time 2025-01-08T21:41:59.306Z,1736372519.306 [DAT](INFO): publishing direction and range info 2025-01-08T21:41:59.321Z,1736372519.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 494.899994 m, deltaT: 4.281385 s, deltaX: 0.299988 m, approachRate: 0.070068 m/s, rangeRepo size: 4 2025-01-08T21:41:59.329Z,1736372519.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 494.899994 m, bearing: 320.336315 deg, lat: 36.901887 deg, lon: -122.118843 deg, deltaT: 4.281385 s, deltaX: 0.299988 m, approachRate: 0.070068 m/s, posRepo size: 4 2025-01-08T21:41:59.330Z,1736372519.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:41:59.337Z,1736372519.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.921936 m, bearing: 318.957098 deg, approach rate: 0.000000 m/s, LOS rate: 0.139039 deg/s, cmd heading: 238.596813 deg, new cmd heading: 238.746949 deg. 2025-01-08T21:41:59.338Z,1736372519.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166920 target range: 494.899994 and range: 494.90 m. 2025-01-08T21:41:59.508Z,1736372519.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:41:59.670Z,1736372519.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:41:59.697Z,1736372519.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:41:59.712Z,1736372519.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.855438 m, bearing: 319.019646 deg, approach rate: -0.172157 m/s, LOS rate: 0.161973 deg/s, cmd heading: 238.746940 deg, new cmd heading: 238.934632 deg. 2025-01-08T21:41:59.713Z,1736372519.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170196 target range: 494.899994 and range: 494.90 m. 2025-01-08T21:41:59.760Z,1736372519.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:00.012Z,1736372520.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:00.087Z,1736372520.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:00.093Z,1736372520.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:00.096Z,1736372520.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:00.099Z,1736372520.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.787231 m, bearing: 319.080299 deg, approach rate: -0.171271 m/s, LOS rate: 0.152343 deg/s, cmd heading: 238.934634 deg, new cmd heading: 239.116639 deg. 2025-01-08T21:42:00.100Z,1736372520.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173373 target range: 494.899994 and range: 494.90 m. 2025-01-08T21:42:00.264Z,1736372520.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:00.264Z,1736372520.264 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:00.264Z,1736372520.264 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:00.265Z,1736372520.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:00.470Z,1736372520.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:00.478Z,1736372520.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:00.481Z,1736372520.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.724945 m, bearing: 319.136061 deg, approach rate: -0.162707 m/s, LOS rate: 0.145698 deg/s, cmd heading: 239.116645 deg, new cmd heading: 239.283969 deg. 2025-01-08T21:42:00.483Z,1736372520.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176293 target range: 494.899994 and range: 494.90 m. 2025-01-08T21:42:00.516Z,1736372520.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:00.517Z,1736372520.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238752 2025-01-08T21:42:00.769Z,1736372520.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:00.771Z,1736372520.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492106 2025-01-08T21:42:00.936Z,1736372520.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:00.945Z,1736372520.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:00.964Z,1736372520.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.648651 m, bearing: 319.203975 deg, approach rate: -0.163521 m/s, LOS rate: 0.145602 deg/s, cmd heading: 239.283957 deg, new cmd heading: 239.487757 deg. 2025-01-08T21:42:00.966Z,1736372520.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179850 target range: 494.899994 and range: 494.90 m. 2025-01-08T21:42:01.021Z,1736372521.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:01.022Z,1736372521.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743111 2025-01-08T21:42:01.269Z,1736372521.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:01.272Z,1736372521.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:01.272Z,1736372521.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994169 2025-01-08T21:42:01.286Z,1736372521.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:01.305Z,1736372521.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.594360 m, bearing: 319.252439 deg, approach rate: -0.159281 m/s, LOS rate: 0.142216 deg/s, cmd heading: 239.487770 deg, new cmd heading: 239.633192 deg. 2025-01-08T21:42:01.305Z,1736372521.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182388 target range: 494.899994 and range: 494.90 m. 2025-01-08T21:42:01.524Z,1736372521.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:01.524Z,1736372521.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245990 2025-01-08T21:42:01.688Z,1736372521.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:01.697Z,1736372521.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:01.700Z,1736372521.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.525635 m, bearing: 319.313466 deg, approach rate: -0.166991 m/s, LOS rate: 0.148322 deg/s, cmd heading: 239.633198 deg, new cmd heading: 239.816325 deg. 2025-01-08T21:42:01.701Z,1736372521.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.185585 target range: 494.899994 and range: 494.90 m. 2025-01-08T21:42:01.776Z,1736372521.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:01.777Z,1736372521.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498452 2025-01-08T21:42:02.028Z,1736372522.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:02.028Z,1736372522.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750114 2025-01-08T21:42:02.112Z,1736372522.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:02.131Z,1736372522.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:02.134Z,1736372522.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:02.137Z,1736372522.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.464355 m, bearing: 319.373829 deg, approach rate: -0.140294 m/s, LOS rate: 0.138229 deg/s, cmd heading: 239.816329 deg, new cmd heading: 239.997461 deg. 2025-01-08T21:42:02.138Z,1736372522.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.188746 target range: 494.899994 and range: 494.90 m. 2025-01-08T21:42:02.280Z,1736372522.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:02.281Z,1736372522.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002215 2025-01-08T21:42:02.462Z,1736372522.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:02.473Z,1736372522.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:02.476Z,1736372522.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.412384 m, bearing: 319.423686 deg, approach rate: -0.153120 m/s, LOS rate: 0.146919 deg/s, cmd heading: 239.997466 deg, new cmd heading: 240.147066 deg. 2025-01-08T21:42:02.477Z,1736372522.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191357 target range: 494.899994 and range: 494.90 m. 2025-01-08T21:42:02.533Z,1736372522.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:02.534Z,1736372522.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255425 2025-01-08T21:42:02.786Z,1736372522.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:02.788Z,1736372522.788 [DAT](INFO): DAT read: Rx Time:21:42:01.4966 2025-01-08T21:42:02.789Z,1736372522.789 [DAT](INFO): Rx dataTimestamp_ set to:1736372522.788335 2025-01-08T21:42:02.789Z,1736372522.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510851 2025-01-08T21:42:02.939Z,1736372522.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:02.959Z,1736372522.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:02.962Z,1736372522.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.340881 m, bearing: 319.491514 deg, approach rate: -0.148416 m/s, LOS rate: 0.140827 deg/s, cmd heading: 240.147074 deg, new cmd heading: 240.350612 deg. 2025-01-08T21:42:02.963Z,1736372522.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194910 target range: 494.899994 and range: 494.90 m. 2025-01-08T21:42:03.036Z,1736372523.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:03.037Z,1736372523.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758976 2025-01-08T21:42:03.288Z,1736372523.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:03.289Z,1736372523.289 [DAT](INFO): DAT read: Range 10 to 50 : 495.5 m (Round-trip 660.7 ms) speed 0.0 m/s 2025-01-08T21:42:03.290Z,1736372523.290 [DAT](INFO): DAT read: user:1987> 2025-01-08T21:42:03.291Z,1736372523.291 [DAT](INFO): DAT read: Tx time:21:42:02.5818 2025-01-08T21:42:03.291Z,1736372523.291 [DAT](INFO): Ping request sent. 2025-01-08T21:42:03.291Z,1736372523.291 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:03.292Z,1736372523.292 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:42:03.292Z,1736372523.292 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:03.292Z,1736372523.292 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:03.310Z,1736372523.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:03.320Z,1736372523.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 495.500000 m, deltaT: 4.031967 s, deltaX: 0.600006 m, approachRate: 0.148812 m/s, rangeRepo size: 4 2025-01-08T21:42:03.321Z,1736372523.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:03.324Z,1736372523.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.294220 m, bearing: 319.542814 deg, approach rate: -0.128201 m/s, LOS rate: 0.140969 deg/s, cmd heading: 240.350614 deg, new cmd heading: 240.504540 deg. 2025-01-08T21:42:03.325Z,1736372523.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197596 target range: 494.899994 and range: 495.50 m. 2025-01-08T21:42:03.540Z,1736372523.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:03.541Z,1736372523.541 [DAT](INFO): DAT read: TxSync time:21:42:02.5810 2025-01-08T21:42:03.692Z,1736372523.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:03.702Z,1736372523.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:03.705Z,1736372523.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.245361 m, bearing: 319.595565 deg, approach rate: -0.127595 m/s, LOS rate: 0.137787 deg/s, cmd heading: 240.504539 deg, new cmd heading: 240.662823 deg. 2025-01-08T21:42:03.706Z,1736372523.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200359 target range: 494.899994 and range: 495.50 m. 2025-01-08T21:42:03.792Z,1736372523.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:04.044Z,1736372524.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:04.116Z,1736372524.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:04.141Z,1736372524.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:04.148Z,1736372524.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:04.155Z,1736372524.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.209503 m, bearing: 319.651416 deg, approach rate: -0.081240 m/s, LOS rate: 0.126552 deg/s, cmd heading: 240.662836 deg, new cmd heading: 240.830410 deg. 2025-01-08T21:42:04.156Z,1736372524.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203284 target range: 494.899994 and range: 495.50 m. 2025-01-08T21:42:04.296Z,1736372524.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:04.297Z,1736372524.297 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:04.297Z,1736372524.297 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:04.297Z,1736372524.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:04.487Z,1736372524.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:04.496Z,1736372524.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:04.499Z,1736372524.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.177856 m, bearing: 319.700581 deg, approach rate: -0.089939 m/s, LOS rate: 0.139743 deg/s, cmd heading: 240.830421 deg, new cmd heading: 240.977935 deg. 2025-01-08T21:42:04.501Z,1736372524.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.205858 target range: 494.899994 and range: 495.50 m. 2025-01-08T21:42:04.549Z,1736372524.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:04.550Z,1736372524.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258236 2025-01-08T21:42:04.801Z,1736372524.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:04.802Z,1736372524.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510345 2025-01-08T21:42:04.896Z,1736372524.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:04.970Z,1736372524.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:04.977Z,1736372524.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.142029 m, bearing: 319.754472 deg, approach rate: -0.075456 m/s, LOS rate: 0.113515 deg/s, cmd heading: 240.977926 deg, new cmd heading: 241.139621 deg. 2025-01-08T21:42:04.978Z,1736372524.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208680 target range: 494.899994 and range: 495.50 m. 2025-01-08T21:42:05.053Z,1736372525.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:05.054Z,1736372525.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762289 2025-01-08T21:42:05.304Z,1736372525.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:05.304Z,1736372525.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012870 2025-01-08T21:42:05.366Z,1736372525.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:05.460Z,1736372525.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:05.462Z,1736372525.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.113281 m, bearing: 319.815790 deg, approach rate: -0.061826 m/s, LOS rate: 0.131888 deg/s, cmd heading: 241.139610 deg, new cmd heading: 241.323583 deg. 2025-01-08T21:42:05.479Z,1736372525.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211891 target range: 494.899994 and range: 495.50 m. 2025-01-08T21:42:05.557Z,1736372525.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:05.558Z,1736372525.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266158 2025-01-08T21:42:05.770Z,1736372525.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:05.799Z,1736372525.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:05.809Z,1736372525.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:05.811Z,1736372525.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518873 2025-01-08T21:42:05.818Z,1736372525.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.087250 m, bearing: 319.868362 deg, approach rate: -0.071645 m/s, LOS rate: 0.144705 deg/s, cmd heading: 241.323588 deg, new cmd heading: 241.481318 deg. 2025-01-08T21:42:05.822Z,1736372525.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214644 target range: 494.899994 and range: 495.50 m. 2025-01-08T21:42:06.061Z,1736372526.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:06.063Z,1736372526.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771217 2025-01-08T21:42:06.213Z,1736372526.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:06.221Z,1736372526.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:06.224Z,1736372526.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:06.226Z,1736372526.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.067108 m, bearing: 319.925754 deg, approach rate: -0.047400 m/s, LOS rate: 0.135072 deg/s, cmd heading: 241.481311 deg, new cmd heading: 241.653499 deg. 2025-01-08T21:42:06.227Z,1736372526.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217649 target range: 494.899994 and range: 495.50 m. 2025-01-08T21:42:06.313Z,1736372526.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:06.314Z,1736372526.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022030 2025-01-08T21:42:06.564Z,1736372526.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:06.564Z,1736372526.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272854 2025-01-08T21:42:06.577Z,1736372526.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:06.604Z,1736372526.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:06.606Z,1736372526.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.047638 m, bearing: 319.972698 deg, approach rate: -0.051385 m/s, LOS rate: 0.123901 deg/s, cmd heading: 241.653486 deg, new cmd heading: 241.794328 deg. 2025-01-08T21:42:06.608Z,1736372526.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220107 target range: 494.899994 and range: 495.50 m. 2025-01-08T21:42:06.822Z,1736372526.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:06.824Z,1736372526.824 [DAT](INFO): DAT read: Rx Time:21:42:05.6473 2025-01-08T21:42:06.825Z,1736372526.825 [DAT](INFO): Rx dataTimestamp_ set to:1736372526.824423 2025-01-08T21:42:06.827Z,1736372526.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534721 2025-01-08T21:42:07.036Z,1736372527.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:07.045Z,1736372527.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:07.047Z,1736372527.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.028015 m, bearing: 320.032982 deg, approach rate: -0.044367 m/s, LOS rate: 0.136311 deg/s, cmd heading: 241.794325 deg, new cmd heading: 241.975190 deg. 2025-01-08T21:42:07.049Z,1736372527.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.223264 target range: 494.899994 and range: 495.50 m. 2025-01-08T21:42:07.072Z,1736372527.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:07.073Z,1736372527.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781080 2025-01-08T21:42:07.325Z,1736372527.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:07.328Z,1736372527.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035328 2025-01-08T21:42:07.390Z,1736372527.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:07.412Z,1736372527.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.90 m. 2025-01-08T21:42:07.415Z,1736372527.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.899994 m, nav range: 263.011505 m, bearing: 320.079453 deg, approach rate: -0.044930 m/s, LOS rate: 0.126475 deg/s, cmd heading: 241.975188 deg, new cmd heading: 242.114612 deg. 2025-01-08T21:42:07.420Z,1736372527.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225697 target range: 494.899994 and range: 495.50 m. 2025-01-08T21:42:07.576Z,1736372527.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:07.583Z,1736372527.583 [DAT](INFO): DAT read: 21:42:05.6473 LVL= 15792, 24353, 21954, 27187, AGC= 66, IDX= 449, 0.36,-2.687, 2.474, 1.142, 2.299, PHS= 1.385, 0.221,-1.160, RAW= 57.2, -4.1, CAL= 61.8, -8.9, ROT= 88.2, 8.9 2025-01-08T21:42:07.584Z,1736372527.584 [DAT](INFO): got valid direction response: 21:42:05.6473 LVL= 15792, 24353, 21954, 27187, AGC= 66, IDX= 449, 0.36,-2.687, 2.474, 1.142, 2.299, PHS= 1.385, 0.221,-1.160, RAW= 57.2, -4.1, CAL= 61.8, -8.9, ROT= 88.2, 8.9 2025-01-08T21:42:07.585Z,1736372527.585 [DAT](INFO): DAT read: Bearing 88.2, 8.9 (Local) 2025-01-08T21:42:07.586Z,1736372527.586 [DAT](INFO): Local bearing/azimuth received: Bearing 88.2, 8.9 (Local) 2025-01-08T21:42:07.588Z,1736372527.588 [DAT](INFO): DAT read: Range 10 to 50 : 496.0 m (Round-trip 661.4 ms) speed 0.0 m/s 2025-01-08T21:42:07.589Z,1736372527.589 [DAT](INFO): DAT read: user:1988> 2025-01-08T21:42:07.589Z,1736372527.589 [DAT](INFO): DAT read: Tx time:21:42:06.7318 2025-01-08T21:42:07.590Z,1736372527.590 [DAT](INFO): Ping request sent. 2025-01-08T21:42:07.590Z,1736372527.590 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:07.590Z,1736372527.590 [DAT](INFO): DAT read: TxSyn1:42:06.7310 2025-01-08T21:42:07.591Z,1736372527.591 [DAT](INFO): unknown deviceResponse_: TxSyn1:42:06.7310 2025-01-08T21:42:07.591Z,1736372527.591 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:42:07.592Z,1736372527.592 [DAT](INFO): direction in FSK: [0.052574,0.608525,0.791791] 2025-01-08T21:42:07.592Z,1736372527.592 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:07.592Z,1736372527.592 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:07.596Z,1736372527.596 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:07.596Z,1736372527.596 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:07.813Z,1736372527.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:07.828Z,1736372527.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:07.847Z,1736372527.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.000000 m, deltaT: 4.287937 s, deltaX: 0.500000 m, approachRate: 0.116606 m/s, rangeRepo size: 4 2025-01-08T21:42:07.859Z,1736372527.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.000000 m, bearing: 327.787758 deg, lat: 36.901907 deg, lon: -122.118750 deg, deltaT: 8.319904 s, deltaX: 1.100006 m, approachRate: 0.132214 m/s, posRepo size: 4 2025-01-08T21:42:07.860Z,1736372527.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:07.863Z,1736372527.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 259.578156 m, bearing: 321.858769 deg, approach rate: 0.000000 m/s, LOS rate: 0.126475 deg/s, cmd heading: 242.114606 deg, new cmd heading: 242.279314 deg. 2025-01-08T21:42:07.868Z,1736372527.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228572 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:08.080Z,1736372528.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:08.221Z,1736372528.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:08.228Z,1736372528.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:08.230Z,1736372528.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:08.234Z,1736372528.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 259.556885 m, bearing: 321.914396 deg, approach rate: -0.055366 m/s, LOS rate: 0.144806 deg/s, cmd heading: 242.279323 deg, new cmd heading: 242.446217 deg. 2025-01-08T21:42:08.235Z,1736372528.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231485 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:08.333Z,1736372528.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:08.334Z,1736372528.334 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:08.335Z,1736372528.335 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:08.335Z,1736372528.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:08.584Z,1736372528.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:08.585Z,1736372528.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994967 2025-01-08T21:42:08.609Z,1736372528.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:08.623Z,1736372528.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:08.625Z,1736372528.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 259.536133 m, bearing: 321.967199 deg, approach rate: -0.052896 m/s, LOS rate: 0.134606 deg/s, cmd heading: 242.446225 deg, new cmd heading: 242.604648 deg. 2025-01-08T21:42:08.626Z,1736372528.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.234250 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:08.836Z,1736372528.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:08.837Z,1736372528.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246796 2025-01-08T21:42:09.058Z,1736372529.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:09.084Z,1736372529.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:09.086Z,1736372529.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 259.496887 m, bearing: 322.030535 deg, approach rate: -0.088255 m/s, LOS rate: 0.142451 deg/s, cmd heading: 242.604658 deg, new cmd heading: 242.794695 deg. 2025-01-08T21:42:09.088Z,1736372529.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:09.088Z,1736372529.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498711 2025-01-08T21:42:09.091Z,1736372529.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237567 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:09.340Z,1736372529.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:09.341Z,1736372529.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751156 2025-01-08T21:42:09.408Z,1736372529.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:09.418Z,1736372529.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:09.421Z,1736372529.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 259.465210 m, bearing: 322.079911 deg, approach rate: -0.090405 m/s, LOS rate: 0.140933 deg/s, cmd heading: 242.794702 deg, new cmd heading: 242.942846 deg. 2025-01-08T21:42:09.422Z,1736372529.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240152 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:09.592Z,1736372529.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:09.592Z,1736372529.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002607 2025-01-08T21:42:09.818Z,1736372529.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:09.827Z,1736372529.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:09.830Z,1736372529.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 259.427032 m, bearing: 322.137697 deg, approach rate: -0.093344 m/s, LOS rate: 0.141309 deg/s, cmd heading: 242.942835 deg, new cmd heading: 243.116219 deg. 2025-01-08T21:42:09.831Z,1736372529.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.243178 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:09.844Z,1736372529.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:09.844Z,1736372529.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254644 2025-01-08T21:42:10.096Z,1736372530.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:10.096Z,1736372530.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506585 2025-01-08T21:42:10.235Z,1736372530.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:10.242Z,1736372530.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:10.245Z,1736372530.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:10.264Z,1736372530.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 259.366821 m, bearing: 322.199382 deg, approach rate: -0.143889 m/s, LOS rate: 0.147445 deg/s, cmd heading: 243.116212 deg, new cmd heading: 243.301308 deg. 2025-01-08T21:42:10.265Z,1736372530.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246409 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:10.348Z,1736372530.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:10.349Z,1736372530.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758990 2025-01-08T21:42:10.601Z,1736372530.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:10.602Z,1736372530.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011841 2025-01-08T21:42:10.650Z,1736372530.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:10.683Z,1736372530.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:10.690Z,1736372530.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 259.306396 m, bearing: 322.260726 deg, approach rate: -0.138162 m/s, LOS rate: 0.140295 deg/s, cmd heading: 243.301310 deg, new cmd heading: 243.485383 deg. 2025-01-08T21:42:10.691Z,1736372530.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.249621 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:10.852Z,1736372530.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:10.852Z,1736372530.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262613 2025-01-08T21:42:11.092Z,1736372531.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:11.101Z,1736372531.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:11.116Z,1736372531.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:11.117Z,1736372531.117 [DAT](INFO): DAT read: Rx Time:21:42:09.7979 2025-01-08T21:42:11.117Z,1736372531.117 [DAT](INFO): Rx dataTimestamp_ set to:1736372531.117041 2025-01-08T21:42:11.118Z,1736372531.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528079 2025-01-08T21:42:11.128Z,1736372531.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 259.225464 m, bearing: 322.329352 deg, approach rate: -0.193264 m/s, LOS rate: 0.163929 deg/s, cmd heading: 243.485370 deg, new cmd heading: 243.691313 deg. 2025-01-08T21:42:11.129Z,1736372531.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.253216 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:11.368Z,1736372531.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:11.368Z,1736372531.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778639 2025-01-08T21:42:11.444Z,1736372531.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:11.485Z,1736372531.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:11.510Z,1736372531.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 259.161377 m, bearing: 322.383955 deg, approach rate: -0.167766 m/s, LOS rate: 0.142974 deg/s, cmd heading: 243.691314 deg, new cmd heading: 243.855163 deg. 2025-01-08T21:42:11.511Z,1736372531.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256075 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:11.621Z,1736372531.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:11.634Z,1736372531.634 [DAT](INFO): DAT read: 21:42:09.7979 LVL= 18800, 28529, 20786, 32147, AGC= 70, IDX= 455,-0.35,-0.031,-1.295,-2.490,-1.396, PHS= 1.452, 0.148,-1.097, RAW= 60.8, -4.6, CAL= 66.7, -9.9, ROT= 83.3, 9.9 2025-01-08T21:42:11.637Z,1736372531.637 [DAT](INFO): got valid direction response: 21:42:09.7979 LVL= 18800, 28529, 20786, 32147, AGC= 70, IDX= 455,-0.35,-0.031,-1.295,-2.490,-1.396, PHS= 1.452, 0.148,-1.097, RAW= 60.8, -4.6, CAL= 66.7, -9.9, ROT= 83.3, 9.9 2025-01-08T21:42:11.638Z,1736372531.638 [DAT](INFO): DAT read: Bearing 83.3, 9.9 (Local) 2025-01-08T21:42:11.638Z,1736372531.638 [DAT](INFO): Local bearing/azimuth received: Bearing 83.3, 9.9 (Local) 2025-01-08T21:42:11.640Z,1736372531.640 [DAT](INFO): DAT read: Range 10 to 50 : 496.4 m (Round-trip 661.9 ms) speed -0.1 m/s 2025-01-08T21:42:11.641Z,1736372531.641 [DAT](INFO): DAT read: user:1989> 2025-01-08T21:42:11.642Z,1736372531.642 [DAT](INFO): DAT read: Tx time:21:42:10.8819 2025-01-08T21:42:11.642Z,1736372531.642 [DAT](INFO): Ping request sent. 2025-01-08T21:42:11.642Z,1736372531.642 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:11.642Z,1736372531.642 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:42:11.644Z,1736372531.644 [DAT](INFO): direction in FSK: [0.055067,0.560066,0.826616] 2025-01-08T21:42:11.645Z,1736372531.645 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:11.645Z,1736372531.645 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:11.652Z,1736372531.652 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:11.652Z,1736372531.652 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:11.843Z,1736372531.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:11.872Z,1736372531.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:11.873Z,1736372531.873 [DAT](INFO): DAT read: TxSync time:21:42:10.8811 2025-01-08T21:42:11.890Z,1736372531.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.399994 m, deltaT: 4.045531 s, deltaX: 0.399994 m, approachRate: 0.098873 m/s, rangeRepo size: 4 2025-01-08T21:42:11.897Z,1736372531.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.399994 m, bearing: 329.389129 deg, lat: 36.901887 deg, lon: -122.118600 deg, deltaT: 4.045531 s, deltaX: 0.399994 m, approachRate: 0.098873 m/s, posRepo size: 4 2025-01-08T21:42:11.897Z,1736372531.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.40 m. 2025-01-08T21:42:11.907Z,1736372531.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.399994 m, nav range: 249.327866 m, bearing: 324.548784 deg, approach rate: 0.000000 m/s, LOS rate: 0.142974 deg/s, cmd heading: 243.855157 deg, new cmd heading: 244.029427 deg. 2025-01-08T21:42:11.912Z,1736372531.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259117 target range: 496.399994 and range: 496.40 m. 2025-01-08T21:42:12.124Z,1736372532.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:12.268Z,1736372532.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:12.291Z,1736372532.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:12.297Z,1736372532.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.40 m. 2025-01-08T21:42:12.305Z,1736372532.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.399994 m, nav range: 249.239258 m, bearing: 324.620874 deg, approach rate: -0.217463 m/s, LOS rate: 0.176989 deg/s, cmd heading: 244.029436 deg, new cmd heading: 244.245783 deg. 2025-01-08T21:42:12.306Z,1736372532.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262893 target range: 496.399994 and range: 496.40 m. 2025-01-08T21:42:12.376Z,1736372532.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:12.376Z,1736372532.376 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:12.376Z,1736372532.376 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:12.377Z,1736372532.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:12.628Z,1736372532.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:12.628Z,1736372532.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986361 2025-01-08T21:42:12.666Z,1736372532.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:12.689Z,1736372532.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.40 m. 2025-01-08T21:42:12.696Z,1736372532.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.399994 m, nav range: 249.157120 m, bearing: 324.688260 deg, approach rate: -0.209328 m/s, LOS rate: 0.171788 deg/s, cmd heading: 244.245789 deg, new cmd heading: 244.448012 deg. 2025-01-08T21:42:12.697Z,1736372532.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266423 target range: 496.399994 and range: 496.40 m. 2025-01-08T21:42:12.880Z,1736372532.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:12.880Z,1736372532.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238340 2025-01-08T21:42:13.133Z,1736372533.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:13.134Z,1736372533.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491514 2025-01-08T21:42:13.135Z,1736372533.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:13.143Z,1736372533.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.40 m. 2025-01-08T21:42:13.146Z,1736372533.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.399994 m, nav range: 249.052887 m, bearing: 324.768261 deg, approach rate: -0.229667 m/s, LOS rate: 0.176348 deg/s, cmd heading: 244.448017 deg, new cmd heading: 244.688120 deg. 2025-01-08T21:42:13.152Z,1736372533.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.270613 target range: 496.399994 and range: 496.40 m. 2025-01-08T21:42:13.384Z,1736372533.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:13.384Z,1736372533.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742377 2025-01-08T21:42:13.468Z,1736372533.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:13.476Z,1736372533.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.40 m. 2025-01-08T21:42:13.479Z,1736372533.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.399994 m, nav range: 248.979492 m, bearing: 324.824866 deg, approach rate: -0.220440 m/s, LOS rate: 0.170061 deg/s, cmd heading: 244.688112 deg, new cmd heading: 244.857974 deg. 2025-01-08T21:42:13.483Z,1736372533.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273578 target range: 496.399994 and range: 496.40 m. 2025-01-08T21:42:13.636Z,1736372533.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:13.637Z,1736372533.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994620 2025-01-08T21:42:13.864Z,1736372533.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:13.880Z,1736372533.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.40 m. 2025-01-08T21:42:13.888Z,1736372533.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:13.888Z,1736372533.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246436 2025-01-08T21:42:13.914Z,1736372533.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.399994 m, nav range: 248.891205 m, bearing: 324.892432 deg, approach rate: -0.220638 m/s, LOS rate: 0.168914 deg/s, cmd heading: 244.857965 deg, new cmd heading: 245.060735 deg. 2025-01-08T21:42:13.915Z,1736372533.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277117 target range: 496.399994 and range: 496.40 m. 2025-01-08T21:42:14.140Z,1736372534.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:14.140Z,1736372534.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498417 2025-01-08T21:42:14.289Z,1736372534.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:14.296Z,1736372534.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:14.298Z,1736372534.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.40 m. 2025-01-08T21:42:14.303Z,1736372534.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.399994 m, nav range: 248.797577 m, bearing: 324.964808 deg, approach rate: -0.222247 m/s, LOS rate: 0.171867 deg/s, cmd heading: 245.060740 deg, new cmd heading: 245.277950 deg. 2025-01-08T21:42:14.304Z,1736372534.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280908 target range: 496.399994 and range: 496.40 m. 2025-01-08T21:42:14.394Z,1736372534.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:14.394Z,1736372534.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752364 2025-01-08T21:42:14.644Z,1736372534.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:14.646Z,1736372534.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003531 2025-01-08T21:42:14.670Z,1736372534.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:14.701Z,1736372534.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.40 m. 2025-01-08T21:42:14.708Z,1736372534.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.399994 m, nav range: 248.713928 m, bearing: 325.029654 deg, approach rate: -0.207285 m/s, LOS rate: 0.160745 deg/s, cmd heading: 245.277940 deg, new cmd heading: 245.472542 deg. 2025-01-08T21:42:14.709Z,1736372534.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284304 target range: 496.399994 and range: 496.40 m. 2025-01-08T21:42:14.896Z,1736372534.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:14.896Z,1736372534.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254453 2025-01-08T21:42:15.117Z,1736372535.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:15.130Z,1736372535.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.40 m. 2025-01-08T21:42:15.137Z,1736372535.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.399994 m, nav range: 248.616257 m, bearing: 325.105718 deg, approach rate: -0.227842 m/s, LOS rate: 0.177505 deg/s, cmd heading: 245.472545 deg, new cmd heading: 245.700824 deg. 2025-01-08T21:42:15.138Z,1736372535.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288288 target range: 496.399994 and range: 496.40 m. 2025-01-08T21:42:15.148Z,1736372535.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:15.149Z,1736372535.149 [DAT](INFO): DAT read: Rx Time:21:42:13.9478 2025-01-08T21:42:15.150Z,1736372535.150 [DAT](INFO): Rx dataTimestamp_ set to:1736372535.149466 2025-01-08T21:42:15.150Z,1736372535.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508286 2025-01-08T21:42:15.400Z,1736372535.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:15.401Z,1736372535.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758528 2025-01-08T21:42:15.500Z,1736372535.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:15.509Z,1736372535.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.40 m. 2025-01-08T21:42:15.511Z,1736372535.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.399994 m, nav range: 248.539856 m, bearing: 325.169369 deg, approach rate: -0.201725 m/s, LOS rate: 0.168114 deg/s, cmd heading: 245.700810 deg, new cmd heading: 245.891823 deg. 2025-01-08T21:42:15.512Z,1736372535.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291622 target range: 496.399994 and range: 496.40 m. 2025-01-08T21:42:15.654Z,1736372535.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:15.667Z,1736372535.667 [DAT](INFO): DAT read: 21:42:13.9478 LVL= 16032, 24353, 23282, 32755, AGC= 67, IDX= 421, 0.31, 0.360,-0.802,-2.117,-0.909, PHS= 1.358, 0.154,-1.211, RAW= 57.9, -2.7, CAL= 61.8, -6.9, ROT= 88.2, 6.9 2025-01-08T21:42:15.669Z,1736372535.669 [DAT](INFO): got valid direction response: 21:42:13.9478 LVL= 16032, 24353, 23282, 32755, AGC= 67, IDX= 421, 0.31, 0.360,-0.802,-2.117,-0.909, PHS= 1.358, 0.154,-1.211, RAW= 57.9, -2.7, CAL= 61.8, -6.9, ROT= 88.2, 6.9 2025-01-08T21:42:15.672Z,1736372535.672 [DAT](INFO): DAT read: Bearing 88.2, 6.9 (Local) 2025-01-08T21:42:15.673Z,1736372535.673 [DAT](INFO): Local bearing/azimuth received: Bearing 88.2, 6.9 (Local) 2025-01-08T21:42:15.677Z,1736372535.677 [DAT](INFO): DAT read: Range 10 to 50 : 496.3 m (Round-trip 661.8 ms) speed 0.0 m/s 2025-01-08T21:42:15.678Z,1736372535.678 [DAT](INFO): DAT read: user:1990> 2025-01-08T21:42:15.679Z,1736372535.679 [DAT](INFO): DAT read: Tx time:21:42:15.0319 2025-01-08T21:42:15.680Z,1736372535.680 [DAT](INFO): Ping request sent. 2025-01-08T21:42:15.680Z,1736372535.680 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:15.680Z,1736372535.680 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:42:15.681Z,1736372535.681 [DAT](INFO): direction in FSK: [0.025953,0.601077,0.798770] 2025-01-08T21:42:15.681Z,1736372535.681 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:15.681Z,1736372535.681 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:15.698Z,1736372535.698 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:15.699Z,1736372535.699 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:15.881Z,1736372535.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:15.904Z,1736372535.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:15.905Z,1736372535.905 [DAT](INFO): DAT read: TxSync time:21:42:15.0311 2025-01-08T21:42:15.917Z,1736372535.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.299988 m, deltaT: 4.034223 s, deltaX: -0.100006 m, approachRate: -0.024789 m/s, rangeRepo size: 4 2025-01-08T21:42:15.923Z,1736372535.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.299988 m, bearing: 333.969439 deg, lat: 36.901907 deg, lon: -122.118394 deg, deltaT: 4.034223 s, deltaX: -0.100006 m, approachRate: -0.024789 m/s, posRepo size: 4 2025-01-08T21:42:15.924Z,1736372535.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:42:15.927Z,1736372535.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 240.423309 m, bearing: 329.147760 deg, approach rate: 0.000000 m/s, LOS rate: 0.168114 deg/s, cmd heading: 245.891810 deg, new cmd heading: 246.097541 deg. 2025-01-08T21:42:15.932Z,1736372535.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295212 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:42:16.157Z,1736372536.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:16.292Z,1736372536.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:16.300Z,1736372536.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:16.302Z,1736372536.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:42:16.305Z,1736372536.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 240.374405 m, bearing: 329.216054 deg, approach rate: -0.126822 m/s, LOS rate: 0.177139 deg/s, cmd heading: 246.097535 deg, new cmd heading: 246.302457 deg. 2025-01-08T21:42:16.306Z,1736372536.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298789 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:42:16.310Z,1736372536.310 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T21:32:16.2Z 2025-01-08T21:42:16.310Z,1736372536.310 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T21:42:16.311Z,1736372536.311 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:42:16.311Z,1736372536.311 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T21:42:16.311Z,1736372536.311 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:42:16.311Z,1736372536.311 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T21:42:16.408Z,1736372536.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:16.408Z,1736372536.408 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:16.408Z,1736372536.408 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:16.409Z,1736372536.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:16.661Z,1736372536.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:16.662Z,1736372536.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981468 2025-01-08T21:42:16.725Z,1736372536.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:16.741Z,1736372536.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:42:16.749Z,1736372536.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 240.322891 m, bearing: 329.288283 deg, approach rate: -0.117250 m/s, LOS rate: 0.164436 deg/s, cmd heading: 246.302468 deg, new cmd heading: 246.519201 deg. 2025-01-08T21:42:16.750Z,1736372536.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302572 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:42:16.758Z,1736372536.758 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T21:42:16.758Z,1736372536.758 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T21:42:16.758Z,1736372536.758 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T21:42:16.758Z,1736372536.758 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:42:16.759Z,1736372536.759 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T21:42:16.912Z,1736372536.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:16.913Z,1736372536.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232924 2025-01-08T21:42:17.164Z,1736372537.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:17.165Z,1736372537.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484945 2025-01-08T21:42:17.337Z,1736372537.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:17.354Z,1736372537.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:42:17.360Z,1736372537.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 240.276093 m, bearing: 329.382337 deg, approach rate: -0.076439 m/s, LOS rate: 0.153654 deg/s, cmd heading: 246.519204 deg, new cmd heading: 246.801419 deg. 2025-01-08T21:42:17.361Z,1736372537.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307498 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:42:17.418Z,1736372537.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:17.420Z,1736372537.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739861 2025-01-08T21:42:17.668Z,1736372537.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:17.669Z,1736372537.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989519 2025-01-08T21:42:17.726Z,1736372537.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:17.736Z,1736372537.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:42:17.738Z,1736372537.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 240.245636 m, bearing: 329.442219 deg, approach rate: -0.079809 m/s, LOS rate: 0.156936 deg/s, cmd heading: 246.801427 deg, new cmd heading: 246.981095 deg. 2025-01-08T21:42:17.756Z,1736372537.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310633 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:42:17.920Z,1736372537.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:17.920Z,1736372537.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240785 2025-01-08T21:42:18.174Z,1736372538.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:18.177Z,1736372538.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496256 2025-01-08T21:42:18.187Z,1736372538.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:18.204Z,1736372538.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:42:18.211Z,1736372538.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 240.208755 m, bearing: 329.513028 deg, approach rate: -0.078626 m/s, LOS rate: 0.150981 deg/s, cmd heading: 246.981088 deg, new cmd heading: 247.193547 deg. 2025-01-08T21:42:18.212Z,1736372538.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314341 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:42:18.424Z,1736372538.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:18.424Z,1736372538.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744668 2025-01-08T21:42:18.567Z,1736372538.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:18.579Z,1736372538.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:18.581Z,1736372538.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:42:18.586Z,1736372538.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 240.193436 m, bearing: 329.568135 deg, approach rate: -0.040640 m/s, LOS rate: 0.146197 deg/s, cmd heading: 247.193535 deg, new cmd heading: 247.358866 deg. 2025-01-08T21:42:18.587Z,1736372538.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317227 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:42:18.676Z,1736372538.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:18.678Z,1736372538.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997850 2025-01-08T21:42:18.928Z,1736372538.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:18.928Z,1736372538.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248761 2025-01-08T21:42:18.937Z,1736372538.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:18.946Z,1736372538.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:42:18.950Z,1736372538.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 240.177277 m, bearing: 329.621965 deg, approach rate: -0.044309 m/s, LOS rate: 0.147614 deg/s, cmd heading: 247.358880 deg, new cmd heading: 247.520379 deg. 2025-01-08T21:42:18.953Z,1736372538.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320045 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:42:19.182Z,1736372539.182 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:19.184Z,1736372539.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504045 2025-01-08T21:42:19.228Z,1736372539.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:42:19.375Z,1736372539.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:19.404Z,1736372539.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:42:19.406Z,1736372539.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 240.172043 m, bearing: 329.682235 deg, approach rate: -0.011514 m/s, LOS rate: 0.132597 deg/s, cmd heading: 247.520373 deg, new cmd heading: 247.701186 deg. 2025-01-08T21:42:19.407Z,1736372539.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323201 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:42:19.433Z,1736372539.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:19.433Z,1736372539.433 [DAT](INFO): DAT read: Rx Time:21:42:18.0983 2025-01-08T21:42:19.434Z,1736372539.434 [DAT](INFO): Rx dataTimestamp_ set to:1736372539.433611 2025-01-08T21:42:19.434Z,1736372539.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754729 2025-01-08T21:42:19.686Z,1736372539.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:19.686Z,1736372539.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.006734 2025-01-08T21:42:19.810Z,1736372539.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:19.828Z,1736372539.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.30 m. 2025-01-08T21:42:19.830Z,1736372539.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.299988 m, nav range: 240.165115 m, bearing: 329.742136 deg, approach rate: -0.016261 m/s, LOS rate: 0.140615 deg/s, cmd heading: 247.701182 deg, new cmd heading: 247.880890 deg. 2025-01-08T21:42:19.831Z,1736372539.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326338 target range: 496.299988 and range: 496.30 m. 2025-01-08T21:42:19.941Z,1736372539.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:19.950Z,1736372539.950 [DAT](INFO): DAT read: 21:42:18.0983 LVL= 19024, 29873, 19394, 29763, AGC= 69, IDX= 441,-0.01,-2.276, 2.952, 1.784, 2.842, PHS= 1.253, 0.158,-1.061, RAW= 58.2, -3.5, CAL= 62.8, -8.1, ROT= 87.2, 8.1 2025-01-08T21:42:19.951Z,1736372539.951 [DAT](INFO): got valid direction response: 21:42:18.0983 LVL= 19024, 29873, 19394, 29763, AGC= 69, IDX= 441,-0.01,-2.276, 2.952, 1.784, 2.842, PHS= 1.253, 0.158,-1.061, RAW= 58.2, -3.5, CAL= 62.8, -8.1, ROT= 87.2, 8.1 2025-01-08T21:42:19.952Z,1736372539.952 [DAT](INFO): DAT read: Bearing 87.2, 8.1 (Local) 2025-01-08T21:42:19.953Z,1736372539.953 [DAT](INFO): Local bearing/azimuth received: Bearing 87.2, 8.1 (Local) 2025-01-08T21:42:19.954Z,1736372539.954 [DAT](INFO): DAT read: Range 10 to 50 : 496.6 m (Round-trip 662.2 ms) speed 0.0 m/s 2025-01-08T21:42:19.959Z,1736372539.959 [DAT](INFO): DAT read: user:1991> 2025-01-08T21:42:19.960Z,1736372539.960 [DAT](INFO): DAT read: Tx time:21:42:19.1820 2025-01-08T21:42:19.960Z,1736372539.960 [DAT](INFO): Ping request sent. 2025-01-08T21:42:19.960Z,1736372539.960 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:19.961Z,1736372539.961 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:42:19.962Z,1736372539.962 [DAT](INFO): direction in FSK: [0.040143,0.595856,0.802087] 2025-01-08T21:42:19.962Z,1736372539.962 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:19.962Z,1736372539.962 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:19.978Z,1736372539.978 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:19.978Z,1736372539.978 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:20.193Z,1736372540.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:20.197Z,1736372540.197 [DAT](INFO): DAT read: TxSync time:21:42:19.1812 2025-01-08T21:42:20.232Z,1736372540.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:42:20.273Z,1736372540.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:20.305Z,1736372540.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.600006 m, deltaT: 4.285217 s, deltaX: 0.300018 m, approachRate: 0.070012 m/s, rangeRepo size: 4 2025-01-08T21:42:20.307Z,1736372540.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.600006 m, bearing: 334.327872 deg, lat: 36.901915 deg, lon: -122.118236 deg, deltaT: 4.285217 s, deltaX: 0.300018 m, approachRate: 0.070012 m/s, posRepo size: 4 2025-01-08T21:42:20.312Z,1736372540.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:20.314Z,1736372540.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.167908 m, bearing: 332.860560 deg, approach rate: 0.000000 m/s, LOS rate: 0.140615 deg/s, cmd heading: 247.880898 deg, new cmd heading: 248.082332 deg. 2025-01-08T21:42:20.320Z,1736372540.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329854 target range: 496.600006 and range: 496.60 m. 2025-01-08T21:42:20.444Z,1736372540.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:20.590Z,1736372540.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:20.597Z,1736372540.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:20.600Z,1736372540.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:20.602Z,1736372540.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.176575 m, bearing: 332.903976 deg, approach rate: 0.029417 m/s, LOS rate: 0.147358 deg/s, cmd heading: 248.082333 deg, new cmd heading: 248.212579 deg. 2025-01-08T21:42:20.620Z,1736372540.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332127 target range: 496.600006 and range: 496.60 m. 2025-01-08T21:42:20.696Z,1736372540.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:20.696Z,1736372540.696 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:20.696Z,1736372540.696 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:20.697Z,1736372540.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:20.948Z,1736372540.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:20.949Z,1736372540.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988440 2025-01-08T21:42:21.004Z,1736372541.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:21.022Z,1736372541.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:21.025Z,1736372541.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.186920 m, bearing: 332.960813 deg, approach rate: 0.024437 m/s, LOS rate: 0.134248 deg/s, cmd heading: 248.212571 deg, new cmd heading: 248.383072 deg. 2025-01-08T21:42:21.026Z,1736372541.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335103 target range: 496.600006 and range: 496.60 m. 2025-01-08T21:42:21.201Z,1736372541.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:21.204Z,1736372541.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243037 2025-01-08T21:42:21.420Z,1736372541.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:21.450Z,1736372541.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:21.452Z,1736372541.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:21.453Z,1736372541.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492144 2025-01-08T21:42:21.457Z,1736372541.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.194092 m, bearing: 333.017880 deg, approach rate: 0.016791 m/s, LOS rate: 0.133611 deg/s, cmd heading: 248.383080 deg, new cmd heading: 248.554277 deg. 2025-01-08T21:42:21.458Z,1736372541.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338090 target range: 496.600006 and range: 496.60 m. 2025-01-08T21:42:21.704Z,1736372541.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:21.704Z,1736372541.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744024 2025-01-08T21:42:21.817Z,1736372541.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:21.826Z,1736372541.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:21.829Z,1736372541.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.201157 m, bearing: 333.072338 deg, approach rate: 0.018764 m/s, LOS rate: 0.144633 deg/s, cmd heading: 248.554272 deg, new cmd heading: 248.717641 deg. 2025-01-08T21:42:21.829Z,1736372541.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340942 target range: 496.600006 and range: 496.60 m. 2025-01-08T21:42:21.956Z,1736372541.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:21.957Z,1736372541.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996247 2025-01-08T21:42:22.209Z,1736372542.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:22.212Z,1736372542.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251280 2025-01-08T21:42:22.294Z,1736372542.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:22.304Z,1736372542.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:22.306Z,1736372542.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.200012 m, bearing: 333.140289 deg, approach rate: -0.002393 m/s, LOS rate: 0.142108 deg/s, cmd heading: 248.717650 deg, new cmd heading: 248.921503 deg. 2025-01-08T21:42:22.308Z,1736372542.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344500 target range: 496.600006 and range: 496.60 m. 2025-01-08T21:42:22.460Z,1736372542.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:22.460Z,1736372542.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500034 2025-01-08T21:42:22.639Z,1736372542.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:22.664Z,1736372542.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:22.674Z,1736372542.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:22.682Z,1736372542.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.197922 m, bearing: 333.189303 deg, approach rate: -0.005757 m/s, LOS rate: 0.134973 deg/s, cmd heading: 248.921490 deg, new cmd heading: 249.068532 deg. 2025-01-08T21:42:22.688Z,1736372542.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347066 target range: 496.600006 and range: 496.60 m. 2025-01-08T21:42:22.712Z,1736372542.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:22.713Z,1736372542.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752171 2025-01-08T21:42:22.964Z,1736372542.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:22.964Z,1736372542.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003915 2025-01-08T21:42:23.045Z,1736372543.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:23.062Z,1736372543.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:23.069Z,1736372543.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.194153 m, bearing: 333.247179 deg, approach rate: -0.009549 m/s, LOS rate: 0.146646 deg/s, cmd heading: 249.068531 deg, new cmd heading: 249.242162 deg. 2025-01-08T21:42:23.070Z,1736372543.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350096 target range: 496.600006 and range: 496.60 m. 2025-01-08T21:42:23.218Z,1736372543.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:23.221Z,1736372543.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260180 2025-01-08T21:42:23.436Z,1736372543.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:23.448Z,1736372543.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:23.468Z,1736372543.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:23.469Z,1736372543.469 [DAT](INFO): DAT read: Rx Time:21:42:22.2488 2025-01-08T21:42:23.469Z,1736372543.469 [DAT](INFO): Rx dataTimestamp_ set to:1736372543.468915 2025-01-08T21:42:23.470Z,1736372543.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509330 2025-01-08T21:42:23.472Z,1736372543.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.175903 m, bearing: 333.307677 deg, approach rate: -0.047306 m/s, LOS rate: 0.156833 deg/s, cmd heading: 249.242154 deg, new cmd heading: 249.423661 deg. 2025-01-08T21:42:23.473Z,1736372543.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353264 target range: 496.600006 and range: 496.60 m. 2025-01-08T21:42:23.720Z,1736372543.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:23.720Z,1736372543.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759932 2025-01-08T21:42:23.821Z,1736372543.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:23.847Z,1736372543.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:23.852Z,1736372543.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.157104 m, bearing: 333.367354 deg, approach rate: -0.047038 m/s, LOS rate: 0.149335 deg/s, cmd heading: 249.423673 deg, new cmd heading: 249.602719 deg. 2025-01-08T21:42:23.853Z,1736372543.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356389 target range: 496.600006 and range: 496.60 m. 2025-01-08T21:42:23.973Z,1736372543.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:23.982Z,1736372543.982 [DAT](INFO): DAT read: 21:42:22.2488 LVL= 21200, 29169, 32754, 32755, AGC= 68, IDX= 447,-0.43, 1.80,-0.693, 0.480, PHS= 1.176, 0.147,-1.176, RAW= 55.9, -1.5, CAL= 58.5, -4.9, ROT= 91.5, 4.9 2025-01-08T21:42:23.984Z,1736372543.984 [DAT](INFO): unknown deviceResponse_: 21:42:22.2488 LVL= 21200, 29169, 32754, 32755, AGC= 68, IDX= 447,-0.43, 1.80,-0.693, 0.480, PHS= 1.176, 0.147,-1.176, RAW= 55.9, -1.5, CAL= 58.5, -4.9, ROT= 91.5, 4.9 2025-01-08T21:42:23.985Z,1736372543.985 [DAT](INFO): DAT read: Bearing 91.5, 4.9 (Local) 2025-01-08T21:42:23.985Z,1736372543.985 [DAT](INFO): Local bearing/azimuth received: Bearing 91.5, 4.9 (Local) 2025-01-08T21:42:23.986Z,1736372543.986 [DAT](INFO): DAT read: Range 10 to 50 : 496.9 m (Round-trip 662.6 ms) speed -0.1 m/s 2025-01-08T21:42:23.987Z,1736372543.987 [DAT](INFO): DAT read: user:1992> 2025-01-08T21:42:23.988Z,1736372543.988 [DAT](INFO): DAT read: Tx time:21:42:23.3320 2025-01-08T21:42:23.988Z,1736372543.988 [DAT](INFO): Ping request sent. 2025-01-08T21:42:23.988Z,1736372543.988 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:23.989Z,1736372543.989 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:42:23.989Z,1736372543.989 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:23.989Z,1736372543.989 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:24.226Z,1736372544.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:24.229Z,1736372544.229 [DAT](INFO): DAT read: TxSync time:21:42:23.3312 2025-01-08T21:42:24.331Z,1736372544.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:24.341Z,1736372544.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.899994 m, deltaT: 4.032067 s, deltaX: 0.299988 m, approachRate: 0.074400 m/s, rangeRepo size: 4 2025-01-08T21:42:24.342Z,1736372544.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:24.344Z,1736372544.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.114273 m, bearing: 333.451801 deg, approach rate: -0.086851 m/s, LOS rate: 0.171269 deg/s, cmd heading: 249.602706 deg, new cmd heading: 249.856093 deg. 2025-01-08T21:42:24.345Z,1736372544.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360812 target range: 496.600006 and range: 496.90 m. 2025-01-08T21:42:24.476Z,1736372544.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:24.628Z,1736372544.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:24.637Z,1736372544.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:24.640Z,1736372544.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.089584 m, bearing: 333.501034 deg, approach rate: -0.083074 m/s, LOS rate: 0.165679 deg/s, cmd heading: 249.856106 deg, new cmd heading: 250.003820 deg. 2025-01-08T21:42:24.642Z,1736372544.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363390 target range: 496.600006 and range: 496.90 m. 2025-01-08T21:42:24.729Z,1736372544.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:24.981Z,1736372544.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:25.038Z,1736372545.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:25.045Z,1736372545.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:25.047Z,1736372545.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:25.051Z,1736372545.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.055878 m, bearing: 333.569113 deg, approach rate: -0.082348 m/s, LOS rate: 0.166345 deg/s, cmd heading: 250.003830 deg, new cmd heading: 250.208095 deg. 2025-01-08T21:42:25.052Z,1736372545.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366955 target range: 496.600006 and range: 496.90 m. 2025-01-08T21:42:25.234Z,1736372545.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:25.237Z,1736372545.237 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:25.237Z,1736372545.237 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:25.238Z,1736372545.238 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:25.459Z,1736372545.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:25.469Z,1736372545.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:25.472Z,1736372545.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 234.003647 m, bearing: 333.644223 deg, approach rate: -0.123604 m/s, LOS rate: 0.177786 deg/s, cmd heading: 250.208107 deg, new cmd heading: 250.433485 deg. 2025-01-08T21:42:25.473Z,1736372545.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370889 target range: 496.600006 and range: 496.90 m. 2025-01-08T21:42:25.491Z,1736372545.491 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:25.492Z,1736372545.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503201 2025-01-08T21:42:25.744Z,1736372545.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:25.745Z,1736372545.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756218 2025-01-08T21:42:25.859Z,1736372545.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:25.869Z,1736372545.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:25.872Z,1736372545.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 233.954391 m, bearing: 333.715642 deg, approach rate: -0.123253 m/s, LOS rate: 0.178752 deg/s, cmd heading: 250.433476 deg, new cmd heading: 250.647777 deg. 2025-01-08T21:42:25.873Z,1736372545.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.374629 target range: 496.600006 and range: 496.90 m. 2025-01-08T21:42:25.996Z,1736372545.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:25.997Z,1736372545.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008492 2025-01-08T21:42:26.249Z,1736372546.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:26.252Z,1736372546.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263149 2025-01-08T21:42:26.338Z,1736372546.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:26.346Z,1736372546.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:26.350Z,1736372546.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 233.881592 m, bearing: 333.805742 deg, approach rate: -0.152589 m/s, LOS rate: 0.188910 deg/s, cmd heading: 250.647780 deg, new cmd heading: 250.918162 deg. 2025-01-08T21:42:26.351Z,1736372546.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379348 target range: 496.600006 and range: 496.90 m. 2025-01-08T21:42:26.500Z,1736372546.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:26.501Z,1736372546.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512546 2025-01-08T21:42:26.658Z,1736372546.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:26.673Z,1736372546.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:26.678Z,1736372546.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 233.833008 m, bearing: 333.866058 deg, approach rate: -0.148577 m/s, LOS rate: 0.184494 deg/s, cmd heading: 250.918173 deg, new cmd heading: 251.099159 deg. 2025-01-08T21:42:26.701Z,1736372546.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382507 target range: 496.600006 and range: 496.90 m. 2025-01-08T21:42:26.753Z,1736372546.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:26.754Z,1736372546.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765324 2025-01-08T21:42:27.004Z,1736372547.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:27.004Z,1736372547.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016137 2025-01-08T21:42:27.054Z,1736372547.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:27.061Z,1736372547.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:27.079Z,1736372547.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:27.084Z,1736372547.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 233.773438 m, bearing: 333.940769 deg, approach rate: -0.152772 m/s, LOS rate: 0.191651 deg/s, cmd heading: 251.099146 deg, new cmd heading: 251.323336 deg. 2025-01-08T21:42:27.085Z,1736372547.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386420 target range: 496.600006 and range: 496.90 m. 2025-01-08T21:42:27.258Z,1736372547.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:27.263Z,1736372547.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274321 2025-01-08T21:42:27.501Z,1736372547.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:27.509Z,1736372547.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:27.510Z,1736372547.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521799 2025-01-08T21:42:27.555Z,1736372547.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:27.567Z,1736372547.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 233.703476 m, bearing: 334.027266 deg, approach rate: -0.142241 m/s, LOS rate: 0.175912 deg/s, cmd heading: 251.323340 deg, new cmd heading: 251.582905 deg. 2025-01-08T21:42:27.572Z,1736372547.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.390950 target range: 496.600006 and range: 496.90 m. 2025-01-08T21:42:27.760Z,1736372547.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:27.760Z,1736372547.760 [DAT](INFO): DAT read: Rx Time:21:42:26.3988 2025-01-08T21:42:27.761Z,1736372547.761 [DAT](INFO): Rx dataTimestamp_ set to:1736372547.760680 2025-01-08T21:42:27.761Z,1736372547.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773157 2025-01-08T21:42:27.880Z,1736372547.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:27.907Z,1736372547.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.60 m. 2025-01-08T21:42:27.914Z,1736372547.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.600006 m, nav range: 233.644852 m, bearing: 334.100739 deg, approach rate: -0.166585 m/s, LOS rate: 0.208831 deg/s, cmd heading: 251.582915 deg, new cmd heading: 251.803388 deg. 2025-01-08T21:42:27.915Z,1736372547.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394798 target range: 496.600006 and range: 496.90 m. 2025-01-08T21:42:28.012Z,1736372548.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:28.013Z,1736372548.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024973 2025-01-08T21:42:28.265Z,1736372548.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:28.320Z,1736372548.320 [DAT](INFO): DAT read: 21:42:26.3988 LVL= 19952, 29201, 22930, 26355, AGC= 69, IDX= 430, 0.17, 0.508,-0.604,-1.905,-0.733, PHS= 1.329, 0.175,-1.176, RAW= 57.4, -3.1, CAL= 61.4, -7.4, ROT= 88.6, 7.4 2025-01-08T21:42:28.335Z,1736372548.335 [DAT](INFO): got valid direction response: 21:42:26.3988 LVL= 19952, 29201, 22930, 26355, AGC= 69, IDX= 430, 0.17, 0.508,-0.604,-1.905,-0.733, PHS= 1.329, 0.175,-1.176, RAW= 57.4, -3.1, CAL= 61.4, -7.4, ROT= 88.6, 7.4 2025-01-08T21:42:28.336Z,1736372548.336 [DAT](INFO): DAT read: Bearing 88.6, 7.4 (Local) 2025-01-08T21:42:28.337Z,1736372548.337 [DAT](INFO): Local bearing/azimuth received: Bearing 88.6, 7.4 (Local) 2025-01-08T21:42:28.338Z,1736372548.338 [DAT](INFO): DAT read: Range 10 to 50 : 496.9 m (Round-trip 662.6 ms) speed -0.1 m/s 2025-01-08T21:42:28.352Z,1736372548.352 [DAT](INFO): DAT read: user:1993> 2025-01-08T21:42:28.352Z,1736372548.352 [DAT](INFO): DAT read: Tx time:21:42:27.4820 2025-01-08T21:42:28.353Z,1736372548.353 [DAT](INFO): Ping request sent. 2025-01-08T21:42:28.353Z,1736372548.353 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:28.353Z,1736372548.353 [DAT](INFO): DAT read: TxSync time:21:42:27.4812 2025-01-08T21:42:28.354Z,1736372548.354 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:42:28.355Z,1736372548.355 [DAT](INFO): direction in FSK: [0.032972,0.607461,0.793665] 2025-01-08T21:42:28.367Z,1736372548.367 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:28.368Z,1736372548.368 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:28.370Z,1736372548.370 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:28.371Z,1736372548.371 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:28.478Z,1736372548.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:28.512Z,1736372548.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.899994 m, deltaT: 4.292646 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T21:42:28.514Z,1736372548.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.899994 m, bearing: 339.605179 deg, lat: 36.901948 deg, lon: -122.118200 deg, deltaT: 8.324713 s, deltaX: 0.299988 m, approachRate: 0.036036 m/s, posRepo size: 4 2025-01-08T21:42:28.516Z,1736372548.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:28.519Z,1736372548.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:28.522Z,1736372548.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 235.548782 m, bearing: 335.310727 deg, approach rate: 0.000000 m/s, LOS rate: 0.208831 deg/s, cmd heading: 251.803393 deg, new cmd heading: 252.182092 deg. 2025-01-08T21:42:28.523Z,1736372548.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401408 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:28.768Z,1736372548.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:28.811Z,1736372548.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:28.820Z,1736372548.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:28.838Z,1736372548.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 235.504700 m, bearing: 335.373892 deg, approach rate: -0.142559 m/s, LOS rate: 0.204307 deg/s, cmd heading: 252.182086 deg, new cmd heading: 252.371615 deg. 2025-01-08T21:42:28.843Z,1736372548.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404716 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:29.020Z,1736372549.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:29.273Z,1736372549.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:29.286Z,1736372549.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:29.337Z,1736372549.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:29.344Z,1736372549.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:29.346Z,1736372549.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 235.443100 m, bearing: 335.464121 deg, approach rate: -0.118694 m/s, LOS rate: 0.173904 deg/s, cmd heading: 252.371610 deg, new cmd heading: 252.642365 deg. 2025-01-08T21:42:29.352Z,1736372549.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409441 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:29.524Z,1736372549.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:29.524Z,1736372549.524 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:29.524Z,1736372549.524 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:29.524Z,1736372549.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:29.678Z,1736372549.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:29.708Z,1736372549.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:29.716Z,1736372549.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 235.402924 m, bearing: 335.535915 deg, approach rate: -0.108925 m/s, LOS rate: 0.194681 deg/s, cmd heading: 252.642359 deg, new cmd heading: 252.857779 deg. 2025-01-08T21:42:29.717Z,1736372549.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.413201 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:29.777Z,1736372549.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:29.778Z,1736372549.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.425460 2025-01-08T21:42:30.031Z,1736372550.031 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:30.032Z,1736372550.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678735 2025-01-08T21:42:30.061Z,1736372550.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:30.072Z,1736372550.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:30.074Z,1736372550.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 235.362198 m, bearing: 335.605934 deg, approach rate: -0.112163 m/s, LOS rate: 0.192873 deg/s, cmd heading: 252.857783 deg, new cmd heading: 253.067876 deg. 2025-01-08T21:42:30.076Z,1736372550.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.416868 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:30.281Z,1736372550.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:30.281Z,1736372550.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.928553 2025-01-08T21:42:30.462Z,1736372550.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:30.495Z,1736372550.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:30.499Z,1736372550.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 235.327698 m, bearing: 335.673905 deg, approach rate: -0.082171 m/s, LOS rate: 0.161912 deg/s, cmd heading: 253.067880 deg, new cmd heading: 253.271819 deg. 2025-01-08T21:42:30.504Z,1736372550.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.420427 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:30.534Z,1736372550.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:30.536Z,1736372550.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.182767 2025-01-08T21:42:30.784Z,1736372550.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:30.785Z,1736372550.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.431742 2025-01-08T21:42:30.851Z,1736372550.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:30.860Z,1736372550.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:30.863Z,1736372550.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 235.292923 m, bearing: 335.739919 deg, approach rate: -0.094290 m/s, LOS rate: 0.179021 deg/s, cmd heading: 253.271829 deg, new cmd heading: 253.469901 deg. 2025-01-08T21:42:30.864Z,1736372550.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.423884 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:31.036Z,1736372551.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:31.036Z,1736372551.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683668 2025-01-08T21:42:31.255Z,1736372551.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:31.264Z,1736372551.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:31.266Z,1736372551.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 235.255692 m, bearing: 335.808405 deg, approach rate: -0.092295 m/s, LOS rate: 0.169800 deg/s, cmd heading: 253.469905 deg, new cmd heading: 253.675394 deg. 2025-01-08T21:42:31.268Z,1736372551.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427471 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:31.298Z,1736372551.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:31.300Z,1736372551.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.946812 2025-01-08T21:42:31.548Z,1736372551.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:31.549Z,1736372551.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196588 2025-01-08T21:42:31.691Z,1736372551.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:31.698Z,1736372551.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:31.701Z,1736372551.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:31.708Z,1736372551.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 235.229294 m, bearing: 335.881415 deg, approach rate: -0.060339 m/s, LOS rate: 0.166903 deg/s, cmd heading: 253.675384 deg, new cmd heading: 253.894438 deg. 2025-01-08T21:42:31.709Z,1736372551.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.431294 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:31.800Z,1736372551.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:31.801Z,1736372551.801 [DAT](INFO): DAT read: Rx Time:21:42:30.5485 2025-01-08T21:42:31.801Z,1736372551.801 [DAT](INFO): Rx dataTimestamp_ set to:1736372551.801139 2025-01-08T21:42:31.802Z,1736372551.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.449203 2025-01-08T21:42:32.052Z,1736372552.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:32.053Z,1736372552.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.700008 2025-01-08T21:42:32.073Z,1736372552.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:32.081Z,1736372552.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:32.085Z,1736372552.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 235.204895 m, bearing: 335.945432 deg, approach rate: -0.064157 m/s, LOS rate: 0.168351 deg/s, cmd heading: 253.894442 deg, new cmd heading: 254.086513 deg. 2025-01-08T21:42:32.086Z,1736372552.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434646 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:32.305Z,1736372552.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:32.357Z,1736372552.357 [DAT](INFO): DAT read: 21:42:30.5485 LVL= 19824, 29169, 23378, 31859, AGC= 68, IDX= 426, 0.33,-1.456,-2.450, 2.521,-2.627, PHS= 1.259, 0.224,-1.138, RAW= 55.5, -3.4, CAL= 59.3, -7.6, ROT= 90.7, 7.6 2025-01-08T21:42:32.362Z,1736372552.362 [DAT](INFO): got valid direction response: 21:42:30.5485 LVL= 19824, 29169, 23378, 31859, AGC= 68, IDX= 426, 0.33,-1.456,-2.450, 2.521,-2.627, PHS= 1.259, 0.224,-1.138, RAW= 55.5, -3.4, CAL= 59.3, -7.6, ROT= 90.7, 7.6 2025-01-08T21:42:32.395Z,1736372552.395 [DAT](INFO): DAT read: Bearing 90.7, 7.6 (Local) 2025-01-08T21:42:32.396Z,1736372552.396 [DAT](INFO): Local bearing/azimuth received: Bearing 90.7, 7.6 (Local) 2025-01-08T21:42:32.397Z,1736372552.397 [DAT](INFO): DAT read: Range 10 to 50 : 496.7 m (Round-trip 662.3 ms) speed 0.1 m/s 2025-01-08T21:42:32.398Z,1736372552.398 [DAT](INFO): DAT read: user:1994> 2025-01-08T21:42:32.404Z,1736372552.404 [DAT](INFO): DAT read: Tx time:21:42:31.6321 2025-01-08T21:42:32.404Z,1736372552.404 [DAT](INFO): Ping request sent. 2025-01-08T21:42:32.404Z,1736372552.404 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:32.404Z,1736372552.404 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:42:32.405Z,1736372552.405 [DAT](INFO): direction in FSK: [0.042323,0.631398,0.774303] 2025-01-08T21:42:32.405Z,1736372552.405 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:32.406Z,1736372552.406 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:32.413Z,1736372552.413 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:32.413Z,1736372552.413 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:32.539Z,1736372552.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:32.556Z,1736372552.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:32.557Z,1736372552.557 [DAT](INFO): DAT read: TxSync time:21:42:31.6313 2025-01-08T21:42:32.577Z,1736372552.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.700012 m, deltaT: 4.040240 s, deltaX: -0.199982 m, approachRate: -0.049497 m/s, rangeRepo size: 4 2025-01-08T21:42:32.584Z,1736372552.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.700012 m, bearing: 340.543897 deg, lat: 36.902005 deg, lon: -122.118182 deg, deltaT: 4.040240 s, deltaX: -0.199982 m, approachRate: -0.049497 m/s, posRepo size: 4 2025-01-08T21:42:32.584Z,1736372552.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.70 m. 2025-01-08T21:42:32.591Z,1736372552.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.700012 m, nav range: 240.355011 m, bearing: 336.991501 deg, approach rate: 0.000000 m/s, LOS rate: 0.168351 deg/s, cmd heading: 254.086507 deg, new cmd heading: 254.336736 deg. 2025-01-08T21:42:32.592Z,1736372552.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439013 target range: 496.700012 and range: 496.70 m. 2025-01-08T21:42:32.809Z,1736372552.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:32.876Z,1736372552.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:32.886Z,1736372552.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.70 m. 2025-01-08T21:42:32.889Z,1736372552.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.700012 m, nav range: 240.351089 m, bearing: 337.040125 deg, approach rate: -0.012686 m/s, LOS rate: 0.157305 deg/s, cmd heading: 254.336738 deg, new cmd heading: 254.482611 deg. 2025-01-08T21:42:32.890Z,1736372552.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.441559 target range: 496.700012 and range: 496.70 m. 2025-01-08T21:42:33.060Z,1736372553.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:33.289Z,1736372553.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:33.309Z,1736372553.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.70 m. 2025-01-08T21:42:33.312Z,1736372553.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:33.316Z,1736372553.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.700012 m, nav range: 240.342880 m, bearing: 337.099565 deg, approach rate: -0.019391 m/s, LOS rate: 0.140404 deg/s, cmd heading: 254.482603 deg, new cmd heading: 254.660927 deg. 2025-01-08T21:42:33.317Z,1736372553.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.444672 target range: 496.700012 and range: 496.70 m. 2025-01-08T21:42:33.564Z,1736372553.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:33.703Z,1736372553.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:33.729Z,1736372553.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:33.731Z,1736372553.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.70 m. 2025-01-08T21:42:33.735Z,1736372553.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.700012 m, nav range: 240.331314 m, bearing: 337.157499 deg, approach rate: -0.027433 m/s, LOS rate: 0.137415 deg/s, cmd heading: 254.660926 deg, new cmd heading: 254.834736 deg. 2025-01-08T21:42:33.736Z,1736372553.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.447705 target range: 496.700012 and range: 496.70 m. 2025-01-08T21:42:33.817Z,1736372553.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:33.817Z,1736372553.817 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:33.818Z,1736372553.818 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:33.818Z,1736372553.818 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:34.068Z,1736372554.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:34.068Z,1736372554.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.664115 2025-01-08T21:42:34.078Z,1736372554.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:34.107Z,1736372554.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.70 m. 2025-01-08T21:42:34.110Z,1736372554.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.700012 m, nav range: 240.319351 m, bearing: 337.209941 deg, approach rate: -0.031816 m/s, LOS rate: 0.139481 deg/s, cmd heading: 254.834740 deg, new cmd heading: 254.992075 deg. 2025-01-08T21:42:34.111Z,1736372554.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450451 target range: 496.700012 and range: 496.70 m. 2025-01-08T21:42:34.320Z,1736372554.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:34.320Z,1736372554.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.916362 2025-01-08T21:42:34.512Z,1736372554.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:34.521Z,1736372554.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.70 m. 2025-01-08T21:42:34.540Z,1736372554.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.700012 m, nav range: 240.309570 m, bearing: 337.269618 deg, approach rate: -0.023614 m/s, LOS rate: 0.144085 deg/s, cmd heading: 254.992081 deg, new cmd heading: 255.171118 deg. 2025-01-08T21:42:34.541Z,1736372554.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453576 target range: 496.700012 and range: 496.70 m. 2025-01-08T21:42:34.572Z,1736372554.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:34.573Z,1736372554.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.168524 2025-01-08T21:42:34.824Z,1736372554.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:34.824Z,1736372554.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.420211 2025-01-08T21:42:34.897Z,1736372554.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:34.906Z,1736372554.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.70 m. 2025-01-08T21:42:34.909Z,1736372554.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.700012 m, nav range: 240.297470 m, bearing: 337.322430 deg, approach rate: -0.031440 m/s, LOS rate: 0.137226 deg/s, cmd heading: 255.171114 deg, new cmd heading: 255.329557 deg. 2025-01-08T21:42:34.910Z,1736372554.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456341 target range: 496.700012 and range: 496.70 m. 2025-01-08T21:42:35.076Z,1736372555.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:35.076Z,1736372555.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.672250 2025-01-08T21:42:35.328Z,1736372555.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:35.329Z,1736372555.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.924416 2025-01-08T21:42:35.426Z,1736372555.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:35.443Z,1736372555.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.70 m. 2025-01-08T21:42:35.450Z,1736372555.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.700012 m, nav range: 240.279068 m, bearing: 337.395058 deg, approach rate: -0.034268 m/s, LOS rate: 0.135259 deg/s, cmd heading: 255.329547 deg, new cmd heading: 255.547448 deg. 2025-01-08T21:42:35.455Z,1736372555.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460145 target range: 496.700012 and range: 496.70 m. 2025-01-08T21:42:35.580Z,1736372555.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:35.580Z,1736372555.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.176331 2025-01-08T21:42:35.833Z,1736372555.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:35.834Z,1736372555.834 [DAT](INFO): DAT read: Rx Time:21:42:34.6989 2025-01-08T21:42:35.835Z,1736372555.835 [DAT](INFO): Rx dataTimestamp_ set to:1736372555.834513 2025-01-08T21:42:35.836Z,1736372555.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.431796 2025-01-08T21:42:35.928Z,1736372555.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:35.945Z,1736372555.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:35.951Z,1736372555.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.70 m. 2025-01-08T21:42:35.954Z,1736372555.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.700012 m, nav range: 240.250977 m, bearing: 337.465810 deg, approach rate: -0.055699 m/s, LOS rate: 0.140300 deg/s, cmd heading: 255.547457 deg, new cmd heading: 255.759736 deg. 2025-01-08T21:42:35.960Z,1736372555.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463850 target range: 496.700012 and range: 496.70 m. 2025-01-08T21:42:36.084Z,1736372556.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:36.084Z,1736372556.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.680397 2025-01-08T21:42:36.338Z,1736372556.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:36.339Z,1736372556.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.934476 2025-01-08T21:42:36.482Z,1736372556.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:36.492Z,1736372556.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.70 m. 2025-01-08T21:42:36.495Z,1736372556.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.700012 m, nav range: 240.208679 m, bearing: 337.546119 deg, approach rate: -0.077575 m/s, LOS rate: 0.147317 deg/s, cmd heading: 255.759739 deg, new cmd heading: 256.000708 deg. 2025-01-08T21:42:36.496Z,1736372556.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468055 target range: 496.700012 and range: 496.70 m. 2025-01-08T21:42:36.589Z,1736372556.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:36.596Z,1736372556.596 [DAT](INFO): DAT read: 21:42:34.6989 LVL= 14128, 21441, 17810, 22707, AGC= 69, IDX= 446, 0.47,-2.276, 3.104, 1.817, 2.877, PHS= 1.218, 0.274,-1.063, RAW= 54.3, -4.4, CAL= 58.5, -9.1, ROT= 91.5, 9.1 2025-01-08T21:42:36.597Z,1736372556.597 [DAT](INFO): got valid direction response: 21:42:34.6989 LVL= 14128, 21441, 17810, 22707, AGC= 69, IDX= 446, 0.47,-2.276, 3.104, 1.817, 2.877, PHS= 1.218, 0.274,-1.063, RAW= 54.3, -4.4, CAL= 58.5, -9.1, ROT= 91.5, 9.1 2025-01-08T21:42:36.598Z,1736372556.598 [DAT](INFO): DAT read: Bearing 91.5, 9.1 (Local) 2025-01-08T21:42:36.599Z,1736372556.599 [DAT](INFO): Local bearing/azimuth received: Bearing 91.5, 9.1 (Local) 2025-01-08T21:42:36.601Z,1736372556.601 [DAT](INFO): DAT read: Range 10 to 50 : 496.9 m (Round-trip 662.6 ms) speed 0.0 m/s 2025-01-08T21:42:36.602Z,1736372556.602 [DAT](INFO): DAT read: user:1995> 2025-01-08T21:42:36.602Z,1736372556.602 [DAT](INFO): DAT read: Tx time:21:42:35.7821 2025-01-08T21:42:36.603Z,1736372556.603 [DAT](INFO): Ping request sent. 2025-01-08T21:42:36.603Z,1736372556.603 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:36.604Z,1736372556.604 [DAT](INFO): DAT read: TxSync time:21:42:35.7813 2025-01-08T21:42:36.604Z,1736372556.604 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:42:36.605Z,1736372556.605 [DAT](INFO): direction in FSK: [0.063583,0.644287,0.762136] 2025-01-08T21:42:36.606Z,1736372556.606 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:36.606Z,1736372556.606 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:36.609Z,1736372556.609 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:36.609Z,1736372556.609 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:36.790Z,1736372556.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:36.840Z,1736372556.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:36.842Z,1736372556.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.899994 m, deltaT: 4.283080 s, deltaX: 0.199982 m, approachRate: 0.046691 m/s, rangeRepo size: 4 2025-01-08T21:42:36.864Z,1736372556.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.899994 m, bearing: 341.540564 deg, lat: 36.902108 deg, lon: -122.118084 deg, deltaT: 4.283080 s, deltaX: 0.199982 m, approachRate: 0.046691 m/s, posRepo size: 4 2025-01-08T21:42:36.866Z,1736372556.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:36.877Z,1736372556.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 247.778809 m, bearing: 340.467486 deg, approach rate: 0.000000 m/s, LOS rate: 0.147317 deg/s, cmd heading: 256.000708 deg, new cmd heading: 256.154912 deg. 2025-01-08T21:42:36.878Z,1736372556.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470747 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:37.092Z,1736372557.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:37.172Z,1736372557.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:37.180Z,1736372557.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:37.184Z,1736372557.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 247.758606 m, bearing: 340.521444 deg, approach rate: -0.059643 m/s, LOS rate: 0.159312 deg/s, cmd heading: 256.154907 deg, new cmd heading: 256.316795 deg. 2025-01-08T21:42:37.185Z,1736372557.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473572 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:37.344Z,1736372557.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:37.594Z,1736372557.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:37.596Z,1736372557.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:37.605Z,1736372557.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:37.608Z,1736372557.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 247.729034 m, bearing: 340.584743 deg, approach rate: -0.069598 m/s, LOS rate: 0.148993 deg/s, cmd heading: 256.316782 deg, new cmd heading: 256.506700 deg. 2025-01-08T21:42:37.609Z,1736372557.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476886 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:37.848Z,1736372557.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:37.976Z,1736372557.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:37.986Z,1736372557.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:37.988Z,1736372557.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:37.992Z,1736372557.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 247.701599 m, bearing: 340.641966 deg, approach rate: -0.071556 m/s, LOS rate: 0.149263 deg/s, cmd heading: 256.506689 deg, new cmd heading: 256.678375 deg. 2025-01-08T21:42:37.993Z,1736372557.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479883 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:38.100Z,1736372558.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:38.101Z,1736372558.101 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:38.101Z,1736372558.101 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:38.101Z,1736372558.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:38.353Z,1736372558.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:38.355Z,1736372558.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751870 2025-01-08T21:42:38.424Z,1736372558.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:38.481Z,1736372558.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:38.489Z,1736372558.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 247.669159 m, bearing: 340.708250 deg, approach rate: -0.065816 m/s, LOS rate: 0.134498 deg/s, cmd heading: 256.678372 deg, new cmd heading: 256.877251 deg. 2025-01-08T21:42:38.490Z,1736372558.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483354 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:38.604Z,1736372558.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:38.604Z,1736372558.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001701 2025-01-08T21:42:38.828Z,1736372558.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:38.840Z,1736372558.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:38.843Z,1736372558.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 247.634659 m, bearing: 340.772965 deg, approach rate: -0.096075 m/s, LOS rate: 0.180242 deg/s, cmd heading: 256.877240 deg, new cmd heading: 257.071413 deg. 2025-01-08T21:42:38.844Z,1736372558.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486742 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:38.856Z,1736372558.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:38.857Z,1736372558.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253923 2025-01-08T21:42:39.108Z,1736372559.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:39.108Z,1736372559.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505655 2025-01-08T21:42:39.198Z,1736372559.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:39.208Z,1736372559.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:39.211Z,1736372559.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 247.603531 m, bearing: 340.831384 deg, approach rate: -0.084798 m/s, LOS rate: 0.159164 deg/s, cmd heading: 257.071409 deg, new cmd heading: 257.246688 deg. 2025-01-08T21:42:39.212Z,1736372559.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489802 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:39.360Z,1736372559.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:39.360Z,1736372559.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757633 2025-01-08T21:42:39.612Z,1736372559.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:39.612Z,1736372559.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009759 2025-01-08T21:42:39.617Z,1736372559.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:39.626Z,1736372559.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:39.629Z,1736372559.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 247.563492 m, bearing: 340.900164 deg, approach rate: -0.095736 m/s, LOS rate: 0.164484 deg/s, cmd heading: 257.246699 deg, new cmd heading: 257.453070 deg. 2025-01-08T21:42:39.629Z,1736372559.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493404 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:39.865Z,1736372559.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:39.866Z,1736372559.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263176 2025-01-08T21:42:40.005Z,1736372560.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:40.031Z,1736372560.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:40.034Z,1736372560.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:40.037Z,1736372560.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 247.526550 m, bearing: 340.963912 deg, approach rate: -0.090481 m/s, LOS rate: 0.156160 deg/s, cmd heading: 257.453080 deg, new cmd heading: 257.644350 deg. 2025-01-08T21:42:40.038Z,1736372560.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496742 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:40.116Z,1736372560.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:40.117Z,1736372560.117 [DAT](INFO): DAT read: Rx Time:21:42:38.8488 2025-01-08T21:42:40.117Z,1736372560.117 [DAT](INFO): Rx dataTimestamp_ set to:1736372560.117212 2025-01-08T21:42:40.118Z,1736372560.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515310 2025-01-08T21:42:40.368Z,1736372560.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:40.369Z,1736372560.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765884 2025-01-08T21:42:40.474Z,1736372560.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:40.553Z,1736372560.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.90 m. 2025-01-08T21:42:40.561Z,1736372560.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.899994 m, nav range: 247.481766 m, bearing: 341.040946 deg, approach rate: -0.087322 m/s, LOS rate: 0.150231 deg/s, cmd heading: 257.644352 deg, new cmd heading: 257.875495 deg. 2025-01-08T21:42:40.562Z,1736372560.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500776 target range: 496.899994 and range: 496.90 m. 2025-01-08T21:42:40.621Z,1736372560.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:40.631Z,1736372560.631 [DAT](INFO): DAT read: 21:42:38.8488 LVL= 14624, 19617, 18738, 25203, AGC= 67, IDX= 445, 0.48,-2.882, 2.555, 1.197, 2.292, PHS= 1.198, 0.310,-1.098, RAW= 52.6, -4.1, CAL= 56.2, -8.6, ROT= 93.8, 8.6 2025-01-08T21:42:40.634Z,1736372560.634 [DAT](INFO): got valid direction response: 21:42:38.8488 LVL= 14624, 19617, 18738, 25203, AGC= 67, IDX= 445, 0.48,-2.882, 2.555, 1.197, 2.292, PHS= 1.198, 0.310,-1.098, RAW= 52.6, -4.1, CAL= 56.2, -8.6, ROT= 93.8, 8.6 2025-01-08T21:42:40.635Z,1736372560.635 [DAT](INFO): DAT read: Bearing 93.8, 8.6 (Local) 2025-01-08T21:42:40.636Z,1736372560.636 [DAT](INFO): Local bearing/azimuth received: Bearing 93.8, 8.6 (Local) 2025-01-08T21:42:40.638Z,1736372560.638 [DAT](INFO): DAT read: Range 10 to 50 : 496.8 m (Round-trip 662.5 ms) speed 0.1 m/s 2025-01-08T21:42:40.639Z,1736372560.639 [DAT](INFO): DAT read: user:1996> 2025-01-08T21:42:40.641Z,1736372560.641 [DAT](INFO): DAT read: Tx time:21:42:39.9321 2025-01-08T21:42:40.641Z,1736372560.641 [DAT](INFO): Ping request sent. 2025-01-08T21:42:40.641Z,1736372560.641 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:40.642Z,1736372560.642 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:42:40.644Z,1736372560.644 [DAT](INFO): direction in FSK: [0.062826,0.666417,0.742928] 2025-01-08T21:42:40.644Z,1736372560.644 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:40.644Z,1736372560.644 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:40.658Z,1736372560.658 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:40.658Z,1736372560.658 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:40.872Z,1736372560.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:40.873Z,1736372560.873 [DAT](INFO): DAT read: TxSync time:21:42:39.9313 2025-01-08T21:42:40.902Z,1736372560.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:40.941Z,1736372560.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.799988 m, deltaT: 4.032719 s, deltaX: -0.100006 m, approachRate: -0.024799 m/s, rangeRepo size: 4 2025-01-08T21:42:40.943Z,1736372560.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.799988 m, bearing: 342.896164 deg, lat: 36.902170 deg, lon: -122.118084 deg, deltaT: 4.032719 s, deltaX: -0.100006 m, approachRate: -0.024799 m/s, posRepo size: 4 2025-01-08T21:42:40.952Z,1736372560.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:42:40.954Z,1736372560.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 253.906311 m, bearing: 341.610498 deg, approach rate: 0.000000 m/s, LOS rate: 0.150231 deg/s, cmd heading: 257.875486 deg, new cmd heading: 258.052705 deg. 2025-01-08T21:42:40.960Z,1736372560.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503870 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:42:41.124Z,1736372561.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:41.236Z,1736372561.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:41.268Z,1736372561.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:42:41.270Z,1736372561.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 253.882782 m, bearing: 341.664981 deg, approach rate: -0.071873 m/s, LOS rate: 0.166443 deg/s, cmd heading: 258.052716 deg, new cmd heading: 258.216179 deg. 2025-01-08T21:42:41.272Z,1736372561.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506722 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:42:41.376Z,1736372561.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:41.628Z,1736372561.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:41.697Z,1736372561.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:41.707Z,1736372561.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:42:41.710Z,1736372561.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 253.849411 m, bearing: 341.739823 deg, approach rate: -0.076003 m/s, LOS rate: 0.170479 deg/s, cmd heading: 258.216176 deg, new cmd heading: 258.440732 deg. 2025-01-08T21:42:41.710Z,1736372561.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510642 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:42:41.880Z,1736372561.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:42.044Z,1736372562.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:42.053Z,1736372562.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:42.055Z,1736372562.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:42:42.058Z,1736372562.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 253.824905 m, bearing: 341.796163 deg, approach rate: -0.070410 m/s, LOS rate: 0.161890 deg/s, cmd heading: 258.440725 deg, new cmd heading: 258.609760 deg. 2025-01-08T21:42:42.059Z,1736372562.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513592 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:42:42.133Z,1736372562.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:42.134Z,1736372562.134 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:42.135Z,1736372562.135 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:42.135Z,1736372562.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:42.384Z,1736372562.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:42.384Z,1736372562.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743204 2025-01-08T21:42:42.520Z,1736372562.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:42.553Z,1736372562.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:42:42.560Z,1736372562.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 253.791565 m, bearing: 341.871871 deg, approach rate: -0.066824 m/s, LOS rate: 0.151762 deg/s, cmd heading: 258.609759 deg, new cmd heading: 258.836913 deg. 2025-01-08T21:42:42.561Z,1736372562.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517556 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:42:42.641Z,1736372562.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:42.642Z,1736372562.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000826 2025-01-08T21:42:42.883Z,1736372562.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:42.892Z,1736372562.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:42.893Z,1736372562.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251393 2025-01-08T21:42:42.894Z,1736372562.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:42:42.913Z,1736372562.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 253.768677 m, bearing: 341.931342 deg, approach rate: -0.067269 m/s, LOS rate: 0.174803 deg/s, cmd heading: 258.836903 deg, new cmd heading: 259.015331 deg. 2025-01-08T21:42:42.914Z,1736372562.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520670 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:42:43.144Z,1736372563.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:43.144Z,1736372563.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503210 2025-01-08T21:42:43.261Z,1736372563.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:43.300Z,1736372563.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:42:43.305Z,1736372563.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 253.744415 m, bearing: 341.991971 deg, approach rate: -0.059947 m/s, LOS rate: 0.149820 deg/s, cmd heading: 259.015335 deg, new cmd heading: 259.197239 deg. 2025-01-08T21:42:43.308Z,1736372563.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523845 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:42:43.396Z,1736372563.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:43.398Z,1736372563.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756357 2025-01-08T21:42:43.648Z,1736372563.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:43.649Z,1736372563.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008350 2025-01-08T21:42:43.710Z,1736372563.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:43.720Z,1736372563.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:42:43.722Z,1736372563.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 253.712570 m, bearing: 342.062692 deg, approach rate: -0.075653 m/s, LOS rate: 0.168029 deg/s, cmd heading: 259.197237 deg, new cmd heading: 259.409425 deg. 2025-01-08T21:42:43.723Z,1736372563.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527549 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:42:43.900Z,1736372563.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:43.900Z,1736372563.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259347 2025-01-08T21:42:44.081Z,1736372564.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:44.089Z,1736372564.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:44.091Z,1736372564.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:42:44.094Z,1736372564.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 253.686539 m, bearing: 342.121183 deg, approach rate: -0.070051 m/s, LOS rate: 0.157416 deg/s, cmd heading: 259.409437 deg, new cmd heading: 259.584927 deg. 2025-01-08T21:42:44.095Z,1736372564.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530612 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:42:44.153Z,1736372564.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:44.154Z,1736372564.154 [DAT](INFO): DAT read: Rx Time:21:42:42.9982 2025-01-08T21:42:44.155Z,1736372564.155 [DAT](INFO): Rx dataTimestamp_ set to:1736372564.154449 2025-01-08T21:42:44.156Z,1736372564.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514897 2025-01-08T21:42:44.404Z,1736372564.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:44.404Z,1736372564.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763281 2025-01-08T21:42:44.487Z,1736372564.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:44.495Z,1736372564.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:42:44.500Z,1736372564.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 253.655792 m, bearing: 342.185043 deg, approach rate: -0.076066 m/s, LOS rate: 0.158008 deg/s, cmd heading: 259.584918 deg, new cmd heading: 259.776522 deg. 2025-01-08T21:42:44.519Z,1736372564.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533956 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:42:44.658Z,1736372564.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:44.661Z,1736372564.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018950 2025-01-08T21:42:44.908Z,1736372564.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:44.915Z,1736372564.915 [DAT](INFO): DAT read: 21:42:42.9982 LVL= 13968, 25841, 21490, 31731, AGC= 68, IDX= 439,-0.21,-1.914,-2.706, 2.229,-2.949, PHS= 1.124, 0.291,-1.108, RAW= 51.7, -3.2, CAL= 54.5, -7.1, ROT= 95.5, 7.1 2025-01-08T21:42:44.917Z,1736372564.917 [DAT](INFO): got valid direction response: 21:42:42.9982 LVL= 13968, 25841, 21490, 31731, AGC= 68, IDX= 439,-0.21,-1.914,-2.706, 2.229,-2.949, PHS= 1.124, 0.291,-1.108, RAW= 51.7, -3.2, CAL= 54.5, -7.1, ROT= 95.5, 7.1 2025-01-08T21:42:44.918Z,1736372564.918 [DAT](INFO): DAT read: Bearing 95.5, 7.1 (Local) 2025-01-08T21:42:44.918Z,1736372564.918 [DAT](INFO): Local bearing/azimuth received: Bearing 95.5, 7.1 (Local) 2025-01-08T21:42:44.920Z,1736372564.920 [DAT](INFO): DAT read: Range 10 to 50 : 496.5 m (Round-trip 662.0 ms) speed -0.1 m/s 2025-01-08T21:42:44.921Z,1736372564.921 [DAT](INFO): DAT read: user:1997> 2025-01-08T21:42:44.921Z,1736372564.921 [DAT](INFO): DAT read: Tx time:21:42:44.0821 2025-01-08T21:42:44.922Z,1736372564.922 [DAT](INFO): Ping request sent. 2025-01-08T21:42:44.922Z,1736372564.922 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:44.922Z,1736372564.922 [DAT](INFO): DAT read: TxSync time:21:42:44.0813 2025-01-08T21:42:44.923Z,1736372564.923 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:42:44.940Z,1736372564.940 [DAT](INFO): direction in FSK: [0.046927,0.678754,0.732865] 2025-01-08T21:42:44.940Z,1736372564.940 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:44.941Z,1736372564.941 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:44.967Z,1736372564.967 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:44.967Z,1736372564.967 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:45.018Z,1736372565.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:45.061Z,1736372565.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.500000 m, deltaT: 4.286372 s, deltaX: -0.299988 m, approachRate: -0.069986 m/s, rangeRepo size: 4 2025-01-08T21:42:45.068Z,1736372565.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.500000 m, bearing: 345.392012 deg, lat: 36.902240 deg, lon: -122.118077 deg, deltaT: 4.286372 s, deltaX: -0.299988 m, approachRate: -0.069986 m/s, posRepo size: 4 2025-01-08T21:42:45.068Z,1736372565.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.50 m. 2025-01-08T21:42:45.075Z,1736372565.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.500000 m, nav range: 260.919769 m, bearing: 342.922705 deg, approach rate: 0.000000 m/s, LOS rate: 0.158008 deg/s, cmd heading: 259.776519 deg, new cmd heading: 260.044610 deg. 2025-01-08T21:42:45.076Z,1736372565.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538635 target range: 496.500000 and range: 496.50 m. 2025-01-08T21:42:45.161Z,1736372565.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:45.360Z,1736372565.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:45.377Z,1736372565.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.50 m. 2025-01-08T21:42:45.383Z,1736372565.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.500000 m, nav range: 260.896301 m, bearing: 342.975564 deg, approach rate: -0.074308 m/s, LOS rate: 0.167385 deg/s, cmd heading: 260.044617 deg, new cmd heading: 260.203208 deg. 2025-01-08T21:42:45.384Z,1736372565.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541403 target range: 496.500000 and range: 496.50 m. 2025-01-08T21:42:45.416Z,1736372565.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:45.668Z,1736372565.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:45.780Z,1736372565.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:45.790Z,1736372565.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.50 m. 2025-01-08T21:42:45.793Z,1736372565.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.500000 m, nav range: 260.862823 m, bearing: 343.040409 deg, approach rate: -0.081019 m/s, LOS rate: 0.156950 deg/s, cmd heading: 260.203214 deg, new cmd heading: 260.397773 deg. 2025-01-08T21:42:45.794Z,1736372565.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544798 target range: 496.500000 and range: 496.50 m. 2025-01-08T21:42:45.920Z,1736372565.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:46.172Z,1736372566.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:46.176Z,1736372566.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:46.184Z,1736372566.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:46.186Z,1736372566.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.50 m. 2025-01-08T21:42:46.189Z,1736372566.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.500000 m, nav range: 260.831604 m, bearing: 343.101490 deg, approach rate: -0.078719 m/s, LOS rate: 0.154031 deg/s, cmd heading: 260.397766 deg, new cmd heading: 260.581029 deg. 2025-01-08T21:42:46.190Z,1736372566.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547997 target range: 496.500000 and range: 496.50 m. 2025-01-08T21:42:46.424Z,1736372566.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:46.424Z,1736372566.424 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:46.425Z,1736372566.425 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:46.425Z,1736372566.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:46.651Z,1736372566.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:46.677Z,1736372566.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:46.679Z,1736372566.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756662 2025-01-08T21:42:46.692Z,1736372566.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.50 m. 2025-01-08T21:42:46.697Z,1736372566.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.500000 m, nav range: 260.783783 m, bearing: 343.174188 deg, approach rate: -0.094976 m/s, LOS rate: 0.144410 deg/s, cmd heading: 260.581033 deg, new cmd heading: 260.799167 deg. 2025-01-08T21:42:46.704Z,1736372566.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551804 target range: 496.500000 and range: 496.50 m. 2025-01-08T21:42:46.929Z,1736372566.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:46.930Z,1736372566.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007956 2025-01-08T21:42:47.011Z,1736372567.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:47.020Z,1736372567.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.50 m. 2025-01-08T21:42:47.022Z,1736372567.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.500000 m, nav range: 260.747711 m, bearing: 343.229425 deg, approach rate: -0.109435 m/s, LOS rate: 0.167601 deg/s, cmd heading: 260.799162 deg, new cmd heading: 260.964894 deg. 2025-01-08T21:42:47.024Z,1736372567.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.554697 target range: 496.500000 and range: 496.50 m. 2025-01-08T21:42:47.180Z,1736372567.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:47.180Z,1736372567.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258489 2025-01-08T21:42:47.397Z,1736372567.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:47.407Z,1736372567.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.50 m. 2025-01-08T21:42:47.410Z,1736372567.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.500000 m, nav range: 260.705475 m, bearing: 343.288635 deg, approach rate: -0.109067 m/s, LOS rate: 0.152924 deg/s, cmd heading: 260.964890 deg, new cmd heading: 261.142549 deg. 2025-01-08T21:42:47.410Z,1736372567.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557797 target range: 496.500000 and range: 496.50 m. 2025-01-08T21:42:47.432Z,1736372567.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:47.434Z,1736372567.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511305 2025-01-08T21:42:47.684Z,1736372567.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:47.684Z,1736372567.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762596 2025-01-08T21:42:47.844Z,1736372567.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:47.861Z,1736372567.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.50 m. 2025-01-08T21:42:47.867Z,1736372567.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.500000 m, nav range: 260.660950 m, bearing: 343.357248 deg, approach rate: -0.098115 m/s, LOS rate: 0.151220 deg/s, cmd heading: 261.142557 deg, new cmd heading: 261.348430 deg. 2025-01-08T21:42:47.868Z,1736372567.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561390 target range: 496.500000 and range: 496.50 m. 2025-01-08T21:42:47.936Z,1736372567.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:47.937Z,1736372567.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015429 2025-01-08T21:42:48.188Z,1736372568.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:48.188Z,1736372568.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266523 2025-01-08T21:42:48.200Z,1736372568.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:48.223Z,1736372568.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:48.225Z,1736372568.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.50 m. 2025-01-08T21:42:48.233Z,1736372568.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.500000 m, nav range: 260.624237 m, bearing: 343.411714 deg, approach rate: -0.100714 m/s, LOS rate: 0.149438 deg/s, cmd heading: 261.348419 deg, new cmd heading: 261.511839 deg. 2025-01-08T21:42:48.234Z,1736372568.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564243 target range: 496.500000 and range: 496.50 m. 2025-01-08T21:42:48.440Z,1736372568.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:48.441Z,1736372568.441 [DAT](INFO): DAT read: Rx Time:21:42:47.1480 2025-01-08T21:42:48.442Z,1736372568.442 [DAT](INFO): Rx dataTimestamp_ set to:1736372568.441133 2025-01-08T21:42:48.442Z,1736372568.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520492 2025-01-08T21:42:48.692Z,1736372568.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:48.692Z,1736372568.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770605 2025-01-08T21:42:48.703Z,1736372568.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:48.711Z,1736372568.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.50 m. 2025-01-08T21:42:48.714Z,1736372568.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.500000 m, nav range: 260.581116 m, bearing: 343.487472 deg, approach rate: -0.088714 m/s, LOS rate: 0.155883 deg/s, cmd heading: 261.511851 deg, new cmd heading: 261.739160 deg. 2025-01-08T21:42:48.715Z,1736372568.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568210 target range: 496.500000 and range: 496.50 m. 2025-01-08T21:42:48.945Z,1736372568.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:48.956Z,1736372568.956 [DAT](INFO): DAT read: 21:42:47.1480 LVL= 16048, 23441, 22338, 26099, AGC= 71, IDX= 420,-0.19, 1.571, 0.879,-0.446, 0.667, PHS= 0.992, 0.259,-1.116, RAW= 50.0, -1.5, CAL= 51.5, -4.5, ROT= 98.5, 4.5 2025-01-08T21:42:48.958Z,1736372568.958 [DAT](INFO): got valid direction response: 21:42:47.1480 LVL= 16048, 23441, 22338, 26099, AGC= 71, IDX= 420,-0.19, 1.571, 0.879,-0.446, 0.667, PHS= 0.992, 0.259,-1.116, RAW= 50.0, -1.5, CAL= 51.5, -4.5, ROT= 98.5, 4.5 2025-01-08T21:42:48.960Z,1736372568.960 [DAT](INFO): DAT read: Bearing 98.5, 4.5 (Local) 2025-01-08T21:42:48.961Z,1736372568.961 [DAT](INFO): Local bearing/azimuth received: Bearing 98.5, 4.5 (Local) 2025-01-08T21:42:48.969Z,1736372568.969 [DAT](INFO): DAT read: Range 10 to 50 : 496.2 m (Round-trip 661.7 ms) speed 0.0 m/s 2025-01-08T21:42:48.970Z,1736372568.970 [DAT](INFO): DAT read: user:1998> 2025-01-08T21:42:48.970Z,1736372568.970 [DAT](INFO): DAT read: Tx time:21:42:48.2322 2025-01-08T21:42:48.971Z,1736372568.971 [DAT](INFO): Ping request sent. 2025-01-08T21:42:48.971Z,1736372568.971 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:48.988Z,1736372568.988 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:42:48.989Z,1736372568.989 [DAT](INFO): direction in FSK: [0.018664,0.700807,0.713107] 2025-01-08T21:42:48.989Z,1736372568.989 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:48.989Z,1736372568.989 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:49.002Z,1736372569.002 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:49.002Z,1736372569.002 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:49.070Z,1736372569.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:49.101Z,1736372569.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.200012 m, deltaT: 4.036905 s, deltaX: -0.299988 m, approachRate: -0.074311 m/s, rangeRepo size: 4 2025-01-08T21:42:49.112Z,1736372569.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.200012 m, bearing: 349.764544 deg, lat: 36.902400 deg, lon: -122.118077 deg, deltaT: 4.036905 s, deltaX: -0.299988 m, approachRate: -0.074311 m/s, posRepo size: 4 2025-01-08T21:42:49.112Z,1736372569.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:42:49.119Z,1736372569.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 277.599915 m, bearing: 344.579545 deg, approach rate: 0.000000 m/s, LOS rate: 0.155883 deg/s, cmd heading: 261.739160 deg, new cmd heading: 261.921279 deg. 2025-01-08T21:42:49.120Z,1736372569.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571389 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:42:49.197Z,1736372569.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:49.198Z,1736372569.198 [DAT](INFO): DAT read: TxSync time:21:42:48.2314 2025-01-08T21:42:49.416Z,1736372569.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:49.445Z,1736372569.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:42:49.448Z,1736372569.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:49.452Z,1736372569.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 277.573456 m, bearing: 344.628536 deg, approach rate: -0.076830 m/s, LOS rate: 0.142272 deg/s, cmd heading: 261.921280 deg, new cmd heading: 262.068267 deg. 2025-01-08T21:42:49.453Z,1736372569.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573954 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:42:49.700Z,1736372569.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:49.826Z,1736372569.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:49.862Z,1736372569.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:42:49.869Z,1736372569.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 277.543518 m, bearing: 344.684911 deg, approach rate: -0.073702 m/s, LOS rate: 0.138801 deg/s, cmd heading: 262.068266 deg, new cmd heading: 262.237408 deg. 2025-01-08T21:42:49.870Z,1736372569.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576906 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:42:49.952Z,1736372569.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:50.204Z,1736372570.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:50.214Z,1736372570.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:50.224Z,1736372570.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:42:50.226Z,1736372570.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 277.514557 m, bearing: 344.738386 deg, approach rate: -0.077809 m/s, LOS rate: 0.143685 deg/s, cmd heading: 262.237409 deg, new cmd heading: 262.397850 deg. 2025-01-08T21:42:50.227Z,1736372570.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579707 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:42:50.364Z,1736372570.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:42:50.456Z,1736372570.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:50.705Z,1736372570.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:50.708Z,1736372570.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:50.729Z,1736372570.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:50.735Z,1736372570.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:42:50.738Z,1736372570.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 277.485748 m, bearing: 344.801706 deg, approach rate: -0.056743 m/s, LOS rate: 0.124731 deg/s, cmd heading: 262.397864 deg, new cmd heading: 262.587842 deg. 2025-01-08T21:42:50.739Z,1736372570.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583023 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:42:50.961Z,1736372570.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:50.962Z,1736372570.962 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:50.962Z,1736372570.962 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:50.962Z,1736372570.962 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:51.038Z,1736372571.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:51.047Z,1736372571.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:42:51.051Z,1736372571.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 277.465240 m, bearing: 344.844798 deg, approach rate: -0.064933 m/s, LOS rate: 0.136450 deg/s, cmd heading: 262.587852 deg, new cmd heading: 262.717137 deg. 2025-01-08T21:42:51.054Z,1736372571.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585279 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:42:51.217Z,1736372571.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:51.218Z,1736372571.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247375 2025-01-08T21:42:51.368Z,1736372571.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:42:51.423Z,1736372571.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:51.431Z,1736372571.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:42:51.435Z,1736372571.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 277.440643 m, bearing: 344.894400 deg, approach rate: -0.063996 m/s, LOS rate: 0.129063 deg/s, cmd heading: 262.717134 deg, new cmd heading: 262.865952 deg. 2025-01-08T21:42:51.437Z,1736372571.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587876 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:42:51.464Z,1736372571.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:51.465Z,1736372571.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493843 2025-01-08T21:42:51.716Z,1736372571.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:51.717Z,1736372571.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746264 2025-01-08T21:42:51.862Z,1736372571.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:51.871Z,1736372571.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:42:51.874Z,1736372571.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 277.422119 m, bearing: 344.948769 deg, approach rate: -0.042104 m/s, LOS rate: 0.123586 deg/s, cmd heading: 262.865950 deg, new cmd heading: 263.029069 deg. 2025-01-08T21:42:51.875Z,1736372571.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590724 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:42:51.968Z,1736372571.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:51.969Z,1736372571.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998050 2025-01-08T21:42:52.220Z,1736372572.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:52.221Z,1736372572.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249826 2025-01-08T21:42:52.244Z,1736372572.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:52.254Z,1736372572.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:42:52.257Z,1736372572.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 277.405304 m, bearing: 344.996160 deg, approach rate: -0.043951 m/s, LOS rate: 0.123877 deg/s, cmd heading: 263.029082 deg, new cmd heading: 263.171264 deg. 2025-01-08T21:42:52.258Z,1736372572.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593205 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:42:52.473Z,1736372572.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:52.474Z,1736372572.474 [DAT](INFO): DAT read: Rx Time:21:42:51.2977 2025-01-08T21:42:52.474Z,1736372572.474 [DAT](INFO): Rx dataTimestamp_ set to:1736372572.474001 2025-01-08T21:42:52.475Z,1736372572.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504075 2025-01-08T21:42:52.696Z,1736372572.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:52.705Z,1736372572.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:42:52.707Z,1736372572.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 277.384827 m, bearing: 345.052111 deg, approach rate: -0.045420 m/s, LOS rate: 0.124113 deg/s, cmd heading: 263.171260 deg, new cmd heading: 263.339124 deg. 2025-01-08T21:42:52.709Z,1736372572.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596135 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:42:52.724Z,1736372572.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:52.724Z,1736372572.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753754 2025-01-08T21:42:52.980Z,1736372572.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:53.016Z,1736372573.016 [DAT](INFO): DAT read: 21:42:51.2977 LVL= 23136, 29681, 26722, 32755, AGC= 68, IDX= 432, 0.33, 1.490, 0.505,-0.703, 0.400, PHS= 1.178, 0.152,-1.106, RAW= 56.6, -2.3, CAL= 60.0, -6.2, ROT= 90.0, 6.2 2025-01-08T21:42:53.017Z,1736372573.017 [DAT](INFO): got valid direction response: 21:42:51.2977 LVL= 23136, 29681, 26722, 32755, AGC= 68, IDX= 432, 0.33, 1.490, 0.505,-0.703, 0.400, PHS= 1.178, 0.152,-1.106, RAW= 56.6, -2.3, CAL= 60.0, -6.2, ROT= 90.0, 6.2 2025-01-08T21:42:53.018Z,1736372573.018 [DAT](INFO): DAT read: Bearing 90.0, 6.2 (Local) 2025-01-08T21:42:53.018Z,1736372573.018 [DAT](INFO): Local bearing/azimuth received: Bearing 90.0, 6.2 (Local) 2025-01-08T21:42:53.033Z,1736372573.033 [DAT](INFO): DAT read: Range 10 to 50 : 496.0 m (Round-trip 661.4 ms) speed 0.1 m/s 2025-01-08T21:42:53.033Z,1736372573.033 [DAT](INFO): DAT read: user:1999> 2025-01-08T21:42:53.034Z,1736372573.034 [DAT](INFO): DAT read: Tx time:21:42:52.3822 2025-01-08T21:42:53.034Z,1736372573.034 [DAT](INFO): Ping request sent. 2025-01-08T21:42:53.035Z,1736372573.035 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:53.035Z,1736372573.035 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:42:53.044Z,1736372573.044 [DAT](INFO): direction in FSK: [0.020220,0.618433,0.785577] 2025-01-08T21:42:53.044Z,1736372573.044 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:53.045Z,1736372573.045 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:53.056Z,1736372573.056 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:53.056Z,1736372573.056 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:53.154Z,1736372573.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:53.186Z,1736372573.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.000000 m, deltaT: 4.035874 s, deltaX: -0.200012 m, approachRate: -0.049559 m/s, rangeRepo size: 4 2025-01-08T21:42:53.193Z,1736372573.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.000000 m, bearing: 350.806378 deg, lat: 36.902400 deg, lon: -122.118015 deg, deltaT: 4.035874 s, deltaX: -0.200012 m, approachRate: -0.049559 m/s, posRepo size: 4 2025-01-08T21:42:53.194Z,1736372573.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:53.205Z,1736372573.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 276.014832 m, bearing: 346.200826 deg, approach rate: 0.000000 m/s, LOS rate: 0.124113 deg/s, cmd heading: 263.339118 deg, new cmd heading: 263.518292 deg. 2025-01-08T21:42:53.206Z,1736372573.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599262 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:53.228Z,1736372573.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:53.229Z,1736372573.229 [DAT](INFO): DAT read: TxSync time:21:42:52.3814 2025-01-08T21:42:53.480Z,1736372573.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:53.514Z,1736372573.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:53.550Z,1736372573.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:53.561Z,1736372573.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:53.572Z,1736372573.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 276.003998 m, bearing: 346.243824 deg, approach rate: -0.028897 m/s, LOS rate: 0.114691 deg/s, cmd heading: 263.518288 deg, new cmd heading: 263.647284 deg. 2025-01-08T21:42:53.573Z,1736372573.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601513 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:53.733Z,1736372573.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:53.734Z,1736372573.734 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:53.735Z,1736372573.735 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:53.736Z,1736372573.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:53.939Z,1736372573.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:53.948Z,1736372573.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:53.967Z,1736372573.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 275.989502 m, bearing: 346.293687 deg, approach rate: -0.037464 m/s, LOS rate: 0.128875 deg/s, cmd heading: 263.647296 deg, new cmd heading: 263.796894 deg. 2025-01-08T21:42:53.968Z,1736372573.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604125 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:53.984Z,1736372573.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:53.985Z,1736372573.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.949894 2025-01-08T21:42:54.236Z,1736372574.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:54.236Z,1736372574.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.201830 2025-01-08T21:42:54.310Z,1736372574.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:54.319Z,1736372574.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:54.322Z,1736372574.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 275.976593 m, bearing: 346.337348 deg, approach rate: -0.034750 m/s, LOS rate: 0.117537 deg/s, cmd heading: 263.796905 deg, new cmd heading: 263.927892 deg. 2025-01-08T21:42:54.335Z,1736372574.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606411 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:54.488Z,1736372574.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:54.490Z,1736372574.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454521 2025-01-08T21:42:54.740Z,1736372574.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:54.740Z,1736372574.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.705888 2025-01-08T21:42:54.758Z,1736372574.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:54.787Z,1736372574.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:54.790Z,1736372574.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 275.951630 m, bearing: 346.392058 deg, approach rate: -0.055724 m/s, LOS rate: 0.122137 deg/s, cmd heading: 263.927881 deg, new cmd heading: 264.092027 deg. 2025-01-08T21:42:54.791Z,1736372574.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609275 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:54.992Z,1736372574.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:54.992Z,1736372574.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957823 2025-01-08T21:42:55.102Z,1736372575.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:55.111Z,1736372575.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:55.114Z,1736372575.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 275.931396 m, bearing: 346.434145 deg, approach rate: -0.058841 m/s, LOS rate: 0.122403 deg/s, cmd heading: 264.092024 deg, new cmd heading: 264.218293 deg. 2025-01-08T21:42:55.115Z,1736372575.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611479 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:55.244Z,1736372575.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:55.244Z,1736372575.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.209810 2025-01-08T21:42:55.496Z,1736372575.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:55.496Z,1736372575.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461686 2025-01-08T21:42:55.506Z,1736372575.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:55.516Z,1736372575.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:55.519Z,1736372575.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 275.906799 m, bearing: 346.483470 deg, approach rate: -0.060840 m/s, LOS rate: 0.122013 deg/s, cmd heading: 264.218300 deg, new cmd heading: 264.366288 deg. 2025-01-08T21:42:55.520Z,1736372575.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614062 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:55.749Z,1736372575.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:55.750Z,1736372575.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715144 2025-01-08T21:42:55.936Z,1736372575.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:55.942Z,1736372575.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:55.944Z,1736372575.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:55.963Z,1736372575.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 275.876648 m, bearing: 346.539493 deg, approach rate: -0.070266 m/s, LOS rate: 0.130572 deg/s, cmd heading: 264.366297 deg, new cmd heading: 264.534384 deg. 2025-01-08T21:42:55.964Z,1736372575.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.616996 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:56.001Z,1736372576.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:56.002Z,1736372576.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967259 2025-01-08T21:42:56.252Z,1736372576.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:56.252Z,1736372576.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217844 2025-01-08T21:42:56.317Z,1736372576.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:56.326Z,1736372576.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:56.329Z,1736372576.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 275.848145 m, bearing: 346.589213 deg, approach rate: -0.074727 m/s, LOS rate: 0.130364 deg/s, cmd heading: 264.534374 deg, new cmd heading: 264.683549 deg. 2025-01-08T21:42:56.330Z,1736372576.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619599 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:56.504Z,1736372576.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:56.505Z,1736372576.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469971 2025-01-08T21:42:56.756Z,1736372576.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:56.757Z,1736372576.757 [DAT](INFO): DAT read: Rx Time:21:42:55.4471 2025-01-08T21:42:56.757Z,1736372576.757 [DAT](INFO): Rx dataTimestamp_ set to:1736372576.756687 2025-01-08T21:42:56.757Z,1736372576.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722909 2025-01-08T21:42:56.813Z,1736372576.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:56.844Z,1736372576.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:56.853Z,1736372576.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 275.793854 m, bearing: 346.657457 deg, approach rate: -0.105941 m/s, LOS rate: 0.133195 deg/s, cmd heading: 264.683545 deg, new cmd heading: 264.888318 deg. 2025-01-08T21:42:56.855Z,1736372576.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623173 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:57.008Z,1736372577.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:57.008Z,1736372577.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.973783 2025-01-08T21:42:57.170Z,1736372577.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:57.178Z,1736372577.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.00 m. 2025-01-08T21:42:57.181Z,1736372577.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.000000 m, nav range: 275.754547 m, bearing: 346.706433 deg, approach rate: -0.115565 m/s, LOS rate: 0.144013 deg/s, cmd heading: 264.888314 deg, new cmd heading: 265.035262 deg. 2025-01-08T21:42:57.183Z,1736372577.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625738 target range: 496.000000 and range: 496.00 m. 2025-01-08T21:42:57.260Z,1736372577.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:57.267Z,1736372577.267 [DAT](INFO): DAT read: 21:42:55.4471 LVL= 16544, 32337, 20642, 28579, AGC= 70, IDX= 443,-0.15,-2.033,-2.909, 2.143,-3.032, PHS= 1.087, 0.170,-1.111, RAW= 54.5, -1.6, CAL= 56.9, -4.9, ROT= 93.1, 4.9 2025-01-08T21:42:57.268Z,1736372577.268 [DAT](INFO): got valid direction response: 21:42:55.4471 LVL= 16544, 32337, 20642, 28579, AGC= 70, IDX= 443,-0.15,-2.033,-2.909, 2.143,-3.032, PHS= 1.087, 0.170,-1.111, RAW= 54.5, -1.6, CAL= 56.9, -4.9, ROT= 93.1, 4.9 2025-01-08T21:42:57.269Z,1736372577.269 [DAT](INFO): DAT read: Bearing 93.1, 4.9 (Local) 2025-01-08T21:42:57.270Z,1736372577.270 [DAT](INFO): Local bearing/azimuth received: Bearing 93.1, 4.9 (Local) 2025-01-08T21:42:57.271Z,1736372577.271 [DAT](INFO): DAT read: Range 10 to 50 : 495.6 m (Round-trip 660.8 ms) speed 0.0 m/s 2025-01-08T21:42:57.272Z,1736372577.272 [DAT](INFO): DAT read: user:2000> 2025-01-08T21:42:57.273Z,1736372577.273 [DAT](INFO): DAT read: Tx time:21:42:56.5322 2025-01-08T21:42:57.273Z,1736372577.273 [DAT](INFO): Ping request sent. 2025-01-08T21:42:57.273Z,1736372577.273 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:42:57.273Z,1736372577.273 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:42:57.274Z,1736372577.274 [DAT](INFO): direction in FSK: [0.010705,0.646200,0.763093] 2025-01-08T21:42:57.275Z,1736372577.275 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:57.275Z,1736372577.275 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:57.278Z,1736372577.278 [DAT](INFO): publishing transmit ping time 2025-01-08T21:42:57.279Z,1736372577.279 [DAT](INFO): publishing direction and range info 2025-01-08T21:42:57.512Z,1736372577.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:57.512Z,1736372577.512 [DAT](INFO): DAT read: TxSync time:21:42:56.5314 2025-01-08T21:42:57.564Z,1736372577.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:57.596Z,1736372577.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 495.600006 m, deltaT: 4.279151 s, deltaX: -0.399994 m, approachRate: -0.093475 m/s, rangeRepo size: 4 2025-01-08T21:42:57.598Z,1736372577.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 495.600006 m, bearing: 353.784791 deg, lat: 36.902400 deg, lon: -122.117831 deg, deltaT: 4.279151 s, deltaX: -0.399994 m, approachRate: -0.093475 m/s, posRepo size: 4 2025-01-08T21:42:57.604Z,1736372577.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.60 m. 2025-01-08T21:42:57.606Z,1736372577.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.600006 m, nav range: 272.429718 m, bearing: 350.111770 deg, approach rate: 0.000000 m/s, LOS rate: 0.144013 deg/s, cmd heading: 265.035273 deg, new cmd heading: 265.213493 deg. 2025-01-08T21:42:57.611Z,1736372577.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628849 target range: 495.600006 and range: 495.60 m. 2025-01-08T21:42:57.764Z,1736372577.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:58.009Z,1736372578.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:58.016Z,1736372578.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:58.023Z,1736372578.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:42:58.025Z,1736372578.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.60 m. 2025-01-08T21:42:58.028Z,1736372578.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.600006 m, nav range: 272.389954 m, bearing: 350.179551 deg, approach rate: -0.091542 m/s, LOS rate: 0.156061 deg/s, cmd heading: 265.213486 deg, new cmd heading: 265.416858 deg. 2025-01-08T21:42:58.029Z,1736372578.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632398 target range: 495.600006 and range: 495.60 m. 2025-01-08T21:42:58.268Z,1736372578.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:58.269Z,1736372578.269 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:42:58.269Z,1736372578.269 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:42:58.269Z,1736372578.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:42:58.375Z,1736372578.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:58.384Z,1736372578.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.60 m. 2025-01-08T21:42:58.387Z,1736372578.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.600006 m, nav range: 272.358002 m, bearing: 350.235230 deg, approach rate: -0.089015 m/s, LOS rate: 0.155136 deg/s, cmd heading: 265.416862 deg, new cmd heading: 265.583918 deg. 2025-01-08T21:42:58.388Z,1736372578.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635314 target range: 495.600006 and range: 495.60 m. 2025-01-08T21:42:58.520Z,1736372578.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:58.520Z,1736372578.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247257 2025-01-08T21:42:58.776Z,1736372578.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:58.778Z,1736372578.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504950 2025-01-08T21:42:58.859Z,1736372578.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:58.869Z,1736372578.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.60 m. 2025-01-08T21:42:58.871Z,1736372578.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.600006 m, nav range: 272.308136 m, bearing: 350.314223 deg, approach rate: -0.102960 m/s, LOS rate: 0.163130 deg/s, cmd heading: 265.583928 deg, new cmd heading: 265.820950 deg. 2025-01-08T21:42:58.872Z,1736372578.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639451 target range: 495.600006 and range: 495.60 m. 2025-01-08T21:42:59.024Z,1736372579.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:59.025Z,1736372579.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751359 2025-01-08T21:42:59.234Z,1736372579.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:59.244Z,1736372579.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.60 m. 2025-01-08T21:42:59.246Z,1736372579.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.600006 m, nav range: 272.269897 m, bearing: 350.375399 deg, approach rate: -0.102050 m/s, LOS rate: 0.163287 deg/s, cmd heading: 265.820963 deg, new cmd heading: 266.004515 deg. 2025-01-08T21:42:59.247Z,1736372579.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642654 target range: 495.600006 and range: 495.60 m. 2025-01-08T21:42:59.276Z,1736372579.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:59.276Z,1736372579.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003168 2025-01-08T21:42:59.528Z,1736372579.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:59.529Z,1736372579.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255350 2025-01-08T21:42:59.642Z,1736372579.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:42:59.660Z,1736372579.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.60 m. 2025-01-08T21:42:59.665Z,1736372579.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.600006 m, nav range: 272.226257 m, bearing: 350.441756 deg, approach rate: -0.104896 m/s, LOS rate: 0.159527 deg/s, cmd heading: 266.004504 deg, new cmd heading: 266.203608 deg. 2025-01-08T21:42:59.666Z,1736372579.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646130 target range: 495.600006 and range: 495.60 m. 2025-01-08T21:42:59.780Z,1736372579.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:42:59.781Z,1736372579.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508119 2025-01-08T21:43:00.032Z,1736372580.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:00.033Z,1736372580.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759802 2025-01-08T21:43:00.067Z,1736372580.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:00.102Z,1736372580.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:00.109Z,1736372580.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.60 m. 2025-01-08T21:43:00.113Z,1736372580.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.600006 m, nav range: 272.180664 m, bearing: 350.513074 deg, approach rate: -0.101459 m/s, LOS rate: 0.158731 deg/s, cmd heading: 266.203618 deg, new cmd heading: 266.417606 deg. 2025-01-08T21:43:00.114Z,1736372580.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649864 target range: 495.600006 and range: 495.60 m. 2025-01-08T21:43:00.284Z,1736372580.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:00.285Z,1736372580.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011668 2025-01-08T21:43:00.430Z,1736372580.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:00.459Z,1736372580.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.60 m. 2025-01-08T21:43:00.462Z,1736372580.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.600006 m, nav range: 272.141449 m, bearing: 350.573984 deg, approach rate: -0.118634 m/s, LOS rate: 0.184293 deg/s, cmd heading: 266.417594 deg, new cmd heading: 266.600350 deg. 2025-01-08T21:43:00.463Z,1736372580.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653054 target range: 495.600006 and range: 495.60 m. 2025-01-08T21:43:00.536Z,1736372580.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:00.537Z,1736372580.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263392 2025-01-08T21:43:00.790Z,1736372580.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:00.793Z,1736372580.793 [DAT](INFO): DAT read: Rx Time:21:42:59.5964 2025-01-08T21:43:00.794Z,1736372580.794 [DAT](INFO): Rx dataTimestamp_ set to:1736372580.793340 2025-01-08T21:43:00.796Z,1736372580.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522569 2025-01-08T21:43:00.886Z,1736372580.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:00.895Z,1736372580.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.60 m. 2025-01-08T21:43:00.898Z,1736372580.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.600006 m, nav range: 272.103760 m, bearing: 350.650156 deg, approach rate: -0.082713 m/s, LOS rate: 0.167189 deg/s, cmd heading: 266.600342 deg, new cmd heading: 266.828887 deg. 2025-01-08T21:43:00.900Z,1736372580.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657043 target range: 495.600006 and range: 495.60 m. 2025-01-08T21:43:01.040Z,1736372581.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:01.040Z,1736372581.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767264 2025-01-08T21:43:01.240Z,1736372581.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:01.293Z,1736372581.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:01.305Z,1736372581.305 [DAT](INFO): DAT read: 21:42:59.5964 LVL= 12592, 26353, 17586, 26403, AGC= 70, IDX= 435, 0.05,-0.237,-1.152,-2.187,-1.179, PHS= 1.030, 0.074,-1.011, RAW= 57.9, -1.1, CAL= 60.7, -4.5, ROT= 89.3, 4.5 2025-01-08T21:43:01.306Z,1736372581.306 [DAT](INFO): got valid direction response: 21:42:59.5964 LVL= 12592, 26353, 17586, 26403, AGC= 70, IDX= 435, 0.05,-0.237,-1.152,-2.187,-1.179, PHS= 1.030, 0.074,-1.011, RAW= 57.9, -1.1, CAL= 60.7, -4.5, ROT= 89.3, 4.5 2025-01-08T21:43:01.311Z,1736372581.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.60 m. 2025-01-08T21:43:01.316Z,1736372581.316 [DAT](INFO): DAT read: Bearing 89.3, 4.5 (Local) 2025-01-08T21:43:01.317Z,1736372581.317 [DAT](INFO): Local bearing/azimuth received: Bearing 89.3, 4.5 (Local) 2025-01-08T21:43:01.318Z,1736372581.318 [DAT](INFO): DAT read: Range 10 to 50 : 495.0 m (Round-trip 660.0 ms) speed 0.4 m/s 2025-01-08T21:43:01.319Z,1736372581.319 [DAT](INFO): DAT read: user:2001> 2025-01-08T21:43:01.322Z,1736372581.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.600006 m, nav range: 272.074585 m, bearing: 350.708878 deg, approach rate: -0.070157 m/s, LOS rate: 0.141227 deg/s, cmd heading: 266.828880 deg, new cmd heading: 267.005067 deg. 2025-01-08T21:43:01.323Z,1736372581.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660118 target range: 495.600006 and range: 495.60 m. 2025-01-08T21:43:01.328Z,1736372581.328 [DAT](INFO): DAT read: Tx time:21:43:00.6823 2025-01-08T21:43:01.328Z,1736372581.328 [DAT](INFO): Ping request sent. 2025-01-08T21:43:01.328Z,1736372581.328 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:01.328Z,1736372581.328 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:01.329Z,1736372581.329 [DAT](INFO): direction in FSK: [-0.005135,0.603575,0.797289] 2025-01-08T21:43:01.330Z,1736372581.330 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:01.330Z,1736372581.330 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:01.353Z,1736372581.353 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:01.353Z,1736372581.353 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:01.544Z,1736372581.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:01.545Z,1736372581.545 [DAT](INFO): DAT read: TxSync time:21:43:00.6815 2025-01-08T21:43:01.655Z,1736372581.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:01.690Z,1736372581.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 495.000000 m, deltaT: 4.033864 s, deltaX: -0.600006 m, approachRate: -0.148742 m/s, rangeRepo size: 4 2025-01-08T21:43:01.698Z,1736372581.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 495.000000 m, bearing: 357.132250 deg, lat: 36.902334 deg, lon: -122.117720 deg, deltaT: 4.033864 s, deltaX: -0.600006 m, approachRate: -0.148742 m/s, posRepo size: 4 2025-01-08T21:43:01.699Z,1736372581.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:43:01.709Z,1736372581.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 263.398651 m, bearing: 352.643834 deg, approach rate: 0.000000 m/s, LOS rate: 0.141227 deg/s, cmd heading: 267.005072 deg, new cmd heading: 267.165298 deg. 2025-01-08T21:43:01.710Z,1736372581.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662914 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:43:01.803Z,1736372581.803 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:02.052Z,1736372582.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:02.088Z,1736372582.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:02.096Z,1736372582.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:43:02.103Z,1736372582.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 263.376862 m, bearing: 352.715912 deg, approach rate: -0.053501 m/s, LOS rate: 0.176990 deg/s, cmd heading: 267.165308 deg, new cmd heading: 267.381557 deg. 2025-01-08T21:43:02.104Z,1736372582.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666688 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:43:02.306Z,1736372582.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:02.444Z,1736372582.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:02.469Z,1736372582.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:02.477Z,1736372582.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:43:02.492Z,1736372582.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 263.358948 m, bearing: 352.775116 deg, approach rate: -0.047025 m/s, LOS rate: 0.155424 deg/s, cmd heading: 267.381552 deg, new cmd heading: 267.559176 deg. 2025-01-08T21:43:02.494Z,1736372582.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669788 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:43:02.558Z,1736372582.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:02.558Z,1736372582.558 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:02.558Z,1736372582.558 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:02.558Z,1736372582.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:02.813Z,1736372582.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:02.816Z,1736372582.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487344 2025-01-08T21:43:02.914Z,1736372582.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:02.944Z,1736372582.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:43:02.951Z,1736372582.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 263.345093 m, bearing: 352.848662 deg, approach rate: -0.029656 m/s, LOS rate: 0.157432 deg/s, cmd heading: 267.559164 deg, new cmd heading: 267.779814 deg. 2025-01-08T21:43:02.952Z,1736372582.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673639 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:43:03.064Z,1736372583.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:03.064Z,1736372583.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736229 2025-01-08T21:43:03.257Z,1736372583.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:03.266Z,1736372583.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:43:03.285Z,1736372583.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 263.334167 m, bearing: 352.902152 deg, approach rate: -0.033941 m/s, LOS rate: 0.166182 deg/s, cmd heading: 267.779807 deg, new cmd heading: 267.940282 deg. 2025-01-08T21:43:03.286Z,1736372583.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676440 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:43:03.318Z,1736372583.318 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:03.318Z,1736372583.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990128 2025-01-08T21:43:03.570Z,1736372583.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:03.572Z,1736372583.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244288 2025-01-08T21:43:03.671Z,1736372583.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:03.702Z,1736372583.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:43:03.709Z,1736372583.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 263.321075 m, bearing: 352.966681 deg, approach rate: -0.030071 m/s, LOS rate: 0.148223 deg/s, cmd heading: 267.940289 deg, new cmd heading: 268.133885 deg. 2025-01-08T21:43:03.710Z,1736372583.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679819 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:43:03.822Z,1736372583.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:03.824Z,1736372583.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495374 2025-01-08T21:43:04.072Z,1736372584.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:04.072Z,1736372584.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744219 2025-01-08T21:43:04.118Z,1736372584.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:04.143Z,1736372584.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:43:04.146Z,1736372584.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 263.318207 m, bearing: 353.031950 deg, approach rate: -0.006560 m/s, LOS rate: 0.149252 deg/s, cmd heading: 268.133884 deg, new cmd heading: 268.329694 deg. 2025-01-08T21:43:04.147Z,1736372584.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683237 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:43:04.324Z,1736372584.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:04.324Z,1736372584.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996200 2025-01-08T21:43:04.469Z,1736372584.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:04.477Z,1736372584.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:04.479Z,1736372584.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:43:04.481Z,1736372584.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 263.315216 m, bearing: 353.083278 deg, approach rate: -0.008805 m/s, LOS rate: 0.151111 deg/s, cmd heading: 268.329692 deg, new cmd heading: 268.483676 deg. 2025-01-08T21:43:04.503Z,1736372584.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685924 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:43:04.576Z,1736372584.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:04.578Z,1736372584.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249434 2025-01-08T21:43:04.829Z,1736372584.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:04.831Z,1736372584.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502706 2025-01-08T21:43:04.933Z,1736372584.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:04.957Z,1736372584.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:43:04.961Z,1736372584.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 263.315216 m, bearing: 353.145934 deg, approach rate: 0.000000 m/s, LOS rate: 0.130931 deg/s, cmd heading: 268.483671 deg, new cmd heading: 268.671639 deg. 2025-01-08T21:43:04.962Z,1736372584.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689205 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:43:05.080Z,1736372585.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:05.081Z,1736372585.081 [DAT](INFO): DAT read: Rx Time:21:43:03.7457 2025-01-08T21:43:05.083Z,1736372585.083 [DAT](INFO): Rx dataTimestamp_ set to:1736372585.082011 2025-01-08T21:43:05.084Z,1736372585.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756043 2025-01-08T21:43:05.275Z,1736372585.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:05.305Z,1736372585.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:43:05.308Z,1736372585.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 263.314056 m, bearing: 353.192430 deg, approach rate: -0.003336 m/s, LOS rate: 0.133772 deg/s, cmd heading: 268.671638 deg, new cmd heading: 268.811127 deg. 2025-01-08T21:43:05.309Z,1736372585.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691639 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:43:05.341Z,1736372585.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:05.342Z,1736372585.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013490 2025-01-08T21:43:05.594Z,1736372585.594 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:05.601Z,1736372585.601 [DAT](INFO): DAT read: 21:43:03.7457 LVL= 16944, 27713, 22338, 26035, AGC= 66, IDX= 427,-0.28,-0.119,-1.068,-2.067,-1.001, PHS= 0.969,-0.021,-1.069, RAW= 59.1, 1.4, CAL= 60.3, -0.9, ROT= 89.7, 0.9 2025-01-08T21:43:05.602Z,1736372585.602 [DAT](INFO): got valid direction response: 21:43:03.7457 LVL= 16944, 27713, 22338, 26035, AGC= 66, IDX= 427,-0.28,-0.119,-1.068,-2.067,-1.001, PHS= 0.969,-0.021,-1.069, RAW= 59.1, 1.4, CAL= 60.3, -0.9, ROT= 89.7, 0.9 2025-01-08T21:43:05.605Z,1736372585.605 [DAT](INFO): DAT read: Bearing 89.7, 0.9 (Local) 2025-01-08T21:43:05.605Z,1736372585.605 [DAT](INFO): Local bearing/azimuth received: Bearing 89.7, 0.9 (Local) 2025-01-08T21:43:05.607Z,1736372585.607 [DAT](INFO): DAT read: Range 10 to 50 : 494.4 m (Round-trip 659.2 ms) speed 0.0 m/s 2025-01-08T21:43:05.608Z,1736372585.608 [DAT](INFO): DAT read: user:2002> 2025-01-08T21:43:05.608Z,1736372585.608 [DAT](INFO): DAT read: Tx time:21:43:04.8323 2025-01-08T21:43:05.609Z,1736372585.609 [DAT](INFO): Ping request sent. 2025-01-08T21:43:05.609Z,1736372585.609 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:05.609Z,1736372585.609 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:05.610Z,1736372585.610 [DAT](INFO): direction in FSK: [-0.053136,0.590628,0.805193] 2025-01-08T21:43:05.610Z,1736372585.610 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:05.610Z,1736372585.610 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:05.614Z,1736372585.614 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:05.614Z,1736372585.614 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:05.732Z,1736372585.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:05.776Z,1736372585.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 494.399994 m, deltaT: 4.300394 s, deltaX: -0.600006 m, approachRate: -0.139524 m/s, rangeRepo size: 4 2025-01-08T21:43:05.778Z,1736372585.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 494.399994 m, bearing: 5.870584 deg, lat: 36.902190 deg, lon: -122.117625 deg, deltaT: 4.300394 s, deltaX: -0.600006 m, approachRate: -0.139524 m/s, posRepo size: 4 2025-01-08T21:43:05.778Z,1736372585.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.40 m. 2025-01-08T21:43:05.787Z,1736372585.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.399994 m, nav range: 246.464172 m, bearing: 354.773996 deg, approach rate: 0.000000 m/s, LOS rate: 0.133772 deg/s, cmd heading: 268.811138 deg, new cmd heading: 268.998185 deg. 2025-01-08T21:43:05.792Z,1736372585.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694904 target range: 494.399994 and range: 494.40 m. 2025-01-08T21:43:05.851Z,1736372585.851 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:05.854Z,1736372585.854 [DAT](INFO): DAT read: TxSync time:21:43:04.8315 2025-01-08T21:43:06.100Z,1736372586.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:06.210Z,1736372586.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:06.232Z,1736372586.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.40 m. 2025-01-08T21:43:06.235Z,1736372586.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.399994 m, nav range: 246.465775 m, bearing: 354.839122 deg, approach rate: 0.003510 m/s, LOS rate: 0.142658 deg/s, cmd heading: 268.998176 deg, new cmd heading: 269.193553 deg. 2025-01-08T21:43:06.240Z,1736372586.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698314 target range: 494.399994 and range: 494.40 m. 2025-01-08T21:43:06.352Z,1736372586.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:06.548Z,1736372586.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:06.557Z,1736372586.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:06.559Z,1736372586.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.40 m. 2025-01-08T21:43:06.562Z,1736372586.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.399994 m, nav range: 246.465042 m, bearing: 354.885009 deg, approach rate: -0.002208 m/s, LOS rate: 0.138320 deg/s, cmd heading: 269.193547 deg, new cmd heading: 269.331206 deg. 2025-01-08T21:43:06.563Z,1736372586.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700716 target range: 494.399994 and range: 494.40 m. 2025-01-08T21:43:06.604Z,1736372586.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:06.605Z,1736372586.605 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:06.605Z,1736372586.605 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:06.605Z,1736372586.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:06.857Z,1736372586.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:06.860Z,1736372586.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250107 2025-01-08T21:43:07.038Z,1736372587.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:07.047Z,1736372587.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.40 m. 2025-01-08T21:43:07.054Z,1736372587.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.399994 m, nav range: 246.457962 m, bearing: 354.949819 deg, approach rate: -0.014526 m/s, LOS rate: 0.132974 deg/s, cmd heading: 269.331216 deg, new cmd heading: 269.525651 deg. 2025-01-08T21:43:07.057Z,1736372587.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704110 target range: 494.399994 and range: 494.40 m. 2025-01-08T21:43:07.108Z,1736372587.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:07.109Z,1736372587.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500519 2025-01-08T21:43:07.360Z,1736372587.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:07.360Z,1736372587.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751490 2025-01-08T21:43:07.406Z,1736372587.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:07.414Z,1736372587.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.40 m. 2025-01-08T21:43:07.418Z,1736372587.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.399994 m, nav range: 246.451111 m, bearing: 354.998397 deg, approach rate: -0.018629 m/s, LOS rate: 0.132092 deg/s, cmd heading: 269.525658 deg, new cmd heading: 269.671394 deg. 2025-01-08T21:43:07.419Z,1736372587.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706654 target range: 494.399994 and range: 494.40 m. 2025-01-08T21:43:07.612Z,1736372587.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:07.614Z,1736372587.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004718 2025-01-08T21:43:07.832Z,1736372587.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:07.866Z,1736372587.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:07.871Z,1736372587.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261290 2025-01-08T21:43:07.901Z,1736372587.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.40 m. 2025-01-08T21:43:07.915Z,1736372587.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.399994 m, nav range: 246.441544 m, bearing: 355.054568 deg, approach rate: -0.019674 m/s, LOS rate: 0.115514 deg/s, cmd heading: 269.671387 deg, new cmd heading: 269.839906 deg. 2025-01-08T21:43:07.916Z,1736372587.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709595 target range: 494.399994 and range: 494.40 m. 2025-01-08T21:43:08.117Z,1736372588.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:08.118Z,1736372588.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508959 2025-01-08T21:43:08.248Z,1736372588.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:08.257Z,1736372588.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.40 m. 2025-01-08T21:43:08.260Z,1736372588.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.399994 m, nav range: 246.423874 m, bearing: 355.109121 deg, approach rate: -0.049542 m/s, LOS rate: 0.152966 deg/s, cmd heading: 269.839901 deg, new cmd heading: 270.003571 deg. 2025-01-08T21:43:08.261Z,1736372588.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712451 target range: 494.399994 and range: 494.40 m. 2025-01-08T21:43:08.369Z,1736372588.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:08.370Z,1736372588.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761106 2025-01-08T21:43:08.620Z,1736372588.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:08.621Z,1736372588.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012143 2025-01-08T21:43:08.634Z,1736372588.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:08.641Z,1736372588.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:08.644Z,1736372588.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.40 m. 2025-01-08T21:43:08.649Z,1736372588.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.399994 m, nav range: 246.406387 m, bearing: 355.159554 deg, approach rate: -0.045354 m/s, LOS rate: 0.130816 deg/s, cmd heading: 270.003580 deg, new cmd heading: 270.154891 deg. 2025-01-08T21:43:08.650Z,1736372588.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715092 target range: 494.399994 and range: 494.40 m. 2025-01-08T21:43:08.874Z,1736372588.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:08.877Z,1736372588.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267528 2025-01-08T21:43:09.067Z,1736372589.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:09.076Z,1736372589.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.40 m. 2025-01-08T21:43:09.078Z,1736372589.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.399994 m, nav range: 246.371750 m, bearing: 355.217091 deg, approach rate: -0.080084 m/s, LOS rate: 0.133047 deg/s, cmd heading: 270.154882 deg, new cmd heading: 270.327515 deg. 2025-01-08T21:43:09.079Z,1736372589.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.718105 target range: 494.399994 and range: 494.40 m. 2025-01-08T21:43:09.124Z,1736372589.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:09.125Z,1736372589.125 [DAT](INFO): DAT read: Rx Time:21:43:07.8949 2025-01-08T21:43:09.125Z,1736372589.125 [DAT](INFO): Rx dataTimestamp_ set to:1736372589.124811 2025-01-08T21:43:09.126Z,1736372589.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516826 2025-01-08T21:43:09.376Z,1736372589.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:09.376Z,1736372589.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767511 2025-01-08T21:43:09.441Z,1736372589.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:09.451Z,1736372589.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 494.40 m. 2025-01-08T21:43:09.453Z,1736372589.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 494.399994 m, nav range: 246.341080 m, bearing: 355.266696 deg, approach rate: -0.081725 m/s, LOS rate: 0.132196 deg/s, cmd heading: 270.327522 deg, new cmd heading: 270.476355 deg. 2025-01-08T21:43:09.454Z,1736372589.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720703 target range: 494.399994 and range: 494.40 m. 2025-01-08T21:43:09.628Z,1736372589.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:09.639Z,1736372589.639 [DAT](INFO): DAT read: 21:43:07.8949 LVL= 16416, 24353, 19250, 26995, AGC= 65, IDX= 434,-0.27,-2.477, 2.888, 2.236, 3.123, PHS= 0.771,-0.189,-0.890, RAW= 65.1, 4.3, CAL= 66.5, 3.9, ROT= 83.5, -3.9 2025-01-08T21:43:09.640Z,1736372589.640 [DAT](INFO): got valid direction response: 21:43:07.8949 LVL= 16416, 24353, 19250, 26995, AGC= 65, IDX= 434,-0.27,-2.477, 2.888, 2.236, 3.123, PHS= 0.771,-0.189,-0.890, RAW= 65.1, 4.3, CAL= 66.5, 3.9, ROT= 83.5, -3.9 2025-01-08T21:43:09.641Z,1736372589.641 [DAT](INFO): DAT read: Bearing 83.5, -3.9 (Local) 2025-01-08T21:43:09.641Z,1736372589.641 [DAT](INFO): Local bearing/azimuth received: Bearing 83.5, -3.9 (Local) 2025-01-08T21:43:09.644Z,1736372589.644 [DAT](INFO): DAT read: Range 10 to 50 : 493.7 m (Round-trip 658.3 ms) speed 0.0 m/s 2025-01-08T21:43:09.645Z,1736372589.645 [DAT](INFO): DAT read: user:2003> 2025-01-08T21:43:09.646Z,1736372589.646 [DAT](INFO): DAT read: Tx time:21:43:08.9824 2025-01-08T21:43:09.646Z,1736372589.646 [DAT](INFO): Ping request sent. 2025-01-08T21:43:09.647Z,1736372589.647 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:09.648Z,1736372589.648 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:09.650Z,1736372589.650 [DAT](INFO): direction in FSK: [-0.119796,0.507531,0.853265] 2025-01-08T21:43:09.650Z,1736372589.650 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:09.650Z,1736372589.650 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:09.668Z,1736372589.668 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:09.668Z,1736372589.668 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:09.850Z,1736372589.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:09.881Z,1736372589.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:09.885Z,1736372589.885 [DAT](INFO): DAT read: TxSync time:21:43:08.9816 2025-01-08T21:43:09.929Z,1736372589.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 493.700012 m, deltaT: 4.034256 s, deltaX: -0.699982 m, approachRate: -0.173509 m/s, rangeRepo size: 4 2025-01-08T21:43:09.936Z,1736372589.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 493.700012 m, bearing: 20.650956 deg, lat: 36.902135 deg, lon: -122.117476 deg, deltaT: 4.034256 s, deltaX: -0.699982 m, approachRate: -0.173509 m/s, posRepo size: 4 2025-01-08T21:43:09.938Z,1736372589.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.70 m. 2025-01-08T21:43:09.945Z,1736372589.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.700012 m, nav range: 239.546570 m, bearing: 358.366904 deg, approach rate: 0.000000 m/s, LOS rate: 0.132196 deg/s, cmd heading: 270.476365 deg, new cmd heading: 270.665992 deg. 2025-01-08T21:43:09.946Z,1736372589.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724013 target range: 493.700012 and range: 493.70 m. 2025-01-08T21:43:10.132Z,1736372590.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:10.285Z,1736372590.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:10.294Z,1736372590.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.70 m. 2025-01-08T21:43:10.297Z,1736372590.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.700012 m, nav range: 239.514633 m, bearing: 358.431283 deg, approach rate: -0.087491 m/s, LOS rate: 0.176392 deg/s, cmd heading: 270.665999 deg, new cmd heading: 270.859161 deg. 2025-01-08T21:43:10.298Z,1736372590.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727384 target range: 493.700012 and range: 493.70 m. 2025-01-08T21:43:10.384Z,1736372590.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:10.636Z,1736372590.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:10.686Z,1736372590.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:10.693Z,1736372590.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:10.695Z,1736372590.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.70 m. 2025-01-08T21:43:10.698Z,1736372590.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.700012 m, nav range: 239.485413 m, bearing: 358.490746 deg, approach rate: -0.072857 m/s, LOS rate: 0.148279 deg/s, cmd heading: 270.859157 deg, new cmd heading: 271.037567 deg. 2025-01-08T21:43:10.700Z,1736372590.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730498 target range: 493.700012 and range: 493.70 m. 2025-01-08T21:43:10.889Z,1736372590.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:10.891Z,1736372590.891 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:10.891Z,1736372590.891 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:10.892Z,1736372590.892 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:11.089Z,1736372591.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:11.118Z,1736372591.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.70 m. 2025-01-08T21:43:11.125Z,1736372591.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.700012 m, nav range: 239.451294 m, bearing: 358.554440 deg, approach rate: -0.080556 m/s, LOS rate: 0.150405 deg/s, cmd heading: 271.037561 deg, new cmd heading: 271.228669 deg. 2025-01-08T21:43:11.126Z,1736372591.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733833 target range: 493.700012 and range: 493.70 m. 2025-01-08T21:43:11.140Z,1736372591.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:11.141Z,1736372591.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494017 2025-01-08T21:43:11.392Z,1736372591.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:11.392Z,1736372591.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745878 2025-01-08T21:43:11.458Z,1736372591.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:11.485Z,1736372591.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.70 m. 2025-01-08T21:43:11.493Z,1736372591.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.700012 m, nav range: 239.420227 m, bearing: 358.612648 deg, approach rate: -0.084715 m/s, LOS rate: 0.158747 deg/s, cmd heading: 271.228670 deg, new cmd heading: 271.403317 deg. 2025-01-08T21:43:11.500Z,1736372591.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736881 target range: 493.700012 and range: 493.70 m. 2025-01-08T21:43:11.644Z,1736372591.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:11.645Z,1736372591.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998540 2025-01-08T21:43:11.868Z,1736372591.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:11.880Z,1736372591.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.70 m. 2025-01-08T21:43:11.883Z,1736372591.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.700012 m, nav range: 239.385056 m, bearing: 358.677477 deg, approach rate: -0.088951 m/s, LOS rate: 0.163981 deg/s, cmd heading: 271.403304 deg, new cmd heading: 271.597818 deg. 2025-01-08T21:43:11.884Z,1736372591.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.740276 target range: 493.700012 and range: 493.70 m. 2025-01-08T21:43:11.897Z,1736372591.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:11.900Z,1736372591.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252998 2025-01-08T21:43:12.148Z,1736372592.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:12.150Z,1736372592.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503166 2025-01-08T21:43:12.298Z,1736372592.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:12.307Z,1736372592.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.70 m. 2025-01-08T21:43:12.310Z,1736372592.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.700012 m, nav range: 239.347443 m, bearing: 358.749725 deg, approach rate: -0.088188 m/s, LOS rate: 0.169421 deg/s, cmd heading: 271.597828 deg, new cmd heading: 271.814605 deg. 2025-01-08T21:43:12.311Z,1736372592.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744060 target range: 493.700012 and range: 493.70 m. 2025-01-08T21:43:12.400Z,1736372592.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:12.401Z,1736372592.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754253 2025-01-08T21:43:12.652Z,1736372592.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:12.653Z,1736372592.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006077 2025-01-08T21:43:12.704Z,1736372592.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:12.722Z,1736372592.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:12.729Z,1736372592.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.70 m. 2025-01-08T21:43:12.736Z,1736372592.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.700012 m, nav range: 239.312210 m, bearing: 358.818009 deg, approach rate: -0.083515 m/s, LOS rate: 0.161884 deg/s, cmd heading: 271.814618 deg, new cmd heading: 272.019500 deg. 2025-01-08T21:43:12.737Z,1736372592.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.747636 target range: 493.700012 and range: 493.70 m. 2025-01-08T21:43:12.905Z,1736372592.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:12.906Z,1736372592.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259384 2025-01-08T21:43:13.104Z,1736372593.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:13.136Z,1736372593.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.70 m. 2025-01-08T21:43:13.138Z,1736372593.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.700012 m, nav range: 239.279861 m, bearing: 358.887343 deg, approach rate: -0.079938 m/s, LOS rate: 0.171356 deg/s, cmd heading: 272.019496 deg, new cmd heading: 272.227525 deg. 2025-01-08T21:43:13.139Z,1736372593.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.751266 target range: 493.700012 and range: 493.70 m. 2025-01-08T21:43:13.156Z,1736372593.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:13.156Z,1736372593.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509855 2025-01-08T21:43:13.408Z,1736372593.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:13.408Z,1736372593.408 [DAT](INFO): DAT read: Rx Time:21:43:12.0439 2025-01-08T21:43:13.409Z,1736372593.409 [DAT](INFO): Rx dataTimestamp_ set to:1736372593.408592 2025-01-08T21:43:13.409Z,1736372593.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762856 2025-01-08T21:43:13.489Z,1736372593.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:13.498Z,1736372593.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.70 m. 2025-01-08T21:43:13.501Z,1736372593.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.700012 m, nav range: 239.248932 m, bearing: 358.954092 deg, approach rate: -0.084945 m/s, LOS rate: 0.183343 deg/s, cmd heading: 272.227517 deg, new cmd heading: 272.427787 deg. 2025-01-08T21:43:13.502Z,1736372593.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.754762 target range: 493.700012 and range: 493.70 m. 2025-01-08T21:43:13.661Z,1736372593.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:13.662Z,1736372593.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015263 2025-01-08T21:43:13.885Z,1736372593.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:13.894Z,1736372593.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.70 m. 2025-01-08T21:43:13.898Z,1736372593.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.700012 m, nav range: 239.217148 m, bearing: 359.022721 deg, approach rate: -0.080287 m/s, LOS rate: 0.173382 deg/s, cmd heading: 272.427778 deg, new cmd heading: 272.633693 deg. 2025-01-08T21:43:13.900Z,1736372593.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.758356 target range: 493.700012 and range: 493.70 m. 2025-01-08T21:43:13.912Z,1736372593.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:13.921Z,1736372593.921 [DAT](INFO): DAT read: 21:43:12.0439 LVL= 14416, 30385, 19154, 29939, AGC= 66, IDX= 424,-0.42,-0.180,-1.270,-1.898,-0.978, PHS= 0.886,-0.245,-0.923, RAW= 68.2, 3.6, CAL= 70.4, 2.1, ROT= 79.6, -2.1 2025-01-08T21:43:13.991Z,1736372593.991 [DAT](INFO): got valid direction response: 21:43:12.0439 LVL= 14416, 30385, 19154, 29939, AGC= 66, IDX= 424,-0.42,-0.180,-1.270,-1.898,-0.978, PHS= 0.886,-0.245,-0.923, RAW= 68.2, 3.6, CAL= 70.4, 2.1, ROT= 79.6, -2.1 2025-01-08T21:43:13.992Z,1736372593.992 [DAT](INFO): DAT read: Bearing 79.6, -2.1 (Local) 2025-01-08T21:43:13.993Z,1736372593.993 [DAT](INFO): Local bearing/azimuth received: Bearing 79.6, -2.1 (Local) 2025-01-08T21:43:13.994Z,1736372593.994 [DAT](INFO): DAT read: Range 10 to 50 : 493.0 m (Round-trip 657.4 ms) speed 0.2 m/s 2025-01-08T21:43:14.004Z,1736372594.004 [DAT](INFO): DAT read: user:2004> 2025-01-08T21:43:14.006Z,1736372594.006 [DAT](INFO): DAT read: Tx time:21:43:13.1324 2025-01-08T21:43:14.006Z,1736372594.006 [DAT](INFO): Ping request sent. 2025-01-08T21:43:14.007Z,1736372594.007 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:14.012Z,1736372594.012 [DAT](INFO): DAT read: TxSync time:21:43:13.1316 2025-01-08T21:43:14.012Z,1736372594.012 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:14.013Z,1736372594.013 [DAT](INFO): direction in FSK: [-0.112885,0.462474,0.879417] 2025-01-08T21:43:14.014Z,1736372594.014 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:14.014Z,1736372594.014 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:14.028Z,1736372594.028 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:14.029Z,1736372594.029 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:14.164Z,1736372594.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:14.326Z,1736372594.326 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +745, -20,A 2025-01-08T21:43:14.357Z,1736372594.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:43:14.357Z,1736372594.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:14.390Z,1736372594.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 493.000000 m, deltaT: 4.283519 s, deltaX: -0.700012 m, approachRate: -0.163420 m/s, rangeRepo size: 4 2025-01-08T21:43:14.396Z,1736372594.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 493.000000 m, bearing: 21.294077 deg, lat: 36.902047 deg, lon: -122.117107 deg, deltaT: 4.283519 s, deltaX: -0.700012 m, approachRate: -0.163420 m/s, posRepo size: 4 2025-01-08T21:43:14.396Z,1736372594.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T21:43:14.403Z,1736372594.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 231.104050 m, bearing: 7.220054 deg, approach rate: 0.000000 m/s, LOS rate: 0.173382 deg/s, cmd heading: 272.633694 deg, new cmd heading: 272.891357 deg. 2025-01-08T21:43:14.404Z,1736372594.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762853 target range: 493.000000 and range: 493.00 m. 2025-01-08T21:43:14.417Z,1736372594.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:14.668Z,1736372594.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:14.720Z,1736372594.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:43:14.720Z,1736372594.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:14.727Z,1736372594.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:14.729Z,1736372594.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T21:43:14.733Z,1736372594.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 231.113403 m, bearing: 7.285503 deg, approach rate: 0.027471 m/s, LOS rate: 0.192210 deg/s, cmd heading: 272.891356 deg, new cmd heading: 273.087695 deg. 2025-01-08T21:43:14.734Z,1736372594.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.766279 target range: 493.000000 and range: 493.00 m. 2025-01-08T21:43:14.920Z,1736372594.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:14.920Z,1736372594.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:14.920Z,1736372594.920 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:14.921Z,1736372594.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:15.143Z,1736372595.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:15.168Z,1736372595.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T21:43:15.171Z,1736372595.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 231.143631 m, bearing: 7.364114 deg, approach rate: 0.068862 m/s, LOS rate: 0.179061 deg/s, cmd heading: 273.087683 deg, new cmd heading: 273.323482 deg. 2025-01-08T21:43:15.172Z,1736372595.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:15.173Z,1736372595.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.166149 2025-01-08T21:43:15.174Z,1736372595.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.770395 target range: 493.000000 and range: 493.00 m. 2025-01-08T21:43:15.424Z,1736372595.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:15.424Z,1736372595.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.417928 2025-01-08T21:43:15.498Z,1736372595.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:15.509Z,1736372595.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T21:43:15.511Z,1736372595.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 231.168823 m, bearing: 7.430200 deg, approach rate: 0.074019 m/s, LOS rate: 0.194152 deg/s, cmd heading: 273.323489 deg, new cmd heading: 273.521726 deg. 2025-01-08T21:43:15.512Z,1736372595.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.773855 target range: 493.000000 and range: 493.00 m. 2025-01-08T21:43:15.676Z,1736372595.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:15.678Z,1736372595.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.671119 2025-01-08T21:43:15.900Z,1736372595.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:15.928Z,1736372595.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:15.929Z,1736372595.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.922105 2025-01-08T21:43:15.937Z,1736372595.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T21:43:15.943Z,1736372595.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 231.197083 m, bearing: 7.504907 deg, approach rate: 0.065975 m/s, LOS rate: 0.174392 deg/s, cmd heading: 273.521728 deg, new cmd heading: 273.745819 deg. 2025-01-08T21:43:15.958Z,1736372595.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.777766 target range: 493.000000 and range: 493.00 m. 2025-01-08T21:43:16.180Z,1736372596.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:16.180Z,1736372596.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.173877 2025-01-08T21:43:16.329Z,1736372596.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:16.342Z,1736372596.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T21:43:16.345Z,1736372596.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 231.238922 m, bearing: 7.583609 deg, approach rate: 0.103285 m/s, LOS rate: 0.194249 deg/s, cmd heading: 273.745813 deg, new cmd heading: 273.981877 deg. 2025-01-08T21:43:16.346Z,1736372596.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781886 target range: 493.000000 and range: 493.00 m. 2025-01-08T21:43:16.432Z,1736372596.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:16.433Z,1736372596.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.426732 2025-01-08T21:43:16.684Z,1736372596.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:16.684Z,1736372596.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.678010 2025-01-08T21:43:16.720Z,1736372596.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:16.729Z,1736372596.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T21:43:16.732Z,1736372596.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 231.276321 m, bearing: 7.655239 deg, approach rate: 0.096757 m/s, LOS rate: 0.185285 deg/s, cmd heading: 273.981864 deg, new cmd heading: 274.196718 deg. 2025-01-08T21:43:16.733Z,1736372596.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785635 target range: 493.000000 and range: 493.00 m. 2025-01-08T21:43:16.936Z,1736372596.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:16.936Z,1736372596.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.930003 2025-01-08T21:43:17.176Z,1736372597.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:17.188Z,1736372597.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:17.188Z,1736372597.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.181938 2025-01-08T21:43:17.208Z,1736372597.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:17.210Z,1736372597.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T21:43:17.221Z,1736372597.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 231.319687 m, bearing: 7.738864 deg, approach rate: 0.090084 m/s, LOS rate: 0.173684 deg/s, cmd heading: 274.196715 deg, new cmd heading: 274.447542 deg. 2025-01-08T21:43:17.222Z,1736372597.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790013 target range: 493.000000 and range: 493.00 m. 2025-01-08T21:43:17.441Z,1736372597.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:17.442Z,1736372597.442 [DAT](INFO): DAT read: Rx Time:21:43:16.1926 2025-01-08T21:43:17.443Z,1736372597.443 [DAT](INFO): Rx dataTimestamp_ set to:1736372597.442439 2025-01-08T21:43:17.443Z,1736372597.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.436941 2025-01-08T21:43:17.524Z,1736372597.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:17.542Z,1736372597.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T21:43:17.550Z,1736372597.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 231.351089 m, bearing: 7.802670 deg, approach rate: 0.094615 m/s, LOS rate: 0.192219 deg/s, cmd heading: 274.447547 deg, new cmd heading: 274.638938 deg. 2025-01-08T21:43:17.555Z,1736372597.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793354 target range: 493.000000 and range: 493.00 m. 2025-01-08T21:43:17.692Z,1736372597.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:17.693Z,1736372597.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.686301 2025-01-08T21:43:17.931Z,1736372597.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:17.941Z,1736372597.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T21:43:17.944Z,1736372597.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:17.952Z,1736372597.952 [DAT](INFO): DAT read: 21:43:16.1926 LVL= 20048, 32753, 17730, 26803, AGC= 66, IDX= 426, 0.46,-0.358,-1.547,-2.158,-1.245, PHS= 0.975,-0.255,-0.916, RAW= 69.9, 2.4, CAL= 72.8, -0.4, ROT= 77.2, 0.4 2025-01-08T21:43:17.953Z,1736372597.953 [DAT](INFO): got valid direction response: 21:43:16.1926 LVL= 20048, 32753, 17730, 26803, AGC= 66, IDX= 426, 0.46,-0.358,-1.547,-2.158,-1.245, PHS= 0.975,-0.255,-0.916, RAW= 69.9, 2.4, CAL= 72.8, -0.4, ROT= 77.2, 0.4 2025-01-08T21:43:17.954Z,1736372597.954 [DAT](INFO): DAT read: Bearing 77.2, 0.4 (Local) 2025-01-08T21:43:17.954Z,1736372597.954 [DAT](INFO): Local bearing/azimuth received: Bearing 77.2, 0.4 (Local) 2025-01-08T21:43:17.956Z,1736372597.956 [DAT](INFO): DAT read: Range 10 to 50 : 492.0 m (Round-trip 656.1 ms) speed 0.0 m/s 2025-01-08T21:43:17.957Z,1736372597.957 [DAT](INFO): DAT read: user:2005> 2025-01-08T21:43:17.958Z,1736372597.958 [DAT](INFO): DAT read: Tx time:21:43:17.2824 2025-01-08T21:43:17.958Z,1736372597.958 [DAT](INFO): Ping request sent. 2025-01-08T21:43:17.958Z,1736372597.958 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:17.958Z,1736372597.958 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:17.960Z,1736372597.960 [DAT](INFO): direction in FSK: [-0.093482,0.437630,0.894282] 2025-01-08T21:43:17.961Z,1736372597.961 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:17.962Z,1736372597.962 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:17.967Z,1736372597.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 231.386597 m, bearing: 7.877187 deg, approach rate: 0.089076 m/s, LOS rate: 0.186910 deg/s, cmd heading: 274.638929 deg, new cmd heading: 274.862443 deg. 2025-01-08T21:43:17.968Z,1736372597.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797255 target range: 493.000000 and range: 493.00 m. 2025-01-08T21:43:18.025Z,1736372598.025 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:18.026Z,1736372598.026 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:18.196Z,1736372598.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:18.197Z,1736372598.197 [DAT](INFO): DAT read: TxSync time:21:43:17.2816 2025-01-08T21:43:18.377Z,1736372598.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:18.412Z,1736372598.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 492.000000 m, deltaT: 4.032091 s, deltaX: -1.000000 m, approachRate: -0.248010 m/s, rangeRepo size: 4 2025-01-08T21:43:18.414Z,1736372598.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 492.000000 m, bearing: 21.655062 deg, lat: 36.901623 deg, lon: -122.116825 deg, deltaT: 4.032091 s, deltaX: -1.000000 m, approachRate: -0.248010 m/s, posRepo size: 4 2025-01-08T21:43:18.416Z,1736372598.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:43:18.419Z,1736372598.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 190.839188 m, bearing: 17.411765 deg, approach rate: 0.000000 m/s, LOS rate: 0.186910 deg/s, cmd heading: 274.862440 deg, new cmd heading: 275.123916 deg. 2025-01-08T21:43:18.421Z,1736372598.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801818 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:43:18.450Z,1736372598.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:18.700Z,1736372598.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:18.746Z,1736372598.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:18.756Z,1736372598.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:43:18.758Z,1736372598.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 190.917816 m, bearing: 17.488072 deg, approach rate: 0.225372 m/s, LOS rate: 0.218630 deg/s, cmd heading: 275.123927 deg, new cmd heading: 275.352754 deg. 2025-01-08T21:43:18.760Z,1736372598.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805812 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:43:18.952Z,1736372598.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:19.174Z,1736372599.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:19.184Z,1736372599.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:43:19.186Z,1736372599.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 191.006271 m, bearing: 17.573415 deg, approach rate: 0.206564 m/s, LOS rate: 0.199204 deg/s, cmd heading: 275.352765 deg, new cmd heading: 275.608674 deg. 2025-01-08T21:43:19.188Z,1736372599.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810279 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:43:19.206Z,1736372599.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:19.456Z,1736372599.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:19.540Z,1736372599.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:19.567Z,1736372599.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:19.569Z,1736372599.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:43:19.572Z,1736372599.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 191.080948 m, bearing: 17.646417 deg, approach rate: 0.193946 m/s, LOS rate: 0.189522 deg/s, cmd heading: 275.608679 deg, new cmd heading: 275.827597 deg. 2025-01-08T21:43:19.573Z,1736372599.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814100 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:43:19.708Z,1736372599.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:19.708Z,1736372599.708 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:19.708Z,1736372599.708 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:19.709Z,1736372599.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:19.945Z,1736372599.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:19.954Z,1736372599.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:43:19.957Z,1736372599.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 191.162247 m, bearing: 17.727093 deg, approach rate: 0.211152 m/s, LOS rate: 0.209447 deg/s, cmd heading: 275.827600 deg, new cmd heading: 276.069526 deg. 2025-01-08T21:43:19.958Z,1736372599.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818322 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:43:19.960Z,1736372599.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:19.961Z,1736372599.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002478 2025-01-08T21:43:20.212Z,1736372600.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:20.213Z,1736372600.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254462 2025-01-08T21:43:20.371Z,1736372600.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:20.380Z,1736372600.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:43:20.383Z,1736372600.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 191.240387 m, bearing: 17.810873 deg, approach rate: 0.183742 m/s, LOS rate: 0.196922 deg/s, cmd heading: 276.069525 deg, new cmd heading: 276.320759 deg. 2025-01-08T21:43:20.408Z,1736372600.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822707 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:43:20.465Z,1736372600.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:20.466Z,1736372600.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508059 2025-01-08T21:43:20.716Z,1736372600.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:20.717Z,1736372600.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758894 2025-01-08T21:43:20.769Z,1736372600.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:20.778Z,1736372600.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:43:20.781Z,1736372600.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 191.313782 m, bearing: 17.889093 deg, approach rate: 0.184285 m/s, LOS rate: 0.196325 deg/s, cmd heading: 276.320767 deg, new cmd heading: 276.555336 deg. 2025-01-08T21:43:20.781Z,1736372600.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826801 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:43:20.968Z,1736372600.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:20.968Z,1736372600.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010274 2025-01-08T21:43:21.190Z,1736372601.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:21.198Z,1736372601.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:43:21.202Z,1736372601.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 191.377930 m, bearing: 17.970063 deg, approach rate: 0.152524 m/s, LOS rate: 0.192457 deg/s, cmd heading: 276.555343 deg, new cmd heading: 276.798171 deg. 2025-01-08T21:43:21.203Z,1736372601.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831039 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:43:21.220Z,1736372601.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:21.220Z,1736372601.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262213 2025-01-08T21:43:21.474Z,1736372601.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:21.476Z,1736372601.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517382 2025-01-08T21:43:21.496Z,1736372601.496 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:43:21.557Z,1736372601.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:21.572Z,1736372601.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:21.574Z,1736372601.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:43:21.587Z,1736372601.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 191.432739 m, bearing: 18.040836 deg, approach rate: 0.145929 m/s, LOS rate: 0.188377 deg/s, cmd heading: 276.798170 deg, new cmd heading: 277.010427 deg. 2025-01-08T21:43:21.588Z,1736372601.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834744 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:43:21.727Z,1736372601.727 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:21.729Z,1736372601.729 [DAT](INFO): DAT read: Rx Time:21:43:20.3416 2025-01-08T21:43:21.730Z,1736372601.730 [DAT](INFO): Rx dataTimestamp_ set to:1736372601.729550 2025-01-08T21:43:21.730Z,1736372601.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772206 2025-01-08T21:43:21.961Z,1736372601.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:21.970Z,1736372601.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:43:21.973Z,1736372601.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 191.491837 m, bearing: 18.118787 deg, approach rate: 0.149087 m/s, LOS rate: 0.196589 deg/s, cmd heading: 277.010425 deg, new cmd heading: 277.244204 deg. 2025-01-08T21:43:21.974Z,1736372601.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838824 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:43:21.976Z,1736372601.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:21.977Z,1736372601.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018380 2025-01-08T21:43:22.228Z,1736372602.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:22.236Z,1736372602.236 [DAT](INFO): DAT read: 21:43:20.3416 LVL= 15280, 26193, 18834, 26307, AGC= 67, IDX= 430, 0.35,-1.894,-3.137, 2.835,-2.653, PHS= 0.846,-0.437,-0.799, RAW= 77.9, 5.3, CAL= 82.1, 4.9, ROT= 67.9, -4.9 2025-01-08T21:43:22.237Z,1736372602.237 [DAT](INFO): got valid direction response: 21:43:20.3416 LVL= 15280, 26193, 18834, 26307, AGC= 67, IDX= 430, 0.35,-1.894,-3.137, 2.835,-2.653, PHS= 0.846,-0.437,-0.799, RAW= 77.9, 5.3, CAL= 82.1, 4.9, ROT= 67.9, -4.9 2025-01-08T21:43:22.238Z,1736372602.238 [DAT](INFO): DAT read: Bearing 67.9, -4.9 (Local) 2025-01-08T21:43:22.238Z,1736372602.238 [DAT](INFO): Local bearing/azimuth received: Bearing 67.9, -4.9 (Local) 2025-01-08T21:43:22.240Z,1736372602.240 [DAT](INFO): DAT read: Range 10 to 50 : 491.1 m (Round-trip 654.9 ms) speed 0.0 m/s 2025-01-08T21:43:22.241Z,1736372602.241 [DAT](INFO): DAT read: user:2006> 2025-01-08T21:43:22.241Z,1736372602.241 [DAT](INFO): DAT read: Tx time:21:43:21.4325 2025-01-08T21:43:22.242Z,1736372602.242 [DAT](INFO): Ping request sent. 2025-01-08T21:43:22.242Z,1736372602.242 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:22.242Z,1736372602.242 [DAT](INFO): DAT read: TxSync time:21:43:21.4317 2025-01-08T21:43:22.243Z,1736372602.243 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:22.244Z,1736372602.244 [DAT](INFO): direction in FSK: [-0.162590,0.313340,0.935619] 2025-01-08T21:43:22.244Z,1736372602.244 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:22.244Z,1736372602.244 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:22.248Z,1736372602.248 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:22.248Z,1736372602.248 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:22.406Z,1736372602.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:22.440Z,1736372602.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 491.100006 m, deltaT: 4.283991 s, deltaX: -0.899994 m, approachRate: -0.210083 m/s, rangeRepo size: 4 2025-01-08T21:43:22.442Z,1736372602.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 491.100006 m, bearing: 52.537364 deg, lat: 36.901466 deg, lon: -122.116712 deg, deltaT: 4.283991 s, deltaX: -0.899994 m, approachRate: -0.210083 m/s, posRepo size: 4 2025-01-08T21:43:22.443Z,1736372602.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.10 m. 2025-01-08T21:43:22.450Z,1736372602.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.100006 m, nav range: 178.755127 m, bearing: 23.026332 deg, approach rate: 0.000000 m/s, LOS rate: 0.196589 deg/s, cmd heading: 277.244209 deg, new cmd heading: 277.520824 deg. 2025-01-08T21:43:22.456Z,1736372602.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.843652 target range: 491.100006 and range: 491.10 m. 2025-01-08T21:43:22.480Z,1736372602.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:22.510Z,1736372602.510 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:43:22.732Z,1736372602.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:22.805Z,1736372602.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:22.821Z,1736372602.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.10 m. 2025-01-08T21:43:22.825Z,1736372602.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.100006 m, nav range: 178.818344 m, bearing: 23.106343 deg, approach rate: 0.165357 m/s, LOS rate: 0.209211 deg/s, cmd heading: 277.520831 deg, new cmd heading: 277.760778 deg. 2025-01-08T21:43:22.825Z,1736372602.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.847840 target range: 491.100006 and range: 491.10 m. 2025-01-08T21:43:22.984Z,1736372602.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:23.216Z,1736372603.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:23.236Z,1736372603.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:23.239Z,1736372603.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.10 m. 2025-01-08T21:43:23.242Z,1736372603.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.100006 m, nav range: 178.878769 m, bearing: 23.186616 deg, approach rate: 0.146054 m/s, LOS rate: 0.193964 deg/s, cmd heading: 277.760789 deg, new cmd heading: 278.001526 deg. 2025-01-08T21:43:23.243Z,1736372603.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.852042 target range: 491.100006 and range: 491.10 m. 2025-01-08T21:43:23.488Z,1736372603.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:23.579Z,1736372603.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:23.587Z,1736372603.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:23.589Z,1736372603.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.10 m. 2025-01-08T21:43:23.592Z,1736372603.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.100006 m, nav range: 178.932953 m, bearing: 23.259332 deg, approach rate: 0.153035 m/s, LOS rate: 0.205313 deg/s, cmd heading: 278.001513 deg, new cmd heading: 278.219593 deg. 2025-01-08T21:43:23.593Z,1736372603.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.855848 target range: 491.100006 and range: 491.10 m. 2025-01-08T21:43:23.740Z,1736372603.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:23.740Z,1736372603.740 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:23.740Z,1736372603.740 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:23.740Z,1736372603.740 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:23.992Z,1736372603.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:23.993Z,1736372603.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750711 2025-01-08T21:43:23.997Z,1736372603.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:24.006Z,1736372604.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.10 m. 2025-01-08T21:43:24.009Z,1736372604.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.100006 m, nav range: 178.993790 m, bearing: 23.341927 deg, approach rate: 0.145986 m/s, LOS rate: 0.198132 deg/s, cmd heading: 278.219587 deg, new cmd heading: 278.467287 deg. 2025-01-08T21:43:24.010Z,1736372604.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860171 target range: 491.100006 and range: 491.10 m. 2025-01-08T21:43:24.244Z,1736372604.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:24.244Z,1736372604.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002575 2025-01-08T21:43:24.417Z,1736372604.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:24.426Z,1736372604.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.10 m. 2025-01-08T21:43:24.428Z,1736372604.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.100006 m, nav range: 179.048233 m, bearing: 23.425203 deg, approach rate: 0.129770 m/s, LOS rate: 0.198434 deg/s, cmd heading: 278.467277 deg, new cmd heading: 278.717027 deg. 2025-01-08T21:43:24.429Z,1736372604.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.864530 target range: 491.100006 and range: 491.10 m. 2025-01-08T21:43:24.496Z,1736372604.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:24.497Z,1736372604.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255413 2025-01-08T21:43:24.748Z,1736372604.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:24.749Z,1736372604.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506556 2025-01-08T21:43:24.798Z,1736372604.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:24.808Z,1736372604.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.10 m. 2025-01-08T21:43:24.810Z,1736372604.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.100006 m, nav range: 179.095352 m, bearing: 23.500867 deg, approach rate: 0.123211 m/s, LOS rate: 0.197801 deg/s, cmd heading: 278.717016 deg, new cmd heading: 278.943947 deg. 2025-01-08T21:43:24.812Z,1736372604.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868490 target range: 491.100006 and range: 491.10 m. 2025-01-08T21:43:25.000Z,1736372605.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:25.001Z,1736372605.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759002 2025-01-08T21:43:25.226Z,1736372605.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:25.235Z,1736372605.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.10 m. 2025-01-08T21:43:25.237Z,1736372605.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.100006 m, nav range: 179.146011 m, bearing: 23.587474 deg, approach rate: 0.118742 m/s, LOS rate: 0.202944 deg/s, cmd heading: 278.943942 deg, new cmd heading: 279.203689 deg. 2025-01-08T21:43:25.238Z,1736372605.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873024 target range: 491.100006 and range: 491.10 m. 2025-01-08T21:43:25.260Z,1736372605.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:25.260Z,1736372605.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018629 2025-01-08T21:43:25.514Z,1736372605.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:25.514Z,1736372605.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272532 2025-01-08T21:43:25.600Z,1736372605.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:25.606Z,1736372605.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:25.611Z,1736372605.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.10 m. 2025-01-08T21:43:25.614Z,1736372605.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.100006 m, nav range: 179.189423 m, bearing: 23.663118 deg, approach rate: 0.115412 m/s, LOS rate: 0.201056 deg/s, cmd heading: 279.203681 deg, new cmd heading: 279.430555 deg. 2025-01-08T21:43:25.614Z,1736372605.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876983 target range: 491.100006 and range: 491.10 m. 2025-01-08T21:43:25.768Z,1736372605.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:25.770Z,1736372605.770 [DAT](INFO): DAT read: Rx Time:21:43:24.4902 2025-01-08T21:43:25.770Z,1736372605.770 [DAT](INFO): Rx dataTimestamp_ set to:1736372605.769859 2025-01-08T21:43:25.772Z,1736372605.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529263 2025-01-08T21:43:26.002Z,1736372606.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:26.010Z,1736372606.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.10 m. 2025-01-08T21:43:26.013Z,1736372606.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 491.100006 m, nav range: 179.235092 m, bearing: 23.744547 deg, approach rate: 0.114318 m/s, LOS rate: 0.203777 deg/s, cmd heading: 279.430552 deg, new cmd heading: 279.674775 deg. 2025-01-08T21:43:26.014Z,1736372606.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881246 target range: 491.100006 and range: 491.10 m. 2025-01-08T21:43:26.020Z,1736372606.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:26.021Z,1736372606.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778702 2025-01-08T21:43:26.273Z,1736372606.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:26.280Z,1736372606.280 [DAT](INFO): DAT read: 21:43:24.4902 LVL= 15280, 25393, 16370, 26259, AGC= 67, IDX= 433,-0.16,-0.081,-1.502,-1.620,-0.933, PHS= 0.940,-0.522,-0.689, RAW= 84.6, 3.5, CAL= 90.3, 1.3, ROT= 59.7, -1.3 2025-01-08T21:43:26.281Z,1736372606.281 [DAT](INFO): got valid direction response: 21:43:24.4902 LVL= 15280, 25393, 16370, 26259, AGC= 67, IDX= 433,-0.16,-0.081,-1.502,-1.620,-0.933, PHS= 0.940,-0.522,-0.689, RAW= 84.6, 3.5, CAL= 90.3, 1.3, ROT= 59.7, -1.3 2025-01-08T21:43:26.282Z,1736372606.282 [DAT](INFO): DAT read: Bearing 59.7, -1.3 (Local) 2025-01-08T21:43:26.283Z,1736372606.283 [DAT](INFO): Local bearing/azimuth received: Bearing 59.7, -1.3 (Local) 2025-01-08T21:43:26.288Z,1736372606.288 [DAT](INFO): DAT read: Range 10 to 50 : 490.2 m (Round-trip 653.6 ms) speed 0.3 m/s 2025-01-08T21:43:26.288Z,1736372606.288 [DAT](INFO): DAT read: user:2007> 2025-01-08T21:43:26.289Z,1736372606.289 [DAT](INFO): DAT read: Tx time:21:43:25.5825 2025-01-08T21:43:26.289Z,1736372606.289 [DAT](INFO): Ping request sent. 2025-01-08T21:43:26.290Z,1736372606.290 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:26.290Z,1736372606.290 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:26.291Z,1736372606.291 [DAT](INFO): direction in FSK: [-0.142777,0.201726,0.968980] 2025-01-08T21:43:26.316Z,1736372606.316 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:26.316Z,1736372606.316 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:26.319Z,1736372606.319 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:26.336Z,1736372606.336 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:26.444Z,1736372606.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:26.477Z,1736372606.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 490.200012 m, deltaT: 4.045074 s, deltaX: -0.899994 m, approachRate: -0.222491 m/s, rangeRepo size: 4 2025-01-08T21:43:26.479Z,1736372606.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 490.200012 m, bearing: 79.950984 deg, lat: 36.901279 deg, lon: -122.116677 deg, deltaT: 4.045074 s, deltaX: -0.899994 m, approachRate: -0.222491 m/s, posRepo size: 4 2025-01-08T21:43:26.496Z,1736372606.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T21:43:26.498Z,1736372606.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 161.888657 m, bearing: 27.821758 deg, approach rate: 0.000000 m/s, LOS rate: 0.203777 deg/s, cmd heading: 279.674772 deg, new cmd heading: 279.959677 deg. 2025-01-08T21:43:26.500Z,1736372606.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.886218 target range: 490.200012 and range: 490.20 m. 2025-01-08T21:43:26.524Z,1736372606.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:26.525Z,1736372606.525 [DAT](INFO): DAT read: TxSync time:21:43:25.5817 2025-01-08T21:43:26.776Z,1736372606.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:26.821Z,1736372606.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:26.829Z,1736372606.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T21:43:26.833Z,1736372606.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 161.949799 m, bearing: 27.906491 deg, approach rate: 0.173329 m/s, LOS rate: 0.240115 deg/s, cmd heading: 279.959673 deg, new cmd heading: 280.213773 deg. 2025-01-08T21:43:26.834Z,1736372606.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.890653 target range: 490.200012 and range: 490.20 m. 2025-01-08T21:43:27.028Z,1736372607.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:27.258Z,1736372607.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:27.267Z,1736372607.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T21:43:27.269Z,1736372607.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 162.023468 m, bearing: 28.004132 deg, approach rate: 0.168360 m/s, LOS rate: 0.223042 deg/s, cmd heading: 280.213784 deg, new cmd heading: 280.506571 deg. 2025-01-08T21:43:27.270Z,1736372607.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895763 target range: 490.200012 and range: 490.20 m. 2025-01-08T21:43:27.281Z,1736372607.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:27.532Z,1736372607.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:27.627Z,1736372607.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:27.635Z,1736372607.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:27.637Z,1736372607.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T21:43:27.640Z,1736372607.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 162.085251 m, bearing: 28.086503 deg, approach rate: 0.166666 m/s, LOS rate: 0.222121 deg/s, cmd heading: 280.506580 deg, new cmd heading: 280.753599 deg. 2025-01-08T21:43:27.641Z,1736372607.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.900074 target range: 490.200012 and range: 490.20 m. 2025-01-08T21:43:27.784Z,1736372607.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:27.784Z,1736372607.784 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:27.784Z,1736372607.784 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:27.785Z,1736372607.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:28.028Z,1736372608.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:28.036Z,1736372608.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:28.037Z,1736372608.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747006 2025-01-08T21:43:28.045Z,1736372608.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T21:43:28.048Z,1736372608.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 162.151672 m, bearing: 28.176072 deg, approach rate: 0.163035 m/s, LOS rate: 0.219760 deg/s, cmd heading: 280.753587 deg, new cmd heading: 281.022181 deg. 2025-01-08T21:43:28.049Z,1736372608.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.904762 target range: 490.200012 and range: 490.20 m. 2025-01-08T21:43:28.288Z,1736372608.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:28.288Z,1736372608.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998772 2025-01-08T21:43:28.463Z,1736372608.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:28.492Z,1736372608.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T21:43:28.494Z,1736372608.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 162.230713 m, bearing: 28.274206 deg, approach rate: 0.178510 m/s, LOS rate: 0.221525 deg/s, cmd heading: 281.022177 deg, new cmd heading: 281.316435 deg. 2025-01-08T21:43:28.500Z,1736372608.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909898 target range: 490.200012 and range: 490.20 m. 2025-01-08T21:43:28.540Z,1736372608.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:28.541Z,1736372608.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251385 2025-01-08T21:43:28.792Z,1736372608.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:28.792Z,1736372608.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502796 2025-01-08T21:43:28.851Z,1736372608.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:28.860Z,1736372608.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T21:43:28.863Z,1736372608.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 162.300827 m, bearing: 28.362110 deg, approach rate: 0.187965 m/s, LOS rate: 0.235555 deg/s, cmd heading: 281.316422 deg, new cmd heading: 281.580018 deg. 2025-01-08T21:43:28.864Z,1736372608.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.914498 target range: 490.200012 and range: 490.20 m. 2025-01-08T21:43:29.044Z,1736372609.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:29.044Z,1736372609.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754736 2025-01-08T21:43:29.290Z,1736372609.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:29.296Z,1736372609.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:29.296Z,1736372609.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006891 2025-01-08T21:43:29.300Z,1736372609.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T21:43:29.303Z,1736372609.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 162.388992 m, bearing: 28.462192 deg, approach rate: 0.200579 m/s, LOS rate: 0.227564 deg/s, cmd heading: 281.580013 deg, new cmd heading: 281.880090 deg. 2025-01-08T21:43:29.324Z,1736372609.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.919736 target range: 490.200012 and range: 490.20 m. 2025-01-08T21:43:29.549Z,1736372609.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:29.550Z,1736372609.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260364 2025-01-08T21:43:29.650Z,1736372609.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:29.662Z,1736372609.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:29.666Z,1736372609.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T21:43:29.670Z,1736372609.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 162.458801 m, bearing: 28.544539 deg, approach rate: 0.191127 m/s, LOS rate: 0.225360 deg/s, cmd heading: 281.880104 deg, new cmd heading: 282.127040 deg. 2025-01-08T21:43:29.672Z,1736372609.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.924046 target range: 490.200012 and range: 490.20 m. 2025-01-08T21:43:29.800Z,1736372609.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:29.801Z,1736372609.801 [DAT](INFO): DAT read: Rx Time:21:43:28.6386 2025-01-08T21:43:29.802Z,1736372609.802 [DAT](INFO): Rx dataTimestamp_ set to:1736372609.801585 2025-01-08T21:43:29.802Z,1736372609.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512840 2025-01-08T21:43:30.043Z,1736372610.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:30.052Z,1736372610.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:30.053Z,1736372610.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763138 2025-01-08T21:43:30.054Z,1736372610.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T21:43:30.057Z,1736372610.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 162.534485 m, bearing: 28.634567 deg, approach rate: 0.194647 m/s, LOS rate: 0.231430 deg/s, cmd heading: 282.127029 deg, new cmd heading: 282.396983 deg. 2025-01-08T21:43:30.058Z,1736372610.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.928757 target range: 490.200012 and range: 490.20 m. 2025-01-08T21:43:30.305Z,1736372610.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:30.308Z,1736372610.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018012 2025-01-08T21:43:30.473Z,1736372610.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:30.481Z,1736372610.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.20 m. 2025-01-08T21:43:30.485Z,1736372610.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.200012 m, nav range: 162.621933 m, bearing: 28.733379 deg, approach rate: 0.204742 m/s, LOS rate: 0.231225 deg/s, cmd heading: 282.396985 deg, new cmd heading: 282.693261 deg. 2025-01-08T21:43:30.486Z,1736372610.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933928 target range: 490.200012 and range: 490.20 m. 2025-01-08T21:43:30.557Z,1736372610.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:30.567Z,1736372610.567 [DAT](INFO): DAT read: 21:43:28.6386 LVL= 15776, 26609, 17426, 25427, AGC= 67, IDX= 433,-0.47, 2.122, 0.545, 0.437, 1.148, PHS= 1.062,-0.556,-0.713, RAW= 85.4, 2.5, CAL= 91.3, -0.5, ROT= 58.7, 0.5 2025-01-08T21:43:30.574Z,1736372610.574 [DAT](INFO): got valid direction response: 21:43:28.6386 LVL= 15776, 26609, 17426, 25427, AGC= 67, IDX= 433,-0.47, 2.122, 0.545, 0.437, 1.148, PHS= 1.062,-0.556,-0.713, RAW= 85.4, 2.5, CAL= 91.3, -0.5, ROT= 58.7, 0.5 2025-01-08T21:43:30.575Z,1736372610.575 [DAT](INFO): DAT read: Bearing 58.7, 0.5 (Local) 2025-01-08T21:43:30.576Z,1736372610.576 [DAT](INFO): Local bearing/azimuth received: Bearing 58.7, 0.5 (Local) 2025-01-08T21:43:30.577Z,1736372610.577 [DAT](INFO): DAT read: Range 10 to 50 : 489.0 m (Round-trip 652.0 ms) speed 0.0 m/s 2025-01-08T21:43:30.578Z,1736372610.578 [DAT](INFO): DAT read: user:2008> 2025-01-08T21:43:30.579Z,1736372610.579 [DAT](INFO): DAT read: Tx time:21:43:29.7325 2025-01-08T21:43:30.608Z,1736372610.608 [DAT](INFO): Ping request sent. 2025-01-08T21:43:30.608Z,1736372610.608 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:30.608Z,1736372610.608 [DAT](INFO): DAT read: TxSync time:21:43:29.7317 2025-01-08T21:43:30.609Z,1736372610.609 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:30.611Z,1736372610.611 [DAT](INFO): direction in FSK: [-0.124028,0.188085,0.974290] 2025-01-08T21:43:30.618Z,1736372610.618 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:30.618Z,1736372610.618 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:30.635Z,1736372610.635 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:30.635Z,1736372610.635 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:30.808Z,1736372610.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:30.853Z,1736372610.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:30.868Z,1736372610.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 489.000000 m, deltaT: 4.284145 s, deltaX: -1.200012 m, approachRate: -0.280105 m/s, rangeRepo size: 4 2025-01-08T21:43:30.870Z,1736372610.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 489.000000 m, bearing: 84.392729 deg, lat: 36.900614 deg, lon: -122.116712 deg, deltaT: 4.284145 s, deltaX: -1.200012 m, approachRate: -0.280105 m/s, posRepo size: 4 2025-01-08T21:43:30.871Z,1736372610.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:43:30.873Z,1736372610.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 101.932106 m, bearing: 47.647884 deg, approach rate: 0.000000 m/s, LOS rate: 0.231225 deg/s, cmd heading: 282.693252 deg, new cmd heading: 282.960672 deg. 2025-01-08T21:43:30.874Z,1736372610.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.938595 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:43:31.060Z,1736372611.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:31.312Z,1736372611.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:31.316Z,1736372611.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:31.325Z,1736372611.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:43:31.328Z,1736372611.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 102.130226 m, bearing: 47.788755 deg, approach rate: 0.432176 m/s, LOS rate: 0.306698 deg/s, cmd heading: 282.960667 deg, new cmd heading: 283.382453 deg. 2025-01-08T21:43:31.329Z,1736372611.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.945957 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:43:31.564Z,1736372611.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:31.706Z,1736372611.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:31.713Z,1736372611.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:31.716Z,1736372611.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:43:31.718Z,1736372611.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 102.292389 m, bearing: 47.904332 deg, approach rate: 0.415832 m/s, LOS rate: 0.295902 deg/s, cmd heading: 283.382445 deg, new cmd heading: 283.728622 deg. 2025-01-08T21:43:31.720Z,1736372611.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.951999 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:43:31.818Z,1736372611.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:31.819Z,1736372611.819 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:31.820Z,1736372611.820 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:31.820Z,1736372611.820 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:32.068Z,1736372612.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:32.068Z,1736372612.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460753 2025-01-08T21:43:32.070Z,1736372612.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:32.078Z,1736372612.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:43:32.081Z,1736372612.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 102.451912 m, bearing: 48.018455 deg, approach rate: 0.439087 m/s, LOS rate: 0.313635 deg/s, cmd heading: 283.728626 deg, new cmd heading: 284.070459 deg. 2025-01-08T21:43:32.083Z,1736372612.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.957965 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:43:32.153Z,1736372612.153 [CTD_Seabird](ERROR): Failed to parse device response: 68.56,10.042429 2025-01-08T21:43:32.321Z,1736372612.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:32.322Z,1736372612.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714369 2025-01-08T21:43:32.494Z,1736372612.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:32.504Z,1736372612.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:43:32.506Z,1736372612.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 102.628532 m, bearing: 48.145881 deg, approach rate: 0.415631 m/s, LOS rate: 0.299347 deg/s, cmd heading: 284.070464 deg, new cmd heading: 284.452076 deg. 2025-01-08T21:43:32.507Z,1736372612.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.964625 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:43:32.572Z,1736372612.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:32.573Z,1736372612.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964842 2025-01-08T21:43:32.824Z,1736372612.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:32.824Z,1736372612.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216588 2025-01-08T21:43:32.884Z,1736372612.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:32.901Z,1736372612.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:43:32.908Z,1736372612.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 102.790428 m, bearing: 48.263118 deg, approach rate: 0.406800 m/s, LOS rate: 0.294121 deg/s, cmd heading: 284.452080 deg, new cmd heading: 284.803234 deg. 2025-01-08T21:43:32.909Z,1736372612.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.970754 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:43:33.076Z,1736372613.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:33.076Z,1736372613.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468611 2025-01-08T21:43:33.328Z,1736372613.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:33.329Z,1736372613.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720862 2025-01-08T21:43:33.331Z,1736372613.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:33.339Z,1736372613.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:43:33.342Z,1736372613.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 102.974800 m, bearing: 48.398636 deg, approach rate: 0.421060 m/s, LOS rate: 0.308935 deg/s, cmd heading: 284.803234 deg, new cmd heading: 285.209053 deg. 2025-01-08T21:43:33.343Z,1736372613.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.977837 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:43:33.580Z,1736372613.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:33.580Z,1736372613.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972606 2025-01-08T21:43:33.689Z,1736372613.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:33.697Z,1736372613.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:43:33.701Z,1736372613.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 103.122070 m, bearing: 48.507203 deg, approach rate: 0.411698 m/s, LOS rate: 0.303068 deg/s, cmd heading: 285.209056 deg, new cmd heading: 285.534287 deg. 2025-01-08T21:43:33.702Z,1736372613.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.983513 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:43:33.832Z,1736372613.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:33.834Z,1736372613.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225782 2025-01-08T21:43:34.084Z,1736372614.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:34.085Z,1736372614.085 [DAT](INFO): DAT read: Rx Time:21:43:32.7871 2025-01-08T21:43:34.085Z,1736372614.085 [DAT](INFO): Rx dataTimestamp_ set to:1736372614.084825 2025-01-08T21:43:34.086Z,1736372614.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477922 2025-01-08T21:43:34.096Z,1736372614.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:34.104Z,1736372614.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:34.106Z,1736372614.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:43:34.109Z,1736372614.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 103.289528 m, bearing: 48.630995 deg, approach rate: 0.409021 m/s, LOS rate: 0.301875 deg/s, cmd heading: 285.534282 deg, new cmd heading: 285.905050 deg. 2025-01-08T21:43:34.110Z,1736372614.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989985 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:43:34.336Z,1736372614.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:34.336Z,1736372614.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.728763 2025-01-08T21:43:34.526Z,1736372614.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:34.536Z,1736372614.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 489.00 m. 2025-01-08T21:43:34.538Z,1736372614.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 489.000000 m, nav range: 103.461502 m, bearing: 48.761819 deg, approach rate: 0.400394 m/s, LOS rate: 0.304083 deg/s, cmd heading: 285.905052 deg, new cmd heading: 286.296868 deg. 2025-01-08T21:43:34.540Z,1736372614.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996823 target range: 489.000000 and range: 489.00 m. 2025-01-08T21:43:34.589Z,1736372614.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:34.600Z,1736372614.600 [DAT](INFO): DAT read: 21:43:32.7871 LVL= 14096, 26705, 17442, 27683, AGC= 67, IDX= 432,-0.06,-2.435, 2.171, 2.152, 2.763, PHS= 1.172,-0.546,-0.614, RAW= 88.1, -0.1, CAL= 95.4, -4.6, ROT= 54.6, 4.6 2025-01-08T21:43:34.602Z,1736372614.602 [DAT](INFO): got valid direction response: 21:43:32.7871 LVL= 14096, 26705, 17442, 27683, AGC= 67, IDX= 432,-0.06,-2.435, 2.171, 2.152, 2.763, PHS= 1.172,-0.546,-0.614, RAW= 88.1, -0.1, CAL= 95.4, -4.6, ROT= 54.6, 4.6 2025-01-08T21:43:34.604Z,1736372614.604 [DAT](INFO): DAT read: Bearing 54.6, 4.6 (Local) 2025-01-08T21:43:34.604Z,1736372614.604 [DAT](INFO): Local bearing/azimuth received: Bearing 54.6, 4.6 (Local) 2025-01-08T21:43:34.607Z,1736372614.607 [DAT](INFO): DAT read: Range 10 to 50 : 487.7 m (Round-trip 650.3 ms) speed 0.3 m/s 2025-01-08T21:43:34.608Z,1736372614.608 [DAT](INFO): DAT read: user:2009> 2025-01-08T21:43:34.609Z,1736372614.609 [DAT](INFO): DAT read: Tx time:21:43:33.8826 2025-01-08T21:43:34.610Z,1736372614.610 [DAT](INFO): Ping request sent. 2025-01-08T21:43:34.610Z,1736372614.610 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:34.610Z,1736372614.610 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:34.612Z,1736372614.612 [DAT](INFO): direction in FSK: [-0.079333,0.140602,0.986883] 2025-01-08T21:43:34.613Z,1736372614.613 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:34.613Z,1736372614.613 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:34.624Z,1736372614.624 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:34.624Z,1736372614.624 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:34.840Z,1736372614.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:34.841Z,1736372614.841 [DAT](INFO): DAT read: TxSync time:21:43:33.8818 2025-01-08T21:43:34.901Z,1736372614.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:34.927Z,1736372614.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 487.700012 m, deltaT: 4.031741 s, deltaX: -1.299988 m, approachRate: -0.322438 m/s, rangeRepo size: 4 2025-01-08T21:43:34.929Z,1736372614.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 487.700012 m, bearing: 113.548719 deg, lat: 36.900112 deg, lon: -122.116814 deg, deltaT: 4.031741 s, deltaX: -1.299988 m, approachRate: -0.322438 m/s, posRepo size: 4 2025-01-08T21:43:34.930Z,1736372614.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T21:43:34.937Z,1736372614.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 70.038063 m, bearing: 79.939459 deg, approach rate: 0.000000 m/s, LOS rate: 0.304083 deg/s, cmd heading: 286.296859 deg, new cmd heading: 286.649593 deg. 2025-01-08T21:43:34.938Z,1736372614.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002979 target range: 487.700012 and range: 487.70 m. 2025-01-08T21:43:35.092Z,1736372615.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:35.344Z,1736372615.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:35.360Z,1736372615.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:35.408Z,1736372615.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T21:43:35.411Z,1736372615.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 70.328537 m, bearing: 80.041204 deg, approach rate: 0.597876 m/s, LOS rate: 0.208554 deg/s, cmd heading: 286.649598 deg, new cmd heading: 286.953568 deg. 2025-01-08T21:43:35.416Z,1736372615.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.008285 target range: 487.700012 and range: 487.70 m. 2025-01-08T21:43:35.596Z,1736372615.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:35.718Z,1736372615.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:35.726Z,1736372615.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T21:43:35.729Z,1736372615.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 70.554581 m, bearing: 80.120598 deg, approach rate: 0.710939 m/s, LOS rate: 0.248906 deg/s, cmd heading: 286.953568 deg, new cmd heading: 287.190987 deg. 2025-01-08T21:43:35.730Z,1736372615.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.012428 target range: 487.700012 and range: 487.70 m. 2025-01-08T21:43:35.848Z,1736372615.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:36.100Z,1736372616.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:36.134Z,1736372616.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:36.141Z,1736372616.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:36.144Z,1736372616.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T21:43:36.146Z,1736372616.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 70.817474 m, bearing: 80.213692 deg, approach rate: 0.630280 m/s, LOS rate: 0.222360 deg/s, cmd heading: 287.190986 deg, new cmd heading: 287.469226 deg. 2025-01-08T21:43:36.147Z,1736372616.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.017284 target range: 487.700012 and range: 487.70 m. 2025-01-08T21:43:36.353Z,1736372616.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:36.354Z,1736372616.354 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:36.355Z,1736372616.355 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:36.355Z,1736372616.355 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:36.548Z,1736372616.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:36.558Z,1736372616.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T21:43:36.561Z,1736372616.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 71.077583 m, bearing: 80.313721 deg, approach rate: 0.627829 m/s, LOS rate: 0.240559 deg/s, cmd heading: 287.469220 deg, new cmd heading: 287.768207 deg. 2025-01-08T21:43:36.561Z,1736372616.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022503 target range: 487.700012 and range: 487.70 m. 2025-01-08T21:43:36.604Z,1736372616.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:36.604Z,1736372616.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994474 2025-01-08T21:43:36.856Z,1736372616.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:36.856Z,1736372616.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246449 2025-01-08T21:43:36.934Z,1736372616.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:36.942Z,1736372616.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T21:43:36.945Z,1736372616.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 71.319099 m, bearing: 80.407553 deg, approach rate: 0.627990 m/s, LOS rate: 0.243156 deg/s, cmd heading: 287.768219 deg, new cmd heading: 288.048759 deg. 2025-01-08T21:43:36.946Z,1736372616.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.027399 target range: 487.700012 and range: 487.70 m. 2025-01-08T21:43:37.108Z,1736372617.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:37.108Z,1736372617.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498362 2025-01-08T21:43:37.361Z,1736372617.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:37.362Z,1736372617.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751529 2025-01-08T21:43:37.421Z,1736372617.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:37.438Z,1736372617.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T21:43:37.444Z,1736372617.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 71.619812 m, bearing: 80.528802 deg, approach rate: 0.608360 m/s, LOS rate: 0.244264 deg/s, cmd heading: 288.048748 deg, new cmd heading: 288.410963 deg. 2025-01-08T21:43:37.445Z,1736372617.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.033721 target range: 487.700012 and range: 487.70 m. 2025-01-08T21:43:37.612Z,1736372617.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:37.612Z,1736372617.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002301 2025-01-08T21:43:37.750Z,1736372617.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:37.759Z,1736372617.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T21:43:37.777Z,1736372617.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 71.822121 m, bearing: 80.612423 deg, approach rate: 0.628149 m/s, LOS rate: 0.258903 deg/s, cmd heading: 288.410967 deg, new cmd heading: 288.661121 deg. 2025-01-08T21:43:37.778Z,1736372617.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038087 target range: 487.700012 and range: 487.70 m. 2025-01-08T21:43:37.864Z,1736372617.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:37.920Z,1736372617.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.309597 2025-01-08T21:43:38.023Z,1736372618.023 [DockingStepper](FAULT): Unknown EZ Servo Error: 13 2025-01-08T21:43:38.023Z,1736372618.023 [DockingStepper] Hardware Fault, FailCount= 1 2025-01-08T21:43:38.024Z,1736372618.024 [DockingStepper](ERROR): Hardware Fault 2025-01-08T21:43:38.116Z,1736372618.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:38.117Z,1736372618.117 [DAT](INFO): DAT read: Rx Time:21:43:36.9352 2025-01-08T21:43:38.117Z,1736372618.117 [DAT](INFO): Rx dataTimestamp_ set to:1736372618.117047 2025-01-08T21:43:38.118Z,1736372618.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507849 2025-01-08T21:43:38.200Z,1736372618.200 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-01-08T21:43:38.254Z,1736372618.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:38.268Z,1736372618.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:38.270Z,1736372618.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.70 m. 2025-01-08T21:43:38.273Z,1736372618.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 487.700012 m, nav range: 72.131813 m, bearing: 80.739402 deg, approach rate: 0.605693 m/s, LOS rate: 0.247278 deg/s, cmd heading: 288.661116 deg, new cmd heading: 289.040413 deg. 2025-01-08T21:43:38.274Z,1736372618.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.044707 target range: 487.700012 and range: 487.70 m. 2025-01-08T21:43:38.308Z,1736372618.308 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:43:38.364Z,1736372618.364 [DockingStepper](INFO): Stop 2025-01-08T21:43:38.364Z,1736372618.364 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-01-08T21:43:38.364Z,1736372618.364 [DockingStepper](INFO): Powering down 2025-01-08T21:43:38.370Z,1736372618.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:38.372Z,1736372618.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761809 2025-01-08T21:43:38.629Z,1736372618.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:38.680Z,1736372618.680 [DAT](INFO): DAT read: 21:43:36.9352 LVL= 14496, 26945, 17714, 27075, AGC= 70, IDX= 429,-0.32, 0.055,-1.730,-1.666,-1.090, PHS= 1.233,-0.593,-0.579, RAW= 90.4, -0.7, CAL= 98.2, -5.5, ROT= 51.8, 5.5 2025-01-08T21:43:38.681Z,1736372618.681 [DAT](INFO): got valid direction response: 21:43:36.9352 LVL= 14496, 26945, 17714, 27075, AGC= 70, IDX= 429,-0.32, 0.055,-1.730,-1.666,-1.090, PHS= 1.233,-0.593,-0.579, RAW= 90.4, -0.7, CAL= 98.2, -5.5, ROT= 51.8, 5.5 2025-01-08T21:43:38.683Z,1736372618.683 [DAT](INFO): DAT read: Bearing 51.8, 5.5 (Local) 2025-01-08T21:43:38.703Z,1736372618.703 [DAT](INFO): Local bearing/azimuth received: Bearing 51.8, 5.5 (Local) 2025-01-08T21:43:38.705Z,1736372618.705 [DAT](INFO): DAT read: Range 10 to 50 : 486.3 m (Round-trip 648.5 ms) speed 0.3 m/s 2025-01-08T21:43:38.706Z,1736372618.706 [DAT](INFO): DAT read: user:2010> 2025-01-08T21:43:38.707Z,1736372618.707 [DAT](INFO): DAT read: Tx time:21:43:38.0326 2025-01-08T21:43:38.707Z,1736372618.707 [DAT](INFO): Ping request sent. 2025-01-08T21:43:38.707Z,1736372618.707 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:38.707Z,1736372618.707 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:38.708Z,1736372618.708 [DAT](INFO): direction in FSK: [-0.072780,0.100359,0.992286] 2025-01-08T21:43:38.709Z,1736372618.709 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:38.709Z,1736372618.709 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:38.724Z,1736372618.724 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:38.725Z,1736372618.725 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:38.825Z,1736372618.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:38.859Z,1736372618.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 486.299988 m, deltaT: 4.040315 s, deltaX: -1.400024 m, approachRate: -0.346514 m/s, rangeRepo size: 4 2025-01-08T21:43:38.869Z,1736372618.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 486.299988 m, bearing: 146.946106 deg, lat: 36.900055 deg, lon: -122.116814 deg, deltaT: 4.040315 s, deltaX: -1.400024 m, approachRate: -0.346514 m/s, posRepo size: 4 2025-01-08T21:43:38.870Z,1736372618.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.30 m. 2025-01-08T21:43:38.877Z,1736372618.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.299988 m, nav range: 71.768768 m, bearing: 85.820358 deg, approach rate: 0.000000 m/s, LOS rate: 0.247278 deg/s, cmd heading: 289.040410 deg, new cmd heading: 289.476650 deg. 2025-01-08T21:43:38.878Z,1736372618.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.052320 target range: 486.299988 and range: 486.30 m. 2025-01-08T21:43:38.880Z,1736372618.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:38.881Z,1736372618.881 [DAT](INFO): DAT read: TxSync time:21:43:38.0318 2025-01-08T21:43:38.903Z,1736372618.903 [DockingStepper](INFO): Stopping 2025-01-08T21:43:39.132Z,1736372619.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:39.144Z,1736372619.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:39.161Z,1736372619.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.30 m. 2025-01-08T21:43:39.168Z,1736372619.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.299988 m, nav range: 71.978004 m, bearing: 85.890108 deg, approach rate: 0.690781 m/s, LOS rate: 0.229606 deg/s, cmd heading: 289.476640 deg, new cmd heading: 289.685281 deg. 2025-01-08T21:43:39.169Z,1736372619.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.055962 target range: 486.299988 and range: 486.30 m. 2025-01-08T21:43:39.342Z,1736372619.342 [DockingStepper](INFO): Stopping 2025-01-08T21:43:39.385Z,1736372619.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:39.521Z,1736372619.521 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010813444466,35.0, 0.0,1492.9, 0 2025-01-08T21:43:39.529Z,1736372619.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:43:39.529Z,1736372619.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:39.538Z,1736372619.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.30 m. 2025-01-08T21:43:39.541Z,1736372619.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.299988 m, nav range: 72.229202 m, bearing: 85.974119 deg, approach rate: 0.665797 m/s, LOS rate: 0.221895 deg/s, cmd heading: 289.685289 deg, new cmd heading: 289.936443 deg. 2025-01-08T21:43:39.542Z,1736372619.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060346 target range: 486.299988 and range: 486.30 m. 2025-01-08T21:43:39.580Z,1736372619.580 [DockingStepper](INFO): Stopping 2025-01-08T21:43:39.636Z,1736372619.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:39.888Z,1736372619.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:39.918Z,1736372619.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:43:39.918Z,1736372619.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:39.926Z,1736372619.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.30 m. 2025-01-08T21:43:39.933Z,1736372619.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.299988 m, nav range: 72.482994 m, bearing: 86.059743 deg, approach rate: 0.653666 m/s, LOS rate: 0.219760 deg/s, cmd heading: 289.936449 deg, new cmd heading: 290.192418 deg. 2025-01-08T21:43:39.934Z,1736372619.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.064813 target range: 486.299988 and range: 486.30 m. 2025-01-08T21:43:40.080Z,1736372620.080 [DockingStepper](INFO): Stopping 2025-01-08T21:43:40.140Z,1736372620.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:40.382Z,1736372620.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:43:40.382Z,1736372620.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:40.392Z,1736372620.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:40.397Z,1736372620.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:40.404Z,1736372620.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.30 m. 2025-01-08T21:43:40.413Z,1736372620.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.299988 m, nav range: 72.785271 m, bearing: 86.162404 deg, approach rate: 0.639777 m/s, LOS rate: 0.216383 deg/s, cmd heading: 290.192417 deg, new cmd heading: 290.499118 deg. 2025-01-08T21:43:40.414Z,1736372620.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.070166 target range: 486.299988 and range: 486.30 m. 2025-01-08T21:43:40.568Z,1736372620.568 [DockingStepper](INFO): Stopping 2025-01-08T21:43:40.644Z,1736372620.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:40.645Z,1736372620.645 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:40.645Z,1736372620.645 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:40.645Z,1736372620.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:40.787Z,1736372620.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:40.812Z,1736372620.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.30 m. 2025-01-08T21:43:40.815Z,1736372620.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.299988 m, nav range: 73.051338 m, bearing: 86.250644 deg, approach rate: 0.644292 m/s, LOS rate: 0.212898 deg/s, cmd heading: 290.499120 deg, new cmd heading: 290.762873 deg. 2025-01-08T21:43:40.822Z,1736372620.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074769 target range: 486.299988 and range: 486.30 m. 2025-01-08T21:43:40.862Z,1736372620.862 [DockingStepper](INFO): Stopping 2025-01-08T21:43:40.896Z,1736372620.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:40.896Z,1736372620.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.189546 2025-01-08T21:43:41.148Z,1736372621.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:41.148Z,1736372621.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.441487 2025-01-08T21:43:41.191Z,1736372621.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:41.228Z,1736372621.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.30 m. 2025-01-08T21:43:41.230Z,1736372621.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.299988 m, nav range: 73.315643 m, bearing: 86.338966 deg, approach rate: 0.635263 m/s, LOS rate: 0.211519 deg/s, cmd heading: 290.762874 deg, new cmd heading: 291.026883 deg. 2025-01-08T21:43:41.236Z,1736372621.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.079377 target range: 486.299988 and range: 486.30 m. 2025-01-08T21:43:41.258Z,1736372621.258 [DockingStepper](INFO): Stopping 2025-01-08T21:43:41.401Z,1736372621.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:41.404Z,1736372621.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.695912 2025-01-08T21:43:41.588Z,1736372621.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:41.597Z,1736372621.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.30 m. 2025-01-08T21:43:41.601Z,1736372621.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.299988 m, nav range: 73.572754 m, bearing: 86.427870 deg, approach rate: 0.696122 m/s, LOS rate: 0.239864 deg/s, cmd heading: 291.026875 deg, new cmd heading: 291.292652 deg. 2025-01-08T21:43:41.602Z,1736372621.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.084016 target range: 486.299988 and range: 486.30 m. 2025-01-08T21:43:41.644Z,1736372621.644 [DockingStepper](INFO): Stopping 2025-01-08T21:43:41.652Z,1736372621.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:41.654Z,1736372621.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.946609 2025-01-08T21:43:41.904Z,1736372621.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:41.905Z,1736372621.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.197602 2025-01-08T21:43:41.991Z,1736372621.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:42.000Z,1736372622.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.30 m. 2025-01-08T21:43:42.003Z,1736372622.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.299988 m, nav range: 73.832558 m, bearing: 86.518101 deg, approach rate: 0.646967 m/s, LOS rate: 0.223906 deg/s, cmd heading: 291.292651 deg, new cmd heading: 291.562392 deg. 2025-01-08T21:43:42.004Z,1736372622.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088724 target range: 486.299988 and range: 486.30 m. 2025-01-08T21:43:42.017Z,1736372622.017 [DockingStepper](INFO): Stopping 2025-01-08T21:43:42.156Z,1736372622.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:42.156Z,1736372622.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.449498 2025-01-08T21:43:42.409Z,1736372622.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:42.409Z,1736372622.409 [DAT](INFO): DAT read: Rx Time:21:43:41.0832 2025-01-08T21:43:42.410Z,1736372622.410 [DAT](INFO): Rx dataTimestamp_ set to:1736372622.409500 2025-01-08T21:43:42.410Z,1736372622.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.703380 2025-01-08T21:43:42.488Z,1736372622.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:42.505Z,1736372622.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:42.511Z,1736372622.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.30 m. 2025-01-08T21:43:42.520Z,1736372622.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.299988 m, nav range: 74.147530 m, bearing: 86.623875 deg, approach rate: 0.619947 m/s, LOS rate: 0.207305 deg/s, cmd heading: 291.562389 deg, new cmd heading: 291.878357 deg. 2025-01-08T21:43:42.521Z,1736372622.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.094238 target range: 486.299988 and range: 486.30 m. 2025-01-08T21:43:42.549Z,1736372622.549 [DockingStepper](INFO): Stopping 2025-01-08T21:43:42.661Z,1736372622.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:42.662Z,1736372622.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.954860 2025-01-08T21:43:42.811Z,1736372622.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:42.837Z,1736372622.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.30 m. 2025-01-08T21:43:42.840Z,1736372622.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.299988 m, nav range: 74.356903 m, bearing: 86.694515 deg, approach rate: 0.635081 m/s, LOS rate: 0.213667 deg/s, cmd heading: 291.878353 deg, new cmd heading: 292.089678 deg. 2025-01-08T21:43:42.841Z,1736372622.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.097927 target range: 486.299988 and range: 486.30 m. 2025-01-08T21:43:42.879Z,1736372622.879 [DockingStepper](INFO): Stopping 2025-01-08T21:43:42.912Z,1736372622.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:42.920Z,1736372622.920 [DAT](INFO): DAT read: 21:43:41.0832 LVL= 14320, 30961, 16802, 28771, AGC= 69, IDX= 424, 0.36, 0.040,-1.763,-1.602,-1.088, PHS= 1.216,-0.628,-0.517, RAW= 93.1, -0.8, CAL= 101.3, -5.7, ROT= 48.7, 5.7 2025-01-08T21:43:42.921Z,1736372622.921 [DAT](INFO): got valid direction response: 21:43:41.0832 LVL= 14320, 30961, 16802, 28771, AGC= 69, IDX= 424, 0.36, 0.040,-1.763,-1.602,-1.088, PHS= 1.216,-0.628,-0.517, RAW= 93.1, -0.8, CAL= 101.3, -5.7, ROT= 48.7, 5.7 2025-01-08T21:43:42.922Z,1736372622.922 [DAT](INFO): DAT read: Bearing 48.7, 5.7 (Local) 2025-01-08T21:43:42.922Z,1736372622.922 [DAT](INFO): Local bearing/azimuth received: Bearing 48.7, 5.7 (Local) 2025-01-08T21:43:42.924Z,1736372622.924 [DAT](INFO): DAT read: Range 10 to 50 : 484.8 m (Round-trip 646.4 ms) speed 0.0 m/s 2025-01-08T21:43:42.925Z,1736372622.925 [DAT](INFO): DAT read: user:2011> 2025-01-08T21:43:42.926Z,1736372622.926 [DAT](INFO): DAT read: Tx time:21:43:42.1826 2025-01-08T21:43:42.926Z,1736372622.926 [DAT](INFO): Ping request sent. 2025-01-08T21:43:42.926Z,1736372622.926 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:42.927Z,1736372622.927 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:42.928Z,1736372622.928 [DAT](INFO): direction in FSK: [-0.074619,0.053418,0.995780] 2025-01-08T21:43:42.928Z,1736372622.928 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:42.928Z,1736372622.928 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:42.932Z,1736372622.932 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:42.933Z,1736372622.933 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:43.164Z,1736372623.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:43.165Z,1736372623.165 [DAT](INFO): DAT read: TxSync time:21:43:42.1818 2025-01-08T21:43:43.191Z,1736372623.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:43.238Z,1736372623.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 484.799988 m, deltaT: 4.282672 s, deltaX: -1.500000 m, approachRate: -0.350249 m/s, rangeRepo size: 4 2025-01-08T21:43:43.245Z,1736372623.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 484.799988 m, bearing: 164.822615 deg, lat: 36.899851 deg, lon: -122.117156 deg, deltaT: 4.282672 s, deltaX: -1.500000 m, approachRate: -0.350249 m/s, posRepo size: 4 2025-01-08T21:43:43.245Z,1736372623.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.80 m. 2025-01-08T21:43:43.252Z,1736372623.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.799988 m, nav range: 47.806789 m, bearing: 112.865101 deg, approach rate: 0.000000 m/s, LOS rate: 0.213667 deg/s, cmd heading: 292.089679 deg, new cmd heading: 292.346650 deg. 2025-01-08T21:43:43.253Z,1736372623.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.102412 target range: 484.799988 and range: 484.80 m. 2025-01-08T21:43:43.274Z,1736372623.274 [DockingStepper](INFO): Stopping 2025-01-08T21:43:43.418Z,1736372623.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:43.651Z,1736372623.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:43.667Z,1736372623.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.80 m. 2025-01-08T21:43:43.668Z,1736372623.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:43.673Z,1736372623.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.799988 m, nav range: 48.109890 m, bearing: 112.850884 deg, approach rate: 0.707405 m/s, LOS rate: -0.032972 deg/s, cmd heading: 292.346658 deg, new cmd heading: 292.304276 deg. 2025-01-08T21:43:43.675Z,1736372623.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101672 target range: 484.799988 and range: 484.80 m. 2025-01-08T21:43:43.735Z,1736372623.735 [DockingStepper](INFO): Stopping 2025-01-08T21:43:43.920Z,1736372623.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:44.012Z,1736372624.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:44.021Z,1736372624.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.80 m. 2025-01-08T21:43:44.024Z,1736372624.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.799988 m, nav range: 48.348289 m, bearing: 112.841591 deg, approach rate: 0.671550 m/s, LOS rate: -0.026050 deg/s, cmd heading: 292.304284 deg, new cmd heading: 292.276541 deg. 2025-01-08T21:43:44.025Z,1736372624.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101188 target range: 484.799988 and range: 484.80 m. 2025-01-08T21:43:44.038Z,1736372624.038 [DockingStepper](INFO): Stopping 2025-01-08T21:43:44.172Z,1736372624.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:44.404Z,1736372624.404 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:43:44.427Z,1736372624.427 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:44.502Z,1736372624.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:44.509Z,1736372624.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:44.511Z,1736372624.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.80 m. 2025-01-08T21:43:44.514Z,1736372624.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.799988 m, nav range: 48.653065 m, bearing: 112.835160 deg, approach rate: 0.622354 m/s, LOS rate: -0.013050 deg/s, cmd heading: 292.276553 deg, new cmd heading: 292.257381 deg. 2025-01-08T21:43:44.514Z,1736372624.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100853 target range: 484.799988 and range: 484.80 m. 2025-01-08T21:43:44.564Z,1736372624.564 [DockingStepper](INFO): Stopping 2025-01-08T21:43:44.676Z,1736372624.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:44.677Z,1736372624.677 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:44.677Z,1736372624.677 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:44.678Z,1736372624.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:44.803Z,1736372624.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:44.812Z,1736372624.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.80 m. 2025-01-08T21:43:44.815Z,1736372624.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.799988 m, nav range: 48.840450 m, bearing: 112.834042 deg, approach rate: 0.622066 m/s, LOS rate: -0.003696 deg/s, cmd heading: 292.257374 deg, new cmd heading: 292.254034 deg. 2025-01-08T21:43:44.817Z,1736372624.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100795 target range: 484.799988 and range: 484.80 m. 2025-01-08T21:43:44.829Z,1736372624.829 [DockingStepper](INFO): Stopping 2025-01-08T21:43:44.928Z,1736372624.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:44.929Z,1736372624.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002200 2025-01-08T21:43:45.180Z,1736372625.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:45.180Z,1736372625.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254008 2025-01-08T21:43:45.220Z,1736372625.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:45.233Z,1736372625.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.80 m. 2025-01-08T21:43:45.240Z,1736372625.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.799988 m, nav range: 49.099487 m, bearing: 112.834615 deg, approach rate: 0.616671 m/s, LOS rate: 0.001356 deg/s, cmd heading: 292.254041 deg, new cmd heading: 292.255750 deg. 2025-01-08T21:43:45.241Z,1736372625.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100825 target range: 484.799988 and range: 484.80 m. 2025-01-08T21:43:45.396Z,1736372625.396 [DockingStepper](INFO): Stopping 2025-01-08T21:43:45.434Z,1736372625.434 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:45.436Z,1736372625.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509684 2025-01-08T21:43:45.659Z,1736372625.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:45.674Z,1736372625.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.80 m. 2025-01-08T21:43:45.679Z,1736372625.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.799988 m, nav range: 49.359650 m, bearing: 112.836028 deg, approach rate: 0.589078 m/s, LOS rate: 0.003184 deg/s, cmd heading: 292.255762 deg, new cmd heading: 292.259981 deg. 2025-01-08T21:43:45.684Z,1736372625.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:45.685Z,1736372625.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758312 2025-01-08T21:43:45.701Z,1736372625.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100899 target range: 484.799988 and range: 484.80 m. 2025-01-08T21:43:45.753Z,1736372625.753 [DockingStepper](INFO): Stopping 2025-01-08T21:43:45.936Z,1736372625.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:45.936Z,1736372625.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010135 2025-01-08T21:43:46.017Z,1736372626.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:46.041Z,1736372626.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.80 m. 2025-01-08T21:43:46.050Z,1736372626.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.799988 m, nav range: 49.572063 m, bearing: 112.840314 deg, approach rate: 0.577546 m/s, LOS rate: 0.011603 deg/s, cmd heading: 292.259970 deg, new cmd heading: 292.272772 deg. 2025-01-08T21:43:46.051Z,1736372626.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101122 target range: 484.799988 and range: 484.80 m. 2025-01-08T21:43:46.188Z,1736372626.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:46.189Z,1736372626.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262246 2025-01-08T21:43:46.224Z,1736372626.224 [DockingStepper](INFO): Stopping 2025-01-08T21:43:46.441Z,1736372626.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:46.444Z,1736372626.444 [DAT](INFO): DAT read: Rx Time:21:43:45.2313 2025-01-08T21:43:46.445Z,1736372626.445 [DAT](INFO): Rx dataTimestamp_ set to:1736372626.444305 2025-01-08T21:43:46.447Z,1736372626.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520437 2025-01-08T21:43:46.558Z,1736372626.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:46.573Z,1736372626.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:46.579Z,1736372626.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.80 m. 2025-01-08T21:43:46.583Z,1736372626.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.799988 m, nav range: 49.885441 m, bearing: 112.855324 deg, approach rate: 0.587416 m/s, LOS rate: 0.027959 deg/s, cmd heading: 292.272783 deg, new cmd heading: 292.317530 deg. 2025-01-08T21:43:46.589Z,1736372626.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101903 target range: 484.799988 and range: 484.80 m. 2025-01-08T21:43:46.645Z,1736372626.645 [DockingStepper](INFO): Stopping 2025-01-08T21:43:46.692Z,1736372626.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:46.693Z,1736372626.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767127 2025-01-08T21:43:46.820Z,1736372626.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:46.828Z,1736372626.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.80 m. 2025-01-08T21:43:46.831Z,1736372626.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 484.799988 m, nav range: 50.036873 m, bearing: 112.864220 deg, approach rate: 0.598158 m/s, LOS rate: 0.035034 deg/s, cmd heading: 292.317535 deg, new cmd heading: 292.344143 deg. 2025-01-08T21:43:46.832Z,1736372626.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.102368 target range: 484.799988 and range: 484.80 m. 2025-01-08T21:43:46.866Z,1736372626.866 [DockingStepper](INFO): Stopping 2025-01-08T21:43:46.944Z,1736372626.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:46.951Z,1736372626.951 [DAT](INFO): DAT read: 21:43:45.2314 LVL= 25568, 32753, 29874, 32755, AGC= 66, IDX= 421,-0.31, 2.252, 0.451, 0.723, 1.281, PHS= 1.059,-0.783,-0.561, RAW= 96.3, 3.3, CAL= 105.6, 1.4, ROT= 44.4, -1.4 2025-01-08T21:43:46.952Z,1736372626.952 [DAT](INFO): got valid direction response: 21:43:45.2314 LVL= 25568, 32753, 29874, 32755, AGC= 66, IDX= 421,-0.31, 2.252, 0.451, 0.723, 1.281, PHS= 1.059,-0.783,-0.561, RAW= 96.3, 3.3, CAL= 105.6, 1.4, ROT= 44.4, -1.4 2025-01-08T21:43:46.953Z,1736372626.953 [DAT](INFO): DAT read: Bearing 44.4, -1.4 (Local) 2025-01-08T21:43:46.954Z,1736372626.954 [DAT](INFO): Local bearing/azimuth received: Bearing 44.4, -1.4 (Local) 2025-01-08T21:43:46.955Z,1736372626.955 [DAT](INFO): DAT read: Range 10 to 50 : 483.4 m (Round-trip 644.6 ms) speed 0.4 m/s 2025-01-08T21:43:46.956Z,1736372626.956 [DAT](INFO): DAT read: user:2012> 2025-01-08T21:43:46.957Z,1736372626.957 [DAT](INFO): DAT read: Tx time:21:43:46.3327 2025-01-08T21:43:46.957Z,1736372626.957 [DAT](INFO): Ping request sent. 2025-01-08T21:43:46.957Z,1736372626.957 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:46.958Z,1736372626.958 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:46.958Z,1736372626.958 [DAT](INFO): direction in FSK: [-0.157880,0.000549,0.987458] 2025-01-08T21:43:46.959Z,1736372626.959 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:46.959Z,1736372626.959 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:46.962Z,1736372626.962 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:46.962Z,1736372626.962 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:47.196Z,1736372627.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:47.197Z,1736372627.197 [DAT](INFO): DAT read: TxSync time:21:43:46.3319 2025-01-08T21:43:47.228Z,1736372627.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:47.243Z,1736372627.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 483.399994 m, deltaT: 4.032212 s, deltaX: -1.399994 m, approachRate: -0.347202 m/s, rangeRepo size: 4 2025-01-08T21:43:47.245Z,1736372627.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 483.399994 m, bearing: 158.594060 deg, lat: 36.899623 deg, lon: -122.117263 deg, deltaT: 4.032212 s, deltaX: -1.399994 m, approachRate: -0.347202 m/s, posRepo size: 4 2025-01-08T21:43:47.246Z,1736372627.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.40 m. 2025-01-08T21:43:47.277Z,1736372627.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.399994 m, nav range: 58.031387 m, bearing: 140.564364 deg, approach rate: 0.000000 m/s, LOS rate: 0.035034 deg/s, cmd heading: 292.344145 deg, new cmd heading: 292.387689 deg. 2025-01-08T21:43:47.278Z,1736372627.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.103128 target range: 483.399994 and range: 483.40 m. 2025-01-08T21:43:47.303Z,1736372627.303 [DockingStepper](INFO): Stopping 2025-01-08T21:43:47.450Z,1736372627.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:47.681Z,1736372627.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:47.690Z,1736372627.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.40 m. 2025-01-08T21:43:47.700Z,1736372627.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:47.709Z,1736372627.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.399994 m, nav range: 58.274200 m, bearing: 140.456734 deg, approach rate: 0.541938 m/s, LOS rate: -0.239219 deg/s, cmd heading: 292.387694 deg, new cmd heading: 292.066154 deg. 2025-01-08T21:43:47.710Z,1736372627.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.097516 target range: 483.399994 and range: 483.40 m. 2025-01-08T21:43:47.737Z,1736372627.737 [DockingStepper](INFO): Stopping 2025-01-08T21:43:47.952Z,1736372627.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:48.035Z,1736372628.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:48.044Z,1736372628.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.40 m. 2025-01-08T21:43:48.046Z,1736372628.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.399994 m, nav range: 58.464050 m, bearing: 140.373383 deg, approach rate: 0.538198 m/s, LOS rate: -0.235522 deg/s, cmd heading: 292.066156 deg, new cmd heading: 291.816916 deg. 2025-01-08T21:43:48.047Z,1736372628.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093166 target range: 483.399994 and range: 483.40 m. 2025-01-08T21:43:48.077Z,1736372628.077 [DockingStepper](INFO): Stopping 2025-01-08T21:43:48.204Z,1736372628.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:48.457Z,1736372628.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:48.509Z,1736372628.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:48.526Z,1736372628.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.40 m. 2025-01-08T21:43:48.534Z,1736372628.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.399994 m, nav range: 58.719105 m, bearing: 140.262651 deg, approach rate: 0.528151 m/s, LOS rate: -0.228300 deg/s, cmd heading: 291.816909 deg, new cmd heading: 291.486161 deg. 2025-01-08T21:43:48.539Z,1736372628.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.087393 target range: 483.399994 and range: 483.40 m. 2025-01-08T21:43:48.602Z,1736372628.602 [DockingStepper](INFO): Stopping 2025-01-08T21:43:48.708Z,1736372628.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:48.872Z,1736372628.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:48.879Z,1736372628.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:48.881Z,1736372628.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.40 m. 2025-01-08T21:43:48.888Z,1736372628.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.399994 m, nav range: 58.922619 m, bearing: 140.172234 deg, approach rate: 0.573123 m/s, LOS rate: -0.253747 deg/s, cmd heading: 291.486164 deg, new cmd heading: 291.215851 deg. 2025-01-08T21:43:48.889Z,1736372628.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.082675 target range: 483.399994 and range: 483.40 m. 2025-01-08T21:43:48.902Z,1736372628.902 [DockingStepper](INFO): Stopping 2025-01-08T21:43:48.963Z,1736372628.963 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:48.964Z,1736372628.964 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:48.964Z,1736372628.964 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:48.965Z,1736372628.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:49.212Z,1736372629.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:49.212Z,1736372629.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255128 2025-01-08T21:43:49.273Z,1736372629.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:49.290Z,1736372629.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.40 m. 2025-01-08T21:43:49.297Z,1736372629.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.399994 m, nav range: 59.147491 m, bearing: 140.073683 deg, approach rate: 0.549797 m/s, LOS rate: -0.240033 deg/s, cmd heading: 291.215852 deg, new cmd heading: 290.921327 deg. 2025-01-08T21:43:49.298Z,1736372629.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.077535 target range: 483.399994 and range: 483.40 m. 2025-01-08T21:43:49.352Z,1736372629.352 [DockingStepper](INFO): Stopping 2025-01-08T21:43:49.466Z,1736372629.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:49.468Z,1736372629.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510667 2025-01-08T21:43:49.697Z,1736372629.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:49.716Z,1736372629.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:49.717Z,1736372629.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759494 2025-01-08T21:43:49.734Z,1736372629.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.40 m. 2025-01-08T21:43:49.741Z,1736372629.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.399994 m, nav range: 59.407574 m, bearing: 139.955378 deg, approach rate: 0.586103 m/s, LOS rate: -0.265438 deg/s, cmd heading: 290.921335 deg, new cmd heading: 290.567977 deg. 2025-01-08T21:43:49.742Z,1736372629.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.071368 target range: 483.399994 and range: 483.40 m. 2025-01-08T21:43:49.776Z,1736372629.776 [DockingStepper](INFO): Stopping 2025-01-08T21:43:49.968Z,1736372629.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:49.968Z,1736372629.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011208 2025-01-08T21:43:50.054Z,1736372630.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:50.063Z,1736372630.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.40 m. 2025-01-08T21:43:50.067Z,1736372630.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.399994 m, nav range: 59.626465 m, bearing: 139.856484 deg, approach rate: 0.666098 m/s, LOS rate: -0.299835 deg/s, cmd heading: 290.567968 deg, new cmd heading: 290.272378 deg. 2025-01-08T21:43:50.080Z,1736372630.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.066209 target range: 483.399994 and range: 483.40 m. 2025-01-08T21:43:50.111Z,1736372630.111 [DockingStepper](INFO): Stopping 2025-01-08T21:43:50.220Z,1736372630.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:50.221Z,1736372630.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263348 2025-01-08T21:43:50.473Z,1736372630.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:50.476Z,1736372630.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518643 2025-01-08T21:43:50.485Z,1736372630.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:50.548Z,1736372630.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.40 m. 2025-01-08T21:43:50.551Z,1736372630.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.399994 m, nav range: 59.889111 m, bearing: 139.737985 deg, approach rate: 0.547669 m/s, LOS rate: -0.246009 deg/s, cmd heading: 290.272385 deg, new cmd heading: 289.918453 deg. 2025-01-08T21:43:50.556Z,1736372630.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060031 target range: 483.399994 and range: 483.40 m. 2025-01-08T21:43:50.596Z,1736372630.596 [DockingStepper](INFO): Stopping 2025-01-08T21:43:50.724Z,1736372630.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:50.725Z,1736372630.725 [DAT](INFO): DAT read: Rx Time:21:43:49.3791 2025-01-08T21:43:50.725Z,1736372630.725 [DAT](INFO): Rx dataTimestamp_ set to:1736372630.724893 2025-01-08T21:43:50.726Z,1736372630.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768462 2025-01-08T21:43:50.890Z,1736372630.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:50.897Z,1736372630.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:50.900Z,1736372630.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 483.40 m. 2025-01-08T21:43:50.902Z,1736372630.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 483.399994 m, nav range: 60.156483 m, bearing: 139.610690 deg, approach rate: 0.749727 m/s, LOS rate: -0.355358 deg/s, cmd heading: 289.918444 deg, new cmd heading: 289.538260 deg. 2025-01-08T21:43:50.903Z,1736372630.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.053396 target range: 483.399994 and range: 483.40 m. 2025-01-08T21:43:50.916Z,1736372630.916 [DockingStepper](INFO): Stopping 2025-01-08T21:43:50.977Z,1736372630.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:50.979Z,1736372630.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021195 2025-01-08T21:43:51.228Z,1736372631.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:51.235Z,1736372631.235 [DAT](INFO): DAT read: 21:43:49.3791 LVL= 14128, 28449, 20594, 32755, AGC= 69, IDX= 414,-0.01,-0.266,-2.194,-1.879,-1.365, PHS= 1.187,-0.782,-0.517, RAW= 97.1, 1.2, CAL= 106.4, -2.0, ROT= 43.6, 2.0 2025-01-08T21:43:51.256Z,1736372631.256 [DAT](INFO): got valid direction response: 21:43:49.3791 LVL= 14128, 28449, 20594, 32755, AGC= 69, IDX= 414,-0.01,-0.266,-2.194,-1.879,-1.365, PHS= 1.187,-0.782,-0.517, RAW= 97.1, 1.2, CAL= 106.4, -2.0, ROT= 43.6, 2.0 2025-01-08T21:43:51.257Z,1736372631.257 [DAT](INFO): DAT read: Bearing 43.6, 2.0 (Local) 2025-01-08T21:43:51.257Z,1736372631.257 [DAT](INFO): Local bearing/azimuth received: Bearing 43.6, 2.0 (Local) 2025-01-08T21:43:51.259Z,1736372631.259 [DAT](INFO): DAT read: Range 10 to 50 : 481.7 m (Round-trip 642.3 ms) speed 0.4 m/s 2025-01-08T21:43:51.260Z,1736372631.260 [DAT](INFO): DAT read: user:2013> 2025-01-08T21:43:51.261Z,1736372631.261 [DAT](INFO): DAT read: Tx time:21:43:50.4827 2025-01-08T21:43:51.261Z,1736372631.261 [DAT](INFO): Ping request sent. 2025-01-08T21:43:51.261Z,1736372631.261 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:51.261Z,1736372631.261 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:51.262Z,1736372631.262 [DAT](INFO): direction in FSK: [-0.119421,-0.015419,0.992724] 2025-01-08T21:43:51.263Z,1736372631.263 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:51.263Z,1736372631.263 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:51.271Z,1736372631.271 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:51.282Z,1736372631.282 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:51.291Z,1736372631.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:51.352Z,1736372631.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 481.700012 m, deltaT: 4.283686 s, deltaX: -1.699982 m, approachRate: -0.396850 m/s, rangeRepo size: 4 2025-01-08T21:43:51.354Z,1736372631.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 481.700012 m, bearing: 172.251778 deg, lat: 36.899438 deg, lon: -122.117306 deg, deltaT: 4.283686 s, deltaX: -1.699982 m, approachRate: -0.396850 m/s, posRepo size: 4 2025-01-08T21:43:51.363Z,1736372631.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:43:51.366Z,1736372631.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 75.351555 m, bearing: 151.960529 deg, approach rate: 0.000000 m/s, LOS rate: -0.355358 deg/s, cmd heading: 289.538249 deg, new cmd heading: 289.064569 deg. 2025-01-08T21:43:51.373Z,1736372631.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.045128 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:43:51.480Z,1736372631.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:51.481Z,1736372631.481 [DAT](INFO): DAT read: TxSync time:21:43:50.4819 2025-01-08T21:43:51.538Z,1736372631.538 [DockingStepper](INFO): Stopping 2025-01-08T21:43:51.732Z,1736372631.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:51.801Z,1736372631.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:51.819Z,1736372631.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:43:51.825Z,1736372631.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 75.653053 m, bearing: 151.755550 deg, approach rate: 0.634119 m/s, LOS rate: -0.429397 deg/s, cmd heading: 289.064561 deg, new cmd heading: 288.452101 deg. 2025-01-08T21:43:51.826Z,1736372631.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.034439 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:43:51.896Z,1736372631.896 [DockingStepper](INFO): Stopping 2025-01-08T21:43:51.984Z,1736372631.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:52.151Z,1736372632.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:52.160Z,1736372632.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:43:52.163Z,1736372632.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 75.858536 m, bearing: 151.614706 deg, approach rate: 0.601762 m/s, LOS rate: -0.411349 deg/s, cmd heading: 288.452112 deg, new cmd heading: 288.030732 deg. 2025-01-08T21:43:52.164Z,1736372632.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.027085 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:43:52.236Z,1736372632.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:52.296Z,1736372632.296 [DockingStepper](INFO): Stopping 2025-01-08T21:43:52.489Z,1736372632.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:52.626Z,1736372632.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:52.637Z,1736372632.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:43:52.640Z,1736372632.640 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:43:52.640Z,1736372632.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 76.141129 m, bearing: 151.414285 deg, approach rate: 0.593017 m/s, LOS rate: -0.419019 deg/s, cmd heading: 288.030744 deg, new cmd heading: 287.431735 deg. 2025-01-08T21:43:52.641Z,1736372632.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.016630 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:43:52.685Z,1736372632.685 [DockingStepper](INFO): Stopping 2025-01-08T21:43:52.740Z,1736372632.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:52.952Z,1736372632.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:52.961Z,1736372632.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:52.964Z,1736372632.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:43:52.967Z,1736372632.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 76.334244 m, bearing: 151.277068 deg, approach rate: 0.590964 m/s, LOS rate: -0.418841 deg/s, cmd heading: 287.431736 deg, new cmd heading: 287.021136 deg. 2025-01-08T21:43:52.968Z,1736372632.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.009464 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:43:52.992Z,1736372632.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:52.992Z,1736372632.992 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:52.992Z,1736372632.992 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:52.992Z,1736372632.992 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:53.002Z,1736372633.002 [DockingStepper](INFO): Stopping 2025-01-08T21:43:53.245Z,1736372633.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:53.246Z,1736372633.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984837 2025-01-08T21:43:53.348Z,1736372633.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:53.358Z,1736372633.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:43:53.361Z,1736372633.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 76.568153 m, bearing: 151.109793 deg, approach rate: 0.592572 m/s, LOS rate: -0.422471 deg/s, cmd heading: 287.021133 deg, new cmd heading: 286.520852 deg. 2025-01-08T21:43:53.362Z,1736372633.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000732 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:43:53.416Z,1736372633.416 [DockingStepper](INFO): Stopping 2025-01-08T21:43:53.496Z,1736372633.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:53.496Z,1736372633.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235098 2025-01-08T21:43:53.644Z,1736372633.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:43:53.748Z,1736372633.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:53.750Z,1736372633.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487982 2025-01-08T21:43:53.794Z,1736372633.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:53.820Z,1736372633.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:43:53.822Z,1736372633.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 76.829041 m, bearing: 150.923808 deg, approach rate: 0.585897 m/s, LOS rate: -0.416264 deg/s, cmd heading: 286.520862 deg, new cmd heading: 285.964820 deg. 2025-01-08T21:43:53.827Z,1736372633.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.991028 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:43:53.859Z,1736372633.859 [DockingStepper](INFO): Stopping 2025-01-08T21:43:53.000Z,1736372634.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:54.001Z,1736372634.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739582 2025-01-08T21:43:54.158Z,1736372634.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:54.168Z,1736372634.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:43:54.170Z,1736372634.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 77.041000 m, bearing: 150.771845 deg, approach rate: 0.582365 m/s, LOS rate: -0.416370 deg/s, cmd heading: 285.964830 deg, new cmd heading: 285.510208 deg. 2025-01-08T21:43:54.188Z,1736372634.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.983093 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:43:54.212Z,1736372634.212 [DockingStepper](INFO): Stopping 2025-01-08T21:43:54.252Z,1736372634.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:54.253Z,1736372634.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991365 2025-01-08T21:43:54.505Z,1736372634.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:54.506Z,1736372634.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244609 2025-01-08T21:43:54.658Z,1736372634.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:54.696Z,1736372634.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:43:54.698Z,1736372634.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 77.316414 m, bearing: 150.569661 deg, approach rate: 0.525716 m/s, LOS rate: -0.384560 deg/s, cmd heading: 285.510213 deg, new cmd heading: 284.905843 deg. 2025-01-08T21:43:54.703Z,1736372634.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972545 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:43:54.734Z,1736372634.734 [DockingStepper](INFO): Stopping 2025-01-08T21:43:54.757Z,1736372634.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:54.758Z,1736372634.758 [DAT](INFO): DAT read: Rx Time:21:43:53.5267 2025-01-08T21:43:54.759Z,1736372634.759 [DAT](INFO): Rx dataTimestamp_ set to:1736372634.758610 2025-01-08T21:43:54.760Z,1736372634.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498356 2025-01-08T21:43:54.963Z,1736372634.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:54.971Z,1736372634.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:54.974Z,1736372634.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.70 m. 2025-01-08T21:43:54.976Z,1736372634.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.700012 m, nav range: 77.483696 m, bearing: 150.446221 deg, approach rate: 0.592348 m/s, LOS rate: -0.436156 deg/s, cmd heading: 284.905850 deg, new cmd heading: 284.536338 deg. 2025-01-08T21:43:54.977Z,1736372634.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.966096 target range: 481.700012 and range: 481.70 m. 2025-01-08T21:43:55.008Z,1736372635.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:55.008Z,1736372635.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747269 2025-01-08T21:43:55.020Z,1736372635.020 [DockingStepper](INFO): Stopping 2025-01-08T21:43:55.260Z,1736372635.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:55.267Z,1736372635.267 [DAT](INFO): DAT read: 21:43:53.5267 LVL= 12016, 28913, 18754, 32755, AGC= 67, IDX= 421,-0.29,-1.674, 2.667, 2.906,-2.831, PHS= 1.245,-0.739,-0.549, RAW= 95.0, 0.5, CAL= 103.6, -3.4, ROT= 46.4, 3.4 2025-01-08T21:43:55.268Z,1736372635.268 [DAT](INFO): got valid direction response: 21:43:53.5267 LVL= 12016, 28913, 18754, 32755, AGC= 67, IDX= 421,-0.29,-1.674, 2.667, 2.906,-2.831, PHS= 1.245,-0.739,-0.549, RAW= 95.0, 0.5, CAL= 103.6, -3.4, ROT= 46.4, 3.4 2025-01-08T21:43:55.269Z,1736372635.269 [DAT](INFO): DAT read: Bearing 46.4, 3.4 (Local) 2025-01-08T21:43:55.270Z,1736372635.270 [DAT](INFO): Local bearing/azimuth received: Bearing 46.4, 3.4 (Local) 2025-01-08T21:43:55.272Z,1736372635.272 [DAT](INFO): DAT read: Range 10 to 50 : 479.9 m (Round-trip 639.9 ms) speed 0.3 m/s 2025-01-08T21:43:55.272Z,1736372635.272 [DAT](INFO): DAT read: user:2014> 2025-01-08T21:43:55.273Z,1736372635.273 [DAT](INFO): DAT read: Tx time:21:43:54.6327 2025-01-08T21:43:55.274Z,1736372635.274 [DAT](INFO): Ping request sent. 2025-01-08T21:43:55.274Z,1736372635.274 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:55.276Z,1736372635.276 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:55.280Z,1736372635.280 [DAT](INFO): direction in FSK: [-0.101624,0.021446,0.994592] 2025-01-08T21:43:55.280Z,1736372635.280 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:55.280Z,1736372635.280 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:55.285Z,1736372635.285 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:55.285Z,1736372635.285 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:55.381Z,1736372635.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:55.430Z,1736372635.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 479.899994 m, deltaT: 4.032063 s, deltaX: -1.800018 m, approachRate: -0.446426 m/s, rangeRepo size: 4 2025-01-08T21:43:55.441Z,1736372635.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 479.899994 m, bearing: 168.717171 deg, lat: 36.899438 deg, lon: -122.117455 deg, deltaT: 4.032063 s, deltaX: -1.800018 m, approachRate: -0.446426 m/s, posRepo size: 4 2025-01-08T21:43:55.441Z,1736372635.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.90 m. 2025-01-08T21:43:55.449Z,1736372635.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.899994 m, nav range: 72.054085 m, bearing: 159.492374 deg, approach rate: 0.000000 m/s, LOS rate: -0.436156 deg/s, cmd heading: 284.536337 deg, new cmd heading: 283.940094 deg. 2025-01-08T21:43:55.450Z,1736372635.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.955689 target range: 479.899994 and range: 479.90 m. 2025-01-08T21:43:55.504Z,1736372635.504 [DockingStepper](INFO): Stopping 2025-01-08T21:43:55.512Z,1736372635.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:55.513Z,1736372635.513 [DAT](INFO): DAT read: TxSync time:21:43:54.6319 2025-01-08T21:43:55.765Z,1736372635.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:55.831Z,1736372635.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:55.853Z,1736372635.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.90 m. 2025-01-08T21:43:55.860Z,1736372635.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.899994 m, nav range: 72.246719 m, bearing: 159.284993 deg, approach rate: 0.454793 m/s, LOS rate: -0.488304 deg/s, cmd heading: 283.940089 deg, new cmd heading: 283.319628 deg. 2025-01-08T21:43:55.864Z,1736372635.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.944860 target range: 479.899994 and range: 479.90 m. 2025-01-08T21:43:55.886Z,1736372635.886 [DockingStepper](INFO): Stopping 2025-01-08T21:43:56.016Z,1736372636.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:56.178Z,1736372636.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:56.188Z,1736372636.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.90 m. 2025-01-08T21:43:56.190Z,1736372636.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.899994 m, nav range: 72.397339 m, bearing: 159.121481 deg, approach rate: 0.450211 m/s, LOS rate: -0.487728 deg/s, cmd heading: 283.319635 deg, new cmd heading: 282.830133 deg. 2025-01-08T21:43:56.191Z,1736372636.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.936317 target range: 479.899994 and range: 479.90 m. 2025-01-08T21:43:56.205Z,1736372636.205 [DockingStepper](INFO): Stopping 2025-01-08T21:43:56.268Z,1736372636.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:56.520Z,1736372636.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:56.698Z,1736372636.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:56.726Z,1736372636.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.90 m. 2025-01-08T21:43:56.733Z,1736372636.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.899994 m, nav range: 72.602455 m, bearing: 158.903613 deg, approach rate: 0.380592 m/s, LOS rate: -0.403110 deg/s, cmd heading: 282.830129 deg, new cmd heading: 282.178400 deg. 2025-01-08T21:43:56.734Z,1736372636.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.924942 target range: 479.899994 and range: 479.90 m. 2025-01-08T21:43:56.772Z,1736372636.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:56.786Z,1736372636.786 [DockingStepper](INFO): Stopping 2025-01-08T21:43:56.992Z,1736372636.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:57.022Z,1736372637.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:57.024Z,1736372637.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:57.024Z,1736372637.024 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:43:57.024Z,1736372637.024 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:43:57.025Z,1736372637.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:43:57.029Z,1736372637.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.90 m. 2025-01-08T21:43:57.039Z,1736372637.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.899994 m, nav range: 72.717216 m, bearing: 158.779545 deg, approach rate: 0.379655 m/s, LOS rate: -0.409796 deg/s, cmd heading: 282.178392 deg, new cmd heading: 281.806780 deg. 2025-01-08T21:43:57.040Z,1736372637.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.918456 target range: 479.899994 and range: 479.90 m. 2025-01-08T21:43:57.102Z,1736372637.102 [DockingStepper](INFO): Stopping 2025-01-08T21:43:57.276Z,1736372637.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:57.276Z,1736372637.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002528 2025-01-08T21:43:57.396Z,1736372637.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:57.405Z,1736372637.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.90 m. 2025-01-08T21:43:57.408Z,1736372637.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.899994 m, nav range: 72.874054 m, bearing: 158.609780 deg, approach rate: 0.416895 m/s, LOS rate: -0.450285 deg/s, cmd heading: 281.806775 deg, new cmd heading: 281.298592 deg. 2025-01-08T21:43:57.409Z,1736372637.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909586 target range: 479.899994 and range: 479.90 m. 2025-01-08T21:43:57.438Z,1736372637.438 [DockingStepper](INFO): Stopping 2025-01-08T21:43:57.528Z,1736372637.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:57.528Z,1736372637.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254487 2025-01-08T21:43:57.780Z,1736372637.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:57.780Z,1736372637.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506675 2025-01-08T21:43:57.847Z,1736372637.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:57.872Z,1736372637.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.90 m. 2025-01-08T21:43:57.875Z,1736372637.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.899994 m, nav range: 73.038643 m, bearing: 158.445261 deg, approach rate: 0.352170 m/s, LOS rate: -0.351227 deg/s, cmd heading: 281.298582 deg, new cmd heading: 280.806148 deg. 2025-01-08T21:43:57.880Z,1736372637.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.900992 target range: 479.899994 and range: 479.90 m. 2025-01-08T21:43:57.913Z,1736372637.913 [DockingStepper](INFO): Stopping 2025-01-08T21:43:58.035Z,1736372638.035 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:58.036Z,1736372638.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761966 2025-01-08T21:43:58.217Z,1736372638.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:58.226Z,1736372638.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.90 m. 2025-01-08T21:43:58.229Z,1736372638.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.899994 m, nav range: 73.172539 m, bearing: 158.309724 deg, approach rate: 0.378674 m/s, LOS rate: -0.382613 deg/s, cmd heading: 280.806152 deg, new cmd heading: 280.400293 deg. 2025-01-08T21:43:58.230Z,1736372638.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893909 target range: 479.899994 and range: 479.90 m. 2025-01-08T21:43:58.244Z,1736372638.244 [DockingStepper](INFO): Stopping 2025-01-08T21:43:58.288Z,1736372638.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:58.289Z,1736372638.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014933 2025-01-08T21:43:58.540Z,1736372638.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:58.540Z,1736372638.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266616 2025-01-08T21:43:58.709Z,1736372638.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:58.723Z,1736372638.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.90 m. 2025-01-08T21:43:58.725Z,1736372638.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.899994 m, nav range: 73.338692 m, bearing: 158.152275 deg, approach rate: 0.334513 m/s, LOS rate: -0.316271 deg/s, cmd heading: 280.400302 deg, new cmd heading: 279.929037 deg. 2025-01-08T21:43:58.726Z,1736372638.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.885684 target range: 479.899994 and range: 479.90 m. 2025-01-08T21:43:58.786Z,1736372638.786 [DockingStepper](INFO): Stopping 2025-01-08T21:43:58.792Z,1736372638.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:58.793Z,1736372638.793 [DAT](INFO): DAT read: Rx Time:21:43:57.6750 2025-01-08T21:43:58.793Z,1736372638.793 [DAT](INFO): Rx dataTimestamp_ set to:1736372638.792891 2025-01-08T21:43:58.794Z,1736372638.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519898 2025-01-08T21:43:59.014Z,1736372639.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:59.041Z,1736372639.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:43:59.043Z,1736372639.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.90 m. 2025-01-08T21:43:59.044Z,1736372639.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:59.044Z,1736372639.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770588 2025-01-08T21:43:59.055Z,1736372639.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.899994 m, nav range: 73.442268 m, bearing: 158.053465 deg, approach rate: 0.323430 m/s, LOS rate: -0.308111 deg/s, cmd heading: 279.929047 deg, new cmd heading: 279.633037 deg. 2025-01-08T21:43:59.056Z,1736372639.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.880517 target range: 479.899994 and range: 479.90 m. 2025-01-08T21:43:59.078Z,1736372639.078 [DockingStepper](INFO): Stopped 2025-01-08T21:43:59.264Z,1736372639.264 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-01-08T21:43:59.264Z,1736372639.264 [DockingStepper] No Fault, FailCount= 1 2025-01-08T21:43:59.296Z,1736372639.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:59.296Z,1736372639.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022551 2025-01-08T21:43:59.421Z,1736372639.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:59.429Z,1736372639.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.90 m. 2025-01-08T21:43:59.433Z,1736372639.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.899994 m, nav range: 73.578583 m, bearing: 157.922566 deg, approach rate: 0.352566 m/s, LOS rate: -0.337931 deg/s, cmd heading: 279.633026 deg, new cmd heading: 279.241064 deg. 2025-01-08T21:43:59.434Z,1736372639.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873676 target range: 479.899994 and range: 479.90 m. 2025-01-08T21:43:59.447Z,1736372639.447 [DockingStepper](INFO): Start 2025-01-08T21:43:59.448Z,1736372639.448 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-01-08T21:43:59.548Z,1736372639.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:59.558Z,1736372639.558 [DAT](INFO): DAT read: 21:43:57.6750 LVL= 14512, 27857, 19570, 28579, AGC= 66, IDX= 419,-0.47,-0.697,-2.586,-2.577,-1.847, PHS= 1.237,-0.692,-0.733, RAW= 88.9, 2.0, CAL= 96.0, -1.0, ROT= 54.0, 1.0 2025-01-08T21:43:59.560Z,1736372639.560 [DAT](INFO): got valid direction response: 21:43:57.6750 LVL= 14512, 27857, 19570, 28579, AGC= 66, IDX= 419,-0.47,-0.697,-2.586,-2.577,-1.847, PHS= 1.237,-0.692,-0.733, RAW= 88.9, 2.0, CAL= 96.0, -1.0, ROT= 54.0, 1.0 2025-01-08T21:43:59.561Z,1736372639.561 [DAT](INFO): DAT read: Bearing 54.0, 1.0 (Local) 2025-01-08T21:43:59.561Z,1736372639.561 [DAT](INFO): Local bearing/azimuth received: Bearing 54.0, 1.0 (Local) 2025-01-08T21:43:59.563Z,1736372639.563 [DAT](INFO): DAT read: Range 10 to 50 : 478.5 m (Round-trip 638.1 ms) speed 0.3 m/s 2025-01-08T21:43:59.564Z,1736372639.564 [DAT](INFO): DAT read: user:2015> 2025-01-08T21:43:59.565Z,1736372639.565 [DAT](INFO): DAT read: Tx time:21:43:58.7828 2025-01-08T21:43:59.565Z,1736372639.565 [DAT](INFO): Ping request sent. 2025-01-08T21:43:59.565Z,1736372639.565 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:43:59.566Z,1736372639.566 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:43:59.567Z,1736372639.567 [DAT](INFO): direction in FSK: [-0.120452,0.127418,0.984508] 2025-01-08T21:43:59.568Z,1736372639.568 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:59.568Z,1736372639.568 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:59.572Z,1736372639.572 [DAT](INFO): publishing transmit ping time 2025-01-08T21:43:59.573Z,1736372639.573 [DAT](INFO): publishing direction and range info 2025-01-08T21:43:59.577Z,1736372639.577 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-01-08T21:43:59.801Z,1736372639.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:43:59.802Z,1736372639.802 [DAT](INFO): DAT read: TxSync time:21:43:58.7820 2025-01-08T21:43:59.886Z,1736372639.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:43:59.901Z,1736372639.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 478.500000 m, deltaT: 4.288157 s, deltaX: -1.399994 m, approachRate: -0.326479 m/s, rangeRepo size: 4 2025-01-08T21:43:59.904Z,1736372639.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 478.500000 m, bearing: 33.411907 deg, lat: 36.899438 deg, lon: -122.117567 deg, deltaT: 4.288157 s, deltaX: -1.399994 m, approachRate: -0.326479 m/s, posRepo size: 4 2025-01-08T21:43:59.904Z,1736372639.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T21:43:59.907Z,1736372639.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 70.585220 m, bearing: 165.247946 deg, approach rate: 0.000000 m/s, LOS rate: -0.337931 deg/s, cmd heading: 279.241055 deg, new cmd heading: 278.763374 deg. 2025-01-08T21:43:59.908Z,1736372639.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865339 target range: 478.500000 and range: 478.50 m. 2025-01-08T21:43:59.921Z,1736372639.921 [DockingStepper](INFO): Starting 2025-01-08T21:44:00.052Z,1736372640.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:00.236Z,1736372640.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:00.244Z,1736372640.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T21:44:00.247Z,1736372640.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 70.681664 m, bearing: 165.120269 deg, approach rate: 0.280622 m/s, LOS rate: -0.370995 deg/s, cmd heading: 278.763379 deg, new cmd heading: 278.380879 deg. 2025-01-08T21:44:00.250Z,1736372640.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858663 target range: 478.500000 and range: 478.50 m. 2025-01-08T21:44:00.263Z,1736372640.263 [DockingStepper](INFO): Starting 2025-01-08T21:44:00.304Z,1736372640.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:00.556Z,1736372640.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:00.722Z,1736372640.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:00.730Z,1736372640.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T21:44:00.736Z,1736372640.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 70.816879 m, bearing: 164.941477 deg, approach rate: 0.278123 m/s, LOS rate: -0.367051 deg/s, cmd heading: 278.380889 deg, new cmd heading: 277.845554 deg. 2025-01-08T21:44:00.738Z,1736372640.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.849320 target range: 478.500000 and range: 478.50 m. 2025-01-08T21:44:00.775Z,1736372640.775 [DockingStepper](INFO): Starting 2025-01-08T21:44:00.810Z,1736372640.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:00.828Z,1736372640.828 [DockingStepper](INFO): Init string: /1z16352aE13561N3m50 2025-01-08T21:44:01.060Z,1736372641.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:01.067Z,1736372641.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:01.073Z,1736372641.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:01.076Z,1736372641.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T21:44:01.078Z,1736372641.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 70.911972 m, bearing: 164.814643 deg, approach rate: 0.275613 m/s, LOS rate: -0.367117 deg/s, cmd heading: 277.845566 deg, new cmd heading: 277.465580 deg. 2025-01-08T21:44:01.108Z,1736372641.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842688 target range: 478.500000 and range: 478.50 m. 2025-01-08T21:44:01.152Z,1736372641.152 [DockingStepper](INFO): Starting 2025-01-08T21:44:01.312Z,1736372641.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:01.312Z,1736372641.312 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:01.312Z,1736372641.312 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:01.312Z,1736372641.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:01.475Z,1736372641.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:01.484Z,1736372641.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T21:44:01.487Z,1736372641.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 71.023750 m, bearing: 164.664339 deg, approach rate: 0.273436 m/s, LOS rate: -0.367100 deg/s, cmd heading: 277.465589 deg, new cmd heading: 277.015396 deg. 2025-01-08T21:44:01.488Z,1736372641.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834831 target range: 478.500000 and range: 478.50 m. 2025-01-08T21:44:01.502Z,1736372641.502 [DockingStepper](INFO): Starting 2025-01-08T21:44:01.564Z,1736372641.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:01.565Z,1736372641.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999798 2025-01-08T21:44:01.816Z,1736372641.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:01.816Z,1736372641.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251375 2025-01-08T21:44:01.920Z,1736372641.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:01.929Z,1736372641.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T21:44:01.943Z,1736372641.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 71.150459 m, bearing: 164.487283 deg, approach rate: 0.285144 m/s, LOS rate: -0.397735 deg/s, cmd heading: 277.015397 deg, new cmd heading: 276.485190 deg. 2025-01-08T21:44:01.944Z,1736372641.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825577 target range: 478.500000 and range: 478.50 m. 2025-01-08T21:44:02.068Z,1736372642.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:02.069Z,1736372642.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503728 2025-01-08T21:44:02.103Z,1736372642.103 [DockingStepper](INFO): Starting 2025-01-08T21:44:02.309Z,1736372642.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:02.319Z,1736372642.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T21:44:02.320Z,1736372642.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:02.321Z,1736372642.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755606 2025-01-08T21:44:02.339Z,1736372642.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 71.260071 m, bearing: 164.332708 deg, approach rate: 0.281009 m/s, LOS rate: -0.395672 deg/s, cmd heading: 276.485183 deg, new cmd heading: 276.022181 deg. 2025-01-08T21:44:02.340Z,1736372642.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817496 target range: 478.500000 and range: 478.50 m. 2025-01-08T21:44:02.408Z,1736372642.408 [DockingStepper](INFO): Starting 2025-01-08T21:44:02.432Z,1736372642.432 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2025-01-08T21:44:02.572Z,1736372642.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:02.572Z,1736372642.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007320 2025-01-08T21:44:02.745Z,1736372642.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:02.784Z,1736372642.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T21:44:02.793Z,1736372642.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 71.388870 m, bearing: 164.139945 deg, approach rate: 0.279510 m/s, LOS rate: -0.417561 deg/s, cmd heading: 276.022178 deg, new cmd heading: 275.444956 deg. 2025-01-08T21:44:02.794Z,1736372642.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807421 target range: 478.500000 and range: 478.50 m. 2025-01-08T21:44:02.826Z,1736372642.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:02.826Z,1736372642.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261458 2025-01-08T21:44:02.956Z,1736372642.956 [DockingStepper](INFO): Starting 2025-01-08T21:44:03.076Z,1736372643.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:03.077Z,1736372643.077 [DAT](INFO): DAT read: Rx Time:21:44:01.8351 2025-01-08T21:44:03.077Z,1736372643.077 [DAT](INFO): Rx dataTimestamp_ set to:1736372643.077143 2025-01-08T21:44:03.078Z,1736372643.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512977 2025-01-08T21:44:03.184Z,1736372643.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:03.195Z,1736372643.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:03.197Z,1736372643.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T21:44:03.205Z,1736372643.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 71.517014 m, bearing: 163.945812 deg, approach rate: 0.306629 m/s, LOS rate: -0.463700 deg/s, cmd heading: 275.444946 deg, new cmd heading: 274.863611 deg. 2025-01-08T21:44:03.205Z,1736372643.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797275 target range: 478.500000 and range: 478.50 m. 2025-01-08T21:44:03.328Z,1736372643.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:03.329Z,1736372643.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763702 2025-01-08T21:44:03.344Z,1736372643.344 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T21:44:03.344Z,1736372643.344 [DockingStepper](INFO): Standby mode. 2025-01-08T21:44:03.580Z,1736372643.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:03.587Z,1736372643.587 [DAT](INFO): DAT read: 21:44:01.8351 LVL= 13120, 24209, 15794, 20371, AGC= 68, IDX= 26, 0.03,-1.808, 2.862, 2.619,-2.751, PHS= 1.031,-0.623,-0.917, RAW= 82.0, 5.7, CAL= 87.2, 5.4, ROT= 62.8, -5.4 2025-01-08T21:44:03.588Z,1736372643.588 [DAT](INFO): got valid direction response: 21:44:01.8351 LVL= 13120, 24209, 15794, 20371, AGC= 68, IDX= 26, 0.03,-1.808, 2.862, 2.619,-2.751, PHS= 1.031,-0.623,-0.917, RAW= 82.0, 5.7, CAL= 87.2, 5.4, ROT= 62.8, -5.4 2025-01-08T21:44:03.589Z,1736372643.589 [DAT](INFO): DAT read: Bearing 62.8, -5.4 (Local) 2025-01-08T21:44:03.590Z,1736372643.590 [DAT](INFO): Local bearing/azimuth received: Bearing 62.8, -5.4 (Local) 2025-01-08T21:44:03.591Z,1736372643.591 [DAT](INFO): DAT read: Range 10 to 50 : 486.1 m (Round-trip 648.2 ms) speed 0.3 m/s 2025-01-08T21:44:03.592Z,1736372643.592 [DAT](INFO): DAT read: user:2016> 2025-01-08T21:44:03.593Z,1736372643.593 [DAT](INFO): DAT read: Tx time:21:44:02.9328 2025-01-08T21:44:03.593Z,1736372643.593 [DAT](INFO): Ping request sent. 2025-01-08T21:44:03.593Z,1736372643.593 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:03.593Z,1736372643.593 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:44:03.594Z,1736372643.594 [DAT](INFO): direction in FSK: [-0.177369,0.247813,0.952433] 2025-01-08T21:44:03.594Z,1736372643.594 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:03.595Z,1736372643.595 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:03.603Z,1736372643.603 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:03.603Z,1736372643.603 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:03.742Z,1736372643.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:03.776Z,1736372643.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 486.100006 m, deltaT: 4.031873 s, deltaX: 7.600006 m, approachRate: 1.884982 m/s, rangeRepo size: 4 2025-01-08T21:44:03.778Z,1736372643.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 486.100006 m, bearing: 28.121843 deg, lat: 36.899796 deg, lon: -122.117567 deg, deltaT: 4.031873 s, deltaX: 7.600006 m, approachRate: 1.884982 m/s, posRepo size: 4 2025-01-08T21:44:03.779Z,1736372643.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:44:03.802Z,1736372643.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 35.321514 m, bearing: 145.276411 deg, approach rate: 0.000000 m/s, LOS rate: -0.463700 deg/s, cmd heading: 274.863614 deg, new cmd heading: 274.065386 deg. 2025-01-08T21:44:03.812Z,1736372643.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783343 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:44:03.832Z,1736372643.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:03.833Z,1736372643.833 [DAT](INFO): DAT read: TxSync time:21:44:02.9320 2025-01-08T21:44:04.084Z,1736372644.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:04.150Z,1736372644.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:04.174Z,1736372644.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:44:04.180Z,1736372644.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 35.516270 m, bearing: 144.948034 deg, approach rate: 0.484135 m/s, LOS rate: -0.811818 deg/s, cmd heading: 274.065384 deg, new cmd heading: 273.085757 deg. 2025-01-08T21:44:04.181Z,1736372644.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.766245 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:44:04.336Z,1736372644.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:04.480Z,1736372644.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:04.489Z,1736372644.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:44:04.510Z,1736372644.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 35.672573 m, bearing: 144.681851 deg, approach rate: 0.495680 m/s, LOS rate: -0.840437 deg/s, cmd heading: 273.085744 deg, new cmd heading: 272.290747 deg. 2025-01-08T21:44:04.513Z,1736372644.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.752370 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:44:04.589Z,1736372644.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:04.840Z,1736372644.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:04.907Z,1736372644.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:04.952Z,1736372644.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:44:04.955Z,1736372644.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 35.889511 m, bearing: 144.304667 deg, approach rate: 0.468140 m/s, LOS rate: -0.809017 deg/s, cmd heading: 272.290737 deg, new cmd heading: 271.166177 deg. 2025-01-08T21:44:04.960Z,1736372644.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732743 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:44:05.094Z,1736372645.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:05.344Z,1736372645.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:05.366Z,1736372645.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:05.373Z,1736372645.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:05.376Z,1736372645.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:44:05.379Z,1736372645.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 36.121658 m, bearing: 143.901085 deg, approach rate: 0.548618 m/s, LOS rate: -0.947620 deg/s, cmd heading: 271.166187 deg, new cmd heading: 269.963411 deg. 2025-01-08T21:44:05.380Z,1736372645.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711751 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:44:05.596Z,1736372645.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:05.596Z,1736372645.596 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:05.596Z,1736372645.596 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:05.596Z,1736372645.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:05.811Z,1736372645.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:05.829Z,1736372645.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:44:05.832Z,1736372645.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 36.347904 m, bearing: 143.491622 deg, approach rate: 0.498957 m/s, LOS rate: -0.897390 deg/s, cmd heading: 269.963418 deg, new cmd heading: 268.742871 deg. 2025-01-08T21:44:05.834Z,1736372645.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690448 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:44:05.856Z,1736372645.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:05.857Z,1736372645.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263577 2025-01-08T21:44:06.108Z,1736372646.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:06.109Z,1736372646.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515443 2025-01-08T21:44:06.250Z,1736372646.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:06.259Z,1736372646.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:44:06.261Z,1736372646.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 36.569767 m, bearing: 143.090134 deg, approach rate: 0.516259 m/s, LOS rate: -0.928560 deg/s, cmd heading: 268.742863 deg, new cmd heading: 267.545889 deg. 2025-01-08T21:44:06.262Z,1736372646.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669557 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:44:06.360Z,1736372646.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:06.361Z,1736372646.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768337 2025-01-08T21:44:06.612Z,1736372646.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:06.612Z,1736372646.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019307 2025-01-08T21:44:06.667Z,1736372646.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:06.698Z,1736372646.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:44:06.729Z,1736372646.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 36.779408 m, bearing: 142.710337 deg, approach rate: 0.477406 m/s, LOS rate: -0.859961 deg/s, cmd heading: 267.545886 deg, new cmd heading: 266.413146 deg. 2025-01-08T21:44:06.738Z,1736372646.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649786 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:44:06.864Z,1736372646.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:06.865Z,1736372646.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272357 2025-01-08T21:44:07.108Z,1736372647.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:07.118Z,1736372647.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:07.121Z,1736372647.121 [DAT](INFO): DAT read: Rx Time:21:44:05.9719 2025-01-08T21:44:07.122Z,1736372647.122 [DAT](INFO): Rx dataTimestamp_ set to:1736372647.121590 2025-01-08T21:44:07.122Z,1736372647.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529335 2025-01-08T21:44:07.125Z,1736372647.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:44:07.127Z,1736372647.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 36.997169 m, bearing: 142.309351 deg, approach rate: 0.510209 m/s, LOS rate: -0.933960 deg/s, cmd heading: 266.413141 deg, new cmd heading: 265.217447 deg. 2025-01-08T21:44:07.128Z,1736372647.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628918 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:44:07.368Z,1736372647.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:07.368Z,1736372647.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775384 2025-01-08T21:44:07.476Z,1736372647.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:07.498Z,1736372647.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:07.505Z,1736372647.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.10 m. 2025-01-08T21:44:07.517Z,1736372647.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 486.100006 m, nav range: 37.174946 m, bearing: 141.972436 deg, approach rate: 0.467502 m/s, LOS rate: -0.881749 deg/s, cmd heading: 265.217448 deg, new cmd heading: 264.211646 deg. 2025-01-08T21:44:07.518Z,1736372647.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611363 target range: 486.100006 and range: 486.10 m. 2025-01-08T21:44:07.626Z,1736372647.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:07.628Z,1736372647.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034851 2025-01-08T21:44:07.874Z,1736372647.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:07.887Z,1736372647.887 [DAT](INFO): DAT read: 21:44:05.9719 LVL= 15344, 31217, 16882, 26899, AGC= 66, IDX= 307,-0.26,-2.026, 2.892, 2.250,-2.918, PHS= 0.980,-0.426,-1.118, RAW= 71.1, 6.1, CAL= 73.4, 7.3, ROT= 76.6, -7.3 2025-01-08T21:44:07.889Z,1736372647.889 [DAT](INFO): got valid direction response: 21:44:05.9719 LVL= 15344, 31217, 16882, 26899, AGC= 66, IDX= 307,-0.26,-2.026, 2.892, 2.250,-2.918, PHS= 0.980,-0.426,-1.118, RAW= 71.1, 6.1, CAL= 73.4, 7.3, ROT= 76.6, -7.3 2025-01-08T21:44:07.909Z,1736372647.909 [DAT](INFO): DAT read: Bearing 76.6, -7.3 (Local) 2025-01-08T21:44:07.910Z,1736372647.910 [DAT](INFO): Local bearing/azimuth received: Bearing 76.6, -7.3 (Local) 2025-01-08T21:44:07.913Z,1736372647.913 [DAT](INFO): DAT read: Range 10 to 50 : 476.2 m (Round-trip 635.0 ms) speed -0.2 m/s 2025-01-08T21:44:07.928Z,1736372647.928 [DAT](INFO): DAT read: user:2017> 2025-01-08T21:44:07.929Z,1736372647.929 [DAT](INFO): DAT read: Tx time:21:44:07.0828 2025-01-08T21:44:07.929Z,1736372647.929 [DAT](INFO): Ping request sent. 2025-01-08T21:44:07.929Z,1736372647.929 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:07.930Z,1736372647.930 [DAT](INFO): DAT read: TxSync time:21:44:07.0820 2025-01-08T21:44:07.930Z,1736372647.930 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:44:07.940Z,1736372647.940 [DAT](INFO): direction in FSK: [-0.165680,0.419581,0.892469] 2025-01-08T21:44:07.940Z,1736372647.940 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:07.940Z,1736372647.940 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:07.949Z,1736372647.949 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:07.949Z,1736372647.949 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:08.020Z,1736372648.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:08.062Z,1736372648.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 476.200012 m, deltaT: 4.294370 s, deltaX: -9.899994 m, approachRate: -2.305342 m/s, rangeRepo size: 4 2025-01-08T21:44:08.069Z,1736372648.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 476.200012 m, bearing: 15.260242 deg, lat: 36.900297 deg, lon: -122.117567 deg, deltaT: 4.294370 s, deltaX: -9.899994 m, approachRate: -2.305342 m/s, posRepo size: 4 2025-01-08T21:44:08.070Z,1736372648.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:08.076Z,1736372648.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 35.262924 m, bearing: 41.390266 deg, approach rate: 0.000000 m/s, LOS rate: -0.881749 deg/s, cmd heading: 264.211634 deg, new cmd heading: 262.738411 deg. 2025-01-08T21:44:08.077Z,1736372648.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585650 target range: 476.200012 and range: 476.20 m. 2025-01-08T21:44:08.124Z,1736372648.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:08.316Z,1736372648.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:08.339Z,1736372648.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:08.342Z,1736372648.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 35.412830 m, bearing: 41.662491 deg, approach rate: 0.548530 m/s, LOS rate: 0.991891 deg/s, cmd heading: 262.738417 deg, new cmd heading: 263.551575 deg. 2025-01-08T21:44:08.343Z,1736372648.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599843 target range: 476.200012 and range: 476.20 m. 2025-01-08T21:44:08.378Z,1736372648.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:08.628Z,1736372648.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:08.695Z,1736372648.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:08.709Z,1736372648.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:08.717Z,1736372648.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 35.609535 m, bearing: 42.001643 deg, approach rate: 0.526612 m/s, LOS rate: 0.902948 deg/s, cmd heading: 263.551564 deg, new cmd heading: 264.563291 deg. 2025-01-08T21:44:08.718Z,1736372648.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617500 target range: 476.200012 and range: 476.20 m. 2025-01-08T21:44:08.880Z,1736372648.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:09.109Z,1736372649.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:09.132Z,1736372649.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:09.140Z,1736372649.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:09.143Z,1736372649.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 35.818111 m, bearing: 42.339285 deg, approach rate: 0.488820 m/s, LOS rate: 0.786688 deg/s, cmd heading: 264.563279 deg, new cmd heading: 265.570198 deg. 2025-01-08T21:44:09.148Z,1736372649.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635074 target range: 476.200012 and range: 476.20 m. 2025-01-08T21:44:09.384Z,1736372649.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:09.503Z,1736372649.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:09.510Z,1736372649.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:09.512Z,1736372649.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:09.514Z,1736372649.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 36.020027 m, bearing: 42.650663 deg, approach rate: 0.536221 m/s, LOS rate: 0.822276 deg/s, cmd heading: 265.570186 deg, new cmd heading: 266.498996 deg. 2025-01-08T21:44:09.516Z,1736372649.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651285 target range: 476.200012 and range: 476.20 m. 2025-01-08T21:44:09.636Z,1736372649.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:09.636Z,1736372649.636 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:09.636Z,1736372649.636 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:09.637Z,1736372649.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:09.888Z,1736372649.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:09.888Z,1736372649.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959236 2025-01-08T21:44:09.959Z,1736372649.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:09.968Z,1736372649.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:09.971Z,1736372649.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 36.253258 m, bearing: 42.985274 deg, approach rate: 0.511305 m/s, LOS rate: 0.728835 deg/s, cmd heading: 266.498982 deg, new cmd heading: 267.496251 deg. 2025-01-08T21:44:09.972Z,1736372649.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668690 target range: 476.200012 and range: 476.20 m. 2025-01-08T21:44:10.140Z,1736372650.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:10.140Z,1736372650.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211252 2025-01-08T21:44:10.303Z,1736372650.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:10.317Z,1736372650.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:10.320Z,1736372650.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 36.432152 m, bearing: 43.231303 deg, approach rate: 0.512379 m/s, LOS rate: 0.701203 deg/s, cmd heading: 267.496245 deg, new cmd heading: 268.230666 deg. 2025-01-08T21:44:10.321Z,1736372650.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681508 target range: 476.200012 and range: 476.20 m. 2025-01-08T21:44:10.393Z,1736372650.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:10.394Z,1736372650.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464542 2025-01-08T21:44:10.644Z,1736372650.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:10.645Z,1736372650.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716059 2025-01-08T21:44:10.713Z,1736372650.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:10.722Z,1736372650.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:10.725Z,1736372650.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 36.648026 m, bearing: 43.516370 deg, approach rate: 0.533022 m/s, LOS rate: 0.699719 deg/s, cmd heading: 268.230654 deg, new cmd heading: 269.080750 deg. 2025-01-08T21:44:10.726Z,1736372650.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696345 target range: 476.200012 and range: 476.20 m. 2025-01-08T21:44:10.896Z,1736372650.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:10.896Z,1736372650.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967324 2025-01-08T21:44:11.124Z,1736372651.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:11.148Z,1736372651.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:11.148Z,1736372651.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219292 2025-01-08T21:44:11.153Z,1736372651.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:11.160Z,1736372651.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 36.849503 m, bearing: 43.785396 deg, approach rate: 0.468169 m/s, LOS rate: 0.621712 deg/s, cmd heading: 269.080739 deg, new cmd heading: 269.883349 deg. 2025-01-08T21:44:11.161Z,1736372651.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710353 target range: 476.200012 and range: 476.20 m. 2025-01-08T21:44:11.400Z,1736372651.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:11.401Z,1736372651.401 [DAT](INFO): DAT read: Rx Time:21:44:10.1213 2025-01-08T21:44:11.401Z,1736372651.401 [DAT](INFO): Rx dataTimestamp_ set to:1736372651.401206 2025-01-08T21:44:11.402Z,1736372651.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472852 2025-01-08T21:44:11.516Z,1736372651.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:11.524Z,1736372651.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:11.526Z,1736372651.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:11.529Z,1736372651.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 37.043831 m, bearing: 44.037065 deg, approach rate: 0.520625 m/s, LOS rate: 0.670708 deg/s, cmd heading: 269.883341 deg, new cmd heading: 270.634343 deg. 2025-01-08T21:44:11.529Z,1736372651.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.723460 target range: 476.200012 and range: 476.20 m. 2025-01-08T21:44:11.652Z,1736372651.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:11.654Z,1736372651.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.724360 2025-01-08T21:44:11.904Z,1736372651.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:11.905Z,1736372651.905 [DAT](INFO): DAT read: Range 10 to 50 : 475.7 m (Round-trip 634.3 ms) speed 0.0 m/s 2025-01-08T21:44:11.906Z,1736372651.906 [DAT](INFO): DAT read: user:2018> 2025-01-08T21:44:11.907Z,1736372651.907 [DAT](INFO): DAT read: Tx time:21:44:11.2344 2025-01-08T21:44:11.907Z,1736372651.907 [DAT](INFO): Ping request sent. 2025-01-08T21:44:11.907Z,1736372651.907 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:11.908Z,1736372651.908 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:44:11.908Z,1736372651.908 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:11.908Z,1736372651.908 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:11.993Z,1736372651.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:12.019Z,1736372652.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 475.700012 m, deltaT: 4.029586 s, deltaX: -0.500000 m, approachRate: -0.124082 m/s, rangeRepo size: 4 2025-01-08T21:44:12.020Z,1736372652.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:12.023Z,1736372652.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 37.270618 m, bearing: 44.324062 deg, approach rate: 0.469672 m/s, LOS rate: 0.590745 deg/s, cmd heading: 270.634334 deg, new cmd heading: 271.490019 deg. 2025-01-08T21:44:12.029Z,1736372652.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738395 target range: 476.200012 and range: 475.70 m. 2025-01-08T21:44:12.156Z,1736372652.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:12.157Z,1736372652.157 [DAT](INFO): DAT read: TxSync time:21:44:11.2336 2025-01-08T21:44:12.338Z,1736372652.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:12.347Z,1736372652.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:12.351Z,1736372652.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 37.435505 m, bearing: 44.529817 deg, approach rate: 0.487942 m/s, LOS rate: 0.606198 deg/s, cmd heading: 271.490020 deg, new cmd heading: 272.104539 deg. 2025-01-08T21:44:12.352Z,1736372652.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749120 target range: 476.200012 and range: 475.70 m. 2025-01-08T21:44:12.408Z,1736372652.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:12.660Z,1736372652.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:12.736Z,1736372652.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:12.745Z,1736372652.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:12.747Z,1736372652.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 37.627529 m, bearing: 44.761406 deg, approach rate: 0.482401 m/s, LOS rate: 0.578825 deg/s, cmd heading: 272.104546 deg, new cmd heading: 272.795732 deg. 2025-01-08T21:44:12.748Z,1736372652.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761184 target range: 476.200012 and range: 475.70 m. 2025-01-08T21:44:12.912Z,1736372652.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:13.143Z,1736372653.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:13.152Z,1736372653.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:13.164Z,1736372653.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:13.155Z,1736372653.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 37.816429 m, bearing: 44.994276 deg, approach rate: 0.463241 m/s, LOS rate: 0.568216 deg/s, cmd heading: 272.795734 deg, new cmd heading: 273.490820 deg. 2025-01-08T21:44:13.174Z,1736372653.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.773315 target range: 476.200012 and range: 475.70 m. 2025-01-08T21:44:13.416Z,1736372653.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:13.546Z,1736372653.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:13.560Z,1736372653.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:13.562Z,1736372653.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:13.565Z,1736372653.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 38.003426 m, bearing: 45.223615 deg, approach rate: 0.456484 m/s, LOS rate: 0.557092 deg/s, cmd heading: 273.490828 deg, new cmd heading: 274.175425 deg. 2025-01-08T21:44:13.566Z,1736372653.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785264 target range: 476.200012 and range: 475.70 m. 2025-01-08T21:44:13.669Z,1736372653.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:13.669Z,1736372653.669 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:13.669Z,1736372653.669 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:13.670Z,1736372653.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:13.920Z,1736372653.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:13.920Z,1736372653.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012981 2025-01-08T21:44:13.963Z,1736372653.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:14.016Z,1736372654.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:14.025Z,1736372654.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 38.196213 m, bearing: 45.462380 deg, approach rate: 0.424812 m/s, LOS rate: 0.523467 deg/s, cmd heading: 274.175432 deg, new cmd heading: 274.888072 deg. 2025-01-08T21:44:14.026Z,1736372654.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797702 target range: 476.200012 and range: 475.70 m. 2025-01-08T21:44:14.174Z,1736372654.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:14.175Z,1736372654.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267141 2025-01-08T21:44:14.341Z,1736372654.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:14.352Z,1736372654.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:14.354Z,1736372654.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 38.369026 m, bearing: 45.681727 deg, approach rate: 0.515321 m/s, LOS rate: 0.651135 deg/s, cmd heading: 274.888067 deg, new cmd heading: 275.543115 deg. 2025-01-08T21:44:14.355Z,1736372654.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809134 target range: 476.200012 and range: 475.70 m. 2025-01-08T21:44:14.424Z,1736372654.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:14.425Z,1736372654.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517035 2025-01-08T21:44:14.677Z,1736372654.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:14.677Z,1736372654.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769955 2025-01-08T21:44:14.756Z,1736372654.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:14.765Z,1736372654.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:14.769Z,1736372654.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 38.557129 m, bearing: 45.923783 deg, approach rate: 0.454352 m/s, LOS rate: 0.581820 deg/s, cmd heading: 275.543109 deg, new cmd heading: 276.265694 deg. 2025-01-08T21:44:14.770Z,1736372654.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821746 target range: 476.200012 and range: 475.70 m. 2025-01-08T21:44:14.928Z,1736372654.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:14.928Z,1736372654.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020891 2025-01-08T21:44:15.174Z,1736372655.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:15.180Z,1736372655.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:15.180Z,1736372655.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273010 2025-01-08T21:44:15.185Z,1736372655.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:15.188Z,1736372655.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 38.743286 m, bearing: 46.171876 deg, approach rate: 0.443200 m/s, LOS rate: 0.587814 deg/s, cmd heading: 276.265688 deg, new cmd heading: 277.006346 deg. 2025-01-08T21:44:15.189Z,1736372655.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834673 target range: 476.200012 and range: 475.70 m. 2025-01-08T21:44:15.432Z,1736372655.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:15.433Z,1736372655.433 [DAT](INFO): DAT read: Rx Time:21:44:14.2726 2025-01-08T21:44:15.434Z,1736372655.434 [DAT](INFO): Rx dataTimestamp_ set to:1736372655.433276 2025-01-08T21:44:15.434Z,1736372655.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526640 2025-01-08T21:44:15.544Z,1736372655.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:15.568Z,1736372655.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:15.570Z,1736372655.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:15.577Z,1736372655.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 38.906807 m, bearing: 46.394760 deg, approach rate: 0.424683 m/s, LOS rate: 0.576424 deg/s, cmd heading: 277.006354 deg, new cmd heading: 277.672166 deg. 2025-01-08T21:44:15.578Z,1736372655.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.846293 target range: 476.200012 and range: 475.70 m. 2025-01-08T21:44:15.684Z,1736372655.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:15.685Z,1736372655.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777508 2025-01-08T21:44:15.937Z,1736372655.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:15.940Z,1736372655.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031523 2025-01-08T21:44:16.038Z,1736372656.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:16.046Z,1736372656.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.20 m. 2025-01-08T21:44:16.049Z,1736372656.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.200012 m, nav range: 39.125149 m, bearing: 46.710260 deg, approach rate: 0.458702 m/s, LOS rate: 0.659113 deg/s, cmd heading: 277.672161 deg, new cmd heading: 278.613288 deg. 2025-01-08T21:44:16.050Z,1736372656.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.862719 target range: 476.200012 and range: 475.70 m. 2025-01-08T21:44:16.188Z,1736372656.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:16.201Z,1736372656.201 [DAT](INFO): DAT read: 21:44:14.2726 LVL= 18672, 25377, 22002, 27411, AGC= 67, IDX= 441,-0.33,-1.723,-2.531, 2.538,-2.702, PHS= 1.067, 0.218,-1.046, RAW= 53.5, -2.6, CAL= 56.4, -6.4, ROT= 93.6, 6.4 2025-01-08T21:44:16.202Z,1736372656.202 [DAT](INFO): got valid direction response: 21:44:14.2726 LVL= 18672, 25377, 22002, 27411, AGC= 67, IDX= 441,-0.33,-1.723,-2.531, 2.538,-2.702, PHS= 1.067, 0.218,-1.046, RAW= 53.5, -2.6, CAL= 56.4, -6.4, ROT= 93.6, 6.4 2025-01-08T21:44:16.203Z,1736372656.203 [DAT](INFO): DAT read: Bearing 93.6, 6.4 (Local) 2025-01-08T21:44:16.204Z,1736372656.204 [DAT](INFO): Local bearing/azimuth received: Bearing 93.6, 6.4 (Local) 2025-01-08T21:44:16.205Z,1736372656.205 [DAT](INFO): DAT read: Range 10 to 50 : 475.5 m (Round-trip 634.0 ms) speed 0.2 m/s 2025-01-08T21:44:16.206Z,1736372656.206 [DAT](INFO): DAT read: user:2019> 2025-01-08T21:44:16.207Z,1736372656.207 [DAT](INFO): DAT read: Tx time:21:44:15.3829 2025-01-08T21:44:16.207Z,1736372656.207 [DAT](INFO): Ping request sent. 2025-01-08T21:44:16.207Z,1736372656.207 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:16.208Z,1736372656.208 [DAT](INFO): DAT read: TxSync time:21:44:15.3821 2025-01-08T21:44:16.209Z,1736372656.209 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:44:16.209Z,1736372656.209 [DAT](INFO): direction in FSK: [0.032853,0.657130,0.753061] 2025-01-08T21:44:16.210Z,1736372656.210 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:16.210Z,1736372656.210 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:16.245Z,1736372656.245 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:16.245Z,1736372656.245 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:16.389Z,1736372656.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:16.420Z,1736372656.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 475.500000 m, deltaT: 4.284114 s, deltaX: -0.200012 m, approachRate: -0.046687 m/s, rangeRepo size: 4 2025-01-08T21:44:16.422Z,1736372656.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 475.500000 m, bearing: 352.452499 deg, lat: 36.900871 deg, lon: -122.117567 deg, deltaT: 8.313700 s, deltaX: -0.700012 m, approachRate: -0.084200 m/s, posRepo size: 4 2025-01-08T21:44:16.422Z,1736372656.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.50 m. 2025-01-08T21:44:16.429Z,1736372656.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.500000 m, nav range: 95.082321 m, bearing: 17.566109 deg, approach rate: 0.000000 m/s, LOS rate: 0.659113 deg/s, cmd heading: 278.613279 deg, new cmd heading: 279.341569 deg. 2025-01-08T21:44:16.430Z,1736372656.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875430 target range: 475.500000 and range: 475.50 m. 2025-01-08T21:44:16.440Z,1736372656.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:16.692Z,1736372656.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:16.763Z,1736372656.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:16.773Z,1736372656.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.50 m. 2025-01-08T21:44:16.776Z,1736372656.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.500000 m, nav range: 95.141769 m, bearing: 17.701671 deg, approach rate: 0.166001 m/s, LOS rate: 0.378304 deg/s, cmd heading: 279.341568 deg, new cmd heading: 279.747995 deg. 2025-01-08T21:44:16.777Z,1736372656.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.882524 target range: 475.500000 and range: 475.50 m. 2025-01-08T21:44:16.944Z,1736372656.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:17.188Z,1736372657.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:17.196Z,1736372657.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:17.198Z,1736372657.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.50 m. 2025-01-08T21:44:17.201Z,1736372657.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.500000 m, nav range: 95.208801 m, bearing: 17.862776 deg, approach rate: 0.157638 m/s, LOS rate: 0.378601 deg/s, cmd heading: 279.747992 deg, new cmd heading: 280.230954 deg. 2025-01-08T21:44:17.202Z,1736372657.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.890953 target range: 475.500000 and range: 475.50 m. 2025-01-08T21:44:17.448Z,1736372657.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:17.584Z,1736372657.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:17.591Z,1736372657.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:17.593Z,1736372657.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.50 m. 2025-01-08T21:44:17.612Z,1736372657.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.500000 m, nav range: 95.271866 m, bearing: 18.012503 deg, approach rate: 0.159566 m/s, LOS rate: 0.378587 deg/s, cmd heading: 280.230941 deg, new cmd heading: 280.679815 deg. 2025-01-08T21:44:17.613Z,1736372657.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898787 target range: 475.500000 and range: 475.50 m. 2025-01-08T21:44:17.700Z,1736372657.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:17.701Z,1736372657.701 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:17.701Z,1736372657.701 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:17.701Z,1736372657.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:17.952Z,1736372657.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:17.952Z,1736372657.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744879 2025-01-08T21:44:18.009Z,1736372658.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:18.030Z,1736372658.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.50 m. 2025-01-08T21:44:18.046Z,1736372658.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.500000 m, nav range: 95.338776 m, bearing: 18.179363 deg, approach rate: 0.153089 m/s, LOS rate: 0.381503 deg/s, cmd heading: 280.679821 deg, new cmd heading: 281.180035 deg. 2025-01-08T21:44:18.053Z,1736372658.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.907517 target range: 475.500000 and range: 475.50 m. 2025-01-08T21:44:18.204Z,1736372658.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:18.204Z,1736372658.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996964 2025-01-08T21:44:18.456Z,1736372658.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:18.457Z,1736372658.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249710 2025-01-08T21:44:18.487Z,1736372658.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:18.517Z,1736372658.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.50 m. 2025-01-08T21:44:18.524Z,1736372658.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.500000 m, nav range: 95.410126 m, bearing: 18.367485 deg, approach rate: 0.146630 m/s, LOS rate: 0.386318 deg/s, cmd heading: 281.180037 deg, new cmd heading: 281.743963 deg. 2025-01-08T21:44:18.525Z,1736372658.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.917360 target range: 475.500000 and range: 475.50 m. 2025-01-08T21:44:18.708Z,1736372658.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:18.709Z,1736372658.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501701 2025-01-08T21:44:18.950Z,1736372658.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:18.962Z,1736372658.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:18.963Z,1736372658.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755110 2025-01-08T21:44:18.976Z,1736372658.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.50 m. 2025-01-08T21:44:18.978Z,1736372658.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.500000 m, nav range: 95.475388 m, bearing: 18.550278 deg, approach rate: 0.143640 m/s, LOS rate: 0.402047 deg/s, cmd heading: 281.743965 deg, new cmd heading: 282.291950 deg. 2025-01-08T21:44:18.984Z,1736372658.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.926924 target range: 475.500000 and range: 475.50 m. 2025-01-08T21:44:19.212Z,1736372659.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:19.213Z,1736372659.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005384 2025-01-08T21:44:19.323Z,1736372659.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:19.331Z,1736372659.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.50 m. 2025-01-08T21:44:19.336Z,1736372659.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.500000 m, nav range: 95.531174 m, bearing: 18.702347 deg, approach rate: 0.155033 m/s, LOS rate: 0.422362 deg/s, cmd heading: 282.291937 deg, new cmd heading: 282.747868 deg. 2025-01-08T21:44:19.337Z,1736372659.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.934881 target range: 475.500000 and range: 475.50 m. 2025-01-08T21:44:19.464Z,1736372659.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:19.466Z,1736372659.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257878 2025-01-08T21:44:19.717Z,1736372659.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:19.717Z,1736372659.717 [DAT](INFO): DAT read: Rx Time:21:44:18.4202 2025-01-08T21:44:19.718Z,1736372659.718 [DAT](INFO): Rx dataTimestamp_ set to:1736372659.717514 2025-01-08T21:44:19.718Z,1736372659.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510868 2025-01-08T21:44:19.719Z,1736372659.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:19.726Z,1736372659.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:19.728Z,1736372659.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.50 m. 2025-01-08T21:44:19.731Z,1736372659.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.500000 m, nav range: 95.586777 m, bearing: 18.862917 deg, approach rate: 0.140059 m/s, LOS rate: 0.404225 deg/s, cmd heading: 282.747866 deg, new cmd heading: 283.229282 deg. 2025-01-08T21:44:19.732Z,1736372659.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.943284 target range: 475.500000 and range: 475.50 m. 2025-01-08T21:44:19.972Z,1736372659.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:19.975Z,1736372659.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766621 2025-01-08T21:44:20.163Z,1736372660.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:20.197Z,1736372660.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.50 m. 2025-01-08T21:44:20.204Z,1736372660.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.500000 m, nav range: 95.654045 m, bearing: 19.049261 deg, approach rate: 0.143441 m/s, LOS rate: 0.397074 deg/s, cmd heading: 283.229285 deg, new cmd heading: 283.787905 deg. 2025-01-08T21:44:20.205Z,1736372660.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.953033 target range: 475.500000 and range: 475.50 m. 2025-01-08T21:44:20.220Z,1736372660.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:20.226Z,1736372660.226 [DAT](INFO): DAT read: 21:44:18.4202 LVL= 14864, 32753, 19522, 23955, AGC= 67, IDX= 431, 0.02, 1.902, 0.655,-0.155, 0.610, PHS= 1.380, 0.092,-0.768, RAW= 66.6, -7.6, CAL= 75.6, -14.7, ROT= 74.4, 14.7 2025-01-08T21:44:20.228Z,1736372660.228 [DAT](INFO): got valid direction response: 21:44:18.4202 LVL= 14864, 32753, 19522, 23955, AGC= 67, IDX= 431, 0.02, 1.902, 0.655,-0.155, 0.610, PHS= 1.380, 0.092,-0.768, RAW= 66.6, -7.6, CAL= 75.6, -14.7, ROT= 74.4, 14.7 2025-01-08T21:44:20.229Z,1736372660.229 [DAT](INFO): DAT read: Bearing 74.4, 14.7 (Local) 2025-01-08T21:44:20.229Z,1736372660.229 [DAT](INFO): Local bearing/azimuth received: Bearing 74.4, 14.7 (Local) 2025-01-08T21:44:20.230Z,1736372660.230 [DAT](INFO): DAT read: Range 10 to 50 : 474.9 m (Round-trip 633.2 ms) speed 0.0 m/s 2025-01-08T21:44:20.231Z,1736372660.231 [DAT](INFO): DAT read: user:2020> 2025-01-08T21:44:20.233Z,1736372660.233 [DAT](INFO): DAT read: Tx time:21:44:19.5329 2025-01-08T21:44:20.233Z,1736372660.233 [DAT](INFO): Ping request sent. 2025-01-08T21:44:20.233Z,1736372660.233 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:20.234Z,1736372660.234 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:44:20.235Z,1736372660.235 [DAT](INFO): direction in FSK: [0.099146,0.472881,0.875531] 2025-01-08T21:44:20.235Z,1736372660.235 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:20.235Z,1736372660.235 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:20.238Z,1736372660.238 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:20.238Z,1736372660.238 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:20.472Z,1736372660.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:20.473Z,1736372660.473 [DAT](INFO): DAT read: TxSync time:21:44:19.5321 2025-01-08T21:44:20.517Z,1736372660.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:20.564Z,1736372660.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 474.899994 m, deltaT: 4.031999 s, deltaX: -0.600006 m, approachRate: -0.148811 m/s, rangeRepo size: 4 2025-01-08T21:44:20.567Z,1736372660.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 474.899994 m, bearing: 348.022842 deg, lat: 36.901153 deg, lon: -122.117567 deg, deltaT: 4.031999 s, deltaX: -0.600006 m, approachRate: -0.148811 m/s, posRepo size: 4 2025-01-08T21:44:20.572Z,1736372660.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:44:20.574Z,1736372660.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 125.731857 m, bearing: 14.494524 deg, approach rate: 0.000000 m/s, LOS rate: 0.397074 deg/s, cmd heading: 283.787912 deg, new cmd heading: 284.218943 deg. 2025-01-08T21:44:20.579Z,1736372660.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.960557 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:44:20.724Z,1736372660.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:20.953Z,1736372660.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:20.978Z,1736372660.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:20.990Z,1736372660.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:44:20.996Z,1736372660.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 125.766380 m, bearing: 14.632866 deg, approach rate: 0.080144 m/s, LOS rate: 0.321069 deg/s, cmd heading: 284.218952 deg, new cmd heading: 284.633858 deg. 2025-01-08T21:44:20.997Z,1736372660.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.967798 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:44:21.228Z,1736372661.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:21.355Z,1736372661.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:21.369Z,1736372661.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:44:21.372Z,1736372661.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 125.800262 m, bearing: 14.764957 deg, approach rate: 0.089351 m/s, LOS rate: 0.348244 deg/s, cmd heading: 284.633845 deg, new cmd heading: 285.030004 deg. 2025-01-08T21:44:21.373Z,1736372661.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.974712 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:44:21.480Z,1736372661.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:21.716Z,1736372661.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:21.732Z,1736372661.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:21.742Z,1736372661.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:21.745Z,1736372661.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:44:21.753Z,1736372661.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 125.826263 m, bearing: 14.881823 deg, approach rate: 0.069087 m/s, LOS rate: 0.310458 deg/s, cmd heading: 285.029996 deg, new cmd heading: 285.380516 deg. 2025-01-08T21:44:21.754Z,1736372661.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.980830 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:44:21.986Z,1736372661.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:21.987Z,1736372661.987 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:21.988Z,1736372661.988 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:21.988Z,1736372661.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:22.169Z,1736372662.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:22.184Z,1736372662.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:44:22.187Z,1736372662.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 125.856552 m, bearing: 15.029139 deg, approach rate: 0.069177 m/s, LOS rate: 0.336377 deg/s, cmd heading: 285.380521 deg, new cmd heading: 285.822356 deg. 2025-01-08T21:44:22.188Z,1736372662.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988541 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:44:22.237Z,1736372662.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:22.238Z,1736372662.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004200 2025-01-08T21:44:22.488Z,1736372662.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:22.488Z,1736372662.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254994 2025-01-08T21:44:22.610Z,1736372662.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:22.621Z,1736372662.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:44:22.623Z,1736372662.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 125.883698 m, bearing: 15.172308 deg, approach rate: 0.062033 m/s, LOS rate: 0.327100 deg/s, cmd heading: 285.822352 deg, new cmd heading: 286.251756 deg. 2025-01-08T21:44:22.624Z,1736372662.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996036 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:44:22.740Z,1736372662.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:22.742Z,1736372662.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507893 2025-01-08T21:44:22.993Z,1736372662.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:22.996Z,1736372662.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762424 2025-01-08T21:44:23.068Z,1736372663.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:23.076Z,1736372663.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:44:23.079Z,1736372663.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 125.911278 m, bearing: 15.316927 deg, approach rate: 0.060565 m/s, LOS rate: 0.317509 deg/s, cmd heading: 286.251753 deg, new cmd heading: 286.685508 deg. 2025-01-08T21:44:23.080Z,1736372663.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003606 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:44:23.244Z,1736372663.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:23.245Z,1736372663.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011922 2025-01-08T21:44:23.467Z,1736372663.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:23.476Z,1736372663.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:44:23.478Z,1736372663.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 125.933586 m, bearing: 15.443341 deg, approach rate: 0.055859 m/s, LOS rate: 0.316476 deg/s, cmd heading: 286.685497 deg, new cmd heading: 287.064666 deg. 2025-01-08T21:44:23.479Z,1736372663.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.010223 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:44:23.496Z,1736372663.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:23.496Z,1736372663.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262959 2025-01-08T21:44:23.748Z,1736372663.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:23.749Z,1736372663.749 [DAT](INFO): DAT read: Rx Time:21:44:22.5690 2025-01-08T21:44:23.750Z,1736372663.750 [DAT](INFO): Rx dataTimestamp_ set to:1736372663.749627 2025-01-08T21:44:23.750Z,1736372663.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517074 2025-01-08T21:44:23.764Z,1736372663.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:44:23.876Z,1736372663.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:23.883Z,1736372663.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:23.885Z,1736372663.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.90 m. 2025-01-08T21:44:23.888Z,1736372663.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.899994 m, nav range: 125.954979 m, bearing: 15.572628 deg, approach rate: 0.052178 m/s, LOS rate: 0.315284 deg/s, cmd heading: 287.064655 deg, new cmd heading: 287.452443 deg. 2025-01-08T21:44:23.889Z,1736372663.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.016992 target range: 474.899994 and range: 474.90 m. 2025-01-08T21:44:24.003Z,1736372664.003 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:24.006Z,1736372664.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772134 2025-01-08T21:44:24.254Z,1736372664.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:24.268Z,1736372664.268 [DAT](INFO): DAT read: 21:44:22.5690 LVL= 18384, 28657, 24002, 28915, AGC= 70, IDX= 435,-0.12, 1.650, 0.193, 0.034, 0.624, PHS= 1.114,-0.384,-0.593, RAW= 83.6, -1.7, CAL= 90.9, -7.1, ROT= 59.1, 7.1 2025-01-08T21:44:24.276Z,1736372664.276 [DAT](INFO): got valid direction response: 21:44:22.5690 LVL= 18384, 28657, 24002, 28915, AGC= 70, IDX= 435,-0.12, 1.650, 0.193, 0.034, 0.624, PHS= 1.114,-0.384,-0.593, RAW= 83.6, -1.7, CAL= 90.9, -7.1, ROT= 59.1, 7.1 2025-01-08T21:44:24.278Z,1736372664.278 [DAT](INFO): DAT read: Bearing 59.1, 7.1 (Local) 2025-01-08T21:44:24.291Z,1736372664.291 [DAT](INFO): Local bearing/azimuth received: Bearing 59.1, 7.1 (Local) 2025-01-08T21:44:24.293Z,1736372664.293 [DAT](INFO): DAT read: Range 10 to 50 : 473.9 m (Round-trip 631.9 ms) speed 0.2 m/s 2025-01-08T21:44:24.294Z,1736372664.294 [DAT](INFO): DAT read: user:2021> 2025-01-08T21:44:24.294Z,1736372664.294 [DAT](INFO): DAT read: Tx time:21:44:23.6830 2025-01-08T21:44:24.295Z,1736372664.295 [DAT](INFO): Ping request sent. 2025-01-08T21:44:24.295Z,1736372664.295 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:24.300Z,1736372664.300 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:44:24.301Z,1736372664.301 [DAT](INFO): direction in FSK: [-0.041661,0.215547,0.975604] 2025-01-08T21:44:24.302Z,1736372664.302 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:24.302Z,1736372664.302 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:24.314Z,1736372664.314 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:24.314Z,1736372664.314 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:24.434Z,1736372664.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:24.461Z,1736372664.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 473.899994 m, deltaT: 4.034452 s, deltaX: -1.000000 m, approachRate: -0.247865 m/s, rangeRepo size: 4 2025-01-08T21:44:24.463Z,1736372664.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 473.899994 m, bearing: 102.729456 deg, lat: 36.901153 deg, lon: -122.117627 deg, deltaT: 4.034452 s, deltaX: -1.000000 m, approachRate: -0.247865 m/s, posRepo size: 4 2025-01-08T21:44:24.468Z,1736372664.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.90 m. 2025-01-08T21:44:24.470Z,1736372664.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.899994 m, nav range: 124.632874 m, bearing: 13.378334 deg, approach rate: 0.000000 m/s, LOS rate: 0.315284 deg/s, cmd heading: 287.452445 deg, new cmd heading: 287.996039 deg. 2025-01-08T21:44:24.477Z,1736372664.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.026479 target range: 473.899994 and range: 473.90 m. 2025-01-08T21:44:24.504Z,1736372664.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:24.505Z,1736372664.505 [DAT](INFO): DAT read: TxSync time:21:44:23.6822 2025-01-08T21:44:24.756Z,1736372664.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:24.767Z,1736372664.767 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:44:24.790Z,1736372664.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:24.800Z,1736372664.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.90 m. 2025-01-08T21:44:24.803Z,1736372664.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.899994 m, nav range: 124.636528 m, bearing: 13.490286 deg, approach rate: 0.010791 m/s, LOS rate: 0.330568 deg/s, cmd heading: 287.996047 deg, new cmd heading: 288.331888 deg. 2025-01-08T21:44:24.805Z,1736372664.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.032341 target range: 473.899994 and range: 473.90 m. 2025-01-08T21:44:25.009Z,1736372665.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:25.204Z,1736372665.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:25.215Z,1736372665.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.90 m. 2025-01-08T21:44:25.217Z,1736372665.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.899994 m, nav range: 124.641159 m, bearing: 13.616722 deg, approach rate: 0.011136 m/s, LOS rate: 0.304030 deg/s, cmd heading: 288.331901 deg, new cmd heading: 288.711190 deg. 2025-01-08T21:44:25.218Z,1736372665.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038961 target range: 473.899994 and range: 473.90 m. 2025-01-08T21:44:25.261Z,1736372665.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:25.512Z,1736372665.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:25.595Z,1736372665.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:25.621Z,1736372665.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.90 m. 2025-01-08T21:44:25.628Z,1736372665.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.899994 m, nav range: 124.644798 m, bearing: 13.736407 deg, approach rate: 0.008958 m/s, LOS rate: 0.294610 deg/s, cmd heading: 288.711195 deg, new cmd heading: 289.070232 deg. 2025-01-08T21:44:25.629Z,1736372665.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.045228 target range: 473.899994 and range: 473.90 m. 2025-01-08T21:44:25.764Z,1736372665.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:25.988Z,1736372665.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:25.994Z,1736372665.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:25.997Z,1736372665.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.90 m. 2025-01-08T21:44:26.004Z,1736372666.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.899994 m, nav range: 124.647232 m, bearing: 13.856506 deg, approach rate: 0.006477 m/s, LOS rate: 0.319621 deg/s, cmd heading: 289.070244 deg, new cmd heading: 289.430531 deg. 2025-01-08T21:44:26.017Z,1736372666.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:26.018Z,1736372666.018 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:26.019Z,1736372666.019 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:26.020Z,1736372666.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:26.028Z,1736372666.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051516 target range: 473.899994 and range: 473.90 m. 2025-01-08T21:44:26.268Z,1736372666.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:26.269Z,1736372666.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974639 2025-01-08T21:44:26.429Z,1736372666.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:26.438Z,1736372666.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.90 m. 2025-01-08T21:44:26.441Z,1736372666.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.899994 m, nav range: 124.643570 m, bearing: 13.987030 deg, approach rate: -0.008289 m/s, LOS rate: 0.295457 deg/s, cmd heading: 289.430523 deg, new cmd heading: 289.822099 deg. 2025-01-08T21:44:26.442Z,1736372666.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058350 target range: 473.899994 and range: 473.90 m. 2025-01-08T21:44:26.520Z,1736372666.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:26.521Z,1736372666.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226157 2025-01-08T21:44:26.772Z,1736372666.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:26.772Z,1736372666.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477631 2025-01-08T21:44:26.784Z,1736372666.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:26.793Z,1736372666.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.90 m. 2025-01-08T21:44:26.795Z,1736372666.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.899994 m, nav range: 124.637085 m, bearing: 14.092002 deg, approach rate: -0.018306 m/s, LOS rate: 0.296343 deg/s, cmd heading: 289.822111 deg, new cmd heading: 290.137042 deg. 2025-01-08T21:44:26.796Z,1736372666.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063847 target range: 473.899994 and range: 473.90 m. 2025-01-08T21:44:27.025Z,1736372667.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:27.028Z,1736372667.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733035 2025-01-08T21:44:27.266Z,1736372667.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:27.276Z,1736372667.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:27.277Z,1736372667.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981713 2025-01-08T21:44:27.277Z,1736372667.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.90 m. 2025-01-08T21:44:27.280Z,1736372667.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.899994 m, nav range: 124.622704 m, bearing: 14.231634 deg, approach rate: -0.029787 m/s, LOS rate: 0.289245 deg/s, cmd heading: 290.137038 deg, new cmd heading: 290.555973 deg. 2025-01-08T21:44:27.281Z,1736372667.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.071158 target range: 473.899994 and range: 473.90 m. 2025-01-08T21:44:27.528Z,1736372667.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:27.528Z,1736372667.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233513 2025-01-08T21:44:27.645Z,1736372667.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:27.660Z,1736372667.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.90 m. 2025-01-08T21:44:27.665Z,1736372667.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.899994 m, nav range: 124.610260 m, bearing: 14.341068 deg, approach rate: -0.032411 m/s, LOS rate: 0.285064 deg/s, cmd heading: 290.555974 deg, new cmd heading: 290.884306 deg. 2025-01-08T21:44:27.668Z,1736372667.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.076889 target range: 473.899994 and range: 473.90 m. 2025-01-08T21:44:27.780Z,1736372667.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:27.781Z,1736372667.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485673 2025-01-08T21:44:28.034Z,1736372668.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:28.037Z,1736372668.037 [DAT](INFO): DAT read: Rx Time:21:44:26.7180 2025-01-08T21:44:28.039Z,1736372668.039 [DAT](INFO): Rx dataTimestamp_ set to:1736372668.037884 2025-01-08T21:44:28.042Z,1736372668.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746341 2025-01-08T21:44:28.183Z,1736372668.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:28.199Z,1736372668.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:28.205Z,1736372668.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.90 m. 2025-01-08T21:44:28.213Z,1736372668.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.899994 m, nav range: 124.590843 m, bearing: 14.499596 deg, approach rate: -0.035614 m/s, LOS rate: 0.290816 deg/s, cmd heading: 290.884315 deg, new cmd heading: 291.359960 deg. 2025-01-08T21:44:28.215Z,1736372668.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085191 target range: 473.899994 and range: 473.90 m. 2025-01-08T21:44:28.284Z,1736372668.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:28.285Z,1736372668.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.990318 2025-01-08T21:44:28.536Z,1736372668.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:28.542Z,1736372668.542 [DAT](INFO): DAT read: 21:44:26.7180 LVL= 12784, 26673, 17522, 25955, AGC= 66, IDX= 425,-0.30, 1.668, 0.001,-0.064, 0.550, PHS= 1.206,-0.502,-0.617, RAW= 86.8, -1.0, CAL= 94.2, -6.0, ROT= 55.8, 6.0 2025-01-08T21:44:28.546Z,1736372668.546 [DAT](INFO): got valid direction response: 21:44:26.7180 LVL= 12784, 26673, 17522, 25955, AGC= 66, IDX= 425,-0.30, 1.668, 0.001,-0.064, 0.550, PHS= 1.206,-0.502,-0.617, RAW= 86.8, -1.0, CAL= 94.2, -6.0, ROT= 55.8, 6.0 2025-01-08T21:44:28.547Z,1736372668.547 [DAT](INFO): DAT read: Bearing 55.8, 6.0 (Local) 2025-01-08T21:44:28.547Z,1736372668.547 [DAT](INFO): Local bearing/azimuth received: Bearing 55.8, 6.0 (Local) 2025-01-08T21:44:28.549Z,1736372668.549 [DAT](INFO): DAT read: Range 10 to 50 : 473.1 m (Round-trip 630.9 ms) speed -0.1 m/s 2025-01-08T21:44:28.550Z,1736372668.550 [DAT](INFO): DAT read: user:2022> 2025-01-08T21:44:28.551Z,1736372668.551 [DAT](INFO): DAT read: Tx time:21:44:27.8330 2025-01-08T21:44:28.551Z,1736372668.551 [DAT](INFO): Ping request sent. 2025-01-08T21:44:28.552Z,1736372668.552 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:28.552Z,1736372668.552 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:44:28.553Z,1736372668.553 [DAT](INFO): direction in FSK: [-0.060855,0.162009,0.984911] 2025-01-08T21:44:28.553Z,1736372668.553 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:28.553Z,1736372668.553 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:28.556Z,1736372668.556 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:28.557Z,1736372668.557 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:28.687Z,1736372668.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:28.721Z,1736372668.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 473.100006 m, deltaT: 4.281380 s, deltaX: -0.799988 m, approachRate: -0.186853 m/s, rangeRepo size: 4 2025-01-08T21:44:28.732Z,1736372668.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 473.100006 m, bearing: 135.541570 deg, lat: 36.901153 deg, lon: -122.117685 deg, deltaT: 4.281380 s, deltaX: -0.799988 m, approachRate: -0.186853 m/s, posRepo size: 4 2025-01-08T21:44:28.733Z,1736372668.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.10 m. 2025-01-08T21:44:28.740Z,1736372668.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.100006 m, nav range: 123.351402 m, bearing: 12.303494 deg, approach rate: 0.000000 m/s, LOS rate: 0.290816 deg/s, cmd heading: 291.359969 deg, new cmd heading: 291.810309 deg. 2025-01-08T21:44:28.741Z,1736372668.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093050 target range: 473.100006 and range: 473.10 m. 2025-01-08T21:44:28.788Z,1736372668.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:28.789Z,1736372668.789 [DAT](INFO): DAT read: TxSync time:21:44:27.8322 2025-01-08T21:44:29.045Z,1736372669.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:29.177Z,1736372669.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:29.200Z,1736372669.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.10 m. 2025-01-08T21:44:29.202Z,1736372669.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.100006 m, nav range: 123.312553 m, bearing: 12.447827 deg, approach rate: -0.081836 m/s, LOS rate: 0.304138 deg/s, cmd heading: 291.810297 deg, new cmd heading: 292.243426 deg. 2025-01-08T21:44:29.207Z,1736372669.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100610 target range: 473.100006 and range: 473.10 m. 2025-01-08T21:44:29.297Z,1736372669.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:29.494Z,1736372669.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:29.504Z,1736372669.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.10 m. 2025-01-08T21:44:29.507Z,1736372669.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.100006 m, nav range: 123.287163 m, bearing: 12.541117 deg, approach rate: -0.082187 m/s, LOS rate: 0.302032 deg/s, cmd heading: 292.243413 deg, new cmd heading: 292.523337 deg. 2025-01-08T21:44:29.509Z,1736372669.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.105495 target range: 473.100006 and range: 473.10 m. 2025-01-08T21:44:29.548Z,1736372669.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:29.800Z,1736372669.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:29.897Z,1736372669.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:29.907Z,1736372669.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.10 m. 2025-01-08T21:44:29.910Z,1736372669.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.100006 m, nav range: 123.253548 m, bearing: 12.659555 deg, approach rate: -0.083515 m/s, LOS rate: 0.294334 deg/s, cmd heading: 292.523342 deg, new cmd heading: 292.878749 deg. 2025-01-08T21:44:29.911Z,1736372669.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.111699 target range: 473.100006 and range: 473.10 m. 2025-01-08T21:44:30.052Z,1736372670.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:30.304Z,1736372670.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:30.338Z,1736372670.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:30.354Z,1736372670.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:30.358Z,1736372670.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.10 m. 2025-01-08T21:44:30.360Z,1736372670.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.100006 m, nav range: 123.221954 m, bearing: 12.794662 deg, approach rate: -0.070102 m/s, LOS rate: 0.299864 deg/s, cmd heading: 292.878757 deg, new cmd heading: 293.284174 deg. 2025-01-08T21:44:30.361Z,1736372670.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.118774 target range: 473.100006 and range: 473.10 m. 2025-01-08T21:44:30.556Z,1736372670.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:30.557Z,1736372670.557 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:30.557Z,1736372670.557 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:30.557Z,1736372670.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:30.703Z,1736372670.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:30.728Z,1736372670.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.10 m. 2025-01-08T21:44:30.730Z,1736372670.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.100006 m, nav range: 123.194168 m, bearing: 12.906100 deg, approach rate: -0.078576 m/s, LOS rate: 0.315207 deg/s, cmd heading: 293.284170 deg, new cmd heading: 293.618557 deg. 2025-01-08T21:44:30.736Z,1736372670.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.124610 target range: 473.100006 and range: 473.10 m. 2025-01-08T21:44:30.808Z,1736372670.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:30.809Z,1736372670.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257356 2025-01-08T21:44:31.061Z,1736372671.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:31.064Z,1736372671.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511830 2025-01-08T21:44:31.176Z,1736372671.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:31.186Z,1736372671.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.10 m. 2025-01-08T21:44:31.189Z,1736372671.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.100006 m, nav range: 123.152206 m, bearing: 13.057327 deg, approach rate: -0.088412 m/s, LOS rate: 0.318740 deg/s, cmd heading: 293.618549 deg, new cmd heading: 294.072374 deg. 2025-01-08T21:44:31.190Z,1736372671.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.132531 target range: 473.100006 and range: 473.10 m. 2025-01-08T21:44:31.312Z,1736372671.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:31.313Z,1736372671.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761238 2025-01-08T21:44:31.509Z,1736372671.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:31.519Z,1736372671.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.10 m. 2025-01-08T21:44:31.521Z,1736372671.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.100006 m, nav range: 123.121552 m, bearing: 13.163645 deg, approach rate: -0.092116 m/s, LOS rate: 0.319556 deg/s, cmd heading: 294.072374 deg, new cmd heading: 294.391403 deg. 2025-01-08T21:44:31.522Z,1736372671.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.138099 target range: 473.100006 and range: 473.10 m. 2025-01-08T21:44:31.564Z,1736372671.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:31.565Z,1736372671.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013620 2025-01-08T21:44:31.816Z,1736372671.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:31.817Z,1736372671.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265583 2025-01-08T21:44:31.920Z,1736372671.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:31.928Z,1736372671.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.10 m. 2025-01-08T21:44:31.931Z,1736372671.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.100006 m, nav range: 123.082664 m, bearing: 13.294525 deg, approach rate: -0.094888 m/s, LOS rate: 0.319461 deg/s, cmd heading: 294.391399 deg, new cmd heading: 294.784156 deg. 2025-01-08T21:44:31.933Z,1736372671.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.144954 target range: 473.100006 and range: 473.10 m. 2025-01-08T21:44:32.068Z,1736372672.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:32.068Z,1736372672.068 [DAT](INFO): DAT read: Rx Time:21:44:30.8662 2025-01-08T21:44:32.069Z,1736372672.069 [DAT](INFO): Rx dataTimestamp_ set to:1736372672.068673 2025-01-08T21:44:32.070Z,1736372672.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518317 2025-01-08T21:44:32.320Z,1736372672.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:32.320Z,1736372672.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768850 2025-01-08T21:44:32.354Z,1736372672.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:32.366Z,1736372672.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:32.383Z,1736372672.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.10 m. 2025-01-08T21:44:32.390Z,1736372672.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.100006 m, nav range: 123.041969 m, bearing: 13.436852 deg, approach rate: -0.089580 m/s, LOS rate: 0.313398 deg/s, cmd heading: 294.784162 deg, new cmd heading: 295.211275 deg. 2025-01-08T21:44:32.390Z,1736372672.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152409 target range: 473.100006 and range: 473.10 m. 2025-01-08T21:44:32.572Z,1736372672.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:32.581Z,1736372672.581 [DAT](INFO): DAT read: 21:44:30.8662 LVL= 18560, 32753, 21074, 26515, AGC= 66, IDX= 407,-0.31, 0.638,-1.003,-0.937,-0.355, PHS= 1.081,-0.601,-0.585, RAW= 90.5, 1.3, CAL= 98.0, -2.1, ROT= 52.0, 2.1 2025-01-08T21:44:32.582Z,1736372672.582 [DAT](INFO): got valid direction response: 21:44:30.8662 LVL= 18560, 32753, 21074, 26515, AGC= 66, IDX= 407,-0.31, 0.638,-1.003,-0.937,-0.355, PHS= 1.081,-0.601,-0.585, RAW= 90.5, 1.3, CAL= 98.0, -2.1, ROT= 52.0, 2.1 2025-01-08T21:44:32.584Z,1736372672.584 [DAT](INFO): DAT read: Bearing 52.0, 2.1 (Local) 2025-01-08T21:44:32.584Z,1736372672.584 [DAT](INFO): Local bearing/azimuth received: Bearing 52.0, 2.1 (Local) 2025-01-08T21:44:32.586Z,1736372672.586 [DAT](INFO): DAT read: Range 10 to 50 : 471.8 m (Round-trip 629.1 ms) speed 0.3 m/s 2025-01-08T21:44:32.586Z,1736372672.586 [DAT](INFO): DAT read: user:2023> 2025-01-08T21:44:32.590Z,1736372672.590 [DAT](INFO): DAT read: Tx time:21:44:31.9830 2025-01-08T21:44:32.590Z,1736372672.590 [DAT](INFO): Ping request sent. 2025-01-08T21:44:32.591Z,1736372672.591 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:32.591Z,1736372672.591 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:44:32.601Z,1736372672.601 [DAT](INFO): direction in FSK: [-0.110028,0.100660,0.988818] 2025-01-08T21:44:32.601Z,1736372672.601 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:32.601Z,1736372672.601 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:32.625Z,1736372672.625 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:32.626Z,1736372672.626 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:32.757Z,1736372672.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:32.806Z,1736372672.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 471.799988 m, deltaT: 4.036015 s, deltaX: -1.300018 m, approachRate: -0.322104 m/s, rangeRepo size: 4 2025-01-08T21:44:32.817Z,1736372672.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 471.799988 m, bearing: 155.787311 deg, lat: 36.900004 deg, lon: -122.117721 deg, deltaT: 4.036015 s, deltaX: -1.300018 m, approachRate: -0.322104 m/s, posRepo size: 4 2025-01-08T21:44:32.818Z,1736372672.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.80 m. 2025-01-08T21:44:32.824Z,1736372672.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:32.825Z,1736372672.825 [DAT](INFO): DAT read: TxSync time:21:44:31.9822 2025-01-08T21:44:32.831Z,1736372672.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.799988 m, nav range: 26.963846 m, bearing: 107.693125 deg, approach rate: 0.000000 m/s, LOS rate: 0.313398 deg/s, cmd heading: 295.211267 deg, new cmd heading: 295.608882 deg. 2025-01-08T21:44:32.833Z,1736372672.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159348 target range: 471.799988 and range: 471.80 m. 2025-01-08T21:44:33.076Z,1736372673.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:33.229Z,1736372673.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:33.239Z,1736372673.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.80 m. 2025-01-08T21:44:33.244Z,1736372673.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.799988 m, nav range: 27.301344 m, bearing: 107.721208 deg, approach rate: 0.779135 m/s, LOS rate: 0.064029 deg/s, cmd heading: 295.608893 deg, new cmd heading: 295.692100 deg. 2025-01-08T21:44:33.245Z,1736372673.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160801 target range: 471.799988 and range: 471.80 m. 2025-01-08T21:44:33.329Z,1736372673.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:33.527Z,1736372673.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:33.536Z,1736372673.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.80 m. 2025-01-08T21:44:33.539Z,1736372673.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.799988 m, nav range: 27.514187 m, bearing: 107.742744 deg, approach rate: 0.715148 m/s, LOS rate: 0.071800 deg/s, cmd heading: 295.692112 deg, new cmd heading: 295.756220 deg. 2025-01-08T21:44:33.540Z,1736372673.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.161920 target range: 471.799988 and range: 471.80 m. 2025-01-08T21:44:33.580Z,1736372673.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:33.833Z,1736372673.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:33.936Z,1736372673.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:33.969Z,1736372673.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.80 m. 2025-01-08T21:44:33.972Z,1736372673.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.799988 m, nav range: 27.806715 m, bearing: 107.774541 deg, approach rate: 0.676103 m/s, LOS rate: 0.072717 deg/s, cmd heading: 295.756207 deg, new cmd heading: 295.850594 deg. 2025-01-08T21:44:33.973Z,1736372673.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163567 target range: 471.799988 and range: 471.80 m. 2025-01-08T21:44:34.084Z,1736372674.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:34.338Z,1736372674.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:34.403Z,1736372674.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:34.418Z,1736372674.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:34.424Z,1736372674.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.80 m. 2025-01-08T21:44:34.434Z,1736372674.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.799988 m, nav range: 28.135431 m, bearing: 107.807503 deg, approach rate: 0.722534 m/s, LOS rate: 0.071607 deg/s, cmd heading: 295.850600 deg, new cmd heading: 295.948332 deg. 2025-01-08T21:44:34.444Z,1736372674.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.165273 target range: 471.799988 and range: 471.80 m. 2025-01-08T21:44:34.588Z,1736372674.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:34.588Z,1736372674.588 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:34.588Z,1736372674.588 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:34.588Z,1736372674.588 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:34.745Z,1736372674.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:34.758Z,1736372674.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.80 m. 2025-01-08T21:44:34.761Z,1736372674.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.799988 m, nav range: 28.375813 m, bearing: 107.837145 deg, approach rate: 0.720341 m/s, LOS rate: 0.088073 deg/s, cmd heading: 295.948326 deg, new cmd heading: 296.036498 deg. 2025-01-08T21:44:34.762Z,1736372674.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166811 target range: 471.799988 and range: 471.80 m. 2025-01-08T21:44:34.840Z,1736372674.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:34.841Z,1736372674.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250015 2025-01-08T21:44:35.092Z,1736372675.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:35.092Z,1736372675.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501758 2025-01-08T21:44:35.230Z,1736372675.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:35.240Z,1736372675.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.80 m. 2025-01-08T21:44:35.245Z,1736372675.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.799988 m, nav range: 28.718142 m, bearing: 107.882731 deg, approach rate: 0.709293 m/s, LOS rate: 0.093326 deg/s, cmd heading: 296.036491 deg, new cmd heading: 296.171617 deg. 2025-01-08T21:44:35.246Z,1736372675.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.169170 target range: 471.799988 and range: 471.80 m. 2025-01-08T21:44:35.345Z,1736372675.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:35.346Z,1736372675.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755533 2025-01-08T21:44:35.553Z,1736372675.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:35.562Z,1736372675.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.80 m. 2025-01-08T21:44:35.573Z,1736372675.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.799988 m, nav range: 28.945391 m, bearing: 107.921434 deg, approach rate: 0.707172 m/s, LOS rate: 0.119494 deg/s, cmd heading: 296.171619 deg, new cmd heading: 296.286816 deg. 2025-01-08T21:44:35.574Z,1736372675.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.171180 target range: 471.799988 and range: 471.80 m. 2025-01-08T21:44:35.596Z,1736372675.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:35.597Z,1736372675.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005945 2025-01-08T21:44:35.848Z,1736372675.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:35.848Z,1736372675.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257774 2025-01-08T21:44:35.957Z,1736372675.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:35.967Z,1736372675.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.80 m. 2025-01-08T21:44:35.970Z,1736372675.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.799988 m, nav range: 29.228962 m, bearing: 107.971816 deg, approach rate: 0.700917 m/s, LOS rate: 0.123323 deg/s, cmd heading: 296.286803 deg, new cmd heading: 296.436482 deg. 2025-01-08T21:44:35.971Z,1736372675.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.173793 target range: 471.799988 and range: 471.80 m. 2025-01-08T21:44:36.101Z,1736372676.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:36.102Z,1736372676.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511306 2025-01-08T21:44:36.352Z,1736372676.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:36.354Z,1736372676.354 [DAT](INFO): DAT read: Rx Time:21:44:35.0142 2025-01-08T21:44:36.356Z,1736372676.356 [DAT](INFO): Rx dataTimestamp_ set to:1736372676.354723 2025-01-08T21:44:36.357Z,1736372676.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766540 2025-01-08T21:44:36.506Z,1736372676.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:36.522Z,1736372676.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:36.528Z,1736372676.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.80 m. 2025-01-08T21:44:36.530Z,1736372676.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.799988 m, nav range: 29.606529 m, bearing: 108.044726 deg, approach rate: 0.672389 m/s, LOS rate: 0.128186 deg/s, cmd heading: 296.436494 deg, new cmd heading: 296.652435 deg. 2025-01-08T21:44:36.536Z,1736372676.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.177562 target range: 471.799988 and range: 471.80 m. 2025-01-08T21:44:36.604Z,1736372676.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:36.605Z,1736372676.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014233 2025-01-08T21:44:36.821Z,1736372676.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:36.830Z,1736372676.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.80 m. 2025-01-08T21:44:36.834Z,1736372676.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.799988 m, nav range: 29.823580 m, bearing: 108.087479 deg, approach rate: 0.718339 m/s, LOS rate: 0.140465 deg/s, cmd heading: 296.652437 deg, new cmd heading: 296.779764 deg. 2025-01-08T21:44:36.835Z,1736372676.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.179784 target range: 471.799988 and range: 471.80 m. 2025-01-08T21:44:36.856Z,1736372676.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:36.880Z,1736372676.880 [DAT](INFO): DAT read: 21:44:35.0142 LVL= 18128, 32609, 21682, 32755, AGC= 68, IDX= 417, 0.31,-1.467, 3.099,-2.945,-2.422, PHS= 1.042,-0.716,-0.526, RAW= 95.6, 2.4, CAL= 104.7, 0.2, ROT= 45.3, -0.2 2025-01-08T21:44:36.881Z,1736372676.881 [DAT](INFO): got valid direction response: 21:44:35.0142 LVL= 18128, 32609, 21682, 32755, AGC= 68, IDX= 417, 0.31,-1.467, 3.099,-2.945,-2.422, PHS= 1.042,-0.716,-0.526, RAW= 95.6, 2.4, CAL= 104.7, 0.2, ROT= 45.3, -0.2 2025-01-08T21:44:36.882Z,1736372676.882 [DAT](INFO): DAT read: Bearing 45.3, -0.2 (Local) 2025-01-08T21:44:36.882Z,1736372676.882 [DAT](INFO): Local bearing/azimuth received: Bearing 45.3, -0.2 (Local) 2025-01-08T21:44:36.885Z,1736372676.885 [DAT](INFO): DAT read: Range 10 to 50 : 470.2 m (Round-trip 627.0 ms) speed 0.4 m/s 2025-01-08T21:44:36.886Z,1736372676.886 [DAT](INFO): DAT read: user:2024> 2025-01-08T21:44:36.886Z,1736372676.886 [DAT](INFO): DAT read: Tx time:21:44:36.1331 2025-01-08T21:44:36.887Z,1736372676.887 [DAT](INFO): Ping request sent. 2025-01-08T21:44:36.887Z,1736372676.887 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:36.887Z,1736372676.887 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:44:36.888Z,1736372676.888 [DAT](INFO): direction in FSK: [-0.140019,0.011667,0.990080] 2025-01-08T21:44:36.888Z,1736372676.888 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:36.888Z,1736372676.888 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:36.904Z,1736372676.904 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:36.904Z,1736372676.904 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:37.108Z,1736372677.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:37.109Z,1736372677.109 [DAT](INFO): DAT read: TxSync time:21:44:36.1323 2025-01-08T21:44:37.294Z,1736372677.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:37.336Z,1736372677.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 470.200012 m, deltaT: 4.284400 s, deltaX: -1.599976 m, approachRate: -0.373442 m/s, rangeRepo size: 4 2025-01-08T21:44:37.338Z,1736372677.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 470.200012 m, bearing: 174.313472 deg, lat: 36.899828 deg, lon: -122.117721 deg, deltaT: 4.284400 s, deltaX: -1.599976 m, approachRate: -0.373442 m/s, posRepo size: 4 2025-01-08T21:44:37.339Z,1736372677.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.20 m. 2025-01-08T21:44:37.346Z,1736372677.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.200012 m, nav range: 40.703762 m, bearing: 135.291170 deg, approach rate: 0.000000 m/s, LOS rate: 0.140465 deg/s, cmd heading: 296.779752 deg, new cmd heading: 296.991041 deg. 2025-01-08T21:44:37.347Z,1736372677.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.183472 target range: 470.200012 and range: 470.20 m. 2025-01-08T21:44:37.360Z,1736372677.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:37.612Z,1736372677.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:37.816Z,1736372677.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:37.826Z,1736372677.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.20 m. 2025-01-08T21:44:37.828Z,1736372677.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.200012 m, nav range: 41.026070 m, bearing: 135.117635 deg, approach rate: 0.652208 m/s, LOS rate: -0.348398 deg/s, cmd heading: 296.991050 deg, new cmd heading: 296.474551 deg. 2025-01-08T21:44:37.829Z,1736372677.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.174457 target range: 470.200012 and range: 470.20 m. 2025-01-08T21:44:37.864Z,1736372677.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:38.116Z,1736372678.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:38.293Z,1736372678.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:38.307Z,1736372678.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.20 m. 2025-01-08T21:44:38.310Z,1736372678.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.200012 m, nav range: 41.319317 m, bearing: 134.974093 deg, approach rate: 0.609657 m/s, LOS rate: -0.296303 deg/s, cmd heading: 296.474552 deg, new cmd heading: 296.046991 deg. 2025-01-08T21:44:38.311Z,1736372678.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166995 target range: 470.200012 and range: 470.20 m. 2025-01-08T21:44:38.370Z,1736372678.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:38.612Z,1736372678.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:38.620Z,1736372678.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:38.639Z,1736372678.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:38.641Z,1736372678.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.20 m. 2025-01-08T21:44:38.655Z,1736372678.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.200012 m, nav range: 41.515854 m, bearing: 134.879872 deg, approach rate: 0.587558 m/s, LOS rate: -0.280347 deg/s, cmd heading: 296.046982 deg, new cmd heading: 295.765658 deg. 2025-01-08T21:44:38.660Z,1736372678.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.162085 target range: 470.200012 and range: 470.20 m. 2025-01-08T21:44:38.874Z,1736372678.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:38.875Z,1736372678.875 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:38.875Z,1736372678.875 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:38.875Z,1736372678.875 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:39.041Z,1736372679.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:39.067Z,1736372679.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.20 m. 2025-01-08T21:44:39.070Z,1736372679.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.200012 m, nav range: 41.780174 m, bearing: 134.756277 deg, approach rate: 0.621873 m/s, LOS rate: -0.288945 deg/s, cmd heading: 295.765660 deg, new cmd heading: 295.397226 deg. 2025-01-08T21:44:39.071Z,1736372679.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.155654 target range: 470.200012 and range: 470.20 m. 2025-01-08T21:44:39.124Z,1736372679.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:39.125Z,1736372679.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237846 2025-01-08T21:44:39.376Z,1736372679.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:39.376Z,1736372679.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489666 2025-01-08T21:44:39.464Z,1736372679.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:39.498Z,1736372679.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.20 m. 2025-01-08T21:44:39.505Z,1736372679.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.200012 m, nav range: 42.032795 m, bearing: 134.643315 deg, approach rate: 0.586839 m/s, LOS rate: -0.260832 deg/s, cmd heading: 295.397212 deg, new cmd heading: 295.060369 deg. 2025-01-08T21:44:39.506Z,1736372679.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.149775 target range: 470.200012 and range: 470.20 m. 2025-01-08T21:44:39.628Z,1736372679.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:39.628Z,1736372679.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741659 2025-01-08T21:44:39.826Z,1736372679.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:39.836Z,1736372679.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.20 m. 2025-01-08T21:44:39.839Z,1736372679.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.200012 m, nav range: 42.249119 m, bearing: 134.549311 deg, approach rate: 0.638274 m/s, LOS rate: -0.275945 deg/s, cmd heading: 295.060375 deg, new cmd heading: 294.779807 deg. 2025-01-08T21:44:39.840Z,1736372679.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.144878 target range: 470.200012 and range: 470.20 m. 2025-01-08T21:44:39.881Z,1736372679.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:39.883Z,1736372679.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995817 2025-01-08T21:44:40.132Z,1736372680.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:40.133Z,1736372680.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246282 2025-01-08T21:44:40.318Z,1736372680.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:40.328Z,1736372680.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.20 m. 2025-01-08T21:44:40.330Z,1736372680.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.200012 m, nav range: 42.532269 m, bearing: 134.432833 deg, approach rate: 0.575908 m/s, LOS rate: -0.235330 deg/s, cmd heading: 294.779818 deg, new cmd heading: 294.432716 deg. 2025-01-08T21:44:40.332Z,1736372680.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.138820 target range: 470.200012 and range: 470.20 m. 2025-01-08T21:44:40.385Z,1736372680.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:40.386Z,1736372680.386 [DAT](INFO): DAT read: Rx Time:21:44:39.1624 2025-01-08T21:44:40.387Z,1736372680.387 [DAT](INFO): Rx dataTimestamp_ set to:1736372680.386428 2025-01-08T21:44:40.388Z,1736372680.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501224 2025-01-08T21:44:40.636Z,1736372680.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:40.636Z,1736372680.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749776 2025-01-08T21:44:40.680Z,1736372680.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:40.688Z,1736372680.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:40.690Z,1736372680.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.20 m. 2025-01-08T21:44:40.709Z,1736372680.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.200012 m, nav range: 42.740143 m, bearing: 134.348349 deg, approach rate: 0.572907 m/s, LOS rate: -0.231707 deg/s, cmd heading: 294.432707 deg, new cmd heading: 294.180490 deg. 2025-01-08T21:44:40.710Z,1736372680.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.134418 target range: 470.200012 and range: 470.20 m. 2025-01-08T21:44:40.888Z,1736372680.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:40.894Z,1736372680.894 [DAT](INFO): DAT read: 21:44:39.1624 LVL= 15600, 30193, 23330, 30307, AGC= 66, IDX= 431,-0.35,-1.224,-2.922,-2.625,-2.091, PHS= 0.955,-0.784,-0.537, RAW= 97.5, 4.5, CAL= 107.0, 2.9, ROT= 43.0, -2.9 2025-01-08T21:44:40.896Z,1736372680.896 [DAT](INFO): got valid direction response: 21:44:39.1624 LVL= 15600, 30193, 23330, 30307, AGC= 66, IDX= 431,-0.35,-1.224,-2.922,-2.625,-2.091, PHS= 0.955,-0.784,-0.537, RAW= 97.5, 4.5, CAL= 107.0, 2.9, ROT= 43.0, -2.9 2025-01-08T21:44:40.897Z,1736372680.897 [DAT](INFO): DAT read: Bearing 43.0, -2.9 (Local) 2025-01-08T21:44:40.897Z,1736372680.897 [DAT](INFO): Local bearing/azimuth received: Bearing 43.0, -2.9 (Local) 2025-01-08T21:44:40.898Z,1736372680.898 [DAT](INFO): DAT read: Range 10 to 50 : 468.8 m (Round-trip 625.1 ms) speed 0.3 m/s 2025-01-08T21:44:40.909Z,1736372680.909 [DAT](INFO): DAT read: user:2025> 2025-01-08T21:44:40.909Z,1736372680.909 [DAT](INFO): DAT read: Tx time:21:44:40.2831 2025-01-08T21:44:40.910Z,1736372680.910 [DAT](INFO): Ping request sent. 2025-01-08T21:44:40.910Z,1736372680.910 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:40.910Z,1736372680.910 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:44:40.911Z,1736372680.911 [DAT](INFO): direction in FSK: [-0.182864,-0.019246,0.982950] 2025-01-08T21:44:40.911Z,1736372680.911 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:40.912Z,1736372680.912 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:40.914Z,1736372680.914 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:40.915Z,1736372680.915 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:41.068Z,1736372681.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:41.099Z,1736372681.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 468.799988 m, deltaT: 4.031795 s, deltaX: -1.400024 m, approachRate: -0.347246 m/s, rangeRepo size: 4 2025-01-08T21:44:41.106Z,1736372681.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 468.799988 m, bearing: 169.399430 deg, lat: 36.899564 deg, lon: -122.117721 deg, deltaT: 4.031795 s, deltaX: -1.400024 m, approachRate: -0.347246 m/s, posRepo size: 4 2025-01-08T21:44:41.107Z,1736372681.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.80 m. 2025-01-08T21:44:41.113Z,1736372681.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.799988 m, nav range: 66.874222 m, bearing: 152.604847 deg, approach rate: 0.000000 m/s, LOS rate: -0.231707 deg/s, cmd heading: 294.180482 deg, new cmd heading: 293.896944 deg. 2025-01-08T21:44:41.114Z,1736372681.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129469 target range: 468.799988 and range: 468.80 m. 2025-01-08T21:44:41.140Z,1736372681.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:41.141Z,1736372681.141 [DAT](INFO): DAT read: TxSync time:21:44:40.2823 2025-01-08T21:44:41.392Z,1736372681.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:41.478Z,1736372681.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:41.506Z,1736372681.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.80 m. 2025-01-08T21:44:41.520Z,1736372681.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.799988 m, nav range: 67.081139 m, bearing: 152.486136 deg, approach rate: 0.506651 m/s, LOS rate: -0.289777 deg/s, cmd heading: 293.896947 deg, new cmd heading: 293.541917 deg. 2025-01-08T21:44:41.521Z,1736372681.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.123273 target range: 468.799988 and range: 468.80 m. 2025-01-08T21:44:41.645Z,1736372681.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:41.845Z,1736372681.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:41.859Z,1736372681.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.80 m. 2025-01-08T21:44:41.877Z,1736372681.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.799988 m, nav range: 67.266266 m, bearing: 152.379411 deg, approach rate: 0.525539 m/s, LOS rate: -0.302137 deg/s, cmd heading: 293.541914 deg, new cmd heading: 293.222624 deg. 2025-01-08T21:44:41.878Z,1736372681.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.117700 target range: 468.799988 and range: 468.80 m. 2025-01-08T21:44:41.896Z,1736372681.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:42.148Z,1736372682.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:42.309Z,1736372682.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:42.334Z,1736372682.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.80 m. 2025-01-08T21:44:42.337Z,1736372682.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.799988 m, nav range: 67.500603 m, bearing: 152.245343 deg, approach rate: 0.493333 m/s, LOS rate: -0.281265 deg/s, cmd heading: 293.222617 deg, new cmd heading: 292.821815 deg. 2025-01-08T21:44:42.338Z,1736372682.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.110705 target range: 468.799988 and range: 468.80 m. 2025-01-08T21:44:42.400Z,1736372682.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:42.652Z,1736372682.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:42.698Z,1736372682.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:42.722Z,1736372682.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:42.729Z,1736372682.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.80 m. 2025-01-08T21:44:42.736Z,1736372682.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.799988 m, nav range: 67.691925 m, bearing: 152.128604 deg, approach rate: 0.483993 m/s, LOS rate: -0.294481 deg/s, cmd heading: 292.821821 deg, new cmd heading: 292.472600 deg. 2025-01-08T21:44:42.737Z,1736372682.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.104610 target range: 468.799988 and range: 468.80 m. 2025-01-08T21:44:42.904Z,1736372682.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:42.904Z,1736372682.904 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:42.904Z,1736372682.904 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:42.905Z,1736372682.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:43.061Z,1736372683.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:43.071Z,1736372683.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.80 m. 2025-01-08T21:44:43.074Z,1736372683.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.799988 m, nav range: 67.870766 m, bearing: 152.019552 deg, approach rate: 0.522924 m/s, LOS rate: -0.318024 deg/s, cmd heading: 292.472607 deg, new cmd heading: 292.146317 deg. 2025-01-08T21:44:43.075Z,1736372683.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.098915 target range: 468.799988 and range: 468.80 m. 2025-01-08T21:44:43.156Z,1736372683.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:43.157Z,1736372683.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246790 2025-01-08T21:44:43.409Z,1736372683.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:43.410Z,1736372683.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500056 2025-01-08T21:44:43.514Z,1736372683.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:43.526Z,1736372683.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.80 m. 2025-01-08T21:44:43.529Z,1736372683.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.799988 m, nav range: 68.099922 m, bearing: 151.873849 deg, approach rate: 0.503488 m/s, LOS rate: -0.319052 deg/s, cmd heading: 292.146315 deg, new cmd heading: 291.710685 deg. 2025-01-08T21:44:43.530Z,1736372683.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.091312 target range: 468.799988 and range: 468.80 m. 2025-01-08T21:44:43.660Z,1736372683.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:43.661Z,1736372683.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751498 2025-01-08T21:44:43.865Z,1736372683.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:43.875Z,1736372683.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.80 m. 2025-01-08T21:44:43.878Z,1736372683.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.799988 m, nav range: 68.277512 m, bearing: 151.760643 deg, approach rate: 0.509356 m/s, LOS rate: -0.323848 deg/s, cmd heading: 291.710686 deg, new cmd heading: 291.371956 deg. 2025-01-08T21:44:43.879Z,1736372683.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085400 target range: 468.799988 and range: 468.80 m. 2025-01-08T21:44:43.913Z,1736372683.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:43.913Z,1736372683.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003683 2025-01-08T21:44:44.164Z,1736372684.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:44.164Z,1736372684.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254570 2025-01-08T21:44:44.373Z,1736372684.373 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -25.12, +1047.59, -10.2 2025-01-08T21:44:44.380Z,1736372684.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:44:44.381Z,1736372684.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:44.390Z,1736372684.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.80 m. 2025-01-08T21:44:44.393Z,1736372684.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.799988 m, nav range: 68.537125 m, bearing: 151.594204 deg, approach rate: 0.504088 m/s, LOS rate: -0.321949 deg/s, cmd heading: 291.371963 deg, new cmd heading: 290.874550 deg. 2025-01-08T21:44:44.394Z,1736372684.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.076719 target range: 468.799988 and range: 468.80 m. 2025-01-08T21:44:44.416Z,1736372684.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:44.418Z,1736372684.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507780 2025-01-08T21:44:44.668Z,1736372684.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:44.669Z,1736372684.669 [DAT](INFO): DAT read: Rx Time:21:44:43.3105 2025-01-08T21:44:44.670Z,1736372684.670 [DAT](INFO): Rx dataTimestamp_ set to:1736372684.669400 2025-01-08T21:44:44.671Z,1736372684.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760902 2025-01-08T21:44:44.771Z,1736372684.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:44:44.771Z,1736372684.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:44.778Z,1736372684.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:44.780Z,1736372684.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.80 m. 2025-01-08T21:44:44.784Z,1736372684.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.799988 m, nav range: 68.733032 m, bearing: 151.467922 deg, approach rate: 0.501586 m/s, LOS rate: -0.322402 deg/s, cmd heading: 290.874561 deg, new cmd heading: 290.496800 deg. 2025-01-08T21:44:44.785Z,1736372684.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.070126 target range: 468.799988 and range: 468.80 m. 2025-01-08T21:44:44.921Z,1736372684.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:44.922Z,1736372684.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012272 2025-01-08T21:44:45.172Z,1736372685.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:45.178Z,1736372685.178 [DAT](INFO): DAT read: 21:44:43.3105 LVL= 13296, 25825, 18210, 30547, AGC= 66, IDX= 427,-0.42, 1.960, 0.048, 0.296, 0.856, PHS= 1.191,-0.761,-0.564, RAW= 95.3, 1.5, CAL= 104.1, -1.6, ROT= 45.9, 1.6 2025-01-08T21:44:45.179Z,1736372685.179 [DAT](INFO): got valid direction response: 21:44:43.3105 LVL= 13296, 25825, 18210, 30547, AGC= 66, IDX= 427,-0.42, 1.960, 0.048, 0.296, 0.856, PHS= 1.191,-0.761,-0.564, RAW= 95.3, 1.5, CAL= 104.1, -1.6, ROT= 45.9, 1.6 2025-01-08T21:44:45.180Z,1736372685.180 [DAT](INFO): DAT read: Bearing 45.9, 1.6 (Local) 2025-01-08T21:44:45.181Z,1736372685.181 [DAT](INFO): Local bearing/azimuth received: Bearing 45.9, 1.6 (Local) 2025-01-08T21:44:45.183Z,1736372685.183 [DAT](INFO): DAT read: Range 10 to 50 : 467.4 m (Round-trip 623.3 ms) speed 0.4 m/s 2025-01-08T21:44:45.184Z,1736372685.184 [DAT](INFO): DAT read: user:2026> 2025-01-08T21:44:45.185Z,1736372685.185 [DAT](INFO): DAT read: Tx time:21:44:44.4331 2025-01-08T21:44:45.185Z,1736372685.185 [DAT](INFO): Ping request sent. 2025-01-08T21:44:45.185Z,1736372685.185 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:45.185Z,1736372685.185 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:44:45.186Z,1736372685.186 [DAT](INFO): direction in FSK: [-0.121089,0.017545,0.992487] 2025-01-08T21:44:45.186Z,1736372685.186 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:45.187Z,1736372685.187 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:45.194Z,1736372685.194 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:45.194Z,1736372685.194 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:45.235Z,1736372685.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T21:44:45.239Z,1736372685.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:45.342Z,1736372685.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 467.399994 m, deltaT: 4.283686 s, deltaX: -1.399994 m, approachRate: -0.326820 m/s, rangeRepo size: 4 2025-01-08T21:44:45.352Z,1736372685.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 467.399994 m, bearing: 175.882875 deg, lat: 36.899564 deg, lon: -122.117857 deg, deltaT: 4.283686 s, deltaX: -1.399994 m, approachRate: -0.326820 m/s, posRepo size: 4 2025-01-08T21:44:45.353Z,1736372685.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.40 m. 2025-01-08T21:44:45.364Z,1736372685.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.399994 m, nav range: 64.060028 m, bearing: 160.821045 deg, approach rate: 0.000000 m/s, LOS rate: -0.322402 deg/s, cmd heading: 290.496797 deg, new cmd heading: 289.954235 deg. 2025-01-08T21:44:45.365Z,1736372685.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060656 target range: 467.399994 and range: 467.40 m. 2025-01-08T21:44:45.425Z,1736372685.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:45.426Z,1736372685.426 [DAT](INFO): DAT read: TxSync time:21:44:44.4323 2025-01-08T21:44:45.676Z,1736372685.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:45.719Z,1736372685.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:45.742Z,1736372685.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.40 m. 2025-01-08T21:44:45.756Z,1736372685.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.399994 m, nav range: 64.282661 m, bearing: 160.593727 deg, approach rate: 0.555719 m/s, LOS rate: -0.565447 deg/s, cmd heading: 289.954234 deg, new cmd heading: 289.274674 deg. 2025-01-08T21:44:45.757Z,1736372685.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.048796 target range: 467.399994 and range: 467.40 m. 2025-01-08T21:44:45.928Z,1736372685.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:46.037Z,1736372686.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:46.046Z,1736372686.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.40 m. 2025-01-08T21:44:46.048Z,1736372686.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.399994 m, nav range: 64.427872 m, bearing: 160.443539 deg, approach rate: 0.478014 m/s, LOS rate: -0.493285 deg/s, cmd heading: 289.274685 deg, new cmd heading: 288.825147 deg. 2025-01-08T21:44:46.050Z,1736372686.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.040950 target range: 467.399994 and range: 467.40 m. 2025-01-08T21:44:46.180Z,1736372686.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:46.432Z,1736372686.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:46.485Z,1736372686.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:46.501Z,1736372686.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.40 m. 2025-01-08T21:44:46.508Z,1736372686.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.399994 m, nav range: 64.636909 m, bearing: 160.222812 deg, approach rate: 0.458875 m/s, LOS rate: -0.482966 deg/s, cmd heading: 288.825150 deg, new cmd heading: 288.165142 deg. 2025-01-08T21:44:46.509Z,1736372686.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.029430 target range: 467.399994 and range: 467.40 m. 2025-01-08T21:44:46.684Z,1736372686.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:46.843Z,1736372686.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:46.850Z,1736372686.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:46.853Z,1736372686.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.40 m. 2025-01-08T21:44:46.856Z,1736372686.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.399994 m, nav range: 64.802872 m, bearing: 160.046039 deg, approach rate: 0.472314 m/s, LOS rate: -0.501793 deg/s, cmd heading: 288.165135 deg, new cmd heading: 287.636188 deg. 2025-01-08T21:44:46.857Z,1736372686.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.020198 target range: 467.399994 and range: 467.40 m. 2025-01-08T21:44:46.936Z,1736372686.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:46.937Z,1736372686.937 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:46.937Z,1736372686.937 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:46.937Z,1736372686.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:47.188Z,1736372687.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:47.188Z,1736372687.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003335 2025-01-08T21:44:47.277Z,1736372687.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:47.291Z,1736372687.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.40 m. 2025-01-08T21:44:47.294Z,1736372687.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.399994 m, nav range: 65.003036 m, bearing: 159.831737 deg, approach rate: 0.457042 m/s, LOS rate: -0.487813 deg/s, cmd heading: 287.636177 deg, new cmd heading: 286.995281 deg. 2025-01-08T21:44:47.294Z,1736372687.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.009013 target range: 467.399994 and range: 467.40 m. 2025-01-08T21:44:47.440Z,1736372687.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:47.441Z,1736372687.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255523 2025-01-08T21:44:47.692Z,1736372687.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:47.693Z,1736372687.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507673 2025-01-08T21:44:47.723Z,1736372687.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:47.760Z,1736372687.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.40 m. 2025-01-08T21:44:47.762Z,1736372687.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.399994 m, nav range: 65.214424 m, bearing: 159.607667 deg, approach rate: 0.450373 m/s, LOS rate: -0.475845 deg/s, cmd heading: 286.995287 deg, new cmd heading: 286.325288 deg. 2025-01-08T21:44:47.770Z,1736372687.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997319 target range: 467.399994 and range: 467.40 m. 2025-01-08T21:44:47.945Z,1736372687.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:47.946Z,1736372687.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760607 2025-01-08T21:44:48.167Z,1736372688.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:48.180Z,1736372688.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.40 m. 2025-01-08T21:44:48.184Z,1736372688.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.399994 m, nav range: 65.420372 m, bearing: 159.384173 deg, approach rate: 0.490048 m/s, LOS rate: -0.530123 deg/s, cmd heading: 286.325300 deg, new cmd heading: 285.656960 deg. 2025-01-08T21:44:48.185Z,1736372688.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.985654 target range: 467.399994 and range: 467.40 m. 2025-01-08T21:44:48.196Z,1736372688.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:48.196Z,1736372688.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011486 2025-01-08T21:44:48.448Z,1736372688.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:48.448Z,1736372688.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263379 2025-01-08T21:44:48.614Z,1736372688.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:48.623Z,1736372688.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.40 m. 2025-01-08T21:44:48.628Z,1736372688.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.399994 m, nav range: 65.628998 m, bearing: 159.157964 deg, approach rate: 0.471269 m/s, LOS rate: -0.509363 deg/s, cmd heading: 285.656953 deg, new cmd heading: 284.980516 deg. 2025-01-08T21:44:48.630Z,1736372688.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.973848 target range: 467.399994 and range: 467.40 m. 2025-01-08T21:44:48.701Z,1736372688.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:48.701Z,1736372688.701 [DAT](INFO): DAT read: Rx Time:21:44:47.4583 2025-01-08T21:44:48.702Z,1736372688.702 [DAT](INFO): Rx dataTimestamp_ set to:1736372688.701478 2025-01-08T21:44:48.702Z,1736372688.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517324 2025-01-08T21:44:48.952Z,1736372688.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:48.953Z,1736372688.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767557 2025-01-08T21:44:48.992Z,1736372688.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:48.999Z,1736372688.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:49.002Z,1736372689.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.40 m. 2025-01-08T21:44:49.045Z,1736372689.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.399994 m, nav range: 65.801491 m, bearing: 158.965760 deg, approach rate: 0.454534 m/s, LOS rate: -0.505145 deg/s, cmd heading: 284.980518 deg, new cmd heading: 284.405439 deg. 2025-01-08T21:44:49.046Z,1736372689.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.963811 target range: 467.399994 and range: 467.40 m. 2025-01-08T21:44:49.204Z,1736372689.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:49.210Z,1736372689.210 [DAT](INFO): DAT read: 21:44:47.4583 LVL= 14528, 32753, 22050, 32755, AGC= 65, IDX= 421, 0.25, 2.093, 0.146, 0.207, 0.888, PHS= 1.293,-0.695,-0.684, RAW= 90.3, 0.9, CAL= 97.8, -2.8, ROT= 52.2, 2.8 2025-01-08T21:44:49.211Z,1736372689.211 [DAT](INFO): got valid direction response: 21:44:47.4583 LVL= 14528, 32753, 22050, 32755, AGC= 65, IDX= 421, 0.25, 2.093, 0.146, 0.207, 0.888, PHS= 1.293,-0.695,-0.684, RAW= 90.3, 0.9, CAL= 97.8, -2.8, ROT= 52.2, 2.8 2025-01-08T21:44:49.212Z,1736372689.212 [DAT](INFO): DAT read: Bearing 52.2, 2.8 (Local) 2025-01-08T21:44:49.213Z,1736372689.213 [DAT](INFO): Local bearing/azimuth received: Bearing 52.2, 2.8 (Local) 2025-01-08T21:44:49.214Z,1736372689.214 [DAT](INFO): DAT read: Range 10 to 50 : 465.8 m (Round-trip 621.1 ms) speed 0.3 m/s 2025-01-08T21:44:49.215Z,1736372689.215 [DAT](INFO): DAT read: user:2027> 2025-01-08T21:44:49.217Z,1736372689.217 [DAT](INFO): DAT read: Tx time:21:44:48.5831 2025-01-08T21:44:49.217Z,1736372689.217 [DAT](INFO): Ping request sent. 2025-01-08T21:44:49.217Z,1736372689.217 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:49.218Z,1736372689.218 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:44:49.219Z,1736372689.219 [DAT](INFO): direction in FSK: [-0.102269,0.103728,0.989334] 2025-01-08T21:44:49.219Z,1736372689.219 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:49.222Z,1736372689.222 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:49.243Z,1736372689.243 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:49.244Z,1736372689.244 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:49.456Z,1736372689.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:49.457Z,1736372689.457 [DAT](INFO): DAT read: TxSync time:21:44:48.5823 2025-01-08T21:44:49.503Z,1736372689.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:49.533Z,1736372689.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 465.799988 m, deltaT: 4.032170 s, deltaX: -1.600006 m, approachRate: -0.396810 m/s, rangeRepo size: 4 2025-01-08T21:44:49.540Z,1736372689.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 465.799988 m, bearing: 56.930152 deg, lat: 36.899564 deg, lon: -122.117941 deg, deltaT: 4.032170 s, deltaX: -1.600006 m, approachRate: -0.396810 m/s, posRepo size: 4 2025-01-08T21:44:49.540Z,1736372689.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T21:44:49.543Z,1736372689.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 63.695709 m, bearing: 165.019862 deg, approach rate: 0.000000 m/s, LOS rate: -0.505145 deg/s, cmd heading: 284.405443 deg, new cmd heading: 283.601852 deg. 2025-01-08T21:44:49.548Z,1736372689.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.949786 target range: 465.799988 and range: 465.80 m. 2025-01-08T21:44:49.708Z,1736372689.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:49.791Z,1736372689.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:49.812Z,1736372689.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T21:44:49.814Z,1736372689.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 63.804092 m, bearing: 164.864354 deg, approach rate: 0.394705 m/s, LOS rate: -0.565357 deg/s, cmd heading: 283.601858 deg, new cmd heading: 283.136139 deg. 2025-01-08T21:44:49.824Z,1736372689.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.941658 target range: 465.799988 and range: 465.80 m. 2025-01-08T21:44:49.963Z,1736372689.963 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:50.181Z,1736372690.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:50.190Z,1736372690.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T21:44:50.195Z,1736372690.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 63.949722 m, bearing: 164.652780 deg, approach rate: 0.380367 m/s, LOS rate: -0.551347 deg/s, cmd heading: 283.136148 deg, new cmd heading: 282.502897 deg. 2025-01-08T21:44:50.196Z,1736372690.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.930606 target range: 465.799988 and range: 465.80 m. 2025-01-08T21:44:50.216Z,1736372690.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:50.468Z,1736372690.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:50.627Z,1736372690.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:50.638Z,1736372690.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T21:44:50.643Z,1736372690.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 64.106628 m, bearing: 164.416371 deg, approach rate: 0.351138 m/s, LOS rate: -0.527759 deg/s, cmd heading: 282.502908 deg, new cmd heading: 281.795456 deg. 2025-01-08T21:44:50.645Z,1736372690.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.918259 target range: 465.799988 and range: 465.80 m. 2025-01-08T21:44:50.721Z,1736372690.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:50.972Z,1736372690.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:51.020Z,1736372691.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:51.046Z,1736372691.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:51.048Z,1736372691.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T21:44:51.052Z,1736372691.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 64.245895 m, bearing: 164.208853 deg, approach rate: 0.338918 m/s, LOS rate: -0.503915 deg/s, cmd heading: 281.795464 deg, new cmd heading: 281.174286 deg. 2025-01-08T21:44:51.053Z,1736372691.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.907417 target range: 465.799988 and range: 465.80 m. 2025-01-08T21:44:51.224Z,1736372691.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:51.224Z,1736372691.224 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:51.224Z,1736372691.224 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:51.224Z,1736372691.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:51.468Z,1736372691.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:51.476Z,1736372691.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:51.477Z,1736372691.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259297 2025-01-08T21:44:51.478Z,1736372691.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T21:44:51.481Z,1736372691.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 64.392792 m, bearing: 163.986467 deg, approach rate: 0.341558 m/s, LOS rate: -0.515905 deg/s, cmd heading: 281.174299 deg, new cmd heading: 280.508693 deg. 2025-01-08T21:44:51.482Z,1736372691.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895800 target range: 465.799988 and range: 465.80 m. 2025-01-08T21:44:51.729Z,1736372691.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:51.729Z,1736372691.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511894 2025-01-08T21:44:51.813Z,1736372691.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:51.823Z,1736372691.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T21:44:51.826Z,1736372691.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 64.507271 m, bearing: 163.814860 deg, approach rate: 0.331761 m/s, LOS rate: -0.496433 deg/s, cmd heading: 280.508684 deg, new cmd heading: 279.994793 deg. 2025-01-08T21:44:51.827Z,1736372691.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.886831 target range: 465.799988 and range: 465.80 m. 2025-01-08T21:44:51.980Z,1736372691.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:51.980Z,1736372691.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763017 2025-01-08T21:44:52.201Z,1736372692.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:52.229Z,1736372692.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T21:44:52.232Z,1736372692.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:52.234Z,1736372692.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015884 2025-01-08T21:44:52.238Z,1736372692.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 64.632652 m, bearing: 163.621986 deg, approach rate: 0.308475 m/s, LOS rate: -0.473606 deg/s, cmd heading: 279.994780 deg, new cmd heading: 279.417301 deg. 2025-01-08T21:44:52.239Z,1736372692.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876752 target range: 465.799988 and range: 465.80 m. 2025-01-08T21:44:52.484Z,1736372692.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:52.485Z,1736372692.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267514 2025-01-08T21:44:52.664Z,1736372692.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:52.693Z,1736372692.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T21:44:52.699Z,1736372692.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 64.775436 m, bearing: 163.403834 deg, approach rate: 0.308577 m/s, LOS rate: -0.470417 deg/s, cmd heading: 279.417302 deg, new cmd heading: 278.764319 deg. 2025-01-08T21:44:52.716Z,1736372692.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865355 target range: 465.799988 and range: 465.80 m. 2025-01-08T21:44:52.741Z,1736372692.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:52.743Z,1736372692.743 [DAT](INFO): DAT read: Rx Time:21:44:51.6068 2025-01-08T21:44:52.744Z,1736372692.744 [DAT](INFO): Rx dataTimestamp_ set to:1736372692.743683 2025-01-08T21:44:52.745Z,1736372692.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527789 2025-01-08T21:44:52.992Z,1736372692.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:52.992Z,1736372692.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774991 2025-01-08T21:44:53.068Z,1736372693.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:53.075Z,1736372693.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:53.077Z,1736372693.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.80 m. 2025-01-08T21:44:53.092Z,1736372693.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.799988 m, nav range: 64.901817 m, bearing: 163.208803 deg, approach rate: 0.328148 m/s, LOS rate: -0.505411 deg/s, cmd heading: 278.764308 deg, new cmd heading: 278.180375 deg. 2025-01-08T21:44:53.093Z,1736372693.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.855164 target range: 465.799988 and range: 465.80 m. 2025-01-08T21:44:53.244Z,1736372693.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:53.245Z,1736372693.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027144 2025-01-08T21:44:53.496Z,1736372693.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:53.504Z,1736372693.504 [DAT](INFO): DAT read: 21:44:51.6068 LVL= 14304, 30577, 19106, 28403, AGC= 67, IDX= 421,-0.33, 1.814, 0.084,-0.058, 0.790, PHS= 1.113,-0.659,-0.851, RAW= 84.9, 4.3, CAL= 90.7, 2.7, ROT= 59.3, -2.7 2025-01-08T21:44:53.505Z,1736372693.505 [DAT](INFO): got valid direction response: 21:44:51.6068 LVL= 14304, 30577, 19106, 28403, AGC= 67, IDX= 421,-0.33, 1.814, 0.084,-0.058, 0.790, PHS= 1.113,-0.659,-0.851, RAW= 84.9, 4.3, CAL= 90.7, 2.7, ROT= 59.3, -2.7 2025-01-08T21:44:53.506Z,1736372693.506 [DAT](INFO): DAT read: Bearing 59.3, -2.7 (Local) 2025-01-08T21:44:53.506Z,1736372693.506 [DAT](INFO): Local bearing/azimuth received: Bearing 59.3, -2.7 (Local) 2025-01-08T21:44:53.508Z,1736372693.508 [DAT](INFO): DAT read: Range 10 to 50 : 464.6 m (Round-trip 619.5 ms) speed 0.0 m/s 2025-01-08T21:44:53.509Z,1736372693.509 [DAT](INFO): DAT read: user:2028> 2025-01-08T21:44:53.510Z,1736372693.510 [DAT](INFO): DAT read: Tx time:21:44:52.6832 2025-01-08T21:44:53.510Z,1736372693.510 [DAT](INFO): Ping request sent. 2025-01-08T21:44:53.510Z,1736372693.510 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:44:53.511Z,1736372693.511 [DAT](INFO): DAT read: TxSync time:21:44:52.6824 2025-01-08T21:44:53.511Z,1736372693.511 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:44:53.512Z,1736372693.512 [DAT](INFO): direction in FSK: [-0.157238,0.197867,0.967535] 2025-01-08T21:44:53.513Z,1736372693.513 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:53.513Z,1736372693.513 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:53.517Z,1736372693.517 [DAT](INFO): publishing transmit ping time 2025-01-08T21:44:53.517Z,1736372693.517 [DAT](INFO): publishing direction and range info 2025-01-08T21:44:53.530Z,1736372693.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:53.600Z,1736372693.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 464.600006 m, deltaT: 4.292054 s, deltaX: -1.199982 m, approachRate: -0.279582 m/s, rangeRepo size: 4 2025-01-08T21:44:53.602Z,1736372693.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 464.600006 m, bearing: 49.670091 deg, lat: 36.899737 deg, lon: -122.117941 deg, deltaT: 4.292054 s, deltaX: -1.199982 m, approachRate: -0.279582 m/s, posRepo size: 4 2025-01-08T21:44:53.607Z,1736372693.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:53.610Z,1736372693.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 46.956501 m, bearing: 156.110756 deg, approach rate: 0.000000 m/s, LOS rate: -0.505411 deg/s, cmd heading: 278.180382 deg, new cmd heading: 277.400798 deg. 2025-01-08T21:44:53.611Z,1736372693.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.841558 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:53.750Z,1736372693.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:53.931Z,1736372693.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:53.951Z,1736372693.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:53.954Z,1736372693.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 47.099022 m, bearing: 155.878027 deg, approach rate: 0.400682 m/s, LOS rate: -0.652311 deg/s, cmd heading: 277.400811 deg, new cmd heading: 276.704772 deg. 2025-01-08T21:44:53.955Z,1736372693.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829409 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:54.000Z,1736372694.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:54.252Z,1736372694.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:54.327Z,1736372694.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:54.336Z,1736372694.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:54.339Z,1736372694.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 47.238159 m, bearing: 155.647015 deg, approach rate: 0.357523 m/s, LOS rate: -0.591852 deg/s, cmd heading: 276.704760 deg, new cmd heading: 276.013801 deg. 2025-01-08T21:44:54.340Z,1736372694.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817349 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:54.504Z,1736372694.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:54.756Z,1736372694.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:54.772Z,1736372694.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:54.781Z,1736372694.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:54.784Z,1736372694.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 47.393585 m, bearing: 155.389760 deg, approach rate: 0.349773 m/s, LOS rate: -0.577031 deg/s, cmd heading: 276.013791 deg, new cmd heading: 275.244606 deg. 2025-01-08T21:44:54.785Z,1736372694.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803925 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:54.896Z,1736372694.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:44:55.008Z,1736372695.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:55.128Z,1736372695.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:55.146Z,1736372695.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:55.153Z,1736372695.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:55.160Z,1736372695.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 47.516010 m, bearing: 155.181286 deg, approach rate: 0.329035 m/s, LOS rate: -0.558859 deg/s, cmd heading: 275.244602 deg, new cmd heading: 274.620818 deg. 2025-01-08T21:44:55.161Z,1736372695.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793037 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:55.262Z,1736372695.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:55.263Z,1736372695.263 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:55.263Z,1736372695.263 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:55.264Z,1736372695.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:44:55.512Z,1736372695.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:55.512Z,1736372695.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002131 2025-01-08T21:44:55.596Z,1736372695.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:55.616Z,1736372695.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:55.619Z,1736372695.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 47.678825 m, bearing: 154.893850 deg, approach rate: 0.351410 m/s, LOS rate: -0.618261 deg/s, cmd heading: 274.620815 deg, new cmd heading: 273.761521 deg. 2025-01-08T21:44:55.624Z,1736372695.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.778040 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:55.764Z,1736372695.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:55.764Z,1736372695.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254247 2025-01-08T21:44:55.900Z,1736372695.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:44:55.931Z,1736372695.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:55.940Z,1736372695.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:55.943Z,1736372695.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 47.794556 m, bearing: 154.687805 deg, approach rate: 0.357274 m/s, LOS rate: -0.634545 deg/s, cmd heading: 273.761522 deg, new cmd heading: 273.144909 deg. 2025-01-08T21:44:55.944Z,1736372695.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.767278 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:56.017Z,1736372696.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:56.018Z,1736372696.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507538 2025-01-08T21:44:56.268Z,1736372696.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:56.268Z,1736372696.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758106 2025-01-08T21:44:56.340Z,1736372696.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:56.369Z,1736372696.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:56.372Z,1736372696.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 47.934898 m, bearing: 154.435489 deg, approach rate: 0.327283 m/s, LOS rate: -0.586684 deg/s, cmd heading: 273.144920 deg, new cmd heading: 272.390233 deg. 2025-01-08T21:44:56.373Z,1736372696.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.754107 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:56.520Z,1736372696.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:56.521Z,1736372696.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010805 2025-01-08T21:44:56.772Z,1736372696.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:56.772Z,1736372696.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262345 2025-01-08T21:44:56.779Z,1736372696.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:56.788Z,1736372696.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:56.790Z,1736372696.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 48.087669 m, bearing: 154.159438 deg, approach rate: 0.365027 m/s, LOS rate: -0.657489 deg/s, cmd heading: 272.390239 deg, new cmd heading: 271.564779 deg. 2025-01-08T21:44:56.792Z,1736372696.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.739699 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:57.024Z,1736372697.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:57.025Z,1736372697.025 [DAT](INFO): DAT read: Rx Time:21:44:55.7056 2025-01-08T21:44:57.026Z,1736372697.026 [DAT](INFO): Rx dataTimestamp_ set to:1736372697.025645 2025-01-08T21:44:57.027Z,1736372697.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516726 2025-01-08T21:44:57.152Z,1736372697.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:57.159Z,1736372697.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:57.161Z,1736372697.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:57.164Z,1736372697.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 48.216331 m, bearing: 153.924140 deg, approach rate: 0.344327 m/s, LOS rate: -0.628026 deg/s, cmd heading: 271.564770 deg, new cmd heading: 270.860795 deg. 2025-01-08T21:44:57.165Z,1736372697.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727413 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:57.276Z,1736372697.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:57.277Z,1736372697.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767119 2025-01-08T21:44:57.528Z,1736372697.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:57.548Z,1736372697.548 [DAT](INFO): DAT read: 21:44:55.7056 LVL= 13440, 24097, 14514, 24451, AGC= 68, IDX= 424, 0.22,-2.550, 2.319, 1.751, 2.826, PHS= 0.995,-0.460,-1.078, RAW= 73.1, 5.9, CAL= 76.0, 6.7, ROT= 74.0, -6.7 2025-01-08T21:44:57.550Z,1736372697.550 [DAT](INFO): got valid direction response: 21:44:55.7056 LVL= 13440, 24097, 14514, 24451, AGC= 68, IDX= 424, 0.22,-2.550, 2.319, 1.751, 2.826, PHS= 0.995,-0.460,-1.078, RAW= 73.1, 5.9, CAL= 76.0, 6.7, ROT= 74.0, -6.7 2025-01-08T21:44:57.550Z,1736372697.550 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:44:57.551Z,1736372697.551 [DAT](INFO): Received a bad header 2025-01-08T21:44:57.563Z,1736372697.563 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:44:57.564Z,1736372697.564 [DAT](INFO): direction in FSK: [-0.165948,0.388901,0.906211] 2025-01-08T21:44:57.584Z,1736372697.584 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:57.584Z,1736372697.584 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:57.585Z,1736372697.585 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:44:57.670Z,1736372697.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:57.693Z,1736372697.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:57.701Z,1736372697.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 48.401436 m, bearing: 153.590151 deg, approach rate: 0.348254 m/s, LOS rate: -0.625958 deg/s, cmd heading: 270.860796 deg, new cmd heading: 269.862767 deg. 2025-01-08T21:44:57.708Z,1736372697.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709994 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:57.781Z,1736372697.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:57.782Z,1736372697.782 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:57.782Z,1736372697.782 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:57.782Z,1736372697.782 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:44:57.989Z,1736372697.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:58.013Z,1736372698.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:58.017Z,1736372698.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 48.512096 m, bearing: 153.381874 deg, approach rate: 0.344978 m/s, LOS rate: -0.647807 deg/s, cmd heading: 269.862769 deg, new cmd heading: 269.239390 deg. 2025-01-08T21:44:58.018Z,1736372698.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699114 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:58.032Z,1736372698.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:58.034Z,1736372698.034 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:58.035Z,1736372698.035 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:58.036Z,1736372698.036 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:44:58.284Z,1736372698.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:58.284Z,1736372698.284 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:58.284Z,1736372698.284 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:58.284Z,1736372698.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:44:58.401Z,1736372698.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:58.410Z,1736372698.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:58.412Z,1736372698.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 48.652718 m, bearing: 153.112301 deg, approach rate: 0.354888 m/s, LOS rate: -0.678357 deg/s, cmd heading: 269.239391 deg, new cmd heading: 268.433066 deg. 2025-01-08T21:44:58.413Z,1736372698.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685041 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:58.538Z,1736372698.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:58.539Z,1736372698.539 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:58.552Z,1736372698.552 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:58.553Z,1736372698.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:44:58.788Z,1736372698.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:58.788Z,1736372698.788 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:58.788Z,1736372698.788 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:58.788Z,1736372698.788 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:44:58.883Z,1736372698.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:58.893Z,1736372698.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:58.895Z,1736372698.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 48.822800 m, bearing: 152.784740 deg, approach rate: 0.352112 m/s, LOS rate: -0.675766 deg/s, cmd heading: 268.433073 deg, new cmd heading: 267.453915 deg. 2025-01-08T21:44:58.896Z,1736372698.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667952 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:59.040Z,1736372699.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:59.041Z,1736372699.041 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:59.041Z,1736372699.041 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:59.041Z,1736372699.041 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:44:59.292Z,1736372699.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:59.292Z,1736372699.292 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:59.292Z,1736372699.292 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:59.292Z,1736372699.292 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:44:59.299Z,1736372699.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:59.306Z,1736372699.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:44:59.308Z,1736372699.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:59.311Z,1736372699.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 48.960567 m, bearing: 152.496213 deg, approach rate: 0.331447 m/s, LOS rate: -0.692196 deg/s, cmd heading: 267.453925 deg, new cmd heading: 266.590846 deg. 2025-01-08T21:44:59.312Z,1736372699.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652888 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:59.545Z,1736372699.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:59.547Z,1736372699.547 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:59.548Z,1736372699.548 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:59.548Z,1736372699.548 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:44:59.745Z,1736372699.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:44:59.762Z,1736372699.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:44:59.764Z,1736372699.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 49.111149 m, bearing: 152.166159 deg, approach rate: 0.333772 m/s, LOS rate: -0.729336 deg/s, cmd heading: 266.590835 deg, new cmd heading: 265.603812 deg. 2025-01-08T21:44:59.765Z,1736372699.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635661 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:44:59.797Z,1736372699.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:44:59.798Z,1736372699.798 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:44:59.798Z,1736372699.798 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:44:59.798Z,1736372699.798 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:00.048Z,1736372700.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:00.048Z,1736372700.048 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:00.048Z,1736372700.048 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:00.048Z,1736372700.048 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:00.141Z,1736372700.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:00.163Z,1736372700.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:00.167Z,1736372700.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 49.242542 m, bearing: 151.872194 deg, approach rate: 0.328805 m/s, LOS rate: -0.733665 deg/s, cmd heading: 265.603818 deg, new cmd heading: 264.724349 deg. 2025-01-08T21:45:00.176Z,1736372700.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620311 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:00.301Z,1736372700.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:00.301Z,1736372700.301 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:00.301Z,1736372700.301 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:00.301Z,1736372700.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:00.553Z,1736372700.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:00.557Z,1736372700.557 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:00.557Z,1736372700.557 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:00.557Z,1736372700.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:00.587Z,1736372700.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:00.609Z,1736372700.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:00.617Z,1736372700.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 49.387718 m, bearing: 151.541097 deg, approach rate: 0.322708 m/s, LOS rate: -0.733819 deg/s, cmd heading: 264.724335 deg, new cmd heading: 263.734069 deg. 2025-01-08T21:45:00.618Z,1736372700.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603028 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:00.804Z,1736372700.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:00.804Z,1736372700.804 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:00.804Z,1736372700.804 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:00.804Z,1736372700.804 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:00.959Z,1736372700.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:00.969Z,1736372700.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:00.972Z,1736372700.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 49.507099 m, bearing: 151.267145 deg, approach rate: 0.331694 m/s, LOS rate: -0.759323 deg/s, cmd heading: 263.734067 deg, new cmd heading: 262.914252 deg. 2025-01-08T21:45:00.973Z,1736372700.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588719 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:01.056Z,1736372701.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:01.056Z,1736372701.056 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:01.056Z,1736372701.056 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:01.057Z,1736372701.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:01.308Z,1736372701.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:01.309Z,1736372701.309 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:01.309Z,1736372701.309 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:01.309Z,1736372701.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:01.342Z,1736372701.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:01.348Z,1736372701.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:01.352Z,1736372701.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:01.354Z,1736372701.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 49.631100 m, bearing: 150.986664 deg, approach rate: 0.324239 m/s, LOS rate: -0.731570 deg/s, cmd heading: 262.914253 deg, new cmd heading: 262.074976 deg. 2025-01-08T21:45:01.355Z,1736372701.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574071 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:01.578Z,1736372701.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:01.579Z,1736372701.579 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:01.579Z,1736372701.579 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:01.579Z,1736372701.579 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:01.748Z,1736372701.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:01.757Z,1736372701.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:01.776Z,1736372701.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 49.755817 m, bearing: 150.682216 deg, approach rate: 0.307490 m/s, LOS rate: -0.748729 deg/s, cmd heading: 262.074987 deg, new cmd heading: 261.164012 deg. 2025-01-08T21:45:01.777Z,1736372701.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558172 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:01.824Z,1736372701.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:01.824Z,1736372701.824 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:01.824Z,1736372701.824 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:01.824Z,1736372701.824 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:02.076Z,1736372702.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:02.076Z,1736372702.076 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:02.076Z,1736372702.076 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:02.076Z,1736372702.076 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:02.134Z,1736372702.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:02.164Z,1736372702.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:02.172Z,1736372702.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 49.871826 m, bearing: 150.393003 deg, approach rate: 0.284752 m/s, LOS rate: -0.708241 deg/s, cmd heading: 261.164004 deg, new cmd heading: 260.298451 deg. 2025-01-08T21:45:02.173Z,1736372702.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543065 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:02.328Z,1736372702.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:02.328Z,1736372702.328 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:02.328Z,1736372702.328 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:02.328Z,1736372702.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:02.560Z,1736372702.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:02.581Z,1736372702.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:02.585Z,1736372702.585 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:02.585Z,1736372702.585 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:02.585Z,1736372702.585 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:02.623Z,1736372702.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:02.634Z,1736372702.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 49.997238 m, bearing: 150.073993 deg, approach rate: 0.273608 m/s, LOS rate: -0.694227 deg/s, cmd heading: 260.298455 deg, new cmd heading: 259.343920 deg. 2025-01-08T21:45:02.640Z,1736372702.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526405 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:02.832Z,1736372702.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:02.832Z,1736372702.832 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:02.832Z,1736372702.832 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:02.832Z,1736372702.832 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:02.976Z,1736372702.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:02.985Z,1736372702.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:02.988Z,1736372702.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 50.117527 m, bearing: 149.760124 deg, approach rate: 0.331869 m/s, LOS rate: -0.863860 deg/s, cmd heading: 259.343922 deg, new cmd heading: 258.404665 deg. 2025-01-08T21:45:02.989Z,1736372702.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510012 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:03.084Z,1736372703.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:03.085Z,1736372703.085 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:03.085Z,1736372703.085 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:03.085Z,1736372703.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:03.336Z,1736372703.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:03.336Z,1736372703.336 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:03.336Z,1736372703.336 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:03.336Z,1736372703.336 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:45:03.388Z,1736372703.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:03.404Z,1736372703.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:03.406Z,1736372703.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:03.429Z,1736372703.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 50.234222 m, bearing: 149.449212 deg, approach rate: 0.277155 m/s, LOS rate: -0.736706 deg/s, cmd heading: 258.404662 deg, new cmd heading: 257.474178 deg. 2025-01-08T21:45:03.430Z,1736372703.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493772 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:03.590Z,1736372703.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:03.591Z,1736372703.591 [DAT](INFO): Reached modem response timeout 2025-01-08T21:45:03.592Z,1736372703.592 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:45:03.593Z,1736372703.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:03.778Z,1736372703.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:03.786Z,1736372703.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:03.789Z,1736372703.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 50.346813 m, bearing: 149.163021 deg, approach rate: 0.296094 m/s, LOS rate: -0.750946 deg/s, cmd heading: 257.474171 deg, new cmd heading: 256.617586 deg. 2025-01-08T21:45:03.790Z,1736372703.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478822 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:03.840Z,1736372703.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:03.840Z,1736372703.840 [DAT](INFO): Reached modem response timeout 2025-01-08T21:45:03.840Z,1736372703.840 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:45:03.841Z,1736372703.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:04.092Z,1736372704.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:04.092Z,1736372704.092 [DAT](INFO): Reached modem response timeout 2025-01-08T21:45:04.093Z,1736372704.093 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:45:04.093Z,1736372704.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:04.173Z,1736372704.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:04.188Z,1736372704.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:04.190Z,1736372704.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 50.454960 m, bearing: 148.870186 deg, approach rate: 0.269383 m/s, LOS rate: -0.727858 deg/s, cmd heading: 256.617584 deg, new cmd heading: 255.741033 deg. 2025-01-08T21:45:04.192Z,1736372704.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463523 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:04.344Z,1736372704.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:04.345Z,1736372704.345 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:45:04.345Z,1736372704.345 [DAT](INFO): response not received 2025-01-08T21:45:04.345Z,1736372704.345 [DAT](INFO): DAT read: user:2030> 2025-01-08T21:45:04.346Z,1736372704.346 [DAT](INFO): DAT read: Tx time:21:45:03.6333 2025-01-08T21:45:04.346Z,1736372704.346 [DAT](INFO): Ping request sent. 2025-01-08T21:45:04.346Z,1736372704.346 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:04.347Z,1736372704.347 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:04.354Z,1736372704.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.007545 2025-01-08T21:45:04.560Z,1736372704.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:04.597Z,1736372704.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:04.600Z,1736372704.600 [DAT](INFO): DAT read: TxSync time:21:45:03.6325 2025-01-08T21:45:04.602Z,1736372704.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255148 2025-01-08T21:45:04.623Z,1736372704.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:04.648Z,1736372704.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 50.558407 m, bearing: 148.583287 deg, approach rate: 0.239677 m/s, LOS rate: -0.663356 deg/s, cmd heading: 255.741025 deg, new cmd heading: 254.882157 deg. 2025-01-08T21:45:04.650Z,1736372704.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448533 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:04.848Z,1736372704.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:04.848Z,1736372704.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501783 2025-01-08T21:45:04.988Z,1736372704.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:04.996Z,1736372704.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:04.999Z,1736372704.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 50.665749 m, bearing: 148.275043 deg, approach rate: 0.285113 m/s, LOS rate: -0.816996 deg/s, cmd heading: 254.882169 deg, new cmd heading: 253.959481 deg. 2025-01-08T21:45:05.017Z,1736372705.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432429 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:05.100Z,1736372705.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:05.101Z,1736372705.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754875 2025-01-08T21:45:05.352Z,1736372705.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:05.353Z,1736372705.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005985 2025-01-08T21:45:05.363Z,1736372705.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:05.373Z,1736372705.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:05.376Z,1736372705.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 50.756935 m, bearing: 148.002928 deg, approach rate: 0.242094 m/s, LOS rate: -0.721145 deg/s, cmd heading: 253.959493 deg, new cmd heading: 253.144673 deg. 2025-01-08T21:45:05.377Z,1736372705.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418208 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:05.605Z,1736372705.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:05.608Z,1736372705.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260969 2025-01-08T21:45:05.794Z,1736372705.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:05.801Z,1736372705.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:05.803Z,1736372705.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:05.806Z,1736372705.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 50.861343 m, bearing: 147.696139 deg, approach rate: 0.242492 m/s, LOS rate: -0.711066 deg/s, cmd heading: 253.144678 deg, new cmd heading: 252.226281 deg. 2025-01-08T21:45:05.807Z,1736372705.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402179 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:05.857Z,1736372705.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:05.858Z,1736372705.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511526 2025-01-08T21:45:06.108Z,1736372706.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:06.108Z,1736372706.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761804 2025-01-08T21:45:06.175Z,1736372706.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:06.184Z,1736372706.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:06.187Z,1736372706.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 50.951530 m, bearing: 147.424685 deg, approach rate: 0.236686 m/s, LOS rate: -0.711136 deg/s, cmd heading: 252.226291 deg, new cmd heading: 251.413430 deg. 2025-01-08T21:45:06.188Z,1736372706.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.387992 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:06.360Z,1736372706.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:06.360Z,1736372706.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013832 2025-01-08T21:45:06.614Z,1736372706.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:06.617Z,1736372706.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270096 2025-01-08T21:45:06.625Z,1736372706.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:06.693Z,1736372706.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:06.700Z,1736372706.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.055630 m, bearing: 147.103792 deg, approach rate: 0.204711 m/s, LOS rate: -0.629746 deg/s, cmd heading: 251.413417 deg, new cmd heading: 250.452795 deg. 2025-01-08T21:45:06.701Z,1736372706.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371226 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:06.864Z,1736372706.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:06.864Z,1736372706.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517785 2025-01-08T21:45:07.020Z,1736372707.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:07.028Z,1736372707.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:07.031Z,1736372707.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.138657 m, bearing: 146.828277 deg, approach rate: 0.247582 m/s, LOS rate: -0.820234 deg/s, cmd heading: 250.452792 deg, new cmd heading: 249.627650 deg. 2025-01-08T21:45:07.032Z,1736372707.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356824 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:07.117Z,1736372707.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:07.118Z,1736372707.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771240 2025-01-08T21:45:07.368Z,1736372707.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:07.369Z,1736372707.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022048 2025-01-08T21:45:07.404Z,1736372707.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:07.417Z,1736372707.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:07.424Z,1736372707.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.217014 m, bearing: 146.560294 deg, approach rate: 0.201466 m/s, LOS rate: -0.687959 deg/s, cmd heading: 249.627650 deg, new cmd heading: 248.824985 deg. 2025-01-08T21:45:07.425Z,1736372707.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342815 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:07.625Z,1736372707.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:07.627Z,1736372707.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280181 2025-01-08T21:45:07.818Z,1736372707.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:07.827Z,1736372707.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:07.829Z,1736372707.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:07.832Z,1736372707.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.296230 m, bearing: 146.278932 deg, approach rate: 0.192258 m/s, LOS rate: -0.681811 deg/s, cmd heading: 248.824994 deg, new cmd heading: 247.982275 deg. 2025-01-08T21:45:07.833Z,1736372707.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328107 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:07.876Z,1736372707.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:07.877Z,1736372707.877 [DAT](INFO): DAT read: Rx Time:21:45:06.6546 2025-01-08T21:45:07.877Z,1736372707.877 [DAT](INFO): Rx dataTimestamp_ set to:1736372707.876916 2025-01-08T21:45:07.878Z,1736372707.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531198 2025-01-08T21:45:08.128Z,1736372708.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:08.128Z,1736372708.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781881 2025-01-08T21:45:08.200Z,1736372708.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:08.208Z,1736372708.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:08.211Z,1736372708.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.367069 m, bearing: 146.019093 deg, approach rate: 0.186780 m/s, LOS rate: -0.684165 deg/s, cmd heading: 247.982285 deg, new cmd heading: 247.203895 deg. 2025-01-08T21:45:08.231Z,1736372708.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314522 target range: 464.600006 and range: 464.60 m. 2025-01-08T21:45:08.380Z,1736372708.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:08.381Z,1736372708.381 [DAT](INFO): DAT read: Range 10 to 50 : 462.9 m (Round-trip 617.2 ms) speed -0.2 m/s 2025-01-08T21:45:08.383Z,1736372708.383 [DAT](INFO): DAT read: user:2031> 2025-01-08T21:45:08.384Z,1736372708.384 [DAT](INFO): DAT read: Tx time:21:45:07.7333 2025-01-08T21:45:08.384Z,1736372708.384 [DAT](INFO): Ping request sent. 2025-01-08T21:45:08.384Z,1736372708.384 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:08.385Z,1736372708.385 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:45:08.385Z,1736372708.385 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:08.385Z,1736372708.385 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:08.622Z,1736372708.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:08.634Z,1736372708.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:08.638Z,1736372708.638 [DAT](INFO): DAT read: TxSync time:21:45:07.7325 2025-01-08T21:45:08.681Z,1736372708.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 462.899994 m, deltaT: 14.883864 s, deltaX: -1.700012 m, approachRate: -0.114218 m/s, rangeRepo size: 4 2025-01-08T21:45:08.689Z,1736372708.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:08.704Z,1736372708.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.446880 m, bearing: 145.731709 deg, approach rate: 0.171788 m/s, LOS rate: -0.617612 deg/s, cmd heading: 247.203889 deg, new cmd heading: 246.343143 deg. 2025-01-08T21:45:08.705Z,1736372708.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299499 target range: 464.600006 and range: 462.90 m. 2025-01-08T21:45:08.884Z,1736372708.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:09.086Z,1736372709.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:09.098Z,1736372709.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:09.117Z,1736372709.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.535431 m, bearing: 145.417814 deg, approach rate: 0.208536 m/s, LOS rate: -0.737949 deg/s, cmd heading: 246.343149 deg, new cmd heading: 245.403170 deg. 2025-01-08T21:45:09.118Z,1736372709.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283093 target range: 464.600006 and range: 462.90 m. 2025-01-08T21:45:09.136Z,1736372709.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:09.388Z,1736372709.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:09.416Z,1736372709.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:09.425Z,1736372709.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:09.428Z,1736372709.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.589859 m, bearing: 145.190602 deg, approach rate: 0.166217 m/s, LOS rate: -0.693144 deg/s, cmd heading: 245.403178 deg, new cmd heading: 244.722295 deg. 2025-01-08T21:45:09.429Z,1736372709.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271210 target range: 464.600006 and range: 462.90 m. 2025-01-08T21:45:09.641Z,1736372709.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:09.845Z,1736372709.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:09.853Z,1736372709.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:09.858Z,1736372709.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:09.861Z,1736372709.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.658661 m, bearing: 144.894514 deg, approach rate: 0.159864 m/s, LOS rate: -0.687053 deg/s, cmd heading: 244.722290 deg, new cmd heading: 243.835285 deg. 2025-01-08T21:45:09.862Z,1736372709.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255729 target range: 464.600006 and range: 462.90 m. 2025-01-08T21:45:09.892Z,1736372709.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:09.892Z,1736372709.892 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:09.892Z,1736372709.892 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:09.893Z,1736372709.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:10.144Z,1736372710.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:10.144Z,1736372710.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759921 2025-01-08T21:45:10.245Z,1736372710.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:10.271Z,1736372710.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:10.278Z,1736372710.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.716000 m, bearing: 144.617997 deg, approach rate: 0.138765 m/s, LOS rate: -0.668454 deg/s, cmd heading: 243.835295 deg, new cmd heading: 243.006724 deg. 2025-01-08T21:45:10.279Z,1736372710.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.241267 target range: 464.600006 and range: 462.90 m. 2025-01-08T21:45:10.400Z,1736372710.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:10.401Z,1736372710.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016255 2025-01-08T21:45:10.629Z,1736372710.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:10.639Z,1736372710.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:10.646Z,1736372710.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.769028 m, bearing: 144.351856 deg, approach rate: 0.143275 m/s, LOS rate: -0.718341 deg/s, cmd heading: 243.006711 deg, new cmd heading: 242.209160 deg. 2025-01-08T21:45:10.648Z,1736372710.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:10.650Z,1736372710.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264973 2025-01-08T21:45:10.651Z,1736372710.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227347 target range: 464.600006 and range: 462.90 m. 2025-01-08T21:45:10.900Z,1736372710.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:10.901Z,1736372710.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516684 2025-01-08T21:45:11.093Z,1736372711.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:11.102Z,1736372711.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:11.105Z,1736372711.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.833881 m, bearing: 144.026793 deg, approach rate: 0.139856 m/s, LOS rate: -0.700112 deg/s, cmd heading: 242.209163 deg, new cmd heading: 241.235292 deg. 2025-01-08T21:45:11.106Z,1736372711.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210350 target range: 464.600006 and range: 462.90 m. 2025-01-08T21:45:11.152Z,1736372711.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:11.153Z,1736372711.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768246 2025-01-08T21:45:11.404Z,1736372711.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:11.404Z,1736372711.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019928 2025-01-08T21:45:11.430Z,1736372711.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:11.467Z,1736372711.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:11.474Z,1736372711.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.876198 m, bearing: 143.790355 deg, approach rate: 0.116414 m/s, LOS rate: -0.649917 deg/s, cmd heading: 241.235287 deg, new cmd heading: 240.526591 deg. 2025-01-08T21:45:11.475Z,1736372711.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197981 target range: 464.600006 and range: 462.90 m. 2025-01-08T21:45:11.656Z,1736372711.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:11.657Z,1736372711.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272618 2025-01-08T21:45:11.882Z,1736372711.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:11.890Z,1736372711.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:11.892Z,1736372711.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:11.895Z,1736372711.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.927418 m, bearing: 143.465248 deg, approach rate: 0.120142 m/s, LOS rate: -0.761821 deg/s, cmd heading: 240.526587 deg, new cmd heading: 239.552326 deg. 2025-01-08T21:45:11.898Z,1736372711.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180977 target range: 464.600006 and range: 462.90 m. 2025-01-08T21:45:11.908Z,1736372711.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:11.909Z,1736372711.909 [DAT](INFO): DAT read: Rx Time:21:45:10.7550 2025-01-08T21:45:11.909Z,1736372711.909 [DAT](INFO): Rx dataTimestamp_ set to:1736372711.908799 2025-01-08T21:45:11.910Z,1736372711.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525241 2025-01-08T21:45:12.160Z,1736372712.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:12.160Z,1736372712.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775934 2025-01-08T21:45:12.259Z,1736372712.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:12.288Z,1736372712.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:12.291Z,1736372712.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 51.964714 m, bearing: 143.193079 deg, approach rate: 0.094172 m/s, LOS rate: -0.686720 deg/s, cmd heading: 239.552329 deg, new cmd heading: 238.736467 deg. 2025-01-08T21:45:12.296Z,1736372712.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166738 target range: 464.600006 and range: 462.90 m. 2025-01-08T21:45:12.414Z,1736372712.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:12.418Z,1736372712.418 [DAT](INFO): DAT read: Range 10 to 50 : 463.2 m (Round-trip 617.6 ms) speed -0.3 m/s 2025-01-08T21:45:12.419Z,1736372712.419 [DAT](INFO): DAT read: user:2032> 2025-01-08T21:45:12.424Z,1736372712.424 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:45:12.425Z,1736372712.425 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:12.425Z,1736372712.425 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:12.426Z,1736372712.426 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:12.664Z,1736372712.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:12.666Z,1736372712.666 [DAT](INFO): DAT read: Tx time:1:5:11.8333 2025-01-08T21:45:12.666Z,1736372712.666 [DAT](INFO): Ping request sent. 2025-01-08T21:45:12.667Z,1736372712.667 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:12.668Z,1736372712.668 [DAT](INFO): DAT read: TxSync time:21:45:11.8325 2025-01-08T21:45:12.668Z,1736372712.668 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:12.669Z,1736372712.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002436 2025-01-08T21:45:12.685Z,1736372712.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:12.765Z,1736372712.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 463.200012 m, deltaT: 4.034211 s, deltaX: 0.300018 m, approachRate: 0.074369 m/s, rangeRepo size: 4 2025-01-08T21:45:12.765Z,1736372712.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:12.773Z,1736372712.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.003975 m, bearing: 142.885339 deg, approach rate: 0.082511 m/s, LOS rate: -0.646262 deg/s, cmd heading: 238.736476 deg, new cmd heading: 237.814037 deg. 2025-01-08T21:45:12.774Z,1736372712.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.150638 target range: 464.600006 and range: 463.20 m. 2025-01-08T21:45:12.916Z,1736372712.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:12.916Z,1736372712.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250003 2025-01-08T21:45:13.103Z,1736372713.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:13.112Z,1736372713.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:13.114Z,1736372713.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.044415 m, bearing: 142.571858 deg, approach rate: 0.116422 m/s, LOS rate: -0.901778 deg/s, cmd heading: 237.814046 deg, new cmd heading: 236.874421 deg. 2025-01-08T21:45:13.115Z,1736372713.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134239 target range: 464.600006 and range: 463.20 m. 2025-01-08T21:45:13.169Z,1736372713.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:13.170Z,1736372713.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503572 2025-01-08T21:45:13.420Z,1736372713.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:13.420Z,1736372713.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754062 2025-01-08T21:45:13.472Z,1736372713.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:13.489Z,1736372713.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:13.492Z,1736372713.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.077705 m, bearing: 142.294548 deg, approach rate: 0.088166 m/s, LOS rate: -0.733945 deg/s, cmd heading: 236.874430 deg, new cmd heading: 236.043094 deg. 2025-01-08T21:45:13.493Z,1736372713.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.119729 target range: 464.600006 and range: 463.20 m. 2025-01-08T21:45:13.674Z,1736372713.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:13.676Z,1736372713.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009266 2025-01-08T21:45:13.897Z,1736372713.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:13.905Z,1736372713.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:13.908Z,1736372713.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:13.910Z,1736372713.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.110634 m, bearing: 141.970014 deg, approach rate: 0.078706 m/s, LOS rate: -0.775210 deg/s, cmd heading: 236.043087 deg, new cmd heading: 235.070200 deg. 2025-01-08T21:45:13.911Z,1736372713.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102749 target range: 464.600006 and range: 463.20 m. 2025-01-08T21:45:13.924Z,1736372713.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:13.924Z,1736372713.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258038 2025-01-08T21:45:14.176Z,1736372714.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:14.176Z,1736372714.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509950 2025-01-08T21:45:14.279Z,1736372714.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:14.301Z,1736372714.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:14.304Z,1736372714.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.138256 m, bearing: 141.678639 deg, approach rate: 0.070112 m/s, LOS rate: -0.739187 deg/s, cmd heading: 235.070195 deg, new cmd heading: 234.196603 deg. 2025-01-08T21:45:14.305Z,1736372714.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.087502 target range: 464.600006 and range: 463.20 m. 2025-01-08T21:45:14.428Z,1736372714.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:14.428Z,1736372714.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762027 2025-01-08T21:45:14.680Z,1736372714.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:14.681Z,1736372714.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014803 2025-01-08T21:45:14.700Z,1736372714.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:14.789Z,1736372714.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:14.796Z,1736372714.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.166420 m, bearing: 141.357006 deg, approach rate: 0.058435 m/s, LOS rate: -0.666964 deg/s, cmd heading: 234.196614 deg, new cmd heading: 233.232333 deg. 2025-01-08T21:45:14.797Z,1736372714.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.070672 target range: 464.600006 and range: 463.20 m. 2025-01-08T21:45:14.932Z,1736372714.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:14.933Z,1736372714.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266389 2025-01-08T21:45:15.128Z,1736372715.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:15.137Z,1736372715.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:15.140Z,1736372715.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.206200 m, bearing: 141.019034 deg, approach rate: 0.112452 m/s, LOS rate: -0.954669 deg/s, cmd heading: 233.232327 deg, new cmd heading: 232.219294 deg. 2025-01-08T21:45:15.141Z,1736372715.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.052991 target range: 464.600006 and range: 463.20 m. 2025-01-08T21:45:15.184Z,1736372715.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:15.184Z,1736372715.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518068 2025-01-08T21:45:15.436Z,1736372715.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:15.436Z,1736372715.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769919 2025-01-08T21:45:15.498Z,1736372715.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:15.507Z,1736372715.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:15.510Z,1736372715.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.234375 m, bearing: 140.725875 deg, approach rate: 0.076180 m/s, LOS rate: -0.792206 deg/s, cmd heading: 232.219301 deg, new cmd heading: 231.340370 deg. 2025-01-08T21:45:15.511Z,1736372715.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.037651 target range: 464.600006 and range: 463.20 m. 2025-01-08T21:45:15.688Z,1736372715.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:15.688Z,1736372715.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022080 2025-01-08T21:45:15.918Z,1736372715.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:15.925Z,1736372715.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:15.927Z,1736372715.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:15.930Z,1736372715.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.262161 m, bearing: 140.394622 deg, approach rate: 0.066145 m/s, LOS rate: -0.788116 deg/s, cmd heading: 231.340365 deg, new cmd heading: 230.347242 deg. 2025-01-08T21:45:15.931Z,1736372715.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.020318 target range: 464.600006 and range: 463.20 m. 2025-01-08T21:45:15.940Z,1736372715.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:15.940Z,1736372715.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274007 2025-01-08T21:45:16.194Z,1736372716.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:16.203Z,1736372716.203 [DAT](INFO): DAT read: Rx Time:21:45:14.8571 2025-01-08T21:45:16.204Z,1736372716.204 [DAT](INFO): Rx dataTimestamp_ set to:1736372716.203298 2025-01-08T21:45:16.204Z,1736372716.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537728 2025-01-08T21:45:16.296Z,1736372716.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:16.326Z,1736372716.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:16.329Z,1736372716.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.284195 m, bearing: 140.096343 deg, approach rate: 0.055251 m/s, LOS rate: -0.747640 deg/s, cmd heading: 230.347228 deg, new cmd heading: 229.452845 deg. 2025-01-08T21:45:16.330Z,1736372716.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.004708 target range: 464.600006 and range: 463.20 m. 2025-01-08T21:45:16.444Z,1736372716.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:16.445Z,1736372716.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779026 2025-01-08T21:45:16.698Z,1736372716.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:16.701Z,1736372716.701 [DAT](INFO): DAT read: Range 10 to 50 : 464.7 m (Round-trip 619.6 ms) speed -0.3 m/s 2025-01-08T21:45:16.702Z,1736372716.702 [DAT](INFO): DAT read: user:2033> 2025-01-08T21:45:16.704Z,1736372716.704 [DAT](INFO): DAT read: Tx time:21:45:15.9333 2025-01-08T21:45:16.705Z,1736372716.705 [DAT](INFO): Ping request sent. 2025-01-08T21:45:16.705Z,1736372716.705 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:16.706Z,1736372716.706 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:45:16.707Z,1736372716.707 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:16.712Z,1736372716.712 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:16.825Z,1736372716.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:16.841Z,1736372716.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 464.700012 m, deltaT: 4.283785 s, deltaX: 1.500000 m, approachRate: 0.350158 m/s, rangeRepo size: 4 2025-01-08T21:45:16.841Z,1736372716.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:16.853Z,1736372716.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.317429 m, bearing: 139.679044 deg, approach rate: 0.065249 m/s, LOS rate: -0.818772 deg/s, cmd heading: 229.452856 deg, new cmd heading: 228.201962 deg. 2025-01-08T21:45:16.854Z,1736372716.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.982876 target range: 464.600006 and range: 464.70 m. 2025-01-08T21:45:16.948Z,1736372716.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:16.949Z,1736372716.949 [DAT](INFO): DAT read: TxSync time:21:45:15.9326 2025-01-08T21:45:17.176Z,1736372717.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:17.185Z,1736372717.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:17.188Z,1736372717.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.340290 m, bearing: 139.391488 deg, approach rate: 0.065268 m/s, LOS rate: -0.820586 deg/s, cmd heading: 228.201961 deg, new cmd heading: 227.339739 deg. 2025-01-08T21:45:17.189Z,1736372717.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.967827 target range: 464.600006 and range: 464.70 m. 2025-01-08T21:45:17.200Z,1736372717.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:17.452Z,1736372717.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:17.548Z,1736372717.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:17.574Z,1736372717.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:17.578Z,1736372717.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.360851 m, bearing: 139.086415 deg, approach rate: 0.052889 m/s, LOS rate: -0.784415 deg/s, cmd heading: 227.339732 deg, new cmd heading: 226.424955 deg. 2025-01-08T21:45:17.578Z,1736372717.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.951861 target range: 464.600006 and range: 464.70 m. 2025-01-08T21:45:17.704Z,1736372717.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:17.956Z,1736372717.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:17.985Z,1736372717.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:18.012Z,1736372718.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:18.014Z,1736372718.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:18.021Z,1736372718.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.388710 m, bearing: 138.739446 deg, approach rate: 0.063364 m/s, LOS rate: -0.788749 deg/s, cmd heading: 226.424951 deg, new cmd heading: 225.384719 deg. 2025-01-08T21:45:18.022Z,1736372718.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.933705 target range: 464.600006 and range: 464.70 m. 2025-01-08T21:45:18.208Z,1736372718.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:18.208Z,1736372718.208 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:18.208Z,1736372718.208 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:18.209Z,1736372718.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:18.356Z,1736372718.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:18.365Z,1736372718.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:18.385Z,1736372718.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.406113 m, bearing: 138.443896 deg, approach rate: 0.049596 m/s, LOS rate: -0.842005 deg/s, cmd heading: 225.384713 deg, new cmd heading: 224.498431 deg. 2025-01-08T21:45:18.385Z,1736372718.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.918237 target range: 464.600006 and range: 464.70 m. 2025-01-08T21:45:18.461Z,1736372718.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:18.462Z,1736372718.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756628 2025-01-08T21:45:18.712Z,1736372718.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:18.712Z,1736372718.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007207 2025-01-08T21:45:18.789Z,1736372718.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:18.852Z,1736372718.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:18.856Z,1736372718.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.423733 m, bearing: 138.101011 deg, approach rate: 0.036125 m/s, LOS rate: -0.702756 deg/s, cmd heading: 224.498428 deg, new cmd heading: 223.470234 deg. 2025-01-08T21:45:18.857Z,1736372718.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.900291 target range: 464.600006 and range: 464.70 m. 2025-01-08T21:45:18.964Z,1736372718.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:18.965Z,1736372718.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259983 2025-01-08T21:45:19.206Z,1736372719.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:19.217Z,1736372719.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:19.219Z,1736372719.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513429 2025-01-08T21:45:19.234Z,1736372719.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:19.241Z,1736372719.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.440205 m, bearing: 137.775067 deg, approach rate: 0.043162 m/s, LOS rate: -0.853805 deg/s, cmd heading: 223.470239 deg, new cmd heading: 222.492815 deg. 2025-01-08T21:45:19.242Z,1736372719.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883232 target range: 464.600006 and range: 464.70 m. 2025-01-08T21:45:19.468Z,1736372719.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:19.469Z,1736372719.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763414 2025-01-08T21:45:19.566Z,1736372719.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:19.575Z,1736372719.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:19.578Z,1736372719.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.451580 m, bearing: 137.494965 deg, approach rate: 0.033345 m/s, LOS rate: -0.820898 deg/s, cmd heading: 222.492811 deg, new cmd heading: 221.652750 deg. 2025-01-08T21:45:19.579Z,1736372719.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.868570 target range: 464.600006 and range: 464.70 m. 2025-01-08T21:45:19.720Z,1736372719.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:19.721Z,1736372719.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015342 2025-01-08T21:45:19.972Z,1736372719.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:19.972Z,1736372719.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267294 2025-01-08T21:45:19.990Z,1736372719.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:20.018Z,1736372720.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:20.024Z,1736372720.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:20.026Z,1736372720.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.461960 m, bearing: 137.169217 deg, approach rate: 0.023136 m/s, LOS rate: -0.725917 deg/s, cmd heading: 221.652753 deg, new cmd heading: 220.675802 deg. 2025-01-08T21:45:20.032Z,1736372720.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.851519 target range: 464.600006 and range: 464.70 m. 2025-01-08T21:45:20.224Z,1736372720.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:20.224Z,1736372720.224 [DAT](INFO): DAT read: Rx Time:21:45:18.9588 2025-01-08T21:45:20.225Z,1736372720.225 [DAT](INFO): Rx dataTimestamp_ set to:1736372720.224625 2025-01-08T21:45:20.226Z,1736372720.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521038 2025-01-08T21:45:20.375Z,1736372720.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:20.385Z,1736372720.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.60 m. 2025-01-08T21:45:20.388Z,1736372720.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.600006 m, nav range: 52.468243 m, bearing: 136.873035 deg, approach rate: 0.017407 m/s, LOS rate: -0.820483 deg/s, cmd heading: 220.675803 deg, new cmd heading: 219.787441 deg. 2025-01-08T21:45:20.389Z,1736372720.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.836015 target range: 464.600006 and range: 464.70 m. 2025-01-08T21:45:20.477Z,1736372720.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:20.478Z,1736372720.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772738 2025-01-08T21:45:20.728Z,1736372720.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:20.735Z,1736372720.735 [DAT](INFO): DAT read: 21:45:18.9588 LVL= 18096, 19089, 17586, 20579, AGC= 65, IDX= 439,-0.44,-0.975,-0.491,-2.822,-1.289, PHS= 0.401, 0.844,-1.537, RAW= 19.9, 2.7, CAL= 19.3, 2.9, ROT= 130.7, -2.9 2025-01-08T21:45:20.736Z,1736372720.736 [DAT](INFO): got valid direction response: 21:45:18.9588 LVL= 18096, 19089, 17586, 20579, AGC= 65, IDX= 439,-0.44,-0.975,-0.491,-2.822,-1.289, PHS= 0.401, 0.844,-1.537, RAW= 19.9, 2.7, CAL= 19.3, 2.9, ROT= 130.7, -2.9 2025-01-08T21:45:20.737Z,1736372720.737 [DAT](INFO): DAT read: Bearing 130.7, -2.9 (Local) 2025-01-08T21:45:20.737Z,1736372720.737 [DAT](INFO): Local bearing/azimuth received: Bearing 130.7, -2.9 (Local) 2025-01-08T21:45:20.739Z,1736372720.739 [DAT](INFO): DAT read: Range 10 to 50 : 465.9 m (Round-trip 621.3 ms) speed -0.4 m/s 2025-01-08T21:45:20.780Z,1736372720.780 [DAT](INFO): DAT read: user:2034> 2025-01-08T21:45:20.781Z,1736372720.781 [DAT](INFO): DAT read: Tx time:21:45:20.0833 2025-01-08T21:45:20.781Z,1736372720.781 [DAT](INFO): Ping request sent. 2025-01-08T21:45:20.781Z,1736372720.781 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:20.781Z,1736372720.781 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:45:20.782Z,1736372720.782 [DAT](INFO): direction in FSK: [0.001841,0.957679,0.287833] 2025-01-08T21:45:20.787Z,1736372720.787 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:20.808Z,1736372720.808 [DAT](INFO): publishing direction and range info 2025-01-08T21:45:20.829Z,1736372720.829 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:20.830Z,1736372720.830 [DAT](INFO): publishing direction and range info 2025-01-08T21:45:20.894Z,1736372720.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:20.944Z,1736372720.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 465.899994 m, deltaT: 4.030067 s, deltaX: 1.199982 m, approachRate: 0.297757 m/s, rangeRepo size: 4 2025-01-08T21:45:20.946Z,1736372720.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 465.899994 m, bearing: 318.532917 deg, lat: 36.900203 deg, lon: -122.117961 deg, deltaT: 27.231927 s, deltaX: 1.299988 m, approachRate: 0.047738 m/s, posRepo size: 4 2025-01-08T21:45:20.947Z,1736372720.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:20.958Z,1736372720.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 37.026646 m, bearing: 68.141979 deg, approach rate: 0.000000 m/s, LOS rate: -0.820483 deg/s, cmd heading: 219.787442 deg, new cmd heading: 218.423347 deg. 2025-01-08T21:45:20.959Z,1736372720.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.812207 target range: 465.899994 and range: 465.90 m. 2025-01-08T21:45:20.980Z,1736372720.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:20.981Z,1736372720.981 [DAT](INFO): DAT read: TxSync time:21:45:20.0826 2025-01-08T21:45:21.233Z,1736372721.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:21.293Z,1736372721.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:21.303Z,1736372721.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:21.306Z,1736372721.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 37.287037 m, bearing: 67.971678 deg, approach rate: 0.716307 m/s, LOS rate: -0.465208 deg/s, cmd heading: 218.423343 deg, new cmd heading: 217.916020 deg. 2025-01-08T21:45:21.307Z,1736372721.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803352 target range: 465.899994 and range: 465.90 m. 2025-01-08T21:45:21.484Z,1736372721.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:21.638Z,1736372721.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:21.653Z,1736372721.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:21.658Z,1736372721.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 37.510292 m, bearing: 67.819707 deg, approach rate: 0.637073 m/s, LOS rate: -0.431077 deg/s, cmd heading: 217.916024 deg, new cmd heading: 217.462835 deg. 2025-01-08T21:45:21.661Z,1736372721.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.795443 target range: 465.899994 and range: 465.90 m. 2025-01-08T21:45:21.737Z,1736372721.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:21.988Z,1736372721.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:22.066Z,1736372722.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:22.073Z,1736372722.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:22.076Z,1736372722.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:22.078Z,1736372722.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 37.775829 m, bearing: 67.621747 deg, approach rate: 0.629095 m/s, LOS rate: -0.465698 deg/s, cmd heading: 217.462841 deg, new cmd heading: 216.873158 deg. 2025-01-08T21:45:22.095Z,1736372722.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.785151 target range: 465.899994 and range: 465.90 m. 2025-01-08T21:45:22.241Z,1736372722.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:22.242Z,1736372722.242 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:22.242Z,1736372722.242 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:22.242Z,1736372722.242 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:22.443Z,1736372722.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:22.464Z,1736372722.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:22.468Z,1736372722.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 38.008926 m, bearing: 67.444259 deg, approach rate: 0.599972 m/s, LOS rate: -0.454037 deg/s, cmd heading: 216.873164 deg, new cmd heading: 216.343981 deg. 2025-01-08T21:45:22.469Z,1736372722.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775915 target range: 465.899994 and range: 465.90 m. 2025-01-08T21:45:22.492Z,1736372722.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:22.492Z,1736372722.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711404 2025-01-08T21:45:22.744Z,1736372722.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:22.744Z,1736372722.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963336 2025-01-08T21:45:22.912Z,1736372722.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:22.929Z,1736372722.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:22.938Z,1736372722.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 38.297501 m, bearing: 67.220677 deg, approach rate: 0.620470 m/s, LOS rate: -0.477103 deg/s, cmd heading: 216.343974 deg, new cmd heading: 215.678317 deg. 2025-01-08T21:45:22.939Z,1736372722.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.764297 target range: 465.899994 and range: 465.90 m. 2025-01-08T21:45:22.996Z,1736372722.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:22.996Z,1736372722.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215404 2025-01-08T21:45:23.248Z,1736372723.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:23.248Z,1736372723.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467411 2025-01-08T21:45:23.321Z,1736372723.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:23.334Z,1736372723.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:23.347Z,1736372723.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 38.549690 m, bearing: 67.021850 deg, approach rate: 0.621703 m/s, LOS rate: -0.486947 deg/s, cmd heading: 215.678318 deg, new cmd heading: 215.085759 deg. 2025-01-08T21:45:23.348Z,1736372723.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753955 target range: 465.899994 and range: 465.90 m. 2025-01-08T21:45:23.500Z,1736372723.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:23.501Z,1736372723.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719779 2025-01-08T21:45:23.667Z,1736372723.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:23.702Z,1736372723.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:23.709Z,1736372723.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 38.759773 m, bearing: 66.847451 deg, approach rate: 0.571826 m/s, LOS rate: -0.472123 deg/s, cmd heading: 215.085758 deg, new cmd heading: 214.565412 deg. 2025-01-08T21:45:23.710Z,1736372723.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.744873 target range: 465.899994 and range: 465.90 m. 2025-01-08T21:45:23.752Z,1736372723.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:23.752Z,1736372723.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971284 2025-01-08T21:45:24.004Z,1736372724.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:24.005Z,1736372724.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223565 2025-01-08T21:45:24.128Z,1736372724.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:24.140Z,1736372724.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:24.142Z,1736372724.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:24.145Z,1736372724.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 39.023548 m, bearing: 66.604929 deg, approach rate: 0.599211 m/s, LOS rate: -0.547204 deg/s, cmd heading: 214.565407 deg, new cmd heading: 213.842801 deg. 2025-01-08T21:45:24.146Z,1736372724.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732261 target range: 465.899994 and range: 465.90 m. 2025-01-08T21:45:24.257Z,1736372724.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:24.258Z,1736372724.258 [DAT](INFO): DAT read: Rx Time:21:45:23.1111 2025-01-08T21:45:24.259Z,1736372724.259 [DAT](INFO): Rx dataTimestamp_ set to:1736372724.258506 2025-01-08T21:45:24.260Z,1736372724.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478833 2025-01-08T21:45:24.464Z,1736372724.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:24.473Z,1736372724.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:24.476Z,1736372724.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 39.213696 m, bearing: 66.426761 deg, approach rate: 0.573664 m/s, LOS rate: -0.534918 deg/s, cmd heading: 213.842800 deg, new cmd heading: 213.310902 deg. 2025-01-08T21:45:24.478Z,1736372724.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.722978 target range: 465.899994 and range: 465.90 m. 2025-01-08T21:45:24.508Z,1736372724.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:24.508Z,1736372724.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.727489 2025-01-08T21:45:24.761Z,1736372724.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:24.764Z,1736372724.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.982027 2025-01-08T21:45:24.912Z,1736372724.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:24.948Z,1736372724.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:24.958Z,1736372724.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 39.462818 m, bearing: 66.189559 deg, approach rate: 0.524672 m/s, LOS rate: -0.496411 deg/s, cmd heading: 213.310906 deg, new cmd heading: 212.603831 deg. 2025-01-08T21:45:24.960Z,1736372724.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.710637 target range: 465.899994 and range: 465.90 m. 2025-01-08T21:45:25.012Z,1736372725.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:25.014Z,1736372725.014 [DAT](INFO): DAT read: Range 10 to 50 : 467.7 m (Round-trip 623.6 ms) speed -0.5 m/s 2025-01-08T21:45:25.015Z,1736372725.015 [DAT](INFO): DAT read: user:2035> 2025-01-08T21:45:25.017Z,1736372725.017 [DAT](INFO): DAT read: Tx time:21:45:24.2334 2025-01-08T21:45:25.018Z,1736372725.018 [DAT](INFO): Ping request sent. 2025-01-08T21:45:25.018Z,1736372725.018 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:25.018Z,1736372725.018 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:45:25.018Z,1736372725.018 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:25.020Z,1736372725.020 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:25.264Z,1736372725.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:25.265Z,1736372725.265 [DAT](INFO): DAT read: TxSync time:21:45:24.2327 2025-01-08T21:45:25.323Z,1736372725.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:25.345Z,1736372725.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 467.700012 m, deltaT: 4.284040 s, deltaX: 1.800018 m, approachRate: 0.420168 m/s, rangeRepo size: 4 2025-01-08T21:45:25.346Z,1736372725.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:25.369Z,1736372725.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 39.705700 m, bearing: 65.970308 deg, approach rate: 0.617082 m/s, LOS rate: -0.553636 deg/s, cmd heading: 212.603831 deg, new cmd heading: 211.950131 deg. 2025-01-08T21:45:25.370Z,1736372725.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.699228 target range: 465.899994 and range: 467.70 m. 2025-01-08T21:45:25.517Z,1736372725.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:25.698Z,1736372725.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:25.707Z,1736372725.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:25.709Z,1736372725.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 39.918823 m, bearing: 65.763130 deg, approach rate: 0.584345 m/s, LOS rate: -0.565009 deg/s, cmd heading: 211.950127 deg, new cmd heading: 211.331937 deg. 2025-01-08T21:45:25.710Z,1736372725.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.688438 target range: 465.899994 and range: 467.70 m. 2025-01-08T21:45:25.768Z,1736372725.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:26.020Z,1736372726.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:26.028Z,1736372726.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:45:26.110Z,1736372726.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:26.120Z,1736372726.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:26.122Z,1736372726.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 40.159149 m, bearing: 65.533795 deg, approach rate: 0.581512 m/s, LOS rate: -0.551593 deg/s, cmd heading: 211.331941 deg, new cmd heading: 210.648089 deg. 2025-01-08T21:45:26.124Z,1736372726.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.676503 target range: 465.899994 and range: 467.70 m. 2025-01-08T21:45:26.272Z,1736372726.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:26.488Z,1736372726.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:26.494Z,1736372726.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:26.497Z,1736372726.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:26.500Z,1736372726.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 40.378784 m, bearing: 65.322647 deg, approach rate: 0.582933 m/s, LOS rate: -0.557358 deg/s, cmd heading: 210.648088 deg, new cmd heading: 210.018116 deg. 2025-01-08T21:45:26.501Z,1736372726.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.665508 target range: 465.899994 and range: 467.70 m. 2025-01-08T21:45:26.524Z,1736372726.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:26.524Z,1736372726.524 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:26.524Z,1736372726.524 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:26.524Z,1736372726.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:26.777Z,1736372726.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:26.778Z,1736372726.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760175 2025-01-08T21:45:26.901Z,1736372726.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:26.972Z,1736372726.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:26.975Z,1736372726.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 40.616920 m, bearing: 65.091697 deg, approach rate: 0.500705 m/s, LOS rate: -0.482749 deg/s, cmd heading: 210.018113 deg, new cmd heading: 209.329357 deg. 2025-01-08T21:45:26.984Z,1736372726.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.653486 target range: 465.899994 and range: 467.70 m. 2025-01-08T21:45:27.028Z,1736372727.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:27.030Z,1736372727.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011763 2025-01-08T21:45:27.033Z,1736372727.033 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:45:27.280Z,1736372727.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:27.280Z,1736372727.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262644 2025-01-08T21:45:27.350Z,1736372727.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:27.358Z,1736372727.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:27.366Z,1736372727.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 40.893433 m, bearing: 64.838875 deg, approach rate: 0.716529 m/s, LOS rate: -0.650707 deg/s, cmd heading: 209.329356 deg, new cmd heading: 208.576066 deg. 2025-01-08T21:45:27.369Z,1736372727.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.640339 target range: 465.899994 and range: 467.70 m. 2025-01-08T21:45:27.532Z,1736372727.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:27.533Z,1736372727.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514566 2025-01-08T21:45:27.702Z,1736372727.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:27.729Z,1736372727.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:27.731Z,1736372727.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 41.109100 m, bearing: 64.639610 deg, approach rate: 0.582066 m/s, LOS rate: -0.534974 deg/s, cmd heading: 208.576068 deg, new cmd heading: 207.981432 deg. 2025-01-08T21:45:27.733Z,1736372727.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.629961 target range: 465.899994 and range: 467.70 m. 2025-01-08T21:45:27.784Z,1736372727.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:27.786Z,1736372727.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767831 2025-01-08T21:45:28.036Z,1736372728.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:28.037Z,1736372728.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018908 2025-01-08T21:45:28.126Z,1736372728.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:28.136Z,1736372728.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:28.139Z,1736372728.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 41.372013 m, bearing: 64.407166 deg, approach rate: 0.645406 m/s, LOS rate: -0.566982 deg/s, cmd heading: 207.981432 deg, new cmd heading: 207.288569 deg. 2025-01-08T21:45:28.140Z,1736372728.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.617868 target range: 465.899994 and range: 467.70 m. 2025-01-08T21:45:28.289Z,1736372728.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:28.289Z,1736372728.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271681 2025-01-08T21:45:28.504Z,1736372728.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:28.510Z,1736372728.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:28.513Z,1736372728.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:28.517Z,1736372728.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 41.604656 m, bearing: 64.199022 deg, approach rate: 0.617128 m/s, LOS rate: -0.549052 deg/s, cmd heading: 207.288564 deg, new cmd heading: 206.667648 deg. 2025-01-08T21:45:28.518Z,1736372728.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607031 target range: 465.899994 and range: 467.70 m. 2025-01-08T21:45:28.540Z,1736372728.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:28.541Z,1736372728.541 [DAT](INFO): DAT read: Rx Time:21:45:27.2642 2025-01-08T21:45:28.541Z,1736372728.541 [DAT](INFO): Rx dataTimestamp_ set to:1736372728.540795 2025-01-08T21:45:28.542Z,1736372728.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523812 2025-01-08T21:45:28.793Z,1736372728.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:28.793Z,1736372728.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775454 2025-01-08T21:45:28.923Z,1736372728.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:28.985Z,1736372728.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:29.001Z,1736372729.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 41.852776 m, bearing: 63.974645 deg, approach rate: 0.532301 m/s, LOS rate: -0.478510 deg/s, cmd heading: 206.667645 deg, new cmd heading: 205.998538 deg. 2025-01-08T21:45:29.002Z,1736372729.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595353 target range: 465.899994 and range: 467.70 m. 2025-01-08T21:45:29.044Z,1736372729.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:29.046Z,1736372729.046 [DAT](INFO): DAT read: Range 10 to 50 : 469.9 m (Round-trip 626.6 ms) speed -0.5 m/s 2025-01-08T21:45:29.046Z,1736372729.046 [DAT](INFO): DAT read: user:2036> 2025-01-08T21:45:29.048Z,1736372729.048 [DAT](INFO): DAT read: Tx time:21:45:28.3834 2025-01-08T21:45:29.048Z,1736372729.048 [DAT](INFO): Ping request sent. 2025-01-08T21:45:29.048Z,1736372729.048 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:29.049Z,1736372729.049 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:45:29.049Z,1736372729.049 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:29.050Z,1736372729.050 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:29.296Z,1736372729.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:29.297Z,1736372729.297 [DAT](INFO): DAT read: TxSync time:21:45:28.3827 2025-01-08T21:45:29.389Z,1736372729.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:29.415Z,1736372729.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 469.899994 m, deltaT: 4.032118 s, deltaX: 2.199982 m, approachRate: 0.545614 m/s, rangeRepo size: 4 2025-01-08T21:45:29.417Z,1736372729.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:29.435Z,1736372729.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 42.163960 m, bearing: 63.706106 deg, approach rate: 0.728650 m/s, LOS rate: -0.624152 deg/s, cmd heading: 205.998533 deg, new cmd heading: 205.198917 deg. 2025-01-08T21:45:29.436Z,1736372729.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581397 target range: 465.899994 and range: 469.90 m. 2025-01-08T21:45:29.548Z,1736372729.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:29.731Z,1736372729.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:29.742Z,1736372729.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:29.785Z,1736372729.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 42.381744 m, bearing: 63.509779 deg, approach rate: 0.648826 m/s, LOS rate: -0.581893 deg/s, cmd heading: 205.198922 deg, new cmd heading: 204.612989 deg. 2025-01-08T21:45:29.786Z,1736372729.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571170 target range: 465.899994 and range: 469.90 m. 2025-01-08T21:45:29.800Z,1736372729.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:30.052Z,1736372730.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:30.168Z,1736372730.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:30.177Z,1736372730.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:30.180Z,1736372730.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 42.648735 m, bearing: 63.275405 deg, approach rate: 0.613917 m/s, LOS rate: -0.535543 deg/s, cmd heading: 204.612988 deg, new cmd heading: 203.914304 deg. 2025-01-08T21:45:30.181Z,1736372730.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558976 target range: 465.899994 and range: 469.90 m. 2025-01-08T21:45:30.305Z,1736372730.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:30.531Z,1736372730.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:30.539Z,1736372730.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:30.541Z,1736372730.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:30.556Z,1736372730.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:30.556Z,1736372730.556 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:30.556Z,1736372730.556 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:30.557Z,1736372730.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:30.564Z,1736372730.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 42.888809 m, bearing: 63.061292 deg, approach rate: 0.659209 m/s, LOS rate: -0.584632 deg/s, cmd heading: 203.914300 deg, new cmd heading: 203.275585 deg. 2025-01-08T21:45:30.565Z,1736372730.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547828 target range: 465.899994 and range: 469.90 m. 2025-01-08T21:45:30.808Z,1736372730.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:30.808Z,1736372730.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759957 2025-01-08T21:45:30.943Z,1736372730.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:31.006Z,1736372731.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:31.036Z,1736372731.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 43.146290 m, bearing: 62.827305 deg, approach rate: 0.557436 m/s, LOS rate: -0.503549 deg/s, cmd heading: 203.275582 deg, new cmd heading: 202.577845 deg. 2025-01-08T21:45:31.037Z,1736372731.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535650 target range: 465.899994 and range: 469.90 m. 2025-01-08T21:45:31.060Z,1736372731.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:31.061Z,1736372731.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012163 2025-01-08T21:45:31.312Z,1736372731.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:31.312Z,1736372731.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263826 2025-01-08T21:45:31.412Z,1736372731.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:31.421Z,1736372731.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:31.424Z,1736372731.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 43.444656 m, bearing: 62.550883 deg, approach rate: 0.713139 m/s, LOS rate: -0.656146 deg/s, cmd heading: 202.577851 deg, new cmd heading: 201.754342 deg. 2025-01-08T21:45:31.425Z,1736372731.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521278 target range: 465.899994 and range: 469.90 m. 2025-01-08T21:45:31.564Z,1736372731.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:31.565Z,1736372731.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516034 2025-01-08T21:45:31.768Z,1736372731.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:31.793Z,1736372731.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:31.801Z,1736372731.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 43.671150 m, bearing: 62.344180 deg, approach rate: 0.608943 m/s, LOS rate: -0.552852 deg/s, cmd heading: 201.754349 deg, new cmd heading: 201.137480 deg. 2025-01-08T21:45:31.801Z,1736372731.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510511 target range: 465.899994 and range: 469.90 m. 2025-01-08T21:45:31.817Z,1736372731.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:31.817Z,1736372731.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768931 2025-01-08T21:45:32.068Z,1736372732.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:32.068Z,1736372732.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019868 2025-01-08T21:45:32.194Z,1736372732.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:32.203Z,1736372732.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:32.206Z,1736372732.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 43.939957 m, bearing: 62.096167 deg, approach rate: 0.656174 m/s, LOS rate: -0.601711 deg/s, cmd heading: 201.137473 deg, new cmd heading: 200.398029 deg. 2025-01-08T21:45:32.207Z,1736372732.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.497605 target range: 465.899994 and range: 469.90 m. 2025-01-08T21:45:32.320Z,1736372732.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:32.321Z,1736372732.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272056 2025-01-08T21:45:32.554Z,1736372732.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:32.572Z,1736372732.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:32.573Z,1736372732.573 [DAT](INFO): DAT read: Rx Time:21:45:31.4175 2025-01-08T21:45:32.573Z,1736372732.573 [DAT](INFO): Rx dataTimestamp_ set to:1736372732.572726 2025-01-08T21:45:32.574Z,1736372732.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525055 2025-01-08T21:45:32.577Z,1736372732.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:32.579Z,1736372732.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:32.586Z,1736372732.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 44.162636 m, bearing: 61.879276 deg, approach rate: 0.592648 m/s, LOS rate: -0.574330 deg/s, cmd heading: 200.398023 deg, new cmd heading: 199.750662 deg. 2025-01-08T21:45:32.586Z,1736372732.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.486307 target range: 465.899994 and range: 469.90 m. 2025-01-08T21:45:32.824Z,1736372732.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:32.825Z,1736372732.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776665 2025-01-08T21:45:32.960Z,1736372732.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:32.985Z,1736372732.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:33.000Z,1736372733.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 44.412838 m, bearing: 61.634110 deg, approach rate: 0.615207 m/s, LOS rate: -0.599427 deg/s, cmd heading: 199.750658 deg, new cmd heading: 199.019344 deg. 2025-01-08T21:45:33.010Z,1736372733.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.473543 target range: 465.899994 and range: 469.90 m. 2025-01-08T21:45:33.076Z,1736372733.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:33.078Z,1736372733.078 [DAT](INFO): DAT read: Range 10 to 50 : 472.4 m (Round-trip 629.9 ms) speed -0.8 m/s 2025-01-08T21:45:33.079Z,1736372733.079 [DAT](INFO): DAT read: user:2037> 2025-01-08T21:45:33.079Z,1736372733.079 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:45:33.080Z,1736372733.080 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:33.080Z,1736372733.080 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:33.080Z,1736372733.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:33.329Z,1736372733.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:33.331Z,1736372733.331 [DAT](INFO): DAT read: Tx time:21:45:32.5334 2025-01-08T21:45:33.332Z,1736372733.332 [DAT](INFO): Ping request sent. 2025-01-08T21:45:33.332Z,1736372733.332 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:33.333Z,1736372733.333 [DAT](INFO): DAT read: TxSync time:21:45:32.5327 2025-01-08T21:45:33.333Z,1736372733.333 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:33.334Z,1736372733.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001597 2025-01-08T21:45:33.431Z,1736372733.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:33.452Z,1736372733.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 472.399994 m, deltaT: 4.032567 s, deltaX: 2.500000 m, approachRate: 0.619952 m/s, rangeRepo size: 4 2025-01-08T21:45:33.453Z,1736372733.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:33.461Z,1736372733.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 44.699997 m, bearing: 61.352751 deg, approach rate: 0.621328 m/s, LOS rate: -0.604866 deg/s, cmd heading: 199.019350 deg, new cmd heading: 198.180757 deg. 2025-01-08T21:45:33.469Z,1736372733.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.458907 target range: 465.899994 and range: 472.40 m. 2025-01-08T21:45:33.580Z,1736372733.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:33.581Z,1736372733.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248561 2025-01-08T21:45:33.767Z,1736372733.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:33.777Z,1736372733.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:33.780Z,1736372733.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 44.903927 m, bearing: 61.152101 deg, approach rate: 0.622331 m/s, LOS rate: -0.609539 deg/s, cmd heading: 198.180753 deg, new cmd heading: 197.581561 deg. 2025-01-08T21:45:33.781Z,1736372733.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.448449 target range: 465.899994 and range: 472.40 m. 2025-01-08T21:45:33.833Z,1736372733.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:33.834Z,1736372733.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502121 2025-01-08T21:45:34.084Z,1736372734.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:34.085Z,1736372734.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752648 2025-01-08T21:45:34.198Z,1736372734.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:34.207Z,1736372734.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:34.210Z,1736372734.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 45.157387 m, bearing: 60.891435 deg, approach rate: 0.586874 m/s, LOS rate: -0.600169 deg/s, cmd heading: 197.581568 deg, new cmd heading: 196.804011 deg. 2025-01-08T21:45:34.211Z,1736372734.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.434878 target range: 465.899994 and range: 472.40 m. 2025-01-08T21:45:34.336Z,1736372734.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:34.337Z,1736372734.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004741 2025-01-08T21:45:34.577Z,1736372734.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:34.585Z,1736372734.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:34.587Z,1736372734.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:34.588Z,1736372734.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:34.589Z,1736372734.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256616 2025-01-08T21:45:34.592Z,1736372734.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 45.379730 m, bearing: 60.662972 deg, approach rate: 0.585449 m/s, LOS rate: -0.598613 deg/s, cmd heading: 196.804005 deg, new cmd heading: 196.122008 deg. 2025-01-08T21:45:34.593Z,1736372734.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.422975 target range: 465.899994 and range: 472.40 m. 2025-01-08T21:45:34.840Z,1736372734.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:34.840Z,1736372734.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508358 2025-01-08T21:45:34.980Z,1736372734.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:35.011Z,1736372735.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:35.014Z,1736372735.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 45.615120 m, bearing: 60.420125 deg, approach rate: 0.555065 m/s, LOS rate: -0.569694 deg/s, cmd heading: 196.122011 deg, new cmd heading: 195.397269 deg. 2025-01-08T21:45:35.015Z,1736372735.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.410326 target range: 465.899994 and range: 472.40 m. 2025-01-08T21:45:35.092Z,1736372735.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:35.092Z,1736372735.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760501 2025-01-08T21:45:35.344Z,1736372735.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:35.344Z,1736372735.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012406 2025-01-08T21:45:35.427Z,1736372735.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:35.438Z,1736372735.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:35.442Z,1736372735.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 45.873779 m, bearing: 60.159648 deg, approach rate: 0.607598 m/s, LOS rate: -0.608416 deg/s, cmd heading: 195.397273 deg, new cmd heading: 194.620298 deg. 2025-01-08T21:45:35.444Z,1736372735.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.396765 target range: 465.899994 and range: 472.40 m. 2025-01-08T21:45:35.596Z,1736372735.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:35.596Z,1736372735.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264366 2025-01-08T21:45:35.793Z,1736372735.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:35.802Z,1736372735.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:35.804Z,1736372735.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 46.084412 m, bearing: 59.945942 deg, approach rate: 0.577122 m/s, LOS rate: -0.582866 deg/s, cmd heading: 194.620298 deg, new cmd heading: 193.982138 deg. 2025-01-08T21:45:35.805Z,1736372735.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.385627 target range: 465.899994 and range: 472.40 m. 2025-01-08T21:45:35.848Z,1736372735.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:35.849Z,1736372735.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516546 2025-01-08T21:45:36.100Z,1736372736.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:36.101Z,1736372736.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768903 2025-01-08T21:45:36.212Z,1736372736.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:36.221Z,1736372736.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:36.224Z,1736372736.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 46.318665 m, bearing: 59.706129 deg, approach rate: 0.558213 m/s, LOS rate: -0.568570 deg/s, cmd heading: 193.982140 deg, new cmd heading: 193.266379 deg. 2025-01-08T21:45:36.225Z,1736372736.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.373135 target range: 465.899994 and range: 472.40 m. 2025-01-08T21:45:36.352Z,1736372736.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:36.352Z,1736372736.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020486 2025-01-08T21:45:36.592Z,1736372736.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:36.600Z,1736372736.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:36.602Z,1736372736.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:36.604Z,1736372736.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:36.605Z,1736372736.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272565 2025-01-08T21:45:36.606Z,1736372736.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 46.529823 m, bearing: 59.487651 deg, approach rate: 0.554973 m/s, LOS rate: -0.571601 deg/s, cmd heading: 193.266377 deg, new cmd heading: 192.613948 deg. 2025-01-08T21:45:36.607Z,1736372736.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.361748 target range: 465.899994 and range: 472.40 m. 2025-01-08T21:45:36.856Z,1736372736.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:36.856Z,1736372736.856 [DAT](INFO): DAT read: Rx Time:21:45:35.5937 2025-01-08T21:45:36.857Z,1736372736.857 [DAT](INFO): Rx dataTimestamp_ set to:1736372736.856672 2025-01-08T21:45:36.857Z,1736372736.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525499 2025-01-08T21:45:37.016Z,1736372737.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:37.033Z,1736372737.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T21:45:37.038Z,1736372737.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 46.762325 m, bearing: 59.243541 deg, approach rate: 0.541328 m/s, LOS rate: -0.565526 deg/s, cmd heading: 192.613944 deg, new cmd heading: 191.885298 deg. 2025-01-08T21:45:37.039Z,1736372737.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.349030 target range: 465.899994 and range: 472.40 m. 2025-01-08T21:45:37.110Z,1736372737.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:37.114Z,1736372737.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780706 2025-01-08T21:45:37.360Z,1736372737.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:37.366Z,1736372737.366 [DAT](INFO): DAT read: 21:45:35.5938 LVL= 21680, 29841, 25282, 32755, AGC= 72, IDX= 187,-0.41,-1.282, 0.262,-2.200,-1.494, PHS= 0.300, 1.803,-0.709, RAW= 353.5, -12.7, CAL= 354.3, -17.5, ROT= 155.7, 17.5 2025-01-08T21:45:37.367Z,1736372737.367 [DAT](INFO): got valid direction response: 21:45:35.5938 LVL= 21680, 29841, 25282, 32755, AGC= 72, IDX= 187,-0.41,-1.282, 0.262,-2.200,-1.494, PHS= 0.300, 1.803,-0.709, RAW= 353.5, -12.7, CAL= 354.3, -17.5, ROT= 155.7, 17.5 2025-01-08T21:45:37.368Z,1736372737.368 [DAT](INFO): DAT read: Bearing 155.7, 17.5 (Local) 2025-01-08T21:45:37.369Z,1736372737.369 [DAT](INFO): Local bearing/azimuth received: Bearing 155.7, 17.5 (Local) 2025-01-08T21:45:37.370Z,1736372737.370 [DAT](INFO): DAT read: Range 10 to 50 : 492.0 m (Round-trip 656.1 ms) speed -0.7 m/s 2025-01-08T21:45:37.371Z,1736372737.371 [DAT](INFO): DAT read: user:2038> 2025-01-08T21:45:37.384Z,1736372737.384 [DAT](INFO): DAT read: Tx time:21:45:36.6835 2025-01-08T21:45:37.385Z,1736372737.385 [DAT](INFO): Ping request sent. 2025-01-08T21:45:37.385Z,1736372737.385 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:37.385Z,1736372737.385 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:45:37.386Z,1736372737.386 [DAT](INFO): direction in FSK: [0.332114,0.933600,-0.134501] 2025-01-08T21:45:37.386Z,1736372737.386 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:37.387Z,1736372737.387 [DAT](INFO): publishing direction and range info 2025-01-08T21:45:37.390Z,1736372737.390 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:37.390Z,1736372737.390 [DAT](INFO): publishing direction and range info 2025-01-08T21:45:37.512Z,1736372737.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:37.543Z,1736372737.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 492.000000 m, deltaT: 4.283283 s, deltaX: 19.600006 m, approachRate: 4.575931 m/s, rangeRepo size: 4 2025-01-08T21:45:37.550Z,1736372737.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 492.000000 m, bearing: 269.902952 deg, lat: 36.900203 deg, lon: -122.118060 deg, deltaT: 16.632008 s, deltaX: 26.100006 m, approachRate: 1.569264 m/s, posRepo size: 4 2025-01-08T21:45:37.551Z,1736372737.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:37.557Z,1736372737.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 39.752201 m, bearing: 52.397855 deg, approach rate: 0.000000 m/s, LOS rate: -0.565526 deg/s, cmd heading: 191.885299 deg, new cmd heading: 191.018540 deg. 2025-01-08T21:45:37.558Z,1736372737.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.333902 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:45:37.612Z,1736372737.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:37.613Z,1736372737.613 [DAT](INFO): DAT read: TxSync time:21:45:36.6828 2025-01-08T21:45:37.821Z,1736372737.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:37.837Z,1736372737.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:37.845Z,1736372737.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 39.937626 m, bearing: 52.215432 deg, approach rate: 0.628071 m/s, LOS rate: -0.615035 deg/s, cmd heading: 191.018534 deg, new cmd heading: 190.473823 deg. 2025-01-08T21:45:37.846Z,1736372737.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.324395 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:45:37.864Z,1736372737.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:38.118Z,1736372738.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:38.228Z,1736372738.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:38.260Z,1736372738.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:38.263Z,1736372738.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 40.172855 m, bearing: 51.976322 deg, approach rate: 0.556094 m/s, LOS rate: -0.561955 deg/s, cmd heading: 190.473827 deg, new cmd heading: 189.760737 deg. 2025-01-08T21:45:38.268Z,1736372738.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.311950 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:45:38.368Z,1736372738.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:38.612Z,1736372738.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:38.620Z,1736372738.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:38.621Z,1736372738.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:38.623Z,1736372738.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:38.626Z,1736372738.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 40.393700 m, bearing: 51.748766 deg, approach rate: 0.608952 m/s, LOS rate: -0.624027 deg/s, cmd heading: 189.760741 deg, new cmd heading: 189.081839 deg. 2025-01-08T21:45:38.627Z,1736372738.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.300101 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:45:38.872Z,1736372738.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:38.872Z,1736372738.872 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:38.872Z,1736372738.872 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:38.873Z,1736372738.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:39.028Z,1736372739.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:39.037Z,1736372739.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:39.040Z,1736372739.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 40.631134 m, bearing: 51.501189 deg, approach rate: 0.572896 m/s, LOS rate: -0.593876 deg/s, cmd heading: 189.081834 deg, new cmd heading: 188.343486 deg. 2025-01-08T21:45:39.041Z,1736372739.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.287214 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:45:39.125Z,1736372739.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:39.130Z,1736372739.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744566 2025-01-08T21:45:39.376Z,1736372739.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:39.377Z,1736372739.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991874 2025-01-08T21:45:39.462Z,1736372739.462 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.01, 84.61, 86.65 2025-01-08T21:45:39.473Z,1736372739.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:45:39.474Z,1736372739.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:39.487Z,1736372739.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:39.490Z,1736372739.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 40.886013 m, bearing: 51.239479 deg, approach rate: 0.567049 m/s, LOS rate: -0.578615 deg/s, cmd heading: 188.343491 deg, new cmd heading: 187.563306 deg. 2025-01-08T21:45:39.491Z,1736372739.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.273597 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:45:39.628Z,1736372739.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:39.628Z,1736372739.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243580 2025-01-08T21:45:39.880Z,1736372739.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:39.881Z,1736372739.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495624 2025-01-08T21:45:39.968Z,1736372739.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:45:39.968Z,1736372739.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:39.993Z,1736372739.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:39.996Z,1736372739.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 41.162693 m, bearing: 50.938159 deg, approach rate: 0.546495 m/s, LOS rate: -0.591161 deg/s, cmd heading: 187.563306 deg, new cmd heading: 186.665499 deg. 2025-01-08T21:45:39.997Z,1736372739.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.257928 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:45:40.134Z,1736372740.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:40.136Z,1736372740.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750682 2025-01-08T21:45:40.386Z,1736372740.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:40.388Z,1736372740.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003132 2025-01-08T21:45:40.435Z,1736372740.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:40.448Z,1736372740.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:40.450Z,1736372740.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 41.410286 m, bearing: 50.662173 deg, approach rate: 0.544510 m/s, LOS rate: -0.603321 deg/s, cmd heading: 186.665505 deg, new cmd heading: 185.842556 deg. 2025-01-08T21:45:40.456Z,1736372740.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.243565 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:45:40.636Z,1736372740.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:40.637Z,1736372740.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251688 2025-01-08T21:45:40.770Z,1736372740.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:40.777Z,1736372740.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:40.779Z,1736372740.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:40.784Z,1736372740.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 41.613735 m, bearing: 50.433063 deg, approach rate: 0.614975 m/s, LOS rate: -0.689153 deg/s, cmd heading: 185.842562 deg, new cmd heading: 185.158628 deg. 2025-01-08T21:45:40.785Z,1736372740.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.231628 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:45:40.888Z,1736372740.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:40.889Z,1736372740.889 [DAT](INFO): DAT read: Rx Time:21:45:39.7478 2025-01-08T21:45:40.890Z,1736372740.890 [DAT](INFO): Rx dataTimestamp_ set to:1736372740.889601 2025-01-08T21:45:40.891Z,1736372740.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505969 2025-01-08T21:45:41.141Z,1736372741.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:41.156Z,1736372741.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770828 2025-01-08T21:45:41.227Z,1736372741.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:41.237Z,1736372741.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:41.252Z,1736372741.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 41.872932 m, bearing: 50.141250 deg, approach rate: 0.565612 m/s, LOS rate: -0.632840 deg/s, cmd heading: 185.158628 deg, new cmd heading: 184.288680 deg. 2025-01-08T21:45:41.253Z,1736372741.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.216444 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:45:41.392Z,1736372741.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:41.392Z,1736372741.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.007540 2025-01-08T21:45:41.578Z,1736372741.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:41.590Z,1736372741.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:41.593Z,1736372741.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 42.070068 m, bearing: 49.916814 deg, approach rate: 0.558380 m/s, LOS rate: -0.632726 deg/s, cmd heading: 184.288681 deg, new cmd heading: 183.618559 deg. 2025-01-08T21:45:41.594Z,1736372741.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.204748 target range: 492.000000 and range: 492.00 m. 2025-01-08T21:45:41.644Z,1736372741.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:41.647Z,1736372741.647 [DAT](INFO): DAT read: Range 10 to 50 : 495.0 m (Round-trip 660.1 ms) speed -0.7 m/s 2025-01-08T21:45:41.648Z,1736372741.648 [DAT](INFO): DAT read: user:2039> 2025-01-08T21:45:41.650Z,1736372741.650 [DAT](INFO): DAT read: Tx time:21:45:40.8335 2025-01-08T21:45:41.651Z,1736372741.651 [DAT](INFO): Ping request sent. 2025-01-08T21:45:41.653Z,1736372741.653 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:41.654Z,1736372741.654 [DAT](INFO): DAT read: TxSync time:21:45:40.8328 2025-01-08T21:45:41.655Z,1736372741.655 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:45:41.655Z,1736372741.655 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:41.656Z,1736372741.656 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:41.896Z,1736372741.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:41.980Z,1736372741.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:42.009Z,1736372742.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 495.000000 m, deltaT: 4.284515 s, deltaX: 3.000000 m, approachRate: 0.700196 m/s, rangeRepo size: 4 2025-01-08T21:45:42.009Z,1736372742.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:42.012Z,1736372742.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 42.295483 m, bearing: 49.657782 deg, approach rate: 0.539208 m/s, LOS rate: -0.616320 deg/s, cmd heading: 183.618557 deg, new cmd heading: 182.845652 deg. 2025-01-08T21:45:42.013Z,1736372742.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.191259 target range: 492.000000 and range: 495.00 m. 2025-01-08T21:45:42.150Z,1736372742.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:42.400Z,1736372742.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:42.402Z,1736372742.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:42.411Z,1736372742.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:42.414Z,1736372742.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 42.540718 m, bearing: 49.385805 deg, approach rate: 0.608516 m/s, LOS rate: -0.670978 deg/s, cmd heading: 182.845653 deg, new cmd heading: 182.034483 deg. 2025-01-08T21:45:42.415Z,1736372742.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.177101 target range: 492.000000 and range: 495.00 m. 2025-01-08T21:45:42.652Z,1736372742.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:42.802Z,1736372742.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:42.809Z,1736372742.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:42.812Z,1736372742.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:42.814Z,1736372742.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 42.773285 m, bearing: 49.131713 deg, approach rate: 0.581103 m/s, LOS rate: -0.631432 deg/s, cmd heading: 182.034486 deg, new cmd heading: 181.276403 deg. 2025-01-08T21:45:42.815Z,1736372742.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.163870 target range: 492.000000 and range: 495.00 m. 2025-01-08T21:45:42.904Z,1736372742.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:42.905Z,1736372742.905 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:42.905Z,1736372742.905 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:42.905Z,1736372742.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:43.157Z,1736372743.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:43.160Z,1736372743.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508296 2025-01-08T21:45:43.258Z,1736372743.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:43.268Z,1736372743.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:43.270Z,1736372743.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 43.043816 m, bearing: 48.836047 deg, approach rate: 0.593471 m/s, LOS rate: -0.644533 deg/s, cmd heading: 181.276403 deg, new cmd heading: 180.395051 deg. 2025-01-08T21:45:43.271Z,1736372743.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.148488 target range: 492.000000 and range: 495.00 m. 2025-01-08T21:45:43.408Z,1736372743.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:43.409Z,1736372743.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757870 2025-01-08T21:45:43.608Z,1736372743.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:43.622Z,1736372743.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:43.625Z,1736372743.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 43.250343 m, bearing: 48.608390 deg, approach rate: 0.581311 m/s, LOS rate: -0.637721 deg/s, cmd heading: 180.395049 deg, new cmd heading: 179.715375 deg. 2025-01-08T21:45:43.626Z,1736372743.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.136625 target range: 492.000000 and range: 495.00 m. 2025-01-08T21:45:43.660Z,1736372743.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:43.662Z,1736372743.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010594 2025-01-08T21:45:43.912Z,1736372743.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:43.912Z,1736372743.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261641 2025-01-08T21:45:44.009Z,1736372744.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:44.026Z,1736372744.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:44.034Z,1736372744.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 43.484669 m, bearing: 48.346316 deg, approach rate: 0.580489 m/s, LOS rate: -0.645729 deg/s, cmd heading: 179.715377 deg, new cmd heading: 178.933444 deg. 2025-01-08T21:45:44.035Z,1736372744.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.122978 target range: 492.000000 and range: 495.00 m. 2025-01-08T21:45:44.166Z,1736372744.166 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:44.168Z,1736372744.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517252 2025-01-08T21:45:44.416Z,1736372744.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:44.418Z,1736372744.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766882 2025-01-08T21:45:44.430Z,1736372744.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:44.441Z,1736372744.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:44.443Z,1736372744.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 43.738194 m, bearing: 48.067913 deg, approach rate: 0.611647 m/s, LOS rate: -0.667774 deg/s, cmd heading: 178.933444 deg, new cmd heading: 178.103134 deg. 2025-01-08T21:45:44.444Z,1736372744.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.108486 target range: 492.000000 and range: 495.00 m. 2025-01-08T21:45:44.669Z,1736372744.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:44.671Z,1736372744.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019141 2025-01-08T21:45:44.824Z,1736372744.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:44.839Z,1736372744.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:44.841Z,1736372744.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:44.848Z,1736372744.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 43.973534 m, bearing: 47.805799 deg, approach rate: 0.587503 m/s, LOS rate: -0.650835 deg/s, cmd heading: 178.103139 deg, new cmd heading: 177.321058 deg. 2025-01-08T21:45:44.850Z,1736372744.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.094836 target range: 492.000000 and range: 495.00 m. 2025-01-08T21:45:44.920Z,1736372744.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:44.922Z,1736372744.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271265 2025-01-08T21:45:45.173Z,1736372745.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:45.176Z,1736372745.176 [DAT](INFO): DAT read: Rx Time:21:45:43.9016 2025-01-08T21:45:45.178Z,1736372745.178 [DAT](INFO): Rx dataTimestamp_ set to:1736372745.176590 2025-01-08T21:45:45.180Z,1736372745.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528768 2025-01-08T21:45:45.298Z,1736372745.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:45.325Z,1736372745.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:45.331Z,1736372745.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 44.265503 m, bearing: 47.495636 deg, approach rate: 0.603846 m/s, LOS rate: -0.637240 deg/s, cmd heading: 177.321055 deg, new cmd heading: 176.396788 deg. 2025-01-08T21:45:45.333Z,1736372745.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.078705 target range: 492.000000 and range: 495.00 m. 2025-01-08T21:45:45.424Z,1736372745.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:45.425Z,1736372745.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774455 2025-01-08T21:45:45.665Z,1736372745.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:45.677Z,1736372745.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:45.681Z,1736372745.681 [DAT](INFO): DAT read: Range 10 to 50 : 497.9 m (Round-trip 663.9 ms) speed -0.7 m/s 2025-01-08T21:45:45.682Z,1736372745.682 [DAT](INFO): DAT read: user:2040> 2025-01-08T21:45:45.684Z,1736372745.684 [DAT](INFO): DAT read: Tx time:21:45:44.9835 2025-01-08T21:45:45.685Z,1736372745.685 [DAT](INFO): Ping request sent. 2025-01-08T21:45:45.686Z,1736372745.686 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:45.687Z,1736372745.687 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:45:45.687Z,1736372745.687 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:45.689Z,1736372745.689 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:45.694Z,1736372745.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 497.899994 m, deltaT: 4.033090 s, deltaX: 2.899994 m, approachRate: 0.719050 m/s, rangeRepo size: 4 2025-01-08T21:45:45.694Z,1736372745.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:45.729Z,1736372745.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 44.489178 m, bearing: 47.254622 deg, approach rate: 0.607020 m/s, LOS rate: -0.650786 deg/s, cmd heading: 176.396793 deg, new cmd heading: 175.677427 deg. 2025-01-08T21:45:45.730Z,1736372745.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.066149 target range: 492.000000 and range: 497.90 m. 2025-01-08T21:45:45.928Z,1736372745.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:45.929Z,1736372745.929 [DAT](INFO): DAT read: TxSync time:21:45:44.9828 2025-01-08T21:45:46.066Z,1736372746.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:46.076Z,1736372746.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:46.078Z,1736372746.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 44.731316 m, bearing: 46.988864 deg, approach rate: 0.633421 m/s, LOS rate: -0.691446 deg/s, cmd heading: 175.677424 deg, new cmd heading: 174.884517 deg. 2025-01-08T21:45:46.080Z,1736372746.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.052311 target range: 492.000000 and range: 497.90 m. 2025-01-08T21:45:46.182Z,1736372746.182 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:46.432Z,1736372746.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:46.496Z,1736372746.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:46.513Z,1736372746.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:46.520Z,1736372746.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 44.989754 m, bearing: 46.706072 deg, approach rate: 0.590689 m/s, LOS rate: -0.642635 deg/s, cmd heading: 174.884521 deg, new cmd heading: 174.041085 deg. 2025-01-08T21:45:46.521Z,1736372746.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.037590 target range: 492.000000 and range: 497.90 m. 2025-01-08T21:45:46.684Z,1736372746.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:46.859Z,1736372746.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:46.867Z,1736372746.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:46.869Z,1736372746.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:46.885Z,1736372746.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 45.205715 m, bearing: 46.466298 deg, approach rate: 0.606652 m/s, LOS rate: -0.670325 deg/s, cmd heading: 174.041088 deg, new cmd heading: 173.325241 deg. 2025-01-08T21:45:46.886Z,1736372746.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.025096 target range: 492.000000 and range: 497.90 m. 2025-01-08T21:45:46.937Z,1736372746.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:46.938Z,1736372746.938 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:46.938Z,1736372746.938 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:46.938Z,1736372746.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:47.188Z,1736372747.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:47.188Z,1736372747.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503137 2025-01-08T21:45:47.315Z,1736372747.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:47.325Z,1736372747.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:47.343Z,1736372747.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 45.471706 m, bearing: 46.169572 deg, approach rate: 0.583939 m/s, LOS rate: -0.647599 deg/s, cmd heading: 173.325244 deg, new cmd heading: 172.440347 deg. 2025-01-08T21:45:47.344Z,1736372747.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.009652 target range: 492.000000 and range: 497.90 m. 2025-01-08T21:45:47.441Z,1736372747.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:47.442Z,1736372747.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756361 2025-01-08T21:45:47.684Z,1736372747.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:47.692Z,1736372747.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:47.692Z,1736372747.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007267 2025-01-08T21:45:47.721Z,1736372747.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:47.730Z,1736372747.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 45.685261 m, bearing: 45.927568 deg, approach rate: 0.539585 m/s, LOS rate: -0.608608 deg/s, cmd heading: 172.440352 deg, new cmd heading: 171.717775 deg. 2025-01-08T21:45:47.731Z,1736372747.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.997041 target range: 492.000000 and range: 497.90 m. 2025-01-08T21:45:47.944Z,1736372747.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:47.944Z,1736372747.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259181 2025-01-08T21:45:48.091Z,1736372748.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:48.110Z,1736372748.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:48.133Z,1736372748.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 45.918091 m, bearing: 45.659174 deg, approach rate: 0.598001 m/s, LOS rate: -0.685847 deg/s, cmd heading: 171.717772 deg, new cmd heading: 170.916727 deg. 2025-01-08T21:45:48.146Z,1736372748.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.983060 target range: 492.000000 and range: 497.90 m. 2025-01-08T21:45:48.196Z,1736372748.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:48.197Z,1736372748.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511359 2025-01-08T21:45:48.448Z,1736372748.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:48.448Z,1736372748.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763111 2025-01-08T21:45:48.525Z,1736372748.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:48.536Z,1736372748.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:48.538Z,1736372748.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 46.153652 m, bearing: 45.375665 deg, approach rate: 0.552543 m/s, LOS rate: -0.661614 deg/s, cmd heading: 170.916728 deg, new cmd heading: 170.070608 deg. 2025-01-08T21:45:48.540Z,1736372748.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.968292 target range: 492.000000 and range: 497.90 m. 2025-01-08T21:45:48.701Z,1736372748.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:48.702Z,1736372748.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016818 2025-01-08T21:45:48.891Z,1736372748.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:48.898Z,1736372748.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:48.901Z,1736372748.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:48.904Z,1736372748.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 46.349964 m, bearing: 45.135466 deg, approach rate: 0.538471 m/s, LOS rate: -0.656057 deg/s, cmd heading: 170.070604 deg, new cmd heading: 169.353099 deg. 2025-01-08T21:45:48.905Z,1736372748.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.955769 target range: 492.000000 and range: 497.90 m. 2025-01-08T21:45:48.959Z,1736372748.959 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:48.960Z,1736372748.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274469 2025-01-08T21:45:49.213Z,1736372749.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:49.216Z,1736372749.216 [DAT](INFO): DAT read: Rx Time:21:45:48.0554 2025-01-08T21:45:49.217Z,1736372749.217 [DAT](INFO): Rx dataTimestamp_ set to:1736372749.216585 2025-01-08T21:45:49.217Z,1736372749.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532223 2025-01-08T21:45:49.343Z,1736372749.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:49.381Z,1736372749.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:49.392Z,1736372749.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 46.580788 m, bearing: 44.839096 deg, approach rate: 0.480661 m/s, LOS rate: -0.614092 deg/s, cmd heading: 169.353106 deg, new cmd heading: 168.468477 deg. 2025-01-08T21:45:49.393Z,1736372749.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940330 target range: 492.000000 and range: 497.90 m. 2025-01-08T21:45:49.465Z,1736372749.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:49.467Z,1736372749.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780923 2025-01-08T21:45:49.717Z,1736372749.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:49.720Z,1736372749.720 [DAT](INFO): DAT read: Range 10 to 50 : 500.7 m (Round-trip 667.7 ms) speed -1.1 m/s 2025-01-08T21:45:49.720Z,1736372749.720 [DAT](INFO): DAT read: user:2041> 2025-01-08T21:45:49.721Z,1736372749.721 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:45:49.721Z,1736372749.721 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:49.722Z,1736372749.722 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:49.722Z,1736372749.722 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:49.794Z,1736372749.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:49.816Z,1736372749.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 500.700012 m, deltaT: 4.040499 s, deltaX: 2.800018 m, approachRate: 0.692988 m/s, rangeRepo size: 4 2025-01-08T21:45:49.817Z,1736372749.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:49.824Z,1736372749.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 46.812492 m, bearing: 44.546105 deg, approach rate: 0.538812 m/s, LOS rate: -0.677954 deg/s, cmd heading: 168.468474 deg, new cmd heading: 167.593922 deg. 2025-01-08T21:45:49.825Z,1736372749.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.925066 target range: 492.000000 and range: 500.70 m. 2025-01-08T21:45:49.968Z,1736372749.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:49.969Z,1736372749.969 [DAT](INFO): DAT read: Tx time:21:45:49.1335 2025-01-08T21:45:49.969Z,1736372749.969 [DAT](INFO): Ping request sent. 2025-01-08T21:45:49.969Z,1736372749.969 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:49.970Z,1736372749.970 [DAT](INFO): DAT read: TxSync time:21:45:49.1329 2025-01-08T21:45:49.970Z,1736372749.970 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:49.971Z,1736372749.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001567 2025-01-08T21:45:50.104Z,1736372750.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:50.125Z,1736372750.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:50.129Z,1736372750.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 46.968430 m, bearing: 44.340943 deg, approach rate: 0.496397 m/s, LOS rate: -0.650926 deg/s, cmd heading: 167.593923 deg, new cmd heading: 166.980504 deg. 2025-01-08T21:45:50.130Z,1736372750.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.914360 target range: 492.000000 and range: 500.70 m. 2025-01-08T21:45:50.223Z,1736372750.223 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:50.224Z,1736372750.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254660 2025-01-08T21:45:50.476Z,1736372750.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:50.477Z,1736372750.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507748 2025-01-08T21:45:50.579Z,1736372750.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:50.589Z,1736372750.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:50.593Z,1736372750.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 47.193905 m, bearing: 44.028446 deg, approach rate: 0.486307 m/s, LOS rate: -0.670773 deg/s, cmd heading: 166.980503 deg, new cmd heading: 166.047578 deg. 2025-01-08T21:45:50.594Z,1736372750.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.898077 target range: 492.000000 and range: 500.70 m. 2025-01-08T21:45:50.729Z,1736372750.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:50.731Z,1736372750.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761536 2025-01-08T21:45:50.911Z,1736372750.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:50.943Z,1736372750.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:50.945Z,1736372750.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:50.948Z,1736372750.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 47.350754 m, bearing: 43.809590 deg, approach rate: 0.440013 m/s, LOS rate: -0.611928 deg/s, cmd heading: 166.047581 deg, new cmd heading: 165.393219 deg. 2025-01-08T21:45:50.949Z,1736372750.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.886656 target range: 492.000000 and range: 500.70 m. 2025-01-08T21:45:50.981Z,1736372750.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:50.982Z,1736372750.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012628 2025-01-08T21:45:51.232Z,1736372751.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:51.233Z,1736372751.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263406 2025-01-08T21:45:51.372Z,1736372751.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:51.381Z,1736372751.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:51.385Z,1736372751.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 47.548923 m, bearing: 43.496617 deg, approach rate: 0.454411 m/s, LOS rate: -0.714665 deg/s, cmd heading: 165.393222 deg, new cmd heading: 164.458305 deg. 2025-01-08T21:45:51.386Z,1736372751.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870339 target range: 492.000000 and range: 500.70 m. 2025-01-08T21:45:51.484Z,1736372751.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:51.485Z,1736372751.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515976 2025-01-08T21:45:51.736Z,1736372751.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:51.736Z,1736372751.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767427 2025-01-08T21:45:51.742Z,1736372751.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:51.756Z,1736372751.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:51.758Z,1736372751.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 47.709057 m, bearing: 43.247215 deg, approach rate: 0.427899 m/s, LOS rate: -0.664199 deg/s, cmd heading: 164.458306 deg, new cmd heading: 163.712654 deg. 2025-01-08T21:45:51.759Z,1736372751.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.857325 target range: 492.000000 and range: 500.70 m. 2025-01-08T21:45:51.988Z,1736372751.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:51.989Z,1736372751.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019629 2025-01-08T21:45:52.145Z,1736372752.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:52.155Z,1736372752.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:52.158Z,1736372752.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 47.878559 m, bearing: 42.971749 deg, approach rate: 0.424286 m/s, LOS rate: -0.687082 deg/s, cmd heading: 163.712654 deg, new cmd heading: 162.889243 deg. 2025-01-08T21:45:52.159Z,1736372752.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842954 target range: 492.000000 and range: 500.70 m. 2025-01-08T21:45:52.241Z,1736372752.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:52.244Z,1736372752.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274713 2025-01-08T21:45:52.492Z,1736372752.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:52.492Z,1736372752.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523469 2025-01-08T21:45:52.562Z,1736372752.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:52.593Z,1736372752.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:52.600Z,1736372752.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 48.052731 m, bearing: 42.686610 deg, approach rate: 0.397969 m/s, LOS rate: -0.649157 deg/s, cmd heading: 162.889247 deg, new cmd heading: 162.036997 deg. 2025-01-08T21:45:52.601Z,1736372752.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.828079 target range: 492.000000 and range: 500.70 m. 2025-01-08T21:45:52.744Z,1736372752.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:52.745Z,1736372752.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775499 2025-01-08T21:45:52.938Z,1736372752.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:52.944Z,1736372752.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:52.946Z,1736372752.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:52.950Z,1736372752.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 48.207672 m, bearing: 42.429215 deg, approach rate: 0.437765 m/s, LOS rate: -0.724894 deg/s, cmd heading: 162.037004 deg, new cmd heading: 161.267347 deg. 2025-01-08T21:45:52.951Z,1736372752.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.814646 target range: 492.000000 and range: 500.70 m. 2025-01-08T21:45:52.997Z,1736372752.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:52.998Z,1736372752.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028638 2025-01-08T21:45:53.248Z,1736372753.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:53.248Z,1736372753.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279315 2025-01-08T21:45:53.404Z,1736372753.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:53.412Z,1736372753.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:53.415Z,1736372753.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 48.407269 m, bearing: 42.116586 deg, approach rate: 0.428529 m/s, LOS rate: -0.668435 deg/s, cmd heading: 161.267351 deg, new cmd heading: 160.333421 deg. 2025-01-08T21:45:53.436Z,1736372753.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798346 target range: 492.000000 and range: 500.70 m. 2025-01-08T21:45:53.501Z,1736372753.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:53.502Z,1736372753.502 [DAT](INFO): DAT read: Rx Time:21:45:52.2088 2025-01-08T21:45:53.503Z,1736372753.503 [DAT](INFO): Rx dataTimestamp_ set to:1736372753.502102 2025-01-08T21:45:53.503Z,1736372753.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534445 2025-01-08T21:45:53.746Z,1736372753.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:53.753Z,1736372753.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:53.755Z,1736372753.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785467 2025-01-08T21:45:53.761Z,1736372753.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:53.764Z,1736372753.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 48.549919 m, bearing: 41.883883 deg, approach rate: 0.408999 m/s, LOS rate: -0.665230 deg/s, cmd heading: 160.333418 deg, new cmd heading: 159.637395 deg. 2025-01-08T21:45:53.765Z,1736372753.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.786198 target range: 492.000000 and range: 500.70 m. 2025-01-08T21:45:54.004Z,1736372754.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:54.006Z,1736372754.006 [DAT](INFO): DAT read: Range 10 to 50 : 503.3 m (Round-trip 671.1 ms) speed -0.6 m/s 2025-01-08T21:45:54.006Z,1736372754.006 [DAT](INFO): DAT read: user:2042> 2025-01-08T21:45:54.007Z,1736372754.007 [DAT](INFO): DAT read: Tx time:21:45:53.2836 2025-01-08T21:45:54.008Z,1736372754.008 [DAT](INFO): Ping request sent. 2025-01-08T21:45:54.008Z,1736372754.008 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:45:54.008Z,1736372754.008 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:45:54.008Z,1736372754.008 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:54.009Z,1736372754.009 [DAT](INFO): publishing transmit ping time 2025-01-08T21:45:54.157Z,1736372754.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:54.178Z,1736372754.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 503.299988 m, deltaT: 4.286086 s, deltaX: 2.599976 m, approachRate: 0.606608 m/s, rangeRepo size: 4 2025-01-08T21:45:54.179Z,1736372754.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:54.186Z,1736372754.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 48.719166 m, bearing: 41.604025 deg, approach rate: 0.406161 m/s, LOS rate: -0.669273 deg/s, cmd heading: 159.637394 deg, new cmd heading: 158.800800 deg. 2025-01-08T21:45:54.200Z,1736372754.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.771597 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:54.257Z,1736372754.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:54.258Z,1736372754.258 [DAT](INFO): DAT read: TxSync time:21:45:53.2829 2025-01-08T21:45:54.508Z,1736372754.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:54.582Z,1736372754.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:54.592Z,1736372754.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:54.595Z,1736372754.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 48.899498 m, bearing: 41.321094 deg, approach rate: 0.435176 m/s, LOS rate: -0.680247 deg/s, cmd heading: 158.800805 deg, new cmd heading: 157.955206 deg. 2025-01-08T21:45:54.596Z,1736372754.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.756838 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:54.760Z,1736372754.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:54.964Z,1736372754.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:54.972Z,1736372754.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:54.974Z,1736372754.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:54.977Z,1736372754.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 49.060097 m, bearing: 41.066471 deg, approach rate: 0.420581 m/s, LOS rate: -0.664628 deg/s, cmd heading: 157.955201 deg, new cmd heading: 157.193881 deg. 2025-01-08T21:45:54.978Z,1736372754.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.743551 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:55.012Z,1736372755.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:55.013Z,1736372755.013 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:45:55.013Z,1736372755.013 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:45:55.014Z,1736372755.014 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:45:55.264Z,1736372755.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:55.265Z,1736372755.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256723 2025-01-08T21:45:55.433Z,1736372755.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:55.442Z,1736372755.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:55.445Z,1736372755.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 49.266319 m, bearing: 40.759138 deg, approach rate: 0.440591 m/s, LOS rate: -0.653860 deg/s, cmd heading: 157.193880 deg, new cmd heading: 156.275824 deg. 2025-01-08T21:45:55.446Z,1736372755.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.727528 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:55.516Z,1736372755.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:55.517Z,1736372755.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509749 2025-01-08T21:45:55.768Z,1736372755.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:55.769Z,1736372755.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760854 2025-01-08T21:45:55.772Z,1736372755.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:55.781Z,1736372755.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:55.784Z,1736372755.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 49.414234 m, bearing: 40.534953 deg, approach rate: 0.436507 m/s, LOS rate: -0.659606 deg/s, cmd heading: 156.275821 deg, new cmd heading: 155.605309 deg. 2025-01-08T21:45:55.785Z,1736372755.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.715825 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:56.020Z,1736372756.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:56.020Z,1736372756.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012662 2025-01-08T21:45:56.169Z,1736372756.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:56.205Z,1736372756.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:56.212Z,1736372756.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 49.584103 m, bearing: 40.272264 deg, approach rate: 0.400019 m/s, LOS rate: -0.616477 deg/s, cmd heading: 155.605315 deg, new cmd heading: 154.820001 deg. 2025-01-08T21:45:56.213Z,1736372756.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702119 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:56.273Z,1736372756.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:56.273Z,1736372756.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265612 2025-01-08T21:45:56.524Z,1736372756.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:56.524Z,1736372756.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516780 2025-01-08T21:45:56.613Z,1736372756.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:56.622Z,1736372756.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:56.625Z,1736372756.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 49.787441 m, bearing: 39.981082 deg, approach rate: 0.487800 m/s, LOS rate: -0.695678 deg/s, cmd heading: 154.820007 deg, new cmd heading: 153.950098 deg. 2025-01-08T21:45:56.626Z,1736372756.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686936 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:56.776Z,1736372756.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:56.776Z,1736372756.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768760 2025-01-08T21:45:56.988Z,1736372756.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:56.995Z,1736372756.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:56.997Z,1736372756.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:57.000Z,1736372757.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 49.957336 m, bearing: 39.733585 deg, approach rate: 0.453684 m/s, LOS rate: -0.658659 deg/s, cmd heading: 153.950101 deg, new cmd heading: 153.210180 deg. 2025-01-08T21:45:57.001Z,1736372757.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674022 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:57.032Z,1736372757.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:57.033Z,1736372757.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025683 2025-01-08T21:45:57.156Z,1736372757.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:45:57.284Z,1736372757.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:57.285Z,1736372757.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277031 2025-01-08T21:45:57.446Z,1736372757.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:57.476Z,1736372757.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:57.479Z,1736372757.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 50.171970 m, bearing: 39.432258 deg, approach rate: 0.468135 m/s, LOS rate: -0.654406 deg/s, cmd heading: 153.210186 deg, new cmd heading: 152.310150 deg. 2025-01-08T21:45:57.484Z,1736372757.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.658314 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:57.536Z,1736372757.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:57.537Z,1736372757.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529226 2025-01-08T21:45:57.789Z,1736372757.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:57.789Z,1736372757.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781684 2025-01-08T21:45:57.794Z,1736372757.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:57.832Z,1736372757.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:57.839Z,1736372757.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 50.333115 m, bearing: 39.201905 deg, approach rate: 0.427247 m/s, LOS rate: -0.608786 deg/s, cmd heading: 152.310145 deg, new cmd heading: 151.621333 deg. 2025-01-08T21:45:57.840Z,1736372757.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.646291 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:58.040Z,1736372758.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:58.040Z,1736372758.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032721 2025-01-08T21:45:58.160Z,1736372758.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:45:58.192Z,1736372758.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:58.201Z,1736372758.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:58.204Z,1736372758.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 50.514896 m, bearing: 38.937187 deg, approach rate: 0.492766 m/s, LOS rate: -0.715002 deg/s, cmd heading: 151.621334 deg, new cmd heading: 150.830090 deg. 2025-01-08T21:45:58.205Z,1736372758.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.632482 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:58.293Z,1736372758.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:58.294Z,1736372758.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285649 2025-01-08T21:45:58.544Z,1736372758.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:58.544Z,1736372758.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536601 2025-01-08T21:45:58.629Z,1736372758.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:58.638Z,1736372758.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:58.641Z,1736372758.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 50.714584 m, bearing: 38.644493 deg, approach rate: 0.456859 m/s, LOS rate: -0.667003 deg/s, cmd heading: 150.830084 deg, new cmd heading: 149.955532 deg. 2025-01-08T21:45:58.642Z,1736372758.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.617218 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:58.796Z,1736372758.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:58.797Z,1736372758.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788842 2025-01-08T21:45:58.995Z,1736372758.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:59.002Z,1736372759.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:45:59.004Z,1736372759.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:59.007Z,1736372759.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 50.880165 m, bearing: 38.397929 deg, approach rate: 0.452896 m/s, LOS rate: -0.672207 deg/s, cmd heading: 149.955533 deg, new cmd heading: 149.218289 deg. 2025-01-08T21:45:59.008Z,1736372759.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.604351 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:59.048Z,1736372759.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:59.049Z,1736372759.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040874 2025-01-08T21:45:59.300Z,1736372759.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:59.301Z,1736372759.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293440 2025-01-08T21:45:59.458Z,1736372759.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:59.468Z,1736372759.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:59.471Z,1736372759.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 51.086815 m, bearing: 38.084664 deg, approach rate: 0.446333 m/s, LOS rate: -0.673865 deg/s, cmd heading: 149.218296 deg, new cmd heading: 148.282391 deg. 2025-01-08T21:45:59.472Z,1736372759.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.588016 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:45:59.552Z,1736372759.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:59.554Z,1736372759.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545521 2025-01-08T21:45:59.804Z,1736372759.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:45:59.806Z,1736372759.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797808 2025-01-08T21:45:59.882Z,1736372759.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:45:59.893Z,1736372759.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:45:59.895Z,1736372759.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 51.273094 m, bearing: 37.791577 deg, approach rate: 0.437738 m/s, LOS rate: -0.686219 deg/s, cmd heading: 148.282396 deg, new cmd heading: 147.406403 deg. 2025-01-08T21:45:59.896Z,1736372759.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572727 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:00.056Z,1736372760.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:00.056Z,1736372760.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048706 2025-01-08T21:46:00.209Z,1736372760.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:00.218Z,1736372760.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:00.221Z,1736372760.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 51.414875 m, bearing: 37.564760 deg, approach rate: 0.435540 m/s, LOS rate: -0.694842 deg/s, cmd heading: 147.406397 deg, new cmd heading: 146.727855 deg. 2025-01-08T21:46:00.222Z,1736372760.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560884 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:00.309Z,1736372760.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:00.310Z,1736372760.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302178 2025-01-08T21:46:00.560Z,1736372760.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:00.560Z,1736372760.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552684 2025-01-08T21:46:00.654Z,1736372760.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:00.669Z,1736372760.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:00.673Z,1736372760.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 51.599545 m, bearing: 37.256869 deg, approach rate: 0.410110 m/s, LOS rate: -0.681308 deg/s, cmd heading: 146.727859 deg, new cmd heading: 145.807573 deg. 2025-01-08T21:46:00.675Z,1736372760.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544822 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:00.812Z,1736372760.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:00.813Z,1736372760.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804892 2025-01-08T21:46:01.032Z,1736372761.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:01.039Z,1736372761.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:01.041Z,1736372761.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:01.044Z,1736372761.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 51.757698 m, bearing: 36.996860 deg, approach rate: 0.424189 m/s, LOS rate: -0.695244 deg/s, cmd heading: 145.807573 deg, new cmd heading: 145.029982 deg. 2025-01-08T21:46:01.045Z,1736372761.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531251 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:01.064Z,1736372761.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:01.064Z,1736372761.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056770 2025-01-08T21:46:01.316Z,1736372761.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:01.317Z,1736372761.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309396 2025-01-08T21:46:01.477Z,1736372761.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:01.495Z,1736372761.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:01.502Z,1736372761.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 51.933552 m, bearing: 36.684995 deg, approach rate: 0.387680 m/s, LOS rate: -0.685194 deg/s, cmd heading: 145.029983 deg, new cmd heading: 144.097642 deg. 2025-01-08T21:46:01.508Z,1736372761.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514978 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:01.568Z,1736372761.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:01.569Z,1736372761.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561141 2025-01-08T21:46:01.820Z,1736372761.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:01.821Z,1736372761.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813287 2025-01-08T21:46:01.900Z,1736372761.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:01.909Z,1736372761.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:01.916Z,1736372761.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 52.088791 m, bearing: 36.373001 deg, approach rate: 0.375056 m/s, LOS rate: -0.751525 deg/s, cmd heading: 144.097648 deg, new cmd heading: 143.164542 deg. 2025-01-08T21:46:01.918Z,1736372761.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.498693 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:02.072Z,1736372762.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:02.072Z,1736372762.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064711 2025-01-08T21:46:02.233Z,1736372762.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:02.242Z,1736372762.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:02.245Z,1736372762.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 52.208424 m, bearing: 36.128234 deg, approach rate: 0.359334 m/s, LOS rate: -0.733504 deg/s, cmd heading: 143.164535 deg, new cmd heading: 142.431961 deg. 2025-01-08T21:46:02.246Z,1736372762.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.485907 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:02.325Z,1736372762.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:02.325Z,1736372762.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317821 2025-01-08T21:46:02.576Z,1736372762.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:02.576Z,1736372762.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568772 2025-01-08T21:46:02.669Z,1736372762.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:02.682Z,1736372762.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:02.685Z,1736372762.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 52.353050 m, bearing: 35.806428 deg, approach rate: 0.328513 m/s, LOS rate: -0.728945 deg/s, cmd heading: 142.431956 deg, new cmd heading: 141.469302 deg. 2025-01-08T21:46:02.686Z,1736372762.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469105 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:02.829Z,1736372762.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:02.830Z,1736372762.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822315 2025-01-08T21:46:03.038Z,1736372763.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:03.061Z,1736372763.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:03.063Z,1736372763.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:03.065Z,1736372763.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 52.473534 m, bearing: 35.533411 deg, approach rate: 0.316474 m/s, LOS rate: -0.715488 deg/s, cmd heading: 141.469296 deg, new cmd heading: 140.652182 deg. 2025-01-08T21:46:03.068Z,1736372763.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454844 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:03.080Z,1736372763.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:03.080Z,1736372763.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072785 2025-01-08T21:46:03.332Z,1736372763.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:03.333Z,1736372763.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324850 2025-01-08T21:46:03.476Z,1736372763.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:03.521Z,1736372763.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:03.529Z,1736372763.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 52.613743 m, bearing: 35.210589 deg, approach rate: 0.305758 m/s, LOS rate: -0.702106 deg/s, cmd heading: 140.652187 deg, new cmd heading: 139.686400 deg. 2025-01-08T21:46:03.530Z,1736372763.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437988 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:03.584Z,1736372763.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:03.585Z,1736372763.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577128 2025-01-08T21:46:03.836Z,1736372763.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:03.836Z,1736372763.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828748 2025-01-08T21:46:03.938Z,1736372763.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:03.956Z,1736372763.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:03.958Z,1736372763.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 52.747299 m, bearing: 34.864725 deg, approach rate: 0.307255 m/s, LOS rate: -0.793663 deg/s, cmd heading: 139.686398 deg, new cmd heading: 138.651552 deg. 2025-01-08T21:46:03.981Z,1736372763.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419926 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:04.089Z,1736372764.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:04.089Z,1736372764.089 [DAT](INFO): Reached modem response timeout 2025-01-08T21:46:04.090Z,1736372764.090 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:46:04.091Z,1736372764.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:04.340Z,1736372764.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:04.341Z,1736372764.341 [DAT](INFO): Reached modem response timeout 2025-01-08T21:46:04.341Z,1736372764.341 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:46:04.341Z,1736372764.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:04.399Z,1736372764.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:04.426Z,1736372764.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:04.433Z,1736372764.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 52.874058 m, bearing: 34.518081 deg, approach rate: 0.270654 m/s, LOS rate: -0.738373 deg/s, cmd heading: 138.651556 deg, new cmd heading: 137.614237 deg. 2025-01-08T21:46:04.434Z,1736372764.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.401822 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:04.592Z,1736372764.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:04.593Z,1736372764.593 [DAT](INFO): Reached modem response timeout 2025-01-08T21:46:04.593Z,1736372764.593 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:46:04.593Z,1736372764.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:04.821Z,1736372764.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:04.833Z,1736372764.833 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:46:04.844Z,1736372764.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:04.845Z,1736372764.845 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:46:04.845Z,1736372764.845 [DAT](INFO): response not received 2025-01-08T21:46:04.845Z,1736372764.845 [DAT](INFO): DAT read: user:2043> 2025-01-08T21:46:04.846Z,1736372764.846 [DAT](INFO): DAT read: Tx time:21:46:04.2337 2025-01-08T21:46:04.846Z,1736372764.846 [DAT](INFO): Ping request sent. 2025-01-08T21:46:04.846Z,1736372764.846 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:46:04.847Z,1736372764.847 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:04.847Z,1736372764.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000843 2025-01-08T21:46:04.852Z,1736372764.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:04.855Z,1736372764.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 52.977413 m, bearing: 34.218066 deg, approach rate: 0.241537 m/s, LOS rate: -0.699751 deg/s, cmd heading: 137.614242 deg, new cmd heading: 136.716031 deg. 2025-01-08T21:46:04.860Z,1736372764.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386145 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:05.096Z,1736372765.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:05.096Z,1736372765.096 [DAT](INFO): DAT read: TxSync time:21:46:04.2330 2025-01-08T21:46:05.097Z,1736372765.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250728 2025-01-08T21:46:05.185Z,1736372765.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:05.210Z,1736372765.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:05.223Z,1736372765.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:05.229Z,1736372765.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 53.072926 m, bearing: 33.934850 deg, approach rate: 0.261034 m/s, LOS rate: -0.772630 deg/s, cmd heading: 136.716031 deg, new cmd heading: 135.867977 deg. 2025-01-08T21:46:05.230Z,1736372765.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.371344 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:05.348Z,1736372765.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:05.348Z,1736372765.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501967 2025-01-08T21:46:05.600Z,1736372765.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:05.601Z,1736372765.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754527 2025-01-08T21:46:05.622Z,1736372765.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:05.631Z,1736372765.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:05.672Z,1736372765.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 53.183506 m, bearing: 33.609136 deg, approach rate: 0.267950 m/s, LOS rate: -0.787602 deg/s, cmd heading: 135.867981 deg, new cmd heading: 134.892969 deg. 2025-01-08T21:46:05.674Z,1736372765.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.354326 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:05.852Z,1736372765.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:05.852Z,1736372765.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005823 2025-01-08T21:46:05.993Z,1736372765.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:06.001Z,1736372766.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:06.004Z,1736372766.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 53.273003 m, bearing: 33.332086 deg, approach rate: 0.241477 m/s, LOS rate: -0.746270 deg/s, cmd heading: 134.892971 deg, new cmd heading: 134.063279 deg. 2025-01-08T21:46:06.005Z,1736372766.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.339846 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:06.104Z,1736372766.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:06.105Z,1736372766.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258072 2025-01-08T21:46:06.356Z,1736372766.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:06.356Z,1736372766.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509952 2025-01-08T21:46:06.394Z,1736372766.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:06.403Z,1736372766.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:06.405Z,1736372766.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 53.367409 m, bearing: 33.032302 deg, approach rate: 0.235205 m/s, LOS rate: -0.745561 deg/s, cmd heading: 134.063281 deg, new cmd heading: 133.165599 deg. 2025-01-08T21:46:06.406Z,1736372766.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324178 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:06.608Z,1736372766.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:06.608Z,1736372766.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761880 2025-01-08T21:46:06.817Z,1736372766.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:06.825Z,1736372766.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:06.828Z,1736372766.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 53.466465 m, bearing: 32.727081 deg, approach rate: 0.234441 m/s, LOS rate: -0.721039 deg/s, cmd heading: 133.165603 deg, new cmd heading: 132.251718 deg. 2025-01-08T21:46:06.829Z,1736372766.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308228 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:06.860Z,1736372766.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:06.860Z,1736372766.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013977 2025-01-08T21:46:07.112Z,1736372767.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:07.113Z,1736372767.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266535 2025-01-08T21:46:07.211Z,1736372767.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:07.219Z,1736372767.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:07.221Z,1736372767.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:07.224Z,1736372767.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 53.555893 m, bearing: 32.441877 deg, approach rate: 0.225915 m/s, LOS rate: -0.719286 deg/s, cmd heading: 132.251723 deg, new cmd heading: 131.397605 deg. 2025-01-08T21:46:07.225Z,1736372767.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293321 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:07.364Z,1736372767.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:07.365Z,1736372767.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518057 2025-01-08T21:46:07.617Z,1736372767.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:07.617Z,1736372767.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770820 2025-01-08T21:46:07.653Z,1736372767.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:07.684Z,1736372767.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:07.690Z,1736372767.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 53.663452 m, bearing: 32.132062 deg, approach rate: 0.234884 m/s, LOS rate: -0.675204 deg/s, cmd heading: 131.397608 deg, new cmd heading: 130.470112 deg. 2025-01-08T21:46:07.691Z,1736372767.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277133 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:07.868Z,1736372767.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:07.869Z,1736372767.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022130 2025-01-08T21:46:08.021Z,1736372768.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:08.053Z,1736372768.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:08.061Z,1736372768.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 53.750229 m, bearing: 31.873383 deg, approach rate: 0.235573 m/s, LOS rate: -0.701102 deg/s, cmd heading: 130.470110 deg, new cmd heading: 129.695375 deg. 2025-01-08T21:46:08.062Z,1736372768.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263611 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:08.120Z,1736372768.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:08.120Z,1736372768.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274001 2025-01-08T21:46:08.372Z,1736372768.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:08.372Z,1736372768.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525889 2025-01-08T21:46:08.441Z,1736372768.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:08.450Z,1736372768.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:08.453Z,1736372768.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 53.850739 m, bearing: 31.578771 deg, approach rate: 0.249948 m/s, LOS rate: -0.731272 deg/s, cmd heading: 129.695375 deg, new cmd heading: 128.813263 deg. 2025-01-08T21:46:08.454Z,1736372768.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.248216 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:08.624Z,1736372768.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:08.625Z,1736372768.625 [DAT](INFO): DAT read: Rx Time:21:46:07.3125 2025-01-08T21:46:08.625Z,1736372768.625 [DAT](INFO): Rx dataTimestamp_ set to:1736372768.624795 2025-01-08T21:46:08.626Z,1736372768.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779138 2025-01-08T21:46:08.846Z,1736372768.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:08.857Z,1736372768.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:08.860Z,1736372768.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 53.951813 m, bearing: 31.301098 deg, approach rate: 0.248288 m/s, LOS rate: -0.680820 deg/s, cmd heading: 128.813270 deg, new cmd heading: 127.981873 deg. 2025-01-08T21:46:08.861Z,1736372768.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233705 target range: 492.000000 and range: 503.30 m. 2025-01-08T21:46:08.876Z,1736372768.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:08.876Z,1736372768.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029932 2025-01-08T21:46:09.128Z,1736372769.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:09.130Z,1736372769.130 [DAT](INFO): DAT read: Range 10 to 50 : 506.0 m (Round-trip 674.7 ms) speed -0.6 m/s 2025-01-08T21:46:09.130Z,1736372769.130 [DAT](INFO): DAT read: user:2044> 2025-01-08T21:46:09.131Z,1736372769.131 [DAT](INFO): DAT read: Tx time:21:46:08.4337 2025-01-08T21:46:09.131Z,1736372769.131 [DAT](INFO): Ping request sent. 2025-01-08T21:46:09.132Z,1736372769.132 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:46:09.132Z,1736372769.132 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:46:09.132Z,1736372769.132 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:09.133Z,1736372769.133 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:09.244Z,1736372769.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:09.255Z,1736372769.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:09.258Z,1736372769.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 506.000000 m, deltaT: 15.123902 s, deltaX: 2.700012 m, approachRate: 0.178526 m/s, rangeRepo size: 4 2025-01-08T21:46:09.259Z,1736372769.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:09.265Z,1736372769.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 54.052113 m, bearing: 31.029944 deg, approach rate: 0.250219 m/s, LOS rate: -0.675191 deg/s, cmd heading: 127.981872 deg, new cmd heading: 127.169977 deg. 2025-01-08T21:46:09.272Z,1736372769.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.219535 target range: 492.000000 and range: 506.00 m. 2025-01-08T21:46:09.380Z,1736372769.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:09.382Z,1736372769.382 [DAT](INFO): DAT read: TxSync time:21:46:08.4330 2025-01-08T21:46:09.383Z,1736372769.383 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:09.383Z,1736372769.383 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:09.384Z,1736372769.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:09.632Z,1736372769.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:09.632Z,1736372769.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500856 2025-01-08T21:46:09.680Z,1736372769.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:09.694Z,1736372769.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:09.702Z,1736372769.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 54.169456 m, bearing: 30.742489 deg, approach rate: 0.268671 m/s, LOS rate: -0.656731 deg/s, cmd heading: 127.169981 deg, new cmd heading: 126.309550 deg. 2025-01-08T21:46:09.703Z,1736372769.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204518 target range: 492.000000 and range: 506.00 m. 2025-01-08T21:46:09.884Z,1736372769.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:09.885Z,1736372769.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753283 2025-01-08T21:46:10.032Z,1736372770.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:10.041Z,1736372770.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:10.046Z,1736372770.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 54.262161 m, bearing: 30.510197 deg, approach rate: 0.267591 m/s, LOS rate: -0.669358 deg/s, cmd heading: 126.309555 deg, new cmd heading: 125.613907 deg. 2025-01-08T21:46:10.048Z,1736372770.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.192376 target range: 492.000000 and range: 506.00 m. 2025-01-08T21:46:10.137Z,1736372770.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:10.137Z,1736372770.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005901 2025-01-08T21:46:10.388Z,1736372770.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:10.388Z,1736372770.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256750 2025-01-08T21:46:10.439Z,1736372770.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:10.460Z,1736372770.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:10.463Z,1736372770.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 54.367348 m, bearing: 30.241714 deg, approach rate: 0.250802 m/s, LOS rate: -0.638918 deg/s, cmd heading: 125.613913 deg, new cmd heading: 124.810078 deg. 2025-01-08T21:46:10.464Z,1736372770.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.178347 target range: 492.000000 and range: 506.00 m. 2025-01-08T21:46:10.641Z,1736372770.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:10.643Z,1736372770.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510965 2025-01-08T21:46:10.892Z,1736372770.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:10.893Z,1736372770.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760986 2025-01-08T21:46:10.893Z,1736372770.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:10.903Z,1736372770.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:10.906Z,1736372770.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 54.491100 m, bearing: 29.949683 deg, approach rate: 0.279352 m/s, LOS rate: -0.657716 deg/s, cmd heading: 124.810082 deg, new cmd heading: 123.936050 deg. 2025-01-08T21:46:10.907Z,1736372770.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.163092 target range: 492.000000 and range: 506.00 m. 2025-01-08T21:46:11.144Z,1736372771.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:11.145Z,1736372771.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012746 2025-01-08T21:46:11.257Z,1736372771.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:11.264Z,1736372771.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:11.267Z,1736372771.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:11.270Z,1736372771.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 54.588398 m, bearing: 29.712423 deg, approach rate: 0.268012 m/s, LOS rate: -0.652377 deg/s, cmd heading: 123.936050 deg, new cmd heading: 123.225579 deg. 2025-01-08T21:46:11.271Z,1736372771.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150692 target range: 492.000000 and range: 506.00 m. 2025-01-08T21:46:11.396Z,1736372771.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:11.396Z,1736372771.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264917 2025-01-08T21:46:11.648Z,1736372771.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:11.650Z,1736372771.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517968 2025-01-08T21:46:11.705Z,1736372771.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:11.713Z,1736372771.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:11.717Z,1736372771.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 54.711823 m, bearing: 29.431691 deg, approach rate: 0.276030 m/s, LOS rate: -0.626418 deg/s, cmd heading: 123.225574 deg, new cmd heading: 122.385341 deg. 2025-01-08T21:46:11.718Z,1736372771.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.136027 target range: 492.000000 and range: 506.00 m. 2025-01-08T21:46:11.900Z,1736372771.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:11.901Z,1736372771.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769606 2025-01-08T21:46:12.054Z,1736372772.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:12.065Z,1736372772.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:12.068Z,1736372772.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 54.805450 m, bearing: 29.211810 deg, approach rate: 0.265900 m/s, LOS rate: -0.623387 deg/s, cmd heading: 122.385338 deg, new cmd heading: 121.726851 deg. 2025-01-08T21:46:12.069Z,1736372772.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.124534 target range: 492.000000 and range: 506.00 m. 2025-01-08T21:46:12.152Z,1736372772.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:12.153Z,1736372772.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021129 2025-01-08T21:46:12.404Z,1736372772.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:12.405Z,1736372772.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272947 2025-01-08T21:46:12.463Z,1736372772.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:12.473Z,1736372772.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:12.476Z,1736372772.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 54.912296 m, bearing: 28.953074 deg, approach rate: 0.262187 m/s, LOS rate: -0.633669 deg/s, cmd heading: 121.726853 deg, new cmd heading: 120.952207 deg. 2025-01-08T21:46:12.477Z,1736372772.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.111014 target range: 492.000000 and range: 506.00 m. 2025-01-08T21:46:12.657Z,1736372772.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:12.658Z,1736372772.658 [DAT](INFO): DAT read: Rx Time:21:46:11.5048 2025-01-08T21:46:12.658Z,1736372772.658 [DAT](INFO): Rx dataTimestamp_ set to:1736372772.657838 2025-01-08T21:46:12.659Z,1736372772.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527496 2025-01-08T21:46:12.892Z,1736372772.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:12.908Z,1736372772.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:12.908Z,1736372772.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776712 2025-01-08T21:46:12.920Z,1736372772.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:12.923Z,1736372772.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 55.023403 m, bearing: 28.686986 deg, approach rate: 0.248367 m/s, LOS rate: -0.593609 deg/s, cmd heading: 120.952200 deg, new cmd heading: 120.155600 deg. 2025-01-08T21:46:12.925Z,1736372772.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.097111 target range: 492.000000 and range: 506.00 m. 2025-01-08T21:46:13.163Z,1736372773.163 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:13.166Z,1736372773.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033637 2025-01-08T21:46:13.259Z,1736372773.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:13.267Z,1736372773.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:13.269Z,1736372773.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.00 m. 2025-01-08T21:46:13.272Z,1736372773.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.000000 m, nav range: 55.116116 m, bearing: 28.458378 deg, approach rate: 0.265763 m/s, LOS rate: -0.654205 deg/s, cmd heading: 120.155595 deg, new cmd heading: 119.470961 deg. 2025-01-08T21:46:13.273Z,1736372773.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085162 target range: 492.000000 and range: 506.00 m. 2025-01-08T21:46:13.412Z,1736372773.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:13.419Z,1736372773.419 [DAT](INFO): DAT read: 21:46:11.5048 LVL= 18720, 21905, 13938, 23155, AGC= 68, IDX= 346, 0.07, 1.673,-1.992,-3.093, 3.105, PHS=-1.344, 1.232, 0.082, RAW= 296.5, 0.3, CAL= 298.9, -0.1, ROT= 211.1, 0.1 2025-01-08T21:46:13.427Z,1736372773.427 [DAT](INFO): got valid direction response: 21:46:11.5048 LVL= 18720, 21905, 13938, 23155, AGC= 68, IDX= 346, 0.07, 1.673,-1.992,-3.093, 3.105, PHS=-1.344, 1.232, 0.082, RAW= 296.5, 0.3, CAL= 298.9, -0.1, ROT= 211.1, 0.1 2025-01-08T21:46:13.428Z,1736372773.428 [DAT](INFO): DAT read: Bearing 211.1, 0.1 (Local) 2025-01-08T21:46:13.429Z,1736372773.429 [DAT](INFO): Local bearing/azimuth received: Bearing 211.1, 0.1 (Local) 2025-01-08T21:46:13.430Z,1736372773.430 [DAT](INFO): DAT read: Range 10 to 50 : 500.1 m (Round-trip 666.9 ms) speed -0.5 m/s 2025-01-08T21:46:13.432Z,1736372773.432 [DAT](INFO): DAT read: user:2045> 2025-01-08T21:46:13.433Z,1736372773.433 [DAT](INFO): DAT read: Tx time:21:46:12.6337 2025-01-08T21:46:13.433Z,1736372773.433 [DAT](INFO): Ping request sent. 2025-01-08T21:46:13.434Z,1736372773.434 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:46:13.434Z,1736372773.434 [DAT](INFO): DAT read: TxSync time:21:46:12.6330 2025-01-08T21:46:13.435Z,1736372773.435 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:46:13.436Z,1736372773.436 [DAT](INFO): direction in FSK: [0.112614,0.355473,-0.927878] 2025-01-08T21:46:13.436Z,1736372773.436 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:13.436Z,1736372773.436 [DAT](INFO): publishing direction and range info 2025-01-08T21:46:13.441Z,1736372773.441 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:13.441Z,1736372773.441 [DAT](INFO): publishing direction and range info 2025-01-08T21:46:13.664Z,1736372773.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:13.722Z,1736372773.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:13.758Z,1736372773.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 500.100006 m, deltaT: 4.283830 s, deltaX: -5.899994 m, approachRate: -1.377271 m/s, rangeRepo size: 4 2025-01-08T21:46:13.764Z,1736372773.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 500.100006 m, bearing: 194.494789 deg, lat: 36.900203 deg, lon: -122.118923 deg, deltaT: 36.051922 s, deltaX: 8.100006 m, approachRate: 0.224676 m/s, posRepo size: 4 2025-01-08T21:46:13.765Z,1736372773.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:13.773Z,1736372773.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 70.317619 m, bearing: 313.822570 deg, approach rate: 0.000000 m/s, LOS rate: -0.654205 deg/s, cmd heading: 119.470964 deg, new cmd heading: 118.512387 deg. 2025-01-08T21:46:13.774Z,1736372773.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068431 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:46:13.916Z,1736372773.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:14.124Z,1736372774.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:14.150Z,1736372774.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:14.165Z,1736372774.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 70.583321 m, bearing: 313.841224 deg, approach rate: 0.678117 m/s, LOS rate: 0.047429 deg/s, cmd heading: 118.512388 deg, new cmd heading: 118.568139 deg. 2025-01-08T21:46:14.168Z,1736372774.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:14.171Z,1736372774.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.069404 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:46:14.420Z,1736372774.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:14.485Z,1736372774.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:14.494Z,1736372774.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:14.497Z,1736372774.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 70.822746 m, bearing: 313.855388 deg, approach rate: 0.694030 m/s, LOS rate: 0.040919 deg/s, cmd heading: 118.568136 deg, new cmd heading: 118.610485 deg. 2025-01-08T21:46:14.498Z,1736372774.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070143 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:46:14.672Z,1736372774.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:14.924Z,1736372774.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:14.940Z,1736372774.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:14.948Z,1736372774.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:14.952Z,1736372774.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 71.121727 m, bearing: 313.862885 deg, approach rate: 0.658400 m/s, LOS rate: 0.016441 deg/s, cmd heading: 118.610483 deg, new cmd heading: 118.632881 deg. 2025-01-08T21:46:14.953Z,1736372774.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070534 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:46:15.176Z,1736372775.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:15.293Z,1736372775.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:15.300Z,1736372775.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:15.302Z,1736372775.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:15.306Z,1736372775.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 71.354233 m, bearing: 313.863311 deg, approach rate: 0.656737 m/s, LOS rate: 0.001199 deg/s, cmd heading: 118.632886 deg, new cmd heading: 118.634159 deg. 2025-01-08T21:46:15.307Z,1736372775.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070557 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:46:15.428Z,1736372775.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:15.428Z,1736372775.428 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:15.429Z,1736372775.429 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:15.429Z,1736372775.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:15.681Z,1736372775.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:15.684Z,1736372775.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249843 2025-01-08T21:46:15.756Z,1736372775.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:15.774Z,1736372775.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:15.781Z,1736372775.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 71.670227 m, bearing: 313.846257 deg, approach rate: 0.670753 m/s, LOS rate: -0.036042 deg/s, cmd heading: 118.634157 deg, new cmd heading: 118.583218 deg. 2025-01-08T21:46:15.781Z,1736372775.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.069668 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:46:15.932Z,1736372775.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:15.933Z,1736372775.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498799 2025-01-08T21:46:16.104Z,1736372776.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:16.112Z,1736372776.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:16.115Z,1736372776.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 71.906509 m, bearing: 313.831083 deg, approach rate: 0.697838 m/s, LOS rate: -0.044666 deg/s, cmd heading: 118.583217 deg, new cmd heading: 118.537846 deg. 2025-01-08T21:46:16.116Z,1736372776.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068876 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:46:16.188Z,1736372776.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:16.190Z,1736372776.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756380 2025-01-08T21:46:16.436Z,1736372776.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:16.436Z,1736372776.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002838 2025-01-08T21:46:16.532Z,1736372776.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:16.541Z,1736372776.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:16.544Z,1736372776.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 72.198570 m, bearing: 313.812465 deg, approach rate: 0.681109 m/s, LOS rate: -0.043242 deg/s, cmd heading: 118.537851 deg, new cmd heading: 118.482224 deg. 2025-01-08T21:46:16.545Z,1736372776.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067905 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:46:16.689Z,1736372776.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:16.689Z,1736372776.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255697 2025-01-08T21:46:16.940Z,1736372776.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:16.941Z,1736372776.941 [DAT](INFO): DAT read: Rx Time:21:46:15.7081 2025-01-08T21:46:16.941Z,1736372776.941 [DAT](INFO): Rx dataTimestamp_ set to:1736372776.941187 2025-01-08T21:46:16.942Z,1736372776.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508420 2025-01-08T21:46:16.945Z,1736372776.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:16.955Z,1736372776.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:16.958Z,1736372776.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 72.486359 m, bearing: 313.775986 deg, approach rate: 0.694966 m/s, LOS rate: -0.087742 deg/s, cmd heading: 118.482226 deg, new cmd heading: 118.373223 deg. 2025-01-08T21:46:16.959Z,1736372776.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.066003 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:46:17.192Z,1736372777.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:17.194Z,1736372777.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759818 2025-01-08T21:46:17.315Z,1736372777.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:17.323Z,1736372777.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:17.325Z,1736372777.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:17.328Z,1736372777.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 72.742828 m, bearing: 313.741829 deg, approach rate: 0.693576 m/s, LOS rate: -0.092046 deg/s, cmd heading: 118.373230 deg, new cmd heading: 118.271120 deg. 2025-01-08T21:46:17.329Z,1736372777.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064220 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:46:17.444Z,1736372777.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:17.446Z,1736372777.446 [DAT](INFO): DAT read: Range 10 to 50 : 502.5 m (Round-trip 670.1 ms) speed -0.6 m/s 2025-01-08T21:46:17.446Z,1736372777.446 [DAT](INFO): DAT read: user:2046> 2025-01-08T21:46:17.448Z,1736372777.448 [DAT](INFO): DAT read: Tx time:21:46:16.7838 2025-01-08T21:46:17.448Z,1736372777.448 [DAT](INFO): Ping request sent. 2025-01-08T21:46:17.449Z,1736372777.449 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:46:17.449Z,1736372777.449 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:46:17.449Z,1736372777.449 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:17.450Z,1736372777.450 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:17.697Z,1736372777.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:17.700Z,1736372777.700 [DAT](INFO): DAT read: TxSync time:21:46:16.7831 2025-01-08T21:46:17.800Z,1736372777.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:17.809Z,1736372777.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 502.500000 m, deltaT: 4.032158 s, deltaX: 2.399994 m, approachRate: 0.595213 m/s, rangeRepo size: 4 2025-01-08T21:46:17.810Z,1736372777.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:17.813Z,1736372777.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 73.096909 m, bearing: 313.684882 deg, approach rate: 0.731881 m/s, LOS rate: -0.117139 deg/s, cmd heading: 118.271119 deg, new cmd heading: 118.101105 deg. 2025-01-08T21:46:17.814Z,1736372777.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.061253 target range: 500.100006 and range: 502.50 m. 2025-01-08T21:46:17.948Z,1736372777.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:18.130Z,1736372778.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:18.138Z,1736372778.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:18.141Z,1736372778.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 73.338020 m, bearing: 313.643925 deg, approach rate: 0.731400 m/s, LOS rate: -0.123832 deg/s, cmd heading: 118.101101 deg, new cmd heading: 117.978635 deg. 2025-01-08T21:46:18.142Z,1736372778.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059116 target range: 500.100006 and range: 502.50 m. 2025-01-08T21:46:18.200Z,1736372778.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:18.454Z,1736372778.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:18.525Z,1736372778.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:18.534Z,1736372778.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:18.537Z,1736372778.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 73.625740 m, bearing: 313.594902 deg, approach rate: 0.726609 m/s, LOS rate: -0.123321 deg/s, cmd heading: 117.978636 deg, new cmd heading: 117.832140 deg. 2025-01-08T21:46:18.538Z,1736372778.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056559 target range: 500.100006 and range: 502.50 m. 2025-01-08T21:46:18.709Z,1736372778.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:18.960Z,1736372778.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:18.975Z,1736372778.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:18.993Z,1736372778.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:19.000Z,1736372779.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 73.962875 m, bearing: 313.532939 deg, approach rate: 0.735198 m/s, LOS rate: -0.134508 deg/s, cmd heading: 117.832142 deg, new cmd heading: 117.647101 deg. 2025-01-08T21:46:19.001Z,1736372779.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053329 target range: 500.100006 and range: 502.50 m. 2025-01-08T21:46:19.212Z,1736372779.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:19.363Z,1736372779.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:19.370Z,1736372779.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:19.372Z,1736372779.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:19.375Z,1736372779.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 74.258797 m, bearing: 313.478870 deg, approach rate: 0.779764 m/s, LOS rate: -0.141906 deg/s, cmd heading: 117.647099 deg, new cmd heading: 117.485539 deg. 2025-01-08T21:46:19.377Z,1736372779.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050509 target range: 500.100006 and range: 502.50 m. 2025-01-08T21:46:19.468Z,1736372779.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:19.468Z,1736372779.468 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:19.469Z,1736372779.469 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:19.469Z,1736372779.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:19.721Z,1736372779.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:19.723Z,1736372779.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274218 2025-01-08T21:46:19.812Z,1736372779.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:19.822Z,1736372779.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:19.825Z,1736372779.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 74.597092 m, bearing: 313.412191 deg, approach rate: 0.752770 m/s, LOS rate: -0.147701 deg/s, cmd heading: 117.485537 deg, new cmd heading: 117.286408 deg. 2025-01-08T21:46:19.825Z,1736372779.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047034 target range: 500.100006 and range: 502.50 m. 2025-01-08T21:46:19.972Z,1736372779.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:19.972Z,1736372779.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523868 2025-01-08T21:46:20.159Z,1736372780.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:20.167Z,1736372780.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:20.170Z,1736372780.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 74.858376 m, bearing: 313.361117 deg, approach rate: 0.756691 m/s, LOS rate: -0.147395 deg/s, cmd heading: 117.286410 deg, new cmd heading: 117.133725 deg. 2025-01-08T21:46:20.171Z,1736372780.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.044369 target range: 500.100006 and range: 502.50 m. 2025-01-08T21:46:20.224Z,1736372780.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:20.226Z,1736372780.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777016 2025-01-08T21:46:20.476Z,1736372780.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:20.476Z,1736372780.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027814 2025-01-08T21:46:20.561Z,1736372780.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:20.571Z,1736372780.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:20.573Z,1736372780.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 75.161484 m, bearing: 313.301930 deg, approach rate: 0.750913 m/s, LOS rate: -0.146038 deg/s, cmd heading: 117.133728 deg, new cmd heading: 116.956882 deg. 2025-01-08T21:46:20.574Z,1736372780.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.041283 target range: 500.100006 and range: 502.50 m. 2025-01-08T21:46:20.729Z,1736372780.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:20.732Z,1736372780.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282523 2025-01-08T21:46:20.980Z,1736372780.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:20.981Z,1736372780.981 [DAT](INFO): DAT read: Rx Time:21:46:19.8608 2025-01-08T21:46:20.981Z,1736372780.981 [DAT](INFO): Rx dataTimestamp_ set to:1736372780.980761 2025-01-08T21:46:20.982Z,1736372780.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533026 2025-01-08T21:46:20.990Z,1736372780.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:21.022Z,1736372781.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:21.029Z,1736372781.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 75.491516 m, bearing: 313.242940 deg, approach rate: 0.731885 m/s, LOS rate: -0.130244 deg/s, cmd heading: 116.956881 deg, new cmd heading: 116.780687 deg. 2025-01-08T21:46:21.029Z,1736372781.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.038208 target range: 500.100006 and range: 502.50 m. 2025-01-08T21:46:21.232Z,1736372781.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:21.232Z,1736372781.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783847 2025-01-08T21:46:21.359Z,1736372781.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:21.368Z,1736372781.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:46:21.371Z,1736372781.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 75.776581 m, bearing: 313.191974 deg, approach rate: 0.822700 m/s, LOS rate: -0.146535 deg/s, cmd heading: 116.780689 deg, new cmd heading: 116.628366 deg. 2025-01-08T21:46:21.372Z,1736372781.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.035549 target range: 500.100006 and range: 502.50 m. 2025-01-08T21:46:21.484Z,1736372781.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:21.485Z,1736372781.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036240 2025-01-08T21:46:21.737Z,1736372781.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:21.766Z,1736372781.766 [DAT](INFO): DAT read: 21:46:19.8608 LVL= 23728, 24801, 16866, 32611, AGC= 67, IDX= 453, 0.16,-0.842, 1.335, 1.118, 0.751, PHS=-1.505, 0.632, 0.365, RAW= 276.6, 5.1, CAL= 280.4, 6.8, ROT= 229.6, -6.8 2025-01-08T21:46:21.776Z,1736372781.776 [DAT](INFO): got valid direction response: 21:46:19.8608 LVL= 23728, 24801, 16866, 32611, AGC= 67, IDX= 453, 0.16,-0.842, 1.335, 1.118, 0.751, PHS=-1.505, 0.632, 0.365, RAW= 276.6, 5.1, CAL= 280.4, 6.8, ROT= 229.6, -6.8 2025-01-08T21:46:21.804Z,1736372781.804 [DAT](INFO): DAT read: Bearing 229.6, -6.8 (Local) 2025-01-08T21:46:21.804Z,1736372781.804 [DAT](INFO): Local bearing/azimuth received: Bearing 229.6, -6.8 (Local) 2025-01-08T21:46:21.806Z,1736372781.806 [DAT](INFO): DAT read: Range 10 to 50 : 504.6 m (Round-trip 672.8 ms) speed -0.4 m/s 2025-01-08T21:46:21.806Z,1736372781.806 [DAT](INFO): DAT read: user:2047> 2025-01-08T21:46:21.816Z,1736372781.816 [DAT](INFO): DAT read: Tx time:21:46:20.9838 2025-01-08T21:46:21.817Z,1736372781.817 [DAT](INFO): Ping request sent. 2025-01-08T21:46:21.817Z,1736372781.817 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:46:21.817Z,1736372781.817 [DAT](INFO): DAT read: TxSync time:21:46:20.9831 2025-01-08T21:46:21.818Z,1736372781.818 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:46:21.819Z,1736372781.819 [DAT](INFO): direction in FSK: [-0.002765,0.012489,-0.999918] 2025-01-08T21:46:21.843Z,1736372781.843 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:21.844Z,1736372781.844 [DAT](INFO): publishing direction and range info 2025-01-08T21:46:21.847Z,1736372781.847 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:21.847Z,1736372781.847 [DAT](INFO): publishing direction and range info 2025-01-08T21:46:21.924Z,1736372781.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:21.958Z,1736372781.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 504.600006 m, deltaT: 4.293884 s, deltaX: 2.100006 m, approachRate: 0.489069 m/s, rangeRepo size: 4 2025-01-08T21:46:21.964Z,1736372781.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 504.600006 m, bearing: 180.452128 deg, lat: 36.899978 deg, lon: -122.118923 deg, deltaT: 8.326042 s, deltaX: 4.500000 m, approachRate: 0.540473 m/s, posRepo size: 4 2025-01-08T21:46:21.965Z,1736372781.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.60 m. 2025-01-08T21:46:21.973Z,1736372781.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.600006 m, nav range: 61.818794 m, bearing: 295.898053 deg, approach rate: 0.000000 m/s, LOS rate: -0.146535 deg/s, cmd heading: 116.628362 deg, new cmd heading: 116.369367 deg. 2025-01-08T21:46:21.974Z,1736372781.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.031029 target range: 504.600006 and range: 504.60 m. 2025-01-08T21:46:21.988Z,1736372781.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:22.240Z,1736372782.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:22.271Z,1736372782.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:22.293Z,1736372782.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:22.300Z,1736372782.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.60 m. 2025-01-08T21:46:22.302Z,1736372782.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.600006 m, nav range: 62.076431 m, bearing: 295.920376 deg, approach rate: 0.762551 m/s, LOS rate: 0.065797 deg/s, cmd heading: 116.369362 deg, new cmd heading: 116.436052 deg. 2025-01-08T21:46:22.308Z,1736372782.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.032192 target range: 504.600006 and range: 504.60 m. 2025-01-08T21:46:22.492Z,1736372782.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:22.492Z,1736372782.492 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:22.492Z,1736372782.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:22.492Z,1736372782.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:22.676Z,1736372782.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:22.687Z,1736372782.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.60 m. 2025-01-08T21:46:22.690Z,1736372782.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.600006 m, nav range: 62.383450 m, bearing: 295.946736 deg, approach rate: 0.783706 m/s, LOS rate: 0.066956 deg/s, cmd heading: 116.436052 deg, new cmd heading: 116.514742 deg. 2025-01-08T21:46:22.694Z,1736372782.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.033566 target range: 504.600006 and range: 504.60 m. 2025-01-08T21:46:22.746Z,1736372782.746 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:22.749Z,1736372782.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.931234 2025-01-08T21:46:22.996Z,1736372782.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:22.996Z,1736372782.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.179623 2025-01-08T21:46:23.092Z,1736372783.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:23.117Z,1736372783.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.60 m. 2025-01-08T21:46:23.123Z,1736372783.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.600006 m, nav range: 62.680614 m, bearing: 295.984413 deg, approach rate: 0.691448 m/s, LOS rate: 0.087251 deg/s, cmd heading: 116.514735 deg, new cmd heading: 116.627230 deg. 2025-01-08T21:46:23.128Z,1736372783.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.035529 target range: 504.600006 and range: 504.60 m. 2025-01-08T21:46:23.249Z,1736372783.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:23.251Z,1736372783.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.434168 2025-01-08T21:46:23.471Z,1736372783.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:23.479Z,1736372783.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.60 m. 2025-01-08T21:46:23.482Z,1736372783.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.600006 m, nav range: 62.943272 m, bearing: 296.014713 deg, approach rate: 0.725144 m/s, LOS rate: 0.083304 deg/s, cmd heading: 116.627229 deg, new cmd heading: 116.717750 deg. 2025-01-08T21:46:23.484Z,1736372783.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.037109 target range: 504.600006 and range: 504.60 m. 2025-01-08T21:46:23.502Z,1736372783.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:23.502Z,1736372783.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.685609 2025-01-08T21:46:23.753Z,1736372783.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:23.756Z,1736372783.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.938815 2025-01-08T21:46:23.906Z,1736372783.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:23.914Z,1736372783.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.60 m. 2025-01-08T21:46:23.918Z,1736372783.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.600006 m, nav range: 63.235470 m, bearing: 296.064171 deg, approach rate: 0.671046 m/s, LOS rate: 0.113058 deg/s, cmd heading: 116.717756 deg, new cmd heading: 116.865445 deg. 2025-01-08T21:46:23.923Z,1736372783.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.039687 target range: 504.600006 and range: 504.60 m. 2025-01-08T21:46:24.004Z,1736372784.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:24.005Z,1736372784.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.188049 2025-01-08T21:46:24.257Z,1736372784.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:24.258Z,1736372784.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.441625 2025-01-08T21:46:24.332Z,1736372784.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:24.341Z,1736372784.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:24.343Z,1736372784.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.60 m. 2025-01-08T21:46:24.346Z,1736372784.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.600006 m, nav range: 63.514503 m, bearing: 296.109524 deg, approach rate: 0.650678 m/s, LOS rate: 0.105292 deg/s, cmd heading: 116.865452 deg, new cmd heading: 117.000911 deg. 2025-01-08T21:46:24.347Z,1736372784.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.042051 target range: 504.600006 and range: 504.60 m. 2025-01-08T21:46:24.508Z,1736372784.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:24.508Z,1736372784.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.691646 2025-01-08T21:46:24.684Z,1736372784.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:24.709Z,1736372784.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.60 m. 2025-01-08T21:46:24.716Z,1736372784.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.600006 m, nav range: 63.744617 m, bearing: 296.145532 deg, approach rate: 0.628971 m/s, LOS rate: 0.098067 deg/s, cmd heading: 117.000908 deg, new cmd heading: 117.108544 deg. 2025-01-08T21:46:24.718Z,1736372784.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.043930 target range: 504.600006 and range: 504.60 m. 2025-01-08T21:46:24.762Z,1736372784.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:24.765Z,1736372784.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.947305 2025-01-08T21:46:25.012Z,1736372785.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:25.012Z,1736372785.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195649 2025-01-08T21:46:25.106Z,1736372785.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:25.114Z,1736372785.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.60 m. 2025-01-08T21:46:25.118Z,1736372785.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.600006 m, nav range: 64.004585 m, bearing: 296.195783 deg, approach rate: 0.641611 m/s, LOS rate: 0.123515 deg/s, cmd heading: 117.108538 deg, new cmd heading: 117.258676 deg. 2025-01-08T21:46:25.119Z,1736372785.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046550 target range: 504.600006 and range: 504.60 m. 2025-01-08T21:46:25.266Z,1736372785.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:25.269Z,1736372785.269 [DAT](INFO): DAT read: Rx Time:21:46:24.0634 2025-01-08T21:46:25.270Z,1736372785.270 [DAT](INFO): Rx dataTimestamp_ set to:1736372785.269495 2025-01-08T21:46:25.274Z,1736372785.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457062 2025-01-08T21:46:25.480Z,1736372785.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:25.489Z,1736372785.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.60 m. 2025-01-08T21:46:25.492Z,1736372785.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.600006 m, nav range: 64.235352 m, bearing: 296.239236 deg, approach rate: 0.615021 m/s, LOS rate: 0.115394 deg/s, cmd heading: 117.258680 deg, new cmd heading: 117.388572 deg. 2025-01-08T21:46:25.493Z,1736372785.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048817 target range: 504.600006 and range: 504.60 m. 2025-01-08T21:46:25.517Z,1736372785.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:25.518Z,1736372785.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.700816 2025-01-08T21:46:25.770Z,1736372785.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:25.793Z,1736372785.793 [DAT](INFO): DAT read: 21:46:24.0634 LVL= 20112, 24929, 16530, 31859, AGC= 66, IDX= 449,-0.48,-2.995,-0.722,-0.879,-1.309, PHS=-1.598, 0.634, 0.427, RAW= 274.8, 5.1, CAL= 278.7, 6.7, ROT= 231.3, -6.7 2025-01-08T21:46:25.797Z,1736372785.797 [DAT](INFO): got valid direction response: 21:46:24.0634 LVL= 20112, 24929, 16530, 31859, AGC= 66, IDX= 449,-0.48,-2.995,-0.722,-0.879,-1.309, PHS=-1.598, 0.634, 0.427, RAW= 274.8, 5.1, CAL= 278.7, 6.7, ROT= 231.3, -6.7 2025-01-08T21:46:25.801Z,1736372785.801 [DAT](INFO): DAT read: Bearing 231.3, -6.7 (Local) 2025-01-08T21:46:25.802Z,1736372785.802 [DAT](INFO): Local bearing/azimuth received: Bearing 231.3, -6.7 (Local) 2025-01-08T21:46:25.851Z,1736372785.851 [DAT](INFO): DAT read: Range 10 to 50 : 506.5 m (Round-trip 675.4 ms) speed -0.4 m/s 2025-01-08T21:46:25.852Z,1736372785.852 [DAT](INFO): DAT read: user:2048> 2025-01-08T21:46:25.853Z,1736372785.853 [DAT](INFO): DAT read: Tx time:21:46:25.1838 2025-01-08T21:46:25.853Z,1736372785.853 [DAT](INFO): Ping request sent. 2025-01-08T21:46:25.853Z,1736372785.853 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:46:25.854Z,1736372785.854 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:46:25.854Z,1736372785.854 [DAT](INFO): direction in FSK: [-0.005009,-0.018531,-0.999816] 2025-01-08T21:46:25.855Z,1736372785.855 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:25.887Z,1736372785.887 [DAT](INFO): publishing direction and range info 2025-01-08T21:46:25.890Z,1736372785.890 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:25.890Z,1736372785.890 [DAT](INFO): publishing direction and range info 2025-01-08T21:46:25.982Z,1736372785.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:26.020Z,1736372786.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:26.021Z,1736372786.021 [DAT](INFO): DAT read: TxSync time:21:46:25.1831 2025-01-08T21:46:26.028Z,1736372786.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 506.500000 m, deltaT: 4.032792 s, deltaX: 1.899994 m, approachRate: 0.471136 m/s, rangeRepo size: 4 2025-01-08T21:46:26.030Z,1736372786.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 506.500000 m, bearing: 168.685873 deg, lat: 36.899208 deg, lon: -122.118923 deg, deltaT: 4.032792 s, deltaX: 1.899994 m, approachRate: 0.471136 m/s, posRepo size: 4 2025-01-08T21:46:26.030Z,1736372786.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.50 m. 2025-01-08T21:46:26.035Z,1736372786.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.500000 m, nav range: 81.242897 m, bearing: 225.397090 deg, approach rate: 0.000000 m/s, LOS rate: 0.115394 deg/s, cmd heading: 117.388576 deg, new cmd heading: 117.573093 deg. 2025-01-08T21:46:26.044Z,1736372786.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052037 target range: 506.500000 and range: 506.50 m. 2025-01-08T21:46:26.272Z,1736372786.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:26.326Z,1736372786.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:26.353Z,1736372786.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:26.363Z,1736372786.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.50 m. 2025-01-08T21:46:26.370Z,1736372786.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.500000 m, nav range: 81.265434 m, bearing: 225.537493 deg, approach rate: 0.066261 m/s, LOS rate: 0.412681 deg/s, cmd heading: 117.573087 deg, new cmd heading: 117.994172 deg. 2025-01-08T21:46:26.371Z,1736372786.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059387 target range: 506.500000 and range: 506.50 m. 2025-01-08T21:46:26.524Z,1736372786.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:26.524Z,1736372786.524 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:26.524Z,1736372786.524 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:26.524Z,1736372786.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:26.721Z,1736372786.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:26.730Z,1736372786.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.50 m. 2025-01-08T21:46:26.734Z,1736372786.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.500000 m, nav range: 81.291214 m, bearing: 225.699270 deg, approach rate: 0.070166 m/s, LOS rate: 0.440174 deg/s, cmd heading: 117.994168 deg, new cmd heading: 118.479333 deg. 2025-01-08T21:46:26.734Z,1736372786.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067854 target range: 506.500000 and range: 506.50 m. 2025-01-08T21:46:26.777Z,1736372786.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:26.780Z,1736372786.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.926250 2025-01-08T21:46:27.028Z,1736372787.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:27.028Z,1736372787.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.175200 2025-01-08T21:46:27.156Z,1736372787.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:27.165Z,1736372787.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.50 m. 2025-01-08T21:46:27.168Z,1736372787.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.500000 m, nav range: 81.315247 m, bearing: 225.875902 deg, approach rate: 0.055273 m/s, LOS rate: 0.406117 deg/s, cmd heading: 118.479330 deg, new cmd heading: 119.009054 deg. 2025-01-08T21:46:27.169Z,1736372787.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077100 target range: 506.500000 and range: 506.50 m. 2025-01-08T21:46:27.280Z,1736372787.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:27.281Z,1736372787.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.428063 2025-01-08T21:46:27.532Z,1736372787.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:27.533Z,1736372787.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679228 2025-01-08T21:46:27.535Z,1736372787.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:27.567Z,1736372787.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.50 m. 2025-01-08T21:46:27.570Z,1736372787.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.500000 m, nav range: 81.336494 m, bearing: 226.029589 deg, approach rate: 0.053334 m/s, LOS rate: 0.385669 deg/s, cmd heading: 119.009052 deg, new cmd heading: 119.469982 deg. 2025-01-08T21:46:27.571Z,1736372787.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085145 target range: 506.500000 and range: 506.50 m. 2025-01-08T21:46:27.786Z,1736372787.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:27.787Z,1736372787.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.933294 2025-01-08T21:46:27.961Z,1736372787.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:27.970Z,1736372787.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.50 m. 2025-01-08T21:46:27.973Z,1736372787.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.500000 m, nav range: 81.366234 m, bearing: 226.205670 deg, approach rate: 0.073086 m/s, LOS rate: 0.432571 deg/s, cmd heading: 119.469981 deg, new cmd heading: 119.998015 deg. 2025-01-08T21:46:27.974Z,1736372787.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094360 target range: 506.500000 and range: 506.50 m. 2025-01-08T21:46:28.037Z,1736372788.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:28.038Z,1736372788.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184536 2025-01-08T21:46:28.284Z,1736372788.284 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:46:28.289Z,1736372788.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:28.290Z,1736372788.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436276 2025-01-08T21:46:28.361Z,1736372788.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:28.368Z,1736372788.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:28.370Z,1736372788.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.50 m. 2025-01-08T21:46:28.373Z,1736372788.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.500000 m, nav range: 81.395439 m, bearing: 226.371099 deg, approach rate: 0.073045 m/s, LOS rate: 0.413603 deg/s, cmd heading: 119.998009 deg, new cmd heading: 120.494105 deg. 2025-01-08T21:46:28.374Z,1736372788.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103019 target range: 506.500000 and range: 506.50 m. 2025-01-08T21:46:28.540Z,1736372788.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:28.541Z,1736372788.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687310 2025-01-08T21:46:28.749Z,1736372788.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:28.758Z,1736372788.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.50 m. 2025-01-08T21:46:28.761Z,1736372788.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.500000 m, nav range: 81.424698 m, bearing: 226.531005 deg, approach rate: 0.075299 m/s, LOS rate: 0.411376 deg/s, cmd heading: 120.494099 deg, new cmd heading: 120.973632 deg. 2025-01-08T21:46:28.762Z,1736372788.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.111388 target range: 506.500000 and range: 506.50 m. 2025-01-08T21:46:28.792Z,1736372788.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:28.793Z,1736372788.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939997 2025-01-08T21:46:29.044Z,1736372789.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:29.044Z,1736372789.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191142 2025-01-08T21:46:29.180Z,1736372789.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:29.191Z,1736372789.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.50 m. 2025-01-08T21:46:29.205Z,1736372789.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.500000 m, nav range: 81.468315 m, bearing: 226.715748 deg, approach rate: 0.100950 m/s, LOS rate: 0.427349 deg/s, cmd heading: 120.973633 deg, new cmd heading: 121.527547 deg. 2025-01-08T21:46:29.206Z,1736372789.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.121056 target range: 506.500000 and range: 506.50 m. 2025-01-08T21:46:29.289Z,1736372789.289 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:46:29.296Z,1736372789.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:29.297Z,1736372789.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443341 2025-01-08T21:46:29.548Z,1736372789.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:29.548Z,1736372789.548 [DAT](INFO): DAT read: Rx Time:21:46:28.2661 2025-01-08T21:46:29.549Z,1736372789.549 [DAT](INFO): Rx dataTimestamp_ set to:1736372789.548559 2025-01-08T21:46:29.550Z,1736372789.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.696613 2025-01-08T21:46:29.686Z,1736372789.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:29.695Z,1736372789.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.50 m. 2025-01-08T21:46:29.698Z,1736372789.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.500000 m, nav range: 81.518181 m, bearing: 226.932119 deg, approach rate: 0.098910 m/s, LOS rate: 0.428915 deg/s, cmd heading: 121.527548 deg, new cmd heading: 122.176236 deg. 2025-01-08T21:46:29.699Z,1736372789.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.132378 target range: 506.500000 and range: 506.50 m. 2025-01-08T21:46:29.801Z,1736372789.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:29.802Z,1736372789.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.948478 2025-01-08T21:46:30.052Z,1736372790.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:30.058Z,1736372790.058 [DAT](INFO): DAT read: 21:46:28.2661 LVL= 25120, 24417, 19538, 32755, AGC= 70, IDX= 458, 0.23, 0.068, 2.288, 2.152, 1.760, PHS=-1.603, 0.576, 0.389, RAW= 274.4, 6.2, CAL= 278.9, 8.3, ROT= 231.1, -8.3 2025-01-08T21:46:30.060Z,1736372790.060 [DAT](INFO): got valid direction response: 21:46:28.2661 LVL= 25120, 24417, 19538, 32755, AGC= 70, IDX= 458, 0.23, 0.068, 2.288, 2.152, 1.760, PHS=-1.603, 0.576, 0.389, RAW= 274.4, 6.2, CAL= 278.9, 8.3, ROT= 231.1, -8.3 2025-01-08T21:46:30.061Z,1736372790.061 [DAT](INFO): DAT read: Bearing 231.1, -8.3 (Local) 2025-01-08T21:46:30.061Z,1736372790.061 [DAT](INFO): Local bearing/azimuth received: Bearing 231.1, -8.3 (Local) 2025-01-08T21:46:30.063Z,1736372790.063 [DAT](INFO): DAT read: Range 10 to 50 : 508.5 m (Round-trip 678.0 ms) speed -0.4 m/s 2025-01-08T21:46:30.064Z,1736372790.064 [DAT](INFO): DAT read: user:2049> 2025-01-08T21:46:30.064Z,1736372790.064 [DAT](INFO): DAT read: Tx time:21:46:29.3839 2025-01-08T21:46:30.065Z,1736372790.065 [DAT](INFO): Ping request sent. 2025-01-08T21:46:30.065Z,1736372790.065 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:46:30.065Z,1736372790.065 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:46:30.066Z,1736372790.066 [DAT](INFO): direction in FSK: [-0.026251,-0.023905,-0.999370] 2025-01-08T21:46:30.066Z,1736372790.066 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:30.075Z,1736372790.075 [DAT](INFO): publishing direction and range info 2025-01-08T21:46:30.078Z,1736372790.078 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:30.078Z,1736372790.078 [DAT](INFO): publishing direction and range info 2025-01-08T21:46:30.169Z,1736372790.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:30.213Z,1736372790.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 508.500000 m, deltaT: 4.281368 s, deltaX: 2.000000 m, approachRate: 0.467140 m/s, rangeRepo size: 4 2025-01-08T21:46:30.223Z,1736372790.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 508.500000 m, bearing: 182.652531 deg, lat: 36.899124 deg, lon: -122.118304 deg, deltaT: 4.281368 s, deltaX: 2.000000 m, approachRate: 0.467140 m/s, posRepo size: 4 2025-01-08T21:46:30.228Z,1736372790.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:30.230Z,1736372790.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 64.925049 m, bearing: 184.186189 deg, approach rate: 0.000000 m/s, LOS rate: 0.428915 deg/s, cmd heading: 122.176238 deg, new cmd heading: 122.842388 deg. 2025-01-08T21:46:30.231Z,1736372790.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.144004 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:30.305Z,1736372790.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:30.307Z,1736372790.307 [DAT](INFO): DAT read: TxSync time:21:46:29.3832 2025-01-08T21:46:30.556Z,1736372790.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:30.636Z,1736372790.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:30.642Z,1736372790.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:30.651Z,1736372790.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:30.656Z,1736372790.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 64.774658 m, bearing: 184.418908 deg, approach rate: -0.343249 m/s, LOS rate: 0.532388 deg/s, cmd heading: 122.842387 deg, new cmd heading: 123.542130 deg. 2025-01-08T21:46:30.658Z,1736372790.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156217 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:30.809Z,1736372790.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:30.810Z,1736372790.810 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:30.811Z,1736372790.811 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:30.812Z,1736372790.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:31.057Z,1736372791.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:31.060Z,1736372791.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:31.060Z,1736372791.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995791 2025-01-08T21:46:31.068Z,1736372791.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:31.071Z,1736372791.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 64.637672 m, bearing: 184.651060 deg, approach rate: -0.327956 m/s, LOS rate: 0.556968 deg/s, cmd heading: 123.542126 deg, new cmd heading: 124.240019 deg. 2025-01-08T21:46:31.088Z,1736372791.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168397 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:31.312Z,1736372791.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:31.312Z,1736372791.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247754 2025-01-08T21:46:31.450Z,1736372791.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:31.459Z,1736372791.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:31.462Z,1736372791.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 64.507912 m, bearing: 184.866496 deg, approach rate: -0.331823 m/s, LOS rate: 0.552018 deg/s, cmd heading: 124.240021 deg, new cmd heading: 124.887600 deg. 2025-01-08T21:46:31.463Z,1736372791.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.179700 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:31.564Z,1736372791.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:31.565Z,1736372791.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499905 2025-01-08T21:46:31.816Z,1736372791.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:31.817Z,1736372791.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752419 2025-01-08T21:46:31.913Z,1736372791.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:31.934Z,1736372791.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:31.965Z,1736372791.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 64.353683 m, bearing: 185.120258 deg, approach rate: -0.325257 m/s, LOS rate: 0.536448 deg/s, cmd heading: 124.887605 deg, new cmd heading: 125.650669 deg. 2025-01-08T21:46:31.966Z,1736372791.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.193018 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:32.068Z,1736372792.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:32.069Z,1736372792.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003955 2025-01-08T21:46:32.320Z,1736372792.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:32.322Z,1736372792.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256635 2025-01-08T21:46:32.439Z,1736372792.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:32.474Z,1736372792.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:32.481Z,1736372792.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 64.178085 m, bearing: 185.429313 deg, approach rate: -0.324815 m/s, LOS rate: 0.573239 deg/s, cmd heading: 125.650673 deg, new cmd heading: 126.580289 deg. 2025-01-08T21:46:32.482Z,1736372792.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209243 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:32.572Z,1736372792.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:32.574Z,1736372792.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508935 2025-01-08T21:46:32.821Z,1736372792.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:32.824Z,1736372792.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:32.824Z,1736372792.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759829 2025-01-08T21:46:32.887Z,1736372792.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:32.932Z,1736372792.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:32.935Z,1736372792.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 64.049164 m, bearing: 185.652565 deg, approach rate: -0.295780 m/s, LOS rate: 0.513229 deg/s, cmd heading: 126.580290 deg, new cmd heading: 127.251360 deg. 2025-01-08T21:46:32.944Z,1736372792.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.220955 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:33.076Z,1736372793.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:33.076Z,1736372793.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011754 2025-01-08T21:46:33.328Z,1736372793.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:33.328Z,1736372793.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263760 2025-01-08T21:46:33.390Z,1736372793.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:33.409Z,1736372793.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:33.414Z,1736372793.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 63.852215 m, bearing: 186.013589 deg, approach rate: -0.395149 m/s, LOS rate: 0.726571 deg/s, cmd heading: 127.251356 deg, new cmd heading: 128.337631 deg. 2025-01-08T21:46:33.416Z,1736372793.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239914 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:33.580Z,1736372793.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:33.580Z,1736372793.580 [DAT](INFO): DAT read: Rx Time:21:46:32.4687 2025-01-08T21:46:33.581Z,1736372793.581 [DAT](INFO): Rx dataTimestamp_ set to:1736372793.580569 2025-01-08T21:46:33.581Z,1736372793.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516728 2025-01-08T21:46:33.738Z,1736372793.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:33.747Z,1736372793.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:33.750Z,1736372793.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 63.729904 m, bearing: 186.234179 deg, approach rate: -0.361668 m/s, LOS rate: 0.653525 deg/s, cmd heading: 128.337629 deg, new cmd heading: 129.000637 deg. 2025-01-08T21:46:33.752Z,1736372793.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.251486 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:33.832Z,1736372793.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:33.833Z,1736372793.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767865 2025-01-08T21:46:34.084Z,1736372794.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:34.085Z,1736372794.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020115 2025-01-08T21:46:34.225Z,1736372794.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:34.245Z,1736372794.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:34.252Z,1736372794.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 63.548801 m, bearing: 186.552275 deg, approach rate: -0.363130 m/s, LOS rate: 0.639632 deg/s, cmd heading: 129.000635 deg, new cmd heading: 129.957551 deg. 2025-01-08T21:46:34.253Z,1736372794.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.268187 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:34.337Z,1736372794.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:34.350Z,1736372794.350 [DAT](INFO): DAT read: 21:46:32.4687 LVL= 19920, 25377, 13138, 23731, AGC= 68, IDX= 454, 0.44, 1.405,-2.470,-2.745,-3.108, PHS=-1.682, 0.685, 0.360, RAW= 277.3, 5.8, CAL= 281.4, 7.9, ROT= 228.6, -7.9 2025-01-08T21:46:34.352Z,1736372794.352 [DAT](INFO): got valid direction response: 21:46:32.4687 LVL= 19920, 25377, 13138, 23731, AGC= 68, IDX= 454, 0.44, 1.405,-2.470,-2.745,-3.108, PHS=-1.682, 0.685, 0.360, RAW= 277.3, 5.8, CAL= 281.4, 7.9, ROT= 228.6, -7.9 2025-01-08T21:46:34.353Z,1736372794.353 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:46:34.353Z,1736372794.353 [DAT](INFO): Received a bad header 2025-01-08T21:46:34.368Z,1736372794.368 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:46:34.370Z,1736372794.370 [DAT](INFO): direction in FSK: [-0.015316,0.025357,-0.999561] 2025-01-08T21:46:34.381Z,1736372794.381 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:34.381Z,1736372794.381 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:34.382Z,1736372794.382 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:34.579Z,1736372794.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:34.588Z,1736372794.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:34.588Z,1736372794.588 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:34.588Z,1736372794.588 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:34.588Z,1736372794.588 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:34.620Z,1736372794.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:34.631Z,1736372794.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 63.415047 m, bearing: 186.783136 deg, approach rate: -0.356499 m/s, LOS rate: 0.616614 deg/s, cmd heading: 129.957545 deg, new cmd heading: 130.651553 deg. 2025-01-08T21:46:34.632Z,1736372794.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280300 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:34.840Z,1736372794.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:34.841Z,1736372794.841 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:34.841Z,1736372794.841 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:34.841Z,1736372794.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:35.092Z,1736372795.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:35.092Z,1736372795.092 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:35.092Z,1736372795.092 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:35.092Z,1736372795.092 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:35.098Z,1736372795.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:35.108Z,1736372795.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:35.110Z,1736372795.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:35.112Z,1736372795.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 63.217052 m, bearing: 187.113087 deg, approach rate: -0.404777 m/s, LOS rate: 0.676656 deg/s, cmd heading: 130.651547 deg, new cmd heading: 131.644394 deg. 2025-01-08T21:46:35.113Z,1736372795.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.297628 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:35.344Z,1736372795.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:35.344Z,1736372795.344 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:35.344Z,1736372795.344 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:35.344Z,1736372795.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:35.483Z,1736372795.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:35.491Z,1736372795.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:35.498Z,1736372795.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 63.068459 m, bearing: 187.356640 deg, approach rate: -0.389527 m/s, LOS rate: 0.639955 deg/s, cmd heading: 131.644397 deg, new cmd heading: 132.376734 deg. 2025-01-08T21:46:35.500Z,1736372795.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310410 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:35.596Z,1736372795.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:35.596Z,1736372795.596 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:35.596Z,1736372795.596 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:35.596Z,1736372795.596 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:35.848Z,1736372795.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:35.849Z,1736372795.849 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:35.849Z,1736372795.849 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:35.849Z,1736372795.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:36.029Z,1736372796.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:36.039Z,1736372796.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:36.042Z,1736372796.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 62.842674 m, bearing: 187.688751 deg, approach rate: -0.412229 m/s, LOS rate: 0.608533 deg/s, cmd heading: 132.376730 deg, new cmd heading: 133.376537 deg. 2025-01-08T21:46:36.043Z,1736372796.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327860 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:36.100Z,1736372796.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:36.101Z,1736372796.101 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:36.101Z,1736372796.101 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:36.101Z,1736372796.101 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:36.352Z,1736372796.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:36.352Z,1736372796.352 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:36.352Z,1736372796.352 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:36.352Z,1736372796.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:36.359Z,1736372796.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:36.370Z,1736372796.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:36.373Z,1736372796.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 62.707371 m, bearing: 187.890442 deg, approach rate: -0.408031 m/s, LOS rate: 0.609545 deg/s, cmd heading: 133.376533 deg, new cmd heading: 133.982888 deg. 2025-01-08T21:46:36.374Z,1736372796.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.338443 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:36.604Z,1736372796.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:36.604Z,1736372796.604 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:36.604Z,1736372796.604 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:36.604Z,1736372796.604 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:36.720Z,1736372796.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:36.728Z,1736372796.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:36.747Z,1736372796.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 62.557354 m, bearing: 188.110587 deg, approach rate: -0.418921 m/s, LOS rate: 0.616226 deg/s, cmd heading: 133.982890 deg, new cmd heading: 134.644877 deg. 2025-01-08T21:46:36.748Z,1736372796.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.349996 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:36.857Z,1736372796.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:36.857Z,1736372796.857 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:36.858Z,1736372796.858 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:36.858Z,1736372796.858 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:37.110Z,1736372797.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:37.110Z,1736372797.110 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:37.110Z,1736372797.110 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:37.110Z,1736372797.110 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:37.173Z,1736372797.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:37.189Z,1736372797.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:37.191Z,1736372797.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:37.198Z,1736372797.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 62.357765 m, bearing: 188.368640 deg, approach rate: -0.431683 m/s, LOS rate: 0.559917 deg/s, cmd heading: 134.644871 deg, new cmd heading: 135.421457 deg. 2025-01-08T21:46:37.199Z,1736372797.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.363550 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:37.362Z,1736372797.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:37.362Z,1736372797.362 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:37.363Z,1736372797.363 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:37.363Z,1736372797.363 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:37.541Z,1736372797.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:37.549Z,1736372797.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:37.553Z,1736372797.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 62.193890 m, bearing: 188.578013 deg, approach rate: -0.457621 m/s, LOS rate: 0.586213 deg/s, cmd heading: 135.421464 deg, new cmd heading: 136.051213 deg. 2025-01-08T21:46:37.554Z,1736372797.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.374542 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:37.617Z,1736372797.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:37.617Z,1736372797.617 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:37.617Z,1736372797.617 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:37.618Z,1736372797.618 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:37.870Z,1736372797.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:37.872Z,1736372797.872 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:37.872Z,1736372797.872 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:37.872Z,1736372797.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:38.059Z,1736372798.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:38.069Z,1736372798.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:38.072Z,1736372798.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 61.967831 m, bearing: 188.852370 deg, approach rate: -0.434826 m/s, LOS rate: 0.529649 deg/s, cmd heading: 136.051207 deg, new cmd heading: 136.877219 deg. 2025-01-08T21:46:38.073Z,1736372798.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.388958 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:38.120Z,1736372798.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:38.120Z,1736372798.120 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:38.120Z,1736372798.120 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:38.120Z,1736372798.120 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:38.369Z,1736372798.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:38.372Z,1736372798.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:38.372Z,1736372798.372 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:38.372Z,1736372798.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:38.373Z,1736372798.373 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:38.383Z,1736372798.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:38.386Z,1736372798.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 61.831276 m, bearing: 189.016168 deg, approach rate: -0.434738 m/s, LOS rate: 0.522621 deg/s, cmd heading: 136.877223 deg, new cmd heading: 137.369689 deg. 2025-01-08T21:46:38.387Z,1736372798.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.397553 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:38.625Z,1736372798.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:38.625Z,1736372798.625 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:38.625Z,1736372798.625 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:38.625Z,1736372798.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:38.787Z,1736372798.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:38.796Z,1736372798.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:38.798Z,1736372798.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 61.645260 m, bearing: 189.235993 deg, approach rate: -0.451297 m/s, LOS rate: 0.534932 deg/s, cmd heading: 137.369693 deg, new cmd heading: 138.031130 deg. 2025-01-08T21:46:38.800Z,1736372798.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.409098 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:38.879Z,1736372798.879 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:38.879Z,1736372798.879 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:38.879Z,1736372798.879 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:38.880Z,1736372798.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:39.133Z,1736372799.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:39.134Z,1736372799.134 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:39.134Z,1736372799.134 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:39.134Z,1736372799.134 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:39.227Z,1736372799.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:39.235Z,1736372799.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:39.237Z,1736372799.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:39.240Z,1736372799.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 61.446609 m, bearing: 189.448738 deg, approach rate: -0.449678 m/s, LOS rate: 0.483138 deg/s, cmd heading: 138.031129 deg, new cmd heading: 138.671397 deg. 2025-01-08T21:46:39.241Z,1736372799.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420272 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:39.385Z,1736372799.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:39.385Z,1736372799.385 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:39.385Z,1736372799.385 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:39.385Z,1736372799.385 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:39.601Z,1736372799.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:39.610Z,1736372799.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:39.613Z,1736372799.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 61.275738 m, bearing: 189.629126 deg, approach rate: -0.458242 m/s, LOS rate: 0.485113 deg/s, cmd heading: 138.671391 deg, new cmd heading: 139.214049 deg. 2025-01-08T21:46:39.613Z,1736372799.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429744 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:39.636Z,1736372799.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:39.636Z,1736372799.636 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:39.636Z,1736372799.636 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:39.636Z,1736372799.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:39.888Z,1736372799.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:39.888Z,1736372799.888 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:39.888Z,1736372799.888 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:39.888Z,1736372799.888 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:46:40.087Z,1736372800.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:40.096Z,1736372800.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:40.098Z,1736372800.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 61.047108 m, bearing: 189.850385 deg, approach rate: -0.470287 m/s, LOS rate: 0.456828 deg/s, cmd heading: 139.214049 deg, new cmd heading: 139.880280 deg. 2025-01-08T21:46:40.100Z,1736372800.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441371 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:40.140Z,1736372800.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:40.141Z,1736372800.141 [DAT](INFO): Reached modem response timeout 2025-01-08T21:46:40.141Z,1736372800.141 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:46:40.142Z,1736372800.142 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:40.392Z,1736372800.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:40.392Z,1736372800.392 [DAT](INFO): Reached modem response timeout 2025-01-08T21:46:40.392Z,1736372800.392 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:46:40.393Z,1736372800.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:40.408Z,1736372800.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:40.419Z,1736372800.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:40.422Z,1736372800.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 60.894619 m, bearing: 189.996180 deg, approach rate: -0.471643 m/s, LOS rate: 0.452068 deg/s, cmd heading: 139.880280 deg, new cmd heading: 140.318751 deg. 2025-01-08T21:46:40.423Z,1736372800.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449024 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:40.644Z,1736372800.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:40.645Z,1736372800.645 [DAT](INFO): Reached modem response timeout 2025-01-08T21:46:40.645Z,1736372800.645 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:46:40.645Z,1736372800.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:40.814Z,1736372800.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:40.826Z,1736372800.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:40.829Z,1736372800.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 60.705521 m, bearing: 190.174548 deg, approach rate: -0.465050 m/s, LOS rate: 0.440028 deg/s, cmd heading: 140.318751 deg, new cmd heading: 140.855506 deg. 2025-01-08T21:46:40.830Z,1736372800.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.458392 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:40.898Z,1736372800.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:40.898Z,1736372800.898 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:46:40.899Z,1736372800.899 [DAT](INFO): response not received 2025-01-08T21:46:40.899Z,1736372800.899 [DAT](INFO): DAT read: user:2051> 2025-01-08T21:46:40.900Z,1736372800.900 [DAT](ERROR): No response from remote modem. 2025-01-08T21:46:40.901Z,1736372800.901 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:46:40.901Z,1736372800.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:41.152Z,1736372801.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:41.153Z,1736372801.153 [DAT](INFO): DAT read: Tx time:21:46:40.3340 2025-01-08T21:46:41.153Z,1736372801.153 [DAT](INFO): Ping request sent. 2025-01-08T21:46:41.153Z,1736372801.153 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:46:41.154Z,1736372801.154 [DAT](INFO): DAT read: TxSync time:21:46:40.3333 2025-01-08T21:46:41.154Z,1736372801.154 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:41.155Z,1736372801.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001571 2025-01-08T21:46:41.272Z,1736372801.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:41.278Z,1736372801.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:41.281Z,1736372801.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:41.284Z,1736372801.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 60.485237 m, bearing: 190.377615 deg, approach rate: -0.484420 m/s, LOS rate: 0.448184 deg/s, cmd heading: 140.855508 deg, new cmd heading: 141.466902 deg. 2025-01-08T21:46:41.285Z,1736372801.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469063 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:41.404Z,1736372801.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:41.406Z,1736372801.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252529 2025-01-08T21:46:41.627Z,1736372801.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:41.636Z,1736372801.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:41.639Z,1736372801.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 60.316277 m, bearing: 190.530671 deg, approach rate: -0.474812 m/s, LOS rate: 0.431323 deg/s, cmd heading: 141.466905 deg, new cmd heading: 141.927351 deg. 2025-01-08T21:46:41.640Z,1736372801.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477100 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:41.656Z,1736372801.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:41.658Z,1736372801.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504421 2025-01-08T21:46:41.908Z,1736372801.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:41.908Z,1736372801.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755381 2025-01-08T21:46:42.089Z,1736372802.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:42.102Z,1736372802.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:42.109Z,1736372802.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 60.095062 m, bearing: 190.728649 deg, approach rate: -0.474804 m/s, LOS rate: 0.426492 deg/s, cmd heading: 141.927356 deg, new cmd heading: 142.523451 deg. 2025-01-08T21:46:42.110Z,1736372802.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.487504 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:42.160Z,1736372802.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:42.161Z,1736372802.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007544 2025-01-08T21:46:42.412Z,1736372802.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:42.412Z,1736372802.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259429 2025-01-08T21:46:42.494Z,1736372802.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:42.511Z,1736372802.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:42.514Z,1736372802.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 59.899048 m, bearing: 190.896418 deg, approach rate: -0.481004 m/s, LOS rate: 0.413040 deg/s, cmd heading: 142.523454 deg, new cmd heading: 143.028396 deg. 2025-01-08T21:46:42.515Z,1736372802.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.496316 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:42.664Z,1736372802.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:42.665Z,1736372802.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512149 2025-01-08T21:46:42.831Z,1736372802.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:42.840Z,1736372802.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:42.843Z,1736372802.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 59.735371 m, bearing: 191.035173 deg, approach rate: -0.495354 m/s, LOS rate: 0.421077 deg/s, cmd heading: 143.028396 deg, new cmd heading: 143.445792 deg. 2025-01-08T21:46:42.844Z,1736372802.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503601 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:42.917Z,1736372802.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:42.918Z,1736372802.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764897 2025-01-08T21:46:43.168Z,1736372803.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:43.168Z,1736372803.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015296 2025-01-08T21:46:43.275Z,1736372803.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:43.281Z,1736372803.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:43.285Z,1736372803.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:43.288Z,1736372803.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 59.523083 m, bearing: 191.224964 deg, approach rate: -0.477484 m/s, LOS rate: 0.428407 deg/s, cmd heading: 143.445789 deg, new cmd heading: 144.017175 deg. 2025-01-08T21:46:43.289Z,1736372803.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513574 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:43.423Z,1736372803.423 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:43.425Z,1736372803.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272111 2025-01-08T21:46:43.652Z,1736372803.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:43.672Z,1736372803.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:43.673Z,1736372803.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520375 2025-01-08T21:46:43.688Z,1736372803.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:43.691Z,1736372803.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 59.339706 m, bearing: 191.384285 deg, approach rate: -0.454814 m/s, LOS rate: 0.396372 deg/s, cmd heading: 144.017175 deg, new cmd heading: 144.496603 deg. 2025-01-08T21:46:43.696Z,1736372803.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.521941 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:43.924Z,1736372803.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:43.924Z,1736372803.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771313 2025-01-08T21:46:44.137Z,1736372804.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:44.157Z,1736372804.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:44.164Z,1736372804.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 59.104992 m, bearing: 191.586245 deg, approach rate: -0.500901 m/s, LOS rate: 0.432709 deg/s, cmd heading: 144.496600 deg, new cmd heading: 145.104860 deg. 2025-01-08T21:46:44.165Z,1736372804.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.532557 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:44.176Z,1736372804.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:44.177Z,1736372804.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023702 2025-01-08T21:46:44.428Z,1736372804.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:44.429Z,1736372804.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276209 2025-01-08T21:46:44.510Z,1736372804.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:44.519Z,1736372804.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:44.521Z,1736372804.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 58.916008 m, bearing: 191.752934 deg, approach rate: -0.522228 m/s, LOS rate: 0.462096 deg/s, cmd heading: 145.104855 deg, new cmd heading: 145.606513 deg. 2025-01-08T21:46:44.522Z,1736372804.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541313 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:44.681Z,1736372804.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:44.682Z,1736372804.682 [DAT](INFO): DAT read: Rx Time:21:46:43.4491 2025-01-08T21:46:44.683Z,1736372804.683 [DAT](INFO): Rx dataTimestamp_ set to:1736372804.682400 2025-01-08T21:46:44.685Z,1736372804.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532400 2025-01-08T21:46:44.896Z,1736372804.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:44.906Z,1736372804.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:46:44.909Z,1736372804.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 58.721943 m, bearing: 191.922260 deg, approach rate: -0.501398 m/s, LOS rate: 0.438928 deg/s, cmd heading: 145.606519 deg, new cmd heading: 146.116164 deg. 2025-01-08T21:46:44.910Z,1736372804.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.550208 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:46:44.932Z,1736372804.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:44.932Z,1736372804.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779335 2025-01-08T21:46:45.184Z,1736372805.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:45.191Z,1736372805.191 [DAT](INFO): DAT read: 21:46:43.4491 LVL= 32752, 27169, 24306, 32755, AGC= 71, IDX= 236,-0.30, 1.037,-2.846, 2.161, 2.024, PHS=-0.900, 1.460, 0.134, RAW= 304.1, -6.8, CAL= 308.3, -9.5, ROT= 201.7, 9.5 2025-01-08T21:46:45.192Z,1736372805.192 [DAT](INFO): got valid direction response: 21:46:43.4491 LVL= 32752, 27169, 24306, 32755, AGC= 71, IDX= 236,-0.30, 1.037,-2.846, 2.161, 2.024, PHS=-0.900, 1.460, 0.134, RAW= 304.1, -6.8, CAL= 308.3, -9.5, ROT= 201.7, 9.5 2025-01-08T21:46:45.193Z,1736372805.193 [DAT](INFO): DAT read: Bearing 201.7, 9.5 (Local) 2025-01-08T21:46:45.193Z,1736372805.193 [DAT](INFO): Local bearing/azimuth received: Bearing 201.7, 9.5 (Local) 2025-01-08T21:46:45.195Z,1736372805.195 [DAT](INFO): DAT read: Range 10 to 50 : 533.1 m (Round-trip 710.9 ms) speed -0.4 m/s 2025-01-08T21:46:45.196Z,1736372805.196 [DAT](INFO): DAT read: user:2052> 2025-01-08T21:46:45.197Z,1736372805.197 [DAT](INFO): DAT read: Tx time:21:46:44.5340 2025-01-08T21:46:45.197Z,1736372805.197 [DAT](INFO): Ping request sent. 2025-01-08T21:46:45.197Z,1736372805.197 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:46:45.197Z,1736372805.197 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:46:45.198Z,1736372805.198 [DAT](INFO): direction in FSK: [0.253683,0.467398,-0.846867] 2025-01-08T21:46:45.198Z,1736372805.198 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:45.199Z,1736372805.199 [DAT](INFO): publishing direction and range info 2025-01-08T21:46:45.202Z,1736372805.202 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:45.203Z,1736372805.203 [DAT](INFO): publishing direction and range info 2025-01-08T21:46:45.362Z,1736372805.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:45.418Z,1736372805.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 533.099976 m, deltaT: 15.132267 s, deltaX: 24.599976 m, approachRate: 1.625664 m/s, rangeRepo size: 4 2025-01-08T21:46:45.424Z,1736372805.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 533.099976 m, bearing: 207.901589 deg, lat: 36.899013 deg, lon: -122.118304 deg, deltaT: 15.132267 s, deltaX: 24.599976 m, approachRate: 1.625664 m/s, posRepo size: 4 2025-01-08T21:46:45.425Z,1736372805.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:45.431Z,1736372805.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 70.691559 m, bearing: 190.017690 deg, approach rate: 0.000000 m/s, LOS rate: 0.438928 deg/s, cmd heading: 146.116161 deg, new cmd heading: 146.788383 deg. 2025-01-08T21:46:45.433Z,1736372805.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561941 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:45.436Z,1736372805.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:45.437Z,1736372805.437 [DAT](INFO): DAT read: TxSync time:21:46:44.5333 2025-01-08T21:46:45.688Z,1736372805.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:45.723Z,1736372805.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:45.738Z,1736372805.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:45.744Z,1736372805.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:45.747Z,1736372805.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 70.505302 m, bearing: 190.148003 deg, approach rate: -0.567479 m/s, LOS rate: 0.398082 deg/s, cmd heading: 146.788388 deg, new cmd heading: 147.180353 deg. 2025-01-08T21:46:45.756Z,1736372805.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568782 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:45.940Z,1736372805.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:45.940Z,1736372805.940 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:46:45.940Z,1736372805.940 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:46:45.941Z,1736372805.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:46.168Z,1736372806.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:46.192Z,1736372806.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:46.192Z,1736372806.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995315 2025-01-08T21:46:46.195Z,1736372806.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:46.209Z,1736372806.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 70.263672 m, bearing: 190.322745 deg, approach rate: -0.536376 m/s, LOS rate: 0.389229 deg/s, cmd heading: 147.180359 deg, new cmd heading: 147.706371 deg. 2025-01-08T21:46:46.210Z,1736372806.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.577962 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:46.444Z,1736372806.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:46.445Z,1736372806.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248189 2025-01-08T21:46:46.516Z,1736372806.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:46.525Z,1736372806.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:46.528Z,1736372806.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 70.074463 m, bearing: 190.457073 deg, approach rate: -0.573301 m/s, LOS rate: 0.408112 deg/s, cmd heading: 147.706365 deg, new cmd heading: 148.110431 deg. 2025-01-08T21:46:46.529Z,1736372806.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.585015 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:46.696Z,1736372806.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:46.696Z,1736372806.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499523 2025-01-08T21:46:46.924Z,1736372806.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:46.941Z,1736372806.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:46.946Z,1736372806.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 69.850410 m, bearing: 190.612763 deg, approach rate: -0.540361 m/s, LOS rate: 0.376691 deg/s, cmd heading: 148.110426 deg, new cmd heading: 148.578983 deg. 2025-01-08T21:46:46.948Z,1736372806.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:46.949Z,1736372806.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751969 2025-01-08T21:46:46.952Z,1736372806.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593192 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:47.202Z,1736372807.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:47.203Z,1736372807.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006500 2025-01-08T21:46:47.336Z,1736372807.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:47.360Z,1736372807.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:47.363Z,1736372807.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 69.622322 m, bearing: 190.783753 deg, approach rate: -0.542169 m/s, LOS rate: 0.407775 deg/s, cmd heading: 148.578976 deg, new cmd heading: 149.093611 deg. 2025-01-08T21:46:47.376Z,1736372807.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.602174 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:47.452Z,1736372807.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:47.453Z,1736372807.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255889 2025-01-08T21:46:47.705Z,1736372807.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:47.706Z,1736372807.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509387 2025-01-08T21:46:47.756Z,1736372807.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:47.778Z,1736372807.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:47.785Z,1736372807.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:47.792Z,1736372807.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 69.389420 m, bearing: 190.960004 deg, approach rate: -0.548014 m/s, LOS rate: 0.416106 deg/s, cmd heading: 149.093604 deg, new cmd heading: 149.624117 deg. 2025-01-08T21:46:47.793Z,1736372807.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.611434 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:47.956Z,1736372807.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:47.956Z,1736372807.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759392 2025-01-08T21:46:48.191Z,1736372808.191 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD23.69, +1135.02, -10.94, 7.03, 0.00 2025-01-08T21:46:48.199Z,1736372808.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:46:48.199Z,1736372808.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:48.208Z,1736372808.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:48.209Z,1736372808.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011604 2025-01-08T21:46:48.210Z,1736372808.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:48.214Z,1736372808.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 69.140892 m, bearing: 191.142937 deg, approach rate: -0.584736 m/s, LOS rate: 0.431951 deg/s, cmd heading: 149.624118 deg, new cmd heading: 150.174872 deg. 2025-01-08T21:46:48.215Z,1736372808.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.621046 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:48.460Z,1736372808.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:48.460Z,1736372808.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263409 2025-01-08T21:46:48.555Z,1736372808.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:46:48.559Z,1736372808.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:48.570Z,1736372808.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:48.573Z,1736372808.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 68.944077 m, bearing: 191.286982 deg, approach rate: -0.546438 m/s, LOS rate: 0.401069 deg/s, cmd heading: 150.174878 deg, new cmd heading: 150.608239 deg. 2025-01-08T21:46:48.574Z,1736372808.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.628610 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:48.712Z,1736372808.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:48.714Z,1736372808.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516843 2025-01-08T21:46:48.956Z,1736372808.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:46:48.956Z,1736372808.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:48.964Z,1736372808.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:48.965Z,1736372808.965 [DAT](INFO): DAT read: Rx Time:21:46:47.6416 2025-01-08T21:46:48.965Z,1736372808.965 [DAT](INFO): Rx dataTimestamp_ set to:1736372808.964776 2025-01-08T21:46:48.966Z,1736372808.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768664 2025-01-08T21:46:48.969Z,1736372808.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:48.972Z,1736372808.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 68.714119 m, bearing: 191.456735 deg, approach rate: -0.577054 m/s, LOS rate: 0.427401 deg/s, cmd heading: 150.608239 deg, new cmd heading: 151.119188 deg. 2025-01-08T21:46:48.973Z,1736372808.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.637527 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:49.217Z,1736372809.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:49.218Z,1736372809.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021097 2025-01-08T21:46:49.354Z,1736372809.354 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, 00 +0.00, 20.00,1726.41 2025-01-08T21:46:49.361Z,1736372809.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T21:46:49.361Z,1736372809.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:49.372Z,1736372809.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:49.375Z,1736372809.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 68.483627 m, bearing: 191.622851 deg, approach rate: -0.573157 m/s, LOS rate: 0.414466 deg/s, cmd heading: 151.119192 deg, new cmd heading: 151.619205 deg. 2025-01-08T21:46:49.376Z,1736372809.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.646254 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:49.469Z,1736372809.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:49.470Z,1736372809.470 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:46:49.470Z,1736372809.470 [DAT](INFO): Received a bad header 2025-01-08T21:46:49.484Z,1736372809.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287483 2025-01-08T21:46:49.720Z,1736372809.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:49.720Z,1736372809.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523564 2025-01-08T21:46:49.767Z,1736372809.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T21:46:49.767Z,1736372809.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:49.776Z,1736372809.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:49.779Z,1736372809.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 68.251480 m, bearing: 191.788662 deg, approach rate: -0.573227 m/s, LOS rate: 0.410818 deg/s, cmd heading: 151.619203 deg, new cmd heading: 152.118313 deg. 2025-01-08T21:46:49.780Z,1736372809.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.654965 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:49.972Z,1736372809.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:49.973Z,1736372809.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775619 2025-01-08T21:46:50.202Z,1736372810.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s. 2025-01-08T21:46:50.202Z,1736372810.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:50.209Z,1736372810.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:50.212Z,1736372810.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:50.214Z,1736372810.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 68.002472 m, bearing: 191.968231 deg, approach rate: -0.572105 m/s, LOS rate: 0.414076 deg/s, cmd heading: 152.118312 deg, new cmd heading: 152.658974 deg. 2025-01-08T21:46:50.215Z,1736372810.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664402 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:50.244Z,1736372810.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:50.245Z,1736372810.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047682 2025-01-08T21:46:50.496Z,1736372810.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:50.497Z,1736372810.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.300240 2025-01-08T21:46:50.582Z,1736372810.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:50.591Z,1736372810.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:50.593Z,1736372810.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 67.778336 m, bearing: 192.135470 deg, approach rate: -0.590951 m/s, LOS rate: 0.442396 deg/s, cmd heading: 152.658976 deg, new cmd heading: 153.162341 deg. 2025-01-08T21:46:50.594Z,1736372810.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673187 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:50.749Z,1736372810.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:50.750Z,1736372810.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.553237 2025-01-08T21:46:50.956Z,1736372810.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:50.965Z,1736372810.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:50.968Z,1736372810.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 67.556778 m, bearing: 192.299592 deg, approach rate: -0.592356 m/s, LOS rate: 0.440234 deg/s, cmd heading: 153.162334 deg, new cmd heading: 153.656301 deg. 2025-01-08T21:46:50.969Z,1736372810.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681808 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:51.000Z,1736372811.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:51.001Z,1736372811.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.804185 2025-01-08T21:46:51.252Z,1736372811.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:51.253Z,1736372811.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055598 2025-01-08T21:46:51.382Z,1736372811.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:51.416Z,1736372811.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:51.426Z,1736372811.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 67.301430 m, bearing: 192.484583 deg, approach rate: -0.571465 m/s, LOS rate: 0.415577 deg/s, cmd heading: 153.656307 deg, new cmd heading: 154.213368 deg. 2025-01-08T21:46:51.428Z,1736372811.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691531 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:51.504Z,1736372811.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:51.505Z,1736372811.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307845 2025-01-08T21:46:51.756Z,1736372811.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:51.756Z,1736372811.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559369 2025-01-08T21:46:51.790Z,1736372811.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:51.806Z,1736372811.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:51.813Z,1736372811.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 67.052757 m, bearing: 192.663695 deg, approach rate: -0.629793 m/s, LOS rate: 0.455303 deg/s, cmd heading: 154.213363 deg, new cmd heading: 154.752674 deg. 2025-01-08T21:46:51.814Z,1736372811.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700944 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:52.008Z,1736372812.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:52.008Z,1736372812.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811447 2025-01-08T21:46:52.232Z,1736372812.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:52.249Z,1736372812.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:52.260Z,1736372812.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:52.261Z,1736372812.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063667 2025-01-08T21:46:52.264Z,1736372812.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:52.280Z,1736372812.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 66.783417 m, bearing: 192.856490 deg, approach rate: -0.587996 m/s, LOS rate: 0.422588 deg/s, cmd heading: 154.752675 deg, new cmd heading: 155.333374 deg. 2025-01-08T21:46:52.281Z,1736372812.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711079 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:52.513Z,1736372812.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:52.514Z,1736372812.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.317134 2025-01-08T21:46:52.620Z,1736372812.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:52.628Z,1736372812.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:52.631Z,1736372812.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 66.558861 m, bearing: 193.020481 deg, approach rate: -0.616768 m/s, LOS rate: 0.451938 deg/s, cmd heading: 155.333378 deg, new cmd heading: 155.826997 deg. 2025-01-08T21:46:52.632Z,1736372812.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.719694 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:52.764Z,1736372812.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:52.764Z,1736372812.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567563 2025-01-08T21:46:52.968Z,1736372812.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:52.993Z,1736372812.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:52.000Z,1736372813.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 66.354057 m, bearing: 193.166539 deg, approach rate: -0.562421 m/s, LOS rate: 0.402333 deg/s, cmd heading: 155.826996 deg, new cmd heading: 156.266511 deg. 2025-01-08T21:46:53.001Z,1736372813.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.727365 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:53.016Z,1736372813.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:53.017Z,1736372813.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.820307 2025-01-08T21:46:53.268Z,1736372813.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:53.268Z,1736372813.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071394 2025-01-08T21:46:53.398Z,1736372813.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:53.408Z,1736372813.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:53.410Z,1736372813.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 66.100479 m, bearing: 193.336876 deg, approach rate: -0.610560 m/s, LOS rate: 0.411708 deg/s, cmd heading: 156.266505 deg, new cmd heading: 156.779464 deg. 2025-01-08T21:46:53.412Z,1736372813.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.736318 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:53.520Z,1736372813.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:53.521Z,1736372813.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324236 2025-01-08T21:46:53.772Z,1736372813.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:53.772Z,1736372813.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575557 2025-01-08T21:46:53.780Z,1736372813.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:53.789Z,1736372813.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:53.792Z,1736372813.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 65.874321 m, bearing: 193.487745 deg, approach rate: -0.593527 m/s, LOS rate: 0.397298 deg/s, cmd heading: 156.779466 deg, new cmd heading: 157.233616 deg. 2025-01-08T21:46:53.794Z,1736372813.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.744244 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:54.024Z,1736372814.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:54.024Z,1736372814.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827437 2025-01-08T21:46:54.236Z,1736372814.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:54.271Z,1736372814.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:54.276Z,1736372814.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:54.277Z,1736372814.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079599 2025-01-08T21:46:54.280Z,1736372814.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:54.283Z,1736372814.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 65.607224 m, bearing: 193.665395 deg, approach rate: -0.543778 m/s, LOS rate: 0.363145 deg/s, cmd heading: 157.233618 deg, new cmd heading: 157.768720 deg. 2025-01-08T21:46:54.284Z,1736372814.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.753584 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:54.528Z,1736372814.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:54.528Z,1736372814.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331418 2025-01-08T21:46:54.609Z,1736372814.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:54.618Z,1736372814.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:54.622Z,1736372814.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 65.381264 m, bearing: 193.806218 deg, approach rate: -0.668152 m/s, LOS rate: 0.417847 deg/s, cmd heading: 157.768723 deg, new cmd heading: 158.192645 deg. 2025-01-08T21:46:54.623Z,1736372814.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.760983 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:54.781Z,1736372814.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:54.782Z,1736372814.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584864 2025-01-08T21:46:54.992Z,1736372814.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:55.002Z,1736372815.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:55.025Z,1736372815.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 65.151543 m, bearing: 193.948383 deg, approach rate: -0.598764 m/s, LOS rate: 0.371857 deg/s, cmd heading: 158.192645 deg, new cmd heading: 158.620636 deg. 2025-01-08T21:46:55.026Z,1736372815.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.768452 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:55.032Z,1736372815.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:55.033Z,1736372815.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835612 2025-01-08T21:46:55.284Z,1736372815.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:55.284Z,1736372815.284 [DAT](INFO): Reached modem response timeout 2025-01-08T21:46:55.285Z,1736372815.285 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:46:55.285Z,1736372815.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:55.421Z,1736372815.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:55.429Z,1736372815.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:55.432Z,1736372815.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 64.899811 m, bearing: 194.094643 deg, approach rate: -0.588987 m/s, LOS rate: 0.343536 deg/s, cmd heading: 158.620639 deg, new cmd heading: 159.061110 deg. 2025-01-08T21:46:55.434Z,1736372815.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.776140 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:55.536Z,1736372815.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:55.537Z,1736372815.537 [DAT](INFO): Reached modem response timeout 2025-01-08T21:46:55.537Z,1736372815.537 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:46:55.538Z,1736372815.538 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:55.788Z,1736372815.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:55.788Z,1736372815.788 [DAT](INFO): Reached modem response timeout 2025-01-08T21:46:55.788Z,1736372815.788 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:46:55.788Z,1736372815.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:55.806Z,1736372815.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:55.815Z,1736372815.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:55.817Z,1736372815.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 64.672523 m, bearing: 194.225528 deg, approach rate: -0.589946 m/s, LOS rate: 0.340918 deg/s, cmd heading: 159.061104 deg, new cmd heading: 159.455133 deg. 2025-01-08T21:46:55.818Z,1736372815.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.783017 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:56.040Z,1736372816.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:56.042Z,1736372816.042 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:46:56.042Z,1736372816.042 [DAT](INFO): response not received 2025-01-08T21:46:56.042Z,1736372816.042 [DAT](INFO): DAT read: user:2054> 2025-01-08T21:46:56.043Z,1736372816.043 [DAT](ERROR): No response from remote modem. 2025-01-08T21:46:56.043Z,1736372816.043 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:46:56.043Z,1736372816.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:46:56.204Z,1736372816.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:56.286Z,1736372816.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:56.292Z,1736372816.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:56.293Z,1736372816.293 [DAT](INFO): DAT read: Tx time:21:46:55.4841 2025-01-08T21:46:56.293Z,1736372816.293 [DAT](INFO): Ping request sent. 2025-01-08T21:46:56.293Z,1736372816.293 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:46:56.294Z,1736372816.294 [DAT](INFO): DAT read: TxSync time:21:46:55.4833 2025-01-08T21:46:56.294Z,1736372816.294 [DAT](INFO): publishing transmit ping time 2025-01-08T21:46:56.295Z,1736372816.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001573 2025-01-08T21:46:56.320Z,1736372816.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 64.438339 m, bearing: 194.359851 deg, approach rate: -0.499012 m/s, LOS rate: 0.287262 deg/s, cmd heading: 159.455137 deg, new cmd heading: 159.859564 deg. 2025-01-08T21:46:56.321Z,1736372816.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.790076 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:56.544Z,1736372816.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:56.544Z,1736372816.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251371 2025-01-08T21:46:56.630Z,1736372816.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:56.638Z,1736372816.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:56.641Z,1736372816.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:56.645Z,1736372816.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 64.190880 m, bearing: 194.491121 deg, approach rate: -0.693715 m/s, LOS rate: 0.369415 deg/s, cmd heading: 159.859567 deg, new cmd heading: 160.254889 deg. 2025-01-08T21:46:56.646Z,1736372816.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796975 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:56.796Z,1736372816.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:56.797Z,1736372816.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503416 2025-01-08T21:46:57.008Z,1736372817.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:57.017Z,1736372817.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:57.020Z,1736372817.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 63.971619 m, bearing: 194.606048 deg, approach rate: -0.582387 m/s, LOS rate: 0.306306 deg/s, cmd heading: 160.254884 deg, new cmd heading: 160.600841 deg. 2025-01-08T21:46:57.021Z,1736372817.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803014 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:57.048Z,1736372817.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:57.048Z,1736372817.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755316 2025-01-08T21:46:57.300Z,1736372817.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:57.302Z,1736372817.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008519 2025-01-08T21:46:57.447Z,1736372817.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:57.458Z,1736372817.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:57.476Z,1736372817.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 63.702950 m, bearing: 194.739621 deg, approach rate: -0.610013 m/s, LOS rate: 0.304556 deg/s, cmd heading: 160.600847 deg, new cmd heading: 161.003249 deg. 2025-01-08T21:46:57.477Z,1736372817.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810037 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:57.553Z,1736372817.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:57.554Z,1736372817.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261002 2025-01-08T21:46:57.805Z,1736372817.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:57.807Z,1736372817.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513080 2025-01-08T21:46:57.845Z,1736372817.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:57.853Z,1736372817.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:57.856Z,1736372817.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 63.456902 m, bearing: 194.857186 deg, approach rate: -0.621391 m/s, LOS rate: 0.298060 deg/s, cmd heading: 161.003255 deg, new cmd heading: 161.357312 deg. 2025-01-08T21:46:57.857Z,1736372817.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816216 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:58.056Z,1736372818.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:58.056Z,1736372818.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763318 2025-01-08T21:46:58.246Z,1736372818.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:58.309Z,1736372818.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:58.312Z,1736372818.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017531 2025-01-08T21:46:58.323Z,1736372818.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:58.326Z,1736372818.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 63.208191 m, bearing: 194.975243 deg, approach rate: -0.540137 m/s, LOS rate: 0.257399 deg/s, cmd heading: 161.357318 deg, new cmd heading: 161.712878 deg. 2025-01-08T21:46:58.331Z,1736372818.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.822422 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:58.560Z,1736372818.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:58.560Z,1736372818.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267311 2025-01-08T21:46:58.692Z,1736372818.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:58.699Z,1736372818.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:46:58.703Z,1736372818.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:58.705Z,1736372818.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 62.923893 m, bearing: 195.105974 deg, approach rate: -0.731637 m/s, LOS rate: 0.337953 deg/s, cmd heading: 161.712884 deg, new cmd heading: 162.106841 deg. 2025-01-08T21:46:58.706Z,1736372818.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.829298 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:58.812Z,1736372818.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:58.815Z,1736372818.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520833 2025-01-08T21:46:59.056Z,1736372819.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:59.064Z,1736372819.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:59.064Z,1736372819.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771334 2025-01-08T21:46:59.072Z,1736372819.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:59.074Z,1736372819.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 62.691002 m, bearing: 195.212529 deg, approach rate: -0.631245 m/s, LOS rate: 0.289889 deg/s, cmd heading: 162.106835 deg, new cmd heading: 162.427686 deg. 2025-01-08T21:46:59.095Z,1736372819.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834898 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:59.318Z,1736372819.318 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:59.319Z,1736372819.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026333 2025-01-08T21:46:59.412Z,1736372819.412 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:46:59.492Z,1736372819.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:59.502Z,1736372819.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:59.505Z,1736372819.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 62.405567 m, bearing: 195.344026 deg, approach rate: -0.662960 m/s, LOS rate: 0.306815 deg/s, cmd heading: 162.427690 deg, new cmd heading: 162.823978 deg. 2025-01-08T21:46:59.506Z,1736372819.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841815 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:46:59.568Z,1736372819.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:59.569Z,1736372819.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275732 2025-01-08T21:46:59.820Z,1736372819.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:46:59.820Z,1736372819.820 [DAT](INFO): DAT read: Rx Time:21:46:58.6121 2025-01-08T21:46:59.821Z,1736372819.821 [DAT](INFO): Rx dataTimestamp_ set to:1736372819.820581 2025-01-08T21:46:59.821Z,1736372819.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528289 2025-01-08T21:46:59.859Z,1736372819.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:46:59.895Z,1736372819.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:46:59.908Z,1736372819.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 62.165390 m, bearing: 195.454203 deg, approach rate: -0.613338 m/s, LOS rate: 0.282447 deg/s, cmd heading: 162.823978 deg, new cmd heading: 163.155785 deg. 2025-01-08T21:46:59.909Z,1736372819.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847606 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:00.072Z,1736372820.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:00.072Z,1736372820.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779369 2025-01-08T21:47:00.326Z,1736372820.326 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:00.328Z,1736372820.328 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:47:00.329Z,1736372820.329 [DAT](INFO): Received a bad header 2025-01-08T21:47:00.341Z,1736372820.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:00.346Z,1736372820.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.052083 2025-01-08T21:47:00.376Z,1736372820.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:00.378Z,1736372820.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 61.850178 m, bearing: 195.600263 deg, approach rate: -0.653659 m/s, LOS rate: 0.304429 deg/s, cmd heading: 163.155789 deg, new cmd heading: 163.596192 deg. 2025-01-08T21:47:00.388Z,1736372820.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.855292 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:00.416Z,1736372820.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:47:00.576Z,1736372820.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:00.576Z,1736372820.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283193 2025-01-08T21:47:00.715Z,1736372820.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:00.723Z,1736372820.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:00.725Z,1736372820.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:00.728Z,1736372820.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 61.605366 m, bearing: 195.721218 deg, approach rate: -0.701254 m/s, LOS rate: 0.347848 deg/s, cmd heading: 163.596186 deg, new cmd heading: 163.960488 deg. 2025-01-08T21:47:00.729Z,1736372820.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.861650 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:00.828Z,1736372820.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:00.829Z,1736372820.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535487 2025-01-08T21:47:01.080Z,1736372821.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:01.080Z,1736372821.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787193 2025-01-08T21:47:01.090Z,1736372821.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:01.098Z,1736372821.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:01.121Z,1736372821.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 61.359772 m, bearing: 195.841690 deg, approach rate: -0.658253 m/s, LOS rate: 0.324185 deg/s, cmd heading: 163.960494 deg, new cmd heading: 164.323350 deg. 2025-01-08T21:47:01.122Z,1736372821.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867984 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:01.334Z,1736372821.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:01.337Z,1736372821.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042827 2025-01-08T21:47:01.509Z,1736372821.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:01.518Z,1736372821.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:01.521Z,1736372821.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 61.071987 m, bearing: 195.993275 deg, approach rate: -0.684804 m/s, LOS rate: 0.362407 deg/s, cmd heading: 164.323355 deg, new cmd heading: 164.780243 deg. 2025-01-08T21:47:01.522Z,1736372821.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.875958 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:01.584Z,1736372821.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:01.585Z,1736372821.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291939 2025-01-08T21:47:01.837Z,1736372821.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:01.839Z,1736372821.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545118 2025-01-08T21:47:01.902Z,1736372821.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:01.932Z,1736372821.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:01.941Z,1736372821.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 60.801922 m, bearing: 196.134887 deg, approach rate: -0.660646 m/s, LOS rate: 0.347957 deg/s, cmd heading: 164.780240 deg, new cmd heading: 165.206956 deg. 2025-01-08T21:47:01.942Z,1736372821.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883405 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:02.088Z,1736372822.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:02.088Z,1736372822.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795203 2025-01-08T21:47:02.301Z,1736372822.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:02.334Z,1736372822.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:02.342Z,1736372822.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:02.345Z,1736372822.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051082 2025-01-08T21:47:02.358Z,1736372822.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 60.525932 m, bearing: 196.278501 deg, approach rate: -0.717941 m/s, LOS rate: 0.375290 deg/s, cmd heading: 165.206963 deg, new cmd heading: 165.639759 deg. 2025-01-08T21:47:02.366Z,1736372822.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.890959 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:02.592Z,1736372822.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:02.593Z,1736372822.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299767 2025-01-08T21:47:02.792Z,1736372822.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:02.799Z,1736372822.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:02.801Z,1736372822.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:02.812Z,1736372822.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 60.193630 m, bearing: 196.461838 deg, approach rate: -0.678648 m/s, LOS rate: 0.376489 deg/s, cmd heading: 165.639765 deg, new cmd heading: 166.192794 deg. 2025-01-08T21:47:02.813Z,1736372822.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.900611 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:02.845Z,1736372822.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:02.846Z,1736372822.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552908 2025-01-08T21:47:03.096Z,1736372823.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:03.096Z,1736372823.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803134 2025-01-08T21:47:03.110Z,1736372823.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:03.136Z,1736372823.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:03.139Z,1736372823.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 59.976990 m, bearing: 196.578687 deg, approach rate: -0.646223 m/s, LOS rate: 0.349812 deg/s, cmd heading: 166.192791 deg, new cmd heading: 166.544601 deg. 2025-01-08T21:47:03.144Z,1736372823.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.906752 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:03.350Z,1736372823.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:03.353Z,1736372823.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059568 2025-01-08T21:47:03.538Z,1736372823.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:03.547Z,1736372823.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:03.556Z,1736372823.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 59.689701 m, bearing: 196.753271 deg, approach rate: -0.699948 m/s, LOS rate: 0.427402 deg/s, cmd heading: 166.544601 deg, new cmd heading: 167.070858 deg. 2025-01-08T21:47:03.557Z,1736372823.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.915936 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:03.601Z,1736372823.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:03.601Z,1736372823.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308123 2025-01-08T21:47:03.853Z,1736372823.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:03.856Z,1736372823.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561845 2025-01-08T21:47:03.918Z,1736372823.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:03.941Z,1736372823.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:03.949Z,1736372823.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 59.433590 m, bearing: 196.907671 deg, approach rate: -0.649997 m/s, LOS rate: 0.393547 deg/s, cmd heading: 167.070853 deg, new cmd heading: 167.536037 deg. 2025-01-08T21:47:03.950Z,1736372823.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924056 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:04.104Z,1736372824.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:04.105Z,1736372824.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811412 2025-01-08T21:47:04.329Z,1736372824.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:04.338Z,1736372824.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:04.357Z,1736372824.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:04.360Z,1736372824.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065624 2025-01-08T21:47:04.410Z,1736372824.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 59.156254 m, bearing: 197.073944 deg, approach rate: -0.698028 m/s, LOS rate: 0.420454 deg/s, cmd heading: 167.536044 deg, new cmd heading: 168.037188 deg. 2025-01-08T21:47:04.412Z,1736372824.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.932802 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:04.608Z,1736372824.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:04.608Z,1736372824.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315318 2025-01-08T21:47:04.765Z,1736372824.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:04.775Z,1736372824.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:04.778Z,1736372824.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 58.863960 m, bearing: 197.253210 deg, approach rate: -0.669386 m/s, LOS rate: 0.412579 deg/s, cmd heading: 168.037188 deg, new cmd heading: 168.577641 deg. 2025-01-08T21:47:04.779Z,1736372824.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.942235 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:04.860Z,1736372824.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:04.862Z,1736372824.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568470 2025-01-08T21:47:05.112Z,1736372825.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:05.112Z,1736372825.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819319 2025-01-08T21:47:05.145Z,1736372825.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:05.157Z,1736372825.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:05.163Z,1736372825.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:05.167Z,1736372825.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 58.606613 m, bearing: 197.406962 deg, approach rate: -0.669645 m/s, LOS rate: 0.401835 deg/s, cmd heading: 168.577647 deg, new cmd heading: 169.040918 deg. 2025-01-08T21:47:05.172Z,1736372825.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.950320 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:05.365Z,1736372825.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:05.368Z,1736372825.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074302 2025-01-08T21:47:05.569Z,1736372825.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:05.577Z,1736372825.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:05.580Z,1736372825.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 58.328018 m, bearing: 197.574990 deg, approach rate: -0.666173 m/s, LOS rate: 0.403704 deg/s, cmd heading: 169.040912 deg, new cmd heading: 169.547388 deg. 2025-01-08T21:47:05.581Z,1736372825.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.959160 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:05.616Z,1736372825.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:05.617Z,1736372825.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324360 2025-01-08T21:47:05.868Z,1736372825.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:05.868Z,1736372825.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575215 2025-01-08T21:47:05.951Z,1736372825.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:05.960Z,1736372825.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:05.966Z,1736372825.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 58.074326 m, bearing: 197.724253 deg, approach rate: -0.664171 m/s, LOS rate: 0.392480 deg/s, cmd heading: 169.547384 deg, new cmd heading: 169.997120 deg. 2025-01-08T21:47:05.967Z,1736372825.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.967010 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:06.121Z,1736372826.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:06.123Z,1736372826.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829256 2025-01-08T21:47:06.349Z,1736372826.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:06.364Z,1736372826.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:06.366Z,1736372826.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 57.809227 m, bearing: 197.878489 deg, approach rate: -0.656066 m/s, LOS rate: 0.383452 deg/s, cmd heading: 169.997125 deg, new cmd heading: 170.461942 deg. 2025-01-08T21:47:06.368Z,1736372826.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.975122 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:06.373Z,1736372826.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:06.375Z,1736372826.375 [DAT](INFO): Reached modem response timeout 2025-01-08T21:47:06.376Z,1736372826.376 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:06.377Z,1736372826.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:06.626Z,1736372826.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:06.627Z,1736372826.627 [DAT](INFO): Reached modem response timeout 2025-01-08T21:47:06.628Z,1736372826.628 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:06.628Z,1736372826.628 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:06.784Z,1736372826.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:06.793Z,1736372826.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:06.796Z,1736372826.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 57.524925 m, bearing: 198.042916 deg, approach rate: -0.662532 m/s, LOS rate: 0.385072 deg/s, cmd heading: 170.461946 deg, new cmd heading: 170.957654 deg. 2025-01-08T21:47:06.797Z,1736372826.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.983774 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:06.876Z,1736372826.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:06.877Z,1736372826.877 [DAT](INFO): Reached modem response timeout 2025-01-08T21:47:06.877Z,1736372826.877 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:06.878Z,1736372826.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:07.128Z,1736372827.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:07.129Z,1736372827.129 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:47:07.129Z,1736372827.129 [DAT](INFO): response not received 2025-01-08T21:47:07.129Z,1736372827.129 [DAT](INFO): DAT read: user:2056> 2025-01-08T21:47:07.130Z,1736372827.130 [DAT](INFO): DAT read: Tx time:21:47:06.4342 2025-01-08T21:47:07.130Z,1736372827.130 [DAT](INFO): Ping request sent. 2025-01-08T21:47:07.130Z,1736372827.130 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:47:07.131Z,1736372827.131 [DAT](INFO): publishing transmit ping time 2025-01-08T21:47:07.131Z,1736372827.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000918 2025-01-08T21:47:07.163Z,1736372827.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:07.171Z,1736372827.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:07.206Z,1736372827.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:07.213Z,1736372827.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 57.276340 m, bearing: 198.185449 deg, approach rate: -0.601418 m/s, LOS rate: 0.346335 deg/s, cmd heading: 170.957654 deg, new cmd heading: 171.387099 deg. 2025-01-08T21:47:07.214Z,1736372827.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.991269 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:07.381Z,1736372827.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:07.384Z,1736372827.384 [DAT](INFO): DAT read: TxSync time:21:47:06.4334 2025-01-08T21:47:07.387Z,1736372827.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255665 2025-01-08T21:47:07.578Z,1736372827.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:07.588Z,1736372827.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:07.590Z,1736372827.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 57.016014 m, bearing: 198.338575 deg, approach rate: -0.682777 m/s, LOS rate: 0.403449 deg/s, cmd heading: 171.387095 deg, new cmd heading: 171.848562 deg. 2025-01-08T21:47:07.591Z,1736372827.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.999323 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:07.632Z,1736372827.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:07.634Z,1736372827.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503495 2025-01-08T21:47:07.884Z,1736372827.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:07.884Z,1736372827.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753945 2025-01-08T21:47:07.982Z,1736372827.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:07.991Z,1736372827.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:08.014Z,1736372828.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 56.762257 m, bearing: 198.489425 deg, approach rate: -0.628737 m/s, LOS rate: 0.375433 deg/s, cmd heading: 171.848557 deg, new cmd heading: 172.303120 deg. 2025-01-08T21:47:08.014Z,1736372828.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.007257 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:08.136Z,1736372828.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:08.137Z,1736372828.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006118 2025-01-08T21:47:08.389Z,1736372828.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:08.391Z,1736372828.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259936 2025-01-08T21:47:08.525Z,1736372828.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:08.535Z,1736372828.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:08.553Z,1736372828.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 56.415707 m, bearing: 198.684136 deg, approach rate: -0.637272 m/s, LOS rate: 0.360254 deg/s, cmd heading: 172.303119 deg, new cmd heading: 172.890819 deg. 2025-01-08T21:47:08.554Z,1736372828.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.017514 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:08.640Z,1736372828.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:08.642Z,1736372828.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511424 2025-01-08T21:47:08.892Z,1736372828.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:08.892Z,1736372828.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762041 2025-01-08T21:47:08.920Z,1736372828.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:08.928Z,1736372828.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:08.931Z,1736372828.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 56.163242 m, bearing: 198.825643 deg, approach rate: -0.640803 m/s, LOS rate: 0.360787 deg/s, cmd heading: 172.890816 deg, new cmd heading: 173.317238 deg. 2025-01-08T21:47:08.932Z,1736372828.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.024956 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:09.145Z,1736372829.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:09.145Z,1736372829.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015007 2025-01-08T21:47:09.345Z,1736372829.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:09.353Z,1736372829.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:09.355Z,1736372829.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:09.357Z,1736372829.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 55.890850 m, bearing: 198.977137 deg, approach rate: -0.639241 m/s, LOS rate: 0.357252 deg/s, cmd heading: 173.317239 deg, new cmd heading: 173.773924 deg. 2025-01-08T21:47:09.358Z,1736372829.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.032927 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:09.396Z,1736372829.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:09.397Z,1736372829.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266147 2025-01-08T21:47:09.648Z,1736372829.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:09.649Z,1736372829.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518302 2025-01-08T21:47:09.768Z,1736372829.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:09.776Z,1736372829.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:09.779Z,1736372829.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 55.621742 m, bearing: 199.125359 deg, approach rate: -0.637982 m/s, LOS rate: 0.353094 deg/s, cmd heading: 173.773919 deg, new cmd heading: 174.220727 deg. 2025-01-08T21:47:09.780Z,1736372829.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.040725 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:09.900Z,1736372829.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:09.901Z,1736372829.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770091 2025-01-08T21:47:10.152Z,1736372830.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:10.153Z,1736372830.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022096 2025-01-08T21:47:10.172Z,1736372830.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:10.205Z,1736372830.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:10.208Z,1736372830.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 55.364796 m, bearing: 199.268424 deg, approach rate: -0.599232 m/s, LOS rate: 0.335194 deg/s, cmd heading: 174.220722 deg, new cmd heading: 174.651900 deg. 2025-01-08T21:47:10.209Z,1736372830.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.048251 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:10.404Z,1736372830.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:10.404Z,1736372830.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274023 2025-01-08T21:47:10.584Z,1736372830.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:10.593Z,1736372830.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:10.596Z,1736372830.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 55.095055 m, bearing: 199.407422 deg, approach rate: -0.696048 m/s, LOS rate: 0.360431 deg/s, cmd heading: 174.651899 deg, new cmd heading: 175.070926 deg. 2025-01-08T21:47:10.597Z,1736372830.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.055564 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:10.658Z,1736372830.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:10.660Z,1736372830.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529511 2025-01-08T21:47:10.908Z,1736372830.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:10.908Z,1736372830.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778013 2025-01-08T21:47:10.960Z,1736372830.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:10.974Z,1736372830.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:10.992Z,1736372830.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 54.847839 m, bearing: 199.533175 deg, approach rate: -0.649512 m/s, LOS rate: 0.331883 deg/s, cmd heading: 175.070931 deg, new cmd heading: 175.449886 deg. 2025-01-08T21:47:10.993Z,1736372830.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.062178 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:11.160Z,1736372831.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:11.160Z,1736372831.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029888 2025-01-08T21:47:11.365Z,1736372831.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:11.373Z,1736372831.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:11.376Z,1736372831.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:11.378Z,1736372831.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 54.581375 m, bearing: 199.667469 deg, approach rate: -0.663157 m/s, LOS rate: 0.335852 deg/s, cmd heading: 175.449883 deg, new cmd heading: 175.854725 deg. 2025-01-08T21:47:11.379Z,1736372831.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.069244 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:11.415Z,1736372831.415 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:11.417Z,1736372831.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286086 2025-01-08T21:47:11.668Z,1736372831.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:11.669Z,1736372831.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538555 2025-01-08T21:47:11.824Z,1736372831.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:11.834Z,1736372831.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:11.837Z,1736372831.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 54.268463 m, bearing: 199.819297 deg, approach rate: -0.683441 m/s, LOS rate: 0.333524 deg/s, cmd heading: 175.854722 deg, new cmd heading: 176.312823 deg. 2025-01-08T21:47:11.841Z,1736372831.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.077239 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:11.921Z,1736372831.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:11.922Z,1736372831.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791732 2025-01-08T21:47:12.172Z,1736372832.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:12.172Z,1736372832.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041965 2025-01-08T21:47:12.179Z,1736372832.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:12.188Z,1736372832.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:12.191Z,1736372832.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 54.025173 m, bearing: 199.933237 deg, approach rate: -0.684620 m/s, LOS rate: 0.322070 deg/s, cmd heading: 176.312823 deg, new cmd heading: 176.656176 deg. 2025-01-08T21:47:12.192Z,1736372832.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.083232 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:12.424Z,1736372832.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:12.424Z,1736372832.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294050 2025-01-08T21:47:12.607Z,1736372832.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:12.616Z,1736372832.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:12.640Z,1736372832.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 53.725937 m, bearing: 200.073303 deg, approach rate: -0.699993 m/s, LOS rate: 0.329476 deg/s, cmd heading: 176.656177 deg, new cmd heading: 177.078707 deg. 2025-01-08T21:47:12.641Z,1736372832.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.090606 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:12.676Z,1736372832.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:12.677Z,1736372832.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546968 2025-01-08T21:47:12.928Z,1736372832.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:12.928Z,1736372832.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797936 2025-01-08T21:47:12.999Z,1736372832.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:13.033Z,1736372833.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:13.035Z,1736372833.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 53.452034 m, bearing: 200.203019 deg, approach rate: -0.657191 m/s, LOS rate: 0.312830 deg/s, cmd heading: 177.078706 deg, new cmd heading: 177.469841 deg. 2025-01-08T21:47:13.036Z,1736372833.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.097433 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:13.180Z,1736372833.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:13.180Z,1736372833.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049959 2025-01-08T21:47:13.398Z,1736372833.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:13.406Z,1736372833.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:13.408Z,1736372833.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:13.411Z,1736372833.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 53.171051 m, bearing: 200.331712 deg, approach rate: -0.747966 m/s, LOS rate: 0.344387 deg/s, cmd heading: 177.469843 deg, new cmd heading: 177.857958 deg. 2025-01-08T21:47:13.412Z,1736372833.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.104207 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:13.432Z,1736372833.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:13.432Z,1736372833.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302037 2025-01-08T21:47:13.684Z,1736372833.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:13.685Z,1736372833.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554480 2025-01-08T21:47:13.815Z,1736372833.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:13.826Z,1736372833.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:13.828Z,1736372833.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 52.872463 m, bearing: 200.464330 deg, approach rate: -0.715444 m/s, LOS rate: 0.319558 deg/s, cmd heading: 177.857962 deg, new cmd heading: 178.258055 deg. 2025-01-08T21:47:13.829Z,1736372833.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.111190 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:13.936Z,1736372833.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:13.937Z,1736372833.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806139 2025-01-08T21:47:14.188Z,1736372834.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:14.188Z,1736372834.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057930 2025-01-08T21:47:14.221Z,1736372834.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:14.248Z,1736372834.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:14.252Z,1736372834.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 52.578812 m, bearing: 200.593804 deg, approach rate: -0.703071 m/s, LOS rate: 0.311723 deg/s, cmd heading: 178.258061 deg, new cmd heading: 178.648647 deg. 2025-01-08T21:47:14.253Z,1736372834.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.118007 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:14.440Z,1736372834.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:14.440Z,1736372834.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309919 2025-01-08T21:47:14.636Z,1736372834.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:14.649Z,1736372834.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:14.653Z,1736372834.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 52.273174 m, bearing: 200.723190 deg, approach rate: -0.754957 m/s, LOS rate: 0.321464 deg/s, cmd heading: 178.648652 deg, new cmd heading: 179.039072 deg. 2025-01-08T21:47:14.655Z,1736372834.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.124821 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:14.692Z,1736372834.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:14.693Z,1736372834.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562141 2025-01-08T21:47:14.944Z,1736372834.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:14.945Z,1736372834.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814119 2025-01-08T21:47:15.018Z,1736372835.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:15.027Z,1736372835.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:15.047Z,1736372835.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 51.990936 m, bearing: 200.839219 deg, approach rate: -0.745612 m/s, LOS rate: 0.308188 deg/s, cmd heading: 179.039066 deg, new cmd heading: 179.389039 deg. 2025-01-08T21:47:15.054Z,1736372835.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.130929 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:15.196Z,1736372835.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:15.196Z,1736372835.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065962 2025-01-08T21:47:15.415Z,1736372835.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:15.422Z,1736372835.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:15.441Z,1736372835.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:15.444Z,1736372835.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 51.697838 m, bearing: 200.959147 deg, approach rate: -0.707967 m/s, LOS rate: 0.291323 deg/s, cmd heading: 179.389045 deg, new cmd heading: 179.750863 deg. 2025-01-08T21:47:15.445Z,1736372835.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.137244 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:15.448Z,1736372835.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:15.449Z,1736372835.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318159 2025-01-08T21:47:15.700Z,1736372835.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:15.701Z,1736372835.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570648 2025-01-08T21:47:15.845Z,1736372835.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:15.854Z,1736372835.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:15.858Z,1736372835.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 51.379566 m, bearing: 201.087718 deg, approach rate: -0.769493 m/s, LOS rate: 0.312776 deg/s, cmd heading: 179.750867 deg, new cmd heading: 180.138964 deg. 2025-01-08T21:47:15.859Z,1736372835.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.144018 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:15.952Z,1736372835.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:15.953Z,1736372835.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822953 2025-01-08T21:47:16.204Z,1736372836.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:16.205Z,1736372836.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074230 2025-01-08T21:47:16.237Z,1736372836.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:16.246Z,1736372836.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:16.249Z,1736372836.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 51.089115 m, bearing: 201.204458 deg, approach rate: -0.741094 m/s, LOS rate: 0.299557 deg/s, cmd heading: 180.138958 deg, new cmd heading: 180.491163 deg. 2025-01-08T21:47:16.251Z,1736372836.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.150165 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:16.456Z,1736372836.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:16.456Z,1736372836.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325894 2025-01-08T21:47:16.663Z,1736372836.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:16.698Z,1736372836.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:16.706Z,1736372836.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 50.784981 m, bearing: 201.333578 deg, approach rate: -0.672521 m/s, LOS rate: 0.287228 deg/s, cmd heading: 180.491164 deg, new cmd heading: 180.880837 deg. 2025-01-08T21:47:16.707Z,1736372836.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.156966 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:16.708Z,1736372836.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:16.708Z,1736372836.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578082 2025-01-08T21:47:16.960Z,1736372836.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:16.961Z,1736372836.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830808 2025-01-08T21:47:17.034Z,1736372837.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:17.042Z,1736372837.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:17.045Z,1736372837.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 50.518387 m, bearing: 201.443849 deg, approach rate: -0.776065 m/s, LOS rate: 0.322698 deg/s, cmd heading: 180.880840 deg, new cmd heading: 181.213396 deg. 2025-01-08T21:47:17.046Z,1736372837.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.162771 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:17.212Z,1736372837.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:17.212Z,1736372837.212 [DAT](INFO): Reached modem response timeout 2025-01-08T21:47:17.212Z,1736372837.212 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:17.212Z,1736372837.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:17.447Z,1736372837.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:17.455Z,1736372837.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:17.457Z,1736372837.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:17.460Z,1736372837.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 50.221096 m, bearing: 201.566184 deg, approach rate: -0.715544 m/s, LOS rate: 0.296189 deg/s, cmd heading: 181.213402 deg, new cmd heading: 181.582574 deg. 2025-01-08T21:47:17.461Z,1736372837.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.169214 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:17.464Z,1736372837.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:17.464Z,1736372837.464 [DAT](INFO): Reached modem response timeout 2025-01-08T21:47:17.464Z,1736372837.464 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:17.465Z,1736372837.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:17.716Z,1736372837.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:17.716Z,1736372837.716 [DAT](INFO): Reached modem response timeout 2025-01-08T21:47:17.717Z,1736372837.717 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:17.717Z,1736372837.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:17.856Z,1736372837.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:17.889Z,1736372837.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:17.896Z,1736372837.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 49.924667 m, bearing: 201.687115 deg, approach rate: -0.686230 m/s, LOS rate: 0.281617 deg/s, cmd heading: 181.582574 deg, new cmd heading: 181.947516 deg. 2025-01-08T21:47:17.897Z,1736372837.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.175583 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:17.968Z,1736372837.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:17.969Z,1736372837.969 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:47:17.969Z,1736372837.969 [DAT](INFO): response not received 2025-01-08T21:47:17.969Z,1736372837.969 [DAT](INFO): DAT read: user:2057> 2025-01-08T21:47:17.970Z,1736372837.970 [DAT](ERROR): No response from remote modem. 2025-01-08T21:47:17.970Z,1736372837.970 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:17.970Z,1736372837.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:18.220Z,1736372838.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:18.221Z,1736372838.221 [DAT](INFO): DAT read: Txtime:21:47:17.3843 2025-01-08T21:47:18.221Z,1736372838.221 [DAT](INFO): Ping request sent. 2025-01-08T21:47:18.221Z,1736372838.221 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:47:18.222Z,1736372838.222 [DAT](INFO): DAT read: TxSync time:21:47:17.3835 2025-01-08T21:47:18.222Z,1736372838.222 [DAT](INFO): publishing transmit ping time 2025-01-08T21:47:18.223Z,1736372838.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001574 2025-01-08T21:47:18.241Z,1736372838.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:18.249Z,1736372838.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:18.285Z,1736372838.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 49.645714 m, bearing: 201.800318 deg, approach rate: -0.775793 m/s, LOS rate: 0.316595 deg/s, cmd heading: 181.947511 deg, new cmd heading: 182.289023 deg. 2025-01-08T21:47:18.286Z,1736372838.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.181544 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:18.474Z,1736372838.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:18.476Z,1736372838.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254608 2025-01-08T21:47:18.689Z,1736372838.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:18.697Z,1736372838.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:18.701Z,1736372838.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 49.324669 m, bearing: 201.925180 deg, approach rate: -0.716008 m/s, LOS rate: 0.280283 deg/s, cmd heading: 182.289020 deg, new cmd heading: 182.666036 deg. 2025-01-08T21:47:18.702Z,1736372838.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.188124 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:18.724Z,1736372838.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:18.724Z,1736372838.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503354 2025-01-08T21:47:18.976Z,1736372838.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:18.976Z,1736372838.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755285 2025-01-08T21:47:19.054Z,1736372839.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:19.070Z,1736372839.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:19.077Z,1736372839.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 49.062244 m, bearing: 202.025026 deg, approach rate: -0.703423 m/s, LOS rate: 0.269067 deg/s, cmd heading: 182.666033 deg, new cmd heading: 182.967171 deg. 2025-01-08T21:47:19.078Z,1736372839.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.193380 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:19.228Z,1736372839.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:19.228Z,1736372839.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007382 2025-01-08T21:47:19.465Z,1736372839.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:19.472Z,1736372839.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:19.474Z,1736372839.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:19.477Z,1736372839.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 48.766621 m, bearing: 202.135859 deg, approach rate: -0.731666 m/s, LOS rate: 0.275972 deg/s, cmd heading: 182.967176 deg, new cmd heading: 183.301685 deg. 2025-01-08T21:47:19.478Z,1736372839.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.199218 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:19.480Z,1736372839.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:19.480Z,1736372839.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259371 2025-01-08T21:47:19.732Z,1736372839.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:19.735Z,1736372839.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513156 2025-01-08T21:47:19.877Z,1736372839.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:19.887Z,1736372839.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:19.890Z,1736372839.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 48.471252 m, bearing: 202.248577 deg, approach rate: -0.716178 m/s, LOS rate: 0.274973 deg/s, cmd heading: 183.301691 deg, new cmd heading: 183.641903 deg. 2025-01-08T21:47:19.891Z,1736372839.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.205156 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:19.985Z,1736372839.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:19.985Z,1736372839.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764256 2025-01-08T21:47:20.237Z,1736372840.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:20.239Z,1736372840.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017386 2025-01-08T21:47:20.278Z,1736372840.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:20.295Z,1736372840.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:20.302Z,1736372840.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 48.184044 m, bearing: 202.357783 deg, approach rate: -0.704075 m/s, LOS rate: 0.269309 deg/s, cmd heading: 183.641903 deg, new cmd heading: 183.971471 deg. 2025-01-08T21:47:20.308Z,1736372840.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.210908 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:20.488Z,1736372840.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:20.489Z,1736372840.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267449 2025-01-08T21:47:20.710Z,1736372840.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:20.721Z,1736372840.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:20.723Z,1736372840.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 47.884136 m, bearing: 202.477072 deg, approach rate: -0.704348 m/s, LOS rate: 0.281910 deg/s, cmd heading: 183.971473 deg, new cmd heading: 184.331576 deg. 2025-01-08T21:47:20.724Z,1736372840.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.217193 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:20.740Z,1736372840.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:20.740Z,1736372840.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519302 2025-01-08T21:47:20.995Z,1736372840.995 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:20.995Z,1736372840.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774238 2025-01-08T21:47:21.082Z,1736372841.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:21.098Z,1736372841.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:21.105Z,1736372841.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 47.624977 m, bearing: 202.579935 deg, approach rate: -0.685929 m/s, LOS rate: 0.273732 deg/s, cmd heading: 184.331574 deg, new cmd heading: 184.641837 deg. 2025-01-08T21:47:21.106Z,1736372841.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.222608 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:21.249Z,1736372841.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:21.252Z,1736372841.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029953 2025-01-08T21:47:21.467Z,1736372841.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:21.474Z,1736372841.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:21.492Z,1736372841.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:21.495Z,1736372841.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 47.356701 m, bearing: 202.685527 deg, approach rate: -0.680823 m/s, LOS rate: 0.269487 deg/s, cmd heading: 184.641843 deg, new cmd heading: 184.960411 deg. 2025-01-08T21:47:21.496Z,1736372841.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.228168 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:21.501Z,1736372841.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:21.502Z,1736372841.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280525 2025-01-08T21:47:21.752Z,1736372841.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:21.752Z,1736372841.752 [DAT](INFO): DAT read: Rx Time:21:47:20.5344 2025-01-08T21:47:21.753Z,1736372841.753 [DAT](INFO): Rx dataTimestamp_ set to:1736372841.752570 2025-01-08T21:47:21.753Z,1736372841.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532325 2025-01-08T21:47:21.895Z,1736372841.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:21.936Z,1736372841.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:21.938Z,1736372841.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 47.062012 m, bearing: 202.812900 deg, approach rate: -0.671459 m/s, LOS rate: 0.292041 deg/s, cmd heading: 184.960416 deg, new cmd heading: 185.344923 deg. 2025-01-08T21:47:21.943Z,1736372841.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.234879 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:22.004Z,1736372842.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:22.006Z,1736372842.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784472 2025-01-08T21:47:22.256Z,1736372842.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:22.257Z,1736372842.257 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:47:22.257Z,1736372842.257 [DAT](INFO): Received a bad header 2025-01-08T21:47:22.273Z,1736372842.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.051389 2025-01-08T21:47:22.307Z,1736372842.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:22.320Z,1736372842.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:22.322Z,1736372842.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 46.780277 m, bearing: 202.934439 deg, approach rate: -0.725228 m/s, LOS rate: 0.314744 deg/s, cmd heading: 185.344929 deg, new cmd heading: 185.711736 deg. 2025-01-08T21:47:22.328Z,1736372842.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.241281 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:22.509Z,1736372842.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:22.510Z,1736372842.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288658 2025-01-08T21:47:22.718Z,1736372842.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:22.748Z,1736372842.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:22.756Z,1736372842.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 46.492535 m, bearing: 203.063319 deg, approach rate: -0.673337 m/s, LOS rate: 0.303454 deg/s, cmd heading: 185.711737 deg, new cmd heading: 186.100763 deg. 2025-01-08T21:47:22.757Z,1736372842.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.248071 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:22.760Z,1736372842.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:22.761Z,1736372842.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539430 2025-01-08T21:47:23.012Z,1736372843.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:23.013Z,1736372843.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791870 2025-01-08T21:47:23.115Z,1736372843.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:23.134Z,1736372843.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:23.137Z,1736372843.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 46.217632 m, bearing: 203.186213 deg, approach rate: -0.715933 m/s, LOS rate: 0.321959 deg/s, cmd heading: 186.100757 deg, new cmd heading: 186.471627 deg. 2025-01-08T21:47:23.138Z,1736372843.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.254544 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:23.268Z,1736372843.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:23.269Z,1736372843.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.048027 2025-01-08T21:47:23.498Z,1736372843.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:23.505Z,1736372843.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:23.508Z,1736372843.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:23.511Z,1736372843.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 45.951859 m, bearing: 203.303958 deg, approach rate: -0.706456 m/s, LOS rate: 0.314787 deg/s, cmd heading: 186.471623 deg, new cmd heading: 186.826894 deg. 2025-01-08T21:47:23.515Z,1736372843.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.260744 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:23.520Z,1736372843.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:23.521Z,1736372843.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299470 2025-01-08T21:47:23.772Z,1736372843.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:23.772Z,1736372843.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551371 2025-01-08T21:47:23.921Z,1736372843.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:23.930Z,1736372843.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:23.935Z,1736372843.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 45.657246 m, bearing: 203.445473 deg, approach rate: -0.697320 m/s, LOS rate: 0.337115 deg/s, cmd heading: 186.826888 deg, new cmd heading: 187.254167 deg. 2025-01-08T21:47:23.936Z,1736372843.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.268202 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:24.024Z,1736372844.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:24.025Z,1736372844.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803429 2025-01-08T21:47:24.276Z,1736372844.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:24.276Z,1736372844.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055377 2025-01-08T21:47:24.329Z,1736372844.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:24.346Z,1736372844.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:24.349Z,1736372844.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 45.372623 m, bearing: 203.581310 deg, approach rate: -0.684096 m/s, LOS rate: 0.328534 deg/s, cmd heading: 187.254171 deg, new cmd heading: 187.664230 deg. 2025-01-08T21:47:24.356Z,1736372844.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.275359 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:24.528Z,1736372844.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:24.528Z,1736372844.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307312 2025-01-08T21:47:24.751Z,1736372844.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:24.760Z,1736372844.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:24.762Z,1736372844.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 45.078800 m, bearing: 203.727333 deg, approach rate: -0.710464 m/s, LOS rate: 0.355385 deg/s, cmd heading: 187.664229 deg, new cmd heading: 188.105145 deg. 2025-01-08T21:47:24.764Z,1736372844.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.283054 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:24.796Z,1736372844.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:24.797Z,1736372844.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.576181 2025-01-08T21:47:25.048Z,1736372845.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:25.048Z,1736372845.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.827310 2025-01-08T21:47:25.104Z,1736372845.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:25.112Z,1736372845.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:25.115Z,1736372845.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 44.832584 m, bearing: 203.848824 deg, approach rate: -0.697833 m/s, LOS rate: 0.346224 deg/s, cmd heading: 188.105145 deg, new cmd heading: 188.471613 deg. 2025-01-08T21:47:25.116Z,1736372845.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.289450 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:25.300Z,1736372845.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:25.302Z,1736372845.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.080853 2025-01-08T21:47:25.508Z,1736372845.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:25.514Z,1736372845.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:25.518Z,1736372845.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:25.521Z,1736372845.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 44.550018 m, bearing: 203.987157 deg, approach rate: -0.696389 m/s, LOS rate: 0.343087 deg/s, cmd heading: 188.471612 deg, new cmd heading: 188.889236 deg. 2025-01-08T21:47:25.522Z,1736372845.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.296739 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:25.552Z,1736372845.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:25.553Z,1736372845.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.331449 2025-01-08T21:47:25.804Z,1736372845.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:25.805Z,1736372845.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.583432 2025-01-08T21:47:25.934Z,1736372845.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:25.943Z,1736372845.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:25.945Z,1736372845.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 44.247837 m, bearing: 204.134679 deg, approach rate: -0.711889 m/s, LOS rate: 0.349910 deg/s, cmd heading: 188.889237 deg, new cmd heading: 189.334816 deg. 2025-01-08T21:47:25.946Z,1736372845.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.304516 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:26.056Z,1736372846.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:26.057Z,1736372846.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.835543 2025-01-08T21:47:26.308Z,1736372846.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:26.308Z,1736372846.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.087179 2025-01-08T21:47:26.359Z,1736372846.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:26.368Z,1736372846.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:26.371Z,1736372846.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 43.942898 m, bearing: 204.285753 deg, approach rate: -0.716582 m/s, LOS rate: 0.357475 deg/s, cmd heading: 189.334811 deg, new cmd heading: 189.791168 deg. 2025-01-08T21:47:26.372Z,1736372846.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.312481 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:26.560Z,1736372846.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:26.560Z,1736372846.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.339303 2025-01-08T21:47:26.772Z,1736372846.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:26.781Z,1736372846.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:26.804Z,1736372846.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 43.645691 m, bearing: 204.429431 deg, approach rate: -0.720306 m/s, LOS rate: 0.350586 deg/s, cmd heading: 189.791163 deg, new cmd heading: 190.225123 deg. 2025-01-08T21:47:26.805Z,1736372846.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.320055 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:26.812Z,1736372846.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:26.813Z,1736372846.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.591483 2025-01-08T21:47:27.064Z,1736372847.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:27.064Z,1736372847.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.843269 2025-01-08T21:47:27.134Z,1736372847.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:27.143Z,1736372847.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:27.146Z,1736372847.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 43.385044 m, bearing: 204.554210 deg, approach rate: -0.719760 m/s, LOS rate: 0.346639 deg/s, cmd heading: 190.225126 deg, new cmd heading: 190.601705 deg. 2025-01-08T21:47:27.147Z,1736372847.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.326627 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:27.318Z,1736372847.318 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:27.319Z,1736372847.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.098235 2025-01-08T21:47:27.527Z,1736372847.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:27.568Z,1736372847.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:27.569Z,1736372847.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.348163 2025-01-08T21:47:27.571Z,1736372847.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:27.577Z,1736372847.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:27.582Z,1736372847.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 43.101875 m, bearing: 204.689067 deg, approach rate: -0.652025 m/s, LOS rate: 0.312563 deg/s, cmd heading: 190.601702 deg, new cmd heading: 191.008925 deg. 2025-01-08T21:47:27.592Z,1736372847.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.333735 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:27.820Z,1736372847.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:27.820Z,1736372847.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.599236 2025-01-08T21:47:27.970Z,1736372847.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:27.978Z,1736372847.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:27.981Z,1736372847.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 42.783859 m, bearing: 204.839125 deg, approach rate: -0.792603 m/s, LOS rate: 0.376772 deg/s, cmd heading: 191.008931 deg, new cmd heading: 191.462439 deg. 2025-01-08T21:47:27.982Z,1736372847.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.341650 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:28.072Z,1736372848.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:28.072Z,1736372848.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.851365 2025-01-08T21:47:28.324Z,1736372848.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:28.324Z,1736372848.324 [DAT](INFO): Reached modem response timeout 2025-01-08T21:47:28.324Z,1736372848.324 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:28.325Z,1736372848.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:28.436Z,1736372848.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:28.444Z,1736372848.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:28.447Z,1736372848.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 42.447865 m, bearing: 204.992753 deg, approach rate: -0.721014 m/s, LOS rate: 0.332282 deg/s, cmd heading: 191.462442 deg, new cmd heading: 191.926965 deg. 2025-01-08T21:47:28.448Z,1736372848.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.349757 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:28.576Z,1736372848.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:28.576Z,1736372848.576 [DAT](INFO): Reached modem response timeout 2025-01-08T21:47:28.576Z,1736372848.576 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:28.577Z,1736372848.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:28.828Z,1736372848.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:28.828Z,1736372848.828 [DAT](INFO): Reached modem response timeout 2025-01-08T21:47:28.828Z,1736372848.828 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:28.829Z,1736372848.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:28.842Z,1736372848.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:28.853Z,1736372848.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:28.877Z,1736372848.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 42.153477 m, bearing: 205.119649 deg, approach rate: -0.721130 m/s, LOS rate: 0.313015 deg/s, cmd heading: 191.926963 deg, new cmd heading: 192.310304 deg. 2025-01-08T21:47:28.884Z,1736372848.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.356448 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:29.080Z,1736372849.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:29.081Z,1736372849.081 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:47:29.081Z,1736372849.081 [DAT](INFO): response not received 2025-01-08T21:47:29.081Z,1736372849.081 [DAT](INFO): DAT read: user:2059> 2025-01-08T21:47:29.082Z,1736372849.082 [DAT](INFO): DAT read: Tx time:21:47:28.3344 2025-01-08T21:47:29.082Z,1736372849.082 [DAT](INFO): Ping request sent. 2025-01-08T21:47:29.082Z,1736372849.082 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:47:29.083Z,1736372849.083 [DAT](INFO): publishing transmit ping time 2025-01-08T21:47:29.084Z,1736372849.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001526 2025-01-08T21:47:29.237Z,1736372849.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:29.254Z,1736372849.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:29.261Z,1736372849.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 41.866638 m, bearing: 205.239337 deg, approach rate: -0.714916 m/s, LOS rate: 0.300352 deg/s, cmd heading: 192.310301 deg, new cmd heading: 192.671818 deg. 2025-01-08T21:47:29.262Z,1736372849.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.362758 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:29.333Z,1736372849.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:29.334Z,1736372849.334 [DAT](INFO): DAT read: TxSync time:21:47:28.3336 2025-01-08T21:47:29.336Z,1736372849.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253092 2025-01-08T21:47:29.584Z,1736372849.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:29.585Z,1736372849.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502491 2025-01-08T21:47:29.636Z,1736372849.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:29.644Z,1736372849.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:29.647Z,1736372849.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:29.653Z,1736372849.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 41.576862 m, bearing: 205.359076 deg, approach rate: -0.737531 m/s, LOS rate: 0.306881 deg/s, cmd heading: 192.671823 deg, new cmd heading: 193.033539 deg. 2025-01-08T21:47:29.654Z,1736372849.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.369071 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:29.836Z,1736372849.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:29.837Z,1736372849.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754357 2025-01-08T21:47:30.049Z,1736372850.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:30.059Z,1736372850.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:30.062Z,1736372850.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 41.278397 m, bearing: 205.468867 deg, approach rate: -0.724389 m/s, LOS rate: 0.268394 deg/s, cmd heading: 193.033536 deg, new cmd heading: 193.365286 deg. 2025-01-08T21:47:30.062Z,1736372850.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.374861 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:30.088Z,1736372850.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:30.088Z,1736372850.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006111 2025-01-08T21:47:30.341Z,1736372850.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:30.342Z,1736372850.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259548 2025-01-08T21:47:30.443Z,1736372850.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:30.453Z,1736372850.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:30.455Z,1736372850.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 40.993462 m, bearing: 205.572605 deg, approach rate: -0.723306 m/s, LOS rate: 0.265169 deg/s, cmd heading: 193.365292 deg, new cmd heading: 193.678666 deg. 2025-01-08T21:47:30.456Z,1736372850.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.380330 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:30.536Z,1736372850.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:47:30.592Z,1736372850.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:30.592Z,1736372850.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510013 2025-01-08T21:47:30.844Z,1736372850.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:30.844Z,1736372850.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762045 2025-01-08T21:47:30.892Z,1736372850.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:30.902Z,1736372850.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:30.905Z,1736372850.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 40.663082 m, bearing: 205.682163 deg, approach rate: -0.736031 m/s, LOS rate: 0.246061 deg/s, cmd heading: 193.678661 deg, new cmd heading: 194.010003 deg. 2025-01-08T21:47:30.906Z,1736372850.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.386113 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:31.096Z,1736372851.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:31.096Z,1736372851.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013939 2025-01-08T21:47:31.238Z,1736372851.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:31.248Z,1736372851.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:31.251Z,1736372851.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 40.408463 m, bearing: 205.763320 deg, approach rate: -0.734015 m/s, LOS rate: 0.235433 deg/s, cmd heading: 194.010007 deg, new cmd heading: 194.255011 deg. 2025-01-08T21:47:31.252Z,1736372851.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.390389 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:31.348Z,1736372851.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:31.349Z,1736372851.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266299 2025-01-08T21:47:31.540Z,1736372851.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:47:31.600Z,1736372851.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:31.601Z,1736372851.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518748 2025-01-08T21:47:31.677Z,1736372851.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:31.687Z,1736372851.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:31.697Z,1736372851.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:31.704Z,1736372851.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 40.084263 m, bearing: 205.865292 deg, approach rate: -0.722755 m/s, LOS rate: 0.229169 deg/s, cmd heading: 194.255006 deg, new cmd heading: 194.563391 deg. 2025-01-08T21:47:31.705Z,1736372851.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.395772 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:31.852Z,1736372851.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:31.853Z,1736372851.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770132 2025-01-08T21:47:32.085Z,1736372852.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:32.104Z,1736372852.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:32.105Z,1736372852.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022195 2025-01-08T21:47:32.124Z,1736372852.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:32.126Z,1736372852.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 39.786446 m, bearing: 205.954971 deg, approach rate: -0.705389 m/s, LOS rate: 0.213999 deg/s, cmd heading: 194.563389 deg, new cmd heading: 194.834440 deg. 2025-01-08T21:47:32.136Z,1736372852.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.400502 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:32.356Z,1736372852.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:32.356Z,1736372852.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273992 2025-01-08T21:47:32.464Z,1736372852.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:32.473Z,1736372852.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:32.476Z,1736372852.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 39.509800 m, bearing: 206.036827 deg, approach rate: -0.781366 m/s, LOS rate: 0.232813 deg/s, cmd heading: 194.834438 deg, new cmd heading: 195.081722 deg. 2025-01-08T21:47:32.477Z,1736372852.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.404818 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:32.608Z,1736372852.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:32.608Z,1736372852.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526101 2025-01-08T21:47:32.860Z,1736372852.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:32.860Z,1736372852.860 [DAT](INFO): DAT read: Rx Time:21:47:31.4936 2025-01-08T21:47:32.861Z,1736372852.861 [DAT](INFO): Rx dataTimestamp_ set to:1736372852.860635 2025-01-08T21:47:32.861Z,1736372852.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779089 2025-01-08T21:47:32.910Z,1736372852.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:32.920Z,1736372852.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:32.923Z,1736372852.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 39.179596 m, bearing: 206.125476 deg, approach rate: -0.738850 m/s, LOS rate: 0.200028 deg/s, cmd heading: 195.081718 deg, new cmd heading: 195.349904 deg. 2025-01-08T21:47:32.924Z,1736372852.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.409499 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:33.112Z,1736372853.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:33.112Z,1736372853.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029943 2025-01-08T21:47:33.276Z,1736372853.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:33.286Z,1736372853.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:33.289Z,1736372853.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 38.909271 m, bearing: 206.199187 deg, approach rate: -0.737882 m/s, LOS rate: 0.202603 deg/s, cmd heading: 195.349899 deg, new cmd heading: 195.572570 deg. 2025-01-08T21:47:33.290Z,1736372853.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.413385 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:33.364Z,1736372853.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:33.365Z,1736372853.365 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:47:33.365Z,1736372853.365 [DAT](INFO): Received a bad header 2025-01-08T21:47:33.380Z,1736372853.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297714 2025-01-08T21:47:33.616Z,1736372853.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:33.617Z,1736372853.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534786 2025-01-08T21:47:33.681Z,1736372853.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:33.704Z,1736372853.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:33.706Z,1736372853.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:33.713Z,1736372853.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 38.608940 m, bearing: 206.274017 deg, approach rate: -0.715984 m/s, LOS rate: 0.179781 deg/s, cmd heading: 195.572563 deg, new cmd heading: 195.798797 deg. 2025-01-08T21:47:33.714Z,1736372853.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.417334 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:33.868Z,1736372853.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:33.869Z,1736372853.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786540 2025-01-08T21:47:34.120Z,1736372854.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:34.120Z,1736372854.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038082 2025-01-08T21:47:34.217Z,1736372854.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:34.225Z,1736372854.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:34.228Z,1736372854.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 38.215595 m, bearing: 206.366082 deg, approach rate: -0.757562 m/s, LOS rate: 0.179137 deg/s, cmd heading: 195.798793 deg, new cmd heading: 196.077828 deg. 2025-01-08T21:47:34.229Z,1736372854.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.422204 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:34.372Z,1736372854.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:34.373Z,1736372854.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290827 2025-01-08T21:47:34.476Z,1736372854.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:34.497Z,1736372854.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:34.503Z,1736372854.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 38.024658 m, bearing: 206.409876 deg, approach rate: -0.703581 m/s, LOS rate: 0.162184 deg/s, cmd heading: 196.077833 deg, new cmd heading: 196.209873 deg. 2025-01-08T21:47:34.504Z,1736372854.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.424508 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:34.624Z,1736372854.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:34.624Z,1736372854.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542098 2025-01-08T21:47:34.876Z,1736372854.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:34.876Z,1736372854.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794114 2025-01-08T21:47:34.917Z,1736372854.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:34.926Z,1736372854.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:34.929Z,1736372854.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 37.710373 m, bearing: 206.486633 deg, approach rate: -0.732112 m/s, LOS rate: 0.180294 deg/s, cmd heading: 196.209874 deg, new cmd heading: 196.442066 deg. 2025-01-08T21:47:34.930Z,1736372854.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.428561 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:35.131Z,1736372855.131 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:35.132Z,1736372855.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049745 2025-01-08T21:47:35.288Z,1736372855.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:35.296Z,1736372855.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:35.298Z,1736372855.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 37.445889 m, bearing: 206.550108 deg, approach rate: -0.714688 m/s, LOS rate: 0.172732 deg/s, cmd heading: 196.442060 deg, new cmd heading: 196.633827 deg. 2025-01-08T21:47:35.301Z,1736372855.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.431908 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:35.380Z,1736372855.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:35.381Z,1736372855.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298723 2025-01-08T21:47:35.632Z,1736372855.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:35.632Z,1736372855.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550022 2025-01-08T21:47:35.693Z,1736372855.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:35.721Z,1736372855.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:35.723Z,1736372855.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:35.726Z,1736372855.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 37.155930 m, bearing: 206.617854 deg, approach rate: -0.679099 m/s, LOS rate: 0.159903 deg/s, cmd heading: 196.633824 deg, new cmd heading: 196.838648 deg. 2025-01-08T21:47:35.727Z,1736372855.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.435483 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:35.884Z,1736372855.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:35.885Z,1736372855.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802983 2025-01-08T21:47:36.136Z,1736372856.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:36.137Z,1736372856.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054284 2025-01-08T21:47:36.140Z,1736372856.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:36.149Z,1736372856.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:36.153Z,1736372856.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 36.841808 m, bearing: 206.699736 deg, approach rate: -0.737203 m/s, LOS rate: 0.193805 deg/s, cmd heading: 196.838648 deg, new cmd heading: 197.086387 deg. 2025-01-08T21:47:36.154Z,1736372856.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.439806 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:36.389Z,1736372856.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:36.392Z,1736372856.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308420 2025-01-08T21:47:36.514Z,1736372856.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:36.523Z,1736372856.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:36.525Z,1736372856.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 36.579479 m, bearing: 206.765054 deg, approach rate: -0.702295 m/s, LOS rate: 0.176119 deg/s, cmd heading: 197.086393 deg, new cmd heading: 197.283749 deg. 2025-01-08T21:47:36.526Z,1736372856.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.443251 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:36.640Z,1736372856.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:36.640Z,1736372856.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558032 2025-01-08T21:47:36.892Z,1736372856.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:36.892Z,1736372856.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809941 2025-01-08T21:47:36.998Z,1736372856.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:37.007Z,1736372857.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:37.010Z,1736372857.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 36.233963 m, bearing: 206.859464 deg, approach rate: -0.713394 m/s, LOS rate: 0.196789 deg/s, cmd heading: 197.283744 deg, new cmd heading: 197.569673 deg. 2025-01-08T21:47:37.011Z,1736372857.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.448241 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:37.144Z,1736372857.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:37.145Z,1736372857.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062776 2025-01-08T21:47:37.382Z,1736372857.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:37.390Z,1736372857.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:37.393Z,1736372857.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 35.959656 m, bearing: 206.933536 deg, approach rate: -0.716054 m/s, LOS rate: 0.194834 deg/s, cmd heading: 197.569669 deg, new cmd heading: 197.793580 deg. 2025-01-08T21:47:37.394Z,1736372857.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.452149 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:37.396Z,1736372857.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:37.397Z,1736372857.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314169 2025-01-08T21:47:37.648Z,1736372857.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:37.649Z,1736372857.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566587 2025-01-08T21:47:37.784Z,1736372857.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:37.791Z,1736372857.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:37.793Z,1736372857.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:37.796Z,1736372857.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 35.672016 m, bearing: 207.009996 deg, approach rate: -0.713535 m/s, LOS rate: 0.191202 deg/s, cmd heading: 197.793577 deg, new cmd heading: 198.024807 deg. 2025-01-08T21:47:37.797Z,1736372857.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.456185 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:37.900Z,1736372857.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:37.901Z,1736372857.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818719 2025-01-08T21:47:38.152Z,1736372858.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:38.152Z,1736372858.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070061 2025-01-08T21:47:38.248Z,1736372858.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:38.258Z,1736372858.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:38.260Z,1736372858.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 35.349163 m, bearing: 207.124476 deg, approach rate: -0.695060 m/s, LOS rate: 0.248710 deg/s, cmd heading: 198.024806 deg, new cmd heading: 198.371376 deg. 2025-01-08T21:47:38.261Z,1736372858.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.462234 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:38.404Z,1736372858.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:38.404Z,1736372858.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322058 2025-01-08T21:47:38.587Z,1736372858.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:38.595Z,1736372858.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:38.598Z,1736372858.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 35.112701 m, bearing: 207.207216 deg, approach rate: -0.700557 m/s, LOS rate: 0.246781 deg/s, cmd heading: 198.371370 deg, new cmd heading: 198.621259 deg. 2025-01-08T21:47:38.599Z,1736372858.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.466595 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:38.657Z,1736372858.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:38.658Z,1736372858.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575313 2025-01-08T21:47:38.909Z,1736372858.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:38.913Z,1736372858.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828431 2025-01-08T21:47:39.020Z,1736372859.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:39.049Z,1736372859.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:39.057Z,1736372859.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 34.816040 m, bearing: 207.329330 deg, approach rate: -0.653819 m/s, LOS rate: 0.271423 deg/s, cmd heading: 198.621259 deg, new cmd heading: 198.990717 deg. 2025-01-08T21:47:39.058Z,1736372859.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.473043 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:39.162Z,1736372859.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:39.162Z,1736372859.162 [DAT](INFO): Reached modem response timeout 2025-01-08T21:47:39.162Z,1736372859.162 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:39.162Z,1736372859.162 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:39.390Z,1736372859.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:39.399Z,1736372859.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:39.401Z,1736372859.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 34.562340 m, bearing: 207.430744 deg, approach rate: -0.725397 m/s, LOS rate: 0.292100 deg/s, cmd heading: 198.990718 deg, new cmd heading: 199.297192 deg. 2025-01-08T21:47:39.402Z,1736372859.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.478392 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:39.412Z,1736372859.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:39.412Z,1736372859.412 [DAT](INFO): Reached modem response timeout 2025-01-08T21:47:39.412Z,1736372859.412 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:39.413Z,1736372859.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:39.664Z,1736372859.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:39.665Z,1736372859.665 [DAT](INFO): Reached modem response timeout 2025-01-08T21:47:39.665Z,1736372859.665 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:47:39.666Z,1736372859.666 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:39.799Z,1736372859.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:39.807Z,1736372859.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:39.809Z,1736372859.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:39.812Z,1736372859.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 34.281761 m, bearing: 207.541937 deg, approach rate: -0.683450 m/s, LOS rate: 0.273065 deg/s, cmd heading: 199.297188 deg, new cmd heading: 199.633491 deg. 2025-01-08T21:47:39.813Z,1736372859.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.484262 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:39.918Z,1736372859.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:39.919Z,1736372859.919 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:47:39.920Z,1736372859.920 [DAT](INFO): response not received 2025-01-08T21:47:39.920Z,1736372859.920 [DAT](INFO): DAT read: user:2061> 2025-01-08T21:47:39.921Z,1736372859.921 [DAT](INFO): DAT read: Tx time:21:47:39.2845 2025-01-08T21:47:39.921Z,1736372859.921 [DAT](INFO): Ping request sent. 2025-01-08T21:47:39.921Z,1736372859.921 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:47:39.921Z,1736372859.921 [DAT](INFO): publishing transmit ping time 2025-01-08T21:47:39.922Z,1736372859.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-01-08T21:47:40.168Z,1736372860.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:40.169Z,1736372860.169 [DAT](INFO): DAT read: TxSync time:21:47:39.2837 2025-01-08T21:47:40.170Z,1736372860.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248304 2025-01-08T21:47:40.249Z,1736372860.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:40.274Z,1736372860.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:40.281Z,1736372860.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 33.976288 m, bearing: 207.674863 deg, approach rate: -0.656494 m/s, LOS rate: 0.288241 deg/s, cmd heading: 199.633493 deg, new cmd heading: 200.035850 deg. 2025-01-08T21:47:40.282Z,1736372860.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.491284 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:40.420Z,1736372860.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:40.420Z,1736372860.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499135 2025-01-08T21:47:40.600Z,1736372860.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:40.609Z,1736372860.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:40.611Z,1736372860.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 33.737827 m, bearing: 207.775293 deg, approach rate: -0.713550 m/s, LOS rate: 0.302643 deg/s, cmd heading: 200.035846 deg, new cmd heading: 200.339263 deg. 2025-01-08T21:47:40.612Z,1736372860.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.496580 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:40.672Z,1736372860.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:40.674Z,1736372860.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752215 2025-01-08T21:47:40.925Z,1736372860.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:40.928Z,1736372860.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005703 2025-01-08T21:47:41.034Z,1736372861.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:41.043Z,1736372861.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:41.045Z,1736372861.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 33.441605 m, bearing: 207.909715 deg, approach rate: -0.682530 m/s, LOS rate: 0.312466 deg/s, cmd heading: 200.339270 deg, new cmd heading: 200.746101 deg. 2025-01-08T21:47:41.049Z,1736372861.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.503680 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:41.176Z,1736372861.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:41.176Z,1736372861.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255161 2025-01-08T21:47:41.413Z,1736372861.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:41.422Z,1736372861.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:41.425Z,1736372861.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 33.182178 m, bearing: 208.027662 deg, approach rate: -0.684166 m/s, LOS rate: 0.313484 deg/s, cmd heading: 200.746104 deg, new cmd heading: 201.102706 deg. 2025-01-08T21:47:41.426Z,1736372861.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.509904 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:41.428Z,1736372861.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:41.428Z,1736372861.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507167 2025-01-08T21:47:41.680Z,1736372861.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:41.681Z,1736372861.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759579 2025-01-08T21:47:41.816Z,1736372861.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:41.823Z,1736372861.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:41.825Z,1736372861.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:41.828Z,1736372861.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 32.907433 m, bearing: 208.151799 deg, approach rate: -0.680701 m/s, LOS rate: 0.310126 deg/s, cmd heading: 201.102708 deg, new cmd heading: 201.478224 deg. 2025-01-08T21:47:41.829Z,1736372861.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516458 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:41.934Z,1736372861.934 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:41.942Z,1736372861.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020309 2025-01-08T21:47:42.184Z,1736372862.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:42.185Z,1736372862.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263555 2025-01-08T21:47:42.280Z,1736372862.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:42.290Z,1736372862.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:42.293Z,1736372862.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 32.588120 m, bearing: 208.288042 deg, approach rate: -0.687628 m/s, LOS rate: 0.296267 deg/s, cmd heading: 201.478218 deg, new cmd heading: 201.890942 deg. 2025-01-08T21:47:42.294Z,1736372862.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.523662 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:42.436Z,1736372862.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:42.436Z,1736372862.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515058 2025-01-08T21:47:42.634Z,1736372862.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:42.644Z,1736372862.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:42.649Z,1736372862.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 32.345062 m, bearing: 208.391315 deg, approach rate: -0.688737 m/s, LOS rate: 0.294838 deg/s, cmd heading: 201.890939 deg, new cmd heading: 202.203083 deg. 2025-01-08T21:47:42.651Z,1736372862.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529109 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:42.688Z,1736372862.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:42.689Z,1736372862.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767313 2025-01-08T21:47:42.947Z,1736372862.947 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:42.949Z,1736372862.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027646 2025-01-08T21:47:43.057Z,1736372863.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:43.066Z,1736372863.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:43.069Z,1736372863.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 32.049206 m, bearing: 208.495108 deg, approach rate: -0.699471 m/s, LOS rate: 0.247655 deg/s, cmd heading: 202.203079 deg, new cmd heading: 202.517328 deg. 2025-01-08T21:47:43.070Z,1736372863.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534594 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:43.196Z,1736372863.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:43.196Z,1736372863.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275087 2025-01-08T21:47:43.437Z,1736372863.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:43.448Z,1736372863.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:43.449Z,1736372863.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527247 2025-01-08T21:47:43.449Z,1736372863.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:43.452Z,1736372863.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 31.783560 m, bearing: 208.584257 deg, approach rate: -0.695926 m/s, LOS rate: 0.235500 deg/s, cmd heading: 202.517322 deg, new cmd heading: 202.787002 deg. 2025-01-08T21:47:43.453Z,1736372863.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539301 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:43.700Z,1736372863.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:43.701Z,1736372863.701 [DAT](INFO): DAT read: Rx Time:21:47:42.4436 2025-01-08T21:47:43.702Z,1736372863.702 [DAT](INFO): Rx dataTimestamp_ set to:1736372863.701345 2025-01-08T21:47:43.702Z,1736372863.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780888 2025-01-08T21:47:43.846Z,1736372863.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:43.854Z,1736372863.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:43.856Z,1736372863.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:43.859Z,1736372863.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 31.494764 m, bearing: 208.679766 deg, approach rate: -0.706072 m/s, LOS rate: 0.235649 deg/s, cmd heading: 202.787005 deg, new cmd heading: 203.076156 deg. 2025-01-08T21:47:43.860Z,1736372863.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544348 target range: 533.099976 and range: 533.10 m. 2025-01-08T21:47:43.953Z,1736372863.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:43.957Z,1736372863.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034462 2025-01-08T21:47:44.204Z,1736372864.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:44.210Z,1736372864.210 [DAT](INFO): DAT read: Range 10 to 50 : 566.1 m (Round-trip 754.9 ms) speed -0.5 m/s 2025-01-08T21:47:44.215Z,1736372864.215 [DAT](INFO): DAT read: user:2062> 2025-01-08T21:47:44.216Z,1736372864.216 [DAT](INFO): DAT read: Tx time:21:47:43.5346 2025-01-08T21:47:44.217Z,1736372864.217 [DAT](INFO): Ping request sent. 2025-01-08T21:47:44.217Z,1736372864.217 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:47:44.217Z,1736372864.217 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:47:44.217Z,1736372864.217 [DAT](INFO): publishing transmit ping time 2025-01-08T21:47:44.218Z,1736372864.218 [DAT](INFO): publishing transmit ping time 2025-01-08T21:47:44.307Z,1736372864.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:44.341Z,1736372864.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 566.099976 m, deltaT: 59.020896 s, deltaX: 33.000000 m, approachRate: 0.559124 m/s, rangeRepo size: 4 2025-01-08T21:47:44.342Z,1736372864.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:44.349Z,1736372864.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 31.168329 m, bearing: 208.770435 deg, approach rate: -0.674630 m/s, LOS rate: 0.189345 deg/s, cmd heading: 203.076154 deg, new cmd heading: 203.351008 deg. 2025-01-08T21:47:44.350Z,1736372864.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.549145 target range: 533.099976 and range: 566.10 m. 2025-01-08T21:47:44.462Z,1736372864.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:44.464Z,1736372864.464 [DAT](INFO): DAT read: TxSync time:21:47:43.5338 2025-01-08T21:47:44.648Z,1736372864.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:44.688Z,1736372864.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:44.690Z,1736372864.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 30.926191 m, bearing: 208.836528 deg, approach rate: -0.706199 m/s, LOS rate: 0.194272 deg/s, cmd heading: 203.351015 deg, new cmd heading: 203.550847 deg. 2025-01-08T21:47:44.696Z,1736372864.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.552633 target range: 533.099976 and range: 566.10 m. 2025-01-08T21:47:44.712Z,1736372864.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:44.965Z,1736372864.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:45.061Z,1736372865.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:45.070Z,1736372865.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:45.073Z,1736372865.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 30.604240 m, bearing: 208.556012 deg, approach rate: -0.831667 m/s, LOS rate: -0.732253 deg/s, cmd heading: 203.550852 deg, new cmd heading: 202.700517 deg. 2025-01-08T21:47:45.074Z,1736372865.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537791 target range: 533.099976 and range: 566.10 m. 2025-01-08T21:47:45.216Z,1736372865.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:45.444Z,1736372865.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:45.453Z,1736372865.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:45.456Z,1736372865.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 30.306881 m, bearing: 208.289069 deg, approach rate: -0.776815 m/s, LOS rate: -0.704196 deg/s, cmd heading: 202.700521 deg, new cmd heading: 201.891891 deg. 2025-01-08T21:47:45.457Z,1736372865.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.523678 target range: 533.099976 and range: 566.10 m. 2025-01-08T21:47:45.476Z,1736372865.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:45.728Z,1736372865.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:45.856Z,1736372865.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:45.862Z,1736372865.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:45.865Z,1736372865.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:45.868Z,1736372865.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 29.987629 m, bearing: 207.995431 deg, approach rate: -0.775669 m/s, LOS rate: -0.721027 deg/s, cmd heading: 201.891895 deg, new cmd heading: 201.001679 deg. 2025-01-08T21:47:45.869Z,1736372865.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.508141 target range: 533.099976 and range: 566.10 m. 2025-01-08T21:47:45.984Z,1736372865.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:45.986Z,1736372865.986 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:47:45.986Z,1736372865.986 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:47:45.987Z,1736372865.987 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:46.236Z,1736372866.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:46.237Z,1736372866.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020088 2025-01-08T21:47:46.303Z,1736372866.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:46.312Z,1736372866.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:46.314Z,1736372866.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 29.654062 m, bearing: 208.036183 deg, approach rate: -0.745775 m/s, LOS rate: 0.092135 deg/s, cmd heading: 201.001676 deg, new cmd heading: 201.125305 deg. 2025-01-08T21:47:46.316Z,1736372866.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510299 target range: 533.099976 and range: 566.10 m. 2025-01-08T21:47:46.488Z,1736372866.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:46.488Z,1736372866.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271728 2025-01-08T21:47:46.680Z,1736372866.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:46.690Z,1736372866.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:46.693Z,1736372866.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 29.372375 m, bearing: 208.070497 deg, approach rate: -0.745339 m/s, LOS rate: 0.091665 deg/s, cmd heading: 201.125302 deg, new cmd heading: 201.229231 deg. 2025-01-08T21:47:46.694Z,1736372866.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512113 target range: 533.099976 and range: 566.10 m. 2025-01-08T21:47:46.740Z,1736372866.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:46.742Z,1736372866.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524663 2025-01-08T21:47:46.993Z,1736372866.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:46.998Z,1736372866.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780474 2025-01-08T21:47:47.102Z,1736372867.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:47.111Z,1736372867.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:47.130Z,1736372867.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 29.050667 m, bearing: 208.074603 deg, approach rate: -0.764275 m/s, LOS rate: 0.009862 deg/s, cmd heading: 201.229230 deg, new cmd heading: 201.241684 deg. 2025-01-08T21:47:47.131Z,1736372867.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512330 target range: 533.099976 and range: 566.10 m. 2025-01-08T21:47:47.244Z,1736372867.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:47.244Z,1736372867.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027769 2025-01-08T21:47:47.464Z,1736372867.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:47.474Z,1736372867.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:47.478Z,1736372867.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 28.774494 m, bearing: 208.078185 deg, approach rate: -0.760098 m/s, LOS rate: 0.009953 deg/s, cmd heading: 201.241688 deg, new cmd heading: 201.252538 deg. 2025-01-08T21:47:47.480Z,1736372867.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512519 target range: 533.099976 and range: 566.10 m. 2025-01-08T21:47:47.496Z,1736372867.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:47.496Z,1736372867.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279543 2025-01-08T21:47:47.748Z,1736372867.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:47.748Z,1736372867.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531649 2025-01-08T21:47:47.881Z,1736372867.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:47.905Z,1736372867.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:47.907Z,1736372867.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:47.910Z,1736372867.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 28.456268 m, bearing: 208.083349 deg, approach rate: -0.734924 m/s, LOS rate: 0.012061 deg/s, cmd heading: 201.252535 deg, new cmd heading: 201.268202 deg. 2025-01-08T21:47:47.911Z,1736372867.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512793 target range: 533.099976 and range: 566.10 m. 2025-01-08T21:47:48.002Z,1736372868.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:48.005Z,1736372868.005 [DAT](INFO): DAT read: Rx Time:21:47:46.6974 2025-01-08T21:47:48.006Z,1736372868.006 [DAT](INFO): Rx dataTimestamp_ set to:1736372868.005602 2025-01-08T21:47:48.009Z,1736372868.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792185 2025-01-08T21:47:48.252Z,1736372868.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:48.252Z,1736372868.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035766 2025-01-08T21:47:48.317Z,1736372868.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:48.356Z,1736372868.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:48.363Z,1736372868.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 28.126715 m, bearing: 208.088389 deg, approach rate: -0.743281 m/s, LOS rate: 0.011500 deg/s, cmd heading: 201.268203 deg, new cmd heading: 201.283499 deg. 2025-01-08T21:47:48.364Z,1736372868.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513060 target range: 533.099976 and range: 566.10 m. 2025-01-08T21:47:48.504Z,1736372868.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:48.505Z,1736372868.505 [DAT](INFO): DAT read: Range 10 to 50 : 568.9 m (Round-trip 758.6 ms) speed -0.6 m/s 2025-01-08T21:47:48.506Z,1736372868.506 [DAT](INFO): DAT read: user:2063> 2025-01-08T21:47:48.507Z,1736372868.507 [DAT](INFO): DAT read: Tx time:21:47:47.7846 2025-01-08T21:47:48.507Z,1736372868.507 [DAT](INFO): Ping request sent. 2025-01-08T21:47:48.507Z,1736372868.507 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:47:48.508Z,1736372868.508 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:47:48.508Z,1736372868.508 [DAT](INFO): publishing transmit ping time 2025-01-08T21:47:48.509Z,1736372868.509 [DAT](INFO): publishing transmit ping time 2025-01-08T21:47:48.687Z,1736372868.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:48.714Z,1736372868.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 568.900024 m, deltaT: 4.298772 s, deltaX: 2.800049 m, approachRate: 0.651360 m/s, rangeRepo size: 4 2025-01-08T21:47:48.720Z,1736372868.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:48.722Z,1736372868.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 27.846075 m, bearing: 208.094282 deg, approach rate: -0.772574 m/s, LOS rate: 0.016385 deg/s, cmd heading: 201.283503 deg, new cmd heading: 201.301358 deg. 2025-01-08T21:47:48.728Z,1736372868.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513371 target range: 533.099976 and range: 568.90 m. 2025-01-08T21:47:48.756Z,1736372868.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:48.757Z,1736372868.757 [DAT](INFO): DAT read: TxSync time:21:47:47.7838 2025-01-08T21:47:49.010Z,1736372869.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:49.118Z,1736372869.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:49.127Z,1736372869.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:49.130Z,1736372869.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 27.521240 m, bearing: 208.096554 deg, approach rate: -0.786376 m/s, LOS rate: 0.005567 deg/s, cmd heading: 201.301357 deg, new cmd heading: 201.308255 deg. 2025-01-08T21:47:49.131Z,1736372869.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513492 target range: 533.099976 and range: 568.90 m. 2025-01-08T21:47:49.260Z,1736372869.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:49.494Z,1736372869.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:49.505Z,1736372869.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:49.507Z,1736372869.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 27.237545 m, bearing: 208.101532 deg, approach rate: -0.750848 m/s, LOS rate: 0.013313 deg/s, cmd heading: 201.308255 deg, new cmd heading: 201.323345 deg. 2025-01-08T21:47:49.508Z,1736372869.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513755 target range: 533.099976 and range: 568.90 m. 2025-01-08T21:47:49.512Z,1736372869.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:49.764Z,1736372869.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:49.895Z,1736372869.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:49.906Z,1736372869.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:49.908Z,1736372869.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 26.935490 m, bearing: 208.108698 deg, approach rate: -0.753471 m/s, LOS rate: 0.018074 deg/s, cmd heading: 201.323350 deg, new cmd heading: 201.345088 deg. 2025-01-08T21:47:49.909Z,1736372869.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.514135 target range: 533.099976 and range: 568.90 m. 2025-01-08T21:47:50.018Z,1736372870.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:50.268Z,1736372870.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:50.344Z,1736372870.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:50.356Z,1736372870.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:50.358Z,1736372870.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:50.364Z,1736372870.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 26.598026 m, bearing: 208.140468 deg, approach rate: -0.746640 m/s, LOS rate: 0.071184 deg/s, cmd heading: 201.345084 deg, new cmd heading: 201.441604 deg. 2025-01-08T21:47:50.365Z,1736372870.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.515819 target range: 533.099976 and range: 568.90 m. 2025-01-08T21:47:50.522Z,1736372870.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:50.524Z,1736372870.524 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:47:50.525Z,1736372870.525 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:47:50.525Z,1736372870.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:50.713Z,1736372870.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:50.722Z,1736372870.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:50.725Z,1736372870.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 26.319828 m, bearing: 208.168810 deg, approach rate: -0.763358 m/s, LOS rate: 0.078591 deg/s, cmd heading: 201.441608 deg, new cmd heading: 201.527533 deg. 2025-01-08T21:47:50.726Z,1736372870.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517319 target range: 533.099976 and range: 568.90 m. 2025-01-08T21:47:50.772Z,1736372870.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:50.773Z,1736372870.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265974 2025-01-08T21:47:51.024Z,1736372871.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:51.024Z,1736372871.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516851 2025-01-08T21:47:51.146Z,1736372871.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:51.156Z,1736372871.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:51.159Z,1736372871.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 25.997992 m, bearing: 208.238224 deg, approach rate: -0.741458 m/s, LOS rate: 0.161899 deg/s, cmd heading: 201.527532 deg, new cmd heading: 201.738352 deg. 2025-01-08T21:47:51.160Z,1736372871.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520998 target range: 533.099976 and range: 568.90 m. 2025-01-08T21:47:51.276Z,1736372871.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:51.276Z,1736372871.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768941 2025-01-08T21:47:51.516Z,1736372871.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:51.525Z,1736372871.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:51.528Z,1736372871.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:51.528Z,1736372871.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020979 2025-01-08T21:47:51.529Z,1736372871.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 25.723694 m, bearing: 208.299997 deg, approach rate: -0.743348 m/s, LOS rate: 0.169190 deg/s, cmd heading: 201.738352 deg, new cmd heading: 201.925647 deg. 2025-01-08T21:47:51.530Z,1736372871.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.524267 target range: 533.099976 and range: 568.90 m. 2025-01-08T21:47:51.780Z,1736372871.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:51.781Z,1736372871.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273033 2025-01-08T21:47:51.921Z,1736372871.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:51.946Z,1736372871.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:51.953Z,1736372871.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 25.422493 m, bearing: 208.369590 deg, approach rate: -0.716248 m/s, LOS rate: 0.167451 deg/s, cmd heading: 201.925650 deg, new cmd heading: 202.136901 deg. 2025-01-08T21:47:51.954Z,1736372871.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.527955 target range: 533.099976 and range: 568.90 m. 2025-01-08T21:47:52.034Z,1736372872.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:52.037Z,1736372872.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528654 2025-01-08T21:47:52.284Z,1736372872.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:52.285Z,1736372872.285 [DAT](INFO): DAT read: Rx Time:21:47:50.9414 2025-01-08T21:47:52.286Z,1736372872.286 [DAT](INFO): Rx dataTimestamp_ set to:1736372872.285557 2025-01-08T21:47:52.286Z,1736372872.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778856 2025-01-08T21:47:52.396Z,1736372872.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:52.404Z,1736372872.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:52.406Z,1736372872.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:52.409Z,1736372872.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 25.086763 m, bearing: 208.486683 deg, approach rate: -0.729351 m/s, LOS rate: 0.257781 deg/s, cmd heading: 202.136908 deg, new cmd heading: 202.492882 deg. 2025-01-08T21:47:52.410Z,1736372872.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534168 target range: 533.099976 and range: 568.90 m. 2025-01-08T21:47:52.536Z,1736372872.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:52.537Z,1736372872.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029123 2025-01-08T21:47:52.743Z,1736372872.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:52.752Z,1736372872.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.10 m. 2025-01-08T21:47:52.754Z,1736372872.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 533.099976 m, nav range: 24.841461 m, bearing: 208.574263 deg, approach rate: -0.709949 m/s, LOS rate: 0.255974 deg/s, cmd heading: 202.492883 deg, new cmd heading: 202.758214 deg. 2025-01-08T21:47:52.755Z,1736372872.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538798 target range: 533.099976 and range: 568.90 m. 2025-01-08T21:47:52.788Z,1736372872.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:52.795Z,1736372872.795 [DAT](INFO): DAT read: 21:47:50.9414 LVL= 20416, 23393, 22242, 30579, AGC= 70, IDX= 453, 0.11,-2.141,-0.709,-3.034,-2.396, PHS= 0.343, 1.734,-0.640, RAW= 354.3, -13.8, CAL= 355.0, -19.0, ROT= 155.0, 19.0 2025-01-08T21:47:52.796Z,1736372872.796 [DAT](INFO): got valid direction response: 21:47:50.9414 LVL= 20416, 23393, 22242, 30579, AGC= 70, IDX= 453, 0.11,-2.141,-0.709,-3.034,-2.396, PHS= 0.343, 1.734,-0.640, RAW= 354.3, -13.8, CAL= 355.0, -19.0, ROT= 155.0, 19.0 2025-01-08T21:47:52.797Z,1736372872.797 [DAT](INFO): DAT read: Bearing 155.0, 19.0 (Local) 2025-01-08T21:47:52.797Z,1736372872.797 [DAT](INFO): Local bearing/azimuth received: Bearing 155.0, 19.0 (Local) 2025-01-08T21:47:52.799Z,1736372872.799 [DAT](INFO): DAT read: Range 10 to 50 : 564.4 m (Round-trip 752.6 ms) speed -0.6 m/s 2025-01-08T21:47:52.800Z,1736372872.800 [DAT](INFO): DAT read: user:2064> 2025-01-08T21:47:52.801Z,1736372872.801 [DAT](INFO): DAT read: Tx time:21:47:52.0346 2025-01-08T21:47:52.801Z,1736372872.801 [DAT](INFO): Ping request sent. 2025-01-08T21:47:52.802Z,1736372872.802 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:47:52.802Z,1736372872.802 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:47:52.803Z,1736372872.803 [DAT](INFO): direction in FSK: [0.350704,0.928925,-0.118764] 2025-01-08T21:47:52.803Z,1736372872.803 [DAT](INFO): publishing transmit ping time 2025-01-08T21:47:52.804Z,1736372872.804 [DAT](INFO): publishing direction and range info 2025-01-08T21:47:52.806Z,1736372872.806 [DAT](INFO): publishing transmit ping time 2025-01-08T21:47:52.807Z,1736372872.807 [DAT](INFO): publishing direction and range info 2025-01-08T21:47:53.040Z,1736372873.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:53.042Z,1736372873.042 [DAT](INFO): DAT read: TxSync time:21:47:52.0338 2025-01-08T21:47:53.188Z,1736372873.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:53.202Z,1736372873.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 564.400024 m, deltaT: 4.284093 s, deltaX: -4.500000 m, approachRate: -1.050397 m/s, rangeRepo size: 4 2025-01-08T21:47:53.205Z,1736372873.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 564.400024 m, bearing: 272.101413 deg, lat: 36.899124 deg, lon: -122.118304 deg, deltaT: 67.603761 s, deltaX: 31.300049 m, approachRate: 0.462993 m/s, posRepo size: 4 2025-01-08T21:47:53.205Z,1736372873.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:53.217Z,1736372873.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 14.887854 m, bearing: 232.402695 deg, approach rate: 0.000000 m/s, LOS rate: 0.255974 deg/s, cmd heading: 202.758209 deg, new cmd heading: 203.103857 deg. 2025-01-08T21:47:53.218Z,1736372873.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544831 target range: 564.400024 and range: 564.40 m. 2025-01-08T21:47:53.293Z,1736372873.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:53.544Z,1736372873.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:53.548Z,1736372873.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:53.557Z,1736372873.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:53.564Z,1736372873.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 14.684897 m, bearing: 232.988299 deg, approach rate: -0.570635 m/s, LOS rate: 1.669222 deg/s, cmd heading: 203.103858 deg, new cmd heading: 204.884346 deg. 2025-01-08T21:47:53.565Z,1736372873.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575907 target range: 564.400024 and range: 564.40 m. 2025-01-08T21:47:53.796Z,1736372873.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:53.943Z,1736372873.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:53.973Z,1736372873.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:53.976Z,1736372873.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 14.463960 m, bearing: 233.650902 deg, approach rate: -0.531402 m/s, LOS rate: 1.618007 deg/s, cmd heading: 204.884351 deg, new cmd heading: 206.901645 deg. 2025-01-08T21:47:53.977Z,1736372873.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611115 target range: 564.400024 and range: 564.40 m. 2025-01-08T21:47:54.048Z,1736372874.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:54.300Z,1736372874.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:54.370Z,1736372874.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:54.380Z,1736372874.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:54.382Z,1736372874.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 14.239773 m, bearing: 234.406991 deg, approach rate: -0.551481 m/s, LOS rate: 1.889141 deg/s, cmd heading: 206.901648 deg, new cmd heading: 209.204317 deg. 2025-01-08T21:47:54.384Z,1736372874.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.651304 target range: 564.400024 and range: 564.40 m. 2025-01-08T21:47:54.552Z,1736372874.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:54.753Z,1736372874.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:54.760Z,1736372874.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:54.765Z,1736372874.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:54.769Z,1736372874.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 14.040471 m, bearing: 235.099155 deg, approach rate: -0.516664 m/s, LOS rate: 1.819774 deg/s, cmd heading: 209.204323 deg, new cmd heading: 211.309293 deg. 2025-01-08T21:47:54.770Z,1736372874.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.688043 target range: 564.400024 and range: 564.40 m. 2025-01-08T21:47:54.805Z,1736372874.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:54.806Z,1736372874.806 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:47:54.807Z,1736372874.807 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:47:54.807Z,1736372874.807 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:55.056Z,1736372875.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:55.056Z,1736372875.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254727 2025-01-08T21:47:55.210Z,1736372875.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:55.236Z,1736372875.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:55.239Z,1736372875.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 13.809484 m, bearing: 235.958375 deg, approach rate: -0.490623 m/s, LOS rate: 1.855467 deg/s, cmd heading: 211.309292 deg, new cmd heading: 213.928145 deg. 2025-01-08T21:47:55.240Z,1736372875.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.733751 target range: 564.400024 and range: 564.40 m. 2025-01-08T21:47:55.308Z,1736372875.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:55.310Z,1736372875.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507965 2025-01-08T21:47:55.560Z,1736372875.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:55.561Z,1736372875.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758975 2025-01-08T21:47:55.561Z,1736372875.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:55.570Z,1736372875.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:55.573Z,1736372875.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 13.633864 m, bearing: 236.628213 deg, approach rate: -0.525200 m/s, LOS rate: 2.028938 deg/s, cmd heading: 213.928150 deg, new cmd heading: 215.962646 deg. 2025-01-08T21:47:55.574Z,1736372875.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769259 target range: 564.400024 and range: 564.40 m. 2025-01-08T21:47:55.813Z,1736372875.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:55.815Z,1736372875.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013245 2025-01-08T21:47:55.959Z,1736372875.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:55.968Z,1736372875.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:55.971Z,1736372875.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 13.433275 m, bearing: 237.406558 deg, approach rate: -0.503978 m/s, LOS rate: 1.984721 deg/s, cmd heading: 215.962645 deg, new cmd heading: 218.331123 deg. 2025-01-08T21:47:55.972Z,1736372875.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810597 target range: 564.400024 and range: 564.40 m. 2025-01-08T21:47:56.064Z,1736372876.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:56.065Z,1736372876.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262989 2025-01-08T21:47:56.316Z,1736372876.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:56.317Z,1736372876.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515427 2025-01-08T21:47:56.403Z,1736372876.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:56.428Z,1736372876.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:56.430Z,1736372876.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 13.216172 m, bearing: 238.244473 deg, approach rate: -0.490180 m/s, LOS rate: 1.922872 deg/s, cmd heading: 218.331122 deg, new cmd heading: 220.884380 deg. 2025-01-08T21:47:56.431Z,1736372876.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.855160 target range: 564.400024 and range: 564.40 m. 2025-01-08T21:47:56.568Z,1736372876.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:56.569Z,1736372876.569 [DAT](INFO): DAT read: Rx Time:21:47:55.1950 2025-01-08T21:47:56.570Z,1736372876.570 [DAT](INFO): Rx dataTimestamp_ set to:1736372876.569093 2025-01-08T21:47:56.571Z,1736372876.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768743 2025-01-08T21:47:56.776Z,1736372876.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:56.783Z,1736372876.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:56.785Z,1736372876.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:56.788Z,1736372876.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 13.033229 m, bearing: 238.958341 deg, approach rate: -0.489023 m/s, LOS rate: 1.934963 deg/s, cmd heading: 220.884384 deg, new cmd heading: 223.054953 deg. 2025-01-08T21:47:56.789Z,1736372876.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.893043 target range: 564.400024 and range: 564.40 m. 2025-01-08T21:47:56.820Z,1736372876.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:56.820Z,1736372876.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018821 2025-01-08T21:47:57.072Z,1736372877.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:57.073Z,1736372877.073 [DAT](INFO): DAT read: Range 10 to 50 : 567.0 m (Round-trip 756.1 ms) speed -0.4 m/s 2025-01-08T21:47:57.075Z,1736372877.075 [DAT](INFO): DAT read: user:2065> 2025-01-08T21:47:57.078Z,1736372877.078 [DAT](INFO): DAT read: Tx time:21:47:56.2847 2025-01-08T21:47:57.079Z,1736372877.079 [DAT](INFO): Ping request sent. 2025-01-08T21:47:57.084Z,1736372877.084 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:47:57.085Z,1736372877.085 [DAT](INFO): DAT read: TxSync time:21:47:56.2839 2025-01-08T21:47:57.086Z,1736372877.086 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:47:57.086Z,1736372877.086 [DAT](INFO): publishing transmit ping time 2025-01-08T21:47:57.086Z,1736372877.086 [DAT](INFO): publishing transmit ping time 2025-01-08T21:47:57.265Z,1736372877.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:57.288Z,1736372877.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 567.000000 m, deltaT: 4.283841 s, deltaX: 2.599976 m, approachRate: 0.606926 m/s, rangeRepo size: 4 2025-01-08T21:47:57.288Z,1736372877.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:57.291Z,1736372877.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 12.774559 m, bearing: 239.844918 deg, approach rate: -0.520395 m/s, LOS rate: 1.819670 deg/s, cmd heading: 223.054949 deg, new cmd heading: 225.766401 deg. 2025-01-08T21:47:57.302Z,1736372877.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.940367 target range: 564.400024 and range: 567.00 m. 2025-01-08T21:47:57.324Z,1736372877.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:57.576Z,1736372877.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:57.587Z,1736372877.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:57.596Z,1736372877.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:57.599Z,1736372877.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 12.603360 m, bearing: 240.432197 deg, approach rate: -0.545996 m/s, LOS rate: 1.898390 deg/s, cmd heading: 225.766398 deg, new cmd heading: 227.551558 deg. 2025-01-08T21:47:57.601Z,1736372877.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.971524 target range: 564.400024 and range: 567.00 m. 2025-01-08T21:47:57.828Z,1736372877.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:57.988Z,1736372877.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:58.027Z,1736372878.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:58.030Z,1736372878.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 12.388234 m, bearing: 241.171432 deg, approach rate: -0.518762 m/s, LOS rate: 1.813523 deg/s, cmd heading: 227.551563 deg, new cmd heading: 229.806553 deg. 2025-01-08T21:47:58.031Z,1736372878.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.010881 target range: 564.400024 and range: 567.00 m. 2025-01-08T21:47:58.087Z,1736372878.087 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:58.340Z,1736372878.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:58.436Z,1736372878.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:58.444Z,1736372878.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:58.447Z,1736372878.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 12.128744 m, bearing: 241.978476 deg, approach rate: -0.598365 m/s, LOS rate: 1.900738 deg/s, cmd heading: 229.806550 deg, new cmd heading: 232.277867 deg. 2025-01-08T21:47:58.449Z,1736372878.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.054014 target range: 564.400024 and range: 567.00 m. 2025-01-08T21:47:58.592Z,1736372878.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:58.811Z,1736372878.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:58.834Z,1736372878.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:47:58.837Z,1736372878.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:58.840Z,1736372878.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 11.910541 m, bearing: 242.656535 deg, approach rate: -0.555925 m/s, LOS rate: 1.759125 deg/s, cmd heading: 232.277877 deg, new cmd heading: 234.348371 deg. 2025-01-08T21:47:58.841Z,1736372878.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090151 target range: 564.400024 and range: 567.00 m. 2025-01-08T21:47:58.844Z,1736372878.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:58.844Z,1736372878.844 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:47:58.844Z,1736372878.844 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:47:58.845Z,1736372878.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:47:59.096Z,1736372879.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:59.096Z,1736372879.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017529 2025-01-08T21:47:59.286Z,1736372879.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:47:59.286Z,1736372879.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:59.296Z,1736372879.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:59.298Z,1736372879.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 11.634984 m, bearing: 243.557341 deg, approach rate: -0.601238 m/s, LOS rate: 2.011939 deg/s, cmd heading: 234.348380 deg, new cmd heading: 237.112539 deg. 2025-01-08T21:47:59.301Z,1736372879.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138394 target range: 564.400024 and range: 567.00 m. 2025-01-08T21:47:59.348Z,1736372879.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:59.349Z,1736372879.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269930 2025-01-08T21:47:59.602Z,1736372879.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:59.604Z,1736372879.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525526 2025-01-08T21:47:59.626Z,1736372879.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:47:59.626Z,1736372879.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:47:59.636Z,1736372879.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:47:59.639Z,1736372879.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 11.440041 m, bearing: 244.227051 deg, approach rate: -0.571754 m/s, LOS rate: 1.997633 deg/s, cmd heading: 237.112531 deg, new cmd heading: 239.154986 deg. 2025-01-08T21:47:59.661Z,1736372879.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174042 target range: 564.400024 and range: 567.00 m. 2025-01-08T21:47:59.852Z,1736372879.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:47:59.853Z,1736372879.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774019 2025-01-08T21:48:00.018Z,1736372880.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:48:00.018Z,1736372880.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:00.042Z,1736372880.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:00.049Z,1736372880.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 11.202681 m, bearing: 244.905836 deg, approach rate: -0.584161 m/s, LOS rate: 1.705897 deg/s, cmd heading: 239.154976 deg, new cmd heading: 241.233514 deg. 2025-01-08T21:48:00.056Z,1736372880.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210319 target range: 564.400024 and range: 567.00 m. 2025-01-08T21:48:00.104Z,1736372880.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:00.105Z,1736372880.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026022 2025-01-08T21:48:00.356Z,1736372880.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:00.356Z,1736372880.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277529 2025-01-08T21:48:00.448Z,1736372880.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:00.457Z,1736372880.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:00.480Z,1736372880.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 10.920094 m, bearing: 245.541413 deg, approach rate: -0.681256 m/s, LOS rate: 1.571856 deg/s, cmd heading: 241.233512 deg, new cmd heading: 243.188784 deg. 2025-01-08T21:48:00.481Z,1736372880.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.244445 target range: 564.400024 and range: 567.00 m. 2025-01-08T21:48:00.608Z,1736372880.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:00.608Z,1736372880.608 [DAT](INFO): DAT read: Rx Time:21:47:59.4484 2025-01-08T21:48:00.609Z,1736372880.609 [DAT](INFO): Rx dataTimestamp_ set to:1736372880.608667 2025-01-08T21:48:00.609Z,1736372880.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530704 2025-01-08T21:48:00.822Z,1736372880.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:00.830Z,1736372880.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:00.833Z,1736372880.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 10.672634 m, bearing: 246.083683 deg, approach rate: -0.663313 m/s, LOS rate: 1.487231 deg/s, cmd heading: 243.188776 deg, new cmd heading: 244.852814 deg. 2025-01-08T21:48:00.834Z,1736372880.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273488 target range: 564.400024 and range: 567.00 m. 2025-01-08T21:48:00.860Z,1736372880.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:00.861Z,1736372880.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782387 2025-01-08T21:48:01.112Z,1736372881.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:01.113Z,1736372881.113 [DAT](INFO): DAT read: Range 10 to 50 : 569.6 m (Round-trip 759.5 ms) speed -0.5 m/s 2025-01-08T21:48:01.114Z,1736372881.114 [DAT](INFO): DAT read: user:2066> 2025-01-08T21:48:01.114Z,1736372881.114 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:48:01.115Z,1736372881.115 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:01.115Z,1736372881.115 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:01.116Z,1736372881.116 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:01.281Z,1736372881.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:01.288Z,1736372881.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:01.291Z,1736372881.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 569.599976 m, deltaT: 4.039956 s, deltaX: 2.599976 m, approachRate: 0.643565 m/s, rangeRepo size: 4 2025-01-08T21:48:01.292Z,1736372881.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:01.294Z,1736372881.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 10.359167 m, bearing: 246.791829 deg, approach rate: -0.681369 m/s, LOS rate: 1.585801 deg/s, cmd heading: 244.852801 deg, new cmd heading: 247.040405 deg. 2025-01-08T21:48:01.316Z,1736372881.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311668 target range: 564.400024 and range: 569.60 m. 2025-01-08T21:48:01.364Z,1736372881.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:01.366Z,1736372881.366 [DAT](INFO): DAT read: Tx time:21:48:00.5347 2025-01-08T21:48:01.366Z,1736372881.366 [DAT](INFO): Ping request sent. 2025-01-08T21:48:01.367Z,1736372881.367 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:48:01.368Z,1736372881.368 [DAT](INFO): DAT read: TxSync time:21:48:00.5339 2025-01-08T21:48:01.368Z,1736372881.368 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:01.369Z,1736372881.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002780 2025-01-08T21:48:01.616Z,1736372881.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:01.617Z,1736372881.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250726 2025-01-08T21:48:01.641Z,1736372881.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:01.660Z,1736372881.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:48:01.674Z,1736372881.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:01.685Z,1736372881.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 10.111640 m, bearing: 247.338121 deg, approach rate: -0.645190 m/s, LOS rate: 1.458769 deg/s, cmd heading: 247.040402 deg, new cmd heading: 248.718892 deg. 2025-01-08T21:48:01.688Z,1736372881.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340963 target range: 564.400024 and range: 569.60 m. 2025-01-08T21:48:01.868Z,1736372881.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:01.868Z,1736372881.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501769 2025-01-08T21:48:02.040Z,1736372882.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:02.049Z,1736372882.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:02.052Z,1736372882.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 9.834995 m, bearing: 247.932652 deg, approach rate: -0.738127 m/s, LOS rate: 1.630883 deg/s, cmd heading: 248.718880 deg, new cmd heading: 250.551984 deg. 2025-01-08T21:48:02.053Z,1736372882.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372957 target range: 564.400024 and range: 569.60 m. 2025-01-08T21:48:02.120Z,1736372882.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:02.121Z,1736372882.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754059 2025-01-08T21:48:02.372Z,1736372882.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:02.372Z,1736372882.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005889 2025-01-08T21:48:02.480Z,1736372882.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:02.490Z,1736372882.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:02.493Z,1736372882.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 9.523823 m, bearing: 248.558183 deg, approach rate: -0.705811 m/s, LOS rate: 1.465177 deg/s, cmd heading: 250.551993 deg, new cmd heading: 252.489122 deg. 2025-01-08T21:48:02.494Z,1736372882.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406766 target range: 564.400024 and range: 569.60 m. 2025-01-08T21:48:02.624Z,1736372882.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:02.625Z,1736372882.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258099 2025-01-08T21:48:02.664Z,1736372882.664 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:48:02.848Z,1736372882.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:02.856Z,1736372882.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:02.859Z,1736372882.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 9.262113 m, bearing: 249.067337 deg, approach rate: -0.714391 m/s, LOS rate: 1.429093 deg/s, cmd heading: 252.489117 deg, new cmd heading: 254.059325 deg. 2025-01-08T21:48:02.860Z,1736372882.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434172 target range: 564.400024 and range: 569.60 m. 2025-01-08T21:48:02.876Z,1736372882.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:02.876Z,1736372882.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509845 2025-01-08T21:48:03.128Z,1736372883.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:03.128Z,1736372883.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761885 2025-01-08T21:48:03.308Z,1736372883.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:03.315Z,1736372883.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:03.334Z,1736372883.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:03.341Z,1736372883.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 8.946157 m, bearing: 249.747759 deg, approach rate: -0.662401 m/s, LOS rate: 1.476849 deg/s, cmd heading: 254.059323 deg, new cmd heading: 256.171674 deg. 2025-01-08T21:48:03.342Z,1736372883.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471039 target range: 564.400024 and range: 569.60 m. 2025-01-08T21:48:03.380Z,1736372883.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:03.381Z,1736372883.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014178 2025-01-08T21:48:03.633Z,1736372883.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:03.635Z,1736372883.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267900 2025-01-08T21:48:03.693Z,1736372883.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:03.710Z,1736372883.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:03.717Z,1736372883.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 8.680400 m, bearing: 250.302289 deg, approach rate: -0.704859 m/s, LOS rate: 1.515770 deg/s, cmd heading: 256.171682 deg, new cmd heading: 257.885665 deg. 2025-01-08T21:48:03.718Z,1736372883.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500954 target range: 564.400024 and range: 569.60 m. 2025-01-08T21:48:03.884Z,1736372883.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:03.884Z,1736372883.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517811 2025-01-08T21:48:04.136Z,1736372884.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:04.136Z,1736372884.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769867 2025-01-08T21:48:04.156Z,1736372884.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:04.182Z,1736372884.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:04.260Z,1736372884.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 8.361208 m, bearing: 251.017500 deg, approach rate: -0.675903 m/s, LOS rate: 1.572267 deg/s, cmd heading: 257.885677 deg, new cmd heading: 260.112042 deg. 2025-01-08T21:48:04.268Z,1736372884.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539812 target range: 564.400024 and range: 569.60 m. 2025-01-08T21:48:04.389Z,1736372884.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:04.390Z,1736372884.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023547 2025-01-08T21:48:04.582Z,1736372884.582 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010813490956,35.0, +100,1493.1, 0 2025-01-08T21:48:04.592Z,1736372884.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:48:04.592Z,1736372884.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:04.602Z,1736372884.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:04.606Z,1736372884.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 8.056998 m, bearing: 251.610788 deg, approach rate: -0.725276 m/s, LOS rate: 1.467855 deg/s, cmd heading: 260.112045 deg, new cmd heading: 261.958438 deg. 2025-01-08T21:48:04.606Z,1736372884.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572037 target range: 564.400024 and range: 569.60 m. 2025-01-08T21:48:04.640Z,1736372884.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:04.641Z,1736372884.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274013 2025-01-08T21:48:04.892Z,1736372884.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:04.892Z,1736372884.892 [DAT](INFO): DAT read: Rx Time:21:48:03.7010 2025-01-08T21:48:04.893Z,1736372884.893 [DAT](INFO): Rx dataTimestamp_ set to:1736372884.892593 2025-01-08T21:48:04.893Z,1736372884.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526844 2025-01-08T21:48:05.052Z,1736372885.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:48:05.052Z,1736372885.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:05.060Z,1736372885.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:05.063Z,1736372885.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 7.736762 m, bearing: 252.287879 deg, approach rate: -0.698085 m/s, LOS rate: 1.537052 deg/s, cmd heading: 261.958436 deg, new cmd heading: 264.072780 deg. 2025-01-08T21:48:05.064Z,1736372885.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608940 target range: 564.400024 and range: 569.60 m. 2025-01-08T21:48:05.145Z,1736372885.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:05.146Z,1736372885.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779176 2025-01-08T21:48:05.396Z,1736372885.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:05.398Z,1736372885.398 [DAT](INFO): DAT read: Range 10 to 50 : 571.6 m (Round-trip 762.2 ms) speed -0.4 m/s 2025-01-08T21:48:05.398Z,1736372885.398 [DAT](INFO): DAT read: user:2067> 2025-01-08T21:48:05.399Z,1736372885.399 [DAT](INFO): DAT read: Tx time:21:48:04.7847 2025-01-08T21:48:05.400Z,1736372885.400 [DAT](INFO): Ping request sent. 2025-01-08T21:48:05.400Z,1736372885.400 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:48:05.401Z,1736372885.401 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:48:05.401Z,1736372885.401 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:05.401Z,1736372885.401 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:05.519Z,1736372885.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:05.530Z,1736372885.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:05.533Z,1736372885.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 571.599976 m, deltaT: 4.284131 s, deltaX: 2.000000 m, approachRate: 0.466839 m/s, rangeRepo size: 4 2025-01-08T21:48:05.534Z,1736372885.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:05.537Z,1736372885.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 7.443815 m, bearing: 253.194722 deg, approach rate: -0.621198 m/s, LOS rate: 1.998570 deg/s, cmd heading: 264.072790 deg, new cmd heading: 266.897973 deg. 2025-01-08T21:48:05.538Z,1736372885.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658248 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:05.648Z,1736372885.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:05.650Z,1736372885.650 [DAT](INFO): DAT read: TxSync time:21:48:04.7839 2025-01-08T21:48:05.651Z,1736372885.651 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:05.652Z,1736372885.652 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:05.652Z,1736372885.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:05.857Z,1736372885.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:05.867Z,1736372885.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:05.874Z,1736372885.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 7.224307 m, bearing: 253.742566 deg, approach rate: -0.656691 m/s, LOS rate: 1.688730 deg/s, cmd heading: 266.897975 deg, new cmd heading: 268.590927 deg. 2025-01-08T21:48:05.876Z,1736372885.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687796 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:05.901Z,1736372885.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:05.902Z,1736372885.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502614 2025-01-08T21:48:06.152Z,1736372886.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:06.153Z,1736372886.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752918 2025-01-08T21:48:06.320Z,1736372886.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:06.328Z,1736372886.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:06.331Z,1736372886.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 6.923871 m, bearing: 254.469069 deg, approach rate: -0.650634 m/s, LOS rate: 1.641563 deg/s, cmd heading: 268.590933 deg, new cmd heading: 270.863759 deg. 2025-01-08T21:48:06.337Z,1736372886.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727464 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:06.404Z,1736372886.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:06.405Z,1736372886.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005031 2025-01-08T21:48:06.656Z,1736372886.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:06.657Z,1736372886.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257306 2025-01-08T21:48:06.719Z,1736372886.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:06.740Z,1736372886.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:06.742Z,1736372886.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 6.701149 m, bearing: 255.097913 deg, approach rate: -0.552235 m/s, LOS rate: 1.610993 deg/s, cmd heading: 270.863746 deg, new cmd heading: 272.812189 deg. 2025-01-08T21:48:06.743Z,1736372886.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761471 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:06.908Z,1736372886.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:06.909Z,1736372886.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508994 2025-01-08T21:48:07.064Z,1736372887.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:07.089Z,1736372887.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:07.096Z,1736372887.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 6.480755 m, bearing: 255.694610 deg, approach rate: -0.615709 m/s, LOS rate: 1.723638 deg/s, cmd heading: 272.812181 deg, new cmd heading: 274.662472 deg. 2025-01-08T21:48:07.103Z,1736372887.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793765 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:07.161Z,1736372887.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:07.162Z,1736372887.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761609 2025-01-08T21:48:07.412Z,1736372887.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:07.412Z,1736372887.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012691 2025-01-08T21:48:07.505Z,1736372887.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:07.532Z,1736372887.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:07.535Z,1736372887.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:07.546Z,1736372887.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 6.235321 m, bearing: 256.383427 deg, approach rate: -0.551101 m/s, LOS rate: 1.607522 deg/s, cmd heading: 274.662479 deg, new cmd heading: 276.809214 deg. 2025-01-08T21:48:07.547Z,1736372887.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831232 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:07.665Z,1736372887.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:07.666Z,1736372887.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266429 2025-01-08T21:48:07.869Z,1736372887.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:07.878Z,1736372887.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:07.881Z,1736372887.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 6.030929 m, bearing: 256.927396 deg, approach rate: -0.595128 m/s, LOS rate: 1.637526 deg/s, cmd heading: 276.809208 deg, new cmd heading: 278.495906 deg. 2025-01-08T21:48:07.882Z,1736372887.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860671 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:07.916Z,1736372887.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:07.917Z,1736372887.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517608 2025-01-08T21:48:08.168Z,1736372888.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:08.170Z,1736372888.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769952 2025-01-08T21:48:08.323Z,1736372888.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:08.358Z,1736372888.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:08.365Z,1736372888.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 5.775740 m, bearing: 257.572531 deg, approach rate: -0.531634 m/s, LOS rate: 1.403355 deg/s, cmd heading: 278.495909 deg, new cmd heading: 280.515946 deg. 2025-01-08T21:48:08.366Z,1736372888.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895927 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:08.421Z,1736372888.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:08.422Z,1736372888.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022365 2025-01-08T21:48:08.672Z,1736372888.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:08.673Z,1736372888.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273573 2025-01-08T21:48:08.734Z,1736372888.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:08.742Z,1736372888.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:08.745Z,1736372888.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 5.553948 m, bearing: 258.118068 deg, approach rate: -0.577100 m/s, LOS rate: 1.476147 deg/s, cmd heading: 280.515951 deg, new cmd heading: 282.217394 deg. 2025-01-08T21:48:08.746Z,1736372888.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.925623 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:08.926Z,1736372888.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:08.928Z,1736372888.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528265 2025-01-08T21:48:09.082Z,1736372889.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:09.110Z,1736372889.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:09.113Z,1736372889.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 5.363362 m, bearing: 258.480649 deg, approach rate: -0.518034 m/s, LOS rate: 1.020551 deg/s, cmd heading: 282.217406 deg, new cmd heading: 283.343649 deg. 2025-01-08T21:48:09.114Z,1736372889.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.945280 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:09.176Z,1736372889.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:09.177Z,1736372889.177 [DAT](INFO): DAT read: Rx Time:21:48:07.9527 2025-01-08T21:48:09.178Z,1736372889.178 [DAT](INFO): Rx dataTimestamp_ set to:1736372889.177501 2025-01-08T21:48:09.178Z,1736372889.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778677 2025-01-08T21:48:09.428Z,1736372889.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:09.428Z,1736372889.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028723 2025-01-08T21:48:09.529Z,1736372889.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:09.545Z,1736372889.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:09.547Z,1736372889.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:09.554Z,1736372889.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 5.118100 m, bearing: 258.697268 deg, approach rate: -0.562354 m/s, LOS rate: 0.520478 deg/s, cmd heading: 283.343649 deg, new cmd heading: 284.024614 deg. 2025-01-08T21:48:09.555Z,1736372889.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.957165 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:09.680Z,1736372889.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:09.690Z,1736372889.690 [DAT](INFO): DAT read: 21:48:07.9527 LVL= 18640, 27585, 31266, 32563, AGC= 70, IDX= 442, 0.17,-0.757,-1.630,-3.021,-2.010, PHS= 1.341, 0.427,-1.014, RAW= 52.6, -7.4, CAL= 58.5, -13.4, ROT= 91.5, 13.4 2025-01-08T21:48:09.697Z,1736372889.697 [DAT](INFO): got valid direction response: 21:48:07.9527 LVL= 18640, 27585, 31266, 32563, AGC= 70, IDX= 442, 0.17,-0.757,-1.630,-3.021,-2.010, PHS= 1.341, 0.427,-1.014, RAW= 52.6, -7.4, CAL= 58.5, -13.4, ROT= 91.5, 13.4 2025-01-08T21:48:09.697Z,1736372889.697 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:48:09.698Z,1736372889.698 [DAT](INFO): Received a bad header 2025-01-08T21:48:09.712Z,1736372889.712 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:48:09.713Z,1736372889.713 [DAT](INFO): direction in FSK: [0.122723,0.657793,0.743134] 2025-01-08T21:48:09.716Z,1736372889.716 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:09.717Z,1736372889.717 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:09.717Z,1736372889.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:09.897Z,1736372889.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:09.905Z,1736372889.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:09.908Z,1736372889.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 4.916529 m, bearing: 258.816404 deg, approach rate: -0.562157 m/s, LOS rate: 0.345879 deg/s, cmd heading: 284.024619 deg, new cmd heading: 284.396677 deg. 2025-01-08T21:48:09.909Z,1736372889.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.963658 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:09.932Z,1736372889.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:09.932Z,1736372889.932 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:09.933Z,1736372889.933 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:09.933Z,1736372889.933 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:10.185Z,1736372890.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:10.185Z,1736372890.185 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:10.185Z,1736372890.185 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:10.186Z,1736372890.186 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:10.378Z,1736372890.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:10.424Z,1736372890.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:10.436Z,1736372890.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:10.436Z,1736372890.436 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:10.436Z,1736372890.436 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:10.436Z,1736372890.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:10.439Z,1736372890.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 4.652010 m, bearing: 258.884528 deg, approach rate: -0.518600 m/s, LOS rate: 0.141153 deg/s, cmd heading: 284.396673 deg, new cmd heading: 284.612663 deg. 2025-01-08T21:48:10.448Z,1736372890.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.967428 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:10.688Z,1736372890.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:10.688Z,1736372890.688 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:10.688Z,1736372890.688 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:10.688Z,1736372890.688 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:10.796Z,1736372890.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:10.806Z,1736372890.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:10.809Z,1736372890.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 4.416723 m, bearing: 258.869096 deg, approach rate: -0.602331 m/s, LOS rate: -0.041608 deg/s, cmd heading: 284.612671 deg, new cmd heading: 284.563911 deg. 2025-01-08T21:48:10.810Z,1736372890.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.966577 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:10.940Z,1736372890.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:10.940Z,1736372890.940 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:10.940Z,1736372890.940 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:10.940Z,1736372890.940 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:11.141Z,1736372891.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:11.149Z,1736372891.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:11.173Z,1736372891.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 4.223144 m, bearing: 258.691738 deg, approach rate: -0.563477 m/s, LOS rate: -0.539923 deg/s, cmd heading: 284.563904 deg, new cmd heading: 284.007458 deg. 2025-01-08T21:48:11.174Z,1736372891.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.956865 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:11.192Z,1736372891.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:11.192Z,1736372891.192 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:11.192Z,1736372891.192 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:11.193Z,1736372891.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:11.445Z,1736372891.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:11.445Z,1736372891.445 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:11.445Z,1736372891.445 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:11.445Z,1736372891.445 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:11.596Z,1736372891.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:11.604Z,1736372891.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:11.606Z,1736372891.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:11.609Z,1736372891.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 3.957002 m, bearing: 258.039743 deg, approach rate: -0.582979 m/s, LOS rate: -1.524209 deg/s, cmd heading: 284.007462 deg, new cmd heading: 281.920889 deg. 2025-01-08T21:48:11.610Z,1736372891.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.920448 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:11.696Z,1736372891.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:11.697Z,1736372891.697 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:11.697Z,1736372891.697 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:11.698Z,1736372891.698 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:11.948Z,1736372891.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:11.948Z,1736372891.948 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:11.949Z,1736372891.949 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:11.949Z,1736372891.949 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:11.957Z,1736372891.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:11.965Z,1736372891.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:11.972Z,1736372891.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 3.748197 m, bearing: 257.362044 deg, approach rate: -0.580839 m/s, LOS rate: -1.990147 deg/s, cmd heading: 281.920894 deg, new cmd heading: 279.775588 deg. 2025-01-08T21:48:11.974Z,1736372891.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.883005 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:12.200Z,1736372892.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:12.201Z,1736372892.201 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:12.201Z,1736372892.201 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:12.201Z,1736372892.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:12.438Z,1736372892.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:12.446Z,1736372892.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:12.449Z,1736372892.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 3.454604 m, bearing: 256.067546 deg, approach rate: -0.610378 m/s, LOS rate: -2.919728 deg/s, cmd heading: 279.775586 deg, new cmd heading: 275.569979 deg. 2025-01-08T21:48:12.451Z,1736372892.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809604 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:12.452Z,1736372892.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:12.452Z,1736372892.452 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:12.453Z,1736372892.453 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:12.453Z,1736372892.453 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:12.706Z,1736372892.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:12.706Z,1736372892.706 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:12.706Z,1736372892.706 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:12.706Z,1736372892.706 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:12.793Z,1736372892.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:12.803Z,1736372892.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:12.805Z,1736372892.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 3.241175 m, bearing: 254.853033 deg, approach rate: -0.599065 m/s, LOS rate: -3.633165 deg/s, cmd heading: 275.569993 deg, new cmd heading: 271.692748 deg. 2025-01-08T21:48:12.806Z,1736372892.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.741933 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:12.956Z,1736372892.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:12.956Z,1736372892.956 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:12.957Z,1736372892.957 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:12.957Z,1736372892.957 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:13.160Z,1736372893.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:13.181Z,1736372893.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:13.188Z,1736372893.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 3.025253 m, bearing: 253.304336 deg, approach rate: -0.570971 m/s, LOS rate: -4.387031 deg/s, cmd heading: 271.692740 deg, new cmd heading: 266.728111 deg. 2025-01-08T21:48:13.189Z,1736372893.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655284 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:13.208Z,1736372893.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:13.208Z,1736372893.208 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:13.208Z,1736372893.208 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:13.208Z,1736372893.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:13.461Z,1736372893.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:13.461Z,1736372893.461 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:13.461Z,1736372893.461 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:13.461Z,1736372893.461 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:13.612Z,1736372893.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:13.620Z,1736372893.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:13.622Z,1736372893.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:13.625Z,1736372893.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 2.750387 m, bearing: 251.053716 deg, approach rate: -0.622487 m/s, LOS rate: -5.604909 deg/s, cmd heading: 266.728122 deg, new cmd heading: 259.344556 deg. 2025-01-08T21:48:13.626Z,1736372893.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526416 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:13.712Z,1736372893.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:13.712Z,1736372893.712 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:13.712Z,1736372893.712 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:13.713Z,1736372893.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:13.965Z,1736372893.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:13.965Z,1736372893.965 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:13.966Z,1736372893.966 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:13.966Z,1736372893.966 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:14.041Z,1736372894.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:14.050Z,1736372894.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:14.054Z,1736372894.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 2.501139 m, bearing: 248.180824 deg, approach rate: -0.583030 m/s, LOS rate: -7.386712 deg/s, cmd heading: 259.344550 deg, new cmd heading: 249.955903 deg. 2025-01-08T21:48:14.057Z,1736372894.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.362554 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:14.218Z,1736372894.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:14.218Z,1736372894.218 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:14.218Z,1736372894.218 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:14.219Z,1736372894.219 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:14.468Z,1736372894.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:14.469Z,1736372894.469 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:14.469Z,1736372894.469 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:14.469Z,1736372894.469 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:14.469Z,1736372894.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:14.478Z,1736372894.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:14.481Z,1736372894.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 2.256954 m, bearing: 244.723800 deg, approach rate: -0.569783 m/s, LOS rate: -8.933988 deg/s, cmd heading: 249.955909 deg, new cmd heading: 238.620005 deg. 2025-01-08T21:48:14.482Z,1736372894.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164705 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:14.720Z,1736372894.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:14.720Z,1736372894.720 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:14.720Z,1736372894.720 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:14.720Z,1736372894.720 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:14.833Z,1736372894.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:14.842Z,1736372894.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:14.845Z,1736372894.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 2.057581 m, bearing: 240.987127 deg, approach rate: -0.548316 m/s, LOS rate: -11.264375 deg/s, cmd heading: 238.620008 deg, new cmd heading: 226.515833 deg. 2025-01-08T21:48:14.846Z,1736372894.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.953447 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:14.972Z,1736372894.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:14.972Z,1736372894.972 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:14.972Z,1736372894.972 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:14.972Z,1736372894.972 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:15.224Z,1736372895.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:15.224Z,1736372895.224 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:15.224Z,1736372895.224 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:15.224Z,1736372895.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:15.265Z,1736372895.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:15.283Z,1736372895.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:15.288Z,1736372895.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.033007 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg. 2025-01-08T21:48:15.289Z,1736372895.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:15.476Z,1736372895.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:15.476Z,1736372895.476 [DAT](INFO): Reached modem response timeout 2025-01-08T21:48:15.476Z,1736372895.476 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:48:15.477Z,1736372895.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:15.687Z,1736372895.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:15.702Z,1736372895.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:15.709Z,1736372895.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:15.710Z,1736372895.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.431059 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg. 2025-01-08T21:48:15.711Z,1736372895.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:15.728Z,1736372895.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:15.728Z,1736372895.728 [DAT](INFO): Reached modem response timeout 2025-01-08T21:48:15.728Z,1736372895.728 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:48:15.729Z,1736372895.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:15.980Z,1736372895.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:15.980Z,1736372895.980 [DAT](INFO): Reached modem response timeout 2025-01-08T21:48:15.980Z,1736372895.980 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:48:15.981Z,1736372895.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:16.067Z,1736372896.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:16.078Z,1736372896.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:16.080Z,1736372896.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.077999 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg. 2025-01-08T21:48:16.081Z,1736372896.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:16.232Z,1736372896.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:16.232Z,1736372896.232 [DAT](INFO): Reached modem response timeout 2025-01-08T21:48:16.232Z,1736372896.232 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:48:16.233Z,1736372896.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:16.484Z,1736372896.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:16.485Z,1736372896.485 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:48:16.485Z,1736372896.485 [DAT](INFO): response not received 2025-01-08T21:48:16.486Z,1736372896.486 [DAT](INFO): DAT read: user:2069> 2025-01-08T21:48:16.486Z,1736372896.486 [DAT](INFO): DAT read: Tx time:21:48:15.7348 2025-01-08T21:48:16.487Z,1736372896.487 [DAT](INFO): Ping request sent. 2025-01-08T21:48:16.487Z,1736372896.487 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:48:16.487Z,1736372896.487 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:16.488Z,1736372896.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001288 2025-01-08T21:48:16.501Z,1736372896.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:16.555Z,1736372896.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:16.557Z,1736372896.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.978377 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg. 2025-01-08T21:48:16.558Z,1736372896.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:16.736Z,1736372896.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:16.737Z,1736372896.737 [DAT](INFO): DAT read: TxSync time:21:48:15.7340 2025-01-08T21:48:16.737Z,1736372896.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250776 2025-01-08T21:48:16.853Z,1736372896.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:16.862Z,1736372896.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:16.863Z,1736372896.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -32.658135 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg. 2025-01-08T21:48:16.864Z,1736372896.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:16.988Z,1736372896.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:16.989Z,1736372896.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501885 2025-01-08T21:48:17.240Z,1736372897.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:17.241Z,1736372897.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754418 2025-01-08T21:48:17.274Z,1736372897.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:17.282Z,1736372897.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:17.285Z,1736372897.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -30.674342 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg. 2025-01-08T21:48:17.285Z,1736372897.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:17.492Z,1736372897.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:17.492Z,1736372897.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005810 2025-01-08T21:48:17.704Z,1736372897.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:17.732Z,1736372897.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:17.740Z,1736372897.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:17.741Z,1736372897.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -27.330580 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg. 2025-01-08T21:48:17.742Z,1736372897.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:17.744Z,1736372897.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:17.745Z,1736372897.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257970 2025-01-08T21:48:17.996Z,1736372897.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:17.997Z,1736372897.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509858 2025-01-08T21:48:18.093Z,1736372898.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:18.101Z,1736372898.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:18.103Z,1736372898.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -28.142114 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg. 2025-01-08T21:48:18.104Z,1736372898.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:18.248Z,1736372898.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:18.248Z,1736372898.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761721 2025-01-08T21:48:18.500Z,1736372898.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:18.501Z,1736372898.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014278 2025-01-08T21:48:18.545Z,1736372898.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:18.573Z,1736372898.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:18.574Z,1736372898.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.335252 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg. 2025-01-08T21:48:18.575Z,1736372898.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:18.752Z,1736372898.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:18.752Z,1736372898.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265773 2025-01-08T21:48:18.892Z,1736372898.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:18.902Z,1736372898.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:18.904Z,1736372898.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.638986 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg. 2025-01-08T21:48:18.904Z,1736372898.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:19.005Z,1736372899.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:19.006Z,1736372899.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519427 2025-01-08T21:48:19.256Z,1736372899.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:19.256Z,1736372899.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769661 2025-01-08T21:48:19.297Z,1736372899.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:19.307Z,1736372899.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:19.309Z,1736372899.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.475127 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg. 2025-01-08T21:48:19.309Z,1736372899.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:19.516Z,1736372899.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:19.519Z,1736372899.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031456 2025-01-08T21:48:19.722Z,1736372899.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:19.736Z,1736372899.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:19.738Z,1736372899.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:19.739Z,1736372899.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.320853 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg. 2025-01-08T21:48:19.740Z,1736372899.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:19.768Z,1736372899.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:19.769Z,1736372899.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282493 2025-01-08T21:48:20.020Z,1736372900.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:20.020Z,1736372900.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533747 2025-01-08T21:48:20.113Z,1736372900.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:20.148Z,1736372900.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:20.151Z,1736372900.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 1.943467 m, bearing: 129.212169 deg, approach rate: 0.385903 m/s, LOS rate: -11.164366 deg/s, cmd heading: 272.101404 deg, new cmd heading: 258.637179 deg. 2025-01-08T21:48:20.152Z,1736372900.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514071 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:20.272Z,1736372900.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:20.273Z,1736372900.273 [DAT](INFO): DAT read: Rx Time:21:48:18.9032 2025-01-08T21:48:20.273Z,1736372900.273 [DAT](INFO): Rx dataTimestamp_ set to:1736372900.272717 2025-01-08T21:48:20.274Z,1736372900.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786850 2025-01-08T21:48:20.524Z,1736372900.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:20.525Z,1736372900.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037847 2025-01-08T21:48:20.610Z,1736372900.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:20.620Z,1736372900.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:20.623Z,1736372900.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 2.159972 m, bearing: 123.963349 deg, approach rate: 0.458821 m/s, LOS rate: -9.994427 deg/s, cmd heading: 258.637189 deg, new cmd heading: 244.766376 deg. 2025-01-08T21:48:20.624Z,1736372900.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271979 target range: 564.400024 and range: 571.60 m. 2025-01-08T21:48:20.777Z,1736372900.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:20.787Z,1736372900.787 [DAT](INFO): DAT read: Range 10 to 50 : 573.0 m (Round-trip 764.1 ms) speed 0.0 m/s 2025-01-08T21:48:20.790Z,1736372900.790 [DAT](INFO): DAT read: user:2070> 2025-01-08T21:48:20.791Z,1736372900.791 [DAT](INFO): DAT read: Tx time:21:48:19.9849 2025-01-08T21:48:20.792Z,1736372900.792 [DAT](INFO): Ping request sent. 2025-01-08T21:48:20.792Z,1736372900.792 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:48:20.792Z,1736372900.792 [DAT](INFO): DAT read: TxSync time:21:48:19.9841 2025-01-08T21:48:20.793Z,1736372900.793 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:48:20.793Z,1736372900.793 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:20.794Z,1736372900.794 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:20.925Z,1736372900.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:20.935Z,1736372900.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 573.000000 m, deltaT: 15.381952 s, deltaX: 1.400024 m, approachRate: 0.091017 m/s, rangeRepo size: 4 2025-01-08T21:48:20.936Z,1736372900.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:20.938Z,1736372900.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 2.304920 m, bearing: 121.164832 deg, approach rate: 0.461799 m/s, LOS rate: -8.352009 deg/s, cmd heading: 244.766386 deg, new cmd heading: 236.950764 deg. 2025-01-08T21:48:20.940Z,1736372900.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135571 target range: 564.400024 and range: 573.00 m. 2025-01-08T21:48:21.029Z,1736372901.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:21.280Z,1736372901.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:21.313Z,1736372901.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:21.338Z,1736372901.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:21.345Z,1736372901.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 2.481050 m, bearing: 117.852398 deg, approach rate: 0.435073 m/s, LOS rate: -7.597207 deg/s, cmd heading: 236.950764 deg, new cmd heading: 227.802595 deg. 2025-01-08T21:48:21.346Z,1736372901.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.975905 target range: 564.400024 and range: 573.00 m. 2025-01-08T21:48:21.534Z,1736372901.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:21.749Z,1736372901.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:21.756Z,1736372901.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:21.758Z,1736372901.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:21.761Z,1736372901.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 2.690409 m, bearing: 114.456503 deg, approach rate: 0.498116 m/s, LOS rate: -7.446579 deg/s, cmd heading: 227.802600 deg, new cmd heading: 218.495909 deg. 2025-01-08T21:48:21.762Z,1736372901.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.813473 target range: 564.400024 and range: 573.00 m. 2025-01-08T21:48:21.784Z,1736372901.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:21.785Z,1736372901.785 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:21.785Z,1736372901.785 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:21.785Z,1736372901.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:22.036Z,1736372902.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:22.037Z,1736372902.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244613 2025-01-08T21:48:22.130Z,1736372902.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:22.160Z,1736372902.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:22.162Z,1736372902.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 2.878872 m, bearing: 111.839485 deg, approach rate: 0.472629 m/s, LOS rate: -6.131184 deg/s, cmd heading: 218.495907 deg, new cmd heading: 211.201043 deg. 2025-01-08T21:48:22.163Z,1736372902.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.686154 target range: 564.400024 and range: 573.00 m. 2025-01-08T21:48:22.288Z,1736372902.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:22.289Z,1736372902.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496608 2025-01-08T21:48:22.541Z,1736372902.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:22.543Z,1736372902.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750626 2025-01-08T21:48:22.606Z,1736372902.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:22.615Z,1736372902.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:22.618Z,1736372902.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 3.131315 m, bearing: 109.110359 deg, approach rate: 0.551797 m/s, LOS rate: -5.482421 deg/s, cmd heading: 211.201047 deg, new cmd heading: 203.719387 deg. 2025-01-08T21:48:22.620Z,1736372902.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.555574 target range: 564.400024 and range: 573.00 m. 2025-01-08T21:48:22.792Z,1736372902.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:22.793Z,1736372902.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000630 2025-01-08T21:48:22.941Z,1736372902.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:22.951Z,1736372902.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:22.954Z,1736372902.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 3.311059 m, bearing: 107.382865 deg, approach rate: 0.534442 m/s, LOS rate: -4.856872 deg/s, cmd heading: 203.719381 deg, new cmd heading: 198.830873 deg. 2025-01-08T21:48:22.955Z,1736372902.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.470253 target range: 564.400024 and range: 573.00 m. 2025-01-08T21:48:23.044Z,1736372903.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:23.044Z,1736372903.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252484 2025-01-08T21:48:23.297Z,1736372903.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:23.297Z,1736372903.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505306 2025-01-08T21:48:23.388Z,1736372903.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:23.412Z,1736372903.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:23.415Z,1736372903.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 3.553969 m, bearing: 105.331737 deg, approach rate: 0.526408 m/s, LOS rate: -4.140267 deg/s, cmd heading: 198.830878 deg, new cmd heading: 193.118303 deg. 2025-01-08T21:48:23.420Z,1736372903.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.370550 target range: 564.400024 and range: 573.00 m. 2025-01-08T21:48:23.549Z,1736372903.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:23.552Z,1736372903.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759829 2025-01-08T21:48:23.801Z,1736372903.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:23.802Z,1736372903.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009751 2025-01-08T21:48:23.811Z,1736372903.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:23.838Z,1736372903.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:23.844Z,1736372903.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:23.847Z,1736372903.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 3.804035 m, bearing: 103.678600 deg, approach rate: 0.578781 m/s, LOS rate: -3.574199 deg/s, cmd heading: 193.118299 deg, new cmd heading: 188.495603 deg. 2025-01-08T21:48:23.853Z,1736372903.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.289869 target range: 564.400024 and range: 573.00 m. 2025-01-08T21:48:24.052Z,1736372904.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:24.053Z,1736372904.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261220 2025-01-08T21:48:24.242Z,1736372904.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:24.264Z,1736372904.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:24.267Z,1736372904.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 4.061657 m, bearing: 102.185887 deg, approach rate: 0.613380 m/s, LOS rate: -3.328235 deg/s, cmd heading: 188.495599 deg, new cmd heading: 184.309438 deg. 2025-01-08T21:48:24.272Z,1736372904.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.216807 target range: 564.400024 and range: 573.00 m. 2025-01-08T21:48:24.305Z,1736372904.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:24.306Z,1736372904.306 [DAT](INFO): DAT read: Rx Time:21:48:23.1533 2025-01-08T21:48:24.306Z,1736372904.306 [DAT](INFO): Rx dataTimestamp_ set to:1736372904.305858 2025-01-08T21:48:24.307Z,1736372904.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514779 2025-01-08T21:48:24.557Z,1736372904.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:24.560Z,1736372904.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767819 2025-01-08T21:48:24.640Z,1736372904.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:24.670Z,1736372904.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:24.679Z,1736372904.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 4.313451 m, bearing: 101.137809 deg, approach rate: 0.621149 m/s, LOS rate: -2.434437 deg/s, cmd heading: 184.309445 deg, new cmd heading: 181.351546 deg. 2025-01-08T21:48:24.684Z,1736372904.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.165182 target range: 564.400024 and range: 573.00 m. 2025-01-08T21:48:24.808Z,1736372904.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:24.810Z,1736372904.810 [DAT](INFO): DAT read: Range 10 to 50 : 573.1 m (Round-trip 764.2 ms) speed 0.0 m/s 2025-01-08T21:48:24.811Z,1736372904.811 [DAT](INFO): DAT read: user:2071> 2025-01-08T21:48:24.812Z,1736372904.812 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:48:24.813Z,1736372904.813 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:24.813Z,1736372904.813 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:24.813Z,1736372904.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:25.002Z,1736372905.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:25.011Z,1736372905.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 573.099976 m, deltaT: 4.030466 s, deltaX: 0.099976 m, approachRate: 0.024805 m/s, rangeRepo size: 4 2025-01-08T21:48:25.030Z,1736372905.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:25.037Z,1736372905.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 4.543920 m, bearing: 100.251818 deg, approach rate: 0.676774 m/s, LOS rate: -2.469665 deg/s, cmd heading: 181.351549 deg, new cmd heading: 178.830119 deg. 2025-01-08T21:48:25.038Z,1736372905.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.121174 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:25.060Z,1736372905.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:25.062Z,1736372905.062 [DAT](INFO): DAT read: Tx time:21:48:24.2349 2025-01-08T21:48:25.062Z,1736372905.062 [DAT](INFO): Ping request sent. 2025-01-08T21:48:25.063Z,1736372905.063 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:48:25.064Z,1736372905.064 [DAT](INFO): DAT read: TxSync time:21:48:24.2341 2025-01-08T21:48:25.066Z,1736372905.066 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:25.068Z,1736372905.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004504 2025-01-08T21:48:25.313Z,1736372905.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:25.315Z,1736372905.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252274 2025-01-08T21:48:25.419Z,1736372905.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:25.444Z,1736372905.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:25.446Z,1736372905.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 4.809374 m, bearing: 99.289553 deg, approach rate: 0.612739 m/s, LOS rate: -2.098466 deg/s, cmd heading: 178.830117 deg, new cmd heading: 176.104843 deg. 2025-01-08T21:48:25.451Z,1736372905.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.073609 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:25.566Z,1736372905.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:25.569Z,1736372905.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505691 2025-01-08T21:48:25.816Z,1736372905.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:25.818Z,1736372905.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754671 2025-01-08T21:48:25.839Z,1736372905.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:25.846Z,1736372905.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:25.848Z,1736372905.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:25.852Z,1736372905.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 5.088664 m, bearing: 98.308672 deg, approach rate: 0.690577 m/s, LOS rate: -2.292120 deg/s, cmd heading: 176.104844 deg, new cmd heading: 173.326025 deg. 2025-01-08T21:48:25.853Z,1736372905.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.025110 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:26.068Z,1736372906.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:26.069Z,1736372906.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006758 2025-01-08T21:48:26.238Z,1736372906.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:26.246Z,1736372906.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:26.249Z,1736372906.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 5.353999 m, bearing: 97.405923 deg, approach rate: 0.665769 m/s, LOS rate: -2.152796 deg/s, cmd heading: 173.326022 deg, new cmd heading: 170.753825 deg. 2025-01-08T21:48:26.250Z,1736372906.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.980217 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:26.322Z,1736372906.322 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:26.331Z,1736372906.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.268267 2025-01-08T21:48:26.574Z,1736372906.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:26.576Z,1736372906.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513399 2025-01-08T21:48:26.698Z,1736372906.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:26.709Z,1736372906.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:26.712Z,1736372906.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 5.666969 m, bearing: 96.477555 deg, approach rate: 0.676526 m/s, LOS rate: -1.895879 deg/s, cmd heading: 170.753828 deg, new cmd heading: 168.124500 deg. 2025-01-08T21:48:26.713Z,1736372906.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.934326 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:26.824Z,1736372906.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:26.824Z,1736372906.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761891 2025-01-08T21:48:27.076Z,1736372907.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:27.076Z,1736372907.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014009 2025-01-08T21:48:27.095Z,1736372907.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:27.124Z,1736372907.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:27.127Z,1736372907.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 5.933711 m, bearing: 95.627141 deg, approach rate: 0.642627 m/s, LOS rate: -1.956617 deg/s, cmd heading: 168.124505 deg, new cmd heading: 165.689509 deg. 2025-01-08T21:48:27.132Z,1736372907.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.891828 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:27.330Z,1736372907.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:27.334Z,1736372907.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271202 2025-01-08T21:48:27.559Z,1736372907.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:27.585Z,1736372907.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:27.589Z,1736372907.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525695 2025-01-08T21:48:27.598Z,1736372907.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:27.635Z,1736372907.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 6.244610 m, bearing: 94.639779 deg, approach rate: 0.658444 m/s, LOS rate: -1.986896 deg/s, cmd heading: 165.689516 deg, new cmd heading: 162.877300 deg. 2025-01-08T21:48:27.640Z,1736372907.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842745 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:27.836Z,1736372907.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:27.836Z,1736372907.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773897 2025-01-08T21:48:27.992Z,1736372907.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:27.999Z,1736372907.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:28.002Z,1736372908.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:28.029Z,1736372908.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 6.541282 m, bearing: 93.809105 deg, approach rate: 0.731660 m/s, LOS rate: -1.955647 deg/s, cmd heading: 162.877294 deg, new cmd heading: 160.499745 deg. 2025-01-08T21:48:28.030Z,1736372908.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.801249 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:28.089Z,1736372908.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:28.090Z,1736372908.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027262 2025-01-08T21:48:28.340Z,1736372908.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:28.340Z,1736372908.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277901 2025-01-08T21:48:28.371Z,1736372908.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:28.395Z,1736372908.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:28.398Z,1736372908.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 6.796444 m, bearing: 93.008603 deg, approach rate: 0.655346 m/s, LOS rate: -1.978717 deg/s, cmd heading: 160.499747 deg, new cmd heading: 158.189729 deg. 2025-01-08T21:48:28.399Z,1736372908.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.760932 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:28.593Z,1736372908.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:28.596Z,1736372908.596 [DAT](INFO): DAT read: Rx Time:21:48:27.4033 2025-01-08T21:48:28.597Z,1736372908.597 [DAT](INFO): Rx dataTimestamp_ set to:1736372908.596421 2025-01-08T21:48:28.599Z,1736372908.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536318 2025-01-08T21:48:28.797Z,1736372908.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:28.812Z,1736372908.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:28.815Z,1736372908.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 7.077142 m, bearing: 92.094033 deg, approach rate: 0.669414 m/s, LOS rate: -2.094492 deg/s, cmd heading: 158.189736 deg, new cmd heading: 155.556816 deg. 2025-01-08T21:48:28.816Z,1736372908.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.714979 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:28.844Z,1736372908.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:28.844Z,1736372908.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782034 2025-01-08T21:48:29.096Z,1736372909.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:29.098Z,1736372909.098 [DAT](INFO): DAT read: Range 10 to 50 : 573.1 m (Round-trip 764.2 ms) speed -0.2 m/s 2025-01-08T21:48:29.099Z,1736372909.099 [DAT](INFO): DAT read: user:2072> 2025-01-08T21:48:29.100Z,1736372909.100 [DAT](INFO): DAT read: Tx time:21:48:28.4849 2025-01-08T21:48:29.101Z,1736372909.101 [DAT](INFO): Ping request sent. 2025-01-08T21:48:29.101Z,1736372909.101 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:48:29.101Z,1736372909.101 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:48:29.101Z,1736372909.101 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:29.102Z,1736372909.102 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:29.198Z,1736372909.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:29.245Z,1736372909.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 573.099976 m, deltaT: 4.288154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T21:48:29.248Z,1736372909.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:29.251Z,1736372909.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 7.339202 m, bearing: 91.231951 deg, approach rate: 0.604221 m/s, LOS rate: -1.916619 deg/s, cmd heading: 155.556821 deg, new cmd heading: 153.064588 deg. 2025-01-08T21:48:29.254Z,1736372909.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671481 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:29.348Z,1736372909.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:29.349Z,1736372909.349 [DAT](INFO): DAT read: TxSync time:21:48:28.4841 2025-01-08T21:48:29.602Z,1736372909.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:29.646Z,1736372909.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:29.689Z,1736372909.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:29.696Z,1736372909.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 7.629881 m, bearing: 90.268549 deg, approach rate: 0.653590 m/s, LOS rate: -2.083575 deg/s, cmd heading: 153.064594 deg, new cmd heading: 150.286806 deg. 2025-01-08T21:48:29.697Z,1736372909.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623000 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:29.852Z,1736372909.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:30.008Z,1736372910.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:30.015Z,1736372910.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:30.018Z,1736372910.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:30.041Z,1736372910.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 7.853353 m, bearing: 89.527573 deg, approach rate: 0.679209 m/s, LOS rate: -2.187945 deg/s, cmd heading: 150.286811 deg, new cmd heading: 148.128219 deg. 2025-01-08T21:48:30.042Z,1736372910.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.585325 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:30.104Z,1736372910.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:30.106Z,1736372910.106 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:30.106Z,1736372910.106 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:30.106Z,1736372910.106 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:30.356Z,1736372910.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:30.356Z,1736372910.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255589 2025-01-08T21:48:30.407Z,1736372910.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:30.424Z,1736372910.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:30.427Z,1736372910.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 8.091721 m, bearing: 88.640161 deg, approach rate: 0.586832 m/s, LOS rate: -2.120251 deg/s, cmd heading: 148.128225 deg, new cmd heading: 145.546268 deg. 2025-01-08T21:48:30.438Z,1736372910.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540262 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:30.610Z,1736372910.610 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:30.630Z,1736372910.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.528455 2025-01-08T21:48:30.821Z,1736372910.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:30.830Z,1736372910.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:30.832Z,1736372910.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 8.324148 m, bearing: 87.697151 deg, approach rate: 0.573097 m/s, LOS rate: -2.260156 deg/s, cmd heading: 145.546263 deg, new cmd heading: 142.798457 deg. 2025-01-08T21:48:30.834Z,1736372910.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.492303 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:30.860Z,1736372910.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:30.860Z,1736372910.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759606 2025-01-08T21:48:31.112Z,1736372911.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:31.112Z,1736372911.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011518 2025-01-08T21:48:31.203Z,1736372911.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:31.212Z,1736372911.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:31.214Z,1736372911.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 8.532089 m, bearing: 86.782543 deg, approach rate: 0.545075 m/s, LOS rate: -2.338928 deg/s, cmd heading: 142.798451 deg, new cmd heading: 140.123556 deg. 2025-01-08T21:48:31.215Z,1736372911.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445617 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:31.365Z,1736372911.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:31.365Z,1736372911.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264592 2025-01-08T21:48:31.598Z,1736372911.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:31.608Z,1736372911.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:31.610Z,1736372911.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 8.744855 m, bearing: 85.836643 deg, approach rate: 0.536982 m/s, LOS rate: -2.329090 deg/s, cmd heading: 140.123557 deg, new cmd heading: 137.357177 deg. 2025-01-08T21:48:31.612Z,1736372911.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.397335 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:31.617Z,1736372911.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:31.618Z,1736372911.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517056 2025-01-08T21:48:31.871Z,1736372911.871 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:31.872Z,1736372911.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771453 2025-01-08T21:48:32.016Z,1736372912.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:32.024Z,1736372912.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:32.026Z,1736372912.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:32.049Z,1736372912.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 8.953714 m, bearing: 84.806445 deg, approach rate: 0.499041 m/s, LOS rate: -2.403965 deg/s, cmd heading: 137.357181 deg, new cmd heading: 134.341632 deg. 2025-01-08T21:48:32.051Z,1736372912.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.344704 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:32.124Z,1736372912.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:32.125Z,1736372912.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024616 2025-01-08T21:48:32.376Z,1736372912.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:32.377Z,1736372912.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275937 2025-01-08T21:48:32.426Z,1736372912.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:32.435Z,1736372912.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:32.438Z,1736372912.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 9.155993 m, bearing: 83.802808 deg, approach rate: 0.494629 m/s, LOS rate: -2.399846 deg/s, cmd heading: 134.341638 deg, new cmd heading: 131.399982 deg. 2025-01-08T21:48:32.439Z,1736372912.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293362 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:32.628Z,1736372912.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:32.628Z,1736372912.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527539 2025-01-08T21:48:32.788Z,1736372912.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:48:32.838Z,1736372912.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:32.847Z,1736372912.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:32.850Z,1736372912.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 9.342178 m, bearing: 82.765783 deg, approach rate: 0.451957 m/s, LOS rate: -2.467022 deg/s, cmd heading: 131.399985 deg, new cmd heading: 128.353953 deg. 2025-01-08T21:48:32.852Z,1736372912.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240199 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:32.880Z,1736372912.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:32.881Z,1736372912.881 [DAT](INFO): DAT read: Rx Time:21:48:31.6547 2025-01-08T21:48:32.881Z,1736372912.881 [DAT](INFO): Rx dataTimestamp_ set to:1736372912.880710 2025-01-08T21:48:32.882Z,1736372912.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780674 2025-01-08T21:48:33.132Z,1736372913.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:33.133Z,1736372913.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031774 2025-01-08T21:48:33.219Z,1736372913.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:33.228Z,1736372913.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.40 m. 2025-01-08T21:48:33.230Z,1736372913.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.400024 m, nav range: 9.512007 m, bearing: 81.811859 deg, approach rate: 0.446544 m/s, LOS rate: -2.463338 deg/s, cmd heading: 128.353953 deg, new cmd heading: 125.545656 deg. 2025-01-08T21:48:33.232Z,1736372913.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.191185 target range: 564.400024 and range: 573.10 m. 2025-01-08T21:48:33.384Z,1736372913.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:33.390Z,1736372913.390 [DAT](INFO): DAT read: 21:48:31.6547 LVL= 24256, 23985, 24562, 32755, AGC= 68, IDX= 444,-0.32, 1.038, 1.516,-0.857, 0.678, PHS= 0.448, 0.885,-1.539, RAW= 20.3, 1.9, CAL= 19.7, 1.5, ROT= 130.3, -1.5 2025-01-08T21:48:33.392Z,1736372913.392 [DAT](INFO): got valid direction response: 21:48:31.6547 LVL= 24256, 23985, 24562, 32755, AGC= 68, IDX= 444,-0.32, 1.038, 1.516,-0.857, 0.678, PHS= 0.448, 0.885,-1.539, RAW= 20.3, 1.9, CAL= 19.7, 1.5, ROT= 130.3, -1.5 2025-01-08T21:48:33.393Z,1736372913.393 [DAT](INFO): DAT read: Bearing 130.3, -1.5 (Local) 2025-01-08T21:48:33.393Z,1736372913.393 [DAT](INFO): Local bearing/azimuth received: Bearing 130.3, -1.5 (Local) 2025-01-08T21:48:33.398Z,1736372913.398 [DAT](INFO): DAT read: Range 10 to 50 : 574.2 m (Round-trip 765.6 ms) speed -0.4 m/s 2025-01-08T21:48:33.399Z,1736372913.399 [DAT](INFO): DAT read: user:2073> 2025-01-08T21:48:33.400Z,1736372913.400 [DAT](INFO): DAT read: Tx time:21:48:32.7850 2025-01-08T21:48:33.400Z,1736372913.400 [DAT](INFO): Ping request sent. 2025-01-08T21:48:33.401Z,1736372913.401 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:48:33.402Z,1736372913.402 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:48:33.403Z,1736372913.403 [DAT](INFO): direction in FSK: [0.016799,0.955545,0.294365] 2025-01-08T21:48:33.405Z,1736372913.405 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:33.406Z,1736372913.406 [DAT](INFO): publishing direction and range info 2025-01-08T21:48:33.409Z,1736372913.409 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:33.409Z,1736372913.409 [DAT](INFO): publishing direction and range info 2025-01-08T21:48:33.628Z,1736372913.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:33.636Z,1736372913.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:33.637Z,1736372913.637 [DAT](INFO): DAT read: TxSync time:21:48:32.7842 2025-01-08T21:48:33.730Z,1736372913.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 574.200012 m, deltaT: 4.287417 s, deltaX: 1.100037 m, approachRate: 0.256573 m/s, rangeRepo size: 4 2025-01-08T21:48:33.736Z,1736372913.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 574.200012 m, bearing: 314.626489 deg, lat: 36.899208 deg, lon: -122.120104 deg, deltaT: 40.595917 s, deltaX: 9.799988 m, approachRate: 0.241403 m/s, posRepo size: 4 2025-01-08T21:48:33.737Z,1736372913.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:33.744Z,1736372913.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.849304 m, bearing: 274.109917 deg, approach rate: 0.000000 m/s, LOS rate: -2.463338 deg/s, cmd heading: 125.545652 deg, new cmd heading: 121.888683 deg. 2025-01-08T21:48:33.745Z,1736372913.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.127359 target range: 574.200012 and range: 574.20 m. 2025-01-08T21:48:33.792Z,1736372913.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:48:33.888Z,1736372913.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:34.054Z,1736372914.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:34.060Z,1736372914.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:34.062Z,1736372914.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:34.065Z,1736372914.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.724457 m, bearing: 274.195159 deg, approach rate: -0.367502 m/s, LOS rate: 0.251127 deg/s, cmd heading: 121.888687 deg, new cmd heading: 122.144624 deg. 2025-01-08T21:48:34.067Z,1736372914.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.131826 target range: 574.200012 and range: 574.20 m. 2025-01-08T21:48:34.140Z,1736372914.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:34.140Z,1736372914.140 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:34.140Z,1736372914.140 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:34.141Z,1736372914.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:34.393Z,1736372914.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:34.393Z,1736372914.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992886 2025-01-08T21:48:34.486Z,1736372914.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:34.507Z,1736372914.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:34.510Z,1736372914.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.604492 m, bearing: 274.283163 deg, approach rate: -0.272267 m/s, LOS rate: 0.199890 deg/s, cmd heading: 122.144628 deg, new cmd heading: 122.408850 deg. 2025-01-08T21:48:34.511Z,1736372914.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.136437 target range: 574.200012 and range: 574.20 m. 2025-01-08T21:48:34.646Z,1736372914.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:34.648Z,1736372914.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247178 2025-01-08T21:48:34.899Z,1736372914.899 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:34.900Z,1736372914.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499920 2025-01-08T21:48:34.910Z,1736372914.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:34.920Z,1736372914.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:34.923Z,1736372914.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.488098 m, bearing: 274.368306 deg, approach rate: -0.279161 m/s, LOS rate: 0.204366 deg/s, cmd heading: 122.408847 deg, new cmd heading: 122.664472 deg. 2025-01-08T21:48:34.924Z,1736372914.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.140899 target range: 574.200012 and range: 574.20 m. 2025-01-08T21:48:35.152Z,1736372915.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:35.153Z,1736372915.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752120 2025-01-08T21:48:35.300Z,1736372915.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:35.309Z,1736372915.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:35.331Z,1736372915.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.392639 m, bearing: 274.448814 deg, approach rate: -0.245544 m/s, LOS rate: 0.207218 deg/s, cmd heading: 122.664474 deg, new cmd heading: 122.906149 deg. 2025-01-08T21:48:35.332Z,1736372915.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.145117 target range: 574.200012 and range: 574.20 m. 2025-01-08T21:48:35.405Z,1736372915.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:35.407Z,1736372915.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005743 2025-01-08T21:48:35.656Z,1736372915.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:35.658Z,1736372915.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256839 2025-01-08T21:48:35.810Z,1736372915.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:35.820Z,1736372915.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:35.823Z,1736372915.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.257126 m, bearing: 274.553362 deg, approach rate: -0.265306 m/s, LOS rate: 0.204866 deg/s, cmd heading: 122.906153 deg, new cmd heading: 123.220075 deg. 2025-01-08T21:48:35.824Z,1736372915.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150596 target range: 574.200012 and range: 574.20 m. 2025-01-08T21:48:35.909Z,1736372915.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:35.910Z,1736372915.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509176 2025-01-08T21:48:36.108Z,1736372916.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:36.114Z,1736372916.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:36.117Z,1736372916.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:36.122Z,1736372916.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.187454 m, bearing: 274.615882 deg, approach rate: -0.234658 m/s, LOS rate: 0.210671 deg/s, cmd heading: 123.220069 deg, new cmd heading: 123.407717 deg. 2025-01-08T21:48:36.123Z,1736372916.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.153871 target range: 574.200012 and range: 574.20 m. 2025-01-08T21:48:36.160Z,1736372916.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:36.161Z,1736372916.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760130 2025-01-08T21:48:36.412Z,1736372916.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:36.412Z,1736372916.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012036 2025-01-08T21:48:36.521Z,1736372916.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:36.553Z,1736372916.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:36.560Z,1736372916.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.097336 m, bearing: 274.703959 deg, approach rate: -0.206371 m/s, LOS rate: 0.201816 deg/s, cmd heading: 123.407721 deg, new cmd heading: 123.672108 deg. 2025-01-08T21:48:36.561Z,1736372916.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.158485 target range: 574.200012 and range: 574.20 m. 2025-01-08T21:48:36.664Z,1736372916.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:36.665Z,1736372916.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264720 2025-01-08T21:48:36.916Z,1736372916.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:36.918Z,1736372916.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517506 2025-01-08T21:48:37.024Z,1736372917.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:37.036Z,1736372917.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:37.038Z,1736372917.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.961395 m, bearing: 274.811627 deg, approach rate: -0.281904 m/s, LOS rate: 0.223476 deg/s, cmd heading: 123.672104 deg, new cmd heading: 123.995397 deg. 2025-01-08T21:48:37.039Z,1736372917.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.164128 target range: 574.200012 and range: 574.20 m. 2025-01-08T21:48:37.172Z,1736372917.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:37.173Z,1736372917.173 [DAT](INFO): DAT read: Rx Time:21:48:35.9576 2025-01-08T21:48:37.174Z,1736372917.174 [DAT](INFO): Rx dataTimestamp_ set to:1736372917.173533 2025-01-08T21:48:37.174Z,1736372917.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773958 2025-01-08T21:48:37.380Z,1736372917.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:37.410Z,1736372917.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:37.413Z,1736372917.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.877731 m, bearing: 274.889905 deg, approach rate: -0.223404 m/s, LOS rate: 0.209140 deg/s, cmd heading: 123.995391 deg, new cmd heading: 124.230355 deg. 2025-01-08T21:48:37.414Z,1736372917.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168229 target range: 574.200012 and range: 574.20 m. 2025-01-08T21:48:37.424Z,1736372917.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:37.424Z,1736372917.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024080 2025-01-08T21:48:37.676Z,1736372917.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:37.679Z,1736372917.679 [DAT](INFO): DAT read: Range 10 to 50 : 576.3 m (Round-trip 768.4 ms) speed -0.5 m/s 2025-01-08T21:48:37.680Z,1736372917.680 [DAT](INFO): DAT read: user:2074> 2025-01-08T21:48:37.681Z,1736372917.681 [DAT](INFO): DAT read: Tx time:21:48:37.0350 2025-01-08T21:48:37.681Z,1736372917.681 [DAT](INFO): Ping request sent. 2025-01-08T21:48:37.681Z,1736372917.681 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:48:37.682Z,1736372917.682 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:48:37.682Z,1736372917.682 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:37.682Z,1736372917.682 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:37.928Z,1736372917.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:37.929Z,1736372917.929 [DAT](INFO): DAT read: TxSync time:21:48:37.0342 2025-01-08T21:48:37.958Z,1736372917.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:37.980Z,1736372917.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 576.299988 m, deltaT: 4.292710 s, deltaX: 2.099976 m, approachRate: 0.489196 m/s, rangeRepo size: 4 2025-01-08T21:48:37.981Z,1736372917.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:37.988Z,1736372917.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.722687 m, bearing: 275.015245 deg, approach rate: -0.274290 m/s, LOS rate: 0.221969 deg/s, cmd heading: 124.230349 deg, new cmd heading: 124.606753 deg. 2025-01-08T21:48:37.989Z,1736372917.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174798 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:38.181Z,1736372918.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:38.375Z,1736372918.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:38.381Z,1736372918.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:38.383Z,1736372918.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:38.386Z,1736372918.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.626678 m, bearing: 275.108447 deg, approach rate: -0.235210 m/s, LOS rate: 0.228481 deg/s, cmd heading: 124.606747 deg, new cmd heading: 124.886530 deg. 2025-01-08T21:48:38.387Z,1736372918.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.179681 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:38.432Z,1736372918.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:38.432Z,1736372918.432 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:38.432Z,1736372918.432 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:38.433Z,1736372918.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:38.685Z,1736372918.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:38.685Z,1736372918.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004090 2025-01-08T21:48:38.841Z,1736372918.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:38.851Z,1736372918.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:38.854Z,1736372918.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.501907 m, bearing: 275.211325 deg, approach rate: -0.267396 m/s, LOS rate: 0.220661 deg/s, cmd heading: 124.886526 deg, new cmd heading: 125.195415 deg. 2025-01-08T21:48:38.855Z,1736372918.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.185072 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:38.937Z,1736372918.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:38.938Z,1736372918.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256361 2025-01-08T21:48:39.181Z,1736372919.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:39.189Z,1736372919.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:39.190Z,1736372919.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508381 2025-01-08T21:48:39.195Z,1736372919.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:39.198Z,1736372919.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.417755 m, bearing: 275.287369 deg, approach rate: -0.243826 m/s, LOS rate: 0.220457 deg/s, cmd heading: 125.195414 deg, new cmd heading: 125.423673 deg. 2025-01-08T21:48:39.199Z,1736372919.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.189056 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:39.440Z,1736372919.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:39.441Z,1736372919.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759390 2025-01-08T21:48:39.588Z,1736372919.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:39.605Z,1736372919.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:39.612Z,1736372919.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.324799 m, bearing: 275.379822 deg, approach rate: -0.226867 m/s, LOS rate: 0.225779 deg/s, cmd heading: 125.423679 deg, new cmd heading: 125.701209 deg. 2025-01-08T21:48:39.613Z,1736372919.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.193900 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:39.692Z,1736372919.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:39.693Z,1736372919.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011233 2025-01-08T21:48:39.944Z,1736372919.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:39.944Z,1736372919.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263010 2025-01-08T21:48:40.032Z,1736372920.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:40.044Z,1736372920.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:40.046Z,1736372920.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.211899 m, bearing: 275.477180 deg, approach rate: -0.257475 m/s, LOS rate: 0.222198 deg/s, cmd heading: 125.701203 deg, new cmd heading: 125.993495 deg. 2025-01-08T21:48:40.047Z,1736372920.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199001 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:40.196Z,1736372920.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:40.197Z,1736372920.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515299 2025-01-08T21:48:40.394Z,1736372920.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:40.401Z,1736372920.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:40.403Z,1736372920.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:40.406Z,1736372920.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.126801 m, bearing: 275.557850 deg, approach rate: -0.236687 m/s, LOS rate: 0.224498 deg/s, cmd heading: 125.993494 deg, new cmd heading: 126.235641 deg. 2025-01-08T21:48:40.406Z,1736372920.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203228 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:40.448Z,1736372920.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:40.449Z,1736372920.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767195 2025-01-08T21:48:40.700Z,1736372920.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:40.701Z,1736372920.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019823 2025-01-08T21:48:40.872Z,1736372920.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:40.888Z,1736372920.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:40.891Z,1736372920.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.023560 m, bearing: 275.662157 deg, approach rate: -0.212770 m/s, LOS rate: 0.215117 deg/s, cmd heading: 126.235638 deg, new cmd heading: 126.548774 deg. 2025-01-08T21:48:40.892Z,1736372920.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208693 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:40.952Z,1736372920.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:40.953Z,1736372920.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271241 2025-01-08T21:48:41.203Z,1736372921.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:41.204Z,1736372921.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:41.205Z,1736372921.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523215 2025-01-08T21:48:41.213Z,1736372921.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:41.216Z,1736372921.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 148.958344 m, bearing: 275.735223 deg, approach rate: -0.200549 m/s, LOS rate: 0.224786 deg/s, cmd heading: 126.548775 deg, new cmd heading: 126.768067 deg. 2025-01-08T21:48:41.218Z,1736372921.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.212520 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:41.456Z,1736372921.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:41.459Z,1736372921.459 [DAT](INFO): DAT read: Rx Time:21:48:40.2189 2025-01-08T21:48:41.460Z,1736372921.460 [DAT](INFO): Rx dataTimestamp_ set to:1736372921.459322 2025-01-08T21:48:41.461Z,1736372921.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779374 2025-01-08T21:48:41.612Z,1736372921.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:41.621Z,1736372921.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:41.624Z,1736372921.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 148.885529 m, bearing: 275.826669 deg, approach rate: -0.178416 m/s, LOS rate: 0.224176 deg/s, cmd heading: 126.768065 deg, new cmd heading: 127.042534 deg. 2025-01-08T21:48:41.625Z,1736372921.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217310 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:41.708Z,1736372921.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:41.709Z,1736372921.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027242 2025-01-08T21:48:41.960Z,1736372921.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:41.970Z,1736372921.970 [DAT](INFO): DAT read: 21:48:40.2189 LVL= 17648, 23665, 14450, 22003, AGC= 73, IDX= 29, 0.22, 2.869,-1.702, 2.177, 2.778, PHS= 0.179, 1.851,-0.604, RAW= 348.2, -13.1, CAL= 349.5, -17.8, ROT= 160.5, 17.8 2025-01-08T21:48:41.989Z,1736372921.989 [DAT](INFO): got valid direction response: 21:48:40.2189 LVL= 17648, 23665, 14450, 22003, AGC= 73, IDX= 29, 0.22, 2.869,-1.702, 2.177, 2.778, PHS= 0.179, 1.851,-0.604, RAW= 348.2, -13.1, CAL= 349.5, -17.8, ROT= 160.5, 17.8 2025-01-08T21:48:41.992Z,1736372921.992 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:48:41.992Z,1736372921.992 [DAT](INFO): Received a bad header 2025-01-08T21:48:42.005Z,1736372922.005 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:48:42.007Z,1736372922.007 [DAT](INFO): direction in FSK: [0.346616,0.911353,-0.222019] 2025-01-08T21:48:42.025Z,1736372922.025 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:42.025Z,1736372922.025 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:42.025Z,1736372922.025 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:42.125Z,1736372922.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:42.134Z,1736372922.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:42.149Z,1736372922.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 148.797302 m, bearing: 275.941429 deg, approach rate: -0.171942 m/s, LOS rate: 0.223786 deg/s, cmd heading: 127.042529 deg, new cmd heading: 127.387010 deg. 2025-01-08T21:48:42.152Z,1736372922.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.223323 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:42.212Z,1736372922.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:42.213Z,1736372922.213 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:42.213Z,1736372922.213 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:42.213Z,1736372922.213 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:42.464Z,1736372922.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:42.464Z,1736372922.464 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:42.464Z,1736372922.464 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:42.464Z,1736372922.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:42.620Z,1736372922.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:42.632Z,1736372922.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:42.635Z,1736372922.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:42.638Z,1736372922.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 148.731201 m, bearing: 276.053739 deg, approach rate: -0.132070 m/s, LOS rate: 0.224495 deg/s, cmd heading: 127.387017 deg, new cmd heading: 127.724092 deg. 2025-01-08T21:48:42.639Z,1736372922.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229206 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:42.716Z,1736372922.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:42.717Z,1736372922.717 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:42.717Z,1736372922.717 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:42.717Z,1736372922.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:42.968Z,1736372922.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:42.969Z,1736372922.969 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:42.969Z,1736372922.969 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:42.969Z,1736372922.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:43.065Z,1736372923.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:43.075Z,1736372923.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:43.077Z,1736372923.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 148.706223 m, bearing: 276.156942 deg, approach rate: -0.056802 m/s, LOS rate: 0.234726 deg/s, cmd heading: 127.724087 deg, new cmd heading: 128.033745 deg. 2025-01-08T21:48:43.078Z,1736372923.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.234610 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:43.220Z,1736372923.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:43.220Z,1736372923.220 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:43.221Z,1736372923.221 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:43.221Z,1736372923.221 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:43.442Z,1736372923.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:43.450Z,1736372923.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:43.453Z,1736372923.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 148.692215 m, bearing: 276.244477 deg, approach rate: -0.037271 m/s, LOS rate: 0.232931 deg/s, cmd heading: 128.033740 deg, new cmd heading: 128.296367 deg. 2025-01-08T21:48:43.454Z,1736372923.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239194 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:43.472Z,1736372923.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:43.472Z,1736372923.472 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:43.472Z,1736372923.472 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:43.472Z,1736372923.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:43.724Z,1736372923.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:43.724Z,1736372923.724 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:43.724Z,1736372923.724 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:43.725Z,1736372923.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:43.915Z,1736372923.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:43.924Z,1736372923.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:43.927Z,1736372923.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 148.706650 m, bearing: 276.349795 deg, approach rate: 0.030470 m/s, LOS rate: 0.222292 deg/s, cmd heading: 128.296361 deg, new cmd heading: 128.612282 deg. 2025-01-08T21:48:43.928Z,1736372923.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.244708 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:43.976Z,1736372923.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:43.976Z,1736372923.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:43.976Z,1736372923.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:43.977Z,1736372923.977 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:44.229Z,1736372924.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:44.229Z,1736372924.229 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:44.229Z,1736372924.229 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:44.229Z,1736372924.229 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:44.306Z,1736372924.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:44.314Z,1736372924.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:44.318Z,1736372924.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 148.725601 m, bearing: 276.436791 deg, approach rate: 0.048600 m/s, LOS rate: 0.223070 deg/s, cmd heading: 128.612284 deg, new cmd heading: 128.873237 deg. 2025-01-08T21:48:44.319Z,1736372924.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249262 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:44.480Z,1736372924.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:44.480Z,1736372924.480 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:44.480Z,1736372924.480 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:44.480Z,1736372924.480 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:44.659Z,1736372924.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:44.671Z,1736372924.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:44.674Z,1736372924.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:44.679Z,1736372924.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 148.749329 m, bearing: 276.514988 deg, approach rate: 0.065924 m/s, LOS rate: 0.217226 deg/s, cmd heading: 128.873239 deg, new cmd heading: 129.107790 deg. 2025-01-08T21:48:44.680Z,1736372924.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.253356 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:44.733Z,1736372924.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:44.734Z,1736372924.734 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:44.734Z,1736372924.734 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:44.734Z,1736372924.734 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:44.984Z,1736372924.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:44.985Z,1736372924.985 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:44.985Z,1736372924.985 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:44.985Z,1736372924.985 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:45.076Z,1736372925.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:45.085Z,1736372925.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:45.088Z,1736372925.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 148.800827 m, bearing: 276.608624 deg, approach rate: 0.125337 m/s, LOS rate: 0.227810 deg/s, cmd heading: 129.107787 deg, new cmd heading: 129.388594 deg. 2025-01-08T21:48:45.089Z,1736372925.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.258257 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:45.236Z,1736372925.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:45.236Z,1736372925.236 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:45.236Z,1736372925.236 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:45.237Z,1736372925.237 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:45.460Z,1736372925.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:45.470Z,1736372925.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:45.473Z,1736372925.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 148.854858 m, bearing: 276.694080 deg, approach rate: 0.140206 m/s, LOS rate: 0.221670 deg/s, cmd heading: 129.388590 deg, new cmd heading: 129.644863 deg. 2025-01-08T21:48:45.474Z,1736372925.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262730 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:45.488Z,1736372925.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:45.488Z,1736372925.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:45.488Z,1736372925.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:45.488Z,1736372925.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:45.740Z,1736372925.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:45.740Z,1736372925.740 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:45.740Z,1736372925.740 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:45.740Z,1736372925.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:45.944Z,1736372925.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:45.970Z,1736372925.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:45.975Z,1736372925.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 148.946228 m, bearing: 276.807506 deg, approach rate: 0.182763 m/s, LOS rate: 0.226742 deg/s, cmd heading: 129.644859 deg, new cmd heading: 129.984925 deg. 2025-01-08T21:48:45.984Z,1736372925.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.268665 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:45.992Z,1736372925.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:45.992Z,1736372925.992 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:45.993Z,1736372925.993 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:45.993Z,1736372925.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:46.244Z,1736372926.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:46.244Z,1736372926.244 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:46.244Z,1736372926.244 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:46.244Z,1736372926.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:46.280Z,1736372926.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:46.312Z,1736372926.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:46.314Z,1736372926.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.021240 m, bearing: 276.884389 deg, approach rate: 0.219538 m/s, LOS rate: 0.224901 deg/s, cmd heading: 129.984920 deg, new cmd heading: 130.215453 deg. 2025-01-08T21:48:46.320Z,1736372926.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272688 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:46.497Z,1736372926.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:46.498Z,1736372926.498 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:46.498Z,1736372926.498 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:46.499Z,1736372926.499 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:46.690Z,1736372926.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:46.697Z,1736372926.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:46.699Z,1736372926.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:46.702Z,1736372926.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.120377 m, bearing: 276.977344 deg, approach rate: 0.256423 m/s, LOS rate: 0.240274 deg/s, cmd heading: 130.215453 deg, new cmd heading: 130.494130 deg. 2025-01-08T21:48:46.704Z,1736372926.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277552 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:46.749Z,1736372926.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:46.750Z,1736372926.750 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:46.750Z,1736372926.750 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:46.751Z,1736372926.751 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:47.000Z,1736372927.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:47.001Z,1736372927.001 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:47.001Z,1736372927.001 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:47.001Z,1736372927.001 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:47.108Z,1736372927.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:47.118Z,1736372927.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:47.120Z,1736372927.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.234421 m, bearing: 277.072374 deg, approach rate: 0.272749 m/s, LOS rate: 0.227101 deg/s, cmd heading: 130.494125 deg, new cmd heading: 130.778995 deg. 2025-01-08T21:48:47.121Z,1736372927.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282524 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:47.252Z,1736372927.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:47.252Z,1736372927.252 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:47.252Z,1736372927.252 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:47.252Z,1736372927.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:47.490Z,1736372927.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:47.500Z,1736372927.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:47.502Z,1736372927.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.345703 m, bearing: 277.158074 deg, approach rate: 0.291020 m/s, LOS rate: 0.223951 deg/s, cmd heading: 130.778998 deg, new cmd heading: 131.035904 deg. 2025-01-08T21:48:47.504Z,1736372927.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:47.504Z,1736372927.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:47.504Z,1736372927.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:47.504Z,1736372927.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:48:47.528Z,1736372927.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287008 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:47.758Z,1736372927.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:47.758Z,1736372927.758 [DAT](INFO): Reached modem response timeout 2025-01-08T21:48:47.758Z,1736372927.758 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:48:47.758Z,1736372927.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:47.965Z,1736372927.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:47.993Z,1736372927.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:48.004Z,1736372928.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.495193 m, bearing: 277.262503 deg, approach rate: 0.303698 m/s, LOS rate: 0.211941 deg/s, cmd heading: 131.035909 deg, new cmd heading: 131.348880 deg. 2025-01-08T21:48:48.005Z,1736372928.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.292470 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:48.008Z,1736372928.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:48.008Z,1736372928.008 [DAT](INFO): Reached modem response timeout 2025-01-08T21:48:48.008Z,1736372928.008 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:48:48.009Z,1736372928.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:48.260Z,1736372928.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:48.260Z,1736372928.260 [DAT](INFO): Reached modem response timeout 2025-01-08T21:48:48.260Z,1736372928.260 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:48:48.261Z,1736372928.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:48.304Z,1736372928.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:48.318Z,1736372928.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:48.324Z,1736372928.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.604645 m, bearing: 277.333704 deg, approach rate: 0.336352 m/s, LOS rate: 0.218646 deg/s, cmd heading: 131.348882 deg, new cmd heading: 131.562327 deg. 2025-01-08T21:48:48.325Z,1736372928.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296196 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:48.512Z,1736372928.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:48.512Z,1736372928.512 [DAT](INFO): Reached modem response timeout 2025-01-08T21:48:48.512Z,1736372928.512 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:48:48.513Z,1736372928.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:48.709Z,1736372928.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:48.731Z,1736372928.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:48.734Z,1736372928.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:48.741Z,1736372928.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.749084 m, bearing: 277.421227 deg, approach rate: 0.346637 m/s, LOS rate: 0.209842 deg/s, cmd heading: 131.562325 deg, new cmd heading: 131.824639 deg. 2025-01-08T21:48:48.742Z,1736372928.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300774 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:48.764Z,1736372928.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:48.766Z,1736372928.766 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:48:48.767Z,1736372928.767 [DAT](INFO): response not received 2025-01-08T21:48:48.768Z,1736372928.768 [DAT](INFO): DAT read: user:2076> 2025-01-08T21:48:48.770Z,1736372928.770 [DAT](INFO): DAT read: Tx time:21:48:47.9851 2025-01-08T21:48:48.770Z,1736372928.770 [DAT](INFO): Ping request sent. 2025-01-08T21:48:48.771Z,1736372928.771 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:48:48.771Z,1736372928.771 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:48.772Z,1736372928.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001655 2025-01-08T21:48:49.016Z,1736372929.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:49.018Z,1736372929.018 [DAT](INFO): DAT read: TxSync time:21:48:47.9843 2025-01-08T21:48:49.018Z,1736372929.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247693 2025-01-08T21:48:49.129Z,1736372929.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:49.138Z,1736372929.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:49.141Z,1736372929.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 149.888489 m, bearing: 277.512360 deg, approach rate: 0.344452 m/s, LOS rate: 0.224970 deg/s, cmd heading: 131.824645 deg, new cmd heading: 132.097788 deg. 2025-01-08T21:48:49.142Z,1736372929.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305541 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:49.268Z,1736372929.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:49.269Z,1736372929.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498600 2025-01-08T21:48:49.520Z,1736372929.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:49.521Z,1736372929.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750513 2025-01-08T21:48:49.587Z,1736372929.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:49.616Z,1736372929.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:49.619Z,1736372929.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.048981 m, bearing: 277.609464 deg, approach rate: 0.335699 m/s, LOS rate: 0.202893 deg/s, cmd heading: 132.097785 deg, new cmd heading: 132.388782 deg. 2025-01-08T21:48:49.620Z,1736372929.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310620 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:49.772Z,1736372929.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:49.773Z,1736372929.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002685 2025-01-08T21:48:50.022Z,1736372930.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:50.024Z,1736372930.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:50.025Z,1736372930.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254092 2025-01-08T21:48:50.033Z,1736372930.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:50.037Z,1736372930.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.195038 m, bearing: 277.700128 deg, approach rate: 0.350606 m/s, LOS rate: 0.217424 deg/s, cmd heading: 132.388778 deg, new cmd heading: 132.660503 deg. 2025-01-08T21:48:50.038Z,1736372930.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315362 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:50.276Z,1736372930.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:50.276Z,1736372930.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505619 2025-01-08T21:48:50.422Z,1736372930.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:50.431Z,1736372930.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:50.434Z,1736372930.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.335907 m, bearing: 277.781340 deg, approach rate: 0.354173 m/s, LOS rate: 0.203992 deg/s, cmd heading: 132.660497 deg, new cmd heading: 132.903903 deg. 2025-01-08T21:48:50.435Z,1736372930.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319611 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:50.528Z,1736372930.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:50.528Z,1736372930.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757822 2025-01-08T21:48:50.780Z,1736372930.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:50.780Z,1736372930.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009789 2025-01-08T21:48:50.849Z,1736372930.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:50.858Z,1736372930.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:50.860Z,1736372930.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:50.863Z,1736372930.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.486908 m, bearing: 277.868021 deg, approach rate: 0.351270 m/s, LOS rate: 0.201442 deg/s, cmd heading: 132.903897 deg, new cmd heading: 133.163678 deg. 2025-01-08T21:48:50.864Z,1736372930.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324145 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:51.033Z,1736372931.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:51.034Z,1736372931.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263194 2025-01-08T21:48:51.268Z,1736372931.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:51.277Z,1736372931.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:51.280Z,1736372931.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.618210 m, bearing: 277.953212 deg, approach rate: 0.315024 m/s, LOS rate: 0.204214 deg/s, cmd heading: 133.163677 deg, new cmd heading: 133.419024 deg. 2025-01-08T21:48:51.281Z,1736372931.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328601 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:51.285Z,1736372931.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:51.285Z,1736372931.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514672 2025-01-08T21:48:51.536Z,1736372931.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:51.537Z,1736372931.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766121 2025-01-08T21:48:51.659Z,1736372931.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:51.678Z,1736372931.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:51.681Z,1736372931.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.740814 m, bearing: 278.032421 deg, approach rate: 0.306434 m/s, LOS rate: 0.197813 deg/s, cmd heading: 133.419030 deg, new cmd heading: 133.656464 deg. 2025-01-08T21:48:51.682Z,1736372931.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332745 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:51.789Z,1736372931.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:51.790Z,1736372931.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018931 2025-01-08T21:48:52.040Z,1736372932.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:52.040Z,1736372932.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269756 2025-01-08T21:48:52.064Z,1736372932.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:52.074Z,1736372932.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:52.077Z,1736372932.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 150.881683 m, bearing: 278.105227 deg, approach rate: 0.354820 m/s, LOS rate: 0.183212 deg/s, cmd heading: 133.656461 deg, new cmd heading: 133.874674 deg. 2025-01-08T21:48:52.078Z,1736372932.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336554 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:52.292Z,1736372932.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:52.293Z,1736372932.293 [DAT](INFO): DAT read: Rx Time:21:48:51.1780 2025-01-08T21:48:52.293Z,1736372932.293 [DAT](INFO): Rx dataTimestamp_ set to:1736372932.292878 2025-01-08T21:48:52.294Z,1736372932.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523071 2025-01-08T21:48:52.442Z,1736372932.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:52.452Z,1736372932.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:52.455Z,1736372932.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 151.018478 m, bearing: 278.171428 deg, approach rate: 0.362174 m/s, LOS rate: 0.175113 deg/s, cmd heading: 133.874672 deg, new cmd heading: 134.073094 deg. 2025-01-08T21:48:52.456Z,1736372932.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340017 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:52.544Z,1736372932.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:52.545Z,1736372932.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774749 2025-01-08T21:48:52.796Z,1736372932.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:52.796Z,1736372932.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025716 2025-01-08T21:48:52.877Z,1736372932.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:52.901Z,1736372932.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:52.908Z,1736372932.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:52.910Z,1736372932.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 151.181625 m, bearing: 278.245544 deg, approach rate: 0.361411 m/s, LOS rate: 0.164009 deg/s, cmd heading: 134.073089 deg, new cmd heading: 134.295197 deg. 2025-01-08T21:48:52.917Z,1736372932.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343893 target range: 574.200012 and range: 576.30 m. 2025-01-08T21:48:53.052Z,1736372933.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:53.054Z,1736372933.054 [DAT](INFO): DAT read: Range 10 to 50 : 591.5 m (Round-trip 788.7 ms) speed -0.7 m/s 2025-01-08T21:48:53.056Z,1736372933.056 [DAT](INFO): DAT read: user:2077> 2025-01-08T21:48:53.057Z,1736372933.057 [DAT](INFO): DAT read: Tx time:21:48:52.2851 2025-01-08T21:48:53.058Z,1736372933.058 [DAT](INFO): Ping request sent. 2025-01-08T21:48:53.058Z,1736372933.058 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:48:53.059Z,1736372933.059 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:48:53.059Z,1736372933.059 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:53.069Z,1736372933.069 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:53.302Z,1736372933.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:53.304Z,1736372933.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:53.305Z,1736372933.305 [DAT](INFO): DAT read: TxSync time:21:48:52.2843 2025-01-08T21:48:53.314Z,1736372933.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 591.500000 m, deltaT: 15.375258 s, deltaX: 15.200012 m, approachRate: 0.988602 m/s, rangeRepo size: 4 2025-01-08T21:48:53.314Z,1736372933.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:53.318Z,1736372933.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 151.333282 m, bearing: 278.315172 deg, approach rate: 0.370245 m/s, LOS rate: 0.169814 deg/s, cmd heading: 134.295193 deg, new cmd heading: 134.503866 deg. 2025-01-08T21:48:53.319Z,1736372933.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.347535 target range: 574.200012 and range: 591.50 m. 2025-01-08T21:48:53.556Z,1736372933.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:53.687Z,1736372933.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:53.705Z,1736372933.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:53.713Z,1736372933.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 151.467941 m, bearing: 278.373548 deg, approach rate: 0.344119 m/s, LOS rate: 0.149045 deg/s, cmd heading: 134.503869 deg, new cmd heading: 134.678839 deg. 2025-01-08T21:48:53.714Z,1736372933.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.350589 target range: 574.200012 and range: 591.50 m. 2025-01-08T21:48:53.808Z,1736372933.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:54.060Z,1736372934.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:54.087Z,1736372934.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:54.119Z,1736372934.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:54.130Z,1736372934.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 151.617355 m, bearing: 278.435351 deg, approach rate: 0.363874 m/s, LOS rate: 0.150363 deg/s, cmd heading: 134.678845 deg, new cmd heading: 134.864071 deg. 2025-01-08T21:48:54.131Z,1736372934.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.353822 target range: 574.200012 and range: 591.50 m. 2025-01-08T21:48:54.312Z,1736372934.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:54.473Z,1736372934.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:54.481Z,1736372934.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:54.508Z,1736372934.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 151.755219 m, bearing: 278.492205 deg, approach rate: 0.376253 m/s, LOS rate: 0.155023 deg/s, cmd heading: 134.864066 deg, new cmd heading: 135.034472 deg. 2025-01-08T21:48:54.509Z,1736372934.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.356796 target range: 574.200012 and range: 591.50 m. 2025-01-08T21:48:54.564Z,1736372934.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:54.816Z,1736372934.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:54.877Z,1736372934.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:54.885Z,1736372934.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:54.888Z,1736372934.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 151.909332 m, bearing: 278.547819 deg, approach rate: 0.381443 m/s, LOS rate: 0.137511 deg/s, cmd heading: 135.034465 deg, new cmd heading: 135.201140 deg. 2025-01-08T21:48:54.889Z,1736372934.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.359705 target range: 574.200012 and range: 591.50 m. 2025-01-08T21:48:55.068Z,1736372935.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:55.308Z,1736372935.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:55.320Z,1736372935.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:55.324Z,1736372935.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:55.326Z,1736372935.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:55.333Z,1736372935.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 152.073502 m, bearing: 278.604991 deg, approach rate: 0.372507 m/s, LOS rate: 0.129586 deg/s, cmd heading: 135.201136 deg, new cmd heading: 135.372466 deg. 2025-01-08T21:48:55.335Z,1736372935.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.362695 target range: 574.200012 and range: 591.50 m. 2025-01-08T21:48:55.572Z,1736372935.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:55.572Z,1736372935.572 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:55.572Z,1736372935.572 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:55.572Z,1736372935.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:55.696Z,1736372935.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:55.709Z,1736372935.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:55.711Z,1736372935.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 152.222717 m, bearing: 278.655262 deg, approach rate: 0.390245 m/s, LOS rate: 0.131344 deg/s, cmd heading: 135.372464 deg, new cmd heading: 135.523128 deg. 2025-01-08T21:48:55.712Z,1736372935.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.365325 target range: 574.200012 and range: 591.50 m. 2025-01-08T21:48:55.824Z,1736372935.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:55.825Z,1736372935.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767044 2025-01-08T21:48:56.076Z,1736372936.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:56.077Z,1736372936.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018463 2025-01-08T21:48:56.124Z,1736372936.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:56.133Z,1736372936.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:56.136Z,1736372936.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 152.400848 m, bearing: 278.710547 deg, approach rate: 0.420130 m/s, LOS rate: 0.130241 deg/s, cmd heading: 135.523125 deg, new cmd heading: 135.688786 deg. 2025-01-08T21:48:56.137Z,1736372936.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.368216 target range: 574.200012 and range: 591.50 m. 2025-01-08T21:48:56.328Z,1736372936.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:56.328Z,1736372936.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270238 2025-01-08T21:48:56.481Z,1736372936.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:56.490Z,1736372936.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:56.493Z,1736372936.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 152.550079 m, bearing: 278.755946 deg, approach rate: 0.417465 m/s, LOS rate: 0.126877 deg/s, cmd heading: 135.688784 deg, new cmd heading: 135.824848 deg. 2025-01-08T21:48:56.494Z,1736372936.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.370591 target range: 574.200012 and range: 591.50 m. 2025-01-08T21:48:56.582Z,1736372936.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:56.583Z,1736372936.583 [DAT](INFO): DAT read: Rx Time:21:48:55.4718 2025-01-08T21:48:56.584Z,1736372936.584 [DAT](INFO): Rx dataTimestamp_ set to:1736372936.583426 2025-01-08T21:48:56.585Z,1736372936.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526599 2025-01-08T21:48:56.834Z,1736372936.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:56.836Z,1736372936.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777913 2025-01-08T21:48:56.906Z,1736372936.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:56.915Z,1736372936.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:56.919Z,1736372936.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 152.728134 m, bearing: 278.809960 deg, approach rate: 0.419134 m/s, LOS rate: 0.126998 deg/s, cmd heading: 135.824841 deg, new cmd heading: 135.986693 deg. 2025-01-08T21:48:56.920Z,1736372936.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373415 target range: 574.200012 and range: 591.50 m. 2025-01-08T21:48:57.084Z,1736372937.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:57.085Z,1736372937.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026778 2025-01-08T21:48:57.316Z,1736372937.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:57.326Z,1736372937.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:57.336Z,1736372937.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:57.338Z,1736372937.338 [DAT](INFO): DAT read: Range 10 to 50 : 586.8 m (Round-trip 782.5 ms) speed -0.3 m/s 2025-01-08T21:48:57.338Z,1736372937.338 [DAT](INFO): DAT read: user:2078> 2025-01-08T21:48:57.339Z,1736372937.339 [DAT](INFO): DAT read: Tx time:21:48:56.5868 2025-01-08T21:48:57.339Z,1736372937.339 [DAT](INFO): Ping request sent. 2025-01-08T21:48:57.340Z,1736372937.340 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:48:57.340Z,1736372937.340 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:48:57.340Z,1736372937.340 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:57.341Z,1736372937.341 [DAT](INFO): publishing transmit ping time 2025-01-08T21:48:57.349Z,1736372937.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 152.910995 m, bearing: 278.861972 deg, approach rate: 0.445038 m/s, LOS rate: 0.126433 deg/s, cmd heading: 135.986689 deg, new cmd heading: 136.142539 deg. 2025-01-08T21:48:57.350Z,1736372937.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376136 target range: 574.200012 and range: 591.50 m. 2025-01-08T21:48:57.588Z,1736372937.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:57.589Z,1736372937.589 [DAT](INFO): DAT read: TxSync time:21:48:56.5860 2025-01-08T21:48:57.695Z,1736372937.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:57.702Z,1736372937.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:57.704Z,1736372937.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 586.799988 m, deltaT: 4.284117 s, deltaX: -4.700012 m, approachRate: -1.097078 m/s, rangeRepo size: 4 2025-01-08T21:48:57.705Z,1736372937.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:57.708Z,1736372937.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 153.080139 m, bearing: 278.910221 deg, approach rate: 0.447715 m/s, LOS rate: 0.127570 deg/s, cmd heading: 136.142541 deg, new cmd heading: 136.287125 deg. 2025-01-08T21:48:57.709Z,1736372937.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.378659 target range: 574.200012 and range: 586.80 m. 2025-01-08T21:48:57.841Z,1736372937.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:57.841Z,1736372937.841 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:48:57.841Z,1736372937.841 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:48:57.841Z,1736372937.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:48:58.092Z,1736372938.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:58.092Z,1736372938.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752767 2025-01-08T21:48:58.169Z,1736372938.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:58.177Z,1736372938.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:58.180Z,1736372938.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 153.309387 m, bearing: 278.970482 deg, approach rate: 0.483841 m/s, LOS rate: 0.126996 deg/s, cmd heading: 136.287122 deg, new cmd heading: 136.467637 deg. 2025-01-08T21:48:58.181Z,1736372938.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.381809 target range: 574.200012 and range: 586.80 m. 2025-01-08T21:48:58.344Z,1736372938.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:58.344Z,1736372938.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004739 2025-01-08T21:48:58.504Z,1736372938.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:58.513Z,1736372938.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:58.532Z,1736372938.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 153.470673 m, bearing: 279.013654 deg, approach rate: 0.480560 m/s, LOS rate: 0.128496 deg/s, cmd heading: 136.467630 deg, new cmd heading: 136.597008 deg. 2025-01-08T21:48:58.537Z,1736372938.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384068 target range: 574.200012 and range: 586.80 m. 2025-01-08T21:48:58.597Z,1736372938.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:58.598Z,1736372938.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258486 2025-01-08T21:48:58.849Z,1736372938.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:58.851Z,1736372938.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510352 2025-01-08T21:48:58.912Z,1736372938.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:58.946Z,1736372938.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:58.953Z,1736372938.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 153.664474 m, bearing: 279.066261 deg, approach rate: 0.447312 m/s, LOS rate: 0.121269 deg/s, cmd heading: 136.597008 deg, new cmd heading: 136.754630 deg. 2025-01-08T21:48:58.954Z,1736372938.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386819 target range: 574.200012 and range: 586.80 m. 2025-01-08T21:48:59.100Z,1736372939.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:59.101Z,1736372939.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761755 2025-01-08T21:48:59.343Z,1736372939.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:59.352Z,1736372939.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:59.353Z,1736372939.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012905 2025-01-08T21:48:59.355Z,1736372939.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:59.357Z,1736372939.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 153.885284 m, bearing: 279.122600 deg, approach rate: 0.540775 m/s, LOS rate: 0.137779 deg/s, cmd heading: 136.754635 deg, new cmd heading: 136.923409 deg. 2025-01-08T21:48:59.358Z,1736372939.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389764 target range: 574.200012 and range: 586.80 m. 2025-01-08T21:48:59.604Z,1736372939.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:59.605Z,1736372939.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265301 2025-01-08T21:48:59.713Z,1736372939.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:48:59.720Z,1736372939.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:48:59.722Z,1736372939.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:48:59.741Z,1736372939.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 154.072159 m, bearing: 279.171777 deg, approach rate: 0.508529 m/s, LOS rate: 0.133660 deg/s, cmd heading: 136.923409 deg, new cmd heading: 137.070761 deg. 2025-01-08T21:48:59.742Z,1736372939.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392336 target range: 574.200012 and range: 586.80 m. 2025-01-08T21:48:59.856Z,1736372939.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:48:59.857Z,1736372939.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517787 2025-01-08T21:49:00.113Z,1736372940.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:00.120Z,1736372940.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775375 2025-01-08T21:49:00.185Z,1736372940.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:00.194Z,1736372940.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:00.197Z,1736372940.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 154.328918 m, bearing: 279.235457 deg, approach rate: 0.544027 m/s, LOS rate: 0.134702 deg/s, cmd heading: 137.070763 deg, new cmd heading: 137.261485 deg. 2025-01-08T21:49:00.198Z,1736372940.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395665 target range: 574.200012 and range: 586.80 m. 2025-01-08T21:49:00.364Z,1736372940.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:00.364Z,1736372940.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024690 2025-01-08T21:49:00.530Z,1736372940.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:00.540Z,1736372940.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:00.543Z,1736372940.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 154.514999 m, bearing: 279.282444 deg, approach rate: 0.538845 m/s, LOS rate: 0.135900 deg/s, cmd heading: 137.261490 deg, new cmd heading: 137.402282 deg. 2025-01-08T21:49:00.544Z,1736372940.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398122 target range: 574.200012 and range: 586.80 m. 2025-01-08T21:49:00.616Z,1736372940.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:00.617Z,1736372940.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277308 2025-01-08T21:49:00.868Z,1736372940.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:00.868Z,1736372940.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528725 2025-01-08T21:49:00.938Z,1736372940.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:00.946Z,1736372940.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:00.949Z,1736372940.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 154.734024 m, bearing: 279.338570 deg, approach rate: 0.538021 m/s, LOS rate: 0.137673 deg/s, cmd heading: 137.402287 deg, new cmd heading: 137.570424 deg. 2025-01-08T21:49:00.951Z,1736372940.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.401057 target range: 574.200012 and range: 586.80 m. 2025-01-08T21:49:01.120Z,1736372941.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:01.121Z,1736372941.121 [DAT](INFO): DAT read: Rx Time:21:48:59.7762 2025-01-08T21:49:01.122Z,1736372941.122 [DAT](INFO): Rx dataTimestamp_ set to:1736372941.121341 2025-01-08T21:49:01.122Z,1736372941.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782530 2025-01-08T21:49:01.372Z,1736372941.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:01.373Z,1736372941.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032945 2025-01-08T21:49:01.387Z,1736372941.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:01.396Z,1736372941.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:01.399Z,1736372941.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 154.982132 m, bearing: 279.402460 deg, approach rate: 0.551473 m/s, LOS rate: 0.141782 deg/s, cmd heading: 137.570419 deg, new cmd heading: 137.761781 deg. 2025-01-08T21:49:01.423Z,1736372941.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404397 target range: 574.200012 and range: 586.80 m. 2025-01-08T21:49:01.628Z,1736372941.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:01.629Z,1736372941.629 [DAT](INFO): DAT read: Range 10 to 50 : 588.9 m (Round-trip 785.3 ms) speed -0.8 m/s 2025-01-08T21:49:01.630Z,1736372941.630 [DAT](INFO): DAT read: user:2079> 2025-01-08T21:49:01.631Z,1736372941.631 [DAT](INFO): DAT read: Tx time:21:49:00.8852 2025-01-08T21:49:01.631Z,1736372941.631 [DAT](INFO): Ping request sent. 2025-01-08T21:49:01.631Z,1736372941.631 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:49:01.632Z,1736372941.632 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:49:01.632Z,1736372941.632 [DAT](INFO): publishing transmit ping time 2025-01-08T21:49:01.633Z,1736372941.633 [DAT](INFO): publishing transmit ping time 2025-01-08T21:49:01.769Z,1736372941.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:01.776Z,1736372941.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:01.778Z,1736372941.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 588.900024 m, deltaT: 4.291856 s, deltaX: 2.100037 m, approachRate: 0.489307 m/s, rangeRepo size: 4 2025-01-08T21:49:01.779Z,1736372941.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:01.798Z,1736372941.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 155.192123 m, bearing: 279.457224 deg, approach rate: 0.550716 m/s, LOS rate: 0.143428 deg/s, cmd heading: 137.761787 deg, new cmd heading: 137.925857 deg. 2025-01-08T21:49:01.804Z,1736372941.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407260 target range: 574.200012 and range: 588.90 m. 2025-01-08T21:49:01.880Z,1736372941.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:01.881Z,1736372941.881 [DAT](INFO): DAT read: TxSync time:21:49:00.8844 2025-01-08T21:49:01.881Z,1736372941.881 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:49:01.881Z,1736372941.881 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:49:01.882Z,1736372941.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:02.134Z,1736372942.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:02.136Z,1736372942.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504225 2025-01-08T21:49:02.232Z,1736372942.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:02.241Z,1736372942.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:02.244Z,1736372942.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 155.451492 m, bearing: 279.524488 deg, approach rate: 0.559157 m/s, LOS rate: 0.144768 deg/s, cmd heading: 137.925862 deg, new cmd heading: 138.127317 deg. 2025-01-08T21:49:02.245Z,1736372942.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410776 target range: 574.200012 and range: 588.90 m. 2025-01-08T21:49:02.385Z,1736372942.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:02.386Z,1736372942.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753809 2025-01-08T21:49:02.625Z,1736372942.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:02.636Z,1736372942.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:02.637Z,1736372942.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004996 2025-01-08T21:49:02.644Z,1736372942.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:02.653Z,1736372942.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 155.670532 m, bearing: 279.581609 deg, approach rate: 0.550648 m/s, LOS rate: 0.143395 deg/s, cmd heading: 138.127312 deg, new cmd heading: 138.298433 deg. 2025-01-08T21:49:02.654Z,1736372942.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413763 target range: 574.200012 and range: 588.90 m. 2025-01-08T21:49:02.890Z,1736372942.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:02.891Z,1736372942.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259080 2025-01-08T21:49:03.141Z,1736372943.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:03.143Z,1736372943.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510889 2025-01-08T21:49:03.155Z,1736372943.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:03.184Z,1736372943.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:03.186Z,1736372943.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 155.964920 m, bearing: 279.658910 deg, approach rate: 0.545118 m/s, LOS rate: 0.142869 deg/s, cmd heading: 138.298435 deg, new cmd heading: 138.529900 deg. 2025-01-08T21:49:03.192Z,1736372943.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417803 target range: 574.200012 and range: 588.90 m. 2025-01-08T21:49:03.393Z,1736372943.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:03.394Z,1736372943.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762143 2025-01-08T21:49:03.642Z,1736372943.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:03.644Z,1736372943.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:03.645Z,1736372943.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013930 2025-01-08T21:49:03.680Z,1736372943.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:03.683Z,1736372943.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 156.233856 m, bearing: 279.731520 deg, approach rate: 0.536744 m/s, LOS rate: 0.144666 deg/s, cmd heading: 138.529897 deg, new cmd heading: 138.747351 deg. 2025-01-08T21:49:03.688Z,1736372943.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421598 target range: 574.200012 and range: 588.90 m. 2025-01-08T21:49:03.897Z,1736372943.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:03.899Z,1736372943.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266790 2025-01-08T21:49:03.916Z,1736372943.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:49:04.024Z,1736372944.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:04.031Z,1736372944.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:04.033Z,1736372944.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:04.036Z,1736372944.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 156.444443 m, bearing: 279.788158 deg, approach rate: 0.597326 m/s, LOS rate: 0.160436 deg/s, cmd heading: 138.747356 deg, new cmd heading: 138.917040 deg. 2025-01-08T21:49:04.037Z,1736372944.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424560 target range: 574.200012 and range: 588.90 m. 2025-01-08T21:49:04.149Z,1736372944.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:04.152Z,1736372944.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520331 2025-01-08T21:49:04.401Z,1736372944.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:04.401Z,1736372944.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769901 2025-01-08T21:49:04.433Z,1736372944.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:04.442Z,1736372944.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:04.445Z,1736372944.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 156.663651 m, bearing: 279.851926 deg, approach rate: 0.535502 m/s, LOS rate: 0.155560 deg/s, cmd heading: 138.917046 deg, new cmd heading: 139.108080 deg. 2025-01-08T21:49:04.446Z,1736372944.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427894 target range: 574.200012 and range: 588.90 m. 2025-01-08T21:49:04.652Z,1736372944.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:04.653Z,1736372944.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021334 2025-01-08T21:49:04.818Z,1736372944.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:04.852Z,1736372944.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:04.860Z,1736372944.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 156.869370 m, bearing: 279.912183 deg, approach rate: 0.507929 m/s, LOS rate: 0.148583 deg/s, cmd heading: 139.108086 deg, new cmd heading: 139.288620 deg. 2025-01-08T21:49:04.861Z,1736372944.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431045 target range: 574.200012 and range: 588.90 m. 2025-01-08T21:49:04.904Z,1736372944.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:04.905Z,1736372944.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273400 2025-01-08T21:49:04.920Z,1736372944.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:49:05.158Z,1736372945.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:05.160Z,1736372945.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528000 2025-01-08T21:49:05.318Z,1736372945.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:05.326Z,1736372945.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:05.329Z,1736372945.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 157.128815 m, bearing: 279.991388 deg, approach rate: 0.541454 m/s, LOS rate: 0.165025 deg/s, cmd heading: 139.288621 deg, new cmd heading: 139.525843 deg. 2025-01-08T21:49:05.330Z,1736372945.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435185 target range: 574.200012 and range: 588.90 m. 2025-01-08T21:49:05.408Z,1736372945.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:05.409Z,1736372945.409 [DAT](INFO): DAT read: Rx Time:21:49:04.0777 2025-01-08T21:49:05.410Z,1736372945.410 [DAT](INFO): Rx dataTimestamp_ set to:1736372945.409521 2025-01-08T21:49:05.411Z,1736372945.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779230 2025-01-08T21:49:05.660Z,1736372945.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:05.661Z,1736372945.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029636 2025-01-08T21:49:05.720Z,1736372945.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:05.756Z,1736372945.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:05.758Z,1736372945.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 157.335693 m, bearing: 280.055798 deg, approach rate: 0.487586 m/s, LOS rate: 0.151606 deg/s, cmd heading: 139.525848 deg, new cmd heading: 139.718822 deg. 2025-01-08T21:49:05.764Z,1736372945.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438554 target range: 574.200012 and range: 588.90 m. 2025-01-08T21:49:05.914Z,1736372945.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:05.916Z,1736372945.916 [DAT](INFO): DAT read: Range 10 to 50 : 591.2 m (Round-trip 788.3 ms) speed -0.6 m/s 2025-01-08T21:49:05.917Z,1736372945.917 [DAT](INFO): DAT read: user:2080> 2025-01-08T21:49:05.918Z,1736372945.918 [DAT](INFO): DAT read: Tx time:21:49:05.1852 2025-01-08T21:49:05.918Z,1736372945.918 [DAT](INFO): Ping request sent. 2025-01-08T21:49:05.918Z,1736372945.918 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:49:05.918Z,1736372945.918 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:49:05.918Z,1736372945.918 [DAT](INFO): publishing transmit ping time 2025-01-08T21:49:05.919Z,1736372945.919 [DAT](INFO): publishing transmit ping time 2025-01-08T21:49:06.165Z,1736372946.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:06.168Z,1736372946.168 [DAT](INFO): DAT read: TxSync time:21:49:05.1844 2025-01-08T21:49:06.281Z,1736372946.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:06.288Z,1736372946.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:06.291Z,1736372946.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 591.200012 m, deltaT: 4.286429 s, deltaX: 2.299988 m, approachRate: 0.536574 m/s, rangeRepo size: 4 2025-01-08T21:49:06.292Z,1736372946.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:06.295Z,1736372946.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 157.613220 m, bearing: 280.147214 deg, approach rate: 0.514490 m/s, LOS rate: 0.169173 deg/s, cmd heading: 139.718828 deg, new cmd heading: 139.992593 deg. 2025-01-08T21:49:06.296Z,1736372946.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443332 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:06.417Z,1736372946.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:06.417Z,1736372946.417 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:49:06.418Z,1736372946.418 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:49:06.418Z,1736372946.418 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:06.617Z,1736372946.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:06.626Z,1736372946.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:06.629Z,1736372946.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 157.778488 m, bearing: 280.202207 deg, approach rate: 0.491549 m/s, LOS rate: 0.163391 deg/s, cmd heading: 139.992595 deg, new cmd heading: 140.157400 deg. 2025-01-08T21:49:06.630Z,1736372946.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446208 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:06.669Z,1736372946.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:06.669Z,1736372946.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751553 2025-01-08T21:49:06.921Z,1736372946.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:06.924Z,1736372946.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005941 2025-01-08T21:49:07.025Z,1736372947.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:07.034Z,1736372947.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:07.037Z,1736372947.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 157.978394 m, bearing: 280.269625 deg, approach rate: 0.490212 m/s, LOS rate: 0.165115 deg/s, cmd heading: 140.157394 deg, new cmd heading: 140.359392 deg. 2025-01-08T21:49:07.038Z,1736372947.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449733 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:07.173Z,1736372947.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:07.176Z,1736372947.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256780 2025-01-08T21:49:07.424Z,1736372947.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:07.424Z,1736372947.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506577 2025-01-08T21:49:07.447Z,1736372947.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:07.480Z,1736372947.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:07.483Z,1736372947.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 158.171585 m, bearing: 280.339370 deg, approach rate: 0.432886 m/s, LOS rate: 0.156088 deg/s, cmd heading: 140.359390 deg, new cmd heading: 140.568369 deg. 2025-01-08T21:49:07.496Z,1736372947.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453381 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:07.676Z,1736372947.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:07.677Z,1736372947.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759566 2025-01-08T21:49:07.929Z,1736372947.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:07.931Z,1736372947.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012269 2025-01-08T21:49:07.957Z,1736372947.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:07.989Z,1736372947.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:07.998Z,1736372947.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 158.406052 m, bearing: 280.423672 deg, approach rate: 0.460806 m/s, LOS rate: 0.165436 deg/s, cmd heading: 140.568367 deg, new cmd heading: 140.820896 deg. 2025-01-08T21:49:08.005Z,1736372948.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457788 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:08.181Z,1736372948.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:08.185Z,1736372948.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266171 2025-01-08T21:49:08.340Z,1736372948.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:08.347Z,1736372948.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:08.349Z,1736372948.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:08.352Z,1736372948.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 158.575211 m, bearing: 280.487444 deg, approach rate: 0.470362 m/s, LOS rate: 0.177135 deg/s, cmd heading: 140.820892 deg, new cmd heading: 141.012004 deg. 2025-01-08T21:49:08.353Z,1736372948.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.461124 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:08.432Z,1736372948.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:08.432Z,1736372948.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514588 2025-01-08T21:49:08.684Z,1736372948.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:08.685Z,1736372948.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767197 2025-01-08T21:49:08.768Z,1736372948.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:08.776Z,1736372948.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:08.779Z,1736372948.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 158.763214 m, bearing: 280.558633 deg, approach rate: 0.439965 m/s, LOS rate: 0.166399 deg/s, cmd heading: 141.012001 deg, new cmd heading: 141.225314 deg. 2025-01-08T21:49:08.780Z,1736372948.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464847 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:08.936Z,1736372948.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:08.936Z,1736372948.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018467 2025-01-08T21:49:09.189Z,1736372949.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:09.192Z,1736372949.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273152 2025-01-08T21:49:09.289Z,1736372949.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:09.306Z,1736372949.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:09.313Z,1736372949.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 158.993179 m, bearing: 280.645359 deg, approach rate: 0.433805 m/s, LOS rate: 0.163363 deg/s, cmd heading: 141.225308 deg, new cmd heading: 141.485108 deg. 2025-01-08T21:49:09.314Z,1736372949.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469381 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:09.440Z,1736372949.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:09.440Z,1736372949.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522472 2025-01-08T21:49:09.606Z,1736372949.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:09.632Z,1736372949.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:09.636Z,1736372949.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 159.132874 m, bearing: 280.699403 deg, approach rate: 0.430282 m/s, LOS rate: 0.166316 deg/s, cmd heading: 141.485115 deg, new cmd heading: 141.647102 deg. 2025-01-08T21:49:09.636Z,1736372949.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472208 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:09.694Z,1736372949.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:09.695Z,1736372949.695 [DAT](INFO): DAT read: Rx Time:21:49:08.3898 2025-01-08T21:49:09.695Z,1736372949.695 [DAT](INFO): Rx dataTimestamp_ set to:1736372949.695107 2025-01-08T21:49:09.696Z,1736372949.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778036 2025-01-08T21:49:09.944Z,1736372949.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:09.944Z,1736372949.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026555 2025-01-08T21:49:10.001Z,1736372950.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:10.010Z,1736372950.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:10.013Z,1736372950.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 159.305496 m, bearing: 280.766337 deg, approach rate: 0.455112 m/s, LOS rate: 0.176278 deg/s, cmd heading: 141.647099 deg, new cmd heading: 141.847684 deg. 2025-01-08T21:49:10.014Z,1736372950.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475709 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:10.196Z,1736372950.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:10.198Z,1736372950.198 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:49:10.198Z,1736372950.198 [DAT](INFO): Received a bad header 2025-01-08T21:49:10.213Z,1736372950.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294620 2025-01-08T21:49:10.416Z,1736372950.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:10.423Z,1736372950.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:10.425Z,1736372950.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:10.428Z,1736372950.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 159.487076 m, bearing: 280.836750 deg, approach rate: 0.437542 m/s, LOS rate: 0.169479 deg/s, cmd heading: 141.847688 deg, new cmd heading: 142.058688 deg. 2025-01-08T21:49:10.429Z,1736372950.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.479392 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:10.448Z,1736372950.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:10.448Z,1736372950.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530414 2025-01-08T21:49:10.708Z,1736372950.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:10.708Z,1736372950.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790329 2025-01-08T21:49:10.789Z,1736372950.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:10.797Z,1736372950.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:10.801Z,1736372950.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 159.650070 m, bearing: 280.900653 deg, approach rate: 0.437856 m/s, LOS rate: 0.171488 deg/s, cmd heading: 142.058687 deg, new cmd heading: 142.250198 deg. 2025-01-08T21:49:10.802Z,1736372950.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.482734 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:10.953Z,1736372950.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:10.956Z,1736372950.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037650 2025-01-08T21:49:11.198Z,1736372951.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:11.206Z,1736372951.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:11.208Z,1736372951.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289712 2025-01-08T21:49:11.256Z,1736372951.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:11.272Z,1736372951.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 159.827942 m, bearing: 280.970687 deg, approach rate: 0.393386 m/s, LOS rate: 0.154716 deg/s, cmd heading: 142.250192 deg, new cmd heading: 142.460058 deg. 2025-01-08T21:49:11.273Z,1736372951.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.486397 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:11.456Z,1736372951.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:11.456Z,1736372951.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538393 2025-01-08T21:49:11.633Z,1736372951.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:11.642Z,1736372951.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:11.646Z,1736372951.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 160.026138 m, bearing: 281.044644 deg, approach rate: 0.505482 m/s, LOS rate: 0.188387 deg/s, cmd heading: 142.460056 deg, new cmd heading: 142.681651 deg. 2025-01-08T21:49:11.649Z,1736372951.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490265 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:11.708Z,1736372951.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:11.709Z,1736372951.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791207 2025-01-08T21:49:11.961Z,1736372951.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:11.963Z,1736372951.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044597 2025-01-08T21:49:12.096Z,1736372952.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:12.106Z,1736372952.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:12.108Z,1736372952.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 160.237427 m, bearing: 281.123758 deg, approach rate: 0.455489 m/s, LOS rate: 0.170328 deg/s, cmd heading: 142.681655 deg, new cmd heading: 142.918684 deg. 2025-01-08T21:49:12.109Z,1736372952.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.494402 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:12.214Z,1736372952.214 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:12.217Z,1736372952.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298266 2025-01-08T21:49:12.464Z,1736372952.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:12.465Z,1736372952.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546966 2025-01-08T21:49:12.529Z,1736372952.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:12.538Z,1736372952.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:12.540Z,1736372952.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:12.542Z,1736372952.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 160.444366 m, bearing: 281.196676 deg, approach rate: 0.476583 m/s, LOS rate: 0.167713 deg/s, cmd heading: 142.918689 deg, new cmd heading: 143.137158 deg. 2025-01-08T21:49:12.544Z,1736372952.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.498215 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:12.717Z,1736372952.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:12.718Z,1736372952.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800088 2025-01-08T21:49:12.962Z,1736372952.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:12.969Z,1736372952.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:12.972Z,1736372952.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052898 2025-01-08T21:49:12.981Z,1736372952.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:12.984Z,1736372952.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 160.651138 m, bearing: 281.269829 deg, approach rate: 0.468751 m/s, LOS rate: 0.165624 deg/s, cmd heading: 143.137160 deg, new cmd heading: 143.356335 deg. 2025-01-08T21:49:12.988Z,1736372952.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502040 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:13.221Z,1736372953.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:13.222Z,1736372953.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304062 2025-01-08T21:49:13.454Z,1736372953.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:13.463Z,1736372953.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:13.466Z,1736372953.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 160.898895 m, bearing: 281.353410 deg, approach rate: 0.513978 m/s, LOS rate: 0.173124 deg/s, cmd heading: 143.356341 deg, new cmd heading: 143.606696 deg. 2025-01-08T21:49:13.468Z,1736372953.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.506410 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:13.472Z,1736372953.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:13.473Z,1736372953.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554889 2025-01-08T21:49:13.724Z,1736372953.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:13.724Z,1736372953.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.806419 2025-01-08T21:49:13.831Z,1736372953.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:13.840Z,1736372953.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:13.842Z,1736372953.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 161.087830 m, bearing: 281.417577 deg, approach rate: 0.501173 m/s, LOS rate: 0.170012 deg/s, cmd heading: 143.606694 deg, new cmd heading: 143.798969 deg. 2025-01-08T21:49:13.844Z,1736372953.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509765 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:13.976Z,1736372953.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:13.976Z,1736372953.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058480 2025-01-08T21:49:14.228Z,1736372954.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:14.228Z,1736372954.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.310363 2025-01-08T21:49:14.238Z,1736372954.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:14.337Z,1736372954.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:14.344Z,1736372954.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 161.291962 m, bearing: 281.487131 deg, approach rate: 0.411090 m/s, LOS rate: 0.139893 deg/s, cmd heading: 143.798964 deg, new cmd heading: 144.007361 deg. 2025-01-08T21:49:14.345Z,1736372954.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513403 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:14.480Z,1736372954.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:14.481Z,1736372954.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562711 2025-01-08T21:49:14.648Z,1736372954.648 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010813501961,35.0, +10.9, 0.0,149 2025-01-08T21:49:14.661Z,1736372954.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:49:14.661Z,1736372954.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:14.674Z,1736372954.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:14.678Z,1736372954.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:14.681Z,1736372954.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 161.503174 m, bearing: 281.559641 deg, approach rate: 0.618795 m/s, LOS rate: 0.212158 deg/s, cmd heading: 144.007367 deg, new cmd heading: 144.224613 deg. 2025-01-08T21:49:14.682Z,1736372954.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517194 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:14.732Z,1736372954.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:14.733Z,1736372954.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.814698 2025-01-08T21:49:14.984Z,1736372954.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:14.984Z,1736372954.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066503 2025-01-08T21:49:15.051Z,1736372955.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:49:15.051Z,1736372955.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:15.086Z,1736372955.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:15.092Z,1736372955.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 161.697815 m, bearing: 281.626885 deg, approach rate: 0.478234 m/s, LOS rate: 0.165019 deg/s, cmd heading: 144.224608 deg, new cmd heading: 144.426095 deg. 2025-01-08T21:49:15.093Z,1736372955.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520711 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:15.236Z,1736372955.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:15.237Z,1736372955.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318621 2025-01-08T21:49:15.477Z,1736372955.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:15.486Z,1736372955.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:15.488Z,1736372955.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:15.489Z,1736372955.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570666 2025-01-08T21:49:15.491Z,1736372955.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 161.923004 m, bearing: 281.701108 deg, approach rate: 0.561533 m/s, LOS rate: 0.184826 deg/s, cmd heading: 144.426099 deg, new cmd heading: 144.648457 deg. 2025-01-08T21:49:15.492Z,1736372955.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.524592 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:15.740Z,1736372955.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:15.741Z,1736372955.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822621 2025-01-08T21:49:15.862Z,1736372955.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:15.872Z,1736372955.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:15.874Z,1736372955.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 162.126495 m, bearing: 281.768427 deg, approach rate: 0.527708 m/s, LOS rate: 0.174357 deg/s, cmd heading: 144.648462 deg, new cmd heading: 144.850165 deg. 2025-01-08T21:49:15.876Z,1736372955.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528112 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:15.992Z,1736372955.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:15.992Z,1736372955.992 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:15.992Z,1736372955.992 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:15.993Z,1736372955.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:16.244Z,1736372956.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:16.244Z,1736372956.244 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:16.244Z,1736372956.244 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:16.245Z,1736372956.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:16.256Z,1736372956.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:16.264Z,1736372956.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:16.266Z,1736372956.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 162.333771 m, bearing: 281.837230 deg, approach rate: 0.528276 m/s, LOS rate: 0.175132 deg/s, cmd heading: 144.850171 deg, new cmd heading: 145.056316 deg. 2025-01-08T21:49:16.268Z,1736372956.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531710 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:16.496Z,1736372956.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:16.496Z,1736372956.496 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:16.496Z,1736372956.496 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:16.497Z,1736372956.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:16.705Z,1736372956.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:16.712Z,1736372956.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:16.714Z,1736372956.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:16.733Z,1736372956.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 162.569672 m, bearing: 281.917096 deg, approach rate: 0.524507 m/s, LOS rate: 0.177319 deg/s, cmd heading: 145.056320 deg, new cmd heading: 145.295570 deg. 2025-01-08T21:49:16.735Z,1736372956.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535886 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:16.748Z,1736372956.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:16.749Z,1736372956.749 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:49:16.749Z,1736372956.749 [DAT](INFO): response not received 2025-01-08T21:49:16.749Z,1736372956.749 [DAT](INFO): DAT read: user:2082> 2025-01-08T21:49:16.751Z,1736372956.751 [DAT](INFO): DAT read: Tx time:21:49:16.1353 2025-01-08T21:49:16.751Z,1736372956.751 [DAT](INFO): Ping request sent. 2025-01-08T21:49:16.751Z,1736372956.751 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:49:16.752Z,1736372956.752 [DAT](INFO): publishing transmit ping time 2025-01-08T21:49:16.752Z,1736372956.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-01-08T21:49:16.000Z,1736372957.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:17.001Z,1736372957.001 [DAT](INFO): DAT read: TxSync time:21:49:16.1345 2025-01-08T21:49:17.002Z,1736372957.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250273 2025-01-08T21:49:17.099Z,1736372957.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:17.107Z,1736372957.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:17.113Z,1736372957.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 162.776703 m, bearing: 281.987214 deg, approach rate: 0.526077 m/s, LOS rate: 0.177945 deg/s, cmd heading: 145.295568 deg, new cmd heading: 145.505652 deg. 2025-01-08T21:49:17.116Z,1736372957.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539553 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:17.255Z,1736372957.255 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:17.256Z,1736372957.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504785 2025-01-08T21:49:17.489Z,1736372957.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:17.498Z,1736372957.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:17.502Z,1736372957.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 162.978561 m, bearing: 282.057715 deg, approach rate: 0.516870 m/s, LOS rate: 0.180298 deg/s, cmd heading: 145.505651 deg, new cmd heading: 145.716891 deg. 2025-01-08T21:49:17.503Z,1736372957.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543240 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:17.508Z,1736372957.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:17.508Z,1736372957.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757099 2025-01-08T21:49:17.760Z,1736372957.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:17.760Z,1736372957.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008975 2025-01-08T21:49:17.875Z,1736372957.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:17.885Z,1736372957.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:17.888Z,1736372957.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 163.177872 m, bearing: 282.127450 deg, approach rate: 0.516736 m/s, LOS rate: 0.180576 deg/s, cmd heading: 145.716895 deg, new cmd heading: 145.925843 deg. 2025-01-08T21:49:17.889Z,1736372957.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546886 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:18.012Z,1736372958.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:18.013Z,1736372958.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261198 2025-01-08T21:49:18.264Z,1736372958.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:18.264Z,1736372958.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513063 2025-01-08T21:49:18.281Z,1736372958.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:18.291Z,1736372958.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:18.293Z,1736372958.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 163.387253 m, bearing: 282.200959 deg, approach rate: 0.514228 m/s, LOS rate: 0.180303 deg/s, cmd heading: 145.925844 deg, new cmd heading: 146.146088 deg. 2025-01-08T21:49:18.294Z,1736372958.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.550730 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:18.516Z,1736372958.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:18.517Z,1736372958.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765244 2025-01-08T21:49:18.768Z,1736372958.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:18.769Z,1736372958.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017661 2025-01-08T21:49:18.777Z,1736372958.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:18.808Z,1736372958.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:18.813Z,1736372958.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:18.816Z,1736372958.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 163.638062 m, bearing: 282.293203 deg, approach rate: 0.479770 m/s, LOS rate: 0.176182 deg/s, cmd heading: 146.146090 deg, new cmd heading: 146.422396 deg. 2025-01-08T21:49:18.818Z,1736372958.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555553 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:19.021Z,1736372959.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:19.021Z,1736372959.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270056 2025-01-08T21:49:19.166Z,1736372959.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:19.175Z,1736372959.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:19.181Z,1736372959.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 163.830170 m, bearing: 282.363628 deg, approach rate: 0.531474 m/s, LOS rate: 0.194606 deg/s, cmd heading: 146.422399 deg, new cmd heading: 146.633427 deg. 2025-01-08T21:49:19.184Z,1736372959.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559236 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:19.272Z,1736372959.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:19.272Z,1736372959.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521119 2025-01-08T21:49:19.524Z,1736372959.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:19.524Z,1736372959.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773022 2025-01-08T21:49:19.612Z,1736372959.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:19.622Z,1736372959.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:19.625Z,1736372959.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 164.050217 m, bearing: 282.445917 deg, approach rate: 0.491960 m/s, LOS rate: 0.183727 deg/s, cmd heading: 146.633424 deg, new cmd heading: 146.879958 deg. 2025-01-08T21:49:19.626Z,1736372959.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563539 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:19.776Z,1736372959.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:19.776Z,1736372959.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025095 2025-01-08T21:49:19.973Z,1736372959.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:19.982Z,1736372959.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:19.985Z,1736372959.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 164.223785 m, bearing: 282.510974 deg, approach rate: 0.482328 m/s, LOS rate: 0.180595 deg/s, cmd heading: 146.879953 deg, new cmd heading: 147.074917 deg. 2025-01-08T21:49:19.986Z,1736372959.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566941 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:20.028Z,1736372960.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:20.028Z,1736372960.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277099 2025-01-08T21:49:20.280Z,1736372960.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:20.280Z,1736372960.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529078 2025-01-08T21:49:20.458Z,1736372960.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:20.466Z,1736372960.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:20.471Z,1736372960.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 164.464722 m, bearing: 282.600147 deg, approach rate: 0.497778 m/s, LOS rate: 0.183962 deg/s, cmd heading: 147.074914 deg, new cmd heading: 147.342038 deg. 2025-01-08T21:49:20.472Z,1736372960.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571604 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:20.532Z,1736372960.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:20.533Z,1736372960.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781696 2025-01-08T21:49:20.785Z,1736372960.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:20.786Z,1736372960.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034382 2025-01-08T21:49:20.794Z,1736372960.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:20.805Z,1736372960.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:20.832Z,1736372960.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 164.631897 m, bearing: 282.662245 deg, approach rate: 0.492515 m/s, LOS rate: 0.182762 deg/s, cmd heading: 147.342043 deg, new cmd heading: 147.528148 deg. 2025-01-08T21:49:20.834Z,1736372960.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.574852 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:21.036Z,1736372961.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:21.037Z,1736372961.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285667 2025-01-08T21:49:21.197Z,1736372961.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:21.204Z,1736372961.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:21.206Z,1736372961.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:21.208Z,1736372961.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 164.831314 m, bearing: 282.736427 deg, approach rate: 0.498381 m/s, LOS rate: 0.185170 deg/s, cmd heading: 147.528152 deg, new cmd heading: 147.750427 deg. 2025-01-08T21:49:21.209Z,1736372961.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.578731 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:21.288Z,1736372961.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:21.289Z,1736372961.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537277 2025-01-08T21:49:21.540Z,1736372961.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:21.540Z,1736372961.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789028 2025-01-08T21:49:21.628Z,1736372961.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:21.639Z,1736372961.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:21.649Z,1736372961.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 165.035416 m, bearing: 282.816633 deg, approach rate: 0.471133 m/s, LOS rate: 0.184913 deg/s, cmd heading: 147.750420 deg, new cmd heading: 147.990740 deg. 2025-01-08T21:49:21.651Z,1736372961.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.582926 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:21.792Z,1736372961.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:21.793Z,1736372961.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041186 2025-01-08T21:49:21.996Z,1736372961.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:22.006Z,1736372962.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:22.025Z,1736372962.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 165.209229 m, bearing: 282.885181 deg, approach rate: 0.472803 m/s, LOS rate: 0.186266 deg/s, cmd heading: 147.990733 deg, new cmd heading: 148.196159 deg. 2025-01-08T21:49:22.026Z,1736372962.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586511 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:22.044Z,1736372962.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:22.045Z,1736372962.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293240 2025-01-08T21:49:22.296Z,1736372962.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:22.296Z,1736372962.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545009 2025-01-08T21:49:22.454Z,1736372962.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:22.478Z,1736372962.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:22.491Z,1736372962.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 165.425461 m, bearing: 282.970483 deg, approach rate: 0.458116 m/s, LOS rate: 0.180488 deg/s, cmd heading: 148.196158 deg, new cmd heading: 148.451728 deg. 2025-01-08T21:49:22.496Z,1736372962.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.590971 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:22.548Z,1736372962.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:22.548Z,1736372962.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797136 2025-01-08T21:49:22.800Z,1736372962.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:22.801Z,1736372962.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049878 2025-01-08T21:49:22.833Z,1736372962.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:22.842Z,1736372962.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:22.861Z,1736372962.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 165.607086 m, bearing: 283.040814 deg, approach rate: 0.499122 m/s, LOS rate: 0.193064 deg/s, cmd heading: 148.451730 deg, new cmd heading: 148.662492 deg. 2025-01-08T21:49:22.862Z,1736372962.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.594650 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:23.054Z,1736372963.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:23.055Z,1736372963.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303738 2025-01-08T21:49:23.207Z,1736372963.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:23.233Z,1736372963.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:23.236Z,1736372963.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:23.238Z,1736372963.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 165.786072 m, bearing: 283.110392 deg, approach rate: 0.455268 m/s, LOS rate: 0.176787 deg/s, cmd heading: 148.662496 deg, new cmd heading: 148.871003 deg. 2025-01-08T21:49:23.244Z,1736372963.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598289 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:23.304Z,1736372963.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:23.306Z,1736372963.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554185 2025-01-08T21:49:23.556Z,1736372963.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:23.556Z,1736372963.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805015 2025-01-08T21:49:23.665Z,1736372963.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:23.687Z,1736372963.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:23.702Z,1736372963.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 166.015656 m, bearing: 283.197823 deg, approach rate: 0.512645 m/s, LOS rate: 0.194956 deg/s, cmd heading: 148.871008 deg, new cmd heading: 149.132935 deg. 2025-01-08T21:49:23.707Z,1736372963.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.602861 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:23.809Z,1736372963.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:23.810Z,1736372963.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058435 2025-01-08T21:49:24.022Z,1736372964.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:24.030Z,1736372964.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:24.034Z,1736372964.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 166.193680 m, bearing: 283.266028 deg, approach rate: 0.512820 m/s, LOS rate: 0.196263 deg/s, cmd heading: 149.132932 deg, new cmd heading: 149.337328 deg. 2025-01-08T21:49:24.035Z,1736372964.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606428 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:24.060Z,1736372964.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:24.060Z,1736372964.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309037 2025-01-08T21:49:24.312Z,1736372964.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:24.312Z,1736372964.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560989 2025-01-08T21:49:24.480Z,1736372964.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:24.497Z,1736372964.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:24.507Z,1736372964.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 166.419220 m, bearing: 283.352669 deg, approach rate: 0.483412 m/s, LOS rate: 0.185451 deg/s, cmd heading: 149.337332 deg, new cmd heading: 149.596902 deg. 2025-01-08T21:49:24.512Z,1736372964.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.610959 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:24.564Z,1736372964.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:24.565Z,1736372964.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813163 2025-01-08T21:49:24.816Z,1736372964.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:24.817Z,1736372964.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065077 2025-01-08T21:49:24.886Z,1736372964.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:24.896Z,1736372964.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:24.899Z,1736372964.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 166.627136 m, bearing: 283.431328 deg, approach rate: 0.520960 m/s, LOS rate: 0.196843 deg/s, cmd heading: 149.596907 deg, new cmd heading: 149.832587 deg. 2025-01-08T21:49:24.900Z,1736372964.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.615072 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:25.068Z,1736372965.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:25.069Z,1736372965.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317333 2025-01-08T21:49:25.231Z,1736372965.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:25.238Z,1736372965.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:25.240Z,1736372965.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:25.243Z,1736372965.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 166.799835 m, bearing: 283.497591 deg, approach rate: 0.501765 m/s, LOS rate: 0.192322 deg/s, cmd heading: 149.832589 deg, new cmd heading: 150.031170 deg. 2025-01-08T21:49:25.246Z,1736372965.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.618538 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:25.321Z,1736372965.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:25.321Z,1736372965.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569876 2025-01-08T21:49:25.572Z,1736372965.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:25.572Z,1736372965.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821078 2025-01-08T21:49:25.694Z,1736372965.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:25.704Z,1736372965.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:25.706Z,1736372965.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 167.029709 m, bearing: 283.586964 deg, approach rate: 0.495790 m/s, LOS rate: 0.192495 deg/s, cmd heading: 150.031170 deg, new cmd heading: 150.298921 deg. 2025-01-08T21:49:25.708Z,1736372965.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623211 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:25.824Z,1736372965.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:25.824Z,1736372965.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073126 2025-01-08T21:49:26.036Z,1736372966.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:26.051Z,1736372966.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:26.074Z,1736372966.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 167.198120 m, bearing: 283.653402 deg, approach rate: 0.486566 m/s, LOS rate: 0.191755 deg/s, cmd heading: 150.298914 deg, new cmd heading: 150.498025 deg. 2025-01-08T21:49:26.075Z,1736372966.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.626686 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:26.076Z,1736372966.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:26.077Z,1736372966.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325345 2025-01-08T21:49:26.328Z,1736372966.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:26.329Z,1736372966.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577168 2025-01-08T21:49:26.513Z,1736372966.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:26.534Z,1736372966.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:26.544Z,1736372966.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 167.430557 m, bearing: 283.746427 deg, approach rate: 0.480131 m/s, LOS rate: 0.191889 deg/s, cmd heading: 150.498027 deg, new cmd heading: 150.776712 deg. 2025-01-08T21:49:26.545Z,1736372966.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.631550 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:26.580Z,1736372966.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:26.580Z,1736372966.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829017 2025-01-08T21:49:26.834Z,1736372966.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:26.834Z,1736372966.834 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:26.835Z,1736372966.835 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:26.835Z,1736372966.835 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:26.901Z,1736372966.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:26.910Z,1736372966.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:26.913Z,1736372966.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 167.616013 m, bearing: 283.823978 deg, approach rate: 0.493081 m/s, LOS rate: 0.205961 deg/s, cmd heading: 150.776713 deg, new cmd heading: 151.009107 deg. 2025-01-08T21:49:26.914Z,1736372966.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.635606 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:27.084Z,1736372967.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:27.085Z,1736372967.085 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:27.085Z,1736372967.085 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:27.085Z,1736372967.085 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:27.252Z,1736372967.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:27.264Z,1736372967.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:27.265Z,1736372967.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:27.268Z,1736372967.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 167.782486 m, bearing: 283.894106 deg, approach rate: 0.468595 m/s, LOS rate: 0.197203 deg/s, cmd heading: 151.009103 deg, new cmd heading: 151.219277 deg. 2025-01-08T21:49:27.269Z,1736372967.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.639274 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:27.336Z,1736372967.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:27.337Z,1736372967.337 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:27.337Z,1736372967.337 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:27.338Z,1736372967.338 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:27.588Z,1736372967.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:27.588Z,1736372967.588 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:27.588Z,1736372967.588 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:27.589Z,1736372967.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:27.703Z,1736372967.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:27.732Z,1736372967.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:27.739Z,1736372967.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 167.987625 m, bearing: 283.986216 deg, approach rate: 0.444069 m/s, LOS rate: 0.199150 deg/s, cmd heading: 151.219282 deg, new cmd heading: 151.495273 deg. 2025-01-08T21:49:27.740Z,1736372967.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.644091 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:27.840Z,1736372967.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:27.842Z,1736372967.842 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:49:27.842Z,1736372967.842 [DAT](INFO): response not received 2025-01-08T21:49:27.842Z,1736372967.842 [DAT](INFO): DAT read: user:2083> 2025-01-08T21:49:27.844Z,1736372967.844 [DAT](INFO): DAT read: Tx time:21:49:27.0854 2025-01-08T21:49:27.844Z,1736372967.844 [DAT](INFO): Ping request sent. 2025-01-08T21:49:27.845Z,1736372967.845 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:49:27.845Z,1736372967.845 [DAT](INFO): publishing transmit ping time 2025-01-08T21:49:27.845Z,1736372967.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768 2025-01-08T21:49:28.057Z,1736372968.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:28.066Z,1736372968.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:28.069Z,1736372968.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 168.148483 m, bearing: 284.058789 deg, approach rate: 0.475556 m/s, LOS rate: 0.214346 deg/s, cmd heading: 151.495276 deg, new cmd heading: 151.712784 deg. 2025-01-08T21:49:28.070Z,1736372968.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.647888 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:28.093Z,1736372968.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:28.094Z,1736372968.094 [DAT](INFO): DAT read: TxSync time:21:49:27.0846 2025-01-08T21:49:28.095Z,1736372968.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250060 2025-01-08T21:49:28.344Z,1736372968.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:28.344Z,1736372968.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499806 2025-01-08T21:49:28.474Z,1736372968.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:28.505Z,1736372968.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:28.540Z,1736372968.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 168.336090 m, bearing: 284.143912 deg, approach rate: 0.427999 m/s, LOS rate: 0.193982 deg/s, cmd heading: 151.712790 deg, new cmd heading: 151.967876 deg. 2025-01-08T21:49:28.541Z,1736372968.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.652340 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:28.597Z,1736372968.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:28.598Z,1736372968.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753272 2025-01-08T21:49:28.848Z,1736372968.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:28.848Z,1736372968.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003819 2025-01-08T21:49:28.887Z,1736372968.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:28.928Z,1736372968.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:28.930Z,1736372968.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 168.512695 m, bearing: 284.227386 deg, approach rate: 0.421143 m/s, LOS rate: 0.198847 deg/s, cmd heading: 151.967870 deg, new cmd heading: 152.218026 deg. 2025-01-08T21:49:28.935Z,1736372968.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.656706 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:29.100Z,1736372969.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:29.101Z,1736372969.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256444 2025-01-08T21:49:29.273Z,1736372969.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:29.308Z,1736372969.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:29.331Z,1736372969.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:29.334Z,1736372969.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 168.677017 m, bearing: 284.305331 deg, approach rate: 0.425022 m/s, LOS rate: 0.201410 deg/s, cmd heading: 152.218033 deg, new cmd heading: 152.451639 deg. 2025-01-08T21:49:29.335Z,1736372969.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660783 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:29.353Z,1736372969.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:29.355Z,1736372969.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509707 2025-01-08T21:49:29.604Z,1736372969.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:29.605Z,1736372969.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760658 2025-01-08T21:49:29.729Z,1736372969.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:29.739Z,1736372969.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:29.742Z,1736372969.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 168.862106 m, bearing: 284.397606 deg, approach rate: 0.431467 m/s, LOS rate: 0.214870 deg/s, cmd heading: 152.451639 deg, new cmd heading: 152.728159 deg. 2025-01-08T21:49:29.743Z,1736372969.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.665609 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:29.856Z,1736372969.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:29.856Z,1736372969.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011809 2025-01-08T21:49:30.088Z,1736372970.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:30.098Z,1736372970.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:30.102Z,1736372970.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 169.007660 m, bearing: 284.470117 deg, approach rate: 0.405036 m/s, LOS rate: 0.201605 deg/s, cmd heading: 152.728152 deg, new cmd heading: 152.945498 deg. 2025-01-08T21:49:30.103Z,1736372970.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669403 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:30.108Z,1736372970.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:30.109Z,1736372970.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263911 2025-01-08T21:49:30.362Z,1736372970.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:30.364Z,1736372970.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518436 2025-01-08T21:49:30.498Z,1736372970.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:30.554Z,1736372970.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:30.570Z,1736372970.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 169.173813 m, bearing: 284.552893 deg, approach rate: 0.365901 m/s, LOS rate: 0.182109 deg/s, cmd heading: 152.945503 deg, new cmd heading: 153.193585 deg. 2025-01-08T21:49:30.576Z,1736372970.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673733 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:30.612Z,1736372970.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:30.613Z,1736372970.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767954 2025-01-08T21:49:30.864Z,1736372970.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:30.864Z,1736372970.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019714 2025-01-08T21:49:30.922Z,1736372970.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:30.931Z,1736372970.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:30.935Z,1736372970.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 169.342163 m, bearing: 284.638073 deg, approach rate: 0.444863 m/s, LOS rate: 0.224863 deg/s, cmd heading: 153.193589 deg, new cmd heading: 153.448873 deg. 2025-01-08T21:49:30.936Z,1736372970.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678188 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:31.116Z,1736372971.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:31.116Z,1736372971.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271665 2025-01-08T21:49:31.299Z,1736372971.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:31.317Z,1736372971.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:31.321Z,1736372971.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:31.327Z,1736372971.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 169.491608 m, bearing: 284.713748 deg, approach rate: 0.383848 m/s, LOS rate: 0.194197 deg/s, cmd heading: 153.448874 deg, new cmd heading: 153.675695 deg. 2025-01-08T21:49:31.328Z,1736372971.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682147 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:31.368Z,1736372971.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:31.369Z,1736372971.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524536 2025-01-08T21:49:31.621Z,1736372971.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:31.623Z,1736372971.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777967 2025-01-08T21:49:31.753Z,1736372971.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:31.761Z,1736372971.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:31.764Z,1736372971.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 169.674515 m, bearing: 284.805619 deg, approach rate: 0.414559 m/s, LOS rate: 0.208002 deg/s, cmd heading: 153.675691 deg, new cmd heading: 153.951006 deg. 2025-01-08T21:49:31.765Z,1736372971.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686952 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:31.872Z,1736372971.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:31.872Z,1736372971.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027860 2025-01-08T21:49:32.098Z,1736372972.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:32.124Z,1736372972.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:32.124Z,1736372972.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279859 2025-01-08T21:49:32.125Z,1736372972.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:32.128Z,1736372972.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 169.812469 m, bearing: 284.875522 deg, approach rate: 0.381522 m/s, LOS rate: 0.193165 deg/s, cmd heading: 153.951002 deg, new cmd heading: 154.160541 deg. 2025-01-08T21:49:32.129Z,1736372972.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690609 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:32.377Z,1736372972.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:32.378Z,1736372972.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533150 2025-01-08T21:49:32.628Z,1736372972.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:32.628Z,1736372972.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783806 2025-01-08T21:49:32.662Z,1736372972.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:32.685Z,1736372972.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:32.693Z,1736372972.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 170.049408 m, bearing: 284.988856 deg, approach rate: 0.421390 m/s, LOS rate: 0.201281 deg/s, cmd heading: 154.160539 deg, new cmd heading: 154.500063 deg. 2025-01-08T21:49:32.694Z,1736372972.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.696535 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:32.880Z,1736372972.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:32.882Z,1736372972.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036785 2025-01-08T21:49:33.112Z,1736372973.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:33.121Z,1736372973.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:33.124Z,1736372973.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 170.237686 m, bearing: 285.079180 deg, approach rate: 0.431992 m/s, LOS rate: 0.207012 deg/s, cmd heading: 154.500067 deg, new cmd heading: 154.770736 deg. 2025-01-08T21:49:33.125Z,1736372973.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.701259 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:33.132Z,1736372973.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:33.133Z,1736372973.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287913 2025-01-08T21:49:33.384Z,1736372973.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:33.385Z,1736372973.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540577 2025-01-08T21:49:33.527Z,1736372973.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:33.552Z,1736372973.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:33.560Z,1736372973.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:33.590Z,1736372973.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 170.411087 m, bearing: 285.162692 deg, approach rate: 0.396486 m/s, LOS rate: 0.190760 deg/s, cmd heading: 154.770734 deg, new cmd heading: 155.021016 deg. 2025-01-08T21:49:33.598Z,1736372973.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.705627 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:33.636Z,1736372973.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:33.637Z,1736372973.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791918 2025-01-08T21:49:33.889Z,1736372973.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:33.890Z,1736372973.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044722 2025-01-08T21:49:33.979Z,1736372973.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:33.989Z,1736372973.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:33.991Z,1736372973.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 170.612900 m, bearing: 285.252815 deg, approach rate: 0.469266 m/s, LOS rate: 0.209310 deg/s, cmd heading: 155.021020 deg, new cmd heading: 155.291066 deg. 2025-01-08T21:49:33.992Z,1736372973.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710340 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:34.140Z,1736372974.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:34.140Z,1736372974.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295672 2025-01-08T21:49:34.373Z,1736372974.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:34.383Z,1736372974.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:34.386Z,1736372974.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 170.786865 m, bearing: 285.330179 deg, approach rate: 0.440939 m/s, LOS rate: 0.195890 deg/s, cmd heading: 155.291072 deg, new cmd heading: 155.522926 deg. 2025-01-08T21:49:34.387Z,1736372974.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.714387 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:34.404Z,1736372974.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:34.404Z,1736372974.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559699 2025-01-08T21:49:34.657Z,1736372974.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:34.658Z,1736372974.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813074 2025-01-08T21:49:34.764Z,1736372974.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:34.774Z,1736372974.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:34.777Z,1736372974.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 170.975433 m, bearing: 285.408012 deg, approach rate: 0.482561 m/s, LOS rate: 0.198961 deg/s, cmd heading: 155.522929 deg, new cmd heading: 155.756169 deg. 2025-01-08T21:49:34.778Z,1736372974.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.718458 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:34.908Z,1736372974.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:34.908Z,1736372974.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063688 2025-01-08T21:49:35.040Z,1736372975.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:49:35.144Z,1736372975.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:35.153Z,1736372975.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:35.156Z,1736372975.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 171.155472 m, bearing: 285.482042 deg, approach rate: 0.475106 m/s, LOS rate: 0.195153 deg/s, cmd heading: 155.756167 deg, new cmd heading: 155.978022 deg. 2025-01-08T21:49:35.157Z,1736372975.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.722330 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:35.160Z,1736372975.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:35.160Z,1736372975.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315862 2025-01-08T21:49:35.413Z,1736372975.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:35.414Z,1736372975.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.569687 2025-01-08T21:49:35.564Z,1736372975.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:35.616Z,1736372975.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:35.631Z,1736372975.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:35.638Z,1736372975.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 171.351974 m, bearing: 285.564671 deg, approach rate: 0.411096 m/s, LOS rate: 0.172666 deg/s, cmd heading: 155.978025 deg, new cmd heading: 156.225625 deg. 2025-01-08T21:49:35.639Z,1736372975.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.726651 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:35.664Z,1736372975.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:35.665Z,1736372975.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.820679 2025-01-08T21:49:35.916Z,1736372975.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:35.918Z,1736372975.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.072541 2025-01-08T21:49:36.047Z,1736372976.047 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:49:36.116Z,1736372976.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:36.134Z,1736372976.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:36.140Z,1736372976.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 171.632263 m, bearing: 285.671889 deg, approach rate: 0.556712 m/s, LOS rate: 0.212610 deg/s, cmd heading: 156.225619 deg, new cmd heading: 156.546745 deg. 2025-01-08T21:49:36.142Z,1736372976.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.732256 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:36.169Z,1736372976.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:36.170Z,1736372976.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324867 2025-01-08T21:49:36.420Z,1736372976.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:36.421Z,1736372976.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576661 2025-01-08T21:49:36.499Z,1736372976.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:36.508Z,1736372976.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:36.511Z,1736372976.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 171.825806 m, bearing: 285.746634 deg, approach rate: 0.517232 m/s, LOS rate: 0.199527 deg/s, cmd heading: 156.546747 deg, new cmd heading: 156.770729 deg. 2025-01-08T21:49:36.512Z,1736372976.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.736165 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:36.672Z,1736372976.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:36.674Z,1736372976.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.828797 2025-01-08T21:49:36.914Z,1736372976.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:36.924Z,1736372976.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:36.925Z,1736372976.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079898 2025-01-08T21:49:36.947Z,1736372976.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:36.951Z,1736372976.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 172.038589 m, bearing: 285.825634 deg, approach rate: 0.489393 m/s, LOS rate: 0.181471 deg/s, cmd heading: 156.770723 deg, new cmd heading: 157.007428 deg. 2025-01-08T21:49:36.956Z,1736372976.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.740297 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:37.177Z,1736372977.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:37.178Z,1736372977.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.333393 2025-01-08T21:49:37.305Z,1736372977.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:37.314Z,1736372977.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:37.317Z,1736372977.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 172.237061 m, bearing: 285.900041 deg, approach rate: 0.534725 m/s, LOS rate: 0.200239 deg/s, cmd heading: 157.007430 deg, new cmd heading: 157.230393 deg. 2025-01-08T21:49:37.318Z,1736372977.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.744188 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:37.428Z,1736372977.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:37.429Z,1736372977.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583965 2025-01-08T21:49:37.680Z,1736372977.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:37.681Z,1736372977.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836282 2025-01-08T21:49:37.764Z,1736372977.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:37.771Z,1736372977.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:37.773Z,1736372977.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:37.776Z,1736372977.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 172.476044 m, bearing: 285.987848 deg, approach rate: 0.520712 m/s, LOS rate: 0.191054 deg/s, cmd heading: 157.230395 deg, new cmd heading: 157.493449 deg. 2025-01-08T21:49:37.777Z,1736372977.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.748779 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:37.932Z,1736372977.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:37.932Z,1736372977.932 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:37.932Z,1736372977.932 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:37.932Z,1736372977.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:38.105Z,1736372978.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:38.114Z,1736372978.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:38.119Z,1736372978.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 172.652344 m, bearing: 286.053235 deg, approach rate: 0.517709 m/s, LOS rate: 0.191814 deg/s, cmd heading: 157.493453 deg, new cmd heading: 157.689413 deg. 2025-01-08T21:49:38.120Z,1736372978.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.752199 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:38.185Z,1736372978.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:38.185Z,1736372978.185 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:38.185Z,1736372978.185 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:38.186Z,1736372978.186 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:38.436Z,1736372978.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:38.437Z,1736372978.437 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:38.437Z,1736372978.437 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:38.437Z,1736372978.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:38.536Z,1736372978.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:38.545Z,1736372978.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:38.548Z,1736372978.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 172.873581 m, bearing: 286.135947 deg, approach rate: 0.512838 m/s, LOS rate: 0.191483 deg/s, cmd heading: 157.689411 deg, new cmd heading: 157.937225 deg. 2025-01-08T21:49:38.549Z,1736372978.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.756525 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:38.690Z,1736372978.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:38.691Z,1736372978.691 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:49:38.692Z,1736372978.692 [DAT](INFO): response not received 2025-01-08T21:49:38.692Z,1736372978.692 [DAT](INFO): DAT read: user:2084> 2025-01-08T21:49:38.694Z,1736372978.694 [DAT](INFO): DAT read: Tx time:21:49:38.0355 2025-01-08T21:49:38.694Z,1736372978.694 [DAT](INFO): Ping request sent. 2025-01-08T21:49:38.694Z,1736372978.694 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:49:38.695Z,1736372978.695 [DAT](INFO): publishing transmit ping time 2025-01-08T21:49:38.696Z,1736372978.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001397 2025-01-08T21:49:38.940Z,1736372978.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:38.940Z,1736372978.940 [DAT](INFO): DAT read: TxSync time:21:49:38.0347 2025-01-08T21:49:38.941Z,1736372978.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246776 2025-01-08T21:49:38.991Z,1736372978.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:39.001Z,1736372979.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:39.004Z,1736372979.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 173.101639 m, bearing: 286.224679 deg, approach rate: 0.501534 m/s, LOS rate: 0.194879 deg/s, cmd heading: 157.937224 deg, new cmd heading: 158.203068 deg. 2025-01-08T21:49:39.005Z,1736372979.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.761164 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:39.193Z,1736372979.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:39.194Z,1736372979.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499610 2025-01-08T21:49:39.429Z,1736372979.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:39.437Z,1736372979.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:39.444Z,1736372979.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:39.444Z,1736372979.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749975 2025-01-08T21:49:39.453Z,1736372979.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 173.318573 m, bearing: 286.310844 deg, approach rate: 0.495862 m/s, LOS rate: 0.196706 deg/s, cmd heading: 158.203068 deg, new cmd heading: 158.461237 deg. 2025-01-08T21:49:39.461Z,1736372979.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.765670 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:39.696Z,1736372979.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:39.697Z,1736372979.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002179 2025-01-08T21:49:39.847Z,1736372979.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:39.860Z,1736372979.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:39.862Z,1736372979.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:39.865Z,1736372979.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 173.517410 m, bearing: 286.394704 deg, approach rate: 0.468219 m/s, LOS rate: 0.197246 deg/s, cmd heading: 158.461236 deg, new cmd heading: 158.712525 deg. 2025-01-08T21:49:39.866Z,1736372979.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.770056 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:39.949Z,1736372979.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:39.950Z,1736372979.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255328 2025-01-08T21:49:40.200Z,1736372980.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:40.201Z,1736372980.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506584 2025-01-08T21:49:40.244Z,1736372980.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:40.258Z,1736372980.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:40.261Z,1736372980.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 173.705322 m, bearing: 286.474883 deg, approach rate: 0.474689 m/s, LOS rate: 0.202325 deg/s, cmd heading: 158.712532 deg, new cmd heading: 158.952810 deg. 2025-01-08T21:49:40.262Z,1736372980.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.774250 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:40.452Z,1736372980.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:40.452Z,1736372980.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757860 2025-01-08T21:49:40.676Z,1736372980.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:40.706Z,1736372980.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:40.709Z,1736372980.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014138 2025-01-08T21:49:40.730Z,1736372980.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:40.737Z,1736372980.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 173.905212 m, bearing: 286.561040 deg, approach rate: 0.423140 m/s, LOS rate: 0.182173 deg/s, cmd heading: 158.952804 deg, new cmd heading: 159.210976 deg. 2025-01-08T21:49:40.738Z,1736372980.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.778756 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:40.957Z,1736372980.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:40.958Z,1736372980.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263360 2025-01-08T21:49:41.058Z,1736372981.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:41.084Z,1736372981.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:41.086Z,1736372981.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 174.069916 m, bearing: 286.641198 deg, approach rate: 0.467104 m/s, LOS rate: 0.227116 deg/s, cmd heading: 159.210972 deg, new cmd heading: 159.451218 deg. 2025-01-08T21:49:41.091Z,1736372981.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.782949 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:41.208Z,1736372981.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:41.209Z,1736372981.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515042 2025-01-08T21:49:41.449Z,1736372981.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:41.460Z,1736372981.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:41.461Z,1736372981.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766141 2025-01-08T21:49:41.463Z,1736372981.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:41.497Z,1736372981.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 174.235352 m, bearing: 286.722051 deg, approach rate: 0.435704 m/s, LOS rate: 0.212737 deg/s, cmd heading: 159.451217 deg, new cmd heading: 159.693543 deg. 2025-01-08T21:49:41.498Z,1736372981.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.787178 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:41.713Z,1736372981.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:41.716Z,1736372981.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020387 2025-01-08T21:49:41.868Z,1736372981.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:41.875Z,1736372981.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:41.897Z,1736372981.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:41.905Z,1736372981.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 174.393768 m, bearing: 286.811764 deg, approach rate: 0.364575 m/s, LOS rate: 0.206275 deg/s, cmd heading: 159.693538 deg, new cmd heading: 159.962431 deg. 2025-01-08T21:49:41.906Z,1736372981.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791871 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:41.964Z,1736372981.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:41.965Z,1736372981.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270151 2025-01-08T21:49:42.216Z,1736372982.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:42.216Z,1736372982.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521934 2025-01-08T21:49:42.266Z,1736372982.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:42.275Z,1736372982.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:42.278Z,1736372982.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 174.544586 m, bearing: 286.897299 deg, approach rate: 0.399011 m/s, LOS rate: 0.226100 deg/s, cmd heading: 159.962429 deg, new cmd heading: 160.218811 deg. 2025-01-08T21:49:42.279Z,1736372982.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796346 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:42.469Z,1736372982.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:42.470Z,1736372982.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775554 2025-01-08T21:49:42.655Z,1736372982.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:42.673Z,1736372982.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:42.678Z,1736372982.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 174.691986 m, bearing: 286.980597 deg, approach rate: 0.370626 m/s, LOS rate: 0.209270 deg/s, cmd heading: 160.218807 deg, new cmd heading: 160.468488 deg. 2025-01-08T21:49:42.696Z,1736372982.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.800704 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:42.722Z,1736372982.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:42.724Z,1736372982.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029395 2025-01-08T21:49:42.973Z,1736372982.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:42.974Z,1736372982.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279611 2025-01-08T21:49:43.073Z,1736372983.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:43.082Z,1736372983.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:43.086Z,1736372983.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 174.830658 m, bearing: 287.073846 deg, approach rate: 0.338953 m/s, LOS rate: 0.227746 deg/s, cmd heading: 160.468492 deg, new cmd heading: 160.748014 deg. 2025-01-08T21:49:43.086Z,1736372983.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805582 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:43.225Z,1736372983.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:43.226Z,1736372983.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531700 2025-01-08T21:49:43.459Z,1736372983.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:43.472Z,1736372983.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:43.477Z,1736372983.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:43.479Z,1736372983.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784079 2025-01-08T21:49:43.496Z,1736372983.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 174.959045 m, bearing: 287.160029 deg, approach rate: 0.330855 m/s, LOS rate: 0.221932 deg/s, cmd heading: 160.748010 deg, new cmd heading: 161.006368 deg. 2025-01-08T21:49:43.497Z,1736372983.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810091 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:43.729Z,1736372983.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:43.746Z,1736372983.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.051117 2025-01-08T21:49:43.889Z,1736372983.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:43.896Z,1736372983.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:43.898Z,1736372983.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:43.902Z,1736372983.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 175.093674 m, bearing: 287.256733 deg, approach rate: 0.314637 m/s, LOS rate: 0.225831 deg/s, cmd heading: 161.006369 deg, new cmd heading: 161.296255 deg. 2025-01-08T21:49:43.903Z,1736372983.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.815151 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:43.980Z,1736372983.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:43.981Z,1736372983.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286245 2025-01-08T21:49:44.232Z,1736372984.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:44.232Z,1736372984.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537912 2025-01-08T21:49:44.344Z,1736372984.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:44.370Z,1736372984.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:44.376Z,1736372984.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 175.236313 m, bearing: 287.359133 deg, approach rate: 0.302428 m/s, LOS rate: 0.216936 deg/s, cmd heading: 161.296256 deg, new cmd heading: 161.603204 deg. 2025-01-08T21:49:44.377Z,1736372984.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.820508 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:44.485Z,1736372984.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:44.487Z,1736372984.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791947 2025-01-08T21:49:44.738Z,1736372984.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:44.741Z,1736372984.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045824 2025-01-08T21:49:44.840Z,1736372984.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:44.849Z,1736372984.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:44.852Z,1736372984.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 175.380249 m, bearing: 287.472833 deg, approach rate: 0.300580 m/s, LOS rate: 0.237243 deg/s, cmd heading: 161.603205 deg, new cmd heading: 161.944021 deg. 2025-01-08T21:49:44.853Z,1736372984.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.826456 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:44.990Z,1736372984.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:44.991Z,1736372984.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296306 2025-01-08T21:49:45.240Z,1736372985.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:45.241Z,1736372985.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546067 2025-01-08T21:49:45.261Z,1736372985.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:45.270Z,1736372985.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:45.273Z,1736372985.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 175.502502 m, bearing: 287.569268 deg, approach rate: 0.290000 m/s, LOS rate: 0.228596 deg/s, cmd heading: 161.944017 deg, new cmd heading: 162.233118 deg. 2025-01-08T21:49:45.274Z,1736372985.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831502 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:45.492Z,1736372985.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:45.492Z,1736372985.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797887 2025-01-08T21:49:45.718Z,1736372985.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:45.762Z,1736372985.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:45.764Z,1736372985.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.069527 2025-01-08T21:49:45.794Z,1736372985.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:45.805Z,1736372985.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 175.635345 m, bearing: 287.673492 deg, approach rate: 0.253559 m/s, LOS rate: 0.198784 deg/s, cmd heading: 162.233112 deg, new cmd heading: 162.545545 deg. 2025-01-08T21:49:45.806Z,1736372985.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836955 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:46.012Z,1736372986.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:46.012Z,1736372986.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.317914 2025-01-08T21:49:46.152Z,1736372986.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:46.158Z,1736372986.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:46.161Z,1736372986.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:46.163Z,1736372986.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 175.759430 m, bearing: 287.772935 deg, approach rate: 0.338523 m/s, LOS rate: 0.271105 deg/s, cmd heading: 162.545539 deg, new cmd heading: 162.843654 deg. 2025-01-08T21:49:46.164Z,1736372986.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842158 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:46.265Z,1736372986.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:46.266Z,1736372986.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.571426 2025-01-08T21:49:46.516Z,1736372986.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:46.516Z,1736372986.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.821843 2025-01-08T21:49:46.540Z,1736372986.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:46.556Z,1736372986.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:46.559Z,1736372986.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 175.869705 m, bearing: 287.861827 deg, approach rate: 0.278556 m/s, LOS rate: 0.224400 deg/s, cmd heading: 162.843649 deg, new cmd heading: 163.110155 deg. 2025-01-08T21:49:46.576Z,1736372986.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846809 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:46.769Z,1736372986.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:46.772Z,1736372986.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.076864 2025-01-08T21:49:46.940Z,1736372986.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:46.948Z,1736372986.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:46.952Z,1736372986.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 175.989929 m, bearing: 287.951647 deg, approach rate: 0.306717 m/s, LOS rate: 0.228994 deg/s, cmd heading: 163.110149 deg, new cmd heading: 163.379425 deg. 2025-01-08T21:49:46.953Z,1736372986.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851509 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:47.021Z,1736372987.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:47.022Z,1736372987.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.327182 2025-01-08T21:49:47.272Z,1736372987.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:47.272Z,1736372987.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.577984 2025-01-08T21:49:47.336Z,1736372987.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:47.354Z,1736372987.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:47.362Z,1736372987.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 176.108490 m, bearing: 288.040600 deg, approach rate: 0.293267 m/s, LOS rate: 0.219880 deg/s, cmd heading: 163.379423 deg, new cmd heading: 163.646098 deg. 2025-01-08T21:49:47.363Z,1736372987.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856163 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:47.524Z,1736372987.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:47.524Z,1736372987.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.829964 2025-01-08T21:49:47.720Z,1736372987.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:47.778Z,1736372987.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:47.780Z,1736372987.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.085342 2025-01-08T21:49:47.812Z,1736372987.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:47.815Z,1736372987.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 176.223129 m, bearing: 288.126914 deg, approach rate: 0.249462 m/s, LOS rate: 0.187702 deg/s, cmd heading: 163.646101 deg, new cmd heading: 163.904872 deg. 2025-01-08T21:49:47.820Z,1736372987.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.860680 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:48.028Z,1736372988.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:48.029Z,1736372988.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334771 2025-01-08T21:49:48.172Z,1736372988.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:48.179Z,1736372988.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:48.181Z,1736372988.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:48.185Z,1736372988.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 176.379150 m, bearing: 288.224198 deg, approach rate: 0.422559 m/s, LOS rate: 0.263247 deg/s, cmd heading: 163.904869 deg, new cmd heading: 164.196461 deg. 2025-01-08T21:49:48.186Z,1736372988.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865769 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:48.280Z,1736372988.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:48.281Z,1736372988.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586117 2025-01-08T21:49:48.533Z,1736372988.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:48.535Z,1736372988.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839833 2025-01-08T21:49:48.560Z,1736372988.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:48.584Z,1736372988.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:48.591Z,1736372988.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 176.510376 m, bearing: 288.307606 deg, approach rate: 0.325588 m/s, LOS rate: 0.206793 deg/s, cmd heading: 164.196464 deg, new cmd heading: 164.446501 deg. 2025-01-08T21:49:48.592Z,1736372988.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870133 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:48.786Z,1736372988.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:48.787Z,1736372988.787 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:48.788Z,1736372988.788 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:48.789Z,1736372988.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:48.961Z,1736372988.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:48.970Z,1736372988.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:48.973Z,1736372988.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 176.665009 m, bearing: 288.391469 deg, approach rate: 0.401031 m/s, LOS rate: 0.217302 deg/s, cmd heading: 164.446503 deg, new cmd heading: 164.697868 deg. 2025-01-08T21:49:48.974Z,1736372988.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874520 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:49.036Z,1736372989.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:49.037Z,1736372989.037 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:49.037Z,1736372989.037 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:49.038Z,1736372989.038 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:49.288Z,1736372989.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:49.288Z,1736372989.288 [DAT](INFO): Reached modem response timeout 2025-01-08T21:49:49.288Z,1736372989.288 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:49.288Z,1736372989.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:49.364Z,1736372989.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:49.381Z,1736372989.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:49.388Z,1736372989.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 176.817505 m, bearing: 288.475980 deg, approach rate: 0.371194 m/s, LOS rate: 0.205533 deg/s, cmd heading: 164.697868 deg, new cmd heading: 164.951182 deg. 2025-01-08T21:49:49.389Z,1736372989.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878941 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:49.540Z,1736372989.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:49.541Z,1736372989.541 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:49:49.541Z,1736372989.541 [DAT](INFO): response not received 2025-01-08T21:49:49.541Z,1736372989.541 [DAT](INFO): DAT read: user:2085> 2025-01-08T21:49:49.541Z,1736372989.541 [DAT](ERROR): No response from remote modem. 2025-01-08T21:49:49.542Z,1736372989.542 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:49:49.542Z,1736372989.542 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:49.746Z,1736372989.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:49.794Z,1736372989.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:49.796Z,1736372989.796 [DAT](INFO): DAT read: Tx time:21:49:48.9856 2025-01-08T21:49:49.798Z,1736372989.798 [DAT](INFO): Ping request sent. 2025-01-08T21:49:49.798Z,1736372989.798 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:49:49.801Z,1736372989.801 [DAT](INFO): DAT read: TxSync time:21:49:48.9848 2025-01-08T21:49:49.803Z,1736372989.803 [DAT](INFO): publishing transmit ping time 2025-01-08T21:49:49.805Z,1736372989.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006572 2025-01-08T21:49:49.812Z,1736372989.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:49.836Z,1736372989.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 176.960556 m, bearing: 288.556217 deg, approach rate: 0.378055 m/s, LOS rate: 0.211879 deg/s, cmd heading: 164.951186 deg, new cmd heading: 165.191701 deg. 2025-01-08T21:49:49.843Z,1736372989.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883139 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:50.044Z,1736372990.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:50.044Z,1736372990.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246653 2025-01-08T21:49:50.180Z,1736372990.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:50.188Z,1736372990.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:50.190Z,1736372990.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:50.193Z,1736372990.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 177.153580 m, bearing: 288.644370 deg, approach rate: 0.448154 m/s, LOS rate: 0.204446 deg/s, cmd heading: 165.191704 deg, new cmd heading: 165.455871 deg. 2025-01-08T21:49:50.194Z,1736372990.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.887750 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:50.296Z,1736372990.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:50.297Z,1736372990.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498958 2025-01-08T21:49:50.548Z,1736372990.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:50.549Z,1736372990.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751419 2025-01-08T21:49:50.624Z,1736372990.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:50.632Z,1736372990.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:50.635Z,1736372990.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 177.348663 m, bearing: 288.734864 deg, approach rate: 0.440940 m/s, LOS rate: 0.204315 deg/s, cmd heading: 165.455868 deg, new cmd heading: 165.727049 deg. 2025-01-08T21:49:50.638Z,1736372990.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.892483 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:50.804Z,1736372990.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:50.807Z,1736372990.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008422 2025-01-08T21:49:51.052Z,1736372991.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:51.056Z,1736372991.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:51.057Z,1736372991.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258897 2025-01-08T21:49:51.062Z,1736372991.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:51.065Z,1736372991.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 177.543671 m, bearing: 288.818157 deg, approach rate: 0.453692 m/s, LOS rate: 0.193572 deg/s, cmd heading: 165.727054 deg, new cmd heading: 165.976658 deg. 2025-01-08T21:49:51.066Z,1736372991.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.896839 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:51.308Z,1736372991.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:51.308Z,1736372991.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510868 2025-01-08T21:49:51.473Z,1736372991.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:51.482Z,1736372991.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:51.486Z,1736372991.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 177.735611 m, bearing: 288.901049 deg, approach rate: 0.457575 m/s, LOS rate: 0.197397 deg/s, cmd heading: 165.976657 deg, new cmd heading: 166.225064 deg. 2025-01-08T21:49:51.487Z,1736372991.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.901175 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:51.562Z,1736372991.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:51.562Z,1736372991.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764771 2025-01-08T21:49:51.818Z,1736372991.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:51.821Z,1736372991.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022472 2025-01-08T21:49:51.964Z,1736372991.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:51.974Z,1736372991.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:51.977Z,1736372991.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 177.976990 m, bearing: 288.995976 deg, approach rate: 0.490585 m/s, LOS rate: 0.192671 deg/s, cmd heading: 166.225057 deg, new cmd heading: 166.509450 deg. 2025-01-08T21:49:51.977Z,1736372991.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.906138 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:52.068Z,1736372992.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:52.069Z,1736372992.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271577 2025-01-08T21:49:52.276Z,1736372992.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:52.283Z,1736372992.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:52.286Z,1736372992.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:52.289Z,1736372992.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 178.128754 m, bearing: 289.056827 deg, approach rate: 0.486200 m/s, LOS rate: 0.194778 deg/s, cmd heading: 166.509452 deg, new cmd heading: 166.691848 deg. 2025-01-08T21:49:52.290Z,1736372992.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.909322 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:52.320Z,1736372992.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:52.321Z,1736372992.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523157 2025-01-08T21:49:52.572Z,1736372992.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:52.572Z,1736372992.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774784 2025-01-08T21:49:52.702Z,1736372992.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:52.712Z,1736372992.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:52.714Z,1736372992.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 178.334335 m, bearing: 289.139870 deg, approach rate: 0.483594 m/s, LOS rate: 0.195121 deg/s, cmd heading: 166.691846 deg, new cmd heading: 166.940689 deg. 2025-01-08T21:49:52.715Z,1736372992.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.913665 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:52.824Z,1736372992.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:52.825Z,1736372992.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027047 2025-01-08T21:49:53.076Z,1736372993.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:53.076Z,1736372993.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278853 2025-01-08T21:49:53.145Z,1736372993.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:53.156Z,1736372993.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:53.159Z,1736372993.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 178.549820 m, bearing: 289.225624 deg, approach rate: 0.483756 m/s, LOS rate: 0.192282 deg/s, cmd heading: 166.940683 deg, new cmd heading: 167.197633 deg. 2025-01-08T21:49:53.160Z,1736372993.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.918149 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:53.328Z,1736372993.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:53.328Z,1736372993.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530689 2025-01-08T21:49:53.493Z,1736372993.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:53.517Z,1736372993.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:53.524Z,1736372993.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 178.716751 m, bearing: 289.293341 deg, approach rate: 0.463011 m/s, LOS rate: 0.187647 deg/s, cmd heading: 167.197635 deg, new cmd heading: 167.400594 deg. 2025-01-08T21:49:53.525Z,1736372993.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.921691 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:53.580Z,1736372993.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:53.581Z,1736372993.581 [DAT](INFO): DAT read: Rx Time:21:49:52.2392 2025-01-08T21:49:53.581Z,1736372993.581 [DAT](INFO): Rx dataTimestamp_ set to:1736372993.581017 2025-01-08T21:49:53.582Z,1736372993.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784212 2025-01-08T21:49:53.833Z,1736372993.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:53.836Z,1736372993.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037419 2025-01-08T21:49:53.965Z,1736372993.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:53.997Z,1736372993.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:54.004Z,1736372994.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 178.932739 m, bearing: 289.388566 deg, approach rate: 0.450267 m/s, LOS rate: 0.198275 deg/s, cmd heading: 167.400587 deg, new cmd heading: 167.685916 deg. 2025-01-08T21:49:54.005Z,1736372994.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.926671 target range: 574.200012 and range: 591.20 m. 2025-01-08T21:49:54.085Z,1736372994.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:54.087Z,1736372994.087 [DAT](INFO): DAT read: Range 10 to 50 : 637.0 m (Round-trip 849.4 ms) speed -0.8 m/s 2025-01-08T21:49:54.088Z,1736372994.088 [DAT](INFO): DAT read: user:2086> 2025-01-08T21:49:54.089Z,1736372994.089 [DAT](INFO): DAT read: Tx time:21:49:53.3357 2025-01-08T21:49:54.089Z,1736372994.089 [DAT](INFO): Ping request sent. 2025-01-08T21:49:54.089Z,1736372994.089 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:49:54.089Z,1736372994.089 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:49:54.089Z,1736372994.089 [DAT](INFO): publishing transmit ping time 2025-01-08T21:49:54.090Z,1736372994.090 [DAT](INFO): publishing transmit ping time 2025-01-08T21:49:54.336Z,1736372994.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:54.337Z,1736372994.337 [DAT](INFO): DAT read: TxSync time:21:49:53.3349 2025-01-08T21:49:54.355Z,1736372994.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:54.379Z,1736372994.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:54.386Z,1736372994.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 637.000000 m, deltaT: 48.171201 s, deltaX: 45.799988 m, approachRate: 0.950775 m/s, rangeRepo size: 4 2025-01-08T21:49:54.388Z,1736372994.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:54.390Z,1736372994.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 179.110321 m, bearing: 289.467391 deg, approach rate: 0.456313 m/s, LOS rate: 0.202347 deg/s, cmd heading: 167.685912 deg, new cmd heading: 167.922150 deg. 2025-01-08T21:49:54.399Z,1736372994.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.930794 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:54.588Z,1736372994.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:54.588Z,1736372994.588 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:49:54.588Z,1736372994.588 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:49:54.589Z,1736372994.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:49:54.804Z,1736372994.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:54.821Z,1736372994.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:54.831Z,1736372994.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 179.314026 m, bearing: 289.558165 deg, approach rate: 0.468413 m/s, LOS rate: 0.208495 deg/s, cmd heading: 167.922154 deg, new cmd heading: 168.194165 deg. 2025-01-08T21:49:54.832Z,1736372994.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.935542 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:54.840Z,1736372994.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:54.841Z,1736372994.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751433 2025-01-08T21:49:55.092Z,1736372995.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:55.092Z,1736372995.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003361 2025-01-08T21:49:55.212Z,1736372995.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:55.241Z,1736372995.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:55.256Z,1736372995.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 179.483887 m, bearing: 289.643706 deg, approach rate: 0.404037 m/s, LOS rate: 0.203278 deg/s, cmd heading: 168.194160 deg, new cmd heading: 168.450538 deg. 2025-01-08T21:49:55.257Z,1736372995.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940017 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:55.344Z,1736372995.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:55.345Z,1736372995.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256227 2025-01-08T21:49:55.596Z,1736372995.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:55.596Z,1736372995.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507403 2025-01-08T21:49:55.603Z,1736372995.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:55.613Z,1736372995.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:55.616Z,1736372995.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 179.645035 m, bearing: 289.725675 deg, approach rate: 0.435630 m/s, LOS rate: 0.221388 deg/s, cmd heading: 168.450538 deg, new cmd heading: 168.696223 deg. 2025-01-08T21:49:55.617Z,1736372995.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.944304 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:55.848Z,1736372995.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:55.849Z,1736372995.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759431 2025-01-08T21:49:56.042Z,1736372996.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:56.052Z,1736372996.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:56.055Z,1736372996.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 179.802353 m, bearing: 289.821103 deg, approach rate: 0.356580 m/s, LOS rate: 0.216109 deg/s, cmd heading: 168.696220 deg, new cmd heading: 168.982250 deg. 2025-01-08T21:49:56.056Z,1736372996.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.949297 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:56.100Z,1736372996.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:56.101Z,1736372996.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012236 2025-01-08T21:49:56.352Z,1736372996.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:56.352Z,1736372996.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263359 2025-01-08T21:49:56.477Z,1736372996.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:56.485Z,1736372996.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:56.487Z,1736372996.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:56.490Z,1736372996.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 179.959030 m, bearing: 289.916839 deg, approach rate: 0.360137 m/s, LOS rate: 0.219867 deg/s, cmd heading: 168.982254 deg, new cmd heading: 169.269211 deg. 2025-01-08T21:49:56.491Z,1736372996.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.954305 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:56.609Z,1736372996.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:56.610Z,1736372996.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520829 2025-01-08T21:49:56.860Z,1736372996.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:56.861Z,1736372996.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771443 2025-01-08T21:49:56.913Z,1736372996.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:56.970Z,1736372996.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:56.977Z,1736372996.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 180.115204 m, bearing: 290.011799 deg, approach rate: 0.323754 m/s, LOS rate: 0.196683 deg/s, cmd heading: 169.269204 deg, new cmd heading: 169.553833 deg. 2025-01-08T21:49:56.978Z,1736372996.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.959273 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:57.112Z,1736372997.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:57.112Z,1736372997.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023288 2025-01-08T21:49:57.364Z,1736372997.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:57.364Z,1736372997.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275248 2025-01-08T21:49:57.441Z,1736372997.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:57.459Z,1736372997.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:57.466Z,1736372997.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 180.278412 m, bearing: 290.131470 deg, approach rate: 0.333688 m/s, LOS rate: 0.244452 deg/s, cmd heading: 169.553832 deg, new cmd heading: 169.912514 deg. 2025-01-08T21:49:57.471Z,1736372997.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.965533 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:57.618Z,1736372997.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:57.622Z,1736372997.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532658 2025-01-08T21:49:57.797Z,1736372997.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:57.805Z,1736372997.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:57.818Z,1736372997.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 180.388107 m, bearing: 290.211960 deg, approach rate: 0.316367 m/s, LOS rate: 0.231998 deg/s, cmd heading: 169.912512 deg, new cmd heading: 170.153836 deg. 2025-01-08T21:49:57.820Z,1736372997.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.969745 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:57.868Z,1736372997.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:57.870Z,1736372997.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780453 2025-01-08T21:49:58.120Z,1736372998.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:58.120Z,1736372998.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031419 2025-01-08T21:49:58.218Z,1736372998.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:58.228Z,1736372998.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:58.230Z,1736372998.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 180.494003 m, bearing: 290.310610 deg, approach rate: 0.251100 m/s, LOS rate: 0.233780 deg/s, cmd heading: 170.153837 deg, new cmd heading: 170.449609 deg. 2025-01-08T21:49:58.232Z,1736372998.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.974907 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:58.372Z,1736372998.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:58.373Z,1736372998.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283644 2025-01-08T21:49:58.602Z,1736372998.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:58.608Z,1736372998.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:49:58.610Z,1736372998.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:58.613Z,1736372998.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 180.590439 m, bearing: 290.400317 deg, approach rate: 0.251668 m/s, LOS rate: 0.233985 deg/s, cmd heading: 170.449611 deg, new cmd heading: 170.718588 deg. 2025-01-08T21:49:58.614Z,1736372998.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.979601 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:58.624Z,1736372998.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:58.625Z,1736372998.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535584 2025-01-08T21:49:58.876Z,1736372998.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:58.876Z,1736372998.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787349 2025-01-08T21:49:59.037Z,1736372999.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:59.045Z,1736372999.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:59.048Z,1736372999.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 180.687531 m, bearing: 290.501985 deg, approach rate: 0.223302 m/s, LOS rate: 0.233700 deg/s, cmd heading: 170.718584 deg, new cmd heading: 171.023419 deg. 2025-01-08T21:49:59.049Z,1736372999.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.984922 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:59.129Z,1736372999.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:59.130Z,1736372999.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040345 2025-01-08T21:49:59.380Z,1736372999.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:59.380Z,1736372999.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291263 2025-01-08T21:49:59.421Z,1736372999.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:59.430Z,1736372999.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:59.433Z,1736372999.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 180.773209 m, bearing: 290.591613 deg, approach rate: 0.222751 m/s, LOS rate: 0.232911 deg/s, cmd heading: 171.023415 deg, new cmd heading: 171.292171 deg. 2025-01-08T21:49:59.434Z,1736372999.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.989612 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:59.632Z,1736372999.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:59.633Z,1736372999.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543684 2025-01-08T21:49:59.859Z,1736372999.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:49:59.872Z,1736372999.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:49:59.875Z,1736372999.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 180.870132 m, bearing: 290.692718 deg, approach rate: 0.219177 m/s, LOS rate: 0.228509 deg/s, cmd heading: 171.292170 deg, new cmd heading: 171.595319 deg. 2025-01-08T21:49:59.880Z,1736372999.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.994903 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:49:59.885Z,1736372999.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:49:59.885Z,1736372999.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796182 2025-01-08T21:50:00.136Z,1736373000.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:00.136Z,1736373000.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047363 2025-01-08T21:50:00.244Z,1736373000.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:00.254Z,1736373000.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:00.257Z,1736373000.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 180.954788 m, bearing: 290.784433 deg, approach rate: 0.221794 m/s, LOS rate: 0.240175 deg/s, cmd heading: 171.595321 deg, new cmd heading: 171.870333 deg. 2025-01-08T21:50:00.258Z,1736373000.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.999703 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:00.388Z,1736373000.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:00.389Z,1736373000.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299547 2025-01-08T21:50:00.640Z,1736373000.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:00.640Z,1736373000.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551362 2025-01-08T21:50:00.705Z,1736373000.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:00.712Z,1736373000.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:50:00.714Z,1736373000.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:00.717Z,1736373000.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 181.053940 m, bearing: 290.892762 deg, approach rate: 0.215327 m/s, LOS rate: 0.235129 deg/s, cmd heading: 171.870331 deg, new cmd heading: 172.195137 deg. 2025-01-08T21:50:00.718Z,1736373000.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.005372 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:00.892Z,1736373000.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:00.892Z,1736373000.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803367 2025-01-08T21:50:01.123Z,1736373001.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:01.131Z,1736373001.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:01.135Z,1736373001.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 181.143890 m, bearing: 290.991084 deg, approach rate: 0.215750 m/s, LOS rate: 0.235712 deg/s, cmd heading: 172.195134 deg, new cmd heading: 172.489952 deg. 2025-01-08T21:50:01.136Z,1736373001.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.010518 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:01.144Z,1736373001.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:01.145Z,1736373001.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055613 2025-01-08T21:50:01.396Z,1736373001.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:01.396Z,1736373001.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307161 2025-01-08T21:50:01.541Z,1736373001.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:01.549Z,1736373001.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:01.553Z,1736373001.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 181.233429 m, bearing: 291.089563 deg, approach rate: 0.214270 m/s, LOS rate: 0.235549 deg/s, cmd heading: 172.489952 deg, new cmd heading: 172.785242 deg. 2025-01-08T21:50:01.554Z,1736373001.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.015671 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:01.652Z,1736373001.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:01.653Z,1736373001.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563806 2025-01-08T21:50:01.904Z,1736373001.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:01.904Z,1736373001.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815413 2025-01-08T21:50:01.949Z,1736373001.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:02.021Z,1736373002.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:02.028Z,1736373002.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 181.320679 m, bearing: 291.185685 deg, approach rate: 0.184715 m/s, LOS rate: 0.203399 deg/s, cmd heading: 172.785235 deg, new cmd heading: 173.073458 deg. 2025-01-08T21:50:02.029Z,1736373002.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.020702 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:02.156Z,1736373002.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:02.157Z,1736373002.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067485 2025-01-08T21:50:02.398Z,1736373002.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:02.408Z,1736373002.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:02.408Z,1736373002.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319409 2025-01-08T21:50:02.410Z,1736373002.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:02.412Z,1736373002.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 181.436813 m, bearing: 291.288771 deg, approach rate: 0.299061 m/s, LOS rate: 0.265290 deg/s, cmd heading: 173.073456 deg, new cmd heading: 173.382514 deg. 2025-01-08T21:50:02.413Z,1736373002.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.026096 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:02.664Z,1736373002.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:02.665Z,1736373002.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576201 2025-01-08T21:50:02.768Z,1736373002.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:02.797Z,1736373002.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:50:02.806Z,1736373002.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:02.813Z,1736373002.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 181.532822 m, bearing: 291.373498 deg, approach rate: 0.246379 m/s, LOS rate: 0.217313 deg/s, cmd heading: 173.382508 deg, new cmd heading: 173.636552 deg. 2025-01-08T21:50:02.814Z,1736373002.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.030529 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:02.916Z,1736373002.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:02.916Z,1736373002.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827393 2025-01-08T21:50:03.168Z,1736373003.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:03.169Z,1736373003.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079805 2025-01-08T21:50:03.187Z,1736373003.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:03.226Z,1736373003.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:03.234Z,1736373003.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 181.658005 m, bearing: 291.465797 deg, approach rate: 0.293093 m/s, LOS rate: 0.215952 deg/s, cmd heading: 173.636550 deg, new cmd heading: 173.913254 deg. 2025-01-08T21:50:03.235Z,1736373003.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.035359 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:03.420Z,1736373003.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:03.421Z,1736373003.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331448 2025-01-08T21:50:03.563Z,1736373003.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:03.572Z,1736373003.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:03.575Z,1736373003.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 181.768936 m, bearing: 291.548683 deg, approach rate: 0.321023 m/s, LOS rate: 0.239716 deg/s, cmd heading: 173.913255 deg, new cmd heading: 174.161759 deg. 2025-01-08T21:50:03.576Z,1736373003.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.039696 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:03.672Z,1736373003.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:03.673Z,1736373003.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584323 2025-01-08T21:50:03.924Z,1736373003.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:03.925Z,1736373003.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836321 2025-01-08T21:50:03.976Z,1736373003.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:03.999Z,1736373003.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:04.040Z,1736373004.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 181.889145 m, bearing: 291.639849 deg, approach rate: 0.282610 m/s, LOS rate: 0.214190 deg/s, cmd heading: 174.161764 deg, new cmd heading: 174.435080 deg. 2025-01-08T21:50:04.048Z,1736373004.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.044466 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:04.176Z,1736373004.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:04.176Z,1736373004.176 [DAT](INFO): Reached modem response timeout 2025-01-08T21:50:04.176Z,1736373004.176 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:50:04.177Z,1736373004.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:50:04.408Z,1736373004.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:04.416Z,1736373004.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:04.421Z,1736373004.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 182.039948 m, bearing: 291.730469 deg, approach rate: 0.360162 m/s, LOS rate: 0.216248 deg/s, cmd heading: 174.435081 deg, new cmd heading: 174.706714 deg. 2025-01-08T21:50:04.422Z,1736373004.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.049207 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:04.428Z,1736373004.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:04.428Z,1736373004.428 [DAT](INFO): Reached modem response timeout 2025-01-08T21:50:04.428Z,1736373004.428 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:50:04.429Z,1736373004.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:50:04.680Z,1736373004.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:04.681Z,1736373004.681 [DAT](INFO): Reached modem response timeout 2025-01-08T21:50:04.681Z,1736373004.681 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:50:04.681Z,1736373004.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:50:04.779Z,1736373004.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:04.799Z,1736373004.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:04.802Z,1736373004.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 182.166855 m, bearing: 291.808942 deg, approach rate: 0.334787 m/s, LOS rate: 0.206871 deg/s, cmd heading: 174.706718 deg, new cmd heading: 174.941972 deg. 2025-01-08T21:50:04.803Z,1736373004.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.053313 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:04.933Z,1736373004.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:04.935Z,1736373004.935 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:50:04.936Z,1736373004.936 [DAT](INFO): response not received 2025-01-08T21:50:04.937Z,1736373004.937 [DAT](INFO): DAT read: user:2087> 2025-01-08T21:50:04.938Z,1736373004.938 [DAT](INFO): DAT read: Tx time:21:50:04.2858 2025-01-08T21:50:04.940Z,1736373004.940 [DAT](INFO): Ping request sent. 2025-01-08T21:50:04.940Z,1736373004.940 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:50:04.940Z,1736373004.940 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:04.941Z,1736373004.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001318 2025-01-08T21:50:05.184Z,1736373005.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:05.185Z,1736373005.185 [DAT](INFO): DAT read: TxSync time:21:50:04.2850 2025-01-08T21:50:05.186Z,1736373005.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246313 2025-01-08T21:50:05.239Z,1736373005.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:05.246Z,1736373005.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:50:05.248Z,1736373005.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:05.252Z,1736373005.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 182.341782 m, bearing: 291.904461 deg, approach rate: 0.386025 m/s, LOS rate: 0.210585 deg/s, cmd heading: 174.941977 deg, new cmd heading: 175.228254 deg. 2025-01-08T21:50:05.253Z,1736373005.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.058310 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:05.438Z,1736373005.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:05.439Z,1736373005.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499904 2025-01-08T21:50:05.576Z,1736373005.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:05.585Z,1736373005.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:05.588Z,1736373005.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 182.471741 m, bearing: 291.976011 deg, approach rate: 0.385789 m/s, LOS rate: 0.212248 deg/s, cmd heading: 175.228257 deg, new cmd heading: 175.442753 deg. 2025-01-08T21:50:05.589Z,1736373005.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.062054 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:05.688Z,1736373005.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:05.689Z,1736373005.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749193 2025-01-08T21:50:05.940Z,1736373005.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:05.940Z,1736373005.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000741 2025-01-08T21:50:06.005Z,1736373006.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:06.041Z,1736373006.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:06.065Z,1736373006.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 182.633896 m, bearing: 292.066094 deg, approach rate: 0.366684 m/s, LOS rate: 0.203525 deg/s, cmd heading: 175.442753 deg, new cmd heading: 175.712760 deg. 2025-01-08T21:50:06.073Z,1736373006.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.066766 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:06.184Z,1736373006.184 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:50:06.196Z,1736373006.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:06.198Z,1736373006.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257713 2025-01-08T21:50:06.420Z,1736373006.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:06.429Z,1736373006.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:06.432Z,1736373006.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 182.802460 m, bearing: 292.151295 deg, approach rate: 0.420006 m/s, LOS rate: 0.212098 deg/s, cmd heading: 175.712764 deg, new cmd heading: 175.968131 deg. 2025-01-08T21:50:06.432Z,1736373006.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.071223 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:06.444Z,1736373006.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:06.445Z,1736373006.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504948 2025-01-08T21:50:06.698Z,1736373006.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:06.700Z,1736373006.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760035 2025-01-08T21:50:06.806Z,1736373006.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:06.815Z,1736373006.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:06.817Z,1736373006.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 182.960052 m, bearing: 292.230624 deg, approach rate: 0.408370 m/s, LOS rate: 0.205386 deg/s, cmd heading: 175.968131 deg, new cmd heading: 176.205909 deg. 2025-01-08T21:50:06.818Z,1736373006.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.075373 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:06.948Z,1736373006.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:06.948Z,1736373006.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008804 2025-01-08T21:50:07.184Z,1736373007.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:50:07.200Z,1736373007.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:07.201Z,1736373007.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261568 2025-01-08T21:50:07.332Z,1736373007.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:07.340Z,1736373007.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:50:07.342Z,1736373007.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:07.344Z,1736373007.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 183.177887 m, bearing: 292.336359 deg, approach rate: 0.413364 m/s, LOS rate: 0.200405 deg/s, cmd heading: 176.205903 deg, new cmd heading: 176.522728 deg. 2025-01-08T21:50:07.345Z,1736373007.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.080903 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:07.456Z,1736373007.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:07.458Z,1736373007.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517936 2025-01-08T21:50:07.697Z,1736373007.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:07.717Z,1736373007.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:07.719Z,1736373007.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778768 2025-01-08T21:50:07.737Z,1736373007.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:07.744Z,1736373007.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 183.326462 m, bearing: 292.410262 deg, approach rate: 0.375983 m/s, LOS rate: 0.186868 deg/s, cmd heading: 176.522728 deg, new cmd heading: 176.744258 deg. 2025-01-08T21:50:07.745Z,1736373007.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.084769 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:07.969Z,1736373007.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:07.970Z,1736373007.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030079 2025-01-08T21:50:08.166Z,1736373008.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:08.175Z,1736373008.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:08.178Z,1736373008.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 183.510956 m, bearing: 292.503457 deg, approach rate: 0.421241 m/s, LOS rate: 0.212570 deg/s, cmd heading: 176.744259 deg, new cmd heading: 177.023558 deg. 2025-01-08T21:50:08.178Z,1736373008.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.089644 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:08.220Z,1736373008.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:08.220Z,1736373008.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280793 2025-01-08T21:50:08.472Z,1736373008.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:08.473Z,1736373008.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532954 2025-01-08T21:50:08.540Z,1736373008.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:08.549Z,1736373008.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:08.565Z,1736373008.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 183.657013 m, bearing: 292.578210 deg, approach rate: 0.390521 m/s, LOS rate: 0.199713 deg/s, cmd heading: 177.023559 deg, new cmd heading: 177.247639 deg. 2025-01-08T21:50:08.565Z,1736373008.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.093555 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:08.724Z,1736373008.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:08.725Z,1736373008.725 [DAT](INFO): DAT read: Rx Time:21:50:07.5544 2025-01-08T21:50:08.725Z,1736373008.725 [DAT](INFO): Rx dataTimestamp_ set to:1736373008.724946 2025-01-08T21:50:08.726Z,1736373008.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786182 2025-01-08T21:50:08.949Z,1736373008.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:08.976Z,1736373008.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:08.976Z,1736373008.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036869 2025-01-08T21:50:08.981Z,1736373008.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:08.996Z,1736373008.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 183.814941 m, bearing: 292.659947 deg, approach rate: 0.364959 m/s, LOS rate: 0.188724 deg/s, cmd heading: 177.247644 deg, new cmd heading: 177.492642 deg. 2025-01-08T21:50:08.999Z,1736373008.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.097831 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:09.228Z,1736373009.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:09.229Z,1736373009.229 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:50:09.229Z,1736373009.229 [DAT](INFO): Received a bad header 2025-01-08T21:50:09.246Z,1736373009.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.305261 2025-01-08T21:50:09.397Z,1736373009.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:09.405Z,1736373009.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:50:09.407Z,1736373009.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:09.410Z,1736373009.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 183.974075 m, bearing: 292.753612 deg, approach rate: 0.374169 m/s, LOS rate: 0.220043 deg/s, cmd heading: 177.492643 deg, new cmd heading: 177.773393 deg. 2025-01-08T21:50:09.410Z,1736373009.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.102731 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:09.480Z,1736373009.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:09.480Z,1736373009.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540889 2025-01-08T21:50:09.732Z,1736373009.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:09.732Z,1736373009.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792829 2025-01-08T21:50:09.776Z,1736373009.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:09.786Z,1736373009.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:09.789Z,1736373009.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 184.109390 m, bearing: 292.832906 deg, approach rate: 0.357122 m/s, LOS rate: 0.209118 deg/s, cmd heading: 177.773391 deg, new cmd heading: 178.011096 deg. 2025-01-08T21:50:09.790Z,1736373009.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.106880 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:09.985Z,1736373009.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:09.986Z,1736373009.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046656 2025-01-08T21:50:10.188Z,1736373010.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:10.221Z,1736373010.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:10.228Z,1736373010.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 184.239807 m, bearing: 292.921546 deg, approach rate: 0.299546 m/s, LOS rate: 0.203447 deg/s, cmd heading: 178.011095 deg, new cmd heading: 178.276824 deg. 2025-01-08T21:50:10.229Z,1736373010.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.111518 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:10.236Z,1736373010.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:10.237Z,1736373010.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.297034 2025-01-08T21:50:10.488Z,1736373010.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:10.488Z,1736373010.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548733 2025-01-08T21:50:10.563Z,1736373010.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:10.572Z,1736373010.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:10.574Z,1736373010.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 184.357224 m, bearing: 293.002173 deg, approach rate: 0.334710 m/s, LOS rate: 0.229691 deg/s, cmd heading: 178.276830 deg, new cmd heading: 178.518556 deg. 2025-01-08T21:50:10.576Z,1736373010.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115736 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:10.740Z,1736373010.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:10.740Z,1736373010.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800912 2025-01-08T21:50:10.984Z,1736373010.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:10.992Z,1736373010.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:10.993Z,1736373010.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052942 2025-01-08T21:50:10.995Z,1736373010.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:11.001Z,1736373011.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 184.488052 m, bearing: 293.092958 deg, approach rate: 0.309857 m/s, LOS rate: 0.214864 deg/s, cmd heading: 178.518551 deg, new cmd heading: 178.790711 deg. 2025-01-08T21:50:11.003Z,1736373011.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.120486 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:11.244Z,1736373011.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:11.244Z,1736373011.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304762 2025-01-08T21:50:11.404Z,1736373011.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:11.410Z,1736373011.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:50:11.440Z,1736373011.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:11.443Z,1736373011.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 184.601715 m, bearing: 293.184064 deg, approach rate: 0.254826 m/s, LOS rate: 0.204128 deg/s, cmd heading: 178.790706 deg, new cmd heading: 179.063852 deg. 2025-01-08T21:50:11.448Z,1736373011.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.125254 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:11.496Z,1736373011.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:11.496Z,1736373011.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556819 2025-01-08T21:50:11.748Z,1736373011.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:11.748Z,1736373011.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808802 2025-01-08T21:50:11.785Z,1736373011.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:11.793Z,1736373011.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:11.796Z,1736373011.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 184.702713 m, bearing: 293.266721 deg, approach rate: 0.286187 m/s, LOS rate: 0.234088 deg/s, cmd heading: 179.063846 deg, new cmd heading: 179.311679 deg. 2025-01-08T21:50:11.797Z,1736373011.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.129579 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:11.000Z,1736373012.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:12.001Z,1736373012.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060926 2025-01-08T21:50:12.212Z,1736373012.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:12.250Z,1736373012.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:12.252Z,1736373012.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:12.253Z,1736373012.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312965 2025-01-08T21:50:12.257Z,1736373012.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 184.800842 m, bearing: 293.363870 deg, approach rate: 0.214644 m/s, LOS rate: 0.212389 deg/s, cmd heading: 179.311686 deg, new cmd heading: 179.602978 deg. 2025-01-08T21:50:12.258Z,1736373012.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.134663 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:12.504Z,1736373012.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:12.506Z,1736373012.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565711 2025-01-08T21:50:12.704Z,1736373012.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:12.733Z,1736373012.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:12.741Z,1736373012.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 184.911865 m, bearing: 293.475540 deg, approach rate: 0.230034 m/s, LOS rate: 0.231235 deg/s, cmd heading: 179.602980 deg, new cmd heading: 179.937783 deg. 2025-01-08T21:50:12.741Z,1736373012.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.140507 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:12.756Z,1736373012.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:12.757Z,1736373012.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817077 2025-01-08T21:50:13.010Z,1736373013.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:13.013Z,1736373013.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.072884 2025-01-08T21:50:13.094Z,1736373013.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:13.122Z,1736373013.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:13.162Z,1736373013.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 184.999649 m, bearing: 293.563944 deg, approach rate: 0.225571 m/s, LOS rate: 0.227057 deg/s, cmd heading: 179.937782 deg, new cmd heading: 180.202866 deg. 2025-01-08T21:50:13.178Z,1736373013.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.145133 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:13.260Z,1736373013.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:13.261Z,1736373013.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320913 2025-01-08T21:50:13.514Z,1736373013.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:13.515Z,1736373013.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575737 2025-01-08T21:50:13.631Z,1736373013.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:13.639Z,1736373013.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:50:13.641Z,1736373013.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:13.645Z,1736373013.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 185.103180 m, bearing: 293.687074 deg, approach rate: 0.199418 m/s, LOS rate: 0.237036 deg/s, cmd heading: 180.202862 deg, new cmd heading: 180.572039 deg. 2025-01-08T21:50:13.647Z,1736373013.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.151577 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:13.765Z,1736373013.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:13.766Z,1736373013.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825909 2025-01-08T21:50:14.011Z,1736373014.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:14.016Z,1736373014.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:14.017Z,1736373014.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076919 2025-01-08T21:50:14.026Z,1736373014.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:14.029Z,1736373014.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 185.176041 m, bearing: 293.774149 deg, approach rate: 0.189417 m/s, LOS rate: 0.226283 deg/s, cmd heading: 180.572033 deg, new cmd heading: 180.833156 deg. 2025-01-08T21:50:14.030Z,1736373014.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.156134 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:14.268Z,1736373014.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:14.269Z,1736373014.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329420 2025-01-08T21:50:14.446Z,1736373014.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:14.472Z,1736373014.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:14.480Z,1736373014.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 185.259735 m, bearing: 293.874400 deg, approach rate: 0.187979 m/s, LOS rate: 0.225064 deg/s, cmd heading: 180.833151 deg, new cmd heading: 181.133766 deg. 2025-01-08T21:50:14.481Z,1736373014.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.161381 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:14.520Z,1736373014.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:14.521Z,1736373014.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581035 2025-01-08T21:50:14.772Z,1736373014.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:14.772Z,1736373014.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832860 2025-01-08T21:50:14.828Z,1736373014.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:14.842Z,1736373014.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:14.849Z,1736373014.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 185.328568 m, bearing: 293.958549 deg, approach rate: 0.185374 m/s, LOS rate: 0.226539 deg/s, cmd heading: 181.133762 deg, new cmd heading: 181.386114 deg. 2025-01-08T21:50:14.855Z,1736373014.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.165785 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:15.024Z,1736373015.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:15.024Z,1736373015.024 [DAT](INFO): Reached modem response timeout 2025-01-08T21:50:15.024Z,1736373015.024 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:50:15.025Z,1736373015.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:50:15.267Z,1736373015.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:15.276Z,1736373015.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:15.276Z,1736373015.276 [DAT](INFO): Reached modem response timeout 2025-01-08T21:50:15.276Z,1736373015.276 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:50:15.277Z,1736373015.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:50:15.280Z,1736373015.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:15.282Z,1736373015.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 185.413895 m, bearing: 294.063587 deg, approach rate: 0.197027 m/s, LOS rate: 0.242429 deg/s, cmd heading: 181.386110 deg, new cmd heading: 181.701075 deg. 2025-01-08T21:50:15.303Z,1736373015.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.171282 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:15.530Z,1736373015.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:15.531Z,1736373015.531 [DAT](INFO): Reached modem response timeout 2025-01-08T21:50:15.531Z,1736373015.531 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:50:15.531Z,1736373015.531 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:50:15.639Z,1736373015.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:15.649Z,1736373015.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:50:15.669Z,1736373015.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:15.674Z,1736373015.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 185.482986 m, bearing: 294.149443 deg, approach rate: 0.175738 m/s, LOS rate: 0.218295 deg/s, cmd heading: 181.701077 deg, new cmd heading: 181.958546 deg. 2025-01-08T21:50:15.681Z,1736373015.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.175776 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:15.781Z,1736373015.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:15.783Z,1736373015.783 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:50:15.783Z,1736373015.783 [DAT](INFO): response not received 2025-01-08T21:50:15.784Z,1736373015.784 [DAT](INFO): DAT read: user:2089> 2025-01-08T21:50:15.785Z,1736373015.785 [DAT](ERROR): No response from remote modem. 2025-01-08T21:50:15.785Z,1736373015.785 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:50:15.785Z,1736373015.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:50:16.032Z,1736373016.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:16.032Z,1736373016.032 [DAT](INFO): DAT read: Tx time:21:50:15.2359 2025-01-08T21:50:16.033Z,1736373016.033 [DAT](INFO): Ping request sent. 2025-01-08T21:50:16.033Z,1736373016.033 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:50:16.034Z,1736373016.034 [DAT](INFO): DAT read: TxSync time:21:50:15.2351 2025-01-08T21:50:16.034Z,1736373016.034 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:16.035Z,1736373016.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001560 2025-01-08T21:50:16.060Z,1736373016.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:16.101Z,1736373016.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:16.108Z,1736373016.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 185.561752 m, bearing: 294.246617 deg, approach rate: 0.182228 m/s, LOS rate: 0.224721 deg/s, cmd heading: 181.958548 deg, new cmd heading: 182.249945 deg. 2025-01-08T21:50:16.109Z,1736373016.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.180862 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:16.285Z,1736373016.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:16.285Z,1736373016.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252386 2025-01-08T21:50:16.452Z,1736373016.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:16.461Z,1736373016.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:16.464Z,1736373016.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 185.643661 m, bearing: 294.336434 deg, approach rate: 0.227522 m/s, LOS rate: 0.249378 deg/s, cmd heading: 182.249951 deg, new cmd heading: 182.519282 deg. 2025-01-08T21:50:16.465Z,1736373016.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.185562 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:16.537Z,1736373016.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:16.539Z,1736373016.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505226 2025-01-08T21:50:16.788Z,1736373016.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:16.788Z,1736373016.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755408 2025-01-08T21:50:16.846Z,1736373016.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:16.856Z,1736373016.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:16.859Z,1736373016.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 185.724838 m, bearing: 294.426879 deg, approach rate: 0.205723 m/s, LOS rate: 0.229109 deg/s, cmd heading: 182.519279 deg, new cmd heading: 182.790491 deg. 2025-01-08T21:50:16.860Z,1736373016.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.190296 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:17.040Z,1736373017.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:17.041Z,1736373017.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007941 2025-01-08T21:50:17.297Z,1736373017.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:17.297Z,1736373017.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264513 2025-01-08T21:50:17.310Z,1736373017.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:17.320Z,1736373017.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:17.322Z,1736373017.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 185.830994 m, bearing: 294.533246 deg, approach rate: 0.228578 m/s, LOS rate: 0.228904 deg/s, cmd heading: 182.790492 deg, new cmd heading: 183.109410 deg. 2025-01-08T21:50:17.324Z,1736373017.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.195862 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:17.548Z,1736373017.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:17.549Z,1736373017.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515781 2025-01-08T21:50:17.678Z,1736373017.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:17.694Z,1736373017.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:50:17.696Z,1736373017.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:17.699Z,1736373017.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 185.914978 m, bearing: 294.617474 deg, approach rate: 0.223188 m/s, LOS rate: 0.223734 deg/s, cmd heading: 183.109408 deg, new cmd heading: 183.361975 deg. 2025-01-08T21:50:17.700Z,1736373017.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.200270 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:17.801Z,1736373017.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:17.802Z,1736373017.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768842 2025-01-08T21:50:18.053Z,1736373018.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:18.055Z,1736373018.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021641 2025-01-08T21:50:18.061Z,1736373018.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:18.069Z,1736373018.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:18.072Z,1736373018.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 186.002579 m, bearing: 294.705137 deg, approach rate: 0.234888 m/s, LOS rate: 0.234943 deg/s, cmd heading: 183.361974 deg, new cmd heading: 183.624836 deg. 2025-01-08T21:50:18.073Z,1736373018.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.204858 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:18.304Z,1736373018.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:18.305Z,1736373018.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272241 2025-01-08T21:50:18.487Z,1736373018.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:18.502Z,1736373018.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:18.509Z,1736373018.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 186.107864 m, bearing: 294.797124 deg, approach rate: 0.243019 m/s, LOS rate: 0.212204 deg/s, cmd heading: 183.624841 deg, new cmd heading: 183.900645 deg. 2025-01-08T21:50:18.510Z,1736373018.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.209672 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:18.557Z,1736373018.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:18.558Z,1736373018.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524756 2025-01-08T21:50:18.808Z,1736373018.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:18.808Z,1736373018.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775377 2025-01-08T21:50:18.853Z,1736373018.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:18.887Z,1736373018.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:18.902Z,1736373018.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 186.204941 m, bearing: 294.882848 deg, approach rate: 0.252528 m/s, LOS rate: 0.222879 deg/s, cmd heading: 183.900644 deg, new cmd heading: 184.157679 deg. 2025-01-08T21:50:18.908Z,1736373018.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.214158 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:19.061Z,1736373019.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:19.063Z,1736373019.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029703 2025-01-08T21:50:19.312Z,1736373019.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:19.313Z,1736373019.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279570 2025-01-08T21:50:19.378Z,1736373019.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:19.400Z,1736373019.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:19.408Z,1736373019.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 186.349579 m, bearing: 294.999621 deg, approach rate: 0.281823 m/s, LOS rate: 0.227352 deg/s, cmd heading: 184.157678 deg, new cmd heading: 184.507720 deg. 2025-01-08T21:50:19.409Z,1736373019.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.220267 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:19.564Z,1736373019.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:19.564Z,1736373019.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531386 2025-01-08T21:50:19.708Z,1736373019.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:19.714Z,1736373019.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:50:19.717Z,1736373019.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:19.725Z,1736373019.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 186.439255 m, bearing: 295.072953 deg, approach rate: 0.283088 m/s, LOS rate: 0.231382 deg/s, cmd heading: 184.507725 deg, new cmd heading: 184.727614 deg. 2025-01-08T21:50:19.726Z,1736373019.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.224105 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:19.817Z,1736373019.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:19.818Z,1736373019.818 [DAT](INFO): DAT read: Rx Time:21:50:18.5152 2025-01-08T21:50:19.819Z,1736373019.819 [DAT](INFO): Rx dataTimestamp_ set to:1736373019.818277 2025-01-08T21:50:19.819Z,1736373019.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786161 2025-01-08T21:50:19.897Z,1736373019.897 [CTD_Seabird](ERROR): Failed to parse device response: 69.75,10.0907,3.035.99 2025-01-08T21:50:20.068Z,1736373020.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:20.071Z,1736373020.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037278 2025-01-08T21:50:20.113Z,1736373020.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:20.137Z,1736373020.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:20.174Z,1736373020.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 186.547455 m, bearing: 295.163053 deg, approach rate: 0.257880 m/s, LOS rate: 0.214618 deg/s, cmd heading: 184.727616 deg, new cmd heading: 184.997759 deg. 2025-01-08T21:50:20.181Z,1736373020.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.228820 target range: 574.200012 and range: 637.00 m. 2025-01-08T21:50:20.320Z,1736373020.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:20.321Z,1736373020.321 [DAT](INFO): DAT read: Range 10 to 50 : 656.3 m (Round-trip 875.1 ms) speed -0.5 m/s 2025-01-08T21:50:20.322Z,1736373020.322 [DAT](INFO): DAT read: user:2090> 2025-01-08T21:50:20.323Z,1736373020.323 [DAT](INFO): DAT read: Tx time:21:50:19.6359 2025-01-08T21:50:20.323Z,1736373020.323 [DAT](INFO): Ping request sent. 2025-01-08T21:50:20.324Z,1736373020.324 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:50:20.324Z,1736373020.324 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:50:20.324Z,1736373020.324 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:20.325Z,1736373020.325 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:20.504Z,1736373020.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:20.534Z,1736373020.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 656.299988 m, deltaT: 26.234431 s, deltaX: 19.299988 m, approachRate: 0.735674 m/s, rangeRepo size: 4 2025-01-08T21:50:20.539Z,1736373020.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:20.542Z,1736373020.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 186.657379 m, bearing: 295.247896 deg, approach rate: 0.277160 m/s, LOS rate: 0.213795 deg/s, cmd heading: 184.997764 deg, new cmd heading: 185.252141 deg. 2025-01-08T21:50:20.543Z,1736373020.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.233260 target range: 574.200012 and range: 656.30 m. 2025-01-08T21:50:20.572Z,1736373020.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:20.573Z,1736373020.573 [DAT](INFO): DAT read: TxSync time:21:50:19.6351 2025-01-08T21:50:20.824Z,1736373020.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:20.889Z,1736373020.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:20.895Z,1736373020.895 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-01-08T21:50:20.895Z,1736373020.895 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T21:50:20.896Z,1736373020.896 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-01-08T21:50:20.897Z,1736373020.897 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 656.299988 m (mode 1.000000 count ). 2025-01-08T21:50:20.897Z,1736373020.897 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-01-08T21:50:20.897Z,1736373020.897 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-01-08T21:50:20.920Z,1736373020.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:20.923Z,1736373020.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 186.763672 m, bearing: 295.331320 deg, approach rate: 0.274302 m/s, LOS rate: 0.215163 deg/s, cmd heading: 185.252147 deg, new cmd heading: 185.502274 deg. 2025-01-08T21:50:20.924Z,1736373020.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.237625 target range: 574.200012 and range: 656.30 m. 2025-01-08T21:50:20.926Z,1736373020.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Running Loop=1 2025-01-08T21:50:20.926Z,1736373020.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-01-08T21:50:20.926Z,1736373020.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Running Loop=1 2025-01-08T21:50:20.932Z,1736373020.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A](IMPORTANT): Transitioning to midcourse guidance. Received last range of 656.299988 m 0.003927 min ago. 2025-01-08T21:50:20.932Z,1736373020.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Stopped 2025-01-08T21:50:20.932Z,1736373020.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Running Loop=1 2025-01-08T21:50:21.076Z,1736373021.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:21.328Z,1736373021.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:21.372Z,1736373021.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:21.378Z,1736373021.378 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-01-08T21:50:21.378Z,1736373021.378 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-01-08T21:50:21.380Z,1736373021.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.20 m. 2025-01-08T21:50:21.383Z,1736373021.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.200012 m, nav range: 186.905518 m, bearing: 295.435569 deg, approach rate: 0.308496 m/s, LOS rate: 0.226556 deg/s, cmd heading: 185.502269 deg, new cmd heading: 185.814775 deg. 2025-01-08T21:50:21.401Z,1736373021.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.243080 target range: 574.200012 and range: 656.30 m. 2025-01-08T21:50:21.403Z,1736373021.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Stopped 2025-01-08T21:50:21.403Z,1736373021.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-01-08T21:50:21.403Z,1736373021.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Stopped 2025-01-08T21:50:21.407Z,1736373021.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-01-08T21:50:21.580Z,1736373021.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:21.813Z,1736373021.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:21.821Z,1736373021.821 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-01-08T21:50:21.821Z,1736373021.821 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-01-08T21:50:21.821Z,1736373021.821 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-01-08T21:50:21.821Z,1736373021.821 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T21:50:21.822Z,1736373021.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-01-08T21:50:21.822Z,1736373021.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T21:50:21.822Z,1736373021.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-01-08T21:50:21.822Z,1736373021.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T21:50:21.822Z,1736373021.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-01-08T21:50:21.823Z,1736373021.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T21:50:21.823Z,1736373021.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-01-08T21:50:21.823Z,1736373021.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-01-08T21:50:21.823Z,1736373021.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-01-08T21:50:21.823Z,1736373021.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-01-08T21:50:21.823Z,1736373021.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-01-08T21:50:21.823Z,1736373021.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-08T21:50:21.824Z,1736373021.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-01-08T21:50:21.824Z,1736373021.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T21:50:21.824Z,1736373021.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-01-08T21:50:21.824Z,1736373021.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T21:50:21.824Z,1736373021.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-01-08T21:50:21.824Z,1736373021.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-01-08T21:50:21.824Z,1736373021.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-01-08T21:50:21.824Z,1736373021.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-01-08T21:50:21.824Z,1736373021.824 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-01-08T21:50:21.826Z,1736373021.826 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg ) 2025-01-08T21:50:21.826Z,1736373021.826 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-01-08T21:50:21.826Z,1736373021.826 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-01-08T21:50:21.826Z,1736373021.826 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-01-08T21:50:21.828Z,1736373021.828 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.903300,-122.119000 2025-01-08T21:50:21.832Z,1736373021.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:22.084Z,1736373022.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:22.214Z,1736373022.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:22.247Z,1736373022.247 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-01-08T21:50:22.254Z,1736373022.254 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T21:50:22.254Z,1736373022.254 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-01-08T21:50:22.260Z,1736373022.260 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T21:50:22.336Z,1736373022.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:22.337Z,1736373022.337 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-01-08T21:50:22.337Z,1736373022.337 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-01-08T21:50:22.340Z,1736373022.340 [DockingStepper](INFO): Pause 2025-01-08T21:50:22.588Z,1736373022.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:22.707Z,1736373022.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:22.840Z,1736373022.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:23.064Z,1736373023.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:23.092Z,1736373023.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:23.345Z,1736373023.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:23.508Z,1736373023.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:23.596Z,1736373023.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:23.848Z,1736373023.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:23.888Z,1736373023.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:24.100Z,1736373024.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:24.100Z,1736373024.100 [DAT](INFO): DAT read: Rx Time:21:50:22.9112 2025-01-08T21:50:24.101Z,1736373024.101 [DAT](INFO): Rx dataTimestamp_ set to:1736373024.100632 2025-01-08T21:50:24.353Z,1736373024.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:24.364Z,1736373024.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:24.604Z,1736373024.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:24.605Z,1736373024.605 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:50:24.605Z,1736373024.605 [DAT](INFO): Received a bad header 2025-01-08T21:50:24.697Z,1736373024.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:24.856Z,1736373024.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:25.076Z,1736373025.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:25.108Z,1736373025.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:25.362Z,1736373025.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:25.538Z,1736373025.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:50:25.538Z,1736373025.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:25.612Z,1736373025.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:25.864Z,1736373025.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:25.893Z,1736373025.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:50:25.893Z,1736373025.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:26.116Z,1736373026.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:26.297Z,1736373026.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:50:26.298Z,1736373026.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:26.370Z,1736373026.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:26.620Z,1736373026.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:26.724Z,1736373026.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:26.872Z,1736373026.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:27.099Z,1736373027.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:27.124Z,1736373027.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:27.378Z,1736373027.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:27.527Z,1736373027.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:27.628Z,1736373027.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:27.880Z,1736373027.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:27.926Z,1736373027.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:28.132Z,1736373028.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:28.366Z,1736373028.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:28.385Z,1736373028.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:28.636Z,1736373028.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:28.759Z,1736373028.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:28.888Z,1736373028.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:29.125Z,1736373029.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:29.142Z,1736373029.142 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:29.393Z,1736373029.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:29.557Z,1736373029.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:29.644Z,1736373029.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:29.896Z,1736373029.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:29.931Z,1736373029.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:30.148Z,1736373030.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:30.343Z,1736373030.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:30.402Z,1736373030.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:30.652Z,1736373030.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:30.818Z,1736373030.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:30.904Z,1736373030.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:31.156Z,1736373031.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:31.157Z,1736373031.157 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:50:31.157Z,1736373031.157 [DAT](INFO): response not received 2025-01-08T21:50:31.157Z,1736373031.157 [DAT](INFO): DAT read: user:2092> 2025-01-08T21:50:31.158Z,1736373031.158 [DAT](ERROR): No response from remote modem. 2025-01-08T21:50:31.194Z,1736373031.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:31.410Z,1736373031.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:31.413Z,1736373031.413 [DAT](INFO): DAT read: Tx time:21:50:30.5860 2025-01-08T21:50:31.414Z,1736373031.414 [DAT](INFO): Ping request sent. 2025-01-08T21:50:31.415Z,1736373031.415 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:50:31.418Z,1736373031.418 [DAT](INFO): DAT read: TxSync time:21:50:30.5852 2025-01-08T21:50:31.419Z,1736373031.419 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:31.611Z,1736373031.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:31.660Z,1736373031.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:31.912Z,1736373031.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:32.011Z,1736373032.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:32.166Z,1736373032.166 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:32.418Z,1736373032.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:32.444Z,1736373032.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:32.668Z,1736373032.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:32.846Z,1736373032.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:32.920Z,1736373032.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:33.172Z,1736373033.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:33.225Z,1736373033.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:33.425Z,1736373033.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:33.655Z,1736373033.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:33.677Z,1736373033.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:33.928Z,1736373033.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:34.037Z,1736373034.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:34.180Z,1736373034.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:34.434Z,1736373034.434 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:34.508Z,1736373034.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:34.685Z,1736373034.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:34.859Z,1736373034.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:34.936Z,1736373034.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:35.189Z,1736373035.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:35.190Z,1736373035.190 [DAT](INFO): DAT read: Rx Time:21:50:33.8628 2025-01-08T21:50:35.191Z,1736373035.191 [DAT](INFO): Rx dataTimestamp_ set to:1736373035.190333 2025-01-08T21:50:35.264Z,1736373035.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:35.440Z,1736373035.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:35.692Z,1736373035.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:35.699Z,1736373035.699 [DAT](INFO): DAT read: 21:50:33.8628 LVL= 21312, 17809, 21666, 32115, AGC= 65, IDX= 437,-0.35,-0.364, 0.318,-2.033,-0.880, PHS= 0.605, 1.246,-1.156, RAW= 15.1, -6.5, CAL= 14.9, -10.4, ROT= 135.1, 10.4 2025-01-08T21:50:35.712Z,1736373035.712 [DAT](INFO): got valid direction response: 21:50:33.8628 LVL= 21312, 17809, 21666, 32115, AGC= 65, IDX= 437,-0.35,-0.364, 0.318,-2.033,-0.880, PHS= 0.605, 1.246,-1.156, RAW= 15.1, -6.5, CAL= 14.9, -10.4, ROT= 135.1, 10.4 2025-01-08T21:50:35.713Z,1736373035.713 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:50:35.713Z,1736373035.713 [DAT](INFO): Received a bad header 2025-01-08T21:50:35.719Z,1736373035.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:35.728Z,1736373035.728 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-01-08T21:50:35.729Z,1736373035.729 [DAT](INFO): direction in FSK: [0.182647,0.958651,0.218237] 2025-01-08T21:50:35.945Z,1736373035.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:36.047Z,1736373036.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:36.196Z,1736373036.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:36.448Z,1736373036.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:36.482Z,1736373036.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:36.705Z,1736373036.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:36.885Z,1736373036.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:36.956Z,1736373036.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:37.208Z,1736373037.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:37.264Z,1736373037.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:37.314Z,1736373037.314 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:50:37.460Z,1736373037.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:37.702Z,1736373037.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:37.712Z,1736373037.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:37.964Z,1736373037.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:38.072Z,1736373038.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:38.218Z,1736373038.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:38.316Z,1736373038.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:50:38.469Z,1736373038.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:38.501Z,1736373038.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:38.720Z,1736373038.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:38.909Z,1736373038.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:38.972Z,1736373038.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:39.224Z,1736373039.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:39.323Z,1736373039.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:39.476Z,1736373039.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:39.720Z,1736373039.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:39.744Z,1736373039.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:39.996Z,1736373039.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:40.108Z,1736373040.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:40.250Z,1736373040.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:40.500Z,1736373040.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:40.528Z,1736373040.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:40.752Z,1736373040.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:40.919Z,1736373040.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:41.004Z,1736373041.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:41.256Z,1736373041.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:41.312Z,1736373041.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:41.508Z,1736373041.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:41.732Z,1736373041.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:41.760Z,1736373041.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:42.012Z,1736373042.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:42.112Z,1736373042.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:42.265Z,1736373042.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:42.266Z,1736373042.266 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:50:42.266Z,1736373042.266 [DAT](INFO): response not received 2025-01-08T21:50:42.266Z,1736373042.266 [DAT](INFO): DAT read: user:2094> 2025-01-08T21:50:42.268Z,1736373042.268 [DAT](INFO): DAT read: Tx time:21:50:41.5361 2025-01-08T21:50:42.268Z,1736373042.268 [DAT](INFO): Ping request sent. 2025-01-08T21:50:42.268Z,1736373042.268 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:50:42.269Z,1736373042.269 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:42.516Z,1736373042.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:42.517Z,1736373042.517 [DAT](INFO): DAT read: TxSync time:21:50:41.5353 2025-01-08T21:50:42.518Z,1736373042.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:42.768Z,1736373042.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:42.955Z,1736373042.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:43.020Z,1736373043.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:43.272Z,1736373043.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:43.336Z,1736373043.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:43.525Z,1736373043.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:43.754Z,1736373043.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:43.776Z,1736373043.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:44.028Z,1736373044.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:44.132Z,1736373044.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:44.280Z,1736373044.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:44.532Z,1736373044.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:44.538Z,1736373044.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:44.784Z,1736373044.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:44.987Z,1736373044.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:45.036Z,1736373045.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:45.288Z,1736373045.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:45.400Z,1736373045.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:45.540Z,1736373045.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:45.792Z,1736373045.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:45.856Z,1736373045.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:46.044Z,1736373046.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:46.044Z,1736373046.044 [DAT](INFO): DAT read: Rx Time:21:50:44.8169 2025-01-08T21:50:46.045Z,1736373046.045 [DAT](INFO): Rx dataTimestamp_ set to:1736373046.044512 2025-01-08T21:50:46.211Z,1736373046.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:46.296Z,1736373046.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:46.548Z,1736373046.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:46.554Z,1736373046.554 [DAT](INFO): DAT read: 21:50:44.8169 LVL= 20528, 31825, 23986, 30707, AGC= 69, IDX= 478,-0.08,-1.270,-2.157, 2.933,-2.484, PHS= 1.302, 0.374,-0.870, RAW= 55.2, -8.6, CAL= 62.6, -15.3, ROT= 87.4, 15.3 2025-01-08T21:50:46.555Z,1736373046.555 [DAT](INFO): got valid direction response: 21:50:44.8169 LVL= 20528, 31825, 23986, 30707, AGC= 69, IDX= 478,-0.08,-1.270,-2.157, 2.933,-2.484, PHS= 1.302, 0.374,-0.870, RAW= 55.2, -8.6, CAL= 62.6, -15.3, ROT= 87.4, 15.3 2025-01-08T21:50:46.557Z,1736373046.557 [DAT](INFO): DAT read: Range 10 to 50 : 657.5 m (Round-trip 876.7 ms) speed 0.0 m/s 2025-01-08T21:50:46.557Z,1736373046.557 [DAT](INFO): DAT read: user:2095> 2025-01-08T21:50:46.558Z,1736373046.558 [DAT](INFO): DAT read: Tx time:21:50:45.9361 2025-01-08T21:50:46.560Z,1736373046.560 [DAT](INFO): Ping request sent. 2025-01-08T21:50:46.561Z,1736373046.561 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:50:46.562Z,1736373046.562 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-01-08T21:50:46.602Z,1736373046.602 [DAT](INFO): direction in FSK: [0.139682,0.623177,0.769506] 2025-01-08T21:50:46.603Z,1736373046.603 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:46.603Z,1736373046.603 [DAT](INFO): publishing direction and range info 2025-01-08T21:50:46.606Z,1736373046.606 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:46.606Z,1736373046.606 [DAT](INFO): publishing direction and range info 2025-01-08T21:50:46.760Z,1736373046.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:46.800Z,1736373046.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:46.801Z,1736373046.801 [DAT](INFO): DAT read: TxSync time:21:50:45.9353 2025-01-08T21:50:47.020Z,1736373047.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:47.052Z,1736373047.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:47.304Z,1736373047.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:47.412Z,1736373047.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:47.557Z,1736373047.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:47.808Z,1736373047.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:47.855Z,1736373047.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:48.060Z,1736373048.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:48.222Z,1736373048.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:48.313Z,1736373048.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:48.564Z,1736373048.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:48.658Z,1736373048.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:48.816Z,1736373048.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:49.065Z,1736373049.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:49.068Z,1736373049.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:49.320Z,1736373049.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:49.438Z,1736373049.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:49.573Z,1736373049.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:49.824Z,1736373049.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:49.889Z,1736373049.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:50.076Z,1736373050.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:50.259Z,1736373050.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:50.328Z,1736373050.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:50.329Z,1736373050.329 [DAT](INFO): DAT read: Rx Time:21:50:49.2170 2025-01-08T21:50:50.330Z,1736373050.330 [DAT](INFO): Rx dataTimestamp_ set to:1736373050.329462 2025-01-08T21:50:50.580Z,1736373050.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:50.650Z,1736373050.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:50.832Z,1736373050.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:51.082Z,1736373051.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:51.094Z,1736373051.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:51.101Z,1736373051.101 [DAT](INFO): DAT read: 21:50:49.2170 LVL= 15440, 26625, 15458, 23219, AGC= 70, IDX= 446,-0.05, 0.766,-0.822,-0.977,-0.463, PHS= 1.317,-0.312,-0.517, RAW= 84.1, -5.7, CAL= 92.9, -13.5, ROT= 57.1, 13.5 2025-01-08T21:50:51.102Z,1736373051.102 [DAT](INFO): got valid direction response: 21:50:49.2170 LVL= 15440, 26625, 15458, 23219, AGC= 70, IDX= 446,-0.05, 0.766,-0.822,-0.977,-0.463, PHS= 1.317,-0.312,-0.517, RAW= 84.1, -5.7, CAL= 92.9, -13.5, ROT= 57.1, 13.5 2025-01-08T21:50:51.103Z,1736373051.103 [DAT](INFO): DAT read: Bearing 57.1, 13.5 (Local) 2025-01-08T21:50:51.103Z,1736373051.103 [DAT](INFO): Local bearing/azimuth received: Bearing 57.1, 13.5 (Local) 2025-01-08T21:50:51.105Z,1736373051.105 [DAT](INFO): DAT read: Range 10 to 50 : 657.5 m (Round-trip 876.7 ms) speed -0.2 m/s 2025-01-08T21:50:51.106Z,1736373051.106 [DAT](INFO): DAT read: user:2096> 2025-01-08T21:50:51.106Z,1736373051.106 [DAT](INFO): DAT read: Tx time:21:50:50.3362 2025-01-08T21:50:51.107Z,1736373051.107 [DAT](INFO): Ping request sent. 2025-01-08T21:50:51.107Z,1736373051.107 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:50:51.107Z,1736373051.107 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-01-08T21:50:51.108Z,1736373051.108 [DAT](INFO): direction in FSK: [0.032317,0.200853,0.979088] 2025-01-08T21:50:51.109Z,1736373051.109 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:51.109Z,1736373051.109 [DAT](INFO): publishing direction and range info 2025-01-08T21:50:51.112Z,1736373051.112 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:51.112Z,1736373051.112 [DAT](INFO): publishing direction and range info 2025-01-08T21:50:51.345Z,1736373051.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:51.346Z,1736373051.346 [DAT](INFO): DAT read: TxSync time:21:50:50.3354 2025-01-08T21:50:51.462Z,1736373051.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:51.596Z,1736373051.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:51.848Z,1736373051.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:51.896Z,1736373051.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:52.100Z,1736373052.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:52.262Z,1736373052.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:52.352Z,1736373052.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:52.604Z,1736373052.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:52.684Z,1736373052.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:52.856Z,1736373052.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:53.098Z,1736373053.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:53.108Z,1736373053.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:53.360Z,1736373053.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:53.473Z,1736373053.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:53.612Z,1736373053.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:53.864Z,1736373053.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:53.909Z,1736373053.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:54.116Z,1736373054.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:54.296Z,1736373054.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:54.368Z,1736373054.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:54.620Z,1736373054.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:54.694Z,1736373054.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:54.872Z,1736373054.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:54.872Z,1736373054.872 [DAT](INFO): DAT read: Rx Time:21:50:53.6159 2025-01-08T21:50:54.873Z,1736373054.873 [DAT](INFO): Rx dataTimestamp_ set to:1736373054.872657 2025-01-08T21:50:55.124Z,1736373055.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:55.147Z,1736373055.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:55.376Z,1736373055.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:55.382Z,1736373055.382 [DAT](INFO): DAT read: 21:50:53.6159 LVL= 17584, 32753, 29362, 32755, AGC= 69, IDX= 418, 0.07,-1.929, 2.691, 3.089,-2.736, PHS= 0.896,-0.809,-0.461, RAW= 101.1, 4.8, CAL= 111.3, 3.0, ROT= 38.7, -3.0 2025-01-08T21:50:55.383Z,1736373055.383 [DAT](INFO): got valid direction response: 21:50:53.6159 LVL= 17584, 32753, 29362, 32755, AGC= 69, IDX= 418, 0.07,-1.929, 2.691, 3.089,-2.736, PHS= 0.896,-0.809,-0.461, RAW= 101.1, 4.8, CAL= 111.3, 3.0, ROT= 38.7, -3.0 2025-01-08T21:50:55.385Z,1736373055.385 [DAT](INFO): DAT read: Bearing 38.7, -3.0 (Local) 2025-01-08T21:50:55.385Z,1736373055.385 [DAT](INFO): Local bearing/azimuth received: Bearing 38.7, -3.0 (Local) 2025-01-08T21:50:55.387Z,1736373055.387 [DAT](INFO): DAT read: Range 10 to 50 : 656.6 m (Round-trip 875.5 ms) speed 0.4 m/s 2025-01-08T21:50:55.389Z,1736373055.389 [DAT](INFO): DAT read: user:2097> 2025-01-08T21:50:55.389Z,1736373055.389 [DAT](INFO): DAT read: Tx time:21:50:54.7362 2025-01-08T21:50:55.390Z,1736373055.390 [DAT](INFO): Ping request sent. 2025-01-08T21:50:55.390Z,1736373055.390 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:50:55.390Z,1736373055.390 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-01-08T21:50:55.391Z,1736373055.391 [DAT](INFO): direction in FSK: [-0.193746,-0.081873,0.977630] 2025-01-08T21:50:55.391Z,1736373055.391 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:55.392Z,1736373055.392 [DAT](INFO): publishing direction and range info 2025-01-08T21:50:55.394Z,1736373055.394 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:55.395Z,1736373055.395 [DAT](INFO): publishing direction and range info 2025-01-08T21:50:55.530Z,1736373055.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:55.628Z,1736373055.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:55.629Z,1736373055.629 [DAT](INFO): DAT read: TxSync time:21:50:54.7354 2025-01-08T21:50:55.880Z,1736373055.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:55.932Z,1736373055.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:56.132Z,1736373056.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:56.302Z,1736373056.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:56.385Z,1736373056.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:56.636Z,1736373056.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:56.714Z,1736373056.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:56.888Z,1736373056.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:57.140Z,1736373057.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:57.146Z,1736373057.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:57.392Z,1736373057.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:57.512Z,1736373057.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:57.644Z,1736373057.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:57.896Z,1736373057.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:57.963Z,1736373057.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:58.148Z,1736373058.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:58.327Z,1736373058.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:58.401Z,1736373058.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:58.653Z,1736373058.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:58.747Z,1736373058.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:58.904Z,1736373058.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:59.156Z,1736373059.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:59.157Z,1736373059.157 [DAT](INFO): DAT read: Rx Time:21:50:58.0215 2025-01-08T21:50:59.157Z,1736373059.157 [DAT](INFO): Rx dataTimestamp_ set to:1736373059.156684 2025-01-08T21:50:59.167Z,1736373059.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:59.408Z,1736373059.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:59.533Z,1736373059.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:50:59.660Z,1736373059.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:59.912Z,1736373059.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:50:59.919Z,1736373059.919 [DAT](INFO): DAT read: 21:50:58.0215 LVL= 25104, 29425, 29042, 32755, AGC= 69, IDX= 490,-0.01,-1.387,-2.943,-1.968,-2.009, PHS= 0.711,-0.886, 0.038, RAW= 125.2, 2.0, CAL= 132.5, -5.0, ROT= 17.5, 5.0 2025-01-08T21:50:59.920Z,1736373059.920 [DAT](INFO): got valid direction response: 21:50:58.0215 LVL= 25104, 29425, 29042, 32755, AGC= 69, IDX= 490,-0.01,-1.387,-2.943,-1.968,-2.009, PHS= 0.711,-0.886, 0.038, RAW= 125.2, 2.0, CAL= 132.5, -5.0, ROT= 17.5, 5.0 2025-01-08T21:50:59.921Z,1736373059.921 [DAT](INFO): DAT read: Bearing 17.5, 5.0 (Local) 2025-01-08T21:50:59.921Z,1736373059.921 [DAT](INFO): Local bearing/azimuth received: Bearing 17.5, 5.0 (Local) 2025-01-08T21:50:59.923Z,1736373059.923 [DAT](INFO): DAT read: Range 10 to 50 : 660.8 m (Round-trip 881.1 ms) speed 0.4 m/s 2025-01-08T21:50:59.926Z,1736373059.926 [DAT](INFO): DAT read: user:2098> 2025-01-08T21:50:59.928Z,1736373059.928 [DAT](INFO): DAT read: Tx time:21:50:59.1363 2025-01-08T21:50:59.929Z,1736373059.929 [DAT](INFO): Ping request sent. 2025-01-08T21:50:59.929Z,1736373059.929 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:50:59.930Z,1736373059.930 [DAT](INFO): DAT read: TxSync time:21:50:59.1355 2025-01-08T21:50:59.930Z,1736373059.930 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-01-08T21:50:59.959Z,1736373059.959 [DAT](INFO): direction in FSK: [-0.162154,-0.495604,0.853278] 2025-01-08T21:50:59.960Z,1736373059.960 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:59.960Z,1736373059.960 [DAT](INFO): publishing direction and range info 2025-01-08T21:50:59.963Z,1736373059.963 [DAT](INFO): publishing transmit ping time 2025-01-08T21:50:59.963Z,1736373059.963 [DAT](INFO): publishing direction and range info 2025-01-08T21:51:00.060Z,1736373060.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:00.164Z,1736373060.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:00.371Z,1736373060.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:00.416Z,1736373060.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:00.668Z,1736373060.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:00.795Z,1736373060.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:00.920Z,1736373060.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:01.172Z,1736373061.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:01.229Z,1736373061.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:01.424Z,1736373061.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:01.588Z,1736373061.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:01.676Z,1736373061.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:01.928Z,1736373061.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:02.017Z,1736373062.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:02.182Z,1736373062.182 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:02.379Z,1736373062.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:02.434Z,1736373062.434 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:02.684Z,1736373062.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:02.792Z,1736373062.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:02.936Z,1736373062.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:03.188Z,1736373063.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:03.210Z,1736373063.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:03.440Z,1736373063.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:03.609Z,1736373063.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:03.692Z,1736373063.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:03.945Z,1736373063.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:04.038Z,1736373064.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:04.196Z,1736373064.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:04.403Z,1736373064.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:04.448Z,1736373064.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:04.700Z,1736373064.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:04.812Z,1736373064.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:04.952Z,1736373064.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:05.204Z,1736373065.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:05.272Z,1736373065.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:05.457Z,1736373065.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:05.611Z,1736373065.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:05.708Z,1736373065.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:05.961Z,1736373065.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:06.042Z,1736373066.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:06.212Z,1736373066.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:06.421Z,1736373066.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:06.464Z,1736373066.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:06.716Z,1736373066.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:06.835Z,1736373066.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:06.971Z,1736373066.971 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:07.220Z,1736373067.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:07.271Z,1736373067.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:07.472Z,1736373067.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:07.633Z,1736373067.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:07.724Z,1736373067.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:07.977Z,1736373067.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:08.063Z,1736373068.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:08.231Z,1736373068.231 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:08.447Z,1736373068.447 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:51:08.457Z,1736373068.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:08.485Z,1736373068.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:08.736Z,1736373068.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:08.845Z,1736373068.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:08.990Z,1736373068.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:09.240Z,1736373069.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:09.292Z,1736373069.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:09.453Z,1736373069.453 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:51:09.492Z,1736373069.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:09.665Z,1736373069.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:09.753Z,1736373069.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:10.005Z,1736373070.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:10.088Z,1736373070.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:10.256Z,1736373070.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:10.464Z,1736373070.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:10.508Z,1736373070.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:10.760Z,1736373070.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:10.761Z,1736373070.761 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:51:10.761Z,1736373070.761 [DAT](INFO): response not received 2025-01-08T21:51:10.761Z,1736373070.761 [DAT](INFO): DAT read: user:2099> 2025-01-08T21:51:10.762Z,1736373070.762 [DAT](INFO): DAT read: Tx time:21:51:10.0879 2025-01-08T21:51:10.762Z,1736373070.762 [DAT](INFO): Ping request sent. 2025-01-08T21:51:10.762Z,1736373070.762 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:51:10.763Z,1736373070.763 [DAT](INFO): publishing transmit ping time 2025-01-08T21:51:10.867Z,1736373070.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:11.013Z,1736373071.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:11.016Z,1736373071.016 [DAT](INFO): DAT read: TxSync time:21:51:10.0871 2025-01-08T21:51:11.264Z,1736373071.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:11.320Z,1736373071.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:11.516Z,1736373071.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:11.696Z,1736373071.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:11.769Z,1736373071.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:12.022Z,1736373072.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:12.118Z,1736373072.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:12.272Z,1736373072.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:12.489Z,1736373072.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:12.524Z,1736373072.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:12.776Z,1736373072.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:12.887Z,1736373072.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:13.032Z,1736373073.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:13.280Z,1736373073.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:13.336Z,1736373073.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:13.533Z,1736373073.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:13.697Z,1736373073.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:13.789Z,1736373073.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:14.041Z,1736373074.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:14.157Z,1736373074.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:14.292Z,1736373074.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:14.537Z,1736373074.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:14.545Z,1736373074.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:14.566Z,1736373074.566 [DAT](INFO): DAT read: 21:51:13.3630 LVL= 25120, 23761, 13122, 32755, AGC= 72, IDX= 307,-0.11, 0.751,-0.085, 2.042, 1.067, PHS=-0.228,-1.105, 0.972, RAW= 185.1, 4.0, CAL= 185.2, -4.5, ROT= 324.8, 4.5 2025-01-08T21:51:14.567Z,1736373074.567 [DAT](INFO): got valid direction response: 21:51:13.3630 LVL= 25120, 23761, 13122, 32755, AGC= 72, IDX= 307,-0.11, 0.751,-0.085, 2.042, 1.067, PHS=-0.228,-1.105, 0.972, RAW= 185.1, 4.0, CAL= 185.2, -4.5, ROT= 324.8, 4.5 2025-01-08T21:51:14.576Z,1736373074.576 [DAT](INFO): DAT read: Rx Time:21:51:13.3630 2025-01-08T21:51:14.577Z,1736373074.577 [DAT](INFO): Rx dataTimestamp_ set to:1736373074.576245 2025-01-08T21:51:14.577Z,1736373074.577 [DAT](INFO): DAT read: $Low SNR acquisition 2025-01-08T21:51:14.577Z,1736373074.577 [DAT](INFO): Received low SNR in chirp 2025-01-08T21:51:14.592Z,1736373074.592 [DAT](INFO): #Rx 7: Read direction message, but no range. 2025-01-08T21:51:14.592Z,1736373074.592 [DAT](INFO): direction in FSK: [-0.155299,-0.986618,-0.049678] 2025-01-08T21:51:14.796Z,1736373074.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:14.909Z,1736373074.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:15.049Z,1736373075.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:15.300Z,1736373075.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:15.316Z,1736373075.316 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.0 +0.00, 20.00,1992.31 2025-01-08T21:51:15.327Z,1736373075.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:51:15.327Z,1736373075.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:15.552Z,1736373075.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:15.722Z,1736373075.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:51:15.722Z,1736373075.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:15.804Z,1736373075.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:16.057Z,1736373076.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:16.181Z,1736373076.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:16.308Z,1736373076.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:16.532Z,1736373076.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:16.565Z,1736373076.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:16.820Z,1736373076.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:16.929Z,1736373076.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:17.075Z,1736373077.075 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:17.324Z,1736373077.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:17.397Z,1736373077.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:17.576Z,1736373077.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:17.759Z,1736373077.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:17.828Z,1736373077.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:18.080Z,1736373078.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:18.222Z,1736373078.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:18.332Z,1736373078.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:18.556Z,1736373078.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:18.585Z,1736373078.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:18.836Z,1736373078.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:18.950Z,1736373078.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:19.088Z,1736373079.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:19.340Z,1736373079.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:19.420Z,1736373079.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:19.592Z,1736373079.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:19.758Z,1736373079.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:19.765Z,1736373079.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:19.844Z,1736373079.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:19.844Z,1736373079.844 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:51:19.844Z,1736373079.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:20.096Z,1736373080.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:20.096Z,1736373080.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334031 2025-01-08T21:51:20.247Z,1736373080.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:20.348Z,1736373080.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:20.348Z,1736373080.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585929 2025-01-08T21:51:20.560Z,1736373080.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:20.600Z,1736373080.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:20.601Z,1736373080.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838954 2025-01-08T21:51:20.852Z,1736373080.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:20.852Z,1736373080.852 [DAT](INFO): Reached modem response timeout 2025-01-08T21:51:20.852Z,1736373080.852 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:51:20.853Z,1736373080.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:20.968Z,1736373080.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:21.105Z,1736373081.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:21.107Z,1736373081.107 [DAT](INFO): Reached modem response timeout 2025-01-08T21:51:21.108Z,1736373081.108 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:51:21.108Z,1736373081.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:21.356Z,1736373081.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:21.356Z,1736373081.356 [DAT](INFO): Reached modem response timeout 2025-01-08T21:51:21.356Z,1736373081.356 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:51:21.356Z,1736373081.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:21.456Z,1736373081.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:21.608Z,1736373081.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:21.609Z,1736373081.609 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:51:21.609Z,1736373081.609 [DAT](INFO): response not received 2025-01-08T21:51:21.609Z,1736373081.609 [DAT](INFO): DAT read: user:2101> 2025-01-08T21:51:21.610Z,1736373081.610 [DAT](ERROR): No response from remote modem. 2025-01-08T21:51:21.610Z,1736373081.610 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:51:21.610Z,1736373081.610 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:21.785Z,1736373081.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:21.860Z,1736373081.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:21.861Z,1736373081.861 [DAT](INFO): DAT read: Tx time:21:51:21.0365 2025-01-08T21:51:21.861Z,1736373081.861 [DAT](INFO): Ping request sent. 2025-01-08T21:51:21.861Z,1736373081.861 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:51:21.862Z,1736373081.862 [DAT](INFO): DAT read: TxSync time:21:51:21.0357 2025-01-08T21:51:21.862Z,1736373081.862 [DAT](INFO): publishing transmit ping time 2025-01-08T21:51:21.863Z,1736373081.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001574 2025-01-08T21:51:22.113Z,1736373082.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:22.113Z,1736373082.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252280 2025-01-08T21:51:22.277Z,1736373082.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:22.364Z,1736373082.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:22.364Z,1736373082.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503270 2025-01-08T21:51:22.579Z,1736373082.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:22.616Z,1736373082.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:22.617Z,1736373082.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755617 2025-01-08T21:51:22.868Z,1736373082.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:22.869Z,1736373082.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007817 2025-01-08T21:51:22.990Z,1736373082.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:23.121Z,1736373083.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:23.123Z,1736373083.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261081 2025-01-08T21:51:23.376Z,1736373083.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:23.376Z,1736373083.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515128 2025-01-08T21:51:23.425Z,1736373083.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:23.628Z,1736373083.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:23.628Z,1736373083.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767325 2025-01-08T21:51:23.794Z,1736373083.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:23.880Z,1736373083.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:23.881Z,1736373083.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019489 2025-01-08T21:51:24.132Z,1736373084.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:24.132Z,1736373084.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271203 2025-01-08T21:51:24.303Z,1736373084.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:24.388Z,1736373084.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:24.389Z,1736373084.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527667 2025-01-08T21:51:24.617Z,1736373084.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:24.636Z,1736373084.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:24.637Z,1736373084.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775624 2025-01-08T21:51:24.888Z,1736373084.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:24.888Z,1736373084.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027280 2025-01-08T21:51:25.008Z,1736373085.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:25.140Z,1736373085.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:25.140Z,1736373085.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279215 2025-01-08T21:51:25.392Z,1736373085.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:25.393Z,1736373085.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531386 2025-01-08T21:51:25.459Z,1736373085.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:25.645Z,1736373085.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:25.646Z,1736373085.646 [DAT](INFO): DAT read: Rx Time:21:51:24.3055 2025-01-08T21:51:25.647Z,1736373085.647 [DAT](INFO): Rx dataTimestamp_ set to:1736373085.646523 2025-01-08T21:51:25.648Z,1736373085.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786692 2025-01-08T21:51:25.821Z,1736373085.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:25.904Z,1736373085.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:25.905Z,1736373085.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.043493 2025-01-08T21:51:26.156Z,1736373086.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:26.162Z,1736373086.162 [DAT](INFO): DAT read: 21:51:24.3055 LVL= 23024, 27233, 11746, 28067, AGC= 70, IDX= 389,-0.34,-0.428,-0.896, 1.113, 0.113, PHS=-0.453,-0.961, 0.997, RAW= 195.5, 4.8, CAL= 195.8, -3.4, ROT= 314.2, 3.4 2025-01-08T21:51:26.163Z,1736373086.163 [DAT](INFO): got valid direction response: 21:51:24.3055 LVL= 23024, 27233, 11746, 28067, AGC= 70, IDX= 389,-0.34,-0.428,-0.896, 1.113, 0.113, PHS=-0.453,-0.961, 0.997, RAW= 195.5, 4.8, CAL= 195.8, -3.4, ROT= 314.2, 3.4 2025-01-08T21:51:26.164Z,1736373086.164 [DAT](INFO): DAT read: Bearing 314.2, 3.4 (Local) 2025-01-08T21:51:26.165Z,1736373086.165 [DAT](INFO): Local bearing/azimuth received: Bearing 314.2, 3.4 (Local) 2025-01-08T21:51:26.166Z,1736373086.166 [DAT](INFO): DAT read: Range 10 to 50 : 648.6 m (Round-trip 864.9 ms) speed 0.3 m/s 2025-01-08T21:51:26.167Z,1736373086.167 [DAT](INFO): DAT read: user:2102> 2025-01-08T21:51:26.169Z,1736373086.169 [DAT](INFO): DAT read: Tx time:21:51:25.3865 2025-01-08T21:51:26.169Z,1736373086.169 [DAT](INFO): Ping request sent. 2025-01-08T21:51:26.170Z,1736373086.170 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:51:26.171Z,1736373086.171 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:51:26.224Z,1736373086.224 [DAT](INFO): direction in FSK: [-0.150088,-0.962856,-0.224458] 2025-01-08T21:51:26.225Z,1736373086.225 [DAT](INFO): publishing transmit ping time 2025-01-08T21:51:26.226Z,1736373086.226 [DAT](INFO): publishing direction and range info 2025-01-08T21:51:26.288Z,1736373086.288 [DAT](INFO): publishing transmit ping time 2025-01-08T21:51:26.289Z,1736373086.289 [DAT](INFO): publishing direction and range info 2025-01-08T21:51:26.297Z,1736373086.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:26.408Z,1736373086.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:26.409Z,1736373086.409 [DAT](INFO): DAT read: TxSync time:21:51:25.3857 2025-01-08T21:51:26.650Z,1736373086.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:26.660Z,1736373086.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:26.665Z,1736373086.665 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-01-08T21:51:26.665Z,1736373086.665 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T21:51:26.666Z,1736373086.666 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-01-08T21:51:26.670Z,1736373086.670 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 648.599976 m (mode 0.000000 count ). 2025-01-08T21:51:26.670Z,1736373086.670 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-01-08T21:51:26.670Z,1736373086.670 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-01-08T21:51:26.677Z,1736373086.677 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-01-08T21:51:26.677Z,1736373086.677 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T21:51:26.678Z,1736373086.678 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-01-08T21:51:26.679Z,1736373086.679 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 648.599976 m 2025-01-08T21:51:26.679Z,1736373086.679 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-01-08T21:51:26.679Z,1736373086.679 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-01-08T21:51:26.912Z,1736373086.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:27.032Z,1736373087.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:27.039Z,1736373087.039 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-01-08T21:51:27.039Z,1736373087.039 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-01-08T21:51:27.040Z,1736373087.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:27.042Z,1736373087.042 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-01-08T21:51:27.042Z,1736373087.042 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T21:51:27.042Z,1736373087.042 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-01-08T21:51:27.043Z,1736373087.043 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T21:51:27.166Z,1736373087.166 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:27.167Z,1736373087.167 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:27.167Z,1736373087.167 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:27.168Z,1736373087.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:27.416Z,1736373087.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:27.416Z,1736373087.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246840 2025-01-08T21:51:27.466Z,1736373087.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:27.473Z,1736373087.473 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-01-08T21:51:27.473Z,1736373087.473 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-01-08T21:51:27.473Z,1736373087.473 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-01-08T21:51:27.473Z,1736373087.473 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T21:51:27.475Z,1736373087.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-01-08T21:51:27.475Z,1736373087.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T21:51:27.475Z,1736373087.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-01-08T21:51:27.475Z,1736373087.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T21:51:27.475Z,1736373087.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-01-08T21:51:27.476Z,1736373087.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T21:51:27.476Z,1736373087.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-01-08T21:51:27.476Z,1736373087.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-01-08T21:51:27.476Z,1736373087.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-01-08T21:51:27.476Z,1736373087.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T21:51:27.476Z,1736373087.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-01-08T21:51:27.476Z,1736373087.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-01-08T21:51:27.476Z,1736373087.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-01-08T21:51:27.476Z,1736373087.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-01-08T21:51:27.476Z,1736373087.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-01-08T21:51:27.477Z,1736373087.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-01-08T21:51:27.477Z,1736373087.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T21:51:27.477Z,1736373087.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-01-08T21:51:27.478Z,1736373087.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 67.152122 m. 2025-01-08T21:51:27.479Z,1736373087.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-01-08T21:51:27.479Z,1736373087.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-01-08T21:51:27.479Z,1736373087.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-01-08T21:51:27.479Z,1736373087.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-01-08T21:51:27.479Z,1736373087.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-01-08T21:51:27.479Z,1736373087.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-08T21:51:27.480Z,1736373087.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-01-08T21:51:27.481Z,1736373087.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00. 2025-01-08T21:51:27.481Z,1736373087.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-01-08T21:51:27.481Z,1736373087.481 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-01-08T21:51:27.481Z,1736373087.481 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T21:51:27.481Z,1736373087.481 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-01-08T21:51:27.481Z,1736373087.481 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T21:51:27.481Z,1736373087.481 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-01-08T21:51:27.481Z,1736373087.481 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-01-08T21:51:27.482Z,1736373087.482 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-01-08T21:51:27.482Z,1736373087.482 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-01-08T21:51:27.482Z,1736373087.482 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-01-08T21:51:27.669Z,1736373087.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:27.670Z,1736373087.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500802 2025-01-08T21:51:27.863Z,1736373087.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:27.870Z,1736373087.870 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-01-08T21:51:27.870Z,1736373087.870 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T21:51:27.870Z,1736373087.870 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-01-08T21:51:27.870Z,1736373087.870 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T21:51:27.873Z,1736373087.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 648.599976 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-01-08T21:51:27.877Z,1736373087.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 648.599976 m, bearing: 298.904136 deg, lat: 36.898216 deg, lon: -122.119346 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-01-08T21:51:27.877Z,1736373087.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.60 m. 2025-01-08T21:51:27.880Z,1736373087.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 648.599976 m, nav range: 94.099533 m, bearing: 247.923640 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 40.969121 deg, new cmd heading: 247.923640 deg. 2025-01-08T21:51:27.881Z,1736373087.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327084 target range: 648.599976 and range: 648.60 m. 2025-01-08T21:51:27.893Z,1736373087.893 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-01-08T21:51:27.893Z,1736373087.893 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-01-08T21:51:27.896Z,1736373087.896 [DockingStepper](INFO): Resume 2025-01-08T21:51:27.920Z,1736373087.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:27.920Z,1736373087.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750773 2025-01-08T21:51:28.172Z,1736373088.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:28.172Z,1736373088.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002758 2025-01-08T21:51:28.307Z,1736373088.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:28.337Z,1736373088.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.60 m. 2025-01-08T21:51:28.344Z,1736373088.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 648.599976 m, nav range: 94.296371 m, bearing: 247.848919 deg, approach rate: 0.424287 m/s, LOS rate: -0.160726 deg/s, cmd heading: 247.923627 deg, new cmd heading: 247.848919 deg. 2025-01-08T21:51:28.344Z,1736373088.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325780 target range: 648.599976 and range: 648.60 m. 2025-01-08T21:51:28.394Z,1736373088.394 [DockingStepper](INFO): Resuming 2025-01-08T21:51:28.424Z,1736373088.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:28.424Z,1736373088.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254860 2025-01-08T21:51:28.676Z,1736373088.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:28.678Z,1736373088.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507918 2025-01-08T21:51:28.686Z,1736373088.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:28.694Z,1736373088.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.60 m. 2025-01-08T21:51:28.697Z,1736373088.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 648.599976 m, nav range: 94.467621 m, bearing: 247.785162 deg, approach rate: 0.479354 m/s, LOS rate: -0.178141 deg/s, cmd heading: 247.848932 deg, new cmd heading: 247.785162 deg. 2025-01-08T21:51:28.698Z,1736373088.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324667 target range: 648.599976 and range: 648.60 m. 2025-01-08T21:51:28.876Z,1736373088.876 [DockingStepper](INFO): Start 2025-01-08T21:51:28.876Z,1736373088.876 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-01-08T21:51:28.928Z,1736373088.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:28.930Z,1736373088.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759913 2025-01-08T21:51:28.992Z,1736373088.992 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-01-08T21:51:29.048Z,1736373089.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:29.056Z,1736373089.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:29.058Z,1736373089.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.60 m. 2025-01-08T21:51:29.060Z,1736373089.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 648.599976 m, nav range: 94.631264 m, bearing: 247.724829 deg, approach rate: 0.450157 m/s, LOS rate: -0.165682 deg/s, cmd heading: 247.785166 deg, new cmd heading: 247.724829 deg. 2025-01-08T21:51:29.061Z,1736373089.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323614 target range: 648.599976 and range: 648.60 m. 2025-01-08T21:51:29.117Z,1736373089.117 [DockingStepper](INFO): Starting 2025-01-08T21:51:29.180Z,1736373089.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:29.180Z,1736373089.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010841 2025-01-08T21:51:29.432Z,1736373089.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:29.432Z,1736373089.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262748 2025-01-08T21:51:29.485Z,1736373089.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:29.497Z,1736373089.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.60 m. 2025-01-08T21:51:29.504Z,1736373089.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 648.599976 m, nav range: 94.830467 m, bearing: 247.650955 deg, approach rate: 0.453282 m/s, LOS rate: -0.167744 deg/s, cmd heading: 247.724841 deg, new cmd heading: 247.650955 deg. 2025-01-08T21:51:29.505Z,1736373089.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322325 target range: 648.599976 and range: 648.60 m. 2025-01-08T21:51:29.685Z,1736373089.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:29.686Z,1736373089.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516481 2025-01-08T21:51:29.686Z,1736373089.686 [DockingStepper](INFO): Starting 2025-01-08T21:51:29.857Z,1736373089.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:29.865Z,1736373089.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.60 m. 2025-01-08T21:51:29.869Z,1736373089.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 648.599976 m, nav range: 95.000504 m, bearing: 247.588471 deg, approach rate: 0.461813 m/s, LOS rate: -0.169402 deg/s, cmd heading: 247.650966 deg, new cmd heading: 247.588471 deg. 2025-01-08T21:51:29.869Z,1736373089.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321234 target range: 648.599976 and range: 648.60 m. 2025-01-08T21:51:29.936Z,1736373089.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:29.937Z,1736373089.937 [DAT](INFO): DAT read: Rx Time:21:51:28.6537 2025-01-08T21:51:29.937Z,1736373089.937 [DAT](INFO): Rx dataTimestamp_ set to:1736373089.937003 2025-01-08T21:51:29.938Z,1736373089.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768228 2025-01-08T21:51:30.004Z,1736373090.004 [DockingStepper](INFO): Starting 2025-01-08T21:51:30.050Z,1736373090.050 [DockingStepper](INFO): Init string: /1z16353aE13561N3m50 2025-01-08T21:51:30.188Z,1736373090.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:30.188Z,1736373090.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018782 2025-01-08T21:51:30.292Z,1736373090.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:30.381Z,1736373090.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.60 m. 2025-01-08T21:51:30.387Z,1736373090.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 648.599976 m, nav range: 95.198730 m, bearing: 247.516114 deg, approach rate: 0.384554 m/s, LOS rate: -0.140077 deg/s, cmd heading: 247.588483 deg, new cmd heading: 247.516114 deg. 2025-01-08T21:51:30.388Z,1736373090.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319971 target range: 648.599976 and range: 648.60 m. 2025-01-08T21:51:30.413Z,1736373090.413 [DockingStepper](INFO): Starting 2025-01-08T21:51:30.440Z,1736373090.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:30.447Z,1736373090.447 [DAT](INFO): DAT read: 21:51:28.6537 LVL= 24800, 23473, 13394, 30195, AGC= 65, IDX= 418,-0.00, 2.174, 1.828,-2.524, 2.740, PHS=-0.478,-0.864, 1.016, RAW= 198.8, 3.8, CAL= 199.0, -4.0, ROT= 311.0, 4.0 2025-01-08T21:51:30.448Z,1736373090.448 [DAT](INFO): got valid direction response: 21:51:28.6537 LVL= 24800, 23473, 13394, 30195, AGC= 65, IDX= 418,-0.00, 2.174, 1.828,-2.524, 2.740, PHS=-0.478,-0.864, 1.016, RAW= 198.8, 3.8, CAL= 199.0, -4.0, ROT= 311.0, 4.0 2025-01-08T21:51:30.449Z,1736373090.449 [DAT](INFO): DAT read: Bearing 311.0, 4.0 (Local) 2025-01-08T21:51:30.449Z,1736373090.449 [DAT](INFO): Local bearing/azimuth received: Bearing 311.0, 4.0 (Local) 2025-01-08T21:51:30.452Z,1736373090.452 [DAT](INFO): DAT read: Range 10 to 50 : 647.2 m (Round-trip 863.0 ms) speed 0.2 m/s 2025-01-08T21:51:30.452Z,1736373090.452 [DAT](INFO): DAT read: user:2103> 2025-01-08T21:51:30.453Z,1736373090.453 [DAT](INFO): DAT read: Tx time:21:51:29.7365 2025-01-08T21:51:30.453Z,1736373090.453 [DAT](INFO): Ping request sent. 2025-01-08T21:51:30.453Z,1736373090.453 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:51:30.454Z,1736373090.454 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:51:30.455Z,1736373090.455 [DAT](INFO): direction in FSK: [-0.126083,-0.952642,-0.276723] 2025-01-08T21:51:30.455Z,1736373090.455 [DAT](INFO): publishing transmit ping time 2025-01-08T21:51:30.455Z,1736373090.455 [DAT](INFO): publishing direction and range info 2025-01-08T21:51:30.458Z,1736373090.458 [DAT](INFO): publishing transmit ping time 2025-01-08T21:51:30.458Z,1736373090.458 [DAT](INFO): publishing direction and range info 2025-01-08T21:51:30.692Z,1736373090.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:30.693Z,1736373090.693 [DAT](INFO): DAT read: TxSync time:21:51:29.7357 2025-01-08T21:51:30.705Z,1736373090.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:30.748Z,1736373090.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 647.200012 m, deltaT: 4.284285 s, deltaX: -1.399963 m, approachRate: -0.326767 m/s, rangeRepo size: 2 2025-01-08T21:51:30.750Z,1736373090.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 647.200012 m, bearing: 301.238898 deg, lat: 36.898216 deg, lon: -122.122509 deg, deltaT: 4.284285 s, deltaX: -1.399963 m, approachRate: -0.326767 m/s, posRepo size: 2 2025-01-08T21:51:30.757Z,1736373090.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.20 m. 2025-01-08T21:51:30.764Z,1736373090.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.200012 m, nav range: 371.186768 m, bearing: 264.346753 deg, approach rate: 0.000000 m/s, LOS rate: -0.140077 deg/s, cmd heading: 247.516111 deg, new cmd heading: 247.365567 deg. 2025-01-08T21:51:30.765Z,1736373090.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317344 target range: 647.200012 and range: 647.20 m. 2025-01-08T21:51:30.792Z,1736373090.792 [DockingStepper](INFO): Starting 2025-01-08T21:51:30.944Z,1736373090.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:31.076Z,1736373091.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:31.082Z,1736373091.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:31.086Z,1736373091.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.20 m. 2025-01-08T21:51:31.089Z,1736373091.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.200012 m, nav range: 371.322266 m, bearing: 264.325812 deg, approach rate: 0.390355 m/s, LOS rate: -0.060308 deg/s, cmd heading: 247.365573 deg, new cmd heading: 247.302772 deg. 2025-01-08T21:51:31.090Z,1736373091.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316247 target range: 647.200012 and range: 647.20 m. 2025-01-08T21:51:31.104Z,1736373091.104 [DockingStepper](INFO): Starting 2025-01-08T21:51:31.197Z,1736373091.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:31.198Z,1736373091.198 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:31.198Z,1736373091.198 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:31.198Z,1736373091.198 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:31.448Z,1736373091.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:31.448Z,1736373091.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994979 2025-01-08T21:51:31.506Z,1736373091.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:31.515Z,1736373091.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.20 m. 2025-01-08T21:51:31.518Z,1736373091.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.200012 m, nav range: 371.482422 m, bearing: 264.301627 deg, approach rate: 0.373779 m/s, LOS rate: -0.056420 deg/s, cmd heading: 247.302763 deg, new cmd heading: 247.230239 deg. 2025-01-08T21:51:31.520Z,1736373091.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314981 target range: 647.200012 and range: 647.20 m. 2025-01-08T21:51:31.562Z,1736373091.562 [DockingStepper](INFO): Starting 2025-01-08T21:51:31.588Z,1736373091.588 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2025-01-08T21:51:31.701Z,1736373091.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:31.702Z,1736373091.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248782 2025-01-08T21:51:31.872Z,1736373091.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:31.880Z,1736373091.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.20 m. 2025-01-08T21:51:31.883Z,1736373091.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.200012 m, nav range: 371.616852 m, bearing: 264.280859 deg, approach rate: 0.367496 m/s, LOS rate: -0.056752 deg/s, cmd heading: 247.230226 deg, new cmd heading: 247.167947 deg. 2025-01-08T21:51:31.885Z,1736373091.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313894 target range: 647.200012 and range: 647.20 m. 2025-01-08T21:51:31.946Z,1736373091.946 [DockingStepper](INFO): Starting 2025-01-08T21:51:31.956Z,1736373091.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:31.957Z,1736373091.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503298 2025-01-08T21:51:32.208Z,1736373092.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:32.209Z,1736373092.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755393 2025-01-08T21:51:32.376Z,1736373092.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:32.398Z,1736373092.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.20 m. 2025-01-08T21:51:32.405Z,1736373092.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.200012 m, nav range: 371.799103 m, bearing: 264.251841 deg, approach rate: 0.351776 m/s, LOS rate: -0.055983 deg/s, cmd heading: 247.167935 deg, new cmd heading: 247.080922 deg. 2025-01-08T21:51:32.406Z,1736373092.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312376 target range: 647.200012 and range: 647.20 m. 2025-01-08T21:51:32.430Z,1736373092.430 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T21:51:32.430Z,1736373092.430 [DockingStepper](INFO): Standby mode. 2025-01-08T21:51:32.460Z,1736373092.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:32.461Z,1736373092.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007910 2025-01-08T21:51:32.712Z,1736373092.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:32.712Z,1736373092.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258922 2025-01-08T21:51:32.727Z,1736373092.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:32.736Z,1736373092.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.20 m. 2025-01-08T21:51:32.739Z,1736373092.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.200012 m, nav range: 371.939911 m, bearing: 264.232833 deg, approach rate: 0.417025 m/s, LOS rate: -0.056274 deg/s, cmd heading: 247.080918 deg, new cmd heading: 247.023916 deg. 2025-01-08T21:51:32.745Z,1736373092.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311381 target range: 647.200012 and range: 647.20 m. 2025-01-08T21:51:32.964Z,1736373092.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:32.965Z,1736373092.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511725 2025-01-08T21:51:33.085Z,1736373093.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:33.092Z,1736373093.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:33.094Z,1736373093.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.20 m. 2025-01-08T21:51:33.097Z,1736373093.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.200012 m, nav range: 372.078217 m, bearing: 264.212667 deg, approach rate: 0.386714 m/s, LOS rate: -0.056365 deg/s, cmd heading: 247.023927 deg, new cmd heading: 246.963452 deg. 2025-01-08T21:51:33.098Z,1736373093.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310325 target range: 647.200012 and range: 647.20 m. 2025-01-08T21:51:33.216Z,1736373093.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:33.217Z,1736373093.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763347 2025-01-08T21:51:33.468Z,1736373093.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:33.469Z,1736373093.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015362 2025-01-08T21:51:33.544Z,1736373093.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:33.554Z,1736373093.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.20 m. 2025-01-08T21:51:33.557Z,1736373093.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.200012 m, nav range: 372.279083 m, bearing: 264.188263 deg, approach rate: 0.436392 m/s, LOS rate: -0.052990 deg/s, cmd heading: 246.963439 deg, new cmd heading: 246.890267 deg. 2025-01-08T21:51:33.558Z,1736373093.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309048 target range: 647.200012 and range: 647.20 m. 2025-01-08T21:51:33.720Z,1736373093.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:33.720Z,1736373093.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266972 2025-01-08T21:51:33.896Z,1736373093.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:33.905Z,1736373093.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.20 m. 2025-01-08T21:51:33.908Z,1736373093.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.200012 m, nav range: 372.427094 m, bearing: 264.168631 deg, approach rate: 0.421559 m/s, LOS rate: -0.055893 deg/s, cmd heading: 246.890274 deg, new cmd heading: 246.831402 deg. 2025-01-08T21:51:33.909Z,1736373093.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308021 target range: 647.200012 and range: 647.20 m. 2025-01-08T21:51:33.973Z,1736373093.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:33.974Z,1736373093.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520239 2025-01-08T21:51:34.224Z,1736373094.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:34.224Z,1736373094.224 [DAT](INFO): DAT read: Rx Time:21:51:32.9936 2025-01-08T21:51:34.225Z,1736373094.225 [DAT](INFO): Rx dataTimestamp_ set to:1736373094.224581 2025-01-08T21:51:34.225Z,1736373094.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771890 2025-01-08T21:51:34.329Z,1736373094.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:34.366Z,1736373094.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.20 m. 2025-01-08T21:51:34.429Z,1736373094.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.200012 m, nav range: 372.605652 m, bearing: 264.143809 deg, approach rate: 0.388484 m/s, LOS rate: -0.053979 deg/s, cmd heading: 246.831398 deg, new cmd heading: 246.756966 deg. 2025-01-08T21:51:34.430Z,1736373094.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306722 target range: 647.200012 and range: 647.20 m. 2025-01-08T21:51:34.476Z,1736373094.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:34.477Z,1736373094.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023076 2025-01-08T21:51:34.728Z,1736373094.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:34.736Z,1736373094.736 [DAT](INFO): DAT read: 21:51:32.9936 LVL= 22960, 29489, 15266, 31859, AGC= 72, IDX= 330,-0.18,-0.251,-0.879, 1.195, 0.236, PHS=-0.398,-1.068, 0.956, RAW= 191.1, 5.8, CAL= 191.2, -2.8, ROT= 318.8, 2.8 2025-01-08T21:51:34.737Z,1736373094.737 [DAT](INFO): got valid direction response: 21:51:32.9936 LVL= 22960, 29489, 15266, 31859, AGC= 72, IDX= 330,-0.18,-0.251,-0.879, 1.195, 0.236, PHS=-0.398,-1.068, 0.956, RAW= 191.1, 5.8, CAL= 191.2, -2.8, ROT= 318.8, 2.8 2025-01-08T21:51:34.738Z,1736373094.738 [DAT](INFO): DAT read: Bearing 318.8, 2.8 (Local) 2025-01-08T21:51:34.738Z,1736373094.738 [DAT](INFO): Local bearing/azimuth received: Bearing 318.8, 2.8 (Local) 2025-01-08T21:51:34.740Z,1736373094.740 [DAT](INFO): DAT read: Range 10 to 50 : 639.6 m (Round-trip 852.9 ms) speed 0.4 m/s 2025-01-08T21:51:34.740Z,1736373094.740 [DAT](INFO): DAT read: user:2104> 2025-01-08T21:51:34.741Z,1736373094.741 [DAT](INFO): DAT read: Tx time:21:51:34.0866 2025-01-08T21:51:34.741Z,1736373094.741 [DAT](INFO): Ping request sent. 2025-01-08T21:51:34.741Z,1736373094.741 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:51:34.742Z,1736373094.742 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:51:34.743Z,1736373094.743 [DAT](INFO): direction in FSK: [-0.176617,-0.972594,-0.151218] 2025-01-08T21:51:34.743Z,1736373094.743 [DAT](INFO): publishing transmit ping time 2025-01-08T21:51:34.748Z,1736373094.748 [DAT](INFO): publishing direction and range info 2025-01-08T21:51:34.752Z,1736373094.752 [DAT](INFO): publishing transmit ping time 2025-01-08T21:51:34.752Z,1736373094.752 [DAT](INFO): publishing direction and range info 2025-01-08T21:51:34.840Z,1736373094.840 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-01-08T21:51:34.840Z,1736373094.840 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-01-08T21:51:34.840Z,1736373094.840 [RDI_Pathfinder](ERROR): Communications Fault 2025-01-08T21:51:34.886Z,1736373094.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T21:51:34.886Z,1736373094.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:34.919Z,1736373094.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 639.599976 m, deltaT: 4.287763 s, deltaX: -7.600037 m, approachRate: -1.772495 m/s, rangeRepo size: 3 2025-01-08T21:51:34.925Z,1736373094.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 639.599976 m, bearing: 288.892325 deg, lat: 36.900409 deg, lon: -122.123984 deg, deltaT: 4.287763 s, deltaX: -7.600037 m, approachRate: -1.772495 m/s, posRepo size: 3 2025-01-08T21:51:34.926Z,1736373094.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:34.933Z,1736373094.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.497803 m, bearing: 292.271397 deg, approach rate: 0.000000 m/s, LOS rate: -0.053979 deg/s, cmd heading: 246.756976 deg, new cmd heading: 246.667573 deg. 2025-01-08T21:51:34.934Z,1736373094.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305161 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:34.980Z,1736373094.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:34.981Z,1736373094.981 [DAT](INFO): DAT read: TxSync time:21:51:34.0858 2025-01-08T21:51:35.185Z,1736373095.185 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-01-08T21:51:35.211Z,1736373095.211 [RDI_Pathfinder](INFO): Powering down 2025-01-08T21:51:35.232Z,1736373095.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:35.244Z,1736373095.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:51:35.244Z,1736373095.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:35.261Z,1736373095.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:35.263Z,1736373095.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:35.274Z,1736373095.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.549194 m, bearing: 292.252138 deg, approach rate: 0.148543 m/s, LOS rate: -0.055664 deg/s, cmd heading: 246.667583 deg, new cmd heading: 246.609809 deg. 2025-01-08T21:51:35.275Z,1736373095.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304153 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:35.486Z,1736373095.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:35.488Z,1736373095.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:35.488Z,1736373095.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:35.488Z,1736373095.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:35.626Z,1736373095.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T21:51:35.626Z,1736373095.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:35.655Z,1736373095.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:35.673Z,1736373095.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.603760 m, bearing: 292.229497 deg, approach rate: 0.139332 m/s, LOS rate: -0.057806 deg/s, cmd heading: 246.609799 deg, new cmd heading: 246.541886 deg. 2025-01-08T21:51:35.674Z,1736373095.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302968 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:35.736Z,1736373095.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:35.737Z,1736373095.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995192 2025-01-08T21:51:35.988Z,1736373095.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:35.988Z,1736373095.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247017 2025-01-08T21:51:36.032Z,1736373096.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T21:51:36.032Z,1736373096.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:36.041Z,1736373096.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:36.044Z,1736373096.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.653320 m, bearing: 292.206315 deg, approach rate: 0.128062 m/s, LOS rate: -0.059897 deg/s, cmd heading: 246.541880 deg, new cmd heading: 246.472338 deg. 2025-01-08T21:51:36.045Z,1736373096.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301754 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:36.241Z,1736373096.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:36.242Z,1736373096.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500723 2025-01-08T21:51:36.420Z,1736373096.420 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-01-08T21:51:36.420Z,1736373096.420 [RDI_Pathfinder] No Fault, FailCount= 1 2025-01-08T21:51:36.463Z,1736373096.463 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-08T21:51:36.470Z,1736373096.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T21:51:36.471Z,1736373096.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:36.492Z,1736373096.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:36.492Z,1736373096.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750970 2025-01-08T21:51:36.493Z,1736373096.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:36.501Z,1736373096.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.700623 m, bearing: 292.181093 deg, approach rate: 0.108098 m/s, LOS rate: -0.057633 deg/s, cmd heading: 246.472349 deg, new cmd heading: 246.396691 deg. 2025-01-08T21:51:36.502Z,1736373096.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300434 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:36.744Z,1736373096.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:36.745Z,1736373096.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003348 2025-01-08T21:51:36.861Z,1736373096.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T21:51:36.861Z,1736373096.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:36.870Z,1736373096.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:36.876Z,1736373096.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.737244 m, bearing: 292.158540 deg, approach rate: 0.093587 m/s, LOS rate: -0.057634 deg/s, cmd heading: 246.396697 deg, new cmd heading: 246.329040 deg. 2025-01-08T21:51:36.877Z,1736373096.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299253 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:36.996Z,1736373096.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:36.996Z,1736373096.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254912 2025-01-08T21:51:37.248Z,1736373097.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:37.248Z,1736373097.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506912 2025-01-08T21:51:37.297Z,1736373097.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.0 s old, using for 20.0 s. 2025-01-08T21:51:37.297Z,1736373097.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:37.324Z,1736373097.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:37.325Z,1736373097.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:37.336Z,1736373097.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.771606 m, bearing: 292.133314 deg, approach rate: 0.075497 m/s, LOS rate: -0.055419 deg/s, cmd heading: 246.329051 deg, new cmd heading: 246.253379 deg. 2025-01-08T21:51:37.337Z,1736373097.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297932 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:37.500Z,1736373097.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:37.501Z,1736373097.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758961 2025-01-08T21:51:37.682Z,1736373097.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.4 s old, using for 20.0 s. 2025-01-08T21:51:37.682Z,1736373097.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:37.693Z,1736373097.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:37.699Z,1736373097.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.796448 m, bearing: 292.110916 deg, approach rate: 0.067671 m/s, LOS rate: -0.061012 deg/s, cmd heading: 246.253373 deg, new cmd heading: 246.186182 deg. 2025-01-08T21:51:37.700Z,1736373097.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296760 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:37.753Z,1736373097.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:37.753Z,1736373097.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011767 2025-01-08T21:51:38.004Z,1736373098.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:38.004Z,1736373098.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262839 2025-01-08T21:51:38.088Z,1736373098.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.8 s old, using for 20.0 s. 2025-01-08T21:51:38.088Z,1736373098.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:38.096Z,1736373098.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:38.100Z,1736373098.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.816650 m, bearing: 292.087312 deg, approach rate: 0.050036 m/s, LOS rate: -0.058457 deg/s, cmd heading: 246.186191 deg, new cmd heading: 246.115382 deg. 2025-01-08T21:51:38.102Z,1736373098.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295524 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:38.256Z,1736373098.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:38.257Z,1736373098.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515019 2025-01-08T21:51:38.498Z,1736373098.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.2 s old, using for 20.0 s. 2025-01-08T21:51:38.498Z,1736373098.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:38.508Z,1736373098.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:38.509Z,1736373098.509 [DAT](INFO): DAT read: Rx Time:21:51:37.3416 2025-01-08T21:51:38.509Z,1736373098.509 [DAT](INFO): Rx dataTimestamp_ set to:1736373098.508687 2025-01-08T21:51:38.509Z,1736373098.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768023 2025-01-08T21:51:38.526Z,1736373098.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:38.533Z,1736373098.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.830872 m, bearing: 292.063349 deg, approach rate: 0.033111 m/s, LOS rate: -0.055789 deg/s, cmd heading: 246.115376 deg, new cmd heading: 246.043490 deg. 2025-01-08T21:51:38.534Z,1736373098.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294269 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:38.762Z,1736373098.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:38.763Z,1736373098.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021364 2025-01-08T21:51:38.944Z,1736373098.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s. 2025-01-08T21:51:38.944Z,1736373098.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:38.954Z,1736373098.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:38.957Z,1736373098.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.839539 m, bearing: 292.037347 deg, approach rate: 0.020242 m/s, LOS rate: -0.060726 deg/s, cmd heading: 246.043495 deg, new cmd heading: 245.965490 deg. 2025-01-08T21:51:38.958Z,1736373098.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292908 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:39.014Z,1736373099.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:39.016Z,1736373099.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274175 2025-01-08T21:51:39.264Z,1736373099.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:39.272Z,1736373099.272 [DAT](INFO): DAT read: 21:51:37.3416 LVL= 31520, 32753, 16578, 32755, AGC= 72, IDX= 502,-0.10,-2.619, 2.903,-1.687,-2.475, PHS=-0.056,-0.858, 0.785, RAW= 180.8, 1.8, CAL= 181.0, -6.4, ROT= 329.0, 6.4 2025-01-08T21:51:39.273Z,1736373099.273 [DAT](INFO): got valid direction response: 21:51:37.3416 LVL= 31520, 32753, 16578, 32755, AGC= 72, IDX= 502,-0.10,-2.619, 2.903,-1.687,-2.475, PHS=-0.056,-0.858, 0.785, RAW= 180.8, 1.8, CAL= 181.0, -6.4, ROT= 329.0, 6.4 2025-01-08T21:51:39.274Z,1736373099.274 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:51:39.274Z,1736373099.274 [DAT](INFO): Received a bad header 2025-01-08T21:51:39.287Z,1736373099.287 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:51:39.288Z,1736373099.288 [DAT](INFO): direction in FSK: [-0.121149,-0.992246,0.027748] 2025-01-08T21:51:39.292Z,1736373099.292 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:39.292Z,1736373099.292 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:39.292Z,1736373099.292 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:39.420Z,1736373099.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.1 s old, using for 20.0 s. 2025-01-08T21:51:39.420Z,1736373099.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:39.436Z,1736373099.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:39.444Z,1736373099.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:39.447Z,1736373099.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.841248 m, bearing: 292.009476 deg, approach rate: 0.003487 m/s, LOS rate: -0.056865 deg/s, cmd heading: 245.965494 deg, new cmd heading: 245.881880 deg. 2025-01-08T21:51:39.462Z,1736373099.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291449 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:39.517Z,1736373099.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:39.518Z,1736373099.518 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:39.518Z,1736373099.518 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:39.518Z,1736373099.518 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:39.572Z,1736373099.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:51:39.768Z,1736373099.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:39.769Z,1736373099.769 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:39.769Z,1736373099.769 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:39.770Z,1736373099.770 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:39.913Z,1736373099.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s. 2025-01-08T21:51:39.914Z,1736373099.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:39.924Z,1736373099.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:39.927Z,1736373099.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.827148 m, bearing: 291.980728 deg, approach rate: -0.029392 m/s, LOS rate: -0.059932 deg/s, cmd heading: 245.881892 deg, new cmd heading: 245.795647 deg. 2025-01-08T21:51:39.928Z,1736373099.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289943 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:40.020Z,1736373100.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:40.020Z,1736373100.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:40.020Z,1736373100.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:40.020Z,1736373100.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:40.272Z,1736373100.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:40.273Z,1736373100.273 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:40.273Z,1736373100.273 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:40.273Z,1736373100.273 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:40.311Z,1736373100.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s. 2025-01-08T21:51:40.311Z,1736373100.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:40.338Z,1736373100.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:40.345Z,1736373100.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.809448 m, bearing: 291.957621 deg, approach rate: -0.042736 m/s, LOS rate: -0.055793 deg/s, cmd heading: 245.795641 deg, new cmd heading: 245.726316 deg. 2025-01-08T21:51:40.346Z,1736373100.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288733 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:40.525Z,1736373100.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:40.526Z,1736373100.526 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:40.526Z,1736373100.526 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:40.527Z,1736373100.527 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:40.576Z,1736373100.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:51:40.721Z,1736373100.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.4 s old, using for 20.0 s. 2025-01-08T21:51:40.721Z,1736373100.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:40.729Z,1736373100.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:40.732Z,1736373100.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.784424 m, bearing: 291.933843 deg, approach rate: -0.063957 m/s, LOS rate: -0.060774 deg/s, cmd heading: 245.726328 deg, new cmd heading: 245.654992 deg. 2025-01-08T21:51:40.733Z,1736373100.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287488 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:40.776Z,1736373100.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:40.776Z,1736373100.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:40.776Z,1736373100.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:40.776Z,1736373100.776 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:41.028Z,1736373101.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:41.029Z,1736373101.029 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:41.030Z,1736373101.030 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:41.030Z,1736373101.030 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:41.122Z,1736373101.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T21:51:41.122Z,1736373101.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:41.130Z,1736373101.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:41.133Z,1736373101.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.753540 m, bearing: 291.910667 deg, approach rate: -0.076986 m/s, LOS rate: -0.057776 deg/s, cmd heading: 245.654994 deg, new cmd heading: 245.585462 deg. 2025-01-08T21:51:41.161Z,1736373101.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.286275 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:41.280Z,1736373101.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:41.280Z,1736373101.280 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:41.280Z,1736373101.280 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:41.280Z,1736373101.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:41.521Z,1736373101.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s. 2025-01-08T21:51:41.522Z,1736373101.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:41.533Z,1736373101.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:41.534Z,1736373101.534 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:41.534Z,1736373101.534 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:41.534Z,1736373101.534 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:41.562Z,1736373101.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:41.569Z,1736373101.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:41.574Z,1736373101.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.716187 m, bearing: 291.887669 deg, approach rate: -0.085299 m/s, LOS rate: -0.052521 deg/s, cmd heading: 245.585462 deg, new cmd heading: 245.516464 deg. 2025-01-08T21:51:41.581Z,1736373101.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285070 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:41.785Z,1736373101.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:41.786Z,1736373101.786 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:41.786Z,1736373101.786 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:41.786Z,1736373101.786 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:41.978Z,1736373101.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.6 s old, using for 20.0 s. 2025-01-08T21:51:41.978Z,1736373101.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:41.988Z,1736373101.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:41.991Z,1736373101.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.666138 m, bearing: 291.861577 deg, approach rate: -0.119243 m/s, LOS rate: -0.062172 deg/s, cmd heading: 245.516450 deg, new cmd heading: 245.438165 deg. 2025-01-08T21:51:41.992Z,1736373101.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283704 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:42.036Z,1736373102.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:42.037Z,1736373102.037 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:42.037Z,1736373102.037 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:42.037Z,1736373102.037 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:42.288Z,1736373102.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:42.288Z,1736373102.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:42.288Z,1736373102.288 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:42.288Z,1736373102.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:42.383Z,1736373102.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T21:51:42.383Z,1736373102.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:42.392Z,1736373102.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:42.394Z,1736373102.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.615173 m, bearing: 291.838558 deg, approach rate: -0.126381 m/s, LOS rate: -0.057088 deg/s, cmd heading: 245.438176 deg, new cmd heading: 245.369112 deg. 2025-01-08T21:51:42.411Z,1736373102.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.282499 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:42.540Z,1736373102.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:42.540Z,1736373102.540 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:42.540Z,1736373102.540 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:42.540Z,1736373102.540 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:42.792Z,1736373102.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:42.792Z,1736373102.792 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:42.792Z,1736373102.792 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:42.792Z,1736373102.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:42.810Z,1736373102.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T21:51:42.810Z,1736373102.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:42.840Z,1736373102.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:42.843Z,1736373102.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.554749 m, bearing: 291.814448 deg, approach rate: -0.134613 m/s, LOS rate: -0.053718 deg/s, cmd heading: 245.369109 deg, new cmd heading: 245.296770 deg. 2025-01-08T21:51:42.847Z,1736373102.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281236 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:43.044Z,1736373103.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:43.045Z,1736373103.045 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:43.045Z,1736373103.045 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:43.045Z,1736373103.045 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:43.256Z,1736373103.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T21:51:43.256Z,1736373103.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:43.273Z,1736373103.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:43.277Z,1736373103.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.484802 m, bearing: 291.789483 deg, approach rate: -0.161514 m/s, LOS rate: -0.057653 deg/s, cmd heading: 245.296764 deg, new cmd heading: 245.221861 deg. 2025-01-08T21:51:43.277Z,1736373103.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279929 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:43.296Z,1736373103.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:43.296Z,1736373103.296 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:43.296Z,1736373103.296 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:43.296Z,1736373103.296 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:43.548Z,1736373103.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:43.548Z,1736373103.548 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:43.548Z,1736373103.548 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:43.548Z,1736373103.548 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:43.665Z,1736373103.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s. 2025-01-08T21:51:43.665Z,1736373103.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:43.680Z,1736373103.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:43.682Z,1736373103.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:43.701Z,1736373103.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.414551 m, bearing: 291.766819 deg, approach rate: -0.172030 m/s, LOS rate: -0.055508 deg/s, cmd heading: 245.221850 deg, new cmd heading: 245.153847 deg. 2025-01-08T21:51:43.702Z,1736373103.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278742 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:43.800Z,1736373103.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:43.800Z,1736373103.800 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:43.801Z,1736373103.801 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:43.801Z,1736373103.801 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:44.052Z,1736373104.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:44.053Z,1736373104.053 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:44.053Z,1736373104.053 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:44.053Z,1736373104.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:44.060Z,1736373104.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s. 2025-01-08T21:51:44.060Z,1736373104.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:44.069Z,1736373104.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:44.072Z,1736373104.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.340637 m, bearing: 291.745068 deg, approach rate: -0.190649 m/s, LOS rate: -0.056109 deg/s, cmd heading: 245.153849 deg, new cmd heading: 245.088589 deg. 2025-01-08T21:51:44.073Z,1736373104.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277603 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:44.304Z,1736373104.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:44.304Z,1736373104.304 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:44.304Z,1736373104.304 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:44.304Z,1736373104.304 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:44.461Z,1736373104.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s. 2025-01-08T21:51:44.461Z,1736373104.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:44.494Z,1736373104.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:44.501Z,1736373104.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.259827 m, bearing: 291.723252 deg, approach rate: -0.190118 m/s, LOS rate: -0.051333 deg/s, cmd heading: 245.088580 deg, new cmd heading: 245.023122 deg. 2025-01-08T21:51:44.502Z,1736373104.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276460 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:44.556Z,1736373104.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:44.557Z,1736373104.557 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:51:44.557Z,1736373104.557 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:51:44.557Z,1736373104.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:51:44.808Z,1736373104.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:44.808Z,1736373104.808 [DAT](INFO): Reached modem response timeout 2025-01-08T21:51:44.808Z,1736373104.808 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:51:44.808Z,1736373104.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:44.890Z,1736373104.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.6 s old, using for 20.0 s. 2025-01-08T21:51:44.891Z,1736373104.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:44.912Z,1736373104.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:44.914Z,1736373104.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.167175 m, bearing: 291.700155 deg, approach rate: -0.224445 m/s, LOS rate: -0.055962 deg/s, cmd heading: 245.023119 deg, new cmd heading: 244.953815 deg. 2025-01-08T21:51:44.920Z,1736373104.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275250 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:45.060Z,1736373105.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:45.060Z,1736373105.060 [DAT](INFO): Reached modem response timeout 2025-01-08T21:51:45.060Z,1736373105.060 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:51:45.061Z,1736373105.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:45.274Z,1736373105.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s. 2025-01-08T21:51:45.275Z,1736373105.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:45.312Z,1736373105.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:45.312Z,1736373105.312 [DAT](INFO): Reached modem response timeout 2025-01-08T21:51:45.312Z,1736373105.312 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:51:45.313Z,1736373105.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:45.319Z,1736373105.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:45.322Z,1736373105.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 542.078979 m, bearing: 291.679723 deg, approach rate: -0.218371 m/s, LOS rate: -0.050599 deg/s, cmd heading: 244.953806 deg, new cmd heading: 244.892499 deg. 2025-01-08T21:51:45.323Z,1736373105.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274180 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:45.565Z,1736373105.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:45.566Z,1736373105.566 [DAT](INFO): Reached modem response timeout 2025-01-08T21:51:45.566Z,1736373105.566 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:51:45.566Z,1736373105.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:45.752Z,1736373105.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.4 s old, using for 20.0 s. 2025-01-08T21:51:45.752Z,1736373105.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:45.761Z,1736373105.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:45.763Z,1736373105.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:45.771Z,1736373105.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 541.963257 m, bearing: 291.654690 deg, approach rate: -0.256242 m/s, LOS rate: -0.055440 deg/s, cmd heading: 244.892499 deg, new cmd heading: 244.817386 deg. 2025-01-08T21:51:45.772Z,1736373105.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272870 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:45.816Z,1736373105.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:45.817Z,1736373105.817 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:51:45.818Z,1736373105.818 [DAT](INFO): response not received 2025-01-08T21:51:45.819Z,1736373105.819 [DAT](INFO): DAT read: user:2106> 2025-01-08T21:51:45.820Z,1736373105.820 [DAT](INFO): DAT read: Tx time:21:51:45.0367 2025-01-08T21:51:45.821Z,1736373105.821 [DAT](INFO): Ping request sent. 2025-01-08T21:51:45.821Z,1736373105.821 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:51:45.821Z,1736373105.821 [DAT](INFO): publishing transmit ping time 2025-01-08T21:51:45.822Z,1736373105.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001433 2025-01-08T21:51:46.069Z,1736373106.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:46.070Z,1736373106.070 [DAT](INFO): DAT read: TxSync time:21:51:45.0359 2025-01-08T21:51:46.070Z,1736373106.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249491 2025-01-08T21:51:46.156Z,1736373106.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.8 s old, using for 20.0 s. 2025-01-08T21:51:46.156Z,1736373106.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:46.170Z,1736373106.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:46.173Z,1736373106.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 541.859680 m, bearing: 291.633674 deg, approach rate: -0.254272 m/s, LOS rate: -0.051604 deg/s, cmd heading: 244.817394 deg, new cmd heading: 244.754332 deg. 2025-01-08T21:51:46.174Z,1736373106.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271769 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:46.320Z,1736373106.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:46.320Z,1736373106.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499491 2025-01-08T21:51:46.572Z,1736373106.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:46.573Z,1736373106.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751979 2025-01-08T21:51:46.609Z,1736373106.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.3 s old, using for 20.0 s. 2025-01-08T21:51:46.609Z,1736373106.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:46.652Z,1736373106.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:46.660Z,1736373106.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 541.732300 m, bearing: 291.610793 deg, approach rate: -0.267137 m/s, LOS rate: -0.047996 deg/s, cmd heading: 244.754337 deg, new cmd heading: 244.685679 deg. 2025-01-08T21:51:46.662Z,1736373106.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.270571 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:46.824Z,1736373106.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:46.824Z,1736373106.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003537 2025-01-08T21:51:47.076Z,1736373107.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:47.077Z,1736373107.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256064 2025-01-08T21:51:47.139Z,1736373107.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.8 s old, using for 20.0 s. 2025-01-08T21:51:47.139Z,1736373107.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:47.164Z,1736373107.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:47.173Z,1736373107.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 541.577942 m, bearing: 291.584424 deg, approach rate: -0.308578 m/s, LOS rate: -0.052730 deg/s, cmd heading: 244.685680 deg, new cmd heading: 244.606551 deg. 2025-01-08T21:51:47.177Z,1736373107.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.269190 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:47.328Z,1736373107.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:47.328Z,1736373107.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507553 2025-01-08T21:51:47.551Z,1736373107.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.2 s old, using for 20.0 s. 2025-01-08T21:51:47.551Z,1736373107.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:47.560Z,1736373107.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:47.562Z,1736373107.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 541.453369 m, bearing: 291.564151 deg, approach rate: -0.301833 m/s, LOS rate: -0.049131 deg/s, cmd heading: 244.606559 deg, new cmd heading: 244.545728 deg. 2025-01-08T21:51:47.564Z,1736373107.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.268128 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:47.580Z,1736373107.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:47.580Z,1736373107.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759664 2025-01-08T21:51:47.832Z,1736373107.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:47.832Z,1736373107.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011542 2025-01-08T21:51:47.961Z,1736373107.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.6 s old, using for 20.0 s. 2025-01-08T21:51:47.962Z,1736373107.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:47.969Z,1736373107.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:47.971Z,1736373107.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:47.974Z,1736373107.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 541.329468 m, bearing: 291.543973 deg, approach rate: -0.301415 m/s, LOS rate: -0.049099 deg/s, cmd heading: 244.545716 deg, new cmd heading: 244.485167 deg. 2025-01-08T21:51:47.975Z,1736373107.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.267071 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:48.084Z,1736373108.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:48.085Z,1736373108.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264456 2025-01-08T21:51:48.336Z,1736373108.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:48.336Z,1736373108.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515595 2025-01-08T21:51:48.368Z,1736373108.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.0 s old, using for 20.0 s. 2025-01-08T21:51:48.368Z,1736373108.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:48.377Z,1736373108.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:48.379Z,1736373108.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 541.198242 m, bearing: 291.524654 deg, approach rate: -0.323503 m/s, LOS rate: -0.047638 deg/s, cmd heading: 244.485173 deg, new cmd heading: 244.427202 deg. 2025-01-08T21:51:48.380Z,1736373108.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266059 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:48.589Z,1736373108.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:48.591Z,1736373108.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769717 2025-01-08T21:51:48.795Z,1736373108.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.5 s old, using for 20.0 s. 2025-01-08T21:51:48.795Z,1736373108.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:48.804Z,1736373108.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:48.807Z,1736373108.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 541.055298 m, bearing: 291.504626 deg, approach rate: -0.334212 m/s, LOS rate: -0.046837 deg/s, cmd heading: 244.427199 deg, new cmd heading: 244.367101 deg. 2025-01-08T21:51:48.808Z,1736373108.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265010 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:48.840Z,1736373108.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:48.841Z,1736373108.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020370 2025-01-08T21:51:49.092Z,1736373109.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:49.092Z,1736373109.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271460 2025-01-08T21:51:49.178Z,1736373109.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.8 s old, using for 20.0 s. 2025-01-08T21:51:49.178Z,1736373109.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:49.188Z,1736373109.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:49.190Z,1736373109.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 540.923157 m, bearing: 291.487020 deg, approach rate: -0.345155 m/s, LOS rate: -0.045998 deg/s, cmd heading: 244.367093 deg, new cmd heading: 244.314262 deg. 2025-01-08T21:51:49.191Z,1736373109.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264088 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:49.344Z,1736373109.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:49.344Z,1736373109.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523581 2025-01-08T21:51:49.579Z,1736373109.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.2 s old, using for 20.0 s. 2025-01-08T21:51:49.579Z,1736373109.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:49.588Z,1736373109.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:49.590Z,1736373109.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 540.780640 m, bearing: 291.468944 deg, approach rate: -0.356046 m/s, LOS rate: -0.045172 deg/s, cmd heading: 244.314255 deg, new cmd heading: 244.260011 deg. 2025-01-08T21:51:49.591Z,1736373109.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.263142 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:49.596Z,1736373109.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:49.597Z,1736373109.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775717 2025-01-08T21:51:49.848Z,1736373109.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:49.848Z,1736373109.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027516 2025-01-08T21:51:50.006Z,1736373110.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:50.020Z,1736373110.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:50.022Z,1736373110.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:50.029Z,1736373110.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 540.641052 m, bearing: 291.454792 deg, approach rate: -0.321285 m/s, LOS rate: -0.032582 deg/s, cmd heading: 244.260023 deg, new cmd heading: 244.217556 deg. 2025-01-08T21:51:50.030Z,1736373110.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262401 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:50.100Z,1736373110.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:50.101Z,1736373110.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280571 2025-01-08T21:51:50.353Z,1736373110.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:50.355Z,1736373110.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533604 2025-01-08T21:51:50.397Z,1736373110.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:50.407Z,1736373110.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:50.410Z,1736373110.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 540.510193 m, bearing: 291.442159 deg, approach rate: -0.340000 m/s, LOS rate: -0.032830 deg/s, cmd heading: 244.217567 deg, new cmd heading: 244.179659 deg. 2025-01-08T21:51:50.410Z,1736373110.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261739 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:50.604Z,1736373110.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:50.604Z,1736373110.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783469 2025-01-08T21:51:50.852Z,1736373110.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:50.856Z,1736373110.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:50.857Z,1736373110.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035698 2025-01-08T21:51:50.862Z,1736373110.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:50.881Z,1736373110.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 540.340515 m, bearing: 291.429183 deg, approach rate: -0.372882 m/s, LOS rate: -0.028525 deg/s, cmd heading: 244.179673 deg, new cmd heading: 244.140732 deg. 2025-01-08T21:51:50.882Z,1736373110.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261060 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:51.108Z,1736373111.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:51.109Z,1736373111.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287670 2025-01-08T21:51:51.176Z,1736373111.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:51.201Z,1736373111.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:51.205Z,1736373111.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 540.214722 m, bearing: 291.420568 deg, approach rate: -0.371389 m/s, LOS rate: -0.025441 deg/s, cmd heading: 244.140741 deg, new cmd heading: 244.114889 deg. 2025-01-08T21:51:51.206Z,1736373111.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260609 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:51.360Z,1736373111.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:51.360Z,1736373111.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539608 2025-01-08T21:51:51.600Z,1736373111.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:51.612Z,1736373111.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:51.612Z,1736373111.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791646 2025-01-08T21:51:51.621Z,1736373111.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:51.632Z,1736373111.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 540.046875 m, bearing: 291.409729 deg, approach rate: -0.401094 m/s, LOS rate: -0.025908 deg/s, cmd heading: 244.114895 deg, new cmd heading: 244.082369 deg. 2025-01-08T21:51:51.633Z,1736373111.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260041 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:51.864Z,1736373111.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:51.865Z,1736373111.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044642 2025-01-08T21:51:52.107Z,1736373112.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:52.114Z,1736373112.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:52.116Z,1736373112.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:52.116Z,1736373112.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295627 2025-01-08T21:51:52.119Z,1736373112.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:52.122Z,1736373112.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 539.812012 m, bearing: 291.399318 deg, approach rate: -0.469858 m/s, LOS rate: -0.020837 deg/s, cmd heading: 244.082356 deg, new cmd heading: 244.051109 deg. 2025-01-08T21:51:52.123Z,1736373112.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259495 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:52.368Z,1736373112.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:52.369Z,1736373112.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548069 2025-01-08T21:51:52.473Z,1736373112.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:52.488Z,1736373112.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:52.490Z,1736373112.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 539.640442 m, bearing: 291.392284 deg, approach rate: -0.465698 m/s, LOS rate: -0.019099 deg/s, cmd heading: 244.051101 deg, new cmd heading: 244.029992 deg. 2025-01-08T21:51:52.491Z,1736373112.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259127 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:52.623Z,1736373112.623 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:52.624Z,1736373112.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803593 2025-01-08T21:51:52.874Z,1736373112.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:52.875Z,1736373112.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054573 2025-01-08T21:51:52.924Z,1736373112.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:52.961Z,1736373112.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:52.991Z,1736373112.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 539.396667 m, bearing: 291.386231 deg, approach rate: -0.514439 m/s, LOS rate: -0.012780 deg/s, cmd heading: 244.029982 deg, new cmd heading: 244.011814 deg. 2025-01-08T21:51:52.992Z,1736373112.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258810 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:53.124Z,1736373113.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:53.125Z,1736373113.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303855 2025-01-08T21:51:53.295Z,1736373113.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:53.324Z,1736373113.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:53.326Z,1736373113.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 539.195435 m, bearing: 291.381850 deg, approach rate: -0.555430 m/s, LOS rate: -0.012096 deg/s, cmd heading: 244.011814 deg, new cmd heading: 243.998666 deg. 2025-01-08T21:51:53.332Z,1736373113.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258580 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:53.379Z,1736373113.379 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:53.380Z,1736373113.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558945 2025-01-08T21:51:53.632Z,1736373113.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:53.632Z,1736373113.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811507 2025-01-08T21:51:53.711Z,1736373113.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:53.719Z,1736373113.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:53.722Z,1736373113.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 538.968079 m, bearing: 291.377611 deg, approach rate: -0.574914 m/s, LOS rate: -0.010724 deg/s, cmd heading: 243.998673 deg, new cmd heading: 243.985950 deg. 2025-01-08T21:51:53.723Z,1736373113.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258358 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:53.884Z,1736373113.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:53.886Z,1736373113.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064863 2025-01-08T21:51:54.128Z,1736373114.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:54.136Z,1736373114.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:54.137Z,1736373114.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316001 2025-01-08T21:51:54.138Z,1736373114.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:54.140Z,1736373114.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:54.143Z,1736373114.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 538.712891 m, bearing: 291.374933 deg, approach rate: -0.605678 m/s, LOS rate: -0.006359 deg/s, cmd heading: 243.985941 deg, new cmd heading: 243.977904 deg. 2025-01-08T21:51:54.144Z,1736373114.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258218 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:54.388Z,1736373114.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:54.389Z,1736373114.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567719 2025-01-08T21:51:54.502Z,1736373114.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:54.510Z,1736373114.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:54.514Z,1736373114.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 538.484131 m, bearing: 291.373205 deg, approach rate: -0.618582 m/s, LOS rate: -0.004676 deg/s, cmd heading: 243.977909 deg, new cmd heading: 243.972721 deg. 2025-01-08T21:51:54.515Z,1736373114.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258127 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:54.642Z,1736373114.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:54.645Z,1736373114.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823760 2025-01-08T21:51:54.893Z,1736373114.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:54.894Z,1736373114.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073085 2025-01-08T21:51:54.955Z,1736373114.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:54.990Z,1736373114.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:54.993Z,1736373114.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 538.185852 m, bearing: 291.372123 deg, approach rate: -0.621181 m/s, LOS rate: -0.002254 deg/s, cmd heading: 243.972718 deg, new cmd heading: 243.969470 deg. 2025-01-08T21:51:54.994Z,1736373114.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258070 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:55.144Z,1736373115.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:55.144Z,1736373115.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323471 2025-01-08T21:51:55.322Z,1736373115.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:55.350Z,1736373115.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:55.354Z,1736373115.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 537.944275 m, bearing: 291.372678 deg, approach rate: -0.672009 m/s, LOS rate: 0.001544 deg/s, cmd heading: 243.969467 deg, new cmd heading: 243.971132 deg. 2025-01-08T21:51:55.356Z,1736373115.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258100 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:55.396Z,1736373115.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:55.397Z,1736373115.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575719 2025-01-08T21:51:55.648Z,1736373115.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:55.649Z,1736373115.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828631 2025-01-08T21:51:55.752Z,1736373115.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:55.761Z,1736373115.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:55.770Z,1736373115.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 537.661865 m, bearing: 291.374162 deg, approach rate: -0.686542 m/s, LOS rate: 0.003612 deg/s, cmd heading: 243.971133 deg, new cmd heading: 243.975590 deg. 2025-01-08T21:51:55.773Z,1736373115.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258177 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:55.900Z,1736373115.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:55.900Z,1736373115.900 [DAT](INFO): Reached modem response timeout 2025-01-08T21:51:55.901Z,1736373115.901 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:51:55.902Z,1736373115.902 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:56.153Z,1736373116.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:56.153Z,1736373116.153 [DAT](INFO): Reached modem response timeout 2025-01-08T21:51:56.153Z,1736373116.153 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:51:56.154Z,1736373116.154 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:56.264Z,1736373116.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:56.278Z,1736373116.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:56.286Z,1736373116.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:56.293Z,1736373116.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 537.321472 m, bearing: 291.375326 deg, approach rate: -0.648657 m/s, LOS rate: 0.002218 deg/s, cmd heading: 243.975587 deg, new cmd heading: 243.979079 deg. 2025-01-08T21:51:56.294Z,1736373116.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258238 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:56.404Z,1736373116.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:56.405Z,1736373116.405 [DAT](INFO): Reached modem response timeout 2025-01-08T21:51:56.405Z,1736373116.405 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:51:56.406Z,1736373116.406 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:51:56.642Z,1736373116.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:56.657Z,1736373116.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:56.658Z,1736373116.658 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:51:56.658Z,1736373116.658 [DAT](INFO): response not received 2025-01-08T21:51:56.659Z,1736373116.659 [DAT](INFO): DAT read: user:2107> 2025-01-08T21:51:56.660Z,1736373116.660 [DAT](INFO): DAT read: Tx time:21:51:55.9868 2025-01-08T21:51:56.661Z,1736373116.661 [DAT](INFO): Ping request sent. 2025-01-08T21:51:56.661Z,1736373116.661 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:51:56.661Z,1736373116.661 [DAT](INFO): publishing transmit ping time 2025-01-08T21:51:56.662Z,1736373116.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001168 2025-01-08T21:51:56.681Z,1736373116.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:56.689Z,1736373116.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 537.069092 m, bearing: 291.376944 deg, approach rate: -0.638359 m/s, LOS rate: 0.004094 deg/s, cmd heading: 243.979084 deg, new cmd heading: 243.983939 deg. 2025-01-08T21:51:56.691Z,1736373116.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258323 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:56.910Z,1736373116.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:56.911Z,1736373116.911 [DAT](INFO): DAT read: TxSync time:21:51:55.9860 2025-01-08T21:51:56.912Z,1736373116.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251610 2025-01-08T21:51:57.078Z,1736373117.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:57.089Z,1736373117.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:57.091Z,1736373117.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 536.781860 m, bearing: 291.378767 deg, approach rate: -0.705082 m/s, LOS rate: 0.004478 deg/s, cmd heading: 243.983947 deg, new cmd heading: 243.989420 deg. 2025-01-08T21:51:57.092Z,1736373117.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258419 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:57.165Z,1736373117.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:57.166Z,1736373117.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505220 2025-01-08T21:51:57.416Z,1736373117.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:57.416Z,1736373117.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755513 2025-01-08T21:51:57.462Z,1736373117.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:57.471Z,1736373117.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:57.474Z,1736373117.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 536.529724 m, bearing: 291.381129 deg, approach rate: -0.659628 m/s, LOS rate: 0.006183 deg/s, cmd heading: 243.989411 deg, new cmd heading: 243.996501 deg. 2025-01-08T21:51:57.475Z,1736373117.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258543 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:57.669Z,1736373117.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:57.670Z,1736373117.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009511 2025-01-08T21:51:57.920Z,1736373117.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:57.921Z,1736373117.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259804 2025-01-08T21:51:57.929Z,1736373117.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:57.970Z,1736373117.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:57.977Z,1736373117.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 536.237732 m, bearing: 291.382731 deg, approach rate: -0.584950 m/s, LOS rate: 0.003211 deg/s, cmd heading: 243.996514 deg, new cmd heading: 244.001323 deg. 2025-01-08T21:51:57.978Z,1736373117.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258626 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:58.172Z,1736373118.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:58.172Z,1736373118.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511653 2025-01-08T21:51:58.296Z,1736373118.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:58.304Z,1736373118.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:51:58.306Z,1736373118.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:58.309Z,1736373118.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 536.008667 m, bearing: 291.384632 deg, approach rate: -0.681003 m/s, LOS rate: 0.005652 deg/s, cmd heading: 244.001323 deg, new cmd heading: 244.007026 deg. 2025-01-08T21:51:58.310Z,1736373118.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258726 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:58.424Z,1736373118.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:58.425Z,1736373118.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763741 2025-01-08T21:51:58.676Z,1736373118.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:58.677Z,1736373118.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016149 2025-01-08T21:51:58.692Z,1736373118.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:58.727Z,1736373118.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:58.733Z,1736373118.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 535.762634 m, bearing: 291.387323 deg, approach rate: -0.585258 m/s, LOS rate: 0.006405 deg/s, cmd heading: 244.007033 deg, new cmd heading: 244.015111 deg. 2025-01-08T21:51:58.734Z,1736373118.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258867 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:58.930Z,1736373118.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:58.931Z,1736373118.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270100 2025-01-08T21:51:59.121Z,1736373119.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:59.130Z,1736373119.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:59.132Z,1736373119.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 535.515869 m, bearing: 291.389910 deg, approach rate: -0.612434 m/s, LOS rate: 0.006424 deg/s, cmd heading: 244.015120 deg, new cmd heading: 244.022885 deg. 2025-01-08T21:51:59.133Z,1736373119.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259003 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:59.180Z,1736373119.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:59.181Z,1736373119.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520655 2025-01-08T21:51:59.432Z,1736373119.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:59.432Z,1736373119.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771689 2025-01-08T21:51:59.508Z,1736373119.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:59.516Z,1736373119.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:51:59.520Z,1736373119.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 535.294739 m, bearing: 291.392865 deg, approach rate: -0.572512 m/s, LOS rate: 0.007653 deg/s, cmd heading: 244.022879 deg, new cmd heading: 244.031747 deg. 2025-01-08T21:51:59.521Z,1736373119.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259158 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:51:59.684Z,1736373119.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:59.684Z,1736373119.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023600 2025-01-08T21:51:59.936Z,1736373119.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:51:59.937Z,1736373119.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275738 2025-01-08T21:51:59.961Z,1736373119.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:51:59.970Z,1736373119.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:52:00.002Z,1736373120.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 535.049500 m, bearing: 291.395916 deg, approach rate: -0.540024 m/s, LOS rate: 0.006722 deg/s, cmd heading: 244.031758 deg, new cmd heading: 244.040916 deg. 2025-01-08T21:52:00.007Z,1736373120.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259317 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:52:00.188Z,1736373120.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:00.188Z,1736373120.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527684 2025-01-08T21:52:00.303Z,1736373120.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:00.310Z,1736373120.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:00.313Z,1736373120.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:52:00.316Z,1736373120.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 534.865417 m, bearing: 291.398743 deg, approach rate: -0.536718 m/s, LOS rate: 0.008246 deg/s, cmd heading: 244.040911 deg, new cmd heading: 244.049395 deg. 2025-01-08T21:52:00.317Z,1736373120.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259466 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:52:00.440Z,1736373120.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:00.441Z,1736373120.441 [DAT](INFO): DAT read: Rx Time:21:51:59.2454 2025-01-08T21:52:00.441Z,1736373120.441 [DAT](INFO): Rx dataTimestamp_ set to:1736373120.440819 2025-01-08T21:52:00.442Z,1736373120.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780868 2025-01-08T21:52:00.692Z,1736373120.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:00.692Z,1736373120.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031508 2025-01-08T21:52:00.706Z,1736373120.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:00.740Z,1736373120.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.60 m. 2025-01-08T21:52:00.749Z,1736373120.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.599976 m, nav range: 534.649414 m, bearing: 291.402697 deg, approach rate: -0.511938 m/s, LOS rate: 0.009375 deg/s, cmd heading: 244.049407 deg, new cmd heading: 244.061274 deg. 2025-01-08T21:52:00.750Z,1736373120.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259673 target range: 639.599976 and range: 639.60 m. 2025-01-08T21:52:00.946Z,1736373120.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:00.967Z,1736373120.967 [DAT](INFO): DAT read: 21:51:59.2454 LVL= 15728, 31313, 22162, 28499, AGC= 70, IDX= 458,-0.18, 2.124, 0.552, 0.140, 0.795, PHS= 1.417,-0.196,-0.658, RAW= 77.8, -6.0, CAL= 86.8, -13.4, ROT= 63.2, 13.4 2025-01-08T21:52:00.969Z,1736373120.969 [DAT](INFO): got valid direction response: 21:51:59.2454 LVL= 15728, 31313, 22162, 28499, AGC= 70, IDX= 458,-0.18, 2.124, 0.552, 0.140, 0.795, PHS= 1.417,-0.196,-0.658, RAW= 77.8, -6.0, CAL= 86.8, -13.4, ROT= 63.2, 13.4 2025-01-08T21:52:00.970Z,1736373120.970 [DAT](INFO): DAT read: Bearing 63.2, 13.4 (Local) 2025-01-08T21:52:00.970Z,1736373120.970 [DAT](INFO): Local bearing/azimuth received: Bearing 63.2, 13.4 (Local) 2025-01-08T21:52:00.985Z,1736373120.985 [DAT](INFO): DAT read: Range 10 to 50 : 640.8 m (Round-trip 854.4 ms) speed 0.1 m/s 2025-01-08T21:52:00.986Z,1736373120.986 [DAT](INFO): DAT read: user:2108> 2025-01-08T21:52:00.987Z,1736373120.987 [DAT](INFO): DAT read: Tx time:21:52:00.3368 2025-01-08T21:52:00.987Z,1736373120.987 [DAT](INFO): Ping request sent. 2025-01-08T21:52:01.004Z,1736373121.004 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:01.004Z,1736373121.004 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:01.005Z,1736373121.005 [DAT](INFO): direction in FSK: [0.049896,0.305016,0.951039] 2025-01-08T21:52:01.005Z,1736373121.005 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:01.006Z,1736373121.006 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:01.019Z,1736373121.019 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:01.019Z,1736373121.019 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:01.168Z,1736373121.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:01.196Z,1736373121.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:01.197Z,1736373121.197 [DAT](INFO): DAT read: TxSync time:21:52:00.3360 2025-01-08T21:52:01.202Z,1736373121.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 640.799988 m, deltaT: 26.219198 s, deltaX: 1.200012 m, approachRate: 0.045768 m/s, rangeRepo size: 4 2025-01-08T21:52:01.209Z,1736373121.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 640.799988 m, bearing: 1.901938 deg, lat: 36.900409 deg, lon: -122.123984 deg, deltaT: 26.219198 s, deltaX: 1.200012 m, approachRate: 0.045768 m/s, posRepo size: 4 2025-01-08T21:52:01.209Z,1736373121.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.80 m. 2025-01-08T21:52:01.216Z,1736373121.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.799988 m, nav range: 534.420349 m, bearing: 291.407239 deg, approach rate: 0.000000 m/s, LOS rate: 0.009375 deg/s, cmd heading: 244.061264 deg, new cmd heading: 244.074368 deg. 2025-01-08T21:52:01.218Z,1736373121.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259902 target range: 640.799988 and range: 640.80 m. 2025-01-08T21:52:01.448Z,1736373121.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:01.536Z,1736373121.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:01.561Z,1736373121.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.80 m. 2025-01-08T21:52:01.564Z,1736373121.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.799988 m, nav range: 534.228699 m, bearing: 291.411040 deg, approach rate: -0.531751 m/s, LOS rate: 0.010552 deg/s, cmd heading: 244.074378 deg, new cmd heading: 244.085788 deg. 2025-01-08T21:52:01.565Z,1736373121.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260101 target range: 640.799988 and range: 640.80 m. 2025-01-08T21:52:01.700Z,1736373121.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:01.954Z,1736373121.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:01.999Z,1736373121.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:02.009Z,1736373122.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.80 m. 2025-01-08T21:52:02.012Z,1736373122.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.799988 m, nav range: 533.998413 m, bearing: 291.416286 deg, approach rate: -0.514399 m/s, LOS rate: 0.011724 deg/s, cmd heading: 244.085799 deg, new cmd heading: 244.101544 deg. 2025-01-08T21:52:02.013Z,1736373122.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260375 target range: 640.799988 and range: 640.80 m. 2025-01-08T21:52:02.204Z,1736373122.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:02.340Z,1736373122.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:02.358Z,1736373122.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:02.360Z,1736373122.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.80 m. 2025-01-08T21:52:02.362Z,1736373122.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.799988 m, nav range: 533.828308 m, bearing: 291.420166 deg, approach rate: -0.484562 m/s, LOS rate: 0.011054 deg/s, cmd heading: 244.101535 deg, new cmd heading: 244.113177 deg. 2025-01-08T21:52:02.364Z,1736373122.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260579 target range: 640.799988 and range: 640.80 m. 2025-01-08T21:52:02.458Z,1736373122.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:02.459Z,1736373122.459 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:02.459Z,1736373122.459 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:02.459Z,1736373122.459 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:02.712Z,1736373122.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:02.712Z,1736373122.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725151 2025-01-08T21:52:02.728Z,1736373122.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:02.757Z,1736373122.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.80 m. 2025-01-08T21:52:02.774Z,1736373122.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.799988 m, nav range: 533.638000 m, bearing: 291.425682 deg, approach rate: -0.480063 m/s, LOS rate: 0.013919 deg/s, cmd heading: 244.113174 deg, new cmd heading: 244.129727 deg. 2025-01-08T21:52:02.782Z,1736373122.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260868 target range: 640.799988 and range: 640.80 m. 2025-01-08T21:52:02.966Z,1736373122.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:02.968Z,1736373122.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980513 2025-01-08T21:52:03.158Z,1736373123.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:03.167Z,1736373123.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.80 m. 2025-01-08T21:52:03.186Z,1736373123.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.799988 m, nav range: 533.420654 m, bearing: 291.433382 deg, approach rate: -0.529666 m/s, LOS rate: 0.018774 deg/s, cmd heading: 244.129730 deg, new cmd heading: 244.152842 deg. 2025-01-08T21:52:03.187Z,1736373123.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261271 target range: 640.799988 and range: 640.80 m. 2025-01-08T21:52:03.218Z,1736373123.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:03.219Z,1736373123.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231965 2025-01-08T21:52:03.468Z,1736373123.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:03.469Z,1736373123.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481769 2025-01-08T21:52:03.547Z,1736373123.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:03.557Z,1736373123.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.80 m. 2025-01-08T21:52:03.559Z,1736373123.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.799988 m, nav range: 533.226013 m, bearing: 291.440879 deg, approach rate: -0.499290 m/s, LOS rate: 0.019237 deg/s, cmd heading: 244.152844 deg, new cmd heading: 244.175341 deg. 2025-01-08T21:52:03.560Z,1736373123.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261663 target range: 640.799988 and range: 640.80 m. 2025-01-08T21:52:03.720Z,1736373123.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:03.720Z,1736373123.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733374 2025-01-08T21:52:03.974Z,1736373123.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:03.976Z,1736373123.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988546 2025-01-08T21:52:04.055Z,1736373124.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:04.086Z,1736373124.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.80 m. 2025-01-08T21:52:04.092Z,1736373124.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.799988 m, nav range: 532.950439 m, bearing: 291.451546 deg, approach rate: -0.520041 m/s, LOS rate: 0.020141 deg/s, cmd heading: 244.175329 deg, new cmd heading: 244.207347 deg. 2025-01-08T21:52:04.093Z,1736373124.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262222 target range: 640.799988 and range: 640.80 m. 2025-01-08T21:52:04.224Z,1736373124.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:04.224Z,1736373124.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237246 2025-01-08T21:52:04.476Z,1736373124.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:04.476Z,1736373124.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489303 2025-01-08T21:52:04.513Z,1736373124.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:04.528Z,1736373124.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:04.530Z,1736373124.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.80 m. 2025-01-08T21:52:04.537Z,1736373124.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.799988 m, nav range: 532.702026 m, bearing: 291.461173 deg, approach rate: -0.560616 m/s, LOS rate: 0.021737 deg/s, cmd heading: 244.207349 deg, new cmd heading: 244.236244 deg. 2025-01-08T21:52:04.538Z,1736373124.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262727 target range: 640.799988 and range: 640.80 m. 2025-01-08T21:52:04.729Z,1736373124.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:04.731Z,1736373124.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743999 2025-01-08T21:52:04.982Z,1736373124.982 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:04.984Z,1736373124.984 [DAT](INFO): DAT read: Rx Time:21:52:03.5872 2025-01-08T21:52:04.986Z,1736373124.986 [DAT](INFO): Rx dataTimestamp_ set to:1736373124.984753 2025-01-08T21:52:04.988Z,1736373124.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000035 2025-01-08T21:52:05.042Z,1736373125.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:05.064Z,1736373125.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.80 m. 2025-01-08T21:52:05.066Z,1736373125.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.799988 m, nav range: 532.427795 m, bearing: 291.475649 deg, approach rate: -0.517504 m/s, LOS rate: 0.027331 deg/s, cmd heading: 244.236254 deg, new cmd heading: 244.279703 deg. 2025-01-08T21:52:05.072Z,1736373125.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.263485 target range: 640.799988 and range: 640.80 m. 2025-01-08T21:52:05.232Z,1736373125.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:05.232Z,1736373125.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.245247 2025-01-08T21:52:05.399Z,1736373125.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:05.409Z,1736373125.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.80 m. 2025-01-08T21:52:05.412Z,1736373125.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.799988 m, nav range: 532.229614 m, bearing: 291.487070 deg, approach rate: -0.567180 m/s, LOS rate: 0.032698 deg/s, cmd heading: 244.279694 deg, new cmd heading: 244.313969 deg. 2025-01-08T21:52:05.413Z,1736373125.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264083 target range: 640.799988 and range: 640.80 m. 2025-01-08T21:52:05.485Z,1736373125.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:05.492Z,1736373125.492 [DAT](INFO): DAT read: 21:52:03.5872 LVL= 13968, 23153, 20258, 27571, AGC= 68, IDX= 435,-0.04, 1.778, 1.026,-0.243, 0.744, PHS= 1.122, 0.330,-0.989, RAW= 51.8, -5.1, CAL= 55.8, -9.9, ROT= 94.2, 9.9 2025-01-08T21:52:05.494Z,1736373125.494 [DAT](INFO): got valid direction response: 21:52:03.5872 LVL= 13968, 23153, 20258, 27571, AGC= 68, IDX= 435,-0.04, 1.778, 1.026,-0.243, 0.744, PHS= 1.122, 0.330,-0.989, RAW= 51.8, -5.1, CAL= 55.8, -9.9, ROT= 94.2, 9.9 2025-01-08T21:52:05.510Z,1736373125.510 [DAT](INFO): DAT read: Bearing 94.2, 9.9 (Local) 2025-01-08T21:52:05.510Z,1736373125.510 [DAT](INFO): Local bearing/azimuth received: Bearing 94.2, 9.9 (Local) 2025-01-08T21:52:05.512Z,1736373125.512 [DAT](INFO): DAT read: Range 10 to 50 : 634.5 m (Round-trip 846.1 ms) speed 0.0 m/s 2025-01-08T21:52:05.513Z,1736373125.513 [DAT](INFO): DAT read: user:2109> 2025-01-08T21:52:05.514Z,1736373125.514 [DAT](INFO): DAT read: Tx time:21:52:04.6869 2025-01-08T21:52:05.514Z,1736373125.514 [DAT](INFO): Ping request sent. 2025-01-08T21:52:05.514Z,1736373125.514 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:05.515Z,1736373125.515 [DAT](INFO): DAT read: TxSync time:21:52:04.6861 2025-01-08T21:52:05.531Z,1736373125.531 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:05.532Z,1736373125.532 [DAT](INFO): direction in FSK: [0.081577,0.673515,0.734658] 2025-01-08T21:52:05.532Z,1736373125.532 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:05.533Z,1736373125.533 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:05.541Z,1736373125.541 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:05.541Z,1736373125.541 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:05.736Z,1736373125.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:05.773Z,1736373125.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:05.787Z,1736373125.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 634.500000 m, deltaT: 4.538074 s, deltaX: -6.299988 m, approachRate: -1.388251 m/s, rangeRepo size: 4 2025-01-08T21:52:05.789Z,1736373125.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 634.500000 m, bearing: 350.571262 deg, lat: 36.901133 deg, lon: -122.123984 deg, deltaT: 4.538074 s, deltaX: -6.299988 m, approachRate: -1.388251 m/s, posRepo size: 4 2025-01-08T21:52:05.790Z,1736373125.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 634.50 m. 2025-01-08T21:52:05.792Z,1736373125.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 634.500000 m, nav range: 566.491638 m, bearing: 299.096432 deg, approach rate: 0.000000 m/s, LOS rate: 0.032698 deg/s, cmd heading: 244.313981 deg, new cmd heading: 244.350985 deg. 2025-01-08T21:52:05.793Z,1736373125.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264729 target range: 634.500000 and range: 634.50 m. 2025-01-08T21:52:05.989Z,1736373125.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:06.237Z,1736373126.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:06.240Z,1736373126.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:06.248Z,1736373126.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 634.50 m. 2025-01-08T21:52:06.250Z,1736373126.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 634.500000 m, nav range: 566.241943 m, bearing: 299.115333 deg, approach rate: -0.541554 m/s, LOS rate: 0.041012 deg/s, cmd heading: 244.350974 deg, new cmd heading: 244.407702 deg. 2025-01-08T21:52:06.252Z,1736373126.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265719 target range: 634.500000 and range: 634.50 m. 2025-01-08T21:52:06.492Z,1736373126.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:06.577Z,1736373126.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:06.585Z,1736373126.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:06.587Z,1736373126.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 634.50 m. 2025-01-08T21:52:06.590Z,1736373126.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 634.500000 m, nav range: 566.055359 m, bearing: 299.131492 deg, approach rate: -0.549282 m/s, LOS rate: 0.047586 deg/s, cmd heading: 244.407692 deg, new cmd heading: 244.456185 deg. 2025-01-08T21:52:06.591Z,1736373126.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266565 target range: 634.500000 and range: 634.50 m. 2025-01-08T21:52:06.744Z,1736373126.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:06.744Z,1736373126.744 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:06.745Z,1736373126.745 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:06.745Z,1736373126.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:06.997Z,1736373126.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:06.000Z,1736373127.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485370 2025-01-08T21:52:07.040Z,1736373127.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:07.070Z,1736373127.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 634.50 m. 2025-01-08T21:52:07.078Z,1736373127.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 634.500000 m, nav range: 565.821167 m, bearing: 299.153158 deg, approach rate: -0.484280 m/s, LOS rate: 0.044822 deg/s, cmd heading: 244.456186 deg, new cmd heading: 244.521211 deg. 2025-01-08T21:52:07.084Z,1736373127.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.267700 target range: 634.500000 and range: 634.50 m. 2025-01-08T21:52:07.248Z,1736373127.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:07.248Z,1736373127.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734417 2025-01-08T21:52:07.416Z,1736373127.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:07.426Z,1736373127.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 634.50 m. 2025-01-08T21:52:07.445Z,1736373127.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 634.500000 m, nav range: 565.617493 m, bearing: 299.172430 deg, approach rate: -0.573188 m/s, LOS rate: 0.054255 deg/s, cmd heading: 244.521209 deg, new cmd heading: 244.579046 deg. 2025-01-08T21:52:07.446Z,1736373127.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.268710 target range: 634.500000 and range: 634.50 m. 2025-01-08T21:52:07.500Z,1736373127.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:07.501Z,1736373127.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986568 2025-01-08T21:52:07.752Z,1736373127.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:07.753Z,1736373127.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238798 2025-01-08T21:52:07.848Z,1736373127.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:07.874Z,1736373127.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 634.50 m. 2025-01-08T21:52:07.881Z,1736373127.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 634.500000 m, nav range: 565.393860 m, bearing: 299.194946 deg, approach rate: -0.506371 m/s, LOS rate: 0.051003 deg/s, cmd heading: 244.579047 deg, new cmd heading: 244.646622 deg. 2025-01-08T21:52:07.882Z,1736373127.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.269889 target range: 634.500000 and range: 634.50 m. 2025-01-08T21:52:08.006Z,1736373128.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:08.008Z,1736373128.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494240 2025-01-08T21:52:08.256Z,1736373128.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:08.257Z,1736373128.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742809 2025-01-08T21:52:08.274Z,1736373128.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:08.282Z,1736373128.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 634.50 m. 2025-01-08T21:52:08.286Z,1736373128.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 634.500000 m, nav range: 565.170959 m, bearing: 299.218378 deg, approach rate: -0.537361 m/s, LOS rate: 0.056511 deg/s, cmd heading: 244.646612 deg, new cmd heading: 244.716934 deg. 2025-01-08T21:52:08.307Z,1736373128.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271116 target range: 634.500000 and range: 634.50 m. 2025-01-08T21:52:08.508Z,1736373128.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:08.508Z,1736373128.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994433 2025-01-08T21:52:08.674Z,1736373128.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:08.683Z,1736373128.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:08.686Z,1736373128.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 634.50 m. 2025-01-08T21:52:08.709Z,1736373128.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 634.500000 m, nav range: 564.968323 m, bearing: 299.241041 deg, approach rate: -0.501798 m/s, LOS rate: 0.056141 deg/s, cmd heading: 244.716935 deg, new cmd heading: 244.784948 deg. 2025-01-08T21:52:08.710Z,1736373128.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272303 target range: 634.500000 and range: 634.50 m. 2025-01-08T21:52:08.760Z,1736373128.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:08.761Z,1736373128.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246669 2025-01-08T21:52:09.014Z,1736373129.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:09.016Z,1736373129.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501615 2025-01-08T21:52:09.138Z,1736373129.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:09.147Z,1736373129.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 634.50 m. 2025-01-08T21:52:09.149Z,1736373129.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 634.500000 m, nav range: 564.734802 m, bearing: 299.266525 deg, approach rate: -0.507140 m/s, LOS rate: 0.055368 deg/s, cmd heading: 244.784937 deg, new cmd heading: 244.861422 deg. 2025-01-08T21:52:09.150Z,1736373129.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273638 target range: 634.500000 and range: 634.50 m. 2025-01-08T21:52:09.264Z,1736373129.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:09.265Z,1736373129.265 [DAT](INFO): DAT read: Rx Time:21:52:07.9293 2025-01-08T21:52:09.265Z,1736373129.265 [DAT](INFO): Rx dataTimestamp_ set to:1736373129.264784 2025-01-08T21:52:09.266Z,1736373129.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751669 2025-01-08T21:52:09.487Z,1736373129.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:09.513Z,1736373129.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 634.50 m. 2025-01-08T21:52:09.516Z,1736373129.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:09.516Z,1736373129.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.002560 2025-01-08T21:52:09.521Z,1736373129.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 634.500000 m, nav range: 564.559448 m, bearing: 299.285680 deg, approach rate: -0.477853 m/s, LOS rate: 0.052215 deg/s, cmd heading: 244.861435 deg, new cmd heading: 244.918918 deg. 2025-01-08T21:52:09.522Z,1736373129.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274642 target range: 634.500000 and range: 634.50 m. 2025-01-08T21:52:09.768Z,1736373129.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:09.775Z,1736373129.775 [DAT](INFO): DAT read: 21:52:07.9293 LVL= 14288, 19041, 16626, 27091, AGC= 69, IDX= 434,-0.09,-1.406,-2.217, 2.641,-2.632, PHS= 1.314, 0.461,-1.013, RAW= 51.2, -7.5, CAL= 56.8, -13.5, ROT= 93.2, 13.5 2025-01-08T21:52:09.776Z,1736373129.776 [DAT](INFO): got valid direction response: 21:52:07.9293 LVL= 14288, 19041, 16626, 27091, AGC= 69, IDX= 434,-0.09,-1.406,-2.217, 2.641,-2.632, PHS= 1.314, 0.461,-1.013, RAW= 51.2, -7.5, CAL= 56.8, -13.5, ROT= 93.2, 13.5 2025-01-08T21:52:09.777Z,1736373129.777 [DAT](INFO): DAT read: Bearing 93.2, 13.5 (Local) 2025-01-08T21:52:09.777Z,1736373129.777 [DAT](INFO): Local bearing/azimuth received: Bearing 93.2, 13.5 (Local) 2025-01-08T21:52:09.796Z,1736373129.796 [DAT](INFO): DAT read: Range 10 to 50 : 628.7 m (Round-trip 838.3 ms) speed -0.4 m/s 2025-01-08T21:52:09.797Z,1736373129.797 [DAT](INFO): DAT read: user:2110> 2025-01-08T21:52:09.798Z,1736373129.798 [DAT](INFO): DAT read: Tx time:21:52:09.0369 2025-01-08T21:52:09.798Z,1736373129.798 [DAT](INFO): Ping request sent. 2025-01-08T21:52:09.798Z,1736373129.798 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:09.798Z,1736373129.798 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:09.808Z,1736373129.808 [DAT](INFO): direction in FSK: [0.128109,0.673986,0.727551] 2025-01-08T21:52:09.808Z,1736373129.808 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:09.808Z,1736373129.808 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:09.815Z,1736373129.815 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:09.816Z,1736373129.816 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:09.892Z,1736373129.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:09.931Z,1736373129.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 628.700012 m, deltaT: 4.283531 s, deltaX: -5.799988 m, approachRate: -1.354020 m/s, rangeRepo size: 4 2025-01-08T21:52:09.933Z,1736373129.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 628.700012 m, bearing: 329.732913 deg, lat: 36.901276 deg, lon: -122.120792 deg, deltaT: 4.283531 s, deltaX: -5.799988 m, approachRate: -1.354020 m/s, posRepo size: 4 2025-01-08T21:52:09.934Z,1736373129.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 628.70 m. 2025-01-08T21:52:09.945Z,1736373129.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 628.700012 m, nav range: 358.797424 m, bearing: 324.504314 deg, approach rate: 0.000000 m/s, LOS rate: 0.052215 deg/s, cmd heading: 244.918918 deg, new cmd heading: 244.984206 deg. 2025-01-08T21:52:09.946Z,1736373129.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275781 target range: 628.700012 and range: 628.70 m. 2025-01-08T21:52:10.022Z,1736373130.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:10.028Z,1736373130.028 [DAT](INFO): DAT read: TxSync time:21:52:09.0361 2025-01-08T21:52:10.272Z,1736373130.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:10.313Z,1736373130.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:10.326Z,1736373130.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 628.70 m. 2025-01-08T21:52:10.333Z,1736373130.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 628.700012 m, nav range: 358.743317 m, bearing: 324.553819 deg, approach rate: -0.136688 m/s, LOS rate: 0.125082 deg/s, cmd heading: 244.984214 deg, new cmd heading: 245.132754 deg. 2025-01-08T21:52:10.339Z,1736373130.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278374 target range: 628.700012 and range: 628.70 m. 2025-01-08T21:52:10.524Z,1736373130.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:10.688Z,1736373130.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:10.695Z,1736373130.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:10.697Z,1736373130.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 628.70 m. 2025-01-08T21:52:10.700Z,1736373130.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:52:10.702Z,1736373130.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 628.700012 m, nav range: 358.701965 m, bearing: 324.597265 deg, approach rate: -0.111427 m/s, LOS rate: 0.117084 deg/s, cmd heading: 245.132757 deg, new cmd heading: 245.263110 deg. 2025-01-08T21:52:10.703Z,1736373130.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280649 target range: 628.700012 and range: 628.70 m. 2025-01-08T21:52:10.776Z,1736373130.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:10.776Z,1736373130.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:10.777Z,1736373130.777 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:10.777Z,1736373130.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:11.030Z,1736373131.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:11.032Z,1736373131.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233882 2025-01-08T21:52:11.161Z,1736373131.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:11.171Z,1736373131.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 628.70 m. 2025-01-08T21:52:11.173Z,1736373131.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 628.700012 m, nav range: 358.655029 m, bearing: 324.650006 deg, approach rate: -0.099176 m/s, LOS rate: 0.111456 deg/s, cmd heading: 245.263105 deg, new cmd heading: 245.421348 deg. 2025-01-08T21:52:11.174Z,1736373131.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283411 target range: 628.700012 and range: 628.70 m. 2025-01-08T21:52:11.280Z,1736373131.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:11.280Z,1736373131.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482451 2025-01-08T21:52:11.489Z,1736373131.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:11.498Z,1736373131.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 628.70 m. 2025-01-08T21:52:11.502Z,1736373131.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 628.700012 m, nav range: 358.630310 m, bearing: 324.686729 deg, approach rate: -0.075516 m/s, LOS rate: 0.112193 deg/s, cmd heading: 245.421346 deg, new cmd heading: 245.531522 deg. 2025-01-08T21:52:11.502Z,1736373131.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285334 target range: 628.700012 and range: 628.70 m. 2025-01-08T21:52:11.532Z,1736373131.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:11.533Z,1736373131.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734601 2025-01-08T21:52:11.704Z,1736373131.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:52:11.785Z,1736373131.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:11.787Z,1736373131.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988706 2025-01-08T21:52:11.894Z,1736373131.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:11.902Z,1736373131.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 628.70 m. 2025-01-08T21:52:11.905Z,1736373131.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 628.700012 m, nav range: 358.603790 m, bearing: 324.732088 deg, approach rate: -0.065591 m/s, LOS rate: 0.112193 deg/s, cmd heading: 245.531531 deg, new cmd heading: 245.667618 deg. 2025-01-08T21:52:11.906Z,1736373131.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287709 target range: 628.700012 and range: 628.70 m. 2025-01-08T21:52:12.037Z,1736373132.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:12.039Z,1736373132.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240376 2025-01-08T21:52:12.288Z,1736373132.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:12.288Z,1736373132.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490465 2025-01-08T21:52:12.336Z,1736373132.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:12.361Z,1736373132.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 628.70 m. 2025-01-08T21:52:12.369Z,1736373132.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 628.700012 m, nav range: 358.584564 m, bearing: 324.779423 deg, approach rate: -0.041892 m/s, LOS rate: 0.103144 deg/s, cmd heading: 245.667616 deg, new cmd heading: 245.809628 deg. 2025-01-08T21:52:12.370Z,1736373132.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290187 target range: 628.700012 and range: 628.70 m. 2025-01-08T21:52:12.540Z,1736373132.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:12.540Z,1736373132.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742390 2025-01-08T21:52:12.698Z,1736373132.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:12.721Z,1736373132.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:12.723Z,1736373132.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 628.70 m. 2025-01-08T21:52:12.726Z,1736373132.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 628.700012 m, nav range: 358.570953 m, bearing: 324.818154 deg, approach rate: -0.037618 m/s, LOS rate: 0.107050 deg/s, cmd heading: 245.809629 deg, new cmd heading: 245.925826 deg. 2025-01-08T21:52:12.727Z,1736373132.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292215 target range: 628.700012 and range: 628.70 m. 2025-01-08T21:52:12.792Z,1736373132.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:12.793Z,1736373132.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994639 2025-01-08T21:52:13.044Z,1736373133.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:13.047Z,1736373133.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248384 2025-01-08T21:52:13.185Z,1736373133.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:13.193Z,1736373133.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 628.70 m. 2025-01-08T21:52:13.212Z,1736373133.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 628.700012 m, nav range: 358.557312 m, bearing: 324.867264 deg, approach rate: -0.029001 m/s, LOS rate: 0.104411 deg/s, cmd heading: 245.925824 deg, new cmd heading: 246.073159 deg. 2025-01-08T21:52:13.213Z,1736373133.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294787 target range: 628.700012 and range: 628.70 m. 2025-01-08T21:52:13.296Z,1736373133.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:13.296Z,1736373133.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498557 2025-01-08T21:52:13.520Z,1736373133.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:13.529Z,1736373133.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 628.70 m. 2025-01-08T21:52:13.531Z,1736373133.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 628.700012 m, nav range: 358.548767 m, bearing: 324.901200 deg, approach rate: -0.025484 m/s, LOS rate: 0.101214 deg/s, cmd heading: 246.073165 deg, new cmd heading: 246.174977 deg. 2025-01-08T21:52:13.532Z,1736373133.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296564 target range: 628.700012 and range: 628.70 m. 2025-01-08T21:52:13.550Z,1736373133.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:13.552Z,1736373133.552 [DAT](INFO): DAT read: Rx Time:21:52:12.2965 2025-01-08T21:52:13.552Z,1736373133.552 [DAT](INFO): Rx dataTimestamp_ set to:1736373133.551694 2025-01-08T21:52:13.552Z,1736373133.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754611 2025-01-08T21:52:13.800Z,1736373133.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:13.801Z,1736373133.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.002519 2025-01-08T21:52:13.943Z,1736373133.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:14.011Z,1736373134.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 628.70 m. 2025-01-08T21:52:14.014Z,1736373134.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 628.700012 m, nav range: 358.538177 m, bearing: 324.943925 deg, approach rate: -0.022171 m/s, LOS rate: 0.089455 deg/s, cmd heading: 246.174989 deg, new cmd heading: 246.303168 deg. 2025-01-08T21:52:14.019Z,1736373134.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298801 target range: 628.700012 and range: 628.70 m. 2025-01-08T21:52:14.054Z,1736373134.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:14.073Z,1736373134.073 [DAT](INFO): DAT read: 21:52:12.2965 LVL= 12480, 14897, 14146, 16211, AGC= 71, IDX= 85,-0.12, 2.810, 2.440, 0.537, 1.622, PHS= 1.276, 0.865,-1.088, RAW= 39.4, -9.7, CAL= 43.0, -16.2, ROT= 107.0, 16.2 2025-01-08T21:52:14.077Z,1736373134.077 [DAT](INFO): got valid direction response: 21:52:12.2965 LVL= 12480, 14897, 14146, 16211, AGC= 71, IDX= 85,-0.12, 2.810, 2.440, 0.537, 1.622, PHS= 1.276, 0.865,-1.088, RAW= 39.4, -9.7, CAL= 43.0, -16.2, ROT= 107.0, 16.2 2025-01-08T21:52:14.085Z,1736373134.085 [DAT](INFO): DAT read: Bearing 107.0, 16.2 (Local) 2025-01-08T21:52:14.086Z,1736373134.086 [DAT](INFO): Local bearing/azimuth received: Bearing 107.0, 16.2 (Local) 2025-01-08T21:52:14.116Z,1736373134.116 [DAT](INFO): DAT read: Range 10 to 50 : 641.6 m (Round-trip 855.5 ms) speed -0.4 m/s 2025-01-08T21:52:14.119Z,1736373134.119 [DAT](INFO): DAT read: user:2111> 2025-01-08T21:52:14.134Z,1736373134.134 [DAT](INFO): DAT read: Tx time:21:52:13.3869 2025-01-08T21:52:14.135Z,1736373134.135 [DAT](INFO): Ping request sent. 2025-01-08T21:52:14.145Z,1736373134.145 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:14.163Z,1736373134.163 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:14.165Z,1736373134.165 [DAT](INFO): direction in FSK: [0.191060,0.791565,0.580449] 2025-01-08T21:52:14.165Z,1736373134.165 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:14.165Z,1736373134.165 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:14.196Z,1736373134.196 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:14.196Z,1736373134.196 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:14.309Z,1736373134.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:14.310Z,1736373134.310 [DAT](INFO): DAT read: TxSync time:21:52:13.3861 2025-01-08T21:52:14.508Z,1736373134.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:14.529Z,1736373134.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 641.599976 m, deltaT: 4.285823 s, deltaX: 12.899963 m, approachRate: 3.009915 m/s, rangeRepo size: 4 2025-01-08T21:52:14.536Z,1736373134.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 641.599976 m, bearing: 323.177861 deg, lat: 36.901859 deg, lon: -122.120792 deg, deltaT: 4.285823 s, deltaX: 12.899963 m, approachRate: 3.009915 m/s, posRepo size: 4 2025-01-08T21:52:14.537Z,1736373134.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 641.60 m. 2025-01-08T21:52:14.543Z,1736373134.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 641.599976 m, nav range: 413.358459 m, bearing: 330.166077 deg, approach rate: 0.000000 m/s, LOS rate: 0.089455 deg/s, cmd heading: 246.303178 deg, new cmd heading: 246.443417 deg. 2025-01-08T21:52:14.544Z,1736373134.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301249 target range: 641.599976 and range: 641.60 m. 2025-01-08T21:52:14.560Z,1736373134.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:14.812Z,1736373134.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:14.934Z,1736373134.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:14.961Z,1736373134.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:14.963Z,1736373134.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 641.60 m. 2025-01-08T21:52:14.966Z,1736373134.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 641.599976 m, nav range: 413.375549 m, bearing: 330.202881 deg, approach rate: 0.039361 m/s, LOS rate: 0.084763 deg/s, cmd heading: 246.443416 deg, new cmd heading: 246.553823 deg. 2025-01-08T21:52:14.967Z,1736373134.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303176 target range: 641.599976 and range: 641.60 m. 2025-01-08T21:52:15.064Z,1736373135.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:15.064Z,1736373135.064 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:15.064Z,1736373135.064 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:15.065Z,1736373135.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:15.319Z,1736373135.319 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:15.320Z,1736373135.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.184693 2025-01-08T21:52:15.381Z,1736373135.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:15.402Z,1736373135.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 641.60 m. 2025-01-08T21:52:15.409Z,1736373135.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 641.599976 m, nav range: 413.384918 m, bearing: 330.240289 deg, approach rate: 0.021337 m/s, LOS rate: 0.085193 deg/s, cmd heading: 246.553819 deg, new cmd heading: 246.666042 deg. 2025-01-08T21:52:15.410Z,1736373135.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305135 target range: 641.599976 and range: 641.60 m. 2025-01-08T21:52:15.572Z,1736373135.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:15.572Z,1736373135.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.437457 2025-01-08T21:52:15.750Z,1736373135.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:15.759Z,1736373135.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 641.60 m. 2025-01-08T21:52:15.762Z,1736373135.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 641.599976 m, nav range: 413.392120 m, bearing: 330.271178 deg, approach rate: 0.020177 m/s, LOS rate: 0.086534 deg/s, cmd heading: 246.666053 deg, new cmd heading: 246.758718 deg. 2025-01-08T21:52:15.769Z,1736373135.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306752 target range: 641.599976 and range: 641.60 m. 2025-01-08T21:52:15.824Z,1736373135.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:15.826Z,1736373135.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.690869 2025-01-08T21:52:16.076Z,1736373136.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:16.076Z,1736373136.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.941468 2025-01-08T21:52:16.230Z,1736373136.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:16.259Z,1736373136.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 641.60 m. 2025-01-08T21:52:16.266Z,1736373136.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 641.599976 m, nav range: 413.418884 m, bearing: 330.312014 deg, approach rate: 0.053554 m/s, LOS rate: 0.081706 deg/s, cmd heading: 246.758725 deg, new cmd heading: 246.881224 deg. 2025-01-08T21:52:16.267Z,1736373136.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308890 target range: 641.599976 and range: 641.60 m. 2025-01-08T21:52:16.328Z,1736373136.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:16.329Z,1736373136.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.193673 2025-01-08T21:52:16.580Z,1736373136.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:16.581Z,1736373136.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445585 2025-01-08T21:52:16.713Z,1736373136.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:16.723Z,1736373136.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 641.60 m. 2025-01-08T21:52:16.727Z,1736373136.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 641.599976 m, nav range: 413.439178 m, bearing: 330.353103 deg, approach rate: 0.043726 m/s, LOS rate: 0.088525 deg/s, cmd heading: 246.881231 deg, new cmd heading: 247.004492 deg. 2025-01-08T21:52:16.728Z,1736373136.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311042 target range: 641.599976 and range: 641.60 m. 2025-01-08T21:52:16.833Z,1736373136.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:16.834Z,1736373136.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698778 2025-01-08T21:52:17.084Z,1736373137.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:17.084Z,1736373137.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949449 2025-01-08T21:52:17.129Z,1736373137.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:17.170Z,1736373137.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:17.186Z,1736373137.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 641.60 m. 2025-01-08T21:52:17.205Z,1736373137.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 641.599976 m, nav range: 413.454834 m, bearing: 330.388380 deg, approach rate: 0.033871 m/s, LOS rate: 0.076318 deg/s, cmd heading: 247.004502 deg, new cmd heading: 247.110328 deg. 2025-01-08T21:52:17.206Z,1736373137.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312889 target range: 641.599976 and range: 641.60 m. 2025-01-08T21:52:17.220Z,1736373137.220 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T21:42:16.8Z 2025-01-08T21:52:17.220Z,1736373137.220 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T21:52:17.220Z,1736373137.220 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:52:17.220Z,1736373137.220 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T21:52:17.221Z,1736373137.221 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:52:17.221Z,1736373137.221 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T21:52:17.336Z,1736373137.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:17.336Z,1736373137.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.201488 2025-01-08T21:52:17.557Z,1736373137.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:17.565Z,1736373137.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 641.60 m. 2025-01-08T21:52:17.569Z,1736373137.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 641.599976 m, nav range: 413.464783 m, bearing: 330.426456 deg, approach rate: 0.026179 m/s, LOS rate: 0.100192 deg/s, cmd heading: 247.110316 deg, new cmd heading: 247.224541 deg. 2025-01-08T21:52:17.570Z,1736373137.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314882 target range: 641.599976 and range: 641.60 m. 2025-01-08T21:52:17.574Z,1736373137.574 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T21:52:17.574Z,1736373137.574 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T21:52:17.574Z,1736373137.574 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T21:52:17.574Z,1736373137.574 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T21:52:17.574Z,1736373137.574 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T21:52:17.605Z,1736373137.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:17.606Z,1736373137.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.470775 2025-01-08T21:52:17.856Z,1736373137.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:17.857Z,1736373137.857 [DAT](INFO): DAT read: Rx Time:21:52:16.6405 2025-01-08T21:52:17.857Z,1736373137.857 [DAT](INFO): Rx dataTimestamp_ set to:1736373137.856752 2025-01-08T21:52:17.858Z,1736373137.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722620 2025-01-08T21:52:18.086Z,1736373138.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:18.108Z,1736373138.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:18.108Z,1736373138.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.973486 2025-01-08T21:52:18.116Z,1736373138.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 641.60 m. 2025-01-08T21:52:18.125Z,1736373138.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 641.599976 m, nav range: 413.475006 m, bearing: 330.473531 deg, approach rate: 0.019307 m/s, LOS rate: 0.088900 deg/s, cmd heading: 247.224544 deg, new cmd heading: 247.365766 deg. 2025-01-08T21:52:18.126Z,1736373138.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317347 target range: 641.599976 and range: 641.60 m. 2025-01-08T21:52:18.361Z,1736373138.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:18.368Z,1736373138.368 [DAT](INFO): DAT read: 21:52:16.6405 LVL= 14064, 21361, 13506, 20387, AGC= 72, IDX= 359, 0.04,-1.380,-1.838, 2.606,-2.311, PHS= 1.019, 0.520,-1.369, RAW= 41.4, -1.6, CAL= 41.8, -4.2, ROT= 108.2, 4.2 2025-01-08T21:52:18.369Z,1736373138.369 [DAT](INFO): got valid direction response: 21:52:16.6405 LVL= 14064, 21361, 13506, 20387, AGC= 72, IDX= 359, 0.04,-1.380,-1.838, 2.606,-2.311, PHS= 1.019, 0.520,-1.369, RAW= 41.4, -1.6, CAL= 41.8, -4.2, ROT= 108.2, 4.2 2025-01-08T21:52:18.370Z,1736373138.370 [DAT](INFO): DAT read: Bearing 108.2, 4.2 (Local) 2025-01-08T21:52:18.371Z,1736373138.371 [DAT](INFO): Local bearing/azimuth received: Bearing 108.2, 4.2 (Local) 2025-01-08T21:52:18.373Z,1736373138.373 [DAT](INFO): DAT read: Range 10 to 50 : 637.1 m (Round-trip 849.5 ms) speed -0.3 m/s 2025-01-08T21:52:18.374Z,1736373138.374 [DAT](INFO): DAT read: user:2112> 2025-01-08T21:52:18.376Z,1736373138.376 [DAT](INFO): DAT read: Tx time:21:52:17.7369 2025-01-08T21:52:18.376Z,1736373138.376 [DAT](INFO): Ping request sent. 2025-01-08T21:52:18.376Z,1736373138.376 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:18.377Z,1736373138.377 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:18.379Z,1736373138.379 [DAT](INFO): direction in FSK: [0.038386,0.793405,0.607483] 2025-01-08T21:52:18.391Z,1736373138.391 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:18.392Z,1736373138.392 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:18.397Z,1736373138.397 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:18.398Z,1736373138.398 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:18.612Z,1736373138.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:18.613Z,1736373138.613 [DAT](INFO): DAT read: TxSync time:21:52:17.7361 2025-01-08T21:52:18.672Z,1736373138.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:18.690Z,1736373138.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 637.099976 m, deltaT: 4.306926 s, deltaX: -4.500000 m, approachRate: -1.044829 m/s, rangeRepo size: 4 2025-01-08T21:52:18.693Z,1736373138.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 637.099976 m, bearing: 346.322117 deg, lat: 36.902075 deg, lon: -122.119665 deg, deltaT: 4.306926 s, deltaX: -4.500000 m, approachRate: -1.044829 m/s, posRepo size: 4 2025-01-08T21:52:18.693Z,1736373138.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.10 m. 2025-01-08T21:52:18.696Z,1736373138.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.099976 m, nav range: 397.618164 m, bearing: 344.952437 deg, approach rate: 0.000000 m/s, LOS rate: 0.088900 deg/s, cmd heading: 247.365765 deg, new cmd heading: 247.524489 deg. 2025-01-08T21:52:18.697Z,1736373138.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320117 target range: 637.099976 and range: 637.10 m. 2025-01-08T21:52:18.864Z,1736373138.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:19.110Z,1736373139.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:19.116Z,1736373139.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:19.124Z,1736373139.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.10 m. 2025-01-08T21:52:19.127Z,1736373139.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.099976 m, nav range: 397.694489 m, bearing: 344.993760 deg, approach rate: 0.175671 m/s, LOS rate: 0.095092 deg/s, cmd heading: 247.524498 deg, new cmd heading: 247.648443 deg. 2025-01-08T21:52:19.128Z,1736373139.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322281 target range: 637.099976 and range: 637.10 m. 2025-01-08T21:52:19.368Z,1736373139.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:19.540Z,1736373139.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:19.547Z,1736373139.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:19.549Z,1736373139.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.10 m. 2025-01-08T21:52:19.553Z,1736373139.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.099976 m, nav range: 397.766907 m, bearing: 345.037688 deg, approach rate: 0.170391 m/s, LOS rate: 0.103339 deg/s, cmd heading: 247.648453 deg, new cmd heading: 247.780214 deg. 2025-01-08T21:52:19.554Z,1736373139.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324581 target range: 637.099976 and range: 637.10 m. 2025-01-08T21:52:19.621Z,1736373139.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:19.622Z,1736373139.622 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:19.622Z,1736373139.622 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:19.622Z,1736373139.622 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:19.872Z,1736373139.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:19.872Z,1736373139.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495921 2025-01-08T21:52:19.915Z,1736373139.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:19.925Z,1736373139.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.10 m. 2025-01-08T21:52:19.928Z,1736373139.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.099976 m, nav range: 397.829315 m, bearing: 345.075872 deg, approach rate: 0.166223 m/s, LOS rate: 0.101684 deg/s, cmd heading: 247.780221 deg, new cmd heading: 247.894752 deg. 2025-01-08T21:52:19.929Z,1736373139.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326580 target range: 637.099976 and range: 637.10 m. 2025-01-08T21:52:20.125Z,1736373140.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:20.126Z,1736373140.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749202 2025-01-08T21:52:20.356Z,1736373140.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:20.364Z,1736373140.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.10 m. 2025-01-08T21:52:20.367Z,1736373140.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.099976 m, nav range: 397.901428 m, bearing: 345.123707 deg, approach rate: 0.164175 m/s, LOS rate: 0.108884 deg/s, cmd heading: 247.894749 deg, new cmd heading: 248.038230 deg. 2025-01-08T21:52:20.369Z,1736373140.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329084 target range: 637.099976 and range: 637.10 m. 2025-01-08T21:52:20.376Z,1736373140.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:20.376Z,1736373140.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999996 2025-01-08T21:52:20.628Z,1736373140.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:20.628Z,1736373140.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251929 2025-01-08T21:52:20.725Z,1736373140.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:20.735Z,1736373140.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.10 m. 2025-01-08T21:52:20.738Z,1736373140.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.099976 m, nav range: 397.961029 m, bearing: 345.163883 deg, approach rate: 0.161121 m/s, LOS rate: 0.108592 deg/s, cmd heading: 248.038238 deg, new cmd heading: 248.158747 deg. 2025-01-08T21:52:20.739Z,1736373140.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331187 target range: 637.099976 and range: 637.10 m. 2025-01-08T21:52:20.880Z,1736373140.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:20.880Z,1736373140.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503951 2025-01-08T21:52:21.127Z,1736373141.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:21.132Z,1736373141.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:21.132Z,1736373141.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755944 2025-01-08T21:52:21.138Z,1736373141.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.10 m. 2025-01-08T21:52:21.140Z,1736373141.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.099976 m, nav range: 398.025391 m, bearing: 345.207431 deg, approach rate: 0.159441 m/s, LOS rate: 0.107863 deg/s, cmd heading: 248.158750 deg, new cmd heading: 248.289372 deg. 2025-01-08T21:52:21.141Z,1736373141.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333467 target range: 637.099976 and range: 637.10 m. 2025-01-08T21:52:21.385Z,1736373141.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:21.386Z,1736373141.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009364 2025-01-08T21:52:21.556Z,1736373141.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:21.563Z,1736373141.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:21.565Z,1736373141.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.10 m. 2025-01-08T21:52:21.569Z,1736373141.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.099976 m, nav range: 398.091858 m, bearing: 345.255942 deg, approach rate: 0.155443 m/s, LOS rate: 0.113432 deg/s, cmd heading: 248.289370 deg, new cmd heading: 248.434880 deg. 2025-01-08T21:52:21.569Z,1736373141.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336007 target range: 637.099976 and range: 637.10 m. 2025-01-08T21:52:21.636Z,1736373141.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:21.637Z,1736373141.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260968 2025-01-08T21:52:21.888Z,1736373141.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:21.888Z,1736373141.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511829 2025-01-08T21:52:21.972Z,1736373141.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:21.981Z,1736373141.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.10 m. 2025-01-08T21:52:21.984Z,1736373141.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.099976 m, nav range: 398.156158 m, bearing: 345.302919 deg, approach rate: 0.154628 m/s, LOS rate: 0.112950 deg/s, cmd heading: 248.434880 deg, new cmd heading: 248.575787 deg. 2025-01-08T21:52:21.986Z,1736373141.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338466 target range: 637.099976 and range: 637.10 m. 2025-01-08T21:52:22.140Z,1736373142.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:22.142Z,1736373142.142 [DAT](INFO): DAT read: Rx Time:21:52:20.9841 2025-01-08T21:52:22.143Z,1736373142.143 [DAT](INFO): Rx dataTimestamp_ set to:1736373142.142560 2025-01-08T21:52:22.143Z,1736373142.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766975 2025-01-08T21:52:22.358Z,1736373142.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:22.367Z,1736373142.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.10 m. 2025-01-08T21:52:22.387Z,1736373142.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.099976 m, nav range: 398.212860 m, bearing: 345.347783 deg, approach rate: 0.147005 m/s, LOS rate: 0.116299 deg/s, cmd heading: 248.575774 deg, new cmd heading: 248.710348 deg. 2025-01-08T21:52:22.392Z,1736373142.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:22.392Z,1736373142.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015974 2025-01-08T21:52:22.393Z,1736373142.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340815 target range: 637.099976 and range: 637.10 m. 2025-01-08T21:52:22.648Z,1736373142.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:22.652Z,1736373142.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274056 2025-01-08T21:52:22.748Z,1736373142.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:22.758Z,1736373142.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.10 m. 2025-01-08T21:52:22.761Z,1736373142.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.099976 m, nav range: 398.269989 m, bearing: 345.392963 deg, approach rate: 0.146008 m/s, LOS rate: 0.115451 deg/s, cmd heading: 248.710356 deg, new cmd heading: 248.845874 deg. 2025-01-08T21:52:22.762Z,1736373142.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343180 target range: 637.099976 and range: 637.10 m. 2025-01-08T21:52:22.896Z,1736373142.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:22.909Z,1736373142.909 [DAT](INFO): DAT read: 21:52:20.9841 LVL= 18352, 16225, 16370, 26323, AGC= 68, IDX= 357, 0.01,-1.247,-1.935, 2.642,-2.248, PHS= 1.089, 0.360,-1.396, RAW= 46.6, -0.5, CAL= 47.0, -2.8, ROT= 103.0, 2.8 2025-01-08T21:52:22.910Z,1736373142.910 [DAT](INFO): got valid direction response: 21:52:20.9841 LVL= 18352, 16225, 16370, 26323, AGC= 68, IDX= 357, 0.01,-1.247,-1.935, 2.642,-2.248, PHS= 1.089, 0.360,-1.396, RAW= 46.6, -0.5, CAL= 47.0, -2.8, ROT= 103.0, 2.8 2025-01-08T21:52:22.912Z,1736373142.912 [DAT](INFO): DAT read: Bearing 103.0, 2.8 (Local) 2025-01-08T21:52:22.912Z,1736373142.912 [DAT](INFO): Local bearing/azimuth received: Bearing 103.0, 2.8 (Local) 2025-01-08T21:52:22.914Z,1736373142.914 [DAT](INFO): DAT read: Range 10 to 50 : 632.2 m (Round-trip 843.0 ms) speed -0.4 m/s 2025-01-08T21:52:22.914Z,1736373142.914 [DAT](INFO): DAT read: user:2113> 2025-01-08T21:52:22.916Z,1736373142.916 [DAT](INFO): DAT read: Tx time:21:52:22.0870 2025-01-08T21:52:22.916Z,1736373142.916 [DAT](INFO): Ping request sent. 2025-01-08T21:52:22.916Z,1736373142.916 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:22.917Z,1736373142.917 [DAT](INFO): DAT read: TxSync time:21:52:22.0862 2025-01-08T21:52:22.918Z,1736373142.918 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:22.920Z,1736373142.920 [DAT](INFO): direction in FSK: [0.007426,0.741081,0.671374] 2025-01-08T21:52:22.920Z,1736373142.920 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:22.921Z,1736373142.921 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:22.924Z,1736373142.924 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:22.924Z,1736373142.924 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:23.148Z,1736373143.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:23.161Z,1736373143.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:23.204Z,1736373143.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 632.200012 m, deltaT: 4.534431 s, deltaX: -4.899963 m, approachRate: -1.080613 m/s, rangeRepo size: 4 2025-01-08T21:52:23.212Z,1736373143.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 632.200012 m, bearing: 356.018622 deg, lat: 36.902349 deg, lon: -122.119665 deg, deltaT: 4.534431 s, deltaX: -4.899963 m, approachRate: -1.080613 m/s, posRepo size: 4 2025-01-08T21:52:23.213Z,1736373143.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.20 m. 2025-01-08T21:52:23.222Z,1736373143.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.200012 m, nav range: 427.902161 m, bearing: 346.466904 deg, approach rate: 0.000000 m/s, LOS rate: 0.115451 deg/s, cmd heading: 248.845867 deg, new cmd heading: 248.997750 deg. 2025-01-08T21:52:23.236Z,1736373143.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345830 target range: 632.200012 and range: 632.20 m. 2025-01-08T21:52:23.400Z,1736373143.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:23.610Z,1736373143.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:23.617Z,1736373143.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:23.621Z,1736373143.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.20 m. 2025-01-08T21:52:23.624Z,1736373143.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.200012 m, nav range: 427.977234 m, bearing: 346.514471 deg, approach rate: 0.177052 m/s, LOS rate: 0.112161 deg/s, cmd heading: 248.997743 deg, new cmd heading: 249.140417 deg. 2025-01-08T21:52:23.624Z,1736373143.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348320 target range: 632.200012 and range: 632.20 m. 2025-01-08T21:52:23.652Z,1736373143.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:23.653Z,1736373143.653 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:23.653Z,1736373143.653 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:23.653Z,1736373143.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:23.904Z,1736373143.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:23.905Z,1736373143.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988659 2025-01-08T21:52:24.085Z,1736373144.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:24.093Z,1736373144.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.20 m. 2025-01-08T21:52:24.096Z,1736373144.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.200012 m, nav range: 428.058533 m, bearing: 346.564391 deg, approach rate: 0.171966 m/s, LOS rate: 0.105573 deg/s, cmd heading: 249.140412 deg, new cmd heading: 249.290144 deg. 2025-01-08T21:52:24.097Z,1736373144.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350934 target range: 632.200012 and range: 632.20 m. 2025-01-08T21:52:24.157Z,1736373144.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:24.158Z,1736373144.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241528 2025-01-08T21:52:24.408Z,1736373144.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:24.408Z,1736373144.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492284 2025-01-08T21:52:24.519Z,1736373144.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:24.528Z,1736373144.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.20 m. 2025-01-08T21:52:24.530Z,1736373144.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.200012 m, nav range: 428.133514 m, bearing: 346.608564 deg, approach rate: 0.172702 m/s, LOS rate: 0.101724 deg/s, cmd heading: 249.290157 deg, new cmd heading: 249.422653 deg. 2025-01-08T21:52:24.532Z,1736373144.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353247 target range: 632.200012 and range: 632.20 m. 2025-01-08T21:52:24.661Z,1736373144.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:24.663Z,1736373144.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746171 2025-01-08T21:52:24.912Z,1736373144.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:24.912Z,1736373144.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996292 2025-01-08T21:52:24.982Z,1736373144.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:24.998Z,1736373144.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.20 m. 2025-01-08T21:52:25.005Z,1736373145.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.200012 m, nav range: 428.212860 m, bearing: 346.655596 deg, approach rate: 0.168517 m/s, LOS rate: 0.099868 deg/s, cmd heading: 249.422662 deg, new cmd heading: 249.563730 deg. 2025-01-08T21:52:25.006Z,1736373145.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355709 target range: 632.200012 and range: 632.20 m. 2025-01-08T21:52:25.164Z,1736373145.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:25.164Z,1736373145.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248357 2025-01-08T21:52:25.416Z,1736373145.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:25.416Z,1736373145.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500317 2025-01-08T21:52:25.421Z,1736373145.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:25.430Z,1736373145.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.20 m. 2025-01-08T21:52:25.434Z,1736373145.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.200012 m, nav range: 428.291656 m, bearing: 346.698286 deg, approach rate: 0.182493 m/s, LOS rate: 0.098852 deg/s, cmd heading: 249.563720 deg, new cmd heading: 249.691766 deg. 2025-01-08T21:52:25.440Z,1736373145.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357944 target range: 632.200012 and range: 632.20 m. 2025-01-08T21:52:25.669Z,1736373145.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:25.669Z,1736373145.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753164 2025-01-08T21:52:25.832Z,1736373145.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:25.856Z,1736373145.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:25.858Z,1736373145.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.20 m. 2025-01-08T21:52:25.865Z,1736373145.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.200012 m, nav range: 428.363434 m, bearing: 346.738103 deg, approach rate: 0.167879 m/s, LOS rate: 0.093113 deg/s, cmd heading: 249.691772 deg, new cmd heading: 249.811204 deg. 2025-01-08T21:52:25.866Z,1736373145.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360028 target range: 632.200012 and range: 632.20 m. 2025-01-08T21:52:25.920Z,1736373145.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:25.921Z,1736373145.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004514 2025-01-08T21:52:26.174Z,1736373146.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:26.176Z,1736373146.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258824 2025-01-08T21:52:26.332Z,1736373146.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:26.341Z,1736373146.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.20 m. 2025-01-08T21:52:26.344Z,1736373146.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.200012 m, nav range: 428.449188 m, bearing: 346.786632 deg, approach rate: 0.177412 m/s, LOS rate: 0.100378 deg/s, cmd heading: 249.811191 deg, new cmd heading: 249.956747 deg. 2025-01-08T21:52:26.345Z,1736373146.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.362568 target range: 632.200012 and range: 632.20 m. 2025-01-08T21:52:26.427Z,1736373146.427 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:26.428Z,1736373146.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511651 2025-01-08T21:52:26.680Z,1736373146.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:26.681Z,1736373146.681 [DAT](INFO): DAT read: Rx Time:21:52:25.3361 2025-01-08T21:52:26.681Z,1736373146.681 [DAT](INFO): Rx dataTimestamp_ set to:1736373146.681147 2025-01-08T21:52:26.682Z,1736373146.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765834 2025-01-08T21:52:26.730Z,1736373146.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:26.740Z,1736373146.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.20 m. 2025-01-08T21:52:26.743Z,1736373146.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.200012 m, nav range: 428.514557 m, bearing: 346.822884 deg, approach rate: 0.163840 m/s, LOS rate: 0.090848 deg/s, cmd heading: 249.956756 deg, new cmd heading: 250.065495 deg. 2025-01-08T21:52:26.756Z,1736373146.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364466 target range: 632.200012 and range: 632.20 m. 2025-01-08T21:52:26.932Z,1736373146.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:26.932Z,1736373146.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016182 2025-01-08T21:52:27.076Z,1736373147.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:27.085Z,1736373147.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.20 m. 2025-01-08T21:52:27.089Z,1736373147.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.200012 m, nav range: 428.569946 m, bearing: 346.854382 deg, approach rate: 0.160598 m/s, LOS rate: 0.091317 deg/s, cmd heading: 250.065493 deg, new cmd heading: 250.159976 deg. 2025-01-08T21:52:27.090Z,1736373147.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366115 target range: 632.200012 and range: 632.20 m. 2025-01-08T21:52:27.184Z,1736373147.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:27.201Z,1736373147.201 [DAT](INFO): DAT read: 21:52:25.3361 LVL= 16624, 25281, 20306, 21875, AGC= 69, IDX= 441, 0.22, 1.617, 0.865,-0.806, 0.551, PHS= 1.154, 0.360,-1.360, RAW= 48.0, -1.4, CAL= 49.1, -4.2, ROT= 100.9, 4.2 2025-01-08T21:52:27.227Z,1736373147.227 [DAT](INFO): got valid direction response: 21:52:25.3361 LVL= 16624, 25281, 20306, 21875, AGC= 69, IDX= 441, 0.22, 1.617, 0.865,-0.806, 0.551, PHS= 1.154, 0.360,-1.360, RAW= 48.0, -1.4, CAL= 49.1, -4.2, ROT= 100.9, 4.2 2025-01-08T21:52:27.250Z,1736373147.250 [DAT](INFO): DAT read: Bearing 100.9, 4.2 (Local) 2025-01-08T21:52:27.251Z,1736373147.251 [DAT](INFO): Local bearing/azimuth received: Bearing 100.9, 4.2 (Local) 2025-01-08T21:52:27.253Z,1736373147.253 [DAT](INFO): DAT read: Range 10 to 50 : 633.7 m (Round-trip 845.0 ms) speed -0.4 m/s 2025-01-08T21:52:27.254Z,1736373147.254 [DAT](INFO): DAT read: user:2114> 2025-01-08T21:52:27.254Z,1736373147.254 [DAT](INFO): DAT read: Tx time:21:52:26.4370 2025-01-08T21:52:27.255Z,1736373147.255 [DAT](INFO): Ping request sent. 2025-01-08T21:52:27.255Z,1736373147.255 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:27.272Z,1736373147.272 [DAT](INFO): DAT read: TxSync time:21:52:26.4362 2025-01-08T21:52:27.273Z,1736373147.273 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:27.274Z,1736373147.274 [DAT](INFO): direction in FSK: [0.021497,0.724189,0.689267] 2025-01-08T21:52:27.274Z,1736373147.274 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:27.274Z,1736373147.274 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:27.330Z,1736373147.330 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:27.331Z,1736373147.331 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:27.436Z,1736373147.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:27.523Z,1736373147.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:27.557Z,1736373147.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 633.700012 m, deltaT: 4.288912 s, deltaX: 1.500000 m, approachRate: 0.349739 m/s, rangeRepo size: 4 2025-01-08T21:52:27.564Z,1736373147.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 633.700012 m, bearing: 359.916192 deg, lat: 36.902266 deg, lon: -122.119665 deg, deltaT: 4.288912 s, deltaX: 1.500000 m, approachRate: 0.349739 m/s, posRepo size: 4 2025-01-08T21:52:27.564Z,1736373147.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 633.70 m. 2025-01-08T21:52:27.572Z,1736373147.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 633.700012 m, nav range: 419.694122 m, bearing: 346.607238 deg, approach rate: 0.000000 m/s, LOS rate: 0.091317 deg/s, cmd heading: 250.159968 deg, new cmd heading: 250.289250 deg. 2025-01-08T21:52:27.575Z,1736373147.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368371 target range: 633.700012 and range: 633.70 m. 2025-01-08T21:52:27.688Z,1736373147.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:27.888Z,1736373147.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:27.895Z,1736373147.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:27.897Z,1736373147.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 633.70 m. 2025-01-08T21:52:27.900Z,1736373147.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 633.700012 m, nav range: 419.757080 m, bearing: 346.639332 deg, approach rate: 0.184907 m/s, LOS rate: 0.094245 deg/s, cmd heading: 250.289250 deg, new cmd heading: 250.385516 deg. 2025-01-08T21:52:27.902Z,1736373147.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370052 target range: 633.700012 and range: 633.70 m. 2025-01-08T21:52:27.941Z,1736373147.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:27.941Z,1736373147.941 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:27.941Z,1736373147.941 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:27.942Z,1736373147.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:28.192Z,1736373148.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:28.192Z,1736373148.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.937643 2025-01-08T21:52:28.354Z,1736373148.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:28.376Z,1736373148.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 633.70 m. 2025-01-08T21:52:28.378Z,1736373148.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 633.700012 m, nav range: 419.835236 m, bearing: 346.679849 deg, approach rate: 0.164817 m/s, LOS rate: 0.085428 deg/s, cmd heading: 250.385528 deg, new cmd heading: 250.507056 deg. 2025-01-08T21:52:28.384Z,1736373148.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372173 target range: 633.700012 and range: 633.70 m. 2025-01-08T21:52:28.444Z,1736373148.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:28.446Z,1736373148.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.190826 2025-01-08T21:52:28.696Z,1736373148.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:28.696Z,1736373148.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441704 2025-01-08T21:52:28.750Z,1736373148.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:28.760Z,1736373148.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 633.70 m. 2025-01-08T21:52:28.763Z,1736373148.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 633.700012 m, nav range: 419.902618 m, bearing: 346.712139 deg, approach rate: 0.173567 m/s, LOS rate: 0.083160 deg/s, cmd heading: 250.507051 deg, new cmd heading: 250.603905 deg. 2025-01-08T21:52:28.764Z,1736373148.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373863 target range: 633.700012 and range: 633.70 m. 2025-01-08T21:52:28.949Z,1736373148.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:28.950Z,1736373148.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695141 2025-01-08T21:52:29.197Z,1736373149.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:29.200Z,1736373149.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:29.200Z,1736373149.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945711 2025-01-08T21:52:29.207Z,1736373149.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 633.70 m. 2025-01-08T21:52:29.210Z,1736373149.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 633.700012 m, nav range: 419.976074 m, bearing: 346.748678 deg, approach rate: 0.164316 m/s, LOS rate: 0.081721 deg/s, cmd heading: 250.603903 deg, new cmd heading: 250.713500 deg. 2025-01-08T21:52:29.211Z,1736373149.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.375776 target range: 633.700012 and range: 633.70 m. 2025-01-08T21:52:29.452Z,1736373149.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:29.453Z,1736373149.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197967 2025-01-08T21:52:29.640Z,1736373149.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:29.671Z,1736373149.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 633.70 m. 2025-01-08T21:52:29.682Z,1736373149.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 633.700012 m, nav range: 420.048035 m, bearing: 346.783647 deg, approach rate: 0.156486 m/s, LOS rate: 0.076031 deg/s, cmd heading: 250.713486 deg, new cmd heading: 250.818375 deg. 2025-01-08T21:52:29.683Z,1736373149.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377606 target range: 633.700012 and range: 633.70 m. 2025-01-08T21:52:29.704Z,1736373149.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:29.705Z,1736373149.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450032 2025-01-08T21:52:29.956Z,1736373149.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:29.956Z,1736373149.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701586 2025-01-08T21:52:30.112Z,1736373150.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:30.120Z,1736373150.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:30.122Z,1736373150.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 633.70 m. 2025-01-08T21:52:30.125Z,1736373150.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 633.700012 m, nav range: 420.122345 m, bearing: 346.821004 deg, approach rate: 0.163143 m/s, LOS rate: 0.082000 deg/s, cmd heading: 250.818371 deg, new cmd heading: 250.930421 deg. 2025-01-08T21:52:30.126Z,1736373150.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379562 target range: 633.700012 and range: 633.70 m. 2025-01-08T21:52:30.208Z,1736373150.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:30.209Z,1736373150.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953783 2025-01-08T21:52:30.460Z,1736373150.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:30.460Z,1736373150.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205703 2025-01-08T21:52:30.541Z,1736373150.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:30.549Z,1736373150.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 633.70 m. 2025-01-08T21:52:30.553Z,1736373150.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 633.700012 m, nav range: 420.189453 m, bearing: 346.855534 deg, approach rate: 0.157194 m/s, LOS rate: 0.080870 deg/s, cmd heading: 250.930413 deg, new cmd heading: 251.033987 deg. 2025-01-08T21:52:30.554Z,1736373150.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.381370 target range: 633.700012 and range: 633.70 m. 2025-01-08T21:52:30.712Z,1736373150.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:30.713Z,1736373150.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457842 2025-01-08T21:52:30.955Z,1736373150.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:30.964Z,1736373150.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:30.966Z,1736373150.966 [DAT](INFO): DAT read: Rx Time:21:52:29.6880 2025-01-08T21:52:30.967Z,1736373150.967 [DAT](INFO): Rx dataTimestamp_ set to:1736373150.966063 2025-01-08T21:52:30.971Z,1736373150.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.716229 2025-01-08T21:52:30.984Z,1736373150.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 633.70 m. 2025-01-08T21:52:30.989Z,1736373150.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 633.700012 m, nav range: 420.250031 m, bearing: 346.889082 deg, approach rate: 0.139777 m/s, LOS rate: 0.077397 deg/s, cmd heading: 251.033986 deg, new cmd heading: 251.134614 deg. 2025-01-08T21:52:30.989Z,1736373150.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383126 target range: 633.700012 and range: 633.70 m. 2025-01-08T21:52:31.216Z,1736373151.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:31.216Z,1736373151.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.961547 2025-01-08T21:52:31.464Z,1736373151.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:31.469Z,1736373151.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:31.475Z,1736373151.475 [DAT](INFO): DAT read: 21:52:29.6880 LVL= 16496, 18481, 12594, 15971, AGC= 70, IDX= 460, 0.09,-1.793,-2.705, 2.049,-2.948, PHS= 1.243, 0.290,-1.289, RAW= 51.9, -2.2, CAL= 54.2, -5.7, ROT= 95.8, 5.7 2025-01-08T21:52:31.476Z,1736373151.476 [DAT](INFO): got valid direction response: 21:52:29.6880 LVL= 16496, 18481, 12594, 15971, AGC= 70, IDX= 460, 0.09,-1.793,-2.705, 2.049,-2.948, PHS= 1.243, 0.290,-1.289, RAW= 51.9, -2.2, CAL= 54.2, -5.7, ROT= 95.8, 5.7 2025-01-08T21:52:31.477Z,1736373151.477 [DAT](INFO): DAT read: Bearing 95.8, 5.7 (Local) 2025-01-08T21:52:31.478Z,1736373151.478 [DAT](INFO): Local bearing/azimuth received: Bearing 95.8, 5.7 (Local) 2025-01-08T21:52:31.479Z,1736373151.479 [DAT](INFO): DAT read: Range 10 to 50 : 635.1 m (Round-trip 846.8 ms) speed -0.3 m/s 2025-01-08T21:52:31.480Z,1736373151.480 [DAT](INFO): DAT read: user:2115> 2025-01-08T21:52:31.481Z,1736373151.481 [DAT](INFO): DAT read: Tx time:21:52:30.7871 2025-01-08T21:52:31.481Z,1736373151.481 [DAT](INFO): Ping request sent. 2025-01-08T21:52:31.481Z,1736373151.481 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:31.482Z,1736373151.482 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:31.483Z,1736373151.483 [DAT](INFO): direction in FSK: [0.028878,0.677848,0.734635] 2025-01-08T21:52:31.483Z,1736373151.483 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:31.483Z,1736373151.483 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:31.507Z,1736373151.507 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:31.508Z,1736373151.508 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:31.522Z,1736373151.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 635.099976 m, deltaT: 4.283922 s, deltaX: 1.399963 m, approachRate: 0.326795 m/s, rangeRepo size: 4 2025-01-08T21:52:31.536Z,1736373151.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 635.099976 m, bearing: 3.740624 deg, lat: 36.902266 deg, lon: -122.118865 deg, deltaT: 4.283922 s, deltaX: 1.399963 m, approachRate: 0.326795 m/s, posRepo size: 4 2025-01-08T21:52:31.537Z,1736373151.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 635.10 m. 2025-01-08T21:52:31.563Z,1736373151.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 635.099976 m, nav range: 410.133514 m, bearing: 356.665094 deg, approach rate: 0.000000 m/s, LOS rate: 0.077397 deg/s, cmd heading: 251.134608 deg, new cmd heading: 251.259752 deg. 2025-01-08T21:52:31.564Z,1736373151.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385310 target range: 635.099976 and range: 635.10 m. 2025-01-08T21:52:31.720Z,1736373151.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:31.721Z,1736373151.721 [DAT](INFO): DAT read: TxSync time:21:52:30.7863 2025-01-08T21:52:31.805Z,1736373151.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:31.827Z,1736373151.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 635.10 m. 2025-01-08T21:52:31.843Z,1736373151.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 635.099976 m, nav range: 410.217377 m, bearing: 356.693055 deg, approach rate: 0.274569 m/s, LOS rate: 0.091527 deg/s, cmd heading: 251.259765 deg, new cmd heading: 251.343631 deg. 2025-01-08T21:52:31.844Z,1736373151.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386774 target range: 635.099976 and range: 635.10 m. 2025-01-08T21:52:31.972Z,1736373151.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:32.164Z,1736373152.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:32.191Z,1736373152.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:32.197Z,1736373152.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 635.10 m. 2025-01-08T21:52:32.211Z,1736373152.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 635.099976 m, nav range: 410.305969 m, bearing: 356.722577 deg, approach rate: 0.239368 m/s, LOS rate: 0.079747 deg/s, cmd heading: 251.343639 deg, new cmd heading: 251.432185 deg. 2025-01-08T21:52:32.214Z,1736373152.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388319 target range: 635.099976 and range: 635.10 m. 2025-01-08T21:52:32.224Z,1736373152.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:32.224Z,1736373152.224 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:32.224Z,1736373152.224 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:32.225Z,1736373152.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:32.476Z,1736373152.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:32.476Z,1736373152.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994997 2025-01-08T21:52:32.610Z,1736373152.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:32.623Z,1736373152.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 635.10 m. 2025-01-08T21:52:32.626Z,1736373152.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 635.099976 m, nav range: 410.414093 m, bearing: 356.761764 deg, approach rate: 0.253918 m/s, LOS rate: 0.092003 deg/s, cmd heading: 251.432186 deg, new cmd heading: 251.549716 deg. 2025-01-08T21:52:32.627Z,1736373152.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.390371 target range: 635.099976 and range: 635.10 m. 2025-01-08T21:52:32.728Z,1736373152.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:32.729Z,1736373152.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247491 2025-01-08T21:52:32.976Z,1736373152.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:32.980Z,1736373152.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:32.981Z,1736373152.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499262 2025-01-08T21:52:33.015Z,1736373153.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 635.10 m. 2025-01-08T21:52:33.019Z,1736373153.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 635.099976 m, nav range: 410.502045 m, bearing: 356.793991 deg, approach rate: 0.241406 m/s, LOS rate: 0.088438 deg/s, cmd heading: 251.549720 deg, new cmd heading: 251.646382 deg. 2025-01-08T21:52:33.025Z,1736373153.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.392058 target range: 635.099976 and range: 635.10 m. 2025-01-08T21:52:33.233Z,1736373153.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:33.234Z,1736373153.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752559 2025-01-08T21:52:33.484Z,1736373153.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:33.485Z,1736373153.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003952 2025-01-08T21:52:33.500Z,1736373153.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:33.510Z,1736373153.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 635.10 m. 2025-01-08T21:52:33.513Z,1736373153.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 635.099976 m, nav range: 410.623169 m, bearing: 356.844787 deg, approach rate: 0.231761 m/s, LOS rate: 0.097165 deg/s, cmd heading: 251.646381 deg, new cmd heading: 251.798724 deg. 2025-01-08T21:52:33.514Z,1736373153.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394717 target range: 635.099976 and range: 635.10 m. 2025-01-08T21:52:33.737Z,1736373153.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:33.738Z,1736373153.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256137 2025-01-08T21:52:33.960Z,1736373153.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:33.969Z,1736373153.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 635.10 m. 2025-01-08T21:52:33.972Z,1736373153.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 635.099976 m, nav range: 410.730530 m, bearing: 356.889315 deg, approach rate: 0.233534 m/s, LOS rate: 0.096832 deg/s, cmd heading: 251.798721 deg, new cmd heading: 251.932269 deg. 2025-01-08T21:52:33.973Z,1736373153.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397048 target range: 635.099976 and range: 635.10 m. 2025-01-08T21:52:33.991Z,1736373153.991 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:33.992Z,1736373153.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510539 2025-01-08T21:52:34.245Z,1736373154.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:34.246Z,1736373154.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764614 2025-01-08T21:52:34.463Z,1736373154.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:34.491Z,1736373154.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:34.493Z,1736373154.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 635.10 m. 2025-01-08T21:52:34.496Z,1736373154.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:34.497Z,1736373154.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015140 2025-01-08T21:52:34.500Z,1736373154.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 635.099976 m, nav range: 410.850281 m, bearing: 356.938106 deg, approach rate: 0.228608 m/s, LOS rate: 0.093117 deg/s, cmd heading: 251.932265 deg, new cmd heading: 252.078596 deg. 2025-01-08T21:52:34.502Z,1736373154.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399601 target range: 635.099976 and range: 635.10 m. 2025-01-08T21:52:34.748Z,1736373154.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:34.748Z,1736373154.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267093 2025-01-08T21:52:34.815Z,1736373154.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:34.833Z,1736373154.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 635.10 m. 2025-01-08T21:52:34.841Z,1736373154.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 635.099976 m, nav range: 410.934570 m, bearing: 356.971863 deg, approach rate: 0.248128 m/s, LOS rate: 0.099351 deg/s, cmd heading: 252.078595 deg, new cmd heading: 252.179844 deg. 2025-01-08T21:52:34.842Z,1736373154.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401369 target range: 635.099976 and range: 635.10 m. 2025-01-08T21:52:34.000Z,1736373155.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:35.000Z,1736373155.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519037 2025-01-08T21:52:35.204Z,1736373155.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:35.213Z,1736373155.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 635.10 m. 2025-01-08T21:52:35.232Z,1736373155.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 635.099976 m, nav range: 411.031433 m, bearing: 357.009872 deg, approach rate: 0.254553 m/s, LOS rate: 0.099865 deg/s, cmd heading: 252.179846 deg, new cmd heading: 252.293848 deg. 2025-01-08T21:52:35.233Z,1736373155.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403358 target range: 635.099976 and range: 635.10 m. 2025-01-08T21:52:35.252Z,1736373155.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:35.254Z,1736373155.254 [DAT](INFO): DAT read: Rx Time:21:52:34.0396 2025-01-08T21:52:35.254Z,1736373155.254 [DAT](INFO): Rx dataTimestamp_ set to:1736373155.253812 2025-01-08T21:52:35.255Z,1736373155.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773264 2025-01-08T21:52:35.504Z,1736373155.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:35.505Z,1736373155.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023516 2025-01-08T21:52:35.644Z,1736373155.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:52:35.644Z,1736373155.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:35.660Z,1736373155.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 635.10 m. 2025-01-08T21:52:35.693Z,1736373155.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 635.099976 m, nav range: 411.141663 m, bearing: 357.052201 deg, approach rate: 0.247591 m/s, LOS rate: 0.095050 deg/s, cmd heading: 252.293855 deg, new cmd heading: 252.420806 deg. 2025-01-08T21:52:35.702Z,1736373155.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405574 target range: 635.099976 and range: 635.10 m. 2025-01-08T21:52:35.756Z,1736373155.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:35.762Z,1736373155.762 [DAT](INFO): DAT read: 21:52:34.0396 LVL= 13360, 16305, 15426, 20163, AGC= 68, IDX= 444, 0.15, 0.029,-0.874,-2.413,-1.096, PHS= 1.213, 0.269,-1.320, RAW= 51.6, -1.5, CAL= 53.4, -4.6, ROT= 96.6, 4.6 2025-01-08T21:52:35.764Z,1736373155.764 [DAT](INFO): got valid direction response: 21:52:34.0396 LVL= 13360, 16305, 15426, 20163, AGC= 68, IDX= 444, 0.15, 0.029,-0.874,-2.413,-1.096, PHS= 1.213, 0.269,-1.320, RAW= 51.6, -1.5, CAL= 53.4, -4.6, ROT= 96.6, 4.6 2025-01-08T21:52:35.765Z,1736373155.765 [DAT](INFO): DAT read: Bearing 96.6, 4.6 (Local) 2025-01-08T21:52:35.765Z,1736373155.765 [DAT](INFO): Local bearing/azimuth received: Bearing 96.6, 4.6 (Local) 2025-01-08T21:52:35.767Z,1736373155.767 [DAT](INFO): DAT read: Range 10 to 50 : 636.3 m (Round-trip 848.4 ms) speed -0.2 m/s 2025-01-08T21:52:35.768Z,1736373155.768 [DAT](INFO): DAT read: user:2116> 2025-01-08T21:52:35.769Z,1736373155.769 [DAT](INFO): DAT read: Tx time:21:52:35.1371 2025-01-08T21:52:35.769Z,1736373155.769 [DAT](INFO): Ping request sent. 2025-01-08T21:52:35.770Z,1736373155.770 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:35.770Z,1736373155.770 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:35.771Z,1736373155.771 [DAT](INFO): direction in FSK: [0.015432,0.681801,0.731375] 2025-01-08T21:52:35.779Z,1736373155.779 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:35.780Z,1736373155.780 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:35.782Z,1736373155.782 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:35.783Z,1736373155.783 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:36.008Z,1736373156.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:36.009Z,1736373156.009 [DAT](INFO): DAT read: TxSync time:21:52:35.1363 2025-01-08T21:52:36.021Z,1736373156.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:52:36.021Z,1736373156.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:36.068Z,1736373156.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 636.299988 m, deltaT: 4.287351 s, deltaX: 1.200012 m, approachRate: 0.279896 m/s, rangeRepo size: 4 2025-01-08T21:52:36.070Z,1736373156.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 636.299988 m, bearing: 358.010298 deg, lat: 36.902049 deg, lon: -122.118579 deg, deltaT: 4.287351 s, deltaX: 1.200012 m, approachRate: 0.279896 m/s, posRepo size: 4 2025-01-08T21:52:36.071Z,1736373156.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 636.30 m. 2025-01-08T21:52:36.078Z,1736373156.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 636.299988 m, nav range: 386.589752 m, bearing: 0.674093 deg, approach rate: 0.000000 m/s, LOS rate: 0.095050 deg/s, cmd heading: 252.420815 deg, new cmd heading: 252.535953 deg. 2025-01-08T21:52:36.079Z,1736373156.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407584 target range: 636.299988 and range: 636.30 m. 2025-01-08T21:52:36.260Z,1736373156.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:36.474Z,1736373156.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T21:52:36.474Z,1736373156.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:36.497Z,1736373156.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:36.499Z,1736373156.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 636.30 m. 2025-01-08T21:52:36.506Z,1736373156.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 636.299988 m, nav range: 386.727264 m, bearing: 0.719154 deg, approach rate: 0.315133 m/s, LOS rate: 0.103229 deg/s, cmd heading: 252.535945 deg, new cmd heading: 252.671080 deg. 2025-01-08T21:52:36.507Z,1736373156.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409942 target range: 636.299988 and range: 636.30 m. 2025-01-08T21:52:36.512Z,1736373156.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:36.512Z,1736373156.512 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:36.512Z,1736373156.512 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:36.513Z,1736373156.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:36.764Z,1736373156.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:36.764Z,1736373156.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994735 2025-01-08T21:52:36.860Z,1736373156.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:36.869Z,1736373156.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 636.30 m. 2025-01-08T21:52:36.873Z,1736373156.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 636.299988 m, nav range: 386.838196 m, bearing: 0.766779 deg, approach rate: 0.299290 m/s, LOS rate: 0.128453 deg/s, cmd heading: 252.671073 deg, new cmd heading: 252.813905 deg. 2025-01-08T21:52:36.874Z,1736373156.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412435 target range: 636.299988 and range: 636.30 m. 2025-01-08T21:52:37.016Z,1736373157.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:37.016Z,1736373157.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246809 2025-01-08T21:52:37.220Z,1736373157.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:37.229Z,1736373157.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 636.30 m. 2025-01-08T21:52:37.232Z,1736373157.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 636.299988 m, nav range: 386.946075 m, bearing: 0.810848 deg, approach rate: 0.300203 m/s, LOS rate: 0.122598 deg/s, cmd heading: 252.813906 deg, new cmd heading: 252.946075 deg. 2025-01-08T21:52:37.233Z,1736373157.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.414742 target range: 636.299988 and range: 636.30 m. 2025-01-08T21:52:37.270Z,1736373157.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:37.271Z,1736373157.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500950 2025-01-08T21:52:37.520Z,1736373157.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:37.520Z,1736373157.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750928 2025-01-08T21:52:37.670Z,1736373157.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:37.707Z,1736373157.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 636.30 m. 2025-01-08T21:52:37.710Z,1736373157.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 636.299988 m, nav range: 387.070496 m, bearing: 0.865274 deg, approach rate: 0.264652 m/s, LOS rate: 0.115732 deg/s, cmd heading: 252.946084 deg, new cmd heading: 253.109309 deg. 2025-01-08T21:52:37.711Z,1736373157.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.417591 target range: 636.299988 and range: 636.30 m. 2025-01-08T21:52:37.772Z,1736373157.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:37.773Z,1736373157.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003147 2025-01-08T21:52:38.024Z,1736373158.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:38.024Z,1736373158.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254904 2025-01-08T21:52:38.043Z,1736373158.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:38.076Z,1736373158.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 636.30 m. 2025-01-08T21:52:38.079Z,1736373158.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 636.299988 m, nav range: 387.175598 m, bearing: 0.910424 deg, approach rate: 0.278573 m/s, LOS rate: 0.119638 deg/s, cmd heading: 253.109298 deg, new cmd heading: 253.244712 deg. 2025-01-08T21:52:38.085Z,1736373158.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.419954 target range: 636.299988 and range: 636.30 m. 2025-01-08T21:52:38.277Z,1736373158.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:38.278Z,1736373158.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508463 2025-01-08T21:52:38.516Z,1736373158.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:38.523Z,1736373158.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:38.525Z,1736373158.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 636.30 m. 2025-01-08T21:52:38.528Z,1736373158.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:38.529Z,1736373158.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759199 2025-01-08T21:52:38.530Z,1736373158.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 636.299988 m, nav range: 387.309631 m, bearing: 0.967629 deg, approach rate: 0.298469 m/s, LOS rate: 0.127342 deg/s, cmd heading: 253.244700 deg, new cmd heading: 253.416255 deg. 2025-01-08T21:52:38.531Z,1736373158.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422948 target range: 636.299988 and range: 636.30 m. 2025-01-08T21:52:38.780Z,1736373158.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:38.781Z,1736373158.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010991 2025-01-08T21:52:38.913Z,1736373158.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:38.922Z,1736373158.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 636.30 m. 2025-01-08T21:52:38.925Z,1736373158.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 636.299988 m, nav range: 387.427124 m, bearing: 1.013727 deg, approach rate: 0.295930 m/s, LOS rate: 0.116072 deg/s, cmd heading: 253.416247 deg, new cmd heading: 253.554498 deg. 2025-01-08T21:52:38.926Z,1736373158.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425361 target range: 636.299988 and range: 636.30 m. 2025-01-08T21:52:39.032Z,1736373159.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:39.033Z,1736373159.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263695 2025-01-08T21:52:39.252Z,1736373159.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:39.260Z,1736373159.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 636.30 m. 2025-01-08T21:52:39.279Z,1736373159.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 636.299988 m, nav range: 387.527283 m, bearing: 1.052974 deg, approach rate: 0.296176 m/s, LOS rate: 0.116026 deg/s, cmd heading: 253.554490 deg, new cmd heading: 253.672200 deg. 2025-01-08T21:52:39.280Z,1736373159.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427415 target range: 636.299988 and range: 636.30 m. 2025-01-08T21:52:39.284Z,1736373159.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:39.286Z,1736373159.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516496 2025-01-08T21:52:39.536Z,1736373159.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:39.537Z,1736373159.537 [DAT](INFO): DAT read: Rx Time:21:52:38.3909 2025-01-08T21:52:39.537Z,1736373159.537 [DAT](INFO): Rx dataTimestamp_ set to:1736373159.536798 2025-01-08T21:52:39.538Z,1736373159.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768063 2025-01-08T21:52:39.698Z,1736373159.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:39.707Z,1736373159.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 636.30 m. 2025-01-08T21:52:39.710Z,1736373159.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 636.299988 m, nav range: 387.659912 m, bearing: 1.101676 deg, approach rate: 0.296884 m/s, LOS rate: 0.108979 deg/s, cmd heading: 253.672188 deg, new cmd heading: 253.818242 deg. 2025-01-08T21:52:39.711Z,1736373159.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429964 target range: 636.299988 and range: 636.30 m. 2025-01-08T21:52:39.789Z,1736373159.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:39.790Z,1736373159.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020589 2025-01-08T21:52:40.041Z,1736373160.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:40.043Z,1736373160.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273272 2025-01-08T21:52:40.127Z,1736373160.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:40.136Z,1736373160.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 636.30 m. 2025-01-08T21:52:40.139Z,1736373160.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 636.299988 m, nav range: 387.785736 m, bearing: 1.148440 deg, approach rate: 0.293302 m/s, LOS rate: 0.108975 deg/s, cmd heading: 253.818244 deg, new cmd heading: 253.958492 deg. 2025-01-08T21:52:40.140Z,1736373160.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432412 target range: 636.299988 and range: 636.30 m. 2025-01-08T21:52:40.292Z,1736373160.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:40.299Z,1736373160.299 [DAT](INFO): DAT read: 21:52:38.3909 LVL= 15856, 19537, 16514, 25747, AGC= 67, IDX= 441, 0.32, 2.033, 1.240,-0.349, 0.916, PHS= 1.205, 0.371,-1.268, RAW= 49.4, -2.9, CAL= 51.5, -6.5, ROT= 98.5, 6.5 2025-01-08T21:52:40.300Z,1736373160.300 [DAT](INFO): got valid direction response: 21:52:38.3909 LVL= 15856, 19537, 16514, 25747, AGC= 67, IDX= 441, 0.32, 2.033, 1.240,-0.349, 0.916, PHS= 1.205, 0.371,-1.268, RAW= 49.4, -2.9, CAL= 51.5, -6.5, ROT= 98.5, 6.5 2025-01-08T21:52:40.302Z,1736373160.302 [DAT](INFO): DAT read: Bearing 98.5, 6.5 (Local) 2025-01-08T21:52:40.302Z,1736373160.302 [DAT](INFO): Local bearing/azimuth received: Bearing 98.5, 6.5 (Local) 2025-01-08T21:52:40.304Z,1736373160.304 [DAT](INFO): DAT read: Range 10 to 50 : 637.2 m (Round-trip 849.7 ms) speed -0.3 m/s 2025-01-08T21:52:40.304Z,1736373160.304 [DAT](INFO): DAT read: user:2117> 2025-01-08T21:52:40.305Z,1736373160.305 [DAT](INFO): DAT read: Tx time:21:52:39.4871 2025-01-08T21:52:40.305Z,1736373160.305 [DAT](INFO): Ping request sent. 2025-01-08T21:52:40.306Z,1736373160.306 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:40.306Z,1736373160.306 [DAT](INFO): DAT read: TxSync time:21:52:39.4863 2025-01-08T21:52:40.307Z,1736373160.307 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:40.308Z,1736373160.308 [DAT](INFO): direction in FSK: [0.045759,0.706430,0.706302] 2025-01-08T21:52:40.308Z,1736373160.308 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:40.308Z,1736373160.308 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:40.312Z,1736373160.312 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:40.313Z,1736373160.313 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:40.544Z,1736373160.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:40.608Z,1736373160.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:40.642Z,1736373160.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 637.200012 m, deltaT: 4.535764 s, deltaX: 0.900024 m, approachRate: 0.198428 m/s, rangeRepo size: 4 2025-01-08T21:52:40.651Z,1736373160.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 637.200012 m, bearing: 353.317857 deg, lat: 36.901993 deg, lon: -122.118579 deg, deltaT: 4.535764 s, deltaX: 0.900024 m, approachRate: 0.198428 m/s, posRepo size: 4 2025-01-08T21:52:40.657Z,1736373160.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.20 m. 2025-01-08T21:52:40.700Z,1736373160.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.200012 m, nav range: 381.631958 m, bearing: 1.215682 deg, approach rate: 0.000000 m/s, LOS rate: 0.108975 deg/s, cmd heading: 253.958482 deg, new cmd heading: 254.123702 deg. 2025-01-08T21:52:40.702Z,1736373160.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435295 target range: 637.200012 and range: 637.20 m. 2025-01-08T21:52:40.796Z,1736373160.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:40.981Z,1736373160.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:40.989Z,1736373160.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:40.990Z,1736373160.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.20 m. 2025-01-08T21:52:41.013Z,1736373161.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.200012 m, nav range: 381.738556 m, bearing: 1.253059 deg, approach rate: 0.305515 m/s, LOS rate: 0.107095 deg/s, cmd heading: 254.123690 deg, new cmd heading: 254.235790 deg. 2025-01-08T21:52:41.014Z,1736373161.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437252 target range: 637.200012 and range: 637.20 m. 2025-01-08T21:52:41.048Z,1736373161.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:41.048Z,1736373161.048 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:41.049Z,1736373161.049 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:41.049Z,1736373161.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:41.300Z,1736373161.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:41.300Z,1736373161.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994716 2025-01-08T21:52:41.465Z,1736373161.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:41.482Z,1736373161.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.20 m. 2025-01-08T21:52:41.485Z,1736373161.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.200012 m, nav range: 381.874817 m, bearing: 1.301767 deg, approach rate: 0.277194 m/s, LOS rate: 0.099049 deg/s, cmd heading: 254.235787 deg, new cmd heading: 254.381857 deg. 2025-01-08T21:52:41.486Z,1736373161.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439801 target range: 637.200012 and range: 637.20 m. 2025-01-08T21:52:41.553Z,1736373161.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:41.555Z,1736373161.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249122 2025-01-08T21:52:41.804Z,1736373161.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:41.805Z,1736373161.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499744 2025-01-08T21:52:41.832Z,1736373161.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:52:41.906Z,1736373161.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:41.915Z,1736373161.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.20 m. 2025-01-08T21:52:41.919Z,1736373161.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.200012 m, nav range: 382.003021 m, bearing: 1.341819 deg, approach rate: 0.296178 m/s, LOS rate: 0.092498 deg/s, cmd heading: 254.381844 deg, new cmd heading: 254.501961 deg. 2025-01-08T21:52:41.920Z,1736373161.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.441897 target range: 637.200012 and range: 637.20 m. 2025-01-08T21:52:42.056Z,1736373162.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:42.056Z,1736373162.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750731 2025-01-08T21:52:42.300Z,1736373162.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:42.308Z,1736373162.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:42.309Z,1736373162.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003067 2025-01-08T21:52:42.311Z,1736373162.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.20 m. 2025-01-08T21:52:42.313Z,1736373162.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.200012 m, nav range: 382.115204 m, bearing: 1.377689 deg, approach rate: 0.283496 m/s, LOS rate: 0.090621 deg/s, cmd heading: 254.501974 deg, new cmd heading: 254.609553 deg. 2025-01-08T21:52:42.314Z,1736373162.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.443775 target range: 637.200012 and range: 637.20 m. 2025-01-08T21:52:42.561Z,1736373162.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:42.562Z,1736373162.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255918 2025-01-08T21:52:42.727Z,1736373162.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:42.736Z,1736373162.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.20 m. 2025-01-08T21:52:42.739Z,1736373162.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.200012 m, nav range: 382.237549 m, bearing: 1.414044 deg, approach rate: 0.287480 m/s, LOS rate: 0.085396 deg/s, cmd heading: 254.609563 deg, new cmd heading: 254.718590 deg. 2025-01-08T21:52:42.740Z,1736373162.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445678 target range: 637.200012 and range: 637.20 m. 2025-01-08T21:52:42.812Z,1736373162.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:42.814Z,1736373162.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507768 2025-01-08T21:52:42.836Z,1736373162.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:52:43.064Z,1736373163.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:43.064Z,1736373163.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758775 2025-01-08T21:52:43.116Z,1736373163.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:43.124Z,1736373163.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:43.126Z,1736373163.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.20 m. 2025-01-08T21:52:43.129Z,1736373163.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.200012 m, nav range: 382.347168 m, bearing: 1.447329 deg, approach rate: 0.281049 m/s, LOS rate: 0.085315 deg/s, cmd heading: 254.718600 deg, new cmd heading: 254.818427 deg. 2025-01-08T21:52:43.130Z,1736373163.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.447421 target range: 637.200012 and range: 637.20 m. 2025-01-08T21:52:43.316Z,1736373163.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:43.317Z,1736373163.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011016 2025-01-08T21:52:43.517Z,1736373163.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:43.570Z,1736373163.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:43.573Z,1736373163.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266949 2025-01-08T21:52:43.597Z,1736373163.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.20 m. 2025-01-08T21:52:43.603Z,1736373163.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.200012 m, nav range: 382.458038 m, bearing: 1.481727 deg, approach rate: 0.235711 m/s, LOS rate: 0.073109 deg/s, cmd heading: 254.818430 deg, new cmd heading: 254.921594 deg. 2025-01-08T21:52:43.604Z,1736373163.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449221 target range: 637.200012 and range: 637.20 m. 2025-01-08T21:52:43.820Z,1736373163.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:43.820Z,1736373163.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514735 2025-01-08T21:52:43.939Z,1736373163.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:43.948Z,1736373163.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.20 m. 2025-01-08T21:52:43.950Z,1736373163.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.200012 m, nav range: 382.576721 m, bearing: 1.516411 deg, approach rate: 0.338342 m/s, LOS rate: 0.098846 deg/s, cmd heading: 254.921593 deg, new cmd heading: 255.025612 deg. 2025-01-08T21:52:43.952Z,1736373163.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.451036 target range: 637.200012 and range: 637.20 m. 2025-01-08T21:52:44.072Z,1736373164.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:44.073Z,1736373164.073 [DAT](INFO): DAT read: Rx Time:21:52:42.7427 2025-01-08T21:52:44.073Z,1736373164.073 [DAT](INFO): Rx dataTimestamp_ set to:1736373164.072715 2025-01-08T21:52:44.074Z,1736373164.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767946 2025-01-08T21:52:44.324Z,1736373164.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:44.324Z,1736373164.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018708 2025-01-08T21:52:44.519Z,1736373164.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:44.578Z,1736373164.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:44.598Z,1736373164.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 637.20 m. 2025-01-08T21:52:44.605Z,1736373164.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 637.200012 m, nav range: 382.736450 m, bearing: 1.563877 deg, approach rate: 0.245397 m/s, LOS rate: 0.072894 deg/s, cmd heading: 255.025603 deg, new cmd heading: 255.167943 deg. 2025-01-08T21:52:44.606Z,1736373164.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453521 target range: 637.200012 and range: 637.20 m. 2025-01-08T21:52:44.608Z,1736373164.608 [DAT](INFO): DAT read: 21:52:42.7427 LVL= 15936, 22385, 18866, 27603, AGC= 69, IDX= 443, 0.19,-2.893, 2.551, 0.997, 2.223, PHS= 1.255, 0.375,-1.229, RAW= 50.5, -3.7, CAL= 53.3, -7.9, ROT= 96.7, 7.9 2025-01-08T21:52:44.609Z,1736373164.609 [DAT](INFO): got valid direction response: 21:52:42.7427 LVL= 15936, 22385, 18866, 27603, AGC= 69, IDX= 443, 0.19,-2.893, 2.551, 0.997, 2.223, PHS= 1.255, 0.375,-1.229, RAW= 50.5, -3.7, CAL= 53.3, -7.9, ROT= 96.7, 7.9 2025-01-08T21:52:44.610Z,1736373164.610 [DAT](INFO): DAT read: Bearing 96.7, 7.9 (Local) 2025-01-08T21:52:44.610Z,1736373164.610 [DAT](INFO): Local bearing/azimuth received: Bearing 96.7, 7.9 (Local) 2025-01-08T21:52:44.620Z,1736373164.620 [DAT](INFO): DAT read: Range 10 to 50 : 638.5 m (Round-trip 851.4 ms) speed -0.3 m/s 2025-01-08T21:52:44.621Z,1736373164.621 [DAT](INFO): DAT read: user:2118> 2025-01-08T21:52:44.622Z,1736373164.622 [DAT](INFO): DAT read: Tx time:21:52:43.8372 2025-01-08T21:52:44.622Z,1736373164.622 [DAT](INFO): Ping request sent. 2025-01-08T21:52:44.622Z,1736373164.622 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:44.622Z,1736373164.622 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:44.636Z,1736373164.636 [DAT](INFO): direction in FSK: [0.059414,0.692216,0.719240] 2025-01-08T21:52:44.636Z,1736373164.636 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:44.636Z,1736373164.636 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:44.648Z,1736373164.648 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:44.648Z,1736373164.648 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:44.828Z,1736373164.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:44.830Z,1736373164.830 [DAT](INFO): DAT read: TxSync time:21:52:43.8364 2025-01-08T21:52:45.069Z,1736373165.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:45.080Z,1736373165.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:45.086Z,1736373165.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 638.500000 m, deltaT: 4.288646 s, deltaX: 1.299988 m, approachRate: 0.303123 m/s, rangeRepo size: 4 2025-01-08T21:52:45.088Z,1736373165.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 638.500000 m, bearing: 356.542926 deg, lat: 36.901986 deg, lon: -122.118781 deg, deltaT: 4.288646 s, deltaX: 1.299988 m, approachRate: 0.303123 m/s, posRepo size: 4 2025-01-08T21:52:45.089Z,1736373165.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 638.50 m. 2025-01-08T21:52:45.092Z,1736373165.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 638.500000 m, nav range: 382.041626 m, bearing: 358.918929 deg, approach rate: 0.000000 m/s, LOS rate: 0.072894 deg/s, cmd heading: 255.167944 deg, new cmd heading: 255.274163 deg. 2025-01-08T21:52:45.093Z,1736373165.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455375 target range: 638.500000 and range: 638.50 m. 2025-01-08T21:52:45.332Z,1736373165.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:45.446Z,1736373165.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:45.453Z,1736373165.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:45.455Z,1736373165.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 638.50 m. 2025-01-08T21:52:45.458Z,1736373165.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 638.500000 m, nav range: 382.136017 m, bearing: 358.952180 deg, approach rate: 0.254499 m/s, LOS rate: 0.089630 deg/s, cmd heading: 255.274167 deg, new cmd heading: 255.373896 deg. 2025-01-08T21:52:45.459Z,1736373165.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457115 target range: 638.500000 and range: 638.50 m. 2025-01-08T21:52:45.587Z,1736373165.587 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:45.589Z,1736373165.589 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:45.589Z,1736373165.589 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:45.590Z,1736373165.590 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:45.840Z,1736373165.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:45.841Z,1736373165.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.218460 2025-01-08T21:52:45.891Z,1736373165.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:45.912Z,1736373165.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 638.50 m. 2025-01-08T21:52:45.915Z,1736373165.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 638.500000 m, nav range: 382.245270 m, bearing: 358.993230 deg, approach rate: 0.239011 m/s, LOS rate: 0.089780 deg/s, cmd heading: 255.373888 deg, new cmd heading: 255.497004 deg. 2025-01-08T21:52:45.920Z,1736373165.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459264 target range: 638.500000 and range: 638.50 m. 2025-01-08T21:52:46.092Z,1736373166.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:46.092Z,1736373166.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470241 2025-01-08T21:52:46.256Z,1736373166.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:46.281Z,1736373166.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 638.50 m. 2025-01-08T21:52:46.288Z,1736373166.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 638.500000 m, nav range: 382.334015 m, bearing: 359.027027 deg, approach rate: 0.240271 m/s, LOS rate: 0.091480 deg/s, cmd heading: 255.496996 deg, new cmd heading: 255.598361 deg. 2025-01-08T21:52:46.289Z,1736373166.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461033 target range: 638.500000 and range: 638.50 m. 2025-01-08T21:52:46.344Z,1736373166.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:46.345Z,1736373166.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722706 2025-01-08T21:52:46.597Z,1736373166.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:46.600Z,1736373166.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977156 2025-01-08T21:52:46.696Z,1736373166.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:46.706Z,1736373166.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 638.50 m. 2025-01-08T21:52:46.727Z,1736373166.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 638.500000 m, nav range: 382.436066 m, bearing: 359.071985 deg, approach rate: 0.240528 m/s, LOS rate: 0.105937 deg/s, cmd heading: 255.598356 deg, new cmd heading: 255.733196 deg. 2025-01-08T21:52:46.732Z,1736373166.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463386 target range: 638.500000 and range: 638.50 m. 2025-01-08T21:52:46.848Z,1736373166.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:46.848Z,1736373166.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226165 2025-01-08T21:52:47.073Z,1736373167.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:47.082Z,1736373167.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 638.50 m. 2025-01-08T21:52:47.085Z,1736373167.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 638.500000 m, nav range: 382.523041 m, bearing: 359.110482 deg, approach rate: 0.231366 m/s, LOS rate: 0.102385 deg/s, cmd heading: 255.733184 deg, new cmd heading: 255.848649 deg. 2025-01-08T21:52:47.086Z,1736373167.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465401 target range: 638.500000 and range: 638.50 m. 2025-01-08T21:52:47.100Z,1736373167.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:47.101Z,1736373167.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478354 2025-01-08T21:52:47.352Z,1736373167.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:47.353Z,1736373167.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730616 2025-01-08T21:52:47.479Z,1736373167.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:47.485Z,1736373167.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:47.488Z,1736373167.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 638.50 m. 2025-01-08T21:52:47.490Z,1736373167.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 638.500000 m, nav range: 382.616699 m, bearing: 359.151949 deg, approach rate: 0.230782 m/s, LOS rate: 0.102151 deg/s, cmd heading: 255.848641 deg, new cmd heading: 255.973009 deg. 2025-01-08T21:52:47.491Z,1736373167.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467572 target range: 638.500000 and range: 638.50 m. 2025-01-08T21:52:47.606Z,1736373167.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:47.608Z,1736373167.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984913 2025-01-08T21:52:47.856Z,1736373167.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:47.856Z,1736373167.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234273 2025-01-08T21:52:47.937Z,1736373167.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:47.946Z,1736373167.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 638.50 m. 2025-01-08T21:52:47.953Z,1736373167.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 638.500000 m, nav range: 382.720367 m, bearing: 359.202126 deg, approach rate: 0.226046 m/s, LOS rate: 0.109381 deg/s, cmd heading: 255.973005 deg, new cmd heading: 256.123496 deg. 2025-01-08T21:52:47.954Z,1736373167.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470198 target range: 638.500000 and range: 638.50 m. 2025-01-08T21:52:48.108Z,1736373168.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:48.108Z,1736373168.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486192 2025-01-08T21:52:48.276Z,1736373168.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:48.286Z,1736373168.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 638.50 m. 2025-01-08T21:52:48.289Z,1736373168.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 638.500000 m, nav range: 382.798370 m, bearing: 359.239663 deg, approach rate: 0.229632 m/s, LOS rate: 0.110481 deg/s, cmd heading: 256.123488 deg, new cmd heading: 256.236074 deg. 2025-01-08T21:52:48.290Z,1736373168.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472163 target range: 638.500000 and range: 638.50 m. 2025-01-08T21:52:48.361Z,1736373168.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:48.362Z,1736373168.362 [DAT](INFO): DAT read: Rx Time:21:52:47.0944 2025-01-08T21:52:48.363Z,1736373168.363 [DAT](INFO): Rx dataTimestamp_ set to:1736373168.362358 2025-01-08T21:52:48.364Z,1736373168.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741927 2025-01-08T21:52:48.614Z,1736373168.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:48.617Z,1736373168.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.994369 2025-01-08T21:52:48.715Z,1736373168.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:48.724Z,1736373168.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 638.50 m. 2025-01-08T21:52:48.727Z,1736373168.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 638.500000 m, nav range: 382.892395 m, bearing: 359.290164 deg, approach rate: 0.214470 m/s, LOS rate: 0.115165 deg/s, cmd heading: 256.236077 deg, new cmd heading: 256.387543 deg. 2025-01-08T21:52:48.785Z,1736373168.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474807 target range: 638.500000 and range: 638.50 m. 2025-01-08T21:52:48.864Z,1736373168.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:48.873Z,1736373168.873 [DAT](INFO): DAT read: 21:52:47.0944 LVL= 14064, 20721, 20162, 23155, AGC= 70, IDX= 444,-0.41, 0.159,-0.839,-2.154,-0.976, PHS= 1.223, 0.184,-1.181, RAW= 55.5, -2.2, CAL= 58.5, -5.9, ROT= 91.5, 5.9 2025-01-08T21:52:48.874Z,1736373168.874 [DAT](INFO): got valid direction response: 21:52:47.0944 LVL= 14064, 20721, 20162, 23155, AGC= 70, IDX= 444,-0.41, 0.159,-0.839,-2.154,-0.976, PHS= 1.223, 0.184,-1.181, RAW= 55.5, -2.2, CAL= 58.5, -5.9, ROT= 91.5, 5.9 2025-01-08T21:52:48.875Z,1736373168.875 [DAT](INFO): DAT read: Bearing 91.5, 5.9 (Local) 2025-01-08T21:52:48.875Z,1736373168.875 [DAT](INFO): Local bearing/azimuth received: Bearing 91.5, 5.9 (Local) 2025-01-08T21:52:48.877Z,1736373168.877 [DAT](INFO): DAT read: Range 10 to 50 : 639.8 m (Round-trip 853.1 ms) speed -0.3 m/s 2025-01-08T21:52:48.877Z,1736373168.877 [DAT](INFO): DAT read: user:2119> 2025-01-08T21:52:48.878Z,1736373168.878 [DAT](INFO): DAT read: Tx time:21:52:48.1872 2025-01-08T21:52:48.878Z,1736373168.878 [DAT](INFO): Ping request sent. 2025-01-08T21:52:48.878Z,1736373168.878 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:48.879Z,1736373168.879 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:48.880Z,1736373168.880 [DAT](INFO): direction in FSK: [0.020684,0.632898,0.773959] 2025-01-08T21:52:48.880Z,1736373168.880 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:48.880Z,1736373168.880 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:48.884Z,1736373168.884 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:48.884Z,1736373168.884 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:49.110Z,1736373169.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:49.116Z,1736373169.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:49.117Z,1736373169.117 [DAT](INFO): DAT read: TxSync time:21:52:48.1864 2025-01-08T21:52:49.145Z,1736373169.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 639.799988 m, deltaT: 4.283804 s, deltaX: 1.299988 m, approachRate: 0.303466 m/s, rangeRepo size: 4 2025-01-08T21:52:49.156Z,1736373169.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 639.799988 m, bearing: 0.826866 deg, lat: 36.901966 deg, lon: -122.118781 deg, deltaT: 4.283804 s, deltaX: 1.299988 m, approachRate: 0.303466 m/s, posRepo size: 4 2025-01-08T21:52:49.156Z,1736373169.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.80 m. 2025-01-08T21:52:49.161Z,1736373169.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.799988 m, nav range: 380.801392 m, bearing: 359.331909 deg, approach rate: 0.000000 m/s, LOS rate: 0.115165 deg/s, cmd heading: 256.387543 deg, new cmd heading: 256.532252 deg. 2025-01-08T21:52:49.162Z,1736373169.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477333 target range: 639.799988 and range: 639.80 m. 2025-01-08T21:52:49.368Z,1736373169.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:49.510Z,1736373169.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:49.525Z,1736373169.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:49.527Z,1736373169.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.80 m. 2025-01-08T21:52:49.530Z,1736373169.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.799988 m, nav range: 380.889954 m, bearing: 359.378130 deg, approach rate: 0.230652 m/s, LOS rate: 0.120351 deg/s, cmd heading: 256.532261 deg, new cmd heading: 256.670891 deg. 2025-01-08T21:52:49.544Z,1736373169.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479752 target range: 639.799988 and range: 639.80 m. 2025-01-08T21:52:49.624Z,1736373169.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:49.626Z,1736373169.626 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:49.626Z,1736373169.626 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:49.629Z,1736373169.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:49.879Z,1736373169.879 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:49.880Z,1736373169.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001673 2025-01-08T21:52:49.969Z,1736373169.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:49.978Z,1736373169.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.80 m. 2025-01-08T21:52:49.997Z,1736373169.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.799988 m, nav range: 381.002167 m, bearing: 359.433450 deg, approach rate: 0.248700 m/s, LOS rate: 0.122571 deg/s, cmd heading: 256.670887 deg, new cmd heading: 256.836797 deg. 2025-01-08T21:52:49.998Z,1736373169.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482648 target range: 639.799988 and range: 639.80 m. 2025-01-08T21:52:50.128Z,1736373170.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:50.130Z,1736373170.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251041 2025-01-08T21:52:50.332Z,1736373170.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:50.341Z,1736373170.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.80 m. 2025-01-08T21:52:50.344Z,1736373170.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.799988 m, nav range: 381.092285 m, bearing: 359.476931 deg, approach rate: 0.248153 m/s, LOS rate: 0.119704 deg/s, cmd heading: 256.836805 deg, new cmd heading: 256.967219 deg. 2025-01-08T21:52:50.345Z,1736373170.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484924 target range: 639.799988 and range: 639.80 m. 2025-01-08T21:52:50.380Z,1736373170.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:50.381Z,1736373170.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502337 2025-01-08T21:52:50.634Z,1736373170.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:50.636Z,1736373170.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757545 2025-01-08T21:52:50.766Z,1736373170.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:50.778Z,1736373170.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.80 m. 2025-01-08T21:52:50.780Z,1736373170.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.799988 m, nav range: 381.183563 m, bearing: 359.529437 deg, approach rate: 0.209231 m/s, LOS rate: 0.120327 deg/s, cmd heading: 256.967207 deg, new cmd heading: 257.124686 deg. 2025-01-08T21:52:50.781Z,1736373170.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487672 target range: 639.799988 and range: 639.80 m. 2025-01-08T21:52:50.885Z,1736373170.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:50.886Z,1736373170.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007346 2025-01-08T21:52:51.136Z,1736373171.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:51.136Z,1736373171.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257974 2025-01-08T21:52:51.149Z,1736373171.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:51.192Z,1736373171.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.80 m. 2025-01-08T21:52:51.195Z,1736373171.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.799988 m, nav range: 381.264130 m, bearing: 359.575556 deg, approach rate: 0.194259 m/s, LOS rate: 0.111179 deg/s, cmd heading: 257.124684 deg, new cmd heading: 257.263014 deg. 2025-01-08T21:52:51.196Z,1736373171.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490087 target range: 639.799988 and range: 639.80 m. 2025-01-08T21:52:51.388Z,1736373171.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:51.388Z,1736373171.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509860 2025-01-08T21:52:51.563Z,1736373171.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:51.600Z,1736373171.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:51.608Z,1736373171.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.80 m. 2025-01-08T21:52:51.610Z,1736373171.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.799988 m, nav range: 381.351654 m, bearing: 359.625478 deg, approach rate: 0.212854 m/s, LOS rate: 0.121379 deg/s, cmd heading: 257.263009 deg, new cmd heading: 257.412740 deg. 2025-01-08T21:52:51.616Z,1736373171.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492700 target range: 639.799988 and range: 639.80 m. 2025-01-08T21:52:51.641Z,1736373171.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:51.644Z,1736373171.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764574 2025-01-08T21:52:51.892Z,1736373171.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:51.893Z,1736373171.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014313 2025-01-08T21:52:51.990Z,1736373171.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:51.000Z,1736373172.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.80 m. 2025-01-08T21:52:52.003Z,1736373172.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.799988 m, nav range: 381.443451 m, bearing: 359.676568 deg, approach rate: 0.231957 m/s, LOS rate: 0.129063 deg/s, cmd heading: 257.412727 deg, new cmd heading: 257.565957 deg. 2025-01-08T21:52:52.004Z,1736373172.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495374 target range: 639.799988 and range: 639.80 m. 2025-01-08T21:52:52.144Z,1736373172.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:52.145Z,1736373172.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266025 2025-01-08T21:52:52.352Z,1736373172.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:52.396Z,1736373172.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:52.398Z,1736373172.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519417 2025-01-08T21:52:52.480Z,1736373172.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.80 m. 2025-01-08T21:52:52.482Z,1736373172.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.799988 m, nav range: 381.521545 m, bearing: 359.719848 deg, approach rate: 0.175848 m/s, LOS rate: 0.097436 deg/s, cmd heading: 257.565969 deg, new cmd heading: 257.695783 deg. 2025-01-08T21:52:52.488Z,1736373172.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497640 target range: 639.799988 and range: 639.80 m. 2025-01-08T21:52:52.649Z,1736373172.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:52.652Z,1736373172.652 [DAT](INFO): DAT read: Rx Time:21:52:51.4455 2025-01-08T21:52:52.654Z,1736373172.654 [DAT](INFO): Rx dataTimestamp_ set to:1736373172.652674 2025-01-08T21:52:52.656Z,1736373172.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777097 2025-01-08T21:52:52.807Z,1736373172.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:52.816Z,1736373172.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 639.80 m. 2025-01-08T21:52:52.819Z,1736373172.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 639.799988 m, nav range: 381.616852 m, bearing: 359.773414 deg, approach rate: 0.255862 m/s, LOS rate: 0.143769 deg/s, cmd heading: 257.695770 deg, new cmd heading: 257.856428 deg. 2025-01-08T21:52:52.820Z,1736373172.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500443 target range: 639.799988 and range: 639.80 m. 2025-01-08T21:52:52.901Z,1736373172.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:52.902Z,1736373172.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023394 2025-01-08T21:52:53.154Z,1736373173.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:53.166Z,1736373173.166 [DAT](INFO): DAT read: 21:52:51.4456 LVL= 16544, 22401, 18034, 24947, AGC= 69, IDX= 439, 0.27, 1.133, 0.322,-1.185,-0.047, PHS= 1.268, 0.416,-1.141, RAW= 50.4, -5.2, CAL= 54.2, -10.0, ROT= 95.8, 10.0 2025-01-08T21:52:53.168Z,1736373173.168 [DAT](INFO): got valid direction response: 21:52:51.4456 LVL= 16544, 22401, 18034, 24947, AGC= 69, IDX= 439, 0.27, 1.133, 0.322,-1.185,-0.047, PHS= 1.268, 0.416,-1.141, RAW= 50.4, -5.2, CAL= 54.2, -10.0, ROT= 95.8, 10.0 2025-01-08T21:52:53.169Z,1736373173.169 [DAT](INFO): DAT read: Bearing 95.8, 10.0 (Local) 2025-01-08T21:52:53.170Z,1736373173.170 [DAT](INFO): Local bearing/azimuth received: Bearing 95.8, 10.0 (Local) 2025-01-08T21:52:53.171Z,1736373173.171 [DAT](INFO): DAT read: Range 10 to 50 : 640.5 m (Round-trip 854.1 ms) speed -0.1 m/s 2025-01-08T21:52:53.172Z,1736373173.172 [DAT](INFO): DAT read: user:2120> 2025-01-08T21:52:53.173Z,1736373173.173 [DAT](INFO): DAT read: Tx time:21:52:52.5373 2025-01-08T21:52:53.173Z,1736373173.173 [DAT](INFO): Ping request sent. 2025-01-08T21:52:53.173Z,1736373173.173 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:53.174Z,1736373173.174 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:53.174Z,1736373173.174 [DAT](INFO): direction in FSK: [0.086622,0.689608,0.718984] 2025-01-08T21:52:53.175Z,1736373173.175 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:53.175Z,1736373173.175 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:53.232Z,1736373173.232 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:53.232Z,1736373173.232 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:53.270Z,1736373173.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:53.309Z,1736373173.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 640.500000 m, deltaT: 4.289832 s, deltaX: 0.700012 m, approachRate: 0.163179 m/s, rangeRepo size: 4 2025-01-08T21:52:53.315Z,1736373173.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 640.500000 m, bearing: 350.858602 deg, lat: 36.901866 deg, lon: -122.118950 deg, deltaT: 4.289832 s, deltaX: 0.700012 m, approachRate: 0.163179 m/s, posRepo size: 4 2025-01-08T21:52:53.316Z,1736373173.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.50 m. 2025-01-08T21:52:53.324Z,1736373173.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.500000 m, nav range: 370.963959 m, bearing: 357.495510 deg, approach rate: 0.000000 m/s, LOS rate: 0.143769 deg/s, cmd heading: 257.856416 deg, new cmd heading: 258.068889 deg. 2025-01-08T21:52:53.325Z,1736373173.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504152 target range: 640.500000 and range: 640.50 m. 2025-01-08T21:52:53.404Z,1736373173.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:53.405Z,1736373173.405 [DAT](INFO): DAT read: TxSync time:21:52:52.5365 2025-01-08T21:52:53.648Z,1736373173.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:53.658Z,1736373173.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:53.694Z,1736373173.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:53.716Z,1736373173.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.50 m. 2025-01-08T21:52:53.735Z,1736373173.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.500000 m, nav range: 371.030365 m, bearing: 357.541791 deg, approach rate: 0.165519 m/s, LOS rate: 0.115335 deg/s, cmd heading: 258.068890 deg, new cmd heading: 258.207707 deg. 2025-01-08T21:52:53.741Z,1736373173.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506575 target range: 640.500000 and range: 640.50 m. 2025-01-08T21:52:53.908Z,1736373173.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:53.908Z,1736373173.908 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:53.908Z,1736373173.908 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:53.909Z,1736373173.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:54.067Z,1736373174.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:54.076Z,1736373174.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.50 m. 2025-01-08T21:52:54.079Z,1736373174.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.500000 m, nav range: 371.108521 m, bearing: 357.590701 deg, approach rate: 0.213142 m/s, LOS rate: 0.133358 deg/s, cmd heading: 258.207706 deg, new cmd heading: 258.354406 deg. 2025-01-08T21:52:54.081Z,1736373174.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509135 target range: 640.500000 and range: 640.50 m. 2025-01-08T21:52:54.161Z,1736373174.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:54.162Z,1736373174.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988432 2025-01-08T21:52:54.412Z,1736373174.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:54.412Z,1736373174.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239178 2025-01-08T21:52:54.440Z,1736373174.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:54.492Z,1736373174.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.50 m. 2025-01-08T21:52:54.494Z,1736373174.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.500000 m, nav range: 371.178253 m, bearing: 357.634194 deg, approach rate: 0.168178 m/s, LOS rate: 0.104875 deg/s, cmd heading: 258.354419 deg, new cmd heading: 258.484874 deg. 2025-01-08T21:52:54.496Z,1736373174.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511412 target range: 640.500000 and range: 640.50 m. 2025-01-08T21:52:54.665Z,1736373174.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:54.666Z,1736373174.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492633 2025-01-08T21:52:54.835Z,1736373174.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:54.865Z,1736373174.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.50 m. 2025-01-08T21:52:54.872Z,1736373174.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.500000 m, nav range: 371.256531 m, bearing: 357.678673 deg, approach rate: 0.209349 m/s, LOS rate: 0.118930 deg/s, cmd heading: 258.484875 deg, new cmd heading: 258.618283 deg. 2025-01-08T21:52:54.873Z,1736373174.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513741 target range: 640.500000 and range: 640.50 m. 2025-01-08T21:52:54.916Z,1736373174.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:54.917Z,1736373174.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743363 2025-01-08T21:52:55.168Z,1736373175.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:55.169Z,1736373175.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996190 2025-01-08T21:52:55.244Z,1736373175.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:55.253Z,1736373175.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.50 m. 2025-01-08T21:52:55.272Z,1736373175.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.500000 m, nav range: 371.336426 m, bearing: 357.724917 deg, approach rate: 0.205772 m/s, LOS rate: 0.119077 deg/s, cmd heading: 258.618283 deg, new cmd heading: 258.756984 deg. 2025-01-08T21:52:55.273Z,1736373175.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516161 target range: 640.500000 and range: 640.50 m. 2025-01-08T21:52:55.420Z,1736373175.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:55.420Z,1736373175.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247203 2025-01-08T21:52:55.673Z,1736373175.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:55.674Z,1736373175.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500533 2025-01-08T21:52:55.776Z,1736373175.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:55.806Z,1736373175.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:55.813Z,1736373175.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.50 m. 2025-01-08T21:52:55.819Z,1736373175.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.500000 m, nav range: 371.435577 m, bearing: 357.784987 deg, approach rate: 0.177246 m/s, LOS rate: 0.107355 deg/s, cmd heading: 258.756990 deg, new cmd heading: 258.937152 deg. 2025-01-08T21:52:55.820Z,1736373175.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519306 target range: 640.500000 and range: 640.50 m. 2025-01-08T21:52:55.928Z,1736373175.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:55.929Z,1736373175.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756057 2025-01-08T21:52:56.151Z,1736373176.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:56.180Z,1736373176.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:56.181Z,1736373176.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007314 2025-01-08T21:52:56.185Z,1736373176.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.50 m. 2025-01-08T21:52:56.192Z,1736373176.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.500000 m, nav range: 371.511139 m, bearing: 357.825716 deg, approach rate: 0.203326 m/s, LOS rate: 0.109573 deg/s, cmd heading: 258.937143 deg, new cmd heading: 259.059304 deg. 2025-01-08T21:52:56.193Z,1736373176.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521438 target range: 640.500000 and range: 640.50 m. 2025-01-08T21:52:56.433Z,1736373176.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:56.434Z,1736373176.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260764 2025-01-08T21:52:56.520Z,1736373176.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:56.548Z,1736373176.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.50 m. 2025-01-08T21:52:56.552Z,1736373176.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.500000 m, nav range: 371.583099 m, bearing: 357.865937 deg, approach rate: 0.197580 m/s, LOS rate: 0.110414 deg/s, cmd heading: 259.059294 deg, new cmd heading: 259.179936 deg. 2025-01-08T21:52:56.553Z,1736373176.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523543 target range: 640.500000 and range: 640.50 m. 2025-01-08T21:52:56.686Z,1736373176.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:56.688Z,1736373176.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515036 2025-01-08T21:52:56.936Z,1736373176.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:56.937Z,1736373176.937 [DAT](INFO): DAT read: Rx Time:21:52:55.8054 2025-01-08T21:52:56.937Z,1736373176.937 [DAT](INFO): Rx dataTimestamp_ set to:1736373176.936809 2025-01-08T21:52:56.938Z,1736373176.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764372 2025-01-08T21:52:56.997Z,1736373176.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:57.019Z,1736373177.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.50 m. 2025-01-08T21:52:57.025Z,1736373177.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.500000 m, nav range: 371.677673 m, bearing: 357.916972 deg, approach rate: 0.201387 m/s, LOS rate: 0.108647 deg/s, cmd heading: 259.179943 deg, new cmd heading: 259.333008 deg. 2025-01-08T21:52:57.026Z,1736373177.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526215 target range: 640.500000 and range: 640.50 m. 2025-01-08T21:52:57.188Z,1736373177.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:57.188Z,1736373177.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015186 2025-01-08T21:52:57.336Z,1736373177.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:57.344Z,1736373177.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 640.50 m. 2025-01-08T21:52:57.347Z,1736373177.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 640.500000 m, nav range: 371.744110 m, bearing: 357.953353 deg, approach rate: 0.203706 m/s, LOS rate: 0.111531 deg/s, cmd heading: 259.333021 deg, new cmd heading: 259.442145 deg. 2025-01-08T21:52:57.348Z,1736373177.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528120 target range: 640.500000 and range: 640.50 m. 2025-01-08T21:52:57.440Z,1736373177.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:57.441Z,1736373177.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.267452 2025-01-08T21:52:57.692Z,1736373177.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:57.703Z,1736373177.703 [DAT](INFO): DAT read: 21:52:55.8054 LVL= 12944, 24897, 14706, 20627, AGC= 72, IDX= 104,-0.34,-2.135,-2.668, 2.058, 2.853, PHS= 1.383, 0.809,-0.797, RAW= 44.7, -14.1, CAL= 52.1, -22.3, ROT= 97.9, 22.3 2025-01-08T21:52:57.718Z,1736373177.718 [DAT](INFO): got valid direction response: 21:52:55.8054 LVL= 12944, 24897, 14706, 20627, AGC= 72, IDX= 104,-0.34,-2.135,-2.668, 2.058, 2.853, PHS= 1.383, 0.809,-0.797, RAW= 44.7, -14.1, CAL= 52.1, -22.3, ROT= 97.9, 22.3 2025-01-08T21:52:57.733Z,1736373177.733 [DAT](INFO): DAT read: Bearing 97.9, 22.3 (Local) 2025-01-08T21:52:57.734Z,1736373177.734 [DAT](INFO): Local bearing/azimuth received: Bearing 97.9, 22.3 (Local) 2025-01-08T21:52:57.760Z,1736373177.760 [DAT](INFO): DAT read: Range 10 to 50 : 648.0 m (Round-trip 864.0 ms) speed -0.4 m/s 2025-01-08T21:52:57.768Z,1736373177.768 [DAT](INFO): DAT read: user:2121> 2025-01-08T21:52:57.771Z,1736373177.771 [DAT](INFO): DAT read: Tx time:21:52:56.8873 2025-01-08T21:52:57.786Z,1736373177.786 [DAT](INFO): Ping request sent. 2025-01-08T21:52:57.787Z,1736373177.787 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:52:57.798Z,1736373177.798 [DAT](INFO): DAT read: TxSync time:21:52:56.8865 2025-01-08T21:52:57.812Z,1736373177.812 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:52:57.813Z,1736373177.813 [DAT](INFO): direction in FSK: [0.260753,0.720829,0.642195] 2025-01-08T21:52:57.813Z,1736373177.813 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:57.813Z,1736373177.813 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:57.836Z,1736373177.836 [DAT](INFO): publishing transmit ping time 2025-01-08T21:52:57.837Z,1736373177.837 [DAT](INFO): publishing direction and range info 2025-01-08T21:52:57.909Z,1736373177.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:57.944Z,1736373177.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:57.992Z,1736373177.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 648.000000 m, deltaT: 4.538616 s, deltaX: 7.500000 m, approachRate: 1.652486 m/s, rangeRepo size: 4 2025-01-08T21:52:57.994Z,1736373177.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 648.000000 m, bearing: 335.835494 deg, lat: 36.901866 deg, lon: -122.119169 deg, deltaT: 4.538616 s, deltaX: 7.500000 m, approachRate: 1.652486 m/s, posRepo size: 4 2025-01-08T21:52:57.995Z,1736373177.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:52:58.045Z,1736373178.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.040039 m, bearing: 355.033247 deg, approach rate: 0.000000 m/s, LOS rate: 0.111531 deg/s, cmd heading: 259.442140 deg, new cmd heading: 259.645096 deg. 2025-01-08T21:52:58.054Z,1736373178.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531662 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:52:58.196Z,1736373178.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:58.359Z,1736373178.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:58.366Z,1736373178.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:52:58.371Z,1736373178.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:52:58.374Z,1736373178.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.116394 m, bearing: 355.081222 deg, approach rate: 0.181866 m/s, LOS rate: 0.114247 deg/s, cmd heading: 259.645106 deg, new cmd heading: 259.789003 deg. 2025-01-08T21:52:58.375Z,1736373178.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534173 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:52:58.449Z,1736373178.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:58.449Z,1736373178.449 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:52:58.450Z,1736373178.450 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:52:58.450Z,1736373178.450 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:52:58.705Z,1736373178.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:58.708Z,1736373178.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.920810 2025-01-08T21:52:58.871Z,1736373178.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:58.880Z,1736373178.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:52:58.882Z,1736373178.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.211517 m, bearing: 355.135491 deg, approach rate: 0.186786 m/s, LOS rate: 0.106537 deg/s, cmd heading: 259.789004 deg, new cmd heading: 259.951769 deg. 2025-01-08T21:52:58.884Z,1736373178.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537014 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:52:58.956Z,1736373178.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:58.957Z,1736373178.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.170318 2025-01-08T21:52:59.208Z,1736373179.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:59.209Z,1736373179.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.422316 2025-01-08T21:52:59.286Z,1736373179.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:59.295Z,1736373179.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:52:59.298Z,1736373179.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.286407 m, bearing: 355.179551 deg, approach rate: 0.180349 m/s, LOS rate: 0.106083 deg/s, cmd heading: 259.951782 deg, new cmd heading: 260.083935 deg. 2025-01-08T21:52:59.299Z,1736373179.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539321 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:52:59.460Z,1736373179.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:59.460Z,1736373179.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.674171 2025-01-08T21:52:59.704Z,1736373179.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:52:59.712Z,1736373179.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:59.713Z,1736373179.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.926499 2025-01-08T21:52:59.714Z,1736373179.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:52:59.717Z,1736373179.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.360382 m, bearing: 355.223924 deg, approach rate: 0.176359 m/s, LOS rate: 0.105767 deg/s, cmd heading: 260.083932 deg, new cmd heading: 260.217024 deg. 2025-01-08T21:52:59.720Z,1736373179.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541644 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:52:59.964Z,1736373179.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:52:59.965Z,1736373179.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.178659 2025-01-08T21:53:00.169Z,1736373180.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:00.187Z,1736373180.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:00.194Z,1736373180.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.436859 m, bearing: 355.273301 deg, approach rate: 0.161936 m/s, LOS rate: 0.104532 deg/s, cmd heading: 260.217011 deg, new cmd heading: 260.365112 deg. 2025-01-08T21:53:00.195Z,1736373180.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544229 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:00.216Z,1736373180.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:00.216Z,1736373180.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430245 2025-01-08T21:53:00.468Z,1736373180.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:00.469Z,1736373180.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682932 2025-01-08T21:53:00.542Z,1736373180.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:00.549Z,1736373180.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:00.554Z,1736373180.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:00.557Z,1736373180.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.497040 m, bearing: 355.312927 deg, approach rate: 0.165325 m/s, LOS rate: 0.108839 deg/s, cmd heading: 260.365117 deg, new cmd heading: 260.483974 deg. 2025-01-08T21:53:00.558Z,1736373180.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546303 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:00.720Z,1736373180.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:00.720Z,1736373180.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.934184 2025-01-08T21:53:00.962Z,1736373180.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:00.972Z,1736373180.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:00.972Z,1736373180.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.186185 2025-01-08T21:53:00.990Z,1736373180.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:00.997Z,1736373180.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.554138 m, bearing: 355.357773 deg, approach rate: 0.129967 m/s, LOS rate: 0.102063 deg/s, cmd heading: 260.483963 deg, new cmd heading: 260.618481 deg. 2025-01-08T21:53:00.998Z,1736373180.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548651 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:01.225Z,1736373181.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:01.226Z,1736373181.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.439357 2025-01-08T21:53:01.344Z,1736373181.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:01.370Z,1736373181.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:01.377Z,1736373181.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.605103 m, bearing: 355.398714 deg, approach rate: 0.134195 m/s, LOS rate: 0.107788 deg/s, cmd heading: 260.618490 deg, new cmd heading: 260.741297 deg. 2025-01-08T21:53:01.378Z,1736373181.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550794 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:01.476Z,1736373181.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:01.477Z,1736373181.477 [DAT](INFO): DAT read: Rx Time:21:53:00.1486 2025-01-08T21:53:01.477Z,1736373181.477 [DAT](INFO): Rx dataTimestamp_ set to:1736373181.477140 2025-01-08T21:53:01.478Z,1736373181.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.691735 2025-01-08T21:53:01.728Z,1736373181.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:01.728Z,1736373181.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.942192 2025-01-08T21:53:01.791Z,1736373181.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:01.870Z,1736373181.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:01.878Z,1736373181.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.664764 m, bearing: 355.446437 deg, approach rate: 0.119918 m/s, LOS rate: 0.095904 deg/s, cmd heading: 260.741297 deg, new cmd heading: 260.884441 deg. 2025-01-08T21:53:01.878Z,1736373181.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.553292 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:01.980Z,1736373181.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:01.990Z,1736373181.990 [DAT](INFO): DAT read: 21:53:00.1486 LVL= 11376, 23601, 15250, 23267, AGC= 71, IDX= 374,-0.00,-1.938,-3.035, 1.915, 3.032, PHS= 1.401, 0.263,-1.121, RAW= 56.8, -5.0, CAL= 62.0, -10.2, ROT= 88.0, 10.2 2025-01-08T21:53:01.991Z,1736373181.991 [DAT](INFO): got valid direction response: 21:53:00.1486 LVL= 11376, 23601, 15250, 23267, AGC= 71, IDX= 374,-0.00,-1.938,-3.035, 1.915, 3.032, PHS= 1.401, 0.263,-1.121, RAW= 56.8, -5.0, CAL= 62.0, -10.2, ROT= 88.0, 10.2 2025-01-08T21:53:01.992Z,1736373181.992 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:53:01.992Z,1736373181.992 [DAT](INFO): Received a bad header 2025-01-08T21:53:02.004Z,1736373182.004 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:53:02.004Z,1736373182.004 [DAT](INFO): direction in FSK: [0.070620,0.611951,0.787736] 2025-01-08T21:53:02.007Z,1736373182.007 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:02.008Z,1736373182.008 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:02.008Z,1736373182.008 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:02.180Z,1736373182.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:02.189Z,1736373182.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:02.192Z,1736373182.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.717682 m, bearing: 355.488342 deg, approach rate: 0.164528 m/s, LOS rate: 0.130273 deg/s, cmd heading: 260.884430 deg, new cmd heading: 261.010130 deg. 2025-01-08T21:53:02.193Z,1736373182.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555486 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:02.232Z,1736373182.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:02.232Z,1736373182.232 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:02.233Z,1736373182.233 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:02.233Z,1736373182.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:02.484Z,1736373182.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:02.484Z,1736373182.484 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:02.485Z,1736373182.485 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:02.485Z,1736373182.485 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:02.578Z,1736373182.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:02.588Z,1736373182.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:02.590Z,1736373182.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:02.593Z,1736373182.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.770905 m, bearing: 355.531292 deg, approach rate: 0.132760 m/s, LOS rate: 0.107120 deg/s, cmd heading: 261.010133 deg, new cmd heading: 261.138965 deg. 2025-01-08T21:53:02.594Z,1736373182.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557735 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:02.738Z,1736373182.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:02.739Z,1736373182.739 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:02.739Z,1736373182.739 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:02.739Z,1736373182.739 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:02.988Z,1736373182.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:02.988Z,1736373182.988 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:02.988Z,1736373182.988 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:02.989Z,1736373182.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:02.991Z,1736373182.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:02.999Z,1736373182.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:03.003Z,1736373183.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.824036 m, bearing: 355.577262 deg, approach rate: 0.129826 m/s, LOS rate: 0.112311 deg/s, cmd heading: 261.138978 deg, new cmd heading: 261.276867 deg. 2025-01-08T21:53:03.004Z,1736373183.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560142 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:03.240Z,1736373183.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:03.240Z,1736373183.240 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:03.240Z,1736373183.240 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:03.240Z,1736373183.240 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:03.369Z,1736373183.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:03.385Z,1736373183.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:03.391Z,1736373183.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.872040 m, bearing: 355.619454 deg, approach rate: 0.124589 m/s, LOS rate: 0.109489 deg/s, cmd heading: 261.276866 deg, new cmd heading: 261.403424 deg. 2025-01-08T21:53:03.392Z,1736373183.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562350 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:03.492Z,1736373183.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:03.492Z,1736373183.492 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:03.492Z,1736373183.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:03.492Z,1736373183.492 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:03.744Z,1736373183.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:03.744Z,1736373183.744 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:03.744Z,1736373183.744 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:03.744Z,1736373183.744 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:03.776Z,1736373183.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:03.784Z,1736373183.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:03.824Z,1736373183.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.923035 m, bearing: 355.664802 deg, approach rate: 0.127630 m/s, LOS rate: 0.113484 deg/s, cmd heading: 261.403415 deg, new cmd heading: 261.539443 deg. 2025-01-08T21:53:03.828Z,1736373183.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564724 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:03.996Z,1736373183.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:03.996Z,1736373183.996 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:03.996Z,1736373183.996 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:03.996Z,1736373183.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:04.208Z,1736373184.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:04.216Z,1736373184.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:04.220Z,1736373184.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 373.969391 m, bearing: 355.713346 deg, approach rate: 0.107237 m/s, LOS rate: 0.112283 deg/s, cmd heading: 261.539445 deg, new cmd heading: 261.685057 deg. 2025-01-08T21:53:04.221Z,1736373184.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567266 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:04.248Z,1736373184.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:04.248Z,1736373184.248 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:04.248Z,1736373184.248 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:04.248Z,1736373184.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:04.500Z,1736373184.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:04.500Z,1736373184.500 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:04.500Z,1736373184.500 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:04.500Z,1736373184.500 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:04.582Z,1736373184.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:04.590Z,1736373184.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:04.593Z,1736373184.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:04.595Z,1736373184.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.009064 m, bearing: 355.755378 deg, approach rate: 0.105458 m/s, LOS rate: 0.111716 deg/s, cmd heading: 261.685065 deg, new cmd heading: 261.811146 deg. 2025-01-08T21:53:04.596Z,1736373184.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569467 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:04.752Z,1736373184.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:04.752Z,1736373184.752 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:04.752Z,1736373184.752 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:04.752Z,1736373184.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:05.004Z,1736373185.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:05.004Z,1736373185.004 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:05.004Z,1736373185.004 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:05.004Z,1736373185.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:05.008Z,1736373185.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:05.042Z,1736373185.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:05.053Z,1736373185.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.047333 m, bearing: 355.805057 deg, approach rate: 0.085183 m/s, LOS rate: 0.110570 deg/s, cmd heading: 261.811150 deg, new cmd heading: 261.960173 deg. 2025-01-08T21:53:05.054Z,1736373185.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572068 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:05.256Z,1736373185.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:05.256Z,1736373185.256 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:05.256Z,1736373185.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:05.256Z,1736373185.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:05.388Z,1736373185.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:05.410Z,1736373185.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:05.417Z,1736373185.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.081146 m, bearing: 355.849287 deg, approach rate: 0.091842 m/s, LOS rate: 0.120123 deg/s, cmd heading: 261.960185 deg, new cmd heading: 262.092863 deg. 2025-01-08T21:53:05.423Z,1736373185.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574383 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:05.508Z,1736373185.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:05.509Z,1736373185.509 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:05.509Z,1736373185.509 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:05.509Z,1736373185.509 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:05.760Z,1736373185.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:05.760Z,1736373185.760 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:05.760Z,1736373185.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:05.761Z,1736373185.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:05.792Z,1736373185.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:05.840Z,1736373185.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:05.847Z,1736373185.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.117035 m, bearing: 355.896361 deg, approach rate: 0.084339 m/s, LOS rate: 0.110613 deg/s, cmd heading: 262.092855 deg, new cmd heading: 262.234062 deg. 2025-01-08T21:53:05.848Z,1736373185.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576848 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:06.013Z,1736373186.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:06.014Z,1736373186.014 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:06.014Z,1736373186.014 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:06.014Z,1736373186.014 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:06.246Z,1736373186.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:06.256Z,1736373186.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:06.258Z,1736373186.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.153107 m, bearing: 355.952036 deg, approach rate: 0.085926 m/s, LOS rate: 0.132611 deg/s, cmd heading: 262.234048 deg, new cmd heading: 262.401059 deg. 2025-01-08T21:53:06.260Z,1736373186.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579762 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:06.264Z,1736373186.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:06.264Z,1736373186.264 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:06.264Z,1736373186.264 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:06.264Z,1736373186.264 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:06.516Z,1736373186.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:06.516Z,1736373186.516 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:06.516Z,1736373186.516 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:06.516Z,1736373186.516 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:06.624Z,1736373186.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:06.630Z,1736373186.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:06.633Z,1736373186.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:06.636Z,1736373186.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.182892 m, bearing: 355.998248 deg, approach rate: 0.078925 m/s, LOS rate: 0.122442 deg/s, cmd heading: 262.401060 deg, new cmd heading: 262.539683 deg. 2025-01-08T21:53:06.637Z,1736373186.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582182 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:06.769Z,1736373186.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:06.769Z,1736373186.769 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:06.769Z,1736373186.769 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:06.769Z,1736373186.769 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:07.020Z,1736373187.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:07.020Z,1736373187.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:07.020Z,1736373187.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:07.020Z,1736373187.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:07.044Z,1736373187.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:07.090Z,1736373187.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:07.097Z,1736373187.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.212830 m, bearing: 356.049780 deg, approach rate: 0.065476 m/s, LOS rate: 0.112695 deg/s, cmd heading: 262.539686 deg, new cmd heading: 262.694268 deg. 2025-01-08T21:53:07.098Z,1736373187.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584880 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:07.272Z,1736373187.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:07.272Z,1736373187.272 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:07.272Z,1736373187.272 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:07.272Z,1736373187.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:07.425Z,1736373187.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:07.433Z,1736373187.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:07.437Z,1736373187.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.240173 m, bearing: 356.096372 deg, approach rate: 0.079593 m/s, LOS rate: 0.135612 deg/s, cmd heading: 262.694266 deg, new cmd heading: 262.834032 deg. 2025-01-08T21:53:07.438Z,1736373187.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587319 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:07.524Z,1736373187.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:07.525Z,1736373187.525 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:07.525Z,1736373187.525 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:07.526Z,1736373187.526 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:07.776Z,1736373187.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:07.776Z,1736373187.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:07.776Z,1736373187.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:07.776Z,1736373187.776 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:07.842Z,1736373187.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:07.879Z,1736373187.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:07.905Z,1736373187.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.270203 m, bearing: 356.147452 deg, approach rate: 0.068012 m/s, LOS rate: 0.115681 deg/s, cmd heading: 262.834039 deg, new cmd heading: 262.987269 deg. 2025-01-08T21:53:07.913Z,1736373187.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589994 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:08.028Z,1736373188.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:08.029Z,1736373188.029 [DAT](INFO): Reached modem response timeout 2025-01-08T21:53:08.029Z,1736373188.029 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:53:08.030Z,1736373188.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:53:08.280Z,1736373188.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:08.280Z,1736373188.280 [DAT](INFO): Reached modem response timeout 2025-01-08T21:53:08.280Z,1736373188.280 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:53:08.281Z,1736373188.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:53:08.283Z,1736373188.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:08.313Z,1736373188.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:08.320Z,1736373188.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.303467 m, bearing: 356.200991 deg, approach rate: 0.075966 m/s, LOS rate: 0.122255 deg/s, cmd heading: 262.987282 deg, new cmd heading: 263.147881 deg. 2025-01-08T21:53:08.321Z,1736373188.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592797 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:08.532Z,1736373188.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:08.532Z,1736373188.532 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:53:08.533Z,1736373188.533 [DAT](INFO): response not received 2025-01-08T21:53:08.533Z,1736373188.533 [DAT](INFO): DAT read: user:2123> 2025-01-08T21:53:08.534Z,1736373188.534 [DAT](INFO): DAT read: Tx time:21:53:07.8374 2025-01-08T21:53:08.535Z,1736373188.535 [DAT](INFO): Ping request sent. 2025-01-08T21:53:08.535Z,1736373188.535 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:53:08.535Z,1736373188.535 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:08.536Z,1736373188.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000910 2025-01-08T21:53:08.669Z,1736373188.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:08.692Z,1736373188.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:08.694Z,1736373188.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:08.702Z,1736373188.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.335907 m, bearing: 356.252668 deg, approach rate: 0.085104 m/s, LOS rate: 0.135560 deg/s, cmd heading: 263.147873 deg, new cmd heading: 263.302893 deg. 2025-01-08T21:53:08.703Z,1736373188.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595502 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:08.784Z,1736373188.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:08.785Z,1736373188.785 [DAT](INFO): DAT read: TxSync time:21:53:07.8366 2025-01-08T21:53:08.786Z,1736373188.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251006 2025-01-08T21:53:09.036Z,1736373189.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:09.037Z,1736373189.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501551 2025-01-08T21:53:09.083Z,1736373189.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:09.112Z,1736373189.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:09.115Z,1736373189.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.369415 m, bearing: 356.305474 deg, approach rate: 0.080108 m/s, LOS rate: 0.126231 deg/s, cmd heading: 263.302891 deg, new cmd heading: 263.461294 deg. 2025-01-08T21:53:09.120Z,1736373189.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598267 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:09.288Z,1736373189.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:09.288Z,1736373189.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753395 2025-01-08T21:53:09.479Z,1736373189.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:09.523Z,1736373189.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:09.525Z,1736373189.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.402100 m, bearing: 356.355662 deg, approach rate: 0.079682 m/s, LOS rate: 0.122343 deg/s, cmd heading: 263.461297 deg, new cmd heading: 263.611846 deg. 2025-01-08T21:53:09.526Z,1736373189.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.600894 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:09.540Z,1736373189.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:09.541Z,1736373189.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005600 2025-01-08T21:53:09.792Z,1736373189.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:09.792Z,1736373189.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257358 2025-01-08T21:53:09.866Z,1736373189.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:09.875Z,1736373189.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:09.877Z,1736373189.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.434875 m, bearing: 356.405397 deg, approach rate: 0.093104 m/s, LOS rate: 0.141265 deg/s, cmd heading: 263.611834 deg, new cmd heading: 263.761026 deg. 2025-01-08T21:53:09.878Z,1736373189.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603498 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:10.044Z,1736373190.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:10.044Z,1736373190.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509419 2025-01-08T21:53:10.283Z,1736373190.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:10.293Z,1736373190.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:10.304Z,1736373190.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:10.304Z,1736373190.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769431 2025-01-08T21:53:10.316Z,1736373190.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.474243 m, bearing: 356.457550 deg, approach rate: 0.094131 m/s, LOS rate: 0.124689 deg/s, cmd heading: 263.761033 deg, new cmd heading: 263.917476 deg. 2025-01-08T21:53:10.317Z,1736373190.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606229 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:10.556Z,1736373190.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:10.557Z,1736373190.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021778 2025-01-08T21:53:10.700Z,1736373190.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:10.708Z,1736373190.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:10.710Z,1736373190.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:10.713Z,1736373190.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.512909 m, bearing: 356.509681 deg, approach rate: 0.092732 m/s, LOS rate: 0.125011 deg/s, cmd heading: 263.917471 deg, new cmd heading: 264.073846 deg. 2025-01-08T21:53:10.713Z,1736373190.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608958 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:10.808Z,1736373190.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:10.810Z,1736373190.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274505 2025-01-08T21:53:11.060Z,1736373191.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:11.060Z,1736373191.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525207 2025-01-08T21:53:11.104Z,1736373191.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:11.132Z,1736373191.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:11.136Z,1736373191.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.556732 m, bearing: 356.559576 deg, approach rate: 0.103783 m/s, LOS rate: 0.118150 deg/s, cmd heading: 264.073855 deg, new cmd heading: 264.223525 deg. 2025-01-08T21:53:11.137Z,1736373191.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611570 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:11.313Z,1736373191.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:11.314Z,1736373191.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778763 2025-01-08T21:53:11.565Z,1736373191.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:11.568Z,1736373191.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031692 2025-01-08T21:53:11.580Z,1736373191.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:11.621Z,1736373191.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:11.629Z,1736373191.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.607910 m, bearing: 356.618428 deg, approach rate: 0.104633 m/s, LOS rate: 0.120305 deg/s, cmd heading: 264.223518 deg, new cmd heading: 264.400048 deg. 2025-01-08T21:53:11.630Z,1736373191.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614651 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:11.817Z,1736373191.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:11.818Z,1736373191.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283013 2025-01-08T21:53:12.059Z,1736373192.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:12.068Z,1736373192.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:12.069Z,1736373192.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534426 2025-01-08T21:53:12.070Z,1736373192.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:12.089Z,1736373192.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.646698 m, bearing: 356.674918 deg, approach rate: 0.086997 m/s, LOS rate: 0.126688 deg/s, cmd heading: 264.400038 deg, new cmd heading: 264.569490 deg. 2025-01-08T21:53:12.090Z,1736373192.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617609 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:12.320Z,1736373192.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:12.321Z,1736373192.321 [DAT](INFO): DAT read: Rx Time:21:53:11.1016 2025-01-08T21:53:12.322Z,1736373192.322 [DAT](INFO): Rx dataTimestamp_ set to:1736373192.321272 2025-01-08T21:53:12.322Z,1736373192.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787471 2025-01-08T21:53:12.502Z,1736373192.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:12.511Z,1736373192.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:12.514Z,1736373192.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.682037 m, bearing: 356.727325 deg, approach rate: 0.079578 m/s, LOS rate: 0.118001 deg/s, cmd heading: 264.569481 deg, new cmd heading: 264.726687 deg. 2025-01-08T21:53:12.515Z,1736373192.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620352 target range: 648.000000 and range: 648.00 m. 2025-01-08T21:53:12.573Z,1736373192.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:12.574Z,1736373192.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038948 2025-01-08T21:53:12.824Z,1736373192.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:12.825Z,1736373192.825 [DAT](INFO): DAT read: Range 10 to 50 : 645.0 m (Round-trip 860.1 ms) speed -0.3 m/s 2025-01-08T21:53:12.826Z,1736373192.826 [DAT](INFO): DAT read: user:2124> 2025-01-08T21:53:12.827Z,1736373192.827 [DAT](INFO): DAT read: Tx time:21:53:12.1874 2025-01-08T21:53:12.827Z,1736373192.827 [DAT](INFO): Ping request sent. 2025-01-08T21:53:12.828Z,1736373192.828 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:53:12.828Z,1736373192.828 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:53:12.828Z,1736373192.828 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:12.829Z,1736373192.829 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:12.954Z,1736373192.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:12.958Z,1736373192.958 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:53:13.021Z,1736373193.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:13.036Z,1736373193.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 645.000000 m, deltaT: 15.131095 s, deltaX: -3.000000 m, approachRate: -0.198267 m/s, rangeRepo size: 4 2025-01-08T21:53:13.036Z,1736373193.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:13.043Z,1736373193.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.718231 m, bearing: 356.780498 deg, approach rate: 0.070676 m/s, LOS rate: 0.103820 deg/s, cmd heading: 264.726685 deg, new cmd heading: 264.886187 deg. 2025-01-08T21:53:13.046Z,1736373193.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623136 target range: 648.000000 and range: 645.00 m. 2025-01-08T21:53:13.076Z,1736373193.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:13.077Z,1736373193.077 [DAT](INFO): DAT read: TxSync time:21:53:12.1866 2025-01-08T21:53:13.077Z,1736373193.077 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:13.077Z,1736373193.077 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:13.077Z,1736373193.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:53:13.328Z,1736373193.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:13.328Z,1736373193.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500878 2025-01-08T21:53:13.409Z,1736373193.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:13.441Z,1736373193.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:13.450Z,1736373193.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.779480 m, bearing: 356.832434 deg, approach rate: 0.146719 m/s, LOS rate: 0.124390 deg/s, cmd heading: 264.886183 deg, new cmd heading: 265.041965 deg. 2025-01-08T21:53:13.452Z,1736373193.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625855 target range: 648.000000 and range: 645.00 m. 2025-01-08T21:53:13.580Z,1736373193.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:13.580Z,1736373193.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752875 2025-01-08T21:53:13.777Z,1736373193.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:13.805Z,1736373193.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:13.812Z,1736373193.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.828979 m, bearing: 356.874237 deg, approach rate: 0.135671 m/s, LOS rate: 0.114561 deg/s, cmd heading: 265.041966 deg, new cmd heading: 265.167358 deg. 2025-01-08T21:53:13.813Z,1736373193.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628044 target range: 648.000000 and range: 645.00 m. 2025-01-08T21:53:13.832Z,1736373193.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:13.833Z,1736373193.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005337 2025-01-08T21:53:13.960Z,1736373193.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:53:14.084Z,1736373194.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:14.085Z,1736373194.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256889 2025-01-08T21:53:14.192Z,1736373194.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:14.204Z,1736373194.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:14.206Z,1736373194.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.881165 m, bearing: 356.919143 deg, approach rate: 0.131153 m/s, LOS rate: 0.112844 deg/s, cmd heading: 265.167369 deg, new cmd heading: 265.302069 deg. 2025-01-08T21:53:14.232Z,1736373194.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630394 target range: 648.000000 and range: 645.00 m. 2025-01-08T21:53:14.336Z,1736373194.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:14.337Z,1736373194.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509437 2025-01-08T21:53:14.576Z,1736373194.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:14.588Z,1736373194.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:14.589Z,1736373194.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760962 2025-01-08T21:53:14.590Z,1736373194.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:14.593Z,1736373194.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.926880 m, bearing: 356.959194 deg, approach rate: 0.118153 m/s, LOS rate: 0.103501 deg/s, cmd heading: 265.302060 deg, new cmd heading: 265.422199 deg. 2025-01-08T21:53:14.594Z,1736373194.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632491 target range: 648.000000 and range: 645.00 m. 2025-01-08T21:53:14.840Z,1736373194.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:14.841Z,1736373194.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013227 2025-01-08T21:53:15.044Z,1736373195.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:15.055Z,1736373195.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:15.057Z,1736373195.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:15.061Z,1736373195.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 374.986420 m, bearing: 357.011115 deg, approach rate: 0.127488 m/s, LOS rate: 0.111156 deg/s, cmd heading: 265.422189 deg, new cmd heading: 265.577927 deg. 2025-01-08T21:53:15.062Z,1736373195.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635209 target range: 648.000000 and range: 645.00 m. 2025-01-08T21:53:15.093Z,1736373195.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:15.094Z,1736373195.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266029 2025-01-08T21:53:15.344Z,1736373195.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:15.344Z,1736373195.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516767 2025-01-08T21:53:15.472Z,1736373195.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:15.481Z,1736373195.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:15.484Z,1736373195.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 375.027985 m, bearing: 357.055867 deg, approach rate: 0.098105 m/s, LOS rate: 0.105615 deg/s, cmd heading: 265.577918 deg, new cmd heading: 265.712157 deg. 2025-01-08T21:53:15.485Z,1736373195.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637552 target range: 648.000000 and range: 645.00 m. 2025-01-08T21:53:15.596Z,1736373195.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:15.598Z,1736373195.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770043 2025-01-08T21:53:15.848Z,1736373195.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:15.849Z,1736373195.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020996 2025-01-08T21:53:15.850Z,1736373195.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:15.883Z,1736373195.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:15.886Z,1736373195.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 375.063507 m, bearing: 357.095368 deg, approach rate: 0.088449 m/s, LOS rate: 0.098346 deg/s, cmd heading: 265.712145 deg, new cmd heading: 265.830636 deg. 2025-01-08T21:53:15.888Z,1736373195.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639620 target range: 648.000000 and range: 645.00 m. 2025-01-08T21:53:16.101Z,1736373196.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:16.102Z,1736373196.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274432 2025-01-08T21:53:16.284Z,1736373196.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:16.293Z,1736373196.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:16.296Z,1736373196.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 375.109650 m, bearing: 357.139533 deg, approach rate: 0.112361 m/s, LOS rate: 0.107532 deg/s, cmd heading: 265.830635 deg, new cmd heading: 265.963114 deg. 2025-01-08T21:53:16.297Z,1736373196.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641932 target range: 648.000000 and range: 645.00 m. 2025-01-08T21:53:16.352Z,1736373196.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:16.353Z,1736373196.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525306 2025-01-08T21:53:16.604Z,1736373196.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:16.604Z,1736373196.604 [DAT](INFO): DAT read: Rx Time:21:53:15.4528 2025-01-08T21:53:16.605Z,1736373196.605 [DAT](INFO): Rx dataTimestamp_ set to:1736373196.604671 2025-01-08T21:53:16.605Z,1736373196.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777931 2025-01-08T21:53:16.719Z,1736373196.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:16.728Z,1736373196.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:16.731Z,1736373196.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 375.154388 m, bearing: 357.183711 deg, approach rate: 0.103093 m/s, LOS rate: 0.101788 deg/s, cmd heading: 265.963113 deg, new cmd heading: 266.095631 deg. 2025-01-08T21:53:16.732Z,1736373196.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644245 target range: 648.000000 and range: 645.00 m. 2025-01-08T21:53:16.856Z,1736373196.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:16.857Z,1736373196.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029191 2025-01-08T21:53:17.109Z,1736373197.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:17.112Z,1736373197.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283380 2025-01-08T21:53:17.176Z,1736373197.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:17.191Z,1736373197.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:17.193Z,1736373197.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 648.00 m. 2025-01-08T21:53:17.209Z,1736373197.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 648.000000 m, nav range: 375.196350 m, bearing: 357.229758 deg, approach rate: 0.090011 m/s, LOS rate: 0.098763 deg/s, cmd heading: 266.095619 deg, new cmd heading: 266.233745 deg. 2025-01-08T21:53:17.210Z,1736373197.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646656 target range: 648.000000 and range: 645.00 m. 2025-01-08T21:53:17.360Z,1736373197.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:17.367Z,1736373197.367 [DAT](INFO): DAT read: 21:53:15.4528 LVL= 15728, 30385, 20322, 28915, AGC= 71, IDX= 432,-0.16,-1.776,-2.966, 2.211,-2.995, PHS= 1.308, 0.076,-1.079, RAW= 61.1, -3.0, CAL= 65.9, -7.5, ROT= 84.1, 7.5 2025-01-08T21:53:17.369Z,1736373197.369 [DAT](INFO): got valid direction response: 21:53:15.4528 LVL= 15728, 30385, 20322, 28915, AGC= 71, IDX= 432,-0.16,-1.776,-2.966, 2.211,-2.995, PHS= 1.308, 0.076,-1.079, RAW= 61.1, -3.0, CAL= 65.9, -7.5, ROT= 84.1, 7.5 2025-01-08T21:53:17.370Z,1736373197.370 [DAT](INFO): DAT read: Bearing 84.1, 7.5 (Local) 2025-01-08T21:53:17.370Z,1736373197.370 [DAT](INFO): Local bearing/azimuth received: Bearing 84.1, 7.5 (Local) 2025-01-08T21:53:17.372Z,1736373197.372 [DAT](INFO): DAT read: Range 10 to 50 : 645.9 m (Round-trip 861.2 ms) speed 0.0 m/s 2025-01-08T21:53:17.373Z,1736373197.373 [DAT](INFO): DAT read: user:2125> 2025-01-08T21:53:17.374Z,1736373197.374 [DAT](INFO): DAT read: Tx time:21:53:16.5375 2025-01-08T21:53:17.374Z,1736373197.374 [DAT](INFO): Ping request sent. 2025-01-08T21:53:17.374Z,1736373197.374 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:53:17.375Z,1736373197.375 [DAT](INFO): DAT read: TxSync time:21:53:16.5367 2025-01-08T21:53:17.375Z,1736373197.375 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:53:17.376Z,1736373197.376 [DAT](INFO): direction in FSK: [0.024287,0.558698,0.829016] 2025-01-08T21:53:17.376Z,1736373197.376 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:17.377Z,1736373197.377 [DAT](INFO): publishing direction and range info 2025-01-08T21:53:17.380Z,1736373197.380 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:17.381Z,1736373197.381 [DAT](INFO): publishing direction and range info 2025-01-08T21:53:17.523Z,1736373197.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:17.565Z,1736373197.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 645.900024 m, deltaT: 4.536077 s, deltaX: 0.900024 m, approachRate: 0.198415 m/s, rangeRepo size: 4 2025-01-08T21:53:17.580Z,1736373197.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 645.900024 m, bearing: 357.852366 deg, lat: 36.901824 deg, lon: -122.119085 deg, deltaT: 19.667172 s, deltaX: -2.099976 m, approachRate: -0.106776 m/s, posRepo size: 4 2025-01-08T21:53:17.580Z,1736373197.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 645.90 m. 2025-01-08T21:53:17.583Z,1736373197.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 645.900024 m, nav range: 370.285004 m, bearing: 358.382971 deg, approach rate: 0.000000 m/s, LOS rate: 0.098763 deg/s, cmd heading: 266.233752 deg, new cmd heading: 266.343704 deg. 2025-01-08T21:53:17.588Z,1736373197.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648574 target range: 645.900024 and range: 645.90 m. 2025-01-08T21:53:17.612Z,1736373197.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:17.864Z,1736373197.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:17.905Z,1736373197.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:17.930Z,1736373197.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 645.90 m. 2025-01-08T21:53:17.933Z,1736373197.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 645.900024 m, nav range: 370.324127 m, bearing: 358.421923 deg, approach rate: 0.106984 m/s, LOS rate: 0.106503 deg/s, cmd heading: 266.343691 deg, new cmd heading: 266.460533 deg. 2025-01-08T21:53:17.943Z,1736373197.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650614 target range: 645.900024 and range: 645.90 m. 2025-01-08T21:53:18.116Z,1736373198.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:18.319Z,1736373198.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:18.367Z,1736373198.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 645.90 m. 2025-01-08T21:53:18.368Z,1736373198.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:18.381Z,1736373198.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 645.900024 m, nav range: 370.357849 m, bearing: 358.465993 deg, approach rate: 0.077918 m/s, LOS rate: 0.101819 deg/s, cmd heading: 266.460542 deg, new cmd heading: 266.592740 deg. 2025-01-08T21:53:18.382Z,1736373198.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652921 target range: 645.900024 and range: 645.90 m. 2025-01-08T21:53:18.622Z,1736373198.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:18.720Z,1736373198.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:18.729Z,1736373198.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 645.90 m. 2025-01-08T21:53:18.732Z,1736373198.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 645.900024 m, nav range: 370.389984 m, bearing: 358.508756 deg, approach rate: 0.087809 m/s, LOS rate: 0.116839 deg/s, cmd heading: 266.592747 deg, new cmd heading: 266.721024 deg. 2025-01-08T21:53:18.733Z,1736373198.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655160 target range: 645.900024 and range: 645.90 m. 2025-01-08T21:53:18.876Z,1736373198.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:19.128Z,1736373199.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:19.160Z,1736373199.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:19.178Z,1736373199.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 645.90 m. 2025-01-08T21:53:19.185Z,1736373199.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 645.900024 m, nav range: 370.415802 m, bearing: 358.557575 deg, approach rate: 0.057527 m/s, LOS rate: 0.108771 deg/s, cmd heading: 266.721018 deg, new cmd heading: 266.867465 deg. 2025-01-08T21:53:19.186Z,1736373199.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657716 target range: 645.900024 and range: 645.90 m. 2025-01-08T21:53:19.380Z,1736373199.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:19.545Z,1736373199.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:19.552Z,1736373199.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:19.554Z,1736373199.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 645.90 m. 2025-01-08T21:53:19.557Z,1736373199.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 645.900024 m, nav range: 370.438538 m, bearing: 358.600138 deg, approach rate: 0.060433 m/s, LOS rate: 0.113130 deg/s, cmd heading: 266.867457 deg, new cmd heading: 266.995139 deg. 2025-01-08T21:53:19.558Z,1736373199.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659944 target range: 645.900024 and range: 645.90 m. 2025-01-08T21:53:19.632Z,1736373199.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:19.633Z,1736373199.633 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:19.633Z,1736373199.633 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:19.634Z,1736373199.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:53:19.884Z,1736373199.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:19.885Z,1736373199.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510911 2025-01-08T21:53:19.918Z,1736373199.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:19.927Z,1736373199.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 645.90 m. 2025-01-08T21:53:19.930Z,1736373199.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 645.900024 m, nav range: 370.459229 m, bearing: 358.641452 deg, approach rate: 0.055518 m/s, LOS rate: 0.110847 deg/s, cmd heading: 266.995127 deg, new cmd heading: 267.119061 deg. 2025-01-08T21:53:19.931Z,1736373199.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662107 target range: 645.900024 and range: 645.90 m. 2025-01-08T21:53:20.137Z,1736373200.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:20.137Z,1736373200.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763122 2025-01-08T21:53:20.345Z,1736373200.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:53:20.345Z,1736373200.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:20.354Z,1736373200.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 645.90 m. 2025-01-08T21:53:20.357Z,1736373200.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 645.900024 m, nav range: 370.482544 m, bearing: 358.688790 deg, approach rate: 0.054545 m/s, LOS rate: 0.110738 deg/s, cmd heading: 267.119054 deg, new cmd heading: 267.261060 deg. 2025-01-08T21:53:20.358Z,1736373200.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664586 target range: 645.900024 and range: 645.90 m. 2025-01-08T21:53:20.388Z,1736373200.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:20.389Z,1736373200.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015194 2025-01-08T21:53:20.640Z,1736373200.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:20.641Z,1736373200.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266477 2025-01-08T21:53:20.741Z,1736373200.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:53:20.741Z,1736373200.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:20.749Z,1736373200.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 645.90 m. 2025-01-08T21:53:20.753Z,1736373200.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 645.900024 m, nav range: 370.504395 m, bearing: 358.732623 deg, approach rate: 0.055278 m/s, LOS rate: 0.110883 deg/s, cmd heading: 267.261068 deg, new cmd heading: 267.392559 deg. 2025-01-08T21:53:20.754Z,1736373200.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666881 target range: 645.900024 and range: 645.90 m. 2025-01-08T21:53:20.895Z,1736373200.895 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:20.895Z,1736373200.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521231 2025-01-08T21:53:21.144Z,1736373201.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:21.145Z,1736373201.145 [DAT](INFO): DAT read: Rx Time:21:53:19.8036 2025-01-08T21:53:21.147Z,1736373201.147 [DAT](INFO): Rx dataTimestamp_ set to:1736373201.145933 2025-01-08T21:53:21.148Z,1736373201.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774084 2025-01-08T21:53:21.216Z,1736373201.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:21.230Z,1736373201.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 645.90 m. 2025-01-08T21:53:21.237Z,1736373201.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 645.900024 m, nav range: 370.443359 m, bearing: 358.791619 deg, approach rate: -0.126935 m/s, LOS rate: 0.122714 deg/s, cmd heading: 267.392562 deg, new cmd heading: 267.569578 deg. 2025-01-08T21:53:21.238Z,1736373201.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669970 target range: 645.900024 and range: 645.90 m. 2025-01-08T21:53:21.396Z,1736373201.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:21.396Z,1736373201.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022213 2025-01-08T21:53:21.538Z,1736373201.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:21.547Z,1736373201.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 645.90 m. 2025-01-08T21:53:21.550Z,1736373201.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 645.900024 m, nav range: 370.402252 m, bearing: 358.831576 deg, approach rate: -0.129844 m/s, LOS rate: 0.126225 deg/s, cmd heading: 267.569573 deg, new cmd heading: 267.689458 deg. 2025-01-08T21:53:21.551Z,1736373201.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672062 target range: 645.900024 and range: 645.90 m. 2025-01-08T21:53:21.653Z,1736373201.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:21.665Z,1736373201.665 [DAT](INFO): DAT read: 21:53:19.8036 LVL= 15600, 25313, 21874, 32403, AGC= 68, IDX= 455, 0.05,-2.465, 2.672, 1.346, 2.524, PHS= 1.383, 0.195,-1.181, RAW= 57.6, -3.6, CAL= 62.0, -8.2, ROT= 88.0, 8.2 2025-01-08T21:53:21.666Z,1736373201.666 [DAT](INFO): got valid direction response: 21:53:19.8036 LVL= 15600, 25313, 21874, 32403, AGC= 68, IDX= 455, 0.05,-2.465, 2.672, 1.346, 2.524, PHS= 1.383, 0.195,-1.181, RAW= 57.6, -3.6, CAL= 62.0, -8.2, ROT= 88.0, 8.2 2025-01-08T21:53:21.673Z,1736373201.673 [DAT](INFO): DAT read: Bearing 88.0, 8.2 (Local) 2025-01-08T21:53:21.673Z,1736373201.673 [DAT](INFO): Local bearing/azimuth received: Bearing 88.0, 8.2 (Local) 2025-01-08T21:53:21.688Z,1736373201.688 [DAT](INFO): DAT read: Range 10 to 50 : 646.5 m (Round-trip 862.0 ms) speed -0.2 m/s 2025-01-08T21:53:21.688Z,1736373201.688 [DAT](INFO): DAT read: user:2126> 2025-01-08T21:53:21.689Z,1736373201.689 [DAT](INFO): DAT read: Tx time:21:53:20.8875 2025-01-08T21:53:21.689Z,1736373201.689 [DAT](INFO): Ping request sent. 2025-01-08T21:53:21.690Z,1736373201.690 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:53:21.690Z,1736373201.690 [DAT](INFO): DAT read: TxSync time:21:53:20.8867 2025-01-08T21:53:21.691Z,1736373201.691 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:53:21.696Z,1736373201.696 [DAT](INFO): direction in FSK: [0.042978,0.604247,0.795637] 2025-01-08T21:53:21.696Z,1736373201.696 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:21.697Z,1736373201.697 [DAT](INFO): publishing direction and range info 2025-01-08T21:53:21.708Z,1736373201.708 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:21.708Z,1736373201.708 [DAT](INFO): publishing direction and range info 2025-01-08T21:53:21.904Z,1736373201.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:21.961Z,1736373201.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:21.991Z,1736373201.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 646.500000 m, deltaT: 4.293592 s, deltaX: 0.599976 m, approachRate: 0.139737 m/s, rangeRepo size: 4 2025-01-08T21:53:21.994Z,1736373201.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 646.500000 m, bearing: 353.752002 deg, lat: 36.901635 deg, lon: -122.119395 deg, deltaT: 4.293592 s, deltaX: 0.599976 m, approachRate: 0.139737 m/s, posRepo size: 4 2025-01-08T21:53:21.994Z,1736373201.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.50 m. 2025-01-08T21:53:21.997Z,1736373201.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.500000 m, nav range: 350.987091 m, bearing: 354.314335 deg, approach rate: 0.000000 m/s, LOS rate: 0.126225 deg/s, cmd heading: 267.689457 deg, new cmd heading: 267.857232 deg. 2025-01-08T21:53:21.998Z,1736373201.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674991 target range: 646.500000 and range: 646.50 m. 2025-01-08T21:53:22.158Z,1736373202.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:22.381Z,1736373202.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:22.389Z,1736373202.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:22.391Z,1736373202.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.50 m. 2025-01-08T21:53:22.394Z,1736373202.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.500000 m, nav range: 350.963470 m, bearing: 354.371740 deg, approach rate: -0.058887 m/s, LOS rate: 0.143123 deg/s, cmd heading: 267.857234 deg, new cmd heading: 268.029459 deg. 2025-01-08T21:53:22.395Z,1736373202.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677997 target range: 646.500000 and range: 646.50 m. 2025-01-08T21:53:22.408Z,1736373202.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:22.408Z,1736373202.408 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:22.408Z,1736373202.408 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:22.409Z,1736373202.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:53:22.660Z,1736373202.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:22.661Z,1736373202.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.971559 2025-01-08T21:53:22.748Z,1736373202.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:22.757Z,1736373202.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.50 m. 2025-01-08T21:53:22.760Z,1736373202.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.500000 m, nav range: 350.944824 m, bearing: 354.421801 deg, approach rate: -0.050980 m/s, LOS rate: 0.136877 deg/s, cmd heading: 268.029464 deg, new cmd heading: 268.179655 deg. 2025-01-08T21:53:22.761Z,1736373202.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680618 target range: 646.500000 and range: 646.50 m. 2025-01-08T21:53:22.913Z,1736373202.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:22.914Z,1736373202.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224220 2025-01-08T21:53:23.164Z,1736373203.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:23.164Z,1736373203.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474871 2025-01-08T21:53:23.276Z,1736373203.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:23.296Z,1736373203.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.50 m. 2025-01-08T21:53:23.303Z,1736373203.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.500000 m, nav range: 350.926941 m, bearing: 354.496161 deg, approach rate: -0.033140 m/s, LOS rate: 0.137806 deg/s, cmd heading: 268.179646 deg, new cmd heading: 268.402734 deg. 2025-01-08T21:53:23.305Z,1736373203.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684512 target range: 646.500000 and range: 646.50 m. 2025-01-08T21:53:23.416Z,1736373203.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:23.417Z,1736373203.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727321 2025-01-08T21:53:23.593Z,1736373203.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:23.604Z,1736373203.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.50 m. 2025-01-08T21:53:23.606Z,1736373203.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.500000 m, nav range: 350.916901 m, bearing: 354.540911 deg, approach rate: -0.032740 m/s, LOS rate: 0.145929 deg/s, cmd heading: 268.402747 deg, new cmd heading: 268.537001 deg. 2025-01-08T21:53:23.607Z,1736373203.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686855 target range: 646.500000 and range: 646.50 m. 2025-01-08T21:53:23.669Z,1736373203.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:23.670Z,1736373203.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980394 2025-01-08T21:53:23.920Z,1736373203.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:23.921Z,1736373203.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230980 2025-01-08T21:53:24.025Z,1736373204.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:24.042Z,1736373204.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.50 m. 2025-01-08T21:53:24.057Z,1736373204.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.500000 m, nav range: 350.903320 m, bearing: 354.601638 deg, approach rate: -0.030925 m/s, LOS rate: 0.138294 deg/s, cmd heading: 268.537001 deg, new cmd heading: 268.719189 deg. 2025-01-08T21:53:24.058Z,1736373204.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690034 target range: 646.500000 and range: 646.50 m. 2025-01-08T21:53:24.174Z,1736373204.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:24.177Z,1736373204.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486863 2025-01-08T21:53:24.423Z,1736373204.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:24.424Z,1736373204.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:24.424Z,1736373204.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734824 2025-01-08T21:53:24.447Z,1736373204.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:24.449Z,1736373204.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.50 m. 2025-01-08T21:53:24.456Z,1736373204.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.500000 m, nav range: 350.896820 m, bearing: 354.656192 deg, approach rate: -0.015968 m/s, LOS rate: 0.134019 deg/s, cmd heading: 268.719176 deg, new cmd heading: 268.882841 deg. 2025-01-08T21:53:24.457Z,1736373204.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692891 target range: 646.500000 and range: 646.50 m. 2025-01-08T21:53:24.677Z,1736373204.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:24.678Z,1736373204.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988054 2025-01-08T21:53:24.826Z,1736373204.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:24.835Z,1736373204.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.50 m. 2025-01-08T21:53:24.858Z,1736373204.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.500000 m, nav range: 350.890289 m, bearing: 354.711468 deg, approach rate: -0.016967 m/s, LOS rate: 0.143615 deg/s, cmd heading: 268.882828 deg, new cmd heading: 269.048659 deg. 2025-01-08T21:53:24.859Z,1736373204.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695785 target range: 646.500000 and range: 646.50 m. 2025-01-08T21:53:24.928Z,1736373204.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:24.930Z,1736373204.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239783 2025-01-08T21:53:25.181Z,1736373205.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:25.184Z,1736373205.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493484 2025-01-08T21:53:25.284Z,1736373205.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:25.294Z,1736373205.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.50 m. 2025-01-08T21:53:25.297Z,1736373205.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.500000 m, nav range: 350.894531 m, bearing: 354.772822 deg, approach rate: 0.009231 m/s, LOS rate: 0.133507 deg/s, cmd heading: 269.048665 deg, new cmd heading: 269.232724 deg. 2025-01-08T21:53:25.297Z,1736373205.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698997 target range: 646.500000 and range: 646.50 m. 2025-01-08T21:53:25.432Z,1736373205.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:25.432Z,1736373205.432 [DAT](INFO): DAT read: Rx Time:21:53:24.1541 2025-01-08T21:53:25.433Z,1736373205.433 [DAT](INFO): Rx dataTimestamp_ set to:1736373205.432582 2025-01-08T21:53:25.433Z,1736373205.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743779 2025-01-08T21:53:25.640Z,1736373205.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:25.677Z,1736373205.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.50 m. 2025-01-08T21:53:25.684Z,1736373205.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:25.685Z,1736373205.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.995508 2025-01-08T21:53:25.692Z,1736373205.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.500000 m, nav range: 350.897766 m, bearing: 354.820667 deg, approach rate: 0.008441 m/s, LOS rate: 0.124839 deg/s, cmd heading: 269.232725 deg, new cmd heading: 269.376259 deg. 2025-01-08T21:53:25.693Z,1736373205.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701503 target range: 646.500000 and range: 646.50 m. 2025-01-08T21:53:25.936Z,1736373205.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:25.944Z,1736373205.944 [DAT](INFO): DAT read: 21:53:24.1541 LVL= 19696, 27233, 24242, 32739, AGC= 73, IDX= 518,-0.06,-0.329,-1.026,-2.590,-0.919, PHS= 0.678,-0.061,-1.674, RAW= 47.9, 10.2, CAL= 45.1, 15.7, ROT= 104.9, -15.7 2025-01-08T21:53:25.945Z,1736373205.945 [DAT](INFO): got valid direction response: 21:53:24.1541 LVL= 19696, 27233, 24242, 32739, AGC= 73, IDX= 518,-0.06,-0.329,-1.026,-2.590,-0.919, PHS= 0.678,-0.061,-1.674, RAW= 47.9, 10.2, CAL= 45.1, 15.7, ROT= 104.9, -15.7 2025-01-08T21:53:25.946Z,1736373205.946 [DAT](INFO): DAT read: Bearing 104.9, -15.7 (Local) 2025-01-08T21:53:25.946Z,1736373205.946 [DAT](INFO): Local bearing/azimuth received: Bearing 104.9, -15.7 (Local) 2025-01-08T21:53:25.954Z,1736373205.954 [DAT](INFO): DAT read: Range 10 to 50 : 646.8 m (Round-trip 862.5 ms) speed -0.1 m/s 2025-01-08T21:53:25.955Z,1736373205.955 [DAT](INFO): DAT read: user:2127> 2025-01-08T21:53:25.956Z,1736373205.956 [DAT](INFO): DAT read: Tx time:21:53:25.2375 2025-01-08T21:53:25.956Z,1736373205.956 [DAT](INFO): Ping request sent. 2025-01-08T21:53:25.957Z,1736373205.957 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:53:25.957Z,1736373205.957 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:53:25.958Z,1736373205.958 [DAT](INFO): direction in FSK: [-0.191715,0.724494,0.662083] 2025-01-08T21:53:25.958Z,1736373205.958 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:25.958Z,1736373205.958 [DAT](INFO): publishing direction and range info 2025-01-08T21:53:25.962Z,1736373205.962 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:25.962Z,1736373205.962 [DAT](INFO): publishing direction and range info 2025-01-08T21:53:26.090Z,1736373206.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:26.129Z,1736373206.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 646.799988 m, deltaT: 4.282555 s, deltaX: 0.299988 m, approachRate: 0.070049 m/s, rangeRepo size: 4 2025-01-08T21:53:26.131Z,1736373206.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 646.799988 m, bearing: 14.551929 deg, lat: 36.901824 deg, lon: -122.119395 deg, deltaT: 4.282555 s, deltaX: 0.299988 m, approachRate: 0.070049 m/s, posRepo size: 4 2025-01-08T21:53:26.137Z,1736373206.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.80 m. 2025-01-08T21:53:26.145Z,1736373206.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.799988 m, nav range: 371.840271 m, bearing: 355.170172 deg, approach rate: 0.000000 m/s, LOS rate: 0.124839 deg/s, cmd heading: 269.376268 deg, new cmd heading: 269.545289 deg. 2025-01-08T21:53:26.146Z,1736373206.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704453 target range: 646.799988 and range: 646.80 m. 2025-01-08T21:53:26.191Z,1736373206.191 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:26.194Z,1736373206.194 [DAT](INFO): DAT read: TxSync time:21:53:25.2367 2025-01-08T21:53:26.440Z,1736373206.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:26.553Z,1736373206.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:26.569Z,1736373206.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:26.576Z,1736373206.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.80 m. 2025-01-08T21:53:26.578Z,1736373206.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.799988 m, nav range: 371.854706 m, bearing: 355.226193 deg, approach rate: 0.032582 m/s, LOS rate: 0.126444 deg/s, cmd heading: 269.545301 deg, new cmd heading: 269.713355 deg. 2025-01-08T21:53:26.584Z,1736373206.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707386 target range: 646.799988 and range: 646.80 m. 2025-01-08T21:53:26.692Z,1736373206.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:26.692Z,1736373206.692 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:26.692Z,1736373206.692 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:26.693Z,1736373206.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:53:26.905Z,1736373206.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:26.930Z,1736373206.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.80 m. 2025-01-08T21:53:26.933Z,1736373206.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.799988 m, nav range: 371.865601 m, bearing: 355.268755 deg, approach rate: 0.030401 m/s, LOS rate: 0.118764 deg/s, cmd heading: 269.713351 deg, new cmd heading: 269.841035 deg. 2025-01-08T21:53:26.934Z,1736373206.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709615 target range: 646.799988 and range: 646.80 m. 2025-01-08T21:53:26.944Z,1736373206.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:26.945Z,1736373206.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987958 2025-01-08T21:53:27.198Z,1736373207.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:27.201Z,1736373207.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243478 2025-01-08T21:53:27.350Z,1736373207.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:27.391Z,1736373207.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.80 m. 2025-01-08T21:53:27.398Z,1736373207.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.799988 m, nav range: 371.880157 m, bearing: 355.319619 deg, approach rate: 0.031560 m/s, LOS rate: 0.110272 deg/s, cmd heading: 269.841049 deg, new cmd heading: 269.993635 deg. 2025-01-08T21:53:27.399Z,1736373207.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712278 target range: 646.799988 and range: 646.80 m. 2025-01-08T21:53:27.448Z,1736373207.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:27.450Z,1736373207.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493001 2025-01-08T21:53:27.700Z,1736373207.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:27.700Z,1736373207.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743707 2025-01-08T21:53:27.713Z,1736373207.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:27.722Z,1736373207.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.80 m. 2025-01-08T21:53:27.730Z,1736373207.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.799988 m, nav range: 371.889923 m, bearing: 355.361125 deg, approach rate: 0.029482 m/s, LOS rate: 0.125300 deg/s, cmd heading: 269.993635 deg, new cmd heading: 270.118147 deg. 2025-01-08T21:53:27.732Z,1736373207.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714451 target range: 646.799988 and range: 646.80 m. 2025-01-08T21:53:27.952Z,1736373207.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:27.953Z,1736373207.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996642 2025-01-08T21:53:28.181Z,1736373208.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:28.206Z,1736373208.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:28.209Z,1736373208.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251904 2025-01-08T21:53:28.253Z,1736373208.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.80 m. 2025-01-08T21:53:28.259Z,1736373208.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.799988 m, nav range: 371.900452 m, bearing: 355.414631 deg, approach rate: 0.019849 m/s, LOS rate: 0.100869 deg/s, cmd heading: 270.118136 deg, new cmd heading: 270.278649 deg. 2025-01-08T21:53:28.261Z,1736373208.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717252 target range: 646.799988 and range: 646.80 m. 2025-01-08T21:53:28.456Z,1736373208.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:28.457Z,1736373208.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500164 2025-01-08T21:53:28.609Z,1736373208.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:28.616Z,1736373208.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:28.619Z,1736373208.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.80 m. 2025-01-08T21:53:28.622Z,1736373208.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.799988 m, nav range: 371.929810 m, bearing: 355.460912 deg, approach rate: 0.080297 m/s, LOS rate: 0.126573 deg/s, cmd heading: 270.278645 deg, new cmd heading: 270.417476 deg. 2025-01-08T21:53:28.623Z,1736373208.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.719676 target range: 646.799988 and range: 646.80 m. 2025-01-08T21:53:28.708Z,1736373208.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:28.709Z,1736373208.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751999 2025-01-08T21:53:28.960Z,1736373208.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:28.960Z,1736373208.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003745 2025-01-08T21:53:29.038Z,1736373209.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:29.046Z,1736373209.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.80 m. 2025-01-08T21:53:29.050Z,1736373209.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.799988 m, nav range: 371.959503 m, bearing: 355.507298 deg, approach rate: 0.069332 m/s, LOS rate: 0.108300 deg/s, cmd heading: 270.417489 deg, new cmd heading: 270.556638 deg. 2025-01-08T21:53:29.052Z,1736373209.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722104 target range: 646.799988 and range: 646.80 m. 2025-01-08T21:53:29.214Z,1736373209.214 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:29.216Z,1736373209.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259279 2025-01-08T21:53:29.457Z,1736373209.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:29.464Z,1736373209.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:29.465Z,1736373209.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507976 2025-01-08T21:53:29.477Z,1736373209.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.80 m. 2025-01-08T21:53:29.517Z,1736373209.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.799988 m, nav range: 371.990601 m, bearing: 355.550261 deg, approach rate: 0.073021 m/s, LOS rate: 0.100873 deg/s, cmd heading: 270.556634 deg, new cmd heading: 270.685510 deg. 2025-01-08T21:53:29.518Z,1736373209.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724353 target range: 646.799988 and range: 646.80 m. 2025-01-08T21:53:29.716Z,1736373209.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:29.716Z,1736373209.716 [DAT](INFO): DAT read: Rx Time:21:53:28.5052 2025-01-08T21:53:29.717Z,1736373209.717 [DAT](INFO): Rx dataTimestamp_ set to:1736373209.716607 2025-01-08T21:53:29.718Z,1736373209.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760869 2025-01-08T21:53:29.832Z,1736373209.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:29.861Z,1736373209.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.80 m. 2025-01-08T21:53:29.869Z,1736373209.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 646.799988 m, nav range: 372.013641 m, bearing: 355.588579 deg, approach rate: 0.059223 m/s, LOS rate: 0.098485 deg/s, cmd heading: 270.685506 deg, new cmd heading: 270.800453 deg. 2025-01-08T21:53:29.870Z,1736373209.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.726359 target range: 646.799988 and range: 646.80 m. 2025-01-08T21:53:29.970Z,1736373209.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:29.973Z,1736373209.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016682 2025-01-08T21:53:30.222Z,1736373210.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:30.280Z,1736373210.280 [DAT](INFO): DAT read: 21:53:28.5052 LVL= 24016, 30817, 32754, 32755, AGC= 67, IDX= 439, 0.30, 0.711,-0.297,-1.690,-0.432, PHS= 1.231, 0.182,-1.261, RAW= 54.8, -1.4, CAL= 57.2, -4.7, ROT= 92.8, 4.7 2025-01-08T21:53:30.282Z,1736373210.282 [DAT](INFO): got valid direction response: 21:53:28.5052 LVL= 24016, 30817, 32754, 32755, AGC= 67, IDX= 439, 0.30, 0.711,-0.297,-1.690,-0.432, PHS= 1.231, 0.182,-1.261, RAW= 54.8, -1.4, CAL= 57.2, -4.7, ROT= 92.8, 4.7 2025-01-08T21:53:30.301Z,1736373210.301 [DAT](INFO): DAT read: Bearing 92.8, 4.7 (Local) 2025-01-08T21:53:30.301Z,1736373210.301 [DAT](INFO): Local bearing/azimuth received: Bearing 92.8, 4.7 (Local) 2025-01-08T21:53:30.312Z,1736373210.312 [DAT](INFO): DAT read: Range 10 to 50 : 647.6 m (Round-trip 863.5 ms) speed -0.1 m/s 2025-01-08T21:53:30.312Z,1736373210.312 [DAT](INFO): DAT read: user:2128> 2025-01-08T21:53:30.313Z,1736373210.313 [DAT](INFO): DAT read: Tx time:21:53:29.5875 2025-01-08T21:53:30.313Z,1736373210.313 [DAT](INFO): Ping request sent. 2025-01-08T21:53:30.314Z,1736373210.314 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:53:30.314Z,1736373210.314 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:53:30.315Z,1736373210.315 [DAT](INFO): direction in FSK: [0.007863,0.643283,0.765588] 2025-01-08T21:53:30.343Z,1736373210.343 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:30.344Z,1736373210.344 [DAT](INFO): publishing direction and range info 2025-01-08T21:53:30.347Z,1736373210.347 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:30.347Z,1736373210.347 [DAT](INFO): publishing direction and range info 2025-01-08T21:53:30.432Z,1736373210.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:30.462Z,1736373210.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 647.599976 m, deltaT: 4.286265 s, deltaX: 0.799988 m, approachRate: 0.186640 m/s, rangeRepo size: 4 2025-01-08T21:53:30.469Z,1736373210.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 647.599976 m, bearing: 357.134520 deg, lat: 36.901529 deg, lon: -122.119268 deg, deltaT: 4.286265 s, deltaX: 0.799988 m, approachRate: 0.186640 m/s, posRepo size: 4 2025-01-08T21:53:30.470Z,1736373210.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:30.472Z,1736373210.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:30.473Z,1736373210.473 [DAT](INFO): DAT read: TxSync time:21:53:29.5868 2025-01-08T21:53:30.477Z,1736373210.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.587677 m, bearing: 357.134634 deg, approach rate: 0.000000 m/s, LOS rate: 0.098485 deg/s, cmd heading: 270.800444 deg, new cmd heading: 270.977763 deg. 2025-01-08T21:53:30.478Z,1736373210.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729454 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:30.724Z,1736373210.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:30.796Z,1736373210.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:30.807Z,1736373210.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:30.809Z,1736373210.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:30.812Z,1736373210.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.613220 m, bearing: 357.174498 deg, approach rate: 0.073500 m/s, LOS rate: 0.114699 deg/s, cmd heading: 270.977756 deg, new cmd heading: 271.097339 deg. 2025-01-08T21:53:30.813Z,1736373210.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731541 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:30.976Z,1736373210.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:30.976Z,1736373210.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:30.976Z,1736373210.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:30.976Z,1736373210.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:53:31.189Z,1736373211.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:31.202Z,1736373211.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:31.205Z,1736373211.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.640778 m, bearing: 357.217203 deg, approach rate: 0.070105 m/s, LOS rate: 0.108630 deg/s, cmd heading: 271.097339 deg, new cmd heading: 271.225442 deg. 2025-01-08T21:53:31.206Z,1736373211.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733777 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:31.229Z,1736373211.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:31.238Z,1736373211.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.917361 2025-01-08T21:53:31.480Z,1736373211.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:31.481Z,1736373211.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.167568 2025-01-08T21:53:31.613Z,1736373211.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:31.623Z,1736373211.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:31.626Z,1736373211.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.660339 m, bearing: 357.262634 deg, approach rate: 0.046515 m/s, LOS rate: 0.108021 deg/s, cmd heading: 271.225446 deg, new cmd heading: 271.361730 deg. 2025-01-08T21:53:31.627Z,1736373211.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736156 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:31.732Z,1736373211.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:31.733Z,1736373211.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.418971 2025-01-08T21:53:31.972Z,1736373211.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:31.982Z,1736373211.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:31.984Z,1736373211.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:31.985Z,1736373211.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.671719 2025-01-08T21:53:32.005Z,1736373212.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.676727 m, bearing: 357.303936 deg, approach rate: 0.045590 m/s, LOS rate: 0.114896 deg/s, cmd heading: 271.361722 deg, new cmd heading: 271.485624 deg. 2025-01-08T21:53:32.006Z,1736373212.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738318 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:32.237Z,1736373212.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:32.238Z,1736373212.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.923997 2025-01-08T21:53:32.478Z,1736373212.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:32.488Z,1736373212.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:32.489Z,1736373212.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.174982 2025-01-08T21:53:32.507Z,1736373212.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:32.514Z,1736373212.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.685822 m, bearing: 357.362902 deg, approach rate: 0.017334 m/s, LOS rate: 0.112388 deg/s, cmd heading: 271.485621 deg, new cmd heading: 271.662512 deg. 2025-01-08T21:53:32.515Z,1736373212.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.741405 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:32.740Z,1736373212.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:32.741Z,1736373212.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.427076 2025-01-08T21:53:32.881Z,1736373212.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:32.888Z,1736373212.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:32.890Z,1736373212.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:32.893Z,1736373212.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.693329 m, bearing: 357.409770 deg, approach rate: 0.019576 m/s, LOS rate: 0.122212 deg/s, cmd heading: 271.662523 deg, new cmd heading: 271.803124 deg. 2025-01-08T21:53:32.894Z,1736373212.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743859 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:32.993Z,1736373212.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:32.995Z,1736373212.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.680564 2025-01-08T21:53:33.246Z,1736373213.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:33.248Z,1736373213.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.934061 2025-01-08T21:53:33.381Z,1736373213.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:33.415Z,1736373213.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:33.419Z,1736373213.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.687622 m, bearing: 357.474116 deg, approach rate: -0.010956 m/s, LOS rate: 0.123533 deg/s, cmd heading: 271.803116 deg, new cmd heading: 271.996157 deg. 2025-01-08T21:53:33.420Z,1736373213.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.747229 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:33.496Z,1736373213.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:33.498Z,1736373213.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.183922 2025-01-08T21:53:33.748Z,1736373213.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:33.748Z,1736373213.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.434818 2025-01-08T21:53:33.779Z,1736373213.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:33.789Z,1736373213.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:33.792Z,1736373213.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.682983 m, bearing: 357.525445 deg, approach rate: -0.012288 m/s, LOS rate: 0.135969 deg/s, cmd heading: 271.996164 deg, new cmd heading: 272.150153 deg. 2025-01-08T21:53:33.793Z,1736373213.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749916 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:33.000Z,1736373214.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:34.001Z,1736373214.001 [DAT](INFO): DAT read: Rx Time:21:53:32.8639 2025-01-08T21:53:34.001Z,1736373214.001 [DAT](INFO): Rx dataTimestamp_ set to:1736373214.000824 2025-01-08T21:53:34.002Z,1736373214.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.688561 2025-01-08T21:53:34.190Z,1736373214.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:34.200Z,1736373214.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:34.204Z,1736373214.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.678406 m, bearing: 357.578329 deg, approach rate: -0.011131 m/s, LOS rate: 0.128592 deg/s, cmd heading: 272.150144 deg, new cmd heading: 272.308799 deg. 2025-01-08T21:53:34.205Z,1736373214.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.752685 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:34.253Z,1736373214.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:34.256Z,1736373214.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.941155 2025-01-08T21:53:34.504Z,1736373214.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:34.505Z,1736373214.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.191098 2025-01-08T21:53:34.641Z,1736373214.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:34.656Z,1736373214.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:34.661Z,1736373214.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.660889 m, bearing: 357.637117 deg, approach rate: -0.038462 m/s, LOS rate: 0.129086 deg/s, cmd heading: 272.308796 deg, new cmd heading: 272.485168 deg. 2025-01-08T21:53:34.663Z,1736373214.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.755764 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:34.757Z,1736373214.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:34.780Z,1736373214.780 [DAT](INFO): DAT read: 21:53:32.8639 LVL= 22864, 30177, 30658, 32755, AGC= 67, IDX= 512,-0.06, 2.436, 1.149, 1.259, 1.782, PHS= 0.742,-0.586,-0.526, RAW= 92.3, 5.8, CAL= 100.3, 4.9, ROT= 49.7, -4.9 2025-01-08T21:53:34.781Z,1736373214.781 [DAT](INFO): got valid direction response: 21:53:32.8639 LVL= 22864, 30177, 30658, 32755, AGC= 67, IDX= 512,-0.06, 2.436, 1.149, 1.259, 1.782, PHS= 0.742,-0.586,-0.526, RAW= 92.3, 5.8, CAL= 100.3, 4.9, ROT= 49.7, -4.9 2025-01-08T21:53:34.783Z,1736373214.783 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:53:34.783Z,1736373214.783 [DAT](INFO): Received a bad header 2025-01-08T21:53:34.804Z,1736373214.804 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:53:34.805Z,1736373214.805 [DAT](INFO): direction in FSK: [-0.197304,0.073207,0.977605] 2025-01-08T21:53:34.810Z,1736373214.810 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:34.810Z,1736373214.810 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:34.810Z,1736373214.810 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:35.004Z,1736373215.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:35.008Z,1736373215.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:35.008Z,1736373215.008 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:35.008Z,1736373215.008 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:35.008Z,1736373215.008 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:35.013Z,1736373215.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:35.015Z,1736373215.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:35.018Z,1736373215.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.647247 m, bearing: 357.684306 deg, approach rate: -0.037952 m/s, LOS rate: 0.131293 deg/s, cmd heading: 272.485179 deg, new cmd heading: 272.626752 deg. 2025-01-08T21:53:35.020Z,1736373215.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.758235 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:35.260Z,1736373215.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:35.260Z,1736373215.260 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:35.261Z,1736373215.261 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:35.261Z,1736373215.261 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:35.453Z,1736373215.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:35.462Z,1736373215.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:35.465Z,1736373215.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.630310 m, bearing: 357.743522 deg, approach rate: -0.037907 m/s, LOS rate: 0.132538 deg/s, cmd heading: 272.626755 deg, new cmd heading: 272.804410 deg. 2025-01-08T21:53:35.465Z,1736373215.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761335 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:35.512Z,1736373215.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:35.513Z,1736373215.513 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:35.513Z,1736373215.513 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:35.514Z,1736373215.514 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:35.764Z,1736373215.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:35.764Z,1736373215.764 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:35.764Z,1736373215.764 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:35.764Z,1736373215.764 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:35.819Z,1736373215.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:35.841Z,1736373215.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:35.848Z,1736373215.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.617279 m, bearing: 357.791676 deg, approach rate: -0.034369 m/s, LOS rate: 0.127013 deg/s, cmd heading: 272.804422 deg, new cmd heading: 272.948890 deg. 2025-01-08T21:53:35.849Z,1736373215.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.763857 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:36.016Z,1736373216.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:36.017Z,1736373216.017 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:36.017Z,1736373216.017 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:36.017Z,1736373216.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:36.238Z,1736373216.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:36.262Z,1736373216.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:36.264Z,1736373216.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.603455 m, bearing: 357.847103 deg, approach rate: -0.033055 m/s, LOS rate: 0.132533 deg/s, cmd heading: 272.948894 deg, new cmd heading: 273.115182 deg. 2025-01-08T21:53:36.265Z,1736373216.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.766759 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:36.268Z,1736373216.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:36.268Z,1736373216.268 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:36.268Z,1736373216.268 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:36.268Z,1736373216.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:36.520Z,1736373216.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:36.520Z,1736373216.520 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:36.520Z,1736373216.520 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:36.520Z,1736373216.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:36.648Z,1736373216.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:36.668Z,1736373216.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:36.672Z,1736373216.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.586395 m, bearing: 357.906881 deg, approach rate: -0.042264 m/s, LOS rate: 0.148104 deg/s, cmd heading: 273.115168 deg, new cmd heading: 273.294509 deg. 2025-01-08T21:53:36.674Z,1736373216.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.769889 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:36.773Z,1736373216.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:36.773Z,1736373216.773 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:36.773Z,1736373216.773 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:36.774Z,1736373216.774 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:37.024Z,1736373217.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:37.024Z,1736373217.024 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:37.024Z,1736373217.024 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:37.024Z,1736373217.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:37.046Z,1736373217.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:37.061Z,1736373217.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:37.069Z,1736373217.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:37.078Z,1736373217.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.571838 m, bearing: 357.964881 deg, approach rate: -0.036330 m/s, LOS rate: 0.144759 deg/s, cmd heading: 273.294501 deg, new cmd heading: 273.468510 deg. 2025-01-08T21:53:37.080Z,1736373217.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.772926 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:37.278Z,1736373217.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:37.279Z,1736373217.279 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:37.279Z,1736373217.279 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:37.279Z,1736373217.279 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:37.451Z,1736373217.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:37.464Z,1736373217.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:37.466Z,1736373217.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.558624 m, bearing: 358.022718 deg, approach rate: -0.033033 m/s, LOS rate: 0.144587 deg/s, cmd heading: 273.468507 deg, new cmd heading: 273.642023 deg. 2025-01-08T21:53:37.472Z,1736373217.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.775954 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:37.529Z,1736373217.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:37.530Z,1736373217.530 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:37.530Z,1736373217.530 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:37.530Z,1736373217.530 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:37.780Z,1736373217.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:37.780Z,1736373217.780 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:37.780Z,1736373217.780 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:37.780Z,1736373217.780 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:37.832Z,1736373217.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:37.858Z,1736373217.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:37.876Z,1736373217.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.547028 m, bearing: 358.077218 deg, approach rate: -0.029399 m/s, LOS rate: 0.138169 deg/s, cmd heading: 273.642021 deg, new cmd heading: 273.805528 deg. 2025-01-08T21:53:37.877Z,1736373217.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.778808 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:38.032Z,1736373218.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:38.032Z,1736373218.032 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:38.032Z,1736373218.032 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:38.033Z,1736373218.033 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:38.235Z,1736373218.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:38.245Z,1736373218.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:38.247Z,1736373218.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.535065 m, bearing: 358.134618 deg, approach rate: -0.030928 m/s, LOS rate: 0.148404 deg/s, cmd heading: 273.805536 deg, new cmd heading: 273.977743 deg. 2025-01-08T21:53:38.248Z,1736373218.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781814 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:38.284Z,1736373218.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:38.285Z,1736373218.285 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:38.285Z,1736373218.285 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:38.285Z,1736373218.285 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:38.536Z,1736373218.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:38.537Z,1736373218.537 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:38.537Z,1736373218.537 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:38.537Z,1736373218.537 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:38.681Z,1736373218.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:38.691Z,1736373218.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:38.694Z,1736373218.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.524139 m, bearing: 358.198268 deg, approach rate: -0.024482 m/s, LOS rate: 0.142635 deg/s, cmd heading: 273.977739 deg, new cmd heading: 274.168694 deg. 2025-01-08T21:53:38.695Z,1736373218.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785146 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:38.791Z,1736373218.791 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:38.791Z,1736373218.791 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:38.791Z,1736373218.791 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:38.791Z,1736373218.791 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:39.036Z,1736373219.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:39.044Z,1736373219.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:39.044Z,1736373219.044 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:39.044Z,1736373219.044 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:39.044Z,1736373219.044 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:39.052Z,1736373219.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:39.055Z,1736373219.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.515411 m, bearing: 358.248802 deg, approach rate: -0.024264 m/s, LOS rate: 0.140485 deg/s, cmd heading: 274.168684 deg, new cmd heading: 274.320289 deg. 2025-01-08T21:53:39.072Z,1736373219.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787792 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:39.296Z,1736373219.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:39.296Z,1736373219.296 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:39.296Z,1736373219.296 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:39.296Z,1736373219.296 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:39.474Z,1736373219.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:39.524Z,1736373219.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:39.526Z,1736373219.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:39.533Z,1736373219.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.521576 m, bearing: 358.304893 deg, approach rate: 0.012963 m/s, LOS rate: 0.117949 deg/s, cmd heading: 274.320287 deg, new cmd heading: 274.488555 deg. 2025-01-08T21:53:39.534Z,1736373219.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790729 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:39.548Z,1736373219.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:39.548Z,1736373219.548 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:39.548Z,1736373219.548 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:39.548Z,1736373219.548 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:39.800Z,1736373219.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:39.800Z,1736373219.800 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:39.800Z,1736373219.800 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:39.800Z,1736373219.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:39.871Z,1736373219.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:39.904Z,1736373219.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:39.906Z,1736373219.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.525269 m, bearing: 358.355793 deg, approach rate: 0.009776 m/s, LOS rate: 0.134756 deg/s, cmd heading: 274.488555 deg, new cmd heading: 274.641256 deg. 2025-01-08T21:53:39.912Z,1736373219.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793394 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:40.052Z,1736373220.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:40.053Z,1736373220.053 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:40.053Z,1736373220.053 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:40.053Z,1736373220.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:40.255Z,1736373220.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:40.264Z,1736373220.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:40.266Z,1736373220.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.527802 m, bearing: 358.404998 deg, approach rate: 0.007048 m/s, LOS rate: 0.136915 deg/s, cmd heading: 274.641251 deg, new cmd heading: 274.788863 deg. 2025-01-08T21:53:40.268Z,1736373220.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795970 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:40.304Z,1736373220.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:40.305Z,1736373220.305 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:53:40.305Z,1736373220.305 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:53:40.305Z,1736373220.305 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:53:40.556Z,1736373220.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:40.556Z,1736373220.556 [DAT](INFO): Reached modem response timeout 2025-01-08T21:53:40.556Z,1736373220.556 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:53:40.557Z,1736373220.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:53:40.692Z,1736373220.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:40.700Z,1736373220.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:40.704Z,1736373220.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.533386 m, bearing: 358.456003 deg, approach rate: 0.012781 m/s, LOS rate: 0.116728 deg/s, cmd heading: 274.788865 deg, new cmd heading: 274.941876 deg. 2025-01-08T21:53:40.705Z,1736373220.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798641 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:40.808Z,1736373220.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:40.809Z,1736373220.809 [DAT](INFO): Reached modem response timeout 2025-01-08T21:53:40.809Z,1736373220.809 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:53:40.810Z,1736373220.810 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:53:41.053Z,1736373221.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:41.060Z,1736373221.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:41.060Z,1736373221.060 [DAT](INFO): Reached modem response timeout 2025-01-08T21:53:41.060Z,1736373221.060 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:53:41.061Z,1736373221.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:53:41.078Z,1736373221.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:41.092Z,1736373221.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.536621 m, bearing: 358.498131 deg, approach rate: 0.008567 m/s, LOS rate: 0.111573 deg/s, cmd heading: 274.941888 deg, new cmd heading: 275.068272 deg. 2025-01-08T21:53:41.093Z,1736373221.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800847 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:41.312Z,1736373221.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:41.314Z,1736373221.314 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:53:41.314Z,1736373221.314 [DAT](INFO): response not received 2025-01-08T21:53:41.314Z,1736373221.314 [DAT](INFO): DAT read: user:2130> 2025-01-08T21:53:41.315Z,1736373221.315 [DAT](INFO): DAT read: Tx time:21:53:40.5376 2025-01-08T21:53:41.315Z,1736373221.315 [DAT](INFO): Ping request sent. 2025-01-08T21:53:41.315Z,1736373221.315 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:53:41.316Z,1736373221.316 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:41.316Z,1736373221.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-01-08T21:53:41.513Z,1736373221.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:41.536Z,1736373221.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:41.538Z,1736373221.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:41.544Z,1736373221.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.546478 m, bearing: 358.546668 deg, approach rate: 0.021435 m/s, LOS rate: 0.105542 deg/s, cmd heading: 275.068274 deg, new cmd heading: 275.213880 deg. 2025-01-08T21:53:41.545Z,1736373221.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803389 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:41.564Z,1736373221.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:41.565Z,1736373221.565 [DAT](INFO): DAT read: TxSync time:21:53:40.5369 2025-01-08T21:53:41.565Z,1736373221.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249900 2025-01-08T21:53:41.816Z,1736373221.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:41.817Z,1736373221.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500980 2025-01-08T21:53:41.861Z,1736373221.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:41.887Z,1736373221.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:41.890Z,1736373221.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.553925 m, bearing: 358.584439 deg, approach rate: 0.022334 m/s, LOS rate: 0.113287 deg/s, cmd heading: 275.213894 deg, new cmd heading: 275.327204 deg. 2025-01-08T21:53:41.891Z,1736373221.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805366 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:42.068Z,1736373222.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:42.070Z,1736373222.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754207 2025-01-08T21:53:42.268Z,1736373222.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:42.277Z,1736373222.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:42.280Z,1736373222.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.561066 m, bearing: 358.627879 deg, approach rate: 0.017571 m/s, LOS rate: 0.106882 deg/s, cmd heading: 275.327193 deg, new cmd heading: 275.457511 deg. 2025-01-08T21:53:42.281Z,1736373222.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807641 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:42.321Z,1736373222.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:42.322Z,1736373222.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006303 2025-01-08T21:53:42.572Z,1736373222.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:42.572Z,1736373222.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256893 2025-01-08T21:53:42.703Z,1736373222.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:42.736Z,1736373222.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:42.739Z,1736373222.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.573517 m, bearing: 358.670902 deg, approach rate: 0.027437 m/s, LOS rate: 0.094801 deg/s, cmd heading: 275.457513 deg, new cmd heading: 275.586577 deg. 2025-01-08T21:53:42.744Z,1736373222.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809893 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:42.824Z,1736373222.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:42.825Z,1736373222.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509105 2025-01-08T21:53:43.076Z,1736373223.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:43.077Z,1736373223.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761108 2025-01-08T21:53:43.083Z,1736373223.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:43.092Z,1736373223.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:43.095Z,1736373223.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.582764 m, bearing: 358.708455 deg, approach rate: 0.025622 m/s, LOS rate: 0.104052 deg/s, cmd heading: 275.586576 deg, new cmd heading: 275.699231 deg. 2025-01-08T21:53:43.096Z,1736373223.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811859 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:43.328Z,1736373223.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:43.328Z,1736373223.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012788 2025-01-08T21:53:43.533Z,1736373223.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:43.540Z,1736373223.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:43.542Z,1736373223.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:43.565Z,1736373223.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.594299 m, bearing: 358.753011 deg, approach rate: 0.025627 m/s, LOS rate: 0.098978 deg/s, cmd heading: 275.699220 deg, new cmd heading: 275.832883 deg. 2025-01-08T21:53:43.566Z,1736373223.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814192 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:43.580Z,1736373223.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:43.581Z,1736373223.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264968 2025-01-08T21:53:43.832Z,1736373223.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:43.832Z,1736373223.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516912 2025-01-08T21:53:43.907Z,1736373223.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:43.916Z,1736373223.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:43.920Z,1736373223.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.600586 m, bearing: 358.789882 deg, approach rate: 0.016819 m/s, LOS rate: 0.098640 deg/s, cmd heading: 275.832873 deg, new cmd heading: 275.943485 deg. 2025-01-08T21:53:43.921Z,1736373223.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816123 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:44.080Z,1736373224.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:53:44.084Z,1736373224.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:44.086Z,1736373224.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770005 2025-01-08T21:53:44.336Z,1736373224.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:44.337Z,1736373224.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021044 2025-01-08T21:53:44.355Z,1736373224.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:44.383Z,1736373224.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:44.389Z,1736373224.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.606506 m, bearing: 358.834113 deg, approach rate: 0.012782 m/s, LOS rate: 0.095493 deg/s, cmd heading: 275.943495 deg, new cmd heading: 276.076185 deg. 2025-01-08T21:53:44.390Z,1736373224.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818439 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:44.588Z,1736373224.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:44.588Z,1736373224.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272927 2025-01-08T21:53:44.776Z,1736373224.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:44.809Z,1736373224.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:44.815Z,1736373224.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.604858 m, bearing: 358.877817 deg, approach rate: -0.003838 m/s, LOS rate: 0.101795 deg/s, cmd heading: 276.076192 deg, new cmd heading: 276.207303 deg. 2025-01-08T21:53:44.816Z,1736373224.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820727 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:44.840Z,1736373224.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:44.840Z,1736373224.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524953 2025-01-08T21:53:45.084Z,1736373225.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:53:45.092Z,1736373225.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:45.092Z,1736373225.092 [DAT](INFO): DAT read: Rx Time:21:53:43.8153 2025-01-08T21:53:45.093Z,1736373225.093 [DAT](INFO): Rx dataTimestamp_ set to:1736373225.092600 2025-01-08T21:53:45.093Z,1736373225.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777883 2025-01-08T21:53:45.176Z,1736373225.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:45.185Z,1736373225.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:45.188Z,1736373225.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.603455 m, bearing: 358.919296 deg, approach rate: -0.003735 m/s, LOS rate: 0.110358 deg/s, cmd heading: 276.207304 deg, new cmd heading: 276.331742 deg. 2025-01-08T21:53:45.189Z,1736373225.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822899 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:45.344Z,1736373225.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:45.345Z,1736373225.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029095 2025-01-08T21:53:45.572Z,1736373225.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:45.582Z,1736373225.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:53:45.588Z,1736373225.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 647.60 m. 2025-01-08T21:53:45.596Z,1736373225.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:45.603Z,1736373225.603 [DAT](INFO): DAT read: 21:53:43.8153 LVL= 22480, 29137, 26322, 32755, AGC= 74, IDX= 413,-0.15, 0.315,-0.266,-1.569,-0.475, PHS= 0.878, 0.257,-1.097, RAW= 47.9, -0.4, CAL= 48.5, -2.8, ROT= 101.5, 2.8 2025-01-08T21:53:45.604Z,1736373225.604 [DAT](INFO): got valid direction response: 21:53:43.8153 LVL= 22480, 29137, 26322, 32755, AGC= 74, IDX= 413,-0.15, 0.315,-0.266,-1.569,-0.475, PHS= 0.878, 0.257,-1.097, RAW= 47.9, -0.4, CAL= 48.5, -2.8, ROT= 101.5, 2.8 2025-01-08T21:53:45.605Z,1736373225.605 [DAT](INFO): DAT read: Bearing 101.5, 2.8 (Local) 2025-01-08T21:53:45.606Z,1736373225.606 [DAT](INFO): Local bearing/azimuth received: Bearing 101.5, 2.8 (Local) 2025-01-08T21:53:45.607Z,1736373225.607 [DAT](INFO): DAT read: Range 10 to 50 : 655.1 m (Round-trip 873.5 ms) speed 0.0 m/s 2025-01-08T21:53:45.608Z,1736373225.608 [DAT](INFO): DAT read: user:2131> 2025-01-08T21:53:45.609Z,1736373225.609 [DAT](INFO): DAT read: Tx time:21:53:44.9376 2025-01-08T21:53:45.609Z,1736373225.609 [DAT](INFO): Ping request sent. 2025-01-08T21:53:45.609Z,1736373225.609 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:53:45.609Z,1736373225.609 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:53:45.610Z,1736373225.610 [DAT](INFO): direction in FSK: [0.003839,0.726402,0.687260] 2025-01-08T21:53:45.610Z,1736373225.610 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:45.611Z,1736373225.611 [DAT](INFO): publishing direction and range info 2025-01-08T21:53:45.614Z,1736373225.614 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:45.614Z,1736373225.614 [DAT](INFO): publishing direction and range info 2025-01-08T21:53:45.629Z,1736373225.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 647.599976 m, nav range: 338.600342 m, bearing: 358.960386 deg, approach rate: -0.007727 m/s, LOS rate: 0.102002 deg/s, cmd heading: 276.331750 deg, new cmd heading: 276.455022 deg. 2025-01-08T21:53:45.630Z,1736373225.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825050 target range: 647.599976 and range: 647.60 m. 2025-01-08T21:53:45.848Z,1736373225.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:45.849Z,1736373225.849 [DAT](INFO): DAT read: TxSync time:21:53:44.9369 2025-01-08T21:53:45.980Z,1736373225.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:45.986Z,1736373225.986 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-01-08T21:53:45.987Z,1736373225.987 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T21:53:45.987Z,1736373225.987 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-01-08T21:53:45.988Z,1736373225.988 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 655.099976 m (mode 1.000000 count ). 2025-01-08T21:53:45.989Z,1736373225.989 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-01-08T21:53:45.989Z,1736373225.989 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-01-08T21:53:45.997Z,1736373225.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 655.099976 m, deltaT: 15.373582 s, deltaX: 7.500000 m, approachRate: 0.487850 m/s, rangeRepo size: 4 2025-01-08T21:53:45.999Z,1736373225.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 655.099976 m, bearing: 359.141811 deg, lat: 36.901529 deg, lon: -122.119268 deg, deltaT: 15.373582 s, deltaX: 7.500000 m, approachRate: 0.487850 m/s, posRepo size: 4 2025-01-08T21:53:45.000Z,1736373226.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 655.10 m. 2025-01-08T21:53:46.004Z,1736373226.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 655.099976 m, nav range: 338.596741 m, bearing: 359.002640 deg, approach rate: 0.000000 m/s, LOS rate: 0.102002 deg/s, cmd heading: 276.455021 deg, new cmd heading: 276.580084 deg. 2025-01-08T21:53:46.005Z,1736373226.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827233 target range: 655.099976 and range: 655.10 m. 2025-01-08T21:53:46.006Z,1736373226.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Running Loop=1 2025-01-08T21:53:46.006Z,1736373226.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-01-08T21:53:46.007Z,1736373226.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Running Loop=1 2025-01-08T21:53:46.008Z,1736373226.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A](IMPORTANT): Transitioning to midcourse guidance. Received last range of 655.099976 m 0.000620 min ago. 2025-01-08T21:53:46.008Z,1736373226.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Stopped 2025-01-08T21:53:46.008Z,1736373226.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Running Loop=1 2025-01-08T21:53:46.100Z,1736373226.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:46.352Z,1736373226.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:46.423Z,1736373226.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:46.429Z,1736373226.429 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-01-08T21:53:46.429Z,1736373226.429 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-01-08T21:53:46.433Z,1736373226.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 655.10 m. 2025-01-08T21:53:46.440Z,1736373226.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 655.099976 m, nav range: 338.594025 m, bearing: 359.048561 deg, approach rate: -0.006238 m/s, LOS rate: 0.105463 deg/s, cmd heading: 276.580096 deg, new cmd heading: 276.717858 deg. 2025-01-08T21:53:46.441Z,1736373226.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829638 target range: 655.099976 and range: 655.10 m. 2025-01-08T21:53:46.443Z,1736373226.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Stopped 2025-01-08T21:53:46.443Z,1736373226.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-01-08T21:53:46.443Z,1736373226.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Stopped 2025-01-08T21:53:46.445Z,1736373226.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-01-08T21:53:46.606Z,1736373226.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:46.856Z,1736373226.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:46.872Z,1736373226.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:53:46.872Z,1736373226.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:46.879Z,1736373226.879 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-01-08T21:53:46.879Z,1736373226.879 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-01-08T21:53:46.879Z,1736373226.879 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-01-08T21:53:46.880Z,1736373226.880 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T21:53:46.881Z,1736373226.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-01-08T21:53:46.881Z,1736373226.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T21:53:46.881Z,1736373226.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-01-08T21:53:46.881Z,1736373226.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T21:53:46.881Z,1736373226.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-01-08T21:53:46.881Z,1736373226.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T21:53:46.881Z,1736373226.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-01-08T21:53:46.881Z,1736373226.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-01-08T21:53:46.882Z,1736373226.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-01-08T21:53:46.882Z,1736373226.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-01-08T21:53:46.882Z,1736373226.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-01-08T21:53:46.882Z,1736373226.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-08T21:53:46.882Z,1736373226.882 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-01-08T21:53:46.882Z,1736373226.882 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T21:53:46.882Z,1736373226.882 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-01-08T21:53:46.882Z,1736373226.882 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T21:53:46.882Z,1736373226.882 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-01-08T21:53:46.882Z,1736373226.882 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-01-08T21:53:46.883Z,1736373226.883 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-01-08T21:53:46.883Z,1736373226.883 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-01-08T21:53:46.883Z,1736373226.883 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-01-08T21:53:46.905Z,1736373226.905 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg ) 2025-01-08T21:53:46.905Z,1736373226.905 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-01-08T21:53:46.905Z,1736373226.905 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-01-08T21:53:46.905Z,1736373226.905 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-01-08T21:53:46.906Z,1736373226.906 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.903300,-122.119000 2025-01-08T21:53:47.108Z,1736373227.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:47.290Z,1736373227.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:53:47.290Z,1736373227.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:47.297Z,1736373227.297 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-01-08T21:53:47.297Z,1736373227.297 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T21:53:47.297Z,1736373227.297 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-01-08T21:53:47.298Z,1736373227.298 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T21:53:47.311Z,1736373227.311 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-01-08T21:53:47.311Z,1736373227.311 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-01-08T21:53:47.329Z,1736373227.329 [DockingStepper](INFO): Pause 2025-01-08T21:53:47.360Z,1736373227.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:47.613Z,1736373227.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:47.749Z,1736373227.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:47.864Z,1736373227.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:48.106Z,1736373228.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:48.116Z,1736373228.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:48.368Z,1736373228.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:48.586Z,1736373228.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:48.620Z,1736373228.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:48.872Z,1736373228.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:48.930Z,1736373228.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:49.124Z,1736373229.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:49.315Z,1736373229.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:49.376Z,1736373229.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:49.377Z,1736373229.377 [DAT](INFO): DAT read: Rx Time:21:53:48.2153 2025-01-08T21:53:49.378Z,1736373229.378 [DAT](INFO): Rx dataTimestamp_ set to:1736373229.377064 2025-01-08T21:53:49.628Z,1736373229.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:49.723Z,1736373229.723 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 73.74, 62.19, 74.51 2025-01-08T21:53:49.730Z,1736373229.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:53:49.730Z,1736373229.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:49.881Z,1736373229.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:50.124Z,1736373230.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:53:50.124Z,1736373230.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:50.132Z,1736373230.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:50.140Z,1736373230.140 [DAT](INFO): DAT read: 21:53:48.2153 LVL= 21232, 32753, 24386, 32755, AGC= 69, IDX= 444,-0.18, 2.320, 1.630, 0.186, 1.400, PHS= 1.008, 0.276,-1.217, RAW= 48.8, -0.7, CAL= 49.7, -3.2, ROT= 100.3, 3.2 2025-01-08T21:53:50.141Z,1736373230.141 [DAT](INFO): got valid direction response: 21:53:48.2153 LVL= 21232, 32753, 24386, 32755, AGC= 69, IDX= 444,-0.18, 2.320, 1.630, 0.186, 1.400, PHS= 1.008, 0.276,-1.217, RAW= 48.8, -0.7, CAL= 49.7, -3.2, ROT= 100.3, 3.2 2025-01-08T21:53:50.141Z,1736373230.141 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:53:50.142Z,1736373230.142 [DAT](INFO): Received a bad header 2025-01-08T21:53:50.160Z,1736373230.160 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-01-08T21:53:50.161Z,1736373230.161 [DAT](INFO): direction in FSK: [0.006583,0.715634,0.698444] 2025-01-08T21:53:50.384Z,1736373230.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:50.589Z,1736373230.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T21:53:50.589Z,1736373230.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:50.637Z,1736373230.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:50.890Z,1736373230.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:50.981Z,1736373230.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:51.140Z,1736373231.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:51.347Z,1736373231.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:51.392Z,1736373231.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:51.644Z,1736373231.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:51.787Z,1736373231.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:51.896Z,1736373231.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:52.148Z,1736373232.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:52.160Z,1736373232.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:52.400Z,1736373232.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:52.624Z,1736373232.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:52.652Z,1736373232.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:52.904Z,1736373232.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:52.995Z,1736373232.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:53.156Z,1736373233.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:53.378Z,1736373233.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:53.408Z,1736373233.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:53.661Z,1736373233.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:53.793Z,1736373233.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:53.912Z,1736373233.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:54.164Z,1736373234.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:54.190Z,1736373234.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:54.416Z,1736373234.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:54.668Z,1736373234.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:54.724Z,1736373234.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:54.922Z,1736373234.922 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:55.080Z,1736373235.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:55.172Z,1736373235.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:55.424Z,1736373235.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:55.494Z,1736373235.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:55.676Z,1736373235.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:55.928Z,1736373235.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:55.930Z,1736373235.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:56.180Z,1736373236.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:56.293Z,1736373236.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:56.433Z,1736373236.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:56.686Z,1736373236.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:56.688Z,1736373236.688 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:53:56.688Z,1736373236.688 [DAT](INFO): response not received 2025-01-08T21:53:56.688Z,1736373236.688 [DAT](INFO): DAT read: user:2133> 2025-01-08T21:53:56.691Z,1736373236.691 [DAT](INFO): DAT read: Tx time:21:53:55.8877 2025-01-08T21:53:56.691Z,1736373236.691 [DAT](INFO): Ping request sent. 2025-01-08T21:53:56.691Z,1736373236.691 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:53:56.693Z,1736373236.693 [DAT](INFO): DAT read: TxSync time:21:53:55.8870 2025-01-08T21:53:56.694Z,1736373236.694 [DAT](INFO): publishing transmit ping time 2025-01-08T21:53:56.830Z,1736373236.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:56.936Z,1736373236.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:57.099Z,1736373237.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:57.188Z,1736373237.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:57.440Z,1736373237.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:57.512Z,1736373237.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:57.693Z,1736373237.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:57.940Z,1736373237.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:57.944Z,1736373237.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:58.196Z,1736373238.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:58.329Z,1736373238.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:58.449Z,1736373238.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:58.701Z,1736373238.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:58.762Z,1736373238.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:58.954Z,1736373238.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:59.128Z,1736373239.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:59.204Z,1736373239.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:59.456Z,1736373239.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:59.545Z,1736373239.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:53:59.709Z,1736373239.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:53:59.960Z,1736373239.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:00.010Z,1736373240.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:00.212Z,1736373240.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:00.340Z,1736373240.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:00.464Z,1736373240.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:00.465Z,1736373240.465 [DAT](INFO): DAT read: Rx Time:21:53:59.1643 2025-01-08T21:54:00.465Z,1736373240.465 [DAT](INFO): Rx dataTimestamp_ set to:1736373240.465015 2025-01-08T21:54:00.717Z,1736373240.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:00.794Z,1736373240.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:00.968Z,1736373240.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:00.975Z,1736373240.975 [DAT](INFO): DAT read: 21:53:59.1643 LVL= 17008, 32753, 23954, 32755, AGC= 72, IDX= 449, 0.26, 0.548,-0.909,-0.705,-0.197, PHS= 0.833,-0.665,-0.511, RAW= 95.4, 4.8, CAL= 104.2, 3.4, ROT= 45.8, -3.4 2025-01-08T21:54:00.976Z,1736373240.976 [DAT](INFO): got valid direction response: 21:53:59.1643 LVL= 17008, 32753, 23954, 32755, AGC= 72, IDX= 449, 0.26, 0.548,-0.909,-0.705,-0.197, PHS= 0.833,-0.665,-0.511, RAW= 95.4, 4.8, CAL= 104.2, 3.4, ROT= 45.8, -3.4 2025-01-08T21:54:00.977Z,1736373240.977 [DAT](INFO): DAT read: Bearing 45.8, -3.4 (Local) 2025-01-08T21:54:00.978Z,1736373240.978 [DAT](INFO): Local bearing/azimuth received: Bearing 45.8, -3.4 (Local) 2025-01-08T21:54:01.008Z,1736373241.008 [DAT](INFO): DAT read: Range 10 to 50 : 654.2 m (Round-trip 872.3 ms) speed 0.3 m/s 2025-01-08T21:54:01.008Z,1736373241.008 [DAT](INFO): DAT read: user:2134> 2025-01-08T21:54:01.009Z,1736373241.009 [DAT](INFO): DAT read: Tx time:21:54:00.2878 2025-01-08T21:54:01.009Z,1736373241.009 [DAT](INFO): Ping request sent. 2025-01-08T21:54:01.009Z,1736373241.009 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:54:01.010Z,1736373241.010 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-01-08T21:54:01.011Z,1736373241.011 [DAT](INFO): direction in FSK: [-0.185493,0.019167,0.982459] 2025-01-08T21:54:01.016Z,1736373241.016 [DAT](INFO): publishing transmit ping time 2025-01-08T21:54:01.017Z,1736373241.017 [DAT](INFO): publishing direction and range info 2025-01-08T21:54:01.047Z,1736373241.047 [DAT](INFO): publishing transmit ping time 2025-01-08T21:54:01.047Z,1736373241.047 [DAT](INFO): publishing direction and range info 2025-01-08T21:54:01.160Z,1736373241.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:01.221Z,1736373241.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:01.222Z,1736373241.222 [DAT](INFO): DAT read: TxSync time:21:54:00.2871 2025-01-08T21:54:01.472Z,1736373241.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:01.561Z,1736373241.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:01.731Z,1736373241.731 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:01.980Z,1736373241.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:02.006Z,1736373242.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:02.232Z,1736373242.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:02.371Z,1736373242.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:02.484Z,1736373242.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:02.737Z,1736373242.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:02.837Z,1736373242.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:02.989Z,1736373242.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:03.170Z,1736373243.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:03.240Z,1736373243.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:03.492Z,1736373243.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:03.579Z,1736373243.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:03.750Z,1736373243.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:03.997Z,1736373243.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:03.000Z,1736373244.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:04.252Z,1736373244.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:04.391Z,1736373244.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:04.504Z,1736373244.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:04.757Z,1736373244.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:04.768Z,1736373244.768 [DAT](INFO): DAT read: Rx Time:21:54:03.5541 2025-01-08T21:54:04.770Z,1736373244.770 [DAT](INFO): Rx dataTimestamp_ set to:1736373244.768932 2025-01-08T21:54:04.866Z,1736373244.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:05.008Z,1736373245.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:05.190Z,1736373245.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:05.261Z,1736373245.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:05.269Z,1736373245.269 [DAT](INFO): DAT read: 21:54:03.5541 LVL= 18832, 32753, 26898, 32755, AGC= 73, IDX= 344, 0.19, 1.325,-0.122, 0.565, 0.795, PHS= 0.618,-0.869,-0.233, RAW= 115.2, 7.5, CAL= 124.8, 4.1, ROT= 25.2, -4.1 2025-01-08T21:54:05.270Z,1736373245.270 [DAT](INFO): got valid direction response: 21:54:03.5541 LVL= 18832, 32753, 26898, 32755, AGC= 73, IDX= 344, 0.19, 1.325,-0.122, 0.565, 0.795, PHS= 0.618,-0.869,-0.233, RAW= 115.2, 7.5, CAL= 124.8, 4.1, ROT= 25.2, -4.1 2025-01-08T21:54:05.272Z,1736373245.272 [DAT](INFO): DAT read: Bearing 25.2, -4.1 (Local) 2025-01-08T21:54:05.272Z,1736373245.272 [DAT](INFO): Local bearing/azimuth received: Bearing 25.2, -4.1 (Local) 2025-01-08T21:54:05.273Z,1736373245.273 [DAT](INFO): DAT read: Range 10 to 50 : 646.6 m (Round-trip 862.2 ms) speed 0.4 m/s 2025-01-08T21:54:05.274Z,1736373245.274 [DAT](INFO): DAT read: user:2135> 2025-01-08T21:54:05.275Z,1736373245.275 [DAT](INFO): DAT read: Tx time:21:54:04.6378 2025-01-08T21:54:05.275Z,1736373245.275 [DAT](INFO): Ping request sent. 2025-01-08T21:54:05.276Z,1736373245.276 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:54:05.276Z,1736373245.276 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-01-08T21:54:05.277Z,1736373245.277 [DAT](INFO): direction in FSK: [-0.260646,-0.320886,0.910547] 2025-01-08T21:54:05.277Z,1736373245.277 [DAT](INFO): publishing transmit ping time 2025-01-08T21:54:05.277Z,1736373245.277 [DAT](INFO): publishing direction and range info 2025-01-08T21:54:05.281Z,1736373245.281 [DAT](INFO): publishing transmit ping time 2025-01-08T21:54:05.281Z,1736373245.281 [DAT](INFO): publishing direction and range info 2025-01-08T21:54:05.512Z,1736373245.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:05.512Z,1736373245.512 [DAT](INFO): DAT read: TxSync time:21:54:04.6371 2025-01-08T21:54:05.599Z,1736373245.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:05.765Z,1736373245.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:06.016Z,1736373246.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:06.017Z,1736373246.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:06.024Z,1736373246.024 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-01-08T21:54:06.024Z,1736373246.024 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T21:54:06.025Z,1736373246.025 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-01-08T21:54:06.026Z,1736373246.026 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 646.599976 m (mode 0.000000 count ). 2025-01-08T21:54:06.026Z,1736373246.026 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-01-08T21:54:06.026Z,1736373246.026 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-01-08T21:54:06.045Z,1736373246.045 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-01-08T21:54:06.045Z,1736373246.045 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T21:54:06.045Z,1736373246.045 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-01-08T21:54:06.046Z,1736373246.046 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 646.599976 m 2025-01-08T21:54:06.046Z,1736373246.046 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-01-08T21:54:06.046Z,1736373246.046 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-01-08T21:54:06.268Z,1736373246.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:06.405Z,1736373246.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:06.411Z,1736373246.411 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-01-08T21:54:06.411Z,1736373246.411 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-01-08T21:54:06.412Z,1736373246.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:06.414Z,1736373246.414 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-01-08T21:54:06.414Z,1736373246.414 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T21:54:06.415Z,1736373246.415 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-01-08T21:54:06.415Z,1736373246.415 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T21:54:06.520Z,1736373246.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:06.520Z,1736373246.520 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:06.520Z,1736373246.520 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:06.521Z,1736373246.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:06.774Z,1736373246.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:06.776Z,1736373246.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500175 2025-01-08T21:54:06.900Z,1736373246.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:06.911Z,1736373246.911 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-01-08T21:54:06.911Z,1736373246.911 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-01-08T21:54:06.911Z,1736373246.911 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-01-08T21:54:06.911Z,1736373246.911 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T21:54:06.913Z,1736373246.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-01-08T21:54:06.913Z,1736373246.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T21:54:06.913Z,1736373246.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-01-08T21:54:06.913Z,1736373246.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T21:54:06.913Z,1736373246.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-01-08T21:54:06.913Z,1736373246.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T21:54:06.913Z,1736373246.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-01-08T21:54:06.914Z,1736373246.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-01-08T21:54:06.914Z,1736373246.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-01-08T21:54:06.914Z,1736373246.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T21:54:06.914Z,1736373246.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-01-08T21:54:06.914Z,1736373246.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-01-08T21:54:06.914Z,1736373246.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-01-08T21:54:06.914Z,1736373246.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-01-08T21:54:06.914Z,1736373246.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-01-08T21:54:06.923Z,1736373246.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-01-08T21:54:06.924Z,1736373246.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T21:54:06.924Z,1736373246.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-01-08T21:54:06.924Z,1736373246.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 70.210609 m. 2025-01-08T21:54:06.925Z,1736373246.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-01-08T21:54:06.925Z,1736373246.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-01-08T21:54:06.925Z,1736373246.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-01-08T21:54:06.925Z,1736373246.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-01-08T21:54:06.925Z,1736373246.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-01-08T21:54:06.925Z,1736373246.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-08T21:54:06.926Z,1736373246.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-01-08T21:54:06.926Z,1736373246.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00. 2025-01-08T21:54:06.927Z,1736373246.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-01-08T21:54:06.927Z,1736373246.927 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-01-08T21:54:06.932Z,1736373246.932 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T21:54:06.932Z,1736373246.932 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-01-08T21:54:06.932Z,1736373246.932 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T21:54:06.932Z,1736373246.932 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-01-08T21:54:06.933Z,1736373246.933 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-01-08T21:54:06.933Z,1736373246.933 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-01-08T21:54:06.933Z,1736373246.933 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-01-08T21:54:06.933Z,1736373246.933 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-01-08T21:54:07.024Z,1736373247.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:07.024Z,1736373247.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748827 2025-01-08T21:54:07.224Z,1736373247.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:07.242Z,1736373247.242 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-01-08T21:54:07.243Z,1736373247.243 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T21:54:07.243Z,1736373247.243 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-01-08T21:54:07.243Z,1736373247.243 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T21:54:07.250Z,1736373247.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 646.599976 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-01-08T21:54:07.262Z,1736373247.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 646.599976 m, bearing: 220.982554 deg, lat: 36.901529 deg, lon: -122.119271 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-01-08T21:54:07.262Z,1736373247.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:07.266Z,1736373247.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 332.842163 m, bearing: 1.063003 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 340.403432 deg, new cmd heading: 1.063003 deg. 2025-01-08T21:54:07.266Z,1736373247.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018553 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:07.276Z,1736373247.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:07.277Z,1736373247.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001068 2025-01-08T21:54:07.305Z,1736373247.305 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-01-08T21:54:07.305Z,1736373247.305 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-01-08T21:54:07.325Z,1736373247.325 [DockingStepper](INFO): Resume 2025-01-08T21:54:07.528Z,1736373247.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:07.528Z,1736373247.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252741 2025-01-08T21:54:07.627Z,1736373247.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:07.637Z,1736373247.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:07.639Z,1736373247.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 332.631287 m, bearing: 1.082480 deg, approach rate: -0.544923 m/s, LOS rate: 0.050362 deg/s, cmd heading: 1.063003 deg, new cmd heading: 1.082480 deg. 2025-01-08T21:54:07.640Z,1736373247.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018893 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:07.663Z,1736373247.663 [DockingStepper](INFO): Resuming 2025-01-08T21:54:07.781Z,1736373247.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:07.787Z,1736373247.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510903 2025-01-08T21:54:08.032Z,1736373248.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:08.033Z,1736373248.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756896 2025-01-08T21:54:08.064Z,1736373248.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:08.082Z,1736373248.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:08.088Z,1736373248.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 332.376312 m, bearing: 1.093545 deg, approach rate: -0.573111 m/s, LOS rate: 0.024890 deg/s, cmd heading: 1.082480 deg, new cmd heading: 1.093545 deg. 2025-01-08T21:54:08.089Z,1736373248.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019086 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:08.284Z,1736373248.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:08.285Z,1736373248.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008708 2025-01-08T21:54:08.286Z,1736373248.286 [DockingStepper](INFO): Start 2025-01-08T21:54:08.287Z,1736373248.287 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-01-08T21:54:08.404Z,1736373248.404 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-01-08T21:54:08.479Z,1736373248.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:08.487Z,1736373248.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:08.490Z,1736373248.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:08.492Z,1736373248.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 332.140900 m, bearing: 1.103777 deg, approach rate: -0.576866 m/s, LOS rate: 0.025090 deg/s, cmd heading: 1.093545 deg, new cmd heading: 1.103777 deg. 2025-01-08T21:54:08.493Z,1736373248.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019265 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:08.536Z,1736373248.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:08.537Z,1736373248.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261360 2025-01-08T21:54:08.539Z,1736373248.539 [DockingStepper](INFO): Starting 2025-01-08T21:54:08.789Z,1736373248.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:08.792Z,1736373248.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516036 2025-01-08T21:54:08.911Z,1736373248.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:08.950Z,1736373248.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:08.957Z,1736373248.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 331.917236 m, bearing: 1.115183 deg, approach rate: -0.485576 m/s, LOS rate: 0.024781 deg/s, cmd heading: 1.103777 deg, new cmd heading: 1.115183 deg. 2025-01-08T21:54:08.958Z,1736373248.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019464 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:09.040Z,1736373249.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:09.041Z,1736373249.041 [DAT](INFO): DAT read: Rx Time:21:54:07.9100 2025-01-08T21:54:09.041Z,1736373249.041 [DAT](INFO): Rx dataTimestamp_ set to:1736373249.040737 2025-01-08T21:54:09.042Z,1736373249.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765942 2025-01-08T21:54:09.118Z,1736373249.118 [DockingStepper](INFO): Starting 2025-01-08T21:54:09.273Z,1736373249.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:09.281Z,1736373249.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:09.284Z,1736373249.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 331.728485 m, bearing: 1.124127 deg, approach rate: -0.570059 m/s, LOS rate: 0.027026 deg/s, cmd heading: 1.115183 deg, new cmd heading: 1.124127 deg. 2025-01-08T21:54:09.286Z,1736373249.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019620 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:09.292Z,1736373249.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:09.292Z,1736373249.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016777 2025-01-08T21:54:09.332Z,1736373249.332 [DockingStepper](INFO): Starting 2025-01-08T21:54:09.544Z,1736373249.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:09.545Z,1736373249.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.269042 2025-01-08T21:54:09.691Z,1736373249.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:09.699Z,1736373249.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:09.703Z,1736373249.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 331.509735 m, bearing: 1.133900 deg, approach rate: -0.523421 m/s, LOS rate: 0.023401 deg/s, cmd heading: 1.124127 deg, new cmd heading: 1.133900 deg. 2025-01-08T21:54:09.704Z,1736373249.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019790 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:09.717Z,1736373249.717 [DockingStepper](INFO): Starting 2025-01-08T21:54:09.766Z,1736373249.766 [DockingStepper](INFO): Init string: /1z16352aE13561N3m50 2025-01-08T21:54:09.798Z,1736373249.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:09.853Z,1736373249.853 [DAT](INFO): DAT read: 21:54:07.9100 LVL= 28656, 32753, 30946, 32755, AGC= 73, IDX= 501, 0.09,-1.246,-2.924,-1.555,-1.989, PHS= 0.832,-0.888, 0.431, RAW= 137.1, -4.9, CAL= 142.7, -14.8, ROT= 7.3, 14.8 2025-01-08T21:54:09.855Z,1736373249.855 [DAT](INFO): got valid direction response: 21:54:07.9100 LVL= 28656, 32753, 30946, 32755, AGC= 73, IDX= 501, 0.09,-1.246,-2.924,-1.555,-1.989, PHS= 0.832,-0.888, 0.431, RAW= 137.1, -4.9, CAL= 142.7, -14.8, ROT= 7.3, 14.8 2025-01-08T21:54:09.860Z,1736373249.860 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:54:09.861Z,1736373249.861 [DAT](INFO): Received a bad header 2025-01-08T21:54:09.876Z,1736373249.876 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:54:09.878Z,1736373249.878 [DAT](INFO): direction in FSK: [-0.029944,-0.680007,0.732594] 2025-01-08T21:54:09.882Z,1736373249.882 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:09.882Z,1736373249.882 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:09.883Z,1736373249.883 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:10.048Z,1736373250.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:10.048Z,1736373250.048 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:10.048Z,1736373250.048 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:10.048Z,1736373250.048 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:10.114Z,1736373250.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:10.140Z,1736373250.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:10.142Z,1736373250.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 331.307526 m, bearing: 1.142026 deg, approach rate: -0.459736 m/s, LOS rate: 0.018487 deg/s, cmd heading: 1.133900 deg, new cmd heading: 1.142026 deg. 2025-01-08T21:54:10.143Z,1736373250.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019932 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:10.165Z,1736373250.165 [DockingStepper](INFO): Starting 2025-01-08T21:54:10.301Z,1736373250.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:10.301Z,1736373250.301 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:10.301Z,1736373250.301 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:10.302Z,1736373250.302 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:10.492Z,1736373250.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:10.499Z,1736373250.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:10.503Z,1736373250.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:10.505Z,1736373250.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 331.126587 m, bearing: 1.148749 deg, approach rate: -0.498768 m/s, LOS rate: 0.018542 deg/s, cmd heading: 1.142026 deg, new cmd heading: 1.148749 deg. 2025-01-08T21:54:10.506Z,1736373250.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020049 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:10.520Z,1736373250.520 [DockingStepper](INFO): Starting 2025-01-08T21:54:10.553Z,1736373250.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:10.553Z,1736373250.553 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:10.553Z,1736373250.553 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:10.553Z,1736373250.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:10.804Z,1736373250.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:10.805Z,1736373250.805 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:10.805Z,1736373250.805 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:10.805Z,1736373250.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:10.974Z,1736373250.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:10.983Z,1736373250.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:10.985Z,1736373250.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 330.906525 m, bearing: 1.155040 deg, approach rate: -0.457615 m/s, LOS rate: 0.013089 deg/s, cmd heading: 1.148749 deg, new cmd heading: 1.155040 deg. 2025-01-08T21:54:10.986Z,1736373250.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020159 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:11.025Z,1736373251.025 [DockingStepper](INFO): Starting 2025-01-08T21:54:11.059Z,1736373251.059 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:11.060Z,1736373251.060 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:11.060Z,1736373251.060 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:11.060Z,1736373251.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:11.293Z,1736373251.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:11.312Z,1736373251.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:11.312Z,1736373251.312 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:11.312Z,1736373251.312 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:11.312Z,1736373251.312 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:11.314Z,1736373251.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:11.321Z,1736373251.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 330.761261 m, bearing: 1.159112 deg, approach rate: -0.438027 m/s, LOS rate: 0.012285 deg/s, cmd heading: 1.155040 deg, new cmd heading: 1.159112 deg. 2025-01-08T21:54:11.322Z,1736373251.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020230 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:11.377Z,1736373251.377 [DockingStepper](INFO): Starting 2025-01-08T21:54:11.404Z,1736373251.404 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2025-01-08T21:54:11.564Z,1736373251.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:11.564Z,1736373251.564 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:11.564Z,1736373251.564 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:11.564Z,1736373251.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:11.704Z,1736373251.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:11.712Z,1736373251.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:11.715Z,1736373251.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 330.573517 m, bearing: 1.164311 deg, approach rate: -0.471900 m/s, LOS rate: 0.013076 deg/s, cmd heading: 1.159112 deg, new cmd heading: 1.164311 deg. 2025-01-08T21:54:11.716Z,1736373251.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020321 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:11.730Z,1736373251.730 [DockingStepper](INFO): Starting 2025-01-08T21:54:11.818Z,1736373251.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:11.820Z,1736373251.820 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:11.820Z,1736373251.820 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:11.820Z,1736373251.820 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:12.068Z,1736373252.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:12.069Z,1736373252.069 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:12.069Z,1736373252.069 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:12.069Z,1736373252.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:12.128Z,1736373252.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:12.145Z,1736373252.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:12.152Z,1736373252.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 330.392578 m, bearing: 1.168497 deg, approach rate: -0.418129 m/s, LOS rate: 0.009678 deg/s, cmd heading: 1.164311 deg, new cmd heading: 1.168497 deg. 2025-01-08T21:54:12.153Z,1736373252.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020394 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:12.183Z,1736373252.183 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T21:54:12.183Z,1736373252.183 [DockingStepper](INFO): Standby mode. 2025-01-08T21:54:12.320Z,1736373252.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:12.320Z,1736373252.320 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:12.321Z,1736373252.321 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:12.321Z,1736373252.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:12.517Z,1736373252.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:12.525Z,1736373252.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:12.527Z,1736373252.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:12.529Z,1736373252.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 330.226288 m, bearing: 1.172175 deg, approach rate: -0.435501 m/s, LOS rate: 0.009638 deg/s, cmd heading: 1.168497 deg, new cmd heading: 1.172175 deg. 2025-01-08T21:54:12.530Z,1736373252.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020458 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:12.573Z,1736373252.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:12.574Z,1736373252.574 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:12.574Z,1736373252.574 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:12.574Z,1736373252.574 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:12.826Z,1736373252.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:12.828Z,1736373252.828 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:12.828Z,1736373252.828 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:12.828Z,1736373252.828 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:12.988Z,1736373252.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:13.012Z,1736373253.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:13.015Z,1736373253.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 330.018768 m, bearing: 1.176440 deg, approach rate: -0.427476 m/s, LOS rate: 0.008792 deg/s, cmd heading: 1.172175 deg, new cmd heading: 1.176440 deg. 2025-01-08T21:54:13.020Z,1736373253.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020533 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:13.077Z,1736373253.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:13.077Z,1736373253.077 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:13.078Z,1736373253.078 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:13.078Z,1736373253.078 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:13.321Z,1736373253.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:13.328Z,1736373253.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:13.328Z,1736373253.328 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:13.328Z,1736373253.328 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:13.328Z,1736373253.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:13.331Z,1736373253.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:13.333Z,1736373253.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 329.871735 m, bearing: 1.179124 deg, approach rate: -0.461446 m/s, LOS rate: 0.008426 deg/s, cmd heading: 1.176440 deg, new cmd heading: 1.179124 deg. 2025-01-08T21:54:13.336Z,1736373253.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020580 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:13.580Z,1736373253.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:13.581Z,1736373253.581 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:13.581Z,1736373253.581 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:13.581Z,1736373253.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:13.721Z,1736373253.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:13.733Z,1736373253.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:13.741Z,1736373253.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 329.694855 m, bearing: 1.181857 deg, approach rate: -0.439847 m/s, LOS rate: 0.006799 deg/s, cmd heading: 1.179124 deg, new cmd heading: 1.181857 deg. 2025-01-08T21:54:13.742Z,1736373253.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020627 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:13.832Z,1736373253.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:13.833Z,1736373253.833 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:13.833Z,1736373253.833 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:13.833Z,1736373253.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:14.084Z,1736373254.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:14.084Z,1736373254.084 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:14.085Z,1736373254.085 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:14.085Z,1736373254.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:14.169Z,1736373254.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:14.194Z,1736373254.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:14.200Z,1736373254.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 329.490997 m, bearing: 1.184509 deg, approach rate: -0.442538 m/s, LOS rate: 0.005762 deg/s, cmd heading: 1.181857 deg, new cmd heading: 1.184509 deg. 2025-01-08T21:54:14.202Z,1736373254.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020674 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:14.336Z,1736373254.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:14.336Z,1736373254.336 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:14.337Z,1736373254.337 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:14.337Z,1736373254.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:14.564Z,1736373254.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:14.577Z,1736373254.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:14.583Z,1736373254.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:14.587Z,1736373254.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 329.311584 m, bearing: 1.186217 deg, approach rate: -0.465430 m/s, LOS rate: 0.004432 deg/s, cmd heading: 1.184509 deg, new cmd heading: 1.186217 deg. 2025-01-08T21:54:14.588Z,1736373254.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:14.588Z,1736373254.588 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:14.588Z,1736373254.588 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:14.588Z,1736373254.588 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:14.592Z,1736373254.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020703 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:14.840Z,1736373254.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:14.840Z,1736373254.840 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:14.841Z,1736373254.841 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:14.841Z,1736373254.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:15.027Z,1736373255.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:15.049Z,1736373255.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:15.055Z,1736373255.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 329.091034 m, bearing: 1.188931 deg, approach rate: -0.469644 m/s, LOS rate: 0.005783 deg/s, cmd heading: 1.186217 deg, new cmd heading: 1.188931 deg. 2025-01-08T21:54:15.056Z,1736373255.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020751 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:15.094Z,1736373255.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:15.095Z,1736373255.095 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:15.095Z,1736373255.095 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:15.095Z,1736373255.095 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:15.208Z,1736373255.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:54:15.344Z,1736373255.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:15.344Z,1736373255.344 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:15.344Z,1736373255.344 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:15.345Z,1736373255.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:15.348Z,1736373255.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:15.366Z,1736373255.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:15.373Z,1736373255.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 328.938171 m, bearing: 1.190296 deg, approach rate: -0.481680 m/s, LOS rate: 0.004302 deg/s, cmd heading: 1.188931 deg, new cmd heading: 1.190296 deg. 2025-01-08T21:54:15.374Z,1736373255.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020775 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:15.596Z,1736373255.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:15.596Z,1736373255.596 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:15.596Z,1736373255.596 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:15.597Z,1736373255.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:15.763Z,1736373255.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:15.797Z,1736373255.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:15.809Z,1736373255.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 328.740387 m, bearing: 1.191477 deg, approach rate: -0.458624 m/s, LOS rate: 0.002742 deg/s, cmd heading: 1.190296 deg, new cmd heading: 1.191477 deg. 2025-01-08T21:54:15.810Z,1736373255.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020795 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:15.848Z,1736373255.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:15.848Z,1736373255.848 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:15.848Z,1736373255.848 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:15.848Z,1736373255.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:16.101Z,1736373256.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:16.102Z,1736373256.102 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:16.102Z,1736373256.102 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:16.103Z,1736373256.103 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:16.195Z,1736373256.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:16.212Z,1736373256.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:54:16.217Z,1736373256.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:16.225Z,1736373256.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 328.528290 m, bearing: 1.194141 deg, approach rate: -0.505023 m/s, LOS rate: 0.006347 deg/s, cmd heading: 1.191477 deg, new cmd heading: 1.194141 deg. 2025-01-08T21:54:16.226Z,1736373256.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020842 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:16.353Z,1736373256.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:16.354Z,1736373256.354 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:54:16.354Z,1736373256.354 [DAT](INFO): response not received 2025-01-08T21:54:16.354Z,1736373256.354 [DAT](INFO): DAT read: user:2137> 2025-01-08T21:54:16.356Z,1736373256.356 [DAT](INFO): DAT read: Tx time:21:54:15.5879 2025-01-08T21:54:16.356Z,1736373256.356 [DAT](INFO): Ping request sent. 2025-01-08T21:54:16.356Z,1736373256.356 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:54:16.356Z,1736373256.356 [DAT](INFO): publishing transmit ping time 2025-01-08T21:54:16.357Z,1736373256.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-01-08T21:54:16.558Z,1736373256.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:16.574Z,1736373256.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:16.581Z,1736373256.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 328.349976 m, bearing: 1.195983 deg, approach rate: -0.499361 m/s, LOS rate: 0.005159 deg/s, cmd heading: 1.194141 deg, new cmd heading: 1.195983 deg. 2025-01-08T21:54:16.582Z,1736373256.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020874 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:16.604Z,1736373256.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:16.605Z,1736373256.605 [DAT](INFO): DAT read: TxSync time:21:54:15.5872 2025-01-08T21:54:16.605Z,1736373256.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249151 2025-01-08T21:54:16.856Z,1736373256.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:16.857Z,1736373256.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500470 2025-01-08T21:54:17.074Z,1736373257.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:17.089Z,1736373257.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:17.091Z,1736373257.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:17.106Z,1736373257.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 328.090912 m, bearing: 1.198627 deg, approach rate: -0.501692 m/s, LOS rate: 0.005124 deg/s, cmd heading: 1.195983 deg, new cmd heading: 1.198627 deg. 2025-01-08T21:54:17.108Z,1736373257.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:17.110Z,1736373257.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753748 2025-01-08T21:54:17.116Z,1736373257.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020920 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:17.360Z,1736373257.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:17.360Z,1736373257.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004162 2025-01-08T21:54:17.362Z,1736373257.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:17.385Z,1736373257.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:17.392Z,1736373257.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 327.946014 m, bearing: 1.199497 deg, approach rate: -0.493619 m/s, LOS rate: 0.002967 deg/s, cmd heading: 1.198627 deg, new cmd heading: 1.199497 deg. 2025-01-08T21:54:17.393Z,1736373257.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020935 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:17.613Z,1736373257.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:17.614Z,1736373257.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257868 2025-01-08T21:54:17.772Z,1736373257.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:17.785Z,1736373257.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:17.792Z,1736373257.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 327.742401 m, bearing: 1.200674 deg, approach rate: -0.508845 m/s, LOS rate: 0.002943 deg/s, cmd heading: 1.199497 deg, new cmd heading: 1.200674 deg. 2025-01-08T21:54:17.793Z,1736373257.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020956 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:17.864Z,1736373257.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:17.865Z,1736373257.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509129 2025-01-08T21:54:18.117Z,1736373258.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:18.119Z,1736373258.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762488 2025-01-08T21:54:18.206Z,1736373258.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:18.223Z,1736373258.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:18.230Z,1736373258.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 327.513916 m, bearing: 1.204635 deg, approach rate: -0.521297 m/s, LOS rate: 0.009044 deg/s, cmd heading: 1.200674 deg, new cmd heading: 1.204635 deg. 2025-01-08T21:54:18.231Z,1736373258.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021025 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:18.369Z,1736373258.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:18.369Z,1736373258.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013233 2025-01-08T21:54:18.573Z,1736373258.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:18.589Z,1736373258.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:18.596Z,1736373258.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 327.322723 m, bearing: 1.207974 deg, approach rate: -0.521827 m/s, LOS rate: 0.009117 deg/s, cmd heading: 1.204635 deg, new cmd heading: 1.207974 deg. 2025-01-08T21:54:18.597Z,1736373258.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021083 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:18.620Z,1736373258.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:18.621Z,1736373258.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264724 2025-01-08T21:54:18.872Z,1736373258.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:18.872Z,1736373258.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516235 2025-01-08T21:54:19.086Z,1736373259.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:19.103Z,1736373259.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:19.109Z,1736373259.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:19.116Z,1736373259.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 327.044403 m, bearing: 1.215512 deg, approach rate: -0.535381 m/s, LOS rate: 0.014514 deg/s, cmd heading: 1.207974 deg, new cmd heading: 1.215512 deg. 2025-01-08T21:54:19.116Z,1736373259.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021215 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:19.124Z,1736373259.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:19.124Z,1736373259.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768195 2025-01-08T21:54:19.376Z,1736373259.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:19.377Z,1736373259.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020536 2025-01-08T21:54:19.428Z,1736373259.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:19.445Z,1736373259.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:19.447Z,1736373259.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 326.859314 m, bearing: 1.220689 deg, approach rate: -0.551767 m/s, LOS rate: 0.015441 deg/s, cmd heading: 1.215512 deg, new cmd heading: 1.220689 deg. 2025-01-08T21:54:19.453Z,1736373259.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021305 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:19.628Z,1736373259.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:19.628Z,1736373259.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272184 2025-01-08T21:54:19.808Z,1736373259.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:19.821Z,1736373259.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:19.823Z,1736373259.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 326.653534 m, bearing: 1.226541 deg, approach rate: -0.547171 m/s, LOS rate: 0.015570 deg/s, cmd heading: 1.220689 deg, new cmd heading: 1.226541 deg. 2025-01-08T21:54:19.828Z,1736373259.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021407 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:19.880Z,1736373259.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:19.881Z,1736373259.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525098 2025-01-08T21:54:20.132Z,1736373260.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:20.132Z,1736373260.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776243 2025-01-08T21:54:20.255Z,1736373260.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:20.277Z,1736373260.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:20.279Z,1736373260.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 326.404022 m, bearing: 1.234186 deg, approach rate: -0.547355 m/s, LOS rate: 0.016784 deg/s, cmd heading: 1.226541 deg, new cmd heading: 1.234186 deg. 2025-01-08T21:54:20.292Z,1736373260.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021541 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:20.384Z,1736373260.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:20.385Z,1736373260.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028981 2025-01-08T21:54:20.616Z,1736373260.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:20.630Z,1736373260.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:20.636Z,1736373260.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:20.637Z,1736373260.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280444 2025-01-08T21:54:20.639Z,1736373260.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 326.202759 m, bearing: 1.240382 deg, approach rate: -0.569687 m/s, LOS rate: 0.017551 deg/s, cmd heading: 1.234186 deg, new cmd heading: 1.240382 deg. 2025-01-08T21:54:20.644Z,1736373260.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021649 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:20.890Z,1736373260.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:20.891Z,1736373260.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534622 2025-01-08T21:54:21.140Z,1736373261.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:21.141Z,1736373261.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784397 2025-01-08T21:54:21.169Z,1736373261.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:21.186Z,1736373261.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:21.192Z,1736373261.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:21.195Z,1736373261.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 325.889679 m, bearing: 1.251531 deg, approach rate: -0.556458 m/s, LOS rate: 0.019834 deg/s, cmd heading: 1.240382 deg, new cmd heading: 1.251531 deg. 2025-01-08T21:54:21.204Z,1736373261.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021843 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:21.393Z,1736373261.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:21.394Z,1736373261.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037805 2025-01-08T21:54:21.644Z,1736373261.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:21.645Z,1736373261.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289246 2025-01-08T21:54:21.686Z,1736373261.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:21.709Z,1736373261.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:21.716Z,1736373261.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 325.596313 m, bearing: 1.261998 deg, approach rate: -0.574366 m/s, LOS rate: 0.020510 deg/s, cmd heading: 1.251531 deg, new cmd heading: 1.261998 deg. 2025-01-08T21:54:21.717Z,1736373261.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022026 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:21.897Z,1736373261.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:21.898Z,1736373261.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541688 2025-01-08T21:54:22.149Z,1736373262.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:22.150Z,1736373262.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793747 2025-01-08T21:54:22.207Z,1736373262.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:22.224Z,1736373262.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:22.226Z,1736373262.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 325.295837 m, bearing: 1.272179 deg, approach rate: -0.577138 m/s, LOS rate: 0.019573 deg/s, cmd heading: 1.261998 deg, new cmd heading: 1.272179 deg. 2025-01-08T21:54:22.232Z,1736373262.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022204 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:22.400Z,1736373262.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:22.400Z,1736373262.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044259 2025-01-08T21:54:22.555Z,1736373262.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:22.569Z,1736373262.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:22.575Z,1736373262.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 325.093933 m, bearing: 1.279006 deg, approach rate: -0.586461 m/s, LOS rate: 0.019845 deg/s, cmd heading: 1.272179 deg, new cmd heading: 1.279006 deg. 2025-01-08T21:54:22.576Z,1736373262.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022323 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:22.654Z,1736373262.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:22.655Z,1736373262.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298428 2025-01-08T21:54:22.904Z,1736373262.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:22.905Z,1736373262.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548293 2025-01-08T21:54:22.933Z,1736373262.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:22.951Z,1736373262.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:22.965Z,1736373262.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 324.872101 m, bearing: 1.286558 deg, approach rate: -0.579972 m/s, LOS rate: 0.019757 deg/s, cmd heading: 1.279006 deg, new cmd heading: 1.286558 deg. 2025-01-08T21:54:22.966Z,1736373262.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022455 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:23.156Z,1736373263.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:23.157Z,1736373263.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800369 2025-01-08T21:54:23.377Z,1736373263.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:23.392Z,1736373263.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:23.394Z,1736373263.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:23.401Z,1736373263.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 324.616852 m, bearing: 1.294536 deg, approach rate: -0.575474 m/s, LOS rate: 0.018000 deg/s, cmd heading: 1.286558 deg, new cmd heading: 1.294536 deg. 2025-01-08T21:54:23.402Z,1736373263.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022594 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:23.408Z,1736373263.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:23.408Z,1736373263.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052246 2025-01-08T21:54:23.660Z,1736373263.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:23.661Z,1736373263.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305028 2025-01-08T21:54:23.745Z,1736373263.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:23.774Z,1736373263.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:23.783Z,1736373263.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 324.404663 m, bearing: 1.301185 deg, approach rate: -0.559996 m/s, LOS rate: 0.017561 deg/s, cmd heading: 1.294536 deg, new cmd heading: 1.301185 deg. 2025-01-08T21:54:23.788Z,1736373263.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022710 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:23.912Z,1736373263.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:23.913Z,1736373263.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556390 2025-01-08T21:54:24.164Z,1736373264.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:24.164Z,1736373264.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808201 2025-01-08T21:54:24.254Z,1736373264.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:24.273Z,1736373264.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:24.280Z,1736373264.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 324.092346 m, bearing: 1.308858 deg, approach rate: -0.624293 m/s, LOS rate: 0.015353 deg/s, cmd heading: 1.301185 deg, new cmd heading: 1.308858 deg. 2025-01-08T21:54:24.281Z,1736373264.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022844 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:24.416Z,1736373264.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:24.417Z,1736373264.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060275 2025-01-08T21:54:24.596Z,1736373264.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:24.613Z,1736373264.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:24.620Z,1736373264.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 323.882690 m, bearing: 1.314006 deg, approach rate: -0.616374 m/s, LOS rate: 0.015144 deg/s, cmd heading: 1.308858 deg, new cmd heading: 1.314006 deg. 2025-01-08T21:54:24.621Z,1736373264.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022934 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:24.669Z,1736373264.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:24.670Z,1736373264.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313311 2025-01-08T21:54:24.920Z,1736373264.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:24.921Z,1736373264.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564287 2025-01-08T21:54:25.009Z,1736373265.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:25.050Z,1736373265.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:25.085Z,1736373265.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 323.628754 m, bearing: 1.320227 deg, approach rate: -0.582659 m/s, LOS rate: 0.014284 deg/s, cmd heading: 1.314006 deg, new cmd heading: 1.320227 deg. 2025-01-08T21:54:25.092Z,1736373265.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023042 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:25.173Z,1736373265.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:25.176Z,1736373265.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819106 2025-01-08T21:54:25.424Z,1736373265.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:25.424Z,1736373265.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068218 2025-01-08T21:54:25.442Z,1736373265.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:25.457Z,1736373265.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:25.459Z,1736373265.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:25.465Z,1736373265.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 323.383575 m, bearing: 1.325613 deg, approach rate: -0.598954 m/s, LOS rate: 0.013167 deg/s, cmd heading: 1.320227 deg, new cmd heading: 1.325613 deg. 2025-01-08T21:54:25.466Z,1736373265.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023136 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:25.677Z,1736373265.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:25.678Z,1736373265.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321380 2025-01-08T21:54:25.776Z,1736373265.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:25.784Z,1736373265.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:25.788Z,1736373265.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 323.194336 m, bearing: 1.329790 deg, approach rate: -0.581640 m/s, LOS rate: 0.012846 deg/s, cmd heading: 1.325613 deg, new cmd heading: 1.329790 deg. 2025-01-08T21:54:25.788Z,1736373265.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023209 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:25.928Z,1736373265.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:25.928Z,1736373265.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572158 2025-01-08T21:54:26.180Z,1736373266.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:26.181Z,1736373266.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824273 2025-01-08T21:54:26.226Z,1736373266.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:26.234Z,1736373266.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:26.237Z,1736373266.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 322.937317 m, bearing: 1.331882 deg, approach rate: -0.570783 m/s, LOS rate: 0.004650 deg/s, cmd heading: 1.329790 deg, new cmd heading: 1.331882 deg. 2025-01-08T21:54:26.238Z,1736373266.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023246 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:26.432Z,1736373266.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:26.432Z,1736373266.432 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:26.432Z,1736373266.432 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:26.432Z,1736373266.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:26.587Z,1736373266.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:26.615Z,1736373266.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:26.617Z,1736373266.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 322.731293 m, bearing: 1.333579 deg, approach rate: -0.541593 m/s, LOS rate: 0.004463 deg/s, cmd heading: 1.331882 deg, new cmd heading: 1.333579 deg. 2025-01-08T21:54:26.620Z,1736373266.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023275 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:26.684Z,1736373266.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:26.685Z,1736373266.685 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:26.685Z,1736373266.685 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:26.686Z,1736373266.686 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:26.936Z,1736373266.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:26.936Z,1736373266.936 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:26.937Z,1736373266.937 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:26.937Z,1736373266.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:27.014Z,1736373267.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:27.031Z,1736373267.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:27.040Z,1736373267.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 322.487793 m, bearing: 1.335542 deg, approach rate: -0.585242 m/s, LOS rate: 0.004724 deg/s, cmd heading: 1.333579 deg, new cmd heading: 1.335542 deg. 2025-01-08T21:54:27.041Z,1736373267.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023310 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:27.188Z,1736373267.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:27.190Z,1736373267.190 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:54:27.190Z,1736373267.190 [DAT](INFO): response not received 2025-01-08T21:54:27.191Z,1736373267.191 [DAT](INFO): DAT read: user:2138> 2025-01-08T21:54:27.192Z,1736373267.192 [DAT](INFO): DAT read: Tx time:21:54:26.5380 2025-01-08T21:54:27.192Z,1736373267.192 [DAT](INFO): Ping request sent. 2025-01-08T21:54:27.193Z,1736373267.193 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:54:27.193Z,1736373267.193 [DAT](INFO): publishing transmit ping time 2025-01-08T21:54:27.194Z,1736373267.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001212 2025-01-08T21:54:27.434Z,1736373267.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:27.440Z,1736373267.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:27.441Z,1736373267.441 [DAT](INFO): DAT read: TxSync time:21:54:26.5373 2025-01-08T21:54:27.441Z,1736373267.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248835 2025-01-08T21:54:27.446Z,1736373267.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:27.448Z,1736373267.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 322.242798 m, bearing: 1.334989 deg, approach rate: -0.590027 m/s, LOS rate: -0.001333 deg/s, cmd heading: 1.335542 deg, new cmd heading: 1.334989 deg. 2025-01-08T21:54:27.449Z,1736373267.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023300 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:27.692Z,1736373267.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:27.692Z,1736373267.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499886 2025-01-08T21:54:27.803Z,1736373267.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:27.810Z,1736373267.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:27.812Z,1736373267.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:27.814Z,1736373267.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 322.027618 m, bearing: 1.334454 deg, approach rate: -0.587696 m/s, LOS rate: -0.001463 deg/s, cmd heading: 1.334989 deg, new cmd heading: 1.334454 deg. 2025-01-08T21:54:27.816Z,1736373267.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023291 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:27.944Z,1736373267.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:27.945Z,1736373267.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751925 2025-01-08T21:54:28.196Z,1736373268.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:28.196Z,1736373268.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003737 2025-01-08T21:54:28.252Z,1736373268.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:28.267Z,1736373268.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:28.298Z,1736373268.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 321.763367 m, bearing: 1.331836 deg, approach rate: -0.582938 m/s, LOS rate: -0.005780 deg/s, cmd heading: 1.334454 deg, new cmd heading: 1.331836 deg. 2025-01-08T21:54:28.299Z,1736373268.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023245 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:28.448Z,1736373268.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:28.449Z,1736373268.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255949 2025-01-08T21:54:28.615Z,1736373268.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:28.626Z,1736373268.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:28.629Z,1736373268.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 321.549042 m, bearing: 1.329632 deg, approach rate: -0.593607 m/s, LOS rate: -0.006109 deg/s, cmd heading: 1.331836 deg, new cmd heading: 1.329632 deg. 2025-01-08T21:54:28.630Z,1736373268.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023206 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:28.703Z,1736373268.703 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:28.704Z,1736373268.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511488 2025-01-08T21:54:28.956Z,1736373268.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:28.957Z,1736373268.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764136 2025-01-08T21:54:29.045Z,1736373269.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:29.054Z,1736373269.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:29.057Z,1736373269.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 321.295776 m, bearing: 1.326943 deg, approach rate: -0.591787 m/s, LOS rate: -0.006286 deg/s, cmd heading: 1.329632 deg, new cmd heading: 1.326943 deg. 2025-01-08T21:54:29.058Z,1736373269.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023160 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:29.208Z,1736373269.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:29.209Z,1736373269.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016384 2025-01-08T21:54:29.448Z,1736373269.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:29.460Z,1736373269.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:29.460Z,1736373269.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267779 2025-01-08T21:54:29.478Z,1736373269.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:29.486Z,1736373269.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 321.054596 m, bearing: 1.322685 deg, approach rate: -0.568748 m/s, LOS rate: -0.010050 deg/s, cmd heading: 1.326943 deg, new cmd heading: 1.322685 deg. 2025-01-08T21:54:29.491Z,1736373269.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023085 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:29.712Z,1736373269.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:29.712Z,1736373269.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519748 2025-01-08T21:54:29.826Z,1736373269.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:29.833Z,1736373269.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:29.836Z,1736373269.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:29.839Z,1736373269.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 320.827606 m, bearing: 1.318623 deg, approach rate: -0.634230 m/s, LOS rate: -0.011358 deg/s, cmd heading: 1.322685 deg, new cmd heading: 1.318623 deg. 2025-01-08T21:54:29.840Z,1736373269.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023014 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:29.966Z,1736373269.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:29.969Z,1736373269.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776225 2025-01-08T21:54:30.216Z,1736373270.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:30.216Z,1736373270.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023910 2025-01-08T21:54:30.277Z,1736373270.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:30.292Z,1736373270.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:30.294Z,1736373270.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 320.552063 m, bearing: 1.314080 deg, approach rate: -0.605705 m/s, LOS rate: -0.009995 deg/s, cmd heading: 1.318623 deg, new cmd heading: 1.314080 deg. 2025-01-08T21:54:30.295Z,1736373270.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022935 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:30.468Z,1736373270.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:30.469Z,1736373270.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276501 2025-01-08T21:54:30.624Z,1736373270.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:30.632Z,1736373270.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:30.652Z,1736373270.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 320.340027 m, bearing: 1.310579 deg, approach rate: -0.621701 m/s, LOS rate: -0.010271 deg/s, cmd heading: 1.314080 deg, new cmd heading: 1.310579 deg. 2025-01-08T21:54:30.653Z,1736373270.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022874 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:30.721Z,1736373270.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:30.723Z,1736373270.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529855 2025-01-08T21:54:30.972Z,1736373270.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:30.972Z,1736373270.972 [DAT](INFO): DAT read: Rx Time:21:54:29.8030 2025-01-08T21:54:30.973Z,1736373270.973 [DAT](INFO): Rx dataTimestamp_ set to:1736373270.972560 2025-01-08T21:54:30.973Z,1736373270.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780800 2025-01-08T21:54:31.064Z,1736373271.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:31.081Z,1736373271.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:31.083Z,1736373271.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 320.071167 m, bearing: 1.306126 deg, approach rate: -0.599749 m/s, LOS rate: -0.009943 deg/s, cmd heading: 1.310579 deg, new cmd heading: 1.306126 deg. 2025-01-08T21:54:31.086Z,1736373271.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022796 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:31.225Z,1736373271.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:31.228Z,1736373271.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034464 2025-01-08T21:54:31.483Z,1736373271.483 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:31.486Z,1736373271.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.292682 2025-01-08T21:54:31.596Z,1736373271.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:31.609Z,1736373271.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:31.616Z,1736373271.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 319.741699 m, bearing: 1.301307 deg, approach rate: -0.623461 m/s, LOS rate: -0.009128 deg/s, cmd heading: 1.306126 deg, new cmd heading: 1.301307 deg. 2025-01-08T21:54:31.616Z,1736373271.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022712 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:31.736Z,1736373271.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:31.746Z,1736373271.746 [DAT](INFO): DAT read: 21:54:29.8030 LVL= 18768, 25009, 18418, 28387, AGC= 75, IDX= 331,-0.19,-2.129, 2.920,-1.970,-2.651, PHS= 0.611,-0.665, 0.678, RAW= 152.6, -9.6, CAL= 158.6, -17.2, ROT= 351.4, 17.2 2025-01-08T21:54:31.749Z,1736373271.749 [DAT](INFO): got valid direction response: 21:54:29.8030 LVL= 18768, 25009, 18418, 28387, AGC= 75, IDX= 331,-0.19,-2.129, 2.920,-1.970,-2.651, PHS= 0.611,-0.665, 0.678, RAW= 152.6, -9.6, CAL= 158.6, -17.2, ROT= 351.4, 17.2 2025-01-08T21:54:31.750Z,1736373271.750 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:54:31.750Z,1736373271.750 [DAT](INFO): Received a bad header 2025-01-08T21:54:31.764Z,1736373271.764 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:54:31.765Z,1736373271.765 [DAT](INFO): direction in FSK: [0.067923,-0.854657,0.514732] 2025-01-08T21:54:31.769Z,1736373271.769 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:31.769Z,1736373271.769 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:31.769Z,1736373271.769 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:31.959Z,1736373271.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:31.984Z,1736373271.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:31.987Z,1736373271.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:31.988Z,1736373271.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:31.988Z,1736373271.988 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:31.988Z,1736373271.988 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:31.989Z,1736373271.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:31.993Z,1736373271.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 319.512115 m, bearing: 1.297916 deg, approach rate: -0.608225 m/s, LOS rate: -0.008990 deg/s, cmd heading: 1.301307 deg, new cmd heading: 1.297916 deg. 2025-01-08T21:54:31.994Z,1736373271.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022653 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:32.241Z,1736373272.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:32.242Z,1736373272.242 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:32.242Z,1736373272.242 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:32.243Z,1736373272.243 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:32.395Z,1736373272.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:32.405Z,1736373272.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:32.407Z,1736373272.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 319.236877 m, bearing: 1.297614 deg, approach rate: -0.658456 m/s, LOS rate: -0.000723 deg/s, cmd heading: 1.297916 deg, new cmd heading: 1.297614 deg. 2025-01-08T21:54:32.408Z,1736373272.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022648 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:32.492Z,1736373272.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:32.492Z,1736373272.492 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:32.492Z,1736373272.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:32.492Z,1736373272.492 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:32.744Z,1736373272.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:32.744Z,1736373272.744 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:32.744Z,1736373272.744 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:32.744Z,1736373272.744 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:32.807Z,1736373272.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:32.832Z,1736373272.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:32.834Z,1736373272.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 318.977020 m, bearing: 1.297368 deg, approach rate: -0.611571 m/s, LOS rate: -0.000578 deg/s, cmd heading: 1.297614 deg, new cmd heading: 1.297368 deg. 2025-01-08T21:54:32.836Z,1736373272.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022643 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:32.996Z,1736373272.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:32.996Z,1736373272.996 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:32.996Z,1736373272.996 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:32.996Z,1736373272.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:33.242Z,1736373273.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:33.248Z,1736373273.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:33.248Z,1736373273.248 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:33.248Z,1736373273.248 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:33.248Z,1736373273.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:33.252Z,1736373273.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:33.276Z,1736373273.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 318.698273 m, bearing: 1.296727 deg, approach rate: -0.660531 m/s, LOS rate: -0.001522 deg/s, cmd heading: 1.297368 deg, new cmd heading: 1.296727 deg. 2025-01-08T21:54:33.277Z,1736373273.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022632 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:33.500Z,1736373273.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:33.500Z,1736373273.500 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:33.500Z,1736373273.500 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:33.501Z,1736373273.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:33.576Z,1736373273.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:33.584Z,1736373273.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:33.588Z,1736373273.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 318.483917 m, bearing: 1.296213 deg, approach rate: -0.644132 m/s, LOS rate: -0.001543 deg/s, cmd heading: 1.296727 deg, new cmd heading: 1.296213 deg. 2025-01-08T21:54:33.589Z,1736373273.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022623 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:33.753Z,1736373273.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:33.753Z,1736373273.753 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:33.753Z,1736373273.753 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:33.753Z,1736373273.753 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:33.974Z,1736373273.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:33.984Z,1736373273.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:33.987Z,1736373273.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 318.229034 m, bearing: 1.295556 deg, approach rate: -0.637695 m/s, LOS rate: -0.001647 deg/s, cmd heading: 1.296213 deg, new cmd heading: 1.295556 deg. 2025-01-08T21:54:33.988Z,1736373273.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022612 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:34.007Z,1736373274.007 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:34.007Z,1736373274.007 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:34.007Z,1736373274.007 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:34.007Z,1736373274.007 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:34.256Z,1736373274.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:34.256Z,1736373274.256 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:34.256Z,1736373274.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:34.256Z,1736373274.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:34.419Z,1736373274.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:34.425Z,1736373274.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:34.428Z,1736373274.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:34.430Z,1736373274.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 317.936768 m, bearing: 1.297521 deg, approach rate: -0.658983 m/s, LOS rate: 0.004435 deg/s, cmd heading: 1.295556 deg, new cmd heading: 1.297521 deg. 2025-01-08T21:54:34.431Z,1736373274.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022646 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:34.508Z,1736373274.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:34.508Z,1736373274.508 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:34.508Z,1736373274.508 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:34.509Z,1736373274.509 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:34.760Z,1736373274.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:34.760Z,1736373274.760 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:34.760Z,1736373274.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:34.760Z,1736373274.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:34.804Z,1736373274.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:34.824Z,1736373274.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:34.827Z,1736373274.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 317.683777 m, bearing: 1.299252 deg, approach rate: -0.637590 m/s, LOS rate: 0.004365 deg/s, cmd heading: 1.297521 deg, new cmd heading: 1.299252 deg. 2025-01-08T21:54:34.832Z,1736373274.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022676 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:35.012Z,1736373275.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:35.013Z,1736373275.013 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:35.013Z,1736373275.013 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:35.013Z,1736373275.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:35.245Z,1736373275.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:35.258Z,1736373275.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:35.264Z,1736373275.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:35.264Z,1736373275.264 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:35.264Z,1736373275.264 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:35.265Z,1736373275.265 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:35.266Z,1736373275.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 317.394257 m, bearing: 1.301220 deg, approach rate: -0.668860 m/s, LOS rate: 0.004552 deg/s, cmd heading: 1.299252 deg, new cmd heading: 1.301220 deg. 2025-01-08T21:54:35.267Z,1736373275.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022711 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:35.516Z,1736373275.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:35.517Z,1736373275.517 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:35.517Z,1736373275.517 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:35.517Z,1736373275.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:35.612Z,1736373275.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:35.623Z,1736373275.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:35.625Z,1736373275.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 317.156067 m, bearing: 1.304192 deg, approach rate: -0.651801 m/s, LOS rate: 0.008138 deg/s, cmd heading: 1.301220 deg, new cmd heading: 1.304192 deg. 2025-01-08T21:54:35.626Z,1736373275.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022762 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:35.768Z,1736373275.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:35.769Z,1736373275.769 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:35.769Z,1736373275.769 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:35.769Z,1736373275.769 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:36.001Z,1736373276.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:36.010Z,1736373276.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:36.013Z,1736373276.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 316.904358 m, bearing: 1.307315 deg, approach rate: -0.650077 m/s, LOS rate: 0.008073 deg/s, cmd heading: 1.304192 deg, new cmd heading: 1.307315 deg. 2025-01-08T21:54:36.014Z,1736373276.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022817 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:36.020Z,1736373276.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:36.020Z,1736373276.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:36.020Z,1736373276.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:36.021Z,1736373276.021 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:36.272Z,1736373276.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:36.272Z,1736373276.272 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:36.272Z,1736373276.272 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:36.272Z,1736373276.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:36.437Z,1736373276.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:36.444Z,1736373276.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:36.446Z,1736373276.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:36.449Z,1736373276.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 316.631073 m, bearing: 1.312496 deg, approach rate: -0.625947 m/s, LOS rate: 0.011879 deg/s, cmd heading: 1.307315 deg, new cmd heading: 1.312496 deg. 2025-01-08T21:54:36.450Z,1736373276.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022907 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:36.524Z,1736373276.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:36.525Z,1736373276.525 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:36.526Z,1736373276.526 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:36.526Z,1736373276.526 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:36.776Z,1736373276.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:36.776Z,1736373276.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:36.776Z,1736373276.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:36.776Z,1736373276.776 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:36.802Z,1736373276.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:36.844Z,1736373276.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:36.846Z,1736373276.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 316.403503 m, bearing: 1.316796 deg, approach rate: -0.579031 m/s, LOS rate: 0.010947 deg/s, cmd heading: 1.312497 deg, new cmd heading: 1.316796 deg. 2025-01-08T21:54:36.847Z,1736373276.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022982 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:37.028Z,1736373277.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:37.028Z,1736373277.028 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:37.028Z,1736373277.028 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:37.028Z,1736373277.028 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:37.272Z,1736373277.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:37.290Z,1736373277.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:37.291Z,1736373277.291 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:37.292Z,1736373277.292 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:37.293Z,1736373277.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:37.301Z,1736373277.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:37.310Z,1736373277.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 316.115204 m, bearing: 1.322251 deg, approach rate: -0.624720 m/s, LOS rate: 0.011833 deg/s, cmd heading: 1.316796 deg, new cmd heading: 1.322251 deg. 2025-01-08T21:54:37.316Z,1736373277.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023078 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:37.541Z,1736373277.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:37.541Z,1736373277.541 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:37.542Z,1736373277.542 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:37.542Z,1736373277.542 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:37.631Z,1736373277.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:37.641Z,1736373277.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:37.644Z,1736373277.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 315.882202 m, bearing: 1.327441 deg, approach rate: -0.685422 m/s, LOS rate: 0.015278 deg/s, cmd heading: 1.322251 deg, new cmd heading: 1.327441 deg. 2025-01-08T21:54:37.646Z,1736373277.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023168 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:37.792Z,1736373277.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:37.792Z,1736373277.792 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:37.792Z,1736373277.792 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:37.793Z,1736373277.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:38.024Z,1736373278.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:38.044Z,1736373278.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:38.045Z,1736373278.045 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:54:38.045Z,1736373278.045 [DAT](INFO): response not received 2025-01-08T21:54:38.045Z,1736373278.045 [DAT](INFO): DAT read: user:2140> 2025-01-08T21:54:38.046Z,1736373278.046 [DAT](ERROR): No response from remote modem. 2025-01-08T21:54:38.046Z,1736373278.046 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:38.046Z,1736373278.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:38.050Z,1736373278.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:38.053Z,1736373278.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 315.634308 m, bearing: 1.332992 deg, approach rate: -0.605545 m/s, LOS rate: 0.013571 deg/s, cmd heading: 1.327441 deg, new cmd heading: 1.332992 deg. 2025-01-08T21:54:38.054Z,1736373278.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023265 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:38.304Z,1736373278.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:38.305Z,1736373278.305 [DAT](INFO): DAT read: Tx time:21:54:37.4881 2025-01-08T21:54:38.305Z,1736373278.305 [DAT](INFO): Ping request sent. 2025-01-08T21:54:38.305Z,1736373278.305 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:54:38.306Z,1736373278.306 [DAT](INFO): DAT read: TxSync time:21:54:37.4874 2025-01-08T21:54:38.306Z,1736373278.306 [DAT](INFO): publishing transmit ping time 2025-01-08T21:54:38.307Z,1736373278.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001572 2025-01-08T21:54:38.476Z,1736373278.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:38.486Z,1736373278.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:38.488Z,1736373278.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:38.490Z,1736373278.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 315.355591 m, bearing: 1.339266 deg, approach rate: -0.636593 m/s, LOS rate: 0.014343 deg/s, cmd heading: 1.332992 deg, new cmd heading: 1.339266 deg. 2025-01-08T21:54:38.492Z,1736373278.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023375 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:38.556Z,1736373278.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:38.557Z,1736373278.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251592 2025-01-08T21:54:38.808Z,1736373278.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:38.808Z,1736373278.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503352 2025-01-08T21:54:38.909Z,1736373278.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:38.918Z,1736373278.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:38.921Z,1736373278.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 315.088806 m, bearing: 1.345321 deg, approach rate: -0.620652 m/s, LOS rate: 0.014098 deg/s, cmd heading: 1.339266 deg, new cmd heading: 1.345321 deg. 2025-01-08T21:54:38.922Z,1736373278.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023480 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:39.060Z,1736373279.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:39.061Z,1736373279.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755579 2025-01-08T21:54:39.312Z,1736373279.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:39.312Z,1736373279.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007460 2025-01-08T21:54:39.345Z,1736373279.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:39.357Z,1736373279.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:39.385Z,1736373279.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 314.826813 m, bearing: 1.351892 deg, approach rate: -0.597607 m/s, LOS rate: 0.015001 deg/s, cmd heading: 1.345321 deg, new cmd heading: 1.351892 deg. 2025-01-08T21:54:39.385Z,1736373279.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023595 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:39.564Z,1736373279.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:39.565Z,1736373279.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260353 2025-01-08T21:54:39.773Z,1736373279.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:39.802Z,1736373279.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:39.812Z,1736373279.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 314.568817 m, bearing: 1.358218 deg, approach rate: -0.579484 m/s, LOS rate: 0.014221 deg/s, cmd heading: 1.351892 deg, new cmd heading: 1.358218 deg. 2025-01-08T21:54:39.812Z,1736373279.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023705 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:39.816Z,1736373279.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:39.817Z,1736373279.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511683 2025-01-08T21:54:40.068Z,1736373280.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:40.069Z,1736373280.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764100 2025-01-08T21:54:40.184Z,1736373280.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:40.193Z,1736373280.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:40.196Z,1736373280.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 314.321899 m, bearing: 1.364304 deg, approach rate: -0.630587 m/s, LOS rate: 0.015555 deg/s, cmd heading: 1.358218 deg, new cmd heading: 1.364304 deg. 2025-01-08T21:54:40.196Z,1736373280.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023812 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:40.320Z,1736373280.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:40.321Z,1736373280.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015537 2025-01-08T21:54:40.572Z,1736373280.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:40.572Z,1736373280.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267458 2025-01-08T21:54:40.616Z,1736373280.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:40.638Z,1736373280.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:40.640Z,1736373280.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:40.653Z,1736373280.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 314.056793 m, bearing: 1.368854 deg, approach rate: -0.592477 m/s, LOS rate: 0.010177 deg/s, cmd heading: 1.364304 deg, new cmd heading: 1.368854 deg. 2025-01-08T21:54:40.654Z,1736373280.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023891 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:40.824Z,1736373280.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:40.825Z,1736373280.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519864 2025-01-08T21:54:40.995Z,1736373280.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:41.005Z,1736373281.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:41.007Z,1736373281.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 313.824707 m, bearing: 1.372917 deg, approach rate: -0.636823 m/s, LOS rate: 0.011156 deg/s, cmd heading: 1.368854 deg, new cmd heading: 1.372917 deg. 2025-01-08T21:54:41.008Z,1736373281.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023962 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:41.076Z,1736373281.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:41.077Z,1736373281.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771636 2025-01-08T21:54:41.329Z,1736373281.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:41.331Z,1736373281.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025905 2025-01-08T21:54:41.447Z,1736373281.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:41.456Z,1736373281.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:41.458Z,1736373281.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 313.550293 m, bearing: 1.377030 deg, approach rate: -0.609178 m/s, LOS rate: 0.009139 deg/s, cmd heading: 1.372917 deg, new cmd heading: 1.377030 deg. 2025-01-08T21:54:41.459Z,1736373281.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024034 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:41.580Z,1736373281.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:41.581Z,1736373281.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275988 2025-01-08T21:54:41.793Z,1736373281.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:41.815Z,1736373281.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:41.832Z,1736373281.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:41.832Z,1736373281.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527285 2025-01-08T21:54:41.839Z,1736373281.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 313.340393 m, bearing: 1.380273 deg, approach rate: -0.586011 m/s, LOS rate: 0.009059 deg/s, cmd heading: 1.377030 deg, new cmd heading: 1.380273 deg. 2025-01-08T21:54:41.840Z,1736373281.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024090 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:42.084Z,1736373282.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:42.085Z,1736373282.085 [DAT](INFO): DAT read: Rx Time:21:54:40.7357 2025-01-08T21:54:42.086Z,1736373282.086 [DAT](INFO): Rx dataTimestamp_ set to:1736373282.085328 2025-01-08T21:54:42.086Z,1736373282.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781172 2025-01-08T21:54:42.196Z,1736373282.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:42.222Z,1736373282.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:42.228Z,1736373282.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 313.095886 m, bearing: 1.384116 deg, approach rate: -0.598700 m/s, LOS rate: 0.009417 deg/s, cmd heading: 1.380273 deg, new cmd heading: 1.384116 deg. 2025-01-08T21:54:42.229Z,1736373282.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024157 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:42.336Z,1736373282.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:42.337Z,1736373282.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032349 2025-01-08T21:54:42.588Z,1736373282.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:42.599Z,1736373282.599 [DAT](INFO): DAT read: 21:54:40.7357 LVL= 17712, 24513, 12706, 28659, AGC= 72, IDX= 280, 0.08,-1.722, 3.130,-1.573,-2.348, PHS= 0.714,-0.758, 0.772, RAW= 151.9, -9.7, CAL= 158.0, -17.4, ROT= 352.0, 17.4 2025-01-08T21:54:42.600Z,1736373282.600 [DAT](INFO): got valid direction response: 21:54:40.7357 LVL= 17712, 24513, 12706, 28659, AGC= 72, IDX= 280, 0.08,-1.722, 3.130,-1.573,-2.348, PHS= 0.714,-0.758, 0.772, RAW= 151.9, -9.7, CAL= 158.0, -17.4, ROT= 352.0, 17.4 2025-01-08T21:54:42.601Z,1736373282.601 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:54:42.602Z,1736373282.602 [DAT](INFO): Received a bad header 2025-01-08T21:54:42.616Z,1736373282.616 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:54:42.616Z,1736373282.616 [DAT](INFO): direction in FSK: [0.070937,-0.848586,0.524280] 2025-01-08T21:54:42.621Z,1736373282.621 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:42.621Z,1736373282.621 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:42.621Z,1736373282.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:42.711Z,1736373282.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:42.730Z,1736373282.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:42.741Z,1736373282.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:42.751Z,1736373282.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 312.778778 m, bearing: 1.387892 deg, approach rate: -0.610562 m/s, LOS rate: 0.007279 deg/s, cmd heading: 1.384116 deg, new cmd heading: 1.387892 deg. 2025-01-08T21:54:42.756Z,1736373282.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024223 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:42.840Z,1736373282.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:42.840Z,1736373282.840 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:42.840Z,1736373282.840 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:42.841Z,1736373282.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:43.031Z,1736373283.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:43.057Z,1736373283.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:43.063Z,1736373283.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 312.581787 m, bearing: 1.390248 deg, approach rate: -0.624537 m/s, LOS rate: 0.007474 deg/s, cmd heading: 1.387892 deg, new cmd heading: 1.390248 deg. 2025-01-08T21:54:43.064Z,1736373283.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024264 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:43.092Z,1736373283.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:43.092Z,1736373283.092 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:43.092Z,1736373283.092 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:43.093Z,1736373283.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:43.346Z,1736373283.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:43.347Z,1736373283.347 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:43.348Z,1736373283.348 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:43.348Z,1736373283.348 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:43.481Z,1736373283.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:43.507Z,1736373283.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:43.510Z,1736373283.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 312.298248 m, bearing: 1.392380 deg, approach rate: -0.652708 m/s, LOS rate: 0.004911 deg/s, cmd heading: 1.390248 deg, new cmd heading: 1.392380 deg. 2025-01-08T21:54:43.511Z,1736373283.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024302 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:43.597Z,1736373283.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:43.598Z,1736373283.598 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:43.598Z,1736373283.598 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:43.598Z,1736373283.598 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:43.845Z,1736373283.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:43.848Z,1736373283.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:43.848Z,1736373283.848 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:43.848Z,1736373283.848 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:43.848Z,1736373283.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:43.856Z,1736373283.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:43.859Z,1736373283.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 312.068970 m, bearing: 1.394120 deg, approach rate: -0.627798 m/s, LOS rate: 0.004770 deg/s, cmd heading: 1.392380 deg, new cmd heading: 1.394120 deg. 2025-01-08T21:54:43.860Z,1736373283.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024332 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:44.100Z,1736373284.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:44.100Z,1736373284.100 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:44.100Z,1736373284.100 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:44.100Z,1736373284.100 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:44.354Z,1736373284.354 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:44.356Z,1736373284.356 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:44.356Z,1736373284.356 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:44.357Z,1736373284.357 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:44.363Z,1736373284.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:44.376Z,1736373284.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:44.378Z,1736373284.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 311.742554 m, bearing: 1.396681 deg, approach rate: -0.628870 m/s, LOS rate: 0.004938 deg/s, cmd heading: 1.394120 deg, new cmd heading: 1.396681 deg. 2025-01-08T21:54:44.379Z,1736373284.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024377 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:44.604Z,1736373284.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:44.605Z,1736373284.605 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:44.605Z,1736373284.605 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:44.606Z,1736373284.606 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:44.725Z,1736373284.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:44.732Z,1736373284.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:44.734Z,1736373284.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:44.737Z,1736373284.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 311.513397 m, bearing: 1.397290 deg, approach rate: -0.639671 m/s, LOS rate: 0.001702 deg/s, cmd heading: 1.396681 deg, new cmd heading: 1.397290 deg. 2025-01-08T21:54:44.738Z,1736373284.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024387 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:44.856Z,1736373284.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:44.856Z,1736373284.856 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:44.856Z,1736373284.856 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:44.856Z,1736373284.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:45.082Z,1736373285.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:45.091Z,1736373285.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:45.093Z,1736373285.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 311.287262 m, bearing: 1.397900 deg, approach rate: -0.632831 m/s, LOS rate: 0.001709 deg/s, cmd heading: 1.397290 deg, new cmd heading: 1.397900 deg. 2025-01-08T21:54:45.094Z,1736373285.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024398 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:45.108Z,1736373285.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:45.108Z,1736373285.108 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:45.109Z,1736373285.109 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:45.109Z,1736373285.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:45.362Z,1736373285.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:45.364Z,1736373285.364 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:45.364Z,1736373285.364 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:45.364Z,1736373285.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:45.530Z,1736373285.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:45.541Z,1736373285.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:45.560Z,1736373285.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 311.007782 m, bearing: 1.397752 deg, approach rate: -0.620832 m/s, LOS rate: -0.000330 deg/s, cmd heading: 1.397900 deg, new cmd heading: 1.397752 deg. 2025-01-08T21:54:45.562Z,1736373285.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024395 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:45.612Z,1736373285.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:45.612Z,1736373285.612 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:45.612Z,1736373285.612 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:45.612Z,1736373285.612 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:45.864Z,1736373285.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:45.864Z,1736373285.864 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:45.864Z,1736373285.864 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:45.864Z,1736373285.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:45.881Z,1736373285.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:45.891Z,1736373285.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:45.893Z,1736373285.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 310.787720 m, bearing: 1.397629 deg, approach rate: -0.629260 m/s, LOS rate: -0.000351 deg/s, cmd heading: 1.397752 deg, new cmd heading: 1.397629 deg. 2025-01-08T21:54:45.894Z,1736373285.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024393 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:46.116Z,1736373286.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:46.117Z,1736373286.117 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:46.117Z,1736373286.117 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:46.117Z,1736373286.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:46.289Z,1736373286.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:46.297Z,1736373286.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:46.300Z,1736373286.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 310.533203 m, bearing: 1.397540 deg, approach rate: -0.626425 m/s, LOS rate: -0.000220 deg/s, cmd heading: 1.397629 deg, new cmd heading: 1.397540 deg. 2025-01-08T21:54:46.301Z,1736373286.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024392 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:46.333Z,1736373286.333 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:54:46.370Z,1736373286.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:46.371Z,1736373286.371 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:46.372Z,1736373286.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:46.372Z,1736373286.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:46.620Z,1736373286.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:46.621Z,1736373286.621 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:46.621Z,1736373286.621 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:46.621Z,1736373286.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:46.736Z,1736373286.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:46.742Z,1736373286.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:46.745Z,1736373286.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:46.747Z,1736373286.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 310.247742 m, bearing: 1.397001 deg, approach rate: -0.638119 m/s, LOS rate: -0.001206 deg/s, cmd heading: 1.397540 deg, new cmd heading: 1.397001 deg. 2025-01-08T21:54:46.748Z,1736373286.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024382 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:46.872Z,1736373286.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:46.872Z,1736373286.872 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:46.872Z,1736373286.872 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:46.872Z,1736373286.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:47.111Z,1736373287.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:47.121Z,1736373287.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:47.124Z,1736373287.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:47.124Z,1736373287.124 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:47.125Z,1736373287.125 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:47.125Z,1736373287.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:47.125Z,1736373287.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 310.006409 m, bearing: 1.396544 deg, approach rate: -0.641413 m/s, LOS rate: -0.001214 deg/s, cmd heading: 1.397001 deg, new cmd heading: 1.396544 deg. 2025-01-08T21:54:47.126Z,1736373287.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024374 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:47.337Z,1736373287.337 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:54:47.378Z,1736373287.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:47.379Z,1736373287.379 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:47.380Z,1736373287.380 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:47.380Z,1736373287.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:47.528Z,1736373287.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:47.553Z,1736373287.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:47.559Z,1736373287.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 309.740021 m, bearing: 1.395551 deg, approach rate: -0.616462 m/s, LOS rate: -0.002301 deg/s, cmd heading: 1.396544 deg, new cmd heading: 1.395551 deg. 2025-01-08T21:54:47.560Z,1736373287.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024357 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:47.629Z,1736373287.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:47.629Z,1736373287.629 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:47.629Z,1736373287.629 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:47.630Z,1736373287.630 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:47.880Z,1736373287.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:47.880Z,1736373287.880 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:47.880Z,1736373287.880 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:47.880Z,1736373287.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:47.905Z,1736373287.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:47.914Z,1736373287.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:47.935Z,1736373287.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 309.499542 m, bearing: 1.394696 deg, approach rate: -0.666615 m/s, LOS rate: -0.002372 deg/s, cmd heading: 1.395551 deg, new cmd heading: 1.394696 deg. 2025-01-08T21:54:47.936Z,1736373287.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024342 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:48.135Z,1736373288.135 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:48.136Z,1736373288.136 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:48.136Z,1736373288.136 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:48.136Z,1736373288.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:48.301Z,1736373288.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:48.310Z,1736373288.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:48.312Z,1736373288.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 309.246979 m, bearing: 1.393786 deg, approach rate: -0.637310 m/s, LOS rate: -0.002297 deg/s, cmd heading: 1.394696 deg, new cmd heading: 1.393786 deg. 2025-01-08T21:54:48.313Z,1736373288.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024326 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:48.386Z,1736373288.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:48.387Z,1736373288.387 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:48.388Z,1736373288.388 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:48.389Z,1736373288.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:48.636Z,1736373288.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:48.637Z,1736373288.637 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:48.637Z,1736373288.637 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:48.637Z,1736373288.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:48.733Z,1736373288.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:48.743Z,1736373288.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:48.745Z,1736373288.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 308.967346 m, bearing: 1.393375 deg, approach rate: -0.645918 m/s, LOS rate: -0.000950 deg/s, cmd heading: 1.393786 deg, new cmd heading: 1.393375 deg. 2025-01-08T21:54:48.746Z,1736373288.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024319 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:48.888Z,1736373288.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:48.888Z,1736373288.888 [DAT](INFO): Reached modem response timeout 2025-01-08T21:54:48.888Z,1736373288.888 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:54:48.889Z,1736373288.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:49.120Z,1736373289.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:49.127Z,1736373289.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:49.129Z,1736373289.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:49.132Z,1736373289.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 308.717072 m, bearing: 1.393033 deg, approach rate: -0.648089 m/s, LOS rate: -0.000887 deg/s, cmd heading: 1.393375 deg, new cmd heading: 1.393033 deg. 2025-01-08T21:54:49.133Z,1736373289.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024313 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:49.140Z,1736373289.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:49.141Z,1736373289.141 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:54:49.141Z,1736373289.141 [DAT](INFO): response not received 2025-01-08T21:54:49.141Z,1736373289.141 [DAT](INFO): DAT read: user:2142> 2025-01-08T21:54:49.142Z,1736373289.142 [DAT](INFO): DAT read: Tx time:21:54:48.4382 2025-01-08T21:54:49.142Z,1736373289.142 [DAT](INFO): Ping request sent. 2025-01-08T21:54:49.143Z,1736373289.143 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:54:49.143Z,1736373289.143 [DAT](INFO): publishing transmit ping time 2025-01-08T21:54:49.143Z,1736373289.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000839 2025-01-08T21:54:49.393Z,1736373289.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:49.396Z,1736373289.396 [DAT](INFO): DAT read: TxSync time:21:54:48.4375 2025-01-08T21:54:49.399Z,1736373289.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255769 2025-01-08T21:54:49.579Z,1736373289.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:49.588Z,1736373289.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:49.590Z,1736373289.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 308.420288 m, bearing: 1.392417 deg, approach rate: -0.647421 m/s, LOS rate: -0.001344 deg/s, cmd heading: 1.393033 deg, new cmd heading: 1.392417 deg. 2025-01-08T21:54:49.591Z,1736373289.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024302 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:49.644Z,1736373289.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:49.646Z,1736373289.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502893 2025-01-08T21:54:49.896Z,1736373289.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:49.896Z,1736373289.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753743 2025-01-08T21:54:49.917Z,1736373289.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:49.926Z,1736373289.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:49.929Z,1736373289.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 308.201813 m, bearing: 1.392063 deg, approach rate: -0.644757 m/s, LOS rate: -0.001047 deg/s, cmd heading: 1.392417 deg, new cmd heading: 1.392063 deg. 2025-01-08T21:54:49.930Z,1736373289.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024296 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:50.148Z,1736373290.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:50.149Z,1736373290.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006023 2025-01-08T21:54:50.327Z,1736373290.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:50.336Z,1736373290.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:50.338Z,1736373290.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 307.936829 m, bearing: 1.391670 deg, approach rate: -0.648376 m/s, LOS rate: -0.000961 deg/s, cmd heading: 1.392063 deg, new cmd heading: 1.391670 deg. 2025-01-08T21:54:50.340Z,1736373290.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024289 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:50.404Z,1736373290.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:50.408Z,1736373290.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264030 2025-01-08T21:54:50.657Z,1736373290.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:50.659Z,1736373290.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515906 2025-01-08T21:54:50.751Z,1736373290.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:50.760Z,1736373290.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:50.762Z,1736373290.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 307.664337 m, bearing: 1.390918 deg, approach rate: -0.641986 m/s, LOS rate: -0.001773 deg/s, cmd heading: 1.391670 deg, new cmd heading: 1.390918 deg. 2025-01-08T21:54:50.763Z,1736373290.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024276 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:50.908Z,1736373290.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:50.908Z,1736373290.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765716 2025-01-08T21:54:51.127Z,1736373291.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:51.142Z,1736373291.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:51.145Z,1736373291.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:51.147Z,1736373291.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 307.422516 m, bearing: 1.390227 deg, approach rate: -0.627827 m/s, LOS rate: -0.001797 deg/s, cmd heading: 1.390919 deg, new cmd heading: 1.390227 deg. 2025-01-08T21:54:51.153Z,1736373291.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024264 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:51.160Z,1736373291.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:51.161Z,1736373291.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017926 2025-01-08T21:54:51.414Z,1736373291.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:51.417Z,1736373291.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273264 2025-01-08T21:54:51.550Z,1736373291.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:51.582Z,1736373291.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:51.588Z,1736373291.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 307.152588 m, bearing: 1.390493 deg, approach rate: -0.617611 m/s, LOS rate: 0.000609 deg/s, cmd heading: 1.390227 deg, new cmd heading: 1.390493 deg. 2025-01-08T21:54:51.589Z,1736373291.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024269 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:51.666Z,1736373291.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:51.668Z,1736373291.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525098 2025-01-08T21:54:51.916Z,1736373291.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:51.916Z,1736373291.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773868 2025-01-08T21:54:51.938Z,1736373291.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:51.946Z,1736373291.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:51.974Z,1736373291.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 306.904724 m, bearing: 1.390709 deg, approach rate: -0.680098 m/s, LOS rate: 0.000594 deg/s, cmd heading: 1.390493 deg, new cmd heading: 1.390709 deg. 2025-01-08T21:54:51.980Z,1736373291.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024272 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:52.168Z,1736373292.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:52.169Z,1736373292.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026230 2025-01-08T21:54:52.348Z,1736373292.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:52.358Z,1736373292.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:52.361Z,1736373292.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 306.642365 m, bearing: 1.390913 deg, approach rate: -0.636811 m/s, LOS rate: 0.000496 deg/s, cmd heading: 1.390709 deg, new cmd heading: 1.390913 deg. 2025-01-08T21:54:52.362Z,1736373292.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024276 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:52.422Z,1736373292.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:52.424Z,1736373292.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281235 2025-01-08T21:54:52.672Z,1736373292.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:52.673Z,1736373292.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530834 2025-01-08T21:54:52.778Z,1736373292.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:52.808Z,1736373292.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:52.810Z,1736373292.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 306.361572 m, bearing: 1.393015 deg, approach rate: -0.654053 m/s, LOS rate: 0.004901 deg/s, cmd heading: 1.390913 deg, new cmd heading: 1.393015 deg. 2025-01-08T21:54:52.811Z,1736373292.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024313 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:52.924Z,1736373292.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:52.924Z,1736373292.924 [DAT](INFO): DAT read: Rx Time:21:54:51.6854 2025-01-08T21:54:52.925Z,1736373292.925 [DAT](INFO): Rx dataTimestamp_ set to:1736373292.924566 2025-01-08T21:54:52.926Z,1736373292.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783019 2025-01-08T21:54:53.152Z,1736373293.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:53.159Z,1736373293.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:53.161Z,1736373293.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 646.60 m. 2025-01-08T21:54:53.164Z,1736373293.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 646.599976 m, nav range: 306.117157 m, bearing: 1.394850 deg, approach rate: -0.653519 m/s, LOS rate: 0.004911 deg/s, cmd heading: 1.393015 deg, new cmd heading: 1.394850 deg. 2025-01-08T21:54:53.165Z,1736373293.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024345 target range: 646.599976 and range: 646.60 m. 2025-01-08T21:54:53.176Z,1736373293.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:53.176Z,1736373293.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033861 2025-01-08T21:54:53.429Z,1736373293.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:53.436Z,1736373293.436 [DAT](INFO): DAT read: 21:54:51.6854 LVL= 18688, 21937, 16834, 29651, AGC= 70, IDX= 484, 0.10,-1.184,-2.392,-1.092,-1.816, PHS= 0.720,-0.529, 0.721, RAW= 150.1, -14.5, CAL= 156.7, -22.0, ROT= 353.3, 22.0 2025-01-08T21:54:53.437Z,1736373293.437 [DAT](INFO): got valid direction response: 21:54:51.6854 LVL= 18688, 21937, 16834, 29651, AGC= 70, IDX= 484, 0.10,-1.184,-2.392,-1.092,-1.816, PHS= 0.720,-0.529, 0.721, RAW= 150.1, -14.5, CAL= 156.7, -22.0, ROT= 353.3, 22.0 2025-01-08T21:54:53.438Z,1736373293.438 [DAT](INFO): DAT read: Bearing 353.3, 22.0 (Local) 2025-01-08T21:54:53.439Z,1736373293.439 [DAT](INFO): Local bearing/azimuth received: Bearing 353.3, 22.0 (Local) 2025-01-08T21:54:53.440Z,1736373293.440 [DAT](INFO): DAT read: Range 10 to 50 : 632.1 m (Round-trip 842.9 ms) speed 0.4 m/s 2025-01-08T21:54:53.442Z,1736373293.442 [DAT](INFO): DAT read: user:2143> 2025-01-08T21:54:53.446Z,1736373293.446 [DAT](INFO): DAT read: Tx time:21:54:52.7883 2025-01-08T21:54:53.447Z,1736373293.447 [DAT](INFO): Ping request sent. 2025-01-08T21:54:53.447Z,1736373293.447 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:54:53.448Z,1736373293.448 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:54:53.452Z,1736373293.452 [DAT](INFO): direction in FSK: [0.162953,-0.819879,0.548857] 2025-01-08T21:54:53.453Z,1736373293.453 [DAT](INFO): publishing transmit ping time 2025-01-08T21:54:53.454Z,1736373293.454 [DAT](INFO): publishing direction and range info 2025-01-08T21:54:53.468Z,1736373293.468 [DAT](INFO): publishing transmit ping time 2025-01-08T21:54:53.469Z,1736373293.469 [DAT](INFO): publishing direction and range info 2025-01-08T21:54:53.646Z,1736373293.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:53.680Z,1736373293.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:53.681Z,1736373293.681 [DAT](INFO): DAT read: TxSync time:21:54:52.7875 2025-01-08T21:54:53.715Z,1736373293.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 632.099976 m, deltaT: 48.168055 s, deltaX: -14.500000 m, approachRate: -0.301029 m/s, rangeRepo size: 2 2025-01-08T21:54:53.721Z,1736373293.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 632.099976 m, bearing: 283.466971 deg, lat: 36.899980 deg, lon: -122.119558 deg, deltaT: 48.168055 s, deltaX: -14.500000 m, approachRate: -0.301029 m/s, posRepo size: 2 2025-01-08T21:54:53.722Z,1736373293.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:53.729Z,1736373293.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 134.653488 m, bearing: 352.265939 deg, approach rate: 0.000000 m/s, LOS rate: 0.004911 deg/s, cmd heading: 1.394850 deg, new cmd heading: 1.402990 deg. 2025-01-08T21:54:53.730Z,1736373293.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024487 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:53.933Z,1736373293.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:53.986Z,1736373293.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:53.996Z,1736373293.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:53.999Z,1736373293.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 134.430649 m, bearing: 352.255790 deg, approach rate: -0.788898 m/s, LOS rate: -0.035990 deg/s, cmd heading: 1.402990 deg, new cmd heading: 1.372492 deg. 2025-01-08T21:54:54.000Z,1736373294.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023955 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:54.184Z,1736373294.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:54.384Z,1736373294.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:54.393Z,1736373294.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:54.396Z,1736373294.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 134.170456 m, bearing: 352.243835 deg, approach rate: -0.655602 m/s, LOS rate: -0.030181 deg/s, cmd heading: 1.372492 deg, new cmd heading: 1.336558 deg. 2025-01-08T21:54:54.397Z,1736373294.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023327 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:54.438Z,1736373294.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:54.688Z,1736373294.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:54.813Z,1736373294.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:54.822Z,1736373294.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:54.825Z,1736373294.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 133.893646 m, bearing: 352.232380 deg, approach rate: -0.645443 m/s, LOS rate: -0.026765 deg/s, cmd heading: 1.336558 deg, new cmd heading: 1.302123 deg. 2025-01-08T21:54:54.826Z,1736373294.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022726 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:54.942Z,1736373294.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:55.192Z,1736373295.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:55.194Z,1736373295.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:55.201Z,1736373295.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:55.204Z,1736373295.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:55.207Z,1736373295.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 133.647766 m, bearing: 352.222432 deg, approach rate: -0.643770 m/s, LOS rate: -0.026094 deg/s, cmd heading: 1.302123 deg, new cmd heading: 1.272224 deg. 2025-01-08T21:54:55.208Z,1736373295.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022204 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:55.444Z,1736373295.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:55.445Z,1736373295.445 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:55.445Z,1736373295.445 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:55.445Z,1736373295.445 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:54:55.632Z,1736373295.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:55.645Z,1736373295.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:55.666Z,1736373295.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 133.366028 m, bearing: 352.212661 deg, approach rate: -0.639345 m/s, LOS rate: -0.022221 deg/s, cmd heading: 1.272224 deg, new cmd heading: 1.242847 deg. 2025-01-08T21:54:55.673Z,1736373295.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021692 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:55.697Z,1736373295.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:55.699Z,1736373295.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252141 2025-01-08T21:54:55.948Z,1736373295.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:55.948Z,1736373295.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501731 2025-01-08T21:54:56.002Z,1736373296.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:56.010Z,1736373296.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:56.032Z,1736373296.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 133.127884 m, bearing: 352.204669 deg, approach rate: -0.651279 m/s, LOS rate: -0.021895 deg/s, cmd heading: 1.242847 deg, new cmd heading: 1.218829 deg. 2025-01-08T21:54:56.033Z,1736373296.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021273 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:56.200Z,1736373296.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:56.200Z,1736373296.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753768 2025-01-08T21:54:56.420Z,1736373296.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:56.429Z,1736373296.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:56.432Z,1736373296.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 132.858749 m, bearing: 352.195901 deg, approach rate: -0.643192 m/s, LOS rate: -0.020996 deg/s, cmd heading: 1.218829 deg, new cmd heading: 1.192472 deg. 2025-01-08T21:54:56.433Z,1736373296.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020813 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:56.452Z,1736373296.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:56.454Z,1736373296.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006923 2025-01-08T21:54:56.720Z,1736373296.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:56.721Z,1736373296.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274455 2025-01-08T21:54:56.833Z,1736373296.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:56.842Z,1736373296.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:56.861Z,1736373296.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 132.599060 m, bearing: 352.189491 deg, approach rate: -0.628277 m/s, LOS rate: -0.015540 deg/s, cmd heading: 1.192472 deg, new cmd heading: 1.173203 deg. 2025-01-08T21:54:56.862Z,1736373296.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020476 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:56.972Z,1736373296.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:56.973Z,1736373296.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526189 2025-01-08T21:54:57.224Z,1736373297.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:57.225Z,1736373297.225 [DAT](INFO): DAT read: Rx Time:21:54:56.0229 2025-01-08T21:54:57.225Z,1736373297.225 [DAT](INFO): Rx dataTimestamp_ set to:1736373297.224802 2025-01-08T21:54:57.226Z,1736373297.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778998 2025-01-08T21:54:57.226Z,1736373297.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:57.233Z,1736373297.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:57.236Z,1736373297.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:57.239Z,1736373297.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 132.351456 m, bearing: 352.183074 deg, approach rate: -0.629679 m/s, LOS rate: -0.016349 deg/s, cmd heading: 1.173203 deg, new cmd heading: 1.153917 deg. 2025-01-08T21:54:57.240Z,1736373297.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020140 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:57.476Z,1736373297.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:57.476Z,1736373297.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029768 2025-01-08T21:54:57.711Z,1736373297.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:57.730Z,1736373297.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:57.740Z,1736373297.740 [DAT](INFO): DAT read: 21:54:56.0229 LVL= 18544, 21409, 15730, 28755, AGC= 71, IDX= 308,-0.32,-2.231, 2.719,-2.147,-2.856, PHS= 0.712,-0.661, 0.706, RAW= 149.8, -11.0, CAL= 156.5, -18.9, ROT= 353.5, 18.9 2025-01-08T21:54:57.741Z,1736373297.741 [DAT](INFO): got valid direction response: 21:54:56.0229 LVL= 18544, 21409, 15730, 28755, AGC= 71, IDX= 308,-0.32,-2.231, 2.719,-2.147,-2.856, PHS= 0.712,-0.661, 0.706, RAW= 149.8, -11.0, CAL= 156.5, -18.9, ROT= 353.5, 18.9 2025-01-08T21:54:57.742Z,1736373297.742 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:54:57.742Z,1736373297.742 [DAT](INFO): Received a bad header 2025-01-08T21:54:57.754Z,1736373297.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:57.756Z,1736373297.756 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:54:57.756Z,1736373297.756 [DAT](INFO): direction in FSK: [0.095992,-0.825542,0.556116] 2025-01-08T21:54:57.759Z,1736373297.759 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:57.759Z,1736373297.759 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:57.760Z,1736373297.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:57.766Z,1736373297.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 132.043121 m, bearing: 352.173658 deg, approach rate: -0.595052 m/s, LOS rate: -0.018215 deg/s, cmd heading: 1.153917 deg, new cmd heading: 1.125601 deg. 2025-01-08T21:54:57.773Z,1736373297.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019645 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:57.980Z,1736373297.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:57.980Z,1736373297.980 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:57.980Z,1736373297.980 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:57.980Z,1736373297.980 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:58.104Z,1736373298.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:58.127Z,1736373298.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:58.134Z,1736373298.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 131.791122 m, bearing: 352.165712 deg, approach rate: -0.675075 m/s, LOS rate: -0.021326 deg/s, cmd heading: 1.125601 deg, new cmd heading: 1.101719 deg. 2025-01-08T21:54:58.139Z,1736373298.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019229 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:58.232Z,1736373298.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:58.233Z,1736373298.233 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:58.233Z,1736373298.233 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:58.233Z,1736373298.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:58.486Z,1736373298.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:58.491Z,1736373298.491 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:58.492Z,1736373298.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:58.492Z,1736373298.492 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:58.526Z,1736373298.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:58.583Z,1736373298.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:58.587Z,1736373298.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 131.522629 m, bearing: 352.157093 deg, approach rate: -0.593642 m/s, LOS rate: -0.019095 deg/s, cmd heading: 1.101719 deg, new cmd heading: 1.075811 deg. 2025-01-08T21:54:58.596Z,1736373298.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018776 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:58.736Z,1736373298.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:58.738Z,1736373298.738 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:58.738Z,1736373298.738 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:58.738Z,1736373298.738 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:58.939Z,1736373298.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:58.963Z,1736373298.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:58.966Z,1736373298.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 131.259155 m, bearing: 352.147432 deg, approach rate: -0.686208 m/s, LOS rate: -0.025212 deg/s, cmd heading: 1.075811 deg, new cmd heading: 1.046770 deg. 2025-01-08T21:54:58.967Z,1736373298.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018270 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:58.988Z,1736373298.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:58.988Z,1736373298.988 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:58.988Z,1736373298.988 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:58.988Z,1736373298.988 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:59.240Z,1736373299.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:59.240Z,1736373299.240 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:59.240Z,1736373299.240 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:59.241Z,1736373299.241 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:59.324Z,1736373299.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:59.331Z,1736373299.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:54:59.333Z,1736373299.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:59.337Z,1736373299.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 131.013580 m, bearing: 352.138187 deg, approach rate: -0.663479 m/s, LOS rate: -0.025025 deg/s, cmd heading: 1.046770 deg, new cmd heading: 1.018982 deg. 2025-01-08T21:54:59.338Z,1736373299.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017785 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:59.492Z,1736373299.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:59.492Z,1736373299.492 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:59.492Z,1736373299.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:59.492Z,1736373299.492 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:59.725Z,1736373299.725 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768- 2025-01-08T21:54:59.732Z,1736373299.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:54:59.732Z,1736373299.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:54:59.744Z,1736373299.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:59.745Z,1736373299.745 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:59.745Z,1736373299.745 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:59.745Z,1736373299.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:54:59.747Z,1736373299.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:54:59.750Z,1736373299.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 130.753937 m, bearing: 352.128375 deg, approach rate: -0.627707 m/s, LOS rate: -0.023769 deg/s, cmd heading: 1.018982 deg, new cmd heading: 0.989487 deg. 2025-01-08T21:54:59.751Z,1736373299.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017270 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:54:59.996Z,1736373299.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:54:59.997Z,1736373299.997 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:54:59.997Z,1736373299.997 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:54:59.997Z,1736373299.997 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:00.105Z,1736373300.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:55:00.106Z,1736373300.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:00.116Z,1736373300.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:00.125Z,1736373300.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 130.516281 m, bearing: 352.119196 deg, approach rate: -0.643016 m/s, LOS rate: -0.024879 deg/s, cmd heading: 0.989487 deg, new cmd heading: 0.961901 deg. 2025-01-08T21:55:00.126Z,1736373300.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.016788 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:00.248Z,1736373300.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:00.248Z,1736373300.248 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:00.248Z,1736373300.248 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:00.249Z,1736373300.249 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:00.500Z,1736373300.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:00.500Z,1736373300.500 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:00.500Z,1736373300.500 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:00.500Z,1736373300.500 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:00.504Z,1736373300.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:55:00.504Z,1736373300.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:00.528Z,1736373300.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:00.531Z,1736373300.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 130.262238 m, bearing: 352.109390 deg, approach rate: -0.617058 m/s, LOS rate: -0.023867 deg/s, cmd heading: 0.961901 deg, new cmd heading: 0.932423 deg. 2025-01-08T21:55:00.555Z,1736373300.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.016274 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:00.754Z,1736373300.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:00.757Z,1736373300.757 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:00.757Z,1736373300.757 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:00.757Z,1736373300.757 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:00.945Z,1736373300.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:00.954Z,1736373300.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:00.957Z,1736373300.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 129.990143 m, bearing: 352.095655 deg, approach rate: -0.638647 m/s, LOS rate: -0.032305 deg/s, cmd heading: 0.932423 deg, new cmd heading: 0.891132 deg. 2025-01-08T21:55:00.958Z,1736373300.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.015553 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:01.004Z,1736373301.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:01.005Z,1736373301.005 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:01.005Z,1736373301.005 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:01.005Z,1736373301.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:01.256Z,1736373301.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:01.256Z,1736373301.256 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:01.256Z,1736373301.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:01.256Z,1736373301.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:01.337Z,1736373301.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:01.344Z,1736373301.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:01.346Z,1736373301.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:01.349Z,1736373301.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 129.748077 m, bearing: 352.083533 deg, approach rate: -0.618110 m/s, LOS rate: -0.031011 deg/s, cmd heading: 0.891132 deg, new cmd heading: 0.854698 deg. 2025-01-08T21:55:01.350Z,1736373301.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.014917 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:01.508Z,1736373301.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:01.508Z,1736373301.508 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:01.508Z,1736373301.508 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:01.509Z,1736373301.509 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:01.747Z,1736373301.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:01.756Z,1736373301.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:01.758Z,1736373301.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 129.494370 m, bearing: 352.073309 deg, approach rate: -0.618842 m/s, LOS rate: -0.024985 deg/s, cmd heading: 0.854698 deg, new cmd heading: 0.823968 deg. 2025-01-08T21:55:01.760Z,1736373301.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:01.760Z,1736373301.760 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:01.760Z,1736373301.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:01.761Z,1736373301.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:01.761Z,1736373301.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.014381 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:02.013Z,1736373302.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:02.014Z,1736373302.014 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:02.014Z,1736373302.014 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:02.014Z,1736373302.014 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:02.151Z,1736373302.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:02.160Z,1736373302.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:02.162Z,1736373302.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 129.244797 m, bearing: 352.063199 deg, approach rate: -0.617498 m/s, LOS rate: -0.025064 deg/s, cmd heading: 0.823968 deg, new cmd heading: 0.793579 deg. 2025-01-08T21:55:02.164Z,1736373302.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013851 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:02.264Z,1736373302.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:02.265Z,1736373302.265 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:02.265Z,1736373302.265 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:02.265Z,1736373302.265 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:02.516Z,1736373302.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:02.516Z,1736373302.516 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:02.516Z,1736373302.516 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:02.516Z,1736373302.516 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:02.524Z,1736373302.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:02.533Z,1736373302.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:02.538Z,1736373302.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 129.013626 m, bearing: 352.053774 deg, approach rate: -0.619897 m/s, LOS rate: -0.025320 deg/s, cmd heading: 0.793579 deg, new cmd heading: 0.765252 deg. 2025-01-08T21:55:02.540Z,1736373302.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013356 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:02.768Z,1736373302.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:02.768Z,1736373302.768 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:02.768Z,1736373302.768 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:02.768Z,1736373302.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:02.972Z,1736373302.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:02.989Z,1736373302.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:02.995Z,1736373302.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 128.742081 m, bearing: 352.040382 deg, approach rate: -0.595960 m/s, LOS rate: -0.029453 deg/s, cmd heading: 0.765252 deg, new cmd heading: 0.724991 deg. 2025-01-08T21:55:02.996Z,1736373302.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012653 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:03.020Z,1736373303.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:03.020Z,1736373303.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:03.020Z,1736373303.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:03.020Z,1736373303.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:03.272Z,1736373303.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:03.272Z,1736373303.272 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:03.272Z,1736373303.272 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:03.272Z,1736373303.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:03.338Z,1736373303.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:03.346Z,1736373303.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:03.348Z,1736373303.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:03.351Z,1736373303.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 128.520416 m, bearing: 352.029409 deg, approach rate: -0.616354 m/s, LOS rate: -0.030564 deg/s, cmd heading: 0.724991 deg, new cmd heading: 0.692016 deg. 2025-01-08T21:55:03.353Z,1736373303.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012078 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:03.524Z,1736373303.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:03.524Z,1736373303.524 [DAT](INFO): Reached modem response timeout 2025-01-08T21:55:03.524Z,1736373303.524 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:03.524Z,1736373303.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:03.766Z,1736373303.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:03.784Z,1736373303.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:03.784Z,1736373303.784 [DAT](INFO): Reached modem response timeout 2025-01-08T21:55:03.784Z,1736373303.784 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:03.785Z,1736373303.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:03.794Z,1736373303.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:03.801Z,1736373303.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 128.255524 m, bearing: 352.016913 deg, approach rate: -0.593923 m/s, LOS rate: -0.028076 deg/s, cmd heading: 0.692016 deg, new cmd heading: 0.654449 deg. 2025-01-08T21:55:03.802Z,1736373303.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011422 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:04.036Z,1736373304.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:04.037Z,1736373304.037 [DAT](INFO): Reached modem response timeout 2025-01-08T21:55:04.037Z,1736373304.037 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:04.037Z,1736373304.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:04.141Z,1736373304.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:04.150Z,1736373304.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:04.172Z,1736373304.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 128.023941 m, bearing: 352.006071 deg, approach rate: -0.651707 m/s, LOS rate: -0.030566 deg/s, cmd heading: 0.654449 deg, new cmd heading: 0.621865 deg. 2025-01-08T21:55:04.173Z,1736373304.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010854 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:04.288Z,1736373304.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:04.289Z,1736373304.289 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:55:04.289Z,1736373304.289 [DAT](INFO): response not received 2025-01-08T21:55:04.289Z,1736373304.289 [DAT](INFO): DAT read: user:2145> 2025-01-08T21:55:04.290Z,1736373304.290 [DAT](ERROR): No response from remote modem. 2025-01-08T21:55:04.290Z,1736373304.290 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:04.290Z,1736373304.290 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:04.540Z,1736373304.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:04.541Z,1736373304.541 [DAT](INFO): DAT read: Tx time:21:55:03.7384 2025-01-08T21:55:04.541Z,1736373304.541 [DAT](INFO): Ping request sent. 2025-01-08T21:55:04.541Z,1736373304.541 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:55:04.542Z,1736373304.542 [DAT](INFO): DAT read: TxSync time:21:55:03.7376 2025-01-08T21:55:04.542Z,1736373304.542 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:04.543Z,1736373304.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001572 2025-01-08T21:55:04.597Z,1736373304.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:04.684Z,1736373304.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:04.696Z,1736373304.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 127.758202 m, bearing: 351.993547 deg, approach rate: -0.501704 m/s, LOS rate: -0.023693 deg/s, cmd heading: 0.621865 deg, new cmd heading: 0.584216 deg. 2025-01-08T21:55:04.697Z,1736373304.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010196 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:04.792Z,1736373304.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:04.793Z,1736373304.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251516 2025-01-08T21:55:05.015Z,1736373305.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:05.024Z,1736373305.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:05.027Z,1736373305.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 127.474495 m, bearing: 351.980723 deg, approach rate: -0.822031 m/s, LOS rate: -0.037239 deg/s, cmd heading: 0.584216 deg, new cmd heading: 0.545659 deg. 2025-01-08T21:55:05.028Z,1736373305.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009524 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:05.044Z,1736373305.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:05.044Z,1736373305.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503351 2025-01-08T21:55:05.296Z,1736373305.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:05.297Z,1736373305.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755583 2025-01-08T21:55:05.401Z,1736373305.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:05.409Z,1736373305.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:05.412Z,1736373305.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:05.414Z,1736373305.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 127.228104 m, bearing: 351.969568 deg, approach rate: -0.636900 m/s, LOS rate: -0.028891 deg/s, cmd heading: 0.545659 deg, new cmd heading: 0.512129 deg. 2025-01-08T21:55:05.416Z,1736373305.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008938 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:05.548Z,1736373305.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:05.548Z,1736373305.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007366 2025-01-08T21:55:05.800Z,1736373305.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:05.800Z,1736373305.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259397 2025-01-08T21:55:05.844Z,1736373305.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:05.853Z,1736373305.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:05.856Z,1736373305.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 126.940819 m, bearing: 351.957182 deg, approach rate: -0.650338 m/s, LOS rate: -0.028101 deg/s, cmd heading: 0.512129 deg, new cmd heading: 0.474888 deg. 2025-01-08T21:55:05.857Z,1736373305.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008288 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:06.052Z,1736373306.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:06.053Z,1736373306.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511686 2025-01-08T21:55:06.208Z,1736373306.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:06.217Z,1736373306.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:06.220Z,1736373306.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 126.705360 m, bearing: 351.946719 deg, approach rate: -0.647114 m/s, LOS rate: -0.028809 deg/s, cmd heading: 0.474888 deg, new cmd heading: 0.443440 deg. 2025-01-08T21:55:06.221Z,1736373306.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007739 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:06.304Z,1736373306.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:06.305Z,1736373306.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763590 2025-01-08T21:55:06.556Z,1736373306.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:06.556Z,1736373306.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015355 2025-01-08T21:55:06.674Z,1736373306.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:06.708Z,1736373306.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:06.710Z,1736373306.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 126.404678 m, bearing: 351.933207 deg, approach rate: -0.618139 m/s, LOS rate: -0.027845 deg/s, cmd heading: 0.443440 deg, new cmd heading: 0.402806 deg. 2025-01-08T21:55:06.715Z,1736373306.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007030 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:06.808Z,1736373306.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:06.811Z,1736373306.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269131 2025-01-08T21:55:07.044Z,1736373307.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:07.060Z,1736373307.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:07.060Z,1736373307.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519426 2025-01-08T21:55:07.088Z,1736373307.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:07.091Z,1736373307.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 126.161507 m, bearing: 351.920122 deg, approach rate: -0.631981 m/s, LOS rate: -0.034073 deg/s, cmd heading: 0.402806 deg, new cmd heading: 0.363475 deg. 2025-01-08T21:55:07.096Z,1736373307.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006344 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:07.313Z,1736373307.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:07.314Z,1736373307.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772833 2025-01-08T21:55:07.417Z,1736373307.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:07.440Z,1736373307.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:07.442Z,1736373307.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:07.445Z,1736373307.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 125.917686 m, bearing: 351.907121 deg, approach rate: -0.688159 m/s, LOS rate: -0.036763 deg/s, cmd heading: 0.363475 deg, new cmd heading: 0.324398 deg. 2025-01-08T21:55:07.446Z,1736373307.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005662 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:07.564Z,1736373307.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:07.564Z,1736373307.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023407 2025-01-08T21:55:07.816Z,1736373307.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:07.816Z,1736373307.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275433 2025-01-08T21:55:07.877Z,1736373307.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:07.890Z,1736373307.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:07.904Z,1736373307.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 125.606682 m, bearing: 351.888688 deg, approach rate: -0.695099 m/s, LOS rate: -0.041301 deg/s, cmd heading: 0.324398 deg, new cmd heading: 0.268960 deg. 2025-01-08T21:55:07.905Z,1736373307.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004694 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:08.068Z,1736373308.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:08.069Z,1736373308.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528045 2025-01-08T21:55:08.220Z,1736373308.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:08.250Z,1736373308.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:08.257Z,1736373308.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 125.374924 m, bearing: 351.875001 deg, approach rate: -0.645072 m/s, LOS rate: -0.038165 deg/s, cmd heading: 0.268960 deg, new cmd heading: 0.227825 deg. 2025-01-08T21:55:08.258Z,1736373308.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003976 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:08.320Z,1736373308.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:08.321Z,1736373308.321 [DAT](INFO): DAT read: Rx Time:21:55:06.9547 2025-01-08T21:55:08.321Z,1736373308.321 [DAT](INFO): Rx dataTimestamp_ set to:1736373308.320993 2025-01-08T21:55:08.322Z,1736373308.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780759 2025-01-08T21:55:08.572Z,1736373308.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:08.573Z,1736373308.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031573 2025-01-08T21:55:08.745Z,1736373308.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:08.774Z,1736373308.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:08.783Z,1736373308.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 125.019814 m, bearing: 351.851940 deg, approach rate: -0.676946 m/s, LOS rate: -0.044086 deg/s, cmd heading: 0.227825 deg, new cmd heading: 0.158446 deg. 2025-01-08T21:55:08.788Z,1736373308.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002765 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:08.826Z,1736373308.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:08.833Z,1736373308.833 [DAT](INFO): DAT read: 21:55:06.9547 LVL= 17504, 24465, 15922, 28083, AGC= 74, IDX= 249, 0.15, 1.540, 0.293, 1.674, 1.270, PHS= 0.358,-0.930, 0.401, RAW= 151.6, 2.6, CAL= 153.9, -6.3, ROT= 356.1, 6.3 2025-01-08T21:55:08.834Z,1736373308.834 [DAT](INFO): got valid direction response: 21:55:06.9547 LVL= 17504, 24465, 15922, 28083, AGC= 74, IDX= 249, 0.15, 1.540, 0.293, 1.674, 1.270, PHS= 0.358,-0.930, 0.401, RAW= 151.6, 2.6, CAL= 153.9, -6.3, ROT= 356.1, 6.3 2025-01-08T21:55:08.835Z,1736373308.835 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:55:08.836Z,1736373308.836 [DAT](INFO): Received a bad header 2025-01-08T21:55:08.848Z,1736373308.848 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:55:08.850Z,1736373308.850 [DAT](INFO): direction in FSK: [-0.171478,-0.838987,0.516426] 2025-01-08T21:55:08.858Z,1736373308.858 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:08.858Z,1736373308.858 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:08.859Z,1736373308.859 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:09.070Z,1736373309.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:09.079Z,1736373309.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:09.080Z,1736373309.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:09.080Z,1736373309.080 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:09.080Z,1736373309.080 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:09.081Z,1736373309.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:09.099Z,1736373309.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 124.799438 m, bearing: 351.838221 deg, approach rate: -0.722205 m/s, LOS rate: -0.045038 deg/s, cmd heading: 0.158446 deg, new cmd heading: 0.117217 deg. 2025-01-08T21:55:09.100Z,1736373309.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002046 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:09.332Z,1736373309.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:09.333Z,1736373309.333 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:09.333Z,1736373309.333 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:09.333Z,1736373309.333 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:09.473Z,1736373309.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:09.481Z,1736373309.481 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:09.483Z,1736373309.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:09.486Z,1736373309.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 124.526512 m, bearing: 351.821264 deg, approach rate: -0.675584 m/s, LOS rate: -0.042067 deg/s, cmd heading: 0.117217 deg, new cmd heading: 0.066234 deg. 2025-01-08T21:55:09.488Z,1736373309.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001156 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:09.586Z,1736373309.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:09.586Z,1736373309.586 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:09.586Z,1736373309.586 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:09.587Z,1736373309.587 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:09.836Z,1736373309.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:09.836Z,1736373309.836 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:09.836Z,1736373309.836 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:09.836Z,1736373309.836 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:09.936Z,1736373309.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:09.945Z,1736373309.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:09.948Z,1736373309.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 124.214462 m, bearing: 351.799430 deg, approach rate: -0.674901 m/s, LOS rate: -0.047341 deg/s, cmd heading: 0.066234 deg, new cmd heading: 0.000567 deg. 2025-01-08T21:55:09.949Z,1736373309.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000010 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:10.088Z,1736373310.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:10.088Z,1736373310.088 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:10.088Z,1736373310.088 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:10.089Z,1736373310.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:10.280Z,1736373310.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:10.289Z,1736373310.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:10.304Z,1736373310.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 123.981575 m, bearing: 351.783166 deg, approach rate: -0.676292 m/s, LOS rate: -0.047320 deg/s, cmd heading: 0.000567 deg, new cmd heading: 359.951682 deg. 2025-01-08T21:55:10.305Z,1736373310.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282342 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:10.340Z,1736373310.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:10.340Z,1736373310.340 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:10.340Z,1736373310.340 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:10.340Z,1736373310.340 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:10.592Z,1736373310.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:10.592Z,1736373310.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:10.592Z,1736373310.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:10.592Z,1736373310.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:10.757Z,1736373310.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:10.766Z,1736373310.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:10.770Z,1736373310.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 123.666557 m, bearing: 351.761084 deg, approach rate: -0.660539 m/s, LOS rate: -0.046419 deg/s, cmd heading: 359.951680 deg, new cmd heading: 359.885266 deg. 2025-01-08T21:55:10.771Z,1736373310.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281183 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:10.844Z,1736373310.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:10.844Z,1736373310.844 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:10.845Z,1736373310.845 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:10.845Z,1736373310.845 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:11.096Z,1736373311.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:11.096Z,1736373311.096 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:11.096Z,1736373311.096 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:11.096Z,1736373311.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:11.110Z,1736373311.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:11.120Z,1736373311.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:11.140Z,1736373311.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 123.424789 m, bearing: 351.742065 deg, approach rate: -0.684817 m/s, LOS rate: -0.053977 deg/s, cmd heading: 359.885263 deg, new cmd heading: 359.828095 deg. 2025-01-08T21:55:11.142Z,1736373311.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280185 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:11.348Z,1736373311.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:11.348Z,1736373311.348 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:11.348Z,1736373311.348 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:11.349Z,1736373311.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:11.496Z,1736373311.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:11.504Z,1736373311.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:11.506Z,1736373311.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:11.509Z,1736373311.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 123.168419 m, bearing: 351.721873 deg, approach rate: -0.663468 m/s, LOS rate: -0.052365 deg/s, cmd heading: 359.828108 deg, new cmd heading: 359.767405 deg. 2025-01-08T21:55:11.510Z,1736373311.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279126 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:11.600Z,1736373311.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:11.601Z,1736373311.601 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:11.601Z,1736373311.601 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:11.602Z,1736373311.602 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:11.852Z,1736373311.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:11.852Z,1736373311.852 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:11.852Z,1736373311.852 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:11.852Z,1736373311.852 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:11.950Z,1736373311.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:11.983Z,1736373311.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:11.986Z,1736373311.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 122.870346 m, bearing: 351.696122 deg, approach rate: -0.629949 m/s, LOS rate: -0.054556 deg/s, cmd heading: 359.767401 deg, new cmd heading: 359.689959 deg. 2025-01-08T21:55:11.987Z,1736373311.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277774 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:12.105Z,1736373312.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:12.106Z,1736373312.106 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:12.106Z,1736373312.106 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:12.106Z,1736373312.106 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:12.314Z,1736373312.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:12.324Z,1736373312.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:12.326Z,1736373312.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 122.631561 m, bearing: 351.675455 deg, approach rate: -0.693100 m/s, LOS rate: -0.060103 deg/s, cmd heading: 359.689947 deg, new cmd heading: 359.627827 deg. 2025-01-08T21:55:12.327Z,1736373312.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276690 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:12.356Z,1736373312.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:12.357Z,1736373312.357 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:12.357Z,1736373312.357 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:12.357Z,1736373312.357 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:12.608Z,1736373312.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:12.608Z,1736373312.608 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:12.608Z,1736373312.608 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:12.608Z,1736373312.608 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:12.784Z,1736373312.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:12.800Z,1736373312.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:12.809Z,1736373312.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 122.323738 m, bearing: 351.648933 deg, approach rate: -0.645609 m/s, LOS rate: -0.055766 deg/s, cmd heading: 359.627819 deg, new cmd heading: 359.548052 deg. 2025-01-08T21:55:12.810Z,1736373312.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275297 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:12.860Z,1736373312.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:12.861Z,1736373312.861 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:12.861Z,1736373312.861 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:12.861Z,1736373312.861 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:13.112Z,1736373313.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:13.112Z,1736373313.112 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:13.112Z,1736373313.112 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:13.112Z,1736373313.112 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:13.164Z,1736373313.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:13.173Z,1736373313.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:13.192Z,1736373313.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 122.076988 m, bearing: 351.628350 deg, approach rate: -0.661317 m/s, LOS rate: -0.055275 deg/s, cmd heading: 359.548043 deg, new cmd heading: 359.486170 deg. 2025-01-08T21:55:13.193Z,1736373313.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274217 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:13.364Z,1736373313.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:13.364Z,1736373313.364 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:13.364Z,1736373313.364 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:13.364Z,1736373313.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:13.530Z,1736373313.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:13.538Z,1736373313.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:13.540Z,1736373313.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:13.543Z,1736373313.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 121.839645 m, bearing: 351.608620 deg, approach rate: -0.647125 m/s, LOS rate: -0.053900 deg/s, cmd heading: 359.486161 deg, new cmd heading: 359.426855 deg. 2025-01-08T21:55:13.544Z,1736373313.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273182 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:13.616Z,1736373313.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:13.616Z,1736373313.616 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:13.617Z,1736373313.617 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:13.617Z,1736373313.617 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:13.868Z,1736373313.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:13.868Z,1736373313.868 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:13.868Z,1736373313.868 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:13.868Z,1736373313.868 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:14.008Z,1736373314.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:14.021Z,1736373314.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:14.026Z,1736373314.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 121.537643 m, bearing: 351.584203 deg, approach rate: -0.627560 m/s, LOS rate: -0.050865 deg/s, cmd heading: 359.426848 deg, new cmd heading: 359.353415 deg. 2025-01-08T21:55:14.027Z,1736373314.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271900 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:14.120Z,1736373314.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:14.120Z,1736373314.120 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:14.121Z,1736373314.121 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:14.121Z,1736373314.121 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:14.372Z,1736373314.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:14.372Z,1736373314.372 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:14.372Z,1736373314.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:14.372Z,1736373314.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:14.375Z,1736373314.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:14.384Z,1736373314.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:14.387Z,1736373314.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 121.306480 m, bearing: 351.565485 deg, approach rate: -0.638658 m/s, LOS rate: -0.051813 deg/s, cmd heading: 359.353410 deg, new cmd heading: 359.297148 deg. 2025-01-08T21:55:14.388Z,1736373314.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270918 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:14.624Z,1736373314.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:14.624Z,1736373314.624 [DAT](INFO): Reached modem response timeout 2025-01-08T21:55:14.624Z,1736373314.624 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:14.625Z,1736373314.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:14.859Z,1736373314.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:14.867Z,1736373314.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:14.871Z,1736373314.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 120.994652 m, bearing: 351.541590 deg, approach rate: -0.644528 m/s, LOS rate: -0.049516 deg/s, cmd heading: 359.297156 deg, new cmd heading: 359.225288 deg. 2025-01-08T21:55:14.872Z,1736373314.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269664 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:14.876Z,1736373314.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:14.876Z,1736373314.876 [DAT](INFO): Reached modem response timeout 2025-01-08T21:55:14.877Z,1736373314.877 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:14.877Z,1736373314.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:15.128Z,1736373315.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:15.128Z,1736373315.128 [DAT](INFO): Reached modem response timeout 2025-01-08T21:55:15.128Z,1736373315.128 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:15.128Z,1736373315.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:15.176Z,1736373315.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:15.205Z,1736373315.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:15.212Z,1736373315.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 120.790077 m, bearing: 351.526027 deg, approach rate: -0.605247 m/s, LOS rate: -0.046123 deg/s, cmd heading: 359.225275 deg, new cmd heading: 359.178507 deg. 2025-01-08T21:55:15.213Z,1736373315.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268847 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:15.380Z,1736373315.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:15.381Z,1736373315.381 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:55:15.381Z,1736373315.381 [DAT](INFO): response not received 2025-01-08T21:55:15.381Z,1736373315.381 [DAT](INFO): DAT read: user:2147> 2025-01-08T21:55:15.382Z,1736373315.382 [DAT](INFO): DAT read: Tx time:21:55:14.6885 2025-01-08T21:55:15.382Z,1736373315.382 [DAT](INFO): Ping request sent. 2025-01-08T21:55:15.382Z,1736373315.382 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:55:15.382Z,1736373315.382 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:15.383Z,1736373315.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-01-08T21:55:15.588Z,1736373315.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:15.596Z,1736373315.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:15.598Z,1736373315.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:15.600Z,1736373315.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 120.524132 m, bearing: 351.505889 deg, approach rate: -0.677563 m/s, LOS rate: -0.051420 deg/s, cmd heading: 359.178502 deg, new cmd heading: 359.117955 deg. 2025-01-08T21:55:15.602Z,1736373315.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267791 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:15.632Z,1736373315.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:15.633Z,1736373315.633 [DAT](INFO): DAT read: TxSync time:21:55:14.6877 2025-01-08T21:55:15.634Z,1736373315.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251098 2025-01-08T21:55:15.884Z,1736373315.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:15.884Z,1736373315.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502023 2025-01-08T21:55:16.013Z,1736373316.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:16.045Z,1736373316.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:16.054Z,1736373316.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 120.264107 m, bearing: 351.491097 deg, approach rate: -0.582156 m/s, LOS rate: -0.033189 deg/s, cmd heading: 359.117959 deg, new cmd heading: 359.073487 deg. 2025-01-08T21:55:16.059Z,1736373316.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267015 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:16.137Z,1736373316.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:16.138Z,1736373316.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755250 2025-01-08T21:55:16.388Z,1736373316.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:16.388Z,1736373316.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006115 2025-01-08T21:55:16.394Z,1736373316.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:16.425Z,1736373316.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:16.432Z,1736373316.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 120.030701 m, bearing: 351.477834 deg, approach rate: -0.613614 m/s, LOS rate: -0.034934 deg/s, cmd heading: 359.073481 deg, new cmd heading: 359.033617 deg. 2025-01-08T21:55:16.433Z,1736373316.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.266319 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:16.640Z,1736373316.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:16.641Z,1736373316.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258266 2025-01-08T21:55:16.870Z,1736373316.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:16.892Z,1736373316.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:16.893Z,1736373316.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510239 2025-01-08T21:55:16.900Z,1736373316.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:16.904Z,1736373316.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 119.741493 m, bearing: 351.465459 deg, approach rate: -0.609458 m/s, LOS rate: -0.026142 deg/s, cmd heading: 359.033620 deg, new cmd heading: 358.996405 deg. 2025-01-08T21:55:16.905Z,1736373316.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265669 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:17.144Z,1736373317.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:17.145Z,1736373317.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762835 2025-01-08T21:55:17.200Z,1736373317.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:17.225Z,1736373317.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:17.233Z,1736373317.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 119.541321 m, bearing: 351.456836 deg, approach rate: -0.614154 m/s, LOS rate: -0.026501 deg/s, cmd heading: 358.996409 deg, new cmd heading: 358.970496 deg. 2025-01-08T21:55:17.234Z,1736373317.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265217 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:17.396Z,1736373317.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:17.397Z,1736373317.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014263 2025-01-08T21:55:17.456Z,1736373317.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:55:17.602Z,1736373317.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:17.609Z,1736373317.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:17.612Z,1736373317.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:17.614Z,1736373317.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 119.297577 m, bearing: 351.446555 deg, approach rate: -0.631155 m/s, LOS rate: -0.026675 deg/s, cmd heading: 358.970509 deg, new cmd heading: 358.939605 deg. 2025-01-08T21:55:17.615Z,1736373317.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264678 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:17.648Z,1736373317.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:17.649Z,1736373317.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266769 2025-01-08T21:55:17.900Z,1736373317.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:17.901Z,1736373317.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518209 2025-01-08T21:55:18.044Z,1736373318.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:18.053Z,1736373318.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:18.076Z,1736373318.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 119.025963 m, bearing: 351.441177 deg, approach rate: -0.614769 m/s, LOS rate: -0.012201 deg/s, cmd heading: 358.939609 deg, new cmd heading: 358.923438 deg. 2025-01-08T21:55:18.077Z,1736373318.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264396 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:18.153Z,1736373318.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:18.154Z,1736373318.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771326 2025-01-08T21:55:18.404Z,1736373318.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:18.405Z,1736373318.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022256 2025-01-08T21:55:18.424Z,1736373318.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:18.433Z,1736373318.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:18.436Z,1736373318.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 118.793053 m, bearing: 351.437026 deg, approach rate: -0.613346 m/s, LOS rate: -0.010952 deg/s, cmd heading: 358.923436 deg, new cmd heading: 358.910959 deg. 2025-01-08T21:55:18.437Z,1736373318.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264178 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:18.460Z,1736373318.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:55:18.656Z,1736373318.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:18.658Z,1736373318.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274862 2025-01-08T21:55:18.877Z,1736373318.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:18.886Z,1736373318.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:18.889Z,1736373318.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 118.515259 m, bearing: 351.432359 deg, approach rate: -0.614073 m/s, LOS rate: -0.010343 deg/s, cmd heading: 358.910950 deg, new cmd heading: 358.896914 deg. 2025-01-08T21:55:18.890Z,1736373318.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263933 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:18.910Z,1736373318.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:18.913Z,1736373318.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530512 2025-01-08T21:55:19.160Z,1736373319.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:19.160Z,1736373319.160 [DAT](INFO): DAT read: Rx Time:21:55:17.9044 2025-01-08T21:55:19.161Z,1736373319.161 [DAT](INFO): Rx dataTimestamp_ set to:1736373319.160675 2025-01-08T21:55:19.161Z,1736373319.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779184 2025-01-08T21:55:19.294Z,1736373319.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:19.308Z,1736373319.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:19.311Z,1736373319.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 118.256325 m, bearing: 351.431606 deg, approach rate: -0.612279 m/s, LOS rate: -0.001783 deg/s, cmd heading: 358.896907 deg, new cmd heading: 358.894645 deg. 2025-01-08T21:55:19.312Z,1736373319.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263893 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:19.412Z,1736373319.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:19.413Z,1736373319.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030281 2025-01-08T21:55:19.650Z,1736373319.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:19.662Z,1736373319.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:19.665Z,1736373319.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:19.680Z,1736373319.680 [DAT](INFO): DAT read: 21:55:17.9044 LVL= 19552, 28449, 16610, 23923, AGC= 74, IDX= 453,-0.21, 2.077, 0.559, 2.039, 1.325, PHS= 0.840,-0.719, 0.711, RAW= 145.8, -11.1, CAL= 152.9, -19.8, ROT= 357.1, 19.8 2025-01-08T21:55:19.681Z,1736373319.681 [DAT](INFO): got valid direction response: 21:55:17.9044 LVL= 19552, 28449, 16610, 23923, AGC= 74, IDX= 453,-0.21, 2.077, 0.559, 2.039, 1.325, PHS= 0.840,-0.719, 0.711, RAW= 145.8, -11.1, CAL= 152.9, -19.8, ROT= 357.1, 19.8 2025-01-08T21:55:19.682Z,1736373319.682 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:55:19.682Z,1736373319.682 [DAT](INFO): Received a bad header 2025-01-08T21:55:19.689Z,1736373319.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:19.698Z,1736373319.698 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:55:19.702Z,1736373319.702 [DAT](INFO): direction in FSK: [0.095359,-0.782393,0.615441] 2025-01-08T21:55:19.705Z,1736373319.705 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:19.705Z,1736373319.705 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:19.705Z,1736373319.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:19.706Z,1736373319.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 118.035812 m, bearing: 351.431131 deg, approach rate: -0.579504 m/s, LOS rate: -0.001251 deg/s, cmd heading: 358.894640 deg, new cmd heading: 358.893212 deg. 2025-01-08T21:55:19.712Z,1736373319.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263868 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:19.916Z,1736373319.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:19.917Z,1736373319.917 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:19.917Z,1736373319.917 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:19.917Z,1736373319.917 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:20.067Z,1736373320.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:20.091Z,1736373320.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:20.101Z,1736373320.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 117.782120 m, bearing: 351.432386 deg, approach rate: -0.637540 m/s, LOS rate: 0.003159 deg/s, cmd heading: 358.893219 deg, new cmd heading: 358.896990 deg. 2025-01-08T21:55:20.102Z,1736373320.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263934 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:20.170Z,1736373320.170 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:20.171Z,1736373320.171 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:20.171Z,1736373320.171 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:20.171Z,1736373320.171 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:20.420Z,1736373320.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:20.420Z,1736373320.420 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:20.420Z,1736373320.420 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:20.420Z,1736373320.420 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:20.429Z,1736373320.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:20.438Z,1736373320.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:20.441Z,1736373320.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 117.561104 m, bearing: 351.433771 deg, approach rate: -0.628390 m/s, LOS rate: 0.003946 deg/s, cmd heading: 358.896989 deg, new cmd heading: 358.901153 deg. 2025-01-08T21:55:20.442Z,1736373320.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264007 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:20.672Z,1736373320.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:20.673Z,1736373320.673 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:20.673Z,1736373320.673 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:20.673Z,1736373320.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:20.854Z,1736373320.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:20.911Z,1736373320.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:20.914Z,1736373320.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 117.302589 m, bearing: 351.435608 deg, approach rate: -0.551656 m/s, LOS rate: 0.003930 deg/s, cmd heading: 358.901142 deg, new cmd heading: 358.906666 deg. 2025-01-08T21:55:20.915Z,1736373320.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264103 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:20.924Z,1736373320.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:20.924Z,1736373320.924 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:20.924Z,1736373320.924 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:20.924Z,1736373320.924 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:21.176Z,1736373321.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:21.176Z,1736373321.176 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:21.176Z,1736373321.176 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:21.176Z,1736373321.176 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:21.284Z,1736373321.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:21.313Z,1736373321.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:21.320Z,1736373321.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 117.032791 m, bearing: 351.440159 deg, approach rate: -0.664916 m/s, LOS rate: 0.011240 deg/s, cmd heading: 358.906661 deg, new cmd heading: 358.920343 deg. 2025-01-08T21:55:21.321Z,1736373321.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264342 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:21.428Z,1736373321.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:21.428Z,1736373321.428 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:21.428Z,1736373321.428 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:21.428Z,1736373321.428 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:21.641Z,1736373321.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:21.656Z,1736373321.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:21.660Z,1736373321.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 116.808640 m, bearing: 351.444326 deg, approach rate: -0.654975 m/s, LOS rate: 0.012201 deg/s, cmd heading: 358.920348 deg, new cmd heading: 358.932875 deg. 2025-01-08T21:55:21.662Z,1736373321.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264561 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:21.680Z,1736373321.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:21.680Z,1736373321.680 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:21.680Z,1736373321.680 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:21.681Z,1736373321.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:21.932Z,1736373321.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:21.933Z,1736373321.933 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:21.933Z,1736373321.933 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:21.933Z,1736373321.933 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:22.101Z,1736373322.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:22.116Z,1736373322.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:22.118Z,1736373322.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:22.132Z,1736373322.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 116.512024 m, bearing: 351.448731 deg, approach rate: -0.639960 m/s, LOS rate: 0.009527 deg/s, cmd heading: 358.932889 deg, new cmd heading: 358.946135 deg. 2025-01-08T21:55:22.133Z,1736373322.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264792 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:22.185Z,1736373322.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:22.187Z,1736373322.187 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:22.187Z,1736373322.187 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:22.187Z,1736373322.187 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:22.436Z,1736373322.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:22.437Z,1736373322.437 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:22.437Z,1736373322.437 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:22.437Z,1736373322.437 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:22.461Z,1736373322.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:22.503Z,1736373322.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:22.506Z,1736373322.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 116.281624 m, bearing: 351.452265 deg, approach rate: -0.605150 m/s, LOS rate: 0.009301 deg/s, cmd heading: 358.946139 deg, new cmd heading: 358.956763 deg. 2025-01-08T21:55:22.512Z,1736373322.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264977 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:22.688Z,1736373322.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:22.688Z,1736373322.688 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:22.688Z,1736373322.688 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:22.689Z,1736373322.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:22.867Z,1736373322.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:22.936Z,1736373322.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:22.940Z,1736373322.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:22.940Z,1736373322.940 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:22.940Z,1736373322.940 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:22.941Z,1736373322.941 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:22.944Z,1736373322.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 116.019348 m, bearing: 351.456467 deg, approach rate: -0.599768 m/s, LOS rate: 0.009630 deg/s, cmd heading: 358.956767 deg, new cmd heading: 358.969400 deg. 2025-01-08T21:55:22.945Z,1736373322.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265198 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:23.192Z,1736373323.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:23.193Z,1736373323.193 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:23.193Z,1736373323.193 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:23.193Z,1736373323.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:23.323Z,1736373323.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:23.331Z,1736373323.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:23.334Z,1736373323.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 115.719040 m, bearing: 351.456207 deg, approach rate: -0.760788 m/s, LOS rate: -0.000659 deg/s, cmd heading: 358.969389 deg, new cmd heading: 358.968609 deg. 2025-01-08T21:55:23.336Z,1736373323.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265184 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:23.444Z,1736373323.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:23.444Z,1736373323.444 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:23.444Z,1736373323.444 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:23.444Z,1736373323.444 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:23.674Z,1736373323.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:23.696Z,1736373323.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:23.696Z,1736373323.696 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:23.696Z,1736373323.696 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:23.697Z,1736373323.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:23.706Z,1736373323.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:23.708Z,1736373323.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 115.488174 m, bearing: 351.456339 deg, approach rate: -0.616618 m/s, LOS rate: 0.000353 deg/s, cmd heading: 358.968597 deg, new cmd heading: 358.968993 deg. 2025-01-08T21:55:23.709Z,1736373323.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265191 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:23.951Z,1736373323.951 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:23.960Z,1736373323.960 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:23.961Z,1736373323.961 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:23.961Z,1736373323.961 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:24.088Z,1736373324.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:24.097Z,1736373324.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:24.100Z,1736373324.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 115.212479 m, bearing: 351.454009 deg, approach rate: -0.704940 m/s, LOS rate: -0.005973 deg/s, cmd heading: 358.969007 deg, new cmd heading: 358.961999 deg. 2025-01-08T21:55:24.100Z,1736373324.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265069 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:24.200Z,1736373324.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:24.200Z,1736373324.200 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:24.200Z,1736373324.200 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:24.201Z,1736373324.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:24.452Z,1736373324.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:24.453Z,1736373324.453 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:24.453Z,1736373324.453 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:24.453Z,1736373324.453 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:24.506Z,1736373324.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:24.513Z,1736373324.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:24.515Z,1736373324.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:24.518Z,1736373324.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 114.934624 m, bearing: 351.451649 deg, approach rate: -0.664701 m/s, LOS rate: -0.005659 deg/s, cmd heading: 358.962013 deg, new cmd heading: 358.954916 deg. 2025-01-08T21:55:24.520Z,1736373324.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264945 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:24.704Z,1736373324.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:24.704Z,1736373324.704 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:24.704Z,1736373324.704 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:24.704Z,1736373324.704 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:24.873Z,1736373324.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:24.887Z,1736373324.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:24.889Z,1736373324.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 114.690575 m, bearing: 351.449588 deg, approach rate: -0.656289 m/s, LOS rate: -0.005553 deg/s, cmd heading: 358.954909 deg, new cmd heading: 358.948714 deg. 2025-01-08T21:55:24.890Z,1736373324.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264837 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:24.958Z,1736373324.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:24.960Z,1736373324.960 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:24.960Z,1736373324.960 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:24.960Z,1736373324.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:25.208Z,1736373325.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:25.208Z,1736373325.208 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:25.208Z,1736373325.208 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:25.208Z,1736373325.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:25.322Z,1736373325.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:25.331Z,1736373325.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:25.334Z,1736373325.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 114.390724 m, bearing: 351.437021 deg, approach rate: -0.674818 m/s, LOS rate: -0.028357 deg/s, cmd heading: 358.948707 deg, new cmd heading: 358.910906 deg. 2025-01-08T21:55:25.336Z,1736373325.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264177 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:25.460Z,1736373325.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:25.460Z,1736373325.460 [DAT](INFO): Reached modem response timeout 2025-01-08T21:55:25.460Z,1736373325.460 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:25.460Z,1736373325.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:25.694Z,1736373325.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:25.703Z,1736373325.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:25.706Z,1736373325.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 114.142853 m, bearing: 351.426387 deg, approach rate: -0.666459 m/s, LOS rate: -0.028654 deg/s, cmd heading: 358.910895 deg, new cmd heading: 358.878924 deg. 2025-01-08T21:55:25.707Z,1736373325.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263619 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:25.712Z,1736373325.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:25.712Z,1736373325.712 [DAT](INFO): Reached modem response timeout 2025-01-08T21:55:25.713Z,1736373325.713 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:25.713Z,1736373325.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:25.965Z,1736373325.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:25.966Z,1736373325.966 [DAT](INFO): Reached modem response timeout 2025-01-08T21:55:25.967Z,1736373325.967 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:25.968Z,1736373325.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:26.110Z,1736373326.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:26.118Z,1736373326.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:26.121Z,1736373326.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 113.866104 m, bearing: 351.407101 deg, approach rate: -0.666083 m/s, LOS rate: -0.046530 deg/s, cmd heading: 358.878930 deg, new cmd heading: 358.820932 deg. 2025-01-08T21:55:26.122Z,1736373326.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262607 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:26.217Z,1736373326.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:26.217Z,1736373326.217 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:55:26.218Z,1736373326.218 [DAT](INFO): response not received 2025-01-08T21:55:26.219Z,1736373326.219 [DAT](INFO): DAT read: user:2149> 2025-01-08T21:55:26.220Z,1736373326.220 [DAT](ERROR): No response from remote modem. 2025-01-08T21:55:26.221Z,1736373326.221 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:26.221Z,1736373326.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:26.468Z,1736373326.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:26.470Z,1736373326.470 [DAT](INFO): DAT read: Tx time:21:55:25.6386 2025-01-08T21:55:26.470Z,1736373326.470 [DAT](INFO): Ping request sent. 2025-01-08T21:55:26.470Z,1736373326.470 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:55:26.471Z,1736373326.471 [DAT](INFO): DAT read: TxSync time:21:55:25.6378 2025-01-08T21:55:26.471Z,1736373326.471 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:26.472Z,1736373326.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001872 2025-01-08T21:55:26.526Z,1736373326.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:26.546Z,1736373326.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:26.553Z,1736373326.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:26.560Z,1736373326.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 113.589783 m, bearing: 351.387706 deg, approach rate: -0.635287 m/s, LOS rate: -0.044698 deg/s, cmd heading: 358.820928 deg, new cmd heading: 358.762603 deg. 2025-01-08T21:55:26.561Z,1736373326.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261589 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:26.720Z,1736373326.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:26.720Z,1736373326.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250412 2025-01-08T21:55:26.901Z,1736373326.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:26.946Z,1736373326.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:26.974Z,1736373326.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:26.977Z,1736373326.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505922 2025-01-08T21:55:26.984Z,1736373326.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 113.340782 m, bearing: 351.370102 deg, approach rate: -0.645046 m/s, LOS rate: -0.045706 deg/s, cmd heading: 358.762598 deg, new cmd heading: 358.709668 deg. 2025-01-08T21:55:26.992Z,1736373326.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.260665 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:27.224Z,1736373327.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:27.224Z,1736373327.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754355 2025-01-08T21:55:27.329Z,1736373327.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:27.337Z,1736373327.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:27.340Z,1736373327.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 113.061859 m, bearing: 351.344682 deg, approach rate: -0.700576 m/s, LOS rate: -0.064004 deg/s, cmd heading: 358.709678 deg, new cmd heading: 358.633232 deg. 2025-01-08T21:55:27.341Z,1736373327.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.259331 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:27.476Z,1736373327.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:27.476Z,1736373327.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006354 2025-01-08T21:55:27.701Z,1736373327.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:27.711Z,1736373327.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:27.713Z,1736373327.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 112.819084 m, bearing: 351.322180 deg, approach rate: -0.650528 m/s, LOS rate: -0.060425 deg/s, cmd heading: 358.633235 deg, new cmd heading: 358.565584 deg. 2025-01-08T21:55:27.714Z,1736373327.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258150 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:27.728Z,1736373327.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:27.728Z,1736373327.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258388 2025-01-08T21:55:27.981Z,1736373327.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:27.984Z,1736373327.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512893 2025-01-08T21:55:28.142Z,1736373328.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:28.150Z,1736373328.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:28.154Z,1736373328.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 112.535606 m, bearing: 351.289756 deg, approach rate: -0.645036 m/s, LOS rate: -0.073966 deg/s, cmd heading: 358.565588 deg, new cmd heading: 358.468070 deg. 2025-01-08T21:55:28.154Z,1736373328.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.256448 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:28.237Z,1736373328.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:28.237Z,1736373328.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767367 2025-01-08T21:55:28.488Z,1736373328.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:28.488Z,1736373328.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018391 2025-01-08T21:55:28.526Z,1736373328.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:28.534Z,1736373328.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:28.540Z,1736373328.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 112.288895 m, bearing: 351.260543 deg, approach rate: -0.642269 m/s, LOS rate: -0.076218 deg/s, cmd heading: 358.468081 deg, new cmd heading: 358.380249 deg. 2025-01-08T21:55:28.541Z,1736373328.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.254915 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:28.742Z,1736373328.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:28.744Z,1736373328.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273756 2025-01-08T21:55:28.915Z,1736373328.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:28.923Z,1736373328.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:28.925Z,1736373328.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:28.928Z,1736373328.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 112.038933 m, bearing: 351.230619 deg, approach rate: -0.639460 m/s, LOS rate: -0.076724 deg/s, cmd heading: 358.380244 deg, new cmd heading: 358.290271 deg. 2025-01-08T21:55:28.929Z,1736373328.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253345 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:28.994Z,1736373328.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:28.996Z,1736373328.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525881 2025-01-08T21:55:29.244Z,1736373329.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:29.245Z,1736373329.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774518 2025-01-08T21:55:29.363Z,1736373329.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:29.372Z,1736373329.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:29.375Z,1736373329.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 111.757187 m, bearing: 351.193936 deg, approach rate: -0.630181 m/s, LOS rate: -0.082254 deg/s, cmd heading: 358.290277 deg, new cmd heading: 358.179953 deg. 2025-01-08T21:55:29.376Z,1736373329.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.251420 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:29.496Z,1736373329.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:29.496Z,1736373329.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026292 2025-01-08T21:55:29.730Z,1736373329.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:29.740Z,1736373329.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:29.743Z,1736373329.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 111.525703 m, bearing: 351.163680 deg, approach rate: -0.629325 m/s, LOS rate: -0.082427 deg/s, cmd heading: 358.179956 deg, new cmd heading: 358.088999 deg. 2025-01-08T21:55:29.744Z,1736373329.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.249832 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:29.748Z,1736373329.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:29.749Z,1736373329.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278464 2025-01-08T21:55:30.001Z,1736373330.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:30.004Z,1736373330.004 [DAT](INFO): DAT read: Rx Time:21:55:28.8361 2025-01-08T21:55:30.006Z,1736373330.006 [DAT](INFO): Rx dataTimestamp_ set to:1736373330.004583 2025-01-08T21:55:30.008Z,1736373330.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537409 2025-01-08T21:55:30.145Z,1736373330.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:30.170Z,1736373330.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:30.177Z,1736373330.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 111.264969 m, bearing: 351.130588 deg, approach rate: -0.606615 m/s, LOS rate: -0.077171 deg/s, cmd heading: 358.089005 deg, new cmd heading: 357.989496 deg. 2025-01-08T21:55:30.178Z,1736373330.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.248096 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:30.252Z,1736373330.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:30.253Z,1736373330.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783225 2025-01-08T21:55:30.505Z,1736373330.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:30.509Z,1736373330.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036862 2025-01-08T21:55:30.572Z,1736373330.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:30.581Z,1736373330.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.10 m. 2025-01-08T21:55:30.596Z,1736373330.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 632.099976 m, nav range: 110.996574 m, bearing: 351.096399 deg, approach rate: -0.653173 m/s, LOS rate: -0.083406 deg/s, cmd heading: 357.989503 deg, new cmd heading: 357.886686 deg. 2025-01-08T21:55:30.597Z,1736373330.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.246301 target range: 632.099976 and range: 632.10 m. 2025-01-08T21:55:30.756Z,1736373330.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:30.763Z,1736373330.763 [DAT](INFO): DAT read: 21:55:28.8361 LVL= 23312, 25745, 20770, 32755, AGC= 73, IDX= 343,-0.32, 1.848, 0.290, 1.763, 1.094, PHS= 0.841,-0.758, 0.665, RAW= 144.2, -9.9, CAL= 151.1, -18.9, ROT= 358.9, 18.9 2025-01-08T21:55:30.764Z,1736373330.764 [DAT](INFO): got valid direction response: 21:55:28.8361 LVL= 23312, 25745, 20770, 32755, AGC= 73, IDX= 343,-0.32, 1.848, 0.290, 1.763, 1.094, PHS= 0.841,-0.758, 0.665, RAW= 144.2, -9.9, CAL= 151.1, -18.9, ROT= 358.9, 18.9 2025-01-08T21:55:30.765Z,1736373330.765 [DAT](INFO): DAT read: Bearing 358.9, 18.9 (Local) 2025-01-08T21:55:30.765Z,1736373330.765 [DAT](INFO): Local bearing/azimuth received: Bearing 358.9, 18.9 (Local) 2025-01-08T21:55:30.784Z,1736373330.784 [DAT](INFO): DAT read: Range 10 to 50 : 594.9 m (Round-trip 793.3 ms) speed 0.6 m/s 2025-01-08T21:55:30.785Z,1736373330.785 [DAT](INFO): DAT read: user:2150> 2025-01-08T21:55:30.786Z,1736373330.786 [DAT](INFO): DAT read: Tx time:21:55:29.9386 2025-01-08T21:55:30.787Z,1736373330.787 [DAT](INFO): Ping request sent. 2025-01-08T21:55:30.787Z,1736373330.787 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:55:30.787Z,1736373330.787 [DAT](INFO): DAT read: TxSync time:21:55:29.9378 2025-01-08T21:55:30.788Z,1736373330.788 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:55:30.789Z,1736373330.789 [DAT](INFO): direction in FSK: [0.070689,-0.767317,0.637360] 2025-01-08T21:55:30.789Z,1736373330.789 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:30.789Z,1736373330.789 [DAT](INFO): publishing direction and range info 2025-01-08T21:55:30.841Z,1736373330.841 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:30.841Z,1736373330.841 [DAT](INFO): publishing direction and range info 2025-01-08T21:55:30.940Z,1736373330.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:30.977Z,1736373330.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 594.900024 m, deltaT: 37.326687 s, deltaX: -37.199951 m, approachRate: -0.996605 m/s, rangeRepo size: 3 2025-01-08T21:55:30.984Z,1736373330.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 594.900024 m, bearing: 273.237126 deg, lat: 36.899252 deg, lon: -122.122269 deg, deltaT: 37.326687 s, deltaX: -37.199951 m, approachRate: -0.996605 m/s, posRepo size: 3 2025-01-08T21:55:30.987Z,1736373330.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 594.90 m. 2025-01-08T21:55:31.009Z,1736373331.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:31.021Z,1736373331.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 594.900024 m, nav range: 259.792847 m, bearing: 276.278429 deg, approach rate: 0.000000 m/s, LOS rate: -0.083406 deg/s, cmd heading: 357.886695 deg, new cmd heading: 357.787690 deg. 2025-01-08T21:55:31.030Z,1736373331.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244573 target range: 594.900024 and range: 594.90 m. 2025-01-08T21:55:31.260Z,1736373331.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:31.384Z,1736373331.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:31.392Z,1736373331.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:31.394Z,1736373331.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 594.90 m. 2025-01-08T21:55:31.397Z,1736373331.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 594.900024 m, nav range: 259.777557 m, bearing: 276.216471 deg, approach rate: -0.036636 m/s, LOS rate: -0.148472 deg/s, cmd heading: 357.787684 deg, new cmd heading: 357.601798 deg. 2025-01-08T21:55:31.398Z,1736373331.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241329 target range: 594.900024 and range: 594.90 m. 2025-01-08T21:55:31.512Z,1736373331.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:31.512Z,1736373331.512 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:31.512Z,1736373331.512 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:31.513Z,1736373331.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:31.753Z,1736373331.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:31.761Z,1736373331.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 594.90 m. 2025-01-08T21:55:31.764Z,1736373331.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:31.765Z,1736373331.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978089 2025-01-08T21:55:31.766Z,1736373331.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 594.900024 m, nav range: 259.764160 m, bearing: 276.165077 deg, approach rate: -0.036480 m/s, LOS rate: -0.139950 deg/s, cmd heading: 357.601794 deg, new cmd heading: 357.447607 deg. 2025-01-08T21:55:31.767Z,1736373331.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238637 target range: 594.900024 and range: 594.90 m. 2025-01-08T21:55:32.017Z,1736373332.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:32.020Z,1736373332.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232850 2025-01-08T21:55:32.182Z,1736373332.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:32.190Z,1736373332.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 594.90 m. 2025-01-08T21:55:32.193Z,1736373332.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 594.900024 m, nav range: 259.738770 m, bearing: 276.107405 deg, approach rate: -0.059176 m/s, LOS rate: -0.134425 deg/s, cmd heading: 357.447596 deg, new cmd heading: 357.274564 deg. 2025-01-08T21:55:32.194Z,1736373332.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.235618 target range: 594.900024 and range: 594.90 m. 2025-01-08T21:55:32.268Z,1736373332.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:32.269Z,1736373332.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481809 2025-01-08T21:55:32.520Z,1736373332.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:32.520Z,1736373332.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733734 2025-01-08T21:55:32.588Z,1736373332.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:32.605Z,1736373332.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 594.90 m. 2025-01-08T21:55:32.612Z,1736373332.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 594.900024 m, nav range: 259.715302 m, bearing: 276.052777 deg, approach rate: -0.056585 m/s, LOS rate: -0.131731 deg/s, cmd heading: 357.274573 deg, new cmd heading: 357.110673 deg. 2025-01-08T21:55:32.613Z,1736373332.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232757 target range: 594.900024 and range: 594.90 m. 2025-01-08T21:55:32.772Z,1736373332.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:32.773Z,1736373332.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985792 2025-01-08T21:55:32.968Z,1736373332.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:32.977Z,1736373332.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 594.90 m. 2025-01-08T21:55:32.980Z,1736373332.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 594.900024 m, nav range: 259.693756 m, bearing: 276.001787 deg, approach rate: -0.057830 m/s, LOS rate: -0.136873 deg/s, cmd heading: 357.110676 deg, new cmd heading: 356.957693 deg. 2025-01-08T21:55:32.981Z,1736373332.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.230087 target range: 594.900024 and range: 594.90 m. 2025-01-08T21:55:33.026Z,1736373333.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:33.028Z,1736373333.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241099 2025-01-08T21:55:33.276Z,1736373333.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:33.276Z,1736373333.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489722 2025-01-08T21:55:33.416Z,1736373333.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:33.425Z,1736373333.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:33.427Z,1736373333.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 594.90 m. 2025-01-08T21:55:33.430Z,1736373333.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 594.900024 m, nav range: 259.648987 m, bearing: 275.941870 deg, approach rate: -0.099602 m/s, LOS rate: -0.133324 deg/s, cmd heading: 356.957680 deg, new cmd heading: 356.777900 deg. 2025-01-08T21:55:33.431Z,1736373333.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.226949 target range: 594.900024 and range: 594.90 m. 2025-01-08T21:55:33.528Z,1736373333.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:33.529Z,1736373333.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742326 2025-01-08T21:55:33.772Z,1736373333.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:33.780Z,1736373333.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:33.780Z,1736373333.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993734 2025-01-08T21:55:33.782Z,1736373333.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 594.90 m. 2025-01-08T21:55:33.785Z,1736373333.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 594.900024 m, nav range: 259.613098 m, bearing: 275.894448 deg, approach rate: -0.101125 m/s, LOS rate: -0.133643 deg/s, cmd heading: 356.777909 deg, new cmd heading: 356.635622 deg. 2025-01-08T21:55:33.787Z,1736373333.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.224466 target range: 594.900024 and range: 594.90 m. 2025-01-08T21:55:34.032Z,1736373334.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:34.033Z,1736373334.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246031 2025-01-08T21:55:34.216Z,1736373334.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:34.233Z,1736373334.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 594.90 m. 2025-01-08T21:55:34.240Z,1736373334.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 594.900024 m, nav range: 259.551178 m, bearing: 275.834964 deg, approach rate: -0.137107 m/s, LOS rate: -0.131744 deg/s, cmd heading: 356.635623 deg, new cmd heading: 356.457129 deg. 2025-01-08T21:55:34.241Z,1736373334.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.221351 target range: 594.900024 and range: 594.90 m. 2025-01-08T21:55:34.284Z,1736373334.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:34.285Z,1736373334.285 [DAT](INFO): DAT read: Rx Time:21:55:33.1326 2025-01-08T21:55:34.285Z,1736373334.285 [DAT](INFO): Rx dataTimestamp_ set to:1736373334.284821 2025-01-08T21:55:34.286Z,1736373334.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498926 2025-01-08T21:55:34.536Z,1736373334.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:34.537Z,1736373334.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750115 2025-01-08T21:55:34.623Z,1736373334.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:34.634Z,1736373334.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 594.90 m. 2025-01-08T21:55:34.660Z,1736373334.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 594.900024 m, nav range: 259.493683 m, bearing: 275.780611 deg, approach rate: -0.143453 m/s, LOS rate: -0.135643 deg/s, cmd heading: 356.457136 deg, new cmd heading: 356.294042 deg. 2025-01-08T21:55:34.661Z,1736373334.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.218504 target range: 594.900024 and range: 594.90 m. 2025-01-08T21:55:34.789Z,1736373334.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:34.792Z,1736373334.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.004141 2025-01-08T21:55:34.979Z,1736373334.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:34.989Z,1736373334.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 594.90 m. 2025-01-08T21:55:34.993Z,1736373334.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 594.900024 m, nav range: 259.442657 m, bearing: 275.733101 deg, approach rate: -0.143627 m/s, LOS rate: -0.133758 deg/s, cmd heading: 356.294031 deg, new cmd heading: 356.151474 deg. 2025-01-08T21:55:34.994Z,1736373334.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216016 target range: 594.900024 and range: 594.90 m. 2025-01-08T21:55:35.040Z,1736373335.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:35.104Z,1736373335.104 [DAT](INFO): DAT read: 21:55:33.1326 LVL= 21184, 24497, 20690, 28259, AGC= 74, IDX= 495, 0.18,-1.169,-2.659,-1.210,-1.862, PHS= 0.781,-0.750, 0.649, RAW= 145.5, -9.3, CAL= 152.1, -18.1, ROT= 357.9, 18.1 2025-01-08T21:55:35.112Z,1736373335.112 [DAT](INFO): got valid direction response: 21:55:33.1326 LVL= 21184, 24497, 20690, 28259, AGC= 74, IDX= 495, 0.18,-1.169,-2.659,-1.210,-1.862, PHS= 0.781,-0.750, 0.649, RAW= 145.5, -9.3, CAL= 152.1, -18.1, ROT= 357.9, 18.1 2025-01-08T21:55:35.114Z,1736373335.114 [DAT](INFO): DAT read: Bearing 357.9, 18.1 (Local) 2025-01-08T21:55:35.115Z,1736373335.115 [DAT](INFO): Local bearing/azimuth received: Bearing 357.9, 18.1 (Local) 2025-01-08T21:55:35.117Z,1736373335.117 [DAT](INFO): DAT read: Range 10 to 50 : 592.3 m (Round-trip 789.8 ms) speed 0.9 m/s 2025-01-08T21:55:35.117Z,1736373335.117 [DAT](INFO): DAT read: user:2151> 2025-01-08T21:55:35.118Z,1736373335.118 [DAT](INFO): DAT read: Tx time:21:55:34.2386 2025-01-08T21:55:35.124Z,1736373335.124 [DAT](INFO): Ping request sent. 2025-01-08T21:55:35.124Z,1736373335.124 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:55:35.125Z,1736373335.125 [DAT](INFO): DAT read: TxSync time:21:55:34.2378 2025-01-08T21:55:35.126Z,1736373335.126 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:55:35.127Z,1736373335.127 [DAT](INFO): direction in FSK: [0.059511,-0.782902,0.619292] 2025-01-08T21:55:35.140Z,1736373335.140 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:35.141Z,1736373335.141 [DAT](INFO): publishing direction and range info 2025-01-08T21:55:35.169Z,1736373335.169 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:35.170Z,1736373335.170 [DAT](INFO): publishing direction and range info 2025-01-08T21:55:35.294Z,1736373335.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:35.447Z,1736373335.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:35.462Z,1736373335.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 592.299988 m, deltaT: 4.284190 s, deltaX: -2.600037 m, approachRate: -0.606891 m/s, rangeRepo size: 4 2025-01-08T21:55:35.465Z,1736373335.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 592.299988 m, bearing: 271.080779 deg, lat: 36.899106 deg, lon: -122.125013 deg, deltaT: 4.284190 s, deltaX: -2.600037 m, approachRate: -0.606891 m/s, posRepo size: 4 2025-01-08T21:55:35.465Z,1736373335.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.30 m. 2025-01-08T21:55:35.469Z,1736373335.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.299988 m, nav range: 502.205017 m, bearing: 271.082628 deg, approach rate: 0.000000 m/s, LOS rate: -0.133758 deg/s, cmd heading: 356.151472 deg, new cmd heading: 355.961931 deg. 2025-01-08T21:55:35.470Z,1736373335.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212708 target range: 592.299988 and range: 592.30 m. 2025-01-08T21:55:35.550Z,1736373335.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:35.796Z,1736373335.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:35.804Z,1736373335.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:35.805Z,1736373335.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:35.808Z,1736373335.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.30 m. 2025-01-08T21:55:35.810Z,1736373335.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.299988 m, nav range: 502.161804 m, bearing: 271.058690 deg, approach rate: -0.125076 m/s, LOS rate: -0.069294 deg/s, cmd heading: 355.961920 deg, new cmd heading: 355.890098 deg. 2025-01-08T21:55:35.811Z,1736373335.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211454 target range: 592.299988 and range: 592.30 m. 2025-01-08T21:55:36.057Z,1736373336.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:36.058Z,1736373336.058 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:36.059Z,1736373336.059 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:36.059Z,1736373336.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:36.217Z,1736373336.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:36.227Z,1736373336.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.30 m. 2025-01-08T21:55:36.230Z,1736373336.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.299988 m, nav range: 502.088776 m, bearing: 271.029405 deg, approach rate: -0.174074 m/s, LOS rate: -0.069816 deg/s, cmd heading: 355.890094 deg, new cmd heading: 355.802225 deg. 2025-01-08T21:55:36.231Z,1736373336.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209920 target range: 592.299988 and range: 592.30 m. 2025-01-08T21:55:36.310Z,1736373336.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:36.312Z,1736373336.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.188140 2025-01-08T21:55:36.561Z,1736373336.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:36.562Z,1736373336.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438316 2025-01-08T21:55:36.611Z,1736373336.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:36.621Z,1736373336.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.30 m. 2025-01-08T21:55:36.624Z,1736373336.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.299988 m, nav range: 502.019623 m, bearing: 271.002135 deg, approach rate: -0.175269 m/s, LOS rate: -0.069125 deg/s, cmd heading: 355.802230 deg, new cmd heading: 355.720410 deg. 2025-01-08T21:55:36.625Z,1736373336.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208492 target range: 592.299988 and range: 592.30 m. 2025-01-08T21:55:36.812Z,1736373336.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:36.812Z,1736373336.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.688598 2025-01-08T21:55:37.011Z,1736373337.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:37.020Z,1736373337.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.30 m. 2025-01-08T21:55:37.023Z,1736373337.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.299988 m, nav range: 501.948151 m, bearing: 270.974496 deg, approach rate: -0.179148 m/s, LOS rate: -0.069289 deg/s, cmd heading: 355.720405 deg, new cmd heading: 355.637475 deg. 2025-01-08T21:55:37.025Z,1736373337.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207045 target range: 592.299988 and range: 592.30 m. 2025-01-08T21:55:37.066Z,1736373337.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:37.070Z,1736373337.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945987 2025-01-08T21:55:37.316Z,1736373337.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:37.316Z,1736373337.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.192713 2025-01-08T21:55:37.458Z,1736373337.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:37.472Z,1736373337.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.30 m. 2025-01-08T21:55:37.475Z,1736373337.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.299988 m, nav range: 501.860138 m, bearing: 270.943589 deg, approach rate: -0.194739 m/s, LOS rate: -0.068397 deg/s, cmd heading: 355.637486 deg, new cmd heading: 355.544750 deg. 2025-01-08T21:55:37.477Z,1736373337.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205427 target range: 592.299988 and range: 592.30 m. 2025-01-08T21:55:37.568Z,1736373337.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:37.569Z,1736373337.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445448 2025-01-08T21:55:37.820Z,1736373337.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:37.821Z,1736373337.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.696980 2025-01-08T21:55:37.824Z,1736373337.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:37.831Z,1736373337.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:37.833Z,1736373337.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.30 m. 2025-01-08T21:55:37.837Z,1736373337.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.299988 m, nav range: 501.787079 m, bearing: 270.918228 deg, approach rate: -0.202389 m/s, LOS rate: -0.070266 deg/s, cmd heading: 355.544760 deg, new cmd heading: 355.468665 deg. 2025-01-08T21:55:37.838Z,1736373337.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.204099 target range: 592.299988 and range: 592.30 m. 2025-01-08T21:55:38.072Z,1736373338.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:38.073Z,1736373338.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.948819 2025-01-08T21:55:38.263Z,1736373338.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:38.275Z,1736373338.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.30 m. 2025-01-08T21:55:38.278Z,1736373338.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.299988 m, nav range: 501.700409 m, bearing: 270.887050 deg, approach rate: -0.196193 m/s, LOS rate: -0.070588 deg/s, cmd heading: 355.468671 deg, new cmd heading: 355.375122 deg. 2025-01-08T21:55:38.279Z,1736373338.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202466 target range: 592.299988 and range: 592.30 m. 2025-01-08T21:55:38.324Z,1736373338.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:38.324Z,1736373338.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.200729 2025-01-08T21:55:38.576Z,1736373338.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:38.576Z,1736373338.576 [DAT](INFO): DAT read: Rx Time:21:55:37.4291 2025-01-08T21:55:38.577Z,1736373338.577 [DAT](INFO): Rx dataTimestamp_ set to:1736373338.576628 2025-01-08T21:55:38.577Z,1736373338.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.453746 2025-01-08T21:55:38.655Z,1736373338.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:38.670Z,1736373338.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.30 m. 2025-01-08T21:55:38.675Z,1736373338.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.299988 m, nav range: 501.623016 m, bearing: 270.859155 deg, approach rate: -0.196020 m/s, LOS rate: -0.070664 deg/s, cmd heading: 355.375125 deg, new cmd heading: 355.291427 deg. 2025-01-08T21:55:38.681Z,1736373338.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201005 target range: 592.299988 and range: 592.30 m. 2025-01-08T21:55:38.828Z,1736373338.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:38.829Z,1736373338.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.704978 2025-01-08T21:55:39.032Z,1736373339.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:39.046Z,1736373339.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.30 m. 2025-01-08T21:55:39.049Z,1736373339.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 592.299988 m, nav range: 501.547485 m, bearing: 270.832413 deg, approach rate: -0.200967 m/s, LOS rate: -0.071163 deg/s, cmd heading: 355.291414 deg, new cmd heading: 355.211177 deg. 2025-01-08T21:55:39.050Z,1736373339.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.199605 target range: 592.299988 and range: 592.30 m. 2025-01-08T21:55:39.081Z,1736373339.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:39.084Z,1736373339.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.959214 2025-01-08T21:55:39.333Z,1736373339.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:39.346Z,1736373339.346 [DAT](INFO): DAT read: 21:55:37.4291 LVL= 21232, 28305, 17698, 30419, AGC= 72, IDX= 399, 0.21, 2.428, 0.926, 2.187, 1.788, PHS= 0.728,-0.815, 0.396, RAW= 138.2, -4.4, CAL= 143.7, -14.2, ROT= 6.3, 14.2 2025-01-08T21:55:39.357Z,1736373339.357 [DAT](INFO): got valid direction response: 21:55:37.4291 LVL= 21232, 28305, 17698, 30419, AGC= 72, IDX= 399, 0.21, 2.428, 0.926, 2.187, 1.788, PHS= 0.728,-0.815, 0.396, RAW= 138.2, -4.4, CAL= 143.7, -14.2, ROT= 6.3, 14.2 2025-01-08T21:55:39.364Z,1736373339.364 [DAT](INFO): DAT read: Bearing 6.3, 14.2 (Local) 2025-01-08T21:55:39.364Z,1736373339.364 [DAT](INFO): Local bearing/azimuth received: Bearing 6.3, 14.2 (Local) 2025-01-08T21:55:39.367Z,1736373339.367 [DAT](INFO): DAT read: Range 10 to 50 : 589.6 m (Round-trip 786.2 ms) speed 0.5 m/s 2025-01-08T21:55:39.373Z,1736373339.373 [DAT](INFO): DAT read: user:2152> 2025-01-08T21:55:39.374Z,1736373339.374 [DAT](INFO): DAT read: Tx time:21:55:38.5387 2025-01-08T21:55:39.375Z,1736373339.375 [DAT](INFO): Ping request sent. 2025-01-08T21:55:39.375Z,1736373339.375 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:55:39.388Z,1736373339.388 [DAT](INFO): DAT read: TxSync time:21:55:38.5379 2025-01-08T21:55:39.388Z,1736373339.388 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:55:39.389Z,1736373339.389 [DAT](INFO): direction in FSK: [-0.038199,-0.694317,0.718654] 2025-01-08T21:55:39.389Z,1736373339.389 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:39.390Z,1736373339.390 [DAT](INFO): publishing direction and range info 2025-01-08T21:55:39.397Z,1736373339.397 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:39.397Z,1736373339.397 [DAT](INFO): publishing direction and range info 2025-01-08T21:55:39.547Z,1736373339.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:39.582Z,1736373339.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 589.599976 m, deltaT: 4.293132 s, deltaX: -2.700012 m, approachRate: -0.628914 m/s, rangeRepo size: 4 2025-01-08T21:55:39.585Z,1736373339.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:39.607Z,1736373339.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 589.599976 m, bearing: 261.257762 deg, lat: 36.899106 deg, lon: -122.125013 deg, deltaT: 4.293132 s, deltaX: -2.700012 m, approachRate: -0.628914 m/s, posRepo size: 4 2025-01-08T21:55:39.612Z,1736373339.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:39.614Z,1736373339.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.455536 m, bearing: 270.795332 deg, approach rate: 0.000000 m/s, LOS rate: -0.071163 deg/s, cmd heading: 355.211173 deg, new cmd heading: 355.098302 deg. 2025-01-08T21:55:39.620Z,1736373339.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.197635 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:39.836Z,1736373339.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:39.894Z,1736373339.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:39.901Z,1736373339.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:39.904Z,1736373339.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:39.906Z,1736373339.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.392120 m, bearing: 270.769912 deg, approach rate: -0.192741 m/s, LOS rate: -0.077268 deg/s, cmd heading: 355.098311 deg, new cmd heading: 355.022043 deg. 2025-01-08T21:55:39.908Z,1736373339.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196303 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:40.088Z,1736373340.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:40.088Z,1736373340.088 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:40.088Z,1736373340.088 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:40.088Z,1736373340.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:40.318Z,1736373340.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:40.340Z,1736373340.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:40.340Z,1736373340.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.965706 2025-01-08T21:55:40.347Z,1736373340.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:40.354Z,1736373340.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.330170 m, bearing: 270.738932 deg, approach rate: -0.139740 m/s, LOS rate: -0.069890 deg/s, cmd heading: 355.022032 deg, new cmd heading: 354.929080 deg. 2025-01-08T21:55:40.354Z,1736373340.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194681 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:40.592Z,1736373340.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:40.592Z,1736373340.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217513 2025-01-08T21:55:40.696Z,1736373340.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:40.706Z,1736373340.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:40.709Z,1736373340.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.275360 m, bearing: 270.711371 deg, approach rate: -0.152674 m/s, LOS rate: -0.076782 deg/s, cmd heading: 354.929086 deg, new cmd heading: 354.846393 deg. 2025-01-08T21:55:40.710Z,1736373340.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193238 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:40.844Z,1736373340.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:40.845Z,1736373340.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470035 2025-01-08T21:55:41.096Z,1736373341.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:41.097Z,1736373341.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721765 2025-01-08T21:55:41.122Z,1736373341.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:41.131Z,1736373341.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:41.160Z,1736373341.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.214752 m, bearing: 270.680283 deg, approach rate: -0.142633 m/s, LOS rate: -0.073169 deg/s, cmd heading: 354.846386 deg, new cmd heading: 354.753113 deg. 2025-01-08T21:55:41.169Z,1736373341.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.191610 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:41.348Z,1736373341.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:41.348Z,1736373341.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973499 2025-01-08T21:55:41.541Z,1736373341.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:41.550Z,1736373341.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:41.555Z,1736373341.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.179626 m, bearing: 270.649255 deg, approach rate: -0.083682 m/s, LOS rate: -0.073927 deg/s, cmd heading: 354.753113 deg, new cmd heading: 354.660021 deg. 2025-01-08T21:55:41.556Z,1736373341.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.189985 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:41.600Z,1736373341.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:41.602Z,1736373341.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226971 2025-01-08T21:55:41.852Z,1736373341.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:41.853Z,1736373341.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478400 2025-01-08T21:55:41.907Z,1736373341.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:41.914Z,1736373341.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:41.916Z,1736373341.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:41.928Z,1736373341.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.149567 m, bearing: 270.622235 deg, approach rate: -0.082154 m/s, LOS rate: -0.073850 deg/s, cmd heading: 354.660032 deg, new cmd heading: 354.578967 deg. 2025-01-08T21:55:41.929Z,1736373341.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.188570 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:42.104Z,1736373342.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:42.104Z,1736373342.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729635 2025-01-08T21:55:42.356Z,1736373342.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:42.356Z,1736373342.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981697 2025-01-08T21:55:42.359Z,1736373342.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:42.368Z,1736373342.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:42.370Z,1736373342.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.129120 m, bearing: 270.588692 deg, approach rate: -0.045316 m/s, LOS rate: -0.074343 deg/s, cmd heading: 354.578971 deg, new cmd heading: 354.478339 deg. 2025-01-08T21:55:42.372Z,1736373342.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186814 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:42.608Z,1736373342.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:42.608Z,1736373342.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233695 2025-01-08T21:55:42.730Z,1736373342.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:42.743Z,1736373342.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:42.746Z,1736373342.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.112793 m, bearing: 270.561220 deg, approach rate: -0.043508 m/s, LOS rate: -0.073209 deg/s, cmd heading: 354.478348 deg, new cmd heading: 354.395930 deg. 2025-01-08T21:55:42.746Z,1736373342.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185376 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:42.860Z,1736373342.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:42.861Z,1736373342.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485771 2025-01-08T21:55:43.112Z,1736373343.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:43.113Z,1736373343.113 [DAT](INFO): DAT read: Rx Time:21:55:41.7345 2025-01-08T21:55:43.114Z,1736373343.114 [DAT](INFO): Rx dataTimestamp_ set to:1736373343.113733 2025-01-08T21:55:43.115Z,1736373343.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740214 2025-01-08T21:55:43.267Z,1736373343.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:43.277Z,1736373343.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:43.279Z,1736373343.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.106476 m, bearing: 270.521362 deg, approach rate: -0.011834 m/s, LOS rate: -0.074670 deg/s, cmd heading: 354.395922 deg, new cmd heading: 354.276345 deg. 2025-01-08T21:55:43.280Z,1736373343.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183289 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:43.364Z,1736373343.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:43.365Z,1736373343.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.989900 2025-01-08T21:55:43.593Z,1736373343.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:43.616Z,1736373343.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:43.624Z,1736373343.624 [DAT](INFO): DAT read: 21:55:41.7345 LVL= 20464, 26257, 19170, 29971, AGC= 75, IDX= 502, 0.29, 0.423,-1.246, 0.283,-0.345, PHS= 0.856,-0.853, 0.625, RAW= 142.8, -7.9, CAL= 149.2, -17.1, ROT= 0.8, 17.1 2025-01-08T21:55:43.625Z,1736373343.625 [DAT](INFO): got valid direction response: 21:55:41.7345 LVL= 20464, 26257, 19170, 29971, AGC= 75, IDX= 502, 0.29, 0.423,-1.246, 0.283,-0.345, PHS= 0.856,-0.853, 0.625, RAW= 142.8, -7.9, CAL= 149.2, -17.1, ROT= 0.8, 17.1 2025-01-08T21:55:43.626Z,1736373343.626 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:55:43.626Z,1736373343.626 [DAT](INFO): Received a bad header 2025-01-08T21:55:43.628Z,1736373343.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:43.631Z,1736373343.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.102783 m, bearing: 270.497208 deg, approach rate: -0.010533 m/s, LOS rate: -0.068897 deg/s, cmd heading: 354.276339 deg, new cmd heading: 354.203877 deg. 2025-01-08T21:55:43.632Z,1736373343.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182024 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:43.640Z,1736373343.640 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:55:43.640Z,1736373343.640 [DAT](INFO): direction in FSK: [0.030586,-0.752749,0.657596] 2025-01-08T21:55:43.644Z,1736373343.644 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:43.645Z,1736373343.645 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:43.645Z,1736373343.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:43.868Z,1736373343.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:43.870Z,1736373343.870 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:43.870Z,1736373343.870 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:43.870Z,1736373343.870 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:44.050Z,1736373344.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:44.057Z,1736373344.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:44.061Z,1736373344.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:44.064Z,1736373344.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.097412 m, bearing: 270.463313 deg, approach rate: -0.012427 m/s, LOS rate: -0.078423 deg/s, cmd heading: 354.203884 deg, new cmd heading: 354.102198 deg. 2025-01-08T21:55:44.065Z,1736373344.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180249 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:44.121Z,1736373344.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:44.122Z,1736373344.122 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:44.122Z,1736373344.122 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:44.122Z,1736373344.122 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:44.372Z,1736373344.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:44.372Z,1736373344.372 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:44.372Z,1736373344.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:44.372Z,1736373344.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:44.509Z,1736373344.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:44.528Z,1736373344.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:44.530Z,1736373344.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.106049 m, bearing: 270.429427 deg, approach rate: 0.018440 m/s, LOS rate: -0.072352 deg/s, cmd heading: 354.102196 deg, new cmd heading: 354.000538 deg. 2025-01-08T21:55:44.536Z,1736373344.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178475 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:44.625Z,1736373344.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:44.625Z,1736373344.625 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:44.626Z,1736373344.626 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:44.626Z,1736373344.626 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:44.856Z,1736373344.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:44.876Z,1736373344.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:44.876Z,1736373344.876 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:44.876Z,1736373344.876 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:44.877Z,1736373344.877 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:44.878Z,1736373344.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:44.886Z,1736373344.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.112579 m, bearing: 270.403783 deg, approach rate: 0.018647 m/s, LOS rate: -0.073217 deg/s, cmd heading: 354.000536 deg, new cmd heading: 353.923606 deg. 2025-01-08T21:55:44.887Z,1736373344.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177132 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:45.129Z,1736373345.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:45.130Z,1736373345.130 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:45.130Z,1736373345.130 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:45.130Z,1736373345.130 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:45.316Z,1736373345.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:45.337Z,1736373345.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:45.344Z,1736373345.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.110352 m, bearing: 270.370325 deg, approach rate: -0.004849 m/s, LOS rate: -0.072827 deg/s, cmd heading: 353.923601 deg, new cmd heading: 353.823225 deg. 2025-01-08T21:55:45.345Z,1736373345.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175380 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:45.380Z,1736373345.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:45.380Z,1736373345.380 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:45.380Z,1736373345.380 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:45.381Z,1736373345.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:45.632Z,1736373345.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:45.632Z,1736373345.632 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:45.632Z,1736373345.632 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:45.632Z,1736373345.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:45.675Z,1736373345.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:45.720Z,1736373345.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:45.722Z,1736373345.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.108612 m, bearing: 270.344175 deg, approach rate: -0.004548 m/s, LOS rate: -0.068364 deg/s, cmd heading: 353.823224 deg, new cmd heading: 353.744775 deg. 2025-01-08T21:55:45.728Z,1736373345.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174011 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:45.884Z,1736373345.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:45.884Z,1736373345.884 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:45.884Z,1736373345.884 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:45.884Z,1736373345.884 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:46.089Z,1736373346.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:46.122Z,1736373346.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:46.124Z,1736373346.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:46.127Z,1736373346.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.106720 m, bearing: 270.313995 deg, approach rate: -0.004678 m/s, LOS rate: -0.074623 deg/s, cmd heading: 353.744786 deg, new cmd heading: 353.654246 deg. 2025-01-08T21:55:46.132Z,1736373346.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172431 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:46.136Z,1736373346.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:46.137Z,1736373346.137 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:46.137Z,1736373346.137 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:46.137Z,1736373346.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:46.388Z,1736373346.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:46.388Z,1736373346.388 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:46.388Z,1736373346.388 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:46.389Z,1736373346.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:46.510Z,1736373346.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:46.533Z,1736373346.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:46.542Z,1736373346.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.100952 m, bearing: 270.282509 deg, approach rate: -0.014104 m/s, LOS rate: -0.076997 deg/s, cmd heading: 353.654245 deg, new cmd heading: 353.559784 deg. 2025-01-08T21:55:46.547Z,1736373346.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170783 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:46.640Z,1736373346.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:46.641Z,1736373346.641 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:46.641Z,1736373346.641 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:46.641Z,1736373346.641 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:46.877Z,1736373346.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:46.886Z,1736373346.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:46.892Z,1736373346.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:46.892Z,1736373346.892 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:46.892Z,1736373346.892 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:46.893Z,1736373346.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:46.909Z,1736373346.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.095642 m, bearing: 270.255121 deg, approach rate: -0.015046 m/s, LOS rate: -0.077606 deg/s, cmd heading: 353.559797 deg, new cmd heading: 353.477633 deg. 2025-01-08T21:55:46.910Z,1736373346.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169349 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:47.144Z,1736373347.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:47.144Z,1736373347.144 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:47.144Z,1736373347.144 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:47.144Z,1736373347.144 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:47.349Z,1736373347.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:47.362Z,1736373347.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:47.370Z,1736373347.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.082428 m, bearing: 270.221083 deg, approach rate: -0.027756 m/s, LOS rate: -0.071499 deg/s, cmd heading: 353.477644 deg, new cmd heading: 353.375527 deg. 2025-01-08T21:55:47.376Z,1736373347.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167566 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:47.396Z,1736373347.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:47.396Z,1736373347.396 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:47.396Z,1736373347.396 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:47.396Z,1736373347.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:47.648Z,1736373347.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:47.649Z,1736373347.649 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:47.649Z,1736373347.649 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:47.649Z,1736373347.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:47.714Z,1736373347.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:47.741Z,1736373347.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:47.748Z,1736373347.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.071808 m, bearing: 270.194762 deg, approach rate: -0.028046 m/s, LOS rate: -0.069510 deg/s, cmd heading: 353.375519 deg, new cmd heading: 353.296555 deg. 2025-01-08T21:55:47.749Z,1736373347.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166188 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:47.900Z,1736373347.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:47.900Z,1736373347.900 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:47.900Z,1736373347.900 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:47.901Z,1736373347.901 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:48.094Z,1736373348.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:48.104Z,1736373348.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:48.107Z,1736373348.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.060547 m, bearing: 270.167352 deg, approach rate: -0.031076 m/s, LOS rate: -0.075643 deg/s, cmd heading: 353.296562 deg, new cmd heading: 353.214331 deg. 2025-01-08T21:55:48.108Z,1736373348.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164753 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:48.153Z,1736373348.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:48.153Z,1736373348.153 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:48.153Z,1736373348.153 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:48.153Z,1736373348.153 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:48.404Z,1736373348.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:48.404Z,1736373348.404 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:48.404Z,1736373348.404 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:48.404Z,1736373348.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:48.536Z,1736373348.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:48.543Z,1736373348.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:48.545Z,1736373348.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:48.548Z,1736373348.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 501.026123 m, bearing: 270.136033 deg, approach rate: -0.077931 m/s, LOS rate: -0.070907 deg/s, cmd heading: 353.214326 deg, new cmd heading: 353.120363 deg. 2025-01-08T21:55:48.549Z,1736373348.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163113 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:48.593Z,1736373348.593 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:55:48.657Z,1736373348.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:48.658Z,1736373348.658 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:48.658Z,1736373348.658 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:48.658Z,1736373348.658 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:48.910Z,1736373348.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:48.911Z,1736373348.911 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:48.911Z,1736373348.911 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:48.911Z,1736373348.911 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:48.919Z,1736373348.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:48.928Z,1736373348.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:48.930Z,1736373348.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.996490 m, bearing: 270.108983 deg, approach rate: -0.077496 m/s, LOS rate: -0.070746 deg/s, cmd heading: 353.120370 deg, new cmd heading: 353.039216 deg. 2025-01-08T21:55:48.931Z,1736373348.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161697 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:49.160Z,1736373349.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:49.160Z,1736373349.160 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:49.160Z,1736373349.160 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:49.161Z,1736373349.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:55:49.381Z,1736373349.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:49.390Z,1736373349.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:49.393Z,1736373349.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.940155 m, bearing: 270.076249 deg, approach rate: -0.121776 m/s, LOS rate: -0.070767 deg/s, cmd heading: 353.039228 deg, new cmd heading: 352.941014 deg. 2025-01-08T21:55:49.394Z,1736373349.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159983 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:49.414Z,1736373349.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:49.415Z,1736373349.415 [DAT](INFO): Reached modem response timeout 2025-01-08T21:55:49.427Z,1736373349.427 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:49.428Z,1736373349.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:49.598Z,1736373349.598 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:55:49.664Z,1736373349.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:49.664Z,1736373349.664 [DAT](INFO): Reached modem response timeout 2025-01-08T21:55:49.665Z,1736373349.665 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:49.665Z,1736373349.665 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:49.729Z,1736373349.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:49.738Z,1736373349.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:49.741Z,1736373349.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.895660 m, bearing: 270.051638 deg, approach rate: -0.127880 m/s, LOS rate: -0.070741 deg/s, cmd heading: 352.941010 deg, new cmd heading: 352.867169 deg. 2025-01-08T21:55:49.742Z,1736373349.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158694 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:49.916Z,1736373349.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:49.916Z,1736373349.916 [DAT](INFO): Reached modem response timeout 2025-01-08T21:55:49.916Z,1736373349.916 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:55:49.917Z,1736373349.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:50.116Z,1736373350.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:50.126Z,1736373350.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:50.129Z,1736373350.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.845367 m, bearing: 270.024295 deg, approach rate: -0.129513 m/s, LOS rate: -0.070420 deg/s, cmd heading: 352.867162 deg, new cmd heading: 352.785124 deg. 2025-01-08T21:55:50.130Z,1736373350.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157262 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:50.169Z,1736373350.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:50.170Z,1736373350.170 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:55:50.170Z,1736373350.170 [DAT](INFO): response not received 2025-01-08T21:55:50.171Z,1736373350.171 [DAT](INFO): DAT read: user:2154> 2025-01-08T21:55:50.173Z,1736373350.173 [DAT](INFO): DAT read: Tx time:21:55:49.4888 2025-01-08T21:55:50.173Z,1736373350.173 [DAT](INFO): Ping request sent. 2025-01-08T21:55:50.173Z,1736373350.173 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:55:50.174Z,1736373350.174 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:50.175Z,1736373350.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001537 2025-01-08T21:55:50.420Z,1736373350.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:50.421Z,1736373350.421 [DAT](INFO): DAT read: TxSync time:21:55:49.4880 2025-01-08T21:55:50.421Z,1736373350.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248342 2025-01-08T21:55:50.531Z,1736373350.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:50.544Z,1736373350.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:50.548Z,1736373350.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:50.551Z,1736373350.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.790985 m, bearing: 269.995031 deg, approach rate: -0.128799 m/s, LOS rate: -0.069315 deg/s, cmd heading: 352.785117 deg, new cmd heading: 352.697318 deg. 2025-01-08T21:55:50.554Z,1736373350.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.155729 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:50.672Z,1736373350.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:50.673Z,1736373350.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500379 2025-01-08T21:55:50.920Z,1736373350.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:50.924Z,1736373350.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:50.925Z,1736373350.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751544 2025-01-08T21:55:50.933Z,1736373350.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:50.937Z,1736373350.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.739288 m, bearing: 269.967595 deg, approach rate: -0.134375 m/s, LOS rate: -0.071323 deg/s, cmd heading: 352.697308 deg, new cmd heading: 352.614990 deg. 2025-01-08T21:55:50.938Z,1736373350.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154293 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:51.176Z,1736373351.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:51.176Z,1736373351.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003456 2025-01-08T21:55:51.413Z,1736373351.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:55:51.413Z,1736373351.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:51.423Z,1736373351.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:51.426Z,1736373351.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.673431 m, bearing: 269.932849 deg, approach rate: -0.134430 m/s, LOS rate: -0.070933 deg/s, cmd heading: 352.614991 deg, new cmd heading: 352.510741 deg. 2025-01-08T21:55:51.427Z,1736373351.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152473 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:51.436Z,1736373351.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:51.437Z,1736373351.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263599 2025-01-08T21:55:51.688Z,1736373351.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:51.689Z,1736373351.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516358 2025-01-08T21:55:51.770Z,1736373351.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:55:51.770Z,1736373351.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:51.779Z,1736373351.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:51.782Z,1736373351.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.625824 m, bearing: 269.907669 deg, approach rate: -0.133842 m/s, LOS rate: -0.070799 deg/s, cmd heading: 352.510735 deg, new cmd heading: 352.435186 deg. 2025-01-08T21:55:51.783Z,1736373351.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151155 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:51.940Z,1736373351.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:51.941Z,1736373351.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767606 2025-01-08T21:55:52.145Z,1736373352.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:55:52.145Z,1736373352.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:52.154Z,1736373352.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:52.157Z,1736373352.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.576111 m, bearing: 269.881232 deg, approach rate: -0.132383 m/s, LOS rate: -0.070406 deg/s, cmd heading: 352.435193 deg, new cmd heading: 352.355875 deg. 2025-01-08T21:55:52.158Z,1736373352.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.149770 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:52.192Z,1736373352.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:52.193Z,1736373352.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019988 2025-01-08T21:55:52.444Z,1736373352.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:52.444Z,1736373352.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271452 2025-01-08T21:55:52.581Z,1736373352.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:52.608Z,1736373352.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:52.610Z,1736373352.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:52.617Z,1736373352.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.476929 m, bearing: 269.850817 deg, approach rate: -0.217499 m/s, LOS rate: -0.066712 deg/s, cmd heading: 352.355881 deg, new cmd heading: 352.264617 deg. 2025-01-08T21:55:52.618Z,1736373352.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.148178 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:52.697Z,1736373352.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:52.698Z,1736373352.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524633 2025-01-08T21:55:52.948Z,1736373352.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:52.948Z,1736373352.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775469 2025-01-08T21:55:52.954Z,1736373352.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:52.963Z,1736373352.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:52.966Z,1736373352.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.392273 m, bearing: 269.824851 deg, approach rate: -0.240223 m/s, LOS rate: -0.073694 deg/s, cmd heading: 352.264630 deg, new cmd heading: 352.186719 deg. 2025-01-08T21:55:52.966Z,1736373352.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146818 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:53.200Z,1736373353.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:53.200Z,1736373353.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027454 2025-01-08T21:55:53.430Z,1736373353.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:53.450Z,1736373353.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:53.453Z,1736373353.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:53.453Z,1736373353.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280249 2025-01-08T21:55:53.464Z,1736373353.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.278046 m, bearing: 269.792086 deg, approach rate: -0.234220 m/s, LOS rate: -0.067198 deg/s, cmd heading: 352.186711 deg, new cmd heading: 352.088395 deg. 2025-01-08T21:55:53.465Z,1736373353.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145102 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:53.705Z,1736373353.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:53.707Z,1736373353.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533502 2025-01-08T21:55:53.771Z,1736373353.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:53.783Z,1736373353.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:53.787Z,1736373353.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.195343 m, bearing: 269.768594 deg, approach rate: -0.248538 m/s, LOS rate: -0.070609 deg/s, cmd heading: 352.088383 deg, new cmd heading: 352.017897 deg. 2025-01-08T21:55:53.788Z,1736373353.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143871 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:53.956Z,1736373353.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:53.957Z,1736373353.957 [DAT](INFO): DAT read: Rx Time:21:55:52.6664 2025-01-08T21:55:53.957Z,1736373353.957 [DAT](INFO): Rx dataTimestamp_ set to:1736373353.956745 2025-01-08T21:55:53.958Z,1736373353.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784577 2025-01-08T21:55:54.203Z,1736373354.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:54.208Z,1736373354.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:54.209Z,1736373354.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035651 2025-01-08T21:55:54.213Z,1736373354.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.60 m. 2025-01-08T21:55:54.216Z,1736373354.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 589.599976 m, nav range: 500.090820 m, bearing: 269.738868 deg, approach rate: -0.243018 m/s, LOS rate: -0.069129 deg/s, cmd heading: 352.017896 deg, new cmd heading: 351.928699 deg. 2025-01-08T21:55:54.217Z,1736373354.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142314 target range: 589.599976 and range: 589.60 m. 2025-01-08T21:55:54.460Z,1736373354.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:54.466Z,1736373354.466 [DAT](INFO): DAT read: 21:55:52.6664 LVL= 19440, 32177, 20706, 32755, AGC= 72, IDX= 361, 0.24, 0.209,-1.396,-0.030,-0.553, PHS= 0.850,-0.796, 0.520, RAW= 139.1, -7.7, CAL= 145.2, -17.7, ROT= 4.8, 17.7 2025-01-08T21:55:54.467Z,1736373354.467 [DAT](INFO): got valid direction response: 21:55:52.6664 LVL= 19440, 32177, 20706, 32755, AGC= 72, IDX= 361, 0.24, 0.209,-1.396,-0.030,-0.553, PHS= 0.850,-0.796, 0.520, RAW= 139.1, -7.7, CAL= 145.2, -17.7, ROT= 4.8, 17.7 2025-01-08T21:55:54.469Z,1736373354.469 [DAT](INFO): DAT read: Bearing 4.8, 17.7 (Local) 2025-01-08T21:55:54.469Z,1736373354.469 [DAT](INFO): Local bearing/azimuth received: Bearing 4.8, 17.7 (Local) 2025-01-08T21:55:54.471Z,1736373354.471 [DAT](INFO): DAT read: Range 10 to 50 : 580.0 m (Round-trip 773.4 ms) speed 0.5 m/s 2025-01-08T21:55:54.488Z,1736373354.488 [DAT](INFO): DAT read: user:2155> 2025-01-08T21:55:54.490Z,1736373354.490 [DAT](INFO): DAT read: Tx time:21:55:53.7888 2025-01-08T21:55:54.490Z,1736373354.490 [DAT](INFO): Ping request sent. 2025-01-08T21:55:54.490Z,1736373354.490 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:55:54.491Z,1736373354.491 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:55:54.515Z,1736373354.515 [DAT](INFO): direction in FSK: [0.025743,-0.705681,0.708062] 2025-01-08T21:55:54.516Z,1736373354.516 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:54.516Z,1736373354.516 [DAT](INFO): publishing direction and range info 2025-01-08T21:55:54.524Z,1736373354.524 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:54.524Z,1736373354.524 [DAT](INFO): publishing direction and range info 2025-01-08T21:55:54.699Z,1736373354.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:54.712Z,1736373354.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:54.715Z,1736373354.715 [DAT](INFO): DAT read: TxSync time:21:55:53.7880 2025-01-08T21:55:54.745Z,1736373354.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 580.000000 m, deltaT: 15.126575 s, deltaX: -9.599976 m, approachRate: -0.634643 m/s, rangeRepo size: 4 2025-01-08T21:55:54.747Z,1736373354.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 580.000000 m, bearing: 264.492787 deg, lat: 36.899106 deg, lon: -122.125013 deg, deltaT: 15.126575 s, deltaX: -9.599976 m, approachRate: -0.634643 m/s, posRepo size: 4 2025-01-08T21:55:54.752Z,1736373354.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 580.00 m. 2025-01-08T21:55:54.755Z,1736373354.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 580.000000 m, nav range: 499.986694 m, bearing: 269.704685 deg, approach rate: 0.000000 m/s, LOS rate: -0.069129 deg/s, cmd heading: 351.928694 deg, new cmd heading: 351.818621 deg. 2025-01-08T21:55:54.760Z,1736373354.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140393 target range: 580.000000 and range: 580.00 m. 2025-01-08T21:55:54.964Z,1736373354.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:55.037Z,1736373355.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:55.044Z,1736373355.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:55.046Z,1736373355.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 580.00 m. 2025-01-08T21:55:55.049Z,1736373355.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 580.000000 m, nav range: 499.914886 m, bearing: 269.681410 deg, approach rate: -0.237946 m/s, LOS rate: -0.077136 deg/s, cmd heading: 351.818618 deg, new cmd heading: 351.748783 deg. 2025-01-08T21:55:55.050Z,1736373355.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139174 target range: 580.000000 and range: 580.00 m. 2025-01-08T21:55:55.216Z,1736373355.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:55.216Z,1736373355.216 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:55.216Z,1736373355.216 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:55.217Z,1736373355.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:55.462Z,1736373355.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:55.468Z,1736373355.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:55.469Z,1736373355.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978696 2025-01-08T21:55:55.474Z,1736373355.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 580.00 m. 2025-01-08T21:55:55.477Z,1736373355.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 580.000000 m, nav range: 499.836700 m, bearing: 269.651430 deg, approach rate: -0.182628 m/s, LOS rate: -0.070040 deg/s, cmd heading: 351.748786 deg, new cmd heading: 351.658831 deg. 2025-01-08T21:55:55.478Z,1736373355.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137604 target range: 580.000000 and range: 580.00 m. 2025-01-08T21:55:55.720Z,1736373355.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:55.720Z,1736373355.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230122 2025-01-08T21:55:55.844Z,1736373355.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:55.853Z,1736373355.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 580.00 m. 2025-01-08T21:55:55.856Z,1736373355.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 580.000000 m, nav range: 499.766296 m, bearing: 269.624593 deg, approach rate: -0.185655 m/s, LOS rate: -0.070779 deg/s, cmd heading: 351.658819 deg, new cmd heading: 351.578297 deg. 2025-01-08T21:55:55.857Z,1736373355.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.136199 target range: 580.000000 and range: 580.00 m. 2025-01-08T21:55:55.972Z,1736373355.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:55.973Z,1736373355.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482253 2025-01-08T21:55:56.224Z,1736373356.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:56.224Z,1736373356.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734164 2025-01-08T21:55:56.254Z,1736373356.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:56.294Z,1736373356.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 580.00 m. 2025-01-08T21:55:56.308Z,1736373356.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 580.000000 m, nav range: 499.690491 m, bearing: 269.595717 deg, approach rate: -0.171771 m/s, LOS rate: -0.065442 deg/s, cmd heading: 351.578305 deg, new cmd heading: 351.491662 deg. 2025-01-08T21:55:56.309Z,1736373356.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134687 target range: 580.000000 and range: 580.00 m. 2025-01-08T21:55:56.476Z,1736373356.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:56.476Z,1736373356.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986052 2025-01-08T21:55:56.700Z,1736373356.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:56.710Z,1736373356.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 580.00 m. 2025-01-08T21:55:56.715Z,1736373356.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 580.000000 m, nav range: 499.627197 m, bearing: 269.563606 deg, approach rate: -0.152325 m/s, LOS rate: -0.077289 deg/s, cmd heading: 351.491671 deg, new cmd heading: 351.395326 deg. 2025-01-08T21:55:56.717Z,1736373356.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133006 target range: 580.000000 and range: 580.00 m. 2025-01-08T21:55:56.728Z,1736373356.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:56.728Z,1736373356.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238215 2025-01-08T21:55:56.980Z,1736373356.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:56.980Z,1736373356.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490143 2025-01-08T21:55:57.052Z,1736373357.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:57.059Z,1736373357.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:57.061Z,1736373357.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 580.00 m. 2025-01-08T21:55:57.064Z,1736373357.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 580.000000 m, nav range: 499.577301 m, bearing: 269.538336 deg, approach rate: -0.142062 m/s, LOS rate: -0.071953 deg/s, cmd heading: 351.395338 deg, new cmd heading: 351.319522 deg. 2025-01-08T21:55:57.065Z,1736373357.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.131682 target range: 580.000000 and range: 580.00 m. 2025-01-08T21:55:57.232Z,1736373357.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:57.232Z,1736373357.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742191 2025-01-08T21:55:57.484Z,1736373357.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:57.484Z,1736373357.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994191 2025-01-08T21:55:57.485Z,1736373357.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:57.494Z,1736373357.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 580.00 m. 2025-01-08T21:55:57.515Z,1736373357.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 580.000000 m, nav range: 499.532227 m, bearing: 269.506890 deg, approach rate: -0.104132 m/s, LOS rate: -0.072655 deg/s, cmd heading: 351.319523 deg, new cmd heading: 351.225175 deg. 2025-01-08T21:55:57.520Z,1736373357.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.130036 target range: 580.000000 and range: 580.00 m. 2025-01-08T21:55:57.737Z,1736373357.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:57.738Z,1736373357.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247958 2025-01-08T21:55:57.863Z,1736373357.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:57.873Z,1736373357.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 580.00 m. 2025-01-08T21:55:57.875Z,1736373357.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 580.000000 m, nav range: 499.492340 m, bearing: 269.479225 deg, approach rate: -0.105397 m/s, LOS rate: -0.073109 deg/s, cmd heading: 351.225184 deg, new cmd heading: 351.142182 deg. 2025-01-08T21:55:57.876Z,1736373357.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.128587 target range: 580.000000 and range: 580.00 m. 2025-01-08T21:55:57.989Z,1736373357.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:57.989Z,1736373357.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498975 2025-01-08T21:55:58.240Z,1736373358.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:58.240Z,1736373358.240 [DAT](INFO): DAT read: Rx Time:21:55:56.9719 2025-01-08T21:55:58.241Z,1736373358.241 [DAT](INFO): Rx dataTimestamp_ set to:1736373358.240572 2025-01-08T21:55:58.241Z,1736373358.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751139 2025-01-08T21:55:58.266Z,1736373358.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:58.304Z,1736373358.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 580.00 m. 2025-01-08T21:55:58.307Z,1736373358.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 580.000000 m, nav range: 499.450165 m, bearing: 269.449847 deg, approach rate: -0.097728 m/s, LOS rate: -0.068080 deg/s, cmd heading: 351.142184 deg, new cmd heading: 351.054043 deg. 2025-01-08T21:55:58.308Z,1736373358.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.127049 target range: 580.000000 and range: 580.00 m. 2025-01-08T21:55:58.492Z,1736373358.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:58.493Z,1736373358.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.002434 2025-01-08T21:55:58.744Z,1736373358.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:58.755Z,1736373358.755 [DAT](INFO): DAT read: 21:55:56.9719 LVL= 27888, 32113, 22754, 32755, AGC= 71, IDX= 500, 0.16, 0.732,-0.913, 0.272, 0.079, PHS= 0.740,-0.945, 0.189, RAW= 131.3, 0.2, CAL= 137.1, -8.4, ROT= 12.9, 8.4 2025-01-08T21:55:58.756Z,1736373358.756 [DAT](INFO): got valid direction response: 21:55:56.9719 LVL= 27888, 32113, 22754, 32755, AGC= 71, IDX= 500, 0.16, 0.732,-0.913, 0.272, 0.079, PHS= 0.740,-0.945, 0.189, RAW= 131.3, 0.2, CAL= 137.1, -8.4, ROT= 12.9, 8.4 2025-01-08T21:55:58.757Z,1736373358.757 [DAT](INFO): DAT read: Bearing 12.9, 8.4 (Local) 2025-01-08T21:55:58.757Z,1736373358.757 [DAT](INFO): Local bearing/azimuth received: Bearing 12.9, 8.4 (Local) 2025-01-08T21:55:58.759Z,1736373358.759 [DAT](INFO): DAT read: Range 10 to 50 : 584.1 m (Round-trip 778.9 ms) speed 0.6 m/s 2025-01-08T21:55:58.786Z,1736373358.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:58.788Z,1736373358.788 [DAT](INFO): DAT read: user:2156> 2025-01-08T21:55:58.790Z,1736373358.790 [DAT](INFO): DAT read: Tx time:21:55:58.0889 2025-01-08T21:55:58.791Z,1736373358.791 [DAT](INFO): Ping request sent. 2025-01-08T21:55:58.791Z,1736373358.791 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:55:58.804Z,1736373358.804 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:55:58.804Z,1736373358.804 [DAT](INFO): direction in FSK: [-0.129551,-0.592347,0.795199] 2025-01-08T21:55:58.805Z,1736373358.805 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:58.805Z,1736373358.805 [DAT](INFO): publishing direction and range info 2025-01-08T21:55:58.824Z,1736373358.824 [DAT](INFO): publishing transmit ping time 2025-01-08T21:55:58.824Z,1736373358.824 [DAT](INFO): publishing direction and range info 2025-01-08T21:55:58.855Z,1736373358.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 584.099976 m, deltaT: 4.284012 s, deltaX: 4.099976 m, approachRate: 0.957041 m/s, rangeRepo size: 4 2025-01-08T21:55:58.861Z,1736373358.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 584.099976 m, bearing: 250.888290 deg, lat: 36.898737 deg, lon: -122.124479 deg, deltaT: 4.284012 s, deltaX: 4.099976 m, approachRate: 0.957041 m/s, posRepo size: 4 2025-01-08T21:55:58.862Z,1736373358.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:55:58.870Z,1736373358.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.206390 m, bearing: 264.166604 deg, approach rate: 0.000000 m/s, LOS rate: -0.068080 deg/s, cmd heading: 351.054047 deg, new cmd heading: 350.941685 deg. 2025-01-08T21:55:58.875Z,1736373358.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.125088 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:55:58.996Z,1736373358.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:58.997Z,1736373358.997 [DAT](INFO): DAT read: TxSync time:21:55:58.0881 2025-01-08T21:55:59.165Z,1736373359.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:59.196Z,1736373359.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:55:59.199Z,1736373359.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.201141 m, bearing: 264.135544 deg, approach rate: -0.015345 m/s, LOS rate: -0.090804 deg/s, cmd heading: 350.941677 deg, new cmd heading: 350.848496 deg. 2025-01-08T21:55:59.204Z,1736373359.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.123461 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:55:59.248Z,1736373359.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:59.500Z,1736373359.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:59.644Z,1736373359.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:59.669Z,1736373359.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:55:59.677Z,1736373359.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:55:59.684Z,1736373359.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.203827 m, bearing: 264.097688 deg, approach rate: 0.005595 m/s, LOS rate: -0.078865 deg/s, cmd heading: 350.848485 deg, new cmd heading: 350.734919 deg. 2025-01-08T21:55:59.691Z,1736373359.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.121479 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:55:59.753Z,1736373359.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:55:59.753Z,1736373359.753 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:55:59.753Z,1736373359.753 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:55:59.754Z,1736373359.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:55:59.979Z,1736373359.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:55:59.988Z,1736373359.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:55:59.991Z,1736373359.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.205811 m, bearing: 264.067975 deg, approach rate: 0.006359 m/s, LOS rate: -0.095250 deg/s, cmd heading: 350.734913 deg, new cmd heading: 350.645773 deg. 2025-01-08T21:55:59.992Z,1736373359.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.119923 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:00.004Z,1736373360.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:00.004Z,1736373360.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213663 2025-01-08T21:56:00.256Z,1736373360.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:00.257Z,1736373360.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465799 2025-01-08T21:56:00.380Z,1736373360.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:00.394Z,1736373360.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:00.397Z,1736373360.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.208282 m, bearing: 264.034649 deg, approach rate: 0.006097 m/s, LOS rate: -0.082191 deg/s, cmd heading: 350.645765 deg, new cmd heading: 350.545789 deg. 2025-01-08T21:56:00.397Z,1736373360.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.118178 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:00.508Z,1736373360.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:00.509Z,1736373360.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718101 2025-01-08T21:56:00.761Z,1736373360.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:00.762Z,1736373360.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971022 2025-01-08T21:56:00.840Z,1736373360.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:00.849Z,1736373360.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:00.853Z,1736373360.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.219055 m, bearing: 263.997109 deg, approach rate: 0.023650 m/s, LOS rate: -0.082410 deg/s, cmd heading: 350.545799 deg, new cmd heading: 350.433183 deg. 2025-01-08T21:56:00.854Z,1736373360.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116213 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:01.012Z,1736373361.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:01.012Z,1736373361.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221630 2025-01-08T21:56:01.193Z,1736373361.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:01.202Z,1736373361.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:01.205Z,1736373361.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.227386 m, bearing: 263.968320 deg, approach rate: 0.023637 m/s, LOS rate: -0.081678 deg/s, cmd heading: 350.433183 deg, new cmd heading: 350.346817 deg. 2025-01-08T21:56:01.206Z,1736373361.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.114706 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:01.264Z,1736373361.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:01.266Z,1736373361.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474813 2025-01-08T21:56:01.516Z,1736373361.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:01.516Z,1736373361.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725704 2025-01-08T21:56:01.626Z,1736373361.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:01.636Z,1736373361.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:01.638Z,1736373361.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.237061 m, bearing: 263.933602 deg, approach rate: 0.022340 m/s, LOS rate: -0.080171 deg/s, cmd heading: 350.346822 deg, new cmd heading: 350.242669 deg. 2025-01-08T21:56:01.640Z,1736373361.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.112888 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:01.768Z,1736373361.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:01.768Z,1736373361.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977643 2025-01-08T21:56:01.995Z,1736373361.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:02.003Z,1736373362.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:02.020Z,1736373362.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:02.020Z,1736373362.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229648 2025-01-08T21:56:02.023Z,1736373362.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:02.025Z,1736373362.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.245209 m, bearing: 263.903999 deg, approach rate: 0.021013 m/s, LOS rate: -0.076340 deg/s, cmd heading: 350.242675 deg, new cmd heading: 350.153868 deg. 2025-01-08T21:56:02.026Z,1736373362.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.111338 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:02.272Z,1736373362.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:02.273Z,1736373362.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481777 2025-01-08T21:56:02.437Z,1736373362.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:02.504Z,1736373362.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:02.518Z,1736373362.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.255157 m, bearing: 263.868527 deg, approach rate: 0.020754 m/s, LOS rate: -0.073995 deg/s, cmd heading: 350.153855 deg, new cmd heading: 350.047442 deg. 2025-01-08T21:56:02.522Z,1736373362.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.109480 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:02.525Z,1736373362.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:02.528Z,1736373362.528 [DAT](INFO): DAT read: Rx Time:21:56:01.2590 2025-01-08T21:56:02.530Z,1736373362.530 [DAT](INFO): Rx dataTimestamp_ set to:1736373362.528734 2025-01-08T21:56:02.532Z,1736373362.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741708 2025-01-08T21:56:02.776Z,1736373362.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:02.776Z,1736373362.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.985527 2025-01-08T21:56:02.876Z,1736373362.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:02.884Z,1736373362.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:02.888Z,1736373362.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.257446 m, bearing: 263.833945 deg, approach rate: 0.005989 m/s, LOS rate: -0.090490 deg/s, cmd heading: 350.047441 deg, new cmd heading: 349.943696 deg. 2025-01-08T21:56:02.889Z,1736373362.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.107670 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:03.028Z,1736373363.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:03.041Z,1736373363.041 [DAT](INFO): DAT read: 21:56:01.2590 LVL= 21872, 27761, 24562, 32755, AGC= 76, IDX= 304,-0.27,-1.302,-2.867,-1.805,-1.937, PHS= 0.723,-0.884, 0.128, RAW= 128.5, 0.5, CAL= 134.9, -7.7, ROT= 15.1, 7.7 2025-01-08T21:56:03.042Z,1736373363.042 [DAT](INFO): got valid direction response: 21:56:01.2590 LVL= 21872, 27761, 24562, 32755, AGC= 76, IDX= 304,-0.27,-1.302,-2.867,-1.805,-1.937, PHS= 0.723,-0.884, 0.128, RAW= 128.5, 0.5, CAL= 134.9, -7.7, ROT= 15.1, 7.7 2025-01-08T21:56:03.043Z,1736373363.043 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:56:03.043Z,1736373363.043 [DAT](INFO): Received a bad header 2025-01-08T21:56:03.056Z,1736373363.056 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:56:03.057Z,1736373363.057 [DAT](INFO): direction in FSK: [-0.133874,-0.550164,0.824255] 2025-01-08T21:56:03.059Z,1736373363.059 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:03.060Z,1736373363.060 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:03.060Z,1736373363.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:03.229Z,1736373363.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:03.238Z,1736373363.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:03.261Z,1736373363.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.259247 m, bearing: 263.806074 deg, approach rate: 0.005091 m/s, LOS rate: -0.078802 deg/s, cmd heading: 349.943704 deg, new cmd heading: 349.860090 deg. 2025-01-08T21:56:03.262Z,1736373363.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.106211 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:03.280Z,1736373363.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:03.280Z,1736373363.280 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:03.280Z,1736373363.280 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:03.281Z,1736373363.281 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:03.532Z,1736373363.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:03.533Z,1736373363.533 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:03.533Z,1736373363.533 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:03.533Z,1736373363.533 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:03.691Z,1736373363.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:03.702Z,1736373363.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:03.705Z,1736373363.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.247742 m, bearing: 263.769137 deg, approach rate: -0.024792 m/s, LOS rate: -0.079596 deg/s, cmd heading: 349.860102 deg, new cmd heading: 349.749289 deg. 2025-01-08T21:56:03.706Z,1736373363.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.104277 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:03.784Z,1736373363.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:03.784Z,1736373363.784 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:03.785Z,1736373363.785 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:03.785Z,1736373363.785 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:04.032Z,1736373364.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:04.036Z,1736373364.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:04.036Z,1736373364.036 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:04.036Z,1736373364.036 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:04.037Z,1736373364.037 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:04.041Z,1736373364.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:04.043Z,1736373364.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:04.046Z,1736373364.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.238647 m, bearing: 263.741889 deg, approach rate: -0.026661 m/s, LOS rate: -0.079883 deg/s, cmd heading: 349.749289 deg, new cmd heading: 349.667545 deg. 2025-01-08T21:56:04.047Z,1736373364.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.102850 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:04.288Z,1736373364.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:04.288Z,1736373364.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:04.288Z,1736373364.288 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:04.288Z,1736373364.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:04.440Z,1736373364.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:04.469Z,1736373364.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:04.472Z,1736373364.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.227448 m, bearing: 263.709316 deg, approach rate: -0.026344 m/s, LOS rate: -0.076619 deg/s, cmd heading: 349.667546 deg, new cmd heading: 349.569824 deg. 2025-01-08T21:56:04.474Z,1736373364.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.101144 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:04.542Z,1736373364.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:04.545Z,1736373364.545 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:04.545Z,1736373364.545 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:04.545Z,1736373364.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:04.792Z,1736373364.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:04.792Z,1736373364.792 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:04.792Z,1736373364.792 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:04.792Z,1736373364.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:04.893Z,1736373364.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:04.901Z,1736373364.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:04.921Z,1736373364.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.195953 m, bearing: 263.673092 deg, approach rate: -0.072711 m/s, LOS rate: -0.083638 deg/s, cmd heading: 349.569819 deg, new cmd heading: 349.461139 deg. 2025-01-08T21:56:04.922Z,1736373364.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099247 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:05.044Z,1736373365.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:05.045Z,1736373365.045 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:05.045Z,1736373365.045 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:05.045Z,1736373365.045 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:05.256Z,1736373365.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:05.268Z,1736373365.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:05.275Z,1736373365.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.170502 m, bearing: 263.644018 deg, approach rate: -0.069775 m/s, LOS rate: -0.079710 deg/s, cmd heading: 349.461137 deg, new cmd heading: 349.373911 deg. 2025-01-08T21:56:05.277Z,1736373365.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097725 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:05.297Z,1736373365.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:05.297Z,1736373365.297 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:05.297Z,1736373365.297 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:05.297Z,1736373365.297 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:05.549Z,1736373365.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:05.550Z,1736373365.550 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:05.551Z,1736373365.551 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:05.551Z,1736373365.551 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:05.701Z,1736373365.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:05.710Z,1736373365.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:05.713Z,1736373365.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.115814 m, bearing: 263.609036 deg, approach rate: -0.123043 m/s, LOS rate: -0.078716 deg/s, cmd heading: 349.373902 deg, new cmd heading: 349.268944 deg. 2025-01-08T21:56:05.714Z,1736373365.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.095893 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:05.800Z,1736373365.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:05.801Z,1736373365.801 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:05.801Z,1736373365.801 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:05.801Z,1736373365.801 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:06.052Z,1736373366.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:06.053Z,1736373366.053 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:06.053Z,1736373366.053 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:06.053Z,1736373366.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:06.065Z,1736373366.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:06.073Z,1736373366.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:06.075Z,1736373366.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:06.101Z,1736373366.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.070496 m, bearing: 263.580372 deg, approach rate: -0.124315 m/s, LOS rate: -0.078637 deg/s, cmd heading: 349.268936 deg, new cmd heading: 349.182936 deg. 2025-01-08T21:56:06.103Z,1736373366.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.094392 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:06.305Z,1736373366.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:06.305Z,1736373366.305 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:06.306Z,1736373366.306 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:06.306Z,1736373366.306 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:06.480Z,1736373366.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:06.497Z,1736373366.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:06.516Z,1736373366.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 454.018036 m, bearing: 263.547750 deg, approach rate: -0.124219 m/s, LOS rate: -0.077255 deg/s, cmd heading: 349.182930 deg, new cmd heading: 349.085052 deg. 2025-01-08T21:56:06.517Z,1736373366.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.092683 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:06.557Z,1736373366.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:06.559Z,1736373366.559 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:06.560Z,1736373366.560 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:06.560Z,1736373366.560 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:06.809Z,1736373366.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:06.810Z,1736373366.810 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:06.810Z,1736373366.810 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:06.811Z,1736373366.811 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:06.929Z,1736373366.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:06.938Z,1736373366.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:06.941Z,1736373366.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.947388 m, bearing: 263.512290 deg, approach rate: -0.160257 m/s, LOS rate: -0.080450 deg/s, cmd heading: 349.085040 deg, new cmd heading: 348.978642 deg. 2025-01-08T21:56:06.942Z,1736373366.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.090827 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:07.060Z,1736373367.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:07.061Z,1736373367.061 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:07.061Z,1736373367.061 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:07.062Z,1736373367.062 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:07.276Z,1736373367.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:07.286Z,1736373367.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:07.309Z,1736373367.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.892334 m, bearing: 263.484866 deg, approach rate: -0.158756 m/s, LOS rate: -0.079088 deg/s, cmd heading: 348.978653 deg, new cmd heading: 348.896374 deg. 2025-01-08T21:56:07.310Z,1736373367.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.089390 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:07.312Z,1736373367.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:07.312Z,1736373367.312 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:07.312Z,1736373367.312 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:07.312Z,1736373367.312 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:07.568Z,1736373367.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:07.569Z,1736373367.569 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:07.570Z,1736373367.570 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:07.570Z,1736373367.570 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:07.712Z,1736373367.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:07.722Z,1736373367.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:07.726Z,1736373367.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.810822 m, bearing: 263.450592 deg, approach rate: -0.186455 m/s, LOS rate: -0.078414 deg/s, cmd heading: 348.896363 deg, new cmd heading: 348.793522 deg. 2025-01-08T21:56:07.726Z,1736373367.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087595 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:07.816Z,1736373367.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:07.816Z,1736373367.816 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:07.816Z,1736373367.816 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:07.816Z,1736373367.816 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:08.068Z,1736373368.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:08.069Z,1736373368.069 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:08.069Z,1736373368.069 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:08.069Z,1736373368.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:08.111Z,1736373368.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:08.124Z,1736373368.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:08.126Z,1736373368.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:08.133Z,1736373368.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.736328 m, bearing: 263.419468 deg, approach rate: -0.184589 m/s, LOS rate: -0.077137 deg/s, cmd heading: 348.793527 deg, new cmd heading: 348.700138 deg. 2025-01-08T21:56:08.134Z,1736373368.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.085966 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:08.320Z,1736373368.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:08.320Z,1736373368.320 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:08.320Z,1736373368.320 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:08.320Z,1736373368.320 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:08.498Z,1736373368.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:08.508Z,1736373368.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:08.510Z,1736373368.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.661896 m, bearing: 263.388698 deg, approach rate: -0.194973 m/s, LOS rate: -0.080614 deg/s, cmd heading: 348.700145 deg, new cmd heading: 348.607821 deg. 2025-01-08T21:56:08.512Z,1736373368.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.084354 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:08.574Z,1736373368.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:08.575Z,1736373368.575 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:08.576Z,1736373368.576 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:08.576Z,1736373368.576 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:08.824Z,1736373368.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:08.824Z,1736373368.824 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:08.824Z,1736373368.824 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:08.825Z,1736373368.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:08.932Z,1736373368.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:08.941Z,1736373368.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:08.945Z,1736373368.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.574890 m, bearing: 263.354209 deg, approach rate: -0.200745 m/s, LOS rate: -0.079590 deg/s, cmd heading: 348.607828 deg, new cmd heading: 348.504342 deg. 2025-01-08T21:56:08.947Z,1736373368.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082548 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:09.076Z,1736373369.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:09.076Z,1736373369.076 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:09.076Z,1736373369.076 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:09.076Z,1736373369.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:09.295Z,1736373369.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:09.305Z,1736373369.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:09.324Z,1736373369.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.501648 m, bearing: 263.325405 deg, approach rate: -0.201238 m/s, LOS rate: -0.079154 deg/s, cmd heading: 348.504337 deg, new cmd heading: 348.417911 deg. 2025-01-08T21:56:09.325Z,1736373369.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081040 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:09.328Z,1736373369.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:09.328Z,1736373369.328 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:09.328Z,1736373369.328 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:09.329Z,1736373369.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:09.582Z,1736373369.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:09.584Z,1736373369.584 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:09.585Z,1736373369.585 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:09.586Z,1736373369.586 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:09.740Z,1736373369.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:09.749Z,1736373369.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:09.753Z,1736373369.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.413300 m, bearing: 263.289619 deg, approach rate: -0.198919 m/s, LOS rate: -0.080589 deg/s, cmd heading: 348.417922 deg, new cmd heading: 348.310543 deg. 2025-01-08T21:56:09.754Z,1736373369.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079166 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:09.834Z,1736373369.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:09.835Z,1736373369.835 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:56:09.836Z,1736373369.836 [DAT](INFO): response not received 2025-01-08T21:56:09.837Z,1736373369.837 [DAT](INFO): DAT read: user:2158> 2025-01-08T21:56:09.838Z,1736373369.838 [DAT](INFO): DAT read: Tx time:21:56:09.0390 2025-01-08T21:56:09.838Z,1736373369.838 [DAT](INFO): Ping request sent. 2025-01-08T21:56:09.838Z,1736373369.838 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:56:09.839Z,1736373369.839 [DAT](INFO): DAT read: TxSync time:21:56:09.0382 2025-01-08T21:56:09.840Z,1736373369.840 [DAT](INFO): publishing transmit ping time 2025-01-08T21:56:09.841Z,1736373369.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002808 2025-01-08T21:56:10.084Z,1736373370.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:10.085Z,1736373370.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246342 2025-01-08T21:56:10.105Z,1736373370.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:10.114Z,1736373370.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:10.117Z,1736373370.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.340546 m, bearing: 263.260289 deg, approach rate: -0.199300 m/s, LOS rate: -0.080359 deg/s, cmd heading: 348.310551 deg, new cmd heading: 348.222546 deg. 2025-01-08T21:56:10.118Z,1736373370.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.077630 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:10.336Z,1736373370.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:10.337Z,1736373370.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498664 2025-01-08T21:56:10.506Z,1736373370.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:10.513Z,1736373370.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:10.515Z,1736373370.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:10.518Z,1736373370.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.260162 m, bearing: 263.228077 deg, approach rate: -0.200610 m/s, LOS rate: -0.080404 deg/s, cmd heading: 348.222551 deg, new cmd heading: 348.125899 deg. 2025-01-08T21:56:10.520Z,1736373370.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075943 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:10.590Z,1736373370.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:10.599Z,1736373370.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760105 2025-01-08T21:56:10.840Z,1736373370.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:10.840Z,1736373370.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002184 2025-01-08T21:56:10.964Z,1736373370.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:10.973Z,1736373370.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:10.976Z,1736373370.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.184235 m, bearing: 263.191261 deg, approach rate: -0.165734 m/s, LOS rate: -0.080376 deg/s, cmd heading: 348.125890 deg, new cmd heading: 348.015422 deg. 2025-01-08T21:56:10.977Z,1736373370.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074015 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:11.092Z,1736373371.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:11.092Z,1736373371.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254235 2025-01-08T21:56:11.312Z,1736373371.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:11.321Z,1736373371.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:11.324Z,1736373371.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.125671 m, bearing: 263.163385 deg, approach rate: -0.168104 m/s, LOS rate: -0.080026 deg/s, cmd heading: 348.015432 deg, new cmd heading: 347.931795 deg. 2025-01-08T21:56:11.325Z,1736373371.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072556 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:11.344Z,1736373371.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:11.344Z,1736373371.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506289 2025-01-08T21:56:11.606Z,1736373371.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:11.608Z,1736373371.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769440 2025-01-08T21:56:11.744Z,1736373371.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:11.753Z,1736373371.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:11.756Z,1736373371.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.070221 m, bearing: 263.129311 deg, approach rate: -0.128355 m/s, LOS rate: -0.078884 deg/s, cmd heading: 347.931803 deg, new cmd heading: 347.829567 deg. 2025-01-08T21:56:11.757Z,1736373371.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.070771 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:11.856Z,1736373371.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:11.857Z,1736373371.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018338 2025-01-08T21:56:12.108Z,1736373372.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:12.109Z,1736373372.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270422 2025-01-08T21:56:12.140Z,1736373372.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:12.165Z,1736373372.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:12.172Z,1736373372.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 453.020844 m, bearing: 263.099014 deg, approach rate: -0.120010 m/s, LOS rate: -0.073643 deg/s, cmd heading: 347.829569 deg, new cmd heading: 347.738669 deg. 2025-01-08T21:56:12.173Z,1736373372.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.069185 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:12.360Z,1736373372.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:12.360Z,1736373372.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522252 2025-01-08T21:56:12.527Z,1736373372.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:12.534Z,1736373372.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:12.537Z,1736373372.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:12.540Z,1736373372.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.969391 m, bearing: 263.067441 deg, approach rate: -0.138198 m/s, LOS rate: -0.084813 deg/s, cmd heading: 347.738673 deg, new cmd heading: 347.643943 deg. 2025-01-08T21:56:12.541Z,1736373372.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067532 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:12.614Z,1736373372.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:12.617Z,1736373372.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777934 2025-01-08T21:56:12.864Z,1736373372.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:12.864Z,1736373372.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026192 2025-01-08T21:56:12.982Z,1736373372.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:12.994Z,1736373372.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:12.997Z,1736373372.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.925659 m, bearing: 263.031070 deg, approach rate: -0.095589 m/s, LOS rate: -0.079508 deg/s, cmd heading: 347.643952 deg, new cmd heading: 347.534828 deg. 2025-01-08T21:56:12.998Z,1736373372.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065627 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:13.116Z,1736373373.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:13.116Z,1736373373.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278225 2025-01-08T21:56:13.337Z,1736373373.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:13.345Z,1736373373.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:13.360Z,1736373373.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.891632 m, bearing: 263.002590 deg, approach rate: -0.096946 m/s, LOS rate: -0.081146 deg/s, cmd heading: 347.534833 deg, new cmd heading: 347.449388 deg. 2025-01-08T21:56:13.361Z,1736373373.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.064136 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:13.368Z,1736373373.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:13.370Z,1736373373.370 [DAT](INFO): DAT read: Rx Time:21:56:12.2003 2025-01-08T21:56:13.370Z,1736373373.370 [DAT](INFO): Rx dataTimestamp_ set to:1736373373.369907 2025-01-08T21:56:13.371Z,1736373373.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532543 2025-01-08T21:56:13.623Z,1736373373.623 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:13.627Z,1736373373.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787923 2025-01-08T21:56:13.765Z,1736373373.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:13.779Z,1736373373.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:13.782Z,1736373373.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.861908 m, bearing: 262.968118 deg, approach rate: -0.068580 m/s, LOS rate: -0.079538 deg/s, cmd heading: 347.449401 deg, new cmd heading: 347.345979 deg. 2025-01-08T21:56:13.783Z,1736373373.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062331 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:13.874Z,1736373373.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:13.876Z,1736373373.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037880 2025-01-08T21:56:14.124Z,1736373374.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:14.130Z,1736373374.130 [DAT](INFO): DAT read: 21:56:12.2003 LVL= 18096, 26321, 19234, 32755, AGC= 73, IDX= 374,-0.27, 0.133,-1.417,-0.401,-0.395, PHS= 0.616,-0.975,-0.008, RAW= 127.1, 5.3, CAL= 134.6, -0.2, ROT= 15.4, 0.2 2025-01-08T21:56:14.132Z,1736373374.132 [DAT](INFO): got valid direction response: 21:56:12.2003 LVL= 18096, 26321, 19234, 32755, AGC= 73, IDX= 374,-0.27, 0.133,-1.417,-0.401,-0.395, PHS= 0.616,-0.975,-0.008, RAW= 127.1, 5.3, CAL= 134.6, -0.2, ROT= 15.4, 0.2 2025-01-08T21:56:14.132Z,1736373374.132 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:56:14.133Z,1736373374.133 [DAT](INFO): Received a bad header 2025-01-08T21:56:14.144Z,1736373374.144 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:56:14.144Z,1736373374.144 [DAT](INFO): direction in FSK: [-0.226974,-0.518204,0.824589] 2025-01-08T21:56:14.147Z,1736373374.147 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:14.148Z,1736373374.148 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:14.148Z,1736373374.148 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:14.188Z,1736373374.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:14.208Z,1736373374.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:14.211Z,1736373374.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.833038 m, bearing: 262.934497 deg, approach rate: -0.067229 m/s, LOS rate: -0.078300 deg/s, cmd heading: 347.345992 deg, new cmd heading: 347.245120 deg. 2025-01-08T21:56:14.220Z,1736373374.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.060571 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:14.376Z,1736373374.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:14.376Z,1736373374.376 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:14.376Z,1736373374.376 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:14.376Z,1736373374.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:14.548Z,1736373374.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:14.556Z,1736373374.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:14.558Z,1736373374.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:14.566Z,1736373374.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.807800 m, bearing: 262.905209 deg, approach rate: -0.072193 m/s, LOS rate: -0.083780 deg/s, cmd heading: 347.245124 deg, new cmd heading: 347.157257 deg. 2025-01-08T21:56:14.567Z,1736373374.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059037 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:14.630Z,1736373374.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:14.630Z,1736373374.630 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:14.630Z,1736373374.630 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:14.631Z,1736373374.631 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:14.880Z,1736373374.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:14.880Z,1736373374.880 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:14.880Z,1736373374.880 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:14.880Z,1736373374.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:14.962Z,1736373374.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:14.970Z,1736373374.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:14.973Z,1736373374.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.779205 m, bearing: 262.872001 deg, approach rate: -0.069356 m/s, LOS rate: -0.080550 deg/s, cmd heading: 347.157260 deg, new cmd heading: 347.057629 deg. 2025-01-08T21:56:14.974Z,1736373374.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.057298 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:15.132Z,1736373375.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:15.132Z,1736373375.132 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:15.132Z,1736373375.132 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:15.132Z,1736373375.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:15.360Z,1736373375.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:15.370Z,1736373375.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:15.373Z,1736373375.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.751526 m, bearing: 262.839974 deg, approach rate: -0.069297 m/s, LOS rate: -0.080188 deg/s, cmd heading: 347.057621 deg, new cmd heading: 346.961532 deg. 2025-01-08T21:56:15.374Z,1736373375.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055621 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:15.392Z,1736373375.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:15.393Z,1736373375.393 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:15.393Z,1736373375.393 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:15.393Z,1736373375.393 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:15.646Z,1736373375.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:15.648Z,1736373375.648 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:15.648Z,1736373375.648 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:15.649Z,1736373375.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:15.822Z,1736373375.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:56:15.822Z,1736373375.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:15.847Z,1736373375.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:15.855Z,1736373375.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.719727 m, bearing: 262.802935 deg, approach rate: -0.066616 m/s, LOS rate: -0.077598 deg/s, cmd heading: 346.961534 deg, new cmd heading: 346.850409 deg. 2025-01-08T21:56:15.860Z,1736373375.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053682 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:15.896Z,1736373375.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:15.896Z,1736373375.896 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:15.896Z,1736373375.896 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:15.896Z,1736373375.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:16.148Z,1736373376.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:16.148Z,1736373376.148 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:16.148Z,1736373376.148 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:16.148Z,1736373376.148 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:16.168Z,1736373376.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:56:16.168Z,1736373376.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:16.197Z,1736373376.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:16.204Z,1736373376.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.695190 m, bearing: 262.775200 deg, approach rate: -0.070016 m/s, LOS rate: -0.079146 deg/s, cmd heading: 346.850421 deg, new cmd heading: 346.767213 deg. 2025-01-08T21:56:16.205Z,1736373376.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052229 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:16.400Z,1736373376.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:16.400Z,1736373376.400 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:16.400Z,1736373376.400 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:16.400Z,1736373376.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:16.582Z,1736373376.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:56:16.582Z,1736373376.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:16.590Z,1736373376.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:16.592Z,1736373376.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:16.595Z,1736373376.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.665558 m, bearing: 262.741942 deg, approach rate: -0.075107 m/s, LOS rate: -0.084301 deg/s, cmd heading: 346.767202 deg, new cmd heading: 346.667422 deg. 2025-01-08T21:56:16.596Z,1736373376.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050488 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:16.653Z,1736373376.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:16.654Z,1736373376.654 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:16.654Z,1736373376.654 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:16.655Z,1736373376.655 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:16.904Z,1736373376.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:16.905Z,1736373376.905 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:16.905Z,1736373376.905 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:16.905Z,1736373376.905 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:17.027Z,1736373377.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:17.036Z,1736373377.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:17.038Z,1736373377.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.631409 m, bearing: 262.705693 deg, approach rate: -0.076976 m/s, LOS rate: -0.081716 deg/s, cmd heading: 346.667426 deg, new cmd heading: 346.558670 deg. 2025-01-08T21:56:17.040Z,1736373377.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.048590 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:17.156Z,1736373377.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:17.157Z,1736373377.157 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:17.157Z,1736373377.157 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:17.157Z,1736373377.157 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:17.372Z,1736373377.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:17.397Z,1736373377.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:17.400Z,1736373377.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.604370 m, bearing: 262.677477 deg, approach rate: -0.074732 m/s, LOS rate: -0.077992 deg/s, cmd heading: 346.558662 deg, new cmd heading: 346.474008 deg. 2025-01-08T21:56:17.401Z,1736373377.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.047112 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:17.408Z,1736373377.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:17.408Z,1736373377.408 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:17.408Z,1736373377.408 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:17.408Z,1736373377.408 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:17.660Z,1736373377.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:17.661Z,1736373377.661 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:17.661Z,1736373377.661 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:17.661Z,1736373377.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:17.812Z,1736373377.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:17.830Z,1736373377.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:17.837Z,1736373377.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.565186 m, bearing: 262.640832 deg, approach rate: -0.090629 m/s, LOS rate: -0.084762 deg/s, cmd heading: 346.473995 deg, new cmd heading: 346.364052 deg. 2025-01-08T21:56:17.838Z,1736373377.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045193 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:17.913Z,1736373377.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:17.913Z,1736373377.913 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:17.913Z,1736373377.913 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:17.914Z,1736373377.914 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:18.164Z,1736373378.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:18.164Z,1736373378.164 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:18.164Z,1736373378.164 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:18.164Z,1736373378.164 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:18.208Z,1736373378.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:18.225Z,1736373378.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:18.232Z,1736373378.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.528839 m, bearing: 262.607848 deg, approach rate: -0.091841 m/s, LOS rate: -0.083352 deg/s, cmd heading: 346.364056 deg, new cmd heading: 346.265096 deg. 2025-01-08T21:56:18.237Z,1736373378.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043466 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:18.416Z,1736373378.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:18.416Z,1736373378.416 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:18.416Z,1736373378.416 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:18.416Z,1736373378.416 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:18.605Z,1736373378.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:18.612Z,1736373378.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:18.614Z,1736373378.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:18.617Z,1736373378.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.492554 m, bearing: 262.574774 deg, approach rate: -0.093370 m/s, LOS rate: -0.085115 deg/s, cmd heading: 346.265101 deg, new cmd heading: 346.165869 deg. 2025-01-08T21:56:18.618Z,1736373378.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041734 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:18.668Z,1736373378.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:18.669Z,1736373378.669 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:18.669Z,1736373378.669 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:18.670Z,1736373378.670 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:18.920Z,1736373378.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:18.920Z,1736373378.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:18.920Z,1736373378.920 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:18.921Z,1736373378.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:19.029Z,1736373379.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:19.038Z,1736373379.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:19.041Z,1736373379.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.447906 m, bearing: 262.539698 deg, approach rate: -0.105375 m/s, LOS rate: -0.082794 deg/s, cmd heading: 346.165872 deg, new cmd heading: 346.060633 deg. 2025-01-08T21:56:19.042Z,1736373379.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039897 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:19.172Z,1736373379.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:19.172Z,1736373379.172 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:19.172Z,1736373379.172 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:19.172Z,1736373379.172 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:19.408Z,1736373379.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:19.417Z,1736373379.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:19.421Z,1736373379.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.408142 m, bearing: 262.508323 deg, approach rate: -0.104857 m/s, LOS rate: -0.082741 deg/s, cmd heading: 346.060632 deg, new cmd heading: 345.966499 deg. 2025-01-08T21:56:19.422Z,1736373379.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038255 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:19.424Z,1736373379.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:19.424Z,1736373379.424 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:19.425Z,1736373379.425 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:19.425Z,1736373379.425 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:19.676Z,1736373379.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:19.678Z,1736373379.678 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:19.678Z,1736373379.678 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:19.678Z,1736373379.678 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:19.721Z,1736373379.721 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:56:19.831Z,1736373379.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:19.840Z,1736373379.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:19.843Z,1736373379.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.361481 m, bearing: 262.473684 deg, approach rate: -0.110278 m/s, LOS rate: -0.081872 deg/s, cmd heading: 345.966512 deg, new cmd heading: 345.862586 deg. 2025-01-08T21:56:19.844Z,1736373379.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.036441 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:19.929Z,1736373379.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:19.931Z,1736373379.931 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:19.932Z,1736373379.932 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:19.933Z,1736373379.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:20.180Z,1736373380.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:20.180Z,1736373380.180 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:20.180Z,1736373380.180 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:20.181Z,1736373380.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:20.208Z,1736373380.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:20.248Z,1736373380.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:20.250Z,1736373380.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.319763 m, bearing: 262.442772 deg, approach rate: -0.102292 m/s, LOS rate: -0.075804 deg/s, cmd heading: 345.862584 deg, new cmd heading: 345.769839 deg. 2025-01-08T21:56:20.256Z,1736373380.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034822 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:20.432Z,1736373380.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:20.432Z,1736373380.432 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:20.432Z,1736373380.432 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:20.432Z,1736373380.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:20.611Z,1736373380.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:20.617Z,1736373380.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:20.621Z,1736373380.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:20.624Z,1736373380.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.274750 m, bearing: 262.409720 deg, approach rate: -0.120670 m/s, LOS rate: -0.088614 deg/s, cmd heading: 345.769830 deg, new cmd heading: 345.670664 deg. 2025-01-08T21:56:20.625Z,1736373380.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.033091 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:20.684Z,1736373380.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:20.686Z,1736373380.686 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:56:20.686Z,1736373380.686 [DAT](INFO): response not received 2025-01-08T21:56:20.686Z,1736373380.686 [DAT](INFO): DAT read: user:2160> 2025-01-08T21:56:20.687Z,1736373380.687 [DAT](INFO): DAT read: Tx time:21:56:19.9891 2025-01-08T21:56:20.688Z,1736373380.688 [DAT](INFO): Ping request sent. 2025-01-08T21:56:20.688Z,1736373380.688 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:56:20.688Z,1736373380.688 [DAT](INFO): publishing transmit ping time 2025-01-08T21:56:20.689Z,1736373380.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748 2025-01-08T21:56:20.724Z,1736373380.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:56:20.936Z,1736373380.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:20.937Z,1736373380.937 [DAT](INFO): DAT read: TxSync time:21:56:19.9883 2025-01-08T21:56:20.938Z,1736373380.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249939 2025-01-08T21:56:21.043Z,1736373381.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:21.063Z,1736373381.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:21.091Z,1736373381.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.228302 m, bearing: 262.374975 deg, approach rate: -0.105355 m/s, LOS rate: -0.078818 deg/s, cmd heading: 345.670656 deg, new cmd heading: 345.566411 deg. 2025-01-08T21:56:21.096Z,1736373381.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.031271 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:21.188Z,1736373381.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:21.189Z,1736373381.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500762 2025-01-08T21:56:21.414Z,1736373381.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:21.440Z,1736373381.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:21.441Z,1736373381.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752761 2025-01-08T21:56:21.444Z,1736373381.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:21.446Z,1736373381.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.187561 m, bearing: 262.345013 deg, approach rate: -0.106770 m/s, LOS rate: -0.078530 deg/s, cmd heading: 345.566400 deg, new cmd heading: 345.476504 deg. 2025-01-08T21:56:21.448Z,1736373381.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.029703 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:21.692Z,1736373381.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:21.692Z,1736373381.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004560 2025-01-08T21:56:21.847Z,1736373381.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:21.880Z,1736373381.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:21.882Z,1736373381.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.142883 m, bearing: 262.310749 deg, approach rate: -0.103453 m/s, LOS rate: -0.079347 deg/s, cmd heading: 345.476514 deg, new cmd heading: 345.373713 deg. 2025-01-08T21:56:21.888Z,1736373381.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027908 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:21.947Z,1736373381.947 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:21.948Z,1736373381.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259835 2025-01-08T21:56:22.200Z,1736373382.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:22.202Z,1736373382.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513269 2025-01-08T21:56:22.245Z,1736373382.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:22.254Z,1736373382.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:22.257Z,1736373382.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.100891 m, bearing: 262.279238 deg, approach rate: -0.110840 m/s, LOS rate: -0.083181 deg/s, cmd heading: 345.373706 deg, new cmd heading: 345.279166 deg. 2025-01-08T21:56:22.258Z,1736373382.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026258 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:22.453Z,1736373382.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:22.455Z,1736373382.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766053 2025-01-08T21:56:22.641Z,1736373382.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:22.665Z,1736373382.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:22.688Z,1736373382.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:22.690Z,1736373382.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.058685 m, bearing: 262.247864 deg, approach rate: -0.097303 m/s, LOS rate: -0.072337 deg/s, cmd heading: 345.279177 deg, new cmd heading: 345.185047 deg. 2025-01-08T21:56:22.700Z,1736373382.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024616 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:22.704Z,1736373382.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:22.705Z,1736373382.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016836 2025-01-08T21:56:22.956Z,1736373382.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:22.956Z,1736373382.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268639 2025-01-08T21:56:23.113Z,1736373383.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:23.123Z,1736373383.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:23.128Z,1736373383.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 452.009705 m, bearing: 262.210971 deg, approach rate: -0.112925 m/s, LOS rate: -0.085066 deg/s, cmd heading: 345.185057 deg, new cmd heading: 345.074366 deg. 2025-01-08T21:56:23.129Z,1736373383.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022684 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:23.208Z,1736373383.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:23.209Z,1736373383.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520846 2025-01-08T21:56:23.460Z,1736373383.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:23.460Z,1736373383.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772644 2025-01-08T21:56:23.497Z,1736373383.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:23.507Z,1736373383.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:23.510Z,1736373383.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.969788 m, bearing: 262.180881 deg, approach rate: -0.103628 m/s, LOS rate: -0.078125 deg/s, cmd heading: 345.074353 deg, new cmd heading: 344.984073 deg. 2025-01-08T21:56:23.511Z,1736373383.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021108 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:23.712Z,1736373383.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:23.712Z,1736373383.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024691 2025-01-08T21:56:23.928Z,1736373383.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:23.938Z,1736373383.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:23.940Z,1736373383.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.923584 m, bearing: 262.149199 deg, approach rate: -0.107276 m/s, LOS rate: -0.073566 deg/s, cmd heading: 344.984085 deg, new cmd heading: 344.889031 deg. 2025-01-08T21:56:23.941Z,1736373383.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019449 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:23.976Z,1736373383.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:23.977Z,1736373383.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289682 2025-01-08T21:56:24.228Z,1736373384.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:24.229Z,1736373384.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540843 2025-01-08T21:56:24.304Z,1736373384.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:24.312Z,1736373384.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:24.315Z,1736373384.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.879669 m, bearing: 262.119102 deg, approach rate: -0.117116 m/s, LOS rate: -0.080274 deg/s, cmd heading: 344.889036 deg, new cmd heading: 344.798735 deg. 2025-01-08T21:56:24.316Z,1736373384.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.017873 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:24.480Z,1736373384.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:24.480Z,1736373384.480 [DAT](INFO): DAT read: Rx Time:21:56:23.1517 2025-01-08T21:56:24.481Z,1736373384.481 [DAT](INFO): Rx dataTimestamp_ set to:1736373384.480667 2025-01-08T21:56:24.481Z,1736373384.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793694 2025-01-08T21:56:24.697Z,1736373384.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:24.705Z,1736373384.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:24.706Z,1736373384.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:24.709Z,1736373384.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.835938 m, bearing: 262.089038 deg, approach rate: -0.110985 m/s, LOS rate: -0.076305 deg/s, cmd heading: 344.798741 deg, new cmd heading: 344.708542 deg. 2025-01-08T21:56:24.710Z,1736373384.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.016299 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:24.732Z,1736373384.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:24.732Z,1736373384.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.044682 2025-01-08T21:56:24.984Z,1736373384.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:24.994Z,1736373384.994 [DAT](INFO): DAT read: 21:56:23.1517 LVL= 22672, 32753, 28050, 32755, AGC= 73, IDX= 451, 0.43,-2.539, 2.370,-3.040,-3.030, PHS= 0.578,-0.837,-0.014, RAW= 125.4, 4.5, CAL= 133.3, -1.1, ROT= 16.7, 1.1 2025-01-08T21:56:24.996Z,1736373384.996 [DAT](INFO): got valid direction response: 21:56:23.1517 LVL= 22672, 32753, 28050, 32755, AGC= 73, IDX= 451, 0.43,-2.539, 2.370,-3.040,-3.030, PHS= 0.578,-0.837,-0.014, RAW= 125.4, 4.5, CAL= 133.3, -1.1, ROT= 16.7, 1.1 2025-01-08T21:56:24.997Z,1736373384.997 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:56:24.998Z,1736373384.998 [DAT](INFO): Received a bad header 2025-01-08T21:56:25.011Z,1736373385.011 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:56:25.012Z,1736373385.012 [DAT](INFO): direction in FSK: [-0.209991,-0.493643,0.843932] 2025-01-08T21:56:25.018Z,1736373385.018 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:25.019Z,1736373385.019 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:25.019Z,1736373385.019 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:25.040Z,1736373385.040 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:56:25.149Z,1736373385.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:25.162Z,1736373385.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:25.165Z,1736373385.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.782013 m, bearing: 262.054179 deg, approach rate: -0.118452 m/s, LOS rate: -0.076583 deg/s, cmd heading: 344.708555 deg, new cmd heading: 344.603964 deg. 2025-01-08T21:56:25.166Z,1736373385.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014474 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:25.236Z,1736373385.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:25.237Z,1736373385.237 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:25.237Z,1736373385.237 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:25.237Z,1736373385.237 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:25.488Z,1736373385.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:25.488Z,1736373385.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:25.488Z,1736373385.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:25.488Z,1736373385.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:25.509Z,1736373385.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:25.517Z,1736373385.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:25.521Z,1736373385.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.738983 m, bearing: 262.026424 deg, approach rate: -0.121064 m/s, LOS rate: -0.078095 deg/s, cmd heading: 344.603971 deg, new cmd heading: 344.520699 deg. 2025-01-08T21:56:25.522Z,1736373385.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.013021 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:25.740Z,1736373385.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:25.740Z,1736373385.740 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:25.740Z,1736373385.740 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:25.741Z,1736373385.741 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:25.934Z,1736373385.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:25.945Z,1736373385.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:25.948Z,1736373385.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.674469 m, bearing: 261.993319 deg, approach rate: -0.150968 m/s, LOS rate: -0.077479 deg/s, cmd heading: 344.520698 deg, new cmd heading: 344.421369 deg. 2025-01-08T21:56:25.949Z,1736373385.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.011287 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:25.993Z,1736373385.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:25.994Z,1736373385.994 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:25.994Z,1736373385.994 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:25.994Z,1736373385.994 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:26.244Z,1736373386.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:26.245Z,1736373386.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:26.245Z,1736373386.245 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:26.246Z,1736373386.246 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:26.309Z,1736373386.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:26.338Z,1736373386.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:26.341Z,1736373386.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.617218 m, bearing: 261.964190 deg, approach rate: -0.145535 m/s, LOS rate: -0.074057 deg/s, cmd heading: 344.421359 deg, new cmd heading: 344.333961 deg. 2025-01-08T21:56:26.342Z,1736373386.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009761 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:26.496Z,1736373386.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:26.496Z,1736373386.496 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:26.496Z,1736373386.496 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:26.496Z,1736373386.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:26.731Z,1736373386.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:26.739Z,1736373386.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:26.741Z,1736373386.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:26.744Z,1736373386.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.552704 m, bearing: 261.931406 deg, approach rate: -0.160028 m/s, LOS rate: -0.081333 deg/s, cmd heading: 344.333960 deg, new cmd heading: 344.235594 deg. 2025-01-08T21:56:26.745Z,1736373386.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.008045 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:26.748Z,1736373386.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:26.748Z,1736373386.748 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:26.748Z,1736373386.748 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:26.749Z,1736373386.749 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:26.000Z,1736373387.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:27.000Z,1736373387.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:27.000Z,1736373387.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:27.000Z,1736373387.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:27.161Z,1736373387.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:27.189Z,1736373387.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:27.197Z,1736373387.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.468872 m, bearing: 261.897270 deg, approach rate: -0.187448 m/s, LOS rate: -0.076341 deg/s, cmd heading: 344.235606 deg, new cmd heading: 344.133180 deg. 2025-01-08T21:56:27.198Z,1736373387.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.006257 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:27.254Z,1736373387.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:27.256Z,1736373387.256 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:27.256Z,1736373387.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:27.256Z,1736373387.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:27.504Z,1736373387.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:27.504Z,1736373387.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:27.504Z,1736373387.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:27.505Z,1736373387.505 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:27.565Z,1736373387.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:27.574Z,1736373387.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:27.577Z,1736373387.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.390137 m, bearing: 261.865131 deg, approach rate: -0.204015 m/s, LOS rate: -0.083291 deg/s, cmd heading: 344.133180 deg, new cmd heading: 344.036747 deg. 2025-01-08T21:56:27.578Z,1736373387.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.004574 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:27.756Z,1736373387.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:27.756Z,1736373387.756 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:27.756Z,1736373387.756 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:27.756Z,1736373387.756 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:27.952Z,1736373387.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:27.962Z,1736373387.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:27.965Z,1736373387.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.306915 m, bearing: 261.833352 deg, approach rate: -0.214701 m/s, LOS rate: -0.082001 deg/s, cmd heading: 344.036738 deg, new cmd heading: 343.941383 deg. 2025-01-08T21:56:27.966Z,1736373387.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.002910 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:28.008Z,1736373388.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:28.009Z,1736373388.009 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:28.009Z,1736373388.009 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:28.009Z,1736373388.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:28.260Z,1736373388.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:28.260Z,1736373388.260 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:28.260Z,1736373388.260 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:28.260Z,1736373388.260 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:28.343Z,1736373388.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:28.364Z,1736373388.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:28.366Z,1736373388.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.223022 m, bearing: 261.801503 deg, approach rate: -0.208660 m/s, LOS rate: -0.079230 deg/s, cmd heading: 343.941388 deg, new cmd heading: 343.845824 deg. 2025-01-08T21:56:28.378Z,1736373388.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001242 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:28.512Z,1736373388.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:28.513Z,1736373388.513 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:28.513Z,1736373388.513 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:28.513Z,1736373388.513 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:28.747Z,1736373388.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:28.755Z,1736373388.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:28.758Z,1736373388.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:28.761Z,1736373388.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.134277 m, bearing: 261.768023 deg, approach rate: -0.224919 m/s, LOS rate: -0.084870 deg/s, cmd heading: 343.845820 deg, new cmd heading: 343.745360 deg. 2025-01-08T21:56:28.762Z,1736373388.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999488 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:28.764Z,1736373388.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:28.764Z,1736373388.764 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:28.764Z,1736373388.764 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:28.764Z,1736373388.764 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:29.016Z,1736373389.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:29.016Z,1736373389.016 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:29.016Z,1736373389.016 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:29.016Z,1736373389.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:29.170Z,1736373389.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:29.210Z,1736373389.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:29.222Z,1736373389.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 451.035980 m, bearing: 261.733629 deg, approach rate: -0.217739 m/s, LOS rate: -0.076203 deg/s, cmd heading: 343.745362 deg, new cmd heading: 343.642158 deg. 2025-01-08T21:56:29.240Z,1736373389.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.997687 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:29.268Z,1736373389.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:29.268Z,1736373389.268 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:29.268Z,1736373389.268 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:29.268Z,1736373389.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:29.520Z,1736373389.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:29.520Z,1736373389.520 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:29.520Z,1736373389.520 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:29.520Z,1736373389.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:29.588Z,1736373389.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:29.597Z,1736373389.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:29.600Z,1736373389.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.937958 m, bearing: 261.699484 deg, approach rate: -0.253213 m/s, LOS rate: -0.088225 deg/s, cmd heading: 343.642171 deg, new cmd heading: 343.539712 deg. 2025-01-08T21:56:29.601Z,1736373389.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.995899 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:29.772Z,1736373389.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:29.772Z,1736373389.772 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:29.772Z,1736373389.772 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:29.773Z,1736373389.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:29.978Z,1736373389.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:29.988Z,1736373389.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:29.991Z,1736373389.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.848236 m, bearing: 261.667033 deg, approach rate: -0.229199 m/s, LOS rate: -0.082913 deg/s, cmd heading: 343.539719 deg, new cmd heading: 343.442348 deg. 2025-01-08T21:56:29.992Z,1736373389.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994200 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:30.024Z,1736373390.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:30.024Z,1736373390.024 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:30.024Z,1736373390.024 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:30.025Z,1736373390.025 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:30.276Z,1736373390.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:30.276Z,1736373390.276 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:30.276Z,1736373390.276 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:30.277Z,1736373390.277 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:30.361Z,1736373390.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:30.370Z,1736373390.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:30.373Z,1736373390.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.759827 m, bearing: 261.635165 deg, approach rate: -0.231442 m/s, LOS rate: -0.083443 deg/s, cmd heading: 343.442347 deg, new cmd heading: 343.346723 deg. 2025-01-08T21:56:30.374Z,1736373390.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.992531 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:30.528Z,1736373390.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:30.528Z,1736373390.528 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:30.528Z,1736373390.528 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:30.528Z,1736373390.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:30.762Z,1736373390.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:30.770Z,1736373390.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:30.773Z,1736373390.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:30.784Z,1736373390.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:30.784Z,1736373390.784 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:30.784Z,1736373390.784 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:30.784Z,1736373390.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:30.792Z,1736373390.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.666138 m, bearing: 261.601890 deg, approach rate: -0.232731 m/s, LOS rate: -0.082675 deg/s, cmd heading: 343.346725 deg, new cmd heading: 343.246880 deg. 2025-01-08T21:56:30.797Z,1736373390.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.990788 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:31.036Z,1736373391.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:31.037Z,1736373391.037 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:31.037Z,1736373391.037 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:31.037Z,1736373391.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:31.189Z,1736373391.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:31.198Z,1736373391.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:31.200Z,1736373391.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.578766 m, bearing: 261.566022 deg, approach rate: -0.205832 m/s, LOS rate: -0.084515 deg/s, cmd heading: 343.246867 deg, new cmd heading: 343.139243 deg. 2025-01-08T21:56:31.201Z,1736373391.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.988910 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:31.288Z,1736373391.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:31.289Z,1736373391.289 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:31.289Z,1736373391.289 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:31.290Z,1736373391.290 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:31.540Z,1736373391.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:31.540Z,1736373391.540 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:56:31.541Z,1736373391.541 [DAT](INFO): response not received 2025-01-08T21:56:31.541Z,1736373391.541 [DAT](INFO): DAT read: user:2162> 2025-01-08T21:56:31.542Z,1736373391.542 [DAT](INFO): DAT read: Tx time:21:56:30.9392 2025-01-08T21:56:31.542Z,1736373391.542 [DAT](INFO): Ping request sent. 2025-01-08T21:56:31.542Z,1736373391.542 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:56:31.542Z,1736373391.542 [DAT](INFO): publishing transmit ping time 2025-01-08T21:56:31.543Z,1736373391.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-01-08T21:56:31.620Z,1736373391.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:31.653Z,1736373391.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:31.666Z,1736373391.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.491302 m, bearing: 261.530256 deg, approach rate: -0.192728 m/s, LOS rate: -0.078827 deg/s, cmd heading: 343.139251 deg, new cmd heading: 343.031932 deg. 2025-01-08T21:56:31.669Z,1736373391.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987037 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:31.792Z,1736373391.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:31.793Z,1736373391.793 [DAT](INFO): DAT read: TxSync time:21:56:30.9384 2025-01-08T21:56:31.794Z,1736373391.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251450 2025-01-08T21:56:32.014Z,1736373392.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:32.044Z,1736373392.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:32.045Z,1736373392.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502280 2025-01-08T21:56:32.043Z,1736373392.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:32.050Z,1736373392.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.426941 m, bearing: 261.497423 deg, approach rate: -0.164363 m/s, LOS rate: -0.083859 deg/s, cmd heading: 343.031935 deg, new cmd heading: 342.933422 deg. 2025-01-08T21:56:32.051Z,1736373392.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.985317 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:32.297Z,1736373392.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:32.299Z,1736373392.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756053 2025-01-08T21:56:32.392Z,1736373392.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:32.400Z,1736373392.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:32.404Z,1736373392.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.365173 m, bearing: 261.466350 deg, approach rate: -0.172975 m/s, LOS rate: -0.087029 deg/s, cmd heading: 342.933416 deg, new cmd heading: 342.840185 deg. 2025-01-08T21:56:32.405Z,1736373392.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.983690 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:32.548Z,1736373392.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:32.548Z,1736373392.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006107 2025-01-08T21:56:32.781Z,1736373392.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:32.789Z,1736373392.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:32.792Z,1736373392.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:32.794Z,1736373392.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.300385 m, bearing: 261.434298 deg, approach rate: -0.165555 m/s, LOS rate: -0.081913 deg/s, cmd heading: 342.840198 deg, new cmd heading: 342.744029 deg. 2025-01-08T21:56:32.795Z,1736373392.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982012 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:32.800Z,1736373392.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:32.801Z,1736373392.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258391 2025-01-08T21:56:33.052Z,1736373393.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:33.053Z,1736373393.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510875 2025-01-08T21:56:33.212Z,1736373393.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:33.221Z,1736373393.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:33.224Z,1736373393.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.250702 m, bearing: 261.399875 deg, approach rate: -0.115688 m/s, LOS rate: -0.080163 deg/s, cmd heading: 342.744029 deg, new cmd heading: 342.640750 deg. 2025-01-08T21:56:33.225Z,1736373393.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980209 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:33.304Z,1736373393.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:33.305Z,1736373393.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762274 2025-01-08T21:56:33.556Z,1736373393.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:33.556Z,1736373393.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014176 2025-01-08T21:56:33.590Z,1736373393.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:33.626Z,1736373393.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:33.633Z,1736373393.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.207306 m, bearing: 261.369673 deg, approach rate: -0.107180 m/s, LOS rate: -0.074602 deg/s, cmd heading: 342.640756 deg, new cmd heading: 342.550140 deg. 2025-01-08T21:56:33.634Z,1736373393.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978628 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:33.808Z,1736373393.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:33.808Z,1736373393.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266227 2025-01-08T21:56:34.028Z,1736373394.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:34.038Z,1736373394.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:34.040Z,1736373394.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.176666 m, bearing: 261.335120 deg, approach rate: -0.074390 m/s, LOS rate: -0.083896 deg/s, cmd heading: 342.550133 deg, new cmd heading: 342.446469 deg. 2025-01-08T21:56:34.041Z,1736373394.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976819 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:34.060Z,1736373394.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:34.061Z,1736373394.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518353 2025-01-08T21:56:34.312Z,1736373394.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:34.312Z,1736373394.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770098 2025-01-08T21:56:34.397Z,1736373394.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:34.407Z,1736373394.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:34.429Z,1736373394.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.151123 m, bearing: 261.306000 deg, approach rate: -0.069200 m/s, LOS rate: -0.078895 deg/s, cmd heading: 342.446478 deg, new cmd heading: 342.359114 deg. 2025-01-08T21:56:34.430Z,1736373394.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975294 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:34.564Z,1736373394.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:34.564Z,1736373394.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022092 2025-01-08T21:56:34.805Z,1736373394.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:34.812Z,1736373394.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:34.814Z,1736373394.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:34.816Z,1736373394.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:34.816Z,1736373394.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274229 2025-01-08T21:56:34.820Z,1736373394.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.123199 m, bearing: 261.273796 deg, approach rate: -0.068488 m/s, LOS rate: -0.078994 deg/s, cmd heading: 342.359107 deg, new cmd heading: 342.262487 deg. 2025-01-08T21:56:34.821Z,1736373394.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973607 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:35.068Z,1736373395.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:35.069Z,1736373395.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526523 2025-01-08T21:56:35.237Z,1736373395.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:35.246Z,1736373395.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:35.249Z,1736373395.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.108368 m, bearing: 261.239732 deg, approach rate: -0.034382 m/s, LOS rate: -0.078969 deg/s, cmd heading: 342.262473 deg, new cmd heading: 342.160278 deg. 2025-01-08T21:56:35.250Z,1736373395.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971823 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:35.320Z,1736373395.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:35.321Z,1736373395.321 [DAT](INFO): DAT read: Rx Time:21:56:34.0828 2025-01-08T21:56:35.322Z,1736373395.322 [DAT](INFO): Rx dataTimestamp_ set to:1736373395.321399 2025-01-08T21:56:35.324Z,1736373395.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781415 2025-01-08T21:56:35.572Z,1736373395.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:35.572Z,1736373395.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030177 2025-01-08T21:56:35.628Z,1736373395.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:35.646Z,1736373395.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:35.654Z,1736373395.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.095276 m, bearing: 261.208922 deg, approach rate: -0.032778 m/s, LOS rate: -0.077139 deg/s, cmd heading: 342.160266 deg, new cmd heading: 342.067836 deg. 2025-01-08T21:56:35.660Z,1736373395.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970210 target range: 584.099976 and range: 584.10 m. 2025-01-08T21:56:35.824Z,1736373395.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:35.825Z,1736373395.825 [DAT](INFO): DAT read: Range 10 to 50 : 554.5 m (Round-trip 739.4 ms) speed 0.5 m/s 2025-01-08T21:56:35.826Z,1736373395.826 [DAT](INFO): DAT read: user:2163> 2025-01-08T21:56:35.827Z,1736373395.827 [DAT](INFO): DAT read: Tx time:21:56:35.1892 2025-01-08T21:56:35.828Z,1736373395.828 [DAT](INFO): Ping request sent. 2025-01-08T21:56:35.828Z,1736373395.828 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:56:35.828Z,1736373395.828 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:56:35.828Z,1736373395.828 [DAT](INFO): publishing transmit ping time 2025-01-08T21:56:35.829Z,1736373395.829 [DAT](INFO): publishing transmit ping time 2025-01-08T21:56:36.071Z,1736373396.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:36.076Z,1736373396.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:36.077Z,1736373396.077 [DAT](INFO): DAT read: TxSync time:21:56:35.1884 2025-01-08T21:56:36.104Z,1736373396.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 554.500000 m, deltaT: 37.079962 s, deltaX: -29.599976 m, approachRate: -0.798274 m/s, rangeRepo size: 4 2025-01-08T21:56:36.104Z,1736373396.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:36.115Z,1736373396.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.085388 m, bearing: 261.174370 deg, approach rate: -0.021656 m/s, LOS rate: -0.075679 deg/s, cmd heading: 342.067840 deg, new cmd heading: 341.964180 deg. 2025-01-08T21:56:36.116Z,1736373396.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968401 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:36.328Z,1736373396.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:36.432Z,1736373396.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:36.441Z,1736373396.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:36.444Z,1736373396.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.077301 m, bearing: 261.146228 deg, approach rate: -0.023842 m/s, LOS rate: -0.082967 deg/s, cmd heading: 341.964185 deg, new cmd heading: 341.879759 deg. 2025-01-08T21:56:36.445Z,1736373396.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966928 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:36.580Z,1736373396.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:36.822Z,1736373396.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:36.829Z,1736373396.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:36.831Z,1736373396.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:36.832Z,1736373396.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:36.832Z,1736373396.832 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:36.832Z,1736373396.832 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:36.833Z,1736373396.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:36.838Z,1736373396.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.067749 m, bearing: 261.115861 deg, approach rate: -0.024507 m/s, LOS rate: -0.077913 deg/s, cmd heading: 341.879764 deg, new cmd heading: 341.788661 deg. 2025-01-08T21:56:36.839Z,1736373396.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965337 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:37.084Z,1736373397.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:37.086Z,1736373397.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257215 2025-01-08T21:56:37.255Z,1736373397.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:37.263Z,1736373397.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:37.266Z,1736373397.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.044739 m, bearing: 261.082828 deg, approach rate: -0.053229 m/s, LOS rate: -0.076419 deg/s, cmd heading: 341.788649 deg, new cmd heading: 341.689546 deg. 2025-01-08T21:56:37.267Z,1736373397.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963608 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:37.337Z,1736373397.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:37.338Z,1736373397.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509739 2025-01-08T21:56:37.588Z,1736373397.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:37.588Z,1736373397.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760518 2025-01-08T21:56:37.629Z,1736373397.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:37.638Z,1736373397.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:37.671Z,1736373397.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 450.024872 m, bearing: 261.054230 deg, approach rate: -0.052928 m/s, LOS rate: -0.076194 deg/s, cmd heading: 341.689557 deg, new cmd heading: 341.603758 deg. 2025-01-08T21:56:37.673Z,1736373397.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962111 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:37.840Z,1736373397.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:37.841Z,1736373397.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012781 2025-01-08T21:56:38.082Z,1736373398.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:38.092Z,1736373398.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:38.093Z,1736373398.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264747 2025-01-08T21:56:38.093Z,1736373398.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:38.096Z,1736373398.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 449.979553 m, bearing: 261.020052 deg, approach rate: -0.100048 m/s, LOS rate: -0.075460 deg/s, cmd heading: 341.603770 deg, new cmd heading: 341.501227 deg. 2025-01-08T21:56:38.097Z,1736373398.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960321 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:38.344Z,1736373398.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:38.344Z,1736373398.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516582 2025-01-08T21:56:38.456Z,1736373398.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:38.496Z,1736373398.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:38.498Z,1736373398.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 449.942139 m, bearing: 260.991770 deg, approach rate: -0.092534 m/s, LOS rate: -0.069953 deg/s, cmd heading: 341.501235 deg, new cmd heading: 341.416382 deg. 2025-01-08T21:56:38.503Z,1736373398.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958840 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:38.597Z,1736373398.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:38.598Z,1736373398.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769824 2025-01-08T21:56:38.846Z,1736373398.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:38.848Z,1736373398.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:38.849Z,1736373398.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020757 2025-01-08T21:56:38.856Z,1736373398.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:38.858Z,1736373398.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:38.861Z,1736373398.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 449.902985 m, bearing: 260.962326 deg, approach rate: -0.108027 m/s, LOS rate: -0.081245 deg/s, cmd heading: 341.416377 deg, new cmd heading: 341.328036 deg. 2025-01-08T21:56:38.862Z,1736373398.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.957298 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:39.100Z,1736373399.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:39.100Z,1736373399.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272678 2025-01-08T21:56:39.279Z,1736373399.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:39.288Z,1736373399.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:39.290Z,1736373399.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 449.828430 m, bearing: 260.929302 deg, approach rate: -0.173498 m/s, LOS rate: -0.076863 deg/s, cmd heading: 341.328049 deg, new cmd heading: 341.228961 deg. 2025-01-08T21:56:39.292Z,1736373399.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955569 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:39.353Z,1736373399.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:39.356Z,1736373399.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526801 2025-01-08T21:56:39.604Z,1736373399.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:39.605Z,1736373399.605 [DAT](INFO): DAT read: Rx Time:21:56:38.3495 2025-01-08T21:56:39.605Z,1736373399.605 [DAT](INFO): Rx dataTimestamp_ set to:1736373399.604778 2025-01-08T21:56:39.606Z,1736373399.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777814 2025-01-08T21:56:39.705Z,1736373399.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:39.722Z,1736373399.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:39.729Z,1736373399.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 449.754425 m, bearing: 260.896823 deg, approach rate: -0.170330 m/s, LOS rate: -0.074767 deg/s, cmd heading: 341.228956 deg, new cmd heading: 341.131501 deg. 2025-01-08T21:56:39.730Z,1736373399.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953868 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:39.856Z,1736373399.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:39.856Z,1736373399.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028648 2025-01-08T21:56:40.108Z,1736373400.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:40.116Z,1736373400.116 [DAT](INFO): DAT read: 21:56:38.3496 LVL= 17232, 27185, 28786, 31635, AGC= 73, IDX= 107,-0.01, 0.574,-0.967, 0.053,-0.001, PHS= 0.664,-0.919, 0.052, RAW= 127.5, 3.0, CAL= 134.4, -3.8, ROT= 15.6, 3.8 2025-01-08T21:56:40.117Z,1736373400.117 [DAT](INFO): got valid direction response: 21:56:38.3496 LVL= 17232, 27185, 28786, 31635, AGC= 73, IDX= 107,-0.01, 0.574,-0.967, 0.053,-0.001, PHS= 0.664,-0.919, 0.052, RAW= 127.5, 3.0, CAL= 134.4, -3.8, ROT= 15.6, 3.8 2025-01-08T21:56:40.118Z,1736373400.118 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:56:40.118Z,1736373400.118 [DAT](INFO): Received a bad header 2025-01-08T21:56:40.121Z,1736373400.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:40.131Z,1736373400.131 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:56:40.132Z,1736373400.132 [DAT](INFO): direction in FSK: [-0.181880,-0.529270,0.828730] 2025-01-08T21:56:40.155Z,1736373400.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:40.156Z,1736373400.156 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:40.156Z,1736373400.156 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:40.156Z,1736373400.156 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:40.161Z,1736373400.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 449.653778 m, bearing: 260.864417 deg, approach rate: -0.232824 m/s, LOS rate: -0.074979 deg/s, cmd heading: 341.131503 deg, new cmd heading: 341.034265 deg. 2025-01-08T21:56:40.162Z,1736373400.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952171 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:40.362Z,1736373400.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:40.364Z,1736373400.364 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:40.364Z,1736373400.364 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:40.364Z,1736373400.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:40.481Z,1736373400.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:40.490Z,1736373400.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:40.509Z,1736373400.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 449.566650 m, bearing: 260.836302 deg, approach rate: -0.259892 m/s, LOS rate: -0.083880 deg/s, cmd heading: 341.034269 deg, new cmd heading: 340.949908 deg. 2025-01-08T21:56:40.510Z,1736373400.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950698 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:40.618Z,1736373400.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:40.619Z,1736373400.619 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:40.620Z,1736373400.620 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:40.620Z,1736373400.620 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:40.860Z,1736373400.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:40.868Z,1736373400.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:40.869Z,1736373400.869 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:40.869Z,1736373400.869 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:40.869Z,1736373400.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:40.904Z,1736373400.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:40.906Z,1736373400.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:40.913Z,1736373400.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 449.473663 m, bearing: 260.806798 deg, approach rate: -0.223524 m/s, LOS rate: -0.070937 deg/s, cmd heading: 340.949902 deg, new cmd heading: 340.861372 deg. 2025-01-08T21:56:40.914Z,1736373400.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949153 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:41.122Z,1736373401.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:41.124Z,1736373401.124 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:41.125Z,1736373401.125 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:41.125Z,1736373401.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:41.306Z,1736373401.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:41.316Z,1736373401.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:41.319Z,1736373401.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 449.339233 m, bearing: 260.771646 deg, approach rate: -0.327374 m/s, LOS rate: -0.085631 deg/s, cmd heading: 340.861383 deg, new cmd heading: 340.755894 deg. 2025-01-08T21:56:41.320Z,1736373401.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947312 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:41.373Z,1736373401.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:41.375Z,1736373401.375 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:41.378Z,1736373401.378 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:41.379Z,1736373401.379 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:41.624Z,1736373401.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:41.624Z,1736373401.624 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:41.624Z,1736373401.624 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:41.625Z,1736373401.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:41.728Z,1736373401.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:41.737Z,1736373401.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:41.739Z,1736373401.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 449.210541 m, bearing: 260.738542 deg, approach rate: -0.306302 m/s, LOS rate: -0.078813 deg/s, cmd heading: 340.755897 deg, new cmd heading: 340.656557 deg. 2025-01-08T21:56:41.740Z,1736373401.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945579 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:41.876Z,1736373401.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:41.877Z,1736373401.877 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:41.877Z,1736373401.877 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:41.878Z,1736373401.878 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:42.128Z,1736373402.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:42.128Z,1736373402.128 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:42.128Z,1736373402.128 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:42.129Z,1736373402.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:42.146Z,1736373402.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:42.179Z,1736373402.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:42.186Z,1736373402.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 449.069885 m, bearing: 260.705713 deg, approach rate: -0.318286 m/s, LOS rate: -0.074311 deg/s, cmd heading: 340.656559 deg, new cmd heading: 340.558041 deg. 2025-01-08T21:56:42.194Z,1736373402.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943859 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:42.381Z,1736373402.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:42.382Z,1736373402.382 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:42.382Z,1736373402.382 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:42.383Z,1736373402.383 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:42.610Z,1736373402.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:42.632Z,1736373402.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:42.632Z,1736373402.632 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:42.632Z,1736373402.632 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:42.632Z,1736373402.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:42.641Z,1736373402.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:42.649Z,1736373402.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 448.912140 m, bearing: 260.669421 deg, approach rate: -0.341314 m/s, LOS rate: -0.078552 deg/s, cmd heading: 340.558040 deg, new cmd heading: 340.449127 deg. 2025-01-08T21:56:42.651Z,1736373402.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941958 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:42.884Z,1736373402.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:42.884Z,1736373402.884 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:42.884Z,1736373402.884 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:42.884Z,1736373402.884 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:43.016Z,1736373403.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:43.041Z,1736373403.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:43.048Z,1736373403.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:43.052Z,1736373403.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 448.773499 m, bearing: 260.637740 deg, approach rate: -0.342122 m/s, LOS rate: -0.078202 deg/s, cmd heading: 340.449140 deg, new cmd heading: 340.354068 deg. 2025-01-08T21:56:43.053Z,1736373403.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940299 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:43.136Z,1736373403.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:43.137Z,1736373403.137 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:43.137Z,1736373403.137 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:43.137Z,1736373403.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:43.388Z,1736373403.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:43.388Z,1736373403.388 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:43.388Z,1736373403.388 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:43.388Z,1736373403.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:43.470Z,1736373403.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:43.479Z,1736373403.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:43.485Z,1736373403.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 448.619415 m, bearing: 260.601475 deg, approach rate: -0.356495 m/s, LOS rate: -0.083933 deg/s, cmd heading: 340.354064 deg, new cmd heading: 340.245232 deg. 2025-01-08T21:56:43.488Z,1736373403.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938400 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:43.640Z,1736373403.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:43.641Z,1736373403.641 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:43.642Z,1736373403.642 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:43.642Z,1736373403.642 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:43.817Z,1736373403.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:43.827Z,1736373403.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:43.830Z,1736373403.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 448.500885 m, bearing: 260.573765 deg, approach rate: -0.340130 m/s, LOS rate: -0.079537 deg/s, cmd heading: 340.245245 deg, new cmd heading: 340.162093 deg. 2025-01-08T21:56:43.831Z,1736373403.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936948 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:43.892Z,1736373403.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:43.892Z,1736373403.892 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:43.892Z,1736373403.892 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:43.893Z,1736373403.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:44.144Z,1736373404.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:44.144Z,1736373404.144 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:44.144Z,1736373404.144 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:44.144Z,1736373404.144 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:44.270Z,1736373404.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:44.278Z,1736373404.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:44.281Z,1736373404.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 448.366486 m, bearing: 260.538268 deg, approach rate: -0.297544 m/s, LOS rate: -0.078610 deg/s, cmd heading: 340.162081 deg, new cmd heading: 340.055557 deg. 2025-01-08T21:56:44.282Z,1736373404.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935089 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:44.396Z,1736373404.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:44.397Z,1736373404.397 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:44.397Z,1736373404.397 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:44.397Z,1736373404.397 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:44.621Z,1736373404.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:44.649Z,1736373404.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:44.650Z,1736373404.650 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:44.650Z,1736373404.650 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:44.650Z,1736373404.650 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:44.657Z,1736373404.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:44.682Z,1736373404.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 448.261475 m, bearing: 260.510681 deg, approach rate: -0.297627 m/s, LOS rate: -0.078208 deg/s, cmd heading: 340.055557 deg, new cmd heading: 339.972776 deg. 2025-01-08T21:56:44.683Z,1736373404.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933644 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:44.900Z,1736373404.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:44.901Z,1736373404.901 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:44.901Z,1736373404.901 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:44.902Z,1736373404.902 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:45.028Z,1736373405.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:45.037Z,1736373405.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:45.040Z,1736373405.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 448.140198 m, bearing: 260.478764 deg, approach rate: -0.299023 m/s, LOS rate: -0.078716 deg/s, cmd heading: 339.972775 deg, new cmd heading: 339.876999 deg. 2025-01-08T21:56:45.041Z,1736373405.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931973 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:45.154Z,1736373405.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:45.156Z,1736373405.156 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:45.156Z,1736373405.156 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:45.156Z,1736373405.156 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:45.404Z,1736373405.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:45.404Z,1736373405.404 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:45.404Z,1736373405.404 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:45.404Z,1736373405.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:45.491Z,1736373405.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:45.508Z,1736373405.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:45.510Z,1736373405.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:45.518Z,1736373405.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 448.034546 m, bearing: 260.443108 deg, approach rate: -0.223341 m/s, LOS rate: -0.075391 deg/s, cmd heading: 339.876989 deg, new cmd heading: 339.769997 deg. 2025-01-08T21:56:45.519Z,1736373405.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930105 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:45.657Z,1736373405.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:45.657Z,1736373405.657 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:45.658Z,1736373405.658 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:45.658Z,1736373405.658 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:45.840Z,1736373405.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:45.849Z,1736373405.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:45.852Z,1736373405.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.954620 m, bearing: 260.416072 deg, approach rate: -0.235874 m/s, LOS rate: -0.079804 deg/s, cmd heading: 339.770001 deg, new cmd heading: 339.688876 deg. 2025-01-08T21:56:45.853Z,1736373405.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928689 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:45.910Z,1736373405.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:45.911Z,1736373405.911 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:45.912Z,1736373405.912 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:45.912Z,1736373405.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:46.162Z,1736373406.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:46.162Z,1736373406.162 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:46.162Z,1736373406.162 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:46.162Z,1736373406.162 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:46.275Z,1736373406.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:46.284Z,1736373406.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:46.304Z,1736373406.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.889984 m, bearing: 260.382571 deg, approach rate: -0.148480 m/s, LOS rate: -0.076968 deg/s, cmd heading: 339.688885 deg, new cmd heading: 339.588369 deg. 2025-01-08T21:56:46.305Z,1736373406.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926935 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:46.412Z,1736373406.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:46.412Z,1736373406.412 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:46.412Z,1736373406.412 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:46.413Z,1736373406.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:46.664Z,1736373406.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:46.665Z,1736373406.665 [DAT](INFO): Reached modem response timeout 2025-01-08T21:56:46.665Z,1736373406.665 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:56:46.665Z,1736373406.665 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:46.663Z,1736373406.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:46.683Z,1736373406.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:46.717Z,1736373406.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.832520 m, bearing: 260.352755 deg, approach rate: -0.144562 m/s, LOS rate: -0.075018 deg/s, cmd heading: 339.588372 deg, new cmd heading: 339.498911 deg. 2025-01-08T21:56:46.719Z,1736373406.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925374 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:46.916Z,1736373406.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:46.916Z,1736373406.916 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:56:46.917Z,1736373406.917 [DAT](INFO): response not received 2025-01-08T21:56:46.917Z,1736373406.917 [DAT](INFO): DAT read: user:2165> 2025-01-08T21:56:46.918Z,1736373406.918 [DAT](INFO): DAT read: Tx time:21:56:46.1393 2025-01-08T21:56:46.918Z,1736373406.918 [DAT](INFO): Ping request sent. 2025-01-08T21:56:46.919Z,1736373406.919 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:56:46.920Z,1736373406.920 [DAT](INFO): publishing transmit ping time 2025-01-08T21:56:46.921Z,1736373406.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002277 2025-01-08T21:56:47.072Z,1736373407.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:47.081Z,1736373407.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:47.084Z,1736373407.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.771881 m, bearing: 260.321204 deg, approach rate: -0.151898 m/s, LOS rate: -0.079043 deg/s, cmd heading: 339.498924 deg, new cmd heading: 339.404261 deg. 2025-01-08T21:56:47.085Z,1736373407.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923722 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:47.170Z,1736373407.170 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:47.173Z,1736373407.173 [DAT](INFO): DAT read: TxSync time:21:56:46.1385 2025-01-08T21:56:47.176Z,1736373407.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256686 2025-01-08T21:56:47.420Z,1736373407.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:47.420Z,1736373407.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502015 2025-01-08T21:56:47.503Z,1736373407.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:47.517Z,1736373407.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:47.528Z,1736373407.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:47.530Z,1736373407.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.732056 m, bearing: 260.288389 deg, approach rate: -0.090776 m/s, LOS rate: -0.074804 deg/s, cmd heading: 339.404258 deg, new cmd heading: 339.305803 deg. 2025-01-08T21:56:47.532Z,1736373407.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922003 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:47.672Z,1736373407.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:47.674Z,1736373407.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755207 2025-01-08T21:56:47.863Z,1736373407.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:47.872Z,1736373407.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:47.875Z,1736373407.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.697937 m, bearing: 260.260939 deg, approach rate: -0.096677 m/s, LOS rate: -0.077786 deg/s, cmd heading: 339.305794 deg, new cmd heading: 339.223438 deg. 2025-01-08T21:56:47.876Z,1736373407.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920566 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:47.924Z,1736373407.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:47.925Z,1736373407.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006273 2025-01-08T21:56:48.177Z,1736373408.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:48.180Z,1736373408.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261120 2025-01-08T21:56:48.296Z,1736373408.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:48.306Z,1736373408.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:48.309Z,1736373408.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.679291 m, bearing: 260.227370 deg, approach rate: -0.042961 m/s, LOS rate: -0.077347 deg/s, cmd heading: 339.223449 deg, new cmd heading: 339.122737 deg. 2025-01-08T21:56:48.310Z,1736373408.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918808 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:48.429Z,1736373408.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:48.430Z,1736373408.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511308 2025-01-08T21:56:48.680Z,1736373408.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:48.681Z,1736373408.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762565 2025-01-08T21:56:48.700Z,1736373408.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:48.729Z,1736373408.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:48.737Z,1736373408.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.662079 m, bearing: 260.196162 deg, approach rate: -0.040692 m/s, LOS rate: -0.073784 deg/s, cmd heading: 339.122745 deg, new cmd heading: 339.029116 deg. 2025-01-08T21:56:48.738Z,1736373408.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917174 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:48.932Z,1736373408.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:48.933Z,1736373408.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014846 2025-01-08T21:56:49.186Z,1736373409.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:49.189Z,1736373409.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270262 2025-01-08T21:56:49.279Z,1736373409.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:49.293Z,1736373409.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:49.300Z,1736373409.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.645172 m, bearing: 260.151940 deg, approach rate: -0.030022 m/s, LOS rate: -0.078530 deg/s, cmd heading: 339.029116 deg, new cmd heading: 338.896445 deg. 2025-01-08T21:56:49.301Z,1736373409.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.914859 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:49.437Z,1736373409.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:49.438Z,1736373409.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519776 2025-01-08T21:56:49.610Z,1736373409.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:49.628Z,1736373409.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:49.632Z,1736373409.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:49.636Z,1736373409.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.635559 m, bearing: 260.126517 deg, approach rate: -0.028272 m/s, LOS rate: -0.074769 deg/s, cmd heading: 338.896447 deg, new cmd heading: 338.820177 deg. 2025-01-08T21:56:49.637Z,1736373409.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913527 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:49.688Z,1736373409.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:49.689Z,1736373409.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770232 2025-01-08T21:56:49.940Z,1736373409.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:49.940Z,1736373409.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022157 2025-01-08T21:56:50.001Z,1736373410.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:50.010Z,1736373410.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:50.013Z,1736373410.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.624817 m, bearing: 260.096669 deg, approach rate: -0.028423 m/s, LOS rate: -0.078976 deg/s, cmd heading: 338.820167 deg, new cmd heading: 338.730622 deg. 2025-01-08T21:56:50.014Z,1736373410.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911964 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:50.195Z,1736373410.195 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:50.197Z,1736373410.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278448 2025-01-08T21:56:50.444Z,1736373410.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:50.445Z,1736373410.445 [DAT](INFO): DAT read: Rx Time:21:56:49.2918 2025-01-08T21:56:50.445Z,1736373410.445 [DAT](INFO): Rx dataTimestamp_ set to:1736373410.444895 2025-01-08T21:56:50.446Z,1736373410.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527432 2025-01-08T21:56:50.474Z,1736373410.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:50.499Z,1736373410.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:50.506Z,1736373410.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.602417 m, bearing: 260.060312 deg, approach rate: -0.045875 m/s, LOS rate: -0.074463 deg/s, cmd heading: 338.730610 deg, new cmd heading: 338.621533 deg. 2025-01-08T21:56:50.506Z,1736373410.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910061 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:50.696Z,1736373410.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:50.696Z,1736373410.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778089 2025-01-08T21:56:50.798Z,1736373410.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:50.808Z,1736373410.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 584.10 m. 2025-01-08T21:56:50.810Z,1736373410.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 584.099976 m, nav range: 447.587219 m, bearing: 260.035400 deg, approach rate: -0.049234 m/s, LOS rate: -0.080708 deg/s, cmd heading: 338.621545 deg, new cmd heading: 338.546806 deg. 2025-01-08T21:56:50.811Z,1736373410.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908756 target range: 584.099976 and range: 554.50 m. 2025-01-08T21:56:50.848Z,1736373410.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:56:50.949Z,1736373410.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:50.952Z,1736373410.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032841 2025-01-08T21:56:51.201Z,1736373411.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:51.254Z,1736373411.254 [DAT](INFO): DAT read: 21:56:49.2918 LVL= 27104, 32753, 32754, 32755, AGC= 72, IDX= 363,-0.18, 2.149, 0.706, 1.674, 1.578, PHS= 0.659,-0.825, 0.093, RAW= 127.8, 1.1, CAL= 134.4, -6.7, ROT= 15.6, 6.7 2025-01-08T21:56:51.260Z,1736373411.260 [DAT](INFO): got valid direction response: 21:56:49.2918 LVL= 27104, 32753, 32754, 32755, AGC= 72, IDX= 363,-0.18, 2.149, 0.706, 1.674, 1.578, PHS= 0.659,-0.825, 0.093, RAW= 127.8, 1.1, CAL= 134.4, -6.7, ROT= 15.6, 6.7 2025-01-08T21:56:51.261Z,1736373411.261 [DAT](INFO): DAT read: Bearing 15.6, 6.7 (Local) 2025-01-08T21:56:51.261Z,1736373411.261 [DAT](INFO): Local bearing/azimuth received: Bearing 15.6, 6.7 (Local) 2025-01-08T21:56:51.283Z,1736373411.283 [DAT](INFO): DAT read: Range 10 to 50 : 561.2 m (Round-trip 748.3 ms) speed 0.6 m/s 2025-01-08T21:56:51.284Z,1736373411.284 [DAT](INFO): DAT read: user:2166> 2025-01-08T21:56:51.285Z,1736373411.285 [DAT](INFO): DAT read: Tx time:21:56:50.3894 2025-01-08T21:56:51.286Z,1736373411.286 [DAT](INFO): Ping request sent. 2025-01-08T21:56:51.286Z,1736373411.286 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:56:51.287Z,1736373411.287 [DAT](INFO): DAT read: TxSync time:21:56:50.3886 2025-01-08T21:56:51.296Z,1736373411.296 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:56:51.297Z,1736373411.297 [DAT](INFO): direction in FSK: [-0.146575,-0.537964,0.830127] 2025-01-08T21:56:51.297Z,1736373411.297 [DAT](INFO): publishing transmit ping time 2025-01-08T21:56:51.297Z,1736373411.297 [DAT](INFO): publishing direction and range info 2025-01-08T21:56:51.309Z,1736373411.309 [DAT](INFO): publishing transmit ping time 2025-01-08T21:56:51.309Z,1736373411.309 [DAT](INFO): publishing direction and range info 2025-01-08T21:56:51.363Z,1736373411.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:51.417Z,1736373411.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 561.200012 m, deltaT: 15.378053 s, deltaX: 6.700012 m, approachRate: 0.435687 m/s, rangeRepo size: 4 2025-01-08T21:56:51.428Z,1736373411.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 561.200012 m, bearing: 235.502896 deg, lat: 36.897953 deg, lon: -122.123748 deg, deltaT: 52.458015 s, deltaX: -22.899963 m, approachRate: -0.436539 m/s, posRepo size: 4 2025-01-08T21:56:51.429Z,1736373411.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:51.436Z,1736373411.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 410.394470 m, bearing: 246.295388 deg, approach rate: 0.000000 m/s, LOS rate: -0.080708 deg/s, cmd heading: 338.546796 deg, new cmd heading: 338.400537 deg. 2025-01-08T21:56:51.437Z,1736373411.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906204 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:51.453Z,1736373411.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:51.704Z,1736373411.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:51.742Z,1736373411.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:51.749Z,1736373411.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:51.751Z,1736373411.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:51.755Z,1736373411.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 410.409088 m, bearing: 246.262587 deg, approach rate: 0.043052 m/s, LOS rate: -0.096600 deg/s, cmd heading: 338.400548 deg, new cmd heading: 338.302149 deg. 2025-01-08T21:56:51.756Z,1736373411.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904486 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:51.853Z,1736373411.853 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:56:51.956Z,1736373411.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:51.956Z,1736373411.956 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:51.956Z,1736373411.956 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:51.957Z,1736373411.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:56:52.136Z,1736373412.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:52.147Z,1736373412.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:52.150Z,1736373412.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 410.424347 m, bearing: 246.228512 deg, approach rate: 0.038543 m/s, LOS rate: -0.086067 deg/s, cmd heading: 338.302138 deg, new cmd heading: 338.199918 deg. 2025-01-08T21:56:52.151Z,1736373412.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902702 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:52.210Z,1736373412.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:52.214Z,1736373412.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.926908 2025-01-08T21:56:52.460Z,1736373412.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:52.460Z,1736373412.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.174272 2025-01-08T21:56:52.573Z,1736373412.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:52.590Z,1736373412.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:52.597Z,1736373412.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 410.408936 m, bearing: 246.189628 deg, approach rate: -0.034792 m/s, LOS rate: -0.087787 deg/s, cmd heading: 338.199931 deg, new cmd heading: 338.083274 deg. 2025-01-08T21:56:52.598Z,1736373412.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900666 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:52.712Z,1736373412.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:52.714Z,1736373412.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.427336 2025-01-08T21:56:52.952Z,1736373412.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:52.961Z,1736373412.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:52.964Z,1736373412.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:52.965Z,1736373412.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678595 2025-01-08T21:56:52.966Z,1736373412.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 410.395386 m, bearing: 246.155872 deg, approach rate: -0.036531 m/s, LOS rate: -0.091010 deg/s, cmd heading: 338.083272 deg, new cmd heading: 337.982000 deg. 2025-01-08T21:56:52.967Z,1736373412.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898899 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:53.218Z,1736373413.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:53.221Z,1736373413.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.933952 2025-01-08T21:56:53.364Z,1736373413.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:53.374Z,1736373413.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:53.377Z,1736373413.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 410.354919 m, bearing: 246.117995 deg, approach rate: -0.097992 m/s, LOS rate: -0.091732 deg/s, cmd heading: 337.981994 deg, new cmd heading: 337.868351 deg. 2025-01-08T21:56:53.378Z,1736373413.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896915 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:53.468Z,1736373413.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:53.469Z,1736373413.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.182816 2025-01-08T21:56:53.720Z,1736373413.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:53.720Z,1736373413.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434291 2025-01-08T21:56:53.761Z,1736373413.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:53.775Z,1736373413.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:53.779Z,1736373413.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:53.785Z,1736373413.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 410.315277 m, bearing: 246.081600 deg, approach rate: -0.097942 m/s, LOS rate: -0.089926 deg/s, cmd heading: 337.868339 deg, new cmd heading: 337.759145 deg. 2025-01-08T21:56:53.786Z,1736373413.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895009 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:53.972Z,1736373413.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:53.972Z,1736373413.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.686263 2025-01-08T21:56:54.173Z,1736373414.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:54.209Z,1736373414.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:54.217Z,1736373414.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 410.274353 m, bearing: 246.043900 deg, approach rate: -0.095080 m/s, LOS rate: -0.087597 deg/s, cmd heading: 337.759138 deg, new cmd heading: 337.646028 deg. 2025-01-08T21:56:54.226Z,1736373414.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:54.229Z,1736373414.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.941917 2025-01-08T21:56:54.269Z,1736373414.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.893035 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:54.476Z,1736373414.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:54.476Z,1736373414.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.190216 2025-01-08T21:56:54.582Z,1736373414.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:54.630Z,1736373414.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:54.636Z,1736373414.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 410.207886 m, bearing: 246.005604 deg, approach rate: -0.158006 m/s, LOS rate: -0.091052 deg/s, cmd heading: 337.646030 deg, new cmd heading: 337.531124 deg. 2025-01-08T21:56:54.637Z,1736373414.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891029 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:54.729Z,1736373414.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:54.744Z,1736373414.744 [DAT](INFO): DAT read: 21:56:53.5386 LVL= 29552, 32753, 32658, 32755, AGC= 71, IDX= 409,-0.08,-0.291,-1.789,-0.820,-0.893, PHS= 0.690,-0.849, 0.070, RAW= 126.4, 1.4, CAL= 133.3, -6.2, ROT= 16.7, 6.2 2025-01-08T21:56:54.745Z,1736373414.745 [DAT](INFO): got valid direction response: 21:56:53.5386 LVL= 29552, 32753, 32658, 32755, AGC= 71, IDX= 409,-0.08,-0.291,-1.789,-0.820,-0.893, PHS= 0.690,-0.849, 0.070, RAW= 126.4, 1.4, CAL= 133.3, -6.2, ROT= 16.7, 6.2 2025-01-08T21:56:54.745Z,1736373414.745 [DAT](INFO): DAT read: Rx Time:21:56:53.5386 2025-01-08T21:56:54.746Z,1736373414.746 [DAT](INFO): Rx dataTimestamp_ set to:1736373414.745597 2025-01-08T21:56:54.747Z,1736373414.747 [DAT](INFO): DAT read: $Low SNR acquisition 2025-01-08T21:56:54.747Z,1736373414.747 [DAT](INFO): Received low SNR in chirp 2025-01-08T21:56:54.760Z,1736373414.760 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:56:54.760Z,1736373414.760 [DAT](INFO): direction in FSK: [-0.150018,-0.515894,0.843414] 2025-01-08T21:56:54.776Z,1736373414.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:54.776Z,1736373414.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:54.777Z,1736373414.777 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:54.980Z,1736373414.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:54.980Z,1736373414.980 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:54.980Z,1736373414.980 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:54.981Z,1736373414.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:55.011Z,1736373415.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:55.021Z,1736373415.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:55.052Z,1736373415.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 410.137421 m, bearing: 245.965415 deg, approach rate: -0.180055 m/s, LOS rate: -0.102711 deg/s, cmd heading: 337.531119 deg, new cmd heading: 337.410530 deg. 2025-01-08T21:56:55.054Z,1736373415.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888925 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:55.232Z,1736373415.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:55.232Z,1736373415.232 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:55.232Z,1736373415.232 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:55.232Z,1736373415.232 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:55.435Z,1736373415.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:55.444Z,1736373415.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:55.446Z,1736373415.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 410.050476 m, bearing: 245.924956 deg, approach rate: -0.205771 m/s, LOS rate: -0.095774 deg/s, cmd heading: 337.410525 deg, new cmd heading: 337.289124 deg. 2025-01-08T21:56:55.448Z,1736373415.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886806 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:55.484Z,1736373415.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:55.484Z,1736373415.484 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:55.484Z,1736373415.484 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:55.485Z,1736373415.485 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:55.737Z,1736373415.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:55.738Z,1736373415.738 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:55.739Z,1736373415.739 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:55.739Z,1736373415.739 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:55.816Z,1736373415.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:55.823Z,1736373415.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:55.825Z,1736373415.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:55.828Z,1736373415.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.971558 m, bearing: 245.888554 deg, approach rate: -0.206732 m/s, LOS rate: -0.095377 deg/s, cmd heading: 337.289112 deg, new cmd heading: 337.179884 deg. 2025-01-08T21:56:55.829Z,1736373415.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.884899 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:55.988Z,1736373415.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:55.988Z,1736373415.988 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:55.988Z,1736373415.988 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:55.989Z,1736373415.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:56.216Z,1736373416.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:56.231Z,1736373416.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:56.234Z,1736373416.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.887787 m, bearing: 245.850291 deg, approach rate: -0.206577 m/s, LOS rate: -0.094374 deg/s, cmd heading: 337.179884 deg, new cmd heading: 337.065073 deg. 2025-01-08T21:56:56.234Z,1736373416.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882895 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:56.250Z,1736373416.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:56.251Z,1736373416.251 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:56.252Z,1736373416.252 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:56.252Z,1736373416.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:56.500Z,1736373416.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:56.501Z,1736373416.501 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:56.501Z,1736373416.501 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:56.501Z,1736373416.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:56.692Z,1736373416.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:56.710Z,1736373416.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:56.718Z,1736373416.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.798279 m, bearing: 245.807771 deg, approach rate: -0.186910 m/s, LOS rate: -0.088810 deg/s, cmd heading: 337.065082 deg, new cmd heading: 336.937494 deg. 2025-01-08T21:56:56.724Z,1736373416.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.880669 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:56.753Z,1736373416.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:56.754Z,1736373416.754 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:56.754Z,1736373416.754 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:56.754Z,1736373416.754 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:57.004Z,1736373417.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:57.004Z,1736373417.004 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:57.004Z,1736373417.004 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:57.005Z,1736373417.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:57.026Z,1736373417.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:57.034Z,1736373417.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:57.038Z,1736373417.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.729340 m, bearing: 245.775237 deg, approach rate: -0.212349 m/s, LOS rate: -0.100230 deg/s, cmd heading: 336.937494 deg, new cmd heading: 336.839875 deg. 2025-01-08T21:56:57.039Z,1736373417.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878965 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:57.258Z,1736373417.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:57.259Z,1736373417.259 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:57.259Z,1736373417.259 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:57.260Z,1736373417.260 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:57.454Z,1736373417.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:57.463Z,1736373417.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:57.466Z,1736373417.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.653168 m, bearing: 245.735909 deg, approach rate: -0.177762 m/s, LOS rate: -0.091797 deg/s, cmd heading: 336.839877 deg, new cmd heading: 336.721870 deg. 2025-01-08T21:56:57.466Z,1736373417.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876905 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:57.508Z,1736373417.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:57.508Z,1736373417.508 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:57.509Z,1736373417.509 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:57.509Z,1736373417.509 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:57.760Z,1736373417.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:57.760Z,1736373417.760 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:57.760Z,1736373417.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:57.760Z,1736373417.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:57.840Z,1736373417.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:57.846Z,1736373417.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:57.849Z,1736373417.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:57.853Z,1736373417.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.584320 m, bearing: 245.700479 deg, approach rate: -0.178463 m/s, LOS rate: -0.091855 deg/s, cmd heading: 336.721878 deg, new cmd heading: 336.615570 deg. 2025-01-08T21:56:57.854Z,1736373417.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875050 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:58.012Z,1736373418.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:58.012Z,1736373418.012 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:58.012Z,1736373418.012 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:58.012Z,1736373418.012 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:58.240Z,1736373418.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:58.248Z,1736373418.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:58.251Z,1736373418.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.512482 m, bearing: 245.663773 deg, approach rate: -0.179731 m/s, LOS rate: -0.091848 deg/s, cmd heading: 336.615573 deg, new cmd heading: 336.505438 deg. 2025-01-08T21:56:58.253Z,1736373418.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873128 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:58.264Z,1736373418.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:58.264Z,1736373418.264 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:58.264Z,1736373418.264 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:58.264Z,1736373418.264 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:58.517Z,1736373418.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:58.518Z,1736373418.518 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:58.518Z,1736373418.518 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:58.518Z,1736373418.518 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:58.710Z,1736373418.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:58.734Z,1736373418.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:58.741Z,1736373418.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.448761 m, bearing: 245.621621 deg, approach rate: -0.131168 m/s, LOS rate: -0.086783 deg/s, cmd heading: 336.505443 deg, new cmd heading: 336.378968 deg. 2025-01-08T21:56:58.742Z,1736373418.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870921 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:58.770Z,1736373418.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:58.772Z,1736373418.772 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:58.773Z,1736373418.773 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:58.773Z,1736373418.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:59.020Z,1736373419.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:59.021Z,1736373419.021 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:59.021Z,1736373419.021 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:59.021Z,1736373419.021 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:59.097Z,1736373419.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:59.120Z,1736373419.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:59.122Z,1736373419.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.396515 m, bearing: 245.586922 deg, approach rate: -0.136989 m/s, LOS rate: -0.090992 deg/s, cmd heading: 336.378976 deg, new cmd heading: 336.274866 deg. 2025-01-08T21:56:59.128Z,1736373419.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869103 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:59.272Z,1736373419.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:59.272Z,1736373419.272 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:59.272Z,1736373419.272 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:59.273Z,1736373419.273 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:59.482Z,1736373419.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:59.492Z,1736373419.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:59.495Z,1736373419.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.367554 m, bearing: 245.553953 deg, approach rate: -0.076873 m/s, LOS rate: -0.087519 deg/s, cmd heading: 336.274856 deg, new cmd heading: 336.175940 deg. 2025-01-08T21:56:59.516Z,1736373419.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867377 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:56:59.524Z,1736373419.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:59.524Z,1736373419.524 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:59.524Z,1736373419.524 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:59.524Z,1736373419.524 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:59.776Z,1736373419.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:56:59.776Z,1736373419.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:56:59.776Z,1736373419.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:56:59.776Z,1736373419.776 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:56:59.873Z,1736373419.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:56:59.880Z,1736373419.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:56:59.882Z,1736373419.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:56:59.886Z,1736373419.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.338013 m, bearing: 245.520494 deg, approach rate: -0.075781 m/s, LOS rate: -0.085836 deg/s, cmd heading: 336.175928 deg, new cmd heading: 336.075545 deg. 2025-01-08T21:56:59.888Z,1736373419.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865625 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:00.028Z,1736373420.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:00.028Z,1736373420.028 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:00.028Z,1736373420.028 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:00.028Z,1736373420.028 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:00.280Z,1736373420.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:00.280Z,1736373420.280 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:00.280Z,1736373420.280 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:00.280Z,1736373420.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:00.291Z,1736373420.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:00.325Z,1736373420.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:00.356Z,1736373420.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.306641 m, bearing: 245.484750 deg, approach rate: -0.075216 m/s, LOS rate: -0.085707 deg/s, cmd heading: 336.075551 deg, new cmd heading: 335.968309 deg. 2025-01-08T21:57:00.366Z,1736373420.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863753 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:00.532Z,1736373420.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:00.533Z,1736373420.533 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:00.533Z,1736373420.533 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:00.534Z,1736373420.534 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:00.749Z,1736373420.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:00.762Z,1736373420.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:00.765Z,1736373420.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.293976 m, bearing: 245.446336 deg, approach rate: -0.027347 m/s, LOS rate: -0.082948 deg/s, cmd heading: 335.968317 deg, new cmd heading: 335.853074 deg. 2025-01-08T21:57:00.766Z,1736373420.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861742 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:00.784Z,1736373420.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:00.785Z,1736373420.785 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:00.785Z,1736373420.785 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:00.785Z,1736373420.785 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:01.036Z,1736373421.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:01.037Z,1736373421.037 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:01.037Z,1736373421.037 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:01.037Z,1736373421.037 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:01.086Z,1736373421.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:01.109Z,1736373421.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:01.116Z,1736373421.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.284149 m, bearing: 245.418117 deg, approach rate: -0.028343 m/s, LOS rate: -0.081397 deg/s, cmd heading: 335.853078 deg, new cmd heading: 335.768418 deg. 2025-01-08T21:57:01.117Z,1736373421.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860264 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:01.288Z,1736373421.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:01.288Z,1736373421.288 [DAT](INFO): Reached modem response timeout 2025-01-08T21:57:01.288Z,1736373421.288 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:57:01.289Z,1736373421.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:01.516Z,1736373421.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:01.526Z,1736373421.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:01.529Z,1736373421.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.287323 m, bearing: 245.382909 deg, approach rate: 0.007600 m/s, LOS rate: -0.084312 deg/s, cmd heading: 335.768411 deg, new cmd heading: 335.662788 deg. 2025-01-08T21:57:01.534Z,1736373421.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858421 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:01.540Z,1736373421.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:01.540Z,1736373421.540 [DAT](INFO): Reached modem response timeout 2025-01-08T21:57:01.540Z,1736373421.540 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:57:01.541Z,1736373421.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:01.792Z,1736373421.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:01.792Z,1736373421.792 [DAT](INFO): Reached modem response timeout 2025-01-08T21:57:01.792Z,1736373421.792 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:57:01.793Z,1736373421.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:01.899Z,1736373421.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:01.906Z,1736373421.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:01.908Z,1736373421.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:01.911Z,1736373421.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.289978 m, bearing: 245.351611 deg, approach rate: 0.006950 m/s, LOS rate: -0.081928 deg/s, cmd heading: 335.662789 deg, new cmd heading: 335.568895 deg. 2025-01-08T21:57:01.912Z,1736373421.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856782 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:02.044Z,1736373422.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:02.045Z,1736373422.045 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:57:02.045Z,1736373422.045 [DAT](INFO): response not received 2025-01-08T21:57:02.045Z,1736373422.045 [DAT](INFO): DAT read: user:2168> 2025-01-08T21:57:02.046Z,1736373422.046 [DAT](INFO): DAT read: Tx time:21:57:01.3395 2025-01-08T21:57:02.046Z,1736373422.046 [DAT](INFO): Ping request sent. 2025-01-08T21:57:02.046Z,1736373422.046 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:02.046Z,1736373422.046 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:02.048Z,1736373422.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729 2025-01-08T21:57:02.296Z,1736373422.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:02.297Z,1736373422.297 [DAT](INFO): DAT read: TxSync time:21:57:01.3387 2025-01-08T21:57:02.298Z,1736373422.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251325 2025-01-08T21:57:02.300Z,1736373422.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:02.309Z,1736373422.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:02.312Z,1736373422.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.292694 m, bearing: 245.318782 deg, approach rate: 0.006778 m/s, LOS rate: -0.081927 deg/s, cmd heading: 335.568888 deg, new cmd heading: 335.470403 deg. 2025-01-08T21:57:02.313Z,1736373422.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855063 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:02.548Z,1736373422.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:02.549Z,1736373422.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502237 2025-01-08T21:57:02.733Z,1736373422.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:02.762Z,1736373422.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:02.769Z,1736373422.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.306671 m, bearing: 245.283322 deg, approach rate: 0.030878 m/s, LOS rate: -0.078334 deg/s, cmd heading: 335.470396 deg, new cmd heading: 335.364020 deg. 2025-01-08T21:57:02.770Z,1736373422.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853206 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:02.801Z,1736373422.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:02.802Z,1736373422.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755247 2025-01-08T21:57:03.052Z,1736373423.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:03.053Z,1736373423.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006940 2025-01-08T21:57:03.138Z,1736373423.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:03.147Z,1736373423.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:03.149Z,1736373423.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.319427 m, bearing: 245.250112 deg, approach rate: 0.033150 m/s, LOS rate: -0.086300 deg/s, cmd heading: 335.364009 deg, new cmd heading: 335.264382 deg. 2025-01-08T21:57:03.150Z,1736373423.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851467 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:03.304Z,1736373423.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:03.305Z,1736373423.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258228 2025-01-08T21:57:03.531Z,1736373423.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:03.540Z,1736373423.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:03.542Z,1736373423.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.326508 m, bearing: 245.217312 deg, approach rate: 0.018005 m/s, LOS rate: -0.083408 deg/s, cmd heading: 335.264371 deg, new cmd heading: 335.165974 deg. 2025-01-08T21:57:03.544Z,1736373423.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849750 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:03.556Z,1736373423.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:03.557Z,1736373423.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510401 2025-01-08T21:57:03.809Z,1736373423.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:03.810Z,1736373423.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763718 2025-01-08T21:57:03.917Z,1736373423.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:03.951Z,1736373423.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:03.957Z,1736373423.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:03.964Z,1736373423.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.333496 m, bearing: 245.185108 deg, approach rate: 0.016758 m/s, LOS rate: -0.077220 deg/s, cmd heading: 335.165961 deg, new cmd heading: 335.069351 deg. 2025-01-08T21:57:03.965Z,1736373423.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848063 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:04.060Z,1736373424.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:04.061Z,1736373424.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014925 2025-01-08T21:57:04.312Z,1736373424.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:04.312Z,1736373424.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266164 2025-01-08T21:57:04.317Z,1736373424.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:04.327Z,1736373424.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:04.329Z,1736373424.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.340332 m, bearing: 245.151616 deg, approach rate: 0.018497 m/s, LOS rate: -0.090623 deg/s, cmd heading: 335.069355 deg, new cmd heading: 334.968880 deg. 2025-01-08T21:57:04.330Z,1736373424.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846310 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:04.564Z,1736373424.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:04.564Z,1736373424.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518127 2025-01-08T21:57:04.770Z,1736373424.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:04.785Z,1736373424.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:04.805Z,1736373424.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.341370 m, bearing: 245.112652 deg, approach rate: 0.002261 m/s, LOS rate: -0.084921 deg/s, cmd heading: 334.968869 deg, new cmd heading: 334.851978 deg. 2025-01-08T21:57:04.806Z,1736373424.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844270 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:04.816Z,1736373424.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:04.816Z,1736373424.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770163 2025-01-08T21:57:05.068Z,1736373425.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:05.070Z,1736373425.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023737 2025-01-08T21:57:05.155Z,1736373425.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:05.177Z,1736373425.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:05.184Z,1736373425.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.341492 m, bearing: 245.079339 deg, approach rate: 0.000312 m/s, LOS rate: -0.085085 deg/s, cmd heading: 334.851991 deg, new cmd heading: 334.752052 deg. 2025-01-08T21:57:05.185Z,1736373425.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842525 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:05.320Z,1736373425.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:05.321Z,1736373425.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274364 2025-01-08T21:57:05.547Z,1736373425.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:05.557Z,1736373425.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:05.572Z,1736373425.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:05.572Z,1736373425.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526184 2025-01-08T21:57:05.586Z,1736373425.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.326385 m, bearing: 245.044492 deg, approach rate: -0.039780 m/s, LOS rate: -0.091768 deg/s, cmd heading: 334.752052 deg, new cmd heading: 334.647507 deg. 2025-01-08T21:57:05.587Z,1736373425.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840701 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:05.824Z,1736373425.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:05.825Z,1736373425.825 [DAT](INFO): DAT read: Rx Time:21:57:04.4826 2025-01-08T21:57:05.826Z,1736373425.826 [DAT](INFO): Rx dataTimestamp_ set to:1736373425.825437 2025-01-08T21:57:05.827Z,1736373425.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780338 2025-01-08T21:57:05.933Z,1736373425.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:05.956Z,1736373425.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:05.958Z,1736373425.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 561.20 m. 2025-01-08T21:57:05.965Z,1736373425.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 561.200012 m, nav range: 409.310852 m, bearing: 245.010180 deg, approach rate: -0.038716 m/s, LOS rate: -0.085521 deg/s, cmd heading: 334.647495 deg, new cmd heading: 334.544557 deg. 2025-01-08T21:57:05.966Z,1736373425.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838904 target range: 561.200012 and range: 561.20 m. 2025-01-08T21:57:06.076Z,1736373426.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:06.076Z,1736373426.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030179 2025-01-08T21:57:06.328Z,1736373426.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:06.334Z,1736373426.334 [DAT](INFO): DAT read: 21:57:04.4826 LVL= 23664, 32753, 29938, 32755, AGC= 72, IDX= 275, 0.15, 0.366,-1.060,-0.372,-0.139, PHS= 0.593,-0.874,-0.236, RAW= 115.7, 8.2, CAL= 125.0, 4.7, ROT= 25.0, -4.7 2025-01-08T21:57:06.336Z,1736373426.336 [DAT](INFO): got valid direction response: 21:57:04.4826 LVL= 23664, 32753, 29938, 32755, AGC= 72, IDX= 275, 0.15, 0.366,-1.060,-0.372,-0.139, PHS= 0.593,-0.874,-0.236, RAW= 115.7, 8.2, CAL= 125.0, 4.7, ROT= 25.0, -4.7 2025-01-08T21:57:06.337Z,1736373426.337 [DAT](INFO): DAT read: Bearing 25.0, -4.7 (Local) 2025-01-08T21:57:06.337Z,1736373426.337 [DAT](INFO): Local bearing/azimuth received: Bearing 25.0, -4.7 (Local) 2025-01-08T21:57:06.339Z,1736373426.339 [DAT](INFO): DAT read: Range 10 to 50 : 554.1 m (Round-trip 738.9 ms) speed 0.2 m/s 2025-01-08T21:57:06.340Z,1736373426.340 [DAT](INFO): DAT read: user:2169> 2025-01-08T21:57:06.341Z,1736373426.341 [DAT](INFO): DAT read: Tx time:21:57:05.5895 2025-01-08T21:57:06.341Z,1736373426.341 [DAT](INFO): Ping request sent. 2025-01-08T21:57:06.342Z,1736373426.342 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:06.342Z,1736373426.342 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:57:06.343Z,1736373426.343 [DAT](INFO): direction in FSK: [-0.272603,-0.327414,0.904703] 2025-01-08T21:57:06.350Z,1736373426.350 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:06.350Z,1736373426.350 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:06.354Z,1736373426.354 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:06.354Z,1736373426.354 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:06.417Z,1736373426.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:06.501Z,1736373426.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 554.099976 m, deltaT: 15.125989 s, deltaX: -7.100037 m, approachRate: -0.469393 m/s, rangeRepo size: 4 2025-01-08T21:57:06.521Z,1736373426.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 554.099976 m, bearing: 212.649696 deg, lat: 36.897949 deg, lon: -122.123741 deg, deltaT: 15.125989 s, deltaX: -7.100037 m, approachRate: -0.469393 m/s, posRepo size: 4 2025-01-08T21:57:06.521Z,1736373426.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.10 m. 2025-01-08T21:57:06.528Z,1736373426.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 554.099976 m, nav range: 408.882538 m, bearing: 244.870062 deg, approach rate: 0.000000 m/s, LOS rate: -0.085521 deg/s, cmd heading: 334.544551 deg, new cmd heading: 334.405260 deg. 2025-01-08T21:57:06.529Z,1736373426.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836473 target range: 554.099976 and range: 554.10 m. 2025-01-08T21:57:06.580Z,1736373426.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:06.581Z,1736373426.581 [DAT](INFO): DAT read: TxSync time:21:57:05.5887 2025-01-08T21:57:06.832Z,1736373426.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:06.884Z,1736373426.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:06.902Z,1736373426.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.10 m. 2025-01-08T21:57:06.909Z,1736373426.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 554.099976 m, nav range: 408.847534 m, bearing: 244.826594 deg, approach rate: -0.087298 m/s, LOS rate: -0.108417 deg/s, cmd heading: 334.405269 deg, new cmd heading: 334.274855 deg. 2025-01-08T21:57:06.909Z,1736373426.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834197 target range: 554.099976 and range: 554.10 m. 2025-01-08T21:57:07.084Z,1736373427.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:07.220Z,1736373427.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:07.229Z,1736373427.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.10 m. 2025-01-08T21:57:07.232Z,1736373427.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 554.099976 m, nav range: 408.821655 m, bearing: 244.795398 deg, approach rate: -0.079054 m/s, LOS rate: -0.095301 deg/s, cmd heading: 334.274867 deg, new cmd heading: 334.181275 deg. 2025-01-08T21:57:07.233Z,1736373427.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832563 target range: 554.099976 and range: 554.10 m. 2025-01-08T21:57:07.336Z,1736373427.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:07.588Z,1736373427.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:07.690Z,1736373427.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:07.698Z,1736373427.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.10 m. 2025-01-08T21:57:07.701Z,1736373427.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 554.099976 m, nav range: 408.768738 m, bearing: 244.751621 deg, approach rate: -0.112857 m/s, LOS rate: -0.093376 deg/s, cmd heading: 334.181267 deg, new cmd heading: 334.049918 deg. 2025-01-08T21:57:07.703Z,1736373427.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830271 target range: 554.099976 and range: 554.10 m. 2025-01-08T21:57:07.841Z,1736373427.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:08.026Z,1736373428.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:08.032Z,1736373428.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:08.034Z,1736373428.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.10 m. 2025-01-08T21:57:08.038Z,1736373428.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 554.099976 m, nav range: 408.729736 m, bearing: 244.720280 deg, approach rate: -0.115925 m/s, LOS rate: -0.093166 deg/s, cmd heading: 334.049908 deg, new cmd heading: 333.955875 deg. 2025-01-08T21:57:08.039Z,1736373428.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828629 target range: 554.099976 and range: 554.10 m. 2025-01-08T21:57:08.092Z,1736373428.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:08.094Z,1736373428.094 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:08.094Z,1736373428.094 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:08.094Z,1736373428.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:08.344Z,1736373428.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:08.344Z,1736373428.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002807 2025-01-08T21:57:08.492Z,1736373428.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:08.510Z,1736373428.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.10 m. 2025-01-08T21:57:08.517Z,1736373428.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 554.099976 m, nav range: 408.675262 m, bearing: 244.676764 deg, approach rate: -0.114500 m/s, LOS rate: -0.091479 deg/s, cmd heading: 333.955870 deg, new cmd heading: 333.825306 deg. 2025-01-08T21:57:08.518Z,1736373428.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826351 target range: 554.099976 and range: 554.10 m. 2025-01-08T21:57:08.597Z,1736373428.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:08.598Z,1736373428.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256277 2025-01-08T21:57:08.848Z,1736373428.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:08.849Z,1736373428.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507150 2025-01-08T21:57:08.882Z,1736373428.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:08.905Z,1736373428.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.10 m. 2025-01-08T21:57:08.908Z,1736373428.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 554.099976 m, nav range: 408.619232 m, bearing: 244.640351 deg, approach rate: -0.141757 m/s, LOS rate: -0.092137 deg/s, cmd heading: 333.825304 deg, new cmd heading: 333.716051 deg. 2025-01-08T21:57:08.909Z,1736373428.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824444 target range: 554.099976 and range: 554.10 m. 2025-01-08T21:57:09.100Z,1736373429.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:09.100Z,1736373429.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758750 2025-01-08T21:57:09.237Z,1736373429.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:09.246Z,1736373429.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.10 m. 2025-01-08T21:57:09.261Z,1736373429.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 554.099976 m, nav range: 408.567780 m, bearing: 244.607246 deg, approach rate: -0.151235 m/s, LOS rate: -0.097318 deg/s, cmd heading: 333.716049 deg, new cmd heading: 333.616721 deg. 2025-01-08T21:57:09.262Z,1736373429.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822710 target range: 554.099976 and range: 554.10 m. 2025-01-08T21:57:09.352Z,1736373429.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:09.354Z,1736373429.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011809 2025-01-08T21:57:09.604Z,1736373429.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:09.604Z,1736373429.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262831 2025-01-08T21:57:09.741Z,1736373429.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:09.754Z,1736373429.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.10 m. 2025-01-08T21:57:09.761Z,1736373429.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 554.099976 m, nav range: 408.490387 m, bearing: 244.559893 deg, approach rate: -0.152254 m/s, LOS rate: -0.093176 deg/s, cmd heading: 333.616710 deg, new cmd heading: 333.474624 deg. 2025-01-08T21:57:09.762Z,1736373429.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820230 target range: 554.099976 and range: 554.10 m. 2025-01-08T21:57:09.856Z,1736373429.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:09.858Z,1736373429.858 [DAT](INFO): DAT read: Rx Time:21:57:08.7290 2025-01-08T21:57:09.879Z,1736373429.879 [DAT](INFO): Rx dataTimestamp_ set to:1736373429.858883 2025-01-08T21:57:09.880Z,1736373429.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538311 2025-01-08T21:57:10.108Z,1736373430.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:10.108Z,1736373430.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766830 2025-01-08T21:57:10.110Z,1736373430.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:10.116Z,1736373430.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:10.143Z,1736373430.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.10 m. 2025-01-08T21:57:10.146Z,1736373430.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 554.099976 m, nav range: 408.433838 m, bearing: 244.525173 deg, approach rate: -0.155138 m/s, LOS rate: -0.095264 deg/s, cmd heading: 333.474615 deg, new cmd heading: 333.370442 deg. 2025-01-08T21:57:10.147Z,1736373430.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818412 target range: 554.099976 and range: 554.10 m. 2025-01-08T21:57:10.360Z,1736373430.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:10.361Z,1736373430.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019243 2025-01-08T21:57:10.563Z,1736373430.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:10.573Z,1736373430.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.10 m. 2025-01-08T21:57:10.576Z,1736373430.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 554.099976 m, nav range: 408.364746 m, bearing: 244.482745 deg, approach rate: -0.152022 m/s, LOS rate: -0.093369 deg/s, cmd heading: 333.370441 deg, new cmd heading: 333.243137 deg. 2025-01-08T21:57:10.577Z,1736373430.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816190 target range: 554.099976 and range: 554.10 m. 2025-01-08T21:57:10.614Z,1736373430.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:10.625Z,1736373430.625 [DAT](INFO): DAT read: 21:57:08.7290 LVL= 23648, 32753, 30674, 32755, AGC= 71, IDX= 404, 0.03,-0.835,-2.289,-1.478,-1.430, PHS= 0.683,-0.812,-0.051, RAW= 120.6, 2.8, CAL= 129.5, -2.8, ROT= 20.5, 2.8 2025-01-08T21:57:10.627Z,1736373430.627 [DAT](INFO): got valid direction response: 21:57:08.7290 LVL= 23648, 32753, 30674, 32755, AGC= 71, IDX= 404, 0.03,-0.835,-2.289,-1.478,-1.430, PHS= 0.683,-0.812,-0.051, RAW= 120.6, 2.8, CAL= 129.5, -2.8, ROT= 20.5, 2.8 2025-01-08T21:57:10.628Z,1736373430.628 [DAT](INFO): DAT read: Bearing 20.5, 2.8 (Local) 2025-01-08T21:57:10.629Z,1736373430.629 [DAT](INFO): Local bearing/azimuth received: Bearing 20.5, 2.8 (Local) 2025-01-08T21:57:10.632Z,1736373430.632 [DAT](INFO): DAT read: Range 10 to 50 : 551.4 m (Round-trip 735.2 ms) speed 0.4 m/s 2025-01-08T21:57:10.647Z,1736373430.647 [DAT](INFO): DAT read: user:2170> 2025-01-08T21:57:10.649Z,1736373430.649 [DAT](INFO): DAT read: Tx time:21:57:09.8396 2025-01-08T21:57:10.649Z,1736373430.649 [DAT](INFO): Ping request sent. 2025-01-08T21:57:10.650Z,1736373430.650 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:10.651Z,1736373430.651 [DAT](INFO): DAT read: TxSync time:21:57:09.8388 2025-01-08T21:57:10.652Z,1736373430.652 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:57:10.654Z,1736373430.654 [DAT](INFO): direction in FSK: [-0.175335,-0.419988,0.890431] 2025-01-08T21:57:10.655Z,1736373430.655 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:10.655Z,1736373430.655 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:10.675Z,1736373430.675 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:10.687Z,1736373430.687 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:10.864Z,1736373430.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:10.914Z,1736373430.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:10.952Z,1736373430.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 551.400024 m, deltaT: 4.286340 s, deltaX: -2.699951 m, approachRate: -0.629897 m/s, rangeRepo size: 4 2025-01-08T21:57:10.960Z,1736373430.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 551.400024 m, bearing: 224.756016 deg, lat: 36.897582 deg, lon: -122.122939 deg, deltaT: 4.286340 s, deltaX: -2.699951 m, approachRate: -0.629897 m/s, posRepo size: 4 2025-01-08T21:57:10.964Z,1736373430.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:10.966Z,1736373430.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.845764 m, bearing: 233.864618 deg, approach rate: 0.000000 m/s, LOS rate: -0.093369 deg/s, cmd heading: 333.243126 deg, new cmd heading: 333.138274 deg. 2025-01-08T21:57:10.967Z,1736373430.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814360 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:11.116Z,1736373431.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:11.298Z,1736373431.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:11.308Z,1736373431.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:11.310Z,1736373431.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.833832 m, bearing: 233.823825 deg, approach rate: -0.033169 m/s, LOS rate: -0.113397 deg/s, cmd heading: 333.138269 deg, new cmd heading: 333.015887 deg. 2025-01-08T21:57:11.312Z,1736373431.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812224 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:11.369Z,1736373431.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:11.622Z,1736373431.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:11.745Z,1736373431.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:11.754Z,1736373431.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:11.757Z,1736373431.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.819458 m, bearing: 233.777677 deg, approach rate: -0.032129 m/s, LOS rate: -0.103158 deg/s, cmd heading: 333.015900 deg, new cmd heading: 332.877450 deg. 2025-01-08T21:57:11.758Z,1736373431.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809807 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:11.872Z,1736373431.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:12.104Z,1736373432.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:12.112Z,1736373432.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:12.128Z,1736373432.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:12.135Z,1736373432.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.807770 m, bearing: 233.740629 deg, approach rate: -0.032644 m/s, LOS rate: -0.103474 deg/s, cmd heading: 332.877438 deg, new cmd heading: 332.766290 deg. 2025-01-08T21:57:12.137Z,1736373432.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807868 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:12.377Z,1736373432.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:12.588Z,1736373432.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:12.595Z,1736373432.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:12.597Z,1736373432.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:12.616Z,1736373432.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.799988 m, bearing: 233.692191 deg, approach rate: -0.016067 m/s, LOS rate: -0.100009 deg/s, cmd heading: 332.766297 deg, new cmd heading: 332.620979 deg. 2025-01-08T21:57:12.617Z,1736373432.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805331 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:12.628Z,1736373432.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:12.628Z,1736373432.628 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:12.628Z,1736373432.628 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:12.629Z,1736373432.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:12.880Z,1736373432.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:12.880Z,1736373432.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230872 2025-01-08T21:57:12.945Z,1736373432.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:12.985Z,1736373432.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:12.993Z,1736373432.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.794250 m, bearing: 233.656203 deg, approach rate: -0.014785 m/s, LOS rate: -0.092740 deg/s, cmd heading: 332.620978 deg, new cmd heading: 332.513014 deg. 2025-01-08T21:57:12.994Z,1736373432.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803447 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:13.132Z,1736373433.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:13.132Z,1736373433.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482864 2025-01-08T21:57:13.336Z,1736373433.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:13.344Z,1736373433.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:13.347Z,1736373433.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.788116 m, bearing: 233.616960 deg, approach rate: -0.017055 m/s, LOS rate: -0.109110 deg/s, cmd heading: 332.513007 deg, new cmd heading: 332.395276 deg. 2025-01-08T21:57:13.348Z,1736373433.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801392 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:13.385Z,1736373433.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:13.386Z,1736373433.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736224 2025-01-08T21:57:13.636Z,1736373433.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:13.637Z,1736373433.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987515 2025-01-08T21:57:13.756Z,1736373433.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:13.785Z,1736373433.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:13.793Z,1736373433.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.786682 m, bearing: 233.574751 deg, approach rate: -0.003257 m/s, LOS rate: -0.095859 deg/s, cmd heading: 332.395281 deg, new cmd heading: 332.268654 deg. 2025-01-08T21:57:13.794Z,1736373433.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799182 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:13.888Z,1736373433.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:13.888Z,1736373433.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238905 2025-01-08T21:57:14.128Z,1736373434.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:14.137Z,1736373434.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:14.140Z,1736373434.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:14.141Z,1736373434.141 [DAT](INFO): DAT read: Rx Time:21:57:12.9759 2025-01-08T21:57:14.141Z,1736373434.141 [DAT](INFO): Rx dataTimestamp_ set to:1736373434.140800 2025-01-08T21:57:14.142Z,1736373434.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492046 2025-01-08T21:57:14.142Z,1736373434.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.785187 m, bearing: 233.537473 deg, approach rate: -0.004247 m/s, LOS rate: -0.105877 deg/s, cmd heading: 332.268650 deg, new cmd heading: 332.156815 deg. 2025-01-08T21:57:14.144Z,1736373434.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797230 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:14.392Z,1736373434.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:14.392Z,1736373434.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742840 2025-01-08T21:57:14.591Z,1736373434.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:14.598Z,1736373434.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:14.600Z,1736373434.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:14.604Z,1736373434.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.782745 m, bearing: 233.491081 deg, approach rate: -0.005271 m/s, LOS rate: -0.100156 deg/s, cmd heading: 332.156826 deg, new cmd heading: 332.017649 deg. 2025-01-08T21:57:14.605Z,1736373434.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794801 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:14.645Z,1736373434.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:14.651Z,1736373434.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000586 2025-01-08T21:57:14.896Z,1736373434.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:14.902Z,1736373434.902 [DAT](INFO): DAT read: 21:57:12.9759 LVL= 28272, 32753, 32754, 32755, AGC= 69, IDX= 303,-0.39, 2.033, 0.584, 1.181, 1.525, PHS= 0.596,-0.894,-0.347, RAW= 111.3, 9.9, CAL= 120.7, 7.2, ROT= 29.3, -7.2 2025-01-08T21:57:14.904Z,1736373434.904 [DAT](INFO): got valid direction response: 21:57:12.9759 LVL= 28272, 32753, 32754, 32755, AGC= 69, IDX= 303,-0.39, 2.033, 0.584, 1.181, 1.525, PHS= 0.596,-0.894,-0.347, RAW= 111.3, 9.9, CAL= 120.7, 7.2, ROT= 29.3, -7.2 2025-01-08T21:57:14.906Z,1736373434.906 [DAT](INFO): DAT read: Bearing 29.3, -7.2 (Locge 10 to 50 : 549.1 m (Round-trip 732.2 ms) spee/s 2025-01-08T21:57:14.906Z,1736373434.906 [DAT](INFO): unknown deviceResponse_: Bearing 29.3, -7.2 (Locge 10 to 50 : 549.1 m (Round-trip 732.2 ms) spee/s 2025-01-08T21:57:14.907Z,1736373434.907 [DAT](INFO): DAT read: user:2171> 2025-01-08T21:57:14.912Z,1736373434.912 [DAT](INFO): DAT read: Tx time:21:57:14.0896 2025-01-08T21:57:14.912Z,1736373434.912 [DAT](INFO): Ping request sent. 2025-01-08T21:57:14.913Z,1736373434.913 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:14.913Z,1736373434.913 [DAT](INFO): DAT read: TxSync time:21:57:14.0888 2025-01-08T21:57:14.914Z,1736373434.914 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:57:14.915Z,1736373434.915 [DAT](INFO): direction in FSK: [-0.300280,-0.249013,0.920774] 2025-01-08T21:57:14.915Z,1736373434.915 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:14.922Z,1736373434.922 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:15.074Z,1736373435.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:15.100Z,1736373435.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:15.108Z,1736373435.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.789124 m, bearing: 233.443364 deg, approach rate: 0.012754 m/s, LOS rate: -0.095415 deg/s, cmd heading: 332.017654 deg, new cmd heading: 331.874506 deg. 2025-01-08T21:57:15.109Z,1736373435.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792303 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:15.148Z,1736373435.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:15.384Z,1736373435.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:15.393Z,1736373435.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:15.396Z,1736373435.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.792419 m, bearing: 233.410941 deg, approach rate: 0.011251 m/s, LOS rate: -0.110676 deg/s, cmd heading: 331.874493 deg, new cmd heading: 331.777225 deg. 2025-01-08T21:57:15.397Z,1736373435.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790605 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:15.400Z,1736373435.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:15.653Z,1736373435.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:15.813Z,1736373435.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:15.823Z,1736373435.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:15.826Z,1736373435.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.799255 m, bearing: 233.367378 deg, approach rate: 0.015914 m/s, LOS rate: -0.101415 deg/s, cmd heading: 331.777231 deg, new cmd heading: 331.646545 deg. 2025-01-08T21:57:15.826Z,1736373435.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788324 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:15.904Z,1736373435.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:16.156Z,1736373436.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:16.194Z,1736373436.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:16.205Z,1736373436.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:16.208Z,1736373436.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.805481 m, bearing: 233.328712 deg, approach rate: 0.016303 m/s, LOS rate: -0.101258 deg/s, cmd heading: 331.646556 deg, new cmd heading: 331.530558 deg. 2025-01-08T21:57:16.209Z,1736373436.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786300 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:16.408Z,1736373436.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:16.663Z,1736373436.663 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:16.681Z,1736373436.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:16.689Z,1736373436.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:16.692Z,1736373436.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:16.694Z,1736373436.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.817291 m, bearing: 233.278948 deg, approach rate: 0.024261 m/s, LOS rate: -0.102221 deg/s, cmd heading: 331.530552 deg, new cmd heading: 331.381267 deg. 2025-01-08T21:57:16.695Z,1736373436.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783694 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:16.919Z,1736373436.919 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:16.920Z,1736373436.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:16.920Z,1736373436.920 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:16.920Z,1736373436.920 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:17.040Z,1736373437.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:17.053Z,1736373437.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:17.056Z,1736373437.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.826691 m, bearing: 233.242298 deg, approach rate: 0.026039 m/s, LOS rate: -0.101528 deg/s, cmd heading: 331.381272 deg, new cmd heading: 331.271324 deg. 2025-01-08T21:57:17.057Z,1736373437.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781775 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:17.168Z,1736373437.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:17.169Z,1736373437.169 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:17.169Z,1736373437.169 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:17.169Z,1736373437.169 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:17.400Z,1736373437.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:17.409Z,1736373437.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:17.420Z,1736373437.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:17.420Z,1736373437.420 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:17.420Z,1736373437.420 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:17.420Z,1736373437.420 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:17.432Z,1736373437.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.836426 m, bearing: 233.205624 deg, approach rate: 0.027307 m/s, LOS rate: -0.102866 deg/s, cmd heading: 331.271333 deg, new cmd heading: 331.161314 deg. 2025-01-08T21:57:17.433Z,1736373437.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779855 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:17.672Z,1736373437.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:17.673Z,1736373437.673 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:17.673Z,1736373437.673 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:17.673Z,1736373437.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:17.830Z,1736373437.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:17.861Z,1736373437.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:17.868Z,1736373437.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.844727 m, bearing: 233.161591 deg, approach rate: 0.018378 m/s, LOS rate: -0.097487 deg/s, cmd heading: 331.161312 deg, new cmd heading: 331.029216 deg. 2025-01-08T21:57:17.870Z,1736373437.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777550 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:17.924Z,1736373437.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:17.924Z,1736373437.924 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:17.924Z,1736373437.924 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:17.924Z,1736373437.924 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:18.176Z,1736373438.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:18.176Z,1736373438.176 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:18.176Z,1736373438.176 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:18.176Z,1736373438.176 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:18.242Z,1736373438.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:18.250Z,1736373438.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:18.254Z,1736373438.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.852875 m, bearing: 233.119546 deg, approach rate: 0.020916 m/s, LOS rate: -0.107926 deg/s, cmd heading: 331.029216 deg, new cmd heading: 330.903084 deg. 2025-01-08T21:57:18.255Z,1736373438.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775348 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:18.430Z,1736373438.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:18.432Z,1736373438.432 [DAT](INFO): DAT read: Rx Time:21:57:17.2132 2025-01-08T21:57:18.432Z,1736373438.432 [DAT](INFO): Rx dataTimestamp_ set to:1736373438.431733 2025-01-08T21:57:18.432Z,1736373438.432 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:18.432Z,1736373438.432 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:18.433Z,1736373438.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:18.680Z,1736373438.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:18.681Z,1736373438.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:18.681Z,1736373438.681 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:18.681Z,1736373438.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:18.714Z,1736373438.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:18.722Z,1736373438.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:18.749Z,1736373438.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.40 m. 2025-01-08T21:57:18.756Z,1736373438.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 551.400024 m, nav range: 367.866608 m, bearing: 233.071317 deg, approach rate: 0.027841 m/s, LOS rate: -0.097774 deg/s, cmd heading: 330.903076 deg, new cmd heading: 330.758394 deg. 2025-01-08T21:57:18.757Z,1736373438.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772823 target range: 551.400024 and range: 551.40 m. 2025-01-08T21:57:18.932Z,1736373438.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:18.939Z,1736373438.939 [DAT](INFO): DAT read: 21:57:17.2132 LVL= 19552, 32753, 32370, 32755, AGC= 70, IDX= 202,-0.11, 0.521,-0.910,-0.289, 0.009, PHS= 0.600,-0.872,-0.301, RAW= 112.6, 9.0, CAL= 122.1, 6.0, ROT= 27.9, -6.0 2025-01-08T21:57:18.940Z,1736373438.940 [DAT](INFO): got valid direction response: 21:57:17.2132 LVL= 19552, 32753, 32370, 32755, AGC= 70, IDX= 202,-0.11, 0.521,-0.910,-0.289, 0.009, PHS= 0.600,-0.872,-0.301, RAW= 112.6, 9.0, CAL= 122.1, 6.0, ROT= 27.9, -6.0 2025-01-08T21:57:18.941Z,1736373438.941 [DAT](INFO): DAT read: Bearing 27.9, -6.0 (Local) 2025-01-08T21:57:18.942Z,1736373438.942 [DAT](INFO): Local bearing/azimuth received: Bearing 27.9, -6.0 (Local) 2025-01-08T21:57:18.967Z,1736373438.967 [DAT](INFO): DAT read: Range 10 to 50 : 539.6 m (Round-trip 719.5 ms) speed 0.3 m/s 2025-01-08T21:57:18.976Z,1736373438.976 [DAT](INFO): DAT read: user:2172> 2025-01-08T21:57:18.977Z,1736373438.977 [DAT](INFO): DAT read: Tx time:21:57:18.2896 2025-01-08T21:57:18.978Z,1736373438.978 [DAT](INFO): Ping request sent. 2025-01-08T21:57:18.978Z,1736373438.978 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:18.978Z,1736373438.978 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-01-08T21:57:18.984Z,1736373438.984 [DAT](INFO): direction in FSK: [-0.284267,-0.273897,0.918789] 2025-01-08T21:57:18.984Z,1736373438.984 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:18.984Z,1736373438.984 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:18.000Z,1736373439.000 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:19.000Z,1736373439.000 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:19.096Z,1736373439.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:19.140Z,1736373439.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 539.599976 m, deltaT: 8.317573 s, deltaX: -11.800049 m, approachRate: -1.418689 m/s, rangeRepo size: 4 2025-01-08T21:57:19.142Z,1736373439.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 539.599976 m, bearing: 205.112685 deg, lat: 36.897559 deg, lon: -122.122017 deg, deltaT: 8.317573 s, deltaX: -11.800049 m, approachRate: -1.418689 m/s, posRepo size: 4 2025-01-08T21:57:19.143Z,1736373439.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.60 m. 2025-01-08T21:57:19.149Z,1736373439.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 539.599976 m, nav range: 308.180969 m, bearing: 223.446942 deg, approach rate: 0.000000 m/s, LOS rate: -0.097774 deg/s, cmd heading: 330.758386 deg, new cmd heading: 330.643563 deg. 2025-01-08T21:57:19.150Z,1736373439.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770819 target range: 539.599976 and range: 539.60 m. 2025-01-08T21:57:19.186Z,1736373439.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:19.188Z,1736373439.188 [DAT](INFO): DAT read: TxSync time:21:57:18.2888 2025-01-08T21:57:19.437Z,1736373439.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:19.466Z,1736373439.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:19.483Z,1736373439.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.60 m. 2025-01-08T21:57:19.490Z,1736373439.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 539.599976 m, nav range: 308.230408 m, bearing: 223.402731 deg, approach rate: 0.142060 m/s, LOS rate: -0.127018 deg/s, cmd heading: 330.643556 deg, new cmd heading: 330.510945 deg. 2025-01-08T21:57:19.491Z,1736373439.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768504 target range: 539.599976 and range: 539.60 m. 2025-01-08T21:57:19.691Z,1736373439.691 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:19.909Z,1736373439.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:19.918Z,1736373439.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.60 m. 2025-01-08T21:57:19.922Z,1736373439.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 539.599976 m, nav range: 308.291840 m, bearing: 223.349998 deg, approach rate: 0.141218 m/s, LOS rate: -0.121198 deg/s, cmd heading: 330.510941 deg, new cmd heading: 330.352774 deg. 2025-01-08T21:57:19.922Z,1736373439.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765744 target range: 539.599976 and range: 539.60 m. 2025-01-08T21:57:19.941Z,1736373439.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:20.192Z,1736373440.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:20.272Z,1736373440.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:20.298Z,1736373440.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.60 m. 2025-01-08T21:57:20.301Z,1736373440.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 539.599976 m, nav range: 308.340271 m, bearing: 223.306712 deg, approach rate: 0.127248 m/s, LOS rate: -0.113712 deg/s, cmd heading: 330.352782 deg, new cmd heading: 330.222943 deg. 2025-01-08T21:57:20.303Z,1736373440.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763478 target range: 539.599976 and range: 539.60 m. 2025-01-08T21:57:20.444Z,1736373440.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:20.696Z,1736373440.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:20.729Z,1736373440.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:20.741Z,1736373440.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:20.743Z,1736373440.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.60 m. 2025-01-08T21:57:20.746Z,1736373440.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 539.599976 m, nav range: 308.401428 m, bearing: 223.253591 deg, approach rate: 0.137533 m/s, LOS rate: -0.119436 deg/s, cmd heading: 330.222953 deg, new cmd heading: 330.063624 deg. 2025-01-08T21:57:20.747Z,1736373440.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760697 target range: 539.599976 and range: 539.60 m. 2025-01-08T21:57:20.948Z,1736373440.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:20.948Z,1736373440.948 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:20.948Z,1736373440.948 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:20.948Z,1736373440.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:21.080Z,1736373441.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:21.092Z,1736373441.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.60 m. 2025-01-08T21:57:21.117Z,1736373441.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 539.599976 m, nav range: 308.448151 m, bearing: 223.212733 deg, approach rate: 0.134520 m/s, LOS rate: -0.117619 deg/s, cmd heading: 330.063619 deg, new cmd heading: 329.941062 deg. 2025-01-08T21:57:21.118Z,1736373441.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758558 target range: 539.599976 and range: 539.60 m. 2025-01-08T21:57:21.200Z,1736373441.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:21.201Z,1736373441.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224036 2025-01-08T21:57:21.452Z,1736373441.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:21.453Z,1736373441.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475740 2025-01-08T21:57:21.478Z,1736373441.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:21.487Z,1736373441.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.60 m. 2025-01-08T21:57:21.503Z,1736373441.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 539.599976 m, nav range: 308.500549 m, bearing: 223.166495 deg, approach rate: 0.132151 m/s, LOS rate: -0.116595 deg/s, cmd heading: 329.941058 deg, new cmd heading: 329.802367 deg. 2025-01-08T21:57:21.508Z,1736373441.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756137 target range: 539.599976 and range: 539.60 m. 2025-01-08T21:57:21.704Z,1736373441.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:21.705Z,1736373441.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727605 2025-01-08T21:57:21.930Z,1736373441.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:21.940Z,1736373441.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.60 m. 2025-01-08T21:57:21.942Z,1736373441.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 539.599976 m, nav range: 308.562775 m, bearing: 223.115265 deg, approach rate: 0.137577 m/s, LOS rate: -0.113243 deg/s, cmd heading: 329.802378 deg, new cmd heading: 329.648721 deg. 2025-01-08T21:57:21.944Z,1736373441.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753456 target range: 539.599976 and range: 539.60 m. 2025-01-08T21:57:21.956Z,1736373441.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:21.957Z,1736373441.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979119 2025-01-08T21:57:21.973Z,1736373441.973 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:57:22.208Z,1736373442.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:22.208Z,1736373442.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231016 2025-01-08T21:57:22.295Z,1736373442.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:22.304Z,1736373442.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.60 m. 2025-01-08T21:57:22.307Z,1736373442.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 539.599976 m, nav range: 308.612488 m, bearing: 223.073914 deg, approach rate: 0.136227 m/s, LOS rate: -0.113295 deg/s, cmd heading: 329.648726 deg, new cmd heading: 329.524692 deg. 2025-01-08T21:57:22.308Z,1736373442.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751291 target range: 539.599976 and range: 539.60 m. 2025-01-08T21:57:22.460Z,1736373442.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:22.460Z,1736373442.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482903 2025-01-08T21:57:22.712Z,1736373442.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:22.713Z,1736373442.713 [DAT](INFO): DAT read: Rx Time:21:57:21.4215 2025-01-08T21:57:22.713Z,1736373442.713 [DAT](INFO): Rx dataTimestamp_ set to:1736373442.712897 2025-01-08T21:57:22.714Z,1736373442.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.736318 2025-01-08T21:57:22.784Z,1736373442.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:22.794Z,1736373442.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:22.796Z,1736373442.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.60 m. 2025-01-08T21:57:22.799Z,1736373442.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 539.599976 m, nav range: 308.677185 m, bearing: 223.019637 deg, approach rate: 0.131537 m/s, LOS rate: -0.110328 deg/s, cmd heading: 329.524689 deg, new cmd heading: 329.361894 deg. 2025-01-08T21:57:22.800Z,1736373442.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748449 target range: 539.599976 and range: 539.60 m. 2025-01-08T21:57:22.964Z,1736373442.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:22.964Z,1736373442.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.987047 2025-01-08T21:57:22.977Z,1736373442.977 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:57:23.141Z,1736373443.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:23.171Z,1736373443.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.60 m. 2025-01-08T21:57:23.174Z,1736373443.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 539.599976 m, nav range: 308.724487 m, bearing: 222.979995 deg, approach rate: 0.127521 m/s, LOS rate: -0.106855 deg/s, cmd heading: 329.361885 deg, new cmd heading: 329.242976 deg. 2025-01-08T21:57:23.175Z,1736373443.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746374 target range: 539.599976 and range: 539.60 m. 2025-01-08T21:57:23.216Z,1736373443.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:23.223Z,1736373443.223 [DAT](INFO): DAT read: 21:57:21.4215 LVL= 17808, 30545, 17506, 26483, AGC= 73, IDX= 8,-0.12, 2.885, 1.468, 2.033, 2.241, PHS= 0.732,-0.726,-0.211, RAW= 110.4, 3.2, CAL= 121.6, 0.2, ROT= 28.4, -0.2 2025-01-08T21:57:23.224Z,1736373443.224 [DAT](INFO): got valid direction response: 21:57:21.4215 LVL= 17808, 30545, 17506, 26483, AGC= 73, IDX= 8,-0.12, 2.885, 1.468, 2.033, 2.241, PHS= 0.732,-0.726,-0.211, RAW= 110.4, 3.2, CAL= 121.6, 0.2, ROT= 28.4, -0.2 2025-01-08T21:57:23.225Z,1736373443.225 [DAT](INFO): DAT read: Bearing 28.4, -0.2 (Local) 2025-01-08T21:57:23.226Z,1736373443.226 [DAT](INFO): Local bearing/azimuth received: Bearing 28.4, -0.2 (Local) 2025-01-08T21:57:23.227Z,1736373443.227 [DAT](INFO): DAT read: Range 10 to 50 : 545.7 m (Round-trip 727.7 ms) speed 0.4 m/s 2025-01-08T21:57:23.228Z,1736373443.228 [DAT](INFO): DAT read: user:2173> 2025-01-08T21:57:23.229Z,1736373443.229 [DAT](INFO): DAT read: Tx time:21:57:22.5397 2025-01-08T21:57:23.229Z,1736373443.229 [DAT](INFO): Ping request sent. 2025-01-08T21:57:23.229Z,1736373443.229 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:23.229Z,1736373443.229 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:57:23.230Z,1736373443.230 [DAT](INFO): direction in FSK: [-0.174676,-0.245873,0.953433] 2025-01-08T21:57:23.230Z,1736373443.230 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:23.231Z,1736373443.231 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:23.234Z,1736373443.234 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:23.234Z,1736373443.234 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:23.468Z,1736373443.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:23.470Z,1736373443.470 [DAT](INFO): DAT read: TxSync time:21:57:22.5389 2025-01-08T21:57:23.530Z,1736373443.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:23.566Z,1736373443.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 545.700012 m, deltaT: 4.284044 s, deltaX: 6.100037 m, approachRate: 1.423897 m/s, rangeRepo size: 4 2025-01-08T21:57:23.570Z,1736373443.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 545.700012 m, bearing: 214.019006 deg, lat: 36.897559 deg, lon: -122.121305 deg, deltaT: 4.284044 s, deltaX: 6.100037 m, approachRate: 1.423897 m/s, posRepo size: 4 2025-01-08T21:57:23.570Z,1736373443.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.70 m. 2025-01-08T21:57:23.573Z,1736373443.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.700012 m, nav range: 269.673248 m, bearing: 213.042687 deg, approach rate: 0.000000 m/s, LOS rate: -0.106855 deg/s, cmd heading: 329.242985 deg, new cmd heading: 329.115117 deg. 2025-01-08T21:57:23.574Z,1736373443.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744143 target range: 545.700012 and range: 545.70 m. 2025-01-08T21:57:23.723Z,1736373443.723 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:23.953Z,1736373443.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:23.961Z,1736373443.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.70 m. 2025-01-08T21:57:23.972Z,1736373443.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:23.981Z,1736373443.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.700012 m, nav range: 269.768799 m, bearing: 212.992201 deg, approach rate: 0.241589 m/s, LOS rate: -0.127603 deg/s, cmd heading: 329.115124 deg, new cmd heading: 328.963720 deg. 2025-01-08T21:57:23.982Z,1736373443.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741500 target range: 545.700012 and range: 545.70 m. 2025-01-08T21:57:24.236Z,1736373444.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:24.341Z,1736373444.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:24.371Z,1736373444.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.70 m. 2025-01-08T21:57:24.379Z,1736373444.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.700012 m, nav range: 269.856659 m, bearing: 212.945621 deg, approach rate: 0.214690 m/s, LOS rate: -0.113783 deg/s, cmd heading: 328.963712 deg, new cmd heading: 328.824018 deg. 2025-01-08T21:57:24.380Z,1736373444.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739062 target range: 545.700012 and range: 545.70 m. 2025-01-08T21:57:24.476Z,1736373444.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:24.730Z,1736373444.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:24.771Z,1736373444.771 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 83.56, 77.48, :WI,-32768,-32768,-32768,-32768,V 2025-01-08T21:57:24.796Z,1736373444.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T21:57:24.796Z,1736373444.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:24.811Z,1736373444.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:24.813Z,1736373444.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.70 m. 2025-01-08T21:57:24.828Z,1736373444.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.700012 m, nav range: 269.958557 m, bearing: 212.891848 deg, approach rate: 0.230177 m/s, LOS rate: -0.121420 deg/s, cmd heading: 328.824021 deg, new cmd heading: 328.662766 deg. 2025-01-08T21:57:24.829Z,1736373444.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736248 target range: 545.700012 and range: 545.70 m. 2025-01-08T21:57:24.980Z,1736373444.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:24.980Z,1736373444.980 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:24.980Z,1736373444.980 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:24.981Z,1736373444.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:25.145Z,1736373445.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:57:25.145Z,1736373445.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:25.156Z,1736373445.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.70 m. 2025-01-08T21:57:25.161Z,1736373445.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.700012 m, nav range: 270.039185 m, bearing: 212.849624 deg, approach rate: 0.236536 m/s, LOS rate: -0.123837 deg/s, cmd heading: 328.662774 deg, new cmd heading: 328.536138 deg. 2025-01-08T21:57:25.162Z,1736373445.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734037 target range: 545.700012 and range: 545.70 m. 2025-01-08T21:57:25.233Z,1736373445.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:25.234Z,1736373445.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004934 2025-01-08T21:57:25.484Z,1736373445.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:25.484Z,1736373445.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255304 2025-01-08T21:57:25.554Z,1736373445.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T21:57:25.555Z,1736373445.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:25.564Z,1736373445.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.70 m. 2025-01-08T21:57:25.566Z,1736373445.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.700012 m, nav range: 270.132965 m, bearing: 212.800857 deg, approach rate: 0.229205 m/s, LOS rate: -0.119147 deg/s, cmd heading: 328.536143 deg, new cmd heading: 328.389895 deg. 2025-01-08T21:57:25.567Z,1736373445.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731485 target range: 545.700012 and range: 545.70 m. 2025-01-08T21:57:25.738Z,1736373445.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:25.740Z,1736373445.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510659 2025-01-08T21:57:25.988Z,1736373445.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:25.988Z,1736373445.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759405 2025-01-08T21:57:25.990Z,1736373445.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:26.023Z,1736373446.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.70 m. 2025-01-08T21:57:26.026Z,1736373446.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.700012 m, nav range: 270.229980 m, bearing: 212.746258 deg, approach rate: 0.214771 m/s, LOS rate: -0.120827 deg/s, cmd heading: 328.389895 deg, new cmd heading: 328.226156 deg. 2025-01-08T21:57:26.027Z,1736373446.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728627 target range: 545.700012 and range: 545.70 m. 2025-01-08T21:57:26.241Z,1736373446.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:26.242Z,1736373446.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013294 2025-01-08T21:57:26.363Z,1736373446.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:26.372Z,1736373446.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.70 m. 2025-01-08T21:57:26.375Z,1736373446.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.700012 m, nav range: 270.312408 m, bearing: 212.699628 deg, approach rate: 0.230688 m/s, LOS rate: -0.130461 deg/s, cmd heading: 328.226161 deg, new cmd heading: 328.086315 deg. 2025-01-08T21:57:26.376Z,1736373446.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726186 target range: 545.700012 and range: 545.70 m. 2025-01-08T21:57:26.492Z,1736373446.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:26.494Z,1736373446.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265019 2025-01-08T21:57:26.745Z,1736373446.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:26.748Z,1736373446.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518625 2025-01-08T21:57:26.852Z,1736373446.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:26.860Z,1736373446.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:26.862Z,1736373446.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.70 m. 2025-01-08T21:57:26.864Z,1736373446.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.700012 m, nav range: 270.416138 m, bearing: 212.632851 deg, approach rate: 0.212050 m/s, LOS rate: -0.136459 deg/s, cmd heading: 328.086306 deg, new cmd heading: 327.886051 deg. 2025-01-08T21:57:26.865Z,1736373446.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722691 target range: 545.700012 and range: 545.70 m. 2025-01-08T21:57:26.996Z,1736373446.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:26.996Z,1736373446.996 [DAT](INFO): DAT read: Rx Time:21:57:25.6684 2025-01-08T21:57:26.997Z,1736373446.997 [DAT](INFO): Rx dataTimestamp_ set to:1736373446.996566 2025-01-08T21:57:26.997Z,1736373446.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768388 2025-01-08T21:57:27.181Z,1736373447.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:27.196Z,1736373447.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.70 m. 2025-01-08T21:57:27.199Z,1736373447.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 545.700012 m, nav range: 270.483368 m, bearing: 212.589167 deg, approach rate: 0.200754 m/s, LOS rate: -0.130409 deg/s, cmd heading: 327.886045 deg, new cmd heading: 327.755029 deg. 2025-01-08T21:57:27.200Z,1736373447.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720405 target range: 545.700012 and range: 545.70 m. 2025-01-08T21:57:27.249Z,1736373447.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:27.251Z,1736373447.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021502 2025-01-08T21:57:27.500Z,1736373447.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:27.507Z,1736373447.507 [DAT](INFO): DAT read: 21:57:25.6684 LVL= 22512, 32753, 30194, 32755, AGC= 71, IDX= 301, 0.15,-0.068,-1.616,-0.978,-0.618, PHS= 0.638,-0.951,-0.363, RAW= 111.5, 9.7, CAL= 120.9, 7.0, ROT= 29.1, -7.0 2025-01-08T21:57:27.508Z,1736373447.508 [DAT](INFO): got valid direction response: 21:57:25.6684 LVL= 22512, 32753, 30194, 32755, AGC= 71, IDX= 301, 0.15,-0.068,-1.616,-0.978,-0.618, PHS= 0.638,-0.951,-0.363, RAW= 111.5, 9.7, CAL= 120.9, 7.0, ROT= 29.1, -7.0 2025-01-08T21:57:27.509Z,1736373447.509 [DAT](INFO): DAT read: Bearing 29.1, -7.0 (Local) 2025-01-08T21:57:27.509Z,1736373447.509 [DAT](INFO): Local bearing/azimuth received: Bearing 29.1, -7.0 (Local) 2025-01-08T21:57:27.511Z,1736373447.511 [DAT](INFO): DAT read: Range 10 to 50 : 543.4 m (Round-trip 724.6 ms) speed 0.4 m/s 2025-01-08T21:57:27.520Z,1736373447.520 [DAT](INFO): DAT read: user:2174> 2025-01-08T21:57:27.521Z,1736373447.521 [DAT](INFO): DAT read: Tx time:21:57:26.7897 2025-01-08T21:57:27.521Z,1736373447.521 [DAT](INFO): Ping request sent. 2025-01-08T21:57:27.522Z,1736373447.522 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:27.522Z,1736373447.522 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:57:27.523Z,1736373447.523 [DAT](INFO): direction in FSK: [-0.297516,-0.252572,0.920702] 2025-01-08T21:57:27.524Z,1736373447.524 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:27.524Z,1736373447.524 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:27.527Z,1736373447.527 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:27.527Z,1736373447.527 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:27.599Z,1736373447.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:27.671Z,1736373447.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 543.400024 m, deltaT: 4.283988 s, deltaX: -2.299988 m, approachRate: -0.536880 m/s, rangeRepo size: 4 2025-01-08T21:57:27.679Z,1736373447.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 543.400024 m, bearing: 199.631852 deg, lat: 36.897463 deg, lon: -122.121032 deg, deltaT: 4.283988 s, deltaX: -2.299988 m, approachRate: -0.536880 m/s, posRepo size: 4 2025-01-08T21:57:27.692Z,1736373447.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.40 m. 2025-01-08T21:57:27.694Z,1736373447.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.400024 m, nav range: 267.760162 m, bearing: 206.905628 deg, approach rate: 0.000000 m/s, LOS rate: -0.130409 deg/s, cmd heading: 327.755042 deg, new cmd heading: 327.570129 deg. 2025-01-08T21:57:27.700Z,1736373447.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717177 target range: 543.400024 and range: 543.40 m. 2025-01-08T21:57:27.754Z,1736373447.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:27.757Z,1736373447.757 [DAT](INFO): DAT read: TxSync time:21:57:26.7889 2025-01-08T21:57:28.004Z,1736373448.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:28.081Z,1736373448.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:28.091Z,1736373448.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.40 m. 2025-01-08T21:57:28.096Z,1736373448.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.400024 m, nav range: 267.890594 m, bearing: 206.836793 deg, approach rate: 0.309187 m/s, LOS rate: -0.163093 deg/s, cmd heading: 327.570135 deg, new cmd heading: 327.363731 deg. 2025-01-08T21:57:28.097Z,1736373448.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713575 target range: 543.400024 and range: 543.40 m. 2025-01-08T21:57:28.256Z,1736373448.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:28.454Z,1736373448.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:28.462Z,1736373448.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.40 m. 2025-01-08T21:57:28.465Z,1736373448.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.400024 m, nav range: 267.990662 m, bearing: 206.783462 deg, approach rate: 0.269450 m/s, LOS rate: -0.143552 deg/s, cmd heading: 327.363727 deg, new cmd heading: 327.203792 deg. 2025-01-08T21:57:28.466Z,1736373448.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710783 target range: 543.400024 and range: 543.40 m. 2025-01-08T21:57:28.508Z,1736373448.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:28.762Z,1736373448.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:28.908Z,1736373448.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:28.915Z,1736373448.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:28.917Z,1736373448.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.40 m. 2025-01-08T21:57:28.922Z,1736373448.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.400024 m, nav range: 268.106415 m, bearing: 206.718253 deg, approach rate: 0.254343 m/s, LOS rate: -0.143221 deg/s, cmd heading: 327.203791 deg, new cmd heading: 327.008249 deg. 2025-01-08T21:57:28.922Z,1736373448.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707371 target range: 543.400024 and range: 543.40 m. 2025-01-08T21:57:29.013Z,1736373449.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:29.013Z,1736373449.013 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:29.013Z,1736373449.013 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:29.013Z,1736373449.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:29.264Z,1736373449.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:29.264Z,1736373449.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742830 2025-01-08T21:57:29.266Z,1736373449.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:29.300Z,1736373449.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.40 m. 2025-01-08T21:57:29.308Z,1736373449.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.400024 m, nav range: 268.201996 m, bearing: 206.663274 deg, approach rate: 0.249929 m/s, LOS rate: -0.143708 deg/s, cmd heading: 327.008257 deg, new cmd heading: 326.843381 deg. 2025-01-08T21:57:29.309Z,1736373449.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704493 target range: 543.400024 and range: 543.40 m. 2025-01-08T21:57:29.516Z,1736373449.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:29.517Z,1736373449.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995244 2025-01-08T21:57:29.717Z,1736373449.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:29.726Z,1736373449.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.40 m. 2025-01-08T21:57:29.729Z,1736373449.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.400024 m, nav range: 268.316803 m, bearing: 206.596745 deg, approach rate: 0.269148 m/s, LOS rate: -0.155901 deg/s, cmd heading: 326.843376 deg, new cmd heading: 326.643874 deg. 2025-01-08T21:57:29.730Z,1736373449.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701011 target range: 543.400024 and range: 543.40 m. 2025-01-08T21:57:29.770Z,1736373449.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:29.773Z,1736373449.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250507 2025-01-08T21:57:30.020Z,1736373450.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:30.021Z,1736373450.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499046 2025-01-08T21:57:30.094Z,1736373450.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:30.105Z,1736373450.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.40 m. 2025-01-08T21:57:30.107Z,1736373450.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.400024 m, nav range: 268.416351 m, bearing: 206.539516 deg, approach rate: 0.263232 m/s, LOS rate: -0.151273 deg/s, cmd heading: 326.643880 deg, new cmd heading: 326.472257 deg. 2025-01-08T21:57:30.108Z,1736373450.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698016 target range: 543.400024 and range: 543.40 m. 2025-01-08T21:57:30.272Z,1736373450.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:30.272Z,1736373450.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750718 2025-01-08T21:57:30.479Z,1736373450.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:30.488Z,1736373450.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.40 m. 2025-01-08T21:57:30.491Z,1736373450.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.400024 m, nav range: 268.516693 m, bearing: 206.481402 deg, approach rate: 0.261341 m/s, LOS rate: -0.151302 deg/s, cmd heading: 326.472251 deg, new cmd heading: 326.297974 deg. 2025-01-08T21:57:30.492Z,1736373450.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694974 target range: 543.400024 and range: 543.40 m. 2025-01-08T21:57:30.524Z,1736373450.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:30.525Z,1736373450.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003567 2025-01-08T21:57:30.790Z,1736373450.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:30.792Z,1736373450.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270221 2025-01-08T21:57:30.897Z,1736373450.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:30.925Z,1736373450.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:30.927Z,1736373450.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.40 m. 2025-01-08T21:57:30.934Z,1736373450.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.400024 m, nav range: 268.620758 m, bearing: 206.419341 deg, approach rate: 0.237461 m/s, LOS rate: -0.141558 deg/s, cmd heading: 326.297972 deg, new cmd heading: 326.111862 deg. 2025-01-08T21:57:30.935Z,1736373450.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691726 target range: 543.400024 and range: 543.40 m. 2025-01-08T21:57:31.040Z,1736373451.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:31.041Z,1736373451.041 [DAT](INFO): DAT read: Rx Time:21:57:29.8949 2025-01-08T21:57:31.042Z,1736373451.042 [DAT](INFO): Rx dataTimestamp_ set to:1736373451.041900 2025-01-08T21:57:31.043Z,1736373451.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521630 2025-01-08T21:57:31.290Z,1736373451.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:31.292Z,1736373451.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:31.293Z,1736373451.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770985 2025-01-08T21:57:31.300Z,1736373451.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.40 m. 2025-01-08T21:57:31.303Z,1736373451.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.400024 m, nav range: 268.717896 m, bearing: 206.361020 deg, approach rate: 0.260184 m/s, LOS rate: -0.156156 deg/s, cmd heading: 326.111863 deg, new cmd heading: 325.936964 deg. 2025-01-08T21:57:31.305Z,1736373451.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688673 target range: 543.400024 and range: 543.40 m. 2025-01-08T21:57:31.545Z,1736373451.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:31.547Z,1736373451.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025013 2025-01-08T21:57:31.700Z,1736373451.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:31.710Z,1736373451.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.40 m. 2025-01-08T21:57:31.713Z,1736373451.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.400024 m, nav range: 268.819122 m, bearing: 206.300031 deg, approach rate: 0.246825 m/s, LOS rate: -0.148657 deg/s, cmd heading: 325.936955 deg, new cmd heading: 325.754056 deg. 2025-01-08T21:57:31.714Z,1736373451.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685481 target range: 543.400024 and range: 543.40 m. 2025-01-08T21:57:31.797Z,1736373451.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:31.837Z,1736373451.837 [DAT](INFO): DAT read: 21:57:29.8949 LVL= 24304, 32753, 27858, 32755, AGC= 68, IDX= 199, 0.48, 1.627,-0.011, 0.601, 0.995, PHS= 0.720,-0.959,-0.397, RAW= 109.2, 8.7, CAL= 119.0, 6.2, ROT= 31.0, -6.2 2025-01-08T21:57:31.869Z,1736373451.869 [DAT](INFO): got valid direction response: 21:57:29.8949 LVL= 24304, 32753, 27858, 32755, AGC= 68, IDX= 199, 0.48, 1.627,-0.011, 0.601, 0.995, PHS= 0.720,-0.959,-0.397, RAW= 109.2, 8.7, CAL= 119.0, 6.2, ROT= 31.0, -6.2 2025-01-08T21:57:31.870Z,1736373451.870 [DAT](INFO): DAT read: Bearing 31.0, -6.2 (Local) 2025-01-08T21:57:31.871Z,1736373451.871 [DAT](INFO): Local bearing/azimuth received: Bearing 31.0, -6.2 (Local) 2025-01-08T21:57:31.877Z,1736373451.877 [DAT](INFO): DAT read: Range 10 to 50 : 525.7 m (Round-trip 701.0 ms) speed 0.5 m/s 2025-01-08T21:57:31.878Z,1736373451.878 [DAT](INFO): DAT read: user:2175> 2025-01-08T21:57:31.879Z,1736373451.879 [DAT](INFO): DAT read: Tx time:21:57:30.9897 2025-01-08T21:57:31.879Z,1736373451.879 [DAT](INFO): Ping request sent. 2025-01-08T21:57:31.879Z,1736373451.879 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:31.884Z,1736373451.884 [DAT](INFO): DAT read: TxSync time:21:57:30.9889 2025-01-08T21:57:31.884Z,1736373451.884 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:57:31.886Z,1736373451.886 [DAT](INFO): direction in FSK: [-0.274681,-0.216127,0.936931] 2025-01-08T21:57:31.887Z,1736373451.887 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:31.887Z,1736373451.887 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:31.894Z,1736373451.894 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:31.894Z,1736373451.894 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:32.048Z,1736373452.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:32.149Z,1736373452.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:32.176Z,1736373452.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 525.700012 m, deltaT: 4.298124 s, deltaX: -17.700012 m, approachRate: -4.118079 m/s, rangeRepo size: 4 2025-01-08T21:57:32.178Z,1736373452.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 525.700012 m, bearing: 195.736741 deg, lat: 36.897582 deg, lon: -122.120873 deg, deltaT: 4.298124 s, deltaX: -17.700012 m, approachRate: -4.118079 m/s, posRepo size: 4 2025-01-08T21:57:32.179Z,1736373452.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:32.185Z,1736373452.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 250.970871 m, bearing: 204.674250 deg, approach rate: 0.000000 m/s, LOS rate: -0.148657 deg/s, cmd heading: 325.754043 deg, new cmd heading: 325.548564 deg. 2025-01-08T21:57:32.186Z,1736373452.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681894 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:32.301Z,1736373452.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:32.493Z,1736373452.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:32.502Z,1736373452.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:32.505Z,1736373452.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 251.061691 m, bearing: 204.622932 deg, approach rate: 0.274622 m/s, LOS rate: -0.155118 deg/s, cmd heading: 325.548563 deg, new cmd heading: 325.394666 deg. 2025-01-08T21:57:32.506Z,1736373452.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679208 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:32.553Z,1736373452.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:32.805Z,1736373452.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:32.924Z,1736373452.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:32.931Z,1736373452.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:32.933Z,1736373452.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:32.937Z,1736373452.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 251.177856 m, bearing: 204.563479 deg, approach rate: 0.269057 m/s, LOS rate: -0.137640 deg/s, cmd heading: 325.394665 deg, new cmd heading: 325.216389 deg. 2025-01-08T21:57:32.938Z,1736373452.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676097 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:33.056Z,1736373453.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:33.056Z,1736373453.056 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:33.057Z,1736373453.057 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:33.057Z,1736373453.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:33.308Z,1736373453.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:33.308Z,1736373453.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.429228 2025-01-08T21:57:33.335Z,1736373453.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:33.343Z,1736373453.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:33.349Z,1736373453.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 251.288589 m, bearing: 204.506904 deg, approach rate: 0.270206 m/s, LOS rate: -0.137991 deg/s, cmd heading: 325.216397 deg, new cmd heading: 325.046748 deg. 2025-01-08T21:57:33.353Z,1736373453.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673136 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:33.560Z,1736373453.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:33.560Z,1736373453.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.681417 2025-01-08T21:57:33.717Z,1736373453.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:33.744Z,1736373453.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:33.746Z,1736373453.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 251.391922 m, bearing: 204.454293 deg, approach rate: 0.259109 m/s, LOS rate: -0.131868 deg/s, cmd heading: 325.046736 deg, new cmd heading: 324.888970 deg. 2025-01-08T21:57:33.747Z,1736373453.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670382 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:33.814Z,1736373453.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:33.823Z,1736373453.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.943426 2025-01-08T21:57:34.064Z,1736373454.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:34.065Z,1736373454.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.185630 2025-01-08T21:57:34.137Z,1736373454.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:34.146Z,1736373454.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:34.149Z,1736373454.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 251.507309 m, bearing: 204.400595 deg, approach rate: 0.285947 m/s, LOS rate: -0.133012 deg/s, cmd heading: 324.888958 deg, new cmd heading: 324.727937 deg. 2025-01-08T21:57:34.150Z,1736373454.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667572 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:34.316Z,1736373454.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:34.316Z,1736373454.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437466 2025-01-08T21:57:34.515Z,1736373454.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:34.525Z,1736373454.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:34.528Z,1736373454.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 251.611206 m, bearing: 204.352278 deg, approach rate: 0.273997 m/s, LOS rate: -0.127368 deg/s, cmd heading: 324.727930 deg, new cmd heading: 324.583040 deg. 2025-01-08T21:57:34.528Z,1736373454.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665043 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:34.568Z,1736373454.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:34.569Z,1736373454.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.690002 2025-01-08T21:57:34.828Z,1736373454.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:34.830Z,1736373454.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950294 2025-01-08T21:57:34.966Z,1736373454.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:34.974Z,1736373454.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:34.976Z,1736373454.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:34.979Z,1736373454.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 251.734146 m, bearing: 204.297995 deg, approach rate: 0.272414 m/s, LOS rate: -0.120224 deg/s, cmd heading: 324.583048 deg, new cmd heading: 324.420278 deg. 2025-01-08T21:57:34.980Z,1736373454.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662202 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:35.080Z,1736373455.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:35.082Z,1736373455.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202771 2025-01-08T21:57:35.333Z,1736373455.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:35.334Z,1736373455.334 [DAT](INFO): DAT read: Rx Time:21:57:34.0923 2025-01-08T21:57:35.334Z,1736373455.334 [DAT](INFO): Rx dataTimestamp_ set to:1736373455.333967 2025-01-08T21:57:35.335Z,1736373455.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.455827 2025-01-08T21:57:35.425Z,1736373455.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:35.438Z,1736373455.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:35.445Z,1736373455.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 251.859161 m, bearing: 204.242714 deg, approach rate: 0.270865 m/s, LOS rate: -0.119714 deg/s, cmd heading: 324.420271 deg, new cmd heading: 324.254512 deg. 2025-01-08T21:57:35.446Z,1736373455.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659309 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:35.584Z,1736373455.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:35.585Z,1736373455.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.705722 2025-01-08T21:57:35.817Z,1736373455.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:35.833Z,1736373455.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:35.836Z,1736373455.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:35.865Z,1736373455.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 251.965729 m, bearing: 204.195503 deg, approach rate: 0.269759 m/s, LOS rate: -0.119459 deg/s, cmd heading: 324.254516 deg, new cmd heading: 324.112941 deg. 2025-01-08T21:57:35.900Z,1736373455.900 [DAT](INFO): DAT read: 21:57:34.0923 LVL= 17200, 32241, 23794, 32755, AGC= 72, IDX= 412, 0.24, 2.149, 0.493, 1.116, 1.484, PHS= 0.753,-0.944,-0.371, RAW= 109.4, 7.6, CAL= 119.5, 5.0, ROT= 30.5, -5.0 2025-01-08T21:57:35.905Z,1736373455.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656838 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:35.912Z,1736373455.912 [DAT](INFO): got valid direction response: 21:57:34.0923 LVL= 17200, 32241, 23794, 32755, AGC= 72, IDX= 412, 0.24, 2.149, 0.493, 1.116, 1.484, PHS= 0.753,-0.944,-0.371, RAW= 109.4, 7.6, CAL= 119.5, 5.0, ROT= 30.5, -5.0 2025-01-08T21:57:35.912Z,1736373455.912 [DAT](INFO): DAT read: $Error in header 2025-01-08T21:57:35.913Z,1736373455.913 [DAT](INFO): Received a bad header 2025-01-08T21:57:35.924Z,1736373455.924 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T21:57:35.924Z,1736373455.924 [DAT](INFO): direction in FSK: [-0.255156,-0.221333,0.941226] 2025-01-08T21:57:35.932Z,1736373455.932 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:35.932Z,1736373455.932 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:35.932Z,1736373455.932 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:36.088Z,1736373456.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:36.088Z,1736373456.088 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:36.088Z,1736373456.088 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:36.088Z,1736373456.088 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:36.235Z,1736373456.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:36.243Z,1736373456.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:36.246Z,1736373456.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 252.080505 m, bearing: 204.146692 deg, approach rate: 0.279689 m/s, LOS rate: -0.118888 deg/s, cmd heading: 324.112939 deg, new cmd heading: 323.966575 deg. 2025-01-08T21:57:36.247Z,1736373456.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654284 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:36.340Z,1736373456.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:36.342Z,1736373456.342 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:36.342Z,1736373456.342 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:36.342Z,1736373456.342 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:36.592Z,1736373456.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:36.592Z,1736373456.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:36.592Z,1736373456.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:36.593Z,1736373456.593 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:36.599Z,1736373456.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:36.608Z,1736373456.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:36.611Z,1736373456.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 252.179916 m, bearing: 204.104103 deg, approach rate: 0.272160 m/s, LOS rate: -0.116551 deg/s, cmd heading: 323.966582 deg, new cmd heading: 323.838866 deg. 2025-01-08T21:57:36.612Z,1736373456.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.652054 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:36.845Z,1736373456.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:36.846Z,1736373456.846 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:36.847Z,1736373456.847 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:36.847Z,1736373456.847 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:37.027Z,1736373457.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:37.034Z,1736373457.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:37.037Z,1736373457.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:37.040Z,1736373457.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 252.295441 m, bearing: 204.053654 deg, approach rate: 0.269235 m/s, LOS rate: -0.117521 deg/s, cmd heading: 323.838858 deg, new cmd heading: 323.687579 deg. 2025-01-08T21:57:37.041Z,1736373457.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649414 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:37.097Z,1736373457.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:37.098Z,1736373457.098 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:37.098Z,1736373457.098 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:37.098Z,1736373457.098 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:37.348Z,1736373457.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:37.348Z,1736373457.348 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:37.348Z,1736373457.348 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:37.348Z,1736373457.348 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:37.442Z,1736373457.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:37.459Z,1736373457.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:37.462Z,1736373457.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 252.407257 m, bearing: 204.004734 deg, approach rate: 0.265439 m/s, LOS rate: -0.116080 deg/s, cmd heading: 323.687583 deg, new cmd heading: 323.540887 deg. 2025-01-08T21:57:37.463Z,1736373457.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646854 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:37.600Z,1736373457.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:37.600Z,1736373457.600 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:37.600Z,1736373457.600 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:37.600Z,1736373457.600 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:37.815Z,1736373457.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:37.825Z,1736373457.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:37.830Z,1736373457.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 252.507034 m, bearing: 203.960734 deg, approach rate: 0.272429 m/s, LOS rate: -0.120088 deg/s, cmd heading: 323.540897 deg, new cmd heading: 323.408951 deg. 2025-01-08T21:57:37.830Z,1736373457.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644551 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:37.853Z,1736373457.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:37.853Z,1736373457.853 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:37.854Z,1736373457.854 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:37.854Z,1736373457.854 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:38.104Z,1736373458.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:38.104Z,1736373458.104 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:38.104Z,1736373458.104 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:38.104Z,1736373458.104 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:38.262Z,1736373458.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:38.279Z,1736373458.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:38.286Z,1736373458.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 252.627380 m, bearing: 203.904680 deg, approach rate: 0.265051 m/s, LOS rate: -0.123394 deg/s, cmd heading: 323.408938 deg, new cmd heading: 323.240858 deg. 2025-01-08T21:57:38.287Z,1736373458.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641617 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:38.356Z,1736373458.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:38.356Z,1736373458.356 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:38.356Z,1736373458.356 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:38.356Z,1736373458.356 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:38.608Z,1736373458.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:38.608Z,1736373458.608 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:38.608Z,1736373458.608 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:38.608Z,1736373458.608 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:38.649Z,1736373458.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:38.662Z,1736373458.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:38.682Z,1736373458.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 252.730484 m, bearing: 203.856282 deg, approach rate: 0.268976 m/s, LOS rate: -0.126209 deg/s, cmd heading: 323.240861 deg, new cmd heading: 323.095726 deg. 2025-01-08T21:57:38.687Z,1736373458.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639084 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:38.860Z,1736373458.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:38.860Z,1736373458.860 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:38.860Z,1736373458.860 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:38.860Z,1736373458.860 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:39.065Z,1736373459.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:39.077Z,1736373459.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:39.083Z,1736373459.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:39.087Z,1736373459.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 252.843033 m, bearing: 203.799648 deg, approach rate: 0.270056 m/s, LOS rate: -0.135830 deg/s, cmd heading: 323.095733 deg, new cmd heading: 322.925908 deg. 2025-01-08T21:57:39.092Z,1736373459.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636120 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:39.112Z,1736373459.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:39.112Z,1736373459.112 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:39.112Z,1736373459.112 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:39.112Z,1736373459.112 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:39.364Z,1736373459.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:39.364Z,1736373459.364 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:39.364Z,1736373459.364 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:39.364Z,1736373459.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:39.464Z,1736373459.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:39.480Z,1736373459.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:39.483Z,1736373459.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 252.946365 m, bearing: 203.746473 deg, approach rate: 0.257687 m/s, LOS rate: -0.132554 deg/s, cmd heading: 322.925907 deg, new cmd heading: 322.766445 deg. 2025-01-08T21:57:39.488Z,1736373459.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.633337 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:39.616Z,1736373459.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:39.616Z,1736373459.616 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:39.616Z,1736373459.616 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:39.616Z,1736373459.616 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:39.848Z,1736373459.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:39.858Z,1736373459.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:39.861Z,1736373459.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 253.049683 m, bearing: 203.692849 deg, approach rate: 0.273401 m/s, LOS rate: -0.141843 deg/s, cmd heading: 322.766436 deg, new cmd heading: 322.605630 deg. 2025-01-08T21:57:39.862Z,1736373459.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630530 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:39.868Z,1736373459.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:39.868Z,1736373459.868 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:39.868Z,1736373459.868 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:39.869Z,1736373459.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:40.120Z,1736373460.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:40.120Z,1736373460.120 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:40.121Z,1736373460.121 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:40.121Z,1736373460.121 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:40.276Z,1736373460.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:40.300Z,1736373460.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:40.302Z,1736373460.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 253.160553 m, bearing: 203.629698 deg, approach rate: 0.250817 m/s, LOS rate: -0.142800 deg/s, cmd heading: 322.605626 deg, new cmd heading: 322.416257 deg. 2025-01-08T21:57:40.304Z,1736373460.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627225 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:40.373Z,1736373460.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:40.375Z,1736373460.375 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:40.375Z,1736373460.375 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:40.375Z,1736373460.375 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:40.624Z,1736373460.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:40.624Z,1736373460.624 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:40.624Z,1736373460.624 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:40.625Z,1736373460.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:40.645Z,1736373460.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:40.698Z,1736373460.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:40.705Z,1736373460.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 253.254745 m, bearing: 203.574812 deg, approach rate: 0.240852 m/s, LOS rate: -0.140291 deg/s, cmd heading: 322.416266 deg, new cmd heading: 322.251671 deg. 2025-01-08T21:57:40.706Z,1736373460.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624352 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:40.876Z,1736373460.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:40.876Z,1736373460.876 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:40.876Z,1736373460.876 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:40.876Z,1736373460.876 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:41.065Z,1736373461.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:41.074Z,1736373461.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:41.077Z,1736373461.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 253.361588 m, bearing: 203.509454 deg, approach rate: 0.278955 m/s, LOS rate: -0.170573 deg/s, cmd heading: 322.251658 deg, new cmd heading: 322.055667 deg. 2025-01-08T21:57:41.078Z,1736373461.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620932 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:41.128Z,1736373461.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:41.128Z,1736373461.128 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:41.129Z,1736373461.129 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:41.129Z,1736373461.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:41.381Z,1736373461.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:41.381Z,1736373461.381 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:41.381Z,1736373461.381 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:41.381Z,1736373461.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:41.477Z,1736373461.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:41.509Z,1736373461.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:41.511Z,1736373461.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:41.522Z,1736373461.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 253.466171 m, bearing: 203.445107 deg, approach rate: 0.239404 m/s, LOS rate: -0.147238 deg/s, cmd heading: 322.055659 deg, new cmd heading: 321.862697 deg. 2025-01-08T21:57:41.531Z,1736373461.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617564 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:41.632Z,1736373461.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:41.632Z,1736373461.632 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:41.632Z,1736373461.632 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:41.632Z,1736373461.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T21:57:41.884Z,1736373461.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:41.884Z,1736373461.884 [DAT](INFO): Reached modem response timeout 2025-01-08T21:57:41.885Z,1736373461.885 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:57:41.885Z,1736373461.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:42.049Z,1736373462.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:42.060Z,1736373462.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:42.063Z,1736373462.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 253.615112 m, bearing: 203.352771 deg, approach rate: 0.271176 m/s, LOS rate: -0.168016 deg/s, cmd heading: 321.862693 deg, new cmd heading: 321.585851 deg. 2025-01-08T21:57:42.064Z,1736373462.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612732 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:42.137Z,1736373462.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:42.137Z,1736373462.137 [DAT](INFO): Reached modem response timeout 2025-01-08T21:57:42.138Z,1736373462.138 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:57:42.138Z,1736373462.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:42.362Z,1736373462.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:42.370Z,1736373462.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:42.373Z,1736373462.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 253.696014 m, bearing: 203.302267 deg, approach rate: 0.260758 m/s, LOS rate: -0.162730 deg/s, cmd heading: 321.585851 deg, new cmd heading: 321.434387 deg. 2025-01-08T21:57:42.374Z,1736373462.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610088 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:42.389Z,1736373462.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:42.390Z,1736373462.390 [DAT](INFO): Reached modem response timeout 2025-01-08T21:57:42.391Z,1736373462.391 [DAT](DEBUG): Acoustic response timeout 2025-01-08T21:57:42.391Z,1736373462.391 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:42.640Z,1736373462.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:42.641Z,1736373462.641 [DAT](INFO): DAT read: Response Not Received 2025-01-08T21:57:42.642Z,1736373462.642 [DAT](INFO): response not received 2025-01-08T21:57:42.642Z,1736373462.642 [DAT](INFO): DAT read: user:2177> 2025-01-08T21:57:42.644Z,1736373462.644 [DAT](INFO): DAT read: Tx time:21:57:41.9398 2025-01-08T21:57:42.644Z,1736373462.644 [DAT](INFO): Ping request sent. 2025-01-08T21:57:42.644Z,1736373462.644 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:42.645Z,1736373462.645 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:42.646Z,1736373462.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001136 2025-01-08T21:57:42.803Z,1736373462.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:42.812Z,1736373462.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:42.814Z,1736373462.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 253.809479 m, bearing: 203.230959 deg, approach rate: 0.256980 m/s, LOS rate: -0.161429 deg/s, cmd heading: 321.434385 deg, new cmd heading: 321.220558 deg. 2025-01-08T21:57:42.816Z,1736373462.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606356 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:42.892Z,1736373462.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:42.893Z,1736373462.893 [DAT](INFO): DAT read: TxSync time:21:57:41.9390 2025-01-08T21:57:42.894Z,1736373462.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249094 2025-01-08T21:57:43.144Z,1736373463.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:43.145Z,1736373463.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500192 2025-01-08T21:57:43.248Z,1736373463.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:43.265Z,1736373463.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:43.272Z,1736373463.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 253.929230 m, bearing: 203.160673 deg, approach rate: 0.264558 m/s, LOS rate: -0.155206 deg/s, cmd heading: 321.220545 deg, new cmd heading: 321.009787 deg. 2025-01-08T21:57:43.273Z,1736373463.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602678 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:43.396Z,1736373463.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:43.398Z,1736373463.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753554 2025-01-08T21:57:43.610Z,1736373463.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:43.617Z,1736373463.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:43.620Z,1736373463.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:43.624Z,1736373463.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 254.024811 m, bearing: 203.103327 deg, approach rate: 0.269940 m/s, LOS rate: -0.161895 deg/s, cmd heading: 321.009793 deg, new cmd heading: 320.837821 deg. 2025-01-08T21:57:43.625Z,1736373463.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599676 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:43.648Z,1736373463.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:43.649Z,1736373463.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004848 2025-01-08T21:57:43.900Z,1736373463.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:43.900Z,1736373463.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255872 2025-01-08T21:57:44.072Z,1736373464.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:44.081Z,1736373464.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:44.084Z,1736373464.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 254.140976 m, bearing: 203.032437 deg, approach rate: 0.251295 m/s, LOS rate: -0.153282 deg/s, cmd heading: 320.837809 deg, new cmd heading: 320.625238 deg. 2025-01-08T21:57:44.085Z,1736373464.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595966 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:44.152Z,1736373464.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:44.154Z,1736373464.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509096 2025-01-08T21:57:44.404Z,1736373464.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:44.404Z,1736373464.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760007 2025-01-08T21:57:44.446Z,1736373464.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:44.462Z,1736373464.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:44.469Z,1736373464.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 254.235123 m, bearing: 202.975135 deg, approach rate: 0.246749 m/s, LOS rate: -0.150127 deg/s, cmd heading: 320.625226 deg, new cmd heading: 320.453384 deg. 2025-01-08T21:57:44.470Z,1736373464.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592967 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:44.656Z,1736373464.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:44.657Z,1736373464.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012729 2025-01-08T21:57:44.820Z,1736373464.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:44.829Z,1736373464.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:44.853Z,1736373464.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 254.329498 m, bearing: 202.917975 deg, approach rate: 0.257372 m/s, LOS rate: -0.155824 deg/s, cmd heading: 320.453379 deg, new cmd heading: 320.281962 deg. 2025-01-08T21:57:44.854Z,1736373464.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589975 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:44.909Z,1736373464.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:44.910Z,1736373464.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265522 2025-01-08T21:57:45.160Z,1736373465.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:45.160Z,1736373465.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515876 2025-01-08T21:57:45.278Z,1736373465.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:45.288Z,1736373465.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:45.290Z,1736373465.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 254.444992 m, bearing: 202.849969 deg, approach rate: 0.252018 m/s, LOS rate: -0.148327 deg/s, cmd heading: 320.281968 deg, new cmd heading: 320.078044 deg. 2025-01-08T21:57:45.292Z,1736373465.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586416 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:45.412Z,1736373465.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:45.412Z,1736373465.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767888 2025-01-08T21:57:45.628Z,1736373465.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:45.635Z,1736373465.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:45.637Z,1736373465.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:45.640Z,1736373465.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 254.533829 m, bearing: 202.798069 deg, approach rate: 0.253776 m/s, LOS rate: -0.148209 deg/s, cmd heading: 320.078046 deg, new cmd heading: 319.922401 deg. 2025-01-08T21:57:45.641Z,1736373465.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583699 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:45.664Z,1736373465.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:45.666Z,1736373465.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021867 2025-01-08T21:57:45.916Z,1736373465.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:45.916Z,1736373465.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271874 2025-01-08T21:57:46.098Z,1736373466.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:46.108Z,1736373466.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:46.111Z,1736373466.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 254.648071 m, bearing: 202.731715 deg, approach rate: 0.242737 m/s, LOS rate: -0.140922 deg/s, cmd heading: 319.922400 deg, new cmd heading: 319.723429 deg. 2025-01-08T21:57:46.112Z,1736373466.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580226 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:46.168Z,1736373466.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:46.170Z,1736373466.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525401 2025-01-08T21:57:46.420Z,1736373466.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:46.420Z,1736373466.420 [DAT](INFO): DAT read: Rx Time:21:57:45.0365 2025-01-08T21:57:46.421Z,1736373466.421 [DAT](INFO): Rx dataTimestamp_ set to:1736373466.420649 2025-01-08T21:57:46.421Z,1736373466.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777038 2025-01-08T21:57:46.470Z,1736373466.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:46.489Z,1736373466.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:46.496Z,1736373466.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 254.738266 m, bearing: 202.679280 deg, approach rate: 0.236641 m/s, LOS rate: -0.137525 deg/s, cmd heading: 319.723423 deg, new cmd heading: 319.566172 deg. 2025-01-08T21:57:46.497Z,1736373466.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577482 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:46.672Z,1736373466.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:46.673Z,1736373466.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028565 2025-01-08T21:57:46.842Z,1736373466.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:46.876Z,1736373466.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.70 m. 2025-01-08T21:57:46.879Z,1736373466.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 525.700012 m, nav range: 254.828094 m, bearing: 202.626763 deg, approach rate: 0.232181 m/s, LOS rate: -0.135694 deg/s, cmd heading: 319.566164 deg, new cmd heading: 319.408669 deg. 2025-01-08T21:57:46.884Z,1736373466.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574733 target range: 525.700012 and range: 525.70 m. 2025-01-08T21:57:46.929Z,1736373466.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:46.942Z,1736373466.942 [DAT](INFO): DAT read: 21:57:45.0365 LVL= 15904, 32753, 27378, 32755, AGC= 70, IDX= 399,-0.19,-1.148,-2.869,-2.441,-2.015, PHS= 0.955,-0.807,-0.429, RAW= 101.8, 3.6, CAL= 112.3, 1.4, ROT= 37.7, -1.4 2025-01-08T21:57:46.944Z,1736373466.944 [DAT](INFO): got valid direction response: 21:57:45.0365 LVL= 15904, 32753, 27378, 32755, AGC= 70, IDX= 399,-0.19,-1.148,-2.869,-2.441,-2.015, PHS= 0.955,-0.807,-0.429, RAW= 101.8, 3.6, CAL= 112.3, 1.4, ROT= 37.7, -1.4 2025-01-08T21:57:46.946Z,1736373466.946 [DAT](INFO): DAT read: Bearing 37.7, -1.4 (Local) 2025-01-08T21:57:46.946Z,1736373466.946 [DAT](INFO): Local bearing/azimuth received: Bearing 37.7, -1.4 (Local) 2025-01-08T21:57:46.950Z,1736373466.950 [DAT](INFO): DAT read: Range 10 to 50 : 519.3 m (Round-trip 692.4 ms) speed 0.2 m/s 2025-01-08T21:57:46.952Z,1736373466.952 [DAT](INFO): DAT read: user:2178> 2025-01-08T21:57:46.953Z,1736373466.953 [DAT](INFO): DAT read: Tx time:21:57:46.1399 2025-01-08T21:57:46.954Z,1736373466.954 [DAT](INFO): Ping request sent. 2025-01-08T21:57:46.954Z,1736373466.954 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:46.955Z,1736373466.955 [DAT](INFO): DAT read: TxSync time:21:57:46.1391 2025-01-08T21:57:46.978Z,1736373466.978 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:57:46.988Z,1736373466.988 [DAT](INFO): direction in FSK: [-0.169934,-0.094369,0.980927] 2025-01-08T21:57:46.989Z,1736373466.989 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:46.989Z,1736373466.989 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:47.004Z,1736373467.004 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:47.005Z,1736373467.005 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:47.180Z,1736373467.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:47.305Z,1736373467.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:47.335Z,1736373467.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 519.299988 m, deltaT: 15.130881 s, deltaX: -6.400024 m, approachRate: -0.422978 m/s, rangeRepo size: 4 2025-01-08T21:57:47.353Z,1736373467.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 519.299988 m, bearing: 197.338723 deg, lat: 36.897701 deg, lon: -122.120627 deg, deltaT: 15.130881 s, deltaX: -6.400024 m, approachRate: -0.422978 m/s, posRepo size: 4 2025-01-08T21:57:47.354Z,1736373467.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.30 m. 2025-01-08T21:57:47.364Z,1736373467.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.299988 m, nav range: 234.795578 m, bearing: 198.875065 deg, approach rate: 0.000000 m/s, LOS rate: -0.135694 deg/s, cmd heading: 319.408660 deg, new cmd heading: 319.222224 deg. 2025-01-08T21:57:47.365Z,1736373467.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.571479 target range: 519.299988 and range: 519.30 m. 2025-01-08T21:57:47.433Z,1736373467.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:47.657Z,1736373467.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:47.682Z,1736373467.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:47.684Z,1736373467.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:47.685Z,1736373467.685 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:47.685Z,1736373467.685 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:47.685Z,1736373467.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:47.689Z,1736373467.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.30 m. 2025-01-08T21:57:47.695Z,1736373467.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.299988 m, nav range: 234.889450 m, bearing: 198.825733 deg, approach rate: 0.264577 m/s, LOS rate: -0.138986 deg/s, cmd heading: 319.222223 deg, new cmd heading: 319.074287 deg. 2025-01-08T21:57:47.704Z,1736373467.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568897 target range: 519.299988 and range: 519.30 m. 2025-01-08T21:57:47.937Z,1736373467.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:47.939Z,1736373467.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984856 2025-01-08T21:57:48.130Z,1736373468.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:48.140Z,1736373468.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.30 m. 2025-01-08T21:57:48.142Z,1736373468.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.299988 m, nav range: 235.010605 m, bearing: 198.760807 deg, approach rate: 0.269114 m/s, LOS rate: -0.144143 deg/s, cmd heading: 319.074281 deg, new cmd heading: 318.879603 deg. 2025-01-08T21:57:48.143Z,1736373468.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.565499 target range: 519.299988 and range: 519.30 m. 2025-01-08T21:57:48.188Z,1736373468.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:48.189Z,1736373468.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235154 2025-01-08T21:57:48.440Z,1736373468.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:48.440Z,1736373468.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486607 2025-01-08T21:57:48.486Z,1736373468.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:48.494Z,1736373468.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.30 m. 2025-01-08T21:57:48.497Z,1736373468.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.299988 m, nav range: 235.101013 m, bearing: 198.712043 deg, approach rate: 0.254620 m/s, LOS rate: -0.137283 deg/s, cmd heading: 318.879594 deg, new cmd heading: 318.733358 deg. 2025-01-08T21:57:48.498Z,1736373468.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562946 target range: 519.299988 and range: 519.30 m. 2025-01-08T21:57:48.692Z,1736373468.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:48.692Z,1736373468.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738511 2025-01-08T21:57:48.873Z,1736373468.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:48.882Z,1736373468.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.30 m. 2025-01-08T21:57:48.885Z,1736373468.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.299988 m, nav range: 235.199112 m, bearing: 198.658929 deg, approach rate: 0.253096 m/s, LOS rate: -0.136977 deg/s, cmd heading: 318.733346 deg, new cmd heading: 318.574072 deg. 2025-01-08T21:57:48.886Z,1736373468.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560166 target range: 519.299988 and range: 519.30 m. 2025-01-08T21:57:48.945Z,1736373468.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:48.946Z,1736373468.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991626 2025-01-08T21:57:49.196Z,1736373469.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:49.197Z,1736373469.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242753 2025-01-08T21:57:49.298Z,1736373469.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:49.308Z,1736373469.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.30 m. 2025-01-08T21:57:49.311Z,1736373469.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.299988 m, nav range: 235.300995 m, bearing: 198.600908 deg, approach rate: 0.238893 m/s, LOS rate: -0.135988 deg/s, cmd heading: 318.574066 deg, new cmd heading: 318.400077 deg. 2025-01-08T21:57:49.313Z,1736373469.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557130 target range: 519.299988 and range: 519.30 m. 2025-01-08T21:57:49.448Z,1736373469.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:49.449Z,1736373469.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494736 2025-01-08T21:57:49.698Z,1736373469.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:49.700Z,1736373469.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:49.700Z,1736373469.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746538 2025-01-08T21:57:49.746Z,1736373469.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:49.754Z,1736373469.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.30 m. 2025-01-08T21:57:49.765Z,1736373469.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.299988 m, nav range: 235.395142 m, bearing: 198.546897 deg, approach rate: 0.211640 m/s, LOS rate: -0.121366 deg/s, cmd heading: 318.400087 deg, new cmd heading: 318.238121 deg. 2025-01-08T21:57:49.766Z,1736373469.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554303 target range: 519.299988 and range: 519.30 m. 2025-01-08T21:57:49.952Z,1736373469.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:49.954Z,1736373469.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999546 2025-01-08T21:57:50.154Z,1736373470.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:50.168Z,1736373470.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.30 m. 2025-01-08T21:57:50.174Z,1736373470.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.299988 m, nav range: 235.505005 m, bearing: 198.481627 deg, approach rate: 0.266075 m/s, LOS rate: -0.158003 deg/s, cmd heading: 318.238130 deg, new cmd heading: 318.042411 deg. 2025-01-08T21:57:50.176Z,1736373470.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.550887 target range: 519.299988 and range: 519.30 m. 2025-01-08T21:57:50.204Z,1736373470.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:50.205Z,1736373470.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251314 2025-01-08T21:57:50.456Z,1736373470.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:50.457Z,1736373470.457 [DAT](INFO): DAT read: Rx Time:21:57:49.2345 2025-01-08T21:57:50.457Z,1736373470.457 [DAT](INFO): Rx dataTimestamp_ set to:1736373470.456749 2025-01-08T21:57:50.458Z,1736373470.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503696 2025-01-08T21:57:50.527Z,1736373470.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:50.560Z,1736373470.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.30 m. 2025-01-08T21:57:50.562Z,1736373470.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.299988 m, nav range: 235.594284 m, bearing: 198.428757 deg, approach rate: 0.229915 m/s, LOS rate: -0.136102 deg/s, cmd heading: 318.042404 deg, new cmd heading: 317.883854 deg. 2025-01-08T21:57:50.568Z,1736373470.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548120 target range: 519.299988 and range: 519.30 m. 2025-01-08T21:57:50.708Z,1736373470.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:50.708Z,1736373470.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754452 2025-01-08T21:57:50.954Z,1736373470.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:50.960Z,1736373470.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:50.966Z,1736373470.966 [DAT](INFO): DAT read: 21:57:49.2345 LVL= 23824, 32753, 28962, 32755, AGC= 69, IDX= 427,-0.06,-0.719,-2.500,-2.180,-1.683, PHS= 1.052,-0.771,-0.500, RAW= 97.9, 2.6, CAL= 107.7, 0.4, ROT= 42.3, -0.4 2025-01-08T21:57:50.968Z,1736373470.968 [DAT](INFO): got valid direction response: 21:57:49.2345 LVL= 23824, 32753, 28962, 32755, AGC= 69, IDX= 427,-0.06,-0.719,-2.500,-2.180,-1.683, PHS= 1.052,-0.771,-0.500, RAW= 97.9, 2.6, CAL= 107.7, 0.4, ROT= 42.3, -0.4 2025-01-08T21:57:50.970Z,1736373470.970 [DAT](INFO): DAT read: Bearing 42.3, -0.4 (Local) 2025-01-08T21:57:50.970Z,1736373470.970 [DAT](INFO): Local bearing/azimuth received: Bearing 42.3, -0.4 (Local) 2025-01-08T21:57:50.972Z,1736373470.972 [DAT](INFO): DAT read: Range 10 to 50 : 517.8 m (Round-trip 690.5 ms) speed 0.1 m/s 2025-01-08T21:57:50.973Z,1736373470.973 [DAT](INFO): DAT read: user:2179> 2025-01-08T21:57:50.973Z,1736373470.973 [DAT](INFO): DAT read: Tx time:21:57:50.3399 2025-01-08T21:57:50.974Z,1736373470.974 [DAT](INFO): Ping request sent. 2025-01-08T21:57:50.974Z,1736373470.974 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:50.974Z,1736373470.974 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:57:50.975Z,1736373470.975 [DAT](INFO): direction in FSK: [-0.146781,-0.027924,0.988775] 2025-01-08T21:57:50.979Z,1736373470.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.30 m. 2025-01-08T21:57:50.980Z,1736373470.980 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:50.980Z,1736373470.980 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:50.983Z,1736373470.983 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:50.987Z,1736373470.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 519.299988 m, nav range: 235.692047 m, bearing: 198.368061 deg, approach rate: 0.230252 m/s, LOS rate: -0.142892 deg/s, cmd heading: 317.883861 deg, new cmd heading: 317.701850 deg. 2025-01-08T21:57:50.987Z,1736373470.987 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:50.992Z,1736373470.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.544943 target range: 519.299988 and range: 519.30 m. 2025-01-08T21:57:51.212Z,1736373471.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:51.213Z,1736373471.213 [DAT](INFO): DAT read: TxSync time:21:57:50.3391 2025-01-08T21:57:51.391Z,1736373471.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:51.418Z,1736373471.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 517.799988 m, deltaT: 4.031092 s, deltaX: -1.500000 m, approachRate: -0.372108 m/s, rangeRepo size: 4 2025-01-08T21:57:51.425Z,1736373471.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 517.799988 m, bearing: 187.755839 deg, lat: 36.897957 deg, lon: -122.120375 deg, deltaT: 4.031092 s, deltaX: -1.500000 m, approachRate: -0.372108 m/s, posRepo size: 4 2025-01-08T21:57:51.426Z,1736373471.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:57:51.433Z,1736373471.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 202.072281 m, bearing: 194.818886 deg, approach rate: 0.000000 m/s, LOS rate: -0.142892 deg/s, cmd heading: 317.701851 deg, new cmd heading: 317.513906 deg. 2025-01-08T21:57:51.434Z,1736373471.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541663 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:57:51.464Z,1736373471.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:51.716Z,1736373471.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:51.744Z,1736373471.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:51.767Z,1736373471.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:51.773Z,1736373471.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:57:51.780Z,1736373471.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 202.162628 m, bearing: 194.760047 deg, approach rate: 0.253867 m/s, LOS rate: -0.165257 deg/s, cmd heading: 317.513911 deg, new cmd heading: 317.337475 deg. 2025-01-08T21:57:51.781Z,1736373471.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538584 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:57:51.968Z,1736373471.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:51.968Z,1736373471.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:51.968Z,1736373471.968 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:51.968Z,1736373471.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:52.193Z,1736373472.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:52.201Z,1736373472.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:57:52.205Z,1736373472.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 202.274109 m, bearing: 194.680374 deg, approach rate: 0.260327 m/s, LOS rate: -0.185947 deg/s, cmd heading: 317.337474 deg, new cmd heading: 317.098589 deg. 2025-01-08T21:57:52.206Z,1736373472.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534414 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:57:52.232Z,1736373472.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:52.233Z,1736373472.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258963 2025-01-08T21:57:52.484Z,1736373472.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:52.484Z,1736373472.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510707 2025-01-08T21:57:52.630Z,1736373472.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:52.638Z,1736373472.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:57:52.641Z,1736373472.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 202.382294 m, bearing: 194.602740 deg, approach rate: 0.247627 m/s, LOS rate: -0.177603 deg/s, cmd heading: 317.098581 deg, new cmd heading: 316.865805 deg. 2025-01-08T21:57:52.642Z,1736373472.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530352 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:57:52.738Z,1736373472.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:52.739Z,1736373472.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765270 2025-01-08T21:57:52.992Z,1736373472.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:52.992Z,1736373472.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018767 2025-01-08T21:57:53.045Z,1736373473.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:53.056Z,1736373473.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:57:53.059Z,1736373473.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 202.484833 m, bearing: 194.528928 deg, approach rate: 0.245407 m/s, LOS rate: -0.176567 deg/s, cmd heading: 316.865808 deg, new cmd heading: 316.644484 deg. 2025-01-08T21:57:53.061Z,1736373473.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526489 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:57:53.105Z,1736373473.105 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:57:53.244Z,1736373473.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:53.245Z,1736373473.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270946 2025-01-08T21:57:53.496Z,1736373473.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:53.497Z,1736373473.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523424 2025-01-08T21:57:53.600Z,1736373473.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:53.617Z,1736373473.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:57:53.624Z,1736373473.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 202.632248 m, bearing: 194.429348 deg, approach rate: 0.262745 m/s, LOS rate: -0.177357 deg/s, cmd heading: 316.644483 deg, new cmd heading: 316.345963 deg. 2025-01-08T21:57:53.625Z,1736373473.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521279 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:57:53.748Z,1736373473.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:53.749Z,1736373473.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775067 2025-01-08T21:57:53.954Z,1736373473.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:53.961Z,1736373473.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:53.963Z,1736373473.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:57:53.966Z,1736373473.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 202.725845 m, bearing: 194.365698 deg, approach rate: 0.270798 m/s, LOS rate: -0.184067 deg/s, cmd heading: 316.345976 deg, new cmd heading: 316.155116 deg. 2025-01-08T21:57:53.967Z,1736373473.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517948 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:57:54.000Z,1736373474.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:54.001Z,1736373474.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027831 2025-01-08T21:57:54.108Z,1736373474.108 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:57:54.252Z,1736373474.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:54.253Z,1736373474.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279446 2025-01-08T21:57:54.376Z,1736373474.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:54.385Z,1736373474.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:57:54.389Z,1736373474.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 202.834915 m, bearing: 194.287973 deg, approach rate: 0.258562 m/s, LOS rate: -0.184158 deg/s, cmd heading: 316.155113 deg, new cmd heading: 315.922063 deg. 2025-01-08T21:57:54.390Z,1736373474.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513880 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:57:54.504Z,1736373474.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:54.504Z,1736373474.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530781 2025-01-08T21:57:54.756Z,1736373474.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:54.757Z,1736373474.757 [DAT](INFO): DAT read: Rx Time:21:57:53.4326 2025-01-08T21:57:54.757Z,1736373474.757 [DAT](INFO): Rx dataTimestamp_ set to:1736373474.756797 2025-01-08T21:57:54.758Z,1736373474.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783948 2025-01-08T21:57:54.761Z,1736373474.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:54.770Z,1736373474.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:57:54.773Z,1736373474.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 202.933426 m, bearing: 194.217057 deg, approach rate: 0.255394 m/s, LOS rate: -0.183762 deg/s, cmd heading: 315.922067 deg, new cmd heading: 315.709425 deg. 2025-01-08T21:57:54.774Z,1736373474.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510169 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:57:55.008Z,1736373475.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:55.009Z,1736373475.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034865 2025-01-08T21:57:55.226Z,1736373475.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:55.235Z,1736373475.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 517.80 m. 2025-01-08T21:57:55.238Z,1736373475.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 517.799988 m, nav range: 203.061279 m, bearing: 194.130998 deg, approach rate: 0.275381 m/s, LOS rate: -0.185244 deg/s, cmd heading: 315.709430 deg, new cmd heading: 315.451417 deg. 2025-01-08T21:57:55.239Z,1736373475.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505666 target range: 517.799988 and range: 517.80 m. 2025-01-08T21:57:55.260Z,1736373475.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:55.267Z,1736373475.267 [DAT](INFO): DAT read: 21:57:53.4326 LVL= 20208, 31553, 22514, 32755, AGC= 67, IDX= 423, 0.21, 2.488, 0.653, 0.950, 1.499, PHS= 1.077,-0.799,-0.553, RAW= 96.9, 3.2, CAL= 106.4, 1.1, ROT= 43.6, -1.1 2025-01-08T21:57:55.268Z,1736373475.268 [DAT](INFO): got valid direction response: 21:57:53.4326 LVL= 20208, 31553, 22514, 32755, AGC= 67, IDX= 423, 0.21, 2.488, 0.653, 0.950, 1.499, PHS= 1.077,-0.799,-0.553, RAW= 96.9, 3.2, CAL= 106.4, 1.1, ROT= 43.6, -1.1 2025-01-08T21:57:55.270Z,1736373475.270 [DAT](INFO): DAT read: Bearing 43.6, -1.1 (Local) 2025-01-08T21:57:55.270Z,1736373475.270 [DAT](INFO): Local bearing/azimuth received: Bearing 43.6, -1.1 (Local) 2025-01-08T21:57:55.277Z,1736373475.277 [DAT](INFO): DAT read: Range 10 to 50 : 516.3 m (Round-trip 688.5 ms) speed 0.3 m/s 2025-01-08T21:57:55.278Z,1736373475.278 [DAT](INFO): DAT read: user:2180> 2025-01-08T21:57:55.279Z,1736373475.279 [DAT](INFO): DAT read: Tx time:21:57:54.5399 2025-01-08T21:57:55.284Z,1736373475.284 [DAT](INFO): Ping request sent. 2025-01-08T21:57:55.284Z,1736373475.284 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:55.285Z,1736373475.285 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:57:55.286Z,1736373475.286 [DAT](INFO): direction in FSK: [-0.155743,-0.009982,0.987747] 2025-01-08T21:57:55.287Z,1736373475.287 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:55.291Z,1736373475.291 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:55.302Z,1736373475.302 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:55.303Z,1736373475.303 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:55.512Z,1736373475.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:55.513Z,1736373475.513 [DAT](INFO): DAT read: TxSync time:21:57:54.5391 2025-01-08T21:57:55.570Z,1736373475.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:55.599Z,1736373475.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 516.299988 m, deltaT: 4.300247 s, deltaX: -1.500000 m, approachRate: -0.348817 m/s, rangeRepo size: 4 2025-01-08T21:57:55.602Z,1736373475.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 516.299988 m, bearing: 179.836167 deg, lat: 36.898613 deg, lon: -122.120197 deg, deltaT: 4.300247 s, deltaX: -1.500000 m, approachRate: -0.348817 m/s, posRepo size: 4 2025-01-08T21:57:55.602Z,1736373475.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m. 2025-01-08T21:57:55.616Z,1736373475.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.299988 m, nav range: 128.591660 m, bearing: 195.096910 deg, approach rate: 0.000000 m/s, LOS rate: -0.185244 deg/s, cmd heading: 315.451413 deg, new cmd heading: 315.251389 deg. 2025-01-08T21:57:55.617Z,1736373475.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502175 target range: 516.299988 and range: 516.30 m. 2025-01-08T21:57:55.764Z,1736373475.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:55.963Z,1736373475.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:55.975Z,1736373475.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:55.978Z,1736373475.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m. 2025-01-08T21:57:56.012Z,1736373476.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.299988 m, nav range: 128.693344 m, bearing: 194.980843 deg, approach rate: 0.265539 m/s, LOS rate: -0.302856 deg/s, cmd heading: 315.251397 deg, new cmd heading: 314.903478 deg. 2025-01-08T21:57:56.013Z,1736373476.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496102 target range: 516.299988 and range: 516.30 m. 2025-01-08T21:57:56.016Z,1736373476.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:56.016Z,1736373476.016 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:57:56.016Z,1736373476.016 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:57:56.017Z,1736373476.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:57:56.268Z,1736373476.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:56.269Z,1736373476.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984890 2025-01-08T21:57:56.383Z,1736373476.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:56.393Z,1736373476.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m. 2025-01-08T21:57:56.417Z,1736373476.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.299988 m, nav range: 128.805603 m, bearing: 194.854626 deg, approach rate: 0.270093 m/s, LOS rate: -0.303412 deg/s, cmd heading: 314.903467 deg, new cmd heading: 314.525151 deg. 2025-01-08T21:57:56.418Z,1736373476.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489500 target range: 516.299988 and range: 516.30 m. 2025-01-08T21:57:56.520Z,1736373476.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:56.521Z,1736373476.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236949 2025-01-08T21:57:56.772Z,1736373476.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:56.773Z,1736373476.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488449 2025-01-08T21:57:56.779Z,1736373476.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:56.788Z,1736373476.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m. 2025-01-08T21:57:56.796Z,1736373476.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.299988 m, nav range: 128.910873 m, bearing: 194.735707 deg, approach rate: 0.266474 m/s, LOS rate: -0.300777 deg/s, cmd heading: 314.525157 deg, new cmd heading: 314.168696 deg. 2025-01-08T21:57:56.797Z,1736373476.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483278 target range: 516.299988 and range: 516.30 m. 2025-01-08T21:57:57.024Z,1736373477.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:57.025Z,1736373477.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740799 2025-01-08T21:57:57.250Z,1736373477.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:57.276Z,1736373477.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:57.280Z,1736373477.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995796 2025-01-08T21:57:57.285Z,1736373477.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m. 2025-01-08T21:57:57.292Z,1736373477.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.299988 m, nav range: 129.041260 m, bearing: 194.599411 deg, approach rate: 0.262631 m/s, LOS rate: -0.274257 deg/s, cmd heading: 314.168703 deg, new cmd heading: 313.760236 deg. 2025-01-08T21:57:57.293Z,1736373477.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476149 target range: 516.299988 and range: 516.30 m. 2025-01-08T21:57:57.528Z,1736373477.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:57.529Z,1736373477.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245070 2025-01-08T21:57:57.606Z,1736373477.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:57.627Z,1736373477.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m. 2025-01-08T21:57:57.630Z,1736373477.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.299988 m, nav range: 129.140244 m, bearing: 194.496641 deg, approach rate: 0.292580 m/s, LOS rate: -0.303539 deg/s, cmd heading: 313.760230 deg, new cmd heading: 313.452160 deg. 2025-01-08T21:57:57.631Z,1736373477.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470772 target range: 516.299988 and range: 516.30 m. 2025-01-08T21:57:57.780Z,1736373477.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:57.781Z,1736373477.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497073 2025-01-08T21:57:57.998Z,1736373477.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:58.013Z,1736373478.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:57:58.015Z,1736373478.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m. 2025-01-08T21:57:58.032Z,1736373478.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:58.032Z,1736373478.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748260 2025-01-08T21:57:58.042Z,1736373478.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.299988 m, nav range: 129.247604 m, bearing: 194.383333 deg, approach rate: 0.273945 m/s, LOS rate: -0.288880 deg/s, cmd heading: 313.452162 deg, new cmd heading: 313.112523 deg. 2025-01-08T21:57:58.043Z,1736373478.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464844 target range: 516.299988 and range: 516.30 m. 2025-01-08T21:57:58.284Z,1736373478.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:58.286Z,1736373478.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001079 2025-01-08T21:57:58.478Z,1736373478.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:58.504Z,1736373478.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m. 2025-01-08T21:57:58.507Z,1736373478.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.299988 m, nav range: 129.381897 m, bearing: 194.247413 deg, approach rate: 0.274559 m/s, LOS rate: -0.277596 deg/s, cmd heading: 313.112510 deg, new cmd heading: 312.705182 deg. 2025-01-08T21:57:58.512Z,1736373478.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457735 target range: 516.299988 and range: 516.30 m. 2025-01-08T21:57:58.537Z,1736373478.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:58.538Z,1736373478.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253524 2025-01-08T21:57:58.789Z,1736373478.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:58.791Z,1736373478.791 [DAT](INFO): DAT read: Rx Time:21:57:57.6308 2025-01-08T21:57:58.792Z,1736373478.792 [DAT](INFO): Rx dataTimestamp_ set to:1736373478.791605 2025-01-08T21:57:58.793Z,1736373478.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508741 2025-01-08T21:57:58.840Z,1736373478.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:58.848Z,1736373478.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m. 2025-01-08T21:57:58.851Z,1736373478.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.299988 m, nav range: 129.482300 m, bearing: 194.145026 deg, approach rate: 0.291849 m/s, LOS rate: -0.297388 deg/s, cmd heading: 312.705185 deg, new cmd heading: 312.398263 deg. 2025-01-08T21:57:58.852Z,1736373478.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452378 target range: 516.299988 and range: 516.30 m. 2025-01-08T21:57:59.040Z,1736373479.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:59.041Z,1736373479.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756893 2025-01-08T21:57:59.293Z,1736373479.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:59.296Z,1736373479.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.011380 2025-01-08T21:57:59.300Z,1736373479.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:59.345Z,1736373479.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m. 2025-01-08T21:57:59.353Z,1736373479.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.299988 m, nav range: 129.603745 m, bearing: 194.016686 deg, approach rate: 0.244422 m/s, LOS rate: -0.258056 deg/s, cmd heading: 312.398263 deg, new cmd heading: 312.013612 deg. 2025-01-08T21:57:59.354Z,1736373479.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445665 target range: 516.299988 and range: 516.30 m. 2025-01-08T21:57:59.544Z,1736373479.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:59.551Z,1736373479.551 [DAT](INFO): DAT read: 21:57:57.6308 LVL= 17200, 30801, 19586, 30851, AGC= 67, IDX= 420, 0.30,-2.780, 1.644, 1.876, 2.397, PHS= 1.194,-0.707,-0.524, RAW= 95.0, 0.4, CAL= 103.6, -3.5, ROT= 46.4, 3.5 2025-01-08T21:57:59.558Z,1736373479.558 [DAT](INFO): got valid direction response: 21:57:57.6308 LVL= 17200, 30801, 19586, 30851, AGC= 67, IDX= 420, 0.30,-2.780, 1.644, 1.876, 2.397, PHS= 1.194,-0.707,-0.524, RAW= 95.0, 0.4, CAL= 103.6, -3.5, ROT= 46.4, 3.5 2025-01-08T21:57:59.559Z,1736373479.559 [DAT](INFO): DAT read: Bearing 46.4, 3.5 (Local) 2025-01-08T21:57:59.560Z,1736373479.560 [DAT](INFO): Local bearing/azimuth received: Bearing 46.4, 3.5 (Local) 2025-01-08T21:57:59.561Z,1736373479.561 [DAT](INFO): DAT read: Range 10 to 50 : 515.0 m (Round-trip 686.7 ms) speed 0.3 m/s 2025-01-08T21:57:59.562Z,1736373479.562 [DAT](INFO): DAT read: user:2181> 2025-01-08T21:57:59.563Z,1736373479.563 [DAT](INFO): DAT read: Tx time:21:57:58.7400 2025-01-08T21:57:59.563Z,1736373479.563 [DAT](INFO): Ping request sent. 2025-01-08T21:57:59.563Z,1736373479.563 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:57:59.564Z,1736373479.564 [DAT](INFO): DAT read: TxSync time:21:57:58.7392 2025-01-08T21:57:59.564Z,1736373479.564 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:57:59.565Z,1736373479.565 [DAT](INFO): direction in FSK: [-0.100772,0.020923,0.994689] 2025-01-08T21:57:59.566Z,1736373479.566 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:59.566Z,1736373479.566 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:59.608Z,1736373479.608 [DAT](INFO): publishing transmit ping time 2025-01-08T21:57:59.608Z,1736373479.608 [DAT](INFO): publishing direction and range info 2025-01-08T21:57:59.757Z,1736373479.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:57:59.792Z,1736373479.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 515.000000 m, deltaT: 4.283561 s, deltaX: -1.299988 m, approachRate: -0.303483 m/s, rangeRepo size: 4 2025-01-08T21:57:59.794Z,1736373479.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 515.000000 m, bearing: 177.378996 deg, lat: 36.898943 deg, lon: -122.119925 deg, deltaT: 4.283561 s, deltaX: -1.299988 m, approachRate: -0.303483 m/s, posRepo size: 4 2025-01-08T21:57:59.797Z,1736373479.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:57:59.804Z,1736373479.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:57:59.812Z,1736373479.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 89.470634 m, bearing: 184.497791 deg, approach rate: 0.000000 m/s, LOS rate: -0.258056 deg/s, cmd heading: 312.013614 deg, new cmd heading: 311.671322 deg. 2025-01-08T21:57:59.813Z,1736373479.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.439691 target range: 515.000000 and range: 515.00 m. 2025-01-08T21:58:00.048Z,1736373480.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:00.100Z,1736373480.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:00.108Z,1736373480.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:00.110Z,1736373480.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:00.113Z,1736373480.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 89.594337 m, bearing: 184.369749 deg, approach rate: 0.383381 m/s, LOS rate: -0.396280 deg/s, cmd heading: 311.671313 deg, new cmd heading: 311.287724 deg. 2025-01-08T21:58:00.114Z,1736373480.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432996 target range: 515.000000 and range: 515.00 m. 2025-01-08T21:58:00.300Z,1736373480.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:00.300Z,1736373480.300 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:00.300Z,1736373480.300 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:00.301Z,1736373480.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:00.507Z,1736373480.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:00.539Z,1736373480.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:00.542Z,1736373480.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 89.742157 m, bearing: 184.221917 deg, approach rate: 0.347439 m/s, LOS rate: -0.346896 deg/s, cmd heading: 311.287729 deg, new cmd heading: 310.844973 deg. 2025-01-08T21:58:00.547Z,1736373480.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425268 target range: 515.000000 and range: 515.00 m. 2025-01-08T21:58:00.553Z,1736373480.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:00.554Z,1736373480.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990515 2025-01-08T21:58:00.804Z,1736373480.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:00.804Z,1736373480.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240981 2025-01-08T21:58:00.895Z,1736373480.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:00.908Z,1736373480.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:00.923Z,1736373480.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 89.882462 m, bearing: 184.080848 deg, approach rate: 0.375879 m/s, LOS rate: -0.377338 deg/s, cmd heading: 310.844969 deg, new cmd heading: 310.422429 deg. 2025-01-08T21:58:00.925Z,1736373480.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.417893 target range: 515.000000 and range: 515.00 m. 2025-01-08T21:58:01.056Z,1736373481.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:01.056Z,1736373481.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493056 2025-01-08T21:58:01.308Z,1736373481.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:01.309Z,1736373481.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745334 2025-01-08T21:58:01.338Z,1736373481.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:01.361Z,1736373481.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:01.367Z,1736373481.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 90.036751 m, bearing: 183.922288 deg, approach rate: 0.341273 m/s, LOS rate: -0.350117 deg/s, cmd heading: 310.422426 deg, new cmd heading: 309.947574 deg. 2025-01-08T21:58:01.368Z,1736373481.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409606 target range: 515.000000 and range: 515.00 m. 2025-01-08T21:58:01.560Z,1736373481.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:01.560Z,1736373481.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997050 2025-01-08T21:58:01.705Z,1736373481.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:01.714Z,1736373481.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:01.717Z,1736373481.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 90.164001 m, bearing: 183.791095 deg, approach rate: 0.360044 m/s, LOS rate: -0.370676 deg/s, cmd heading: 309.947564 deg, new cmd heading: 309.554545 deg. 2025-01-08T21:58:01.718Z,1736373481.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402746 target range: 515.000000 and range: 515.00 m. 2025-01-08T21:58:01.814Z,1736373481.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:01.814Z,1736373481.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250804 2025-01-08T21:58:02.072Z,1736373482.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:02.073Z,1736373482.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509232 2025-01-08T21:58:02.121Z,1736373482.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:02.129Z,1736373482.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:02.131Z,1736373482.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:02.154Z,1736373482.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 90.307877 m, bearing: 183.642330 deg, approach rate: 0.345369 m/s, LOS rate: -0.356538 deg/s, cmd heading: 309.554555 deg, new cmd heading: 309.108981 deg. 2025-01-08T21:58:02.156Z,1736373482.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.394969 target range: 515.000000 and range: 515.00 m. 2025-01-08T21:58:02.324Z,1736373482.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:02.324Z,1736373482.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761063 2025-01-08T21:58:02.547Z,1736373482.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:02.556Z,1736373482.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:02.559Z,1736373482.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 90.457314 m, bearing: 183.490700 deg, approach rate: 0.350947 m/s, LOS rate: -0.355508 deg/s, cmd heading: 309.108981 deg, new cmd heading: 308.654854 deg. 2025-01-08T21:58:02.560Z,1736373482.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.387043 target range: 515.000000 and range: 515.00 m. 2025-01-08T21:58:02.577Z,1736373482.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:02.578Z,1736373482.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014511 2025-01-08T21:58:02.828Z,1736373482.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:02.828Z,1736373482.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265087 2025-01-08T21:58:02.931Z,1736373482.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:02.943Z,1736373482.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:02.946Z,1736373482.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 90.592880 m, bearing: 183.354128 deg, approach rate: 0.350673 m/s, LOS rate: -0.352745 deg/s, cmd heading: 308.654855 deg, new cmd heading: 308.245759 deg. 2025-01-08T21:58:02.947Z,1736373482.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.379903 target range: 515.000000 and range: 515.00 m. 2025-01-08T21:58:03.080Z,1736373483.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:03.081Z,1736373483.081 [DAT](INFO): DAT read: Rx Time:21:58:01.8291 2025-01-08T21:58:03.081Z,1736373483.081 [DAT](INFO): Rx dataTimestamp_ set to:1736373483.081041 2025-01-08T21:58:03.082Z,1736373483.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518475 2025-01-08T21:58:03.332Z,1736373483.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:03.332Z,1736373483.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769026 2025-01-08T21:58:03.370Z,1736373483.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:03.387Z,1736373483.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:03.394Z,1736373483.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 90.740227 m, bearing: 183.190865 deg, approach rate: 0.331944 m/s, LOS rate: -0.367204 deg/s, cmd heading: 308.245754 deg, new cmd heading: 307.756772 deg. 2025-01-08T21:58:03.395Z,1736373483.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.371369 target range: 515.000000 and range: 515.00 m. 2025-01-08T21:58:03.584Z,1736373483.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:03.590Z,1736373483.590 [DAT](INFO): DAT read: 21:58:01.8291 LVL= 13728, 26753, 18674, 29235, AGC= 64, IDX= 419,-0.05,-2.532, 1.917, 1.970, 2.612, PHS= 1.227,-0.648,-0.645, RAW= 90 97.6, -3.0, ROT= 52.4, 3.0 2025-01-08T21:58:03.593Z,1736373483.593 [DAT](INFO): unknown deviceResponse_: 21:58:01.8291 LVL= 13728, 26753, 18674, 29235, AGC= 64, IDX= 419,-0.05,-2.532, 1.917, 1.970, 2.612, PHS= 1.227,-0.648,-0.645, RAW= 90 97.6, -3.0, ROT= 52.4, 3.0 2025-01-08T21:58:03.594Z,1736373483.594 [DAT](INFO): DAT read: Bearing 52.4, 3.0 (Local) 2025-01-08T21:58:03.595Z,1736373483.595 [DAT](INFO): Local bearing/azimuth received: Bearing 52.4, 3.0 (Local) 2025-01-08T21:58:03.596Z,1736373483.596 [DAT](INFO): DAT read: Range 10 to 50 : 513.7 m (Round-trip 685.0 ms) speed 0.1 m/s 2025-01-08T21:58:03.597Z,1736373483.597 [DAT](INFO): DAT read: user:2182> 2025-01-08T21:58:03.598Z,1736373483.598 [DAT](INFO): DAT read: Tx time:21:58:02.9400 2025-01-08T21:58:03.598Z,1736373483.598 [DAT](INFO): Ping request sent. 2025-01-08T21:58:03.598Z,1736373483.598 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:03.598Z,1736373483.598 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:58:03.598Z,1736373483.598 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:03.600Z,1736373483.600 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:03.785Z,1736373483.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:03.802Z,1736373483.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 513.700012 m, deltaT: 4.040174 s, deltaX: -1.299988 m, approachRate: -0.321765 m/s, rangeRepo size: 4 2025-01-08T21:58:03.803Z,1736373483.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:03.816Z,1736373483.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 90.880447 m, bearing: 183.036737 deg, approach rate: 0.338054 m/s, LOS rate: -0.371008 deg/s, cmd heading: 307.756767 deg, new cmd heading: 307.295108 deg. 2025-01-08T21:58:03.817Z,1736373483.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.363311 target range: 515.000000 and range: 513.70 m. 2025-01-08T21:58:03.836Z,1736373483.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:03.838Z,1736373483.838 [DAT](INFO): DAT read: TxSync time:21:58:02.9392 2025-01-08T21:58:04.088Z,1736373484.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:04.148Z,1736373484.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:04.156Z,1736373484.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:04.158Z,1736373484.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:04.161Z,1736373484.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 91.003052 m, bearing: 182.902939 deg, approach rate: 0.344172 m/s, LOS rate: -0.375086 deg/s, cmd heading: 307.295101 deg, new cmd heading: 306.894257 deg. 2025-01-08T21:58:04.162Z,1736373484.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.356315 target range: 515.000000 and range: 513.70 m. 2025-01-08T21:58:04.340Z,1736373484.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:04.340Z,1736373484.340 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:04.340Z,1736373484.340 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:04.341Z,1736373484.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:04.559Z,1736373484.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:04.568Z,1736373484.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:04.592Z,1736373484.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:04.593Z,1736373484.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994437 2025-01-08T21:58:04.593Z,1736373484.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 91.146957 m, bearing: 182.742722 deg, approach rate: 0.351376 m/s, LOS rate: -0.390587 deg/s, cmd heading: 306.894251 deg, new cmd heading: 306.414369 deg. 2025-01-08T21:58:04.594Z,1736373484.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.347939 target range: 515.000000 and range: 513.70 m. 2025-01-08T21:58:04.849Z,1736373484.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:04.851Z,1736373484.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252212 2025-01-08T21:58:04.957Z,1736373484.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:04.965Z,1736373484.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:04.968Z,1736373484.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 91.286766 m, bearing: 182.588295 deg, approach rate: 0.351464 m/s, LOS rate: -0.387618 deg/s, cmd heading: 306.414362 deg, new cmd heading: 305.951802 deg. 2025-01-08T21:58:04.970Z,1736373484.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339866 target range: 515.000000 and range: 513.70 m. 2025-01-08T21:58:05.100Z,1736373485.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:05.100Z,1736373485.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502292 2025-01-08T21:58:05.352Z,1736373485.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:05.353Z,1736373485.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755137 2025-01-08T21:58:05.394Z,1736373485.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:05.416Z,1736373485.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:05.419Z,1736373485.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 91.428856 m, bearing: 182.416232 deg, approach rate: 0.318473 m/s, LOS rate: -0.385054 deg/s, cmd heading: 305.951794 deg, new cmd heading: 305.436421 deg. 2025-01-08T21:58:05.428Z,1736373485.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330871 target range: 515.000000 and range: 513.70 m. 2025-01-08T21:58:05.604Z,1736373485.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:05.604Z,1736373485.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006374 2025-01-08T21:58:05.741Z,1736373485.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:05.766Z,1736373485.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:05.773Z,1736373485.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 91.540443 m, bearing: 182.279553 deg, approach rate: 0.314756 m/s, LOS rate: -0.385059 deg/s, cmd heading: 305.436415 deg, new cmd heading: 305.026888 deg. 2025-01-08T21:58:05.774Z,1736373485.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323723 target range: 515.000000 and range: 513.70 m. 2025-01-08T21:58:05.856Z,1736373485.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:05.858Z,1736373485.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259570 2025-01-08T21:58:06.108Z,1736373486.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:06.108Z,1736373486.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510353 2025-01-08T21:58:06.164Z,1736373486.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:06.179Z,1736373486.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:06.181Z,1736373486.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:06.188Z,1736373486.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 91.674675 m, bearing: 182.112484 deg, approach rate: 0.323208 m/s, LOS rate: -0.401687 deg/s, cmd heading: 305.026877 deg, new cmd heading: 304.526416 deg. 2025-01-08T21:58:06.189Z,1736373486.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314989 target range: 515.000000 and range: 513.70 m. 2025-01-08T21:58:06.362Z,1736373486.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:06.363Z,1736373486.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764584 2025-01-08T21:58:06.586Z,1736373486.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:06.595Z,1736373486.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:06.598Z,1736373486.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 91.797577 m, bearing: 181.946238 deg, approach rate: 0.297197 m/s, LOS rate: -0.401470 deg/s, cmd heading: 304.526416 deg, new cmd heading: 304.028360 deg. 2025-01-08T21:58:06.598Z,1736373486.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.306296 target range: 515.000000 and range: 513.70 m. 2025-01-08T21:58:06.612Z,1736373486.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:06.612Z,1736373486.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014391 2025-01-08T21:58:06.864Z,1736373486.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:06.864Z,1736373486.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266422 2025-01-08T21:58:06.963Z,1736373486.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:06.972Z,1736373486.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:06.975Z,1736373486.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 91.903389 m, bearing: 181.796143 deg, approach rate: 0.280198 m/s, LOS rate: -0.397006 deg/s, cmd heading: 304.028358 deg, new cmd heading: 303.578600 deg. 2025-01-08T21:58:06.977Z,1736373486.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298446 target range: 515.000000 and range: 513.70 m. 2025-01-08T21:58:07.116Z,1736373487.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:07.116Z,1736373487.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518345 2025-01-08T21:58:07.368Z,1736373487.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:07.369Z,1736373487.369 [DAT](INFO): DAT read: Rx Time:21:58:06.0279 2025-01-08T21:58:07.370Z,1736373487.370 [DAT](INFO): Rx dataTimestamp_ set to:1736373487.369587 2025-01-08T21:58:07.370Z,1736373487.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772348 2025-01-08T21:58:07.434Z,1736373487.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:07.466Z,1736373487.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:07.473Z,1736373487.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 92.032677 m, bearing: 181.610833 deg, approach rate: 0.261871 m/s, LOS rate: -0.374817 deg/s, cmd heading: 303.578604 deg, new cmd heading: 303.023472 deg. 2025-01-08T21:58:07.474Z,1736373487.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288757 target range: 515.000000 and range: 513.70 m. 2025-01-08T21:58:07.621Z,1736373487.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:07.622Z,1736373487.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023512 2025-01-08T21:58:07.786Z,1736373487.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:07.794Z,1736373487.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m. 2025-01-08T21:58:07.797Z,1736373487.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 515.000000 m, nav range: 92.127968 m, bearing: 181.472191 deg, approach rate: 0.290510 m/s, LOS rate: -0.422232 deg/s, cmd heading: 303.023474 deg, new cmd heading: 302.607988 deg. 2025-01-08T21:58:07.798Z,1736373487.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281506 target range: 515.000000 and range: 513.70 m. 2025-01-08T21:58:07.873Z,1736373487.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:07.885Z,1736373487.885 [DAT](INFO): DAT read: 21:58:06.0279 LVL= 13136, 30369, 18146, 26563, AGC= 67, IDX= 422,-0.10,-2.512, 2.046, 1.947, 2.680, PHS= 1.179,-0.587,-0.737, RAW= 86.0, 1.6, CAL= 92.4, -1.8, ROT= 57.6, 1.8 2025-01-08T21:58:07.886Z,1736373487.886 [DAT](INFO): got valid direction response: 21:58:06.0279 LVL= 13136, 30369, 18146, 26563, AGC= 67, IDX= 422,-0.10,-2.512, 2.046, 1.947, 2.680, PHS= 1.179,-0.587,-0.737, RAW= 86.0, 1.6, CAL= 92.4, -1.8, ROT= 57.6, 1.8 2025-01-08T21:58:07.888Z,1736373487.888 [DAT](INFO): DAT read: Bearing 57.6, 1.8 (Local) 2025-01-08T21:58:07.888Z,1736373487.888 [DAT](INFO): Local bearing/azimuth received: Bearing 57.6, 1.8 (Local) 2025-01-08T21:58:07.890Z,1736373487.890 [DAT](INFO): DAT read: Range 10 to 50 : 512.7 m (Round-trip 683.7 ms) speed 0.0 m/s 2025-01-08T21:58:07.891Z,1736373487.891 [DAT](INFO): DAT read: user:2183> 2025-01-08T21:58:07.892Z,1736373487.892 [DAT](INFO): DAT read: Tx time:21:58:07.1416 2025-01-08T21:58:07.892Z,1736373487.892 [DAT](INFO): Ping request sent. 2025-01-08T21:58:07.892Z,1736373487.892 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:07.892Z,1736373487.892 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:58:07.893Z,1736373487.893 [DAT](INFO): direction in FSK: [-0.108549,0.178145,0.977999] 2025-01-08T21:58:07.893Z,1736373487.893 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:07.894Z,1736373487.894 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:07.901Z,1736373487.901 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:07.901Z,1736373487.901 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:08.124Z,1736373488.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:08.125Z,1736373488.125 [DAT](INFO): DAT read: TxSync time:21:58:07.1409 2025-01-08T21:58:08.185Z,1736373488.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:08.209Z,1736373488.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 512.700012 m, deltaT: 4.289864 s, deltaX: -1.000000 m, approachRate: -0.233108 m/s, rangeRepo size: 4 2025-01-08T21:58:08.219Z,1736373488.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 512.700012 m, bearing: 78.075078 deg, lat: 36.898944 deg, lon: -122.119817 deg, deltaT: 8.330038 s, deltaX: -2.299988 m, approachRate: -0.276108 m/s, posRepo size: 4 2025-01-08T21:58:08.224Z,1736373488.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:58:08.241Z,1736373488.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 92.480789 m, bearing: 175.346188 deg, approach rate: 0.000000 m/s, LOS rate: -0.422232 deg/s, cmd heading: 302.607979 deg, new cmd heading: 302.095544 deg. 2025-01-08T21:58:08.243Z,1736373488.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272562 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:58:08.379Z,1736373488.379 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:08.598Z,1736373488.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:08.605Z,1736373488.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:08.628Z,1736373488.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:08.628Z,1736373488.628 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:08.628Z,1736373488.628 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:08.629Z,1736373488.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:08.636Z,1736373488.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:58:08.639Z,1736373488.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 92.617332 m, bearing: 175.190168 deg, approach rate: 0.334172 m/s, LOS rate: -0.381274 deg/s, cmd heading: 302.095551 deg, new cmd heading: 301.628194 deg. 2025-01-08T21:58:08.645Z,1736373488.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.264405 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:58:08.880Z,1736373488.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:08.881Z,1736373488.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988821 2025-01-08T21:58:08.997Z,1736373488.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:09.006Z,1736373489.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:58:09.009Z,1736373489.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 92.748154 m, bearing: 175.039018 deg, approach rate: 0.327732 m/s, LOS rate: -0.378125 deg/s, cmd heading: 301.628203 deg, new cmd heading: 301.175403 deg. 2025-01-08T21:58:09.010Z,1736373489.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256503 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:58:09.132Z,1736373489.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:09.132Z,1736373489.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240481 2025-01-08T21:58:09.385Z,1736373489.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:09.389Z,1736373489.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496016 2025-01-08T21:58:09.467Z,1736373489.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:09.477Z,1736373489.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:58:09.480Z,1736373489.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 92.899895 m, bearing: 174.862414 deg, approach rate: 0.322612 m/s, LOS rate: -0.374860 deg/s, cmd heading: 301.175416 deg, new cmd heading: 300.646483 deg. 2025-01-08T21:58:09.481Z,1736373489.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.247271 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:58:09.636Z,1736373489.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:09.637Z,1736373489.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745201 2025-01-08T21:58:09.840Z,1736373489.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:09.848Z,1736373489.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:58:09.851Z,1736373489.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 93.021149 m, bearing: 174.722432 deg, approach rate: 0.326216 m/s, LOS rate: -0.376109 deg/s, cmd heading: 300.646486 deg, new cmd heading: 300.227096 deg. 2025-01-08T21:58:09.853Z,1736373489.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.239951 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:58:09.888Z,1736373489.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:09.889Z,1736373489.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996582 2025-01-08T21:58:10.140Z,1736373490.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:10.140Z,1736373490.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248483 2025-01-08T21:58:10.286Z,1736373490.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:10.295Z,1736373490.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:58:10.298Z,1736373490.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 93.163818 m, bearing: 174.554675 deg, approach rate: 0.319578 m/s, LOS rate: -0.375197 deg/s, cmd heading: 300.227085 deg, new cmd heading: 299.724598 deg. 2025-01-08T21:58:10.300Z,1736373490.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231181 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:58:10.394Z,1736373490.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:10.397Z,1736373490.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504778 2025-01-08T21:58:10.644Z,1736373490.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:10.645Z,1736373490.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752905 2025-01-08T21:58:10.808Z,1736373490.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:10.818Z,1736373490.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:10.820Z,1736373490.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:58:10.822Z,1736373490.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 93.337708 m, bearing: 174.356886 deg, approach rate: 0.331344 m/s, LOS rate: -0.376182 deg/s, cmd heading: 299.724601 deg, new cmd heading: 299.132362 deg. 2025-01-08T21:58:10.824Z,1736373490.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.220845 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:58:10.896Z,1736373490.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:10.898Z,1736373490.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005511 2025-01-08T21:58:11.148Z,1736373491.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:11.148Z,1736373491.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256410 2025-01-08T21:58:11.199Z,1736373491.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:11.223Z,1736373491.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:58:11.226Z,1736373491.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 93.467171 m, bearing: 174.209021 deg, approach rate: 0.324480 m/s, LOS rate: -0.370088 deg/s, cmd heading: 299.132369 deg, new cmd heading: 298.689398 deg. 2025-01-08T21:58:11.227Z,1736373491.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.213113 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:58:11.402Z,1736373491.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:11.404Z,1736373491.404 [DAT](INFO): DAT read: Rx Time:21:58:10.2286 2025-01-08T21:58:11.406Z,1736373491.406 [DAT](INFO): Rx dataTimestamp_ set to:1736373491.404992 2025-01-08T21:58:11.408Z,1736373491.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515810 2025-01-08T21:58:11.642Z,1736373491.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:11.653Z,1736373491.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:11.654Z,1736373491.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761674 2025-01-08T21:58:11.660Z,1736373491.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:58:11.665Z,1736373491.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 93.615669 m, bearing: 174.040429 deg, approach rate: 0.337388 m/s, LOS rate: -0.382432 deg/s, cmd heading: 298.689391 deg, new cmd heading: 298.184431 deg. 2025-01-08T21:58:11.666Z,1736373491.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204300 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:58:11.906Z,1736373491.906 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:11.910Z,1736373491.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017410 2025-01-08T21:58:11.992Z,1736373491.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:12.013Z,1736373492.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.70 m. 2025-01-08T21:58:12.020Z,1736373492.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.700012 m, nav range: 93.730972 m, bearing: 173.906350 deg, approach rate: 0.325520 m/s, LOS rate: -0.378062 deg/s, cmd heading: 298.184421 deg, new cmd heading: 297.782685 deg. 2025-01-08T21:58:12.021Z,1736373492.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.197289 target range: 512.700012 and range: 512.70 m. 2025-01-08T21:58:12.156Z,1736373492.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:12.163Z,1736373492.163 [DAT](INFO): DAT read: 21:58:10.2286 LVL= 14272, 28145, 18370, 27891, AGC= 66, IDX= 428, 0.26,-2.539, 2.383, 2.024, 2.921, PHS= 0.911,-0.490,-0.899, RAW= 77.6, 5.9, CAL= 81.6, 6.2, ROT= 68.4, -6.2 2025-01-08T21:58:12.164Z,1736373492.164 [DAT](INFO): got valid direction response: 21:58:10.2286 LVL= 14272, 28145, 18370, 27891, AGC= 66, IDX= 428, 0.26,-2.539, 2.383, 2.024, 2.921, PHS= 0.911,-0.490,-0.899, RAW= 77.6, 5.9, CAL= 81.6, 6.2, ROT= 68.4, -6.2 2025-01-08T21:58:12.165Z,1736373492.165 [DAT](INFO): DAT read: Bearing 68.4, -6.2 (Local) 2025-01-08T21:58:12.165Z,1736373492.165 [DAT](INFO): Local bearing/azimuth received: Bearing 68.4, -6.2 (Local) 2025-01-08T21:58:12.167Z,1736373492.167 [DAT](INFO): DAT read: Range 10 to 50 : 512.1 m (Round-trip 682.8 ms) speed 0.1 m/s 2025-01-08T21:58:12.168Z,1736373492.168 [DAT](INFO): DAT read: user:2184> 2025-01-08T21:58:12.169Z,1736373492.169 [DAT](INFO): DAT read: Tx time:21:58:11.3416 2025-01-08T21:58:12.170Z,1736373492.170 [DAT](INFO): Ping request sent. 2025-01-08T21:58:12.170Z,1736373492.170 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:12.170Z,1736373492.170 [DAT](INFO): DAT read: TxSync time:21:58:11.3409 2025-01-08T21:58:12.177Z,1736373492.177 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:58:12.178Z,1736373492.178 [DAT](INFO): direction in FSK: [-0.173147,0.319191,0.931739] 2025-01-08T21:58:12.178Z,1736373492.178 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:12.179Z,1736373492.179 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:12.183Z,1736373492.183 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:12.185Z,1736373492.185 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:12.410Z,1736373492.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:12.462Z,1736373492.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:12.492Z,1736373492.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 512.099976 m, deltaT: 4.282295 s, deltaX: -0.600037 m, approachRate: -0.140120 m/s, rangeRepo size: 4 2025-01-08T21:58:12.494Z,1736373492.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 512.099976 m, bearing: 66.394074 deg, lat: 36.899193 deg, lon: -122.119815 deg, deltaT: 4.282295 s, deltaX: -0.600037 m, approachRate: -0.140120 m/s, posRepo size: 4 2025-01-08T21:58:12.495Z,1736373492.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.10 m. 2025-01-08T21:58:12.498Z,1736373492.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.099976 m, nav range: 66.416153 m, bearing: 170.932050 deg, approach rate: 0.000000 m/s, LOS rate: -0.378062 deg/s, cmd heading: 297.782697 deg, new cmd heading: 297.240727 deg. 2025-01-08T21:58:12.499Z,1736373492.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.187829 target range: 512.099976 and range: 512.10 m. 2025-01-08T21:58:12.660Z,1736373492.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:12.824Z,1736373492.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:12.830Z,1736373492.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:12.832Z,1736373492.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.10 m. 2025-01-08T21:58:12.855Z,1736373492.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.099976 m, nav range: 66.549568 m, bearing: 170.738555 deg, approach rate: 0.390652 m/s, LOS rate: -0.565434 deg/s, cmd heading: 297.240735 deg, new cmd heading: 296.661435 deg. 2025-01-08T21:58:12.856Z,1736373492.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.177719 target range: 512.099976 and range: 512.10 m. 2025-01-08T21:58:12.914Z,1736373492.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:12.915Z,1736373492.915 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:12.915Z,1736373492.915 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:12.915Z,1736373492.915 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:13.164Z,1736373493.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:13.164Z,1736373493.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994463 2025-01-08T21:58:13.225Z,1736373493.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:13.238Z,1736373493.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.10 m. 2025-01-08T21:58:13.245Z,1736373493.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.099976 m, nav range: 66.696251 m, bearing: 170.522674 deg, approach rate: 0.361724 m/s, LOS rate: -0.531196 deg/s, cmd heading: 296.661426 deg, new cmd heading: 296.015237 deg. 2025-01-08T21:58:13.246Z,1736373493.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166440 target range: 512.099976 and range: 512.10 m. 2025-01-08T21:58:13.418Z,1736373493.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:13.422Z,1736373493.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251946 2025-01-08T21:58:13.653Z,1736373493.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:13.668Z,1736373493.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:13.670Z,1736373493.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499836 2025-01-08T21:58:13.670Z,1736373493.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.10 m. 2025-01-08T21:58:13.675Z,1736373493.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.099976 m, nav range: 66.860718 m, bearing: 170.290016 deg, approach rate: 0.383551 m/s, LOS rate: -0.541241 deg/s, cmd heading: 296.015235 deg, new cmd heading: 295.319015 deg. 2025-01-08T21:58:13.677Z,1736373493.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154289 target range: 512.099976 and range: 512.10 m. 2025-01-08T21:58:13.921Z,1736373493.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:13.924Z,1736373493.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752838 2025-01-08T21:58:14.028Z,1736373494.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:14.046Z,1736373494.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.10 m. 2025-01-08T21:58:14.049Z,1736373494.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.099976 m, nav range: 67.001945 m, bearing: 170.084663 deg, approach rate: 0.372570 m/s, LOS rate: -0.540595 deg/s, cmd heading: 295.319020 deg, new cmd heading: 294.704283 deg. 2025-01-08T21:58:14.050Z,1736373494.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.143560 target range: 512.099976 and range: 512.10 m. 2025-01-08T21:58:14.172Z,1736373494.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:14.173Z,1736373494.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002691 2025-01-08T21:58:14.426Z,1736373494.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:14.428Z,1736373494.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257890 2025-01-08T21:58:14.489Z,1736373494.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:14.506Z,1736373494.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.10 m. 2025-01-08T21:58:14.513Z,1736373494.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.099976 m, nav range: 67.174110 m, bearing: 169.832296 deg, approach rate: 0.374254 m/s, LOS rate: -0.547190 deg/s, cmd heading: 294.704276 deg, new cmd heading: 293.949161 deg. 2025-01-08T21:58:14.514Z,1736373494.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130381 target range: 512.099976 and range: 512.10 m. 2025-01-08T21:58:14.676Z,1736373494.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:14.677Z,1736373494.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507053 2025-01-08T21:58:14.844Z,1736373494.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:14.851Z,1736373494.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:14.870Z,1736373494.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.10 m. 2025-01-08T21:58:14.884Z,1736373494.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.099976 m, nav range: 67.312500 m, bearing: 169.634065 deg, approach rate: 0.380526 m/s, LOS rate: -0.543947 deg/s, cmd heading: 293.949157 deg, new cmd heading: 293.355711 deg. 2025-01-08T21:58:14.888Z,1736373494.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.120023 target range: 512.099976 and range: 512.10 m. 2025-01-08T21:58:14.930Z,1736373494.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:14.930Z,1736373494.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760539 2025-01-08T21:58:15.180Z,1736373495.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:15.180Z,1736373495.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010547 2025-01-08T21:58:15.258Z,1736373495.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:15.273Z,1736373495.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.10 m. 2025-01-08T21:58:15.283Z,1736373495.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.099976 m, nav range: 67.471725 m, bearing: 169.402870 deg, approach rate: 0.394357 m/s, LOS rate: -0.571254 deg/s, cmd heading: 293.355723 deg, new cmd heading: 292.663809 deg. 2025-01-08T21:58:15.288Z,1736373495.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.107947 target range: 512.099976 and range: 512.10 m. 2025-01-08T21:58:15.434Z,1736373495.434 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:15.436Z,1736373495.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265848 2025-01-08T21:58:15.661Z,1736373495.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:15.684Z,1736373495.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:15.684Z,1736373495.684 [DAT](INFO): DAT read: Rx Time:21:58:14.4278 2025-01-08T21:58:15.685Z,1736373495.685 [DAT](INFO): Rx dataTimestamp_ set to:1736373495.684527 2025-01-08T21:58:15.686Z,1736373495.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515856 2025-01-08T21:58:15.695Z,1736373495.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.10 m. 2025-01-08T21:58:15.698Z,1736373495.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.099976 m, nav range: 67.624626 m, bearing: 169.179514 deg, approach rate: 0.380519 m/s, LOS rate: -0.554601 deg/s, cmd heading: 292.663798 deg, new cmd heading: 291.995277 deg. 2025-01-08T21:58:15.699Z,1736373495.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.096279 target range: 512.099976 and range: 512.10 m. 2025-01-08T21:58:15.936Z,1736373495.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:15.937Z,1736373495.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767205 2025-01-08T21:58:16.042Z,1736373496.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:16.050Z,1736373496.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 512.10 m. 2025-01-08T21:58:16.053Z,1736373496.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 512.099976 m, nav range: 67.767632 m, bearing: 168.967533 deg, approach rate: 0.381142 m/s, LOS rate: -0.563785 deg/s, cmd heading: 291.995286 deg, new cmd heading: 291.360713 deg. 2025-01-08T21:58:16.054Z,1736373496.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085204 target range: 512.099976 and range: 512.10 m. 2025-01-08T21:58:16.188Z,1736373496.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:16.194Z,1736373496.194 [DAT](INFO): DAT read: 21:58:14.4278 LVL= 13840, 23729, 20866, 24707, AGC= 67, IDX= 436,-0.28,-0.487,-1.701,-2.609,-1.408, PHS= 1.009,-0.246,-1.204, RAW= 64.4, 4.6, CAL= 65.5, 4.6, ROT= 84.5, -4.6 2025-01-08T21:58:16.196Z,1736373496.196 [DAT](INFO): got valid direction response: 21:58:14.4278 LVL= 13840, 23729, 20866, 24707, AGC= 67, IDX= 436,-0.28,-0.487,-1.701,-2.609,-1.408, PHS= 1.009,-0.246,-1.204, RAW= 64.4, 4.6, CAL= 65.5, 4.6, ROT= 84.5, -4.6 2025-01-08T21:58:16.197Z,1736373496.197 [DAT](INFO): DAT read: Bearing 84.5, -4.6 (Local) 2025-01-08T21:58:16.198Z,1736373496.198 [DAT](INFO): Local bearing/azimuth received: Bearing 84.5, -4.6 (Local) 2025-01-08T21:58:16.199Z,1736373496.199 [DAT](INFO): DAT read: Range 10 to 50 : 511.5 m (Round-trip 682.0 ms) speed 0.0 m/s 2025-01-08T21:58:16.200Z,1736373496.200 [DAT](INFO): DAT read: user:2185> 2025-01-08T21:58:16.201Z,1736373496.201 [DAT](INFO): DAT read: Tx time:21:58:15.5416 2025-01-08T21:58:16.201Z,1736373496.201 [DAT](INFO): Ping request sent. 2025-01-08T21:58:16.201Z,1736373496.201 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:16.201Z,1736373496.201 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:58:16.204Z,1736373496.204 [DAT](INFO): direction in FSK: [-0.124367,0.517746,0.846446] 2025-01-08T21:58:16.204Z,1736373496.204 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:16.204Z,1736373496.204 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:16.211Z,1736373496.211 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:16.212Z,1736373496.212 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:16.440Z,1736373496.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:16.441Z,1736373496.441 [DAT](INFO): DAT read: TxSync time:21:58:15.5409 2025-01-08T21:58:16.531Z,1736373496.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:16.546Z,1736373496.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 511.500000 m, deltaT: 4.031902 s, deltaX: -0.599976 m, approachRate: -0.148807 m/s, rangeRepo size: 4 2025-01-08T21:58:16.548Z,1736373496.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 511.500000 m, bearing: 43.025257 deg, lat: 36.899917 deg, lon: -122.119047 deg, deltaT: 4.031902 s, deltaX: -0.599976 m, approachRate: -0.148807 m/s, posRepo size: 4 2025-01-08T21:58:16.549Z,1736373496.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.50 m. 2025-01-08T21:58:16.552Z,1736373496.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.500000 m, nav range: 82.788902 m, bearing: 80.362654 deg, approach rate: 0.000000 m/s, LOS rate: -0.563785 deg/s, cmd heading: 291.360707 deg, new cmd heading: 290.523502 deg. 2025-01-08T21:58:16.553Z,1736373496.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.070591 target range: 511.500000 and range: 511.50 m. 2025-01-08T21:58:16.692Z,1736373496.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:16.873Z,1736373496.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:16.880Z,1736373496.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:16.882Z,1736373496.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.50 m. 2025-01-08T21:58:16.885Z,1736373496.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.500000 m, nav range: 83.013573 m, bearing: 80.443918 deg, approach rate: 0.667179 m/s, LOS rate: 0.240668 deg/s, cmd heading: 290.523490 deg, new cmd heading: 290.766621 deg. 2025-01-08T21:58:16.887Z,1736373496.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074835 target range: 511.500000 and range: 511.50 m. 2025-01-08T21:58:16.944Z,1736373496.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:16.945Z,1736373496.945 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:16.945Z,1736373496.945 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:16.945Z,1736373496.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:17.196Z,1736373497.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:17.196Z,1736373497.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995143 2025-01-08T21:58:17.277Z,1736373497.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:17.286Z,1736373497.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.50 m. 2025-01-08T21:58:17.289Z,1736373497.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.500000 m, nav range: 83.280922 m, bearing: 80.537051 deg, approach rate: 0.662400 m/s, LOS rate: 0.230010 deg/s, cmd heading: 290.766617 deg, new cmd heading: 291.045115 deg. 2025-01-08T21:58:17.290Z,1736373497.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.079696 target range: 511.500000 and range: 511.50 m. 2025-01-08T21:58:17.450Z,1736373497.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:17.453Z,1736373497.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251268 2025-01-08T21:58:17.690Z,1736373497.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:17.708Z,1736373497.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:17.709Z,1736373497.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507204 2025-01-08T21:58:17.720Z,1736373497.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.50 m. 2025-01-08T21:58:17.722Z,1736373497.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.500000 m, nav range: 83.543854 m, bearing: 80.627816 deg, approach rate: 0.636221 m/s, LOS rate: 0.218936 deg/s, cmd heading: 291.045125 deg, new cmd heading: 291.316563 deg. 2025-01-08T21:58:17.724Z,1736373497.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.084433 target range: 511.500000 and range: 511.50 m. 2025-01-08T21:58:17.960Z,1736373497.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:17.960Z,1736373497.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759110 2025-01-08T21:58:18.054Z,1736373498.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:18.079Z,1736373498.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.50 m. 2025-01-08T21:58:18.082Z,1736373498.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.500000 m, nav range: 83.776825 m, bearing: 80.705697 deg, approach rate: 0.640166 m/s, LOS rate: 0.213407 deg/s, cmd heading: 291.316557 deg, new cmd heading: 291.549547 deg. 2025-01-08T21:58:18.083Z,1736373498.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088500 target range: 511.500000 and range: 511.50 m. 2025-01-08T21:58:18.212Z,1736373498.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:18.214Z,1736373498.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012318 2025-01-08T21:58:18.464Z,1736373498.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:18.464Z,1736373498.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263114 2025-01-08T21:58:18.479Z,1736373498.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:18.557Z,1736373498.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.50 m. 2025-01-08T21:58:18.563Z,1736373498.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.500000 m, nav range: 84.048515 m, bearing: 80.795909 deg, approach rate: 0.550226 m/s, LOS rate: 0.182106 deg/s, cmd heading: 291.549548 deg, new cmd heading: 291.819307 deg. 2025-01-08T21:58:18.564Z,1736373498.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093208 target range: 511.500000 and range: 511.50 m. 2025-01-08T21:58:18.716Z,1736373498.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:18.716Z,1736373498.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515177 2025-01-08T21:58:18.908Z,1736373498.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:18.915Z,1736373498.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:18.917Z,1736373498.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.50 m. 2025-01-08T21:58:18.921Z,1736373498.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.500000 m, nav range: 84.308945 m, bearing: 80.879307 deg, approach rate: 0.722805 m/s, LOS rate: 0.230750 deg/s, cmd heading: 291.819313 deg, new cmd heading: 292.068733 deg. 2025-01-08T21:58:18.922Z,1736373498.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.097561 target range: 511.500000 and range: 511.50 m. 2025-01-08T21:58:18.969Z,1736373498.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:18.970Z,1736373498.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768461 2025-01-08T21:58:19.220Z,1736373499.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:19.221Z,1736373499.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019533 2025-01-08T21:58:19.281Z,1736373499.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:19.296Z,1736373499.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.50 m. 2025-01-08T21:58:19.298Z,1736373499.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.500000 m, nav range: 84.534996 m, bearing: 80.951232 deg, approach rate: 0.597409 m/s, LOS rate: 0.189576 deg/s, cmd heading: 292.068724 deg, new cmd heading: 292.283922 deg. 2025-01-08T21:58:19.299Z,1736373499.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101317 target range: 511.500000 and range: 511.50 m. 2025-01-08T21:58:19.472Z,1736373499.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:19.474Z,1736373499.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272843 2025-01-08T21:58:19.706Z,1736373499.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:19.715Z,1736373499.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.50 m. 2025-01-08T21:58:19.724Z,1736373499.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:19.724Z,1736373499.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523170 2025-01-08T21:58:19.768Z,1736373499.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.500000 m, nav range: 84.781448 m, bearing: 81.019875 deg, approach rate: 0.587694 m/s, LOS rate: 0.163212 deg/s, cmd heading: 292.283930 deg, new cmd heading: 292.489261 deg. 2025-01-08T21:58:19.770Z,1736373499.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.104901 target range: 511.500000 and range: 511.50 m. 2025-01-08T21:58:19.976Z,1736373499.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:19.976Z,1736373499.976 [DAT](INFO): DAT read: Rx Time:21:58:18.6274 2025-01-08T21:58:19.977Z,1736373499.977 [DAT](INFO): Rx dataTimestamp_ set to:1736373499.976513 2025-01-08T21:58:19.977Z,1736373499.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776121 2025-01-08T21:58:20.070Z,1736373500.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:20.094Z,1736373500.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.50 m. 2025-01-08T21:58:20.101Z,1736373500.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.500000 m, nav range: 84.993011 m, bearing: 81.077507 deg, approach rate: 0.558332 m/s, LOS rate: 0.151715 deg/s, cmd heading: 292.489273 deg, new cmd heading: 292.661736 deg. 2025-01-08T21:58:20.102Z,1736373500.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.107911 target range: 511.500000 and range: 511.50 m. 2025-01-08T21:58:20.228Z,1736373500.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:20.228Z,1736373500.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027246 2025-01-08T21:58:20.480Z,1736373500.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:20.491Z,1736373500.491 [DAT](INFO): DAT read: 21:58:18.6274 LVL= 13424, 25457, 13922, 20563, AGC= 68, IDX= 431, 0.04,-1.686,-2.774, 2.323,-2.758, PHS= 1.160, 0.031,-1.205, RAW= 58.5, 0.1, CAL= 60.6, -2.7, ROT= 89.4, 2.7 2025-01-08T21:58:20.492Z,1736373500.492 [DAT](INFO): got valid direction response: 21:58:18.6274 LVL= 13424, 25457, 13922, 20563, AGC= 68, IDX= 431, 0.04,-1.686,-2.774, 2.323,-2.758, PHS= 1.160, 0.031,-1.205, RAW= 58.5, 0.1, CAL= 60.6, -2.7, ROT= 89.4, 2.7 2025-01-08T21:58:20.493Z,1736373500.493 [DAT](INFO): DAT read: Bearing 89.4, 2.7 (Local) 2025-01-08T21:58:20.494Z,1736373500.494 [DAT](INFO): Local bearing/azimuth received: Bearing 89.4, 2.7 (Local) 2025-01-08T21:58:20.495Z,1736373500.495 [DAT](INFO): DAT read: Range 10 to 50 : 511.1 m (Round-trip 681.5 ms) speed 0.0 m/s 2025-01-08T21:58:20.496Z,1736373500.496 [DAT](INFO): DAT read: user:2186> 2025-01-08T21:58:20.497Z,1736373500.497 [DAT](INFO): DAT read: Tx time:21:58:19.7402 2025-01-08T21:58:20.497Z,1736373500.497 [DAT](INFO): Ping request sent. 2025-01-08T21:58:20.497Z,1736373500.497 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:20.497Z,1736373500.497 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:58:20.498Z,1736373500.498 [DAT](INFO): direction in FSK: [-0.028749,0.597014,0.801715] 2025-01-08T21:58:20.499Z,1736373500.499 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:20.499Z,1736373500.499 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:20.549Z,1736373500.549 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:20.550Z,1736373500.550 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:20.578Z,1736373500.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:20.630Z,1736373500.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 511.100006 m, deltaT: 4.292183 s, deltaX: -0.399994 m, approachRate: -0.093191 m/s, rangeRepo size: 4 2025-01-08T21:58:20.647Z,1736373500.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 511.100006 m, bearing: 25.983107 deg, lat: 36.900336 deg, lon: -122.118642 deg, deltaT: 4.292183 s, deltaX: -0.399994 m, approachRate: -0.093191 m/s, posRepo size: 4 2025-01-08T21:58:20.668Z,1736373500.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:20.678Z,1736373500.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 134.251999 m, bearing: 63.592526 deg, approach rate: 0.000000 m/s, LOS rate: 0.151715 deg/s, cmd heading: 292.661749 deg, new cmd heading: 292.899222 deg. 2025-01-08T21:58:20.688Z,1736373500.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.112056 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:20.733Z,1736373500.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:20.734Z,1736373500.734 [DAT](INFO): DAT read: TxSync time:21:58:19.7394 2025-01-08T21:58:20.982Z,1736373500.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:20.984Z,1736373500.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:20.000Z,1736373501.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:21.002Z,1736373501.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:21.017Z,1736373501.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 134.445724 m, bearing: 63.657457 deg, approach rate: 0.501236 m/s, LOS rate: 0.167758 deg/s, cmd heading: 292.899221 deg, new cmd heading: 293.093733 deg. 2025-01-08T21:58:21.018Z,1736373501.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.115451 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:21.236Z,1736373501.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:21.237Z,1736373501.237 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:21.237Z,1736373501.237 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:21.237Z,1736373501.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:21.318Z,1736373501.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:21.346Z,1736373501.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:21.349Z,1736373501.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 134.607269 m, bearing: 63.711298 deg, approach rate: 0.473312 m/s, LOS rate: 0.157559 deg/s, cmd heading: 293.093745 deg, new cmd heading: 293.255072 deg. 2025-01-08T21:58:21.350Z,1736373501.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.118267 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:21.489Z,1736373501.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:21.490Z,1736373501.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992905 2025-01-08T21:58:21.740Z,1736373501.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:21.740Z,1736373501.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243270 2025-01-08T21:58:21.741Z,1736373501.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:21.790Z,1736373501.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:21.801Z,1736373501.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 134.813599 m, bearing: 63.776848 deg, approach rate: 0.462098 m/s, LOS rate: 0.146582 deg/s, cmd heading: 293.255074 deg, new cmd heading: 293.451422 deg. 2025-01-08T21:58:21.803Z,1736373501.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.121694 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:21.992Z,1736373501.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:21.992Z,1736373501.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495202 2025-01-08T21:58:22.122Z,1736373502.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:22.134Z,1736373502.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:22.153Z,1736373502.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 134.998749 m, bearing: 63.836120 deg, approach rate: 0.537044 m/s, LOS rate: 0.171687 deg/s, cmd heading: 293.451428 deg, new cmd heading: 293.628998 deg. 2025-01-08T21:58:22.154Z,1736373502.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.124793 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:22.244Z,1736373502.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:22.246Z,1736373502.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748285 2025-01-08T21:58:22.496Z,1736373502.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:22.497Z,1736373502.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999350 2025-01-08T21:58:22.554Z,1736373502.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:22.612Z,1736373502.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:22.614Z,1736373502.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 135.206757 m, bearing: 63.903372 deg, approach rate: 0.439784 m/s, LOS rate: 0.141971 deg/s, cmd heading: 293.628985 deg, new cmd heading: 293.830432 deg. 2025-01-08T21:58:22.620Z,1736373502.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128308 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:22.749Z,1736373502.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:22.749Z,1736373502.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252234 2025-01-08T21:58:22.953Z,1736373502.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:22.982Z,1736373502.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:22.988Z,1736373502.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 135.410858 m, bearing: 63.969395 deg, approach rate: 0.545541 m/s, LOS rate: 0.176207 deg/s, cmd heading: 293.830421 deg, new cmd heading: 294.028191 deg. 2025-01-08T21:58:22.989Z,1736373502.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.131760 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:22.000Z,1736373503.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:23.001Z,1736373503.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503282 2025-01-08T21:58:23.253Z,1736373503.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:23.254Z,1736373503.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756551 2025-01-08T21:58:23.340Z,1736373503.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:23.346Z,1736373503.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:23.349Z,1736373503.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:23.351Z,1736373503.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 135.608154 m, bearing: 64.033731 deg, approach rate: 0.537620 m/s, LOS rate: 0.175056 deg/s, cmd heading: 294.028196 deg, new cmd heading: 294.220922 deg. 2025-01-08T21:58:23.353Z,1736373503.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.135124 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:23.504Z,1736373503.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:23.504Z,1736373503.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007267 2025-01-08T21:58:23.756Z,1736373503.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:23.756Z,1736373503.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259228 2025-01-08T21:58:23.761Z,1736373503.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:23.798Z,1736373503.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:23.805Z,1736373503.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 135.840591 m, bearing: 64.111767 deg, approach rate: 0.517000 m/s, LOS rate: 0.173276 deg/s, cmd heading: 294.220917 deg, new cmd heading: 294.454624 deg. 2025-01-08T21:58:23.806Z,1736373503.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.139203 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:24.010Z,1736373504.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:24.012Z,1736373504.012 [DAT](INFO): DAT read: Rx Time:21:58:22.8258 2025-01-08T21:58:24.013Z,1736373504.013 [DAT](INFO): Rx dataTimestamp_ set to:1736373504.012401 2025-01-08T21:58:24.014Z,1736373504.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516323 2025-01-08T21:58:24.149Z,1736373504.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:24.157Z,1736373504.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:24.160Z,1736373504.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 136.054016 m, bearing: 64.183663 deg, approach rate: 0.594195 m/s, LOS rate: 0.199851 deg/s, cmd heading: 294.454619 deg, new cmd heading: 294.669967 deg. 2025-01-08T21:58:24.161Z,1736373504.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.142961 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:24.228Z,1736373504.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:58:24.260Z,1736373504.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:24.261Z,1736373504.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763342 2025-01-08T21:58:24.513Z,1736373504.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:24.541Z,1736373504.541 [DAT](INFO): DAT read: 21:58:22.8258 LVL= 12016, 27377, 17458, 21683, AGC= 69, IDX= 446, 0.49,-1.098,-1.917, 3.038,-2.177, PHS= 1.167, 0.306,-1.071, RAW= 52.4, -4.2, CAL= 56.0, -8.6, ROT= 94.0, 8.6 2025-01-08T21:58:24.542Z,1736373504.542 [DAT](INFO): got valid direction response: 21:58:22.8258 LVL= 12016, 27377, 17458, 21683, AGC= 69, IDX= 446, 0.49,-1.098,-1.917, 3.038,-2.177, PHS= 1.167, 0.306,-1.071, RAW= 52.4, -4.2, CAL= 56.0, -8.6, ROT= 94.0, 8.6 2025-01-08T21:58:24.543Z,1736373504.543 [DAT](INFO): DAT read: Bearing 94.0, 8.6 (Local) 2025-01-08T21:58:24.547Z,1736373504.547 [DAT](INFO): Local bearing/azimuth received: Bearing 94.0, 8.6 (Local) 2025-01-08T21:58:24.551Z,1736373504.551 [DAT](INFO): DAT read: Range 10 to 50 : 511.1 m (Round-trip 681.5 ms) speed 0.0 m/s 2025-01-08T21:58:24.556Z,1736373504.556 [DAT](INFO): DAT read: user:2187> 2025-01-08T21:58:24.557Z,1736373504.557 [DAT](INFO): DAT read: Tx time:21:58:23.9402 2025-01-08T21:58:24.557Z,1736373504.557 [DAT](INFO): Ping request sent. 2025-01-08T21:58:24.557Z,1736373504.557 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:24.557Z,1736373504.557 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:58:24.558Z,1736373504.558 [DAT](INFO): direction in FSK: [0.063523,0.667974,0.741469] 2025-01-08T21:58:24.558Z,1736373504.558 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:24.559Z,1736373504.559 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:24.634Z,1736373504.634 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:24.634Z,1736373504.634 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:24.757Z,1736373504.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:24.764Z,1736373504.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:24.765Z,1736373504.765 [DAT](INFO): DAT read: TxSync time:21:58:23.9394 2025-01-08T21:58:24.799Z,1736373504.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 511.100006 m, deltaT: 4.033611 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T21:58:24.801Z,1736373504.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 511.100006 m, bearing: 19.251590 deg, lat: 36.901404 deg, lon: -122.118642 deg, deltaT: 4.033611 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T21:58:24.807Z,1736373504.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:24.810Z,1736373504.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 216.194382 m, bearing: 34.651180 deg, approach rate: 0.000000 m/s, LOS rate: 0.199851 deg/s, cmd heading: 294.669961 deg, new cmd heading: 295.052069 deg. 2025-01-08T21:58:24.811Z,1736373504.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.149630 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:25.025Z,1736373505.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:25.127Z,1736373505.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:25.164Z,1736373505.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:25.167Z,1736373505.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 216.302292 m, bearing: 34.721470 deg, approach rate: 0.292026 m/s, LOS rate: 0.190122 deg/s, cmd heading: 295.052069 deg, new cmd heading: 295.262830 deg. 2025-01-08T21:58:25.172Z,1736373505.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153308 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:25.232Z,1736373505.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:58:25.277Z,1736373505.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:25.506Z,1736373505.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:25.513Z,1736373505.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:25.515Z,1736373505.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:25.517Z,1736373505.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 216.413406 m, bearing: 34.793502 deg, approach rate: 0.316886 m/s, LOS rate: 0.205324 deg/s, cmd heading: 295.262821 deg, new cmd heading: 295.478808 deg. 2025-01-08T21:58:25.518Z,1736373505.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.157078 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:25.528Z,1736373505.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:25.528Z,1736373505.528 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:25.528Z,1736373505.528 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:25.529Z,1736373505.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:25.780Z,1736373505.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:25.780Z,1736373505.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223497 2025-01-08T21:58:25.950Z,1736373505.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:25.960Z,1736373505.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:25.963Z,1736373505.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 216.550201 m, bearing: 34.884796 deg, approach rate: 0.307020 m/s, LOS rate: 0.204769 deg/s, cmd heading: 295.478819 deg, new cmd heading: 295.752526 deg. 2025-01-08T21:58:25.965Z,1736373505.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.161855 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:26.032Z,1736373506.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:26.032Z,1736373506.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475484 2025-01-08T21:58:26.285Z,1736373506.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:26.286Z,1736373506.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729177 2025-01-08T21:58:26.316Z,1736373506.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:26.325Z,1736373506.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:26.348Z,1736373506.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 216.660873 m, bearing: 34.959957 deg, approach rate: 0.303704 m/s, LOS rate: 0.206148 deg/s, cmd heading: 295.752519 deg, new cmd heading: 295.977883 deg. 2025-01-08T21:58:26.348Z,1736373506.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.165789 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:26.536Z,1736373506.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:26.537Z,1736373506.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980164 2025-01-08T21:58:26.743Z,1736373506.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:26.772Z,1736373506.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:26.775Z,1736373506.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 216.796082 m, bearing: 35.052178 deg, approach rate: 0.302228 m/s, LOS rate: 0.206012 deg/s, cmd heading: 295.977888 deg, new cmd heading: 296.254378 deg. 2025-01-08T21:58:26.780Z,1736373506.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.170614 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:26.791Z,1736373506.791 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:26.793Z,1736373506.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235959 2025-01-08T21:58:27.040Z,1736373507.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:27.041Z,1736373507.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484199 2025-01-08T21:58:27.118Z,1736373507.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:27.152Z,1736373507.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:27.160Z,1736373507.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 216.914948 m, bearing: 35.133177 deg, approach rate: 0.316709 m/s, LOS rate: 0.215698 deg/s, cmd heading: 296.254374 deg, new cmd heading: 296.497237 deg. 2025-01-08T21:58:27.161Z,1736373507.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.174853 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:27.293Z,1736373507.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:27.294Z,1736373507.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736761 2025-01-08T21:58:27.524Z,1736373507.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:27.530Z,1736373507.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:27.544Z,1736373507.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:27.544Z,1736373507.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987480 2025-01-08T21:58:27.554Z,1736373507.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:27.556Z,1736373507.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 217.043747 m, bearing: 35.220646 deg, approach rate: 0.317107 m/s, LOS rate: 0.215222 deg/s, cmd heading: 296.497228 deg, new cmd heading: 296.759477 deg. 2025-01-08T21:58:27.557Z,1736373507.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.179430 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:27.796Z,1736373507.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:27.796Z,1736373507.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239380 2025-01-08T21:58:27.978Z,1736373507.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:27.988Z,1736373507.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:27.990Z,1736373507.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 217.189072 m, bearing: 35.319873 deg, approach rate: 0.334941 m/s, LOS rate: 0.228542 deg/s, cmd heading: 296.759480 deg, new cmd heading: 297.056958 deg. 2025-01-08T21:58:27.992Z,1736373507.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.184622 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:28.048Z,1736373508.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:28.049Z,1736373508.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492367 2025-01-08T21:58:28.300Z,1736373508.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:28.300Z,1736373508.300 [DAT](INFO): DAT read: Rx Time:21:58:27.0259 2025-01-08T21:58:28.301Z,1736373508.301 [DAT](INFO): Rx dataTimestamp_ set to:1736373508.300605 2025-01-08T21:58:28.301Z,1736373508.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.744414 2025-01-08T21:58:28.364Z,1736373508.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:28.383Z,1736373508.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:28.390Z,1736373508.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 217.312561 m, bearing: 35.404268 deg, approach rate: 0.312461 m/s, LOS rate: 0.213420 deg/s, cmd heading: 297.056948 deg, new cmd heading: 297.309987 deg. 2025-01-08T21:58:28.390Z,1736373508.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189038 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:28.552Z,1736373508.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:28.553Z,1736373508.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.995478 2025-01-08T21:58:28.781Z,1736373508.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:28.790Z,1736373508.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.10 m. 2025-01-08T21:58:28.793Z,1736373508.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.100006 m, nav range: 217.437958 m, bearing: 35.492299 deg, approach rate: 0.307682 m/s, LOS rate: 0.215876 deg/s, cmd heading: 297.309993 deg, new cmd heading: 297.573934 deg. 2025-01-08T21:58:28.794Z,1736373508.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.193645 target range: 511.100006 and range: 511.10 m. 2025-01-08T21:58:28.804Z,1736373508.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:28.823Z,1736373508.823 [DAT](INFO): DAT read: 21:58:27.0259 LVL= 13232, 25265, 20658, 26499, AGC= 66, IDX= 448, 0.12, 1.233, 0.383,-0.817, 0.171, PHS= 1.150, 0.259,-0.990, RAW= 54.5, -4.5, CAL= 58.8, -9.3, ROT= 91.2, 9.3 2025-01-08T21:58:28.824Z,1736373508.824 [DAT](INFO): got valid direction response: 21:58:27.0259 LVL= 13232, 25265, 20658, 26499, AGC= 66, IDX= 448, 0.12, 1.233, 0.383,-0.817, 0.171, PHS= 1.150, 0.259,-0.990, RAW= 54.5, -4.5, CAL= 58.8, -9.3, ROT= 91.2, 9.3 2025-01-08T21:58:28.825Z,1736373508.825 [DAT](INFO): DAT read: Bearing 91.2, 9.3 (Local) 2025-01-08T21:58:28.825Z,1736373508.825 [DAT](INFO): Local bearing/azimuth received: Bearing 91.2, 9.3 (Local) 2025-01-08T21:58:28.827Z,1736373508.827 [DAT](INFO): DAT read: Range 10 to 50 : 511.2 m (Round-trip 681.6 ms) speed 0.0 m/s 2025-01-08T21:58:28.840Z,1736373508.840 [DAT](INFO): DAT read: user:2188> 2025-01-08T21:58:28.841Z,1736373508.841 [DAT](INFO): DAT read: Tx time:21:58:28.1402 2025-01-08T21:58:28.841Z,1736373508.841 [DAT](INFO): Ping request sent. 2025-01-08T21:58:28.841Z,1736373508.841 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:28.841Z,1736373508.841 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:58:28.842Z,1736373508.842 [DAT](INFO): direction in FSK: [0.066586,0.641894,0.763897] 2025-01-08T21:58:28.843Z,1736373508.843 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:28.843Z,1736373508.843 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:28.853Z,1736373508.853 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:28.853Z,1736373508.853 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:29.056Z,1736373509.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:29.057Z,1736373509.057 [DAT](INFO): DAT read: TxSync time:21:58:28.1395 2025-01-08T21:58:29.152Z,1736373509.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:29.185Z,1736373509.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 511.200012 m, deltaT: 4.290208 s, deltaX: 0.100006 m, approachRate: 0.023310 m/s, rangeRepo size: 4 2025-01-08T21:58:29.192Z,1736373509.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 511.200012 m, bearing: 23.080110 deg, lat: 36.901977 deg, lon: -122.118642 deg, deltaT: 4.290208 s, deltaX: 0.100006 m, approachRate: 0.023310 m/s, posRepo size: 4 2025-01-08T21:58:29.193Z,1736373509.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:58:29.202Z,1736373509.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 271.935211 m, bearing: 27.733003 deg, approach rate: 0.000000 m/s, LOS rate: 0.215876 deg/s, cmd heading: 297.573939 deg, new cmd heading: 297.829303 deg. 2025-01-08T21:58:29.204Z,1736373509.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198102 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:58:29.308Z,1736373509.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:29.544Z,1736373509.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:29.556Z,1736373509.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:29.558Z,1736373509.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:58:29.560Z,1736373509.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:29.560Z,1736373509.560 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:29.560Z,1736373509.560 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:29.561Z,1736373509.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:29.577Z,1736373509.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 272.009674 m, bearing: 27.802844 deg, approach rate: 0.199375 m/s, LOS rate: 0.186948 deg/s, cmd heading: 297.829306 deg, new cmd heading: 298.038770 deg. 2025-01-08T21:58:29.578Z,1736373509.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.201758 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:58:29.813Z,1736373509.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:29.814Z,1736373509.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972372 2025-01-08T21:58:30.021Z,1736373510.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:30.030Z,1736373510.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:58:30.033Z,1736373510.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 272.084656 m, bearing: 27.881075 deg, approach rate: 0.158879 m/s, LOS rate: 0.165718 deg/s, cmd heading: 298.038774 deg, new cmd heading: 298.273400 deg. 2025-01-08T21:58:30.034Z,1736373510.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205853 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:58:30.064Z,1736373510.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:30.065Z,1736373510.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223533 2025-01-08T21:58:30.316Z,1736373510.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:30.316Z,1736373510.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475376 2025-01-08T21:58:30.409Z,1736373510.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:30.417Z,1736373510.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:58:30.421Z,1736373510.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 272.144379 m, bearing: 27.944665 deg, approach rate: 0.154156 m/s, LOS rate: 0.164103 deg/s, cmd heading: 298.273405 deg, new cmd heading: 298.464134 deg. 2025-01-08T21:58:30.422Z,1736373510.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.209182 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:58:30.569Z,1736373510.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:30.570Z,1736373510.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728773 2025-01-08T21:58:30.820Z,1736373510.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:30.821Z,1736373510.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979736 2025-01-08T21:58:30.843Z,1736373510.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:30.852Z,1736373510.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:58:30.855Z,1736373510.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 272.198792 m, bearing: 28.008901 deg, approach rate: 0.125413 m/s, LOS rate: 0.148025 deg/s, cmd heading: 298.464131 deg, new cmd heading: 298.656801 deg. 2025-01-08T21:58:30.876Z,1736373510.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.212544 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:58:31.072Z,1736373511.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:31.072Z,1736373511.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231276 2025-01-08T21:58:31.216Z,1736373511.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:31.243Z,1736373511.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:58:31.250Z,1736373511.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 272.243927 m, bearing: 28.064157 deg, approach rate: 0.115253 m/s, LOS rate: 0.141070 deg/s, cmd heading: 298.656797 deg, new cmd heading: 298.822535 deg. 2025-01-08T21:58:31.251Z,1736373511.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215437 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:58:31.325Z,1736373511.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:31.326Z,1736373511.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485140 2025-01-08T21:58:31.576Z,1736373511.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:31.576Z,1736373511.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735263 2025-01-08T21:58:31.637Z,1736373511.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:31.665Z,1736373511.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:31.691Z,1736373511.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:58:31.721Z,1736373511.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 272.290497 m, bearing: 28.123388 deg, approach rate: 0.104389 m/s, LOS rate: 0.132748 deg/s, cmd heading: 298.822525 deg, new cmd heading: 299.000188 deg. 2025-01-08T21:58:31.729Z,1736373511.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.218538 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:58:31.828Z,1736373511.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:31.829Z,1736373511.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988149 2025-01-08T21:58:32.070Z,1736373512.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:32.080Z,1736373512.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:32.080Z,1736373512.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239349 2025-01-08T21:58:32.081Z,1736373512.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:58:32.084Z,1736373512.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 272.334076 m, bearing: 28.187664 deg, approach rate: 0.111691 m/s, LOS rate: 0.164710 deg/s, cmd heading: 299.000192 deg, new cmd heading: 299.192988 deg. 2025-01-08T21:58:32.086Z,1736373512.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.221903 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:58:32.332Z,1736373512.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:32.335Z,1736373512.335 [DAT](INFO): DAT read: Rx Time:21:58:31.2257 2025-01-08T21:58:32.336Z,1736373512.336 [DAT](INFO): Rx dataTimestamp_ set to:1736373512.335314 2025-01-08T21:58:32.337Z,1736373512.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495765 2025-01-08T21:58:32.525Z,1736373512.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:32.534Z,1736373512.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:58:32.537Z,1736373512.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 272.375885 m, bearing: 28.252164 deg, approach rate: 0.092021 m/s, LOS rate: 0.141941 deg/s, cmd heading: 299.192994 deg, new cmd heading: 299.386464 deg. 2025-01-08T21:58:32.538Z,1736373512.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.225279 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:58:32.584Z,1736373512.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:32.585Z,1736373512.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743922 2025-01-08T21:58:32.836Z,1736373512.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:32.837Z,1736373512.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.995964 2025-01-08T21:58:32.993Z,1736373512.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:33.001Z,1736373513.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 511.20 m. 2025-01-08T21:58:33.005Z,1736373513.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 511.200012 m, nav range: 272.412689 m, bearing: 28.308482 deg, approach rate: 0.078676 m/s, LOS rate: 0.120376 deg/s, cmd heading: 299.386452 deg, new cmd heading: 299.555385 deg. 2025-01-08T21:58:33.006Z,1736373513.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.228228 target range: 511.200012 and range: 511.20 m. 2025-01-08T21:58:33.088Z,1736373513.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:33.095Z,1736373513.095 [DAT](INFO): DAT read: 21:58:31.2257 LVL= 15136, 27889, 22514, 26211, AGC= 70, IDX= 445, 0.01,-0.943,-1.840,-3.029,-2.071, PHS= 1.216, 0.278,-0.961, RAW= 55.5, -5.7, CAL= 60.8, -11.1, ROT= 89.2, 11.1 2025-01-08T21:58:33.096Z,1736373513.096 [DAT](INFO): got valid direction response: 21:58:31.2257 LVL= 15136, 27889, 22514, 26211, AGC= 70, IDX= 445, 0.01,-0.943,-1.840,-3.029,-2.071, PHS= 1.216, 0.278,-0.961, RAW= 55.5, -5.7, CAL= 60.8, -11.1, ROT= 89.2, 11.1 2025-01-08T21:58:33.097Z,1736373513.097 [DAT](INFO): DAT read: Bearing 89.2, 11.1 (Local) 2025-01-08T21:58:33.097Z,1736373513.097 [DAT](INFO): Local bearing/azimuth received: Bearing 89.2, 11.1 (Local) 2025-01-08T21:58:33.098Z,1736373513.098 [DAT](INFO): DAT read: Range 10 to 50 : 510.9 m (Round-trip 681.3 ms) speed -0.1 m/s 2025-01-08T21:58:33.100Z,1736373513.100 [DAT](INFO): DAT read: user:2189> 2025-01-08T21:58:33.101Z,1736373513.101 [DAT](INFO): DAT read: Tx time:21:58:32.3403 2025-01-08T21:58:33.101Z,1736373513.101 [DAT](INFO): Ping request sent. 2025-01-08T21:58:33.101Z,1736373513.101 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:33.101Z,1736373513.101 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:58:33.108Z,1736373513.108 [DAT](INFO): direction in FSK: [0.085807,0.627563,0.773823] 2025-01-08T21:58:33.109Z,1736373513.109 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:33.109Z,1736373513.109 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:33.113Z,1736373513.113 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:33.113Z,1736373513.113 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:33.340Z,1736373513.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:33.342Z,1736373513.342 [DAT](INFO): DAT read: TxSync time:21:58:32.3395 2025-01-08T21:58:33.414Z,1736373513.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:33.452Z,1736373513.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 510.899994 m, deltaT: 4.284136 s, deltaX: -0.300018 m, approachRate: -0.070030 m/s, rangeRepo size: 4 2025-01-08T21:58:33.455Z,1736373513.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 510.899994 m, bearing: 26.174800 deg, lat: 36.901977 deg, lon: -122.118876 deg, deltaT: 4.284136 s, deltaX: -0.300018 m, approachRate: -0.070030 m/s, posRepo size: 4 2025-01-08T21:58:33.460Z,1736373513.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.90 m. 2025-01-08T21:58:33.462Z,1736373513.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.899994 m, nav range: 263.189575 m, bearing: 24.366764 deg, approach rate: 0.000000 m/s, LOS rate: 0.120376 deg/s, cmd heading: 299.555377 deg, new cmd heading: 299.716310 deg. 2025-01-08T21:58:33.467Z,1736373513.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231037 target range: 510.899994 and range: 510.90 m. 2025-01-08T21:58:33.592Z,1736373513.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:33.844Z,1736373513.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:33.901Z,1736373513.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:33.925Z,1736373513.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:33.927Z,1736373513.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.90 m. 2025-01-08T21:58:33.934Z,1736373513.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.899994 m, nav range: 263.193268 m, bearing: 24.424077 deg, approach rate: 0.007695 m/s, LOS rate: 0.119432 deg/s, cmd heading: 299.716323 deg, new cmd heading: 299.888259 deg. 2025-01-08T21:58:33.935Z,1736373513.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234037 target range: 510.899994 and range: 510.90 m. 2025-01-08T21:58:34.096Z,1736373514.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:34.096Z,1736373514.096 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:34.096Z,1736373514.096 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:34.097Z,1736373514.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:34.280Z,1736373514.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:34.293Z,1736373514.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.90 m. 2025-01-08T21:58:34.298Z,1736373514.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.899994 m, nav range: 263.194794 m, bearing: 24.468703 deg, approach rate: 0.004165 m/s, LOS rate: 0.121816 deg/s, cmd heading: 299.888253 deg, new cmd heading: 300.022129 deg. 2025-01-08T21:58:34.299Z,1736373514.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.236374 target range: 510.899994 and range: 510.90 m. 2025-01-08T21:58:34.348Z,1736373514.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:34.348Z,1736373514.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247471 2025-01-08T21:58:34.600Z,1736373514.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:34.600Z,1736373514.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499408 2025-01-08T21:58:34.701Z,1736373514.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:34.790Z,1736373514.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.90 m. 2025-01-08T21:58:34.801Z,1736373514.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.899994 m, nav range: 263.196655 m, bearing: 24.517920 deg, approach rate: 0.003744 m/s, LOS rate: 0.098995 deg/s, cmd heading: 300.022125 deg, new cmd heading: 300.169773 deg. 2025-01-08T21:58:34.808Z,1736373514.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.238951 target range: 510.899994 and range: 510.90 m. 2025-01-08T21:58:34.852Z,1736373514.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:34.854Z,1736373514.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753216 2025-01-08T21:58:35.104Z,1736373515.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:35.105Z,1736373515.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003741 2025-01-08T21:58:35.117Z,1736373515.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:35.143Z,1736373515.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.90 m. 2025-01-08T21:58:35.146Z,1736373515.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.899994 m, nav range: 263.194000 m, bearing: 24.567190 deg, approach rate: -0.007536 m/s, LOS rate: 0.139848 deg/s, cmd heading: 300.169766 deg, new cmd heading: 300.317577 deg. 2025-01-08T21:58:35.151Z,1736373515.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241530 target range: 510.899994 and range: 510.90 m. 2025-01-08T21:58:35.356Z,1736373515.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:35.357Z,1736373515.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256370 2025-01-08T21:58:35.573Z,1736373515.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:35.581Z,1736373515.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.90 m. 2025-01-08T21:58:35.584Z,1736373515.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.899994 m, nav range: 263.189911 m, bearing: 24.620885 deg, approach rate: -0.009319 m/s, LOS rate: 0.122363 deg/s, cmd heading: 300.317571 deg, new cmd heading: 300.478659 deg. 2025-01-08T21:58:35.586Z,1736373515.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244342 target range: 510.899994 and range: 510.90 m. 2025-01-08T21:58:35.608Z,1736373515.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:35.608Z,1736373515.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507563 2025-01-08T21:58:35.860Z,1736373515.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:35.860Z,1736373515.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759437 2025-01-08T21:58:36.001Z,1736373516.001 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,+ +0.00, +0.00, 20.00,409I, -60, +544, -2,A 2025-01-08T21:58:36.009Z,1736373516.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:58:36.010Z,1736373516.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:36.017Z,1736373516.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:36.019Z,1736373516.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.90 m. 2025-01-08T21:58:36.022Z,1736373516.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.899994 m, nav range: 263.185089 m, bearing: 24.672195 deg, approach rate: -0.011030 m/s, LOS rate: 0.117370 deg/s, cmd heading: 300.478654 deg, new cmd heading: 300.632584 deg. 2025-01-08T21:58:36.024Z,1736373516.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.247028 target range: 510.899994 and range: 510.90 m. 2025-01-08T21:58:36.112Z,1736373516.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:36.113Z,1736373516.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011859 2025-01-08T21:58:36.366Z,1736373516.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:36.368Z,1736373516.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266953 2025-01-08T21:58:36.470Z,1736373516.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T21:58:36.471Z,1736373516.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:36.479Z,1736373516.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.90 m. 2025-01-08T21:58:36.482Z,1736373516.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.899994 m, nav range: 263.179291 m, bearing: 24.726461 deg, approach rate: -0.012593 m/s, LOS rate: 0.117856 deg/s, cmd heading: 300.632579 deg, new cmd heading: 300.795381 deg. 2025-01-08T21:58:36.483Z,1736373516.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.249870 target range: 510.899994 and range: 510.90 m. 2025-01-08T21:58:36.617Z,1736373516.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:36.618Z,1736373516.618 [DAT](INFO): DAT read: Rx Time:21:58:35.4255 2025-01-08T21:58:36.618Z,1736373516.618 [DAT](INFO): Rx dataTimestamp_ set to:1736373516.617844 2025-01-08T21:58:36.619Z,1736373516.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517747 2025-01-08T21:58:36.868Z,1736373516.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:36.868Z,1736373516.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767554 2025-01-08T21:58:36.910Z,1736373516.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:36.921Z,1736373516.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.90 m. 2025-01-08T21:58:36.937Z,1736373516.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.899994 m, nav range: 263.194214 m, bearing: 24.788589 deg, approach rate: 0.033760 m/s, LOS rate: 0.140540 deg/s, cmd heading: 300.795384 deg, new cmd heading: 300.981757 deg. 2025-01-08T21:58:36.938Z,1736373516.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.253123 target range: 510.899994 and range: 510.90 m. 2025-01-08T21:58:37.121Z,1736373517.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:37.134Z,1736373517.134 [DAT](INFO): DAT read: 21:58:35.4255 LVL= 15040, 24801, 20018, 26515, AGC= 67, IDX= 427, 0.05,-0.102,-1.078,-2.064,-1.119, PHS= 1.105, 0.088,-0.948, RAW= 59.7, -2.8, CAL= 64.1, -7.1, ROT= 85.9, 7.1 2025-01-08T21:58:37.138Z,1736373517.138 [DAT](INFO): got valid direction response: 21:58:35.4255 LVL= 15040, 24801, 20018, 26515, AGC= 67, IDX= 427, 0.05,-0.102,-1.078,-2.064,-1.119, PHS= 1.105, 0.088,-0.948, RAW= 59.7, -2.8, CAL= 64.1, -7.1, ROT= 85.9, 7.1 2025-01-08T21:58:37.164Z,1736373517.164 [DAT](INFO): DAT read: Bearing 85.9, 7.1 (Local) 2025-01-08T21:58:37.164Z,1736373517.164 [DAT](INFO): Local bearing/azimuth received: Bearing 85.9, 7.1 (Local) 2025-01-08T21:58:37.166Z,1736373517.166 [DAT](INFO): DAT read: Range 10 to 50 : 510.8 m (Round-trip 681.1 ms) speed 0.2 m/s 2025-01-08T21:58:37.167Z,1736373517.167 [DAT](INFO): DAT read: user:2190> 2025-01-08T21:58:37.172Z,1736373517.172 [DAT](INFO): DAT read: Tx time:21:58:36.5403 2025-01-08T21:58:37.172Z,1736373517.172 [DAT](INFO): Ping request sent. 2025-01-08T21:58:37.173Z,1736373517.173 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:37.173Z,1736373517.173 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:58:37.175Z,1736373517.175 [DAT](INFO): direction in FSK: [0.023373,0.577577,0.816002] 2025-01-08T21:58:37.175Z,1736373517.175 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:37.184Z,1736373517.184 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:37.196Z,1736373517.196 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:37.197Z,1736373517.197 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:37.269Z,1736373517.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:37.329Z,1736373517.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 510.799988 m, deltaT: 4.033541 s, deltaX: -0.100006 m, approachRate: -0.024794 m/s, rangeRepo size: 4 2025-01-08T21:58:37.337Z,1736373517.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 510.799988 m, bearing: 35.275936 deg, lat: 36.901977 deg, lon: -122.118876 deg, deltaT: 4.033541 s, deltaX: -0.100006 m, approachRate: -0.024794 m/s, posRepo size: 4 2025-01-08T21:58:37.337Z,1736373517.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.80 m. 2025-01-08T21:58:37.344Z,1736373517.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.799988 m, nav range: 263.206360 m, bearing: 24.839340 deg, approach rate: 0.000000 m/s, LOS rate: 0.140540 deg/s, cmd heading: 300.981766 deg, new cmd heading: 301.150548 deg. 2025-01-08T21:58:37.345Z,1736373517.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256069 target range: 510.799988 and range: 510.80 m. 2025-01-08T21:58:37.372Z,1736373517.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:37.373Z,1736373517.373 [DAT](INFO): DAT read: TxSync time:21:58:36.5395 2025-01-08T21:58:37.624Z,1736373517.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:37.698Z,1736373517.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:37.720Z,1736373517.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.80 m. 2025-01-08T21:58:37.722Z,1736373517.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.799988 m, nav range: 263.220825 m, bearing: 24.899789 deg, approach rate: 0.036733 m/s, LOS rate: 0.153495 deg/s, cmd heading: 301.150554 deg, new cmd heading: 301.331891 deg. 2025-01-08T21:58:37.728Z,1736373517.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.259233 target range: 510.799988 and range: 510.80 m. 2025-01-08T21:58:37.877Z,1736373517.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:38.116Z,1736373518.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:38.123Z,1736373518.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:38.125Z,1736373518.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.80 m. 2025-01-08T21:58:38.128Z,1736373518.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:38.128Z,1736373518.128 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:38.128Z,1736373518.128 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:38.129Z,1736373518.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:38.148Z,1736373518.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.799988 m, nav range: 263.245453 m, bearing: 24.965745 deg, approach rate: 0.060084 m/s, LOS rate: 0.160895 deg/s, cmd heading: 301.331882 deg, new cmd heading: 301.529728 deg. 2025-01-08T21:58:38.149Z,1736373518.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.262687 target range: 510.799988 and range: 510.80 m. 2025-01-08T21:58:38.380Z,1736373518.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:38.381Z,1736373518.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207975 2025-01-08T21:58:38.485Z,1736373518.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:38.494Z,1736373518.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.80 m. 2025-01-08T21:58:38.497Z,1736373518.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.799988 m, nav range: 263.267761 m, bearing: 25.023973 deg, approach rate: 0.060520 m/s, LOS rate: 0.157953 deg/s, cmd heading: 301.529738 deg, new cmd heading: 301.704408 deg. 2025-01-08T21:58:38.497Z,1736373518.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.265735 target range: 510.799988 and range: 510.80 m. 2025-01-08T21:58:38.634Z,1736373518.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:38.635Z,1736373518.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.462073 2025-01-08T21:58:38.884Z,1736373518.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:38.884Z,1736373518.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711807 2025-01-08T21:58:38.941Z,1736373518.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:38.954Z,1736373518.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.80 m. 2025-01-08T21:58:38.961Z,1736373518.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.799988 m, nav range: 263.303772 m, bearing: 25.101988 deg, approach rate: 0.078195 m/s, LOS rate: 0.169381 deg/s, cmd heading: 301.704400 deg, new cmd heading: 301.938411 deg. 2025-01-08T21:58:38.962Z,1736373518.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.269819 target range: 510.799988 and range: 510.80 m. 2025-01-08T21:58:39.137Z,1736373519.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:39.138Z,1736373519.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964684 2025-01-08T21:58:39.374Z,1736373519.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:39.382Z,1736373519.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.80 m. 2025-01-08T21:58:39.385Z,1736373519.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.799988 m, nav range: 263.338287 m, bearing: 25.176018 deg, approach rate: 0.080605 m/s, LOS rate: 0.172863 deg/s, cmd heading: 301.938402 deg, new cmd heading: 302.160464 deg. 2025-01-08T21:58:39.386Z,1736373519.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273695 target range: 510.799988 and range: 510.80 m. 2025-01-08T21:58:39.394Z,1736373519.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:39.395Z,1736373519.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222417 2025-01-08T21:58:39.644Z,1736373519.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:39.645Z,1736373519.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472710 2025-01-08T21:58:39.896Z,1736373519.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:39.896Z,1736373519.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723772 2025-01-08T21:58:39.912Z,1736373519.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:39.931Z,1736373519.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.80 m. 2025-01-08T21:58:39.938Z,1736373519.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.799988 m, nav range: 263.384430 m, bearing: 25.276376 deg, approach rate: 0.084175 m/s, LOS rate: 0.183044 deg/s, cmd heading: 302.160465 deg, new cmd heading: 302.461483 deg. 2025-01-08T21:58:39.944Z,1736373519.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278949 target range: 510.799988 and range: 510.80 m. 2025-01-08T21:58:40.149Z,1736373520.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:40.149Z,1736373520.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976884 2025-01-08T21:58:40.339Z,1736373520.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:40.346Z,1736373520.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:40.348Z,1736373520.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.80 m. 2025-01-08T21:58:40.350Z,1736373520.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.799988 m, nav range: 263.421021 m, bearing: 25.355859 deg, approach rate: 0.087722 m/s, LOS rate: 0.190523 deg/s, cmd heading: 302.461486 deg, new cmd heading: 302.699899 deg. 2025-01-08T21:58:40.351Z,1736373520.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.283110 target range: 510.799988 and range: 510.80 m. 2025-01-08T21:58:40.400Z,1736373520.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:40.400Z,1736373520.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227871 2025-01-08T21:58:40.652Z,1736373520.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:40.653Z,1736373520.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480768 2025-01-08T21:58:40.751Z,1736373520.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:40.766Z,1736373520.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.80 m. 2025-01-08T21:58:40.770Z,1736373520.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.799988 m, nav range: 263.457001 m, bearing: 25.432658 deg, approach rate: 0.085942 m/s, LOS rate: 0.183416 deg/s, cmd heading: 302.699887 deg, new cmd heading: 302.930250 deg. 2025-01-08T21:58:40.772Z,1736373520.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287130 target range: 510.799988 and range: 510.80 m. 2025-01-08T21:58:40.904Z,1736373520.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:40.905Z,1736373520.905 [DAT](INFO): DAT read: Rx Time:21:58:39.6254 2025-01-08T21:58:40.905Z,1736373520.905 [DAT](INFO): Rx dataTimestamp_ set to:1736373520.904951 2025-01-08T21:58:40.906Z,1736373520.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733164 2025-01-08T21:58:41.156Z,1736373521.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:41.156Z,1736373521.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.983882 2025-01-08T21:58:41.180Z,1736373521.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:41.189Z,1736373521.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.80 m. 2025-01-08T21:58:41.212Z,1736373521.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.799988 m, nav range: 263.493774 m, bearing: 25.512926 deg, approach rate: 0.087009 m/s, LOS rate: 0.189895 deg/s, cmd heading: 302.930255 deg, new cmd heading: 303.171027 deg. 2025-01-08T21:58:41.213Z,1736373521.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291333 target range: 510.799988 and range: 510.80 m. 2025-01-08T21:58:41.408Z,1736373521.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:41.415Z,1736373521.415 [DAT](INFO): DAT read: 21:58:39.6254 LVL= 15136, 27313, 21042, 29555, AGC= 63, IDX= 441, 0.30,-2.090,-3.134, 2.225,-3.090, PHS= 1.088, 0.003,-0.971, RAW= 61.8, -1.4, CAL= 65.6, -5.2, ROT= 84.4, 5.2 2025-01-08T21:58:41.416Z,1736373521.416 [DAT](INFO): got valid direction response: 21:58:39.6254 LVL= 15136, 27313, 21042, 29555, AGC= 63, IDX= 441, 0.30,-2.090,-3.134, 2.225,-3.090, PHS= 1.088, 0.003,-0.971, RAW= 61.8, -1.4, CAL= 65.6, -5.2, ROT= 84.4, 5.2 2025-01-08T21:58:41.417Z,1736373521.417 [DAT](INFO): DAT read: Bearing 84.4, 5.2 (Local) 2025-01-08T21:58:41.417Z,1736373521.417 [DAT](INFO): Local bearing/azimuth received: Bearing 84.4, 5.2 (Local) 2025-01-08T21:58:41.419Z,1736373521.419 [DAT](INFO): DAT read: Range 10 to 50 : 510.7 m (Round-trip 681.0 ms) speed 0.0 m/s 2025-01-08T21:58:41.419Z,1736373521.419 [DAT](INFO): DAT read: user:2191> 2025-01-08T21:58:41.420Z,1736373521.420 [DAT](INFO): DAT read: Tx time:21:58:40.7403 2025-01-08T21:58:41.420Z,1736373521.420 [DAT](INFO): Ping request sent. 2025-01-08T21:58:41.421Z,1736373521.421 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:41.421Z,1736373521.421 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:58:41.429Z,1736373521.429 [DAT](INFO): direction in FSK: [-0.007422,0.551086,0.834416] 2025-01-08T21:58:41.429Z,1736373521.429 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:41.429Z,1736373521.429 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:41.432Z,1736373521.432 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:41.433Z,1736373521.433 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:41.613Z,1736373521.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:41.645Z,1736373521.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 510.700012 m, deltaT: 4.286123 s, deltaX: -0.099976 m, approachRate: -0.023325 m/s, rangeRepo size: 4 2025-01-08T21:58:41.658Z,1736373521.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 510.700012 m, bearing: 37.304833 deg, lat: 36.901808 deg, lon: -122.118876 deg, deltaT: 4.286123 s, deltaX: -0.099976 m, approachRate: -0.023325 m/s, posRepo size: 4 2025-01-08T21:58:41.660Z,1736373521.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:41.662Z,1736373521.662 [DAT](INFO): DAT read: TxSync time:21:58:40.7395 2025-01-08T21:58:41.667Z,1736373521.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:41.676Z,1736373521.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 246.693710 m, bearing: 27.482681 deg, approach rate: 0.000000 m/s, LOS rate: 0.189895 deg/s, cmd heading: 303.171033 deg, new cmd heading: 303.430134 deg. 2025-01-08T21:58:41.678Z,1736373521.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295855 target range: 510.700012 and range: 510.70 m. 2025-01-08T21:58:41.912Z,1736373521.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:42.006Z,1736373522.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:42.015Z,1736373522.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:42.026Z,1736373522.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 246.737045 m, bearing: 27.560094 deg, approach rate: 0.116889 m/s, LOS rate: 0.208774 deg/s, cmd heading: 303.430143 deg, new cmd heading: 303.662341 deg. 2025-01-08T21:58:42.027Z,1736373522.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299908 target range: 510.700012 and range: 510.70 m. 2025-01-08T21:58:42.165Z,1736373522.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:42.364Z,1736373522.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:42.371Z,1736373522.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:42.373Z,1736373522.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:42.383Z,1736373522.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 246.776718 m, bearing: 27.630483 deg, approach rate: 0.110695 m/s, LOS rate: 0.196364 deg/s, cmd heading: 303.662342 deg, new cmd heading: 303.873471 deg. 2025-01-08T21:58:42.384Z,1736373522.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303593 target range: 510.700012 and range: 510.70 m. 2025-01-08T21:58:42.416Z,1736373522.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:42.416Z,1736373522.416 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:42.416Z,1736373522.416 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:42.417Z,1736373522.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:42.668Z,1736373522.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:42.669Z,1736373522.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248081 2025-01-08T21:58:42.785Z,1736373522.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:42.794Z,1736373522.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:42.798Z,1736373522.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 246.823807 m, bearing: 27.713175 deg, approach rate: 0.111812 m/s, LOS rate: 0.196317 deg/s, cmd heading: 303.873477 deg, new cmd heading: 304.121507 deg. 2025-01-08T21:58:42.799Z,1736373522.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.307921 target range: 510.700012 and range: 510.70 m. 2025-01-08T21:58:42.921Z,1736373522.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:42.922Z,1736373522.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501005 2025-01-08T21:58:43.172Z,1736373523.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:43.173Z,1736373523.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751977 2025-01-08T21:58:43.231Z,1736373523.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:43.252Z,1736373523.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:43.255Z,1736373523.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 246.866867 m, bearing: 27.793639 deg, approach rate: 0.094824 m/s, LOS rate: 0.177159 deg/s, cmd heading: 304.121495 deg, new cmd heading: 304.362841 deg. 2025-01-08T21:58:43.256Z,1736373523.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.312134 target range: 510.700012 and range: 510.70 m. 2025-01-08T21:58:43.425Z,1736373523.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:43.426Z,1736373523.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005088 2025-01-08T21:58:43.567Z,1736373523.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:43.596Z,1736373523.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:43.599Z,1736373523.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 246.901123 m, bearing: 27.859446 deg, approach rate: 0.098452 m/s, LOS rate: 0.189102 deg/s, cmd heading: 304.362846 deg, new cmd heading: 304.560238 deg. 2025-01-08T21:58:43.604Z,1736373523.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315579 target range: 510.700012 and range: 510.70 m. 2025-01-08T21:58:43.676Z,1736373523.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:43.678Z,1736373523.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256762 2025-01-08T21:58:43.929Z,1736373523.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:43.930Z,1736373523.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509332 2025-01-08T21:58:44.017Z,1736373524.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:44.047Z,1736373524.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:44.058Z,1736373524.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 246.937103 m, bearing: 27.938641 deg, approach rate: 0.079866 m/s, LOS rate: 0.175766 deg/s, cmd heading: 304.560239 deg, new cmd heading: 304.797790 deg. 2025-01-08T21:58:44.059Z,1736373524.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319725 target range: 510.700012 and range: 510.70 m. 2025-01-08T21:58:44.180Z,1736373524.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:44.180Z,1736373524.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759689 2025-01-08T21:58:44.378Z,1736373524.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:44.385Z,1736373524.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:44.387Z,1736373524.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:44.389Z,1736373524.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 246.964645 m, bearing: 28.002268 deg, approach rate: 0.081038 m/s, LOS rate: 0.187190 deg/s, cmd heading: 304.797793 deg, new cmd heading: 304.988652 deg. 2025-01-08T21:58:44.390Z,1736373524.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323056 target range: 510.700012 and range: 510.70 m. 2025-01-08T21:58:44.432Z,1736373524.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:44.432Z,1736373524.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011876 2025-01-08T21:58:44.684Z,1736373524.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:44.684Z,1736373524.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263881 2025-01-08T21:58:44.801Z,1736373524.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:44.814Z,1736373524.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:44.816Z,1736373524.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 246.995651 m, bearing: 28.076798 deg, approach rate: 0.072599 m/s, LOS rate: 0.174485 deg/s, cmd heading: 304.988656 deg, new cmd heading: 305.212214 deg. 2025-01-08T21:58:44.817Z,1736373524.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326958 target range: 510.700012 and range: 510.70 m. 2025-01-08T21:58:44.938Z,1736373524.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:44.940Z,1736373524.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519129 2025-01-08T21:58:45.188Z,1736373525.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:45.189Z,1736373525.189 [DAT](INFO): DAT read: Rx Time:21:58:43.8355 2025-01-08T21:58:45.189Z,1736373525.189 [DAT](INFO): Rx dataTimestamp_ set to:1736373525.189016 2025-01-08T21:58:45.190Z,1736373525.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769226 2025-01-08T21:58:45.217Z,1736373525.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:45.258Z,1736373525.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:45.265Z,1736373525.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 247.022141 m, bearing: 28.145123 deg, approach rate: 0.059624 m/s, LOS rate: 0.153774 deg/s, cmd heading: 305.212221 deg, new cmd heading: 305.417174 deg. 2025-01-08T21:58:45.266Z,1736373525.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330535 target range: 510.700012 and range: 510.70 m. 2025-01-08T21:58:45.446Z,1736373525.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:45.448Z,1736373525.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027519 2025-01-08T21:58:45.598Z,1736373525.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:45.608Z,1736373525.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:45.611Z,1736373525.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 247.045197 m, bearing: 28.207895 deg, approach rate: 0.065817 m/s, LOS rate: 0.179177 deg/s, cmd heading: 305.417182 deg, new cmd heading: 305.605479 deg. 2025-01-08T21:58:45.612Z,1736373525.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.333822 target range: 510.700012 and range: 510.70 m. 2025-01-08T21:58:45.697Z,1736373525.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:45.699Z,1736373525.699 [DAT](INFO): DAT read: Range 10 to 50 : 518.2 m (Round-trip 691.0 ms) speed 0.0 m/s 2025-01-08T21:58:45.701Z,1736373525.701 [DAT](INFO): DAT read: user:2192> 2025-01-08T21:58:45.702Z,1736373525.702 [DAT](INFO): DAT read: Tx time:21:58:44.9404 2025-01-08T21:58:45.702Z,1736373525.702 [DAT](INFO): Ping request sent. 2025-01-08T21:58:45.703Z,1736373525.703 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:45.703Z,1736373525.703 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T21:58:45.704Z,1736373525.704 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:45.705Z,1736373525.705 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:45.948Z,1736373525.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:45.949Z,1736373525.949 [DAT](INFO): DAT read: TxSync time:21:58:44.9396 2025-01-08T21:58:46.028Z,1736373526.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:46.038Z,1736373526.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 518.200012 m, deltaT: 4.288882 s, deltaX: 7.500000 m, approachRate: 1.748707 m/s, rangeRepo size: 4 2025-01-08T21:58:46.039Z,1736373526.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:46.042Z,1736373526.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 247.061798 m, bearing: 28.274278 deg, approach rate: 0.038671 m/s, LOS rate: 0.154618 deg/s, cmd heading: 305.605476 deg, new cmd heading: 305.804611 deg. 2025-01-08T21:58:46.043Z,1736373526.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.337297 target range: 510.700012 and range: 518.20 m. 2025-01-08T21:58:46.200Z,1736373526.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:46.399Z,1736373526.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:46.405Z,1736373526.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:46.408Z,1736373526.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:46.410Z,1736373526.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 247.075470 m, bearing: 28.331472 deg, approach rate: 0.036966 m/s, LOS rate: 0.154631 deg/s, cmd heading: 305.804617 deg, new cmd heading: 305.976190 deg. 2025-01-08T21:58:46.411Z,1736373526.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.340292 target range: 510.700012 and range: 518.20 m. 2025-01-08T21:58:46.452Z,1736373526.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:46.454Z,1736373526.454 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:46.454Z,1736373526.454 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:46.455Z,1736373526.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:46.704Z,1736373526.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:46.704Z,1736373526.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002043 2025-01-08T21:58:46.811Z,1736373526.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:46.820Z,1736373526.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:46.823Z,1736373526.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 247.089218 m, bearing: 28.395078 deg, approach rate: 0.033397 m/s, LOS rate: 0.154505 deg/s, cmd heading: 305.976192 deg, new cmd heading: 306.166999 deg. 2025-01-08T21:58:46.824Z,1736373526.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343622 target range: 510.700012 and range: 518.20 m. 2025-01-08T21:58:46.958Z,1736373526.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:46.960Z,1736373526.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257509 2025-01-08T21:58:47.208Z,1736373527.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:47.208Z,1736373527.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505816 2025-01-08T21:58:47.248Z,1736373527.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:47.258Z,1736373527.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:47.260Z,1736373527.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 247.102463 m, bearing: 28.459126 deg, approach rate: 0.030205 m/s, LOS rate: 0.146053 deg/s, cmd heading: 306.167000 deg, new cmd heading: 306.359130 deg. 2025-01-08T21:58:47.261Z,1736373527.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346975 target range: 510.700012 and range: 518.20 m. 2025-01-08T21:58:47.460Z,1736373527.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:47.460Z,1736373527.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757982 2025-01-08T21:58:47.624Z,1736373527.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:47.632Z,1736373527.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:47.635Z,1736373527.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 247.111145 m, bearing: 28.514172 deg, approach rate: 0.023183 m/s, LOS rate: 0.146977 deg/s, cmd heading: 306.359119 deg, new cmd heading: 306.524254 deg. 2025-01-08T21:58:47.639Z,1736373527.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.349857 target range: 510.700012 and range: 518.20 m. 2025-01-08T21:58:47.714Z,1736373527.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:47.716Z,1736373527.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012720 2025-01-08T21:58:47.964Z,1736373527.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:47.964Z,1736373527.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261934 2025-01-08T21:58:48.055Z,1736373528.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:48.084Z,1736373528.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:48.092Z,1736373528.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 247.117371 m, bearing: 28.576379 deg, approach rate: 0.013772 m/s, LOS rate: 0.137611 deg/s, cmd heading: 306.524246 deg, new cmd heading: 306.710859 deg. 2025-01-08T21:58:48.093Z,1736373528.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.353114 target range: 510.700012 and range: 518.20 m. 2025-01-08T21:58:48.217Z,1736373528.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:48.217Z,1736373528.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514871 2025-01-08T21:58:48.421Z,1736373528.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:48.430Z,1736373528.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:48.432Z,1736373528.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:48.435Z,1736373528.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 247.121796 m, bearing: 28.629249 deg, approach rate: 0.012711 m/s, LOS rate: 0.151870 deg/s, cmd heading: 306.710847 deg, new cmd heading: 306.869454 deg. 2025-01-08T21:58:48.436Z,1736373528.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355882 target range: 510.700012 and range: 518.20 m. 2025-01-08T21:58:48.468Z,1736373528.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:48.469Z,1736373528.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766914 2025-01-08T21:58:48.720Z,1736373528.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:48.721Z,1736373528.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018355 2025-01-08T21:58:48.852Z,1736373528.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:48.861Z,1736373528.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:48.864Z,1736373528.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 247.125824 m, bearing: 28.691320 deg, approach rate: 0.009390 m/s, LOS rate: 0.144691 deg/s, cmd heading: 306.869444 deg, new cmd heading: 307.055652 deg. 2025-01-08T21:58:48.865Z,1736373528.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359132 target range: 510.700012 and range: 518.20 m. 2025-01-08T21:58:48.975Z,1736373528.975 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:48.978Z,1736373528.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275367 2025-01-08T21:58:49.224Z,1736373529.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:49.225Z,1736373529.225 [DAT](INFO): DAT read: Rx Time:21:58:48.0242 2025-01-08T21:58:49.225Z,1736373529.225 [DAT](INFO): Rx dataTimestamp_ set to:1736373529.224744 2025-01-08T21:58:49.226Z,1736373529.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523177 2025-01-08T21:58:49.247Z,1736373529.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:49.298Z,1736373529.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:49.305Z,1736373529.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 247.126801 m, bearing: 28.748685 deg, approach rate: 0.002235 m/s, LOS rate: 0.131285 deg/s, cmd heading: 307.055662 deg, new cmd heading: 307.227757 deg. 2025-01-08T21:58:49.306Z,1736373529.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.362136 target range: 510.700012 and range: 518.20 m. 2025-01-08T21:58:49.476Z,1736373529.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:49.476Z,1736373529.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773947 2025-01-08T21:58:49.637Z,1736373529.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:49.698Z,1736373529.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.70 m. 2025-01-08T21:58:49.715Z,1736373529.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.700012 m, nav range: 247.126923 m, bearing: 28.805132 deg, approach rate: 0.000307 m/s, LOS rate: 0.141781 deg/s, cmd heading: 307.227756 deg, new cmd heading: 307.397097 deg. 2025-01-08T21:58:49.722Z,1736373529.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.365091 target range: 510.700012 and range: 518.20 m. 2025-01-08T21:58:49.729Z,1736373529.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:49.739Z,1736373529.739 [DAT](INFO): DAT read: 21:58:48.0242 LVL= 15984, 28449, 17042, 25059, AGC= 69, IDX= 332, 0.22, 3.126, 1.860, 1.443, 2.249, PHS= 0.964,-0.342,-0.809, RAW= 75.3, 2.4, CAL= 79.3, -0.8, ROT= 70.7, 0.8 2025-01-08T21:58:49.740Z,1736373529.740 [DAT](INFO): got valid direction response: 21:58:48.0242 LVL= 15984, 28449, 17042, 25059, AGC= 69, IDX= 332, 0.22, 3.126, 1.860, 1.443, 2.249, PHS= 0.964,-0.342,-0.809, RAW= 75.3, 2.4, CAL= 79.3, -0.8, ROT= 70.7, 0.8 2025-01-08T21:58:49.741Z,1736373529.741 [DAT](INFO): DAT read: Bearing 70.7, 0.8 (Local) 2025-01-08T21:58:49.742Z,1736373529.742 [DAT](INFO): Local bearing/azimuth received: Bearing 70.7, 0.8 (Local) 2025-01-08T21:58:49.743Z,1736373529.743 [DAT](INFO): DAT read: Range 10 to 50 : 509.7 m (Round-trip 679.6 ms) speed 0.2 m/s 2025-01-08T21:58:49.744Z,1736373529.744 [DAT](INFO): DAT read: user:2193> 2025-01-08T21:58:49.745Z,1736373529.745 [DAT](INFO): DAT read: Tx time:21:58:49.1404 2025-01-08T21:58:49.745Z,1736373529.745 [DAT](INFO): Ping request sent. 2025-01-08T21:58:49.745Z,1736373529.745 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:49.745Z,1736373529.745 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:58:49.746Z,1736373529.746 [DAT](INFO): direction in FSK: [-0.103863,0.353917,0.929492] 2025-01-08T21:58:49.747Z,1736373529.747 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:49.747Z,1736373529.747 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:49.786Z,1736373529.786 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:49.787Z,1736373529.787 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:49.982Z,1736373529.982 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:49.985Z,1736373529.985 [DAT](INFO): DAT read: TxSync time:21:58:49.1396 2025-01-08T21:58:50.124Z,1736373530.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:50.156Z,1736373530.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 509.700012 m, deltaT: 4.033067 s, deltaX: -8.500000 m, approachRate: -2.107577 m/s, rangeRepo size: 4 2025-01-08T21:58:50.158Z,1736373530.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 509.700012 m, bearing: 69.005949 deg, lat: 36.901512 deg, lon: -122.118876 deg, deltaT: 8.321949 s, deltaX: -1.000000 m, approachRate: -0.120164 m/s, posRepo size: 4 2025-01-08T21:58:50.159Z,1736373530.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.70 m. 2025-01-08T21:58:50.165Z,1736373530.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.700012 m, nav range: 218.903305 m, bearing: 33.039486 deg, approach rate: 0.000000 m/s, LOS rate: 0.141781 deg/s, cmd heading: 307.397090 deg, new cmd heading: 307.588711 deg. 2025-01-08T21:58:50.166Z,1736373530.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368436 target range: 509.700012 and range: 509.70 m. 2025-01-08T21:58:50.233Z,1736373530.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:50.468Z,1736373530.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:50.484Z,1736373530.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:50.500Z,1736373530.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:50.502Z,1736373530.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.70 m. 2025-01-08T21:58:50.517Z,1736373530.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.700012 m, nav range: 218.920792 m, bearing: 33.096979 deg, approach rate: 0.049216 m/s, LOS rate: 0.161801 deg/s, cmd heading: 307.588717 deg, new cmd heading: 307.761181 deg. 2025-01-08T21:58:50.518Z,1736373530.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.371446 target range: 509.700012 and range: 509.70 m. 2025-01-08T21:58:50.737Z,1736373530.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:50.737Z,1736373530.737 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:50.737Z,1736373530.737 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:50.738Z,1736373530.738 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:50.857Z,1736373530.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:50.892Z,1736373530.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.70 m. 2025-01-08T21:58:50.895Z,1736373530.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.700012 m, nav range: 218.940521 m, bearing: 33.161885 deg, approach rate: 0.050586 m/s, LOS rate: 0.166401 deg/s, cmd heading: 307.761193 deg, new cmd heading: 307.955892 deg. 2025-01-08T21:58:50.896Z,1736373530.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.374844 target range: 509.700012 and range: 509.70 m. 2025-01-08T21:58:50.990Z,1736373530.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:50.992Z,1736373530.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246571 2025-01-08T21:58:51.240Z,1736373531.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:51.241Z,1736373531.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495528 2025-01-08T21:58:51.296Z,1736373531.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:51.326Z,1736373531.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.70 m. 2025-01-08T21:58:51.332Z,1736373531.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.700012 m, nav range: 218.962326 m, bearing: 33.236918 deg, approach rate: 0.050316 m/s, LOS rate: 0.173125 deg/s, cmd heading: 307.955881 deg, new cmd heading: 308.180957 deg. 2025-01-08T21:58:51.333Z,1736373531.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.378772 target range: 509.700012 and range: 509.70 m. 2025-01-08T21:58:51.492Z,1736373531.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:51.492Z,1736373531.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747211 2025-01-08T21:58:51.687Z,1736373531.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:51.695Z,1736373531.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.70 m. 2025-01-08T21:58:51.698Z,1736373531.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.700012 m, nav range: 218.981979 m, bearing: 33.303453 deg, approach rate: 0.053197 m/s, LOS rate: 0.180080 deg/s, cmd heading: 308.180949 deg, new cmd heading: 308.380537 deg. 2025-01-08T21:58:51.699Z,1736373531.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382256 target range: 509.700012 and range: 509.70 m. 2025-01-08T21:58:51.744Z,1736373531.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:51.745Z,1736373531.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000145 2025-01-08T21:58:51.997Z,1736373531.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:51.999Z,1736373531.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253499 2025-01-08T21:58:52.091Z,1736373532.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:52.100Z,1736373532.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.70 m. 2025-01-08T21:58:52.131Z,1736373532.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.700012 m, nav range: 218.992416 m, bearing: 33.374943 deg, approach rate: 0.025782 m/s, LOS rate: 0.176590 deg/s, cmd heading: 308.380528 deg, new cmd heading: 308.594984 deg. 2025-01-08T21:58:52.132Z,1736373532.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.385999 target range: 509.700012 and range: 509.70 m. 2025-01-08T21:58:52.248Z,1736373532.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:52.249Z,1736373532.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504041 2025-01-08T21:58:52.475Z,1736373532.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:52.486Z,1736373532.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.70 m. 2025-01-08T21:58:52.490Z,1736373532.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.700012 m, nav range: 219.002029 m, bearing: 33.442863 deg, approach rate: 0.025064 m/s, LOS rate: 0.177082 deg/s, cmd heading: 308.594995 deg, new cmd heading: 308.798746 deg. 2025-01-08T21:58:52.491Z,1736373532.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.389555 target range: 509.700012 and range: 509.70 m. 2025-01-08T21:58:52.500Z,1736373532.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:52.500Z,1736373532.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755254 2025-01-08T21:58:52.752Z,1736373532.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:52.753Z,1736373532.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007930 2025-01-08T21:58:52.884Z,1736373532.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:52.894Z,1736373532.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:52.896Z,1736373532.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.70 m. 2025-01-08T21:58:52.899Z,1736373532.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.700012 m, nav range: 219.011642 m, bearing: 33.515227 deg, approach rate: 0.023273 m/s, LOS rate: 0.175186 deg/s, cmd heading: 308.798754 deg, new cmd heading: 309.015835 deg. 2025-01-08T21:58:52.924Z,1736373532.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.393344 target range: 509.700012 and range: 509.70 m. 2025-01-08T21:58:53.005Z,1736373533.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:53.009Z,1736373533.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263514 2025-01-08T21:58:53.256Z,1736373533.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:53.256Z,1736373533.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511127 2025-01-08T21:58:53.321Z,1736373533.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:53.340Z,1736373533.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.70 m. 2025-01-08T21:58:53.347Z,1736373533.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.700012 m, nav range: 219.021683 m, bearing: 33.590609 deg, approach rate: 0.022664 m/s, LOS rate: 0.170153 deg/s, cmd heading: 309.015844 deg, new cmd heading: 309.241980 deg. 2025-01-08T21:58:53.350Z,1736373533.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397291 target range: 509.700012 and range: 509.70 m. 2025-01-08T21:58:53.508Z,1736373533.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:53.509Z,1736373533.509 [DAT](INFO): DAT read: Rx Time:21:58:52.2235 2025-01-08T21:58:53.509Z,1736373533.509 [DAT](INFO): Rx dataTimestamp_ set to:1736373533.508698 2025-01-08T21:58:53.509Z,1736373533.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764320 2025-01-08T21:58:53.720Z,1736373533.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:53.728Z,1736373533.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.70 m. 2025-01-08T21:58:53.731Z,1736373533.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.700012 m, nav range: 219.030304 m, bearing: 33.659227 deg, approach rate: 0.022183 m/s, LOS rate: 0.176549 deg/s, cmd heading: 309.241978 deg, new cmd heading: 309.447822 deg. 2025-01-08T21:58:53.732Z,1736373533.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400883 target range: 509.700012 and range: 509.70 m. 2025-01-08T21:58:53.760Z,1736373533.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:53.761Z,1736373533.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015566 2025-01-08T21:58:54.014Z,1736373534.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:54.057Z,1736373534.057 [DAT](INFO): DAT read: 21:58:52.2235 LVL= 14224, 24849, 16914, 22643, AGC= 68, IDX= 436,-0.08, 0.900,-0.539,-0.904,-0.115, PHS= 1.103,-0.376,-0.792, RAW= 78.0, 0.8, CAL= 83.4, -3.2, ROT= 66.6, 3.2 2025-01-08T21:58:54.058Z,1736373534.058 [DAT](INFO): got valid direction response: 21:58:52.2235 LVL= 14224, 24849, 16914, 22643, AGC= 68, IDX= 436,-0.08, 0.900,-0.539,-0.904,-0.115, PHS= 1.103,-0.376,-0.792, RAW= 78.0, 0.8, CAL= 83.4, -3.2, ROT= 66.6, 3.2 2025-01-08T21:58:54.059Z,1736373534.059 [DAT](INFO): DAT read: Bearing 66.6, 3.2 (Local) 2025-01-08T21:58:54.059Z,1736373534.059 [DAT](INFO): Local bearing/azimuth received: Bearing 66.6, 3.2 (Local) 2025-01-08T21:58:54.061Z,1736373534.061 [DAT](INFO): DAT read: Range 10 to 50 : 509.1 m (Round-trip 678.9 ms) speed 0.0 m/s 2025-01-08T21:58:54.061Z,1736373534.061 [DAT](INFO): DAT read: user:2194> 2025-01-08T21:58:54.062Z,1736373534.062 [DAT](INFO): DAT read: Tx time:21:58:53.3405 2025-01-08T21:58:54.062Z,1736373534.062 [DAT](INFO): Ping request sent. 2025-01-08T21:58:54.062Z,1736373534.062 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:54.063Z,1736373534.063 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:58:54.064Z,1736373534.064 [DAT](INFO): direction in FSK: [-0.078582,0.310213,0.947414] 2025-01-08T21:58:54.064Z,1736373534.064 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:54.064Z,1736373534.064 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:54.082Z,1736373534.082 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:54.082Z,1736373534.082 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:54.195Z,1736373534.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:54.230Z,1736373534.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 509.100006 m, deltaT: 4.284461 s, deltaX: -0.600006 m, approachRate: -0.140042 m/s, rangeRepo size: 4 2025-01-08T21:58:54.237Z,1736373534.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 509.100006 m, bearing: 69.149335 deg, lat: 36.901387 deg, lon: -122.118876 deg, deltaT: 4.284461 s, deltaX: -0.600006 m, approachRate: -0.140042 m/s, posRepo size: 4 2025-01-08T21:58:54.237Z,1736373534.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:58:54.244Z,1736373534.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 207.627350 m, bearing: 35.873993 deg, approach rate: 0.000000 m/s, LOS rate: 0.176549 deg/s, cmd heading: 309.447813 deg, new cmd heading: 309.713113 deg. 2025-01-08T21:58:54.245Z,1736373534.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405514 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:58:54.264Z,1736373534.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:54.265Z,1736373534.265 [DAT](INFO): DAT read: TxSync time:21:58:53.3397 2025-01-08T21:58:54.516Z,1736373534.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:54.556Z,1736373534.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:54.571Z,1736373534.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:58:54.574Z,1736373534.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 207.647537 m, bearing: 35.941557 deg, approach rate: 0.059675 m/s, LOS rate: 0.199706 deg/s, cmd heading: 309.713125 deg, new cmd heading: 309.915798 deg. 2025-01-08T21:58:54.575Z,1736373534.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409051 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:58:54.768Z,1736373534.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:54.932Z,1736373534.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:54.956Z,1736373534.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:54.958Z,1736373534.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:58:54.964Z,1736373534.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 207.668045 m, bearing: 36.010930 deg, approach rate: 0.052535 m/s, LOS rate: 0.177694 deg/s, cmd heading: 309.915790 deg, new cmd heading: 310.123887 deg. 2025-01-08T21:58:54.965Z,1736373534.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412683 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:58:55.024Z,1736373535.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:55.025Z,1736373535.025 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:55.026Z,1736373535.026 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:55.027Z,1736373535.027 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:55.277Z,1736373535.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:55.278Z,1736373535.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215769 2025-01-08T21:58:55.356Z,1736373535.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:58:55.376Z,1736373535.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:55.384Z,1736373535.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:58:55.388Z,1736373535.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 207.688690 m, bearing: 36.092520 deg, approach rate: 0.048375 m/s, LOS rate: 0.191160 deg/s, cmd heading: 310.123892 deg, new cmd heading: 310.368635 deg. 2025-01-08T21:58:55.389Z,1736373535.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416955 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:58:55.528Z,1736373535.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:55.528Z,1736373535.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465896 2025-01-08T21:58:55.755Z,1736373535.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:55.764Z,1736373535.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:58:55.767Z,1736373535.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 207.705292 m, bearing: 36.162367 deg, approach rate: 0.043713 m/s, LOS rate: 0.183897 deg/s, cmd heading: 310.368632 deg, new cmd heading: 310.578156 deg. 2025-01-08T21:58:55.768Z,1736373535.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.420611 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:58:55.780Z,1736373535.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:55.780Z,1736373535.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718010 2025-01-08T21:58:56.033Z,1736373536.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:56.037Z,1736373536.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973737 2025-01-08T21:58:56.190Z,1736373536.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:56.199Z,1736373536.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:58:56.202Z,1736373536.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 207.729691 m, bearing: 36.246311 deg, approach rate: 0.056134 m/s, LOS rate: 0.193107 deg/s, cmd heading: 310.578155 deg, new cmd heading: 310.829955 deg. 2025-01-08T21:58:56.204Z,1736373536.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425006 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:58:56.284Z,1736373536.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:56.285Z,1736373536.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222114 2025-01-08T21:58:56.360Z,1736373536.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:58:56.537Z,1736373536.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:56.537Z,1736373536.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474902 2025-01-08T21:58:56.551Z,1736373536.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:56.588Z,1736373536.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:58:56.591Z,1736373536.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 207.747986 m, bearing: 36.315933 deg, approach rate: 0.047573 m/s, LOS rate: 0.181020 deg/s, cmd heading: 310.829943 deg, new cmd heading: 311.038789 deg. 2025-01-08T21:58:56.596Z,1736373536.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.428651 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:58:56.790Z,1736373536.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:56.791Z,1736373536.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728410 2025-01-08T21:58:56.964Z,1736373536.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:56.974Z,1736373536.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:56.976Z,1736373536.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:58:56.978Z,1736373536.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 207.768372 m, bearing: 36.395455 deg, approach rate: 0.051919 m/s, LOS rate: 0.202510 deg/s, cmd heading: 311.038782 deg, new cmd heading: 311.277323 deg. 2025-01-08T21:58:56.980Z,1736373536.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432814 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:58:57.040Z,1736373537.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:57.041Z,1736373537.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978699 2025-01-08T21:58:57.292Z,1736373537.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:57.293Z,1736373537.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230133 2025-01-08T21:58:57.408Z,1736373537.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:57.429Z,1736373537.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:58:57.432Z,1736373537.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 207.798264 m, bearing: 36.483329 deg, approach rate: 0.066030 m/s, LOS rate: 0.194082 deg/s, cmd heading: 311.277320 deg, new cmd heading: 311.540902 deg. 2025-01-08T21:58:57.433Z,1736373537.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.437415 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:58:57.544Z,1736373537.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:57.545Z,1736373537.545 [DAT](INFO): DAT read: Rx Time:21:58:56.4226 2025-01-08T21:58:57.545Z,1736373537.545 [DAT](INFO): Rx dataTimestamp_ set to:1736373537.544679 2025-01-08T21:58:57.545Z,1736373537.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483032 2025-01-08T21:58:57.581Z,1736373537.581 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T21:58:57.774Z,1736373537.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:57.796Z,1736373537.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:57.797Z,1736373537.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734306 2025-01-08T21:58:57.805Z,1736373537.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:58:57.812Z,1736373537.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 207.822449 m, bearing: 36.555607 deg, approach rate: 0.064326 m/s, LOS rate: 0.192218 deg/s, cmd heading: 311.540911 deg, new cmd heading: 311.757719 deg. 2025-01-08T21:58:57.813Z,1736373537.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441199 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:58:58.049Z,1736373538.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:58.051Z,1736373538.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.988457 2025-01-08T21:58:58.205Z,1736373538.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:58.214Z,1736373538.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.10 m. 2025-01-08T21:58:58.217Z,1736373538.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 509.100006 m, nav range: 207.860321 m, bearing: 36.644823 deg, approach rate: 0.092616 m/s, LOS rate: 0.218137 deg/s, cmd heading: 311.757728 deg, new cmd heading: 312.025326 deg. 2025-01-08T21:58:58.218Z,1736373538.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445869 target range: 509.100006 and range: 509.10 m. 2025-01-08T21:58:58.300Z,1736373538.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:58.308Z,1736373538.308 [DAT](INFO): DAT read: 21:58:56.4226 LVL= 18192, 31137, 22514, 32755, AGC= 66, IDX= 427,-0.16,-2.012, 2.816, 2.623,-2.994, PHS= 1.070,-0.426,-0.669, RAW= 82.6, 0.3, CAL= 88.9, -3.9, ROT= 61.1, 3.9 2025-01-08T21:58:58.309Z,1736373538.309 [DAT](INFO): got valid direction response: 21:58:56.4226 LVL= 18192, 31137, 22514, 32755, AGC= 66, IDX= 427,-0.16,-2.012, 2.816, 2.623,-2.994, PHS= 1.070,-0.426,-0.669, RAW= 82.6, 0.3, CAL= 88.9, -3.9, ROT= 61.1, 3.9 2025-01-08T21:58:58.310Z,1736373538.310 [DAT](INFO): DAT read: Bearing 61.1, 3.9 (Local) 2025-01-08T21:58:58.310Z,1736373538.310 [DAT](INFO): Local bearing/azimuth received: Bearing 61.1, 3.9 (Local) 2025-01-08T21:58:58.311Z,1736373538.311 [DAT](INFO): DAT read: Range 10 to 50 : 508.5 m (Round-trip 678.0 ms) speed 0.0 m/s 2025-01-08T21:58:58.312Z,1736373538.312 [DAT](INFO): DAT read: user:2195> 2025-01-08T21:58:58.313Z,1736373538.313 [DAT](INFO): DAT read: Tx time:21:58:57.5405 2025-01-08T21:58:58.313Z,1736373538.313 [DAT](INFO): Ping request sent. 2025-01-08T21:58:58.313Z,1736373538.313 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:58:58.314Z,1736373538.314 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:58:58.314Z,1736373538.314 [DAT](INFO): direction in FSK: [-0.078453,0.233731,0.969131] 2025-01-08T21:58:58.315Z,1736373538.315 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:58.315Z,1736373538.315 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:58.344Z,1736373538.344 [DAT](INFO): publishing transmit ping time 2025-01-08T21:58:58.344Z,1736373538.344 [DAT](INFO): publishing direction and range info 2025-01-08T21:58:58.552Z,1736373538.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:58.553Z,1736373538.553 [DAT](INFO): DAT read: TxSync time:21:58:57.5397 2025-01-08T21:58:58.573Z,1736373538.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:58.610Z,1736373538.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 508.500000 m, deltaT: 4.285915 s, deltaX: -0.600006 m, approachRate: -0.139995 m/s, rangeRepo size: 4 2025-01-08T21:58:58.616Z,1736373538.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 508.500000 m, bearing: 89.379631 deg, lat: 36.900248 deg, lon: -122.118958 deg, deltaT: 4.285915 s, deltaX: -0.600006 m, approachRate: -0.139995 m/s, posRepo size: 4 2025-01-08T21:58:58.617Z,1736373538.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:58:58.623Z,1736373538.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 123.705048 m, bearing: 71.109340 deg, approach rate: 0.000000 m/s, LOS rate: 0.218137 deg/s, cmd heading: 312.025335 deg, new cmd heading: 312.284155 deg. 2025-01-08T21:58:58.624Z,1736373538.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450387 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:58:58.804Z,1736373538.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:59.011Z,1736373539.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:59.017Z,1736373539.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:58:59.020Z,1736373539.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:58:59.023Z,1736373539.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 123.921959 m, bearing: 71.224868 deg, approach rate: 0.527239 m/s, LOS rate: 0.280317 deg/s, cmd heading: 312.284145 deg, new cmd heading: 312.630116 deg. 2025-01-08T21:58:59.024Z,1736373539.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456425 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:58:59.057Z,1736373539.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:59.060Z,1736373539.060 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:58:59.060Z,1736373539.060 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:58:59.060Z,1736373539.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:58:59.308Z,1736373539.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:59.308Z,1736373539.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995096 2025-01-08T21:58:59.413Z,1736373539.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:59.423Z,1736373539.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:58:59.425Z,1736373539.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 124.134720 m, bearing: 71.334369 deg, approach rate: 0.529186 m/s, LOS rate: 0.271889 deg/s, cmd heading: 312.630107 deg, new cmd heading: 312.958045 deg. 2025-01-08T21:58:59.426Z,1736373539.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462148 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:58:59.560Z,1736373539.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:59.561Z,1736373539.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247656 2025-01-08T21:58:59.812Z,1736373539.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:58:59.813Z,1736373539.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499230 2025-01-08T21:58:59.816Z,1736373539.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:58:59.825Z,1736373539.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:58:59.827Z,1736373539.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 124.346352 m, bearing: 71.443509 deg, approach rate: 0.526272 m/s, LOS rate: 0.270939 deg/s, cmd heading: 312.958038 deg, new cmd heading: 313.284896 deg. 2025-01-08T21:58:59.828Z,1736373539.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467853 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:59:00.064Z,1736373540.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:00.065Z,1736373540.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751219 2025-01-08T21:59:00.214Z,1736373540.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:00.223Z,1736373540.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:59:00.226Z,1736373540.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 124.565544 m, bearing: 71.549350 deg, approach rate: 0.550181 m/s, LOS rate: 0.265198 deg/s, cmd heading: 313.284904 deg, new cmd heading: 313.601866 deg. 2025-01-08T21:59:00.227Z,1736373540.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473385 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:59:00.316Z,1736373540.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:00.317Z,1736373540.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003291 2025-01-08T21:59:00.568Z,1736373540.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:00.569Z,1736373540.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255240 2025-01-08T21:59:00.625Z,1736373540.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:00.648Z,1736373540.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:59:00.657Z,1736373540.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 124.790924 m, bearing: 71.658177 deg, approach rate: 0.536073 m/s, LOS rate: 0.258380 deg/s, cmd heading: 313.601879 deg, new cmd heading: 313.927766 deg. 2025-01-08T21:59:00.659Z,1736373540.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479073 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:59:00.820Z,1736373540.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:00.821Z,1736373540.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507559 2025-01-08T21:59:00.995Z,1736373540.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:01.018Z,1736373541.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:01.024Z,1736373541.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:59:01.027Z,1736373541.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 124.993881 m, bearing: 71.756265 deg, approach rate: 0.533264 m/s, LOS rate: 0.257304 deg/s, cmd heading: 313.927761 deg, new cmd heading: 314.221544 deg. 2025-01-08T21:59:01.032Z,1736373541.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484200 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:59:01.072Z,1736373541.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:01.073Z,1736373541.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759258 2025-01-08T21:59:01.324Z,1736373541.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:01.324Z,1736373541.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011202 2025-01-08T21:59:01.493Z,1736373541.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:01.529Z,1736373541.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:59:01.532Z,1736373541.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 125.267792 m, bearing: 71.891749 deg, approach rate: 0.542551 m/s, LOS rate: 0.267775 deg/s, cmd heading: 314.221541 deg, new cmd heading: 314.627099 deg. 2025-01-08T21:59:01.533Z,1736373541.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.491279 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:59:01.576Z,1736373541.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:01.577Z,1736373541.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263220 2025-01-08T21:59:01.828Z,1736373541.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:01.829Z,1736373541.829 [DAT](INFO): DAT read: Rx Time:21:59:00.6215 2025-01-08T21:59:01.829Z,1736373541.829 [DAT](INFO): Rx dataTimestamp_ set to:1736373541.828940 2025-01-08T21:59:01.830Z,1736373541.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516467 2025-01-08T21:59:01.941Z,1736373541.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:01.950Z,1736373541.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.50 m. 2025-01-08T21:59:01.953Z,1736373541.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.500000 m, nav range: 125.512772 m, bearing: 72.014374 deg, approach rate: 0.582374 m/s, LOS rate: 0.290938 deg/s, cmd heading: 314.627091 deg, new cmd heading: 314.994241 deg. 2025-01-08T21:59:01.954Z,1736373541.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497687 target range: 508.500000 and range: 508.50 m. 2025-01-08T21:59:02.081Z,1736373542.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:02.083Z,1736373542.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769351 2025-01-08T21:59:02.332Z,1736373542.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:02.340Z,1736373542.340 [DAT](INFO): DAT read: 21:59:00.6215 LVL= 13952, 24401, 18114, 24371, AGC= 69, IDX= 432,-0.07, 0.330,-1.277,-1.390,-0.740, PHS= 1.158,-0.490,-0.653, RAW= 85.3, -0.2, CAL= 92.2, -4.7, ROT= 57.8, 4.7 2025-01-08T21:59:02.341Z,1736373542.341 [DAT](INFO): got valid direction response: 21:59:00.6215 LVL= 13952, 24401, 18114, 24371, AGC= 69, IDX= 432,-0.07, 0.330,-1.277,-1.390,-0.740, PHS= 1.158,-0.490,-0.653, RAW= 85.3, -0.2, CAL= 92.2, -4.7, ROT= 57.8, 4.7 2025-01-08T21:59:02.342Z,1736373542.342 [DAT](INFO): DAT read: Bearing 57.8, 4.7 (Local) 2025-01-08T21:59:02.342Z,1736373542.342 [DAT](INFO): Local bearing/azimuth received: Bearing 57.8, 4.7 (Local) 2025-01-08T21:59:02.344Z,1736373542.344 [DAT](INFO): DAT read: Range 10 to 50 : 507.6 m (Round-trip 676.9 ms) speed 0.1 m/s 2025-01-08T21:59:02.344Z,1736373542.344 [DAT](INFO): DAT read: user:2196> 2025-01-08T21:59:02.345Z,1736373542.345 [DAT](INFO): DAT read: Tx time:21:59:01.7405 2025-01-08T21:59:02.345Z,1736373542.345 [DAT](INFO): Ping request sent. 2025-01-08T21:59:02.346Z,1736373542.346 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:02.346Z,1736373542.346 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:02.347Z,1736373542.347 [DAT](INFO): direction in FSK: [-0.074034,0.187208,0.979526] 2025-01-08T21:59:02.347Z,1736373542.347 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:02.347Z,1736373542.347 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:02.361Z,1736373542.361 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:02.361Z,1736373542.361 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:02.497Z,1736373542.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:02.533Z,1736373542.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 507.600006 m, deltaT: 4.032285 s, deltaX: -0.899994 m, approachRate: -0.223197 m/s, rangeRepo size: 4 2025-01-08T21:59:02.539Z,1736373542.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 507.600006 m, bearing: 116.902202 deg, lat: 36.900182 deg, lon: -122.119234 deg, deltaT: 4.032285 s, deltaX: -0.899994 m, approachRate: -0.223197 m/s, posRepo size: 4 2025-01-08T21:59:02.540Z,1736373542.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.60 m. 2025-01-08T21:59:02.543Z,1736373542.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.600006 m, nav range: 100.219498 m, bearing: 71.901522 deg, approach rate: 0.000000 m/s, LOS rate: 0.290938 deg/s, cmd heading: 314.994254 deg, new cmd heading: 315.497961 deg. 2025-01-08T21:59:02.544Z,1736373542.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506478 target range: 507.600006 and range: 507.60 m. 2025-01-08T21:59:02.584Z,1736373542.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:02.585Z,1736373542.585 [DAT](INFO): DAT read: TxSync time:21:59:01.7397 2025-01-08T21:59:02.836Z,1736373542.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:02.949Z,1736373542.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:02.958Z,1736373542.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.60 m. 2025-01-08T21:59:02.961Z,1736373542.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.600006 m, nav range: 100.457130 m, bearing: 72.051309 deg, approach rate: 0.551095 m/s, LOS rate: 0.346551 deg/s, cmd heading: 315.497967 deg, new cmd heading: 315.946258 deg. 2025-01-08T21:59:02.962Z,1736373542.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514302 target range: 507.600006 and range: 507.60 m. 2025-01-08T21:59:03.088Z,1736373543.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:03.340Z,1736373543.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:03.419Z,1736373543.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:03.426Z,1736373543.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:03.428Z,1736373543.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.60 m. 2025-01-08T21:59:03.431Z,1736373543.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.600006 m, nav range: 100.681442 m, bearing: 72.202036 deg, approach rate: 0.476760 m/s, LOS rate: 0.319645 deg/s, cmd heading: 315.946246 deg, new cmd heading: 316.397408 deg. 2025-01-08T21:59:03.432Z,1736373543.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522177 target range: 507.600006 and range: 507.60 m. 2025-01-08T21:59:03.592Z,1736373543.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:03.592Z,1736373543.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:03.592Z,1736373543.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:03.593Z,1736373543.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:03.802Z,1736373543.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:03.811Z,1736373543.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.60 m. 2025-01-08T21:59:03.818Z,1736373543.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.600006 m, nav range: 100.863281 m, bearing: 72.325251 deg, approach rate: 0.475493 m/s, LOS rate: 0.321616 deg/s, cmd heading: 316.397421 deg, new cmd heading: 316.766395 deg. 2025-01-08T21:59:03.819Z,1736373543.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528616 target range: 507.600006 and range: 507.60 m. 2025-01-08T21:59:03.844Z,1736373543.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:03.844Z,1736373543.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498633 2025-01-08T21:59:04.096Z,1736373544.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:04.096Z,1736373544.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750684 2025-01-08T21:59:04.290Z,1736373544.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:04.299Z,1736373544.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.60 m. 2025-01-08T21:59:04.302Z,1736373544.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.600006 m, nav range: 101.074638 m, bearing: 72.473576 deg, approach rate: 0.433015 m/s, LOS rate: 0.303242 deg/s, cmd heading: 316.766388 deg, new cmd heading: 317.210422 deg. 2025-01-08T21:59:04.304Z,1736373544.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536366 target range: 507.600006 and range: 507.60 m. 2025-01-08T21:59:04.348Z,1736373544.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:04.348Z,1736373544.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002834 2025-01-08T21:59:04.600Z,1736373544.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:04.601Z,1736373544.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255284 2025-01-08T21:59:04.712Z,1736373544.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:04.720Z,1736373544.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.60 m. 2025-01-08T21:59:04.723Z,1736373544.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.600006 m, nav range: 101.251534 m, bearing: 72.603909 deg, approach rate: 0.419862 m/s, LOS rate: 0.308807 deg/s, cmd heading: 317.210432 deg, new cmd heading: 317.600743 deg. 2025-01-08T21:59:04.724Z,1736373544.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.543179 target range: 507.600006 and range: 507.60 m. 2025-01-08T21:59:04.856Z,1736373544.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:04.857Z,1736373544.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511695 2025-01-08T21:59:05.088Z,1736373545.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:05.099Z,1736373545.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.60 m. 2025-01-08T21:59:05.102Z,1736373545.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.600006 m, nav range: 101.409615 m, bearing: 72.719675 deg, approach rate: 0.417690 m/s, LOS rate: 0.305405 deg/s, cmd heading: 317.600736 deg, new cmd heading: 317.947488 deg. 2025-01-08T21:59:05.104Z,1736373545.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.549231 target range: 507.600006 and range: 507.60 m. 2025-01-08T21:59:05.108Z,1736373545.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:05.109Z,1736373545.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762975 2025-01-08T21:59:05.360Z,1736373545.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:05.360Z,1736373545.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014743 2025-01-08T21:59:05.504Z,1736373545.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:05.534Z,1736373545.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:05.537Z,1736373545.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.60 m. 2025-01-08T21:59:05.540Z,1736373545.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.600006 m, nav range: 101.561234 m, bearing: 72.841067 deg, approach rate: 0.346413 m/s, LOS rate: 0.276936 deg/s, cmd heading: 317.947492 deg, new cmd heading: 318.311117 deg. 2025-01-08T21:59:05.541Z,1736373545.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555577 target range: 507.600006 and range: 507.60 m. 2025-01-08T21:59:05.613Z,1736373545.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:05.614Z,1736373545.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268264 2025-01-08T21:59:05.866Z,1736373545.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:05.869Z,1736373545.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522718 2025-01-08T21:59:05.909Z,1736373545.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:05.921Z,1736373545.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.60 m. 2025-01-08T21:59:05.935Z,1736373545.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.600006 m, nav range: 101.705437 m, bearing: 72.959754 deg, approach rate: 0.374708 m/s, LOS rate: 0.307969 deg/s, cmd heading: 318.311131 deg, new cmd heading: 318.666684 deg. 2025-01-08T21:59:05.937Z,1736373545.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561783 target range: 507.600006 and range: 507.60 m. 2025-01-08T21:59:06.116Z,1736373546.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:06.116Z,1736373546.116 [DAT](INFO): DAT read: Rx Time:21:59:04.8205 2025-01-08T21:59:06.117Z,1736373546.117 [DAT](INFO): Rx dataTimestamp_ set to:1736373546.116538 2025-01-08T21:59:06.117Z,1736373546.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771728 2025-01-08T21:59:06.330Z,1736373546.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:06.340Z,1736373546.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.60 m. 2025-01-08T21:59:06.363Z,1736373546.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 507.600006 m, nav range: 101.832268 m, bearing: 73.081206 deg, approach rate: 0.302673 m/s, LOS rate: 0.289474 deg/s, cmd heading: 318.666683 deg, new cmd heading: 319.030579 deg. 2025-01-08T21:59:06.364Z,1736373546.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568134 target range: 507.600006 and range: 507.60 m. 2025-01-08T21:59:06.368Z,1736373546.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:06.368Z,1736373546.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022879 2025-01-08T21:59:06.621Z,1736373546.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:06.629Z,1736373546.629 [DAT](INFO): DAT read: 21:59:04.8205 LVL= 15424, 31905, 19058, 30131, AGC= 64, IDX= 436, 0.21, 1.776, 0.119, 0.058, 0.625, PHS= 1.239,-0.459,-0.570, RAW= 86.9, -2.4, CAL= 94.7, -8.3, ROT= 55.3, 8.3 2025-01-08T21:59:06.630Z,1736373546.630 [DAT](INFO): got valid direction response: 21:59:04.8205 LVL= 15424, 31905, 19058, 30131, AGC= 64, IDX= 436, 0.21, 1.776, 0.119, 0.058, 0.625, PHS= 1.239,-0.459,-0.570, RAW= 86.9, -2.4, CAL= 94.7, -8.3, ROT= 55.3, 8.3 2025-01-08T21:59:06.631Z,1736373546.631 [DAT](INFO): DAT read: Bearing 55.3, 8.3 (Local) 2025-01-08T21:59:06.632Z,1736373546.632 [DAT](INFO): Local bearing/azimuth received: Bearing 55.3, 8.3 (Local) 2025-01-08T21:59:06.633Z,1736373546.633 [DAT](INFO): DAT read: Range 10 to 50 : 506.7 m (Round-trip 675.7 ms) speed 0.3 m/s 2025-01-08T21:59:06.634Z,1736373546.634 [DAT](INFO): DAT read: user:2197> 2025-01-08T21:59:06.634Z,1736373546.634 [DAT](INFO): DAT read: Tx time:21:59:05.9406 2025-01-08T21:59:06.635Z,1736373546.635 [DAT](INFO): Ping request sent. 2025-01-08T21:59:06.635Z,1736373546.635 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:06.636Z,1736373546.636 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:06.637Z,1736373546.637 [DAT](INFO): direction in FSK: [-0.033873,0.158954,0.986705] 2025-01-08T21:59:06.637Z,1736373546.637 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:06.637Z,1736373546.637 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:06.661Z,1736373546.661 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:06.661Z,1736373546.661 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:06.770Z,1736373546.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:06.814Z,1736373546.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 506.700012 m, deltaT: 4.288386 s, deltaX: -0.899994 m, approachRate: -0.209868 m/s, rangeRepo size: 4 2025-01-08T21:59:06.835Z,1736373546.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 506.700012 m, bearing: 161.433892 deg, lat: 36.899894 deg, lon: -122.119572 deg, deltaT: 4.288386 s, deltaX: -0.899994 m, approachRate: -0.209868 m/s, posRepo size: 4 2025-01-08T21:59:06.840Z,1736373546.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.70 m. 2025-01-08T21:59:06.845Z,1736373546.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.700012 m, nav range: 67.566383 m, bearing: 92.129469 deg, approach rate: 0.000000 m/s, LOS rate: 0.289474 deg/s, cmd heading: 319.030568 deg, new cmd heading: 319.441620 deg. 2025-01-08T21:59:06.846Z,1736373546.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575308 target range: 506.700012 and range: 506.70 m. 2025-01-08T21:59:06.872Z,1736373546.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:06.874Z,1736373546.874 [DAT](INFO): DAT read: TxSync time:21:59:05.9398 2025-01-08T21:59:07.124Z,1736373547.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:07.148Z,1736373547.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:07.157Z,1736373547.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.70 m. 2025-01-08T21:59:07.163Z,1736373547.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.700012 m, nav range: 67.733475 m, bearing: 92.256187 deg, approach rate: 0.486199 m/s, LOS rate: 0.367810 deg/s, cmd heading: 319.441609 deg, new cmd heading: 319.820818 deg. 2025-01-08T21:59:07.164Z,1736373547.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581926 target range: 506.700012 and range: 506.70 m. 2025-01-08T21:59:07.376Z,1736373547.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:07.572Z,1736373547.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:07.582Z,1736373547.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:07.592Z,1736373547.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.70 m. 2025-01-08T21:59:07.594Z,1736373547.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.700012 m, nav range: 67.910225 m, bearing: 92.392504 deg, approach rate: 0.409774 m/s, LOS rate: 0.315212 deg/s, cmd heading: 319.820821 deg, new cmd heading: 320.228702 deg. 2025-01-08T21:59:07.595Z,1736373547.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589045 target range: 506.700012 and range: 506.70 m. 2025-01-08T21:59:07.628Z,1736373547.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:07.628Z,1736373547.628 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:07.628Z,1736373547.628 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:07.629Z,1736373547.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:07.882Z,1736373547.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:07.884Z,1736373547.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249148 2025-01-08T21:59:07.954Z,1736373547.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:07.962Z,1736373547.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.70 m. 2025-01-08T21:59:07.965Z,1736373547.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.700012 m, nav range: 68.072868 m, bearing: 92.518067 deg, approach rate: 0.435305 m/s, LOS rate: 0.335257 deg/s, cmd heading: 320.228693 deg, new cmd heading: 320.604475 deg. 2025-01-08T21:59:07.966Z,1736373547.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595603 target range: 506.700012 and range: 506.70 m. 2025-01-08T21:59:08.132Z,1736373548.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:08.134Z,1736373548.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498364 2025-01-08T21:59:08.384Z,1736373548.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:08.384Z,1736373548.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749619 2025-01-08T21:59:08.389Z,1736373548.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:08.397Z,1736373548.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.70 m. 2025-01-08T21:59:08.400Z,1736373548.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.700012 m, nav range: 68.253357 m, bearing: 92.665957 deg, approach rate: 0.414938 m/s, LOS rate: 0.339097 deg/s, cmd heading: 320.604462 deg, new cmd heading: 321.046952 deg. 2025-01-08T21:59:08.401Z,1736373548.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603326 target range: 506.700012 and range: 506.70 m. 2025-01-08T21:59:08.636Z,1736373548.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:08.637Z,1736373548.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002216 2025-01-08T21:59:08.773Z,1736373548.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:08.782Z,1736373548.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.70 m. 2025-01-08T21:59:08.784Z,1736373548.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.700012 m, nav range: 68.411369 m, bearing: 92.797837 deg, approach rate: 0.411082 m/s, LOS rate: 0.342304 deg/s, cmd heading: 321.046949 deg, new cmd heading: 321.441669 deg. 2025-01-08T21:59:08.785Z,1736373548.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610216 target range: 506.700012 and range: 506.70 m. 2025-01-08T21:59:08.888Z,1736373548.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:08.890Z,1736373548.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254618 2025-01-08T21:59:09.140Z,1736373549.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:09.141Z,1736373549.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506363 2025-01-08T21:59:09.216Z,1736373549.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:09.276Z,1736373549.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.70 m. 2025-01-08T21:59:09.294Z,1736373549.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.700012 m, nav range: 68.592491 m, bearing: 92.949991 deg, approach rate: 0.371184 m/s, LOS rate: 0.310994 deg/s, cmd heading: 321.441680 deg, new cmd heading: 321.896925 deg. 2025-01-08T21:59:09.294Z,1736373549.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618161 target range: 506.700012 and range: 506.70 m. 2025-01-08T21:59:09.392Z,1736373549.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:09.393Z,1736373549.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758584 2025-01-08T21:59:09.599Z,1736373549.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:09.607Z,1736373549.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:09.609Z,1736373549.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.70 m. 2025-01-08T21:59:09.612Z,1736373549.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.700012 m, nav range: 68.759499 m, bearing: 93.081176 deg, approach rate: 0.492006 m/s, LOS rate: 0.385533 deg/s, cmd heading: 321.896925 deg, new cmd heading: 322.289518 deg. 2025-01-08T21:59:09.613Z,1736373549.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625013 target range: 506.700012 and range: 506.70 m. 2025-01-08T21:59:09.644Z,1736373549.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:09.645Z,1736373549.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010514 2025-01-08T21:59:09.896Z,1736373549.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:09.896Z,1736373549.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261433 2025-01-08T21:59:09.989Z,1736373549.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:09.998Z,1736373549.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.70 m. 2025-01-08T21:59:10.017Z,1736373550.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.700012 m, nav range: 68.929222 m, bearing: 93.215395 deg, approach rate: 0.436573 m/s, LOS rate: 0.344395 deg/s, cmd heading: 322.289525 deg, new cmd heading: 322.691183 deg. 2025-01-08T21:59:10.018Z,1736373550.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632024 target range: 506.700012 and range: 506.70 m. 2025-01-08T21:59:10.148Z,1736373550.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:10.148Z,1736373550.148 [DAT](INFO): DAT read: Rx Time:21:59:09.0188 2025-01-08T21:59:10.149Z,1736373550.149 [DAT](INFO): Rx dataTimestamp_ set to:1736373550.148600 2025-01-08T21:59:10.149Z,1736373550.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514548 2025-01-08T21:59:10.400Z,1736373550.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:10.401Z,1736373550.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765725 2025-01-08T21:59:10.422Z,1736373550.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:10.431Z,1736373550.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.70 m. 2025-01-08T21:59:10.434Z,1736373550.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.700012 m, nav range: 69.130707 m, bearing: 93.364069 deg, approach rate: 0.465328 m/s, LOS rate: 0.342362 deg/s, cmd heading: 322.691195 deg, new cmd heading: 323.135909 deg. 2025-01-08T21:59:10.435Z,1736373550.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639786 target range: 506.700012 and range: 506.70 m. 2025-01-08T21:59:10.652Z,1736373550.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:10.654Z,1736373550.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018564 2025-01-08T21:59:10.784Z,1736373550.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:10.813Z,1736373550.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.70 m. 2025-01-08T21:59:10.820Z,1736373550.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 506.700012 m, nav range: 69.297508 m, bearing: 93.489341 deg, approach rate: 0.436096 m/s, LOS rate: 0.326731 deg/s, cmd heading: 323.135922 deg, new cmd heading: 323.510828 deg. 2025-01-08T21:59:10.821Z,1736373550.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646329 target range: 506.700012 and range: 506.70 m. 2025-01-08T21:59:10.905Z,1736373550.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:10.918Z,1736373550.918 [DAT](INFO): DAT read: 21:59:09.0188 LVL= 15248, 28113, 19250, 31475, AGC= 65, IDX= 419, 0.32, 2.828, 1.263, 1.303, 1.856, PHS= 1.060,-0.546,-0.556, RAW= 89.7, 0.5, CAL= 97.2, -3.4, ROT= 52.8, 3.4 2025-01-08T21:59:10.937Z,1736373550.937 [DAT](INFO): got valid direction response: 21:59:09.0188 LVL= 15248, 28113, 19250, 31475, AGC= 65, IDX= 419, 0.32, 2.828, 1.263, 1.303, 1.856, PHS= 1.060,-0.546,-0.556, RAW= 89.7, 0.5, CAL= 97.2, -3.4, ROT= 52.8, 3.4 2025-01-08T21:59:10.938Z,1736373550.938 [DAT](INFO): DAT read: Bearing 52.8, 3.4 (Local) 2025-01-08T21:59:10.939Z,1736373550.939 [DAT](INFO): Local bearing/azimuth received: Bearing 52.8, 3.4 (Local) 2025-01-08T21:59:10.950Z,1736373550.950 [DAT](INFO): DAT read: Range 10 to 50 : 505.5 m (Round-trip 674.1 ms) speed 0.3 m/s 2025-01-08T21:59:10.972Z,1736373550.972 [DAT](INFO): DAT read: user:2198> 2025-01-08T21:59:10.974Z,1736373550.974 [DAT](INFO): DAT read: Tx time:21:59:10.1406 2025-01-08T21:59:10.992Z,1736373550.992 [DAT](INFO): Ping request sent. 2025-01-08T21:59:10.992Z,1736373550.992 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:10.992Z,1736373550.992 [DAT](INFO): DAT read: TxSync time:21:59:10.1398 2025-01-08T21:59:10.993Z,1736373550.993 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:11.002Z,1736373551.002 [DAT](INFO): direction in FSK: [-0.094660,0.113458,0.989023] 2025-01-08T21:59:11.016Z,1736373551.016 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:11.016Z,1736373551.016 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:11.040Z,1736373551.040 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:11.040Z,1736373551.040 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:11.156Z,1736373551.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:11.210Z,1736373551.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:11.251Z,1736373551.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 505.500000 m, deltaT: 4.284184 s, deltaX: -1.200012 m, approachRate: -0.280103 m/s, rangeRepo size: 4 2025-01-08T21:59:11.270Z,1736373551.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 505.500000 m, bearing: 166.342061 deg, lat: 36.899705 deg, lon: -122.119821 deg, deltaT: 4.284184 s, deltaX: -1.200012 m, approachRate: -0.280103 m/s, posRepo size: 4 2025-01-08T21:59:11.277Z,1736373551.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.50 m. 2025-01-08T21:59:11.302Z,1736373551.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.500000 m, nav range: 53.598618 m, bearing: 118.287002 deg, approach rate: 0.000000 m/s, LOS rate: 0.326731 deg/s, cmd heading: 323.510817 deg, new cmd heading: 323.935739 deg. 2025-01-08T21:59:11.310Z,1736373551.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653745 target range: 505.500000 and range: 505.50 m. 2025-01-08T21:59:11.408Z,1736373551.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:11.653Z,1736373551.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:11.660Z,1736373551.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:11.681Z,1736373551.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:11.683Z,1736373551.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.50 m. 2025-01-08T21:59:11.689Z,1736373551.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.500000 m, nav range: 53.881901 m, bearing: 118.371846 deg, approach rate: 0.650156 m/s, LOS rate: 0.193700 deg/s, cmd heading: 323.935737 deg, new cmd heading: 324.188930 deg. 2025-01-08T21:59:11.690Z,1736373551.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.658164 target range: 505.500000 and range: 505.50 m. 2025-01-08T21:59:11.912Z,1736373551.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:11.913Z,1736373551.913 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:11.913Z,1736373551.913 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:11.914Z,1736373551.914 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:12.025Z,1736373552.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:12.033Z,1736373552.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.50 m. 2025-01-08T21:59:12.037Z,1736373552.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.500000 m, nav range: 54.120186 m, bearing: 118.444562 deg, approach rate: 0.679006 m/s, LOS rate: 0.206296 deg/s, cmd heading: 324.188918 deg, new cmd heading: 324.406105 deg. 2025-01-08T21:59:12.038Z,1736373552.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661955 target range: 505.500000 and range: 505.50 m. 2025-01-08T21:59:12.164Z,1736373552.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:12.164Z,1736373552.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.189323 2025-01-08T21:59:12.416Z,1736373552.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:12.416Z,1736373552.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441421 2025-01-08T21:59:12.465Z,1736373552.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:12.476Z,1736373552.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.50 m. 2025-01-08T21:59:12.478Z,1736373552.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.500000 m, nav range: 54.423813 m, bearing: 118.518117 deg, approach rate: 0.686880 m/s, LOS rate: 0.165471 deg/s, cmd heading: 324.406118 deg, new cmd heading: 324.625550 deg. 2025-01-08T21:59:12.480Z,1736373552.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665785 target range: 505.500000 and range: 505.50 m. 2025-01-08T21:59:12.668Z,1736373552.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:12.669Z,1736373552.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693879 2025-01-08T21:59:12.834Z,1736373552.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:12.843Z,1736373552.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.50 m. 2025-01-08T21:59:12.846Z,1736373552.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.500000 m, nav range: 54.677773 m, bearing: 118.581527 deg, approach rate: 0.691438 m/s, LOS rate: 0.171840 deg/s, cmd heading: 324.625559 deg, new cmd heading: 324.814905 deg. 2025-01-08T21:59:12.847Z,1736373552.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669089 target range: 505.500000 and range: 505.50 m. 2025-01-08T21:59:12.920Z,1736373552.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:12.922Z,1736373552.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.946496 2025-01-08T21:59:13.172Z,1736373553.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:13.172Z,1736373553.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197399 2025-01-08T21:59:13.278Z,1736373553.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:13.302Z,1736373553.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.50 m. 2025-01-08T21:59:13.313Z,1736373553.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.500000 m, nav range: 54.982933 m, bearing: 118.656925 deg, approach rate: 0.668132 m/s, LOS rate: 0.164162 deg/s, cmd heading: 324.814892 deg, new cmd heading: 325.039827 deg. 2025-01-08T21:59:13.317Z,1736373553.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673015 target range: 505.500000 and range: 505.50 m. 2025-01-08T21:59:13.424Z,1736373553.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:13.425Z,1736373553.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449578 2025-01-08T21:59:13.676Z,1736373553.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:13.678Z,1736373553.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702152 2025-01-08T21:59:13.690Z,1736373553.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:13.697Z,1736373553.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:13.728Z,1736373553.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.50 m. 2025-01-08T21:59:13.730Z,1736373553.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.500000 m, nav range: 55.283821 m, bearing: 118.722636 deg, approach rate: 0.752768 m/s, LOS rate: 0.163503 deg/s, cmd heading: 325.039823 deg, new cmd heading: 325.235883 deg. 2025-01-08T21:59:13.737Z,1736373553.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676437 target range: 505.500000 and range: 505.50 m. 2025-01-08T21:59:13.928Z,1736373553.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:13.929Z,1736373553.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953669 2025-01-08T21:59:14.055Z,1736373554.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:14.063Z,1736373554.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.50 m. 2025-01-08T21:59:14.066Z,1736373554.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.500000 m, nav range: 55.548771 m, bearing: 118.784697 deg, approach rate: 0.728378 m/s, LOS rate: 0.169799 deg/s, cmd heading: 325.235877 deg, new cmd heading: 325.421172 deg. 2025-01-08T21:59:14.067Z,1736373554.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679671 target range: 505.500000 and range: 505.50 m. 2025-01-08T21:59:14.180Z,1736373554.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:14.181Z,1736373554.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205447 2025-01-08T21:59:14.432Z,1736373554.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:14.432Z,1736373554.432 [DAT](INFO): DAT read: Rx Time:21:59:13.2173 2025-01-08T21:59:14.433Z,1736373554.433 [DAT](INFO): Rx dataTimestamp_ set to:1736373554.432539 2025-01-08T21:59:14.433Z,1736373554.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458324 2025-01-08T21:59:14.501Z,1736373554.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:14.518Z,1736373554.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.50 m. 2025-01-08T21:59:14.528Z,1736373554.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.500000 m, nav range: 55.875973 m, bearing: 118.853475 deg, approach rate: 0.719867 m/s, LOS rate: 0.150431 deg/s, cmd heading: 325.421166 deg, new cmd heading: 325.626293 deg. 2025-01-08T21:59:14.529Z,1736373554.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683251 target range: 505.500000 and range: 505.50 m. 2025-01-08T21:59:14.684Z,1736373554.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:14.684Z,1736373554.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.709389 2025-01-08T21:59:14.857Z,1736373554.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:14.928Z,1736373554.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.50 m. 2025-01-08T21:59:14.936Z,1736373554.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:14.950Z,1736373554.950 [DAT](INFO): DAT read: 21:59:13.2174 LVL= 15888, 32753, 25522, 32755, AGC= 65, IDX= 420, 0.14,-0.777,-2.302,-2.153,-1.678, PHS= 0.989,-0.578,-0.478, RAW= 93.3, 0.9, CAL= 101.5, -2.6, ROT= 48.5, 2.6 2025-01-08T21:59:14.951Z,1736373554.951 [DAT](INFO): got valid direction response: 21:59:13.2174 LVL= 15888, 32753, 25522, 32755, AGC= 65, IDX= 420, 0.14,-0.777,-2.302,-2.153,-1.678, PHS= 0.989,-0.578,-0.478, RAW= 93.3, 0.9, CAL= 101.5, -2.6, ROT= 48.5, 2.6 2025-01-08T21:59:14.952Z,1736373554.952 [DAT](INFO): DAT read: Bearing 48.5, 2.6 (Local) 2025-01-08T21:59:14.952Z,1736373554.952 [DAT](INFO): Local bearing/azimuth received: Bearing 48.5, 2.6 (Local) 2025-01-08T21:59:14.954Z,1736373554.954 [DAT](INFO): DAT read: Range 10 to 50 : 504.4 m (Round-trip 672.6 ms) speed 0.2 m/s 2025-01-08T21:59:14.955Z,1736373554.955 [DAT](INFO): DAT read: user:2199> 2025-01-08T21:59:14.957Z,1736373554.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.500000 m, nav range: 56.137295 m, bearing: 118.908878 deg, approach rate: 0.652740 m/s, LOS rate: 0.137743 deg/s, cmd heading: 325.626291 deg, new cmd heading: 325.791725 deg. 2025-01-08T21:59:14.958Z,1736373554.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686138 target range: 505.500000 and range: 505.50 m. 2025-01-08T21:59:14.974Z,1736373554.974 [DAT](INFO): DAT read: Tx time:21:59:14.3407 2025-01-08T21:59:14.974Z,1736373554.974 [DAT](INFO): Ping request sent. 2025-01-08T21:59:14.975Z,1736373554.975 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:14.992Z,1736373554.992 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:14.992Z,1736373554.992 [DAT](INFO): direction in FSK: [-0.107288,0.051799,0.992878] 2025-01-08T21:59:14.993Z,1736373554.993 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:14.993Z,1736373554.993 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:15.001Z,1736373555.001 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:15.001Z,1736373555.001 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:15.189Z,1736373555.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:15.189Z,1736373555.189 [DAT](INFO): DAT read: TxSync time:21:59:14.3399 2025-01-08T21:59:15.278Z,1736373555.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:15.360Z,1736373555.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 504.399994 m, deltaT: 4.031045 s, deltaX: -1.100006 m, approachRate: -0.272884 m/s, rangeRepo size: 4 2025-01-08T21:59:15.382Z,1736373555.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 504.399994 m, bearing: 183.893889 deg, lat: 36.899587 deg, lon: -122.120149 deg, deltaT: 4.031045 s, deltaX: -1.100006 m, approachRate: -0.272884 m/s, posRepo size: 4 2025-01-08T21:59:15.387Z,1736373555.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.40 m. 2025-01-08T21:59:15.390Z,1736373555.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.399994 m, nav range: 45.261242 m, bearing: 153.396108 deg, approach rate: 0.000000 m/s, LOS rate: 0.137743 deg/s, cmd heading: 325.791718 deg, new cmd heading: 325.968208 deg. 2025-01-08T21:59:15.395Z,1736373555.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689219 target range: 504.399994 and range: 504.40 m. 2025-01-08T21:59:15.440Z,1736373555.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:15.692Z,1736373555.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:15.763Z,1736373555.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:15.771Z,1736373555.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:15.773Z,1736373555.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.40 m. 2025-01-08T21:59:15.776Z,1736373555.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.399994 m, nav range: 45.601646 m, bearing: 153.211616 deg, approach rate: 0.794992 m/s, LOS rate: -0.427651 deg/s, cmd heading: 325.968210 deg, new cmd heading: 325.418884 deg. 2025-01-08T21:59:15.777Z,1736373555.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679631 target range: 504.399994 and range: 504.40 m. 2025-01-08T21:59:15.945Z,1736373555.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:15.946Z,1736373555.946 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:15.946Z,1736373555.946 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:15.947Z,1736373555.947 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:16.108Z,1736373556.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:16.141Z,1736373556.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.40 m. 2025-01-08T21:59:16.147Z,1736373556.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.399994 m, nav range: 45.845295 m, bearing: 153.084043 deg, approach rate: 0.663193 m/s, LOS rate: -0.345400 deg/s, cmd heading: 325.418872 deg, new cmd heading: 325.038191 deg. 2025-01-08T21:59:16.148Z,1736373556.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672987 target range: 504.399994 and range: 504.40 m. 2025-01-08T21:59:16.197Z,1736373556.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:16.198Z,1736373556.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223053 2025-01-08T21:59:16.448Z,1736373556.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:16.449Z,1736373556.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474118 2025-01-08T21:59:16.547Z,1736373556.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:16.557Z,1736373556.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.40 m. 2025-01-08T21:59:16.560Z,1736373556.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.399994 m, nav range: 46.145866 m, bearing: 152.921589 deg, approach rate: 0.721201 m/s, LOS rate: -0.387257 deg/s, cmd heading: 325.038184 deg, new cmd heading: 324.554010 deg. 2025-01-08T21:59:16.561Z,1736373556.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664536 target range: 504.399994 and range: 504.40 m. 2025-01-08T21:59:16.700Z,1736373556.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:16.700Z,1736373556.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725999 2025-01-08T21:59:16.922Z,1736373556.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:16.947Z,1736373556.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.40 m. 2025-01-08T21:59:16.950Z,1736373556.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.399994 m, nav range: 46.403355 m, bearing: 152.785233 deg, approach rate: 0.661089 m/s, LOS rate: -0.348146 deg/s, cmd heading: 324.554006 deg, new cmd heading: 324.147213 deg. 2025-01-08T21:59:16.951Z,1736373556.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657436 target range: 504.399994 and range: 504.40 m. 2025-01-08T21:59:16.952Z,1736373556.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:16.953Z,1736373556.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978476 2025-01-08T21:59:17.204Z,1736373557.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:17.205Z,1736373557.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230500 2025-01-08T21:59:17.347Z,1736373557.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:17.414Z,1736373557.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.40 m. 2025-01-08T21:59:17.422Z,1736373557.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.399994 m, nav range: 46.695320 m, bearing: 152.633900 deg, approach rate: 0.624754 m/s, LOS rate: -0.321800 deg/s, cmd heading: 324.147200 deg, new cmd heading: 323.696049 deg. 2025-01-08T21:59:17.423Z,1736373557.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649562 target range: 504.399994 and range: 504.40 m. 2025-01-08T21:59:17.458Z,1736373557.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:17.459Z,1736373557.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484185 2025-01-08T21:59:17.712Z,1736373557.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:17.712Z,1736373557.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738074 2025-01-08T21:59:17.778Z,1736373557.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:17.784Z,1736373557.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:17.788Z,1736373557.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.40 m. 2025-01-08T21:59:17.790Z,1736373557.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.399994 m, nav range: 46.988861 m, bearing: 152.497749 deg, approach rate: 0.786823 m/s, LOS rate: -0.362666 deg/s, cmd heading: 323.696052 deg, new cmd heading: 323.290159 deg. 2025-01-08T21:59:17.791Z,1736373557.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.642478 target range: 504.399994 and range: 504.40 m. 2025-01-08T21:59:17.964Z,1736373557.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:17.964Z,1736373557.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990002 2025-01-08T21:59:18.135Z,1736373558.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:18.174Z,1736373558.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.40 m. 2025-01-08T21:59:18.185Z,1736373558.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.399994 m, nav range: 47.232166 m, bearing: 152.386956 deg, approach rate: 0.634890 m/s, LOS rate: -0.287617 deg/s, cmd heading: 323.290147 deg, new cmd heading: 322.959485 deg. 2025-01-08T21:59:18.186Z,1736373558.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636706 target range: 504.399994 and range: 504.40 m. 2025-01-08T21:59:18.216Z,1736373558.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:18.216Z,1736373558.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242027 2025-01-08T21:59:18.468Z,1736373558.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:18.468Z,1736373558.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493969 2025-01-08T21:59:18.563Z,1736373558.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:18.573Z,1736373558.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.40 m. 2025-01-08T21:59:18.576Z,1736373558.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.399994 m, nav range: 47.510357 m, bearing: 152.268494 deg, approach rate: 0.691085 m/s, LOS rate: -0.292561 deg/s, cmd heading: 322.959484 deg, new cmd heading: 322.606184 deg. 2025-01-08T21:59:18.577Z,1736373558.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630540 target range: 504.399994 and range: 504.40 m. 2025-01-08T21:59:18.720Z,1736373558.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:18.721Z,1736373558.721 [DAT](INFO): DAT read: Rx Time:21:59:17.4160 2025-01-08T21:59:18.722Z,1736373558.722 [DAT](INFO): Rx dataTimestamp_ set to:1736373558.721235 2025-01-08T21:59:18.722Z,1736373558.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747630 2025-01-08T21:59:18.948Z,1736373558.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:18.957Z,1736373558.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.40 m. 2025-01-08T21:59:18.960Z,1736373558.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 504.399994 m, nav range: 47.760891 m, bearing: 152.163184 deg, approach rate: 0.652682 m/s, LOS rate: -0.272910 deg/s, cmd heading: 322.606172 deg, new cmd heading: 322.291904 deg. 2025-01-08T21:59:18.961Z,1736373558.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625055 target range: 504.399994 and range: 504.40 m. 2025-01-08T21:59:18.972Z,1736373558.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:18.972Z,1736373558.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.998015 2025-01-08T21:59:19.224Z,1736373559.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:19.230Z,1736373559.230 [DAT](INFO): DAT read: 21:59:17.4160 LVL= 14656, 32753, 22498, 32755, AGC= 69, IDX= 421, 0.24, 2.787, 1.216, 1.465, 1.932, PHS= 0.943,-0.668,-0.470, RAW= 96.5, 2.6, CAL= 105.8, 0.4, ROT= 44.2, -0.4 2025-01-08T21:59:19.237Z,1736373559.237 [DAT](INFO): got valid direction response: 21:59:17.4160 LVL= 14656, 32753, 22498, 32755, AGC= 69, IDX= 421, 0.24, 2.787, 1.216, 1.465, 1.932, PHS= 0.943,-0.668,-0.470, RAW= 96.5, 2.6, CAL= 105.8, 0.4, ROT= 44.2, -0.4 2025-01-08T21:59:19.238Z,1736373559.238 [DAT](INFO): DAT read: Bearing 44.2, -0.4 (Local) 2025-01-08T21:59:19.238Z,1736373559.238 [DAT](INFO): Local bearing/azimuth received: Bearing 44.2, -0.4 (Local) 2025-01-08T21:59:19.240Z,1736373559.240 [DAT](INFO): DAT read: Range 10 to 50 : 503.3 m (Round-trip 671.1 ms) speed 0.3 m/s 2025-01-08T21:59:19.241Z,1736373559.241 [DAT](INFO): DAT read: user:2200> 2025-01-08T21:59:19.242Z,1736373559.242 [DAT](INFO): DAT read: Tx time:21:59:18.5407 2025-01-08T21:59:19.242Z,1736373559.242 [DAT](INFO): Ping request sent. 2025-01-08T21:59:19.242Z,1736373559.242 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:19.242Z,1736373559.242 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:19.243Z,1736373559.243 [DAT](INFO): direction in FSK: [-0.144498,-0.002518,0.989502] 2025-01-08T21:59:19.244Z,1736373559.244 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:19.244Z,1736373559.244 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:19.247Z,1736373559.247 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:19.247Z,1736373559.247 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:19.437Z,1736373559.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:19.476Z,1736373559.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:19.477Z,1736373559.477 [DAT](INFO): DAT read: TxSync time:21:59:18.5399 2025-01-08T21:59:19.478Z,1736373559.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 503.299988 m, deltaT: 4.287880 s, deltaX: -1.100006 m, approachRate: -0.256538 m/s, rangeRepo size: 4 2025-01-08T21:59:19.488Z,1736373559.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 503.299988 m, bearing: 183.146140 deg, lat: 36.899265 deg, lon: -122.120193 deg, deltaT: 4.287880 s, deltaX: -1.100006 m, approachRate: -0.256538 m/s, posRepo size: 4 2025-01-08T21:59:19.489Z,1736373559.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:59:19.498Z,1736373559.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 80.547020 m, bearing: 166.650582 deg, approach rate: 0.000000 m/s, LOS rate: -0.272910 deg/s, cmd heading: 322.291902 deg, new cmd heading: 321.871096 deg. 2025-01-08T21:59:19.499Z,1736373559.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617711 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:59:19.729Z,1736373559.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:19.857Z,1736373559.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:19.868Z,1736373559.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:19.871Z,1736373559.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:59:19.878Z,1736373559.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 80.788940 m, bearing: 166.551198 deg, approach rate: 0.604603 m/s, LOS rate: -0.247634 deg/s, cmd heading: 321.871107 deg, new cmd heading: 321.573852 deg. 2025-01-08T21:59:19.879Z,1736373559.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612523 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:59:19.980Z,1736373559.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:19.981Z,1736373559.981 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:19.981Z,1736373559.981 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:19.981Z,1736373559.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:20.174Z,1736373560.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:20.182Z,1736373560.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:59:20.185Z,1736373560.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 80.970810 m, bearing: 166.476344 deg, approach rate: 0.584882 m/s, LOS rate: -0.240188 deg/s, cmd heading: 321.573858 deg, new cmd heading: 321.349799 deg. 2025-01-08T21:59:20.187Z,1736373560.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608612 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:59:20.232Z,1736373560.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:20.233Z,1736373560.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990313 2025-01-08T21:59:20.485Z,1736373560.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:20.487Z,1736373560.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244492 2025-01-08T21:59:20.604Z,1736373560.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:20.614Z,1736373560.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:59:20.616Z,1736373560.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 81.210205 m, bearing: 166.390373 deg, approach rate: 0.554620 m/s, LOS rate: -0.198585 deg/s, cmd heading: 321.349800 deg, new cmd heading: 321.092651 deg. 2025-01-08T21:59:20.617Z,1736373560.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604124 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:59:20.736Z,1736373560.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:20.737Z,1736373560.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494853 2025-01-08T21:59:20.986Z,1736373560.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:20.988Z,1736373560.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:20.989Z,1736373560.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746298 2025-01-08T21:59:20.997Z,1736373560.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:59:21.000Z,1736373561.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 81.421852 m, bearing: 166.314324 deg, approach rate: 0.551404 m/s, LOS rate: -0.197616 deg/s, cmd heading: 321.092657 deg, new cmd heading: 320.865103 deg. 2025-01-08T21:59:21.001Z,1736373561.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600152 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:59:21.240Z,1736373561.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:21.240Z,1736373561.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998130 2025-01-08T21:59:21.405Z,1736373561.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:21.442Z,1736373561.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:59:21.474Z,1736373561.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 81.646957 m, bearing: 166.233380 deg, approach rate: 0.508176 m/s, LOS rate: -0.182227 deg/s, cmd heading: 320.865102 deg, new cmd heading: 320.622943 deg. 2025-01-08T21:59:21.479Z,1736373561.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595926 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:59:21.492Z,1736373561.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:21.492Z,1736373561.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250262 2025-01-08T21:59:21.744Z,1736373561.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:21.744Z,1736373561.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502198 2025-01-08T21:59:21.821Z,1736373561.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:21.830Z,1736373561.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:59:21.833Z,1736373561.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 81.886971 m, bearing: 166.156962 deg, approach rate: 0.615646 m/s, LOS rate: -0.195443 deg/s, cmd heading: 320.622931 deg, new cmd heading: 320.394348 deg. 2025-01-08T21:59:21.834Z,1736373561.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.591936 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:59:21.997Z,1736373561.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:21.998Z,1736373561.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755579 2025-01-08T21:59:22.197Z,1736373562.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:22.205Z,1736373562.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:22.207Z,1736373562.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:59:22.210Z,1736373562.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 82.096535 m, bearing: 166.090102 deg, approach rate: 0.556056 m/s, LOS rate: -0.176952 deg/s, cmd heading: 320.394338 deg, new cmd heading: 320.194273 deg. 2025-01-08T21:59:22.211Z,1736373562.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588444 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:59:22.250Z,1736373562.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:22.252Z,1736373562.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009103 2025-01-08T21:59:22.504Z,1736373562.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:22.505Z,1736373562.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262690 2025-01-08T21:59:22.615Z,1736373562.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:22.625Z,1736373562.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:59:22.644Z,1736373562.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 82.325981 m, bearing: 166.022121 deg, approach rate: 0.549013 m/s, LOS rate: -0.162211 deg/s, cmd heading: 320.194269 deg, new cmd heading: 319.990893 deg. 2025-01-08T21:59:22.646Z,1736373562.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584895 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:59:22.758Z,1736373562.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:22.759Z,1736373562.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516871 2025-01-08T21:59:22.998Z,1736373562.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:23.012Z,1736373563.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:23.013Z,1736373563.013 [DAT](INFO): DAT read: Rx Time:21:59:21.6360 2025-01-08T21:59:23.013Z,1736373563.013 [DAT](INFO): Rx dataTimestamp_ set to:1736373563.012680 2025-01-08T21:59:23.013Z,1736373563.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771236 2025-01-08T21:59:23.028Z,1736373563.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:59:23.035Z,1736373563.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 82.536522 m, bearing: 165.959513 deg, approach rate: 0.521841 m/s, LOS rate: -0.154782 deg/s, cmd heading: 319.990893 deg, new cmd heading: 319.803549 deg. 2025-01-08T21:59:23.036Z,1736373563.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581625 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:59:23.264Z,1736373563.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:23.266Z,1736373563.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023173 2025-01-08T21:59:23.407Z,1736373563.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:23.472Z,1736373563.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 503.30 m. 2025-01-08T21:59:23.507Z,1736373563.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 503.299988 m, nav range: 82.761154 m, bearing: 165.892345 deg, approach rate: 0.521256 m/s, LOS rate: -0.155439 deg/s, cmd heading: 319.803554 deg, new cmd heading: 319.602599 deg. 2025-01-08T21:59:23.508Z,1736373563.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578118 target range: 503.299988 and range: 503.30 m. 2025-01-08T21:59:23.516Z,1736373563.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:23.524Z,1736373563.524 [DAT](INFO): DAT read: 21:59:21.6360 LVL= 15712, 24673, 17650, 20147, AGC= 69, IDX= 130, 0.07,-1.500,-2.786,-2.793,-2.396, PHS= 0.984,-0.343,-0.400, RAW= 87.9, -3.6, CAL= 96.2, -10.3, ROT= 53.8, 10.3 2025-01-08T21:59:23.525Z,1736373563.525 [DAT](INFO): got valid direction response: 21:59:21.6360 LVL= 15712, 24673, 17650, 20147, AGC= 69, IDX= 130, 0.07,-1.500,-2.786,-2.793,-2.396, PHS= 0.984,-0.343,-0.400, RAW= 87.9, -3.6, CAL= 96.2, -10.3, ROT= 53.8, 10.3 2025-01-08T21:59:23.526Z,1736373563.526 [DAT](INFO): DAT read: Bearing 53.8, 10.3 (Local) 2025-01-08T21:59:23.526Z,1736373563.526 [DAT](INFO): Local bearing/azimuth received: Bearing 53.8, 10.3 (Local) 2025-01-08T21:59:23.529Z,1736373563.529 [DAT](INFO): DAT read: Range 10 to 50 : 518.4 m (Round-trip 691.2 ms) speed 0.4 m/s 2025-01-08T21:59:23.531Z,1736373563.531 [DAT](INFO): DAT read: user:2201> 2025-01-08T21:59:23.537Z,1736373563.537 [DAT](INFO): DAT read: Tx time:21:59:22.7407 2025-01-08T21:59:23.538Z,1736373563.538 [DAT](INFO): Ping request sent. 2025-01-08T21:59:23.538Z,1736373563.538 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:23.538Z,1736373563.538 [DAT](INFO): DAT read: TxSync time:21:59:22.7399 2025-01-08T21:59:23.547Z,1736373563.547 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:23.548Z,1736373563.548 [DAT](INFO): direction in FSK: [-0.013167,0.139673,0.990110] 2025-01-08T21:59:23.548Z,1736373563.548 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:23.549Z,1736373563.549 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:23.581Z,1736373563.581 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:23.581Z,1736373563.581 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:23.769Z,1736373563.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:23.884Z,1736373563.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:23.899Z,1736373563.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 518.400024 m, deltaT: 4.292289 s, deltaX: 15.100037 m, approachRate: 3.517945 m/s, rangeRepo size: 4 2025-01-08T21:59:23.901Z,1736373563.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 518.400024 m, bearing: 82.548158 deg, lat: 36.899265 deg, lon: -122.120193 deg, deltaT: 4.292289 s, deltaX: 15.100037 m, approachRate: 3.517945 m/s, posRepo size: 4 2025-01-08T21:59:23.902Z,1736373563.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.40 m. 2025-01-08T21:59:23.906Z,1736373563.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.400024 m, nav range: 83.018761 m, bearing: 165.812430 deg, approach rate: 0.000000 m/s, LOS rate: -0.155439 deg/s, cmd heading: 319.602610 deg, new cmd heading: 319.397980 deg. 2025-01-08T21:59:23.906Z,1736373563.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574546 target range: 518.400024 and range: 518.40 m. 2025-01-08T21:59:24.022Z,1736373564.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:24.272Z,1736373564.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:24.296Z,1736373564.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:24.303Z,1736373564.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:24.305Z,1736373564.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.40 m. 2025-01-08T21:59:24.308Z,1736373564.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.400024 m, nav range: 83.240845 m, bearing: 165.743972 deg, approach rate: 0.545370 m/s, LOS rate: -0.167663 deg/s, cmd heading: 319.397978 deg, new cmd heading: 319.193153 deg. 2025-01-08T21:59:24.309Z,1736373564.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570971 target range: 518.400024 and range: 518.40 m. 2025-01-08T21:59:24.524Z,1736373564.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:24.525Z,1736373564.525 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:24.525Z,1736373564.525 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:24.526Z,1736373564.526 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:24.689Z,1736373564.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:24.698Z,1736373564.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.40 m. 2025-01-08T21:59:24.701Z,1736373564.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.400024 m, nav range: 83.460014 m, bearing: 165.675669 deg, approach rate: 0.558215 m/s, LOS rate: -0.173507 deg/s, cmd heading: 319.193154 deg, new cmd heading: 318.988785 deg. 2025-01-08T21:59:24.702Z,1736373564.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.567405 target range: 518.400024 and range: 518.40 m. 2025-01-08T21:59:24.777Z,1736373564.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:24.778Z,1736373564.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240364 2025-01-08T21:59:25.028Z,1736373565.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:25.028Z,1736373565.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490483 2025-01-08T21:59:25.040Z,1736373565.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:25.048Z,1736373565.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.40 m. 2025-01-08T21:59:25.051Z,1736373565.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.400024 m, nav range: 83.652657 m, bearing: 165.612102 deg, approach rate: 0.550450 m/s, LOS rate: -0.181216 deg/s, cmd heading: 318.988795 deg, new cmd heading: 318.798534 deg. 2025-01-08T21:59:25.052Z,1736373565.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564084 target range: 518.400024 and range: 518.40 m. 2025-01-08T21:59:25.280Z,1736373565.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:25.280Z,1736373565.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742567 2025-01-08T21:59:25.456Z,1736373565.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:25.471Z,1736373565.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.40 m. 2025-01-08T21:59:25.519Z,1736373565.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.400024 m, nav range: 83.881050 m, bearing: 165.536107 deg, approach rate: 0.542807 m/s, LOS rate: -0.180120 deg/s, cmd heading: 318.798533 deg, new cmd heading: 318.571170 deg. 2025-01-08T21:59:25.528Z,1736373565.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560116 target range: 518.400024 and range: 518.40 m. 2025-01-08T21:59:25.533Z,1736373565.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:25.534Z,1736373565.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996024 2025-01-08T21:59:25.784Z,1736373565.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:25.785Z,1736373565.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246788 2025-01-08T21:59:25.892Z,1736373565.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:25.901Z,1736373565.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.40 m. 2025-01-08T21:59:25.905Z,1736373565.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.400024 m, nav range: 84.125557 m, bearing: 165.445249 deg, approach rate: 0.566005 m/s, LOS rate: -0.209714 deg/s, cmd heading: 318.571170 deg, new cmd heading: 318.299390 deg. 2025-01-08T21:59:25.906Z,1736373565.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555372 target range: 518.400024 and range: 518.40 m. 2025-01-08T21:59:26.037Z,1736373566.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:26.041Z,1736373566.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501139 2025-01-08T21:59:26.273Z,1736373566.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:26.288Z,1736373566.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:26.289Z,1736373566.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751056 2025-01-08T21:59:26.305Z,1736373566.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:26.315Z,1736373566.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.40 m. 2025-01-08T21:59:26.318Z,1736373566.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.400024 m, nav range: 84.338737 m, bearing: 165.365557 deg, approach rate: 0.524467 m/s, LOS rate: -0.195562 deg/s, cmd heading: 318.299383 deg, new cmd heading: 318.060913 deg. 2025-01-08T21:59:26.319Z,1736373566.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551210 target range: 518.400024 and range: 518.40 m. 2025-01-08T21:59:26.480Z,1736373566.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:59:26.542Z,1736373566.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:26.543Z,1736373566.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005040 2025-01-08T21:59:26.693Z,1736373566.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:26.702Z,1736373566.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.40 m. 2025-01-08T21:59:26.707Z,1736373566.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.400024 m, nav range: 84.576447 m, bearing: 165.265635 deg, approach rate: 0.602124 m/s, LOS rate: -0.252394 deg/s, cmd heading: 318.060900 deg, new cmd heading: 317.761980 deg. 2025-01-08T21:59:26.708Z,1736373566.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.545993 target range: 518.400024 and range: 518.40 m. 2025-01-08T21:59:26.792Z,1736373566.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:26.793Z,1736373566.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255547 2025-01-08T21:59:27.044Z,1736373567.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:27.045Z,1736373567.045 [DAT](INFO): DAT read: Rx Time:21:59:25.8118 2025-01-08T21:59:27.045Z,1736373567.045 [DAT](INFO): Rx dataTimestamp_ set to:1736373567.044724 2025-01-08T21:59:27.046Z,1736373567.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507649 2025-01-08T21:59:27.101Z,1736373567.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:27.109Z,1736373567.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.40 m. 2025-01-08T21:59:27.112Z,1736373567.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.400024 m, nav range: 84.807831 m, bearing: 165.169010 deg, approach rate: 0.567845 m/s, LOS rate: -0.236484 deg/s, cmd heading: 317.761984 deg, new cmd heading: 317.472900 deg. 2025-01-08T21:59:27.113Z,1736373567.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540947 target range: 518.400024 and range: 518.40 m. 2025-01-08T21:59:27.296Z,1736373567.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:27.296Z,1736373567.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758405 2025-01-08T21:59:27.498Z,1736373567.498 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:59:27.549Z,1736373567.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:27.571Z,1736373567.571 [DAT](INFO): DAT read: 21:59:25.8118 LVL= 15568, 29137, 17250, 29363, AGC= 67, IDX= 185, 0.34, 1.228,-0.554,-0.385, 0.200, PHS= 1.116,-0.707,-0.588, RAW= 93.4, 2.0, CAL= 101.7, -0.5, ROT= 48.3, 0.5 2025-01-08T21:59:27.584Z,1736373567.584 [DAT](INFO): got valid direction response: 21:59:25.8118 LVL= 15568, 29137, 17250, 29363, AGC= 67, IDX= 185, 0.34, 1.228,-0.554,-0.385, 0.200, PHS= 1.116,-0.707,-0.588, RAW= 93.4, 2.0, CAL= 101.7, -0.5, ROT= 48.3, 0.5 2025-01-08T21:59:27.585Z,1736373567.585 [DAT](INFO): DAT read: Bearing 48.3, 0.5 (Local) 2025-01-08T21:59:27.585Z,1736373567.585 [DAT](INFO): Local bearing/azimuth received: Bearing 48.3, 0.5 (Local) 2025-01-08T21:59:27.589Z,1736373567.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:27.600Z,1736373567.600 [DAT](INFO): DAT read: Range 10 to 50 : 500.1 m (Round-trip 666.8 ms) speed 0.3 m/s 2025-01-08T21:59:27.601Z,1736373567.601 [DAT](INFO): DAT read: user:2202> 2025-01-08T21:59:27.602Z,1736373567.602 [DAT](INFO): DAT read: Tx time:21:59:26.8908 2025-01-08T21:59:27.602Z,1736373567.602 [DAT](INFO): Ping request sent. 2025-01-08T21:59:27.602Z,1736373567.602 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:27.603Z,1736373567.603 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:27.612Z,1736373567.612 [DAT](INFO): direction in FSK: [-0.129429,0.051590,0.990246] 2025-01-08T21:59:27.612Z,1736373567.612 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:27.613Z,1736373567.613 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:27.628Z,1736373567.628 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:27.628Z,1736373567.628 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:27.652Z,1736373567.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 500.100006 m, deltaT: 4.033729 s, deltaX: -18.300018 m, approachRate: -4.536749 m/s, rangeRepo size: 4 2025-01-08T21:59:27.664Z,1736373567.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 500.100006 m, bearing: 156.039981 deg, lat: 36.899265 deg, lon: -122.120149 deg, deltaT: 4.033729 s, deltaX: -18.300018 m, approachRate: -4.536749 m/s, posRepo size: 4 2025-01-08T21:59:27.665Z,1736373567.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:59:27.689Z,1736373567.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 86.186546 m, bearing: 162.513944 deg, approach rate: 0.000000 m/s, LOS rate: -0.236484 deg/s, cmd heading: 317.472903 deg, new cmd heading: 317.092385 deg. 2025-01-08T21:59:27.690Z,1736373567.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534306 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:59:27.800Z,1736373567.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:27.801Z,1736373567.801 [DAT](INFO): DAT read: TxSync time:21:59:26.8900 2025-01-08T21:59:28.039Z,1736373568.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:28.052Z,1736373568.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:28.072Z,1736373568.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:59:28.075Z,1736373568.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 86.454308 m, bearing: 162.395534 deg, approach rate: 0.627952 m/s, LOS rate: -0.276836 deg/s, cmd heading: 317.092379 deg, new cmd heading: 316.738252 deg. 2025-01-08T21:59:28.080Z,1736373568.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528125 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:59:28.306Z,1736373568.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:28.393Z,1736373568.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:28.400Z,1736373568.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:28.401Z,1736373568.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:59:28.405Z,1736373568.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 86.665520 m, bearing: 162.302757 deg, approach rate: 0.641522 m/s, LOS rate: -0.281106 deg/s, cmd heading: 316.738248 deg, new cmd heading: 316.460599 deg. 2025-01-08T21:59:28.406Z,1736373568.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523279 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:59:28.558Z,1736373568.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:28.560Z,1736373568.560 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:28.560Z,1736373568.560 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:28.561Z,1736373568.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:28.808Z,1736373568.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:28.808Z,1736373568.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206534 2025-01-08T21:59:28.874Z,1736373568.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:28.895Z,1736373568.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:59:28.898Z,1736373568.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 86.949661 m, bearing: 162.171221 deg, approach rate: 0.580528 m/s, LOS rate: -0.267861 deg/s, cmd heading: 316.460587 deg, new cmd heading: 316.067275 deg. 2025-01-08T21:59:28.899Z,1736373568.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516415 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:59:29.060Z,1736373569.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:29.061Z,1736373569.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458914 2025-01-08T21:59:29.218Z,1736373569.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:29.242Z,1736373569.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:59:29.264Z,1736373569.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 87.152145 m, bearing: 162.077131 deg, approach rate: 0.576005 m/s, LOS rate: -0.267037 deg/s, cmd heading: 316.067277 deg, new cmd heading: 315.785663 deg. 2025-01-08T21:59:29.265Z,1736373569.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511499 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:59:29.312Z,1736373569.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:29.313Z,1736373569.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710592 2025-01-08T21:59:29.566Z,1736373569.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:29.568Z,1736373569.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965387 2025-01-08T21:59:29.730Z,1736373569.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:29.740Z,1736373569.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:59:29.742Z,1736373569.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 87.461655 m, bearing: 161.932487 deg, approach rate: 0.622818 m/s, LOS rate: -0.290032 deg/s, cmd heading: 315.785655 deg, new cmd heading: 315.353269 deg. 2025-01-08T21:59:29.760Z,1736373569.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503953 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:59:29.816Z,1736373569.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:29.817Z,1736373569.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215027 2025-01-08T21:59:30.072Z,1736373570.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:30.073Z,1736373570.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470701 2025-01-08T21:59:30.110Z,1736373570.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:30.134Z,1736373570.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:59:30.140Z,1736373570.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 87.690636 m, bearing: 161.824439 deg, approach rate: 0.590586 m/s, LOS rate: -0.277950 deg/s, cmd heading: 315.353276 deg, new cmd heading: 315.029981 deg. 2025-01-08T21:59:30.141Z,1736373570.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498311 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:59:30.324Z,1736373570.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:30.324Z,1736373570.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722466 2025-01-08T21:59:30.495Z,1736373570.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:30.502Z,1736373570.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:30.510Z,1736373570.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:59:30.553Z,1736373570.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 87.921722 m, bearing: 161.715272 deg, approach rate: 0.609297 m/s, LOS rate: -0.287078 deg/s, cmd heading: 315.029990 deg, new cmd heading: 314.703355 deg. 2025-01-08T21:59:30.562Z,1736373570.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492610 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:59:30.578Z,1736373570.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:30.581Z,1736373570.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978503 2025-01-08T21:59:30.828Z,1736373570.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:30.829Z,1736373570.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227383 2025-01-08T21:59:30.938Z,1736373570.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:30.948Z,1736373570.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:59:30.950Z,1736373570.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 88.184380 m, bearing: 161.589494 deg, approach rate: 0.595184 m/s, LOS rate: -0.284165 deg/s, cmd heading: 314.703343 deg, new cmd heading: 314.327139 deg. 2025-01-08T21:59:30.952Z,1736373570.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486043 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:59:31.081Z,1736373571.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:31.083Z,1736373571.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480731 2025-01-08T21:59:31.327Z,1736373571.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:31.332Z,1736373571.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:31.333Z,1736373571.333 [DAT](INFO): DAT read: Rx Time:21:59:29.9606 2025-01-08T21:59:31.333Z,1736373571.333 [DAT](INFO): Rx dataTimestamp_ set to:1736373571.332698 2025-01-08T21:59:31.333Z,1736373571.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731549 2025-01-08T21:59:31.350Z,1736373571.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:59:31.366Z,1736373571.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 88.414268 m, bearing: 161.479295 deg, approach rate: 0.570876 m/s, LOS rate: -0.272944 deg/s, cmd heading: 314.327136 deg, new cmd heading: 313.997400 deg. 2025-01-08T21:59:31.367Z,1736373571.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480289 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:59:31.586Z,1736373571.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:31.588Z,1736373571.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.985860 2025-01-08T21:59:31.744Z,1736373571.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:31.754Z,1736373571.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m. 2025-01-08T21:59:31.757Z,1736373571.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 500.100006 m, nav range: 88.658539 m, bearing: 161.361412 deg, approach rate: 0.605457 m/s, LOS rate: -0.291381 deg/s, cmd heading: 313.997402 deg, new cmd heading: 313.644735 deg. 2025-01-08T21:59:31.758Z,1736373571.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474133 target range: 500.100006 and range: 500.10 m. 2025-01-08T21:59:31.837Z,1736373571.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:31.844Z,1736373571.844 [DAT](INFO): DAT read: 21:59:29.9606 LVL= 15776, 32753, 27250, 32755, AGC= 62, IDX= 429,-0.20,-0.161,-1.910,-1.858,-1.269, PHS= 1.196,-0.594,-0.592, RAW= 90.1, -0.1, CAL= 97.7, -4.5, ROT= 52.3, 4.5 2025-01-08T21:59:31.845Z,1736373571.845 [DAT](INFO): got valid direction response: 21:59:29.9606 LVL= 15776, 32753, 27250, 32755, AGC= 62, IDX= 429,-0.20,-0.161,-1.910,-1.858,-1.269, PHS= 1.196,-0.594,-0.592, RAW= 90.1, -0.1, CAL= 97.7, -4.5, ROT= 52.3, 4.5 2025-01-08T21:59:31.846Z,1736373571.846 [DAT](INFO): DAT read: Bearing 52.3, 4.5 (Local) 2025-01-08T21:59:31.846Z,1736373571.846 [DAT](INFO): Local bearing/azimuth received: Bearing 52.3, 4.5 (Local) 2025-01-08T21:59:31.848Z,1736373571.848 [DAT](INFO): DAT read: Range 10 to 50 : 499.2 m (Round-trip 665.7 ms) speed 0.1 m/s 2025-01-08T21:59:31.849Z,1736373571.849 [DAT](INFO): DAT read: user:2203> 2025-01-08T21:59:31.850Z,1736373571.850 [DAT](INFO): DAT read: Tx time:21:59:31.0408 2025-01-08T21:59:31.850Z,1736373571.850 [DAT](INFO): Ping request sent. 2025-01-08T21:59:31.850Z,1736373571.850 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:31.851Z,1736373571.851 [DAT](INFO): DAT read: TxSync time:21:59:31.0400 2025-01-08T21:59:31.858Z,1736373571.858 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:31.859Z,1736373571.859 [DAT](INFO): direction in FSK: [-0.083047,0.106565,0.990832] 2025-01-08T21:59:31.860Z,1736373571.860 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:31.860Z,1736373571.860 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:31.863Z,1736373571.863 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:31.875Z,1736373571.875 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:32.088Z,1736373572.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:32.120Z,1736373572.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:32.134Z,1736373572.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 499.200012 m, deltaT: 4.286954 s, deltaX: -0.899994 m, approachRate: -0.209938 m/s, rangeRepo size: 4 2025-01-08T21:59:32.152Z,1736373572.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 499.200012 m, bearing: 132.713828 deg, lat: 36.899474 deg, lon: -122.120172 deg, deltaT: 4.286954 s, deltaX: -0.899994 m, approachRate: -0.209938 m/s, posRepo size: 4 2025-01-08T21:59:32.154Z,1736373572.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:59:32.161Z,1736373572.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 66.386902 m, bearing: 156.496271 deg, approach rate: 0.000000 m/s, LOS rate: -0.291381 deg/s, cmd heading: 313.644746 deg, new cmd heading: 313.313180 deg. 2025-01-08T21:59:32.162Z,1736373572.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468347 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:59:32.341Z,1736373572.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:32.516Z,1736373572.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:32.540Z,1736373572.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:32.542Z,1736373572.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:59:32.549Z,1736373572.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 66.631020 m, bearing: 156.363134 deg, approach rate: 0.597531 m/s, LOS rate: -0.324688 deg/s, cmd heading: 313.313181 deg, new cmd heading: 312.915239 deg. 2025-01-08T21:59:32.549Z,1736373572.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461401 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:59:32.593Z,1736373572.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:32.595Z,1736373572.595 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:32.595Z,1736373572.595 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:32.596Z,1736373572.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:32.844Z,1736373572.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:32.844Z,1736373572.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994444 2025-01-08T21:59:32.991Z,1736373572.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:33.031Z,1736373573.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:59:33.034Z,1736373573.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 66.918716 m, bearing: 156.217720 deg, approach rate: 0.617983 m/s, LOS rate: -0.311010 deg/s, cmd heading: 312.915227 deg, new cmd heading: 312.480870 deg. 2025-01-08T21:59:33.043Z,1736373573.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453820 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:59:33.096Z,1736373573.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:33.097Z,1736373573.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246708 2025-01-08T21:59:33.349Z,1736373573.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:33.351Z,1736373573.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500244 2025-01-08T21:59:33.367Z,1736373573.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:33.393Z,1736373573.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:59:33.400Z,1736373573.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 67.146408 m, bearing: 156.103372 deg, approach rate: 0.589562 m/s, LOS rate: -0.295076 deg/s, cmd heading: 312.480881 deg, new cmd heading: 312.139006 deg. 2025-01-08T21:59:33.401Z,1736373573.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447854 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:59:33.602Z,1736373573.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:33.606Z,1736373573.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755125 2025-01-08T21:59:33.783Z,1736373573.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:33.793Z,1736373573.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:59:33.796Z,1736373573.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 67.393486 m, bearing: 155.989076 deg, approach rate: 0.619137 m/s, LOS rate: -0.285358 deg/s, cmd heading: 312.139017 deg, new cmd heading: 311.797388 deg. 2025-01-08T21:59:33.797Z,1736373573.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441891 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:59:33.853Z,1736373573.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:33.854Z,1736373573.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003890 2025-01-08T21:59:34.104Z,1736373574.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:34.105Z,1736373574.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254572 2025-01-08T21:59:34.175Z,1736373574.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:34.183Z,1736373574.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:59:34.189Z,1736373574.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 67.626022 m, bearing: 155.881728 deg, approach rate: 0.595107 m/s, LOS rate: -0.273780 deg/s, cmd heading: 311.797398 deg, new cmd heading: 311.476465 deg. 2025-01-08T21:59:34.190Z,1736373574.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.436290 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:59:34.356Z,1736373574.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:34.357Z,1736373574.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506546 2025-01-08T21:59:34.581Z,1736373574.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:34.610Z,1736373574.610 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:34.612Z,1736373574.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761827 2025-01-08T21:59:34.653Z,1736373574.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:34.661Z,1736373574.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:59:34.670Z,1736373574.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 67.866577 m, bearing: 155.770429 deg, approach rate: 0.503979 m/s, LOS rate: -0.232353 deg/s, cmd heading: 311.476461 deg, new cmd heading: 311.143751 deg. 2025-01-08T21:59:34.676Z,1736373574.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.430483 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:59:34.860Z,1736373574.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:34.860Z,1736373574.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010330 2025-01-08T21:59:34.998Z,1736373574.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:35.008Z,1736373575.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:59:35.011Z,1736373575.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 68.110786 m, bearing: 155.661359 deg, approach rate: 0.702110 m/s, LOS rate: -0.312455 deg/s, cmd heading: 311.143749 deg, new cmd heading: 310.817717 deg. 2025-01-08T21:59:35.012Z,1736373575.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.424793 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:59:35.115Z,1736373575.115 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:35.115Z,1736373575.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265416 2025-01-08T21:59:35.368Z,1736373575.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:35.368Z,1736373575.368 [DAT](INFO): DAT read: Rx Time:21:59:34.1091 2025-01-08T21:59:35.369Z,1736373575.369 [DAT](INFO): Rx dataTimestamp_ set to:1736373575.368566 2025-01-08T21:59:35.369Z,1736373575.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519414 2025-01-08T21:59:35.446Z,1736373575.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:35.468Z,1736373575.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:59:35.477Z,1736373575.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 68.371971 m, bearing: 155.544006 deg, approach rate: 0.574328 m/s, LOS rate: -0.257066 deg/s, cmd heading: 310.817730 deg, new cmd heading: 310.467020 deg. 2025-01-08T21:59:35.478Z,1736373575.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.418672 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:59:35.626Z,1736373575.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:35.629Z,1736373575.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777920 2025-01-08T21:59:35.859Z,1736373575.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:35.874Z,1736373575.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.20 m. 2025-01-08T21:59:35.876Z,1736373575.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:35.882Z,1736373575.882 [DAT](INFO): DAT read: 21:59:34.1091 LVL= 13040, 27729, 17826, 27939, AGC= 68, IDX= 430, 0.40,-2.914, 1.582, 1.531, 2.172, PHS= 1.285,-0.543,-0.644, RAW= 87.3, -1.1, CAL= 94.8, -6.1, ROT= 55.2, 6.1 2025-01-08T21:59:35.884Z,1736373575.884 [DAT](INFO): got valid direction response: 21:59:34.1091 LVL= 13040, 27729, 17826, 27939, AGC= 68, IDX= 430, 0.40,-2.914, 1.582, 1.531, 2.172, PHS= 1.285,-0.543,-0.644, RAW= 87.3, -1.1, CAL= 94.8, -6.1, ROT= 55.2, 6.1 2025-01-08T21:59:35.885Z,1736373575.885 [DAT](INFO): DAT read: Bearing 55.2, 6.1 (Local) 2025-01-08T21:59:35.885Z,1736373575.885 [DAT](INFO): Local bearing/azimuth received: Bearing 55.2, 6.1 (Local) 2025-01-08T21:59:35.888Z,1736373575.888 [DAT](INFO): DAT read: Range 10 to 50 : 498.1 m (Round-trip 664.2 ms) speed 0.3 m/s 2025-01-08T21:59:35.889Z,1736373575.889 [DAT](INFO): DAT read: user:2204> 2025-01-08T21:59:35.889Z,1736373575.889 [DAT](INFO): DAT read: Tx time:21:59:35.1908 2025-01-08T21:59:35.890Z,1736373575.890 [DAT](INFO): Ping request sent. 2025-01-08T21:59:35.890Z,1736373575.890 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:35.890Z,1736373575.890 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:35.891Z,1736373575.891 [DAT](INFO): direction in FSK: [-0.060666,0.152355,0.986462] 2025-01-08T21:59:35.891Z,1736373575.891 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:35.892Z,1736373575.892 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:35.894Z,1736373575.894 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:35.895Z,1736373575.895 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:35.909Z,1736373575.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 499.200012 m, nav range: 68.608681 m, bearing: 155.447323 deg, approach rate: 0.576290 m/s, LOS rate: -0.234571 deg/s, cmd heading: 310.467014 deg, new cmd heading: 310.177968 deg. 2025-01-08T21:59:35.910Z,1736373575.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.413627 target range: 499.200012 and range: 499.20 m. 2025-01-08T21:59:36.129Z,1736373576.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:36.130Z,1736373576.130 [DAT](INFO): DAT read: TxSync time:21:59:35.1900 2025-01-08T21:59:36.214Z,1736373576.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:36.253Z,1736373576.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 498.100006 m, deltaT: 4.039272 s, deltaX: -1.100006 m, approachRate: -0.272328 m/s, rangeRepo size: 4 2025-01-08T21:59:36.261Z,1736373576.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 498.100006 m, bearing: 84.300295 deg, lat: 36.899804 deg, lon: -122.120145 deg, deltaT: 4.039272 s, deltaX: -1.100006 m, approachRate: -0.272328 m/s, posRepo size: 4 2025-01-08T21:59:36.262Z,1736373576.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.10 m. 2025-01-08T21:59:36.268Z,1736373576.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.100006 m, nav range: 40.420048 m, bearing: 129.796328 deg, approach rate: 0.000000 m/s, LOS rate: -0.234571 deg/s, cmd heading: 310.177960 deg, new cmd heading: 309.911439 deg. 2025-01-08T21:59:36.269Z,1736373576.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408975 target range: 498.100006 and range: 498.10 m. 2025-01-08T21:59:36.380Z,1736373576.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:36.604Z,1736373576.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:36.612Z,1736373576.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.10 m. 2025-01-08T21:59:36.628Z,1736373576.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.100006 m, nav range: 40.668266 m, bearing: 129.789731 deg, approach rate: 0.690772 m/s, LOS rate: -0.018245 deg/s, cmd heading: 309.911446 deg, new cmd heading: 309.891778 deg. 2025-01-08T21:59:36.634Z,1736373576.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:36.659Z,1736373576.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408632 target range: 498.100006 and range: 498.10 m. 2025-01-08T21:59:36.884Z,1736373576.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:37.035Z,1736373577.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:37.042Z,1736373577.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:37.046Z,1736373577.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.10 m. 2025-01-08T21:59:37.053Z,1736373577.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.100006 m, nav range: 40.948219 m, bearing: 129.788499 deg, approach rate: 0.646997 m/s, LOS rate: -0.002829 deg/s, cmd heading: 309.891775 deg, new cmd heading: 309.888103 deg. 2025-01-08T21:59:37.054Z,1736373577.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408568 target range: 498.100006 and range: 498.10 m. 2025-01-08T21:59:37.137Z,1736373577.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:37.137Z,1736373577.137 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:37.138Z,1736373577.138 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:37.138Z,1736373577.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:37.389Z,1736373577.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:37.389Z,1736373577.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499536 2025-01-08T21:59:37.405Z,1736373577.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:37.440Z,1736373577.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.10 m. 2025-01-08T21:59:37.449Z,1736373577.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.100006 m, nav range: 41.188236 m, bearing: 129.783033 deg, approach rate: 0.608618 m/s, LOS rate: -0.013780 deg/s, cmd heading: 309.888114 deg, new cmd heading: 309.871812 deg. 2025-01-08T21:59:37.450Z,1736373577.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408283 target range: 498.100006 and range: 498.10 m. 2025-01-08T21:59:37.640Z,1736373577.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:37.640Z,1736373577.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750788 2025-01-08T21:59:37.824Z,1736373577.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:37.832Z,1736373577.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.10 m. 2025-01-08T21:59:37.840Z,1736373577.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.100006 m, nav range: 41.462784 m, bearing: 129.775885 deg, approach rate: 0.697865 m/s, LOS rate: -0.018049 deg/s, cmd heading: 309.871804 deg, new cmd heading: 309.850501 deg. 2025-01-08T21:59:37.841Z,1736373577.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.407911 target range: 498.100006 and range: 498.10 m. 2025-01-08T21:59:37.892Z,1736373577.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:37.893Z,1736373577.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002947 2025-01-08T21:59:38.144Z,1736373578.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:38.144Z,1736373578.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254675 2025-01-08T21:59:38.216Z,1736373578.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:38.225Z,1736373578.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.10 m. 2025-01-08T21:59:38.228Z,1736373578.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.100006 m, nav range: 41.719910 m, bearing: 129.769276 deg, approach rate: 0.654824 m/s, LOS rate: -0.016728 deg/s, cmd heading: 309.850494 deg, new cmd heading: 309.830788 deg. 2025-01-08T21:59:38.234Z,1736373578.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.407568 target range: 498.100006 and range: 498.10 m. 2025-01-08T21:59:38.396Z,1736373578.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:38.398Z,1736373578.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508056 2025-01-08T21:59:38.608Z,1736373578.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:38.616Z,1736373578.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.10 m. 2025-01-08T21:59:38.618Z,1736373578.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.100006 m, nav range: 41.976292 m, bearing: 129.759159 deg, approach rate: 0.656042 m/s, LOS rate: -0.025730 deg/s, cmd heading: 309.830795 deg, new cmd heading: 309.800629 deg. 2025-01-08T21:59:38.636Z,1736373578.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.407041 target range: 498.100006 and range: 498.10 m. 2025-01-08T21:59:38.650Z,1736373578.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:38.653Z,1736373578.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762585 2025-01-08T21:59:38.900Z,1736373578.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:38.900Z,1736373578.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010815 2025-01-08T21:59:39.056Z,1736373579.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:39.063Z,1736373579.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:39.065Z,1736373579.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.10 m. 2025-01-08T21:59:39.069Z,1736373579.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.100006 m, nav range: 42.271038 m, bearing: 129.742479 deg, approach rate: 0.655964 m/s, LOS rate: -0.036862 deg/s, cmd heading: 309.800633 deg, new cmd heading: 309.750943 deg. 2025-01-08T21:59:39.070Z,1736373579.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.406174 target range: 498.100006 and range: 498.10 m. 2025-01-08T21:59:39.152Z,1736373579.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:39.154Z,1736373579.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263936 2025-01-08T21:59:39.404Z,1736373579.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:39.404Z,1736373579.404 [DAT](INFO): DAT read: Rx Time:21:59:38.2576 2025-01-08T21:59:39.405Z,1736373579.405 [DAT](INFO): Rx dataTimestamp_ set to:1736373579.404480 2025-01-08T21:59:39.405Z,1736373579.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515633 2025-01-08T21:59:39.464Z,1736373579.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:39.480Z,1736373579.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.10 m. 2025-01-08T21:59:39.483Z,1736373579.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.100006 m, nav range: 42.539074 m, bearing: 129.727511 deg, approach rate: 0.645859 m/s, LOS rate: -0.035838 deg/s, cmd heading: 309.750937 deg, new cmd heading: 309.706317 deg. 2025-01-08T21:59:39.488Z,1736373579.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405395 target range: 498.100006 and range: 498.10 m. 2025-01-08T21:59:39.658Z,1736373579.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:39.660Z,1736373579.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770604 2025-01-08T21:59:39.891Z,1736373579.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:39.900Z,1736373579.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.10 m. 2025-01-08T21:59:39.909Z,1736373579.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:39.912Z,1736373579.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021480 2025-01-08T21:59:39.926Z,1736373579.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 498.100006 m, nav range: 42.824467 m, bearing: 129.709960 deg, approach rate: 0.681127 m/s, LOS rate: -0.041610 deg/s, cmd heading: 309.706322 deg, new cmd heading: 309.654018 deg. 2025-01-08T21:59:39.953Z,1736373579.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.404482 target range: 498.100006 and range: 498.10 m. 2025-01-08T21:59:40.162Z,1736373580.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:40.172Z,1736373580.172 [DAT](INFO): DAT read: 21:59:38.2576 LVL= 13792, 25073, 18402, 28275, AGC= 64, IDX= 429, 0.44, 0.551,-0.941,-1.147,-0.395, PHS= 1.034,-0.499,-0.756, RAW= 82.4, 2.7, CAL= 87.5, -0.3, ROT= 62.5, 0.3 2025-01-08T21:59:40.174Z,1736373580.174 [DAT](INFO): got valid direction response: 21:59:38.2576 LVL= 13792, 25073, 18402, 28275, AGC= 64, IDX= 429, 0.44, 0.551,-0.941,-1.147,-0.395, PHS= 1.034,-0.499,-0.756, RAW= 82.4, 2.7, CAL= 87.5, -0.3, ROT= 62.5, 0.3 2025-01-08T21:59:40.180Z,1736373580.180 [DAT](INFO): DAT read: Bearing 62.5, 0.3 (Local) 2025-01-08T21:59:40.180Z,1736373580.180 [DAT](INFO): Local bearing/azimuth received: Bearing 62.5, 0.3 (Local) 2025-01-08T21:59:40.182Z,1736373580.182 [DAT](INFO): DAT read: Range 10 to 50 : 496.8 m (Round-trip 662.5 ms) speed 0.0 m/s 2025-01-08T21:59:40.183Z,1736373580.183 [DAT](INFO): DAT read: user:2205> 2025-01-08T21:59:40.188Z,1736373580.188 [DAT](INFO): DAT read: Tx time:21:59:39.3409 2025-01-08T21:59:40.189Z,1736373580.189 [DAT](INFO): Ping request sent. 2025-01-08T21:59:40.189Z,1736373580.189 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:40.190Z,1736373580.190 [DAT](INFO): DAT read: TxSync time:21:59:39.3401 2025-01-08T21:59:40.190Z,1736373580.190 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:40.206Z,1736373580.206 [DAT](INFO): direction in FSK: [-0.122492,0.239234,0.963204] 2025-01-08T21:59:40.235Z,1736373580.235 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:40.236Z,1736373580.236 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:40.250Z,1736373580.250 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:40.251Z,1736373580.251 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:40.270Z,1736373580.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:40.313Z,1736373580.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.799988 m, deltaT: 4.286361 s, deltaX: -1.300018 m, approachRate: -0.303292 m/s, rangeRepo size: 4 2025-01-08T21:59:40.318Z,1736373580.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.799988 m, bearing: 77.826030 deg, lat: 36.899804 deg, lon: -122.120145 deg, deltaT: 4.286361 s, deltaX: -1.300018 m, approachRate: -0.303292 m/s, posRepo size: 4 2025-01-08T21:59:40.319Z,1736373580.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:59:40.342Z,1736373580.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 43.077881 m, bearing: 129.685981 deg, approach rate: 0.000000 m/s, LOS rate: -0.041610 deg/s, cmd heading: 309.654030 deg, new cmd heading: 309.602409 deg. 2025-01-08T21:59:40.343Z,1736373580.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.403582 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:59:40.413Z,1736373580.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:40.658Z,1736373580.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:40.664Z,1736373580.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:40.727Z,1736373580.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:59:40.748Z,1736373580.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 43.335876 m, bearing: 129.659778 deg, approach rate: 0.625926 m/s, LOS rate: -0.063193 deg/s, cmd heading: 309.602421 deg, new cmd heading: 309.524280 deg. 2025-01-08T21:59:40.749Z,1736373580.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402218 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:59:40.916Z,1736373580.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:41.073Z,1736373581.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:41.080Z,1736373581.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:41.082Z,1736373581.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:59:41.085Z,1736373581.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 43.618011 m, bearing: 129.619718 deg, approach rate: 0.790133 m/s, LOS rate: -0.111463 deg/s, cmd heading: 309.524284 deg, new cmd heading: 309.404882 deg. 2025-01-08T21:59:41.087Z,1736373581.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400134 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:59:41.168Z,1736373581.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:41.169Z,1736373581.169 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:41.170Z,1736373581.170 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:41.170Z,1736373581.170 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:41.420Z,1736373581.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:41.420Z,1736373581.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231094 2025-01-08T21:59:41.474Z,1736373581.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:41.491Z,1736373581.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:59:41.495Z,1736373581.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 43.890396 m, bearing: 129.581534 deg, approach rate: 0.667999 m/s, LOS rate: -0.093061 deg/s, cmd heading: 309.404892 deg, new cmd heading: 309.291052 deg. 2025-01-08T21:59:41.516Z,1736373581.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398147 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:59:41.672Z,1736373581.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:41.673Z,1736373581.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483535 2025-01-08T21:59:41.899Z,1736373581.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:41.909Z,1736373581.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:59:41.911Z,1736373581.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 44.177464 m, bearing: 129.534790 deg, approach rate: 0.685544 m/s, LOS rate: -0.110906 deg/s, cmd heading: 309.291046 deg, new cmd heading: 309.151723 deg. 2025-01-08T21:59:41.912Z,1736373581.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395715 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:59:41.924Z,1736373581.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:41.925Z,1736373581.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735194 2025-01-08T21:59:42.176Z,1736373582.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:42.180Z,1736373582.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989498 2025-01-08T21:59:42.261Z,1736373582.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:42.285Z,1736373582.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:59:42.293Z,1736373582.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 44.422699 m, bearing: 129.495303 deg, approach rate: 0.650832 m/s, LOS rate: -0.104215 deg/s, cmd heading: 309.151711 deg, new cmd heading: 309.033905 deg. 2025-01-08T21:59:42.294Z,1736373582.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.393659 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:59:42.428Z,1736373582.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:42.429Z,1736373582.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239772 2025-01-08T21:59:42.677Z,1736373582.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:42.680Z,1736373582.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:42.681Z,1736373582.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491559 2025-01-08T21:59:42.693Z,1736373582.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:59:42.696Z,1736373582.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 44.704639 m, bearing: 129.450126 deg, approach rate: 0.691388 m/s, LOS rate: -0.110086 deg/s, cmd heading: 309.033903 deg, new cmd heading: 308.899228 deg. 2025-01-08T21:59:42.697Z,1736373582.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.391309 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:59:42.932Z,1736373582.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:42.932Z,1736373582.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743099 2025-01-08T21:59:43.093Z,1736373583.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:43.100Z,1736373583.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:43.103Z,1736373583.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:59:43.106Z,1736373583.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 44.990574 m, bearing: 129.397359 deg, approach rate: 0.698993 m/s, LOS rate: -0.128175 deg/s, cmd heading: 308.899239 deg, new cmd heading: 308.741944 deg. 2025-01-08T21:59:43.108Z,1736373583.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.388564 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:59:43.184Z,1736373583.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:43.184Z,1736373583.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995149 2025-01-08T21:59:43.436Z,1736373583.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:43.436Z,1736373583.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247046 2025-01-08T21:59:43.493Z,1736373583.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:43.509Z,1736373583.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:59:43.518Z,1736373583.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 45.265244 m, bearing: 129.346844 deg, approach rate: 0.674640 m/s, LOS rate: -0.123322 deg/s, cmd heading: 308.741954 deg, new cmd heading: 308.591328 deg. 2025-01-08T21:59:43.525Z,1736373583.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.385935 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:59:43.690Z,1736373583.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:43.691Z,1736373583.691 [DAT](INFO): DAT read: Rx Time:21:59:42.4066 2025-01-08T21:59:43.692Z,1736373583.692 [DAT](INFO): Rx dataTimestamp_ set to:1736373583.691512 2025-01-08T21:59:43.692Z,1736373583.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503019 2025-01-08T21:59:43.914Z,1736373583.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:43.923Z,1736373583.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.80 m. 2025-01-08T21:59:43.926Z,1736373583.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.799988 m, nav range: 45.546516 m, bearing: 129.289658 deg, approach rate: 0.680091 m/s, LOS rate: -0.137416 deg/s, cmd heading: 308.591334 deg, new cmd heading: 308.420837 deg. 2025-01-08T21:59:43.927Z,1736373583.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382959 target range: 496.799988 and range: 496.80 m. 2025-01-08T21:59:43.945Z,1736373583.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:43.945Z,1736373583.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756036 2025-01-08T21:59:44.196Z,1736373584.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:44.202Z,1736373584.202 [DAT](INFO): DAT read: 21:59:42.4066 LVL= 12672, 20609, 14546, 21123, AGC= 68, IDX= 435, 0.13, 0.982,-0.459,-0.892, 0.018, PHS= 1.052,-0.430,-0.913, RAW= 76.3, 3.3, CAL= 80.2, 0.8, ROT= 69.8, -0.8 2025-01-08T21:59:44.209Z,1736373584.209 [DAT](INFO): got valid direction response: 21:59:42.4066 LVL= 12672, 20609, 14546, 21123, AGC= 68, IDX= 435, 0.13, 0.982,-0.459,-0.892, 0.018, PHS= 1.052,-0.430,-0.913, RAW= 76.3, 3.3, CAL= 80.2, 0.8, ROT= 69.8, -0.8 2025-01-08T21:59:44.210Z,1736373584.210 [DAT](INFO): DAT read: Bearing 69.8, -0.8 (Local) 2025-01-08T21:59:44.210Z,1736373584.210 [DAT](INFO): Local bearing/azimuth received: Bearing 69.8, -0.8 (Local) 2025-01-08T21:59:44.212Z,1736373584.212 [DAT](INFO): DAT read: Range 10 to 50 : 496.2 m (Round-trip 661.6 ms) speed -0.1 m/s 2025-01-08T21:59:44.213Z,1736373584.213 [DAT](INFO): DAT read: user:2206> 2025-01-08T21:59:44.213Z,1736373584.213 [DAT](INFO): DAT read: Tx time:21:59:43.4909 2025-01-08T21:59:44.214Z,1736373584.214 [DAT](INFO): Ping request sent. 2025-01-08T21:59:44.214Z,1736373584.214 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:44.214Z,1736373584.214 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:44.215Z,1736373584.215 [DAT](INFO): direction in FSK: [-0.123508,0.337370,0.933235] 2025-01-08T21:59:44.244Z,1736373584.244 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:44.244Z,1736373584.244 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:44.247Z,1736373584.247 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:44.264Z,1736373584.264 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:44.345Z,1736373584.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:44.376Z,1736373584.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 496.200012 m, deltaT: 4.033274 s, deltaX: -0.599976 m, approachRate: -0.148756 m/s, rangeRepo size: 4 2025-01-08T21:59:44.378Z,1736373584.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 496.200012 m, bearing: 66.552590 deg, lat: 36.900070 deg, lon: -122.120069 deg, deltaT: 4.033274 s, deltaX: -0.599976 m, approachRate: -0.148756 m/s, posRepo size: 4 2025-01-08T21:59:44.379Z,1736373584.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:59:44.394Z,1736373584.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 42.294453 m, bearing: 89.104769 deg, approach rate: 0.000000 m/s, LOS rate: -0.137416 deg/s, cmd heading: 308.420826 deg, new cmd heading: 308.236221 deg. 2025-01-08T21:59:44.399Z,1736373584.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.379737 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:59:44.448Z,1736373584.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:44.449Z,1736373584.449 [DAT](INFO): DAT read: TxSync time:21:59:43.4901 2025-01-08T21:59:44.700Z,1736373584.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:44.880Z,1736373584.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:44.910Z,1736373584.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:59:44.913Z,1736373584.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 42.619518 m, bearing: 89.350214 deg, approach rate: 0.603305 m/s, LOS rate: 0.452058 deg/s, cmd heading: 308.236219 deg, new cmd heading: 308.966897 deg. 2025-01-08T21:59:44.914Z,1736373584.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.392489 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:59:44.952Z,1736373584.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:45.204Z,1736373585.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:45.270Z,1736373585.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:45.277Z,1736373585.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:45.279Z,1736373585.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:59:45.281Z,1736373585.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 42.856457 m, bearing: 89.525239 deg, approach rate: 0.641711 m/s, LOS rate: 0.471407 deg/s, cmd heading: 308.966886 deg, new cmd heading: 309.489043 deg. 2025-01-08T21:59:45.282Z,1736373585.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.401603 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:59:45.457Z,1736373585.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:45.458Z,1736373585.458 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:45.458Z,1736373585.458 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:45.459Z,1736373585.459 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:45.672Z,1736373585.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:45.683Z,1736373585.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:59:45.687Z,1736373585.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 43.102535 m, bearing: 89.702581 deg, approach rate: 0.608655 m/s, LOS rate: 0.436136 deg/s, cmd heading: 309.489040 deg, new cmd heading: 310.018012 deg. 2025-01-08T21:59:45.688Z,1736373585.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410835 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:59:45.708Z,1736373585.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:45.708Z,1736373585.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494501 2025-01-08T21:59:45.960Z,1736373585.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:45.961Z,1736373585.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746841 2025-01-08T21:59:46.087Z,1736373586.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:46.096Z,1736373586.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:59:46.098Z,1736373586.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 43.362144 m, bearing: 89.889586 deg, approach rate: 0.629548 m/s, LOS rate: 0.450768 deg/s, cmd heading: 310.018024 deg, new cmd heading: 310.575662 deg. 2025-01-08T21:59:46.120Z,1736373586.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.420568 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:59:46.213Z,1736373586.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:46.214Z,1736373586.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000037 2025-01-08T21:59:46.465Z,1736373586.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:46.465Z,1736373586.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251517 2025-01-08T21:59:46.499Z,1736373586.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:46.512Z,1736373586.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:59:46.515Z,1736373586.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 43.620026 m, bearing: 90.072049 deg, approach rate: 0.618595 m/s, LOS rate: 0.435095 deg/s, cmd heading: 310.575668 deg, new cmd heading: 311.119802 deg. 2025-01-08T21:59:46.517Z,1736373586.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.430065 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:59:46.716Z,1736373586.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:46.716Z,1736373586.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502604 2025-01-08T21:59:46.891Z,1736373586.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:46.927Z,1736373586.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:59:46.933Z,1736373586.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 43.872440 m, bearing: 90.252382 deg, approach rate: 0.609322 m/s, LOS rate: 0.432815 deg/s, cmd heading: 311.119789 deg, new cmd heading: 311.657660 deg. 2025-01-08T21:59:46.934Z,1736373586.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.439452 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:59:46.968Z,1736373586.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:46.968Z,1736373586.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754712 2025-01-08T21:59:47.220Z,1736373587.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:47.221Z,1736373587.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007331 2025-01-08T21:59:47.287Z,1736373587.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:47.294Z,1736373587.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:47.296Z,1736373587.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:59:47.299Z,1736373587.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 44.127892 m, bearing: 90.432177 deg, approach rate: 0.690603 m/s, LOS rate: 0.483254 deg/s, cmd heading: 311.657652 deg, new cmd heading: 312.193898 deg. 2025-01-08T21:59:47.300Z,1736373587.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448812 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:59:47.473Z,1736373587.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:47.476Z,1736373587.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260896 2025-01-08T21:59:47.698Z,1736373587.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:47.712Z,1736373587.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:59:47.715Z,1736373587.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 44.394367 m, bearing: 90.617657 deg, approach rate: 0.640708 m/s, LOS rate: 0.443286 deg/s, cmd heading: 312.193904 deg, new cmd heading: 312.746986 deg. 2025-01-08T21:59:47.716Z,1736373587.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458465 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:59:47.724Z,1736373587.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:47.725Z,1736373587.725 [DAT](INFO): DAT read: Rx Time:21:59:46.5561 2025-01-08T21:59:47.725Z,1736373587.725 [DAT](INFO): Rx dataTimestamp_ set to:1736373587.724758 2025-01-08T21:59:47.726Z,1736373587.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511814 2025-01-08T21:59:47.976Z,1736373587.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:47.976Z,1736373587.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762622 2025-01-08T21:59:48.118Z,1736373588.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:48.149Z,1736373588.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 496.20 m. 2025-01-08T21:59:48.155Z,1736373588.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 496.200012 m, nav range: 44.670975 m, bearing: 90.814569 deg, approach rate: 0.634050 m/s, LOS rate: 0.448575 deg/s, cmd heading: 312.746985 deg, new cmd heading: 313.334044 deg. 2025-01-08T21:59:48.156Z,1736373588.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468711 target range: 496.200012 and range: 496.20 m. 2025-01-08T21:59:48.229Z,1736373588.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:48.232Z,1736373588.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017989 2025-01-08T21:59:48.480Z,1736373588.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:48.488Z,1736373588.488 [DAT](INFO): DAT read: 21:59:46.5561 LVL= 14624, 28145, 17266, 28723, AGC= 67, IDX= 416,-0.37,-0.559,-1.651,-2.012,-1.252, PHS= 0.781,-0.351,-0.762, RAW= 75.1, 4.9, CAL= 78.6, 4.2, ROT= 71.4, -4.2 2025-01-08T21:59:48.491Z,1736373588.491 [DAT](INFO): got valid direction response: 21:59:46.5561 LVL= 14624, 28145, 17266, 28723, AGC= 67, IDX= 416,-0.37,-0.559,-1.651,-2.012,-1.252, PHS= 0.781,-0.351,-0.762, RAW= 75.1, 4.9, CAL= 78.6, 4.2, ROT= 71.4, -4.2 2025-01-08T21:59:48.495Z,1736373588.495 [DAT](INFO): DAT read: Bearing 71.4, -4.2 (Local) 2025-01-08T21:59:48.497Z,1736373588.497 [DAT](INFO): Local bearing/azimuth received: Bearing 71.4, -4.2 (Local) 2025-01-08T21:59:48.499Z,1736373588.499 [DAT](INFO): DAT read: Range 10 to 50 : 495.8 m (Round-trip 661.1 ms) speed 0.0 m/s 2025-01-08T21:59:48.500Z,1736373588.500 [DAT](INFO): DAT read: user:2207> 2025-01-08T21:59:48.501Z,1736373588.501 [DAT](INFO): DAT read: Tx time:21:59:47.6409 2025-01-08T21:59:48.501Z,1736373588.501 [DAT](INFO): Ping request sent. 2025-01-08T21:59:48.501Z,1736373588.501 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:48.502Z,1736373588.502 [DAT](INFO): DAT read: TxSync time:21:59:47.6401 2025-01-08T21:59:48.502Z,1736373588.502 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:48.504Z,1736373588.504 [DAT](INFO): direction in FSK: [-0.149500,0.357919,0.921707] 2025-01-08T21:59:48.504Z,1736373588.504 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:48.505Z,1736373588.505 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:48.511Z,1736373588.511 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:48.511Z,1736373588.511 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:48.542Z,1736373588.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:48.626Z,1736373588.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 495.799988 m, deltaT: 4.283890 s, deltaX: -0.400024 m, approachRate: -0.093379 m/s, rangeRepo size: 4 2025-01-08T21:59:48.646Z,1736373588.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 495.799988 m, bearing: 75.138931 deg, lat: 36.900222 deg, lon: -122.119529 deg, deltaT: 4.283890 s, deltaX: -0.400024 m, approachRate: -0.093379 m/s, posRepo size: 4 2025-01-08T21:59:48.647Z,1736373588.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T21:59:48.683Z,1736373588.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 94.309105 m, bearing: 80.209731 deg, approach rate: 0.000000 m/s, LOS rate: 0.448575 deg/s, cmd heading: 313.334054 deg, new cmd heading: 313.966218 deg. 2025-01-08T21:59:48.696Z,1736373588.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479744 target range: 495.799988 and range: 495.80 m. 2025-01-08T21:59:48.732Z,1736373588.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:48.984Z,1736373588.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:49.025Z,1736373589.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:49.067Z,1736373589.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T21:59:49.075Z,1736373589.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 94.598122 m, bearing: 80.356000 deg, approach rate: 0.650078 m/s, LOS rate: 0.327994 deg/s, cmd heading: 313.966229 deg, new cmd heading: 314.403687 deg. 2025-01-08T21:59:49.076Z,1736373589.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487380 target range: 495.799988 and range: 495.80 m. 2025-01-08T21:59:49.236Z,1736373589.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:49.349Z,1736373589.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:49.374Z,1736373589.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:49.380Z,1736373589.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T21:59:49.383Z,1736373589.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 94.791756 m, bearing: 80.454401 deg, approach rate: 0.610635 m/s, LOS rate: 0.309679 deg/s, cmd heading: 314.403689 deg, new cmd heading: 314.698287 deg. 2025-01-08T21:59:49.388Z,1736373589.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492521 target range: 495.799988 and range: 495.80 m. 2025-01-08T21:59:49.490Z,1736373589.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:49.490Z,1736373589.490 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:49.491Z,1736373589.491 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:49.491Z,1736373589.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:49.744Z,1736373589.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:49.746Z,1736373589.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244087 2025-01-08T21:59:49.780Z,1736373589.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:49.789Z,1736373589.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T21:59:49.792Z,1736373589.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 95.046806 m, bearing: 80.585227 deg, approach rate: 0.623474 m/s, LOS rate: 0.318946 deg/s, cmd heading: 314.698289 deg, new cmd heading: 315.089706 deg. 2025-01-08T21:59:49.793Z,1736373589.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499353 target range: 495.799988 and range: 495.80 m. 2025-01-08T21:59:49.996Z,1736373589.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:49.996Z,1736373589.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495246 2025-01-08T21:59:50.168Z,1736373590.168 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 74.42, 81.55, 82.57 2025-01-08T21:59:50.176Z,1736373590.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T21:59:50.176Z,1736373590.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:50.185Z,1736373590.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T21:59:50.189Z,1736373590.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 95.281013 m, bearing: 80.706484 deg, approach rate: 0.591915 m/s, LOS rate: 0.305701 deg/s, cmd heading: 315.089713 deg, new cmd heading: 315.452584 deg. 2025-01-08T21:59:50.190Z,1736373590.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505686 target range: 495.799988 and range: 495.80 m. 2025-01-08T21:59:50.249Z,1736373590.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:50.249Z,1736373590.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748281 2025-01-08T21:59:50.500Z,1736373590.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:50.500Z,1736373590.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999276 2025-01-08T21:59:50.566Z,1736373590.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T21:59:50.566Z,1736373590.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:50.579Z,1736373590.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T21:59:50.581Z,1736373590.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 95.509506 m, bearing: 80.826194 deg, approach rate: 0.580464 m/s, LOS rate: 0.303386 deg/s, cmd heading: 315.452587 deg, new cmd heading: 315.810855 deg. 2025-01-08T21:59:50.582Z,1736373590.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511939 target range: 495.799988 and range: 495.80 m. 2025-01-08T21:59:50.752Z,1736373590.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:50.753Z,1736373590.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251439 2025-01-08T21:59:50.999Z,1736373590.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:51.004Z,1736373591.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:51.005Z,1736373591.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503524 2025-01-08T21:59:51.044Z,1736373591.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T21:59:51.047Z,1736373591.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 95.745659 m, bearing: 80.958436 deg, approach rate: 0.512569 m/s, LOS rate: 0.286321 deg/s, cmd heading: 315.810844 deg, new cmd heading: 316.206584 deg. 2025-01-08T21:59:51.054Z,1736373591.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518846 target range: 495.799988 and range: 495.80 m. 2025-01-08T21:59:51.258Z,1736373591.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:51.260Z,1736373591.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759034 2025-01-08T21:59:51.391Z,1736373591.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:51.398Z,1736373591.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:51.400Z,1736373591.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T21:59:51.404Z,1736373591.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 95.955742 m, bearing: 81.079249 deg, approach rate: 0.582501 m/s, LOS rate: 0.334248 deg/s, cmd heading: 316.206586 deg, new cmd heading: 316.568227 deg. 2025-01-08T21:59:51.405Z,1736373591.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525158 target range: 495.799988 and range: 495.80 m. 2025-01-08T21:59:51.509Z,1736373591.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:51.510Z,1736373591.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008641 2025-01-08T21:59:51.760Z,1736373591.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:51.760Z,1736373591.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259231 2025-01-08T21:59:51.789Z,1736373591.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:51.805Z,1736373591.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T21:59:51.812Z,1736373591.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 96.167847 m, bearing: 81.202608 deg, approach rate: 0.523365 m/s, LOS rate: 0.303715 deg/s, cmd heading: 316.568230 deg, new cmd heading: 316.937485 deg. 2025-01-08T21:59:51.813Z,1736373591.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531603 target range: 495.799988 and range: 495.80 m. 2025-01-08T21:59:52.013Z,1736373592.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:52.015Z,1736373592.015 [DAT](INFO): DAT read: Rx Time:21:59:50.7052 2025-01-08T21:59:52.015Z,1736373592.015 [DAT](INFO): Rx dataTimestamp_ set to:1736373592.014811 2025-01-08T21:59:52.016Z,1736373592.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515350 2025-01-08T21:59:52.232Z,1736373592.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:52.261Z,1736373592.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.80 m. 2025-01-08T21:59:52.264Z,1736373592.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:52.264Z,1736373592.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763360 2025-01-08T21:59:52.268Z,1736373592.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.799988 m, nav range: 96.383850 m, bearing: 81.332470 deg, approach rate: 0.473688 m/s, LOS rate: 0.284144 deg/s, cmd heading: 316.937498 deg, new cmd heading: 317.326204 deg. 2025-01-08T21:59:52.270Z,1736373592.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538387 target range: 495.799988 and range: 495.80 m. 2025-01-08T21:59:52.516Z,1736373592.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:52.522Z,1736373592.522 [DAT](INFO): DAT read: 21:59:50.7052 LVL= 17536, 27425, 19042, 25811, AGC= 67, IDX= 436,-0.30, 0.883,-0.599,-0.942,-0.284, PHS= 1.254,-0.268,-0.662, RAW= 78.8, -3.7, CAL= 86.8, -9.9, ROT= 63.2, 9.9 2025-01-08T21:59:52.523Z,1736373592.523 [DAT](INFO): got valid direction response: 21:59:50.7052 LVL= 17536, 27425, 19042, 25811, AGC= 67, IDX= 436,-0.30, 0.883,-0.599,-0.942,-0.284, PHS= 1.254,-0.268,-0.662, RAW= 78.8, -3.7, CAL= 86.8, -9.9, ROT= 63.2, 9.9 2025-01-08T21:59:52.524Z,1736373592.524 [DAT](INFO): DAT read: Bearing 63.2, 9.9 (Local) 2025-01-08T21:59:52.524Z,1736373592.524 [DAT](INFO): Local bearing/azimuth received: Bearing 63.2, 9.9 (Local) 2025-01-08T21:59:52.526Z,1736373592.526 [DAT](INFO): DAT read: Range 10 to 50 : 495.0 m (Round-trip 660.1 ms) speed 0.3 m/s 2025-01-08T21:59:52.527Z,1736373592.527 [DAT](INFO): DAT read: user:2208> 2025-01-08T21:59:52.528Z,1736373592.528 [DAT](INFO): DAT read: Tx time:21:59:51.7910 2025-01-08T21:59:52.528Z,1736373592.528 [DAT](INFO): Ping request sent. 2025-01-08T21:59:52.528Z,1736373592.528 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:52.528Z,1736373592.528 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:52.529Z,1736373592.529 [DAT](INFO): direction in FSK: [0.004955,0.291968,0.956415] 2025-01-08T21:59:52.530Z,1736373592.530 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:52.530Z,1736373592.530 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:52.533Z,1736373592.533 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:52.533Z,1736373592.533 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:52.657Z,1736373592.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:52.709Z,1736373592.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 495.000000 m, deltaT: 4.036092 s, deltaX: -0.799988 m, approachRate: -0.198209 m/s, rangeRepo size: 4 2025-01-08T21:59:52.711Z,1736373592.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 495.000000 m, bearing: 71.702935 deg, lat: 36.900236 deg, lon: -122.119529 deg, deltaT: 4.036092 s, deltaX: -0.799988 m, approachRate: -0.198209 m/s, posRepo size: 4 2025-01-08T21:59:52.716Z,1736373592.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:59:52.718Z,1736373592.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 96.846626 m, bearing: 80.500489 deg, approach rate: 0.000000 m/s, LOS rate: 0.284144 deg/s, cmd heading: 317.326218 deg, new cmd heading: 317.707264 deg. 2025-01-08T21:59:52.740Z,1736373592.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.545038 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:59:52.768Z,1736373592.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:52.769Z,1736373592.769 [DAT](INFO): DAT read: TxSync time:21:59:51.7902 2025-01-08T21:59:53.020Z,1736373593.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:53.243Z,1736373593.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:53.261Z,1736373593.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:59:53.268Z,1736373593.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 97.100525 m, bearing: 80.667815 deg, approach rate: 0.459468 m/s, LOS rate: 0.302008 deg/s, cmd heading: 317.707260 deg, new cmd heading: 318.207910 deg. 2025-01-08T21:59:53.269Z,1736373593.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553776 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:59:53.272Z,1736373593.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:53.524Z,1736373593.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:53.597Z,1736373593.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:53.605Z,1736373593.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:53.607Z,1736373593.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:59:53.610Z,1736373593.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 97.251556 m, bearing: 80.770048 deg, approach rate: 0.436285 m/s, LOS rate: 0.294862 deg/s, cmd heading: 318.207913 deg, new cmd heading: 318.514133 deg. 2025-01-08T21:59:53.611Z,1736373593.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559120 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:59:53.776Z,1736373593.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:53.776Z,1736373593.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:53.776Z,1736373593.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:53.776Z,1736373593.776 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:54.028Z,1736373594.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:54.028Z,1736373594.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500329 2025-01-08T21:59:54.037Z,1736373594.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:54.061Z,1736373594.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:59:54.068Z,1736373594.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 97.422653 m, bearing: 80.893814 deg, approach rate: 0.376900 m/s, LOS rate: 0.272160 deg/s, cmd heading: 318.514124 deg, new cmd heading: 318.884766 deg. 2025-01-08T21:59:54.069Z,1736373594.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.565589 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:59:54.282Z,1736373594.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:54.284Z,1736373594.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755559 2025-01-08T21:59:54.368Z,1736373594.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:54.397Z,1736373594.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:59:54.405Z,1736373594.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 97.549149 m, bearing: 80.988252 deg, approach rate: 0.375913 m/s, LOS rate: 0.280281 deg/s, cmd heading: 318.884757 deg, new cmd heading: 319.167700 deg. 2025-01-08T21:59:54.406Z,1736373594.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570527 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:59:54.532Z,1736373594.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:54.533Z,1736373594.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004689 2025-01-08T21:59:54.773Z,1736373594.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:54.782Z,1736373594.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:59:54.784Z,1736373594.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:54.784Z,1736373594.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256365 2025-01-08T21:59:54.787Z,1736373594.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 97.702309 m, bearing: 81.104294 deg, approach rate: 0.398618 m/s, LOS rate: 0.301540 deg/s, cmd heading: 319.167691 deg, new cmd heading: 319.515267 deg. 2025-01-08T21:59:54.788Z,1736373594.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576593 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:59:55.036Z,1736373595.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:55.037Z,1736373595.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509000 2025-01-08T21:59:55.212Z,1736373595.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:55.246Z,1736373595.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:59:55.256Z,1736373595.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 97.854080 m, bearing: 81.227192 deg, approach rate: 0.327128 m/s, LOS rate: 0.264483 deg/s, cmd heading: 319.515266 deg, new cmd heading: 319.883382 deg. 2025-01-08T21:59:55.257Z,1736373595.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583018 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:59:55.288Z,1736373595.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:55.289Z,1736373595.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760519 2025-01-08T21:59:55.540Z,1736373595.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:55.540Z,1736373595.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012191 2025-01-08T21:59:55.619Z,1736373595.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:55.634Z,1736373595.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:55.640Z,1736373595.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:59:55.648Z,1736373595.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 97.993362 m, bearing: 81.341427 deg, approach rate: 0.353074 m/s, LOS rate: 0.289169 deg/s, cmd heading: 319.883386 deg, new cmd heading: 320.225600 deg. 2025-01-08T21:59:55.653Z,1736373595.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588991 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:59:55.792Z,1736373595.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:55.792Z,1736373595.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264250 2025-01-08T21:59:56.044Z,1736373596.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:56.044Z,1736373596.044 [DAT](INFO): DAT read: Rx Time:21:59:54.8536 2025-01-08T21:59:56.045Z,1736373596.045 [DAT](INFO): Rx dataTimestamp_ set to:1736373596.044629 2025-01-08T21:59:56.045Z,1736373596.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517315 2025-01-08T21:59:56.104Z,1736373596.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:56.122Z,1736373596.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:59:56.129Z,1736373596.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 98.152466 m, bearing: 81.476139 deg, approach rate: 0.330407 m/s, LOS rate: 0.279300 deg/s, cmd heading: 320.225605 deg, new cmd heading: 320.629079 deg. 2025-01-08T21:59:56.130Z,1736373596.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596033 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:59:56.296Z,1736373596.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:56.296Z,1736373596.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768233 2025-01-08T21:59:56.460Z,1736373596.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:56.469Z,1736373596.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.00 m. 2025-01-08T21:59:56.473Z,1736373596.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.000000 m, nav range: 98.268135 m, bearing: 81.575012 deg, approach rate: 0.333126 m/s, LOS rate: 0.284416 deg/s, cmd heading: 320.629078 deg, new cmd heading: 320.925344 deg. 2025-01-08T21:59:56.473Z,1736373596.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601204 target range: 495.000000 and range: 495.00 m. 2025-01-08T21:59:56.549Z,1736373596.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:56.566Z,1736373596.566 [DAT](INFO): DAT read: 21:59:54.8536 LVL= 20320, 32753, 20642, 31507, AGC= 69, IDX= 419, 0.30, 2.060, 0.393, 0.239, 0.820, PHS= 1.328,-0.380,-0.584, RAW= 84.4, -4.1, CAL= 92.7, -10.8, ROT= 57.3, 10.8 2025-01-08T21:59:56.570Z,1736373596.569 [DAT](INFO): got valid direction response: 21:59:54.8536 LVL= 20320, 32753, 20642, 31507, AGC= 69, IDX= 419, 0.30, 2.060, 0.393, 0.239, 0.820, PHS= 1.328,-0.380,-0.584, RAW= 84.4, -4.1, CAL= 92.7, -10.8, ROT= 57.3, 10.8 2025-01-08T21:59:56.570Z,1736373596.570 [DAT](INFO): DAT read: Bearing 57.3, 10.8 (Local) 2025-01-08T21:59:56.571Z,1736373596.571 [DAT](INFO): Local bearing/azimuth received: Bearing 57.3, 10.8 (Local) 2025-01-08T21:59:56.576Z,1736373596.576 [DAT](INFO): DAT read: Range 10 to 50 : 493.8 m (Round-trip 658.4 ms) speed 0.1 m/s 2025-01-08T21:59:56.577Z,1736373596.577 [DAT](INFO): DAT read: user:2209> 2025-01-08T21:59:56.578Z,1736373596.578 [DAT](INFO): DAT read: Tx time:21:59:55.9410 2025-01-08T21:59:56.578Z,1736373596.578 [DAT](INFO): Ping request sent. 2025-01-08T21:59:56.578Z,1736373596.578 [DAT](INFO): transmitted an acoustic signal 2025-01-08T21:59:56.578Z,1736373596.578 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T21:59:56.580Z,1736373596.580 [DAT](INFO): direction in FSK: [0.001142,0.198272,0.980146] 2025-01-08T21:59:56.580Z,1736373596.580 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:56.580Z,1736373596.580 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:56.600Z,1736373596.600 [DAT](INFO): publishing transmit ping time 2025-01-08T21:59:56.600Z,1736373596.600 [DAT](INFO): publishing direction and range info 2025-01-08T21:59:56.801Z,1736373596.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:56.802Z,1736373596.802 [DAT](INFO): DAT read: TxSync time:21:59:55.9402 2025-01-08T21:59:56.872Z,1736373596.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:56.909Z,1736373596.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 493.799988 m, deltaT: 4.034041 s, deltaX: -1.200012 m, approachRate: -0.297471 m/s, rangeRepo size: 4 2025-01-08T21:59:56.911Z,1736373596.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 493.799988 m, bearing: 135.514020 deg, lat: 36.900236 deg, lon: -122.119529 deg, deltaT: 4.034041 s, deltaX: -1.200012 m, approachRate: -0.297471 m/s, posRepo size: 4 2025-01-08T21:59:56.917Z,1736373596.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:59:56.940Z,1736373596.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 98.400879 m, bearing: 81.689704 deg, approach rate: 0.000000 m/s, LOS rate: 0.284416 deg/s, cmd heading: 320.925345 deg, new cmd heading: 321.300222 deg. 2025-01-08T21:59:56.948Z,1736373596.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607747 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:59:57.052Z,1736373597.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:57.281Z,1736373597.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:57.291Z,1736373597.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:59:57.294Z,1736373597.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 98.541229 m, bearing: 81.804516 deg, approach rate: 0.366867 m/s, LOS rate: 0.299684 deg/s, cmd heading: 321.300213 deg, new cmd heading: 321.644154 deg. 2025-01-08T21:59:57.295Z,1736373597.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613750 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:59:57.304Z,1736373597.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:57.557Z,1736373597.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:57.616Z,1736373597.616 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T21:59:57.685Z,1736373597.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:57.697Z,1736373597.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:57.699Z,1736373597.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:59:57.702Z,1736373597.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 98.678825 m, bearing: 81.917930 deg, approach rate: 0.337391 m/s, LOS rate: 0.277708 deg/s, cmd heading: 321.644154 deg, new cmd heading: 321.983918 deg. 2025-01-08T21:59:57.703Z,1736373597.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619679 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:59:57.808Z,1736373597.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:57.809Z,1736373597.809 [DAT](INFO): ****** received valid address query ****** 2025-01-08T21:59:57.809Z,1736373597.809 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T21:59:57.809Z,1736373597.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T21:59:58.060Z,1736373598.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:58.060Z,1736373598.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482311 2025-01-08T21:59:58.121Z,1736373598.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:58.139Z,1736373598.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:59:58.146Z,1736373598.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 98.842422 m, bearing: 82.045057 deg, approach rate: 0.371841 m/s, LOS rate: 0.288470 deg/s, cmd heading: 321.983915 deg, new cmd heading: 322.364659 deg. 2025-01-08T21:59:58.146Z,1736373598.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626325 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:59:58.312Z,1736373598.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:58.312Z,1736373598.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734181 2025-01-08T21:59:58.473Z,1736373598.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:58.482Z,1736373598.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:59:58.485Z,1736373598.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 98.973900 m, bearing: 82.148026 deg, approach rate: 0.382457 m/s, LOS rate: 0.299130 deg/s, cmd heading: 322.364657 deg, new cmd heading: 322.673150 deg. 2025-01-08T21:59:58.488Z,1736373598.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631709 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:59:58.564Z,1736373598.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:58.566Z,1736373598.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987377 2025-01-08T21:59:58.620Z,1736373598.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T21:59:58.816Z,1736373598.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:58.816Z,1736373598.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238251 2025-01-08T21:59:58.877Z,1736373598.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:58.886Z,1736373598.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:59:58.890Z,1736373598.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 99.123604 m, bearing: 82.266129 deg, approach rate: 0.371255 m/s, LOS rate: 0.292445 deg/s, cmd heading: 322.673163 deg, new cmd heading: 323.026933 deg. 2025-01-08T21:59:58.891Z,1736373598.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.637884 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:59:59.069Z,1736373599.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:59.070Z,1736373599.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492283 2025-01-08T21:59:59.304Z,1736373599.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:59.313Z,1736373599.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:59:59.316Z,1736373599.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 99.306641 m, bearing: 82.390688 deg, approach rate: 0.428193 m/s, LOS rate: 0.290853 deg/s, cmd heading: 323.026939 deg, new cmd heading: 323.399920 deg. 2025-01-08T21:59:59.317Z,1736373599.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644393 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:59:59.320Z,1736373599.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:59.321Z,1736373599.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742678 2025-01-08T21:59:59.572Z,1736373599.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:59.573Z,1736373599.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994760 2025-01-08T21:59:59.695Z,1736373599.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T21:59:59.702Z,1736373599.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T21:59:59.704Z,1736373599.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T21:59:59.707Z,1736373599.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 99.474449 m, bearing: 82.505214 deg, approach rate: 0.428738 m/s, LOS rate: 0.292111 deg/s, cmd heading: 323.399922 deg, new cmd heading: 323.742916 deg. 2025-01-08T21:59:59.708Z,1736373599.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.650380 target range: 493.799988 and range: 493.80 m. 2025-01-08T21:59:59.824Z,1736373599.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T21:59:59.825Z,1736373599.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246340 2025-01-08T22:00:00.076Z,1736373600.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:00.076Z,1736373600.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498268 2025-01-08T22:00:00.110Z,1736373600.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:00.144Z,1736373600.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T22:00:00.147Z,1736373600.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 99.678467 m, bearing: 82.631863 deg, approach rate: 0.491815 m/s, LOS rate: 0.304682 deg/s, cmd heading: 323.742907 deg, new cmd heading: 324.122072 deg. 2025-01-08T22:00:00.148Z,1736373600.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656997 target range: 493.799988 and range: 493.80 m. 2025-01-08T22:00:00.328Z,1736373600.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:00.329Z,1736373600.329 [DAT](INFO): DAT read: Rx Time:21:59:59.0138 2025-01-08T22:00:00.329Z,1736373600.329 [DAT](INFO): Rx dataTimestamp_ set to:1736373600.328848 2025-01-08T22:00:00.330Z,1736373600.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751487 2025-01-08T22:00:00.506Z,1736373600.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:00.515Z,1736373600.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.80 m. 2025-01-08T22:00:00.518Z,1736373600.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.799988 m, nav range: 99.873146 m, bearing: 82.751952 deg, approach rate: 0.492438 m/s, LOS rate: 0.303170 deg/s, cmd heading: 324.122064 deg, new cmd heading: 324.481624 deg. 2025-01-08T22:00:00.519Z,1736373600.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663273 target range: 493.799988 and range: 493.80 m. 2025-01-08T22:00:00.580Z,1736373600.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:00.580Z,1736373600.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.002330 2025-01-08T22:00:00.832Z,1736373600.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:00.839Z,1736373600.839 [DAT](INFO): DAT read: 21:59:59.0138 LVL= 20576, 30513, 23186, 26163, AGC= 69, IDX= 28, 0.09, 1.333,-0.271,-0.295, 0.288, PHS= 1.132,-0.512,-0.587, RAW= 87.8, -0.4, CAL= 95.2, -5.0, ROT= 54.8, 5.0 2025-01-08T22:00:00.840Z,1736373600.840 [DAT](INFO): got valid direction response: 21:59:59.0138 LVL= 20576, 30513, 23186, 26163, AGC= 69, IDX= 28, 0.09, 1.333,-0.271,-0.295, 0.288, PHS= 1.132,-0.512,-0.587, RAW= 87.8, -0.4, CAL= 95.2, -5.0, ROT= 54.8, 5.0 2025-01-08T22:00:00.841Z,1736373600.841 [DAT](INFO): DAT read: Bearing 54.8, 5.0 (Local) 2025-01-08T22:00:00.841Z,1736373600.841 [DAT](INFO): Local bearing/azimuth received: Bearing 54.8, 5.0 (Local) 2025-01-08T22:00:00.843Z,1736373600.843 [DAT](INFO): DAT read: Range 10 to 50 : 501.5 m (Round-trip 668.7 ms) speed 0.1 m/s 2025-01-08T22:00:00.859Z,1736373600.859 [DAT](INFO): DAT read: user:2210> 2025-01-08T22:00:00.860Z,1736373600.860 [DAT](INFO): DAT read: Tx time:22:00:00.0910 2025-01-08T22:00:00.860Z,1736373600.860 [DAT](INFO): Ping request sent. 2025-01-08T22:00:00.860Z,1736373600.860 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:00:00.860Z,1736373600.860 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:00:00.861Z,1736373600.861 [DAT](INFO): direction in FSK: [-0.073942,0.145260,0.986627] 2025-01-08T22:00:00.862Z,1736373600.862 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:00.862Z,1736373600.862 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:00.901Z,1736373600.901 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:00.901Z,1736373600.901 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:00.948Z,1736373600.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:01.044Z,1736373601.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 501.500000 m, deltaT: 4.282038 s, deltaX: 7.700012 m, approachRate: 1.798212 m/s, rangeRepo size: 4 2025-01-08T22:00:01.046Z,1736373601.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 501.500000 m, bearing: 154.486861 deg, lat: 36.900236 deg, lon: -122.120060 deg, deltaT: 4.282038 s, deltaX: 7.700012 m, approachRate: 1.798212 m/s, posRepo size: 4 2025-01-08T22:00:01.048Z,1736373601.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.50 m. 2025-01-08T22:00:01.050Z,1736373601.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.500000 m, nav range: 53.591343 m, bearing: 76.625829 deg, approach rate: 0.000000 m/s, LOS rate: 0.303170 deg/s, cmd heading: 324.481633 deg, new cmd heading: 324.958699 deg. 2025-01-08T22:00:01.060Z,1736373601.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671599 target range: 501.500000 and range: 501.50 m. 2025-01-08T22:00:01.084Z,1736373601.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:01.085Z,1736373601.085 [DAT](INFO): DAT read: TxSync time:22:00:00.0902 2025-01-08T22:00:01.336Z,1736373601.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:01.417Z,1736373601.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:01.441Z,1736373601.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.50 m. 2025-01-08T22:00:01.453Z,1736373601.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.500000 m, nav range: 53.807549 m, bearing: 76.925474 deg, approach rate: 0.537430 m/s, LOS rate: 0.741843 deg/s, cmd heading: 324.958708 deg, new cmd heading: 325.853955 deg. 2025-01-08T22:00:01.454Z,1736373601.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687224 target range: 501.500000 and range: 501.50 m. 2025-01-08T22:00:01.588Z,1736373601.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:01.738Z,1736373601.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:01.765Z,1736373601.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:01.771Z,1736373601.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.50 m. 2025-01-08T22:00:01.774Z,1736373601.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.500000 m, nav range: 53.953297 m, bearing: 77.131574 deg, approach rate: 0.447312 m/s, LOS rate: 0.630824 deg/s, cmd heading: 325.853955 deg, new cmd heading: 326.470557 deg. 2025-01-08T22:00:01.775Z,1736373601.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697986 target range: 501.500000 and range: 501.50 m. 2025-01-08T22:00:01.840Z,1736373601.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:01.841Z,1736373601.841 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:01.841Z,1736373601.841 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:01.842Z,1736373601.842 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:02.092Z,1736373602.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:02.092Z,1736373602.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232256 2025-01-08T22:00:02.214Z,1736373602.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:02.240Z,1736373602.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.50 m. 2025-01-08T22:00:02.243Z,1736373602.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.500000 m, nav range: 54.186340 m, bearing: 77.439156 deg, approach rate: 0.492793 m/s, LOS rate: 0.647613 deg/s, cmd heading: 326.470557 deg, new cmd heading: 327.389254 deg. 2025-01-08T22:00:02.244Z,1736373602.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714020 target range: 501.500000 and range: 501.50 m. 2025-01-08T22:00:02.344Z,1736373602.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:02.344Z,1736373602.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484298 2025-01-08T22:00:02.547Z,1736373602.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:02.579Z,1736373602.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.50 m. 2025-01-08T22:00:02.582Z,1736373602.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.500000 m, nav range: 54.349503 m, bearing: 77.653836 deg, approach rate: 0.481283 m/s, LOS rate: 0.631344 deg/s, cmd heading: 327.389245 deg, new cmd heading: 328.031323 deg. 2025-01-08T22:00:02.583Z,1736373602.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725226 target range: 501.500000 and range: 501.50 m. 2025-01-08T22:00:02.596Z,1736373602.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:02.596Z,1736373602.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736360 2025-01-08T22:00:02.848Z,1736373602.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:02.848Z,1736373602.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988282 2025-01-08T22:00:02.946Z,1736373602.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:02.955Z,1736373602.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.50 m. 2025-01-08T22:00:02.958Z,1736373602.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.500000 m, nav range: 54.544430 m, bearing: 77.910141 deg, approach rate: 0.518628 m/s, LOS rate: 0.679489 deg/s, cmd heading: 328.031310 deg, new cmd heading: 328.797426 deg. 2025-01-08T22:00:02.959Z,1736373602.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738598 target range: 501.500000 and range: 501.50 m. 2025-01-08T22:00:03.101Z,1736373603.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:03.102Z,1736373603.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241879 2025-01-08T22:00:03.352Z,1736373603.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:03.353Z,1736373603.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492796 2025-01-08T22:00:03.374Z,1736373603.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:03.383Z,1736373603.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.50 m. 2025-01-08T22:00:03.387Z,1736373603.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.500000 m, nav range: 54.756386 m, bearing: 78.193629 deg, approach rate: 0.494994 m/s, LOS rate: 0.659483 deg/s, cmd heading: 328.797438 deg, new cmd heading: 329.644547 deg. 2025-01-08T22:00:03.389Z,1736373603.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753383 target range: 501.500000 and range: 501.50 m. 2025-01-08T22:00:03.604Z,1736373603.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:03.605Z,1736373603.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744481 2025-01-08T22:00:03.761Z,1736373603.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:03.786Z,1736373603.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:03.789Z,1736373603.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.50 m. 2025-01-08T22:00:03.796Z,1736373603.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.500000 m, nav range: 54.947067 m, bearing: 78.448772 deg, approach rate: 0.470979 m/s, LOS rate: 0.628008 deg/s, cmd heading: 329.644546 deg, new cmd heading: 330.407271 deg. 2025-01-08T22:00:03.797Z,1736373603.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766695 target range: 501.500000 and range: 501.50 m. 2025-01-08T22:00:03.857Z,1736373603.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:03.860Z,1736373603.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998857 2025-01-08T22:00:04.108Z,1736373604.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:04.109Z,1736373604.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248503 2025-01-08T22:00:04.189Z,1736373604.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:04.218Z,1736373604.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.50 m. 2025-01-08T22:00:04.225Z,1736373604.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.500000 m, nav range: 55.146549 m, bearing: 78.725724 deg, approach rate: 0.464002 m/s, LOS rate: 0.641866 deg/s, cmd heading: 330.407259 deg, new cmd heading: 331.235047 deg. 2025-01-08T22:00:04.226Z,1736373604.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781142 target range: 501.500000 and range: 501.50 m. 2025-01-08T22:00:04.360Z,1736373604.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:04.360Z,1736373604.360 [DAT](INFO): DAT read: Rx Time:22:00:03.1514 2025-01-08T22:00:04.361Z,1736373604.361 [DAT](INFO): Rx dataTimestamp_ set to:1736373604.360586 2025-01-08T22:00:04.361Z,1736373604.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501262 2025-01-08T22:00:04.581Z,1736373604.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:04.606Z,1736373604.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.50 m. 2025-01-08T22:00:04.609Z,1736373604.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 501.500000 m, nav range: 55.331833 m, bearing: 78.979609 deg, approach rate: 0.477513 m/s, LOS rate: 0.652120 deg/s, cmd heading: 331.235051 deg, new cmd heading: 331.994109 deg. 2025-01-08T22:00:04.610Z,1736373604.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794390 target range: 501.500000 and range: 501.50 m. 2025-01-08T22:00:04.612Z,1736373604.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:04.612Z,1736373604.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752350 2025-01-08T22:00:04.864Z,1736373604.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:04.877Z,1736373604.877 [DAT](INFO): DAT read: 22:00:03.1514 LVL= 16160, 30577, 19762, 32595, AGC= 71, IDX= 317,-0.37, 0.864,-0.848,-0.748,-0.289, PHS= 1.242,-0.512,-0.461, RAW= 91.4, -3.1, CAL= 99.6, -9.8, ROT= 50.4, 9.8 2025-01-08T22:00:04.878Z,1736373604.878 [DAT](INFO): got valid direction response: 22:00:03.1514 LVL= 16160, 30577, 19762, 32595, AGC= 71, IDX= 317,-0.37, 0.864,-0.848,-0.748,-0.289, PHS= 1.242,-0.512,-0.461, RAW= 91.4, -3.1, CAL= 99.6, -9.8, ROT= 50.4, 9.8 2025-01-08T22:00:04.881Z,1736373604.881 [DAT](INFO): DAT read: Bearing 50.4, 9.8 (Local) 2025-01-08T22:00:04.881Z,1736373604.881 [DAT](INFO): Local bearing/azimuth received: Bearing 50.4, 9.8 (Local) 2025-01-08T22:00:04.883Z,1736373604.883 [DAT](INFO): DAT read: Range 10 to 50 : 492.1 m (Round-tripms) speed 0.3 m/s 2025-01-08T22:00:04.887Z,1736373604.887 [DAT](INFO): DAT read: user:2211> 2025-01-08T22:00:04.890Z,1736373604.890 [DAT](INFO): DAT read: Tx time:22:00:04.2411 2025-01-08T22:00:04.890Z,1736373604.890 [DAT](INFO): Ping request sent. 2025-01-08T22:00:04.890Z,1736373604.890 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:00:04.891Z,1736373604.891 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:00:04.892Z,1736373604.892 [DAT](INFO): direction in FSK: [-0.027229,0.079018,0.996501] 2025-01-08T22:00:04.892Z,1736373604.892 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:04.892Z,1736373604.892 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:04.895Z,1736373604.895 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:04.896Z,1736373604.896 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:04.996Z,1736373604.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:05.066Z,1736373605.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 492.100006 m, deltaT: 4.033107 s, deltaX: -9.399994 m, approachRate: -2.330708 m/s, rangeRepo size: 4 2025-01-08T22:00:05.087Z,1736373605.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 492.100006 m, bearing: 204.888687 deg, lat: 36.899905 deg, lon: -122.120329 deg, deltaT: 4.033107 s, deltaX: -9.399994 m, approachRate: -2.330708 m/s, posRepo size: 4 2025-01-08T22:00:05.107Z,1736373605.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.10 m. 2025-01-08T22:00:05.110Z,1736373605.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.100006 m, nav range: 40.519974 m, bearing: 130.891389 deg, approach rate: 0.000000 m/s, LOS rate: 0.652120 deg/s, cmd heading: 331.994103 deg, new cmd heading: 332.877351 deg. 2025-01-08T22:00:05.111Z,1736373605.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809806 target range: 492.100006 and range: 492.10 m. 2025-01-08T22:00:05.116Z,1736373605.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:05.117Z,1736373605.117 [DAT](INFO): DAT read: TxSync time:22:00:04.2403 2025-01-08T22:00:05.388Z,1736373605.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:05.458Z,1736373605.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:05.472Z,1736373605.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.10 m. 2025-01-08T22:00:05.475Z,1736373605.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.100006 m, nav range: 40.860924 m, bearing: 130.910858 deg, approach rate: 0.822412 m/s, LOS rate: 0.046571 deg/s, cmd heading: 332.877356 deg, new cmd heading: 332.935277 deg. 2025-01-08T22:00:05.476Z,1736373605.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810817 target range: 492.100006 and range: 492.10 m. 2025-01-08T22:00:05.640Z,1736373605.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:05.807Z,1736373605.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:05.814Z,1736373605.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:05.816Z,1736373605.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.10 m. 2025-01-08T22:00:05.819Z,1736373605.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.100006 m, nav range: 41.119022 m, bearing: 130.933224 deg, approach rate: 0.750215 m/s, LOS rate: 0.064602 deg/s, cmd heading: 332.935276 deg, new cmd heading: 333.001952 deg. 2025-01-08T22:00:05.832Z,1736373605.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811980 target range: 492.100006 and range: 492.10 m. 2025-01-08T22:00:05.893Z,1736373605.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:05.893Z,1736373605.893 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:05.894Z,1736373605.894 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:05.894Z,1736373605.894 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:06.144Z,1736373606.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:06.145Z,1736373606.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254161 2025-01-08T22:00:06.231Z,1736373606.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:06.240Z,1736373606.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.10 m. 2025-01-08T22:00:06.243Z,1736373606.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.100006 m, nav range: 41.411583 m, bearing: 130.975879 deg, approach rate: 0.689842 m/s, LOS rate: 0.099868 deg/s, cmd heading: 333.001939 deg, new cmd heading: 333.129000 deg. 2025-01-08T22:00:06.260Z,1736373606.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814198 target range: 492.100006 and range: 492.10 m. 2025-01-08T22:00:06.396Z,1736373606.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:06.397Z,1736373606.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506191 2025-01-08T22:00:06.622Z,1736373606.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:06.631Z,1736373606.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.10 m. 2025-01-08T22:00:06.633Z,1736373606.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.100006 m, nav range: 41.681671 m, bearing: 131.018813 deg, approach rate: 0.692002 m/s, LOS rate: 0.109288 deg/s, cmd heading: 333.129008 deg, new cmd heading: 333.256973 deg. 2025-01-08T22:00:06.634Z,1736373606.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816432 target range: 492.100006 and range: 492.10 m. 2025-01-08T22:00:06.650Z,1736373606.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:06.657Z,1736373606.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766103 2025-01-08T22:00:06.901Z,1736373606.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:06.903Z,1736373606.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011802 2025-01-08T22:00:07.022Z,1736373607.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:07.031Z,1736373607.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.10 m. 2025-01-08T22:00:07.034Z,1736373607.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.100006 m, nav range: 41.957687 m, bearing: 131.067534 deg, approach rate: 0.689546 m/s, LOS rate: 0.120914 deg/s, cmd heading: 333.256978 deg, new cmd heading: 333.402179 deg. 2025-01-08T22:00:07.035Z,1736373607.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818966 target range: 492.100006 and range: 492.10 m. 2025-01-08T22:00:07.152Z,1736373607.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:07.153Z,1736373607.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262497 2025-01-08T22:00:07.404Z,1736373607.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:07.405Z,1736373607.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514092 2025-01-08T22:00:07.458Z,1736373607.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:07.488Z,1736373607.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.10 m. 2025-01-08T22:00:07.490Z,1736373607.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.100006 m, nav range: 42.239952 m, bearing: 131.139041 deg, approach rate: 0.624319 m/s, LOS rate: 0.157104 deg/s, cmd heading: 333.402188 deg, new cmd heading: 333.615274 deg. 2025-01-08T22:00:07.496Z,1736373607.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822685 target range: 492.100006 and range: 492.10 m. 2025-01-08T22:00:07.656Z,1736373607.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:07.657Z,1736373607.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766644 2025-01-08T22:00:07.849Z,1736373607.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:07.858Z,1736373607.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:07.862Z,1736373607.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.10 m. 2025-01-08T22:00:07.865Z,1736373607.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.100006 m, nav range: 42.491703 m, bearing: 131.211891 deg, approach rate: 0.664354 m/s, LOS rate: 0.191109 deg/s, cmd heading: 333.615262 deg, new cmd heading: 333.832518 deg. 2025-01-08T22:00:07.866Z,1736373607.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826477 target range: 492.100006 and range: 492.10 m. 2025-01-08T22:00:07.908Z,1736373607.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:07.909Z,1736373607.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018918 2025-01-08T22:00:08.161Z,1736373608.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:08.163Z,1736373608.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272423 2025-01-08T22:00:08.255Z,1736373608.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:08.264Z,1736373608.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.10 m. 2025-01-08T22:00:08.266Z,1736373608.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.100006 m, nav range: 42.731064 m, bearing: 131.307549 deg, approach rate: 0.596412 m/s, LOS rate: 0.237012 deg/s, cmd heading: 333.832517 deg, new cmd heading: 334.117879 deg. 2025-01-08T22:00:08.268Z,1736373608.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831457 target range: 492.100006 and range: 492.10 m. 2025-01-08T22:00:08.412Z,1736373608.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:08.412Z,1736373608.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521858 2025-01-08T22:00:08.635Z,1736373608.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:08.646Z,1736373608.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.10 m. 2025-01-08T22:00:08.652Z,1736373608.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.100006 m, nav range: 42.954426 m, bearing: 131.400019 deg, approach rate: 0.583402 m/s, LOS rate: 0.240268 deg/s, cmd heading: 334.117882 deg, new cmd heading: 334.393848 deg. 2025-01-08T22:00:08.654Z,1736373608.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836274 target range: 492.100006 and range: 492.10 m. 2025-01-08T22:00:08.677Z,1736373608.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:08.678Z,1736373608.678 [DAT](INFO): DAT read: Rx Time:22:00:07.2995 2025-01-08T22:00:08.679Z,1736373608.679 [DAT](INFO): Rx dataTimestamp_ set to:1736373608.678372 2025-01-08T22:00:08.680Z,1736373608.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789410 2025-01-08T22:00:08.928Z,1736373608.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:08.929Z,1736373608.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038866 2025-01-08T22:00:09.041Z,1736373609.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:09.049Z,1736373609.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.10 m. 2025-01-08T22:00:09.052Z,1736373609.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.100006 m, nav range: 43.191078 m, bearing: 131.505298 deg, approach rate: 0.587515 m/s, LOS rate: 0.259935 deg/s, cmd heading: 334.393849 deg, new cmd heading: 334.707954 deg. 2025-01-08T22:00:09.053Z,1736373609.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841756 target range: 492.100006 and range: 492.10 m. 2025-01-08T22:00:09.181Z,1736373609.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:09.205Z,1736373609.205 [DAT](INFO): DAT read: 22:00:07.2995 LVL= 19104, 32753, 30418, 32755, AGC= 68, IDX= 425,-0.13, 0.970,-0.518,-0.205, 0.218, PHS= 0.840,-0.689,-0.426, RAW= 99.3, 3.9, CAL= 109.3, 2.1, ROT= 40.7, -2.1 2025-01-08T22:00:09.206Z,1736373609.206 [DAT](INFO): got valid direction response: 22:00:07.2995 LVL= 19104, 32753, 30418, 32755, AGC= 68, IDX= 425,-0.13, 0.970,-0.518,-0.205, 0.218, PHS= 0.840,-0.689,-0.426, RAW= 99.3, 3.9, CAL= 109.3, 2.1, ROT= 40.7, -2.1 2025-01-08T22:00:09.207Z,1736373609.207 [DAT](INFO): DAT read: Bearing 40.7, -2.1 (Local) 2025-01-08T22:00:09.207Z,1736373609.207 [DAT](INFO): Local bearing/azimuth received: Bearing 40.7, -2.1 (Local) 2025-01-08T22:00:09.209Z,1736373609.209 [DAT](INFO): DAT read: Range 10 to 50 : 490.6 m (Round-trip 654.2 ms) speed 0.4 m/s 2025-01-08T22:00:09.210Z,1736373609.210 [DAT](INFO): DAT read: user:2212> 2025-01-08T22:00:09.211Z,1736373609.211 [DAT](INFO): DAT read: Tx time:22:00:08.3911 2025-01-08T22:00:09.216Z,1736373609.216 [DAT](INFO): Ping request sent. 2025-01-08T22:00:09.216Z,1736373609.216 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:00:09.217Z,1736373609.217 [DAT](INFO): DAT read: TxSync time:22:00:08.3903 2025-01-08T22:00:09.217Z,1736373609.217 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:00:09.218Z,1736373609.218 [DAT](INFO): direction in FSK: [-0.173831,-0.049975,0.983507] 2025-01-08T22:00:09.218Z,1736373609.218 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:09.219Z,1736373609.219 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:09.234Z,1736373609.234 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:09.234Z,1736373609.234 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:09.432Z,1736373609.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:09.583Z,1736373609.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:09.598Z,1736373609.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 490.600006 m, deltaT: 4.317057 s, deltaX: -1.500000 m, approachRate: -0.347459 m/s, rangeRepo size: 4 2025-01-08T22:00:09.616Z,1736373609.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 490.600006 m, bearing: 203.700929 deg, lat: 36.899593 deg, lon: -122.120374 deg, deltaT: 4.317057 s, deltaX: -1.500000 m, approachRate: -0.347459 m/s, posRepo size: 4 2025-01-08T22:00:09.617Z,1736373609.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:09.621Z,1736373609.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 69.642609 m, bearing: 155.863319 deg, approach rate: 0.000000 m/s, LOS rate: 0.259935 deg/s, cmd heading: 334.707956 deg, new cmd heading: 335.135490 deg. 2025-01-08T22:00:09.622Z,1736373609.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849218 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:09.685Z,1736373609.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:09.936Z,1736373609.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:09.967Z,1736373609.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:09.975Z,1736373609.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:09.977Z,1736373609.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:09.980Z,1736373609.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 69.870461 m, bearing: 155.859012 deg, approach rate: 0.599292 m/s, LOS rate: -0.011292 deg/s, cmd heading: 335.135499 deg, new cmd heading: 335.122619 deg. 2025-01-08T22:00:09.981Z,1736373609.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848993 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:10.190Z,1736373610.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:10.192Z,1736373610.192 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:10.192Z,1736373610.192 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:10.193Z,1736373610.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:10.425Z,1736373610.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:10.433Z,1736373610.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:10.437Z,1736373610.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 70.138031 m, bearing: 155.869724 deg, approach rate: 0.587059 m/s, LOS rate: 0.023413 deg/s, cmd heading: 335.122631 deg, new cmd heading: 335.154645 deg. 2025-01-08T22:00:10.438Z,1736373610.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849552 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:10.440Z,1736373610.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:10.440Z,1736373610.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229365 2025-01-08T22:00:10.692Z,1736373610.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:10.692Z,1736373610.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481280 2025-01-08T22:00:10.816Z,1736373610.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:10.825Z,1736373610.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:10.827Z,1736373610.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 70.366997 m, bearing: 155.880415 deg, approach rate: 0.584884 m/s, LOS rate: 0.027221 deg/s, cmd heading: 335.154650 deg, new cmd heading: 335.186620 deg. 2025-01-08T22:00:10.828Z,1736373610.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850110 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:10.944Z,1736373610.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:10.944Z,1736373610.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733399 2025-01-08T22:00:11.196Z,1736373611.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:11.196Z,1736373611.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985321 2025-01-08T22:00:11.260Z,1736373611.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:11.268Z,1736373611.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:11.274Z,1736373611.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 70.623154 m, bearing: 155.891042 deg, approach rate: 0.577492 m/s, LOS rate: 0.023871 deg/s, cmd heading: 335.186616 deg, new cmd heading: 335.218382 deg. 2025-01-08T22:00:11.275Z,1736373611.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850665 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:11.448Z,1736373611.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:11.448Z,1736373611.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237372 2025-01-08T22:00:11.614Z,1736373611.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:11.624Z,1736373611.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:11.627Z,1736373611.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 70.827736 m, bearing: 155.900272 deg, approach rate: 0.574834 m/s, LOS rate: 0.025859 deg/s, cmd heading: 335.218390 deg, new cmd heading: 335.245999 deg. 2025-01-08T22:00:11.628Z,1736373611.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851147 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:11.700Z,1736373611.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:11.701Z,1736373611.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489521 2025-01-08T22:00:11.952Z,1736373611.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:11.952Z,1736373611.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741305 2025-01-08T22:00:12.044Z,1736373612.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:12.051Z,1736373612.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:12.054Z,1736373612.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:12.073Z,1736373612.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 71.076683 m, bearing: 155.911432 deg, approach rate: 0.579065 m/s, LOS rate: 0.025867 deg/s, cmd heading: 335.246011 deg, new cmd heading: 335.279373 deg. 2025-01-08T22:00:12.074Z,1736373612.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851729 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:12.206Z,1736373612.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:12.209Z,1736373612.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996827 2025-01-08T22:00:12.456Z,1736373612.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:12.457Z,1736373612.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245603 2025-01-08T22:00:12.460Z,1736373612.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:12.469Z,1736373612.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:12.473Z,1736373612.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 71.323715 m, bearing: 155.920370 deg, approach rate: 0.595636 m/s, LOS rate: 0.021478 deg/s, cmd heading: 335.279370 deg, new cmd heading: 335.306093 deg. 2025-01-08T22:00:12.474Z,1736373612.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852195 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:12.708Z,1736373612.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:12.709Z,1736373612.709 [DAT](INFO): DAT read: Rx Time:22:00:11.4471 2025-01-08T22:00:12.710Z,1736373612.710 [DAT](INFO): Rx dataTimestamp_ set to:1736373612.709657 2025-01-08T22:00:12.710Z,1736373612.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499391 2025-01-08T22:00:12.841Z,1736373612.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:12.849Z,1736373612.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:12.852Z,1736373612.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 71.550255 m, bearing: 155.928514 deg, approach rate: 0.595050 m/s, LOS rate: 0.021322 deg/s, cmd heading: 335.306089 deg, new cmd heading: 335.330441 deg. 2025-01-08T22:00:12.853Z,1736373612.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852620 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:12.960Z,1736373612.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:12.961Z,1736373612.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750096 2025-01-08T22:00:13.213Z,1736373613.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:13.226Z,1736373613.226 [DAT](INFO): DAT read: 22:00:11.4471 LVL= 26608, 32753, 29474, 32755, AGC= 71, IDX= 416,-0.12, 2.282, 0.617, 1.090, 1.532, PHS= 0.838,-0.868,-0.445, RAW= 103.8, 6.2, CAL= 114.0, 4.3, ROT= 36.0, -4.3 2025-01-08T22:00:13.228Z,1736373613.228 [DAT](INFO): got valid direction response: 22:00:11.4471 LVL= 26608, 32753, 29474, 32755, AGC= 71, IDX= 416,-0.12, 2.282, 0.617, 1.090, 1.532, PHS= 0.838,-0.868,-0.445, RAW= 103.8, 6.2, CAL= 114.0, 4.3, ROT= 36.0, -4.3 2025-01-08T22:00:13.228Z,1736373613.228 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:00:13.228Z,1736373613.228 [DAT](INFO): Received a bad header 2025-01-08T22:00:13.244Z,1736373613.244 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T22:00:13.245Z,1736373613.245 [DAT](INFO): direction in FSK: [-0.223288,-0.126181,0.966551] 2025-01-08T22:00:13.252Z,1736373613.252 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:13.253Z,1736373613.253 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:13.253Z,1736373613.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:13.354Z,1736373613.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:13.384Z,1736373613.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:13.391Z,1736373613.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 71.860146 m, bearing: 155.925574 deg, approach rate: 0.584704 m/s, LOS rate: -0.005523 deg/s, cmd heading: 335.330432 deg, new cmd heading: 335.321651 deg. 2025-01-08T22:00:13.392Z,1736373613.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852467 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:13.464Z,1736373613.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:13.464Z,1736373613.464 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:13.464Z,1736373613.464 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:13.464Z,1736373613.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:13.716Z,1736373613.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:13.716Z,1736373613.716 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:13.716Z,1736373613.716 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:13.716Z,1736373613.716 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:13.721Z,1736373613.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:13.730Z,1736373613.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:13.749Z,1736373613.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 72.081726 m, bearing: 155.925230 deg, approach rate: 0.632440 m/s, LOS rate: -0.000978 deg/s, cmd heading: 335.321662 deg, new cmd heading: 335.320634 deg. 2025-01-08T22:00:13.750Z,1736373613.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852449 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:13.968Z,1736373613.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:13.969Z,1736373613.969 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:13.969Z,1736373613.969 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:13.969Z,1736373613.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:14.125Z,1736373614.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:14.132Z,1736373614.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:14.134Z,1736373614.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:14.138Z,1736373614.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 72.325912 m, bearing: 155.925060 deg, approach rate: 0.603922 m/s, LOS rate: -0.000420 deg/s, cmd heading: 335.320624 deg, new cmd heading: 335.320115 deg. 2025-01-08T22:00:14.139Z,1736373614.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852440 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:14.221Z,1736373614.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:14.223Z,1736373614.223 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:14.225Z,1736373614.225 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:14.225Z,1736373614.225 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:14.472Z,1736373614.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:14.473Z,1736373614.473 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:14.473Z,1736373614.473 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:14.473Z,1736373614.473 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:14.583Z,1736373614.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:14.613Z,1736373614.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:14.621Z,1736373614.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 72.611763 m, bearing: 155.910319 deg, approach rate: 0.596409 m/s, LOS rate: -0.030633 deg/s, cmd heading: 335.320105 deg, new cmd heading: 335.276058 deg. 2025-01-08T22:00:14.622Z,1736373614.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851671 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:14.725Z,1736373614.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:14.725Z,1736373614.725 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:14.726Z,1736373614.726 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:14.726Z,1736373614.726 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:14.956Z,1736373614.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:14.964Z,1736373614.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:14.967Z,1736373614.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 72.845284 m, bearing: 155.898513 deg, approach rate: 0.665386 m/s, LOS rate: -0.033533 deg/s, cmd heading: 335.276064 deg, new cmd heading: 335.240758 deg. 2025-01-08T22:00:14.968Z,1736373614.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851055 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:14.977Z,1736373614.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:14.978Z,1736373614.978 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:14.978Z,1736373614.978 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:14.978Z,1736373614.978 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:15.230Z,1736373615.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:15.231Z,1736373615.231 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:15.232Z,1736373615.232 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:15.232Z,1736373615.232 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:15.368Z,1736373615.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:15.396Z,1736373615.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:15.399Z,1736373615.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 73.117271 m, bearing: 155.866656 deg, approach rate: 0.629683 m/s, LOS rate: -0.073479 deg/s, cmd heading: 335.240766 deg, new cmd heading: 335.145549 deg. 2025-01-08T22:00:15.445Z,1736373615.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849393 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:15.480Z,1736373615.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:15.480Z,1736373615.480 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:15.480Z,1736373615.480 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:15.481Z,1736373615.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:15.732Z,1736373615.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:15.733Z,1736373615.733 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:15.733Z,1736373615.733 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:15.733Z,1736373615.733 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:15.794Z,1736373615.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:15.804Z,1736373615.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:15.806Z,1736373615.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 73.398170 m, bearing: 155.833715 deg, approach rate: 0.691337 m/s, LOS rate: -0.080761 deg/s, cmd heading: 335.145553 deg, new cmd heading: 335.047110 deg. 2025-01-08T22:00:15.808Z,1736373615.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847675 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:15.984Z,1736373615.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:15.984Z,1736373615.984 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:15.984Z,1736373615.984 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:15.984Z,1736373615.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:16.184Z,1736373616.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:16.192Z,1736373616.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:16.194Z,1736373616.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:16.202Z,1736373616.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 73.655922 m, bearing: 155.803712 deg, approach rate: 0.658578 m/s, LOS rate: -0.076393 deg/s, cmd heading: 335.047116 deg, new cmd heading: 334.957421 deg. 2025-01-08T22:00:16.203Z,1736373616.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846110 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:16.237Z,1736373616.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:16.239Z,1736373616.239 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:16.240Z,1736373616.240 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:16.240Z,1736373616.240 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:16.488Z,1736373616.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:16.488Z,1736373616.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:16.488Z,1736373616.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:16.488Z,1736373616.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:16.587Z,1736373616.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:16.596Z,1736373616.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:16.598Z,1736373616.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 73.931084 m, bearing: 155.756256 deg, approach rate: 0.686023 m/s, LOS rate: -0.117874 deg/s, cmd heading: 334.957422 deg, new cmd heading: 334.815585 deg. 2025-01-08T22:00:16.599Z,1736373616.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843634 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:16.740Z,1736373616.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:16.740Z,1736373616.740 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:16.740Z,1736373616.740 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:16.741Z,1736373616.741 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:16.993Z,1736373616.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:16.993Z,1736373616.993 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:16.993Z,1736373616.993 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:16.993Z,1736373616.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:17.059Z,1736373617.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:17.077Z,1736373617.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:17.080Z,1736373617.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 74.254189 m, bearing: 155.700834 deg, approach rate: 0.670861 m/s, LOS rate: -0.114572 deg/s, cmd heading: 334.815573 deg, new cmd heading: 334.650030 deg. 2025-01-08T22:00:17.081Z,1736373617.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840745 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:17.245Z,1736373617.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:17.247Z,1736373617.247 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:17.248Z,1736373617.248 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:17.248Z,1736373617.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:17.457Z,1736373617.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:17.465Z,1736373617.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:17.473Z,1736373617.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 74.530067 m, bearing: 155.636135 deg, approach rate: 0.709994 m/s, LOS rate: -0.165890 deg/s, cmd heading: 334.650036 deg, new cmd heading: 334.456660 deg. 2025-01-08T22:00:17.474Z,1736373617.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837370 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:17.496Z,1736373617.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:17.496Z,1736373617.496 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:17.496Z,1736373617.496 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:17.497Z,1736373617.497 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:17.748Z,1736373617.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:17.748Z,1736373617.748 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:17.748Z,1736373617.748 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:17.748Z,1736373617.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:17.874Z,1736373617.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:17.882Z,1736373617.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:17.885Z,1736373617.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 74.819092 m, bearing: 155.568579 deg, approach rate: 0.692938 m/s, LOS rate: -0.161340 deg/s, cmd heading: 334.456660 deg, new cmd heading: 334.254776 deg. 2025-01-08T22:00:17.887Z,1736373617.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833847 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:17.000Z,1736373618.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:18.000Z,1736373618.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:18.000Z,1736373618.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:18.000Z,1736373618.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:18.254Z,1736373618.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:18.255Z,1736373618.255 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:18.256Z,1736373618.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:18.256Z,1736373618.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:18.390Z,1736373618.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:18.397Z,1736373618.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:18.399Z,1736373618.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:18.402Z,1736373618.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 75.181686 m, bearing: 155.481985 deg, approach rate: 0.702188 m/s, LOS rate: -0.166888 deg/s, cmd heading: 334.254787 deg, new cmd heading: 333.996257 deg. 2025-01-08T22:00:18.404Z,1736373618.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829334 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:18.504Z,1736373618.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:18.505Z,1736373618.505 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:18.505Z,1736373618.505 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:18.505Z,1736373618.505 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:18.685Z,1736373618.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:18.694Z,1736373618.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:18.698Z,1736373618.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 75.389259 m, bearing: 155.432364 deg, approach rate: 0.701886 m/s, LOS rate: -0.167325 deg/s, cmd heading: 333.996250 deg, new cmd heading: 333.847798 deg. 2025-01-08T22:00:18.699Z,1736373618.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826743 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:18.757Z,1736373618.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:18.757Z,1736373618.757 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:18.757Z,1736373618.757 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:18.758Z,1736373618.758 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:19.009Z,1736373619.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:19.009Z,1736373619.009 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:19.009Z,1736373619.009 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:19.010Z,1736373619.010 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:00:19.136Z,1736373619.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:19.146Z,1736373619.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:19.148Z,1736373619.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 75.705650 m, bearing: 155.356819 deg, approach rate: 0.701420 m/s, LOS rate: -0.166779 deg/s, cmd heading: 333.847789 deg, new cmd heading: 333.622102 deg. 2025-01-08T22:00:19.149Z,1736373619.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822804 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:19.262Z,1736373619.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:19.264Z,1736373619.264 [DAT](INFO): Reached modem response timeout 2025-01-08T22:00:19.264Z,1736373619.264 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:00:19.265Z,1736373619.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:19.512Z,1736373619.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:19.512Z,1736373619.512 [DAT](INFO): Reached modem response timeout 2025-01-08T22:00:19.512Z,1736373619.512 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:00:19.513Z,1736373619.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:19.519Z,1736373619.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:19.564Z,1736373619.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:19.567Z,1736373619.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 75.979019 m, bearing: 155.290678 deg, approach rate: 0.652963 m/s, LOS rate: -0.157414 deg/s, cmd heading: 333.622093 deg, new cmd heading: 333.424385 deg. 2025-01-08T22:00:19.572Z,1736373619.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819353 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:19.766Z,1736373619.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:19.767Z,1736373619.767 [DAT](INFO): Reached modem response timeout 2025-01-08T22:00:19.767Z,1736373619.767 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:00:19.768Z,1736373619.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:19.898Z,1736373619.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:19.928Z,1736373619.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:19.930Z,1736373619.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 76.249207 m, bearing: 155.224534 deg, approach rate: 0.752052 m/s, LOS rate: -0.183455 deg/s, cmd heading: 333.424372 deg, new cmd heading: 333.226645 deg. 2025-01-08T22:00:19.938Z,1736373619.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815902 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:20.016Z,1736373620.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:20.017Z,1736373620.017 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:00:20.018Z,1736373620.018 [DAT](INFO): response not received 2025-01-08T22:00:20.018Z,1736373620.018 [DAT](INFO): DAT read: user:2214> 2025-01-08T22:00:20.020Z,1736373620.020 [DAT](INFO): DAT read: Tx time:22:00:19.3412 2025-01-08T22:00:20.021Z,1736373620.021 [DAT](INFO): Ping request sent. 2025-01-08T22:00:20.021Z,1736373620.021 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:00:20.021Z,1736373620.021 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:20.027Z,1736373620.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002198 2025-01-08T22:00:20.268Z,1736373620.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:20.269Z,1736373620.269 [DAT](INFO): DAT read: TxSync time:22:00:19.3404 2025-01-08T22:00:20.270Z,1736373620.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248975 2025-01-08T22:00:20.394Z,1736373620.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:20.422Z,1736373620.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:20.429Z,1736373620.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:20.436Z,1736373620.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 76.604240 m, bearing: 155.149599 deg, approach rate: 0.702721 m/s, LOS rate: -0.147633 deg/s, cmd heading: 333.226652 deg, new cmd heading: 333.002889 deg. 2025-01-08T22:00:20.438Z,1736373620.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811997 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:20.521Z,1736373620.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:20.522Z,1736373620.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501081 2025-01-08T22:00:20.733Z,1736373620.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:20.750Z,1736373620.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:20.758Z,1736373620.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 76.846565 m, bearing: 155.098405 deg, approach rate: 0.754610 m/s, LOS rate: -0.158917 deg/s, cmd heading: 333.002895 deg, new cmd heading: 332.849798 deg. 2025-01-08T22:00:20.763Z,1736373620.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809325 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:20.772Z,1736373620.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:20.773Z,1736373620.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752227 2025-01-08T22:00:20.959Z,1736373620.959 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:00:21.024Z,1736373621.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:21.026Z,1736373621.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005361 2025-01-08T22:00:21.151Z,1736373621.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:21.164Z,1736373621.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:21.166Z,1736373621.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 77.133827 m, bearing: 155.037959 deg, approach rate: 0.694473 m/s, LOS rate: -0.145586 deg/s, cmd heading: 332.849790 deg, new cmd heading: 332.669129 deg. 2025-01-08T22:00:21.167Z,1736373621.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806171 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:21.278Z,1736373621.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:21.281Z,1736373621.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259943 2025-01-08T22:00:21.528Z,1736373621.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:21.529Z,1736373621.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508031 2025-01-08T22:00:21.554Z,1736373621.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:21.589Z,1736373621.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:21.596Z,1736373621.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 77.419807 m, bearing: 154.984572 deg, approach rate: 0.681783 m/s, LOS rate: -0.126807 deg/s, cmd heading: 332.669117 deg, new cmd heading: 332.509546 deg. 2025-01-08T22:00:21.597Z,1736373621.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803386 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:21.780Z,1736373621.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:21.780Z,1736373621.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759893 2025-01-08T22:00:21.932Z,1736373621.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:21.958Z,1736373621.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:21.965Z,1736373621.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 77.677322 m, bearing: 154.936754 deg, approach rate: 0.686862 m/s, LOS rate: -0.127119 deg/s, cmd heading: 332.509537 deg, new cmd heading: 332.366561 deg. 2025-01-08T22:00:21.966Z,1736373621.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800891 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:22.033Z,1736373622.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:22.034Z,1736373622.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012954 2025-01-08T22:00:22.284Z,1736373622.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:22.286Z,1736373622.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264698 2025-01-08T22:00:22.430Z,1736373622.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:22.464Z,1736373622.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:22.473Z,1736373622.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:22.479Z,1736373622.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 78.008377 m, bearing: 154.894585 deg, approach rate: 0.643213 m/s, LOS rate: -0.081585 deg/s, cmd heading: 332.366567 deg, new cmd heading: 332.240595 deg. 2025-01-08T22:00:22.480Z,1736373622.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798692 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:22.537Z,1736373622.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:22.538Z,1736373622.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517102 2025-01-08T22:00:22.754Z,1736373622.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:22.779Z,1736373622.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:22.782Z,1736373622.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 78.223167 m, bearing: 154.866695 deg, approach rate: 0.739384 m/s, LOS rate: -0.095743 deg/s, cmd heading: 332.240591 deg, new cmd heading: 332.157152 deg. 2025-01-08T22:00:22.783Z,1736373622.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797236 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:22.788Z,1736373622.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:22.789Z,1736373622.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768009 2025-01-08T22:00:23.040Z,1736373623.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:23.040Z,1736373623.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019937 2025-01-08T22:00:23.158Z,1736373623.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:23.173Z,1736373623.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:23.179Z,1736373623.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 78.491066 m, bearing: 154.831565 deg, approach rate: 0.655294 m/s, LOS rate: -0.085637 deg/s, cmd heading: 332.157154 deg, new cmd heading: 332.052123 deg. 2025-01-08T22:00:23.180Z,1736373623.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795403 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:23.293Z,1736373623.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:23.294Z,1736373623.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272684 2025-01-08T22:00:23.544Z,1736373623.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:23.544Z,1736373623.544 [DAT](INFO): DAT read: Rx Time:22:00:22.4028 2025-01-08T22:00:23.545Z,1736373623.545 [DAT](INFO): Rx dataTimestamp_ set to:1736373623.544539 2025-01-08T22:00:23.545Z,1736373623.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524840 2025-01-08T22:00:23.638Z,1736373623.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:23.650Z,1736373623.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:23.655Z,1736373623.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 78.794823 m, bearing: 154.812525 deg, approach rate: 0.635426 m/s, LOS rate: -0.039675 deg/s, cmd heading: 332.052133 deg, new cmd heading: 331.995234 deg. 2025-01-08T22:00:23.657Z,1736373623.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794410 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:23.796Z,1736373623.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:23.796Z,1736373623.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775863 2025-01-08T22:00:23.964Z,1736373623.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:23.991Z,1736373623.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.60 m. 2025-01-08T22:00:23.994Z,1736373623.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.600006 m, nav range: 79.001114 m, bearing: 154.799309 deg, approach rate: 0.605599 m/s, LOS rate: -0.038698 deg/s, cmd heading: 331.995224 deg, new cmd heading: 331.955678 deg. 2025-01-08T22:00:23.995Z,1736373623.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793720 target range: 490.600006 and range: 490.60 m. 2025-01-08T22:00:24.050Z,1736373624.050 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:24.052Z,1736373624.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031240 2025-01-08T22:00:24.300Z,1736373624.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:24.309Z,1736373624.309 [DAT](INFO): DAT read: 22:00:22.4028 LVL= 16240, 21201, 15570, 22339, AGC= 73, IDX= 8, 0.19, 1.354,-0.354, 0.162, 0.567, PHS= 0.875,-0.874,-0.407, RAW= 104.9, 5.2, CAL= 115.4, 3.0, ROT= 34.6, -3.0 2025-01-08T22:00:24.310Z,1736373624.310 [DAT](INFO): got valid direction response: 22:00:22.4028 LVL= 16240, 21201, 15570, 22339, AGC= 73, IDX= 8, 0.19, 1.354,-0.354, 0.162, 0.567, PHS= 0.875,-0.874,-0.407, RAW= 104.9, 5.2, CAL= 115.4, 3.0, ROT= 34.6, -3.0 2025-01-08T22:00:24.311Z,1736373624.311 [DAT](INFO): DAT read: Bearing 34.6, -3.0 (Local) 2025-01-08T22:00:24.327Z,1736373624.327 [DAT](INFO): Local bearing/azimuth received: Bearing 34.6, -3.0 (Local) 2025-01-08T22:00:24.329Z,1736373624.329 [DAT](INFO): DAT read: Range 10 to 50 : 493.0 m (Round-trip 657.4 ms) speed 0.3 m/s 2025-01-08T22:00:24.330Z,1736373624.330 [DAT](INFO): DAT read: user:2215> 2025-01-08T22:00:24.331Z,1736373624.331 [DAT](INFO): DAT read: Tx time:22:00:23.4913 2025-01-08T22:00:24.331Z,1736373624.331 [DAT](INFO): Ping request sent. 2025-01-08T22:00:24.331Z,1736373624.331 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:00:24.354Z,1736373624.354 [DAT](INFO): DAT read: TxSync time:22:00:23.4905 2025-01-08T22:00:24.364Z,1736373624.364 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:00:24.392Z,1736373624.392 [DAT](INFO): direction in FSK: [-0.206050,-0.148038,0.967279] 2025-01-08T22:00:24.393Z,1736373624.393 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:24.393Z,1736373624.393 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:24.407Z,1736373624.407 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:24.416Z,1736373624.416 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:24.518Z,1736373624.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:24.550Z,1736373624.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 493.000000 m, deltaT: 15.117823 s, deltaX: 2.399994 m, approachRate: 0.158753 m/s, rangeRepo size: 4 2025-01-08T22:00:24.552Z,1736373624.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:24.556Z,1736373624.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 493.000000 m, bearing: 210.815217 deg, lat: 36.899531 deg, lon: -122.121029 deg, deltaT: 15.117823 s, deltaX: 2.399994 m, approachRate: 0.158753 m/s, posRepo size: 4 2025-01-08T22:00:24.557Z,1736373624.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T22:00:24.572Z,1736373624.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 82.464691 m, bearing: 197.249378 deg, approach rate: 0.000000 m/s, LOS rate: -0.038698 deg/s, cmd heading: 331.955690 deg, new cmd heading: 331.890840 deg. 2025-01-08T22:00:24.576Z,1736373624.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792588 target range: 493.000000 and range: 493.00 m. 2025-01-08T22:00:24.805Z,1736373624.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:24.897Z,1736373624.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:24.912Z,1736373624.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:24.914Z,1736373624.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T22:00:24.917Z,1736373624.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 82.636101 m, bearing: 197.141632 deg, approach rate: 0.469344 m/s, LOS rate: -0.294411 deg/s, cmd heading: 331.890831 deg, new cmd heading: 331.568268 deg. 2025-01-08T22:00:24.918Z,1736373624.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786958 target range: 493.000000 and range: 493.00 m. 2025-01-08T22:00:25.056Z,1736373625.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:25.057Z,1736373625.057 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:25.057Z,1736373625.057 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:25.057Z,1736373625.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:25.268Z,1736373625.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:25.278Z,1736373625.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T22:00:25.280Z,1736373625.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 82.804230 m, bearing: 197.036559 deg, approach rate: 0.462866 m/s, LOS rate: -0.288681 deg/s, cmd heading: 331.568255 deg, new cmd heading: 331.253681 deg. 2025-01-08T22:00:25.281Z,1736373625.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781467 target range: 493.000000 and range: 493.00 m. 2025-01-08T22:00:25.308Z,1736373625.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:25.309Z,1736373625.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977651 2025-01-08T22:00:25.560Z,1736373625.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:25.560Z,1736373625.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229401 2025-01-08T22:00:25.698Z,1736373625.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:25.709Z,1736373625.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T22:00:25.712Z,1736373625.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 83.006737 m, bearing: 196.930262 deg, approach rate: 0.469551 m/s, LOS rate: -0.245868 deg/s, cmd heading: 331.253684 deg, new cmd heading: 330.935574 deg. 2025-01-08T22:00:25.713Z,1736373625.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775915 target range: 493.000000 and range: 493.00 m. 2025-01-08T22:00:25.812Z,1736373625.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:25.813Z,1736373625.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481837 2025-01-08T22:00:26.062Z,1736373626.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:26.064Z,1736373626.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:26.065Z,1736373626.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733579 2025-01-08T22:00:26.072Z,1736373626.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T22:00:26.075Z,1736373626.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 83.178284 m, bearing: 196.841094 deg, approach rate: 0.472349 m/s, LOS rate: -0.245016 deg/s, cmd heading: 330.935561 deg, new cmd heading: 330.668609 deg. 2025-01-08T22:00:26.102Z,1736373626.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771256 target range: 493.000000 and range: 493.00 m. 2025-01-08T22:00:26.318Z,1736373626.318 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:26.321Z,1736373626.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989534 2025-01-08T22:00:26.517Z,1736373626.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:26.526Z,1736373626.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T22:00:26.530Z,1736373626.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 83.388229 m, bearing: 196.739437 deg, approach rate: 0.462166 m/s, LOS rate: -0.223219 deg/s, cmd heading: 330.668610 deg, new cmd heading: 330.364410 deg. 2025-01-08T22:00:26.530Z,1736373626.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765947 target range: 493.000000 and range: 493.00 m. 2025-01-08T22:00:26.568Z,1736373626.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:26.570Z,1736373626.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238651 2025-01-08T22:00:26.820Z,1736373626.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:26.821Z,1736373626.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490281 2025-01-08T22:00:26.880Z,1736373626.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:26.890Z,1736373626.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T22:00:26.905Z,1736373626.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 83.556038 m, bearing: 196.658819 deg, approach rate: 0.461988 m/s, LOS rate: -0.221502 deg/s, cmd heading: 330.364420 deg, new cmd heading: 330.123052 deg. 2025-01-08T22:00:26.906Z,1736373626.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761734 target range: 493.000000 and range: 493.00 m. 2025-01-08T22:00:27.072Z,1736373627.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:27.072Z,1736373627.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741321 2025-01-08T22:00:27.272Z,1736373627.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:27.278Z,1736373627.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:27.280Z,1736373627.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T22:00:27.283Z,1736373627.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 83.736908 m, bearing: 196.572168 deg, approach rate: 0.462938 m/s, LOS rate: -0.221304 deg/s, cmd heading: 330.123041 deg, new cmd heading: 329.863653 deg. 2025-01-08T22:00:27.284Z,1736373627.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757207 target range: 493.000000 and range: 493.00 m. 2025-01-08T22:00:27.324Z,1736373627.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:27.325Z,1736373627.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993731 2025-01-08T22:00:27.576Z,1736373627.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:27.576Z,1736373627.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245462 2025-01-08T22:00:27.714Z,1736373627.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:27.742Z,1736373627.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T22:00:27.749Z,1736373627.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 83.943108 m, bearing: 196.474848 deg, approach rate: 0.446078 m/s, LOS rate: -0.210018 deg/s, cmd heading: 329.863658 deg, new cmd heading: 329.572418 deg. 2025-01-08T22:00:27.750Z,1736373627.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752124 target range: 493.000000 and range: 493.00 m. 2025-01-08T22:00:27.828Z,1736373627.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:27.829Z,1736373627.829 [DAT](INFO): DAT read: Rx Time:22:00:26.5390 2025-01-08T22:00:27.829Z,1736373627.829 [DAT](INFO): Rx dataTimestamp_ set to:1736373627.828917 2025-01-08T22:00:27.830Z,1736373627.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498784 2025-01-08T22:00:28.080Z,1736373628.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:28.082Z,1736373628.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750959 2025-01-08T22:00:28.098Z,1736373628.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:28.135Z,1736373628.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 493.00 m. 2025-01-08T22:00:28.149Z,1736373628.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 493.000000 m, nav range: 84.121597 m, bearing: 196.390536 deg, approach rate: 0.454834 m/s, LOS rate: -0.214391 deg/s, cmd heading: 329.572419 deg, new cmd heading: 329.320021 deg. 2025-01-08T22:00:28.150Z,1736373628.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747719 target range: 493.000000 and range: 493.00 m. 2025-01-08T22:00:28.332Z,1736373628.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:28.339Z,1736373628.339 [DAT](INFO): DAT read: 22:00:26.5390 LVL= 20624, 30433, 23282, 32755, AGC= 69, IDX= 420,-0.13, 0.574,-0.920,-0.570,-0.273, PHS= 0.935,-0.599,-0.300, RAW= 100.6, -0.5, CAL= 109.8, -5.5, ROT= 40.2, 5.5 2025-01-08T22:00:28.340Z,1736373628.340 [DAT](INFO): got valid direction response: 22:00:26.5390 LVL= 20624, 30433, 23282, 32755, AGC= 69, IDX= 420,-0.13, 0.574,-0.920,-0.570,-0.273, PHS= 0.935,-0.599,-0.300, RAW= 100.6, -0.5, CAL= 109.8, -5.5, ROT= 40.2, 5.5 2025-01-08T22:00:28.341Z,1736373628.341 [DAT](INFO): DAT read: Bearing 40.2, 5.5 (Local) 2025-01-08T22:00:28.341Z,1736373628.341 [DAT](INFO): Local bearing/azimuth received: Bearing 40.2, 5.5 (Local) 2025-01-08T22:00:28.342Z,1736373628.342 [DAT](INFO): DAT read: Range 10 to 50 : 482.7 m (Round-trip 643.6 ms) speed 0.4 m/s 2025-01-08T22:00:28.346Z,1736373628.346 [DAT](INFO): DAT read: use7.6413 2025-01-08T22:00:28.346Z,1736373628.346 [DAT](INFO): unknown deviceResponse_: use7.6413 2025-01-08T22:00:28.347Z,1736373628.347 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:00:28.348Z,1736373628.348 [DAT](INFO): direction in FSK: [-0.090838,-0.078502,0.992767] 2025-01-08T22:00:28.348Z,1736373628.348 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:28.351Z,1736373628.351 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:28.351Z,1736373628.351 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:28.352Z,1736373628.352 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:28.542Z,1736373628.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:28.577Z,1736373628.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 482.700012 m, deltaT: 4.032010 s, deltaX: -10.299988 m, approachRate: -2.554554 m/s, rangeRepo size: 4 2025-01-08T22:00:28.584Z,1736373628.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:28.584Z,1736373628.584 [DAT](INFO): DAT read: TxSync time:22:00:27.6405 2025-01-08T22:00:28.585Z,1736373628.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.254290 2025-01-08T22:00:28.587Z,1736373628.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 482.700012 m, bearing: 230.119202 deg, lat: 36.899531 deg, lon: -122.121481 deg, deltaT: 4.032010 s, deltaX: -10.299988 m, approachRate: -2.554554 m/s, posRepo size: 4 2025-01-08T22:00:28.592Z,1736373628.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.70 m. 2025-01-08T22:00:28.594Z,1736373628.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.700012 m, nav range: 103.113586 m, bearing: 218.284826 deg, approach rate: 0.000000 m/s, LOS rate: -0.214391 deg/s, cmd heading: 329.320030 deg, new cmd heading: 329.036046 deg. 2025-01-08T22:00:28.601Z,1736373628.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742763 target range: 482.700012 and range: 482.70 m. 2025-01-08T22:00:28.740Z,1736373628.740 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:00:28.837Z,1736373628.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:28.838Z,1736373628.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.507106 2025-01-08T22:00:28.893Z,1736373628.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:28.902Z,1736373628.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.70 m. 2025-01-08T22:00:28.906Z,1736373628.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.700012 m, nav range: 103.212746 m, bearing: 218.188593 deg, approach rate: 0.304482 m/s, LOS rate: -0.295211 deg/s, cmd heading: 329.036058 deg, new cmd heading: 328.747641 deg. 2025-01-08T22:00:28.907Z,1736373628.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737729 target range: 482.700012 and range: 482.70 m. 2025-01-08T22:00:29.088Z,1736373629.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:29.089Z,1736373629.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.757615 2025-01-08T22:00:29.101Z,1736373629.101 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:00:29.304Z,1736373629.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:29.311Z,1736373629.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:29.313Z,1736373629.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.70 m. 2025-01-08T22:00:29.332Z,1736373629.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.700012 m, nav range: 103.327423 m, bearing: 218.075595 deg, approach rate: 0.278785 m/s, LOS rate: -0.274398 deg/s, cmd heading: 328.747633 deg, new cmd heading: 328.409018 deg. 2025-01-08T22:00:29.333Z,1736373629.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731819 target range: 482.700012 and range: 482.70 m. 2025-01-08T22:00:29.340Z,1736373629.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:29.340Z,1736373629.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.009537 2025-01-08T22:00:29.592Z,1736373629.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:29.593Z,1736373629.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.261890 2025-01-08T22:00:29.744Z,1736373629.744 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:00:29.756Z,1736373629.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:29.765Z,1736373629.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.70 m. 2025-01-08T22:00:29.768Z,1736373629.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.700012 m, nav range: 103.436493 m, bearing: 217.946200 deg, approach rate: 0.241561 m/s, LOS rate: -0.286274 deg/s, cmd heading: 328.409019 deg, new cmd heading: 328.021250 deg. 2025-01-08T22:00:29.769Z,1736373629.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725051 target range: 482.700012 and range: 482.70 m. 2025-01-08T22:00:29.844Z,1736373629.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:29.845Z,1736373629.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.513584 2025-01-08T22:00:30.097Z,1736373630.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:30.098Z,1736373630.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.766847 2025-01-08T22:00:30.184Z,1736373630.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:30.196Z,1736373630.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.70 m. 2025-01-08T22:00:30.198Z,1736373630.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.700012 m, nav range: 103.548500 m, bearing: 217.814252 deg, approach rate: 0.260193 m/s, LOS rate: -0.306184 deg/s, cmd heading: 328.021256 deg, new cmd heading: 327.625847 deg. 2025-01-08T22:00:30.199Z,1736373630.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718150 target range: 482.700012 and range: 482.70 m. 2025-01-08T22:00:30.348Z,1736373630.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:30.350Z,1736373630.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.018895 2025-01-08T22:00:30.582Z,1736373630.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:30.601Z,1736373630.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:30.602Z,1736373630.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.271075 2025-01-08T22:00:30.622Z,1736373630.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.70 m. 2025-01-08T22:00:30.629Z,1736373630.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.700012 m, nav range: 103.624146 m, bearing: 217.681171 deg, approach rate: 0.177466 m/s, LOS rate: -0.311983 deg/s, cmd heading: 327.625842 deg, new cmd heading: 327.226897 deg. 2025-01-08T22:00:30.630Z,1736373630.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711187 target range: 482.700012 and range: 482.70 m. 2025-01-08T22:00:30.853Z,1736373630.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:30.854Z,1736373630.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.522808 2025-01-08T22:00:31.051Z,1736373631.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:31.061Z,1736373631.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.70 m. 2025-01-08T22:00:31.064Z,1736373631.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.700012 m, nav range: 103.712006 m, bearing: 217.524394 deg, approach rate: 0.200141 m/s, LOS rate: -0.356827 deg/s, cmd heading: 327.226905 deg, new cmd heading: 326.756982 deg. 2025-01-08T22:00:31.064Z,1736373631.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702985 target range: 482.700012 and range: 482.70 m. 2025-01-08T22:00:31.104Z,1736373631.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:31.105Z,1736373631.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.773845 2025-01-08T22:00:31.356Z,1736373631.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:31.356Z,1736373631.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.025518 2025-01-08T22:00:31.557Z,1736373631.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:31.564Z,1736373631.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:31.566Z,1736373631.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.70 m. 2025-01-08T22:00:31.569Z,1736373631.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.700012 m, nav range: 103.789330 m, bearing: 217.336938 deg, approach rate: 0.153131 m/s, LOS rate: -0.370957 deg/s, cmd heading: 326.756988 deg, new cmd heading: 326.195058 deg. 2025-01-08T22:00:31.570Z,1736373631.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693178 target range: 482.700012 and range: 482.70 m. 2025-01-08T22:00:31.609Z,1736373631.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:31.610Z,1736373631.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.278705 2025-01-08T22:00:31.860Z,1736373631.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:31.860Z,1736373631.860 [DAT](INFO): DAT read: Rx Time:22:00:30.6869 2025-01-08T22:00:31.861Z,1736373631.861 [DAT](INFO): Rx dataTimestamp_ set to:1736373631.860610 2025-01-08T22:00:31.861Z,1736373631.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.530472 2025-01-08T22:00:31.877Z,1736373631.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:31.886Z,1736373631.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.70 m. 2025-01-08T22:00:31.929Z,1736373631.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.700012 m, nav range: 103.838959 m, bearing: 217.218154 deg, approach rate: 0.155035 m/s, LOS rate: -0.370887 deg/s, cmd heading: 326.195054 deg, new cmd heading: 325.838879 deg. 2025-01-08T22:00:31.930Z,1736373631.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686961 target range: 482.700012 and range: 482.70 m. 2025-01-08T22:00:32.112Z,1736373632.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:32.112Z,1736373632.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.781460 2025-01-08T22:00:32.267Z,1736373632.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:32.276Z,1736373632.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.70 m. 2025-01-08T22:00:32.278Z,1736373632.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 482.700012 m, nav range: 103.894249 m, bearing: 217.073332 deg, approach rate: 0.141908 m/s, LOS rate: -0.371502 deg/s, cmd heading: 325.838874 deg, new cmd heading: 325.404647 deg. 2025-01-08T22:00:32.280Z,1736373632.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679382 target range: 482.700012 and range: 482.70 m. 2025-01-08T22:00:32.366Z,1736373632.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:32.368Z,1736373632.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.037009 2025-01-08T22:00:32.616Z,1736373632.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:32.626Z,1736373632.626 [DAT](INFO): DAT read: 22:00:30.6869 LVL= 19728, 32753, 28562, 32755, AGC= 70, IDX= 421, 0.11, 2.164, 0.311, 0.690, 1.164, PHS= 1.087,-0.806,-0.477, RAW= 99.4, 2.3, CAL= 109.7, 0.1, ROT= 40.3, -0.1 2025-01-08T22:00:32.627Z,1736373632.627 [DAT](INFO): got valid direction response: 22:00:30.6869 LVL= 19728, 32753, 28562, 32755, AGC= 70, IDX= 421, 0.11, 2.164, 0.311, 0.690, 1.164, PHS= 1.087,-0.806,-0.477, RAW= 99.4, 2.3, CAL= 109.7, 0.1, ROT= 40.3, -0.1 2025-01-08T22:00:32.628Z,1736373632.628 [DAT](INFO): DAT read: Bearing 40.3, -0.1 (Local) 2025-01-08T22:00:32.629Z,1736373632.629 [DAT](INFO): Local bearing/azimuth received: Bearing 40.3, -0.1 (Local) 2025-01-08T22:00:32.630Z,1736373632.630 [DAT](INFO): DAT read: Range 10 to 50 : 481.1 m (Round-trip 641.5 ms) speed 0.2 m/s 2025-01-08T22:00:32.631Z,1736373632.631 [DAT](INFO): DAT read: user:2217> 2025-01-08T22:00:32.632Z,1736373632.632 [DAT](INFO): DAT read: Tx time:22:00:31.7913 2025-01-08T22:00:32.632Z,1736373632.632 [DAT](INFO): Ping request sent. 2025-01-08T22:00:32.632Z,1736373632.632 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:00:32.633Z,1736373632.633 [DAT](INFO): DAT read: TxSync time:22:00:31.7905 2025-01-08T22:00:32.634Z,1736373632.634 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:00:32.634Z,1736373632.634 [DAT](INFO): direction in FSK: [-0.142439,-0.053677,0.988347] 2025-01-08T22:00:32.635Z,1736373632.635 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:32.635Z,1736373632.635 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:32.639Z,1736373632.639 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:32.640Z,1736373632.640 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:32.868Z,1736373632.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:32.868Z,1736373632.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:32.900Z,1736373632.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 481.100006 m, deltaT: 4.285042 s, deltaX: -1.600006 m, approachRate: -0.373393 m/s, rangeRepo size: 4 2025-01-08T22:00:32.903Z,1736373632.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 481.100006 m, bearing: 205.792341 deg, lat: 36.899531 deg, lon: -122.121481 deg, deltaT: 4.285042 s, deltaX: -1.600006 m, approachRate: -0.373393 m/s, posRepo size: 4 2025-01-08T22:00:32.908Z,1736373632.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:32.910Z,1736373632.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 103.938042 m, bearing: 216.826439 deg, approach rate: 0.000000 m/s, LOS rate: -0.371502 deg/s, cmd heading: 325.404637 deg, new cmd heading: 324.713665 deg. 2025-01-08T22:00:32.916Z,1736373632.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667323 target range: 481.100006 and range: 481.10 m. 2025-01-08T22:00:33.121Z,1736373633.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:33.316Z,1736373633.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:33.349Z,1736373633.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:33.356Z,1736373633.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 103.969803 m, bearing: 216.638911 deg, approach rate: 0.070032 m/s, LOS rate: -0.413363 deg/s, cmd heading: 324.713668 deg, new cmd heading: 324.151277 deg. 2025-01-08T22:00:33.357Z,1736373633.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657507 target range: 481.100006 and range: 481.10 m. 2025-01-08T22:00:33.372Z,1736373633.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:33.624Z,1736373633.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:33.816Z,1736373633.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:33.824Z,1736373633.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:33.826Z,1736373633.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:33.829Z,1736373633.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 103.999565 m, bearing: 216.418188 deg, approach rate: 0.062382 m/s, LOS rate: -0.462502 deg/s, cmd heading: 324.151270 deg, new cmd heading: 323.489322 deg. 2025-01-08T22:00:33.830Z,1736373633.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645954 target range: 481.100006 and range: 481.10 m. 2025-01-08T22:00:33.876Z,1736373633.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:33.876Z,1736373633.876 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:33.876Z,1736373633.876 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:33.877Z,1736373633.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:34.128Z,1736373634.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:34.128Z,1736373634.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495808 2025-01-08T22:00:34.198Z,1736373634.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:34.206Z,1736373634.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:34.209Z,1736373634.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.019173 m, bearing: 216.249530 deg, approach rate: 0.051619 m/s, LOS rate: -0.443925 deg/s, cmd heading: 323.489316 deg, new cmd heading: 322.983451 deg. 2025-01-08T22:00:34.210Z,1736373634.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.637125 target range: 481.100006 and range: 481.10 m. 2025-01-08T22:00:34.380Z,1736373634.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:34.380Z,1736373634.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747927 2025-01-08T22:00:34.629Z,1736373634.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:34.632Z,1736373634.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:34.633Z,1736373634.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000155 2025-01-08T22:00:34.641Z,1736373634.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:34.646Z,1736373634.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.038971 m, bearing: 216.055959 deg, approach rate: 0.045474 m/s, LOS rate: -0.444520 deg/s, cmd heading: 322.983445 deg, new cmd heading: 322.402861 deg. 2025-01-08T22:00:34.648Z,1736373634.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626991 target range: 481.100006 and range: 481.10 m. 2025-01-08T22:00:34.884Z,1736373634.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:34.884Z,1736373634.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251901 2025-01-08T22:00:34.993Z,1736373634.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:35.003Z,1736373635.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:35.006Z,1736373635.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.054115 m, bearing: 215.892691 deg, approach rate: 0.041931 m/s, LOS rate: -0.451985 deg/s, cmd heading: 322.402851 deg, new cmd heading: 321.913131 deg. 2025-01-08T22:00:35.007Z,1736373635.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618444 target range: 481.100006 and range: 481.10 m. 2025-01-08T22:00:35.138Z,1736373635.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:35.139Z,1736373635.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506954 2025-01-08T22:00:35.388Z,1736373635.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:35.388Z,1736373635.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755863 2025-01-08T22:00:35.420Z,1736373635.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:35.438Z,1736373635.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:35.445Z,1736373635.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.069771 m, bearing: 215.701210 deg, approach rate: 0.035965 m/s, LOS rate: -0.439819 deg/s, cmd heading: 321.913127 deg, new cmd heading: 321.338791 deg. 2025-01-08T22:00:35.446Z,1736373635.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608420 target range: 481.100006 and range: 481.10 m. 2025-01-08T22:00:35.640Z,1736373635.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:35.640Z,1736373635.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007969 2025-01-08T22:00:35.892Z,1736373635.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:35.893Z,1736373635.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260768 2025-01-08T22:00:36.074Z,1736373636.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:36.089Z,1736373636.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:36.091Z,1736373636.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:36.098Z,1736373636.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.091316 m, bearing: 215.413439 deg, approach rate: 0.032989 m/s, LOS rate: -0.440519 deg/s, cmd heading: 321.338790 deg, new cmd heading: 320.475725 deg. 2025-01-08T22:00:36.098Z,1736373636.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593357 target range: 481.100006 and range: 481.10 m. 2025-01-08T22:00:36.144Z,1736373636.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:36.145Z,1736373636.145 [DAT](INFO): DAT read: Rx Time:22:00:34.8354 2025-01-08T22:00:36.145Z,1736373636.145 [DAT](INFO): Rx dataTimestamp_ set to:1736373636.144746 2025-01-08T22:00:36.146Z,1736373636.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513063 2025-01-08T22:00:36.396Z,1736373636.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:36.397Z,1736373636.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764351 2025-01-08T22:00:36.627Z,1736373636.627 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814014186,359, 0.0,1493.1, 0 2025-01-08T22:00:36.634Z,1736373636.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T22:00:36.634Z,1736373636.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:36.650Z,1736373636.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:36.661Z,1736373636.661 [DAT](INFO): DAT read: 22:00:34.8354 LVL= 18112, 27793, 18450, 28771, AGC= 70, IDX= 421, 0.33,-3.131, 1.211, 1.495, 2.004, PHS= 1.236,-0.746,-0.511, RAW= 96.2, 0.2, CAL= 105.0, -3.9, ROT= 45.0, 3.9 2025-01-08T22:00:36.663Z,1736373636.663 [DAT](INFO): got valid direction response: 22:00:34.8354 LVL= 18112, 27793, 18450, 28771, AGC= 70, IDX= 421, 0.33,-3.131, 1.211, 1.495, 2.004, PHS= 1.236,-0.746,-0.511, RAW= 96.2, 0.2, CAL= 105.0, -3.9, ROT= 45.0, 3.9 2025-01-08T22:00:36.665Z,1736373636.665 [DAT](INFO): DAT read: Bearing 45.0, 3.9 (Local) 2025-01-08T22:00:36.665Z,1736373636.665 [DAT](INFO): Local bearing/azimuth received: Bearing 45.0, 3.9 (Local) 2025-01-08T22:00:36.668Z,1736373636.668 [DAT](INFO): DAT read: Range 10 to 50 : 479.9 m (Round-trip 639.9 ms) speed 0.1 m/s 2025-01-08T22:00:36.669Z,1736373636.669 [DAT](INFO): DAT read: user:2218> 2025-01-08T22:00:36.670Z,1736373636.670 [DAT](INFO): DAT read: Tx time:22:00:35.9414 2025-01-08T22:00:36.671Z,1736373636.671 [DAT](INFO): Ping request sent. 2025-01-08T22:00:36.671Z,1736373636.671 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:00:36.687Z,1736373636.687 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:00:36.688Z,1736373636.688 [DAT](INFO): direction in FSK: [-0.099032,-0.000751,0.995084] 2025-01-08T22:00:36.689Z,1736373636.689 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:36.689Z,1736373636.689 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:36.693Z,1736373636.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 479.899994 m, deltaT: 4.034300 s, deltaX: -1.200012 m, approachRate: -0.297452 m/s, rangeRepo size: 4 2025-01-08T22:00:36.696Z,1736373636.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:36.698Z,1736373636.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.111877 m, bearing: 215.166871 deg, approach rate: 0.034154 m/s, LOS rate: -0.409488 deg/s, cmd heading: 320.475727 deg, new cmd heading: 319.736211 deg. 2025-01-08T22:00:36.704Z,1736373636.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580450 target range: 481.100006 and range: 479.90 m. 2025-01-08T22:00:36.717Z,1736373636.717 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:36.717Z,1736373636.717 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:36.900Z,1736373636.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:36.901Z,1736373636.901 [DAT](INFO): DAT read: TxSync time:22:00:35.9406 2025-01-08T22:00:37.000Z,1736373637.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:00:37.000Z,1736373637.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:37.026Z,1736373637.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:37.038Z,1736373637.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.121254 m, bearing: 215.005679 deg, approach rate: 0.028123 m/s, LOS rate: -0.483423 deg/s, cmd heading: 319.736209 deg, new cmd heading: 319.252687 deg. 2025-01-08T22:00:37.043Z,1736373637.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.572011 target range: 481.100006 and range: 479.90 m. 2025-01-08T22:00:37.153Z,1736373637.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:37.405Z,1736373637.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:37.414Z,1736373637.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:00:37.414Z,1736373637.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:37.428Z,1736373637.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:37.431Z,1736373637.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.129776 m, bearing: 214.823284 deg, approach rate: 0.021205 m/s, LOS rate: -0.453811 deg/s, cmd heading: 319.252686 deg, new cmd heading: 318.705565 deg. 2025-01-08T22:00:37.452Z,1736373637.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562461 target range: 481.100006 and range: 479.90 m. 2025-01-08T22:00:37.657Z,1736373637.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:37.838Z,1736373637.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:37.847Z,1736373637.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:37.866Z,1736373637.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.170128 m, bearing: 214.662159 deg, approach rate: 0.096421 m/s, LOS rate: -0.384860 deg/s, cmd heading: 318.705561 deg, new cmd heading: 318.222386 deg. 2025-01-08T22:00:37.867Z,1736373637.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554029 target range: 481.100006 and range: 479.90 m. 2025-01-08T22:00:37.909Z,1736373637.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:38.160Z,1736373638.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:38.215Z,1736373638.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:38.253Z,1736373638.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:38.261Z,1736373638.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:38.267Z,1736373638.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.205078 m, bearing: 214.518727 deg, approach rate: 0.084446 m/s, LOS rate: -0.346442 deg/s, cmd heading: 318.222393 deg, new cmd heading: 317.792249 deg. 2025-01-08T22:00:38.268Z,1736373638.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.546521 target range: 481.100006 and range: 479.90 m. 2025-01-08T22:00:38.412Z,1736373638.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:38.413Z,1736373638.413 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:38.413Z,1736373638.413 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:38.413Z,1736373638.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:38.664Z,1736373638.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:38.665Z,1736373638.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994782 2025-01-08T22:00:38.690Z,1736373638.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:38.724Z,1736373638.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:38.726Z,1736373638.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.275200 m, bearing: 214.356992 deg, approach rate: 0.152918 m/s, LOS rate: -0.352466 deg/s, cmd heading: 317.792255 deg, new cmd heading: 317.307389 deg. 2025-01-08T22:00:38.731Z,1736373638.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538059 target range: 481.100006 and range: 479.90 m. 2025-01-08T22:00:38.919Z,1736373638.919 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:38.921Z,1736373638.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249605 2025-01-08T22:00:39.037Z,1736373639.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:39.047Z,1736373639.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:39.050Z,1736373639.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.326965 m, bearing: 214.238935 deg, approach rate: 0.157779 m/s, LOS rate: -0.359653 deg/s, cmd heading: 317.307394 deg, new cmd heading: 316.953403 deg. 2025-01-08T22:00:39.051Z,1736373639.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531880 target range: 481.100006 and range: 479.90 m. 2025-01-08T22:00:39.168Z,1736373639.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:39.168Z,1736373639.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497678 2025-01-08T22:00:39.421Z,1736373639.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:39.422Z,1736373639.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751022 2025-01-08T22:00:39.516Z,1736373639.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:39.531Z,1736373639.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:39.534Z,1736373639.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.399261 m, bearing: 214.075907 deg, approach rate: 0.149474 m/s, LOS rate: -0.336831 deg/s, cmd heading: 316.953398 deg, new cmd heading: 316.464665 deg. 2025-01-08T22:00:39.535Z,1736373639.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523350 target range: 481.100006 and range: 479.90 m. 2025-01-08T22:00:39.672Z,1736373639.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:39.673Z,1736373639.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002457 2025-01-08T22:00:39.924Z,1736373639.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:39.924Z,1736373639.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253637 2025-01-08T22:00:40.024Z,1736373640.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:40.033Z,1736373640.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:40.035Z,1736373640.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.487022 m, bearing: 213.923346 deg, approach rate: 0.174940 m/s, LOS rate: -0.303855 deg/s, cmd heading: 316.464657 deg, new cmd heading: 316.007369 deg. 2025-01-08T22:00:40.037Z,1736373640.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515369 target range: 481.100006 and range: 479.90 m. 2025-01-08T22:00:40.176Z,1736373640.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:40.177Z,1736373640.177 [DAT](INFO): DAT read: Rx Time:22:00:38.9836 2025-01-08T22:00:40.177Z,1736373640.177 [DAT](INFO): Rx dataTimestamp_ set to:1736373640.176684 2025-01-08T22:00:40.177Z,1736373640.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506819 2025-01-08T22:00:40.404Z,1736373640.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:40.410Z,1736373640.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:40.412Z,1736373640.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.10 m. 2025-01-08T22:00:40.419Z,1736373640.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 481.100006 m, nav range: 104.551712 m, bearing: 213.809336 deg, approach rate: 0.170375 m/s, LOS rate: -0.300085 deg/s, cmd heading: 316.007363 deg, new cmd heading: 315.665549 deg. 2025-01-08T22:00:40.428Z,1736373640.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:40.428Z,1736373640.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757788 2025-01-08T22:00:40.441Z,1736373640.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509403 target range: 481.100006 and range: 479.90 m. 2025-01-08T22:00:40.682Z,1736373640.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:40.716Z,1736373640.716 [DAT](INFO): DAT read: 22:00:38.9836 LVL= 16880, 29361, 16834, 27283, AGC= 69, IDX= 419, 0.17, 0.368,-1.457,-1.389,-0.773, PHS= 1.229,-0.637,-0.619, RAW= 90.5, 0.3, CAL= 98.2, -3.7, ROT= 51.8, 3.7 2025-01-08T22:00:40.717Z,1736373640.717 [DAT](INFO): got valid direction response: 22:00:38.9836 LVL= 16880, 29361, 16834, 27283, AGC= 69, IDX= 419, 0.17, 0.368,-1.457,-1.389,-0.773, PHS= 1.229,-0.637,-0.619, RAW= 90.5, 0.3, CAL= 98.2, -3.7, ROT= 51.8, 3.7 2025-01-08T22:00:40.718Z,1736373640.718 [DAT](INFO): DAT read: Bearing 51.8, 3.7 (Local) 2025-01-08T22:00:40.718Z,1736373640.718 [DAT](INFO): Local bearing/azimuth received: Bearing 51.8, 3.7 (Local) 2025-01-08T22:00:40.721Z,1736373640.721 [DAT](INFO): DAT read: Range 10 to 50 : 478.5 m (Round-trip 638.1 ms) speed 0.5 m/s 2025-01-08T22:00:40.722Z,1736373640.722 [DAT](INFO): DAT read: user:2219> 2025-01-08T22:00:40.723Z,1736373640.723 [DAT](INFO): DAT read: Tx time:22:00:40.0914 2025-01-08T22:00:40.723Z,1736373640.723 [DAT](INFO): Ping request sent. 2025-01-08T22:00:40.723Z,1736373640.723 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:00:40.724Z,1736373640.724 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:00:40.725Z,1736373640.725 [DAT](INFO): direction in FSK: [-0.091494,0.099612,0.990811] 2025-01-08T22:00:40.725Z,1736373640.725 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:40.725Z,1736373640.725 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:40.728Z,1736373640.728 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:40.729Z,1736373640.729 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:40.881Z,1736373640.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:40.917Z,1736373640.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 478.500000 m, deltaT: 4.030684 s, deltaX: -1.399994 m, approachRate: -0.347334 m/s, rangeRepo size: 4 2025-01-08T22:00:40.923Z,1736373640.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 478.500000 m, bearing: 123.261666 deg, lat: 36.899715 deg, lon: -122.121159 deg, deltaT: 8.064984 s, deltaX: -2.600006 m, approachRate: -0.322382 m/s, posRepo size: 4 2025-01-08T22:00:40.924Z,1736373640.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T22:00:40.927Z,1736373640.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 72.798210 m, bearing: 203.808158 deg, approach rate: 0.000000 m/s, LOS rate: -0.300085 deg/s, cmd heading: 315.665553 deg, new cmd heading: 315.211745 deg. 2025-01-08T22:00:40.932Z,1736373640.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:40.933Z,1736373640.933 [DAT](INFO): DAT read: TxSync time:22:00:40.0906 2025-01-08T22:00:40.934Z,1736373640.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501483 target range: 478.500000 and range: 478.50 m. 2025-01-08T22:00:41.184Z,1736373641.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:41.217Z,1736373641.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:41.228Z,1736373641.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T22:00:41.231Z,1736373641.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 72.888077 m, bearing: 203.688097 deg, approach rate: 0.288297 m/s, LOS rate: -0.384686 deg/s, cmd heading: 315.211755 deg, new cmd heading: 314.852021 deg. 2025-01-08T22:00:41.232Z,1736373641.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495204 target range: 478.500000 and range: 478.50 m. 2025-01-08T22:00:41.436Z,1736373641.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:41.688Z,1736373641.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:41.722Z,1736373641.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:41.731Z,1736373641.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T22:00:41.734Z,1736373641.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 73.032822 m, bearing: 203.515437 deg, approach rate: 0.287836 m/s, LOS rate: -0.342665 deg/s, cmd heading: 314.852022 deg, new cmd heading: 314.335086 deg. 2025-01-08T22:00:41.735Z,1736373641.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486182 target range: 478.500000 and range: 478.50 m. 2025-01-08T22:00:41.940Z,1736373641.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:42.028Z,1736373642.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:42.037Z,1736373642.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T22:00:42.048Z,1736373642.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 73.118324 m, bearing: 203.410185 deg, approach rate: 0.280212 m/s, LOS rate: -0.344533 deg/s, cmd heading: 314.335086 deg, new cmd heading: 314.019703 deg. 2025-01-08T22:00:42.049Z,1736373642.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480678 target range: 478.500000 and range: 478.50 m. 2025-01-08T22:00:42.192Z,1736373642.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:42.420Z,1736373642.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:42.444Z,1736373642.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:42.452Z,1736373642.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:42.460Z,1736373642.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T22:00:42.462Z,1736373642.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 73.227531 m, bearing: 203.274944 deg, approach rate: 0.260396 m/s, LOS rate: -0.321992 deg/s, cmd heading: 314.019696 deg, new cmd heading: 313.614583 deg. 2025-01-08T22:00:42.467Z,1736373642.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473607 target range: 478.500000 and range: 478.50 m. 2025-01-08T22:00:42.696Z,1736373642.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:42.696Z,1736373642.696 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:42.696Z,1736373642.696 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:42.697Z,1736373642.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:42.890Z,1736373642.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:42.899Z,1736373642.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T22:00:42.918Z,1736373642.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 73.348602 m, bearing: 203.101479 deg, approach rate: 0.273095 m/s, LOS rate: -0.390633 deg/s, cmd heading: 313.614583 deg, new cmd heading: 313.095063 deg. 2025-01-08T22:00:42.918Z,1736373642.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464540 target range: 478.500000 and range: 478.50 m. 2025-01-08T22:00:42.948Z,1736373642.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:42.952Z,1736373642.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228675 2025-01-08T22:00:43.200Z,1736373643.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:43.201Z,1736373643.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477559 2025-01-08T22:00:43.269Z,1736373643.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:43.278Z,1736373643.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T22:00:43.281Z,1736373643.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 73.445343 m, bearing: 202.961851 deg, approach rate: 0.255024 m/s, LOS rate: -0.367596 deg/s, cmd heading: 313.095052 deg, new cmd heading: 312.676728 deg. 2025-01-08T22:00:43.282Z,1736373643.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457238 target range: 478.500000 and range: 478.50 m. 2025-01-08T22:00:43.452Z,1736373643.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:43.454Z,1736373643.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730573 2025-01-08T22:00:43.704Z,1736373643.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:43.705Z,1736373643.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981681 2025-01-08T22:00:43.706Z,1736373643.706 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814014895,35.0, +10.,1493.1, 0 2025-01-08T22:00:43.714Z,1736373643.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:00:43.714Z,1736373643.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:43.723Z,1736373643.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T22:00:43.726Z,1736373643.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 73.557762 m, bearing: 202.797519 deg, approach rate: 0.252822 m/s, LOS rate: -0.369005 deg/s, cmd heading: 312.676717 deg, new cmd heading: 312.184486 deg. 2025-01-08T22:00:43.726Z,1736373643.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448647 target range: 478.500000 and range: 478.50 m. 2025-01-08T22:00:43.956Z,1736373643.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:43.956Z,1736373643.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233302 2025-01-08T22:00:44.118Z,1736373644.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:00:44.118Z,1736373644.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:44.128Z,1736373644.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T22:00:44.130Z,1736373644.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 73.659050 m, bearing: 202.647790 deg, approach rate: 0.250326 m/s, LOS rate: -0.369534 deg/s, cmd heading: 312.184478 deg, new cmd heading: 311.735920 deg. 2025-01-08T22:00:44.131Z,1736373644.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440818 target range: 478.500000 and range: 478.50 m. 2025-01-08T22:00:44.208Z,1736373644.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:44.209Z,1736373644.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485528 2025-01-08T22:00:44.461Z,1736373644.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:44.462Z,1736373644.462 [DAT](INFO): DAT read: Rx Time:22:00:43.1317 2025-01-08T22:00:44.462Z,1736373644.462 [DAT](INFO): Rx dataTimestamp_ set to:1736373644.462015 2025-01-08T22:00:44.463Z,1736373644.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739808 2025-01-08T22:00:44.551Z,1736373644.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:00:44.551Z,1736373644.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:44.567Z,1736373644.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:44.570Z,1736373644.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T22:00:44.584Z,1736373644.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 73.763374 m, bearing: 202.491121 deg, approach rate: 0.236036 m/s, LOS rate: -0.353965 deg/s, cmd heading: 311.735926 deg, new cmd heading: 311.266596 deg. 2025-01-08T22:00:44.585Z,1736373644.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432627 target range: 478.500000 and range: 478.50 m. 2025-01-08T22:00:44.712Z,1736373644.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:44.712Z,1736373644.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.989434 2025-01-08T22:00:44.950Z,1736373644.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:44.960Z,1736373644.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.50 m. 2025-01-08T22:00:44.963Z,1736373644.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.500000 m, nav range: 73.842590 m, bearing: 202.294535 deg, approach rate: 0.202588 m/s, LOS rate: -0.502213 deg/s, cmd heading: 311.266583 deg, new cmd heading: 310.677477 deg. 2025-01-08T22:00:44.964Z,1736373644.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:44.972Z,1736373644.972 [DAT](INFO): DAT read: 22:00:43.1317 LVL= 15408, 28465, 18834, 26355, AGC= 66, IDX= 415,-0.11, 1.976, 0.329, 0.155, 0.990, PHS= 1.075,-0.614,-0.837, RAW= 83.9, 4.2, CAL= 89.4, 2.6, ROT= 60.6, -2.6 2025-01-08T22:00:44.973Z,1736373644.973 [DAT](INFO): got valid direction response: 22:00:43.1317 LVL= 15408, 28465, 18834, 26355, AGC= 66, IDX= 415,-0.11, 1.976, 0.329, 0.155, 0.990, PHS= 1.075,-0.614,-0.837, RAW= 83.9, 4.2, CAL= 89.4, 2.6, ROT= 60.6, -2.6 2025-01-08T22:00:44.974Z,1736373644.974 [DAT](INFO): DAT read: Bearing 60.6, -2.6 (Local) 2025-01-08T22:00:44.974Z,1736373644.974 [DAT](INFO): Local bearing/azimuth received: Bearing 60.6, -2.6 (Local) 2025-01-08T22:00:44.988Z,1736373644.988 [DAT](INFO): DAT read: Range 10 to 50 : 477.1 m (Round-trip 636.2 ms) speed 0.3 m/s 2025-01-08T22:00:44.989Z,1736373644.989 [DAT](INFO): DAT read: user:2220> 2025-01-08T22:00:44.990Z,1736373644.990 [DAT](INFO): DAT read: Tx time:22:00:44.2415 2025-01-08T22:00:44.990Z,1736373644.990 [DAT](INFO): Ping request sent. 2025-01-08T22:00:44.990Z,1736373644.990 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:00:44.991Z,1736373644.991 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:00:44.998Z,1736373644.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422345 target range: 478.500000 and range: 478.50 m. 2025-01-08T22:00:45.001Z,1736373645.001 [DAT](INFO): direction in FSK: [-0.153861,0.215149,0.964384] 2025-01-08T22:00:45.001Z,1736373645.001 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:45.002Z,1736373645.002 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:45.036Z,1736373645.036 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:45.040Z,1736373645.040 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:45.216Z,1736373645.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:45.217Z,1736373645.217 [DAT](INFO): DAT read: TxSync time:22:00:44.2407 2025-01-08T22:00:45.340Z,1736373645.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:45.355Z,1736373645.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 477.100006 m, deltaT: 4.282108 s, deltaX: -1.399994 m, approachRate: -0.326940 m/s, rangeRepo size: 4 2025-01-08T22:00:45.357Z,1736373645.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 477.100006 m, bearing: 91.345413 deg, lat: 36.899875 deg, lon: -122.120929 deg, deltaT: 4.282108 s, deltaX: -1.399994 m, approachRate: -0.326940 m/s, posRepo size: 4 2025-01-08T22:00:45.358Z,1736373645.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.10 m. 2025-01-08T22:00:45.361Z,1736373645.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.100006 m, nav range: 51.139187 m, bearing: 188.264288 deg, approach rate: 0.000000 m/s, LOS rate: -0.502213 deg/s, cmd heading: 310.677465 deg, new cmd heading: 310.083622 deg. 2025-01-08T22:00:45.362Z,1736373645.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.411980 target range: 477.100006 and range: 477.10 m. 2025-01-08T22:00:45.468Z,1736373645.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:45.720Z,1736373645.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:45.771Z,1736373645.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:45.780Z,1736373645.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.10 m. 2025-01-08T22:00:45.782Z,1736373645.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.100006 m, nav range: 51.286057 m, bearing: 187.952869 deg, approach rate: 0.345602 m/s, LOS rate: -0.730704 deg/s, cmd heading: 310.083622 deg, new cmd heading: 309.152126 deg. 2025-01-08T22:00:45.784Z,1736373645.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395722 target range: 477.100006 and range: 477.10 m. 2025-01-08T22:00:45.972Z,1736373645.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:46.166Z,1736373646.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:46.175Z,1736373646.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.10 m. 2025-01-08T22:00:46.177Z,1736373646.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.100006 m, nav range: 51.417030 m, bearing: 187.666585 deg, approach rate: 0.331431 m/s, LOS rate: -0.722597 deg/s, cmd heading: 309.152120 deg, new cmd heading: 308.295523 deg. 2025-01-08T22:00:46.178Z,1736373646.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380772 target range: 477.100006 and range: 477.10 m. 2025-01-08T22:00:46.225Z,1736373646.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:46.476Z,1736373646.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:46.567Z,1736373646.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:46.574Z,1736373646.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:46.576Z,1736373646.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.10 m. 2025-01-08T22:00:46.579Z,1736373646.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.100006 m, nav range: 51.549656 m, bearing: 187.375823 deg, approach rate: 0.330046 m/s, LOS rate: -0.721711 deg/s, cmd heading: 308.295533 deg, new cmd heading: 307.425562 deg. 2025-01-08T22:00:46.580Z,1736373646.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.365588 target range: 477.100006 and range: 477.10 m. 2025-01-08T22:00:46.730Z,1736373646.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:46.731Z,1736373646.731 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:46.732Z,1736373646.732 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:46.733Z,1736373646.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:46.980Z,1736373646.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:46.980Z,1736373646.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990072 2025-01-08T22:00:47.030Z,1736373647.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:47.043Z,1736373647.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.10 m. 2025-01-08T22:00:47.050Z,1736373647.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.100006 m, nav range: 51.696709 m, bearing: 187.002339 deg, approach rate: 0.315303 m/s, LOS rate: -0.798522 deg/s, cmd heading: 307.425558 deg, new cmd heading: 306.308441 deg. 2025-01-08T22:00:47.051Z,1736373647.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346091 target range: 477.100006 and range: 477.10 m. 2025-01-08T22:00:47.232Z,1736373647.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:47.232Z,1736373647.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242045 2025-01-08T22:00:47.405Z,1736373647.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:47.414Z,1736373647.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.10 m. 2025-01-08T22:00:47.416Z,1736373647.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.100006 m, nav range: 51.814976 m, bearing: 186.700439 deg, approach rate: 0.319100 m/s, LOS rate: -0.812703 deg/s, cmd heading: 306.308439 deg, new cmd heading: 305.404885 deg. 2025-01-08T22:00:47.417Z,1736373647.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330321 target range: 477.100006 and range: 477.10 m. 2025-01-08T22:00:47.484Z,1736373647.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:47.485Z,1736373647.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494220 2025-01-08T22:00:47.736Z,1736373647.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:47.737Z,1736373647.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746595 2025-01-08T22:00:47.835Z,1736373647.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:47.844Z,1736373647.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.10 m. 2025-01-08T22:00:47.847Z,1736373647.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.100006 m, nav range: 51.953472 m, bearing: 186.337550 deg, approach rate: 0.321401 m/s, LOS rate: -0.839887 deg/s, cmd heading: 305.404887 deg, new cmd heading: 304.319260 deg. 2025-01-08T22:00:47.848Z,1736373647.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.311373 target range: 477.100006 and range: 477.10 m. 2025-01-08T22:00:47.988Z,1736373647.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:47.989Z,1736373647.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998135 2025-01-08T22:00:48.211Z,1736373648.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:48.220Z,1736373648.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.10 m. 2025-01-08T22:00:48.223Z,1736373648.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.100006 m, nav range: 52.066166 m, bearing: 186.028500 deg, approach rate: 0.300798 m/s, LOS rate: -0.823114 deg/s, cmd heading: 304.319270 deg, new cmd heading: 303.394213 deg. 2025-01-08T22:00:48.224Z,1736373648.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295228 target range: 477.100006 and range: 477.10 m. 2025-01-08T22:00:48.242Z,1736373648.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:48.244Z,1736373648.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253227 2025-01-08T22:00:48.493Z,1736373648.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:48.493Z,1736373648.493 [DAT](INFO): DAT read: Rx Time:22:00:47.2810 2025-01-08T22:00:48.494Z,1736373648.494 [DAT](INFO): Rx dataTimestamp_ set to:1736373648.493642 2025-01-08T22:00:48.494Z,1736373648.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504085 2025-01-08T22:00:48.639Z,1736373648.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:48.649Z,1736373648.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:48.656Z,1736373648.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 477.10 m. 2025-01-08T22:00:48.660Z,1736373648.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 477.100006 m, nav range: 52.204311 m, bearing: 185.656970 deg, approach rate: 0.316777 m/s, LOS rate: -0.849685 deg/s, cmd heading: 303.394216 deg, new cmd heading: 302.282721 deg. 2025-01-08T22:00:48.662Z,1736373648.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275829 target range: 477.100006 and range: 477.10 m. 2025-01-08T22:00:48.746Z,1736373648.746 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:48.751Z,1736373648.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759855 2025-01-08T22:00:48.996Z,1736373648.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:49.002Z,1736373649.002 [DAT](INFO): DAT read: 22:00:47.2811 LVL= 13664, 23793, 17138, 22691, AGC= 65, IDX= 439, 0.37, 1.144,-0.225,-0.908, 0.186, PHS= 1.046,-0.364,-1.097, RAW= 70.3, 4.4, CAL= 72.8, 3.7, ROT= 77.2, -3.7 2025-01-08T22:00:49.004Z,1736373649.004 [DAT](INFO): got valid direction response: 22:00:47.2811 LVL= 13664, 23793, 17138, 22691, AGC= 65, IDX= 439, 0.37, 1.144,-0.225,-0.908, 0.186, PHS= 1.046,-0.364,-1.097, RAW= 70.3, 4.4, CAL= 72.8, 3.7, ROT= 77.2, -3.7 2025-01-08T22:00:49.005Z,1736373649.005 [DAT](INFO): DAT read: Bearing 77.2, -3.7 (Local) 2025-01-08T22:00:49.005Z,1736373649.005 [DAT](INFO): Local bearing/azimuth received: Bearing 77.2, -3.7 (Local) 2025-01-08T22:00:49.007Z,1736373649.007 [DAT](INFO): DAT read: Range 10 to 50 : 476.6 m (Round-trip 635.5 ms) speed 0.2 m/s 2025-01-08T22:00:49.008Z,1736373649.008 [DAT](INFO): DAT read: user:2221> 2025-01-08T22:00:49.009Z,1736373649.009 [DAT](INFO): DAT read: Tx time:22:00:48.3915 2025-01-08T22:00:49.009Z,1736373649.009 [DAT](INFO): Ping request sent. 2025-01-08T22:00:49.009Z,1736373649.009 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:00:49.009Z,1736373649.009 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:00:49.010Z,1736373649.010 [DAT](INFO): direction in FSK: [-0.132733,0.431172,0.892453] 2025-01-08T22:00:49.011Z,1736373649.011 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:49.011Z,1736373649.011 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:49.018Z,1736373649.018 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:49.018Z,1736373649.018 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:49.157Z,1736373649.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:49.192Z,1736373649.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 476.600006 m, deltaT: 4.031920 s, deltaX: -0.500000 m, approachRate: -0.124010 m/s, rangeRepo size: 4 2025-01-08T22:00:49.209Z,1736373649.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 476.600006 m, bearing: 59.852566 deg, lat: 36.900101 deg, lon: -122.120424 deg, deltaT: 4.031920 s, deltaX: -0.500000 m, approachRate: -0.124010 m/s, posRepo size: 4 2025-01-08T22:00:49.210Z,1736373649.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.60 m. 2025-01-08T22:00:49.217Z,1736373649.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.600006 m, nav range: 48.399853 m, bearing: 123.933670 deg, approach rate: 0.000000 m/s, LOS rate: -0.849685 deg/s, cmd heading: 302.282726 deg, new cmd heading: 300.946861 deg. 2025-01-08T22:00:49.218Z,1736373649.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.252513 target range: 476.600006 and range: 476.60 m. 2025-01-08T22:00:49.248Z,1736373649.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:49.249Z,1736373649.249 [DAT](INFO): DAT read: TxSync time:22:00:48.3907 2025-01-08T22:00:49.448Z,1736373649.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:49.460Z,1736373649.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.60 m. 2025-01-08T22:00:49.463Z,1736373649.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.600006 m, nav range: 48.640388 m, bearing: 123.889820 deg, approach rate: 0.856865 m/s, LOS rate: -0.155435 deg/s, cmd heading: 300.946850 deg, new cmd heading: 300.815951 deg. 2025-01-08T22:00:49.468Z,1736373649.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.250229 target range: 476.600006 and range: 476.60 m. 2025-01-08T22:00:49.500Z,1736373649.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:49.754Z,1736373649.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:49.844Z,1736373649.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:49.882Z,1736373649.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.60 m. 2025-01-08T22:00:49.901Z,1736373649.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.600006 m, nav range: 48.953930 m, bearing: 123.829812 deg, approach rate: 0.757592 m/s, LOS rate: -0.144065 deg/s, cmd heading: 300.815956 deg, new cmd heading: 300.637086 deg. 2025-01-08T22:00:49.902Z,1736373649.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.247107 target range: 476.600006 and range: 476.60 m. 2025-01-08T22:00:50.004Z,1736373650.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:50.224Z,1736373650.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:50.251Z,1736373650.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.60 m. 2025-01-08T22:00:50.255Z,1736373650.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.600006 m, nav range: 49.255177 m, bearing: 123.767233 deg, approach rate: 0.798700 m/s, LOS rate: -0.164903 deg/s, cmd heading: 300.637087 deg, new cmd heading: 300.450498 deg. 2025-01-08T22:00:50.256Z,1736373650.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:50.257Z,1736373650.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.243850 target range: 476.600006 and range: 476.60 m. 2025-01-08T22:00:50.516Z,1736373650.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:50.681Z,1736373650.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:50.696Z,1736373650.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:50.698Z,1736373650.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.60 m. 2025-01-08T22:00:50.706Z,1736373650.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.600006 m, nav range: 49.614868 m, bearing: 123.686416 deg, approach rate: 0.805497 m/s, LOS rate: -0.179670 deg/s, cmd heading: 300.450487 deg, new cmd heading: 300.209796 deg. 2025-01-08T22:00:50.712Z,1736373650.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.239649 target range: 476.600006 and range: 476.60 m. 2025-01-08T22:00:50.769Z,1736373650.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:50.771Z,1736373650.771 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:50.771Z,1736373650.771 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:50.772Z,1736373650.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:51.020Z,1736373651.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:51.021Z,1736373651.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011713 2025-01-08T22:00:51.080Z,1736373651.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:51.089Z,1736373651.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.60 m. 2025-01-08T22:00:51.096Z,1736373651.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.600006 m, nav range: 49.896683 m, bearing: 123.636566 deg, approach rate: 0.719873 m/s, LOS rate: -0.126618 deg/s, cmd heading: 300.209791 deg, new cmd heading: 300.061087 deg. 2025-01-08T22:00:51.097Z,1736373651.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.237054 target range: 476.600006 and range: 476.60 m. 2025-01-08T22:00:51.272Z,1736373651.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:51.273Z,1736373651.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263338 2025-01-08T22:00:51.441Z,1736373651.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:51.450Z,1736373651.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.60 m. 2025-01-08T22:00:51.454Z,1736373651.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.600006 m, nav range: 50.174221 m, bearing: 123.579756 deg, approach rate: 0.768715 m/s, LOS rate: -0.156481 deg/s, cmd heading: 300.061084 deg, new cmd heading: 299.891595 deg. 2025-01-08T22:00:51.456Z,1736373651.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234096 target range: 476.600006 and range: 476.60 m. 2025-01-08T22:00:51.525Z,1736373651.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:51.527Z,1736373651.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517414 2025-01-08T22:00:51.778Z,1736373651.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:51.781Z,1736373651.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771040 2025-01-08T22:00:51.861Z,1736373651.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:51.874Z,1736373651.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.60 m. 2025-01-08T22:00:51.877Z,1736373651.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.600006 m, nav range: 50.453571 m, bearing: 123.528267 deg, approach rate: 0.659548 m/s, LOS rate: -0.120891 deg/s, cmd heading: 299.891586 deg, new cmd heading: 299.737977 deg. 2025-01-08T22:00:51.877Z,1736373651.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231415 target range: 476.600006 and range: 476.60 m. 2025-01-08T22:00:52.028Z,1736373652.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:52.028Z,1736373652.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019208 2025-01-08T22:00:52.245Z,1736373652.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:52.254Z,1736373652.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.60 m. 2025-01-08T22:00:52.257Z,1736373652.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.600006 m, nav range: 50.708363 m, bearing: 123.478851 deg, approach rate: 0.671982 m/s, LOS rate: -0.129676 deg/s, cmd heading: 299.737989 deg, new cmd heading: 299.590484 deg. 2025-01-08T22:00:52.258Z,1736373652.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.228840 target range: 476.600006 and range: 476.60 m. 2025-01-08T22:00:52.280Z,1736373652.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:52.280Z,1736373652.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271196 2025-01-08T22:00:52.532Z,1736373652.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:52.536Z,1736373652.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525515 2025-01-08T22:00:52.683Z,1736373652.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:52.698Z,1736373652.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:52.705Z,1736373652.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.60 m. 2025-01-08T22:00:52.711Z,1736373652.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.600006 m, nav range: 50.999092 m, bearing: 123.420001 deg, approach rate: 0.643520 m/s, LOS rate: -0.129519 deg/s, cmd heading: 299.590484 deg, new cmd heading: 299.414943 deg. 2025-01-08T22:00:52.712Z,1736373652.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.225777 target range: 476.600006 and range: 476.60 m. 2025-01-08T22:00:52.786Z,1736373652.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:52.789Z,1736373652.789 [DAT](INFO): DAT read: Rx Time:22:00:51.4308 2025-01-08T22:00:52.790Z,1736373652.790 [DAT](INFO): Rx dataTimestamp_ set to:1736373652.789461 2025-01-08T22:00:52.792Z,1736373652.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782872 2025-01-08T22:00:53.036Z,1736373653.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:53.037Z,1736373653.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028030 2025-01-08T22:00:53.133Z,1736373653.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:53.161Z,1736373653.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.60 m. 2025-01-08T22:00:53.181Z,1736373653.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.600006 m, nav range: 51.267925 m, bearing: 123.382272 deg, approach rate: 0.596339 m/s, LOS rate: -0.083255 deg/s, cmd heading: 299.414948 deg, new cmd heading: 299.302352 deg. 2025-01-08T22:00:53.182Z,1736373653.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223812 target range: 476.600006 and range: 476.60 m. 2025-01-08T22:00:53.288Z,1736373653.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:53.295Z,1736373653.295 [DAT](INFO): DAT read: 22:00:51.4308 LVL= 10896, 22305, 14306, 22963, AGC= 68, IDX= 436, 0.46,-2.732, 2.378, 1.351, 2.509, PHS= 1.129,-0.085,-1.161, RAW= 62.0, 1.2, CAL= 64.1, -1.5, ROT= 85.9, 1.5 2025-01-08T22:00:53.296Z,1736373653.296 [DAT](INFO): got valid direction response: 22:00:51.4308 LVL= 10896, 22305, 14306, 22963, AGC= 68, IDX= 436, 0.46,-2.732, 2.378, 1.351, 2.509, PHS= 1.129,-0.085,-1.161, RAW= 62.0, 1.2, CAL= 64.1, -1.5, ROT= 85.9, 1.5 2025-01-08T22:00:53.297Z,1736373653.297 [DAT](INFO): DAT read: Bearing 85.9, 1.5 (Local) 2025-01-08T22:00:53.297Z,1736373653.297 [DAT](INFO): Local bearing/azimuth received: Bearing 85.9, 1.5 (Local) 2025-01-08T22:00:53.299Z,1736373653.299 [DAT](INFO): DAT read: Range 10 to 50 : 476.4 m (Round-trip 635.2 ms) speed 0.0 m/s 2025-01-08T22:00:53.300Z,1736373653.300 [DAT](INFO): DAT read: user:2222> 2025-01-08T22:00:53.300Z,1736373653.300 [DAT](INFO): DAT read: Tx time:22:00:52.5415 2025-01-08T22:00:53.301Z,1736373653.301 [DAT](INFO): Ping request sent. 2025-01-08T22:00:53.301Z,1736373653.301 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:00:53.301Z,1736373653.301 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:00:53.302Z,1736373653.302 [DAT](INFO): direction in FSK: [-0.055503,0.550616,0.832911] 2025-01-08T22:00:53.302Z,1736373653.302 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:53.303Z,1736373653.303 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:53.307Z,1736373653.307 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:53.307Z,1736373653.307 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:53.469Z,1736373653.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:53.504Z,1736373653.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 476.399994 m, deltaT: 4.292255 s, deltaX: -0.200012 m, approachRate: -0.046598 m/s, rangeRepo size: 4 2025-01-08T22:00:53.506Z,1736373653.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 476.399994 m, bearing: 38.781437 deg, lat: 36.900308 deg, lon: -122.119669 deg, deltaT: 4.292255 s, deltaX: -0.200012 m, approachRate: -0.046598 m/s, posRepo size: 4 2025-01-08T22:00:53.507Z,1736373653.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.40 m. 2025-01-08T22:00:53.513Z,1736373653.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.399994 m, nav range: 110.254906 m, bearing: 92.738951 deg, approach rate: 0.000000 m/s, LOS rate: -0.083255 deg/s, cmd heading: 299.302359 deg, new cmd heading: 299.216539 deg. 2025-01-08T22:00:53.514Z,1736373653.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.222314 target range: 476.399994 and range: 476.40 m. 2025-01-08T22:00:53.540Z,1736373653.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:53.541Z,1736373653.541 [DAT](INFO): DAT read: TxSync time:22:00:52.5407 2025-01-08T22:00:53.794Z,1736373653.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:53.891Z,1736373653.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:53.900Z,1736373653.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.40 m. 2025-01-08T22:00:53.902Z,1736373653.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.399994 m, nav range: 110.472969 m, bearing: 92.792115 deg, approach rate: 0.544642 m/s, LOS rate: 0.132520 deg/s, cmd heading: 299.216545 deg, new cmd heading: 299.375719 deg. 2025-01-08T22:00:53.907Z,1736373653.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.225092 target range: 476.399994 and range: 476.40 m. 2025-01-08T22:00:54.044Z,1736373654.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:54.264Z,1736373654.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:54.274Z,1736373654.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.40 m. 2025-01-08T22:00:54.276Z,1736373654.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.399994 m, nav range: 110.666573 m, bearing: 92.837627 deg, approach rate: 0.517453 m/s, LOS rate: 0.121430 deg/s, cmd heading: 299.375715 deg, new cmd heading: 299.512013 deg. 2025-01-08T22:00:54.277Z,1736373654.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.227471 target range: 476.399994 and range: 476.40 m. 2025-01-08T22:00:54.296Z,1736373654.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:54.548Z,1736373654.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:54.696Z,1736373654.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:54.704Z,1736373654.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:54.706Z,1736373654.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.40 m. 2025-01-08T22:00:54.709Z,1736373654.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.399994 m, nav range: 110.891190 m, bearing: 92.889859 deg, approach rate: 0.519758 m/s, LOS rate: 0.120619 deg/s, cmd heading: 299.512019 deg, new cmd heading: 299.668398 deg. 2025-01-08T22:00:54.710Z,1736373654.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.230200 target range: 476.399994 and range: 476.40 m. 2025-01-08T22:00:54.802Z,1736373654.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:54.804Z,1736373654.804 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:54.805Z,1736373654.805 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:54.806Z,1736373654.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:55.052Z,1736373655.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:55.053Z,1736373655.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751699 2025-01-08T22:00:55.108Z,1736373655.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:55.133Z,1736373655.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.40 m. 2025-01-08T22:00:55.140Z,1736373655.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.399994 m, nav range: 111.099312 m, bearing: 92.939292 deg, approach rate: 0.487162 m/s, LOS rate: 0.115492 deg/s, cmd heading: 299.668403 deg, new cmd heading: 299.816422 deg. 2025-01-08T22:00:55.141Z,1736373655.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.232784 target range: 476.399994 and range: 476.40 m. 2025-01-08T22:00:55.304Z,1736373655.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:55.305Z,1736373655.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003959 2025-01-08T22:00:55.482Z,1736373655.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:55.492Z,1736373655.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.40 m. 2025-01-08T22:00:55.494Z,1736373655.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.399994 m, nav range: 111.288399 m, bearing: 92.983793 deg, approach rate: 0.527355 m/s, LOS rate: 0.123901 deg/s, cmd heading: 299.816427 deg, new cmd heading: 299.949703 deg. 2025-01-08T22:00:55.496Z,1736373655.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.235110 target range: 476.399994 and range: 476.40 m. 2025-01-08T22:00:55.556Z,1736373655.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:55.557Z,1736373655.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255968 2025-01-08T22:00:55.809Z,1736373655.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:55.812Z,1736373655.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510322 2025-01-08T22:00:55.907Z,1736373655.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:55.915Z,1736373655.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.40 m. 2025-01-08T22:00:55.918Z,1736373655.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.399994 m, nav range: 111.512894 m, bearing: 93.034878 deg, approach rate: 0.529988 m/s, LOS rate: 0.120359 deg/s, cmd heading: 299.949697 deg, new cmd heading: 300.102644 deg. 2025-01-08T22:00:55.919Z,1736373655.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.237779 target range: 476.399994 and range: 476.40 m. 2025-01-08T22:00:56.060Z,1736373656.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:56.060Z,1736373656.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759546 2025-01-08T22:00:56.292Z,1736373656.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:56.308Z,1736373656.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.40 m. 2025-01-08T22:00:56.311Z,1736373656.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.399994 m, nav range: 111.717186 m, bearing: 93.080921 deg, approach rate: 0.519533 m/s, LOS rate: 0.116877 deg/s, cmd heading: 300.102639 deg, new cmd heading: 300.240514 deg. 2025-01-08T22:00:56.320Z,1736373656.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:56.321Z,1736373656.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020187 2025-01-08T22:00:56.328Z,1736373656.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.240186 target range: 476.399994 and range: 476.40 m. 2025-01-08T22:00:56.572Z,1736373656.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:56.572Z,1736373656.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271612 2025-01-08T22:00:56.709Z,1736373656.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:56.728Z,1736373656.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:56.730Z,1736373656.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.40 m. 2025-01-08T22:00:56.738Z,1736373656.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.399994 m, nav range: 111.937836 m, bearing: 93.130352 deg, approach rate: 0.522827 m/s, LOS rate: 0.116896 deg/s, cmd heading: 300.240527 deg, new cmd heading: 300.388528 deg. 2025-01-08T22:00:56.743Z,1736373656.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.242769 target range: 476.399994 and range: 476.40 m. 2025-01-08T22:00:56.826Z,1736373656.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:56.829Z,1736373656.829 [DAT](INFO): DAT read: Rx Time:22:00:55.5801 2025-01-08T22:00:56.831Z,1736373656.831 [DAT](INFO): Rx dataTimestamp_ set to:1736373656.829811 2025-01-08T22:00:56.833Z,1736373656.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531863 2025-01-08T22:00:57.076Z,1736373657.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:57.076Z,1736373657.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775633 2025-01-08T22:00:57.125Z,1736373657.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:57.133Z,1736373657.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.40 m. 2025-01-08T22:00:57.137Z,1736373657.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.399994 m, nav range: 112.181465 m, bearing: 93.183073 deg, approach rate: 0.604729 m/s, LOS rate: 0.130576 deg/s, cmd heading: 300.388523 deg, new cmd heading: 300.546340 deg. 2025-01-08T22:00:57.138Z,1736373657.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245523 target range: 476.399994 and range: 476.40 m. 2025-01-08T22:00:57.328Z,1736373657.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:57.334Z,1736373657.334 [DAT](INFO): DAT read: 22:00:55.5801 LVL= 14032, 19313, 16962, 21475, AGC= 68, IDX= 430,-0.15,-1.941,-2.774, 2.151,-2.965, PHS= 1.112, 0.238,-1.170, RAW= 52.3, -1.8, CAL= 54.4, -5.1, ROT= 95.6, 5.1 2025-01-08T22:00:57.351Z,1736373657.351 [DAT](INFO): got valid direction response: 22:00:55.5801 LVL= 14032, 19313, 16962, 21475, AGC= 68, IDX= 430,-0.15,-1.941,-2.774, 2.151,-2.965, PHS= 1.112, 0.238,-1.170, RAW= 52.3, -1.8, CAL= 54.4, -5.1, ROT= 95.6, 5.1 2025-01-08T22:00:57.352Z,1736373657.352 [DAT](INFO): DAT read: Bearing 95.6, 5.1 (Local) 2025-01-08T22:00:57.353Z,1736373657.353 [DAT](INFO): Local bearing/azimuth received: Bearing 95.6, 5.1 (Local) 2025-01-08T22:00:57.355Z,1736373657.355 [DAT](INFO): DAT read: Range 10 to 50 : 475.8 m (Round-trip 634.5 ms) speed 0.0 m/s 2025-01-08T22:00:57.356Z,1736373657.356 [DAT](INFO): DAT read: user:2223> 2025-01-08T22:00:57.357Z,1736373657.357 [DAT](INFO): DAT read: Tx time:22:00:56.6930 2025-01-08T22:00:57.357Z,1736373657.357 [DAT](INFO): Ping request sent. 2025-01-08T22:00:57.357Z,1736373657.357 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:00:57.357Z,1736373657.357 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:00:57.358Z,1736373657.358 [DAT](INFO): direction in FSK: [0.020519,0.673271,0.739111] 2025-01-08T22:00:57.358Z,1736373657.358 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:57.359Z,1736373657.359 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:57.362Z,1736373657.362 [DAT](INFO): publishing transmit ping time 2025-01-08T22:00:57.362Z,1736373657.362 [DAT](INFO): publishing direction and range info 2025-01-08T22:00:57.509Z,1736373657.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:57.535Z,1736373657.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 475.799988 m, deltaT: 4.039708 s, deltaX: -0.600006 m, approachRate: -0.148527 m/s, rangeRepo size: 4 2025-01-08T22:00:57.541Z,1736373657.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 475.799988 m, bearing: 29.443029 deg, lat: 36.901210 deg, lon: -122.119374 deg, deltaT: 4.039708 s, deltaX: -0.600006 m, approachRate: -0.148527 m/s, posRepo size: 4 2025-01-08T22:00:57.542Z,1736373657.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:00:57.549Z,1736373657.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 167.261322 m, bearing: 55.848373 deg, approach rate: 0.000000 m/s, LOS rate: 0.130576 deg/s, cmd heading: 300.546328 deg, new cmd heading: 300.703305 deg. 2025-01-08T22:00:57.550Z,1736373657.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.248263 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:00:57.580Z,1736373657.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:57.581Z,1736373657.581 [DAT](INFO): DAT read: TxSync time:22:00:56.6922 2025-01-08T22:00:57.833Z,1736373657.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:57.940Z,1736373657.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:57.957Z,1736373657.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:00:57.966Z,1736373657.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 167.412704 m, bearing: 55.933389 deg, approach rate: 0.357881 m/s, LOS rate: 0.200803 deg/s, cmd heading: 300.703313 deg, new cmd heading: 300.958129 deg. 2025-01-08T22:00:57.967Z,1736373657.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.252710 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:00:58.084Z,1736373658.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:58.299Z,1736373658.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:58.324Z,1736373658.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:00:58.327Z,1736373658.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 167.538925 m, bearing: 56.003862 deg, approach rate: 0.343764 m/s, LOS rate: 0.191789 deg/s, cmd heading: 300.958134 deg, new cmd heading: 301.169392 deg. 2025-01-08T22:00:58.329Z,1736373658.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256398 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:00:58.336Z,1736373658.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:58.588Z,1736373658.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:58.712Z,1736373658.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:58.736Z,1736373658.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:00:58.738Z,1736373658.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:00:58.745Z,1736373658.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 167.685333 m, bearing: 56.084740 deg, approach rate: 0.353663 m/s, LOS rate: 0.195200 deg/s, cmd heading: 301.169405 deg, new cmd heading: 301.411827 deg. 2025-01-08T22:00:58.746Z,1736373658.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.260629 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:00:58.840Z,1736373658.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:58.841Z,1736373658.841 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:00:58.841Z,1736373658.841 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:00:58.842Z,1736373658.842 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:00:59.092Z,1736373659.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:59.092Z,1736373659.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735235 2025-01-08T22:00:59.139Z,1736373659.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:59.171Z,1736373659.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:00:59.174Z,1736373659.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 167.861786 m, bearing: 56.176213 deg, approach rate: 0.411294 m/s, LOS rate: 0.212991 deg/s, cmd heading: 301.411822 deg, new cmd heading: 301.685951 deg. 2025-01-08T22:00:59.175Z,1736373659.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.265413 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:00:59.344Z,1736373659.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:59.344Z,1736373659.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987306 2025-01-08T22:00:59.515Z,1736373659.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:00:59.549Z,1736373659.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:00:59.553Z,1736373659.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 168.017746 m, bearing: 56.256380 deg, approach rate: 0.408208 m/s, LOS rate: 0.209632 deg/s, cmd heading: 301.685959 deg, new cmd heading: 301.926234 deg. 2025-01-08T22:00:59.554Z,1736373659.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.269607 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:00:59.596Z,1736373659.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:59.597Z,1736373659.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240426 2025-01-08T22:00:59.849Z,1736373659.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:00:59.852Z,1736373659.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494332 2025-01-08T22:00:59.865Z,1736373659.865 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:01:00.011Z,1736373660.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:00.021Z,1736373660.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:00.027Z,1736373660.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 168.234863 m, bearing: 56.364512 deg, approach rate: 0.460607 m/s, LOS rate: 0.229102 deg/s, cmd heading: 301.926245 deg, new cmd heading: 302.250217 deg. 2025-01-08T22:01:00.028Z,1736373660.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275261 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:00.100Z,1736373660.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:00.102Z,1736373660.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744221 2025-01-08T22:01:00.348Z,1736373660.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:00.352Z,1736373660.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:00.353Z,1736373660.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995496 2025-01-08T22:01:00.360Z,1736373660.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:00.362Z,1736373660.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 168.383118 m, bearing: 56.438020 deg, approach rate: 0.437635 m/s, LOS rate: 0.216801 deg/s, cmd heading: 302.250214 deg, new cmd heading: 302.470545 deg. 2025-01-08T22:01:00.380Z,1736373660.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279107 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:00.604Z,1736373660.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:00.605Z,1736373660.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247986 2025-01-08T22:01:00.761Z,1736373660.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:00.767Z,1736373660.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:00.769Z,1736373660.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:00.794Z,1736373660.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 168.564484 m, bearing: 56.527578 deg, approach rate: 0.442177 m/s, LOS rate: 0.218110 deg/s, cmd heading: 302.470556 deg, new cmd heading: 302.738937 deg. 2025-01-08T22:01:00.800Z,1736373660.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.283791 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:00.857Z,1736373660.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:00.860Z,1736373660.860 [DAT](INFO): DAT read: Rx Time:22:00:59.7317 2025-01-08T22:01:00.861Z,1736373660.861 [DAT](INFO): Rx dataTimestamp_ set to:1736373660.860525 2025-01-08T22:01:00.861Z,1736373660.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504368 2025-01-08T22:01:00.870Z,1736373660.870 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:01:01.108Z,1736373661.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:01.108Z,1736373661.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751481 2025-01-08T22:01:01.185Z,1736373661.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:01.207Z,1736373661.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:01.213Z,1736373661.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 168.757050 m, bearing: 56.620621 deg, approach rate: 0.440553 m/s, LOS rate: 0.212622 deg/s, cmd heading: 302.738928 deg, new cmd heading: 303.017737 deg. 2025-01-08T22:01:01.214Z,1736373661.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288657 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:01.360Z,1736373661.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:01.361Z,1736373661.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.003718 2025-01-08T22:01:01.548Z,1736373661.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:01.557Z,1736373661.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:01.560Z,1736373661.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 168.921631 m, bearing: 56.700320 deg, approach rate: 0.469080 m/s, LOS rate: 0.226932 deg/s, cmd heading: 303.017736 deg, new cmd heading: 303.256598 deg. 2025-01-08T22:01:01.561Z,1736373661.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292826 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:01.612Z,1736373661.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:01.625Z,1736373661.625 [DAT](INFO): DAT read: 22:00:59.7317 LVL= 22432, 27281, 29154, 32755, AGC= 67, IDX= 445,-0.28,-1.467,-2.121, 2.818,-2.383, PHS= 1.004, 0.309,-1.085, RAW= 49.1, -2.5, CAL= 51.0, -5.9, ROT= 99.0, 5.9 2025-01-08T22:01:01.626Z,1736373661.626 [DAT](INFO): got valid direction response: 22:00:59.7317 LVL= 22432, 27281, 29154, 32755, AGC= 67, IDX= 445,-0.28,-1.467,-2.121, 2.818,-2.383, PHS= 1.004, 0.309,-1.085, RAW= 49.1, -2.5, CAL= 51.0, -5.9, ROT= 99.0, 5.9 2025-01-08T22:01:01.627Z,1736373661.627 [DAT](INFO): DAT read: Bearing 99.0, 5.9 (Local) 2025-01-08T22:01:01.627Z,1736373661.627 [DAT](INFO): Local bearing/azimuth received: Bearing 99.0, 5.9 (Local) 2025-01-08T22:01:01.629Z,1736373661.629 [DAT](INFO): DAT read: Range 10 to 50 : 475.8 m (Round-trip 634.4 ms) speed 0.1 m/s 2025-01-08T22:01:01.629Z,1736373661.629 [DAT](INFO): DAT read: user:2224> 2025-01-08T22:01:01.630Z,1736373661.630 [DAT](INFO): DAT read: Tx time:22:01:00.8416 2025-01-08T22:01:01.630Z,1736373661.630 [DAT](INFO): Ping request sent. 2025-01-08T22:01:01.630Z,1736373661.630 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:01.631Z,1736373661.631 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:01.632Z,1736373661.632 [DAT](INFO): direction in FSK: [0.039761,0.710358,0.702716] 2025-01-08T22:01:01.633Z,1736373661.633 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:01.634Z,1736373661.634 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:01.657Z,1736373661.657 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:01.657Z,1736373661.657 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:01.864Z,1736373661.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:01.865Z,1736373661.865 [DAT](INFO): DAT read: TxSync time:22:01:00.8408 2025-01-08T22:01:02.021Z,1736373662.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:02.034Z,1736373662.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 475.799988 m, deltaT: 4.285352 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:01:02.037Z,1736373662.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 475.799988 m, bearing: 29.364674 deg, lat: 36.902054 deg, lon: -122.119374 deg, deltaT: 4.285352 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:01:02.038Z,1736373662.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:02.041Z,1736373662.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 234.066727 m, bearing: 37.202826 deg, approach rate: 0.000000 m/s, LOS rate: 0.226932 deg/s, cmd heading: 303.256602 deg, new cmd heading: 303.580882 deg. 2025-01-08T22:01:02.042Z,1736373662.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298486 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:02.116Z,1736373662.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:02.352Z,1736373662.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:02.361Z,1736373662.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:02.364Z,1736373662.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 234.138031 m, bearing: 37.262704 deg, approach rate: 0.217864 m/s, LOS rate: 0.182897 deg/s, cmd heading: 303.580872 deg, new cmd heading: 303.760451 deg. 2025-01-08T22:01:02.365Z,1736373662.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301620 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:02.368Z,1736373662.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:02.621Z,1736373662.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:02.759Z,1736373662.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:02.768Z,1736373662.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:02.770Z,1736373662.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:02.786Z,1736373662.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 234.225204 m, bearing: 37.336474 deg, approach rate: 0.213245 m/s, LOS rate: 0.180391 deg/s, cmd heading: 303.760451 deg, new cmd heading: 303.981678 deg. 2025-01-08T22:01:02.786Z,1736373662.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.305481 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:02.872Z,1736373662.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:02.872Z,1736373662.872 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:02.872Z,1736373662.872 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:02.873Z,1736373662.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:03.124Z,1736373663.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:03.124Z,1736373663.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493888 2025-01-08T22:01:03.200Z,1736373663.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:03.217Z,1736373663.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:03.225Z,1736373663.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 234.314987 m, bearing: 37.414832 deg, approach rate: 0.200695 m/s, LOS rate: 0.175089 deg/s, cmd heading: 303.981667 deg, new cmd heading: 304.216649 deg. 2025-01-08T22:01:03.226Z,1736373663.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309582 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:03.377Z,1736373663.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:03.378Z,1736373663.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747443 2025-01-08T22:01:03.572Z,1736373663.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:03.581Z,1736373663.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:03.584Z,1736373663.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 234.388885 m, bearing: 37.481004 deg, approach rate: 0.203236 m/s, LOS rate: 0.181930 deg/s, cmd heading: 304.216653 deg, new cmd heading: 304.415105 deg. 2025-01-08T22:01:03.585Z,1736373663.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313046 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:03.629Z,1736373663.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:03.630Z,1736373663.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998992 2025-01-08T22:01:03.880Z,1736373663.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:03.882Z,1736373663.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251009 2025-01-08T22:01:04.024Z,1736373664.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:04.032Z,1736373664.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:04.035Z,1736373664.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 234.472397 m, bearing: 37.557060 deg, approach rate: 0.185109 m/s, LOS rate: 0.168524 deg/s, cmd heading: 304.415111 deg, new cmd heading: 304.643197 deg. 2025-01-08T22:01:04.036Z,1736373664.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317027 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:04.132Z,1736373664.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:04.133Z,1736373664.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502206 2025-01-08T22:01:04.367Z,1736373664.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:04.377Z,1736373664.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:04.380Z,1736373664.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 234.534775 m, bearing: 37.615085 deg, approach rate: 0.180904 m/s, LOS rate: 0.168233 deg/s, cmd heading: 304.643185 deg, new cmd heading: 304.817210 deg. 2025-01-08T22:01:04.381Z,1736373664.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320064 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:04.384Z,1736373664.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:04.384Z,1736373664.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753859 2025-01-08T22:01:04.636Z,1736373664.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:04.637Z,1736373664.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006574 2025-01-08T22:01:04.784Z,1736373664.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:04.795Z,1736373664.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:04.798Z,1736373664.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:04.800Z,1736373664.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 234.609100 m, bearing: 37.685448 deg, approach rate: 0.176622 m/s, LOS rate: 0.167154 deg/s, cmd heading: 304.817218 deg, new cmd heading: 305.028241 deg. 2025-01-08T22:01:04.801Z,1736373664.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323747 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:04.888Z,1736373664.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:04.889Z,1736373664.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258929 2025-01-08T22:01:05.140Z,1736373665.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:05.140Z,1736373665.140 [DAT](INFO): DAT read: Rx Time:22:01:03.8804 2025-01-08T22:01:05.141Z,1736373665.141 [DAT](INFO): Rx dataTimestamp_ set to:1736373665.140662 2025-01-08T22:01:05.141Z,1736373665.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510942 2025-01-08T22:01:05.223Z,1736373665.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:05.232Z,1736373665.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:05.234Z,1736373665.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 234.680695 m, bearing: 37.756645 deg, approach rate: 0.165044 m/s, LOS rate: 0.164077 deg/s, cmd heading: 305.028243 deg, new cmd heading: 305.241767 deg. 2025-01-08T22:01:05.235Z,1736373665.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327474 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:05.392Z,1736373665.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:05.393Z,1736373665.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762022 2025-01-08T22:01:05.605Z,1736373665.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:05.613Z,1736373665.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.80 m. 2025-01-08T22:01:05.616Z,1736373665.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.799988 m, nav range: 234.741745 m, bearing: 37.818511 deg, approach rate: 0.159807 m/s, LOS rate: 0.161901 deg/s, cmd heading: 305.241755 deg, new cmd heading: 305.427306 deg. 2025-01-08T22:01:05.617Z,1736373665.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330712 target range: 475.799988 and range: 475.80 m. 2025-01-08T22:01:05.671Z,1736373665.671 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:05.686Z,1736373665.686 [DAT](INFO): DAT read: 22:01:03.8804 LVL= 20176, 28145, 23218, 27699, AGC= 68, IDX= 447, 0.32,-2.312,-3.075, 1.919, 2.955, PHS= 1.104, 0.300,-1.039, RAW= 51.8, -3.9, CAL= 55.1, -8.3, ROT= 94.9, 8.3 2025-01-08T22:01:05.713Z,1736373665.713 [DAT](INFO): got valid direction response: 22:01:03.8804 LVL= 20176, 28145, 23218, 27699, AGC= 68, IDX= 447, 0.32,-2.312,-3.075, 1.919, 2.955, PHS= 1.104, 0.300,-1.039, RAW= 51.8, -3.9, CAL= 55.1, -8.3, ROT= 94.9, 8.3 2025-01-08T22:01:05.714Z,1736373665.714 [DAT](INFO): DAT read: Bearing 94.9, 8.3 (Local) 2025-01-08T22:01:05.714Z,1736373665.714 [DAT](INFO): Local bearing/azimuth received: Bearing 94.9, 8.3 (Local) 2025-01-08T22:01:05.740Z,1736373665.740 [DAT](INFO): DAT read: Range 10 to 50 : 476.0 m (Round-trip 634.7 ms) speed 0.0 m/s 2025-01-08T22:01:05.741Z,1736373665.741 [DAT](INFO): DAT read: user:2225> 2025-01-08T22:01:05.742Z,1736373665.742 [DAT](INFO): DAT read: Tx time:22:01:04.9931 2025-01-08T22:01:05.742Z,1736373665.742 [DAT](INFO): Ping request sent. 2025-01-08T22:01:05.742Z,1736373665.742 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:05.743Z,1736373665.743 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:05.748Z,1736373665.748 [DAT](INFO): direction in FSK: [0.060701,0.675839,0.734546] 2025-01-08T22:01:05.748Z,1736373665.748 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:05.748Z,1736373665.748 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:05.756Z,1736373665.756 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:05.757Z,1736373665.757 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:05.921Z,1736373665.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:05.922Z,1736373665.922 [DAT](INFO): DAT read: TxSync time:22:01:04.9923 2025-01-08T22:01:06.073Z,1736373666.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:06.107Z,1736373666.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 476.000000 m, deltaT: 4.059045 s, deltaX: 0.200012 m, approachRate: 0.049276 m/s, rangeRepo size: 4 2025-01-08T22:01:06.113Z,1736373666.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 476.000000 m, bearing: 32.726225 deg, lat: 36.902323 deg, lon: -122.119374 deg, deltaT: 4.059045 s, deltaX: 0.200012 m, approachRate: 0.049276 m/s, posRepo size: 4 2025-01-08T22:01:06.114Z,1736373666.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:06.121Z,1736373666.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.092560 m, bearing: 33.817731 deg, approach rate: 0.000000 m/s, LOS rate: 0.161901 deg/s, cmd heading: 305.427318 deg, new cmd heading: 305.664691 deg. 2025-01-08T22:01:06.122Z,1736373666.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.334855 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:06.172Z,1736373666.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:06.400Z,1736373666.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:06.409Z,1736373666.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:06.425Z,1736373666.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:06.434Z,1736373666.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.122345 m, bearing: 33.862335 deg, approach rate: 0.097008 m/s, LOS rate: 0.145254 deg/s, cmd heading: 305.664680 deg, new cmd heading: 305.798476 deg. 2025-01-08T22:01:06.439Z,1736373666.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.337190 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:06.676Z,1736373666.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:06.825Z,1736373666.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:06.852Z,1736373666.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:06.855Z,1736373666.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:06.858Z,1736373666.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.161407 m, bearing: 33.920416 deg, approach rate: 0.087760 m/s, LOS rate: 0.130469 deg/s, cmd heading: 305.798470 deg, new cmd heading: 305.972688 deg. 2025-01-08T22:01:06.859Z,1736373666.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.340231 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:06.930Z,1736373666.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:06.931Z,1736373666.931 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:06.931Z,1736373666.931 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:06.931Z,1736373666.931 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:07.184Z,1736373667.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:07.185Z,1736373667.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.442144 2025-01-08T22:01:07.227Z,1736373667.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:07.264Z,1736373667.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:07.266Z,1736373667.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.188416 m, bearing: 33.974251 deg, approach rate: 0.066674 m/s, LOS rate: 0.132886 deg/s, cmd heading: 305.972695 deg, new cmd heading: 306.134182 deg. 2025-01-08T22:01:07.272Z,1736373667.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.343050 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:07.438Z,1736373667.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:07.439Z,1736373667.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.696436 2025-01-08T22:01:07.615Z,1736373667.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:07.625Z,1736373667.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:07.628Z,1736373667.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.212921 m, bearing: 34.026243 deg, approach rate: 0.067013 m/s, LOS rate: 0.142164 deg/s, cmd heading: 306.134188 deg, new cmd heading: 306.290148 deg. 2025-01-08T22:01:07.629Z,1736373667.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345772 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:07.692Z,1736373667.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:07.693Z,1736373667.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950855 2025-01-08T22:01:07.944Z,1736373667.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:07.945Z,1736373667.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202362 2025-01-08T22:01:08.071Z,1736373668.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:08.080Z,1736373668.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:08.082Z,1736373668.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.235535 m, bearing: 34.086034 deg, approach rate: 0.049774 m/s, LOS rate: 0.131592 deg/s, cmd heading: 306.290162 deg, new cmd heading: 306.469517 deg. 2025-01-08T22:01:08.083Z,1736373668.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348902 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:08.196Z,1736373668.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:08.196Z,1736373668.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454024 2025-01-08T22:01:08.416Z,1736373668.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:08.426Z,1736373668.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:08.429Z,1736373668.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.251587 m, bearing: 34.131354 deg, approach rate: 0.046317 m/s, LOS rate: 0.130759 deg/s, cmd heading: 306.469523 deg, new cmd heading: 306.605475 deg. 2025-01-08T22:01:08.430Z,1736373668.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.351275 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:08.468Z,1736373668.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:08.469Z,1736373668.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726661 2025-01-08T22:01:08.720Z,1736373668.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:08.721Z,1736373668.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978563 2025-01-08T22:01:08.833Z,1736373668.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:08.841Z,1736373668.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:08.844Z,1736373668.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.269714 m, bearing: 34.185984 deg, approach rate: 0.043679 m/s, LOS rate: 0.131624 deg/s, cmd heading: 306.605471 deg, new cmd heading: 306.769348 deg. 2025-01-08T22:01:08.845Z,1736373668.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.354135 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:08.973Z,1736373668.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:08.974Z,1736373668.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231526 2025-01-08T22:01:09.224Z,1736373669.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:09.225Z,1736373669.225 [DAT](INFO): DAT read: Rx Time:22:01:08.0321 2025-01-08T22:01:09.225Z,1736373669.225 [DAT](INFO): Rx dataTimestamp_ set to:1736373669.224775 2025-01-08T22:01:09.226Z,1736373669.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483212 2025-01-08T22:01:09.285Z,1736373669.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:09.294Z,1736373669.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:09.296Z,1736373669.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:09.299Z,1736373669.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.281097 m, bearing: 34.248129 deg, approach rate: 0.025013 m/s, LOS rate: 0.136553 deg/s, cmd heading: 306.769341 deg, new cmd heading: 306.955767 deg. 2025-01-08T22:01:09.300Z,1736373669.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357389 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:09.476Z,1736373669.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:09.477Z,1736373669.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734868 2025-01-08T22:01:09.730Z,1736373669.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:09.743Z,1736373669.743 [DAT](INFO): DAT read: 22:01:08.0321 LVL= 16688, 28465, 18834, 25731, AGC= 67, IDX= 447, 0.14,-2.361, 3.134, 1.953, 2.926, PHS= 1.084, 0.255,-0.976, RAW= 53.6, -4.1, CAL= 57.4, -8.6, ROT= 92.6, 8.6 2025-01-08T22:01:09.744Z,1736373669.744 [DAT](INFO): got valid direction response: 22:01:08.0321 LVL= 16688, 28465, 18834, 25731, AGC= 67, IDX= 447, 0.14,-2.361, 3.134, 1.953, 2.926, PHS= 1.084, 0.255,-0.976, RAW= 53.6, -4.1, CAL= 57.4, -8.6, ROT= 92.6, 8.6 2025-01-08T22:01:09.745Z,1736373669.745 [DAT](INFO): DAT read: Bearing 92.6, 8.6 (Local) 2025-01-08T22:01:09.745Z,1736373669.745 [DAT](INFO): Local bearing/azimuth received: Bearing 92.6, 8.6 (Local) 2025-01-08T22:01:09.748Z,1736373669.748 [DAT](INFO): DAT read: Range 10 to 50 : 476.0 m (Round-trip 634.7 ms) speed 0.0 m/s 2025-01-08T22:01:09.748Z,1736373669.748 [DAT](INFO): DAT read: user:2226> 2025-01-08T22:01:09.749Z,1736373669.749 [DAT](INFO): DAT read: Tx time:22:01:09.1416 2025-01-08T22:01:09.749Z,1736373669.749 [DAT](INFO): Ping request sent. 2025-01-08T22:01:09.749Z,1736373669.749 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:09.750Z,1736373669.750 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:09.751Z,1736373669.751 [DAT](INFO): direction in FSK: [0.059903,0.654061,0.754066] 2025-01-08T22:01:09.751Z,1736373669.751 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:09.752Z,1736373669.752 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:09.757Z,1736373669.757 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:09.757Z,1736373669.757 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:09.863Z,1736373669.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:09.921Z,1736373669.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 476.000000 m, deltaT: 4.057796 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:01:09.943Z,1736373669.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 476.000000 m, bearing: 36.235882 deg, lat: 36.902323 deg, lon: -122.119375 deg, deltaT: 4.057796 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:01:09.946Z,1736373669.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:09.964Z,1736373669.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.277893 m, bearing: 34.321707 deg, approach rate: 0.000000 m/s, LOS rate: 0.136553 deg/s, cmd heading: 306.955777 deg, new cmd heading: 307.206177 deg. 2025-01-08T22:01:09.965Z,1736373669.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.361759 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:09.981Z,1736373669.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:09.982Z,1736373669.982 [DAT](INFO): DAT read: TxSync time:22:01:09.1409 2025-01-08T22:01:10.232Z,1736373670.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:10.397Z,1736373670.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:10.406Z,1736373670.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:10.409Z,1736373670.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.285248 m, bearing: 34.396430 deg, approach rate: 0.014742 m/s, LOS rate: 0.149768 deg/s, cmd heading: 307.206172 deg, new cmd heading: 307.430331 deg. 2025-01-08T22:01:10.410Z,1736373670.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.365672 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:10.485Z,1736373670.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:10.736Z,1736373670.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:10.781Z,1736373670.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:10.790Z,1736373670.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:10.792Z,1736373670.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.290100 m, bearing: 34.449387 deg, approach rate: 0.012656 m/s, LOS rate: 0.138127 deg/s, cmd heading: 307.430339 deg, new cmd heading: 307.589208 deg. 2025-01-08T22:01:10.793Z,1736373670.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368444 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:10.990Z,1736373670.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:11.211Z,1736373671.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:11.221Z,1736373671.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:11.223Z,1736373671.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.294922 m, bearing: 34.511888 deg, approach rate: 0.011196 m/s, LOS rate: 0.145116 deg/s, cmd heading: 307.589209 deg, new cmd heading: 307.776707 deg. 2025-01-08T22:01:11.224Z,1736373671.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.371717 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:11.242Z,1736373671.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:11.492Z,1736373671.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:11.580Z,1736373671.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:11.589Z,1736373671.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:11.591Z,1736373671.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:11.593Z,1736373671.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.298187 m, bearing: 34.565512 deg, approach rate: 0.008814 m/s, LOS rate: 0.144745 deg/s, cmd heading: 307.776711 deg, new cmd heading: 307.937582 deg. 2025-01-08T22:01:11.594Z,1736373671.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.374525 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:11.744Z,1736373671.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:11.744Z,1736373671.744 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:11.744Z,1736373671.744 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:11.745Z,1736373671.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:11.993Z,1736373671.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:11.996Z,1736373671.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:11.996Z,1736373671.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247002 2025-01-08T22:01:12.005Z,1736373672.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:12.012Z,1736373672.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.301239 m, bearing: 34.625493 deg, approach rate: 0.007375 m/s, LOS rate: 0.144952 deg/s, cmd heading: 307.937576 deg, new cmd heading: 308.117515 deg. 2025-01-08T22:01:12.013Z,1736373672.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.377665 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:12.248Z,1736373672.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:12.249Z,1736373672.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499193 2025-01-08T22:01:12.409Z,1736373672.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:12.418Z,1736373672.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:12.421Z,1736373672.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.308929 m, bearing: 34.689704 deg, approach rate: 0.018609 m/s, LOS rate: 0.155372 deg/s, cmd heading: 308.117511 deg, new cmd heading: 308.310137 deg. 2025-01-08T22:01:12.422Z,1736373672.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.381027 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:12.501Z,1736373672.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:12.502Z,1736373672.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752382 2025-01-08T22:01:12.752Z,1736373672.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:12.752Z,1736373672.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002915 2025-01-08T22:01:12.805Z,1736373672.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:12.814Z,1736373672.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:12.819Z,1736373672.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.316559 m, bearing: 34.750825 deg, approach rate: 0.019256 m/s, LOS rate: 0.154257 deg/s, cmd heading: 308.310149 deg, new cmd heading: 308.493506 deg. 2025-01-08T22:01:12.820Z,1736373672.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.384227 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:13.006Z,1736373673.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:13.007Z,1736373673.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257822 2025-01-08T22:01:13.256Z,1736373673.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:13.257Z,1736373673.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507125 2025-01-08T22:01:13.260Z,1736373673.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:13.268Z,1736373673.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:13.272Z,1736373673.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.333252 m, bearing: 34.824361 deg, approach rate: 0.036759 m/s, LOS rate: 0.161920 deg/s, cmd heading: 308.493499 deg, new cmd heading: 308.714091 deg. 2025-01-08T22:01:13.273Z,1736373673.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.388077 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:13.508Z,1736373673.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:13.508Z,1736373673.508 [DAT](INFO): DAT read: Rx Time:22:01:12.1800 2025-01-08T22:01:13.509Z,1736373673.509 [DAT](INFO): Rx dataTimestamp_ set to:1736373673.508668 2025-01-08T22:01:13.509Z,1736373673.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760056 2025-01-08T22:01:13.604Z,1736373673.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:13.611Z,1736373673.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:13.613Z,1736373673.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.00 m. 2025-01-08T22:01:13.616Z,1736373673.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 476.000000 m, nav range: 259.345642 m, bearing: 34.880292 deg, approach rate: 0.035879 m/s, LOS rate: 0.161956 deg/s, cmd heading: 308.714087 deg, new cmd heading: 308.881870 deg. 2025-01-08T22:01:13.617Z,1736373673.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.391006 target range: 476.000000 and range: 476.00 m. 2025-01-08T22:01:13.760Z,1736373673.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:13.761Z,1736373673.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.011218 2025-01-08T22:01:14.012Z,1736373674.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:14.020Z,1736373674.020 [DAT](INFO): DAT read: 22:01:12.1800 LVL= 16944, 29041, 25538, 29587, AGC= 70, IDX= 442, 0.48, 0.541,-0.394,-1.497,-0.516, PHS= 1.145, 0.169,-0.984, RAW= 57.2, -3.6, CAL= 61.6, -8.2, ROT= 88.4, 8.2 2025-01-08T22:01:14.021Z,1736373674.021 [DAT](INFO): got valid direction response: 22:01:12.1800 LVL= 16944, 29041, 25538, 29587, AGC= 70, IDX= 442, 0.48, 0.541,-0.394,-1.497,-0.516, PHS= 1.145, 0.169,-0.984, RAW= 57.2, -3.6, CAL= 61.6, -8.2, ROT= 88.4, 8.2 2025-01-08T22:01:14.022Z,1736373674.022 [DAT](INFO): DAT read: Bearing 88.4, 8.2 (Local) 2025-01-08T22:01:14.023Z,1736373674.023 [DAT](INFO): Local bearing/azimuth received: Bearing 88.4, 8.2 (Local) 2025-01-08T22:01:14.024Z,1736373674.024 [DAT](INFO): DAT read: Range 10 to 50 : 475.6 m (Round-trip 634.2 ms) speed 0.0 m/s 2025-01-08T22:01:14.025Z,1736373674.025 [DAT](INFO): DAT read: user:2227> 2025-01-08T22:01:14.026Z,1736373674.026 [DAT](INFO): DAT read: Tx time:22:01:13.2932 2025-01-08T22:01:14.026Z,1736373674.026 [DAT](INFO): Ping request sent. 2025-01-08T22:01:14.026Z,1736373674.026 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:14.026Z,1736373674.026 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:14.044Z,1736373674.044 [DAT](INFO): direction in FSK: [0.043685,0.608453,0.792386] 2025-01-08T22:01:14.044Z,1736373674.044 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:14.044Z,1736373674.044 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:14.051Z,1736373674.051 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:14.052Z,1736373674.052 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:14.074Z,1736373674.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:14.164Z,1736373674.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 475.600006 m, deltaT: 4.282708 s, deltaX: -0.399994 m, approachRate: -0.093397 m/s, rangeRepo size: 4 2025-01-08T22:01:14.166Z,1736373674.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 475.600006 m, bearing: 39.807996 deg, lat: 36.902323 deg, lon: -122.119396 deg, deltaT: 4.282708 s, deltaX: -0.399994 m, approachRate: -0.093397 m/s, posRepo size: 4 2025-01-08T22:01:14.166Z,1736373674.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.60 m. 2025-01-08T22:01:14.173Z,1736373674.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.600006 m, nav range: 258.278442 m, bearing: 34.610615 deg, approach rate: 0.000000 m/s, LOS rate: 0.161956 deg/s, cmd heading: 308.881863 deg, new cmd heading: 309.146742 deg. 2025-01-08T22:01:14.174Z,1736373674.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395628 target range: 475.600006 and range: 475.60 m. 2025-01-08T22:01:14.264Z,1736373674.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:14.266Z,1736373674.266 [DAT](INFO): DAT read: TxSync time:22:01:13.2924 2025-01-08T22:01:14.516Z,1736373674.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:14.530Z,1736373674.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:14.545Z,1736373674.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.60 m. 2025-01-08T22:01:14.547Z,1736373674.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.600006 m, nav range: 258.304108 m, bearing: 34.687544 deg, approach rate: 0.066476 m/s, LOS rate: 0.199237 deg/s, cmd heading: 309.146738 deg, new cmd heading: 309.377503 deg. 2025-01-08T22:01:14.548Z,1736373674.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399656 target range: 475.600006 and range: 475.60 m. 2025-01-08T22:01:14.768Z,1736373674.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:14.964Z,1736373674.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:14.992Z,1736373674.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.60 m. 2025-01-08T22:01:14.994Z,1736373674.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.600006 m, nav range: 258.328766 m, bearing: 34.760617 deg, approach rate: 0.055215 m/s, LOS rate: 0.163612 deg/s, cmd heading: 309.377489 deg, new cmd heading: 309.596686 deg. 2025-01-08T22:01:14.995Z,1736373674.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.403481 target range: 475.600006 and range: 475.60 m. 2025-01-08T22:01:15.020Z,1736373675.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:15.272Z,1736373675.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:15.350Z,1736373675.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:15.360Z,1736373675.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.60 m. 2025-01-08T22:01:15.362Z,1736373675.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.600006 m, nav range: 258.359314 m, bearing: 34.827193 deg, approach rate: 0.082917 m/s, LOS rate: 0.180688 deg/s, cmd heading: 309.596684 deg, new cmd heading: 309.796387 deg. 2025-01-08T22:01:15.364Z,1736373675.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.406967 target range: 475.600006 and range: 475.60 m. 2025-01-08T22:01:15.524Z,1736373675.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:15.735Z,1736373675.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:15.751Z,1736373675.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:15.755Z,1736373675.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.60 m. 2025-01-08T22:01:15.762Z,1736373675.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.600006 m, nav range: 258.390503 m, bearing: 34.893432 deg, approach rate: 0.079014 m/s, LOS rate: 0.167789 deg/s, cmd heading: 309.796398 deg, new cmd heading: 309.995090 deg. 2025-01-08T22:01:15.763Z,1736373675.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410435 target range: 475.600006 and range: 475.60 m. 2025-01-08T22:01:15.776Z,1736373675.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:15.776Z,1736373675.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:15.776Z,1736373675.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:15.777Z,1736373675.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:15.856Z,1736373675.856 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:01:16.028Z,1736373676.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:16.028Z,1736373676.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002339 2025-01-08T22:01:16.171Z,1736373676.171 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.0 +0.00, +0.00, 20.00,570.42 2025-01-08T22:01:16.180Z,1736373676.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:01:16.180Z,1736373676.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:16.190Z,1736373676.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.60 m. 2025-01-08T22:01:16.192Z,1736373676.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.600006 m, nav range: 258.424988 m, bearing: 34.970168 deg, approach rate: 0.079236 m/s, LOS rate: 0.176292 deg/s, cmd heading: 309.995102 deg, new cmd heading: 310.225278 deg. 2025-01-08T22:01:16.193Z,1736373676.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.414453 target range: 475.600006 and range: 475.60 m. 2025-01-08T22:01:16.280Z,1736373676.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:16.281Z,1736373676.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255144 2025-01-08T22:01:16.532Z,1736373676.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:16.533Z,1736373676.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506573 2025-01-08T22:01:16.538Z,1736373676.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:01:16.538Z,1736373676.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:16.547Z,1736373676.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.60 m. 2025-01-08T22:01:16.549Z,1736373676.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.600006 m, nav range: 258.453003 m, bearing: 35.031783 deg, approach rate: 0.078481 m/s, LOS rate: 0.172587 deg/s, cmd heading: 310.225280 deg, new cmd heading: 310.410103 deg. 2025-01-08T22:01:16.550Z,1736373676.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.417678 target range: 475.600006 and range: 475.60 m. 2025-01-08T22:01:16.784Z,1736373676.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:16.784Z,1736373676.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758434 2025-01-08T22:01:16.925Z,1736373676.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:01:16.925Z,1736373676.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:16.933Z,1736373676.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.60 m. 2025-01-08T22:01:16.939Z,1736373676.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.600006 m, nav range: 258.481903 m, bearing: 35.098487 deg, approach rate: 0.074724 m/s, LOS rate: 0.172451 deg/s, cmd heading: 310.410105 deg, new cmd heading: 310.610195 deg. 2025-01-08T22:01:16.942Z,1736373676.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.421171 target range: 475.600006 and range: 475.60 m. 2025-01-08T22:01:17.036Z,1736373677.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:17.037Z,1736373677.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010525 2025-01-08T22:01:17.288Z,1736373677.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:17.288Z,1736373677.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262371 2025-01-08T22:01:17.379Z,1736373677.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:17.389Z,1736373677.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.60 m. 2025-01-08T22:01:17.392Z,1736373677.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.600006 m, nav range: 258.530243 m, bearing: 35.172365 deg, approach rate: 0.106205 m/s, LOS rate: 0.162282 deg/s, cmd heading: 310.610202 deg, new cmd heading: 310.831792 deg. 2025-01-08T22:01:17.393Z,1736373677.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425038 target range: 475.600006 and range: 475.60 m. 2025-01-08T22:01:17.540Z,1736373677.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:17.541Z,1736373677.541 [DAT](INFO): DAT read: Rx Time:22:01:16.3312 2025-01-08T22:01:17.541Z,1736373677.541 [DAT](INFO): Rx dataTimestamp_ set to:1736373677.540695 2025-01-08T22:01:17.541Z,1736373677.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515478 2025-01-08T22:01:17.754Z,1736373677.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:17.765Z,1736373677.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:17.767Z,1736373677.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.60 m. 2025-01-08T22:01:17.771Z,1736373677.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.600006 m, nav range: 258.569183 m, bearing: 35.233344 deg, approach rate: 0.102930 m/s, LOS rate: 0.161160 deg/s, cmd heading: 310.831800 deg, new cmd heading: 311.014711 deg. 2025-01-08T22:01:17.772Z,1736373677.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.428231 target range: 475.600006 and range: 475.60 m. 2025-01-08T22:01:17.792Z,1736373677.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:17.793Z,1736373677.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766502 2025-01-08T22:01:18.044Z,1736373678.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:18.050Z,1736373678.050 [DAT](INFO): DAT read: 22:01:16.3312 LVL= 16208, 26865, 24242, 28083, AGC= 67, IDX= 438, 0.26, 2.622, 1.719, 0.621, 1.624, PHS= 1.086, 0.142,-1.006, RAW= 56.8, -2.5, CAL= 60.3, -6.4, ROT= 89.7, 6.4 2025-01-08T22:01:18.051Z,1736373678.051 [DAT](INFO): got valid direction response: 22:01:16.3312 LVL= 16208, 26865, 24242, 28083, AGC= 67, IDX= 438, 0.26, 2.622, 1.719, 0.621, 1.624, PHS= 1.086, 0.142,-1.006, RAW= 56.8, -2.5, CAL= 60.3, -6.4, ROT= 89.7, 6.4 2025-01-08T22:01:18.052Z,1736373678.052 [DAT](INFO): DAT read: Bearing 89.7, 6.4 (Local) 2025-01-08T22:01:18.053Z,1736373678.053 [DAT](INFO): Local bearing/azimuth received: Bearing 89.7, 6.4 (Local) 2025-01-08T22:01:18.054Z,1736373678.054 [DAT](INFO): DAT read: Range 10 to 50 : 475.3 m (Round-trip 633.8 ms) speed 0.0 m/s 2025-01-08T22:01:18.055Z,1736373678.055 [DAT](INFO): DAT read: user:2228> 2025-01-08T22:01:18.056Z,1736373678.056 [DAT](INFO): DAT read: Tx time:22:01:17.4416 2025-01-08T22:01:18.056Z,1736373678.056 [DAT](INFO): Ping request sent. 2025-01-08T22:01:18.056Z,1736373678.056 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:18.056Z,1736373678.056 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:18.057Z,1736373678.057 [DAT](INFO): direction in FSK: [0.023443,0.616429,0.787062] 2025-01-08T22:01:18.057Z,1736373678.057 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:18.058Z,1736373678.058 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:18.086Z,1736373678.086 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:18.086Z,1736373678.086 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:18.267Z,1736373678.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:18.296Z,1736373678.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:18.297Z,1736373678.297 [DAT](INFO): DAT read: TxSync time:22:01:17.4409 2025-01-08T22:01:18.311Z,1736373678.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 475.299988 m, deltaT: 4.030997 s, deltaX: -0.300018 m, approachRate: -0.074428 m/s, rangeRepo size: 4 2025-01-08T22:01:18.317Z,1736373678.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 475.299988 m, bearing: 43.664877 deg, lat: 36.902191 deg, lon: -122.119396 deg, deltaT: 4.030997 s, deltaX: -0.300018 m, approachRate: -0.074428 m/s, posRepo size: 4 2025-01-08T22:01:18.318Z,1736373678.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.30 m. 2025-01-08T22:01:18.329Z,1736373678.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.299988 m, nav range: 246.809708 m, bearing: 37.278517 deg, approach rate: 0.000000 m/s, LOS rate: 0.161160 deg/s, cmd heading: 311.014713 deg, new cmd heading: 311.277348 deg. 2025-01-08T22:01:18.329Z,1736373678.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432815 target range: 475.299988 and range: 475.30 m. 2025-01-08T22:01:18.549Z,1736373678.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:18.597Z,1736373678.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:18.627Z,1736373678.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.30 m. 2025-01-08T22:01:18.630Z,1736373678.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.299988 m, nav range: 246.846283 m, bearing: 37.331968 deg, approach rate: 0.116773 m/s, LOS rate: 0.170626 deg/s, cmd heading: 311.277347 deg, new cmd heading: 311.437676 deg. 2025-01-08T22:01:18.639Z,1736373678.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.435613 target range: 475.299988 and range: 475.30 m. 2025-01-08T22:01:18.800Z,1736373678.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:19.013Z,1736373679.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:19.021Z,1736373679.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.30 m. 2025-01-08T22:01:19.029Z,1736373679.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.299988 m, nav range: 246.891632 m, bearing: 37.399196 deg, approach rate: 0.113930 m/s, LOS rate: 0.168865 deg/s, cmd heading: 311.437666 deg, new cmd heading: 311.639312 deg. 2025-01-08T22:01:19.030Z,1736373679.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.439132 target range: 475.299988 and range: 475.30 m. 2025-01-08T22:01:19.052Z,1736373679.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:19.304Z,1736373679.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:19.440Z,1736373679.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:19.449Z,1736373679.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.30 m. 2025-01-08T22:01:19.451Z,1736373679.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.299988 m, nav range: 246.928833 m, bearing: 37.465541 deg, approach rate: 0.087085 m/s, LOS rate: 0.155286 deg/s, cmd heading: 311.639320 deg, new cmd heading: 311.838324 deg. 2025-01-08T22:01:19.452Z,1736373679.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442605 target range: 475.299988 and range: 475.30 m. 2025-01-08T22:01:19.556Z,1736373679.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:19.808Z,1736373679.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:19.810Z,1736373679.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:19.833Z,1736373679.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:19.839Z,1736373679.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.30 m. 2025-01-08T22:01:19.842Z,1736373679.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.299988 m, nav range: 246.960068 m, bearing: 37.523046 deg, approach rate: 0.080798 m/s, LOS rate: 0.148737 deg/s, cmd heading: 311.838324 deg, new cmd heading: 312.010818 deg. 2025-01-08T22:01:19.843Z,1736373679.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445616 target range: 475.299988 and range: 475.30 m. 2025-01-08T22:01:20.060Z,1736373680.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:20.061Z,1736373680.061 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:20.061Z,1736373680.061 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:20.062Z,1736373680.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:20.252Z,1736373680.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:20.282Z,1736373680.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.30 m. 2025-01-08T22:01:20.289Z,1736373680.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.299988 m, nav range: 246.990799 m, bearing: 37.588503 deg, approach rate: 0.068760 m/s, LOS rate: 0.146437 deg/s, cmd heading: 312.010828 deg, new cmd heading: 312.207172 deg. 2025-01-08T22:01:20.290Z,1736373680.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449043 target range: 475.299988 and range: 475.30 m. 2025-01-08T22:01:20.312Z,1736373680.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:20.312Z,1736373680.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256426 2025-01-08T22:01:20.564Z,1736373680.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:20.564Z,1736373680.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508337 2025-01-08T22:01:20.633Z,1736373680.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:20.644Z,1736373680.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.30 m. 2025-01-08T22:01:20.649Z,1736373680.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.299988 m, nav range: 247.016479 m, bearing: 37.644910 deg, approach rate: 0.071114 m/s, LOS rate: 0.156187 deg/s, cmd heading: 312.207182 deg, new cmd heading: 312.376387 deg. 2025-01-08T22:01:20.650Z,1736373680.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451996 target range: 475.299988 and range: 475.30 m. 2025-01-08T22:01:20.816Z,1736373680.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:20.816Z,1736373680.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760393 2025-01-08T22:01:21.064Z,1736373681.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:21.068Z,1736373681.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:21.068Z,1736373681.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012401 2025-01-08T22:01:21.078Z,1736373681.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.30 m. 2025-01-08T22:01:21.082Z,1736373681.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.299988 m, nav range: 247.044418 m, bearing: 37.708632 deg, approach rate: 0.064183 m/s, LOS rate: 0.146369 deg/s, cmd heading: 312.376379 deg, new cmd heading: 312.567521 deg. 2025-01-08T22:01:21.083Z,1736373681.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455332 target range: 475.299988 and range: 475.30 m. 2025-01-08T22:01:21.320Z,1736373681.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:21.321Z,1736373681.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265088 2025-01-08T22:01:21.450Z,1736373681.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:21.460Z,1736373681.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.30 m. 2025-01-08T22:01:21.463Z,1736373681.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.299988 m, nav range: 247.061478 m, bearing: 37.765043 deg, approach rate: 0.044699 m/s, LOS rate: 0.147798 deg/s, cmd heading: 312.567515 deg, new cmd heading: 312.736736 deg. 2025-01-08T22:01:21.464Z,1736373681.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458286 target range: 475.299988 and range: 475.30 m. 2025-01-08T22:01:21.573Z,1736373681.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:21.574Z,1736373681.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517581 2025-01-08T22:01:21.824Z,1736373681.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:21.825Z,1736373681.825 [DAT](INFO): DAT read: Rx Time:22:01:20.4794 2025-01-08T22:01:21.825Z,1736373681.825 [DAT](INFO): Rx dataTimestamp_ set to:1736373681.824755 2025-01-08T22:01:21.826Z,1736373681.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769543 2025-01-08T22:01:21.841Z,1736373681.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:21.848Z,1736373681.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:21.850Z,1736373681.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.30 m. 2025-01-08T22:01:21.853Z,1736373681.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.299988 m, nav range: 247.077927 m, bearing: 37.822046 deg, approach rate: 0.042182 m/s, LOS rate: 0.146170 deg/s, cmd heading: 312.736740 deg, new cmd heading: 312.907739 deg. 2025-01-08T22:01:21.855Z,1736373681.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461270 target range: 475.299988 and range: 475.30 m. 2025-01-08T22:01:21.000Z,1736373682.000 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:01:22.076Z,1736373682.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:22.077Z,1736373682.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021243 2025-01-08T22:01:22.282Z,1736373682.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:22.320Z,1736373682.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.30 m. 2025-01-08T22:01:22.328Z,1736373682.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:22.334Z,1736373682.334 [DAT](INFO): DAT read: 22:01:20.4794 LVL= 15712, 32753, 32754, 32755, AGC= 70, IDX= 435, 0.39,-0.028,-1.069,-2.096,-1.178, PHS= 1.238, 0.156,-0.921, RAW= 60.1, -5.1, CAL= 66.2, -10.6, ROT= 83.8, 10.6 2025-01-08T22:01:22.336Z,1736373682.336 [DAT](INFO): got valid direction response: 22:01:20.4794 LVL= 15712, 32753, 32754, 32755, AGC= 70, IDX= 435, 0.39,-0.028,-1.069,-2.096,-1.178, PHS= 1.238, 0.156,-0.921, RAW= 60.1, -5.1, CAL= 66.2, -10.6, ROT= 83.8, 10.6 2025-01-08T22:01:22.337Z,1736373682.337 [DAT](INFO): DAT read: Bearing 83.8, 10.6 (Local) 2025-01-08T22:01:22.338Z,1736373682.338 [DAT](INFO): Local bearing/azimuth received: Bearing 83.8, 10.6 (Local) 2025-01-08T22:01:22.339Z,1736373682.339 [DAT](INFO): DAT read: Range 10 to 50 : 475.1 m (Round-trip 633.5 ms) speed 0.0 m/s 2025-01-08T22:01:22.340Z,1736373682.340 [DAT](INFO): DAT read: user:2229> 2025-01-08T22:01:22.341Z,1736373682.341 [DAT](INFO): DAT read: Tx time:22:01:21.5933 2025-01-08T22:01:22.341Z,1736373682.341 [DAT](INFO): Ping request sent. 2025-01-08T22:01:22.341Z,1736373682.341 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:22.341Z,1736373682.341 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:22.342Z,1736373682.342 [DAT](INFO): direction in FSK: [0.065833,0.568400,0.820114] 2025-01-08T22:01:22.343Z,1736373682.343 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:22.343Z,1736373682.343 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:22.343Z,1736373682.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.299988 m, nav range: 247.079071 m, bearing: 37.884529 deg, approach rate: 0.002459 m/s, LOS rate: 0.134258 deg/s, cmd heading: 312.907741 deg, new cmd heading: 313.095186 deg. 2025-01-08T22:01:22.344Z,1736373682.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464542 target range: 475.299988 and range: 475.30 m. 2025-01-08T22:01:22.355Z,1736373682.355 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:22.371Z,1736373682.371 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:22.581Z,1736373682.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:22.582Z,1736373682.582 [DAT](INFO): DAT read: TxSync time:22:01:21.5925 2025-01-08T22:01:22.674Z,1736373682.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:22.706Z,1736373682.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 475.100006 m, deltaT: 4.284176 s, deltaX: -0.199982 m, approachRate: -0.046679 m/s, rangeRepo size: 4 2025-01-08T22:01:22.712Z,1736373682.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 475.100006 m, bearing: 41.598001 deg, lat: 36.901994 deg, lon: -122.119396 deg, deltaT: 4.284176 s, deltaX: -0.199982 m, approachRate: -0.046679 m/s, posRepo size: 4 2025-01-08T22:01:22.713Z,1736373682.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T22:01:22.721Z,1736373682.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 230.206558 m, bearing: 41.292313 deg, approach rate: 0.000000 m/s, LOS rate: 0.134258 deg/s, cmd heading: 313.095189 deg, new cmd heading: 313.252228 deg. 2025-01-08T22:01:22.722Z,1736373682.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467283 target range: 475.100006 and range: 475.10 m. 2025-01-08T22:01:22.833Z,1736373682.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:23.044Z,1736373683.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:23.068Z,1736373683.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T22:01:23.078Z,1736373683.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 230.220108 m, bearing: 41.348478 deg, approach rate: 0.037360 m/s, LOS rate: 0.154851 deg/s, cmd heading: 313.252228 deg, new cmd heading: 313.420713 deg. 2025-01-08T22:01:23.081Z,1736373683.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470223 target range: 475.100006 and range: 475.10 m. 2025-01-08T22:01:23.084Z,1736373683.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:23.336Z,1736373683.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:23.481Z,1736373683.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:23.491Z,1736373683.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T22:01:23.494Z,1736373683.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 230.230576 m, bearing: 41.413050 deg, approach rate: 0.024756 m/s, LOS rate: 0.152704 deg/s, cmd heading: 313.420715 deg, new cmd heading: 313.614421 deg. 2025-01-08T22:01:23.495Z,1736373683.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473604 target range: 475.100006 and range: 475.10 m. 2025-01-08T22:01:23.588Z,1736373683.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:23.840Z,1736373683.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:23.862Z,1736373683.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:23.878Z,1736373683.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:23.884Z,1736373683.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T22:01:23.891Z,1736373683.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 230.237762 m, bearing: 41.469103 deg, approach rate: 0.018493 m/s, LOS rate: 0.144224 deg/s, cmd heading: 313.614420 deg, new cmd heading: 313.782572 deg. 2025-01-08T22:01:23.893Z,1736373683.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476539 target range: 475.100006 and range: 475.10 m. 2025-01-08T22:01:24.093Z,1736373684.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:24.094Z,1736373684.094 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:24.094Z,1736373684.094 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:24.095Z,1736373684.095 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:24.313Z,1736373684.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:24.344Z,1736373684.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:24.344Z,1736373684.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003314 2025-01-08T22:01:24.350Z,1736373684.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T22:01:24.352Z,1736373684.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 230.238998 m, bearing: 41.538333 deg, approach rate: 0.002629 m/s, LOS rate: 0.147262 deg/s, cmd heading: 313.782579 deg, new cmd heading: 313.990265 deg. 2025-01-08T22:01:24.354Z,1736373684.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480164 target range: 475.100006 and range: 475.10 m. 2025-01-08T22:01:24.596Z,1736373684.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:24.597Z,1736373684.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255861 2025-01-08T22:01:24.714Z,1736373684.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:24.724Z,1736373684.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T22:01:24.727Z,1736373684.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 230.239182 m, bearing: 41.599980 deg, approach rate: 0.000488 m/s, LOS rate: 0.164464 deg/s, cmd heading: 313.990271 deg, new cmd heading: 314.175212 deg. 2025-01-08T22:01:24.728Z,1736373684.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483392 target range: 475.100006 and range: 475.10 m. 2025-01-08T22:01:24.848Z,1736373684.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:24.848Z,1736373684.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507272 2025-01-08T22:01:25.068Z,1736373685.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:25.096Z,1736373685.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T22:01:25.098Z,1736373685.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 230.238464 m, bearing: 41.654354 deg, approach rate: -0.001930 m/s, LOS rate: 0.146341 deg/s, cmd heading: 314.175205 deg, new cmd heading: 314.338328 deg. 2025-01-08T22:01:25.100Z,1736373685.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:25.100Z,1736373685.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759345 2025-01-08T22:01:25.101Z,1736373685.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486239 target range: 475.100006 and range: 475.10 m. 2025-01-08T22:01:25.352Z,1736373685.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:25.352Z,1736373685.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011330 2025-01-08T22:01:25.509Z,1736373685.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:25.518Z,1736373685.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T22:01:25.522Z,1736373685.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 230.239700 m, bearing: 41.722564 deg, approach rate: 0.002928 m/s, LOS rate: 0.161584 deg/s, cmd heading: 314.338338 deg, new cmd heading: 314.542965 deg. 2025-01-08T22:01:25.523Z,1736373685.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489810 target range: 475.100006 and range: 475.10 m. 2025-01-08T22:01:25.606Z,1736373685.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:25.608Z,1736373685.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266522 2025-01-08T22:01:25.856Z,1736373685.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:25.857Z,1736373685.857 [DAT](INFO): DAT read: Rx Time:22:01:24.6305 2025-01-08T22:01:25.857Z,1736373685.857 [DAT](INFO): Rx dataTimestamp_ set to:1736373685.856765 2025-01-08T22:01:25.858Z,1736373685.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516453 2025-01-08T22:01:25.879Z,1736373685.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:25.914Z,1736373685.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:25.921Z,1736373685.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.10 m. 2025-01-08T22:01:25.929Z,1736373685.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 475.100006 m, nav range: 230.240204 m, bearing: 41.779689 deg, approach rate: 0.001249 m/s, LOS rate: 0.141652 deg/s, cmd heading: 314.542970 deg, new cmd heading: 314.714345 deg. 2025-01-08T22:01:25.930Z,1736373685.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492802 target range: 475.100006 and range: 475.10 m. 2025-01-08T22:01:26.108Z,1736373686.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:26.108Z,1736373686.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767277 2025-01-08T22:01:26.360Z,1736373686.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:26.366Z,1736373686.366 [DAT](INFO): DAT read: 22:01:24.6305 LVL= 15472, 27249, 21906, 26595, AGC= 69, IDX= 430, 0.22,-1.590,-2.748, 2.736,-2.652, PHS= 1.150,-0.049,-0.898, RAW= 65.6, -2.3, CAL= 71.0, -6.9, ROT= 79.0, 6.9 2025-01-08T22:01:26.368Z,1736373686.368 [DAT](INFO): got valid direction response: 22:01:24.6305 LVL= 15472, 27249, 21906, 26595, AGC= 69, IDX= 430, 0.22,-1.590,-2.748, 2.736,-2.652, PHS= 1.150,-0.049,-0.898, RAW= 65.6, -2.3, CAL= 71.0, -6.9, ROT= 79.0, 6.9 2025-01-08T22:01:26.369Z,1736373686.369 [DAT](INFO): DAT read: Bearing 79.0, 6.9 (Local) 2025-01-08T22:01:26.369Z,1736373686.369 [DAT](INFO): Local bearing/azimuth received: Bearing 79.0, 6.9 (Local) 2025-01-08T22:01:26.371Z,1736373686.371 [DAT](INFO): DAT read: Range 10 to 50 : 474.8 m (Round-trip 633.1 ms) speed 0.1 m/s 2025-01-08T22:01:26.372Z,1736373686.372 [DAT](INFO): DAT read: user:2230> 2025-01-08T22:01:26.373Z,1736373686.373 [DAT](INFO): DAT read: Tx time:22:01:25.7433 2025-01-08T22:01:26.373Z,1736373686.373 [DAT](INFO): Ping request sent. 2025-01-08T22:01:26.373Z,1736373686.373 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:26.373Z,1736373686.373 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:26.374Z,1736373686.374 [DAT](INFO): direction in FSK: [0.002561,0.495561,0.868570] 2025-01-08T22:01:26.374Z,1736373686.374 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:26.375Z,1736373686.375 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:26.398Z,1736373686.398 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:26.398Z,1736373686.398 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:26.420Z,1736373686.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:26.476Z,1736373686.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 474.799988 m, deltaT: 4.031951 s, deltaX: -0.300018 m, approachRate: -0.074410 m/s, rangeRepo size: 4 2025-01-08T22:01:26.478Z,1736373686.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 474.799988 m, bearing: 53.388787 deg, lat: 36.901926 deg, lon: -122.119396 deg, deltaT: 4.031951 s, deltaX: -0.300018 m, approachRate: -0.074410 m/s, posRepo size: 4 2025-01-08T22:01:26.478Z,1736373686.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.80 m. 2025-01-08T22:01:26.485Z,1736373686.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.799988 m, nav range: 224.678772 m, bearing: 43.155035 deg, approach rate: 0.000000 m/s, LOS rate: 0.141652 deg/s, cmd heading: 314.714353 deg, new cmd heading: 314.947784 deg. 2025-01-08T22:01:26.495Z,1736373686.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496876 target range: 474.799988 and range: 474.80 m. 2025-01-08T22:01:26.612Z,1736373686.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:26.613Z,1736373686.613 [DAT](INFO): DAT read: TxSync time:22:01:25.7425 2025-01-08T22:01:26.823Z,1736373686.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:26.844Z,1736373686.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.80 m. 2025-01-08T22:01:26.847Z,1736373686.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.799988 m, nav range: 224.692368 m, bearing: 43.222670 deg, approach rate: 0.036382 m/s, LOS rate: 0.180981 deg/s, cmd heading: 314.947782 deg, new cmd heading: 315.150673 deg. 2025-01-08T22:01:26.858Z,1736373686.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.500417 target range: 474.799988 and range: 474.80 m. 2025-01-08T22:01:26.864Z,1736373686.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:27.116Z,1736373687.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:27.197Z,1736373687.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:27.208Z,1736373687.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.80 m. 2025-01-08T22:01:27.210Z,1736373687.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.799988 m, nav range: 224.705872 m, bearing: 43.285581 deg, approach rate: 0.037189 m/s, LOS rate: 0.173242 deg/s, cmd heading: 315.150666 deg, new cmd heading: 315.339387 deg. 2025-01-08T22:01:27.211Z,1736373687.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503711 target range: 474.799988 and range: 474.80 m. 2025-01-08T22:01:27.368Z,1736373687.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:27.622Z,1736373687.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:27.628Z,1736373687.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:27.638Z,1736373687.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.80 m. 2025-01-08T22:01:27.641Z,1736373687.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.799988 m, nav range: 224.737030 m, bearing: 43.363179 deg, approach rate: 0.072453 m/s, LOS rate: 0.180413 deg/s, cmd heading: 315.339397 deg, new cmd heading: 315.572157 deg. 2025-01-08T22:01:27.642Z,1736373687.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507773 target range: 474.799988 and range: 474.80 m. 2025-01-08T22:01:27.876Z,1736373687.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:28.015Z,1736373688.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:28.023Z,1736373688.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:28.025Z,1736373688.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.80 m. 2025-01-08T22:01:28.028Z,1736373688.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.799988 m, nav range: 224.764862 m, bearing: 43.432801 deg, approach rate: 0.071762 m/s, LOS rate: 0.179490 deg/s, cmd heading: 315.572143 deg, new cmd heading: 315.780982 deg. 2025-01-08T22:01:28.029Z,1736373688.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511418 target range: 474.799988 and range: 474.80 m. 2025-01-08T22:01:28.128Z,1736373688.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:28.128Z,1736373688.128 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:28.128Z,1736373688.128 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:28.129Z,1736373688.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:28.380Z,1736373688.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:28.380Z,1736373688.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007433 2025-01-08T22:01:28.431Z,1736373688.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:28.441Z,1736373688.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.80 m. 2025-01-08T22:01:28.460Z,1736373688.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.799988 m, nav range: 224.802170 m, bearing: 43.511901 deg, approach rate: 0.089759 m/s, LOS rate: 0.190277 deg/s, cmd heading: 315.780983 deg, new cmd heading: 316.018244 deg. 2025-01-08T22:01:28.461Z,1736373688.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515559 target range: 474.799988 and range: 474.80 m. 2025-01-08T22:01:28.632Z,1736373688.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:28.633Z,1736373688.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259523 2025-01-08T22:01:28.810Z,1736373688.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:28.819Z,1736373688.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.80 m. 2025-01-08T22:01:28.822Z,1736373688.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.799988 m, nav range: 224.836212 m, bearing: 43.583952 deg, approach rate: 0.090116 m/s, LOS rate: 0.190701 deg/s, cmd heading: 316.018236 deg, new cmd heading: 316.234355 deg. 2025-01-08T22:01:28.823Z,1736373688.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519331 target range: 474.799988 and range: 474.80 m. 2025-01-08T22:01:28.885Z,1736373688.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:28.886Z,1736373688.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512693 2025-01-08T22:01:29.136Z,1736373689.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:29.136Z,1736373689.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763368 2025-01-08T22:01:29.226Z,1736373689.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:29.239Z,1736373689.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.80 m. 2025-01-08T22:01:29.242Z,1736373689.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.799988 m, nav range: 224.873001 m, bearing: 43.662921 deg, approach rate: 0.087531 m/s, LOS rate: 0.187858 deg/s, cmd heading: 316.234343 deg, new cmd heading: 316.471209 deg. 2025-01-08T22:01:29.243Z,1736373689.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523465 target range: 474.799988 and range: 474.80 m. 2025-01-08T22:01:29.388Z,1736373689.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:29.389Z,1736373689.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015794 2025-01-08T22:01:29.640Z,1736373689.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:29.641Z,1736373689.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267476 2025-01-08T22:01:29.670Z,1736373689.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:29.699Z,1736373689.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.80 m. 2025-01-08T22:01:29.701Z,1736373689.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.799988 m, nav range: 224.929626 m, bearing: 43.751434 deg, approach rate: 0.123242 m/s, LOS rate: 0.192597 deg/s, cmd heading: 316.471214 deg, new cmd heading: 316.736686 deg. 2025-01-08T22:01:29.702Z,1736373689.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528098 target range: 474.799988 and range: 474.80 m. 2025-01-08T22:01:29.892Z,1736373689.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:29.892Z,1736373689.892 [DAT](INFO): DAT read: Rx Time:22:01:28.7797 2025-01-08T22:01:29.893Z,1736373689.893 [DAT](INFO): Rx dataTimestamp_ set to:1736373689.892661 2025-01-08T22:01:29.893Z,1736373689.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520435 2025-01-08T22:01:30.017Z,1736373690.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:30.025Z,1736373690.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:30.027Z,1736373690.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.80 m. 2025-01-08T22:01:30.030Z,1736373690.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.799988 m, nav range: 224.974014 m, bearing: 43.820692 deg, approach rate: 0.135318 m/s, LOS rate: 0.211094 deg/s, cmd heading: 316.736690 deg, new cmd heading: 316.944422 deg. 2025-01-08T22:01:30.030Z,1736373690.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531723 target range: 474.799988 and range: 474.80 m. 2025-01-08T22:01:30.144Z,1736373690.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:30.145Z,1736373690.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771727 2025-01-08T22:01:30.396Z,1736373690.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:30.397Z,1736373690.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023535 2025-01-08T22:01:30.502Z,1736373690.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:30.511Z,1736373690.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.80 m. 2025-01-08T22:01:30.514Z,1736373690.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.799988 m, nav range: 225.043411 m, bearing: 43.918983 deg, approach rate: 0.143289 m/s, LOS rate: 0.202886 deg/s, cmd heading: 316.944410 deg, new cmd heading: 317.239189 deg. 2025-01-08T22:01:30.515Z,1736373690.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536869 target range: 474.799988 and range: 474.80 m. 2025-01-08T22:01:30.648Z,1736373690.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:30.658Z,1736373690.658 [DAT](INFO): DAT read: 22:01:28.7797 LVL= 17968, 24801, 18242, 24819, AGC= 67, IDX= 439,-0.03, 1.108,-0.106,-0.860, 0.030, PHS= 1.167,-0.089,-0.892, RAW= 67.2, -2.1, CAL= 72.7, -6.7, ROT= 77.3, 6.7 2025-01-08T22:01:30.660Z,1736373690.660 [DAT](INFO): got valid direction response: 22:01:28.7797 LVL= 17968, 24801, 18242, 24819, AGC= 67, IDX= 439,-0.03, 1.108,-0.106,-0.860, 0.030, PHS= 1.167,-0.089,-0.892, RAW= 67.2, -2.1, CAL= 72.7, -6.7, ROT= 77.3, 6.7 2025-01-08T22:01:30.662Z,1736373690.662 [DAT](INFO): DAT read: Bearing 77.3, 6.7 (Local) 2025-01-08T22:01:30.662Z,1736373690.662 [DAT](INFO): Local bearing/azimuth received: Bearing 77.3, 6.7 (Local) 2025-01-08T22:01:30.664Z,1736373690.664 [DAT](INFO): DAT read: Range 10 to 50 : 474.2 m (Round-trip 632.3 ms) speed 0.0 m/s 2025-01-08T22:01:30.665Z,1736373690.665 [DAT](INFO): DAT read: user:2231> 2025-01-08T22:01:30.667Z,1736373690.667 [DAT](INFO): DAT read: Tx time:22:01:29.8933 2025-01-08T22:01:30.667Z,1736373690.667 [DAT](INFO): Ping request sent. 2025-01-08T22:01:30.667Z,1736373690.667 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:30.668Z,1736373690.668 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:30.670Z,1736373690.670 [DAT](INFO): direction in FSK: [-0.004521,0.472518,0.881309] 2025-01-08T22:01:30.670Z,1736373690.670 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:30.671Z,1736373690.671 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:30.677Z,1736373690.677 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:30.677Z,1736373690.677 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:30.866Z,1736373690.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:30.900Z,1736373690.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:30.901Z,1736373690.901 [DAT](INFO): DAT read: TxSync time:22:01:29.8925 2025-01-08T22:01:30.909Z,1736373690.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 474.200012 m, deltaT: 4.288649 s, deltaX: -0.599976 m, approachRate: -0.139899 m/s, rangeRepo size: 4 2025-01-08T22:01:30.911Z,1736373690.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 474.200012 m, bearing: 57.425239 deg, lat: 36.901810 deg, lon: -122.119581 deg, deltaT: 4.288649 s, deltaX: -0.599976 m, approachRate: -0.139899 m/s, posRepo size: 4 2025-01-08T22:01:30.924Z,1736373690.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.20 m. 2025-01-08T22:01:30.926Z,1736373690.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.200012 m, nav range: 204.379318 m, bearing: 43.205179 deg, approach rate: 0.000000 m/s, LOS rate: 0.202886 deg/s, cmd heading: 317.239201 deg, new cmd heading: 317.481018 deg. 2025-01-08T22:01:30.932Z,1736373690.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541089 target range: 474.200012 and range: 474.20 m. 2025-01-08T22:01:30.993Z,1736373690.993 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:01:31.152Z,1736373691.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:31.272Z,1736373691.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:31.296Z,1736373691.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.20 m. 2025-01-08T22:01:31.298Z,1736373691.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.200012 m, nav range: 204.432693 m, bearing: 43.296132 deg, approach rate: 0.137745 m/s, LOS rate: 0.234661 deg/s, cmd heading: 317.481017 deg, new cmd heading: 317.753804 deg. 2025-01-08T22:01:31.312Z,1736373691.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.545850 target range: 474.200012 and range: 474.20 m. 2025-01-08T22:01:31.404Z,1736373691.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:31.656Z,1736373691.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:31.732Z,1736373691.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:31.745Z,1736373691.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.20 m. 2025-01-08T22:01:31.752Z,1736373691.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.200012 m, nav range: 204.494583 m, bearing: 43.396754 deg, approach rate: 0.137763 m/s, LOS rate: 0.223910 deg/s, cmd heading: 317.753815 deg, new cmd heading: 318.055585 deg. 2025-01-08T22:01:31.754Z,1736373691.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551117 target range: 474.200012 and range: 474.20 m. 2025-01-08T22:01:31.910Z,1736373691.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:31.996Z,1736373691.996 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:01:32.072Z,1736373692.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:32.098Z,1736373692.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:32.101Z,1736373692.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.20 m. 2025-01-08T22:01:32.104Z,1736373692.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.200012 m, nav range: 204.540787 m, bearing: 43.473086 deg, approach rate: 0.129884 m/s, LOS rate: 0.214530 deg/s, cmd heading: 318.055572 deg, new cmd heading: 318.284515 deg. 2025-01-08T22:01:32.105Z,1736373692.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555113 target range: 474.200012 and range: 474.20 m. 2025-01-08T22:01:32.161Z,1736373692.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:32.162Z,1736373692.162 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:32.162Z,1736373692.162 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:32.162Z,1736373692.162 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:32.412Z,1736373692.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:32.412Z,1736373692.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744817 2025-01-08T22:01:32.504Z,1736373692.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:32.532Z,1736373692.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.20 m. 2025-01-08T22:01:32.539Z,1736373692.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.200012 m, nav range: 204.585648 m, bearing: 43.562797 deg, approach rate: 0.103890 m/s, LOS rate: 0.207712 deg/s, cmd heading: 318.284520 deg, new cmd heading: 318.553594 deg. 2025-01-08T22:01:32.544Z,1736373692.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559809 target range: 474.200012 and range: 474.20 m. 2025-01-08T22:01:32.664Z,1736373692.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:32.665Z,1736373692.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997795 2025-01-08T22:01:32.881Z,1736373692.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:32.890Z,1736373692.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.20 m. 2025-01-08T22:01:32.893Z,1736373692.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.200012 m, nav range: 204.623764 m, bearing: 43.641153 deg, approach rate: 0.106559 m/s, LOS rate: 0.219011 deg/s, cmd heading: 318.553603 deg, new cmd heading: 318.788624 deg. 2025-01-08T22:01:32.894Z,1736373692.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.563911 target range: 474.200012 and range: 474.20 m. 2025-01-08T22:01:32.916Z,1736373692.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:32.916Z,1736373692.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248959 2025-01-08T22:01:33.168Z,1736373693.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:33.168Z,1736373693.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500807 2025-01-08T22:01:33.280Z,1736373693.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:33.309Z,1736373693.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.20 m. 2025-01-08T22:01:33.316Z,1736373693.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.200012 m, nav range: 204.663361 m, bearing: 43.724218 deg, approach rate: 0.094655 m/s, LOS rate: 0.198529 deg/s, cmd heading: 318.788616 deg, new cmd heading: 319.037762 deg. 2025-01-08T22:01:33.327Z,1736373693.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568259 target range: 474.200012 and range: 474.20 m. 2025-01-08T22:01:33.421Z,1736373693.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:33.423Z,1736373693.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755547 2025-01-08T22:01:33.672Z,1736373693.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:33.674Z,1736373693.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006178 2025-01-08T22:01:33.844Z,1736373693.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:33.852Z,1736373693.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.20 m. 2025-01-08T22:01:33.856Z,1736373693.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.200012 m, nav range: 204.708481 m, bearing: 43.831416 deg, approach rate: 0.082963 m/s, LOS rate: 0.197064 deg/s, cmd heading: 319.037754 deg, new cmd heading: 319.359274 deg. 2025-01-08T22:01:33.857Z,1736373693.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.573871 target range: 474.200012 and range: 474.20 m. 2025-01-08T22:01:33.924Z,1736373693.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:33.925Z,1736373693.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257058 2025-01-08T22:01:34.176Z,1736373694.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:34.176Z,1736373694.176 [DAT](INFO): DAT read: Rx Time:22:01:32.9290 2025-01-08T22:01:34.177Z,1736373694.177 [DAT](INFO): Rx dataTimestamp_ set to:1736373694.176624 2025-01-08T22:01:34.177Z,1736373694.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509955 2025-01-08T22:01:34.288Z,1736373694.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:34.295Z,1736373694.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:34.297Z,1736373694.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.20 m. 2025-01-08T22:01:34.300Z,1736373694.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.200012 m, nav range: 204.743073 m, bearing: 43.916238 deg, approach rate: 0.077786 m/s, LOS rate: 0.190704 deg/s, cmd heading: 319.359264 deg, new cmd heading: 319.613683 deg. 2025-01-08T22:01:34.301Z,1736373694.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578311 target range: 474.200012 and range: 474.20 m. 2025-01-08T22:01:34.428Z,1736373694.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:34.429Z,1736373694.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761213 2025-01-08T22:01:34.680Z,1736373694.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:34.688Z,1736373694.688 [DAT](INFO): DAT read: 22:01:32.9290 LVL= 16144, 28513, 20786, 26435, AGC= 65, IDX= 430, 0.04,-3.038, 1.789, 1.260, 2.026, PHS= 1.307,-0.190,-0.769, RAW= 74.3, -3.8, CAL= 82.1, -9.8, ROT= 67.9, 9.8 2025-01-08T22:01:34.689Z,1736373694.689 [DAT](INFO): got valid direction response: 22:01:32.9290 LVL= 16144, 28513, 20786, 26435, AGC= 65, IDX= 430, 0.04,-3.038, 1.789, 1.260, 2.026, PHS= 1.307,-0.190,-0.769, RAW= 74.3, -3.8, CAL= 82.1, -9.8, ROT= 67.9, 9.8 2025-01-08T22:01:34.690Z,1736373694.690 [DAT](INFO): DAT read: Bearing 67.9, 9.8 (Local) 2025-01-08T22:01:34.690Z,1736373694.690 [DAT](INFO): Local bearing/azimuth received: Bearing 67.9, 9.8 (Local) 2025-01-08T22:01:34.692Z,1736373694.692 [DAT](INFO): DAT read: Range 10 to 50 : 473.5 m (Round-trip 631.4 ms) speed -0.1 m/s 2025-01-08T22:01:34.693Z,1736373694.693 [DAT](INFO): DAT read: user:2232> 2025-01-08T22:01:34.694Z,1736373694.694 [DAT](INFO): DAT read: Tx time:22:01:34.0434 2025-01-08T22:01:34.694Z,1736373694.694 [DAT](INFO): Ping request sent. 2025-01-08T22:01:34.694Z,1736373694.694 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:34.694Z,1736373694.694 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:34.735Z,1736373694.735 [DAT](INFO): direction in FSK: [0.013976,0.362803,0.931761] 2025-01-08T22:01:34.736Z,1736373694.736 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:34.736Z,1736373694.736 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:34.749Z,1736373694.749 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:34.749Z,1736373694.749 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:34.828Z,1736373694.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:34.869Z,1736373694.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 473.500000 m, deltaT: 4.031763 s, deltaX: -0.700012 m, approachRate: -0.173624 m/s, rangeRepo size: 4 2025-01-08T22:01:34.877Z,1736373694.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 473.500000 m, bearing: 64.701902 deg, lat: 36.901369 deg, lon: -122.119583 deg, deltaT: 4.031763 s, deltaX: -0.700012 m, approachRate: -0.173624 m/s, posRepo size: 4 2025-01-08T22:01:34.877Z,1736373694.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.50 m. 2025-01-08T22:01:34.885Z,1736373694.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.500000 m, nav range: 172.790924 m, bearing: 55.323815 deg, approach rate: 0.000000 m/s, LOS rate: 0.190704 deg/s, cmd heading: 319.613675 deg, new cmd heading: 319.940608 deg. 2025-01-08T22:01:34.886Z,1736373694.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584017 target range: 473.500000 and range: 473.50 m. 2025-01-08T22:01:34.932Z,1736373694.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:34.933Z,1736373694.933 [DAT](INFO): DAT read: TxSync time:22:01:34.0426 2025-01-08T22:01:35.184Z,1736373695.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:35.199Z,1736373695.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:35.209Z,1736373695.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.50 m. 2025-01-08T22:01:35.232Z,1736373695.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.500000 m, nav range: 172.846924 m, bearing: 55.400113 deg, approach rate: 0.164221 m/s, LOS rate: 0.223676 deg/s, cmd heading: 319.940595 deg, new cmd heading: 320.169416 deg. 2025-01-08T22:01:35.233Z,1736373695.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588010 target range: 473.500000 and range: 473.50 m. 2025-01-08T22:01:35.438Z,1736373695.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:35.618Z,1736373695.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:35.651Z,1736373695.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.50 m. 2025-01-08T22:01:35.661Z,1736373695.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.500000 m, nav range: 172.890076 m, bearing: 55.477821 deg, approach rate: 0.097912 m/s, LOS rate: 0.176274 deg/s, cmd heading: 320.169407 deg, new cmd heading: 320.402470 deg. 2025-01-08T22:01:35.663Z,1736373695.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592078 target range: 473.500000 and range: 473.50 m. 2025-01-08T22:01:35.688Z,1736373695.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:35.940Z,1736373695.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:36.014Z,1736373696.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:36.024Z,1736373696.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.50 m. 2025-01-08T22:01:36.026Z,1736373696.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.500000 m, nav range: 172.928741 m, bearing: 55.549100 deg, approach rate: 0.103467 m/s, LOS rate: 0.190697 deg/s, cmd heading: 320.402480 deg, new cmd heading: 320.616270 deg. 2025-01-08T22:01:36.029Z,1736373696.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595809 target range: 473.500000 and range: 473.50 m. 2025-01-08T22:01:36.192Z,1736373696.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:36.445Z,1736373696.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:36.484Z,1736373696.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:36.512Z,1736373696.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:36.514Z,1736373696.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.50 m. 2025-01-08T22:01:36.521Z,1736373696.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.500000 m, nav range: 172.959686 m, bearing: 55.632955 deg, approach rate: 0.063188 m/s, LOS rate: 0.171197 deg/s, cmd heading: 320.616265 deg, new cmd heading: 320.867783 deg. 2025-01-08T22:01:36.522Z,1736373696.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600199 target range: 473.500000 and range: 473.50 m. 2025-01-08T22:01:36.696Z,1736373696.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:36.697Z,1736373696.697 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:36.697Z,1736373696.697 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:36.698Z,1736373696.698 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:36.948Z,1736373696.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:36.948Z,1736373696.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254558 2025-01-08T22:01:36.950Z,1736373696.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:36.977Z,1736373696.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.50 m. 2025-01-08T22:01:36.983Z,1736373696.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.500000 m, nav range: 172.988205 m, bearing: 55.714332 deg, approach rate: 0.061595 m/s, LOS rate: 0.175730 deg/s, cmd heading: 320.867780 deg, new cmd heading: 321.111867 deg. 2025-01-08T22:01:36.984Z,1736373696.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604459 target range: 473.500000 and range: 473.50 m. 2025-01-08T22:01:37.200Z,1736373697.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:37.200Z,1736373697.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506465 2025-01-08T22:01:37.356Z,1736373697.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:37.366Z,1736373697.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.50 m. 2025-01-08T22:01:37.369Z,1736373697.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.500000 m, nav range: 173.011719 m, bearing: 55.785238 deg, approach rate: 0.060332 m/s, LOS rate: 0.181905 deg/s, cmd heading: 321.111864 deg, new cmd heading: 321.324551 deg. 2025-01-08T22:01:37.370Z,1736373697.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608171 target range: 473.500000 and range: 473.50 m. 2025-01-08T22:01:37.454Z,1736373697.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:37.457Z,1736373697.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762074 2025-01-08T22:01:37.706Z,1736373697.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:37.706Z,1736373697.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012317 2025-01-08T22:01:37.812Z,1736373697.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:37.821Z,1736373697.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.50 m. 2025-01-08T22:01:37.840Z,1736373697.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.500000 m, nav range: 173.040268 m, bearing: 55.866348 deg, approach rate: 0.062785 m/s, LOS rate: 0.178347 deg/s, cmd heading: 321.324556 deg, new cmd heading: 321.567845 deg. 2025-01-08T22:01:37.841Z,1736373697.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612418 target range: 473.500000 and range: 473.50 m. 2025-01-08T22:01:37.956Z,1736373697.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:37.956Z,1736373697.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262577 2025-01-08T22:01:38.208Z,1736373698.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:38.209Z,1736373698.209 [DAT](INFO): DAT read: Rx Time:22:01:37.0782 2025-01-08T22:01:38.209Z,1736373698.209 [DAT](INFO): Rx dataTimestamp_ set to:1736373698.208767 2025-01-08T22:01:38.210Z,1736373698.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515694 2025-01-08T22:01:38.265Z,1736373698.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:38.282Z,1736373698.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.50 m. 2025-01-08T22:01:38.289Z,1736373698.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.500000 m, nav range: 173.064774 m, bearing: 55.947266 deg, approach rate: 0.053148 m/s, LOS rate: 0.175470 deg/s, cmd heading: 321.567847 deg, new cmd heading: 321.810564 deg. 2025-01-08T22:01:38.290Z,1736373698.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616654 target range: 473.500000 and range: 473.50 m. 2025-01-08T22:01:38.462Z,1736373698.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:38.465Z,1736373698.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769992 2025-01-08T22:01:38.683Z,1736373698.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:38.711Z,1736373698.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:38.713Z,1736373698.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:38.714Z,1736373698.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020071 2025-01-08T22:01:38.717Z,1736373698.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 473.50 m. 2025-01-08T22:01:38.724Z,1736373698.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 473.500000 m, nav range: 173.092316 m, bearing: 56.024584 deg, approach rate: 0.063312 m/s, LOS rate: 0.177705 deg/s, cmd heading: 321.810565 deg, new cmd heading: 322.042481 deg. 2025-01-08T22:01:38.725Z,1736373698.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620702 target range: 473.500000 and range: 473.50 m. 2025-01-08T22:01:38.964Z,1736373698.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:38.971Z,1736373698.971 [DAT](INFO): DAT read: 22:01:37.0782 LVL= 19408, 32433, 21170, 28227, AGC= 68, IDX= 422,-0.08, 1.238,-0.348,-0.616, 0.082, PHS= 1.244,-0.383,-0.700, RAW= 81.2, -1.8, CAL= 88.5, -7.1, ROT= 61.5, 7.1 2025-01-08T22:01:38.972Z,1736373698.972 [DAT](INFO): got valid direction response: 22:01:37.0782 LVL= 19408, 32433, 21170, 28227, AGC= 68, IDX= 422,-0.08, 1.238,-0.348,-0.616, 0.082, PHS= 1.244,-0.383,-0.700, RAW= 81.2, -1.8, CAL= 88.5, -7.1, ROT= 61.5, 7.1 2025-01-08T22:01:38.973Z,1736373698.973 [DAT](INFO): DAT read: Bearing 61.5, 7.1 (Local) 2025-01-08T22:01:38.973Z,1736373698.973 [DAT](INFO): Local bearing/azimuth received: Bearing 61.5, 7.1 (Local) 2025-01-08T22:01:38.975Z,1736373698.975 [DAT](INFO): DAT read: Range 10 to 50 : 472.9 m (Round-trip 630.6 ms) speed 0.1 m/s 2025-01-08T22:01:38.977Z,1736373698.977 [DAT](INFO): DAT read: user:2233> 2025-01-08T22:01:38.978Z,1736373698.978 [DAT](INFO): DAT read: Tx time:22:01:38.1918 2025-01-08T22:01:38.978Z,1736373698.978 [DAT](INFO): Ping request sent. 2025-01-08T22:01:38.979Z,1736373698.979 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:38.979Z,1736373698.979 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:38.980Z,1736373698.980 [DAT](INFO): direction in FSK: [-0.036072,0.253633,0.966628] 2025-01-08T22:01:38.980Z,1736373698.980 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:38.980Z,1736373698.980 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:38.992Z,1736373698.992 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:38.992Z,1736373698.992 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:39.083Z,1736373699.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:39.122Z,1736373699.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 472.899994 m, deltaT: 4.283508 s, deltaX: -0.600006 m, approachRate: -0.140074 m/s, rangeRepo size: 4 2025-01-08T22:01:39.128Z,1736373699.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 472.899994 m, bearing: 93.824817 deg, lat: 36.901238 deg, lon: -122.119650 deg, deltaT: 4.283508 s, deltaX: -0.600006 m, approachRate: -0.140074 m/s, posRepo size: 4 2025-01-08T22:01:39.129Z,1736373699.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.90 m. 2025-01-08T22:01:39.137Z,1736373699.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.899994 m, nav range: 160.229752 m, bearing: 59.221449 deg, approach rate: 0.000000 m/s, LOS rate: 0.177705 deg/s, cmd heading: 322.042490 deg, new cmd heading: 322.257967 deg. 2025-01-08T22:01:39.144Z,1736373699.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624463 target range: 472.899994 and range: 472.90 m. 2025-01-08T22:01:39.216Z,1736373699.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:39.217Z,1736373699.217 [DAT](INFO): DAT read: TxSync time:22:01:38.1911 2025-01-08T22:01:39.470Z,1736373699.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:39.565Z,1736373699.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:39.575Z,1736373699.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.90 m. 2025-01-08T22:01:39.578Z,1736373699.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.899994 m, nav range: 160.302322 m, bearing: 59.328736 deg, approach rate: 0.160074 m/s, LOS rate: 0.236542 deg/s, cmd heading: 322.257969 deg, new cmd heading: 322.579681 deg. 2025-01-08T22:01:39.579Z,1736373699.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630077 target range: 472.899994 and range: 472.90 m. 2025-01-08T22:01:39.720Z,1736373699.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:39.879Z,1736373699.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:39.889Z,1736373699.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.90 m. 2025-01-08T22:01:39.910Z,1736373699.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.899994 m, nav range: 160.348846 m, bearing: 59.398437 deg, approach rate: 0.148011 m/s, LOS rate: 0.221680 deg/s, cmd heading: 322.579671 deg, new cmd heading: 322.788711 deg. 2025-01-08T22:01:39.921Z,1736373699.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.633726 target range: 472.899994 and range: 472.90 m. 2025-01-08T22:01:39.972Z,1736373699.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:40.224Z,1736373700.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:40.326Z,1736373700.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:40.335Z,1736373700.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.90 m. 2025-01-08T22:01:40.338Z,1736373700.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.899994 m, nav range: 160.414642 m, bearing: 59.497714 deg, approach rate: 0.147563 m/s, LOS rate: 0.222561 deg/s, cmd heading: 322.788702 deg, new cmd heading: 323.086408 deg. 2025-01-08T22:01:40.339Z,1736373700.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638922 target range: 472.899994 and range: 472.90 m. 2025-01-08T22:01:40.477Z,1736373700.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:40.716Z,1736373700.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:40.728Z,1736373700.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:40.729Z,1736373700.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:40.731Z,1736373700.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.90 m. 2025-01-08T22:01:40.733Z,1736373700.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.899994 m, nav range: 160.492203 m, bearing: 59.591624 deg, approach rate: 0.196052 m/s, LOS rate: 0.237266 deg/s, cmd heading: 323.086417 deg, new cmd heading: 323.368010 deg. 2025-01-08T22:01:40.734Z,1736373700.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.643836 target range: 472.899994 and range: 472.90 m. 2025-01-08T22:01:40.980Z,1736373700.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:40.980Z,1736373700.980 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:40.980Z,1736373700.980 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:40.981Z,1736373700.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:41.089Z,1736373701.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:41.098Z,1736373701.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.90 m. 2025-01-08T22:01:41.101Z,1736373701.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.899994 m, nav range: 160.565979 m, bearing: 59.681226 deg, approach rate: 0.200987 m/s, LOS rate: 0.243989 deg/s, cmd heading: 323.368012 deg, new cmd heading: 323.636692 deg. 2025-01-08T22:01:41.102Z,1736373701.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648526 target range: 472.899994 and range: 472.90 m. 2025-01-08T22:01:41.232Z,1736373701.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:41.232Z,1736373701.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253814 2025-01-08T22:01:41.485Z,1736373701.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:41.488Z,1736373701.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508350 2025-01-08T22:01:41.590Z,1736373701.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:41.599Z,1736373701.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.90 m. 2025-01-08T22:01:41.601Z,1736373701.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.899994 m, nav range: 160.696381 m, bearing: 59.813092 deg, approach rate: 0.260327 m/s, LOS rate: 0.263037 deg/s, cmd heading: 323.636684 deg, new cmd heading: 324.031955 deg. 2025-01-08T22:01:41.602Z,1736373701.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655425 target range: 472.899994 and range: 472.90 m. 2025-01-08T22:01:41.737Z,1736373701.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:41.738Z,1736373701.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758937 2025-01-08T22:01:41.988Z,1736373701.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:41.989Z,1736373701.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010264 2025-01-08T22:01:42.100Z,1736373702.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:42.110Z,1736373702.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.90 m. 2025-01-08T22:01:42.112Z,1736373702.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.899994 m, nav range: 160.829651 m, bearing: 59.947534 deg, approach rate: 0.260792 m/s, LOS rate: 0.262866 deg/s, cmd heading: 324.031961 deg, new cmd heading: 324.434945 deg. 2025-01-08T22:01:42.113Z,1736373702.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662458 target range: 472.899994 and range: 472.90 m. 2025-01-08T22:01:42.240Z,1736373702.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:42.240Z,1736373702.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261707 2025-01-08T22:01:42.493Z,1736373702.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:42.496Z,1736373702.496 [DAT](INFO): DAT read: Rx Time:22:01:41.2257 2025-01-08T22:01:42.497Z,1736373702.497 [DAT](INFO): Rx dataTimestamp_ set to:1736373702.496384 2025-01-08T22:01:42.500Z,1736373702.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520005 2025-01-08T22:01:42.617Z,1736373702.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:42.653Z,1736373702.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.90 m. 2025-01-08T22:01:42.662Z,1736373702.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.899994 m, nav range: 160.976349 m, bearing: 60.089797 deg, approach rate: 0.270200 m/s, LOS rate: 0.261792 deg/s, cmd heading: 324.434942 deg, new cmd heading: 324.861333 deg. 2025-01-08T22:01:42.668Z,1736373702.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669900 target range: 472.899994 and range: 472.90 m. 2025-01-08T22:01:42.744Z,1736373702.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:42.746Z,1736373702.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766945 2025-01-08T22:01:42.973Z,1736373702.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:42.980Z,1736373702.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:42.982Z,1736373702.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.90 m. 2025-01-08T22:01:42.990Z,1736373702.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.899994 m, nav range: 161.077942 m, bearing: 60.187605 deg, approach rate: 0.308523 m/s, LOS rate: 0.296840 deg/s, cmd heading: 324.861337 deg, new cmd heading: 325.154572 deg. 2025-01-08T22:01:42.996Z,1736373702.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:43.002Z,1736373703.002 [DAT](INFO): DAT read: 22:01:41.2257 LVL= 16688, 29377, 21218, 26323, AGC= 69, IDX= 428, 0.04, 0.723,-0.873,-1.040,-0.357, PHS= 1.168,-0.470,-0.687, RAW= 83.9, -0.1, CAL= 90.5, -4.6, ROT= 59.5, 4.6 2025-01-08T22:01:43.004Z,1736373703.004 [DAT](INFO): got valid direction response: 22:01:41.2257 LVL= 16688, 29377, 21218, 26323, AGC= 69, IDX= 428, 0.04, 0.723,-0.873,-1.040,-0.357, PHS= 1.168,-0.470,-0.687, RAW= 83.9, -0.1, CAL= 90.5, -4.6, ROT= 59.5, 4.6 2025-01-08T22:01:43.005Z,1736373703.005 [DAT](INFO): DAT read: Bearing 59.5, 4.6 (Local) 2025-01-08T22:01:43.006Z,1736373703.006 [DAT](INFO): Local bearing/azimuth received: Bearing 59.5, 4.6 (Local) 2025-01-08T22:01:43.007Z,1736373703.007 [DAT](INFO): DAT read: Range 10 to 50 : 472.2 m (Round-trip 629.6 ms) speed 0.1 m/s 2025-01-08T22:01:43.008Z,1736373703.008 [DAT](INFO): DAT read: user:2234> 2025-01-08T22:01:43.009Z,1736373703.009 [DAT](INFO): DAT read: Tx time:22:01:42.3419 2025-01-08T22:01:43.009Z,1736373703.009 [DAT](INFO): Ping request sent. 2025-01-08T22:01:43.009Z,1736373703.009 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:43.010Z,1736373703.010 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:43.010Z,1736373703.010 [DAT](INFO): direction in FSK: [-0.072407,0.212091,0.974564] 2025-01-08T22:01:43.011Z,1736373703.011 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:43.017Z,1736373703.017 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:43.022Z,1736373703.022 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:43.022Z,1736373703.022 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:43.034Z,1736373703.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675018 target range: 472.899994 and range: 472.90 m. 2025-01-08T22:01:43.248Z,1736373703.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:43.249Z,1736373703.249 [DAT](INFO): DAT read: TxSync time:22:01:42.3412 2025-01-08T22:01:43.361Z,1736373703.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:43.400Z,1736373703.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 472.200012 m, deltaT: 4.032000 s, deltaX: -0.699982 m, approachRate: -0.173607 m/s, rangeRepo size: 4 2025-01-08T22:01:43.402Z,1736373703.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 472.200012 m, bearing: 112.304169 deg, lat: 36.900851 deg, lon: -122.120214 deg, deltaT: 4.032000 s, deltaX: -0.699982 m, approachRate: -0.173607 m/s, posRepo size: 4 2025-01-08T22:01:43.402Z,1736373703.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.20 m. 2025-01-08T22:01:43.409Z,1736373703.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.200012 m, nav range: 97.099113 m, bearing: 67.756074 deg, approach rate: 0.000000 m/s, LOS rate: 0.296840 deg/s, cmd heading: 325.154571 deg, new cmd heading: 325.522433 deg. 2025-01-08T22:01:43.410Z,1736373703.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681438 target range: 472.200012 and range: 472.20 m. 2025-01-08T22:01:43.500Z,1736373703.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:43.752Z,1736373703.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:43.791Z,1736373703.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:43.799Z,1736373703.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.20 m. 2025-01-08T22:01:43.802Z,1736373703.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.200012 m, nav range: 97.265518 m, bearing: 67.939452 deg, approach rate: 0.411722 m/s, LOS rate: 0.452940 deg/s, cmd heading: 325.522445 deg, new cmd heading: 326.071619 deg. 2025-01-08T22:01:43.820Z,1736373703.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691023 target range: 472.200012 and range: 472.20 m. 2025-01-08T22:01:44.004Z,1736373704.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:44.167Z,1736373704.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:44.190Z,1736373704.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.20 m. 2025-01-08T22:01:44.193Z,1736373704.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.200012 m, nav range: 97.408806 m, bearing: 68.100319 deg, approach rate: 0.366852 m/s, LOS rate: 0.411252 deg/s, cmd heading: 326.071619 deg, new cmd heading: 326.553497 deg. 2025-01-08T22:01:44.194Z,1736373704.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699434 target range: 472.200012 and range: 472.20 m. 2025-01-08T22:01:44.256Z,1736373704.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:44.509Z,1736373704.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:44.637Z,1736373704.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:44.649Z,1736373704.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.20 m. 2025-01-08T22:01:44.670Z,1736373704.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.200012 m, nav range: 97.579582 m, bearing: 68.301310 deg, approach rate: 0.371952 m/s, LOS rate: 0.436993 deg/s, cmd heading: 326.553503 deg, new cmd heading: 327.155397 deg. 2025-01-08T22:01:44.676Z,1736373704.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709939 target range: 472.200012 and range: 472.20 m. 2025-01-08T22:01:44.760Z,1736373704.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:44.988Z,1736373704.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:44.996Z,1736373704.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:44.997Z,1736373704.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.20 m. 2025-01-08T22:01:45.006Z,1736373705.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.200012 m, nav range: 97.707489 m, bearing: 68.450470 deg, approach rate: 0.366809 m/s, LOS rate: 0.427198 deg/s, cmd heading: 327.155406 deg, new cmd heading: 327.602290 deg. 2025-01-08T22:01:45.007Z,1736373705.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717739 target range: 472.200012 and range: 472.20 m. 2025-01-08T22:01:45.012Z,1736373705.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:45.012Z,1736373705.012 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:45.012Z,1736373705.012 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:45.013Z,1736373705.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:45.264Z,1736373705.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:45.265Z,1736373705.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255239 2025-01-08T22:01:45.377Z,1736373705.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:45.405Z,1736373705.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.20 m. 2025-01-08T22:01:45.409Z,1736373705.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.200012 m, nav range: 97.845215 m, bearing: 68.616762 deg, approach rate: 0.337560 m/s, LOS rate: 0.407001 deg/s, cmd heading: 327.602292 deg, new cmd heading: 328.100454 deg. 2025-01-08T22:01:45.410Z,1736373705.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726433 target range: 472.200012 and range: 472.20 m. 2025-01-08T22:01:45.518Z,1736373705.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:45.521Z,1736373705.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511081 2025-01-08T22:01:45.768Z,1736373705.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:45.768Z,1736373705.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759079 2025-01-08T22:01:45.798Z,1736373705.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:45.839Z,1736373705.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.20 m. 2025-01-08T22:01:45.852Z,1736373705.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.200012 m, nav range: 97.974983 m, bearing: 68.787154 deg, approach rate: 0.323216 m/s, LOS rate: 0.423834 deg/s, cmd heading: 328.100458 deg, new cmd heading: 328.610942 deg. 2025-01-08T22:01:45.853Z,1736373705.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735343 target range: 472.200012 and range: 472.20 m. 2025-01-08T22:01:46.021Z,1736373706.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:46.021Z,1736373706.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011972 2025-01-08T22:01:46.184Z,1736373706.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:46.209Z,1736373706.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.20 m. 2025-01-08T22:01:46.216Z,1736373706.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.200012 m, nav range: 98.092422 m, bearing: 68.943111 deg, approach rate: 0.292138 m/s, LOS rate: 0.387488 deg/s, cmd heading: 328.610947 deg, new cmd heading: 329.078246 deg. 2025-01-08T22:01:46.224Z,1736373706.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743499 target range: 472.200012 and range: 472.20 m. 2025-01-08T22:01:46.274Z,1736373706.274 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:46.275Z,1736373706.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266115 2025-01-08T22:01:46.524Z,1736373706.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:46.525Z,1736373706.525 [DAT](INFO): DAT read: Rx Time:22:01:45.3745 2025-01-08T22:01:46.526Z,1736373706.526 [DAT](INFO): Rx dataTimestamp_ set to:1736373706.525322 2025-01-08T22:01:46.526Z,1736373706.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516864 2025-01-08T22:01:46.701Z,1736373706.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:46.710Z,1736373706.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.20 m. 2025-01-08T22:01:46.714Z,1736373706.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.200012 m, nav range: 98.210556 m, bearing: 69.137038 deg, approach rate: 0.235852 m/s, LOS rate: 0.386708 deg/s, cmd heading: 329.078241 deg, new cmd heading: 329.659304 deg. 2025-01-08T22:01:46.716Z,1736373706.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753640 target range: 472.200012 and range: 472.20 m. 2025-01-08T22:01:46.776Z,1736373706.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:46.777Z,1736373706.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767234 2025-01-08T22:01:46.991Z,1736373706.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:46.998Z,1736373706.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:46.000Z,1736373707.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.20 m. 2025-01-08T22:01:47.002Z,1736373707.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.200012 m, nav range: 98.275612 m, bearing: 69.245687 deg, approach rate: 0.224465 m/s, LOS rate: 0.374626 deg/s, cmd heading: 329.659299 deg, new cmd heading: 329.985024 deg. 2025-01-08T22:01:47.004Z,1736373707.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759325 target range: 472.200012 and range: 472.20 m. 2025-01-08T22:01:47.029Z,1736373707.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:47.034Z,1736373707.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023577 2025-01-08T22:01:47.280Z,1736373707.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:47.290Z,1736373707.290 [DAT](INFO): DAT read: 22:01:45.3745 LVL= 15632, 30705, 19554, 32755, AGC= 69, IDX= 431, 0.29,-2.157, 2.468, 2.384, 2.959, PHS= 1.255,-0.445,-0.578, RAW= 86.3, -2.7, CAL= 94.2, -8.7, ROT= 55.8, 8.7 2025-01-08T22:01:47.291Z,1736373707.291 [DAT](INFO): got valid direction response: 22:01:45.3745 LVL= 15632, 30705, 19554, 32755, AGC= 69, IDX= 431, 0.29,-2.157, 2.468, 2.384, 2.959, PHS= 1.255,-0.445,-0.578, RAW= 86.3, -2.7, CAL= 94.2, -8.7, ROT= 55.8, 8.7 2025-01-08T22:01:47.292Z,1736373707.292 [DAT](INFO): DAT read: Bearing 55.8, 8.7 (Local) 2025-01-08T22:01:47.292Z,1736373707.292 [DAT](INFO): Local bearing/azimuth received: Bearing 55.8, 8.7 (Local) 2025-01-08T22:01:47.293Z,1736373707.293 [DAT](INFO): DAT read: Range 10 to 50 : 471.3 m ser:2235> 2025-01-08T22:01:47.294Z,1736373707.294 [DAT](INFO): DAT read: Tx time:22:01:46.4919 2025-01-08T22:01:47.295Z,1736373707.295 [DAT](INFO): Ping request sent. 2025-01-08T22:01:47.295Z,1736373707.295 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:47.295Z,1736373707.295 [DAT](INFO): DAT read: TxSync time:22:01:46.4912 2025-01-08T22:01:47.296Z,1736373707.296 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:47.297Z,1736373707.297 [DAT](INFO): direction in FSK: [-0.028479,0.168774,0.985243] 2025-01-08T22:01:47.297Z,1736373707.297 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:47.298Z,1736373707.298 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:47.306Z,1736373707.306 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:47.306Z,1736373707.306 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:47.413Z,1736373707.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:47.448Z,1736373707.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 471.299988 m, deltaT: 4.284153 s, deltaX: -0.900024 m, approachRate: -0.210082 m/s, rangeRepo size: 4 2025-01-08T22:01:47.450Z,1736373707.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 471.299988 m, bearing: 180.619933 deg, lat: 36.900467 deg, lon: -122.120555 deg, deltaT: 4.284153 s, deltaX: -0.900024 m, approachRate: -0.210082 m/s, posRepo size: 4 2025-01-08T22:01:47.451Z,1736373707.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.30 m. 2025-01-08T22:01:47.457Z,1736373707.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.299988 m, nav range: 62.288448 m, bearing: 97.466635 deg, approach rate: 0.000000 m/s, LOS rate: 0.374626 deg/s, cmd heading: 329.985017 deg, new cmd heading: 330.482950 deg. 2025-01-08T22:01:47.458Z,1736373707.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768015 target range: 471.299988 and range: 471.30 m. 2025-01-08T22:01:47.532Z,1736373707.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:47.784Z,1736373707.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:47.839Z,1736373707.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:47.847Z,1736373707.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.30 m. 2025-01-08T22:01:47.850Z,1736373707.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.299988 m, nav range: 62.467606 m, bearing: 97.639654 deg, approach rate: 0.443249 m/s, LOS rate: 0.426834 deg/s, cmd heading: 330.482938 deg, new cmd heading: 331.000491 deg. 2025-01-08T22:01:47.851Z,1736373707.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777049 target range: 471.299988 and range: 471.30 m. 2025-01-08T22:01:48.036Z,1736373708.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:48.207Z,1736373708.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:48.218Z,1736373708.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.30 m. 2025-01-08T22:01:48.237Z,1736373708.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.299988 m, nav range: 62.621765 m, bearing: 97.789569 deg, approach rate: 0.415821 m/s, LOS rate: 0.403376 deg/s, cmd heading: 331.000502 deg, new cmd heading: 331.449130 deg. 2025-01-08T22:01:48.238Z,1736373708.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784879 target range: 471.299988 and range: 471.30 m. 2025-01-08T22:01:48.288Z,1736373708.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:48.541Z,1736373708.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:48.697Z,1736373708.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:48.717Z,1736373708.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.30 m. 2025-01-08T22:01:48.724Z,1736373708.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.299988 m, nav range: 62.794147 m, bearing: 97.988747 deg, approach rate: 0.345090 m/s, LOS rate: 0.397637 deg/s, cmd heading: 331.449136 deg, new cmd heading: 332.045007 deg. 2025-01-08T22:01:48.725Z,1736373708.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795279 target range: 471.299988 and range: 471.30 m. 2025-01-08T22:01:48.792Z,1736373708.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:49.008Z,1736373709.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:49.031Z,1736373709.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:49.034Z,1736373709.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.30 m. 2025-01-08T22:01:49.041Z,1736373709.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.299988 m, nav range: 62.903183 m, bearing: 98.115956 deg, approach rate: 0.344214 m/s, LOS rate: 0.400889 deg/s, cmd heading: 332.045002 deg, new cmd heading: 332.425962 deg. 2025-01-08T22:01:49.042Z,1736373709.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801928 target range: 471.299988 and range: 471.30 m. 2025-01-08T22:01:49.044Z,1736373709.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:49.044Z,1736373709.044 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:49.045Z,1736373709.045 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:49.045Z,1736373709.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:49.296Z,1736373709.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:49.297Z,1736373709.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002176 2025-01-08T22:01:49.415Z,1736373709.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:49.425Z,1736373709.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.30 m. 2025-01-08T22:01:49.428Z,1736373709.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.299988 m, nav range: 63.044376 m, bearing: 98.282529 deg, approach rate: 0.361156 m/s, LOS rate: 0.425119 deg/s, cmd heading: 332.425963 deg, new cmd heading: 332.924550 deg. 2025-01-08T22:01:49.429Z,1736373709.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810629 target range: 471.299988 and range: 471.30 m. 2025-01-08T22:01:49.548Z,1736373709.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:49.549Z,1736373709.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254495 2025-01-08T22:01:49.800Z,1736373709.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:49.800Z,1736373709.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505781 2025-01-08T22:01:49.855Z,1736373709.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:49.888Z,1736373709.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.30 m. 2025-01-08T22:01:49.890Z,1736373709.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.299988 m, nav range: 63.181702 m, bearing: 98.456794 deg, approach rate: 0.299648 m/s, LOS rate: 0.379424 deg/s, cmd heading: 332.924539 deg, new cmd heading: 333.446182 deg. 2025-01-08T22:01:49.895Z,1736373709.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819734 target range: 471.299988 and range: 471.30 m. 2025-01-08T22:01:50.052Z,1736373710.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:50.052Z,1736373710.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757720 2025-01-08T22:01:50.222Z,1736373710.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:50.231Z,1736373710.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.30 m. 2025-01-08T22:01:50.234Z,1736373710.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.299988 m, nav range: 63.295292 m, bearing: 98.602849 deg, approach rate: 0.326535 m/s, LOS rate: 0.419107 deg/s, cmd heading: 333.446174 deg, new cmd heading: 333.883544 deg. 2025-01-08T22:01:50.235Z,1736373710.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827367 target range: 471.299988 and range: 471.30 m. 2025-01-08T22:01:50.305Z,1736373710.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:50.306Z,1736373710.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011501 2025-01-08T22:01:50.556Z,1736373710.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:50.557Z,1736373710.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261953 2025-01-08T22:01:50.728Z,1736373710.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:50.737Z,1736373710.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.30 m. 2025-01-08T22:01:50.740Z,1736373710.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.299988 m, nav range: 63.452446 m, bearing: 98.797961 deg, approach rate: 0.311089 m/s, LOS rate: 0.385269 deg/s, cmd heading: 333.883552 deg, new cmd heading: 334.467416 deg. 2025-01-08T22:01:50.741Z,1736373710.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837558 target range: 471.299988 and range: 471.30 m. 2025-01-08T22:01:50.808Z,1736373710.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:50.810Z,1736373710.810 [DAT](INFO): DAT read: Rx Time:22:01:49.5348 2025-01-08T22:01:50.810Z,1736373710.810 [DAT](INFO): Rx dataTimestamp_ set to:1736373710.810175 2025-01-08T22:01:50.812Z,1736373710.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516870 2025-01-08T22:01:51.049Z,1736373711.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:51.056Z,1736373711.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:51.058Z,1736373711.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.30 m. 2025-01-08T22:01:51.060Z,1736373711.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:51.060Z,1736373711.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765836 2025-01-08T22:01:51.063Z,1736373711.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 471.299988 m, nav range: 63.552475 m, bearing: 98.921175 deg, approach rate: 0.310776 m/s, LOS rate: 0.382207 deg/s, cmd heading: 334.467424 deg, new cmd heading: 334.836480 deg. 2025-01-08T22:01:51.064Z,1736373711.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843999 target range: 471.299988 and range: 471.30 m. 2025-01-08T22:01:51.312Z,1736373711.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:51.318Z,1736373711.318 [DAT](INFO): DAT read: 22:01:49.5348 LVL= 20976, 26353, 20594, 20467, AGC= 69, IDX= 41,-0.26, 1.414, 0.233,-0.009, 0.361, PHS= 1.141,-0.081,-0.373, RAW= 79.5, -9.9, CAL= 90.2, -19.7, ROT= 59.8, 19.7 2025-01-08T22:01:51.320Z,1736373711.320 [DAT](INFO): got valid direction response: 22:01:49.5348 LVL= 20976, 26353, 20594, 20467, AGC= 69, IDX= 41,-0.26, 1.414, 0.233,-0.009, 0.361, PHS= 1.141,-0.081,-0.373, RAW= 79.5, -9.9, CAL= 90.2, -19.7, ROT= 59.8, 19.7 2025-01-08T22:01:51.321Z,1736373711.321 [DAT](INFO): DAT read: Bearing 59.8, 19.7 (Local) 2025-01-08T22:01:51.322Z,1736373711.322 [DAT](INFO): Local bearing/azimuth received: Bearing 59.8, 19.7 (Local) 2025-01-08T22:01:51.323Z,1736373711.323 [DAT](INFO): DAT read: Range 10 to 50 : 479.0 m (Round-trip 638.7 ms) speed 0.2 m/s 2025-01-08T22:01:51.324Z,1736373711.324 [DAT](INFO): DAT read: user:2236> 2025-01-08T22:01:51.325Z,1736373711.325 [DAT](INFO): DAT read: Tx time:22:01:50.6419 2025-01-08T22:01:51.325Z,1736373711.325 [DAT](INFO): Ping request sent. 2025-01-08T22:01:51.325Z,1736373711.325 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:51.325Z,1736373711.325 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:51.326Z,1736373711.326 [DAT](INFO): direction in FSK: [0.120127,0.269788,0.955397] 2025-01-08T22:01:51.326Z,1736373711.326 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:51.327Z,1736373711.327 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:51.330Z,1736373711.330 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:51.330Z,1736373711.330 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:51.456Z,1736373711.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:51.489Z,1736373711.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 479.000000 m, deltaT: 4.031846 s, deltaX: 7.700012 m, approachRate: 1.909798 m/s, rangeRepo size: 4 2025-01-08T22:01:51.496Z,1736373711.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 479.000000 m, bearing: 2.239717 deg, lat: 36.900467 deg, lon: -122.120689 deg, deltaT: 4.031846 s, deltaX: 7.700012 m, approachRate: 1.909798 m/s, posRepo size: 4 2025-01-08T22:01:51.497Z,1736373711.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T22:01:51.507Z,1736373711.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 51.936348 m, bearing: 101.156532 deg, approach rate: 0.000000 m/s, LOS rate: 0.382207 deg/s, cmd heading: 334.836473 deg, new cmd heading: 335.330299 deg. 2025-01-08T22:01:51.508Z,1736373711.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852618 target range: 479.000000 and range: 479.00 m. 2025-01-08T22:01:51.565Z,1736373711.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:51.566Z,1736373711.566 [DAT](INFO): DAT read: TxSync time:22:01:50.6412 2025-01-08T22:01:51.816Z,1736373711.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:51.939Z,1736373711.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:51.961Z,1736373711.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T22:01:51.968Z,1736373711.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 52.113121 m, bearing: 101.382309 deg, approach rate: 0.374531 m/s, LOS rate: 0.476734 deg/s, cmd heading: 335.330296 deg, new cmd heading: 336.005298 deg. 2025-01-08T22:01:51.969Z,1736373711.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864399 target range: 479.000000 and range: 479.00 m. 2025-01-08T22:01:52.072Z,1736373712.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:52.241Z,1736373712.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:52.250Z,1736373712.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T22:01:52.253Z,1736373712.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 52.222404 m, bearing: 101.524428 deg, approach rate: 0.378429 m/s, LOS rate: 0.491102 deg/s, cmd heading: 336.005310 deg, new cmd heading: 336.430766 deg. 2025-01-08T22:01:52.254Z,1736373712.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871825 target range: 479.000000 and range: 479.00 m. 2025-01-08T22:01:52.320Z,1736373712.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:52.572Z,1736373712.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:52.749Z,1736373712.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:52.758Z,1736373712.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T22:01:52.761Z,1736373712.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 52.439377 m, bearing: 101.763215 deg, approach rate: 0.426699 m/s, LOS rate: 0.467654 deg/s, cmd heading: 336.430776 deg, new cmd heading: 337.144133 deg. 2025-01-08T22:01:52.762Z,1736373712.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.884275 target range: 479.000000 and range: 479.00 m. 2025-01-08T22:01:52.828Z,1736373712.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:53.050Z,1736373713.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:53.078Z,1736373713.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:53.080Z,1736373713.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:53.080Z,1736373713.080 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:53.080Z,1736373713.080 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:53.081Z,1736373713.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:53.084Z,1736373713.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T22:01:53.092Z,1736373713.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 52.567802 m, bearing: 101.904990 deg, approach rate: 0.394177 m/s, LOS rate: 0.434086 deg/s, cmd heading: 337.144121 deg, new cmd heading: 337.568397 deg. 2025-01-08T22:01:53.093Z,1736373713.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891680 target range: 479.000000 and range: 479.00 m. 2025-01-08T22:01:53.332Z,1736373713.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:53.332Z,1736373713.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007408 2025-01-08T22:01:53.456Z,1736373713.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:53.465Z,1736373713.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T22:01:53.484Z,1736373713.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 52.740002 m, bearing: 102.096475 deg, approach rate: 0.451599 m/s, LOS rate: 0.500537 deg/s, cmd heading: 337.568385 deg, new cmd heading: 338.140945 deg. 2025-01-08T22:01:53.485Z,1736373713.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901673 target range: 479.000000 and range: 479.00 m. 2025-01-08T22:01:53.585Z,1736373713.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:53.586Z,1736373713.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260570 2025-01-08T22:01:53.836Z,1736373713.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:53.837Z,1736373713.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511554 2025-01-08T22:01:53.898Z,1736373713.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:53.907Z,1736373713.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T22:01:53.909Z,1736373713.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 52.959843 m, bearing: 102.303507 deg, approach rate: 0.498055 m/s, LOS rate: 0.467088 deg/s, cmd heading: 338.140946 deg, new cmd heading: 338.759439 deg. 2025-01-08T22:01:53.910Z,1736373713.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912467 target range: 479.000000 and range: 479.00 m. 2025-01-08T22:01:54.088Z,1736373714.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:54.088Z,1736373714.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763474 2025-01-08T22:01:54.261Z,1736373714.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:54.285Z,1736373714.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T22:01:54.293Z,1736373714.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 53.140041 m, bearing: 102.474004 deg, approach rate: 0.475873 m/s, LOS rate: 0.448724 deg/s, cmd heading: 338.759433 deg, new cmd heading: 339.269175 deg. 2025-01-08T22:01:54.294Z,1736373714.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921364 target range: 479.000000 and range: 479.00 m. 2025-01-08T22:01:54.340Z,1736373714.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:54.340Z,1736373714.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015504 2025-01-08T22:01:54.592Z,1736373714.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:54.592Z,1736373714.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267360 2025-01-08T22:01:54.769Z,1736373714.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:54.778Z,1736373714.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T22:01:54.781Z,1736373714.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 53.414322 m, bearing: 102.710879 deg, approach rate: 0.556317 m/s, LOS rate: 0.477980 deg/s, cmd heading: 339.269184 deg, new cmd heading: 339.976122 deg. 2025-01-08T22:01:54.782Z,1736373714.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933702 target range: 479.000000 and range: 479.00 m. 2025-01-08T22:01:54.845Z,1736373714.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:54.846Z,1736373714.846 [DAT](INFO): DAT read: Rx Time:22:01:53.6714 2025-01-08T22:01:54.847Z,1736373714.847 [DAT](INFO): Rx dataTimestamp_ set to:1736373714.846191 2025-01-08T22:01:54.848Z,1736373714.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522519 2025-01-08T22:01:55.078Z,1736373715.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:55.089Z,1736373715.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:55.092Z,1736373715.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T22:01:55.094Z,1736373715.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 53.580368 m, bearing: 102.855043 deg, approach rate: 0.530419 m/s, LOS rate: 0.459090 deg/s, cmd heading: 339.976108 deg, new cmd heading: 340.407250 deg. 2025-01-08T22:01:55.096Z,1736373715.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:55.096Z,1736373715.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771489 2025-01-08T22:01:55.098Z,1736373715.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941227 target range: 479.000000 and range: 479.00 m. 2025-01-08T22:01:55.349Z,1736373715.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:55.351Z,1736373715.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025634 2025-01-08T22:01:55.491Z,1736373715.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:55.500Z,1736373715.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.00 m. 2025-01-08T22:01:55.502Z,1736373715.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 479.000000 m, nav range: 53.802128 m, bearing: 103.048302 deg, approach rate: 0.542706 m/s, LOS rate: 0.471006 deg/s, cmd heading: 340.407257 deg, new cmd heading: 340.984624 deg. 2025-01-08T22:01:55.504Z,1736373715.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951304 target range: 479.000000 and range: 479.00 m. 2025-01-08T22:01:55.600Z,1736373715.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:55.607Z,1736373715.607 [DAT](INFO): DAT read: 22:01:53.6714 LVL= 16272, 32753, 31106, 32755, AGC= 66, IDX= 304, 0.38, 1.056,-0.490,-0.266, 0.264, PHS= 0.880,-0.707,-0.532, RAW= 95.8, 4.8, CAL= 104.7, 3.4, ROT= 45.3, -3.4 2025-01-08T22:01:55.608Z,1736373715.608 [DAT](INFO): got valid direction response: 22:01:53.6714 LVL= 16272, 32753, 31106, 32755, AGC= 66, IDX= 304, 0.38, 1.056,-0.490,-0.266, 0.264, PHS= 0.880,-0.707,-0.532, RAW= 95.8, 4.8, CAL= 104.7, 3.4, ROT= 45.3, -3.4 2025-01-08T22:01:55.609Z,1736373715.609 [DAT](INFO): DAT read: Bearing 45.3, -3.4 (Local) 2025-01-08T22:01:55.610Z,1736373715.610 [DAT](INFO): Local bearing/azimuth received: Bearing 45.3, -3.4 (Local) 2025-01-08T22:01:55.612Z,1736373715.612 [DAT](INFO): DAT read: Range 10 to 50 : 468.9 m (Round-trip 625.3 ms) speed 0.2 m/s 2025-01-08T22:01:55.612Z,1736373715.612 [DAT](INFO): DAT read: user:2237> 2025-01-08T22:01:55.613Z,1736373715.613 [DAT](INFO): DAT read: Tx time:22:01:54.7919 2025-01-08T22:01:55.613Z,1736373715.613 [DAT](INFO): Ping request sent. 2025-01-08T22:01:55.613Z,1736373715.613 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:55.614Z,1736373715.614 [DAT](INFO): DAT read: TxSync time:22:01:54.7912 2025-01-08T22:01:55.615Z,1736373715.615 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:55.616Z,1736373715.616 [DAT](INFO): direction in FSK: [-0.185325,0.011987,0.982604] 2025-01-08T22:01:55.616Z,1736373715.616 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:55.616Z,1736373715.616 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:55.624Z,1736373715.624 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:55.624Z,1736373715.624 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:55.852Z,1736373715.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:55.944Z,1736373715.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:56.002Z,1736373716.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 468.899994 m, deltaT: 4.288262 s, deltaX: -10.100006 m, approachRate: -2.355268 m/s, rangeRepo size: 4 2025-01-08T22:01:56.013Z,1736373716.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 468.899994 m, bearing: 198.375590 deg, lat: 36.900344 deg, lon: -122.121235 deg, deltaT: 4.288262 s, deltaX: -10.100006 m, approachRate: -2.355268 m/s, posRepo size: 4 2025-01-08T22:01:56.013Z,1736373716.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m. 2025-01-08T22:01:56.024Z,1736373716.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.899994 m, nav range: 26.323061 m, bearing: 171.033470 deg, approach rate: 0.000000 m/s, LOS rate: 0.471006 deg/s, cmd heading: 340.984627 deg, new cmd heading: 341.677777 deg. 2025-01-08T22:01:56.025Z,1736373716.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963402 target range: 468.899994 and range: 468.90 m. 2025-01-08T22:01:56.104Z,1736373716.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:56.330Z,1736373716.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:56.356Z,1736373716.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:56.358Z,1736373716.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m. 2025-01-08T22:01:56.366Z,1736373716.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.899994 m, nav range: 26.569693 m, bearing: 170.736969 deg, approach rate: 0.671724 m/s, LOS rate: -0.800049 deg/s, cmd heading: 341.677782 deg, new cmd heading: 340.796608 deg. 2025-01-08T22:01:56.367Z,1736373716.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.948023 target range: 468.899994 and range: 468.90 m. 2025-01-08T22:01:56.608Z,1736373716.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:56.824Z,1736373716.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:56.833Z,1736373716.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m. 2025-01-08T22:01:56.835Z,1736373716.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.899994 m, nav range: 26.882074 m, bearing: 170.368301 deg, approach rate: 0.657901 m/s, LOS rate: -0.767415 deg/s, cmd heading: 340.796605 deg, new cmd heading: 339.703595 deg. 2025-01-08T22:01:56.838Z,1736373716.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928946 target range: 468.899994 and range: 468.90 m. 2025-01-08T22:01:56.875Z,1736373716.875 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:57.128Z,1736373717.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:57.149Z,1736373717.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:57.158Z,1736373717.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:57.160Z,1736373717.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m. 2025-01-08T22:01:57.163Z,1736373717.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.899994 m, nav range: 27.089483 m, bearing: 170.133795 deg, approach rate: 0.632921 m/s, LOS rate: -0.710130 deg/s, cmd heading: 339.703584 deg, new cmd heading: 339.005487 deg. 2025-01-08T22:01:57.164Z,1736373717.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916762 target range: 468.899994 and range: 468.90 m. 2025-01-08T22:01:57.380Z,1736373717.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:57.380Z,1736373717.380 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:01:57.380Z,1736373717.380 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:01:57.381Z,1736373717.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:01:57.548Z,1736373717.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:57.574Z,1736373717.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m. 2025-01-08T22:01:57.579Z,1736373717.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.899994 m, nav range: 27.345438 m, bearing: 169.856496 deg, approach rate: 0.618954 m/s, LOS rate: -0.664289 deg/s, cmd heading: 339.005484 deg, new cmd heading: 338.181435 deg. 2025-01-08T22:01:57.584Z,1736373717.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902380 target range: 468.899994 and range: 468.90 m. 2025-01-08T22:01:57.632Z,1736373717.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:57.633Z,1736373717.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019339 2025-01-08T22:01:57.884Z,1736373717.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:57.884Z,1736373717.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270985 2025-01-08T22:01:57.000Z,1736373718.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:58.009Z,1736373718.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m. 2025-01-08T22:01:58.012Z,1736373718.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.899994 m, nav range: 27.630245 m, bearing: 169.591234 deg, approach rate: 0.653931 m/s, LOS rate: -0.602776 deg/s, cmd heading: 338.181435 deg, new cmd heading: 337.393902 deg. 2025-01-08T22:01:58.013Z,1736373718.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888635 target range: 468.899994 and range: 468.90 m. 2025-01-08T22:01:58.136Z,1736373718.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:58.137Z,1736373718.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523649 2025-01-08T22:01:58.362Z,1736373718.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:58.388Z,1736373718.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:58.389Z,1736373718.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775067 2025-01-08T22:01:58.397Z,1736373718.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m. 2025-01-08T22:01:58.404Z,1736373718.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.899994 m, nav range: 27.860031 m, bearing: 169.386927 deg, approach rate: 0.593187 m/s, LOS rate: -0.523062 deg/s, cmd heading: 337.393914 deg, new cmd heading: 336.786074 deg. 2025-01-08T22:01:58.405Z,1736373718.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878026 target range: 468.899994 and range: 468.90 m. 2025-01-08T22:01:58.640Z,1736373718.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:58.640Z,1736373718.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027033 2025-01-08T22:01:58.833Z,1736373718.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:58.842Z,1736373718.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m. 2025-01-08T22:01:58.845Z,1736373718.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.899994 m, nav range: 28.155478 m, bearing: 169.175429 deg, approach rate: 0.663127 m/s, LOS rate: -0.469723 deg/s, cmd heading: 336.786082 deg, new cmd heading: 336.158273 deg. 2025-01-08T22:01:58.846Z,1736373718.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867069 target range: 468.899994 and range: 468.90 m. 2025-01-08T22:01:58.892Z,1736373718.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:58.892Z,1736373718.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278956 2025-01-08T22:01:59.145Z,1736373719.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:59.146Z,1736373719.146 [DAT](INFO): DAT read: Rx Time:22:01:57.8198 2025-01-08T22:01:59.147Z,1736373719.147 [DAT](INFO): Rx dataTimestamp_ set to:1736373719.146286 2025-01-08T22:01:59.148Z,1736373719.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533644 2025-01-08T22:01:59.165Z,1736373719.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:59.172Z,1736373719.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:01:59.174Z,1736373719.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m. 2025-01-08T22:01:59.177Z,1736373719.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.899994 m, nav range: 28.364494 m, bearing: 169.030938 deg, approach rate: 0.629034 m/s, LOS rate: -0.431641 deg/s, cmd heading: 336.158278 deg, new cmd heading: 335.728007 deg. 2025-01-08T22:01:59.178Z,1736373719.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859559 target range: 468.899994 and range: 468.90 m. 2025-01-08T22:01:59.396Z,1736373719.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:59.396Z,1736373719.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782996 2025-01-08T22:01:59.588Z,1736373719.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:01:59.598Z,1736373719.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m. 2025-01-08T22:01:59.602Z,1736373719.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.899994 m, nav range: 28.631409 m, bearing: 168.849665 deg, approach rate: 0.629470 m/s, LOS rate: -0.423513 deg/s, cmd heading: 335.728004 deg, new cmd heading: 335.189273 deg. 2025-01-08T22:01:59.604Z,1736373719.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850156 target range: 468.899994 and range: 468.90 m. 2025-01-08T22:01:59.648Z,1736373719.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:59.658Z,1736373719.658 [DAT](INFO): DAT read: 22:01:57.8198 LVL= 15600, 32753, 21410, 32755, AGC= 71, IDX= 430, 0.47, 1.910, 0.270, 0.685, 1.111, PHS= 0.887,-0.794,-0.428, RAW= 101.9, 4.4, CAL= 112.3, 2.4, ROT= 37.7, -2.4 2025-01-08T22:01:59.660Z,1736373719.660 [DAT](INFO): got valid direction response: 22:01:57.8198 LVL= 15600, 32753, 21410, 32755, AGC= 71, IDX= 430, 0.47, 1.910, 0.270, 0.685, 1.111, PHS= 0.887,-0.794,-0.428, RAW= 101.9, 4.4, CAL= 112.3, 2.4, ROT= 37.7, -2.4 2025-01-08T22:01:59.662Z,1736373719.662 [DAT](INFO): DAT read: Bearing 37.7, -2.4 (Local) 2025-01-08T22:01:59.662Z,1736373719.662 [DAT](INFO): Local bearing/azimuth received: Bearing 37.7, -2.4 (Local) 2025-01-08T22:01:59.665Z,1736373719.665 [DAT](INFO): DAT read: Range 10 to 50 : 467.7 m (Round-trip 623.6 ms) speed 0.4 m/s 2025-01-08T22:01:59.666Z,1736373719.666 [DAT](INFO): DAT read: user:2238> 2025-01-08T22:01:59.667Z,1736373719.667 [DAT](INFO): DAT read: Tx time:22:01:58.9420 2025-01-08T22:01:59.667Z,1736373719.667 [DAT](INFO): Ping request sent. 2025-01-08T22:01:59.668Z,1736373719.668 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:01:59.668Z,1736373719.668 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:01:59.670Z,1736373719.670 [DAT](INFO): direction in FSK: [-0.186932,-0.096627,0.977609] 2025-01-08T22:01:59.670Z,1736373719.670 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:59.670Z,1736373719.670 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:59.687Z,1736373719.687 [DAT](INFO): publishing transmit ping time 2025-01-08T22:01:59.708Z,1736373719.708 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:01:59.708Z,1736373719.708 [DAT](INFO): publishing direction and range info 2025-01-08T22:01:59.900Z,1736373719.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:01:59.901Z,1736373719.901 [DAT](INFO): DAT read: TxSync time:22:01:58.9413 2025-01-08T22:02:00.013Z,1736373720.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:00.041Z,1736373720.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 467.700012 m, deltaT: 4.048392 s, deltaX: -1.199982 m, approachRate: -0.296409 m/s, rangeRepo size: 4 2025-01-08T22:02:00.047Z,1736373720.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 467.700012 m, bearing: 213.181905 deg, lat: 36.900316 deg, lon: -122.121253 deg, deltaT: 4.048392 s, deltaX: -1.199982 m, approachRate: -0.296409 m/s, posRepo size: 4 2025-01-08T22:02:00.048Z,1736373720.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.70 m. 2025-01-08T22:02:00.050Z,1736373720.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.700012 m, nav range: 31.771540 m, bearing: 172.655188 deg, approach rate: 0.000000 m/s, LOS rate: -0.423513 deg/s, cmd heading: 335.189266 deg, new cmd heading: 334.627922 deg. 2025-01-08T22:02:00.056Z,1736373720.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840359 target range: 467.700012 and range: 467.70 m. 2025-01-08T22:02:00.152Z,1736373720.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:00.381Z,1736373720.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:00.391Z,1736373720.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.70 m. 2025-01-08T22:02:00.393Z,1736373720.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.700012 m, nav range: 31.994829 m, bearing: 172.527233 deg, approach rate: 0.637304 m/s, LOS rate: -0.362654 deg/s, cmd heading: 334.627934 deg, new cmd heading: 334.246754 deg. 2025-01-08T22:02:00.394Z,1736373720.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833706 target range: 467.700012 and range: 467.70 m. 2025-01-08T22:02:00.404Z,1736373720.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:00.656Z,1736373720.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:00.852Z,1736373720.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:00.893Z,1736373720.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.70 m. 2025-01-08T22:02:00.900Z,1736373720.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.700012 m, nav range: 32.278378 m, bearing: 172.401807 deg, approach rate: 0.564421 m/s, LOS rate: -0.247475 deg/s, cmd heading: 334.246754 deg, new cmd heading: 333.873787 deg. 2025-01-08T22:02:00.901Z,1736373720.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827197 target range: 467.700012 and range: 467.70 m. 2025-01-08T22:02:00.908Z,1736373720.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:01.160Z,1736373721.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:01.213Z,1736373721.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:01.222Z,1736373721.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:01.225Z,1736373721.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.70 m. 2025-01-08T22:02:01.247Z,1736373721.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.700012 m, nav range: 32.496582 m, bearing: 172.305404 deg, approach rate: 0.658200 m/s, LOS rate: -0.288839 deg/s, cmd heading: 333.873799 deg, new cmd heading: 333.586536 deg. 2025-01-08T22:02:01.248Z,1736373721.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822184 target range: 467.700012 and range: 467.70 m. 2025-01-08T22:02:01.412Z,1736373721.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:01.412Z,1736373721.412 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:01.412Z,1736373721.412 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:01.413Z,1736373721.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:01.616Z,1736373721.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:01.628Z,1736373721.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.70 m. 2025-01-08T22:02:01.630Z,1736373721.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.700012 m, nav range: 32.739887 m, bearing: 172.197887 deg, approach rate: 0.603241 m/s, LOS rate: -0.264594 deg/s, cmd heading: 333.586548 deg, new cmd heading: 333.266396 deg. 2025-01-08T22:02:01.632Z,1736373721.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816596 target range: 467.700012 and range: 467.70 m. 2025-01-08T22:02:01.674Z,1736373721.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:01.677Z,1736373721.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009179 2025-01-08T22:02:01.916Z,1736373721.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:01.916Z,1736373721.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248707 2025-01-08T22:02:02.090Z,1736373722.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:02.099Z,1736373722.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.70 m. 2025-01-08T22:02:02.102Z,1736373722.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.700012 m, nav range: 33.023537 m, bearing: 172.087551 deg, approach rate: 0.602323 m/s, LOS rate: -0.232282 deg/s, cmd heading: 333.266404 deg, new cmd heading: 332.938244 deg. 2025-01-08T22:02:02.103Z,1736373722.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810869 target range: 467.700012 and range: 467.70 m. 2025-01-08T22:02:02.148Z,1736373722.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:02:02.168Z,1736373722.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:02.169Z,1736373722.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501015 2025-01-08T22:02:02.421Z,1736373722.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:02.422Z,1736373722.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754738 2025-01-08T22:02:02.486Z,1736373722.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:02.508Z,1736373722.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.70 m. 2025-01-08T22:02:02.510Z,1736373722.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.700012 m, nav range: 33.259918 m, bearing: 171.994027 deg, approach rate: 0.596202 m/s, LOS rate: -0.234210 deg/s, cmd heading: 332.938254 deg, new cmd heading: 332.659678 deg. 2025-01-08T22:02:02.512Z,1736373722.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806007 target range: 467.700012 and range: 467.70 m. 2025-01-08T22:02:02.672Z,1736373722.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:02.673Z,1736373722.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005314 2025-01-08T22:02:02.924Z,1736373722.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:02.924Z,1736373722.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256886 2025-01-08T22:02:02.925Z,1736373722.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:02.934Z,1736373722.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.70 m. 2025-01-08T22:02:02.937Z,1736373722.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.700012 m, nav range: 33.517952 m, bearing: 171.884376 deg, approach rate: 0.588665 m/s, LOS rate: -0.248228 deg/s, cmd heading: 332.659692 deg, new cmd heading: 332.333273 deg. 2025-01-08T22:02:02.938Z,1736373722.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800310 target range: 467.700012 and range: 467.70 m. 2025-01-08T22:02:03.152Z,1736373723.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:02:03.176Z,1736373723.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:03.177Z,1736373723.177 [DAT](INFO): DAT read: Rx Time:22:02:01.9674 2025-01-08T22:02:03.177Z,1736373723.177 [DAT](INFO): Rx dataTimestamp_ set to:1736373723.176862 2025-01-08T22:02:03.178Z,1736373723.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510082 2025-01-08T22:02:03.299Z,1736373723.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:03.307Z,1736373723.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:03.309Z,1736373723.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.70 m. 2025-01-08T22:02:03.312Z,1736373723.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 467.700012 m, nav range: 33.740040 m, bearing: 171.791384 deg, approach rate: 0.592020 m/s, LOS rate: -0.246256 deg/s, cmd heading: 332.333263 deg, new cmd heading: 332.056127 deg. 2025-01-08T22:02:03.313Z,1736373723.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795473 target range: 467.700012 and range: 467.70 m. 2025-01-08T22:02:03.428Z,1736373723.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:03.428Z,1736373723.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760807 2025-01-08T22:02:03.680Z,1736373723.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:03.690Z,1736373723.690 [DAT](INFO): DAT read: 22:02:01.9674 LVL= 18912, 32753, 25810, 32755, AGC= 69, IDX= 422, 0.20, 1.835, 0.070, 0.441, 0.970, PHS= 0.953,-0.853,-0.532, RAW= 99.6, 5.2, CAL= 109.5, 3.6, ROT= 40.5, -3.6 2025-01-08T22:02:03.692Z,1736373723.692 [DAT](INFO): got valid direction response: 22:02:01.9674 LVL= 18912, 32753, 25810, 32755, AGC= 69, IDX= 422, 0.20, 1.835, 0.070, 0.441, 0.970, PHS= 0.953,-0.853,-0.532, RAW= 99.6, 5.2, CAL= 109.5, 3.6, ROT= 40.5, -3.6 2025-01-08T22:02:03.693Z,1736373723.693 [DAT](INFO): DAT read: Bearing 40.5, -3.6 (Local) 2025-01-08T22:02:03.693Z,1736373723.693 [DAT](INFO): Local bearing/azimuth received: Bearing 40.5, -3.6 (Local) 2025-01-08T22:02:03.694Z,1736373723.694 [DAT](INFO): DAT read: Range 10 to 50 : 465.9 m (Round-trip 621.2 ms) speed 0.1 m/s 2025-01-08T22:02:03.704Z,1736373723.704 [DAT](INFO): DAT read: user:2239> 2025-01-08T22:02:03.705Z,1736373723.705 [DAT](INFO): DAT read: Tx time:22:02:03.0920 2025-01-08T22:02:03.705Z,1736373723.705 [DAT](INFO): Ping request sent. 2025-01-08T22:02:03.705Z,1736373723.705 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:03.705Z,1736373723.705 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:03.706Z,1736373723.706 [DAT](INFO): direction in FSK: [-0.198806,-0.054294,0.978534] 2025-01-08T22:02:03.706Z,1736373723.706 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:03.707Z,1736373723.707 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:03.738Z,1736373723.738 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:03.738Z,1736373723.738 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:03.762Z,1736373723.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:03.808Z,1736373723.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 465.899994 m, deltaT: 4.031864 s, deltaX: -1.800018 m, approachRate: -0.446448 m/s, rangeRepo size: 4 2025-01-08T22:02:03.826Z,1736373723.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 465.899994 m, bearing: 190.546490 deg, lat: 36.899698 deg, lon: -122.121522 deg, deltaT: 4.031864 s, deltaX: -1.800018 m, approachRate: -0.446448 m/s, posRepo size: 4 2025-01-08T22:02:03.836Z,1736373723.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T22:02:03.873Z,1736373723.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 104.062378 m, bearing: 190.546616 deg, approach rate: 0.000000 m/s, LOS rate: -0.246256 deg/s, cmd heading: 332.056122 deg, new cmd heading: 331.691461 deg. 2025-01-08T22:02:03.874Z,1736373723.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789108 target range: 465.899994 and range: 465.90 m. 2025-01-08T22:02:03.932Z,1736373723.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:03.933Z,1736373723.933 [DAT](INFO): DAT read: TxSync time:22:02:03.0913 2025-01-08T22:02:04.171Z,1736373724.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:04.184Z,1736373724.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:04.203Z,1736373724.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T22:02:04.210Z,1736373724.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 104.267937 m, bearing: 190.464795 deg, approach rate: 0.513582 m/s, LOS rate: -0.204024 deg/s, cmd heading: 331.691471 deg, new cmd heading: 331.446494 deg. 2025-01-08T22:02:04.216Z,1736373724.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784832 target range: 465.899994 and range: 465.90 m. 2025-01-08T22:02:04.436Z,1736373724.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:04.512Z,1736373724.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:04.522Z,1736373724.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T22:02:04.524Z,1736373724.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 104.441589 m, bearing: 190.394133 deg, approach rate: 0.544422 m/s, LOS rate: -0.221167 deg/s, cmd heading: 331.446486 deg, new cmd heading: 331.234852 deg. 2025-01-08T22:02:04.525Z,1736373724.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781139 target range: 465.899994 and range: 465.90 m. 2025-01-08T22:02:04.688Z,1736373724.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:04.941Z,1736373724.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:04.986Z,1736373724.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:05.008Z,1736373725.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T22:02:05.010Z,1736373725.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 104.674896 m, bearing: 190.284938 deg, approach rate: 0.484614 m/s, LOS rate: -0.226307 deg/s, cmd heading: 331.234860 deg, new cmd heading: 330.908011 deg. 2025-01-08T22:02:05.015Z,1736373725.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775434 target range: 465.899994 and range: 465.90 m. 2025-01-08T22:02:05.192Z,1736373725.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:05.325Z,1736373725.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:05.332Z,1736373725.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:05.334Z,1736373725.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T22:02:05.337Z,1736373725.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 104.841988 m, bearing: 190.207141 deg, approach rate: 0.505515 m/s, LOS rate: -0.234991 deg/s, cmd heading: 330.908021 deg, new cmd heading: 330.675003 deg. 2025-01-08T22:02:05.338Z,1736373725.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771368 target range: 465.899994 and range: 465.90 m. 2025-01-08T22:02:05.444Z,1736373725.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:05.446Z,1736373725.446 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:05.446Z,1736373725.446 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:05.446Z,1736373725.446 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:05.696Z,1736373725.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:05.697Z,1736373725.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991587 2025-01-08T22:02:05.728Z,1736373725.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:05.737Z,1736373725.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T22:02:05.740Z,1736373725.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 105.037102 m, bearing: 190.112411 deg, approach rate: 0.483546 m/s, LOS rate: -0.234330 deg/s, cmd heading: 330.675003 deg, new cmd heading: 330.391344 deg. 2025-01-08T22:02:05.741Z,1736373725.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766417 target range: 465.899994 and range: 465.90 m. 2025-01-08T22:02:05.948Z,1736373725.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:05.948Z,1736373725.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243436 2025-01-08T22:02:06.151Z,1736373726.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:06.161Z,1736373726.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T22:02:06.165Z,1736373726.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 105.240219 m, bearing: 190.008159 deg, approach rate: 0.479134 m/s, LOS rate: -0.245447 deg/s, cmd heading: 330.391331 deg, new cmd heading: 330.079180 deg. 2025-01-08T22:02:06.166Z,1736373726.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760969 target range: 465.899994 and range: 465.90 m. 2025-01-08T22:02:06.200Z,1736373726.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:06.200Z,1736373726.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495547 2025-01-08T22:02:06.452Z,1736373726.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:06.454Z,1736373726.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748546 2025-01-08T22:02:06.520Z,1736373726.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:06.529Z,1736373726.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T22:02:06.532Z,1736373726.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 105.414597 m, bearing: 189.916132 deg, approach rate: 0.473981 m/s, LOS rate: -0.249727 deg/s, cmd heading: 330.079192 deg, new cmd heading: 329.803570 deg. 2025-01-08T22:02:06.533Z,1736373726.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756158 target range: 465.899994 and range: 465.90 m. 2025-01-08T22:02:06.704Z,1736373726.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:06.705Z,1736373726.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999817 2025-01-08T22:02:06.956Z,1736373726.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:06.959Z,1736373726.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253123 2025-01-08T22:02:06.995Z,1736373726.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:07.004Z,1736373727.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T22:02:07.007Z,1736373727.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 105.636765 m, bearing: 189.790036 deg, approach rate: 0.467301 m/s, LOS rate: -0.264669 deg/s, cmd heading: 329.803580 deg, new cmd heading: 329.426093 deg. 2025-01-08T22:02:07.008Z,1736373727.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749570 target range: 465.899994 and range: 465.90 m. 2025-01-08T22:02:07.208Z,1736373727.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:07.209Z,1736373727.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504310 2025-01-08T22:02:07.448Z,1736373727.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:07.460Z,1736373727.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:07.460Z,1736373727.460 [DAT](INFO): DAT read: Rx Time:22:02:06.1154 2025-01-08T22:02:07.461Z,1736373727.461 [DAT](INFO): Rx dataTimestamp_ set to:1736373727.460672 2025-01-08T22:02:07.461Z,1736373727.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756586 2025-01-08T22:02:07.472Z,1736373727.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:07.474Z,1736373727.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T22:02:07.481Z,1736373727.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 105.848846 m, bearing: 189.670427 deg, approach rate: 0.451312 m/s, LOS rate: -0.254019 deg/s, cmd heading: 329.426089 deg, new cmd heading: 329.067986 deg. 2025-01-08T22:02:07.482Z,1736373727.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743320 target range: 465.899994 and range: 465.90 m. 2025-01-08T22:02:07.712Z,1736373727.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:07.712Z,1736373727.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.007554 2025-01-08T22:02:07.900Z,1736373727.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:07.949Z,1736373727.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.90 m. 2025-01-08T22:02:07.956Z,1736373727.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.899994 m, nav range: 106.055626 m, bearing: 189.549725 deg, approach rate: 0.435707 m/s, LOS rate: -0.253836 deg/s, cmd heading: 329.067996 deg, new cmd heading: 328.706600 deg. 2025-01-08T22:02:07.957Z,1736373727.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737012 target range: 465.899994 and range: 465.90 m. 2025-01-08T22:02:07.965Z,1736373727.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:07.978Z,1736373727.978 [DAT](INFO): DAT read: 22:02:06.1154 LVL= 18016, 32753, 24210, 32755, AGC= 67, IDX= 416, 0.32,-2.539, 1.752, 2.008, 2.603, PHS= 1.229,-0.804,-0.597, RAW= 95.3, 1.8, CAL= 104.2, -0.9, ROT= 45.8, 0.9 2025-01-08T22:02:07.979Z,1736373727.979 [DAT](INFO): got valid direction response: 22:02:06.1154 LVL= 18016, 32753, 24210, 32755, AGC= 67, IDX= 416, 0.32,-2.539, 1.752, 2.008, 2.603, PHS= 1.229,-0.804,-0.597, RAW= 95.3, 1.8, CAL= 104.2, -0.9, ROT= 45.8, 0.9 2025-01-08T22:02:07.980Z,1736373727.980 [DAT](INFO): DAT read: Bearing 45.8, 0.9 (Local) 2025-01-08T22:02:07.980Z,1736373727.980 [DAT](INFO): Local bearing/azimuth received: Bearing 45.8, 0.9 (Local) 2025-01-08T22:02:07.982Z,1736373727.982 [DAT](INFO): DAT read: Range 10 to 50 : 464.3 m (Round-trip 619.1 ms) speed 0.4 m/s 2025-01-08T22:02:07.982Z,1736373727.982 [DAT](INFO): DAT read: user:2240> 2025-01-08T22:02:08.004Z,1736373728.004 [DAT](INFO): DAT read: Tx time:22:02:07.2421 2025-01-08T22:02:08.004Z,1736373728.004 [DAT](INFO): Ping request sent. 2025-01-08T22:02:08.004Z,1736373728.004 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:08.005Z,1736373728.005 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:08.006Z,1736373728.006 [DAT](INFO): direction in FSK: [-0.127620,0.017031,0.991677] 2025-01-08T22:02:08.006Z,1736373728.006 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:08.006Z,1736373728.006 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:08.014Z,1736373728.014 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:08.014Z,1736373728.014 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:08.216Z,1736373728.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:08.217Z,1736373728.217 [DAT](INFO): DAT read: TxSync time:22:02:07.2414 2025-01-08T22:02:08.311Z,1736373728.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:08.352Z,1736373728.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 464.299988 m, deltaT: 4.284591 s, deltaX: -1.600006 m, approachRate: -0.373433 m/s, rangeRepo size: 4 2025-01-08T22:02:08.360Z,1736373728.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 464.299988 m, bearing: 197.302938 deg, lat: 36.899698 deg, lon: -122.121522 deg, deltaT: 4.284591 s, deltaX: -1.600006 m, approachRate: -0.373433 m/s, posRepo size: 4 2025-01-08T22:02:08.360Z,1736373728.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.30 m. 2025-01-08T22:02:08.363Z,1736373728.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.299988 m, nav range: 106.242928 m, bearing: 189.437790 deg, approach rate: 0.000000 m/s, LOS rate: -0.253836 deg/s, cmd heading: 328.706597 deg, new cmd heading: 328.403411 deg. 2025-01-08T22:02:08.368Z,1736373728.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731721 target range: 464.299988 and range: 464.30 m. 2025-01-08T22:02:08.469Z,1736373728.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:08.664Z,1736373728.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:08.680Z,1736373728.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.30 m. 2025-01-08T22:02:08.683Z,1736373728.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.299988 m, nav range: 106.403252 m, bearing: 189.341657 deg, approach rate: 0.482554 m/s, LOS rate: -0.288911 deg/s, cmd heading: 328.403418 deg, new cmd heading: 328.115456 deg. 2025-01-08T22:02:08.684Z,1736373728.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726695 target range: 464.299988 and range: 464.30 m. 2025-01-08T22:02:08.722Z,1736373728.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:08.972Z,1736373728.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:09.075Z,1736373729.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:09.083Z,1736373729.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.30 m. 2025-01-08T22:02:09.086Z,1736373729.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.299988 m, nav range: 106.589058 m, bearing: 189.234601 deg, approach rate: 0.460115 m/s, LOS rate: -0.264642 deg/s, cmd heading: 328.115458 deg, new cmd heading: 327.794853 deg. 2025-01-08T22:02:09.108Z,1736373729.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721099 target range: 464.299988 and range: 464.30 m. 2025-01-08T22:02:09.224Z,1736373729.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:09.478Z,1736373729.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:09.508Z,1736373729.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:09.514Z,1736373729.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:09.517Z,1736373729.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.30 m. 2025-01-08T22:02:09.520Z,1736373729.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.299988 m, nav range: 106.784554 m, bearing: 189.121986 deg, approach rate: 0.450996 m/s, LOS rate: -0.259321 deg/s, cmd heading: 327.794848 deg, new cmd heading: 327.457624 deg. 2025-01-08T22:02:09.521Z,1736373729.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715214 target range: 464.299988 and range: 464.30 m. 2025-01-08T22:02:09.728Z,1736373729.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:09.728Z,1736373729.728 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:09.728Z,1736373729.728 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:09.728Z,1736373729.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:09.980Z,1736373729.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:09.981Z,1736373729.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976131 2025-01-08T22:02:10.056Z,1736373730.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:10.064Z,1736373730.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.30 m. 2025-01-08T22:02:10.067Z,1736373730.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.299988 m, nav range: 107.032684 m, bearing: 188.982432 deg, approach rate: 0.453133 m/s, LOS rate: -0.254259 deg/s, cmd heading: 327.457628 deg, new cmd heading: 327.039947 deg. 2025-01-08T22:02:10.068Z,1736373730.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707924 target range: 464.299988 and range: 464.30 m. 2025-01-08T22:02:10.232Z,1736373730.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:10.234Z,1736373730.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229193 2025-01-08T22:02:10.484Z,1736373730.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:10.484Z,1736373730.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479914 2025-01-08T22:02:10.497Z,1736373730.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:10.506Z,1736373730.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.30 m. 2025-01-08T22:02:10.509Z,1736373730.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.299988 m, nav range: 107.232681 m, bearing: 188.870682 deg, approach rate: 0.452793 m/s, LOS rate: -0.252530 deg/s, cmd heading: 327.039949 deg, new cmd heading: 326.705328 deg. 2025-01-08T22:02:10.510Z,1736373730.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702084 target range: 464.299988 and range: 464.30 m. 2025-01-08T22:02:10.737Z,1736373730.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:10.738Z,1736373730.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733805 2025-01-08T22:02:10.989Z,1736373730.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:10.989Z,1736373730.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985022 2025-01-08T22:02:11.047Z,1736373731.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:11.073Z,1736373731.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.30 m. 2025-01-08T22:02:11.080Z,1736373731.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.299988 m, nav range: 107.484100 m, bearing: 188.739973 deg, approach rate: 0.443110 m/s, LOS rate: -0.229828 deg/s, cmd heading: 326.705324 deg, new cmd heading: 326.314120 deg. 2025-01-08T22:02:11.081Z,1736373731.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695256 target range: 464.299988 and range: 464.30 m. 2025-01-08T22:02:11.240Z,1736373731.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:11.240Z,1736373731.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235860 2025-01-08T22:02:11.358Z,1736373731.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:11.367Z,1736373731.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.30 m. 2025-01-08T22:02:11.369Z,1736373731.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.299988 m, nav range: 107.626373 m, bearing: 188.666174 deg, approach rate: 0.484951 m/s, LOS rate: -0.251219 deg/s, cmd heading: 326.314118 deg, new cmd heading: 326.093014 deg. 2025-01-08T22:02:11.372Z,1736373731.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691397 target range: 464.299988 and range: 464.30 m. 2025-01-08T22:02:11.493Z,1736373731.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:11.494Z,1736373731.494 [DAT](INFO): DAT read: Rx Time:22:02:10.2638 2025-01-08T22:02:11.495Z,1736373731.495 [DAT](INFO): Rx dataTimestamp_ set to:1736373731.494099 2025-01-08T22:02:11.496Z,1736373731.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491347 2025-01-08T22:02:11.744Z,1736373731.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:11.744Z,1736373731.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739921 2025-01-08T22:02:11.813Z,1736373731.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:11.824Z,1736373731.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:11.826Z,1736373731.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.30 m. 2025-01-08T22:02:11.833Z,1736373731.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 464.299988 m, nav range: 107.833412 m, bearing: 188.557938 deg, approach rate: 0.451017 m/s, LOS rate: -0.235331 deg/s, cmd heading: 326.093011 deg, new cmd heading: 325.768930 deg. 2025-01-08T22:02:11.834Z,1736373731.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685740 target range: 464.299988 and range: 464.30 m. 2025-01-08T22:02:11.996Z,1736373731.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:12.007Z,1736373732.007 [DAT](INFO): DAT read: 22:02:10.2638 LVL= 13728, 29969, 19698, 29043, AGC= 66, IDX= 432, 0.24, 1.967, 0.112, 0.307, 0.881, PHS= 1.175,-0.722,-0.577, RAW= 93.9, 1.4, CAL= 102.4, -1.7, ROT= 47.6, 1.7 2025-01-08T22:02:12.008Z,1736373732.008 [DAT](INFO): got valid direction response: 22:02:10.2638 LVL= 13728, 29969, 19698, 29043, AGC= 66, IDX= 432, 0.24, 1.967, 0.112, 0.307, 0.881, PHS= 1.175,-0.722,-0.577, RAW= 93.9, 1.4, CAL= 102.4, -1.7, ROT= 47.6, 1.7 2025-01-08T22:02:12.009Z,1736373732.009 [DAT](INFO): DAT read: Bearing 47.6, 1.7 (Local) 2025-01-08T22:02:12.009Z,1736373732.009 [DAT](INFO): Local bearing/azimuth received: Bearing 47.6, 1.7 (Local) 2025-01-08T22:02:12.011Z,1736373732.011 [DAT](INFO): DAT read: Range 10 to 50 : 463.1 m (Round-trip 617.5 ms) speed 0.2 m/s 2025-01-08T22:02:12.012Z,1736373732.012 [DAT](INFO): DAT read: user:2241> 2025-01-08T22:02:12.012Z,1736373732.012 [DAT](INFO): DAT read: Tx time:22:02:11.3921 2025-01-08T22:02:12.013Z,1736373732.013 [DAT](INFO): Ping request sent. 2025-01-08T22:02:12.013Z,1736373732.013 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:12.013Z,1736373732.013 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:12.014Z,1736373732.014 [DAT](INFO): direction in FSK: [-0.117461,0.040583,0.992248] 2025-01-08T22:02:12.014Z,1736373732.014 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:12.015Z,1736373732.015 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:12.018Z,1736373732.018 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:12.019Z,1736373732.019 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:12.249Z,1736373732.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:12.250Z,1736373732.250 [DAT](INFO): DAT read: TxSync time:22:02:11.3914 2025-01-08T22:02:12.280Z,1736373732.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:12.312Z,1736373732.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 463.100006 m, deltaT: 4.031171 s, deltaX: -1.199982 m, approachRate: -0.297676 m/s, rangeRepo size: 4 2025-01-08T22:02:12.314Z,1736373732.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 463.100006 m, bearing: 196.468184 deg, lat: 36.899698 deg, lon: -122.121522 deg, deltaT: 4.031171 s, deltaX: -1.199982 m, approachRate: -0.297676 m/s, posRepo size: 4 2025-01-08T22:02:12.314Z,1736373732.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.10 m. 2025-01-08T22:02:12.323Z,1736373732.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.100006 m, nav range: 108.042007 m, bearing: 188.453203 deg, approach rate: 0.000000 m/s, LOS rate: -0.235331 deg/s, cmd heading: 325.768932 deg, new cmd heading: 325.429449 deg. 2025-01-08T22:02:12.328Z,1736373732.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679815 target range: 463.100006 and range: 463.10 m. 2025-01-08T22:02:12.500Z,1736373732.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:12.606Z,1736373732.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:12.615Z,1736373732.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.10 m. 2025-01-08T22:02:12.617Z,1736373732.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.100006 m, nav range: 108.193115 m, bearing: 188.376251 deg, approach rate: 0.490556 m/s, LOS rate: -0.249465 deg/s, cmd heading: 325.429445 deg, new cmd heading: 325.198915 deg. 2025-01-08T22:02:12.618Z,1736373732.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675792 target range: 463.100006 and range: 463.10 m. 2025-01-08T22:02:12.752Z,1736373732.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:13.004Z,1736373733.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:13.068Z,1736373733.068 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.0 +0.00, +0.00, 20.00,627.26 2025-01-08T22:02:13.079Z,1736373733.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:02:13.079Z,1736373733.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:13.112Z,1736373733.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.10 m. 2025-01-08T22:02:13.123Z,1736373733.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.100006 m, nav range: 108.406944 m, bearing: 188.267893 deg, approach rate: 0.429436 m/s, LOS rate: -0.217189 deg/s, cmd heading: 325.198912 deg, new cmd heading: 324.874481 deg. 2025-01-08T22:02:13.124Z,1736373733.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670129 target range: 463.100006 and range: 463.10 m. 2025-01-08T22:02:13.256Z,1736373733.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:13.405Z,1736373733.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:02:13.405Z,1736373733.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:13.414Z,1736373733.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.10 m. 2025-01-08T22:02:13.417Z,1736373733.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.100006 m, nav range: 108.552849 m, bearing: 188.192609 deg, approach rate: 0.483204 m/s, LOS rate: -0.248987 deg/s, cmd heading: 324.874478 deg, new cmd heading: 324.648933 deg. 2025-01-08T22:02:13.418Z,1736373733.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666193 target range: 463.100006 and range: 463.10 m. 2025-01-08T22:02:13.508Z,1736373733.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:13.760Z,1736373733.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:13.813Z,1736373733.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:02:13.813Z,1736373733.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:13.824Z,1736373733.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.10 m. 2025-01-08T22:02:13.826Z,1736373733.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.100006 m, nav range: 108.735481 m, bearing: 188.098074 deg, approach rate: 0.446698 m/s, LOS rate: -0.230835 deg/s, cmd heading: 324.648945 deg, new cmd heading: 324.365817 deg. 2025-01-08T22:02:13.828Z,1736373733.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661252 target range: 463.100006 and range: 463.10 m. 2025-01-08T22:02:14.013Z,1736373734.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:14.264Z,1736373734.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:14.268Z,1736373734.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:14.284Z,1736373734.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:14.286Z,1736373734.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.10 m. 2025-01-08T22:02:14.293Z,1736373734.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.100006 m, nav range: 108.938896 m, bearing: 187.991428 deg, approach rate: 0.439752 m/s, LOS rate: -0.230122 deg/s, cmd heading: 324.365820 deg, new cmd heading: 324.046483 deg. 2025-01-08T22:02:14.294Z,1736373734.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655678 target range: 463.100006 and range: 463.10 m. 2025-01-08T22:02:14.516Z,1736373734.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:14.517Z,1736373734.517 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:14.517Z,1736373734.517 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:14.517Z,1736373734.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:14.616Z,1736373734.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:14.651Z,1736373734.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.10 m. 2025-01-08T22:02:14.655Z,1736373734.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.100006 m, nav range: 109.093826 m, bearing: 187.909806 deg, approach rate: 0.428865 m/s, LOS rate: -0.225619 deg/s, cmd heading: 324.046495 deg, new cmd heading: 323.801978 deg. 2025-01-08T22:02:14.657Z,1736373734.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651411 target range: 463.100006 and range: 463.10 m. 2025-01-08T22:02:14.769Z,1736373734.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:14.770Z,1736373734.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757327 2025-01-08T22:02:15.022Z,1736373735.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:15.024Z,1736373735.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011223 2025-01-08T22:02:15.099Z,1736373735.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:15.120Z,1736373735.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.10 m. 2025-01-08T22:02:15.127Z,1736373735.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.100006 m, nav range: 109.307121 m, bearing: 187.790587 deg, approach rate: 0.455444 m/s, LOS rate: -0.254068 deg/s, cmd heading: 323.801975 deg, new cmd heading: 323.445021 deg. 2025-01-08T22:02:15.128Z,1736373735.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645181 target range: 463.100006 and range: 463.10 m. 2025-01-08T22:02:15.272Z,1736373735.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:15.272Z,1736373735.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259657 2025-01-08T22:02:15.423Z,1736373735.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:15.431Z,1736373735.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.10 m. 2025-01-08T22:02:15.434Z,1736373735.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.100006 m, nav range: 109.449593 m, bearing: 187.710354 deg, approach rate: 0.451114 m/s, LOS rate: -0.253714 deg/s, cmd heading: 323.445029 deg, new cmd heading: 323.204645 deg. 2025-01-08T22:02:15.435Z,1736373735.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640985 target range: 463.100006 and range: 463.10 m. 2025-01-08T22:02:15.524Z,1736373735.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:15.525Z,1736373735.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511796 2025-01-08T22:02:15.776Z,1736373735.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:15.776Z,1736373735.776 [DAT](INFO): DAT read: Rx Time:22:02:14.4121 2025-01-08T22:02:15.777Z,1736373735.777 [DAT](INFO): Rx dataTimestamp_ set to:1736373735.776612 2025-01-08T22:02:15.777Z,1736373735.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764658 2025-01-08T22:02:15.855Z,1736373735.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:15.863Z,1736373735.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.10 m. 2025-01-08T22:02:15.866Z,1736373735.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.100006 m, nav range: 109.638748 m, bearing: 187.603081 deg, approach rate: 0.438045 m/s, LOS rate: -0.247993 deg/s, cmd heading: 323.204633 deg, new cmd heading: 322.883374 deg. 2025-01-08T22:02:15.867Z,1736373735.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635378 target range: 463.100006 and range: 463.10 m. 2025-01-08T22:02:16.030Z,1736373736.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:16.033Z,1736373736.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019585 2025-01-08T22:02:16.265Z,1736373736.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:16.274Z,1736373736.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.10 m. 2025-01-08T22:02:16.277Z,1736373736.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 463.100006 m, nav range: 109.818726 m, bearing: 187.494617 deg, approach rate: 0.437931 m/s, LOS rate: -0.263490 deg/s, cmd heading: 322.883369 deg, new cmd heading: 322.558512 deg. 2025-01-08T22:02:16.278Z,1736373736.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629708 target range: 463.100006 and range: 463.10 m. 2025-01-08T22:02:16.280Z,1736373736.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:16.290Z,1736373736.290 [DAT](INFO): DAT read: 22:02:14.4121 LVL= 14112, 24465, 18914, 24547, AGC= 67, IDX= 430, 0.13, 0.609,-1.229,-1.197,-0.629, PHS= 1.326,-0.553,-0.571, RAW= 89.5, -2.2, CAL= 97.5, -8.0, ROT= 52.5, 8.0 2025-01-08T22:02:16.292Z,1736373736.292 [DAT](INFO): got valid direction response: 22:02:14.4121 LVL= 14112, 24465, 18914, 24547, AGC= 67, IDX= 430, 0.13, 0.609,-1.229,-1.197,-0.629, PHS= 1.326,-0.553,-0.571, RAW= 89.5, -2.2, CAL= 97.5, -8.0, ROT= 52.5, 8.0 2025-01-08T22:02:16.293Z,1736373736.293 [DAT](INFO): DAT read: Bearing 52.5, 8.0 (Local) 2025-01-08T22:02:16.293Z,1736373736.293 [DAT](INFO): Local bearing/azimuth received: Bearing 52.5, 8.0 (Local) 2025-01-08T22:02:16.295Z,1736373736.295 [DAT](INFO): DAT read: Range 10 to 50 : 461.8 m (Round-trip 615.8 ms) speed 0.3 m/s 2025-01-08T22:02:16.300Z,1736373736.300 [DAT](INFO): DAT read: user:2242> 2025-01-08T22:02:16.301Z,1736373736.301 [DAT](INFO): DAT read: Tx time:22:02:15.4921 2025-01-08T22:02:16.301Z,1736373736.301 [DAT](INFO): Ping request sent. 2025-01-08T22:02:16.301Z,1736373736.301 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:16.302Z,1736373736.302 [DAT](INFO): DAT read: TxSync time:22:02:15.4914 2025-01-08T22:02:16.302Z,1736373736.302 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:16.330Z,1736373736.330 [DAT](INFO): direction in FSK: [-0.043027,0.113574,0.992597] 2025-01-08T22:02:16.331Z,1736373736.331 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:16.331Z,1736373736.331 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:16.346Z,1736373736.346 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:16.347Z,1736373736.347 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:16.532Z,1736373736.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:16.639Z,1736373736.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:16.663Z,1736373736.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 461.799988 m, deltaT: 4.283891 s, deltaX: -1.300018 m, approachRate: -0.303467 m/s, rangeRepo size: 4 2025-01-08T22:02:16.666Z,1736373736.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 461.799988 m, bearing: 45.416863 deg, lat: 36.900227 deg, lon: -122.121488 deg, deltaT: 4.283891 s, deltaX: -1.300018 m, approachRate: -0.303467 m/s, posRepo size: 4 2025-01-08T22:02:16.668Z,1736373736.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.80 m. 2025-01-08T22:02:16.673Z,1736373736.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 461.799988 m, nav range: 51.536179 m, bearing: 192.421108 deg, approach rate: 0.000000 m/s, LOS rate: -0.263490 deg/s, cmd heading: 322.558525 deg, new cmd heading: 322.252276 deg. 2025-01-08T22:02:16.674Z,1736373736.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624363 target range: 461.799988 and range: 461.80 m. 2025-01-08T22:02:16.784Z,1736373736.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:17.038Z,1736373737.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:17.110Z,1736373737.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:17.148Z,1736373737.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:17.150Z,1736373737.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.80 m. 2025-01-08T22:02:17.153Z,1736373737.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 461.799988 m, nav range: 51.719135 m, bearing: 192.124005 deg, approach rate: 0.374743 m/s, LOS rate: -0.606389 deg/s, cmd heading: 322.252287 deg, new cmd heading: 321.364206 deg. 2025-01-08T22:02:17.154Z,1736373737.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608863 target range: 461.799988 and range: 461.80 m. 2025-01-08T22:02:17.288Z,1736373737.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:17.288Z,1736373737.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:17.288Z,1736373737.288 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:17.288Z,1736373737.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:17.442Z,1736373737.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:17.451Z,1736373737.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.80 m. 2025-01-08T22:02:17.454Z,1736373737.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 461.799988 m, nav range: 51.846813 m, bearing: 191.913010 deg, approach rate: 0.423890 m/s, LOS rate: -0.698777 deg/s, cmd heading: 321.364198 deg, new cmd heading: 320.732798 deg. 2025-01-08T22:02:17.456Z,1736373737.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597843 target range: 461.799988 and range: 461.80 m. 2025-01-08T22:02:17.541Z,1736373737.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:17.542Z,1736373737.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240239 2025-01-08T22:02:17.792Z,1736373737.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:17.792Z,1736373737.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490983 2025-01-08T22:02:17.858Z,1736373737.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:17.867Z,1736373737.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.80 m. 2025-01-08T22:02:17.871Z,1736373737.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 461.799988 m, nav range: 52.005741 m, bearing: 191.649671 deg, approach rate: 0.381963 m/s, LOS rate: -0.630964 deg/s, cmd heading: 320.732788 deg, new cmd heading: 319.945239 deg. 2025-01-08T22:02:17.872Z,1736373737.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584098 target range: 461.799988 and range: 461.80 m. 2025-01-08T22:02:17.877Z,1736373737.877 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T21:52:17.6Z 2025-01-08T22:02:17.877Z,1736373737.877 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T22:02:17.877Z,1736373737.877 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:02:17.877Z,1736373737.877 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T22:02:17.877Z,1736373737.877 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:02:17.877Z,1736373737.877 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T22:02:18.046Z,1736373738.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:18.048Z,1736373738.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745987 2025-01-08T22:02:18.276Z,1736373738.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:18.284Z,1736373738.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.80 m. 2025-01-08T22:02:18.288Z,1736373738.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 461.799988 m, nav range: 52.168301 m, bearing: 191.375419 deg, approach rate: 0.389570 m/s, LOS rate: -0.655189 deg/s, cmd heading: 319.945240 deg, new cmd heading: 319.125106 deg. 2025-01-08T22:02:18.289Z,1736373738.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.569784 target range: 461.799988 and range: 461.80 m. 2025-01-08T22:02:18.293Z,1736373738.293 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T22:02:18.293Z,1736373738.293 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T22:02:18.293Z,1736373738.293 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T22:02:18.293Z,1736373738.293 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:02:18.293Z,1736373738.293 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T22:02:18.296Z,1736373738.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:18.296Z,1736373738.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995074 2025-01-08T22:02:18.548Z,1736373738.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:18.549Z,1736373738.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247106 2025-01-08T22:02:18.794Z,1736373738.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:18.800Z,1736373738.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:18.800Z,1736373738.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499043 2025-01-08T22:02:18.824Z,1736373738.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.80 m. 2025-01-08T22:02:18.827Z,1736373738.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 461.799988 m, nav range: 52.369484 m, bearing: 191.036366 deg, approach rate: 0.372656 m/s, LOS rate: -0.625619 deg/s, cmd heading: 319.125098 deg, new cmd heading: 318.111957 deg. 2025-01-08T22:02:18.832Z,1736373738.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552101 target range: 461.799988 and range: 461.80 m. 2025-01-08T22:02:19.054Z,1736373739.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:19.057Z,1736373739.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754909 2025-01-08T22:02:19.212Z,1736373739.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:19.219Z,1736373739.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:19.222Z,1736373739.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.80 m. 2025-01-08T22:02:19.225Z,1736373739.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 461.799988 m, nav range: 52.533257 m, bearing: 190.766329 deg, approach rate: 0.411696 m/s, LOS rate: -0.676708 deg/s, cmd heading: 318.111962 deg, new cmd heading: 317.304433 deg. 2025-01-08T22:02:19.226Z,1736373739.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538007 target range: 461.799988 and range: 461.80 m. 2025-01-08T22:02:19.305Z,1736373739.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:19.306Z,1736373739.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004596 2025-01-08T22:02:19.556Z,1736373739.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:19.556Z,1736373739.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255000 2025-01-08T22:02:19.596Z,1736373739.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:19.617Z,1736373739.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.80 m. 2025-01-08T22:02:19.625Z,1736373739.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 461.799988 m, nav range: 52.683376 m, bearing: 190.518062 deg, approach rate: 0.379533 m/s, LOS rate: -0.625878 deg/s, cmd heading: 317.304443 deg, new cmd heading: 316.561808 deg. 2025-01-08T22:02:19.626Z,1736373739.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525046 target range: 461.799988 and range: 461.80 m. 2025-01-08T22:02:19.808Z,1736373739.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:19.809Z,1736373739.809 [DAT](INFO): DAT read: Rx Time:22:02:18.5110 2025-01-08T22:02:19.809Z,1736373739.809 [DAT](INFO): Rx dataTimestamp_ set to:1736373739.808724 2025-01-08T22:02:19.810Z,1736373739.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508140 2025-01-08T22:02:20.011Z,1736373740.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:20.020Z,1736373740.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.80 m. 2025-01-08T22:02:20.022Z,1736373740.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 461.799988 m, nav range: 52.844173 m, bearing: 190.250234 deg, approach rate: 0.400086 m/s, LOS rate: -0.664363 deg/s, cmd heading: 316.561810 deg, new cmd heading: 315.760828 deg. 2025-01-08T22:02:20.023Z,1736373740.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511066 target range: 461.799988 and range: 461.80 m. 2025-01-08T22:02:20.063Z,1736373740.063 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:20.066Z,1736373740.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763623 2025-01-08T22:02:20.312Z,1736373740.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:20.318Z,1736373740.318 [DAT](INFO): DAT read: 22:02:18.5110 LVL= 14512, 26993, 18082, 27859, AGC= 65, IDX= 434,-0.32, 0.156,-1.486,-1.591,-0.882, PHS= 1.127,-0.557,-0.712, RAW= 85.6, 1.6, CAL= 91.9, -1.8, ROT= 58.1, 1.8 2025-01-08T22:02:20.320Z,1736373740.320 [DAT](INFO): got valid direction response: 22:02:18.5110 LVL= 14512, 26993, 18082, 27859, AGC= 65, IDX= 434,-0.32, 0.156,-1.486,-1.591,-0.882, PHS= 1.127,-0.557,-0.712, RAW= 85.6, 1.6, CAL= 91.9, -1.8, ROT= 58.1, 1.8 2025-01-08T22:02:20.321Z,1736373740.321 [DAT](INFO): DAT read: Bearing 58.1, 1.8 (Local) 2025-01-08T22:02:20.322Z,1736373740.322 [DAT](INFO): Local bearing/azimuth received: Bearing 58.1, 1.8 (Local) 2025-01-08T22:02:20.323Z,1736373740.323 [DAT](INFO): DAT read: Range 10 to 50 : 460.9 m (Round-trip 614.6 ms) speed 0.3 m/s 2025-01-08T22:02:20.324Z,1736373740.324 [DAT](INFO): DAT read: user:2243> 2025-01-08T22:02:20.325Z,1736373740.325 [DAT](INFO): DAT read: Tx time:22:02:19.5922 2025-01-08T22:02:20.325Z,1736373740.325 [DAT](INFO): Ping request sent. 2025-01-08T22:02:20.325Z,1736373740.325 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:20.326Z,1736373740.326 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:20.326Z,1736373740.326 [DAT](INFO): direction in FSK: [-0.108687,0.183618,0.976971] 2025-01-08T22:02:20.327Z,1736373740.327 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:20.340Z,1736373740.340 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:20.343Z,1736373740.343 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:20.351Z,1736373740.351 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:20.521Z,1736373740.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:20.557Z,1736373740.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 460.899994 m, deltaT: 4.031834 s, deltaX: -0.899994 m, approachRate: -0.223222 m/s, rangeRepo size: 4 2025-01-08T22:02:20.565Z,1736373740.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:20.566Z,1736373740.566 [DAT](INFO): DAT read: TxSync time:22:02:19.5915 2025-01-08T22:02:20.568Z,1736373740.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 460.899994 m, bearing: 85.981772 deg, lat: 36.900334 deg, lon: -122.121464 deg, deltaT: 4.031834 s, deltaX: -0.899994 m, approachRate: -0.223222 m/s, posRepo size: 4 2025-01-08T22:02:20.574Z,1736373740.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m. 2025-01-08T22:02:20.581Z,1736373740.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.899994 m, nav range: 40.893974 m, bearing: 189.894889 deg, approach rate: 0.000000 m/s, LOS rate: -0.664363 deg/s, cmd heading: 315.760820 deg, new cmd heading: 314.690610 deg. 2025-01-08T22:02:20.582Z,1736373740.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492387 target range: 460.899994 and range: 460.90 m. 2025-01-08T22:02:20.816Z,1736373740.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:20.863Z,1736373740.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:20.889Z,1736373740.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m. 2025-01-08T22:02:20.899Z,1736373740.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.899994 m, nav range: 41.026733 m, bearing: 189.613852 deg, approach rate: 0.399776 m/s, LOS rate: -0.843543 deg/s, cmd heading: 314.690611 deg, new cmd heading: 313.850291 deg. 2025-01-08T22:02:20.905Z,1736373740.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477721 target range: 460.899994 and range: 460.90 m. 2025-01-08T22:02:21.069Z,1736373741.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:21.302Z,1736373741.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:21.321Z,1736373741.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:21.329Z,1736373741.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:21.336Z,1736373741.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m. 2025-01-08T22:02:21.343Z,1736373741.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.899994 m, nav range: 41.197922 m, bearing: 189.276620 deg, approach rate: 0.386500 m/s, LOS rate: -0.758217 deg/s, cmd heading: 313.850280 deg, new cmd heading: 312.842897 deg. 2025-01-08T22:02:21.344Z,1736373741.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460139 target range: 460.899994 and range: 460.90 m. 2025-01-08T22:02:21.573Z,1736373741.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:21.574Z,1736373741.574 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:21.574Z,1736373741.574 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:21.574Z,1736373741.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:21.680Z,1736373741.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:21.689Z,1736373741.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m. 2025-01-08T22:02:21.705Z,1736373741.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.899994 m, nav range: 41.339417 m, bearing: 188.982049 deg, approach rate: 0.395199 m/s, LOS rate: -0.819926 deg/s, cmd heading: 312.842909 deg, new cmd heading: 311.962294 deg. 2025-01-08T22:02:21.706Z,1736373741.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444769 target range: 460.899994 and range: 460.90 m. 2025-01-08T22:02:21.824Z,1736373741.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:21.824Z,1736373741.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499020 2025-01-08T22:02:22.067Z,1736373742.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:22.078Z,1736373742.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:22.081Z,1736373742.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755585 2025-01-08T22:02:22.118Z,1736373742.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m. 2025-01-08T22:02:22.141Z,1736373742.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.899994 m, nav range: 41.483685 m, bearing: 188.680104 deg, approach rate: 0.337532 m/s, LOS rate: -0.703976 deg/s, cmd heading: 311.962306 deg, new cmd heading: 311.059700 deg. 2025-01-08T22:02:22.148Z,1736373742.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.429016 target range: 460.899994 and range: 460.90 m. 2025-01-08T22:02:22.328Z,1736373742.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:22.328Z,1736373742.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003074 2025-01-08T22:02:22.494Z,1736373742.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:22.505Z,1736373742.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m. 2025-01-08T22:02:22.529Z,1736373742.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.899994 m, nav range: 41.641464 m, bearing: 188.371015 deg, approach rate: 0.407190 m/s, LOS rate: -0.794654 deg/s, cmd heading: 311.059710 deg, new cmd heading: 310.136043 deg. 2025-01-08T22:02:22.530Z,1736373742.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412895 target range: 460.899994 and range: 460.90 m. 2025-01-08T22:02:22.581Z,1736373742.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:22.582Z,1736373742.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256519 2025-01-08T22:02:22.832Z,1736373742.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:22.832Z,1736373742.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507085 2025-01-08T22:02:22.904Z,1736373742.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:22.929Z,1736373742.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m. 2025-01-08T22:02:22.932Z,1736373742.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.899994 m, nav range: 41.793869 m, bearing: 188.076875 deg, approach rate: 0.358757 m/s, LOS rate: -0.689869 deg/s, cmd heading: 310.136050 deg, new cmd heading: 309.256921 deg. 2025-01-08T22:02:22.933Z,1736373742.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397552 target range: 460.899994 and range: 460.90 m. 2025-01-08T22:02:23.086Z,1736373743.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:23.089Z,1736373743.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762813 2025-01-08T22:02:23.305Z,1736373743.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:23.318Z,1736373743.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m. 2025-01-08T22:02:23.322Z,1736373743.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.899994 m, nav range: 41.940968 m, bearing: 187.798210 deg, approach rate: 0.378626 m/s, LOS rate: -0.714754 deg/s, cmd heading: 309.256923 deg, new cmd heading: 308.423922 deg. 2025-01-08T22:02:23.323Z,1736373743.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383013 target range: 460.899994 and range: 460.90 m. 2025-01-08T22:02:23.336Z,1736373743.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:23.337Z,1736373743.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011642 2025-01-08T22:02:23.588Z,1736373743.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:23.588Z,1736373743.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263185 2025-01-08T22:02:23.703Z,1736373743.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:23.710Z,1736373743.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:23.712Z,1736373743.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m. 2025-01-08T22:02:23.715Z,1736373743.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.899994 m, nav range: 42.084961 m, bearing: 187.521959 deg, approach rate: 0.364825 m/s, LOS rate: -0.697518 deg/s, cmd heading: 308.423913 deg, new cmd heading: 307.598056 deg. 2025-01-08T22:02:23.716Z,1736373743.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368599 target range: 460.899994 and range: 460.90 m. 2025-01-08T22:02:23.840Z,1736373743.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:23.841Z,1736373743.841 [DAT](INFO): DAT read: Rx Time:22:02:22.6100 2025-01-08T22:02:23.841Z,1736373743.841 [DAT](INFO): Rx dataTimestamp_ set to:1736373743.840743 2025-01-08T22:02:23.842Z,1736373743.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516254 2025-01-08T22:02:24.092Z,1736373744.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:24.093Z,1736373744.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767303 2025-01-08T22:02:24.098Z,1736373744.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:24.118Z,1736373744.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m. 2025-01-08T22:02:24.151Z,1736373744.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.899994 m, nav range: 42.226463 m, bearing: 187.246359 deg, approach rate: 0.349787 m/s, LOS rate: -0.678984 deg/s, cmd heading: 307.598061 deg, new cmd heading: 306.774092 deg. 2025-01-08T22:02:24.171Z,1736373744.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.354218 target range: 460.899994 and range: 460.90 m. 2025-01-08T22:02:24.344Z,1736373744.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:24.350Z,1736373744.350 [DAT](INFO): DAT read: 22:02:22.6100 LVL= 10992, 26417, 15730, 24371, AGC= 66, IDX= 424, 0.10, 1.032,-0.236,-0.684, 0.272, PHS= 0.848,-0.461,-0.959, RAW= 74.5, 7.1, CAL= 77.7, 9.2, ROT= 72.3, -9.2 2025-01-08T22:02:24.352Z,1736373744.352 [DAT](INFO): got valid direction response: 22:02:22.6100 LVL= 10992, 26417, 15730, 24371, AGC= 66, IDX= 424, 0.10, 1.032,-0.236,-0.684, 0.272, PHS= 0.848,-0.461,-0.959, RAW= 74.5, 7.1, CAL= 77.7, 9.2, ROT= 72.3, -9.2 2025-01-08T22:02:24.354Z,1736373744.354 [DAT](INFO): DAT read: Bearing 72.3, -9.2 (Local) 2025-01-08T22:02:24.354Z,1736373744.354 [DAT](INFO): Local bearing/azimuth received: Bearing 72.3, -9.2 (Local) 2025-01-08T22:02:24.356Z,1736373744.356 [DAT](INFO): DAT read: Range 10 to 50 : 460.2 m (Round-trip 613.6 ms) speed 0.0 m/s 2025-01-08T22:02:24.356Z,1736373744.356 [DAT](INFO): DAT read: user:2244> 2025-01-08T22:02:24.357Z,1736373744.357 [DAT](INFO): DAT read: Tx time:22:02:23.6922 2025-01-08T22:02:24.357Z,1736373744.357 [DAT](INFO): Ping request sent. 2025-01-08T22:02:24.357Z,1736373744.357 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:24.358Z,1736373744.358 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:24.359Z,1736373744.359 [DAT](INFO): direction in FSK: [-0.190510,0.367168,0.910436] 2025-01-08T22:02:24.359Z,1736373744.359 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:24.364Z,1736373744.364 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:24.367Z,1736373744.367 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:24.367Z,1736373744.367 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:24.592Z,1736373744.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:24.596Z,1736373744.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:24.597Z,1736373744.597 [DAT](INFO): DAT read: TxSync time:22:02:23.6915 2025-01-08T22:02:24.617Z,1736373744.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 460.200012 m, deltaT: 4.032268 s, deltaX: -0.699982 m, approachRate: -0.173595 m/s, rangeRepo size: 4 2025-01-08T22:02:24.624Z,1736373744.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 460.200012 m, bearing: 68.909702 deg, lat: 36.900734 deg, lon: -122.121259 deg, deltaT: 4.032268 s, deltaX: -0.699982 m, approachRate: -0.173595 m/s, posRepo size: 4 2025-01-08T22:02:24.625Z,1736373744.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T22:02:24.631Z,1736373744.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 13.352026 m, bearing: 79.685604 deg, approach rate: 0.000000 m/s, LOS rate: -0.678984 deg/s, cmd heading: 306.774094 deg, new cmd heading: 305.755797 deg. 2025-01-08T22:02:24.632Z,1736373744.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.336445 target range: 460.200012 and range: 460.20 m. 2025-01-08T22:02:24.848Z,1736373744.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:24.914Z,1736373744.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:24.939Z,1736373744.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T22:02:24.969Z,1736373744.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 13.470567 m, bearing: 80.332511 deg, approach rate: 0.368041 m/s, LOS rate: 1.990774 deg/s, cmd heading: 305.755795 deg, new cmd heading: 307.678675 deg. 2025-01-08T22:02:24.973Z,1736373744.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.370006 target range: 460.200012 and range: 460.20 m. 2025-01-08T22:02:25.100Z,1736373745.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:25.338Z,1736373745.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:25.347Z,1736373745.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T22:02:25.350Z,1736373745.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 13.631841 m, bearing: 81.160872 deg, approach rate: 0.395006 m/s, LOS rate: 2.004823 deg/s, cmd heading: 307.678685 deg, new cmd heading: 310.132782 deg. 2025-01-08T22:02:25.351Z,1736373745.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412838 target range: 460.200012 and range: 460.20 m. 2025-01-08T22:02:25.352Z,1736373745.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:25.604Z,1736373745.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:25.726Z,1736373745.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:25.749Z,1736373745.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:25.757Z,1736373745.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T22:02:25.764Z,1736373745.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 13.784063 m, bearing: 81.890704 deg, approach rate: 0.376970 m/s, LOS rate: 1.787373 deg/s, cmd heading: 310.132772 deg, new cmd heading: 312.296998 deg. 2025-01-08T22:02:25.765Z,1736373745.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450611 target range: 460.200012 and range: 460.20 m. 2025-01-08T22:02:25.857Z,1736373745.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:25.858Z,1736373745.858 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:25.858Z,1736373745.858 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:25.858Z,1736373745.858 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:26.108Z,1736373746.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:26.109Z,1736373746.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751034 2025-01-08T22:02:26.182Z,1736373746.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:26.225Z,1736373746.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T22:02:26.232Z,1736373746.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 13.968173 m, bearing: 82.718357 deg, approach rate: 0.388614 m/s, LOS rate: 1.723903 deg/s, cmd heading: 312.296985 deg, new cmd heading: 314.745642 deg. 2025-01-08T22:02:26.234Z,1736373746.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493348 target range: 460.200012 and range: 460.20 m. 2025-01-08T22:02:26.364Z,1736373746.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:26.365Z,1736373746.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007815 2025-01-08T22:02:26.569Z,1736373746.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:26.579Z,1736373746.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T22:02:26.606Z,1736373746.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 14.131050 m, bearing: 83.389823 deg, approach rate: 0.460280 m/s, LOS rate: 1.875606 deg/s, cmd heading: 314.745635 deg, new cmd heading: 316.735969 deg. 2025-01-08T22:02:26.607Z,1736373746.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528086 target range: 460.200012 and range: 460.20 m. 2025-01-08T22:02:26.612Z,1736373746.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:26.613Z,1736373746.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255058 2025-01-08T22:02:26.864Z,1736373746.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:26.864Z,1736373746.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506970 2025-01-08T22:02:26.942Z,1736373746.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:26.950Z,1736373746.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T22:02:26.954Z,1736373746.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 14.290827 m, bearing: 84.012928 deg, approach rate: 0.429891 m/s, LOS rate: 1.657733 deg/s, cmd heading: 316.735980 deg, new cmd heading: 318.583718 deg. 2025-01-08T22:02:26.955Z,1736373746.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560335 target range: 460.200012 and range: 460.20 m. 2025-01-08T22:02:27.117Z,1736373747.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:27.120Z,1736373747.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761466 2025-01-08T22:02:27.368Z,1736373747.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:27.368Z,1736373747.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010986 2025-01-08T22:02:27.374Z,1736373747.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:27.407Z,1736373747.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T22:02:27.410Z,1736373747.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 14.493133 m, bearing: 84.720081 deg, approach rate: 0.442900 m/s, LOS rate: 1.526494 deg/s, cmd heading: 318.583710 deg, new cmd heading: 320.674574 deg. 2025-01-08T22:02:27.411Z,1736373747.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596827 target range: 460.200012 and range: 460.20 m. 2025-01-08T22:02:27.621Z,1736373747.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:27.621Z,1736373747.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263902 2025-01-08T22:02:27.749Z,1736373747.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:27.759Z,1736373747.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:27.762Z,1736373747.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T22:02:27.764Z,1736373747.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 14.672803 m, bearing: 85.306763 deg, approach rate: 0.506810 m/s, LOS rate: 1.634608 deg/s, cmd heading: 320.674567 deg, new cmd heading: 322.412498 deg. 2025-01-08T22:02:27.765Z,1736373747.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627160 target range: 460.200012 and range: 460.20 m. 2025-01-08T22:02:27.872Z,1736373747.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:27.873Z,1736373747.873 [DAT](INFO): DAT read: Rx Time:22:02:26.7087 2025-01-08T22:02:27.874Z,1736373747.874 [DAT](INFO): Rx dataTimestamp_ set to:1736373747.873672 2025-01-08T22:02:27.875Z,1736373747.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517413 2025-01-08T22:02:28.124Z,1736373748.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:28.125Z,1736373748.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767152 2025-01-08T22:02:28.224Z,1736373748.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:28.250Z,1736373748.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T22:02:28.258Z,1736373748.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 14.900084 m, bearing: 86.016408 deg, approach rate: 0.465468 m/s, LOS rate: 1.431133 deg/s, cmd heading: 322.412495 deg, new cmd heading: 324.507967 deg. 2025-01-08T22:02:28.265Z,1736373748.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663733 target range: 460.200012 and range: 460.20 m. 2025-01-08T22:02:28.377Z,1736373748.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:28.380Z,1736373748.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021899 2025-01-08T22:02:28.574Z,1736373748.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:28.585Z,1736373748.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.20 m. 2025-01-08T22:02:28.608Z,1736373748.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.200012 m, nav range: 15.086314 m, bearing: 86.548988 deg, approach rate: 0.556301 m/s, LOS rate: 1.571253 deg/s, cmd heading: 324.507970 deg, new cmd heading: 326.085568 deg. 2025-01-08T22:02:28.609Z,1736373748.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691267 target range: 460.200012 and range: 460.20 m. 2025-01-08T22:02:28.628Z,1736373748.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:28.635Z,1736373748.635 [DAT](INFO): DAT read: 22:02:26.7087 LVL= 12528, 21361, 17010, 20563, AGC= 65, IDX= 427,-0.00, 1.638, 0.363,-0.837, 0.414, PHS= 1.312,-0.004,-1.254, RAW= 60.9, -0.5, CAL= 63.9, -3.9, ROT= 86.1, 3.9 2025-01-08T22:02:28.636Z,1736373748.636 [DAT](INFO): got valid direction response: 22:02:26.7087 LVL= 12528, 21361, 17010, 20563, AGC= 65, IDX= 427,-0.00, 1.638, 0.363,-0.837, 0.414, PHS= 1.312,-0.004,-1.254, RAW= 60.9, -0.5, CAL= 63.9, -3.9, ROT= 86.1, 3.9 2025-01-08T22:02:28.638Z,1736373748.638 [DAT](INFO): DAT read: Bearing 86.1, 3.9 (Local) 2025-01-08T22:02:28.638Z,1736373748.638 [DAT](INFO): Local bearing/azimuth received: Bearing 86.1, 3.9 (Local) 2025-01-08T22:02:28.640Z,1736373748.640 [DAT](INFO): DAT read: Range 10 to 50 : 459.3 m (Round-trip 612.4 ms) speed 0.0 m/s 2025-01-08T22:02:28.641Z,1736373748.641 [DAT](INFO): DAT read: user:2245> 2025-01-08T22:02:28.641Z,1736373748.641 [DAT](INFO): DAT read: Tx time:22:02:27.7922 2025-01-08T22:02:28.642Z,1736373748.642 [DAT](INFO): Ping request sent. 2025-01-08T22:02:28.642Z,1736373748.642 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:28.643Z,1736373748.643 [DAT](INFO): DAT read: TxSync time:22:02:27.7915 2025-01-08T22:02:28.649Z,1736373748.649 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:28.650Z,1736373748.650 [DAT](INFO): direction in FSK: [-0.021772,0.564843,0.824911] 2025-01-08T22:02:28.650Z,1736373748.650 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:28.651Z,1736373748.651 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:28.670Z,1736373748.670 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:28.670Z,1736373748.670 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:28.880Z,1736373748.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:28.968Z,1736373748.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:29.012Z,1736373749.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 459.299988 m, deltaT: 4.283822 s, deltaX: -0.900024 m, approachRate: -0.210098 m/s, rangeRepo size: 4 2025-01-08T22:02:29.014Z,1736373749.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 459.299988 m, bearing: 37.311349 deg, lat: 36.900762 deg, lon: -122.120713 deg, deltaT: 4.283822 s, deltaX: -0.900024 m, approachRate: -0.210098 m/s, posRepo size: 4 2025-01-08T22:02:29.015Z,1736373749.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.30 m. 2025-01-08T22:02:29.022Z,1736373749.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.299988 m, nav range: 63.890987 m, bearing: 86.591527 deg, approach rate: 0.000000 m/s, LOS rate: 1.571253 deg/s, cmd heading: 326.085580 deg, new cmd heading: 328.076628 deg. 2025-01-08T22:02:29.028Z,1736373749.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726017 target range: 459.299988 and range: 459.30 m. 2025-01-08T22:02:29.132Z,1736373749.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:29.380Z,1736373749.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:29.384Z,1736373749.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:29.409Z,1736373749.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.30 m. 2025-01-08T22:02:29.416Z,1736373749.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.299988 m, nav range: 64.117424 m, bearing: 86.736821 deg, approach rate: 0.562936 m/s, LOS rate: 0.359932 deg/s, cmd heading: 328.076635 deg, new cmd heading: 328.510966 deg. 2025-01-08T22:02:29.417Z,1736373749.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733598 target range: 459.299988 and range: 459.30 m. 2025-01-08T22:02:29.636Z,1736373749.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:29.767Z,1736373749.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:29.774Z,1736373749.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:29.777Z,1736373749.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.30 m. 2025-01-08T22:02:29.780Z,1736373749.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.299988 m, nav range: 64.328400 m, bearing: 86.874645 deg, approach rate: 0.574308 m/s, LOS rate: 0.373949 deg/s, cmd heading: 328.510953 deg, new cmd heading: 328.923063 deg. 2025-01-08T22:02:29.781Z,1736373749.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740790 target range: 459.299988 and range: 459.30 m. 2025-01-08T22:02:29.888Z,1736373749.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:29.889Z,1736373749.889 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:29.889Z,1736373749.889 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:29.889Z,1736373749.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:30.140Z,1736373750.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:30.140Z,1736373750.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498389 2025-01-08T22:02:30.187Z,1736373750.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:30.227Z,1736373750.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.30 m. 2025-01-08T22:02:30.246Z,1736373750.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.299988 m, nav range: 64.555397 m, bearing: 87.027078 deg, approach rate: 0.511175 m/s, LOS rate: 0.342056 deg/s, cmd heading: 328.923059 deg, new cmd heading: 329.378740 deg. 2025-01-08T22:02:30.254Z,1736373750.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748744 target range: 459.299988 and range: 459.30 m. 2025-01-08T22:02:30.392Z,1736373750.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:30.394Z,1736373750.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751472 2025-01-08T22:02:30.605Z,1736373750.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:30.613Z,1736373750.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.30 m. 2025-01-08T22:02:30.617Z,1736373750.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.299988 m, nav range: 64.799110 m, bearing: 87.189316 deg, approach rate: 0.620771 m/s, LOS rate: 0.411686 deg/s, cmd heading: 329.378742 deg, new cmd heading: 329.863611 deg. 2025-01-08T22:02:30.618Z,1736373750.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757206 target range: 459.299988 and range: 459.30 m. 2025-01-08T22:02:30.644Z,1736373750.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:30.646Z,1736373750.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003529 2025-01-08T22:02:30.896Z,1736373750.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:30.896Z,1736373750.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254329 2025-01-08T22:02:31.061Z,1736373751.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:31.082Z,1736373751.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.30 m. 2025-01-08T22:02:31.085Z,1736373751.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.299988 m, nav range: 65.060524 m, bearing: 87.370914 deg, approach rate: 0.558179 m/s, LOS rate: 0.386197 deg/s, cmd heading: 329.863603 deg, new cmd heading: 330.406194 deg. 2025-01-08T22:02:31.086Z,1736373751.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766676 target range: 459.299988 and range: 459.30 m. 2025-01-08T22:02:31.150Z,1736373751.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:31.151Z,1736373751.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508941 2025-01-08T22:02:31.400Z,1736373751.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:31.400Z,1736373751.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758370 2025-01-08T22:02:31.467Z,1736373751.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:31.476Z,1736373751.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.30 m. 2025-01-08T22:02:31.479Z,1736373751.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.299988 m, nav range: 65.290771 m, bearing: 87.528567 deg, approach rate: 0.583970 m/s, LOS rate: 0.398438 deg/s, cmd heading: 330.406194 deg, new cmd heading: 330.877472 deg. 2025-01-08T22:02:31.480Z,1736373751.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774901 target range: 459.299988 and range: 459.30 m. 2025-01-08T22:02:31.654Z,1736373751.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:31.656Z,1736373751.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013678 2025-01-08T22:02:31.829Z,1736373751.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:31.835Z,1736373751.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:31.838Z,1736373751.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.30 m. 2025-01-08T22:02:31.842Z,1736373751.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.299988 m, nav range: 65.491829 m, bearing: 87.673641 deg, approach rate: 0.554989 m/s, LOS rate: 0.399226 deg/s, cmd heading: 330.877477 deg, new cmd heading: 331.311355 deg. 2025-01-08T22:02:31.843Z,1736373751.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782474 target range: 459.299988 and range: 459.30 m. 2025-01-08T22:02:31.907Z,1736373751.907 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:31.908Z,1736373751.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265872 2025-01-08T22:02:32.161Z,1736373752.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:32.162Z,1736373752.162 [DAT](INFO): DAT read: Rx Time:22:02:30.8087 2025-01-08T22:02:32.164Z,1736373752.164 [DAT](INFO): Rx dataTimestamp_ set to:1736373752.162517 2025-01-08T22:02:32.165Z,1736373752.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522812 2025-01-08T22:02:32.348Z,1736373752.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:32.357Z,1736373752.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.30 m. 2025-01-08T22:02:32.360Z,1736373752.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.299988 m, nav range: 65.778938 m, bearing: 87.883892 deg, approach rate: 0.553749 m/s, LOS rate: 0.403740 deg/s, cmd heading: 331.311358 deg, new cmd heading: 331.939330 deg. 2025-01-08T22:02:32.361Z,1736373752.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793434 target range: 459.299988 and range: 459.30 m. 2025-01-08T22:02:32.412Z,1736373752.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:32.413Z,1736373752.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771241 2025-01-08T22:02:32.641Z,1736373752.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:32.664Z,1736373752.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:32.673Z,1736373752.673 [DAT](INFO): DAT read: 22:02:30.8087 LVL= 16032, 27377, 30562, 32243, AGC= 66, IDX= 441,-0.04, 0.290,-0.949,-1.894,-1.261, PHS= 1.639, 0.359,-0.636, RAW= 64.1, -13.7, CAL= 75.9, -22.2, ROT= 74.1, 22.2 2025-01-08T22:02:32.675Z,1736373752.675 [DAT](INFO): got valid direction response: 22:02:30.8087 LVL= 16032, 27377, 30562, 32243, AGC= 66, IDX= 441,-0.04, 0.290,-0.949,-1.894,-1.261, PHS= 1.639, 0.359,-0.636, RAW= 64.1, -13.7, CAL= 75.9, -22.2, ROT= 74.1, 22.2 2025-01-08T22:02:32.677Z,1736373752.677 [DAT](INFO): DAT read: Bearing 74.1, 22.2 (Local) 2025-01-08T22:02:32.677Z,1736373752.677 [DAT](INFO): Local bearing/azimuth received: Bearing 74.1, 22.2 (Local) 2025-01-08T22:02:32.680Z,1736373752.680 [DAT](INFO): DAT read: Range 10 to 50 : 459.2 m (Round-trip 612.3 ms) speed 0.2 m/s 2025-01-08T22:02:32.680Z,1736373752.680 [DAT](INFO): DAT read: user:2246> 2025-01-08T22:02:32.681Z,1736373752.681 [DAT](INFO): DAT read: Tx time:22:02:31.8923 2025-01-08T22:02:32.681Z,1736373752.681 [DAT](INFO): Ping request sent. 2025-01-08T22:02:32.682Z,1736373752.682 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:32.682Z,1736373752.682 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:32.683Z,1736373752.683 [DAT](INFO): direction in FSK: [0.216393,0.490054,0.844406] 2025-01-08T22:02:32.683Z,1736373752.683 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:32.683Z,1736373752.683 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:32.689Z,1736373752.689 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:32.690Z,1736373752.690 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:32.722Z,1736373752.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 459.200012 m, deltaT: 4.036254 s, deltaX: -0.099976 m, approachRate: -0.024769 m/s, rangeRepo size: 4 2025-01-08T22:02:32.732Z,1736373752.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 459.200012 m, bearing: 5.140679 deg, lat: 36.901270 deg, lon: -122.120713 deg, deltaT: 4.036254 s, deltaX: -0.099976 m, approachRate: -0.024769 m/s, posRepo size: 4 2025-01-08T22:02:32.733Z,1736373752.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.20 m. 2025-01-08T22:02:32.744Z,1736373752.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.200012 m, nav range: 88.363617 m, bearing: 48.223206 deg, approach rate: 0.000000 m/s, LOS rate: 0.403740 deg/s, cmd heading: 331.939325 deg, new cmd heading: 332.380006 deg. 2025-01-08T22:02:32.745Z,1736373752.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801126 target range: 459.200012 and range: 459.20 m. 2025-01-08T22:02:32.916Z,1736373752.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:32.917Z,1736373752.917 [DAT](INFO): DAT read: TxSync time:22:02:31.8916 2025-01-08T22:02:33.057Z,1736373753.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:33.070Z,1736373753.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.20 m. 2025-01-08T22:02:33.073Z,1736373753.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.200012 m, nav range: 88.401955 m, bearing: 48.416092 deg, approach rate: 0.109879 m/s, LOS rate: 0.552587 deg/s, cmd heading: 332.380009 deg, new cmd heading: 332.958397 deg. 2025-01-08T22:02:33.074Z,1736373753.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811220 target range: 459.200012 and range: 459.20 m. 2025-01-08T22:02:33.168Z,1736373753.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:33.285Z,1736373753.285 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:02:33.420Z,1736373753.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:33.491Z,1736373753.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:33.500Z,1736373753.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.20 m. 2025-01-08T22:02:33.502Z,1736373753.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.200012 m, nav range: 88.434845 m, bearing: 48.606616 deg, approach rate: 0.076524 m/s, LOS rate: 0.443115 deg/s, cmd heading: 332.958390 deg, new cmd heading: 333.529728 deg. 2025-01-08T22:02:33.504Z,1736373753.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821192 target range: 459.200012 and range: 459.20 m. 2025-01-08T22:02:33.672Z,1736373753.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:33.915Z,1736373753.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:33.922Z,1736373753.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:33.924Z,1736373753.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:33.924Z,1736373753.924 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:33.924Z,1736373753.924 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:33.925Z,1736373753.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:33.929Z,1736373753.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.20 m. 2025-01-08T22:02:33.932Z,1736373753.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.200012 m, nav range: 88.452972 m, bearing: 48.793386 deg, approach rate: 0.042201 m/s, LOS rate: 0.434719 deg/s, cmd heading: 333.529721 deg, new cmd heading: 334.089899 deg. 2025-01-08T22:02:33.933Z,1736373753.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830969 target range: 459.200012 and range: 459.20 m. 2025-01-08T22:02:34.176Z,1736373754.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:34.177Z,1736373754.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494971 2025-01-08T22:02:34.285Z,1736373754.285 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:02:34.385Z,1736373754.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:34.393Z,1736373754.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.20 m. 2025-01-08T22:02:34.397Z,1736373754.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.200012 m, nav range: 88.463554 m, bearing: 48.988931 deg, approach rate: 0.022792 m/s, LOS rate: 0.421129 deg/s, cmd heading: 334.089906 deg, new cmd heading: 334.676447 deg. 2025-01-08T22:02:34.401Z,1736373754.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841206 target range: 459.200012 and range: 459.20 m. 2025-01-08T22:02:34.428Z,1736373754.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:34.430Z,1736373754.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747972 2025-01-08T22:02:34.680Z,1736373754.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:34.681Z,1736373754.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999239 2025-01-08T22:02:34.740Z,1736373754.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:34.748Z,1736373754.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.20 m. 2025-01-08T22:02:34.751Z,1736373754.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.200012 m, nav range: 88.460854 m, bearing: 49.136597 deg, approach rate: -0.007603 m/s, LOS rate: 0.415726 deg/s, cmd heading: 334.676455 deg, new cmd heading: 335.119458 deg. 2025-01-08T22:02:34.752Z,1736373754.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848938 target range: 459.200012 and range: 459.20 m. 2025-01-08T22:02:34.932Z,1736373754.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:34.933Z,1736373754.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251076 2025-01-08T22:02:35.152Z,1736373755.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:35.161Z,1736373755.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.20 m. 2025-01-08T22:02:35.168Z,1736373755.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.200012 m, nav range: 88.458466 m, bearing: 49.308009 deg, approach rate: -0.005794 m/s, LOS rate: 0.415923 deg/s, cmd heading: 335.119461 deg, new cmd heading: 335.633698 deg. 2025-01-08T22:02:35.169Z,1736373755.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857913 target range: 459.200012 and range: 459.20 m. 2025-01-08T22:02:35.186Z,1736373755.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:35.188Z,1736373755.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505981 2025-01-08T22:02:35.436Z,1736373755.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:35.437Z,1736373755.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755051 2025-01-08T22:02:35.596Z,1736373755.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:35.609Z,1736373755.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.20 m. 2025-01-08T22:02:35.616Z,1736373755.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.200012 m, nav range: 88.442558 m, bearing: 49.483318 deg, approach rate: -0.035475 m/s, LOS rate: 0.391030 deg/s, cmd heading: 335.633693 deg, new cmd heading: 336.159699 deg. 2025-01-08T22:02:35.617Z,1736373755.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867094 target range: 459.200012 and range: 459.20 m. 2025-01-08T22:02:35.688Z,1736373755.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:35.689Z,1736373755.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007127 2025-01-08T22:02:35.940Z,1736373755.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:35.941Z,1736373755.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258988 2025-01-08T22:02:35.966Z,1736373755.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:35.981Z,1736373755.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:35.984Z,1736373755.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.20 m. 2025-01-08T22:02:35.996Z,1736373755.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.200012 m, nav range: 88.425743 m, bearing: 49.629135 deg, approach rate: -0.044916 m/s, LOS rate: 0.389577 deg/s, cmd heading: 336.159699 deg, new cmd heading: 336.597224 deg. 2025-01-08T22:02:35.997Z,1736373755.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874730 target range: 459.200012 and range: 459.20 m. 2025-01-08T22:02:36.192Z,1736373756.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:36.192Z,1736373756.192 [DAT](INFO): DAT read: Rx Time:22:02:34.9084 2025-01-08T22:02:36.193Z,1736373756.193 [DAT](INFO): Rx dataTimestamp_ set to:1736373756.192551 2025-01-08T22:02:36.193Z,1736373756.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511818 2025-01-08T22:02:36.444Z,1736373756.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:36.445Z,1736373756.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763125 2025-01-08T22:02:36.583Z,1736373756.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:36.626Z,1736373756.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.20 m. 2025-01-08T22:02:36.632Z,1736373756.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.200012 m, nav range: 88.389015 m, bearing: 49.853966 deg, approach rate: -0.057178 m/s, LOS rate: 0.350163 deg/s, cmd heading: 336.597214 deg, new cmd heading: 337.271953 deg. 2025-01-08T22:02:36.633Z,1736373756.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886506 target range: 459.200012 and range: 459.20 m. 2025-01-08T22:02:36.698Z,1736373756.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:36.706Z,1736373756.706 [DAT](INFO): DAT read: 22:02:34.9084 LVL= 15504, 31921, 21634, 32755, AGC= 67, IDX= 439, 0.43,-1.470,-2.953,-3.102,-2.599, PHS= 1.217,-0.306,-0.506, RAW= 83.9, -5.0, CAL= 92.5, -12.4, ROT= 57.5, 12.4 2025-01-08T22:02:36.707Z,1736373756.707 [DAT](INFO): got valid direction response: 22:02:34.9084 LVL= 15504, 31921, 21634, 32755, AGC= 67, IDX= 439, 0.43,-1.470,-2.953,-3.102,-2.599, PHS= 1.217,-0.306,-0.506, RAW= 83.9, -5.0, CAL= 92.5, -12.4, ROT= 57.5, 12.4 2025-01-08T22:02:36.708Z,1736373756.708 [DAT](INFO): DAT read: Bearing 57.5, 12.4 (Local) 2025-01-08T22:02:36.708Z,1736373756.708 [DAT](INFO): Local bearing/azimuth received: Bearing 57.5, 12.4 (Local) 2025-01-08T22:02:36.710Z,1736373756.710 [DAT](INFO): DAT read: Range 10 to 50 : 459.0 m (Round-trip 612.0 ms) speed 0.2 m/s 2025-01-08T22:02:36.745Z,1736373756.745 [DAT](INFO): DAT read: user:2247> 2025-01-08T22:02:36.746Z,1736373756.746 [DAT](INFO): DAT read: Tx time:22:02:35.9923 2025-01-08T22:02:36.746Z,1736373756.746 [DAT](INFO): Ping request sent. 2025-01-08T22:02:36.746Z,1736373756.746 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:36.746Z,1736373756.746 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:36.753Z,1736373756.753 [DAT](INFO): direction in FSK: [0.020382,0.205692,0.978405] 2025-01-08T22:02:36.753Z,1736373756.753 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:36.753Z,1736373756.753 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:36.761Z,1736373756.761 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:36.761Z,1736373756.761 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:36.844Z,1736373756.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:36.888Z,1736373756.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 459.000000 m, deltaT: 4.034129 s, deltaX: -0.200012 m, approachRate: -0.049580 m/s, rangeRepo size: 4 2025-01-08T22:02:36.890Z,1736373756.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 459.000000 m, bearing: 193.013476 deg, lat: 36.901270 deg, lon: -122.120713 deg, deltaT: 4.034129 s, deltaX: -0.200012 m, approachRate: -0.049580 m/s, posRepo size: 4 2025-01-08T22:02:36.891Z,1736373756.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m. 2025-01-08T22:02:36.898Z,1736373756.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.000000 m, nav range: 88.371490 m, bearing: 49.951563 deg, approach rate: 0.000000 m/s, LOS rate: 0.350163 deg/s, cmd heading: 337.271954 deg, new cmd heading: 337.537519 deg. 2025-01-08T22:02:36.898Z,1736373756.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891141 target range: 459.000000 and range: 459.00 m. 2025-01-08T22:02:36.948Z,1736373756.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:36.949Z,1736373756.949 [DAT](INFO): DAT read: TxSync time:22:02:35.9916 2025-01-08T22:02:37.200Z,1736373757.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:37.238Z,1736373757.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:37.262Z,1736373757.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m. 2025-01-08T22:02:37.272Z,1736373757.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.000000 m, nav range: 88.343918 m, bearing: 50.095964 deg, approach rate: -0.071829 m/s, LOS rate: 0.376294 deg/s, cmd heading: 337.537512 deg, new cmd heading: 337.970843 deg. 2025-01-08T22:02:37.273Z,1736373757.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898704 target range: 459.000000 and range: 459.00 m. 2025-01-08T22:02:37.453Z,1736373757.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:37.696Z,1736373757.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:37.704Z,1736373757.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:37.714Z,1736373757.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m. 2025-01-08T22:02:37.725Z,1736373757.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.000000 m, nav range: 88.291428 m, bearing: 50.258854 deg, approach rate: -0.116183 m/s, LOS rate: 0.360760 deg/s, cmd heading: 337.970847 deg, new cmd heading: 338.459796 deg. 2025-01-08T22:02:37.726Z,1736373757.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907238 target range: 459.000000 and range: 459.00 m. 2025-01-08T22:02:37.956Z,1736373757.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:38.138Z,1736373758.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:38.144Z,1736373758.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:38.146Z,1736373758.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m. 2025-01-08T22:02:38.149Z,1736373758.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.000000 m, nav range: 88.239334 m, bearing: 50.415746 deg, approach rate: -0.120525 m/s, LOS rate: 0.363202 deg/s, cmd heading: 338.459806 deg, new cmd heading: 338.930749 deg. 2025-01-08T22:02:38.150Z,1736373758.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915458 target range: 459.000000 and range: 459.00 m. 2025-01-08T22:02:38.209Z,1736373758.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:38.210Z,1736373758.210 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:38.210Z,1736373758.210 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:38.211Z,1736373758.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:38.460Z,1736373758.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:38.460Z,1736373758.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714378 2025-01-08T22:02:38.572Z,1736373758.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:38.581Z,1736373758.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m. 2025-01-08T22:02:38.584Z,1736373758.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.000000 m, nav range: 88.176933 m, bearing: 50.562233 deg, approach rate: -0.143659 m/s, LOS rate: 0.337479 deg/s, cmd heading: 338.930762 deg, new cmd heading: 339.370523 deg. 2025-01-08T22:02:38.585Z,1736373758.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923133 target range: 459.000000 and range: 459.00 m. 2025-01-08T22:02:38.712Z,1736373758.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:38.712Z,1736373758.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966361 2025-01-08T22:02:38.964Z,1736373758.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:38.965Z,1736373758.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218505 2025-01-08T22:02:39.015Z,1736373759.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:39.042Z,1736373759.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m. 2025-01-08T22:02:39.048Z,1736373759.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.000000 m, nav range: 88.110207 m, bearing: 50.711270 deg, approach rate: -0.144782 m/s, LOS rate: 0.323620 deg/s, cmd heading: 339.370516 deg, new cmd heading: 339.817956 deg. 2025-01-08T22:02:39.049Z,1736373759.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930942 target range: 459.000000 and range: 459.00 m. 2025-01-08T22:02:39.216Z,1736373759.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:39.216Z,1736373759.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470193 2025-01-08T22:02:39.468Z,1736373759.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:39.468Z,1736373759.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722453 2025-01-08T22:02:39.505Z,1736373759.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:39.514Z,1736373759.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m. 2025-01-08T22:02:39.541Z,1736373759.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.000000 m, nav range: 88.028694 m, bearing: 50.884673 deg, approach rate: -0.172629 m/s, LOS rate: 0.367577 deg/s, cmd heading: 339.817948 deg, new cmd heading: 340.338626 deg. 2025-01-08T22:02:39.542Z,1736373759.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940030 target range: 459.000000 and range: 459.00 m. 2025-01-08T22:02:39.721Z,1736373759.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:39.721Z,1736373759.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975315 2025-01-08T22:02:39.872Z,1736373759.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:39.881Z,1736373759.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m. 2025-01-08T22:02:39.884Z,1736373759.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.000000 m, nav range: 87.966789 m, bearing: 51.014493 deg, approach rate: -0.168681 m/s, LOS rate: 0.353985 deg/s, cmd heading: 340.338627 deg, new cmd heading: 340.728353 deg. 2025-01-08T22:02:39.885Z,1736373759.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946832 target range: 459.000000 and range: 459.00 m. 2025-01-08T22:02:39.972Z,1736373759.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:39.973Z,1736373759.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226817 2025-01-08T22:02:40.224Z,1736373760.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:40.225Z,1736373760.225 [DAT](INFO): DAT read: Rx Time:22:02:39.0067 2025-01-08T22:02:40.225Z,1736373760.225 [DAT](INFO): Rx dataTimestamp_ set to:1736373760.224688 2025-01-08T22:02:40.225Z,1736373760.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479475 2025-01-08T22:02:40.298Z,1736373760.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:40.306Z,1736373760.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:40.309Z,1736373760.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m. 2025-01-08T22:02:40.326Z,1736373760.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.000000 m, nav range: 87.894142 m, bearing: 51.164971 deg, approach rate: -0.169751 m/s, LOS rate: 0.351907 deg/s, cmd heading: 340.728358 deg, new cmd heading: 341.180157 deg. 2025-01-08T22:02:40.336Z,1736373760.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.954717 target range: 459.000000 and range: 459.00 m. 2025-01-08T22:02:40.476Z,1736373760.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:40.477Z,1736373760.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731324 2025-01-08T22:02:40.728Z,1736373760.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:40.734Z,1736373760.734 [DAT](INFO): DAT read: 22:02:39.0067 LVL= 18048, 32753, 22962, 32755, AGC= 67, IDX= 421, 0.16, 2.714, 1.136, 1.331, 1.825, PHS= 0.977,-0.641,-0.496, RAW= 94.6, 2.1, CAL= 103.4, -0.4, ROT= 46.6, 0.4 2025-01-08T22:02:40.739Z,1736373760.739 [DAT](INFO): got valid direction response: 22:02:39.0067 LVL= 18048, 32753, 22962, 32755, AGC= 67, IDX= 421, 0.16, 2.714, 1.136, 1.331, 1.825, PHS= 0.977,-0.641,-0.496, RAW= 94.6, 2.1, CAL= 103.4, -0.4, ROT= 46.6, 0.4 2025-01-08T22:02:40.740Z,1736373760.740 [DAT](INFO): DAT read: Bearing 46.6, 0.4 (Local) 2025-01-08T22:02:40.740Z,1736373760.740 [DAT](INFO): Local bearing/azimuth received: Bearing 46.6, 0.4 (Local) 2025-01-08T22:02:40.742Z,1736373760.742 [DAT](INFO): DAT read: Range 10 to 50 : 457.6 m (Round-trip 610.2 ms) speed 0.4 m/s 2025-01-08T22:02:40.743Z,1736373760.743 [DAT](INFO): DAT read: user:2248> 2025-01-08T22:02:40.744Z,1736373760.744 [DAT](INFO): DAT read: Tx time:22:02:40.0923 2025-01-08T22:02:40.744Z,1736373760.744 [DAT](INFO): Ping request sent. 2025-01-08T22:02:40.744Z,1736373760.744 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:40.744Z,1736373760.744 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:40.745Z,1736373760.745 [DAT](INFO): direction in FSK: [-0.132157,0.028926,0.990807] 2025-01-08T22:02:40.746Z,1736373760.746 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:40.746Z,1736373760.746 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:40.754Z,1736373760.754 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:40.754Z,1736373760.754 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:40.841Z,1736373760.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:40.882Z,1736373760.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 457.600006 m, deltaT: 4.029598 s, deltaX: -1.399994 m, approachRate: -0.347428 m/s, rangeRepo size: 4 2025-01-08T22:02:40.892Z,1736373760.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 457.600006 m, bearing: 200.000913 deg, lat: 36.901270 deg, lon: -122.121322 deg, deltaT: 4.029598 s, deltaX: -1.399994 m, approachRate: -0.347428 m/s, posRepo size: 4 2025-01-08T22:02:40.893Z,1736373760.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m. 2025-01-08T22:02:40.900Z,1736373760.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.600006 m, nav range: 56.698685 m, bearing: 14.774303 deg, approach rate: 0.000000 m/s, LOS rate: 0.351907 deg/s, cmd heading: 341.180161 deg, new cmd heading: 341.784610 deg. 2025-01-08T22:02:40.901Z,1736373760.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965267 target range: 457.600006 and range: 457.60 m. 2025-01-08T22:02:40.982Z,1736373760.982 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:40.984Z,1736373760.984 [DAT](INFO): DAT read: TxSync time:22:02:40.0916 2025-01-08T22:02:41.207Z,1736373761.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:41.229Z,1736373761.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m. 2025-01-08T22:02:41.232Z,1736373761.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:41.236Z,1736373761.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.600006 m, nav range: 56.527607 m, bearing: 14.899505 deg, approach rate: -0.492581 m/s, LOS rate: 0.361584 deg/s, cmd heading: 341.784606 deg, new cmd heading: 342.161344 deg. 2025-01-08T22:02:41.238Z,1736373761.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971842 target range: 457.600006 and range: 457.60 m. 2025-01-08T22:02:41.484Z,1736373761.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:41.610Z,1736373761.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:41.643Z,1736373761.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m. 2025-01-08T22:02:41.649Z,1736373761.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.600006 m, nav range: 56.337597 m, bearing: 15.049956 deg, approach rate: -0.459020 m/s, LOS rate: 0.364679 deg/s, cmd heading: 342.161332 deg, new cmd heading: 342.614196 deg. 2025-01-08T22:02:41.650Z,1736373761.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979746 target range: 457.600006 and range: 457.60 m. 2025-01-08T22:02:41.736Z,1736373761.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:41.988Z,1736373761.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:41.989Z,1736373761.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:41.998Z,1736373761.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m. 2025-01-08T22:02:42.001Z,1736373762.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.600006 m, nav range: 56.158142 m, bearing: 15.190820 deg, approach rate: -0.504973 m/s, LOS rate: 0.397649 deg/s, cmd heading: 342.614201 deg, new cmd heading: 343.038136 deg. 2025-01-08T22:02:42.002Z,1736373762.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987145 target range: 457.600006 and range: 457.60 m. 2025-01-08T22:02:42.240Z,1736373762.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:42.430Z,1736373762.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:42.459Z,1736373762.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:42.462Z,1736373762.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m. 2025-01-08T22:02:42.468Z,1736373762.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.600006 m, nav range: 55.950287 m, bearing: 15.355450 deg, approach rate: -0.448258 m/s, LOS rate: 0.356359 deg/s, cmd heading: 343.038137 deg, new cmd heading: 343.533850 deg. 2025-01-08T22:02:42.469Z,1736373762.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.995797 target range: 457.600006 and range: 457.60 m. 2025-01-08T22:02:42.492Z,1736373762.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:42.492Z,1736373762.492 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:42.492Z,1736373762.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:42.492Z,1736373762.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:42.744Z,1736373762.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:42.744Z,1736373762.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000318 2025-01-08T22:02:42.819Z,1736373762.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:42.830Z,1736373762.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m. 2025-01-08T22:02:42.849Z,1736373762.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.600006 m, nav range: 55.771282 m, bearing: 15.514921 deg, approach rate: -0.485292 m/s, LOS rate: 0.433722 deg/s, cmd heading: 343.533845 deg, new cmd heading: 344.013781 deg. 2025-01-08T22:02:42.850Z,1736373762.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.004173 target range: 457.600006 and range: 457.60 m. 2025-01-08T22:02:42.996Z,1736373762.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:42.997Z,1736373762.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252488 2025-01-08T22:02:43.208Z,1736373763.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:43.217Z,1736373763.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m. 2025-01-08T22:02:43.219Z,1736373763.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.600006 m, nav range: 55.593056 m, bearing: 15.675106 deg, approach rate: -0.461519 m/s, LOS rate: 0.416128 deg/s, cmd heading: 344.013788 deg, new cmd heading: 344.495870 deg. 2025-01-08T22:02:43.221Z,1736373763.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.012587 target range: 457.600006 and range: 457.60 m. 2025-01-08T22:02:43.256Z,1736373763.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:43.256Z,1736373763.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512402 2025-01-08T22:02:43.512Z,1736373763.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:43.515Z,1736373763.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769982 2025-01-08T22:02:43.633Z,1736373763.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:43.642Z,1736373763.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m. 2025-01-08T22:02:43.649Z,1736373763.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.600006 m, nav range: 55.401016 m, bearing: 15.865659 deg, approach rate: -0.451080 m/s, LOS rate: 0.449140 deg/s, cmd heading: 344.495863 deg, new cmd heading: 345.069485 deg. 2025-01-08T22:02:43.651Z,1736373763.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022599 target range: 457.600006 and range: 457.60 m. 2025-01-08T22:02:43.760Z,1736373763.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:43.760Z,1736373763.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016382 2025-01-08T22:02:44.006Z,1736373764.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:44.012Z,1736373764.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:44.012Z,1736373764.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268383 2025-01-08T22:02:44.017Z,1736373764.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m. 2025-01-08T22:02:44.020Z,1736373764.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.600006 m, nav range: 55.228966 m, bearing: 16.029561 deg, approach rate: -0.459593 m/s, LOS rate: 0.439190 deg/s, cmd heading: 345.069490 deg, new cmd heading: 345.562715 deg. 2025-01-08T22:02:44.021Z,1736373764.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.031207 target range: 457.600006 and range: 457.60 m. 2025-01-08T22:02:44.264Z,1736373764.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:44.264Z,1736373764.264 [DAT](INFO): DAT read: Rx Time:22:02:43.1049 2025-01-08T22:02:44.265Z,1736373764.265 [DAT](INFO): Rx dataTimestamp_ set to:1736373764.264653 2025-01-08T22:02:44.265Z,1736373764.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521378 2025-01-08T22:02:44.413Z,1736373764.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:44.478Z,1736373764.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:44.484Z,1736373764.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m. 2025-01-08T22:02:44.487Z,1736373764.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.600006 m, nav range: 55.040974 m, bearing: 16.208178 deg, approach rate: -0.401995 m/s, LOS rate: 0.383250 deg/s, cmd heading: 345.562711 deg, new cmd heading: 346.100373 deg. 2025-01-08T22:02:44.492Z,1736373764.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.040591 target range: 457.600006 and range: 457.60 m. 2025-01-08T22:02:44.516Z,1736373764.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:44.517Z,1736373764.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772425 2025-01-08T22:02:44.769Z,1736373764.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:44.772Z,1736373764.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027623 2025-01-08T22:02:44.875Z,1736373764.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:44.884Z,1736373764.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m. 2025-01-08T22:02:44.886Z,1736373764.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 457.600006 m, nav range: 54.836056 m, bearing: 16.423576 deg, approach rate: -0.513823 m/s, LOS rate: 0.542120 deg/s, cmd heading: 346.100384 deg, new cmd heading: 346.748965 deg. 2025-01-08T22:02:44.888Z,1736373764.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051911 target range: 457.600006 and range: 457.60 m. 2025-01-08T22:02:45.021Z,1736373765.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:45.028Z,1736373765.028 [DAT](INFO): DAT read: 22:02:43.1049 LVL= 19552, 32753, 27074, 32755, AGC= 67, IDX= 418, 0.23,-2.263, 2.439, 2.746,-3.087, PHS= 0.912,-0.710,-0.453, RAW= 98.5, 3.4, CAL= 108.4, 1.4, ROT= 41.6, -1.4 2025-01-08T22:02:45.029Z,1736373765.029 [DAT](INFO): got valid direction response: 22:02:43.1049 LVL= 19552, 32753, 27074, 32755, AGC= 67, IDX= 418, 0.23,-2.263, 2.439, 2.746,-3.087, PHS= 0.912,-0.710,-0.453, RAW= 98.5, 3.4, CAL= 108.4, 1.4, ROT= 41.6, -1.4 2025-01-08T22:02:45.030Z,1736373765.030 [DAT](INFO): DAT read: Bearing 41.6, -1.4 (Local) 2025-01-08T22:02:45.030Z,1736373765.030 [DAT](INFO): Local bearing/azimuth received: Bearing 41.6, -1.4 (Local) 2025-01-08T22:02:45.032Z,1736373765.032 [DAT](INFO): DAT read: Range 10 to 50 : 456.2 m (Round-trip 608.3 ms) speed 0.2 m/s 2025-01-08T22:02:45.033Z,1736373765.033 [DAT](INFO): DAT read: user:2249> 2025-01-08T22:02:45.033Z,1736373765.033 [DAT](INFO): DAT read: Tx time:22:02:44.1924 2025-01-08T22:02:45.034Z,1736373765.034 [DAT](INFO): Ping request sent. 2025-01-08T22:02:45.034Z,1736373765.034 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:45.034Z,1736373765.034 [DAT](INFO): DAT read: TxSync time:22:02:44.1916 2025-01-08T22:02:45.035Z,1736373765.035 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:45.044Z,1736373765.044 [DAT](INFO): direction in FSK: [-0.162027,-0.036902,0.986096] 2025-01-08T22:02:45.044Z,1736373765.044 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:45.045Z,1736373765.045 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:45.056Z,1736373765.056 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:45.057Z,1736373765.057 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:45.231Z,1736373765.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:45.258Z,1736373765.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 456.200012 m, deltaT: 4.292778 s, deltaX: -1.399994 m, approachRate: -0.326128 m/s, rangeRepo size: 4 2025-01-08T22:02:45.272Z,1736373765.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:45.273Z,1736373765.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 456.200012 m, bearing: 213.173056 deg, lat: 36.900457 deg, lon: -122.121561 deg, deltaT: 4.292778 s, deltaX: -1.399994 m, approachRate: -0.326128 m/s, posRepo size: 4 2025-01-08T22:02:45.273Z,1736373765.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.20 m. 2025-01-08T22:02:45.281Z,1736373765.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.200012 m, nav range: 38.436867 m, bearing: 188.486233 deg, approach rate: 0.000000 m/s, LOS rate: 0.542120 deg/s, cmd heading: 346.748979 deg, new cmd heading: 347.357698 deg. 2025-01-08T22:02:45.281Z,1736373765.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062535 target range: 456.200012 and range: 456.20 m. 2025-01-08T22:02:45.525Z,1736373765.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:45.647Z,1736373765.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:45.661Z,1736373765.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.20 m. 2025-01-08T22:02:45.666Z,1736373765.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.200012 m, nav range: 38.645714 m, bearing: 188.241815 deg, approach rate: 0.517767 m/s, LOS rate: -0.602677 deg/s, cmd heading: 347.357685 deg, new cmd heading: 346.628435 deg. 2025-01-08T22:02:45.693Z,1736373765.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049808 target range: 456.200012 and range: 456.20 m. 2025-01-08T22:02:45.776Z,1736373765.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:46.028Z,1736373766.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:46.047Z,1736373766.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:46.057Z,1736373766.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.20 m. 2025-01-08T22:02:46.060Z,1736373766.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.200012 m, nav range: 38.847755 m, bearing: 188.008626 deg, approach rate: 0.510450 m/s, LOS rate: -0.586075 deg/s, cmd heading: 346.628439 deg, new cmd heading: 345.932548 deg. 2025-01-08T22:02:46.061Z,1736373766.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.037662 target range: 456.200012 and range: 456.20 m. 2025-01-08T22:02:46.280Z,1736373766.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:46.428Z,1736373766.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:46.455Z,1736373766.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.20 m. 2025-01-08T22:02:46.494Z,1736373766.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.200012 m, nav range: 39.041901 m, bearing: 187.792532 deg, approach rate: 0.489470 m/s, LOS rate: -0.542096 deg/s, cmd heading: 345.932552 deg, new cmd heading: 345.287522 deg. 2025-01-08T22:02:46.512Z,1736373766.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026404 target range: 456.200012 and range: 456.20 m. 2025-01-08T22:02:46.532Z,1736373766.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:46.784Z,1736373766.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:46.873Z,1736373766.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:46.880Z,1736373766.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:46.882Z,1736373766.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.20 m. 2025-01-08T22:02:46.884Z,1736373766.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.200012 m, nav range: 39.271675 m, bearing: 187.545995 deg, approach rate: 0.536423 m/s, LOS rate: -0.572186 deg/s, cmd heading: 345.287509 deg, new cmd heading: 344.552269 deg. 2025-01-08T22:02:46.885Z,1736373766.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.013572 target range: 456.200012 and range: 456.20 m. 2025-01-08T22:02:47.036Z,1736373767.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:47.037Z,1736373767.037 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:47.037Z,1736373767.037 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:47.037Z,1736373767.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:47.228Z,1736373767.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:47.237Z,1736373767.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.20 m. 2025-01-08T22:02:47.241Z,1736373767.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.200012 m, nav range: 39.456867 m, bearing: 187.352797 deg, approach rate: 0.521583 m/s, LOS rate: -0.541575 deg/s, cmd heading: 344.552280 deg, new cmd heading: 343.975428 deg. 2025-01-08T22:02:47.242Z,1736373767.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.003504 target range: 456.200012 and range: 456.20 m. 2025-01-08T22:02:47.289Z,1736373767.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:47.289Z,1736373767.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255462 2025-01-08T22:02:47.540Z,1736373767.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:47.540Z,1736373767.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506534 2025-01-08T22:02:47.680Z,1736373767.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:47.694Z,1736373767.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.20 m. 2025-01-08T22:02:47.697Z,1736373767.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.200012 m, nav range: 39.692486 m, bearing: 187.121313 deg, approach rate: 0.518513 m/s, LOS rate: -0.506389 deg/s, cmd heading: 343.975430 deg, new cmd heading: 343.285136 deg. 2025-01-08T22:02:47.698Z,1736373767.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.991456 target range: 456.200012 and range: 456.20 m. 2025-01-08T22:02:47.792Z,1736373767.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:47.793Z,1736373767.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758666 2025-01-08T22:02:48.034Z,1736373768.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:48.044Z,1736373768.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:48.044Z,1736373768.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010597 2025-01-08T22:02:48.045Z,1736373768.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.20 m. 2025-01-08T22:02:48.048Z,1736373768.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.200012 m, nav range: 39.879177 m, bearing: 186.942317 deg, approach rate: 0.529929 m/s, LOS rate: -0.505706 deg/s, cmd heading: 343.285144 deg, new cmd heading: 342.750686 deg. 2025-01-08T22:02:48.049Z,1736373768.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982128 target range: 456.200012 and range: 456.20 m. 2025-01-08T22:02:48.296Z,1736373768.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:48.296Z,1736373768.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262554 2025-01-08T22:02:48.438Z,1736373768.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:48.452Z,1736373768.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.20 m. 2025-01-08T22:02:48.456Z,1736373768.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.200012 m, nav range: 40.092640 m, bearing: 186.741902 deg, approach rate: 0.522384 m/s, LOS rate: -0.487842 deg/s, cmd heading: 342.750695 deg, new cmd heading: 342.152673 deg. 2025-01-08T22:02:48.457Z,1736373768.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971691 target range: 456.200012 and range: 456.20 m. 2025-01-08T22:02:48.549Z,1736373768.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:48.550Z,1736373768.550 [DAT](INFO): DAT read: Rx Time:22:02:47.2034 2025-01-08T22:02:48.550Z,1736373768.550 [DAT](INFO): Rx dataTimestamp_ set to:1736373768.549788 2025-01-08T22:02:48.551Z,1736373768.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516731 2025-01-08T22:02:48.800Z,1736373768.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:48.800Z,1736373768.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766484 2025-01-08T22:02:48.928Z,1736373768.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:48.935Z,1736373768.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:48.938Z,1736373768.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 456.20 m. 2025-01-08T22:02:48.941Z,1736373768.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 456.200012 m, nav range: 40.350483 m, bearing: 186.525320 deg, approach rate: 0.531820 m/s, LOS rate: -0.443860 deg/s, cmd heading: 342.152671 deg, new cmd heading: 341.507108 deg. 2025-01-08T22:02:48.942Z,1736373768.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960423 target range: 456.200012 and range: 456.20 m. 2025-01-08T22:02:49.052Z,1736373769.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:49.066Z,1736373769.066 [DAT](INFO): DAT read: 22:02:47.2034 LVL= 26256, 32753, 31666, 32755, AGC= 68, IDX= 418,-0.16, 2.591, 0.950, 1.406, 1.848, PHS= 0.831,-0.851,-0.445, RAW= 103.4, 6.2, CAL= 113.5, 4.3, ROT= 36.5, -4.3 2025-01-08T22:02:49.068Z,1736373769.068 [DAT](INFO): got valid direction response: 22:02:47.2034 LVL= 26256, 32753, 31666, 32755, AGC= 68, IDX= 418,-0.16, 2.591, 0.950, 1.406, 1.848, PHS= 0.831,-0.851,-0.445, RAW= 103.4, 6.2, CAL= 113.5, 4.3, ROT= 36.5, -4.3 2025-01-08T22:02:49.070Z,1736373769.070 [DAT](INFO): DAT read: Bearing 36.5, -4.3 (Local) 2025-01-08T22:02:49.095Z,1736373769.095 [DAT](INFO): Local bearing/azimuth received: Bearing 36.5, -4.3 (Local) 2025-01-08T22:02:49.098Z,1736373769.098 [DAT](INFO): DAT read: Range 10 to 50 : 455.1 m (Round-trip 606.8 ms) speed 0.3 m/s 2025-01-08T22:02:49.105Z,1736373769.105 [DAT](INFO): DAT read: user:2250> 2025-01-08T22:02:49.105Z,1736373769.105 [DAT](INFO): DAT read: Tx time:22:02:48.2924 2025-01-08T22:02:49.106Z,1736373769.106 [DAT](INFO): Ping request sent. 2025-01-08T22:02:49.106Z,1736373769.106 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:49.106Z,1736373769.106 [DAT](INFO): DAT read: TxSync time:22:02:48.2916 2025-01-08T22:02:49.107Z,1736373769.107 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:49.112Z,1736373769.112 [DAT](INFO): direction in FSK: [-0.221705,-0.119279,0.967791] 2025-01-08T22:02:49.113Z,1736373769.113 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:49.113Z,1736373769.113 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:49.121Z,1736373769.121 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:49.121Z,1736373769.121 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:49.262Z,1736373769.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:49.300Z,1736373769.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 455.100006 m, deltaT: 4.032200 s, deltaX: -1.100006 m, approachRate: -0.272805 m/s, rangeRepo size: 4 2025-01-08T22:02:49.302Z,1736373769.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 455.100006 m, bearing: 217.112653 deg, lat: 36.899811 deg, lon: -122.121925 deg, deltaT: 4.032200 s, deltaX: -1.100006 m, approachRate: -0.272805 m/s, posRepo size: 4 2025-01-08T22:02:49.304Z,1736373769.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:49.307Z,1736373769.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T22:02:49.310Z,1736373769.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 118.070221 m, bearing: 198.165414 deg, approach rate: 0.000000 m/s, LOS rate: -0.443860 deg/s, cmd heading: 341.507109 deg, new cmd heading: 341.024446 deg. 2025-01-08T22:02:49.311Z,1736373769.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951999 target range: 455.100006 and range: 455.10 m. 2025-01-08T22:02:49.558Z,1736373769.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:49.692Z,1736373769.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:49.700Z,1736373769.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T22:02:49.703Z,1736373769.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 118.272820 m, bearing: 198.087727 deg, approach rate: 0.505390 m/s, LOS rate: -0.193462 deg/s, cmd heading: 341.024433 deg, new cmd heading: 340.791772 deg. 2025-01-08T22:02:49.704Z,1736373769.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947938 target range: 455.100006 and range: 455.10 m. 2025-01-08T22:02:49.809Z,1736373769.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:50.062Z,1736373770.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:50.066Z,1736373770.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:50.076Z,1736373770.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T22:02:50.083Z,1736373770.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 118.449142 m, bearing: 198.020195 deg, approach rate: 0.468666 m/s, LOS rate: -0.179234 deg/s, cmd heading: 340.791770 deg, new cmd heading: 340.589474 deg. 2025-01-08T22:02:50.084Z,1736373770.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944408 target range: 455.100006 and range: 455.10 m. 2025-01-08T22:02:50.312Z,1736373770.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:50.465Z,1736373770.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:50.475Z,1736373770.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T22:02:50.482Z,1736373770.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 118.636726 m, bearing: 197.948182 deg, approach rate: 0.471244 m/s, LOS rate: -0.180622 deg/s, cmd heading: 340.589487 deg, new cmd heading: 340.373792 deg. 2025-01-08T22:02:50.483Z,1736373770.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940643 target range: 455.100006 and range: 455.10 m. 2025-01-08T22:02:50.565Z,1736373770.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:50.816Z,1736373770.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:50.986Z,1736373770.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:50.994Z,1736373770.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:50.996Z,1736373770.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T22:02:50.998Z,1736373770.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 118.886765 m, bearing: 197.859964 deg, approach rate: 0.479945 m/s, LOS rate: -0.168977 deg/s, cmd heading: 340.373789 deg, new cmd heading: 340.109694 deg. 2025-01-08T22:02:50.000Z,1736373771.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936034 target range: 455.100006 and range: 455.10 m. 2025-01-08T22:02:51.069Z,1736373771.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:51.069Z,1736373771.069 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:51.069Z,1736373771.069 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:51.070Z,1736373771.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:51.320Z,1736373771.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:51.321Z,1736373771.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215475 2025-01-08T22:02:51.396Z,1736373771.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:51.404Z,1736373771.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T22:02:51.407Z,1736373771.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 119.082321 m, bearing: 197.790257 deg, approach rate: 0.478351 m/s, LOS rate: -0.170231 deg/s, cmd heading: 340.109707 deg, new cmd heading: 339.900929 deg. 2025-01-08T22:02:51.408Z,1736373771.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932390 target range: 455.100006 and range: 455.10 m. 2025-01-08T22:02:51.573Z,1736373771.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:51.575Z,1736373771.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468615 2025-01-08T22:02:51.809Z,1736373771.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:51.824Z,1736373771.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:51.824Z,1736373771.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718501 2025-01-08T22:02:51.840Z,1736373771.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T22:02:51.842Z,1736373771.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 119.282661 m, bearing: 197.722937 deg, approach rate: 0.465250 m/s, LOS rate: -0.156074 deg/s, cmd heading: 339.900922 deg, new cmd heading: 339.699302 deg. 2025-01-08T22:02:51.847Z,1736373771.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928871 target range: 455.100006 and range: 455.10 m. 2025-01-08T22:02:52.076Z,1736373772.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:52.076Z,1736373772.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970627 2025-01-08T22:02:52.193Z,1736373772.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:52.221Z,1736373772.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T22:02:52.224Z,1736373772.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 119.467125 m, bearing: 197.660098 deg, approach rate: 0.479143 m/s, LOS rate: -0.162971 deg/s, cmd heading: 339.699294 deg, new cmd heading: 339.511071 deg. 2025-01-08T22:02:52.224Z,1736373772.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925586 target range: 455.100006 and range: 455.10 m. 2025-01-08T22:02:52.328Z,1736373772.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:52.329Z,1736373772.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222753 2025-01-08T22:02:52.582Z,1736373772.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:52.585Z,1736373772.585 [DAT](INFO): DAT read: Rx Time:22:02:51.3014 2025-01-08T22:02:52.587Z,1736373772.587 [DAT](INFO): Rx dataTimestamp_ set to:1736373772.585716 2025-01-08T22:02:52.594Z,1736373772.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487609 2025-01-08T22:02:52.722Z,1736373772.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:52.730Z,1736373772.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T22:02:52.733Z,1736373772.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 119.727570 m, bearing: 197.574039 deg, approach rate: 0.510134 m/s, LOS rate: -0.168198 deg/s, cmd heading: 339.511082 deg, new cmd heading: 339.253467 deg. 2025-01-08T22:02:52.734Z,1736373772.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921090 target range: 455.100006 and range: 455.10 m. 2025-01-08T22:02:52.835Z,1736373772.835 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:52.836Z,1736373772.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.730458 2025-01-08T22:02:53.025Z,1736373773.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:53.032Z,1736373773.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:53.034Z,1736373773.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 455.10 m. 2025-01-08T22:02:53.037Z,1736373773.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 455.100006 m, nav range: 119.876038 m, bearing: 197.524407 deg, approach rate: 0.489507 m/s, LOS rate: -0.163437 deg/s, cmd heading: 339.253474 deg, new cmd heading: 339.104763 deg. 2025-01-08T22:02:53.038Z,1736373773.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918495 target range: 455.100006 and range: 455.10 m. 2025-01-08T22:02:53.088Z,1736373773.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:53.103Z,1736373773.103 [DAT](INFO): DAT read: 22:02:51.3014 LVL= 17120, 32753, 32754, 32755, AGC= 63, IDX= 413,-0.07,-0.368,-2.157,-1.671,-1.216, PHS= 0.935,-0.895,-0.458, RAW= 103.2, 5.1, CAL= 113.6, 3.1, ROT= 36.4, -3.1 2025-01-08T22:02:53.105Z,1736373773.105 [DAT](INFO): got valid direction response: 22:02:51.3014 LVL= 17120, 32753, 32754, 32755, AGC= 63, IDX= 413,-0.07,-0.368,-2.157,-1.671,-1.216, PHS= 0.935,-0.895,-0.458, RAW= 103.2, 5.1, CAL= 113.6, 3.1, ROT= 36.4, -3.1 2025-01-08T22:02:53.106Z,1736373773.106 [DAT](INFO): DAT read: Bearing 36.4, -3.1 (Local) 2025-01-08T22:02:53.106Z,1736373773.106 [DAT](INFO): Local bearing/azimuth received: Bearing 36.4, -3.1 (Local) 2025-01-08T22:02:53.108Z,1736373773.108 [DAT](INFO): DAT read: Range 10 to 50 : 453.5 m (Round-trip 604.7 ms) speed 0.4 m/s 2025-01-08T22:02:53.109Z,1736373773.109 [DAT](INFO): DAT read: user:2251> 2025-01-08T22:02:53.110Z,1736373773.110 [DAT](INFO): DAT read: Tx time:22:02:52.3925 2025-01-08T22:02:53.110Z,1736373773.110 [DAT](INFO): Ping request sent. 2025-01-08T22:02:53.110Z,1736373773.110 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:53.110Z,1736373773.110 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:53.111Z,1736373773.111 [DAT](INFO): direction in FSK: [-0.201420,-0.118002,0.972371] 2025-01-08T22:02:53.112Z,1736373773.112 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:53.112Z,1736373773.112 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:53.115Z,1736373773.115 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:53.123Z,1736373773.123 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:53.340Z,1736373773.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:53.341Z,1736373773.341 [DAT](INFO): DAT read: TxSync time:22:02:52.3917 2025-01-08T22:02:53.415Z,1736373773.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:53.430Z,1736373773.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 453.500000 m, deltaT: 4.035573 s, deltaX: -1.600006 m, approachRate: -0.396476 m/s, rangeRepo size: 4 2025-01-08T22:02:53.432Z,1736373773.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 453.500000 m, bearing: 211.628147 deg, lat: 36.899811 deg, lon: -122.122206 deg, deltaT: 4.035573 s, deltaX: -1.600006 m, approachRate: -0.396476 m/s, posRepo size: 4 2025-01-08T22:02:53.433Z,1736373773.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.50 m. 2025-01-08T22:02:53.436Z,1736373773.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.500000 m, nav range: 129.790207 m, bearing: 208.060209 deg, approach rate: 0.000000 m/s, LOS rate: -0.163437 deg/s, cmd heading: 339.104767 deg, new cmd heading: 338.910885 deg. 2025-01-08T22:02:53.438Z,1736373773.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915111 target range: 453.500000 and range: 453.50 m. 2025-01-08T22:02:53.593Z,1736373773.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:53.844Z,1736373773.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:53.849Z,1736373773.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:53.859Z,1736373773.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.50 m. 2025-01-08T22:02:53.862Z,1736373773.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.500000 m, nav range: 129.973267 m, bearing: 207.974399 deg, approach rate: 0.425872 m/s, LOS rate: -0.199347 deg/s, cmd heading: 338.910872 deg, new cmd heading: 338.653808 deg. 2025-01-08T22:02:53.863Z,1736373773.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910624 target range: 453.500000 and range: 453.50 m. 2025-01-08T22:02:54.098Z,1736373774.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:54.278Z,1736373774.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:54.288Z,1736373774.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.50 m. 2025-01-08T22:02:54.291Z,1736373774.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.500000 m, nav range: 130.150925 m, bearing: 207.888682 deg, approach rate: 0.414025 m/s, LOS rate: -0.199488 deg/s, cmd heading: 338.653811 deg, new cmd heading: 338.397011 deg. 2025-01-08T22:02:54.292Z,1736373774.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906142 target range: 453.500000 and range: 453.50 m. 2025-01-08T22:02:54.349Z,1736373774.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:54.601Z,1736373774.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:54.717Z,1736373774.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:54.737Z,1736373774.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.50 m. 2025-01-08T22:02:54.757Z,1736373774.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.500000 m, nav range: 130.323746 m, bearing: 207.799613 deg, approach rate: 0.385566 m/s, LOS rate: -0.198450 deg/s, cmd heading: 338.397023 deg, new cmd heading: 338.130174 deg. 2025-01-08T22:02:54.758Z,1736373774.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901485 target range: 453.500000 and range: 453.50 m. 2025-01-08T22:02:54.852Z,1736373774.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:55.104Z,1736373775.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:55.218Z,1736373775.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:55.226Z,1736373775.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:55.228Z,1736373775.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.50 m. 2025-01-08T22:02:55.231Z,1736373775.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.500000 m, nav range: 130.516495 m, bearing: 207.696166 deg, approach rate: 0.391805 m/s, LOS rate: -0.209967 deg/s, cmd heading: 338.130181 deg, new cmd heading: 337.820303 deg. 2025-01-08T22:02:55.232Z,1736373775.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896077 target range: 453.500000 and range: 453.50 m. 2025-01-08T22:02:55.356Z,1736373775.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:55.356Z,1736373775.356 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:55.356Z,1736373775.356 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:55.357Z,1736373775.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:55.609Z,1736373775.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:55.612Z,1736373775.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501306 2025-01-08T22:02:55.714Z,1736373775.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:55.727Z,1736373775.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.50 m. 2025-01-08T22:02:55.729Z,1736373775.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.500000 m, nav range: 130.706497 m, bearing: 207.587418 deg, approach rate: 0.381255 m/s, LOS rate: -0.217894 deg/s, cmd heading: 337.820309 deg, new cmd heading: 337.494543 deg. 2025-01-08T22:02:55.730Z,1736373775.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890391 target range: 453.500000 and range: 453.50 m. 2025-01-08T22:02:55.863Z,1736373775.863 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:55.865Z,1736373775.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754908 2025-01-08T22:02:56.113Z,1736373776.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:56.113Z,1736373776.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003154 2025-01-08T22:02:56.139Z,1736373776.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:56.153Z,1736373776.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.50 m. 2025-01-08T22:02:56.164Z,1736373776.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.500000 m, nav range: 130.867920 m, bearing: 207.493715 deg, approach rate: 0.379939 m/s, LOS rate: -0.220277 deg/s, cmd heading: 337.494537 deg, new cmd heading: 337.213775 deg. 2025-01-08T22:02:56.165Z,1736373776.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885491 target range: 453.500000 and range: 453.50 m. 2025-01-08T22:02:56.364Z,1736373776.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:56.364Z,1736373776.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254150 2025-01-08T22:02:56.516Z,1736373776.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:56.526Z,1736373776.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.50 m. 2025-01-08T22:02:56.529Z,1736373776.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.500000 m, nav range: 131.010880 m, bearing: 207.410329 deg, approach rate: 0.382023 m/s, LOS rate: -0.222584 deg/s, cmd heading: 337.213789 deg, new cmd heading: 336.963906 deg. 2025-01-08T22:02:56.533Z,1736373776.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881130 target range: 453.500000 and range: 453.50 m. 2025-01-08T22:02:56.624Z,1736373776.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:56.627Z,1736373776.627 [DAT](INFO): DAT read: Rx Time:22:02:55.3991 2025-01-08T22:02:56.633Z,1736373776.633 [DAT](INFO): Rx dataTimestamp_ set to:1736373776.632174 2025-01-08T22:02:56.635Z,1736373776.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524282 2025-01-08T22:02:56.876Z,1736373776.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:56.876Z,1736373776.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766224 2025-01-08T22:02:56.956Z,1736373776.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:56.970Z,1736373776.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.50 m. 2025-01-08T22:02:56.976Z,1736373776.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.500000 m, nav range: 131.168121 m, bearing: 207.305941 deg, approach rate: 0.354936 m/s, LOS rate: -0.235348 deg/s, cmd heading: 336.963913 deg, new cmd heading: 336.651129 deg. 2025-01-08T22:02:56.977Z,1736373776.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875670 target range: 453.500000 and range: 453.50 m. 2025-01-08T22:02:57.129Z,1736373777.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:57.138Z,1736373777.138 [DAT](INFO): DAT read: 22:02:55.3991 LVL= 12416, 24753, 17202, 26867, AGC= 70, IDX= 421, 0.09,-1.981, 2.502, 2.890,-2.900, PHS= 1.007,-0.835,-0.497, RAW= 99.9, 3.9, CAL= 110.1, 2.0, ROT= 39.9, -2.0 2025-01-08T22:02:57.139Z,1736373777.139 [DAT](INFO): got valid direction response: 22:02:55.3991 LVL= 12416, 24753, 17202, 26867, AGC= 70, IDX= 421, 0.09,-1.981, 2.502, 2.890,-2.900, PHS= 1.007,-0.835,-0.497, RAW= 99.9, 3.9, CAL= 110.1, 2.0, ROT= 39.9, -2.0 2025-01-08T22:02:57.140Z,1736373777.140 [DAT](INFO): DAT read: Bearing 39.9, -2.0 (Local) 2025-01-08T22:02:57.141Z,1736373777.141 [DAT](INFO): Local bearing/azimuth received: Bearing 39.9, -2.0 (Local) 2025-01-08T22:02:57.142Z,1736373777.142 [DAT](INFO): DAT read: Range 10 to 50 : 451.8 m (Round-trip 602.4 ms) speed 0.1 m/s 2025-01-08T22:02:57.143Z,1736373777.143 [DAT](INFO): DAT read: user:2252> 2025-01-08T22:02:57.148Z,1736373777.148 [DAT](INFO): DAT read: Tx time:22:02:56.4925 2025-01-08T22:02:57.148Z,1736373777.148 [DAT](INFO): Ping request sent. 2025-01-08T22:02:57.149Z,1736373777.149 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:02:57.149Z,1736373777.149 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:02:57.150Z,1736373777.150 [DAT](INFO): direction in FSK: [-0.173689,-0.061767,0.982862] 2025-01-08T22:02:57.150Z,1736373777.150 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:57.150Z,1736373777.150 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:57.155Z,1736373777.155 [DAT](INFO): publishing transmit ping time 2025-01-08T22:02:57.164Z,1736373777.164 [DAT](INFO): publishing direction and range info 2025-01-08T22:02:57.339Z,1736373777.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:57.370Z,1736373777.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 451.799988 m, deltaT: 4.040291 s, deltaX: -1.700012 m, approachRate: -0.420765 m/s, rangeRepo size: 4 2025-01-08T22:02:57.378Z,1736373777.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 451.799988 m, bearing: 210.568297 deg, lat: 36.899811 deg, lon: -122.122206 deg, deltaT: 4.040291 s, deltaX: -1.700012 m, approachRate: -0.420765 m/s, posRepo size: 4 2025-01-08T22:02:57.379Z,1736373777.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.80 m. 2025-01-08T22:02:57.380Z,1736373777.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:57.381Z,1736373777.381 [DAT](INFO): DAT read: TxSync time:22:02:56.4917 2025-01-08T22:02:57.386Z,1736373777.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 451.799988 m, nav range: 131.301788 m, bearing: 207.216987 deg, approach rate: 0.000000 m/s, LOS rate: -0.235348 deg/s, cmd heading: 336.651118 deg, new cmd heading: 336.368588 deg. 2025-01-08T22:02:57.392Z,1736373777.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870739 target range: 451.799988 and range: 451.80 m. 2025-01-08T22:02:57.634Z,1736373777.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:57.738Z,1736373777.738 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814040293,35.0, +10.,1493.1, 0 2025-01-08T22:02:57.745Z,1736373777.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:02:57.745Z,1736373777.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:57.757Z,1736373777.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:57.759Z,1736373777.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.80 m. 2025-01-08T22:02:57.762Z,1736373777.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 451.799988 m, nav range: 131.448761 m, bearing: 207.118746 deg, approach rate: 0.376693 m/s, LOS rate: -0.251512 deg/s, cmd heading: 336.368594 deg, new cmd heading: 336.074201 deg. 2025-01-08T22:02:57.763Z,1736373777.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865602 target range: 451.799988 and range: 451.80 m. 2025-01-08T22:02:57.884Z,1736373777.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:57.884Z,1736373777.884 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:02:57.884Z,1736373777.884 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:02:57.884Z,1736373777.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:02:58.136Z,1736373778.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:58.137Z,1736373778.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987724 2025-01-08T22:02:58.180Z,1736373778.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:02:58.180Z,1736373778.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:58.190Z,1736373778.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.80 m. 2025-01-08T22:02:58.193Z,1736373778.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 451.799988 m, nav range: 131.602798 m, bearing: 207.015616 deg, approach rate: 0.357127 m/s, LOS rate: -0.238821 deg/s, cmd heading: 336.074213 deg, new cmd heading: 335.765188 deg. 2025-01-08T22:02:58.194Z,1736373778.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860208 target range: 451.799988 and range: 451.80 m. 2025-01-08T22:02:58.388Z,1736373778.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:58.389Z,1736373778.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240096 2025-01-08T22:02:58.557Z,1736373778.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:02:58.557Z,1736373778.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:58.566Z,1736373778.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.80 m. 2025-01-08T22:02:58.569Z,1736373778.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 451.799988 m, nav range: 131.735992 m, bearing: 206.925907 deg, approach rate: 0.354591 m/s, LOS rate: -0.238582 deg/s, cmd heading: 335.765187 deg, new cmd heading: 335.496336 deg. 2025-01-08T22:02:58.571Z,1736373778.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855515 target range: 451.799988 and range: 451.80 m. 2025-01-08T22:02:58.642Z,1736373778.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:58.645Z,1736373778.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495505 2025-01-08T22:02:58.892Z,1736373778.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:58.894Z,1736373778.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744966 2025-01-08T22:02:59.012Z,1736373779.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:59.021Z,1736373779.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.80 m. 2025-01-08T22:02:59.024Z,1736373779.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 451.799988 m, nav range: 131.894913 m, bearing: 206.809729 deg, approach rate: 0.349910 m/s, LOS rate: -0.255492 deg/s, cmd heading: 335.496324 deg, new cmd heading: 335.148213 deg. 2025-01-08T22:02:59.025Z,1736373779.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849440 target range: 451.799988 and range: 451.80 m. 2025-01-08T22:02:59.145Z,1736373779.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:59.146Z,1736373779.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997682 2025-01-08T22:02:59.364Z,1736373779.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:59.396Z,1736373779.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:59.396Z,1736373779.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247845 2025-01-08T22:02:59.397Z,1736373779.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.80 m. 2025-01-08T22:02:59.400Z,1736373779.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 451.799988 m, nav range: 132.018036 m, bearing: 206.719439 deg, approach rate: 0.328091 m/s, LOS rate: -0.240374 deg/s, cmd heading: 335.148203 deg, new cmd heading: 334.877589 deg. 2025-01-08T22:02:59.401Z,1736373779.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844717 target range: 451.799988 and range: 451.80 m. 2025-01-08T22:02:59.649Z,1736373779.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:59.653Z,1736373779.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503381 2025-01-08T22:02:59.794Z,1736373779.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:02:59.825Z,1736373779.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:02:59.834Z,1736373779.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.80 m. 2025-01-08T22:02:59.843Z,1736373779.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 451.799988 m, nav range: 132.162186 m, bearing: 206.612795 deg, approach rate: 0.328598 m/s, LOS rate: -0.242836 deg/s, cmd heading: 334.877591 deg, new cmd heading: 334.558012 deg. 2025-01-08T22:02:59.852Z,1736373779.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839139 target range: 451.799988 and range: 451.80 m. 2025-01-08T22:02:59.900Z,1736373779.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:02:59.901Z,1736373779.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751979 2025-01-08T22:03:00.152Z,1736373780.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:00.152Z,1736373780.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003738 2025-01-08T22:03:00.194Z,1736373780.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:00.203Z,1736373780.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.80 m. 2025-01-08T22:03:00.206Z,1736373780.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 451.799988 m, nav range: 132.295929 m, bearing: 206.513721 deg, approach rate: 0.362762 m/s, LOS rate: -0.268456 deg/s, cmd heading: 334.558020 deg, new cmd heading: 334.261098 deg. 2025-01-08T22:03:00.207Z,1736373780.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833957 target range: 451.799988 and range: 451.80 m. 2025-01-08T22:03:00.405Z,1736373780.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:00.405Z,1736373780.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256858 2025-01-08T22:03:00.584Z,1736373780.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:00.593Z,1736373780.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.80 m. 2025-01-08T22:03:00.596Z,1736373780.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 451.799988 m, nav range: 132.425537 m, bearing: 206.417336 deg, approach rate: 0.332034 m/s, LOS rate: -0.246679 deg/s, cmd heading: 334.261098 deg, new cmd heading: 333.972229 deg. 2025-01-08T22:03:00.597Z,1736373780.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828915 target range: 451.799988 and range: 451.80 m. 2025-01-08T22:03:00.658Z,1736373780.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:00.661Z,1736373780.661 [DAT](INFO): DAT read: Rx Time:22:02:59.5095 2025-01-08T22:03:00.663Z,1736373780.663 [DAT](INFO): Rx dataTimestamp_ set to:1736373780.661549 2025-01-08T22:03:00.673Z,1736373780.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524035 2025-01-08T22:03:00.908Z,1736373780.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:00.908Z,1736373780.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759849 2025-01-08T22:03:01.002Z,1736373781.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:01.012Z,1736373781.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.80 m. 2025-01-08T22:03:01.014Z,1736373781.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 451.799988 m, nav range: 132.569046 m, bearing: 206.316709 deg, approach rate: 0.343198 m/s, LOS rate: -0.240387 deg/s, cmd heading: 333.972235 deg, new cmd heading: 333.670683 deg. 2025-01-08T22:03:01.016Z,1736373781.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823652 target range: 451.799988 and range: 451.80 m. 2025-01-08T22:03:01.162Z,1736373781.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:01.164Z,1736373781.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015350 2025-01-08T22:03:01.391Z,1736373781.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:01.400Z,1736373781.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.80 m. 2025-01-08T22:03:01.404Z,1736373781.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 451.799988 m, nav range: 132.701416 m, bearing: 206.223437 deg, approach rate: 0.340244 m/s, LOS rate: -0.239505 deg/s, cmd heading: 333.670696 deg, new cmd heading: 333.391164 deg. 2025-01-08T22:03:01.405Z,1736373781.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818774 target range: 451.799988 and range: 451.80 m. 2025-01-08T22:03:01.412Z,1736373781.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:01.419Z,1736373781.419 [DAT](INFO): DAT read: 22:02:59.5095 LVL= 14928, 20817, 14802, 21491, AGC= 71, IDX= 32,-0.25,-0.982,-2.766,-2.442,-1.943, PHS= 1.049,-0.776,-0.502, RAW= 98.0, 2.7, CAL= 107.8, 0.6, ROT= 42.2, -0.6 2025-01-08T22:03:01.421Z,1736373781.421 [DAT](INFO): got valid direction response: 22:02:59.5095 LVL= 14928, 20817, 14802, 21491, AGC= 71, IDX= 32,-0.25,-0.982,-2.766,-2.442,-1.943, PHS= 1.049,-0.776,-0.502, RAW= 98.0, 2.7, CAL= 107.8, 0.6, ROT= 42.2, -0.6 2025-01-08T22:03:01.422Z,1736373781.422 [DAT](INFO): DAT read: Bearing 42.2, -0.6 (Local) 2025-01-08T22:03:01.422Z,1736373781.422 [DAT](INFO): Local bearing/azimuth received: Bearing 42.2, -0.6 (Local) 2025-01-08T22:03:01.433Z,1736373781.433 [DAT](INFO): DAT read: Range 10 to 50 : 459.6 m (Round-trip 612.8 ms) speed 0.1 m/s 2025-01-08T22:03:01.434Z,1736373781.434 [DAT](INFO): DAT read: user:2253> 2025-01-08T22:03:01.434Z,1736373781.434 [DAT](INFO): DAT read: Tx time:22:03:00.5925 2025-01-08T22:03:01.435Z,1736373781.435 [DAT](INFO): Ping request sent. 2025-01-08T22:03:01.435Z,1736373781.435 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:01.435Z,1736373781.435 [DAT](INFO): DAT read: TxSync time:22:03:00.5917 2025-01-08T22:03:01.436Z,1736373781.436 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:01.438Z,1736373781.438 [DAT](INFO): direction in FSK: [-0.149130,-0.029277,0.988384] 2025-01-08T22:03:01.438Z,1736373781.438 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:01.438Z,1736373781.438 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:01.454Z,1736373781.454 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:01.454Z,1736373781.454 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:01.666Z,1736373781.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:01.842Z,1736373781.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:01.867Z,1736373781.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 459.600006 m, deltaT: 4.283249 s, deltaX: 7.800018 m, approachRate: 1.821052 m/s, rangeRepo size: 4 2025-01-08T22:03:01.869Z,1736373781.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 459.600006 m, bearing: 206.929763 deg, lat: 36.899949 deg, lon: -122.122206 deg, deltaT: 4.283249 s, deltaX: 7.800018 m, approachRate: 1.821052 m/s, posRepo size: 4 2025-01-08T22:03:01.871Z,1736373781.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m. 2025-01-08T22:03:01.874Z,1736373781.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.600006 m, nav range: 119.220299 m, bearing: 209.381182 deg, approach rate: 0.000000 m/s, LOS rate: -0.239505 deg/s, cmd heading: 333.391178 deg, new cmd heading: 333.056280 deg. 2025-01-08T22:03:01.875Z,1736373781.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812929 target range: 459.600006 and range: 459.60 m. 2025-01-08T22:03:01.916Z,1736373781.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:02.168Z,1736373782.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:02.209Z,1736373782.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:02.215Z,1736373782.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:02.217Z,1736373782.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m. 2025-01-08T22:03:02.221Z,1736373782.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.600006 m, nav range: 119.335251 m, bearing: 209.284006 deg, approach rate: 0.327615 m/s, LOS rate: -0.276687 deg/s, cmd heading: 333.056280 deg, new cmd heading: 332.765034 deg. 2025-01-08T22:03:02.222Z,1736373782.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807846 target range: 459.600006 and range: 459.60 m. 2025-01-08T22:03:02.420Z,1736373782.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:02.421Z,1736373782.421 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:02.421Z,1736373782.421 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:02.421Z,1736373782.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:02.596Z,1736373782.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:02.609Z,1736373782.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m. 2025-01-08T22:03:02.615Z,1736373782.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.600006 m, nav range: 119.456192 m, bearing: 209.181360 deg, approach rate: 0.310320 m/s, LOS rate: -0.263108 deg/s, cmd heading: 332.765041 deg, new cmd heading: 332.457419 deg. 2025-01-08T22:03:02.616Z,1736373782.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802476 target range: 459.600006 and range: 459.60 m. 2025-01-08T22:03:02.672Z,1736373782.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:02.673Z,1736373782.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238175 2025-01-08T22:03:02.924Z,1736373782.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:02.924Z,1736373782.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489681 2025-01-08T22:03:03.030Z,1736373783.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:03.040Z,1736373783.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m. 2025-01-08T22:03:03.042Z,1736373783.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.600006 m, nav range: 119.591904 m, bearing: 209.074696 deg, approach rate: 0.313564 m/s, LOS rate: -0.246169 deg/s, cmd heading: 332.457409 deg, new cmd heading: 332.137783 deg. 2025-01-08T22:03:03.044Z,1736373783.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796898 target range: 459.600006 and range: 459.60 m. 2025-01-08T22:03:03.176Z,1736373783.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:03.177Z,1736373783.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741826 2025-01-08T22:03:03.428Z,1736373783.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:03.428Z,1736373783.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993553 2025-01-08T22:03:03.490Z,1736373783.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:03.498Z,1736373783.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m. 2025-01-08T22:03:03.501Z,1736373783.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.600006 m, nav range: 119.735641 m, bearing: 208.962042 deg, approach rate: 0.313493 m/s, LOS rate: -0.245405 deg/s, cmd heading: 332.137783 deg, new cmd heading: 331.800229 deg. 2025-01-08T22:03:03.502Z,1736373783.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791007 target range: 459.600006 and range: 459.60 m. 2025-01-08T22:03:03.681Z,1736373783.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:03.684Z,1736373783.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248246 2025-01-08T22:03:03.841Z,1736373783.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:03.854Z,1736373783.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m. 2025-01-08T22:03:03.857Z,1736373783.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.600006 m, nav range: 119.849457 m, bearing: 208.879189 deg, approach rate: 0.320475 m/s, LOS rate: -0.233069 deg/s, cmd heading: 331.800235 deg, new cmd heading: 331.551916 deg. 2025-01-08T22:03:03.858Z,1736373783.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786673 target range: 459.600006 and range: 459.60 m. 2025-01-08T22:03:03.933Z,1736373783.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:03.934Z,1736373783.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499040 2025-01-08T22:03:04.184Z,1736373784.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:04.184Z,1736373784.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749514 2025-01-08T22:03:04.237Z,1736373784.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:04.253Z,1736373784.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:04.260Z,1736373784.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m. 2025-01-08T22:03:04.263Z,1736373784.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.600006 m, nav range: 119.977219 m, bearing: 208.785858 deg, approach rate: 0.314276 m/s, LOS rate: -0.229338 deg/s, cmd heading: 331.551917 deg, new cmd heading: 331.272223 deg. 2025-01-08T22:03:04.280Z,1736373784.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781791 target range: 459.600006 and range: 459.60 m. 2025-01-08T22:03:04.404Z,1736373784.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:03:04.436Z,1736373784.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:04.437Z,1736373784.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002210 2025-01-08T22:03:04.625Z,1736373784.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:04.633Z,1736373784.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m. 2025-01-08T22:03:04.636Z,1736373784.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.600006 m, nav range: 120.102066 m, bearing: 208.694332 deg, approach rate: 0.334567 m/s, LOS rate: -0.245016 deg/s, cmd heading: 331.272234 deg, new cmd heading: 330.997945 deg. 2025-01-08T22:03:04.638Z,1736373784.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777004 target range: 459.600006 and range: 459.60 m. 2025-01-08T22:03:04.690Z,1736373784.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:04.692Z,1736373784.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257029 2025-01-08T22:03:04.940Z,1736373784.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:04.941Z,1736373784.941 [DAT](INFO): DAT read: Rx Time:22:03:03.5954 2025-01-08T22:03:04.941Z,1736373784.941 [DAT](INFO): Rx dataTimestamp_ set to:1736373784.940941 2025-01-08T22:03:04.942Z,1736373784.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507009 2025-01-08T22:03:05.080Z,1736373785.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:05.104Z,1736373785.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.60 m. 2025-01-08T22:03:05.111Z,1736373785.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 459.600006 m, nav range: 120.251038 m, bearing: 208.589782 deg, approach rate: 0.319700 m/s, LOS rate: -0.224092 deg/s, cmd heading: 330.997934 deg, new cmd heading: 330.684675 deg. 2025-01-08T22:03:05.112Z,1736373785.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771536 target range: 459.600006 and range: 459.60 m. 2025-01-08T22:03:05.192Z,1736373785.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:05.193Z,1736373785.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757844 2025-01-08T22:03:05.408Z,1736373785.408 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:03:05.444Z,1736373785.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:05.454Z,1736373785.454 [DAT](INFO): DAT read: 22:03:03.5954 LVL= 16048, 32753, 19490, 32755, AGC= 66, IDX= 303,-0.05,-2.138, 2.323, 2.542, 3.126, PHS= 1.108,-0.756,-0.586, RAW= 94.7, 2.7, CAL= 103.5, 0.5, ROT= 46.5, -0.5 2025-01-08T22:03:05.457Z,1736373785.457 [DAT](INFO): got valid direction response: 22:03:03.5954 LVL= 16048, 32753, 19490, 32755, AGC= 66, IDX= 303,-0.05,-2.138, 2.323, 2.542, 3.126, PHS= 1.108,-0.756,-0.586, RAW= 94.7, 2.7, CAL= 103.5, 0.5, ROT= 46.5, -0.5 2025-01-08T22:03:05.458Z,1736373785.458 [DAT](INFO): DAT read: Bearing 46.5, -0.5 (Local) 2025-01-08T22:03:05.458Z,1736373785.458 [DAT](INFO): Local bearing/azimuth received: Bearing 46.5, -0.5 (Local) 2025-01-08T22:03:05.460Z,1736373785.460 [DAT](INFO): DAT read: Range 10 to 50 : 449.0 m (Round-trip 598.7 ms) speed 0.3 m/s 2025-01-08T22:03:05.461Z,1736373785.461 [DAT](INFO): DAT read: user:2254> 2025-01-08T22:03:05.461Z,1736373785.461 [DAT](INFO): DAT read: Tx time:22:03:04.6925 2025-01-08T22:03:05.462Z,1736373785.462 [DAT](INFO): Ping request sent. 2025-01-08T22:03:05.462Z,1736373785.462 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:05.462Z,1736373785.462 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:05.463Z,1736373785.463 [DAT](INFO): direction in FSK: [-0.142988,0.027990,0.989329] 2025-01-08T22:03:05.468Z,1736373785.468 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:05.468Z,1736373785.468 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:05.472Z,1736373785.472 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:05.472Z,1736373785.472 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:05.493Z,1736373785.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:05.532Z,1736373785.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 449.000000 m, deltaT: 4.031966 s, deltaX: -10.600006 m, approachRate: -2.628992 m/s, rangeRepo size: 4 2025-01-08T22:03:05.534Z,1736373785.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 449.000000 m, bearing: 182.739147 deg, lat: 36.900183 deg, lon: -122.122031 deg, deltaT: 4.031966 s, deltaX: -10.600006 m, approachRate: -2.628992 m/s, posRepo size: 4 2025-01-08T22:03:05.535Z,1736373785.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.00 m. 2025-01-08T22:03:05.546Z,1736373785.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.000000 m, nav range: 90.121017 m, bearing: 207.698069 deg, approach rate: 0.000000 m/s, LOS rate: -0.224092 deg/s, cmd heading: 330.684674 deg, new cmd heading: 330.405024 deg. 2025-01-08T22:03:05.551Z,1736373785.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766655 target range: 449.000000 and range: 449.00 m. 2025-01-08T22:03:05.696Z,1736373785.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:05.697Z,1736373785.697 [DAT](INFO): DAT read: TxSync time:22:03:04.6917 2025-01-08T22:03:05.946Z,1736373785.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:05.948Z,1736373785.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:05.976Z,1736373785.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.00 m. 2025-01-08T22:03:05.979Z,1736373785.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.000000 m, nav range: 90.264229 m, bearing: 207.556415 deg, approach rate: 0.310641 m/s, LOS rate: -0.306775 deg/s, cmd heading: 330.405019 deg, new cmd heading: 329.980740 deg. 2025-01-08T22:03:05.984Z,1736373785.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759250 target range: 449.000000 and range: 449.00 m. 2025-01-08T22:03:06.200Z,1736373786.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:06.284Z,1736373786.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:06.292Z,1736373786.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:06.294Z,1736373786.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.00 m. 2025-01-08T22:03:06.297Z,1736373786.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.000000 m, nav range: 90.370407 m, bearing: 207.450685 deg, approach rate: 0.333872 m/s, LOS rate: -0.332072 deg/s, cmd heading: 329.980728 deg, new cmd heading: 329.663914 deg. 2025-01-08T22:03:06.298Z,1736373786.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753721 target range: 449.000000 and range: 449.00 m. 2025-01-08T22:03:06.452Z,1736373786.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:06.452Z,1736373786.452 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:06.452Z,1736373786.452 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:06.452Z,1736373786.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:06.689Z,1736373786.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:06.697Z,1736373786.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.00 m. 2025-01-08T22:03:06.700Z,1736373786.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.000000 m, nav range: 90.496849 m, bearing: 207.324144 deg, approach rate: 0.313841 m/s, LOS rate: -0.313649 deg/s, cmd heading: 329.663916 deg, new cmd heading: 329.284827 deg. 2025-01-08T22:03:06.701Z,1736373786.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747104 target range: 449.000000 and range: 449.00 m. 2025-01-08T22:03:06.704Z,1736373786.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:06.705Z,1736373786.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243355 2025-01-08T22:03:06.957Z,1736373786.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:06.958Z,1736373786.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496000 2025-01-08T22:03:07.100Z,1736373787.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:07.109Z,1736373787.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.00 m. 2025-01-08T22:03:07.111Z,1736373787.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.000000 m, nav range: 90.624817 m, bearing: 207.189113 deg, approach rate: 0.311059 m/s, LOS rate: -0.327763 deg/s, cmd heading: 329.284813 deg, new cmd heading: 328.880301 deg. 2025-01-08T22:03:07.112Z,1736373787.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740044 target range: 449.000000 and range: 449.00 m. 2025-01-08T22:03:07.209Z,1736373787.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:07.210Z,1736373787.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748436 2025-01-08T22:03:07.460Z,1736373787.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:07.460Z,1736373787.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998707 2025-01-08T22:03:07.486Z,1736373787.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:07.496Z,1736373787.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.00 m. 2025-01-08T22:03:07.498Z,1736373787.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.000000 m, nav range: 90.744270 m, bearing: 207.061919 deg, approach rate: 0.308667 m/s, LOS rate: -0.328234 deg/s, cmd heading: 328.880302 deg, new cmd heading: 328.499230 deg. 2025-01-08T22:03:07.500Z,1736373787.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733393 target range: 449.000000 and range: 449.00 m. 2025-01-08T22:03:07.713Z,1736373787.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:07.713Z,1736373787.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251570 2025-01-08T22:03:07.927Z,1736373787.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:07.942Z,1736373787.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.00 m. 2025-01-08T22:03:07.945Z,1736373787.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.000000 m, nav range: 90.871544 m, bearing: 206.909787 deg, approach rate: 0.285012 m/s, LOS rate: -0.340202 deg/s, cmd heading: 328.499232 deg, new cmd heading: 328.043485 deg. 2025-01-08T22:03:07.946Z,1736373787.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725439 target range: 449.000000 and range: 449.00 m. 2025-01-08T22:03:07.964Z,1736373787.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:07.966Z,1736373787.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504275 2025-01-08T22:03:08.218Z,1736373788.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:08.220Z,1736373788.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758150 2025-01-08T22:03:08.301Z,1736373788.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:08.328Z,1736373788.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:08.330Z,1736373788.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.00 m. 2025-01-08T22:03:08.333Z,1736373788.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.000000 m, nav range: 90.978149 m, bearing: 206.780625 deg, approach rate: 0.275034 m/s, LOS rate: -0.332837 deg/s, cmd heading: 328.043495 deg, new cmd heading: 327.656470 deg. 2025-01-08T22:03:08.334Z,1736373788.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718684 target range: 449.000000 and range: 449.00 m. 2025-01-08T22:03:08.468Z,1736373788.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:08.468Z,1736373788.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006621 2025-01-08T22:03:08.714Z,1736373788.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:08.721Z,1736373788.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:08.721Z,1736373788.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259578 2025-01-08T22:03:08.725Z,1736373788.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.00 m. 2025-01-08T22:03:08.729Z,1736373788.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.000000 m, nav range: 91.094818 m, bearing: 206.637517 deg, approach rate: 0.295038 m/s, LOS rate: -0.361436 deg/s, cmd heading: 327.656469 deg, new cmd heading: 327.227702 deg. 2025-01-08T22:03:08.730Z,1736373788.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711201 target range: 449.000000 and range: 449.00 m. 2025-01-08T22:03:08.972Z,1736373788.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:08.972Z,1736373788.972 [DAT](INFO): DAT read: Rx Time:22:03:07.6939 2025-01-08T22:03:08.973Z,1736373788.973 [DAT](INFO): Rx dataTimestamp_ set to:1736373788.972616 2025-01-08T22:03:08.973Z,1736373788.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511752 2025-01-08T22:03:09.128Z,1736373789.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:09.137Z,1736373789.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.00 m. 2025-01-08T22:03:09.140Z,1736373789.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.000000 m, nav range: 91.212234 m, bearing: 206.483484 deg, approach rate: 0.285296 m/s, LOS rate: -0.373786 deg/s, cmd heading: 327.227697 deg, new cmd heading: 326.766201 deg. 2025-01-08T22:03:09.141Z,1736373789.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703146 target range: 449.000000 and range: 449.00 m. 2025-01-08T22:03:09.226Z,1736373789.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:09.227Z,1736373789.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765270 2025-01-08T22:03:09.480Z,1736373789.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:09.486Z,1736373789.486 [DAT](INFO): DAT read: 22:03:07.6939 LVL= 14208, 28225, 18882, 32099, AGC= 64, IDX= 431,-0.05,-2.371, 2.128, 2.158, 2.800, PHS= 1.200,-0.625,-0.645, RAW= 89.5, 0.8, CAL= 96.9, -3.0, ROT= 53.1, 3.0 2025-01-08T22:03:09.488Z,1736373789.488 [DAT](INFO): got valid direction response: 22:03:07.6939 LVL= 14208, 28225, 18882, 32099, AGC= 64, IDX= 431,-0.05,-2.371, 2.128, 2.158, 2.800, PHS= 1.200,-0.625,-0.645, RAW= 89.5, 0.8, CAL= 96.9, -3.0, ROT= 53.1, 3.0 2025-01-08T22:03:09.489Z,1736373789.489 [DAT](INFO): DAT read: Bearing 53.1, 3.0 (Local) 2025-01-08T22:03:09.489Z,1736373789.489 [DAT](INFO): Local bearing/azimuth received: Bearing 53.1, 3.0 (Local) 2025-01-08T22:03:09.491Z,1736373789.491 [DAT](INFO): DAT read: Range 10 to 50 : 447.8 m (Round-trip 597.1 ms) speed 0.1 m/s 2025-01-08T22:03:09.492Z,1736373789.492 [DAT](INFO): DAT read: user:2255> 2025-01-08T22:03:09.492Z,1736373789.492 [DAT](INFO): DAT read: Tx time:22:03:08.7926 2025-01-08T22:03:09.493Z,1736373789.493 [DAT](INFO): Ping request sent. 2025-01-08T22:03:09.493Z,1736373789.493 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:09.493Z,1736373789.493 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:09.494Z,1736373789.494 [DAT](INFO): direction in FSK: [-0.098926,0.117701,0.988109] 2025-01-08T22:03:09.494Z,1736373789.494 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:09.494Z,1736373789.494 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:09.498Z,1736373789.498 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:09.498Z,1736373789.498 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:09.584Z,1736373789.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:09.616Z,1736373789.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 447.799988 m, deltaT: 4.035849 s, deltaX: -1.200012 m, approachRate: -0.297338 m/s, rangeRepo size: 4 2025-01-08T22:03:09.618Z,1736373789.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 447.799988 m, bearing: 126.288741 deg, lat: 36.900254 deg, lon: -122.121948 deg, deltaT: 4.035849 s, deltaX: -1.200012 m, approachRate: -0.297338 m/s, posRepo size: 4 2025-01-08T22:03:09.619Z,1736373789.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.80 m. 2025-01-08T22:03:09.633Z,1736373789.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.799988 m, nav range: 80.981377 m, bearing: 204.100918 deg, approach rate: 0.000000 m/s, LOS rate: -0.373786 deg/s, cmd heading: 326.766195 deg, new cmd heading: 326.234657 deg. 2025-01-08T22:03:09.634Z,1736373789.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693869 target range: 447.799988 and range: 447.80 m. 2025-01-08T22:03:09.732Z,1736373789.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:09.733Z,1736373789.733 [DAT](INFO): DAT read: TxSync time:22:03:08.7918 2025-01-08T22:03:09.986Z,1736373789.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:10.061Z,1736373790.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:10.077Z,1736373790.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.80 m. 2025-01-08T22:03:10.084Z,1736373790.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.799988 m, nav range: 81.126961 m, bearing: 203.891356 deg, approach rate: 0.311978 m/s, LOS rate: -0.448273 deg/s, cmd heading: 326.234669 deg, new cmd heading: 325.607137 deg. 2025-01-08T22:03:10.085Z,1736373790.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682917 target range: 447.799988 and range: 447.80 m. 2025-01-08T22:03:10.239Z,1736373790.239 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:10.336Z,1736373790.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:10.343Z,1736373790.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:10.347Z,1736373790.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.80 m. 2025-01-08T22:03:10.350Z,1736373790.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.799988 m, nav range: 81.205727 m, bearing: 203.770548 deg, approach rate: 0.292138 m/s, LOS rate: -0.447635 deg/s, cmd heading: 325.607139 deg, new cmd heading: 325.245071 deg. 2025-01-08T22:03:10.351Z,1736373790.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676598 target range: 447.799988 and range: 447.80 m. 2025-01-08T22:03:10.492Z,1736373790.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:10.492Z,1736373790.492 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:10.492Z,1736373790.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:10.493Z,1736373790.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:10.744Z,1736373790.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:10.744Z,1736373790.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251429 2025-01-08T22:03:10.753Z,1736373790.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:10.865Z,1736373790.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.80 m. 2025-01-08T22:03:10.873Z,1736373790.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.799988 m, nav range: 81.326172 m, bearing: 203.587323 deg, approach rate: 0.232408 m/s, LOS rate: -0.353020 deg/s, cmd heading: 325.245084 deg, new cmd heading: 324.696243 deg. 2025-01-08T22:03:10.874Z,1736373790.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667018 target range: 447.799988 and range: 447.80 m. 2025-01-08T22:03:10.996Z,1736373790.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:10.997Z,1736373790.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503862 2025-01-08T22:03:11.177Z,1736373791.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:11.202Z,1736373791.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.80 m. 2025-01-08T22:03:11.208Z,1736373791.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.799988 m, nav range: 81.446655 m, bearing: 203.399326 deg, approach rate: 0.358246 m/s, LOS rate: -0.558163 deg/s, cmd heading: 324.696238 deg, new cmd heading: 324.133100 deg. 2025-01-08T22:03:11.209Z,1736373791.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657190 target range: 447.799988 and range: 447.80 m. 2025-01-08T22:03:11.248Z,1736373791.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:11.249Z,1736373791.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756323 2025-01-08T22:03:11.500Z,1736373791.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:11.500Z,1736373791.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007576 2025-01-08T22:03:11.545Z,1736373791.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:11.554Z,1736373791.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.80 m. 2025-01-08T22:03:11.557Z,1736373791.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.799988 m, nav range: 81.550423 m, bearing: 203.236166 deg, approach rate: 0.294942 m/s, LOS rate: -0.463167 deg/s, cmd heading: 324.133102 deg, new cmd heading: 323.644256 deg. 2025-01-08T22:03:11.558Z,1736373791.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648658 target range: 447.799988 and range: 447.80 m. 2025-01-08T22:03:11.752Z,1736373791.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:11.752Z,1736373791.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259595 2025-01-08T22:03:11.981Z,1736373791.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:11.989Z,1736373791.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.80 m. 2025-01-08T22:03:12.004Z,1736373792.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:12.006Z,1736373792.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512853 2025-01-08T22:03:12.009Z,1736373792.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.799988 m, nav range: 81.680069 m, bearing: 203.038662 deg, approach rate: 0.297308 m/s, LOS rate: -0.452200 deg/s, cmd heading: 323.644252 deg, new cmd heading: 323.052705 deg. 2025-01-08T22:03:12.010Z,1736373792.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638333 target range: 447.799988 and range: 447.80 m. 2025-01-08T22:03:12.256Z,1736373792.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:12.256Z,1736373792.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763634 2025-01-08T22:03:12.354Z,1736373792.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:12.361Z,1736373792.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:12.363Z,1736373792.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.80 m. 2025-01-08T22:03:12.366Z,1736373792.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.799988 m, nav range: 81.789200 m, bearing: 202.870994 deg, approach rate: 0.292326 m/s, LOS rate: -0.448528 deg/s, cmd heading: 323.052703 deg, new cmd heading: 322.550384 deg. 2025-01-08T22:03:12.367Z,1736373792.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629566 target range: 447.799988 and range: 447.80 m. 2025-01-08T22:03:12.509Z,1736373792.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:12.510Z,1736373792.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016895 2025-01-08T22:03:12.761Z,1736373792.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:12.764Z,1736373792.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270020 2025-01-08T22:03:12.768Z,1736373792.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:12.789Z,1736373792.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.80 m. 2025-01-08T22:03:12.792Z,1736373792.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.799988 m, nav range: 81.910904 m, bearing: 202.682482 deg, approach rate: 0.285364 m/s, LOS rate: -0.441356 deg/s, cmd heading: 322.550383 deg, new cmd heading: 321.985704 deg. 2025-01-08T22:03:12.793Z,1736373792.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619710 target range: 447.799988 and range: 447.80 m. 2025-01-08T22:03:13.012Z,1736373793.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:13.012Z,1736373793.012 [DAT](INFO): DAT read: Rx Time:22:03:11.7928 2025-01-08T22:03:13.013Z,1736373793.013 [DAT](INFO): Rx dataTimestamp_ set to:1736373793.012558 2025-01-08T22:03:13.015Z,1736373793.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521751 2025-01-08T22:03:13.198Z,1736373793.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:13.208Z,1736373793.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.80 m. 2025-01-08T22:03:13.210Z,1736373793.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.799988 m, nav range: 82.035767 m, bearing: 202.493557 deg, approach rate: 0.298585 m/s, LOS rate: -0.451087 deg/s, cmd heading: 321.985691 deg, new cmd heading: 321.419800 deg. 2025-01-08T22:03:13.212Z,1736373793.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609834 target range: 447.799988 and range: 447.80 m. 2025-01-08T22:03:13.264Z,1736373793.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:13.265Z,1736373793.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772148 2025-01-08T22:03:13.516Z,1736373793.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:13.523Z,1736373793.523 [DAT](INFO): DAT read: 22:03:11.7928 LVL= 11760, 25441, 16946, 26099, AGC= 66, IDX= 436,-0.42, 2.783, 1.212, 1.067, 1.783, PHS= 1.087,-0.524,-0.719, RAW= 84.4, 1.8, CAL= 90.2, -1.5, ROT= 59.8, 1.5 2025-01-08T22:03:13.524Z,1736373793.524 [DAT](INFO): got valid direction response: 22:03:11.7928 LVL= 11760, 25441, 16946, 26099, AGC= 66, IDX= 436,-0.42, 2.783, 1.212, 1.067, 1.783, PHS= 1.087,-0.524,-0.719, RAW= 84.4, 1.8, CAL= 90.2, -1.5, ROT= 59.8, 1.5 2025-01-08T22:03:13.525Z,1736373793.525 [DAT](INFO): DAT read: Bearing 59.8, 1.5 (Local) 2025-01-08T22:03:13.526Z,1736373793.526 [DAT](INFO): Local bearing/azimuth received: Bearing 59.8, 1.5 (Local) 2025-01-08T22:03:13.527Z,1736373793.527 [DAT](INFO): DAT read: Range 10 to 50 : 447.0 m (Round-trip 596.0 ms) speed 0.2 m/s 2025-01-08T22:03:13.528Z,1736373793.528 [DAT](INFO): DAT read: user:2256> 2025-01-08T22:03:13.529Z,1736373793.529 [DAT](INFO): DAT read: Tx time:22:03:12.8926 2025-01-08T22:03:13.529Z,1736373793.529 [DAT](INFO): Ping request sent. 2025-01-08T22:03:13.529Z,1736373793.529 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:13.530Z,1736373793.530 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:13.530Z,1736373793.530 [DAT](INFO): direction in FSK: [-0.110444,0.205483,0.972409] 2025-01-08T22:03:13.531Z,1736373793.531 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:13.531Z,1736373793.531 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:13.534Z,1736373793.534 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:13.534Z,1736373793.534 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:13.621Z,1736373793.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:13.665Z,1736373793.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 447.000000 m, deltaT: 4.036034 s, deltaX: -0.799988 m, approachRate: -0.198211 m/s, rangeRepo size: 4 2025-01-08T22:03:13.678Z,1736373793.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 447.000000 m, bearing: 97.230939 deg, lat: 36.900352 deg, lon: -122.121593 deg, deltaT: 4.036034 s, deltaX: -0.799988 m, approachRate: -0.198211 m/s, posRepo size: 4 2025-01-08T22:03:13.679Z,1736373793.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T22:03:13.691Z,1736373793.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 65.209221 m, bearing: 179.685413 deg, approach rate: 0.000000 m/s, LOS rate: -0.451087 deg/s, cmd heading: 321.419796 deg, new cmd heading: 320.813547 deg. 2025-01-08T22:03:13.696Z,1736373793.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599253 target range: 447.000000 and range: 447.00 m. 2025-01-08T22:03:13.768Z,1736373793.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:13.769Z,1736373793.769 [DAT](INFO): DAT read: TxSync time:22:03:12.8918 2025-01-08T22:03:14.020Z,1736373794.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:14.065Z,1736373794.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:14.093Z,1736373794.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T22:03:14.099Z,1736373794.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 65.432999 m, bearing: 179.515363 deg, approach rate: 0.511891 m/s, LOS rate: -0.387659 deg/s, cmd heading: 320.813548 deg, new cmd heading: 320.305156 deg. 2025-01-08T22:03:14.100Z,1736373794.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590380 target range: 447.000000 and range: 447.00 m. 2025-01-08T22:03:14.272Z,1736373794.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:14.374Z,1736373794.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:14.399Z,1736373794.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:14.405Z,1736373794.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T22:03:14.412Z,1736373794.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 65.588982 m, bearing: 179.395490 deg, approach rate: 0.498662 m/s, LOS rate: -0.382308 deg/s, cmd heading: 320.305164 deg, new cmd heading: 319.946407 deg. 2025-01-08T22:03:14.413Z,1736373794.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584118 target range: 447.000000 and range: 447.00 m. 2025-01-08T22:03:14.524Z,1736373794.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:14.525Z,1736373794.525 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:14.525Z,1736373794.525 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:14.525Z,1736373794.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:14.776Z,1736373794.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:14.776Z,1736373794.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247150 2025-01-08T22:03:14.778Z,1736373794.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:14.840Z,1736373794.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T22:03:14.859Z,1736373794.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 65.790909 m, bearing: 179.238511 deg, approach rate: 0.512845 m/s, LOS rate: -0.397465 deg/s, cmd heading: 319.946415 deg, new cmd heading: 319.476933 deg. 2025-01-08T22:03:14.890Z,1736373794.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575924 target range: 447.000000 and range: 447.00 m. 2025-01-08T22:03:15.029Z,1736373795.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:15.030Z,1736373795.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501112 2025-01-08T22:03:15.266Z,1736373795.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:15.276Z,1736373795.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T22:03:15.279Z,1736373795.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 66.032646 m, bearing: 179.058757 deg, approach rate: 0.506905 m/s, LOS rate: -0.375550 deg/s, cmd heading: 319.476935 deg, new cmd heading: 318.939664 deg. 2025-01-08T22:03:15.280Z,1736373795.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:15.280Z,1736373795.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751142 2025-01-08T22:03:15.284Z,1736373795.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.566547 target range: 447.000000 and range: 447.00 m. 2025-01-08T22:03:15.532Z,1736373795.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:15.533Z,1736373795.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003223 2025-01-08T22:03:15.623Z,1736373795.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:15.632Z,1736373795.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T22:03:15.634Z,1736373795.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 66.208618 m, bearing: 178.927696 deg, approach rate: 0.495548 m/s, LOS rate: -0.368094 deg/s, cmd heading: 318.939672 deg, new cmd heading: 318.547541 deg. 2025-01-08T22:03:15.635Z,1736373795.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.559703 target range: 447.000000 and range: 447.00 m. 2025-01-08T22:03:15.784Z,1736373795.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:15.785Z,1736373795.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255166 2025-01-08T22:03:16.036Z,1736373796.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:16.036Z,1736373796.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507075 2025-01-08T22:03:16.081Z,1736373796.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:16.090Z,1736373796.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T22:03:16.092Z,1736373796.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 66.433006 m, bearing: 178.773272 deg, approach rate: 0.489421 m/s, LOS rate: -0.335681 deg/s, cmd heading: 318.547537 deg, new cmd heading: 318.085841 deg. 2025-01-08T22:03:16.093Z,1736373796.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551645 target range: 447.000000 and range: 447.00 m. 2025-01-08T22:03:16.288Z,1736373796.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:16.289Z,1736373796.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759426 2025-01-08T22:03:16.432Z,1736373796.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:16.440Z,1736373796.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:16.442Z,1736373796.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T22:03:16.445Z,1736373796.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 66.604271 m, bearing: 178.654857 deg, approach rate: 0.486248 m/s, LOS rate: -0.335335 deg/s, cmd heading: 318.085844 deg, new cmd heading: 317.731516 deg. 2025-01-08T22:03:16.446Z,1736373796.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.545461 target range: 447.000000 and range: 447.00 m. 2025-01-08T22:03:16.540Z,1736373796.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:16.541Z,1736373796.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011424 2025-01-08T22:03:16.792Z,1736373796.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:16.792Z,1736373796.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263036 2025-01-08T22:03:16.848Z,1736373796.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:16.858Z,1736373796.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T22:03:16.861Z,1736373796.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 66.807686 m, bearing: 178.515255 deg, approach rate: 0.489304 m/s, LOS rate: -0.334783 deg/s, cmd heading: 317.731521 deg, new cmd heading: 317.313997 deg. 2025-01-08T22:03:16.862Z,1736373796.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538174 target range: 447.000000 and range: 447.00 m. 2025-01-08T22:03:17.044Z,1736373797.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:17.045Z,1736373797.045 [DAT](INFO): DAT read: Rx Time:22:03:15.8915 2025-01-08T22:03:17.045Z,1736373797.045 [DAT](INFO): Rx dataTimestamp_ set to:1736373797.044694 2025-01-08T22:03:17.045Z,1736373797.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516182 2025-01-08T22:03:17.297Z,1736373797.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:17.300Z,1736373797.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770029 2025-01-08T22:03:17.310Z,1736373797.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:17.319Z,1736373797.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T22:03:17.344Z,1736373797.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 67.024239 m, bearing: 178.364325 deg, approach rate: 0.469303 m/s, LOS rate: -0.326030 deg/s, cmd heading: 317.314005 deg, new cmd heading: 316.862690 deg. 2025-01-08T22:03:17.345Z,1736373797.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530297 target range: 447.000000 and range: 447.00 m. 2025-01-08T22:03:17.549Z,1736373797.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:17.552Z,1736373797.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021592 2025-01-08T22:03:17.642Z,1736373797.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:17.678Z,1736373797.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m. 2025-01-08T22:03:17.685Z,1736373797.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 447.000000 m, nav range: 67.177010 m, bearing: 178.253553 deg, approach rate: 0.426056 m/s, LOS rate: -0.308224 deg/s, cmd heading: 316.862694 deg, new cmd heading: 316.531138 deg. 2025-01-08T22:03:17.692Z,1736373797.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524510 target range: 447.000000 and range: 447.00 m. 2025-01-08T22:03:17.800Z,1736373797.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:17.813Z,1736373797.813 [DAT](INFO): DAT read: 22:03:15.8915 LVL= 13552, 24897, 17010, 25539, AGC= 63, IDX= 421, 0.05, 1.208,-0.181,-0.596, 0.343, PHS= 0.953,-0.477,-0.942, RAW= 76.4, 5.5, CAL= 80.2, 5.5, ROT= 69.8, -5.5 2025-01-08T22:03:17.814Z,1736373797.814 [DAT](INFO): got valid direction response: 22:03:15.8915 LVL= 13552, 24897, 17010, 25539, AGC= 63, IDX= 421, 0.05, 1.208,-0.181,-0.596, 0.343, PHS= 0.953,-0.477,-0.942, RAW= 76.4, 5.5, CAL= 80.2, 5.5, ROT= 69.8, -5.5 2025-01-08T22:03:17.816Z,1736373797.816 [DAT](INFO): DAT read: Bearing 69.8, -5.5 (Local) 2025-01-08T22:03:17.816Z,1736373797.816 [DAT](INFO): Local bearing/azimuth received: Bearing 69.8, -5.5 (Local) 2025-01-08T22:03:17.818Z,1736373797.818 [DAT](INFO): DAT read: Range 10 to 50 : 445.9 m (Round-trip 594.6 ms) speed 0.2 m/s 2025-01-08T22:03:17.818Z,1736373797.818 [DAT](INFO): DAT read: user:2257> 2025-01-08T22:03:17.819Z,1736373797.819 [DAT](INFO): DAT read: Tx time:22:03:16.9927 2025-01-08T22:03:17.820Z,1736373797.820 [DAT](INFO): Ping request sent. 2025-01-08T22:03:17.821Z,1736373797.821 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:17.821Z,1736373797.821 [DAT](INFO): DAT read: TxSync time:22:03:16.9919 2025-01-08T22:03:17.822Z,1736373797.822 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:17.823Z,1736373797.823 [DAT](INFO): direction in FSK: [-0.164098,0.337801,0.926802] 2025-01-08T22:03:17.823Z,1736373797.823 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:17.824Z,1736373797.824 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:17.827Z,1736373797.827 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:17.827Z,1736373797.827 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:18.052Z,1736373798.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:18.122Z,1736373798.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:18.157Z,1736373798.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 445.899994 m, deltaT: 4.284134 s, deltaX: -1.100006 m, approachRate: -0.256763 m/s, rangeRepo size: 4 2025-01-08T22:03:18.161Z,1736373798.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 445.899994 m, bearing: 82.350238 deg, lat: 36.900686 deg, lon: -122.121179 deg, deltaT: 4.284134 s, deltaX: -1.100006 m, approachRate: -0.256763 m/s, posRepo size: 4 2025-01-08T22:03:18.162Z,1736373798.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T22:03:18.165Z,1736373798.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 49.388950 m, bearing: 127.661373 deg, approach rate: 0.000000 m/s, LOS rate: -0.308224 deg/s, cmd heading: 316.531129 deg, new cmd heading: 316.087999 deg. 2025-01-08T22:03:18.166Z,1736373798.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516776 target range: 445.899994 and range: 445.90 m. 2025-01-08T22:03:18.305Z,1736373798.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:18.453Z,1736373798.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:18.461Z,1736373798.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:18.463Z,1736373798.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T22:03:18.466Z,1736373798.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 49.587032 m, bearing: 127.695968 deg, approach rate: 0.646307 m/s, LOS rate: 0.112426 deg/s, cmd heading: 316.087986 deg, new cmd heading: 316.191356 deg. 2025-01-08T22:03:18.467Z,1736373798.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518580 target range: 445.899994 and range: 445.90 m. 2025-01-08T22:03:18.556Z,1736373798.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:18.556Z,1736373798.556 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:18.557Z,1736373798.557 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:18.557Z,1736373798.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:18.808Z,1736373798.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:18.808Z,1736373798.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988236 2025-01-08T22:03:18.855Z,1736373798.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:18.884Z,1736373798.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T22:03:18.891Z,1736373798.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 49.828800 m, bearing: 127.734712 deg, approach rate: 0.574677 m/s, LOS rate: 0.091648 deg/s, cmd heading: 316.191368 deg, new cmd heading: 316.307037 deg. 2025-01-08T22:03:18.892Z,1736373798.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520599 target range: 445.899994 and range: 445.90 m. 2025-01-08T22:03:19.060Z,1736373799.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:19.061Z,1736373799.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240564 2025-01-08T22:03:19.289Z,1736373799.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:19.299Z,1736373799.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T22:03:19.301Z,1736373799.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 50.087234 m, bearing: 127.774624 deg, approach rate: 0.623190 m/s, LOS rate: 0.095746 deg/s, cmd heading: 316.307044 deg, new cmd heading: 316.426160 deg. 2025-01-08T22:03:19.302Z,1736373799.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.522678 target range: 445.899994 and range: 445.90 m. 2025-01-08T22:03:19.312Z,1736373799.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:19.312Z,1736373799.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492178 2025-01-08T22:03:19.564Z,1736373799.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:19.565Z,1736373799.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744331 2025-01-08T22:03:19.685Z,1736373799.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:19.695Z,1736373799.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T22:03:19.698Z,1736373799.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 50.323074 m, bearing: 127.809042 deg, approach rate: 0.595139 m/s, LOS rate: 0.086448 deg/s, cmd heading: 316.426163 deg, new cmd heading: 316.528935 deg. 2025-01-08T22:03:19.699Z,1736373799.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.524472 target range: 445.899994 and range: 445.90 m. 2025-01-08T22:03:19.817Z,1736373799.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:19.818Z,1736373799.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997724 2025-01-08T22:03:20.068Z,1736373800.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:20.069Z,1736373800.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248587 2025-01-08T22:03:20.122Z,1736373800.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:20.134Z,1736373800.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T22:03:20.139Z,1736373800.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 50.590515 m, bearing: 127.836497 deg, approach rate: 0.610733 m/s, LOS rate: 0.062365 deg/s, cmd heading: 316.528943 deg, new cmd heading: 316.610872 deg. 2025-01-08T22:03:20.140Z,1736373800.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525902 target range: 445.899994 and range: 445.90 m. 2025-01-08T22:03:20.320Z,1736373800.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:20.322Z,1736373800.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501304 2025-01-08T22:03:20.493Z,1736373800.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:20.499Z,1736373800.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:20.501Z,1736373800.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T22:03:20.505Z,1736373800.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 50.817398 m, bearing: 127.859561 deg, approach rate: 0.615434 m/s, LOS rate: 0.062283 deg/s, cmd heading: 316.610878 deg, new cmd heading: 316.679761 deg. 2025-01-08T22:03:20.506Z,1736373800.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527104 target range: 445.899994 and range: 445.90 m. 2025-01-08T22:03:20.577Z,1736373800.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:20.577Z,1736373800.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757283 2025-01-08T22:03:20.828Z,1736373800.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:20.828Z,1736373800.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008196 2025-01-08T22:03:20.891Z,1736373800.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:20.912Z,1736373800.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T22:03:20.915Z,1736373800.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 51.061386 m, bearing: 127.881298 deg, approach rate: 0.594222 m/s, LOS rate: 0.052687 deg/s, cmd heading: 316.679754 deg, new cmd heading: 316.744654 deg. 2025-01-08T22:03:20.921Z,1736373800.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528237 target range: 445.899994 and range: 445.90 m. 2025-01-08T22:03:21.081Z,1736373801.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:21.083Z,1736373801.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262486 2025-01-08T22:03:21.328Z,1736373801.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:21.332Z,1736373801.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:21.333Z,1736373801.333 [DAT](INFO): DAT read: Rx Time:22:03:19.9905 2025-01-08T22:03:21.333Z,1736373801.333 [DAT](INFO): Rx dataTimestamp_ set to:1736373801.332692 2025-01-08T22:03:21.333Z,1736373801.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513329 2025-01-08T22:03:21.341Z,1736373801.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T22:03:21.344Z,1736373801.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 51.335789 m, bearing: 127.896949 deg, approach rate: 0.640037 m/s, LOS rate: 0.036310 deg/s, cmd heading: 316.744641 deg, new cmd heading: 316.791342 deg. 2025-01-08T22:03:21.345Z,1736373801.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529052 target range: 445.899994 and range: 445.90 m. 2025-01-08T22:03:21.584Z,1736373801.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:21.585Z,1736373801.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764461 2025-01-08T22:03:21.718Z,1736373801.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:21.728Z,1736373801.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.90 m. 2025-01-08T22:03:21.731Z,1736373801.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.899994 m, nav range: 51.580044 m, bearing: 127.908066 deg, approach rate: 0.630857 m/s, LOS rate: 0.028576 deg/s, cmd heading: 316.791332 deg, new cmd heading: 316.824524 deg. 2025-01-08T22:03:21.732Z,1736373801.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529631 target range: 445.899994 and range: 445.90 m. 2025-01-08T22:03:21.836Z,1736373801.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:21.845Z,1736373801.845 [DAT](INFO): DAT read: 22:03:19.9905 LVL= 15216, 25425, 24178, 28787, AGC= 67, IDX= 427,-0.33,-2.826, 2.423, 1.534, 2.635, PHS= 0.911,-0.165,-1.103, RAW= 62.3, 4.1, CAL= 63.0, 3.8, ROT= 87.0, -3.8 2025-01-08T22:03:21.846Z,1736373801.846 [DAT](INFO): got valid direction response: 22:03:19.9905 LVL= 15216, 25425, 24178, 28787, AGC= 67, IDX= 427,-0.33,-2.826, 2.423, 1.534, 2.635, PHS= 0.911,-0.165,-1.103, RAW= 62.3, 4.1, CAL= 63.0, 3.8, ROT= 87.0, -3.8 2025-01-08T22:03:21.848Z,1736373801.848 [DAT](INFO): DAT read: Bearing 87.0, -3.8 (Local) 2025-01-08T22:03:21.848Z,1736373801.848 [DAT](INFO): Local bearing/azimuth received: Bearing 87.0, -3.8 (Local) 2025-01-08T22:03:21.850Z,1736373801.850 [DAT](INFO): DAT read: Range 10 to 50 : 445.2 m (Round-trip 593.6 ms) speed 0.0 m/s 2025-01-08T22:03:21.850Z,1736373801.850 [DAT](INFO): DAT read: user:2258> 2025-01-08T22:03:21.855Z,1736373801.855 [DAT](INFO): DAT read: Tx time:22:03:21.0927 2025-01-08T22:03:21.856Z,1736373801.856 [DAT](INFO): Ping request sent. 2025-01-08T22:03:21.856Z,1736373801.856 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:21.856Z,1736373801.856 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:21.857Z,1736373801.857 [DAT](INFO): direction in FSK: [-0.110678,0.548075,0.829074] 2025-01-08T22:03:21.857Z,1736373801.857 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:21.858Z,1736373801.858 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:21.865Z,1736373801.865 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:21.865Z,1736373801.865 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:22.088Z,1736373802.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:22.090Z,1736373802.090 [DAT](INFO): DAT read: TxSync time:22:03:21.0919 2025-01-08T22:03:22.156Z,1736373802.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:22.203Z,1736373802.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 445.200012 m, deltaT: 4.036940 s, deltaX: -0.699982 m, approachRate: -0.173394 m/s, rangeRepo size: 4 2025-01-08T22:03:22.220Z,1736373802.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 445.200012 m, bearing: 60.711176 deg, lat: 36.900853 deg, lon: -122.120757 deg, deltaT: 4.036940 s, deltaX: -0.699982 m, approachRate: -0.173394 m/s, posRepo size: 4 2025-01-08T22:03:22.222Z,1736373802.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.20 m. 2025-01-08T22:03:22.228Z,1736373802.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.200012 m, nav range: 79.566719 m, bearing: 99.638942 deg, approach rate: 0.000000 m/s, LOS rate: 0.028576 deg/s, cmd heading: 316.824526 deg, new cmd heading: 316.865018 deg. 2025-01-08T22:03:22.229Z,1736373802.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530338 target range: 445.200012 and range: 445.20 m. 2025-01-08T22:03:22.342Z,1736373802.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:22.501Z,1736373802.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:22.509Z,1736373802.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:22.512Z,1736373802.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.20 m. 2025-01-08T22:03:22.515Z,1736373802.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.200012 m, nav range: 79.766312 m, bearing: 99.717442 deg, approach rate: 0.641552 m/s, LOS rate: 0.251691 deg/s, cmd heading: 316.865016 deg, new cmd heading: 317.099925 deg. 2025-01-08T22:03:22.516Z,1736373802.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534438 target range: 445.200012 and range: 445.20 m. 2025-01-08T22:03:22.597Z,1736373802.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:22.598Z,1736373802.598 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:22.598Z,1736373802.598 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:22.598Z,1736373802.598 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:22.848Z,1736373802.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:22.848Z,1736373802.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992441 2025-01-08T22:03:22.944Z,1736373802.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:22.967Z,1736373802.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.20 m. 2025-01-08T22:03:22.970Z,1736373802.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.200012 m, nav range: 80.019302 m, bearing: 99.816074 deg, approach rate: 0.560257 m/s, LOS rate: 0.217734 deg/s, cmd heading: 317.099920 deg, new cmd heading: 317.394878 deg. 2025-01-08T22:03:22.977Z,1736373802.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539586 target range: 445.200012 and range: 445.20 m. 2025-01-08T22:03:23.100Z,1736373803.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:23.101Z,1736373803.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245360 2025-01-08T22:03:23.315Z,1736373803.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:23.348Z,1736373803.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.20 m. 2025-01-08T22:03:23.352Z,1736373803.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:23.353Z,1736373803.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496676 2025-01-08T22:03:23.356Z,1736373803.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.200012 m, nav range: 80.239067 m, bearing: 99.900284 deg, approach rate: 0.570120 m/s, LOS rate: 0.217862 deg/s, cmd heading: 317.394875 deg, new cmd heading: 317.646811 deg. 2025-01-08T22:03:23.357Z,1736373803.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.543983 target range: 445.200012 and range: 445.20 m. 2025-01-08T22:03:23.604Z,1736373803.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:23.605Z,1736373803.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748977 2025-01-08T22:03:23.703Z,1736373803.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:23.728Z,1736373803.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.20 m. 2025-01-08T22:03:23.731Z,1736373803.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.200012 m, nav range: 80.468620 m, bearing: 99.988097 deg, approach rate: 0.604705 m/s, LOS rate: 0.230663 deg/s, cmd heading: 317.646799 deg, new cmd heading: 317.909484 deg. 2025-01-08T22:03:23.736Z,1736373803.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548567 target range: 445.200012 and range: 445.20 m. 2025-01-08T22:03:23.856Z,1736373803.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:23.857Z,1736373803.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001139 2025-01-08T22:03:24.108Z,1736373804.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:24.108Z,1736373804.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252531 2025-01-08T22:03:24.166Z,1736373804.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:24.180Z,1736373804.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.20 m. 2025-01-08T22:03:24.182Z,1736373804.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.200012 m, nav range: 80.758873 m, bearing: 100.095959 deg, approach rate: 0.642936 m/s, LOS rate: 0.238064 deg/s, cmd heading: 317.909488 deg, new cmd heading: 318.231906 deg. 2025-01-08T22:03:24.184Z,1736373804.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554194 target range: 445.200012 and range: 445.20 m. 2025-01-08T22:03:24.360Z,1736373804.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:24.360Z,1736373804.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504456 2025-01-08T22:03:24.514Z,1736373804.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:24.521Z,1736373804.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:24.524Z,1736373804.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.20 m. 2025-01-08T22:03:24.526Z,1736373804.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.200012 m, nav range: 80.977020 m, bearing: 100.176719 deg, approach rate: 0.634463 m/s, LOS rate: 0.234252 deg/s, cmd heading: 318.231901 deg, new cmd heading: 318.473528 deg. 2025-01-08T22:03:24.528Z,1736373804.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558412 target range: 445.200012 and range: 445.20 m. 2025-01-08T22:03:24.614Z,1736373804.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:24.615Z,1736373804.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758643 2025-01-08T22:03:24.868Z,1736373804.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:24.868Z,1736373804.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012535 2025-01-08T22:03:24.932Z,1736373804.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:24.941Z,1736373804.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.20 m. 2025-01-08T22:03:24.944Z,1736373804.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.200012 m, nav range: 81.239243 m, bearing: 100.273440 deg, approach rate: 0.627104 m/s, LOS rate: 0.230560 deg/s, cmd heading: 318.473525 deg, new cmd heading: 318.762747 deg. 2025-01-08T22:03:24.945Z,1736373804.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.563459 target range: 445.200012 and range: 445.20 m. 2025-01-08T22:03:25.120Z,1736373805.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:25.120Z,1736373805.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264526 2025-01-08T22:03:25.321Z,1736373805.321 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,240 0.0,1493.1, 0 2025-01-08T22:03:25.329Z,1736373805.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:03:25.329Z,1736373805.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:25.338Z,1736373805.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.20 m. 2025-01-08T22:03:25.345Z,1736373805.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.200012 m, nav range: 81.487877 m, bearing: 100.364519 deg, approach rate: 0.627043 m/s, LOS rate: 0.228996 deg/s, cmd heading: 318.762743 deg, new cmd heading: 319.035145 deg. 2025-01-08T22:03:25.346Z,1736373805.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568214 target range: 445.200012 and range: 445.20 m. 2025-01-08T22:03:25.372Z,1736373805.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:25.372Z,1736373805.372 [DAT](INFO): DAT read: Rx Time:22:03:24.0903 2025-01-08T22:03:25.373Z,1736373805.373 [DAT](INFO): Rx dataTimestamp_ set to:1736373805.372554 2025-01-08T22:03:25.373Z,1736373805.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517476 2025-01-08T22:03:25.624Z,1736373805.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:25.625Z,1736373805.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768915 2025-01-08T22:03:25.735Z,1736373805.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:03:25.735Z,1736373805.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:25.805Z,1736373805.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.20 m. 2025-01-08T22:03:25.812Z,1736373805.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.200012 m, nav range: 81.742767 m, bearing: 100.457534 deg, approach rate: 0.546058 m/s, LOS rate: 0.198646 deg/s, cmd heading: 319.035158 deg, new cmd heading: 319.313330 deg. 2025-01-08T22:03:25.813Z,1736373805.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.573069 target range: 445.200012 and range: 445.20 m. 2025-01-08T22:03:25.880Z,1736373805.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:25.890Z,1736373805.890 [DAT](INFO): DAT read: 22:03:24.0903 LVL= 15920, 24241, 22978, 26163, AGC= 66, IDX= 440, 0.21, 2.177, 1.161, 0.078, 1.132, PHS= 1.133, 0.076,-1.057, RAW= 58.9, -1.6, CAL= 62.2, -5.4, ROT= 87.8, 5.4 2025-01-08T22:03:25.904Z,1736373805.904 [DAT](INFO): got valid direction response: 22:03:24.0903 LVL= 15920, 24241, 22978, 26163, AGC= 66, IDX= 440, 0.21, 2.177, 1.161, 0.078, 1.132, PHS= 1.133, 0.076,-1.057, RAW= 58.9, -1.6, CAL= 62.2, -5.4, ROT= 87.8, 5.4 2025-01-08T22:03:25.906Z,1736373805.906 [DAT](INFO): DAT read: Bearing 87.8, 5.4 (Local) 2025-01-08T22:03:25.906Z,1736373805.906 [DAT](INFO): Local bearing/azimuth received: Bearing 87.8, 5.4 (Local) 2025-01-08T22:03:25.912Z,1736373805.912 [DAT](INFO): DAT read: Range 10 to 50 : 445.0 m (Round-trip 593.4 ms) speed 0.0 m/s 2025-01-08T22:03:25.913Z,1736373805.913 [DAT](INFO): DAT read: user:2259> 2025-01-08T22:03:25.914Z,1736373805.914 [DAT](INFO): DAT read: Tx time:22:03:25.1927 2025-01-08T22:03:25.914Z,1736373805.914 [DAT](INFO): Ping request sent. 2025-01-08T22:03:25.914Z,1736373805.914 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:25.919Z,1736373805.919 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:25.921Z,1736373805.921 [DAT](INFO): direction in FSK: [0.003339,0.590446,0.807070] 2025-01-08T22:03:25.921Z,1736373805.921 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:25.922Z,1736373805.922 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:25.930Z,1736373805.930 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:25.930Z,1736373805.930 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:26.132Z,1736373806.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:26.133Z,1736373806.133 [DAT](INFO): DAT read: TxSync time:22:03:25.1919 2025-01-08T22:03:26.187Z,1736373806.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:26.223Z,1736373806.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 445.000000 m, deltaT: 4.042981 s, deltaX: -0.200012 m, approachRate: -0.049471 m/s, rangeRepo size: 4 2025-01-08T22:03:26.225Z,1736373806.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 445.000000 m, bearing: 48.350183 deg, lat: 36.901128 deg, lon: -122.120029 deg, deltaT: 4.042981 s, deltaX: -0.200012 m, approachRate: -0.049471 m/s, posRepo size: 4 2025-01-08T22:03:26.226Z,1736373806.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:26.242Z,1736373806.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 146.193268 m, bearing: 83.880800 deg, approach rate: 0.000000 m/s, LOS rate: 0.198646 deg/s, cmd heading: 319.313338 deg, new cmd heading: 319.559829 deg. 2025-01-08T22:03:26.243Z,1736373806.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577371 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:26.384Z,1736373806.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:26.560Z,1736373806.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:26.585Z,1736373806.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:26.589Z,1736373806.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:26.592Z,1736373806.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 146.387482 m, bearing: 83.952886 deg, approach rate: 0.523530 m/s, LOS rate: 0.194058 deg/s, cmd heading: 319.559826 deg, new cmd heading: 319.775794 deg. 2025-01-08T22:03:26.593Z,1736373806.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581141 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:26.637Z,1736373806.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:26.638Z,1736373806.638 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:26.638Z,1736373806.638 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:26.639Z,1736373806.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:26.888Z,1736373806.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:26.889Z,1736373806.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974626 2025-01-08T22:03:26.941Z,1736373806.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:26.959Z,1736373806.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:26.970Z,1736373806.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 146.585480 m, bearing: 84.026496 deg, approach rate: 0.536006 m/s, LOS rate: 0.199004 deg/s, cmd heading: 319.775797 deg, new cmd heading: 319.996329 deg. 2025-01-08T22:03:26.976Z,1736373806.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584990 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:27.140Z,1736373807.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:27.140Z,1736373807.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226014 2025-01-08T22:03:27.368Z,1736373807.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:27.380Z,1736373807.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:27.383Z,1736373807.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 146.809418 m, bearing: 84.111503 deg, approach rate: 0.531122 m/s, LOS rate: 0.201305 deg/s, cmd heading: 319.996330 deg, new cmd heading: 320.250958 deg. 2025-01-08T22:03:27.384Z,1736373807.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589434 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:27.392Z,1736373807.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:27.393Z,1736373807.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478188 2025-01-08T22:03:27.644Z,1736373807.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:27.645Z,1736373807.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730474 2025-01-08T22:03:27.747Z,1736373807.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:27.776Z,1736373807.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:27.779Z,1736373807.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 147.006973 m, bearing: 84.187049 deg, approach rate: 0.498873 m/s, LOS rate: 0.190515 deg/s, cmd heading: 320.250959 deg, new cmd heading: 320.477292 deg. 2025-01-08T22:03:27.780Z,1736373807.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593384 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:27.896Z,1736373807.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:27.896Z,1736373807.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982132 2025-01-08T22:03:28.148Z,1736373808.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:28.148Z,1736373808.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234121 2025-01-08T22:03:28.200Z,1736373808.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:28.218Z,1736373808.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:28.229Z,1736373808.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 147.229553 m, bearing: 84.279165 deg, approach rate: 0.503569 m/s, LOS rate: 0.208091 deg/s, cmd heading: 320.477284 deg, new cmd heading: 320.753214 deg. 2025-01-08T22:03:28.230Z,1736373808.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598200 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:28.400Z,1736373808.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:28.400Z,1736373808.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486007 2025-01-08T22:03:28.585Z,1736373808.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:28.592Z,1736373808.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:28.594Z,1736373808.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:28.597Z,1736373808.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 147.417664 m, bearing: 84.357373 deg, approach rate: 0.500633 m/s, LOS rate: 0.207875 deg/s, cmd heading: 320.753224 deg, new cmd heading: 320.987547 deg. 2025-01-08T22:03:28.598Z,1736373808.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602290 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:28.653Z,1736373808.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:28.654Z,1736373808.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739738 2025-01-08T22:03:28.905Z,1736373808.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:28.905Z,1736373808.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990865 2025-01-08T22:03:28.969Z,1736373808.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:28.979Z,1736373808.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:28.982Z,1736373808.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 147.605270 m, bearing: 84.435457 deg, approach rate: 0.487649 m/s, LOS rate: 0.202705 deg/s, cmd heading: 320.987554 deg, new cmd heading: 321.221505 deg. 2025-01-08T22:03:28.983Z,1736373808.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606373 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:29.156Z,1736373809.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:29.156Z,1736373809.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241983 2025-01-08T22:03:29.382Z,1736373809.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:29.392Z,1736373809.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:29.395Z,1736373809.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 147.804062 m, bearing: 84.516002 deg, approach rate: 0.480864 m/s, LOS rate: 0.194572 deg/s, cmd heading: 321.221502 deg, new cmd heading: 321.462812 deg. 2025-01-08T22:03:29.396Z,1736373809.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610584 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:29.408Z,1736373809.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:29.409Z,1736373809.409 [DAT](INFO): DAT read: Rx Time:22:03:28.1904 2025-01-08T22:03:29.409Z,1736373809.409 [DAT](INFO): Rx dataTimestamp_ set to:1736373809.408728 2025-01-08T22:03:29.410Z,1736373809.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495205 2025-01-08T22:03:29.660Z,1736373809.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:29.661Z,1736373809.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746837 2025-01-08T22:03:29.765Z,1736373809.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:29.774Z,1736373809.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:29.777Z,1736373809.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 147.987518 m, bearing: 84.590458 deg, approach rate: 0.480261 m/s, LOS rate: 0.194672 deg/s, cmd heading: 321.462799 deg, new cmd heading: 321.685887 deg. 2025-01-08T22:03:29.778Z,1736373809.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614478 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:29.912Z,1736373809.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:29.918Z,1736373809.918 [DAT](INFO): DAT read: 22:03:28.1904 LVL= 15760, 25009, 21602, 27475, AGC= 70, IDX= 440, 0.37,-2.047,-3.025, 2.263,-3.078, PHS= 1.119, 0.100,-0.945, RAW= 59.6, -3.1, CAL= 64.1, -7.6, ROT= 85.9, 7.6 2025-01-08T22:03:29.920Z,1736373809.920 [DAT](INFO): got valid direction response: 22:03:28.1904 LVL= 15760, 25009, 21602, 27475, AGC= 70, IDX= 440, 0.37,-2.047,-3.025, 2.263,-3.078, PHS= 1.119, 0.100,-0.945, RAW= 59.6, -3.1, CAL= 64.1, -7.6, ROT= 85.9, 7.6 2025-01-08T22:03:29.921Z,1736373809.921 [DAT](INFO): DAT read: Bearing 85.9, 7.6 (Local) 2025-01-08T22:03:29.923Z,1736373809.923 [DAT](INFO): Local bearing/azimuth received: Bearing 85.9, 7.6 (Local) 2025-01-08T22:03:29.929Z,1736373809.929 [DAT](INFO): DAT read: Range 10 to 50 : 445.0 m (Round-trip 593.4 ms) speed 0.2 m/s 2025-01-08T22:03:29.929Z,1736373809.929 [DAT](INFO): DAT read: user:2260> 2025-01-08T22:03:29.930Z,1736373809.930 [DAT](INFO): DAT read: Tx time:22:03:29.2928 2025-01-08T22:03:29.930Z,1736373809.930 [DAT](INFO): Ping request sent. 2025-01-08T22:03:29.931Z,1736373809.931 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:29.931Z,1736373809.931 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:29.932Z,1736373809.932 [DAT](INFO): direction in FSK: [0.029424,0.578576,0.815098] 2025-01-08T22:03:29.932Z,1736373809.932 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:29.932Z,1736373809.932 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:29.936Z,1736373809.936 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:29.936Z,1736373809.936 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:30.164Z,1736373810.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:30.165Z,1736373810.165 [DAT](INFO): DAT read: TxSync time:22:03:29.2920 2025-01-08T22:03:30.244Z,1736373810.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:30.284Z,1736373810.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 445.000000 m, deltaT: 4.032129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:03:30.286Z,1736373810.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 445.000000 m, bearing: 48.880915 deg, lat: 36.901924 deg, lon: -122.120026 deg, deltaT: 4.032129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:03:30.287Z,1736373810.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:30.293Z,1736373810.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 179.673370 m, bearing: 55.340003 deg, approach rate: 0.000000 m/s, LOS rate: 0.194672 deg/s, cmd heading: 321.685900 deg, new cmd heading: 321.980726 deg. 2025-01-08T22:03:30.294Z,1736373810.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619624 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:30.416Z,1736373810.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:30.604Z,1736373810.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:30.615Z,1736373810.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:30.641Z,1736373810.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:30.658Z,1736373810.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 179.725632 m, bearing: 55.414926 deg, approach rate: 0.144384 m/s, LOS rate: 0.206931 deg/s, cmd heading: 321.980718 deg, new cmd heading: 322.205419 deg. 2025-01-08T22:03:30.668Z,1736373810.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:30.669Z,1736373810.669 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:30.669Z,1736373810.669 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:30.669Z,1736373810.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:30.673Z,1736373810.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623546 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:30.920Z,1736373810.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:30.921Z,1736373810.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990585 2025-01-08T22:03:30.994Z,1736373810.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:31.015Z,1736373811.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:31.018Z,1736373811.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 179.781693 m, bearing: 55.496041 deg, approach rate: 0.151491 m/s, LOS rate: 0.219126 deg/s, cmd heading: 322.205431 deg, new cmd heading: 322.448700 deg. 2025-01-08T22:03:31.019Z,1736373811.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627791 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:31.172Z,1736373811.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:31.173Z,1736373811.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242401 2025-01-08T22:03:31.424Z,1736373811.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:31.424Z,1736373811.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493871 2025-01-08T22:03:31.439Z,1736373811.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:31.448Z,1736373811.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:31.450Z,1736373811.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 179.834305 m, bearing: 55.585348 deg, approach rate: 0.120608 m/s, LOS rate: 0.204665 deg/s, cmd heading: 322.448695 deg, new cmd heading: 322.716534 deg. 2025-01-08T22:03:31.451Z,1736373811.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632466 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:31.676Z,1736373811.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:31.678Z,1736373811.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746815 2025-01-08T22:03:31.802Z,1736373811.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:31.812Z,1736373811.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:31.815Z,1736373811.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 179.874527 m, bearing: 55.658463 deg, approach rate: 0.110188 m/s, LOS rate: 0.200255 deg/s, cmd heading: 322.716521 deg, new cmd heading: 322.935818 deg. 2025-01-08T22:03:31.816Z,1736373811.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636293 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:31.928Z,1736373811.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:31.928Z,1736373811.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997879 2025-01-08T22:03:32.180Z,1736373812.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:32.181Z,1736373812.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249982 2025-01-08T22:03:32.245Z,1736373812.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:32.277Z,1736373812.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:32.284Z,1736373812.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 179.918167 m, bearing: 55.746539 deg, approach rate: 0.093987 m/s, LOS rate: 0.189642 deg/s, cmd heading: 322.935825 deg, new cmd heading: 323.199986 deg. 2025-01-08T22:03:32.285Z,1736373812.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640904 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:32.432Z,1736373812.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:32.433Z,1736373812.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501909 2025-01-08T22:03:32.684Z,1736373812.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:32.684Z,1736373812.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753795 2025-01-08T22:03:32.714Z,1736373812.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:32.722Z,1736373812.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:32.744Z,1736373812.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:32.747Z,1736373812.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 179.961563 m, bearing: 55.840158 deg, approach rate: 0.092838 m/s, LOS rate: 0.200231 deg/s, cmd heading: 323.199989 deg, new cmd heading: 323.480774 deg. 2025-01-08T22:03:32.752Z,1736373812.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645804 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:32.936Z,1736373812.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:32.936Z,1736373812.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005703 2025-01-08T22:03:33.120Z,1736373813.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:33.146Z,1736373813.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:33.186Z,1736373813.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 179.998077 m, bearing: 55.920956 deg, approach rate: 0.091181 m/s, LOS rate: 0.201724 deg/s, cmd heading: 323.480764 deg, new cmd heading: 323.723110 deg. 2025-01-08T22:03:33.190Z,1736373813.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:33.192Z,1736373813.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261312 2025-01-08T22:03:33.196Z,1736373813.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.650034 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:33.440Z,1736373813.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:33.440Z,1736373813.440 [DAT](INFO): DAT read: Rx Time:22:03:32.2895 2025-01-08T22:03:33.441Z,1736373813.441 [DAT](INFO): Rx dataTimestamp_ set to:1736373813.440674 2025-01-08T22:03:33.441Z,1736373813.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510871 2025-01-08T22:03:33.610Z,1736373813.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:33.643Z,1736373813.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:33.653Z,1736373813.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 180.028458 m, bearing: 56.014453 deg, approach rate: 0.061445 m/s, LOS rate: 0.189070 deg/s, cmd heading: 323.723099 deg, new cmd heading: 324.003541 deg. 2025-01-08T22:03:33.654Z,1736373813.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654929 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:33.692Z,1736373813.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:33.693Z,1736373813.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761887 2025-01-08T22:03:33.946Z,1736373813.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:33.948Z,1736373813.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017228 2025-01-08T22:03:34.036Z,1736373814.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:34.045Z,1736373814.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.00 m. 2025-01-08T22:03:34.048Z,1736373814.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 445.000000 m, nav range: 180.055161 m, bearing: 56.095445 deg, approach rate: 0.065756 m/s, LOS rate: 0.199412 deg/s, cmd heading: 324.003547 deg, new cmd heading: 324.246483 deg. 2025-01-08T22:03:34.049Z,1736373814.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659169 target range: 445.000000 and range: 445.00 m. 2025-01-08T22:03:34.196Z,1736373814.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:34.212Z,1736373814.212 [DAT](INFO): DAT read: 22:03:32.2895 LVL= 14432, 22001, 16578, 22115, AGC= 67, IDX= 431, 0.10,-0.293,-1.444,-2.307,-1.395, PHS= 1.190,-0.002,-0.914, RAW= 64.4, -3.0, CAL= 70.0, -7.9, ROT= 80.0, 7.9 2025-01-08T22:03:34.214Z,1736373814.214 [DAT](INFO): got valid direction response: 22:03:32.2895 LVL= 14432, 22001, 16578, 22115, AGC= 67, IDX= 431, 0.10,-0.293,-1.444,-2.307,-1.395, PHS= 1.190,-0.002,-0.914, RAW= 64.4, -3.0, CAL= 70.0, -7.9, ROT= 80.0, 7.9 2025-01-08T22:03:34.217Z,1736373814.217 [DAT](INFO): DAT read: Bearing 80.0, 7.9 (Local) 2025-01-08T22:03:34.218Z,1736373814.218 [DAT](INFO): Local bearing/azimuth received: Bearing 80.0, 7.9 (Local) 2025-01-08T22:03:34.221Z,1736373814.221 [DAT](INFO): DAT read: Range 10 to 50 : 444.3 m (Round-trip 592.5 ms) speed 0.3 m/s 2025-01-08T22:03:34.222Z,1736373814.222 [DAT](INFO): DAT read: user:2261> 2025-01-08T22:03:34.223Z,1736373814.223 [DAT](INFO): DAT read: Tx time:22:03:33.3928 2025-01-08T22:03:34.223Z,1736373814.223 [DAT](INFO): Ping request sent. 2025-01-08T22:03:34.223Z,1736373814.223 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:34.224Z,1736373814.224 [DAT](INFO): DAT read: TxSync time:22:03:33.3920 2025-01-08T22:03:34.224Z,1736373814.224 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:34.225Z,1736373814.225 [DAT](INFO): direction in FSK: [0.018614,0.512300,0.858605] 2025-01-08T22:03:34.226Z,1736373814.226 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:34.226Z,1736373814.226 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:34.234Z,1736373814.234 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:34.234Z,1736373814.234 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:34.448Z,1736373814.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:34.471Z,1736373814.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:34.501Z,1736373814.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 444.299988 m, deltaT: 4.284112 s, deltaX: -0.700012 m, approachRate: -0.163397 m/s, rangeRepo size: 4 2025-01-08T22:03:34.508Z,1736373814.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 444.299988 m, bearing: 55.795373 deg, lat: 36.901924 deg, lon: -122.120026 deg, deltaT: 4.284112 s, deltaX: -0.700012 m, approachRate: -0.163397 m/s, posRepo size: 4 2025-01-08T22:03:34.508Z,1736373814.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.30 m. 2025-01-08T22:03:34.511Z,1736373814.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.299988 m, nav range: 180.078735 m, bearing: 56.176163 deg, approach rate: 0.000000 m/s, LOS rate: 0.199412 deg/s, cmd heading: 324.246483 deg, new cmd heading: 324.518949 deg. 2025-01-08T22:03:34.516Z,1736373814.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663924 target range: 444.299988 and range: 444.30 m. 2025-01-08T22:03:34.704Z,1736373814.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:34.801Z,1736373814.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:34.809Z,1736373814.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:34.811Z,1736373814.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.30 m. 2025-01-08T22:03:34.814Z,1736373814.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.299988 m, nav range: 180.096664 m, bearing: 56.237768 deg, approach rate: 0.057800 m/s, LOS rate: 0.198585 deg/s, cmd heading: 324.518953 deg, new cmd heading: 324.703750 deg. 2025-01-08T22:03:34.814Z,1736373814.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667150 target range: 444.299988 and range: 444.30 m. 2025-01-08T22:03:34.957Z,1736373814.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:34.958Z,1736373814.958 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:34.958Z,1736373814.958 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:34.958Z,1736373814.958 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:35.209Z,1736373815.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:35.212Z,1736373815.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987871 2025-01-08T22:03:35.284Z,1736373815.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:35.293Z,1736373815.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.30 m. 2025-01-08T22:03:35.296Z,1736373815.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.299988 m, nav range: 180.130493 m, bearing: 56.328693 deg, approach rate: 0.070178 m/s, LOS rate: 0.188591 deg/s, cmd heading: 324.703751 deg, new cmd heading: 324.976473 deg. 2025-01-08T22:03:35.297Z,1736373815.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671909 target range: 444.299988 and range: 444.30 m. 2025-01-08T22:03:35.460Z,1736373815.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:35.460Z,1736373815.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237364 2025-01-08T22:03:35.528Z,1736373815.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:03:35.609Z,1736373815.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:35.617Z,1736373815.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.30 m. 2025-01-08T22:03:35.623Z,1736373815.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.299988 m, nav range: 180.151917 m, bearing: 56.389802 deg, approach rate: 0.066015 m/s, LOS rate: 0.188283 deg/s, cmd heading: 324.976467 deg, new cmd heading: 325.159771 deg. 2025-01-08T22:03:35.624Z,1736373815.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675108 target range: 444.299988 and range: 444.30 m. 2025-01-08T22:03:35.713Z,1736373815.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:35.714Z,1736373815.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490494 2025-01-08T22:03:35.964Z,1736373815.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:35.964Z,1736373815.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741264 2025-01-08T22:03:36.025Z,1736373816.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:36.041Z,1736373816.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.30 m. 2025-01-08T22:03:36.048Z,1736373816.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.299988 m, nav range: 180.178375 m, bearing: 56.468085 deg, approach rate: 0.062391 m/s, LOS rate: 0.184566 deg/s, cmd heading: 325.159761 deg, new cmd heading: 325.394572 deg. 2025-01-08T22:03:36.049Z,1736373816.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679207 target range: 444.299988 and range: 444.30 m. 2025-01-08T22:03:36.217Z,1736373816.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:36.220Z,1736373816.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995661 2025-01-08T22:03:36.468Z,1736373816.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:36.469Z,1736373816.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245785 2025-01-08T22:03:36.476Z,1736373816.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:36.489Z,1736373816.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.30 m. 2025-01-08T22:03:36.496Z,1736373816.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.299988 m, nav range: 180.210205 m, bearing: 56.553515 deg, approach rate: 0.071145 m/s, LOS rate: 0.190917 deg/s, cmd heading: 325.394583 deg, new cmd heading: 325.650827 deg. 2025-01-08T22:03:36.497Z,1736373816.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683679 target range: 444.299988 and range: 444.30 m. 2025-01-08T22:03:36.533Z,1736373816.533 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:03:36.720Z,1736373816.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:36.721Z,1736373816.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498064 2025-01-08T22:03:36.820Z,1736373816.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:36.827Z,1736373816.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:36.829Z,1736373816.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.30 m. 2025-01-08T22:03:36.832Z,1736373816.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.299988 m, nav range: 180.233826 m, bearing: 56.618531 deg, approach rate: 0.069388 m/s, LOS rate: 0.190967 deg/s, cmd heading: 325.650825 deg, new cmd heading: 325.845846 deg. 2025-01-08T22:03:36.833Z,1736373816.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687083 target range: 444.299988 and range: 444.30 m. 2025-01-08T22:03:36.972Z,1736373816.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:36.973Z,1736373816.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749427 2025-01-08T22:03:37.226Z,1736373817.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:37.228Z,1736373817.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004662 2025-01-08T22:03:37.319Z,1736373817.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:37.328Z,1736373817.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.30 m. 2025-01-08T22:03:37.330Z,1736373817.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.299988 m, nav range: 180.285645 m, bearing: 56.718409 deg, approach rate: 0.103919 m/s, LOS rate: 0.200240 deg/s, cmd heading: 325.845840 deg, new cmd heading: 326.145385 deg. 2025-01-08T22:03:37.332Z,1736373817.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692311 target range: 444.299988 and range: 444.30 m. 2025-01-08T22:03:37.476Z,1736373817.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:37.476Z,1736373817.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253328 2025-01-08T22:03:37.632Z,1736373817.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:37.641Z,1736373817.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.30 m. 2025-01-08T22:03:37.647Z,1736373817.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.299988 m, nav range: 180.316849 m, bearing: 56.780939 deg, approach rate: 0.099505 m/s, LOS rate: 0.199364 deg/s, cmd heading: 326.145385 deg, new cmd heading: 326.332944 deg. 2025-01-08T22:03:37.649Z,1736373817.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695584 target range: 444.299988 and range: 444.30 m. 2025-01-08T22:03:37.729Z,1736373817.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:37.730Z,1736373817.730 [DAT](INFO): DAT read: Rx Time:22:03:36.3882 2025-01-08T22:03:37.731Z,1736373817.731 [DAT](INFO): Rx dataTimestamp_ set to:1736373817.730263 2025-01-08T22:03:37.732Z,1736373817.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508640 2025-01-08T22:03:37.980Z,1736373817.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:37.980Z,1736373817.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757258 2025-01-08T22:03:38.092Z,1736373818.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:38.111Z,1736373818.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.30 m. 2025-01-08T22:03:38.118Z,1736373818.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 444.299988 m, nav range: 180.360382 m, bearing: 56.868582 deg, approach rate: 0.092749 m/s, LOS rate: 0.186681 deg/s, cmd heading: 326.332942 deg, new cmd heading: 326.595806 deg. 2025-01-08T22:03:38.119Z,1736373818.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700172 target range: 444.299988 and range: 444.30 m. 2025-01-08T22:03:38.234Z,1736373818.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:38.254Z,1736373818.254 [DAT](INFO): DAT read: 22:03:36.3882 LVL= 16816, 28721, 18034, 32067, AGC= 65, IDX= 435, 0.10, 2.726, 1.475, 0.863, 1.696, PHS= 1.118,-0.173,-0.836, RAW= 70.5, -1.3, CAL= 76.1, -5.8, ROT= 73.9, 5.8 2025-01-08T22:03:38.260Z,1736373818.260 [DAT](INFO): got valid direction response: 22:03:36.3882 LVL= 16816, 28721, 18034, 32067, AGC= 65, IDX= 435, 0.10, 2.726, 1.475, 0.863, 1.696, PHS= 1.118,-0.173,-0.836, RAW= 70.5, -1.3, CAL= 76.1, -5.8, ROT= 73.9, 5.8 2025-01-08T22:03:38.261Z,1736373818.261 [DAT](INFO): DAT read: Bearing 73.9, 5.8 (Local) 2025-01-08T22:03:38.261Z,1736373818.261 [DAT](INFO): Local bearing/azimuth received: Bearing 73.9, 5.8 (Local) 2025-01-08T22:03:38.264Z,1736373818.264 [DAT](INFO): DAT read: Range 10 to 50 : 443.4 m (Round-trip 591.3 ms) speed 0.0 m/s 2025-01-08T22:03:38.264Z,1736373818.264 [DAT](INFO): DAT read: user:2262> 2025-01-08T22:03:38.265Z,1736373818.265 [DAT](INFO): DAT read: Tx time:22:03:37.4928 2025-01-08T22:03:38.265Z,1736373818.265 [DAT](INFO): Ping request sent. 2025-01-08T22:03:38.266Z,1736373818.266 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:38.266Z,1736373818.266 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:38.267Z,1736373818.267 [DAT](INFO): direction in FSK: [-0.026088,0.424677,0.904969] 2025-01-08T22:03:38.268Z,1736373818.268 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:38.268Z,1736373818.268 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:38.272Z,1736373818.272 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:38.272Z,1736373818.272 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:38.484Z,1736373818.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:38.485Z,1736373818.485 [DAT](INFO): DAT read: TxSync time:22:03:37.4920 2025-01-08T22:03:38.518Z,1736373818.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:38.549Z,1736373818.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 443.399994 m, deltaT: 4.039517 s, deltaX: -0.899994 m, approachRate: -0.222797 m/s, rangeRepo size: 4 2025-01-08T22:03:38.563Z,1736373818.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 443.399994 m, bearing: 67.714601 deg, lat: 36.901924 deg, lon: -122.120026 deg, deltaT: 4.039517 s, deltaX: -0.899994 m, approachRate: -0.222797 m/s, posRepo size: 4 2025-01-08T22:03:38.568Z,1736373818.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.40 m. 2025-01-08T22:03:38.571Z,1736373818.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 443.399994 m, nav range: 180.413589 m, bearing: 56.960503 deg, approach rate: 0.000000 m/s, LOS rate: 0.186681 deg/s, cmd heading: 326.595795 deg, new cmd heading: 326.840877 deg. 2025-01-08T22:03:38.572Z,1736373818.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704450 target range: 443.399994 and range: 443.40 m. 2025-01-08T22:03:38.736Z,1736373818.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:38.841Z,1736373818.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:38.848Z,1736373818.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:38.850Z,1736373818.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.40 m. 2025-01-08T22:03:38.853Z,1736373818.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 443.399994 m, nav range: 180.451248 m, bearing: 57.026820 deg, approach rate: 0.125010 m/s, LOS rate: 0.220097 deg/s, cmd heading: 326.840890 deg, new cmd heading: 327.039798 deg. 2025-01-08T22:03:38.854Z,1736373818.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707922 target range: 443.399994 and range: 443.40 m. 2025-01-08T22:03:38.988Z,1736373818.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:38.989Z,1736373818.989 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:38.989Z,1736373818.989 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:38.989Z,1736373818.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:39.241Z,1736373819.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:39.244Z,1736373819.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977988 2025-01-08T22:03:39.344Z,1736373819.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:39.357Z,1736373819.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.40 m. 2025-01-08T22:03:39.364Z,1736373819.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 443.399994 m, nav range: 180.520813 m, bearing: 57.135661 deg, approach rate: 0.137189 m/s, LOS rate: 0.214562 deg/s, cmd heading: 327.039812 deg, new cmd heading: 327.366205 deg. 2025-01-08T22:03:39.365Z,1736373819.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713618 target range: 443.399994 and range: 443.40 m. 2025-01-08T22:03:39.493Z,1736373819.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:39.494Z,1736373819.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228366 2025-01-08T22:03:39.659Z,1736373819.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:39.686Z,1736373819.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.40 m. 2025-01-08T22:03:39.700Z,1736373819.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 443.399994 m, nav range: 180.564484 m, bearing: 57.203599 deg, approach rate: 0.132838 m/s, LOS rate: 0.206604 deg/s, cmd heading: 327.366213 deg, new cmd heading: 327.569977 deg. 2025-01-08T22:03:39.701Z,1736373819.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717175 target range: 443.399994 and range: 443.40 m. 2025-01-08T22:03:39.744Z,1736373819.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:39.744Z,1736373819.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478854 2025-01-08T22:03:39.996Z,1736373819.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:39.996Z,1736373819.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730805 2025-01-08T22:03:40.067Z,1736373820.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:40.089Z,1736373820.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.40 m. 2025-01-08T22:03:40.092Z,1736373820.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 443.399994 m, nav range: 180.620758 m, bearing: 57.291845 deg, approach rate: 0.139426 m/s, LOS rate: 0.218573 deg/s, cmd heading: 327.569971 deg, new cmd heading: 327.834627 deg. 2025-01-08T22:03:40.093Z,1736373820.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721794 target range: 443.399994 and range: 443.40 m. 2025-01-08T22:03:40.250Z,1736373820.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:40.252Z,1736373820.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986311 2025-01-08T22:03:40.492Z,1736373820.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:40.500Z,1736373820.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:40.502Z,1736373820.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235971 2025-01-08T22:03:40.512Z,1736373820.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.40 m. 2025-01-08T22:03:40.515Z,1736373820.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 443.399994 m, nav range: 180.687210 m, bearing: 57.384271 deg, approach rate: 0.157363 m/s, LOS rate: 0.218791 deg/s, cmd heading: 327.834627 deg, new cmd heading: 328.111801 deg. 2025-01-08T22:03:40.516Z,1736373820.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726631 target range: 443.399994 and range: 443.40 m. 2025-01-08T22:03:40.752Z,1736373820.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:40.752Z,1736373820.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486850 2025-01-08T22:03:40.860Z,1736373820.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:40.867Z,1736373820.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:40.881Z,1736373820.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.40 m. 2025-01-08T22:03:40.888Z,1736373820.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 443.399994 m, nav range: 180.744232 m, bearing: 57.464368 deg, approach rate: 0.154362 m/s, LOS rate: 0.216757 deg/s, cmd heading: 328.111797 deg, new cmd heading: 328.352009 deg. 2025-01-08T22:03:40.889Z,1736373820.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730824 target range: 443.399994 and range: 443.40 m. 2025-01-08T22:03:41.005Z,1736373821.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:41.006Z,1736373821.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740098 2025-01-08T22:03:41.258Z,1736373821.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:41.260Z,1736373821.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994177 2025-01-08T22:03:41.398Z,1736373821.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:41.430Z,1736373821.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.40 m. 2025-01-08T22:03:41.437Z,1736373821.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 443.399994 m, nav range: 180.826950 m, bearing: 57.586621 deg, approach rate: 0.150666 m/s, LOS rate: 0.222576 deg/s, cmd heading: 328.352001 deg, new cmd heading: 328.718588 deg. 2025-01-08T22:03:41.438Z,1736373821.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737222 target range: 443.399994 and range: 443.40 m. 2025-01-08T22:03:41.508Z,1736373821.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:41.509Z,1736373821.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242884 2025-01-08T22:03:41.741Z,1736373821.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:41.750Z,1736373821.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.40 m. 2025-01-08T22:03:41.760Z,1736373821.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:41.761Z,1736373821.761 [DAT](INFO): DAT read: Rx Time:22:03:40.5011 2025-01-08T22:03:41.761Z,1736373821.761 [DAT](INFO): Rx dataTimestamp_ set to:1736373821.760813 2025-01-08T22:03:41.762Z,1736373821.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496004 2025-01-08T22:03:41.773Z,1736373821.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 443.399994 m, nav range: 180.878174 m, bearing: 57.664571 deg, approach rate: 0.160095 m/s, LOS rate: 0.243556 deg/s, cmd heading: 328.718591 deg, new cmd heading: 328.952373 deg. 2025-01-08T22:03:41.774Z,1736373821.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741302 target range: 443.399994 and range: 443.40 m. 2025-01-08T22:03:42.012Z,1736373822.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:42.012Z,1736373822.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746749 2025-01-08T22:03:42.146Z,1736373822.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:42.177Z,1736373822.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.40 m. 2025-01-08T22:03:42.206Z,1736373822.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 443.399994 m, nav range: 180.937561 m, bearing: 57.756486 deg, approach rate: 0.139769 m/s, LOS rate: 0.216253 deg/s, cmd heading: 328.952374 deg, new cmd heading: 329.228026 deg. 2025-01-08T22:03:42.213Z,1736373822.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746113 target range: 443.399994 and range: 443.40 m. 2025-01-08T22:03:42.266Z,1736373822.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:42.288Z,1736373822.288 [DAT](INFO): DAT read: 22:03:40.5011 LVL= 15632, 30865, 27186, 28627, AGC= 69, IDX= 53, 0.20, 2.568, 1.133, 0.600, 1.403, PHS= 1.253,-0.223,-0.806, RAW= 74.1, -2.5, CAL= 80.9, -7.8, ROT= 69.1, 7.8 2025-01-08T22:03:42.351Z,1736373822.351 [DAT](INFO): got valid direction response: 22:03:40.5011 LVL= 15632, 30865, 27186, 28627, AGC= 69, IDX= 53, 0.20, 2.568, 1.133, 0.600, 1.403, PHS= 1.253,-0.223,-0.806, RAW= 74.1, -2.5, CAL= 80.9, -7.8, ROT= 69.1, 7.8 2025-01-08T22:03:42.352Z,1736373822.352 [DAT](INFO): DAT read: Bearing 69.1, 7.8 (Local) 2025-01-08T22:03:42.353Z,1736373822.353 [DAT](INFO): Local bearing/azimuth received: Bearing 69.1, 7.8 (Local) 2025-01-08T22:03:42.367Z,1736373822.367 [DAT](INFO): DAT read: Range 10 to 50 : 453.0 m (Round-trip 604.1 ms) speed 0.0 m/s 2025-01-08T22:03:42.368Z,1736373822.368 [DAT](INFO): DAT read: user:2263> 2025-01-08T22:03:42.370Z,1736373822.370 [DAT](INFO): DAT read: Tx time:22:03:41.5929 2025-01-08T22:03:42.370Z,1736373822.370 [DAT](INFO): Ping request sent. 2025-01-08T22:03:42.370Z,1736373822.370 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:42.390Z,1736373822.390 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:42.405Z,1736373822.405 [DAT](INFO): direction in FSK: [-0.010532,0.368687,0.929494] 2025-01-08T22:03:42.405Z,1736373822.405 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:42.405Z,1736373822.405 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:42.414Z,1736373822.414 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:42.414Z,1736373822.414 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:42.519Z,1736373822.519 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:42.519Z,1736373822.519 [DAT](INFO): DAT read: TxSync time:22:03:41.5921 2025-01-08T22:03:42.654Z,1736373822.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:42.698Z,1736373822.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 453.000000 m, deltaT: 4.030751 s, deltaX: 9.600006 m, approachRate: 2.381692 m/s, rangeRepo size: 4 2025-01-08T22:03:42.706Z,1736373822.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 453.000000 m, bearing: 70.459867 deg, lat: 36.901830 deg, lon: -122.120223 deg, deltaT: 4.030751 s, deltaX: 9.600006 m, approachRate: 2.381692 m/s, posRepo size: 4 2025-01-08T22:03:42.706Z,1736373822.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T22:03:42.713Z,1736373822.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 160.637939 m, bearing: 57.704940 deg, approach rate: 0.000000 m/s, LOS rate: 0.216253 deg/s, cmd heading: 329.228013 deg, new cmd heading: 329.567009 deg. 2025-01-08T22:03:42.714Z,1736373822.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752029 target range: 453.000000 and range: 453.00 m. 2025-01-08T22:03:42.773Z,1736373822.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:43.000Z,1736373823.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:43.009Z,1736373823.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:43.011Z,1736373823.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T22:03:43.013Z,1736373823.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 160.685226 m, bearing: 57.792201 deg, approach rate: 0.150860 m/s, LOS rate: 0.278307 deg/s, cmd heading: 329.567009 deg, new cmd heading: 329.828713 deg. 2025-01-08T22:03:43.014Z,1736373823.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756597 target range: 453.000000 and range: 453.00 m. 2025-01-08T22:03:43.036Z,1736373823.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:43.037Z,1736373823.037 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:43.037Z,1736373823.037 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:43.038Z,1736373823.038 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:43.290Z,1736373823.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:43.292Z,1736373823.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.921102 2025-01-08T22:03:43.422Z,1736373823.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:43.430Z,1736373823.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T22:03:43.453Z,1736373823.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 160.733047 m, bearing: 57.896977 deg, approach rate: 0.113939 m/s, LOS rate: 0.249565 deg/s, cmd heading: 329.828715 deg, new cmd heading: 330.142945 deg. 2025-01-08T22:03:43.455Z,1736373823.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762082 target range: 453.000000 and range: 453.00 m. 2025-01-08T22:03:43.542Z,1736373823.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:43.543Z,1736373823.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.172397 2025-01-08T22:03:43.796Z,1736373823.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:43.796Z,1736373823.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.425940 2025-01-08T22:03:43.809Z,1736373823.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:43.817Z,1736373823.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T22:03:43.821Z,1736373823.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 160.775726 m, bearing: 57.993130 deg, approach rate: 0.110325 m/s, LOS rate: 0.248490 deg/s, cmd heading: 330.142958 deg, new cmd heading: 330.431339 deg. 2025-01-08T22:03:43.822Z,1736373823.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767115 target range: 453.000000 and range: 453.00 m. 2025-01-08T22:03:44.048Z,1736373824.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:44.048Z,1736373824.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.677932 2025-01-08T22:03:44.302Z,1736373824.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:44.305Z,1736373824.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.934062 2025-01-08T22:03:44.376Z,1736373824.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:44.390Z,1736373824.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T22:03:44.395Z,1736373824.395 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:03:44.398Z,1736373824.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 160.835938 m, bearing: 58.134195 deg, approach rate: 0.105108 m/s, LOS rate: 0.246156 deg/s, cmd heading: 330.431329 deg, new cmd heading: 330.854355 deg. 2025-01-08T22:03:44.399Z,1736373824.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774498 target range: 453.000000 and range: 453.00 m. 2025-01-08T22:03:44.552Z,1736373824.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:44.552Z,1736373824.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.181998 2025-01-08T22:03:44.724Z,1736373824.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:44.732Z,1736373824.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T22:03:44.735Z,1736373824.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 160.864456 m, bearing: 58.218530 deg, approach rate: 0.083339 m/s, LOS rate: 0.246406 deg/s, cmd heading: 330.854363 deg, new cmd heading: 331.107323 deg. 2025-01-08T22:03:44.736Z,1736373824.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778913 target range: 453.000000 and range: 453.00 m. 2025-01-08T22:03:44.804Z,1736373824.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:44.805Z,1736373824.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434645 2025-01-08T22:03:45.056Z,1736373825.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:45.056Z,1736373825.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.686052 2025-01-08T22:03:45.101Z,1736373825.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:45.108Z,1736373825.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:45.110Z,1736373825.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T22:03:45.113Z,1736373825.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 160.894470 m, bearing: 58.309991 deg, approach rate: 0.079409 m/s, LOS rate: 0.241936 deg/s, cmd heading: 331.107326 deg, new cmd heading: 331.381656 deg. 2025-01-08T22:03:45.114Z,1736373825.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783701 target range: 453.000000 and range: 453.00 m. 2025-01-08T22:03:45.310Z,1736373825.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:45.328Z,1736373825.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957503 2025-01-08T22:03:45.560Z,1736373825.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:45.560Z,1736373825.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.190101 2025-01-08T22:03:45.563Z,1736373825.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:45.572Z,1736373825.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T22:03:45.575Z,1736373825.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 160.922897 m, bearing: 58.416862 deg, approach rate: 0.061566 m/s, LOS rate: 0.231415 deg/s, cmd heading: 331.381654 deg, new cmd heading: 331.702206 deg. 2025-01-08T22:03:45.576Z,1736373825.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789296 target range: 453.000000 and range: 453.00 m. 2025-01-08T22:03:45.812Z,1736373825.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:45.812Z,1736373825.812 [DAT](INFO): DAT read: Rx Time:22:03:44.5875 2025-01-08T22:03:45.813Z,1736373825.813 [DAT](INFO): Rx dataTimestamp_ set to:1736373825.812669 2025-01-08T22:03:45.813Z,1736373825.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443099 2025-01-08T22:03:45.915Z,1736373825.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:45.924Z,1736373825.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.00 m. 2025-01-08T22:03:45.927Z,1736373825.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 453.000000 m, nav range: 160.944977 m, bearing: 58.498401 deg, approach rate: 0.062655 m/s, LOS rate: 0.231353 deg/s, cmd heading: 331.702208 deg, new cmd heading: 331.946792 deg. 2025-01-08T22:03:45.928Z,1736373825.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793564 target range: 453.000000 and range: 453.00 m. 2025-01-08T22:03:46.064Z,1736373826.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:46.064Z,1736373826.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.694071 2025-01-08T22:03:46.333Z,1736373826.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:46.380Z,1736373826.380 [DAT](INFO): DAT read: 22:03:44.5875 LVL= 16240, 29121, 18194, 24931, AGC= 70, IDX= 299, 0.16,-0.225,-1.705,-1.896,-1.254, PHS= 1.117,-0.404,-0.645, RAW= 82.8, -0.8, CAL= 89.7, -5.7, ROT= 60.3, 5.7 2025-01-08T22:03:46.381Z,1736373826.381 [DAT](INFO): got valid direction response: 22:03:44.5875 LVL= 16240, 29121, 18194, 24931, AGC= 70, IDX= 299, 0.16,-0.225,-1.705,-1.896,-1.254, PHS= 1.117,-0.404,-0.645, RAW= 82.8, -0.8, CAL= 89.7, -5.7, ROT= 60.3, 5.7 2025-01-08T22:03:46.382Z,1736373826.382 [DAT](INFO): DAT read: Bearing 60.3, 5.7 (Local) 2025-01-08T22:03:46.382Z,1736373826.382 [DAT](INFO): Local bearing/azimuth received: Bearing 60.3, 5.7 (Local) 2025-01-08T22:03:46.396Z,1736373826.396 [DAT](INFO): DAT read: Range 10 to 50 : 442.8 m (Round-trip 590.5 ms) speed 0.3 m/s 2025-01-08T22:03:46.397Z,1736373826.397 [DAT](INFO): DAT read: user:2264> 2025-01-08T22:03:46.397Z,1736373826.397 [DAT](INFO): DAT read: Tx time:22:03:45.6929 2025-01-08T22:03:46.398Z,1736373826.398 [DAT](INFO): Ping request sent. 2025-01-08T22:03:46.398Z,1736373826.398 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:46.398Z,1736373826.398 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:46.399Z,1736373826.399 [DAT](INFO): direction in FSK: [-0.057116,0.229862,0.971546] 2025-01-08T22:03:46.407Z,1736373826.407 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:46.408Z,1736373826.408 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:46.411Z,1736373826.411 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:46.411Z,1736373826.411 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:46.474Z,1736373826.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:46.554Z,1736373826.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 442.799988 m, deltaT: 4.067412 s, deltaX: -10.200012 m, approachRate: -2.507740 m/s, rangeRepo size: 4 2025-01-08T22:03:46.573Z,1736373826.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 442.799988 m, bearing: 120.684497 deg, lat: 36.901461 deg, lon: -122.120438 deg, deltaT: 4.067412 s, deltaX: -10.200012 m, approachRate: -2.507740 m/s, posRepo size: 4 2025-01-08T22:03:46.574Z,1736373826.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.80 m. 2025-01-08T22:03:46.580Z,1736373826.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.799988 m, nav range: 125.786606 m, bearing: 70.086809 deg, approach rate: 0.000000 m/s, LOS rate: 0.231353 deg/s, cmd heading: 331.946784 deg, new cmd heading: 332.381226 deg. 2025-01-08T22:03:46.581Z,1736373826.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801147 target range: 442.799988 and range: 442.80 m. 2025-01-08T22:03:46.584Z,1736373826.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:46.585Z,1736373826.585 [DAT](INFO): DAT read: TxSync time:22:03:45.6921 2025-01-08T22:03:46.836Z,1736373826.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:47.023Z,1736373827.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:47.032Z,1736373827.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.80 m. 2025-01-08T22:03:47.034Z,1736373827.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.799988 m, nav range: 125.873016 m, bearing: 70.241304 deg, approach rate: 0.179622 m/s, LOS rate: 0.320927 deg/s, cmd heading: 332.381239 deg, new cmd heading: 332.844394 deg. 2025-01-08T22:03:47.036Z,1736373827.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809230 target range: 442.799988 and range: 442.80 m. 2025-01-08T22:03:47.088Z,1736373827.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:47.341Z,1736373827.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:47.451Z,1736373827.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:47.458Z,1736373827.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:47.460Z,1736373827.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.80 m. 2025-01-08T22:03:47.463Z,1736373827.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.799988 m, nav range: 125.935768 m, bearing: 70.357134 deg, approach rate: 0.146391 m/s, LOS rate: 0.270080 deg/s, cmd heading: 332.844380 deg, new cmd heading: 333.191693 deg. 2025-01-08T22:03:47.480Z,1736373827.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815292 target range: 442.799988 and range: 442.80 m. 2025-01-08T22:03:47.592Z,1736373827.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:47.592Z,1736373827.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:47.592Z,1736373827.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:47.593Z,1736373827.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:47.844Z,1736373827.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:47.845Z,1736373827.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447303 2025-01-08T22:03:47.878Z,1736373827.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:47.898Z,1736373827.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.80 m. 2025-01-08T22:03:47.906Z,1736373827.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.799988 m, nav range: 125.998497 m, bearing: 70.472744 deg, approach rate: 0.143120 m/s, LOS rate: 0.263639 deg/s, cmd heading: 333.191681 deg, new cmd heading: 333.538333 deg. 2025-01-08T22:03:47.907Z,1736373827.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821342 target range: 442.799988 and range: 442.80 m. 2025-01-08T22:03:48.097Z,1736373828.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:48.098Z,1736373828.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699755 2025-01-08T22:03:48.310Z,1736373828.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:48.323Z,1736373828.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.80 m. 2025-01-08T22:03:48.330Z,1736373828.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.799988 m, nav range: 126.060837 m, bearing: 70.589753 deg, approach rate: 0.146868 m/s, LOS rate: 0.275530 deg/s, cmd heading: 333.538327 deg, new cmd heading: 333.889178 deg. 2025-01-08T22:03:48.331Z,1736373828.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827466 target range: 442.799988 and range: 442.80 m. 2025-01-08T22:03:48.358Z,1736373828.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:48.360Z,1736373828.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961764 2025-01-08T22:03:48.608Z,1736373828.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:48.608Z,1736373828.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210678 2025-01-08T22:03:48.727Z,1736373828.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:48.736Z,1736373828.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.80 m. 2025-01-08T22:03:48.739Z,1736373828.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.799988 m, nav range: 126.117516 m, bearing: 70.699977 deg, approach rate: 0.137432 m/s, LOS rate: 0.267144 deg/s, cmd heading: 333.889180 deg, new cmd heading: 334.219698 deg. 2025-01-08T22:03:48.740Z,1736373828.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833234 target range: 442.799988 and range: 442.80 m. 2025-01-08T22:03:48.860Z,1736373828.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:48.862Z,1736373828.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463627 2025-01-08T22:03:49.112Z,1736373829.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:49.113Z,1736373829.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714783 2025-01-08T22:03:49.118Z,1736373829.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:49.127Z,1736373829.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.80 m. 2025-01-08T22:03:49.130Z,1736373829.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.799988 m, nav range: 126.169662 m, bearing: 70.803299 deg, approach rate: 0.133153 m/s, LOS rate: 0.263716 deg/s, cmd heading: 334.219707 deg, new cmd heading: 334.529543 deg. 2025-01-08T22:03:49.131Z,1736373829.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838642 target range: 442.799988 and range: 442.80 m. 2025-01-08T22:03:49.364Z,1736373829.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:49.367Z,1736373829.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968208 2025-01-08T22:03:49.530Z,1736373829.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:49.565Z,1736373829.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:49.567Z,1736373829.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.80 m. 2025-01-08T22:03:49.574Z,1736373829.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.799988 m, nav range: 126.224815 m, bearing: 70.914164 deg, approach rate: 0.125356 m/s, LOS rate: 0.251872 deg/s, cmd heading: 334.529552 deg, new cmd heading: 334.861997 deg. 2025-01-08T22:03:49.575Z,1736373829.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844444 target range: 442.799988 and range: 442.80 m. 2025-01-08T22:03:49.617Z,1736373829.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:49.619Z,1736373829.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220778 2025-01-08T22:03:49.868Z,1736373829.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:49.869Z,1736373829.869 [DAT](INFO): DAT read: Rx Time:22:03:48.6858 2025-01-08T22:03:49.869Z,1736373829.869 [DAT](INFO): Rx dataTimestamp_ set to:1736373829.868689 2025-01-08T22:03:49.869Z,1736373829.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471792 2025-01-08T22:03:49.929Z,1736373829.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:49.946Z,1736373829.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.80 m. 2025-01-08T22:03:49.954Z,1736373829.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.799988 m, nav range: 126.277046 m, bearing: 71.021269 deg, approach rate: 0.137681 m/s, LOS rate: 0.282214 deg/s, cmd heading: 334.861991 deg, new cmd heading: 335.183170 deg. 2025-01-08T22:03:49.960Z,1736373829.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850050 target range: 442.799988 and range: 442.80 m. 2025-01-08T22:03:50.120Z,1736373830.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:50.121Z,1736373830.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.723398 2025-01-08T22:03:50.345Z,1736373830.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:50.383Z,1736373830.383 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:50.438Z,1736373830.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.80 m. 2025-01-08T22:03:50.443Z,1736373830.443 [DAT](INFO): DAT read: 22:03:48.6859 LVL= 17360, 32753, 22738, 32755, AGC= 66, IDX= 425,-0.24,-2.361, 2.325, 2.260, 2.809, PHS= 1.201,-0.437,-0.552, RAW= 86.6, -2.5, CAL= 94.5, -8.5, ROT= 55.5, 8.5 2025-01-08T22:03:50.445Z,1736373830.445 [DAT](INFO): got valid direction response: 22:03:48.6859 LVL= 17360, 32753, 22738, 32755, AGC= 66, IDX= 425,-0.24,-2.361, 2.325, 2.260, 2.809, PHS= 1.201,-0.437,-0.552, RAW= 86.6, -2.5, CAL= 94.5, -8.5, ROT= 55.5, 8.5 2025-01-08T22:03:50.446Z,1736373830.446 [DAT](INFO): DAT read: Bearing 55.5, 8.5 (Local) 2025-01-08T22:03:50.446Z,1736373830.446 [DAT](INFO): Local bearing/azimuth received: Bearing 55.5, 8.5 (Local) 2025-01-08T22:03:50.456Z,1736373830.456 [DAT](INFO): DAT read: Range 10 to 50 : 441.5 m (Round-trip 588.7 ms) speed 0.2 m/s 2025-01-08T22:03:50.457Z,1736373830.457 [DAT](INFO): DAT read: user:2265> 2025-01-08T22:03:50.458Z,1736373830.458 [DAT](INFO): DAT read: Tx time:22:03:49.7930 2025-01-08T22:03:50.458Z,1736373830.458 [DAT](INFO): Ping request sent. 2025-01-08T22:03:50.458Z,1736373830.458 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:50.459Z,1736373830.459 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:50.460Z,1736373830.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.799988 m, nav range: 126.328651 m, bearing: 71.129333 deg, approach rate: 0.104911 m/s, LOS rate: 0.219598 deg/s, cmd heading: 335.183173 deg, new cmd heading: 335.507227 deg. 2025-01-08T22:03:50.461Z,1736373830.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855706 target range: 442.799988 and range: 442.80 m. 2025-01-08T22:03:50.468Z,1736373830.468 [DAT](INFO): direction in FSK: [-0.031486,0.162645,0.986182] 2025-01-08T22:03:50.468Z,1736373830.468 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:50.468Z,1736373830.468 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:50.481Z,1736373830.481 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:50.481Z,1736373830.481 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:50.633Z,1736373830.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:50.638Z,1736373830.638 [DAT](INFO): DAT read: TxSync time:22:03:49.7922 2025-01-08T22:03:50.804Z,1736373830.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:50.831Z,1736373830.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 441.500000 m, deltaT: 4.049991 s, deltaX: -1.299988 m, approachRate: -0.320985 m/s, rangeRepo size: 4 2025-01-08T22:03:50.838Z,1736373830.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 441.500000 m, bearing: 165.246588 deg, lat: 36.901346 deg, lon: -122.120736 deg, deltaT: 4.049991 s, deltaX: -1.299988 m, approachRate: -0.320985 m/s, posRepo size: 4 2025-01-08T22:03:50.839Z,1736373830.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T22:03:50.852Z,1736373830.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 97.312675 m, bearing: 73.421719 deg, approach rate: 0.000000 m/s, LOS rate: 0.219598 deg/s, cmd heading: 335.507225 deg, new cmd heading: 335.765502 deg. 2025-01-08T22:03:50.853Z,1736373830.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860214 target range: 441.500000 and range: 441.50 m. 2025-01-08T22:03:50.885Z,1736373830.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:51.136Z,1736373831.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:51.154Z,1736373831.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:51.163Z,1736373831.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T22:03:51.166Z,1736373831.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 97.371445 m, bearing: 73.544837 deg, approach rate: 0.176788 m/s, LOS rate: 0.370138 deg/s, cmd heading: 335.765515 deg, new cmd heading: 336.134643 deg. 2025-01-08T22:03:51.167Z,1736373831.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866656 target range: 441.500000 and range: 441.50 m. 2025-01-08T22:03:51.388Z,1736373831.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:51.586Z,1736373831.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:51.597Z,1736373831.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:51.599Z,1736373831.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T22:03:51.614Z,1736373831.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 97.448349 m, bearing: 73.695915 deg, approach rate: 0.176366 m/s, LOS rate: 0.346195 deg/s, cmd heading: 336.134646 deg, new cmd heading: 336.587510 deg. 2025-01-08T22:03:51.615Z,1736373831.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874560 target range: 441.500000 and range: 441.50 m. 2025-01-08T22:03:51.640Z,1736373831.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:51.640Z,1736373831.640 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:51.640Z,1736373831.640 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:51.641Z,1736373831.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:51.892Z,1736373831.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:51.893Z,1736373831.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.434331 2025-01-08T22:03:51.964Z,1736373831.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:51.973Z,1736373831.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T22:03:51.976Z,1736373831.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 97.514503 m, bearing: 73.828154 deg, approach rate: 0.176634 m/s, LOS rate: 0.352841 deg/s, cmd heading: 336.587515 deg, new cmd heading: 336.983956 deg. 2025-01-08T22:03:51.977Z,1736373831.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881480 target range: 441.500000 and range: 441.50 m. 2025-01-08T22:03:52.144Z,1736373832.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:52.144Z,1736373832.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.686060 2025-01-08T22:03:52.363Z,1736373832.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:52.373Z,1736373832.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T22:03:52.397Z,1736373832.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:52.400Z,1736373832.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940762 2025-01-08T22:03:52.428Z,1736373832.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 97.583023 m, bearing: 73.968058 deg, approach rate: 0.171422 m/s, LOS rate: 0.349768 deg/s, cmd heading: 336.983966 deg, new cmd heading: 337.403379 deg. 2025-01-08T22:03:52.450Z,1736373832.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888800 target range: 441.500000 and range: 441.50 m. 2025-01-08T22:03:52.649Z,1736373832.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:52.650Z,1736373832.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191041 2025-01-08T22:03:52.810Z,1736373832.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:52.826Z,1736373832.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T22:03:52.829Z,1736373832.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 97.666306 m, bearing: 74.123787 deg, approach rate: 0.183836 m/s, LOS rate: 0.343458 deg/s, cmd heading: 337.403367 deg, new cmd heading: 337.870144 deg. 2025-01-08T22:03:52.830Z,1736373832.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896946 target range: 441.500000 and range: 441.50 m. 2025-01-08T22:03:52.900Z,1736373832.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:52.902Z,1736373832.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443180 2025-01-08T22:03:53.152Z,1736373833.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:53.152Z,1736373833.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694047 2025-01-08T22:03:53.174Z,1736373833.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:53.203Z,1736373833.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T22:03:53.216Z,1736373833.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 97.731651 m, bearing: 74.250895 deg, approach rate: 0.173355 m/s, LOS rate: 0.336977 deg/s, cmd heading: 337.870142 deg, new cmd heading: 338.251205 deg. 2025-01-08T22:03:53.217Z,1736373833.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903597 target range: 441.500000 and range: 441.50 m. 2025-01-08T22:03:53.404Z,1736373833.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:53.405Z,1736373833.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.946724 2025-01-08T22:03:53.618Z,1736373833.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:53.637Z,1736373833.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:53.643Z,1736373833.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T22:03:53.653Z,1736373833.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 97.815063 m, bearing: 74.409957 deg, approach rate: 0.191221 m/s, LOS rate: 0.364335 deg/s, cmd heading: 338.251212 deg, new cmd heading: 338.727979 deg. 2025-01-08T22:03:53.654Z,1736373833.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911919 target range: 441.500000 and range: 441.50 m. 2025-01-08T22:03:53.657Z,1736373833.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:53.659Z,1736373833.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.199681 2025-01-08T22:03:53.908Z,1736373833.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:53.909Z,1736373833.909 [DAT](INFO): DAT read: Rx Time:22:03:52.7846 2025-01-08T22:03:53.910Z,1736373833.910 [DAT](INFO): Rx dataTimestamp_ set to:1736373833.909358 2025-01-08T22:03:53.910Z,1736373833.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451805 2025-01-08T22:03:53.986Z,1736373833.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:53.996Z,1736373833.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T22:03:53.999Z,1736373833.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 97.883926 m, bearing: 74.541957 deg, approach rate: 0.192894 m/s, LOS rate: 0.369491 deg/s, cmd heading: 338.727987 deg, new cmd heading: 339.123704 deg. 2025-01-08T22:03:54.005Z,1736373834.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918825 target range: 441.500000 and range: 441.50 m. 2025-01-08T22:03:54.160Z,1736373834.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:54.161Z,1736373834.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.702182 2025-01-08T22:03:54.406Z,1736373834.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:54.414Z,1736373834.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:54.414Z,1736373834.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.956128 2025-01-08T22:03:54.423Z,1736373834.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.50 m. 2025-01-08T22:03:54.496Z,1736373834.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.500000 m, nav range: 97.962952 m, bearing: 74.692028 deg, approach rate: 0.185165 m/s, LOS rate: 0.351347 deg/s, cmd heading: 339.123701 deg, new cmd heading: 339.573539 deg. 2025-01-08T22:03:54.498Z,1736373834.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926676 target range: 441.500000 and range: 441.50 m. 2025-01-08T22:03:54.668Z,1736373834.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:54.680Z,1736373834.680 [DAT](INFO): DAT read: 22:03:52.7846 LVL= 16816, 32753, 21618, 30323, AGC= 64, IDX= 428, 0.10, 1.973, 0.311, 0.251, 0.861, PHS= 1.200,-0.503,-0.613, RAW= 86.9, -1.0, CAL= 94.3, -5.9, ROT= 55.7, 5.9 2025-01-08T22:03:54.681Z,1736373834.681 [DAT](INFO): got valid direction response: 22:03:52.7846 LVL= 16816, 32753, 21618, 30323, AGC= 64, IDX= 428, 0.10, 1.973, 0.311, 0.251, 0.861, PHS= 1.200,-0.503,-0.613, RAW= 86.9, -1.0, CAL= 94.3, -5.9, ROT= 55.7, 5.9 2025-01-08T22:03:54.684Z,1736373834.684 [DAT](INFO): DAT read: Bearing 55.7, 5.9 (Local) 2025-01-08T22:03:54.685Z,1736373834.685 [DAT](INFO): Local bearing/azimuth received: Bearing 55.7, 5.9 (Local) 2025-01-08T22:03:54.688Z,1736373834.688 [DAT](INFO): DAT read: Range 10 to 50 : 440.6 m (Round-trip 587.5 ms) speed 0.0 m/s 2025-01-08T22:03:54.689Z,1736373834.689 [DAT](INFO): DAT read: user:2266> 2025-01-08T22:03:54.690Z,1736373834.690 [DAT](INFO): DAT read: Tx time:22:03:53.8930 2025-01-08T22:03:54.690Z,1736373834.690 [DAT](INFO): Ping request sent. 2025-01-08T22:03:54.690Z,1736373834.690 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:03:54.691Z,1736373834.691 [DAT](INFO): DAT read: TxSync time:22:03:53.8922 2025-01-08T22:03:54.691Z,1736373834.691 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:03:54.692Z,1736373834.692 [DAT](INFO): direction in FSK: [-0.061640,0.159878,0.985210] 2025-01-08T22:03:54.693Z,1736373834.693 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:54.693Z,1736373834.693 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:54.696Z,1736373834.696 [DAT](INFO): publishing transmit ping time 2025-01-08T22:03:54.696Z,1736373834.696 [DAT](INFO): publishing direction and range info 2025-01-08T22:03:54.905Z,1736373834.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:54.920Z,1736373834.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:54.943Z,1736373834.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 440.600006 m, deltaT: 4.284544 s, deltaX: -0.899994 m, approachRate: -0.210056 m/s, rangeRepo size: 4 2025-01-08T22:03:54.945Z,1736373834.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 440.600006 m, bearing: 171.733891 deg, lat: 36.900845 deg, lon: -122.121281 deg, deltaT: 4.284544 s, deltaX: -0.899994 m, approachRate: -0.210056 m/s, posRepo size: 4 2025-01-08T22:03:54.946Z,1736373834.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:54.954Z,1736373834.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 55.102310 m, bearing: 123.129020 deg, approach rate: 0.000000 m/s, LOS rate: 0.351347 deg/s, cmd heading: 339.573537 deg, new cmd heading: 340.117168 deg. 2025-01-08T22:03:54.967Z,1736373834.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936164 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:55.172Z,1736373835.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:55.208Z,1736373835.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:55.217Z,1736373835.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:55.219Z,1736373835.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 55.281361 m, bearing: 123.215840 deg, approach rate: 0.644275 m/s, LOS rate: 0.311393 deg/s, cmd heading: 340.117165 deg, new cmd heading: 340.376781 deg. 2025-01-08T22:03:55.221Z,1736373835.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940696 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:55.424Z,1736373835.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:55.672Z,1736373835.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:55.676Z,1736373835.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:55.689Z,1736373835.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:55.691Z,1736373835.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:55.705Z,1736373835.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 55.540665 m, bearing: 123.346669 deg, approach rate: 0.546873 m/s, LOS rate: 0.274631 deg/s, cmd heading: 340.376795 deg, new cmd heading: 340.767444 deg. 2025-01-08T22:03:55.712Z,1736373835.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947514 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:55.930Z,1736373835.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:55.932Z,1736373835.932 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:55.932Z,1736373835.932 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:55.932Z,1736373835.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:03:56.038Z,1736373836.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:56.061Z,1736373836.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:56.076Z,1736373836.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 55.771236 m, bearing: 123.463528 deg, approach rate: 0.623271 m/s, LOS rate: 0.314581 deg/s, cmd heading: 340.767454 deg, new cmd heading: 341.116576 deg. 2025-01-08T22:03:56.077Z,1736373836.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953608 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:56.181Z,1736373836.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:56.181Z,1736373836.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491241 2025-01-08T22:03:56.432Z,1736373836.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:56.432Z,1736373836.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742373 2025-01-08T22:03:56.434Z,1736373836.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:56.492Z,1736373836.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:56.510Z,1736373836.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 56.004059 m, bearing: 123.582032 deg, approach rate: 0.547221 m/s, LOS rate: 0.277371 deg/s, cmd heading: 341.116586 deg, new cmd heading: 341.470615 deg. 2025-01-08T22:03:56.518Z,1736373836.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.959786 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:56.684Z,1736373836.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:56.684Z,1736373836.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994375 2025-01-08T22:03:56.860Z,1736373836.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:56.869Z,1736373836.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:56.872Z,1736373836.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 56.257534 m, bearing: 123.716858 deg, approach rate: 0.662260 m/s, LOS rate: 0.350675 deg/s, cmd heading: 341.470608 deg, new cmd heading: 341.873256 deg. 2025-01-08T22:03:56.873Z,1736373836.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966814 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:56.937Z,1736373836.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:56.938Z,1736373836.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247797 2025-01-08T22:03:57.188Z,1736373837.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:57.189Z,1736373837.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498713 2025-01-08T22:03:57.252Z,1736373837.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:57.277Z,1736373837.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:57.285Z,1736373837.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 56.491161 m, bearing: 123.839909 deg, approach rate: 0.572349 m/s, LOS rate: 0.300209 deg/s, cmd heading: 341.873262 deg, new cmd heading: 342.240884 deg. 2025-01-08T22:03:57.286Z,1736373837.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973230 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:57.440Z,1736373837.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:57.441Z,1736373837.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750443 2025-01-08T22:03:57.682Z,1736373837.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:57.692Z,1736373837.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:57.692Z,1736373837.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002189 2025-01-08T22:03:57.729Z,1736373837.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:57.731Z,1736373837.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:57.746Z,1736373837.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 56.739063 m, bearing: 123.981776 deg, approach rate: 0.546358 m/s, LOS rate: 0.311298 deg/s, cmd heading: 342.240890 deg, new cmd heading: 342.664622 deg. 2025-01-08T22:03:57.746Z,1736373837.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980626 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:57.944Z,1736373837.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:57.945Z,1736373837.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254932 2025-01-08T22:03:58.052Z,1736373838.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:58.061Z,1736373838.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:58.064Z,1736373838.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 56.952694 m, bearing: 124.104724 deg, approach rate: 0.645937 m/s, LOS rate: 0.370353 deg/s, cmd heading: 342.664635 deg, new cmd heading: 343.032090 deg. 2025-01-08T22:03:58.065Z,1736373838.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987040 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:58.196Z,1736373838.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:58.197Z,1736373838.197 [DAT](INFO): DAT read: Rx Time:22:03:56.8836 2025-01-08T22:03:58.197Z,1736373838.197 [DAT](INFO): Rx dataTimestamp_ set to:1736373838.196982 2025-01-08T22:03:58.198Z,1736373838.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507748 2025-01-08T22:03:58.448Z,1736373838.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:58.448Z,1736373838.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758162 2025-01-08T22:03:58.478Z,1736373838.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:58.584Z,1736373838.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:58.597Z,1736373838.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 57.197578 m, bearing: 124.246516 deg, approach rate: 0.477405 m/s, LOS rate: 0.275242 deg/s, cmd heading: 343.032099 deg, new cmd heading: 343.455647 deg. 2025-01-08T22:03:58.598Z,1736373838.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994432 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:58.700Z,1736373838.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:58.707Z,1736373838.707 [DAT](INFO): DAT read: 22:03:56.8836 LVL= 13872, 32753, 28322, 32755, AGC= 67, IDX= 434, 0.29, 2.919, 1.378, 1.477, 1.991, PHS= 1.017,-0.566,-0.516, RAW= 91.6, 0.8, CAL= 99.4, -2.7, ROT= 50.6, 2.7 2025-01-08T22:03:58.709Z,1736373838.709 [DAT](INFO): got valid direction response: 22:03:56.8836 LVL= 13872, 32753, 28322, 32755, AGC= 67, IDX= 434, 0.29, 2.919, 1.378, 1.477, 1.991, PHS= 1.017,-0.566,-0.516, RAW= 91.6, 0.8, CAL= 99.4, -2.7, ROT= 50.6, 2.7 2025-01-08T22:03:58.710Z,1736373838.710 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:03:58.710Z,1736373838.710 [DAT](INFO): Received a bad header 2025-01-08T22:03:58.724Z,1736373838.724 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T22:03:58.727Z,1736373838.727 [DAT](INFO): direction in FSK: [-0.103737,0.080900,0.991309] 2025-01-08T22:03:58.734Z,1736373838.734 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:58.734Z,1736373838.734 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:58.734Z,1736373838.734 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:03:58.927Z,1736373838.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:58.936Z,1736373838.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:58.940Z,1736373838.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 57.453560 m, bearing: 124.401160 deg, approach rate: 0.709204 m/s, LOS rate: 0.426535 deg/s, cmd heading: 343.455653 deg, new cmd heading: 343.917506 deg. 2025-01-08T22:03:58.941Z,1736373838.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.002493 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:58.952Z,1736373838.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:58.952Z,1736373838.952 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:58.952Z,1736373838.952 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:58.952Z,1736373838.952 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:03:59.205Z,1736373839.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:59.205Z,1736373839.205 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:59.205Z,1736373839.205 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:59.205Z,1736373839.205 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:03:59.305Z,1736373839.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:59.313Z,1736373839.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:59.325Z,1736373839.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 57.668102 m, bearing: 124.531522 deg, approach rate: 0.567454 m/s, LOS rate: 0.343518 deg/s, cmd heading: 343.917510 deg, new cmd heading: 344.307134 deg. 2025-01-08T22:03:59.326Z,1736373839.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009293 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:59.456Z,1736373839.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:59.456Z,1736373839.456 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:59.456Z,1736373839.456 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:59.456Z,1736373839.456 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:03:59.708Z,1736373839.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:59.708Z,1736373839.708 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:59.708Z,1736373839.708 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:59.708Z,1736373839.708 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:03:59.793Z,1736373839.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:03:59.805Z,1736373839.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:03:59.812Z,1736373839.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:03:59.820Z,1736373839.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 57.937595 m, bearing: 124.699400 deg, approach rate: 0.545575 m/s, LOS rate: 0.338279 deg/s, cmd heading: 344.307131 deg, new cmd heading: 344.808409 deg. 2025-01-08T22:03:59.822Z,1736373839.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.018042 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:03:59.960Z,1736373839.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:03:59.960Z,1736373839.960 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:03:59.960Z,1736373839.960 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:03:59.960Z,1736373839.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:00.118Z,1736373840.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:00.135Z,1736373840.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:00.142Z,1736373840.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 58.116264 m, bearing: 124.813097 deg, approach rate: 0.547567 m/s, LOS rate: 0.347376 deg/s, cmd heading: 344.808413 deg, new cmd heading: 345.148450 deg. 2025-01-08T22:04:00.144Z,1736373840.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023977 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:00.213Z,1736373840.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:00.214Z,1736373840.214 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:00.214Z,1736373840.214 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:00.214Z,1736373840.214 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:00.464Z,1736373840.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:00.464Z,1736373840.464 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:00.464Z,1736373840.464 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:00.464Z,1736373840.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:00.615Z,1736373840.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:00.625Z,1736373840.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:00.629Z,1736373840.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 58.383614 m, bearing: 124.981563 deg, approach rate: 0.544113 m/s, LOS rate: 0.341294 deg/s, cmd heading: 345.148447 deg, new cmd heading: 345.651518 deg. 2025-01-08T22:04:00.630Z,1736373840.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032757 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:00.716Z,1736373840.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:00.717Z,1736373840.717 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:00.717Z,1736373840.717 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:00.717Z,1736373840.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:00.930Z,1736373840.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:00.942Z,1736373840.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:00.945Z,1736373840.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 58.552204 m, bearing: 125.090125 deg, approach rate: 0.532492 m/s, LOS rate: 0.341906 deg/s, cmd heading: 345.651531 deg, new cmd heading: 345.976278 deg. 2025-01-08T22:04:00.945Z,1736373840.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038425 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:00.968Z,1736373840.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:00.969Z,1736373840.969 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:00.969Z,1736373840.969 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:00.969Z,1736373840.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:01.220Z,1736373841.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:01.221Z,1736373841.221 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:01.221Z,1736373841.221 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:01.221Z,1736373841.221 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:01.350Z,1736373841.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:01.360Z,1736373841.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:01.362Z,1736373841.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 58.776569 m, bearing: 125.233430 deg, approach rate: 0.537188 m/s, LOS rate: 0.341797 deg/s, cmd heading: 345.976266 deg, new cmd heading: 346.404529 deg. 2025-01-08T22:04:01.363Z,1736373841.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045899 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:01.473Z,1736373841.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:01.473Z,1736373841.473 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:01.474Z,1736373841.474 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:01.474Z,1736373841.474 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:01.724Z,1736373841.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:01.724Z,1736373841.724 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:01.724Z,1736373841.724 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:01.724Z,1736373841.724 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:01.785Z,1736373841.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:01.807Z,1736373841.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:01.810Z,1736373841.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 59.006596 m, bearing: 125.385939 deg, approach rate: 0.518443 m/s, LOS rate: 0.342390 deg/s, cmd heading: 346.404518 deg, new cmd heading: 346.860251 deg. 2025-01-08T22:04:01.811Z,1736373841.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053854 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:01.976Z,1736373841.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:01.976Z,1736373841.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:01.976Z,1736373841.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:01.976Z,1736373841.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:02.141Z,1736373842.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:02.153Z,1736373842.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:02.156Z,1736373842.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:02.158Z,1736373842.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 59.194099 m, bearing: 125.511152 deg, approach rate: 0.531264 m/s, LOS rate: 0.353650 deg/s, cmd heading: 346.860256 deg, new cmd heading: 347.234701 deg. 2025-01-08T22:04:02.160Z,1736373842.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.060389 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:02.229Z,1736373842.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:02.229Z,1736373842.229 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:02.229Z,1736373842.229 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:02.230Z,1736373842.230 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:02.480Z,1736373842.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:02.480Z,1736373842.480 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:02.480Z,1736373842.480 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:02.480Z,1736373842.480 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:02.616Z,1736373842.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:02.650Z,1736373842.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:02.661Z,1736373842.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 59.443054 m, bearing: 125.678500 deg, approach rate: 0.504613 m/s, LOS rate: 0.337780 deg/s, cmd heading: 347.234714 deg, new cmd heading: 347.734642 deg. 2025-01-08T22:04:02.664Z,1736373842.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.069114 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:02.732Z,1736373842.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:02.733Z,1736373842.733 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:02.733Z,1736373842.733 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:02.734Z,1736373842.734 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:02.984Z,1736373842.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:02.984Z,1736373842.984 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:02.984Z,1736373842.984 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:02.984Z,1736373842.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:03.024Z,1736373843.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:03.073Z,1736373843.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:03.088Z,1736373843.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 59.653828 m, bearing: 125.814790 deg, approach rate: 0.497673 m/s, LOS rate: 0.320667 deg/s, cmd heading: 347.734630 deg, new cmd heading: 348.142047 deg. 2025-01-08T22:04:03.089Z,1736373843.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076225 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:03.236Z,1736373843.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:03.236Z,1736373843.236 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:03.236Z,1736373843.236 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:03.236Z,1736373843.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:03.394Z,1736373843.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:03.404Z,1736373843.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:03.407Z,1736373843.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 59.843967 m, bearing: 125.938785 deg, approach rate: 0.575717 m/s, LOS rate: 0.374249 deg/s, cmd heading: 348.142037 deg, new cmd heading: 348.512836 deg. 2025-01-08T22:04:03.408Z,1736373843.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082696 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:03.488Z,1736373843.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:03.489Z,1736373843.489 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:03.489Z,1736373843.489 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:03.489Z,1736373843.489 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:03.740Z,1736373843.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:03.740Z,1736373843.740 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:03.740Z,1736373843.740 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:03.740Z,1736373843.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:03.847Z,1736373843.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:03.857Z,1736373843.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:03.863Z,1736373843.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 60.073078 m, bearing: 126.085881 deg, approach rate: 0.506422 m/s, LOS rate: 0.323897 deg/s, cmd heading: 348.512834 deg, new cmd heading: 348.952429 deg. 2025-01-08T22:04:03.864Z,1736373843.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.090369 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:03.992Z,1736373843.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:03.992Z,1736373843.992 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:03.992Z,1736373843.992 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:03.992Z,1736373843.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:04.194Z,1736373844.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:04.201Z,1736373844.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:04.204Z,1736373844.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:04.207Z,1736373844.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 60.248135 m, bearing: 126.199280 deg, approach rate: 0.503354 m/s, LOS rate: 0.325118 deg/s, cmd heading: 348.952425 deg, new cmd heading: 349.291630 deg. 2025-01-08T22:04:04.208Z,1736373844.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.096289 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:04.244Z,1736373844.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:04.245Z,1736373844.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:04.245Z,1736373844.245 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:04.245Z,1736373844.245 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:04.496Z,1736373844.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:04.496Z,1736373844.496 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:04.496Z,1736373844.496 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:04.496Z,1736373844.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:04:04.678Z,1736373844.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:04.696Z,1736373844.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:04.698Z,1736373844.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 60.491203 m, bearing: 126.357395 deg, approach rate: 0.494100 m/s, LOS rate: 0.320116 deg/s, cmd heading: 349.291639 deg, new cmd heading: 349.764065 deg. 2025-01-08T22:04:04.704Z,1736373844.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.104535 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:04.748Z,1736373844.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:04.748Z,1736373844.748 [DAT](INFO): Reached modem response timeout 2025-01-08T22:04:04.749Z,1736373844.749 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:04:04.749Z,1736373844.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:04.000Z,1736373845.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:05.000Z,1736373845.000 [DAT](INFO): Reached modem response timeout 2025-01-08T22:04:05.000Z,1736373845.000 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:04:05.001Z,1736373845.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:05.028Z,1736373845.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:05.082Z,1736373845.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:05.089Z,1736373845.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 60.667606 m, bearing: 126.468803 deg, approach rate: 0.456100 m/s, LOS rate: 0.287215 deg/s, cmd heading: 349.764070 deg, new cmd heading: 350.097319 deg. 2025-01-08T22:04:05.090Z,1736373845.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.110351 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:05.252Z,1736373845.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:05.252Z,1736373845.252 [DAT](INFO): Reached modem response timeout 2025-01-08T22:04:05.252Z,1736373845.252 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:04:05.252Z,1736373845.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:05.414Z,1736373845.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:05.425Z,1736373845.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:05.428Z,1736373845.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 60.862564 m, bearing: 126.592742 deg, approach rate: 0.567625 m/s, LOS rate: 0.359696 deg/s, cmd heading: 350.097329 deg, new cmd heading: 350.467949 deg. 2025-01-08T22:04:05.429Z,1736373845.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116820 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:05.505Z,1736373845.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:05.506Z,1736373845.506 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:04:05.507Z,1736373845.507 [DAT](INFO): response not received 2025-01-08T22:04:05.508Z,1736373845.508 [DAT](INFO): DAT read: user:2268> 2025-01-08T22:04:05.509Z,1736373845.509 [DAT](INFO): DAT read: Tx time:22:04:04.8447 2025-01-08T22:04:05.509Z,1736373845.509 [DAT](INFO): Ping request sent. 2025-01-08T22:04:05.510Z,1736373845.510 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:05.510Z,1736373845.510 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:05.511Z,1736373845.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001119 2025-01-08T22:04:05.756Z,1736373845.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:05.757Z,1736373845.757 [DAT](INFO): DAT read: TxSync time:22:04:04.8439 2025-01-08T22:04:05.757Z,1736373845.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247776 2025-01-08T22:04:05.870Z,1736373845.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:05.878Z,1736373845.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:05.881Z,1736373845.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 61.084396 m, bearing: 126.734186 deg, approach rate: 0.489982 m/s, LOS rate: 0.311286 deg/s, cmd heading: 350.467962 deg, new cmd heading: 350.890745 deg. 2025-01-08T22:04:05.882Z,1736373845.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.124199 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:06.008Z,1736373846.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:06.008Z,1736373846.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498836 2025-01-08T22:04:06.222Z,1736373846.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:06.229Z,1736373846.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:06.231Z,1736373846.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:06.234Z,1736373846.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 61.255257 m, bearing: 126.843923 deg, approach rate: 0.484747 m/s, LOS rate: 0.310467 deg/s, cmd heading: 350.890751 deg, new cmd heading: 351.219041 deg. 2025-01-08T22:04:06.236Z,1736373846.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129929 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:06.260Z,1736373846.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:06.260Z,1736373846.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750852 2025-01-08T22:04:06.512Z,1736373846.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:06.512Z,1736373846.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002779 2025-01-08T22:04:06.661Z,1736373846.661 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:04:06.690Z,1736373846.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:06.712Z,1736373846.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:06.715Z,1736373846.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 61.481808 m, bearing: 126.990056 deg, approach rate: 0.470584 m/s, LOS rate: 0.302424 deg/s, cmd heading: 351.219037 deg, new cmd heading: 351.655811 deg. 2025-01-08T22:04:06.716Z,1736373846.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137552 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:06.765Z,1736373846.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:06.766Z,1736373846.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256175 2025-01-08T22:04:07.016Z,1736373847.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:07.016Z,1736373847.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506727 2025-01-08T22:04:07.076Z,1736373847.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:07.085Z,1736373847.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:07.089Z,1736373847.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 61.668465 m, bearing: 127.111354 deg, approach rate: 0.500829 m/s, LOS rate: 0.324476 deg/s, cmd heading: 351.655814 deg, new cmd heading: 352.018601 deg. 2025-01-08T22:04:07.089Z,1736373847.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143884 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:07.268Z,1736373847.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:07.268Z,1736373847.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758795 2025-01-08T22:04:07.443Z,1736373847.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:07.451Z,1736373847.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:07.455Z,1736373847.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 61.844204 m, bearing: 127.227635 deg, approach rate: 0.479830 m/s, LOS rate: 0.316585 deg/s, cmd heading: 352.018606 deg, new cmd heading: 352.366452 deg. 2025-01-08T22:04:07.456Z,1736373847.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.149955 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:07.522Z,1736373847.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:07.522Z,1736373847.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012738 2025-01-08T22:04:07.665Z,1736373847.665 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:04:07.772Z,1736373847.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:07.773Z,1736373847.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263084 2025-01-08T22:04:07.884Z,1736373847.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:07.896Z,1736373847.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:07.899Z,1736373847.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 62.059570 m, bearing: 127.365507 deg, approach rate: 0.483968 m/s, LOS rate: 0.308748 deg/s, cmd heading: 352.366454 deg, new cmd heading: 352.778626 deg. 2025-01-08T22:04:07.900Z,1736373847.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157148 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:08.024Z,1736373848.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:08.025Z,1736373848.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515176 2025-01-08T22:04:08.275Z,1736373848.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:08.276Z,1736373848.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:08.277Z,1736373848.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766924 2025-01-08T22:04:08.284Z,1736373848.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:08.286Z,1736373848.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:08.289Z,1736373848.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 62.247585 m, bearing: 127.490900 deg, approach rate: 0.482461 m/s, LOS rate: 0.320797 deg/s, cmd heading: 352.778615 deg, new cmd heading: 353.153653 deg. 2025-01-08T22:04:08.290Z,1736373848.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163694 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:08.528Z,1736373848.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:08.528Z,1736373848.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018793 2025-01-08T22:04:08.696Z,1736373848.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:08.722Z,1736373848.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:08.726Z,1736373848.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 62.440926 m, bearing: 127.621131 deg, approach rate: 0.442941 m/s, LOS rate: 0.297434 deg/s, cmd heading: 353.153647 deg, new cmd heading: 353.543123 deg. 2025-01-08T22:04:08.740Z,1736373848.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170492 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:08.780Z,1736373848.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:08.781Z,1736373848.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271121 2025-01-08T22:04:09.032Z,1736373849.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:09.033Z,1736373849.033 [DAT](INFO): DAT read: Rx Time:22:04:07.8300 2025-01-08T22:04:09.033Z,1736373849.033 [DAT](INFO): Rx dataTimestamp_ set to:1736373849.032705 2025-01-08T22:04:09.033Z,1736373849.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523920 2025-01-08T22:04:09.098Z,1736373849.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:09.119Z,1736373849.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:09.127Z,1736373849.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 62.639980 m, bearing: 127.759449 deg, approach rate: 0.506531 m/s, LOS rate: 0.350858 deg/s, cmd heading: 353.543132 deg, new cmd heading: 353.956761 deg. 2025-01-08T22:04:09.128Z,1736373849.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177711 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:09.284Z,1736373849.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:09.284Z,1736373849.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774791 2025-01-08T22:04:09.452Z,1736373849.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:09.461Z,1736373849.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m. 2025-01-08T22:04:09.464Z,1736373849.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.600006 m, nav range: 62.807354 m, bearing: 127.876894 deg, approach rate: 0.483841 m/s, LOS rate: 0.338602 deg/s, cmd heading: 353.956768 deg, new cmd heading: 354.308158 deg. 2025-01-08T22:04:09.465Z,1736373849.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183844 target range: 440.600006 and range: 440.60 m. 2025-01-08T22:04:09.538Z,1736373849.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:09.546Z,1736373849.546 [DAT](INFO): DAT read: 22:04:07.8300 LVL= 24944, 32753, 31026, 32755, AGC= 70, IDX= 412, 0.23,-0.964,-2.570,-2.123,-1.727, PHS= 0.851,-0.796,-0.399, RAW= 103.4, 4.7, CAL= 113.8, 2.5, ROT= 36.2, -2.5 2025-01-08T22:04:09.547Z,1736373849.547 [DAT](INFO): got valid direction response: 22:04:07.8300 LVL= 24944, 32753, 31026, 32755, AGC= 70, IDX= 412, 0.23,-0.964,-2.570,-2.123,-1.727, PHS= 0.851,-0.796,-0.399, RAW= 103.4, 4.7, CAL= 113.8, 2.5, ROT= 36.2, -2.5 2025-01-08T22:04:09.548Z,1736373849.548 [DAT](INFO): DAT read: Bearing 36.2, -2.5 (Local) 2025-01-08T22:04:09.549Z,1736373849.549 [DAT](INFO): Local bearing/azimuth received: Bearing 36.2, -2.5 (Local) 2025-01-08T22:04:09.550Z,1736373849.550 [DAT](INFO): DAT read: Range 10 to 50 : 435.9 m (Round-trip 581.2 ms) speed 0.3 m/s 2025-01-08T22:04:09.551Z,1736373849.551 [DAT](INFO): DAT read: user:2269> 2025-01-08T22:04:09.552Z,1736373849.552 [DAT](INFO): DAT read: Tx time:22:04:08.9431 2025-01-08T22:04:09.552Z,1736373849.552 [DAT](INFO): Ping request sent. 2025-01-08T22:04:09.552Z,1736373849.552 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:09.552Z,1736373849.552 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:09.554Z,1736373849.554 [DAT](INFO): direction in FSK: [-0.193474,-0.120968,0.973619] 2025-01-08T22:04:09.554Z,1736373849.554 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:09.554Z,1736373849.554 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:09.572Z,1736373849.572 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:09.573Z,1736373849.573 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:09.791Z,1736373849.791 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:09.793Z,1736373849.793 [DAT](INFO): DAT read: TxSync time:22:04:08.9423 2025-01-08T22:04:09.892Z,1736373849.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:09.941Z,1736373849.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 435.899994 m, deltaT: 14.869952 s, deltaX: -4.700012 m, approachRate: -0.316074 m/s, rangeRepo size: 4 2025-01-08T22:04:09.947Z,1736373849.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 435.899994 m, bearing: 226.946305 deg, lat: 36.900838 deg, lon: -122.121700 deg, deltaT: 14.869952 s, deltaX: -4.700012 m, approachRate: -0.316074 m/s, posRepo size: 4 2025-01-08T22:04:09.948Z,1736373849.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.90 m. 2025-01-08T22:04:09.951Z,1736373849.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.899994 m, nav range: 41.522953 m, bearing: 162.547763 deg, approach rate: 0.000000 m/s, LOS rate: 0.338602 deg/s, cmd heading: 354.308167 deg, new cmd heading: 354.795129 deg. 2025-01-08T22:04:09.958Z,1736373849.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.192343 target range: 435.899994 and range: 435.90 m. 2025-01-08T22:04:10.041Z,1736373850.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:10.259Z,1736373850.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:10.268Z,1736373850.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.90 m. 2025-01-08T22:04:10.273Z,1736373850.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.899994 m, nav range: 41.743820 m, bearing: 162.565817 deg, approach rate: 0.673836 m/s, LOS rate: 0.054791 deg/s, cmd heading: 354.795133 deg, new cmd heading: 354.849010 deg. 2025-01-08T22:04:10.274Z,1736373850.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193284 target range: 435.899994 and range: 435.90 m. 2025-01-08T22:04:10.293Z,1736373850.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:10.544Z,1736373850.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:10.686Z,1736373850.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:10.745Z,1736373850.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:10.747Z,1736373850.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.90 m. 2025-01-08T22:04:10.754Z,1736373850.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.899994 m, nav range: 42.000450 m, bearing: 162.589411 deg, approach rate: 0.536287 m/s, LOS rate: 0.049003 deg/s, cmd heading: 354.849009 deg, new cmd heading: 354.919358 deg. 2025-01-08T22:04:10.760Z,1736373850.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194511 target range: 435.899994 and range: 435.90 m. 2025-01-08T22:04:10.797Z,1736373850.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:10.798Z,1736373850.798 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:10.798Z,1736373850.798 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:10.798Z,1736373850.798 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:11.048Z,1736373851.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:11.049Z,1736373851.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496359 2025-01-08T22:04:11.105Z,1736373851.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:11.126Z,1736373851.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.90 m. 2025-01-08T22:04:11.133Z,1736373851.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.899994 m, nav range: 42.264431 m, bearing: 162.612414 deg, approach rate: 0.695987 m/s, LOS rate: 0.060269 deg/s, cmd heading: 354.919360 deg, new cmd heading: 354.987938 deg. 2025-01-08T22:04:11.134Z,1736373851.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195708 target range: 435.899994 and range: 435.90 m. 2025-01-08T22:04:11.300Z,1736373851.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:11.301Z,1736373851.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748311 2025-01-08T22:04:11.477Z,1736373851.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:11.486Z,1736373851.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.90 m. 2025-01-08T22:04:11.490Z,1736373851.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.899994 m, nav range: 42.498219 m, bearing: 162.634500 deg, approach rate: 0.649399 m/s, LOS rate: 0.061013 deg/s, cmd heading: 354.987935 deg, new cmd heading: 355.053830 deg. 2025-01-08T22:04:11.491Z,1736373851.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196858 target range: 435.899994 and range: 435.90 m. 2025-01-08T22:04:11.552Z,1736373851.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:11.553Z,1736373851.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000382 2025-01-08T22:04:11.804Z,1736373851.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:11.805Z,1736373851.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252668 2025-01-08T22:04:11.972Z,1736373851.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:11.997Z,1736373851.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.90 m. 2025-01-08T22:04:12.003Z,1736373852.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.899994 m, nav range: 42.819458 m, bearing: 162.663962 deg, approach rate: 0.629333 m/s, LOS rate: 0.057285 deg/s, cmd heading: 355.053833 deg, new cmd heading: 355.141555 deg. 2025-01-08T22:04:12.004Z,1736373852.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.198390 target range: 435.899994 and range: 435.90 m. 2025-01-08T22:04:12.057Z,1736373852.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:12.060Z,1736373852.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506744 2025-01-08T22:04:12.308Z,1736373852.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:12.309Z,1736373852.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756321 2025-01-08T22:04:12.325Z,1736373852.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:12.334Z,1736373852.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.90 m. 2025-01-08T22:04:12.338Z,1736373852.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.899994 m, nav range: 43.048916 m, bearing: 162.688263 deg, approach rate: 0.680089 m/s, LOS rate: 0.071640 deg/s, cmd heading: 355.141560 deg, new cmd heading: 355.214073 deg. 2025-01-08T22:04:12.339Z,1736373852.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.199655 target range: 435.899994 and range: 435.90 m. 2025-01-08T22:04:12.560Z,1736373852.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:12.562Z,1736373852.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009337 2025-01-08T22:04:12.812Z,1736373852.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:12.812Z,1736373852.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260254 2025-01-08T22:04:12.816Z,1736373852.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:12.848Z,1736373852.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:12.850Z,1736373852.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.90 m. 2025-01-08T22:04:12.857Z,1736373852.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.899994 m, nav range: 43.368080 m, bearing: 162.727249 deg, approach rate: 0.618973 m/s, LOS rate: 0.075053 deg/s, cmd heading: 355.214069 deg, new cmd heading: 355.330168 deg. 2025-01-08T22:04:12.857Z,1736373852.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201681 target range: 435.899994 and range: 435.90 m. 2025-01-08T22:04:13.064Z,1736373853.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:13.067Z,1736373853.067 [DAT](INFO): DAT read: Rx Time:22:04:11.9266 2025-01-08T22:04:13.068Z,1736373853.068 [DAT](INFO): Rx dataTimestamp_ set to:1736373853.067115 2025-01-08T22:04:13.069Z,1736373853.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516783 2025-01-08T22:04:13.202Z,1736373853.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:13.211Z,1736373853.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.90 m. 2025-01-08T22:04:13.214Z,1736373853.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.899994 m, nav range: 43.619148 m, bearing: 162.758905 deg, approach rate: 0.695056 m/s, LOS rate: 0.087130 deg/s, cmd heading: 355.330155 deg, new cmd heading: 355.424575 deg. 2025-01-08T22:04:13.214Z,1736373853.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.203329 target range: 435.899994 and range: 435.90 m. 2025-01-08T22:04:13.316Z,1736373853.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:13.317Z,1736373853.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764559 2025-01-08T22:04:13.568Z,1736373853.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:13.568Z,1736373853.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016101 2025-01-08T22:04:13.662Z,1736373853.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:13.684Z,1736373853.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 435.90 m. 2025-01-08T22:04:13.712Z,1736373853.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 435.899994 m, nav range: 43.918785 m, bearing: 162.797364 deg, approach rate: 0.632643 m/s, LOS rate: 0.080648 deg/s, cmd heading: 355.424576 deg, new cmd heading: 355.539167 deg. 2025-01-08T22:04:13.713Z,1736373853.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205329 target range: 435.899994 and range: 435.90 m. 2025-01-08T22:04:13.820Z,1736373853.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:13.830Z,1736373853.830 [DAT](INFO): DAT read: 22:04:11.9266 LVL= 21408, 32753, 32754, 32755, AGC= 70, IDX= 426,-0.18,-1.190,-2.792,-2.263,-1.917, PHS= 0.815,-0.828,-0.349, RAW= 106.5, 5.0, CAL= 117.2, 2.6, ROT= 32.8, -2.6 2025-01-08T22:04:13.833Z,1736373853.833 [DAT](INFO): got valid direction response: 22:04:11.9266 LVL= 21408, 32753, 32754, 32755, AGC= 70, IDX= 426,-0.18,-1.190,-2.792,-2.263,-1.917, PHS= 0.815,-0.828,-0.349, RAW= 106.5, 5.0, CAL= 117.2, 2.6, ROT= 32.8, -2.6 2025-01-08T22:04:13.868Z,1736373853.868 [DAT](INFO): DAT read: Bearing 32.8, -2.6 (Local) 2025-01-08T22:04:13.868Z,1736373853.868 [DAT](INFO): Local bearing/azimuth received: Bearing 32.8, -2.6 (Local) 2025-01-08T22:04:13.870Z,1736373853.870 [DAT](INFO): DAT read: Range 10 to 50 : 434.4 m (Round-trip 579.3 ms) speed 0.5 m/s 2025-01-08T22:04:13.894Z,1736373853.894 [DAT](INFO): DAT read: user:2270> 2025-01-08T22:04:13.895Z,1736373853.895 [DAT](INFO): DAT read: Tx time:22:04:13.0431 2025-01-08T22:04:13.895Z,1736373853.895 [DAT](INFO): Ping request sent. 2025-01-08T22:04:13.899Z,1736373853.899 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:13.900Z,1736373853.900 [DAT](INFO): DAT read: TxSync time:22:04:13.0423 2025-01-08T22:04:13.901Z,1736373853.901 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:13.902Z,1736373853.902 [DAT](INFO): direction in FSK: [-0.203593,-0.175005,0.963288] 2025-01-08T22:04:13.902Z,1736373853.902 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:13.902Z,1736373853.902 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:13.916Z,1736373853.916 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:13.916Z,1736373853.916 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:14.072Z,1736373854.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:14.079Z,1736373854.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:14.126Z,1736373854.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 434.399994 m, deltaT: 4.281891 s, deltaX: -1.500000 m, approachRate: -0.350313 m/s, rangeRepo size: 4 2025-01-08T22:04:14.139Z,1736373854.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 434.399994 m, bearing: 231.831246 deg, lat: 36.900769 deg, lon: -122.121737 deg, deltaT: 4.281891 s, deltaX: -1.500000 m, approachRate: -0.350313 m/s, posRepo size: 4 2025-01-08T22:04:14.140Z,1736373854.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.40 m. 2025-01-08T22:04:14.143Z,1736373854.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 434.399994 m, nav range: 50.779423 m, bearing: 169.007206 deg, approach rate: 0.000000 m/s, LOS rate: 0.080648 deg/s, cmd heading: 355.539159 deg, new cmd heading: 355.645834 deg. 2025-01-08T22:04:14.148Z,1736373854.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207191 target range: 434.399994 and range: 434.40 m. 2025-01-08T22:04:14.324Z,1736373854.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:14.470Z,1736373854.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:14.492Z,1736373854.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.40 m. 2025-01-08T22:04:14.495Z,1736373854.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 434.399994 m, nav range: 51.037762 m, bearing: 169.009417 deg, approach rate: 0.704433 m/s, LOS rate: 0.005997 deg/s, cmd heading: 355.645846 deg, new cmd heading: 355.652445 deg. 2025-01-08T22:04:14.500Z,1736373854.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207306 target range: 434.399994 and range: 434.40 m. 2025-01-08T22:04:14.576Z,1736373854.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:14.828Z,1736373854.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:14.885Z,1736373854.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:14.893Z,1736373854.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:14.896Z,1736373854.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.40 m. 2025-01-08T22:04:14.898Z,1736373854.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 434.399994 m, nav range: 51.309963 m, bearing: 169.017267 deg, approach rate: 0.675430 m/s, LOS rate: 0.019375 deg/s, cmd heading: 355.652458 deg, new cmd heading: 355.675882 deg. 2025-01-08T22:04:14.899Z,1736373854.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207715 target range: 434.399994 and range: 434.40 m. 2025-01-08T22:04:15.080Z,1736373855.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:15.081Z,1736373855.081 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:15.081Z,1736373855.081 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:15.081Z,1736373855.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:15.251Z,1736373855.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:15.265Z,1736373855.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.40 m. 2025-01-08T22:04:15.268Z,1736373855.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 434.399994 m, nav range: 51.549999 m, bearing: 169.025540 deg, approach rate: 0.649116 m/s, LOS rate: 0.022269 deg/s, cmd heading: 355.675872 deg, new cmd heading: 355.700576 deg. 2025-01-08T22:04:15.269Z,1736373855.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208146 target range: 434.399994 and range: 434.40 m. 2025-01-08T22:04:15.333Z,1736373855.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:15.334Z,1736373855.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438955 2025-01-08T22:04:15.584Z,1736373855.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:15.584Z,1736373855.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.689351 2025-01-08T22:04:15.661Z,1736373855.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:15.677Z,1736373855.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.40 m. 2025-01-08T22:04:15.682Z,1736373855.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 434.399994 m, nav range: 51.818798 m, bearing: 169.036556 deg, approach rate: 0.654708 m/s, LOS rate: 0.026693 deg/s, cmd heading: 355.700570 deg, new cmd heading: 355.733447 deg. 2025-01-08T22:04:15.683Z,1736373855.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208720 target range: 434.399994 and range: 434.40 m. 2025-01-08T22:04:15.836Z,1736373855.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:15.836Z,1736373855.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.941416 2025-01-08T22:04:16.077Z,1736373856.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:16.089Z,1736373856.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:16.090Z,1736373856.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194601 2025-01-08T22:04:16.093Z,1736373856.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.40 m. 2025-01-08T22:04:16.097Z,1736373856.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 434.399994 m, nav range: 52.087177 m, bearing: 169.056830 deg, approach rate: 0.642126 m/s, LOS rate: 0.048257 deg/s, cmd heading: 355.733437 deg, new cmd heading: 355.793944 deg. 2025-01-08T22:04:16.098Z,1736373856.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209776 target range: 434.399994 and range: 434.40 m. 2025-01-08T22:04:16.340Z,1736373856.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:16.340Z,1736373856.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445474 2025-01-08T22:04:16.468Z,1736373856.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:16.477Z,1736373856.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.40 m. 2025-01-08T22:04:16.480Z,1736373856.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 434.399994 m, nav range: 52.338875 m, bearing: 169.076690 deg, approach rate: 0.655457 m/s, LOS rate: 0.051471 deg/s, cmd heading: 355.793952 deg, new cmd heading: 355.853247 deg. 2025-01-08T22:04:16.481Z,1736373856.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210811 target range: 434.399994 and range: 434.40 m. 2025-01-08T22:04:16.593Z,1736373856.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:16.593Z,1736373856.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698307 2025-01-08T22:04:16.844Z,1736373856.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:16.844Z,1736373856.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949458 2025-01-08T22:04:16.900Z,1736373856.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:16.930Z,1736373856.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:16.940Z,1736373856.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.40 m. 2025-01-08T22:04:16.943Z,1736373856.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 434.399994 m, nav range: 52.607456 m, bearing: 169.111169 deg, approach rate: 0.580354 m/s, LOS rate: 0.074121 deg/s, cmd heading: 355.853238 deg, new cmd heading: 355.956146 deg. 2025-01-08T22:04:16.944Z,1736373856.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212607 target range: 434.399994 and range: 434.40 m. 2025-01-08T22:04:17.096Z,1736373857.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:17.097Z,1736373857.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.201399 2025-01-08T22:04:17.263Z,1736373857.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:17.292Z,1736373857.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.40 m. 2025-01-08T22:04:17.295Z,1736373857.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 434.399994 m, nav range: 52.832527 m, bearing: 169.140407 deg, approach rate: 0.672219 m/s, LOS rate: 0.086954 deg/s, cmd heading: 355.956156 deg, new cmd heading: 356.043497 deg. 2025-01-08T22:04:17.301Z,1736373857.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214131 target range: 434.399994 and range: 434.40 m. 2025-01-08T22:04:17.348Z,1736373857.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:17.349Z,1736373857.349 [DAT](INFO): DAT read: Rx Time:22:04:16.0367 2025-01-08T22:04:17.349Z,1736373857.349 [DAT](INFO): Rx dataTimestamp_ set to:1736373857.348755 2025-01-08T22:04:17.350Z,1736373857.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.454563 2025-01-08T22:04:17.600Z,1736373857.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:17.600Z,1736373857.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.705353 2025-01-08T22:04:17.706Z,1736373857.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:17.760Z,1736373857.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.40 m. 2025-01-08T22:04:17.762Z,1736373857.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 434.399994 m, nav range: 53.105202 m, bearing: 169.176567 deg, approach rate: 0.567780 m/s, LOS rate: 0.074907 deg/s, cmd heading: 356.043500 deg, new cmd heading: 356.151422 deg. 2025-01-08T22:04:17.770Z,1736373857.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216015 target range: 434.399994 and range: 434.40 m. 2025-01-08T22:04:17.854Z,1736373857.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:17.861Z,1736373857.861 [DAT](INFO): DAT read: 22:04:16.0367 LVL= 22256, 27281, 26962, 30643, AGC= 71, IDX= 32,-0.36, 2.942, 1.556, 2.078, 2.145, PHS= 0.885,-0.542,-0.070, RAW= 108.9, -4.4, CAL= 115.4, -14.4, ROT= 34.6, 14.4 2025-01-08T22:04:17.862Z,1736373857.862 [DAT](INFO): got valid direction response: 22:04:16.0367 LVL= 22256, 27281, 26962, 30643, AGC= 71, IDX= 32,-0.36, 2.942, 1.556, 2.078, 2.145, PHS= 0.885,-0.542,-0.070, RAW= 108.9, -4.4, CAL= 115.4, -14.4, ROT= 34.6, 14.4 2025-01-08T22:04:17.864Z,1736373857.864 [DAT](INFO): DAT read: Bearing 34.6, 14.4 (Local) 2025-01-08T22:04:17.865Z,1736373857.865 [DAT](INFO): Local bearing/azimuth received: Bearing 34.6, 14.4 (Local) 2025-01-08T22:04:17.866Z,1736373857.866 [DAT](INFO): DAT read: Range 10 to 50 : 441.9 m (Round-trip 589.3 ms) speed 0.5 m/s 2025-01-08T22:04:17.867Z,1736373857.867 [DAT](INFO): DAT read: user:2271> 2025-01-08T22:04:17.868Z,1736373857.868 [DAT](INFO): DAT read: Tx time:22:04:17.1432 2025-01-08T22:04:17.869Z,1736373857.869 [DAT](INFO): Ping request sent. 2025-01-08T22:04:17.869Z,1736373857.869 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:17.869Z,1736373857.869 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:17.870Z,1736373857.870 [DAT](INFO): direction in FSK: [-0.025572,-0.229605,0.972948] 2025-01-08T22:04:17.870Z,1736373857.870 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:17.875Z,1736373857.875 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:17.878Z,1736373857.878 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:17.879Z,1736373857.879 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:18.104Z,1736373858.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:18.106Z,1736373858.106 [DAT](INFO): DAT read: TxSync time:22:04:17.1424 2025-01-08T22:04:18.201Z,1736373858.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:18.236Z,1736373858.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 441.899994 m, deltaT: 4.034451 s, deltaX: 7.500000 m, approachRate: 1.858989 m/s, rangeRepo size: 4 2025-01-08T22:04:18.243Z,1736373858.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 441.899994 m, bearing: 263.767652 deg, lat: 36.900769 deg, lon: -122.123200 deg, deltaT: 4.034451 s, deltaX: 7.500000 m, approachRate: 1.858989 m/s, posRepo size: 4 2025-01-08T22:04:18.244Z,1736373858.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.90 m. 2025-01-08T22:04:18.247Z,1736373858.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.899994 m, nav range: 131.005554 m, bearing: 246.394002 deg, approach rate: 0.000000 m/s, LOS rate: 0.074907 deg/s, cmd heading: 356.151417 deg, new cmd heading: 356.259396 deg. 2025-01-08T22:04:18.252Z,1736373858.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.217899 target range: 441.899994 and range: 441.90 m. 2025-01-08T22:04:18.356Z,1736373858.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:18.561Z,1736373858.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:18.582Z,1736373858.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.90 m. 2025-01-08T22:04:18.589Z,1736373858.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.899994 m, nav range: 131.087387 m, bearing: 246.305636 deg, approach rate: 0.236429 m/s, LOS rate: -0.255147 deg/s, cmd heading: 356.259389 deg, new cmd heading: 355.994456 deg. 2025-01-08T22:04:18.590Z,1736373858.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.213275 target range: 441.899994 and range: 441.90 m. 2025-01-08T22:04:18.608Z,1736373858.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:18.862Z,1736373858.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:18.993Z,1736373858.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:19.002Z,1736373859.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:19.004Z,1736373859.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.90 m. 2025-01-08T22:04:19.007Z,1736373859.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.899994 m, nav range: 131.185715 m, bearing: 246.203604 deg, approach rate: 0.232681 m/s, LOS rate: -0.241264 deg/s, cmd heading: 355.994459 deg, new cmd heading: 355.688597 deg. 2025-01-08T22:04:19.008Z,1736373859.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207937 target range: 441.899994 and range: 441.90 m. 2025-01-08T22:04:19.113Z,1736373859.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:19.113Z,1736373859.113 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:19.113Z,1736373859.113 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:19.114Z,1736373859.114 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:19.364Z,1736373859.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:19.364Z,1736373859.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495691 2025-01-08T22:04:19.426Z,1736373859.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:19.438Z,1736373859.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.90 m. 2025-01-08T22:04:19.441Z,1736373859.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.899994 m, nav range: 131.280975 m, bearing: 246.106148 deg, approach rate: 0.220265 m/s, LOS rate: -0.225177 deg/s, cmd heading: 355.688603 deg, new cmd heading: 355.396450 deg. 2025-01-08T22:04:19.442Z,1736373859.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202838 target range: 441.899994 and range: 441.90 m. 2025-01-08T22:04:19.616Z,1736373859.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:19.616Z,1736373859.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747686 2025-01-08T22:04:19.772Z,1736373859.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:19.803Z,1736373859.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.90 m. 2025-01-08T22:04:19.810Z,1736373859.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.899994 m, nav range: 131.365616 m, bearing: 246.020341 deg, approach rate: 0.231327 m/s, LOS rate: -0.234363 deg/s, cmd heading: 355.396463 deg, new cmd heading: 355.139210 deg. 2025-01-08T22:04:19.811Z,1736373859.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.198349 target range: 441.899994 and range: 441.90 m. 2025-01-08T22:04:19.870Z,1736373859.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:19.873Z,1736373859.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003690 2025-01-08T22:04:20.120Z,1736373860.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:20.120Z,1736373860.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251767 2025-01-08T22:04:20.225Z,1736373860.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:20.233Z,1736373860.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.90 m. 2025-01-08T22:04:20.236Z,1736373860.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.899994 m, nav range: 131.467422 m, bearing: 245.918748 deg, approach rate: 0.236479 m/s, LOS rate: -0.235801 deg/s, cmd heading: 355.139210 deg, new cmd heading: 354.834669 deg. 2025-01-08T22:04:20.238Z,1736373860.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193033 target range: 441.899994 and range: 441.90 m. 2025-01-08T22:04:20.372Z,1736373860.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:20.372Z,1736373860.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503754 2025-01-08T22:04:20.598Z,1736373860.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:20.608Z,1736373860.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.90 m. 2025-01-08T22:04:20.610Z,1736373860.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.899994 m, nav range: 131.552002 m, bearing: 245.835169 deg, approach rate: 0.225799 m/s, LOS rate: -0.222986 deg/s, cmd heading: 354.834666 deg, new cmd heading: 354.584090 deg. 2025-01-08T22:04:20.612Z,1736373860.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.188660 target range: 441.899994 and range: 441.90 m. 2025-01-08T22:04:20.624Z,1736373860.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:20.625Z,1736373860.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756113 2025-01-08T22:04:20.878Z,1736373860.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:20.880Z,1736373860.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010885 2025-01-08T22:04:21.026Z,1736373861.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:21.036Z,1736373861.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:21.038Z,1736373861.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.90 m. 2025-01-08T22:04:21.040Z,1736373861.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.899994 m, nav range: 131.641403 m, bearing: 245.737504 deg, approach rate: 0.208110 m/s, LOS rate: -0.227191 deg/s, cmd heading: 354.584080 deg, new cmd heading: 354.291288 deg. 2025-01-08T22:04:21.041Z,1736373861.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183549 target range: 441.899994 and range: 441.90 m. 2025-01-08T22:04:21.128Z,1736373861.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:21.129Z,1736373861.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260758 2025-01-08T22:04:21.380Z,1736373861.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:21.381Z,1736373861.381 [DAT](INFO): DAT read: Rx Time:22:04:20.1344 2025-01-08T22:04:21.381Z,1736373861.381 [DAT](INFO): Rx dataTimestamp_ set to:1736373861.380713 2025-01-08T22:04:21.381Z,1736373861.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512859 2025-01-08T22:04:21.424Z,1736373861.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:21.441Z,1736373861.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.90 m. 2025-01-08T22:04:21.447Z,1736373861.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.899994 m, nav range: 131.724548 m, bearing: 245.646614 deg, approach rate: 0.206308 m/s, LOS rate: -0.225384 deg/s, cmd heading: 354.291283 deg, new cmd heading: 354.018787 deg. 2025-01-08T22:04:21.452Z,1736373861.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178793 target range: 441.899994 and range: 441.90 m. 2025-01-08T22:04:21.634Z,1736373861.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:21.635Z,1736373861.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766414 2025-01-08T22:04:21.886Z,1736373861.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:21.914Z,1736373861.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:21.917Z,1736373861.917 [DAT](INFO): DAT read: 22:04:20.1344 LVL= 25072, 32753, 31634, 32755, AGC= 70, IDX= 286, 0.20,-2.685, 1.958, 2.620, 2.980, PHS= 0.706,-0.975,-0.363, RAW= 111.1, 8.6, CAL= 120.8, 5.9, ROT= 29.2, -5.9 2025-01-08T22:04:21.918Z,1736373861.918 [DAT](INFO): got valid direction response: 22:04:20.1344 LVL= 25072, 32753, 31634, 32755, AGC= 70, IDX= 286, 0.20,-2.685, 1.958, 2.620, 2.980, PHS= 0.706,-0.975,-0.363, RAW= 111.1, 8.6, CAL= 120.8, 5.9, ROT= 29.2, -5.9 2025-01-08T22:04:21.919Z,1736373861.919 [DAT](INFO): DAT read: Bearing 29.2, -5.9 (Local) 2025-01-08T22:04:21.929Z,1736373861.929 [DAT](INFO): Local bearing/azimuth received: Bearing 29.2, -5.9 (Local) 2025-01-08T22:04:21.931Z,1736373861.931 [DAT](INFO): DAT read: Range 10 to 50 : 440.3 m (Round-trip 587.1 ms) speed 0.0 m/s 2025-01-08T22:04:21.940Z,1736373861.940 [DAT](INFO): DAT read: user:2272> 2025-01-08T22:04:21.941Z,1736373861.941 [DAT](INFO): DAT read: Tx time:22:04:21.2432 2025-01-08T22:04:21.941Z,1736373861.941 [DAT](INFO): Ping request sent. 2025-01-08T22:04:21.941Z,1736373861.941 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:21.941Z,1736373861.941 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:21.942Z,1736373861.942 [DAT](INFO): direction in FSK: [-0.276499,-0.248363,0.928367] 2025-01-08T22:04:21.942Z,1736373861.942 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:21.943Z,1736373861.943 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:21.948Z,1736373861.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 441.90 m. 2025-01-08T22:04:21.955Z,1736373861.955 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:21.958Z,1736373861.958 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:21.963Z,1736373861.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 441.899994 m, nav range: 131.826660 m, bearing: 245.534958 deg, approach rate: 0.201052 m/s, LOS rate: -0.219672 deg/s, cmd heading: 354.018786 deg, new cmd heading: 353.684084 deg. 2025-01-08T22:04:21.964Z,1736373861.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172952 target range: 441.899994 and range: 441.90 m. 2025-01-08T22:04:22.136Z,1736373862.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:22.137Z,1736373862.137 [DAT](INFO): DAT read: TxSync time:22:04:21.2424 2025-01-08T22:04:22.298Z,1736373862.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:22.313Z,1736373862.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 440.299988 m, deltaT: 4.031913 s, deltaX: -1.600006 m, approachRate: -0.396835 m/s, rangeRepo size: 4 2025-01-08T22:04:22.315Z,1736373862.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 440.299988 m, bearing: 233.225261 deg, lat: 36.900223 deg, lon: -122.123428 deg, deltaT: 4.031913 s, deltaX: -1.600006 m, approachRate: -0.396835 m/s, posRepo size: 4 2025-01-08T22:04:22.316Z,1736373862.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.30 m. 2025-01-08T22:04:22.318Z,1736373862.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.299988 m, nav range: 181.701187 m, bearing: 230.527675 deg, approach rate: 0.000000 m/s, LOS rate: -0.219672 deg/s, cmd heading: 353.684079 deg, new cmd heading: 353.444918 deg. 2025-01-08T22:04:22.319Z,1736373862.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168777 target range: 440.299988 and range: 440.30 m. 2025-01-08T22:04:22.389Z,1736373862.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:22.640Z,1736373862.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:22.671Z,1736373862.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:22.710Z,1736373862.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.30 m. 2025-01-08T22:04:22.724Z,1736373862.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.299988 m, nav range: 181.812683 m, bearing: 230.471144 deg, approach rate: 0.280460 m/s, LOS rate: -0.142112 deg/s, cmd heading: 353.444914 deg, new cmd heading: 353.275426 deg. 2025-01-08T22:04:22.725Z,1736373862.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165819 target range: 440.299988 and range: 440.30 m. 2025-01-08T22:04:22.893Z,1736373862.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:23.088Z,1736373863.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:23.094Z,1736373863.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:23.097Z,1736373863.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.30 m. 2025-01-08T22:04:23.099Z,1736373863.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.299988 m, nav range: 181.926468 m, bearing: 230.403952 deg, approach rate: 0.293512 m/s, LOS rate: -0.173216 deg/s, cmd heading: 353.275416 deg, new cmd heading: 353.073967 deg. 2025-01-08T22:04:23.100Z,1736373863.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162303 target range: 440.299988 and range: 440.30 m. 2025-01-08T22:04:23.144Z,1736373863.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:23.144Z,1736373863.144 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:23.145Z,1736373863.145 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:23.145Z,1736373863.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:23.396Z,1736373863.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:23.396Z,1736373863.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.455371 2025-01-08T22:04:23.514Z,1736373863.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:23.523Z,1736373863.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.30 m. 2025-01-08T22:04:23.526Z,1736373863.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.299988 m, nav range: 182.042084 m, bearing: 230.335292 deg, approach rate: 0.270959 m/s, LOS rate: -0.160811 deg/s, cmd heading: 353.073980 deg, new cmd heading: 352.868130 deg. 2025-01-08T22:04:23.543Z,1736373863.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158710 target range: 440.299988 and range: 440.30 m. 2025-01-08T22:04:23.650Z,1736373863.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:23.651Z,1736373863.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709780 2025-01-08T22:04:23.901Z,1736373863.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:23.904Z,1736373863.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962314 2025-01-08T22:04:23.993Z,1736373863.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:24.008Z,1736373864.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.30 m. 2025-01-08T22:04:24.011Z,1736373864.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.299988 m, nav range: 182.161804 m, bearing: 230.252436 deg, approach rate: 0.246808 m/s, LOS rate: -0.170698 deg/s, cmd heading: 352.868118 deg, new cmd heading: 352.619715 deg. 2025-01-08T22:04:24.028Z,1736373864.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154375 target range: 440.299988 and range: 440.30 m. 2025-01-08T22:04:24.152Z,1736373864.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:24.152Z,1736373864.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211394 2025-01-08T22:04:24.405Z,1736373864.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:24.405Z,1736373864.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464178 2025-01-08T22:04:24.411Z,1736373864.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:24.445Z,1736373864.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.30 m. 2025-01-08T22:04:24.452Z,1736373864.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.299988 m, nav range: 182.264603 m, bearing: 230.180211 deg, approach rate: 0.235502 m/s, LOS rate: -0.165368 deg/s, cmd heading: 352.619717 deg, new cmd heading: 352.403165 deg. 2025-01-08T22:04:24.453Z,1736373864.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150596 target range: 440.299988 and range: 440.30 m. 2025-01-08T22:04:24.659Z,1736373864.659 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:24.661Z,1736373864.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720311 2025-01-08T22:04:24.812Z,1736373864.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:24.822Z,1736373864.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.30 m. 2025-01-08T22:04:24.825Z,1736373864.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.299988 m, nav range: 182.362335 m, bearing: 230.110707 deg, approach rate: 0.259379 m/s, LOS rate: -0.184361 deg/s, cmd heading: 352.403173 deg, new cmd heading: 352.194776 deg. 2025-01-08T22:04:24.825Z,1736373864.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146958 target range: 440.299988 and range: 440.30 m. 2025-01-08T22:04:24.910Z,1736373864.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:24.913Z,1736373864.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971323 2025-01-08T22:04:25.161Z,1736373865.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:25.164Z,1736373865.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.221665 2025-01-08T22:04:25.243Z,1736373865.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:25.253Z,1736373865.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:25.257Z,1736373865.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.30 m. 2025-01-08T22:04:25.260Z,1736373865.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.299988 m, nav range: 182.464050 m, bearing: 230.030665 deg, approach rate: 0.233763 m/s, LOS rate: -0.183852 deg/s, cmd heading: 352.194770 deg, new cmd heading: 351.954779 deg. 2025-01-08T22:04:25.261Z,1736373865.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142770 target range: 440.299988 and range: 440.30 m. 2025-01-08T22:04:25.412Z,1736373865.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:25.412Z,1736373865.412 [DAT](INFO): DAT read: Rx Time:22:04:24.2465 2025-01-08T22:04:25.413Z,1736373865.413 [DAT](INFO): Rx dataTimestamp_ set to:1736373865.412680 2025-01-08T22:04:25.413Z,1736373865.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472498 2025-01-08T22:04:25.615Z,1736373865.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:25.625Z,1736373865.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.30 m. 2025-01-08T22:04:25.628Z,1736373865.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.299988 m, nav range: 182.550507 m, bearing: 229.961408 deg, approach rate: 0.234759 m/s, LOS rate: -0.187966 deg/s, cmd heading: 351.954785 deg, new cmd heading: 351.747115 deg. 2025-01-08T22:04:25.629Z,1736373865.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139145 target range: 440.299988 and range: 440.30 m. 2025-01-08T22:04:25.664Z,1736373865.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:25.666Z,1736373865.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.725355 2025-01-08T22:04:25.918Z,1736373865.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:25.922Z,1736373865.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.979865 2025-01-08T22:04:26.047Z,1736373866.047 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-2768,V 2025-01-08T22:04:26.055Z,1736373866.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:04:26.055Z,1736373866.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:26.064Z,1736373866.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.30 m. 2025-01-08T22:04:26.066Z,1736373866.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.299988 m, nav range: 182.652817 m, bearing: 229.879804 deg, approach rate: 0.233312 m/s, LOS rate: -0.185990 deg/s, cmd heading: 351.747120 deg, new cmd heading: 351.502445 deg. 2025-01-08T22:04:26.068Z,1736373866.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134875 target range: 440.299988 and range: 440.30 m. 2025-01-08T22:04:26.169Z,1736373866.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:26.181Z,1736373866.181 [DAT](INFO): DAT read: 22:04:24.2465 LVL= 23280, 29169, 26850, 28211, AGC= 70, IDX= 52, 0.02,-0.267,-2.036,-1.435,-1.288, PHS= 1.109,-0.701,-0.149, RAW= 107.3, -3.3, CAL= 114.5, -11.9, ROT= 35.5, 11.9 2025-01-08T22:04:26.183Z,1736373866.183 [DAT](INFO): got valid direction response: 22:04:24.2465 LVL= 23280, 29169, 26850, 28211, AGC= 70, IDX= 52, 0.02,-0.267,-2.036,-1.435,-1.288, PHS= 1.109,-0.701,-0.149, RAW= 107.3, -3.3, CAL= 114.5, -11.9, ROT= 35.5, 11.9 2025-01-08T22:04:26.185Z,1736373866.185 [DAT](INFO): DAT read: Bearing 35.5, 11.9 (Local) 2025-01-08T22:04:26.185Z,1736373866.185 [DAT](INFO): Local bearing/azimuth received: Bearing 35.5, 11.9 (Local) 2025-01-08T22:04:26.209Z,1736373866.209 [DAT](INFO): DAT read: Range 10 to 50 : 449.4 m (Round-trip 599.2 ms) speed 0.4 m/s 2025-01-08T22:04:26.210Z,1736373866.210 [DAT](INFO): DAT read: user:2273> 2025-01-08T22:04:26.216Z,1736373866.216 [DAT](INFO): DAT read: Tx time:22:04:25.3432 2025-01-08T22:04:26.217Z,1736373866.217 [DAT](INFO): Ping request sent. 2025-01-08T22:04:26.217Z,1736373866.217 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:26.218Z,1736373866.218 [DAT](INFO): DAT read: TxSync time:22:04:25.3424 2025-01-08T22:04:26.219Z,1736373866.219 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:26.226Z,1736373866.226 [DAT](INFO): direction in FSK: [-0.045762,-0.199925,0.978742] 2025-01-08T22:04:26.226Z,1736373866.226 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:26.226Z,1736373866.226 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:26.234Z,1736373866.234 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:26.235Z,1736373866.235 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:26.420Z,1736373866.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:26.446Z,1736373866.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:04:26.446Z,1736373866.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:26.483Z,1736373866.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 449.399994 m, deltaT: 4.282837 s, deltaX: 9.100006 m, approachRate: 2.124761 m/s, rangeRepo size: 4 2025-01-08T22:04:26.485Z,1736373866.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 449.399994 m, bearing: 265.922271 deg, lat: 36.900223 deg, lon: -122.123428 deg, deltaT: 4.282837 s, deltaX: 9.100006 m, approachRate: 2.124761 m/s, posRepo size: 4 2025-01-08T22:04:26.485Z,1736373866.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:26.493Z,1736373866.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 182.741074 m, bearing: 229.806631 deg, approach rate: 0.000000 m/s, LOS rate: -0.185990 deg/s, cmd heading: 351.502435 deg, new cmd heading: 351.268998 deg. 2025-01-08T22:04:26.494Z,1736373866.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.130801 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:26.673Z,1736373866.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:26.892Z,1736373866.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:04:26.893Z,1736373866.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:26.901Z,1736373866.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:26.907Z,1736373866.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 182.840897 m, bearing: 229.723104 deg, approach rate: 0.237988 m/s, LOS rate: -0.199027 deg/s, cmd heading: 351.269007 deg, new cmd heading: 351.018565 deg. 2025-01-08T22:04:26.912Z,1736373866.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.126430 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:26.929Z,1736373866.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:27.180Z,1736373867.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:27.312Z,1736373867.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:27.348Z,1736373867.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:27.350Z,1736373867.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:27.361Z,1736373867.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 182.942032 m, bearing: 229.639290 deg, approach rate: 0.225280 m/s, LOS rate: -0.186594 deg/s, cmd heading: 351.018557 deg, new cmd heading: 350.767255 deg. 2025-01-08T22:04:27.362Z,1736373867.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.122044 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:27.433Z,1736373867.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:27.433Z,1736373867.433 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:27.433Z,1736373867.433 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:27.434Z,1736373867.434 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:27.684Z,1736373867.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:27.684Z,1736373867.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467622 2025-01-08T22:04:27.698Z,1736373867.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:27.726Z,1736373867.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:27.730Z,1736373867.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 183.034943 m, bearing: 229.562361 deg, approach rate: 0.247108 m/s, LOS rate: -0.204499 deg/s, cmd heading: 350.767261 deg, new cmd heading: 350.536592 deg. 2025-01-08T22:04:27.739Z,1736373867.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.118018 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:27.938Z,1736373867.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:27.940Z,1736373867.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722880 2025-01-08T22:04:28.133Z,1736373868.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:28.144Z,1736373868.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:28.146Z,1736373868.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 183.156464 m, bearing: 229.478883 deg, approach rate: 0.291498 m/s, LOS rate: -0.200109 deg/s, cmd heading: 350.536592 deg, new cmd heading: 350.286326 deg. 2025-01-08T22:04:28.147Z,1736373868.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113650 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:28.188Z,1736373868.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:28.190Z,1736373868.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972707 2025-01-08T22:04:28.440Z,1736373868.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:28.441Z,1736373868.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223904 2025-01-08T22:04:28.508Z,1736373868.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:28.525Z,1736373868.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:28.528Z,1736373868.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 183.259796 m, bearing: 229.406944 deg, approach rate: 0.270790 m/s, LOS rate: -0.188415 deg/s, cmd heading: 350.286334 deg, new cmd heading: 350.070640 deg. 2025-01-08T22:04:28.529Z,1736373868.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.109885 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:28.692Z,1736373868.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:28.692Z,1736373868.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475650 2025-01-08T22:04:28.909Z,1736373868.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:28.923Z,1736373868.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:28.926Z,1736373868.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 183.369629 m, bearing: 229.330069 deg, approach rate: 0.275981 m/s, LOS rate: -0.193053 deg/s, cmd heading: 350.070636 deg, new cmd heading: 349.840149 deg. 2025-01-08T22:04:28.927Z,1736373868.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.105863 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:28.946Z,1736373868.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:28.958Z,1736373868.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740175 2025-01-08T22:04:29.196Z,1736373869.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:29.197Z,1736373869.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980455 2025-01-08T22:04:29.351Z,1736373869.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:29.365Z,1736373869.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:29.367Z,1736373869.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:29.372Z,1736373869.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 183.501938 m, bearing: 229.248907 deg, approach rate: 0.297849 m/s, LOS rate: -0.182576 deg/s, cmd heading: 349.840158 deg, new cmd heading: 349.596851 deg. 2025-01-08T22:04:29.373Z,1736373869.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.101616 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:29.449Z,1736373869.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:29.450Z,1736373869.450 [DAT](INFO): DAT read: Rx Time:22:04:28.3173 2025-01-08T22:04:29.450Z,1736373869.450 [DAT](INFO): Rx dataTimestamp_ set to:1736373869.450107 2025-01-08T22:04:29.456Z,1736373869.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237783 2025-01-08T22:04:29.700Z,1736373869.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:29.700Z,1736373869.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483512 2025-01-08T22:04:29.730Z,1736373869.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:29.753Z,1736373869.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:29.757Z,1736373869.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 183.614899 m, bearing: 229.179126 deg, approach rate: 0.292928 m/s, LOS rate: -0.180844 deg/s, cmd heading: 349.596840 deg, new cmd heading: 349.387626 deg. 2025-01-08T22:04:29.758Z,1736373869.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097964 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:29.955Z,1736373869.955 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:29.956Z,1736373869.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739153 2025-01-08T22:04:30.146Z,1736373870.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:30.156Z,1736373870.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:30.158Z,1736373870.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 183.756577 m, bearing: 229.104941 deg, approach rate: 0.351665 m/s, LOS rate: -0.183995 deg/s, cmd heading: 349.387617 deg, new cmd heading: 349.165236 deg. 2025-01-08T22:04:30.160Z,1736373870.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.094083 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:30.208Z,1736373870.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:30.219Z,1736373870.219 [DAT](INFO): DAT read: 22:04:28.3173 LVL= 23200, 32753, 27378, 32755, AGC= 73, IDX= 136, 0.02,-3.069, 1.502, 2.134, 2.537, PHS= 0.765,-0.988,-0.406, RAW= 109.0, 8.2, CAL= 119.0, 5.8, ROT= 31.0, -5.8 2025-01-08T22:04:30.220Z,1736373870.220 [DAT](INFO): got valid direction response: 22:04:28.3173 LVL= 23200, 32753, 27378, 32755, AGC= 73, IDX= 136, 0.02,-3.069, 1.502, 2.134, 2.537, PHS= 0.765,-0.988,-0.406, RAW= 109.0, 8.2, CAL= 119.0, 5.8, ROT= 31.0, -5.8 2025-01-08T22:04:30.221Z,1736373870.221 [DAT](INFO): DAT read: Bearing 31.0, -5.8 (Local) 2025-01-08T22:04:30.221Z,1736373870.221 [DAT](INFO): Local bearing/azimuth received: Bearing 31.0, -5.8 (Local) 2025-01-08T22:04:30.235Z,1736373870.235 [DAT](INFO): DAT read: Range 10 to 50 : 427.4 m (Round-trip 569.9 ms) speed 0.4 m/s 2025-01-08T22:04:30.236Z,1736373870.236 [DAT](INFO): DAT read: user:2274> 2025-01-08T22:04:30.237Z,1736373870.237 [DAT](INFO): DAT read: Tx time:22:04:29.3933 2025-01-08T22:04:30.237Z,1736373870.237 [DAT](INFO): Ping request sent. 2025-01-08T22:04:30.237Z,1736373870.237 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:30.238Z,1736373870.238 [DAT](INFO): DAT read: TxSync time:22:04:29.3925 2025-01-08T22:04:30.244Z,1736373870.244 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:30.245Z,1736373870.245 [DAT](INFO): direction in FSK: [-0.266109,-0.214000,0.939888] 2025-01-08T22:04:30.246Z,1736373870.246 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:30.246Z,1736373870.246 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:30.259Z,1736373870.259 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:30.260Z,1736373870.260 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:30.460Z,1736373870.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:30.525Z,1736373870.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:30.572Z,1736373870.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 427.399994 m, deltaT: 4.038965 s, deltaX: -22.000000 m, approachRate: -5.446940 m/s, rangeRepo size: 4 2025-01-08T22:04:30.572Z,1736373870.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:30.575Z,1736373870.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 183.885147 m, bearing: 229.037272 deg, approach rate: 0.312501 m/s, LOS rate: -0.164361 deg/s, cmd heading: 349.165226 deg, new cmd heading: 348.962360 deg. 2025-01-08T22:04:30.581Z,1736373870.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.090542 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:30.713Z,1736373870.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:30.928Z,1736373870.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:30.936Z,1736373870.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:30.940Z,1736373870.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 184.021179 m, bearing: 228.965332 deg, approach rate: 0.368584 m/s, LOS rate: -0.194779 deg/s, cmd heading: 348.962370 deg, new cmd heading: 348.746711 deg. 2025-01-08T22:04:30.941Z,1736373870.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.086778 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:30.964Z,1736373870.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:31.216Z,1736373871.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:31.364Z,1736373871.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:31.370Z,1736373871.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:31.373Z,1736373871.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:31.376Z,1736373871.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 184.178787 m, bearing: 228.893290 deg, approach rate: 0.360886 m/s, LOS rate: -0.164817 deg/s, cmd heading: 348.746700 deg, new cmd heading: 348.530761 deg. 2025-01-08T22:04:31.377Z,1736373871.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083009 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:31.468Z,1736373871.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:31.468Z,1736373871.468 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:31.468Z,1736373871.468 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:31.469Z,1736373871.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:31.721Z,1736373871.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:31.722Z,1736373871.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484512 2025-01-08T22:04:31.769Z,1736373871.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:31.779Z,1736373871.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:31.782Z,1736373871.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 184.324966 m, bearing: 228.826382 deg, approach rate: 0.360053 m/s, LOS rate: -0.164670 deg/s, cmd heading: 348.530756 deg, new cmd heading: 348.330192 deg. 2025-01-08T22:04:31.783Z,1736373871.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079509 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:31.972Z,1736373871.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:31.972Z,1736373871.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735127 2025-01-08T22:04:32.161Z,1736373872.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:32.169Z,1736373872.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:32.173Z,1736373872.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 184.469528 m, bearing: 228.767894 deg, approach rate: 0.370064 m/s, LOS rate: -0.149608 deg/s, cmd heading: 348.330195 deg, new cmd heading: 348.154867 deg. 2025-01-08T22:04:32.174Z,1736373872.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076449 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:32.228Z,1736373872.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:32.229Z,1736373872.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991764 2025-01-08T22:04:32.481Z,1736373872.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:32.482Z,1736373872.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244322 2025-01-08T22:04:32.561Z,1736373872.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:32.578Z,1736373872.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:32.585Z,1736373872.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 184.617310 m, bearing: 228.708072 deg, approach rate: 0.361447 m/s, LOS rate: -0.146197 deg/s, cmd heading: 348.154877 deg, new cmd heading: 347.975556 deg. 2025-01-08T22:04:32.586Z,1736373872.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.073319 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:32.732Z,1736373872.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:32.733Z,1736373872.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495337 2025-01-08T22:04:32.962Z,1736373872.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:32.972Z,1736373872.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:32.974Z,1736373872.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 184.764557 m, bearing: 228.648178 deg, approach rate: 0.375277 m/s, LOS rate: -0.152525 deg/s, cmd heading: 347.975544 deg, new cmd heading: 347.796006 deg. 2025-01-08T22:04:32.975Z,1736373872.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.070186 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:32.984Z,1736373872.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:32.985Z,1736373872.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747263 2025-01-08T22:04:33.236Z,1736373873.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:33.238Z,1736373873.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999961 2025-01-08T22:04:33.388Z,1736373873.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:33.396Z,1736373873.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:33.398Z,1736373873.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:33.402Z,1736373873.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 184.927307 m, bearing: 228.587096 deg, approach rate: 0.380564 m/s, LOS rate: -0.142704 deg/s, cmd heading: 347.796019 deg, new cmd heading: 347.612936 deg. 2025-01-08T22:04:33.402Z,1736373873.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066990 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:33.488Z,1736373873.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:33.489Z,1736373873.489 [DAT](INFO): DAT read: Rx Time:22:04:32.3642 2025-01-08T22:04:33.490Z,1736373873.490 [DAT](INFO): Rx dataTimestamp_ set to:1736373873.489375 2025-01-08T22:04:33.490Z,1736373873.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252883 2025-01-08T22:04:33.740Z,1736373873.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:33.741Z,1736373873.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503240 2025-01-08T22:04:33.756Z,1736373873.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:33.765Z,1736373873.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:33.768Z,1736373873.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 185.067993 m, bearing: 228.534053 deg, approach rate: 0.383279 m/s, LOS rate: -0.144397 deg/s, cmd heading: 347.612943 deg, new cmd heading: 347.453937 deg. 2025-01-08T22:04:33.769Z,1736373873.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.064215 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:33.992Z,1736373873.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:33.994Z,1736373873.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756613 2025-01-08T22:04:34.193Z,1736373874.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:34.202Z,1736373874.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m. 2025-01-08T22:04:34.205Z,1736373874.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 449.399994 m, nav range: 185.222824 m, bearing: 228.472268 deg, approach rate: 0.354758 m/s, LOS rate: -0.141449 deg/s, cmd heading: 347.453936 deg, new cmd heading: 347.268734 deg. 2025-01-08T22:04:34.206Z,1736373874.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.060983 target range: 449.399994 and range: 449.40 m. 2025-01-08T22:04:34.244Z,1736373874.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:34.255Z,1736373874.255 [DAT](INFO): DAT read: 22:04:32.3642 LVL= 13456, 32753, 26242, 32755, AGC= 67, IDX= 408, 0.15,-1.261,-3.030,-2.497,-2.101, PHS= 0.928,-0.882,-0.399, RAW= 104.9, 4.4, CAL= 115.7, 2.1, ROT= 34.3, -2.1 2025-01-08T22:04:34.257Z,1736373874.257 [DAT](INFO): got valid direction response: 22:04:32.3642 LVL= 13456, 32753, 26242, 32755, AGC= 67, IDX= 408, 0.15,-1.261,-3.030,-2.497,-2.101, PHS= 0.928,-0.882,-0.399, RAW= 104.9, 4.4, CAL= 115.7, 2.1, ROT= 34.3, -2.1 2025-01-08T22:04:34.259Z,1736373874.259 [DAT](INFO): DAT read: Bearing 34.3, -2.1 (Local) 2025-01-08T22:04:34.260Z,1736373874.260 [DAT](INFO): Local bearing/azimuth received: Bearing 34.3, -2.1 (Local) 2025-01-08T22:04:34.265Z,1736373874.265 [DAT](INFO): DAT read: Range 10 to 50 : 425.0 m (Round-trip 566.7 ms) speed 0.6 m/s 2025-01-08T22:04:34.266Z,1736373874.266 [DAT](INFO): DAT read: user:2275> 2025-01-08T22:04:34.267Z,1736373874.267 [DAT](INFO): DAT read: Tx time:22:04:33.4433 2025-01-08T22:04:34.267Z,1736373874.267 [DAT](INFO): Ping request sent. 2025-01-08T22:04:34.267Z,1736373874.267 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:34.268Z,1736373874.268 [DAT](INFO): DAT read: TxSync time:22:04:33.4425 2025-01-08T22:04:34.268Z,1736373874.268 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:34.269Z,1736373874.269 [DAT](INFO): direction in FSK: [-0.190335,-0.149038,0.970340] 2025-01-08T22:04:34.270Z,1736373874.270 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:34.270Z,1736373874.270 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:34.278Z,1736373874.278 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:34.279Z,1736373874.279 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:34.496Z,1736373874.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:34.580Z,1736373874.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:34.648Z,1736373874.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 425.000000 m, deltaT: 8.075379 s, deltaX: -24.399994 m, approachRate: -3.021529 m/s, rangeRepo size: 4 2025-01-08T22:04:34.651Z,1736373874.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 425.000000 m, bearing: 231.853813 deg, lat: 36.900652 deg, lon: -122.123353 deg, deltaT: 8.075379 s, deltaX: -24.399994 m, approachRate: -3.021529 m/s, posRepo size: 4 2025-01-08T22:04:34.660Z,1736373874.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.00 m. 2025-01-08T22:04:34.673Z,1736373874.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.000000 m, nav range: 151.998520 m, bearing: 240.273902 deg, approach rate: 0.000000 m/s, LOS rate: -0.141449 deg/s, cmd heading: 347.268729 deg, new cmd heading: 347.093409 deg. 2025-01-08T22:04:34.674Z,1736373874.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.057923 target range: 425.000000 and range: 425.00 m. 2025-01-08T22:04:34.748Z,1736373874.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:34.974Z,1736373874.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:34.982Z,1736373874.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.00 m. 2025-01-08T22:04:34.985Z,1736373874.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.000000 m, nav range: 152.097000 m, bearing: 240.196654 deg, approach rate: 0.268046 m/s, LOS rate: -0.210119 deg/s, cmd heading: 347.093411 deg, new cmd heading: 346.861819 deg. 2025-01-08T22:04:34.986Z,1736373874.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053881 target range: 425.000000 and range: 425.00 m. 2025-01-08T22:04:34.000Z,1736373875.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:35.252Z,1736373875.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:35.397Z,1736373875.397 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, . +0.00, 2.3 +52, +55, +1,A 2025-01-08T22:04:35.404Z,1736373875.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:04:35.404Z,1736373875.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:35.411Z,1736373875.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:35.414Z,1736373875.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.00 m. 2025-01-08T22:04:35.424Z,1736373875.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.000000 m, nav range: 152.205139 m, bearing: 240.112192 deg, approach rate: 0.250843 m/s, LOS rate: -0.195782 deg/s, cmd heading: 346.861813 deg, new cmd heading: 346.608609 deg. 2025-01-08T22:04:35.425Z,1736373875.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049461 target range: 425.000000 and range: 425.00 m. 2025-01-08T22:04:35.505Z,1736373875.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:35.505Z,1736373875.505 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:35.505Z,1736373875.505 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:35.506Z,1736373875.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:35.756Z,1736373875.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:35.757Z,1736373875.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489171 2025-01-08T22:04:35.806Z,1736373875.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:04:35.806Z,1736373875.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:35.825Z,1736373875.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.00 m. 2025-01-08T22:04:35.828Z,1736373875.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.000000 m, nav range: 152.306381 m, bearing: 240.033469 deg, approach rate: 0.245852 m/s, LOS rate: -0.191041 deg/s, cmd heading: 346.608605 deg, new cmd heading: 346.372593 deg. 2025-01-08T22:04:35.829Z,1736373875.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045342 target range: 425.000000 and range: 425.00 m. 2025-01-08T22:04:36.008Z,1736373876.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:36.008Z,1736373876.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741083 2025-01-08T22:04:36.205Z,1736373876.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:36.215Z,1736373876.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.00 m. 2025-01-08T22:04:36.218Z,1736373876.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.000000 m, nav range: 152.393951 m, bearing: 239.941611 deg, approach rate: 0.224602 m/s, LOS rate: -0.235463 deg/s, cmd heading: 346.372581 deg, new cmd heading: 346.097168 deg. 2025-01-08T22:04:36.219Z,1736373876.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.040535 target range: 425.000000 and range: 425.00 m. 2025-01-08T22:04:36.260Z,1736373876.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:36.261Z,1736373876.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993304 2025-01-08T22:04:36.512Z,1736373876.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:36.512Z,1736373876.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245021 2025-01-08T22:04:36.593Z,1736373876.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:36.601Z,1736373876.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.00 m. 2025-01-08T22:04:36.616Z,1736373876.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.000000 m, nav range: 152.478455 m, bearing: 239.852393 deg, approach rate: 0.218748 m/s, LOS rate: -0.230826 deg/s, cmd heading: 346.097160 deg, new cmd heading: 345.829655 deg. 2025-01-08T22:04:36.617Z,1736373876.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035866 target range: 425.000000 and range: 425.00 m. 2025-01-08T22:04:36.764Z,1736373876.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:36.765Z,1736373876.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497328 2025-01-08T22:04:36.985Z,1736373876.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:36.995Z,1736373876.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.00 m. 2025-01-08T22:04:36.998Z,1736373876.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.000000 m, nav range: 152.563553 m, bearing: 239.762146 deg, approach rate: 0.216271 m/s, LOS rate: -0.229228 deg/s, cmd heading: 345.829662 deg, new cmd heading: 345.559075 deg. 2025-01-08T22:04:36.998Z,1736373876.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.031144 target range: 425.000000 and range: 425.00 m. 2025-01-08T22:04:37.017Z,1736373877.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:37.018Z,1736373877.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750777 2025-01-08T22:04:37.268Z,1736373877.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:37.268Z,1736373877.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001013 2025-01-08T22:04:37.439Z,1736373877.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:37.445Z,1736373877.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:37.450Z,1736373877.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.00 m. 2025-01-08T22:04:37.454Z,1736373877.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.000000 m, nav range: 152.628723 m, bearing: 239.667291 deg, approach rate: 0.143603 m/s, LOS rate: -0.208924 deg/s, cmd heading: 345.559078 deg, new cmd heading: 345.274637 deg. 2025-01-08T22:04:37.458Z,1736373877.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026179 target range: 425.000000 and range: 425.00 m. 2025-01-08T22:04:37.520Z,1736373877.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:37.521Z,1736373877.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253635 2025-01-08T22:04:37.772Z,1736373877.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:37.773Z,1736373877.773 [DAT](INFO): DAT read: Rx Time:22:04:36.4115 2025-01-08T22:04:37.773Z,1736373877.773 [DAT](INFO): Rx dataTimestamp_ set to:1736373877.772738 2025-01-08T22:04:37.774Z,1736373877.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506203 2025-01-08T22:04:37.792Z,1736373877.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:04:37.838Z,1736373877.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:37.848Z,1736373877.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.00 m. 2025-01-08T22:04:37.850Z,1736373877.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.000000 m, nav range: 152.684448 m, bearing: 239.583565 deg, approach rate: 0.139762 m/s, LOS rate: -0.209915 deg/s, cmd heading: 345.274641 deg, new cmd heading: 345.023555 deg. 2025-01-08T22:04:37.851Z,1736373877.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021797 target range: 425.000000 and range: 425.00 m. 2025-01-08T22:04:38.024Z,1736373878.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:38.024Z,1736373878.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756965 2025-01-08T22:04:38.235Z,1736373878.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:38.244Z,1736373878.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.00 m. 2025-01-08T22:04:38.247Z,1736373878.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.000000 m, nav range: 152.720367 m, bearing: 239.495552 deg, approach rate: 0.090489 m/s, LOS rate: -0.221673 deg/s, cmd heading: 345.023564 deg, new cmd heading: 344.759590 deg. 2025-01-08T22:04:38.248Z,1736373878.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.017190 target range: 425.000000 and range: 425.00 m. 2025-01-08T22:04:38.276Z,1736373878.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:38.282Z,1736373878.282 [DAT](INFO): DAT read: 22:04:36.4116 LVL= 18672, 28705, 23538, 32755, AGC= 67, IDX= 412,-0.01,-0.726,-2.487,-2.025,-1.518, PHS= 0.880,-0.922,-0.510, RAW= 102.6, 6.8, CAL= 112.6, 5.1, ROT= 37.4, -5.1 2025-01-08T22:04:38.285Z,1736373878.285 [DAT](INFO): got valid direction response: 22:04:36.4116 LVL= 18672, 28705, 23538, 32755, AGC= 67, IDX= 412,-0.01,-0.726,-2.487,-2.025,-1.518, PHS= 0.880,-0.922,-0.510, RAW= 102.6, 6.8, CAL= 112.6, 5.1, ROT= 37.4, -5.1 2025-01-08T22:04:38.288Z,1736373878.288 [DAT](INFO): DAT read: Bearing 37.4, -5.1 (Local) 2025-01-08T22:04:38.289Z,1736373878.289 [DAT](INFO): Local bearing/azimuth received: Bearing 37.4, -5.1 (Local) 2025-01-08T22:04:38.290Z,1736373878.290 [DAT](INFO): DAT read: Range 10 to 50 : 423.0 m (Round-trip 564.0 ms) speed 0.0 m/s 2025-01-08T22:04:38.291Z,1736373878.291 [DAT](INFO): DAT read: user:2276> 2025-01-08T22:04:38.292Z,1736373878.292 [DAT](INFO): DAT read: Tx time:22:04:37.4934 2025-01-08T22:04:38.292Z,1736373878.292 [DAT](INFO): Ping request sent. 2025-01-08T22:04:38.292Z,1736373878.292 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:38.293Z,1736373878.293 [DAT](INFO): DAT read: TxSync time:22:04:37.4926 2025-01-08T22:04:38.293Z,1736373878.293 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:38.294Z,1736373878.294 [DAT](INFO): direction in FSK: [-0.232474,-0.104948,0.966924] 2025-01-08T22:04:38.294Z,1736373878.294 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:38.295Z,1736373878.295 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:38.298Z,1736373878.298 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:38.298Z,1736373878.298 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:38.528Z,1736373878.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:38.621Z,1736373878.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:38.647Z,1736373878.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 423.000000 m, deltaT: 4.031079 s, deltaX: -2.000000 m, approachRate: -0.496145 m/s, rangeRepo size: 4 2025-01-08T22:04:38.655Z,1736373878.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 423.000000 m, bearing: 215.445607 deg, lat: 36.900523 deg, lon: -122.123226 deg, deltaT: 4.031079 s, deltaX: -2.000000 m, approachRate: -0.496145 m/s, posRepo size: 4 2025-01-08T22:04:38.664Z,1736373878.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.00 m. 2025-01-08T22:04:38.673Z,1736373878.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.000000 m, nav range: 151.385269 m, bearing: 232.556534 deg, approach rate: 0.000000 m/s, LOS rate: -0.221673 deg/s, cmd heading: 344.759590 deg, new cmd heading: 344.492907 deg. 2025-01-08T22:04:38.675Z,1736373878.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.012536 target range: 423.000000 and range: 423.00 m. 2025-01-08T22:04:38.780Z,1736373878.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:38.796Z,1736373878.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:04:39.014Z,1736373879.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:39.024Z,1736373879.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.00 m. 2025-01-08T22:04:39.026Z,1736373879.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.000000 m, nav range: 151.446167 m, bearing: 232.469231 deg, approach rate: 0.161117 m/s, LOS rate: -0.230884 deg/s, cmd heading: 344.492912 deg, new cmd heading: 344.231111 deg. 2025-01-08T22:04:39.032Z,1736373879.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:39.043Z,1736373879.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007966 target range: 423.000000 and range: 423.00 m. 2025-01-08T22:04:39.284Z,1736373879.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:39.536Z,1736373879.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:39.550Z,1736373879.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:39.562Z,1736373879.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:39.568Z,1736373879.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.00 m. 2025-01-08T22:04:39.576Z,1736373879.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.000000 m, nav range: 151.515503 m, bearing: 232.341994 deg, approach rate: 0.127248 m/s, LOS rate: -0.233402 deg/s, cmd heading: 344.231098 deg, new cmd heading: 343.849568 deg. 2025-01-08T22:04:39.577Z,1736373879.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001307 target range: 423.000000 and range: 423.00 m. 2025-01-08T22:04:39.790Z,1736373879.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:39.791Z,1736373879.791 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:39.791Z,1736373879.791 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:39.792Z,1736373879.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:39.912Z,1736373879.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:39.922Z,1736373879.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.00 m. 2025-01-08T22:04:39.925Z,1736373879.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.000000 m, nav range: 151.561295 m, bearing: 232.256176 deg, approach rate: 0.129534 m/s, LOS rate: -0.242686 deg/s, cmd heading: 343.849563 deg, new cmd heading: 343.592189 deg. 2025-01-08T22:04:39.926Z,1736373879.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996815 target range: 423.000000 and range: 423.00 m. 2025-01-08T22:04:40.040Z,1736373880.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:40.040Z,1736373880.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748159 2025-01-08T22:04:40.292Z,1736373880.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:40.293Z,1736373880.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000485 2025-01-08T22:04:40.356Z,1736373880.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:40.367Z,1736373880.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.00 m. 2025-01-08T22:04:40.386Z,1736373880.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.000000 m, nav range: 151.600311 m, bearing: 232.144845 deg, approach rate: 0.087670 m/s, LOS rate: -0.250095 deg/s, cmd heading: 343.592202 deg, new cmd heading: 343.258300 deg. 2025-01-08T22:04:40.386Z,1736373880.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.990987 target range: 423.000000 and range: 423.00 m. 2025-01-08T22:04:40.544Z,1736373880.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:40.545Z,1736373880.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252974 2025-01-08T22:04:40.717Z,1736373880.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:40.727Z,1736373880.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.00 m. 2025-01-08T22:04:40.729Z,1736373880.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.000000 m, nav range: 151.629486 m, bearing: 232.054151 deg, approach rate: 0.081055 m/s, LOS rate: -0.251923 deg/s, cmd heading: 343.258287 deg, new cmd heading: 342.986261 deg. 2025-01-08T22:04:40.730Z,1736373880.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.986239 target range: 423.000000 and range: 423.00 m. 2025-01-08T22:04:40.796Z,1736373880.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:40.798Z,1736373880.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505069 2025-01-08T22:04:41.048Z,1736373881.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:41.048Z,1736373881.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756108 2025-01-08T22:04:41.150Z,1736373881.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:41.195Z,1736373881.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.00 m. 2025-01-08T22:04:41.202Z,1736373881.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.000000 m, nav range: 151.663040 m, bearing: 231.945683 deg, approach rate: 0.071680 m/s, LOS rate: -0.231666 deg/s, cmd heading: 342.986255 deg, new cmd heading: 342.660925 deg. 2025-01-08T22:04:41.203Z,1736373881.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980561 target range: 423.000000 and range: 423.00 m. 2025-01-08T22:04:41.300Z,1736373881.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:41.301Z,1736373881.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009004 2025-01-08T22:04:41.552Z,1736373881.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:41.553Z,1736373881.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260989 2025-01-08T22:04:41.570Z,1736373881.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:41.593Z,1736373881.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:41.595Z,1736373881.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.00 m. 2025-01-08T22:04:41.601Z,1736373881.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.000000 m, nav range: 151.696411 m, bearing: 231.834461 deg, approach rate: 0.083459 m/s, LOS rate: -0.278097 deg/s, cmd heading: 342.660919 deg, new cmd heading: 342.327331 deg. 2025-01-08T22:04:41.602Z,1736373881.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974739 target range: 423.000000 and range: 423.00 m. 2025-01-08T22:04:41.804Z,1736373881.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:41.805Z,1736373881.805 [DAT](INFO): DAT read: Rx Time:22:04:40.4873 2025-01-08T22:04:41.806Z,1736373881.806 [DAT](INFO): Rx dataTimestamp_ set to:1736373881.805403 2025-01-08T22:04:41.806Z,1736373881.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513959 2025-01-08T22:04:41.933Z,1736373881.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:41.943Z,1736373881.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.00 m. 2025-01-08T22:04:41.946Z,1736373881.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 423.000000 m, nav range: 151.723831 m, bearing: 231.738331 deg, approach rate: 0.078764 m/s, LOS rate: -0.276085 deg/s, cmd heading: 342.327333 deg, new cmd heading: 342.038997 deg. 2025-01-08T22:04:41.947Z,1736373881.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969707 target range: 423.000000 and range: 423.00 m. 2025-01-08T22:04:42.056Z,1736373882.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:42.057Z,1736373882.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764473 2025-01-08T22:04:42.308Z,1736373882.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:42.314Z,1736373882.314 [DAT](INFO): DAT read: 22:04:40.4873 LVL= 20816, 32753, 23634, 32083, AGC= 70, IDX= 195,-0.09,-0.272,-1.598,-1.355,-1.019, PHS= 0.835,-0.532,-0.339, RAW= 97.5, 0.6, CAL= 106.7, -3.2, ROT= 43.3, 3.2 2025-01-08T22:04:42.315Z,1736373882.315 [DAT](INFO): got valid direction response: 22:04:40.4873 LVL= 20816, 32753, 23634, 32083, AGC= 70, IDX= 195,-0.09,-0.272,-1.598,-1.355,-1.019, PHS= 0.835,-0.532,-0.339, RAW= 97.5, 0.6, CAL= 106.7, -3.2, ROT= 43.3, 3.2 2025-01-08T22:04:42.316Z,1736373882.316 [DAT](INFO): DAT read: Bearing 43.3, 3.2 (Local) 2025-01-08T22:04:42.316Z,1736373882.316 [DAT](INFO): Local bearing/azimuth received: Bearing 43.3, 3.2 (Local) 2025-01-08T22:04:42.318Z,1736373882.318 [DAT](INFO): DAT read: Range 10 to 50 : 442.2 m (Round-trip 589.7 ms) speed 0.0 m/s 2025-01-08T22:04:42.319Z,1736373882.319 [DAT](INFO): DAT read: user:2277> 2025-01-08T22:04:42.320Z,1736373882.320 [DAT](INFO): DAT read: Tx time:22:04:41.5934 2025-01-08T22:04:42.320Z,1736373882.320 [DAT](INFO): Ping request sent. 2025-01-08T22:04:42.320Z,1736373882.320 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:42.321Z,1736373882.321 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:42.322Z,1736373882.322 [DAT](INFO): direction in FSK: [-0.107412,-0.022652,0.993956] 2025-01-08T22:04:42.322Z,1736373882.322 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:42.322Z,1736373882.322 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:42.325Z,1736373882.325 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:42.326Z,1736373882.326 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:42.449Z,1736373882.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:42.491Z,1736373882.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 442.200012 m, deltaT: 4.031901 s, deltaX: 19.200012 m, approachRate: 4.762025 m/s, rangeRepo size: 4 2025-01-08T22:04:42.493Z,1736373882.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 442.200012 m, bearing: 224.948689 deg, lat: 36.900652 deg, lon: -122.122948 deg, deltaT: 4.031901 s, deltaX: 19.200012 m, approachRate: 4.762025 m/s, posRepo size: 4 2025-01-08T22:04:42.494Z,1736373882.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:42.501Z,1736373882.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 123.571472 m, bearing: 229.676729 deg, approach rate: 0.000000 m/s, LOS rate: -0.276085 deg/s, cmd heading: 342.038989 deg, new cmd heading: 341.588769 deg. 2025-01-08T22:04:42.502Z,1736373882.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961849 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:42.560Z,1736373882.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:42.561Z,1736373882.561 [DAT](INFO): DAT read: TxSync time:22:04:41.5926 2025-01-08T22:04:42.793Z,1736373882.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:42.809Z,1736373882.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:42.812Z,1736373882.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:42.816Z,1736373882.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 123.605637 m, bearing: 229.564390 deg, approach rate: 0.105867 m/s, LOS rate: -0.348015 deg/s, cmd heading: 341.588771 deg, new cmd heading: 341.251850 deg. 2025-01-08T22:04:42.820Z,1736373882.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955968 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:43.064Z,1736373883.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:43.250Z,1736373883.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:43.259Z,1736373883.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:43.262Z,1736373883.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 123.665031 m, bearing: 229.415533 deg, approach rate: 0.131936 m/s, LOS rate: -0.330502 deg/s, cmd heading: 341.251851 deg, new cmd heading: 340.805506 deg. 2025-01-08T22:04:43.263Z,1736373883.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.948178 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:43.316Z,1736373883.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:43.568Z,1736373883.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:43.607Z,1736373883.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:43.614Z,1736373883.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:43.617Z,1736373883.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:43.632Z,1736373883.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 123.711319 m, bearing: 229.299227 deg, approach rate: 0.129483 m/s, LOS rate: -0.325228 deg/s, cmd heading: 340.805512 deg, new cmd heading: 340.456728 deg. 2025-01-08T22:04:43.633Z,1736373883.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942091 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:43.820Z,1736373883.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:43.821Z,1736373883.821 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:43.821Z,1736373883.821 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:43.821Z,1736373883.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:44.003Z,1736373884.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:44.013Z,1736373884.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:44.015Z,1736373884.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 123.762604 m, bearing: 229.170487 deg, approach rate: 0.129530 m/s, LOS rate: -0.325023 deg/s, cmd heading: 340.456735 deg, new cmd heading: 340.070681 deg. 2025-01-08T22:04:44.016Z,1736373884.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935353 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:44.072Z,1736373884.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:44.073Z,1736373884.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753377 2025-01-08T22:04:44.324Z,1736373884.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:44.324Z,1736373884.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004534 2025-01-08T22:04:44.448Z,1736373884.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:44.456Z,1736373884.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:44.461Z,1736373884.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 123.841354 m, bearing: 229.034710 deg, approach rate: 0.177486 m/s, LOS rate: -0.305816 deg/s, cmd heading: 340.070693 deg, new cmd heading: 339.663629 deg. 2025-01-08T22:04:44.462Z,1736373884.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928249 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:44.576Z,1736373884.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:44.577Z,1736373884.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256622 2025-01-08T22:04:44.805Z,1736373884.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:44.813Z,1736373884.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:44.816Z,1736373884.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 123.904160 m, bearing: 228.925804 deg, approach rate: 0.175953 m/s, LOS rate: -0.304953 deg/s, cmd heading: 339.663641 deg, new cmd heading: 339.337092 deg. 2025-01-08T22:04:44.817Z,1736373884.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922550 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:44.828Z,1736373884.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:44.828Z,1736373884.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508499 2025-01-08T22:04:45.080Z,1736373885.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:45.081Z,1736373885.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760897 2025-01-08T22:04:45.297Z,1736373885.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:45.306Z,1736373885.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:45.309Z,1736373885.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 124.022339 m, bearing: 228.783968 deg, approach rate: 0.239783 m/s, LOS rate: -0.287508 deg/s, cmd heading: 339.337103 deg, new cmd heading: 338.912009 deg. 2025-01-08T22:04:45.310Z,1736373885.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915131 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:45.332Z,1736373885.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:45.332Z,1736373885.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012456 2025-01-08T22:04:45.585Z,1736373885.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:45.586Z,1736373885.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265780 2025-01-08T22:04:45.632Z,1736373885.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:45.640Z,1736373885.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:45.642Z,1736373885.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:45.666Z,1736373885.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 124.101028 m, bearing: 228.687085 deg, approach rate: 0.234534 m/s, LOS rate: -0.288577 deg/s, cmd heading: 338.912020 deg, new cmd heading: 338.621556 deg. 2025-01-08T22:04:45.672Z,1736373885.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910061 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:45.836Z,1736373885.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:45.836Z,1736373885.836 [DAT](INFO): DAT read: Rx Time:22:04:44.5591 2025-01-08T22:04:45.838Z,1736373885.838 [DAT](INFO): Rx dataTimestamp_ set to:1736373885.836923 2025-01-08T22:04:45.838Z,1736373885.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518296 2025-01-08T22:04:46.032Z,1736373886.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:46.042Z,1736373886.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:46.045Z,1736373886.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 124.194061 m, bearing: 228.571296 deg, approach rate: 0.232490 m/s, LOS rate: -0.289141 deg/s, cmd heading: 338.621545 deg, new cmd heading: 338.274444 deg. 2025-01-08T22:04:46.046Z,1736373886.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904003 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:46.088Z,1736373886.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:46.089Z,1736373886.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769020 2025-01-08T22:04:46.340Z,1736373886.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:46.346Z,1736373886.346 [DAT](INFO): DAT read: 22:04:44.5591 LVL= 17552, 26465, 18578, 29091, AGC= 68, IDX= 147,-0.14, 0.229,-1.593,-1.293,-0.769, PHS= 1.086,-0.776,-0.526, RAW= 97.1, 2.5, CAL= 106.7, 0.3, ROT= 43.3, -0.3 2025-01-08T22:04:46.357Z,1736373886.357 [DAT](INFO): got valid direction response: 22:04:44.5591 LVL= 17552, 26465, 18578, 29091, AGC= 68, IDX= 147,-0.14, 0.229,-1.593,-1.293,-0.769, PHS= 1.086,-0.776,-0.526, RAW= 97.1, 2.5, CAL= 106.7, 0.3, ROT= 43.3, -0.3 2025-01-08T22:04:46.358Z,1736373886.358 [DAT](INFO): DAT read: Bearing 43.3, -0.3 (Local) 2025-01-08T22:04:46.358Z,1736373886.358 [DAT](INFO): Local bearing/azimuth received: Bearing 43.3, -0.3 (Local) 2025-01-08T22:04:46.360Z,1736373886.360 [DAT](INFO): DAT read: Range 10 to 50 : 421.2 m (Round-trip 561.6 ms) speed 0.6 m/s 2025-01-08T22:04:46.361Z,1736373886.361 [DAT](INFO): DAT read: user:2278> 2025-01-08T22:04:46.362Z,1736373886.362 [DAT](INFO): DAT read: Tx time:22:04:45.6434 2025-01-08T22:04:46.362Z,1736373886.362 [DAT](INFO): Ping request sent. 2025-01-08T22:04:46.362Z,1736373886.362 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:46.362Z,1736373886.362 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:46.363Z,1736373886.363 [DAT](INFO): direction in FSK: [-0.143617,-0.013757,0.989538] 2025-01-08T22:04:46.364Z,1736373886.364 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:46.364Z,1736373886.364 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:46.367Z,1736373886.367 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:46.367Z,1736373886.367 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:46.518Z,1736373886.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:46.563Z,1736373886.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 421.200012 m, deltaT: 4.032164 s, deltaX: -21.000000 m, approachRate: -5.208121 m/s, rangeRepo size: 4 2025-01-08T22:04:46.572Z,1736373886.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:46.581Z,1736373886.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 124.326149 m, bearing: 228.442781 deg, approach rate: 0.253832 m/s, LOS rate: -0.246703 deg/s, cmd heading: 338.274435 deg, new cmd heading: 337.889306 deg. 2025-01-08T22:04:46.582Z,1736373886.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.897281 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:46.592Z,1736373886.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:46.593Z,1736373886.593 [DAT](INFO): DAT read: TxSync time:22:04:45.6426 2025-01-08T22:04:46.844Z,1736373886.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:46.863Z,1736373886.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:46.905Z,1736373886.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:46.908Z,1736373886.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 124.419220 m, bearing: 228.351579 deg, approach rate: 0.271475 m/s, LOS rate: -0.265825 deg/s, cmd heading: 337.889294 deg, new cmd heading: 337.615895 deg. 2025-01-08T22:04:46.909Z,1736373886.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892509 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:47.096Z,1736373887.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:47.320Z,1736373887.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:47.329Z,1736373887.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:47.332Z,1736373887.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 124.564476 m, bearing: 228.239989 deg, approach rate: 0.342560 m/s, LOS rate: -0.262857 deg/s, cmd heading: 337.615896 deg, new cmd heading: 337.281520 deg. 2025-01-08T22:04:47.333Z,1736373887.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886673 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:47.348Z,1736373887.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:47.600Z,1736373887.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:47.694Z,1736373887.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:47.700Z,1736373887.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:47.702Z,1736373887.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:47.706Z,1736373887.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 124.682243 m, bearing: 228.148229 deg, approach rate: 0.315351 m/s, LOS rate: -0.245478 deg/s, cmd heading: 337.281517 deg, new cmd heading: 337.006500 deg. 2025-01-08T22:04:47.707Z,1736373887.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881873 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:47.852Z,1736373887.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:47.852Z,1736373887.852 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:47.852Z,1736373887.852 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:47.852Z,1736373887.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:48.096Z,1736373888.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:48.105Z,1736373888.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:48.105Z,1736373888.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743209 2025-01-08T22:04:48.107Z,1736373888.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:48.110Z,1736373888.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 124.809181 m, bearing: 228.049795 deg, approach rate: 0.313594 m/s, LOS rate: -0.242930 deg/s, cmd heading: 337.006506 deg, new cmd heading: 336.711506 deg. 2025-01-08T22:04:48.131Z,1736373888.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876724 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:48.358Z,1736373888.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:48.359Z,1736373888.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997244 2025-01-08T22:04:48.511Z,1736373888.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:48.520Z,1736373888.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:48.523Z,1736373888.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 124.938660 m, bearing: 227.959175 deg, approach rate: 0.313777 m/s, LOS rate: -0.219380 deg/s, cmd heading: 336.711496 deg, new cmd heading: 336.439921 deg. 2025-01-08T22:04:48.524Z,1736373888.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871984 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:48.609Z,1736373888.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:48.611Z,1736373888.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248501 2025-01-08T22:04:48.860Z,1736373888.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:48.860Z,1736373888.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498339 2025-01-08T22:04:48.908Z,1736373888.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:48.929Z,1736373888.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:48.936Z,1736373888.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 125.061386 m, bearing: 227.872088 deg, approach rate: 0.299996 m/s, LOS rate: -0.212668 deg/s, cmd heading: 336.439928 deg, new cmd heading: 336.178926 deg. 2025-01-08T22:04:48.937Z,1736373888.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867429 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:49.112Z,1736373889.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:49.112Z,1736373889.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750202 2025-01-08T22:04:49.356Z,1736373889.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:49.364Z,1736373889.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:49.364Z,1736373889.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002315 2025-01-08T22:04:49.393Z,1736373889.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:49.400Z,1736373889.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 125.199150 m, bearing: 227.778149 deg, approach rate: 0.297155 m/s, LOS rate: -0.202403 deg/s, cmd heading: 336.178933 deg, new cmd heading: 335.897427 deg. 2025-01-08T22:04:49.401Z,1736373889.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862516 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:49.616Z,1736373889.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:49.616Z,1736373889.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254210 2025-01-08T22:04:49.714Z,1736373889.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:49.722Z,1736373889.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:49.724Z,1736373889.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:49.726Z,1736373889.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 125.308365 m, bearing: 227.702750 deg, approach rate: 0.330051 m/s, LOS rate: -0.227660 deg/s, cmd heading: 335.897420 deg, new cmd heading: 335.671421 deg. 2025-01-08T22:04:49.728Z,1736373889.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858572 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:49.868Z,1736373889.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:49.868Z,1736373889.868 [DAT](INFO): DAT read: Rx Time:22:04:48.6065 2025-01-08T22:04:49.869Z,1736373889.869 [DAT](INFO): Rx dataTimestamp_ set to:1736373889.868638 2025-01-08T22:04:49.869Z,1736373889.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507309 2025-01-08T22:04:50.120Z,1736373890.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:50.121Z,1736373890.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759075 2025-01-08T22:04:50.126Z,1736373890.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:50.135Z,1736373890.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m. 2025-01-08T22:04:50.139Z,1736373890.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 442.200012 m, nav range: 125.433533 m, bearing: 227.615942 deg, approach rate: 0.304374 m/s, LOS rate: -0.210883 deg/s, cmd heading: 335.671423 deg, new cmd heading: 335.411260 deg. 2025-01-08T22:04:50.140Z,1736373890.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854031 target range: 442.200012 and range: 442.20 m. 2025-01-08T22:04:50.372Z,1736373890.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:50.379Z,1736373890.379 [DAT](INFO): DAT read: 22:04:48.6065 LVL= 14832, 29681, 20434, 30995, AGC= 67, IDX= 407, 0.19,-2.491, 1.966, 2.122, 2.703, PHS= 1.177,-0.690,-0.584, RAW= 92.9, 1.1, CAL= 101.1, -2.3, ROT= 48.9, 2.3 2025-01-08T22:04:50.380Z,1736373890.380 [DAT](INFO): got valid direction response: 22:04:48.6065 LVL= 14832, 29681, 20434, 30995, AGC= 67, IDX= 407, 0.19,-2.491, 1.966, 2.122, 2.703, PHS= 1.177,-0.690,-0.584, RAW= 92.9, 1.1, CAL= 101.1, -2.3, ROT= 48.9, 2.3 2025-01-08T22:04:50.381Z,1736373890.381 [DAT](INFO): DAT read: Bearing 48.9, 2.3 (Local) 2025-01-08T22:04:50.381Z,1736373890.381 [DAT](INFO): Local bearing/azimuth received: Bearing 48.9, 2.3 (Local) 2025-01-08T22:04:50.383Z,1736373890.383 [DAT](INFO): DAT read: Range 10 to 50 : 419.1 m (Round-trip 558.8 ms) speed 0.4 m/s 2025-01-08T22:04:50.383Z,1736373890.383 [DAT](INFO): DAT read: user:2279> 2025-01-08T22:04:50.384Z,1736373890.384 [DAT](INFO): DAT read: Tx time:22:04:49.6935 2025-01-08T22:04:50.384Z,1736373890.384 [DAT](INFO): Ping request sent. 2025-01-08T22:04:50.384Z,1736373890.384 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:50.385Z,1736373890.385 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:50.386Z,1736373890.386 [DAT](INFO): direction in FSK: [-0.110301,0.058440,0.992179] 2025-01-08T22:04:50.386Z,1736373890.386 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:50.386Z,1736373890.386 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:50.391Z,1736373890.391 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:50.391Z,1736373890.391 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:50.528Z,1736373890.528 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814055561,35.0, +10.9, 0.0,1493 2025-01-08T22:04:50.548Z,1736373890.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:04:50.548Z,1736373890.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:50.578Z,1736373890.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 419.100006 m, deltaT: 8.064515 s, deltaX: -23.100006 m, approachRate: -2.864401 m/s, rangeRepo size: 4 2025-01-08T22:04:50.584Z,1736373890.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 419.100006 m, bearing: 170.835042 deg, lat: 36.900821 deg, lon: -122.122348 deg, deltaT: 8.064515 s, deltaX: -23.100006 m, approachRate: -2.864401 m/s, posRepo size: 4 2025-01-08T22:04:50.585Z,1736373890.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.10 m. 2025-01-08T22:04:50.592Z,1736373890.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.100006 m, nav range: 76.799583 m, bearing: 210.784680 deg, approach rate: 0.000000 m/s, LOS rate: -0.210883 deg/s, cmd heading: 335.411247 deg, new cmd heading: 335.131452 deg. 2025-01-08T22:04:50.599Z,1736373890.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849147 target range: 419.100006 and range: 419.10 m. 2025-01-08T22:04:50.624Z,1736373890.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:50.625Z,1736373890.625 [DAT](INFO): DAT read: TxSync time:22:04:49.6927 2025-01-08T22:04:50.876Z,1736373890.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:50.964Z,1736373890.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:04:50.964Z,1736373890.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:50.981Z,1736373890.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.10 m. 2025-01-08T22:04:50.988Z,1736373890.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.100006 m, nav range: 76.973145 m, bearing: 210.675180 deg, approach rate: 0.429828 m/s, LOS rate: -0.270567 deg/s, cmd heading: 335.131455 deg, new cmd heading: 334.803700 deg. 2025-01-08T22:04:50.989Z,1736373890.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843427 target range: 419.100006 and range: 419.10 m. 2025-01-08T22:04:51.128Z,1736373891.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:51.375Z,1736373891.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:51.380Z,1736373891.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:51.385Z,1736373891.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.10 m. 2025-01-08T22:04:51.389Z,1736373891.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.100006 m, nav range: 77.120811 m, bearing: 210.539076 deg, approach rate: 0.365224 m/s, LOS rate: -0.335980 deg/s, cmd heading: 334.803688 deg, new cmd heading: 334.396166 deg. 2025-01-08T22:04:51.390Z,1736373891.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836314 target range: 419.100006 and range: 419.10 m. 2025-01-08T22:04:51.633Z,1736373891.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:51.727Z,1736373891.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:51.742Z,1736373891.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:51.745Z,1736373891.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.10 m. 2025-01-08T22:04:51.748Z,1736373891.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.100006 m, nav range: 77.243301 m, bearing: 210.426162 deg, approach rate: 0.340305 m/s, LOS rate: -0.313202 deg/s, cmd heading: 334.396172 deg, new cmd heading: 334.057972 deg. 2025-01-08T22:04:51.749Z,1736373891.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830411 target range: 419.100006 and range: 419.10 m. 2025-01-08T22:04:51.884Z,1736373891.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:51.884Z,1736373891.884 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:51.884Z,1736373891.884 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:51.884Z,1736373891.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:52.130Z,1736373892.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:52.136Z,1736373892.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:52.137Z,1736373892.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752024 2025-01-08T22:04:52.141Z,1736373892.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.10 m. 2025-01-08T22:04:52.145Z,1736373892.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.100006 m, nav range: 77.383766 m, bearing: 210.296781 deg, approach rate: 0.354452 m/s, LOS rate: -0.325890 deg/s, cmd heading: 334.057968 deg, new cmd heading: 333.670536 deg. 2025-01-08T22:04:52.146Z,1736373892.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823649 target range: 419.100006 and range: 419.10 m. 2025-01-08T22:04:52.388Z,1736373892.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:52.389Z,1736373892.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004559 2025-01-08T22:04:52.557Z,1736373892.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:52.566Z,1736373892.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.10 m. 2025-01-08T22:04:52.570Z,1736373892.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.100006 m, nav range: 77.510719 m, bearing: 210.133344 deg, approach rate: 0.299068 m/s, LOS rate: -0.384384 deg/s, cmd heading: 333.670532 deg, new cmd heading: 333.181035 deg. 2025-01-08T22:04:52.573Z,1736373892.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815106 target range: 419.100006 and range: 419.10 m. 2025-01-08T22:04:52.641Z,1736373892.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:52.644Z,1736373892.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258904 2025-01-08T22:04:52.892Z,1736373892.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:52.892Z,1736373892.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507905 2025-01-08T22:04:52.947Z,1736373892.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:52.964Z,1736373892.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.10 m. 2025-01-08T22:04:52.967Z,1736373892.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.100006 m, nav range: 77.625816 m, bearing: 209.984421 deg, approach rate: 0.288926 m/s, LOS rate: -0.373284 deg/s, cmd heading: 333.181026 deg, new cmd heading: 332.734930 deg. 2025-01-08T22:04:52.972Z,1736373892.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807320 target range: 419.100006 and range: 419.10 m. 2025-01-08T22:04:53.146Z,1736373893.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:53.148Z,1736373893.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763318 2025-01-08T22:04:53.396Z,1736373893.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:53.397Z,1736373893.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012004 2025-01-08T22:04:53.398Z,1736373893.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:53.432Z,1736373893.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.10 m. 2025-01-08T22:04:53.434Z,1736373893.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.100006 m, nav range: 77.737663 m, bearing: 209.778040 deg, approach rate: 0.239195 m/s, LOS rate: -0.440729 deg/s, cmd heading: 332.734933 deg, new cmd heading: 332.116706 deg. 2025-01-08T22:04:53.440Z,1736373893.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796530 target range: 419.100006 and range: 419.10 m. 2025-01-08T22:04:53.649Z,1736373893.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:53.650Z,1736373893.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265548 2025-01-08T22:04:53.749Z,1736373893.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:53.756Z,1736373893.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:53.758Z,1736373893.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.10 m. 2025-01-08T22:04:53.760Z,1736373893.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.100006 m, nav range: 77.823730 m, bearing: 209.617475 deg, approach rate: 0.264122 m/s, LOS rate: -0.492192 deg/s, cmd heading: 332.116719 deg, new cmd heading: 331.635570 deg. 2025-01-08T22:04:53.761Z,1736373893.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788133 target range: 419.100006 and range: 419.10 m. 2025-01-08T22:04:53.900Z,1736373893.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:53.901Z,1736373893.901 [DAT](INFO): DAT read: Rx Time:22:04:52.6545 2025-01-08T22:04:53.901Z,1736373893.901 [DAT](INFO): Rx dataTimestamp_ set to:1736373893.900704 2025-01-08T22:04:53.902Z,1736373893.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517000 2025-01-08T22:04:54.152Z,1736373894.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:54.153Z,1736373894.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768026 2025-01-08T22:04:54.153Z,1736373894.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:54.162Z,1736373894.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.10 m. 2025-01-08T22:04:54.165Z,1736373894.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.100006 m, nav range: 77.920738 m, bearing: 209.433224 deg, approach rate: 0.239711 m/s, LOS rate: -0.454727 deg/s, cmd heading: 331.635573 deg, new cmd heading: 331.083525 deg. 2025-01-08T22:04:54.166Z,1736373894.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778498 target range: 419.100006 and range: 419.10 m. 2025-01-08T22:04:54.404Z,1736373894.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:54.412Z,1736373894.412 [DAT](INFO): DAT read: 22:04:52.6545 LVL= 14128, 27937, 20674, 29107, AGC= 64, IDX= 419,-0.29, 0.856,-0.909,-0.956,-0.247, PHS= 1.191,-0.615,-0.712, RAW= 87.4, 1.5, CAL= 94.2, -1.9, ROT= 55.8, 1.9 2025-01-08T22:04:54.413Z,1736373894.413 [DAT](INFO): got valid direction response: 22:04:52.6545 LVL= 14128, 27937, 20674, 29107, AGC= 64, IDX= 419,-0.29, 0.856,-0.909,-0.956,-0.247, PHS= 1.191,-0.615,-0.712, RAW= 87.4, 1.5, CAL= 94.2, -1.9, ROT= 55.8, 1.9 2025-01-08T22:04:54.415Z,1736373894.415 [DAT](INFO): DAT read: Bearing 55.8, 1.9 (Local) 2025-01-08T22:04:54.416Z,1736373894.416 [DAT](INFO): Local bearing/azimuth received: Bearing 55.8, 1.9 (Local) 2025-01-08T22:04:54.418Z,1736373894.418 [DAT](INFO): DAT read: Range 10 to 50 : 417.6 m (Round-trip 556.9 ms) speed 0.0 m/s 2025-01-08T22:04:54.419Z,1736373894.419 [DAT](INFO): DAT read: user:2280> 2025-01-08T22:04:54.420Z,1736373894.420 [DAT](INFO): DAT read: Tx time:22:04:53.7435 2025-01-08T22:04:54.420Z,1736373894.420 [DAT](INFO): Ping request sent. 2025-01-08T22:04:54.420Z,1736373894.420 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:54.421Z,1736373894.421 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:54.422Z,1736373894.422 [DAT](INFO): direction in FSK: [-0.108983,0.153531,0.982115] 2025-01-08T22:04:54.422Z,1736373894.422 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:54.423Z,1736373894.423 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:54.454Z,1736373894.454 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:54.454Z,1736373894.454 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:54.628Z,1736373894.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:54.656Z,1736373894.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:54.658Z,1736373894.658 [DAT](INFO): DAT read: TxSync time:22:04:53.7427 2025-01-08T22:04:54.682Z,1736373894.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 417.600006 m, deltaT: 4.032361 s, deltaX: -1.500000 m, approachRate: -0.371991 m/s, rangeRepo size: 4 2025-01-08T22:04:54.690Z,1736373894.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 417.600006 m, bearing: 119.068013 deg, lat: 36.901002 deg, lon: -122.122183 deg, deltaT: 4.032361 s, deltaX: -1.500000 m, approachRate: -0.371991 m/s, posRepo size: 4 2025-01-08T22:04:54.697Z,1736373894.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:54.704Z,1736373894.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 53.302193 m, bearing: 205.929377 deg, approach rate: 0.000000 m/s, LOS rate: -0.454727 deg/s, cmd heading: 331.083530 deg, new cmd heading: 330.384186 deg. 2025-01-08T22:04:54.705Z,1736373894.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766292 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:54.908Z,1736373894.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:54.979Z,1736373894.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:55.008Z,1736373895.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:55.011Z,1736373895.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 53.389229 m, bearing: 205.659209 deg, approach rate: 0.261200 m/s, LOS rate: -0.809463 deg/s, cmd heading: 330.384173 deg, new cmd heading: 329.575046 deg. 2025-01-08T22:04:55.016Z,1736373895.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752170 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:55.160Z,1736373895.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:55.412Z,1736373895.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:55.458Z,1736373895.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:55.484Z,1736373895.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:55.486Z,1736373895.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 53.517380 m, bearing: 205.256172 deg, approach rate: 0.271997 m/s, LOS rate: -0.853379 deg/s, cmd heading: 329.575042 deg, new cmd heading: 328.369013 deg. 2025-01-08T22:04:55.492Z,1736373895.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731121 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:55.664Z,1736373895.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:55.790Z,1736373895.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:55.797Z,1736373895.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:55.799Z,1736373895.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:55.802Z,1736373895.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 53.605232 m, bearing: 204.977233 deg, approach rate: 0.274758 m/s, LOS rate: -0.870946 deg/s, cmd heading: 328.369021 deg, new cmd heading: 327.533639 deg. 2025-01-08T22:04:55.803Z,1736373895.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716540 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:55.916Z,1736373895.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:55.916Z,1736373895.916 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:55.917Z,1736373895.917 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:55.917Z,1736373895.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:04:56.168Z,1736373896.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:56.168Z,1736373896.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748213 2025-01-08T22:04:56.205Z,1736373896.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:56.213Z,1736373896.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:56.216Z,1736373896.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 53.712997 m, bearing: 204.630001 deg, approach rate: 0.260314 m/s, LOS rate: -0.837073 deg/s, cmd heading: 327.533635 deg, new cmd heading: 326.494149 deg. 2025-01-08T22:04:56.217Z,1736373896.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698398 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:56.422Z,1736373896.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:56.424Z,1736373896.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003883 2025-01-08T22:04:56.672Z,1736373896.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:56.673Z,1736373896.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252667 2025-01-08T22:04:56.700Z,1736373896.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:56.708Z,1736373896.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:56.711Z,1736373896.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 53.841148 m, bearing: 204.204624 deg, approach rate: 0.258910 m/s, LOS rate: -0.857359 deg/s, cmd heading: 326.494162 deg, new cmd heading: 325.221289 deg. 2025-01-08T22:04:56.712Z,1736373896.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676182 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:56.924Z,1736373896.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:56.925Z,1736373896.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504484 2025-01-08T22:04:57.061Z,1736373897.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:57.070Z,1736373897.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:57.073Z,1736373897.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 53.930290 m, bearing: 203.894114 deg, approach rate: 0.246525 m/s, LOS rate: -0.857303 deg/s, cmd heading: 325.221288 deg, new cmd heading: 324.291385 deg. 2025-01-08T22:04:57.074Z,1736373897.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659953 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:57.176Z,1736373897.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:57.177Z,1736373897.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756458 2025-01-08T22:04:57.429Z,1736373897.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:57.429Z,1736373897.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009057 2025-01-08T22:04:57.496Z,1736373897.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:57.516Z,1736373897.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:57.519Z,1736373897.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 54.058243 m, bearing: 203.529368 deg, approach rate: 0.286495 m/s, LOS rate: -0.814757 deg/s, cmd heading: 324.291399 deg, new cmd heading: 323.199888 deg. 2025-01-08T22:04:57.531Z,1736373897.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640902 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:57.681Z,1736373897.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:57.682Z,1736373897.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261098 2025-01-08T22:04:57.864Z,1736373897.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:57.885Z,1736373897.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:57.888Z,1736373897.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:57.891Z,1736373897.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 54.161270 m, bearing: 203.220086 deg, approach rate: 0.277979 m/s, LOS rate: -0.832883 deg/s, cmd heading: 323.199880 deg, new cmd heading: 322.273886 deg. 2025-01-08T22:04:57.892Z,1736373897.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624741 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:57.932Z,1736373897.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:57.933Z,1736373897.933 [DAT](INFO): DAT read: Rx Time:22:04:56.7045 2025-01-08T22:04:57.933Z,1736373897.933 [DAT](INFO): Rx dataTimestamp_ set to:1736373897.932803 2025-01-08T22:04:57.934Z,1736373897.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513435 2025-01-08T22:04:58.184Z,1736373898.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:58.184Z,1736373898.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764106 2025-01-08T22:04:58.268Z,1736373898.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:58.277Z,1736373898.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:58.281Z,1736373898.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 54.273037 m, bearing: 202.879105 deg, approach rate: 0.286178 m/s, LOS rate: -0.871277 deg/s, cmd heading: 322.273897 deg, new cmd heading: 321.253174 deg. 2025-01-08T22:04:58.282Z,1736373898.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606925 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:58.441Z,1736373898.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:58.468Z,1736373898.468 [DAT](INFO): DAT read: 22:04:56.7045 LVL= 16576, 28625, 17906, 24979, AGC= 64, IDX= 435,-0.20,-1.277,-2.783,-3.126,-2.221, PHS= 1.032,-0.516,-0.908, RAW= 79.0, 4.5, CAL= 83.4, 3.2, ROT= 66.6, -3.2 2025-01-08T22:04:58.469Z,1736373898.469 [DAT](INFO): got valid direction response: 22:04:56.7045 LVL= 16576, 28625, 17906, 24979, AGC= 64, IDX= 435,-0.20,-1.277,-2.783,-3.126,-2.221, PHS= 1.032,-0.516,-0.908, RAW= 79.0, 4.5, CAL= 83.4, 3.2, ROT= 66.6, -3.2 2025-01-08T22:04:58.470Z,1736373898.470 [DAT](INFO): DAT read: Bearing 66.6, -3.2 (Local) 2025-01-08T22:04:58.475Z,1736373898.475 [DAT](INFO): Local bearing/azimuth received: Bearing 66.6, -3.2 (Local) 2025-01-08T22:04:58.477Z,1736373898.477 [DAT](INFO): DAT read: Range 10 to 50 : 417.6 m (Round-trip 556.9 ms) speed 0.3 m/s 2025-01-08T22:04:58.478Z,1736373898.478 [DAT](INFO): DAT read: user:2281> 2025-01-08T22:04:58.478Z,1736373898.478 [DAT](INFO): DAT read: Tx time:22:04:57.7935 2025-01-08T22:04:58.479Z,1736373898.479 [DAT](INFO): Ping request sent. 2025-01-08T22:04:58.479Z,1736373898.479 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:04:58.484Z,1736373898.484 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:04:58.485Z,1736373898.485 [DAT](INFO): direction in FSK: [-0.149731,0.295763,0.943454] 2025-01-08T22:04:58.485Z,1736373898.485 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:58.485Z,1736373898.485 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:58.493Z,1736373898.493 [DAT](INFO): publishing transmit ping time 2025-01-08T22:04:58.493Z,1736373898.493 [DAT](INFO): publishing direction and range info 2025-01-08T22:04:58.692Z,1736373898.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:58.693Z,1736373898.693 [DAT](INFO): DAT read: TxSync time:22:04:57.7927 2025-01-08T22:04:58.709Z,1736373898.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:58.748Z,1736373898.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 417.600006 m, deltaT: 4.036513 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:04:58.750Z,1736373898.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 417.600006 m, bearing: 92.624469 deg, lat: 36.901031 deg, lon: -122.121829 deg, deltaT: 4.036513 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:04:58.763Z,1736373898.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:58.770Z,1736373898.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 48.278046 m, bearing: 167.322280 deg, approach rate: 0.000000 m/s, LOS rate: -0.871277 deg/s, cmd heading: 321.253166 deg, new cmd heading: 320.024300 deg. 2025-01-08T22:04:58.772Z,1736373898.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585478 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:58.944Z,1736373898.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:59.075Z,1736373899.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:59.084Z,1736373899.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:59.086Z,1736373899.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 48.521999 m, bearing: 167.143148 deg, approach rate: 0.726734 m/s, LOS rate: -0.530948 deg/s, cmd heading: 320.024306 deg, new cmd heading: 319.489628 deg. 2025-01-08T22:04:59.088Z,1736373899.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576146 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:59.197Z,1736373899.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:59.449Z,1736373899.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:59.512Z,1736373899.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:59.521Z,1736373899.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:59.528Z,1736373899.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 48.797935 m, bearing: 166.987266 deg, approach rate: 0.631793 m/s, LOS rate: -0.354894 deg/s, cmd heading: 319.489639 deg, new cmd heading: 319.024648 deg. 2025-01-08T22:04:59.529Z,1736373899.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568030 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:59.700Z,1736373899.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:59.883Z,1736373899.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:04:59.890Z,1736373899.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:04:59.913Z,1736373899.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:04:59.930Z,1736373899.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 49.031776 m, bearing: 166.852197 deg, approach rate: 0.599654 m/s, LOS rate: -0.344715 deg/s, cmd heading: 319.024640 deg, new cmd heading: 318.621371 deg. 2025-01-08T22:04:59.937Z,1736373899.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560992 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:04:59.952Z,1736373899.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:04:59.952Z,1736373899.952 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:04:59.952Z,1736373899.952 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:04:59.953Z,1736373899.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:00.205Z,1736373900.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:00.206Z,1736373900.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727207 2025-01-08T22:05:00.288Z,1736373900.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:00.297Z,1736373900.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:05:00.300Z,1736373900.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 49.284874 m, bearing: 166.702337 deg, approach rate: 0.654288 m/s, LOS rate: -0.385414 deg/s, cmd heading: 318.621358 deg, new cmd heading: 318.174099 deg. 2025-01-08T22:05:00.301Z,1736373900.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553185 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:05:00.457Z,1736373900.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:00.466Z,1736373900.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980307 2025-01-08T22:05:00.710Z,1736373900.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:00.711Z,1736373900.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232193 2025-01-08T22:05:00.722Z,1736373900.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:00.755Z,1736373900.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:05:00.758Z,1736373900.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 49.539421 m, bearing: 166.599784 deg, approach rate: 0.585978 m/s, LOS rate: -0.234870 deg/s, cmd heading: 318.174090 deg, new cmd heading: 317.868013 deg. 2025-01-08T22:05:00.763Z,1736373900.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.547843 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:05:00.960Z,1736373900.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:00.961Z,1736373900.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482587 2025-01-08T22:05:01.190Z,1736373901.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:01.198Z,1736373901.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:05:01.212Z,1736373901.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:01.213Z,1736373901.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733817 2025-01-08T22:05:01.227Z,1736373901.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 49.811565 m, bearing: 166.483524 deg, approach rate: 0.582649 m/s, LOS rate: -0.247548 deg/s, cmd heading: 317.868015 deg, new cmd heading: 317.521145 deg. 2025-01-08T22:05:01.228Z,1736373901.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541790 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:05:01.471Z,1736373901.471 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:01.474Z,1736373901.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994494 2025-01-08T22:05:01.624Z,1736373901.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:01.632Z,1736373901.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:05:01.635Z,1736373901.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 50.046364 m, bearing: 166.426743 deg, approach rate: 0.541368 m/s, LOS rate: -0.130303 deg/s, cmd heading: 317.521151 deg, new cmd heading: 317.351610 deg. 2025-01-08T22:05:01.661Z,1736373901.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538830 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:05:01.725Z,1736373901.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:01.726Z,1736373901.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247067 2025-01-08T22:05:01.976Z,1736373901.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:01.977Z,1736373901.977 [DAT](INFO): DAT read: Rx Time:22:05:00.7540 2025-01-08T22:05:01.977Z,1736373901.977 [DAT](INFO): Rx dataTimestamp_ set to:1736373901.976682 2025-01-08T22:05:01.977Z,1736373901.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498766 2025-01-08T22:05:02.034Z,1736373902.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:02.042Z,1736373902.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:02.044Z,1736373902.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:05:02.047Z,1736373902.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 50.269157 m, bearing: 166.373367 deg, approach rate: 0.540789 m/s, LOS rate: -0.128986 deg/s, cmd heading: 317.351599 deg, new cmd heading: 317.192180 deg. 2025-01-08T22:05:02.048Z,1736373902.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536048 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:05:02.228Z,1736373902.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:02.228Z,1736373902.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749652 2025-01-08T22:05:02.481Z,1736373902.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:02.500Z,1736373902.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:02.516Z,1736373902.516 [DAT](INFO): DAT read: 22:05:00.7540 LVL= 15008, 27873, 21554, 27427, AGC= 67, IDX= 428,-0.44, 0.307,-0.907,-1.822,-0.587, PHS= 0.982,-0.273,-1.237, RAW= 64.3, 5.5, CAL= 65.1, 6.5, ROT= 84.9, -6.5 2025-01-08T22:05:02.518Z,1736373902.518 [DAT](INFO): got valid direction response: 22:05:00.7540 LVL= 15008, 27873, 21554, 27427, AGC= 67, IDX= 428,-0.44, 0.307,-0.907,-1.822,-0.587, PHS= 0.982,-0.273,-1.237, RAW= 64.3, 5.5, CAL= 65.1, 6.5, ROT= 84.9, -6.5 2025-01-08T22:05:02.518Z,1736373902.518 [DAT](INFO): DAT read: Bearing 84.9, -6.5 (Local) 2025-01-08T22:05:02.519Z,1736373902.519 [DAT](INFO): Local bearing/azimuth received: Bearing 84.9, -6.5 (Local) 2025-01-08T22:05:02.529Z,1736373902.529 [DAT](INFO): DAT read: Range 10 to 50 : 417.1 m (Round-trip 556.2 ms) speed 0.3 m/s 2025-01-08T22:05:02.529Z,1736373902.529 [DAT](INFO): DAT read: user:2282> 2025-01-08T22:05:02.530Z,1736373902.530 [DAT](INFO): DAT read: Tx time:22:05:01.8436 2025-01-08T22:05:02.530Z,1736373902.530 [DAT](INFO): Ping request sent. 2025-01-08T22:05:02.531Z,1736373902.531 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:02.531Z,1736373902.531 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:02.542Z,1736373902.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m. 2025-01-08T22:05:02.544Z,1736373902.544 [DAT](INFO): direction in FSK: [-0.140692,0.519178,0.843007] 2025-01-08T22:05:02.544Z,1736373902.544 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:02.544Z,1736373902.544 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:02.552Z,1736373902.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.600006 m, nav range: 50.508690 m, bearing: 166.311120 deg, approach rate: 0.481425 m/s, LOS rate: -0.124515 deg/s, cmd heading: 317.192182 deg, new cmd heading: 317.006326 deg. 2025-01-08T22:05:02.554Z,1736373902.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.532804 target range: 417.600006 and range: 417.60 m. 2025-01-08T22:05:02.556Z,1736373902.556 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:02.556Z,1736373902.556 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:02.732Z,1736373902.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:02.733Z,1736373902.733 [DAT](INFO): DAT read: TxSync time:22:05:01.8428 2025-01-08T22:05:02.926Z,1736373902.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:02.984Z,1736373902.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:02.986Z,1736373902.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 417.100006 m, deltaT: 4.040521 s, deltaX: -0.500000 m, approachRate: -0.123746 m/s, rangeRepo size: 4 2025-01-08T22:05:03.012Z,1736373903.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 417.100006 m, bearing: 68.765452 deg, lat: 36.901192 deg, lon: -122.121378 deg, deltaT: 4.040521 s, deltaX: -0.500000 m, approachRate: -0.123746 m/s, posRepo size: 4 2025-01-08T22:05:03.013Z,1736373903.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.10 m. 2025-01-08T22:05:03.044Z,1736373903.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.100006 m, nav range: 60.823570 m, bearing: 120.988011 deg, approach rate: 0.000000 m/s, LOS rate: -0.124515 deg/s, cmd heading: 317.006319 deg, new cmd heading: 316.840664 deg. 2025-01-08T22:05:03.045Z,1736373903.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529913 target range: 417.100006 and range: 417.10 m. 2025-01-08T22:05:03.236Z,1736373903.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:03.277Z,1736373903.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:03.285Z,1736373903.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.10 m. 2025-01-08T22:05:03.289Z,1736373903.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.100006 m, nav range: 60.969982 m, bearing: 121.082984 deg, approach rate: 0.487705 m/s, LOS rate: 0.315599 deg/s, cmd heading: 316.840673 deg, new cmd heading: 317.124905 deg. 2025-01-08T22:05:03.290Z,1736373903.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.534874 target range: 417.100006 and range: 417.10 m. 2025-01-08T22:05:03.494Z,1736373903.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:03.725Z,1736373903.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:03.734Z,1736373903.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.10 m. 2025-01-08T22:05:03.738Z,1736373903.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.100006 m, nav range: 61.150578 m, bearing: 121.194255 deg, approach rate: 0.402646 m/s, LOS rate: 0.247351 deg/s, cmd heading: 317.124918 deg, new cmd heading: 317.457741 deg. 2025-01-08T22:05:03.740Z,1736373903.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:03.741Z,1736373903.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540683 target range: 417.100006 and range: 417.10 m. 2025-01-08T22:05:03.992Z,1736373903.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:04.079Z,1736373904.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:04.086Z,1736373904.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:04.089Z,1736373904.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.10 m. 2025-01-08T22:05:04.108Z,1736373904.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.100006 m, nav range: 61.294174 m, bearing: 121.280373 deg, approach rate: 0.404199 m/s, LOS rate: 0.241838 deg/s, cmd heading: 317.457740 deg, new cmd heading: 317.715485 deg. 2025-01-08T22:05:04.109Z,1736373904.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.545181 target range: 417.100006 and range: 417.10 m. 2025-01-08T22:05:04.244Z,1736373904.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:04.244Z,1736373904.244 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:04.244Z,1736373904.244 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:04.244Z,1736373904.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:04.497Z,1736373904.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:04.500Z,1736373904.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969181 2025-01-08T22:05:04.551Z,1736373904.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:04.576Z,1736373904.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.10 m. 2025-01-08T22:05:04.579Z,1736373904.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.100006 m, nav range: 61.485935 m, bearing: 121.393894 deg, approach rate: 0.393564 m/s, LOS rate: 0.232261 deg/s, cmd heading: 317.715484 deg, new cmd heading: 318.054981 deg. 2025-01-08T22:05:04.584Z,1736373904.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551106 target range: 417.100006 and range: 417.10 m. 2025-01-08T22:05:04.748Z,1736373904.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:04.748Z,1736373904.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217877 2025-01-08T22:05:04.912Z,1736373904.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:04.920Z,1736373904.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.10 m. 2025-01-08T22:05:04.924Z,1736373904.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.100006 m, nav range: 61.647335 m, bearing: 121.462875 deg, approach rate: 0.469504 m/s, LOS rate: 0.200135 deg/s, cmd heading: 318.054971 deg, new cmd heading: 318.261370 deg. 2025-01-08T22:05:04.926Z,1736373904.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.554709 target range: 417.100006 and range: 417.10 m. 2025-01-08T22:05:05.003Z,1736373905.003 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:05.005Z,1736373905.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474171 2025-01-08T22:05:05.256Z,1736373905.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:05.256Z,1736373905.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725777 2025-01-08T22:05:05.281Z,1736373905.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:05.291Z,1736373905.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.10 m. 2025-01-08T22:05:05.293Z,1736373905.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.100006 m, nav range: 61.813179 m, bearing: 121.532709 deg, approach rate: 0.447656 m/s, LOS rate: 0.187996 deg/s, cmd heading: 318.261380 deg, new cmd heading: 318.470321 deg. 2025-01-08T22:05:05.294Z,1736373905.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558356 target range: 417.100006 and range: 417.10 m. 2025-01-08T22:05:05.509Z,1736373905.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:05.512Z,1736373905.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980841 2025-01-08T22:05:05.732Z,1736373905.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:05.742Z,1736373905.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.10 m. 2025-01-08T22:05:05.745Z,1736373905.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.100006 m, nav range: 62.056591 m, bearing: 121.595567 deg, approach rate: 0.539567 m/s, LOS rate: 0.138788 deg/s, cmd heading: 318.470329 deg, new cmd heading: 318.658161 deg. 2025-01-08T22:05:05.745Z,1736373905.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561634 target range: 417.100006 and range: 417.10 m. 2025-01-08T22:05:05.760Z,1736373905.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:05.760Z,1736373905.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229862 2025-01-08T22:05:06.013Z,1736373906.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:06.016Z,1736373906.016 [DAT](INFO): DAT read: Rx Time:22:05:04.8022 2025-01-08T22:05:06.017Z,1736373906.017 [DAT](INFO): Rx dataTimestamp_ set to:1736373906.016370 2025-01-08T22:05:06.017Z,1736373906.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486779 2025-01-08T22:05:06.095Z,1736373906.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:06.102Z,1736373906.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:06.108Z,1736373906.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.10 m. 2025-01-08T22:05:06.111Z,1736373906.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 417.100006 m, nav range: 62.248699 m, bearing: 121.644164 deg, approach rate: 0.524217 m/s, LOS rate: 0.132200 deg/s, cmd heading: 318.658159 deg, new cmd heading: 318.803500 deg. 2025-01-08T22:05:06.116Z,1736373906.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564171 target range: 417.100006 and range: 417.10 m. 2025-01-08T22:05:06.264Z,1736373906.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:06.264Z,1736373906.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733846 2025-01-08T22:05:06.522Z,1736373906.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:06.541Z,1736373906.541 [DAT](INFO): DAT read: 22:05:04.8022 LVL= 19248, 29217, 22258, 30707, AGC= 67, IDX= 426,-0.00, 0.051,-0.939,-2.200,-1.014, PHS= 1.153, 0.121,-1.189, RAW= 56.1, -0.9, CAL= 58.3, -4.0, ROT= 91.7, 4.0 2025-01-08T22:05:06.545Z,1736373906.545 [DAT](INFO): got valid direction response: 22:05:04.8022 LVL= 19248, 29217, 22258, 30707, AGC= 67, IDX= 426,-0.00, 0.051,-0.939,-2.200,-1.014, PHS= 1.153, 0.121,-1.189, RAW= 56.1, -0.9, CAL= 58.3, -4.0, ROT= 91.7, 4.0 2025-01-08T22:05:06.557Z,1736373906.557 [DAT](INFO): DAT read: Bearing 91.7, 4.0 (Local) 2025-01-08T22:05:06.558Z,1736373906.558 [DAT](INFO): Local bearing/azimuth received: Bearing 91.7, 4.0 (Local) 2025-01-08T22:05:06.606Z,1736373906.606 [DAT](INFO): DAT read: Range 10 to 50 : 415.8 m (Round-trip 554.4 ms) speed -0.4 m/s 2025-01-08T22:05:06.607Z,1736373906.607 [DAT](INFO): DAT read: user:2283> 2025-01-08T22:05:06.632Z,1736373906.632 [DAT](INFO): DAT read: Tx time:22:05:05.8936 2025-01-08T22:05:06.632Z,1736373906.632 [DAT](INFO): Ping request sent. 2025-01-08T22:05:06.633Z,1736373906.633 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:06.633Z,1736373906.633 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:06.634Z,1736373906.634 [DAT](INFO): direction in FSK: [-0.005458,0.627563,0.778547] 2025-01-08T22:05:06.634Z,1736373906.634 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:06.634Z,1736373906.634 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:06.671Z,1736373906.671 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:06.672Z,1736373906.672 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:06.772Z,1736373906.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:06.773Z,1736373906.773 [DAT](INFO): DAT read: TxSync time:22:05:05.8928 2025-01-08T22:05:06.813Z,1736373906.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:06.844Z,1736373906.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 415.799988 m, deltaT: 4.040451 s, deltaX: -1.300018 m, approachRate: -0.321751 m/s, rangeRepo size: 4 2025-01-08T22:05:06.846Z,1736373906.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 415.799988 m, bearing: 50.530342 deg, lat: 36.901404 deg, lon: -122.120581 deg, deltaT: 4.040451 s, deltaX: -1.300018 m, approachRate: -0.321751 m/s, posRepo size: 4 2025-01-08T22:05:06.847Z,1736373906.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:06.858Z,1736373906.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 124.590675 m, bearing: 94.324462 deg, approach rate: 0.000000 m/s, LOS rate: 0.132200 deg/s, cmd heading: 318.803505 deg, new cmd heading: 319.091898 deg. 2025-01-08T22:05:06.859Z,1736373906.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.569204 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:07.027Z,1736373907.027 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:07.128Z,1736373907.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:07.136Z,1736373907.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:07.140Z,1736373907.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 124.761719 m, bearing: 94.377983 deg, approach rate: 0.568507 m/s, LOS rate: 0.177647 deg/s, cmd heading: 319.091903 deg, new cmd heading: 319.252246 deg. 2025-01-08T22:05:07.141Z,1736373907.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.572003 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:07.280Z,1736373907.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:07.533Z,1736373907.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:07.580Z,1736373907.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:07.597Z,1736373907.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:07.605Z,1736373907.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 125.008255 m, bearing: 94.454054 deg, approach rate: 0.534598 m/s, LOS rate: 0.164630 deg/s, cmd heading: 319.252249 deg, new cmd heading: 319.480011 deg. 2025-01-08T22:05:07.606Z,1736373907.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575978 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:07.784Z,1736373907.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:07.960Z,1736373907.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:07.969Z,1736373907.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:07.971Z,1736373907.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 125.260490 m, bearing: 94.518505 deg, approach rate: 0.679578 m/s, LOS rate: 0.173296 deg/s, cmd heading: 319.480022 deg, new cmd heading: 319.672986 deg. 2025-01-08T22:05:07.972Z,1736373907.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579346 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:08.037Z,1736373908.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:08.288Z,1736373908.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:08.336Z,1736373908.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:08.360Z,1736373908.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:08.362Z,1736373908.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:08.365Z,1736373908.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 125.510933 m, bearing: 94.581863 deg, approach rate: 0.636140 m/s, LOS rate: 0.160612 deg/s, cmd heading: 319.672989 deg, new cmd heading: 319.862682 deg. 2025-01-08T22:05:08.366Z,1736373908.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582657 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:08.541Z,1736373908.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:08.543Z,1736373908.543 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:08.543Z,1736373908.543 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:08.544Z,1736373908.544 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:08.770Z,1736373908.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:08.780Z,1736373908.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:08.782Z,1736373908.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 125.841164 m, bearing: 94.655623 deg, approach rate: 0.791611 m/s, LOS rate: 0.176350 deg/s, cmd heading: 319.862677 deg, new cmd heading: 320.083375 deg. 2025-01-08T22:05:08.792Z,1736373908.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:08.792Z,1736373908.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.159804 2025-01-08T22:05:08.803Z,1736373908.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586509 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:08.924Z,1736373908.924 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:05:09.044Z,1736373909.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:09.045Z,1736373909.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.412022 2025-01-08T22:05:09.140Z,1736373909.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:09.149Z,1736373909.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:09.152Z,1736373909.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 126.123726 m, bearing: 94.718128 deg, approach rate: 0.765026 m/s, LOS rate: 0.168849 deg/s, cmd heading: 320.083374 deg, new cmd heading: 320.270466 deg. 2025-01-08T22:05:09.153Z,1736373909.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589774 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:09.296Z,1736373909.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:09.296Z,1736373909.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.663838 2025-01-08T22:05:09.549Z,1736373909.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:09.552Z,1736373909.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.918896 2025-01-08T22:05:09.598Z,1736373909.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:09.617Z,1736373909.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:09.628Z,1736373909.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 126.472473 m, bearing: 94.795013 deg, approach rate: 0.745215 m/s, LOS rate: 0.163838 deg/s, cmd heading: 320.270466 deg, new cmd heading: 320.500485 deg. 2025-01-08T22:05:09.629Z,1736373909.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593789 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:09.800Z,1736373909.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:09.800Z,1736373909.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.167787 2025-01-08T22:05:09.927Z,1736373909.927 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:05:09.985Z,1736373909.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:10.017Z,1736373910.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:10.024Z,1736373910.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 126.783897 m, bearing: 94.861489 deg, approach rate: 0.777758 m/s, LOS rate: 0.165610 deg/s, cmd heading: 320.500480 deg, new cmd heading: 320.699416 deg. 2025-01-08T22:05:10.025Z,1736373910.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597261 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:10.052Z,1736373910.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:10.053Z,1736373910.053 [DAT](INFO): DAT read: Rx Time:22:05:08.8522 2025-01-08T22:05:10.053Z,1736373910.053 [DAT](INFO): Rx dataTimestamp_ set to:1736373910.052750 2025-01-08T22:05:10.054Z,1736373910.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.420964 2025-01-08T22:05:10.304Z,1736373910.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:10.305Z,1736373910.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.672491 2025-01-08T22:05:10.363Z,1736373910.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:10.370Z,1736373910.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:10.373Z,1736373910.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:10.376Z,1736373910.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 127.088478 m, bearing: 94.926432 deg, approach rate: 0.855852 m/s, LOS rate: 0.182049 deg/s, cmd heading: 320.699429 deg, new cmd heading: 320.893792 deg. 2025-01-08T22:05:10.377Z,1736373910.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600653 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:10.558Z,1736373910.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:10.580Z,1736373910.580 [DAT](INFO): DAT read: 22:05:08.8522 LVL= 23216, 28945, 28962, 32723, AGC= 70, IDX= 442,-0.38, 1.494, 0.804,-0.545, 0.561, PHS= 1.020, 0.290,-1.110, RAW= 49.7, -2.2, CAL= 51.5, -5.5, ROT= 98.5, 5.5 2025-01-08T22:05:10.615Z,1736373910.615 [DAT](INFO): got valid direction response: 22:05:08.8522 LVL= 23216, 28945, 28962, 32723, AGC= 70, IDX= 442,-0.38, 1.494, 0.804,-0.545, 0.561, PHS= 1.020, 0.290,-1.110, RAW= 49.7, -2.2, CAL= 51.5, -5.5, ROT= 98.5, 5.5 2025-01-08T22:05:10.636Z,1736373910.636 [DAT](INFO): DAT read: Bearing 98.5, 5.5 (Local) 2025-01-08T22:05:10.636Z,1736373910.636 [DAT](INFO): Local bearing/azimuth received: Bearing 98.5, 5.5 (Local) 2025-01-08T22:05:10.638Z,1736373910.638 [DAT](INFO): DAT read: Range 10 to 50 : 415.8 m (Round-trip 554.4 ms) speed -0.2 m/s 2025-01-08T22:05:10.644Z,1736373910.644 [DAT](INFO): DAT read: user:2284> 2025-01-08T22:05:10.645Z,1736373910.645 [DAT](INFO): DAT read: Tx time:22:05:09.9436 2025-01-08T22:05:10.646Z,1736373910.646 [DAT](INFO): Ping request sent. 2025-01-08T22:05:10.646Z,1736373910.646 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:10.646Z,1736373910.646 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:10.660Z,1736373910.660 [DAT](INFO): direction in FSK: [0.032038,0.703530,0.709943] 2025-01-08T22:05:10.661Z,1736373910.661 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:10.661Z,1736373910.661 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:10.674Z,1736373910.674 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:10.675Z,1736373910.675 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:10.808Z,1736373910.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:10.809Z,1736373910.809 [DAT](INFO): DAT read: TxSync time:22:05:09.9428 2025-01-08T22:05:10.823Z,1736373910.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:10.846Z,1736373910.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 415.799988 m, deltaT: 4.036089 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:05:10.852Z,1736373910.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 415.799988 m, bearing: 47.547875 deg, lat: 36.902172 deg, lon: -122.119955 deg, deltaT: 4.036089 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:05:10.853Z,1736373910.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:10.861Z,1736373910.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 197.139069 m, bearing: 67.887273 deg, approach rate: 0.000000 m/s, LOS rate: 0.182049 deg/s, cmd heading: 320.893789 deg, new cmd heading: 321.151758 deg. 2025-01-08T22:05:10.862Z,1736373910.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605155 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:11.064Z,1736373911.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:11.163Z,1736373911.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:11.191Z,1736373911.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:11.199Z,1736373911.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 197.321548 m, bearing: 67.958920 deg, approach rate: 0.529546 m/s, LOS rate: 0.207723 deg/s, cmd heading: 321.151752 deg, new cmd heading: 321.366493 deg. 2025-01-08T22:05:11.200Z,1736373911.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608903 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:11.319Z,1736373911.319 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:11.574Z,1736373911.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:11.582Z,1736373911.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:11.641Z,1736373911.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:11.650Z,1736373911.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 197.542770 m, bearing: 68.046262 deg, approach rate: 0.489898 m/s, LOS rate: 0.193203 deg/s, cmd heading: 321.366493 deg, new cmd heading: 321.628223 deg. 2025-01-08T22:05:11.664Z,1736373911.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613472 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:11.824Z,1736373911.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:11.986Z,1736373911.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:12.025Z,1736373912.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:12.031Z,1736373912.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 197.733551 m, bearing: 68.126600 deg, approach rate: 0.498065 m/s, LOS rate: 0.209534 deg/s, cmd heading: 321.628226 deg, new cmd heading: 321.869007 deg. 2025-01-08T22:05:12.036Z,1736373912.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617674 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:12.076Z,1736373912.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:12.328Z,1736373912.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:12.383Z,1736373912.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:12.390Z,1736373912.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:12.392Z,1736373912.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:12.395Z,1736373912.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 197.920090 m, bearing: 68.205345 deg, approach rate: 0.507254 m/s, LOS rate: 0.213930 deg/s, cmd heading: 321.869004 deg, new cmd heading: 322.105015 deg. 2025-01-08T22:05:12.396Z,1736373912.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621793 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:12.581Z,1736373912.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:12.582Z,1736373912.582 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:12.582Z,1736373912.582 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:12.583Z,1736373912.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:12.813Z,1736373912.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:12.822Z,1736373912.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:12.832Z,1736373912.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:12.832Z,1736373912.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.186579 2025-01-08T22:05:12.838Z,1736373912.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 198.081924 m, bearing: 68.284983 deg, approach rate: 0.376341 m/s, LOS rate: 0.185042 deg/s, cmd heading: 322.105028 deg, new cmd heading: 322.343743 deg. 2025-01-08T22:05:12.843Z,1736373912.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625960 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:13.085Z,1736373913.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:13.086Z,1736373913.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440376 2025-01-08T22:05:13.179Z,1736373913.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:13.189Z,1736373913.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:13.191Z,1736373913.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 198.217407 m, bearing: 68.352989 deg, approach rate: 0.369901 m/s, LOS rate: 0.185546 deg/s, cmd heading: 322.343756 deg, new cmd heading: 322.547635 deg. 2025-01-08T22:05:13.192Z,1736373913.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629518 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:13.338Z,1736373913.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:13.341Z,1736373913.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694972 2025-01-08T22:05:13.588Z,1736373913.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:13.589Z,1736373913.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.943338 2025-01-08T22:05:13.601Z,1736373913.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:13.678Z,1736373913.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:13.685Z,1736373913.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 198.370926 m, bearing: 68.431128 deg, approach rate: 0.313595 m/s, LOS rate: 0.159493 deg/s, cmd heading: 322.547624 deg, new cmd heading: 322.781859 deg. 2025-01-08T22:05:13.686Z,1736373913.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.633606 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:13.840Z,1736373913.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:13.840Z,1736373913.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.194756 2025-01-08T22:05:14.012Z,1736373914.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:14.021Z,1736373914.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:14.044Z,1736373914.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 198.480667 m, bearing: 68.501262 deg, approach rate: 0.320523 m/s, LOS rate: 0.204727 deg/s, cmd heading: 322.781872 deg, new cmd heading: 322.992156 deg. 2025-01-08T22:05:14.045Z,1736373914.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.637277 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:14.092Z,1736373914.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:14.093Z,1736373914.093 [DAT](INFO): DAT read: Rx Time:22:05:12.9036 2025-01-08T22:05:14.093Z,1736373914.093 [DAT](INFO): Rx dataTimestamp_ set to:1736373914.092835 2025-01-08T22:05:14.094Z,1736373914.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.447978 2025-01-08T22:05:14.344Z,1736373914.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:14.344Z,1736373914.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.698685 2025-01-08T22:05:14.400Z,1736373914.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:14.407Z,1736373914.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:14.410Z,1736373914.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:14.413Z,1736373914.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 198.581696 m, bearing: 68.567107 deg, approach rate: 0.259501 m/s, LOS rate: 0.169044 deg/s, cmd heading: 322.992160 deg, new cmd heading: 323.189595 deg. 2025-01-08T22:05:14.414Z,1736373914.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640723 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:14.598Z,1736373914.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:14.667Z,1736373914.667 [DAT](INFO): DAT read: 22:05:12.9036 LVL= 21184, 29121, 22770, 32675, AGC= 69, IDX= 438, 0.45, 0.541,-0.255,-1.502,-0.461, PHS= 1.090, 0.253,-1.043, RAW= 52.9, -3.3, CAL= 56.1, -7.3, ROT= 93.9, 7.3 2025-01-08T22:05:14.708Z,1736373914.708 [DAT](INFO): got valid direction response: 22:05:12.9036 LVL= 21184, 29121, 22770, 32675, AGC= 69, IDX= 438, 0.45, 0.541,-0.255,-1.502,-0.461, PHS= 1.090, 0.253,-1.043, RAW= 52.9, -3.3, CAL= 56.1, -7.3, ROT= 93.9, 7.3 2025-01-08T22:05:14.709Z,1736373914.709 [DAT](INFO): DAT read: Bearing 93.9, 7.3 (Local) 2025-01-08T22:05:14.710Z,1736373914.710 [DAT](INFO): Local bearing/azimuth received: Bearing 93.9, 7.3 (Local) 2025-01-08T22:05:14.715Z,1736373914.715 [DAT](INFO): DAT read: Range 10 to 50 : 416.7 m (Round-trip 555.7 ms) speed 0.1 m/s 2025-01-08T22:05:14.716Z,1736373914.716 [DAT](INFO): DAT read: user:2285> 2025-01-08T22:05:14.717Z,1736373914.717 [DAT](INFO): DAT read: Tx time:22:05:13.9937 2025-01-08T22:05:14.717Z,1736373914.717 [DAT](INFO): Ping request sent. 2025-01-08T22:05:14.717Z,1736373914.717 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:14.718Z,1736373914.718 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:14.719Z,1736373914.719 [DAT](INFO): direction in FSK: [0.045880,0.663574,0.746703] 2025-01-08T22:05:14.719Z,1736373914.719 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:14.723Z,1736373914.723 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:14.726Z,1736373914.726 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:14.727Z,1736373914.727 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:14.848Z,1736373914.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:14.849Z,1736373914.849 [DAT](INFO): DAT read: TxSync time:22:05:13.9929 2025-01-08T22:05:14.873Z,1736373914.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:14.907Z,1736373914.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 416.700012 m, deltaT: 4.040718 s, deltaX: 0.900024 m, approachRate: 0.222739 m/s, rangeRepo size: 4 2025-01-08T22:05:14.909Z,1736373914.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 416.700012 m, bearing: 51.586685 deg, lat: 36.902738 deg, lon: -122.119955 deg, deltaT: 4.040718 s, deltaX: 0.900024 m, approachRate: 0.222739 m/s, posRepo size: 4 2025-01-08T22:05:14.910Z,1736373914.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.70 m. 2025-01-08T22:05:14.924Z,1736373914.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.700012 m, nav range: 229.224945 m, bearing: 53.816929 deg, approach rate: 0.000000 m/s, LOS rate: 0.169044 deg/s, cmd heading: 323.189607 deg, new cmd heading: 323.439474 deg. 2025-01-08T22:05:14.925Z,1736373914.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645084 target range: 416.700012 and range: 416.70 m. 2025-01-08T22:05:15.101Z,1736373915.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:15.334Z,1736373915.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:15.343Z,1736373915.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.70 m. 2025-01-08T22:05:15.352Z,1736373915.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:15.361Z,1736373915.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.700012 m, nav range: 229.227280 m, bearing: 53.884092 deg, approach rate: 0.005305 m/s, LOS rate: 0.152609 deg/s, cmd heading: 323.439483 deg, new cmd heading: 323.640968 deg. 2025-01-08T22:05:15.362Z,1736373915.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648601 target range: 416.700012 and range: 416.70 m. 2025-01-08T22:05:15.606Z,1736373915.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:15.784Z,1736373915.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:15.793Z,1736373915.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.70 m. 2025-01-08T22:05:15.796Z,1736373915.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.700012 m, nav range: 229.206863 m, bearing: 53.945657 deg, approach rate: -0.045300 m/s, LOS rate: 0.136616 deg/s, cmd heading: 323.640973 deg, new cmd heading: 323.825686 deg. 2025-01-08T22:05:15.797Z,1736373915.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651824 target range: 416.700012 and range: 416.70 m. 2025-01-08T22:05:15.856Z,1736373915.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:16.109Z,1736373916.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:16.203Z,1736373916.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:16.213Z,1736373916.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.70 m. 2025-01-08T22:05:16.215Z,1736373916.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.700012 m, nav range: 229.184540 m, bearing: 54.002853 deg, approach rate: -0.053245 m/s, LOS rate: 0.136435 deg/s, cmd heading: 323.825689 deg, new cmd heading: 323.997293 deg. 2025-01-08T22:05:16.216Z,1736373916.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654819 target range: 416.700012 and range: 416.70 m. 2025-01-08T22:05:16.360Z,1736373916.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:16.609Z,1736373916.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:16.612Z,1736373916.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:16.642Z,1736373916.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:16.661Z,1736373916.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.70 m. 2025-01-08T22:05:16.691Z,1736373916.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.700012 m, nav range: 229.161484 m, bearing: 54.058193 deg, approach rate: -0.052155 m/s, LOS rate: 0.125195 deg/s, cmd heading: 323.997291 deg, new cmd heading: 324.163325 deg. 2025-01-08T22:05:16.711Z,1736373916.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657717 target range: 416.700012 and range: 416.70 m. 2025-01-08T22:05:16.864Z,1736373916.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:16.864Z,1736373916.864 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:16.864Z,1736373916.864 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:16.865Z,1736373916.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:17.062Z,1736373917.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:17.087Z,1736373917.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.70 m. 2025-01-08T22:05:17.094Z,1736373917.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.700012 m, nav range: 229.127258 m, bearing: 54.117351 deg, approach rate: -0.079238 m/s, LOS rate: 0.136982 deg/s, cmd heading: 324.163319 deg, new cmd heading: 324.340820 deg. 2025-01-08T22:05:17.100Z,1736373917.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.660815 target range: 416.700012 and range: 416.70 m. 2025-01-08T22:05:17.116Z,1736373917.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:17.116Z,1736373917.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.398995 2025-01-08T22:05:17.368Z,1736373917.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:17.368Z,1736373917.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.650938 2025-01-08T22:05:17.438Z,1736373917.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:17.447Z,1736373917.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.70 m. 2025-01-08T22:05:17.450Z,1736373917.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.700012 m, nav range: 229.098099 m, bearing: 54.166333 deg, approach rate: -0.080950 m/s, LOS rate: 0.135996 deg/s, cmd heading: 324.340822 deg, new cmd heading: 324.487785 deg. 2025-01-08T22:05:17.450Z,1736373917.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663380 target range: 416.700012 and range: 416.70 m. 2025-01-08T22:05:17.621Z,1736373917.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:17.622Z,1736373917.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.904303 2025-01-08T22:05:17.851Z,1736373917.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:17.872Z,1736373917.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:17.873Z,1736373917.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.155250 2025-01-08T22:05:17.880Z,1736373917.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.70 m. 2025-01-08T22:05:17.883Z,1736373917.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.700012 m, nav range: 229.066345 m, bearing: 54.222391 deg, approach rate: -0.073237 m/s, LOS rate: 0.129312 deg/s, cmd heading: 324.487780 deg, new cmd heading: 324.655978 deg. 2025-01-08T22:05:17.888Z,1736373917.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666316 target range: 416.700012 and range: 416.70 m. 2025-01-08T22:05:18.124Z,1736373918.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:18.124Z,1736373918.124 [DAT](INFO): DAT read: Rx Time:22:05:16.9531 2025-01-08T22:05:18.125Z,1736373918.125 [DAT](INFO): Rx dataTimestamp_ set to:1736373918.124671 2025-01-08T22:05:18.125Z,1736373918.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.408066 2025-01-08T22:05:18.246Z,1736373918.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:18.256Z,1736373918.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.70 m. 2025-01-08T22:05:18.258Z,1736373918.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.700012 m, nav range: 229.035278 m, bearing: 54.276196 deg, approach rate: -0.082816 m/s, LOS rate: 0.143449 deg/s, cmd heading: 324.655967 deg, new cmd heading: 324.817403 deg. 2025-01-08T22:05:18.259Z,1736373918.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669133 target range: 416.700012 and range: 416.70 m. 2025-01-08T22:05:18.376Z,1736373918.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:18.376Z,1736373918.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.659033 2025-01-08T22:05:18.630Z,1736373918.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:18.632Z,1736373918.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.913683 2025-01-08T22:05:18.785Z,1736373918.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:18.792Z,1736373918.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:18.794Z,1736373918.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.70 m. 2025-01-08T22:05:18.797Z,1736373918.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.700012 m, nav range: 229.009842 m, bearing: 54.349733 deg, approach rate: -0.047202 m/s, LOS rate: 0.136475 deg/s, cmd heading: 324.817405 deg, new cmd heading: 325.038039 deg. 2025-01-08T22:05:18.798Z,1736373918.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672984 target range: 416.700012 and range: 416.70 m. 2025-01-08T22:05:18.880Z,1736373918.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:18.890Z,1736373918.890 [DAT](INFO): DAT read: 22:05:16.9531 LVL= 20944, 32753, 26226, 32195, AGC= 71, IDX= 434, 0.04,-0.675,-1.488,-2.638,-1.667, PHS= 1.080, 0.225,-0.974, RAW= 54.4, -3.7, CAL= 58.3, -8.1, ROT= 91.7, 8.1 2025-01-08T22:05:18.893Z,1736373918.893 [DAT](INFO): got valid direction response: 22:05:16.9531 LVL= 20944, 32753, 26226, 32195, AGC= 71, IDX= 434, 0.04,-0.675,-1.488,-2.638,-1.667, PHS= 1.080, 0.225,-0.974, RAW= 54.4, -3.7, CAL= 58.3, -8.1, ROT= 91.7, 8.1 2025-01-08T22:05:18.894Z,1736373918.894 [DAT](INFO): DAT read: Bearing 91.7, 8.1 (Local) 2025-01-08T22:05:18.894Z,1736373918.894 [DAT](INFO): Local bearing/azimuth received: Bearing 91.7, 8.1 (Local) 2025-01-08T22:05:18.897Z,1736373918.897 [DAT](INFO): DAT read: Range 10 to 50 : 416.4 m (Round-trip 555.2 ms) speed 0.2 m/s 2025-01-08T22:05:18.898Z,1736373918.898 [DAT](INFO): DAT read: user:2286> 2025-01-08T22:05:18.899Z,1736373918.899 [DAT](INFO): DAT read: Tx time:22:05:18.0437 2025-01-08T22:05:18.899Z,1736373918.899 [DAT](INFO): Ping request sent. 2025-01-08T22:05:18.899Z,1736373918.899 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:18.900Z,1736373918.900 [DAT](INFO): DAT read: TxSync time:22:05:18.0429 2025-01-08T22:05:18.900Z,1736373918.900 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:18.901Z,1736373918.901 [DAT](INFO): direction in FSK: [0.051712,0.643504,0.763694] 2025-01-08T22:05:18.902Z,1736373918.902 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:18.902Z,1736373918.902 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:18.909Z,1736373918.909 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:18.909Z,1736373918.909 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:19.128Z,1736373919.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:19.132Z,1736373919.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:19.175Z,1736373919.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 416.399994 m, deltaT: 4.281213 s, deltaX: -0.300018 m, approachRate: -0.070078 m/s, rangeRepo size: 4 2025-01-08T22:05:19.178Z,1736373919.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 416.399994 m, bearing: 54.208038 deg, lat: 36.902738 deg, lon: -122.119955 deg, deltaT: 4.281213 s, deltaX: -0.300018 m, approachRate: -0.070078 m/s, posRepo size: 4 2025-01-08T22:05:19.178Z,1736373919.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T22:05:19.190Z,1736373919.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 228.993561 m, bearing: 54.396635 deg, approach rate: 0.000000 m/s, LOS rate: 0.136475 deg/s, cmd heading: 325.038048 deg, new cmd heading: 325.190462 deg. 2025-01-08T22:05:19.200Z,1736373919.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675644 target range: 416.399994 and range: 416.40 m. 2025-01-08T22:05:19.384Z,1736373919.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:19.525Z,1736373919.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:19.533Z,1736373919.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T22:05:19.536Z,1736373919.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 228.974731 m, bearing: 54.450765 deg, approach rate: -0.051345 m/s, LOS rate: 0.147619 deg/s, cmd heading: 325.190470 deg, new cmd heading: 325.352874 deg. 2025-01-08T22:05:19.538Z,1736373919.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678479 target range: 416.399994 and range: 416.40 m. 2025-01-08T22:05:19.636Z,1736373919.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:19.888Z,1736373919.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:19.942Z,1736373919.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:19.977Z,1736373919.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T22:05:19.984Z,1736373919.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 228.982758 m, bearing: 54.512036 deg, approach rate: 0.018108 m/s, LOS rate: 0.138232 deg/s, cmd heading: 325.352865 deg, new cmd heading: 325.536669 deg. 2025-01-08T22:05:19.985Z,1736373919.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681687 target range: 416.399994 and range: 416.40 m. 2025-01-08T22:05:20.144Z,1736373920.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:20.324Z,1736373920.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:20.333Z,1736373920.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T22:05:20.335Z,1736373920.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 228.990677 m, bearing: 54.568210 deg, approach rate: 0.022242 m/s, LOS rate: 0.157763 deg/s, cmd heading: 325.536679 deg, new cmd heading: 325.705194 deg. 2025-01-08T22:05:20.336Z,1736373920.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684628 target range: 416.399994 and range: 416.40 m. 2025-01-08T22:05:20.397Z,1736373920.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:20.648Z,1736373920.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:20.816Z,1736373920.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:20.825Z,1736373920.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:20.827Z,1736373920.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T22:05:20.829Z,1736373920.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 229.028793 m, bearing: 54.645937 deg, approach rate: 0.077150 m/s, LOS rate: 0.157299 deg/s, cmd heading: 325.705193 deg, new cmd heading: 325.938335 deg. 2025-01-08T22:05:20.830Z,1736373920.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688697 target range: 416.399994 and range: 416.40 m. 2025-01-08T22:05:20.901Z,1736373920.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:20.901Z,1736373920.901 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:20.902Z,1736373920.902 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:20.902Z,1736373920.902 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:21.130Z,1736373921.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:21.152Z,1736373921.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:21.152Z,1736373921.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253189 2025-01-08T22:05:21.161Z,1736373921.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T22:05:21.168Z,1736373921.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 229.053574 m, bearing: 54.695524 deg, approach rate: 0.074143 m/s, LOS rate: 0.148349 deg/s, cmd heading: 325.938348 deg, new cmd heading: 326.087093 deg. 2025-01-08T22:05:21.169Z,1736373921.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691293 target range: 416.399994 and range: 416.40 m. 2025-01-08T22:05:21.404Z,1736373921.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:21.405Z,1736373921.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505906 2025-01-08T22:05:21.546Z,1736373921.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:21.556Z,1736373921.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T22:05:21.559Z,1736373921.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 229.086533 m, bearing: 54.761165 deg, approach rate: 0.083326 m/s, LOS rate: 0.165927 deg/s, cmd heading: 326.087083 deg, new cmd heading: 326.283976 deg. 2025-01-08T22:05:21.560Z,1736373921.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694730 target range: 416.399994 and range: 416.40 m. 2025-01-08T22:05:21.657Z,1736373921.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:21.658Z,1736373921.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758023 2025-01-08T22:05:21.908Z,1736373921.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:21.908Z,1736373921.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009017 2025-01-08T22:05:21.974Z,1736373921.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:22.001Z,1736373922.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T22:05:22.005Z,1736373922.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 229.147675 m, bearing: 54.834963 deg, approach rate: 0.143274 m/s, LOS rate: 0.172885 deg/s, cmd heading: 326.283983 deg, new cmd heading: 326.505318 deg. 2025-01-08T22:05:22.006Z,1736373922.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698593 target range: 416.399994 and range: 416.40 m. 2025-01-08T22:05:22.160Z,1736373922.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:22.162Z,1736373922.162 [DAT](INFO): DAT read: Rx Time:22:05:21.0015 2025-01-08T22:05:22.164Z,1736373922.164 [DAT](INFO): Rx dataTimestamp_ set to:1736373922.162631 2025-01-08T22:05:22.165Z,1736373922.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265587 2025-01-08T22:05:22.352Z,1736373922.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:22.361Z,1736373922.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T22:05:22.364Z,1736373922.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 229.201462 m, bearing: 54.900048 deg, approach rate: 0.142463 m/s, LOS rate: 0.172344 deg/s, cmd heading: 326.505309 deg, new cmd heading: 326.700515 deg. 2025-01-08T22:05:22.365Z,1736373922.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702000 target range: 416.399994 and range: 416.40 m. 2025-01-08T22:05:22.412Z,1736373922.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:22.413Z,1736373922.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513261 2025-01-08T22:05:22.666Z,1736373922.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:22.669Z,1736373922.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768527 2025-01-08T22:05:22.822Z,1736373922.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:22.837Z,1736373922.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:22.844Z,1736373922.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.40 m. 2025-01-08T22:05:22.846Z,1736373922.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.399994 m, nav range: 229.268616 m, bearing: 54.981053 deg, approach rate: 0.140318 m/s, LOS rate: 0.169211 deg/s, cmd heading: 326.700516 deg, new cmd heading: 326.943459 deg. 2025-01-08T22:05:22.852Z,1736373922.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706240 target range: 416.399994 and range: 416.40 m. 2025-01-08T22:05:22.916Z,1736373922.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:22.926Z,1736373922.926 [DAT](INFO): DAT read: 22:05:21.0015 LVL= 20896, 28817, 24962, 27555, AGC= 65, IDX= 417, 0.26,-2.006,-2.936, 2.197,-3.066, PHS= 1.147, 0.176,-1.023, RAW= 56.5, -3.2, CAL= 60.4, -7.5, ROT= 89.6, 7.5 2025-01-08T22:05:22.927Z,1736373922.927 [DAT](INFO): got valid direction response: 22:05:21.0015 LVL= 20896, 28817, 24962, 27555, AGC= 65, IDX= 417, 0.26,-2.006,-2.936, 2.197,-3.066, PHS= 1.147, 0.176,-1.023, RAW= 56.5, -3.2, CAL= 60.4, -7.5, ROT= 89.6, 7.5 2025-01-08T22:05:22.928Z,1736373922.928 [DAT](INFO): DAT read: Bearing 89.6, 7.5 (Local) 2025-01-08T22:05:22.928Z,1736373922.928 [DAT](INFO): Local bearing/azimuth received: Bearing 89.6, 7.5 (Local) 2025-01-08T22:05:22.930Z,1736373922.930 [DAT](INFO): DAT read: Range 10 to 50 : 415.2 m (Round-trip 553.7 ms) speed 0.2 m/s 2025-01-08T22:05:22.931Z,1736373922.931 [DAT](INFO): DAT read: user:2287> 2025-01-08T22:05:22.932Z,1736373922.932 [DAT](INFO): DAT read: Tx time:22:05:22.0937 2025-01-08T22:05:22.932Z,1736373922.932 [DAT](INFO): Ping request sent. 2025-01-08T22:05:22.932Z,1736373922.932 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:22.933Z,1736373922.933 [DAT](INFO): DAT read: TxSync time:22:05:22.0929 2025-01-08T22:05:22.933Z,1736373922.933 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:22.934Z,1736373922.934 [DAT](INFO): direction in FSK: [0.037853,0.618455,0.784908] 2025-01-08T22:05:22.934Z,1736373922.934 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:22.935Z,1736373922.935 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:22.939Z,1736373922.939 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:22.939Z,1736373922.939 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:23.168Z,1736373923.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:23.199Z,1736373923.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:23.217Z,1736373923.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 415.200012 m, deltaT: 4.036527 s, deltaX: -1.199982 m, approachRate: -0.297281 m/s, rangeRepo size: 4 2025-01-08T22:05:23.240Z,1736373923.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 415.200012 m, bearing: 55.529578 deg, lat: 36.902738 deg, lon: -122.120065 deg, deltaT: 4.036527 s, deltaX: -1.199982 m, approachRate: -0.297281 m/s, posRepo size: 4 2025-01-08T22:05:23.240Z,1736373923.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:23.243Z,1736373923.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 221.400131 m, bearing: 53.600408 deg, approach rate: 0.000000 m/s, LOS rate: 0.169211 deg/s, cmd heading: 326.943452 deg, new cmd heading: 327.135022 deg. 2025-01-08T22:05:23.245Z,1736373923.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709583 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:23.420Z,1736373923.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:23.566Z,1736373923.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:23.576Z,1736373923.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:23.578Z,1736373923.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 221.462708 m, bearing: 53.669702 deg, approach rate: 0.174469 m/s, LOS rate: 0.193145 deg/s, cmd heading: 327.135025 deg, new cmd heading: 327.342849 deg. 2025-01-08T22:05:23.579Z,1736373923.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713211 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:23.672Z,1736373923.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:23.924Z,1736373923.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:23.990Z,1736373923.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:24.026Z,1736373924.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:24.033Z,1736373924.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 221.544128 m, bearing: 53.749265 deg, approach rate: 0.180529 m/s, LOS rate: 0.176345 deg/s, cmd heading: 327.342854 deg, new cmd heading: 327.581454 deg. 2025-01-08T22:05:24.034Z,1736373924.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717375 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:24.176Z,1736373924.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:24.365Z,1736373924.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:24.374Z,1736373924.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:24.377Z,1736373924.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 221.615814 m, bearing: 53.819420 deg, approach rate: 0.206264 m/s, LOS rate: 0.201792 deg/s, cmd heading: 327.581446 deg, new cmd heading: 327.791840 deg. 2025-01-08T22:05:24.378Z,1736373924.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721047 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:24.428Z,1736373924.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:24.680Z,1736373924.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:24.842Z,1736373924.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:24.858Z,1736373924.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:24.864Z,1736373924.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:24.866Z,1736373924.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 221.706284 m, bearing: 53.908655 deg, approach rate: 0.184637 m/s, LOS rate: 0.182044 deg/s, cmd heading: 327.791843 deg, new cmd heading: 328.059439 deg. 2025-01-08T22:05:24.872Z,1736373924.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725718 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:24.932Z,1736373924.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:24.933Z,1736373924.933 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:24.933Z,1736373924.933 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:24.934Z,1736373924.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:25.184Z,1736373925.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:25.184Z,1736373925.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252337 2025-01-08T22:05:25.217Z,1736373925.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:25.254Z,1736373925.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:25.263Z,1736373925.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 221.775696 m, bearing: 53.978763 deg, approach rate: 0.178070 m/s, LOS rate: 0.179798 deg/s, cmd heading: 328.059450 deg, new cmd heading: 328.269707 deg. 2025-01-08T22:05:25.268Z,1736373925.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729387 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:25.436Z,1736373925.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:25.436Z,1736373925.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504172 2025-01-08T22:05:25.580Z,1736373925.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:25.590Z,1736373925.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:25.609Z,1736373925.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 221.840881 m, bearing: 54.046385 deg, approach rate: 0.194005 m/s, LOS rate: 0.201197 deg/s, cmd heading: 328.269711 deg, new cmd heading: 328.472516 deg. 2025-01-08T22:05:25.610Z,1736373925.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732927 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:25.689Z,1736373925.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:25.690Z,1736373925.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757319 2025-01-08T22:05:25.940Z,1736373925.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:25.940Z,1736373925.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008302 2025-01-08T22:05:26.026Z,1736373926.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:26.035Z,1736373926.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:26.040Z,1736373926.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 221.908279 m, bearing: 54.127903 deg, approach rate: 0.151438 m/s, LOS rate: 0.183110 deg/s, cmd heading: 328.472513 deg, new cmd heading: 328.716991 deg. 2025-01-08T22:05:26.041Z,1736373926.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737194 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:26.192Z,1736373926.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:26.192Z,1736373926.192 [DAT](INFO): DAT read: Rx Time:22:05:25.0516 2025-01-08T22:05:26.193Z,1736373926.193 [DAT](INFO): Rx dataTimestamp_ set to:1736373926.192667 2025-01-08T22:05:26.193Z,1736373926.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261344 2025-01-08T22:05:26.402Z,1736373926.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:26.423Z,1736373926.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:26.426Z,1736373926.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 221.964096 m, bearing: 54.196618 deg, approach rate: 0.145210 m/s, LOS rate: 0.178719 deg/s, cmd heading: 328.716979 deg, new cmd heading: 328.923070 deg. 2025-01-08T22:05:26.427Z,1736373926.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740790 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:26.444Z,1736373926.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:26.444Z,1736373926.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512325 2025-01-08T22:05:26.697Z,1736373926.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:26.700Z,1736373926.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766608 2025-01-08T22:05:26.809Z,1736373926.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:26.877Z,1736373926.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:26.879Z,1736373926.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:26.886Z,1736373926.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 222.023239 m, bearing: 54.270951 deg, approach rate: 0.128750 m/s, LOS rate: 0.161773 deg/s, cmd heading: 328.923059 deg, new cmd heading: 329.145996 deg. 2025-01-08T22:05:26.886Z,1736373926.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744681 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:26.948Z,1736373926.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:26.960Z,1736373926.960 [DAT](INFO): DAT read: 22:05:25.0516 LVL= 17296, 27873, 23794, 26387, AGC= 66, IDX= 434,-0.19,-2.820, 2.458, 1.337, 2.330, PHS= 1.222, 0.174,-0.996, RAW= 58.2, -4.2, CAL= 63.1, -9.1, ROT= 86.9, 9.1 2025-01-08T22:05:26.962Z,1736373926.962 [DAT](INFO): got valid direction response: 22:05:25.0516 LVL= 17296, 27873, 23794, 26387, AGC= 66, IDX= 434,-0.19,-2.820, 2.458, 1.337, 2.330, PHS= 1.222, 0.174,-0.996, RAW= 58.2, -4.2, CAL= 63.1, -9.1, ROT= 86.9, 9.1 2025-01-08T22:05:26.974Z,1736373926.974 [DAT](INFO): DAT read: Bearing 86.9, 9.1 (Local) 2025-01-08T22:05:26.974Z,1736373926.974 [DAT](INFO): Local bearing/azimuth received: Bearing 86.9, 9.1 (Local) 2025-01-08T22:05:26.980Z,1736373926.980 [DAT](INFO): DAT read: Range 10 to 50 : 415.2 m (Round-trip 553.7 ms) speed 0.2 m/s 2025-01-08T22:05:26.982Z,1736373926.982 [DAT](INFO): DAT read: user:2288> 2025-01-08T22:05:26.988Z,1736373926.988 [DAT](INFO): DAT read: Tx time:22:05:26.1438 2025-01-08T22:05:26.989Z,1736373926.989 [DAT](INFO): Ping request sent. 2025-01-08T22:05:26.989Z,1736373926.989 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:27.011Z,1736373927.011 [DAT](INFO): DAT read: TxSync time:22:05:26.1430 2025-01-08T22:05:27.013Z,1736373927.013 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:27.015Z,1736373927.015 [DAT](INFO): direction in FSK: [0.052826,0.595279,0.801781] 2025-01-08T22:05:27.015Z,1736373927.015 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:27.016Z,1736373927.016 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:27.019Z,1736373927.019 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:27.019Z,1736373927.019 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:27.200Z,1736373927.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:27.250Z,1736373927.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:27.282Z,1736373927.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 415.200012 m, deltaT: 4.031821 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:05:27.288Z,1736373927.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 415.200012 m, bearing: 56.408582 deg, lat: 36.902683 deg, lon: -122.120116 deg, deltaT: 4.031821 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:05:27.289Z,1736373927.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:27.305Z,1736373927.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 214.791351 m, bearing: 54.959838 deg, approach rate: 0.000000 m/s, LOS rate: 0.161773 deg/s, cmd heading: 329.145996 deg, new cmd heading: 329.341365 deg. 2025-01-08T22:05:27.306Z,1736373927.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748091 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:27.452Z,1736373927.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:27.602Z,1736373927.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:27.612Z,1736373927.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:27.615Z,1736373927.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 214.831787 m, bearing: 55.023931 deg, approach rate: 0.122077 m/s, LOS rate: 0.193462 deg/s, cmd heading: 329.341367 deg, new cmd heading: 329.533609 deg. 2025-01-08T22:05:27.617Z,1736373927.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751446 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:27.706Z,1736373927.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:27.960Z,1736373927.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:28.026Z,1736373928.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:28.060Z,1736373928.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:28.063Z,1736373928.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 214.864914 m, bearing: 55.096329 deg, approach rate: 0.073962 m/s, LOS rate: 0.161619 deg/s, cmd heading: 329.533596 deg, new cmd heading: 329.750758 deg. 2025-01-08T22:05:28.068Z,1736373928.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755237 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:28.212Z,1736373928.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:28.412Z,1736373928.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:28.420Z,1736373928.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:28.424Z,1736373928.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 214.893814 m, bearing: 55.162233 deg, approach rate: 0.080335 m/s, LOS rate: 0.183170 deg/s, cmd heading: 329.750769 deg, new cmd heading: 329.948452 deg. 2025-01-08T22:05:28.425Z,1736373928.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758687 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:28.464Z,1736373928.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:28.716Z,1736373928.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:28.810Z,1736373928.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:28.823Z,1736373928.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:28.826Z,1736373928.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 214.922623 m, bearing: 55.230332 deg, approach rate: 0.071508 m/s, LOS rate: 0.169011 deg/s, cmd heading: 329.948462 deg, new cmd heading: 330.152730 deg. 2025-01-08T22:05:28.827Z,1736373928.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762252 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:28.968Z,1736373928.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:29.220Z,1736373929.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:29.457Z,1736373929.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:29.464Z,1736373929.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:29.466Z,1736373929.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:29.469Z,1736373929.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 214.938568 m, bearing: 55.334431 deg, approach rate: 0.024787 m/s, LOS rate: 0.161812 deg/s, cmd heading: 330.152739 deg, new cmd heading: 330.465010 deg. 2025-01-08T22:05:29.470Z,1736373929.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767703 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:29.472Z,1736373929.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:29.472Z,1736373929.472 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:29.472Z,1736373929.472 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:29.473Z,1736373929.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:29.724Z,1736373929.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:29.725Z,1736373929.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736123 2025-01-08T22:05:29.959Z,1736373929.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:29.968Z,1736373929.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:29.970Z,1736373929.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 214.929398 m, bearing: 55.413573 deg, approach rate: -0.018295 m/s, LOS rate: 0.157892 deg/s, cmd heading: 330.465015 deg, new cmd heading: 330.702448 deg. 2025-01-08T22:05:29.972Z,1736373929.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771847 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:29.976Z,1736373929.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:29.977Z,1736373929.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987341 2025-01-08T22:05:30.228Z,1736373930.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:30.228Z,1736373930.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239116 2025-01-08T22:05:30.341Z,1736373930.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:30.383Z,1736373930.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:30.389Z,1736373930.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 214.921402 m, bearing: 55.473527 deg, approach rate: -0.019268 m/s, LOS rate: 0.144483 deg/s, cmd heading: 330.702460 deg, new cmd heading: 330.882330 deg. 2025-01-08T22:05:30.392Z,1736373930.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774986 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:30.480Z,1736373930.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:30.481Z,1736373930.481 [DAT](INFO): DAT read: Rx Time:22:05:29.1024 2025-01-08T22:05:30.481Z,1736373930.481 [DAT](INFO): Rx dataTimestamp_ set to:1736373930.480728 2025-01-08T22:05:30.482Z,1736373930.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492343 2025-01-08T22:05:30.732Z,1736373930.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:30.733Z,1736373930.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743337 2025-01-08T22:05:30.860Z,1736373930.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:30.918Z,1736373930.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.20 m. 2025-01-08T22:05:30.940Z,1736373930.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.200012 m, nav range: 214.909485 m, bearing: 55.555196 deg, approach rate: -0.022544 m/s, LOS rate: 0.154506 deg/s, cmd heading: 330.882340 deg, new cmd heading: 331.127358 deg. 2025-01-08T22:05:30.941Z,1736373930.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779263 target range: 415.200012 and range: 415.20 m. 2025-01-08T22:05:30.984Z,1736373930.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:30.995Z,1736373930.995 [DAT](INFO): DAT read: 22:05:29.1024 LVL= 17504, 27633, 25554, 29683, AGC= 67, IDX= 442,-0.11,-0.098,-1.304,-2.261,-1.381, PHS= 1.372, 0.125,-0.883, RAW= 63.5, -6.3, CAL= 71.3, -12.6, ROT= 78.7, 12.6 2025-01-08T22:05:30.996Z,1736373930.996 [DAT](INFO): got valid direction response: 22:05:29.1024 LVL= 17504, 27633, 25554, 29683, AGC= 67, IDX= 442,-0.11,-0.098,-1.304,-2.261,-1.381, PHS= 1.372, 0.125,-0.883, RAW= 63.5, -6.3, CAL= 71.3, -12.6, ROT= 78.7, 12.6 2025-01-08T22:05:30.997Z,1736373930.997 [DAT](INFO): DAT read: Bearing 78.7, 12.6 (Local) 2025-01-08T22:05:30.997Z,1736373930.997 [DAT](INFO): Local bearing/azimuth received: Bearing 78.7, 12.6 (Local) 2025-01-08T22:05:31.007Z,1736373931.007 [DAT](INFO): DAT read: Range 10 to 50 : 415.8 m (Round-trip 554.4 ms) speed 0.0 m/s 2025-01-08T22:05:31.008Z,1736373931.008 [DAT](INFO): DAT read: user:2289> 2025-01-08T22:05:31.009Z,1736373931.009 [DAT](INFO): DAT read: Tx time:22:05:30.1938 2025-01-08T22:05:31.009Z,1736373931.009 [DAT](INFO): Ping request sent. 2025-01-08T22:05:31.009Z,1736373931.009 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:31.010Z,1736373931.010 [DAT](INFO): DAT read: TxSync time:22:05:30.1930 2025-01-08T22:05:31.010Z,1736373931.010 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:31.018Z,1736373931.018 [DAT](INFO): direction in FSK: [0.081855,0.518991,0.850851] 2025-01-08T22:05:31.019Z,1736373931.019 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:31.019Z,1736373931.019 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:31.026Z,1736373931.026 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:31.026Z,1736373931.026 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:31.237Z,1736373931.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:31.316Z,1736373931.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:31.334Z,1736373931.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 415.799988 m, deltaT: 4.035600 s, deltaX: 0.599976 m, approachRate: 0.148671 m/s, rangeRepo size: 4 2025-01-08T22:05:31.337Z,1736373931.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 415.799988 m, bearing: 54.892444 deg, lat: 36.902604 deg, lon: -122.120161 deg, deltaT: 4.035600 s, deltaX: 0.599976 m, approachRate: 0.148671 m/s, posRepo size: 4 2025-01-08T22:05:31.337Z,1736373931.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:31.340Z,1736373931.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 206.747543 m, bearing: 57.016406 deg, approach rate: 0.000000 m/s, LOS rate: 0.154506 deg/s, cmd heading: 331.127352 deg, new cmd heading: 331.323319 deg. 2025-01-08T22:05:31.341Z,1736373931.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782683 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:31.489Z,1736373931.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:31.744Z,1736373931.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:31.758Z,1736373931.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:31.766Z,1736373931.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:31.768Z,1736373931.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:31.792Z,1736373931.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 206.731827 m, bearing: 57.086416 deg, approach rate: -0.036181 m/s, LOS rate: 0.161181 deg/s, cmd heading: 331.323324 deg, new cmd heading: 331.533369 deg. 2025-01-08T22:05:31.793Z,1736373931.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786349 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:31.996Z,1736373931.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:31.996Z,1736373931.996 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:31.996Z,1736373931.996 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:31.996Z,1736373931.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:32.194Z,1736373932.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:32.203Z,1736373932.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:32.207Z,1736373932.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 206.712204 m, bearing: 57.158300 deg, approach rate: -0.045168 m/s, LOS rate: 0.165481 deg/s, cmd heading: 331.533366 deg, new cmd heading: 331.749038 deg. 2025-01-08T22:05:32.208Z,1736373932.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790113 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:32.248Z,1736373932.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:32.249Z,1736373932.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239171 2025-01-08T22:05:32.501Z,1736373932.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:32.502Z,1736373932.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492609 2025-01-08T22:05:32.568Z,1736373932.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:32.577Z,1736373932.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:32.581Z,1736373932.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 206.693405 m, bearing: 57.219900 deg, approach rate: -0.050144 m/s, LOS rate: 0.164328 deg/s, cmd heading: 331.749036 deg, new cmd heading: 331.933854 deg. 2025-01-08T22:05:32.582Z,1736373932.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793339 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:32.752Z,1736373932.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:32.752Z,1736373932.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743116 2025-01-08T22:05:33.005Z,1736373933.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:33.005Z,1736373933.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995854 2025-01-08T22:05:33.012Z,1736373933.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:33.020Z,1736373933.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:33.025Z,1736373933.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 206.672318 m, bearing: 57.293143 deg, approach rate: -0.047648 m/s, LOS rate: 0.165510 deg/s, cmd heading: 331.933861 deg, new cmd heading: 332.153610 deg. 2025-01-08T22:05:33.025Z,1736373933.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797174 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:33.256Z,1736373933.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:33.258Z,1736373933.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248273 2025-01-08T22:05:33.376Z,1736373933.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:33.384Z,1736373933.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:33.387Z,1736373933.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 206.653870 m, bearing: 57.353362 deg, approach rate: -0.050677 m/s, LOS rate: 0.165437 deg/s, cmd heading: 332.153602 deg, new cmd heading: 332.334275 deg. 2025-01-08T22:05:33.388Z,1736373933.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800327 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:33.509Z,1736373933.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:33.510Z,1736373933.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500255 2025-01-08T22:05:33.761Z,1736373933.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:33.762Z,1736373933.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752556 2025-01-08T22:05:33.830Z,1736373933.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:33.837Z,1736373933.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:33.840Z,1736373933.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:33.843Z,1736373933.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 206.631241 m, bearing: 57.428332 deg, approach rate: -0.049622 m/s, LOS rate: 0.164417 deg/s, cmd heading: 332.334274 deg, new cmd heading: 332.559208 deg. 2025-01-08T22:05:33.844Z,1736373933.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804253 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:34.012Z,1736373934.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:34.013Z,1736373934.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003430 2025-01-08T22:05:34.208Z,1736373934.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:34.217Z,1736373934.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:34.220Z,1736373934.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 206.622620 m, bearing: 57.493664 deg, approach rate: -0.022870 m/s, LOS rate: 0.173316 deg/s, cmd heading: 332.559206 deg, new cmd heading: 332.755210 deg. 2025-01-08T22:05:34.222Z,1736373934.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807674 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:34.264Z,1736373934.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:34.265Z,1736373934.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255289 2025-01-08T22:05:34.516Z,1736373934.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:34.516Z,1736373934.516 [DAT](INFO): DAT read: Rx Time:22:05:33.1513 2025-01-08T22:05:34.517Z,1736373934.517 [DAT](INFO): Rx dataTimestamp_ set to:1736373934.516555 2025-01-08T22:05:34.517Z,1736373934.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508035 2025-01-08T22:05:34.596Z,1736373934.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:34.605Z,1736373934.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.80 m. 2025-01-08T22:05:34.608Z,1736373934.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.799988 m, nav range: 206.613617 m, bearing: 57.560734 deg, approach rate: -0.023193 m/s, LOS rate: 0.172796 deg/s, cmd heading: 332.755205 deg, new cmd heading: 332.956423 deg. 2025-01-08T22:05:34.609Z,1736373934.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811186 target range: 415.799988 and range: 415.80 m. 2025-01-08T22:05:34.768Z,1736373934.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:34.769Z,1736373934.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759279 2025-01-08T22:05:35.024Z,1736373935.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:35.032Z,1736373935.032 [DAT](INFO): DAT read: 22:05:33.1513 LVL= 15776, 27425, 18898, 27635, AGC= 67, IDX= 430, 0.12,-2.706, 2.304, 1.604, 2.495, PHS= 1.170,-0.144,-0.894, RAW= 69.0, -1.5, CAL= 74.4, -6.0, ROT= 75.6, 6.0 2025-01-08T22:05:35.033Z,1736373935.033 [DAT](INFO): got valid direction response: 22:05:33.1513 LVL= 15776, 27425, 18898, 27635, AGC= 67, IDX= 430, 0.12,-2.706, 2.304, 1.604, 2.495, PHS= 1.170,-0.144,-0.894, RAW= 69.0, -1.5, CAL= 74.4, -6.0, ROT= 75.6, 6.0 2025-01-08T22:05:35.034Z,1736373935.034 [DAT](INFO): DAT read: Bearing 75.6, 6.0 (Local) 2025-01-08T22:05:35.034Z,1736373935.034 [DAT](INFO): Local bearing/azimuth received: Bearing 75.6, 6.0 (Local) 2025-01-08T22:05:35.038Z,1736373935.038 [DAT](INFO): DAT read: Range 10 to 50 : 415.0 m (Round-trip 553.4 ms) speed 0.3 m/s 2025-01-08T22:05:35.044Z,1736373935.044 [DAT](INFO): DAT read: user:2290> 2025-01-08T22:05:35.056Z,1736373935.056 [DAT](INFO): DAT read: Tx time:22:05:34.2438 2025-01-08T22:05:35.056Z,1736373935.056 [DAT](INFO): Ping request sent. 2025-01-08T22:05:35.056Z,1736373935.056 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:35.057Z,1736373935.057 [DAT](INFO): DAT read: TxSync time:22:05:34.2430 2025-01-08T22:05:35.057Z,1736373935.057 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:35.058Z,1736373935.058 [DAT](INFO): direction in FSK: [-0.019452,0.447723,0.893961] 2025-01-08T22:05:35.058Z,1736373935.058 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:35.059Z,1736373935.059 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:35.074Z,1736373935.074 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:35.074Z,1736373935.074 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:35.157Z,1736373935.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:35.200Z,1736373935.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 415.000000 m, deltaT: 4.040104 s, deltaX: -0.799988 m, approachRate: -0.198012 m/s, rangeRepo size: 4 2025-01-08T22:05:35.202Z,1736373935.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 415.000000 m, bearing: 72.658560 deg, lat: 36.902510 deg, lon: -122.120332 deg, deltaT: 4.040104 s, deltaX: -0.799988 m, approachRate: -0.198012 m/s, posRepo size: 4 2025-01-08T22:05:35.202Z,1736373935.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.00 m. 2025-01-08T22:05:35.210Z,1736373935.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.000000 m, nav range: 188.078979 m, bearing: 57.874923 deg, approach rate: 0.000000 m/s, LOS rate: 0.172796 deg/s, cmd heading: 332.956422 deg, new cmd heading: 333.257857 deg. 2025-01-08T22:05:35.210Z,1736373935.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816447 target range: 415.000000 and range: 415.00 m. 2025-01-08T22:05:35.277Z,1736373935.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:35.514Z,1736373935.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:35.528Z,1736373935.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:35.543Z,1736373935.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.00 m. 2025-01-08T22:05:35.546Z,1736373935.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.000000 m, nav range: 188.083588 m, bearing: 57.945498 deg, approach rate: 0.013071 m/s, LOS rate: 0.200187 deg/s, cmd heading: 333.257852 deg, new cmd heading: 333.469573 deg. 2025-01-08T22:05:35.547Z,1736373935.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820142 target range: 415.000000 and range: 415.00 m. 2025-01-08T22:05:35.780Z,1736373935.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:35.892Z,1736373935.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:35.920Z,1736373935.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:35.922Z,1736373935.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.00 m. 2025-01-08T22:05:35.966Z,1736373935.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.000000 m, nav range: 188.087830 m, bearing: 58.020151 deg, approach rate: 0.011071 m/s, LOS rate: 0.194828 deg/s, cmd heading: 333.469561 deg, new cmd heading: 333.693514 deg. 2025-01-08T22:05:35.979Z,1736373935.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824050 target range: 415.000000 and range: 415.00 m. 2025-01-08T22:05:36.033Z,1736373936.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:36.034Z,1736373936.034 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:36.034Z,1736373936.034 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:36.034Z,1736373936.034 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:36.284Z,1736373936.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:36.284Z,1736373936.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228364 2025-01-08T22:05:36.356Z,1736373936.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:36.365Z,1736373936.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.00 m. 2025-01-08T22:05:36.367Z,1736373936.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.000000 m, nav range: 188.100693 m, bearing: 58.113244 deg, approach rate: 0.029092 m/s, LOS rate: 0.210532 deg/s, cmd heading: 333.693509 deg, new cmd heading: 333.972765 deg. 2025-01-08T22:05:36.368Z,1736373936.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828924 target range: 415.000000 and range: 415.00 m. 2025-01-08T22:05:36.536Z,1736373936.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:36.536Z,1736373936.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480293 2025-01-08T22:05:36.719Z,1736373936.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:36.728Z,1736373936.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.00 m. 2025-01-08T22:05:36.731Z,1736373936.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.000000 m, nav range: 188.110062 m, bearing: 58.186077 deg, approach rate: 0.025754 m/s, LOS rate: 0.200199 deg/s, cmd heading: 333.972755 deg, new cmd heading: 334.191241 deg. 2025-01-08T22:05:36.732Z,1736373936.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832737 target range: 415.000000 and range: 415.00 m. 2025-01-08T22:05:36.788Z,1736373936.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:36.789Z,1736373936.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732932 2025-01-08T22:05:37.040Z,1736373937.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:37.040Z,1736373937.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984221 2025-01-08T22:05:37.184Z,1736373937.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:37.193Z,1736373937.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.00 m. 2025-01-08T22:05:37.196Z,1736373937.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.000000 m, nav range: 188.136688 m, bearing: 58.280806 deg, approach rate: 0.057286 m/s, LOS rate: 0.203775 deg/s, cmd heading: 334.191239 deg, new cmd heading: 334.475383 deg. 2025-01-08T22:05:37.197Z,1736373937.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837697 target range: 415.000000 and range: 415.00 m. 2025-01-08T22:05:37.292Z,1736373937.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:37.294Z,1736373937.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237406 2025-01-08T22:05:37.536Z,1736373937.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:37.544Z,1736373937.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:37.544Z,1736373937.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488351 2025-01-08T22:05:37.561Z,1736373937.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.00 m. 2025-01-08T22:05:37.568Z,1736373937.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.000000 m, nav range: 188.156097 m, bearing: 58.352476 deg, approach rate: 0.052700 m/s, LOS rate: 0.194580 deg/s, cmd heading: 334.475375 deg, new cmd heading: 334.690361 deg. 2025-01-08T22:05:37.569Z,1736373937.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841449 target range: 415.000000 and range: 415.00 m. 2025-01-08T22:05:37.796Z,1736373937.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:37.796Z,1736373937.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740254 2025-01-08T22:05:37.945Z,1736373937.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:37.954Z,1736373937.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:37.965Z,1736373937.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.00 m. 2025-01-08T22:05:37.976Z,1736373937.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.000000 m, nav range: 188.178543 m, bearing: 58.435714 deg, approach rate: 0.056105 m/s, LOS rate: 0.208037 deg/s, cmd heading: 334.690362 deg, new cmd heading: 334.940046 deg. 2025-01-08T22:05:37.000Z,1736373938.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845807 target range: 415.000000 and range: 415.00 m. 2025-01-08T22:05:38.048Z,1736373938.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:38.049Z,1736373938.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992413 2025-01-08T22:05:38.300Z,1736373938.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:38.300Z,1736373938.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244222 2025-01-08T22:05:38.414Z,1736373938.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:38.457Z,1736373938.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.00 m. 2025-01-08T22:05:38.468Z,1736373938.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.000000 m, nav range: 188.204773 m, bearing: 58.527786 deg, approach rate: 0.052935 m/s, LOS rate: 0.185784 deg/s, cmd heading: 334.940046 deg, new cmd heading: 335.216220 deg. 2025-01-08T22:05:38.469Z,1736373938.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850627 target range: 415.000000 and range: 415.00 m. 2025-01-08T22:05:38.552Z,1736373938.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:38.553Z,1736373938.553 [DAT](INFO): DAT read: Rx Time:22:05:37.1997 2025-01-08T22:05:38.554Z,1736373938.554 [DAT](INFO): Rx dataTimestamp_ set to:1736373938.553724 2025-01-08T22:05:38.555Z,1736373938.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499131 2025-01-08T22:05:38.765Z,1736373938.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:38.781Z,1736373938.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.00 m. 2025-01-08T22:05:38.784Z,1736373938.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 415.000000 m, nav range: 188.224442 m, bearing: 58.596603 deg, approach rate: 0.060646 m/s, LOS rate: 0.212165 deg/s, cmd heading: 335.216231 deg, new cmd heading: 335.422658 deg. 2025-01-08T22:05:38.785Z,1736373938.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854230 target range: 415.000000 and range: 415.00 m. 2025-01-08T22:05:38.804Z,1736373938.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:38.805Z,1736373938.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749099 2025-01-08T22:05:39.056Z,1736373939.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:39.062Z,1736373939.062 [DAT](INFO): DAT read: 22:05:37.1997 LVL= 14064, 30785, 19698, 26467, AGC= 66, IDX= 429, 0.19,-1.884, 3.089, 2.563,-2.891, PHS= 1.094,-0.257,-0.833, RAW= 73.1, -0.1, CAL= 78.3, -4.2, ROT= 71.7, 4.2 2025-01-08T22:05:39.063Z,1736373939.063 [DAT](INFO): got valid direction response: 22:05:37.1997 LVL= 14064, 30785, 19698, 26467, AGC= 66, IDX= 429, 0.19,-1.884, 3.089, 2.563,-2.891, PHS= 1.094,-0.257,-0.833, RAW= 73.1, -0.1, CAL= 78.3, -4.2, ROT= 71.7, 4.2 2025-01-08T22:05:39.064Z,1736373939.064 [DAT](INFO): DAT read: Bearing 71.7, 4.2 (Local) 2025-01-08T22:05:39.065Z,1736373939.065 [DAT](INFO): Local bearing/azimuth received: Bearing 71.7, 4.2 (Local) 2025-01-08T22:05:39.066Z,1736373939.066 [DAT](INFO): DAT read: Range 10 to 50 : 413.7 m (Round-trip 551.6 ms) speed 0.0 m/s 2025-01-08T22:05:39.067Z,1736373939.067 [DAT](INFO): DAT read: user:2291> 2025-01-08T22:05:39.068Z,1736373939.068 [DAT](INFO): DAT read: Tx time:22:05:38.2939 2025-01-08T22:05:39.068Z,1736373939.068 [DAT](INFO): Ping request sent. 2025-01-08T22:05:39.068Z,1736373939.068 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:39.069Z,1736373939.069 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:39.070Z,1736373939.070 [DAT](INFO): direction in FSK: [-0.054182,0.386650,0.920633] 2025-01-08T22:05:39.070Z,1736373939.070 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:39.070Z,1736373939.070 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:39.074Z,1736373939.074 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:39.074Z,1736373939.074 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:39.232Z,1736373939.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:39.258Z,1736373939.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 413.700012 m, deltaT: 4.031722 s, deltaX: -1.299988 m, approachRate: -0.322440 m/s, rangeRepo size: 4 2025-01-08T22:05:39.265Z,1736373939.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 413.700012 m, bearing: 81.740843 deg, lat: 36.902390 deg, lon: -122.120692 deg, deltaT: 4.031722 s, deltaX: -1.299988 m, approachRate: -0.322440 m/s, posRepo size: 4 2025-01-08T22:05:39.265Z,1736373939.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.70 m. 2025-01-08T22:05:39.276Z,1736373939.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.700012 m, nav range: 154.126114 m, bearing: 56.744951 deg, approach rate: 0.000000 m/s, LOS rate: 0.212165 deg/s, cmd heading: 335.422667 deg, new cmd heading: 335.725895 deg. 2025-01-08T22:05:39.277Z,1736373939.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859522 target range: 413.700012 and range: 413.70 m. 2025-01-08T22:05:39.308Z,1736373939.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:39.309Z,1736373939.309 [DAT](INFO): DAT read: TxSync time:22:05:38.2931 2025-01-08T22:05:39.560Z,1736373939.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:39.591Z,1736373939.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:39.599Z,1736373939.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.70 m. 2025-01-08T22:05:39.602Z,1736373939.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.700012 m, nav range: 154.140533 m, bearing: 56.827545 deg, approach rate: 0.042228 m/s, LOS rate: 0.241852 deg/s, cmd heading: 335.725900 deg, new cmd heading: 335.973655 deg. 2025-01-08T22:05:39.603Z,1736373939.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863846 target range: 413.700012 and range: 413.70 m. 2025-01-08T22:05:39.812Z,1736373939.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:39.997Z,1736373939.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:40.054Z,1736373940.054 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:05:40.055Z,1736373940.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:40.057Z,1736373940.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.70 m. 2025-01-08T22:05:40.064Z,1736373940.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:40.064Z,1736373940.064 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:40.064Z,1736373940.064 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:40.065Z,1736373940.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:40.069Z,1736373940.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.700012 m, nav range: 154.156738 m, bearing: 56.920949 deg, approach rate: 0.035377 m/s, LOS rate: 0.203893 deg/s, cmd heading: 335.973645 deg, new cmd heading: 336.253827 deg. 2025-01-08T22:05:40.070Z,1736373940.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868736 target range: 413.700012 and range: 413.70 m. 2025-01-08T22:05:40.316Z,1736373940.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:40.317Z,1736373940.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248087 2025-01-08T22:05:40.426Z,1736373940.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:40.435Z,1736373940.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.70 m. 2025-01-08T22:05:40.437Z,1736373940.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.700012 m, nav range: 154.171432 m, bearing: 57.017340 deg, approach rate: 0.038936 m/s, LOS rate: 0.255384 deg/s, cmd heading: 336.253819 deg, new cmd heading: 336.542961 deg. 2025-01-08T22:05:40.438Z,1736373940.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873783 target range: 413.700012 and range: 413.70 m. 2025-01-08T22:05:40.569Z,1736373940.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:40.572Z,1736373940.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502035 2025-01-08T22:05:40.787Z,1736373940.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:40.796Z,1736373940.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.70 m. 2025-01-08T22:05:40.799Z,1736373940.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.700012 m, nav range: 154.183243 m, bearing: 57.098201 deg, approach rate: 0.032673 m/s, LOS rate: 0.223681 deg/s, cmd heading: 336.542955 deg, new cmd heading: 336.785518 deg. 2025-01-08T22:05:40.803Z,1736373940.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878016 target range: 413.700012 and range: 413.70 m. 2025-01-08T22:05:40.821Z,1736373940.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:40.822Z,1736373940.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753482 2025-01-08T22:05:41.057Z,1736373941.057 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:05:41.073Z,1736373941.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:41.076Z,1736373941.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006484 2025-01-08T22:05:41.210Z,1736373941.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:41.219Z,1736373941.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.70 m. 2025-01-08T22:05:41.222Z,1736373941.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.700012 m, nav range: 154.189011 m, bearing: 57.190897 deg, approach rate: 0.013657 m/s, LOS rate: 0.219480 deg/s, cmd heading: 336.785508 deg, new cmd heading: 337.063584 deg. 2025-01-08T22:05:41.223Z,1736373941.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882869 target range: 413.700012 and range: 413.70 m. 2025-01-08T22:05:41.324Z,1736373941.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:41.325Z,1736373941.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255966 2025-01-08T22:05:41.576Z,1736373941.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:41.576Z,1736373941.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507731 2025-01-08T22:05:41.601Z,1736373941.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:41.610Z,1736373941.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.70 m. 2025-01-08T22:05:41.613Z,1736373941.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.700012 m, nav range: 154.193604 m, bearing: 57.276538 deg, approach rate: 0.011727 m/s, LOS rate: 0.218665 deg/s, cmd heading: 337.063579 deg, new cmd heading: 337.320492 deg. 2025-01-08T22:05:41.614Z,1736373941.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887353 target range: 413.700012 and range: 413.70 m. 2025-01-08T22:05:41.828Z,1736373941.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:41.828Z,1736373941.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759853 2025-01-08T22:05:41.994Z,1736373941.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:42.065Z,1736373942.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.70 m. 2025-01-08T22:05:42.081Z,1736373942.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:42.084Z,1736373942.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014897 2025-01-08T22:05:42.086Z,1736373942.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.700012 m, nav range: 154.197037 m, bearing: 57.362570 deg, approach rate: 0.007642 m/s, LOS rate: 0.191506 deg/s, cmd heading: 337.320503 deg, new cmd heading: 337.578593 deg. 2025-01-08T22:05:42.091Z,1736373942.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891858 target range: 413.700012 and range: 413.70 m. 2025-01-08T22:05:42.332Z,1736373942.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:42.332Z,1736373942.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263936 2025-01-08T22:05:42.426Z,1736373942.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:42.435Z,1736373942.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:42.437Z,1736373942.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.70 m. 2025-01-08T22:05:42.457Z,1736373942.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.700012 m, nav range: 154.199493 m, bearing: 57.455752 deg, approach rate: 0.006502 m/s, LOS rate: 0.246611 deg/s, cmd heading: 337.578603 deg, new cmd heading: 337.858142 deg. 2025-01-08T22:05:42.458Z,1736373942.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896737 target range: 413.700012 and range: 413.70 m. 2025-01-08T22:05:42.584Z,1736373942.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:42.584Z,1736373942.584 [DAT](INFO): DAT read: Rx Time:22:05:41.2496 2025-01-08T22:05:42.585Z,1736373942.585 [DAT](INFO): Rx dataTimestamp_ set to:1736373942.584653 2025-01-08T22:05:42.585Z,1736373942.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516951 2025-01-08T22:05:42.830Z,1736373942.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:42.836Z,1736373942.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:42.836Z,1736373942.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767931 2025-01-08T22:05:42.844Z,1736373942.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.70 m. 2025-01-08T22:05:42.847Z,1736373942.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.700012 m, nav range: 154.200699 m, bearing: 57.542908 deg, approach rate: 0.002963 m/s, LOS rate: 0.214211 deg/s, cmd heading: 337.858149 deg, new cmd heading: 338.119610 deg. 2025-01-08T22:05:42.848Z,1736373942.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901300 target range: 413.700012 and range: 413.70 m. 2025-01-08T22:05:43.090Z,1736373943.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:43.125Z,1736373943.125 [DAT](INFO): DAT read: 22:05:41.2496 LVL= 17904, 31633, 24562, 31795, AGC= 65, IDX= 443, 0.21,-0.557,-2.031,-2.412,-1.656, PHS= 1.186,-0.328,-0.760, RAW= 77.8, -1.1, CAL= 84.3, -6.0, ROT= 65.7, 6.0 2025-01-08T22:05:43.126Z,1736373943.126 [DAT](INFO): got valid direction response: 22:05:41.2496 LVL= 17904, 31633, 24562, 31795, AGC= 65, IDX= 443, 0.21,-0.557,-2.031,-2.412,-1.656, PHS= 1.186,-0.328,-0.760, RAW= 77.8, -1.1, CAL= 84.3, -6.0, ROT= 65.7, 6.0 2025-01-08T22:05:43.128Z,1736373943.128 [DAT](INFO): DAT read: Bearing 65.7, 6.0 (Local) 2025-01-08T22:05:43.128Z,1736373943.128 [DAT](INFO): Local bearing/azimuth received: Bearing 65.7, 6.0 (Local) 2025-01-08T22:05:43.129Z,1736373943.129 [DAT](INFO): DAT read: Range 10 to 50 : 413.6 m (Round-trip 551.5 ms) speed 0.3 m/s 2025-01-08T22:05:43.130Z,1736373943.130 [DAT](INFO): DAT read: user:2292> 2025-01-08T22:05:43.131Z,1736373943.131 [DAT](INFO): DAT read: Tx time:22:05:42.3439 2025-01-08T22:05:43.132Z,1736373943.132 [DAT](INFO): Ping request sent. 2025-01-08T22:05:43.132Z,1736373943.132 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:43.132Z,1736373943.132 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:43.133Z,1736373943.133 [DAT](INFO): direction in FSK: [-0.042793,0.310832,0.949501] 2025-01-08T22:05:43.133Z,1736373943.133 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:43.133Z,1736373943.133 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:43.140Z,1736373943.140 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:43.141Z,1736373943.141 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:43.276Z,1736373943.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:43.302Z,1736373943.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 413.600006 m, deltaT: 4.034784 s, deltaX: -0.100006 m, approachRate: -0.024786 m/s, rangeRepo size: 4 2025-01-08T22:05:43.312Z,1736373943.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 413.600006 m, bearing: 87.829682 deg, lat: 36.901956 deg, lon: -122.120739 deg, deltaT: 4.034784 s, deltaX: -0.100006 m, approachRate: -0.024786 m/s, posRepo size: 4 2025-01-08T22:05:43.313Z,1736373943.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.60 m. 2025-01-08T22:05:43.320Z,1736373943.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.600006 m, nav range: 130.592575 m, bearing: 74.778873 deg, approach rate: 0.000000 m/s, LOS rate: 0.214211 deg/s, cmd heading: 338.119608 deg, new cmd heading: 338.413217 deg. 2025-01-08T22:05:43.321Z,1736373943.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906425 target range: 413.600006 and range: 413.60 m. 2025-01-08T22:05:43.340Z,1736373943.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:43.341Z,1736373943.341 [DAT](INFO): DAT read: TxSync time:22:05:42.3431 2025-01-08T22:05:43.592Z,1736373943.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:43.636Z,1736373943.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:43.674Z,1736373943.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.60 m. 2025-01-08T22:05:43.681Z,1736373943.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.600006 m, nav range: 130.655914 m, bearing: 74.869739 deg, approach rate: 0.170176 m/s, LOS rate: 0.244016 deg/s, cmd heading: 338.413224 deg, new cmd heading: 338.685689 deg. 2025-01-08T22:05:43.682Z,1736373943.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911180 target range: 413.600006 and range: 413.60 m. 2025-01-08T22:05:43.844Z,1736373943.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:44.023Z,1736373944.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:44.041Z,1736373944.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.60 m. 2025-01-08T22:05:44.043Z,1736373944.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.600006 m, nav range: 130.721207 m, bearing: 74.965895 deg, approach rate: 0.177734 m/s, LOS rate: 0.261619 deg/s, cmd heading: 338.685694 deg, new cmd heading: 338.974017 deg. 2025-01-08T22:05:44.046Z,1736373944.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916213 target range: 413.600006 and range: 413.60 m. 2025-01-08T22:05:44.098Z,1736373944.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:44.348Z,1736373944.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:44.457Z,1736373944.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:44.467Z,1736373944.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:44.473Z,1736373944.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.60 m. 2025-01-08T22:05:44.480Z,1736373944.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.600006 m, nav range: 130.794067 m, bearing: 75.074863 deg, approach rate: 0.168518 m/s, LOS rate: 0.251888 deg/s, cmd heading: 338.974010 deg, new cmd heading: 339.300728 deg. 2025-01-08T22:05:44.481Z,1736373944.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921915 target range: 413.600006 and range: 413.60 m. 2025-01-08T22:05:44.601Z,1736373944.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:44.602Z,1736373944.602 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:44.602Z,1736373944.602 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:44.602Z,1736373944.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:44.819Z,1736373944.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:44.828Z,1736373944.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.60 m. 2025-01-08T22:05:44.831Z,1736373944.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.600006 m, nav range: 130.854309 m, bearing: 75.165973 deg, approach rate: 0.169513 m/s, LOS rate: 0.256254 deg/s, cmd heading: 339.300739 deg, new cmd heading: 339.573941 deg. 2025-01-08T22:05:44.832Z,1736373944.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926683 target range: 413.600006 and range: 413.60 m. 2025-01-08T22:05:44.852Z,1736373944.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:44.852Z,1736373944.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720731 2025-01-08T22:05:45.105Z,1736373945.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:45.111Z,1736373945.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978241 2025-01-08T22:05:45.234Z,1736373945.234 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, -16,A 2025-01-08T22:05:45.260Z,1736373945.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:05:45.260Z,1736373945.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:45.270Z,1736373945.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.60 m. 2025-01-08T22:05:45.273Z,1736373945.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.600006 m, nav range: 130.926865 m, bearing: 75.276939 deg, approach rate: 0.164392 m/s, LOS rate: 0.251279 deg/s, cmd heading: 339.573947 deg, new cmd heading: 339.906655 deg. 2025-01-08T22:05:45.274Z,1736373945.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932490 target range: 413.600006 and range: 413.60 m. 2025-01-08T22:05:45.357Z,1736373945.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:45.358Z,1736373945.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226459 2025-01-08T22:05:45.608Z,1736373945.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:45.608Z,1736373945.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476664 2025-01-08T22:05:45.681Z,1736373945.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:05:45.681Z,1736373945.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:45.690Z,1736373945.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.60 m. 2025-01-08T22:05:45.693Z,1736373945.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.600006 m, nav range: 130.996490 m, bearing: 75.382604 deg, approach rate: 0.165667 m/s, LOS rate: 0.251285 deg/s, cmd heading: 339.906659 deg, new cmd heading: 340.223482 deg. 2025-01-08T22:05:45.694Z,1736373945.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938020 target range: 413.600006 and range: 413.60 m. 2025-01-08T22:05:45.860Z,1736373945.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:45.861Z,1736373945.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728751 2025-01-08T22:05:46.041Z,1736373946.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:05:46.042Z,1736373946.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:46.050Z,1736373946.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.60 m. 2025-01-08T22:05:46.064Z,1736373946.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.600006 m, nav range: 131.054276 m, bearing: 75.473417 deg, approach rate: 0.160273 m/s, LOS rate: 0.251770 deg/s, cmd heading: 340.223470 deg, new cmd heading: 340.495790 deg. 2025-01-08T22:05:46.065Z,1736373946.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942772 target range: 413.600006 and range: 413.60 m. 2025-01-08T22:05:46.115Z,1736373946.115 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:46.117Z,1736373946.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984863 2025-01-08T22:05:46.364Z,1736373946.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:46.364Z,1736373946.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232624 2025-01-08T22:05:46.510Z,1736373946.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:46.517Z,1736373946.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:46.520Z,1736373946.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.60 m. 2025-01-08T22:05:46.522Z,1736373946.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.600006 m, nav range: 131.142868 m, bearing: 75.599046 deg, approach rate: 0.188941 m/s, LOS rate: 0.267747 deg/s, cmd heading: 340.495776 deg, new cmd heading: 340.872402 deg. 2025-01-08T22:05:46.523Z,1736373946.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949346 target range: 413.600006 and range: 413.60 m. 2025-01-08T22:05:46.616Z,1736373946.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:46.617Z,1736373946.617 [DAT](INFO): DAT read: Rx Time:22:05:45.2992 2025-01-08T22:05:46.617Z,1736373946.617 [DAT](INFO): Rx dataTimestamp_ set to:1736373946.616867 2025-01-08T22:05:46.618Z,1736373946.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485934 2025-01-08T22:05:46.846Z,1736373946.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:46.856Z,1736373946.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.60 m. 2025-01-08T22:05:46.858Z,1736373946.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.600006 m, nav range: 131.204590 m, bearing: 75.689335 deg, approach rate: 0.183675 m/s, LOS rate: 0.268559 deg/s, cmd heading: 340.872393 deg, new cmd heading: 341.143129 deg. 2025-01-08T22:05:46.861Z,1736373946.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.954071 target range: 413.600006 and range: 413.60 m. 2025-01-08T22:05:46.868Z,1736373946.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:46.869Z,1736373946.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.736957 2025-01-08T22:05:47.122Z,1736373947.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:47.157Z,1736373947.157 [DAT](INFO): DAT read: 22:05:45.2992 LVL= 16704, 27281, 22514, 27027, AGC= 66, IDX= 440,-0.04,-0.675,-2.217,-2.385,-1.754, PHS= 1.167,-0.416,-0.634, RAW= 83.6, -1.4, CAL= 90.8, -6.6, ROT= 59.2, 6.6 2025-01-08T22:05:47.192Z,1736373947.192 [DAT](INFO): got valid direction response: 22:05:45.2992 LVL= 16704, 27281, 22514, 27027, AGC= 66, IDX= 440,-0.04,-0.675,-2.217,-2.385,-1.754, PHS= 1.167,-0.416,-0.634, RAW= 83.6, -1.4, CAL= 90.8, -6.6, ROT= 59.2, 6.6 2025-01-08T22:05:47.193Z,1736373947.193 [DAT](INFO): DAT read: Bearing 59.2, 6.6 (Local) 2025-01-08T22:05:47.193Z,1736373947.193 [DAT](INFO): Local bearing/azimuth received: Bearing 59.2, 6.6 (Local) 2025-01-08T22:05:47.195Z,1736373947.195 [DAT](INFO): DAT read: Range 10 to 50 : 413.3 m (Round-trip 551.1 ms) speed 0.0 m/s 2025-01-08T22:05:47.236Z,1736373947.236 [DAT](INFO): DAT read: user:2293> 2025-01-08T22:05:47.237Z,1736373947.237 [DAT](INFO): DAT read: Tx time:22:05:46.3939 2025-01-08T22:05:47.237Z,1736373947.237 [DAT](INFO): Ping request sent. 2025-01-08T22:05:47.237Z,1736373947.237 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:47.238Z,1736373947.238 [DAT](INFO): DAT read: TxSync time:22:05:46.3931 2025-01-08T22:05:47.239Z,1736373947.239 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:47.245Z,1736373947.245 [DAT](INFO): direction in FSK: [-0.048031,0.214600,0.975520] 2025-01-08T22:05:47.245Z,1736373947.245 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:47.245Z,1736373947.245 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:47.252Z,1736373947.252 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:47.253Z,1736373947.253 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:47.357Z,1736373947.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:47.372Z,1736373947.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:47.397Z,1736373947.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 413.299988 m, deltaT: 4.031317 s, deltaX: -0.300018 m, approachRate: -0.074422 m/s, rangeRepo size: 4 2025-01-08T22:05:47.399Z,1736373947.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 413.299988 m, bearing: 125.178810 deg, lat: 36.901765 deg, lon: -122.120978 deg, deltaT: 4.031317 s, deltaX: -0.300018 m, approachRate: -0.074422 m/s, posRepo size: 4 2025-01-08T22:05:47.400Z,1736373947.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.30 m. 2025-01-08T22:05:47.402Z,1736373947.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.299988 m, nav range: 106.658195 m, bearing: 84.143801 deg, approach rate: 0.000000 m/s, LOS rate: 0.268559 deg/s, cmd heading: 341.143142 deg, new cmd heading: 341.578782 deg. 2025-01-08T22:05:47.408Z,1736373947.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961674 target range: 413.299988 and range: 413.30 m. 2025-01-08T22:05:47.625Z,1736373947.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:47.709Z,1736373947.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:47.718Z,1736373947.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.30 m. 2025-01-08T22:05:47.721Z,1736373947.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.299988 m, nav range: 106.758987 m, bearing: 84.258829 deg, approach rate: 0.313523 m/s, LOS rate: 0.357470 deg/s, cmd heading: 341.578771 deg, new cmd heading: 341.923528 deg. 2025-01-08T22:05:47.722Z,1736373947.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967691 target range: 413.299988 and range: 413.30 m. 2025-01-08T22:05:47.876Z,1736373947.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:48.095Z,1736373948.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:48.105Z,1736373948.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.30 m. 2025-01-08T22:05:48.118Z,1736373948.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.299988 m, nav range: 106.869919 m, bearing: 84.384609 deg, approach rate: 0.287006 m/s, LOS rate: 0.325083 deg/s, cmd heading: 341.923532 deg, new cmd heading: 342.300473 deg. 2025-01-08T22:05:48.122Z,1736373948.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974270 target range: 413.299988 and range: 413.30 m. 2025-01-08T22:05:48.129Z,1736373948.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:48.380Z,1736373948.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:48.498Z,1736373948.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:48.507Z,1736373948.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.30 m. 2025-01-08T22:05:48.530Z,1736373948.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.299988 m, nav range: 106.978867 m, bearing: 84.514857 deg, approach rate: 0.270477 m/s, LOS rate: 0.323028 deg/s, cmd heading: 342.300476 deg, new cmd heading: 342.690815 deg. 2025-01-08T22:05:48.531Z,1736373948.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981083 target range: 413.299988 and range: 413.30 m. 2025-01-08T22:05:48.632Z,1736373948.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:48.877Z,1736373948.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:48.885Z,1736373948.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:48.905Z,1736373948.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:48.916Z,1736373948.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.30 m. 2025-01-08T22:05:48.918Z,1736373948.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.299988 m, nav range: 107.079742 m, bearing: 84.638169 deg, approach rate: 0.251872 m/s, LOS rate: 0.307602 deg/s, cmd heading: 342.690808 deg, new cmd heading: 343.060391 deg. 2025-01-08T22:05:48.924Z,1736373948.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987534 target range: 413.299988 and range: 413.30 m. 2025-01-08T22:05:49.138Z,1736373949.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:49.140Z,1736373949.140 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:49.141Z,1736373949.141 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:49.142Z,1736373949.142 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:49.313Z,1736373949.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:49.340Z,1736373949.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.30 m. 2025-01-08T22:05:49.342Z,1736373949.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.299988 m, nav range: 107.196091 m, bearing: 84.779913 deg, approach rate: 0.279954 m/s, LOS rate: 0.340689 deg/s, cmd heading: 343.060403 deg, new cmd heading: 343.485164 deg. 2025-01-08T22:05:49.348Z,1736373949.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994947 target range: 413.299988 and range: 413.30 m. 2025-01-08T22:05:49.389Z,1736373949.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:49.390Z,1736373949.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.153053 2025-01-08T22:05:49.640Z,1736373949.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:49.640Z,1736373949.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.403391 2025-01-08T22:05:49.706Z,1736373949.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:49.719Z,1736373949.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.30 m. 2025-01-08T22:05:49.726Z,1736373949.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.299988 m, nav range: 107.300598 m, bearing: 84.908167 deg, approach rate: 0.264846 m/s, LOS rate: 0.324709 deg/s, cmd heading: 343.485159 deg, new cmd heading: 343.869540 deg. 2025-01-08T22:05:49.728Z,1736373949.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001656 target range: 413.299988 and range: 413.30 m. 2025-01-08T22:05:49.892Z,1736373949.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:49.892Z,1736373949.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.655312 2025-01-08T22:05:50.083Z,1736373950.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:50.146Z,1736373950.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:50.148Z,1736373950.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.910549 2025-01-08T22:05:50.206Z,1736373950.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.30 m. 2025-01-08T22:05:50.213Z,1736373950.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.299988 m, nav range: 107.399948 m, bearing: 85.030777 deg, approach rate: 0.203284 m/s, LOS rate: 0.250647 deg/s, cmd heading: 343.869535 deg, new cmd heading: 344.237021 deg. 2025-01-08T22:05:50.214Z,1736373950.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.008070 target range: 413.299988 and range: 413.30 m. 2025-01-08T22:05:50.396Z,1736373950.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:50.396Z,1736373950.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.159318 2025-01-08T22:05:50.495Z,1736373950.495 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS4065548,35.0, +10.9, 0.0,1493.1, 0 2025-01-08T22:05:50.526Z,1736373950.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:05:50.526Z,1736373950.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:50.547Z,1736373950.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.30 m. 2025-01-08T22:05:50.554Z,1736373950.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.299988 m, nav range: 107.516357 m, bearing: 85.175197 deg, approach rate: 0.341950 m/s, LOS rate: 0.423770 deg/s, cmd heading: 344.237026 deg, new cmd heading: 344.669807 deg. 2025-01-08T22:05:50.560Z,1736373950.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015623 target range: 413.299988 and range: 413.30 m. 2025-01-08T22:05:50.648Z,1736373950.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:50.650Z,1736373950.650 [DAT](INFO): DAT read: Rx Time:22:05:49.3477 2025-01-08T22:05:50.651Z,1736373950.651 [DAT](INFO): Rx dataTimestamp_ set to:1736373950.649786 2025-01-08T22:05:50.652Z,1736373950.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.414114 2025-01-08T22:05:50.900Z,1736373950.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:50.900Z,1736373950.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.663448 2025-01-08T22:05:50.913Z,1736373950.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:05:50.913Z,1736373950.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:50.921Z,1736373950.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:50.923Z,1736373950.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.30 m. 2025-01-08T22:05:50.926Z,1736373950.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.299988 m, nav range: 107.617340 m, bearing: 85.301213 deg, approach rate: 0.268264 m/s, LOS rate: 0.334453 deg/s, cmd heading: 344.669814 deg, new cmd heading: 345.047503 deg. 2025-01-08T22:05:50.927Z,1736373950.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022215 target range: 413.299988 and range: 413.30 m. 2025-01-08T22:05:51.152Z,1736373951.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:51.160Z,1736373951.160 [DAT](INFO): DAT read: 22:05:49.3477 LVL= 16848, 32753, 22658, 30691, AGC= 68, IDX= 424,-0.01, 2.482, 0.872, 0.775, 1.371, PHS= 1.199,-0.452,-0.599, RAW= 85.8, -1.7, CAL= 93.3, -7.2, ROT= 56.7, 7.2 2025-01-08T22:05:51.161Z,1736373951.161 [DAT](INFO): got valid direction response: 22:05:49.3477 LVL= 16848, 32753, 22658, 30691, AGC= 68, IDX= 424,-0.01, 2.482, 0.872, 0.775, 1.371, PHS= 1.199,-0.452,-0.599, RAW= 85.8, -1.7, CAL= 93.3, -7.2, ROT= 56.7, 7.2 2025-01-08T22:05:51.162Z,1736373951.162 [DAT](INFO): DAT read: Bearing 56.7, 7.2 (Local) 2025-01-08T22:05:51.162Z,1736373951.162 [DAT](INFO): Local bearing/azimuth received: Bearing 56.7, 7.2 (Local) 2025-01-08T22:05:51.164Z,1736373951.164 [DAT](INFO): DAT read: Range 10 to 50 : 412.2 m (Round-trip 549.6 ms) speed 0.2 m/s 2025-01-08T22:05:51.165Z,1736373951.165 [DAT](INFO): DAT read: user:2294> 2025-01-08T22:05:51.168Z,1736373951.168 [DAT](INFO): DAT read: Tx time:22:05:50.4440 2025-01-08T22:05:51.169Z,1736373951.169 [DAT](INFO): Ping request sent. 2025-01-08T22:05:51.170Z,1736373951.170 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:51.175Z,1736373951.175 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:51.210Z,1736373951.210 [DAT](INFO): direction in FSK: [-0.045180,0.178113,0.982972] 2025-01-08T22:05:51.220Z,1736373951.220 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:51.221Z,1736373951.221 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:51.254Z,1736373951.254 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:51.255Z,1736373951.255 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:51.372Z,1736373951.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:51.402Z,1736373951.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 412.200012 m, deltaT: 4.030386 s, deltaX: -1.099976 m, approachRate: -0.272921 m/s, rangeRepo size: 4 2025-01-08T22:05:51.405Z,1736373951.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:51.406Z,1736373951.406 [DAT](INFO): DAT read: TxSync time:22:05:50.4432 2025-01-08T22:05:51.409Z,1736373951.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 412.200012 m, bearing: 163.977665 deg, lat: 36.901669 deg, lon: -122.121438 deg, deltaT: 4.030386 s, deltaX: -1.099976 m, approachRate: -0.272921 m/s, posRepo size: 4 2025-01-08T22:05:51.410Z,1736373951.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m. 2025-01-08T22:05:51.417Z,1736373951.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.200012 m, nav range: 66.512650 m, bearing: 91.773501 deg, approach rate: 0.000000 m/s, LOS rate: 0.334453 deg/s, cmd heading: 345.047496 deg, new cmd heading: 345.527349 deg. 2025-01-08T22:05:51.418Z,1736373951.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030590 target range: 412.200012 and range: 412.20 m. 2025-01-08T22:05:51.658Z,1736373951.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:51.734Z,1736373951.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:51.742Z,1736373951.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m. 2025-01-08T22:05:51.745Z,1736373951.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.200012 m, nav range: 66.610413 m, bearing: 91.951913 deg, approach rate: 0.286883 m/s, LOS rate: 0.522777 deg/s, cmd heading: 345.527358 deg, new cmd heading: 346.061794 deg. 2025-01-08T22:05:51.746Z,1736373951.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039918 target range: 412.200012 and range: 412.20 m. 2025-01-08T22:05:51.908Z,1736373951.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:52.122Z,1736373952.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:52.131Z,1736373952.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m. 2025-01-08T22:05:52.133Z,1736373952.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.200012 m, nav range: 66.715950 m, bearing: 92.142621 deg, approach rate: 0.271714 m/s, LOS rate: 0.490213 deg/s, cmd heading: 346.061807 deg, new cmd heading: 346.633004 deg. 2025-01-08T22:05:52.134Z,1736373952.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049887 target range: 412.200012 and range: 412.20 m. 2025-01-08T22:05:52.160Z,1736373952.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:52.414Z,1736373952.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:52.605Z,1736373952.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:52.629Z,1736373952.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m. 2025-01-08T22:05:52.636Z,1736373952.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.200012 m, nav range: 66.830414 m, bearing: 92.378055 deg, approach rate: 0.229865 m/s, LOS rate: 0.471985 deg/s, cmd heading: 346.633002 deg, new cmd heading: 347.338058 deg. 2025-01-08T22:05:52.637Z,1736373952.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062193 target range: 412.200012 and range: 412.20 m. 2025-01-08T22:05:52.665Z,1736373952.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:52.916Z,1736373952.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:52.919Z,1736373952.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:52.937Z,1736373952.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:52.941Z,1736373952.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m. 2025-01-08T22:05:52.947Z,1736373952.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.200012 m, nav range: 66.901291 m, bearing: 92.531671 deg, approach rate: 0.226808 m/s, LOS rate: 0.491052 deg/s, cmd heading: 347.338069 deg, new cmd heading: 347.798417 deg. 2025-01-08T22:05:52.949Z,1736373952.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.070228 target range: 412.200012 and range: 412.20 m. 2025-01-08T22:05:53.168Z,1736373953.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:53.168Z,1736373953.168 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:53.168Z,1736373953.168 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:53.169Z,1736373953.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:53.366Z,1736373953.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:53.376Z,1736373953.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m. 2025-01-08T22:05:53.379Z,1736373953.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.200012 m, nav range: 66.982391 m, bearing: 92.747923 deg, approach rate: 0.186329 m/s, LOS rate: 0.496240 deg/s, cmd heading: 347.798423 deg, new cmd heading: 348.446366 deg. 2025-01-08T22:05:53.380Z,1736373953.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081536 target range: 412.200012 and range: 412.20 m. 2025-01-08T22:05:53.421Z,1736373953.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:53.422Z,1736373953.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252652 2025-01-08T22:05:53.673Z,1736373953.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:53.675Z,1736373953.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505379 2025-01-08T22:05:53.734Z,1736373953.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:53.758Z,1736373953.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m. 2025-01-08T22:05:53.764Z,1736373953.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.200012 m, nav range: 67.046349 m, bearing: 92.926273 deg, approach rate: 0.167772 m/s, LOS rate: 0.467396 deg/s, cmd heading: 348.446363 deg, new cmd heading: 348.980884 deg. 2025-01-08T22:05:53.765Z,1736373953.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.090866 target range: 412.200012 and range: 412.20 m. 2025-01-08T22:05:53.924Z,1736373953.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:53.924Z,1736373953.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755232 2025-01-08T22:05:54.176Z,1736373954.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:54.177Z,1736373954.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007699 2025-01-08T22:05:54.185Z,1736373954.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:54.249Z,1736373954.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m. 2025-01-08T22:05:54.273Z,1736373954.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.200012 m, nav range: 67.123222 m, bearing: 93.144895 deg, approach rate: 0.159703 m/s, LOS rate: 0.453661 deg/s, cmd heading: 348.980893 deg, new cmd heading: 349.635980 deg. 2025-01-08T22:05:54.273Z,1736373954.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.102299 target range: 412.200012 and range: 412.20 m. 2025-01-08T22:05:54.428Z,1736373954.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:54.428Z,1736373954.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259134 2025-01-08T22:05:54.580Z,1736373954.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:54.589Z,1736373954.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m. 2025-01-08T22:05:54.592Z,1736373954.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.200012 m, nav range: 67.181938 m, bearing: 93.336879 deg, approach rate: 0.167784 m/s, LOS rate: 0.548124 deg/s, cmd heading: 349.635990 deg, new cmd heading: 350.211417 deg. 2025-01-08T22:05:54.593Z,1736373954.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.112342 target range: 412.200012 and range: 412.20 m. 2025-01-08T22:05:54.682Z,1736373954.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:54.683Z,1736373954.683 [DAT](INFO): DAT read: Rx Time:22:05:53.3963 2025-01-08T22:05:54.684Z,1736373954.684 [DAT](INFO): Rx dataTimestamp_ set to:1736373954.683414 2025-01-08T22:05:54.684Z,1736373954.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515043 2025-01-08T22:05:54.932Z,1736373954.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:54.932Z,1736373954.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763232 2025-01-08T22:05:54.957Z,1736373954.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:54.985Z,1736373954.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:54.987Z,1736373954.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m. 2025-01-08T22:05:54.994Z,1736373954.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 412.200012 m, nav range: 67.236877 m, bearing: 93.520379 deg, approach rate: 0.138076 m/s, LOS rate: 0.460804 deg/s, cmd heading: 350.211420 deg, new cmd heading: 350.761452 deg. 2025-01-08T22:05:54.995Z,1736373954.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.121942 target range: 412.200012 and range: 412.20 m. 2025-01-08T22:05:55.185Z,1736373955.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:55.197Z,1736373955.197 [DAT](INFO): DAT read: 22:05:53.3963 LVL= 15344, 32753, 29042, 32755, AGC= 67, IDX= 426,-0.19, 2.724, 1.116, 1.129, 1.704, PHS= 1.108,-0.541,-0.578, RAW= 88.9, 0.1, CAL= 96.3, -4.1, ROT= 53.7, 4.1 2025-01-08T22:05:55.200Z,1736373955.200 [DAT](INFO): got valid direction response: 22:05:53.3963 LVL= 15344, 32753, 29042, 32755, AGC= 67, IDX= 426,-0.19, 2.724, 1.116, 1.129, 1.704, PHS= 1.108,-0.541,-0.578, RAW= 88.9, 0.1, CAL= 96.3, -4.1, ROT= 53.7, 4.1 2025-01-08T22:05:55.202Z,1736373955.202 [DAT](INFO): DAT read: Bearing 53.7, 4.1 (Local) 2025-01-08T22:05:55.203Z,1736373955.203 [DAT](INFO): Local bearing/azimuth received: Bearing 53.7, 4.1 (Local) 2025-01-08T22:05:55.281Z,1736373955.281 [DAT](INFO): DAT read: Range 10 to 50 : 411.1 m (Round-trip 548.2 ms) speed 0.3 m/s 2025-01-08T22:05:55.293Z,1736373955.293 [DAT](INFO): DAT read: user:2295> 2025-01-08T22:05:55.308Z,1736373955.308 [DAT](INFO): DAT read: Tx time:22:05:54.4940 2025-01-08T22:05:55.308Z,1736373955.308 [DAT](INFO): Ping request sent. 2025-01-08T22:05:55.308Z,1736373955.308 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:55.309Z,1736373955.309 [DAT](INFO): DAT read: TxSync time:22:05:54.4932 2025-01-08T22:05:55.309Z,1736373955.309 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:55.310Z,1736373955.310 [DAT](INFO): direction in FSK: [-0.085866,0.126725,0.988214] 2025-01-08T22:05:55.310Z,1736373955.310 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:55.311Z,1736373955.311 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:55.326Z,1736373955.326 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:55.326Z,1736373955.326 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:55.436Z,1736373955.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:55.446Z,1736373955.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:55.477Z,1736373955.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 411.100006 m, deltaT: 4.033040 s, deltaX: -1.100006 m, approachRate: -0.272749 m/s, rangeRepo size: 4 2025-01-08T22:05:55.484Z,1736373955.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 411.100006 m, bearing: 203.662682 deg, lat: 36.901512 deg, lon: -122.121896 deg, deltaT: 4.033040 s, deltaX: -1.100006 m, approachRate: -0.272749 m/s, posRepo size: 4 2025-01-08T22:05:55.485Z,1736373955.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T22:05:55.492Z,1736373955.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 34.292500 m, bearing: 129.697536 deg, approach rate: 0.000000 m/s, LOS rate: 0.460804 deg/s, cmd heading: 350.761442 deg, new cmd heading: 351.438920 deg. 2025-01-08T22:05:55.493Z,1736373955.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133766 target range: 411.100006 and range: 411.10 m. 2025-01-08T22:05:55.688Z,1736373955.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:55.786Z,1736373955.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:55.796Z,1736373955.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T22:05:55.799Z,1736373955.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 34.438976 m, bearing: 129.911302 deg, approach rate: 0.458264 m/s, LOS rate: 0.665940 deg/s, cmd heading: 351.438914 deg, new cmd heading: 352.077459 deg. 2025-01-08T22:05:55.800Z,1736373955.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144911 target range: 411.100006 and range: 411.10 m. 2025-01-08T22:05:55.940Z,1736373955.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:56.179Z,1736373956.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:56.188Z,1736373956.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T22:05:56.191Z,1736373956.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 34.607540 m, bearing: 130.157229 deg, approach rate: 0.431327 m/s, LOS rate: 0.626218 deg/s, cmd heading: 352.077455 deg, new cmd heading: 352.811599 deg. 2025-01-08T22:05:56.192Z,1736373956.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:56.193Z,1736373956.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157724 target range: 411.100006 and range: 411.10 m. 2025-01-08T22:05:56.444Z,1736373956.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:56.620Z,1736373956.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:56.630Z,1736373956.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T22:05:56.637Z,1736373956.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 34.794205 m, bearing: 130.413620 deg, approach rate: 0.421843 m/s, LOS rate: 0.576306 deg/s, cmd heading: 352.811591 deg, new cmd heading: 353.576588 deg. 2025-01-08T22:05:56.638Z,1736373956.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171076 target range: 411.100006 and range: 411.10 m. 2025-01-08T22:05:56.696Z,1736373956.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:56.948Z,1736373956.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:56.992Z,1736373956.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:57.011Z,1736373957.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:57.017Z,1736373957.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T22:05:57.024Z,1736373957.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 34.964527 m, bearing: 130.649026 deg, approach rate: 0.439986 m/s, LOS rate: 0.605149 deg/s, cmd heading: 353.576600 deg, new cmd heading: 354.279340 deg. 2025-01-08T22:05:57.025Z,1736373957.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183341 target range: 411.100006 and range: 411.10 m. 2025-01-08T22:05:57.200Z,1736373957.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:57.200Z,1736373957.200 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:05:57.200Z,1736373957.200 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:05:57.201Z,1736373957.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:05:57.410Z,1736373957.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:57.419Z,1736373957.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T22:05:57.446Z,1736373957.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 35.154892 m, bearing: 130.891149 deg, approach rate: 0.473945 m/s, LOS rate: 0.599540 deg/s, cmd heading: 354.279344 deg, new cmd heading: 355.001739 deg. 2025-01-08T22:05:57.452Z,1736373957.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:57.454Z,1736373957.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.145477 2025-01-08T22:05:57.459Z,1736373957.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195949 target range: 411.100006 and range: 411.10 m. 2025-01-08T22:05:57.704Z,1736373957.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:57.704Z,1736373957.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.396377 2025-01-08T22:05:57.805Z,1736373957.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:57.813Z,1736373957.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T22:05:57.819Z,1736373957.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 35.333916 m, bearing: 131.120347 deg, approach rate: 0.453853 m/s, LOS rate: 0.578108 deg/s, cmd heading: 355.001732 deg, new cmd heading: 355.685809 deg. 2025-01-08T22:05:57.820Z,1736373957.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207889 target range: 411.100006 and range: 411.10 m. 2025-01-08T22:05:57.956Z,1736373957.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:57.957Z,1736373957.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.648939 2025-01-08T22:05:58.201Z,1736373958.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:58.208Z,1736373958.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:58.209Z,1736373958.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.900467 2025-01-08T22:05:58.213Z,1736373958.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T22:05:58.216Z,1736373958.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 35.512825 m, bearing: 131.351257 deg, approach rate: 0.446939 m/s, LOS rate: 0.573937 deg/s, cmd heading: 355.685817 deg, new cmd heading: 356.375023 deg. 2025-01-08T22:05:58.217Z,1736373958.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219917 target range: 411.100006 and range: 411.10 m. 2025-01-08T22:05:58.460Z,1736373958.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:58.460Z,1736373958.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.152379 2025-01-08T22:05:58.641Z,1736373958.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:58.672Z,1736373958.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T22:05:58.679Z,1736373958.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 35.727943 m, bearing: 131.587740 deg, approach rate: 0.487014 m/s, LOS rate: 0.532155 deg/s, cmd heading: 356.375010 deg, new cmd heading: 357.080147 deg. 2025-01-08T22:05:58.690Z,1736373958.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232224 target range: 411.100006 and range: 411.10 m. 2025-01-08T22:05:58.712Z,1736373958.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:58.712Z,1736373958.712 [DAT](INFO): DAT read: Rx Time:22:05:57.4448 2025-01-08T22:05:58.713Z,1736373958.713 [DAT](INFO): Rx dataTimestamp_ set to:1736373958.712675 2025-01-08T22:05:58.713Z,1736373958.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.405443 2025-01-08T22:05:58.964Z,1736373958.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:58.964Z,1736373958.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.656418 2025-01-08T22:05:59.006Z,1736373959.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:59.013Z,1736373959.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:05:59.016Z,1736373959.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.10 m. 2025-01-08T22:05:59.018Z,1736373959.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.100006 m, nav range: 35.905590 m, bearing: 131.785128 deg, approach rate: 0.493466 m/s, LOS rate: 0.545589 deg/s, cmd heading: 357.080159 deg, new cmd heading: 357.669371 deg. 2025-01-08T22:05:59.031Z,1736373959.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.242508 target range: 411.100006 and range: 411.10 m. 2025-01-08T22:05:59.216Z,1736373959.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:59.224Z,1736373959.224 [DAT](INFO): DAT read: 22:05:57.4449 LVL= 19296, 32753, 23314, 32755, AGC= 70, IDX= 427,-0.42, 1.590, 0.114, 0.305, 0.800, PHS= 0.878,-0.638,-0.498, RAW= 94.8, 3.6, CAL= 103.6, 1.8, ROT= 46.4, -1.8 2025-01-08T22:05:59.225Z,1736373959.225 [DAT](INFO): got valid direction response: 22:05:57.4449 LVL= 19296, 32753, 23314, 32755, AGC= 70, IDX= 427,-0.42, 1.590, 0.114, 0.305, 0.800, PHS= 0.878,-0.638,-0.498, RAW= 94.8, 3.6, CAL= 103.6, 1.8, ROT= 46.4, -1.8 2025-01-08T22:05:59.226Z,1736373959.226 [DAT](INFO): DAT read: Bearing 46.4, -1.8 (Local) 2025-01-08T22:05:59.226Z,1736373959.226 [DAT](INFO): Local bearing/azimuth received: Bearing 46.4, -1.8 (Local) 2025-01-08T22:05:59.228Z,1736373959.228 [DAT](INFO): DAT read: Range 10 to 50 : 409.9 m (Round-trip 546.6 ms) speed 0.3 m/s 2025-01-08T22:05:59.229Z,1736373959.229 [DAT](INFO): DAT read: user:2296> 2025-01-08T22:05:59.230Z,1736373959.230 [DAT](INFO): DAT read: Tx time:22:05:58.5441 2025-01-08T22:05:59.230Z,1736373959.230 [DAT](INFO): Ping request sent. 2025-01-08T22:05:59.230Z,1736373959.230 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:05:59.230Z,1736373959.230 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:05:59.232Z,1736373959.232 [DAT](INFO): direction in FSK: [-0.160918,0.027840,0.986575] 2025-01-08T22:05:59.232Z,1736373959.232 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:59.232Z,1736373959.232 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:59.235Z,1736373959.235 [DAT](INFO): publishing transmit ping time 2025-01-08T22:05:59.236Z,1736373959.236 [DAT](INFO): publishing direction and range info 2025-01-08T22:05:59.468Z,1736373959.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:59.469Z,1736373959.469 [DAT](INFO): DAT read: TxSync time:22:05:58.5433 2025-01-08T22:05:59.470Z,1736373959.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:59.502Z,1736373959.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 409.899994 m, deltaT: 4.030444 s, deltaX: -1.200012 m, approachRate: -0.297737 m/s, rangeRepo size: 4 2025-01-08T22:05:59.512Z,1736373959.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 409.899994 m, bearing: 217.118867 deg, lat: 36.901478 deg, lon: -122.122110 deg, deltaT: 4.030444 s, deltaX: -1.200012 m, approachRate: -0.297737 m/s, posRepo size: 4 2025-01-08T22:05:59.513Z,1736373959.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.90 m. 2025-01-08T22:05:59.522Z,1736373959.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.899994 m, nav range: 29.071085 m, bearing: 164.323634 deg, approach rate: 0.000000 m/s, LOS rate: 0.545589 deg/s, cmd heading: 357.669358 deg, new cmd heading: 358.465453 deg. 2025-01-08T22:05:59.523Z,1736373959.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.256402 target range: 409.899994 and range: 409.90 m. 2025-01-08T22:05:59.721Z,1736373959.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:05:59.818Z,1736373959.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:05:59.830Z,1736373959.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.90 m. 2025-01-08T22:05:59.833Z,1736373959.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.899994 m, nav range: 29.284811 m, bearing: 164.316705 deg, approach rate: 0.650113 m/s, LOS rate: -0.020921 deg/s, cmd heading: 358.465458 deg, new cmd heading: 358.444824 deg. 2025-01-08T22:05:59.834Z,1736373959.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.256042 target range: 409.899994 and range: 409.90 m. 2025-01-08T22:05:59.972Z,1736373959.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:00.224Z,1736373960.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:00.229Z,1736373960.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:00.246Z,1736373960.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.90 m. 2025-01-08T22:06:00.253Z,1736373960.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.899994 m, nav range: 29.538006 m, bearing: 164.312620 deg, approach rate: 0.608336 m/s, LOS rate: -0.009731 deg/s, cmd heading: 358.444831 deg, new cmd heading: 358.432681 deg. 2025-01-08T22:06:00.259Z,1736373960.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255830 target range: 409.899994 and range: 409.90 m. 2025-01-08T22:06:00.476Z,1736373960.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:00.652Z,1736373960.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:00.667Z,1736373960.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.90 m. 2025-01-08T22:06:00.672Z,1736373960.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.899994 m, nav range: 29.801548 m, bearing: 164.277876 deg, approach rate: 0.627114 m/s, LOS rate: -0.081944 deg/s, cmd heading: 358.432673 deg, new cmd heading: 358.329363 deg. 2025-01-08T22:06:00.673Z,1736373960.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.254027 target range: 409.899994 and range: 409.90 m. 2025-01-08T22:06:00.728Z,1736373960.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:00.980Z,1736373960.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:01.031Z,1736373961.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:01.038Z,1736373961.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:01.041Z,1736373961.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.90 m. 2025-01-08T22:06:01.059Z,1736373961.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.899994 m, nav range: 30.039030 m, bearing: 164.251895 deg, approach rate: 0.634980 m/s, LOS rate: -0.068920 deg/s, cmd heading: 358.329373 deg, new cmd heading: 358.252045 deg. 2025-01-08T22:06:01.060Z,1736373961.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.252678 target range: 409.899994 and range: 409.90 m. 2025-01-08T22:06:01.232Z,1736373961.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:01.232Z,1736373961.232 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:01.232Z,1736373961.232 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:01.233Z,1736373961.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:01.460Z,1736373961.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:01.484Z,1736373961.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:01.485Z,1736373961.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254632 2025-01-08T22:06:01.502Z,1736373961.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.90 m. 2025-01-08T22:06:01.513Z,1736373961.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.899994 m, nav range: 30.315031 m, bearing: 164.197231 deg, approach rate: 0.598176 m/s, LOS rate: -0.117394 deg/s, cmd heading: 358.252055 deg, new cmd heading: 358.089558 deg. 2025-01-08T22:06:01.514Z,1736373961.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.249842 target range: 409.899994 and range: 409.90 m. 2025-01-08T22:06:01.736Z,1736373961.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:01.736Z,1736373961.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506353 2025-01-08T22:06:01.845Z,1736373961.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:01.853Z,1736373961.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.90 m. 2025-01-08T22:06:01.857Z,1736373961.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.899994 m, nav range: 30.562742 m, bearing: 164.153948 deg, approach rate: 0.705497 m/s, LOS rate: -0.122273 deg/s, cmd heading: 358.089551 deg, new cmd heading: 357.960756 deg. 2025-01-08T22:06:01.866Z,1736373961.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247594 target range: 409.899994 and range: 409.90 m. 2025-01-08T22:06:01.988Z,1736373961.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:01.989Z,1736373961.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758889 2025-01-08T22:06:02.240Z,1736373962.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:02.241Z,1736373962.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010478 2025-01-08T22:06:02.252Z,1736373962.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:02.290Z,1736373962.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.90 m. 2025-01-08T22:06:02.303Z,1736373962.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.899994 m, nav range: 30.825033 m, bearing: 164.113603 deg, approach rate: 0.600706 m/s, LOS rate: -0.091613 deg/s, cmd heading: 357.960761 deg, new cmd heading: 357.840756 deg. 2025-01-08T22:06:02.305Z,1736373962.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245500 target range: 409.899994 and range: 409.90 m. 2025-01-08T22:06:02.492Z,1736373962.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:02.492Z,1736373962.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262353 2025-01-08T22:06:02.701Z,1736373962.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:02.726Z,1736373962.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.90 m. 2025-01-08T22:06:02.733Z,1736373962.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.899994 m, nav range: 31.110476 m, bearing: 164.068879 deg, approach rate: 0.654242 m/s, LOS rate: -0.101569 deg/s, cmd heading: 357.840769 deg, new cmd heading: 357.707827 deg. 2025-01-08T22:06:02.734Z,1736373962.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.243179 target range: 409.899994 and range: 409.90 m. 2025-01-08T22:06:02.744Z,1736373962.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:02.745Z,1736373962.745 [DAT](INFO): DAT read: Rx Time:22:06:01.4933 2025-01-08T22:06:02.745Z,1736373962.745 [DAT](INFO): Rx dataTimestamp_ set to:1736373962.744759 2025-01-08T22:06:02.746Z,1736373962.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515501 2025-01-08T22:06:02.996Z,1736373962.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:02.996Z,1736373962.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766375 2025-01-08T22:06:03.082Z,1736373963.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:03.108Z,1736373963.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:03.110Z,1736373963.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.90 m. 2025-01-08T22:06:03.117Z,1736373963.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.899994 m, nav range: 31.352575 m, bearing: 164.034347 deg, approach rate: 0.630345 m/s, LOS rate: -0.089216 deg/s, cmd heading: 357.707826 deg, new cmd heading: 357.605030 deg. 2025-01-08T22:06:03.118Z,1736373963.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241385 target range: 409.899994 and range: 409.90 m. 2025-01-08T22:06:03.249Z,1736373963.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:03.259Z,1736373963.259 [DAT](INFO): DAT read: 22:06:01.4933 LVL= 30704, 32753, 28546, 32755, AGC= 68, IDX= 426,-0.00, 1.601, 0.026, 0.395, 0.874, PHS= 0.815,-0.800,-0.482, RAW= 100.7, 6.3, CAL= 110.6, 4.8, ROT= 39.4, -4.8 2025-01-08T22:06:03.260Z,1736373963.260 [DAT](INFO): got valid direction response: 22:06:01.4933 LVL= 30704, 32753, 28546, 32755, AGC= 68, IDX= 426,-0.00, 1.601, 0.026, 0.395, 0.874, PHS= 0.815,-0.800,-0.482, RAW= 100.7, 6.3, CAL= 110.6, 4.8, ROT= 39.4, -4.8 2025-01-08T22:06:03.261Z,1736373963.261 [DAT](INFO): DAT read: Bearing 39.4, -4.8 (Local) 2025-01-08T22:06:03.261Z,1736373963.261 [DAT](INFO): Local bearing/azimuth received: Bearing 39.4, -4.8 (Local) 2025-01-08T22:06:03.263Z,1736373963.263 [DAT](INFO): DAT read: Range 10 to 50 : 408.8 m (Round-trip 545.1 ms) speed 0.2 m/s 2025-01-08T22:06:03.268Z,1736373963.268 [DAT](INFO): DAT read: user:2297> 2025-01-08T22:06:03.270Z,1736373963.270 [DAT](INFO): DAT read: Tx time:22:06:02.5941 2025-01-08T22:06:03.270Z,1736373963.270 [DAT](INFO): Ping request sent. 2025-01-08T22:06:03.270Z,1736373963.270 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:03.271Z,1736373963.271 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:03.276Z,1736373963.276 [DAT](INFO): direction in FSK: [-0.221516,-0.072534,0.972455] 2025-01-08T22:06:03.276Z,1736373963.276 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:03.277Z,1736373963.277 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:03.283Z,1736373963.283 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:03.283Z,1736373963.283 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:03.500Z,1736373963.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:03.501Z,1736373963.501 [DAT](INFO): DAT read: TxSync time:22:06:02.5933 2025-01-08T22:06:03.536Z,1736373963.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:03.570Z,1736373963.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 408.799988 m, deltaT: 4.033024 s, deltaX: -1.100006 m, approachRate: -0.272750 m/s, rangeRepo size: 4 2025-01-08T22:06:03.576Z,1736373963.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 408.799988 m, bearing: 225.570500 deg, lat: 36.901276 deg, lon: -122.122430 deg, deltaT: 4.033024 s, deltaX: -1.100006 m, approachRate: -0.272750 m/s, posRepo size: 4 2025-01-08T22:06:03.577Z,1736373963.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m. 2025-01-08T22:06:03.584Z,1736373963.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.799988 m, nav range: 56.418308 m, bearing: 200.502670 deg, approach rate: 0.000000 m/s, LOS rate: -0.089216 deg/s, cmd heading: 357.605018 deg, new cmd heading: 357.482227 deg. 2025-01-08T22:06:03.585Z,1736373963.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.239242 target range: 408.799988 and range: 408.80 m. 2025-01-08T22:06:03.752Z,1736373963.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:03.880Z,1736373963.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:03.888Z,1736373963.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m. 2025-01-08T22:06:03.894Z,1736373963.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.799988 m, nav range: 56.588467 m, bearing: 200.366166 deg, approach rate: 0.533146 m/s, LOS rate: -0.426412 deg/s, cmd heading: 357.482238 deg, new cmd heading: 357.073965 deg. 2025-01-08T22:06:03.896Z,1736373963.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232116 target range: 408.799988 and range: 408.80 m. 2025-01-08T22:06:04.005Z,1736373964.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:04.258Z,1736373964.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:04.284Z,1736373964.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:04.293Z,1736373964.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m. 2025-01-08T22:06:04.296Z,1736373964.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.799988 m, nav range: 56.787540 m, bearing: 200.210218 deg, approach rate: 0.491449 m/s, LOS rate: -0.383635 deg/s, cmd heading: 357.073957 deg, new cmd heading: 356.607765 deg. 2025-01-08T22:06:04.297Z,1736373964.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.223979 target range: 408.799988 and range: 408.80 m. 2025-01-08T22:06:04.508Z,1736373964.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:04.717Z,1736373964.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:04.727Z,1736373964.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m. 2025-01-08T22:06:04.750Z,1736373964.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.799988 m, nav range: 57.004864 m, bearing: 200.059620 deg, approach rate: 0.501364 m/s, LOS rate: -0.346106 deg/s, cmd heading: 356.607756 deg, new cmd heading: 356.157692 deg. 2025-01-08T22:06:04.755Z,1736373964.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216125 target range: 408.799988 and range: 408.80 m. 2025-01-08T22:06:04.760Z,1736373964.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:04.800Z,1736373964.800 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:06:05.012Z,1736373965.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:05.086Z,1736373965.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:05.096Z,1736373965.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m. 2025-01-08T22:06:05.099Z,1736373965.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.799988 m, nav range: 57.190479 m, bearing: 199.931538 deg, approach rate: 0.502332 m/s, LOS rate: -0.345503 deg/s, cmd heading: 356.157701 deg, new cmd heading: 355.774708 deg. 2025-01-08T22:06:05.100Z,1736373965.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209440 target range: 408.799988 and range: 408.80 m. 2025-01-08T22:06:05.264Z,1736373965.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:05.514Z,1736373965.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:05.516Z,1736373965.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:05.523Z,1736373965.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:05.525Z,1736373965.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m. 2025-01-08T22:06:05.528Z,1736373965.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.799988 m, nav range: 57.409855 m, bearing: 199.807386 deg, approach rate: 0.510954 m/s, LOS rate: -0.288060 deg/s, cmd heading: 355.774718 deg, new cmd heading: 355.403692 deg. 2025-01-08T22:06:05.529Z,1736373965.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202965 target range: 408.799988 and range: 408.80 m. 2025-01-08T22:06:05.768Z,1736373965.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:05.769Z,1736373965.769 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:05.769Z,1736373965.769 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:05.769Z,1736373965.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:05.919Z,1736373965.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:05.932Z,1736373965.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m. 2025-01-08T22:06:05.934Z,1736373965.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.799988 m, nav range: 57.616634 m, bearing: 199.689427 deg, approach rate: 0.509460 m/s, LOS rate: -0.289582 deg/s, cmd heading: 355.403703 deg, new cmd heading: 355.051100 deg. 2025-01-08T22:06:05.936Z,1736373965.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196811 target range: 408.799988 and range: 408.80 m. 2025-01-08T22:06:06.021Z,1736373966.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:06.022Z,1736373966.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752194 2025-01-08T22:06:06.272Z,1736373966.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:06.272Z,1736373966.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002062 2025-01-08T22:06:06.317Z,1736373966.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:06.331Z,1736373966.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m. 2025-01-08T22:06:06.338Z,1736373966.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.799988 m, nav range: 57.820274 m, bearing: 199.573514 deg, approach rate: 0.510118 m/s, LOS rate: -0.289339 deg/s, cmd heading: 355.051101 deg, new cmd heading: 354.704591 deg. 2025-01-08T22:06:06.348Z,1736373966.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.190763 target range: 408.799988 and range: 408.80 m. 2025-01-08T22:06:06.524Z,1736373966.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:06.525Z,1736373966.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254365 2025-01-08T22:06:06.776Z,1736373966.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:06.777Z,1736373966.777 [DAT](INFO): DAT read: Rx Time:22:06:05.5416 2025-01-08T22:06:06.777Z,1736373966.777 [DAT](INFO): Rx dataTimestamp_ set to:1736373966.776818 2025-01-08T22:06:06.778Z,1736373966.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507398 2025-01-08T22:06:06.890Z,1736373966.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:06.923Z,1736373966.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.80 m. 2025-01-08T22:06:06.926Z,1736373966.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 408.799988 m, nav range: 58.132065 m, bearing: 199.440590 deg, approach rate: 0.541974 m/s, LOS rate: -0.229816 deg/s, cmd heading: 354.704592 deg, new cmd heading: 354.307967 deg. 2025-01-08T22:06:06.927Z,1736373966.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183841 target range: 408.799988 and range: 408.80 m. 2025-01-08T22:06:07.029Z,1736373967.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:07.030Z,1736373967.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759690 2025-01-08T22:06:07.280Z,1736373967.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:07.286Z,1736373967.286 [DAT](INFO): DAT read: 22:06:05.5416 LVL= 17424, 32753, 21490, 32755, AGC= 69, IDX= 425,-0.00, 0.645,-1.056,-0.601,-0.161, PHS= 0.895,-0.848,-0.443, RAW= 102.8, 5.1, CAL= 113.2, 3.1, ROT= 36.8, -3.1 2025-01-08T22:06:07.288Z,1736373967.288 [DAT](INFO): got valid direction response: 22:06:05.5416 LVL= 17424, 32753, 21490, 32755, AGC= 69, IDX= 425,-0.00, 0.645,-1.056,-0.601,-0.161, PHS= 0.895,-0.848,-0.443, RAW= 102.8, 5.1, CAL= 113.2, 3.1, ROT= 36.8, -3.1 2025-01-08T22:06:07.289Z,1736373967.289 [DAT](INFO): DAT read: Bearing 36.8, -3.1 (Local) 2025-01-08T22:06:07.289Z,1736373967.289 [DAT](INFO): Local bearing/azimuth received: Bearing 36.8, -3.1 (Local) 2025-01-08T22:06:07.291Z,1736373967.291 [DAT](INFO): DAT read: Range 10 to 50 : 407.5 m (Round-trip 543.4 ms) speed 0.4 m/s 2025-01-08T22:06:07.291Z,1736373967.291 [DAT](INFO): DAT read: user:2298> 2025-01-08T22:06:07.292Z,1736373967.292 [DAT](INFO): DAT read: Tx time:22:06:06.6441 2025-01-08T22:06:07.292Z,1736373967.292 [DAT](INFO): Ping request sent. 2025-01-08T22:06:07.292Z,1736373967.292 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:07.293Z,1736373967.293 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:07.294Z,1736373967.294 [DAT](INFO): direction in FSK: [-0.200194,-0.111224,0.973423] 2025-01-08T22:06:07.294Z,1736373967.294 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:07.294Z,1736373967.294 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:07.297Z,1736373967.297 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:07.297Z,1736373967.297 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:07.309Z,1736373967.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:07.325Z,1736373967.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 407.500000 m, deltaT: 4.030814 s, deltaX: -1.299988 m, approachRate: -0.322512 m/s, rangeRepo size: 4 2025-01-08T22:06:07.327Z,1736373967.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 407.500000 m, bearing: 224.945758 deg, lat: 36.900961 deg, lon: -122.122926 deg, deltaT: 4.030814 s, deltaX: -1.299988 m, approachRate: -0.322512 m/s, posRepo size: 4 2025-01-08T22:06:07.357Z,1736373967.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.50 m. 2025-01-08T22:06:07.360Z,1736373967.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.500000 m, nav range: 110.142120 m, bearing: 215.128521 deg, approach rate: 0.000000 m/s, LOS rate: -0.229816 deg/s, cmd heading: 354.307976 deg, new cmd heading: 354.020016 deg. 2025-01-08T22:06:07.361Z,1736373967.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178815 target range: 407.500000 and range: 407.50 m. 2025-01-08T22:06:07.532Z,1736373967.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:07.533Z,1736373967.533 [DAT](INFO): DAT read: TxSync time:22:06:06.6433 2025-01-08T22:06:07.784Z,1736373967.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:07.832Z,1736373967.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:07.841Z,1736373967.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:07.843Z,1736373967.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.50 m. 2025-01-08T22:06:07.845Z,1736373967.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.500000 m, nav range: 110.403503 m, bearing: 215.040027 deg, approach rate: 0.503525 m/s, LOS rate: -0.170070 deg/s, cmd heading: 354.020015 deg, new cmd heading: 353.755165 deg. 2025-01-08T22:06:07.846Z,1736373967.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174192 target range: 407.500000 and range: 407.50 m. 2025-01-08T22:06:08.036Z,1736373968.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:08.036Z,1736373968.036 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:08.037Z,1736373968.037 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:08.037Z,1736373968.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:08.189Z,1736373968.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:08.197Z,1736373968.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.50 m. 2025-01-08T22:06:08.205Z,1736373968.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.500000 m, nav range: 110.581474 m, bearing: 214.979519 deg, approach rate: 0.501668 m/s, LOS rate: -0.170288 deg/s, cmd heading: 353.755168 deg, new cmd heading: 353.573936 deg. 2025-01-08T22:06:08.206Z,1736373968.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171030 target range: 407.500000 and range: 407.50 m. 2025-01-08T22:06:08.288Z,1736373968.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:08.289Z,1736373968.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996686 2025-01-08T22:06:08.540Z,1736373968.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:08.541Z,1736373968.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248056 2025-01-08T22:06:08.618Z,1736373968.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:08.628Z,1736373968.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.50 m. 2025-01-08T22:06:08.631Z,1736373968.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.500000 m, nav range: 110.803383 m, bearing: 214.910367 deg, approach rate: 0.515035 m/s, LOS rate: -0.160175 deg/s, cmd heading: 353.573949 deg, new cmd heading: 353.366911 deg. 2025-01-08T22:06:08.632Z,1736373968.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167416 target range: 407.500000 and range: 407.50 m. 2025-01-08T22:06:08.792Z,1736373968.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:08.792Z,1736373968.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499834 2025-01-08T22:06:09.003Z,1736373969.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:09.030Z,1736373969.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.50 m. 2025-01-08T22:06:09.037Z,1736373969.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.500000 m, nav range: 111.002159 m, bearing: 214.848061 deg, approach rate: 0.494661 m/s, LOS rate: -0.154774 deg/s, cmd heading: 353.366913 deg, new cmd heading: 353.180329 deg. 2025-01-08T22:06:09.039Z,1736373969.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164160 target range: 407.500000 and range: 407.50 m. 2025-01-08T22:06:09.045Z,1736373969.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:09.046Z,1736373969.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753169 2025-01-08T22:06:09.296Z,1736373969.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:09.297Z,1736373969.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004552 2025-01-08T22:06:09.424Z,1736373969.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:09.463Z,1736373969.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.50 m. 2025-01-08T22:06:09.486Z,1736373969.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.500000 m, nav range: 111.220055 m, bearing: 214.780061 deg, approach rate: 0.504776 m/s, LOS rate: -0.157220 deg/s, cmd heading: 353.180339 deg, new cmd heading: 352.976740 deg. 2025-01-08T22:06:09.494Z,1736373969.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160606 target range: 407.500000 and range: 407.50 m. 2025-01-08T22:06:09.548Z,1736373969.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:09.549Z,1736373969.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256050 2025-01-08T22:06:09.800Z,1736373969.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:09.801Z,1736373969.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508036 2025-01-08T22:06:09.843Z,1736373969.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:09.861Z,1736373969.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:09.880Z,1736373969.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.50 m. 2025-01-08T22:06:09.883Z,1736373969.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.500000 m, nav range: 111.440552 m, bearing: 214.713716 deg, approach rate: 0.526716 m/s, LOS rate: -0.158169 deg/s, cmd heading: 352.976745 deg, new cmd heading: 352.778105 deg. 2025-01-08T22:06:09.889Z,1736373969.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157139 target range: 407.500000 and range: 407.50 m. 2025-01-08T22:06:10.061Z,1736373970.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:10.062Z,1736373970.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769063 2025-01-08T22:06:10.218Z,1736373970.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:10.228Z,1736373970.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.50 m. 2025-01-08T22:06:10.230Z,1736373970.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.500000 m, nav range: 111.638718 m, bearing: 214.654154 deg, approach rate: 0.570912 m/s, LOS rate: -0.171293 deg/s, cmd heading: 352.778096 deg, new cmd heading: 352.599727 deg. 2025-01-08T22:06:10.231Z,1736373970.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154026 target range: 407.500000 and range: 407.50 m. 2025-01-08T22:06:10.312Z,1736373970.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:10.313Z,1736373970.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020139 2025-01-08T22:06:10.564Z,1736373970.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:10.564Z,1736373970.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271941 2025-01-08T22:06:10.645Z,1736373970.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:10.680Z,1736373970.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.50 m. 2025-01-08T22:06:10.682Z,1736373970.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.500000 m, nav range: 111.862724 m, bearing: 214.582618 deg, approach rate: 0.500772 m/s, LOS rate: -0.159599 deg/s, cmd heading: 352.599719 deg, new cmd heading: 352.385542 deg. 2025-01-08T22:06:10.688Z,1736373970.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150288 target range: 407.500000 and range: 407.50 m. 2025-01-08T22:06:10.816Z,1736373970.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:10.816Z,1736373970.816 [DAT](INFO): DAT read: Rx Time:22:06:09.5895 2025-01-08T22:06:10.817Z,1736373970.817 [DAT](INFO): Rx dataTimestamp_ set to:1736373970.816614 2025-01-08T22:06:10.817Z,1736373970.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524936 2025-01-08T22:06:11.029Z,1736373971.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:11.042Z,1736373971.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.50 m. 2025-01-08T22:06:11.045Z,1736373971.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.500000 m, nav range: 112.064331 m, bearing: 214.518256 deg, approach rate: 0.548351 m/s, LOS rate: -0.174743 deg/s, cmd heading: 352.385551 deg, new cmd heading: 352.192813 deg. 2025-01-08T22:06:11.046Z,1736373971.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146924 target range: 407.500000 and range: 407.50 m. 2025-01-08T22:06:11.068Z,1736373971.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:11.070Z,1736373971.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777063 2025-01-08T22:06:11.188Z,1736373971.188 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:06:11.320Z,1736373971.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:11.327Z,1736373971.327 [DAT](INFO): DAT read: 22:06:09.5895 LVL= 23792, 31089, 21746, 32179, AGC= 69, IDX= 419,-0.06,-2.436, 2.167, 2.570, 3.046, PHS= 0.889,-0.832,-0.479, RAW= 101.2, 5.4, CAL= 111.3, 3.7, ROT= 38.7, -3.7 2025-01-08T22:06:11.328Z,1736373971.328 [DAT](INFO): got valid direction response: 22:06:09.5895 LVL= 23792, 31089, 21746, 32179, AGC= 69, IDX= 419,-0.06,-2.436, 2.167, 2.570, 3.046, PHS= 0.889,-0.832,-0.479, RAW= 101.2, 5.4, CAL= 111.3, 3.7, ROT= 38.7, -3.7 2025-01-08T22:06:11.329Z,1736373971.329 [DAT](INFO): DAT read: Bearing 38.7, -3.7 (Local) 2025-01-08T22:06:11.329Z,1736373971.329 [DAT](INFO): Local bearing/azimuth received: Bearing 38.7, -3.7 (Local) 2025-01-08T22:06:11.331Z,1736373971.331 [DAT](INFO): DAT read: Range 10 to 50 : 405.9 m (Round-trip 541.3 ms) speed 0.3 m/s 2025-01-08T22:06:11.332Z,1736373971.332 [DAT](INFO): DAT read: user:2299> 2025-01-08T22:06:11.332Z,1736373971.332 [DAT](INFO): DAT read: Tx time:22:06:10.6941 2025-01-08T22:06:11.333Z,1736373971.333 [DAT](INFO): Ping request sent. 2025-01-08T22:06:11.333Z,1736373971.333 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:11.333Z,1736373971.333 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:11.334Z,1736373971.334 [DAT](INFO): direction in FSK: [-0.204530,-0.082209,0.975402] 2025-01-08T22:06:11.334Z,1736373971.334 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:11.334Z,1736373971.334 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:11.338Z,1736373971.338 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:11.339Z,1736373971.339 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:11.444Z,1736373971.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:11.509Z,1736373971.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 405.899994 m, deltaT: 4.040087 s, deltaX: -1.600006 m, approachRate: -0.396033 m/s, rangeRepo size: 4 2025-01-08T22:06:11.535Z,1736373971.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 405.899994 m, bearing: 219.418463 deg, lat: 36.900961 deg, lon: -122.122976 deg, deltaT: 4.040087 s, deltaX: -1.600006 m, approachRate: -0.396033 m/s, posRepo size: 4 2025-01-08T22:06:11.540Z,1736373971.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.90 m. 2025-01-08T22:06:11.542Z,1736373971.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 405.899994 m, nav range: 114.871323 m, bearing: 216.288719 deg, approach rate: 0.000000 m/s, LOS rate: -0.174743 deg/s, cmd heading: 352.192803 deg, new cmd heading: 351.952695 deg. 2025-01-08T22:06:11.560Z,1736373971.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142733 target range: 405.899994 and range: 405.90 m. 2025-01-08T22:06:11.572Z,1736373971.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:11.573Z,1736373971.573 [DAT](INFO): DAT read: TxSync time:22:06:10.6933 2025-01-08T22:06:11.824Z,1736373971.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:11.883Z,1736373971.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:11.891Z,1736373971.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:11.893Z,1736373971.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.90 m. 2025-01-08T22:06:11.896Z,1736373971.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 405.899994 m, nav range: 115.094345 m, bearing: 216.203860 deg, approach rate: 0.568448 m/s, LOS rate: -0.215871 deg/s, cmd heading: 351.952681 deg, new cmd heading: 351.698601 deg. 2025-01-08T22:06:11.897Z,1736373971.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.138299 target range: 405.899994 and range: 405.90 m. 2025-01-08T22:06:12.076Z,1736373972.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:12.076Z,1736373972.076 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:12.076Z,1736373972.076 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:12.077Z,1736373972.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:12.192Z,1736373972.192 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:06:12.249Z,1736373972.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:12.265Z,1736373972.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.90 m. 2025-01-08T22:06:12.273Z,1736373972.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 405.899994 m, nav range: 115.279839 m, bearing: 216.133022 deg, approach rate: 0.498025 m/s, LOS rate: -0.189885 deg/s, cmd heading: 351.698598 deg, new cmd heading: 351.486427 deg. 2025-01-08T22:06:12.273Z,1736373972.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134595 target range: 405.899994 and range: 405.90 m. 2025-01-08T22:06:12.329Z,1736373972.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:12.330Z,1736373972.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997126 2025-01-08T22:06:12.580Z,1736373972.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:12.581Z,1736373972.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248069 2025-01-08T22:06:12.678Z,1736373972.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:12.699Z,1736373972.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.90 m. 2025-01-08T22:06:12.702Z,1736373972.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 405.899994 m, nav range: 115.476295 m, bearing: 216.043853 deg, approach rate: 0.457061 m/s, LOS rate: -0.207102 deg/s, cmd heading: 351.486425 deg, new cmd heading: 351.219373 deg. 2025-01-08T22:06:12.703Z,1736373972.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129934 target range: 405.899994 and range: 405.90 m. 2025-01-08T22:06:12.832Z,1736373972.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:12.833Z,1736373972.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500509 2025-01-08T22:06:13.036Z,1736373973.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:13.050Z,1736373973.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.90 m. 2025-01-08T22:06:13.053Z,1736373973.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 405.899994 m, nav range: 115.640305 m, bearing: 215.969471 deg, approach rate: 0.462419 m/s, LOS rate: -0.209421 deg/s, cmd heading: 351.219365 deg, new cmd heading: 350.996536 deg. 2025-01-08T22:06:13.054Z,1736373973.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.126045 target range: 405.899994 and range: 405.90 m. 2025-01-08T22:06:13.084Z,1736373973.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:13.084Z,1736373973.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751659 2025-01-08T22:06:13.337Z,1736373973.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:13.338Z,1736373973.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005010 2025-01-08T22:06:13.447Z,1736373973.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:13.457Z,1736373973.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.90 m. 2025-01-08T22:06:13.460Z,1736373973.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 405.899994 m, nav range: 115.827873 m, bearing: 215.884245 deg, approach rate: 0.460466 m/s, LOS rate: -0.208883 deg/s, cmd heading: 350.996537 deg, new cmd heading: 350.741276 deg. 2025-01-08T22:06:13.461Z,1736373973.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.121590 target range: 405.899994 and range: 405.90 m. 2025-01-08T22:06:13.588Z,1736373973.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:13.589Z,1736373973.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256492 2025-01-08T22:06:13.840Z,1736373973.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:13.841Z,1736373973.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507824 2025-01-08T22:06:13.905Z,1736373973.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:13.932Z,1736373973.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:13.934Z,1736373973.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.90 m. 2025-01-08T22:06:13.945Z,1736373973.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 405.899994 m, nav range: 116.020821 m, bearing: 215.780155 deg, approach rate: 0.404347 m/s, LOS rate: -0.217771 deg/s, cmd heading: 350.741279 deg, new cmd heading: 350.429531 deg. 2025-01-08T22:06:13.946Z,1736373973.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116149 target range: 405.899994 and range: 405.90 m. 2025-01-08T22:06:14.092Z,1736373974.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:14.092Z,1736373974.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759736 2025-01-08T22:06:14.279Z,1736373974.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:14.288Z,1736373974.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.90 m. 2025-01-08T22:06:14.290Z,1736373974.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 405.899994 m, nav range: 116.177612 m, bearing: 215.695208 deg, approach rate: 0.444272 m/s, LOS rate: -0.240375 deg/s, cmd heading: 350.429522 deg, new cmd heading: 350.175026 deg. 2025-01-08T22:06:14.292Z,1736373974.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.111707 target range: 405.899994 and range: 405.90 m. 2025-01-08T22:06:14.346Z,1736373974.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:14.346Z,1736373974.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013644 2025-01-08T22:06:14.600Z,1736373974.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:14.600Z,1736373974.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267666 2025-01-08T22:06:14.769Z,1736373974.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:14.779Z,1736373974.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.90 m. 2025-01-08T22:06:14.781Z,1736373974.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 405.899994 m, nav range: 116.361664 m, bearing: 215.579949 deg, approach rate: 0.374632 m/s, LOS rate: -0.234235 deg/s, cmd heading: 350.175029 deg, new cmd heading: 349.829803 deg. 2025-01-08T22:06:14.782Z,1736373974.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.105682 target range: 405.899994 and range: 405.90 m. 2025-01-08T22:06:14.852Z,1736373974.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:14.854Z,1736373974.854 [DAT](INFO): DAT read: Rx Time:22:06:13.6369 2025-01-08T22:06:14.855Z,1736373974.855 [DAT](INFO): Rx dataTimestamp_ set to:1736373974.854207 2025-01-08T22:06:14.856Z,1736373974.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523104 2025-01-08T22:06:15.104Z,1736373975.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:15.105Z,1736373975.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771735 2025-01-08T22:06:15.188Z,1736373975.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:15.207Z,1736373975.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.90 m. 2025-01-08T22:06:15.214Z,1736373975.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 405.899994 m, nav range: 116.517570 m, bearing: 215.481206 deg, approach rate: 0.363922 m/s, LOS rate: -0.230181 deg/s, cmd heading: 349.829804 deg, new cmd heading: 349.533973 deg. 2025-01-08T22:06:15.215Z,1736373975.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.100519 target range: 405.899994 and range: 405.90 m. 2025-01-08T22:06:15.356Z,1736373975.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:15.362Z,1736373975.362 [DAT](INFO): DAT read: 22:06:13.6369 LVL= 17312, 32753, 22146, 32755, AGC= 68, IDX= 407,-0.08,-1.868, 2.682, 3.040,-2.729, PHS= 0.949,-0.825,-0.517, RAW= 99.4, 4.8, CAL= 109.3, 3.2, ROT= 40.7, -3.2 2025-01-08T22:06:15.364Z,1736373975.364 [DAT](INFO): got valid direction response: 22:06:13.6369 LVL= 17312, 32753, 22146, 32755, AGC= 68, IDX= 407,-0.08,-1.868, 2.682, 3.040,-2.729, PHS= 0.949,-0.825,-0.517, RAW= 99.4, 4.8, CAL= 109.3, 3.2, ROT= 40.7, -3.2 2025-01-08T22:06:15.365Z,1736373975.365 [DAT](INFO): DAT read: Bearing 40.7, -3.2 (Local) 2025-01-08T22:06:15.365Z,1736373975.365 [DAT](INFO): Local bearing/azimuth received: Bearing 40.7, -3.2 (Local) 2025-01-08T22:06:15.366Z,1736373975.366 [DAT](INFO): DAT read: Range 10 to 50 : 403.8 m (Round-trip 538.5 ms) speed 0.3 m/s 2025-01-08T22:06:15.370Z,1736373975.370 [DAT](INFO): DAT read: user:2300> 2025-01-08T22:06:15.372Z,1736373975.372 [DAT](INFO): DAT read: Tx time:22:06:14.7442 2025-01-08T22:06:15.372Z,1736373975.372 [DAT](INFO): Ping request sent. 2025-01-08T22:06:15.372Z,1736373975.372 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:15.372Z,1736373975.372 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:15.373Z,1736373975.373 [DAT](INFO): direction in FSK: [-0.191101,-0.050564,0.980267] 2025-01-08T22:06:15.374Z,1736373975.374 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:15.374Z,1736373975.374 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:15.378Z,1736373975.378 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:15.378Z,1736373975.378 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:15.608Z,1736373975.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:15.609Z,1736373975.609 [DAT](INFO): DAT read: TxSync time:22:06:14.7434 2025-01-08T22:06:15.613Z,1736373975.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:15.646Z,1736373975.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 403.799988 m, deltaT: 4.036110 s, deltaX: -2.100006 m, approachRate: -0.520305 m/s, rangeRepo size: 4 2025-01-08T22:06:15.655Z,1736373975.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 403.799988 m, bearing: 218.822846 deg, lat: 36.900961 deg, lon: -122.122976 deg, deltaT: 4.036110 s, deltaX: -2.100006 m, approachRate: -0.520305 m/s, posRepo size: 4 2025-01-08T22:06:15.661Z,1736373975.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m. 2025-01-08T22:06:15.669Z,1736373975.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.799988 m, nav range: 116.675926 m, bearing: 215.381400 deg, approach rate: 0.000000 m/s, LOS rate: -0.230181 deg/s, cmd heading: 349.533975 deg, new cmd heading: 349.231402 deg. 2025-01-08T22:06:15.684Z,1736373975.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.095238 target range: 403.799988 and range: 403.80 m. 2025-01-08T22:06:15.860Z,1736373975.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:15.990Z,1736373975.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:15.997Z,1736373975.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:15.000Z,1736373976.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m. 2025-01-08T22:06:16.002Z,1736373976.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.799988 m, nav range: 116.808952 m, bearing: 215.288560 deg, approach rate: 0.375853 m/s, LOS rate: -0.262012 deg/s, cmd heading: 349.231397 deg, new cmd heading: 348.953196 deg. 2025-01-08T22:06:16.024Z,1736373976.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.090382 target range: 403.799988 and range: 403.80 m. 2025-01-08T22:06:16.112Z,1736373976.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:16.112Z,1736373976.112 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:16.112Z,1736373976.112 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:16.113Z,1736373976.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:16.360Z,1736373976.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:16.364Z,1736373976.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:16.364Z,1736373976.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992294 2025-01-08T22:06:16.372Z,1736373976.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m. 2025-01-08T22:06:16.375Z,1736373976.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.799988 m, nav range: 116.938255 m, bearing: 215.197326 deg, approach rate: 0.346396 m/s, LOS rate: -0.244139 deg/s, cmd heading: 348.953190 deg, new cmd heading: 348.679794 deg. 2025-01-08T22:06:16.376Z,1736373976.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.085610 target range: 403.799988 and range: 403.80 m. 2025-01-08T22:06:16.617Z,1736373976.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:16.621Z,1736373976.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248834 2025-01-08T22:06:16.820Z,1736373976.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:16.829Z,1736373976.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m. 2025-01-08T22:06:16.833Z,1736373976.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.799988 m, nav range: 117.089500 m, bearing: 215.079904 deg, approach rate: 0.330873 m/s, LOS rate: -0.256549 deg/s, cmd heading: 348.679791 deg, new cmd heading: 348.327983 deg. 2025-01-08T22:06:16.834Z,1736373976.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079470 target range: 403.799988 and range: 403.80 m. 2025-01-08T22:06:16.868Z,1736373976.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:16.869Z,1736373976.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497139 2025-01-08T22:06:17.120Z,1736373977.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:17.120Z,1736373977.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748198 2025-01-08T22:06:17.203Z,1736373977.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:17.220Z,1736373977.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m. 2025-01-08T22:06:17.224Z,1736373977.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.799988 m, nav range: 117.214638 m, bearing: 214.982218 deg, approach rate: 0.320509 m/s, LOS rate: -0.249931 deg/s, cmd heading: 348.327982 deg, new cmd heading: 348.035240 deg. 2025-01-08T22:06:17.225Z,1736373977.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074361 target range: 403.799988 and range: 403.80 m. 2025-01-08T22:06:17.373Z,1736373977.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:17.374Z,1736373977.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001504 2025-01-08T22:06:17.625Z,1736373977.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:17.626Z,1736373977.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253777 2025-01-08T22:06:17.712Z,1736373977.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:17.721Z,1736373977.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m. 2025-01-08T22:06:17.725Z,1736373977.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.799988 m, nav range: 117.380585 m, bearing: 214.852658 deg, approach rate: 0.331370 m/s, LOS rate: -0.258345 deg/s, cmd heading: 348.035240 deg, new cmd heading: 347.647116 deg. 2025-01-08T22:06:17.725Z,1736373977.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067587 target range: 403.799988 and range: 403.80 m. 2025-01-08T22:06:17.876Z,1736373977.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:17.876Z,1736373977.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504195 2025-01-08T22:06:18.055Z,1736373978.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:18.062Z,1736373978.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:18.064Z,1736373978.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m. 2025-01-08T22:06:18.067Z,1736373978.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.799988 m, nav range: 117.491524 m, bearing: 214.765213 deg, approach rate: 0.323115 m/s, LOS rate: -0.254447 deg/s, cmd heading: 347.647121 deg, new cmd heading: 347.385036 deg. 2025-01-08T22:06:18.072Z,1736373978.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063013 target range: 403.799988 and range: 403.80 m. 2025-01-08T22:06:18.128Z,1736373978.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:18.130Z,1736373978.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757893 2025-01-08T22:06:18.380Z,1736373978.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:18.380Z,1736373978.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008181 2025-01-08T22:06:18.457Z,1736373978.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:18.486Z,1736373978.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m. 2025-01-08T22:06:18.493Z,1736373978.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.799988 m, nav range: 117.620872 m, bearing: 214.662542 deg, approach rate: 0.306531 m/s, LOS rate: -0.243042 deg/s, cmd heading: 347.385033 deg, new cmd heading: 347.077363 deg. 2025-01-08T22:06:18.494Z,1736373978.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.057643 target range: 403.799988 and range: 403.80 m. 2025-01-08T22:06:18.632Z,1736373978.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:18.632Z,1736373978.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260281 2025-01-08T22:06:18.884Z,1736373978.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:18.886Z,1736373978.886 [DAT](INFO): DAT read: Rx Time:22:06:17.6852 2025-01-08T22:06:18.886Z,1736373978.886 [DAT](INFO): Rx dataTimestamp_ set to:1736373978.886188 2025-01-08T22:06:18.887Z,1736373978.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514852 2025-01-08T22:06:18.948Z,1736373978.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:18.966Z,1736373978.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m. 2025-01-08T22:06:18.973Z,1736373978.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.799988 m, nav range: 117.778526 m, bearing: 214.539201 deg, approach rate: 0.328764 m/s, LOS rate: -0.256866 deg/s, cmd heading: 347.077374 deg, new cmd heading: 346.707851 deg. 2025-01-08T22:06:18.974Z,1736373978.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051194 target range: 403.799988 and range: 403.80 m. 2025-01-08T22:06:19.136Z,1736373979.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:19.136Z,1736373979.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764116 2025-01-08T22:06:19.315Z,1736373979.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:19.324Z,1736373979.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m. 2025-01-08T22:06:19.327Z,1736373979.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.799988 m, nav range: 117.896713 m, bearing: 214.447234 deg, approach rate: 0.329229 m/s, LOS rate: -0.255933 deg/s, cmd heading: 346.707861 deg, new cmd heading: 346.432238 deg. 2025-01-08T22:06:19.328Z,1736373979.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.046383 target range: 403.799988 and range: 403.80 m. 2025-01-08T22:06:19.390Z,1736373979.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:19.399Z,1736373979.399 [DAT](INFO): DAT read: 22:06:17.6852 LVL= 18592, 32753, 24402, 32755, AGC= 66, IDX= 422,-0.10,-0.044,-1.878,-1.560,-1.010, PHS= 1.054,-0.821,-0.553, RAW= 97.6, 3.7, CAL= 107.2, 1.8, ROT= 42.8, -1.8 2025-01-08T22:06:19.400Z,1736373979.400 [DAT](INFO): got valid direction response: 22:06:17.6852 LVL= 18592, 32753, 24402, 32755, AGC= 66, IDX= 422,-0.10,-0.044,-1.878,-1.560,-1.010, PHS= 1.054,-0.821,-0.553, RAW= 97.6, 3.7, CAL= 107.2, 1.8, ROT= 42.8, -1.8 2025-01-08T22:06:19.401Z,1736373979.401 [DAT](INFO): DAT read: Bearing 42.8, -1.8 (Local) 2025-01-08T22:06:19.401Z,1736373979.401 [DAT](INFO): Local bearing/azimuth received: Bearing 42.8, -1.8 (Local) 2025-01-08T22:06:19.403Z,1736373979.403 [DAT](INFO): DAT read: Range 10 to 50 : 402.6 m (Round-trip 536.9 ms) speed 0.2 m/s 2025-01-08T22:06:19.416Z,1736373979.416 [DAT](INFO): DAT read: user:2301> 2025-01-08T22:06:19.417Z,1736373979.417 [DAT](INFO): DAT read: Tx time:22:06:18.7942 2025-01-08T22:06:19.417Z,1736373979.417 [DAT](INFO): Ping request sent. 2025-01-08T22:06:19.417Z,1736373979.417 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:19.417Z,1736373979.417 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:19.418Z,1736373979.418 [DAT](INFO): direction in FSK: [-0.166829,-0.021059,0.985761] 2025-01-08T22:06:19.418Z,1736373979.418 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:19.419Z,1736373979.419 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:19.438Z,1736373979.438 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:19.438Z,1736373979.438 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:19.641Z,1736373979.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:19.646Z,1736373979.646 [DAT](INFO): DAT read: TxSync time:22:06:18.7934 2025-01-08T22:06:19.781Z,1736373979.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:19.808Z,1736373979.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 402.600006 m, deltaT: 4.034215 s, deltaX: -1.199982 m, approachRate: -0.297451 m/s, rangeRepo size: 4 2025-01-08T22:06:19.810Z,1736373979.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 402.600006 m, bearing: 215.723750 deg, lat: 36.901050 deg, lon: -122.122976 deg, deltaT: 4.034215 s, deltaX: -1.199982 m, approachRate: -0.297451 m/s, posRepo size: 4 2025-01-08T22:06:19.810Z,1736373979.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.60 m. 2025-01-08T22:06:19.817Z,1736373979.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.600006 m, nav range: 110.040291 m, bearing: 217.235663 deg, approach rate: 0.000000 m/s, LOS rate: -0.255933 deg/s, cmd heading: 346.432249 deg, new cmd heading: 346.065324 deg. 2025-01-08T22:06:19.818Z,1736373979.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039979 target range: 402.600006 and range: 402.60 m. 2025-01-08T22:06:19.893Z,1736373979.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:20.126Z,1736373980.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:20.145Z,1736373980.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:20.177Z,1736373980.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:20.179Z,1736373980.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.60 m. 2025-01-08T22:06:20.196Z,1736373980.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.600006 m, nav range: 110.149666 m, bearing: 217.142695 deg, approach rate: 0.290580 m/s, LOS rate: -0.246746 deg/s, cmd heading: 346.065331 deg, new cmd heading: 345.786706 deg. 2025-01-08T22:06:20.197Z,1736373980.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035117 target range: 402.600006 and range: 402.60 m. 2025-01-08T22:06:20.396Z,1736373980.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:20.396Z,1736373980.396 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:20.396Z,1736373980.396 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:20.396Z,1736373980.396 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:20.509Z,1736373980.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:20.517Z,1736373980.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.60 m. 2025-01-08T22:06:20.520Z,1736373980.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.600006 m, nav range: 110.266388 m, bearing: 217.037450 deg, approach rate: 0.344890 m/s, LOS rate: -0.310648 deg/s, cmd heading: 345.786714 deg, new cmd heading: 345.471316 deg. 2025-01-08T22:06:20.522Z,1736373980.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.029612 target range: 402.600006 and range: 402.60 m. 2025-01-08T22:06:20.650Z,1736373980.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:20.653Z,1736373980.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235556 2025-01-08T22:06:20.900Z,1736373980.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:20.900Z,1736373980.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483493 2025-01-08T22:06:20.948Z,1736373980.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:20.959Z,1736373980.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.60 m. 2025-01-08T22:06:20.961Z,1736373980.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.600006 m, nav range: 110.411034 m, bearing: 216.922680 deg, approach rate: 0.327770 m/s, LOS rate: -0.259730 deg/s, cmd heading: 345.471323 deg, new cmd heading: 345.127470 deg. 2025-01-08T22:06:20.962Z,1736373980.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023611 target range: 402.600006 and range: 402.60 m. 2025-01-08T22:06:21.156Z,1736373981.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:21.157Z,1736373981.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740148 2025-01-08T22:06:21.328Z,1736373981.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:21.336Z,1736373981.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.60 m. 2025-01-08T22:06:21.340Z,1736373981.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.600006 m, nav range: 110.535957 m, bearing: 216.823759 deg, approach rate: 0.330900 m/s, LOS rate: -0.261729 deg/s, cmd heading: 345.127464 deg, new cmd heading: 344.831038 deg. 2025-01-08T22:06:21.341Z,1736373981.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.018437 target range: 402.600006 and range: 402.60 m. 2025-01-08T22:06:21.408Z,1736373981.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:21.409Z,1736373981.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991678 2025-01-08T22:06:21.662Z,1736373981.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:21.666Z,1736373981.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248327 2025-01-08T22:06:21.756Z,1736373981.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:21.765Z,1736373981.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.60 m. 2025-01-08T22:06:21.768Z,1736373981.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.600006 m, nav range: 110.689896 m, bearing: 216.716541 deg, approach rate: 0.359036 m/s, LOS rate: -0.249721 deg/s, cmd heading: 344.831034 deg, new cmd heading: 344.509831 deg. 2025-01-08T22:06:21.769Z,1736373981.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.012831 target range: 402.600006 and range: 402.60 m. 2025-01-08T22:06:21.912Z,1736373981.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:21.913Z,1736373981.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496322 2025-01-08T22:06:22.123Z,1736373982.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:22.131Z,1736373982.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.60 m. 2025-01-08T22:06:22.134Z,1736373982.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.600006 m, nav range: 110.821320 m, bearing: 216.624742 deg, approach rate: 0.358842 m/s, LOS rate: -0.250350 deg/s, cmd heading: 344.509824 deg, new cmd heading: 344.234758 deg. 2025-01-08T22:06:22.135Z,1736373982.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.008030 target range: 402.600006 and range: 402.60 m. 2025-01-08T22:06:22.164Z,1736373982.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:22.164Z,1736373982.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747504 2025-01-08T22:06:22.416Z,1736373982.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:22.416Z,1736373982.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999444 2025-01-08T22:06:22.522Z,1736373982.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:22.529Z,1736373982.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:22.531Z,1736373982.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.60 m. 2025-01-08T22:06:22.533Z,1736373982.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.600006 m, nav range: 110.963661 m, bearing: 216.524796 deg, approach rate: 0.356270 m/s, LOS rate: -0.249836 deg/s, cmd heading: 344.234759 deg, new cmd heading: 343.935308 deg. 2025-01-08T22:06:22.534Z,1736373982.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.002803 target range: 402.600006 and range: 402.60 m. 2025-01-08T22:06:22.670Z,1736373982.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:22.673Z,1736373982.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255261 2025-01-08T22:06:22.920Z,1736373982.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:22.921Z,1736373982.921 [DAT](INFO): DAT read: Rx Time:22:06:21.7340 2025-01-08T22:06:22.922Z,1736373982.922 [DAT](INFO): Rx dataTimestamp_ set to:1736373982.921453 2025-01-08T22:06:22.922Z,1736373982.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505296 2025-01-08T22:06:22.948Z,1736373982.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:22.961Z,1736373982.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.60 m. 2025-01-08T22:06:22.996Z,1736373982.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.600006 m, nav range: 111.127548 m, bearing: 216.419787 deg, approach rate: 0.380473 m/s, LOS rate: -0.243426 deg/s, cmd heading: 343.935296 deg, new cmd heading: 343.620735 deg. 2025-01-08T22:06:22.997Z,1736373982.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.997313 target range: 402.600006 and range: 402.60 m. 2025-01-08T22:06:23.173Z,1736373983.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:23.175Z,1736373983.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757623 2025-01-08T22:06:23.328Z,1736373983.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:23.337Z,1736373983.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.60 m. 2025-01-08T22:06:23.356Z,1736373983.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.600006 m, nav range: 111.273499 m, bearing: 216.325613 deg, approach rate: 0.388838 m/s, LOS rate: -0.250567 deg/s, cmd heading: 343.620725 deg, new cmd heading: 343.338576 deg. 2025-01-08T22:06:23.357Z,1736373983.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.992389 target range: 402.600006 and range: 402.60 m. 2025-01-08T22:06:23.425Z,1736373983.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:23.444Z,1736373983.444 [DAT](INFO): DAT read: 22:06:21.7340 LVL= 17024, 29617, 18242, 29491, AGC= 69, IDX= 426, 0.33, 2.852, 0.976, 1.160, 1.728, PHS= 1.213,-0.705,-0.571, RAW= 93.6, 0.7, CAL= 101.9, -3.0, ROT= 48.1, 3.0 2025-01-08T22:06:23.445Z,1736373983.445 [DAT](INFO): got valid direction response: 22:06:21.7340 LVL= 17024, 29617, 18242, 29491, AGC= 69, IDX= 426, 0.33, 2.852, 0.976, 1.160, 1.728, PHS= 1.213,-0.705,-0.571, RAW= 93.6, 0.7, CAL= 101.9, -3.0, ROT= 48.1, 3.0 2025-01-08T22:06:23.446Z,1736373983.446 [DAT](INFO): DAT read: Bearing 48.1, 3.0 (Local) 2025-01-08T22:06:23.447Z,1736373983.447 [DAT](INFO): Local bearing/azimuth received: Bearing 48.1, 3.0 (Local) 2025-01-08T22:06:23.448Z,1736373983.448 [DAT](INFO): DAT read: Range 10 to 50 : 401.7 m (Round-trip 535.7 ms) speed 0.4 m/s 2025-01-08T22:06:23.449Z,1736373983.449 [DAT](INFO): DAT read: user:2302> 2025-01-08T22:06:23.450Z,1736373983.450 [DAT](INFO): DAT read: Tx time:22:06:22.8442 2025-01-08T22:06:23.450Z,1736373983.450 [DAT](INFO): Ping request sent. 2025-01-08T22:06:23.450Z,1736373983.450 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:23.450Z,1736373983.450 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:23.464Z,1736373983.464 [DAT](INFO): direction in FSK: [-0.103875,0.046009,0.993526] 2025-01-08T22:06:23.464Z,1736373983.464 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:23.464Z,1736373983.464 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:23.477Z,1736373983.477 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:23.478Z,1736373983.478 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:23.679Z,1736373983.679 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:23.682Z,1736373983.682 [DAT](INFO): DAT read: TxSync time:22:06:22.8434 2025-01-08T22:06:23.818Z,1736373983.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:23.848Z,1736373983.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 401.700012 m, deltaT: 4.035612 s, deltaX: -0.899994 m, approachRate: -0.223013 m/s, rangeRepo size: 4 2025-01-08T22:06:23.850Z,1736373983.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 401.700012 m, bearing: 208.494740 deg, lat: 36.901218 deg, lon: -122.122819 deg, deltaT: 4.035612 s, deltaX: -0.899994 m, approachRate: -0.223013 m/s, posRepo size: 4 2025-01-08T22:06:23.851Z,1736373983.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T22:06:23.858Z,1736373983.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 88.133667 m, bearing: 216.048157 deg, approach rate: 0.000000 m/s, LOS rate: -0.250567 deg/s, cmd heading: 343.338583 deg, new cmd heading: 342.961007 deg. 2025-01-08T22:06:23.859Z,1736373983.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.985799 target range: 401.700012 and range: 401.70 m. 2025-01-08T22:06:23.929Z,1736373983.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:24.143Z,1736373984.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:24.173Z,1736373984.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T22:06:24.181Z,1736373984.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:24.196Z,1736373984.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 88.267097 m, bearing: 215.952474 deg, approach rate: 0.400307 m/s, LOS rate: -0.286627 deg/s, cmd heading: 342.961010 deg, new cmd heading: 342.674397 deg. 2025-01-08T22:06:24.197Z,1736373984.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980796 target range: 401.700012 and range: 401.70 m. 2025-01-08T22:06:24.432Z,1736373984.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:24.555Z,1736373984.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:24.562Z,1736373984.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:24.581Z,1736373984.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T22:06:24.588Z,1736373984.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 88.434822 m, bearing: 215.830895 deg, approach rate: 0.410790 m/s, LOS rate: -0.297205 deg/s, cmd heading: 342.674388 deg, new cmd heading: 342.310349 deg. 2025-01-08T22:06:24.589Z,1736373984.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974442 target range: 401.700012 and range: 401.70 m. 2025-01-08T22:06:24.686Z,1736373984.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:24.688Z,1736373984.688 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:24.689Z,1736373984.689 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:24.690Z,1736373984.690 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:24.936Z,1736373984.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:24.937Z,1736373984.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486281 2025-01-08T22:06:24.996Z,1736373984.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:25.007Z,1736373985.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T22:06:25.009Z,1736373985.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 88.611221 m, bearing: 215.703402 deg, approach rate: 0.414160 m/s, LOS rate: -0.298739 deg/s, cmd heading: 342.310339 deg, new cmd heading: 341.928628 deg. 2025-01-08T22:06:25.010Z,1736373985.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967781 target range: 401.700012 and range: 401.70 m. 2025-01-08T22:06:25.189Z,1736373985.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:25.190Z,1736373985.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739850 2025-01-08T22:06:25.361Z,1736373985.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:25.370Z,1736373985.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T22:06:25.373Z,1736373985.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 88.756767 m, bearing: 215.597836 deg, approach rate: 0.400794 m/s, LOS rate: -0.290224 deg/s, cmd heading: 341.928641 deg, new cmd heading: 341.612465 deg. 2025-01-08T22:06:25.374Z,1736373985.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962262 target range: 401.700012 and range: 401.70 m. 2025-01-08T22:06:25.442Z,1736373985.442 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:25.443Z,1736373985.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992317 2025-01-08T22:06:25.698Z,1736373985.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:25.700Z,1736373985.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249720 2025-01-08T22:06:25.808Z,1736373985.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:25.817Z,1736373985.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T22:06:25.836Z,1736373985.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 88.935760 m, bearing: 215.467201 deg, approach rate: 0.400102 m/s, LOS rate: -0.291418 deg/s, cmd heading: 341.612458 deg, new cmd heading: 341.221349 deg. 2025-01-08T22:06:25.838Z,1736373985.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955436 target range: 401.700012 and range: 401.70 m. 2025-01-08T22:06:25.948Z,1736373985.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:25.949Z,1736373985.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498588 2025-01-08T22:06:26.165Z,1736373986.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:26.173Z,1736373986.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T22:06:26.176Z,1736373986.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 89.077682 m, bearing: 215.362276 deg, approach rate: 0.398529 m/s, LOS rate: -0.294171 deg/s, cmd heading: 341.221361 deg, new cmd heading: 340.907089 deg. 2025-01-08T22:06:26.177Z,1736373986.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949951 target range: 401.700012 and range: 401.70 m. 2025-01-08T22:06:26.200Z,1736373986.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:26.201Z,1736373986.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750453 2025-01-08T22:06:26.452Z,1736373986.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:26.452Z,1736373986.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002130 2025-01-08T22:06:26.582Z,1736373986.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:26.598Z,1736373986.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:26.600Z,1736373986.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T22:06:26.603Z,1736373986.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 89.243240 m, bearing: 215.239645 deg, approach rate: 0.387839 m/s, LOS rate: -0.286744 deg/s, cmd heading: 340.907090 deg, new cmd heading: 340.539886 deg. 2025-01-08T22:06:26.604Z,1736373986.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943542 target range: 401.700012 and range: 401.70 m. 2025-01-08T22:06:26.706Z,1736373986.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:26.708Z,1736373986.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257513 2025-01-08T22:06:26.956Z,1736373986.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:26.957Z,1736373986.957 [DAT](INFO): DAT read: Rx Time:22:06:25.7824 2025-01-08T22:06:26.957Z,1736373986.957 [DAT](INFO): Rx dataTimestamp_ set to:1736373986.956767 2025-01-08T22:06:26.958Z,1736373986.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507345 2025-01-08T22:06:27.041Z,1736373987.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:27.049Z,1736373987.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T22:06:27.052Z,1736373987.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 89.415733 m, bearing: 215.101196 deg, approach rate: 0.384232 m/s, LOS rate: -0.307803 deg/s, cmd heading: 340.539899 deg, new cmd heading: 340.125361 deg. 2025-01-08T22:06:27.053Z,1736373987.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936307 target range: 401.700012 and range: 401.70 m. 2025-01-08T22:06:27.164Z,1736373987.164 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:06:27.208Z,1736373987.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:27.208Z,1736373987.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758177 2025-01-08T22:06:27.384Z,1736373987.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:27.392Z,1736373987.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.70 m. 2025-01-08T22:06:27.396Z,1736373987.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.700012 m, nav range: 89.544090 m, bearing: 214.997601 deg, approach rate: 0.373710 m/s, LOS rate: -0.301182 deg/s, cmd heading: 340.125362 deg, new cmd heading: 339.815026 deg. 2025-01-08T22:06:27.397Z,1736373987.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930891 target range: 401.700012 and range: 401.70 m. 2025-01-08T22:06:27.462Z,1736373987.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:27.464Z,1736373987.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013710 2025-01-08T22:06:27.713Z,1736373987.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:27.738Z,1736373987.738 [DAT](INFO): DAT read: 22:06:25.7824 LVL= 14512, 26993, 18594, 26291, AGC= 70, IDX= 424,-0.14,-0.268,-2.066,-2.033,-1.378, PHS= 1.198,-0.641,-0.657, RAW= 89.5, 1.1, CAL= 96.9, -2.4, ROT= 53.1, 2.4 2025-01-08T22:06:27.742Z,1736373987.742 [DAT](INFO): got valid direction response: 22:06:25.7824 LVL= 14512, 26993, 18594, 26291, AGC= 70, IDX= 424,-0.14,-0.268,-2.066,-2.033,-1.378, PHS= 1.198,-0.641,-0.657, RAW= 89.5, 1.1, CAL= 96.9, -2.4, ROT= 53.1, 2.4 2025-01-08T22:06:27.789Z,1736373987.789 [DAT](INFO): DAT read: Bearing 53.1, 2.4 (Local) 2025-01-08T22:06:27.789Z,1736373987.789 [DAT](INFO): Local bearing/azimuth received: Bearing 53.1, 2.4 (Local) 2025-01-08T22:06:27.791Z,1736373987.791 [DAT](INFO): DAT read: Range 10 to 50 : 400.4 m (Round-trip 533.9 ms) speed 0.2 m/s 2025-01-08T22:06:27.796Z,1736373987.796 [DAT](INFO): DAT read: user:2303> 2025-01-08T22:06:27.797Z,1736373987.797 [DAT](INFO): DAT read: Tx time:22:06:26.8958 2025-01-08T22:06:27.797Z,1736373987.797 [DAT](INFO): Ping request sent. 2025-01-08T22:06:27.797Z,1736373987.797 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:27.798Z,1736373987.798 [DAT](INFO): DAT read: TxSync time:22:06:26.8951 2025-01-08T22:06:27.798Z,1736373987.798 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:27.807Z,1736373987.807 [DAT](INFO): direction in FSK: [-0.105256,0.116093,0.987645] 2025-01-08T22:06:27.808Z,1736373987.808 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:27.808Z,1736373987.808 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:27.819Z,1736373987.819 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:27.820Z,1736373987.820 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:27.877Z,1736373987.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:27.929Z,1736373987.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 400.399994 m, deltaT: 4.289089 s, deltaX: -1.300018 m, approachRate: -0.303099 m/s, rangeRepo size: 4 2025-01-08T22:06:27.931Z,1736373987.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 400.399994 m, bearing: 134.808763 deg, lat: 36.901382 deg, lon: -122.122637 deg, deltaT: 4.289089 s, deltaX: -1.300018 m, approachRate: -0.303099 m/s, posRepo size: 4 2025-01-08T22:06:27.948Z,1736373987.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.40 m. 2025-01-08T22:06:27.950Z,1736373987.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.399994 m, nav range: 65.526375 m, bearing: 212.363138 deg, approach rate: 0.000000 m/s, LOS rate: -0.301182 deg/s, cmd heading: 339.815025 deg, new cmd heading: 339.330879 deg. 2025-01-08T22:06:27.960Z,1736373987.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922441 target range: 400.399994 and range: 400.40 m. 2025-01-08T22:06:27.964Z,1736373987.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:28.216Z,1736373988.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:28.409Z,1736373988.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:28.417Z,1736373988.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.40 m. 2025-01-08T22:06:28.420Z,1736373988.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.399994 m, nav range: 65.721123 m, bearing: 212.131666 deg, approach rate: 0.398138 m/s, LOS rate: -0.471813 deg/s, cmd heading: 339.330874 deg, new cmd heading: 338.638550 deg. 2025-01-08T22:06:28.422Z,1736373988.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910357 target range: 400.399994 and range: 400.40 m. 2025-01-08T22:06:28.468Z,1736373988.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:28.722Z,1736373988.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:28.835Z,1736373988.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:28.843Z,1736373988.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:28.845Z,1736373988.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.40 m. 2025-01-08T22:06:28.848Z,1736373988.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.399994 m, nav range: 65.867538 m, bearing: 211.937708 deg, approach rate: 0.342477 m/s, LOS rate: -0.452673 deg/s, cmd heading: 338.638539 deg, new cmd heading: 338.057978 deg. 2025-01-08T22:06:28.849Z,1736373988.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900225 target range: 400.399994 and range: 400.40 m. 2025-01-08T22:06:28.972Z,1736373988.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:28.973Z,1736373988.973 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:28.973Z,1736373988.973 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:28.973Z,1736373988.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:29.224Z,1736373989.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:29.225Z,1736373989.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.428016 2025-01-08T22:06:29.294Z,1736373989.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:29.304Z,1736373989.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.40 m. 2025-01-08T22:06:29.310Z,1736373989.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.399994 m, nav range: 66.024368 m, bearing: 211.728176 deg, approach rate: 0.341347 m/s, LOS rate: -0.454969 deg/s, cmd heading: 338.057973 deg, new cmd heading: 337.430899 deg. 2025-01-08T22:06:29.312Z,1736373989.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889280 target range: 400.399994 and range: 400.40 m. 2025-01-08T22:06:29.476Z,1736373989.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:29.476Z,1736373989.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679368 2025-01-08T22:06:29.690Z,1736373989.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:29.713Z,1736373989.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.40 m. 2025-01-08T22:06:29.715Z,1736373989.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.399994 m, nav range: 66.158997 m, bearing: 211.547918 deg, approach rate: 0.329747 m/s, LOS rate: -0.440611 deg/s, cmd heading: 337.430907 deg, new cmd heading: 336.891248 deg. 2025-01-08T22:06:29.718Z,1736373989.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879861 target range: 400.399994 and range: 400.40 m. 2025-01-08T22:06:29.728Z,1736373989.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:29.728Z,1736373989.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931440 2025-01-08T22:06:29.980Z,1736373989.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:29.980Z,1736373989.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183317 2025-01-08T22:06:30.117Z,1736373990.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:30.126Z,1736373990.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.40 m. 2025-01-08T22:06:30.129Z,1736373990.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.399994 m, nav range: 66.295334 m, bearing: 211.342703 deg, approach rate: 0.329721 m/s, LOS rate: -0.495274 deg/s, cmd heading: 336.891240 deg, new cmd heading: 336.276886 deg. 2025-01-08T22:06:30.130Z,1736373990.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869139 target range: 400.399994 and range: 400.40 m. 2025-01-08T22:06:30.232Z,1736373990.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:30.233Z,1736373990.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436479 2025-01-08T22:06:30.484Z,1736373990.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:30.484Z,1736373990.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687172 2025-01-08T22:06:30.493Z,1736373990.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:30.501Z,1736373990.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.40 m. 2025-01-08T22:06:30.505Z,1736373990.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.399994 m, nav range: 66.416107 m, bearing: 211.162658 deg, approach rate: 0.321856 m/s, LOS rate: -0.478941 deg/s, cmd heading: 336.276878 deg, new cmd heading: 335.737740 deg. 2025-01-08T22:06:30.506Z,1736373990.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859729 target range: 400.399994 and range: 400.40 m. 2025-01-08T22:06:30.739Z,1736373990.739 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:30.742Z,1736373990.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.944561 2025-01-08T22:06:30.908Z,1736373990.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:30.935Z,1736373990.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:30.948Z,1736373990.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.40 m. 2025-01-08T22:06:30.950Z,1736373990.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.399994 m, nav range: 66.542572 m, bearing: 210.956403 deg, approach rate: 0.283239 m/s, LOS rate: -0.461062 deg/s, cmd heading: 335.737730 deg, new cmd heading: 335.120168 deg. 2025-01-08T22:06:30.956Z,1736373990.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848950 target range: 400.399994 and range: 400.40 m. 2025-01-08T22:06:30.990Z,1736373990.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:30.991Z,1736373990.991 [DAT](INFO): DAT read: Rx Time:22:06:29.8323 2025-01-08T22:06:30.992Z,1736373990.992 [DAT](INFO): Rx dataTimestamp_ set to:1736373990.991259 2025-01-08T22:06:30.992Z,1736373990.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195073 2025-01-08T22:06:31.240Z,1736373991.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:31.240Z,1736373991.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443280 2025-01-08T22:06:31.316Z,1736373991.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:31.326Z,1736373991.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.40 m. 2025-01-08T22:06:31.329Z,1736373991.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.399994 m, nav range: 66.665627 m, bearing: 210.752705 deg, approach rate: 0.325242 m/s, LOS rate: -0.537393 deg/s, cmd heading: 335.120172 deg, new cmd heading: 334.510230 deg. 2025-01-08T22:06:31.330Z,1736373991.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838305 target range: 400.399994 and range: 400.40 m. 2025-01-08T22:06:31.494Z,1736373991.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:31.496Z,1736373991.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.698525 2025-01-08T22:06:31.712Z,1736373991.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:31.721Z,1736373991.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.40 m. 2025-01-08T22:06:31.726Z,1736373991.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.399994 m, nav range: 66.785698 m, bearing: 210.555993 deg, approach rate: 0.304431 m/s, LOS rate: -0.497851 deg/s, cmd heading: 334.510236 deg, new cmd heading: 333.921181 deg. 2025-01-08T22:06:31.727Z,1736373991.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828024 target range: 400.399994 and range: 400.40 m. 2025-01-08T22:06:31.744Z,1736373991.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:31.756Z,1736373991.756 [DAT](INFO): DAT read: 22:06:29.8323 LVL= 15840, 26433, 19266, 30035, AGC= 67, IDX= 423,-0.14, 1.528,-0.106,-0.220, 0.521, PHS= 1.094,-0.581,-0.745, RAW= 85.4, 2.7, CAL= 91.2, -0.2, ROT= 58.8, 0.2 2025-01-08T22:06:31.757Z,1736373991.757 [DAT](INFO): got valid direction response: 22:06:29.8323 LVL= 15840, 26433, 19266, 30035, AGC= 67, IDX= 423,-0.14, 1.528,-0.106,-0.220, 0.521, PHS= 1.094,-0.581,-0.745, RAW= 85.4, 2.7, CAL= 91.2, -0.2, ROT= 58.8, 0.2 2025-01-08T22:06:31.758Z,1736373991.758 [DAT](INFO): DAT read: Bearing 58.8, 0.2 (Local) 2025-01-08T22:06:31.758Z,1736373991.758 [DAT](INFO): Local bearing/azimuth received: Bearing 58.8, 0.2 (Local) 2025-01-08T22:06:31.760Z,1736373991.760 [DAT](INFO): DAT read: Range 10 to 50 : 399.2 m (Round-trip 532.3 ms) speed 0.3 m/s 2025-01-08T22:06:31.761Z,1736373991.761 [DAT](INFO): DAT read: user:2304> 2025-01-08T22:06:31.762Z,1736373991.762 [DAT](INFO): DAT read: Tx time:22:06:30.9458 2025-01-08T22:06:31.762Z,1736373991.762 [DAT](INFO): Ping request sent. 2025-01-08T22:06:31.762Z,1736373991.762 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:31.763Z,1736373991.763 [DAT](INFO): DAT read: TxSync time:22:06:30.9451 2025-01-08T22:06:31.780Z,1736373991.780 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:31.793Z,1736373991.793 [DAT](INFO): direction in FSK: [-0.127759,0.188904,0.973649] 2025-01-08T22:06:31.793Z,1736373991.793 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:31.794Z,1736373991.794 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:31.840Z,1736373991.840 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:31.840Z,1736373991.840 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:31.996Z,1736373991.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:32.141Z,1736373992.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:32.167Z,1736373992.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 399.200012 m, deltaT: 4.029554 s, deltaX: -1.199982 m, approachRate: -0.297795 m/s, rangeRepo size: 4 2025-01-08T22:06:32.174Z,1736373992.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 399.200012 m, bearing: 108.160561 deg, lat: 36.901642 deg, lon: -122.122382 deg, deltaT: 4.029554 s, deltaX: -1.199982 m, approachRate: -0.297795 m/s, posRepo size: 4 2025-01-08T22:06:32.174Z,1736373992.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.20 m. 2025-01-08T22:06:32.181Z,1736373992.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.200012 m, nav range: 30.969791 m, bearing: 201.192239 deg, approach rate: 0.000000 m/s, LOS rate: -0.497851 deg/s, cmd heading: 333.921173 deg, new cmd heading: 333.255741 deg. 2025-01-08T22:06:32.182Z,1736373992.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816410 target range: 399.200012 and range: 399.20 m. 2025-01-08T22:06:32.249Z,1736373992.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:32.500Z,1736373992.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:32.513Z,1736373992.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:32.522Z,1736373992.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.20 m. 2025-01-08T22:06:32.525Z,1736373992.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.200012 m, nav range: 31.111284 m, bearing: 200.831252 deg, approach rate: 0.397618 m/s, LOS rate: -1.009814 deg/s, cmd heading: 333.255749 deg, new cmd heading: 332.177846 deg. 2025-01-08T22:06:32.526Z,1736373992.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797597 target range: 399.200012 and range: 399.20 m. 2025-01-08T22:06:32.752Z,1736373992.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:32.942Z,1736373992.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:32.949Z,1736373992.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:32.951Z,1736373992.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.20 m. 2025-01-08T22:06:32.954Z,1736373992.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.200012 m, nav range: 31.275265 m, bearing: 200.428895 deg, approach rate: 0.382307 m/s, LOS rate: -0.933136 deg/s, cmd heading: 332.177835 deg, new cmd heading: 330.977278 deg. 2025-01-08T22:06:32.956Z,1736373992.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776643 target range: 399.200012 and range: 399.20 m. 2025-01-08T22:06:33.004Z,1736373993.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:33.005Z,1736373993.005 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:33.005Z,1736373993.005 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:33.005Z,1736373993.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:33.256Z,1736373993.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:33.257Z,1736373993.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494634 2025-01-08T22:06:33.308Z,1736373993.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:33.345Z,1736373993.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.20 m. 2025-01-08T22:06:33.351Z,1736373993.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.200012 m, nav range: 31.413736 m, bearing: 200.086177 deg, approach rate: 0.351757 m/s, LOS rate: -0.866757 deg/s, cmd heading: 330.977279 deg, new cmd heading: 329.953773 deg. 2025-01-08T22:06:33.352Z,1736373993.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758780 target range: 399.200012 and range: 399.20 m. 2025-01-08T22:06:33.508Z,1736373993.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:33.508Z,1736373993.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746343 2025-01-08T22:06:33.709Z,1736373993.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:33.717Z,1736373993.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.20 m. 2025-01-08T22:06:33.720Z,1736373993.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.200012 m, nav range: 31.564854 m, bearing: 199.710731 deg, approach rate: 0.405415 m/s, LOS rate: -1.002411 deg/s, cmd heading: 329.953762 deg, new cmd heading: 328.832968 deg. 2025-01-08T22:06:33.722Z,1736373993.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739218 target range: 399.200012 and range: 399.20 m. 2025-01-08T22:06:33.760Z,1736373993.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:33.761Z,1736373993.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998451 2025-01-08T22:06:34.012Z,1736373994.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:34.012Z,1736373994.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250274 2025-01-08T22:06:34.155Z,1736373994.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:34.164Z,1736373994.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.20 m. 2025-01-08T22:06:34.167Z,1736373994.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.200012 m, nav range: 31.738869 m, bearing: 199.322767 deg, approach rate: 0.389496 m/s, LOS rate: -0.863608 deg/s, cmd heading: 328.832955 deg, new cmd heading: 327.675610 deg. 2025-01-08T22:06:34.189Z,1736373994.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719018 target range: 399.200012 and range: 399.20 m. 2025-01-08T22:06:34.264Z,1736373994.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:34.265Z,1736373994.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503060 2025-01-08T22:06:34.516Z,1736373994.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:34.516Z,1736373994.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754124 2025-01-08T22:06:34.526Z,1736373994.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:34.534Z,1736373994.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.20 m. 2025-01-08T22:06:34.538Z,1736373994.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.200012 m, nav range: 31.880978 m, bearing: 198.998668 deg, approach rate: 0.383789 m/s, LOS rate: -0.871378 deg/s, cmd heading: 327.675621 deg, new cmd heading: 326.707754 deg. 2025-01-08T22:06:34.571Z,1736373994.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702126 target range: 399.200012 and range: 399.20 m. 2025-01-08T22:06:34.768Z,1736373994.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:34.769Z,1736373994.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006447 2025-01-08T22:06:34.952Z,1736373994.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:34.961Z,1736373994.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:34.964Z,1736373994.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.20 m. 2025-01-08T22:06:34.966Z,1736373994.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.200012 m, nav range: 32.050358 m, bearing: 198.654043 deg, approach rate: 0.394877 m/s, LOS rate: -0.799176 deg/s, cmd heading: 326.707756 deg, new cmd heading: 325.679461 deg. 2025-01-08T22:06:34.968Z,1736373994.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684179 target range: 399.200012 and range: 399.20 m. 2025-01-08T22:06:35.022Z,1736373995.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:35.022Z,1736373995.022 [DAT](INFO): DAT read: Rx Time:22:06:33.8815 2025-01-08T22:06:35.023Z,1736373995.023 [DAT](INFO): Rx dataTimestamp_ set to:1736373995.022520 2025-01-08T22:06:35.023Z,1736373995.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261288 2025-01-08T22:06:35.272Z,1736373995.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:35.273Z,1736373995.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510582 2025-01-08T22:06:35.328Z,1736373995.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:35.336Z,1736373995.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.20 m. 2025-01-08T22:06:35.339Z,1736373995.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.200012 m, nav range: 32.198891 m, bearing: 198.350601 deg, approach rate: 0.398332 m/s, LOS rate: -0.810006 deg/s, cmd heading: 325.679457 deg, new cmd heading: 324.773410 deg. 2025-01-08T22:06:35.357Z,1736373995.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668365 target range: 399.200012 and range: 399.20 m. 2025-01-08T22:06:35.525Z,1736373995.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:35.529Z,1736373995.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766825 2025-01-08T22:06:35.733Z,1736373995.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:35.742Z,1736373995.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.20 m. 2025-01-08T22:06:35.746Z,1736373995.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.200012 m, nav range: 32.358700 m, bearing: 198.022916 deg, approach rate: 0.393657 m/s, LOS rate: -0.803193 deg/s, cmd heading: 324.773419 deg, new cmd heading: 323.795321 deg. 2025-01-08T22:06:35.747Z,1736373995.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651294 target range: 399.200012 and range: 399.20 m. 2025-01-08T22:06:35.776Z,1736373995.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:35.786Z,1736373995.786 [DAT](INFO): DAT read: 22:06:33.8815 LVL= 14400, 31665, 25218, 31651, AGC= 66, IDX= 431, 0.23,-2.318, 2.602, 2.027, 3.080, PHS= 0.973,-0.432,-1.056, RAW= 72.5, 5.8, CAL= 75.3, 6.4, ROT= 74.7, -6.4 2025-01-08T22:06:35.792Z,1736373995.792 [DAT](INFO): got valid direction response: 22:06:33.8815 LVL= 14400, 31665, 25218, 31651, AGC= 66, IDX= 431, 0.23,-2.318, 2.602, 2.027, 3.080, PHS= 0.973,-0.432,-1.056, RAW= 72.5, 5.8, CAL= 75.3, 6.4, ROT= 74.7, -6.4 2025-01-08T22:06:35.795Z,1736373995.795 [DAT](INFO): DAT read: Bearing 74.7, -6.4 (Local) 2025-01-08T22:06:35.796Z,1736373995.796 [DAT](INFO): Local bearing/azimuth received: Bearing 74.7, -6.4 (Local) 2025-01-08T22:06:35.823Z,1736373995.823 [DAT](INFO): DAT read: Range 10 to 50 : 398.6 m (Round-trip 531.5 ms) speed 0.2 m/s 2025-01-08T22:06:35.825Z,1736373995.825 [DAT](INFO): DAT read: user:2305> 2025-01-08T22:06:35.837Z,1736373995.837 [DAT](INFO): DAT read: Tx time:22:06:34.9943 2025-01-08T22:06:35.838Z,1736373995.838 [DAT](INFO): Ping request sent. 2025-01-08T22:06:35.838Z,1736373995.838 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:35.846Z,1736373995.846 [DAT](INFO): DAT read: TxSync time:22:06:34.9935 2025-01-08T22:06:35.852Z,1736373995.852 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:35.861Z,1736373995.861 [DAT](INFO): direction in FSK: [-0.161651,0.398006,0.903028] 2025-01-08T22:06:35.862Z,1736373995.862 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:35.863Z,1736373995.863 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:35.902Z,1736373995.902 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:35.902Z,1736373995.902 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:36.028Z,1736373996.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:36.171Z,1736373996.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:36.185Z,1736373996.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 398.600006 m, deltaT: 4.031837 s, deltaX: -0.600006 m, approachRate: -0.148817 m/s, rangeRepo size: 4 2025-01-08T22:06:36.188Z,1736373996.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 398.600006 m, bearing: 85.779629 deg, lat: 36.901711 deg, lon: -122.122029 deg, deltaT: 4.031837 s, deltaX: -0.600006 m, approachRate: -0.148817 m/s, posRepo size: 4 2025-01-08T22:06:36.189Z,1736373996.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:36.192Z,1736373996.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 31.811863 m, bearing: 137.306274 deg, approach rate: 0.000000 m/s, LOS rate: -0.803193 deg/s, cmd heading: 323.795308 deg, new cmd heading: 322.729525 deg. 2025-01-08T22:06:36.193Z,1736373996.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632693 target range: 398.600006 and range: 398.60 m. 2025-01-08T22:06:36.280Z,1736373996.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:36.532Z,1736373996.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:36.536Z,1736373996.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:36.565Z,1736373996.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:36.572Z,1736373996.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 32.021122 m, bearing: 137.386578 deg, approach rate: 0.549854 m/s, LOS rate: 0.209630 deg/s, cmd heading: 322.729526 deg, new cmd heading: 322.968862 deg. 2025-01-08T22:06:36.573Z,1736373996.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636870 target range: 398.600006 and range: 398.60 m. 2025-01-08T22:06:36.784Z,1736373996.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:36.993Z,1736373996.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:36.000Z,1736373997.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:37.002Z,1736373997.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:37.006Z,1736373997.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 32.281540 m, bearing: 137.487824 deg, approach rate: 0.596487 m/s, LOS rate: 0.230033 deg/s, cmd heading: 322.968855 deg, new cmd heading: 323.270141 deg. 2025-01-08T22:06:37.006Z,1736373997.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.642128 target range: 398.600006 and range: 398.60 m. 2025-01-08T22:06:37.036Z,1736373997.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:37.036Z,1736373997.036 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:37.036Z,1736373997.036 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:37.037Z,1736373997.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:37.288Z,1736373997.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:37.289Z,1736373997.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450964 2025-01-08T22:06:37.368Z,1736373997.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:37.376Z,1736373997.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:37.379Z,1736373997.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 32.496223 m, bearing: 137.561004 deg, approach rate: 0.573306 m/s, LOS rate: 0.194132 deg/s, cmd heading: 323.270149 deg, new cmd heading: 323.488235 deg. 2025-01-08T22:06:37.380Z,1736373997.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645935 target range: 398.600006 and range: 398.60 m. 2025-01-08T22:06:37.540Z,1736373997.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:37.541Z,1736373997.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702824 2025-01-08T22:06:37.757Z,1736373997.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:37.765Z,1736373997.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:37.768Z,1736373997.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 32.719509 m, bearing: 137.630703 deg, approach rate: 0.574486 m/s, LOS rate: 0.178104 deg/s, cmd heading: 323.488223 deg, new cmd heading: 323.695893 deg. 2025-01-08T22:06:37.769Z,1736373997.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649559 target range: 398.600006 and range: 398.60 m. 2025-01-08T22:06:37.792Z,1736373997.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:37.793Z,1736373997.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954403 2025-01-08T22:06:38.045Z,1736373998.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:38.047Z,1736373998.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208275 2025-01-08T22:06:38.191Z,1736373998.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:38.206Z,1736373998.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:38.209Z,1736373998.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 32.979885 m, bearing: 137.691608 deg, approach rate: 0.590560 m/s, LOS rate: 0.137048 deg/s, cmd heading: 323.695888 deg, new cmd heading: 323.877159 deg. 2025-01-08T22:06:38.210Z,1736373998.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.652723 target range: 398.600006 and range: 398.60 m. 2025-01-08T22:06:38.296Z,1736373998.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:38.297Z,1736373998.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458449 2025-01-08T22:06:38.548Z,1736373998.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:38.548Z,1736373998.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710117 2025-01-08T22:06:38.558Z,1736373998.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:38.587Z,1736373998.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:38.601Z,1736373998.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 33.200699 m, bearing: 137.736006 deg, approach rate: 0.579486 m/s, LOS rate: 0.115741 deg/s, cmd heading: 323.877161 deg, new cmd heading: 324.009471 deg. 2025-01-08T22:06:38.602Z,1736373998.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655032 target range: 398.600006 and range: 398.60 m. 2025-01-08T22:06:38.800Z,1736373998.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:38.801Z,1736373998.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962328 2025-01-08T22:06:38.980Z,1736373998.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:39.008Z,1736373999.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:39.010Z,1736373999.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:39.013Z,1736373999.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 33.466217 m, bearing: 137.759126 deg, approach rate: 0.627955 m/s, LOS rate: 0.054244 deg/s, cmd heading: 324.009476 deg, new cmd heading: 324.078283 deg. 2025-01-08T22:06:39.014Z,1736373999.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656233 target range: 398.600006 and range: 398.60 m. 2025-01-08T22:06:39.052Z,1736373999.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:39.053Z,1736373999.053 [DAT](INFO): DAT read: Rx Time:22:06:37.9295 2025-01-08T22:06:39.053Z,1736373999.053 [DAT](INFO): Rx dataTimestamp_ set to:1736373999.053047 2025-01-08T22:06:39.054Z,1736373999.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215670 2025-01-08T22:06:39.304Z,1736373999.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:39.305Z,1736373999.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466636 2025-01-08T22:06:39.370Z,1736373999.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:39.404Z,1736373999.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:39.406Z,1736373999.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 33.711979 m, bearing: 137.773571 deg, approach rate: 0.631193 m/s, LOS rate: 0.036830 deg/s, cmd heading: 324.078297 deg, new cmd heading: 324.121317 deg. 2025-01-08T22:06:39.411Z,1736373999.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656984 target range: 398.600006 and range: 398.60 m. 2025-01-08T22:06:39.556Z,1736373999.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:39.556Z,1736373999.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.718240 2025-01-08T22:06:39.767Z,1736373999.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:39.784Z,1736373999.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:39.787Z,1736373999.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 33.962063 m, bearing: 137.782250 deg, approach rate: 0.648969 m/s, LOS rate: 0.022357 deg/s, cmd heading: 324.121327 deg, new cmd heading: 324.147173 deg. 2025-01-08T22:06:39.789Z,1736373999.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657435 target range: 398.600006 and range: 398.60 m. 2025-01-08T22:06:39.808Z,1736373999.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:39.810Z,1736373999.810 [DAT](INFO): DAT read: Range 10 to 50 : 398.2 m (Round-trip 531.0 ms) speed -0.1 m/s 2025-01-08T22:06:39.810Z,1736373999.810 [DAT](INFO): DAT read: user:2306> 2025-01-08T22:06:39.811Z,1736373999.811 [DAT](INFO): DAT read: Tx time:22:06:39.0444 2025-01-08T22:06:39.811Z,1736373999.811 [DAT](INFO): Ping request sent. 2025-01-08T22:06:39.812Z,1736373999.812 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:39.812Z,1736373999.812 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:06:39.812Z,1736373999.812 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:39.813Z,1736373999.813 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:40.060Z,1736374000.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:40.061Z,1736374000.061 [DAT](INFO): DAT read: TxSync time:22:06:39.0436 2025-01-08T22:06:40.240Z,1736374000.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:40.249Z,1736374000.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 398.200012 m, deltaT: 4.031787 s, deltaX: -0.399994 m, approachRate: -0.099210 m/s, rangeRepo size: 4 2025-01-08T22:06:40.249Z,1736374000.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:40.257Z,1736374000.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 34.266579 m, bearing: 137.755965 deg, approach rate: 0.656481 m/s, LOS rate: -0.056162 deg/s, cmd heading: 324.147172 deg, new cmd heading: 324.069019 deg. 2025-01-08T22:06:40.258Z,1736374000.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656071 target range: 398.600006 and range: 398.20 m. 2025-01-08T22:06:40.312Z,1736374000.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:40.564Z,1736374000.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:40.592Z,1736374000.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:40.625Z,1736374000.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:40.632Z,1736374000.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 34.512711 m, bearing: 137.732122 deg, approach rate: 0.653386 m/s, LOS rate: -0.062845 deg/s, cmd heading: 324.069008 deg, new cmd heading: 323.997986 deg. 2025-01-08T22:06:40.633Z,1736374000.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654831 target range: 398.600006 and range: 398.20 m. 2025-01-08T22:06:40.816Z,1736374000.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:41.006Z,1736374001.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:41.013Z,1736374001.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:41.015Z,1736374001.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:41.018Z,1736374001.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 34.805119 m, bearing: 137.673832 deg, approach rate: 0.749814 m/s, LOS rate: -0.148214 deg/s, cmd heading: 323.997974 deg, new cmd heading: 323.824576 deg. 2025-01-08T22:06:41.019Z,1736374001.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651805 target range: 398.600006 and range: 398.20 m. 2025-01-08T22:06:41.068Z,1736374001.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:41.068Z,1736374001.068 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:41.068Z,1736374001.068 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:41.069Z,1736374001.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:41.320Z,1736374001.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:41.320Z,1736374001.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508721 2025-01-08T22:06:41.397Z,1736374001.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:41.415Z,1736374001.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:41.418Z,1736374001.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 35.081429 m, bearing: 137.618801 deg, approach rate: 0.690271 m/s, LOS rate: -0.136396 deg/s, cmd heading: 323.824569 deg, new cmd heading: 323.660775 deg. 2025-01-08T22:06:41.419Z,1736374001.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648946 target range: 398.600006 and range: 398.20 m. 2025-01-08T22:06:41.574Z,1736374001.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:41.576Z,1736374001.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763992 2025-01-08T22:06:41.797Z,1736374001.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:41.810Z,1736374001.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:41.812Z,1736374001.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 35.364483 m, bearing: 137.562381 deg, approach rate: 0.717607 m/s, LOS rate: -0.141891 deg/s, cmd heading: 323.660781 deg, new cmd heading: 323.492878 deg. 2025-01-08T22:06:41.813Z,1736374001.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646016 target range: 398.600006 and range: 398.20 m. 2025-01-08T22:06:41.824Z,1736374001.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:41.825Z,1736374001.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012881 2025-01-08T22:06:42.076Z,1736374002.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:42.076Z,1736374002.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264690 2025-01-08T22:06:42.222Z,1736374002.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:42.231Z,1736374002.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:42.234Z,1736374002.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 35.667427 m, bearing: 137.516048 deg, approach rate: 0.719714 m/s, LOS rate: -0.109140 deg/s, cmd heading: 323.492867 deg, new cmd heading: 323.355050 deg. 2025-01-08T22:06:42.235Z,1736374002.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.643610 target range: 398.600006 and range: 398.20 m. 2025-01-08T22:06:42.316Z,1736374002.316 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:06:42.328Z,1736374002.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:42.329Z,1736374002.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516881 2025-01-08T22:06:42.581Z,1736374002.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:42.583Z,1736374002.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770646 2025-01-08T22:06:42.628Z,1736374002.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:42.647Z,1736374002.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:42.660Z,1736374002.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 35.953552 m, bearing: 137.473428 deg, approach rate: 0.688135 m/s, LOS rate: -0.101687 deg/s, cmd heading: 323.355062 deg, new cmd heading: 323.228218 deg. 2025-01-08T22:06:42.662Z,1736374002.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641397 target range: 398.600006 and range: 398.20 m. 2025-01-08T22:06:42.832Z,1736374002.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:42.833Z,1736374002.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021029 2025-01-08T22:06:43.057Z,1736374003.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:43.064Z,1736374003.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:43.066Z,1736374003.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:43.069Z,1736374003.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 36.263840 m, bearing: 137.421571 deg, approach rate: 0.739720 m/s, LOS rate: -0.122569 deg/s, cmd heading: 323.228211 deg, new cmd heading: 323.073971 deg. 2025-01-08T22:06:43.070Z,1736374003.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638704 target range: 398.600006 and range: 398.20 m. 2025-01-08T22:06:43.084Z,1736374003.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:43.085Z,1736374003.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272880 2025-01-08T22:06:43.321Z,1736374003.321 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:06:43.336Z,1736374003.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:43.336Z,1736374003.336 [DAT](INFO): DAT read: Rx Time:22:06:41.9794 2025-01-08T22:06:43.337Z,1736374003.337 [DAT](INFO): Rx dataTimestamp_ set to:1736374003.336647 2025-01-08T22:06:43.338Z,1736374003.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526593 2025-01-08T22:06:43.410Z,1736374003.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:43.419Z,1736374003.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:43.423Z,1736374003.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 36.516907 m, bearing: 137.381192 deg, approach rate: 0.716719 m/s, LOS rate: -0.113567 deg/s, cmd heading: 323.073958 deg, new cmd heading: 322.953660 deg. 2025-01-08T22:06:43.424Z,1736374003.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636605 target range: 398.600006 and range: 398.20 m. 2025-01-08T22:06:43.588Z,1736374003.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:43.588Z,1736374003.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776692 2025-01-08T22:06:43.824Z,1736374003.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:43.835Z,1736374003.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.60 m. 2025-01-08T22:06:43.839Z,1736374003.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.600006 m, nav range: 36.812862 m, bearing: 137.334676 deg, approach rate: 0.711435 m/s, LOS rate: -0.110917 deg/s, cmd heading: 322.953665 deg, new cmd heading: 322.815242 deg. 2025-01-08T22:06:43.840Z,1736374003.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:43.846Z,1736374003.846 [DAT](INFO): DAT read: 22:06:41.9794 LVL= 16480, 30529, 24450, 29299, AGC= 64, IDX= 425,-0.19,-1.991,-2.742, 2.153,-2.962, PHS= 1.060, 0.267,-1.171, RAW= 50.5, -1.6, CAL= 52.1, -4.7, ROT= 97.9, 4.7 2025-01-08T22:06:43.848Z,1736374003.848 [DAT](INFO): got valid direction response: 22:06:41.9794 LVL= 16480, 30529, 24450, 29299, AGC= 64, IDX= 425,-0.19,-1.991,-2.742, 2.153,-2.962, PHS= 1.060, 0.267,-1.171, RAW= 50.5, -1.6, CAL= 52.1, -4.7, ROT= 97.9, 4.7 2025-01-08T22:06:43.849Z,1736374003.849 [DAT](INFO): DAT read: Bearing 97.9, 4.7 (Local) 2025-01-08T22:06:43.849Z,1736374003.849 [DAT](INFO): Local bearing/azimuth received: Bearing 97.9, 4.7 (Local) 2025-01-08T22:06:43.851Z,1736374003.851 [DAT](INFO): DAT read: Range 10 to 50 : 398.1 m (Round-trip 530.9 ms) speed 0.0 m/s 2025-01-08T22:06:43.855Z,1736374003.855 [DAT](INFO): DAT read: user:2307> 2025-01-08T22:06:43.856Z,1736374003.856 [DAT](INFO): DAT read: Tx time:22:06:43.0944 2025-01-08T22:06:43.857Z,1736374003.857 [DAT](INFO): Ping request sent. 2025-01-08T22:06:43.857Z,1736374003.857 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:43.857Z,1736374003.857 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:43.858Z,1736374003.858 [DAT](INFO): direction in FSK: [0.020198,0.694809,0.718910] 2025-01-08T22:06:43.858Z,1736374003.858 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:43.858Z,1736374003.858 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:43.866Z,1736374003.866 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:43.866Z,1736374003.866 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:43.880Z,1736374003.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.634189 target range: 398.600006 and range: 398.20 m. 2025-01-08T22:06:44.092Z,1736374004.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:44.093Z,1736374004.093 [DAT](INFO): DAT read: TxSync time:22:06:43.0936 2025-01-08T22:06:44.257Z,1736374004.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:44.271Z,1736374004.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 398.100006 m, deltaT: 4.032044 s, deltaX: -0.100006 m, approachRate: -0.024803 m/s, rangeRepo size: 4 2025-01-08T22:06:44.285Z,1736374004.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 398.100006 m, bearing: 51.784892 deg, lat: 36.901728 deg, lon: -122.121595 deg, deltaT: 8.063831 s, deltaX: -0.500000 m, approachRate: -0.062005 m/s, posRepo size: 4 2025-01-08T22:06:44.286Z,1736374004.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:06:44.293Z,1736374004.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 68.584381 m, bearing: 111.652905 deg, approach rate: 0.000000 m/s, LOS rate: -0.110917 deg/s, cmd heading: 322.815231 deg, new cmd heading: 322.670521 deg. 2025-01-08T22:06:44.294Z,1736374004.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631663 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:06:44.345Z,1736374004.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:44.596Z,1736374004.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:44.640Z,1736374004.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:44.652Z,1736374004.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:06:44.657Z,1736374004.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 68.824150 m, bearing: 111.729667 deg, approach rate: 0.628227 m/s, LOS rate: 0.200426 deg/s, cmd heading: 322.670513 deg, new cmd heading: 322.899996 deg. 2025-01-08T22:06:44.658Z,1736374004.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635668 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:06:44.848Z,1736374004.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:45.063Z,1736374005.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:45.090Z,1736374005.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:45.097Z,1736374005.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:06:45.100Z,1736374005.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:45.100Z,1736374005.100 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:45.100Z,1736374005.100 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:45.101Z,1736374005.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:45.104Z,1736374005.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 69.070694 m, bearing: 111.816933 deg, approach rate: 0.553547 m/s, LOS rate: 0.195234 deg/s, cmd heading: 322.900007 deg, new cmd heading: 323.160870 deg. 2025-01-08T22:06:45.105Z,1736374005.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640221 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:06:45.352Z,1736374005.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:45.353Z,1736374005.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496570 2025-01-08T22:06:45.445Z,1736374005.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:45.454Z,1736374005.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:06:45.458Z,1736374005.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 69.293671 m, bearing: 111.895277 deg, approach rate: 0.624513 m/s, LOS rate: 0.218719 deg/s, cmd heading: 323.160866 deg, new cmd heading: 323.395139 deg. 2025-01-08T22:06:45.459Z,1736374005.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644310 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:06:45.604Z,1736374005.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:45.605Z,1736374005.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748196 2025-01-08T22:06:45.831Z,1736374005.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:45.841Z,1736374005.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:06:45.844Z,1736374005.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 69.517952 m, bearing: 111.975067 deg, approach rate: 0.579028 m/s, LOS rate: 0.205329 deg/s, cmd heading: 323.395141 deg, new cmd heading: 323.633737 deg. 2025-01-08T22:06:45.845Z,1736374005.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648474 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:06:45.856Z,1736374005.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:45.857Z,1736374005.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000091 2025-01-08T22:06:46.110Z,1736374006.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:46.111Z,1736374006.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254051 2025-01-08T22:06:46.252Z,1736374006.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:46.283Z,1736374006.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:06:46.291Z,1736374006.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 69.738441 m, bearing: 112.065076 deg, approach rate: 0.499426 m/s, LOS rate: 0.203233 deg/s, cmd heading: 323.633733 deg, new cmd heading: 323.902905 deg. 2025-01-08T22:06:46.300Z,1736374006.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653172 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:06:46.360Z,1736374006.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:46.361Z,1736374006.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504535 2025-01-08T22:06:46.612Z,1736374006.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:46.612Z,1736374006.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755675 2025-01-08T22:06:46.688Z,1736374006.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:46.697Z,1736374006.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:06:46.699Z,1736374006.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 69.966499 m, bearing: 112.157503 deg, approach rate: 0.550895 m/s, LOS rate: 0.222537 deg/s, cmd heading: 323.902897 deg, new cmd heading: 324.179271 deg. 2025-01-08T22:06:46.700Z,1736374006.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657996 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:06:46.864Z,1736374006.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:46.865Z,1736374006.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007832 2025-01-08T22:06:47.116Z,1736374007.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:47.116Z,1736374007.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259751 2025-01-08T22:06:47.122Z,1736374007.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:47.129Z,1736374007.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:47.131Z,1736374007.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:06:47.134Z,1736374007.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 70.171539 m, bearing: 112.251788 deg, approach rate: 0.472158 m/s, LOS rate: 0.216483 deg/s, cmd heading: 324.179274 deg, new cmd heading: 324.461303 deg. 2025-01-08T22:06:47.135Z,1736374007.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662918 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:06:47.368Z,1736374007.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:47.369Z,1736374007.369 [DAT](INFO): DAT read: Rx Time:22:06:46.0295 2025-01-08T22:06:47.369Z,1736374007.369 [DAT](INFO): Rx dataTimestamp_ set to:1736374007.368765 2025-01-08T22:06:47.370Z,1736374007.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512899 2025-01-08T22:06:47.453Z,1736374007.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:47.479Z,1736374007.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:06:47.489Z,1736374007.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 70.328140 m, bearing: 112.323351 deg, approach rate: 0.450153 m/s, LOS rate: 0.205251 deg/s, cmd heading: 324.461306 deg, new cmd heading: 324.675516 deg. 2025-01-08T22:06:47.490Z,1736374007.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666657 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:06:47.623Z,1736374007.623 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:47.624Z,1736374007.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767580 2025-01-08T22:06:47.868Z,1736374007.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:47.876Z,1736374007.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:47.882Z,1736374007.882 [DAT](INFO): DAT read: 22:06:46.0295 LVL= 21440, 28961, 32498, 31859, AGC= 65, IDX= 442,-0.02, 0.952, 0.222,-1.098, 0.032, PHS= 1.007, 0.236,-1.133, RAW= 50.8, -1.2, CAL= 52.3, -4.1, ROT= 97.7, 4.1 2025-01-08T22:06:47.896Z,1736374007.896 [DAT](INFO): got valid direction response: 22:06:46.0295 LVL= 21440, 28961, 32498, 31859, AGC= 65, IDX= 442,-0.02, 0.952, 0.222,-1.098, 0.032, PHS= 1.007, 0.236,-1.133, RAW= 50.8, -1.2, CAL= 52.3, -4.1, ROT= 97.7, 4.1 2025-01-08T22:06:47.897Z,1736374007.897 [DAT](INFO): DAT read: Bearing 97.7, 4.1 (Local) 2025-01-08T22:06:47.897Z,1736374007.897 [DAT](INFO): Local bearing/azimuth received: Bearing 97.7, 4.1 (Local) 2025-01-08T22:06:47.899Z,1736374007.899 [DAT](INFO): DAT read: Range 10 to 50 : 398.2 m (Round-trip 531.0 ms) speed 0.0 m/s 2025-01-08T22:06:47.899Z,1736374007.899 [DAT](INFO): DAT read: user:2308> 2025-01-08T22:06:47.900Z,1736374007.900 [DAT](INFO): DAT read: Tx time:22:06:47.1444 2025-01-08T22:06:47.900Z,1736374007.900 [DAT](INFO): Ping request sent. 2025-01-08T22:06:47.901Z,1736374007.901 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:47.901Z,1736374007.901 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:47.902Z,1736374007.902 [DAT](INFO): direction in FSK: [0.011644,0.691714,0.722077] 2025-01-08T22:06:47.902Z,1736374007.902 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:47.902Z,1736374007.902 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:47.919Z,1736374007.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 398.200012 m, deltaT: 4.035945 s, deltaX: 0.100006 m, approachRate: 0.024779 m/s, rangeRepo size: 4 2025-01-08T22:06:47.923Z,1736374007.923 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:47.946Z,1736374007.946 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:47.956Z,1736374007.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 398.200012 m, bearing: 54.057913 deg, lat: 36.902022 deg, lon: -122.120560 deg, deltaT: 4.035945 s, deltaX: 0.100006 m, approachRate: 0.024779 m/s, posRepo size: 4 2025-01-08T22:06:47.956Z,1736374007.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.20 m. 2025-01-08T22:06:47.961Z,1736374007.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.200012 m, nav range: 157.346466 m, bearing: 87.900151 deg, approach rate: 0.000000 m/s, LOS rate: 0.205251 deg/s, cmd heading: 324.675528 deg, new cmd heading: 324.946011 deg. 2025-01-08T22:06:47.962Z,1736374007.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671378 target range: 398.200012 and range: 398.20 m. 2025-01-08T22:06:48.128Z,1736374008.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:48.129Z,1736374008.129 [DAT](INFO): DAT read: TxSync time:22:06:47.1437 2025-01-08T22:06:48.357Z,1736374008.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:48.380Z,1736374008.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:48.389Z,1736374008.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.20 m. 2025-01-08T22:06:48.396Z,1736374008.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.200012 m, nav range: 157.492691 m, bearing: 87.977464 deg, approach rate: 0.310296 m/s, LOS rate: 0.163909 deg/s, cmd heading: 324.946004 deg, new cmd heading: 325.177726 deg. 2025-01-08T22:06:48.397Z,1736374008.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675422 target range: 398.200012 and range: 398.20 m. 2025-01-08T22:06:48.632Z,1736374008.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:48.698Z,1736374008.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:48.719Z,1736374008.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.20 m. 2025-01-08T22:06:48.725Z,1736374008.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.200012 m, nav range: 157.594666 m, bearing: 88.031221 deg, approach rate: 0.309787 m/s, LOS rate: 0.163204 deg/s, cmd heading: 325.177739 deg, new cmd heading: 325.338906 deg. 2025-01-08T22:06:48.726Z,1736374008.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678235 target range: 398.200012 and range: 398.20 m. 2025-01-08T22:06:48.884Z,1736374008.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:49.128Z,1736374009.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:49.136Z,1736374009.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:49.135Z,1736374009.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:49.140Z,1736374009.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.20 m. 2025-01-08T22:06:49.142Z,1736374009.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.200012 m, nav range: 157.729706 m, bearing: 88.101688 deg, approach rate: 0.320988 m/s, LOS rate: 0.167354 deg/s, cmd heading: 325.338904 deg, new cmd heading: 325.550121 deg. 2025-01-08T22:06:49.143Z,1736374009.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681921 target range: 398.200012 and range: 398.20 m. 2025-01-08T22:06:49.388Z,1736374009.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:49.389Z,1736374009.389 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:49.389Z,1736374009.389 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:49.389Z,1736374009.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:49.481Z,1736374009.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:49.490Z,1736374009.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.20 m. 2025-01-08T22:06:49.493Z,1736374009.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.200012 m, nav range: 157.839920 m, bearing: 88.159421 deg, approach rate: 0.314542 m/s, LOS rate: 0.164650 deg/s, cmd heading: 325.550120 deg, new cmd heading: 325.723198 deg. 2025-01-08T22:06:49.494Z,1736374009.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684942 target range: 398.200012 and range: 398.20 m. 2025-01-08T22:06:49.641Z,1736374009.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:49.643Z,1736374009.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741891 2025-01-08T22:06:49.884Z,1736374009.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:49.892Z,1736374009.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:49.893Z,1736374009.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992044 2025-01-08T22:06:49.895Z,1736374009.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.20 m. 2025-01-08T22:06:49.898Z,1736374009.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.200012 m, nav range: 157.965744 m, bearing: 88.225693 deg, approach rate: 0.310267 m/s, LOS rate: 0.163291 deg/s, cmd heading: 325.723197 deg, new cmd heading: 325.921856 deg. 2025-01-08T22:06:49.899Z,1736374009.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.688409 target range: 398.200012 and range: 398.20 m. 2025-01-08T22:06:50.144Z,1736374010.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:50.144Z,1736374010.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243883 2025-01-08T22:06:50.311Z,1736374010.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:50.319Z,1736374010.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.20 m. 2025-01-08T22:06:50.323Z,1736374010.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.200012 m, nav range: 158.115311 m, bearing: 88.299037 deg, approach rate: 0.352711 m/s, LOS rate: 0.172796 deg/s, cmd heading: 325.921847 deg, new cmd heading: 326.141667 deg. 2025-01-08T22:06:50.324Z,1736374010.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692246 target range: 398.200012 and range: 398.20 m. 2025-01-08T22:06:50.396Z,1736374010.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:50.397Z,1736374010.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496038 2025-01-08T22:06:50.648Z,1736374010.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:50.649Z,1736374010.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748488 2025-01-08T22:06:50.702Z,1736374010.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:50.731Z,1736374010.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.20 m. 2025-01-08T22:06:50.749Z,1736374010.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.200012 m, nav range: 158.252380 m, bearing: 88.366347 deg, approach rate: 0.333101 m/s, LOS rate: 0.163433 deg/s, cmd heading: 326.141669 deg, new cmd heading: 326.343425 deg. 2025-01-08T22:06:50.750Z,1736374010.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695767 target range: 398.200012 and range: 398.20 m. 2025-01-08T22:06:50.900Z,1736374010.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:50.900Z,1736374010.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999743 2025-01-08T22:06:51.152Z,1736374011.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:51.152Z,1736374011.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251906 2025-01-08T22:06:51.178Z,1736374011.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:51.195Z,1736374011.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:51.201Z,1736374011.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.20 m. 2025-01-08T22:06:51.208Z,1736374011.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.200012 m, nav range: 158.444000 m, bearing: 88.450423 deg, approach rate: 0.407337 m/s, LOS rate: 0.178509 deg/s, cmd heading: 326.343433 deg, new cmd heading: 326.595355 deg. 2025-01-08T22:06:51.209Z,1736374011.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700164 target range: 398.200012 and range: 398.20 m. 2025-01-08T22:06:51.404Z,1736374011.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:51.405Z,1736374011.405 [DAT](INFO): DAT read: Rx Time:22:06:50.0797 2025-01-08T22:06:51.405Z,1736374011.405 [DAT](INFO): Rx dataTimestamp_ set to:1736374011.405100 2025-01-08T22:06:51.406Z,1736374011.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505348 2025-01-08T22:06:51.503Z,1736374011.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:51.512Z,1736374011.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.20 m. 2025-01-08T22:06:51.515Z,1736374011.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.200012 m, nav range: 158.574524 m, bearing: 88.507602 deg, approach rate: 0.419320 m/s, LOS rate: 0.183540 deg/s, cmd heading: 326.595358 deg, new cmd heading: 326.766751 deg. 2025-01-08T22:06:51.516Z,1736374011.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703156 target range: 398.200012 and range: 398.20 m. 2025-01-08T22:06:51.657Z,1736374011.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:51.658Z,1736374011.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757161 2025-01-08T22:06:51.908Z,1736374011.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:51.914Z,1736374011.914 [DAT](INFO): DAT read: 22:06:50.0797 LVL= 20080, 27073, 28626, 30291, AGC= 69, IDX= 443,-0.30,-2.993, 2.623, 1.242, 2.382, PHS= 0.996, 0.288,-1.143, RAW= 49.0, -1.5, CAL= 50.3, -4.5, ROT= 99.7, 4.5 2025-01-08T22:06:51.924Z,1736374011.924 [DAT](INFO): got valid direction response: 22:06:50.0797 LVL= 20080, 27073, 28626, 30291, AGC= 69, IDX= 443,-0.30,-2.993, 2.623, 1.242, 2.382, PHS= 0.996, 0.288,-1.143, RAW= 49.0, -1.5, CAL= 50.3, -4.5, ROT= 99.7, 4.5 2025-01-08T22:06:51.925Z,1736374011.925 [DAT](INFO): DAT read: Bearing 99.7, 4.5 (Local) 2025-01-08T22:06:51.925Z,1736374011.925 [DAT](INFO): Local bearing/azimuth received: Bearing 99.7, 4.5 (Local) 2025-01-08T22:06:51.927Z,1736374011.927 [DAT](INFO): DAT read: Range 10 to 50 : 398.3 m (Round-trip 531.1 ms) speed -0.1 m/s 2025-01-08T22:06:51.952Z,1736374011.952 [DAT](INFO): DAT read: user:2309> 2025-01-08T22:06:51.952Z,1736374011.952 [DAT](INFO): DAT read: Tx time:22:06:51.1945 2025-01-08T22:06:51.953Z,1736374011.953 [DAT](INFO): Ping request sent. 2025-01-08T22:06:51.953Z,1736374011.953 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:51.953Z,1736374011.953 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:51.954Z,1736374011.954 [DAT](INFO): direction in FSK: [0.021579,0.713106,0.700724] 2025-01-08T22:06:51.954Z,1736374011.954 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:51.954Z,1736374011.954 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:51.986Z,1736374011.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:52.073Z,1736374012.073 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:52.074Z,1736374012.074 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:52.159Z,1736374012.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 398.299988 m, deltaT: 4.031974 s, deltaX: 0.099976 m, approachRate: 0.024796 m/s, rangeRepo size: 4 2025-01-08T22:06:52.160Z,1736374012.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:52.160Z,1736374012.160 [DAT](INFO): DAT read: 7 2025-01-08T22:06:52.161Z,1736374012.161 [DAT](INFO): unknown deviceResponse_: 7 2025-01-08T22:06:52.173Z,1736374012.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 398.299988 m, bearing: 54.472790 deg, lat: 36.903213 deg, lon: -122.120190 deg, deltaT: 4.031974 s, deltaX: 0.099976 m, approachRate: 0.024796 m/s, posRepo size: 4 2025-01-08T22:06:52.174Z,1736374012.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.30 m. 2025-01-08T22:06:52.185Z,1736374012.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.299988 m, nav range: 235.137131 m, bearing: 54.573989 deg, approach rate: 0.000000 m/s, LOS rate: 0.183540 deg/s, cmd heading: 326.766741 deg, new cmd heading: 327.122203 deg. 2025-01-08T22:06:52.186Z,1736374012.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709360 target range: 398.299988 and range: 398.30 m. 2025-01-08T22:06:52.413Z,1736374012.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:52.494Z,1736374012.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:52.511Z,1736374012.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.30 m. 2025-01-08T22:06:52.518Z,1736374012.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.299988 m, nav range: 235.168839 m, bearing: 54.651883 deg, approach rate: 0.089922 m/s, LOS rate: 0.220874 deg/s, cmd heading: 327.122211 deg, new cmd heading: 327.355861 deg. 2025-01-08T22:06:52.519Z,1736374012.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713438 target range: 398.299988 and range: 398.30 m. 2025-01-08T22:06:52.573Z,1736374012.573 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:06:52.664Z,1736374012.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:52.889Z,1736374012.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:52.897Z,1736374012.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.30 m. 2025-01-08T22:06:52.900Z,1736374012.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.299988 m, nav range: 235.193588 m, bearing: 54.712442 deg, approach rate: 0.063997 m/s, LOS rate: 0.156573 deg/s, cmd heading: 327.355859 deg, new cmd heading: 327.537515 deg. 2025-01-08T22:06:52.901Z,1736374012.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716608 target range: 398.299988 and range: 398.30 m. 2025-01-08T22:06:52.916Z,1736374012.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:53.168Z,1736374013.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:53.306Z,1736374013.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:06:53.306Z,1736374013.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:53.313Z,1736374013.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:53.315Z,1736374013.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.30 m. 2025-01-08T22:06:53.318Z,1736374013.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.299988 m, nav range: 235.219971 m, bearing: 54.776262 deg, approach rate: 0.063180 m/s, LOS rate: 0.152819 deg/s, cmd heading: 327.537514 deg, new cmd heading: 327.728954 deg. 2025-01-08T22:06:53.319Z,1736374013.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719949 target range: 398.299988 and range: 398.30 m. 2025-01-08T22:06:53.420Z,1736374013.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:53.420Z,1736374013.420 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:53.420Z,1736374013.420 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:53.421Z,1736374013.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:53.672Z,1736374013.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:53.674Z,1736374013.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721276 2025-01-08T22:06:53.721Z,1736374013.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:06:53.722Z,1736374013.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:53.730Z,1736374013.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.30 m. 2025-01-08T22:06:53.738Z,1736374013.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.299988 m, nav range: 235.246353 m, bearing: 54.839976 deg, approach rate: 0.063539 m/s, LOS rate: 0.153432 deg/s, cmd heading: 327.728951 deg, new cmd heading: 327.920071 deg. 2025-01-08T22:06:53.744Z,1736374013.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723285 target range: 398.299988 and range: 398.30 m. 2025-01-08T22:06:53.924Z,1736374013.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:53.924Z,1736374013.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971642 2025-01-08T22:06:54.176Z,1736374014.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:54.177Z,1736374014.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223746 2025-01-08T22:06:54.217Z,1736374014.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:54.234Z,1736374014.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.30 m. 2025-01-08T22:06:54.241Z,1736374014.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.299988 m, nav range: 235.328308 m, bearing: 54.929789 deg, approach rate: 0.162686 m/s, LOS rate: 0.178222 deg/s, cmd heading: 327.920059 deg, new cmd heading: 328.189402 deg. 2025-01-08T22:06:54.242Z,1736374014.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727986 target range: 398.299988 and range: 398.30 m. 2025-01-08T22:06:54.428Z,1736374014.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:54.428Z,1736374014.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475666 2025-01-08T22:06:54.536Z,1736374014.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:54.545Z,1736374014.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.30 m. 2025-01-08T22:06:54.548Z,1736374014.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.299988 m, nav range: 235.380661 m, bearing: 54.987430 deg, approach rate: 0.168196 m/s, LOS rate: 0.185144 deg/s, cmd heading: 328.189415 deg, new cmd heading: 328.362298 deg. 2025-01-08T22:06:54.549Z,1736374014.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731003 target range: 398.299988 and range: 398.30 m. 2025-01-08T22:06:54.681Z,1736374014.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:54.682Z,1736374014.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729209 2025-01-08T22:06:54.932Z,1736374014.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:54.933Z,1736374014.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979774 2025-01-08T22:06:54.943Z,1736374014.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:54.985Z,1736374014.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.30 m. 2025-01-08T22:06:54.995Z,1736374014.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.299988 m, nav range: 235.447189 m, bearing: 55.061135 deg, approach rate: 0.151330 m/s, LOS rate: 0.167607 deg/s, cmd heading: 328.362301 deg, new cmd heading: 328.583352 deg. 2025-01-08T22:06:55.000Z,1736374015.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734861 target range: 398.299988 and range: 398.30 m. 2025-01-08T22:06:55.184Z,1736374015.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:55.185Z,1736374015.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231885 2025-01-08T22:06:55.372Z,1736374015.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:55.380Z,1736374015.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:55.382Z,1736374015.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.30 m. 2025-01-08T22:06:55.400Z,1736374015.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.299988 m, nav range: 235.524048 m, bearing: 55.137262 deg, approach rate: 0.193704 m/s, LOS rate: 0.191798 deg/s, cmd heading: 328.583353 deg, new cmd heading: 328.811658 deg. 2025-01-08T22:06:55.401Z,1736374015.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738846 target range: 398.299988 and range: 398.30 m. 2025-01-08T22:06:55.436Z,1736374015.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:55.437Z,1736374015.437 [DAT](INFO): DAT read: Rx Time:22:06:54.1298 2025-01-08T22:06:55.437Z,1736374015.437 [DAT](INFO): Rx dataTimestamp_ set to:1736374015.436934 2025-01-08T22:06:55.438Z,1736374015.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485333 2025-01-08T22:06:55.688Z,1736374015.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:55.690Z,1736374015.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.737249 2025-01-08T22:06:55.746Z,1736374015.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:55.786Z,1736374015.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.30 m. 2025-01-08T22:06:55.809Z,1736374015.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.299988 m, nav range: 235.589630 m, bearing: 55.203619 deg, approach rate: 0.162583 m/s, LOS rate: 0.164458 deg/s, cmd heading: 328.811645 deg, new cmd heading: 329.010660 deg. 2025-01-08T22:06:55.817Z,1736374015.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742319 target range: 398.299988 and range: 398.30 m. 2025-01-08T22:06:55.940Z,1736374015.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:55.949Z,1736374015.949 [DAT](INFO): DAT read: 22:06:54.1298 LVL= 21344, 29105, 29298, 32755, AGC= 65, IDX= 428, 0.17,-1.111,-1.776,-3.121,-2.075, PHS= 1.052, 0.347,-1.049, RAW= 49.3, -3.8, CAL= 51.9, -7.9, ROT= 98.1, 7.9 2025-01-08T22:06:55.951Z,1736374015.951 [DAT](INFO): got valid direction response: 22:06:54.1298 LVL= 21344, 29105, 29298, 32755, AGC= 65, IDX= 428, 0.17,-1.111,-1.776,-3.121,-2.075, PHS= 1.052, 0.347,-1.049, RAW= 49.3, -3.8, CAL= 51.9, -7.9, ROT= 98.1, 7.9 2025-01-08T22:06:55.953Z,1736374015.953 [DAT](INFO): DAT read: Bearing 98.1, 7.9 (Local) 2025-01-08T22:06:55.954Z,1736374015.954 [DAT](INFO): Local bearing/azimuth received: Bearing 98.1, 7.9 (Local) 2025-01-08T22:06:55.956Z,1736374015.956 [DAT](INFO): DAT read: Range 10 to 50 : 398.4 m (Round-trip 531.2 ms) speed -0.1 m/s 2025-01-08T22:06:55.956Z,1736374015.956 [DAT](INFO): DAT read: user:2310> 2025-01-08T22:06:55.957Z,1736374015.957 [DAT](INFO): DAT read: Tx time:22:06:55.2445 2025-01-08T22:06:55.957Z,1736374015.957 [DAT](INFO): Ping request sent. 2025-01-08T22:06:55.958Z,1736374015.958 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:55.958Z,1736374015.958 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:55.960Z,1736374015.960 [DAT](INFO): direction in FSK: [0.063803,0.705895,0.705437] 2025-01-08T22:06:55.961Z,1736374015.961 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:55.962Z,1736374015.962 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:55.968Z,1736374015.968 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:55.968Z,1736374015.968 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:56.193Z,1736374016.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:56.195Z,1736374016.195 [DAT](INFO): DAT read: TxSync time:22:06:55.2437 2025-01-08T22:06:56.277Z,1736374016.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:56.308Z,1736374016.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 398.399994 m, deltaT: 4.031962 s, deltaX: 0.100006 m, approachRate: 0.024803 m/s, rangeRepo size: 4 2025-01-08T22:06:56.310Z,1736374016.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 398.399994 m, bearing: 52.677446 deg, lat: 36.903242 deg, lon: -122.120190 deg, deltaT: 4.031962 s, deltaX: 0.100006 m, approachRate: 0.024803 m/s, posRepo size: 4 2025-01-08T22:06:56.311Z,1736374016.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:06:56.317Z,1736374016.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 237.553741 m, bearing: 54.645327 deg, approach rate: 0.000000 m/s, LOS rate: 0.164458 deg/s, cmd heading: 329.010649 deg, new cmd heading: 329.266102 deg. 2025-01-08T22:06:56.318Z,1736374016.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746778 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:06:56.444Z,1736374016.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:56.594Z,1736374016.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:56.603Z,1736374016.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:06:56.623Z,1736374016.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 237.599518 m, bearing: 54.699516 deg, approach rate: 0.152657 m/s, LOS rate: 0.180676 deg/s, cmd heading: 329.266099 deg, new cmd heading: 329.428633 deg. 2025-01-08T22:06:56.628Z,1736374016.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749614 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:06:56.697Z,1736374016.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:56.948Z,1736374016.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:56.997Z,1736374016.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:57.007Z,1736374017.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:06:57.009Z,1736374017.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 237.656357 m, bearing: 54.768565 deg, approach rate: 0.140696 m/s, LOS rate: 0.170880 deg/s, cmd heading: 329.428630 deg, new cmd heading: 329.635727 deg. 2025-01-08T22:06:57.010Z,1736374017.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753229 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:06:57.201Z,1736374017.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:57.448Z,1736374017.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:57.452Z,1736374017.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:57.457Z,1736374017.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:57.459Z,1736374017.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:06:57.462Z,1736374017.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 237.707138 m, bearing: 54.839602 deg, approach rate: 0.112292 m/s, LOS rate: 0.157049 deg/s, cmd heading: 329.635721 deg, new cmd heading: 329.848786 deg. 2025-01-08T22:06:57.463Z,1736374017.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756948 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:06:57.704Z,1736374017.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:57.704Z,1736374017.704 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:06:57.704Z,1736374017.704 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:06:57.704Z,1736374017.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:06:57.811Z,1736374017.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:57.819Z,1736374017.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:06:57.822Z,1736374017.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 237.746338 m, bearing: 54.896994 deg, approach rate: 0.108782 m/s, LOS rate: 0.159238 deg/s, cmd heading: 329.848796 deg, new cmd heading: 330.020941 deg. 2025-01-08T22:06:57.823Z,1736374017.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759952 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:06:57.956Z,1736374017.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:57.957Z,1736374017.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999224 2025-01-08T22:06:58.209Z,1736374018.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:58.212Z,1736374018.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253829 2025-01-08T22:06:58.274Z,1736374018.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:58.283Z,1736374018.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:06:58.286Z,1736374018.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 237.776154 m, bearing: 54.965593 deg, approach rate: 0.064336 m/s, LOS rate: 0.148004 deg/s, cmd heading: 330.020944 deg, new cmd heading: 330.226713 deg. 2025-01-08T22:06:58.287Z,1736374018.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763544 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:06:58.460Z,1736374018.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:58.460Z,1736374018.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502703 2025-01-08T22:06:58.712Z,1736374018.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:58.712Z,1736374018.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754737 2025-01-08T22:06:58.753Z,1736374018.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:58.774Z,1736374018.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:06:58.784Z,1736374018.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 237.805420 m, bearing: 55.036506 deg, approach rate: 0.059589 m/s, LOS rate: 0.144369 deg/s, cmd heading: 330.226724 deg, new cmd heading: 330.439436 deg. 2025-01-08T22:06:58.785Z,1736374018.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767256 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:06:58.964Z,1736374018.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:58.964Z,1736374018.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006814 2025-01-08T22:06:59.143Z,1736374019.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:59.202Z,1736374019.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:06:59.218Z,1736374019.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:59.220Z,1736374019.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262234 2025-01-08T22:06:59.226Z,1736374019.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 237.826279 m, bearing: 55.094337 deg, approach rate: 0.049455 m/s, LOS rate: 0.137103 deg/s, cmd heading: 330.439443 deg, new cmd heading: 330.612921 deg. 2025-01-08T22:06:59.227Z,1736374019.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770284 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:06:59.468Z,1736374019.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:59.468Z,1736374019.468 [DAT](INFO): DAT read: Rx Time:22:06:58.1804 2025-01-08T22:06:59.469Z,1736374019.469 [DAT](INFO): Rx dataTimestamp_ set to:1736374019.468646 2025-01-08T22:06:59.469Z,1736374019.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511860 2025-01-08T22:06:59.686Z,1736374019.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:06:59.697Z,1736374019.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:06:59.699Z,1736374019.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:06:59.702Z,1736374019.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 237.831604 m, bearing: 55.170258 deg, approach rate: 0.010580 m/s, LOS rate: 0.150834 deg/s, cmd heading: 330.612930 deg, new cmd heading: 330.840686 deg. 2025-01-08T22:06:59.702Z,1736374019.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774259 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:06:59.721Z,1736374019.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:59.722Z,1736374019.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763941 2025-01-08T22:06:59.972Z,1736374019.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:06:59.979Z,1736374019.979 [DAT](INFO): DAT read: 22:06:58.1804 LVL= 16096, 28209, 20242, 30707, AGC= 69, IDX= 432, 0.22, 2.428, 1.628, 0.414, 1.380, PHS= 1.136, 0.295,-0.969, RAW= 53.4, -5.1, CAL= 57.8, -10.1, ROT= 92.2, 10.1 2025-01-08T22:06:59.980Z,1736374019.980 [DAT](INFO): got valid direction response: 22:06:58.1804 LVL= 16096, 28209, 20242, 30707, AGC= 69, IDX= 432, 0.22, 2.428, 1.628, 0.414, 1.380, PHS= 1.136, 0.295,-0.969, RAW= 53.4, -5.1, CAL= 57.8, -10.1, ROT= 92.2, 10.1 2025-01-08T22:06:59.981Z,1736374019.981 [DAT](INFO): DAT read: Bearing 92.2, 10.1 (Local) 2025-01-08T22:06:59.981Z,1736374019.981 [DAT](INFO): Local bearing/azimuth received: Bearing 92.2, 10.1 (Local) 2025-01-08T22:06:59.983Z,1736374019.983 [DAT](INFO): DAT read: Range 10 to 50 : 398.7 m (Round-trip 531.7 ms) speed 0.0 m/s 2025-01-08T22:06:59.983Z,1736374019.983 [DAT](INFO): DAT read: user:2311> 2025-01-08T22:06:59.984Z,1736374019.984 [DAT](INFO): DAT read: Tx time:22:06:59.2946 2025-01-08T22:06:59.984Z,1736374019.984 [DAT](INFO): Ping request sent. 2025-01-08T22:06:59.985Z,1736374019.985 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:06:59.985Z,1736374019.985 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:06:59.986Z,1736374019.986 [DAT](INFO): direction in FSK: [0.078765,0.654353,0.752076] 2025-01-08T22:06:59.986Z,1736374019.986 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:59.986Z,1736374019.986 [DAT](INFO): publishing direction and range info 2025-01-08T22:06:59.990Z,1736374019.990 [DAT](INFO): publishing transmit ping time 2025-01-08T22:06:59.991Z,1736374019.991 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:00.057Z,1736374020.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:00.098Z,1736374020.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 398.700012 m, deltaT: 4.032481 s, deltaX: 0.300018 m, approachRate: 0.074400 m/s, rangeRepo size: 4 2025-01-08T22:07:00.106Z,1736374020.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 398.700012 m, bearing: 55.771128 deg, lat: 36.903213 deg, lon: -122.120190 deg, deltaT: 4.032481 s, deltaX: 0.300018 m, approachRate: 0.074400 m/s, posRepo size: 4 2025-01-08T22:07:00.106Z,1736374020.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.70 m. 2025-01-08T22:07:00.126Z,1736374020.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.700012 m, nav range: 235.980484 m, bearing: 55.875390 deg, approach rate: 0.000000 m/s, LOS rate: 0.150834 deg/s, cmd heading: 330.840676 deg, new cmd heading: 331.019918 deg. 2025-01-08T22:07:00.127Z,1736374020.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777388 target range: 398.700012 and range: 398.70 m. 2025-01-08T22:07:00.226Z,1736374020.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:00.231Z,1736374020.231 [DAT](INFO): DAT read: TxSync time:22:06:59.2938 2025-01-08T22:07:00.465Z,1736374020.465 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS4080553,35.0, +10.9, 01, 0 2025-01-08T22:07:00.476Z,1736374020.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:00.485Z,1736374020.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:07:00.485Z,1736374020.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:00.506Z,1736374020.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.70 m. 2025-01-08T22:07:00.513Z,1736374020.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.700012 m, nav range: 235.984909 m, bearing: 55.935588 deg, approach rate: 0.010759 m/s, LOS rate: 0.146356 deg/s, cmd heading: 331.019927 deg, new cmd heading: 331.200517 deg. 2025-01-08T22:07:00.514Z,1736374020.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780540 target range: 398.700012 and range: 398.70 m. 2025-01-08T22:07:00.728Z,1736374020.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:00.860Z,1736374020.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:07:00.860Z,1736374020.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:00.869Z,1736374020.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.70 m. 2025-01-08T22:07:00.873Z,1736374020.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.700012 m, nav range: 235.987946 m, bearing: 55.988334 deg, approach rate: 0.008378 m/s, LOS rate: 0.145521 deg/s, cmd heading: 331.200517 deg, new cmd heading: 331.358751 deg. 2025-01-08T22:07:00.874Z,1736374020.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783301 target range: 398.700012 and range: 398.70 m. 2025-01-08T22:07:00.981Z,1736374020.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:01.234Z,1736374021.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:01.302Z,1736374021.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:01.312Z,1736374021.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.70 m. 2025-01-08T22:07:01.314Z,1736374021.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.700012 m, nav range: 235.965866 m, bearing: 56.047690 deg, approach rate: -0.049861 m/s, LOS rate: 0.134053 deg/s, cmd heading: 331.358759 deg, new cmd heading: 331.536845 deg. 2025-01-08T22:07:01.332Z,1736374021.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786409 target range: 398.700012 and range: 398.70 m. 2025-01-08T22:07:01.484Z,1736374021.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:01.656Z,1736374021.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:01.690Z,1736374021.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.70 m. 2025-01-08T22:07:01.697Z,1736374021.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.700012 m, nav range: 235.947342 m, bearing: 56.095149 deg, approach rate: -0.048916 m/s, LOS rate: 0.125332 deg/s, cmd heading: 331.536836 deg, new cmd heading: 331.679223 deg. 2025-01-08T22:07:01.698Z,1736374021.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788895 target range: 398.700012 and range: 398.70 m. 2025-01-08T22:07:01.737Z,1736374021.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:01.988Z,1736374021.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:02.126Z,1736374022.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:02.133Z,1736374022.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:02.147Z,1736374022.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.70 m. 2025-01-08T22:07:02.150Z,1736374022.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.700012 m, nav range: 235.921463 m, bearing: 56.158136 deg, approach rate: -0.058176 m/s, LOS rate: 0.141609 deg/s, cmd heading: 331.679232 deg, new cmd heading: 331.868212 deg. 2025-01-08T22:07:02.151Z,1736374022.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792193 target range: 398.700012 and range: 398.70 m. 2025-01-08T22:07:02.243Z,1736374022.243 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:02.245Z,1736374022.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:02.245Z,1736374022.245 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:02.246Z,1736374022.246 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:02.492Z,1736374022.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:02.492Z,1736374022.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507753 2025-01-08T22:07:02.564Z,1736374022.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:02.573Z,1736374022.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.70 m. 2025-01-08T22:07:02.591Z,1736374022.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.700012 m, nav range: 235.898621 m, bearing: 56.218920 deg, approach rate: -0.052202 m/s, LOS rate: 0.138926 deg/s, cmd heading: 331.868209 deg, new cmd heading: 332.050580 deg. 2025-01-08T22:07:02.592Z,1736374022.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795376 target range: 398.700012 and range: 398.70 m. 2025-01-08T22:07:02.745Z,1736374022.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:02.746Z,1736374022.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761331 2025-01-08T22:07:02.987Z,1736374022.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:02.996Z,1736374022.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:02.997Z,1736374022.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012003 2025-01-08T22:07:02.998Z,1736374022.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.70 m. 2025-01-08T22:07:03.000Z,1736374023.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.700012 m, nav range: 235.874695 m, bearing: 56.277695 deg, approach rate: -0.056289 m/s, LOS rate: 0.138290 deg/s, cmd heading: 332.050575 deg, new cmd heading: 332.226916 deg. 2025-01-08T22:07:03.001Z,1736374023.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798453 target range: 398.700012 and range: 398.70 m. 2025-01-08T22:07:03.250Z,1736374023.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:03.252Z,1736374023.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266942 2025-01-08T22:07:03.414Z,1736374023.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:03.424Z,1736374023.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.70 m. 2025-01-08T22:07:03.426Z,1736374023.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.700012 m, nav range: 235.858704 m, bearing: 56.340814 deg, approach rate: -0.037522 m/s, LOS rate: 0.148113 deg/s, cmd heading: 332.226904 deg, new cmd heading: 332.416272 deg. 2025-01-08T22:07:03.428Z,1736374023.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801758 target range: 398.700012 and range: 398.70 m. 2025-01-08T22:07:03.501Z,1736374023.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:03.502Z,1736374023.502 [DAT](INFO): DAT read: Rx Time:22:07:02.2300 2025-01-08T22:07:03.502Z,1736374023.502 [DAT](INFO): Rx dataTimestamp_ set to:1736374023.502064 2025-01-08T22:07:03.504Z,1736374023.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518813 2025-01-08T22:07:03.752Z,1736374023.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:03.752Z,1736374023.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767751 2025-01-08T22:07:03.814Z,1736374023.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:03.826Z,1736374023.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.70 m. 2025-01-08T22:07:03.833Z,1736374023.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.700012 m, nav range: 235.843124 m, bearing: 56.399882 deg, approach rate: -0.038805 m/s, LOS rate: 0.147140 deg/s, cmd heading: 332.416264 deg, new cmd heading: 332.593481 deg. 2025-01-08T22:07:03.834Z,1736374023.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804852 target range: 398.700012 and range: 398.70 m. 2025-01-08T22:07:04.005Z,1736374024.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:04.016Z,1736374024.016 [DAT](INFO): DAT read: 22:07:02.2300 LVL= 10480, 22833, 16594, 28819, AGC= 67, IDX= 445,-0.00, 2.180, 1.308, 0.109, 1.128, PHS= 1.140, 0.227,-1.022, RAW= 54.9, -3.7, CAL= 58.7, -8.1, ROT= 91.3, 8.1 2025-01-08T22:07:04.019Z,1736374024.019 [DAT](INFO): got valid direction response: 22:07:02.2300 LVL= 10480, 22833, 16594, 28819, AGC= 67, IDX= 445,-0.00, 2.180, 1.308, 0.109, 1.128, PHS= 1.140, 0.227,-1.022, RAW= 54.9, -3.7, CAL= 58.7, -8.1, ROT= 91.3, 8.1 2025-01-08T22:07:04.020Z,1736374024.020 [DAT](INFO): DAT read: Bearing 91.3, 8.1 (Local) 2025-01-08T22:07:04.020Z,1736374024.020 [DAT](INFO): Local bearing/azimuth received: Bearing 91.3, 8.1 (Local) 2025-01-08T22:07:04.022Z,1736374024.022 [DAT](INFO): DAT read: Range 10 to 50 : 398.4 m (Round-trip 531.3 ms) speed 0.1 m/s 2025-01-08T22:07:04.023Z,1736374024.023 [DAT](INFO): DAT read: user:2312> 2025-01-08T22:07:04.028Z,1736374024.028 [DAT](INFO): DAT read: Tx time:22:07:03.3446 2025-01-08T22:07:04.028Z,1736374024.028 [DAT](INFO): Ping request sent. 2025-01-08T22:07:04.029Z,1736374024.029 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:04.029Z,1736374024.029 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:04.030Z,1736374024.030 [DAT](INFO): direction in FSK: [0.050275,0.638621,0.767877] 2025-01-08T22:07:04.030Z,1736374024.030 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:04.030Z,1736374024.030 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:04.033Z,1736374024.033 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:04.034Z,1736374024.034 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:04.219Z,1736374024.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:04.257Z,1736374024.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:04.261Z,1736374024.261 [DAT](INFO): DAT read: TxSync time:22:07:03.3438 2025-01-08T22:07:04.308Z,1736374024.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 398.399994 m, deltaT: 4.032687 s, deltaX: -0.300018 m, approachRate: -0.074397 m/s, rangeRepo size: 4 2025-01-08T22:07:04.317Z,1736374024.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 398.399994 m, bearing: 60.860453 deg, lat: 36.903213 deg, lon: -122.120289 deg, deltaT: 4.032687 s, deltaX: -0.300018 m, approachRate: -0.074397 m/s, posRepo size: 4 2025-01-08T22:07:04.317Z,1736374024.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:07:04.324Z,1736374024.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 228.538086 m, bearing: 55.238952 deg, approach rate: 0.000000 m/s, LOS rate: 0.147140 deg/s, cmd heading: 332.593493 deg, new cmd heading: 332.800682 deg. 2025-01-08T22:07:04.325Z,1736374024.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808468 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:07:04.508Z,1736374024.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:04.629Z,1736374024.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:04.636Z,1736374024.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:04.639Z,1736374024.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:07:04.668Z,1736374024.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 228.531799 m, bearing: 55.304891 deg, approach rate: -0.018273 m/s, LOS rate: 0.191670 deg/s, cmd heading: 332.800694 deg, new cmd heading: 332.998515 deg. 2025-01-08T22:07:04.670Z,1736374024.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811921 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:07:04.760Z,1736374024.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:04.760Z,1736374024.760 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:04.760Z,1736374024.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:04.761Z,1736374024.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:04.999Z,1736374024.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:05.009Z,1736374025.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:07:05.012Z,1736374025.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:05.013Z,1736374025.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984018 2025-01-08T22:07:05.013Z,1736374025.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 228.525055 m, bearing: 55.363738 deg, approach rate: -0.018236 m/s, LOS rate: 0.159116 deg/s, cmd heading: 332.998524 deg, new cmd heading: 333.175068 deg. 2025-01-08T22:07:05.014Z,1736374025.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815002 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:07:05.265Z,1736374025.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:05.268Z,1736374025.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238531 2025-01-08T22:07:05.426Z,1736374025.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:05.441Z,1736374025.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:07:05.460Z,1736374025.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 228.523636 m, bearing: 55.434840 deg, approach rate: -0.003284 m/s, LOS rate: 0.164526 deg/s, cmd heading: 333.175070 deg, new cmd heading: 333.388378 deg. 2025-01-08T22:07:05.461Z,1736374025.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818725 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:07:05.516Z,1736374025.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:05.517Z,1736374025.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488108 2025-01-08T22:07:05.768Z,1736374025.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:05.769Z,1736374025.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740052 2025-01-08T22:07:05.813Z,1736374025.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:05.821Z,1736374025.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:07:05.824Z,1736374025.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 228.521393 m, bearing: 55.499291 deg, approach rate: -0.005897 m/s, LOS rate: 0.169441 deg/s, cmd heading: 333.388391 deg, new cmd heading: 333.581743 deg. 2025-01-08T22:07:05.825Z,1736374025.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822100 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:07:06.020Z,1736374026.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:06.020Z,1736374026.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991880 2025-01-08T22:07:06.217Z,1736374026.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:06.231Z,1736374026.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:07:06.234Z,1736374026.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 228.518814 m, bearing: 55.566570 deg, approach rate: -0.006298 m/s, LOS rate: 0.164324 deg/s, cmd heading: 333.581740 deg, new cmd heading: 333.783579 deg. 2025-01-08T22:07:06.235Z,1736374026.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825623 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:07:06.272Z,1736374026.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:06.274Z,1736374026.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245084 2025-01-08T22:07:06.524Z,1736374026.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:06.525Z,1736374026.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496107 2025-01-08T22:07:06.642Z,1736374026.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:06.669Z,1736374026.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:06.679Z,1736374026.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:07:06.690Z,1736374026.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 228.530991 m, bearing: 55.639444 deg, approach rate: 0.027191 m/s, LOS rate: 0.162722 deg/s, cmd heading: 333.783586 deg, new cmd heading: 334.002194 deg. 2025-01-08T22:07:06.691Z,1736374026.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829438 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:07:06.776Z,1736374026.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:06.777Z,1736374026.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748039 2025-01-08T22:07:07.025Z,1736374027.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:07.028Z,1736374027.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:07.028Z,1736374027.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999918 2025-01-08T22:07:07.035Z,1736374027.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:07:07.039Z,1736374027.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 228.541946 m, bearing: 55.705154 deg, approach rate: 0.030711 m/s, LOS rate: 0.184185 deg/s, cmd heading: 334.002206 deg, new cmd heading: 334.199327 deg. 2025-01-08T22:07:07.040Z,1736374027.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832879 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:07:07.281Z,1736374027.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:07.284Z,1736374027.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255133 2025-01-08T22:07:07.455Z,1736374027.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:07.484Z,1736374027.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:07:07.486Z,1736374027.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 228.561768 m, bearing: 55.779155 deg, approach rate: 0.044166 m/s, LOS rate: 0.164877 deg/s, cmd heading: 334.199326 deg, new cmd heading: 334.421310 deg. 2025-01-08T22:07:07.492Z,1736374027.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836753 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:07:07.532Z,1736374027.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:07.533Z,1736374027.533 [DAT](INFO): DAT read: Rx Time:22:07:06.2796 2025-01-08T22:07:07.533Z,1736374027.533 [DAT](INFO): Rx dataTimestamp_ set to:1736374027.532733 2025-01-08T22:07:07.534Z,1736374027.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505009 2025-01-08T22:07:07.784Z,1736374027.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:07.784Z,1736374027.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755784 2025-01-08T22:07:07.842Z,1736374027.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:07.850Z,1736374027.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.40 m. 2025-01-08T22:07:07.865Z,1736374027.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.399994 m, nav range: 228.579407 m, bearing: 55.846077 deg, approach rate: 0.048163 m/s, LOS rate: 0.182713 deg/s, cmd heading: 334.421307 deg, new cmd heading: 334.622055 deg. 2025-01-08T22:07:07.866Z,1736374027.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840257 target range: 398.399994 and range: 398.40 m. 2025-01-08T22:07:08.036Z,1736374028.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:08.043Z,1736374028.043 [DAT](INFO): DAT read: 22:07:06.2796 LVL= 13760, 25809, 18162, 25043, AGC= 66, IDX= 440, 0.35, 2.245, 1.324, 0.233, 1.205, PHS= 1.128, 0.166,-0.975, RAW= 57.2, -3.5, CAL= 61.5, -8.0, ROT= 88.5, 8.0 2025-01-08T22:07:08.044Z,1736374028.044 [DAT](INFO): got valid direction response: 22:07:06.2796 LVL= 13760, 25809, 18162, 25043, AGC= 66, IDX= 440, 0.35, 2.245, 1.324, 0.233, 1.205, PHS= 1.128, 0.166,-0.975, RAW= 57.2, -3.5, CAL= 61.5, -8.0, ROT= 88.5, 8.0 2025-01-08T22:07:08.045Z,1736374028.045 [DAT](INFO): DAT read: Bearing 88.5, 8.0 (Local) 2025-01-08T22:07:08.045Z,1736374028.045 [DAT](INFO): Local bearing/azimuth received: Bearing 88.5, 8.0 (Local) 2025-01-08T22:07:08.047Z,1736374028.047 [DAT](INFO): DAT read: Range 10 to 50 : 398.1 m (Round-trip 530.9 ms) speed 0.1 m/s 2025-01-08T22:07:08.048Z,1736374028.048 [DAT](INFO): DAT read: user:2313> 2025-01-08T22:07:08.048Z,1736374028.048 [DAT](INFO): DAT read: Tx time:22:07:07.3946 2025-01-08T22:07:08.049Z,1736374028.049 [DAT](INFO): Ping request sent. 2025-01-08T22:07:08.049Z,1736374028.049 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:08.049Z,1736374028.049 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:08.050Z,1736374028.050 [DAT](INFO): direction in FSK: [0.042379,0.609433,0.791704] 2025-01-08T22:07:08.050Z,1736374028.050 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:08.050Z,1736374028.050 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:08.053Z,1736374028.053 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:08.054Z,1736374028.054 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:08.241Z,1736374028.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:08.267Z,1736374028.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 398.100006 m, deltaT: 4.030716 s, deltaX: -0.299988 m, approachRate: -0.074425 m/s, rangeRepo size: 4 2025-01-08T22:07:08.273Z,1736374028.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 398.100006 m, bearing: 62.119429 deg, lat: 36.903051 deg, lon: -122.120413 deg, deltaT: 4.030716 s, deltaX: -0.299988 m, approachRate: -0.074425 m/s, posRepo size: 4 2025-01-08T22:07:08.274Z,1736374028.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:08.281Z,1736374028.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 209.579178 m, bearing: 58.288773 deg, approach rate: 0.000000 m/s, LOS rate: 0.182713 deg/s, cmd heading: 334.622060 deg, new cmd heading: 334.849928 deg. 2025-01-08T22:07:08.282Z,1736374028.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844234 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:08.290Z,1736374028.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:08.292Z,1736374028.292 [DAT](INFO): DAT read: TxSync time:22:07:07.3938 2025-01-08T22:07:08.540Z,1736374028.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:08.692Z,1736374028.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:08.702Z,1736374028.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:08.705Z,1736374028.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:08.732Z,1736374028.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 209.616913 m, bearing: 58.371579 deg, approach rate: 0.086125 m/s, LOS rate: 0.188962 deg/s, cmd heading: 334.849915 deg, new cmd heading: 335.098288 deg. 2025-01-08T22:07:08.733Z,1736374028.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848568 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:08.792Z,1736374028.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:08.793Z,1736374028.793 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:08.793Z,1736374028.793 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:08.794Z,1736374028.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:09.044Z,1736374029.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:09.044Z,1736374029.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995626 2025-01-08T22:07:09.052Z,1736374029.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:09.061Z,1736374029.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:09.063Z,1736374029.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 209.645584 m, bearing: 58.437587 deg, approach rate: 0.080388 m/s, LOS rate: 0.185047 deg/s, cmd heading: 335.098288 deg, new cmd heading: 335.296283 deg. 2025-01-08T22:07:09.064Z,1736374029.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852024 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:09.296Z,1736374029.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:09.296Z,1736374029.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247742 2025-01-08T22:07:09.471Z,1736374029.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:09.505Z,1736374029.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:09.515Z,1736374029.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 209.672531 m, bearing: 58.512494 deg, approach rate: 0.060773 m/s, LOS rate: 0.168914 deg/s, cmd heading: 335.296281 deg, new cmd heading: 335.520971 deg. 2025-01-08T22:07:09.516Z,1736374029.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855946 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:09.548Z,1736374029.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:09.549Z,1736374029.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499961 2025-01-08T22:07:09.800Z,1736374029.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:09.800Z,1736374029.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751692 2025-01-08T22:07:09.866Z,1736374029.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:09.876Z,1736374029.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:09.879Z,1736374029.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 209.697006 m, bearing: 58.583156 deg, approach rate: 0.065782 m/s, LOS rate: 0.189897 deg/s, cmd heading: 335.520967 deg, new cmd heading: 335.732927 deg. 2025-01-08T22:07:09.880Z,1736374029.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859645 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:10.052Z,1736374030.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:10.053Z,1736374030.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003927 2025-01-08T22:07:10.257Z,1736374030.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:10.265Z,1736374030.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:10.268Z,1736374030.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 209.720764 m, bearing: 58.653171 deg, approach rate: 0.061052 m/s, LOS rate: 0.179902 deg/s, cmd heading: 335.732922 deg, new cmd heading: 335.942943 deg. 2025-01-08T22:07:10.269Z,1736374030.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863310 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:10.304Z,1736374030.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:10.306Z,1736374030.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256754 2025-01-08T22:07:10.556Z,1736374030.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:10.556Z,1736374030.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507711 2025-01-08T22:07:10.697Z,1736374030.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:10.705Z,1736374030.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:10.708Z,1736374030.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:10.710Z,1736374030.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 209.745880 m, bearing: 58.729541 deg, approach rate: 0.056826 m/s, LOS rate: 0.172771 deg/s, cmd heading: 335.942936 deg, new cmd heading: 336.172018 deg. 2025-01-08T22:07:10.712Z,1736374030.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867309 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:10.808Z,1736374030.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:10.809Z,1736374030.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759869 2025-01-08T22:07:11.061Z,1736374031.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:11.063Z,1736374031.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013520 2025-01-08T22:07:11.076Z,1736374031.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:11.084Z,1736374031.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:11.086Z,1736374031.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 209.766953 m, bearing: 58.795058 deg, approach rate: 0.055948 m/s, LOS rate: 0.173932 deg/s, cmd heading: 336.172021 deg, new cmd heading: 336.368549 deg. 2025-01-08T22:07:11.088Z,1736374031.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870739 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:11.312Z,1736374031.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:11.312Z,1736374031.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263703 2025-01-08T22:07:11.496Z,1736374031.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:11.506Z,1736374031.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:11.509Z,1736374031.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 209.784760 m, bearing: 58.865523 deg, approach rate: 0.042214 m/s, LOS rate: 0.167033 deg/s, cmd heading: 336.368539 deg, new cmd heading: 336.579916 deg. 2025-01-08T22:07:11.510Z,1736374031.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874428 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:11.564Z,1736374031.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:11.565Z,1736374031.565 [DAT](INFO): DAT read: Rx Time:22:07:10.3296 2025-01-08T22:07:11.565Z,1736374031.565 [DAT](INFO): Rx dataTimestamp_ set to:1736374031.564967 2025-01-08T22:07:11.566Z,1736374031.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517544 2025-01-08T22:07:11.816Z,1736374031.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:11.816Z,1736374031.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767747 2025-01-08T22:07:11.881Z,1736374031.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:11.905Z,1736374031.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:11.911Z,1736374031.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 209.799591 m, bearing: 58.929943 deg, approach rate: 0.037739 m/s, LOS rate: 0.163907 deg/s, cmd heading: 336.579920 deg, new cmd heading: 336.773166 deg. 2025-01-08T22:07:11.928Z,1736374031.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877800 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:12.069Z,1736374032.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:12.081Z,1736374032.081 [DAT](INFO): DAT read: 22:07:10.3296 LVL= 15216, 25457, 22994, 24947, AGC= 67, IDX= 440,-0.29,-0.327,-1.301,-2.309,-1.363, PHS= 1.125, 0.109,-0.949, RAW= 59.3, -3.2, CAL= 63.9, -7.7, ROT= 86.1, 7.7 2025-01-08T22:07:12.082Z,1736374032.082 [DAT](INFO): got valid direction response: 22:07:10.3296 LVL= 15216, 25457, 22994, 24947, AGC= 67, IDX= 440,-0.29,-0.327,-1.301,-2.309,-1.363, PHS= 1.125, 0.109,-0.949, RAW= 59.3, -3.2, CAL= 63.9, -7.7, ROT= 86.1, 7.7 2025-01-08T22:07:12.083Z,1736374032.083 [DAT](INFO): DAT read: Bearing 86.1, 7.7 (Local) 2025-01-08T22:07:12.083Z,1736374032.083 [DAT](INFO): Local bearing/azimuth received: Bearing 86.1, 7.7 (Local) 2025-01-08T22:07:12.085Z,1736374032.085 [DAT](INFO): DAT read: Range 10 to 50 : 398.1 m (Round-trip 530.8 ms) speed 0.0 m/s 2025-01-08T22:07:12.086Z,1736374032.086 [DAT](INFO): DAT read: user:2314> 2025-01-08T22:07:12.087Z,1736374032.087 [DAT](INFO): DAT read: Tx time:22:07:11.4447 2025-01-08T22:07:12.087Z,1736374032.087 [DAT](INFO): Ping request sent. 2025-01-08T22:07:12.088Z,1736374032.088 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:12.089Z,1736374032.089 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:12.090Z,1736374032.090 [DAT](INFO): direction in FSK: [0.031955,0.581787,0.812713] 2025-01-08T22:07:12.090Z,1736374032.090 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:12.090Z,1736374032.090 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:12.094Z,1736374032.094 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:12.094Z,1736374032.094 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:12.281Z,1736374032.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:12.320Z,1736374032.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:12.321Z,1736374032.321 [DAT](INFO): DAT read: TxSync time:22:07:11.4439 2025-01-08T22:07:12.323Z,1736374032.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 398.100006 m, deltaT: 4.033744 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:07:12.329Z,1736374032.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 398.100006 m, bearing: 64.271894 deg, lat: 36.902927 deg, lon: -122.120495 deg, deltaT: 4.033744 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:07:12.330Z,1736374032.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:12.336Z,1736374032.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 196.593079 m, bearing: 61.355767 deg, approach rate: 0.000000 m/s, LOS rate: 0.163907 deg/s, cmd heading: 336.773159 deg, new cmd heading: 336.977725 deg. 2025-01-08T22:07:12.338Z,1736374032.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881371 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:12.577Z,1736374032.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:12.716Z,1736374032.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:12.724Z,1736374032.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:12.726Z,1736374032.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:12.729Z,1736374032.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 196.613861 m, bearing: 61.431948 deg, approach rate: 0.050584 m/s, LOS rate: 0.185403 deg/s, cmd heading: 336.977737 deg, new cmd heading: 337.206254 deg. 2025-01-08T22:07:12.730Z,1736374032.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885359 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:12.828Z,1736374032.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:12.828Z,1736374032.828 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:12.828Z,1736374032.828 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:12.829Z,1736374032.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:13.078Z,1736374033.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:13.080Z,1736374033.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:13.081Z,1736374033.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993904 2025-01-08T22:07:13.114Z,1736374033.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:13.124Z,1736374033.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 196.630478 m, bearing: 61.495571 deg, approach rate: 0.042733 m/s, LOS rate: 0.163604 deg/s, cmd heading: 337.206248 deg, new cmd heading: 337.397102 deg. 2025-01-08T22:07:13.125Z,1736374033.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888690 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:13.332Z,1736374033.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:13.333Z,1736374033.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246067 2025-01-08T22:07:13.440Z,1736374033.440 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:07:13.514Z,1736374033.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:13.524Z,1736374033.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:13.526Z,1736374033.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 196.639267 m, bearing: 61.572575 deg, approach rate: 0.021497 m/s, LOS rate: 0.188331 deg/s, cmd heading: 337.397111 deg, new cmd heading: 337.628110 deg. 2025-01-08T22:07:13.528Z,1736374033.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892722 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:13.584Z,1736374033.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:13.586Z,1736374033.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498463 2025-01-08T22:07:13.836Z,1736374033.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:13.837Z,1736374033.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749714 2025-01-08T22:07:13.913Z,1736374033.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:13.933Z,1736374033.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:13.955Z,1736374033.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 196.647186 m, bearing: 61.643092 deg, approach rate: 0.019326 m/s, LOS rate: 0.172085 deg/s, cmd heading: 337.628108 deg, new cmd heading: 337.839652 deg. 2025-01-08T22:07:13.956Z,1736374033.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896414 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:14.088Z,1736374034.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:14.088Z,1736374034.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001380 2025-01-08T22:07:14.312Z,1736374034.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:14.320Z,1736374034.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:14.324Z,1736374034.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 196.654572 m, bearing: 61.713642 deg, approach rate: 0.019085 m/s, LOS rate: 0.182305 deg/s, cmd heading: 337.839653 deg, new cmd heading: 338.051292 deg. 2025-01-08T22:07:14.325Z,1736374034.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900108 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:14.340Z,1736374034.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:14.340Z,1736374034.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253481 2025-01-08T22:07:14.445Z,1736374034.445 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:07:14.592Z,1736374034.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:14.592Z,1736374034.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505466 2025-01-08T22:07:14.718Z,1736374034.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:14.746Z,1736374034.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:14.748Z,1736374034.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:14.751Z,1736374034.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 196.663712 m, bearing: 61.788893 deg, approach rate: 0.021339 m/s, LOS rate: 0.175681 deg/s, cmd heading: 338.051279 deg, new cmd heading: 338.277022 deg. 2025-01-08T22:07:14.752Z,1736374034.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904048 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:14.844Z,1736374034.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:14.845Z,1736374034.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757623 2025-01-08T22:07:15.096Z,1736374035.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:15.096Z,1736374035.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009466 2025-01-08T22:07:15.129Z,1736374035.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:15.138Z,1736374035.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:15.145Z,1736374035.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 196.672379 m, bearing: 61.864861 deg, approach rate: 0.022280 m/s, LOS rate: 0.195279 deg/s, cmd heading: 338.277030 deg, new cmd heading: 338.504922 deg. 2025-01-08T22:07:15.146Z,1736374035.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908025 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:15.350Z,1736374035.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:15.351Z,1736374035.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263985 2025-01-08T22:07:15.533Z,1736374035.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:15.543Z,1736374035.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:15.546Z,1736374035.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 196.673370 m, bearing: 61.941673 deg, approach rate: 0.002446 m/s, LOS rate: 0.189449 deg/s, cmd heading: 338.504913 deg, new cmd heading: 338.735347 deg. 2025-01-08T22:07:15.546Z,1736374035.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912047 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:15.605Z,1736374035.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:15.606Z,1736374035.606 [DAT](INFO): DAT read: Rx Time:22:07:14.3793 2025-01-08T22:07:15.607Z,1736374035.607 [DAT](INFO): Rx dataTimestamp_ set to:1736374035.606631 2025-01-08T22:07:15.608Z,1736374035.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520996 2025-01-08T22:07:15.856Z,1736374035.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:15.856Z,1736374035.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769425 2025-01-08T22:07:15.925Z,1736374035.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:15.934Z,1736374035.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.10 m. 2025-01-08T22:07:15.936Z,1736374035.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 398.100006 m, nav range: 196.673843 m, bearing: 62.016115 deg, approach rate: 0.001210 m/s, LOS rate: 0.190430 deg/s, cmd heading: 338.735336 deg, new cmd heading: 338.958659 deg. 2025-01-08T22:07:15.938Z,1736374035.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915945 target range: 398.100006 and range: 398.10 m. 2025-01-08T22:07:16.108Z,1736374036.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:16.115Z,1736374036.115 [DAT](INFO): DAT read: 22:07:14.3793 LVL= 15216, 25457, 21346, 27699, AGC= 66, IDX= 436, 0.45,-1.750,-2.845, 2.587,-2.792, PHS= 1.130,-0.006,-0.908, RAW= 63.8, -2.5, CAL= 68.9, -7.0, ROT= 81.1, 7.0 2025-01-08T22:07:16.116Z,1736374036.116 [DAT](INFO): got valid direction response: 22:07:14.3793 LVL= 15216, 25457, 21346, 27699, AGC= 66, IDX= 436, 0.45,-1.750,-2.845, 2.587,-2.792, PHS= 1.130,-0.006,-0.908, RAW= 63.8, -2.5, CAL= 68.9, -7.0, ROT= 81.1, 7.0 2025-01-08T22:07:16.117Z,1736374036.117 [DAT](INFO): DAT read: Bearing 81.1, 7.0 (Local) 2025-01-08T22:07:16.117Z,1736374036.117 [DAT](INFO): Local bearing/azimuth received: Bearing 81.1, 7.0 (Local) 2025-01-08T22:07:16.119Z,1736374036.119 [DAT](INFO): DAT read: Range 10 to 50 : 397.8 m (Round-trip 530.5 ms) speed 0.0 m/s 2025-01-08T22:07:16.120Z,1736374036.120 [DAT](INFO): DAT read: user:2315> 2025-01-08T22:07:16.120Z,1736374036.120 [DAT](INFO): DAT read: Tx time:22:07:15.4947 2025-01-08T22:07:16.121Z,1736374036.121 [DAT](INFO): Ping request sent. 2025-01-08T22:07:16.121Z,1736374036.121 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:16.121Z,1736374036.121 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:16.122Z,1736374036.122 [DAT](INFO): direction in FSK: [0.009294,0.521609,0.853134] 2025-01-08T22:07:16.122Z,1736374036.122 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:16.122Z,1736374036.122 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:16.126Z,1736374036.126 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:16.126Z,1736374036.126 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:16.320Z,1736374036.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:16.352Z,1736374036.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 397.799988 m, deltaT: 4.038680 s, deltaX: -0.300018 m, approachRate: -0.074286 m/s, rangeRepo size: 4 2025-01-08T22:07:16.354Z,1736374036.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 397.799988 m, bearing: 68.718423 deg, lat: 36.902860 deg, lon: -122.120528 deg, deltaT: 4.038680 s, deltaX: -0.300018 m, approachRate: -0.074286 m/s, posRepo size: 4 2025-01-08T22:07:16.360Z,1736374036.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:16.361Z,1736374036.361 [DAT](INFO): DAT read: TxSync time:22:07:15.4939 2025-01-08T22:07:16.362Z,1736374036.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:07:16.369Z,1736374036.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 190.637680 m, bearing: 63.650371 deg, approach rate: 0.000000 m/s, LOS rate: 0.190430 deg/s, cmd heading: 338.958656 deg, new cmd heading: 339.194584 deg. 2025-01-08T22:07:16.370Z,1736374036.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920062 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:07:16.612Z,1736374036.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:16.749Z,1736374036.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:16.757Z,1736374036.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:16.762Z,1736374036.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:07:16.765Z,1736374036.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 190.642502 m, bearing: 63.736502 deg, approach rate: 0.011693 m/s, LOS rate: 0.208874 deg/s, cmd heading: 339.194571 deg, new cmd heading: 339.452957 deg. 2025-01-08T22:07:16.766Z,1736374036.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924572 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:07:16.864Z,1736374036.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:16.865Z,1736374036.865 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:16.865Z,1736374036.865 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:16.865Z,1736374036.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:17.116Z,1736374037.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:17.118Z,1736374037.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997413 2025-01-08T22:07:17.129Z,1736374037.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:17.168Z,1736374037.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:07:17.170Z,1736374037.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 190.645294 m, bearing: 63.812810 deg, approach rate: 0.006831 m/s, LOS rate: 0.186662 deg/s, cmd heading: 339.452943 deg, new cmd heading: 339.681861 deg. 2025-01-08T22:07:17.172Z,1736374037.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928567 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:07:17.368Z,1736374037.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:17.368Z,1736374037.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247647 2025-01-08T22:07:17.568Z,1736374037.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:17.578Z,1736374037.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:07:17.580Z,1736374037.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 190.645737 m, bearing: 63.899520 deg, approach rate: 0.001080 m/s, LOS rate: 0.211618 deg/s, cmd heading: 339.681864 deg, new cmd heading: 339.941991 deg. 2025-01-08T22:07:17.581Z,1736374037.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933107 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:07:17.622Z,1736374037.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:17.624Z,1736374037.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502471 2025-01-08T22:07:17.872Z,1736374037.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:17.873Z,1736374037.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752381 2025-01-08T22:07:17.939Z,1736374037.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:17.948Z,1736374037.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:07:17.950Z,1736374037.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 190.645981 m, bearing: 63.972792 deg, approach rate: 0.000660 m/s, LOS rate: 0.198162 deg/s, cmd heading: 339.941985 deg, new cmd heading: 340.161800 deg. 2025-01-08T22:07:17.952Z,1736374037.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936944 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:07:18.124Z,1736374038.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:18.124Z,1736374038.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003641 2025-01-08T22:07:18.336Z,1736374038.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:18.345Z,1736374038.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:07:18.348Z,1736374038.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 190.646103 m, bearing: 64.051119 deg, approach rate: 0.000307 m/s, LOS rate: 0.197002 deg/s, cmd heading: 340.161808 deg, new cmd heading: 340.396786 deg. 2025-01-08T22:07:18.349Z,1736374038.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941045 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:07:18.376Z,1736374038.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:18.377Z,1736374038.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255980 2025-01-08T22:07:18.628Z,1736374038.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:18.628Z,1736374038.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507791 2025-01-08T22:07:18.772Z,1736374038.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:18.782Z,1736374038.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:18.805Z,1736374038.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:07:18.812Z,1736374038.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 190.648041 m, bearing: 64.138715 deg, approach rate: 0.004221 m/s, LOS rate: 0.190791 deg/s, cmd heading: 340.396793 deg, new cmd heading: 340.659578 deg. 2025-01-08T22:07:18.813Z,1736374038.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945631 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:07:18.881Z,1736374038.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:18.882Z,1736374038.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761276 2025-01-08T22:07:19.132Z,1736374039.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:19.133Z,1736374039.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011921 2025-01-08T22:07:19.144Z,1736374039.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:19.157Z,1736374039.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:07:19.162Z,1736374039.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 190.648254 m, bearing: 64.213298 deg, approach rate: 0.000605 m/s, LOS rate: 0.211077 deg/s, cmd heading: 340.659564 deg, new cmd heading: 340.883313 deg. 2025-01-08T22:07:19.163Z,1736374039.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949536 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:07:19.385Z,1736374039.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:19.386Z,1736374039.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264949 2025-01-08T22:07:19.620Z,1736374039.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:19.630Z,1736374039.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:07:19.633Z,1736374039.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 190.647720 m, bearing: 64.305527 deg, approach rate: -0.001129 m/s, LOS rate: 0.194991 deg/s, cmd heading: 340.883321 deg, new cmd heading: 341.160005 deg. 2025-01-08T22:07:19.634Z,1736374039.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.954365 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:07:19.636Z,1736374039.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:19.637Z,1736374039.637 [DAT](INFO): DAT read: Rx Time:22:07:18.4287 2025-01-08T22:07:19.637Z,1736374039.637 [DAT](INFO): Rx dataTimestamp_ set to:1736374039.636728 2025-01-08T22:07:19.639Z,1736374039.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517360 2025-01-08T22:07:19.890Z,1736374039.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:19.892Z,1736374039.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770872 2025-01-08T22:07:19.993Z,1736374039.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:20.001Z,1736374040.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:07:20.005Z,1736374040.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 190.646393 m, bearing: 64.378017 deg, approach rate: -0.003581 m/s, LOS rate: 0.195573 deg/s, cmd heading: 341.159999 deg, new cmd heading: 341.377471 deg. 2025-01-08T22:07:20.006Z,1736374040.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958161 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:07:20.140Z,1736374040.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:20.150Z,1736374040.150 [DAT](INFO): DAT read: 22:07:18.4287 LVL= 18544, 27825, 25826, 28659, AGC= 66, IDX= 430, 0.11, 2.034, 0.811, 0.170, 1.022, PHS= 1.099,-0.165,-0.855, RAW= 69.6, -0.9, CAL= 74.8, -5.2, ROT= 75.2, 5.2 2025-01-08T22:07:20.151Z,1736374040.151 [DAT](INFO): got valid direction response: 22:07:18.4287 LVL= 18544, 27825, 25826, 28659, AGC= 66, IDX= 430, 0.11, 2.034, 0.811, 0.170, 1.022, PHS= 1.099,-0.165,-0.855, RAW= 69.6, -0.9, CAL= 74.8, -5.2, ROT= 75.2, 5.2 2025-01-08T22:07:20.152Z,1736374040.152 [DAT](INFO): DAT read: Bearing 75.2, 5.2 (Local) 2025-01-08T22:07:20.153Z,1736374040.153 [DAT](INFO): Local bearing/azimuth received: Bearing 75.2, 5.2 (Local) 2025-01-08T22:07:20.154Z,1736374040.154 [DAT](INFO): DAT read: Range 10 to 50 : 397.3 m (Round-trip 529.8 ms) speed 0.0 m/s 2025-01-08T22:07:20.155Z,1736374040.155 [DAT](INFO): DAT read: user:2316> 2025-01-08T22:07:20.165Z,1736374040.165 [DAT](INFO): DAT read: Tx time:22:07:19.5447 2025-01-08T22:07:20.166Z,1736374040.166 [DAT](INFO): Ping request sent. 2025-01-08T22:07:20.166Z,1736374040.166 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:20.167Z,1736374040.167 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:20.173Z,1736374040.173 [DAT](INFO): direction in FSK: [-0.030949,0.438431,0.898232] 2025-01-08T22:07:20.173Z,1736374040.173 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:20.174Z,1736374040.174 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:20.181Z,1736374040.181 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:20.181Z,1736374040.181 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:20.392Z,1736374040.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:20.393Z,1736374040.393 [DAT](INFO): DAT read: TxSync time:22:07:19.5439 2025-01-08T22:07:20.473Z,1736374040.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:20.498Z,1736374040.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 397.299988 m, deltaT: 4.032348 s, deltaX: -0.500000 m, approachRate: -0.123997 m/s, rangeRepo size: 4 2025-01-08T22:07:20.536Z,1736374040.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 397.299988 m, bearing: 79.830191 deg, lat: 36.902764 deg, lon: -122.120657 deg, deltaT: 4.032348 s, deltaX: -0.500000 m, approachRate: -0.123997 m/s, posRepo size: 4 2025-01-08T22:07:20.544Z,1736374040.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.30 m. 2025-01-08T22:07:20.560Z,1736374040.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.299988 m, nav range: 175.779419 m, bearing: 65.982375 deg, approach rate: 0.000000 m/s, LOS rate: 0.195573 deg/s, cmd heading: 341.377472 deg, new cmd heading: 341.666586 deg. 2025-01-08T22:07:20.561Z,1736374040.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963207 target range: 397.299988 and range: 397.30 m. 2025-01-08T22:07:20.646Z,1736374040.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:20.893Z,1736374040.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:20.896Z,1736374040.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:20.901Z,1736374040.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:20.903Z,1736374040.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.30 m. 2025-01-08T22:07:20.928Z,1736374040.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.299988 m, nav range: 175.780060 m, bearing: 66.068962 deg, approach rate: 0.001566 m/s, LOS rate: 0.211614 deg/s, cmd heading: 341.666580 deg, new cmd heading: 341.926340 deg. 2025-01-08T22:07:20.930Z,1736374040.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967741 target range: 397.299988 and range: 397.30 m. 2025-01-08T22:07:21.148Z,1736374041.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:21.148Z,1736374041.148 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:21.148Z,1736374041.148 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:21.148Z,1736374041.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:21.287Z,1736374041.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:21.316Z,1736374041.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.30 m. 2025-01-08T22:07:21.319Z,1736374041.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.299988 m, nav range: 175.781036 m, bearing: 66.150395 deg, approach rate: 0.002362 m/s, LOS rate: 0.196998 deg/s, cmd heading: 341.926346 deg, new cmd heading: 342.170642 deg. 2025-01-08T22:07:21.324Z,1736374041.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972004 target range: 397.299988 and range: 397.30 m. 2025-01-08T22:07:21.401Z,1736374041.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:21.402Z,1736374041.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235780 2025-01-08T22:07:21.652Z,1736374041.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:21.653Z,1736374041.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487524 2025-01-08T22:07:21.733Z,1736374041.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:21.743Z,1736374041.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.30 m. 2025-01-08T22:07:21.745Z,1736374041.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.299988 m, nav range: 175.771347 m, bearing: 66.237514 deg, approach rate: -0.022736 m/s, LOS rate: 0.204432 deg/s, cmd heading: 342.170648 deg, new cmd heading: 342.432018 deg. 2025-01-08T22:07:21.746Z,1736374041.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976566 target range: 397.299988 and range: 397.30 m. 2025-01-08T22:07:21.904Z,1736374041.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:21.905Z,1736374041.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739211 2025-01-08T22:07:22.086Z,1736374042.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:22.095Z,1736374042.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.30 m. 2025-01-08T22:07:22.098Z,1736374042.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.299988 m, nav range: 175.762527 m, bearing: 66.306455 deg, approach rate: -0.025035 m/s, LOS rate: 0.195700 deg/s, cmd heading: 342.432026 deg, new cmd heading: 342.638858 deg. 2025-01-08T22:07:22.098Z,1736374042.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980176 target range: 397.299988 and range: 397.30 m. 2025-01-08T22:07:22.156Z,1736374042.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:22.157Z,1736374042.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991129 2025-01-08T22:07:22.410Z,1736374042.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:22.411Z,1736374042.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244955 2025-01-08T22:07:22.492Z,1736374042.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:22.506Z,1736374042.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.30 m. 2025-01-08T22:07:22.509Z,1736374042.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.299988 m, nav range: 175.751083 m, bearing: 66.385720 deg, approach rate: -0.027804 m/s, LOS rate: 0.192590 deg/s, cmd heading: 342.638871 deg, new cmd heading: 342.876680 deg. 2025-01-08T22:07:22.510Z,1736374042.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.984327 target range: 397.299988 and range: 397.30 m. 2025-01-08T22:07:22.663Z,1736374042.663 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:22.664Z,1736374042.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498593 2025-01-08T22:07:22.916Z,1736374042.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:22.916Z,1736374042.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750632 2025-01-08T22:07:22.924Z,1736374042.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:22.931Z,1736374042.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:22.937Z,1736374042.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.30 m. 2025-01-08T22:07:22.945Z,1736374042.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.299988 m, nav range: 175.740509 m, bearing: 66.468921 deg, approach rate: -0.024568 m/s, LOS rate: 0.193316 deg/s, cmd heading: 342.876671 deg, new cmd heading: 343.126286 deg. 2025-01-08T22:07:22.945Z,1736374042.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.988683 target range: 397.299988 and range: 397.30 m. 2025-01-08T22:07:23.168Z,1736374043.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:23.170Z,1736374043.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003983 2025-01-08T22:07:23.299Z,1736374043.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:23.308Z,1736374043.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.30 m. 2025-01-08T22:07:23.316Z,1736374043.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.299988 m, nav range: 175.730179 m, bearing: 66.541262 deg, approach rate: -0.027794 m/s, LOS rate: 0.194650 deg/s, cmd heading: 343.126274 deg, new cmd heading: 343.343308 deg. 2025-01-08T22:07:23.317Z,1736374043.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.992471 target range: 397.299988 and range: 397.30 m. 2025-01-08T22:07:23.420Z,1736374043.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:23.420Z,1736374043.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254824 2025-01-08T22:07:23.672Z,1736374043.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:23.673Z,1736374043.673 [DAT](INFO): DAT read: Rx Time:22:07:22.4776 2025-01-08T22:07:23.674Z,1736374043.674 [DAT](INFO): Rx dataTimestamp_ set to:1736374043.673628 2025-01-08T22:07:23.675Z,1736374043.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509191 2025-01-08T22:07:23.745Z,1736374043.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:23.754Z,1736374043.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.30 m. 2025-01-08T22:07:23.758Z,1736374043.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.299988 m, nav range: 175.725510 m, bearing: 66.626780 deg, approach rate: -0.010481 m/s, LOS rate: 0.191977 deg/s, cmd heading: 343.343310 deg, new cmd heading: 343.599869 deg. 2025-01-08T22:07:23.759Z,1736374043.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996949 target range: 397.299988 and range: 397.30 m. 2025-01-08T22:07:23.924Z,1736374043.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:23.924Z,1736374043.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758795 2025-01-08T22:07:24.106Z,1736374044.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:24.114Z,1736374044.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.30 m. 2025-01-08T22:07:24.148Z,1736374044.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.299988 m, nav range: 175.720673 m, bearing: 66.695879 deg, approach rate: -0.013432 m/s, LOS rate: 0.191889 deg/s, cmd heading: 343.599879 deg, new cmd heading: 343.807182 deg. 2025-01-08T22:07:24.156Z,1736374044.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.000567 target range: 397.299988 and range: 397.30 m. 2025-01-08T22:07:24.178Z,1736374044.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:24.201Z,1736374044.201 [DAT](INFO): DAT read: 22:07:22.4776 LVL= 16112, 29489, 17618, 25475, AGC= 63, IDX= 435, 0.23, 0.263,-1.142,-1.600,-0.823, PHS= 1.174,-0.272,-0.780, RAW= 75.5, -1.4, CAL= 81.9, -6.4, ROT= 68.1, 6.4 2025-01-08T22:07:24.202Z,1736374044.202 [DAT](INFO): got valid direction response: 22:07:22.4776 LVL= 16112, 29489, 17618, 25475, AGC= 63, IDX= 435, 0.23, 0.263,-1.142,-1.600,-0.823, PHS= 1.174,-0.272,-0.780, RAW= 75.5, -1.4, CAL= 81.9, -6.4, ROT= 68.1, 6.4 2025-01-08T22:07:24.236Z,1736374044.236 [DAT](INFO): DAT read: Bearing 68.1, 6.4 (Local) 2025-01-08T22:07:24.236Z,1736374044.236 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, 6.4 (Local) 2025-01-08T22:07:24.238Z,1736374044.238 [DAT](INFO): DAT read: Range 10 to 50 : 396.6 m (Round-trip 528.8 ms) speed 0.0 m/s 2025-01-08T22:07:24.239Z,1736374044.239 [DAT](INFO): DAT read: user:2317> 2025-01-08T22:07:24.273Z,1736374044.273 [DAT](INFO): DAT read: Tx time:22:07:23.5947 2025-01-08T22:07:24.274Z,1736374044.274 [DAT](INFO): Ping request sent. 2025-01-08T22:07:24.274Z,1736374044.274 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:24.283Z,1736374044.283 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:24.284Z,1736374044.284 [DAT](INFO): direction in FSK: [-0.033160,0.347373,0.937140] 2025-01-08T22:07:24.284Z,1736374044.284 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:24.285Z,1736374044.285 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:24.296Z,1736374044.296 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:24.297Z,1736374044.297 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:24.428Z,1736374044.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:24.429Z,1736374044.429 [DAT](INFO): DAT read: TxSync time:22:07:23.5939 2025-01-08T22:07:24.680Z,1736374044.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:24.741Z,1736374044.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:24.771Z,1736374044.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 396.600006 m, deltaT: 4.037298 s, deltaX: -0.699982 m, approachRate: -0.173379 m/s, rangeRepo size: 4 2025-01-08T22:07:24.780Z,1736374044.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 396.600006 m, bearing: 84.177125 deg, lat: 36.902585 deg, lon: -122.120888 deg, deltaT: 4.037298 s, deltaX: -0.699982 m, approachRate: -0.173379 m/s, posRepo size: 4 2025-01-08T22:07:24.781Z,1736374044.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.60 m. 2025-01-08T22:07:24.789Z,1736374044.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.600006 m, nav range: 149.351593 m, bearing: 70.745804 deg, approach rate: 0.000000 m/s, LOS rate: 0.191889 deg/s, cmd heading: 343.807189 deg, new cmd heading: 344.182711 deg. 2025-01-08T22:07:24.790Z,1736374044.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007122 target range: 396.600006 and range: 396.60 m. 2025-01-08T22:07:24.932Z,1736374044.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:25.061Z,1736374045.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:25.068Z,1736374045.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:25.070Z,1736374045.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.60 m. 2025-01-08T22:07:25.074Z,1736374045.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.600006 m, nav range: 149.365494 m, bearing: 70.817951 deg, approach rate: 0.045733 m/s, LOS rate: 0.237337 deg/s, cmd heading: 344.182713 deg, new cmd heading: 344.399133 deg. 2025-01-08T22:07:25.075Z,1736374045.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.010899 target range: 396.600006 and range: 396.60 m. 2025-01-08T22:07:25.184Z,1736374045.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:25.184Z,1736374045.184 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:25.185Z,1736374045.185 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:25.185Z,1736374045.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:25.436Z,1736374045.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:25.438Z,1736374045.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.163419 2025-01-08T22:07:25.484Z,1736374045.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:25.504Z,1736374045.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.60 m. 2025-01-08T22:07:25.507Z,1736374045.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.600006 m, nav range: 149.383560 m, bearing: 70.913191 deg, approach rate: 0.041953 m/s, LOS rate: 0.221136 deg/s, cmd heading: 344.399120 deg, new cmd heading: 344.684805 deg. 2025-01-08T22:07:25.508Z,1736374045.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015885 target range: 396.600006 and range: 396.60 m. 2025-01-08T22:07:25.688Z,1736374045.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:25.689Z,1736374045.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.415234 2025-01-08T22:07:25.914Z,1736374045.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:25.924Z,1736374045.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.60 m. 2025-01-08T22:07:25.927Z,1736374045.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.600006 m, nav range: 149.411362 m, bearing: 71.011909 deg, approach rate: 0.065865 m/s, LOS rate: 0.233829 deg/s, cmd heading: 344.684813 deg, new cmd heading: 344.980908 deg. 2025-01-08T22:07:25.928Z,1736374045.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021053 target range: 396.600006 and range: 396.60 m. 2025-01-08T22:07:25.940Z,1736374045.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:25.941Z,1736374045.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.666945 2025-01-08T22:07:26.193Z,1736374046.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:26.195Z,1736374046.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.920728 2025-01-08T22:07:26.278Z,1736374046.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:26.302Z,1736374046.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.60 m. 2025-01-08T22:07:26.309Z,1736374046.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.600006 m, nav range: 149.434204 m, bearing: 71.095783 deg, approach rate: 0.060438 m/s, LOS rate: 0.221884 deg/s, cmd heading: 344.980916 deg, new cmd heading: 345.232497 deg. 2025-01-08T22:07:26.312Z,1736374046.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025444 target range: 396.600006 and range: 396.60 m. 2025-01-08T22:07:26.445Z,1736374046.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:26.445Z,1736374046.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.171617 2025-01-08T22:07:26.702Z,1736374046.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:26.703Z,1736374046.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.428676 2025-01-08T22:07:26.715Z,1736374046.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:26.725Z,1736374046.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.60 m. 2025-01-08T22:07:26.728Z,1736374046.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.600006 m, nav range: 149.480042 m, bearing: 71.200942 deg, approach rate: 0.108177 m/s, LOS rate: 0.248103 deg/s, cmd heading: 345.232485 deg, new cmd heading: 345.547864 deg. 2025-01-08T22:07:26.729Z,1736374046.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030948 target range: 396.600006 and range: 396.60 m. 2025-01-08T22:07:26.956Z,1736374046.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:26.957Z,1736374046.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682678 2025-01-08T22:07:27.084Z,1736374047.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:27.092Z,1736374047.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:27.094Z,1736374047.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.60 m. 2025-01-08T22:07:27.097Z,1736374047.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.600006 m, nav range: 149.518311 m, bearing: 71.289864 deg, approach rate: 0.103707 m/s, LOS rate: 0.240911 deg/s, cmd heading: 345.547876 deg, new cmd heading: 345.814571 deg. 2025-01-08T22:07:27.097Z,1736374047.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035603 target range: 396.600006 and range: 396.60 m. 2025-01-08T22:07:27.210Z,1736374047.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:27.212Z,1736374047.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.937181 2025-01-08T22:07:27.460Z,1736374047.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:27.460Z,1736374047.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.186494 2025-01-08T22:07:27.494Z,1736374047.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:27.511Z,1736374047.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.60 m. 2025-01-08T22:07:27.518Z,1736374047.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.600006 m, nav range: 149.560562 m, bearing: 71.388629 deg, approach rate: 0.101362 m/s, LOS rate: 0.236871 deg/s, cmd heading: 345.814581 deg, new cmd heading: 346.110790 deg. 2025-01-08T22:07:27.518Z,1736374047.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.040773 target range: 396.600006 and range: 396.60 m. 2025-01-08T22:07:27.712Z,1736374047.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:27.713Z,1736374047.713 [DAT](INFO): DAT read: Rx Time:22:07:26.5269 2025-01-08T22:07:27.713Z,1736374047.713 [DAT](INFO): Rx dataTimestamp_ set to:1736374047.712844 2025-01-08T22:07:27.714Z,1736374047.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.439850 2025-01-08T22:07:27.912Z,1736374047.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:27.920Z,1736374047.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.60 m. 2025-01-08T22:07:27.924Z,1736374047.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.600006 m, nav range: 149.611755 m, bearing: 71.489197 deg, approach rate: 0.125020 m/s, LOS rate: 0.245514 deg/s, cmd heading: 346.110793 deg, new cmd heading: 346.412389 deg. 2025-01-08T22:07:27.925Z,1736374047.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.046037 target range: 396.600006 and range: 396.60 m. 2025-01-08T22:07:27.964Z,1736374047.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:27.965Z,1736374047.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.690890 2025-01-08T22:07:28.217Z,1736374048.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:28.250Z,1736374048.250 [DAT](INFO): DAT read: 22:07:26.5269 LVL= 16512, 30817, 20626, 27731, AGC= 64, IDX= 426, 0.41, 1.130,-0.401,-0.623, 0.089, PHS= 1.129,-0.442,-0.715, RAW= 82.1, 0.3, CAL= 88.4, -3.9, ROT= 61.6, 3.9 2025-01-08T22:07:28.251Z,1736374048.251 [DAT](INFO): got valid direction response: 22:07:26.5269 LVL= 16512, 30817, 20626, 27731, AGC= 64, IDX= 426, 0.41, 1.130,-0.401,-0.623, 0.089, PHS= 1.129,-0.442,-0.715, RAW= 82.1, 0.3, CAL= 88.4, -3.9, ROT= 61.6, 3.9 2025-01-08T22:07:28.256Z,1736374048.256 [DAT](INFO): DAT read: Bearing 61.6, 3.9 (Local) 2025-01-08T22:07:28.259Z,1736374048.259 [DAT](INFO): Local bearing/azimuth received: Bearing 61.6, 3.9 (Local) 2025-01-08T22:07:28.261Z,1736374048.261 [DAT](INFO): DAT read: Range 10 to 50 : 396.0 m (Round-trip 528.0 ms) speed 0.0 m/s 2025-01-08T22:07:28.262Z,1736374048.262 [DAT](INFO): DAT read: user:2318> 2025-01-08T22:07:28.262Z,1736374048.262 [DAT](INFO): DAT read: Tx time:22:07:27.6448 2025-01-08T22:07:28.263Z,1736374048.263 [DAT](INFO): Ping request sent. 2025-01-08T22:07:28.263Z,1736374048.263 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:28.263Z,1736374048.263 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:28.264Z,1736374048.264 [DAT](INFO): direction in FSK: [-0.077970,0.241563,0.967248] 2025-01-08T22:07:28.265Z,1736374048.265 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:28.265Z,1736374048.265 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:28.284Z,1736374048.284 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:28.284Z,1736374048.284 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:28.346Z,1736374048.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:28.389Z,1736374048.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 396.000000 m, deltaT: 4.040738 s, deltaX: -0.600006 m, approachRate: -0.148489 m/s, rangeRepo size: 4 2025-01-08T22:07:28.391Z,1736374048.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 396.000000 m, bearing: 114.299503 deg, lat: 36.902300 deg, lon: -122.121218 deg, deltaT: 4.040738 s, deltaX: -0.600006 m, approachRate: -0.148489 m/s, posRepo size: 4 2025-01-08T22:07:28.396Z,1736374048.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.00 m. 2025-01-08T22:07:28.399Z,1736374048.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.000000 m, nav range: 113.778709 m, bearing: 82.170026 deg, approach rate: 0.000000 m/s, LOS rate: 0.245514 deg/s, cmd heading: 346.412387 deg, new cmd heading: 346.750440 deg. 2025-01-08T22:07:28.404Z,1736374048.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051937 target range: 396.000000 and range: 396.00 m. 2025-01-08T22:07:28.468Z,1736374048.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:28.469Z,1736374048.469 [DAT](INFO): DAT read: TxSync time:22:07:27.6440 2025-01-08T22:07:28.722Z,1736374048.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:28.786Z,1736374048.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:28.818Z,1736374048.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.00 m. 2025-01-08T22:07:28.833Z,1736374048.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.000000 m, nav range: 113.885101 m, bearing: 82.308718 deg, approach rate: 0.242508 m/s, LOS rate: 0.315835 deg/s, cmd heading: 346.750427 deg, new cmd heading: 347.166104 deg. 2025-01-08T22:07:28.834Z,1736374048.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059192 target range: 396.000000 and range: 396.00 m. 2025-01-08T22:07:28.972Z,1736374048.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:29.135Z,1736374049.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:29.142Z,1736374049.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:29.145Z,1736374049.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.00 m. 2025-01-08T22:07:29.148Z,1736374049.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.000000 m, nav range: 113.968964 m, bearing: 82.418361 deg, approach rate: 0.256516 m/s, LOS rate: 0.335127 deg/s, cmd heading: 347.166112 deg, new cmd heading: 347.494796 deg. 2025-01-08T22:07:29.148Z,1736374049.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.064929 target range: 396.000000 and range: 396.00 m. 2025-01-08T22:07:29.225Z,1736374049.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:29.226Z,1736374049.226 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:29.226Z,1736374049.226 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:29.226Z,1736374049.226 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:29.476Z,1736374049.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:29.476Z,1736374049.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213551 2025-01-08T22:07:29.539Z,1736374049.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:29.548Z,1736374049.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.00 m. 2025-01-08T22:07:29.550Z,1736374049.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.000000 m, nav range: 114.064941 m, bearing: 82.545534 deg, approach rate: 0.238398 m/s, LOS rate: 0.315618 deg/s, cmd heading: 347.494808 deg, new cmd heading: 347.876000 deg. 2025-01-08T22:07:29.551Z,1736374049.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071581 target range: 396.000000 and range: 396.00 m. 2025-01-08T22:07:29.728Z,1736374049.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:29.729Z,1736374049.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465781 2025-01-08T22:07:29.980Z,1736374049.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:29.980Z,1736374049.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717574 2025-01-08T22:07:30.016Z,1736374050.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:30.041Z,1736374050.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.00 m. 2025-01-08T22:07:30.052Z,1736374050.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.000000 m, nav range: 114.177261 m, bearing: 82.699193 deg, approach rate: 0.227493 m/s, LOS rate: 0.310916 deg/s, cmd heading: 347.875987 deg, new cmd heading: 348.336501 deg. 2025-01-08T22:07:30.053Z,1736374050.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079619 target range: 396.000000 and range: 396.00 m. 2025-01-08T22:07:30.232Z,1736374050.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:30.232Z,1736374050.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969513 2025-01-08T22:07:30.398Z,1736374050.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:30.408Z,1736374050.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.00 m. 2025-01-08T22:07:30.410Z,1736374050.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.000000 m, nav range: 114.266541 m, bearing: 82.822082 deg, approach rate: 0.243407 m/s, LOS rate: 0.334778 deg/s, cmd heading: 348.336506 deg, new cmd heading: 348.704879 deg. 2025-01-08T22:07:30.412Z,1736374050.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.086048 target range: 396.000000 and range: 396.00 m. 2025-01-08T22:07:30.486Z,1736374050.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:30.486Z,1736374050.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223364 2025-01-08T22:07:30.736Z,1736374050.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:30.736Z,1736374050.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473520 2025-01-08T22:07:30.820Z,1736374050.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:30.830Z,1736374050.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.00 m. 2025-01-08T22:07:30.849Z,1736374050.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.000000 m, nav range: 114.352859 m, bearing: 82.958566 deg, approach rate: 0.204450 m/s, LOS rate: 0.323022 deg/s, cmd heading: 348.704872 deg, new cmd heading: 349.114005 deg. 2025-01-08T22:07:30.850Z,1736374050.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.093189 target range: 396.000000 and range: 396.00 m. 2025-01-08T22:07:30.988Z,1736374050.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:30.989Z,1736374050.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726299 2025-01-08T22:07:31.191Z,1736374051.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:31.200Z,1736374051.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:31.202Z,1736374051.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.00 m. 2025-01-08T22:07:31.206Z,1736374051.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.000000 m, nav range: 114.426682 m, bearing: 83.078598 deg, approach rate: 0.198595 m/s, LOS rate: 0.322700 deg/s, cmd heading: 349.114000 deg, new cmd heading: 349.473859 deg. 2025-01-08T22:07:31.207Z,1736374051.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099470 target range: 396.000000 and range: 396.00 m. 2025-01-08T22:07:31.242Z,1736374051.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:31.244Z,1736374051.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980914 2025-01-08T22:07:31.496Z,1736374051.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:31.496Z,1736374051.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233565 2025-01-08T22:07:31.596Z,1736374051.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:31.628Z,1736374051.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.00 m. 2025-01-08T22:07:31.631Z,1736374051.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.000000 m, nav range: 114.506676 m, bearing: 83.209929 deg, approach rate: 0.187577 m/s, LOS rate: 0.307742 deg/s, cmd heading: 349.473869 deg, new cmd heading: 349.867582 deg. 2025-01-08T22:07:31.632Z,1736374051.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.106341 target range: 396.000000 and range: 396.00 m. 2025-01-08T22:07:31.748Z,1736374051.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:31.749Z,1736374051.749 [DAT](INFO): DAT read: Rx Time:22:07:30.5762 2025-01-08T22:07:31.749Z,1736374051.749 [DAT](INFO): Rx dataTimestamp_ set to:1736374051.748789 2025-01-08T22:07:31.750Z,1736374051.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486754 2025-01-08T22:07:31.000Z,1736374052.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:32.000Z,1736374052.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.737600 2025-01-08T22:07:32.020Z,1736374052.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:32.054Z,1736374052.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.00 m. 2025-01-08T22:07:32.058Z,1736374052.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.000000 m, nav range: 114.574303 m, bearing: 83.346302 deg, approach rate: 0.158987 m/s, LOS rate: 0.320414 deg/s, cmd heading: 349.867588 deg, new cmd heading: 350.276457 deg. 2025-01-08T22:07:32.059Z,1736374052.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113477 target range: 396.000000 and range: 396.00 m. 2025-01-08T22:07:32.253Z,1736374052.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:32.255Z,1736374052.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.991871 2025-01-08T22:07:32.409Z,1736374052.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:32.434Z,1736374052.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 396.00 m. 2025-01-08T22:07:32.441Z,1736374052.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 396.000000 m, nav range: 114.635223 m, bearing: 83.471106 deg, approach rate: 0.159978 m/s, LOS rate: 0.327560 deg/s, cmd heading: 350.276443 deg, new cmd heading: 350.650650 deg. 2025-01-08T22:07:32.442Z,1736374052.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.120008 target range: 396.000000 and range: 396.00 m. 2025-01-08T22:07:32.505Z,1736374052.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:32.517Z,1736374052.517 [DAT](INFO): DAT read: 22:07:30.5762 LVL= 15536, 30033, 19410, 30707, AGC= 68, IDX= 436, 0.27,-2.338, 2.335, 2.198, 2.844, PHS= 1.189,-0.462,-0.649, RAW= 84.7, -0.9, CAL= 91.8, -5.8, ROT= 58.2, 5.8 2025-01-08T22:07:32.519Z,1736374052.519 [DAT](INFO): got valid direction response: 22:07:30.5762 LVL= 15536, 30033, 19410, 30707, AGC= 68, IDX= 436, 0.27,-2.338, 2.335, 2.198, 2.844, PHS= 1.189,-0.462,-0.649, RAW= 84.7, -0.9, CAL= 91.8, -5.8, ROT= 58.2, 5.8 2025-01-08T22:07:32.520Z,1736374052.520 [DAT](INFO): DAT read: Bearing 58.2, 5.8 (Local) 2025-01-08T22:07:32.521Z,1736374052.521 [DAT](INFO): Local bearing/azimuth received: Bearing 58.2, 5.8 (Local) 2025-01-08T22:07:32.529Z,1736374052.529 [DAT](INFO): DAT read: Range 10 to 50 : 395.4 m (Rou 527.3 ms) speed 0.2 m/s 2025-01-08T22:07:32.530Z,1736374052.530 [DAT](INFO): DAT read: user:2319> 2025-01-08T22:07:32.536Z,1736374052.536 [DAT](INFO): DAT read: Tx time:22:07:31.6948 2025-01-08T22:07:32.536Z,1736374052.536 [DAT](INFO): Ping request sent. 2025-01-08T22:07:32.536Z,1736374052.536 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:32.537Z,1736374052.537 [DAT](INFO): DAT read: TxSync time:22:07:31.6940 2025-01-08T22:07:32.537Z,1736374052.537 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:32.539Z,1736374052.539 [DAT](INFO): direction in FSK: [-0.059156,0.197251,0.978567] 2025-01-08T22:07:32.544Z,1736374052.544 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:32.544Z,1736374052.544 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:32.550Z,1736374052.550 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:32.550Z,1736374052.550 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:32.756Z,1736374052.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:32.834Z,1736374052.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:32.874Z,1736374052.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 395.399994 m, deltaT: 4.286328 s, deltaX: -0.600006 m, approachRate: -0.139981 m/s, rangeRepo size: 4 2025-01-08T22:07:32.880Z,1736374052.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 395.399994 m, bearing: 148.783209 deg, lat: 36.902210 deg, lon: -122.121647 deg, deltaT: 4.286328 s, deltaX: -0.600006 m, approachRate: -0.139981 m/s, posRepo size: 4 2025-01-08T22:07:32.881Z,1736374052.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m. 2025-01-08T22:07:32.889Z,1736374052.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.399994 m, nav range: 75.888107 m, bearing: 87.900718 deg, approach rate: 0.000000 m/s, LOS rate: 0.327560 deg/s, cmd heading: 350.650656 deg, new cmd heading: 351.081698 deg. 2025-01-08T22:07:32.890Z,1736374052.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.127532 target range: 395.399994 and range: 395.40 m. 2025-01-08T22:07:33.008Z,1736374053.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:33.208Z,1736374053.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:33.215Z,1736374053.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:33.217Z,1736374053.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m. 2025-01-08T22:07:33.220Z,1736374053.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.399994 m, nav range: 75.943085 m, bearing: 88.077802 deg, approach rate: 0.159826 m/s, LOS rate: 0.514431 deg/s, cmd heading: 351.081695 deg, new cmd heading: 351.612546 deg. 2025-01-08T22:07:33.221Z,1736374053.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.136796 target range: 395.399994 and range: 395.40 m. 2025-01-08T22:07:33.262Z,1736374053.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:33.263Z,1736374053.263 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:33.263Z,1736374053.263 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:33.263Z,1736374053.263 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:33.512Z,1736374053.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:33.512Z,1736374053.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976385 2025-01-08T22:07:33.620Z,1736374053.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:33.629Z,1736374053.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m. 2025-01-08T22:07:33.632Z,1736374053.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.399994 m, nav range: 76.002045 m, bearing: 88.272772 deg, approach rate: 0.143055 m/s, LOS rate: 0.472688 deg/s, cmd heading: 351.612538 deg, new cmd heading: 352.196972 deg. 2025-01-08T22:07:33.633Z,1736374053.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146997 target range: 395.399994 and range: 395.40 m. 2025-01-08T22:07:33.764Z,1736374053.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:33.765Z,1736374053.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228610 2025-01-08T22:07:34.016Z,1736374054.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:34.016Z,1736374054.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480440 2025-01-08T22:07:34.056Z,1736374054.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:34.072Z,1736374054.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m. 2025-01-08T22:07:34.079Z,1736374054.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.399994 m, nav range: 76.043617 m, bearing: 88.475402 deg, approach rate: 0.093793 m/s, LOS rate: 0.456906 deg/s, cmd heading: 352.196983 deg, new cmd heading: 352.804517 deg. 2025-01-08T22:07:34.080Z,1736374054.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157600 target range: 395.399994 and range: 395.40 m. 2025-01-08T22:07:34.270Z,1736374054.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:34.271Z,1736374054.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735508 2025-01-08T22:07:34.427Z,1736374054.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:34.445Z,1736374054.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m. 2025-01-08T22:07:34.451Z,1736374054.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.399994 m, nav range: 76.077827 m, bearing: 88.648313 deg, approach rate: 0.091998 m/s, LOS rate: 0.464784 deg/s, cmd heading: 352.804515 deg, new cmd heading: 353.323001 deg. 2025-01-08T22:07:34.453Z,1736374054.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166650 target range: 395.399994 and range: 395.40 m. 2025-01-08T22:07:34.521Z,1736374054.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:34.522Z,1736374054.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985857 2025-01-08T22:07:34.773Z,1736374054.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:34.773Z,1736374054.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237209 2025-01-08T22:07:34.864Z,1736374054.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:34.873Z,1736374054.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m. 2025-01-08T22:07:34.875Z,1736374054.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.399994 m, nav range: 76.097710 m, bearing: 88.847637 deg, approach rate: 0.046411 m/s, LOS rate: 0.465158 deg/s, cmd heading: 353.323008 deg, new cmd heading: 353.920800 deg. 2025-01-08T22:07:34.876Z,1736374054.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177083 target range: 395.399994 and range: 395.40 m. 2025-01-08T22:07:35.024Z,1736374055.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:35.024Z,1736374055.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488459 2025-01-08T22:07:35.257Z,1736374055.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:35.264Z,1736374055.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:35.266Z,1736374055.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m. 2025-01-08T22:07:35.269Z,1736374055.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.399994 m, nav range: 76.114632 m, bearing: 89.027468 deg, approach rate: 0.043000 m/s, LOS rate: 0.456859 deg/s, cmd heading: 353.920814 deg, new cmd heading: 354.460171 deg. 2025-01-08T22:07:35.270Z,1736374055.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186497 target range: 395.399994 and range: 395.40 m. 2025-01-08T22:07:35.276Z,1736374055.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:35.277Z,1736374055.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740622 2025-01-08T22:07:35.528Z,1736374055.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:35.528Z,1736374055.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992321 2025-01-08T22:07:35.646Z,1736374055.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:35.660Z,1736374055.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m. 2025-01-08T22:07:35.664Z,1736374055.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.399994 m, nav range: 76.130127 m, bearing: 89.204954 deg, approach rate: 0.039412 m/s, LOS rate: 0.451339 deg/s, cmd heading: 354.460180 deg, new cmd heading: 354.992516 deg. 2025-01-08T22:07:35.666Z,1736374055.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195788 target range: 395.399994 and range: 395.40 m. 2025-01-08T22:07:35.781Z,1736374055.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:35.782Z,1736374055.782 [DAT](INFO): DAT read: Rx Time:22:07:34.6251 2025-01-08T22:07:35.783Z,1736374055.783 [DAT](INFO): Rx dataTimestamp_ set to:1736374055.782311 2025-01-08T22:07:35.784Z,1736374055.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247883 2025-01-08T22:07:36.032Z,1736374056.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:36.032Z,1736374056.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496486 2025-01-08T22:07:36.058Z,1736374056.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:36.066Z,1736374056.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m. 2025-01-08T22:07:36.069Z,1736374056.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.399994 m, nav range: 76.136223 m, bearing: 89.386436 deg, approach rate: 0.014978 m/s, LOS rate: 0.445887 deg/s, cmd heading: 354.992525 deg, new cmd heading: 355.536909 deg. 2025-01-08T22:07:36.070Z,1736374056.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205290 target range: 395.399994 and range: 395.40 m. 2025-01-08T22:07:36.285Z,1736374056.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:36.287Z,1736374056.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750461 2025-01-08T22:07:36.456Z,1736374056.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:36.466Z,1736374056.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m. 2025-01-08T22:07:36.474Z,1736374056.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.399994 m, nav range: 76.140968 m, bearing: 89.562202 deg, approach rate: 0.011902 m/s, LOS rate: 0.440816 deg/s, cmd heading: 355.536919 deg, new cmd heading: 356.064170 deg. 2025-01-08T22:07:36.476Z,1736374056.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214492 target range: 395.399994 and range: 395.40 m. 2025-01-08T22:07:36.537Z,1736374056.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:36.549Z,1736374056.549 [DAT](INFO): DAT read: 22:07:34.6251 LVL= 16464, 29233, 17874, 28867, AGC= 66, IDX= 425, 0.08,-1.021,-2.651,-2.675,-2.106, PHS= 1.173,-0.499,-0.572, RAW= 87.9, -1.2, CAL= 95.5, -6.4, ROT= 54.5, 6.4 2025-01-08T22:07:36.551Z,1736374056.551 [DAT](INFO): got valid direction response: 22:07:34.6251 LVL= 16464, 29233, 17874, 28867, AGC= 66, IDX= 425, 0.08,-1.021,-2.651,-2.675,-2.106, PHS= 1.173,-0.499,-0.572, RAW= 87.9, -1.2, CAL= 95.5, -6.4, ROT= 54.5, 6.4 2025-01-08T22:07:36.552Z,1736374056.552 [DAT](INFO): DAT read: Bearing 54.5, 6.4 (Local) 2025-01-08T22:07:36.553Z,1736374056.553 [DAT](INFO): Local bearing/azimuth received: Bearing 54.5, 6.4 (Local) 2025-01-08T22:07:36.557Z,1736374056.557 [DAT](INFO): DAT read: Range 10 to 50 : 394.6 m (Round-trip 526.2 ms) speed 0.3 m/s 2025-01-08T22:07:36.558Z,1736374056.558 [DAT](INFO): DAT read: user:2320> 2025-01-08T22:07:36.559Z,1736374056.559 [DAT](INFO): DAT read: Tx time:22:07:35.7448 2025-01-08T22:07:36.559Z,1736374056.559 [DAT](INFO): Ping request sent. 2025-01-08T22:07:36.559Z,1736374056.559 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:36.560Z,1736374056.560 [DAT](INFO): DAT read: TxSync time:22:07:35.7440 2025-01-08T22:07:36.560Z,1736374056.560 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:36.561Z,1736374056.561 [DAT](INFO): direction in FSK: [-0.058654,0.142853,0.988004] 2025-01-08T22:07:36.562Z,1736374056.562 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:36.562Z,1736374056.562 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:36.574Z,1736374056.574 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:36.574Z,1736374056.574 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:36.790Z,1736374056.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:36.892Z,1736374056.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:36.934Z,1736374056.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 394.600006 m, deltaT: 4.032994 s, deltaX: -0.799988 m, approachRate: -0.198361 m/s, rangeRepo size: 4 2025-01-08T22:07:36.941Z,1736374056.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 394.600006 m, bearing: 227.242871 deg, lat: 36.902052 deg, lon: -122.122065 deg, deltaT: 4.032994 s, deltaX: -0.799988 m, approachRate: -0.198361 m/s, posRepo size: 4 2025-01-08T22:07:36.941Z,1736374056.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.60 m. 2025-01-08T22:07:36.948Z,1736374056.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 394.600006 m, nav range: 42.614468 m, bearing: 113.793270 deg, approach rate: 0.000000 m/s, LOS rate: 0.440816 deg/s, cmd heading: 356.064182 deg, new cmd heading: 356.683657 deg. 2025-01-08T22:07:36.949Z,1736374056.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.225304 target range: 394.600006 and range: 394.60 m. 2025-01-08T22:07:37.040Z,1736374057.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:37.256Z,1736374057.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:37.268Z,1736374057.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:37.270Z,1736374057.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.60 m. 2025-01-08T22:07:37.273Z,1736374057.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 394.600006 m, nav range: 42.706642 m, bearing: 114.046197 deg, approach rate: 0.274101 m/s, LOS rate: 0.750509 deg/s, cmd heading: 356.683653 deg, new cmd heading: 357.440750 deg. 2025-01-08T22:07:37.274Z,1736374057.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238518 target range: 394.600006 and range: 394.60 m. 2025-01-08T22:07:37.292Z,1736374057.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:37.293Z,1736374057.293 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:37.293Z,1736374057.293 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:37.293Z,1736374057.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:37.544Z,1736374057.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:37.544Z,1736374057.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985125 2025-01-08T22:07:37.677Z,1736374057.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:37.686Z,1736374057.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.60 m. 2025-01-08T22:07:37.690Z,1736374057.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 394.600006 m, nav range: 42.812092 m, bearing: 114.339165 deg, approach rate: 0.253040 m/s, LOS rate: 0.701280 deg/s, cmd heading: 357.440738 deg, new cmd heading: 358.317404 deg. 2025-01-08T22:07:37.692Z,1736374057.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253819 target range: 394.600006 and range: 394.60 m. 2025-01-08T22:07:37.796Z,1736374057.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:37.797Z,1736374057.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237639 2025-01-08T22:07:38.048Z,1736374058.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:38.048Z,1736374058.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489160 2025-01-08T22:07:38.108Z,1736374058.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:38.130Z,1736374058.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.60 m. 2025-01-08T22:07:38.137Z,1736374058.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 394.600006 m, nav range: 42.928577 m, bearing: 114.631029 deg, approach rate: 0.262738 m/s, LOS rate: 0.656524 deg/s, cmd heading: 358.317407 deg, new cmd heading: 359.190552 deg. 2025-01-08T22:07:38.139Z,1736374058.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269058 target range: 394.600006 and range: 394.60 m. 2025-01-08T22:07:38.300Z,1736374058.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:38.300Z,1736374058.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741081 2025-01-08T22:07:38.461Z,1736374058.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:38.482Z,1736374058.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.60 m. 2025-01-08T22:07:38.489Z,1736374058.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 394.600006 m, nav range: 43.023262 m, bearing: 114.870961 deg, approach rate: 0.268625 m/s, LOS rate: 0.679198 deg/s, cmd heading: 359.190551 deg, new cmd heading: 359.908722 deg. 2025-01-08T22:07:38.490Z,1736374058.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281592 target range: 394.600006 and range: 394.60 m. 2025-01-08T22:07:38.552Z,1736374058.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:38.553Z,1736374058.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993404 2025-01-08T22:07:38.806Z,1736374058.806 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:38.808Z,1736374058.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248447 2025-01-08T22:07:38.900Z,1736374058.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:38.914Z,1736374058.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.60 m. 2025-01-08T22:07:38.920Z,1736374058.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 394.600006 m, nav range: 43.160496 m, bearing: 115.151501 deg, approach rate: 0.318264 m/s, LOS rate: 0.648538 deg/s, cmd heading: 359.908731 deg, new cmd heading: 0.747610 deg. 2025-01-08T22:07:38.923Z,1736374058.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013048 target range: 394.600006 and range: 394.60 m. 2025-01-08T22:07:39.056Z,1736374059.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:39.057Z,1736374059.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497930 2025-01-08T22:07:39.281Z,1736374059.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:39.290Z,1736374059.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:39.292Z,1736374059.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.60 m. 2025-01-08T22:07:39.294Z,1736374059.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 394.600006 m, nav range: 43.279129 m, bearing: 115.395188 deg, approach rate: 0.313617 m/s, LOS rate: 0.642441 deg/s, cmd heading: 0.747610 deg, new cmd heading: 1.476626 deg. 2025-01-08T22:07:39.296Z,1736374059.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025772 target range: 394.600006 and range: 394.60 m. 2025-01-08T22:07:39.308Z,1736374059.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:39.309Z,1736374059.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749224 2025-01-08T22:07:39.560Z,1736374059.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:39.560Z,1736374059.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001123 2025-01-08T22:07:39.684Z,1736374059.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:39.693Z,1736374059.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.60 m. 2025-01-08T22:07:39.696Z,1736374059.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 394.600006 m, nav range: 43.403912 m, bearing: 115.652283 deg, approach rate: 0.310772 m/s, LOS rate: 0.638456 deg/s, cmd heading: 1.476626 deg, new cmd heading: 2.245646 deg. 2025-01-08T22:07:39.697Z,1736374059.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039194 target range: 394.600006 and range: 394.60 m. 2025-01-08T22:07:39.814Z,1736374059.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:39.817Z,1736374059.817 [DAT](INFO): DAT read: Rx Time:22:07:38.6732 2025-01-08T22:07:39.818Z,1736374059.818 [DAT](INFO): Rx dataTimestamp_ set to:1736374059.817216 2025-01-08T22:07:39.821Z,1736374059.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261449 2025-01-08T22:07:40.064Z,1736374060.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:40.064Z,1736374060.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504968 2025-01-08T22:07:40.136Z,1736374060.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:40.158Z,1736374060.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.60 m. 2025-01-08T22:07:40.165Z,1736374060.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 394.600006 m, nav range: 43.565231 m, bearing: 115.939344 deg, approach rate: 0.347277 m/s, LOS rate: 0.615673 deg/s, cmd heading: 2.245646 deg, new cmd heading: 3.103574 deg. 2025-01-08T22:07:40.167Z,1736374060.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.054168 target range: 394.600006 and range: 394.60 m. 2025-01-08T22:07:40.317Z,1736374060.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:40.320Z,1736374060.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760379 2025-01-08T22:07:40.488Z,1736374060.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:40.512Z,1736374060.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.60 m. 2025-01-08T22:07:40.514Z,1736374060.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 394.600006 m, nav range: 43.688339 m, bearing: 116.163687 deg, approach rate: 0.347632 m/s, LOS rate: 0.631713 deg/s, cmd heading: 3.103573 deg, new cmd heading: 3.774674 deg. 2025-01-08T22:07:40.520Z,1736374060.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.065880 target range: 394.600006 and range: 394.60 m. 2025-01-08T22:07:40.568Z,1736374060.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:40.579Z,1736374060.579 [DAT](INFO): DAT read: 22:07:38.6732 LVL= 14416, 30961, 21778, 32755, AGC= 66, IDX= 421,-0.49,-1.211,-2.743,-2.635,-2.124, PHS= 1.001,-0.572,-0.514, RAW= 91.8, 1.1, CAL= 99.7, -2.3, ROT= 50.3, 2.3 2025-01-08T22:07:40.581Z,1736374060.581 [DAT](INFO): got valid direction response: 22:07:38.6732 LVL= 14416, 30961, 21778, 32755, AGC= 66, IDX= 421,-0.49,-1.211,-2.743,-2.635,-2.124, PHS= 1.001,-0.572,-0.514, RAW= 91.8, 1.1, CAL= 99.7, -2.3, ROT= 50.3, 2.3 2025-01-08T22:07:40.582Z,1736374060.582 [DAT](INFO): DAT read: Bearing 50.3, 2.3 (Local) 2025-01-08T22:07:40.585Z,1736374060.585 [DAT](INFO): Local bearing/azimuth received: Bearing 50.3, 2.3 (Local) 2025-01-08T22:07:40.589Z,1736374060.589 [DAT](INFO): DAT read: Range 10 to 50 : 393.1 m (Round-trip 524.2 ms) speed 0.4 m/s 2025-01-08T22:07:40.591Z,1736374060.591 [DAT](INFO): DAT read: user:2321> 2025-01-08T22:07:40.616Z,1736374060.616 [DAT](INFO): DAT read: Tx time:22:07:39.7949 2025-01-08T22:07:40.617Z,1736374060.617 [DAT](INFO): Ping request sent. 2025-01-08T22:07:40.617Z,1736374060.617 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:40.618Z,1736374060.618 [DAT](INFO): DAT read: TxSync time:22:07:39.7941 2025-01-08T22:07:40.619Z,1736374060.619 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:40.632Z,1736374060.632 [DAT](INFO): direction in FSK: [-0.109296,0.076452,0.991065] 2025-01-08T22:07:40.632Z,1736374060.632 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:40.633Z,1736374060.633 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:40.640Z,1736374060.640 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:40.640Z,1736374060.640 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:40.822Z,1736374060.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:40.936Z,1736374060.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:40.976Z,1736374060.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 393.100006 m, deltaT: 4.030381 s, deltaX: -1.500000 m, approachRate: -0.372173 m/s, rangeRepo size: 4 2025-01-08T22:07:40.978Z,1736374060.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 393.100006 m, bearing: 233.419013 deg, lat: 36.902046 deg, lon: -122.122399 deg, deltaT: 4.030381 s, deltaX: -1.500000 m, approachRate: -0.372173 m/s, posRepo size: 4 2025-01-08T22:07:40.978Z,1736374060.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.10 m. 2025-01-08T22:07:40.985Z,1736374060.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.100006 m, nav range: 22.374065 m, bearing: 154.790927 deg, approach rate: 0.000000 m/s, LOS rate: 0.631713 deg/s, cmd heading: 3.774674 deg, new cmd heading: 4.643569 deg. 2025-01-08T22:07:40.986Z,1736374060.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081046 target range: 393.100006 and range: 393.10 m. 2025-01-08T22:07:41.073Z,1736374061.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:41.298Z,1736374061.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:41.306Z,1736374061.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:41.308Z,1736374061.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.10 m. 2025-01-08T22:07:41.310Z,1736374061.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.100006 m, nav range: 22.585756 m, bearing: 154.907947 deg, approach rate: 0.627199 m/s, LOS rate: 0.343455 deg/s, cmd heading: 4.643569 deg, new cmd heading: 4.991332 deg. 2025-01-08T22:07:41.312Z,1736374061.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.087115 target range: 393.100006 and range: 393.10 m. 2025-01-08T22:07:41.324Z,1736374061.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:41.324Z,1736374061.324 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:41.324Z,1736374061.324 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:41.324Z,1736374061.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:41.576Z,1736374061.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:41.576Z,1736374061.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.959541 2025-01-08T22:07:41.718Z,1736374061.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:41.727Z,1736374061.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.10 m. 2025-01-08T22:07:41.730Z,1736374061.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.100006 m, nav range: 22.831184 m, bearing: 155.047717 deg, approach rate: 0.585577 m/s, LOS rate: 0.329900 deg/s, cmd heading: 4.991332 deg, new cmd heading: 5.406130 deg. 2025-01-08T22:07:41.731Z,1736374061.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.094355 target range: 393.100006 and range: 393.10 m. 2025-01-08T22:07:41.830Z,1736374061.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:41.832Z,1736374061.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214871 2025-01-08T22:07:42.080Z,1736374062.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:42.080Z,1736374062.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463603 2025-01-08T22:07:42.133Z,1736374062.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:42.161Z,1736374062.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.10 m. 2025-01-08T22:07:42.168Z,1736374062.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.100006 m, nav range: 23.078409 m, bearing: 155.182230 deg, approach rate: 0.569362 m/s, LOS rate: 0.306465 deg/s, cmd heading: 5.406130 deg, new cmd heading: 5.805337 deg. 2025-01-08T22:07:42.169Z,1736374062.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101322 target range: 393.100006 and range: 393.10 m. 2025-01-08T22:07:42.332Z,1736374062.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:42.332Z,1736374062.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715457 2025-01-08T22:07:42.521Z,1736374062.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:42.545Z,1736374062.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.10 m. 2025-01-08T22:07:42.552Z,1736374062.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.100006 m, nav range: 23.309557 m, bearing: 155.310447 deg, approach rate: 0.602380 m/s, LOS rate: 0.330826 deg/s, cmd heading: 5.805337 deg, new cmd heading: 6.186169 deg. 2025-01-08T22:07:42.553Z,1736374062.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107969 target range: 393.100006 and range: 393.10 m. 2025-01-08T22:07:42.584Z,1736374062.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:42.584Z,1736374062.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967471 2025-01-08T22:07:42.837Z,1736374062.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:42.840Z,1736374062.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222481 2025-01-08T22:07:42.962Z,1736374062.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:42.971Z,1736374062.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.10 m. 2025-01-08T22:07:42.974Z,1736374062.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.100006 m, nav range: 23.575478 m, bearing: 155.434194 deg, approach rate: 0.625056 m/s, LOS rate: 0.287589 deg/s, cmd heading: 6.186169 deg, new cmd heading: 6.553216 deg. 2025-01-08T22:07:42.975Z,1736374062.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114375 target range: 393.100006 and range: 393.10 m. 2025-01-08T22:07:43.089Z,1736374063.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:43.089Z,1736374063.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472418 2025-01-08T22:07:43.320Z,1736374063.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:43.340Z,1736374063.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:43.341Z,1736374063.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723653 2025-01-08T22:07:43.349Z,1736374063.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:43.356Z,1736374063.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.10 m. 2025-01-08T22:07:43.358Z,1736374063.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.100006 m, nav range: 23.790590 m, bearing: 155.542984 deg, approach rate: 0.564799 m/s, LOS rate: 0.283057 deg/s, cmd heading: 6.553216 deg, new cmd heading: 6.876633 deg. 2025-01-08T22:07:43.363Z,1736374063.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120020 target range: 393.100006 and range: 393.10 m. 2025-01-08T22:07:43.593Z,1736374063.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:43.595Z,1736374063.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977744 2025-01-08T22:07:43.737Z,1736374063.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:43.747Z,1736374063.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.10 m. 2025-01-08T22:07:43.749Z,1736374063.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.100006 m, nav range: 24.040203 m, bearing: 155.674037 deg, approach rate: 0.631514 m/s, LOS rate: 0.328116 deg/s, cmd heading: 6.876633 deg, new cmd heading: 7.265702 deg. 2025-01-08T22:07:43.750Z,1736374063.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.126810 target range: 393.100006 and range: 393.10 m. 2025-01-08T22:07:43.846Z,1736374063.846 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:43.849Z,1736374063.849 [DAT](INFO): DAT read: Rx Time:22:07:42.7213 2025-01-08T22:07:43.850Z,1736374063.850 [DAT](INFO): Rx dataTimestamp_ set to:1736374063.849239 2025-01-08T22:07:43.853Z,1736374063.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235344 2025-01-08T22:07:44.096Z,1736374064.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:44.096Z,1736374064.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479479 2025-01-08T22:07:44.160Z,1736374064.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:44.193Z,1736374064.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.10 m. 2025-01-08T22:07:44.201Z,1736374064.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.100006 m, nav range: 24.286449 m, bearing: 155.838138 deg, approach rate: 0.551443 m/s, LOS rate: 0.363761 deg/s, cmd heading: 7.265702 deg, new cmd heading: 7.753002 deg. 2025-01-08T22:07:44.202Z,1736374064.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.135315 target range: 393.100006 and range: 393.10 m. 2025-01-08T22:07:44.348Z,1736374064.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:44.350Z,1736374064.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.732265 2025-01-08T22:07:44.531Z,1736374064.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:44.541Z,1736374064.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.10 m. 2025-01-08T22:07:44.547Z,1736374064.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.100006 m, nav range: 24.501762 m, bearing: 155.984859 deg, approach rate: 0.621012 m/s, LOS rate: 0.419459 deg/s, cmd heading: 7.753002 deg, new cmd heading: 8.189288 deg. 2025-01-08T22:07:44.548Z,1736374064.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.142930 target range: 393.100006 and range: 393.10 m. 2025-01-08T22:07:44.565Z,1736374064.565 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:07:44.602Z,1736374064.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:44.621Z,1736374064.621 [DAT](INFO): DAT read: 22:07:42.7213 LVL= 17168, 32753, 26610, 32755, AGC= 66, IDX= 417, 0.16,-0.898,-2.424,-2.126,-1.703, PHS= 0.893,-0.674,-0.427, RAW= 98.4, 2.9, CAL= 108.4, 0.8, ROT= 41.6, -0.8 2025-01-08T22:07:44.623Z,1736374064.623 [DAT](INFO): got valid direction response: 22:07:42.7213 LVL= 17168, 32753, 26610, 32755, AGC= 66, IDX= 417, 0.16,-0.898,-2.424,-2.126,-1.703, PHS= 0.893,-0.674,-0.427, RAW= 98.4, 2.9, CAL= 108.4, 0.8, ROT= 41.6, -0.8 2025-01-08T22:07:44.625Z,1736374064.625 [DAT](INFO): DAT read: Bearing 41.6, -0.8 (Local) 2025-01-08T22:07:44.626Z,1736374064.626 [DAT](INFO): Local bearing/azimuth received: Bearing 41.6, -0.8 (Local) 2025-01-08T22:07:44.644Z,1736374064.644 [DAT](INFO): DAT read: Range 10 to 50 : 391.7 m (Round-trip 522.3 ms) speed 0.2 m/s 2025-01-08T22:07:44.645Z,1736374064.645 [DAT](INFO): DAT read: user:2322> 2025-01-08T22:07:44.647Z,1736374064.647 [DAT](INFO): DAT read: Tx time:22:07:43.8449 2025-01-08T22:07:44.647Z,1736374064.647 [DAT](INFO): Ping request sent. 2025-01-08T22:07:44.652Z,1736374064.652 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:44.653Z,1736374064.653 [DAT](INFO): DAT read: TxSync time:22:07:43.8441 2025-01-08T22:07:44.654Z,1736374064.654 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:44.660Z,1736374064.660 [DAT](INFO): direction in FSK: [-0.152891,-0.036605,0.987565] 2025-01-08T22:07:44.661Z,1736374064.661 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:44.661Z,1736374064.661 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:44.696Z,1736374064.696 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:44.696Z,1736374064.696 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:44.854Z,1736374064.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:44.981Z,1736374064.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:45.010Z,1736374065.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 391.700012 m, deltaT: 4.033659 s, deltaX: -1.399994 m, approachRate: -0.347078 m/s, rangeRepo size: 4 2025-01-08T22:07:45.016Z,1736374065.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 391.700012 m, bearing: 244.833882 deg, lat: 36.902008 deg, lon: -122.122721 deg, deltaT: 4.033659 s, deltaX: -1.399994 m, approachRate: -0.347078 m/s, posRepo size: 4 2025-01-08T22:07:45.017Z,1736374065.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.70 m. 2025-01-08T22:07:45.024Z,1736374065.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.700012 m, nav range: 32.650345 m, bearing: 214.766033 deg, approach rate: 0.000000 m/s, LOS rate: 0.419459 deg/s, cmd heading: 8.189288 deg, new cmd heading: 8.780152 deg. 2025-01-08T22:07:45.025Z,1736374065.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.153243 target range: 391.700012 and range: 391.70 m. 2025-01-08T22:07:45.105Z,1736374065.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:45.345Z,1736374065.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:45.352Z,1736374065.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:45.354Z,1736374065.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.70 m. 2025-01-08T22:07:45.356Z,1736374065.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:45.357Z,1736374065.357 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:45.357Z,1736374065.357 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:45.357Z,1736374065.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:45.362Z,1736374065.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.700012 m, nav range: 32.822582 m, bearing: 214.519655 deg, approach rate: 0.500524 m/s, LOS rate: -0.712219 deg/s, cmd heading: 8.780152 deg, new cmd heading: 8.044939 deg. 2025-01-08T22:07:45.363Z,1736374065.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.140411 target range: 391.700012 and range: 391.70 m. 2025-01-08T22:07:45.568Z,1736374065.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:07:45.608Z,1736374065.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:45.608Z,1736374065.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.961357 2025-01-08T22:07:45.780Z,1736374065.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:45.813Z,1736374065.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.70 m. 2025-01-08T22:07:45.820Z,1736374065.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.700012 m, nav range: 33.031593 m, bearing: 214.233362 deg, approach rate: 0.455098 m/s, LOS rate: -0.619424 deg/s, cmd heading: 8.044938 deg, new cmd heading: 7.191560 deg. 2025-01-08T22:07:45.820Z,1736374065.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125516 target range: 391.700012 and range: 391.70 m. 2025-01-08T22:07:45.861Z,1736374065.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:45.864Z,1736374065.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216708 2025-01-08T22:07:46.112Z,1736374066.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:46.113Z,1736374066.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465872 2025-01-08T22:07:46.253Z,1736374066.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:46.283Z,1736374066.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.70 m. 2025-01-08T22:07:46.290Z,1736374066.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.700012 m, nav range: 33.273331 m, bearing: 213.946561 deg, approach rate: 0.514391 m/s, LOS rate: -0.605844 deg/s, cmd heading: 7.191560 deg, new cmd heading: 6.337476 deg. 2025-01-08T22:07:46.296Z,1736374066.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110610 target range: 391.700012 and range: 391.70 m. 2025-01-08T22:07:46.364Z,1736374066.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:46.365Z,1736374066.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717737 2025-01-08T22:07:46.616Z,1736374066.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:46.616Z,1736374066.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969440 2025-01-08T22:07:46.685Z,1736374066.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:46.694Z,1736374066.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.70 m. 2025-01-08T22:07:46.697Z,1736374066.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.700012 m, nav range: 33.496407 m, bearing: 213.691291 deg, approach rate: 0.542766 m/s, LOS rate: -0.616962 deg/s, cmd heading: 6.337476 deg, new cmd heading: 5.576811 deg. 2025-01-08T22:07:46.698Z,1736374066.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097334 target range: 391.700012 and range: 391.70 m. 2025-01-08T22:07:46.868Z,1736374066.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:46.870Z,1736374066.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222361 2025-01-08T22:07:47.083Z,1736374067.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:47.092Z,1736374067.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.70 m. 2025-01-08T22:07:47.095Z,1736374067.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.700012 m, nav range: 33.704262 m, bearing: 213.486212 deg, approach rate: 0.521377 m/s, LOS rate: -0.511239 deg/s, cmd heading: 5.576811 deg, new cmd heading: 4.965393 deg. 2025-01-08T22:07:47.096Z,1736374067.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.086662 target range: 391.700012 and range: 391.70 m. 2025-01-08T22:07:47.120Z,1736374067.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:47.120Z,1736374067.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473387 2025-01-08T22:07:47.372Z,1736374067.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:47.373Z,1736374067.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725761 2025-01-08T22:07:47.446Z,1736374067.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:47.453Z,1736374067.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:47.456Z,1736374067.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.70 m. 2025-01-08T22:07:47.459Z,1736374067.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.700012 m, nav range: 33.895649 m, bearing: 213.306560 deg, approach rate: 0.526153 m/s, LOS rate: -0.491102 deg/s, cmd heading: 4.965393 deg, new cmd heading: 4.429497 deg. 2025-01-08T22:07:47.460Z,1736374067.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077309 target range: 391.700012 and range: 391.70 m. 2025-01-08T22:07:47.624Z,1736374067.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:47.624Z,1736374067.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977320 2025-01-08T22:07:47.850Z,1736374067.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:47.864Z,1736374067.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.70 m. 2025-01-08T22:07:47.866Z,1736374067.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.700012 m, nav range: 34.109314 m, bearing: 213.111166 deg, approach rate: 0.523988 m/s, LOS rate: -0.476178 deg/s, cmd heading: 4.429497 deg, new cmd heading: 3.847008 deg. 2025-01-08T22:07:47.869Z,1736374067.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.067143 target range: 391.700012 and range: 391.70 m. 2025-01-08T22:07:47.878Z,1736374067.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:47.881Z,1736374067.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233071 2025-01-08T22:07:48.128Z,1736374068.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:48.128Z,1736374068.128 [DAT](INFO): DAT read: Rx Time:22:07:46.7701 2025-01-08T22:07:48.129Z,1736374068.129 [DAT](INFO): Rx dataTimestamp_ set to:1736374068.128614 2025-01-08T22:07:48.129Z,1736374068.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482391 2025-01-08T22:07:48.281Z,1736374068.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:48.291Z,1736374068.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.70 m. 2025-01-08T22:07:48.294Z,1736374068.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.700012 m, nav range: 34.352802 m, bearing: 212.912322 deg, approach rate: 0.570554 m/s, LOS rate: -0.462636 deg/s, cmd heading: 3.847008 deg, new cmd heading: 3.254728 deg. 2025-01-08T22:07:48.294Z,1736374068.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056806 target range: 391.700012 and range: 391.70 m. 2025-01-08T22:07:48.380Z,1736374068.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:48.381Z,1736374068.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734169 2025-01-08T22:07:48.633Z,1736374068.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:48.642Z,1736374068.642 [DAT](INFO): DAT read: 22:07:46.7701 LVL= 19232, 32753, 29426, 32755, AGC= 71, IDX= 435,-0.14,-2.699, 1.961, 2.465, 2.835, PHS= 0.837,-0.828,-0.373, RAW= 105.3, 4.9, CAL= 115.9, 2.6, ROT= 34.1, -2.6 2025-01-08T22:07:48.644Z,1736374068.644 [DAT](INFO): got valid direction response: 22:07:46.7701 LVL= 19232, 32753, 29426, 32755, AGC= 71, IDX= 435,-0.14,-2.699, 1.961, 2.465, 2.835, PHS= 0.837,-0.828,-0.373, RAW= 105.3, 4.9, CAL= 115.9, 2.6, ROT= 34.1, -2.6 2025-01-08T22:07:48.646Z,1736374068.646 [DAT](INFO): DAT read: Bearing 34.1, -2.6 (Local) 2025-01-08T22:07:48.646Z,1736374068.646 [DAT](INFO): Local bearing/azimuth received: Bearing 34.1, -2.6 (Local) 2025-01-08T22:07:48.649Z,1736374068.649 [DAT](INFO): DAT read: Range 10 to 50 : 390.6 m (Round-trip 520.9 ms) speed 0.2 m/s 2025-01-08T22:07:48.650Z,1736374068.650 [DAT](INFO): DAT read: user:2323> 2025-01-08T22:07:48.664Z,1736374068.664 [DAT](INFO): DAT read: Tx time:22:07:47.8950 2025-01-08T22:07:48.665Z,1736374068.665 [DAT](INFO): Ping request sent. 2025-01-08T22:07:48.665Z,1736374068.665 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:48.666Z,1736374068.666 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:48.669Z,1736374068.669 [DAT](INFO): direction in FSK: [-0.200999,-0.155230,0.967214] 2025-01-08T22:07:48.670Z,1736374068.670 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:48.670Z,1736374068.670 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:48.699Z,1736374068.699 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:48.700Z,1736374068.700 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:48.784Z,1736374068.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:48.815Z,1736374068.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 390.600006 m, deltaT: 4.031066 s, deltaX: -1.100006 m, approachRate: -0.272882 m/s, rangeRepo size: 4 2025-01-08T22:07:48.818Z,1736374068.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 390.600006 m, bearing: 248.238497 deg, lat: 36.901885 deg, lon: -122.123085 deg, deltaT: 4.031066 s, deltaX: -1.100006 m, approachRate: -0.272882 m/s, posRepo size: 4 2025-01-08T22:07:48.818Z,1736374068.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.60 m. 2025-01-08T22:07:48.825Z,1736374068.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.600006 m, nav range: 66.667389 m, bearing: 229.947669 deg, approach rate: 0.000000 m/s, LOS rate: -0.462636 deg/s, cmd heading: 3.254728 deg, new cmd heading: 2.538856 deg. 2025-01-08T22:07:48.826Z,1736374068.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.044311 target range: 390.600006 and range: 390.60 m. 2025-01-08T22:07:48.885Z,1736374068.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:48.886Z,1736374068.886 [DAT](INFO): DAT read: TxSync time:22:07:47.8942 2025-01-08T22:07:49.137Z,1736374069.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:49.167Z,1736374069.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:49.177Z,1736374069.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.60 m. 2025-01-08T22:07:49.179Z,1736374069.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.600006 m, nav range: 66.845901 m, bearing: 229.816852 deg, approach rate: 0.482446 m/s, LOS rate: -0.352601 deg/s, cmd heading: 2.538856 deg, new cmd heading: 2.147458 deg. 2025-01-08T22:07:49.180Z,1736374069.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037480 target range: 390.600006 and range: 390.60 m. 2025-01-08T22:07:49.388Z,1736374069.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:49.513Z,1736374069.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:49.522Z,1736374069.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:49.524Z,1736374069.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.60 m. 2025-01-08T22:07:49.527Z,1736374069.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.600006 m, nav range: 67.006859 m, bearing: 229.698699 deg, approach rate: 0.463099 m/s, LOS rate: -0.339127 deg/s, cmd heading: 2.147458 deg, new cmd heading: 1.793855 deg. 2025-01-08T22:07:49.528Z,1736374069.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.031309 target range: 390.600006 and range: 390.60 m. 2025-01-08T22:07:49.643Z,1736374069.643 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:49.645Z,1736374069.645 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:49.645Z,1736374069.645 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:49.645Z,1736374069.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:49.893Z,1736374069.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:49.894Z,1736374069.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229050 2025-01-08T22:07:50.016Z,1736374070.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:50.025Z,1736374070.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.60 m. 2025-01-08T22:07:50.029Z,1736374070.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.600006 m, nav range: 67.239265 m, bearing: 229.532365 deg, approach rate: 0.463638 m/s, LOS rate: -0.330679 deg/s, cmd heading: 1.793855 deg, new cmd heading: 1.296593 deg. 2025-01-08T22:07:50.030Z,1736374070.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022630 target range: 390.600006 and range: 390.60 m. 2025-01-08T22:07:50.144Z,1736374070.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:50.144Z,1736374070.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479729 2025-01-08T22:07:50.320Z,1736374070.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:50.329Z,1736374070.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.60 m. 2025-01-08T22:07:50.352Z,1736374070.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.600006 m, nav range: 67.377472 m, bearing: 229.433499 deg, approach rate: 0.454953 m/s, LOS rate: -0.324783 deg/s, cmd heading: 1.296593 deg, new cmd heading: 1.000606 deg. 2025-01-08T22:07:50.353Z,1736374070.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017464 target range: 390.600006 and range: 390.60 m. 2025-01-08T22:07:50.396Z,1736374070.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:50.397Z,1736374070.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731792 2025-01-08T22:07:50.648Z,1736374070.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:50.649Z,1736374070.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984263 2025-01-08T22:07:50.738Z,1736374070.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:50.748Z,1736374070.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.60 m. 2025-01-08T22:07:50.750Z,1736374070.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.600006 m, nav range: 67.571564 m, bearing: 229.293612 deg, approach rate: 0.464149 m/s, LOS rate: -0.333564 deg/s, cmd heading: 1.000606 deg, new cmd heading: 0.582157 deg. 2025-01-08T22:07:50.751Z,1736374070.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010161 target range: 390.600006 and range: 390.60 m. 2025-01-08T22:07:50.900Z,1736374070.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:50.901Z,1736374070.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235776 2025-01-08T22:07:51.146Z,1736374071.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:51.152Z,1736374071.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:51.152Z,1736374071.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487720 2025-01-08T22:07:51.158Z,1736374071.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.60 m. 2025-01-08T22:07:51.161Z,1736374071.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.600006 m, nav range: 67.755241 m, bearing: 229.161809 deg, approach rate: 0.446811 m/s, LOS rate: -0.319751 deg/s, cmd heading: 0.582157 deg, new cmd heading: 0.187828 deg. 2025-01-08T22:07:51.162Z,1736374071.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003278 target range: 390.600006 and range: 390.60 m. 2025-01-08T22:07:51.404Z,1736374071.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:51.405Z,1736374071.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740120 2025-01-08T22:07:51.526Z,1736374071.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:51.553Z,1736374071.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:51.555Z,1736374071.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.60 m. 2025-01-08T22:07:51.561Z,1736374071.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.600006 m, nav range: 67.924362 m, bearing: 229.038558 deg, approach rate: 0.426749 m/s, LOS rate: -0.310230 deg/s, cmd heading: 0.187828 deg, new cmd heading: 359.819000 deg. 2025-01-08T22:07:51.562Z,1736374071.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280026 target range: 390.600006 and range: 390.60 m. 2025-01-08T22:07:51.656Z,1736374071.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:51.658Z,1736374071.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992803 2025-01-08T22:07:51.908Z,1736374071.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:51.909Z,1736374071.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243973 2025-01-08T22:07:52.016Z,1736374072.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:52.033Z,1736374072.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.60 m. 2025-01-08T22:07:52.040Z,1736374072.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.600006 m, nav range: 68.141296 m, bearing: 228.878324 deg, approach rate: 0.453411 m/s, LOS rate: -0.333836 deg/s, cmd heading: 359.819010 deg, new cmd heading: 359.339851 deg. 2025-01-08T22:07:52.041Z,1736374072.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271664 target range: 390.600006 and range: 390.60 m. 2025-01-08T22:07:52.160Z,1736374072.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:52.160Z,1736374072.160 [DAT](INFO): DAT read: Rx Time:22:07:50.8182 2025-01-08T22:07:52.161Z,1736374072.161 [DAT](INFO): Rx dataTimestamp_ set to:1736374072.160611 2025-01-08T22:07:52.161Z,1736374072.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496705 2025-01-08T22:07:52.376Z,1736374072.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:52.389Z,1736374072.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.60 m. 2025-01-08T22:07:52.396Z,1736374072.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.600006 m, nav range: 68.296700 m, bearing: 228.759507 deg, approach rate: 0.438149 m/s, LOS rate: -0.334235 deg/s, cmd heading: 359.339859 deg, new cmd heading: 358.984223 deg. 2025-01-08T22:07:52.397Z,1736374072.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265457 target range: 390.600006 and range: 390.60 m. 2025-01-08T22:07:52.412Z,1736374072.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:52.413Z,1736374072.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747907 2025-01-08T22:07:52.665Z,1736374072.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:52.676Z,1736374072.676 [DAT](INFO): DAT read: 22:07:50.8182 LVL= 20560, 30577, 23746, 32755, AGC= 68, IDX= 416, 0.19,-0.104,-1.963,-1.420,-1.029, PHS= 1.013,-0.887,-0.394, RAW= 104.5, 3.2, CAL= 115.4, 0.7, ROT= 34.6, -0.7 2025-01-08T22:07:52.679Z,1736374072.679 [DAT](INFO): got valid direction response: 22:07:50.8182 LVL= 20560, 30577, 23746, 32755, AGC= 68, IDX= 416, 0.19,-0.104,-1.963,-1.420,-1.029, PHS= 1.013,-0.887,-0.394, RAW= 104.5, 3.2, CAL= 115.4, 0.7, ROT= 34.6, -0.7 2025-01-08T22:07:52.689Z,1736374072.689 [DAT](INFO): DAT read: Bearing 34.6, -0.7 (Local) 2025-01-08T22:07:52.689Z,1736374072.689 [DAT](INFO): Local bearing/azimuth received: Bearing 34.6, -0.7 (Local) 2025-01-08T22:07:52.691Z,1736374072.691 [DAT](INFO): DAT read: Range 10 to 50 : 389.3 m (Round-trip 519.1 ms) speed 0.4 m/s 2025-01-08T22:07:52.692Z,1736374072.692 [DAT](INFO): DAT read: user:2324> 2025-01-08T22:07:52.693Z,1736374072.693 [DAT](INFO): DAT read: Tx time:22:07:51.8950 2025-01-08T22:07:52.693Z,1736374072.693 [DAT](INFO): Ping request sent. 2025-01-08T22:07:52.693Z,1736374072.693 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:52.694Z,1736374072.694 [DAT](INFO): DAT read: TxSync time:22:07:51.8942 2025-01-08T22:07:52.694Z,1736374072.694 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:52.696Z,1736374072.696 [DAT](INFO): direction in FSK: [-0.166607,-0.142708,0.975642] 2025-01-08T22:07:52.696Z,1736374072.696 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:52.697Z,1736374072.697 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:52.752Z,1736374072.752 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:52.752Z,1736374072.752 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:52.806Z,1736374072.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:52.861Z,1736374072.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 389.299988 m, deltaT: 4.032344 s, deltaX: -1.300018 m, approachRate: -0.322398 m/s, rangeRepo size: 4 2025-01-08T22:07:52.863Z,1736374072.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 389.299988 m, bearing: 246.361293 deg, lat: 36.901885 deg, lon: -122.123443 deg, deltaT: 4.032344 s, deltaX: -1.300018 m, approachRate: -0.322398 m/s, posRepo size: 4 2025-01-08T22:07:52.864Z,1736374072.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.30 m. 2025-01-08T22:07:52.866Z,1736374072.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.299988 m, nav range: 94.804108 m, bearing: 241.475493 deg, approach rate: 0.000000 m/s, LOS rate: -0.334235 deg/s, cmd heading: 358.984224 deg, new cmd heading: 358.516430 deg. 2025-01-08T22:07:52.872Z,1736374072.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257292 target range: 389.299988 and range: 389.30 m. 2025-01-08T22:07:52.916Z,1736374072.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:53.168Z,1736374073.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:53.220Z,1736374073.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:53.238Z,1736374073.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.30 m. 2025-01-08T22:07:53.246Z,1736374073.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.299988 m, nav range: 94.936264 m, bearing: 241.353619 deg, approach rate: 0.344913 m/s, LOS rate: -0.317633 deg/s, cmd heading: 358.516438 deg, new cmd heading: 358.151331 deg. 2025-01-08T22:07:53.247Z,1736374073.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.250920 target range: 389.299988 and range: 389.30 m. 2025-01-08T22:07:53.420Z,1736374073.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:53.548Z,1736374073.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:53.556Z,1736374073.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:53.558Z,1736374073.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.30 m. 2025-01-08T22:07:53.561Z,1736374073.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.299988 m, nav range: 95.039375 m, bearing: 241.256715 deg, approach rate: 0.322170 m/s, LOS rate: -0.302448 deg/s, cmd heading: 358.151324 deg, new cmd heading: 357.860929 deg. 2025-01-08T22:07:53.562Z,1736374073.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245852 target range: 389.299988 and range: 389.30 m. 2025-01-08T22:07:53.673Z,1736374073.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:53.674Z,1736374073.674 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:53.674Z,1736374073.674 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:53.674Z,1736374073.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:53.924Z,1736374073.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:53.924Z,1736374073.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231116 2025-01-08T22:07:54.002Z,1736374074.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:54.045Z,1736374074.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.30 m. 2025-01-08T22:07:54.052Z,1736374074.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.299988 m, nav range: 95.172958 m, bearing: 241.128875 deg, approach rate: 0.274159 m/s, LOS rate: -0.262003 deg/s, cmd heading: 357.860931 deg, new cmd heading: 357.477957 deg. 2025-01-08T22:07:54.053Z,1736374074.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.239167 target range: 389.299988 and range: 389.30 m. 2025-01-08T22:07:54.176Z,1736374074.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:54.178Z,1736374074.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484472 2025-01-08T22:07:54.403Z,1736374074.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:54.412Z,1736374074.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.30 m. 2025-01-08T22:07:54.415Z,1736374074.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.299988 m, nav range: 95.300644 m, bearing: 241.006151 deg, approach rate: 0.347630 m/s, LOS rate: -0.333674 deg/s, cmd heading: 357.477949 deg, new cmd heading: 357.110276 deg. 2025-01-08T22:07:54.416Z,1736374074.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232750 target range: 389.299988 and range: 389.30 m. 2025-01-08T22:07:54.428Z,1736374074.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:54.428Z,1736374074.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735174 2025-01-08T22:07:54.680Z,1736374074.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:54.681Z,1736374074.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987717 2025-01-08T22:07:54.835Z,1736374074.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:54.845Z,1736374074.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.30 m. 2025-01-08T22:07:54.848Z,1736374074.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.299988 m, nav range: 95.425949 m, bearing: 240.879633 deg, approach rate: 0.289748 m/s, LOS rate: -0.292169 deg/s, cmd heading: 357.110266 deg, new cmd heading: 356.731214 deg. 2025-01-08T22:07:54.849Z,1736374074.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.226134 target range: 389.299988 and range: 389.30 m. 2025-01-08T22:07:54.932Z,1736374074.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:54.934Z,1736374074.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240212 2025-01-08T22:07:55.184Z,1736374075.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:55.184Z,1736374075.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491250 2025-01-08T22:07:55.286Z,1736374075.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:55.296Z,1736374075.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.30 m. 2025-01-08T22:07:55.299Z,1736374075.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.299988 m, nav range: 95.550194 m, bearing: 240.749318 deg, approach rate: 0.275174 m/s, LOS rate: -0.288242 deg/s, cmd heading: 356.731218 deg, new cmd heading: 356.340790 deg. 2025-01-08T22:07:55.316Z,1736374075.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219320 target range: 389.299988 and range: 389.30 m. 2025-01-08T22:07:55.436Z,1736374075.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:55.436Z,1736374075.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743179 2025-01-08T22:07:55.688Z,1736374075.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:55.689Z,1736374075.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995313 2025-01-08T22:07:55.753Z,1736374075.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:55.761Z,1736374075.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:55.779Z,1736374075.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.30 m. 2025-01-08T22:07:55.790Z,1736374075.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.299988 m, nav range: 95.677757 m, bearing: 240.614160 deg, approach rate: 0.273166 m/s, LOS rate: -0.289043 deg/s, cmd heading: 356.340777 deg, new cmd heading: 355.935850 deg. 2025-01-08T22:07:55.797Z,1736374075.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212253 target range: 389.299988 and range: 389.30 m. 2025-01-08T22:07:55.940Z,1736374075.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:55.941Z,1736374075.941 [DAT](INFO): DAT read: Rx Time:22:07:54.8154 2025-01-08T22:07:55.941Z,1736374075.941 [DAT](INFO): Rx dataTimestamp_ set to:1736374075.940749 2025-01-08T22:07:55.942Z,1736374075.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248393 2025-01-08T22:07:56.167Z,1736374076.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:56.192Z,1736374076.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:56.192Z,1736374076.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499201 2025-01-08T22:07:56.202Z,1736374076.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.30 m. 2025-01-08T22:07:56.209Z,1736374076.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.299988 m, nav range: 95.788666 m, bearing: 240.493269 deg, approach rate: 0.252954 m/s, LOS rate: -0.275403 deg/s, cmd heading: 355.935856 deg, new cmd heading: 355.573607 deg. 2025-01-08T22:07:56.209Z,1736374076.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205930 target range: 389.299988 and range: 389.30 m. 2025-01-08T22:07:56.444Z,1736374076.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:56.445Z,1736374076.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751499 2025-01-08T22:07:56.554Z,1736374076.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:56.564Z,1736374076.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.30 m. 2025-01-08T22:07:56.566Z,1736374076.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.299988 m, nav range: 95.891479 m, bearing: 240.380002 deg, approach rate: 0.284193 m/s, LOS rate: -0.312751 deg/s, cmd heading: 355.573610 deg, new cmd heading: 355.234178 deg. 2025-01-08T22:07:56.567Z,1736374076.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200006 target range: 389.299988 and range: 389.30 m. 2025-01-08T22:07:56.697Z,1736374076.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:56.709Z,1736374076.709 [DAT](INFO): DAT read: 22:07:54.8154 LVL= 14144, 28817, 19058, 27731, AGC= 66, IDX= 419, 0.02,-2.970, 1.251, 1.588, 2.055, PHS= 1.346,-0.757,-0.470, RAW= 97.2, -1.2, CAL= 105.8, -6.7, ROT= 44.2, 6.7 2025-01-08T22:07:56.719Z,1736374076.719 [DAT](INFO): got valid direction response: 22:07:54.8154 LVL= 14144, 28817, 19058, 27731, AGC= 66, IDX= 419, 0.02,-2.970, 1.251, 1.588, 2.055, PHS= 1.346,-0.757,-0.470, RAW= 97.2, -1.2, CAL= 105.8, -6.7, ROT= 44.2, 6.7 2025-01-08T22:07:56.720Z,1736374076.720 [DAT](INFO): DAT read: Bearing 44.2, 6.7 (Local) 2025-01-08T22:07:56.721Z,1736374076.721 [DAT](INFO): Local bearing/azimuth received: Bearing 44.2, 6.7 (Local) 2025-01-08T22:07:56.722Z,1736374076.722 [DAT](INFO): DAT read: Range 10 to 50 : 387.2 m (Round-trip 516.3 ms) speed 0.3 m/s 2025-01-08T22:07:56.727Z,1736374076.727 [DAT](INFO): DAT read: user:2325> 2025-01-08T22:07:56.728Z,1736374076.728 [DAT](INFO): DAT read: Tx time:22:07:55.8950 2025-01-08T22:07:56.728Z,1736374076.728 [DAT](INFO): Ping request sent. 2025-01-08T22:07:56.729Z,1736374076.729 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:07:56.729Z,1736374076.729 [DAT](INFO): DAT read: TxSync time:22:07:55.8942 2025-01-08T22:07:56.730Z,1736374076.730 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:07:56.731Z,1736374076.731 [DAT](INFO): direction in FSK: [-0.072716,-0.019850,0.997155] 2025-01-08T22:07:56.731Z,1736374076.731 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:56.735Z,1736374076.735 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:56.738Z,1736374076.738 [DAT](INFO): publishing transmit ping time 2025-01-08T22:07:56.739Z,1736374076.739 [DAT](INFO): publishing direction and range info 2025-01-08T22:07:56.948Z,1736374076.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:56.957Z,1736374076.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:56.987Z,1736374076.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 387.200012 m, deltaT: 4.031663 s, deltaX: -2.099976 m, approachRate: -0.520871 m/s, rangeRepo size: 4 2025-01-08T22:07:56.997Z,1736374076.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 387.200012 m, bearing: 287.945588 deg, lat: 36.901885 deg, lon: -122.123443 deg, deltaT: 4.031663 s, deltaX: -2.099976 m, approachRate: -0.520871 m/s, posRepo size: 4 2025-01-08T22:07:56.998Z,1736374076.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.20 m. 2025-01-08T22:07:57.017Z,1736374077.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.200012 m, nav range: 95.997841 m, bearing: 240.262005 deg, approach rate: 0.000000 m/s, LOS rate: -0.312751 deg/s, cmd heading: 355.234177 deg, new cmd heading: 354.837555 deg. 2025-01-08T22:07:57.027Z,1736374077.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193084 target range: 387.200012 and range: 387.20 m. 2025-01-08T22:07:57.200Z,1736374077.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:57.420Z,1736374077.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:57.452Z,1736374077.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:57.465Z,1736374077.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.20 m. 2025-01-08T22:07:57.472Z,1736374077.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.200012 m, nav range: 96.114067 m, bearing: 240.123380 deg, approach rate: 0.242932 m/s, LOS rate: -0.289397 deg/s, cmd heading: 354.837562 deg, new cmd heading: 354.422200 deg. 2025-01-08T22:07:57.473Z,1736374077.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185834 target range: 387.200012 and range: 387.20 m. 2025-01-08T22:07:57.704Z,1736374077.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:57.893Z,1736374077.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:57.900Z,1736374077.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:57.902Z,1736374077.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.20 m. 2025-01-08T22:07:57.922Z,1736374077.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.200012 m, nav range: 96.231758 m, bearing: 239.981715 deg, approach rate: 0.268905 m/s, LOS rate: -0.323285 deg/s, cmd heading: 354.422204 deg, new cmd heading: 353.997737 deg. 2025-01-08T22:07:57.923Z,1736374077.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178426 target range: 387.200012 and range: 387.20 m. 2025-01-08T22:07:57.956Z,1736374077.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:57.956Z,1736374077.956 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:07:57.957Z,1736374077.957 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:07:57.957Z,1736374077.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:07:58.208Z,1736374078.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:58.210Z,1736374078.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480703 2025-01-08T22:07:58.321Z,1736374078.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:58.335Z,1736374078.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.20 m. 2025-01-08T22:07:58.339Z,1736374078.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.200012 m, nav range: 96.335396 m, bearing: 239.851001 deg, approach rate: 0.239517 m/s, LOS rate: -0.301767 deg/s, cmd heading: 353.997749 deg, new cmd heading: 353.606036 deg. 2025-01-08T22:07:58.340Z,1736374078.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171589 target range: 387.200012 and range: 387.20 m. 2025-01-08T22:07:58.460Z,1736374078.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:58.461Z,1736374078.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731922 2025-01-08T22:07:58.712Z,1736374078.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:58.712Z,1736374078.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983851 2025-01-08T22:07:58.768Z,1736374078.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:58.790Z,1736374078.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.20 m. 2025-01-08T22:07:58.797Z,1736374078.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.200012 m, nav range: 96.442451 m, bearing: 239.713958 deg, approach rate: 0.235397 m/s, LOS rate: -0.300999 deg/s, cmd heading: 353.606024 deg, new cmd heading: 353.195359 deg. 2025-01-08T22:07:58.799Z,1736374078.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164422 target range: 387.200012 and range: 387.20 m. 2025-01-08T22:07:58.964Z,1736374078.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:58.964Z,1736374078.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235757 2025-01-08T22:07:59.196Z,1736374079.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:59.206Z,1736374079.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.20 m. 2025-01-08T22:07:59.209Z,1736374079.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.200012 m, nav range: 96.541969 m, bearing: 239.580911 deg, approach rate: 0.239752 m/s, LOS rate: -0.320199 deg/s, cmd heading: 353.195366 deg, new cmd heading: 352.796640 deg. 2025-01-08T22:07:59.210Z,1736374079.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157463 target range: 387.200012 and range: 387.20 m. 2025-01-08T22:07:59.216Z,1736374079.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:59.216Z,1736374079.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487880 2025-01-08T22:07:59.468Z,1736374079.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:59.469Z,1736374079.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739987 2025-01-08T22:07:59.547Z,1736374079.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:59.558Z,1736374079.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.20 m. 2025-01-08T22:07:59.561Z,1736374079.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.200012 m, nav range: 96.622299 m, bearing: 239.471286 deg, approach rate: 0.227582 m/s, LOS rate: -0.310318 deg/s, cmd heading: 352.796647 deg, new cmd heading: 352.468051 deg. 2025-01-08T22:07:59.562Z,1736374079.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151728 target range: 387.200012 and range: 387.20 m. 2025-01-08T22:07:59.720Z,1736374079.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:59.720Z,1736374079.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991776 2025-01-08T22:07:59.968Z,1736374079.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:07:59.973Z,1736374079.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:07:59.974Z,1736374079.974 [DAT](INFO): DAT read: Rx Time:22:07:58.8136 2025-01-08T22:07:59.974Z,1736374079.974 [DAT](INFO): Rx dataTimestamp_ set to:1736374079.973778 2025-01-08T22:07:59.975Z,1736374079.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245974 2025-01-08T22:07:59.978Z,1736374079.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:07:59.981Z,1736374079.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.20 m. 2025-01-08T22:07:59.984Z,1736374079.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.200012 m, nav range: 96.717651 m, bearing: 239.339917 deg, approach rate: 0.225438 m/s, LOS rate: -0.310285 deg/s, cmd heading: 352.468060 deg, new cmd heading: 352.074347 deg. 2025-01-08T22:07:59.985Z,1736374079.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144856 target range: 387.200012 and range: 387.20 m. 2025-01-08T22:08:00.224Z,1736374080.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:00.224Z,1736374080.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495718 2025-01-08T22:08:00.379Z,1736374080.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:00.417Z,1736374080.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.20 m. 2025-01-08T22:08:00.423Z,1736374080.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.200012 m, nav range: 96.796173 m, bearing: 239.205110 deg, approach rate: 0.182598 m/s, LOS rate: -0.313232 deg/s, cmd heading: 352.074340 deg, new cmd heading: 351.670255 deg. 2025-01-08T22:08:00.424Z,1736374080.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137804 target range: 387.200012 and range: 387.20 m. 2025-01-08T22:08:00.478Z,1736374080.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:00.480Z,1736374080.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751379 2025-01-08T22:08:00.728Z,1736374080.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:00.735Z,1736374080.735 [DAT](INFO): DAT read: 22:07:58.8136 LVL= 13296, 28065, 20466, 29683, AGC= 66, IDX= 416,-0.01,-2.941, 1.355, 1.645, 2.146, PHS= 1.284,-0.744,-0.503, RAW= 96.2, -0.4, CAL= 104.9, -5.0, ROT= 45.1, 5.0 2025-01-08T22:08:00.736Z,1736374080.736 [DAT](INFO): got valid direction response: 22:07:58.8136 LVL= 13296, 28065, 20466, 29683, AGC= 66, IDX= 416,-0.01,-2.941, 1.355, 1.645, 2.146, PHS= 1.284,-0.744,-0.503, RAW= 96.2, -0.4, CAL= 104.9, -5.0, ROT= 45.1, 5.0 2025-01-08T22:08:00.737Z,1736374080.737 [DAT](INFO): DAT read: Bearing 45.1, 5.0 (Local) 2025-01-08T22:08:00.737Z,1736374080.737 [DAT](INFO): Local bearing/azimuth received: Bearing 45.1, 5.0 (Local) 2025-01-08T22:08:00.739Z,1736374080.739 [DAT](INFO): DAT read: Range 10 to 50 : 385.8 m (Round-trip 514.4 ms) speed 0.2 m/s 2025-01-08T22:08:00.740Z,1736374080.740 [DAT](INFO): DAT read: user:2326> 2025-01-08T22:08:00.741Z,1736374080.741 [DAT](INFO): DAT read: Tx time:22:07:59.8951 2025-01-08T22:08:00.741Z,1736374080.741 [DAT](INFO): Ping request sent. 2025-01-08T22:08:00.741Z,1736374080.741 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:00.742Z,1736374080.742 [DAT](INFO): DAT read: TxSync time:22:07:59.8943 2025-01-08T22:08:00.742Z,1736374080.742 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:08:00.745Z,1736374080.745 [DAT](INFO): direction in FSK: [-0.087231,-0.001655,0.996187] 2025-01-08T22:08:00.745Z,1736374080.745 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:00.745Z,1736374080.745 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:00.748Z,1736374080.748 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:00.749Z,1736374080.749 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:00.891Z,1736374080.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:00.927Z,1736374080.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 385.799988 m, deltaT: 4.030712 s, deltaX: -1.400024 m, approachRate: -0.347339 m/s, rangeRepo size: 4 2025-01-08T22:08:00.933Z,1736374080.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 385.799988 m, bearing: 282.388194 deg, lat: 36.901964 deg, lon: -122.123443 deg, deltaT: 4.030712 s, deltaX: -1.400024 m, approachRate: -0.347339 m/s, posRepo size: 4 2025-01-08T22:08:00.934Z,1736374080.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.80 m. 2025-01-08T22:08:00.941Z,1736374080.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 385.799988 m, nav range: 92.666870 m, bearing: 243.715645 deg, approach rate: 0.000000 m/s, LOS rate: -0.313232 deg/s, cmd heading: 351.670266 deg, new cmd heading: 351.186181 deg. 2025-01-08T22:08:00.942Z,1736374080.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129355 target range: 385.799988 and range: 385.80 m. 2025-01-08T22:08:00.980Z,1736374080.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:01.232Z,1736374081.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:01.400Z,1736374081.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:01.416Z,1736374081.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.80 m. 2025-01-08T22:08:01.423Z,1736374081.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 385.799988 m, nav range: 92.727287 m, bearing: 243.531121 deg, approach rate: 0.123176 m/s, LOS rate: -0.375954 deg/s, cmd heading: 351.186170 deg, new cmd heading: 350.632977 deg. 2025-01-08T22:08:01.424Z,1736374081.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.119700 target range: 385.799988 and range: 385.80 m. 2025-01-08T22:08:01.486Z,1736374081.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:01.740Z,1736374081.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:01.818Z,1736374081.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:01.832Z,1736374081.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.80 m. 2025-01-08T22:08:01.835Z,1736374081.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 385.799988 m, nav range: 92.774757 m, bearing: 243.379357 deg, approach rate: 0.114220 m/s, LOS rate: -0.364981 deg/s, cmd heading: 350.632979 deg, new cmd heading: 350.177929 deg. 2025-01-08T22:08:01.853Z,1736374081.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.111758 target range: 385.799988 and range: 385.80 m. 2025-01-08T22:08:01.992Z,1736374081.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:02.241Z,1736374082.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:02.245Z,1736374082.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:02.251Z,1736374082.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:02.253Z,1736374082.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.80 m. 2025-01-08T22:08:02.280Z,1736374082.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 385.799988 m, nav range: 92.810226 m, bearing: 243.224365 deg, approach rate: 0.084219 m/s, LOS rate: -0.367878 deg/s, cmd heading: 350.177925 deg, new cmd heading: 349.713138 deg. 2025-01-08T22:08:02.281Z,1736374082.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.103646 target range: 385.799988 and range: 385.80 m. 2025-01-08T22:08:02.496Z,1736374082.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:02.496Z,1736374082.496 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:08:02.496Z,1736374082.496 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:08:02.496Z,1736374082.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:02.625Z,1736374082.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:02.672Z,1736374082.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.80 m. 2025-01-08T22:08:02.684Z,1736374082.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 385.799988 m, nav range: 92.840988 m, bearing: 243.083469 deg, approach rate: 0.074438 m/s, LOS rate: -0.340830 deg/s, cmd heading: 349.713144 deg, new cmd heading: 349.290604 deg. 2025-01-08T22:08:02.685Z,1736374082.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.096271 target range: 385.799988 and range: 385.80 m. 2025-01-08T22:08:02.749Z,1736374082.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:02.750Z,1736374082.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008656 2025-01-08T22:08:02.000Z,1736374083.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:03.000Z,1736374083.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259156 2025-01-08T22:08:03.031Z,1736374083.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:03.068Z,1736374083.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.80 m. 2025-01-08T22:08:03.071Z,1736374083.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 385.799988 m, nav range: 92.872093 m, bearing: 242.934352 deg, approach rate: 0.078613 m/s, LOS rate: -0.376742 deg/s, cmd heading: 349.290601 deg, new cmd heading: 348.843410 deg. 2025-01-08T22:08:03.076Z,1736374083.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088466 target range: 385.799988 and range: 385.80 m. 2025-01-08T22:08:03.252Z,1736374083.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:03.252Z,1736374083.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511248 2025-01-08T22:08:03.449Z,1736374083.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:03.478Z,1736374083.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.80 m. 2025-01-08T22:08:03.486Z,1736374083.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 385.799988 m, nav range: 92.898888 m, bearing: 242.780005 deg, approach rate: 0.064375 m/s, LOS rate: -0.370722 deg/s, cmd heading: 348.843415 deg, new cmd heading: 348.380519 deg. 2025-01-08T22:08:03.487Z,1736374083.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.080387 target range: 385.799988 and range: 385.80 m. 2025-01-08T22:08:03.504Z,1736374083.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:03.505Z,1736374083.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764235 2025-01-08T22:08:03.756Z,1736374083.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:03.756Z,1736374083.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015215 2025-01-08T22:08:03.841Z,1736374083.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:03.855Z,1736374083.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.80 m. 2025-01-08T22:08:03.861Z,1736374083.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 385.799988 m, nav range: 92.922722 m, bearing: 242.635464 deg, approach rate: 0.063318 m/s, LOS rate: -0.383892 deg/s, cmd heading: 348.380520 deg, new cmd heading: 347.947014 deg. 2025-01-08T22:08:03.864Z,1736374083.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072821 target range: 385.799988 and range: 385.80 m. 2025-01-08T22:08:04.008Z,1736374084.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:04.009Z,1736374084.009 [DAT](INFO): DAT read: Rx Time:22:08:02.8125 2025-01-08T22:08:04.009Z,1736374084.009 [DAT](INFO): Rx dataTimestamp_ set to:1736374084.008706 2025-01-08T22:08:04.009Z,1736374084.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268388 2025-01-08T22:08:04.260Z,1736374084.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:04.260Z,1736374084.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519263 2025-01-08T22:08:04.315Z,1736374084.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:04.324Z,1736374084.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:04.326Z,1736374084.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.80 m. 2025-01-08T22:08:04.345Z,1736374084.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 385.799988 m, nav range: 92.946495 m, bearing: 242.458620 deg, approach rate: 0.050461 m/s, LOS rate: -0.375273 deg/s, cmd heading: 347.947021 deg, new cmd heading: 347.416643 deg. 2025-01-08T22:08:04.346Z,1736374084.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063564 target range: 385.799988 and range: 385.80 m. 2025-01-08T22:08:04.513Z,1736374084.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:04.527Z,1736374084.527 [DAT](INFO): DAT read: 22:08:02.8125 LVL= 15456, 28641, 19682, 27475, AGC= 67, IDX= 437,-0.22,-2.443, 1.958, 2.096, 2.680, PHS= 1.248,-0.675,-0.587, RAW= 92.3, 0.2, CAL= 100.4, -3.9, ROT= 49.6, 3.9 2025-01-08T22:08:04.529Z,1736374084.529 [DAT](INFO): got valid direction response: 22:08:02.8125 LVL= 15456, 28641, 19682, 27475, AGC= 67, IDX= 437,-0.22,-2.443, 1.958, 2.096, 2.680, PHS= 1.248,-0.675,-0.587, RAW= 92.3, 0.2, CAL= 100.4, -3.9, ROT= 49.6, 3.9 2025-01-08T22:08:04.530Z,1736374084.530 [DAT](INFO): DAT read: Bearing 49.6, 3.9 (Local) 2025-01-08T22:08:04.530Z,1736374084.530 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, 3.9 (Local) 2025-01-08T22:08:04.532Z,1736374084.532 [DAT](INFO): DAT read: Range 10 to 50 : 384.9 m (Round-trip 513.3 ms) speed -0.1 m/s 2025-01-08T22:08:04.532Z,1736374084.532 [DAT](INFO): DAT read: user:2327> 2025-01-08T22:08:04.533Z,1736374084.533 [DAT](INFO): DAT read: Tx time:22:08:03.8951 2025-01-08T22:08:04.533Z,1736374084.533 [DAT](INFO): Ping request sent. 2025-01-08T22:08:04.533Z,1736374084.533 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:04.534Z,1736374084.534 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:08:04.535Z,1736374084.535 [DAT](INFO): direction in FSK: [-0.091672,0.067522,0.993497] 2025-01-08T22:08:04.564Z,1736374084.564 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:04.564Z,1736374084.564 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:04.579Z,1736374084.579 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:04.584Z,1736374084.584 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:04.676Z,1736374084.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:04.706Z,1736374084.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 384.899994 m, deltaT: 3.785985 s, deltaX: -0.899994 m, approachRate: -0.237717 m/s, rangeRepo size: 4 2025-01-08T22:08:04.713Z,1736374084.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 384.899994 m, bearing: 287.021734 deg, lat: 36.902368 deg, lon: -122.122931 deg, deltaT: 3.785985 s, deltaX: -0.899994 m, approachRate: -0.237717 m/s, posRepo size: 4 2025-01-08T22:08:04.714Z,1736374084.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:08:04.721Z,1736374084.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 36.850399 m, bearing: 272.826014 deg, approach rate: 0.000000 m/s, LOS rate: -0.375273 deg/s, cmd heading: 347.416643 deg, new cmd heading: 346.988825 deg. 2025-01-08T22:08:04.722Z,1736374084.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056098 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:08:04.764Z,1736374084.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:04.765Z,1736374084.765 [DAT](INFO): DAT read: TxSync time:22:08:03.8943 2025-01-08T22:08:05.016Z,1736374085.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:05.057Z,1736374085.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:05.065Z,1736374085.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:08:05.068Z,1736374085.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 36.745148 m, bearing: 272.499013 deg, approach rate: -0.292726 m/s, LOS rate: -0.912057 deg/s, cmd heading: 346.988827 deg, new cmd heading: 346.005118 deg. 2025-01-08T22:08:05.069Z,1736374085.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038929 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:08:05.268Z,1736374085.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:05.481Z,1736374085.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:05.490Z,1736374085.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:08:05.509Z,1736374085.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 36.644325 m, bearing: 272.140528 deg, approach rate: -0.237585 m/s, LOS rate: -0.847078 deg/s, cmd heading: 346.005116 deg, new cmd heading: 344.926836 deg. 2025-01-08T22:08:05.510Z,1736374085.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.020109 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:08:05.520Z,1736374085.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:05.773Z,1736374085.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:05.870Z,1736374085.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:05.878Z,1736374085.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:08:05.881Z,1736374085.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 36.552063 m, bearing: 271.809806 deg, approach rate: -0.237606 m/s, LOS rate: -0.853865 deg/s, cmd heading: 344.926848 deg, new cmd heading: 343.932283 deg. 2025-01-08T22:08:05.882Z,1736374085.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.002751 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:08:06.025Z,1736374086.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:06.276Z,1736374086.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:06.285Z,1736374086.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:06.295Z,1736374086.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:08:06.298Z,1736374086.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 36.471313 m, bearing: 271.449138 deg, approach rate: -0.193830 m/s, LOS rate: -0.867654 deg/s, cmd heading: 343.932291 deg, new cmd heading: 342.848026 deg. 2025-01-08T22:08:06.299Z,1736374086.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.983827 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:08:06.528Z,1736374086.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:06.681Z,1736374086.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:06.688Z,1736374086.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:06.690Z,1736374086.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:08:06.693Z,1736374086.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 36.394577 m, bearing: 271.106635 deg, approach rate: -0.193992 m/s, LOS rate: -0.867680 deg/s, cmd heading: 342.848039 deg, new cmd heading: 341.818481 deg. 2025-01-08T22:08:06.694Z,1736374086.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965858 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:08:06.785Z,1736374086.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:06.785Z,1736374086.785 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:08:06.785Z,1736374086.785 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:08:06.786Z,1736374086.786 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:07.036Z,1736374087.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:07.036Z,1736374087.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502793 2025-01-08T22:08:07.078Z,1736374087.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:07.086Z,1736374087.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:08:07.090Z,1736374087.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 36.316223 m, bearing: 270.759614 deg, approach rate: -0.197833 m/s, LOS rate: -0.878064 deg/s, cmd heading: 341.818484 deg, new cmd heading: 340.775298 deg. 2025-01-08T22:08:07.091Z,1736374087.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947651 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:08:07.289Z,1736374087.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:07.289Z,1736374087.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755921 2025-01-08T22:08:07.501Z,1736374087.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:07.510Z,1736374087.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:08:07.513Z,1736374087.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 36.252640 m, bearing: 270.391498 deg, approach rate: -0.149913 m/s, LOS rate: -0.869438 deg/s, cmd heading: 340.775295 deg, new cmd heading: 339.669155 deg. 2025-01-08T22:08:07.514Z,1736374087.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928345 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:08:07.540Z,1736374087.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:07.541Z,1736374087.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006986 2025-01-08T22:08:07.792Z,1736374087.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:07.792Z,1736374087.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258931 2025-01-08T22:08:07.888Z,1736374087.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:07.900Z,1736374087.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:08:07.902Z,1736374087.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 36.193741 m, bearing: 270.055247 deg, approach rate: -0.151395 m/s, LOS rate: -0.865710 deg/s, cmd heading: 339.669160 deg, new cmd heading: 338.658875 deg. 2025-01-08T22:08:07.903Z,1736374087.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910712 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:08:08.044Z,1736374088.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:08.044Z,1736374088.044 [DAT](INFO): DAT read: Rx Time:22:08:06.8115 2025-01-08T22:08:08.045Z,1736374088.045 [DAT](INFO): Rx dataTimestamp_ set to:1736374088.044622 2025-01-08T22:08:08.045Z,1736374088.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511927 2025-01-08T22:08:08.296Z,1736374088.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:08.298Z,1736374088.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763676 2025-01-08T22:08:08.337Z,1736374088.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:08.348Z,1736374088.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:08:08.351Z,1736374088.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 36.154881 m, bearing: 269.648763 deg, approach rate: -0.086607 m/s, LOS rate: -0.906886 deg/s, cmd heading: 338.658865 deg, new cmd heading: 337.438297 deg. 2025-01-08T22:08:08.352Z,1736374088.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889409 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:08:08.548Z,1736374088.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:08.555Z,1736374088.555 [DAT](INFO): DAT read: 22:08:06.8115 LVL= 12912, 25841, 18498, 24947, AGC= 68, IDX= 410, 0.13,-0.833,-2.558,-2.675,-1.942, PHS= 1.197,-0.569,-0.736, RAW= 85.5, 1.2, CAL= 92.0, -2.5, ROT= 58.0, 2.5 2025-01-08T22:08:08.556Z,1736374088.556 [DAT](INFO): got valid direction response: 22:08:06.8115 LVL= 12912, 25841, 18498, 24947, AGC= 68, IDX= 410, 0.13,-0.833,-2.558,-2.675,-1.942, PHS= 1.197,-0.569,-0.736, RAW= 85.5, 1.2, CAL= 92.0, -2.5, ROT= 58.0, 2.5 2025-01-08T22:08:08.557Z,1736374088.557 [DAT](INFO): DAT read: Bearing 58.0, 2.5 (Local) 2025-01-08T22:08:08.558Z,1736374088.558 [DAT](INFO): Local bearing/azimuth received: Bearing 58.0, 2.5 (Local) 2025-01-08T22:08:08.560Z,1736374088.560 [DAT](INFO): DAT read: Range 10 to 50 : 384.2 m (Round-trip 512.3 ms) speed 0.4 m/s 2025-01-08T22:08:08.560Z,1736374088.560 [DAT](INFO): DAT read: user:2328> 2025-01-08T22:08:08.561Z,1736374088.561 [DAT](INFO): DAT read: Tx time:22:08:07.8951 2025-01-08T22:08:08.561Z,1736374088.561 [DAT](INFO): Ping request sent. 2025-01-08T22:08:08.561Z,1736374088.561 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:08.562Z,1736374088.562 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:08:08.563Z,1736374088.563 [DAT](INFO): direction in FSK: [-0.100014,0.185153,0.977607] 2025-01-08T22:08:08.563Z,1736374088.563 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:08.592Z,1736374088.592 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:08.595Z,1736374088.595 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:08.595Z,1736374088.595 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:08.720Z,1736374088.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:08.756Z,1736374088.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 384.200012 m, deltaT: 4.034378 s, deltaX: -0.699982 m, approachRate: -0.173504 m/s, rangeRepo size: 4 2025-01-08T22:08:08.758Z,1736374088.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 384.200012 m, bearing: 87.518115 deg, lat: 36.902392 deg, lon: -122.122896 deg, deltaT: 4.034378 s, deltaX: -0.699982 m, approachRate: -0.173504 m/s, posRepo size: 4 2025-01-08T22:08:08.759Z,1736374088.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:08:08.765Z,1736374088.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 33.069752 m, bearing: 273.800725 deg, approach rate: 0.000000 m/s, LOS rate: -0.906886 deg/s, cmd heading: 337.438283 deg, new cmd heading: 336.363671 deg. 2025-01-08T22:08:08.766Z,1736374088.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870654 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:08:08.801Z,1736374088.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:08.802Z,1736374088.802 [DAT](INFO): DAT read: TxSync time:22:08:07.8943 2025-01-08T22:08:09.052Z,1736374089.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:09.082Z,1736374089.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:09.090Z,1736374089.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:09.092Z,1736374089.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:08:09.094Z,1736374089.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 33.017826 m, bearing: 273.450156 deg, approach rate: -0.148874 m/s, LOS rate: -1.006678 deg/s, cmd heading: 336.363676 deg, new cmd heading: 335.310440 deg. 2025-01-08T22:08:09.116Z,1736374089.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852271 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:08:09.304Z,1736374089.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:09.304Z,1736374089.304 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:08:09.305Z,1736374089.305 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:08:09.305Z,1736374089.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:09.543Z,1736374089.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:09.551Z,1736374089.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:08:09.554Z,1736374089.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 32.980419 m, bearing: 273.004343 deg, approach rate: -0.081499 m/s, LOS rate: -0.972388 deg/s, cmd heading: 335.310433 deg, new cmd heading: 333.971737 deg. 2025-01-08T22:08:09.556Z,1736374089.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:09.557Z,1736374089.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995176 2025-01-08T22:08:09.570Z,1736374089.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828907 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:08:09.808Z,1736374089.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:09.808Z,1736374089.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246847 2025-01-08T22:08:09.890Z,1736374089.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:09.918Z,1736374089.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:08:09.932Z,1736374089.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 32.948738 m, bearing: 272.668775 deg, approach rate: -0.086325 m/s, LOS rate: -0.915233 deg/s, cmd heading: 333.971744 deg, new cmd heading: 332.964179 deg. 2025-01-08T22:08:09.933Z,1736374089.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811321 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:08:10.060Z,1736374090.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:10.060Z,1736374090.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498919 2025-01-08T22:08:10.312Z,1736374090.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:10.313Z,1736374090.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751049 2025-01-08T22:08:10.357Z,1736374090.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:08:10.357Z,1736374090.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:10.371Z,1736374090.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:08:10.378Z,1736374090.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 32.904797 m, bearing: 272.217424 deg, approach rate: -0.097060 m/s, LOS rate: -0.998288 deg/s, cmd heading: 332.964182 deg, new cmd heading: 331.608587 deg. 2025-01-08T22:08:10.379Z,1736374090.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787662 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:08:10.565Z,1736374090.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:10.566Z,1736374090.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004016 2025-01-08T22:08:10.702Z,1736374090.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:08:10.703Z,1736374090.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:10.731Z,1736374090.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:08:10.734Z,1736374090.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 32.871376 m, bearing: 271.883693 deg, approach rate: -0.093738 m/s, LOS rate: -0.936997 deg/s, cmd heading: 331.608580 deg, new cmd heading: 330.606477 deg. 2025-01-08T22:08:10.735Z,1736374090.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770172 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:08:10.816Z,1736374090.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:10.817Z,1736374090.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255433 2025-01-08T22:08:11.068Z,1736374091.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:11.068Z,1736374091.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506915 2025-01-08T22:08:11.104Z,1736374091.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:08:11.104Z,1736374091.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:11.112Z,1736374091.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:11.114Z,1736374091.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:08:11.116Z,1736374091.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 32.831001 m, bearing: 271.495978 deg, approach rate: -0.104489 m/s, LOS rate: -1.004623 deg/s, cmd heading: 330.606482 deg, new cmd heading: 329.442077 deg. 2025-01-08T22:08:11.117Z,1736374091.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749849 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:08:11.320Z,1736374091.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:11.320Z,1736374091.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758975 2025-01-08T22:08:11.535Z,1736374091.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:11.545Z,1736374091.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:08:11.568Z,1736374091.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 32.798084 m, bearing: 271.087589 deg, approach rate: -0.076317 m/s, LOS rate: -0.947783 deg/s, cmd heading: 329.442072 deg, new cmd heading: 328.215873 deg. 2025-01-08T22:08:11.569Z,1736374091.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728447 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:08:11.572Z,1736374091.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:11.573Z,1736374091.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011349 2025-01-08T22:08:11.824Z,1736374091.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:11.825Z,1736374091.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263079 2025-01-08T22:08:11.912Z,1736374091.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:11.920Z,1736374091.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:08:11.939Z,1736374091.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 32.767159 m, bearing: 270.731275 deg, approach rate: -0.082347 m/s, LOS rate: -0.949653 deg/s, cmd heading: 328.215861 deg, new cmd heading: 327.146042 deg. 2025-01-08T22:08:11.942Z,1736374091.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709775 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:08:12.076Z,1736374092.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:12.076Z,1736374092.076 [DAT](INFO): DAT read: Rx Time:22:08:10.8096 2025-01-08T22:08:12.077Z,1736374092.077 [DAT](INFO): Rx dataTimestamp_ set to:1736374092.076656 2025-01-08T22:08:12.077Z,1736374092.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515995 2025-01-08T22:08:12.328Z,1736374092.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:12.329Z,1736374092.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767407 2025-01-08T22:08:12.368Z,1736374092.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:12.393Z,1736374092.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:08:12.400Z,1736374092.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 32.711555 m, bearing: 270.313972 deg, approach rate: -0.117677 m/s, LOS rate: -0.884664 deg/s, cmd heading: 327.146035 deg, new cmd heading: 325.892208 deg. 2025-01-08T22:08:12.401Z,1736374092.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687892 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:08:12.580Z,1736374092.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:12.586Z,1736374092.586 [DAT](INFO): DAT read: 22:08:10.8096 LVL= 13296, 21841, 15682, 23523, AGC= 65, IDX= 422, 0.11, 0.204,-1.199,-1.825,-0.688, PHS= 0.979,-0.465,-1.140, RAW= 71.8, 6.7, CAL= 74.2, 8.5, ROT= 75.8, -8.5 2025-01-08T22:08:12.588Z,1736374092.588 [DAT](INFO): got valid direction response: 22:08:10.8096 LVL= 13296, 21841, 15682, 23523, AGC= 65, IDX= 422, 0.11, 0.204,-1.199,-1.825,-0.688, PHS= 0.979,-0.465,-1.140, RAW= 71.8, 6.7, CAL= 74.2, 8.5, ROT= 75.8, -8.5 2025-01-08T22:08:12.589Z,1736374092.589 [DAT](INFO): DAT read: Bearing 75.8, -8.5 (Local) 2025-01-08T22:08:12.590Z,1736374092.590 [DAT](INFO): Local bearing/azimuth received: Bearing 75.8, -8.5 (Local) 2025-01-08T22:08:12.592Z,1736374092.592 [DAT](INFO): DAT read: Range 10 to 50 : 382.7 m (Round-trip 510.3 ms) speed 0.0 m/s 2025-01-08T22:08:12.593Z,1736374092.593 [DAT](INFO): DAT read: user:2329> 2025-01-08T22:08:12.594Z,1736374092.594 [DAT](INFO): DAT read: Tx time:22:08:11.8952 2025-01-08T22:08:12.594Z,1736374092.594 [DAT](INFO): Ping request sent. 2025-01-08T22:08:12.594Z,1736374092.594 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:12.594Z,1736374092.594 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:08:12.595Z,1736374092.595 [DAT](INFO): direction in FSK: [-0.177882,0.408664,0.895183] 2025-01-08T22:08:12.596Z,1736374092.596 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:12.596Z,1736374092.596 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:12.599Z,1736374092.599 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:12.599Z,1736374092.599 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:12.752Z,1736374092.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:12.784Z,1736374092.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 382.700012 m, deltaT: 4.031737 s, deltaX: -1.500000 m, approachRate: -0.372048 m/s, rangeRepo size: 4 2025-01-08T22:08:12.786Z,1736374092.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 382.700012 m, bearing: 84.594034 deg, lat: 36.902401 deg, lon: -122.122584 deg, deltaT: 4.031737 s, deltaX: -1.500000 m, approachRate: -0.372048 m/s, posRepo size: 4 2025-01-08T22:08:12.787Z,1736374092.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:12.808Z,1736374092.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 5.004690 m, bearing: 280.970160 deg, approach rate: 0.000000 m/s, LOS rate: -0.884664 deg/s, cmd heading: 325.892204 deg, new cmd heading: 324.868468 deg. 2025-01-08T22:08:12.811Z,1736374092.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670024 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:08:12.832Z,1736374092.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:12.833Z,1736374092.833 [DAT](INFO): DAT read: TxSync time:22:08:11.8944 2025-01-08T22:08:13.084Z,1736374093.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:13.130Z,1736374093.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:13.137Z,1736374093.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:13.140Z,1736374093.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:13.143Z,1736374093.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 4.919375 m, bearing: 278.842761 deg, approach rate: -0.235879 m/s, LOS rate: -5.982462 deg/s, cmd heading: 324.868468 deg, new cmd heading: 318.404639 deg. 2025-01-08T22:08:13.144Z,1736374093.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557209 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:08:13.336Z,1736374093.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:13.337Z,1736374093.337 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:08:13.337Z,1736374093.337 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:08:13.337Z,1736374093.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:13.563Z,1736374093.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:13.572Z,1736374093.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:13.588Z,1736374093.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:13.589Z,1736374093.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995164 2025-01-08T22:08:13.603Z,1736374093.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 4.802783 m, bearing: 276.376963 deg, approach rate: -0.270064 m/s, LOS rate: -5.848389 deg/s, cmd heading: 318.404650 deg, new cmd heading: 310.873686 deg. 2025-01-08T22:08:13.608Z,1736374093.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425769 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:08:13.840Z,1736374093.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:13.841Z,1736374093.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246781 2025-01-08T22:08:13.949Z,1736374093.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:13.978Z,1736374093.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:13.984Z,1736374093.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 4.698897 m, bearing: 274.123420 deg, approach rate: -0.256494 m/s, LOS rate: -5.685561 deg/s, cmd heading: 310.873683 deg, new cmd heading: 303.998556 deg. 2025-01-08T22:08:13.985Z,1736374093.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.305776 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:08:14.092Z,1736374094.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:14.094Z,1736374094.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499580 2025-01-08T22:08:14.344Z,1736374094.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:14.344Z,1736374094.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750450 2025-01-08T22:08:14.378Z,1736374094.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:14.386Z,1736374094.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:14.422Z,1736374094.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 4.552331 m, bearing: 271.607227 deg, approach rate: -0.358221 m/s, LOS rate: -6.345793 deg/s, cmd heading: 303.998551 deg, new cmd heading: 296.256904 deg. 2025-01-08T22:08:14.423Z,1736374094.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.170659 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:08:14.596Z,1736374094.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:14.597Z,1736374094.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002864 2025-01-08T22:08:14.745Z,1736374094.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:14.754Z,1736374094.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:14.757Z,1736374094.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 4.430264 m, bearing: 269.353727 deg, approach rate: -0.332174 m/s, LOS rate: -6.299646 deg/s, cmd heading: 296.256914 deg, new cmd heading: 289.345649 deg. 2025-01-08T22:08:14.758Z,1736374094.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.050034 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:08:14.848Z,1736374094.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:14.850Z,1736374094.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255575 2025-01-08T22:08:15.100Z,1736374095.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:15.102Z,1736374095.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508061 2025-01-08T22:08:15.144Z,1736374095.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:15.170Z,1736374095.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:15.177Z,1736374095.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:15.183Z,1736374095.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 4.300932 m, bearing: 266.807088 deg, approach rate: -0.305861 m/s, LOS rate: -6.201708 deg/s, cmd heading: 289.345637 deg, new cmd heading: 281.527459 deg. 2025-01-08T22:08:15.184Z,1736374095.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.913581 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:08:15.353Z,1736374095.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:15.357Z,1736374095.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762164 2025-01-08T22:08:15.597Z,1736374095.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:15.604Z,1736374095.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:15.605Z,1736374095.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011016 2025-01-08T22:08:15.608Z,1736374095.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:15.611Z,1736374095.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 4.126701 m, bearing: 263.763202 deg, approach rate: -0.404442 m/s, LOS rate: -7.360612 deg/s, cmd heading: 281.527448 deg, new cmd heading: 272.100714 deg. 2025-01-08T22:08:15.612Z,1736374095.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749053 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:08:15.701Z,1736374095.701 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:08:15.857Z,1736374095.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:15.858Z,1736374095.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263632 2025-01-08T22:08:15.964Z,1736374095.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:15.972Z,1736374095.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:15.975Z,1736374095.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 3.984217 m, bearing: 261.209936 deg, approach rate: -0.390336 m/s, LOS rate: -7.242423 deg/s, cmd heading: 272.100721 deg, new cmd heading: 264.219698 deg. 2025-01-08T22:08:15.976Z,1736374095.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611504 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:08:16.108Z,1736374096.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:16.108Z,1736374096.108 [DAT](INFO): DAT read: Rx Time:22:08:14.8090 2025-01-08T22:08:16.109Z,1736374096.109 [DAT](INFO): Rx dataTimestamp_ set to:1736374096.108635 2025-01-08T22:08:16.109Z,1736374096.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515505 2025-01-08T22:08:16.361Z,1736374096.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:16.363Z,1736374096.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768902 2025-01-08T22:08:16.452Z,1736374096.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:16.473Z,1736374096.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:16.476Z,1736374096.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 3.774086 m, bearing: 257.386180 deg, approach rate: -0.419844 m/s, LOS rate: -8.059286 deg/s, cmd heading: 264.219694 deg, new cmd heading: 252.293982 deg. 2025-01-08T22:08:16.477Z,1736374096.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403361 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:08:16.612Z,1736374096.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:16.613Z,1736374096.613 [DAT](INFO): DAT read: Range 10 to 50 : 382.2 m (Round-trip 509.7 ms) speed -0.3 m/s 2025-01-08T22:08:16.614Z,1736374096.614 [DAT](INFO): DAT read: user:2330> 2025-01-08T22:08:16.615Z,1736374096.615 [DAT](INFO): DAT read: Tx time:22:08:15.8952 2025-01-08T22:08:16.615Z,1736374096.615 [DAT](INFO): Ping request sent. 2025-01-08T22:08:16.615Z,1736374096.615 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:16.616Z,1736374096.616 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:08:16.616Z,1736374096.616 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:16.616Z,1736374096.616 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:16.704Z,1736374096.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:08:16.864Z,1736374096.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:16.865Z,1736374096.865 [DAT](INFO): DAT read: TxSync time:22:08:15.8944 2025-01-08T22:08:16.918Z,1736374096.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:16.928Z,1736374096.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 382.200012 m, deltaT: 4.031925 s, deltaX: -0.500000 m, approachRate: -0.124010 m/s, rangeRepo size: 4 2025-01-08T22:08:16.928Z,1736374096.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:16.931Z,1736374096.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 3.567495 m, bearing: 253.575594 deg, approach rate: -0.455160 m/s, LOS rate: -8.875080 deg/s, cmd heading: 252.293992 deg, new cmd heading: 240.383713 deg. 2025-01-08T22:08:16.948Z,1736374096.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195487 target range: 382.700012 and range: 382.20 m. 2025-01-08T22:08:17.117Z,1736374097.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:17.369Z,1736374097.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:17.477Z,1736374097.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:17.484Z,1736374097.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:17.486Z,1736374097.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:17.490Z,1736374097.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 3.313046 m, bearing: 248.454123 deg, approach rate: -0.454729 m/s, LOS rate: -9.842483 deg/s, cmd heading: 240.383699 deg, new cmd heading: 224.297702 deg. 2025-01-08T22:08:17.492Z,1736374097.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.914733 target range: 382.700012 and range: 382.20 m. 2025-01-08T22:08:17.620Z,1736374097.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:17.621Z,1736374097.621 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:08:17.621Z,1736374097.621 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:08:17.621Z,1736374097.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:17.760Z,1736374097.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:17.770Z,1736374097.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:17.778Z,1736374097.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 3.190676 m, bearing: 245.627559 deg, approach rate: -0.430895 m/s, LOS rate: -10.330573 deg/s, cmd heading: 224.297702 deg, new cmd heading: 215.564628 deg. 2025-01-08T22:08:17.780Z,1736374097.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.762312 target range: 382.700012 and range: 382.20 m. 2025-01-08T22:08:17.872Z,1736374097.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:17.873Z,1736374097.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257940 2025-01-08T22:08:18.124Z,1736374098.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:18.124Z,1736374098.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509129 2025-01-08T22:08:18.173Z,1736374098.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:18.181Z,1736374098.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:18.185Z,1736374098.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 3.020344 m, bearing: 241.206707 deg, approach rate: -0.414688 m/s, LOS rate: -11.358678 deg/s, cmd heading: 215.564622 deg, new cmd heading: 201.836885 deg. 2025-01-08T22:08:18.186Z,1736374098.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522718 target range: 382.700012 and range: 382.20 m. 2025-01-08T22:08:18.377Z,1736374098.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:18.381Z,1736374098.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765394 2025-01-08T22:08:18.596Z,1736374098.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:18.608Z,1736374098.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:18.610Z,1736374098.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.641687 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg. 2025-01-08T22:08:18.610Z,1736374098.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476444 target range: 382.700012 and range: 382.20 m. 2025-01-08T22:08:18.628Z,1736374098.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:18.629Z,1736374098.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013155 2025-01-08T22:08:18.880Z,1736374098.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:18.881Z,1736374098.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265176 2025-01-08T22:08:18.972Z,1736374098.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:18.981Z,1736374098.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:18.982Z,1736374098.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.944819 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg. 2025-01-08T22:08:18.983Z,1736374098.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476444 target range: 382.700012 and range: 382.20 m. 2025-01-08T22:08:19.132Z,1736374099.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:19.134Z,1736374099.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518290 2025-01-08T22:08:19.386Z,1736374099.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:19.388Z,1736374099.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772297 2025-01-08T22:08:19.448Z,1736374099.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:19.465Z,1736374099.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:19.466Z,1736374099.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.933987 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg. 2025-01-08T22:08:19.470Z,1736374099.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476444 target range: 382.700012 and range: 382.20 m. 2025-01-08T22:08:19.636Z,1736374099.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:19.636Z,1736374099.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021009 2025-01-08T22:08:19.801Z,1736374099.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:19.828Z,1736374099.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:19.830Z,1736374099.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:19.836Z,1736374099.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.250843 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg. 2025-01-08T22:08:19.837Z,1736374099.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476444 target range: 382.700012 and range: 382.20 m. 2025-01-08T22:08:19.889Z,1736374099.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:19.890Z,1736374099.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274155 2025-01-08T22:08:20.140Z,1736374100.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:20.140Z,1736374100.140 [DAT](INFO): DAT read: Rx Time:22:08:18.8101 2025-01-08T22:08:20.141Z,1736374100.141 [DAT](INFO): Rx dataTimestamp_ set to:1736374100.140620 2025-01-08T22:08:20.141Z,1736374100.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526075 2025-01-08T22:08:20.208Z,1736374100.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:20.224Z,1736374100.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:20.226Z,1736374100.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.073808 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg. 2025-01-08T22:08:20.226Z,1736374100.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476444 target range: 382.700012 and range: 382.20 m. 2025-01-08T22:08:20.393Z,1736374100.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:20.396Z,1736374100.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780158 2025-01-08T22:08:20.609Z,1736374100.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:20.617Z,1736374100.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:20.619Z,1736374100.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.184535 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg. 2025-01-08T22:08:20.620Z,1736374100.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476444 target range: 382.700012 and range: 382.20 m. 2025-01-08T22:08:20.644Z,1736374100.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:20.647Z,1736374100.647 [DAT](INFO): DAT read: Range 10 to 50 : 383.1 m (Round-trip 510.8 ms) speed -0.4 m/s 2025-01-08T22:08:20.648Z,1736374100.648 [DAT](INFO): DAT read: user:2331> 2025-01-08T22:08:20.650Z,1736374100.650 [DAT](INFO): DAT read: Tx time:22:08:19.8952 2025-01-08T22:08:20.650Z,1736374100.650 [DAT](INFO): Ping request sent. 2025-01-08T22:08:20.650Z,1736374100.650 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:20.651Z,1736374100.651 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:08:20.651Z,1736374100.651 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:20.652Z,1736374100.652 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:20.896Z,1736374100.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:20.897Z,1736374100.897 [DAT](INFO): DAT read: TxSync time:22:08:19.8944 2025-01-08T22:08:20.984Z,1736374100.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:20.995Z,1736374100.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 383.100006 m, deltaT: 4.032692 s, deltaX: 0.899994 m, approachRate: 0.223174 m/s, rangeRepo size: 4 2025-01-08T22:08:20.995Z,1736374100.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:20.997Z,1736374100.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.783083 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg. 2025-01-08T22:08:20.997Z,1736374100.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476444 target range: 382.700012 and range: 383.10 m. 2025-01-08T22:08:21.148Z,1736374101.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:21.402Z,1736374101.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:21.461Z,1736374101.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:21.483Z,1736374101.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:21.490Z,1736374101.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.067052 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg. 2025-01-08T22:08:21.490Z,1736374101.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476444 target range: 382.700012 and range: 383.10 m. 2025-01-08T22:08:21.653Z,1736374101.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:21.826Z,1736374101.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:21.854Z,1736374101.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:21.857Z,1736374101.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:21.858Z,1736374101.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.004250 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg. 2025-01-08T22:08:21.859Z,1736374101.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476444 target range: 382.700012 and range: 383.10 m. 2025-01-08T22:08:21.904Z,1736374101.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:21.905Z,1736374101.905 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:08:21.905Z,1736374101.905 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:08:21.905Z,1736374101.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:22.156Z,1736374102.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:22.156Z,1736374102.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506369 2025-01-08T22:08:22.230Z,1736374102.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:22.239Z,1736374102.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:22.240Z,1736374102.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.281573 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg. 2025-01-08T22:08:22.241Z,1736374102.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476444 target range: 382.700012 and range: 383.10 m. 2025-01-08T22:08:22.412Z,1736374102.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:22.414Z,1736374102.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763966 2025-01-08T22:08:22.639Z,1736374102.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:22.652Z,1736374102.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:22.657Z,1736374102.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 2.678501 m, bearing: 178.125894 deg, approach rate: 0.234026 m/s, LOS rate: -9.786200 deg/s, cmd heading: 84.594038 deg, new cmd heading: 72.654640 deg. 2025-01-08T22:08:22.658Z,1736374102.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268063 target range: 382.700012 and range: 383.10 m. 2025-01-08T22:08:22.660Z,1736374102.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:22.661Z,1736374102.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011354 2025-01-08T22:08:22.912Z,1736374102.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:22.913Z,1736374102.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263195 2025-01-08T22:08:23.009Z,1736374103.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:23.017Z,1736374103.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:23.040Z,1736374103.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 2.764695 m, bearing: 174.452342 deg, approach rate: 0.235333 m/s, LOS rate: -9.710414 deg/s, cmd heading: 72.654641 deg, new cmd heading: 62.105721 deg. 2025-01-08T22:08:23.041Z,1736374103.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.083949 target range: 382.700012 and range: 383.10 m. 2025-01-08T22:08:23.164Z,1736374103.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:23.165Z,1736374103.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514690 2025-01-08T22:08:23.413Z,1736374103.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:23.417Z,1736374103.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:23.420Z,1736374103.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769621 2025-01-08T22:08:23.492Z,1736374103.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:23.495Z,1736374103.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 2.866562 m, bearing: 170.652383 deg, approach rate: 0.214475 m/s, LOS rate: -7.710589 deg/s, cmd heading: 62.105722 deg, new cmd heading: 51.250776 deg. 2025-01-08T22:08:23.500Z,1736374103.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.894495 target range: 382.700012 and range: 383.10 m. 2025-01-08T22:08:23.668Z,1736374103.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:23.669Z,1736374103.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018826 2025-01-08T22:08:23.849Z,1736374103.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:23.876Z,1736374103.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:23.878Z,1736374103.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:23.890Z,1736374103.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 2.984754 m, bearing: 167.464381 deg, approach rate: 0.306317 m/s, LOS rate: -7.931034 deg/s, cmd heading: 51.250775 deg, new cmd heading: 42.147609 deg. 2025-01-08T22:08:23.891Z,1736374103.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.735615 target range: 382.700012 and range: 383.10 m. 2025-01-08T22:08:23.920Z,1736374103.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:23.921Z,1736374103.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270690 2025-01-08T22:08:24.172Z,1736374104.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:24.172Z,1736374104.172 [DAT](INFO): DAT read: Rx Time:22:08:22.8118 2025-01-08T22:08:24.173Z,1736374104.173 [DAT](INFO): Rx dataTimestamp_ set to:1736374104.172664 2025-01-08T22:08:24.173Z,1736374104.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523550 2025-01-08T22:08:24.292Z,1736374104.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:24.300Z,1736374104.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:24.303Z,1736374104.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 3.105667 m, bearing: 164.363822 deg, approach rate: 0.286403 m/s, LOS rate: -7.054823 deg/s, cmd heading: 42.147608 deg, new cmd heading: 33.283831 deg. 2025-01-08T22:08:24.304Z,1736374104.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580912 target range: 382.700012 and range: 383.10 m. 2025-01-08T22:08:24.426Z,1736374104.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:24.430Z,1736374104.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779083 2025-01-08T22:08:24.658Z,1736374104.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:24.673Z,1736374104.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:08:24.677Z,1736374104.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:24.697Z,1736374104.697 [DAT](INFO): DAT read: 22:08:22.8118 LVL= 16944, 18817, 19090, 24563, AGC= 66, IDX= 462,-0.25, 1.813, 2.217,-0.025, 1.303, PHS= 0.598, 0.961,-1.332, RAW= 21.5, -2.2, CAL= 21.2, -4.4, ROT= 128.8, 4.4 2025-01-08T22:08:24.698Z,1736374104.698 [DAT](INFO): got valid direction response: 22:08:22.8118 LVL= 16944, 18817, 19090, 24563, AGC= 66, IDX= 462,-0.25, 1.813, 2.217,-0.025, 1.303, PHS= 0.598, 0.961,-1.332, RAW= 21.5, -2.2, CAL= 21.2, -4.4, ROT= 128.8, 4.4 2025-01-08T22:08:24.699Z,1736374104.699 [DAT](INFO): DAT read: Bearing 128.8, 4.4 (Local) 2025-01-08T22:08:24.699Z,1736374104.699 [DAT](INFO): Local bearing/azimuth received: Bearing 128.8, 4.4 (Local) 2025-01-08T22:08:24.713Z,1736374104.713 [DAT](INFO): DAT read: Range 10 to 50 : 384.3 m (Round-trip 512.5 ms) speed 0.0 m/s 2025-01-08T22:08:24.714Z,1736374104.714 [DAT](INFO): DAT read: user:2332> 2025-01-08T22:08:24.714Z,1736374104.714 [DAT](INFO): DAT read: Tx time:22:08:23.8952 2025-01-08T22:08:24.715Z,1736374104.715 [DAT](INFO): Ping request sent. 2025-01-08T22:08:24.715Z,1736374104.715 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:24.716Z,1736374104.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 3.199289 m, bearing: 162.234381 deg, approach rate: 0.251795 m/s, LOS rate: -5.558232 deg/s, cmd heading: 33.283829 deg, new cmd heading: 27.107907 deg. 2025-01-08T22:08:24.717Z,1736374104.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473122 target range: 382.700012 and range: 383.10 m. 2025-01-08T22:08:24.720Z,1736374104.720 [DAT](INFO): DAT read: TxSync time:22:08:23.8944 2025-01-08T22:08:24.720Z,1736374104.720 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:08:24.722Z,1736374104.722 [DAT](INFO): direction in FSK: [0.089478,0.943509,0.319036] 2025-01-08T22:08:24.722Z,1736374104.722 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:24.723Z,1736374104.723 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:24.734Z,1736374104.734 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:24.734Z,1736374104.734 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:24.928Z,1736374104.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:25.031Z,1736374105.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:25.046Z,1736374105.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 384.299988 m, deltaT: 4.032280 s, deltaX: 1.199982 m, approachRate: 0.297594 m/s, rangeRepo size: 4 2025-01-08T22:08:25.049Z,1736374105.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 384.299988 m, bearing: 13.863343 deg, lat: 36.902401 deg, lon: -122.121957 deg, deltaT: 12.096897 s, deltaX: 1.599976 m, approachRate: 0.132263 m/s, posRepo size: 4 2025-01-08T22:08:25.049Z,1736374105.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:25.053Z,1736374105.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 57.020744 m, bearing: 93.116698 deg, approach rate: 0.000000 m/s, LOS rate: -5.558232 deg/s, cmd heading: 27.107907 deg, new cmd heading: 20.911417 deg. 2025-01-08T22:08:25.054Z,1736374105.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.364973 target range: 384.299988 and range: 384.30 m. 2025-01-08T22:08:25.180Z,1736374105.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:25.433Z,1736374105.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:25.434Z,1736374105.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:25.443Z,1736374105.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:25.481Z,1736374105.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 57.178326 m, bearing: 93.161443 deg, approach rate: 0.396388 m/s, LOS rate: 0.112243 deg/s, cmd heading: 20.911416 deg, new cmd heading: 21.045281 deg. 2025-01-08T22:08:25.489Z,1736374105.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.367309 target range: 384.299988 and range: 384.30 m. 2025-01-08T22:08:25.684Z,1736374105.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:25.936Z,1736374105.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:25.965Z,1736374105.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:25.997Z,1736374105.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:25.999Z,1736374105.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:26.012Z,1736374106.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 57.379539 m, bearing: 93.207819 deg, approach rate: 0.361921 m/s, LOS rate: 0.083125 deg/s, cmd heading: 21.045281 deg, new cmd heading: 21.183923 deg. 2025-01-08T22:08:26.013Z,1736374106.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.369729 target range: 384.299988 and range: 384.30 m. 2025-01-08T22:08:26.188Z,1736374106.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:26.188Z,1736374106.188 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:08:26.188Z,1736374106.188 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:08:26.189Z,1736374106.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:26.427Z,1736374106.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:26.440Z,1736374106.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:26.441Z,1736374106.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725785 2025-01-08T22:08:26.502Z,1736374106.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:26.521Z,1736374106.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 57.555225 m, bearing: 93.239019 deg, approach rate: 0.350117 m/s, LOS rate: 0.061987 deg/s, cmd heading: 21.183924 deg, new cmd heading: 21.277237 deg. 2025-01-08T22:08:26.522Z,1736374106.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371358 target range: 384.299988 and range: 384.30 m. 2025-01-08T22:08:26.692Z,1736374106.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:26.693Z,1736374106.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978338 2025-01-08T22:08:26.940Z,1736374106.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:26.944Z,1736374106.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:26.945Z,1736374106.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229744 2025-01-08T22:08:26.951Z,1736374106.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:26.953Z,1736374106.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 57.763908 m, bearing: 93.263923 deg, approach rate: 0.463632 m/s, LOS rate: 0.055131 deg/s, cmd heading: 21.277236 deg, new cmd heading: 21.351680 deg. 2025-01-08T22:08:26.956Z,1736374106.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.372657 target range: 384.299988 and range: 384.30 m. 2025-01-08T22:08:27.197Z,1736374107.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:27.199Z,1736374107.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483736 2025-01-08T22:08:27.319Z,1736374107.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:27.344Z,1736374107.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:27.347Z,1736374107.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 57.918045 m, bearing: 93.278274 deg, approach rate: 0.391480 m/s, LOS rate: 0.036350 deg/s, cmd heading: 21.351680 deg, new cmd heading: 21.394617 deg. 2025-01-08T22:08:27.357Z,1736374107.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373406 target range: 384.299988 and range: 384.30 m. 2025-01-08T22:08:27.448Z,1736374107.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:27.448Z,1736374107.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733511 2025-01-08T22:08:27.700Z,1736374107.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:27.700Z,1736374107.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985546 2025-01-08T22:08:27.771Z,1736374107.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:27.782Z,1736374107.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:27.785Z,1736374107.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 58.127262 m, bearing: 93.287807 deg, approach rate: 0.477857 m/s, LOS rate: 0.021695 deg/s, cmd heading: 21.394616 deg, new cmd heading: 21.423112 deg. 2025-01-08T22:08:27.786Z,1736374107.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373904 target range: 384.299988 and range: 384.30 m. 2025-01-08T22:08:27.952Z,1736374107.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:27.952Z,1736374107.952 [DAT](INFO): DAT read: Rx Time:22:08:26.8134 2025-01-08T22:08:27.953Z,1736374107.953 [DAT](INFO): Rx dataTimestamp_ set to:1736374107.952673 2025-01-08T22:08:27.953Z,1736374107.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238604 2025-01-08T22:08:28.129Z,1736374108.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:28.136Z,1736374108.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:28.140Z,1736374108.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:28.142Z,1736374108.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 58.293449 m, bearing: 93.286886 deg, approach rate: 0.465619 m/s, LOS rate: -0.002571 deg/s, cmd heading: 21.423112 deg, new cmd heading: 21.420359 deg. 2025-01-08T22:08:28.151Z,1736374108.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373856 target range: 384.299988 and range: 384.30 m. 2025-01-08T22:08:28.205Z,1736374108.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:28.207Z,1736374108.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491685 2025-01-08T22:08:28.456Z,1736374108.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:28.457Z,1736374108.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741698 2025-01-08T22:08:28.633Z,1736374108.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:28.644Z,1736374108.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:28.648Z,1736374108.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 58.566277 m, bearing: 93.280201 deg, approach rate: 0.541625 m/s, LOS rate: -0.013209 deg/s, cmd heading: 21.420359 deg, new cmd heading: 21.400398 deg. 2025-01-08T22:08:28.650Z,1736374108.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373507 target range: 384.299988 and range: 384.30 m. 2025-01-08T22:08:28.708Z,1736374108.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:28.710Z,1736374108.710 [DAT](INFO): DAT read: Range 10 to 50 : 385.5 m (Round-trip 514.0 ms) speed -0.3 m/s 2025-01-08T22:08:28.711Z,1736374108.711 [DAT](INFO): DAT read: user:2333> 2025-01-08T22:08:28.712Z,1736374108.712 [DAT](INFO): DAT read: Tx time:22:08:27.8953 2025-01-08T22:08:28.712Z,1736374108.712 [DAT](INFO): Ping request sent. 2025-01-08T22:08:28.712Z,1736374108.712 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:28.714Z,1736374108.714 [DAT](INFO): DAT read: TxSync time:22:08:27.8945 2025-01-08T22:08:28.714Z,1736374108.714 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:08:28.715Z,1736374108.715 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:28.720Z,1736374108.720 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:28.960Z,1736374108.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:29.072Z,1736374109.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:29.114Z,1736374109.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 385.500000 m, deltaT: 4.031288 s, deltaX: 1.200012 m, approachRate: 0.297675 m/s, rangeRepo size: 4 2025-01-08T22:08:29.128Z,1736374109.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:29.130Z,1736374109.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 58.803707 m, bearing: 93.262031 deg, approach rate: 0.517129 m/s, LOS rate: -0.039415 deg/s, cmd heading: 21.400398 deg, new cmd heading: 21.346108 deg. 2025-01-08T22:08:29.136Z,1736374109.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.372560 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:29.212Z,1736374109.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:29.464Z,1736374109.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:29.487Z,1736374109.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:29.504Z,1736374109.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:29.519Z,1736374109.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 59.027130 m, bearing: 93.238683 deg, approach rate: 0.555574 m/s, LOS rate: -0.057838 deg/s, cmd heading: 21.346108 deg, new cmd heading: 21.276330 deg. 2025-01-08T22:08:29.545Z,1736374109.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371342 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:29.718Z,1736374109.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:29.968Z,1736374109.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:29.992Z,1736374109.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:30.016Z,1736374110.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:30.019Z,1736374110.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 59.344067 m, bearing: 93.186693 deg, approach rate: 0.618876 m/s, LOS rate: -0.100979 deg/s, cmd heading: 21.276330 deg, new cmd heading: 21.121192 deg. 2025-01-08T22:08:30.020Z,1736374110.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.368634 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:30.220Z,1736374110.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:30.378Z,1736374110.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:30.385Z,1736374110.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:30.387Z,1736374110.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:30.390Z,1736374110.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 59.585621 m, bearing: 93.140509 deg, approach rate: 0.651653 m/s, LOS rate: -0.124087 deg/s, cmd heading: 21.121192 deg, new cmd heading: 20.983203 deg. 2025-01-08T22:08:30.392Z,1736374110.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.366226 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:30.473Z,1736374110.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:30.473Z,1736374110.473 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:08:30.474Z,1736374110.474 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:08:30.474Z,1736374110.474 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:30.724Z,1736374110.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:30.724Z,1736374110.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011807 2025-01-08T22:08:30.813Z,1736374110.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:30.844Z,1736374110.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:30.854Z,1736374110.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 59.894733 m, bearing: 93.083384 deg, approach rate: 0.685409 m/s, LOS rate: -0.126012 deg/s, cmd heading: 20.983203 deg, new cmd heading: 20.812714 deg. 2025-01-08T22:08:30.861Z,1736374110.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.363250 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:30.976Z,1736374110.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:30.977Z,1736374110.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264717 2025-01-08T22:08:31.176Z,1736374111.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:31.185Z,1736374111.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:31.188Z,1736374111.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 60.151001 m, bearing: 93.028797 deg, approach rate: 0.738764 m/s, LOS rate: -0.156692 deg/s, cmd heading: 20.812713 deg, new cmd heading: 20.649650 deg. 2025-01-08T22:08:31.190Z,1736374111.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.360404 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:31.228Z,1736374111.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:31.229Z,1736374111.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516542 2025-01-08T22:08:31.482Z,1736374111.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:31.484Z,1736374111.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771409 2025-01-08T22:08:31.648Z,1736374111.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:31.663Z,1736374111.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:31.668Z,1736374111.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 60.510693 m, bearing: 92.965424 deg, approach rate: 0.752594 m/s, LOS rate: -0.131809 deg/s, cmd heading: 20.649651 deg, new cmd heading: 20.460663 deg. 2025-01-08T22:08:31.670Z,1736374111.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357106 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:31.732Z,1736374111.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:31.734Z,1736374111.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020941 2025-01-08T22:08:31.984Z,1736374111.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:31.987Z,1736374111.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274060 2025-01-08T22:08:32.095Z,1736374112.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:32.103Z,1736374112.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:32.106Z,1736374112.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 60.851170 m, bearing: 92.895831 deg, approach rate: 0.772951 m/s, LOS rate: -0.157106 deg/s, cmd heading: 20.460663 deg, new cmd heading: 20.253053 deg. 2025-01-08T22:08:32.108Z,1736374112.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.353482 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:32.236Z,1736374112.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:32.238Z,1736374112.238 [DAT](INFO): DAT read: Rx Time:22:08:30.8448 2025-01-08T22:08:32.239Z,1736374112.239 [DAT](INFO): Rx dataTimestamp_ set to:1736374112.238377 2025-01-08T22:08:32.240Z,1736374112.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527212 2025-01-08T22:08:32.488Z,1736374112.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:32.489Z,1736374112.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776310 2025-01-08T22:08:32.530Z,1736374112.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:32.570Z,1736374112.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:32.586Z,1736374112.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:32.612Z,1736374112.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 61.179989 m, bearing: 92.819394 deg, approach rate: 0.682645 m/s, LOS rate: -0.157835 deg/s, cmd heading: 20.253053 deg, new cmd heading: 20.024974 deg. 2025-01-08T22:08:32.612Z,1736374112.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349502 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:32.742Z,1736374112.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:32.744Z,1736374112.744 [DAT](INFO): DAT read: Range 10 to 50 : 409.0 m (Round-trip 545.4 ms) speed -0.8 m/s 2025-01-08T22:08:32.745Z,1736374112.745 [DAT](INFO): DAT read: user:2334> 2025-01-08T22:08:32.746Z,1736374112.746 [DAT](INFO): DAT read: Tx time:22:08:31.9453 2025-01-08T22:08:32.746Z,1736374112.746 [DAT](INFO): Ping request sent. 2025-01-08T22:08:32.746Z,1736374112.746 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:32.747Z,1736374112.747 [DAT](INFO): DAT read: TxSync time:22:08:31.9445 2025-01-08T22:08:32.748Z,1736374112.748 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:08:32.748Z,1736374112.748 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:32.748Z,1736374112.748 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:32.992Z,1736374112.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:33.138Z,1736374113.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:33.158Z,1736374113.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 409.000000 m, deltaT: 4.033836 s, deltaX: 23.500000 m, approachRate: 5.825720 m/s, rangeRepo size: 4 2025-01-08T22:08:33.158Z,1736374113.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:33.161Z,1736374113.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 61.646877 m, bearing: 92.707582 deg, approach rate: 0.816186 m/s, LOS rate: -0.193983 deg/s, cmd heading: 20.024974 deg, new cmd heading: 19.692082 deg. 2025-01-08T22:08:33.162Z,1736374113.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.343692 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:33.244Z,1736374113.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:33.496Z,1736374113.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:33.638Z,1736374113.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:33.670Z,1736374113.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:33.675Z,1736374113.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 62.024105 m, bearing: 92.594602 deg, approach rate: 0.735390 m/s, LOS rate: -0.218910 deg/s, cmd heading: 19.692083 deg, new cmd heading: 19.355209 deg. 2025-01-08T22:08:33.677Z,1736374113.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.337812 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:33.748Z,1736374113.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:33.000Z,1736374114.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:34.018Z,1736374114.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:34.028Z,1736374114.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:34.031Z,1736374114.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 62.305805 m, bearing: 92.504643 deg, approach rate: 0.785930 m/s, LOS rate: -0.249846 deg/s, cmd heading: 19.355209 deg, new cmd heading: 19.086555 deg. 2025-01-08T22:08:34.033Z,1736374114.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.333123 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:34.253Z,1736374114.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:34.398Z,1736374114.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:34.410Z,1736374114.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:34.413Z,1736374114.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 62.587631 m, bearing: 92.415502 deg, approach rate: 0.738786 m/s, LOS rate: -0.232623 deg/s, cmd heading: 19.086556 deg, new cmd heading: 18.820340 deg. 2025-01-08T22:08:34.414Z,1736374114.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328477 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:34.505Z,1736374114.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:34.756Z,1736374114.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:34.817Z,1736374114.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:34.824Z,1736374114.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:34.826Z,1736374114.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:34.829Z,1736374114.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 62.867699 m, bearing: 92.307120 deg, approach rate: 0.672382 m/s, LOS rate: -0.259044 deg/s, cmd heading: 18.820340 deg, new cmd heading: 18.496645 deg. 2025-01-08T22:08:34.830Z,1736374114.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.322827 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:35.008Z,1736374115.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:35.008Z,1736374115.008 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:08:35.008Z,1736374115.008 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:08:35.008Z,1736374115.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:35.184Z,1736374115.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:35.209Z,1736374115.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:35.216Z,1736374115.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 63.110592 m, bearing: 92.205824 deg, approach rate: 0.634517 m/s, LOS rate: -0.263600 deg/s, cmd heading: 18.496646 deg, new cmd heading: 18.193930 deg. 2025-01-08T22:08:35.217Z,1736374115.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.317544 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:35.260Z,1736374115.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:35.261Z,1736374115.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514441 2025-01-08T22:08:35.512Z,1736374115.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:35.513Z,1736374115.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766098 2025-01-08T22:08:35.644Z,1736374115.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:35.689Z,1736374115.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:35.696Z,1736374115.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 63.407696 m, bearing: 92.073301 deg, approach rate: 0.620307 m/s, LOS rate: -0.275390 deg/s, cmd heading: 18.193930 deg, new cmd heading: 17.798232 deg. 2025-01-08T22:08:35.697Z,1736374115.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.310638 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:35.765Z,1736374115.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:35.766Z,1736374115.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019258 2025-01-08T22:08:36.012Z,1736374116.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:36.016Z,1736374116.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:36.016Z,1736374116.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270032 2025-01-08T22:08:36.041Z,1736374116.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:36.048Z,1736374116.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 63.618919 m, bearing: 91.962081 deg, approach rate: 0.597862 m/s, LOS rate: -0.313761 deg/s, cmd heading: 17.798232 deg, new cmd heading: 17.465682 deg. 2025-01-08T22:08:36.049Z,1736374116.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.304834 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:36.268Z,1736374116.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:36.268Z,1736374116.268 [DAT](INFO): DAT read: Rx Time:22:08:34.8975 2025-01-08T22:08:36.269Z,1736374116.269 [DAT](INFO): Rx dataTimestamp_ set to:1736374116.268683 2025-01-08T22:08:36.269Z,1736374116.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523070 2025-01-08T22:08:36.406Z,1736374116.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:36.416Z,1736374116.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:36.422Z,1736374116.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 63.838902 m, bearing: 91.840827 deg, approach rate: 0.589967 m/s, LOS rate: -0.324067 deg/s, cmd heading: 17.465682 deg, new cmd heading: 17.103180 deg. 2025-01-08T22:08:36.425Z,1736374116.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.298507 target range: 384.299988 and range: 385.50 m. 2025-01-08T22:08:36.522Z,1736374116.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:36.523Z,1736374116.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776588 2025-01-08T22:08:36.776Z,1736374116.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:36.777Z,1736374116.777 [DAT](INFO): DAT read: Range 10 to 50 : 411.0 m (Round-trip 548.1 ms) speed -0.5 m/s 2025-01-08T22:08:36.778Z,1736374116.778 [DAT](INFO): DAT read: user:2335> 2025-01-08T22:08:36.779Z,1736374116.779 [DAT](INFO): DAT read: Tx time:22:08:35.9953 2025-01-08T22:08:36.780Z,1736374116.780 [DAT](INFO): Ping request sent. 2025-01-08T22:08:36.780Z,1736374116.780 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:36.780Z,1736374116.780 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:08:36.780Z,1736374116.780 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:36.781Z,1736374116.781 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:36.890Z,1736374116.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:36.897Z,1736374116.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:36.900Z,1736374116.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 411.000000 m, deltaT: 8.067894 s, deltaX: 25.500000 m, approachRate: 3.160676 m/s, rangeRepo size: 4 2025-01-08T22:08:36.901Z,1736374116.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:36.904Z,1736374116.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 64.064926 m, bearing: 91.685706 deg, approach rate: 0.466007 m/s, LOS rate: -0.318693 deg/s, cmd heading: 17.103180 deg, new cmd heading: 16.639468 deg. 2025-01-08T22:08:36.905Z,1736374116.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.290413 target range: 384.299988 and range: 411.00 m. 2025-01-08T22:08:37.028Z,1736374117.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:37.029Z,1736374117.029 [DAT](INFO): DAT read: TxSync time:22:08:35.9945 2025-01-08T22:08:37.029Z,1736374117.029 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:08:37.029Z,1736374117.029 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:08:37.030Z,1736374117.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:37.209Z,1736374117.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:37.218Z,1736374117.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:37.221Z,1736374117.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 64.212799 m, bearing: 91.581751 deg, approach rate: 0.464017 m/s, LOS rate: -0.325454 deg/s, cmd heading: 16.639468 deg, new cmd heading: 16.328323 deg. 2025-01-08T22:08:37.223Z,1736374117.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.284983 target range: 384.299988 and range: 411.00 m. 2025-01-08T22:08:37.280Z,1736374117.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:37.281Z,1736374117.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500955 2025-01-08T22:08:37.532Z,1736374117.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:37.532Z,1736374117.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752733 2025-01-08T22:08:37.636Z,1736374117.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:37.698Z,1736374117.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:37.713Z,1736374117.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 64.407852 m, bearing: 91.441957 deg, approach rate: 0.406350 m/s, LOS rate: -0.290346 deg/s, cmd heading: 16.328324 deg, new cmd heading: 15.910221 deg. 2025-01-08T22:08:37.714Z,1736374117.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.277686 target range: 384.299988 and range: 411.00 m. 2025-01-08T22:08:37.787Z,1736374117.787 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:37.789Z,1736374117.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009680 2025-01-08T22:08:38.040Z,1736374118.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:38.040Z,1736374118.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260676 2025-01-08T22:08:38.094Z,1736374118.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:38.115Z,1736374118.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:38.118Z,1736374118.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 64.591751 m, bearing: 91.287249 deg, approach rate: 0.445030 m/s, LOS rate: -0.373325 deg/s, cmd heading: 15.910220 deg, new cmd heading: 15.447426 deg. 2025-01-08T22:08:38.119Z,1736374118.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.269608 target range: 384.299988 and range: 411.00 m. 2025-01-08T22:08:38.292Z,1736374118.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:38.294Z,1736374118.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513966 2025-01-08T22:08:38.463Z,1736374118.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:38.472Z,1736374118.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:38.474Z,1736374118.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 64.739716 m, bearing: 91.164053 deg, approach rate: 0.410886 m/s, LOS rate: -0.341323 deg/s, cmd heading: 15.447426 deg, new cmd heading: 15.078688 deg. 2025-01-08T22:08:38.475Z,1736374118.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.263173 target range: 384.299988 and range: 411.00 m. 2025-01-08T22:08:38.544Z,1736374118.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:38.546Z,1736374118.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765871 2025-01-08T22:08:38.796Z,1736374118.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:38.796Z,1736374118.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016734 2025-01-08T22:08:38.892Z,1736374118.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:38.898Z,1736374118.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:38.901Z,1736374118.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:38.923Z,1736374118.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 64.894424 m, bearing: 91.021119 deg, approach rate: 0.360478 m/s, LOS rate: -0.332247 deg/s, cmd heading: 15.078688 deg, new cmd heading: 14.650917 deg. 2025-01-08T22:08:38.924Z,1736374118.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.255707 target range: 384.299988 and range: 411.00 m. 2025-01-08T22:08:39.048Z,1736374119.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:39.049Z,1736374119.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269149 2025-01-08T22:08:39.264Z,1736374119.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:39.289Z,1736374119.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:39.296Z,1736374119.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 65.031212 m, bearing: 90.899188 deg, approach rate: 0.352678 m/s, LOS rate: -0.313711 deg/s, cmd heading: 14.650916 deg, new cmd heading: 14.285899 deg. 2025-01-08T22:08:39.297Z,1736374119.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.249336 target range: 384.299988 and range: 411.00 m. 2025-01-08T22:08:39.300Z,1736374119.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:39.301Z,1736374119.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520901 2025-01-08T22:08:39.556Z,1736374119.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:39.556Z,1736374119.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776758 2025-01-08T22:08:39.729Z,1736374119.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:39.746Z,1736374119.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:39.754Z,1736374119.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 65.206276 m, bearing: 90.749950 deg, approach rate: 0.382147 m/s, LOS rate: -0.324897 deg/s, cmd heading: 14.285899 deg, new cmd heading: 13.839396 deg. 2025-01-08T22:08:39.760Z,1736374119.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.241543 target range: 384.299988 and range: 411.00 m. 2025-01-08T22:08:39.804Z,1736374119.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:39.805Z,1736374119.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024708 2025-01-08T22:08:40.056Z,1736374120.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:40.057Z,1736374120.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277191 2025-01-08T22:08:40.114Z,1736374120.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:40.136Z,1736374120.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:40.144Z,1736374120.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 65.360321 m, bearing: 90.630744 deg, approach rate: 0.395528 m/s, LOS rate: -0.305353 deg/s, cmd heading: 13.839396 deg, new cmd heading: 13.482625 deg. 2025-01-08T22:08:40.145Z,1736374120.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.235316 target range: 384.299988 and range: 411.00 m. 2025-01-08T22:08:40.308Z,1736374120.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:40.308Z,1736374120.308 [DAT](INFO): DAT read: Rx Time:22:08:38.9504 2025-01-08T22:08:40.309Z,1736374120.309 [DAT](INFO): Rx dataTimestamp_ set to:1736374120.308672 2025-01-08T22:08:40.309Z,1736374120.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529849 2025-01-08T22:08:40.562Z,1736374120.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:40.563Z,1736374120.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783664 2025-01-08T22:08:40.578Z,1736374120.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:40.586Z,1736374120.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:40.591Z,1736374120.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 65.555397 m, bearing: 90.497206 deg, approach rate: 0.433326 m/s, LOS rate: -0.295747 deg/s, cmd heading: 13.482625 deg, new cmd heading: 13.083210 deg. 2025-01-08T22:08:40.592Z,1736374120.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228345 target range: 384.299988 and range: 411.00 m. 2025-01-08T22:08:40.812Z,1736374120.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:40.813Z,1736374120.813 [DAT](INFO): DAT read: Range 10 to 50 : 413.1 m (Round-trip 550.9 ms) speed -0.2 m/s 2025-01-08T22:08:40.814Z,1736374120.814 [DAT](INFO): DAT read: user:2336> 2025-01-08T22:08:40.815Z,1736374120.815 [DAT](INFO): DAT read: Tx time:22:08:40.0454 2025-01-08T22:08:40.815Z,1736374120.815 [DAT](INFO): Ping request sent. 2025-01-08T22:08:40.815Z,1736374120.815 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:40.816Z,1736374120.816 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:08:40.816Z,1736374120.816 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:40.817Z,1736374120.817 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:41.025Z,1736374121.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:41.032Z,1736374121.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:41.035Z,1736374121.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 413.100006 m, deltaT: 4.035924 s, deltaX: 2.100006 m, approachRate: 0.520328 m/s, rangeRepo size: 4 2025-01-08T22:08:41.056Z,1736374121.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:41.059Z,1736374121.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 65.762962 m, bearing: 90.373371 deg, approach rate: 0.463414 m/s, LOS rate: -0.275603 deg/s, cmd heading: 13.083210 deg, new cmd heading: 12.712883 deg. 2025-01-08T22:08:41.064Z,1736374121.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:41.065Z,1736374121.065 [DAT](INFO): DAT read: TxSync time:22:08:40.0446 2025-01-08T22:08:41.065Z,1736374121.065 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:08:41.065Z,1736374121.065 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:08:41.066Z,1736374121.066 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:41.086Z,1736374121.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.221882 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:41.316Z,1736374121.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:41.317Z,1736374121.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501704 2025-01-08T22:08:41.568Z,1736374121.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:41.568Z,1736374121.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752827 2025-01-08T22:08:41.584Z,1736374121.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:41.600Z,1736374121.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:41.603Z,1736374121.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 66.028236 m, bearing: 90.234748 deg, approach rate: 0.468508 m/s, LOS rate: -0.243841 deg/s, cmd heading: 12.712883 deg, new cmd heading: 12.298695 deg. 2025-01-08T22:08:41.605Z,1736374121.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.214653 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:41.820Z,1736374121.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:41.820Z,1736374121.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004831 2025-01-08T22:08:41.981Z,1736374121.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:41.991Z,1736374121.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:42.013Z,1736374122.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 66.247383 m, bearing: 90.141586 deg, approach rate: 0.561306 m/s, LOS rate: -0.237830 deg/s, cmd heading: 12.298695 deg, new cmd heading: 12.020134 deg. 2025-01-08T22:08:42.014Z,1736374122.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.209791 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:42.073Z,1736374122.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:42.074Z,1736374122.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258073 2025-01-08T22:08:42.324Z,1736374122.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:42.324Z,1736374122.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508933 2025-01-08T22:08:42.447Z,1736374122.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:42.462Z,1736374122.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:42.464Z,1736374122.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 66.505653 m, bearing: 90.047391 deg, approach rate: 0.548435 m/s, LOS rate: -0.199245 deg/s, cmd heading: 12.020134 deg, new cmd heading: 11.738650 deg. 2025-01-08T22:08:42.465Z,1736374122.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.204878 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:42.577Z,1736374122.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:42.580Z,1736374122.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763510 2025-01-08T22:08:42.828Z,1736374122.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:42.829Z,1736374122.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013186 2025-01-08T22:08:42.865Z,1736374122.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:42.875Z,1736374122.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:42.893Z,1736374122.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 66.771149 m, bearing: 89.968945 deg, approach rate: 0.642949 m/s, LOS rate: -0.189217 deg/s, cmd heading: 11.738650 deg, new cmd heading: 11.504248 deg. 2025-01-08T22:08:42.894Z,1736374122.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.200787 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:43.080Z,1736374123.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:43.080Z,1736374123.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264906 2025-01-08T22:08:43.268Z,1736374123.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:43.292Z,1736374123.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:43.294Z,1736374123.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:43.301Z,1736374123.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 67.025856 m, bearing: 89.900927 deg, approach rate: 0.606981 m/s, LOS rate: -0.161475 deg/s, cmd heading: 11.504248 deg, new cmd heading: 11.300970 deg. 2025-01-08T22:08:43.302Z,1736374123.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.197239 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:43.332Z,1736374123.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:43.333Z,1736374123.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517051 2025-01-08T22:08:43.585Z,1736374123.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:43.587Z,1736374123.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771006 2025-01-08T22:08:43.661Z,1736374123.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:43.692Z,1736374123.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:43.694Z,1736374123.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 67.282387 m, bearing: 89.839074 deg, approach rate: 0.652182 m/s, LOS rate: -0.156650 deg/s, cmd heading: 11.300971 deg, new cmd heading: 11.116121 deg. 2025-01-08T22:08:43.700Z,1736374123.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.194013 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:43.836Z,1736374123.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:43.836Z,1736374123.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020961 2025-01-08T22:08:44.073Z,1736374124.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:44.088Z,1736374124.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:44.089Z,1736374124.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273684 2025-01-08T22:08:44.102Z,1736374124.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:44.111Z,1736374124.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 67.578331 m, bearing: 89.781040 deg, approach rate: 0.714660 m/s, LOS rate: -0.139530 deg/s, cmd heading: 11.116121 deg, new cmd heading: 10.942781 deg. 2025-01-08T22:08:44.116Z,1736374124.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.190988 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:44.341Z,1736374124.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:44.342Z,1736374124.342 [DAT](INFO): DAT read: Rx Time:22:08:43.0047 2025-01-08T22:08:44.342Z,1736374124.342 [DAT](INFO): Rx dataTimestamp_ set to:1736374124.342102 2025-01-08T22:08:44.343Z,1736374124.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527400 2025-01-08T22:08:44.466Z,1736374124.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:44.474Z,1736374124.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:44.477Z,1736374124.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 67.862091 m, bearing: 89.732163 deg, approach rate: 0.761130 m/s, LOS rate: -0.130553 deg/s, cmd heading: 10.942782 deg, new cmd heading: 10.796766 deg. 2025-01-08T22:08:44.478Z,1736374124.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.188439 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:44.592Z,1736374124.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:44.594Z,1736374124.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778150 2025-01-08T22:08:44.844Z,1736374124.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:44.844Z,1736374124.844 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:08:44.845Z,1736374124.845 [DAT](INFO): Received a bad header 2025-01-08T22:08:44.856Z,1736374124.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040504 2025-01-08T22:08:44.924Z,1736374124.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:44.933Z,1736374124.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:44.936Z,1736374124.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 68.220818 m, bearing: 89.676570 deg, approach rate: 0.782572 m/s, LOS rate: -0.120642 deg/s, cmd heading: 10.796766 deg, new cmd heading: 10.630862 deg. 2025-01-08T22:08:44.937Z,1736374124.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.185544 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:45.096Z,1736374125.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:45.097Z,1736374125.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281073 2025-01-08T22:08:45.292Z,1736374125.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:45.322Z,1736374125.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:45.328Z,1736374125.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:45.331Z,1736374125.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 68.510590 m, bearing: 89.644202 deg, approach rate: 0.732706 m/s, LOS rate: -0.081499 deg/s, cmd heading: 10.630862 deg, new cmd heading: 10.534169 deg. 2025-01-08T22:08:45.339Z,1736374125.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183856 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:45.348Z,1736374125.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:45.349Z,1736374125.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533056 2025-01-08T22:08:45.600Z,1736374125.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:45.601Z,1736374125.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785795 2025-01-08T22:08:45.852Z,1736374125.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:45.853Z,1736374125.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037231 2025-01-08T22:08:45.874Z,1736374125.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:45.886Z,1736374125.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:45.893Z,1736374125.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 68.987160 m, bearing: 89.601685 deg, approach rate: 0.853846 m/s, LOS rate: -0.075648 deg/s, cmd heading: 10.534169 deg, new cmd heading: 10.407501 deg. 2025-01-08T22:08:45.894Z,1736374125.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.181645 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:46.105Z,1736374126.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:46.106Z,1736374126.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290711 2025-01-08T22:08:46.207Z,1736374126.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:46.217Z,1736374126.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:46.219Z,1736374126.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 69.251434 m, bearing: 89.583849 deg, approach rate: 0.800497 m/s, LOS rate: -0.053821 deg/s, cmd heading: 10.407502 deg, new cmd heading: 10.354196 deg. 2025-01-08T22:08:46.220Z,1736374126.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.180715 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:46.358Z,1736374126.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:46.359Z,1736374126.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543976 2025-01-08T22:08:46.608Z,1736374126.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:46.608Z,1736374126.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792977 2025-01-08T22:08:46.681Z,1736374126.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:46.691Z,1736374126.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:46.694Z,1736374126.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 69.651360 m, bearing: 89.565284 deg, approach rate: 0.843071 m/s, LOS rate: -0.038912 deg/s, cmd heading: 10.354196 deg, new cmd heading: 10.298821 deg. 2025-01-08T22:08:46.695Z,1736374126.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.179748 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:46.824Z,1736374126.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:08:46.860Z,1736374126.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:46.861Z,1736374126.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045152 2025-01-08T22:08:47.072Z,1736374127.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:47.089Z,1736374127.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:47.096Z,1736374127.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 69.950256 m, bearing: 89.552324 deg, approach rate: 0.752076 m/s, LOS rate: -0.032469 deg/s, cmd heading: 10.298820 deg, new cmd heading: 10.260108 deg. 2025-01-08T22:08:47.097Z,1736374127.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.179073 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:47.112Z,1736374127.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:47.112Z,1736374127.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296973 2025-01-08T22:08:47.364Z,1736374127.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:47.364Z,1736374127.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548960 2025-01-08T22:08:47.516Z,1736374127.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:47.523Z,1736374127.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:47.556Z,1736374127.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:47.568Z,1736374127.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 70.326668 m, bearing: 89.543963 deg, approach rate: 0.813530 m/s, LOS rate: -0.017973 deg/s, cmd heading: 10.260108 deg, new cmd heading: 10.235161 deg. 2025-01-08T22:08:47.569Z,1736374127.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178637 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:47.620Z,1736374127.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:47.621Z,1736374127.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805679 2025-01-08T22:08:47.829Z,1736374127.829 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:08:47.868Z,1736374127.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:47.869Z,1736374127.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053244 2025-01-08T22:08:47.953Z,1736374127.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:47.963Z,1736374127.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:47.966Z,1736374127.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 70.663124 m, bearing: 89.533194 deg, approach rate: 0.816350 m/s, LOS rate: -0.026006 deg/s, cmd heading: 10.235161 deg, new cmd heading: 10.203006 deg. 2025-01-08T22:08:47.967Z,1736374127.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178076 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:48.120Z,1736374128.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:48.120Z,1736374128.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304846 2025-01-08T22:08:48.329Z,1736374128.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:48.357Z,1736374128.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:48.364Z,1736374128.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 70.952393 m, bearing: 89.530170 deg, approach rate: 0.733644 m/s, LOS rate: -0.007638 deg/s, cmd heading: 10.203006 deg, new cmd heading: 10.193970 deg. 2025-01-08T22:08:48.365Z,1736374128.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.177918 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:48.372Z,1736374128.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:48.373Z,1736374128.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557710 2025-01-08T22:08:48.624Z,1736374128.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:48.624Z,1736374128.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808975 2025-01-08T22:08:48.729Z,1736374128.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:48.737Z,1736374128.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:48.741Z,1736374128.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 71.260895 m, bearing: 89.533802 deg, approach rate: 0.811912 m/s, LOS rate: 0.009517 deg/s, cmd heading: 10.193970 deg, new cmd heading: 10.204819 deg. 2025-01-08T22:08:48.742Z,1736374128.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178108 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:48.876Z,1736374128.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:48.877Z,1736374128.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061031 2025-01-08T22:08:49.128Z,1736374129.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:49.128Z,1736374129.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312956 2025-01-08T22:08:49.190Z,1736374129.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:49.223Z,1736374129.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:49.226Z,1736374129.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 71.583267 m, bearing: 89.538858 deg, approach rate: 0.674957 m/s, LOS rate: 0.010538 deg/s, cmd heading: 10.204819 deg, new cmd heading: 10.219919 deg. 2025-01-08T22:08:49.227Z,1736374129.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178371 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:49.380Z,1736374129.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:49.381Z,1736374129.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565036 2025-01-08T22:08:49.537Z,1736374129.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:49.560Z,1736374129.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:49.562Z,1736374129.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:49.580Z,1736374129.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 71.826385 m, bearing: 89.548240 deg, approach rate: 0.700708 m/s, LOS rate: 0.026950 deg/s, cmd heading: 10.219919 deg, new cmd heading: 10.247971 deg. 2025-01-08T22:08:49.582Z,1736374129.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178861 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:49.632Z,1736374129.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:49.633Z,1736374129.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817142 2025-01-08T22:08:49.884Z,1736374129.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:49.884Z,1736374129.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068889 2025-01-08T22:08:49.983Z,1736374129.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:49.993Z,1736374129.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:49.995Z,1736374129.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 72.103577 m, bearing: 89.558521 deg, approach rate: 0.643755 m/s, LOS rate: 0.023784 deg/s, cmd heading: 10.247971 deg, new cmd heading: 10.278694 deg. 2025-01-08T22:08:49.996Z,1736374129.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.179397 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:50.136Z,1736374130.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:50.136Z,1736374130.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320906 2025-01-08T22:08:50.352Z,1736374130.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:50.361Z,1736374130.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:50.366Z,1736374130.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 72.332436 m, bearing: 89.572384 deg, approach rate: 0.621459 m/s, LOS rate: 0.037527 deg/s, cmd heading: 10.278694 deg, new cmd heading: 10.320154 deg. 2025-01-08T22:08:50.368Z,1736374130.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.180121 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:50.401Z,1736374130.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:50.402Z,1736374130.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586395 2025-01-08T22:08:50.652Z,1736374130.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:50.653Z,1736374130.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837652 2025-01-08T22:08:50.751Z,1736374130.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:50.761Z,1736374130.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:50.764Z,1736374130.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 72.580238 m, bearing: 89.593336 deg, approach rate: 0.619488 m/s, LOS rate: 0.052198 deg/s, cmd heading: 10.320154 deg, new cmd heading: 10.382793 deg. 2025-01-08T22:08:50.765Z,1736374130.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.181214 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:50.905Z,1736374130.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:50.905Z,1736374130.905 [DAT](INFO): Reached modem response timeout 2025-01-08T22:08:50.906Z,1736374130.906 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:08:50.906Z,1736374130.906 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:51.157Z,1736374131.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:51.158Z,1736374131.158 [DAT](INFO): Reached modem response timeout 2025-01-08T22:08:51.158Z,1736374131.158 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:08:51.158Z,1736374131.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:51.223Z,1736374131.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:51.248Z,1736374131.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:51.251Z,1736374131.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 72.838547 m, bearing: 89.615092 deg, approach rate: 0.529976 m/s, LOS rate: 0.044480 deg/s, cmd heading: 10.382793 deg, new cmd heading: 10.447832 deg. 2025-01-08T22:08:51.252Z,1736374131.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.182349 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:51.408Z,1736374131.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:51.408Z,1736374131.408 [DAT](INFO): Reached modem response timeout 2025-01-08T22:08:51.408Z,1736374131.408 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:08:51.408Z,1736374131.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:51.566Z,1736374131.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:51.572Z,1736374131.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:51.574Z,1736374131.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:51.601Z,1736374131.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 73.024696 m, bearing: 89.639895 deg, approach rate: 0.570850 m/s, LOS rate: 0.075865 deg/s, cmd heading: 10.447832 deg, new cmd heading: 10.522049 deg. 2025-01-08T22:08:51.602Z,1736374131.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183644 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:51.661Z,1736374131.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:51.663Z,1736374131.663 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:08:51.664Z,1736374131.664 [DAT](INFO): response not received 2025-01-08T22:08:51.664Z,1736374131.664 [DAT](INFO): DAT read: user:2338> 2025-01-08T22:08:51.666Z,1736374131.666 [DAT](INFO): DAT read: Tx time:22:08:50.9955 2025-01-08T22:08:51.666Z,1736374131.666 [DAT](INFO): Ping request sent. 2025-01-08T22:08:51.666Z,1736374131.666 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:51.667Z,1736374131.667 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:51.669Z,1736374131.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002276 2025-01-08T22:08:51.912Z,1736374131.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:51.912Z,1736374131.912 [DAT](INFO): DAT read: TxSync time:22:08:50.9947 2025-01-08T22:08:51.913Z,1736374131.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247079 2025-01-08T22:08:52.002Z,1736374132.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:52.037Z,1736374132.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:52.045Z,1736374132.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 73.226189 m, bearing: 89.676711 deg, approach rate: 0.435764 m/s, LOS rate: 0.079404 deg/s, cmd heading: 10.522049 deg, new cmd heading: 10.632196 deg. 2025-01-08T22:08:52.046Z,1736374132.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.185567 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:52.167Z,1736374132.167 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:52.168Z,1736374132.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501714 2025-01-08T22:08:52.363Z,1736374132.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:52.388Z,1736374132.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:52.391Z,1736374132.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 73.391510 m, bearing: 89.710902 deg, approach rate: 0.494087 m/s, LOS rate: 0.101953 deg/s, cmd heading: 10.632196 deg, new cmd heading: 10.734536 deg. 2025-01-08T22:08:52.396Z,1736374132.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.187353 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:52.420Z,1736374132.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:52.421Z,1736374132.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754367 2025-01-08T22:08:52.672Z,1736374132.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:52.674Z,1736374132.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006949 2025-01-08T22:08:52.841Z,1736374132.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:52.906Z,1736374132.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:52.913Z,1736374132.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 73.606567 m, bearing: 89.765874 deg, approach rate: 0.403502 m/s, LOS rate: 0.102839 deg/s, cmd heading: 10.734536 deg, new cmd heading: 10.898969 deg. 2025-01-08T22:08:52.913Z,1736374132.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.190223 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:52.924Z,1736374132.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:52.925Z,1736374132.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258357 2025-01-08T22:08:53.176Z,1736374133.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:53.177Z,1736374133.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510443 2025-01-08T22:08:53.258Z,1736374133.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:53.267Z,1736374133.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:53.269Z,1736374133.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 73.779381 m, bearing: 89.822392 deg, approach rate: 0.477016 m/s, LOS rate: 0.155641 deg/s, cmd heading: 10.898969 deg, new cmd heading: 11.068126 deg. 2025-01-08T22:08:53.270Z,1736374133.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.193175 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:53.429Z,1736374133.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:53.431Z,1736374133.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764408 2025-01-08T22:08:53.680Z,1736374133.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:53.681Z,1736374133.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014677 2025-01-08T22:08:53.700Z,1736374133.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:53.711Z,1736374133.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:53.724Z,1736374133.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:53.727Z,1736374133.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 73.959930 m, bearing: 89.886474 deg, approach rate: 0.394587 m/s, LOS rate: 0.139709 deg/s, cmd heading: 11.068125 deg, new cmd heading: 11.259903 deg. 2025-01-08T22:08:53.736Z,1736374133.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.196522 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:53.933Z,1736374133.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:53.936Z,1736374133.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269125 2025-01-08T22:08:54.096Z,1736374134.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:54.106Z,1736374134.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:54.125Z,1736374134.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 74.120911 m, bearing: 89.949074 deg, approach rate: 0.422972 m/s, LOS rate: 0.164121 deg/s, cmd heading: 11.259903 deg, new cmd heading: 11.447292 deg. 2025-01-08T22:08:54.126Z,1736374134.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.199793 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:54.185Z,1736374134.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:54.186Z,1736374134.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519499 2025-01-08T22:08:54.436Z,1736374134.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:54.436Z,1736374134.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770189 2025-01-08T22:08:54.478Z,1736374134.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:54.487Z,1736374134.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:54.491Z,1736374134.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 74.271034 m, bearing: 90.016260 deg, approach rate: 0.392819 m/s, LOS rate: 0.175446 deg/s, cmd heading: 11.447292 deg, new cmd heading: 11.648442 deg. 2025-01-08T22:08:54.492Z,1736374134.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.203304 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:54.688Z,1736374134.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:54.688Z,1736374134.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022254 2025-01-08T22:08:54.910Z,1736374134.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:54.940Z,1736374134.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:54.941Z,1736374134.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274517 2025-01-08T22:08:54.950Z,1736374134.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:54.958Z,1736374134.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 74.437965 m, bearing: 90.095747 deg, approach rate: 0.360153 m/s, LOS rate: 0.171109 deg/s, cmd heading: 11.648442 deg, new cmd heading: 11.886368 deg. 2025-01-08T22:08:54.959Z,1736374134.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.207456 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:55.192Z,1736374135.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:55.193Z,1736374135.193 [DAT](INFO): DAT read: Rx Time:22:08:53.9483 2025-01-08T22:08:55.193Z,1736374135.193 [DAT](INFO): Rx dataTimestamp_ set to:1736374135.192928 2025-01-08T22:08:55.194Z,1736374135.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527567 2025-01-08T22:08:55.354Z,1736374135.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:55.376Z,1736374135.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m. 2025-01-08T22:08:55.381Z,1736374135.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.299988 m, nav range: 74.625809 m, bearing: 90.184419 deg, approach rate: 0.446438 m/s, LOS rate: 0.210212 deg/s, cmd heading: 11.886368 deg, new cmd heading: 12.151713 deg. 2025-01-08T22:08:55.382Z,1736374135.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.212087 target range: 384.299988 and range: 413.10 m. 2025-01-08T22:08:55.445Z,1736374135.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:55.447Z,1736374135.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780229 2025-01-08T22:08:55.696Z,1736374135.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:55.702Z,1736374135.702 [DAT](INFO): DAT read: 22:08:53.9483 LVL= 17872, 18049, 15794, 20131, AGC= 68, IDX= 383,-0.00, 1.205, 0.987,-0.978, 0.193, PHS= 1.099, 0.841,-1.175, RAW= 36.0, -7.2, CAL= 37.7, -12.3, ROT= 112.3, 12.3 2025-01-08T22:08:55.703Z,1736374135.703 [DAT](INFO): got valid direction response: 22:08:53.9483 LVL= 17872, 18049, 15794, 20131, AGC= 68, IDX= 383,-0.00, 1.205, 0.987,-0.978, 0.193, PHS= 1.099, 0.841,-1.175, RAW= 36.0, -7.2, CAL= 37.7, -12.3, ROT= 112.3, 12.3 2025-01-08T22:08:55.705Z,1736374135.705 [DAT](INFO): DAT read: Range 10 to 50 : 411.5 m (Round-trip 548.7 ms) speed -0.4 m/s 2025-01-08T22:08:55.706Z,1736374135.705 [DAT](INFO): DAT read: user:2339> 2025-01-08T22:08:55.706Z,1736374135.706 [DAT](INFO): DAT read: Tx time:22:08:55.0455 2025-01-08T22:08:55.707Z,1736374135.707 [DAT](INFO): Ping request sent. 2025-01-08T22:08:55.707Z,1736374135.707 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:55.707Z,1736374135.707 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:08:55.708Z,1736374135.708 [DAT](INFO): direction in FSK: [0.152397,0.830702,0.535452] 2025-01-08T22:08:55.708Z,1736374135.708 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:55.708Z,1736374135.708 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:55.716Z,1736374135.716 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:55.716Z,1736374135.716 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:55.788Z,1736374135.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:55.844Z,1736374135.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 411.500000 m, deltaT: 14.884129 s, deltaX: -1.600006 m, approachRate: -0.107497 m/s, rangeRepo size: 4 2025-01-08T22:08:55.846Z,1736374135.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 411.500000 m, bearing: 26.974435 deg, lat: 36.902528 deg, lon: -122.121617 deg, deltaT: 31.019235 s, deltaX: 27.200012 m, approachRate: 0.876876 m/s, posRepo size: 4 2025-01-08T22:08:55.846Z,1736374135.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.50 m. 2025-01-08T22:08:55.853Z,1736374135.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.500000 m, nav range: 105.858177 m, bearing: 82.523846 deg, approach rate: 0.000000 m/s, LOS rate: 0.210212 deg/s, cmd heading: 12.151712 deg, new cmd heading: 12.434091 deg. 2025-01-08T22:08:55.854Z,1736374135.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.217016 target range: 411.500000 and range: 411.50 m. 2025-01-08T22:08:55.950Z,1736374135.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:55.954Z,1736374135.954 [DAT](INFO): DAT read: TxSync time:22:08:55.0447 2025-01-08T22:08:56.200Z,1736374136.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:56.316Z,1736374136.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:56.324Z,1736374136.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:56.326Z,1736374136.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.50 m. 2025-01-08T22:08:56.329Z,1736374136.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.500000 m, nav range: 106.081726 m, bearing: 82.628897 deg, approach rate: 0.440874 m/s, LOS rate: 0.206741 deg/s, cmd heading: 12.434091 deg, new cmd heading: 12.748577 deg. 2025-01-08T22:08:56.330Z,1736374136.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.222505 target range: 411.500000 and range: 411.50 m. 2025-01-08T22:08:56.452Z,1736374136.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:56.452Z,1736374136.452 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:08:56.452Z,1736374136.452 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:08:56.453Z,1736374136.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:08:56.704Z,1736374136.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:56.705Z,1736374136.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998032 2025-01-08T22:08:56.722Z,1736374136.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:56.747Z,1736374136.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.50 m. 2025-01-08T22:08:56.750Z,1736374136.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.500000 m, nav range: 106.249138 m, bearing: 82.712082 deg, approach rate: 0.402404 m/s, LOS rate: 0.199635 deg/s, cmd heading: 12.748577 deg, new cmd heading: 12.997737 deg. 2025-01-08T22:08:56.752Z,1736374136.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226853 target range: 411.500000 and range: 411.50 m. 2025-01-08T22:08:56.964Z,1736374136.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:57.008Z,1736374137.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.301046 2025-01-08T22:08:57.207Z,1736374137.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:57.216Z,1736374137.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:57.216Z,1736374137.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509807 2025-01-08T22:08:57.217Z,1736374137.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.50 m. 2025-01-08T22:08:57.220Z,1736374137.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.500000 m, nav range: 106.439072 m, bearing: 82.816542 deg, approach rate: 0.401193 m/s, LOS rate: 0.220254 deg/s, cmd heading: 12.997737 deg, new cmd heading: 13.310554 deg. 2025-01-08T22:08:57.222Z,1736374137.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.232313 target range: 411.500000 and range: 411.50 m. 2025-01-08T22:08:57.468Z,1736374137.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:57.469Z,1736374137.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762739 2025-01-08T22:08:57.620Z,1736374137.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:57.629Z,1736374137.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.50 m. 2025-01-08T22:08:57.632Z,1736374137.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.500000 m, nav range: 106.596687 m, bearing: 82.907278 deg, approach rate: 0.380815 m/s, LOS rate: 0.218905 deg/s, cmd heading: 13.310554 deg, new cmd heading: 13.582359 deg. 2025-01-08T22:08:57.633Z,1736374137.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.237057 target range: 411.500000 and range: 411.50 m. 2025-01-08T22:08:57.721Z,1736374137.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:57.722Z,1736374137.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015597 2025-01-08T22:08:57.974Z,1736374137.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:57.976Z,1736374137.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268725 2025-01-08T22:08:58.073Z,1736374138.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:08:58.073Z,1736374138.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:58.082Z,1736374138.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.50 m. 2025-01-08T22:08:58.085Z,1736374138.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.500000 m, nav range: 106.770424 m, bearing: 83.006804 deg, approach rate: 0.383911 m/s, LOS rate: 0.219567 deg/s, cmd heading: 13.582360 deg, new cmd heading: 13.880449 deg. 2025-01-08T22:08:58.086Z,1736374138.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.242260 target range: 411.500000 and range: 411.50 m. 2025-01-08T22:08:58.224Z,1736374138.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:58.225Z,1736374138.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517876 2025-01-08T22:08:58.414Z,1736374138.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:08:58.414Z,1736374138.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:58.421Z,1736374138.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:08:58.424Z,1736374138.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.50 m. 2025-01-08T22:08:58.427Z,1736374138.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.500000 m, nav range: 106.894363 m, bearing: 83.084614 deg, approach rate: 0.362085 m/s, LOS rate: 0.227055 deg/s, cmd heading: 13.880449 deg, new cmd heading: 14.113606 deg. 2025-01-08T22:08:58.428Z,1736374138.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246329 target range: 411.500000 and range: 411.50 m. 2025-01-08T22:08:58.476Z,1736374138.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:58.478Z,1736374138.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770905 2025-01-08T22:08:58.729Z,1736374138.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:58.731Z,1736374138.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024007 2025-01-08T22:08:58.827Z,1736374138.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:08:58.827Z,1736374138.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:58.843Z,1736374138.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.50 m. 2025-01-08T22:08:58.848Z,1736374138.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.500000 m, nav range: 107.040527 m, bearing: 83.180468 deg, approach rate: 0.349958 m/s, LOS rate: 0.229187 deg/s, cmd heading: 14.113607 deg, new cmd heading: 14.400771 deg. 2025-01-08T22:08:58.849Z,1736374138.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.251341 target range: 411.500000 and range: 411.50 m. 2025-01-08T22:08:58.982Z,1736374138.982 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:58.985Z,1736374138.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277406 2025-01-08T22:08:59.232Z,1736374139.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:59.232Z,1736374139.232 [DAT](INFO): DAT read: Rx Time:22:08:58.0004 2025-01-08T22:08:59.233Z,1736374139.233 [DAT](INFO): Rx dataTimestamp_ set to:1736374139.232510 2025-01-08T22:08:59.233Z,1736374139.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526686 2025-01-08T22:08:59.300Z,1736374139.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:59.312Z,1736374139.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.50 m. 2025-01-08T22:08:59.314Z,1736374139.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.500000 m, nav range: 107.283836 m, bearing: 83.297872 deg, approach rate: 0.518421 m/s, LOS rate: 0.249587 deg/s, cmd heading: 14.400771 deg, new cmd heading: 14.752180 deg. 2025-01-08T22:08:59.315Z,1736374139.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.257474 target range: 411.500000 and range: 411.50 m. 2025-01-08T22:08:59.484Z,1736374139.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:59.484Z,1736374139.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777751 2025-01-08T22:08:59.636Z,1736374139.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:08:59.706Z,1736374139.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.50 m. 2025-01-08T22:08:59.714Z,1736374139.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.500000 m, nav range: 107.456512 m, bearing: 83.380738 deg, approach rate: 0.440355 m/s, LOS rate: 0.210985 deg/s, cmd heading: 14.752181 deg, new cmd heading: 15.000379 deg. 2025-01-08T22:08:59.714Z,1736374139.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.261806 target range: 411.500000 and range: 411.50 m. 2025-01-08T22:08:59.736Z,1736374139.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:59.748Z,1736374139.748 [DAT](INFO): DAT read: 22:08:58.0004 LVL= 24240, 32753, 32754, 32755, AGC= 67, IDX= 452, 0.05,-0.132,-0.968,-2.542,-1.529, PHS= 1.486, 0.608,-1.016, RAW= 50.2, -9.8, CAL= 57.1, -16.9, ROT= 92.9, 16.9 2025-01-08T22:08:59.751Z,1736374139.751 [DAT](INFO): got valid direction response: 22:08:58.0004 LVL= 24240, 32753, 32754, 32755, AGC= 67, IDX= 452, 0.05,-0.132,-0.968,-2.542,-1.529, PHS= 1.486, 0.608,-1.016, RAW= 50.2, -9.8, CAL= 57.1, -16.9, ROT= 92.9, 16.9 2025-01-08T22:08:59.765Z,1736374139.765 [DAT](INFO): DAT read: Bearing 92.9, 16.9 (Local) 2025-01-08T22:08:59.765Z,1736374139.765 [DAT](INFO): Local bearing/azimuth received: Bearing 92.9, 16.9 (Local) 2025-01-08T22:08:59.766Z,1736374139.766 [DAT](INFO): DAT read: Range 10 to 50 : 413.0 m (Round-trip 550.7 ms) speed -0.1 m/s 2025-01-08T22:08:59.772Z,1736374139.772 [DAT](INFO): DAT read: user:2340> 2025-01-08T22:08:59.773Z,1736374139.773 [DAT](INFO): DAT read: Tx time:22:08:59.0956 2025-01-08T22:08:59.774Z,1736374139.774 [DAT](INFO): Ping request sent. 2025-01-08T22:08:59.774Z,1736374139.774 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:08:59.775Z,1736374139.775 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:08:59.780Z,1736374139.780 [DAT](INFO): direction in FSK: [0.172351,0.678587,0.714013] 2025-01-08T22:08:59.781Z,1736374139.781 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:59.781Z,1736374139.781 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:59.786Z,1736374139.786 [DAT](INFO): publishing transmit ping time 2025-01-08T22:08:59.787Z,1736374139.787 [DAT](INFO): publishing direction and range info 2025-01-08T22:08:59.990Z,1736374139.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:08:59.993Z,1736374139.993 [DAT](INFO): DAT read: TxSync time:22:08:59.0948 2025-01-08T22:09:00.224Z,1736374140.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:00.240Z,1736374140.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:00.246Z,1736374140.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 413.000000 m, deltaT: 4.039935 s, deltaX: 1.500000 m, approachRate: 0.371293 m/s, rangeRepo size: 4 2025-01-08T22:09:00.252Z,1736374140.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 413.000000 m, bearing: 37.276501 deg, lat: 36.903822 deg, lon: -122.121486 deg, deltaT: 4.039935 s, deltaX: 1.500000 m, approachRate: 0.371293 m/s, posRepo size: 4 2025-01-08T22:09:00.253Z,1736374140.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.00 m. 2025-01-08T22:09:00.260Z,1736374140.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.000000 m, nav range: 196.107925 m, bearing: 37.275845 deg, approach rate: 0.000000 m/s, LOS rate: 0.210985 deg/s, cmd heading: 15.000379 deg, new cmd heading: 15.343434 deg. 2025-01-08T22:09:00.261Z,1736374140.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.267793 target range: 413.000000 and range: 413.00 m. 2025-01-08T22:09:00.492Z,1736374140.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:00.744Z,1736374140.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:00.748Z,1736374140.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:00.756Z,1736374140.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:00.762Z,1736374140.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.00 m. 2025-01-08T22:09:00.768Z,1736374140.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.000000 m, nav range: 196.101730 m, bearing: 37.381497 deg, approach rate: -0.012007 m/s, LOS rate: 0.204773 deg/s, cmd heading: 15.343434 deg, new cmd heading: 15.660398 deg. 2025-01-08T22:09:00.769Z,1736374140.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273326 target range: 413.000000 and range: 413.00 m. 2025-01-08T22:09:00.998Z,1736374140.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:01.000Z,1736374141.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:01.000Z,1736374141.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:01.001Z,1736374141.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:01.182Z,1736374141.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:01.192Z,1736374141.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.00 m. 2025-01-08T22:09:01.194Z,1736374141.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.000000 m, nav range: 196.076584 m, bearing: 37.464557 deg, approach rate: -0.058394 m/s, LOS rate: 0.192903 deg/s, cmd heading: 15.660398 deg, new cmd heading: 15.909609 deg. 2025-01-08T22:09:01.196Z,1736374141.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.277675 target range: 413.000000 and range: 413.00 m. 2025-01-08T22:09:01.248Z,1736374141.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:01.249Z,1736374141.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475471 2025-01-08T22:09:01.500Z,1736374141.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:01.500Z,1736374141.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726583 2025-01-08T22:09:01.553Z,1736374141.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:01.563Z,1736374141.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.00 m. 2025-01-08T22:09:01.566Z,1736374141.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.000000 m, nav range: 196.048950 m, bearing: 37.535617 deg, approach rate: -0.074546 m/s, LOS rate: 0.191723 deg/s, cmd heading: 15.909609 deg, new cmd heading: 16.122818 deg. 2025-01-08T22:09:01.567Z,1736374141.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.281396 target range: 413.000000 and range: 413.00 m. 2025-01-08T22:09:01.752Z,1736374141.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:01.752Z,1736374141.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978589 2025-01-08T22:09:01.960Z,1736374141.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:01.973Z,1736374141.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.00 m. 2025-01-08T22:09:01.999Z,1736374141.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.000000 m, nav range: 196.012466 m, bearing: 37.613326 deg, approach rate: -0.089085 m/s, LOS rate: 0.189781 deg/s, cmd heading: 16.122819 deg, new cmd heading: 16.355987 deg. 2025-01-08T22:09:02.006Z,1736374142.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:02.008Z,1736374142.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234010 2025-01-08T22:09:02.017Z,1736374142.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.285466 target range: 413.000000 and range: 413.00 m. 2025-01-08T22:09:02.256Z,1736374142.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:02.257Z,1736374142.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482983 2025-01-08T22:09:02.389Z,1736374142.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:02.398Z,1736374142.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.00 m. 2025-01-08T22:09:02.401Z,1736374142.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.000000 m, nav range: 195.957474 m, bearing: 37.688527 deg, approach rate: -0.129112 m/s, LOS rate: 0.176608 deg/s, cmd heading: 16.355988 deg, new cmd heading: 16.581654 deg. 2025-01-08T22:09:02.402Z,1736374142.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.289404 target range: 413.000000 and range: 413.00 m. 2025-01-08T22:09:02.508Z,1736374142.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:02.509Z,1736374142.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734903 2025-01-08T22:09:02.760Z,1736374142.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:02.760Z,1736374142.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986407 2025-01-08T22:09:02.776Z,1736374142.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:02.783Z,1736374142.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:02.785Z,1736374142.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.00 m. 2025-01-08T22:09:02.788Z,1736374142.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.000000 m, nav range: 195.902023 m, bearing: 37.756288 deg, approach rate: -0.143311 m/s, LOS rate: 0.175177 deg/s, cmd heading: 16.581654 deg, new cmd heading: 16.784993 deg. 2025-01-08T22:09:02.791Z,1736374142.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292953 target range: 413.000000 and range: 413.00 m. 2025-01-08T22:09:03.013Z,1736374143.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:03.016Z,1736374143.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241108 2025-01-08T22:09:03.205Z,1736374143.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:03.214Z,1736374143.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.00 m. 2025-01-08T22:09:03.217Z,1736374143.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.000000 m, nav range: 195.837875 m, bearing: 37.825902 deg, approach rate: -0.149517 m/s, LOS rate: 0.162309 deg/s, cmd heading: 16.784994 deg, new cmd heading: 16.993901 deg. 2025-01-08T22:09:03.218Z,1736374143.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.296600 target range: 413.000000 and range: 413.00 m. 2025-01-08T22:09:03.264Z,1736374143.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:03.265Z,1736374143.265 [DAT](INFO): DAT read: Rx Time:22:09:02.0377 2025-01-08T22:09:03.266Z,1736374143.266 [DAT](INFO): Rx dataTimestamp_ set to:1736374143.265149 2025-01-08T22:09:03.267Z,1736374143.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492622 2025-01-08T22:09:03.516Z,1736374143.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:03.516Z,1736374143.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742539 2025-01-08T22:09:03.594Z,1736374143.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:03.603Z,1736374143.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.00 m. 2025-01-08T22:09:03.606Z,1736374143.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 413.000000 m, nav range: 195.768738 m, bearing: 37.888301 deg, approach rate: -0.177887 m/s, LOS rate: 0.160607 deg/s, cmd heading: 16.993902 deg, new cmd heading: 17.181165 deg. 2025-01-08T22:09:03.607Z,1736374143.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.299868 target range: 413.000000 and range: 413.00 m. 2025-01-08T22:09:03.768Z,1736374143.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:03.775Z,1736374143.775 [DAT](INFO): DAT read: 22:09:02.0377 LVL= 19376, 29841, 30434, 32755, AGC= 70, IDX= 287, 0.08,-2.754, 2.763, 1.566, 2.426, PHS= 1.191, 0.384,-0.864, RAW= 53.0, -8.0, CAL= 59.3, -14.3, ROT= 90.7, 14.3 2025-01-08T22:09:03.776Z,1736374143.776 [DAT](INFO): got valid direction response: 22:09:02.0377 LVL= 19376, 29841, 30434, 32755, AGC= 70, IDX= 287, 0.08,-2.754, 2.763, 1.566, 2.426, PHS= 1.191, 0.384,-0.864, RAW= 53.0, -8.0, CAL= 59.3, -14.3, ROT= 90.7, 14.3 2025-01-08T22:09:03.777Z,1736374143.777 [DAT](INFO): DAT read: Bearing 90.7, 14.3 (Local) 2025-01-08T22:09:03.777Z,1736374143.777 [DAT](INFO): Local bearing/azimuth received: Bearing 90.7, 14.3 (Local) 2025-01-08T22:09:03.779Z,1736374143.779 [DAT](INFO): DAT read: Range 10 to 50 : 403.5 m (Round-trip 538.0 ms) speed 0.0 m/s 2025-01-08T22:09:03.780Z,1736374143.780 [DAT](INFO): DAT read: user:2341> 2025-01-08T22:09:03.781Z,1736374143.781 [DAT](INFO): DAT read: Tx time:22:09:03.1456 2025-01-08T22:09:03.781Z,1736374143.781 [DAT](INFO): Ping request sent. 2025-01-08T22:09:03.781Z,1736374143.781 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:03.781Z,1736374143.781 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:09:03.782Z,1736374143.782 [DAT](INFO): direction in FSK: [0.133037,0.652564,0.745963] 2025-01-08T22:09:03.782Z,1736374143.782 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:03.783Z,1736374143.783 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:03.786Z,1736374143.786 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:03.786Z,1736374143.786 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:03.981Z,1736374143.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:04.014Z,1736374144.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 403.500000 m, deltaT: 4.032369 s, deltaX: -9.500000 m, approachRate: -2.355935 m/s, rangeRepo size: 4 2025-01-08T22:09:04.022Z,1736374144.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:04.024Z,1736374144.024 [DAT](INFO): DAT read: TxSync time:22:09:03.1448 2025-01-08T22:09:04.041Z,1736374144.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 403.500000 m, bearing: 55.743968 deg, lat: 36.903822 deg, lon: -122.121405 deg, deltaT: 4.032369 s, deltaX: -9.500000 m, approachRate: -2.355935 m/s, posRepo size: 4 2025-01-08T22:09:04.048Z,1736374144.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:04.066Z,1736374144.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 200.178131 m, bearing: 39.566187 deg, approach rate: 0.000000 m/s, LOS rate: 0.160607 deg/s, cmd heading: 17.181165 deg, new cmd heading: 17.379091 deg. 2025-01-08T22:09:04.074Z,1736374144.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.303322 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:04.272Z,1736374144.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:04.407Z,1736374144.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:04.416Z,1736374144.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:04.418Z,1736374144.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 200.079910 m, bearing: 39.624179 deg, approach rate: -0.244372 m/s, LOS rate: 0.144352 deg/s, cmd heading: 17.379090 deg, new cmd heading: 17.553149 deg. 2025-01-08T22:09:04.419Z,1736374144.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.306360 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:04.524Z,1736374144.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:04.776Z,1736374144.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:04.786Z,1736374144.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:04.793Z,1736374144.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:04.796Z,1736374144.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:04.798Z,1736374144.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 199.987869 m, bearing: 39.675284 deg, approach rate: -0.242193 m/s, LOS rate: 0.134538 deg/s, cmd heading: 17.553149 deg, new cmd heading: 17.706535 deg. 2025-01-08T22:09:04.799Z,1736374144.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.309037 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:05.030Z,1736374145.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:05.041Z,1736374145.041 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:05.041Z,1736374145.041 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:05.042Z,1736374145.042 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:05.250Z,1736374145.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:05.274Z,1736374145.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:05.281Z,1736374145.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:05.281Z,1736374145.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500274 2025-01-08T22:09:05.297Z,1736374145.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 199.871780 m, bearing: 39.730572 deg, approach rate: -0.242349 m/s, LOS rate: 0.115487 deg/s, cmd heading: 17.706535 deg, new cmd heading: 17.872494 deg. 2025-01-08T22:09:05.332Z,1736374145.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.311934 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:05.532Z,1736374145.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:05.533Z,1736374145.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752369 2025-01-08T22:09:05.736Z,1736374145.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:05.753Z,1736374145.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:05.761Z,1736374145.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 199.740250 m, bearing: 39.786618 deg, approach rate: -0.274762 m/s, LOS rate: 0.117154 deg/s, cmd heading: 17.872493 deg, new cmd heading: 18.040741 deg. 2025-01-08T22:09:05.761Z,1736374145.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.314870 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:05.784Z,1736374145.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:05.784Z,1736374145.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003478 2025-01-08T22:09:06.036Z,1736374146.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:06.036Z,1736374146.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255330 2025-01-08T22:09:06.196Z,1736374146.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:06.205Z,1736374146.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:06.209Z,1736374146.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 199.593521 m, bearing: 39.834184 deg, approach rate: -0.325049 m/s, LOS rate: 0.105451 deg/s, cmd heading: 18.040741 deg, new cmd heading: 18.183544 deg. 2025-01-08T22:09:06.209Z,1736374146.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.317363 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:06.289Z,1736374146.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:06.290Z,1736374146.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508642 2025-01-08T22:09:06.540Z,1736374146.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:06.540Z,1736374146.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759463 2025-01-08T22:09:06.562Z,1736374146.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:06.571Z,1736374146.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:06.590Z,1736374146.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 199.473343 m, bearing: 39.871165 deg, approach rate: -0.328383 m/s, LOS rate: 0.101111 deg/s, cmd heading: 18.183545 deg, new cmd heading: 18.294555 deg. 2025-01-08T22:09:06.596Z,1736374146.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.319300 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:06.792Z,1736374146.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:06.793Z,1736374146.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011720 2025-01-08T22:09:06.985Z,1736374146.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:06.993Z,1736374146.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:06.995Z,1736374146.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:06.997Z,1736374146.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 199.330917 m, bearing: 39.912845 deg, approach rate: -0.335906 m/s, LOS rate: 0.098371 deg/s, cmd heading: 18.294554 deg, new cmd heading: 18.419683 deg. 2025-01-08T22:09:06.998Z,1736374146.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.321484 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:07.044Z,1736374147.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:07.045Z,1736374147.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263552 2025-01-08T22:09:07.296Z,1736374147.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:07.297Z,1736374147.297 [DAT](INFO): DAT read: Rx Time:22:09:06.0878 2025-01-08T22:09:07.297Z,1736374147.297 [DAT](INFO): Rx dataTimestamp_ set to:1736374147.296808 2025-01-08T22:09:07.298Z,1736374147.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516629 2025-01-08T22:09:07.415Z,1736374147.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:07.425Z,1736374147.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:07.428Z,1736374147.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 199.172989 m, bearing: 39.951989 deg, approach rate: -0.367071 m/s, LOS rate: 0.091054 deg/s, cmd heading: 18.419683 deg, new cmd heading: 18.537207 deg. 2025-01-08T22:09:07.429Z,1736374147.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.323535 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:07.548Z,1736374147.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:07.548Z,1736374147.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767464 2025-01-08T22:09:07.801Z,1736374147.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:07.811Z,1736374147.811 [DAT](INFO): DAT read: 22:09:06.0878 LVL= 16656, 29873, 22514, 28243, AGC= 66, IDX= 435,-0.27, 1.800, 0.395,-0.250, 0.344, PHS= 1.543, 0.097,-0.598, RAW= 71.4, -11.0, CAL= 82.9, -20.2, ROT= 67.1, 20.2 2025-01-08T22:09:07.812Z,1736374147.812 [DAT](INFO): got valid direction response: 22:09:06.0878 LVL= 16656, 29873, 22514, 28243, AGC= 66, IDX= 435,-0.27, 1.800, 0.395,-0.250, 0.344, PHS= 1.543, 0.097,-0.598, RAW= 71.4, -11.0, CAL= 82.9, -20.2, ROT= 67.1, 20.2 2025-01-08T22:09:07.813Z,1736374147.813 [DAT](INFO): DAT read: Bearing 67.1, 20.2 (Local) 2025-01-08T22:09:07.814Z,1736374147.814 [DAT](INFO): Local bearing/azimuth received: Bearing 67.1, 20.2 (Local) 2025-01-08T22:09:07.824Z,1736374147.824 [DAT](INFO): DAT read: Range 10 to 50 : 403.5 m (Round-trip 538.1 ms) speed 0.2 m/s 2025-01-08T22:09:07.824Z,1736374147.824 [DAT](INFO): DAT read: user:2342> 2025-01-08T22:09:07.825Z,1736374147.825 [DAT](INFO): DAT read: Tx time:22:09:07.1956 2025-01-08T22:09:07.825Z,1736374147.825 [DAT](INFO): Ping request sent. 2025-01-08T22:09:07.825Z,1736374147.825 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:07.826Z,1736374147.826 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:09:07.827Z,1736374147.827 [DAT](INFO): direction in FSK: [0.154444,0.392895,0.906521] 2025-01-08T22:09:07.827Z,1736374147.827 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:07.872Z,1736374147.872 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:07.891Z,1736374147.891 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:07.896Z,1736374147.896 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:07.908Z,1736374147.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:07.945Z,1736374147.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 403.500000 m, deltaT: 4.033118 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:09:07.947Z,1736374147.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 403.500000 m, bearing: 43.127223 deg, lat: 36.903822 deg, lon: -122.121486 deg, deltaT: 4.033118 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:09:07.972Z,1736374147.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:07.974Z,1736374147.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 194.468994 m, bearing: 38.380087 deg, approach rate: 0.000000 m/s, LOS rate: 0.091054 deg/s, cmd heading: 18.537207 deg, new cmd heading: 18.679029 deg. 2025-01-08T22:09:07.975Z,1736374147.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326011 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:08.052Z,1736374148.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:08.054Z,1736374148.054 [DAT](INFO): DAT read: TxSync time:22:09:07.1948 2025-01-08T22:09:08.306Z,1736374148.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:08.316Z,1736374148.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:08.333Z,1736374148.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:08.340Z,1736374148.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 194.303238 m, bearing: 38.415079 deg, approach rate: -0.425843 m/s, LOS rate: 0.089974 deg/s, cmd heading: 18.679029 deg, new cmd heading: 18.784094 deg. 2025-01-08T22:09:08.341Z,1736374148.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.327844 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:08.561Z,1736374148.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:08.680Z,1736374148.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:08.692Z,1736374148.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:08.695Z,1736374148.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 194.155228 m, bearing: 38.444698 deg, approach rate: -0.412416 m/s, LOS rate: 0.082594 deg/s, cmd heading: 18.784094 deg, new cmd heading: 18.873020 deg. 2025-01-08T22:09:08.696Z,1736374148.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329396 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:08.812Z,1736374148.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:09.064Z,1736374149.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:09.070Z,1736374149.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:09.084Z,1736374149.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:09.093Z,1736374149.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:09.127Z,1736374149.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 193.993240 m, bearing: 38.475484 deg, approach rate: -0.405985 m/s, LOS rate: 0.077221 deg/s, cmd heading: 18.873020 deg, new cmd heading: 18.965452 deg. 2025-01-08T22:09:09.135Z,1736374149.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.331010 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:09.316Z,1736374149.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:09.316Z,1736374149.316 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:09.316Z,1736374149.316 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:09.317Z,1736374149.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:09.508Z,1736374149.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:09.524Z,1736374149.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:09.527Z,1736374149.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 193.815216 m, bearing: 38.512172 deg, approach rate: -0.410847 m/s, LOS rate: 0.084748 deg/s, cmd heading: 18.965453 deg, new cmd heading: 19.075619 deg. 2025-01-08T22:09:09.532Z,1736374149.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.332932 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:09.568Z,1736374149.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:09.569Z,1736374149.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743182 2025-01-08T22:09:09.820Z,1736374149.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:09.820Z,1736374149.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994928 2025-01-08T22:09:09.889Z,1736374149.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:09.898Z,1736374149.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:09.900Z,1736374149.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 193.657730 m, bearing: 38.542912 deg, approach rate: -0.421837 m/s, LOS rate: 0.082407 deg/s, cmd heading: 19.075619 deg, new cmd heading: 19.167915 deg. 2025-01-08T22:09:09.901Z,1736374149.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.334543 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:10.072Z,1736374150.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:10.073Z,1736374150.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247741 2025-01-08T22:09:10.326Z,1736374150.326 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:10.327Z,1736374150.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501219 2025-01-08T22:09:10.384Z,1736374150.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:10.401Z,1736374150.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:10.408Z,1736374150.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 193.458221 m, bearing: 38.591503 deg, approach rate: -0.396234 m/s, LOS rate: 0.096603 deg/s, cmd heading: 19.167915 deg, new cmd heading: 19.313837 deg. 2025-01-08T22:09:10.409Z,1736374150.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.337090 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:10.576Z,1736374150.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:10.577Z,1736374150.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751245 2025-01-08T22:09:10.715Z,1736374150.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:10.726Z,1736374150.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:10.745Z,1736374150.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 193.319763 m, bearing: 38.621974 deg, approach rate: -0.426802 m/s, LOS rate: 0.093996 deg/s, cmd heading: 19.313837 deg, new cmd heading: 19.405316 deg. 2025-01-08T22:09:10.745Z,1736374150.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.338687 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:10.828Z,1736374150.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:10.828Z,1736374150.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003035 2025-01-08T22:09:11.080Z,1736374151.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:11.080Z,1736374151.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254922 2025-01-08T22:09:11.179Z,1736374151.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:11.186Z,1736374151.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:11.188Z,1736374151.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:11.191Z,1736374151.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 193.125534 m, bearing: 38.664814 deg, approach rate: -0.420107 m/s, LOS rate: 0.092753 deg/s, cmd heading: 19.405317 deg, new cmd heading: 19.533965 deg. 2025-01-08T22:09:11.192Z,1736374151.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.340932 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:11.332Z,1736374151.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:11.333Z,1736374151.333 [DAT](INFO): DAT read: Rx Time:22:09:10.1369 2025-01-08T22:09:11.334Z,1736374151.334 [DAT](INFO): Rx dataTimestamp_ set to:1736374151.333528 2025-01-08T22:09:11.335Z,1736374151.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509198 2025-01-08T22:09:11.545Z,1736374151.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:11.554Z,1736374151.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m. 2025-01-08T22:09:11.558Z,1736374151.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 403.500000 m, nav range: 192.980026 m, bearing: 38.699812 deg, approach rate: -0.397928 m/s, LOS rate: 0.095782 deg/s, cmd heading: 19.533965 deg, new cmd heading: 19.639038 deg. 2025-01-08T22:09:11.559Z,1736374151.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342766 target range: 403.500000 and range: 403.50 m. 2025-01-08T22:09:11.584Z,1736374151.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:11.585Z,1736374151.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759102 2025-01-08T22:09:11.837Z,1736374151.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:11.853Z,1736374151.853 [DAT](INFO): DAT read: 22:09:10.1369 LVL= 15184, 32321, 21170, 32755, AGC= 69, IDX= 426,-0.21,-2.373, 2.292, 2.386, 2.773, PHS= 1.225,-0.434,-0.390, RAW= 91.3, -4.9, CAL= 99.6, -13.0, ROT= 50.4, 13.0 2025-01-08T22:09:11.855Z,1736374151.855 [DAT](INFO): got valid direction response: 22:09:10.1369 LVL= 15184, 32321, 21170, 32755, AGC= 69, IDX= 426,-0.21,-2.373, 2.292, 2.386, 2.773, PHS= 1.225,-0.434,-0.390, RAW= 91.3, -4.9, CAL= 99.6, -13.0, ROT= 50.4, 13.0 2025-01-08T22:09:11.856Z,1736374151.856 [DAT](INFO): DAT read: Bearing 50.4, 13.0 (Local) 2025-01-08T22:09:11.857Z,1736374151.857 [DAT](INFO): Local bearing/azimuth received: Bearing 50.4, 13.0 (Local) 2025-01-08T22:09:11.858Z,1736374151.858 [DAT](INFO): DAT read: Range 10 to 50 : 402.8 m (Round-trip 537.1 ms) speed 0.4 m/s 2025-01-08T22:09:11.859Z,1736374151.859 [DAT](INFO): DAT read: user:2343> 2025-01-08T22:09:11.860Z,1736374151.860 [DAT](INFO): DAT read: Tx time:22:09:11.2457 2025-01-08T22:09:11.860Z,1736374151.860 [DAT](INFO): Ping request sent. 2025-01-08T22:09:11.860Z,1736374151.860 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:11.860Z,1736374151.860 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:09:11.861Z,1736374151.861 [DAT](INFO): direction in FSK: [0.007510,0.079265,0.996825] 2025-01-08T22:09:11.862Z,1736374151.862 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:11.862Z,1736374151.862 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:11.865Z,1736374151.865 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:11.866Z,1736374151.866 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:11.968Z,1736374151.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:11.991Z,1736374151.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 402.799988 m, deltaT: 4.036354 s, deltaX: -0.700012 m, approachRate: -0.173427 m/s, rangeRepo size: 4 2025-01-08T22:09:12.001Z,1736374152.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 402.799988 m, bearing: 267.121867 deg, lat: 36.903317 deg, lon: -122.121486 deg, deltaT: 4.036354 s, deltaX: -0.700012 m, approachRate: -0.173427 m/s, posRepo size: 4 2025-01-08T22:09:12.002Z,1736374152.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.80 m. 2025-01-08T22:09:12.013Z,1736374152.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.799988 m, nav range: 153.104294 m, bearing: 52.004833 deg, approach rate: 0.000000 m/s, LOS rate: 0.095782 deg/s, cmd heading: 19.639038 deg, new cmd heading: 19.764253 deg. 2025-01-08T22:09:12.014Z,1736374152.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.344951 target range: 402.799988 and range: 402.80 m. 2025-01-08T22:09:12.089Z,1736374152.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:12.090Z,1736374152.090 [DAT](INFO): DAT read: TxSync time:22:09:11.2449 2025-01-08T22:09:12.340Z,1736374152.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:12.391Z,1736374152.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:12.412Z,1736374152.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.80 m. 2025-01-08T22:09:12.414Z,1736374152.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.799988 m, nav range: 152.982269 m, bearing: 52.071731 deg, approach rate: -0.289327 m/s, LOS rate: 0.158744 deg/s, cmd heading: 19.764252 deg, new cmd heading: 19.965103 deg. 2025-01-08T22:09:12.416Z,1736374152.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.348457 target range: 402.799988 and range: 402.80 m. 2025-01-08T22:09:12.592Z,1736374152.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:12.756Z,1736374152.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:12.773Z,1736374152.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.80 m. 2025-01-08T22:09:12.780Z,1736374152.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.799988 m, nav range: 152.870209 m, bearing: 52.126573 deg, approach rate: -0.309730 m/s, LOS rate: 0.151694 deg/s, cmd heading: 19.965104 deg, new cmd heading: 20.129752 deg. 2025-01-08T22:09:12.781Z,1736374152.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.351330 target range: 402.799988 and range: 402.80 m. 2025-01-08T22:09:12.844Z,1736374152.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:13.096Z,1736374153.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:13.137Z,1736374153.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:13.206Z,1736374153.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:13.212Z,1736374153.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.80 m. 2025-01-08T22:09:13.215Z,1736374153.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.799988 m, nav range: 152.746674 m, bearing: 52.183884 deg, approach rate: -0.281338 m/s, LOS rate: 0.130624 deg/s, cmd heading: 20.129753 deg, new cmd heading: 20.301822 deg. 2025-01-08T22:09:13.220Z,1736374153.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.354334 target range: 402.799988 and range: 402.80 m. 2025-01-08T22:09:13.348Z,1736374153.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:13.348Z,1736374153.348 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:13.348Z,1736374153.348 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:13.349Z,1736374153.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:13.558Z,1736374153.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:13.566Z,1736374153.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.80 m. 2025-01-08T22:09:13.569Z,1736374153.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.799988 m, nav range: 152.616562 m, bearing: 52.249074 deg, approach rate: -0.367202 m/s, LOS rate: 0.184138 deg/s, cmd heading: 20.301822 deg, new cmd heading: 20.497560 deg. 2025-01-08T22:09:13.570Z,1736374153.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357750 target range: 402.799988 and range: 402.80 m. 2025-01-08T22:09:13.600Z,1736374153.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:13.600Z,1736374153.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740267 2025-01-08T22:09:13.852Z,1736374153.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:13.852Z,1736374153.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992212 2025-01-08T22:09:13.961Z,1736374153.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:13.969Z,1736374153.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.80 m. 2025-01-08T22:09:13.974Z,1736374153.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.799988 m, nav range: 152.488846 m, bearing: 52.310458 deg, approach rate: -0.317159 m/s, LOS rate: 0.152561 deg/s, cmd heading: 20.497560 deg, new cmd heading: 20.681863 deg. 2025-01-08T22:09:13.977Z,1736374153.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.360967 target range: 402.799988 and range: 402.80 m. 2025-01-08T22:09:14.104Z,1736374154.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:14.106Z,1736374154.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245158 2025-01-08T22:09:14.356Z,1736374154.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:14.357Z,1736374154.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496583 2025-01-08T22:09:14.378Z,1736374154.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:14.412Z,1736374154.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.80 m. 2025-01-08T22:09:14.414Z,1736374154.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.799988 m, nav range: 152.354965 m, bearing: 52.374016 deg, approach rate: -0.302362 m/s, LOS rate: 0.143669 deg/s, cmd heading: 20.681862 deg, new cmd heading: 20.872705 deg. 2025-01-08T22:09:14.420Z,1736374154.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.364297 target range: 402.799988 and range: 402.80 m. 2025-01-08T22:09:14.608Z,1736374154.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:14.608Z,1736374154.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748201 2025-01-08T22:09:14.748Z,1736374154.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:14.765Z,1736374154.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.80 m. 2025-01-08T22:09:14.768Z,1736374154.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.799988 m, nav range: 152.234329 m, bearing: 52.429809 deg, approach rate: -0.341203 m/s, LOS rate: 0.157929 deg/s, cmd heading: 20.872705 deg, new cmd heading: 21.040217 deg. 2025-01-08T22:09:14.769Z,1736374154.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.367221 target range: 402.799988 and range: 402.80 m. 2025-01-08T22:09:14.862Z,1736374154.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:14.863Z,1736374154.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002603 2025-01-08T22:09:15.116Z,1736374155.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:15.116Z,1736374155.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256198 2025-01-08T22:09:15.161Z,1736374155.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:15.206Z,1736374155.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.80 m. 2025-01-08T22:09:15.229Z,1736374155.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.799988 m, nav range: 152.098145 m, bearing: 52.491668 deg, approach rate: -0.310459 m/s, LOS rate: 0.141144 deg/s, cmd heading: 21.040217 deg, new cmd heading: 21.225957 deg. 2025-01-08T22:09:15.240Z,1736374155.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.370463 target range: 402.799988 and range: 402.80 m. 2025-01-08T22:09:15.368Z,1736374155.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:15.369Z,1736374155.369 [DAT](INFO): DAT read: Rx Time:22:09:14.1849 2025-01-08T22:09:15.369Z,1736374155.369 [DAT](INFO): Rx dataTimestamp_ set to:1736374155.368848 2025-01-08T22:09:15.370Z,1736374155.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509442 2025-01-08T22:09:15.587Z,1736374155.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:15.595Z,1736374155.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:15.597Z,1736374155.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.80 m. 2025-01-08T22:09:15.600Z,1736374155.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.799988 m, nav range: 151.948563 m, bearing: 52.549964 deg, approach rate: -0.380343 m/s, LOS rate: 0.148376 deg/s, cmd heading: 21.225957 deg, new cmd heading: 21.401017 deg. 2025-01-08T22:09:15.601Z,1736374155.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373518 target range: 402.799988 and range: 402.80 m. 2025-01-08T22:09:15.620Z,1736374155.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:15.621Z,1736374155.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760580 2025-01-08T22:09:15.873Z,1736374155.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:15.897Z,1736374155.897 [DAT](INFO): DAT read: 22:09:14.1849 LVL= 26032, 32753, 29746, 32755, AGC= 69, IDX= 420, 0.03, 1.681, 0.085, 0.657, 0.922, PHS= 0.847,-0.790,-0.268, RAW= 108.2, 2.9, CAL= 119.8, 0.2, ROT= 30.2, -0.2 2025-01-08T22:09:15.898Z,1736374155.898 [DAT](INFO): got valid direction response: 22:09:14.1849 LVL= 26032, 32753, 29746, 32755, AGC= 69, IDX= 420, 0.03, 1.681, 0.085, 0.657, 0.922, PHS= 0.847,-0.790,-0.268, RAW= 108.2, 2.9, CAL= 119.8, 0.2, ROT= 30.2, -0.2 2025-01-08T22:09:15.900Z,1736374155.900 [DAT](INFO): DAT read: Bearing 30.2, -0.2 (Local) 2025-01-08T22:09:15.900Z,1736374155.900 [DAT](INFO): Local bearing/azimuth received: Bearing 30.2, -0.2 (Local) 2025-01-08T22:09:15.901Z,1736374155.901 [DAT](INFO): DAT read: Range 10 to 50 : 401.3 m (Round-trip 535.1 ms) speed 0.3 m/s 2025-01-08T22:09:15.902Z,1736374155.902 [DAT](INFO): DAT read: user:2344> 2025-01-08T22:09:15.903Z,1736374155.903 [DAT](INFO): DAT read: Tx time:22:09:15.2957 2025-01-08T22:09:15.903Z,1736374155.903 [DAT](INFO): Ping request sent. 2025-01-08T22:09:15.903Z,1736374155.903 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:15.904Z,1736374155.904 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:09:15.905Z,1736374155.905 [DAT](INFO): direction in FSK: [-0.166721,-0.208071,0.963800] 2025-01-08T22:09:15.905Z,1736374155.905 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:15.906Z,1736374155.906 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:15.913Z,1736374155.913 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:15.913Z,1736374155.913 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:15.996Z,1736374155.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:16.045Z,1736374156.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 401.299988 m, deltaT: 4.036094 s, deltaX: -1.500000 m, approachRate: -0.371646 m/s, rangeRepo size: 4 2025-01-08T22:09:16.052Z,1736374156.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 401.299988 m, bearing: 263.377542 deg, lat: 36.902915 deg, lon: -122.122301 deg, deltaT: 4.036094 s, deltaX: -1.500000 m, approachRate: -0.371646 m/s, posRepo size: 4 2025-01-08T22:09:16.052Z,1736374156.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.30 m. 2025-01-08T22:09:16.055Z,1736374156.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.299988 m, nav range: 67.545486 m, bearing: 45.428687 deg, approach rate: 0.000000 m/s, LOS rate: 0.148376 deg/s, cmd heading: 21.401018 deg, new cmd heading: 21.600113 deg. 2025-01-08T22:09:16.064Z,1736374156.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.376993 target range: 401.299988 and range: 401.30 m. 2025-01-08T22:09:16.125Z,1736374156.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:16.127Z,1736374156.127 [DAT](INFO): DAT read: TxSync time:22:09:15.2949 2025-01-08T22:09:16.376Z,1736374156.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:16.445Z,1736374156.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:16.463Z,1736374156.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.30 m. 2025-01-08T22:09:16.469Z,1736374156.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.299988 m, nav range: 67.348595 m, bearing: 45.541156 deg, approach rate: -0.471078 m/s, LOS rate: 0.269877 deg/s, cmd heading: 21.600113 deg, new cmd heading: 21.938502 deg. 2025-01-08T22:09:16.470Z,1736374156.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.382899 target range: 401.299988 and range: 401.30 m. 2025-01-08T22:09:16.628Z,1736374156.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:16.769Z,1736374156.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:16.794Z,1736374156.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.30 m. 2025-01-08T22:09:16.798Z,1736374156.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.299988 m, nav range: 67.206001 m, bearing: 45.621421 deg, approach rate: -0.429964 m/s, LOS rate: 0.242538 deg/s, cmd heading: 21.938503 deg, new cmd heading: 22.179807 deg. 2025-01-08T22:09:16.799Z,1736374156.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.387111 target range: 401.299988 and range: 401.30 m. 2025-01-08T22:09:16.880Z,1736374156.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:17.132Z,1736374157.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:17.186Z,1736374157.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:17.227Z,1736374157.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.30 m. 2025-01-08T22:09:17.269Z,1736374157.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.299988 m, nav range: 67.021683 m, bearing: 45.724209 deg, approach rate: -0.427608 m/s, LOS rate: 0.239118 deg/s, cmd heading: 22.179806 deg, new cmd heading: 22.489015 deg. 2025-01-08T22:09:17.271Z,1736374157.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.392507 target range: 401.299988 and range: 401.30 m. 2025-01-08T22:09:17.384Z,1736374157.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:17.598Z,1736374157.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:17.606Z,1736374157.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:17.609Z,1736374157.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.30 m. 2025-01-08T22:09:17.631Z,1736374157.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.299988 m, nav range: 66.820557 m, bearing: 45.817198 deg, approach rate: -0.524914 m/s, LOS rate: 0.243422 deg/s, cmd heading: 22.489016 deg, new cmd heading: 22.768822 deg. 2025-01-08T22:09:17.632Z,1736374157.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.397391 target range: 401.299988 and range: 401.30 m. 2025-01-08T22:09:17.636Z,1736374157.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:17.636Z,1736374157.636 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:17.636Z,1736374157.636 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:17.637Z,1736374157.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:17.888Z,1736374157.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:17.889Z,1736374157.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985689 2025-01-08T22:09:17.956Z,1736374157.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:09:17.983Z,1736374157.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:17.992Z,1736374157.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.30 m. 2025-01-08T22:09:17.994Z,1736374157.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.299988 m, nav range: 66.632248 m, bearing: 45.904165 deg, approach rate: -0.491751 m/s, LOS rate: 0.227747 deg/s, cmd heading: 22.768822 deg, new cmd heading: 23.030457 deg. 2025-01-08T22:09:17.996Z,1736374157.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.401957 target range: 401.299988 and range: 401.30 m. 2025-01-08T22:09:18.140Z,1736374158.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:18.140Z,1736374158.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237003 2025-01-08T22:09:18.392Z,1736374158.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:18.392Z,1736374158.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489067 2025-01-08T22:09:18.421Z,1736374158.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:18.465Z,1736374158.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.30 m. 2025-01-08T22:09:18.473Z,1736374158.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.299988 m, nav range: 66.405869 m, bearing: 45.981987 deg, approach rate: -0.477611 m/s, LOS rate: 0.164747 deg/s, cmd heading: 23.030457 deg, new cmd heading: 23.264718 deg. 2025-01-08T22:09:18.474Z,1736374158.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.406046 target range: 401.299988 and range: 401.30 m. 2025-01-08T22:09:18.645Z,1736374158.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:18.646Z,1736374158.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742297 2025-01-08T22:09:18.799Z,1736374158.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:18.811Z,1736374158.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.30 m. 2025-01-08T22:09:18.814Z,1736374158.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.299988 m, nav range: 66.215546 m, bearing: 46.045362 deg, approach rate: -0.550928 m/s, LOS rate: 0.183977 deg/s, cmd heading: 23.264719 deg, new cmd heading: 23.455387 deg. 2025-01-08T22:09:18.815Z,1736374158.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.409374 target range: 401.299988 and range: 401.30 m. 2025-01-08T22:09:18.896Z,1736374158.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:18.897Z,1736374158.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993426 2025-01-08T22:09:18.960Z,1736374158.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:09:19.148Z,1736374159.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:19.150Z,1736374159.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246324 2025-01-08T22:09:19.385Z,1736374159.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:19.394Z,1736374159.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.30 m. 2025-01-08T22:09:19.396Z,1736374159.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.299988 m, nav range: 65.882431 m, bearing: 46.142857 deg, approach rate: -0.571640 m/s, LOS rate: 0.168153 deg/s, cmd heading: 23.455387 deg, new cmd heading: 23.749351 deg. 2025-01-08T22:09:19.397Z,1736374159.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414504 target range: 401.299988 and range: 401.30 m. 2025-01-08T22:09:19.400Z,1736374159.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:19.401Z,1736374159.401 [DAT](INFO): DAT read: Rx Time:22:09:18.2331 2025-01-08T22:09:19.401Z,1736374159.401 [DAT](INFO): Rx dataTimestamp_ set to:1736374159.400722 2025-01-08T22:09:19.402Z,1736374159.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498183 2025-01-08T22:09:19.652Z,1736374159.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:19.653Z,1736374159.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749789 2025-01-08T22:09:19.826Z,1736374159.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:19.841Z,1736374159.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:19.843Z,1736374159.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.30 m. 2025-01-08T22:09:19.846Z,1736374159.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 401.299988 m, nav range: 65.634216 m, bearing: 46.210037 deg, approach rate: -0.552160 m/s, LOS rate: 0.150008 deg/s, cmd heading: 23.749352 deg, new cmd heading: 23.951652 deg. 2025-01-08T22:09:19.847Z,1736374159.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418035 target range: 401.299988 and range: 401.30 m. 2025-01-08T22:09:19.906Z,1736374159.906 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:19.908Z,1736374159.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.004614 2025-01-08T22:09:20.156Z,1736374160.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:20.164Z,1736374160.164 [DAT](INFO): DAT read: 22:09:18.2331 LVL= 23344, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.28,-2.665, 2.144, 2.804, 3.070, PHS= 0.637,-0.878,-0.269, RAW= 113.5, 7.8, CAL= 123.2, 4.6, ROT= 26.8, -4.6 2025-01-08T22:09:20.165Z,1736374160.165 [DAT](INFO): got valid direction response: 22:09:18.2331 LVL= 23344, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.28,-2.665, 2.144, 2.804, 3.070, PHS= 0.637,-0.878,-0.269, RAW= 113.5, 7.8, CAL= 123.2, 4.6, ROT= 26.8, -4.6 2025-01-08T22:09:20.166Z,1736374160.166 [DAT](INFO): DAT read: Bearing 26.8, -4.6 (Local) 2025-01-08T22:09:20.166Z,1736374160.166 [DAT](INFO): Local bearing/azimuth received: Bearing 26.8, -4.6 (Local) 2025-01-08T22:09:20.168Z,1736374160.168 [DAT](INFO): DAT read: Range 10 to 50 : 399.9 m (Round-trip 533.3 ms) speed 0.5 m/s 2025-01-08T22:09:20.169Z,1736374160.169 [DAT](INFO): DAT read: user:2345> 2025-01-08T22:09:20.169Z,1736374160.169 [DAT](INFO): DAT read: Tx time:22:09:19.3457 2025-01-08T22:09:20.170Z,1736374160.170 [DAT](INFO): Ping request sent. 2025-01-08T22:09:20.170Z,1736374160.170 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:20.170Z,1736374160.170 [DAT](INFO): DAT read: TxSync time:22:09:19.3449 2025-01-08T22:09:20.171Z,1736374160.171 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:09:20.185Z,1736374160.185 [DAT](INFO): direction in FSK: [-0.263386,-0.291953,0.919452] 2025-01-08T22:09:20.186Z,1736374160.186 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:20.186Z,1736374160.186 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:20.215Z,1736374160.215 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:20.217Z,1736374160.217 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:20.408Z,1736374160.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:20.419Z,1736374160.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T22:09:20.419Z,1736374160.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:20.461Z,1736374160.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 399.899994 m, deltaT: 4.282781 s, deltaX: -1.399994 m, approachRate: -0.326889 m/s, rangeRepo size: 4 2025-01-08T22:09:20.468Z,1736374160.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 399.899994 m, bearing: 260.324073 deg, lat: 36.902433 deg, lon: -122.123767 deg, deltaT: 4.282781 s, deltaX: -1.399994 m, approachRate: -0.326889 m/s, posRepo size: 4 2025-01-08T22:09:20.473Z,1736374160.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:20.479Z,1736374160.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 83.595139 m, bearing: 264.177121 deg, approach rate: 0.000000 m/s, LOS rate: 0.150008 deg/s, cmd heading: 23.951653 deg, new cmd heading: 24.229546 deg. 2025-01-08T22:09:20.485Z,1736374160.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422885 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:20.660Z,1736374160.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:20.743Z,1736374160.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:09:20.743Z,1736374160.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:20.773Z,1736374160.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:20.784Z,1736374160.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 83.706810 m, bearing: 264.071170 deg, approach rate: 0.357621 m/s, LOS rate: -0.338848 deg/s, cmd heading: 24.229546 deg, new cmd heading: 23.912121 deg. 2025-01-08T22:09:20.785Z,1736374160.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417345 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:20.912Z,1736374160.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:21.112Z,1736374161.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:09:21.112Z,1736374161.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:21.137Z,1736374161.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:21.145Z,1736374161.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 83.835953 m, bearing: 263.951781 deg, approach rate: 0.354965 m/s, LOS rate: -0.327650 deg/s, cmd heading: 23.912122 deg, new cmd heading: 23.554511 deg. 2025-01-08T22:09:21.151Z,1736374161.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411104 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:21.164Z,1736374161.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:21.416Z,1736374161.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:21.535Z,1736374161.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:21.545Z,1736374161.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:21.548Z,1736374161.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 83.997276 m, bearing: 263.818516 deg, approach rate: 0.395280 m/s, LOS rate: -0.325903 deg/s, cmd heading: 23.554512 deg, new cmd heading: 23.155490 deg. 2025-01-08T22:09:21.549Z,1736374161.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.404140 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:21.669Z,1736374161.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:21.916Z,1736374161.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:21.920Z,1736374161.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:21.925Z,1736374161.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:21.927Z,1736374161.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:21.929Z,1736374161.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 84.143829 m, bearing: 263.699832 deg, approach rate: 0.383886 m/s, LOS rate: -0.310341 deg/s, cmd heading: 23.155490 deg, new cmd heading: 22.800065 deg. 2025-01-08T22:09:21.930Z,1736374161.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.397936 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:22.172Z,1736374162.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:22.172Z,1736374162.172 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:22.172Z,1736374162.172 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:22.173Z,1736374162.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:22.424Z,1736374162.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:22.424Z,1736374162.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254719 2025-01-08T22:09:22.450Z,1736374162.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:22.487Z,1736374162.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:22.494Z,1736374162.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 84.337105 m, bearing: 263.531473 deg, approach rate: 0.345158 m/s, LOS rate: -0.299972 deg/s, cmd heading: 22.800066 deg, new cmd heading: 22.296159 deg. 2025-01-08T22:09:22.495Z,1736374162.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.389141 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:22.676Z,1736374162.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:22.678Z,1736374162.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508123 2025-01-08T22:09:22.808Z,1736374162.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:22.817Z,1736374162.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:22.839Z,1736374162.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 84.468155 m, bearing: 263.419230 deg, approach rate: 0.396183 m/s, LOS rate: -0.338799 deg/s, cmd heading: 22.296159 deg, new cmd heading: 21.959957 deg. 2025-01-08T22:09:22.840Z,1736374162.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.383274 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:22.928Z,1736374162.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:22.929Z,1736374162.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758824 2025-01-08T22:09:23.180Z,1736374163.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:23.181Z,1736374163.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011138 2025-01-08T22:09:23.224Z,1736374163.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:23.237Z,1736374163.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:23.261Z,1736374163.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 84.621094 m, bearing: 263.290148 deg, approach rate: 0.366155 m/s, LOS rate: -0.308481 deg/s, cmd heading: 21.959956 deg, new cmd heading: 21.573415 deg. 2025-01-08T22:09:23.262Z,1736374163.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.376527 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:23.432Z,1736374163.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:23.432Z,1736374163.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262684 2025-01-08T22:09:23.657Z,1736374163.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:23.672Z,1736374163.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:23.677Z,1736374163.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 84.764328 m, bearing: 263.154139 deg, approach rate: 0.328159 m/s, LOS rate: -0.311078 deg/s, cmd heading: 21.573415 deg, new cmd heading: 21.166087 deg. 2025-01-08T22:09:23.679Z,1736374163.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.369418 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:23.684Z,1736374163.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:23.702Z,1736374163.702 [DAT](INFO): DAT read: 22:09:22.2952 LVL= 15136, 23761, 21394, 22739, AGC= 74, IDX= 61, 0.16,-1.393,-2.994,-2.200,-2.336, PHS= 1.032,-0.611, 0.133, RAW= 116.9, -7.8, CAL= 120.6, -20.8, ROT= 29.4, 20.8 2025-01-08T22:09:23.704Z,1736374163.704 [DAT](INFO): got valid direction response: 22:09:22.2952 LVL= 15136, 23761, 21394, 22739, AGC= 74, IDX= 61, 0.16,-1.393,-2.994,-2.200,-2.336, PHS= 1.032,-0.611, 0.133, RAW= 116.9, -7.8, CAL= 120.6, -20.8, ROT= 29.4, 20.8 2025-01-08T22:09:23.705Z,1736374163.705 [DAT](INFO): DAT read: Rx Time:22:09:22.2952 2025-01-08T22:09:23.706Z,1736374163.706 [DAT](INFO): Rx dataTimestamp_ set to:1736374163.705384 2025-01-08T22:09:23.706Z,1736374163.706 [DAT](INFO): DAT read: $Low SNR acquisition 2025-01-08T22:09:23.707Z,1736374163.707 [DAT](INFO): Received low SNR in chirp 2025-01-08T22:09:23.723Z,1736374163.723 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T22:09:23.724Z,1736374163.724 [DAT](INFO): direction in FSK: [0.035334,-0.368315,0.929029] 2025-01-08T22:09:23.759Z,1736374163.759 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:23.759Z,1736374163.759 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:23.760Z,1736374163.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:23.936Z,1736374163.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:23.936Z,1736374163.936 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:23.936Z,1736374163.936 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:23.936Z,1736374163.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:24.031Z,1736374164.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:24.038Z,1736374164.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:24.041Z,1736374164.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:24.044Z,1736374164.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 84.888222 m, bearing: 263.036649 deg, approach rate: 0.335479 m/s, LOS rate: -0.317675 deg/s, cmd heading: 21.166087 deg, new cmd heading: 20.814136 deg. 2025-01-08T22:09:24.045Z,1736374164.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.363275 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:24.188Z,1736374164.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:24.189Z,1736374164.189 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:24.189Z,1736374164.189 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:24.189Z,1736374164.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:24.440Z,1736374164.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:24.440Z,1736374164.440 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:24.440Z,1736374164.440 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:24.441Z,1736374164.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:24.450Z,1736374164.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:24.460Z,1736374164.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:24.463Z,1736374164.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 85.004295 m, bearing: 262.900200 deg, approach rate: 0.277494 m/s, LOS rate: -0.325761 deg/s, cmd heading: 20.814136 deg, new cmd heading: 20.405353 deg. 2025-01-08T22:09:24.464Z,1736374164.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.356141 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:24.692Z,1736374164.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:24.692Z,1736374164.692 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:24.692Z,1736374164.692 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:24.693Z,1736374164.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:24.819Z,1736374164.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:24.830Z,1736374164.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:24.833Z,1736374164.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 85.105148 m, bearing: 262.779557 deg, approach rate: 0.271594 m/s, LOS rate: -0.324501 deg/s, cmd heading: 20.405352 deg, new cmd heading: 20.043859 deg. 2025-01-08T22:09:24.834Z,1736374164.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349831 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:24.945Z,1736374164.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:24.946Z,1736374164.946 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:24.946Z,1736374164.946 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:24.946Z,1736374164.946 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:25.196Z,1736374165.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:25.196Z,1736374165.196 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:25.196Z,1736374165.196 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:25.196Z,1736374165.196 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:25.248Z,1736374165.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:25.260Z,1736374165.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:25.262Z,1736374165.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 85.220009 m, bearing: 262.640880 deg, approach rate: 0.267407 m/s, LOS rate: -0.322418 deg/s, cmd heading: 20.043859 deg, new cmd heading: 19.628397 deg. 2025-01-08T22:09:25.270Z,1736374165.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342580 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:25.448Z,1736374165.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:25.448Z,1736374165.448 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:25.448Z,1736374165.448 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:25.448Z,1736374165.448 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:25.665Z,1736374165.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:25.680Z,1736374165.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:25.683Z,1736374165.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 85.315819 m, bearing: 262.500545 deg, approach rate: 0.228397 m/s, LOS rate: -0.334163 deg/s, cmd heading: 19.628398 deg, new cmd heading: 19.207872 deg. 2025-01-08T22:09:25.684Z,1736374165.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.335241 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:25.700Z,1736374165.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:25.700Z,1736374165.700 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:25.700Z,1736374165.700 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:25.700Z,1736374165.700 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:25.956Z,1736374165.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:25.957Z,1736374165.957 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:25.957Z,1736374165.957 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:25.957Z,1736374165.957 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:26.035Z,1736374166.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:26.043Z,1736374166.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:26.045Z,1736374166.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:26.049Z,1736374166.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 85.398949 m, bearing: 262.376938 deg, approach rate: 0.227358 m/s, LOS rate: -0.337731 deg/s, cmd heading: 19.207872 deg, new cmd heading: 18.837419 deg. 2025-01-08T22:09:26.050Z,1736374166.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328775 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:26.208Z,1736374166.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:26.208Z,1736374166.208 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:26.208Z,1736374166.208 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:26.208Z,1736374166.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:26.460Z,1736374166.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:26.460Z,1736374166.460 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:26.461Z,1736374166.461 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:26.461Z,1736374166.461 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:26.502Z,1736374166.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:26.520Z,1736374166.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:26.527Z,1736374166.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 85.488258 m, bearing: 262.214603 deg, approach rate: 0.189947 m/s, LOS rate: -0.344899 deg/s, cmd heading: 18.837419 deg, new cmd heading: 18.350936 deg. 2025-01-08T22:09:26.528Z,1736374166.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.320284 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:26.712Z,1736374166.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:26.712Z,1736374166.712 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:26.712Z,1736374166.712 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:26.712Z,1736374166.712 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:26.857Z,1736374166.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:26.866Z,1736374166.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:26.869Z,1736374166.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 85.555016 m, bearing: 262.091053 deg, approach rate: 0.190275 m/s, LOS rate: -0.351877 deg/s, cmd heading: 18.350936 deg, new cmd heading: 17.980578 deg. 2025-01-08T22:09:26.870Z,1736374166.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.313820 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:26.964Z,1736374166.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:26.965Z,1736374166.965 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:26.965Z,1736374166.965 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:26.965Z,1736374166.965 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:27.216Z,1736374167.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:27.216Z,1736374167.216 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:27.216Z,1736374167.216 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:27.216Z,1736374167.216 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:27.288Z,1736374167.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:27.313Z,1736374167.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:27.320Z,1736374167.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 85.633408 m, bearing: 261.942688 deg, approach rate: 0.175381 m/s, LOS rate: -0.331622 deg/s, cmd heading: 17.980579 deg, new cmd heading: 17.535901 deg. 2025-01-08T22:09:27.321Z,1736374167.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.306059 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:27.469Z,1736374167.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:27.469Z,1736374167.469 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:27.469Z,1736374167.469 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:27.470Z,1736374167.470 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:27.717Z,1736374167.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:27.720Z,1736374167.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:27.720Z,1736374167.720 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:27.720Z,1736374167.720 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:27.720Z,1736374167.720 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:27.734Z,1736374167.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:27.737Z,1736374167.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 85.708679 m, bearing: 261.790271 deg, approach rate: 0.178846 m/s, LOS rate: -0.361825 deg/s, cmd heading: 17.535901 deg, new cmd heading: 17.079061 deg. 2025-01-08T22:09:27.738Z,1736374167.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.298086 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:27.972Z,1736374167.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:27.973Z,1736374167.973 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:27.973Z,1736374167.973 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:27.973Z,1736374167.973 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:28.182Z,1736374168.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:28.189Z,1736374168.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:28.191Z,1736374168.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:28.194Z,1736374168.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 85.787971 m, bearing: 261.631285 deg, approach rate: 0.173562 m/s, LOS rate: -0.347682 deg/s, cmd heading: 17.079060 deg, new cmd heading: 16.602554 deg. 2025-01-08T22:09:28.195Z,1736374168.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.289769 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:28.237Z,1736374168.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:28.237Z,1736374168.237 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:28.237Z,1736374168.237 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:28.237Z,1736374168.237 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:28.488Z,1736374168.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:28.489Z,1736374168.489 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:28.489Z,1736374168.489 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:28.489Z,1736374168.489 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:28.589Z,1736374168.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:28.598Z,1736374168.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:28.601Z,1736374168.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 85.861908 m, bearing: 261.483690 deg, approach rate: 0.181567 m/s, LOS rate: -0.362139 deg/s, cmd heading: 16.602554 deg, new cmd heading: 16.160161 deg. 2025-01-08T22:09:28.602Z,1736374168.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.282048 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:28.741Z,1736374168.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:28.741Z,1736374168.741 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:28.742Z,1736374168.742 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:28.742Z,1736374168.742 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:28.972Z,1736374168.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:28.981Z,1736374168.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:28.984Z,1736374168.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 85.928314 m, bearing: 261.348873 deg, approach rate: 0.173430 m/s, LOS rate: -0.351822 deg/s, cmd heading: 16.160161 deg, new cmd heading: 15.756030 deg. 2025-01-08T22:09:28.985Z,1736374168.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.274995 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:28.992Z,1736374168.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:28.992Z,1736374168.992 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:28.992Z,1736374168.992 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:28.993Z,1736374168.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:29.244Z,1736374169.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:29.245Z,1736374169.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:29.245Z,1736374169.245 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:29.245Z,1736374169.245 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:29.413Z,1736374169.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:29.454Z,1736374169.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:29.471Z,1736374169.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 86.003571 m, bearing: 261.193213 deg, approach rate: 0.159059 m/s, LOS rate: -0.328710 deg/s, cmd heading: 15.756031 deg, new cmd heading: 15.289470 deg. 2025-01-08T22:09:29.472Z,1736374169.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.266852 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:29.497Z,1736374169.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:29.498Z,1736374169.498 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:29.499Z,1736374169.499 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:29.499Z,1736374169.499 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:29.748Z,1736374169.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:29.748Z,1736374169.748 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:29.748Z,1736374169.748 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:29.748Z,1736374169.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:29.828Z,1736374169.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:29.839Z,1736374169.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:29.842Z,1736374169.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 86.092094 m, bearing: 261.046785 deg, approach rate: 0.230568 m/s, LOS rate: -0.380992 deg/s, cmd heading: 15.289471 deg, new cmd heading: 14.850647 deg. 2025-01-08T22:09:29.843Z,1736374169.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.259193 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:29.000Z,1736374170.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:30.000Z,1736374170.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:30.000Z,1736374170.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:30.000Z,1736374170.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:09:30.177Z,1736374170.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:30.188Z,1736374170.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:30.191Z,1736374170.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 86.165436 m, bearing: 260.923696 deg, approach rate: 0.209300 m/s, LOS rate: -0.350969 deg/s, cmd heading: 14.850646 deg, new cmd heading: 14.481699 deg. 2025-01-08T22:09:30.192Z,1736374170.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.252753 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:30.252Z,1736374170.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:30.253Z,1736374170.253 [DAT](INFO): Reached modem response timeout 2025-01-08T22:09:30.253Z,1736374170.253 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:09:30.253Z,1736374170.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:30.504Z,1736374170.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:30.504Z,1736374170.504 [DAT](INFO): Reached modem response timeout 2025-01-08T22:09:30.504Z,1736374170.504 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:09:30.505Z,1736374170.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:30.609Z,1736374170.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:30.616Z,1736374170.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:30.618Z,1736374170.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:30.629Z,1736374170.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 86.267876 m, bearing: 260.775815 deg, approach rate: 0.238391 m/s, LOS rate: -0.343731 deg/s, cmd heading: 14.481698 deg, new cmd heading: 14.038591 deg. 2025-01-08T22:09:30.631Z,1736374170.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.245020 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:30.756Z,1736374170.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:30.757Z,1736374170.757 [DAT](INFO): Reached modem response timeout 2025-01-08T22:09:30.757Z,1736374170.757 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:09:30.757Z,1736374170.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:30.985Z,1736374170.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:30.994Z,1736374170.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:30.997Z,1736374170.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 86.356201 m, bearing: 260.647178 deg, approach rate: 0.235180 m/s, LOS rate: -0.342164 deg/s, cmd heading: 14.038591 deg, new cmd heading: 13.653082 deg. 2025-01-08T22:09:30.998Z,1736374170.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238291 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:31.008Z,1736374171.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:31.009Z,1736374171.009 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:09:31.009Z,1736374171.009 [DAT](INFO): response not received 2025-01-08T22:09:31.009Z,1736374171.009 [DAT](INFO): DAT read: user:2347> 2025-01-08T22:09:31.010Z,1736374171.010 [DAT](INFO): DAT read: Tx time:22:09:30.2958 2025-01-08T22:09:31.010Z,1736374171.010 [DAT](INFO): Ping request sent. 2025-01-08T22:09:31.010Z,1736374171.010 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:31.011Z,1736374171.011 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:31.011Z,1736374171.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-01-08T22:09:31.261Z,1736374171.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:31.263Z,1736374171.263 [DAT](INFO): DAT read: TxSync time:22:09:30.2950 2025-01-08T22:09:31.265Z,1736374171.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254651 2025-01-08T22:09:31.400Z,1736374171.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:31.441Z,1736374171.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:31.469Z,1736374171.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 86.453369 m, bearing: 260.504634 deg, approach rate: 0.220109 m/s, LOS rate: -0.322532 deg/s, cmd heading: 13.653081 deg, new cmd heading: 13.225939 deg. 2025-01-08T22:09:31.477Z,1736374171.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230836 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:31.512Z,1736374171.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:31.513Z,1736374171.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502104 2025-01-08T22:09:31.764Z,1736374171.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:31.765Z,1736374171.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754447 2025-01-08T22:09:31.837Z,1736374171.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:31.863Z,1736374171.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:31.877Z,1736374171.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 86.581001 m, bearing: 260.357951 deg, approach rate: 0.298502 m/s, LOS rate: -0.342552 deg/s, cmd heading: 13.225939 deg, new cmd heading: 12.786548 deg. 2025-01-08T22:09:31.878Z,1736374171.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.223167 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:32.016Z,1736374172.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:32.016Z,1736374172.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006006 2025-01-08T22:09:32.200Z,1736374172.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:32.226Z,1736374172.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:32.232Z,1736374172.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 86.686554 m, bearing: 260.234642 deg, approach rate: 0.290935 m/s, LOS rate: -0.339464 deg/s, cmd heading: 12.786548 deg, new cmd heading: 12.417075 deg. 2025-01-08T22:09:32.233Z,1736374172.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216719 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:32.270Z,1736374172.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:32.271Z,1736374172.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260409 2025-01-08T22:09:32.524Z,1736374172.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:32.525Z,1736374172.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514325 2025-01-08T22:09:32.635Z,1736374172.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:32.643Z,1736374172.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:32.648Z,1736374172.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:32.653Z,1736374172.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 86.827682 m, bearing: 260.087324 deg, approach rate: 0.334768 m/s, LOS rate: -0.348882 deg/s, cmd heading: 12.417076 deg, new cmd heading: 11.975849 deg. 2025-01-08T22:09:32.654Z,1736374172.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.209018 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:32.776Z,1736374172.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:32.778Z,1736374172.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767197 2025-01-08T22:09:33.004Z,1736374173.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:33.013Z,1736374173.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:33.016Z,1736374173.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 86.947678 m, bearing: 259.962453 deg, approach rate: 0.327599 m/s, LOS rate: -0.340438 deg/s, cmd heading: 11.975850 deg, new cmd heading: 11.601761 deg. 2025-01-08T22:09:33.017Z,1736374173.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.202489 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:33.028Z,1736374173.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:33.028Z,1736374173.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018026 2025-01-08T22:09:33.280Z,1736374173.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:33.280Z,1736374173.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269971 2025-01-08T22:09:33.441Z,1736374173.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:33.503Z,1736374173.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:33.510Z,1736374173.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 87.089272 m, bearing: 259.816093 deg, approach rate: 0.290328 m/s, LOS rate: -0.299613 deg/s, cmd heading: 11.601761 deg, new cmd heading: 11.163402 deg. 2025-01-08T22:09:33.511Z,1736374173.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.194838 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:33.532Z,1736374173.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:33.533Z,1736374173.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522176 2025-01-08T22:09:33.784Z,1736374173.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:33.785Z,1736374173.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774129 2025-01-08T22:09:33.878Z,1736374173.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:33.886Z,1736374173.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:33.890Z,1736374173.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 87.237396 m, bearing: 259.671346 deg, approach rate: 0.384538 m/s, LOS rate: -0.375129 deg/s, cmd heading: 11.163401 deg, new cmd heading: 10.729908 deg. 2025-01-08T22:09:33.892Z,1736374173.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.187272 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:34.043Z,1736374174.043 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:34.044Z,1736374174.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033436 2025-01-08T22:09:34.270Z,1736374174.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:34.278Z,1736374174.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:34.296Z,1736374174.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:34.296Z,1736374174.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285969 2025-01-08T22:09:34.306Z,1736374174.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 87.369003 m, bearing: 259.543612 deg, approach rate: 0.335853 m/s, LOS rate: -0.325478 deg/s, cmd heading: 10.729908 deg, new cmd heading: 10.347289 deg. 2025-01-08T22:09:34.313Z,1736374174.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.180594 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:34.549Z,1736374174.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:34.550Z,1736374174.550 [DAT](INFO): DAT read: Rx Time:22:09:33.2238 2025-01-08T22:09:34.551Z,1736374174.551 [DAT](INFO): Rx dataTimestamp_ set to:1736374174.550084 2025-01-08T22:09:34.552Z,1736374174.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541042 2025-01-08T22:09:34.689Z,1736374174.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:34.697Z,1736374174.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:34.699Z,1736374174.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:34.702Z,1736374174.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 87.507133 m, bearing: 259.404488 deg, approach rate: 0.328435 m/s, LOS rate: -0.330276 deg/s, cmd heading: 10.347289 deg, new cmd heading: 9.930583 deg. 2025-01-08T22:09:34.703Z,1736374174.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.173321 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:34.801Z,1736374174.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:34.802Z,1736374174.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791610 2025-01-08T22:09:35.045Z,1736374175.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:35.052Z,1736374175.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:35.059Z,1736374175.059 [DAT](INFO): DAT read: 22:09:33.2238 LVL= 25792, 32753, 27618, 32755, AGC= 71, IDX= 225,-0.10,-2.094, 2.515,-3.089,-2.723, PHS= 0.718,-0.998,-0.369, RAW= 111.2, 8.7, CAL= 120.9, 5.9, ROT= 29.1, -5.9 2025-01-08T22:09:35.061Z,1736374175.061 [DAT](INFO): got valid direction response: 22:09:33.2238 LVL= 25792, 32753, 27618, 32755, AGC= 71, IDX= 225,-0.10,-2.094, 2.515,-3.089,-2.723, PHS= 0.718,-0.998,-0.369, RAW= 111.2, 8.7, CAL= 120.9, 5.9, ROT= 29.1, -5.9 2025-01-08T22:09:35.061Z,1736374175.061 [DAT](INFO): DAT read: Bearing 29.1, -5.9 (Local) 2025-01-08T22:09:35.062Z,1736374175.062 [DAT](INFO): Local bearing/azimuth received: Bearing 29.1, -5.9 (Local) 2025-01-08T22:09:35.063Z,1736374175.063 [DAT](INFO): DAT read: Range 10 to 50 : 392.9 m (Round-trip 523.9 ms) speed 0.3 m/s 2025-01-08T22:09:35.064Z,1736374175.064 [DAT](INFO): DAT read: user:2348> 2025-01-08T22:09:35.065Z,1736374175.065 [DAT](INFO): DAT read: Tx time:22:09:34.3458 2025-01-08T22:09:35.065Z,1736374175.065 [DAT](INFO): Ping request sent. 2025-01-08T22:09:35.065Z,1736374175.065 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:35.066Z,1736374175.066 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:09:35.066Z,1736374175.066 [DAT](INFO): direction in FSK: [-0.277671,-0.250982,0.927312] 2025-01-08T22:09:35.067Z,1736374175.067 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:35.067Z,1736374175.067 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:35.072Z,1736374175.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 399.90 m. 2025-01-08T22:09:35.075Z,1736374175.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 399.899994 m, nav range: 87.623901 m, bearing: 259.287629 deg, approach rate: 0.315029 m/s, LOS rate: -0.314856 deg/s, cmd heading: 9.930584 deg, new cmd heading: 9.580476 deg. 2025-01-08T22:09:35.092Z,1736374175.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167211 target range: 399.899994 and range: 399.90 m. 2025-01-08T22:09:35.097Z,1736374175.097 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:35.097Z,1736374175.097 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:35.304Z,1736374175.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:35.305Z,1736374175.305 [DAT](INFO): DAT read: TxSync time:22:09:34.3450 2025-01-08T22:09:35.457Z,1736374175.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:35.537Z,1736374175.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 392.899994 m, deltaT: 14.895321 s, deltaX: -7.000000 m, approachRate: -0.469946 m/s, rangeRepo size: 4 2025-01-08T22:09:35.544Z,1736374175.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 392.899994 m, bearing: 247.584274 deg, lat: 36.902286 deg, lon: -122.124442 deg, deltaT: 14.895321 s, deltaX: -7.000000 m, approachRate: -0.469946 m/s, posRepo size: 4 2025-01-08T22:09:35.545Z,1736374175.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.90 m. 2025-01-08T22:09:35.552Z,1736374175.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.899994 m, nav range: 149.837646 m, bearing: 257.365269 deg, approach rate: 0.000000 m/s, LOS rate: -0.314856 deg/s, cmd heading: 9.580477 deg, new cmd heading: 9.145297 deg. 2025-01-08T22:09:35.553Z,1736374175.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.159616 target range: 392.899994 and range: 392.90 m. 2025-01-08T22:09:35.556Z,1736374175.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:35.808Z,1736374175.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:35.872Z,1736374175.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:35.880Z,1736374175.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.90 m. 2025-01-08T22:09:35.883Z,1736374175.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.899994 m, nav range: 149.965195 m, bearing: 257.282879 deg, approach rate: 0.364255 m/s, LOS rate: -0.235091 deg/s, cmd heading: 9.145297 deg, new cmd heading: 8.898339 deg. 2025-01-08T22:09:35.884Z,1736374175.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.155305 target range: 392.899994 and range: 392.90 m. 2025-01-08T22:09:36.060Z,1736374176.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:36.245Z,1736374176.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:36.253Z,1736374176.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.90 m. 2025-01-08T22:09:36.257Z,1736374176.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.899994 m, nav range: 150.079498 m, bearing: 257.208248 deg, approach rate: 0.306290 m/s, LOS rate: -0.199830 deg/s, cmd heading: 8.898339 deg, new cmd heading: 8.674618 deg. 2025-01-08T22:09:36.258Z,1736374176.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.151401 target range: 392.899994 and range: 392.90 m. 2025-01-08T22:09:36.312Z,1736374176.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:36.566Z,1736374176.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:36.675Z,1736374176.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:36.704Z,1736374176.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:36.707Z,1736374176.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.90 m. 2025-01-08T22:09:36.714Z,1736374176.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.899994 m, nav range: 150.195236 m, bearing: 257.120267 deg, approach rate: 0.255319 m/s, LOS rate: -0.193938 deg/s, cmd heading: 8.674618 deg, new cmd heading: 8.410880 deg. 2025-01-08T22:09:36.715Z,1736374176.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146798 target range: 392.899994 and range: 392.90 m. 2025-01-08T22:09:36.816Z,1736374176.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:36.816Z,1736374176.816 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:36.816Z,1736374176.816 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:36.817Z,1736374176.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:37.045Z,1736374177.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:37.061Z,1736374177.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.90 m. 2025-01-08T22:09:37.068Z,1736374177.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:37.069Z,1736374177.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003389 2025-01-08T22:09:37.070Z,1736374177.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.899994 m, nav range: 150.293930 m, bearing: 257.044135 deg, approach rate: 0.278318 m/s, LOS rate: -0.214551 deg/s, cmd heading: 8.410879 deg, new cmd heading: 8.182636 deg. 2025-01-08T22:09:37.071Z,1736374177.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.142814 target range: 392.899994 and range: 392.90 m. 2025-01-08T22:09:37.320Z,1736374177.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:37.320Z,1736374177.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255076 2025-01-08T22:09:37.454Z,1736374177.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:37.462Z,1736374177.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.90 m. 2025-01-08T22:09:37.468Z,1736374177.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.899994 m, nav range: 150.400986 m, bearing: 256.959795 deg, approach rate: 0.267013 m/s, LOS rate: -0.210207 deg/s, cmd heading: 8.182636 deg, new cmd heading: 7.929798 deg. 2025-01-08T22:09:37.470Z,1736374177.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.138401 target range: 392.899994 and range: 392.90 m. 2025-01-08T22:09:37.573Z,1736374177.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:37.573Z,1736374177.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508082 2025-01-08T22:09:37.824Z,1736374177.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:37.824Z,1736374177.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759207 2025-01-08T22:09:37.891Z,1736374177.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:37.912Z,1736374177.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.90 m. 2025-01-08T22:09:37.914Z,1736374177.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.899994 m, nav range: 150.490967 m, bearing: 256.864556 deg, approach rate: 0.205920 m/s, LOS rate: -0.217823 deg/s, cmd heading: 7.929798 deg, new cmd heading: 7.644253 deg. 2025-01-08T22:09:37.919Z,1736374177.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.133417 target range: 392.899994 and range: 392.90 m. 2025-01-08T22:09:38.076Z,1736374178.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:38.077Z,1736374178.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011258 2025-01-08T22:09:38.261Z,1736374178.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:38.269Z,1736374178.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.90 m. 2025-01-08T22:09:38.273Z,1736374178.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.899994 m, nav range: 150.565231 m, bearing: 256.783609 deg, approach rate: 0.200772 m/s, LOS rate: -0.218730 deg/s, cmd heading: 7.644254 deg, new cmd heading: 7.401534 deg. 2025-01-08T22:09:38.274Z,1736374178.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129181 target range: 392.899994 and range: 392.90 m. 2025-01-08T22:09:38.329Z,1736374178.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:38.330Z,1736374178.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264272 2025-01-08T22:09:38.582Z,1736374178.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:38.586Z,1736374178.586 [DAT](INFO): DAT read: Rx Time:22:09:37.2717 2025-01-08T22:09:38.589Z,1736374178.589 [DAT](INFO): Rx dataTimestamp_ set to:1736374178.586884 2025-01-08T22:09:38.591Z,1736374178.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525358 2025-01-08T22:09:38.723Z,1736374178.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:38.753Z,1736374178.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:38.760Z,1736374178.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.90 m. 2025-01-08T22:09:38.762Z,1736374178.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.899994 m, nav range: 150.647415 m, bearing: 256.680648 deg, approach rate: 0.169102 m/s, LOS rate: -0.211737 deg/s, cmd heading: 7.401534 deg, new cmd heading: 7.092824 deg. 2025-01-08T22:09:38.787Z,1736374178.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.123793 target range: 392.899994 and range: 392.90 m. 2025-01-08T22:09:38.832Z,1736374178.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:38.833Z,1736374178.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767997 2025-01-08T22:09:39.072Z,1736374179.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:39.081Z,1736374179.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.90 m. 2025-01-08T22:09:39.084Z,1736374179.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:39.092Z,1736374179.092 [DAT](INFO): DAT read: 22:09:37.2717 LVL= 17136, 30673, 21490, 30115, AGC= 67, IDX= 427,-0.03,-2.893, 1.625, 2.142, 2.544, PHS= 0.935,-0.872,-0.405, RAW= 104.4, 4.3, CAL= 115.1, 2.0, ROT= 34.9, -2.0 2025-01-08T22:09:39.093Z,1736374179.093 [DAT](INFO): got valid direction response: 22:09:37.2717 LVL= 17136, 30673, 21490, 30115, AGC= 67, IDX= 427,-0.03,-2.893, 1.625, 2.142, 2.544, PHS= 0.935,-0.872,-0.405, RAW= 104.4, 4.3, CAL= 115.1, 2.0, ROT= 34.9, -2.0 2025-01-08T22:09:39.094Z,1736374179.094 [DAT](INFO): DAT read: Bearing 34.9, -2.0 (Local) 2025-01-08T22:09:39.094Z,1736374179.094 [DAT](INFO): Local bearing/azimuth received: Bearing 34.9, -2.0 (Local) 2025-01-08T22:09:39.096Z,1736374179.096 [DAT](INFO): DAT read: Range 10 to 50 : 391.2 m (Round-trip 521.7 ms) speed 0.1 m/s 2025-01-08T22:09:39.097Z,1736374179.097 [DAT](INFO): DAT read: user:2349> 2025-01-08T22:09:39.098Z,1736374179.098 [DAT](INFO): DAT read: Tx time:22:09:38.3958 2025-01-08T22:09:39.098Z,1736374179.098 [DAT](INFO): Ping request sent. 2025-01-08T22:09:39.098Z,1736374179.098 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:39.098Z,1736374179.098 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:09:39.100Z,1736374179.100 [DAT](INFO): direction in FSK: [-0.187031,-0.140154,0.972305] 2025-01-08T22:09:39.100Z,1736374179.100 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:39.100Z,1736374179.100 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:39.120Z,1736374179.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.899994 m, nav range: 150.705841 m, bearing: 256.602818 deg, approach rate: 0.179435 m/s, LOS rate: -0.238936 deg/s, cmd heading: 7.092824 deg, new cmd heading: 6.859425 deg. 2025-01-08T22:09:39.121Z,1736374179.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119720 target range: 392.899994 and range: 392.90 m. 2025-01-08T22:09:39.124Z,1736374179.124 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:39.124Z,1736374179.124 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:39.337Z,1736374179.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:39.338Z,1736374179.338 [DAT](INFO): DAT read: TxSync time:22:09:38.3951 2025-01-08T22:09:39.478Z,1736374179.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:39.513Z,1736374179.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 391.200012 m, deltaT: 4.031988 s, deltaX: -1.699982 m, approachRate: -0.421624 m/s, rangeRepo size: 4 2025-01-08T22:09:39.520Z,1736374179.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 391.200012 m, bearing: 244.608582 deg, lat: 36.902211 deg, lon: -122.124442 deg, deltaT: 4.031988 s, deltaX: -1.699982 m, approachRate: -0.421624 m/s, posRepo size: 4 2025-01-08T22:09:39.520Z,1736374179.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.20 m. 2025-01-08T22:09:39.529Z,1736374179.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.200012 m, nav range: 152.957230 m, bearing: 253.441759 deg, approach rate: 0.000000 m/s, LOS rate: -0.238936 deg/s, cmd heading: 6.859425 deg, new cmd heading: 6.565506 deg. 2025-01-08T22:09:39.537Z,1736374179.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114590 target range: 391.200012 and range: 391.20 m. 2025-01-08T22:09:39.590Z,1736374179.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:39.840Z,1736374179.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:39.918Z,1736374179.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:39.945Z,1736374179.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.20 m. 2025-01-08T22:09:39.956Z,1736374179.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.200012 m, nav range: 153.041992 m, bearing: 253.343083 deg, approach rate: 0.186744 m/s, LOS rate: -0.217277 deg/s, cmd heading: 6.565507 deg, new cmd heading: 6.269645 deg. 2025-01-08T22:09:39.957Z,1736374179.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109426 target range: 391.200012 and range: 391.20 m. 2025-01-08T22:09:40.092Z,1736374180.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:40.302Z,1736374180.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:40.334Z,1736374180.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.20 m. 2025-01-08T22:09:40.341Z,1736374180.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.200012 m, nav range: 153.114288 m, bearing: 253.256929 deg, approach rate: 0.185501 m/s, LOS rate: -0.220953 deg/s, cmd heading: 6.269645 deg, new cmd heading: 6.011307 deg. 2025-01-08T22:09:40.342Z,1736374180.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104917 target range: 391.200012 and range: 391.20 m. 2025-01-08T22:09:40.344Z,1736374180.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:40.597Z,1736374180.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:40.728Z,1736374180.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:40.736Z,1736374180.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.20 m. 2025-01-08T22:09:40.740Z,1736374180.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.200012 m, nav range: 153.195526 m, bearing: 253.163561 deg, approach rate: 0.202223 m/s, LOS rate: -0.232295 deg/s, cmd heading: 6.011307 deg, new cmd heading: 5.731354 deg. 2025-01-08T22:09:40.741Z,1736374180.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100031 target range: 391.200012 and range: 391.20 m. 2025-01-08T22:09:40.848Z,1736374180.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:41.100Z,1736374181.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:41.108Z,1736374181.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:41.114Z,1736374181.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:41.133Z,1736374181.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.20 m. 2025-01-08T22:09:41.140Z,1736374181.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.200012 m, nav range: 153.266312 m, bearing: 253.080085 deg, approach rate: 0.178512 m/s, LOS rate: -0.210418 deg/s, cmd heading: 5.731354 deg, new cmd heading: 5.481043 deg. 2025-01-08T22:09:41.141Z,1736374181.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095662 target range: 391.200012 and range: 391.20 m. 2025-01-08T22:09:41.353Z,1736374181.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:41.353Z,1736374181.353 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:41.354Z,1736374181.354 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:41.354Z,1736374181.354 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:41.513Z,1736374181.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:41.521Z,1736374181.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.20 m. 2025-01-08T22:09:41.524Z,1736374181.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.200012 m, nav range: 153.340591 m, bearing: 252.990939 deg, approach rate: 0.191319 m/s, LOS rate: -0.229499 deg/s, cmd heading: 5.481042 deg, new cmd heading: 5.213735 deg. 2025-01-08T22:09:41.525Z,1736374181.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.090997 target range: 391.200012 and range: 391.20 m. 2025-01-08T22:09:41.606Z,1736374181.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:41.608Z,1736374181.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509816 2025-01-08T22:09:41.856Z,1736374181.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:41.857Z,1736374181.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758815 2025-01-08T22:09:41.946Z,1736374181.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:41.954Z,1736374181.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.20 m. 2025-01-08T22:09:41.958Z,1736374181.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.200012 m, nav range: 153.425156 m, bearing: 252.895076 deg, approach rate: 0.195086 m/s, LOS rate: -0.221029 deg/s, cmd heading: 5.213735 deg, new cmd heading: 4.926309 deg. 2025-01-08T22:09:41.959Z,1736374181.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.085980 target range: 391.200012 and range: 391.20 m. 2025-01-08T22:09:42.108Z,1736374182.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:42.108Z,1736374182.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010367 2025-01-08T22:09:42.316Z,1736374182.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:42.325Z,1736374182.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.20 m. 2025-01-08T22:09:42.329Z,1736374182.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.200012 m, nav range: 153.496979 m, bearing: 252.813418 deg, approach rate: 0.193653 m/s, LOS rate: -0.220069 deg/s, cmd heading: 4.926309 deg, new cmd heading: 4.681450 deg. 2025-01-08T22:09:42.329Z,1736374182.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081707 target range: 391.200012 and range: 391.20 m. 2025-01-08T22:09:42.360Z,1736374182.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:42.362Z,1736374182.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263611 2025-01-08T22:09:42.613Z,1736374182.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:42.616Z,1736374182.616 [DAT](INFO): DAT read: Rx Time:22:09:41.3196 2025-01-08T22:09:42.617Z,1736374182.617 [DAT](INFO): Rx dataTimestamp_ set to:1736374182.616237 2025-01-08T22:09:42.619Z,1736374182.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520524 2025-01-08T22:09:42.734Z,1736374182.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:42.768Z,1736374182.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.20 m. 2025-01-08T22:09:42.770Z,1736374182.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.200012 m, nav range: 153.592972 m, bearing: 252.725455 deg, approach rate: 0.219097 m/s, LOS rate: -0.200642 deg/s, cmd heading: 4.681450 deg, new cmd heading: 4.417729 deg. 2025-01-08T22:09:42.775Z,1736374182.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077104 target range: 391.200012 and range: 391.20 m. 2025-01-08T22:09:42.864Z,1736374182.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:42.865Z,1736374182.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766671 2025-01-08T22:09:43.116Z,1736374183.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:43.123Z,1736374183.123 [DAT](INFO): DAT read: 22:09:41.3196 LVL= 23408, 32753, 26226, 32195, AGC= 68, IDX= 421,-0.24,-2.720, 1.470, 1.910, 2.344, PHS= 1.307,-0.827,-0.437, RAW= 99.9, -0.4, CAL= 109.1, -5.3, ROT= 40.9, 5.3 2025-01-08T22:09:43.124Z,1736374183.124 [DAT](INFO): got valid direction response: 22:09:41.3196 LVL= 23408, 32753, 26226, 32195, AGC= 68, IDX= 421,-0.24,-2.720, 1.470, 1.910, 2.344, PHS= 1.307,-0.827,-0.437, RAW= 99.9, -0.4, CAL= 109.1, -5.3, ROT= 40.9, 5.3 2025-01-08T22:09:43.125Z,1736374183.125 [DAT](INFO): DAT read: Bearing 40.9, 5.3 (Local) 2025-01-08T22:09:43.126Z,1736374183.126 [DAT](INFO): Local bearing/azimuth received: Bearing 40.9, 5.3 (Local) 2025-01-08T22:09:43.127Z,1736374183.127 [DAT](INFO): DAT read: Range 10 to 50 : 389.7 m (Round-trip 519.6 ms) speed 0.4 m/s 2025-01-08T22:09:43.128Z,1736374183.128 [DAT](INFO): DAT read: user:2350> 2025-01-08T22:09:43.129Z,1736374183.129 [DAT](INFO): DAT read: Tx time:22:09:42.3958 2025-01-08T22:09:43.129Z,1736374183.129 [DAT](INFO): Ping request sent. 2025-01-08T22:09:43.129Z,1736374183.129 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:43.129Z,1736374183.129 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:09:43.130Z,1736374183.130 [DAT](INFO): direction in FSK: [-0.091330,-0.065830,0.993642] 2025-01-08T22:09:43.131Z,1736374183.131 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:43.131Z,1736374183.131 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:43.134Z,1736374183.134 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:43.135Z,1736374183.135 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:43.143Z,1736374183.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:43.158Z,1736374183.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 389.700012 m, deltaT: 4.031996 s, deltaX: -1.500000 m, approachRate: -0.372024 m/s, rangeRepo size: 4 2025-01-08T22:09:43.185Z,1736374183.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 389.700012 m, bearing: 258.185098 deg, lat: 36.902211 deg, lon: -122.124442 deg, deltaT: 4.031996 s, deltaX: -1.500000 m, approachRate: -0.372024 m/s, posRepo size: 4 2025-01-08T22:09:43.185Z,1736374183.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.70 m. 2025-01-08T22:09:43.196Z,1736374183.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.700012 m, nav range: 153.686737 m, bearing: 252.639829 deg, approach rate: 0.000000 m/s, LOS rate: -0.200642 deg/s, cmd heading: 4.417729 deg, new cmd heading: 4.180507 deg. 2025-01-08T22:09:43.197Z,1736374183.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072964 target range: 389.700012 and range: 389.70 m. 2025-01-08T22:09:43.368Z,1736374183.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:43.369Z,1736374183.369 [DAT](INFO): DAT read: TxSync time:22:09:42.3951 2025-01-08T22:09:43.527Z,1736374183.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:43.546Z,1736374183.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:43.552Z,1736374183.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.70 m. 2025-01-08T22:09:43.559Z,1736374183.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.700012 m, nav range: 153.774734 m, bearing: 252.559419 deg, approach rate: 0.222829 m/s, LOS rate: -0.203500 deg/s, cmd heading: 4.180507 deg, new cmd heading: 3.939416 deg. 2025-01-08T22:09:43.560Z,1736374183.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068756 target range: 389.700012 and range: 389.70 m. 2025-01-08T22:09:43.624Z,1736374183.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:43.625Z,1736374183.625 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:43.626Z,1736374183.626 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:43.626Z,1736374183.626 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:43.876Z,1736374183.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:43.877Z,1736374183.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747544 2025-01-08T22:09:43.960Z,1736374183.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:43.969Z,1736374183.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.70 m. 2025-01-08T22:09:43.972Z,1736374183.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.700012 m, nav range: 153.880463 m, bearing: 252.474323 deg, approach rate: 0.254020 m/s, LOS rate: -0.204310 deg/s, cmd heading: 3.939416 deg, new cmd heading: 3.684305 deg. 2025-01-08T22:09:43.973Z,1736374183.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064303 target range: 389.700012 and range: 389.70 m. 2025-01-08T22:09:44.128Z,1736374184.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:44.128Z,1736374184.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999231 2025-01-08T22:09:44.329Z,1736374184.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:44.340Z,1736374184.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.70 m. 2025-01-08T22:09:44.343Z,1736374184.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.700012 m, nav range: 153.969727 m, bearing: 252.401773 deg, approach rate: 0.240192 m/s, LOS rate: -0.195103 deg/s, cmd heading: 3.684305 deg, new cmd heading: 3.466784 deg. 2025-01-08T22:09:44.344Z,1736374184.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060507 target range: 389.700012 and range: 389.70 m. 2025-01-08T22:09:44.380Z,1736374184.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:44.381Z,1736374184.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251982 2025-01-08T22:09:44.634Z,1736374184.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:44.636Z,1736374184.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506237 2025-01-08T22:09:44.759Z,1736374184.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:44.792Z,1736374184.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.70 m. 2025-01-08T22:09:44.794Z,1736374184.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.700012 m, nav range: 154.078949 m, bearing: 252.319274 deg, approach rate: 0.244284 m/s, LOS rate: -0.184384 deg/s, cmd heading: 3.466784 deg, new cmd heading: 3.219464 deg. 2025-01-08T22:09:44.799Z,1736374184.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056190 target range: 389.700012 and range: 389.70 m. 2025-01-08T22:09:44.884Z,1736374184.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:44.885Z,1736374184.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755365 2025-01-08T22:09:45.136Z,1736374185.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:45.136Z,1736374185.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007269 2025-01-08T22:09:45.137Z,1736374185.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:45.147Z,1736374185.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.70 m. 2025-01-08T22:09:45.170Z,1736374185.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.700012 m, nav range: 154.175125 m, bearing: 252.246648 deg, approach rate: 0.267639 m/s, LOS rate: -0.201977 deg/s, cmd heading: 3.219464 deg, new cmd heading: 3.001724 deg. 2025-01-08T22:09:45.171Z,1736374185.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.052390 target range: 389.700012 and range: 389.70 m. 2025-01-08T22:09:45.391Z,1736374185.391 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:45.391Z,1736374185.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262149 2025-01-08T22:09:45.559Z,1736374185.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:45.569Z,1736374185.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:45.572Z,1736374185.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.70 m. 2025-01-08T22:09:45.576Z,1736374185.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.700012 m, nav range: 154.282242 m, bearing: 252.165816 deg, approach rate: 0.252296 m/s, LOS rate: -0.190256 deg/s, cmd heading: 3.001724 deg, new cmd heading: 2.759395 deg. 2025-01-08T22:09:45.576Z,1736374185.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048161 target range: 389.700012 and range: 389.70 m. 2025-01-08T22:09:45.645Z,1736374185.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:45.649Z,1736374185.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518648 2025-01-08T22:09:45.896Z,1736374185.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:45.896Z,1736374185.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767110 2025-01-08T22:09:45.981Z,1736374185.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:46.007Z,1736374186.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.70 m. 2025-01-08T22:09:46.010Z,1736374186.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.700012 m, nav range: 154.378159 m, bearing: 252.085174 deg, approach rate: 0.228595 m/s, LOS rate: -0.192070 deg/s, cmd heading: 2.759395 deg, new cmd heading: 2.517623 deg. 2025-01-08T22:09:46.011Z,1736374186.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043941 target range: 389.700012 and range: 389.70 m. 2025-01-08T22:09:46.148Z,1736374186.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:46.149Z,1736374186.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019393 2025-01-08T22:09:46.352Z,1736374186.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:46.381Z,1736374186.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.70 m. 2025-01-08T22:09:46.384Z,1736374186.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.700012 m, nav range: 154.461578 m, bearing: 252.014499 deg, approach rate: 0.213885 m/s, LOS rate: -0.181109 deg/s, cmd heading: 2.517623 deg, new cmd heading: 2.305714 deg. 2025-01-08T22:09:46.385Z,1736374186.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040242 target range: 389.700012 and range: 389.70 m. 2025-01-08T22:09:46.400Z,1736374186.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:46.401Z,1736374186.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271361 2025-01-08T22:09:46.654Z,1736374186.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:46.656Z,1736374186.656 [DAT](INFO): DAT read: Rx Time:22:09:45.3172 2025-01-08T22:09:46.658Z,1736374186.658 [DAT](INFO): Rx dataTimestamp_ set to:1736374186.657107 2025-01-08T22:09:46.660Z,1736374186.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530851 2025-01-08T22:09:46.781Z,1736374186.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:46.791Z,1736374186.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 389.70 m. 2025-01-08T22:09:46.793Z,1736374186.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 389.700012 m, nav range: 154.547958 m, bearing: 251.931112 deg, approach rate: 0.210914 m/s, LOS rate: -0.203493 deg/s, cmd heading: 2.305714 deg, new cmd heading: 2.055694 deg. 2025-01-08T22:09:46.794Z,1736374186.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035879 target range: 389.700012 and range: 389.70 m. 2025-01-08T22:09:46.904Z,1736374186.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:46.906Z,1736374186.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776363 2025-01-08T22:09:47.156Z,1736374187.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:47.163Z,1736374187.163 [DAT](INFO): DAT read: 22:09:45.3173 LVL= 17136, 26609, 20594, 29923, AGC= 68, IDX= 413,-0.08, 0.100,-1.616,-1.348,-0.818, PHS= 1.006,-0.751,-0.533, RAW= 96.5, 3.4, CAL= 105.8, 1.4, ROT= 44.2, -1.4 2025-01-08T22:09:47.164Z,1736374187.164 [DAT](INFO): got valid direction response: 22:09:45.3173 LVL= 17136, 26609, 20594, 29923, AGC= 68, IDX= 413,-0.08, 0.100,-1.616,-1.348,-0.818, PHS= 1.006,-0.751,-0.533, RAW= 96.5, 3.4, CAL= 105.8, 1.4, ROT= 44.2, -1.4 2025-01-08T22:09:47.165Z,1736374187.165 [DAT](INFO): DAT read: Bearing 44.2, -1.4 (Local) 2025-01-08T22:09:47.165Z,1736374187.165 [DAT](INFO): Local bearing/azimuth received: Bearing 44.2, -1.4 (Local) 2025-01-08T22:09:47.167Z,1736374187.167 [DAT](INFO): DAT read: Range 10 to 50 : 387.9 m (Round-trip 517.2 ms) speed -0.1 m/s 2025-01-08T22:09:47.172Z,1736374187.172 [DAT](INFO): DAT read: user:2351> 2025-01-08T22:09:47.173Z,1736374187.173 [DAT](INFO): DAT read: Tx time:22:09:46.4459 2025-01-08T22:09:47.173Z,1736374187.173 [DAT](INFO): Ping request sent. 2025-01-08T22:09:47.174Z,1736374187.174 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:47.174Z,1736374187.174 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:09:47.175Z,1736374187.175 [DAT](INFO): direction in FSK: [-0.159687,-0.002828,0.987164] 2025-01-08T22:09:47.175Z,1736374187.175 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:47.176Z,1736374187.176 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:47.179Z,1736374187.179 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:47.179Z,1736374187.179 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:47.213Z,1736374187.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:47.250Z,1736374187.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 387.899994 m, deltaT: 4.040384 s, deltaX: -1.800018 m, approachRate: -0.445507 m/s, rangeRepo size: 4 2025-01-08T22:09:47.261Z,1736374187.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 387.899994 m, bearing: 225.107855 deg, lat: 36.902211 deg, lon: -122.123826 deg, deltaT: 4.040384 s, deltaX: -1.800018 m, approachRate: -0.445507 m/s, posRepo size: 4 2025-01-08T22:09:47.262Z,1736374187.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.90 m. 2025-01-08T22:09:47.274Z,1736374187.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.899994 m, nav range: 103.998451 m, bearing: 242.403069 deg, approach rate: 0.000000 m/s, LOS rate: -0.203493 deg/s, cmd heading: 2.055694 deg, new cmd heading: 1.775679 deg. 2025-01-08T22:09:47.284Z,1736374187.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.030991 target range: 387.899994 and range: 387.90 m. 2025-01-08T22:09:47.408Z,1736374187.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:47.409Z,1736374187.409 [DAT](INFO): DAT read: TxSync time:22:09:46.4452 2025-01-08T22:09:47.614Z,1736374187.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:47.625Z,1736374187.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:47.633Z,1736374187.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.90 m. 2025-01-08T22:09:47.649Z,1736374187.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.899994 m, nav range: 104.111603 m, bearing: 242.296220 deg, approach rate: 0.299353 m/s, LOS rate: -0.282372 deg/s, cmd heading: 1.775679 deg, new cmd heading: 1.455483 deg. 2025-01-08T22:09:47.658Z,1736374187.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025403 target range: 387.899994 and range: 387.90 m. 2025-01-08T22:09:47.662Z,1736374187.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:47.664Z,1736374187.664 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:47.665Z,1736374187.665 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:47.665Z,1736374187.665 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:47.912Z,1736374187.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:47.912Z,1736374187.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.738769 2025-01-08T22:09:48.059Z,1736374188.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:48.068Z,1736374188.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.90 m. 2025-01-08T22:09:48.070Z,1736374188.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.899994 m, nav range: 104.220963 m, bearing: 242.172825 deg, approach rate: 0.248420 m/s, LOS rate: -0.280008 deg/s, cmd heading: 1.455483 deg, new cmd heading: 1.085691 deg. 2025-01-08T22:09:48.072Z,1736374188.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018949 target range: 387.899994 and range: 387.90 m. 2025-01-08T22:09:48.164Z,1736374188.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:48.165Z,1736374188.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991035 2025-01-08T22:09:48.401Z,1736374188.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:48.411Z,1736374188.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.90 m. 2025-01-08T22:09:48.414Z,1736374188.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.899994 m, nav range: 104.303703 m, bearing: 242.077382 deg, approach rate: 0.240741 m/s, LOS rate: -0.277478 deg/s, cmd heading: 1.085691 deg, new cmd heading: 0.799593 deg. 2025-01-08T22:09:48.416Z,1736374188.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:48.417Z,1736374188.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243213 2025-01-08T22:09:48.417Z,1736374188.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013956 target range: 387.899994 and range: 387.90 m. 2025-01-08T22:09:48.668Z,1736374188.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:48.670Z,1736374188.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495992 2025-01-08T22:09:48.856Z,1736374188.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:48.864Z,1736374188.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.90 m. 2025-01-08T22:09:48.867Z,1736374188.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.899994 m, nav range: 104.399406 m, bearing: 241.944330 deg, approach rate: 0.211259 m/s, LOS rate: -0.293434 deg/s, cmd heading: 0.799593 deg, new cmd heading: 0.400810 deg. 2025-01-08T22:09:48.868Z,1736374188.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006995 target range: 387.899994 and range: 387.90 m. 2025-01-08T22:09:48.920Z,1736374188.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:48.921Z,1736374188.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746991 2025-01-08T22:09:49.085Z,1736374189.085 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:09:49.172Z,1736374189.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:49.173Z,1736374189.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999451 2025-01-08T22:09:49.225Z,1736374189.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:49.247Z,1736374189.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.90 m. 2025-01-08T22:09:49.250Z,1736374189.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.899994 m, nav range: 104.475121 m, bearing: 241.835232 deg, approach rate: 0.199803 m/s, LOS rate: -0.287694 deg/s, cmd heading: 0.400810 deg, new cmd heading: 0.073755 deg. 2025-01-08T22:09:49.251Z,1736374189.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001287 target range: 387.899994 and range: 387.90 m. 2025-01-08T22:09:49.424Z,1736374189.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:49.425Z,1736374189.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250981 2025-01-08T22:09:49.616Z,1736374189.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:49.625Z,1736374189.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.90 m. 2025-01-08T22:09:49.645Z,1736374189.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.899994 m, nav range: 104.554245 m, bearing: 241.719770 deg, approach rate: 0.207047 m/s, LOS rate: -0.301902 deg/s, cmd heading: 0.073755 deg, new cmd heading: 359.727637 deg. 2025-01-08T22:09:49.646Z,1736374189.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.278432 target range: 387.899994 and range: 387.90 m. 2025-01-08T22:09:49.678Z,1736374189.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:49.681Z,1736374189.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506473 2025-01-08T22:09:49.928Z,1736374189.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:49.928Z,1736374189.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754766 2025-01-08T22:09:50.065Z,1736374190.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:50.073Z,1736374190.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:50.075Z,1736374190.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.90 m. 2025-01-08T22:09:50.078Z,1736374190.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.899994 m, nav range: 104.639725 m, bearing: 241.581108 deg, approach rate: 0.190053 m/s, LOS rate: -0.308045 deg/s, cmd heading: 359.727649 deg, new cmd heading: 359.312010 deg. 2025-01-08T22:09:50.079Z,1736374190.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271178 target range: 387.899994 and range: 387.90 m. 2025-01-08T22:09:50.096Z,1736374190.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:09:50.180Z,1736374190.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:50.181Z,1736374190.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007738 2025-01-08T22:09:50.427Z,1736374190.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:50.432Z,1736374190.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:50.432Z,1736374190.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258835 2025-01-08T22:09:50.437Z,1736374190.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.90 m. 2025-01-08T22:09:50.441Z,1736374190.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.899994 m, nav range: 104.707634 m, bearing: 241.469207 deg, approach rate: 0.187351 m/s, LOS rate: -0.308517 deg/s, cmd heading: 359.312019 deg, new cmd heading: 358.976537 deg. 2025-01-08T22:09:50.442Z,1736374190.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265323 target range: 387.899994 and range: 387.90 m. 2025-01-08T22:09:50.687Z,1736374190.687 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:50.692Z,1736374190.692 [DAT](INFO): DAT read: Rx Time:22:09:49.3806 2025-01-08T22:09:50.694Z,1736374190.694 [DAT](INFO): Rx dataTimestamp_ set to:1736374190.692564 2025-01-08T22:09:50.694Z,1736374190.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520553 2025-01-08T22:09:50.886Z,1736374190.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:50.895Z,1736374190.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.90 m. 2025-01-08T22:09:50.902Z,1736374190.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.899994 m, nav range: 104.793228 m, bearing: 241.320050 deg, approach rate: 0.187209 m/s, LOS rate: -0.325966 deg/s, cmd heading: 358.976547 deg, new cmd heading: 358.529450 deg. 2025-01-08T22:09:50.902Z,1736374190.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257519 target range: 387.899994 and range: 387.90 m. 2025-01-08T22:09:50.936Z,1736374190.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:50.937Z,1736374190.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763234 2025-01-08T22:09:51.188Z,1736374191.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:51.195Z,1736374191.195 [DAT](INFO): DAT read: 22:09:49.3806 LVL= 13520, 19649, 14306, 19027, AGC= 67, IDX= 53,-0.22, 1.299,-0.606,-0.333, 0.156, PHS= 1.230,-0.716,-0.493, RAW= 96.0, -0.2, CAL= 104.7, -4.8, ROT= 45.3, 4.8 2025-01-08T22:09:51.196Z,1736374191.196 [DAT](INFO): got valid direction response: 22:09:49.3806 LVL= 13520, 19649, 14306, 19027, AGC= 67, IDX= 53,-0.22, 1.299,-0.606,-0.333, 0.156, PHS= 1.230,-0.716,-0.493, RAW= 96.0, -0.2, CAL= 104.7, -4.8, ROT= 45.3, 4.8 2025-01-08T22:09:51.197Z,1736374191.197 [DAT](INFO): DAT read: Bearing 45.3, 4.8 (Local) 2025-01-08T22:09:51.197Z,1736374191.197 [DAT](INFO): Local bearing/azimuth received: Bearing 45.3, 4.8 (Local) 2025-01-08T22:09:51.199Z,1736374191.199 [DAT](INFO): DAT read: Range 10 to 50 : 397.8 m (Round-trip 530.5 ms) speed 0.0 m/s 2025-01-08T22:09:51.199Z,1736374191.199 [DAT](INFO): DAT read: user:2352> 2025-01-08T22:09:51.200Z,1736374191.200 [DAT](INFO): DAT read: Tx time:22:09:50.4959 2025-01-08T22:09:51.200Z,1736374191.200 [DAT](INFO): Ping request sent. 2025-01-08T22:09:51.201Z,1736374191.201 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:51.201Z,1736374191.201 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:09:51.202Z,1736374191.202 [DAT](INFO): direction in FSK: [-0.089955,0.002636,0.995942] 2025-01-08T22:09:51.202Z,1736374191.202 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:51.202Z,1736374191.202 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:51.215Z,1736374191.215 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:51.215Z,1736374191.215 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:51.325Z,1736374191.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:51.351Z,1736374191.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 397.799988 m, deltaT: 4.031429 s, deltaX: 9.899994 m, approachRate: 2.455703 m/s, rangeRepo size: 4 2025-01-08T22:09:51.353Z,1736374191.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 397.799988 m, bearing: 236.850024 deg, lat: 36.902233 deg, lon: -122.123557 deg, deltaT: 4.031429 s, deltaX: 9.899994 m, approachRate: 2.455703 m/s, posRepo size: 4 2025-01-08T22:09:51.354Z,1736374191.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:09:51.357Z,1736374191.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 83.234985 m, bearing: 234.733439 deg, approach rate: 0.000000 m/s, LOS rate: -0.325966 deg/s, cmd heading: 358.529443 deg, new cmd heading: 358.084081 deg. 2025-01-08T22:09:51.358Z,1736374191.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.249746 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:09:51.445Z,1736374191.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:51.447Z,1736374191.447 [DAT](INFO): DAT read: TxSync time:22:09:50.4952 2025-01-08T22:09:51.653Z,1736374191.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:51.668Z,1736374191.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:09:51.673Z,1736374191.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 83.314636 m, bearing: 234.604375 deg, approach rate: 0.251787 m/s, LOS rate: -0.407596 deg/s, cmd heading: 358.084087 deg, new cmd heading: 357.697274 deg. 2025-01-08T22:09:51.674Z,1736374191.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.242995 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:09:51.696Z,1736374191.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:51.948Z,1736374191.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:52.072Z,1736374192.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:52.101Z,1736374192.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:52.103Z,1736374192.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:09:52.110Z,1736374192.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 83.431061 m, bearing: 234.438102 deg, approach rate: 0.266909 m/s, LOS rate: -0.380657 deg/s, cmd heading: 357.697280 deg, new cmd heading: 357.199169 deg. 2025-01-08T22:09:52.111Z,1736374192.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234302 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:09:52.200Z,1736374192.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:52.200Z,1736374192.200 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:52.200Z,1736374192.200 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:52.201Z,1736374192.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:52.445Z,1736374192.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:52.452Z,1736374192.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:52.453Z,1736374192.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251901 2025-01-08T22:09:52.457Z,1736374192.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:09:52.459Z,1736374192.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 83.534637 m, bearing: 234.290149 deg, approach rate: 0.292599 m/s, LOS rate: -0.417441 deg/s, cmd heading: 357.199168 deg, new cmd heading: 356.755869 deg. 2025-01-08T22:09:52.460Z,1736374192.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.226564 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:09:52.704Z,1736374192.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:52.704Z,1736374192.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503711 2025-01-08T22:09:52.889Z,1736374192.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:52.898Z,1736374192.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:09:52.917Z,1736374192.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 83.682968 m, bearing: 234.120275 deg, approach rate: 0.336079 m/s, LOS rate: -0.384209 deg/s, cmd heading: 356.755861 deg, new cmd heading: 356.247156 deg. 2025-01-08T22:09:52.920Z,1736374192.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.217686 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:09:52.957Z,1736374192.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:52.957Z,1736374192.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756631 2025-01-08T22:09:53.209Z,1736374193.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:53.210Z,1736374193.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008900 2025-01-08T22:09:53.253Z,1736374193.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:53.294Z,1736374193.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:09:53.297Z,1736374193.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 83.804268 m, bearing: 233.980578 deg, approach rate: 0.308664 m/s, LOS rate: -0.354964 deg/s, cmd heading: 356.247149 deg, new cmd heading: 355.828672 deg. 2025-01-08T22:09:53.298Z,1736374193.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210382 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:09:53.460Z,1736374193.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:53.460Z,1736374193.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259748 2025-01-08T22:09:53.667Z,1736374193.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:53.697Z,1736374193.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:09:53.705Z,1736374193.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 83.941307 m, bearing: 233.822188 deg, approach rate: 0.337568 m/s, LOS rate: -0.389523 deg/s, cmd heading: 355.828677 deg, new cmd heading: 355.354295 deg. 2025-01-08T22:09:53.712Z,1736374193.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:53.713Z,1736374193.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512026 2025-01-08T22:09:53.713Z,1736374193.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202103 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:09:53.964Z,1736374193.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:53.964Z,1736374193.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763764 2025-01-08T22:09:54.080Z,1736374194.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:54.112Z,1736374194.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:54.114Z,1736374194.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:09:54.123Z,1736374194.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 84.095322 m, bearing: 233.675041 deg, approach rate: 0.369216 m/s, LOS rate: -0.352105 deg/s, cmd heading: 355.354307 deg, new cmd heading: 354.913685 deg. 2025-01-08T22:09:54.125Z,1736374194.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194412 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:09:54.216Z,1736374194.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:54.216Z,1736374194.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015754 2025-01-08T22:09:54.468Z,1736374194.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:54.469Z,1736374194.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267893 2025-01-08T22:09:54.481Z,1736374194.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:54.494Z,1736374194.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:09:54.501Z,1736374194.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 84.244110 m, bearing: 233.532188 deg, approach rate: 0.392139 m/s, LOS rate: -0.375832 deg/s, cmd heading: 354.913677 deg, new cmd heading: 354.485881 deg. 2025-01-08T22:09:54.502Z,1736374194.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186946 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:09:54.724Z,1736374194.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:54.728Z,1736374194.728 [DAT](INFO): DAT read: Rx Time:22:09:53.4148 2025-01-08T22:09:54.728Z,1736374194.728 [DAT](INFO): Rx dataTimestamp_ set to:1736374194.727807 2025-01-08T22:09:54.729Z,1736374194.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528019 2025-01-08T22:09:54.918Z,1736374194.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:54.927Z,1736374194.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 397.80 m. 2025-01-08T22:09:54.930Z,1736374194.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 397.799988 m, nav range: 84.423233 m, bearing: 233.388887 deg, approach rate: 0.413387 m/s, LOS rate: -0.330012 deg/s, cmd heading: 354.485889 deg, new cmd heading: 354.056908 deg. 2025-01-08T22:09:54.931Z,1736374194.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179459 target range: 397.799988 and range: 397.80 m. 2025-01-08T22:09:54.972Z,1736374194.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:54.973Z,1736374194.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772458 2025-01-08T22:09:55.224Z,1736374195.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:55.230Z,1736374195.230 [DAT](INFO): DAT read: 22:09:53.4148 LVL= 13440, 26737, 21010, 27091, AGC= 65, IDX= 272,-0.09, 1.876, 0.057, 0.166, 0.734, PHS= 1.230,-0.630,-0.570, RAW= 91.6, -0.3, CAL= 99.6, -4.8, ROT= 50.4, 4.8 2025-01-08T22:09:55.232Z,1736374195.232 [DAT](INFO): got valid direction response: 22:09:53.4148 LVL= 13440, 26737, 21010, 27091, AGC= 65, IDX= 272,-0.09, 1.876, 0.057, 0.166, 0.734, PHS= 1.230,-0.630,-0.570, RAW= 91.6, -0.3, CAL= 99.6, -4.8, ROT= 50.4, 4.8 2025-01-08T22:09:55.233Z,1736374195.233 [DAT](INFO): DAT read: Bearing 50.4, 4.8 (Local) 2025-01-08T22:09:55.233Z,1736374195.233 [DAT](INFO): Local bearing/azimuth received: Bearing 50.4, 4.8 (Local) 2025-01-08T22:09:55.235Z,1736374195.235 [DAT](INFO): DAT read: Range 10 to 50 : 386.0 m (Round-trip 514.7 ms) speed 0.6 m/s 2025-01-08T22:09:55.236Z,1736374195.236 [DAT](INFO): DAT read: user:2353> 2025-01-08T22:09:55.236Z,1736374195.236 [DAT](INFO): DAT read: Tx time:22:09:54.5459 2025-01-08T22:09:55.237Z,1736374195.237 [DAT](INFO): Ping request sent. 2025-01-08T22:09:55.237Z,1736374195.237 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:55.237Z,1736374195.237 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:09:55.238Z,1736374195.238 [DAT](INFO): direction in FSK: [-0.081374,0.079141,0.993537] 2025-01-08T22:09:55.280Z,1736374195.280 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:55.280Z,1736374195.280 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:55.283Z,1736374195.283 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:55.291Z,1736374195.291 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:55.352Z,1736374195.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:55.396Z,1736374195.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 386.000000 m, deltaT: 4.036129 s, deltaX: -11.799988 m, approachRate: -2.923590 m/s, rangeRepo size: 4 2025-01-08T22:09:55.398Z,1736374195.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 386.000000 m, bearing: 187.782512 deg, lat: 36.902461 deg, lon: -122.123305 deg, deltaT: 4.036129 s, deltaX: -11.799988 m, approachRate: -2.923590 m/s, posRepo size: 4 2025-01-08T22:09:55.399Z,1736374195.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.00 m. 2025-01-08T22:09:55.410Z,1736374195.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.000000 m, nav range: 51.926739 m, bearing: 240.928784 deg, approach rate: 0.000000 m/s, LOS rate: -0.330012 deg/s, cmd heading: 354.056898 deg, new cmd heading: 353.597115 deg. 2025-01-08T22:09:55.411Z,1736374195.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171434 target range: 386.000000 and range: 386.00 m. 2025-01-08T22:09:55.476Z,1736374195.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:55.477Z,1736374195.477 [DAT](INFO): DAT read: Txe:22:09:54.5452 2025-01-08T22:09:55.477Z,1736374195.477 [DAT](INFO): unknown deviceResponse_: Txe:22:09:54.5452 2025-01-08T22:09:55.736Z,1736374195.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:55.741Z,1736374195.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:55.759Z,1736374195.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.00 m. 2025-01-08T22:09:55.762Z,1736374195.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.000000 m, nav range: 52.058712 m, bearing: 240.699345 deg, approach rate: 0.362783 m/s, LOS rate: -0.629108 deg/s, cmd heading: 353.597117 deg, new cmd heading: 352.910579 deg. 2025-01-08T22:09:55.763Z,1736374195.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159451 target range: 386.000000 and range: 386.00 m. 2025-01-08T22:09:55.988Z,1736374195.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:56.141Z,1736374196.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:56.148Z,1736374196.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:56.150Z,1736374196.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.00 m. 2025-01-08T22:09:56.153Z,1736374196.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.000000 m, nav range: 52.207016 m, bearing: 240.475013 deg, approach rate: 0.375872 m/s, LOS rate: -0.566947 deg/s, cmd heading: 352.910574 deg, new cmd heading: 352.239521 deg. 2025-01-08T22:09:56.154Z,1736374196.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147739 target range: 386.000000 and range: 386.00 m. 2025-01-08T22:09:56.240Z,1736374196.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:56.241Z,1736374196.241 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:09:56.241Z,1736374196.241 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:09:56.242Z,1736374196.242 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:09:56.492Z,1736374196.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:56.492Z,1736374196.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255545 2025-01-08T22:09:56.534Z,1736374196.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:56.544Z,1736374196.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.00 m. 2025-01-08T22:09:56.546Z,1736374196.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.000000 m, nav range: 52.352551 m, bearing: 240.255215 deg, approach rate: 0.369151 m/s, LOS rate: -0.555969 deg/s, cmd heading: 352.239522 deg, new cmd heading: 351.581993 deg. 2025-01-08T22:09:56.548Z,1736374196.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.136263 target range: 386.000000 and range: 386.00 m. 2025-01-08T22:09:56.746Z,1736374196.746 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:56.749Z,1736374196.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511669 2025-01-08T22:09:56.947Z,1736374196.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:56.964Z,1736374196.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.00 m. 2025-01-08T22:09:56.966Z,1736374196.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.000000 m, nav range: 52.502499 m, bearing: 240.029548 deg, approach rate: 0.357038 m/s, LOS rate: -0.535794 deg/s, cmd heading: 351.581993 deg, new cmd heading: 350.906959 deg. 2025-01-08T22:09:56.972Z,1736374196.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.124482 target range: 386.000000 and range: 386.00 m. 2025-01-08T22:09:56.998Z,1736374196.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:56.999Z,1736374196.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761768 2025-01-08T22:09:57.248Z,1736374197.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:57.248Z,1736374197.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011551 2025-01-08T22:09:57.332Z,1736374197.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:57.341Z,1736374197.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.00 m. 2025-01-08T22:09:57.344Z,1736374197.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.000000 m, nav range: 52.641766 m, bearing: 239.819634 deg, approach rate: 0.369379 m/s, LOS rate: -0.555282 deg/s, cmd heading: 350.906952 deg, new cmd heading: 350.278903 deg. 2025-01-08T22:09:57.345Z,1736374197.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113520 target range: 386.000000 and range: 386.00 m. 2025-01-08T22:09:57.500Z,1736374197.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:57.500Z,1736374197.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263542 2025-01-08T22:09:57.738Z,1736374197.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:57.750Z,1736374197.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.00 m. 2025-01-08T22:09:57.760Z,1736374197.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:57.761Z,1736374197.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523884 2025-01-08T22:09:57.771Z,1736374197.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.000000 m, nav range: 52.788311 m, bearing: 239.597871 deg, approach rate: 0.357994 m/s, LOS rate: -0.540238 deg/s, cmd heading: 350.278902 deg, new cmd heading: 349.615491 deg. 2025-01-08T22:09:57.776Z,1736374197.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.101942 target range: 386.000000 and range: 386.00 m. 2025-01-08T22:09:58.012Z,1736374198.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:58.012Z,1736374198.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775618 2025-01-08T22:09:58.169Z,1736374198.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:58.184Z,1736374198.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:09:58.186Z,1736374198.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.00 m. 2025-01-08T22:09:58.193Z,1736374198.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.000000 m, nav range: 52.934887 m, bearing: 239.367877 deg, approach rate: 0.336189 m/s, LOS rate: -0.526056 deg/s, cmd heading: 349.615500 deg, new cmd heading: 348.927463 deg. 2025-01-08T22:09:58.194Z,1736374198.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.089933 target range: 386.000000 and range: 386.00 m. 2025-01-08T22:09:58.264Z,1736374198.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:58.265Z,1736374198.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028549 2025-01-08T22:09:58.516Z,1736374198.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:58.516Z,1736374198.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279625 2025-01-08T22:09:58.552Z,1736374198.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:58.561Z,1736374198.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.00 m. 2025-01-08T22:09:58.564Z,1736374198.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.000000 m, nav range: 53.064106 m, bearing: 239.163369 deg, approach rate: 0.344770 m/s, LOS rate: -0.544318 deg/s, cmd heading: 348.927454 deg, new cmd heading: 348.315449 deg. 2025-01-08T22:09:58.565Z,1736374198.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079251 target range: 386.000000 and range: 386.00 m. 2025-01-08T22:09:58.768Z,1736374198.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:58.769Z,1736374198.769 [DAT](INFO): DAT read: Rx Time:22:09:57.4624 2025-01-08T22:09:58.769Z,1736374198.769 [DAT](INFO): Rx dataTimestamp_ set to:1736374198.768698 2025-01-08T22:09:58.770Z,1736374198.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532716 2025-01-08T22:09:58.965Z,1736374198.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:58.976Z,1736374198.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.00 m. 2025-01-08T22:09:58.978Z,1736374198.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 386.000000 m, nav range: 53.182079 m, bearing: 238.934974 deg, approach rate: 0.284771 m/s, LOS rate: -0.550090 deg/s, cmd heading: 348.315441 deg, new cmd heading: 347.631810 deg. 2025-01-08T22:09:58.979Z,1736374198.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067320 target range: 386.000000 and range: 386.00 m. 2025-01-08T22:09:59.020Z,1736374199.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:59.021Z,1736374199.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784396 2025-01-08T22:09:59.272Z,1736374199.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:59.279Z,1736374199.279 [DAT](INFO): DAT read: 22:09:57.4625 LVL= 12720, 25233, 16978, 25731, AGC= 68, IDX= 410, 0.18,-0.029,-1.727,-1.827,-1.104, PHS= 1.163,-0.576,-0.726, RAW= 85.9, 1.5, CAL= 92.3, -1.9, ROT= 57.7, 1.9 2025-01-08T22:09:59.280Z,1736374199.280 [DAT](INFO): got valid direction response: 22:09:57.4625 LVL= 12720, 25233, 16978, 25731, AGC= 68, IDX= 410, 0.18,-0.029,-1.727,-1.827,-1.104, PHS= 1.163,-0.576,-0.726, RAW= 85.9, 1.5, CAL= 92.3, -1.9, ROT= 57.7, 1.9 2025-01-08T22:09:59.281Z,1736374199.281 [DAT](INFO): DAT read: Bearing 57.7, 1.9 (Local) 2025-01-08T22:09:59.282Z,1736374199.282 [DAT](INFO): Local bearing/azimuth received: Bearing 57.7, 1.9 (Local) 2025-01-08T22:09:59.283Z,1736374199.283 [DAT](INFO): DAT read: Range 10 to 50 : 384.2 m (Round-trip 512.3 ms) speed 0.0 m/s 2025-01-08T22:09:59.284Z,1736374199.284 [DAT](INFO): DAT read: user:2354> 2025-01-08T22:09:59.285Z,1736374199.285 [DAT](INFO): DAT read: Tx time:22:09:58.5460 2025-01-08T22:09:59.285Z,1736374199.285 [DAT](INFO): Ping request sent. 2025-01-08T22:09:59.285Z,1736374199.285 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:09:59.285Z,1736374199.285 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:09:59.286Z,1736374199.286 [DAT](INFO): direction in FSK: [-0.107629,0.179122,0.977922] 2025-01-08T22:09:59.286Z,1736374199.286 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:59.287Z,1736374199.287 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:59.291Z,1736374199.291 [DAT](INFO): publishing transmit ping time 2025-01-08T22:09:59.291Z,1736374199.291 [DAT](INFO): publishing direction and range info 2025-01-08T22:09:59.416Z,1736374199.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:59.447Z,1736374199.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 384.200012 m, deltaT: 4.048923 s, deltaX: -1.799988 m, approachRate: -0.444560 m/s, rangeRepo size: 4 2025-01-08T22:09:59.459Z,1736374199.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 384.200012 m, bearing: 116.159295 deg, lat: 36.902495 deg, lon: -122.123183 deg, deltaT: 4.048923 s, deltaX: -1.799988 m, approachRate: -0.444560 m/s, posRepo size: 4 2025-01-08T22:09:59.460Z,1736374199.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:09:59.463Z,1736374199.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 42.161747 m, bearing: 235.360425 deg, approach rate: 0.000000 m/s, LOS rate: -0.550090 deg/s, cmd heading: 347.631822 deg, new cmd heading: 346.855128 deg. 2025-01-08T22:09:59.468Z,1736374199.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053764 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:09:59.524Z,1736374199.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:59.526Z,1736374199.526 [DAT](INFO): DAT read: TxSync time:22:09:58.5453 2025-01-08T22:09:59.776Z,1736374199.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:09:59.781Z,1736374199.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:09:59.820Z,1736374199.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:09:59.822Z,1736374199.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 42.278324 m, bearing: 235.116188 deg, approach rate: 0.312179 m/s, LOS rate: -0.652233 deg/s, cmd heading: 346.855120 deg, new cmd heading: 346.124469 deg. 2025-01-08T22:09:59.823Z,1736374199.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041012 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:10:00.028Z,1736374200.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:00.179Z,1736374200.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:00.186Z,1736374200.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:00.188Z,1736374200.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:10:00.192Z,1736374200.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 42.377563 m, bearing: 234.830883 deg, approach rate: 0.269406 m/s, LOS rate: -0.772702 deg/s, cmd heading: 346.124481 deg, new cmd heading: 345.270639 deg. 2025-01-08T22:10:00.193Z,1736374200.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026110 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:10:00.280Z,1736374200.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:00.280Z,1736374200.280 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:00.280Z,1736374200.280 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:00.281Z,1736374200.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:00.532Z,1736374200.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:00.532Z,1736374200.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247399 2025-01-08T22:10:00.554Z,1736374200.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:00.563Z,1736374200.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:10:00.566Z,1736374200.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 42.469120 m, bearing: 234.560407 deg, approach rate: 0.243937 m/s, LOS rate: -0.719083 deg/s, cmd heading: 345.270652 deg, new cmd heading: 344.461030 deg. 2025-01-08T22:10:00.567Z,1736374200.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.011979 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:10:00.784Z,1736374200.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:00.784Z,1736374200.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499316 2025-01-08T22:10:00.979Z,1736374200.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:00.988Z,1736374200.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:10:00.992Z,1736374200.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 42.547470 m, bearing: 234.234850 deg, approach rate: 0.184410 m/s, LOS rate: -0.764837 deg/s, cmd heading: 344.461029 deg, new cmd heading: 343.486256 deg. 2025-01-08T22:10:00.993Z,1736374200.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994966 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:10:01.036Z,1736374201.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:01.037Z,1736374201.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751560 2025-01-08T22:10:01.288Z,1736374201.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:01.289Z,1736374201.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004061 2025-01-08T22:10:01.469Z,1736374201.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:01.496Z,1736374201.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:10:01.499Z,1736374201.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 42.639324 m, bearing: 233.861714 deg, approach rate: 0.180732 m/s, LOS rate: -0.732594 deg/s, cmd heading: 343.486252 deg, new cmd heading: 342.369403 deg. 2025-01-08T22:10:01.533Z,1736374201.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975473 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:10:01.540Z,1736374201.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:01.542Z,1736374201.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256683 2025-01-08T22:10:01.792Z,1736374201.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:01.793Z,1736374201.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508233 2025-01-08T22:10:01.852Z,1736374201.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:01.928Z,1736374201.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:10:01.930Z,1736374201.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 42.705921 m, bearing: 233.568169 deg, approach rate: 0.157456 m/s, LOS rate: -0.692946 deg/s, cmd heading: 342.369407 deg, new cmd heading: 341.490219 deg. 2025-01-08T22:10:01.931Z,1736374201.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960129 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:10:02.044Z,1736374202.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:02.044Z,1736374202.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759495 2025-01-08T22:10:02.283Z,1736374202.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:02.296Z,1736374202.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:02.296Z,1736374202.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011259 2025-01-08T22:10:02.310Z,1736374202.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:02.313Z,1736374202.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:10:02.320Z,1736374202.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 42.767139 m, bearing: 233.219576 deg, approach rate: 0.155610 m/s, LOS rate: -0.884810 deg/s, cmd heading: 341.490225 deg, new cmd heading: 340.446064 deg. 2025-01-08T22:10:02.321Z,1736374202.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941905 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:10:02.549Z,1736374202.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:02.549Z,1736374202.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264412 2025-01-08T22:10:02.646Z,1736374202.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:02.678Z,1736374202.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:10:02.695Z,1736374202.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 42.813812 m, bearing: 232.925208 deg, approach rate: 0.127909 m/s, LOS rate: -0.805847 deg/s, cmd heading: 340.446053 deg, new cmd heading: 339.563986 deg. 2025-01-08T22:10:02.696Z,1736374202.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926509 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:10:02.802Z,1736374202.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:02.803Z,1736374202.803 [DAT](INFO): DAT read: Rx Time:22:10:01.4609 2025-01-08T22:10:02.803Z,1736374202.803 [DAT](INFO): Rx dataTimestamp_ set to:1736374202.803087 2025-01-08T22:10:02.804Z,1736374202.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518924 2025-01-08T22:10:03.056Z,1736374203.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:03.057Z,1736374203.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772120 2025-01-08T22:10:03.085Z,1736374203.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:03.100Z,1736374203.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.20 m. 2025-01-08T22:10:03.103Z,1736374203.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.200012 m, nav range: 42.860336 m, bearing: 232.552372 deg, approach rate: 0.110059 m/s, LOS rate: -0.881029 deg/s, cmd heading: 339.563975 deg, new cmd heading: 338.446831 deg. 2025-01-08T22:10:03.114Z,1736374203.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907012 target range: 384.200012 and range: 384.20 m. 2025-01-08T22:10:03.308Z,1736374203.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:03.314Z,1736374203.314 [DAT](INFO): DAT read: 22:10:01.4609 LVL= 14624, 28097, 21698, 28723, AGC= 66, IDX= 429, 0.12,-0.879,-2.371,-2.848,-1.840, PHS= 1.049,-0.484,-1.011, RAW= 75.7, 4.9, CAL= 79.4, 4.2, ROT= 70.6, -4.2 2025-01-08T22:10:03.315Z,1736374203.315 [DAT](INFO): got valid direction response: 22:10:01.4609 LVL= 14624, 28097, 21698, 28723, AGC= 66, IDX= 429, 0.12,-0.879,-2.371,-2.848,-1.840, PHS= 1.049,-0.484,-1.011, RAW= 75.7, 4.9, CAL= 79.4, 4.2, ROT= 70.6, -4.2 2025-01-08T22:10:03.316Z,1736374203.316 [DAT](INFO): DAT read: Bearing 70.6, -4.2 (Local) 2025-01-08T22:10:03.317Z,1736374203.317 [DAT](INFO): Local bearing/azimuth received: Bearing 70.6, -4.2 (Local) 2025-01-08T22:10:03.318Z,1736374203.318 [DAT](INFO): DAT read: Range 10 to 50 : 383.0 m (Round-trip 510.7 ms) speed 0.0 m/s 2025-01-08T22:10:03.319Z,1736374203.319 [DAT](INFO): DAT read: user:2355> 2025-01-08T22:10:03.320Z,1736374203.320 [DAT](INFO): DAT read: Tx time:22:10:02.5460 2025-01-08T22:10:03.320Z,1736374203.320 [DAT](INFO): Ping request sent. 2025-01-08T22:10:03.320Z,1736374203.320 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:03.320Z,1736374203.320 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:03.322Z,1736374203.322 [DAT](INFO): direction in FSK: [-0.151029,0.347716,0.925356] 2025-01-08T22:10:03.322Z,1736374203.322 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:03.322Z,1736374203.322 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:03.326Z,1736374203.326 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:03.326Z,1736374203.326 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:03.470Z,1736374203.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:03.509Z,1736374203.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 383.000000 m, deltaT: 4.035057 s, deltaX: -1.200012 m, approachRate: -0.297397 m/s, rangeRepo size: 4 2025-01-08T22:10:03.511Z,1736374203.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 383.000000 m, bearing: 94.644725 deg, lat: 36.902503 deg, lon: -122.122825 deg, deltaT: 4.035057 s, deltaX: -1.200012 m, approachRate: -0.297397 m/s, posRepo size: 4 2025-01-08T22:10:03.520Z,1736374203.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.00 m. 2025-01-08T22:10:03.532Z,1736374203.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.000000 m, nav range: 25.464685 m, bearing: 184.611518 deg, approach rate: 0.000000 m/s, LOS rate: -0.881029 deg/s, cmd heading: 338.446829 deg, new cmd heading: 337.368144 deg. 2025-01-08T22:10:03.533Z,1736374203.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888185 target range: 383.000000 and range: 383.00 m. 2025-01-08T22:10:03.560Z,1736374203.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:03.561Z,1736374203.561 [DAT](INFO): DAT read: TxSync time:22:10:02.5453 2025-01-08T22:10:03.812Z,1736374203.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:03.880Z,1736374203.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:03.952Z,1736374203.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.00 m. 2025-01-08T22:10:03.965Z,1736374203.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.000000 m, nav range: 25.683075 m, bearing: 184.292845 deg, approach rate: 0.503467 m/s, LOS rate: -0.728407 deg/s, cmd heading: 337.368151 deg, new cmd heading: 336.420352 deg. 2025-01-08T22:10:03.966Z,1736374203.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871643 target range: 383.000000 and range: 383.00 m. 2025-01-08T22:10:04.064Z,1736374204.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:04.316Z,1736374204.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:04.405Z,1736374204.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:04.413Z,1736374204.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:04.415Z,1736374204.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.00 m. 2025-01-08T22:10:04.417Z,1736374204.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.000000 m, nav range: 25.967058 m, bearing: 183.859459 deg, approach rate: 0.600910 m/s, LOS rate: -0.907009 deg/s, cmd heading: 336.420339 deg, new cmd heading: 335.134627 deg. 2025-01-08T22:10:04.418Z,1736374204.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849203 target range: 383.000000 and range: 383.00 m. 2025-01-08T22:10:04.568Z,1736374204.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:04.568Z,1736374204.568 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:04.568Z,1736374204.568 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:04.568Z,1736374204.568 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:04.787Z,1736374204.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:04.812Z,1736374204.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.00 m. 2025-01-08T22:10:04.820Z,1736374204.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:04.821Z,1736374204.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500489 2025-01-08T22:10:04.828Z,1736374204.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.000000 m, nav range: 26.171000 m, bearing: 183.547073 deg, approach rate: 0.535753 m/s, LOS rate: -0.814237 deg/s, cmd heading: 335.134624 deg, new cmd heading: 334.204856 deg. 2025-01-08T22:10:04.829Z,1736374204.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832975 target range: 383.000000 and range: 383.00 m. 2025-01-08T22:10:05.072Z,1736374205.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:05.073Z,1736374205.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752927 2025-01-08T22:10:05.252Z,1736374205.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:05.261Z,1736374205.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.00 m. 2025-01-08T22:10:05.264Z,1736374205.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.000000 m, nav range: 26.422918 m, bearing: 183.185371 deg, approach rate: 0.541459 m/s, LOS rate: -0.770002 deg/s, cmd heading: 334.204844 deg, new cmd heading: 333.130219 deg. 2025-01-08T22:10:05.265Z,1736374205.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814219 target range: 383.000000 and range: 383.00 m. 2025-01-08T22:10:05.330Z,1736374205.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:05.350Z,1736374205.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016522 2025-01-08T22:10:05.576Z,1736374205.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:05.577Z,1736374205.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256356 2025-01-08T22:10:05.660Z,1736374205.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:05.685Z,1736374205.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.00 m. 2025-01-08T22:10:05.692Z,1736374205.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.000000 m, nav range: 26.639267 m, bearing: 182.874596 deg, approach rate: 0.509283 m/s, LOS rate: -0.725619 deg/s, cmd heading: 333.130210 deg, new cmd heading: 332.205540 deg. 2025-01-08T22:10:05.693Z,1736374205.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798080 target range: 383.000000 and range: 383.00 m. 2025-01-08T22:10:05.829Z,1736374205.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:05.831Z,1736374205.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510336 2025-01-08T22:10:06.052Z,1736374206.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:06.061Z,1736374206.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.00 m. 2025-01-08T22:10:06.064Z,1736374206.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.000000 m, nav range: 26.854900 m, bearing: 182.584836 deg, approach rate: 0.574287 m/s, LOS rate: -0.765505 deg/s, cmd heading: 332.205539 deg, new cmd heading: 331.343309 deg. 2025-01-08T22:10:06.065Z,1736374206.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783031 target range: 383.000000 and range: 383.00 m. 2025-01-08T22:10:06.080Z,1736374206.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:06.080Z,1736374206.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760304 2025-01-08T22:10:06.332Z,1736374206.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:06.333Z,1736374206.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012511 2025-01-08T22:10:06.442Z,1736374206.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:06.449Z,1736374206.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:06.451Z,1736374206.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.00 m. 2025-01-08T22:10:06.454Z,1736374206.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.000000 m, nav range: 27.063816 m, bearing: 182.302303 deg, approach rate: 0.535449 m/s, LOS rate: -0.718538 deg/s, cmd heading: 331.343296 deg, new cmd heading: 330.502302 deg. 2025-01-08T22:10:06.456Z,1736374206.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768353 target range: 383.000000 and range: 383.00 m. 2025-01-08T22:10:06.584Z,1736374206.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:06.585Z,1736374206.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264364 2025-01-08T22:10:06.836Z,1736374206.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:06.837Z,1736374206.837 [DAT](INFO): DAT read: Rx Time:22:10:05.4605 2025-01-08T22:10:06.837Z,1736374206.837 [DAT](INFO): Rx dataTimestamp_ set to:1736374206.837066 2025-01-08T22:10:06.838Z,1736374206.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517743 2025-01-08T22:10:06.849Z,1736374206.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:06.862Z,1736374206.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.00 m. 2025-01-08T22:10:06.885Z,1736374206.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.000000 m, nav range: 27.279970 m, bearing: 182.005887 deg, approach rate: 0.526130 m/s, LOS rate: -0.715769 deg/s, cmd heading: 330.502308 deg, new cmd heading: 329.620182 deg. 2025-01-08T22:10:06.886Z,1736374206.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752957 target range: 383.000000 and range: 383.00 m. 2025-01-08T22:10:07.088Z,1736374207.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:07.089Z,1736374207.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768974 2025-01-08T22:10:07.276Z,1736374207.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:07.285Z,1736374207.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.00 m. 2025-01-08T22:10:07.288Z,1736374207.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.000000 m, nav range: 27.521000 m, bearing: 181.733159 deg, approach rate: 0.569814 m/s, LOS rate: -0.639104 deg/s, cmd heading: 329.620176 deg, new cmd heading: 328.809212 deg. 2025-01-08T22:10:07.290Z,1736374207.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738803 target range: 383.000000 and range: 383.00 m. 2025-01-08T22:10:07.342Z,1736374207.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:07.353Z,1736374207.353 [DAT](INFO): DAT read: 22:10:05.4605 LVL= 10416, 21409, 16018, 21939, AGC= 66, IDX= 438,-0.04, 0.748,-0.632,-1.707,-0.509, PHS= 1.346,-0.076,-1.201, RAW= 63.8, -0.6, CAL= 67.6, -4.3, ROT= 82.4, 4.3 2025-01-08T22:10:07.356Z,1736374207.356 [DAT](INFO): got valid direction response: 22:10:05.4605 LVL= 10416, 21409, 16018, 21939, AGC= 66, IDX= 438,-0.04, 0.748,-0.632,-1.707,-0.509, PHS= 1.346,-0.076,-1.201, RAW= 63.8, -0.6, CAL= 67.6, -4.3, ROT= 82.4, 4.3 2025-01-08T22:10:07.357Z,1736374207.357 [DAT](INFO): DAT read: Bearing 82.4, 4.3 (Local) 2025-01-08T22:10:07.358Z,1736374207.358 [DAT](INFO): Local bearing/azimuth received: Bearing 82.4, 4.3 (Local) 2025-01-08T22:10:07.379Z,1736374207.379 [DAT](INFO): DAT read: Range 10 to 50 : 382.7 m (Round-trip 510.3 ms) speed 0.3 m/s 2025-01-08T22:10:07.380Z,1736374207.380 [DAT](INFO): DAT read: user:2356> 2025-01-08T22:10:07.381Z,1736374207.381 [DAT](INFO): DAT read: Tx time:22:10:06.5460 2025-01-08T22:10:07.381Z,1736374207.381 [DAT](INFO): Ping request sent. 2025-01-08T22:10:07.381Z,1736374207.381 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:07.382Z,1736374207.382 [DAT](INFO): DAT read: TxSync time:22:10:06.5453 2025-01-08T22:10:07.382Z,1736374207.382 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:07.389Z,1736374207.389 [DAT](INFO): direction in FSK: [-0.025192,0.523007,0.851956] 2025-01-08T22:10:07.390Z,1736374207.390 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:07.390Z,1736374207.390 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:07.410Z,1736374207.410 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:07.410Z,1736374207.410 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:07.592Z,1736374207.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:07.664Z,1736374207.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:07.685Z,1736374207.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 382.700012 m, deltaT: 4.034290 s, deltaX: -0.299988 m, approachRate: -0.074359 m/s, rangeRepo size: 4 2025-01-08T22:10:07.687Z,1736374207.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 382.700012 m, bearing: 65.640864 deg, lat: 36.902513 deg, lon: -122.122265 deg, deltaT: 4.034290 s, deltaX: -0.299988 m, approachRate: -0.074359 m/s, posRepo size: 4 2025-01-08T22:10:07.688Z,1736374207.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:07.712Z,1736374207.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 55.841549 m, bearing: 118.489264 deg, approach rate: 0.000000 m/s, LOS rate: -0.639104 deg/s, cmd heading: 328.809214 deg, new cmd heading: 328.043105 deg. 2025-01-08T22:10:07.713Z,1736374207.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725432 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:10:07.845Z,1736374207.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:08.089Z,1736374208.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:08.096Z,1736374208.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:08.099Z,1736374208.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:08.102Z,1736374208.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 56.056725 m, bearing: 118.641094 deg, approach rate: 0.519221 m/s, LOS rate: 0.364961 deg/s, cmd heading: 328.043112 deg, new cmd heading: 328.496844 deg. 2025-01-08T22:10:08.103Z,1736374208.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733352 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:10:08.348Z,1736374208.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:08.460Z,1736374208.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:08.486Z,1736374208.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:08.490Z,1736374208.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:08.492Z,1736374208.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 56.247074 m, bearing: 118.768983 deg, approach rate: 0.488667 m/s, LOS rate: 0.327207 deg/s, cmd heading: 328.496855 deg, new cmd heading: 328.879218 deg. 2025-01-08T22:10:08.493Z,1736374208.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740025 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:10:08.601Z,1736374208.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:08.601Z,1736374208.601 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:08.602Z,1736374208.602 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:08.602Z,1736374208.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:08.852Z,1736374208.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:08.852Z,1736374208.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470949 2025-01-08T22:10:08.868Z,1736374208.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:08.914Z,1736374208.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:08.916Z,1736374208.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 56.458851 m, bearing: 118.904748 deg, approach rate: 0.498131 m/s, LOS rate: 0.318142 deg/s, cmd heading: 328.879209 deg, new cmd heading: 329.284971 deg. 2025-01-08T22:10:08.917Z,1736374208.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747107 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:10:09.104Z,1736374209.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:09.105Z,1736374209.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723373 2025-01-08T22:10:09.296Z,1736374209.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:09.305Z,1736374209.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:09.309Z,1736374209.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 56.668720 m, bearing: 119.047041 deg, approach rate: 0.536730 m/s, LOS rate: 0.362558 deg/s, cmd heading: 329.284977 deg, new cmd heading: 329.710266 deg. 2025-01-08T22:10:09.310Z,1736374209.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754530 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:10:09.356Z,1736374209.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:09.357Z,1736374209.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975823 2025-01-08T22:10:09.608Z,1736374209.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:09.608Z,1736374209.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227141 2025-01-08T22:10:09.693Z,1736374209.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:09.701Z,1736374209.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:09.704Z,1736374209.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 56.863842 m, bearing: 119.178184 deg, approach rate: 0.491761 m/s, LOS rate: 0.329382 deg/s, cmd heading: 329.710279 deg, new cmd heading: 330.102351 deg. 2025-01-08T22:10:09.706Z,1736374209.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761373 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:10:09.860Z,1736374209.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:09.860Z,1736374209.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479123 2025-01-08T22:10:10.112Z,1736374210.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:10.113Z,1736374210.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732188 2025-01-08T22:10:10.118Z,1736374210.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:10.146Z,1736374210.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:10.153Z,1736374210.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 57.079166 m, bearing: 119.324275 deg, approach rate: 0.484258 m/s, LOS rate: 0.327314 deg/s, cmd heading: 330.102360 deg, new cmd heading: 330.538970 deg. 2025-01-08T22:10:10.154Z,1736374210.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768993 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:10:10.364Z,1736374210.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:10.364Z,1736374210.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983220 2025-01-08T22:10:10.484Z,1736374210.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:10.512Z,1736374210.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:10.514Z,1736374210.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:10.517Z,1736374210.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 57.266865 m, bearing: 119.446972 deg, approach rate: 0.510513 m/s, LOS rate: 0.332625 deg/s, cmd heading: 330.538973 deg, new cmd heading: 330.905852 deg. 2025-01-08T22:10:10.518Z,1736374210.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775397 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:10:10.616Z,1736374210.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:10.617Z,1736374210.617 [DAT](INFO): DAT read: Rx Time:22:10:09.4608 2025-01-08T22:10:10.617Z,1736374210.617 [DAT](INFO): Rx dataTimestamp_ set to:1736374210.617060 2025-01-08T22:10:10.618Z,1736374210.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236610 2025-01-08T22:10:10.868Z,1736374210.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:10.868Z,1736374210.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487178 2025-01-08T22:10:10.892Z,1736374210.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:10.901Z,1736374210.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:10.912Z,1736374210.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 57.477978 m, bearing: 119.580628 deg, approach rate: 0.545521 m/s, LOS rate: 0.344104 deg/s, cmd heading: 330.905863 deg, new cmd heading: 331.305354 deg. 2025-01-08T22:10:10.915Z,1736374210.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782369 target range: 382.700012 and range: 382.70 m. 2025-01-08T22:10:11.121Z,1736374211.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:11.123Z,1736374211.123 [DAT](INFO): DAT read: Range 10 to 50 : 382.8 m (Round-trip 510.5 ms) speed 0.0 m/s 2025-01-08T22:10:11.124Z,1736374211.124 [DAT](INFO): DAT read: user:2357> 2025-01-08T22:10:11.124Z,1736374211.124 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:10:11.125Z,1736374211.125 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:11.125Z,1736374211.125 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:11.125Z,1736374211.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:11.320Z,1736374211.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:11.330Z,1736374211.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 382.799988 m, deltaT: 3.779166 s, deltaX: 0.099976 m, approachRate: 0.026454 m/s, rangeRepo size: 4 2025-01-08T22:10:11.332Z,1736374211.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:11.334Z,1736374211.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 57.688618 m, bearing: 119.712621 deg, approach rate: 0.490788 m/s, LOS rate: 0.306419 deg/s, cmd heading: 331.305347 deg, new cmd heading: 331.699874 deg. 2025-01-08T22:10:11.336Z,1736374211.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789255 target range: 382.700012 and range: 382.80 m. 2025-01-08T22:10:11.373Z,1736374211.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:11.374Z,1736374211.374 [DAT](INFO): DAT read: Tx time:22:10:10.5461 2025-01-08T22:10:11.375Z,1736374211.375 [DAT](INFO): Ping request sent. 2025-01-08T22:10:11.375Z,1736374211.375 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:11.376Z,1736374211.376 [DAT](INFO): DAT read: TxSync time:22:10:10.5454 2025-01-08T22:10:11.377Z,1736374211.377 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:11.378Z,1736374211.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002764 2025-01-08T22:10:11.624Z,1736374211.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:11.625Z,1736374211.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249671 2025-01-08T22:10:11.713Z,1736374211.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:11.721Z,1736374211.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:11.725Z,1736374211.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 57.881828 m, bearing: 119.832679 deg, approach rate: 0.493584 m/s, LOS rate: 0.305681 deg/s, cmd heading: 331.699886 deg, new cmd heading: 332.058853 deg. 2025-01-08T22:10:11.726Z,1736374211.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795520 target range: 382.700012 and range: 382.80 m. 2025-01-08T22:10:11.876Z,1736374211.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:11.876Z,1736374211.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501425 2025-01-08T22:10:12.119Z,1736374212.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:12.128Z,1736374212.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:12.131Z,1736374212.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755017 2025-01-08T22:10:12.149Z,1736374212.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:12.157Z,1736374212.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 58.083046 m, bearing: 119.953375 deg, approach rate: 0.470368 m/s, LOS rate: 0.281161 deg/s, cmd heading: 332.058854 deg, new cmd heading: 332.419681 deg. 2025-01-08T22:10:12.157Z,1736374212.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801818 target range: 382.700012 and range: 382.80 m. 2025-01-08T22:10:12.381Z,1736374212.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:12.382Z,1736374212.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006991 2025-01-08T22:10:12.500Z,1736374212.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:12.533Z,1736374212.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:12.535Z,1736374212.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:12.538Z,1736374212.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 58.272129 m, bearing: 120.065017 deg, approach rate: 0.490487 m/s, LOS rate: 0.288663 deg/s, cmd heading: 332.419679 deg, new cmd heading: 332.753515 deg. 2025-01-08T22:10:12.540Z,1736374212.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807644 target range: 382.700012 and range: 382.80 m. 2025-01-08T22:10:12.634Z,1736374212.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:12.634Z,1736374212.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259392 2025-01-08T22:10:12.884Z,1736374212.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:12.885Z,1736374212.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509667 2025-01-08T22:10:12.952Z,1736374212.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:12.970Z,1736374212.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:12.977Z,1736374212.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 58.497131 m, bearing: 120.197065 deg, approach rate: 0.516794 m/s, LOS rate: 0.302126 deg/s, cmd heading: 332.753511 deg, new cmd heading: 333.148124 deg. 2025-01-08T22:10:12.978Z,1736374212.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814532 target range: 382.700012 and range: 382.80 m. 2025-01-08T22:10:13.136Z,1736374213.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:13.136Z,1736374213.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761546 2025-01-08T22:10:13.337Z,1736374213.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:13.346Z,1736374213.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:13.349Z,1736374213.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 58.690018 m, bearing: 120.309048 deg, approach rate: 0.512687 m/s, LOS rate: 0.296669 deg/s, cmd heading: 333.148132 deg, new cmd heading: 333.482973 deg. 2025-01-08T22:10:13.350Z,1736374213.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820376 target range: 382.700012 and range: 382.80 m. 2025-01-08T22:10:13.388Z,1736374213.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:13.389Z,1736374213.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014531 2025-01-08T22:10:13.640Z,1736374213.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:13.641Z,1736374213.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265945 2025-01-08T22:10:13.730Z,1736374213.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:13.760Z,1736374213.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:13.765Z,1736374213.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 58.886383 m, bearing: 120.424993 deg, approach rate: 0.480502 m/s, LOS rate: 0.282768 deg/s, cmd heading: 333.482975 deg, new cmd heading: 333.829645 deg. 2025-01-08T22:10:13.766Z,1736374213.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826427 target range: 382.700012 and range: 382.80 m. 2025-01-08T22:10:13.892Z,1736374213.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:13.893Z,1736374213.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518348 2025-01-08T22:10:14.144Z,1736374214.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:14.145Z,1736374214.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769645 2025-01-08T22:10:14.166Z,1736374214.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:14.190Z,1736374214.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:14.197Z,1736374214.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 59.105198 m, bearing: 120.545961 deg, approach rate: 0.502506 m/s, LOS rate: 0.276773 deg/s, cmd heading: 333.829648 deg, new cmd heading: 334.191204 deg. 2025-01-08T22:10:14.198Z,1736374214.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832737 target range: 382.700012 and range: 382.80 m. 2025-01-08T22:10:14.396Z,1736374214.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:14.396Z,1736374214.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021487 2025-01-08T22:10:14.527Z,1736374214.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:14.534Z,1736374214.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:14.536Z,1736374214.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:14.540Z,1736374214.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 59.286232 m, bearing: 120.646811 deg, approach rate: 0.522949 m/s, LOS rate: 0.290434 deg/s, cmd heading: 334.191211 deg, new cmd heading: 334.492835 deg. 2025-01-08T22:10:14.541Z,1736374214.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838001 target range: 382.700012 and range: 382.80 m. 2025-01-08T22:10:14.649Z,1736374214.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:14.650Z,1736374214.650 [DAT](INFO): DAT read: Rx Time:22:10:13.4609 2025-01-08T22:10:14.651Z,1736374214.651 [DAT](INFO): Rx dataTimestamp_ set to:1736374214.650560 2025-01-08T22:10:14.652Z,1736374214.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277214 2025-01-08T22:10:14.900Z,1736374214.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:14.900Z,1736374214.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525568 2025-01-08T22:10:14.933Z,1736374214.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:14.968Z,1736374214.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.70 m. 2025-01-08T22:10:14.970Z,1736374214.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.700012 m, nav range: 59.489433 m, bearing: 120.761358 deg, approach rate: 0.475958 m/s, LOS rate: 0.267387 deg/s, cmd heading: 334.492832 deg, new cmd heading: 334.835296 deg. 2025-01-08T22:10:14.976Z,1736374214.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843978 target range: 382.700012 and range: 382.80 m. 2025-01-08T22:10:15.154Z,1736374215.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:15.182Z,1736374215.182 [DAT](INFO): DAT read: 22:10:13.4609 LVL= 21200, 25889, 27634, 28803, AGC= 65, IDX= 441, 0.00, 0.860, 0.009,-1.234,-0.167, PHS= 1.115, 0.223,-1.071, RAW= 53.9, -2.8, CAL= 57.1, -6.8, ROT= 92.9, 6.8 2025-01-08T22:10:15.190Z,1736374215.190 [DAT](INFO): got valid direction response: 22:10:13.4609 LVL= 21200, 25889, 27634, 28803, AGC= 65, IDX= 441, 0.00, 0.860, 0.009,-1.234,-0.167, PHS= 1.115, 0.223,-1.071, RAW= 53.9, -2.8, CAL= 57.1, -6.8, ROT= 92.9, 6.8 2025-01-08T22:10:15.191Z,1736374215.191 [DAT](INFO): DAT read: Bearing 92.9, 6.8 (Local) 2025-01-08T22:10:15.203Z,1736374215.203 [DAT](INFO): Local bearing/azimuth received: Bearing 92.9, 6.8 (Local) 2025-01-08T22:10:15.207Z,1736374215.207 [DAT](INFO): DAT read: Range 10 to 50 : 382.9 m (Round-trip 510.6 ms) speed -0.1 m/s 2025-01-08T22:10:15.232Z,1736374215.232 [DAT](INFO): DAT read: user:2358> 2025-01-08T22:10:15.233Z,1736374215.233 [DAT](INFO): DAT read: Tx time:22:10:14.5461 2025-01-08T22:10:15.233Z,1736374215.233 [DAT](INFO): Ping request sent. 2025-01-08T22:10:15.233Z,1736374215.233 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:15.234Z,1736374215.234 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:15.235Z,1736374215.235 [DAT](INFO): direction in FSK: [0.035949,0.651745,0.757585] 2025-01-08T22:10:15.235Z,1736374215.235 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:15.240Z,1736374215.240 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:15.247Z,1736374215.247 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:15.248Z,1736374215.248 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:15.404Z,1736374215.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:15.405Z,1736374215.405 [DAT](INFO): DAT read: TxSync time:22:10:14.5454 2025-01-08T22:10:15.456Z,1736374215.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:15.488Z,1736374215.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 382.899994 m, deltaT: 4.034191 s, deltaX: 0.100006 m, approachRate: 0.024790 m/s, rangeRepo size: 4 2025-01-08T22:10:15.496Z,1736374215.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 382.899994 m, bearing: 56.491789 deg, lat: 36.902639 deg, lon: -122.121380 deg, deltaT: 7.813357 s, deltaX: 0.199982 m, approachRate: 0.025595 m/s, posRepo size: 4 2025-01-08T22:10:15.496Z,1736374215.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:15.499Z,1736374215.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 131.012009 m, bearing: 97.309314 deg, approach rate: 0.000000 m/s, LOS rate: 0.267387 deg/s, cmd heading: 334.835298 deg, new cmd heading: 335.252033 deg. 2025-01-08T22:10:15.504Z,1736374215.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851252 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:15.658Z,1736374215.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:15.894Z,1736374215.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:15.903Z,1736374215.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:15.908Z,1736374215.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:15.907Z,1736374215.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 131.167496 m, bearing: 97.400187 deg, approach rate: 0.370282 m/s, LOS rate: 0.216153 deg/s, cmd heading: 335.252022 deg, new cmd heading: 335.524317 deg. 2025-01-08T22:10:15.909Z,1736374215.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856004 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:16.160Z,1736374216.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:16.366Z,1736374216.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:16.396Z,1736374216.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:16.399Z,1736374216.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 131.346466 m, bearing: 97.498543 deg, approach rate: 0.362769 m/s, LOS rate: 0.199094 deg/s, cmd heading: 335.524328 deg, new cmd heading: 335.818991 deg. 2025-01-08T22:10:16.404Z,1736374216.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861147 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:16.412Z,1736374216.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:16.664Z,1736374216.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:16.740Z,1736374216.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:16.748Z,1736374216.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:16.750Z,1736374216.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:16.752Z,1736374216.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 131.486450 m, bearing: 97.577093 deg, approach rate: 0.396046 m/s, LOS rate: 0.221999 deg/s, cmd heading: 335.818982 deg, new cmd heading: 336.054380 deg. 2025-01-08T22:10:16.753Z,1736374216.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865255 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:16.916Z,1736374216.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:16.916Z,1736374216.916 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:16.916Z,1736374216.916 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:16.917Z,1736374216.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:17.168Z,1736374217.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:17.168Z,1736374217.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.935061 2025-01-08T22:10:17.199Z,1736374217.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:17.228Z,1736374217.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:17.230Z,1736374217.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 131.667206 m, bearing: 97.674329 deg, approach rate: 0.378612 m/s, LOS rate: 0.203391 deg/s, cmd heading: 336.054378 deg, new cmd heading: 336.345683 deg. 2025-01-08T22:10:17.236Z,1736374217.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870339 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:17.420Z,1736374217.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:17.420Z,1736374217.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.186901 2025-01-08T22:10:17.546Z,1736374217.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:17.555Z,1736374217.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:17.558Z,1736374217.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 131.803299 m, bearing: 97.748133 deg, approach rate: 0.415563 m/s, LOS rate: 0.225127 deg/s, cmd heading: 336.345672 deg, new cmd heading: 336.566852 deg. 2025-01-08T22:10:17.559Z,1736374217.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874200 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:17.673Z,1736374217.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:17.674Z,1736374217.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440582 2025-01-08T22:10:17.924Z,1736374217.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:17.924Z,1736374217.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.690900 2025-01-08T22:10:17.965Z,1736374217.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:17.994Z,1736374217.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:18.009Z,1736374218.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 131.966507 m, bearing: 97.837586 deg, approach rate: 0.371691 m/s, LOS rate: 0.203470 deg/s, cmd heading: 336.566860 deg, new cmd heading: 336.834887 deg. 2025-01-08T22:10:18.016Z,1736374218.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878878 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:18.176Z,1736374218.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:18.177Z,1736374218.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.943527 2025-01-08T22:10:18.369Z,1736374218.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:18.407Z,1736374218.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:18.414Z,1736374218.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 132.135040 m, bearing: 97.922868 deg, approach rate: 0.407869 m/s, LOS rate: 0.206127 deg/s, cmd heading: 336.834877 deg, new cmd heading: 337.090394 deg. 2025-01-08T22:10:18.415Z,1736374218.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883337 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:18.428Z,1736374218.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:18.429Z,1736374218.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195274 2025-01-08T22:10:18.681Z,1736374218.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:18.682Z,1736374218.682 [DAT](INFO): DAT read: Rx Time:22:10:17.4901 2025-01-08T22:10:18.682Z,1736374218.682 [DAT](INFO): Rx dataTimestamp_ set to:1736374218.681905 2025-01-08T22:10:18.683Z,1736374218.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.449307 2025-01-08T22:10:18.777Z,1736374218.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:18.784Z,1736374218.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:18.786Z,1736374218.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:18.790Z,1736374218.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 132.304428 m, bearing: 98.009123 deg, approach rate: 0.446619 m/s, LOS rate: 0.227136 deg/s, cmd heading: 337.090381 deg, new cmd heading: 337.348815 deg. 2025-01-08T22:10:18.791Z,1736374218.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887847 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:18.932Z,1736374218.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:18.933Z,1736374218.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.699234 2025-01-08T22:10:19.186Z,1736374219.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:19.202Z,1736374219.202 [DAT](INFO): DAT read: 22:10:17.4901 LVL= 19824, 26273, 24386, 25523, AGC= 67, IDX= 211, 0.36,-2.612, 2.707, 1.724, 2.163, PHS= 1.597, 0.591,-0.441, RAW= 59.6, -19.3, CAL= 72.1, -27.6, ROT= 77.9, 27.6 2025-01-08T22:10:19.212Z,1736374219.212 [DAT](INFO): got valid direction response: 22:10:17.4901 LVL= 19824, 26273, 24386, 25523, AGC= 67, IDX= 211, 0.36,-2.612, 2.707, 1.724, 2.163, PHS= 1.597, 0.591,-0.441, RAW= 59.6, -19.3, CAL= 72.1, -27.6, ROT= 77.9, 27.6 2025-01-08T22:10:19.213Z,1736374219.213 [DAT](INFO): DAT read: Bearing 77.9, 27.6 (Local) 2025-01-08T22:10:19.214Z,1736374219.214 [DAT](INFO): Local bearing/azimuth received: Bearing 77.9, 27.6 (Local) 2025-01-08T22:10:19.227Z,1736374219.227 [DAT](INFO): DAT read: Range 10 to 50 : 404.8 m (Round-trip 539.8 ms) speed 0.1 m/s 2025-01-08T22:10:19.228Z,1736374219.228 [DAT](INFO): DAT read: user:2359> 2025-01-08T22:10:19.229Z,1736374219.229 [DAT](INFO): DAT read: Tx time:22:10:18.5961 2025-01-08T22:10:19.229Z,1736374219.229 [DAT](INFO): Ping request sent. 2025-01-08T22:10:19.229Z,1736374219.229 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:19.230Z,1736374219.230 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:19.230Z,1736374219.230 [DAT](INFO): direction in FSK: [0.323745,0.527563,0.785409] 2025-01-08T22:10:19.231Z,1736374219.231 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:19.247Z,1736374219.247 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:19.250Z,1736374219.250 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:19.250Z,1736374219.250 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:19.298Z,1736374219.298 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3768,V 2025-01-08T22:10:19.325Z,1736374219.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:10:19.326Z,1736374219.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:19.365Z,1736374219.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 404.799988 m, deltaT: 4.031344 s, deltaX: 21.899994 m, approachRate: 5.432430 m/s, rangeRepo size: 4 2025-01-08T22:10:19.366Z,1736374219.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:19.374Z,1736374219.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 132.531082 m, bearing: 98.125061 deg, approach rate: 0.391983 m/s, LOS rate: 0.200163 deg/s, cmd heading: 337.348808 deg, new cmd heading: 337.696022 deg. 2025-01-08T22:10:19.375Z,1736374219.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.893908 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:19.437Z,1736374219.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:19.438Z,1736374219.438 [DAT](INFO): DAT read: TxSync time:22:10:18.5954 2025-01-08T22:10:19.681Z,1736374219.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:10:19.682Z,1736374219.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:19.688Z,1736374219.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:19.693Z,1736374219.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:19.695Z,1736374219.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 132.677231 m, bearing: 98.200752 deg, approach rate: 0.445357 m/s, LOS rate: 0.230397 deg/s, cmd heading: 337.696027 deg, new cmd heading: 337.922848 deg. 2025-01-08T22:10:19.696Z,1736374219.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.897866 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:19.943Z,1736374219.943 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:20.054Z,1736374220.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:10:20.055Z,1736374220.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:20.106Z,1736374220.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:20.115Z,1736374220.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 132.830231 m, bearing: 98.280039 deg, approach rate: 0.370222 m/s, LOS rate: 0.191635 deg/s, cmd heading: 337.922844 deg, new cmd heading: 338.160430 deg. 2025-01-08T22:10:20.122Z,1736374220.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902013 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:20.197Z,1736374220.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:20.225Z,1736374220.225 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:10:20.448Z,1736374220.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:20.484Z,1736374220.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:20.517Z,1736374220.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:20.524Z,1736374220.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 133.023697 m, bearing: 98.372113 deg, approach rate: 0.470545 m/s, LOS rate: 0.223616 deg/s, cmd heading: 338.160426 deg, new cmd heading: 338.436244 deg. 2025-01-08T22:10:20.525Z,1736374220.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906827 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:20.700Z,1736374220.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:20.885Z,1736374220.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:20.892Z,1736374220.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:20.894Z,1736374220.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:20.897Z,1736374220.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 133.203445 m, bearing: 98.457770 deg, approach rate: 0.476100 m/s, LOS rate: 0.226574 deg/s, cmd heading: 338.436256 deg, new cmd heading: 338.692879 deg. 2025-01-08T22:10:20.898Z,1736374220.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911306 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:20.952Z,1736374220.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:20.952Z,1736374220.952 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:20.952Z,1736374220.952 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:20.953Z,1736374220.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:21.206Z,1736374221.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:21.209Z,1736374221.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979230 2025-01-08T22:10:21.228Z,1736374221.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:10:21.309Z,1736374221.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:21.318Z,1736374221.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:21.320Z,1736374221.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 133.400360 m, bearing: 98.548480 deg, approach rate: 0.465441 m/s, LOS rate: 0.214091 deg/s, cmd heading: 338.692880 deg, new cmd heading: 338.964605 deg. 2025-01-08T22:10:21.322Z,1736374221.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916049 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:21.456Z,1736374221.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:21.457Z,1736374221.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227737 2025-01-08T22:10:21.685Z,1736374221.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:21.694Z,1736374221.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:21.697Z,1736374221.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 133.573547 m, bearing: 98.629029 deg, approach rate: 0.459733 m/s, LOS rate: 0.213544 deg/s, cmd heading: 338.964612 deg, new cmd heading: 339.205945 deg. 2025-01-08T22:10:21.698Z,1736374221.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920260 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:21.708Z,1736374221.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:21.709Z,1736374221.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479171 2025-01-08T22:10:21.960Z,1736374221.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:21.961Z,1736374221.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731189 2025-01-08T22:10:22.075Z,1736374222.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:22.116Z,1736374222.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:22.119Z,1736374222.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 133.753098 m, bearing: 98.712774 deg, approach rate: 0.425645 m/s, LOS rate: 0.198260 deg/s, cmd heading: 339.205936 deg, new cmd heading: 339.456832 deg. 2025-01-08T22:10:22.124Z,1736374222.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924639 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:22.216Z,1736374222.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:22.218Z,1736374222.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988500 2025-01-08T22:10:22.468Z,1736374222.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:22.468Z,1736374222.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239122 2025-01-08T22:10:22.535Z,1736374222.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:22.559Z,1736374222.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:22.568Z,1736374222.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 133.959732 m, bearing: 98.811392 deg, approach rate: 0.466797 m/s, LOS rate: 0.222440 deg/s, cmd heading: 339.456823 deg, new cmd heading: 339.752220 deg. 2025-01-08T22:10:22.569Z,1736374222.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929795 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:22.720Z,1736374222.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:22.721Z,1736374222.721 [DAT](INFO): DAT read: Rx Time:22:10:21.5108 2025-01-08T22:10:22.721Z,1736374222.721 [DAT](INFO): Rx dataTimestamp_ set to:1736374222.720995 2025-01-08T22:10:22.723Z,1736374222.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493257 2025-01-08T22:10:22.883Z,1736374222.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:22.897Z,1736374222.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:22.900Z,1736374222.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:22.902Z,1736374222.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 134.116623 m, bearing: 98.886503 deg, approach rate: 0.460686 m/s, LOS rate: 0.220293 deg/s, cmd heading: 339.752215 deg, new cmd heading: 339.977281 deg. 2025-01-08T22:10:22.903Z,1736374222.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933723 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:22.973Z,1736374222.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:22.974Z,1736374222.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.744611 2025-01-08T22:10:23.226Z,1736374223.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:23.274Z,1736374223.274 [DAT](INFO): DAT read: 22:10:21.5108 LVL= 20832, 23777, 29842, 32755, AGC= 71, IDX= 135, 0.08,-0.135,-0.879,-2.206,-1.109, PHS= 1.062, 0.278,-1.100, RAW= 51.0, -2.6, CAL= 53.3, -6.1, ROT= 96.7, 6.1 2025-01-08T22:10:23.275Z,1736374223.275 [DAT](INFO): got valid direction response: 22:10:21.5108 LVL= 20832, 23777, 29842, 32755, AGC= 71, IDX= 135, 0.08,-0.135,-0.879,-2.206,-1.109, PHS= 1.062, 0.278,-1.100, RAW= 51.0, -2.6, CAL= 53.3, -6.1, ROT= 96.7, 6.1 2025-01-08T22:10:23.277Z,1736374223.277 [DAT](INFO): DAT read: Bearing 96.7, 6.1 (Local) 2025-01-08T22:10:23.277Z,1736374223.277 [DAT](INFO): Local bearing/azimuth received: Bearing 96.7, 6.1 (Local) 2025-01-08T22:10:23.278Z,1736374223.278 [DAT](INFO): DAT read: Range 10 to 50 : 382.8 m (Round-trip 510.4 ms) speed -0.3 m/s 2025-01-08T22:10:23.279Z,1736374223.279 [DAT](INFO): DAT read: user:2360> 2025-01-08T22:10:23.280Z,1736374223.280 [DAT](INFO): DAT read: Tx time:22:10:22.5962 2025-01-08T22:10:23.280Z,1736374223.280 [DAT](INFO): Ping request sent. 2025-01-08T22:10:23.281Z,1736374223.281 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:23.281Z,1736374223.281 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:23.282Z,1736374223.282 [DAT](INFO): direction in FSK: [0.036878,0.687921,0.724848] 2025-01-08T22:10:23.282Z,1736374223.282 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:23.282Z,1736374223.282 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:23.306Z,1736374223.306 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:23.306Z,1736374223.306 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:23.400Z,1736374223.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:23.431Z,1736374223.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 382.799988 m, deltaT: 8.071053 s, deltaX: -0.100006 m, approachRate: -0.012391 m/s, rangeRepo size: 4 2025-01-08T22:10:23.444Z,1736374223.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 382.799988 m, bearing: 65.187651 deg, lat: 36.903636 deg, lon: -122.120981 deg, deltaT: 8.071053 s, deltaX: -0.100006 m, approachRate: -0.012391 m/s, posRepo size: 4 2025-01-08T22:10:23.445Z,1736374223.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T22:10:23.457Z,1736374223.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 190.712769 m, bearing: 61.871709 deg, approach rate: 0.000000 m/s, LOS rate: 0.220293 deg/s, cmd heading: 339.977283 deg, new cmd heading: 340.328080 deg. 2025-01-08T22:10:23.458Z,1736374223.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939846 target range: 382.799988 and range: 382.80 m. 2025-01-08T22:10:23.476Z,1736374223.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:23.477Z,1736374223.477 [DAT](INFO): DAT read: TxSync time:22:10:22.5955 2025-01-08T22:10:23.728Z,1736374223.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:23.761Z,1736374223.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:23.777Z,1736374223.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T22:10:23.789Z,1736374223.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 190.723206 m, bearing: 61.942888 deg, approach rate: 0.030050 m/s, LOS rate: 0.204925 deg/s, cmd heading: 340.328082 deg, new cmd heading: 340.541608 deg. 2025-01-08T22:10:23.790Z,1736374223.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943573 target range: 382.799988 and range: 382.80 m. 2025-01-08T22:10:23.980Z,1736374223.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:24.235Z,1736374224.235 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:24.302Z,1736374224.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:24.312Z,1736374224.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T22:10:24.315Z,1736374224.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 190.719589 m, bearing: 62.047513 deg, approach rate: -0.006760 m/s, LOS rate: 0.195569 deg/s, cmd heading: 340.541621 deg, new cmd heading: 340.855498 deg. 2025-01-08T22:10:24.316Z,1736374224.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949051 target range: 382.799988 and range: 382.80 m. 2025-01-08T22:10:24.484Z,1736374224.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:24.638Z,1736374224.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:24.652Z,1736374224.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T22:10:24.657Z,1736374224.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 190.717194 m, bearing: 62.112488 deg, approach rate: -0.007065 m/s, LOS rate: 0.191628 deg/s, cmd heading: 340.855509 deg, new cmd heading: 341.050434 deg. 2025-01-08T22:10:24.660Z,1736374224.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952453 target range: 382.799988 and range: 382.80 m. 2025-01-08T22:10:24.736Z,1736374224.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:24.988Z,1736374224.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:25.061Z,1736374225.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:25.067Z,1736374225.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:25.069Z,1736374225.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T22:10:25.074Z,1736374225.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 190.712524 m, bearing: 62.194295 deg, approach rate: -0.011172 m/s, LOS rate: 0.195736 deg/s, cmd heading: 341.050442 deg, new cmd heading: 341.295868 deg. 2025-01-08T22:10:25.075Z,1736374225.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956737 target range: 382.799988 and range: 382.80 m. 2025-01-08T22:10:25.242Z,1736374225.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:25.246Z,1736374225.246 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:25.246Z,1736374225.246 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:25.247Z,1736374225.247 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:25.475Z,1736374225.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:25.492Z,1736374225.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:25.492Z,1736374225.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211774 2025-01-08T22:10:25.507Z,1736374225.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T22:10:25.510Z,1736374225.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 190.687607 m, bearing: 62.271759 deg, approach rate: -0.057443 m/s, LOS rate: 0.178605 deg/s, cmd heading: 341.295865 deg, new cmd heading: 341.528287 deg. 2025-01-08T22:10:25.515Z,1736374225.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960793 target range: 382.799988 and range: 382.80 m. 2025-01-08T22:10:25.744Z,1736374225.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:25.745Z,1736374225.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464005 2025-01-08T22:10:25.856Z,1736374225.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:25.884Z,1736374225.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T22:10:25.886Z,1736374225.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 190.663467 m, bearing: 62.343076 deg, approach rate: -0.063551 m/s, LOS rate: 0.187779 deg/s, cmd heading: 341.528283 deg, new cmd heading: 341.742260 deg. 2025-01-08T22:10:25.889Z,1736374225.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964528 target range: 382.799988 and range: 382.80 m. 2025-01-08T22:10:25.996Z,1736374225.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:25.997Z,1736374225.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716913 2025-01-08T22:10:26.249Z,1736374226.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:26.252Z,1736374226.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971155 2025-01-08T22:10:26.356Z,1736374226.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:26.365Z,1736374226.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T22:10:26.368Z,1736374226.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 190.614716 m, bearing: 62.432606 deg, approach rate: -0.101234 m/s, LOS rate: 0.185956 deg/s, cmd heading: 341.742259 deg, new cmd heading: 342.010913 deg. 2025-01-08T22:10:26.368Z,1736374226.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969216 target range: 382.799988 and range: 382.80 m. 2025-01-08T22:10:26.500Z,1736374226.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:26.501Z,1736374226.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220030 2025-01-08T22:10:26.684Z,1736374226.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:26.694Z,1736374226.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T22:10:26.697Z,1736374226.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 190.580414 m, bearing: 62.491339 deg, approach rate: -0.104294 m/s, LOS rate: 0.178609 deg/s, cmd heading: 342.010904 deg, new cmd heading: 342.187134 deg. 2025-01-08T22:10:26.698Z,1736374226.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972292 target range: 382.799988 and range: 382.80 m. 2025-01-08T22:10:26.752Z,1736374226.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:26.754Z,1736374226.754 [DAT](INFO): DAT read: Rx Time:22:10:25.5116 2025-01-08T22:10:26.755Z,1736374226.755 [DAT](INFO): Rx dataTimestamp_ set to:1736374226.754236 2025-01-08T22:10:26.756Z,1736374226.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475272 2025-01-08T22:10:27.004Z,1736374227.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:27.004Z,1736374227.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.723745 2025-01-08T22:10:27.074Z,1736374227.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:27.081Z,1736374227.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:27.082Z,1736374227.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.80 m. 2025-01-08T22:10:27.085Z,1736374227.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.799988 m, nav range: 190.538437 m, bearing: 62.560899 deg, approach rate: -0.107927 m/s, LOS rate: 0.178888 deg/s, cmd heading: 342.187123 deg, new cmd heading: 342.395850 deg. 2025-01-08T22:10:27.086Z,1736374227.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975935 target range: 382.799988 and range: 382.80 m. 2025-01-08T22:10:27.260Z,1736374227.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:27.316Z,1736374227.316 [DAT](INFO): DAT read: 22:10:25.5116 LVL= 20032, 25569, 23842, 31155, AGC= 69, IDX= 430, 0.15,-2.824, 2.763, 1.446, 2.494, PHS= 1.053, 0.316,-1.051, RAW= 50.2, -3.5, CAL= 52.9, -7.5, ROT= 97.1, 7.5 2025-01-08T22:10:27.317Z,1736374227.317 [DAT](INFO): got valid direction response: 22:10:25.5116 LVL= 20032, 25569, 23842, 31155, AGC= 69, IDX= 430, 0.15,-2.824, 2.763, 1.446, 2.494, PHS= 1.053, 0.316,-1.051, RAW= 50.2, -3.5, CAL= 52.9, -7.5, ROT= 97.1, 7.5 2025-01-08T22:10:27.318Z,1736374227.318 [DAT](INFO): DAT read: Bearing 97.1, 7.5 (Local) 2025-01-08T22:10:27.318Z,1736374227.318 [DAT](INFO): Local bearing/azimuth received: Bearing 97.1, 7.5 (Local) 2025-01-08T22:10:27.324Z,1736374227.324 [DAT](INFO): DAT read: Range 10 to 50 : 383.4 m (Round-trip 511.2 ms) speed 0.2 m/s 2025-01-08T22:10:27.325Z,1736374227.325 [DAT](INFO): DAT read: user:2361> 2025-01-08T22:10:27.326Z,1736374227.326 [DAT](INFO): DAT read: Tx time:22:10:26.5962 2025-01-08T22:10:27.326Z,1736374227.326 [DAT](INFO): Ping request sent. 2025-01-08T22:10:27.326Z,1736374227.326 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:27.327Z,1736374227.327 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:27.333Z,1736374227.333 [DAT](INFO): direction in FSK: [0.055508,0.695653,0.716230] 2025-01-08T22:10:27.334Z,1736374227.334 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:27.334Z,1736374227.334 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:27.341Z,1736374227.341 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:27.342Z,1736374227.342 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:27.512Z,1736374227.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:27.513Z,1736374227.513 [DAT](INFO): DAT read: TxSync time:22:10:26.5955 2025-01-08T22:10:27.542Z,1736374227.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:27.573Z,1736374227.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 383.399994 m, deltaT: 4.034227 s, deltaX: 0.600006 m, approachRate: 0.148729 m/s, rangeRepo size: 4 2025-01-08T22:10:27.580Z,1736374227.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 383.399994 m, bearing: 67.216238 deg, lat: 36.903636 deg, lon: -122.120843 deg, deltaT: 4.034227 s, deltaX: 0.600006 m, approachRate: 0.148729 m/s, posRepo size: 4 2025-01-08T22:10:27.580Z,1736374227.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:10:27.583Z,1736374227.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 201.453629 m, bearing: 64.247409 deg, approach rate: 0.000000 m/s, LOS rate: 0.178888 deg/s, cmd heading: 342.395853 deg, new cmd heading: 342.656038 deg. 2025-01-08T22:10:27.588Z,1736374227.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980476 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:10:27.764Z,1736374227.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:27.915Z,1736374227.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:27.929Z,1736374227.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:10:27.931Z,1736374227.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 201.407227 m, bearing: 64.309687 deg, approach rate: -0.128451 m/s, LOS rate: 0.172440 deg/s, cmd heading: 342.656029 deg, new cmd heading: 342.842906 deg. 2025-01-08T22:10:27.932Z,1736374227.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.983737 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:10:28.016Z,1736374228.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:28.270Z,1736374228.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:28.398Z,1736374228.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:28.407Z,1736374228.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:10:28.410Z,1736374228.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 201.341476 m, bearing: 64.388947 deg, approach rate: -0.137379 m/s, LOS rate: 0.165660 deg/s, cmd heading: 342.842903 deg, new cmd heading: 343.080759 deg. 2025-01-08T22:10:28.411Z,1736374228.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987889 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:10:28.520Z,1736374228.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:28.747Z,1736374228.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:28.756Z,1736374228.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:10:28.759Z,1736374228.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 201.292282 m, bearing: 64.446084 deg, approach rate: -0.140911 m/s, LOS rate: 0.163700 deg/s, cmd heading: 343.080757 deg, new cmd heading: 343.252208 deg. 2025-01-08T22:10:28.760Z,1736374228.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.990881 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:10:28.772Z,1736374228.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:29.024Z,1736374229.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:29.153Z,1736374229.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:29.180Z,1736374229.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:29.185Z,1736374229.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:10:29.188Z,1736374229.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 201.233826 m, bearing: 64.512568 deg, approach rate: -0.136302 m/s, LOS rate: 0.155065 deg/s, cmd heading: 343.252195 deg, new cmd heading: 343.451705 deg. 2025-01-08T22:10:29.189Z,1736374229.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994363 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:10:29.278Z,1736374229.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:29.280Z,1736374229.280 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:29.280Z,1736374229.280 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:29.282Z,1736374229.282 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:29.528Z,1736374229.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:29.528Z,1736374229.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.201921 2025-01-08T22:10:29.593Z,1736374229.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:29.601Z,1736374229.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:10:29.604Z,1736374229.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 201.176941 m, bearing: 64.585446 deg, approach rate: -0.136740 m/s, LOS rate: 0.175234 deg/s, cmd heading: 343.451718 deg, new cmd heading: 343.670413 deg. 2025-01-08T22:10:29.606Z,1736374229.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.998180 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:10:29.780Z,1736374229.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:29.780Z,1736374229.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454117 2025-01-08T22:10:29.958Z,1736374229.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:29.979Z,1736374229.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:10:29.996Z,1736374229.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 201.128845 m, bearing: 64.646048 deg, approach rate: -0.127344 m/s, LOS rate: 0.160497 deg/s, cmd heading: 343.670421 deg, new cmd heading: 343.852271 deg. 2025-01-08T22:10:29.996Z,1736374229.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001354 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:10:30.032Z,1736374230.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:30.033Z,1736374230.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706185 2025-01-08T22:10:30.285Z,1736374230.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:30.290Z,1736374230.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962992 2025-01-08T22:10:30.451Z,1736374230.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:30.460Z,1736374230.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:10:30.463Z,1736374230.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 201.073090 m, bearing: 64.730442 deg, approach rate: -0.115799 m/s, LOS rate: 0.175327 deg/s, cmd heading: 343.852268 deg, new cmd heading: 344.105519 deg. 2025-01-08T22:10:30.464Z,1736374230.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.005774 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:10:30.537Z,1736374230.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:30.538Z,1736374230.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211431 2025-01-08T22:10:30.783Z,1736374230.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:30.788Z,1736374230.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:30.789Z,1736374230.789 [DAT](INFO): DAT read: Rx Time:22:10:29.5110 2025-01-08T22:10:30.790Z,1736374230.790 [DAT](INFO): Rx dataTimestamp_ set to:1736374230.789431 2025-01-08T22:10:30.790Z,1736374230.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463931 2025-01-08T22:10:30.796Z,1736374230.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:10:30.799Z,1736374230.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 201.035736 m, bearing: 64.787373 deg, approach rate: -0.111153 m/s, LOS rate: 0.169439 deg/s, cmd heading: 344.105531 deg, new cmd heading: 344.276354 deg. 2025-01-08T22:10:30.800Z,1736374230.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.008756 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:10:31.041Z,1736374231.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:31.042Z,1736374231.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.715566 2025-01-08T22:10:31.224Z,1736374231.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:31.234Z,1736374231.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:31.242Z,1736374231.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:10:31.257Z,1736374231.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 200.984360 m, bearing: 64.862702 deg, approach rate: -0.115434 m/s, LOS rate: 0.169296 deg/s, cmd heading: 344.276341 deg, new cmd heading: 344.502386 deg. 2025-01-08T22:10:31.264Z,1736374231.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.012701 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:10:31.293Z,1736374231.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:31.302Z,1736374231.302 [DAT](INFO): DAT read: 22:10:29.5110 LVL= 19168, 31153, 27186, 32467, AGC= 69, IDX= 441, 0.14,-0.303,-1.133,-2.371,-1.346, PHS= 1.130, 0.260,-1.028, RAW= 53.6, -3.9, CAL= 57.3, -8.3, ROT= 92.7, 8.3 2025-01-08T22:10:31.303Z,1736374231.303 [DAT](INFO): got valid direction response: 22:10:29.5110 LVL= 19168, 31153, 27186, 32467, AGC= 69, IDX= 441, 0.14,-0.303,-1.133,-2.371,-1.346, PHS= 1.130, 0.260,-1.028, RAW= 53.6, -3.9, CAL= 57.3, -8.3, ROT= 92.7, 8.3 2025-01-08T22:10:31.304Z,1736374231.304 [DAT](INFO): DAT read: Bearing 92.7, 8.3 (Local) 2025-01-08T22:10:31.304Z,1736374231.304 [DAT](INFO): Local bearing/azimuth received: Bearing 92.7, 8.3 (Local) 2025-01-08T22:10:31.308Z,1736374231.308 [DAT](INFO): DAT read: Range 10 to 50 : 382.9 m (Round-trip 510.6 ms) speed 0.0 m/s 2025-01-08T22:10:31.311Z,1736374231.311 [DAT](INFO): DAT read: user:2362> 2025-01-08T22:10:31.318Z,1736374231.318 [DAT](INFO): DAT read: Tx time:22:10:30.5962 2025-01-08T22:10:31.320Z,1736374231.320 [DAT](INFO): Ping request sent. 2025-01-08T22:10:31.320Z,1736374231.320 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:31.321Z,1736374231.321 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:31.325Z,1736374231.325 [DAT](INFO): direction in FSK: [0.056181,0.653851,0.754535] 2025-01-08T22:10:31.326Z,1736374231.326 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:31.380Z,1736374231.380 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:31.389Z,1736374231.389 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:31.390Z,1736374231.390 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:31.545Z,1736374231.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:31.547Z,1736374231.547 [DAT](INFO): DAT read: TxSync time:22:10:30.5955 2025-01-08T22:10:31.690Z,1736374231.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:31.704Z,1736374231.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 382.899994 m, deltaT: 4.032807 s, deltaX: -0.500000 m, approachRate: -0.123983 m/s, rangeRepo size: 4 2025-01-08T22:10:31.706Z,1736374231.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 382.899994 m, bearing: 68.030528 deg, lat: 36.903636 deg, lon: -122.120784 deg, deltaT: 4.032807 s, deltaX: -0.500000 m, approachRate: -0.123983 m/s, posRepo size: 4 2025-01-08T22:10:31.707Z,1736374231.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:31.710Z,1736374231.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 205.646942 m, bearing: 65.556765 deg, approach rate: 0.000000 m/s, LOS rate: 0.169296 deg/s, cmd heading: 344.502393 deg, new cmd heading: 344.736634 deg. 2025-01-08T22:10:31.711Z,1736374231.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.016789 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:31.796Z,1736374231.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:32.034Z,1736374232.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:32.044Z,1736374232.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:32.047Z,1736374232.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 205.623474 m, bearing: 65.617663 deg, approach rate: -0.068857 m/s, LOS rate: 0.178698 deg/s, cmd heading: 344.736641 deg, new cmd heading: 344.919353 deg. 2025-01-08T22:10:32.048Z,1736374232.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:32.049Z,1736374232.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019979 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:32.300Z,1736374232.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:32.444Z,1736374232.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:32.469Z,1736374232.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:32.476Z,1736374232.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 205.612061 m, bearing: 65.691042 deg, approach rate: -0.026833 m/s, LOS rate: 0.172523 deg/s, cmd heading: 344.919362 deg, new cmd heading: 345.139510 deg. 2025-01-08T22:10:32.477Z,1736374232.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023821 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:32.552Z,1736374232.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:32.804Z,1736374232.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:32.841Z,1736374232.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:32.849Z,1736374232.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:32.852Z,1736374232.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 205.601349 m, bearing: 65.761963 deg, approach rate: -0.028150 m/s, LOS rate: 0.186392 deg/s, cmd heading: 345.139513 deg, new cmd heading: 345.352288 deg. 2025-01-08T22:10:32.853Z,1736374232.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027534 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:33.056Z,1736374233.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:33.227Z,1736374233.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:33.236Z,1736374233.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:33.238Z,1736374233.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 205.589584 m, bearing: 65.831045 deg, approach rate: -0.030467 m/s, LOS rate: 0.178914 deg/s, cmd heading: 345.352287 deg, new cmd heading: 345.559542 deg. 2025-01-08T22:10:33.239Z,1736374233.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.031152 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:33.308Z,1736374233.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:33.560Z,1736374233.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:33.688Z,1736374233.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:33.696Z,1736374233.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:33.698Z,1736374233.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:33.700Z,1736374233.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 205.596268 m, bearing: 65.915201 deg, approach rate: 0.014461 m/s, LOS rate: 0.182090 deg/s, cmd heading: 345.559542 deg, new cmd heading: 345.812002 deg. 2025-01-08T22:10:33.701Z,1736374233.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035558 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:33.812Z,1736374233.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:33.813Z,1736374233.813 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:33.813Z,1736374233.813 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:33.814Z,1736374233.814 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:34.048Z,1736374234.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:34.057Z,1736374234.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:34.060Z,1736374234.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 205.601166 m, bearing: 65.980952 deg, approach rate: 0.013623 m/s, LOS rate: 0.182870 deg/s, cmd heading: 345.812013 deg, new cmd heading: 346.009260 deg. 2025-01-08T22:10:34.061Z,1736374234.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039001 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:34.064Z,1736374234.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:34.065Z,1736374234.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745140 2025-01-08T22:10:34.316Z,1736374234.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:34.316Z,1736374234.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996836 2025-01-08T22:10:34.471Z,1736374234.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:34.481Z,1736374234.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:34.500Z,1736374234.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 205.616287 m, bearing: 66.059672 deg, approach rate: 0.035686 m/s, LOS rate: 0.185761 deg/s, cmd heading: 346.009269 deg, new cmd heading: 346.245409 deg. 2025-01-08T22:10:34.501Z,1736374234.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043122 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:34.568Z,1736374234.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:34.569Z,1736374234.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249761 2025-01-08T22:10:34.820Z,1736374234.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:34.821Z,1736374234.821 [DAT](INFO): DAT read: Rx Time:22:10:33.5101 2025-01-08T22:10:34.821Z,1736374234.821 [DAT](INFO): Rx dataTimestamp_ set to:1736374234.820697 2025-01-08T22:10:34.821Z,1736374234.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501920 2025-01-08T22:10:34.867Z,1736374234.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:34.887Z,1736374234.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:34.893Z,1736374234.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 205.629791 m, bearing: 66.133374 deg, approach rate: 0.033575 m/s, LOS rate: 0.183236 deg/s, cmd heading: 346.245402 deg, new cmd heading: 346.466494 deg. 2025-01-08T22:10:34.894Z,1736374234.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.046981 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:35.073Z,1736374235.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:35.074Z,1736374235.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754290 2025-01-08T22:10:35.248Z,1736374235.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:35.258Z,1736374235.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.90 m. 2025-01-08T22:10:35.261Z,1736374235.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.899994 m, nav range: 205.642746 m, bearing: 66.204271 deg, approach rate: 0.034540 m/s, LOS rate: 0.189017 deg/s, cmd heading: 346.466482 deg, new cmd heading: 346.679158 deg. 2025-01-08T22:10:35.262Z,1736374235.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050693 target range: 382.899994 and range: 382.90 m. 2025-01-08T22:10:35.325Z,1736374235.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:35.333Z,1736374235.333 [DAT](INFO): DAT read: 22:10:33.5101 LVL= 20720, 20561, 26402, 32339, AGC= 65, IDX= 432,-0.32,-2.413, 3.083, 1.943, 2.965, PHS= 0.993, 0.164,-1.026, RAW= 54.1, -1.5, CAL= 56.4, -4.8, ROT= 93.6, 4.8 2025-01-08T22:10:35.334Z,1736374235.334 [DAT](INFO): got valid direction response: 22:10:33.5101 LVL= 20720, 20561, 26402, 32339, AGC= 65, IDX= 432,-0.32,-2.413, 3.083, 1.943, 2.965, PHS= 0.993, 0.164,-1.026, RAW= 54.1, -1.5, CAL= 56.4, -4.8, ROT= 93.6, 4.8 2025-01-08T22:10:35.335Z,1736374235.335 [DAT](INFO): DAT read: Bearing 93.6, 4.8 (Local) 2025-01-08T22:10:35.336Z,1736374235.336 [DAT](INFO): Local bearing/azimuth received: Bearing 93.6, 4.8 (Local) 2025-01-08T22:10:35.337Z,1736374235.337 [DAT](INFO): DAT read: Range 10 to 50 : 382.2 m (Round-trip 509.7 ms) speed 0.0 m/s 2025-01-08T22:10:35.338Z,1736374235.338 [DAT](INFO): DAT read: user:2363> 2025-01-08T22:10:35.339Z,1736374235.339 [DAT](INFO): DAT read: Tx time:22:10:34.5962 2025-01-08T22:10:35.340Z,1736374235.340 [DAT](INFO): Ping request sent. 2025-01-08T22:10:35.341Z,1736374235.341 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:35.342Z,1736374235.342 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:35.441Z,1736374235.441 [DAT](INFO): direction in FSK: [0.010904,0.651639,0.758451] 2025-01-08T22:10:35.442Z,1736374235.442 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:35.442Z,1736374235.442 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:35.454Z,1736374235.454 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:35.454Z,1736374235.454 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:35.576Z,1736374235.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:35.577Z,1736374235.577 [DAT](INFO): DAT read: TxSync time:22:10:34.5955 2025-01-08T22:10:35.700Z,1736374235.700 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -166, +65,A 2025-01-08T22:10:35.716Z,1736374235.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:10:35.716Z,1736374235.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:35.747Z,1736374235.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 382.200012 m, deltaT: 4.031515 s, deltaX: -0.699982 m, approachRate: -0.173627 m/s, rangeRepo size: 4 2025-01-08T22:10:35.758Z,1736374235.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 382.200012 m, bearing: 73.016305 deg, lat: 36.903602 deg, lon: -122.120740 deg, deltaT: 4.031515 s, deltaX: -0.699982 m, approachRate: -0.173627 m/s, posRepo size: 4 2025-01-08T22:10:35.758Z,1736374235.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.20 m. 2025-01-08T22:10:35.769Z,1736374235.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.200012 m, nav range: 207.793564 m, bearing: 67.710427 deg, approach rate: 0.000000 m/s, LOS rate: 0.189017 deg/s, cmd heading: 346.679147 deg, new cmd heading: 346.955872 deg. 2025-01-08T22:10:35.770Z,1736374235.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055522 target range: 382.200012 and range: 382.20 m. 2025-01-08T22:10:35.828Z,1736374235.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:36.065Z,1736374236.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:10:36.065Z,1736374236.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:36.080Z,1736374236.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:36.085Z,1736374236.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:36.092Z,1736374236.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.20 m. 2025-01-08T22:10:36.094Z,1736374236.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.200012 m, nav range: 207.811356 m, bearing: 67.775144 deg, approach rate: 0.052178 m/s, LOS rate: 0.189780 deg/s, cmd heading: 346.955879 deg, new cmd heading: 347.150012 deg. 2025-01-08T22:10:36.100Z,1736374236.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.058911 target range: 382.200012 and range: 382.20 m. 2025-01-08T22:10:36.333Z,1736374236.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:36.334Z,1736374236.334 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:36.334Z,1736374236.334 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:36.335Z,1736374236.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:36.513Z,1736374236.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:36.530Z,1736374236.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.20 m. 2025-01-08T22:10:36.537Z,1736374236.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.200012 m, nav range: 207.829941 m, bearing: 67.856266 deg, approach rate: 0.041933 m/s, LOS rate: 0.183015 deg/s, cmd heading: 347.150020 deg, new cmd heading: 347.393362 deg. 2025-01-08T22:10:36.539Z,1736374236.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063158 target range: 382.200012 and range: 382.20 m. 2025-01-08T22:10:36.584Z,1736374236.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:36.586Z,1736374236.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246193 2025-01-08T22:10:36.836Z,1736374236.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:36.836Z,1736374236.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497198 2025-01-08T22:10:36.862Z,1736374236.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:36.870Z,1736374236.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.20 m. 2025-01-08T22:10:36.897Z,1736374236.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.200012 m, nav range: 207.843338 m, bearing: 67.919219 deg, approach rate: 0.039395 m/s, LOS rate: 0.185105 deg/s, cmd heading: 347.393366 deg, new cmd heading: 347.582211 deg. 2025-01-08T22:10:36.898Z,1736374236.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066454 target range: 382.200012 and range: 382.20 m. 2025-01-08T22:10:37.088Z,1736374237.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:37.089Z,1736374237.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750318 2025-01-08T22:10:37.270Z,1736374237.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:37.282Z,1736374237.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.20 m. 2025-01-08T22:10:37.284Z,1736374237.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.200012 m, nav range: 207.857315 m, bearing: 67.992811 deg, approach rate: 0.034173 m/s, LOS rate: 0.179917 deg/s, cmd heading: 347.582207 deg, new cmd heading: 347.802968 deg. 2025-01-08T22:10:37.285Z,1736374237.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.070307 target range: 382.200012 and range: 382.20 m. 2025-01-08T22:10:37.340Z,1736374237.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:37.343Z,1736374237.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003010 2025-01-08T22:10:37.592Z,1736374237.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:37.592Z,1736374237.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253301 2025-01-08T22:10:37.705Z,1736374237.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:37.735Z,1736374237.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.20 m. 2025-01-08T22:10:37.741Z,1736374237.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.200012 m, nav range: 207.868271 m, bearing: 68.068632 deg, approach rate: 0.024074 m/s, LOS rate: 0.166600 deg/s, cmd heading: 347.802959 deg, new cmd heading: 348.030408 deg. 2025-01-08T22:10:37.742Z,1736374237.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074276 target range: 382.200012 and range: 382.20 m. 2025-01-08T22:10:37.844Z,1736374237.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:37.845Z,1736374237.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505582 2025-01-08T22:10:38.073Z,1736374238.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:38.096Z,1736374238.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:38.097Z,1736374238.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757426 2025-01-08T22:10:38.099Z,1736374238.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:38.109Z,1736374238.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.20 m. 2025-01-08T22:10:38.116Z,1736374238.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.200012 m, nav range: 207.876831 m, bearing: 68.132688 deg, approach rate: 0.022863 m/s, LOS rate: 0.171082 deg/s, cmd heading: 348.030404 deg, new cmd heading: 348.222564 deg. 2025-01-08T22:10:38.117Z,1736374238.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.077630 target range: 382.200012 and range: 382.20 m. 2025-01-08T22:10:38.348Z,1736374238.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:38.348Z,1736374238.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009268 2025-01-08T22:10:38.521Z,1736374238.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:38.530Z,1736374238.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.20 m. 2025-01-08T22:10:38.533Z,1736374238.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.200012 m, nav range: 207.861542 m, bearing: 68.209435 deg, approach rate: -0.036320 m/s, LOS rate: 0.182329 deg/s, cmd heading: 348.222551 deg, new cmd heading: 348.452808 deg. 2025-01-08T22:10:38.534Z,1736374238.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081649 target range: 382.200012 and range: 382.20 m. 2025-01-08T22:10:38.601Z,1736374238.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:38.602Z,1736374238.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262994 2025-01-08T22:10:38.852Z,1736374238.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:38.852Z,1736374238.852 [DAT](INFO): DAT read: Rx Time:22:10:37.5253 2025-01-08T22:10:38.853Z,1736374238.853 [DAT](INFO): Rx dataTimestamp_ set to:1736374238.852608 2025-01-08T22:10:38.853Z,1736374238.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514327 2025-01-08T22:10:38.888Z,1736374238.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:38.925Z,1736374238.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.20 m. 2025-01-08T22:10:38.932Z,1736374238.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.200012 m, nav range: 207.848785 m, bearing: 68.272314 deg, approach rate: -0.032274 m/s, LOS rate: 0.159095 deg/s, cmd heading: 348.452810 deg, new cmd heading: 348.641457 deg. 2025-01-08T22:10:38.933Z,1736374238.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.084941 target range: 382.200012 and range: 382.20 m. 2025-01-08T22:10:39.104Z,1736374239.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:39.104Z,1736374239.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765340 2025-01-08T22:10:39.290Z,1736374239.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:39.299Z,1736374239.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.20 m. 2025-01-08T22:10:39.302Z,1736374239.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.200012 m, nav range: 207.834183 m, bearing: 68.341154 deg, approach rate: -0.039104 m/s, LOS rate: 0.184357 deg/s, cmd heading: 348.641460 deg, new cmd heading: 348.847994 deg. 2025-01-08T22:10:39.302Z,1736374239.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088546 target range: 382.200012 and range: 382.20 m. 2025-01-08T22:10:39.357Z,1736374239.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:39.370Z,1736374239.370 [DAT](INFO): DAT read: 22:10:37.5253 LVL= 16000, 28241, 27698, 25075, AGC= 67, IDX= 87, 0.18, 1.986, 0.925,-0.120, 0.833, PHS= 1.240, 0.138,-0.956, RAW= 60.1, -4.5, CAL= 65.8, -9.7, ROT= 84.2, 9.7 2025-01-08T22:10:39.372Z,1736374239.372 [DAT](INFO): got valid direction response: 22:10:37.5253 LVL= 16000, 28241, 27698, 25075, AGC= 67, IDX= 87, 0.18, 1.986, 0.925,-0.120, 0.833, PHS= 1.240, 0.138,-0.956, RAW= 60.1, -4.5, CAL= 65.8, -9.7, ROT= 84.2, 9.7 2025-01-08T22:10:39.374Z,1736374239.374 [DAT](INFO): DAT read: Bearing 84.2, 9.7 (Local) 2025-01-08T22:10:39.375Z,1736374239.375 [DAT](INFO): Local bearing/azimuth received: Bearing 84.2, 9.7 (Local) 2025-01-08T22:10:39.379Z,1736374239.379 [DAT](INFO): DAT read: Range 10 to 50 : 393.6 m (Round-trip 524.9 ms) speed 0.0 m/s 2025-01-08T22:10:39.385Z,1736374239.385 [DAT](INFO): DAT read: user:2364> 2025-01-08T22:10:39.386Z,1736374239.386 [DAT](INFO): DAT read: Tx time:22:10:38.6463 2025-01-08T22:10:39.386Z,1736374239.386 [DAT](INFO): Ping request sent. 2025-01-08T22:10:39.386Z,1736374239.386 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:39.387Z,1736374239.387 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:39.393Z,1736374239.393 [DAT](INFO): direction in FSK: [0.054117,0.569000,0.820555] 2025-01-08T22:10:39.394Z,1736374239.394 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:39.394Z,1736374239.394 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:39.446Z,1736374239.446 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:39.487Z,1736374239.487 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:39.608Z,1736374239.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:39.609Z,1736374239.609 [DAT](INFO): DAT read: TxSync time:22:10:38.6456 2025-01-08T22:10:39.746Z,1736374239.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:39.784Z,1736374239.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 393.600006 m, deltaT: 4.031853 s, deltaX: 11.399994 m, approachRate: 2.827482 m/s, rangeRepo size: 4 2025-01-08T22:10:39.786Z,1736374239.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 393.600006 m, bearing: 67.857706 deg, lat: 36.903550 deg, lon: -122.120740 deg, deltaT: 4.031853 s, deltaX: 11.399994 m, approachRate: 2.827482 m/s, posRepo size: 4 2025-01-08T22:10:39.792Z,1736374239.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.60 m. 2025-01-08T22:10:39.794Z,1736374239.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.600006 m, nav range: 205.770248 m, bearing: 69.891005 deg, approach rate: 0.000000 m/s, LOS rate: 0.184357 deg/s, cmd heading: 348.848005 deg, new cmd heading: 349.116366 deg. 2025-01-08T22:10:39.799Z,1736374239.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.093230 target range: 393.600006 and range: 393.60 m. 2025-01-08T22:10:39.860Z,1736374239.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:40.105Z,1736374240.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:40.112Z,1736374240.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:40.114Z,1736374240.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:40.116Z,1736374240.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.60 m. 2025-01-08T22:10:40.119Z,1736374240.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.600006 m, nav range: 205.743698 m, bearing: 69.952552 deg, approach rate: -0.079863 m/s, LOS rate: 0.185158 deg/s, cmd heading: 349.116377 deg, new cmd heading: 349.301041 deg. 2025-01-08T22:10:40.120Z,1736374240.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.096453 target range: 393.600006 and range: 393.60 m. 2025-01-08T22:10:40.364Z,1736374240.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:40.364Z,1736374240.364 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:40.364Z,1736374240.364 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:40.365Z,1736374240.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:40.592Z,1736374240.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:40.600Z,1736374240.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.60 m. 2025-01-08T22:10:40.602Z,1736374240.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.600006 m, nav range: 205.685959 m, bearing: 70.034485 deg, approach rate: -0.119374 m/s, LOS rate: 0.169443 deg/s, cmd heading: 349.301038 deg, new cmd heading: 349.546907 deg. 2025-01-08T22:10:40.604Z,1736374240.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.100744 target range: 393.600006 and range: 393.60 m. 2025-01-08T22:10:40.616Z,1736374240.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:40.616Z,1736374240.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230167 2025-01-08T22:10:40.868Z,1736374240.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:40.868Z,1736374240.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482090 2025-01-08T22:10:40.903Z,1736374240.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:40.930Z,1736374240.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.60 m. 2025-01-08T22:10:40.933Z,1736374240.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.600006 m, nav range: 205.648544 m, bearing: 70.086994 deg, approach rate: -0.113487 m/s, LOS rate: 0.159301 deg/s, cmd heading: 349.546897 deg, new cmd heading: 349.704452 deg. 2025-01-08T22:10:40.934Z,1736374240.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.103494 target range: 393.600006 and range: 393.60 m. 2025-01-08T22:10:41.120Z,1736374241.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:41.120Z,1736374241.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734139 2025-01-08T22:10:41.313Z,1736374241.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:41.324Z,1736374241.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.60 m. 2025-01-08T22:10:41.327Z,1736374241.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.600006 m, nav range: 205.598282 m, bearing: 70.155961 deg, approach rate: -0.127464 m/s, LOS rate: 0.174941 deg/s, cmd heading: 349.704456 deg, new cmd heading: 349.911407 deg. 2025-01-08T22:10:41.328Z,1736374241.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.107106 target range: 393.600006 and range: 393.60 m. 2025-01-08T22:10:41.372Z,1736374241.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:41.372Z,1736374241.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986132 2025-01-08T22:10:41.624Z,1736374241.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:41.625Z,1736374241.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238357 2025-01-08T22:10:41.750Z,1736374241.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:41.783Z,1736374241.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.60 m. 2025-01-08T22:10:41.786Z,1736374241.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.600006 m, nav range: 205.529495 m, bearing: 70.229229 deg, approach rate: -0.151165 m/s, LOS rate: 0.161065 deg/s, cmd heading: 349.911411 deg, new cmd heading: 350.131285 deg. 2025-01-08T22:10:41.787Z,1736374241.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.110944 target range: 393.600006 and range: 393.60 m. 2025-01-08T22:10:41.876Z,1736374241.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:41.877Z,1736374241.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490955 2025-01-08T22:10:42.115Z,1736374242.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:42.122Z,1736374242.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:42.125Z,1736374242.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.60 m. 2025-01-08T22:10:42.132Z,1736374242.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:42.133Z,1736374242.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746715 2025-01-08T22:10:42.135Z,1736374242.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.600006 m, nav range: 205.471191 m, bearing: 70.290300 deg, approach rate: -0.168624 m/s, LOS rate: 0.176678 deg/s, cmd heading: 350.131288 deg, new cmd heading: 350.314553 deg. 2025-01-08T22:10:42.136Z,1736374242.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.114142 target range: 393.600006 and range: 393.60 m. 2025-01-08T22:10:42.380Z,1736374242.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:42.381Z,1736374242.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994360 2025-01-08T22:10:42.592Z,1736374242.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:42.600Z,1736374242.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.60 m. 2025-01-08T22:10:42.603Z,1736374242.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.600006 m, nav range: 205.386703 m, bearing: 70.371109 deg, approach rate: -0.177730 m/s, LOS rate: 0.170063 deg/s, cmd heading: 350.314556 deg, new cmd heading: 350.557083 deg. 2025-01-08T22:10:42.604Z,1736374242.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.118375 target range: 393.600006 and range: 393.60 m. 2025-01-08T22:10:42.632Z,1736374242.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:42.633Z,1736374242.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246261 2025-01-08T22:10:42.884Z,1736374242.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:42.884Z,1736374242.884 [DAT](INFO): DAT read: Rx Time:22:10:41.5599 2025-01-08T22:10:42.885Z,1736374242.885 [DAT](INFO): Rx dataTimestamp_ set to:1736374242.884597 2025-01-08T22:10:42.885Z,1736374242.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499138 2025-01-08T22:10:42.963Z,1736374242.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:42.988Z,1736374242.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.60 m. 2025-01-08T22:10:42.995Z,1736374242.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.600006 m, nav range: 205.321259 m, bearing: 70.434017 deg, approach rate: -0.176324 m/s, LOS rate: 0.169542 deg/s, cmd heading: 350.557082 deg, new cmd heading: 350.745864 deg. 2025-01-08T22:10:42.996Z,1736374242.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.121670 target range: 393.600006 and range: 393.60 m. 2025-01-08T22:10:43.136Z,1736374243.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:43.136Z,1736374243.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750093 2025-01-08T22:10:43.335Z,1736374243.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:43.345Z,1736374243.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.60 m. 2025-01-08T22:10:43.348Z,1736374243.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 393.600006 m, nav range: 205.251938 m, bearing: 70.496807 deg, approach rate: -0.185650 m/s, LOS rate: 0.168218 deg/s, cmd heading: 350.745869 deg, new cmd heading: 350.934303 deg. 2025-01-08T22:10:43.349Z,1736374243.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.124959 target range: 393.600006 and range: 393.60 m. 2025-01-08T22:10:43.388Z,1736374243.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:43.398Z,1736374243.398 [DAT](INFO): DAT read: 22:10:41.5599 LVL= 11968, 21777, 17250, 19843, AGC= 70, IDX= 285,-0.30,-0.271,-1.293,-2.217,-1.209, PHS= 1.026,-0.038,-1.011, RAW= 61.5, 0.3, CAL= 64.1, -2.8, ROT= 85.9, 2.8 2025-01-08T22:10:43.400Z,1736374243.400 [DAT](INFO): got valid direction response: 22:10:41.5599 LVL= 11968, 21777, 17250, 19843, AGC= 70, IDX= 285,-0.30,-0.271,-1.293,-2.217,-1.209, PHS= 1.026,-0.038,-1.011, RAW= 61.5, 0.3, CAL= 64.1, -2.8, ROT= 85.9, 2.8 2025-01-08T22:10:43.402Z,1736374243.402 [DAT](INFO): DAT read: Bearing 85.9, 2.8 (Local) 2025-01-08T22:10:43.402Z,1736374243.402 [DAT](INFO): Local bearing/azimuth received: Bearing 85.9, 2.8 (Local) 2025-01-08T22:10:43.405Z,1736374243.405 [DAT](INFO): DAT read: Range 10 to 50 : 382.0 m (Round-trip 509.4 ms) speed 0.0 m/s 2025-01-08T22:10:43.406Z,1736374243.406 [DAT](INFO): DAT read: user:2365> 2025-01-08T22:10:43.415Z,1736374243.415 [DAT](INFO): DAT read: Tx time:22:10:42.6463 2025-01-08T22:10:43.416Z,1736374243.416 [DAT](INFO): Ping request sent. 2025-01-08T22:10:43.416Z,1736374243.416 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:43.416Z,1736374243.416 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:43.417Z,1736374243.417 [DAT](INFO): direction in FSK: [-0.037134,0.556985,0.829692] 2025-01-08T22:10:43.417Z,1736374243.417 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:43.417Z,1736374243.417 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:43.428Z,1736374243.428 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:43.429Z,1736374243.429 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:43.640Z,1736374243.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:43.641Z,1736374243.641 [DAT](INFO): DAT read: TxSync time:22:10:42.6456 2025-01-08T22:10:43.777Z,1736374243.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:43.816Z,1736374243.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 382.000000 m, deltaT: 4.031238 s, deltaX: -11.600006 m, approachRate: -2.877529 m/s, rangeRepo size: 4 2025-01-08T22:10:43.818Z,1736374243.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 382.000000 m, bearing: 81.161693 deg, lat: 36.903498 deg, lon: -122.120784 deg, deltaT: 4.031238 s, deltaX: -11.600006 m, approachRate: -2.877529 m/s, posRepo size: 4 2025-01-08T22:10:43.819Z,1736374243.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m. 2025-01-08T22:10:43.832Z,1736374243.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.000000 m, nav range: 199.531769 m, bearing: 71.784742 deg, approach rate: 0.000000 m/s, LOS rate: 0.168218 deg/s, cmd heading: 350.934300 deg, new cmd heading: 351.169647 deg. 2025-01-08T22:10:43.833Z,1736374243.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129066 target range: 382.000000 and range: 382.00 m. 2025-01-08T22:10:43.893Z,1736374243.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:44.144Z,1736374244.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:44.146Z,1736374244.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:44.174Z,1736374244.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:44.181Z,1736374244.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m. 2025-01-08T22:10:44.191Z,1736374244.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.000000 m, nav range: 199.477325 m, bearing: 71.850935 deg, approach rate: -0.147151 m/s, LOS rate: 0.178956 deg/s, cmd heading: 351.169641 deg, new cmd heading: 351.368272 deg. 2025-01-08T22:10:44.244Z,1736374244.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.132533 target range: 382.000000 and range: 382.00 m. 2025-01-08T22:10:44.396Z,1736374244.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:44.396Z,1736374244.396 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:44.396Z,1736374244.396 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:44.396Z,1736374244.396 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:44.615Z,1736374244.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:44.642Z,1736374244.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m. 2025-01-08T22:10:44.649Z,1736374244.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:44.650Z,1736374244.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233717 2025-01-08T22:10:44.658Z,1736374244.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.000000 m, nav range: 199.409698 m, bearing: 71.936438 deg, approach rate: -0.146680 m/s, LOS rate: 0.185515 deg/s, cmd heading: 351.368263 deg, new cmd heading: 351.624857 deg. 2025-01-08T22:10:44.664Z,1736374244.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137012 target range: 382.000000 and range: 382.00 m. 2025-01-08T22:10:44.900Z,1736374244.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:44.900Z,1736374244.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484689 2025-01-08T22:10:44.979Z,1736374244.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:44.991Z,1736374244.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m. 2025-01-08T22:10:44.994Z,1736374244.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.000000 m, nav range: 199.354340 m, bearing: 72.002546 deg, approach rate: -0.158691 m/s, LOS rate: 0.189559 deg/s, cmd heading: 351.624859 deg, new cmd heading: 351.823240 deg. 2025-01-08T22:10:44.995Z,1736374244.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140474 target range: 382.000000 and range: 382.00 m. 2025-01-08T22:10:45.152Z,1736374245.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:45.153Z,1736374245.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736799 2025-01-08T22:10:45.404Z,1736374245.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:45.405Z,1736374245.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988888 2025-01-08T22:10:45.470Z,1736374245.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:45.496Z,1736374245.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m. 2025-01-08T22:10:45.520Z,1736374245.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.000000 m, nav range: 199.278000 m, bearing: 72.091736 deg, approach rate: -0.151080 m/s, LOS rate: 0.176577 deg/s, cmd heading: 351.823235 deg, new cmd heading: 352.090905 deg. 2025-01-08T22:10:45.528Z,1736374245.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145145 target range: 382.000000 and range: 382.00 m. 2025-01-08T22:10:45.657Z,1736374245.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:45.658Z,1736374245.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242337 2025-01-08T22:10:45.908Z,1736374245.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:45.908Z,1736374245.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492729 2025-01-08T22:10:45.937Z,1736374245.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:45.954Z,1736374245.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m. 2025-01-08T22:10:45.961Z,1736374245.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.000000 m, nav range: 199.230682 m, bearing: 72.179074 deg, approach rate: -0.103402 m/s, LOS rate: 0.190903 deg/s, cmd heading: 352.090897 deg, new cmd heading: 352.352970 deg. 2025-01-08T22:10:45.962Z,1736374245.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.149719 target range: 382.000000 and range: 382.00 m. 2025-01-08T22:10:46.160Z,1736374246.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:46.160Z,1736374246.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744705 2025-01-08T22:10:46.284Z,1736374246.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:46.308Z,1736374246.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:46.310Z,1736374246.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m. 2025-01-08T22:10:46.313Z,1736374246.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.000000 m, nav range: 199.194443 m, bearing: 72.243956 deg, approach rate: -0.101641 m/s, LOS rate: 0.182009 deg/s, cmd heading: 352.352958 deg, new cmd heading: 352.547640 deg. 2025-01-08T22:10:46.314Z,1736374246.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.153117 target range: 382.000000 and range: 382.00 m. 2025-01-08T22:10:46.412Z,1736374246.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:46.413Z,1736374246.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996766 2025-01-08T22:10:46.664Z,1736374246.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:46.665Z,1736374246.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249512 2025-01-08T22:10:46.740Z,1736374246.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:46.757Z,1736374246.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m. 2025-01-08T22:10:46.764Z,1736374246.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.000000 m, nav range: 199.169388 m, bearing: 72.329762 deg, approach rate: -0.056065 m/s, LOS rate: 0.192032 deg/s, cmd heading: 352.547645 deg, new cmd heading: 352.805094 deg. 2025-01-08T22:10:46.765Z,1736374246.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157610 target range: 382.000000 and range: 382.00 m. 2025-01-08T22:10:46.916Z,1736374246.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:46.917Z,1736374246.917 [DAT](INFO): DAT read: Rx Time:22:10:45.5587 2025-01-08T22:10:46.918Z,1736374246.918 [DAT](INFO): Rx dataTimestamp_ set to:1736374246.917250 2025-01-08T22:10:46.918Z,1736374246.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502325 2025-01-08T22:10:47.100Z,1736374247.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:47.109Z,1736374247.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m. 2025-01-08T22:10:47.112Z,1736374247.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 382.000000 m, nav range: 199.149597 m, bearing: 72.397386 deg, approach rate: -0.056243 m/s, LOS rate: 0.192200 deg/s, cmd heading: 352.805089 deg, new cmd heading: 353.007979 deg. 2025-01-08T22:10:47.113Z,1736374247.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161151 target range: 382.000000 and range: 382.00 m. 2025-01-08T22:10:47.169Z,1736374247.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:47.170Z,1736374247.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754197 2025-01-08T22:10:47.420Z,1736374247.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:47.427Z,1736374247.427 [DAT](INFO): DAT read: 22:10:45.5587 LVL= 12160, 28833, 22242, 31939, AGC= 66, IDX= 432, 0.32, 0.074,-1.051,-1.795,-0.860, PHS= 1.022,-0.143,-0.937, RAW= 66.3, 0.7, CAL= 69.6, -2.6, ROT= 80.4, 2.6 2025-01-08T22:10:47.428Z,1736374247.428 [DAT](INFO): got valid direction response: 22:10:45.5587 LVL= 12160, 28833, 22242, 31939, AGC= 66, IDX= 432, 0.32, 0.074,-1.051,-1.795,-0.860, PHS= 1.022,-0.143,-0.937, RAW= 66.3, 0.7, CAL= 69.6, -2.6, ROT= 80.4, 2.6 2025-01-08T22:10:47.429Z,1736374247.429 [DAT](INFO): DAT read: Bearing 80.4, 2.6 (Local) 2025-01-08T22:10:47.429Z,1736374247.429 [DAT](INFO): Local bearing/azimuth received: Bearing 80.4, 2.6 (Local) 2025-01-08T22:10:47.431Z,1736374247.431 [DAT](INFO): DAT read: Range 10 to 50 : 381.2 m (Round-trip 508.3 ms) speed 0.0 m/s 2025-01-08T22:10:47.447Z,1736374247.447 [DAT](INFO): DAT read: user:2366> 2025-01-08T22:10:47.452Z,1736374247.452 [DAT](INFO): DAT read: Tx time:22:10:46.6463 2025-01-08T22:10:47.453Z,1736374247.453 [DAT](INFO): Ping request sent. 2025-01-08T22:10:47.453Z,1736374247.453 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:47.453Z,1736374247.453 [DAT](INFO): DAT read: TxSync time:22:10:46.6456 2025-01-08T22:10:47.454Z,1736374247.454 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:47.455Z,1736374247.455 [DAT](INFO): direction in FSK: [-0.054614,0.489985,0.870019] 2025-01-08T22:10:47.462Z,1736374247.462 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:47.462Z,1736374247.462 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:47.515Z,1736374247.515 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:47.516Z,1736374247.516 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:47.547Z,1736374247.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:47.661Z,1736374247.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 381.200012 m, deltaT: 4.031619 s, deltaX: -0.799988 m, approachRate: -0.198428 m/s, rangeRepo size: 4 2025-01-08T22:10:47.665Z,1736374247.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 381.200012 m, bearing: 85.074142 deg, lat: 36.903421 deg, lon: -122.121120 deg, deltaT: 4.031619 s, deltaX: -0.799988 m, approachRate: -0.198428 m/s, posRepo size: 4 2025-01-08T22:10:47.666Z,1736374247.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m. 2025-01-08T22:10:47.673Z,1736374247.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:47.690Z,1736374247.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.200012 m, nav range: 168.106216 m, bearing: 72.193289 deg, approach rate: 0.000000 m/s, LOS rate: 0.192200 deg/s, cmd heading: 353.007973 deg, new cmd heading: 353.317678 deg. 2025-01-08T22:10:47.691Z,1736374247.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166557 target range: 381.200012 and range: 381.20 m. 2025-01-08T22:10:47.924Z,1736374247.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:48.004Z,1736374248.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:48.014Z,1736374248.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m. 2025-01-08T22:10:48.037Z,1736374248.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.200012 m, nav range: 168.099518 m, bearing: 72.297194 deg, approach rate: -0.018230 m/s, LOS rate: 0.282781 deg/s, cmd heading: 353.317681 deg, new cmd heading: 353.629406 deg. 2025-01-08T22:10:48.038Z,1736374248.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171998 target range: 381.200012 and range: 381.20 m. 2025-01-08T22:10:48.176Z,1736374248.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:48.377Z,1736374248.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:48.384Z,1736374248.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:48.386Z,1736374248.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m. 2025-01-08T22:10:48.390Z,1736374248.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.200012 m, nav range: 168.094452 m, bearing: 72.381875 deg, approach rate: -0.013596 m/s, LOS rate: 0.227283 deg/s, cmd heading: 353.629411 deg, new cmd heading: 353.883459 deg. 2025-01-08T22:10:48.392Z,1736374248.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.176432 target range: 381.200012 and range: 381.20 m. 2025-01-08T22:10:48.429Z,1736374248.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:48.430Z,1736374248.430 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:48.430Z,1736374248.430 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:48.430Z,1736374248.430 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:48.680Z,1736374248.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:48.681Z,1736374248.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228162 2025-01-08T22:10:48.813Z,1736374248.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:48.821Z,1736374248.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m. 2025-01-08T22:10:48.824Z,1736374248.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.200012 m, nav range: 168.102814 m, bearing: 72.478831 deg, approach rate: 0.019235 m/s, LOS rate: 0.223015 deg/s, cmd heading: 353.883466 deg, new cmd heading: 354.174317 deg. 2025-01-08T22:10:48.825Z,1736374248.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181508 target range: 381.200012 and range: 381.20 m. 2025-01-08T22:10:48.932Z,1736374248.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:48.933Z,1736374248.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479897 2025-01-08T22:10:49.184Z,1736374249.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:49.185Z,1736374249.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732077 2025-01-08T22:10:49.245Z,1736374249.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:49.262Z,1736374249.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m. 2025-01-08T22:10:49.269Z,1736374249.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.200012 m, nav range: 168.111313 m, bearing: 72.575266 deg, approach rate: 0.019265 m/s, LOS rate: 0.218579 deg/s, cmd heading: 354.174323 deg, new cmd heading: 354.463612 deg. 2025-01-08T22:10:49.270Z,1736374249.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186557 target range: 381.200012 and range: 381.20 m. 2025-01-08T22:10:49.436Z,1736374249.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:49.436Z,1736374249.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983677 2025-01-08T22:10:49.688Z,1736374249.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:49.689Z,1736374249.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236374 2025-01-08T22:10:49.729Z,1736374249.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:49.751Z,1736374249.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m. 2025-01-08T22:10:49.754Z,1736374249.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.200012 m, nav range: 168.121658 m, bearing: 72.682494 deg, approach rate: 0.021337 m/s, LOS rate: 0.221132 deg/s, cmd heading: 354.463623 deg, new cmd heading: 354.785281 deg. 2025-01-08T22:10:49.763Z,1736374249.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.192171 target range: 381.200012 and range: 381.20 m. 2025-01-08T22:10:49.940Z,1736374249.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:49.941Z,1736374249.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488345 2025-01-08T22:10:50.160Z,1736374250.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:50.169Z,1736374250.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m. 2025-01-08T22:10:50.188Z,1736374250.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.200012 m, nav range: 168.129349 m, bearing: 72.777883 deg, approach rate: 0.018230 m/s, LOS rate: 0.226102 deg/s, cmd heading: 354.785270 deg, new cmd heading: 355.071422 deg. 2025-01-08T22:10:50.190Z,1736374250.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.197165 target range: 381.200012 and range: 381.20 m. 2025-01-08T22:10:50.192Z,1736374250.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:50.193Z,1736374250.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739902 2025-01-08T22:10:50.444Z,1736374250.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:50.444Z,1736374250.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991689 2025-01-08T22:10:50.591Z,1736374250.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:50.641Z,1736374250.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:50.650Z,1736374250.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m. 2025-01-08T22:10:50.658Z,1736374250.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.200012 m, nav range: 168.136627 m, bearing: 72.872994 deg, approach rate: 0.015154 m/s, LOS rate: 0.198019 deg/s, cmd heading: 355.071427 deg, new cmd heading: 355.356746 deg. 2025-01-08T22:10:50.664Z,1736374250.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202145 target range: 381.200012 and range: 381.20 m. 2025-01-08T22:10:50.696Z,1736374250.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:50.697Z,1736374250.697 [DAT](INFO): DAT read: Rx Time:22:10:49.5727 2025-01-08T22:10:50.697Z,1736374250.697 [DAT](INFO): Rx dataTimestamp_ set to:1736374250.697082 2025-01-08T22:10:50.698Z,1736374250.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245181 2025-01-08T22:10:50.948Z,1736374250.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:50.949Z,1736374250.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495809 2025-01-08T22:10:51.016Z,1736374251.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:51.028Z,1736374251.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m. 2025-01-08T22:10:51.031Z,1736374251.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.200012 m, nav range: 168.140549 m, bearing: 72.966990 deg, approach rate: 0.010367 m/s, LOS rate: 0.248473 deg/s, cmd heading: 355.356738 deg, new cmd heading: 355.638717 deg. 2025-01-08T22:10:51.048Z,1736374251.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207067 target range: 381.200012 and range: 381.20 m. 2025-01-08T22:10:51.200Z,1736374251.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:51.200Z,1736374251.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747593 2025-01-08T22:10:51.356Z,1736374251.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:10:51.365Z,1736374251.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:51.374Z,1736374251.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m. 2025-01-08T22:10:51.377Z,1736374251.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.200012 m, nav range: 168.142303 m, bearing: 73.044270 deg, approach rate: 0.005065 m/s, LOS rate: 0.223068 deg/s, cmd heading: 355.638716 deg, new cmd heading: 355.870553 deg. 2025-01-08T22:10:51.378Z,1736374251.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211113 target range: 381.200012 and range: 381.20 m. 2025-01-08T22:10:51.452Z,1736374251.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:51.462Z,1736374251.462 [DAT](INFO): DAT read: 22:10:49.5727 LVL= 13296, 26097, 16690, 19379, AGC= 70, IDX= 234,-0.05, 2.204, 0.898, 0.058, 0.508, PHS= 1.783, 0.437,-0.453, RAW= 66.7, -17.8, CAL= 79.7, -26.0, ROT= 70.3, 26.0 2025-01-08T22:10:51.464Z,1736374251.464 [DAT](INFO): got valid direction response: 22:10:49.5727 LVL= 13296, 26097, 16690, 19379, AGC= 70, IDX= 234,-0.05, 2.204, 0.898, 0.058, 0.508, PHS= 1.783, 0.437,-0.453, RAW= 66.7, -17.8, CAL= 79.7, -26.0, ROT= 70.3, 26.0 2025-01-08T22:10:51.465Z,1736374251.465 [DAT](INFO): DAT read: Bearing 70.3, 26.0 (Local) 2025-01-08T22:10:51.466Z,1736374251.466 [DAT](INFO): Local bearing/azimuth received: Bearing 70.3, 26.0 (Local) 2025-01-08T22:10:51.467Z,1736374251.467 [DAT](INFO): DAT read: Range 10 to 50 : 391.5 m (Round-trip 522.1 ms) speed -0.2 m/s 2025-01-08T22:10:51.468Z,1736374251.468 [DAT](INFO): DAT read: user:2367> 2025-01-08T22:10:51.469Z,1736374251.469 [DAT](INFO): DAT read: Tx time:22:10:50.6964 2025-01-08T22:10:51.469Z,1736374251.469 [DAT](INFO): Ping request sent. 2025-01-08T22:10:51.469Z,1736374251.469 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:51.469Z,1736374251.469 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:51.470Z,1736374251.470 [DAT](INFO): direction in FSK: [0.285108,0.440009,0.851531] 2025-01-08T22:10:51.471Z,1736374251.471 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:51.471Z,1736374251.471 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:51.509Z,1736374251.509 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:51.509Z,1736374251.509 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:51.704Z,1736374251.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:51.705Z,1736374251.705 [DAT](INFO): DAT read: TxSync time:22:10:50.6957 2025-01-08T22:10:51.806Z,1736374251.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:51.820Z,1736374251.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 391.500000 m, deltaT: 4.032510 s, deltaX: 10.299988 m, approachRate: 2.554237 m/s, rangeRepo size: 4 2025-01-08T22:10:51.824Z,1736374251.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 391.500000 m, bearing: 35.541513 deg, lat: 36.903421 deg, lon: -122.121150 deg, deltaT: 4.032510 s, deltaX: 10.299988 m, approachRate: 2.554237 m/s, posRepo size: 4 2025-01-08T22:10:51.825Z,1736374251.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.50 m. 2025-01-08T22:10:51.827Z,1736374251.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.500000 m, nav range: 165.593048 m, bearing: 72.871848 deg, approach rate: 0.000000 m/s, LOS rate: 0.223068 deg/s, cmd heading: 355.870560 deg, new cmd heading: 356.168508 deg. 2025-01-08T22:10:51.828Z,1736374251.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216313 target range: 391.500000 and range: 391.50 m. 2025-01-08T22:10:51.956Z,1736374251.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:52.176Z,1736374252.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:52.189Z,1736374252.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.50 m. 2025-01-08T22:10:52.196Z,1736374252.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.500000 m, nav range: 165.580658 m, bearing: 72.950198 deg, approach rate: -0.033570 m/s, LOS rate: 0.212295 deg/s, cmd heading: 356.168520 deg, new cmd heading: 356.403586 deg. 2025-01-08T22:10:52.197Z,1736374252.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220416 target range: 391.500000 and range: 391.50 m. 2025-01-08T22:10:52.208Z,1736374252.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:52.360Z,1736374252.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:10:52.460Z,1736374252.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:52.579Z,1736374252.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:52.590Z,1736374252.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.50 m. 2025-01-08T22:10:52.598Z,1736374252.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.500000 m, nav range: 165.564911 m, bearing: 73.039301 deg, approach rate: -0.039370 m/s, LOS rate: 0.222790 deg/s, cmd heading: 356.403588 deg, new cmd heading: 356.670919 deg. 2025-01-08T22:10:52.600Z,1736374252.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.225082 target range: 391.500000 and range: 391.50 m. 2025-01-08T22:10:52.713Z,1736374252.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:52.965Z,1736374252.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:53.028Z,1736374253.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:53.034Z,1736374253.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:53.036Z,1736374253.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.50 m. 2025-01-08T22:10:53.043Z,1736374253.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.500000 m, nav range: 165.534409 m, bearing: 73.134222 deg, approach rate: -0.068051 m/s, LOS rate: 0.211809 deg/s, cmd heading: 356.670921 deg, new cmd heading: 356.955735 deg. 2025-01-08T22:10:53.044Z,1736374253.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.230053 target range: 391.500000 and range: 391.50 m. 2025-01-08T22:10:53.216Z,1736374253.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:53.216Z,1736374253.216 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:53.216Z,1736374253.216 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:53.217Z,1736374253.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:53.384Z,1736374253.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:53.393Z,1736374253.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.50 m. 2025-01-08T22:10:53.396Z,1736374253.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.500000 m, nav range: 165.508972 m, bearing: 73.209839 deg, approach rate: -0.071283 m/s, LOS rate: 0.211942 deg/s, cmd heading: 356.955740 deg, new cmd heading: 357.182624 deg. 2025-01-08T22:10:53.397Z,1736374253.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234013 target range: 391.500000 and range: 391.50 m. 2025-01-08T22:10:53.468Z,1736374253.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:53.469Z,1736374253.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999380 2025-01-08T22:10:53.720Z,1736374253.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:53.723Z,1736374253.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253187 2025-01-08T22:10:53.824Z,1736374253.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:53.832Z,1736374253.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.50 m. 2025-01-08T22:10:53.835Z,1736374253.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.500000 m, nav range: 165.450546 m, bearing: 73.300389 deg, approach rate: -0.133138 m/s, LOS rate: 0.206414 deg/s, cmd heading: 357.182612 deg, new cmd heading: 357.454356 deg. 2025-01-08T22:10:53.836Z,1736374253.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238755 target range: 391.500000 and range: 391.50 m. 2025-01-08T22:10:53.973Z,1736374253.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:53.974Z,1736374253.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505017 2025-01-08T22:10:54.224Z,1736374254.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:54.224Z,1736374254.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755233 2025-01-08T22:10:54.238Z,1736374254.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:54.264Z,1736374254.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.50 m. 2025-01-08T22:10:54.267Z,1736374254.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.500000 m, nav range: 165.394592 m, bearing: 73.385650 deg, approach rate: -0.129482 m/s, LOS rate: 0.197366 deg/s, cmd heading: 357.454344 deg, new cmd heading: 357.710211 deg. 2025-01-08T22:10:54.268Z,1736374254.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.243221 target range: 391.500000 and range: 391.50 m. 2025-01-08T22:10:54.476Z,1736374254.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:54.476Z,1736374254.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007199 2025-01-08T22:10:54.592Z,1736374254.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:54.600Z,1736374254.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.50 m. 2025-01-08T22:10:54.602Z,1736374254.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.500000 m, nav range: 165.345627 m, bearing: 73.458558 deg, approach rate: -0.145899 m/s, LOS rate: 0.217303 deg/s, cmd heading: 357.710203 deg, new cmd heading: 357.928990 deg. 2025-01-08T22:10:54.629Z,1736374254.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247039 target range: 391.500000 and range: 391.50 m. 2025-01-08T22:10:54.728Z,1736374254.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:54.729Z,1736374254.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259433 2025-01-08T22:10:54.980Z,1736374254.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:54.981Z,1736374254.981 [DAT](INFO): DAT read: Rx Time:22:10:53.6073 2025-01-08T22:10:54.981Z,1736374254.981 [DAT](INFO): Rx dataTimestamp_ set to:1736374254.980703 2025-01-08T22:10:54.981Z,1736374254.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512384 2025-01-08T22:10:55.050Z,1736374255.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:55.058Z,1736374255.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:55.060Z,1736374255.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.50 m. 2025-01-08T22:10:55.063Z,1736374255.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.500000 m, nav range: 165.265656 m, bearing: 73.552978 deg, approach rate: -0.173701 m/s, LOS rate: 0.205184 deg/s, cmd heading: 357.928987 deg, new cmd heading: 358.212384 deg. 2025-01-08T22:10:55.065Z,1736374255.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.251986 target range: 391.500000 and range: 391.50 m. 2025-01-08T22:10:55.235Z,1736374255.235 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:55.238Z,1736374255.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768557 2025-01-08T22:10:55.416Z,1736374255.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:55.445Z,1736374255.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.50 m. 2025-01-08T22:10:55.452Z,1736374255.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.500000 m, nav range: 165.200623 m, bearing: 73.628497 deg, approach rate: -0.168899 m/s, LOS rate: 0.196209 deg/s, cmd heading: 358.212386 deg, new cmd heading: 358.439030 deg. 2025-01-08T22:10:55.453Z,1736374255.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255941 target range: 391.500000 and range: 391.50 m. 2025-01-08T22:10:55.486Z,1736374255.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:55.499Z,1736374255.499 [DAT](INFO): DAT read: 22:10:53.6073 LVL= 9904, 17553, 16370, 19443, AGC= 70, IDX= 273,-0.26, 1.163,-0.233,-0.644, 0.152, PHS= 1.099,-0.338,-0.798, RAW= 76.6, 0.4, CAL= 81.9, -3.7, ROT= 68.1, 3.7 2025-01-08T22:10:55.500Z,1736374255.500 [DAT](INFO): got valid direction response: 22:10:53.6073 LVL= 9904, 17553, 16370, 19443, AGC= 70, IDX= 273,-0.26, 1.163,-0.233,-0.644, 0.152, PHS= 1.099,-0.338,-0.798, RAW= 76.6, 0.4, CAL= 81.9, -3.7, ROT= 68.1, 3.7 2025-01-08T22:10:55.502Z,1736374255.502 [DAT](INFO): DAT read: Bearing 68.1, 3.7 (Local) 2025-01-08T22:10:55.503Z,1736374255.503 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, 3.7 (Local) 2025-01-08T22:10:55.521Z,1736374255.521 [DAT](INFO): DAT read: Range 10 to 50 : 380.0 m (Round-trip 506.7 ms) speed 0.3 m/s 2025-01-08T22:10:55.530Z,1736374255.530 [DAT](INFO): DAT read: user:2368> 2025-01-08T22:10:55.531Z,1736374255.531 [DAT](INFO): DAT read: Tx time:22:10:54.6964 2025-01-08T22:10:55.531Z,1736374255.531 [DAT](INFO): Ping request sent. 2025-01-08T22:10:55.531Z,1736374255.531 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:55.536Z,1736374255.536 [DAT](INFO): DAT read: TxSync time:22:10:54.6957 2025-01-08T22:10:55.536Z,1736374255.536 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:55.537Z,1736374255.537 [DAT](INFO): direction in FSK: [-0.069874,0.332172,0.940627] 2025-01-08T22:10:55.538Z,1736374255.538 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:55.538Z,1736374255.538 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:55.545Z,1736374255.545 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:55.546Z,1736374255.546 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:55.740Z,1736374255.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:55.861Z,1736374255.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:55.886Z,1736374255.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 380.000000 m, deltaT: 4.033670 s, deltaX: -11.500000 m, approachRate: -2.851002 m/s, rangeRepo size: 4 2025-01-08T22:10:55.893Z,1736374255.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 380.000000 m, bearing: 99.605461 deg, lat: 36.903156 deg, lon: -122.121422 deg, deltaT: 4.033670 s, deltaX: -11.500000 m, approachRate: -2.851002 m/s, posRepo size: 4 2025-01-08T22:10:55.893Z,1736374255.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.00 m. 2025-01-08T22:10:55.900Z,1736374255.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.000000 m, nav range: 135.332260 m, bearing: 82.838855 deg, approach rate: 0.000000 m/s, LOS rate: 0.196209 deg/s, cmd heading: 358.439039 deg, new cmd heading: 358.698259 deg. 2025-01-08T22:10:55.901Z,1736374255.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.260466 target range: 380.000000 and range: 380.00 m. 2025-01-08T22:10:55.992Z,1736374255.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:56.213Z,1736374256.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:56.238Z,1736374256.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.00 m. 2025-01-08T22:10:56.242Z,1736374256.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.000000 m, nav range: 135.292023 m, bearing: 82.929712 deg, approach rate: -0.114285 m/s, LOS rate: 0.258137 deg/s, cmd heading: 358.698258 deg, new cmd heading: 358.970910 deg. 2025-01-08T22:10:56.243Z,1736374256.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265224 target range: 380.000000 and range: 380.00 m. 2025-01-08T22:10:56.244Z,1736374256.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:56.496Z,1736374256.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:56.615Z,1736374256.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:56.625Z,1736374256.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.00 m. 2025-01-08T22:10:56.628Z,1736374256.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.000000 m, nav range: 135.244827 m, bearing: 83.033128 deg, approach rate: -0.121931 m/s, LOS rate: 0.267270 deg/s, cmd heading: 358.970919 deg, new cmd heading: 359.281270 deg. 2025-01-08T22:10:56.629Z,1736374256.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270641 target range: 380.000000 and range: 380.00 m. 2025-01-08T22:10:56.748Z,1736374256.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:56.000Z,1736374257.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:57.075Z,1736374257.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:57.081Z,1736374257.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:57.084Z,1736374257.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.00 m. 2025-01-08T22:10:57.086Z,1736374257.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.000000 m, nav range: 135.186798 m, bearing: 83.152859 deg, approach rate: -0.126554 m/s, LOS rate: 0.261229 deg/s, cmd heading: 359.281283 deg, new cmd heading: 359.640625 deg. 2025-01-08T22:10:57.088Z,1736374257.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276913 target range: 380.000000 and range: 380.00 m. 2025-01-08T22:10:57.252Z,1736374257.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:57.252Z,1736374257.252 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:10:57.252Z,1736374257.252 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:10:57.253Z,1736374257.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:10:57.421Z,1736374257.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:57.431Z,1736374257.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.00 m. 2025-01-08T22:10:57.433Z,1736374257.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.000000 m, nav range: 135.140152 m, bearing: 83.242807 deg, approach rate: -0.134300 m/s, LOS rate: 0.259060 deg/s, cmd heading: 359.640633 deg, new cmd heading: 359.910568 deg. 2025-01-08T22:10:57.434Z,1736374257.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281624 target range: 380.000000 and range: 380.00 m. 2025-01-08T22:10:57.505Z,1736374257.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:57.507Z,1736374257.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975840 2025-01-08T22:10:57.758Z,1736374257.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:57.760Z,1736374257.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228595 2025-01-08T22:10:57.850Z,1736374257.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:57.859Z,1736374257.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.00 m. 2025-01-08T22:10:57.862Z,1736374257.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.000000 m, nav range: 135.087128 m, bearing: 83.355142 deg, approach rate: -0.123900 m/s, LOS rate: 0.262592 deg/s, cmd heading: 359.910562 deg, new cmd heading: 0.247695 deg. 2025-01-08T22:10:57.862Z,1736374257.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004323 target range: 380.000000 and range: 380.00 m. 2025-01-08T22:10:58.008Z,1736374258.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:58.009Z,1736374258.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477851 2025-01-08T22:10:58.238Z,1736374258.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:58.247Z,1736374258.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.00 m. 2025-01-08T22:10:58.250Z,1736374258.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.000000 m, nav range: 135.038315 m, bearing: 83.456639 deg, approach rate: -0.125817 m/s, LOS rate: 0.261708 deg/s, cmd heading: 0.247695 deg, new cmd heading: 0.552295 deg. 2025-01-08T22:10:58.250Z,1736374258.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009639 target range: 380.000000 and range: 380.00 m. 2025-01-08T22:10:58.260Z,1736374258.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:58.261Z,1736374258.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730194 2025-01-08T22:10:58.512Z,1736374258.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:58.512Z,1736374258.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981503 2025-01-08T22:10:58.733Z,1736374258.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:58.766Z,1736374258.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:58.768Z,1736374258.768 [DAT](INFO): DAT read: Rx Time:22:10:57.6207 2025-01-08T22:10:58.769Z,1736374258.769 [DAT](INFO): Rx dataTimestamp_ set to:1736374258.768644 2025-01-08T22:10:58.770Z,1736374258.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239462 2025-01-08T22:10:58.784Z,1736374258.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.00 m. 2025-01-08T22:10:58.787Z,1736374258.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.000000 m, nav range: 134.975906 m, bearing: 83.585825 deg, approach rate: -0.116082 m/s, LOS rate: 0.240402 deg/s, cmd heading: 0.552295 deg, new cmd heading: 0.940025 deg. 2025-01-08T22:10:58.792Z,1736374258.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.016407 target range: 380.000000 and range: 380.00 m. 2025-01-08T22:10:59.016Z,1736374259.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:59.017Z,1736374259.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486116 2025-01-08T22:10:59.104Z,1736374259.104 [CTD_Seabird](ERROR): Failed to parse device response: 11 2025-01-08T22:10:59.126Z,1736374259.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:59.133Z,1736374259.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:10:59.135Z,1736374259.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.00 m. 2025-01-08T22:10:59.138Z,1736374259.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.000000 m, nav range: 134.926453 m, bearing: 83.689317 deg, approach rate: -0.140953 m/s, LOS rate: 0.295083 deg/s, cmd heading: 0.940025 deg, new cmd heading: 1.250612 deg. 2025-01-08T22:10:59.140Z,1736374259.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021827 target range: 380.000000 and range: 380.00 m. 2025-01-08T22:10:59.269Z,1736374259.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:59.272Z,1736374259.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740606 2025-01-08T22:10:59.485Z,1736374259.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:59.518Z,1736374259.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 380.00 m. 2025-01-08T22:10:59.520Z,1736374259.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:59.528Z,1736374259.528 [DAT](INFO): DAT read: 22:10:57.6207 LVL= 12816, 23969, 19570, 24003, AGC= 71, IDX= 74,-0.40,-0.785,-2.332,-2.567,-1.857, PHS= 1.160,-0.428,-0.713, RAW= 81.9, -0.2, CAL= 88.4, -4.7, ROT= 61.6, 4.7 2025-01-08T22:10:59.529Z,1736374259.529 [DAT](INFO): got valid direction response: 22:10:57.6207 LVL= 12816, 23969, 19570, 24003, AGC= 71, IDX= 74,-0.40,-0.785,-2.332,-2.567,-1.857, PHS= 1.160,-0.428,-0.713, RAW= 81.9, -0.2, CAL= 88.4, -4.7, ROT= 61.6, 4.7 2025-01-08T22:10:59.530Z,1736374259.530 [DAT](INFO): DAT read: Bearing 61.6, 4.7 (Local) 2025-01-08T22:10:59.530Z,1736374259.530 [DAT](INFO): Local bearing/azimuth received: Bearing 61.6, 4.7 (Local) 2025-01-08T22:10:59.532Z,1736374259.532 [DAT](INFO): DAT read: Range 10 to 50 : 390.0 m (Round-trip 520.1 ms) speed 0.3 m/s 2025-01-08T22:10:59.532Z,1736374259.532 [DAT](INFO): DAT read: user:2369> 2025-01-08T22:10:59.535Z,1736374259.535 [DAT](INFO): DAT read: Tx time:22:10:58.7464 2025-01-08T22:10:59.541Z,1736374259.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 380.000000 m, nav range: 134.880203 m, bearing: 83.783413 deg, approach rate: -0.120781 m/s, LOS rate: 0.245817 deg/s, cmd heading: 1.250612 deg, new cmd heading: 1.532993 deg. 2025-01-08T22:10:59.542Z,1736374259.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026756 target range: 380.000000 and range: 380.00 m. 2025-01-08T22:10:59.543Z,1736374259.543 [DAT](INFO): Ping request sent. 2025-01-08T22:10:59.544Z,1736374259.544 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:10:59.544Z,1736374259.544 [DAT](INFO): DAT read: TxSync time:22:10:58.7457 2025-01-08T22:10:59.545Z,1736374259.545 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:10:59.546Z,1736374259.546 [DAT](INFO): direction in FSK: [-0.067173,0.244935,0.967210] 2025-01-08T22:10:59.546Z,1736374259.546 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:59.546Z,1736374259.546 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:59.554Z,1736374259.554 [DAT](INFO): publishing transmit ping time 2025-01-08T22:10:59.554Z,1736374259.554 [DAT](INFO): publishing direction and range info 2025-01-08T22:10:59.774Z,1736374259.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:10:59.924Z,1736374259.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:10:59.924Z,1736374259.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:10:59.950Z,1736374259.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 390.000000 m, deltaT: 4.033942 s, deltaX: 10.000000 m, approachRate: 2.478965 m/s, rangeRepo size: 4 2025-01-08T22:10:59.957Z,1736374259.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 390.000000 m, bearing: 115.093598 deg, lat: 36.903062 deg, lon: -122.121813 deg, deltaT: 4.033942 s, deltaX: 10.000000 m, approachRate: 2.478965 m/s, posRepo size: 4 2025-01-08T22:10:59.958Z,1736374259.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.00 m. 2025-01-08T22:10:59.961Z,1736374259.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.000000 m, nav range: 99.340332 m, bearing: 87.793607 deg, approach rate: 0.000000 m/s, LOS rate: 0.245817 deg/s, cmd heading: 1.532993 deg, new cmd heading: 1.850971 deg. 2025-01-08T22:10:59.962Z,1736374259.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032306 target range: 390.000000 and range: 390.00 m. 2025-01-08T22:11:00.026Z,1736374260.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:00.276Z,1736374260.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:00.295Z,1736374260.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:11:00.295Z,1736374260.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:00.320Z,1736374260.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.00 m. 2025-01-08T22:11:00.328Z,1736374260.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.000000 m, nav range: 99.307877 m, bearing: 87.928614 deg, approach rate: -0.088676 m/s, LOS rate: 0.368988 deg/s, cmd heading: 1.850971 deg, new cmd heading: 2.256115 deg. 2025-01-08T22:11:00.329Z,1736374260.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039377 target range: 390.000000 and range: 390.00 m. 2025-01-08T22:11:00.528Z,1736374260.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:00.705Z,1736374260.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:11:00.706Z,1736374260.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:00.719Z,1736374260.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.00 m. 2025-01-08T22:11:00.721Z,1736374260.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.000000 m, nav range: 99.270531 m, bearing: 88.076325 deg, approach rate: -0.092565 m/s, LOS rate: 0.366253 deg/s, cmd heading: 2.256115 deg, new cmd heading: 2.699408 deg. 2025-01-08T22:11:00.723Z,1736374260.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047114 target range: 390.000000 and range: 390.00 m. 2025-01-08T22:11:00.782Z,1736374260.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:01.032Z,1736374261.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:01.145Z,1736374261.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:01.152Z,1736374261.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:01.154Z,1736374261.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.00 m. 2025-01-08T22:11:01.157Z,1736374261.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.000000 m, nav range: 99.280403 m, bearing: 88.245823 deg, approach rate: 0.022702 m/s, LOS rate: 0.389727 deg/s, cmd heading: 2.699408 deg, new cmd heading: 3.207837 deg. 2025-01-08T22:11:01.158Z,1736374261.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055987 target range: 390.000000 and range: 390.00 m. 2025-01-08T22:11:01.284Z,1736374261.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:01.284Z,1736374261.284 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:01.284Z,1736374261.284 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:01.285Z,1736374261.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:01.524Z,1736374261.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:01.533Z,1736374261.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.00 m. 2025-01-08T22:11:01.536Z,1736374261.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:01.537Z,1736374261.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992944 2025-01-08T22:11:01.537Z,1736374261.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.000000 m, nav range: 99.289612 m, bearing: 88.391978 deg, approach rate: 0.024299 m/s, LOS rate: 0.385622 deg/s, cmd heading: 3.207837 deg, new cmd heading: 3.646251 deg. 2025-01-08T22:11:01.538Z,1736374261.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.063639 target range: 390.000000 and range: 390.00 m. 2025-01-08T22:11:01.789Z,1736374261.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:01.791Z,1736374261.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246863 2025-01-08T22:11:01.927Z,1736374261.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:01.936Z,1736374261.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.00 m. 2025-01-08T22:11:01.940Z,1736374261.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.000000 m, nav range: 99.313950 m, bearing: 88.546203 deg, approach rate: 0.060333 m/s, LOS rate: 0.382225 deg/s, cmd heading: 3.646251 deg, new cmd heading: 4.108802 deg. 2025-01-08T22:11:01.941Z,1736374261.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071712 target range: 390.000000 and range: 390.00 m. 2025-01-08T22:11:02.040Z,1736374262.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:02.041Z,1736374262.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497170 2025-01-08T22:11:02.292Z,1736374262.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:02.293Z,1736374262.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748929 2025-01-08T22:11:02.310Z,1736374262.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:02.331Z,1736374262.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.00 m. 2025-01-08T22:11:02.338Z,1736374262.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.000000 m, nav range: 99.336922 m, bearing: 88.692879 deg, approach rate: 0.058195 m/s, LOS rate: 0.371487 deg/s, cmd heading: 4.108802 deg, new cmd heading: 4.548721 deg. 2025-01-08T22:11:02.343Z,1736374262.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079390 target range: 390.000000 and range: 390.00 m. 2025-01-08T22:11:02.544Z,1736374262.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:02.544Z,1736374262.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000753 2025-01-08T22:11:02.713Z,1736374262.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:02.722Z,1736374262.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.00 m. 2025-01-08T22:11:02.725Z,1736374262.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.000000 m, nav range: 99.361076 m, bearing: 88.847221 deg, approach rate: 0.061752 m/s, LOS rate: 0.394484 deg/s, cmd heading: 4.548721 deg, new cmd heading: 5.011623 deg. 2025-01-08T22:11:02.726Z,1736374262.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.087469 target range: 390.000000 and range: 390.00 m. 2025-01-08T22:11:02.798Z,1736374262.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:02.800Z,1736374262.800 [DAT](INFO): DAT read: Rx Time:22:11:01.6546 2025-01-08T22:11:02.802Z,1736374262.802 [DAT](INFO): Rx dataTimestamp_ set to:1736374262.800929 2025-01-08T22:11:02.804Z,1736374262.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259431 2025-01-08T22:11:03.050Z,1736374263.050 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:03.052Z,1736374263.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507934 2025-01-08T22:11:03.189Z,1736374263.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:03.196Z,1736374263.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:03.198Z,1736374263.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.00 m. 2025-01-08T22:11:03.201Z,1736374263.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.000000 m, nav range: 99.395889 m, bearing: 89.032412 deg, approach rate: 0.073045 m/s, LOS rate: 0.388435 deg/s, cmd heading: 5.011623 deg, new cmd heading: 5.566983 deg. 2025-01-08T22:11:03.202Z,1736374263.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097162 target range: 390.000000 and range: 390.00 m. 2025-01-08T22:11:03.302Z,1736374263.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:03.304Z,1736374263.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760243 2025-01-08T22:11:03.531Z,1736374263.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:03.545Z,1736374263.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.00 m. 2025-01-08T22:11:03.548Z,1736374263.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.000000 m, nav range: 99.420631 m, bearing: 89.165884 deg, approach rate: 0.071454 m/s, LOS rate: 0.385361 deg/s, cmd heading: 5.566983 deg, new cmd heading: 5.967292 deg. 2025-01-08T22:11:03.549Z,1736374263.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104149 target range: 390.000000 and range: 390.00 m. 2025-01-08T22:11:03.552Z,1736374263.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:03.560Z,1736374263.560 [DAT](INFO): DAT read: 22:11:01.6546 LVL= 15344, 25665, 20434, 30307, AGC= 67, IDX= 433, 0.13, 1.741, 0.614,-0.043, 0.360, PHS= 1.469, 0.300,-0.407, RAW= 68.1, -16.4, CAL= 80.8, -24.8, ROT= 69.2, 24.8 2025-01-08T22:11:03.561Z,1736374263.561 [DAT](INFO): got valid direction response: 22:11:01.6546 LVL= 15344, 25665, 20434, 30307, AGC= 67, IDX= 433, 0.13, 1.741, 0.614,-0.043, 0.360, PHS= 1.469, 0.300,-0.407, RAW= 68.1, -16.4, CAL= 80.8, -24.8, ROT= 69.2, 24.8 2025-01-08T22:11:03.562Z,1736374263.562 [DAT](INFO): DAT read: Bearing 69.2, 24.8 (Local) 2025-01-08T22:11:03.563Z,1736374263.563 [DAT](INFO): Local bearing/azimuth received: Bearing 69.2, 24.8 (Local) 2025-01-08T22:11:03.564Z,1736374263.564 [DAT](INFO): DAT read: Range 10 to 50 : 378.0 m (Round-trip 504.0 ms) speed 0.0 m/s 2025-01-08T22:11:03.565Z,1736374263.565 [DAT](INFO): DAT read: user:2370> 2025-01-08T22:11:03.566Z,1736374263.566 [DAT](INFO): DAT read: Tx time:22:11:02.7465 2025-01-08T22:11:03.566Z,1736374263.566 [DAT](INFO): Ping request sent. 2025-01-08T22:11:03.566Z,1736374263.566 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:03.567Z,1736374263.567 [DAT](INFO): DAT read: TxSync time:22:11:02.7458 2025-01-08T22:11:03.616Z,1736374263.616 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:03.617Z,1736374263.617 [DAT](INFO): direction in FSK: [0.257607,0.425917,0.867314] 2025-01-08T22:11:03.617Z,1736374263.617 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:03.617Z,1736374263.617 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:03.627Z,1736374263.627 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:03.640Z,1736374263.640 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:03.805Z,1736374263.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:03.961Z,1736374263.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:03.997Z,1736374263.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 378.000000 m, deltaT: 4.032267 s, deltaX: -12.000000 m, approachRate: -2.975993 m/s, rangeRepo size: 4 2025-01-08T22:11:03.999Z,1736374263.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 378.000000 m, bearing: 45.206935 deg, lat: 36.903062 deg, lon: -122.121813 deg, deltaT: 4.032267 s, deltaX: -12.000000 m, approachRate: -2.975993 m/s, posRepo size: 4 2025-01-08T22:11:04.004Z,1736374264.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.00 m. 2025-01-08T22:11:04.011Z,1736374264.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 378.000000 m, nav range: 99.452309 m, bearing: 89.330126 deg, approach rate: 0.000000 m/s, LOS rate: 0.385361 deg/s, cmd heading: 5.967292 deg, new cmd heading: 6.489041 deg. 2025-01-08T22:11:04.012Z,1736374264.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113255 target range: 378.000000 and range: 378.00 m. 2025-01-08T22:11:04.057Z,1736374264.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:04.308Z,1736374264.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:04.341Z,1736374264.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:04.349Z,1736374264.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.00 m. 2025-01-08T22:11:04.352Z,1736374264.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 378.000000 m, nav range: 99.477386 m, bearing: 89.475026 deg, approach rate: 0.070975 m/s, LOS rate: 0.409988 deg/s, cmd heading: 6.489041 deg, new cmd heading: 6.923623 deg. 2025-01-08T22:11:04.353Z,1736374264.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120840 target range: 378.000000 and range: 378.00 m. 2025-01-08T22:11:04.560Z,1736374264.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:04.740Z,1736374264.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:04.749Z,1736374264.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.00 m. 2025-01-08T22:11:04.752Z,1736374264.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 378.000000 m, nav range: 99.502731 m, bearing: 89.627705 deg, approach rate: 0.063395 m/s, LOS rate: 0.381800 deg/s, cmd heading: 6.923623 deg, new cmd heading: 7.381533 deg. 2025-01-08T22:11:04.753Z,1736374264.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128832 target range: 378.000000 and range: 378.00 m. 2025-01-08T22:11:04.814Z,1736374264.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:05.064Z,1736374265.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:05.173Z,1736374265.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:05.181Z,1736374265.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.00 m. 2025-01-08T22:11:05.184Z,1736374265.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 378.000000 m, nav range: 99.526566 m, bearing: 89.788590 deg, approach rate: 0.055188 m/s, LOS rate: 0.372439 deg/s, cmd heading: 7.381533 deg, new cmd heading: 7.864059 deg. 2025-01-08T22:11:05.185Z,1736374265.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.137254 target range: 378.000000 and range: 378.00 m. 2025-01-08T22:11:05.316Z,1736374265.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:05.551Z,1736374265.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:05.558Z,1736374265.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:05.561Z,1736374265.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.00 m. 2025-01-08T22:11:05.564Z,1736374265.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 378.000000 m, nav range: 99.546776 m, bearing: 89.930093 deg, approach rate: 0.053193 m/s, LOS rate: 0.372357 deg/s, cmd heading: 7.864060 deg, new cmd heading: 8.288477 deg. 2025-01-08T22:11:05.565Z,1736374265.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.144661 target range: 378.000000 and range: 378.00 m. 2025-01-08T22:11:05.568Z,1736374265.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:05.568Z,1736374265.568 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:05.568Z,1736374265.568 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:05.569Z,1736374265.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:05.821Z,1736374265.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:05.824Z,1736374265.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257363 2025-01-08T22:11:05.974Z,1736374265.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:05.983Z,1736374265.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.00 m. 2025-01-08T22:11:06.004Z,1736374266.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 378.000000 m, nav range: 99.554169 m, bearing: 90.085279 deg, approach rate: 0.017526 m/s, LOS rate: 0.367863 deg/s, cmd heading: 8.288476 deg, new cmd heading: 8.753989 deg. 2025-01-08T22:11:06.004Z,1736374266.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.152786 target range: 378.000000 and range: 378.00 m. 2025-01-08T22:11:06.072Z,1736374266.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:06.074Z,1736374266.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507588 2025-01-08T22:11:06.324Z,1736374266.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:06.324Z,1736374266.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758160 2025-01-08T22:11:06.360Z,1736374266.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:06.369Z,1736374266.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.00 m. 2025-01-08T22:11:06.372Z,1736374266.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 378.000000 m, nav range: 99.559982 m, bearing: 90.226784 deg, approach rate: 0.015063 m/s, LOS rate: 0.366603 deg/s, cmd heading: 8.753989 deg, new cmd heading: 9.178468 deg. 2025-01-08T22:11:06.374Z,1736374266.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.160195 target range: 378.000000 and range: 378.00 m. 2025-01-08T22:11:06.576Z,1736374266.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:06.578Z,1736374266.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011164 2025-01-08T22:11:06.757Z,1736374266.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:06.767Z,1736374266.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.00 m. 2025-01-08T22:11:06.770Z,1736374266.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 378.000000 m, nav range: 99.564384 m, bearing: 90.372204 deg, approach rate: 0.011050 m/s, LOS rate: 0.365005 deg/s, cmd heading: 9.178469 deg, new cmd heading: 9.614701 deg. 2025-01-08T22:11:06.771Z,1736374266.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167808 target range: 378.000000 and range: 378.00 m. 2025-01-08T22:11:06.830Z,1736374266.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:06.833Z,1736374266.833 [DAT](INFO): DAT read: Rx Time:22:11:05.6684 2025-01-08T22:11:06.836Z,1736374266.836 [DAT](INFO): Rx dataTimestamp_ set to:1736374266.834184 2025-01-08T22:11:06.838Z,1736374266.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271115 2025-01-08T22:11:07.084Z,1736374267.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:07.084Z,1736374267.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518103 2025-01-08T22:11:07.208Z,1736374267.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:07.216Z,1736374267.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.00 m. 2025-01-08T22:11:07.219Z,1736374267.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 378.000000 m, nav range: 99.552734 m, bearing: 90.532278 deg, approach rate: -0.025936 m/s, LOS rate: 0.356405 deg/s, cmd heading: 9.614701 deg, new cmd heading: 10.094968 deg. 2025-01-08T22:11:07.220Z,1736374267.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.176190 target range: 378.000000 and range: 378.00 m. 2025-01-08T22:11:07.337Z,1736374267.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:07.341Z,1736374267.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774618 2025-01-08T22:11:07.580Z,1736374267.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:07.589Z,1736374267.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:07.597Z,1736374267.597 [DAT](INFO): DAT read: 22:11:05.6684 LVL= 16624, 30193, 22194, 27555, AGC= 69, IDX= 66,-0.09,-2.569, 2.065, 2.060, 2.634, PHS= 1.169,-0.522,-0.576, RAW= 88.4, -0.8, CAL= 96.0, -5.7, ROT= 54.0, 5.7 2025-01-08T22:11:07.598Z,1736374267.598 [DAT](INFO): got valid direction response: 22:11:05.6684 LVL= 16624, 30193, 22194, 27555, AGC= 69, IDX= 66,-0.09,-2.569, 2.065, 2.060, 2.634, PHS= 1.169,-0.522,-0.576, RAW= 88.4, -0.8, CAL= 96.0, -5.7, ROT= 54.0, 5.7 2025-01-08T22:11:07.599Z,1736374267.599 [DAT](INFO): DAT read: Bearing 54.0, 5.7 (Local) 2025-01-08T22:11:07.599Z,1736374267.599 [DAT](INFO): Local bearing/azimuth received: Bearing 54.0, 5.7 (Local) 2025-01-08T22:11:07.601Z,1736374267.601 [DAT](INFO): DAT read: Range 10 to 50 : 388.2 m (Round-trip 517.7 ms) speed 0.3 m/s 2025-01-08T22:11:07.601Z,1736374267.601 [DAT](INFO): DAT read: user:2371> 2025-01-08T22:11:07.602Z,1736374267.602 [DAT](INFO): DAT read: Tx time:22:11:06.7965 2025-01-08T22:11:07.602Z,1736374267.602 [DAT](INFO): Ping request sent. 2025-01-08T22:11:07.603Z,1736374267.603 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:07.607Z,1736374267.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:07.609Z,1736374267.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.00 m. 2025-01-08T22:11:07.612Z,1736374267.612 [DAT](INFO): DAT read: TxSync time:22:11:06.7958 2025-01-08T22:11:07.612Z,1736374267.612 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:07.613Z,1736374267.613 [DAT](INFO): direction in FSK: [-0.066648,0.133637,0.988787] 2025-01-08T22:11:07.613Z,1736374267.613 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:07.613Z,1736374267.613 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:07.616Z,1736374267.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 378.000000 m, nav range: 99.543709 m, bearing: 90.664391 deg, approach rate: -0.022984 m/s, LOS rate: 0.336462 deg/s, cmd heading: 10.094968 deg, new cmd heading: 10.491337 deg. 2025-01-08T22:11:07.617Z,1736374267.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183108 target range: 378.000000 and range: 378.00 m. 2025-01-08T22:11:07.621Z,1736374267.621 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:07.622Z,1736374267.622 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:07.654Z,1736374267.654 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:07.654Z,1736374267.654 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:07.655Z,1736374267.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:07.841Z,1736374267.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:07.843Z,1736374267.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.239643 2025-01-08T22:11:08.040Z,1736374268.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:08.069Z,1736374268.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 388.200012 m, deltaT: 4.037158 s, deltaX: 10.200012 m, approachRate: 2.526533 m/s, rangeRepo size: 4 2025-01-08T22:11:08.076Z,1736374268.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 388.200012 m, bearing: 241.951881 deg, lat: 36.902934 deg, lon: -122.122232 deg, deltaT: 4.037158 s, deltaX: 10.200012 m, approachRate: 2.526533 m/s, posRepo size: 4 2025-01-08T22:11:08.076Z,1736374268.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T22:11:08.079Z,1736374268.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 64.251289 m, bearing: 104.120669 deg, approach rate: 0.000000 m/s, LOS rate: 0.336462 deg/s, cmd heading: 10.491337 deg, new cmd heading: 10.955327 deg. 2025-01-08T22:11:08.084Z,1736374268.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.191207 target range: 388.200012 and range: 388.20 m. 2025-01-08T22:11:08.092Z,1736374268.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:08.093Z,1736374268.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.489944 2025-01-08T22:11:08.344Z,1736374268.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:08.345Z,1736374268.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.741878 2025-01-08T22:11:08.385Z,1736374268.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:08.406Z,1736374268.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T22:11:08.413Z,1736374268.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 64.269547 m, bearing: 104.309786 deg, approach rate: 0.054142 m/s, LOS rate: 0.560667 deg/s, cmd heading: 10.955327 deg, new cmd heading: 11.522498 deg. 2025-01-08T22:11:08.414Z,1736374268.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.201106 target range: 388.200012 and range: 388.20 m. 2025-01-08T22:11:08.596Z,1736374268.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:08.596Z,1736374268.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993737 2025-01-08T22:11:08.791Z,1736374268.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:08.802Z,1736374268.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T22:11:08.805Z,1736374268.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 64.289047 m, bearing: 104.529401 deg, approach rate: 0.049240 m/s, LOS rate: 0.554364 deg/s, cmd heading: 11.522498 deg, new cmd heading: 12.181110 deg. 2025-01-08T22:11:08.806Z,1736374268.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.212600 target range: 388.200012 and range: 388.20 m. 2025-01-08T22:11:08.850Z,1736374268.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:08.852Z,1736374268.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249203 2025-01-08T22:11:09.100Z,1736374269.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:09.100Z,1736374269.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497777 2025-01-08T22:11:09.225Z,1736374269.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:09.234Z,1736374269.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T22:11:09.237Z,1736374269.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 64.289948 m, bearing: 104.762656 deg, approach rate: 0.002082 m/s, LOS rate: 0.539450 deg/s, cmd heading: 12.181110 deg, new cmd heading: 12.880831 deg. 2025-01-08T22:11:09.238Z,1736374269.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.224813 target range: 388.200012 and range: 388.20 m. 2025-01-08T22:11:09.352Z,1736374269.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:09.352Z,1736374269.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749767 2025-01-08T22:11:09.593Z,1736374269.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:09.602Z,1736374269.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T22:11:09.604Z,1736374269.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:09.605Z,1736374269.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002155 2025-01-08T22:11:09.608Z,1736374269.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 64.289352 m, bearing: 104.960276 deg, approach rate: -0.001621 m/s, LOS rate: 0.538174 deg/s, cmd heading: 12.880831 deg, new cmd heading: 13.473673 deg. 2025-01-08T22:11:09.609Z,1736374269.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.235160 target range: 388.200012 and range: 388.20 m. 2025-01-08T22:11:09.856Z,1736374269.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:09.856Z,1736374269.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253749 2025-01-08T22:11:10.023Z,1736374270.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:10.030Z,1736374270.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:10.032Z,1736374270.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T22:11:10.035Z,1736374270.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 64.276360 m, bearing: 105.198449 deg, approach rate: -0.030180 m/s, LOS rate: 0.553348 deg/s, cmd heading: 13.473673 deg, new cmd heading: 14.188298 deg. 2025-01-08T22:11:10.036Z,1736374270.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.247633 target range: 388.200012 and range: 388.20 m. 2025-01-08T22:11:10.109Z,1736374270.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:10.110Z,1736374270.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507260 2025-01-08T22:11:10.360Z,1736374270.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:10.360Z,1736374270.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757804 2025-01-08T22:11:10.445Z,1736374270.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:10.462Z,1736374270.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T22:11:10.469Z,1736374270.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 64.262070 m, bearing: 105.432127 deg, approach rate: -0.033257 m/s, LOS rate: 0.543965 deg/s, cmd heading: 14.188298 deg, new cmd heading: 14.889453 deg. 2025-01-08T22:11:10.469Z,1736374270.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.259870 target range: 388.200012 and range: 388.20 m. 2025-01-08T22:11:10.612Z,1736374270.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:10.612Z,1736374270.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009841 2025-01-08T22:11:10.809Z,1736374270.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:10.818Z,1736374270.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T22:11:10.820Z,1736374270.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 64.248581 m, bearing: 105.633800 deg, approach rate: -0.037910 m/s, LOS rate: 0.566913 deg/s, cmd heading: 14.889452 deg, new cmd heading: 15.494573 deg. 2025-01-08T22:11:10.821Z,1736374270.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.270431 target range: 388.200012 and range: 388.20 m. 2025-01-08T22:11:10.864Z,1736374270.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:10.865Z,1736374270.865 [DAT](INFO): DAT read: Rx Time:22:11:09.7017 2025-01-08T22:11:10.865Z,1736374270.865 [DAT](INFO): Rx dataTimestamp_ set to:1736374270.864825 2025-01-08T22:11:10.866Z,1736374270.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263015 2025-01-08T22:11:11.116Z,1736374271.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:11.116Z,1736374271.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513765 2025-01-08T22:11:11.248Z,1736374271.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:11.274Z,1736374271.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T22:11:11.281Z,1736374271.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 64.234802 m, bearing: 105.882434 deg, approach rate: -0.030227 m/s, LOS rate: 0.545558 deg/s, cmd heading: 15.494573 deg, new cmd heading: 16.240591 deg. 2025-01-08T22:11:11.282Z,1736374271.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.283452 target range: 388.200012 and range: 388.20 m. 2025-01-08T22:11:11.370Z,1736374271.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:11.385Z,1736374271.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781685 2025-01-08T22:11:11.607Z,1736374271.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:11.620Z,1736374271.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:11.628Z,1736374271.628 [DAT](INFO): DAT read: 22:11:09.7017 LVL= 15600, 29025, 17666, 27731, AGC= 69, IDX= 263, 0.49, 2.306, 0.638, 0.790, 1.324, PHS= 1.070,-0.639,-0.537, RAW= 93.1, 1.3, CAL= 101.3, -1.9, ROT= 48.7, 1.9 2025-01-08T22:11:11.629Z,1736374271.629 [DAT](INFO): got valid direction response: 22:11:09.7017 LVL= 15600, 29025, 17666, 27731, AGC= 69, IDX= 263, 0.49, 2.306, 0.638, 0.790, 1.324, PHS= 1.070,-0.639,-0.537, RAW= 93.1, 1.3, CAL= 101.3, -1.9, ROT= 48.7, 1.9 2025-01-08T22:11:11.630Z,1736374271.630 [DAT](INFO): DAT read: Bearing 48.7, 1.9 (Local) 2025-01-08T22:11:11.631Z,1736374271.631 [DAT](INFO): Local bearing/azimuth received: Bearing 48.7, 1.9 (Local) 2025-01-08T22:11:11.633Z,1736374271.633 [DAT](INFO): DAT read: Range 10 to 50 : 375.7 m (Round-trip 501.0 ms) speed 0.3 m/s 2025-01-08T22:11:11.634Z,1736374271.634 [DAT](INFO): DAT read: user:2372> 2025-01-08T22:11:11.635Z,1736374271.635 [DAT](INFO): DAT read: Tx time:22:11:10.7965 2025-01-08T22:11:11.635Z,1736374271.635 [DAT](INFO): Ping request sent. 2025-01-08T22:11:11.635Z,1736374271.635 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:11.637Z,1736374271.637 [DAT](INFO): DAT read: TxSync time:22:11:10.7958 2025-01-08T22:11:11.637Z,1736374271.637 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:11.639Z,1736374271.639 [DAT](INFO): direction in FSK: [-0.114559,0.055987,0.991838] 2025-01-08T22:11:11.640Z,1736374271.640 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:11.640Z,1736374271.640 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:11.656Z,1736374271.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.20 m. 2025-01-08T22:11:11.660Z,1736374271.660 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:11.660Z,1736374271.660 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:11.669Z,1736374271.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.200012 m, nav range: 64.220284 m, bearing: 106.085640 deg, approach rate: -0.042486 m/s, LOS rate: 0.594775 deg/s, cmd heading: 16.240592 deg, new cmd heading: 16.850325 deg. 2025-01-08T22:11:11.670Z,1736374271.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.294094 target range: 388.200012 and range: 388.20 m. 2025-01-08T22:11:11.872Z,1736374271.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:12.088Z,1736374272.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:12.127Z,1736374272.127 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:12.132Z,1736374272.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 375.700012 m, deltaT: 4.030931 s, deltaX: -12.500000 m, approachRate: -3.101021 m/s, rangeRepo size: 4 2025-01-08T22:11:12.134Z,1736374272.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 375.700012 m, bearing: 247.904501 deg, lat: 36.902910 deg, lon: -122.122584 deg, deltaT: 4.030931 s, deltaX: -12.500000 m, approachRate: -3.101021 m/s, posRepo size: 4 2025-01-08T22:11:12.134Z,1736374272.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:12.149Z,1736374272.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 36.731308 m, bearing: 124.377957 deg, approach rate: 0.000000 m/s, LOS rate: 0.594775 deg/s, cmd heading: 16.850324 deg, new cmd heading: 17.748775 deg. 2025-01-08T22:11:12.150Z,1736374272.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.309775 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:12.376Z,1736374272.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:12.457Z,1736374272.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:12.464Z,1736374272.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:12.466Z,1736374272.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:12.469Z,1736374272.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 36.795414 m, bearing: 124.727957 deg, approach rate: 0.184445 m/s, LOS rate: 1.005257 deg/s, cmd heading: 17.748774 deg, new cmd heading: 18.796822 deg. 2025-01-08T22:11:12.470Z,1736374272.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328066 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:12.628Z,1736374272.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:12.629Z,1736374272.629 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:12.629Z,1736374272.629 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:12.629Z,1736374272.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:12.876Z,1736374272.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:12.880Z,1736374272.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:12.881Z,1736374272.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245630 2025-01-08T22:11:12.887Z,1736374272.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:12.894Z,1736374272.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 36.867661 m, bearing: 125.125003 deg, approach rate: 0.171860 m/s, LOS rate: 0.942635 deg/s, cmd heading: 18.796822 deg, new cmd heading: 19.985447 deg. 2025-01-08T22:11:12.895Z,1736374272.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.348812 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:13.132Z,1736374273.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:13.132Z,1736374273.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497455 2025-01-08T22:11:13.305Z,1736374273.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:13.336Z,1736374273.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:13.343Z,1736374273.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 36.961021 m, bearing: 125.529279 deg, approach rate: 0.207760 m/s, LOS rate: 0.897372 deg/s, cmd heading: 19.985446 deg, new cmd heading: 21.195019 deg. 2025-01-08T22:11:13.349Z,1736374273.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.369923 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:13.384Z,1736374273.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:13.385Z,1736374273.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750028 2025-01-08T22:11:13.636Z,1736374273.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:13.636Z,1736374273.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001546 2025-01-08T22:11:13.691Z,1736374273.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:13.720Z,1736374273.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:13.724Z,1736374273.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 37.044399 m, bearing: 125.892472 deg, approach rate: 0.229446 m/s, LOS rate: 0.997211 deg/s, cmd heading: 21.195020 deg, new cmd heading: 22.282010 deg. 2025-01-08T22:11:13.725Z,1736374273.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.388894 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:13.889Z,1736374273.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:13.890Z,1736374273.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254862 2025-01-08T22:11:14.096Z,1736374274.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:14.110Z,1736374274.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:14.113Z,1736374274.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 37.148952 m, bearing: 126.259112 deg, approach rate: 0.254457 m/s, LOS rate: 0.889794 deg/s, cmd heading: 22.282010 deg, new cmd heading: 23.378693 deg. 2025-01-08T22:11:14.114Z,1736374274.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.408035 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:14.140Z,1736374274.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:14.141Z,1736374274.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506151 2025-01-08T22:11:14.392Z,1736374274.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:14.394Z,1736374274.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758312 2025-01-08T22:11:14.515Z,1736374274.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:14.521Z,1736374274.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:14.525Z,1736374274.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:14.527Z,1736374274.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 37.256199 m, bearing: 126.637436 deg, approach rate: 0.258882 m/s, LOS rate: 0.910599 deg/s, cmd heading: 23.378694 deg, new cmd heading: 24.510243 deg. 2025-01-08T22:11:14.528Z,1736374274.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427784 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:14.645Z,1736374274.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:14.646Z,1736374274.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010898 2025-01-08T22:11:14.880Z,1736374274.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:14.896Z,1736374274.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:14.897Z,1736374274.897 [DAT](INFO): DAT read: Rx Time:22:11:13.6997 2025-01-08T22:11:14.897Z,1736374274.897 [DAT](INFO): Rx dataTimestamp_ set to:1736374274.896755 2025-01-08T22:11:14.898Z,1736374274.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262672 2025-01-08T22:11:14.899Z,1736374274.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:14.902Z,1736374274.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 37.348961 m, bearing: 126.967745 deg, approach rate: 0.247684 m/s, LOS rate: 0.879762 deg/s, cmd heading: 24.510243 deg, new cmd heading: 25.498605 deg. 2025-01-08T22:11:14.903Z,1736374274.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445035 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:15.148Z,1736374275.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:15.148Z,1736374275.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513506 2025-01-08T22:11:15.317Z,1736374275.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:15.326Z,1736374275.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:15.329Z,1736374275.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 37.477715 m, bearing: 127.348561 deg, approach rate: 0.301526 m/s, LOS rate: 0.888757 deg/s, cmd heading: 25.498606 deg, new cmd heading: 26.636972 deg. 2025-01-08T22:11:15.330Z,1736374275.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464903 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:15.402Z,1736374275.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:15.417Z,1736374275.417 [DAT](INFO): DAT read: 22:11:13.6997 LVL= 25472, 32753, 31186, 32755, AGC= 67, IDX= 417, 0.34, 1.354,-0.284, 0.045, 0.527, PHS= 0.915,-0.764,-0.485, RAW= 98.9, 4.3, CAL= 108.8, 2.6, ROT= 41.2, -2.6 2025-01-08T22:11:15.418Z,1736374275.418 [DAT](INFO): got valid direction response: 22:11:13.6997 LVL= 25472, 32753, 31186, 32755, AGC= 67, IDX= 417, 0.34, 1.354,-0.284, 0.045, 0.527, PHS= 0.915,-0.764,-0.485, RAW= 98.9, 4.3, CAL= 108.8, 2.6, ROT= 41.2, -2.6 2025-01-08T22:11:15.419Z,1736374275.419 [DAT](INFO): DAT read: Bearing 41.2, -2.6 (Local) 2025-01-08T22:11:15.420Z,1736374275.420 [DAT](INFO): Local bearing/azimuth received: Bearing 41.2, -2.6 (Local) 2025-01-08T22:11:15.421Z,1736374275.421 [DAT](INFO): DAT read: Rang50 : 374.1 m (Round-trip 498.9 ms) speeds 2025-01-08T22:11:15.421Z,1736374275.421 [DAT](INFO): unknown deviceResponse_: Rang50 : 374.1 m (Round-trip 498.9 ms) speeds 2025-01-08T22:11:15.422Z,1736374275.422 [DAT](INFO): DAT read: user:2373> 2025-01-08T22:11:15.429Z,1736374275.429 [DAT](INFO): DAT read: Tx time:22:11:14.7966 2025-01-08T22:11:15.430Z,1736374275.430 [DAT](INFO): Ping request sent. 2025-01-08T22:11:15.445Z,1736374275.445 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:15.447Z,1736374275.447 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T22:11:15.453Z,1736374275.453 [DAT](INFO): direction in FSK: [-0.180993,-0.043600,0.982517] 2025-01-08T22:11:15.453Z,1736374275.453 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:15.461Z,1736374275.461 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:15.653Z,1736374275.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:15.655Z,1736374275.655 [DAT](INFO): DAT read: TxSync time:22:11:14.7958 2025-01-08T22:11:15.696Z,1736374275.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:15.721Z,1736374275.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:15.735Z,1736374275.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 37.585854 m, bearing: 127.682347 deg, approach rate: 0.274013 m/s, LOS rate: 0.843341 deg/s, cmd heading: 26.636971 deg, new cmd heading: 27.635341 deg. 2025-01-08T22:11:15.736Z,1736374275.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.482328 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:15.904Z,1736374275.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:16.136Z,1736374276.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:16.145Z,1736374276.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:16.148Z,1736374276.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 37.723778 m, bearing: 128.047334 deg, approach rate: 0.324731 m/s, LOS rate: 0.856182 deg/s, cmd heading: 27.635342 deg, new cmd heading: 28.726158 deg. 2025-01-08T22:11:16.149Z,1736374276.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501366 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:16.156Z,1736374276.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:16.408Z,1736374276.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:16.496Z,1736374276.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:16.508Z,1736374276.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:16.510Z,1736374276.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 37.835236 m, bearing: 128.347898 deg, approach rate: 0.307935 m/s, LOS rate: 0.827947 deg/s, cmd heading: 28.726157 deg, new cmd heading: 29.625115 deg. 2025-01-08T22:11:16.512Z,1736374276.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517056 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:16.661Z,1736374276.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:16.901Z,1736374276.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:16.908Z,1736374276.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:16.910Z,1736374276.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:16.912Z,1736374276.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:16.912Z,1736374276.912 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:16.912Z,1736374276.912 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:16.912Z,1736374276.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:11:16.915Z,1736374276.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 37.957840 m, bearing: 128.685513 deg, approach rate: 0.304426 m/s, LOS rate: 0.835586 deg/s, cmd heading: 29.625116 deg, new cmd heading: 30.634580 deg. 2025-01-08T22:11:16.916Z,1736374276.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534674 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:17.165Z,1736374277.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:17.166Z,1736374277.166 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:17.166Z,1736374277.166 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:17.166Z,1736374277.166 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:11:17.326Z,1736374277.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:17.338Z,1736374277.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:17.358Z,1736374277.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 38.086533 m, bearing: 129.038210 deg, approach rate: 0.300971 m/s, LOS rate: 0.822053 deg/s, cmd heading: 30.634580 deg, new cmd heading: 31.688969 deg. 2025-01-08T22:11:17.359Z,1736374277.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553077 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:17.417Z,1736374277.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:17.418Z,1736374277.418 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:17.418Z,1736374277.418 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:17.418Z,1736374277.418 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:11:17.668Z,1736374277.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:17.669Z,1736374277.669 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:17.669Z,1736374277.669 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:17.669Z,1736374277.669 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:11:17.729Z,1736374277.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:17.742Z,1736374277.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:17.749Z,1736374277.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 38.206135 m, bearing: 129.372036 deg, approach rate: 0.295982 m/s, LOS rate: 0.823535 deg/s, cmd heading: 31.688970 deg, new cmd heading: 32.687206 deg. 2025-01-08T22:11:17.750Z,1736374277.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570499 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:17.920Z,1736374277.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:17.920Z,1736374277.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:17.921Z,1736374277.921 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:17.921Z,1736374277.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:11:18.154Z,1736374278.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:18.163Z,1736374278.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:18.165Z,1736374278.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 38.321880 m, bearing: 129.724025 deg, approach rate: 0.275016 m/s, LOS rate: 0.833809 deg/s, cmd heading: 32.687206 deg, new cmd heading: 33.739858 deg. 2025-01-08T22:11:18.166Z,1736374278.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588872 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:18.173Z,1736374278.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:18.173Z,1736374278.173 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:18.173Z,1736374278.173 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:18.173Z,1736374278.173 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:11:18.424Z,1736374278.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:18.424Z,1736374278.424 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:18.424Z,1736374278.424 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:18.424Z,1736374278.424 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:11:18.513Z,1736374278.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:18.540Z,1736374278.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:18.542Z,1736374278.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 38.417915 m, bearing: 130.022427 deg, approach rate: 0.257870 m/s, LOS rate: 0.799252 deg/s, cmd heading: 33.739857 deg, new cmd heading: 34.632751 deg. 2025-01-08T22:11:18.548Z,1736374278.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604456 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:18.676Z,1736374278.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:18.677Z,1736374278.677 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:18.677Z,1736374278.677 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:18.677Z,1736374278.677 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:11:18.928Z,1736374278.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:18.930Z,1736374278.930 [DAT](INFO): DAT read: Rx Time:22:11:17.6974 2025-01-08T22:11:18.930Z,1736374278.930 [DAT](INFO): Rx dataTimestamp_ set to:1736374278.930175 2025-01-08T22:11:18.931Z,1736374278.931 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:18.931Z,1736374278.931 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:18.932Z,1736374278.932 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:11:18.943Z,1736374278.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:18.949Z,1736374278.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:18.952Z,1736374278.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:18.954Z,1736374278.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 38.534081 m, bearing: 130.377196 deg, approach rate: 0.278994 m/s, LOS rate: 0.849475 deg/s, cmd heading: 34.632751 deg, new cmd heading: 35.693722 deg. 2025-01-08T22:11:18.956Z,1736374278.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.622973 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:19.183Z,1736374279.183 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:19.183Z,1736374279.183 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:19.183Z,1736374279.183 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:19.184Z,1736374279.184 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:11:19.401Z,1736374279.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:19.420Z,1736374279.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 375.70 m. 2025-01-08T22:11:19.432Z,1736374279.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:19.440Z,1736374279.440 [DAT](INFO): DAT read: 22:11:17.6974 LVL= 31536, 32753, 32754, 32755, AGC= 67, IDX= 427,-0.27,-0.341,-1.961,-1.388,-1.083, PHS= 0.829,-0.832,-0.309, RAW= 107.9, 4.3, CAL= 119.1, 1.7, ROT= 30.9, -1.7 2025-01-08T22:11:19.441Z,1736374279.441 [DAT](INFO): got valid direction response: 22:11:17.6974 LVL= 31536, 32753, 32754, 32755, AGC= 67, IDX= 427,-0.27,-0.341,-1.961,-1.388,-1.083, PHS= 0.829,-0.832,-0.309, RAW= 107.9, 4.3, CAL= 119.1, 1.7, ROT= 30.9, -1.7 2025-01-08T22:11:19.442Z,1736374279.442 [DAT](INFO): DAT read: Bearing 30.9, -1.7 (Local) 2025-01-08T22:11:19.442Z,1736374279.442 [DAT](INFO): Local bearing/azimuth received: Bearing 30.9, -1.7 (Local) 2025-01-08T22:11:19.444Z,1736374279.444 [DAT](INFO): DAT read: Range 10 to 50 : 372.4 m (Round-trip 496.6 ms) speed 0.4 m/s 2025-01-08T22:11:19.445Z,1736374279.445 [DAT](INFO): DAT read: user:2374> 2025-01-08T22:11:19.446Z,1736374279.446 [DAT](INFO): DAT read: Tx time:22:11:18.7966 2025-01-08T22:11:19.446Z,1736374279.446 [DAT](INFO): Ping request sent. 2025-01-08T22:11:19.446Z,1736374279.446 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:19.446Z,1736374279.446 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-01-08T22:11:19.447Z,1736374279.447 [DAT](INFO): direction in FSK: [-0.191926,-0.201683,0.960463] 2025-01-08T22:11:19.448Z,1736374279.448 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:19.448Z,1736374279.448 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:19.452Z,1736374279.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 375.700012 m, nav range: 38.640903 m, bearing: 130.761338 deg, approach rate: 0.228436 m/s, LOS rate: 0.819193 deg/s, cmd heading: 35.693722 deg, new cmd heading: 36.842798 deg. 2025-01-08T22:11:19.453Z,1736374279.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643028 target range: 375.700012 and range: 375.70 m. 2025-01-08T22:11:19.451Z,1736374279.451 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:19.468Z,1736374279.468 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:19.684Z,1736374279.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:19.685Z,1736374279.685 [DAT](INFO): DAT read: TxSync time:22:11:18.7958 2025-01-08T22:11:19.736Z,1736374279.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:19.763Z,1736374279.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 372.399994 m, deltaT: 7.811908 s, deltaX: -3.300018 m, approachRate: -0.422434 m/s, rangeRepo size: 4 2025-01-08T22:11:19.769Z,1736374279.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 372.399994 m, bearing: 272.003633 deg, lat: 36.902934 deg, lon: -122.123263 deg, deltaT: 7.811908 s, deltaX: -3.300018 m, approachRate: -0.422434 m/s, posRepo size: 4 2025-01-08T22:11:19.770Z,1736374279.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:19.777Z,1736374279.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 38.650841 m, bearing: 233.912417 deg, approach rate: 0.000000 m/s, LOS rate: 0.819193 deg/s, cmd heading: 36.842799 deg, new cmd heading: 37.685909 deg. 2025-01-08T22:11:19.778Z,1736374279.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657743 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:19.936Z,1736374279.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:20.168Z,1736374280.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:20.177Z,1736374280.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:20.184Z,1736374280.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 38.884762 m, bearing: 233.722412 deg, approach rate: 0.563437 m/s, LOS rate: -0.454906 deg/s, cmd heading: 37.685910 deg, new cmd heading: 37.119342 deg. 2025-01-08T22:11:20.185Z,1736374280.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647855 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:20.188Z,1736374280.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:20.440Z,1736374280.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:20.545Z,1736374280.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:20.554Z,1736374280.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:20.557Z,1736374280.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 39.089882 m, bearing: 233.557949 deg, approach rate: 0.545009 m/s, LOS rate: -0.434687 deg/s, cmd heading: 37.119343 deg, new cmd heading: 36.628557 deg. 2025-01-08T22:11:20.558Z,1736374280.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639289 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:20.692Z,1736374280.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:20.941Z,1736374280.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:20.944Z,1736374280.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:20.951Z,1736374280.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:20.953Z,1736374280.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 39.309914 m, bearing: 233.401119 deg, approach rate: 0.554208 m/s, LOS rate: -0.392806 deg/s, cmd heading: 36.628556 deg, new cmd heading: 36.160711 deg. 2025-01-08T22:11:20.954Z,1736374280.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631123 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:21.196Z,1736374281.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:21.374Z,1736374281.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:21.390Z,1736374281.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:21.399Z,1736374281.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:21.406Z,1736374281.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 39.568111 m, bearing: 233.266501 deg, approach rate: 0.576563 m/s, LOS rate: -0.298645 deg/s, cmd heading: 36.160712 deg, new cmd heading: 35.759499 deg. 2025-01-08T22:11:21.407Z,1736374281.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624121 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:21.448Z,1736374281.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:21.448Z,1736374281.448 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:21.448Z,1736374281.448 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:21.449Z,1736374281.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:21.700Z,1736374281.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:21.701Z,1736374281.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254466 2025-01-08T22:11:21.829Z,1736374281.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:21.858Z,1736374281.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:21.868Z,1736374281.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 39.841984 m, bearing: 233.134369 deg, approach rate: 0.595919 m/s, LOS rate: -0.285529 deg/s, cmd heading: 35.759500 deg, new cmd heading: 35.365836 deg. 2025-01-08T22:11:21.869Z,1736374281.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.617250 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:21.952Z,1736374281.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:21.953Z,1736374281.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507121 2025-01-08T22:11:22.204Z,1736374282.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:22.204Z,1736374282.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758197 2025-01-08T22:11:22.278Z,1736374282.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:22.322Z,1736374282.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:22.329Z,1736374282.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 40.123978 m, bearing: 233.038078 deg, approach rate: 0.608237 m/s, LOS rate: -0.206233 deg/s, cmd heading: 35.365835 deg, new cmd heading: 35.078994 deg. 2025-01-08T22:11:22.330Z,1736374282.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612244 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:22.456Z,1736374282.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:22.457Z,1736374282.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010874 2025-01-08T22:11:22.480Z,1736374282.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:11:22.637Z,1736374282.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:22.650Z,1736374282.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:22.656Z,1736374282.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 40.350452 m, bearing: 232.968147 deg, approach rate: 0.691060 m/s, LOS rate: -0.212186 deg/s, cmd heading: 35.078994 deg, new cmd heading: 34.870382 deg. 2025-01-08T22:11:22.657Z,1736374282.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608603 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:22.708Z,1736374282.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:22.709Z,1736374282.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262370 2025-01-08T22:11:22.960Z,1736374282.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:22.960Z,1736374282.960 [DAT](INFO): DAT read: Rx Time:22:11:21.7250 2025-01-08T22:11:22.961Z,1736374282.961 [DAT](INFO): Rx dataTimestamp_ set to:1736374282.960673 2025-01-08T22:11:22.961Z,1736374282.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515297 2025-01-08T22:11:23.051Z,1736374283.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:23.070Z,1736374283.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:23.080Z,1736374283.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 40.612576 m, bearing: 232.895497 deg, approach rate: 0.625447 m/s, LOS rate: -0.172231 deg/s, cmd heading: 34.870383 deg, new cmd heading: 34.653840 deg. 2025-01-08T22:11:23.119Z,1736374283.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604824 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:23.213Z,1736374283.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:23.213Z,1736374283.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766987 2025-01-08T22:11:23.465Z,1736374283.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:23.472Z,1736374283.472 [DAT](INFO): DAT read: 22:11:21.7250 LVL= 32688, 32753, 32754, 32755, AGC= 72, IDX= 62,-0.38,-1.197,-2.658,-1.890,-1.724, PHS= 0.615,-0.887,-0.169, RAW= 118.6, 6.8, CAL= 127.8, 2.9, ROT= 22.2, -2.9 2025-01-08T22:11:23.474Z,1736374283.474 [DAT](INFO): got valid direction response: 22:11:21.7250 LVL= 32688, 32753, 32754, 32755, AGC= 72, IDX= 62,-0.38,-1.197,-2.658,-1.890,-1.724, PHS= 0.615,-0.887,-0.169, RAW= 118.6, 6.8, CAL= 127.8, 2.9, ROT= 22.2, -2.9 2025-01-08T22:11:23.476Z,1736374283.476 [DAT](INFO): DAT read: Bearing 22.2, -2.9 (Local) 2025-01-08T22:11:23.476Z,1736374283.476 [DAT](INFO): Local bearing/azimuth received: Bearing 22.2, -2.9 (Local) 2025-01-08T22:11:23.479Z,1736374283.479 [DAT](INFO): DAT read: Range 10 to 50 : 393.1 m (Round-trip 524.2 ms) speed 0.4 m/s 2025-01-08T22:11:23.480Z,1736374283.480 [DAT](INFO): DAT read: user:2375> 2025-01-08T22:11:23.482Z,1736374283.482 [DAT](INFO): DAT read: Tx time:22:11:22.8466 2025-01-08T22:11:23.482Z,1736374283.482 [DAT](INFO): Ping request sent. 2025-01-08T22:11:23.482Z,1736374283.482 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:23.483Z,1736374283.483 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:23.484Z,1736374283.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:11:23.486Z,1736374283.486 [DAT](INFO): direction in FSK: [-0.250174,-0.377796,0.891450] 2025-01-08T22:11:23.486Z,1736374283.486 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:23.486Z,1736374283.486 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:23.490Z,1736374283.490 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:23.490Z,1736374283.490 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:23.676Z,1736374283.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:23.709Z,1736374283.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 393.100006 m, deltaT: 4.033061 s, deltaX: 20.700012 m, approachRate: 5.132581 m/s, rangeRepo size: 4 2025-01-08T22:11:23.710Z,1736374283.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:23.716Z,1736374283.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:23.717Z,1736374283.717 [DAT](INFO): DAT read: TxSync time:22:11:22.8458 2025-01-08T22:11:23.719Z,1736374283.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 41.021061 m, bearing: 232.828523 deg, approach rate: 0.638330 m/s, LOS rate: -0.103616 deg/s, cmd heading: 34.653839 deg, new cmd heading: 34.454919 deg. 2025-01-08T22:11:23.724Z,1736374283.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601352 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:23.970Z,1736374283.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:24.014Z,1736374284.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:24.037Z,1736374284.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:24.047Z,1736374284.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:24.053Z,1736374284.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 41.251389 m, bearing: 232.795681 deg, approach rate: 0.681191 m/s, LOS rate: -0.096589 deg/s, cmd heading: 34.454920 deg, new cmd heading: 34.356943 deg. 2025-01-08T22:11:24.054Z,1736374284.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599642 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:24.222Z,1736374284.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:24.223Z,1736374284.223 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:24.224Z,1736374284.224 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:24.224Z,1736374284.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:24.435Z,1736374284.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:24.445Z,1736374284.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:24.450Z,1736374284.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 41.527878 m, bearing: 232.769631 deg, approach rate: 0.694416 m/s, LOS rate: -0.064990 deg/s, cmd heading: 34.356941 deg, new cmd heading: 34.279312 deg. 2025-01-08T22:11:24.452Z,1736374284.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598287 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:24.472Z,1736374284.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:24.473Z,1736374284.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990834 2025-01-08T22:11:24.724Z,1736374284.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:24.725Z,1736374284.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242416 2025-01-08T22:11:24.824Z,1736374284.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:24.833Z,1736374284.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:24.835Z,1736374284.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 41.783463 m, bearing: 232.749717 deg, approach rate: 0.659101 m/s, LOS rate: -0.051039 deg/s, cmd heading: 34.279312 deg, new cmd heading: 34.219937 deg. 2025-01-08T22:11:24.836Z,1736374284.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597251 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:24.976Z,1736374284.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:24.976Z,1736374284.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494262 2025-01-08T22:11:25.228Z,1736374285.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:25.228Z,1736374285.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746268 2025-01-08T22:11:25.299Z,1736374285.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:25.313Z,1736374285.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:25.320Z,1736374285.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 42.087612 m, bearing: 232.724051 deg, approach rate: 0.632671 m/s, LOS rate: -0.053003 deg/s, cmd heading: 34.219938 deg, new cmd heading: 34.143496 deg. 2025-01-08T22:11:25.321Z,1736374285.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595916 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:25.480Z,1736374285.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:25.480Z,1736374285.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998236 2025-01-08T22:11:25.629Z,1736374285.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:25.638Z,1736374285.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:25.642Z,1736374285.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 42.303200 m, bearing: 232.707793 deg, approach rate: 0.664393 m/s, LOS rate: -0.049849 deg/s, cmd heading: 34.143498 deg, new cmd heading: 34.094971 deg. 2025-01-08T22:11:25.643Z,1736374285.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595070 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:25.733Z,1736374285.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:25.734Z,1736374285.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251541 2025-01-08T22:11:25.984Z,1736374285.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:25.984Z,1736374285.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502191 2025-01-08T22:11:26.052Z,1736374286.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:26.060Z,1736374286.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:26.062Z,1736374286.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:26.064Z,1736374286.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 42.576756 m, bearing: 232.687326 deg, approach rate: 0.645573 m/s, LOS rate: -0.047990 deg/s, cmd heading: 34.094972 deg, new cmd heading: 34.033966 deg. 2025-01-08T22:11:26.065Z,1736374286.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594005 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:26.236Z,1736374286.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:26.237Z,1736374286.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754593 2025-01-08T22:11:26.469Z,1736374286.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:26.478Z,1736374286.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:26.481Z,1736374286.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 42.836315 m, bearing: 232.654046 deg, approach rate: 0.623445 m/s, LOS rate: -0.079452 deg/s, cmd heading: 34.033965 deg, new cmd heading: 33.934730 deg. 2025-01-08T22:11:26.482Z,1736374286.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592273 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:26.488Z,1736374286.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:26.489Z,1736374286.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007191 2025-01-08T22:11:26.740Z,1736374286.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:26.741Z,1736374286.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258418 2025-01-08T22:11:26.852Z,1736374286.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:26.862Z,1736374286.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:26.865Z,1736374286.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 43.075237 m, bearing: 232.621764 deg, approach rate: 0.621332 m/s, LOS rate: -0.083484 deg/s, cmd heading: 33.934729 deg, new cmd heading: 33.838422 deg. 2025-01-08T22:11:26.866Z,1736374286.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590592 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:26.992Z,1736374286.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:26.993Z,1736374286.993 [DAT](INFO): DAT read: Rx Time:22:11:25.7727 2025-01-08T22:11:26.993Z,1736374286.993 [DAT](INFO): Rx dataTimestamp_ set to:1736374286.992986 2025-01-08T22:11:26.994Z,1736374286.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511648 2025-01-08T22:11:27.244Z,1736374287.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:27.245Z,1736374287.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762344 2025-01-08T22:11:27.330Z,1736374287.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:27.347Z,1736374287.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.40 m. 2025-01-08T22:11:27.353Z,1736374287.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 372.399994 m, nav range: 43.352085 m, bearing: 232.557515 deg, approach rate: 0.571648 m/s, LOS rate: -0.131818 deg/s, cmd heading: 33.838424 deg, new cmd heading: 33.646906 deg. 2025-01-08T22:11:27.354Z,1736374287.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587249 target range: 372.399994 and range: 372.40 m. 2025-01-08T22:11:27.496Z,1736374287.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:27.503Z,1736374287.503 [DAT](INFO): DAT read: 22:11:25.7727 LVL= 25168, 30193, 30066, 32755, AGC= 66, IDX= 411,-0.47,-2.798, 2.019, 2.977, 2.841, PHS= 0.732,-0.775, 0.133, RAW= 126.8, -1.4, CAL= 133.0, -10.5, ROT= 17.0, 10.5 2025-01-08T22:11:27.505Z,1736374287.505 [DAT](INFO): got valid direction response: 22:11:25.7727 LVL= 25168, 30193, 30066, 32755, AGC= 66, IDX= 411,-0.47,-2.798, 2.019, 2.977, 2.841, PHS= 0.732,-0.775, 0.133, RAW= 126.8, -1.4, CAL= 133.0, -10.5, ROT= 17.0, 10.5 2025-01-08T22:11:27.515Z,1736374287.515 [DAT](INFO): DAT read: Bearing 17.0, 10.5 (Local) 2025-01-08T22:11:27.515Z,1736374287.515 [DAT](INFO): Local bearing/azimuth received: Bearing 17.0, 10.5 (Local) 2025-01-08T22:11:27.517Z,1736374287.517 [DAT](INFO): DAT read: Range 10 to 50 : 391.3 m (Round-trip 521.8 ms) speed 0.3 m/s 2025-01-08T22:11:27.521Z,1736374287.521 [DAT](INFO): DAT read: user:2376> 2025-01-08T22:11:27.526Z,1736374287.526 [DAT](INFO): DAT read: Tx time:22:11:26.8967 2025-01-08T22:11:27.526Z,1736374287.526 [DAT](INFO): Ping request sent. 2025-01-08T22:11:27.526Z,1736374287.526 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:27.526Z,1736374287.526 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:27.528Z,1736374287.528 [DAT](INFO): direction in FSK: [-0.096852,-0.525374,0.845341] 2025-01-08T22:11:27.528Z,1736374287.528 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:27.528Z,1736374287.528 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:27.532Z,1736374287.532 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:27.532Z,1736374287.532 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:27.748Z,1736374287.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:27.749Z,1736374287.749 [DAT](INFO): DAT read: TxSync time:22:11:26.8959 2025-01-08T22:11:27.808Z,1736374287.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:27.848Z,1736374287.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 391.299988 m, deltaT: 8.063745 s, deltaX: 18.899994 m, approachRate: 2.343823 m/s, rangeRepo size: 4 2025-01-08T22:11:27.850Z,1736374287.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 391.299988 m, bearing: 301.059394 deg, lat: 36.903196 deg, lon: -122.124969 deg, deltaT: 8.063745 s, deltaX: 18.899994 m, approachRate: 2.343823 m/s, posRepo size: 4 2025-01-08T22:11:27.850Z,1736374287.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.30 m. 2025-01-08T22:11:27.858Z,1736374287.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.299988 m, nav range: 186.268127 m, bearing: 270.799694 deg, approach rate: 0.000000 m/s, LOS rate: -0.131818 deg/s, cmd heading: 33.646905 deg, new cmd heading: 33.450716 deg. 2025-01-08T22:11:27.863Z,1736374287.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583825 target range: 391.299988 and range: 391.30 m. 2025-01-08T22:11:27.000Z,1736374288.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:28.140Z,1736374288.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:28.188Z,1736374288.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:28.206Z,1736374288.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.30 m. 2025-01-08T22:11:28.236Z,1736374288.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.299988 m, nav range: 186.395340 m, bearing: 270.754081 deg, approach rate: 0.351985 m/s, LOS rate: -0.126120 deg/s, cmd heading: 33.450715 deg, new cmd heading: 33.313970 deg. 2025-01-08T22:11:28.237Z,1736374288.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581438 target range: 391.299988 and range: 391.30 m. 2025-01-08T22:11:28.253Z,1736374288.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:28.254Z,1736374288.254 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:28.254Z,1736374288.254 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:28.254Z,1736374288.254 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:28.504Z,1736374288.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:28.505Z,1736374288.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978864 2025-01-08T22:11:28.603Z,1736374288.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:28.613Z,1736374288.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.30 m. 2025-01-08T22:11:28.616Z,1736374288.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.299988 m, nav range: 186.551910 m, bearing: 270.688268 deg, approach rate: 0.382958 m/s, LOS rate: -0.160839 deg/s, cmd heading: 33.313971 deg, new cmd heading: 33.116697 deg. 2025-01-08T22:11:28.617Z,1736374288.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577995 target range: 391.299988 and range: 391.30 m. 2025-01-08T22:11:28.757Z,1736374288.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:28.758Z,1736374288.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231736 2025-01-08T22:11:28.948Z,1736374288.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:28.957Z,1736374288.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.30 m. 2025-01-08T22:11:28.960Z,1736374288.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.299988 m, nav range: 186.666489 m, bearing: 270.638758 deg, approach rate: 0.332749 m/s, LOS rate: -0.143694 deg/s, cmd heading: 33.116698 deg, new cmd heading: 32.968260 deg. 2025-01-08T22:11:28.961Z,1736374288.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575405 target range: 391.299988 and range: 391.30 m. 2025-01-08T22:11:29.008Z,1736374289.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:29.009Z,1736374289.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482643 2025-01-08T22:11:29.260Z,1736374289.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:29.260Z,1736374289.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734351 2025-01-08T22:11:29.409Z,1736374289.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:29.417Z,1736374289.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.30 m. 2025-01-08T22:11:29.420Z,1736374289.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.299988 m, nav range: 186.805328 m, bearing: 270.572705 deg, approach rate: 0.301994 m/s, LOS rate: -0.143567 deg/s, cmd heading: 32.968261 deg, new cmd heading: 32.770250 deg. 2025-01-08T22:11:29.421Z,1736374289.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571949 target range: 391.299988 and range: 391.30 m. 2025-01-08T22:11:29.515Z,1736374289.515 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:29.516Z,1736374289.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989693 2025-01-08T22:11:29.768Z,1736374289.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:29.768Z,1736374289.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242241 2025-01-08T22:11:29.778Z,1736374289.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:29.815Z,1736374289.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.30 m. 2025-01-08T22:11:29.818Z,1736374289.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.299988 m, nav range: 186.915436 m, bearing: 270.519537 deg, approach rate: 0.279529 m/s, LOS rate: -0.134898 deg/s, cmd heading: 32.770250 deg, new cmd heading: 32.610840 deg. 2025-01-08T22:11:29.819Z,1736374289.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569167 target range: 391.299988 and range: 391.30 m. 2025-01-08T22:11:30.020Z,1736374290.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:30.021Z,1736374290.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494832 2025-01-08T22:11:30.251Z,1736374290.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:30.269Z,1736374290.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:30.271Z,1736374290.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.30 m. 2025-01-08T22:11:30.272Z,1736374290.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:30.273Z,1736374290.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746566 2025-01-08T22:11:30.277Z,1736374290.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.299988 m, nav range: 187.053375 m, bearing: 270.451859 deg, approach rate: 0.300146 m/s, LOS rate: -0.147154 deg/s, cmd heading: 32.610841 deg, new cmd heading: 32.407957 deg. 2025-01-08T22:11:30.278Z,1736374290.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565626 target range: 391.299988 and range: 391.30 m. 2025-01-08T22:11:30.526Z,1736374290.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:30.528Z,1736374290.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001673 2025-01-08T22:11:30.668Z,1736374290.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:30.690Z,1736374290.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.30 m. 2025-01-08T22:11:30.697Z,1736374290.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.299988 m, nav range: 187.156967 m, bearing: 270.389663 deg, approach rate: 0.247092 m/s, LOS rate: -0.148270 deg/s, cmd heading: 32.407957 deg, new cmd heading: 32.221473 deg. 2025-01-08T22:11:30.698Z,1736374290.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562371 target range: 391.299988 and range: 391.30 m. 2025-01-08T22:11:30.780Z,1736374290.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:30.781Z,1736374290.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254638 2025-01-08T22:11:31.035Z,1736374291.035 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:31.038Z,1736374291.038 [DAT](INFO): DAT read: Rx Time:22:11:29.8212 2025-01-08T22:11:31.040Z,1736374291.040 [DAT](INFO): Rx dataTimestamp_ set to:1736374291.038763 2025-01-08T22:11:31.040Z,1736374291.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514111 2025-01-08T22:11:31.139Z,1736374291.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:31.157Z,1736374291.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 391.30 m. 2025-01-08T22:11:31.172Z,1736374291.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 391.299988 m, nav range: 187.274353 m, bearing: 270.314504 deg, approach rate: 0.251186 m/s, LOS rate: -0.160726 deg/s, cmd heading: 32.221472 deg, new cmd heading: 31.996139 deg. 2025-01-08T22:11:31.173Z,1736374291.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558438 target range: 391.299988 and range: 391.30 m. 2025-01-08T22:11:31.284Z,1736374291.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:31.285Z,1736374291.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758672 2025-01-08T22:11:31.537Z,1736374291.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:31.546Z,1736374291.546 [DAT](INFO): DAT read: 22:11:29.8212 LVL= 20592, 29313, 26354, 32755, AGC= 69, IDX= 267,-0.10, 0.626,-1.221,-0.449,-0.169, PHS= 0.883,-1.005,-0.283, RAW= 112.3, 5.0, CAL= 122.8, 1.8, ROT= 27.2, -1.8 2025-01-08T22:11:31.547Z,1736374291.547 [DAT](INFO): got valid direction response: 22:11:29.8212 LVL= 20592, 29313, 26354, 32755, AGC= 69, IDX= 267,-0.10, 0.626,-1.221,-0.449,-0.169, PHS= 0.883,-1.005,-0.283, RAW= 112.3, 5.0, CAL= 122.8, 1.8, ROT= 27.2, -1.8 2025-01-08T22:11:31.548Z,1736374291.548 [DAT](INFO): DAT read: Bearing 27.2, -1.8 (Local) 2025-01-08T22:11:31.548Z,1736374291.548 [DAT](INFO): Local bearing/azimuth received: Bearing 27.2, -1.8 (Local) 2025-01-08T22:11:31.550Z,1736374291.550 [DAT](INFO): DAT read: Range 10 to 50 : 390.3 m (Round-trip 520.4 ms) speed 0.2 m/s 2025-01-08T22:11:31.550Z,1736374291.550 [DAT](INFO): DAT read: user:2377> 2025-01-08T22:11:31.563Z,1736374291.563 [DAT](INFO): DAT read: Tx time:22:11:30.9467 2025-01-08T22:11:31.564Z,1736374291.564 [DAT](INFO): Ping request sent. 2025-01-08T22:11:31.564Z,1736374291.564 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:31.564Z,1736374291.564 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:31.565Z,1736374291.565 [DAT](INFO): direction in FSK: [-0.209326,-0.275663,0.938186] 2025-01-08T22:11:31.565Z,1736374291.565 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:31.565Z,1736374291.565 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:31.588Z,1736374291.588 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:31.588Z,1736374291.588 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:31.703Z,1736374291.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:31.753Z,1736374291.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 390.299988 m, deltaT: 4.042727 s, deltaX: -1.000000 m, approachRate: -0.247358 m/s, rangeRepo size: 4 2025-01-08T22:11:31.761Z,1736374291.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 390.299988 m, bearing: 283.011806 deg, lat: 36.903483 deg, lon: -122.124969 deg, deltaT: 4.042727 s, deltaX: -1.000000 m, approachRate: -0.247358 m/s, posRepo size: 4 2025-01-08T22:11:31.761Z,1736374291.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.30 m. 2025-01-08T22:11:31.768Z,1736374291.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.299988 m, nav range: 190.218414 m, bearing: 279.876018 deg, approach rate: 0.000000 m/s, LOS rate: -0.160726 deg/s, cmd heading: 31.996137 deg, new cmd heading: 31.708989 deg. 2025-01-08T22:11:31.769Z,1736374291.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553426 target range: 390.299988 and range: 390.30 m. 2025-01-08T22:11:31.788Z,1736374291.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:31.790Z,1736374291.790 [DAT](INFO): DAT read: TxSync time:22:11:30.9459 2025-01-08T22:11:32.040Z,1736374292.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:32.079Z,1736374292.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:32.088Z,1736374292.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.30 m. 2025-01-08T22:11:32.092Z,1736374292.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.299988 m, nav range: 190.266129 m, bearing: 279.813971 deg, approach rate: 0.142522 m/s, LOS rate: -0.185288 deg/s, cmd heading: 31.708989 deg, new cmd heading: 31.522895 deg. 2025-01-08T22:11:32.093Z,1736374292.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550178 target range: 390.299988 and range: 390.30 m. 2025-01-08T22:11:32.292Z,1736374292.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:32.524Z,1736374292.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:32.533Z,1736374292.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:32.535Z,1736374292.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.30 m. 2025-01-08T22:11:32.537Z,1736374292.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.299988 m, nav range: 190.328995 m, bearing: 279.738288 deg, approach rate: 0.140611 m/s, LOS rate: -0.169222 deg/s, cmd heading: 31.522894 deg, new cmd heading: 31.295921 deg. 2025-01-08T22:11:32.544Z,1736374292.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:32.544Z,1736374292.544 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:32.544Z,1736374292.544 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:32.545Z,1736374292.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:32.559Z,1736374292.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546217 target range: 390.299988 and range: 390.30 m. 2025-01-08T22:11:32.796Z,1736374292.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:32.797Z,1736374292.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232997 2025-01-08T22:11:32.969Z,1736374292.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:32.998Z,1736374292.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.30 m. 2025-01-08T22:11:33.009Z,1736374293.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.299988 m, nav range: 190.390030 m, bearing: 279.662641 deg, approach rate: 0.131784 m/s, LOS rate: -0.163280 deg/s, cmd heading: 31.295920 deg, new cmd heading: 31.069054 deg. 2025-01-08T22:11:33.010Z,1736374293.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542257 target range: 390.299988 and range: 390.30 m. 2025-01-08T22:11:33.049Z,1736374293.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:33.050Z,1736374293.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486174 2025-01-08T22:11:33.300Z,1736374293.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:33.300Z,1736374293.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736618 2025-01-08T22:11:33.464Z,1736374293.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:33.473Z,1736374293.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.30 m. 2025-01-08T22:11:33.476Z,1736374293.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.299988 m, nav range: 190.472382 m, bearing: 279.577009 deg, approach rate: 0.173690 m/s, LOS rate: -0.180532 deg/s, cmd heading: 31.069055 deg, new cmd heading: 30.812270 deg. 2025-01-08T22:11:33.477Z,1736374293.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537776 target range: 390.299988 and range: 390.30 m. 2025-01-08T22:11:33.552Z,1736374293.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:33.552Z,1736374293.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988636 2025-01-08T22:11:33.804Z,1736374293.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:33.804Z,1736374293.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240519 2025-01-08T22:11:33.848Z,1736374293.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:33.857Z,1736374293.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.30 m. 2025-01-08T22:11:33.860Z,1736374293.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.299988 m, nav range: 190.535431 m, bearing: 279.510357 deg, approach rate: 0.163839 m/s, LOS rate: -0.173144 deg/s, cmd heading: 30.812271 deg, new cmd heading: 30.612382 deg. 2025-01-08T22:11:33.861Z,1736374293.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534287 target range: 390.299988 and range: 390.30 m. 2025-01-08T22:11:34.056Z,1736374294.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:34.057Z,1736374294.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493304 2025-01-08T22:11:34.306Z,1736374294.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:34.308Z,1736374294.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:34.309Z,1736374294.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744729 2025-01-08T22:11:34.323Z,1736374294.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.30 m. 2025-01-08T22:11:34.336Z,1736374294.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.299988 m, nav range: 190.609756 m, bearing: 279.431154 deg, approach rate: 0.159534 m/s, LOS rate: -0.169935 deg/s, cmd heading: 30.612382 deg, new cmd heading: 30.374869 deg. 2025-01-08T22:11:34.337Z,1736374294.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530141 target range: 390.299988 and range: 390.30 m. 2025-01-08T22:11:34.560Z,1736374294.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:34.560Z,1736374294.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996528 2025-01-08T22:11:34.683Z,1736374294.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:34.691Z,1736374294.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:34.693Z,1736374294.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.30 m. 2025-01-08T22:11:34.713Z,1736374294.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.299988 m, nav range: 190.686981 m, bearing: 279.365180 deg, approach rate: 0.208438 m/s, LOS rate: -0.178000 deg/s, cmd heading: 30.374869 deg, new cmd heading: 30.177027 deg. 2025-01-08T22:11:34.719Z,1736374294.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526688 target range: 390.299988 and range: 390.30 m. 2025-01-08T22:11:34.812Z,1736374294.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:34.813Z,1736374294.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249005 2025-01-08T22:11:35.049Z,1736374295.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:35.059Z,1736374295.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.30 m. 2025-01-08T22:11:35.061Z,1736374295.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.299988 m, nav range: 190.761230 m, bearing: 279.301258 deg, approach rate: 0.203145 m/s, LOS rate: -0.174823 deg/s, cmd heading: 30.177026 deg, new cmd heading: 29.985334 deg. 2025-01-08T22:11:35.062Z,1736374295.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523343 target range: 390.299988 and range: 390.30 m. 2025-01-08T22:11:35.064Z,1736374295.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:35.065Z,1736374295.065 [DAT](INFO): DAT read: Rx Time:22:11:33.8679 2025-01-08T22:11:35.065Z,1736374295.065 [DAT](INFO): Rx dataTimestamp_ set to:1736374295.064728 2025-01-08T22:11:35.066Z,1736374295.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501754 2025-01-08T22:11:35.316Z,1736374295.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:35.316Z,1736374295.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752637 2025-01-08T22:11:35.484Z,1736374295.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:35.493Z,1736374295.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.30 m. 2025-01-08T22:11:35.496Z,1736374295.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.299988 m, nav range: 190.876923 m, bearing: 279.224854 deg, approach rate: 0.266164 m/s, LOS rate: -0.175669 deg/s, cmd heading: 29.985333 deg, new cmd heading: 29.756263 deg. 2025-01-08T22:11:35.497Z,1736374295.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519345 target range: 390.299988 and range: 390.30 m. 2025-01-08T22:11:35.569Z,1736374295.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:35.582Z,1736374295.582 [DAT](INFO): DAT read: 22:11:33.8679 LVL= 23792, 32753, 32754, 32755, AGC= 68, IDX= 411, 0.24, 2.780, 1.232, 2.035, 2.044, PHS= 0.825,-0.764,-0.012, RAW= 118.3, -0.7, CAL= 125.8, -8.5, ROT= 24.2, 8.5 2025-01-08T22:11:35.592Z,1736374295.592 [DAT](INFO): got valid direction response: 22:11:33.8679 LVL= 23792, 32753, 32754, 32755, AGC= 68, IDX= 411, 0.24, 2.780, 1.232, 2.035, 2.044, PHS= 0.825,-0.764,-0.012, RAW= 118.3, -0.7, CAL= 125.8, -8.5, ROT= 24.2, 8.5 2025-01-08T22:11:35.594Z,1736374295.594 [DAT](INFO): DAT read: Bearing 24.2, 8.5 (Local) 2025-01-08T22:11:35.594Z,1736374295.594 [DAT](INFO): Local bearing/azimuth received: Bearing 24.2, 8.5 (Local) 2025-01-08T22:11:35.597Z,1736374295.597 [DAT](INFO): DAT read: Range 10 to 50 : 387.7 m (Round-trip 517.0 ms) speed 0.5 m/s 2025-01-08T22:11:35.599Z,1736374295.599 [DAT](INFO): DAT read: user:2378> 2025-01-08T22:11:35.604Z,1736374295.604 [DAT](INFO): DAT read: Tx time:22:11:34.9467 2025-01-08T22:11:35.604Z,1736374295.604 [DAT](INFO): Ping request sent. 2025-01-08T22:11:35.604Z,1736374295.604 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:35.604Z,1736374295.604 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:35.606Z,1736374295.606 [DAT](INFO): direction in FSK: [-0.105206,-0.385971,0.916492] 2025-01-08T22:11:35.606Z,1736374295.606 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:35.606Z,1736374295.606 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:35.621Z,1736374295.621 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:35.621Z,1736374295.621 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:35.820Z,1736374295.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:35.821Z,1736374295.821 [DAT](INFO): DAT read: TxSync time:22:11:34.9459 2025-01-08T22:11:35.881Z,1736374295.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:35.906Z,1736374295.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 387.700012 m, deltaT: 4.031102 s, deltaX: -2.599976 m, approachRate: -0.644979 m/s, rangeRepo size: 4 2025-01-08T22:11:35.912Z,1736374295.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 387.700012 m, bearing: 297.567199 deg, lat: 36.903630 deg, lon: -122.124969 deg, deltaT: 4.031102 s, deltaX: -2.599976 m, approachRate: -0.644979 m/s, posRepo size: 4 2025-01-08T22:11:35.913Z,1736374295.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.70 m. 2025-01-08T22:11:35.924Z,1736374295.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.700012 m, nav range: 194.269989 m, bearing: 283.939430 deg, approach rate: 0.000000 m/s, LOS rate: -0.175669 deg/s, cmd heading: 29.756262 deg, new cmd heading: 29.539471 deg. 2025-01-08T22:11:35.925Z,1736374295.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515561 target range: 387.700012 and range: 387.70 m. 2025-01-08T22:11:36.073Z,1736374296.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:36.265Z,1736374296.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:36.318Z,1736374296.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.70 m. 2025-01-08T22:11:36.326Z,1736374296.326 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:36.337Z,1736374296.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.700012 m, nav range: 194.352783 m, bearing: 283.870743 deg, approach rate: 0.203720 m/s, LOS rate: -0.168935 deg/s, cmd heading: 29.539472 deg, new cmd heading: 29.333501 deg. 2025-01-08T22:11:36.338Z,1736374296.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.511966 target range: 387.700012 and range: 387.70 m. 2025-01-08T22:11:36.576Z,1736374296.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:36.701Z,1736374296.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:36.710Z,1736374296.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:36.712Z,1736374296.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.70 m. 2025-01-08T22:11:36.715Z,1736374296.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.700012 m, nav range: 194.463715 m, bearing: 283.791633 deg, approach rate: 0.276441 m/s, LOS rate: -0.197030 deg/s, cmd heading: 29.333501 deg, new cmd heading: 29.096307 deg. 2025-01-08T22:11:36.716Z,1736374296.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507826 target range: 387.700012 and range: 387.70 m. 2025-01-08T22:11:36.829Z,1736374296.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:36.830Z,1736374296.830 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:36.830Z,1736374296.830 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:36.830Z,1736374296.830 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:37.064Z,1736374297.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:37.075Z,1736374297.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.70 m. 2025-01-08T22:11:37.080Z,1736374297.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:37.080Z,1736374297.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476355 2025-01-08T22:11:37.098Z,1736374297.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.700012 m, nav range: 194.556107 m, bearing: 283.725888 deg, approach rate: 0.254827 m/s, LOS rate: -0.181248 deg/s, cmd heading: 29.096309 deg, new cmd heading: 28.899166 deg. 2025-01-08T22:11:37.099Z,1736374297.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.504386 target range: 387.700012 and range: 387.70 m. 2025-01-08T22:11:37.334Z,1736374297.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:37.336Z,1736374297.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732117 2025-01-08T22:11:37.497Z,1736374297.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:37.522Z,1736374297.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.70 m. 2025-01-08T22:11:37.530Z,1736374297.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.700012 m, nav range: 194.686371 m, bearing: 283.649040 deg, approach rate: 0.291515 m/s, LOS rate: -0.171859 deg/s, cmd heading: 28.899166 deg, new cmd heading: 28.668779 deg. 2025-01-08T22:11:37.530Z,1736374297.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500365 target range: 387.700012 and range: 387.70 m. 2025-01-08T22:11:37.585Z,1736374297.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:37.586Z,1736374297.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981524 2025-01-08T22:11:37.836Z,1736374297.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:37.836Z,1736374297.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232369 2025-01-08T22:11:37.873Z,1736374297.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:37.902Z,1736374297.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.70 m. 2025-01-08T22:11:37.910Z,1736374297.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.700012 m, nav range: 194.800064 m, bearing: 283.582497 deg, approach rate: 0.299083 m/s, LOS rate: -0.174949 deg/s, cmd heading: 28.668780 deg, new cmd heading: 28.469266 deg. 2025-01-08T22:11:37.910Z,1736374297.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496882 target range: 387.700012 and range: 387.70 m. 2025-01-08T22:11:38.090Z,1736374298.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:38.092Z,1736374298.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488249 2025-01-08T22:11:38.277Z,1736374298.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:38.337Z,1736374298.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.70 m. 2025-01-08T22:11:38.342Z,1736374298.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:38.345Z,1736374298.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740394 2025-01-08T22:11:38.368Z,1736374298.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.700012 m, nav range: 194.923386 m, bearing: 283.511141 deg, approach rate: 0.287242 m/s, LOS rate: -0.166098 deg/s, cmd heading: 28.469267 deg, new cmd heading: 28.255335 deg. 2025-01-08T22:11:38.369Z,1736374298.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493149 target range: 387.700012 and range: 387.70 m. 2025-01-08T22:11:38.593Z,1736374298.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:38.594Z,1736374298.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989646 2025-01-08T22:11:38.717Z,1736374298.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:38.725Z,1736374298.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:38.727Z,1736374298.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.70 m. 2025-01-08T22:11:38.730Z,1736374298.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.700012 m, nav range: 195.064545 m, bearing: 283.434896 deg, approach rate: 0.356663 m/s, LOS rate: -0.192506 deg/s, cmd heading: 28.255335 deg, new cmd heading: 28.026768 deg. 2025-01-08T22:11:38.731Z,1736374298.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.489159 target range: 387.700012 and range: 387.70 m. 2025-01-08T22:11:38.844Z,1736374298.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:38.845Z,1736374298.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241268 2025-01-08T22:11:39.087Z,1736374299.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:39.096Z,1736374299.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:39.097Z,1736374299.097 [DAT](INFO): DAT read: Rx Time:22:11:37.8642 2025-01-08T22:11:39.097Z,1736374299.097 [DAT](INFO): Rx dataTimestamp_ set to:1736374299.096991 2025-01-08T22:11:39.098Z,1736374299.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493742 2025-01-08T22:11:39.100Z,1736374299.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.70 m. 2025-01-08T22:11:39.102Z,1736374299.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.700012 m, nav range: 195.184219 m, bearing: 283.370974 deg, approach rate: 0.320910 m/s, LOS rate: -0.171304 deg/s, cmd heading: 28.026768 deg, new cmd heading: 27.835119 deg. 2025-01-08T22:11:39.104Z,1736374299.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.485814 target range: 387.700012 and range: 387.70 m. 2025-01-08T22:11:39.349Z,1736374299.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:39.352Z,1736374299.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747610 2025-01-08T22:11:39.583Z,1736374299.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:39.593Z,1736374299.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.70 m. 2025-01-08T22:11:39.597Z,1736374299.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.700012 m, nav range: 195.335480 m, bearing: 283.287843 deg, approach rate: 0.306552 m/s, LOS rate: -0.168347 deg/s, cmd heading: 27.835119 deg, new cmd heading: 27.585921 deg. 2025-01-08T22:11:39.598Z,1736374299.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.481465 target range: 387.700012 and range: 387.70 m. 2025-01-08T22:11:39.600Z,1736374299.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:39.608Z,1736374299.608 [DAT](INFO): DAT read: 22:11:37.8642 LVL= 21232, 30353, 28850, 32755, AGC= 71, IDX= 405,-0.28, 2.491, 1.135, 1.701, 1.913, PHS= 0.666,-0.731,-0.215, RAW= 111.4, 4.6, CAL= 122.2, 1.6, ROT= 27.8, -1.6 2025-01-08T22:11:39.609Z,1736374299.609 [DAT](INFO): got valid direction response: 22:11:37.8642 LVL= 21232, 30353, 28850, 32755, AGC= 71, IDX= 405,-0.28, 2.491, 1.135, 1.701, 1.913, PHS= 0.666,-0.731,-0.215, RAW= 111.4, 4.6, CAL= 122.2, 1.6, ROT= 27.8, -1.6 2025-01-08T22:11:39.610Z,1736374299.610 [DAT](INFO): DAT read: Bearing 27.8, -1.6 (Local) 2025-01-08T22:11:39.610Z,1736374299.610 [DAT](INFO): Local bearing/azimuth received: Bearing 27.8, -1.6 (Local) 2025-01-08T22:11:39.612Z,1736374299.612 [DAT](INFO): DAT read: Range 10 to 50 : 384.9 m (Round-trip 513.2 ms) speed 0.4 m/s 2025-01-08T22:11:39.613Z,1736374299.613 [DAT](INFO): DAT read: user:2379> 2025-01-08T22:11:39.614Z,1736374299.614 [DAT](INFO): DAT read: Tx time:22:11:38.9468 2025-01-08T22:11:39.614Z,1736374299.614 [DAT](INFO): Ping request sent. 2025-01-08T22:11:39.614Z,1736374299.614 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:39.614Z,1736374299.614 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:39.615Z,1736374299.615 [DAT](INFO): direction in FSK: [-0.202140,-0.261673,0.943751] 2025-01-08T22:11:39.616Z,1736374299.616 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:39.616Z,1736374299.616 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:39.619Z,1736374299.619 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:39.640Z,1736374299.640 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:39.852Z,1736374299.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:39.853Z,1736374299.853 [DAT](INFO): DAT read: TxSync time:22:11:38.9460 2025-01-08T22:11:39.908Z,1736374299.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:39.938Z,1736374299.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 384.899994 m, deltaT: 4.030144 s, deltaX: -2.800018 m, approachRate: -0.694769 m/s, rangeRepo size: 4 2025-01-08T22:11:39.945Z,1736374299.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 384.899994 m, bearing: 279.637870 deg, lat: 36.903630 deg, lon: -122.124720 deg, deltaT: 4.030144 s, deltaX: -2.800018 m, approachRate: -0.694769 m/s, posRepo size: 4 2025-01-08T22:11:39.946Z,1736374299.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:11:39.952Z,1736374299.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 173.992096 m, bearing: 284.900420 deg, approach rate: 0.000000 m/s, LOS rate: -0.168347 deg/s, cmd heading: 27.585922 deg, new cmd heading: 27.412244 deg. 2025-01-08T22:11:39.953Z,1736374299.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478434 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:11:40.104Z,1736374300.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:40.314Z,1736374300.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:40.358Z,1736374300.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:40.369Z,1736374300.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:11:40.393Z,1736374300.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 174.109482 m, bearing: 284.821827 deg, approach rate: 0.276006 m/s, LOS rate: -0.184669 deg/s, cmd heading: 27.412244 deg, new cmd heading: 27.176624 deg. 2025-01-08T22:11:40.400Z,1736374300.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.474322 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:11:40.608Z,1736374300.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:40.747Z,1736374300.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:40.754Z,1736374300.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:40.757Z,1736374300.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:11:40.760Z,1736374300.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 174.214539 m, bearing: 284.739914 deg, approach rate: 0.266291 m/s, LOS rate: -0.207504 deg/s, cmd heading: 27.176624 deg, new cmd heading: 26.931034 deg. 2025-01-08T22:11:40.761Z,1736374300.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.470035 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:11:40.860Z,1736374300.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:40.861Z,1736374300.861 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:40.861Z,1736374300.861 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:40.862Z,1736374300.862 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:41.112Z,1736374301.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:41.112Z,1736374301.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498480 2025-01-08T22:11:41.130Z,1736374301.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:41.139Z,1736374301.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:11:41.142Z,1736374301.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 174.307617 m, bearing: 284.667288 deg, approach rate: 0.244068 m/s, LOS rate: -0.190336 deg/s, cmd heading: 26.931035 deg, new cmd heading: 26.713274 deg. 2025-01-08T22:11:41.143Z,1736374301.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466235 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:11:41.366Z,1736374301.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:41.368Z,1736374301.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753863 2025-01-08T22:11:41.558Z,1736374301.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:41.567Z,1736374301.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:11:41.570Z,1736374301.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 174.389175 m, bearing: 284.587692 deg, approach rate: 0.190355 m/s, LOS rate: -0.185689 deg/s, cmd heading: 26.713275 deg, new cmd heading: 26.474599 deg. 2025-01-08T22:11:41.571Z,1736374301.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.462069 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:11:41.616Z,1736374301.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:41.617Z,1736374301.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002600 2025-01-08T22:11:41.868Z,1736374301.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:41.868Z,1736374301.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254380 2025-01-08T22:11:41.929Z,1736374301.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:41.937Z,1736374301.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:11:41.944Z,1736374301.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 174.456955 m, bearing: 284.518511 deg, approach rate: 0.183184 m/s, LOS rate: -0.186898 deg/s, cmd heading: 26.474599 deg, new cmd heading: 26.267138 deg. 2025-01-08T22:11:41.945Z,1736374301.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.458448 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:11:42.120Z,1736374302.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:42.121Z,1736374302.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506583 2025-01-08T22:11:42.337Z,1736374302.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:42.350Z,1736374302.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:11:42.356Z,1736374302.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 174.530182 m, bearing: 284.442099 deg, approach rate: 0.177053 m/s, LOS rate: -0.184675 deg/s, cmd heading: 26.267139 deg, new cmd heading: 26.038002 deg. 2025-01-08T22:11:42.360Z,1736374302.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454449 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:11:42.373Z,1736374302.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:42.376Z,1736374302.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761524 2025-01-08T22:11:42.625Z,1736374302.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:42.625Z,1736374302.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011428 2025-01-08T22:11:42.748Z,1736374302.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:42.778Z,1736374302.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:42.785Z,1736374302.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:11:42.792Z,1736374302.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 174.582230 m, bearing: 284.365682 deg, approach rate: 0.119896 m/s, LOS rate: -0.175981 deg/s, cmd heading: 26.038001 deg, new cmd heading: 25.808818 deg. 2025-01-08T22:11:42.793Z,1736374302.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450449 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:11:42.876Z,1736374302.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:42.877Z,1736374302.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263177 2025-01-08T22:11:43.128Z,1736374303.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:43.129Z,1736374303.129 [DAT](INFO): DAT read: Rx Time:22:11:41.8623 2025-01-08T22:11:43.129Z,1736374303.129 [DAT](INFO): Rx dataTimestamp_ set to:1736374303.128764 2025-01-08T22:11:43.130Z,1736374303.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515625 2025-01-08T22:11:43.157Z,1736374303.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:43.175Z,1736374303.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:11:43.182Z,1736374303.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 174.632462 m, bearing: 284.289210 deg, approach rate: 0.128696 m/s, LOS rate: -0.195867 deg/s, cmd heading: 25.808817 deg, new cmd heading: 25.579469 deg. 2025-01-08T22:11:43.183Z,1736374303.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446446 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:11:43.383Z,1736374303.383 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:43.387Z,1736374303.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771850 2025-01-08T22:11:43.604Z,1736374303.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:43.630Z,1736374303.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.90 m. 2025-01-08T22:11:43.632Z,1736374303.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:43.640Z,1736374303.640 [DAT](INFO): DAT read: 22:11:41.8623 LVL= 27056, 31473, 29154, 32755, AGC= 64, IDX= 414,-0.06,-1.918, 2.987,-2.669,-2.488, PHS= 0.658,-0.762,-0.184, RAW= 113.9, 4.7, CAL= 124.3, 1.3, ROT= 25.7, -1.3 2025-01-08T22:11:43.641Z,1736374303.641 [DAT](INFO): got valid direction response: 22:11:41.8623 LVL= 27056, 31473, 29154, 32755, AGC= 64, IDX= 414,-0.06,-1.918, 2.987,-2.669,-2.488, PHS= 0.658,-0.762,-0.184, RAW= 113.9, 4.7, CAL= 124.3, 1.3, ROT= 25.7, -1.3 2025-01-08T22:11:43.642Z,1736374303.642 [DAT](INFO): DAT read: Bearing 25.7, -1.3 (Local) 2025-01-08T22:11:43.642Z,1736374303.642 [DAT](INFO): Local bearing/azimuth received: Bearing 25.7, -1.3 (Local) 2025-01-08T22:11:43.644Z,1736374303.644 [DAT](INFO): DAT read: Range 10 to 50 : 383.4 m (Round-trip 511.3 ms) speed 0.4 m/s 2025-01-08T22:11:43.645Z,1736374303.645 [DAT](INFO): DAT read: user:2380> 2025-01-08T22:11:43.647Z,1736374303.647 [DAT](INFO): DAT read: Tx time:22:11:42.9468 2025-01-08T22:11:43.647Z,1736374303.647 [DAT](INFO): Ping request sent. 2025-01-08T22:11:43.651Z,1736374303.651 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:43.652Z,1736374303.652 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:43.653Z,1736374303.653 [DAT](INFO): direction in FSK: [-0.206093,-0.303611,0.930240] 2025-01-08T22:11:43.654Z,1736374303.654 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:43.654Z,1736374303.654 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:43.655Z,1736374303.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 384.899994 m, nav range: 174.661667 m, bearing: 284.205666 deg, approach rate: 0.064195 m/s, LOS rate: -0.183605 deg/s, cmd heading: 25.579468 deg, new cmd heading: 25.328880 deg. 2025-01-08T22:11:43.664Z,1736374303.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442072 target range: 384.899994 and range: 384.90 m. 2025-01-08T22:11:43.676Z,1736374303.676 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:43.677Z,1736374303.677 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:43.884Z,1736374303.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:43.885Z,1736374303.885 [DAT](INFO): DAT read: TxSync time:22:11:42.9460 2025-01-08T22:11:43.991Z,1736374303.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:44.030Z,1736374304.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 383.399994 m, deltaT: 4.032296 s, deltaX: -1.500000 m, approachRate: -0.371996 m/s, rangeRepo size: 4 2025-01-08T22:11:44.036Z,1736374304.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 383.399994 m, bearing: 274.733782 deg, lat: 36.903483 deg, lon: -122.124576 deg, deltaT: 4.032296 s, deltaX: -1.500000 m, approachRate: -0.371996 m/s, posRepo size: 4 2025-01-08T22:11:44.037Z,1736374304.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:11:44.044Z,1736374304.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 158.752869 m, bearing: 279.514893 deg, approach rate: 0.000000 m/s, LOS rate: -0.183605 deg/s, cmd heading: 25.328881 deg, new cmd heading: 25.108922 deg. 2025-01-08T22:11:44.045Z,1736374304.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438233 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:11:44.136Z,1736374304.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:44.378Z,1736374304.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:44.390Z,1736374304.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:44.408Z,1736374304.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:11:44.434Z,1736374304.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 158.792755 m, bearing: 279.435982 deg, approach rate: 0.105884 m/s, LOS rate: -0.209428 deg/s, cmd heading: 25.108923 deg, new cmd heading: 24.872250 deg. 2025-01-08T22:11:44.442Z,1736374304.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434103 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:11:44.640Z,1736374304.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:44.795Z,1736374304.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:44.802Z,1736374304.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:44.804Z,1736374304.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:11:44.808Z,1736374304.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 158.826263 m, bearing: 279.349001 deg, approach rate: 0.084145 m/s, LOS rate: -0.218378 deg/s, cmd heading: 24.872250 deg, new cmd heading: 24.611365 deg. 2025-01-08T22:11:44.809Z,1736374304.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429549 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:11:44.893Z,1736374304.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:44.893Z,1736374304.893 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:44.893Z,1736374304.893 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:44.894Z,1736374304.894 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:45.144Z,1736374305.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:45.145Z,1736374305.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497654 2025-01-08T22:11:45.177Z,1736374305.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:45.186Z,1736374305.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:11:45.189Z,1736374305.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 158.856018 m, bearing: 279.269042 deg, approach rate: 0.077969 m/s, LOS rate: -0.209486 deg/s, cmd heading: 24.611366 deg, new cmd heading: 24.371536 deg. 2025-01-08T22:11:45.190Z,1736374305.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425364 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:11:45.402Z,1736374305.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:45.405Z,1736374305.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757265 2025-01-08T22:11:45.594Z,1736374305.594 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768, 2025-01-08T22:11:45.601Z,1736374305.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:11:45.601Z,1736374305.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:45.611Z,1736374305.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:11:45.613Z,1736374305.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 158.887299 m, bearing: 279.180516 deg, approach rate: 0.073604 m/s, LOS rate: -0.208265 deg/s, cmd heading: 24.371536 deg, new cmd heading: 24.106010 deg. 2025-01-08T22:11:45.614Z,1736374305.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420729 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:11:45.649Z,1736374305.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:45.650Z,1736374305.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002180 2025-01-08T22:11:45.900Z,1736374305.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:45.900Z,1736374305.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253389 2025-01-08T22:11:45.996Z,1736374305.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:11:45.996Z,1736374305.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:46.023Z,1736374306.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:11:46.030Z,1736374306.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 158.915359 m, bearing: 279.098066 deg, approach rate: 0.068181 m/s, LOS rate: -0.200297 deg/s, cmd heading: 24.106010 deg, new cmd heading: 23.858706 deg. 2025-01-08T22:11:46.031Z,1736374306.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416413 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:11:46.152Z,1736374306.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:46.154Z,1736374306.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506558 2025-01-08T22:11:46.384Z,1736374306.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:11:46.385Z,1736374306.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:46.394Z,1736374306.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:11:46.397Z,1736374306.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 158.942276 m, bearing: 279.016616 deg, approach rate: 0.072460 m/s, LOS rate: -0.219227 deg/s, cmd heading: 23.858706 deg, new cmd heading: 23.614400 deg. 2025-01-08T22:11:46.398Z,1736374306.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412149 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:11:46.404Z,1736374306.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:46.405Z,1736374306.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757779 2025-01-08T22:11:46.656Z,1736374306.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:46.657Z,1736374306.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010054 2025-01-08T22:11:46.842Z,1736374306.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:46.849Z,1736374306.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:46.851Z,1736374306.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:11:46.854Z,1736374306.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 158.989502 m, bearing: 278.916296 deg, approach rate: 0.103309 m/s, LOS rate: -0.219389 deg/s, cmd heading: 23.614401 deg, new cmd heading: 23.313534 deg. 2025-01-08T22:11:46.855Z,1736374306.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.406898 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:11:46.909Z,1736374306.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:46.910Z,1736374306.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262531 2025-01-08T22:11:47.160Z,1736374307.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:47.161Z,1736374307.161 [DAT](INFO): DAT read: Rx Time:22:11:45.8602 2025-01-08T22:11:47.161Z,1736374307.161 [DAT](INFO): Rx dataTimestamp_ set to:1736374307.160753 2025-01-08T22:11:47.162Z,1736374307.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514581 2025-01-08T22:11:47.211Z,1736374307.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:47.232Z,1736374307.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:11:47.234Z,1736374307.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 159.026108 m, bearing: 278.835309 deg, approach rate: 0.096240 m/s, LOS rate: -0.212875 deg/s, cmd heading: 23.313534 deg, new cmd heading: 23.070629 deg. 2025-01-08T22:11:47.240Z,1736374307.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.402658 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:11:47.412Z,1736374307.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:47.412Z,1736374307.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765364 2025-01-08T22:11:47.634Z,1736374307.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:47.645Z,1736374307.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.40 m. 2025-01-08T22:11:47.664Z,1736374307.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:47.673Z,1736374307.673 [DAT](INFO): DAT read: 22:11:45.8602 LVL= 23280, 32753, 29730, 32755, AGC= 70, IDX= 427,-0.21, 2.145, 0.654, 1.180, 1.242, PHS= 0.991,-0.542,-0.065, RAW= 107.7, -5.7, CAL= 113.6, -16.8, ROT= 36.4, 16.8 2025-01-08T22:11:47.675Z,1736374307.675 [DAT](INFO): got valid direction response: 22:11:45.8602 LVL= 23280, 32753, 29730, 32755, AGC= 70, IDX= 427,-0.21, 2.145, 0.654, 1.180, 1.242, PHS= 0.991,-0.542,-0.065, RAW= 107.7, -5.7, CAL= 113.6, -16.8, ROT= 36.4, 16.8 2025-01-08T22:11:47.677Z,1736374307.677 [DAT](INFO): DAT read: Bearing 36.4, 16.8 (Local) 2025-01-08T22:11:47.677Z,1736374307.677 [DAT](INFO): Local bearing/azimuth received: Bearing 36.4, 16.8 (Local) 2025-01-08T22:11:47.680Z,1736374307.680 [DAT](INFO): DAT read: Range 10 to 50 : 381.9 m (Round-trip 509.2 ms) speed 0.9 m/s 2025-01-08T22:11:47.680Z,1736374307.680 [DAT](INFO): DAT read: user:2381> 2025-01-08T22:11:47.681Z,1736374307.681 [DAT](INFO): DAT read: Tx time:22:11:46.9468 2025-01-08T22:11:47.681Z,1736374307.681 [DAT](INFO): Ping request sent. 2025-01-08T22:11:47.682Z,1736374307.682 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:47.682Z,1736374307.682 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:47.683Z,1736374307.683 [DAT](INFO): direction in FSK: [0.001528,-0.208824,0.977952] 2025-01-08T22:11:47.683Z,1736374307.683 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:47.683Z,1736374307.683 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:47.686Z,1736374307.686 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:47.687Z,1736374307.687 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:47.696Z,1736374307.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.399994 m, nav range: 159.082138 m, bearing: 278.740513 deg, approach rate: 0.135668 m/s, LOS rate: -0.229450 deg/s, cmd heading: 23.070629 deg, new cmd heading: 22.786345 deg. 2025-01-08T22:11:47.697Z,1736374307.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.397697 target range: 383.399994 and range: 383.40 m. 2025-01-08T22:11:47.920Z,1736374307.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:47.922Z,1736374307.922 [DAT](INFO): DAT read: TxSync time:22:11:46.9460 2025-01-08T22:11:48.005Z,1736374308.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:48.041Z,1736374308.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 381.899994 m, deltaT: 4.031932 s, deltaX: -1.500000 m, approachRate: -0.372030 m/s, rangeRepo size: 4 2025-01-08T22:11:48.052Z,1736374308.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 381.899994 m, bearing: 302.710544 deg, lat: 36.903483 deg, lon: -122.124506 deg, deltaT: 4.031932 s, deltaX: -1.500000 m, approachRate: -0.372030 m/s, posRepo size: 4 2025-01-08T22:11:48.056Z,1736374308.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.90 m. 2025-01-08T22:11:48.059Z,1736374308.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.899994 m, nav range: 152.974213 m, bearing: 279.008820 deg, approach rate: 0.000000 m/s, LOS rate: -0.229450 deg/s, cmd heading: 22.786344 deg, new cmd heading: 22.517679 deg. 2025-01-08T22:11:48.060Z,1736374308.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393008 target range: 381.899994 and range: 381.90 m. 2025-01-08T22:11:48.168Z,1736374308.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:48.409Z,1736374308.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:48.417Z,1736374308.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.90 m. 2025-01-08T22:11:48.420Z,1736374308.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:48.421Z,1736374308.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.899994 m, nav range: 153.025665 m, bearing: 278.914609 deg, approach rate: 0.134487 m/s, LOS rate: -0.246167 deg/s, cmd heading: 22.517679 deg, new cmd heading: 22.235143 deg. 2025-01-08T22:11:48.423Z,1736374308.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.388076 target range: 381.899994 and range: 381.90 m. 2025-01-08T22:11:48.673Z,1736374308.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:48.828Z,1736374308.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:48.842Z,1736374308.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.90 m. 2025-01-08T22:11:48.845Z,1736374308.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.899994 m, nav range: 153.097488 m, bearing: 278.816911 deg, approach rate: 0.168965 m/s, LOS rate: -0.229728 deg/s, cmd heading: 22.235143 deg, new cmd heading: 21.942189 deg. 2025-01-08T22:11:48.846Z,1736374308.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.382963 target range: 381.899994 and range: 381.90 m. 2025-01-08T22:11:48.925Z,1736374308.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:49.176Z,1736374309.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:49.220Z,1736374309.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:49.233Z,1736374309.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:49.235Z,1736374309.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.90 m. 2025-01-08T22:11:49.238Z,1736374309.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.899994 m, nav range: 153.164169 m, bearing: 278.725514 deg, approach rate: 0.169800 m/s, LOS rate: -0.232636 deg/s, cmd heading: 21.942189 deg, new cmd heading: 21.668121 deg. 2025-01-08T22:11:49.240Z,1736374309.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.378180 target range: 381.899994 and range: 381.90 m. 2025-01-08T22:11:49.428Z,1736374309.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:49.430Z,1736374309.430 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:49.430Z,1736374309.430 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:49.431Z,1736374309.431 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:49.672Z,1736374309.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:49.680Z,1736374309.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:49.681Z,1736374309.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999353 2025-01-08T22:11:49.685Z,1736374309.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.90 m. 2025-01-08T22:11:49.688Z,1736374309.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.899994 m, nav range: 153.264328 m, bearing: 278.621201 deg, approach rate: 0.222349 m/s, LOS rate: -0.231421 deg/s, cmd heading: 21.668121 deg, new cmd heading: 21.355388 deg. 2025-01-08T22:11:49.690Z,1736374309.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.372722 target range: 381.899994 and range: 381.90 m. 2025-01-08T22:11:49.932Z,1736374309.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:49.932Z,1736374309.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250703 2025-01-08T22:11:50.040Z,1736374310.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:50.050Z,1736374310.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.90 m. 2025-01-08T22:11:50.053Z,1736374310.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.899994 m, nav range: 153.346664 m, bearing: 278.535950 deg, approach rate: 0.225495 m/s, LOS rate: -0.233350 deg/s, cmd heading: 21.355387 deg, new cmd heading: 21.099775 deg. 2025-01-08T22:11:50.054Z,1736374310.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.368261 target range: 381.899994 and range: 381.90 m. 2025-01-08T22:11:50.184Z,1736374310.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:50.185Z,1736374310.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503323 2025-01-08T22:11:50.436Z,1736374310.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:50.437Z,1736374310.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755332 2025-01-08T22:11:50.496Z,1736374310.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:50.554Z,1736374310.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.90 m. 2025-01-08T22:11:50.562Z,1736374310.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.899994 m, nav range: 153.443649 m, bearing: 278.434802 deg, approach rate: 0.192603 m/s, LOS rate: -0.200746 deg/s, cmd heading: 21.099776 deg, new cmd heading: 20.796524 deg. 2025-01-08T22:11:50.563Z,1736374310.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.362968 target range: 381.899994 and range: 381.90 m. 2025-01-08T22:11:50.688Z,1736374310.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:50.689Z,1736374310.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006802 2025-01-08T22:11:50.852Z,1736374310.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:50.861Z,1736374310.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.90 m. 2025-01-08T22:11:50.864Z,1736374310.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.899994 m, nav range: 153.529068 m, bearing: 278.347533 deg, approach rate: 0.277977 m/s, LOS rate: -0.283840 deg/s, cmd heading: 20.796524 deg, new cmd heading: 20.534865 deg. 2025-01-08T22:11:50.865Z,1736374310.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.358401 target range: 381.899994 and range: 381.90 m. 2025-01-08T22:11:50.940Z,1736374310.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:50.942Z,1736374310.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260408 2025-01-08T22:11:51.192Z,1736374311.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:51.192Z,1736374311.192 [DAT](INFO): DAT read: Rx Time:22:11:49.8574 2025-01-08T22:11:51.193Z,1736374311.193 [DAT](INFO): Rx dataTimestamp_ set to:1736374311.192669 2025-01-08T22:11:51.193Z,1736374311.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511888 2025-01-08T22:11:51.257Z,1736374311.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:51.273Z,1736374311.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:51.275Z,1736374311.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.90 m. 2025-01-08T22:11:51.282Z,1736374311.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.899994 m, nav range: 153.621658 m, bearing: 278.253140 deg, approach rate: 0.223862 m/s, LOS rate: -0.228081 deg/s, cmd heading: 20.534865 deg, new cmd heading: 20.251861 deg. 2025-01-08T22:11:51.283Z,1736374311.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.353462 target range: 381.899994 and range: 381.90 m. 2025-01-08T22:11:51.444Z,1736374311.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:51.444Z,1736374311.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762821 2025-01-08T22:11:51.696Z,1736374311.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:51.702Z,1736374311.702 [DAT](INFO): DAT read: 22:11:49.8574 LVL= 18208, 32657, 24562, 32755, AGC= 69, IDX= 414, 0.11, 2.003, 0.557, 1.014, 0.967, PHS= 1.124,-0.363, 0.044, RAW= 105.4, -12.1, CAL= 111.8, -22.9, ROT= 38.2, 22.9 2025-01-08T22:11:51.704Z,1736374311.704 [DAT](INFO): got valid direction response: 22:11:49.8574 LVL= 18208, 32657, 24562, 32755, AGC= 69, IDX= 414, 0.11, 2.003, 0.557, 1.014, 0.967, PHS= 1.124,-0.363, 0.044, RAW= 105.4, -12.1, CAL= 111.8, -22.9, ROT= 38.2, 22.9 2025-01-08T22:11:51.705Z,1736374311.705 [DAT](INFO): DAT read: Bearing 38.2, 22.9 (Local) 2025-01-08T22:11:51.706Z,1736374311.706 [DAT](INFO): Local bearing/azimuth received: Bearing 38.2, 22.9 (Local) 2025-01-08T22:11:51.707Z,1736374311.707 [DAT](INFO): DAT read: Range 10 to 50 : 379.8 m (Round-trip 506.4 ms) speed 0.4 m/s 2025-01-08T22:11:51.708Z,1736374311.708 [DAT](INFO): DAT read: user:2382> 2025-01-08T22:11:51.709Z,1736374311.709 [DAT](INFO): DAT read: Tx time:22:11:50.9468 2025-01-08T22:11:51.709Z,1736374311.709 [DAT](INFO): Ping request sent. 2025-01-08T22:11:51.709Z,1736374311.709 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:51.710Z,1736374311.710 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:51.711Z,1736374311.711 [DAT](INFO): direction in FSK: [0.127755,-0.171414,0.976881] 2025-01-08T22:11:51.711Z,1736374311.711 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:51.711Z,1736374311.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:51.712Z,1736374311.712 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:51.715Z,1736374311.715 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:51.715Z,1736374311.715 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:51.762Z,1736374311.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 379.799988 m, deltaT: 4.031794 s, deltaX: -2.100006 m, approachRate: -0.520861 m/s, rangeRepo size: 4 2025-01-08T22:11:51.773Z,1736374311.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 379.799988 m, bearing: 323.867046 deg, lat: 36.903849 deg, lon: -122.124506 deg, deltaT: 4.031794 s, deltaX: -2.100006 m, approachRate: -0.520861 m/s, posRepo size: 4 2025-01-08T22:11:51.774Z,1736374311.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.80 m. 2025-01-08T22:11:51.785Z,1736374311.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.799988 m, nav range: 164.517670 m, bearing: 292.336145 deg, approach rate: 0.000000 m/s, LOS rate: -0.228081 deg/s, cmd heading: 20.251861 deg, new cmd heading: 19.919021 deg. 2025-01-08T22:11:51.786Z,1736374311.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.347652 target range: 379.799988 and range: 379.80 m. 2025-01-08T22:11:51.948Z,1736374311.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:51.950Z,1736374311.950 [DAT](INFO): DAT read: TxSync time:22:11:50.9460 2025-01-08T22:11:52.071Z,1736374312.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:52.111Z,1736374312.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.80 m. 2025-01-08T22:11:52.114Z,1736374312.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.799988 m, nav range: 164.549759 m, bearing: 292.250323 deg, approach rate: 0.092843 m/s, LOS rate: -0.248257 deg/s, cmd heading: 19.919021 deg, new cmd heading: 19.661609 deg. 2025-01-08T22:11:52.115Z,1736374312.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.343160 target range: 379.799988 and range: 379.80 m. 2025-01-08T22:11:52.200Z,1736374312.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:52.448Z,1736374312.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:52.452Z,1736374312.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:52.458Z,1736374312.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.80 m. 2025-01-08T22:11:52.461Z,1736374312.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.799988 m, nav range: 164.582397 m, bearing: 292.164062 deg, approach rate: 0.092879 m/s, LOS rate: -0.245423 deg/s, cmd heading: 19.661610 deg, new cmd heading: 19.402879 deg. 2025-01-08T22:11:52.462Z,1736374312.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.338644 target range: 379.799988 and range: 379.80 m. 2025-01-08T22:11:52.704Z,1736374312.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:52.872Z,1736374312.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:52.881Z,1736374312.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.80 m. 2025-01-08T22:11:52.884Z,1736374312.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.799988 m, nav range: 164.616562 m, bearing: 292.068876 deg, approach rate: 0.080800 m/s, LOS rate: -0.225072 deg/s, cmd heading: 19.402879 deg, new cmd heading: 19.117381 deg. 2025-01-08T22:11:52.885Z,1736374312.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.333661 target range: 379.799988 and range: 379.80 m. 2025-01-08T22:11:52.957Z,1736374312.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:53.208Z,1736374313.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:53.262Z,1736374313.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:53.270Z,1736374313.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.80 m. 2025-01-08T22:11:53.274Z,1736374313.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.799988 m, nav range: 164.647537 m, bearing: 291.981337 deg, approach rate: 0.079630 m/s, LOS rate: -0.224998 deg/s, cmd heading: 19.117382 deg, new cmd heading: 18.854818 deg. 2025-01-08T22:11:53.275Z,1736374313.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329079 target range: 379.799988 and range: 379.80 m. 2025-01-08T22:11:53.460Z,1736374313.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:53.604Z,1736374313.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:11:53.710Z,1736374313.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:53.713Z,1736374313.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:53.720Z,1736374313.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:53.723Z,1736374313.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.80 m. 2025-01-08T22:11:53.746Z,1736374313.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.799988 m, nav range: 164.672821 m, bearing: 291.882802 deg, approach rate: 0.055953 m/s, LOS rate: -0.218027 deg/s, cmd heading: 18.854817 deg, new cmd heading: 18.559259 deg. 2025-01-08T22:11:53.747Z,1736374313.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.323920 target range: 379.799988 and range: 379.80 m. 2025-01-08T22:11:53.966Z,1736374313.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:53.968Z,1736374313.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:53.968Z,1736374313.968 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:53.969Z,1736374313.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:54.076Z,1736374314.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:54.089Z,1736374314.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.80 m. 2025-01-08T22:11:54.096Z,1736374314.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.799988 m, nav range: 164.691330 m, bearing: 291.802109 deg, approach rate: 0.050521 m/s, LOS rate: -0.220229 deg/s, cmd heading: 18.559258 deg, new cmd heading: 18.317208 deg. 2025-01-08T22:11:54.097Z,1736374314.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.319696 target range: 379.799988 and range: 379.80 m. 2025-01-08T22:11:54.216Z,1736374314.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:54.217Z,1736374314.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507915 2025-01-08T22:11:54.468Z,1736374314.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:54.468Z,1736374314.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758929 2025-01-08T22:11:54.489Z,1736374314.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:54.511Z,1736374314.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.80 m. 2025-01-08T22:11:54.514Z,1736374314.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.799988 m, nav range: 164.710968 m, bearing: 291.711181 deg, approach rate: 0.046924 m/s, LOS rate: -0.217238 deg/s, cmd heading: 18.317208 deg, new cmd heading: 18.044459 deg. 2025-01-08T22:11:54.515Z,1736374314.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.314935 target range: 379.799988 and range: 379.80 m. 2025-01-08T22:11:54.609Z,1736374314.609 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:11:54.721Z,1736374314.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:54.724Z,1736374314.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013535 2025-01-08T22:11:54.892Z,1736374314.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:54.900Z,1736374314.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.80 m. 2025-01-08T22:11:54.902Z,1736374314.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.799988 m, nav range: 164.722107 m, bearing: 291.624580 deg, approach rate: 0.028346 m/s, LOS rate: -0.220364 deg/s, cmd heading: 18.044460 deg, new cmd heading: 17.784676 deg. 2025-01-08T22:11:54.904Z,1736374314.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.310401 target range: 379.799988 and range: 379.80 m. 2025-01-08T22:11:54.972Z,1736374314.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:54.973Z,1736374314.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263844 2025-01-08T22:11:55.224Z,1736374315.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:55.224Z,1736374315.224 [DAT](INFO): DAT read: Rx Time:22:11:53.8546 2025-01-08T22:11:55.225Z,1736374315.225 [DAT](INFO): Rx dataTimestamp_ set to:1736374315.224541 2025-01-08T22:11:55.225Z,1736374315.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515989 2025-01-08T22:11:55.293Z,1736374315.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:55.310Z,1736374315.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.80 m. 2025-01-08T22:11:55.317Z,1736374315.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.799988 m, nav range: 164.731781 m, bearing: 291.538073 deg, approach rate: 0.023602 m/s, LOS rate: -0.211045 deg/s, cmd heading: 17.784675 deg, new cmd heading: 17.525170 deg. 2025-01-08T22:11:55.318Z,1736374315.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.305872 target range: 379.799988 and range: 379.80 m. 2025-01-08T22:11:55.476Z,1736374315.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:55.477Z,1736374315.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767524 2025-01-08T22:11:55.726Z,1736374315.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:55.728Z,1736374315.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:55.741Z,1736374315.741 [DAT](INFO): DAT read: 22:11:53.8546 LVL= 24624, 32753, 25250, 32755, AGC= 69, IDX= 417, 0.12,-1.633, 3.122,-2.820,-2.588, PHS= 1.043,-0.526,-0.235, RAW= 100.1, -3.9, CAL= 107.8, -12.2, ROT= 42.2, 12.2 2025-01-08T22:11:55.748Z,1736374315.748 [DAT](INFO): got valid direction response: 22:11:53.8546 LVL= 24624, 32753, 25250, 32755, AGC= 69, IDX= 417, 0.12,-1.633, 3.122,-2.820,-2.588, PHS= 1.043,-0.526,-0.235, RAW= 100.1, -3.9, CAL= 107.8, -12.2, ROT= 42.2, 12.2 2025-01-08T22:11:55.749Z,1736374315.749 [DAT](INFO): DAT read: Bearing 42.2, 12.2 (Local) 2025-01-08T22:11:55.749Z,1736374315.749 [DAT](INFO): Local bearing/azimuth received: Bearing 42.2, 12.2 (Local) 2025-01-08T22:11:55.786Z,1736374315.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:55.792Z,1736374315.792 [DAT](INFO): DAT read: Range 10 to 50 : 377.7 m (Round-trip 503.6 ms) speed 0.4 m/s 2025-01-08T22:11:55.793Z,1736374315.793 [DAT](INFO): DAT read: user:2383> 2025-01-08T22:11:55.794Z,1736374315.794 [DAT](INFO): DAT read: Tx time:22:11:54.9469 2025-01-08T22:11:55.794Z,1736374315.794 [DAT](INFO): Ping request sent. 2025-01-08T22:11:55.794Z,1736374315.794 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:55.794Z,1736374315.794 [DAT](INFO): DAT read: TxSync time:22:11:54.9461 2025-01-08T22:11:55.797Z,1736374315.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 379.80 m. 2025-01-08T22:11:55.807Z,1736374315.807 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:55.808Z,1736374315.808 [DAT](INFO): direction in FSK: [-0.023906,-0.072226,0.997102] 2025-01-08T22:11:55.808Z,1736374315.808 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:55.809Z,1736374315.809 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:55.812Z,1736374315.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 379.799988 m, nav range: 164.732315 m, bearing: 291.445646 deg, approach rate: 0.001097 m/s, LOS rate: -0.189800 deg/s, cmd heading: 17.525171 deg, new cmd heading: 17.247895 deg. 2025-01-08T22:11:55.813Z,1736374315.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.301033 target range: 379.799988 and range: 379.80 m. 2025-01-08T22:11:55.820Z,1736374315.820 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:55.820Z,1736374315.820 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:55.980Z,1736374315.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:56.110Z,1736374316.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:56.125Z,1736374316.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 377.700012 m, deltaT: 4.032028 s, deltaX: -2.099976 m, approachRate: -0.520824 m/s, rangeRepo size: 4 2025-01-08T22:11:56.129Z,1736374316.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 377.700012 m, bearing: 293.900416 deg, lat: 36.903849 deg, lon: -122.123600 deg, deltaT: 4.032028 s, deltaX: -2.099976 m, approachRate: -0.520824 m/s, posRepo size: 4 2025-01-08T22:11:56.132Z,1736374316.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:11:56.137Z,1736374316.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 94.427193 m, bearing: 309.456673 deg, approach rate: 0.000000 m/s, LOS rate: -0.189800 deg/s, cmd heading: 17.247894 deg, new cmd heading: 17.061467 deg. 2025-01-08T22:11:56.140Z,1736374316.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.297779 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:11:56.232Z,1736374316.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:56.484Z,1736374316.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:56.509Z,1736374316.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:56.518Z,1736374316.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:11:56.521Z,1736374316.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 94.348175 m, bearing: 309.315752 deg, approach rate: -0.200719 m/s, LOS rate: -0.358263 deg/s, cmd heading: 17.061468 deg, new cmd heading: 16.638360 deg. 2025-01-08T22:11:56.522Z,1736374316.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.290394 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:11:56.736Z,1736374316.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:56.934Z,1736374316.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:56.944Z,1736374316.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:11:56.947Z,1736374316.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 94.260704 m, bearing: 309.168059 deg, approach rate: -0.205271 m/s, LOS rate: -0.346919 deg/s, cmd heading: 16.638360 deg, new cmd heading: 16.194877 deg. 2025-01-08T22:11:56.968Z,1736374316.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.282654 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:11:56.988Z,1736374316.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:57.240Z,1736374317.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:57.313Z,1736374317.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:57.323Z,1736374317.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:11:57.326Z,1736374317.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 94.182297 m, bearing: 309.036517 deg, approach rate: -0.207404 m/s, LOS rate: -0.348245 deg/s, cmd heading: 16.194877 deg, new cmd heading: 15.799930 deg. 2025-01-08T22:11:57.326Z,1736374317.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.275761 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:11:57.492Z,1736374317.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:57.730Z,1736374317.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:57.743Z,1736374317.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:11:57.744Z,1736374317.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:57.747Z,1736374317.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 94.087006 m, bearing: 308.889891 deg, approach rate: -0.226608 m/s, LOS rate: -0.349038 deg/s, cmd heading: 15.799930 deg, new cmd heading: 15.359616 deg. 2025-01-08T22:11:57.769Z,1736374317.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.268076 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:11:57.996Z,1736374317.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:58.115Z,1736374318.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:58.138Z,1736374318.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:11:58.141Z,1736374318.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:11:58.148Z,1736374318.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 93.997643 m, bearing: 308.754277 deg, approach rate: -0.224014 m/s, LOS rate: -0.340277 deg/s, cmd heading: 15.359615 deg, new cmd heading: 14.952394 deg. 2025-01-08T22:11:58.149Z,1736374318.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.260969 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:11:58.248Z,1736374318.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:58.249Z,1736374318.249 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:11:58.249Z,1736374318.249 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:11:58.249Z,1736374318.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:11:58.500Z,1736374318.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:58.501Z,1736374318.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706648 2025-01-08T22:11:58.518Z,1736374318.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:58.528Z,1736374318.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:11:58.530Z,1736374318.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 93.903267 m, bearing: 308.612502 deg, approach rate: -0.244601 m/s, LOS rate: -0.367820 deg/s, cmd heading: 14.952394 deg, new cmd heading: 14.526649 deg. 2025-01-08T22:11:58.531Z,1736374318.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253538 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:11:58.752Z,1736374318.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:58.752Z,1736374318.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.958563 2025-01-08T22:11:58.946Z,1736374318.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:58.955Z,1736374318.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:11:58.974Z,1736374318.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 93.799133 m, bearing: 308.465344 deg, approach rate: -0.243552 m/s, LOS rate: -0.344561 deg/s, cmd heading: 14.526650 deg, new cmd heading: 14.084695 deg. 2025-01-08T22:11:58.980Z,1736374318.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.245824 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:11:59.006Z,1736374319.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:59.007Z,1736374319.007 [DAT](INFO): DAT read: Rx Time:22:11:57.8208 2025-01-08T22:11:59.008Z,1736374319.008 [DAT](INFO): Rx dataTimestamp_ set to:1736374319.007297 2025-01-08T22:11:59.008Z,1736374319.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214207 2025-01-08T22:11:59.256Z,1736374319.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:59.257Z,1736374319.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463437 2025-01-08T22:11:59.334Z,1736374319.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:59.343Z,1736374319.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:11:59.346Z,1736374319.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 93.704063 m, bearing: 308.332517 deg, approach rate: -0.245209 m/s, LOS rate: -0.342941 deg/s, cmd heading: 14.084695 deg, new cmd heading: 13.685817 deg. 2025-01-08T22:11:59.347Z,1736374319.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238863 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:11:59.509Z,1736374319.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:59.546Z,1736374319.546 [DAT](INFO): DAT read: 22:11:57.8208 LVL= 21360, 28353, 21490, 26019, AGC= 71, IDX= 273,-0.10, 2.843, 1.425, 1.639, 1.891, PHS= 1.040,-0.419,-0.255, RAW= 95.9, -5.3, CAL= 103.7, -14.3, ROT= 46.3, 14.3 2025-01-08T22:11:59.568Z,1736374319.568 [DAT](INFO): got valid direction response: 22:11:57.8208 LVL= 21360, 28353, 21490, 26019, AGC= 71, IDX= 273,-0.10, 2.843, 1.425, 1.639, 1.891, PHS= 1.040,-0.419,-0.255, RAW= 95.9, -5.3, CAL= 103.7, -14.3, ROT= 46.3, 14.3 2025-01-08T22:11:59.569Z,1736374319.569 [DAT](INFO): DAT read: Bearing 46.3, 14.3 (Local) 2025-01-08T22:11:59.569Z,1736374319.569 [DAT](INFO): Local bearing/azimuth received: Bearing 46.3, 14.3 (Local) 2025-01-08T22:11:59.680Z,1736374319.680 [DAT](INFO): DAT read: Range 10 to 50 : 352.3 m (Round-trip 469.8 ms) speed 0.1 m/s 2025-01-08T22:11:59.681Z,1736374319.681 [DAT](INFO): DAT read: user:2384> 2025-01-08T22:11:59.681Z,1736374319.681 [DAT](INFO): DAT read: Tx time:22:11:58.9469 2025-01-08T22:11:59.682Z,1736374319.682 [DAT](INFO): Ping request sent. 2025-01-08T22:11:59.682Z,1736374319.682 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:11:59.682Z,1736374319.682 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:11:59.683Z,1736374319.683 [DAT](INFO): direction in FSK: [0.008559,-0.000562,0.999963] 2025-01-08T22:11:59.695Z,1736374319.695 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:59.696Z,1736374319.696 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:59.699Z,1736374319.699 [DAT](INFO): publishing transmit ping time 2025-01-08T22:11:59.699Z,1736374319.699 [DAT](INFO): publishing direction and range info 2025-01-08T22:11:59.762Z,1736374319.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:11:59.772Z,1736374319.772 [DAT](INFO): DAT read: TxSync time:22:11:58.9461 2025-01-08T22:11:59.859Z,1736374319.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:11:59.912Z,1736374319.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 352.299988 m, deltaT: 3.781718 s, deltaX: -25.400024 m, approachRate: -6.716530 m/s, rangeRepo size: 4 2025-01-08T22:11:59.912Z,1736374319.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:11:59.915Z,1736374319.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 93.571678 m, bearing: 308.154956 deg, approach rate: -0.241441 m/s, LOS rate: -0.324289 deg/s, cmd heading: 13.685817 deg, new cmd heading: 13.152397 deg. 2025-01-08T22:11:59.928Z,1736374319.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.229553 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:12:00.012Z,1736374320.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:00.200Z,1736374320.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:00.208Z,1736374320.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:00.210Z,1736374320.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:12:00.213Z,1736374320.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 93.479858 m, bearing: 308.035672 deg, approach rate: -0.287503 m/s, LOS rate: -0.373866 deg/s, cmd heading: 13.152397 deg, new cmd heading: 12.794197 deg. 2025-01-08T22:12:00.214Z,1736374320.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.223301 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:12:00.264Z,1736374320.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:00.265Z,1736374320.265 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:00.265Z,1736374320.265 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:00.265Z,1736374320.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:00.516Z,1736374320.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:00.516Z,1736374320.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.834531 2025-01-08T22:12:00.605Z,1736374320.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:00.673Z,1736374320.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:12:00.697Z,1736374320.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 93.372284 m, bearing: 307.897891 deg, approach rate: -0.240423 m/s, LOS rate: -0.308287 deg/s, cmd heading: 12.794197 deg, new cmd heading: 12.380386 deg. 2025-01-08T22:12:00.698Z,1736374320.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216078 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:12:00.768Z,1736374320.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:00.769Z,1736374320.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.087070 2025-01-08T22:12:01.020Z,1736374321.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:01.020Z,1736374321.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.338590 2025-01-08T22:12:01.141Z,1736374321.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:01.150Z,1736374321.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:12:01.153Z,1736374321.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 93.225609 m, bearing: 307.715286 deg, approach rate: -0.297906 m/s, LOS rate: -0.371466 deg/s, cmd heading: 12.380386 deg, new cmd heading: 11.831724 deg. 2025-01-08T22:12:01.154Z,1736374321.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.206503 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:12:01.273Z,1736374321.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:01.274Z,1736374321.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.592123 2025-01-08T22:12:01.513Z,1736374321.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:01.521Z,1736374321.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:12:01.524Z,1736374321.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:01.525Z,1736374321.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.843147 2025-01-08T22:12:01.528Z,1736374321.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 93.123711 m, bearing: 307.588939 deg, approach rate: -0.274510 m/s, LOS rate: -0.340746 deg/s, cmd heading: 11.831724 deg, new cmd heading: 11.452275 deg. 2025-01-08T22:12:01.529Z,1736374321.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.199880 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:12:01.776Z,1736374321.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:01.778Z,1736374321.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.095380 2025-01-08T22:12:01.953Z,1736374321.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:01.962Z,1736374321.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:12:01.965Z,1736374321.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 92.997566 m, bearing: 307.439316 deg, approach rate: -0.286179 m/s, LOS rate: -0.339904 deg/s, cmd heading: 11.452275 deg, new cmd heading: 11.002807 deg. 2025-01-08T22:12:01.966Z,1736374321.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192035 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:12:02.029Z,1736374322.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:02.030Z,1736374322.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.348095 2025-01-08T22:12:02.280Z,1736374322.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:02.281Z,1736374322.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.598813 2025-01-08T22:12:02.334Z,1736374322.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:02.342Z,1736374322.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:02.346Z,1736374322.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:12:02.349Z,1736374322.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 92.885246 m, bearing: 307.310659 deg, approach rate: -0.292656 m/s, LOS rate: -0.335630 deg/s, cmd heading: 11.002807 deg, new cmd heading: 10.616374 deg. 2025-01-08T22:12:02.350Z,1736374322.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.185291 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:12:02.532Z,1736374322.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:02.533Z,1736374322.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.850884 2025-01-08T22:12:02.783Z,1736374322.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:02.784Z,1736374322.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:02.784Z,1736374322.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.102679 2025-01-08T22:12:02.793Z,1736374322.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:12:02.796Z,1736374322.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 92.753571 m, bearing: 307.156694 deg, approach rate: -0.294495 m/s, LOS rate: -0.344834 deg/s, cmd heading: 10.616374 deg, new cmd heading: 10.153834 deg. 2025-01-08T22:12:02.797Z,1736374322.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.177218 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:12:03.036Z,1736374323.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:03.037Z,1736374323.037 [DAT](INFO): DAT read: Rx Time:22:12:01.8501 2025-01-08T22:12:03.038Z,1736374323.038 [DAT](INFO): Rx dataTimestamp_ set to:1736374323.037481 2025-01-08T22:12:03.040Z,1736374323.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.357205 2025-01-08T22:12:03.131Z,1736374323.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:03.160Z,1736374323.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.70 m. 2025-01-08T22:12:03.162Z,1736374323.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 377.700012 m, nav range: 92.649956 m, bearing: 307.037541 deg, approach rate: -0.295729 m/s, LOS rate: -0.340456 deg/s, cmd heading: 10.153833 deg, new cmd heading: 9.795981 deg. 2025-01-08T22:12:03.163Z,1736374323.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.170972 target range: 377.700012 and range: 377.70 m. 2025-01-08T22:12:03.288Z,1736374323.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:03.288Z,1736374323.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.606609 2025-01-08T22:12:03.542Z,1736374323.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:03.566Z,1736374323.566 [DAT](INFO): DAT read: 22:12:01.8501 LVL= 21232, 29681, 22482, 28659, AGC= 70, IDX= 227, 0.07, 3.015, 1.684, 1.685, 2.021, PHS= 1.082,-0.290,-0.338, RAW= 88.3, -6.6, CAL= 97.0, -15.5, ROT= 53.0, 15.5 2025-01-08T22:12:03.580Z,1736374323.580 [DAT](INFO): got valid direction response: 22:12:01.8501 LVL= 21232, 29681, 22482, 28659, AGC= 70, IDX= 227, 0.07, 3.015, 1.684, 1.685, 2.021, PHS= 1.082,-0.290,-0.338, RAW= 88.3, -6.6, CAL= 97.0, -15.5, ROT= 53.0, 15.5 2025-01-08T22:12:03.581Z,1736374323.581 [DAT](INFO): DAT read: Bearing 53.0, 15.5 (Local) 2025-01-08T22:12:03.581Z,1736374323.581 [DAT](INFO): Local bearing/azimuth received: Bearing 53.0, 15.5 (Local) 2025-01-08T22:12:03.583Z,1736374323.583 [DAT](INFO): DAT read: Range 10 to 50 : 374.3 m (Round-trip 499.1 ms) speed 0.2 m/s 2025-01-08T22:12:03.584Z,1736374323.584 [DAT](INFO): DAT read: user:2385> 2025-01-08T22:12:03.585Z,1736374323.585 [DAT](INFO): DAT read: Tx time:22:12:02.9469 2025-01-08T22:12:03.585Z,1736374323.585 [DAT](INFO): Ping request sent. 2025-01-08T22:12:03.585Z,1736374323.585 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:12:03.585Z,1736374323.585 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:12:03.586Z,1736374323.586 [DAT](INFO): direction in FSK: [0.042878,0.129554,0.990645] 2025-01-08T22:12:03.586Z,1736374323.586 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:03.587Z,1736374323.587 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:03.594Z,1736374323.594 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:03.594Z,1736374323.594 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:03.613Z,1736374323.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:03.710Z,1736374323.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 374.299988 m, deltaT: 7.813886 s, deltaX: -3.400024 m, approachRate: -0.435126 m/s, rangeRepo size: 4 2025-01-08T22:12:03.733Z,1736374323.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 374.299988 m, bearing: 51.751262 deg, lat: 36.903549 deg, lon: -122.123380 deg, deltaT: 7.813886 s, deltaX: -3.400024 m, approachRate: -0.435126 m/s, posRepo size: 4 2025-01-08T22:12:03.733Z,1736374323.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.30 m. 2025-01-08T22:12:03.741Z,1736374323.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.299988 m, nav range: 58.786266 m, bearing: 292.186791 deg, approach rate: 0.000000 m/s, LOS rate: -0.340456 deg/s, cmd heading: 9.795981 deg, new cmd heading: 9.229969 deg. 2025-01-08T22:12:03.742Z,1736374323.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.161093 target range: 374.299988 and range: 374.30 m. 2025-01-08T22:12:03.794Z,1736374323.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:03.795Z,1736374323.795 [DAT](INFO): DAT read: TxSync time:22:12:02.9461 2025-01-08T22:12:04.045Z,1736374324.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:04.104Z,1736374324.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:04.129Z,1736374324.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.30 m. 2025-01-08T22:12:04.136Z,1736374324.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.299988 m, nav range: 58.716347 m, bearing: 291.889459 deg, approach rate: -0.161956 m/s, LOS rate: -0.689532 deg/s, cmd heading: 9.229969 deg, new cmd heading: 8.336987 deg. 2025-01-08T22:12:04.137Z,1736374324.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.145508 target range: 374.299988 and range: 374.30 m. 2025-01-08T22:12:04.296Z,1736374324.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:04.417Z,1736374324.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:04.445Z,1736374324.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:04.451Z,1736374324.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.30 m. 2025-01-08T22:12:04.454Z,1736374324.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.299988 m, nav range: 58.670887 m, bearing: 291.700153 deg, approach rate: -0.143057 m/s, LOS rate: -0.596187 deg/s, cmd heading: 8.336987 deg, new cmd heading: 7.768649 deg. 2025-01-08T22:12:04.455Z,1736374324.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.135589 target range: 374.299988 and range: 374.30 m. 2025-01-08T22:12:04.548Z,1736374324.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:04.549Z,1736374324.549 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:04.549Z,1736374324.549 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:04.550Z,1736374324.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:04.801Z,1736374324.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:04.802Z,1736374324.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216638 2025-01-08T22:12:04.876Z,1736374324.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:04.884Z,1736374324.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.30 m. 2025-01-08T22:12:04.887Z,1736374324.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.299988 m, nav range: 58.622360 m, bearing: 291.421761 deg, approach rate: -0.111032 m/s, LOS rate: -0.637504 deg/s, cmd heading: 7.768649 deg, new cmd heading: 6.932844 deg. 2025-01-08T22:12:04.888Z,1736374324.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.121001 target range: 374.299988 and range: 374.30 m. 2025-01-08T22:12:05.052Z,1736374325.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:05.053Z,1736374325.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467707 2025-01-08T22:12:05.243Z,1736374325.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:05.252Z,1736374325.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.30 m. 2025-01-08T22:12:05.254Z,1736374325.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.299988 m, nav range: 58.584503 m, bearing: 291.198518 deg, approach rate: -0.103102 m/s, LOS rate: -0.608381 deg/s, cmd heading: 6.932844 deg, new cmd heading: 6.262715 deg. 2025-01-08T22:12:05.256Z,1736374325.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109305 target range: 374.299988 and range: 374.30 m. 2025-01-08T22:12:05.304Z,1736374325.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:05.305Z,1736374325.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720113 2025-01-08T22:12:05.556Z,1736374325.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:05.557Z,1736374325.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972144 2025-01-08T22:12:05.640Z,1736374325.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:05.661Z,1736374325.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.30 m. 2025-01-08T22:12:05.667Z,1736374325.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.299988 m, nav range: 58.542671 m, bearing: 290.957087 deg, approach rate: -0.102102 m/s, LOS rate: -0.589695 deg/s, cmd heading: 6.262715 deg, new cmd heading: 5.537944 deg. 2025-01-08T22:12:05.690Z,1736374325.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096655 target range: 374.299988 and range: 374.30 m. 2025-01-08T22:12:05.812Z,1736374325.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:05.814Z,1736374325.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228183 2025-01-08T22:12:06.061Z,1736374326.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:06.064Z,1736374326.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:06.064Z,1736374326.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479431 2025-01-08T22:12:06.073Z,1736374326.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.30 m. 2025-01-08T22:12:06.076Z,1736374326.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.299988 m, nav range: 58.510174 m, bearing: 290.694452 deg, approach rate: -0.079209 m/s, LOS rate: -0.640498 deg/s, cmd heading: 5.537944 deg, new cmd heading: 4.749654 deg. 2025-01-08T22:12:06.077Z,1736374326.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.082897 target range: 374.299988 and range: 374.30 m. 2025-01-08T22:12:06.316Z,1736374326.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:06.316Z,1736374326.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731340 2025-01-08T22:12:06.440Z,1736374326.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:06.447Z,1736374326.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:06.449Z,1736374326.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.30 m. 2025-01-08T22:12:06.460Z,1736374326.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.299988 m, nav range: 58.480232 m, bearing: 290.458072 deg, approach rate: -0.079251 m/s, LOS rate: -0.625979 deg/s, cmd heading: 4.749654 deg, new cmd heading: 4.040190 deg. 2025-01-08T22:12:06.461Z,1736374326.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070515 target range: 374.299988 and range: 374.30 m. 2025-01-08T22:12:06.568Z,1736374326.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:06.570Z,1736374326.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984467 2025-01-08T22:12:06.820Z,1736374326.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:06.820Z,1736374326.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235389 2025-01-08T22:12:06.887Z,1736374326.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:06.912Z,1736374326.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.30 m. 2025-01-08T22:12:06.914Z,1736374326.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.299988 m, nav range: 58.461132 m, bearing: 290.171501 deg, approach rate: -0.041268 m/s, LOS rate: -0.619362 deg/s, cmd heading: 4.040191 deg, new cmd heading: 3.180265 deg. 2025-01-08T22:12:06.920Z,1736374326.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055506 target range: 374.299988 and range: 374.30 m. 2025-01-08T22:12:07.072Z,1736374327.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:07.073Z,1736374327.073 [DAT](INFO): DAT read: Rx Time:22:12:05.8330 2025-01-08T22:12:07.074Z,1736374327.074 [DAT](INFO): Rx dataTimestamp_ set to:1736374327.073451 2025-01-08T22:12:07.074Z,1736374327.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489218 2025-01-08T22:12:07.252Z,1736374327.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:07.261Z,1736374327.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.30 m. 2025-01-08T22:12:07.264Z,1736374327.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 374.299988 m, nav range: 58.444386 m, bearing: 289.937535 deg, approach rate: -0.047963 m/s, LOS rate: -0.670284 deg/s, cmd heading: 3.180265 deg, new cmd heading: 2.478201 deg. 2025-01-08T22:12:07.265Z,1736374327.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043253 target range: 374.299988 and range: 374.30 m. 2025-01-08T22:12:07.324Z,1736374327.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:07.325Z,1736374327.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739567 2025-01-08T22:12:07.576Z,1736374327.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:07.582Z,1736374327.582 [DAT](INFO): DAT read: 22:12:05.8330 LVL= 18528, 32033, 17522, 24563, AGC= 70, IDX= 258, 0.49,-0.220,-1.914,-1.767,-1.252, PHS= 1.120,-0.615,-0.518, RAW= 92.9, 0.2, CAL= 101.0, -4.0, ROT= 49.0, 4.0 2025-01-08T22:12:07.584Z,1736374327.584 [DAT](INFO): got valid direction response: 22:12:05.8330 LVL= 18528, 32033, 17522, 24563, AGC= 70, IDX= 258, 0.49,-0.220,-1.914,-1.767,-1.252, PHS= 1.120,-0.615,-0.518, RAW= 92.9, 0.2, CAL= 101.0, -4.0, ROT= 49.0, 4.0 2025-01-08T22:12:07.585Z,1736374327.585 [DAT](INFO): DAT read: Bearing 49.0, 4.0 (Local) 2025-01-08T22:12:07.585Z,1736374327.585 [DAT](INFO): Local bearing/azimuth received: Bearing 49.0, 4.0 (Local) 2025-01-08T22:12:07.586Z,1736374327.586 [DAT](INFO): DAT read: Range 10 to 50 : 361.3 m (Round-trip 481.8 ms) speed 0.2 m/s 2025-01-08T22:12:07.588Z,1736374327.588 [DAT](INFO): DAT read: user:2386> 2025-01-08T22:12:07.589Z,1736374327.589 [DAT](INFO): DAT read: Tx time:22:12:06.9470 2025-01-08T22:12:07.589Z,1736374327.589 [DAT](INFO): Ping request sent. 2025-01-08T22:12:07.590Z,1736374327.590 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:12:07.590Z,1736374327.590 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:12:07.591Z,1736374327.591 [DAT](INFO): direction in FSK: [-0.092592,0.058315,0.993995] 2025-01-08T22:12:07.591Z,1736374327.591 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:07.592Z,1736374327.592 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:07.595Z,1736374327.595 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:07.595Z,1736374327.595 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:07.697Z,1736374327.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:07.804Z,1736374327.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 361.299988 m, deltaT: 4.034046 s, deltaX: -13.000000 m, approachRate: -3.222571 m/s, rangeRepo size: 4 2025-01-08T22:12:07.806Z,1736374327.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 361.299988 m, bearing: 196.428790 deg, lat: 36.903542 deg, lon: -122.123027 deg, deltaT: 4.034046 s, deltaX: -13.000000 m, approachRate: -3.222571 m/s, posRepo size: 4 2025-01-08T22:12:07.811Z,1736374327.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.30 m. 2025-01-08T22:12:07.814Z,1736374327.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 361.299988 m, nav range: 30.190758 m, bearing: 308.434205 deg, approach rate: 0.000000 m/s, LOS rate: -0.670284 deg/s, cmd heading: 2.478201 deg, new cmd heading: 1.405497 deg. 2025-01-08T22:12:07.815Z,1736374327.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024531 target range: 361.299988 and range: 361.30 m. 2025-01-08T22:12:07.828Z,1736374327.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:07.829Z,1736374327.829 [DAT](INFO): DAT read: TxSync time:22:12:06.9462 2025-01-08T22:12:08.080Z,1736374328.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:08.163Z,1736374328.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:08.173Z,1736374328.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.30 m. 2025-01-08T22:12:08.180Z,1736374328.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 361.299988 m, nav range: 30.086723 m, bearing: 307.894323 deg, approach rate: -0.276200 m/s, LOS rate: -1.438260 deg/s, cmd heading: 1.405497 deg, new cmd heading: 359.780710 deg. 2025-01-08T22:12:08.181Z,1736374328.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279358 target range: 361.299988 and range: 361.30 m. 2025-01-08T22:12:08.332Z,1736374328.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:08.501Z,1736374328.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:08.509Z,1736374328.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:08.511Z,1736374328.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.30 m. 2025-01-08T22:12:08.513Z,1736374328.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 361.299988 m, nav range: 30.008093 m, bearing: 307.503608 deg, approach rate: -0.231694 m/s, LOS rate: -1.154295 deg/s, cmd heading: 359.780706 deg, new cmd heading: 358.605665 deg. 2025-01-08T22:12:08.514Z,1736374328.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258850 target range: 361.299988 and range: 361.30 m. 2025-01-08T22:12:08.584Z,1736374328.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:08.584Z,1736374328.584 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:08.584Z,1736374328.584 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:08.585Z,1736374328.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:08.836Z,1736374328.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:08.836Z,1736374328.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246754 2025-01-08T22:12:08.932Z,1736374328.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:08.945Z,1736374328.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.30 m. 2025-01-08T22:12:08.948Z,1736374328.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 361.299988 m, nav range: 29.907648 m, bearing: 307.005596 deg, approach rate: -0.230968 m/s, LOS rate: -1.148984 deg/s, cmd heading: 358.605668 deg, new cmd heading: 357.106975 deg. 2025-01-08T22:12:08.949Z,1736374328.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232693 target range: 361.299988 and range: 361.30 m. 2025-01-08T22:12:09.088Z,1736374329.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:09.089Z,1736374329.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499911 2025-01-08T22:12:09.309Z,1736374329.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:09.317Z,1736374329.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.30 m. 2025-01-08T22:12:09.340Z,1736374329.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:09.341Z,1736374329.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751379 2025-01-08T22:12:09.342Z,1736374329.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 361.299988 m, nav range: 29.818911 m, bearing: 306.567477 deg, approach rate: -0.238654 m/s, LOS rate: -1.181789 deg/s, cmd heading: 357.106988 deg, new cmd heading: 355.788965 deg. 2025-01-08T22:12:09.351Z,1736374329.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209689 target range: 361.299988 and range: 361.30 m. 2025-01-08T22:12:09.592Z,1736374329.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:09.592Z,1736374329.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002811 2025-01-08T22:12:09.720Z,1736374329.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:09.733Z,1736374329.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.30 m. 2025-01-08T22:12:09.736Z,1736374329.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 361.299988 m, nav range: 29.721228 m, bearing: 306.090711 deg, approach rate: -0.236284 m/s, LOS rate: -1.157018 deg/s, cmd heading: 355.788953 deg, new cmd heading: 354.354270 deg. 2025-01-08T22:12:09.737Z,1736374329.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.184649 target range: 361.299988 and range: 361.30 m. 2025-01-08T22:12:09.844Z,1736374329.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:09.845Z,1736374329.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255040 2025-01-08T22:12:10.096Z,1736374330.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:10.096Z,1736374330.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506911 2025-01-08T22:12:10.170Z,1736374330.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:10.181Z,1736374330.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.30 m. 2025-01-08T22:12:10.203Z,1736374330.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 361.299988 m, nav range: 29.610718 m, bearing: 305.569447 deg, approach rate: -0.245643 m/s, LOS rate: -1.162983 deg/s, cmd heading: 354.354258 deg, new cmd heading: 352.785041 deg. 2025-01-08T22:12:10.204Z,1736374330.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157260 target range: 361.299988 and range: 361.30 m. 2025-01-08T22:12:10.348Z,1736374330.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:10.349Z,1736374330.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759674 2025-01-08T22:12:10.555Z,1736374330.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:10.564Z,1736374330.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:10.566Z,1736374330.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.30 m. 2025-01-08T22:12:10.569Z,1736374330.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 361.299988 m, nav range: 29.512138 m, bearing: 305.125687 deg, approach rate: -0.255645 m/s, LOS rate: -1.154629 deg/s, cmd heading: 352.785035 deg, new cmd heading: 351.449564 deg. 2025-01-08T22:12:10.570Z,1736374330.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133952 target range: 361.299988 and range: 361.30 m. 2025-01-08T22:12:10.600Z,1736374330.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:10.601Z,1736374330.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011130 2025-01-08T22:12:10.852Z,1736374330.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:10.853Z,1736374330.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262921 2025-01-08T22:12:11.040Z,1736374331.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:11.049Z,1736374331.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.30 m. 2025-01-08T22:12:11.052Z,1736374331.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 361.299988 m, nav range: 29.369337 m, bearing: 304.586618 deg, approach rate: -0.295793 m/s, LOS rate: -1.122017 deg/s, cmd heading: 351.449569 deg, new cmd heading: 349.824959 deg. 2025-01-08T22:12:11.053Z,1736374331.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.105597 target range: 361.299988 and range: 361.30 m. 2025-01-08T22:12:11.104Z,1736374331.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:11.105Z,1736374331.105 [DAT](INFO): DAT read: Rx Time:22:12:09.8156 2025-01-08T22:12:11.106Z,1736374331.106 [DAT](INFO): Rx dataTimestamp_ set to:1736374331.106029 2025-01-08T22:12:11.107Z,1736374331.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517549 2025-01-08T22:12:11.356Z,1736374331.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:11.357Z,1736374331.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767307 2025-01-08T22:12:11.358Z,1736374331.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:11.367Z,1736374331.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.30 m. 2025-01-08T22:12:11.391Z,1736374331.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 361.299988 m, nav range: 29.268030 m, bearing: 304.239981 deg, approach rate: -0.318819 m/s, LOS rate: -1.094655 deg/s, cmd heading: 349.824968 deg, new cmd heading: 348.781581 deg. 2025-01-08T22:12:11.396Z,1736374331.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087387 target range: 361.299988 and range: 361.30 m. 2025-01-08T22:12:11.608Z,1736374331.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:11.618Z,1736374331.618 [DAT](INFO): DAT read: 22:12:09.8156 LVL= 12976, 24993, 17106, 25715, AGC= 68, IDX= 256, 0.27, 2.632, 1.039, 0.957, 1.710, PHS= 1.011,-0.624,-0.755, RAW= 86.2, 4.4, CAL= 92.3, 2.9, ROT= 57.7, -2.9 2025-01-08T22:12:11.634Z,1736374331.634 [DAT](INFO): got valid direction response: 22:12:09.8156 LVL= 12976, 24993, 17106, 25715, AGC= 68, IDX= 256, 0.27, 2.632, 1.039, 0.957, 1.710, PHS= 1.011,-0.624,-0.755, RAW= 86.2, 4.4, CAL= 92.3, 2.9, ROT= 57.7, -2.9 2025-01-08T22:12:11.635Z,1736374331.635 [DAT](INFO): DAT read: Bearing 57.7, -2.9 (Local) 2025-01-08T22:12:11.635Z,1736374331.635 [DAT](INFO): Local bearing/azimuth received: Bearing 57.7, -2.9 (Local) 2025-01-08T22:12:11.668Z,1736374331.668 [DAT](INFO): DAT read: Range 10 to 50 : 348.3 m (Round-trip 464.4 ms) speed 0.4 m/s 2025-01-08T22:12:11.670Z,1736374331.670 [DAT](INFO): DAT read: user:2387> 2025-01-08T22:12:11.671Z,1736374331.671 [DAT](INFO): DAT read: Tx time:22:12:10.8970 2025-01-08T22:12:11.684Z,1736374331.684 [DAT](INFO): Ping request sent. 2025-01-08T22:12:11.684Z,1736374331.684 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:12:11.684Z,1736374331.684 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:12:11.685Z,1736374331.685 [DAT](INFO): direction in FSK: [-0.161078,0.176544,0.971023] 2025-01-08T22:12:11.685Z,1736374331.685 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:11.686Z,1736374331.686 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:11.694Z,1736374331.694 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:11.694Z,1736374331.694 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:11.770Z,1736374331.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:11.860Z,1736374331.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:11.861Z,1736374331.861 [DAT](INFO): DAT read: TxSync time:22:12:10.8962 2025-01-08T22:12:11.874Z,1736374331.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 348.299988 m, deltaT: 4.032363 s, deltaX: -13.000000 m, approachRate: -3.223916 m/s, rangeRepo size: 4 2025-01-08T22:12:11.884Z,1736374331.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 348.299988 m, bearing: 131.570758 deg, lat: 36.903522 deg, lon: -122.122849 deg, deltaT: 4.032363 s, deltaX: -13.000000 m, approachRate: -3.223916 m/s, posRepo size: 4 2025-01-08T22:12:11.885Z,1736374331.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:11.891Z,1736374331.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 16.313547 m, bearing: 329.257919 deg, approach rate: 0.000000 m/s, LOS rate: -1.094655 deg/s, cmd heading: 348.781588 deg, new cmd heading: 347.119482 deg. 2025-01-08T22:12:11.892Z,1736374331.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.058378 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:12:12.112Z,1736374332.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:12.220Z,1736374332.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:12.229Z,1736374332.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:12.232Z,1736374332.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 16.052593 m, bearing: 328.794376 deg, approach rate: -0.732844 m/s, LOS rate: -1.322927 deg/s, cmd heading: 347.119475 deg, new cmd heading: 345.706543 deg. 2025-01-08T22:12:12.233Z,1736374332.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.033718 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:12:12.364Z,1736374332.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:12.564Z,1736374332.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:12.570Z,1736374332.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:12.573Z,1736374332.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:12.576Z,1736374332.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 15.851748 m, bearing: 328.445645 deg, approach rate: -0.584213 m/s, LOS rate: -1.027228 deg/s, cmd heading: 345.706555 deg, new cmd heading: 344.647233 deg. 2025-01-08T22:12:12.577Z,1736374332.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015229 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:12:12.619Z,1736374332.619 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:12.620Z,1736374332.620 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:12.620Z,1736374332.620 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:12.620Z,1736374332.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:12.873Z,1736374332.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:12.876Z,1736374332.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.191948 2025-01-08T22:12:12.994Z,1736374332.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:13.028Z,1736374333.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:13.031Z,1736374333.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 15.581657 m, bearing: 328.111988 deg, approach rate: -0.593369 m/s, LOS rate: -0.745722 deg/s, cmd heading: 344.647220 deg, new cmd heading: 343.629010 deg. 2025-01-08T22:12:13.036Z,1736374333.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.997458 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:12:13.124Z,1736374333.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:13.126Z,1736374333.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441976 2025-01-08T22:12:13.376Z,1736374333.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:13.377Z,1736374333.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693096 2025-01-08T22:12:13.378Z,1736374333.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:13.387Z,1736374333.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:13.391Z,1736374333.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 15.339320 m, bearing: 327.825703 deg, approach rate: -0.675260 m/s, LOS rate: -0.810316 deg/s, cmd heading: 343.629003 deg, new cmd heading: 342.756651 deg. 2025-01-08T22:12:13.392Z,1736374333.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982232 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:12:13.628Z,1736374333.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:13.628Z,1736374333.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944756 2025-01-08T22:12:13.781Z,1736374333.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:13.794Z,1736374333.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:13.797Z,1736374333.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 15.084202 m, bearing: 327.539409 deg, approach rate: -0.626154 m/s, LOS rate: -0.714551 deg/s, cmd heading: 342.756651 deg, new cmd heading: 341.883315 deg. 2025-01-08T22:12:13.798Z,1736374333.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966990 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:12:13.884Z,1736374333.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:13.886Z,1736374333.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.201944 2025-01-08T22:12:14.136Z,1736374334.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:14.136Z,1736374334.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452713 2025-01-08T22:12:14.230Z,1736374334.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:14.240Z,1736374334.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:14.243Z,1736374334.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 14.788964 m, bearing: 327.290828 deg, approach rate: -0.664240 m/s, LOS rate: -0.570433 deg/s, cmd heading: 341.883316 deg, new cmd heading: 341.122732 deg. 2025-01-08T22:12:14.245Z,1736374334.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953715 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:12:14.388Z,1736374334.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:14.390Z,1736374334.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.705726 2025-01-08T22:12:14.598Z,1736374334.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:14.606Z,1736374334.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:14.609Z,1736374334.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:14.612Z,1736374334.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 14.545745 m, bearing: 327.102652 deg, approach rate: -0.657254 m/s, LOS rate: -0.517011 deg/s, cmd heading: 341.122733 deg, new cmd heading: 340.548786 deg. 2025-01-08T22:12:14.613Z,1736374334.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943697 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:12:14.640Z,1736374334.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:14.641Z,1736374334.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957318 2025-01-08T22:12:14.893Z,1736374334.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:14.896Z,1736374334.896 [DAT](INFO): DAT read: Rx Time:22:12:13.7636 2025-01-08T22:12:14.898Z,1736374334.898 [DAT](INFO): Rx dataTimestamp_ set to:1736374334.896478 2025-01-08T22:12:14.900Z,1736374334.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215142 2025-01-08T22:12:15.051Z,1736374335.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:15.060Z,1736374335.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:15.063Z,1736374335.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 14.245218 m, bearing: 326.906376 deg, approach rate: -0.666185 m/s, LOS rate: -0.444269 deg/s, cmd heading: 340.548779 deg, new cmd heading: 339.947550 deg. 2025-01-08T22:12:15.064Z,1736374335.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933204 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:12:15.147Z,1736374335.147 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:15.147Z,1736374335.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463689 2025-01-08T22:12:15.400Z,1736374335.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:15.400Z,1736374335.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.716655 2025-01-08T22:12:15.407Z,1736374335.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:15.472Z,1736374335.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:15.475Z,1736374335.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 14.007421 m, bearing: 326.791486 deg, approach rate: -0.584042 m/s, LOS rate: -0.286965 deg/s, cmd heading: 339.947558 deg, new cmd heading: 339.597043 deg. 2025-01-08T22:12:15.480Z,1736374335.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927086 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:12:15.653Z,1736374335.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:15.656Z,1736374335.656 [DAT](INFO): DAT read: Range 10 to 50 : 346.8 m (Round-trip 462.5 ms) speed -0.2 m/s 2025-01-08T22:12:15.657Z,1736374335.657 [DAT](INFO): DAT read: user:2388> 2025-01-08T22:12:15.659Z,1736374335.659 [DAT](INFO): DAT read: Tx time:22:12 2025-01-08T22:12:15.659Z,1736374335.659 [DAT](INFO): unknown deviceResponse_: Tx time:22:12 2025-01-08T22:12:15.660Z,1736374335.660 [DAT](INFO): DAT read: TxSync time:22:12:14.8462 2025-01-08T22:12:15.661Z,1736374335.661 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:12:15.662Z,1736374335.662 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:15.662Z,1736374335.662 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:15.663Z,1736374335.663 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:15.905Z,1736374335.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:15.908Z,1736374335.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.223905 2025-01-08T22:12:15.958Z,1736374335.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:16.003Z,1736374336.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 346.799988 m, deltaT: 4.044656 s, deltaX: -1.500000 m, approachRate: -0.370860 m/s, rangeRepo size: 4 2025-01-08T22:12:16.004Z,1736374336.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:16.006Z,1736374336.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 13.646791 m, bearing: 326.616253 deg, approach rate: -0.678444 m/s, LOS rate: -0.338372 deg/s, cmd heading: 339.597033 deg, new cmd heading: 339.057458 deg. 2025-01-08T22:12:16.007Z,1736374336.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917669 target range: 348.299988 and range: 346.80 m. 2025-01-08T22:12:16.156Z,1736374336.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:16.157Z,1736374336.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.473475 2025-01-08T22:12:16.300Z,1736374336.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:16.310Z,1736374336.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:16.312Z,1736374336.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 13.422379 m, bearing: 326.520921 deg, approach rate: -0.721957 m/s, LOS rate: -0.311822 deg/s, cmd heading: 339.057448 deg, new cmd heading: 338.766673 deg. 2025-01-08T22:12:16.313Z,1736374336.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912594 target range: 348.299988 and range: 346.80 m. 2025-01-08T22:12:16.408Z,1736374336.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:16.409Z,1736374336.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.725076 2025-01-08T22:12:16.660Z,1736374336.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:16.662Z,1736374336.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.977969 2025-01-08T22:12:16.720Z,1736374336.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:16.744Z,1736374336.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:16.746Z,1736374336.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:16.753Z,1736374336.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 13.147280 m, bearing: 326.424526 deg, approach rate: -0.630403 m/s, LOS rate: -0.225515 deg/s, cmd heading: 338.766673 deg, new cmd heading: 338.471440 deg. 2025-01-08T22:12:16.754Z,1736374336.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907441 target range: 348.299988 and range: 346.80 m. 2025-01-08T22:12:16.913Z,1736374336.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:16.916Z,1736374336.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.231464 2025-01-08T22:12:17.137Z,1736374337.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:17.146Z,1736374337.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:17.164Z,1736374337.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:17.164Z,1736374337.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.480790 2025-01-08T22:12:17.169Z,1736374337.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 12.892218 m, bearing: 326.258565 deg, approach rate: -0.636805 m/s, LOS rate: -0.422547 deg/s, cmd heading: 338.471445 deg, new cmd heading: 337.963724 deg. 2025-01-08T22:12:17.170Z,1736374337.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898580 target range: 348.299988 and range: 346.80 m. 2025-01-08T22:12:17.416Z,1736374337.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:17.417Z,1736374337.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.732960 2025-01-08T22:12:17.513Z,1736374337.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:17.537Z,1736374337.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:17.541Z,1736374337.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 12.662569 m, bearing: 326.119572 deg, approach rate: -0.588009 m/s, LOS rate: -0.362340 deg/s, cmd heading: 337.963716 deg, new cmd heading: 337.539185 deg. 2025-01-08T22:12:17.542Z,1736374337.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891170 target range: 348.299988 and range: 346.80 m. 2025-01-08T22:12:17.669Z,1736374337.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:17.670Z,1736374337.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.986047 2025-01-08T22:12:17.921Z,1736374337.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:17.924Z,1736374337.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.239443 2025-01-08T22:12:17.990Z,1736374337.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:17.999Z,1736374337.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:18.002Z,1736374338.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 12.386017 m, bearing: 325.799863 deg, approach rate: -0.598914 m/s, LOS rate: -0.707834 deg/s, cmd heading: 337.539179 deg, new cmd heading: 336.558735 deg. 2025-01-08T22:12:18.003Z,1736374338.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874058 target range: 348.299988 and range: 346.80 m. 2025-01-08T22:12:18.172Z,1736374338.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:18.173Z,1736374338.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.489477 2025-01-08T22:12:18.325Z,1736374338.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:18.333Z,1736374338.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:18.336Z,1736374338.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 12.191821 m, bearing: 325.576297 deg, approach rate: -0.581209 m/s, LOS rate: -0.679767 deg/s, cmd heading: 336.558746 deg, new cmd heading: 335.877399 deg. 2025-01-08T22:12:18.337Z,1736374338.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862166 target range: 348.299988 and range: 346.80 m. 2025-01-08T22:12:18.342Z,1736374338.342 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T22:02:18.3Z 2025-01-08T22:12:18.342Z,1736374338.342 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T22:12:18.342Z,1736374338.342 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:12:18.342Z,1736374338.342 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T22:12:18.342Z,1736374338.342 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:12:18.342Z,1736374338.342 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T22:12:18.424Z,1736374338.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:18.426Z,1736374338.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.741772 2025-01-08T22:12:18.676Z,1736374338.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:18.677Z,1736374338.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.993421 2025-01-08T22:12:18.743Z,1736374338.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:18.750Z,1736374338.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:18.752Z,1736374338.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:18.755Z,1736374338.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 11.948833 m, bearing: 325.297723 deg, approach rate: -0.579803 m/s, LOS rate: -0.678229 deg/s, cmd heading: 335.877394 deg, new cmd heading: 335.024744 deg. 2025-01-08T22:12:18.760Z,1736374338.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847285 target range: 348.299988 and range: 346.80 m. 2025-01-08T22:12:18.764Z,1736374338.764 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T22:12:18.764Z,1736374338.764 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T22:12:18.764Z,1736374338.764 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T22:12:18.764Z,1736374338.764 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:12:18.764Z,1736374338.764 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T22:12:18.930Z,1736374338.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:18.934Z,1736374338.934 [DAT](INFO): DAT read: Rx Time:22:12:17.7143 2025-01-08T22:12:18.938Z,1736374338.938 [DAT](INFO): Rx dataTimestamp_ set to:1736374338.934722 2025-01-08T22:12:18.943Z,1736374338.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.258544 2025-01-08T22:12:19.180Z,1736374339.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:19.180Z,1736374339.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.496850 2025-01-08T22:12:19.290Z,1736374339.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:19.319Z,1736374339.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:19.326Z,1736374339.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 11.654797 m, bearing: 324.792881 deg, approach rate: -0.518910 m/s, LOS rate: -0.913404 deg/s, cmd heading: 335.024740 deg, new cmd heading: 333.472403 deg. 2025-01-08T22:12:19.326Z,1736374339.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820191 target range: 348.299988 and range: 346.80 m. 2025-01-08T22:12:19.433Z,1736374339.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:19.435Z,1736374339.435 [DAT](INFO): DAT read: Range 10 to 50 : 347.2 m (Round-trip 463.0 ms) speed 0.2 m/s 2025-01-08T22:12:19.435Z,1736374339.435 [DAT](INFO): DAT read: user:2389> 2025-01-08T22:12:19.436Z,1736374339.436 [DAT](INFO): DAT read: Tx time:22:12:18.7971 2025-01-08T22:12:19.436Z,1736374339.436 [DAT](INFO): Ping request sent. 2025-01-08T22:12:19.437Z,1736374339.437 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:12:19.437Z,1736374339.437 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:12:19.437Z,1736374339.437 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:19.438Z,1736374339.438 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:19.684Z,1736374339.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:19.685Z,1736374339.685 [DAT](INFO): DAT read: TxSync time:22:12:18.7963 2025-01-08T22:12:19.689Z,1736374339.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:19.698Z,1736374339.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 347.200012 m, deltaT: 3.780104 s, deltaX: 0.400024 m, approachRate: 0.105824 m/s, rangeRepo size: 4 2025-01-08T22:12:19.699Z,1736374339.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:19.702Z,1736374339.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 11.440915 m, bearing: 324.414186 deg, approach rate: -0.564297 m/s, LOS rate: -1.017805 deg/s, cmd heading: 333.472402 deg, new cmd heading: 332.315245 deg. 2025-01-08T22:12:19.703Z,1736374339.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799995 target range: 348.299988 and range: 347.20 m. 2025-01-08T22:12:19.937Z,1736374339.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:20.102Z,1736374340.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:20.138Z,1736374340.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:20.145Z,1736374340.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 11.229594 m, bearing: 323.935132 deg, approach rate: -0.480017 m/s, LOS rate: -1.108639 deg/s, cmd heading: 332.315259 deg, new cmd heading: 330.851389 deg. 2025-01-08T22:12:20.146Z,1736374340.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774446 target range: 348.299988 and range: 347.20 m. 2025-01-08T22:12:20.188Z,1736374340.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:20.440Z,1736374340.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:20.506Z,1736374340.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:20.528Z,1736374340.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:20.530Z,1736374340.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 11.022933 m, bearing: 323.455584 deg, approach rate: -0.530046 m/s, LOS rate: -1.252993 deg/s, cmd heading: 330.851385 deg, new cmd heading: 329.386105 deg. 2025-01-08T22:12:20.536Z,1736374340.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748872 target range: 348.299988 and range: 347.20 m. 2025-01-08T22:12:20.692Z,1736374340.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:20.887Z,1736374340.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:20.895Z,1736374340.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:20.897Z,1736374340.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:20.900Z,1736374340.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 10.828277 m, bearing: 322.993850 deg, approach rate: -0.526729 m/s, LOS rate: -1.271872 deg/s, cmd heading: 329.386091 deg, new cmd heading: 327.976288 deg. 2025-01-08T22:12:20.901Z,1736374340.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724266 target range: 348.299988 and range: 347.20 m. 2025-01-08T22:12:20.946Z,1736374340.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:20.948Z,1736374340.948 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:20.949Z,1736374340.949 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:20.950Z,1736374340.950 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:21.196Z,1736374341.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:21.198Z,1736374341.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760480 2025-01-08T22:12:21.318Z,1736374341.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:21.328Z,1736374341.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:21.330Z,1736374341.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 10.606045 m, bearing: 322.416770 deg, approach rate: -0.516753 m/s, LOS rate: -1.369972 deg/s, cmd heading: 327.976286 deg, new cmd heading: 326.209360 deg. 2025-01-08T22:12:21.333Z,1736374341.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693428 target range: 348.299988 and range: 347.20 m. 2025-01-08T22:12:21.448Z,1736374341.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:21.449Z,1736374341.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012705 2025-01-08T22:12:21.698Z,1736374341.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:21.700Z,1736374341.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:21.700Z,1736374341.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263833 2025-01-08T22:12:21.709Z,1736374341.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:21.711Z,1736374341.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 10.410416 m, bearing: 321.896706 deg, approach rate: -0.513048 m/s, LOS rate: -1.389505 deg/s, cmd heading: 326.209370 deg, new cmd heading: 324.620289 deg. 2025-01-08T22:12:21.712Z,1736374341.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665693 target range: 348.299988 and range: 347.20 m. 2025-01-08T22:12:21.954Z,1736374341.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:21.957Z,1736374341.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519464 2025-01-08T22:12:22.165Z,1736374342.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:22.174Z,1736374342.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:22.177Z,1736374342.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 10.167741 m, bearing: 321.257160 deg, approach rate: -0.521845 m/s, LOS rate: -1.408066 deg/s, cmd heading: 324.620286 deg, new cmd heading: 322.656667 deg. 2025-01-08T22:12:22.177Z,1736374342.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631421 target range: 348.299988 and range: 347.20 m. 2025-01-08T22:12:22.204Z,1736374342.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:22.205Z,1736374342.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768259 2025-01-08T22:12:22.457Z,1736374342.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:22.457Z,1736374342.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020597 2025-01-08T22:12:22.512Z,1736374342.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:22.529Z,1736374342.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:22.536Z,1736374342.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 9.986649 m, bearing: 320.788878 deg, approach rate: -0.509217 m/s, LOS rate: -1.340635 deg/s, cmd heading: 322.656661 deg, new cmd heading: 321.226652 deg. 2025-01-08T22:12:22.540Z,1736374342.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606463 target range: 348.299988 and range: 347.20 m. 2025-01-08T22:12:22.708Z,1736374342.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:22.709Z,1736374342.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272095 2025-01-08T22:12:22.913Z,1736374342.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:22.920Z,1736374342.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:22.922Z,1736374342.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:22.925Z,1736374342.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 9.776589 m, bearing: 320.245632 deg, approach rate: -0.535507 m/s, LOS rate: -1.414642 deg/s, cmd heading: 321.226665 deg, new cmd heading: 319.562403 deg. 2025-01-08T22:12:22.926Z,1736374342.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577416 target range: 348.299988 and range: 347.20 m. 2025-01-08T22:12:22.962Z,1736374342.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:22.965Z,1736374342.965 [DAT](INFO): DAT read: Rx Time:22:12:21.6642 2025-01-08T22:12:22.966Z,1736374342.966 [DAT](INFO): Rx dataTimestamp_ set to:1736374342.965278 2025-01-08T22:12:22.970Z,1736374342.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533422 2025-01-08T22:12:23.213Z,1736374343.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:23.214Z,1736374343.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777518 2025-01-08T22:12:23.354Z,1736374343.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:23.363Z,1736374343.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:23.366Z,1736374343.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 9.526272 m, bearing: 319.725613 deg, approach rate: -0.566841 m/s, LOS rate: -1.208501 deg/s, cmd heading: 319.562394 deg, new cmd heading: 317.961785 deg. 2025-01-08T22:12:23.367Z,1736374343.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.549480 target range: 348.299988 and range: 347.20 m. 2025-01-08T22:12:23.466Z,1736374343.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:23.467Z,1736374343.467 [DAT](INFO): DAT read: Range 10 to 50 : 347.1 m (Round-trip 462.9 ms) speed -0.1 m/s 2025-01-08T22:12:23.468Z,1736374343.468 [DAT](INFO): DAT read: user:2390> 2025-01-08T22:12:23.469Z,1736374343.469 [DAT](INFO): DAT read: Tx time:22:12:22.7471 2025-01-08T22:12:23.469Z,1736374343.469 [DAT](INFO): Ping request sent. 2025-01-08T22:12:23.469Z,1736374343.469 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:12:23.470Z,1736374343.470 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:12:23.470Z,1736374343.470 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:23.470Z,1736374343.470 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:23.714Z,1736374343.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:23.720Z,1736374343.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:23.721Z,1736374343.721 [DAT](INFO): DAT read: TxSync time:22:12:22.7463 2025-01-08T22:12:23.727Z,1736374343.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 347.100006 m, deltaT: 4.032688 s, deltaX: -0.100006 m, approachRate: -0.024799 m/s, rangeRepo size: 4 2025-01-08T22:12:23.728Z,1736374343.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:23.730Z,1736374343.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 9.321675 m, bearing: 319.307575 deg, approach rate: -0.563487 m/s, LOS rate: -1.176596 deg/s, cmd heading: 317.961780 deg, new cmd heading: 316.680363 deg. 2025-01-08T22:12:23.732Z,1736374343.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527115 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:23.974Z,1736374343.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:24.161Z,1736374344.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:24.171Z,1736374344.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:24.174Z,1736374344.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 9.052541 m, bearing: 318.907858 deg, approach rate: -0.605210 m/s, LOS rate: -0.925568 deg/s, cmd heading: 316.680355 deg, new cmd heading: 315.445756 deg. 2025-01-08T22:12:24.175Z,1736374344.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505567 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:24.225Z,1736374344.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:24.476Z,1736374344.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:24.538Z,1736374344.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:24.557Z,1736374344.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:24.560Z,1736374344.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 8.822210 m, bearing: 318.624389 deg, approach rate: -0.611933 m/s, LOS rate: -0.772771 deg/s, cmd heading: 315.445757 deg, new cmd heading: 314.573216 deg. 2025-01-08T22:12:24.561Z,1736374344.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.490338 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:24.728Z,1736374344.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:24.744Z,1736374344.744 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:12:24.928Z,1736374344.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:24.935Z,1736374344.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:24.937Z,1736374344.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:24.941Z,1736374344.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 8.583919 m, bearing: 318.360590 deg, approach rate: -0.611470 m/s, LOS rate: -0.695712 deg/s, cmd heading: 314.573214 deg, new cmd heading: 313.759905 deg. 2025-01-08T22:12:24.942Z,1736374344.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476143 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:24.980Z,1736374344.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:24.981Z,1736374344.981 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:24.981Z,1736374344.981 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:24.981Z,1736374344.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:25.232Z,1736374345.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:25.234Z,1736374345.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764006 2025-01-08T22:12:25.346Z,1736374345.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:25.380Z,1736374345.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:25.382Z,1736374345.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 8.304792 m, bearing: 318.215635 deg, approach rate: -0.636783 m/s, LOS rate: -0.341806 deg/s, cmd heading: 313.759903 deg, new cmd heading: 313.310433 deg. 2025-01-08T22:12:25.388Z,1736374345.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468298 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:25.488Z,1736374345.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:25.488Z,1736374345.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019033 2025-01-08T22:12:25.735Z,1736374345.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:25.740Z,1736374345.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:25.741Z,1736374345.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271918 2025-01-08T22:12:25.747Z,1736374345.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:25.748Z,1736374345.748 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:12:25.751Z,1736374345.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 8.044567 m, bearing: 318.126640 deg, approach rate: -0.700874 m/s, LOS rate: -0.247446 deg/s, cmd heading: 313.310421 deg, new cmd heading: 313.034803 deg. 2025-01-08T22:12:25.752Z,1736374345.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463488 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:25.994Z,1736374345.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:25.996Z,1736374345.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526331 2025-01-08T22:12:26.173Z,1736374346.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:26.210Z,1736374346.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:26.222Z,1736374346.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 7.741074 m, bearing: 318.215238 deg, approach rate: -0.655070 m/s, LOS rate: 0.198729 deg/s, cmd heading: 313.034810 deg, new cmd heading: 313.311021 deg. 2025-01-08T22:12:26.224Z,1736374346.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468309 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:26.244Z,1736374346.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:26.245Z,1736374346.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775162 2025-01-08T22:12:26.496Z,1736374346.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:26.496Z,1736374346.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027010 2025-01-08T22:12:26.546Z,1736374346.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:26.566Z,1736374346.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:26.574Z,1736374346.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 7.483837 m, bearing: 318.350260 deg, approach rate: -0.722006 m/s, LOS rate: 0.392003 deg/s, cmd heading: 313.311023 deg, new cmd heading: 313.730004 deg. 2025-01-08T22:12:26.579Z,1736374346.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475622 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:26.748Z,1736374346.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:26.749Z,1736374346.749 [DAT](INFO): DAT read: Rx Time:22:12:25.6145 2025-01-08T22:12:26.749Z,1736374346.749 [DAT](INFO): Rx dataTimestamp_ set to:1736374346.748901 2025-01-08T22:12:26.750Z,1736374346.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280371 2025-01-08T22:12:26.964Z,1736374346.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:26.971Z,1736374346.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:26.974Z,1736374346.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:26.977Z,1736374346.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 7.194609 m, bearing: 318.513636 deg, approach rate: -0.709457 m/s, LOS rate: 0.416859 deg/s, cmd heading: 313.730014 deg, new cmd heading: 314.239830 deg. 2025-01-08T22:12:26.978Z,1736374346.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484519 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:27.002Z,1736374347.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:27.004Z,1736374347.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534206 2025-01-08T22:12:27.252Z,1736374347.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:27.252Z,1736374347.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783012 2025-01-08T22:12:27.384Z,1736374347.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:27.394Z,1736374347.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:27.397Z,1736374347.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 6.900983 m, bearing: 318.869651 deg, approach rate: -0.699579 m/s, LOS rate: 0.884311 deg/s, cmd heading: 314.239819 deg, new cmd heading: 315.353162 deg. 2025-01-08T22:12:27.397Z,1736374347.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503951 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:27.505Z,1736374347.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:27.519Z,1736374347.519 [DAT](INFO): DAT read: 22:12:25.6145 LVL= 17568, 25457, 19042, 25331, AGC= 66, IDX= 437,-0.17,-0.193,-0.585,-2.227,-0.959, PHS= 0.855, 0.421,-1.271, RAW= 41.1, -0.1, CAL= 40.8, -1.9, ROT= 109.2, 1.9 2025-01-08T22:12:27.521Z,1736374347.521 [DAT](INFO): got valid direction response: 22:12:25.6145 LVL= 17568, 25457, 19042, 25331, AGC= 66, IDX= 437,-0.17,-0.193,-0.585,-2.227,-0.959, PHS= 0.855, 0.421,-1.271, RAW= 41.1, -0.1, CAL= 40.8, -1.9, ROT= 109.2, 1.9 2025-01-08T22:12:27.521Z,1736374347.521 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:12:27.521Z,1736374347.521 [DAT](INFO): Received a bad header 2025-01-08T22:12:27.536Z,1736374347.536 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T22:12:27.537Z,1736374347.537 [DAT](INFO): direction in FSK: [0.010662,0.798253,0.602228] 2025-01-08T22:12:27.542Z,1736374347.542 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:27.542Z,1736374347.542 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:27.542Z,1736374347.542 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:27.756Z,1736374347.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:27.757Z,1736374347.757 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:27.757Z,1736374347.757 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:27.757Z,1736374347.757 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:27.767Z,1736374347.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:27.777Z,1736374347.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:27.780Z,1736374347.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 6.635023 m, bearing: 319.274683 deg, approach rate: -0.694058 m/s, LOS rate: 1.099342 deg/s, cmd heading: 315.353167 deg, new cmd heading: 316.616753 deg. 2025-01-08T22:12:27.781Z,1736374347.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526005 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:28.009Z,1736374348.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:28.010Z,1736374348.010 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:28.010Z,1736374348.010 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:28.010Z,1736374348.010 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:28.209Z,1736374348.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:28.218Z,1736374348.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:28.221Z,1736374348.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 6.338950 m, bearing: 319.805672 deg, approach rate: -0.671338 m/s, LOS rate: 1.260224 deg/s, cmd heading: 316.616752 deg, new cmd heading: 318.283630 deg. 2025-01-08T22:12:28.222Z,1736374348.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555097 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:28.260Z,1736374348.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:28.260Z,1736374348.260 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:28.260Z,1736374348.260 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:28.260Z,1736374348.260 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:28.512Z,1736374348.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:28.512Z,1736374348.512 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:28.512Z,1736374348.512 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:28.512Z,1736374348.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:28.592Z,1736374348.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:28.609Z,1736374348.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:28.616Z,1736374348.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 6.084354 m, bearing: 320.354484 deg, approach rate: -0.650794 m/s, LOS rate: 1.461546 deg/s, cmd heading: 318.283619 deg, new cmd heading: 319.998408 deg. 2025-01-08T22:12:28.617Z,1736374348.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585026 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:28.764Z,1736374348.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:28.764Z,1736374348.764 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:28.764Z,1736374348.764 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:28.765Z,1736374348.765 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:28.967Z,1736374348.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:28.974Z,1736374348.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:28.977Z,1736374348.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:28.980Z,1736374348.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 5.837129 m, bearing: 320.979695 deg, approach rate: -0.672380 m/s, LOS rate: 1.772374 deg/s, cmd heading: 319.998406 deg, new cmd heading: 321.952685 deg. 2025-01-08T22:12:28.981Z,1736374348.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619134 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:29.016Z,1736374349.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:29.017Z,1736374349.017 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:29.017Z,1736374349.017 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:29.017Z,1736374349.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:29.269Z,1736374349.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:29.270Z,1736374349.270 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:29.271Z,1736374349.271 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:29.271Z,1736374349.271 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:29.409Z,1736374349.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:29.418Z,1736374349.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:29.421Z,1736374349.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 5.557202 m, bearing: 321.631611 deg, approach rate: -0.634618 m/s, LOS rate: 1.552363 deg/s, cmd heading: 321.952687 deg, new cmd heading: 324.006026 deg. 2025-01-08T22:12:29.422Z,1736374349.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654972 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:29.520Z,1736374349.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:29.520Z,1736374349.520 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:29.520Z,1736374349.520 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:29.520Z,1736374349.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:29.772Z,1736374349.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:29.773Z,1736374349.773 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:29.773Z,1736374349.773 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:29.773Z,1736374349.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:29.859Z,1736374349.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:29.876Z,1736374349.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:29.878Z,1736374349.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 5.276096 m, bearing: 322.439431 deg, approach rate: -0.625323 m/s, LOS rate: 1.892680 deg/s, cmd heading: 324.006033 deg, new cmd heading: 326.556841 deg. 2025-01-08T22:12:29.886Z,1736374349.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699492 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:30.024Z,1736374350.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:30.024Z,1736374350.024 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:30.024Z,1736374350.024 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:30.024Z,1736374350.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:30.262Z,1736374350.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:30.277Z,1736374350.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:30.281Z,1736374350.281 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:30.281Z,1736374350.281 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:30.281Z,1736374350.281 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:30.301Z,1736374350.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:30.312Z,1736374350.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 5.032365 m, bearing: 323.150788 deg, approach rate: -0.562548 m/s, LOS rate: 1.721335 deg/s, cmd heading: 326.556836 deg, new cmd heading: 328.793071 deg. 2025-01-08T22:12:30.313Z,1736374350.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738522 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:30.528Z,1736374350.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:30.528Z,1736374350.528 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:30.528Z,1736374350.528 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:30.528Z,1736374350.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:30.640Z,1736374350.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:30.654Z,1736374350.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:30.664Z,1736374350.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 4.803787 m, bearing: 323.893920 deg, approach rate: -0.648005 m/s, LOS rate: 2.206918 deg/s, cmd heading: 328.793067 deg, new cmd heading: 331.127186 deg. 2025-01-08T22:12:30.666Z,1736374350.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779260 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:30.780Z,1736374350.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:30.780Z,1736374350.780 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:30.780Z,1736374350.780 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:30.780Z,1736374350.780 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:31.032Z,1736374351.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:31.032Z,1736374351.032 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:31.032Z,1736374351.032 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:31.032Z,1736374351.032 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:31.149Z,1736374351.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:31.166Z,1736374351.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:31.172Z,1736374351.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:31.175Z,1736374351.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 4.498271 m, bearing: 325.002275 deg, approach rate: -0.588965 m/s, LOS rate: 2.281630 deg/s, cmd heading: 331.127188 deg, new cmd heading: 334.673331 deg. 2025-01-08T22:12:31.180Z,1736374351.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841152 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:31.288Z,1736374351.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:31.289Z,1736374351.289 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:31.289Z,1736374351.289 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:31.289Z,1736374351.289 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:31.536Z,1736374351.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:31.536Z,1736374351.536 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:31.536Z,1736374351.536 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:31.536Z,1736374351.536 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:31.592Z,1736374351.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:31.617Z,1736374351.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:31.628Z,1736374351.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 4.255630 m, bearing: 325.857713 deg, approach rate: -0.545169 m/s, LOS rate: 2.031524 deg/s, cmd heading: 334.673341 deg, new cmd heading: 337.383853 deg. 2025-01-08T22:12:31.629Z,1736374351.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888459 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:31.788Z,1736374351.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:31.788Z,1736374351.788 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:31.788Z,1736374351.788 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:31.788Z,1736374351.788 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:31.942Z,1736374351.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:31.951Z,1736374351.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:31.954Z,1736374351.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 4.054348 m, bearing: 326.579304 deg, approach rate: -0.603154 m/s, LOS rate: 2.269579 deg/s, cmd heading: 337.383860 deg, new cmd heading: 339.654854 deg. 2025-01-08T22:12:31.955Z,1736374351.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928095 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:32.040Z,1736374352.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:32.041Z,1736374352.041 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:32.041Z,1736374352.041 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:32.041Z,1736374352.041 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:32.293Z,1736374352.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:32.294Z,1736374352.294 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:32.294Z,1736374352.294 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:32.294Z,1736374352.294 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:32.392Z,1736374352.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:32.401Z,1736374352.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:32.403Z,1736374352.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 3.805323 m, bearing: 327.377088 deg, approach rate: -0.553871 m/s, LOS rate: 1.890457 deg/s, cmd heading: 339.654844 deg, new cmd heading: 342.203057 deg. 2025-01-08T22:12:32.404Z,1736374352.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972570 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:32.544Z,1736374352.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:32.544Z,1736374352.544 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:32.545Z,1736374352.545 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:32.545Z,1736374352.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:32.752Z,1736374352.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:32.761Z,1736374352.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:32.764Z,1736374352.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 3.606102 m, bearing: 328.043269 deg, approach rate: -0.552449 m/s, LOS rate: 1.949365 deg/s, cmd heading: 342.203051 deg, new cmd heading: 344.311004 deg. 2025-01-08T22:12:32.765Z,1736374352.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009361 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:32.796Z,1736374352.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:32.797Z,1736374352.797 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:32.797Z,1736374352.797 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:32.797Z,1736374352.797 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:33.048Z,1736374353.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:33.048Z,1736374353.048 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:33.048Z,1736374353.048 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:33.049Z,1736374353.049 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:33.217Z,1736374353.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:33.224Z,1736374353.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:33.226Z,1736374353.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:33.229Z,1736374353.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 3.344257 m, bearing: 328.835661 deg, approach rate: -0.563418 m/s, LOS rate: 1.838443 deg/s, cmd heading: 344.311011 deg, new cmd heading: 346.872525 deg. 2025-01-08T22:12:33.230Z,1736374353.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054068 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:33.302Z,1736374353.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:33.303Z,1736374353.303 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:33.303Z,1736374353.303 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:33.303Z,1736374353.303 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:12:33.552Z,1736374353.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:33.552Z,1736374353.552 [DAT](INFO): Reached modem response timeout 2025-01-08T22:12:33.552Z,1736374353.552 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:12:33.553Z,1736374353.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:33.561Z,1736374353.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:33.569Z,1736374353.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:33.592Z,1736374353.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 3.149976 m, bearing: 329.430869 deg, approach rate: -0.565998 m/s, LOS rate: 1.840938 deg/s, cmd heading: 346.872523 deg, new cmd heading: 348.767554 deg. 2025-01-08T22:12:33.593Z,1736374353.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087142 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:33.804Z,1736374353.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:33.804Z,1736374353.804 [DAT](INFO): Reached modem response timeout 2025-01-08T22:12:33.804Z,1736374353.804 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:12:33.805Z,1736374353.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:33.961Z,1736374353.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:33.969Z,1736374353.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:33.973Z,1736374353.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 2.923647 m, bearing: 330.109001 deg, approach rate: -0.565908 m/s, LOS rate: 1.826807 deg/s, cmd heading: 348.767545 deg, new cmd heading: 350.958311 deg. 2025-01-08T22:12:33.974Z,1736374353.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.125378 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:34.057Z,1736374354.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:34.057Z,1736374354.057 [DAT](INFO): Reached modem response timeout 2025-01-08T22:12:34.057Z,1736374354.057 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:12:34.058Z,1736374354.058 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:34.308Z,1736374354.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:34.309Z,1736374354.309 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:12:34.309Z,1736374354.309 [DAT](INFO): response not received 2025-01-08T22:12:34.309Z,1736374354.309 [DAT](INFO): DAT read: user:2392> 2025-01-08T22:12:34.310Z,1736374354.310 [DAT](INFO): DAT read: Tx time:22:12:33.6972 2025-01-08T22:12:34.310Z,1736374354.310 [DAT](INFO): Ping request sent. 2025-01-08T22:12:34.311Z,1736374354.311 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:12:34.311Z,1736374354.311 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:34.311Z,1736374354.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000822 2025-01-08T22:12:34.445Z,1736374354.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:34.462Z,1736374354.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:34.469Z,1736374354.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 2.644183 m, bearing: 330.740321 deg, approach rate: -0.567457 m/s, LOS rate: 1.417363 deg/s, cmd heading: 350.958315 deg, new cmd heading: 353.051474 deg. 2025-01-08T22:12:34.469Z,1736374354.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161911 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:34.561Z,1736374354.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:34.562Z,1736374354.562 [DAT](INFO): DAT read: TxSync time:22:12:33.6964 2025-01-08T22:12:34.564Z,1736374354.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253174 2025-01-08T22:12:34.766Z,1736374354.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:34.776Z,1736374354.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:34.779Z,1736374354.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 2.458303 m, bearing: 331.117964 deg, approach rate: -0.590941 m/s, LOS rate: 1.291351 deg/s, cmd heading: 353.051467 deg, new cmd heading: 354.269867 deg. 2025-01-08T22:12:34.780Z,1736374354.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183176 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:34.812Z,1736374354.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:34.812Z,1736374354.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501871 2025-01-08T22:12:35.064Z,1736374355.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:35.065Z,1736374355.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754023 2025-01-08T22:12:35.257Z,1736374355.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:35.265Z,1736374355.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:35.267Z,1736374355.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:35.270Z,1736374355.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 2.158322 m, bearing: 331.782724 deg, approach rate: -0.611411 m/s, LOS rate: 1.543172 deg/s, cmd heading: 354.269864 deg, new cmd heading: 356.540087 deg. 2025-01-08T22:12:35.271Z,1736374355.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.222798 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:35.316Z,1736374355.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:35.317Z,1736374355.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006054 2025-01-08T22:12:35.568Z,1736374355.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:35.568Z,1736374355.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257880 2025-01-08T22:12:35.664Z,1736374355.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:35.680Z,1736374355.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:35.682Z,1736374355.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 1.910975 m, bearing: 332.488642 deg, approach rate: -0.599689 m/s, LOS rate: 1.932963 deg/s, cmd heading: 356.540082 deg, new cmd heading: 358.930499 deg. 2025-01-08T22:12:35.684Z,1736374355.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264519 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:35.820Z,1736374355.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:35.820Z,1736374355.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509737 2025-01-08T22:12:36.073Z,1736374356.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:36.074Z,1736374356.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763189 2025-01-08T22:12:36.208Z,1736374356.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:36.225Z,1736374356.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:36.231Z,1736374356.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 1.580612 m, bearing: 333.102769 deg, approach rate: -0.605729 m/s, LOS rate: 1.361338 deg/s, cmd heading: 358.930512 deg, new cmd heading: 1.156804 deg. 2025-01-08T22:12:36.232Z,1736374356.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020190 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:36.324Z,1736374356.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:36.326Z,1736374356.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015427 2025-01-08T22:12:36.576Z,1736374356.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:36.578Z,1736374356.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267142 2025-01-08T22:12:36.697Z,1736374356.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:36.726Z,1736374356.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:36.740Z,1736374356.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 1.274594 m, bearing: 334.483879 deg, approach rate: -0.609956 m/s, LOS rate: 3.413437 deg/s, cmd heading: 1.156804 deg, new cmd heading: 6.280705 deg. 2025-01-08T22:12:36.742Z,1736374356.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109619 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:36.828Z,1736374356.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:36.829Z,1736374356.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517957 2025-01-08T22:12:37.080Z,1736374357.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:37.080Z,1736374357.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769714 2025-01-08T22:12:37.272Z,1736374357.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:37.279Z,1736374357.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:37.281Z,1736374357.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:37.300Z,1736374357.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 0.907070 m, bearing: 336.140050 deg, approach rate: -0.662874 m/s, LOS rate: 4.196824 deg/s, cmd heading: 6.280705 deg, new cmd heading: 13.227144 deg. 2025-01-08T22:12:37.301Z,1736374357.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230857 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:37.333Z,1736374357.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:37.335Z,1736374357.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023980 2025-01-08T22:12:37.584Z,1736374357.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:37.585Z,1736374357.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273933 2025-01-08T22:12:37.678Z,1736374357.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:37.690Z,1736374357.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:37.694Z,1736374357.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 0.647961 m, bearing: 337.874717 deg, approach rate: -0.635286 m/s, LOS rate: 5.952908 deg/s, cmd heading: 13.227145 deg, new cmd heading: 20.472159 deg. 2025-01-08T22:12:37.695Z,1736374357.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357307 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:37.836Z,1736374357.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:37.837Z,1736374357.837 [DAT](INFO): DAT read: Rx Time:22:12:36.5691 2025-01-08T22:12:37.837Z,1736374357.837 [DAT](INFO): Rx dataTimestamp_ set to:1736374357.837027 2025-01-08T22:12:37.838Z,1736374357.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527263 2025-01-08T22:12:38.037Z,1736374358.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:38.053Z,1736374358.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:12:38.061Z,1736374358.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 0.418889 m, bearing: 340.464012 deg, approach rate: -0.627953 m/s, LOS rate: 10.975873 deg/s, cmd heading: 20.472158 deg, new cmd heading: 32.312384 deg. 2025-01-08T22:12:38.062Z,1736374358.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563958 target range: 348.299988 and range: 347.10 m. 2025-01-08T22:12:38.090Z,1736374358.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:38.092Z,1736374358.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781022 2025-01-08T22:12:38.340Z,1736374358.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:38.377Z,1736374358.377 [DAT](INFO): DAT read: 22:12:36.5691 LVL= 16784, 24209, 21938, 27411, AGC= 67, IDX= 498, 0.10,-1.889,-2.608, 2.095, 3.054, PHS= 1.428, 0.668,-0.963, RAW= 48.1, -10.7, CAL= 55.0, -18.1, ROT= 95.0, 18.1 2025-01-08T22:12:38.378Z,1736374358.378 [DAT](INFO): got valid direction response: 22:12:36.5691 LVL= 16784, 24209, 21938, 27411, AGC= 67, IDX= 498, 0.10,-1.889,-2.608, 2.095, 3.054, PHS= 1.428, 0.668,-0.963, RAW= 48.1, -10.7, CAL= 55.0, -18.1, ROT= 95.0, 18.1 2025-01-08T22:12:38.379Z,1736374358.379 [DAT](INFO): DAT read: Bearing 95.0, 18.1 (Local) 2025-01-08T22:12:38.379Z,1736374358.379 [DAT](INFO): Local bearing/azimuth received: Bearing 95.0, 18.1 (Local) 2025-01-08T22:12:38.401Z,1736374358.401 [DAT](INFO): DAT read: Range 10 to 50 : 350.7 m (Round-trip 467.7 ms) speed -0.2 m/s 2025-01-08T22:12:38.402Z,1736374358.402 [DAT](INFO): DAT read: user:2393> 2025-01-08T22:12:38.402Z,1736374358.402 [DAT](INFO): DAT read: Tx time:22:12:37.6472 2025-01-08T22:12:38.403Z,1736374358.403 [DAT](INFO): Ping request sent. 2025-01-08T22:12:38.403Z,1736374358.403 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:12:38.435Z,1736374358.435 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:12:38.436Z,1736374358.436 [DAT](INFO): direction in FSK: [0.192628,0.699124,0.688563] 2025-01-08T22:12:38.436Z,1736374358.436 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:38.437Z,1736374358.437 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:38.446Z,1736374358.446 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:38.446Z,1736374358.446 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:38.580Z,1736374358.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:38.592Z,1736374358.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:38.593Z,1736374358.593 [DAT](INFO): DAT read: TxSync time:22:12:37.6464 2025-01-08T22:12:38.613Z,1736374358.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 350.700012 m, deltaT: 14.875003 s, deltaX: 3.600006 m, approachRate: 0.242017 m/s, rangeRepo size: 4 2025-01-08T22:12:38.620Z,1736374358.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 350.700012 m, bearing: 51.341113 deg, lat: 36.903542 deg, lon: -122.122451 deg, deltaT: 26.732451 s, deltaX: 2.400024 m, approachRate: 0.089779 m/s, posRepo size: 4 2025-01-08T22:12:38.621Z,1736374358.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T22:12:38.628Z,1736374358.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 35.440819 m, bearing: 86.323394 deg, approach rate: 0.000000 m/s, LOS rate: 10.975873 deg/s, cmd heading: 32.312385 deg, new cmd heading: 50.123469 deg. 2025-01-08T22:12:38.629Z,1736374358.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874820 target range: 350.700012 and range: 350.70 m. 2025-01-08T22:12:38.846Z,1736374358.846 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:39.081Z,1736374359.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:39.090Z,1736374359.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T22:12:39.093Z,1736374359.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 35.547577 m, bearing: 86.803010 deg, approach rate: 0.224102 m/s, LOS rate: 1.003752 deg/s, cmd heading: 50.123470 deg, new cmd heading: 51.557678 deg. 2025-01-08T22:12:39.094Z,1736374359.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899851 target range: 350.700012 and range: 350.70 m. 2025-01-08T22:12:39.096Z,1736374359.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:39.349Z,1736374359.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:39.437Z,1736374359.437 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814134454.91, 92.43 2025-01-08T22:12:39.446Z,1736374359.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:12:39.446Z,1736374359.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:39.453Z,1736374359.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:39.455Z,1736374359.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T22:12:39.458Z,1736374359.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 35.622181 m, bearing: 87.153671 deg, approach rate: 0.203667 m/s, LOS rate: 0.955285 deg/s, cmd heading: 51.557680 deg, new cmd heading: 52.607336 deg. 2025-01-08T22:12:39.459Z,1736374359.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.918171 target range: 350.700012 and range: 350.70 m. 2025-01-08T22:12:39.600Z,1736374359.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:39.601Z,1736374359.601 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:39.601Z,1736374359.601 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:39.601Z,1736374359.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:39.852Z,1736374359.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:39.852Z,1736374359.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449795 2025-01-08T22:12:39.917Z,1736374359.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:12:39.917Z,1736374359.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:39.940Z,1736374359.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T22:12:39.942Z,1736374359.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 35.713165 m, bearing: 87.607564 deg, approach rate: 0.192702 m/s, LOS rate: 0.958873 deg/s, cmd heading: 52.607336 deg, new cmd heading: 53.965277 deg. 2025-01-08T22:12:39.944Z,1736374359.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.941872 target range: 350.700012 and range: 350.70 m. 2025-01-08T22:12:40.105Z,1736374360.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:40.106Z,1736374360.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703227 2025-01-08T22:12:40.356Z,1736374360.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:40.356Z,1736374360.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953761 2025-01-08T22:12:40.392Z,1736374360.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:40.422Z,1736374360.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T22:12:40.444Z,1736374360.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 35.797775 m, bearing: 88.043267 deg, approach rate: 0.170922 m/s, LOS rate: 0.878080 deg/s, cmd heading: 53.965277 deg, new cmd heading: 55.269059 deg. 2025-01-08T22:12:40.445Z,1736374360.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.964627 target range: 350.700012 and range: 350.70 m. 2025-01-08T22:12:40.608Z,1736374360.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:40.609Z,1736374360.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206318 2025-01-08T22:12:40.778Z,1736374360.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:40.788Z,1736374360.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T22:12:40.792Z,1736374360.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 35.862972 m, bearing: 88.402186 deg, approach rate: 0.178582 m/s, LOS rate: 0.981328 deg/s, cmd heading: 55.269057 deg, new cmd heading: 56.343724 deg. 2025-01-08T22:12:40.793Z,1736374360.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983383 target range: 350.700012 and range: 350.70 m. 2025-01-08T22:12:40.860Z,1736374360.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:40.861Z,1736374360.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457905 2025-01-08T22:12:41.112Z,1736374361.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:41.113Z,1736374361.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709955 2025-01-08T22:12:41.194Z,1736374361.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:41.202Z,1736374361.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T22:12:41.205Z,1736374361.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 35.928139 m, bearing: 88.787392 deg, approach rate: 0.157154 m/s, LOS rate: 0.927260 deg/s, cmd heading: 56.343723 deg, new cmd heading: 57.497080 deg. 2025-01-08T22:12:41.224Z,1736374361.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003513 target range: 350.700012 and range: 350.70 m. 2025-01-08T22:12:41.365Z,1736374361.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:41.366Z,1736374361.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963107 2025-01-08T22:12:41.616Z,1736374361.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:41.616Z,1736374361.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213726 2025-01-08T22:12:41.631Z,1736374361.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:41.642Z,1736374361.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:41.646Z,1736374361.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T22:12:41.651Z,1736374361.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 35.981258 m, bearing: 89.186486 deg, approach rate: 0.119686 m/s, LOS rate: 0.897881 deg/s, cmd heading: 57.497079 deg, new cmd heading: 58.692409 deg. 2025-01-08T22:12:41.677Z,1736374361.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.024376 target range: 350.700012 and range: 350.70 m. 2025-01-08T22:12:41.868Z,1736374361.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:41.870Z,1736374361.870 [DAT](INFO): DAT read: Rx Time:22:12:40.5351 2025-01-08T22:12:41.871Z,1736374361.871 [DAT](INFO): Rx dataTimestamp_ set to:1736374361.870433 2025-01-08T22:12:41.872Z,1736374361.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469109 2025-01-08T22:12:42.062Z,1736374362.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:42.070Z,1736374362.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m. 2025-01-08T22:12:42.089Z,1736374362.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.700012 m, nav range: 36.028877 m, bearing: 89.580718 deg, approach rate: 0.112268 m/s, LOS rate: 0.928221 deg/s, cmd heading: 58.692410 deg, new cmd heading: 59.873368 deg. 2025-01-08T22:12:42.090Z,1736374362.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044987 target range: 350.700012 and range: 350.70 m. 2025-01-08T22:12:42.123Z,1736374362.123 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:42.124Z,1736374362.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.721281 2025-01-08T22:12:42.377Z,1736374362.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:42.390Z,1736374362.390 [DAT](INFO): DAT read: 22:12:40.5351 LVL= 16496, 22401, 19986, 23379, AGC= 70, IDX= 69,-0.29, 1.019, 0.180,-0.720,-0.651, PHS= 1.759, 0.878,-0.072, RAW= 58.8, -29.8, CAL= 73.8, -37.7, ROT= 76.2, 37.7 2025-01-08T22:12:42.394Z,1736374362.394 [DAT](INFO): got valid direction response: 22:12:40.5351 LVL= 16496, 22401, 19986, 23379, AGC= 70, IDX= 69,-0.29, 1.019, 0.180,-0.720,-0.651, PHS= 1.759, 0.878,-0.072, RAW= 58.8, -29.8, CAL= 73.8, -37.7, ROT= 76.2, 37.7 2025-01-08T22:12:42.413Z,1736374362.413 [DAT](INFO): DAT read: Bearing 76.2, 37.7 (Local) 2025-01-08T22:12:42.414Z,1736374362.414 [DAT](INFO): Local bearing/azimuth received: Bearing 76.2, 37.7 (Local) 2025-01-08T22:12:42.418Z,1736374362.418 [DAT](INFO): DAT read: Range 10 to 50 : 362.7 m (Round-trip 483.6 ms) speed 0.1 m/s 2025-01-08T22:12:42.419Z,1736374362.419 [DAT](INFO): DAT read: user:2394> 2025-01-08T22:12:42.442Z,1736374362.442 [DAT](INFO): DAT read: Tx time:22:12:41.6489 2025-01-08T22:12:42.442Z,1736374362.442 [DAT](INFO): Ping request sent. 2025-01-08T22:12:42.443Z,1736374362.443 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:12:42.468Z,1736374362.468 [DAT](INFO): DAT read: TxSync time:22:12:41.6481 2025-01-08T22:12:42.468Z,1736374362.468 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:12:42.469Z,1736374362.469 [DAT](INFO): direction in FSK: [0.498595,0.479186,0.722346] 2025-01-08T22:12:42.469Z,1736374362.469 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:42.470Z,1736374362.470 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:42.500Z,1736374362.500 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:42.500Z,1736374362.500 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:42.589Z,1736374362.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:42.613Z,1736374362.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 362.700012 m, deltaT: 4.037330 s, deltaX: 12.000000 m, approachRate: 2.972261 m/s, rangeRepo size: 4 2025-01-08T22:12:42.624Z,1736374362.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 362.700012 m, bearing: 21.892239 deg, lat: 36.903549 deg, lon: -122.122111 deg, deltaT: 4.037330 s, deltaX: 12.000000 m, approachRate: 2.972261 m/s, posRepo size: 4 2025-01-08T22:12:42.624Z,1736374362.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.70 m. 2025-01-08T22:12:42.627Z,1736374362.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.700012 m, nav range: 66.334328 m, bearing: 89.270497 deg, approach rate: 0.000000 m/s, LOS rate: 0.928221 deg/s, cmd heading: 59.873370 deg, new cmd heading: 61.383983 deg. 2025-01-08T22:12:42.628Z,1736374362.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:42.632Z,1736374362.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071353 target range: 362.700012 and range: 362.70 m. 2025-01-08T22:12:42.880Z,1736374362.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:43.054Z,1736374363.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:43.063Z,1736374363.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.70 m. 2025-01-08T22:12:43.066Z,1736374363.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.700012 m, nav range: 66.366882 m, bearing: 89.500875 deg, approach rate: 0.072322 m/s, LOS rate: 0.511545 deg/s, cmd heading: 61.383982 deg, new cmd heading: 62.074742 deg. 2025-01-08T22:12:43.067Z,1736374363.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.083409 target range: 362.700012 and range: 362.70 m. 2025-01-08T22:12:43.133Z,1736374363.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:43.384Z,1736374363.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:43.498Z,1736374363.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:43.518Z,1736374363.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.70 m. 2025-01-08T22:12:43.524Z,1736374363.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.700012 m, nav range: 66.389000 m, bearing: 89.719865 deg, approach rate: 0.048599 m/s, LOS rate: 0.481026 deg/s, cmd heading: 62.074740 deg, new cmd heading: 62.731461 deg. 2025-01-08T22:12:43.526Z,1736374363.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094871 target range: 362.700012 and range: 362.70 m. 2025-01-08T22:12:43.636Z,1736374363.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:43.866Z,1736374363.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:43.873Z,1736374363.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:43.876Z,1736374363.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.70 m. 2025-01-08T22:12:43.878Z,1736374363.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.700012 m, nav range: 66.402260 m, bearing: 89.901625 deg, approach rate: 0.037092 m/s, LOS rate: 0.508333 deg/s, cmd heading: 62.731463 deg, new cmd heading: 63.276616 deg. 2025-01-08T22:12:43.880Z,1736374363.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104385 target range: 362.700012 and range: 362.70 m. 2025-01-08T22:12:43.888Z,1736374363.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:43.888Z,1736374363.888 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:43.888Z,1736374363.888 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:43.889Z,1736374363.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:44.140Z,1736374364.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:44.141Z,1736374364.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.698115 2025-01-08T22:12:44.332Z,1736374364.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:44.349Z,1736374364.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.70 m. 2025-01-08T22:12:44.356Z,1736374364.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.700012 m, nav range: 66.412193 m, bearing: 90.132295 deg, approach rate: 0.020980 m/s, LOS rate: 0.487108 deg/s, cmd heading: 63.276614 deg, new cmd heading: 63.968484 deg. 2025-01-08T22:12:44.357Z,1736374364.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116461 target range: 362.700012 and range: 362.70 m. 2025-01-08T22:12:44.392Z,1736374364.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:44.393Z,1736374364.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.949995 2025-01-08T22:12:44.645Z,1736374364.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:44.646Z,1736374364.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203052 2025-01-08T22:12:44.720Z,1736374364.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:44.745Z,1736374364.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.70 m. 2025-01-08T22:12:44.752Z,1736374364.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.700012 m, nav range: 66.412857 m, bearing: 90.324724 deg, approach rate: 0.001674 m/s, LOS rate: 0.485211 deg/s, cmd heading: 63.968485 deg, new cmd heading: 64.545747 deg. 2025-01-08T22:12:44.753Z,1736374364.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126536 target range: 362.700012 and range: 362.70 m. 2025-01-08T22:12:44.896Z,1736374364.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:44.896Z,1736374364.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.453907 2025-01-08T22:12:45.078Z,1736374365.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:45.102Z,1736374365.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.70 m. 2025-01-08T22:12:45.110Z,1736374365.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.700012 m, nav range: 66.408859 m, bearing: 90.502018 deg, approach rate: -0.011198 m/s, LOS rate: 0.496657 deg/s, cmd heading: 64.545745 deg, new cmd heading: 65.077643 deg. 2025-01-08T22:12:45.110Z,1736374365.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135819 target range: 362.700012 and range: 362.70 m. 2025-01-08T22:12:45.148Z,1736374365.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:45.149Z,1736374365.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.705919 2025-01-08T22:12:45.401Z,1736374365.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:45.402Z,1736374365.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959191 2025-01-08T22:12:45.547Z,1736374365.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:45.555Z,1736374365.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.70 m. 2025-01-08T22:12:45.558Z,1736374365.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.700012 m, nav range: 66.403465 m, bearing: 90.738540 deg, approach rate: -0.011915 m/s, LOS rate: 0.522489 deg/s, cmd heading: 65.077646 deg, new cmd heading: 65.787231 deg. 2025-01-08T22:12:45.559Z,1736374365.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.148204 target range: 362.700012 and range: 362.70 m. 2025-01-08T22:12:45.653Z,1736374365.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:45.654Z,1736374365.654 [DAT](INFO): DAT read: Rx Time:22:12:44.5203 2025-01-08T22:12:45.654Z,1736374365.654 [DAT](INFO): Rx dataTimestamp_ set to:1736374365.653961 2025-01-08T22:12:45.656Z,1736374365.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212685 2025-01-08T22:12:45.899Z,1736374365.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:45.904Z,1736374365.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:45.905Z,1736374365.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.461957 2025-01-08T22:12:45.909Z,1736374365.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:45.911Z,1736374365.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.70 m. 2025-01-08T22:12:45.914Z,1736374365.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.700012 m, nav range: 66.395569 m, bearing: 90.909943 deg, approach rate: -0.022218 m/s, LOS rate: 0.482332 deg/s, cmd heading: 65.787228 deg, new cmd heading: 66.301485 deg. 2025-01-08T22:12:45.914Z,1736374365.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157179 target range: 362.700012 and range: 362.70 m. 2025-01-08T22:12:46.157Z,1736374366.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:46.157Z,1736374366.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.714707 2025-01-08T22:12:46.346Z,1736374366.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:46.370Z,1736374366.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.70 m. 2025-01-08T22:12:46.377Z,1736374366.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.700012 m, nav range: 66.379349 m, bearing: 91.140447 deg, approach rate: -0.035273 m/s, LOS rate: 0.501388 deg/s, cmd heading: 66.301486 deg, new cmd heading: 66.993130 deg. 2025-01-08T22:12:46.378Z,1736374366.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169251 target range: 362.700012 and range: 362.70 m. 2025-01-08T22:12:46.408Z,1736374366.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:46.424Z,1736374366.424 [DAT](INFO): DAT read: 22:12:44.5203 LVL= 18608, 29665, 21058, 28851, AGC= 65, IDX= 431,-0.22, 2.155, 1.441, 0.616, 0.730, PHS= 1.513, 0.758,-0.117, RAW= 57.6, -28.3, CAL= 72.1, -36.5, ROT= 77.9, 36.5 2025-01-08T22:12:46.425Z,1736374366.425 [DAT](INFO): got valid direction response: 22:12:44.5203 LVL= 18608, 29665, 21058, 28851, AGC= 65, IDX= 431,-0.22, 2.155, 1.441, 0.616, 0.730, PHS= 1.513, 0.758,-0.117, RAW= 57.6, -28.3, CAL= 72.1, -36.5, ROT= 77.9, 36.5 2025-01-08T22:12:46.426Z,1736374366.426 [DAT](INFO): DAT read: Bearing 77.9, 36.5 (Local) 2025-01-08T22:12:46.427Z,1736374366.427 [DAT](INFO): Local bearing/azimuth received: Bearing 77.9, 36.5 (Local) 2025-01-08T22:12:46.429Z,1736374366.429 [DAT](INFO): DAT read: Range 10 to 50 : 350.4 m (Round-trip 467.2 ms) speed 0.0 m/s 2025-01-08T22:12:46.429Z,1736374366.429 [DAT](INFO): DAT read: user:2395> 2025-01-08T22:12:46.430Z,1736374366.430 [DAT](INFO): DAT read: Tx time:22:12:45.5973 2025-01-08T22:12:46.430Z,1736374366.430 [DAT](INFO): Ping request sent. 2025-01-08T22:12:46.431Z,1736374366.431 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:12:46.462Z,1736374366.462 [DAT](INFO): DAT read: TxSync time:22:12:45.5965 2025-01-08T22:12:46.468Z,1736374366.468 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:12:46.470Z,1736374366.470 [DAT](INFO): direction in FSK: [0.477717,0.501725,0.721151] 2025-01-08T22:12:46.470Z,1736374366.470 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:46.471Z,1736374366.471 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:46.495Z,1736374366.495 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:46.495Z,1736374366.495 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:46.660Z,1736374366.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:46.768Z,1736374366.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:46.794Z,1736374366.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 350.399994 m, deltaT: 4.038945 s, deltaX: -12.300018 m, approachRate: -3.045354 m/s, rangeRepo size: 4 2025-01-08T22:12:46.800Z,1736374366.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 350.399994 m, bearing: 37.870556 deg, lat: 36.904469 deg, lon: -122.122095 deg, deltaT: 4.038945 s, deltaX: -12.300018 m, approachRate: -3.045354 m/s, posRepo size: 4 2025-01-08T22:12:46.801Z,1736374366.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.40 m. 2025-01-08T22:12:46.808Z,1736374366.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.399994 m, nav range: 121.410751 m, bearing: 33.955902 deg, approach rate: 0.000000 m/s, LOS rate: 0.501388 deg/s, cmd heading: 66.993132 deg, new cmd heading: 67.628742 deg. 2025-01-08T22:12:46.809Z,1736374366.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.180344 target range: 350.399994 and range: 350.40 m. 2025-01-08T22:12:46.913Z,1736374366.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:47.099Z,1736374367.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:47.108Z,1736374367.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.40 m. 2025-01-08T22:12:47.111Z,1736374367.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.399994 m, nav range: 121.238167 m, bearing: 33.999689 deg, approach rate: -0.547297 m/s, LOS rate: 0.139053 deg/s, cmd heading: 67.628742 deg, new cmd heading: 67.760289 deg. 2025-01-08T22:12:47.112Z,1736374367.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.182640 target range: 350.399994 and range: 350.40 m. 2025-01-08T22:12:47.164Z,1736374367.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:47.416Z,1736374367.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:47.548Z,1736374367.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:47.556Z,1736374367.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.40 m. 2025-01-08T22:12:47.559Z,1736374367.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.399994 m, nav range: 121.001938 m, bearing: 34.058276 deg, approach rate: -0.527405 m/s, LOS rate: 0.131058 deg/s, cmd heading: 67.760292 deg, new cmd heading: 67.936397 deg. 2025-01-08T22:12:47.560Z,1736374367.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185714 target range: 350.399994 and range: 350.40 m. 2025-01-08T22:12:47.671Z,1736374367.671 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:47.909Z,1736374367.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:47.916Z,1736374367.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:47.918Z,1736374367.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.40 m. 2025-01-08T22:12:47.920Z,1736374367.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.399994 m, nav range: 120.809273 m, bearing: 34.103462 deg, approach rate: -0.533282 m/s, LOS rate: 0.125269 deg/s, cmd heading: 67.936395 deg, new cmd heading: 68.072166 deg. 2025-01-08T22:12:47.921Z,1736374367.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.188083 target range: 350.399994 and range: 350.40 m. 2025-01-08T22:12:47.932Z,1736374367.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:47.933Z,1736374367.933 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:47.933Z,1736374367.933 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:47.933Z,1736374367.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:48.184Z,1736374368.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:48.185Z,1736374368.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754419 2025-01-08T22:12:48.313Z,1736374368.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:48.377Z,1736374368.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.40 m. 2025-01-08T22:12:48.393Z,1736374368.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.399994 m, nav range: 120.591225 m, bearing: 34.151797 deg, approach rate: -0.485015 m/s, LOS rate: 0.107709 deg/s, cmd heading: 68.072165 deg, new cmd heading: 68.217434 deg. 2025-01-08T22:12:48.394Z,1736374368.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190619 target range: 350.399994 and range: 350.40 m. 2025-01-08T22:12:48.440Z,1736374368.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:48.441Z,1736374368.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010487 2025-01-08T22:12:48.692Z,1736374368.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:48.693Z,1736374368.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262209 2025-01-08T22:12:48.746Z,1736374368.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:48.771Z,1736374368.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.40 m. 2025-01-08T22:12:48.774Z,1736374368.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.399994 m, nav range: 120.353973 m, bearing: 34.202071 deg, approach rate: -0.588078 m/s, LOS rate: 0.124861 deg/s, cmd heading: 68.217436 deg, new cmd heading: 68.368556 deg. 2025-01-08T22:12:48.775Z,1736374368.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.193256 target range: 350.399994 and range: 350.40 m. 2025-01-08T22:12:48.944Z,1736374368.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:48.944Z,1736374368.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513869 2025-01-08T22:12:49.120Z,1736374369.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:49.129Z,1736374369.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.40 m. 2025-01-08T22:12:49.132Z,1736374369.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.399994 m, nav range: 120.147583 m, bearing: 34.243114 deg, approach rate: -0.575866 m/s, LOS rate: 0.114715 deg/s, cmd heading: 68.368554 deg, new cmd heading: 68.491895 deg. 2025-01-08T22:12:49.133Z,1736374369.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195409 target range: 350.399994 and range: 350.40 m. 2025-01-08T22:12:49.196Z,1736374369.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:49.197Z,1736374369.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766650 2025-01-08T22:12:49.448Z,1736374369.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:49.449Z,1736374369.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018084 2025-01-08T22:12:49.562Z,1736374369.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:49.571Z,1736374369.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.40 m. 2025-01-08T22:12:49.604Z,1736374369.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.399994 m, nav range: 119.904106 m, bearing: 34.288957 deg, approach rate: -0.550985 m/s, LOS rate: 0.103953 deg/s, cmd heading: 68.491894 deg, new cmd heading: 68.629702 deg. 2025-01-08T22:12:49.608Z,1736374369.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.197814 target range: 350.399994 and range: 350.40 m. 2025-01-08T22:12:49.700Z,1736374369.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:49.701Z,1736374369.701 [DAT](INFO): DAT read: Rx Time:22:12:48.4684 2025-01-08T22:12:49.701Z,1736374369.701 [DAT](INFO): Rx dataTimestamp_ set to:1736374369.700789 2025-01-08T22:12:49.702Z,1736374369.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271043 2025-01-08T22:12:49.927Z,1736374369.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:49.934Z,1736374369.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:49.936Z,1736374369.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.40 m. 2025-01-08T22:12:49.940Z,1736374369.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.399994 m, nav range: 119.701881 m, bearing: 34.324307 deg, approach rate: -0.553434 m/s, LOS rate: 0.096907 deg/s, cmd heading: 68.629700 deg, new cmd heading: 68.735929 deg. 2025-01-08T22:12:49.941Z,1736374369.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.199668 target range: 350.399994 and range: 350.40 m. 2025-01-08T22:12:49.952Z,1736374369.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:49.953Z,1736374369.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522061 2025-01-08T22:12:50.204Z,1736374370.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:50.211Z,1736374370.211 [DAT](INFO): DAT read: 22:12:48.4684 LVL= 20640, 32753, 25586, 32755, AGC= 66, IDX= 442,-0.04, 3.059, 1.597, 1.624, 2.144, PHS= 1.003,-0.499,-0.523, RAW= 89.2, 0.2, CAL= 96.7, -3.9, ROT= 53.3, 3.9 2025-01-08T22:12:50.212Z,1736374370.212 [DAT](INFO): got valid direction response: 22:12:48.4684 LVL= 20640, 32753, 25586, 32755, AGC= 66, IDX= 442,-0.04, 3.059, 1.597, 1.624, 2.144, PHS= 1.003,-0.499,-0.523, RAW= 89.2, 0.2, CAL= 96.7, -3.9, ROT= 53.3, 3.9 2025-01-08T22:12:50.213Z,1736374370.213 [DAT](INFO): DAT read: Bearing 53.3, 3.9 (Local) 2025-01-08T22:12:50.214Z,1736374370.214 [DAT](INFO): Local bearing/azimuth received: Bearing 53.3, 3.9 (Local) 2025-01-08T22:12:50.216Z,1736374370.216 [DAT](INFO): DAT read: Range 10 to 50 : 350.1 m (Round-trip 466.9 ms) speed 0.0 m/s 2025-01-08T22:12:50.216Z,1736374370.216 [DAT](INFO): DAT read: user:2396> 2025-01-08T22:12:50.217Z,1736374370.217 [DAT](INFO): DAT read: Tx time:22:12:49.5473 2025-01-08T22:12:50.217Z,1736374370.217 [DAT](INFO): Ping request sent. 2025-01-08T22:12:50.217Z,1736374370.217 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:12:50.218Z,1736374370.218 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:12:50.219Z,1736374370.219 [DAT](INFO): direction in FSK: [-0.088673,0.121436,0.988631] 2025-01-08T22:12:50.219Z,1736374370.219 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:50.219Z,1736374370.219 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:50.223Z,1736374370.223 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:50.223Z,1736374370.223 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:50.424Z,1736374370.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:50.450Z,1736374370.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 350.100006 m, deltaT: 3.787112 s, deltaX: -0.299988 m, approachRate: -0.079213 m/s, rangeRepo size: 4 2025-01-08T22:12:50.457Z,1736374370.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:50.457Z,1736374370.457 [DAT](INFO): DAT read: TxSync time:22:12:49.5465 2025-01-08T22:12:50.466Z,1736374370.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 350.100006 m, bearing: 254.802573 deg, lat: 36.904469 deg, lon: -122.122095 deg, deltaT: 3.787112 s, deltaX: -0.299988 m, approachRate: -0.079213 m/s, posRepo size: 4 2025-01-08T22:12:50.493Z,1736374370.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m. 2025-01-08T22:12:50.500Z,1736374370.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.100006 m, nav range: 119.423798 m, bearing: 34.369414 deg, approach rate: 0.000000 m/s, LOS rate: 0.096907 deg/s, cmd heading: 68.735930 deg, new cmd heading: 68.885036 deg. 2025-01-08T22:12:50.501Z,1736374370.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.202271 target range: 350.100006 and range: 350.10 m. 2025-01-08T22:12:50.708Z,1736374370.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:50.826Z,1736374370.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:50.835Z,1736374370.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m. 2025-01-08T22:12:50.837Z,1736374370.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.100006 m, nav range: 119.193398 m, bearing: 34.400570 deg, approach rate: -0.597557 m/s, LOS rate: 0.080960 deg/s, cmd heading: 68.885033 deg, new cmd heading: 68.978680 deg. 2025-01-08T22:12:50.838Z,1736374370.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203905 target range: 350.100006 and range: 350.10 m. 2025-01-08T22:12:50.960Z,1736374370.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:51.178Z,1736374371.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:51.188Z,1736374371.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m. 2025-01-08T22:12:51.192Z,1736374371.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.100006 m, nav range: 118.990784 m, bearing: 34.425416 deg, approach rate: -0.573585 m/s, LOS rate: 0.070457 deg/s, cmd heading: 68.978681 deg, new cmd heading: 69.053346 deg. 2025-01-08T22:12:51.193Z,1736374371.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205208 target range: 350.100006 and range: 350.10 m. 2025-01-08T22:12:51.212Z,1736374371.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:51.464Z,1736374371.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:51.716Z,1736374371.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:51.780Z,1736374371.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:51.788Z,1736374371.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m. 2025-01-08T22:12:51.792Z,1736374371.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.100006 m, nav range: 118.634796 m, bearing: 34.453665 deg, approach rate: -0.592908 m/s, LOS rate: 0.047190 deg/s, cmd heading: 69.053349 deg, new cmd heading: 69.138349 deg. 2025-01-08T22:12:51.793Z,1736374371.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.206692 target range: 350.100006 and range: 350.10 m. 2025-01-08T22:12:51.968Z,1736374371.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:52.105Z,1736374372.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:52.112Z,1736374372.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:52.114Z,1736374372.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m. 2025-01-08T22:12:52.117Z,1736374372.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.100006 m, nav range: 118.442955 m, bearing: 34.468959 deg, approach rate: -0.588309 m/s, LOS rate: 0.046979 deg/s, cmd heading: 69.138351 deg, new cmd heading: 69.184309 deg. 2025-01-08T22:12:52.118Z,1736374372.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207494 target range: 350.100006 and range: 350.10 m. 2025-01-08T22:12:52.220Z,1736374372.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:52.221Z,1736374372.221 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:52.221Z,1736374372.221 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:52.222Z,1736374372.222 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:52.472Z,1736374372.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:52.474Z,1736374372.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256116 2025-01-08T22:12:52.586Z,1736374372.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:52.606Z,1736374372.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m. 2025-01-08T22:12:52.613Z,1736374372.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.100006 m, nav range: 118.161461 m, bearing: 34.487992 deg, approach rate: -0.572693 m/s, LOS rate: 0.038814 deg/s, cmd heading: 69.184311 deg, new cmd heading: 69.241545 deg. 2025-01-08T22:12:52.614Z,1736374372.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208493 target range: 350.100006 and range: 350.10 m. 2025-01-08T22:12:52.724Z,1736374372.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:52.725Z,1736374372.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507165 2025-01-08T22:12:52.956Z,1736374372.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:52.965Z,1736374372.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m. 2025-01-08T22:12:52.968Z,1736374372.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.100006 m, nav range: 117.942856 m, bearing: 34.490518 deg, approach rate: -0.608892 m/s, LOS rate: 0.007049 deg/s, cmd heading: 69.241548 deg, new cmd heading: 69.249141 deg. 2025-01-08T22:12:52.969Z,1736374372.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208626 target range: 350.100006 and range: 350.10 m. 2025-01-08T22:12:52.976Z,1736374372.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:52.977Z,1736374372.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759248 2025-01-08T22:12:53.228Z,1736374373.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:53.229Z,1736374373.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011157 2025-01-08T22:12:53.328Z,1736374373.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:53.337Z,1736374373.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m. 2025-01-08T22:12:53.340Z,1736374373.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.100006 m, nav range: 117.722656 m, bearing: 34.490223 deg, approach rate: -0.592568 m/s, LOS rate: -0.000794 deg/s, cmd heading: 69.249143 deg, new cmd heading: 69.248258 deg. 2025-01-08T22:12:53.341Z,1736374373.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208610 target range: 350.100006 and range: 350.10 m. 2025-01-08T22:12:53.480Z,1736374373.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:53.481Z,1736374373.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263184 2025-01-08T22:12:53.732Z,1736374373.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:53.733Z,1736374373.733 [DAT](INFO): DAT read: Rx Time:22:12:52.4166 2025-01-08T22:12:53.733Z,1736374373.733 [DAT](INFO): Rx dataTimestamp_ set to:1736374373.732733 2025-01-08T22:12:53.734Z,1736374373.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516107 2025-01-08T22:12:53.786Z,1736374373.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:53.804Z,1736374373.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m. 2025-01-08T22:12:53.811Z,1736374373.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.100006 m, nav range: 117.449249 m, bearing: 34.482823 deg, approach rate: -0.585594 m/s, LOS rate: -0.015887 deg/s, cmd heading: 69.248255 deg, new cmd heading: 69.226003 deg. 2025-01-08T22:12:53.812Z,1736374373.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208222 target range: 350.100006 and range: 350.10 m. 2025-01-08T22:12:53.984Z,1736374373.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:53.984Z,1736374373.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766946 2025-01-08T22:12:54.171Z,1736374374.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:54.179Z,1736374374.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:54.181Z,1736374374.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.10 m. 2025-01-08T22:12:54.186Z,1736374374.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.100006 m, nav range: 117.219551 m, bearing: 34.476580 deg, approach rate: -0.607823 m/s, LOS rate: -0.016554 deg/s, cmd heading: 69.226003 deg, new cmd heading: 69.207235 deg. 2025-01-08T22:12:54.187Z,1736374374.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207894 target range: 350.100006 and range: 350.10 m. 2025-01-08T22:12:54.236Z,1736374374.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:54.243Z,1736374374.243 [DAT](INFO): DAT read: 22:12:52.4166 LVL= 25360, 32753, 32754, 32755, AGC= 65, IDX= 422,-0.26, 2.912, 1.364, 1.909, 2.213, PHS= 0.787,-0.801,-0.306, RAW= 107.7, 4.6, CAL= 118.7, 2.0, ROT= 31.3, -2.0 2025-01-08T22:12:54.245Z,1736374374.245 [DAT](INFO): got valid direction response: 22:12:52.4166 LVL= 25360, 32753, 32754, 32755, AGC= 65, IDX= 422,-0.26, 2.912, 1.364, 1.909, 2.213, PHS= 0.787,-0.801,-0.306, RAW= 107.7, 4.6, CAL= 118.7, 2.0, ROT= 31.3, -2.0 2025-01-08T22:12:54.246Z,1736374374.246 [DAT](INFO): DAT read: Bearing 31.3, -2.0 (Local) 2025-01-08T22:12:54.246Z,1736374374.246 [DAT](INFO): Local bearing/azimuth received: Bearing 31.3, -2.0 (Local) 2025-01-08T22:12:54.249Z,1736374374.249 [DAT](INFO): DAT read: Range 10 to 50 : 348.7 m (Round-trip 465.0 ms) speed 0.7 m/s 2025-01-08T22:12:54.250Z,1736374374.250 [DAT](INFO): DAT read: user:2397> 2025-01-08T22:12:54.253Z,1736374374.253 [DAT](INFO): DAT read: Tx time:22:12:53.4974 2025-01-08T22:12:54.253Z,1736374374.253 [DAT](INFO): Ping request sent. 2025-01-08T22:12:54.253Z,1736374374.253 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:12:54.254Z,1736374374.254 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:12:54.256Z,1736374374.256 [DAT](INFO): direction in FSK: [-0.197515,-0.197736,0.960150] 2025-01-08T22:12:54.256Z,1736374374.256 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:54.257Z,1736374374.257 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:54.303Z,1736374374.303 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:54.304Z,1736374374.304 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:54.488Z,1736374374.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:54.489Z,1736374374.489 [DAT](INFO): DAT read: TxSync time:22:12:53.4966 2025-01-08T22:12:54.588Z,1736374374.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:54.617Z,1736374374.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 348.700012 m, deltaT: 4.031924 s, deltaX: -1.399994 m, approachRate: -0.347227 m/s, rangeRepo size: 4 2025-01-08T22:12:54.629Z,1736374374.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 348.700012 m, bearing: 281.844852 deg, lat: 36.904469 deg, lon: -122.122111 deg, deltaT: 4.031924 s, deltaX: -1.399994 m, approachRate: -0.347227 m/s, posRepo size: 4 2025-01-08T22:12:54.631Z,1736374374.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.70 m. 2025-01-08T22:12:54.638Z,1736374374.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.700012 m, nav range: 116.150162 m, bearing: 33.865318 deg, approach rate: 0.000000 m/s, LOS rate: -0.016554 deg/s, cmd heading: 69.207233 deg, new cmd heading: 69.185606 deg. 2025-01-08T22:12:54.639Z,1736374374.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207517 target range: 348.700012 and range: 348.70 m. 2025-01-08T22:12:54.745Z,1736374374.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:54.944Z,1736374374.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:54.952Z,1736374374.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.70 m. 2025-01-08T22:12:54.954Z,1736374374.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.700012 m, nav range: 115.938988 m, bearing: 33.847028 deg, approach rate: -0.630466 m/s, LOS rate: -0.054704 deg/s, cmd heading: 69.185609 deg, new cmd heading: 69.130639 deg. 2025-01-08T22:12:54.955Z,1736374374.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.206557 target range: 348.700012 and range: 348.70 m. 2025-01-08T22:12:54.999Z,1736374374.999 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:55.252Z,1736374375.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:55.359Z,1736374375.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:55.368Z,1736374375.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.70 m. 2025-01-08T22:12:55.370Z,1736374375.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.700012 m, nav range: 115.694283 m, bearing: 33.821995 deg, approach rate: -0.589242 m/s, LOS rate: -0.060406 deg/s, cmd heading: 69.130640 deg, new cmd heading: 69.055382 deg. 2025-01-08T22:12:55.371Z,1736374375.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205244 target range: 348.700012 and range: 348.70 m. 2025-01-08T22:12:55.506Z,1736374375.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:55.757Z,1736374375.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:55.773Z,1736374375.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:12:55.773Z,1736374375.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:55.798Z,1736374375.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.70 m. 2025-01-08T22:12:55.801Z,1736374375.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.700012 m, nav range: 115.452454 m, bearing: 33.793270 deg, approach rate: -0.561395 m/s, LOS rate: -0.066824 deg/s, cmd heading: 69.055385 deg, new cmd heading: 68.969028 deg. 2025-01-08T22:12:55.802Z,1736374375.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203737 target range: 348.700012 and range: 348.70 m. 2025-01-08T22:12:55.896Z,1736374375.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:12:56.008Z,1736374376.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:56.159Z,1736374376.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:12:56.159Z,1736374376.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:56.168Z,1736374376.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.70 m. 2025-01-08T22:12:56.171Z,1736374376.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.700012 m, nav range: 115.227371 m, bearing: 33.763273 deg, approach rate: -0.607835 m/s, LOS rate: -0.081164 deg/s, cmd heading: 68.969030 deg, new cmd heading: 68.878864 deg. 2025-01-08T22:12:56.172Z,1736374376.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.202163 target range: 348.700012 and range: 348.70 m. 2025-01-08T22:12:56.261Z,1736374376.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:56.512Z,1736374376.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:56.598Z,1736374376.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:56.617Z,1736374376.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:56.624Z,1736374376.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.70 m. 2025-01-08T22:12:56.626Z,1736374376.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.700012 m, nav range: 114.980675 m, bearing: 33.731116 deg, approach rate: -0.546636 m/s, LOS rate: -0.071407 deg/s, cmd heading: 68.878865 deg, new cmd heading: 68.782188 deg. 2025-01-08T22:12:56.631Z,1736374376.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.200476 target range: 348.700012 and range: 348.70 m. 2025-01-08T22:12:56.764Z,1736374376.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:56.764Z,1736374376.764 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:56.764Z,1736374376.764 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:56.765Z,1736374376.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:56.901Z,1736374376.901 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:12:56.977Z,1736374376.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:56.985Z,1736374376.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.70 m. 2025-01-08T22:12:56.988Z,1736374376.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.700012 m, nav range: 114.768318 m, bearing: 33.703320 deg, approach rate: -0.580707 m/s, LOS rate: -0.076152 deg/s, cmd heading: 68.782191 deg, new cmd heading: 68.698647 deg. 2025-01-08T22:12:56.990Z,1736374376.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.199018 target range: 348.700012 and range: 348.70 m. 2025-01-08T22:12:57.016Z,1736374377.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:57.016Z,1736374377.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763215 2025-01-08T22:12:57.268Z,1736374377.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:57.268Z,1736374377.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015181 2025-01-08T22:12:57.365Z,1736374377.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:57.375Z,1736374377.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.70 m. 2025-01-08T22:12:57.378Z,1736374377.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.700012 m, nav range: 114.553741 m, bearing: 33.669056 deg, approach rate: -0.551076 m/s, LOS rate: -0.088161 deg/s, cmd heading: 68.698651 deg, new cmd heading: 68.595666 deg. 2025-01-08T22:12:57.378Z,1736374377.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.197220 target range: 348.700012 and range: 348.70 m. 2025-01-08T22:12:57.521Z,1736374377.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:57.524Z,1736374377.524 [DAT](INFO): DAT read: Rx Time:22:12:56.3802 2025-01-08T22:12:57.526Z,1736374377.526 [DAT](INFO): Rx dataTimestamp_ set to:1736374377.524759 2025-01-08T22:12:57.528Z,1736374377.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273638 2025-01-08T22:12:57.772Z,1736374377.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:57.773Z,1736374377.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519422 2025-01-08T22:12:57.827Z,1736374377.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:57.836Z,1736374377.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.70 m. 2025-01-08T22:12:57.838Z,1736374377.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.700012 m, nav range: 114.308037 m, bearing: 33.629804 deg, approach rate: -0.533124 m/s, LOS rate: -0.085350 deg/s, cmd heading: 68.595665 deg, new cmd heading: 68.477657 deg. 2025-01-08T22:12:57.840Z,1736374377.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195161 target range: 348.700012 and range: 348.70 m. 2025-01-08T22:12:58.024Z,1736374378.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:58.025Z,1736374378.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771651 2025-01-08T22:12:58.193Z,1736374378.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:58.224Z,1736374378.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.70 m. 2025-01-08T22:12:58.226Z,1736374378.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.700012 m, nav range: 114.117043 m, bearing: 33.593569 deg, approach rate: -0.492590 m/s, LOS rate: -0.093610 deg/s, cmd heading: 68.477660 deg, new cmd heading: 68.368772 deg. 2025-01-08T22:12:58.227Z,1736374378.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.193260 target range: 348.700012 and range: 348.70 m. 2025-01-08T22:12:58.276Z,1736374378.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:58.286Z,1736374378.286 [DAT](INFO): DAT read: 22:12:56.3802 LVL= 14576, 22001, 18002, 18275, AGC= 69, IDX= 66,-0.47, 2.190, 0.528, 1.783, 1.291, PHS= 0.986,-0.716, 0.489, RAW= 133.5, -10.0, CAL= 138.9, -21.2, ROT= 11.1, 21.2 2025-01-08T22:12:58.287Z,1736374378.287 [DAT](INFO): got valid direction response: 22:12:56.3802 LVL= 14576, 22001, 18002, 18275, AGC= 69, IDX= 66,-0.47, 2.190, 0.528, 1.783, 1.291, PHS= 0.986,-0.716, 0.489, RAW= 133.5, -10.0, CAL= 138.9, -21.2, ROT= 11.1, 21.2 2025-01-08T22:12:58.290Z,1736374378.290 [DAT](INFO): DAT read: Bearing 11.1, 21.2 (Local) 2025-01-08T22:12:58.291Z,1736374378.291 [DAT](INFO): Local bearing/azimuth received: Bearing 11.1, 21.2 (Local) 2025-01-08T22:12:58.299Z,1736374378.299 [DAT](INFO): DAT read: Range 10 to 50 : 359.0 m (Round-trip 478.7 ms) speed 0.3 m/s 2025-01-08T22:12:58.308Z,1736374378.308 [DAT](INFO): DAT read: user:2398> 2025-01-08T22:12:58.309Z,1736374378.309 [DAT](INFO): DAT read: Tx time:22:12:57.4974 2025-01-08T22:12:58.309Z,1736374378.309 [DAT](INFO): Ping request sent. 2025-01-08T22:12:58.309Z,1736374378.309 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:12:58.310Z,1736374378.310 [DAT](INFO): DAT read: TxSync time:22:12:57.4966 2025-01-08T22:12:58.310Z,1736374378.310 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:12:58.321Z,1736374378.321 [DAT](INFO): direction in FSK: [0.072721,-0.628162,0.774677] 2025-01-08T22:12:58.322Z,1736374378.322 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:58.322Z,1736374378.322 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:58.329Z,1736374378.329 [DAT](INFO): publishing transmit ping time 2025-01-08T22:12:58.330Z,1736374378.330 [DAT](INFO): publishing direction and range info 2025-01-08T22:12:58.529Z,1736374378.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:58.645Z,1736374378.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:58.689Z,1736374378.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 359.000000 m, deltaT: 4.040332 s, deltaX: 10.299988 m, approachRate: 2.549292 m/s, rangeRepo size: 4 2025-01-08T22:12:58.704Z,1736374378.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 359.000000 m, bearing: 326.926512 deg, lat: 36.904830 deg, lon: -122.123653 deg, deltaT: 4.040332 s, deltaX: 10.299988 m, approachRate: 2.549292 m/s, posRepo size: 4 2025-01-08T22:12:58.705Z,1736374378.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.00 m. 2025-01-08T22:12:58.713Z,1736374378.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 359.000000 m, nav range: 154.065063 m, bearing: 331.236837 deg, approach rate: 0.000000 m/s, LOS rate: -0.093610 deg/s, cmd heading: 68.368773 deg, new cmd heading: 68.239791 deg. 2025-01-08T22:12:58.714Z,1736374378.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.191009 target range: 359.000000 and range: 359.00 m. 2025-01-08T22:12:58.780Z,1736374378.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:59.005Z,1736374379.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:59.012Z,1736374379.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:12:59.014Z,1736374379.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.00 m. 2025-01-08T22:12:59.017Z,1736374379.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 359.000000 m, nav range: 154.038177 m, bearing: 331.165555 deg, approach rate: -0.080983 m/s, LOS rate: -0.214747 deg/s, cmd heading: 68.239792 deg, new cmd heading: 68.025909 deg. 2025-01-08T22:12:59.018Z,1736374379.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.187276 target range: 359.000000 and range: 359.00 m. 2025-01-08T22:12:59.032Z,1736374379.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:59.032Z,1736374379.032 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:12:59.032Z,1736374379.032 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:12:59.033Z,1736374379.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:12:59.284Z,1736374379.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:59.285Z,1736374379.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975457 2025-01-08T22:12:59.393Z,1736374379.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:59.402Z,1736374379.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.00 m. 2025-01-08T22:12:59.405Z,1736374379.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 359.000000 m, nav range: 154.014603 m, bearing: 331.088334 deg, approach rate: -0.060867 m/s, LOS rate: -0.199407 deg/s, cmd heading: 68.025911 deg, new cmd heading: 67.794212 deg. 2025-01-08T22:12:59.406Z,1736374379.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183232 target range: 359.000000 and range: 359.00 m. 2025-01-08T22:12:59.538Z,1736374379.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:59.540Z,1736374379.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230969 2025-01-08T22:12:59.788Z,1736374379.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:12:59.789Z,1736374379.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479655 2025-01-08T22:12:59.852Z,1736374379.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:12:59.868Z,1736374379.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.00 m. 2025-01-08T22:12:59.871Z,1736374379.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 359.000000 m, nav range: 153.989380 m, bearing: 330.999142 deg, approach rate: -0.054074 m/s, LOS rate: -0.191245 deg/s, cmd heading: 67.794211 deg, new cmd heading: 67.526593 deg. 2025-01-08T22:12:59.873Z,1736374379.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.178561 target range: 359.000000 and range: 359.00 m. 2025-01-08T22:13:00.040Z,1736374380.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:00.041Z,1736374380.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731645 2025-01-08T22:13:00.195Z,1736374380.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:00.204Z,1736374380.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.00 m. 2025-01-08T22:13:00.228Z,1736374380.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 359.000000 m, nav range: 153.975021 m, bearing: 330.932161 deg, approach rate: -0.042739 m/s, LOS rate: -0.199392 deg/s, cmd heading: 67.526590 deg, new cmd heading: 67.325629 deg. 2025-01-08T22:13:00.229Z,1736374380.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.175054 target range: 359.000000 and range: 359.00 m. 2025-01-08T22:13:00.292Z,1736374380.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:00.293Z,1736374380.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984300 2025-01-08T22:13:00.545Z,1736374380.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:00.548Z,1736374380.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237650 2025-01-08T22:13:00.615Z,1736374380.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:00.629Z,1736374380.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.00 m. 2025-01-08T22:13:00.633Z,1736374380.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 359.000000 m, nav range: 153.962875 m, bearing: 330.850171 deg, approach rate: -0.028570 m/s, LOS rate: -0.192871 deg/s, cmd heading: 67.325632 deg, new cmd heading: 67.079646 deg. 2025-01-08T22:13:00.633Z,1736374380.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170761 target range: 359.000000 and range: 359.00 m. 2025-01-08T22:13:00.796Z,1736374380.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:00.796Z,1736374380.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487267 2025-01-08T22:13:01.004Z,1736374381.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:01.028Z,1736374381.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:01.030Z,1736374381.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.00 m. 2025-01-08T22:13:01.037Z,1736374381.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 359.000000 m, nav range: 153.956833 m, bearing: 330.774191 deg, approach rate: -0.015089 m/s, LOS rate: -0.189738 deg/s, cmd heading: 67.079643 deg, new cmd heading: 66.851694 deg. 2025-01-08T22:13:01.038Z,1736374381.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166782 target range: 359.000000 and range: 359.00 m. 2025-01-08T22:13:01.048Z,1736374381.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:01.049Z,1736374381.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739377 2025-01-08T22:13:01.300Z,1736374381.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:01.300Z,1736374381.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991108 2025-01-08T22:13:01.414Z,1736374381.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:01.422Z,1736374381.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.00 m. 2025-01-08T22:13:01.426Z,1736374381.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 359.000000 m, nav range: 153.955688 m, bearing: 330.693871 deg, approach rate: -0.002916 m/s, LOS rate: -0.204652 deg/s, cmd heading: 66.851692 deg, new cmd heading: 66.610731 deg. 2025-01-08T22:13:01.427Z,1736374381.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.162577 target range: 359.000000 and range: 359.00 m. 2025-01-08T22:13:01.556Z,1736374381.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:01.560Z,1736374381.560 [DAT](INFO): DAT read: Rx Time:22:13:00.3784 2025-01-08T22:13:01.562Z,1736374381.562 [DAT](INFO): Rx dataTimestamp_ set to:1736374381.561021 2025-01-08T22:13:01.564Z,1736374381.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254752 2025-01-08T22:13:01.808Z,1736374381.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:01.809Z,1736374381.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499377 2025-01-08T22:13:01.877Z,1736374381.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:01.886Z,1736374381.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 359.00 m. 2025-01-08T22:13:01.889Z,1736374381.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 359.000000 m, nav range: 153.962219 m, bearing: 330.604071 deg, approach rate: 0.014070 m/s, LOS rate: -0.193458 deg/s, cmd heading: 66.610730 deg, new cmd heading: 66.341344 deg. 2025-01-08T22:13:01.890Z,1736374381.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157875 target range: 359.000000 and range: 359.00 m. 2025-01-08T22:13:02.062Z,1736374382.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:02.077Z,1736374382.077 [DAT](INFO): DAT read: 22:13:00.3784 LVL= 28096, 32753, 30882, 32755, AGC= 68, IDX= 414, 0.08, 0.676,-0.645, 0.561,-0.034, PHS= 0.798,-0.564, 0.592, RAW= 141.9, -12.9, CAL= 148.6, -21.9, ROT= 1.4, 21.9 2025-01-08T22:13:02.094Z,1736374382.094 [DAT](INFO): got valid direction response: 22:13:00.3784 LVL= 28096, 32753, 30882, 32755, AGC= 68, IDX= 414, 0.08, 0.676,-0.645, 0.561,-0.034, PHS= 0.798,-0.564, 0.592, RAW= 141.9, -12.9, CAL= 148.6, -21.9, ROT= 1.4, 21.9 2025-01-08T22:13:02.104Z,1736374382.104 [DAT](INFO): DAT read: Bearing 1.4, 21.9 (Local) 2025-01-08T22:13:02.104Z,1736374382.104 [DAT](INFO): Local bearing/azimuth received: Bearing 1.4, 21.9 (Local) 2025-01-08T22:13:02.127Z,1736374382.127 [DAT](INFO): DAT read: Range 10 to 50 : 357.6 m (Round-trip 476.8 ms) speed 0.4 m/s 2025-01-08T22:13:02.128Z,1736374382.128 [DAT](INFO): DAT read: user:2399> 2025-01-08T22:13:02.129Z,1736374382.129 [DAT](INFO): DAT read: Tx time:22:13:01.4974 2025-01-08T22:13:02.129Z,1736374382.129 [DAT](INFO): Ping request sent. 2025-01-08T22:13:02.130Z,1736374382.130 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:02.130Z,1736374382.130 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:13:02.149Z,1736374382.149 [DAT](INFO): direction in FSK: [0.130350,-0.734805,0.665635] 2025-01-08T22:13:02.150Z,1736374382.150 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:02.150Z,1736374382.150 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:02.161Z,1736374382.161 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:02.161Z,1736374382.161 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:02.226Z,1736374382.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:02.266Z,1736374382.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 357.600006 m, deltaT: 3.785671 s, deltaX: -1.399994 m, approachRate: -0.369814 m/s, rangeRepo size: 4 2025-01-08T22:13:02.269Z,1736374382.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 357.600006 m, bearing: 343.139926 deg, lat: 36.904830 deg, lon: -122.123840 deg, deltaT: 3.785671 s, deltaX: -1.399994 m, approachRate: -0.369814 m/s, posRepo size: 4 2025-01-08T22:13:02.270Z,1736374382.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.60 m. 2025-01-08T22:13:02.281Z,1736374382.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.600006 m, nav range: 162.777237 m, bearing: 325.443419 deg, approach rate: 0.000000 m/s, LOS rate: -0.193458 deg/s, cmd heading: 66.341341 deg, new cmd heading: 66.121186 deg. 2025-01-08T22:13:02.282Z,1736374382.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.154032 target range: 357.600006 and range: 357.60 m. 2025-01-08T22:13:02.312Z,1736374382.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:02.313Z,1736374382.313 [DAT](INFO): DAT read: TxSync time:22:13:01.4966 2025-01-08T22:13:02.565Z,1736374382.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:02.705Z,1736374382.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:02.727Z,1736374382.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.60 m. 2025-01-08T22:13:02.730Z,1736374382.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.600006 m, nav range: 162.828629 m, bearing: 325.356693 deg, approach rate: 0.112472 m/s, LOS rate: -0.189741 deg/s, cmd heading: 66.121183 deg, new cmd heading: 65.861090 deg. 2025-01-08T22:13:02.735Z,1736374382.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149493 target range: 357.600006 and range: 357.60 m. 2025-01-08T22:13:02.817Z,1736374382.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:03.052Z,1736374383.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:03.062Z,1736374383.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:03.068Z,1736374383.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:03.068Z,1736374383.068 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:03.068Z,1736374383.068 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:03.068Z,1736374383.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:03.085Z,1736374383.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.60 m. 2025-01-08T22:13:03.092Z,1736374383.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.600006 m, nav range: 162.873337 m, bearing: 325.288150 deg, approach rate: 0.123465 m/s, LOS rate: -0.189235 deg/s, cmd heading: 65.861089 deg, new cmd heading: 65.655517 deg. 2025-01-08T22:13:03.093Z,1736374383.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145905 target range: 357.600006 and range: 357.60 m. 2025-01-08T22:13:03.320Z,1736374383.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:03.320Z,1736374383.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.190873 2025-01-08T22:13:03.445Z,1736374383.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:03.454Z,1736374383.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.60 m. 2025-01-08T22:13:03.458Z,1736374383.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.600006 m, nav range: 162.921722 m, bearing: 325.214424 deg, approach rate: 0.131113 m/s, LOS rate: -0.199719 deg/s, cmd heading: 65.655514 deg, new cmd heading: 65.434403 deg. 2025-01-08T22:13:03.459Z,1736374383.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.142046 target range: 357.600006 and range: 357.60 m. 2025-01-08T22:13:03.574Z,1736374383.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:03.579Z,1736374383.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.448543 2025-01-08T22:13:03.825Z,1736374383.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:03.830Z,1736374383.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699774 2025-01-08T22:13:03.891Z,1736374383.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:03.901Z,1736374383.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.60 m. 2025-01-08T22:13:03.925Z,1736374383.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.600006 m, nav range: 162.989075 m, bearing: 325.124741 deg, approach rate: 0.150850 m/s, LOS rate: -0.200781 deg/s, cmd heading: 65.434401 deg, new cmd heading: 65.165465 deg. 2025-01-08T22:13:03.926Z,1736374383.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137352 target range: 357.600006 and range: 357.60 m. 2025-01-08T22:13:04.076Z,1736374384.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:04.077Z,1736374384.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.946922 2025-01-08T22:13:04.254Z,1736374384.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:04.264Z,1736374384.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.60 m. 2025-01-08T22:13:04.266Z,1736374384.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.600006 m, nav range: 163.044327 m, bearing: 325.051627 deg, approach rate: 0.152124 m/s, LOS rate: -0.201235 deg/s, cmd heading: 65.165462 deg, new cmd heading: 64.946195 deg. 2025-01-08T22:13:04.268Z,1736374384.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133525 target range: 357.600006 and range: 357.60 m. 2025-01-08T22:13:04.328Z,1736374384.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:04.329Z,1736374384.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.199289 2025-01-08T22:13:04.581Z,1736374384.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:04.584Z,1736374384.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.453722 2025-01-08T22:13:04.832Z,1736374384.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:04.833Z,1736374384.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702912 2025-01-08T22:13:04.874Z,1736374384.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:04.883Z,1736374384.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.60 m. 2025-01-08T22:13:04.885Z,1736374384.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.600006 m, nav range: 163.161545 m, bearing: 324.920974 deg, approach rate: 0.189316 m/s, LOS rate: -0.210862 deg/s, cmd heading: 64.946192 deg, new cmd heading: 64.554522 deg. 2025-01-08T22:13:04.886Z,1736374384.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126689 target range: 357.600006 and range: 357.60 m. 2025-01-08T22:13:05.084Z,1736374385.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:05.084Z,1736374385.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954706 2025-01-08T22:13:05.207Z,1736374385.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:05.234Z,1736374385.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:05.240Z,1736374385.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.60 m. 2025-01-08T22:13:05.243Z,1736374385.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.600006 m, nav range: 163.225403 m, bearing: 324.850826 deg, approach rate: 0.178687 m/s, LOS rate: -0.196211 deg/s, cmd heading: 64.554522 deg, new cmd heading: 64.344161 deg. 2025-01-08T22:13:05.248Z,1736374385.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123017 target range: 357.600006 and range: 357.60 m. 2025-01-08T22:13:05.336Z,1736374385.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:05.338Z,1736374385.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208121 2025-01-08T22:13:05.589Z,1736374385.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:05.596Z,1736374385.596 [DAT](INFO): DAT read: Rx Time:22:13:04.3750 2025-01-08T22:13:05.597Z,1736374385.597 [DAT](INFO): Rx dataTimestamp_ set to:1736374385.596196 2025-01-08T22:13:05.600Z,1736374385.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469295 2025-01-08T22:13:05.694Z,1736374385.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:05.711Z,1736374385.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 357.60 m. 2025-01-08T22:13:05.717Z,1736374385.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 357.600006 m, nav range: 163.319458 m, bearing: 324.748467 deg, approach rate: 0.199872 m/s, LOS rate: -0.217392 deg/s, cmd heading: 64.344159 deg, new cmd heading: 64.037262 deg. 2025-01-08T22:13:05.718Z,1736374385.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117661 target range: 357.600006 and range: 357.60 m. 2025-01-08T22:13:05.840Z,1736374385.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:05.841Z,1736374385.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.711435 2025-01-08T22:13:06.093Z,1736374386.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:06.100Z,1736374386.100 [DAT](INFO): DAT read: 22:13:04.3750 LVL= 26288, 32753, 21922, 32755, AGC= 69, IDX= 411, 0.20,-0.207,-1.647,-0.325,-0.727, PHS= 0.608,-0.872, 0.399, RAW= 142.5, -2.0, CAL= 147.2, -11.1, ROT= 2.8, 11.1 2025-01-08T22:13:06.101Z,1736374386.101 [DAT](INFO): got valid direction response: 22:13:04.3750 LVL= 26288, 32753, 21922, 32755, AGC= 69, IDX= 411, 0.20,-0.207,-1.647,-0.325,-0.727, PHS= 0.608,-0.872, 0.399, RAW= 142.5, -2.0, CAL= 147.2, -11.1, ROT= 2.8, 11.1 2025-01-08T22:13:06.102Z,1736374386.102 [DAT](INFO): DAT read: Bearing 2.8, 11.1 (Local) 2025-01-08T22:13:06.102Z,1736374386.102 [DAT](INFO): Local bearing/azimuth received: Bearing 2.8, 11.1 (Local) 2025-01-08T22:13:06.105Z,1736374386.105 [DAT](INFO): DAT read: Range 10 to 50 : 355.0 m (Round-trip 473.4 ms) speed 0.5 m/s 2025-01-08T22:13:06.105Z,1736374386.105 [DAT](INFO): DAT read: user:2400> 2025-01-08T22:13:06.107Z,1736374386.107 [DAT](INFO): DAT read: Tx time:22:13:05.4975 2025-01-08T22:13:06.107Z,1736374386.107 [DAT](INFO): Ping request sent. 2025-01-08T22:13:06.107Z,1736374386.107 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:06.108Z,1736374386.108 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:13:06.108Z,1736374386.108 [DAT](INFO): direction in FSK: [-0.086136,-0.747287,0.658895] 2025-01-08T22:13:06.109Z,1736374386.109 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:06.109Z,1736374386.109 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:06.122Z,1736374386.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:06.124Z,1736374386.124 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:06.125Z,1736374386.125 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:06.161Z,1736374386.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 355.000000 m, deltaT: 4.031386 s, deltaX: -2.600006 m, approachRate: -0.644941 m/s, rangeRepo size: 4 2025-01-08T22:13:06.163Z,1736374386.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 355.000000 m, bearing: 335.242047 deg, lat: 36.905842 deg, lon: -122.124179 deg, deltaT: 4.031386 s, deltaX: -2.600006 m, approachRate: -0.644941 m/s, posRepo size: 4 2025-01-08T22:13:06.172Z,1736374386.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.00 m. 2025-01-08T22:13:06.183Z,1736374386.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.000000 m, nav range: 275.582703 m, bearing: 333.100428 deg, approach rate: 0.000000 m/s, LOS rate: -0.217392 deg/s, cmd heading: 64.037265 deg, new cmd heading: 63.744024 deg. 2025-01-08T22:13:06.184Z,1736374386.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112543 target range: 355.000000 and range: 355.00 m. 2025-01-08T22:13:06.344Z,1736374386.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:06.345Z,1736374386.345 [DAT](INFO): DAT read: TxSync time:22:13:05.4967 2025-01-08T22:13:06.480Z,1736374386.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:06.492Z,1736374386.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.00 m. 2025-01-08T22:13:06.495Z,1736374386.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.000000 m, nav range: 275.627502 m, bearing: 333.052355 deg, approach rate: 0.134999 m/s, LOS rate: -0.144839 deg/s, cmd heading: 63.744025 deg, new cmd heading: 63.599829 deg. 2025-01-08T22:13:06.500Z,1736374386.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.110026 target range: 355.000000 and range: 355.00 m. 2025-01-08T22:13:06.597Z,1736374386.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:06.848Z,1736374386.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:06.912Z,1736374386.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:06.936Z,1736374386.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.00 m. 2025-01-08T22:13:06.939Z,1736374386.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.000000 m, nav range: 275.679810 m, bearing: 332.991605 deg, approach rate: 0.117810 m/s, LOS rate: -0.136800 deg/s, cmd heading: 63.599826 deg, new cmd heading: 63.417612 deg. 2025-01-08T22:13:06.944Z,1736374386.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106846 target range: 355.000000 and range: 355.00 m. 2025-01-08T22:13:07.100Z,1736374387.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:07.268Z,1736374387.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:07.292Z,1736374387.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:07.294Z,1736374387.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.00 m. 2025-01-08T22:13:07.297Z,1736374387.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.000000 m, nav range: 275.722321 m, bearing: 332.941728 deg, approach rate: 0.118917 m/s, LOS rate: -0.139500 deg/s, cmd heading: 63.417610 deg, new cmd heading: 63.268002 deg. 2025-01-08T22:13:07.298Z,1736374387.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104235 target range: 355.000000 and range: 355.00 m. 2025-01-08T22:13:07.352Z,1736374387.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:07.352Z,1736374387.352 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:07.352Z,1736374387.352 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:07.353Z,1736374387.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:07.604Z,1736374387.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:07.606Z,1736374387.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498347 2025-01-08T22:13:07.757Z,1736374387.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:07.770Z,1736374387.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.00 m. 2025-01-08T22:13:07.784Z,1736374387.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.000000 m, nav range: 275.778778 m, bearing: 332.874408 deg, approach rate: 0.118483 m/s, LOS rate: -0.141250 deg/s, cmd heading: 63.268001 deg, new cmd heading: 63.066084 deg. 2025-01-08T22:13:07.785Z,1736374387.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100711 target range: 355.000000 and range: 355.00 m. 2025-01-08T22:13:07.857Z,1736374387.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:07.858Z,1736374387.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750598 2025-01-08T22:13:08.082Z,1736374388.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:08.092Z,1736374388.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.00 m. 2025-01-08T22:13:08.094Z,1736374388.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.000000 m, nav range: 275.814423 m, bearing: 332.829718 deg, approach rate: 0.110955 m/s, LOS rate: -0.139093 deg/s, cmd heading: 63.066087 deg, new cmd heading: 62.932035 deg. 2025-01-08T22:13:08.095Z,1736374388.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.098371 target range: 355.000000 and range: 355.00 m. 2025-01-08T22:13:08.108Z,1736374388.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:08.108Z,1736374388.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001480 2025-01-08T22:13:08.360Z,1736374388.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:08.360Z,1736374388.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253337 2025-01-08T22:13:08.482Z,1736374388.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:08.492Z,1736374388.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.00 m. 2025-01-08T22:13:08.494Z,1736374388.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.000000 m, nav range: 275.855896 m, bearing: 332.774543 deg, approach rate: 0.103679 m/s, LOS rate: -0.137910 deg/s, cmd heading: 62.932038 deg, new cmd heading: 62.766539 deg. 2025-01-08T22:13:08.495Z,1736374388.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095483 target range: 355.000000 and range: 355.00 m. 2025-01-08T22:13:08.613Z,1736374388.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:08.614Z,1736374388.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506510 2025-01-08T22:13:08.864Z,1736374388.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:08.864Z,1736374388.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757225 2025-01-08T22:13:08.938Z,1736374388.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:08.954Z,1736374388.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.00 m. 2025-01-08T22:13:08.969Z,1736374388.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.000000 m, nav range: 275.900208 m, bearing: 332.713301 deg, approach rate: 0.095712 m/s, LOS rate: -0.132262 deg/s, cmd heading: 62.766542 deg, new cmd heading: 62.582844 deg. 2025-01-08T22:13:08.970Z,1736374388.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.092277 target range: 355.000000 and range: 355.00 m. 2025-01-08T22:13:09.116Z,1736374389.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:09.117Z,1736374389.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010281 2025-01-08T22:13:09.290Z,1736374389.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:09.297Z,1736374389.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:09.299Z,1736374389.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.00 m. 2025-01-08T22:13:09.302Z,1736374389.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.000000 m, nav range: 275.932220 m, bearing: 332.665913 deg, approach rate: 0.092820 m/s, LOS rate: -0.137382 deg/s, cmd heading: 62.582845 deg, new cmd heading: 62.440699 deg. 2025-01-08T22:13:09.303Z,1736374389.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089796 target range: 355.000000 and range: 355.00 m. 2025-01-08T22:13:09.368Z,1736374389.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:09.369Z,1736374389.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261516 2025-01-08T22:13:09.620Z,1736374389.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:09.621Z,1736374389.621 [DAT](INFO): DAT read: Rx Time:22:13:08.3713 2025-01-08T22:13:09.621Z,1736374389.621 [DAT](INFO): Rx dataTimestamp_ set to:1736374389.620993 2025-01-08T22:13:09.622Z,1736374389.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514817 2025-01-08T22:13:09.796Z,1736374389.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:09.804Z,1736374389.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.00 m. 2025-01-08T22:13:09.808Z,1736374389.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.000000 m, nav range: 275.962616 m, bearing: 332.600367 deg, approach rate: 0.060171 m/s, LOS rate: -0.129741 deg/s, cmd heading: 62.440701 deg, new cmd heading: 62.244086 deg. 2025-01-08T22:13:09.809Z,1736374389.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.086364 target range: 355.000000 and range: 355.00 m. 2025-01-08T22:13:09.860Z,1736374389.860 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:13:09.872Z,1736374389.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:09.873Z,1736374389.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765533 2025-01-08T22:13:10.124Z,1736374390.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:10.130Z,1736374390.130 [DAT](INFO): DAT read: 22:13:08.3713 LVL= 25680, 32753, 28786, 32755, AGC= 65, IDX= 406,-0.23, 2.136, 0.749, 1.806, 1.651, PHS= 0.573,-0.855, 0.152, RAW= 133.3, 2.1, CAL= 138.9, -6.0, ROT= 11.1, 6.0 2025-01-08T22:13:10.131Z,1736374390.131 [DAT](INFO): got valid direction response: 22:13:08.3713 LVL= 25680, 32753, 28786, 32755, AGC= 65, IDX= 406,-0.23, 2.136, 0.749, 1.806, 1.651, PHS= 0.573,-0.855, 0.152, RAW= 133.3, 2.1, CAL= 138.9, -6.0, ROT= 11.1, 6.0 2025-01-08T22:13:10.132Z,1736374390.132 [DAT](INFO): DAT read: Bearing 11.1, 6.0 (Local) 2025-01-08T22:13:10.133Z,1736374390.133 [DAT](INFO): Local bearing/azimuth received: Bearing 11.1, 6.0 (Local) 2025-01-08T22:13:10.134Z,1736374390.134 [DAT](INFO): DAT read: Range 10 to 50 : 352.2 m (Round-trip 469.7 ms) speed 0.0 m/s 2025-01-08T22:13:10.135Z,1736374390.135 [DAT](INFO): DAT read: user:2401> 2025-01-08T22:13:10.136Z,1736374390.136 [DAT](INFO): DAT read: Tx time:22:13:09.4475 2025-01-08T22:13:10.136Z,1736374390.136 [DAT](INFO): Ping request sent. 2025-01-08T22:13:10.137Z,1736374390.137 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:10.137Z,1736374390.137 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:13:10.138Z,1736374390.138 [DAT](INFO): direction in FSK: [-0.165879,-0.618586,0.768008] 2025-01-08T22:13:10.138Z,1736374390.138 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:10.138Z,1736374390.138 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:10.147Z,1736374390.147 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:10.148Z,1736374390.148 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:10.274Z,1736374390.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:10.316Z,1736374390.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 352.200012 m, deltaT: 4.030452 s, deltaX: -2.799988 m, approachRate: -0.694708 m/s, rangeRepo size: 4 2025-01-08T22:13:10.318Z,1736374390.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 352.200012 m, bearing: 325.221983 deg, lat: 36.905842 deg, lon: -122.124268 deg, deltaT: 4.030452 s, deltaX: -2.799988 m, approachRate: -0.694708 m/s, posRepo size: 4 2025-01-08T22:13:10.319Z,1736374390.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.20 m. 2025-01-08T22:13:10.329Z,1736374390.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.200012 m, nav range: 279.742950 m, bearing: 331.092650 deg, approach rate: 0.000000 m/s, LOS rate: -0.129741 deg/s, cmd heading: 62.244088 deg, new cmd heading: 62.046863 deg. 2025-01-08T22:13:10.330Z,1736374390.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.082922 target range: 352.200012 and range: 352.20 m. 2025-01-08T22:13:10.376Z,1736374390.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:10.377Z,1736374390.377 [DAT](INFO): DAT read: TxSync time:22:13:09.4467 2025-01-08T22:13:10.629Z,1736374390.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:10.804Z,1736374390.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:10.817Z,1736374390.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.20 m. 2025-01-08T22:13:10.832Z,1736374390.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.200012 m, nav range: 279.769043 m, bearing: 331.029042 deg, approach rate: 0.051551 m/s, LOS rate: -0.125659 deg/s, cmd heading: 62.046866 deg, new cmd heading: 61.856058 deg. 2025-01-08T22:13:10.833Z,1736374390.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079592 target range: 352.200012 and range: 352.20 m. 2025-01-08T22:13:10.880Z,1736374390.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:11.132Z,1736374391.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:11.232Z,1736374391.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:11.241Z,1736374391.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.20 m. 2025-01-08T22:13:11.260Z,1736374391.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.200012 m, nav range: 279.787872 m, bearing: 330.977667 deg, approach rate: 0.044427 m/s, LOS rate: -0.121208 deg/s, cmd heading: 61.856058 deg, new cmd heading: 61.701944 deg. 2025-01-08T22:13:11.261Z,1736374391.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.076902 target range: 352.200012 and range: 352.20 m. 2025-01-08T22:13:11.384Z,1736374391.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:11.636Z,1736374391.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:11.662Z,1736374391.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:11.740Z,1736374391.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:11.749Z,1736374391.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.20 m. 2025-01-08T22:13:11.756Z,1736374391.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.200012 m, nav range: 279.805237 m, bearing: 330.926202 deg, approach rate: 0.034189 m/s, LOS rate: -0.101325 deg/s, cmd heading: 61.701941 deg, new cmd heading: 61.547555 deg. 2025-01-08T22:13:11.757Z,1736374391.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074207 target range: 352.200012 and range: 352.20 m. 2025-01-08T22:13:11.888Z,1736374391.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:11.888Z,1736374391.888 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:11.888Z,1736374391.888 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:11.888Z,1736374391.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:12.086Z,1736374392.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:12.117Z,1736374392.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.20 m. 2025-01-08T22:13:12.130Z,1736374392.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.200012 m, nav range: 279.811615 m, bearing: 330.877972 deg, approach rate: 0.017602 m/s, LOS rate: -0.133099 deg/s, cmd heading: 61.547552 deg, new cmd heading: 61.402867 deg. 2025-01-08T22:13:12.140Z,1736374392.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:12.141Z,1736374392.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004173 2025-01-08T22:13:12.151Z,1736374392.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071682 target range: 352.200012 and range: 352.20 m. 2025-01-08T22:13:12.392Z,1736374392.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:12.393Z,1736374392.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255869 2025-01-08T22:13:12.455Z,1736374392.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:12.464Z,1736374392.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.20 m. 2025-01-08T22:13:12.467Z,1736374392.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.200012 m, nav range: 279.813324 m, bearing: 330.836186 deg, approach rate: 0.004842 m/s, LOS rate: -0.118395 deg/s, cmd heading: 61.402868 deg, new cmd heading: 61.277511 deg. 2025-01-08T22:13:12.468Z,1736374392.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.069494 target range: 352.200012 and range: 352.20 m. 2025-01-08T22:13:12.645Z,1736374392.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:12.646Z,1736374392.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508999 2025-01-08T22:13:12.889Z,1736374392.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:12.896Z,1736374392.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:12.897Z,1736374392.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760300 2025-01-08T22:13:12.900Z,1736374392.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.20 m. 2025-01-08T22:13:12.903Z,1736374392.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.200012 m, nav range: 279.810455 m, bearing: 330.788791 deg, approach rate: -0.006578 m/s, LOS rate: -0.108680 deg/s, cmd heading: 61.277513 deg, new cmd heading: 61.135325 deg. 2025-01-08T22:13:12.928Z,1736374392.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.067013 target range: 352.200012 and range: 352.20 m. 2025-01-08T22:13:13.148Z,1736374393.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:13.148Z,1736374393.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011757 2025-01-08T22:13:13.252Z,1736374393.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:13.262Z,1736374393.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.20 m. 2025-01-08T22:13:13.264Z,1736374393.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.200012 m, nav range: 279.806885 m, bearing: 330.749180 deg, approach rate: -0.009884 m/s, LOS rate: -0.109655 deg/s, cmd heading: 61.135323 deg, new cmd heading: 61.016489 deg. 2025-01-08T22:13:13.265Z,1736374393.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.064939 target range: 352.200012 and range: 352.20 m. 2025-01-08T22:13:13.400Z,1736374393.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:13.401Z,1736374393.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264037 2025-01-08T22:13:13.653Z,1736374393.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:13.654Z,1736374393.654 [DAT](INFO): DAT read: Rx Time:22:13:12.3355 2025-01-08T22:13:13.654Z,1736374393.654 [DAT](INFO): Rx dataTimestamp_ set to:1736374393.653930 2025-01-08T22:13:13.657Z,1736374393.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520362 2025-01-08T22:13:13.770Z,1736374393.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:13.792Z,1736374393.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:13.794Z,1736374393.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.20 m. 2025-01-08T22:13:13.801Z,1736374393.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 352.200012 m, nav range: 279.800293 m, bearing: 330.692763 deg, approach rate: -0.012376 m/s, LOS rate: -0.105927 deg/s, cmd heading: 61.016491 deg, new cmd heading: 60.847238 deg. 2025-01-08T22:13:13.802Z,1736374393.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.061985 target range: 352.200012 and range: 352.20 m. 2025-01-08T22:13:13.904Z,1736374393.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:13.904Z,1736374393.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767806 2025-01-08T22:13:14.156Z,1736374394.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:14.164Z,1736374394.164 [DAT](INFO): DAT read: 22:13:12.3355 LVL= 18528, 24561, 20850, 28899, AGC= 72, IDX= 71,-0.30,-2.974, 1.873, 3.050, 2.664, PHS= 0.733,-0.745, 0.382, RAW= 136.9, -5.6, CAL= 142.6, -15.8, ROT= 7.4, 15.8 2025-01-08T22:13:14.166Z,1736374394.166 [DAT](INFO): got valid direction response: 22:13:12.3355 LVL= 18528, 24561, 20850, 28899, AGC= 72, IDX= 71,-0.30,-2.974, 1.873, 3.050, 2.664, PHS= 0.733,-0.745, 0.382, RAW= 136.9, -5.6, CAL= 142.6, -15.8, ROT= 7.4, 15.8 2025-01-08T22:13:14.168Z,1736374394.168 [DAT](INFO): DAT read: Bearing 7.4, 15.8 (Local) 2025-01-08T22:13:14.168Z,1736374394.168 [DAT](INFO): Local bearing/azimuth received: Bearing 7.4, 15.8 (Local) 2025-01-08T22:13:14.170Z,1736374394.170 [DAT](INFO): DAT read: Range 10 to 50 : 362.8 m (Round-trip 483.8 ms) speed 0.4 m/s 2025-01-08T22:13:14.176Z,1736374394.176 [DAT](INFO): DAT read: user:2402> 2025-01-08T22:13:14.178Z,1736374394.178 [DAT](INFO): DAT read: Tx time:22:13:13.4491 2025-01-08T22:13:14.179Z,1736374394.179 [DAT](INFO): Ping request sent. 2025-01-08T22:13:14.179Z,1736374394.179 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:14.179Z,1736374394.179 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:13:14.180Z,1736374394.180 [DAT](INFO): direction in FSK: [-0.015612,-0.676610,0.736176] 2025-01-08T22:13:14.181Z,1736374394.181 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:14.181Z,1736374394.181 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:14.201Z,1736374394.201 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:14.201Z,1736374394.201 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:14.365Z,1736374394.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:14.399Z,1736374394.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 362.799988 m, deltaT: 4.033027 s, deltaX: 10.599976 m, approachRate: 2.628293 m/s, rangeRepo size: 4 2025-01-08T22:13:14.405Z,1736374394.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 362.799988 m, bearing: 333.768172 deg, lat: 36.905842 deg, lon: -122.124179 deg, deltaT: 4.033027 s, deltaX: 10.599976 m, approachRate: 2.628293 m/s, posRepo size: 4 2025-01-08T22:13:14.408Z,1736374394.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:14.409Z,1736374394.409 [DAT](INFO): DAT read: TxSync time:22:13:13.4483 2025-01-08T22:13:14.411Z,1736374394.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.80 m. 2025-01-08T22:13:14.417Z,1736374394.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.799988 m, nav range: 275.972168 m, bearing: 332.067079 deg, approach rate: 0.000000 m/s, LOS rate: -0.105927 deg/s, cmd heading: 60.847239 deg, new cmd heading: 60.655370 deg. 2025-01-08T22:13:14.418Z,1736374394.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.058636 target range: 362.799988 and range: 362.80 m. 2025-01-08T22:13:14.660Z,1736374394.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:14.853Z,1736374394.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:14.864Z,1736374394.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.80 m. 2025-01-08T22:13:14.866Z,1736374394.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.799988 m, nav range: 275.960114 m, bearing: 332.011362 deg, approach rate: -0.025903 m/s, LOS rate: -0.119732 deg/s, cmd heading: 60.655372 deg, new cmd heading: 60.488214 deg. 2025-01-08T22:13:14.867Z,1736374394.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.055719 target range: 362.799988 and range: 362.80 m. 2025-01-08T22:13:14.912Z,1736374394.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:15.164Z,1736374395.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:15.241Z,1736374395.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:15.249Z,1736374395.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.80 m. 2025-01-08T22:13:15.252Z,1736374395.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.799988 m, nav range: 275.950500 m, bearing: 331.967149 deg, approach rate: -0.024904 m/s, LOS rate: -0.114544 deg/s, cmd heading: 60.488217 deg, new cmd heading: 60.355572 deg. 2025-01-08T22:13:15.253Z,1736374395.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.053403 target range: 362.799988 and range: 362.80 m. 2025-01-08T22:13:15.416Z,1736374395.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:15.631Z,1736374395.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:15.640Z,1736374395.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.80 m. 2025-01-08T22:13:15.644Z,1736374395.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.799988 m, nav range: 275.940521 m, bearing: 331.922690 deg, approach rate: -0.025529 m/s, LOS rate: -0.113737 deg/s, cmd heading: 60.355574 deg, new cmd heading: 60.222193 deg. 2025-01-08T22:13:15.645Z,1736374395.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.051076 target range: 362.799988 and range: 362.80 m. 2025-01-08T22:13:15.671Z,1736374395.671 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:15.920Z,1736374395.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:15.979Z,1736374395.979 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:13:16.085Z,1736374396.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:16.092Z,1736374396.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:16.098Z,1736374396.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.80 m. 2025-01-08T22:13:16.101Z,1736374396.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.799988 m, nav range: 275.931244 m, bearing: 331.867881 deg, approach rate: -0.020300 m/s, LOS rate: -0.119935 deg/s, cmd heading: 60.222195 deg, new cmd heading: 60.057762 deg. 2025-01-08T22:13:16.102Z,1736374396.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.048206 target range: 362.799988 and range: 362.80 m. 2025-01-08T22:13:16.173Z,1736374396.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:16.174Z,1736374396.174 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:16.174Z,1736374396.174 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:16.174Z,1736374396.174 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:16.424Z,1736374396.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:16.424Z,1736374396.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245464 2025-01-08T22:13:16.438Z,1736374396.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:16.448Z,1736374396.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.80 m. 2025-01-08T22:13:16.450Z,1736374396.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.799988 m, nav range: 275.923431 m, bearing: 331.825272 deg, approach rate: -0.022283 m/s, LOS rate: -0.121533 deg/s, cmd heading: 60.057765 deg, new cmd heading: 59.929936 deg. 2025-01-08T22:13:16.472Z,1736374396.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.045975 target range: 362.799988 and range: 362.80 m. 2025-01-08T22:13:16.676Z,1736374396.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:16.678Z,1736374396.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498449 2025-01-08T22:13:16.885Z,1736374396.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:16.895Z,1736374396.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.80 m. 2025-01-08T22:13:16.898Z,1736374396.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.799988 m, nav range: 275.922943 m, bearing: 331.766052 deg, approach rate: -0.001092 m/s, LOS rate: -0.132464 deg/s, cmd heading: 59.929938 deg, new cmd heading: 59.752278 deg. 2025-01-08T22:13:16.899Z,1736374396.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.042874 target range: 362.799988 and range: 362.80 m. 2025-01-08T22:13:16.928Z,1736374396.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:16.929Z,1736374396.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750106 2025-01-08T22:13:17.180Z,1736374397.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:17.180Z,1736374397.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001662 2025-01-08T22:13:17.253Z,1736374397.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:17.274Z,1736374397.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.80 m. 2025-01-08T22:13:17.281Z,1736374397.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.799988 m, nav range: 275.922333 m, bearing: 331.717386 deg, approach rate: -0.001608 m/s, LOS rate: -0.128226 deg/s, cmd heading: 59.752278 deg, new cmd heading: 59.606278 deg. 2025-01-08T22:13:17.282Z,1736374397.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.040326 target range: 362.799988 and range: 362.80 m. 2025-01-08T22:13:17.432Z,1736374397.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:17.432Z,1736374397.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253556 2025-01-08T22:13:17.671Z,1736374397.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:17.684Z,1736374397.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:17.685Z,1736374397.685 [DAT](INFO): DAT read: Rx Time:22:13:16.3343 2025-01-08T22:13:17.685Z,1736374397.685 [DAT](INFO): Rx dataTimestamp_ set to:1736374397.685078 2025-01-08T22:13:17.686Z,1736374397.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507069 2025-01-08T22:13:17.686Z,1736374397.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.80 m. 2025-01-08T22:13:17.690Z,1736374397.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.799988 m, nav range: 275.921600 m, bearing: 331.662186 deg, approach rate: -0.001792 m/s, LOS rate: -0.135082 deg/s, cmd heading: 59.606275 deg, new cmd heading: 59.440676 deg. 2025-01-08T22:13:17.696Z,1736374397.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.037436 target range: 362.799988 and range: 362.80 m. 2025-01-08T22:13:17.936Z,1736374397.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:17.936Z,1736374397.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757634 2025-01-08T22:13:18.178Z,1736374398.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:18.189Z,1736374398.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:18.199Z,1736374398.199 [DAT](INFO): DAT read: 22:13:16.3343 LVL= 27104, 32753, 32754, 32755, AGC= 66, IDX= 410,-0.09, 0.283,-1.374,-0.031,-0.444, PHS= 0.815,-0.882, 0.410, RAW= 136.8, -4.5, CAL= 142.3, -14.5, ROT= 7.7, 14.5 2025-01-08T22:13:18.200Z,1736374398.200 [DAT](INFO): got valid direction response: 22:13:16.3343 LVL= 27104, 32753, 32754, 32755, AGC= 66, IDX= 410,-0.09, 0.283,-1.374,-0.031,-0.444, PHS= 0.815,-0.882, 0.410, RAW= 136.8, -4.5, CAL= 142.3, -14.5, ROT= 7.7, 14.5 2025-01-08T22:13:18.201Z,1736374398.201 [DAT](INFO): DAT read: Bearing 7.7, 14.5 (Local) 2025-01-08T22:13:18.202Z,1736374398.202 [DAT](INFO): Local bearing/azimuth received: Bearing 7.7, 14.5 (Local) 2025-01-08T22:13:18.204Z,1736374398.204 [DAT](INFO): DAT read: Range 10 to 50 : 360.7 m (Round-trip 481.0 ms) speed 0.5 m/s 2025-01-08T22:13:18.204Z,1736374398.204 [DAT](INFO): DAT read: user:2403> 2025-01-08T22:13:18.205Z,1736374398.205 [DAT](INFO): DAT read: Tx time:22:13:17.4476 2025-01-08T22:13:18.205Z,1736374398.205 [DAT](INFO): Ping request sent. 2025-01-08T22:13:18.205Z,1736374398.205 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:18.206Z,1736374398.206 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:13:18.225Z,1736374398.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:18.227Z,1736374398.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 362.80 m. 2025-01-08T22:13:18.232Z,1736374398.232 [DAT](INFO): direction in FSK: [-0.036791,-0.675350,0.736579] 2025-01-08T22:13:18.232Z,1736374398.232 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:18.232Z,1736374398.232 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:18.238Z,1736374398.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 362.799988 m, nav range: 275.931885 m, bearing: 331.587478 deg, approach rate: 0.018917 m/s, LOS rate: -0.137412 deg/s, cmd heading: 59.440677 deg, new cmd heading: 59.216562 deg. 2025-01-08T22:13:18.244Z,1736374398.244 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:18.245Z,1736374398.245 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:18.247Z,1736374398.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.033524 target range: 362.799988 and range: 362.80 m. 2025-01-08T22:13:18.257Z,1736374398.257 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:18.257Z,1736374398.257 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:18.257Z,1736374398.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:18.440Z,1736374398.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:18.441Z,1736374398.441 [DAT](INFO): DAT read: TxSync time:22:13:17.4468 2025-01-08T22:13:18.442Z,1736374398.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.236401 2025-01-08T22:13:18.667Z,1736374398.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:18.692Z,1736374398.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:18.692Z,1736374398.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.487052 2025-01-08T22:13:18.713Z,1736374398.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 360.700012 m, deltaT: 4.031958 s, deltaX: -2.099976 m, approachRate: -0.520833 m/s, rangeRepo size: 4 2025-01-08T22:13:18.719Z,1736374398.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 360.700012 m, bearing: 330.019250 deg, lat: 36.905818 deg, lon: -122.124179 deg, deltaT: 4.031958 s, deltaX: -2.099976 m, approachRate: -0.520833 m/s, posRepo size: 4 2025-01-08T22:13:18.720Z,1736374398.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m. 2025-01-08T22:13:18.729Z,1736374398.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.700012 m, nav range: 273.589203 m, bearing: 331.247882 deg, approach rate: 0.000000 m/s, LOS rate: -0.137412 deg/s, cmd heading: 59.216558 deg, new cmd heading: 59.016328 deg. 2025-01-08T22:13:18.730Z,1736374398.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030029 target range: 360.700012 and range: 360.70 m. 2025-01-08T22:13:18.944Z,1736374398.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:18.945Z,1736374398.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739427 2025-01-08T22:13:19.149Z,1736374399.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:19.157Z,1736374399.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m. 2025-01-08T22:13:19.160Z,1736374399.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.700012 m, nav range: 273.455353 m, bearing: 331.176681 deg, approach rate: -0.300894 m/s, LOS rate: -0.160137 deg/s, cmd heading: 59.016331 deg, new cmd heading: 58.802626 deg. 2025-01-08T22:13:19.161Z,1736374399.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.026299 target range: 360.700012 and range: 360.70 m. 2025-01-08T22:13:19.196Z,1736374399.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:19.196Z,1736374399.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990964 2025-01-08T22:13:19.448Z,1736374399.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:19.449Z,1736374399.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242996 2025-01-08T22:13:19.526Z,1736374399.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:19.534Z,1736374399.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m. 2025-01-08T22:13:19.537Z,1736374399.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.700012 m, nav range: 273.349915 m, bearing: 331.120985 deg, approach rate: -0.279838 m/s, LOS rate: -0.147877 deg/s, cmd heading: 58.802629 deg, new cmd heading: 58.635477 deg. 2025-01-08T22:13:19.538Z,1736374399.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023382 target range: 360.700012 and range: 360.70 m. 2025-01-08T22:13:19.700Z,1736374399.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:19.700Z,1736374399.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494940 2025-01-08T22:13:19.941Z,1736374399.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:19.950Z,1736374399.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m. 2025-01-08T22:13:19.952Z,1736374399.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:19.953Z,1736374399.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747195 2025-01-08T22:13:19.954Z,1736374399.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.700012 m, nav range: 273.377472 m, bearing: 331.057298 deg, approach rate: 0.066268 m/s, LOS rate: -0.153135 deg/s, cmd heading: 58.635480 deg, new cmd heading: 58.444439 deg. 2025-01-08T22:13:19.956Z,1736374399.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.020048 target range: 360.700012 and range: 360.70 m. 2025-01-08T22:13:20.204Z,1736374400.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:20.204Z,1736374400.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998951 2025-01-08T22:13:20.301Z,1736374400.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:20.309Z,1736374400.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:20.311Z,1736374400.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m. 2025-01-08T22:13:20.313Z,1736374400.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.700012 m, nav range: 273.401550 m, bearing: 331.002176 deg, approach rate: 0.066760 m/s, LOS rate: -0.152818 deg/s, cmd heading: 58.444440 deg, new cmd heading: 58.279089 deg. 2025-01-08T22:13:20.314Z,1736374400.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017162 target range: 360.700012 and range: 360.70 m. 2025-01-08T22:13:20.456Z,1736374400.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:20.457Z,1736374400.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251772 2025-01-08T22:13:20.708Z,1736374400.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:20.709Z,1736374400.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503308 2025-01-08T22:13:20.758Z,1736374400.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:20.798Z,1736374400.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m. 2025-01-08T22:13:20.821Z,1736374400.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.700012 m, nav range: 273.432526 m, bearing: 330.932147 deg, approach rate: 0.064482 m/s, LOS rate: -0.145764 deg/s, cmd heading: 58.279088 deg, new cmd heading: 58.069026 deg. 2025-01-08T22:13:20.830Z,1736374400.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.013496 target range: 360.700012 and range: 360.70 m. 2025-01-08T22:13:20.960Z,1736374400.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:20.961Z,1736374400.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755272 2025-01-08T22:13:21.165Z,1736374401.165 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814142614,35.0, +10.9, 01, 0 2025-01-08T22:13:21.173Z,1736374401.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:13:21.173Z,1736374401.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:21.212Z,1736374401.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:21.213Z,1736374401.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007128 2025-01-08T22:13:21.215Z,1736374401.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m. 2025-01-08T22:13:21.221Z,1736374401.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.700012 m, nav range: 273.460938 m, bearing: 330.868722 deg, approach rate: 0.067078 m/s, LOS rate: -0.149726 deg/s, cmd heading: 58.069025 deg, new cmd heading: 57.878771 deg. 2025-01-08T22:13:21.222Z,1736374401.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.010175 target range: 360.700012 and range: 360.70 m. 2025-01-08T22:13:21.464Z,1736374401.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:21.466Z,1736374401.466 [DAT](INFO): DAT read: Rx Time:22:13:20.3119 2025-01-08T22:13:21.466Z,1736374401.466 [DAT](INFO): Rx dataTimestamp_ set to:1736374401.465861 2025-01-08T22:13:21.467Z,1736374401.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261303 2025-01-08T22:13:21.554Z,1736374401.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:13:21.554Z,1736374401.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:21.564Z,1736374401.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m. 2025-01-08T22:13:21.566Z,1736374401.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.700012 m, nav range: 273.489105 m, bearing: 330.810380 deg, approach rate: 0.080671 m/s, LOS rate: -0.167071 deg/s, cmd heading: 57.878770 deg, new cmd heading: 57.703763 deg. 2025-01-08T22:13:21.568Z,1736374401.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.007121 target range: 360.700012 and range: 360.70 m. 2025-01-08T22:13:21.716Z,1736374401.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:21.717Z,1736374401.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511164 2025-01-08T22:13:21.969Z,1736374401.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:21.972Z,1736374401.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765638 2025-01-08T22:13:22.040Z,1736374402.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:22.063Z,1736374402.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m. 2025-01-08T22:13:22.066Z,1736374402.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 360.700012 m, nav range: 273.522064 m, bearing: 330.735331 deg, approach rate: 0.066300 m/s, LOS rate: -0.150949 deg/s, cmd heading: 57.703760 deg, new cmd heading: 57.478642 deg. 2025-01-08T22:13:22.067Z,1736374402.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003192 target range: 360.700012 and range: 360.70 m. 2025-01-08T22:13:22.221Z,1736374402.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:22.229Z,1736374402.229 [DAT](INFO): DAT read: 22:13:20.3119 LVL= 24768, 32753, 29906, 32755, AGC= 68, IDX= 227, 0.10, 2.835, 1.218, 2.581, 2.063, PHS= 0.860,-0.798, 0.514, RAW= 138.6, -7.7, CAL= 144.7, -17.8, ROT= 5.3, 17.8 2025-01-08T22:13:22.230Z,1736374402.230 [DAT](INFO): got valid direction response: 22:13:20.3119 LVL= 24768, 32753, 29906, 32755, AGC= 68, IDX= 227, 0.10, 2.835, 1.218, 2.581, 2.063, PHS= 0.860,-0.798, 0.514, RAW= 138.6, -7.7, CAL= 144.7, -17.8, ROT= 5.3, 17.8 2025-01-08T22:13:22.231Z,1736374402.231 [DAT](INFO): DAT read: Bearing 5.3, 17.8 (Local) 2025-01-08T22:13:22.233Z,1736374402.233 [DAT](INFO): Local bearing/azimuth received: Bearing 5.3, 17.8 (Local) 2025-01-08T22:13:22.235Z,1736374402.235 [DAT](INFO): DAT read: Range 10 to 50 : 345.0 m (Round-trip 460.1 ms) speed 0.4 m/s 2025-01-08T22:13:22.235Z,1736374402.235 [DAT](INFO): DAT read: user:2404> 2025-01-08T22:13:22.236Z,1736374402.236 [DAT](INFO): DAT read: Tx time:22:13:21.3976 2025-01-08T22:13:22.236Z,1736374402.236 [DAT](INFO): Ping request sent. 2025-01-08T22:13:22.237Z,1736374402.237 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:22.237Z,1736374402.237 [DAT](INFO): DAT read: TxSync time:22:13:21.3968 2025-01-08T22:13:22.238Z,1736374402.238 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:13:22.239Z,1736374402.239 [DAT](INFO): direction in FSK: [0.025555,-0.699339,0.714333] 2025-01-08T22:13:22.239Z,1736374402.239 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:22.240Z,1736374402.240 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:22.243Z,1736374402.243 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:22.243Z,1736374402.243 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:22.384Z,1736374402.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:22.420Z,1736374402.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 345.000000 m, deltaT: 4.032062 s, deltaX: -15.700012 m, approachRate: -3.893792 m/s, rangeRepo size: 4 2025-01-08T22:13:22.432Z,1736374402.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 345.000000 m, bearing: 334.011463 deg, lat: 36.905818 deg, lon: -122.124179 deg, deltaT: 4.032062 s, deltaX: -15.700012 m, approachRate: -3.893792 m/s, posRepo size: 4 2025-01-08T22:13:22.432Z,1736374402.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.00 m. 2025-01-08T22:13:22.435Z,1736374402.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.000000 m, nav range: 273.545746 m, bearing: 330.682072 deg, approach rate: 0.000000 m/s, LOS rate: -0.150949 deg/s, cmd heading: 57.478644 deg, new cmd heading: 57.316078 deg. 2025-01-08T22:13:22.440Z,1736374402.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.000354 target range: 345.000000 and range: 345.00 m. 2025-01-08T22:13:22.472Z,1736374402.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:22.724Z,1736374402.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:22.781Z,1736374402.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:22.788Z,1736374402.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:22.791Z,1736374402.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.00 m. 2025-01-08T22:13:22.794Z,1736374402.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.000000 m, nav range: 273.572906 m, bearing: 330.620591 deg, approach rate: 0.073173 m/s, LOS rate: -0.165619 deg/s, cmd heading: 57.316079 deg, new cmd heading: 57.131654 deg. 2025-01-08T22:13:22.795Z,1736374402.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997135 target range: 345.000000 and range: 345.00 m. 2025-01-08T22:13:22.976Z,1736374402.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:22.976Z,1736374402.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:22.976Z,1736374402.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:22.977Z,1736374402.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:23.203Z,1736374403.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:23.216Z,1736374403.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.00 m. 2025-01-08T22:13:23.219Z,1736374403.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.000000 m, nav range: 273.596832 m, bearing: 330.542110 deg, approach rate: 0.056252 m/s, LOS rate: -0.184499 deg/s, cmd heading: 57.131653 deg, new cmd heading: 56.896233 deg. 2025-01-08T22:13:23.222Z,1736374403.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993027 target range: 345.000000 and range: 345.00 m. 2025-01-08T22:13:23.228Z,1736374403.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:23.228Z,1736374403.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991825 2025-01-08T22:13:23.480Z,1736374403.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:23.480Z,1736374403.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243743 2025-01-08T22:13:23.575Z,1736374403.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:23.584Z,1736374403.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.00 m. 2025-01-08T22:13:23.586Z,1736374403.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.000000 m, nav range: 273.616516 m, bearing: 330.472932 deg, approach rate: 0.053627 m/s, LOS rate: -0.188457 deg/s, cmd heading: 56.896234 deg, new cmd heading: 56.688713 deg. 2025-01-08T22:13:23.588Z,1736374403.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989405 target range: 345.000000 and range: 345.00 m. 2025-01-08T22:13:23.733Z,1736374403.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:23.734Z,1736374403.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497370 2025-01-08T22:13:23.984Z,1736374403.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:23.984Z,1736374403.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747784 2025-01-08T22:13:24.016Z,1736374404.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:24.032Z,1736374404.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.00 m. 2025-01-08T22:13:24.039Z,1736374404.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.000000 m, nav range: 273.635132 m, bearing: 330.410173 deg, approach rate: 0.041457 m/s, LOS rate: -0.139755 deg/s, cmd heading: 56.688712 deg, new cmd heading: 56.500449 deg. 2025-01-08T22:13:24.040Z,1736374404.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.986119 target range: 345.000000 and range: 345.00 m. 2025-01-08T22:13:24.238Z,1736374404.238 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:24.241Z,1736374404.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003592 2025-01-08T22:13:24.381Z,1736374404.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:24.390Z,1736374404.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.00 m. 2025-01-08T22:13:24.393Z,1736374404.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.000000 m, nav range: 273.648956 m, bearing: 330.358187 deg, approach rate: 0.038770 m/s, LOS rate: -0.145784 deg/s, cmd heading: 56.500448 deg, new cmd heading: 56.344501 deg. 2025-01-08T22:13:24.394Z,1736374404.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983397 target range: 345.000000 and range: 345.00 m. 2025-01-08T22:13:24.488Z,1736374404.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:24.489Z,1736374404.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252104 2025-01-08T22:13:24.740Z,1736374404.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:24.741Z,1736374404.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503968 2025-01-08T22:13:24.801Z,1736374404.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:24.816Z,1736374404.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:24.818Z,1736374404.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.00 m. 2025-01-08T22:13:24.825Z,1736374404.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.000000 m, nav range: 273.663361 m, bearing: 330.298302 deg, approach rate: 0.033586 m/s, LOS rate: -0.139627 deg/s, cmd heading: 56.344502 deg, new cmd heading: 56.164855 deg. 2025-01-08T22:13:24.826Z,1736374404.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.980262 target range: 345.000000 and range: 345.00 m. 2025-01-08T22:13:24.992Z,1736374404.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:24.993Z,1736374404.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756005 2025-01-08T22:13:25.210Z,1736374405.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:25.245Z,1736374405.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:25.248Z,1736374405.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010049 2025-01-08T22:13:25.261Z,1736374405.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.00 m. 2025-01-08T22:13:25.275Z,1736374405.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.000000 m, nav range: 273.660980 m, bearing: 330.243380 deg, approach rate: -0.005379 m/s, LOS rate: -0.124114 deg/s, cmd heading: 56.164854 deg, new cmd heading: 56.000088 deg. 2025-01-08T22:13:25.276Z,1736374405.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.977386 target range: 345.000000 and range: 345.00 m. 2025-01-08T22:13:25.497Z,1736374405.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:25.498Z,1736374405.498 [DAT](INFO): DAT read: Rx Time:22:13:24.2757 2025-01-08T22:13:25.499Z,1736374405.499 [DAT](INFO): Rx dataTimestamp_ set to:1736374405.498601 2025-01-08T22:13:25.500Z,1736374405.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263296 2025-01-08T22:13:25.587Z,1736374405.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:25.597Z,1736374405.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.00 m. 2025-01-08T22:13:25.600Z,1736374405.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.000000 m, nav range: 273.657532 m, bearing: 330.192431 deg, approach rate: -0.010245 m/s, LOS rate: -0.151372 deg/s, cmd heading: 56.000089 deg, new cmd heading: 55.847240 deg. 2025-01-08T22:13:25.601Z,1736374405.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.974718 target range: 345.000000 and range: 345.00 m. 2025-01-08T22:13:25.748Z,1736374405.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:25.748Z,1736374405.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511684 2025-01-08T22:13:25.000Z,1736374406.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:26.007Z,1736374406.007 [DAT](INFO): DAT read: 22:13:24.2757 LVL= 20464, 29857, 22514, 31283, AGC= 71, IDX= 65, 0.02,-1.067,-2.645,-1.445,-1.854, PHS= 0.875,-0.744, 0.405, RAW= 133.6, -7.5, CAL= 139.1, -19.0, ROT= 10.9, 19.0 2025-01-08T22:13:26.009Z,1736374406.009 [DAT](INFO): got valid direction response: 22:13:24.2757 LVL= 20464, 29857, 22514, 31283, AGC= 71, IDX= 65, 0.02,-1.067,-2.645,-1.445,-1.854, PHS= 0.875,-0.744, 0.405, RAW= 133.6, -7.5, CAL= 139.1, -19.0, ROT= 10.9, 19.0 2025-01-08T22:13:26.009Z,1736374406.009 [DAT](INFO): DAT read: Bearing 10.9, 19.0 (Local) 2025-01-08T22:13:26.010Z,1736374406.010 [DAT](INFO): Local bearing/azimuth received: Bearing 10.9, 19.0 (Local) 2025-01-08T22:13:26.041Z,1736374406.041 [DAT](INFO): DAT read: Range 10 to 50 : 355.5 m (Round-trip 474.0 ms) speed 0.5 m/s 2025-01-08T22:13:26.042Z,1736374406.042 [DAT](INFO): DAT read: user:2405> 2025-01-08T22:13:26.051Z,1736374406.051 [DAT](INFO): DAT read: Tx time:22:13:25.3976 2025-01-08T22:13:26.052Z,1736374406.052 [DAT](INFO): Ping request sent. 2025-01-08T22:13:26.052Z,1736374406.052 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:26.052Z,1736374406.052 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:13:26.053Z,1736374406.053 [DAT](INFO): direction in FSK: [0.022083,-0.631198,0.775307] 2025-01-08T22:13:26.053Z,1736374406.053 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:26.053Z,1736374406.053 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:26.065Z,1736374406.065 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:26.065Z,1736374406.065 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:26.121Z,1736374406.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:26.169Z,1736374406.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 355.500000 m, deltaT: 3.778952 s, deltaX: 10.500000 m, approachRate: 2.778548 m/s, rangeRepo size: 4 2025-01-08T22:13:26.176Z,1736374406.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 355.500000 m, bearing: 331.556904 deg, lat: 36.905792 deg, lon: -122.124061 deg, deltaT: 3.778952 s, deltaX: 10.500000 m, approachRate: 2.778548 m/s, posRepo size: 4 2025-01-08T22:13:26.176Z,1736374406.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:26.179Z,1736374406.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 266.016785 m, bearing: 331.764854 deg, approach rate: 0.000000 m/s, LOS rate: -0.151372 deg/s, cmd heading: 55.847240 deg, new cmd heading: 55.587564 deg. 2025-01-08T22:13:26.184Z,1736374406.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970186 target range: 355.500000 and range: 355.50 m. 2025-01-08T22:13:26.253Z,1736374406.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:26.254Z,1736374406.254 [DAT](INFO): DAT read: TxSync time:22:13:25.3968 2025-01-08T22:13:26.485Z,1736374406.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:26.502Z,1736374406.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:26.504Z,1736374406.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:26.513Z,1736374406.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.995697 m, bearing: 331.716790 deg, approach rate: -0.063334 m/s, LOS rate: -0.144368 deg/s, cmd heading: 55.587563 deg, new cmd heading: 55.443357 deg. 2025-01-08T22:13:26.514Z,1736374406.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.967669 target range: 355.500000 and range: 355.50 m. 2025-01-08T22:13:26.756Z,1736374406.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:26.890Z,1736374406.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:26.919Z,1736374406.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:26.948Z,1736374406.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:26.965Z,1736374406.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.972229 m, bearing: 331.663459 deg, approach rate: -0.052817 m/s, LOS rate: -0.120035 deg/s, cmd heading: 55.443357 deg, new cmd heading: 55.283353 deg. 2025-01-08T22:13:26.965Z,1736374406.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.964877 target range: 355.500000 and range: 355.50 m. 2025-01-08T22:13:27.008Z,1736374407.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:27.008Z,1736374407.008 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:27.008Z,1736374407.008 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:27.009Z,1736374407.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:27.025Z,1736374407.025 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:13:27.260Z,1736374407.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:27.261Z,1736374407.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.208999 2025-01-08T22:13:27.339Z,1736374407.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:27.353Z,1736374407.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:27.355Z,1736374407.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.941772 m, bearing: 331.606424 deg, approach rate: -0.074938 m/s, LOS rate: -0.140352 deg/s, cmd heading: 55.283353 deg, new cmd heading: 55.112227 deg. 2025-01-08T22:13:27.357Z,1736374407.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.961890 target range: 355.500000 and range: 355.50 m. 2025-01-08T22:13:27.514Z,1736374407.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:27.515Z,1736374407.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463187 2025-01-08T22:13:27.695Z,1736374407.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:27.704Z,1736374407.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:27.708Z,1736374407.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.916901 m, bearing: 331.561271 deg, approach rate: -0.070808 m/s, LOS rate: -0.128557 deg/s, cmd heading: 55.112226 deg, new cmd heading: 54.976756 deg. 2025-01-08T22:13:27.709Z,1736374407.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959525 target range: 355.500000 and range: 355.50 m. 2025-01-08T22:13:27.764Z,1736374407.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:27.766Z,1736374407.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713828 2025-01-08T22:13:28.016Z,1736374408.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:28.017Z,1736374408.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965053 2025-01-08T22:13:28.028Z,1736374408.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:13:28.132Z,1736374408.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:28.141Z,1736374408.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:28.144Z,1736374408.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.884155 m, bearing: 331.506689 deg, approach rate: -0.074819 m/s, LOS rate: -0.124728 deg/s, cmd heading: 54.976756 deg, new cmd heading: 54.812991 deg. 2025-01-08T22:13:28.145Z,1736374408.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956667 target range: 355.500000 and range: 355.50 m. 2025-01-08T22:13:28.268Z,1736374408.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:28.268Z,1736374408.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216771 2025-01-08T22:13:28.491Z,1736374408.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:28.515Z,1736374408.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:28.518Z,1736374408.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.854767 m, bearing: 331.462065 deg, approach rate: -0.082133 m/s, LOS rate: -0.124727 deg/s, cmd heading: 54.812992 deg, new cmd heading: 54.679105 deg. 2025-01-08T22:13:28.519Z,1736374408.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.954330 target range: 355.500000 and range: 355.50 m. 2025-01-08T22:13:28.520Z,1736374408.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:28.520Z,1736374408.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468768 2025-01-08T22:13:28.772Z,1736374408.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:28.773Z,1736374408.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721510 2025-01-08T22:13:28.902Z,1736374408.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:28.913Z,1736374408.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:28.916Z,1736374408.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.820160 m, bearing: 331.410979 deg, approach rate: -0.083682 m/s, LOS rate: -0.123545 deg/s, cmd heading: 54.679107 deg, new cmd heading: 54.525830 deg. 2025-01-08T22:13:28.919Z,1736374408.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.951655 target range: 355.500000 and range: 355.50 m. 2025-01-08T22:13:29.025Z,1736374409.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:29.026Z,1736374409.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974434 2025-01-08T22:13:29.277Z,1736374409.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:29.278Z,1736374409.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226259 2025-01-08T22:13:29.350Z,1736374409.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:29.384Z,1736374409.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:29.386Z,1736374409.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:29.395Z,1736374409.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.780701 m, bearing: 331.355619 deg, approach rate: -0.083410 m/s, LOS rate: -0.117039 deg/s, cmd heading: 54.525830 deg, new cmd heading: 54.359726 deg. 2025-01-08T22:13:29.400Z,1736374409.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.948756 target range: 355.500000 and range: 355.50 m. 2025-01-08T22:13:29.528Z,1736374409.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:29.529Z,1736374409.529 [DAT](INFO): DAT read: Rx Time:22:13:28.2732 2025-01-08T22:13:29.529Z,1736374409.529 [DAT](INFO): Rx dataTimestamp_ set to:1736374409.528729 2025-01-08T22:13:29.530Z,1736374409.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477831 2025-01-08T22:13:29.708Z,1736374409.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:29.716Z,1736374409.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:29.719Z,1736374409.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.747650 m, bearing: 331.311587 deg, approach rate: -0.100037 m/s, LOS rate: -0.133293 deg/s, cmd heading: 54.359727 deg, new cmd heading: 54.227614 deg. 2025-01-08T22:13:29.746Z,1736374409.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.946450 target range: 355.500000 and range: 355.50 m. 2025-01-08T22:13:29.780Z,1736374409.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:29.781Z,1736374409.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.729502 2025-01-08T22:13:30.033Z,1736374410.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:30.037Z,1736374410.037 [DAT](INFO): DAT read: Range 10 to 50 : 353.4 m (Round-trip 471.3 ms) speed 0.7 m/s 2025-01-08T22:13:30.037Z,1736374410.037 [DAT](INFO): DAT read: user:2406> 2025-01-08T22:13:30.038Z,1736374410.038 [DAT](INFO): DAT read: Tx time:22:13:29.3477 2025-01-08T22:13:30.038Z,1736374410.038 [DAT](INFO): Ping request sent. 2025-01-08T22:13:30.039Z,1736374410.039 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:30.040Z,1736374410.040 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:13:30.040Z,1736374410.040 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:30.040Z,1736374410.040 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:30.233Z,1736374410.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:30.242Z,1736374410.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 353.399994 m, deltaT: 4.032802 s, deltaX: -2.100006 m, approachRate: -0.520731 m/s, rangeRepo size: 4 2025-01-08T22:13:30.243Z,1736374410.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:30.246Z,1736374410.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.707581 m, bearing: 331.245639 deg, approach rate: -0.076260 m/s, LOS rate: -0.125531 deg/s, cmd heading: 54.227614 deg, new cmd heading: 54.029741 deg. 2025-01-08T22:13:30.247Z,1736374410.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.942997 target range: 355.500000 and range: 353.40 m. 2025-01-08T22:13:30.285Z,1736374410.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:30.285Z,1736374410.285 [DAT](INFO): DAT read: TxSync time:22:13:29.3469 2025-01-08T22:13:30.536Z,1736374410.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:30.619Z,1736374410.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:30.634Z,1736374410.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:30.637Z,1736374410.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.678192 m, bearing: 331.196842 deg, approach rate: -0.074989 m/s, LOS rate: -0.124527 deg/s, cmd heading: 54.029740 deg, new cmd heading: 53.883332 deg. 2025-01-08T22:13:30.638Z,1736374410.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940442 target range: 355.500000 and range: 353.40 m. 2025-01-08T22:13:30.788Z,1736374410.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:31.040Z,1736374411.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:31.079Z,1736374411.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:31.116Z,1736374411.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:31.118Z,1736374411.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.643158 m, bearing: 331.137359 deg, approach rate: -0.073344 m/s, LOS rate: -0.124542 deg/s, cmd heading: 53.883332 deg, new cmd heading: 53.704862 deg. 2025-01-08T22:13:31.123Z,1736374411.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937327 target range: 355.500000 and range: 353.40 m. 2025-01-08T22:13:31.293Z,1736374411.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:31.467Z,1736374411.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:31.474Z,1736374411.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:31.477Z,1736374411.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:31.479Z,1736374411.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.614838 m, bearing: 331.089156 deg, approach rate: -0.077513 m/s, LOS rate: -0.131947 deg/s, cmd heading: 53.704862 deg, new cmd heading: 53.560236 deg. 2025-01-08T22:13:31.480Z,1736374411.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.934802 target range: 355.500000 and range: 353.40 m. 2025-01-08T22:13:31.546Z,1736374411.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:31.546Z,1736374411.546 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:31.546Z,1736374411.546 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:31.547Z,1736374411.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:31.796Z,1736374411.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:31.796Z,1736374411.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757763 2025-01-08T22:13:32.050Z,1736374412.050 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:32.051Z,1736374412.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012140 2025-01-08T22:13:32.078Z,1736374412.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:32.087Z,1736374412.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:32.090Z,1736374412.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.573242 m, bearing: 331.004573 deg, approach rate: -0.068187 m/s, LOS rate: -0.138678 deg/s, cmd heading: 53.560236 deg, new cmd heading: 53.306449 deg. 2025-01-08T22:13:32.092Z,1736374412.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.930373 target range: 355.500000 and range: 353.40 m. 2025-01-08T22:13:32.304Z,1736374412.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:32.304Z,1736374412.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265811 2025-01-08T22:13:32.408Z,1736374412.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:32.437Z,1736374412.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:32.440Z,1736374412.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.550903 m, bearing: 330.960046 deg, approach rate: -0.063734 m/s, LOS rate: -0.127048 deg/s, cmd heading: 53.306450 deg, new cmd heading: 53.172860 deg. 2025-01-08T22:13:32.441Z,1736374412.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928041 target range: 355.500000 and range: 353.40 m. 2025-01-08T22:13:32.557Z,1736374412.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:32.557Z,1736374412.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518572 2025-01-08T22:13:32.808Z,1736374412.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:32.808Z,1736374412.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769821 2025-01-08T22:13:32.819Z,1736374412.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:32.829Z,1736374412.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:32.832Z,1736374412.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.523346 m, bearing: 330.904620 deg, approach rate: -0.070377 m/s, LOS rate: -0.141563 deg/s, cmd heading: 53.172859 deg, new cmd heading: 53.006564 deg. 2025-01-08T22:13:32.833Z,1736374412.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.925139 target range: 355.500000 and range: 353.40 m. 2025-01-08T22:13:33.060Z,1736374413.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:33.061Z,1736374413.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022254 2025-01-08T22:13:33.252Z,1736374413.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:33.264Z,1736374413.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:33.268Z,1736374413.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.504395 m, bearing: 330.843309 deg, approach rate: -0.043495 m/s, LOS rate: -0.140724 deg/s, cmd heading: 53.006564 deg, new cmd heading: 52.822619 deg. 2025-01-08T22:13:33.269Z,1736374413.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.921929 target range: 355.500000 and range: 353.40 m. 2025-01-08T22:13:33.312Z,1736374413.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:33.313Z,1736374413.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274794 2025-01-08T22:13:33.564Z,1736374413.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:33.564Z,1736374413.564 [DAT](INFO): DAT read: Rx Time:22:13:32.2021 2025-01-08T22:13:33.565Z,1736374413.565 [DAT](INFO): Rx dataTimestamp_ set to:1736374413.564652 2025-01-08T22:13:33.565Z,1736374413.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526845 2025-01-08T22:13:33.592Z,1736374413.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:33.598Z,1736374413.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:33.617Z,1736374413.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:33.623Z,1736374413.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.488037 m, bearing: 330.795303 deg, approach rate: -0.046444 m/s, LOS rate: -0.136314 deg/s, cmd heading: 52.822620 deg, new cmd heading: 52.678591 deg. 2025-01-08T22:13:33.624Z,1736374413.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.919415 target range: 355.500000 and range: 353.40 m. 2025-01-08T22:13:33.816Z,1736374413.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:33.816Z,1736374413.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777772 2025-01-08T22:13:33.997Z,1736374413.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:34.066Z,1736374414.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.50 m. 2025-01-08T22:13:34.070Z,1736374414.070 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:34.082Z,1736374414.082 [DAT](INFO): DAT read: 22:13:32.2021 LVL= 24848, 31793, 28834, 32755, AGC= 71, IDX= 222,-0.25,-1.381,-2.838,-1.692,-2.094, PHS= 0.800,-0.698, 0.399, RAW= 135.0, -7.5, CAL= 140.7, -18.6, ROT= 9.3, 18.6 2025-01-08T22:13:34.083Z,1736374414.083 [DAT](INFO): got valid direction response: 22:13:32.2021 LVL= 24848, 31793, 28834, 32755, AGC= 71, IDX= 222,-0.25,-1.381,-2.838,-1.692,-2.094, PHS= 0.800,-0.698, 0.399, RAW= 135.0, -7.5, CAL= 140.7, -18.6, ROT= 9.3, 18.6 2025-01-08T22:13:34.084Z,1736374414.084 [DAT](INFO): DAT read: Bearing 9.3, 18.6 (Local) 2025-01-08T22:13:34.084Z,1736374414.084 [DAT](INFO): Local bearing/azimuth received: Bearing 9.3, 18.6 (Local) 2025-01-08T22:13:34.086Z,1736374414.086 [DAT](INFO): DAT read: Range 10 to 50 : 337.6 m (Round-trip 450.2 ms) speed 0.5 m/s 2025-01-08T22:13:34.087Z,1736374414.087 [DAT](INFO): DAT read: user:2407> 2025-01-08T22:13:34.093Z,1736374414.093 [DAT](INFO): DAT read: Tx time:22:13:33.2977 2025-01-08T22:13:34.094Z,1736374414.094 [DAT](INFO): Ping request sent. 2025-01-08T22:13:34.094Z,1736374414.094 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:34.098Z,1736374414.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.500000 m, nav range: 265.468414 m, bearing: 330.737979 deg, approach rate: -0.043744 m/s, LOS rate: -0.127798 deg/s, cmd heading: 52.678592 deg, new cmd heading: 52.506610 deg. 2025-01-08T22:13:34.099Z,1736374414.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.916413 target range: 355.500000 and range: 353.40 m. 2025-01-08T22:13:34.103Z,1736374414.103 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:13:34.104Z,1736374414.104 [DAT](INFO): direction in FSK: [0.022577,-0.650989,0.758751] 2025-01-08T22:13:34.105Z,1736374414.105 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:34.105Z,1736374414.105 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:34.109Z,1736374414.109 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:34.110Z,1736374414.110 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:34.320Z,1736374414.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:34.321Z,1736374414.321 [DAT](INFO): DAT read: TxSync time:22:13:33.2969 2025-01-08T22:13:34.480Z,1736374414.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:34.495Z,1736374414.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 337.600006 m, deltaT: 4.037881 s, deltaX: -15.799988 m, approachRate: -3.912941 m/s, rangeRepo size: 4 2025-01-08T22:13:34.497Z,1736374414.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 337.600006 m, bearing: 325.758469 deg, lat: 36.905792 deg, lon: -122.124061 deg, deltaT: 8.070683 s, deltaX: -17.899994 m, approachRate: -2.217903 m/s, posRepo size: 4 2025-01-08T22:13:34.498Z,1736374414.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T22:13:34.501Z,1736374414.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 265.456451 m, bearing: 330.665841 deg, approach rate: 0.000000 m/s, LOS rate: -0.127798 deg/s, cmd heading: 52.506611 deg, new cmd heading: 52.342128 deg. 2025-01-08T22:13:34.501Z,1736374414.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.913542 target range: 337.600006 and range: 337.60 m. 2025-01-08T22:13:34.573Z,1736374414.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:34.824Z,1736374414.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:34.832Z,1736374414.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:34.841Z,1736374414.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T22:13:34.844Z,1736374414.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 265.447784 m, bearing: 330.613292 deg, approach rate: -0.024973 m/s, LOS rate: -0.151419 deg/s, cmd heading: 52.342127 deg, new cmd heading: 52.184476 deg. 2025-01-08T22:13:34.845Z,1736374414.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910791 target range: 337.600006 and range: 337.60 m. 2025-01-08T22:13:35.078Z,1736374415.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:35.264Z,1736374415.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:35.274Z,1736374415.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T22:13:35.276Z,1736374415.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 265.448669 m, bearing: 330.546536 deg, approach rate: 0.002049 m/s, LOS rate: -0.154587 deg/s, cmd heading: 52.184476 deg, new cmd heading: 51.984207 deg. 2025-01-08T22:13:35.277Z,1736374415.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.907296 target range: 337.600006 and range: 337.60 m. 2025-01-08T22:13:35.329Z,1736374415.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:35.580Z,1736374415.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:35.648Z,1736374415.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:35.660Z,1736374415.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:35.664Z,1736374415.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T22:13:35.669Z,1736374415.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 265.449677 m, bearing: 330.489178 deg, approach rate: 0.002581 m/s, LOS rate: -0.146990 deg/s, cmd heading: 51.984208 deg, new cmd heading: 51.812137 deg. 2025-01-08T22:13:35.670Z,1736374415.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.904292 target range: 337.600006 and range: 337.60 m. 2025-01-08T22:13:35.832Z,1736374415.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:35.832Z,1736374415.832 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:35.832Z,1736374415.832 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:35.833Z,1736374415.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:36.039Z,1736374416.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:36.085Z,1736374416.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:36.087Z,1736374416.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992462 2025-01-08T22:13:36.101Z,1736374416.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T22:13:36.109Z,1736374416.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 265.450592 m, bearing: 330.426922 deg, approach rate: 0.002121 m/s, LOS rate: -0.144224 deg/s, cmd heading: 51.812138 deg, new cmd heading: 51.625371 deg. 2025-01-08T22:13:36.110Z,1736374416.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.901033 target range: 337.600006 and range: 337.60 m. 2025-01-08T22:13:36.336Z,1736374416.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:36.336Z,1736374416.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242243 2025-01-08T22:13:36.480Z,1736374416.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:36.498Z,1736374416.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T22:13:36.501Z,1736374416.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 265.448578 m, bearing: 330.356619 deg, approach rate: -0.004994 m/s, LOS rate: -0.174305 deg/s, cmd heading: 51.625370 deg, new cmd heading: 51.414458 deg. 2025-01-08T22:13:36.502Z,1736374416.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.897352 target range: 337.600006 and range: 337.60 m. 2025-01-08T22:13:36.594Z,1736374416.594 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:36.594Z,1736374416.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500257 2025-01-08T22:13:36.844Z,1736374416.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:36.844Z,1736374416.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750394 2025-01-08T22:13:36.846Z,1736374416.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:36.854Z,1736374416.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T22:13:36.858Z,1736374416.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 265.447083 m, bearing: 330.298498 deg, approach rate: -0.004199 m/s, LOS rate: -0.163220 deg/s, cmd heading: 51.414457 deg, new cmd heading: 51.240095 deg. 2025-01-08T22:13:36.859Z,1736374416.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.894308 target range: 337.600006 and range: 337.60 m. 2025-01-08T22:13:37.099Z,1736374417.099 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:37.102Z,1736374417.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007817 2025-01-08T22:13:37.348Z,1736374417.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:37.349Z,1736374417.349 [DAT](INFO): DAT read: Rx Time:22:13:36.1663 2025-01-08T22:13:37.349Z,1736374417.349 [DAT](INFO): Rx dataTimestamp_ set to:1736374417.348795 2025-01-08T22:13:37.350Z,1736374417.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255551 2025-01-08T22:13:37.353Z,1736374417.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:37.364Z,1736374417.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T22:13:37.366Z,1736374417.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 265.446472 m, bearing: 330.217293 deg, approach rate: -0.001199 m/s, LOS rate: -0.159580 deg/s, cmd heading: 51.240096 deg, new cmd heading: 50.996483 deg. 2025-01-08T22:13:37.367Z,1736374417.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.890057 target range: 337.600006 and range: 337.60 m. 2025-01-08T22:13:37.600Z,1736374417.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:37.600Z,1736374417.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506266 2025-01-08T22:13:37.708Z,1736374417.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:37.730Z,1736374417.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:37.734Z,1736374417.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.60 m. 2025-01-08T22:13:37.741Z,1736374417.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.600006 m, nav range: 265.446350 m, bearing: 330.160440 deg, approach rate: -0.000329 m/s, LOS rate: -0.153222 deg/s, cmd heading: 50.996484 deg, new cmd heading: 50.825925 deg. 2025-01-08T22:13:37.742Z,1736374417.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.887080 target range: 337.600006 and range: 337.60 m. 2025-01-08T22:13:37.854Z,1736374417.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:37.874Z,1736374417.874 [DAT](INFO): DAT read: 22:13:36.1663 LVL= 23728, 25025, 25282, 31571, AGC= 71, IDX= 79, 0.40,-2.708, 2.039, 3.136, 2.805, PHS= 0.857,-0.719, 0.328, RAW= 130.7, -6.8, CAL= 135.7, -18.6, ROT= 14.3, 18.6 2025-01-08T22:13:37.875Z,1736374417.875 [DAT](INFO): got valid direction response: 22:13:36.1663 LVL= 23728, 25025, 25282, 31571, AGC= 71, IDX= 79, 0.40,-2.708, 2.039, 3.136, 2.805, PHS= 0.857,-0.719, 0.328, RAW= 130.7, -6.8, CAL= 135.7, -18.6, ROT= 14.3, 18.6 2025-01-08T22:13:37.876Z,1736374417.876 [DAT](INFO): DAT read: Bearing 14.3, 18.6 (Local) 2025-01-08T22:13:37.876Z,1736374417.876 [DAT](INFO): Local bearing/azimuth received: Bearing 14.3, 18.6 (Local) 2025-01-08T22:13:37.878Z,1736374417.878 [DAT](INFO): DAT read: Range 10 to 50 : 348.3 m (Round-trip 464.4 ms) speed 0.5 m/s 2025-01-08T22:13:37.878Z,1736374417.878 [DAT](INFO): DAT read: user:2408> 2025-01-08T22:13:37.880Z,1736374417.880 [DAT](INFO): DAT read: Tx time:22:13:37.2477 2025-01-08T22:13:37.880Z,1736374417.880 [DAT](INFO): Ping request sent. 2025-01-08T22:13:37.880Z,1736374417.880 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:37.881Z,1736374417.881 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:13:37.882Z,1736374417.882 [DAT](INFO): direction in FSK: [0.008197,-0.589585,0.807665] 2025-01-08T22:13:37.882Z,1736374417.882 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:37.882Z,1736374417.882 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:37.886Z,1736374417.886 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:37.886Z,1736374417.886 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:38.106Z,1736374418.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:38.109Z,1736374418.109 [DAT](INFO): DAT read: TxSync time:22:13:37.2469 2025-01-08T22:13:38.214Z,1736374418.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:38.249Z,1736374418.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 348.299988 m, deltaT: 3.783646 s, deltaX: 10.699982 m, approachRate: 2.827955 m/s, rangeRepo size: 4 2025-01-08T22:13:38.257Z,1736374418.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 348.299988 m, bearing: 322.845870 deg, lat: 36.905650 deg, lon: -122.124161 deg, deltaT: 3.783646 s, deltaX: 10.699982 m, approachRate: 2.827955 m/s, posRepo size: 4 2025-01-08T22:13:38.257Z,1736374418.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:38.261Z,1736374418.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.729034 m, bearing: 326.616898 deg, approach rate: 0.000000 m/s, LOS rate: -0.153222 deg/s, cmd heading: 50.825924 deg, new cmd heading: 50.589452 deg. 2025-01-08T22:13:38.262Z,1736374418.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.882953 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:13:38.357Z,1736374418.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:38.588Z,1736374418.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:38.598Z,1736374418.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:38.601Z,1736374418.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.737762 m, bearing: 326.556022 deg, approach rate: 0.024991 m/s, LOS rate: -0.174301 deg/s, cmd heading: 50.589452 deg, new cmd heading: 50.406832 deg. 2025-01-08T22:13:38.602Z,1736374418.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.879765 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:13:38.608Z,1736374418.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:38.860Z,1736374418.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:39.004Z,1736374419.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:39.013Z,1736374419.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:39.036Z,1736374419.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.747772 m, bearing: 326.488557 deg, approach rate: 0.024119 m/s, LOS rate: -0.162555 deg/s, cmd heading: 50.406830 deg, new cmd heading: 50.204444 deg. 2025-01-08T22:13:39.037Z,1736374419.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876233 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:13:39.114Z,1736374419.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:39.364Z,1736374419.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:39.422Z,1736374419.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:39.456Z,1736374419.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:39.459Z,1736374419.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.748383 m, bearing: 326.422558 deg, approach rate: 0.001377 m/s, LOS rate: -0.148951 deg/s, cmd heading: 50.204445 deg, new cmd heading: 50.006449 deg. 2025-01-08T22:13:39.464Z,1736374419.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872777 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:13:39.616Z,1736374419.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:39.797Z,1736374419.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:39.825Z,1736374419.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:39.827Z,1736374419.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:39.834Z,1736374419.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.747864 m, bearing: 326.363285 deg, approach rate: -0.001400 m/s, LOS rate: -0.159925 deg/s, cmd heading: 50.006448 deg, new cmd heading: 49.828628 deg. 2025-01-08T22:13:39.834Z,1736374419.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869674 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:13:39.868Z,1736374419.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:39.868Z,1736374419.868 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:39.868Z,1736374419.868 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:39.869Z,1736374419.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:40.122Z,1736374420.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:40.124Z,1736374420.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243424 2025-01-08T22:13:40.243Z,1736374420.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:40.251Z,1736374420.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:40.254Z,1736374420.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.731781 m, bearing: 326.296007 deg, approach rate: -0.037891 m/s, LOS rate: -0.158516 deg/s, cmd heading: 49.828627 deg, new cmd heading: 49.626782 deg. 2025-01-08T22:13:40.255Z,1736374420.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.866151 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:13:40.372Z,1736374420.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:40.374Z,1736374420.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493698 2025-01-08T22:13:40.607Z,1736374420.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:40.616Z,1736374420.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:40.618Z,1736374420.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.716278 m, bearing: 326.240962 deg, approach rate: -0.042571 m/s, LOS rate: -0.151162 deg/s, cmd heading: 49.626782 deg, new cmd heading: 49.461637 deg. 2025-01-08T22:13:40.620Z,1736374420.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.863268 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:13:40.624Z,1736374420.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:40.625Z,1736374420.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744278 2025-01-08T22:13:40.876Z,1736374420.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:40.876Z,1736374420.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996002 2025-01-08T22:13:41.061Z,1736374421.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:41.070Z,1736374421.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:41.072Z,1736374421.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.695618 m, bearing: 326.172407 deg, approach rate: -0.045490 m/s, LOS rate: -0.150957 deg/s, cmd heading: 49.461638 deg, new cmd heading: 49.255957 deg. 2025-01-08T22:13:41.074Z,1736374421.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.859679 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:13:41.131Z,1736374421.131 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:41.134Z,1736374421.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252878 2025-01-08T22:13:41.380Z,1736374421.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:41.381Z,1736374421.381 [DAT](INFO): DAT read: Rx Time:22:13:40.1132 2025-01-08T22:13:41.382Z,1736374421.382 [DAT](INFO): Rx dataTimestamp_ set to:1736374421.381553 2025-01-08T22:13:41.383Z,1736374421.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502449 2025-01-08T22:13:41.482Z,1736374421.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:41.490Z,1736374421.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:41.493Z,1736374421.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.665955 m, bearing: 326.111271 deg, approach rate: -0.070538 m/s, LOS rate: -0.145395 deg/s, cmd heading: 49.255957 deg, new cmd heading: 49.072529 deg. 2025-01-08T22:13:41.494Z,1736374421.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.856477 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:13:41.632Z,1736374421.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:41.633Z,1736374421.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752475 2025-01-08T22:13:41.836Z,1736374421.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:41.844Z,1736374421.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:41.846Z,1736374421.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:41.869Z,1736374421.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.638123 m, bearing: 326.059881 deg, approach rate: -0.078227 m/s, LOS rate: -0.144456 deg/s, cmd heading: 49.072529 deg, new cmd heading: 48.918343 deg. 2025-01-08T22:13:41.870Z,1736374421.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.853786 target range: 348.299988 and range: 348.30 m. 2025-01-08T22:13:41.884Z,1736374421.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:41.886Z,1736374421.886 [DAT](INFO): DAT read: Range 10 to 50 : 346.0 m (Round-trip 461.4 ms) speed 0.4 m/s 2025-01-08T22:13:41.886Z,1736374421.886 [DAT](INFO): DAT read: user:2409> 2025-01-08T22:13:41.887Z,1736374421.887 [DAT](INFO): DAT read: Tx time:22:13:41.1977 2025-01-08T22:13:41.888Z,1736374421.888 [DAT](INFO): Ping request sent. 2025-01-08T22:13:41.888Z,1736374421.888 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:41.888Z,1736374421.888 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:13:41.888Z,1736374421.888 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:41.889Z,1736374421.889 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:42.137Z,1736374422.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:42.140Z,1736374422.140 [DAT](INFO): DAT read: TxSync time:22:13:41.1969 2025-01-08T22:13:42.286Z,1736374422.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:42.296Z,1736374422.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 346.000000 m, deltaT: 4.029791 s, deltaX: -2.299988 m, approachRate: -0.570746 m/s, rangeRepo size: 4 2025-01-08T22:13:42.297Z,1736374422.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:42.300Z,1736374422.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.588654 m, bearing: 325.997289 deg, approach rate: -0.110022 m/s, LOS rate: -0.139234 deg/s, cmd heading: 48.918344 deg, new cmd heading: 48.730534 deg. 2025-01-08T22:13:42.301Z,1736374422.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.850508 target range: 348.299988 and range: 346.00 m. 2025-01-08T22:13:42.388Z,1736374422.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:42.640Z,1736374422.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:42.676Z,1736374422.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:42.694Z,1736374422.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:42.701Z,1736374422.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.544159 m, bearing: 325.943828 deg, approach rate: -0.111687 m/s, LOS rate: -0.134217 deg/s, cmd heading: 48.730534 deg, new cmd heading: 48.570123 deg. 2025-01-08T22:13:42.702Z,1736374422.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847709 target range: 348.299988 and range: 346.00 m. 2025-01-08T22:13:42.892Z,1736374422.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:43.053Z,1736374423.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:43.063Z,1736374423.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:43.082Z,1736374423.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.498535 m, bearing: 325.890817 deg, approach rate: -0.123715 m/s, LOS rate: -0.143772 deg/s, cmd heading: 48.570124 deg, new cmd heading: 48.411064 deg. 2025-01-08T22:13:43.082Z,1736374423.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.844932 target range: 348.299988 and range: 346.00 m. 2025-01-08T22:13:43.146Z,1736374423.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:43.396Z,1736374423.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:43.483Z,1736374423.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:43.498Z,1736374423.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:43.502Z,1736374423.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.450684 m, bearing: 325.832370 deg, approach rate: -0.110251 m/s, LOS rate: -0.134689 deg/s, cmd heading: 48.411063 deg, new cmd heading: 48.235689 deg. 2025-01-08T22:13:43.504Z,1736374423.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841872 target range: 348.299988 and range: 346.00 m. 2025-01-08T22:13:43.648Z,1736374423.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:43.869Z,1736374423.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:43.877Z,1736374423.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:43.879Z,1736374423.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:43.882Z,1736374423.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.407928 m, bearing: 325.779882 deg, approach rate: -0.111771 m/s, LOS rate: -0.137238 deg/s, cmd heading: 48.235691 deg, new cmd heading: 48.078200 deg. 2025-01-08T22:13:43.883Z,1736374423.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839123 target range: 348.299988 and range: 346.00 m. 2025-01-08T22:13:43.902Z,1736374423.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:43.903Z,1736374423.903 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:43.903Z,1736374423.903 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:43.903Z,1736374423.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:44.152Z,1736374424.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:44.152Z,1736374424.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264739 2025-01-08T22:13:44.316Z,1736374424.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:44.325Z,1736374424.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:44.328Z,1736374424.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.366913 m, bearing: 325.719566 deg, approach rate: -0.091918 m/s, LOS rate: -0.135192 deg/s, cmd heading: 48.078200 deg, new cmd heading: 47.897224 deg. 2025-01-08T22:13:44.329Z,1736374424.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835964 target range: 348.299988 and range: 346.00 m. 2025-01-08T22:13:44.404Z,1736374424.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:44.405Z,1736374424.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516975 2025-01-08T22:13:44.657Z,1736374424.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:44.658Z,1736374424.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770060 2025-01-08T22:13:44.696Z,1736374424.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:44.709Z,1736374424.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:44.715Z,1736374424.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.325531 m, bearing: 325.668459 deg, approach rate: -0.107974 m/s, LOS rate: -0.133371 deg/s, cmd heading: 47.897224 deg, new cmd heading: 47.743879 deg. 2025-01-08T22:13:44.716Z,1736374424.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833288 target range: 348.299988 and range: 346.00 m. 2025-01-08T22:13:44.908Z,1736374424.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:44.908Z,1736374424.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020736 2025-01-08T22:13:45.066Z,1736374425.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:45.077Z,1736374425.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:45.079Z,1736374425.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.284241 m, bearing: 325.618750 deg, approach rate: -0.112243 m/s, LOS rate: -0.135149 deg/s, cmd heading: 47.743879 deg, new cmd heading: 47.594729 deg. 2025-01-08T22:13:45.080Z,1736374425.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830685 target range: 348.299988 and range: 346.00 m. 2025-01-08T22:13:45.163Z,1736374425.163 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:45.165Z,1736374425.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277222 2025-01-08T22:13:45.412Z,1736374425.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:45.413Z,1736374425.413 [DAT](INFO): DAT read: Rx Time:22:13:44.0604 2025-01-08T22:13:45.413Z,1736374425.413 [DAT](INFO): Rx dataTimestamp_ set to:1736374425.412898 2025-01-08T22:13:45.414Z,1736374425.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526055 2025-01-08T22:13:45.502Z,1736374425.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:45.555Z,1736374425.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.30 m. 2025-01-08T22:13:45.569Z,1736374425.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.299988 m, nav range: 256.244415 m, bearing: 325.558481 deg, approach rate: -0.084135 m/s, LOS rate: -0.127345 deg/s, cmd heading: 47.594729 deg, new cmd heading: 47.413894 deg. 2025-01-08T22:13:45.576Z,1736374425.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827529 target range: 348.299988 and range: 346.00 m. 2025-01-08T22:13:45.666Z,1736374425.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:45.670Z,1736374425.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781464 2025-01-08T22:13:45.916Z,1736374425.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:45.922Z,1736374425.922 [DAT](INFO): DAT read: 22:13:44.0604 LVL= 25648, 32753, 32754, 32755, AGC= 70, IDX= 419,-0.46,-2.560, 2.321,-3.049, 3.077, PHS= 0.734,-0.710, 0.154, RAW= 126.5, -2.9, CAL= 132.1, -13.0, ROT= 17.9, 13.0 2025-01-08T22:13:45.924Z,1736374425.924 [DAT](INFO): got valid direction response: 22:13:44.0604 LVL= 25648, 32753, 32754, 32755, AGC= 70, IDX= 419,-0.46,-2.560, 2.321,-3.049, 3.077, PHS= 0.734,-0.710, 0.154, RAW= 126.5, -2.9, CAL= 132.1, -13.0, ROT= 17.9, 13.0 2025-01-08T22:13:45.925Z,1736374425.925 [DAT](INFO): DAT read: Bearing 17.9, 13.0 (Local) 2025-01-08T22:13:45.926Z,1736374425.926 [DAT](INFO): Local bearing/azimuth received: Bearing 17.9, 13.0 (Local) 2025-01-08T22:13:45.927Z,1736374425.927 [DAT](INFO): DAT read: Range 10 to 50 : 343.8 m (Round-trip 458.4 ms) speed 0.1 m/s 2025-01-08T22:13:45.928Z,1736374425.928 [DAT](INFO): DAT read: user:2410> 2025-01-08T22:13:45.929Z,1736374425.929 [DAT](INFO): DAT read: Tx time:22:13:45.1478 2025-01-08T22:13:45.929Z,1736374425.929 [DAT](INFO): Ping request sent. 2025-01-08T22:13:45.929Z,1736374425.929 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:45.929Z,1736374425.929 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:13:45.930Z,1736374425.930 [DAT](INFO): direction in FSK: [-0.067739,-0.522627,0.849866] 2025-01-08T22:13:45.931Z,1736374425.931 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:45.931Z,1736374425.931 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:45.934Z,1736374425.934 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:45.934Z,1736374425.934 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:46.168Z,1736374426.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:46.169Z,1736374426.169 [DAT](INFO): DAT read: TxSync time:22:13:45.1470 2025-01-08T22:13:46.184Z,1736374426.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:46.279Z,1736374426.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 343.799988 m, deltaT: 4.031835 s, deltaX: -2.200012 m, approachRate: -0.545660 m/s, rangeRepo size: 4 2025-01-08T22:13:46.281Z,1736374426.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 343.799988 m, bearing: 310.887050 deg, lat: 36.905546 deg, lon: -122.124161 deg, deltaT: 8.061626 s, deltaX: -4.500000 m, approachRate: -0.558200 m/s, posRepo size: 4 2025-01-08T22:13:46.282Z,1736374426.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:46.289Z,1736374426.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.685226 m, bearing: 323.932075 deg, approach rate: 0.000000 m/s, LOS rate: -0.127345 deg/s, cmd heading: 47.413893 deg, new cmd heading: 47.135730 deg. 2025-01-08T22:13:46.290Z,1736374426.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822674 target range: 343.799988 and range: 343.80 m. 2025-01-08T22:13:46.420Z,1736374426.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:46.673Z,1736374426.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:46.698Z,1736374426.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:46.726Z,1736374426.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:46.745Z,1736374426.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:46.768Z,1736374426.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.664352 m, bearing: 323.855024 deg, approach rate: -0.044739 m/s, LOS rate: -0.165154 deg/s, cmd heading: 47.135730 deg, new cmd heading: 46.904560 deg. 2025-01-08T22:13:46.769Z,1736374426.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818639 target range: 343.799988 and range: 343.80 m. 2025-01-08T22:13:46.924Z,1736374426.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:46.924Z,1736374426.924 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:46.924Z,1736374426.924 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:46.925Z,1736374426.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:47.097Z,1736374427.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:47.105Z,1736374427.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:47.109Z,1736374427.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.648788 m, bearing: 323.795089 deg, approach rate: -0.043203 m/s, LOS rate: -0.166383 deg/s, cmd heading: 46.904559 deg, new cmd heading: 46.724742 deg. 2025-01-08T22:13:47.110Z,1736374427.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815501 target range: 343.799988 and range: 343.80 m. 2025-01-08T22:13:47.176Z,1736374427.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:47.177Z,1736374427.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247709 2025-01-08T22:13:47.428Z,1736374427.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:47.428Z,1736374427.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499251 2025-01-08T22:13:47.522Z,1736374427.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:47.531Z,1736374427.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:47.533Z,1736374427.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.647797 m, bearing: 323.730120 deg, approach rate: -0.002329 m/s, LOS rate: -0.152560 deg/s, cmd heading: 46.724740 deg, new cmd heading: 46.529834 deg. 2025-01-08T22:13:47.534Z,1736374427.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812099 target range: 343.799988 and range: 343.80 m. 2025-01-08T22:13:47.680Z,1736374427.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:47.681Z,1736374427.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752100 2025-01-08T22:13:47.885Z,1736374427.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:47.894Z,1736374427.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:47.900Z,1736374427.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.647049 m, bearing: 323.674758 deg, approach rate: -0.002055 m/s, LOS rate: -0.152181 deg/s, cmd heading: 46.529834 deg, new cmd heading: 46.363747 deg. 2025-01-08T22:13:47.901Z,1736374427.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809200 target range: 343.799988 and range: 343.80 m. 2025-01-08T22:13:47.932Z,1736374427.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:47.933Z,1736374427.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004176 2025-01-08T22:13:48.184Z,1736374428.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:48.184Z,1736374428.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255327 2025-01-08T22:13:48.332Z,1736374428.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:48.341Z,1736374428.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:48.345Z,1736374428.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.658295 m, bearing: 323.604882 deg, approach rate: 0.025162 m/s, LOS rate: -0.156339 deg/s, cmd heading: 46.363748 deg, new cmd heading: 46.154130 deg. 2025-01-08T22:13:48.345Z,1736374428.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805542 target range: 343.799988 and range: 343.80 m. 2025-01-08T22:13:48.438Z,1736374428.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:48.438Z,1736374428.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509279 2025-01-08T22:13:48.689Z,1736374428.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:48.691Z,1736374428.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761475 2025-01-08T22:13:48.720Z,1736374428.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:48.728Z,1736374428.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:48.730Z,1736374428.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:48.733Z,1736374428.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.668228 m, bearing: 323.544264 deg, approach rate: 0.025572 m/s, LOS rate: -0.156041 deg/s, cmd heading: 46.154129 deg, new cmd heading: 45.972283 deg. 2025-01-08T22:13:48.734Z,1736374428.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.802368 target range: 343.799988 and range: 343.80 m. 2025-01-08T22:13:48.941Z,1736374428.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:48.942Z,1736374428.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013027 2025-01-08T22:13:49.085Z,1736374429.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:49.095Z,1736374429.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:49.097Z,1736374429.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.678207 m, bearing: 323.487239 deg, approach rate: 0.027359 m/s, LOS rate: -0.156332 deg/s, cmd heading: 45.972282 deg, new cmd heading: 45.801215 deg. 2025-01-08T22:13:49.098Z,1736374429.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.799382 target range: 343.799988 and range: 343.80 m. 2025-01-08T22:13:49.193Z,1736374429.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:49.194Z,1736374429.194 [DAT](INFO): DAT read: Rx Time:22:13:48.0081 2025-01-08T22:13:49.195Z,1736374429.195 [DAT](INFO): Rx dataTimestamp_ set to:1736374429.194102 2025-01-08T22:13:49.196Z,1736374429.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266677 2025-01-08T22:13:49.444Z,1736374429.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:49.444Z,1736374429.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515383 2025-01-08T22:13:49.528Z,1736374429.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:49.553Z,1736374429.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:49.560Z,1736374429.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.694717 m, bearing: 323.416115 deg, approach rate: 0.035982 m/s, LOS rate: -0.154996 deg/s, cmd heading: 45.801213 deg, new cmd heading: 45.587857 deg. 2025-01-08T22:13:49.561Z,1736374429.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795658 target range: 343.799988 and range: 343.80 m. 2025-01-08T22:13:49.696Z,1736374429.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:49.697Z,1736374429.697 [DAT](INFO): DAT read: Range 10 to 50 : 342.0 m (Round-trip 456.1 ms) speed 0.4 m/s 2025-01-08T22:13:49.698Z,1736374429.698 [DAT](INFO): DAT read: user:2411> 2025-01-08T22:13:49.700Z,1736374429.700 [DAT](INFO): DAT read: Tx time:22:13:49.0978 2025-01-08T22:13:49.701Z,1736374429.701 [DAT](INFO): Ping request sent. 2025-01-08T22:13:49.701Z,1736374429.701 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:49.702Z,1736374429.702 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:13:49.702Z,1736374429.702 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:49.704Z,1736374429.704 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:49.901Z,1736374429.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:49.911Z,1736374429.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 342.000000 m, deltaT: 3.780035 s, deltaX: -1.799988 m, approachRate: -0.476183 m/s, rangeRepo size: 4 2025-01-08T22:13:49.912Z,1736374429.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:49.914Z,1736374429.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.709274 m, bearing: 323.356362 deg, approach rate: 0.040819 m/s, LOS rate: -0.167545 deg/s, cmd heading: 45.587855 deg, new cmd heading: 45.408608 deg. 2025-01-08T22:13:49.915Z,1736374429.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792530 target range: 343.799988 and range: 342.00 m. 2025-01-08T22:13:49.949Z,1736374429.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:49.950Z,1736374429.950 [DAT](INFO): DAT read: TxSync time:22:13:49.0970 2025-01-08T22:13:50.201Z,1736374430.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:50.358Z,1736374430.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:50.387Z,1736374430.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:50.394Z,1736374430.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.723175 m, bearing: 323.284705 deg, approach rate: 0.029161 m/s, LOS rate: -0.150312 deg/s, cmd heading: 45.408607 deg, new cmd heading: 45.193649 deg. 2025-01-08T22:13:50.406Z,1736374430.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788778 target range: 343.799988 and range: 342.00 m. 2025-01-08T22:13:50.452Z,1736374430.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:50.704Z,1736374430.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:50.714Z,1736374430.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:50.746Z,1736374430.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:50.752Z,1736374430.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:50.755Z,1736374430.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.734192 m, bearing: 323.228809 deg, approach rate: 0.030162 m/s, LOS rate: -0.153024 deg/s, cmd heading: 45.193651 deg, new cmd heading: 45.025972 deg. 2025-01-08T22:13:50.760Z,1736374430.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785851 target range: 343.799988 and range: 342.00 m. 2025-01-08T22:13:50.956Z,1736374430.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:50.957Z,1736374430.957 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:50.957Z,1736374430.957 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:50.957Z,1736374430.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:51.146Z,1736374431.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:51.181Z,1736374431.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:51.196Z,1736374431.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.748077 m, bearing: 323.161004 deg, approach rate: 0.032811 m/s, LOS rate: -0.160215 deg/s, cmd heading: 45.025973 deg, new cmd heading: 44.822569 deg. 2025-01-08T22:13:51.198Z,1736374431.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782301 target range: 343.799988 and range: 342.00 m. 2025-01-08T22:13:51.208Z,1736374431.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:51.210Z,1736374431.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508683 2025-01-08T22:13:51.460Z,1736374431.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:51.460Z,1736374431.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759615 2025-01-08T22:13:51.612Z,1736374431.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:51.637Z,1736374431.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:51.645Z,1736374431.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.747940 m, bearing: 323.088989 deg, approach rate: -0.000297 m/s, LOS rate: -0.155968 deg/s, cmd heading: 44.822570 deg, new cmd heading: 44.606528 deg. 2025-01-08T22:13:51.646Z,1736374431.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778531 target range: 343.799988 and range: 342.00 m. 2025-01-08T22:13:51.712Z,1736374431.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:51.713Z,1736374431.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011845 2025-01-08T22:13:51.964Z,1736374431.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:51.964Z,1736374431.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263714 2025-01-08T22:13:51.998Z,1736374431.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:52.018Z,1736374432.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:52.025Z,1736374432.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.747482 m, bearing: 323.029402 deg, approach rate: -0.001202 m/s, LOS rate: -0.156449 deg/s, cmd heading: 44.606528 deg, new cmd heading: 44.427766 deg. 2025-01-08T22:13:52.026Z,1736374432.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775411 target range: 343.799988 and range: 342.00 m. 2025-01-08T22:13:52.216Z,1736374432.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:52.216Z,1736374432.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515657 2025-01-08T22:13:52.410Z,1736374432.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:52.419Z,1736374432.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:52.422Z,1736374432.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.734756 m, bearing: 322.967283 deg, approach rate: -0.031710 m/s, LOS rate: -0.154797 deg/s, cmd heading: 44.427765 deg, new cmd heading: 44.241398 deg. 2025-01-08T22:13:52.425Z,1736374432.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772158 target range: 343.799988 and range: 342.00 m. 2025-01-08T22:13:52.468Z,1736374432.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:52.469Z,1736374432.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767857 2025-01-08T22:13:52.721Z,1736374432.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:52.722Z,1736374432.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020807 2025-01-08T22:13:52.802Z,1736374432.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:52.810Z,1736374432.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:52.812Z,1736374432.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:52.815Z,1736374432.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.720474 m, bearing: 322.908143 deg, approach rate: -0.036343 m/s, LOS rate: -0.150499 deg/s, cmd heading: 44.241399 deg, new cmd heading: 44.063970 deg. 2025-01-08T22:13:52.828Z,1736374432.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769061 target range: 343.799988 and range: 342.00 m. 2025-01-08T22:13:52.972Z,1736374432.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:52.973Z,1736374432.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271672 2025-01-08T22:13:53.209Z,1736374433.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:53.217Z,1736374433.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:53.220Z,1736374433.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.705978 m, bearing: 322.846909 deg, approach rate: -0.035794 m/s, LOS rate: -0.151210 deg/s, cmd heading: 44.063968 deg, new cmd heading: 43.880257 deg. 2025-01-08T22:13:53.221Z,1736374433.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765855 target range: 343.799988 and range: 342.00 m. 2025-01-08T22:13:53.224Z,1736374433.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:53.225Z,1736374433.225 [DAT](INFO): DAT read: Rx Time:22:13:51.9546 2025-01-08T22:13:53.225Z,1736374433.225 [DAT](INFO): Rx dataTimestamp_ set to:1736374433.225209 2025-01-08T22:13:53.226Z,1736374433.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525324 2025-01-08T22:13:53.476Z,1736374433.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:53.476Z,1736374433.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775614 2025-01-08T22:13:53.631Z,1736374433.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:53.669Z,1736374433.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:53.678Z,1736374433.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.677368 m, bearing: 322.785115 deg, approach rate: -0.063418 m/s, LOS rate: -0.136990 deg/s, cmd heading: 43.880257 deg, new cmd heading: 43.694854 deg. 2025-01-08T22:13:53.684Z,1736374433.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762619 target range: 343.799988 and range: 342.00 m. 2025-01-08T22:13:53.728Z,1736374433.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:53.730Z,1736374433.730 [DAT](INFO): DAT read: Range 10 to 50 : 339.5 m (Round-trip 452.7 ms) speed 0.6 m/s 2025-01-08T22:13:53.730Z,1736374433.730 [DAT](INFO): DAT read: user:2412> 2025-01-08T22:13:53.731Z,1736374433.731 [DAT](INFO): DAT read: Tx time:22:13:53.0478 2025-01-08T22:13:53.732Z,1736374433.732 [DAT](INFO): Ping request sent. 2025-01-08T22:13:53.732Z,1736374433.732 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:53.732Z,1736374433.732 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:13:53.732Z,1736374433.732 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:53.734Z,1736374433.734 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:53.980Z,1736374433.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:53.981Z,1736374433.981 [DAT](INFO): DAT read: TxSync time:22:13:53.0470 2025-01-08T22:13:54.019Z,1736374434.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:54.029Z,1736374434.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 339.500000 m, deltaT: 4.032162 s, deltaX: -2.500000 m, approachRate: -0.620015 m/s, rangeRepo size: 4 2025-01-08T22:13:54.030Z,1736374434.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:54.033Z,1736374434.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.650009 m, bearing: 322.728330 deg, approach rate: -0.075912 m/s, LOS rate: -0.157576 deg/s, cmd heading: 43.694855 deg, new cmd heading: 43.524482 deg. 2025-01-08T22:13:54.034Z,1736374434.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759646 target range: 343.799988 and range: 339.50 m. 2025-01-08T22:13:54.232Z,1736374434.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:54.436Z,1736374434.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:54.446Z,1736374434.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:54.449Z,1736374434.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.605530 m, bearing: 322.668066 deg, approach rate: -0.106626 m/s, LOS rate: -0.144493 deg/s, cmd heading: 43.524482 deg, new cmd heading: 43.343656 deg. 2025-01-08T22:13:54.450Z,1736374434.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756490 target range: 343.799988 and range: 339.50 m. 2025-01-08T22:13:54.484Z,1736374434.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:54.736Z,1736374434.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:54.819Z,1736374434.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:54.827Z,1736374434.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:54.829Z,1736374434.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:54.832Z,1736374434.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.562775 m, bearing: 322.612840 deg, approach rate: -0.111493 m/s, LOS rate: -0.144038 deg/s, cmd heading: 43.343656 deg, new cmd heading: 43.177950 deg. 2025-01-08T22:13:54.833Z,1736374434.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753597 target range: 343.799988 and range: 339.50 m. 2025-01-08T22:13:54.988Z,1736374434.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:54.988Z,1736374434.988 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:54.988Z,1736374434.988 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:54.988Z,1736374434.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:55.213Z,1736374435.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:55.222Z,1736374435.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:55.226Z,1736374435.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.517654 m, bearing: 322.555980 deg, approach rate: -0.114875 m/s, LOS rate: -0.144792 deg/s, cmd heading: 43.177949 deg, new cmd heading: 43.007338 deg. 2025-01-08T22:13:55.227Z,1736374435.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.750620 target range: 343.799988 and range: 339.50 m. 2025-01-08T22:13:55.240Z,1736374435.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:55.241Z,1736374435.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509201 2025-01-08T22:13:55.492Z,1736374435.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:55.492Z,1736374435.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760766 2025-01-08T22:13:55.642Z,1736374435.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:55.681Z,1736374435.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:55.687Z,1736374435.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.465820 m, bearing: 322.493718 deg, approach rate: -0.114355 m/s, LOS rate: -0.137389 deg/s, cmd heading: 43.007338 deg, new cmd heading: 42.820515 deg. 2025-01-08T22:13:55.688Z,1736374435.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747359 target range: 343.799988 and range: 339.50 m. 2025-01-08T22:13:55.744Z,1736374435.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:55.746Z,1736374435.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014301 2025-01-08T22:13:55.996Z,1736374435.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:55.996Z,1736374435.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264690 2025-01-08T22:13:56.030Z,1736374436.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:56.042Z,1736374436.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:56.045Z,1736374436.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.417389 m, bearing: 322.437355 deg, approach rate: -0.132205 m/s, LOS rate: -0.153887 deg/s, cmd heading: 42.820515 deg, new cmd heading: 42.651393 deg. 2025-01-08T22:13:56.045Z,1736374436.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.744407 target range: 343.799988 and range: 339.50 m. 2025-01-08T22:13:56.248Z,1736374436.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:56.248Z,1736374436.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516716 2025-01-08T22:13:56.468Z,1736374436.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:56.478Z,1736374436.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:56.481Z,1736374436.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.363892 m, bearing: 322.371310 deg, approach rate: -0.122688 m/s, LOS rate: -0.151496 deg/s, cmd heading: 42.651393 deg, new cmd heading: 42.453218 deg. 2025-01-08T22:13:56.482Z,1736374436.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740948 target range: 343.799988 and range: 339.50 m. 2025-01-08T22:13:56.501Z,1736374436.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:56.502Z,1736374436.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770267 2025-01-08T22:13:56.752Z,1736374436.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:56.752Z,1736374436.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020708 2025-01-08T22:13:56.860Z,1736374436.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:56.867Z,1736374436.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:56.869Z,1736374436.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:56.872Z,1736374436.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.316299 m, bearing: 322.312192 deg, approach rate: -0.121598 m/s, LOS rate: -0.151078 deg/s, cmd heading: 42.453218 deg, new cmd heading: 42.275828 deg. 2025-01-08T22:13:56.874Z,1736374436.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.737852 target range: 343.799988 and range: 339.50 m. 2025-01-08T22:13:57.004Z,1736374437.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:57.004Z,1736374437.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272757 2025-01-08T22:13:57.230Z,1736374437.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:57.254Z,1736374437.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:57.257Z,1736374437.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:57.258Z,1736374437.258 [DAT](INFO): DAT read: Rx Time:22:13:55.9021 2025-01-08T22:13:57.258Z,1736374437.258 [DAT](INFO): Rx dataTimestamp_ set to:1736374437.257902 2025-01-08T22:13:57.259Z,1736374437.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527046 2025-01-08T22:13:57.261Z,1736374437.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.267822 m, bearing: 322.256684 deg, approach rate: -0.126083 m/s, LOS rate: -0.144395 deg/s, cmd heading: 42.275828 deg, new cmd heading: 42.109274 deg. 2025-01-08T22:13:57.262Z,1736374437.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.734945 target range: 343.799988 and range: 339.50 m. 2025-01-08T22:13:57.510Z,1736374437.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:57.512Z,1736374437.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780215 2025-01-08T22:13:57.697Z,1736374437.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:57.705Z,1736374437.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.80 m. 2025-01-08T22:13:57.708Z,1736374437.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 343.799988 m, nav range: 246.209122 m, bearing: 322.186472 deg, approach rate: -0.130053 m/s, LOS rate: -0.155594 deg/s, cmd heading: 42.109274 deg, new cmd heading: 41.898589 deg. 2025-01-08T22:13:57.709Z,1736374437.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.731268 target range: 343.799988 and range: 339.50 m. 2025-01-08T22:13:57.760Z,1736374437.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:57.771Z,1736374437.771 [DAT](INFO): DAT read: 22:13:55.9021 LVL= 24240, 32753, 32754, 32755, AGC= 71, IDX= 223, 0.23,-1.941, 3.000,-2.666,-2.345, PHS= 0.492,-0.890,-0.323, RAW= 114.1, 12.0, CAL= 122.5, 9.0, ROT= 27.5, -9.0 2025-01-08T22:13:57.772Z,1736374437.772 [DAT](INFO): got valid direction response: 22:13:55.9021 LVL= 24240, 32753, 32754, 32755, AGC= 71, IDX= 223, 0.23,-1.941, 3.000,-2.666,-2.345, PHS= 0.492,-0.890,-0.323, RAW= 114.1, 12.0, CAL= 122.5, 9.0, ROT= 27.5, -9.0 2025-01-08T22:13:57.773Z,1736374437.773 [DAT](INFO): DAT read: Bearing 27.5, -9.0 (Local) 2025-01-08T22:13:57.773Z,1736374437.773 [DAT](INFO): Local bearing/azimuth received: Bearing 27.5, -9.0 (Local) 2025-01-08T22:13:57.775Z,1736374437.775 [DAT](INFO): DAT read: Range 10 to 50 : 337.5 m (Round-trip 450.0 ms) speed 0.4 m/s 2025-01-08T22:13:57.788Z,1736374437.788 [DAT](INFO): DAT read: user:2413> 2025-01-08T22:13:57.789Z,1736374437.789 [DAT](INFO): DAT read: Tx time:22:13:56.9979 2025-01-08T22:13:57.789Z,1736374437.789 [DAT](INFO): Ping request sent. 2025-01-08T22:13:57.790Z,1736374437.790 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:13:57.790Z,1736374437.790 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:13:57.801Z,1736374437.801 [DAT](INFO): direction in FSK: [-0.340230,-0.291208,0.894115] 2025-01-08T22:13:57.802Z,1736374437.802 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:57.803Z,1736374437.803 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:57.819Z,1736374437.819 [DAT](INFO): publishing transmit ping time 2025-01-08T22:13:57.819Z,1736374437.819 [DAT](INFO): publishing direction and range info 2025-01-08T22:13:58.012Z,1736374438.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:58.013Z,1736374438.013 [DAT](INFO): DAT read: TxSync time:22:13:56.9971 2025-01-08T22:13:58.057Z,1736374438.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:58.097Z,1736374438.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 337.500000 m, deltaT: 4.032586 s, deltaX: -2.000000 m, approachRate: -0.495960 m/s, rangeRepo size: 4 2025-01-08T22:13:58.099Z,1736374438.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 337.500000 m, bearing: 270.763814 deg, lat: 36.905402 deg, lon: -122.124164 deg, deltaT: 11.844783 s, deltaX: -6.299988 m, approachRate: -0.531879 m/s, posRepo size: 4 2025-01-08T22:13:58.103Z,1736374438.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T22:13:58.106Z,1736374438.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 233.932938 m, bearing: 319.679566 deg, approach rate: 0.000000 m/s, LOS rate: -0.155594 deg/s, cmd heading: 41.898590 deg, new cmd heading: 41.718194 deg. 2025-01-08T22:13:58.112Z,1736374438.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.728120 target range: 337.500000 and range: 337.50 m. 2025-01-08T22:13:58.165Z,1736374438.165 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:13:58.264Z,1736374438.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:58.480Z,1736374438.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:58.505Z,1736374438.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T22:13:58.512Z,1736374438.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 233.907455 m, bearing: 319.609308 deg, approach rate: -0.061652 m/s, LOS rate: -0.170003 deg/s, cmd heading: 41.718194 deg, new cmd heading: 41.507398 deg. 2025-01-08T22:13:58.516Z,1736374438.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:58.517Z,1736374438.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.724441 target range: 337.500000 and range: 337.50 m. 2025-01-08T22:13:58.768Z,1736374438.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:58.936Z,1736374438.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:58.944Z,1736374438.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:13:58.946Z,1736374438.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T22:13:58.949Z,1736374438.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 233.879410 m, bearing: 319.533468 deg, approach rate: -0.063557 m/s, LOS rate: -0.171889 deg/s, cmd heading: 41.507398 deg, new cmd heading: 41.279853 deg. 2025-01-08T22:13:58.950Z,1736374438.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.720469 target range: 337.500000 and range: 337.50 m. 2025-01-08T22:13:59.020Z,1736374439.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:59.020Z,1736374439.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:13:59.020Z,1736374439.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:13:59.021Z,1736374439.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:13:59.168Z,1736374439.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:13:59.272Z,1736374439.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:59.273Z,1736374439.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483179 2025-01-08T22:13:59.341Z,1736374439.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:13:59.353Z,1736374439.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T22:13:59.357Z,1736374439.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 233.853668 m, bearing: 319.466234 deg, approach rate: -0.063722 m/s, LOS rate: -0.166454 deg/s, cmd heading: 41.279853 deg, new cmd heading: 41.078129 deg. 2025-01-08T22:13:59.358Z,1736374439.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716949 target range: 337.500000 and range: 337.50 m. 2025-01-08T22:13:59.524Z,1736374439.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:59.525Z,1736374439.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735087 2025-01-08T22:13:59.780Z,1736374439.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:13:59.780Z,1736374439.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990852 2025-01-08T22:14:00.005Z,1736374440.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:00.014Z,1736374440.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T22:14:00.017Z,1736374440.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 233.816605 m, bearing: 319.353682 deg, approach rate: -0.055787 m/s, LOS rate: -0.169436 deg/s, cmd heading: 41.078131 deg, new cmd heading: 40.740426 deg. 2025-01-08T22:14:00.018Z,1736374440.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711055 target range: 337.500000 and range: 337.50 m. 2025-01-08T22:14:00.032Z,1736374440.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:00.033Z,1736374440.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243055 2025-01-08T22:14:00.292Z,1736374440.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:00.293Z,1736374440.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503046 2025-01-08T22:14:00.342Z,1736374440.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:00.360Z,1736374440.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T22:14:00.362Z,1736374440.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 233.796646 m, bearing: 319.296515 deg, approach rate: -0.057852 m/s, LOS rate: -0.165721 deg/s, cmd heading: 40.740425 deg, new cmd heading: 40.568909 deg. 2025-01-08T22:14:00.371Z,1736374440.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708061 target range: 337.500000 and range: 337.50 m. 2025-01-08T22:14:00.544Z,1736374440.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:00.545Z,1736374440.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755050 2025-01-08T22:14:00.762Z,1736374440.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:00.770Z,1736374440.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T22:14:00.774Z,1736374440.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 233.777054 m, bearing: 319.227008 deg, approach rate: -0.047704 m/s, LOS rate: -0.169253 deg/s, cmd heading: 40.568909 deg, new cmd heading: 40.360372 deg. 2025-01-08T22:14:00.796Z,1736374440.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:00.797Z,1736374440.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007235 2025-01-08T22:14:00.804Z,1736374440.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704421 target range: 337.500000 and range: 337.50 m. 2025-01-08T22:14:01.048Z,1736374441.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:01.049Z,1736374441.049 [DAT](INFO): DAT read: Rx Time:22:13:59.8488 2025-01-08T22:14:01.049Z,1736374441.049 [DAT](INFO): Rx dataTimestamp_ set to:1736374441.049010 2025-01-08T22:14:01.050Z,1736374441.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260241 2025-01-08T22:14:01.164Z,1736374441.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:01.171Z,1736374441.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:01.174Z,1736374441.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.50 m. 2025-01-08T22:14:01.178Z,1736374441.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 337.500000 m, nav range: 233.758362 m, bearing: 319.160288 deg, approach rate: -0.046257 m/s, LOS rate: -0.165126 deg/s, cmd heading: 40.360373 deg, new cmd heading: 40.160197 deg. 2025-01-08T22:14:01.179Z,1736374441.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700928 target range: 337.500000 and range: 337.50 m. 2025-01-08T22:14:01.300Z,1736374441.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:01.300Z,1736374441.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510729 2025-01-08T22:14:01.554Z,1736374441.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:01.562Z,1736374441.562 [DAT](INFO): DAT read: 22:13:59.8488 LVL= 25280, 32753, 32754, 32755, AGC= 68, IDX= 229, 0.28,-1.204,-2.681,-2.017,-1.717, PHS= 0.600,-0.918,-0.303, RAW= 113.7, 9.4, CAL= 122.9, 6.3, ROT= 27.1, -6.3 2025-01-08T22:14:01.563Z,1736374441.563 [DAT](INFO): got valid direction response: 22:13:59.8488 LVL= 25280, 32753, 32754, 32755, AGC= 68, IDX= 229, 0.28,-1.204,-2.681,-2.017,-1.717, PHS= 0.600,-0.918,-0.303, RAW= 113.7, 9.4, CAL= 122.9, 6.3, ROT= 27.1, -6.3 2025-01-08T22:14:01.564Z,1736374441.564 [DAT](INFO): DAT read: Bearing 27.1, -6.3 (Local) 2025-01-08T22:14:01.565Z,1736374441.565 [DAT](INFO): Local bearing/azimuth received: Bearing 27.1, -6.3 (Local) 2025-01-08T22:14:01.566Z,1736374441.566 [DAT](INFO): DAT read: Range 10 to 50 : 335.0 m (Round-trip 446.7 ms) speed 0.8 m/s 2025-01-08T22:14:01.567Z,1736374441.567 [DAT](INFO): DAT read: user:2414> 2025-01-08T22:14:01.568Z,1736374441.568 [DAT](INFO): DAT read: Tx time:22:14:00.9479 2025-01-08T22:14:01.568Z,1736374441.568 [DAT](INFO): Ping request sent. 2025-01-08T22:14:01.568Z,1736374441.568 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:01.569Z,1736374441.569 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:01.570Z,1736374441.570 [DAT](INFO): direction in FSK: [-0.294008,-0.291789,0.910175] 2025-01-08T22:14:01.570Z,1736374441.570 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:01.570Z,1736374441.570 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:01.577Z,1736374441.577 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:01.578Z,1736374441.578 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:01.701Z,1736374441.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:01.746Z,1736374441.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 335.000000 m, deltaT: 3.793844 s, deltaX: -2.500000 m, approachRate: -0.658962 m/s, rangeRepo size: 4 2025-01-08T22:14:01.752Z,1736374441.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 335.000000 m, bearing: 274.559268 deg, lat: 36.904983 deg, lon: -122.124261 deg, deltaT: 3.793844 s, deltaX: -2.500000 m, approachRate: -0.658962 m/s, posRepo size: 4 2025-01-08T22:14:01.753Z,1736374441.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.00 m. 2025-01-08T22:14:01.763Z,1736374441.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.000000 m, nav range: 207.553879 m, bearing: 308.778257 deg, approach rate: 0.000000 m/s, LOS rate: -0.165126 deg/s, cmd heading: 40.160198 deg, new cmd heading: 39.880393 deg. 2025-01-08T22:14:01.764Z,1736374441.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696044 target range: 335.000000 and range: 335.00 m. 2025-01-08T22:14:01.804Z,1736374441.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:01.805Z,1736374441.805 [DAT](INFO): DAT read: TxSync time:22:14:00.9471 2025-01-08T22:14:02.057Z,1736374442.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:02.060Z,1736374442.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:02.069Z,1736374442.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.00 m. 2025-01-08T22:14:02.072Z,1736374442.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.000000 m, nav range: 207.586029 m, bearing: 308.712130 deg, approach rate: 0.097419 m/s, LOS rate: -0.200341 deg/s, cmd heading: 39.880392 deg, new cmd heading: 39.682043 deg. 2025-01-08T22:14:02.074Z,1736374442.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692582 target range: 335.000000 and range: 335.00 m. 2025-01-08T22:14:02.308Z,1736374442.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:02.526Z,1736374442.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:02.535Z,1736374442.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.00 m. 2025-01-08T22:14:02.538Z,1736374442.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.000000 m, nav range: 207.623489 m, bearing: 308.629291 deg, approach rate: 0.080416 m/s, LOS rate: -0.177797 deg/s, cmd heading: 39.682043 deg, new cmd heading: 39.433574 deg. 2025-01-08T22:14:02.539Z,1736374442.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688246 target range: 335.000000 and range: 335.00 m. 2025-01-08T22:14:02.560Z,1736374442.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:02.812Z,1736374442.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:02.897Z,1736374442.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:02.905Z,1736374442.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.00 m. 2025-01-08T22:14:02.908Z,1736374442.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.000000 m, nav range: 207.653519 m, bearing: 308.563586 deg, approach rate: 0.081016 m/s, LOS rate: -0.177242 deg/s, cmd heading: 39.433575 deg, new cmd heading: 39.236487 deg. 2025-01-08T22:14:02.909Z,1736374442.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684806 target range: 335.000000 and range: 335.00 m. 2025-01-08T22:14:03.064Z,1736374443.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:03.282Z,1736374443.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:03.289Z,1736374443.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:03.292Z,1736374443.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.00 m. 2025-01-08T22:14:03.295Z,1736374443.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.000000 m, nav range: 207.684555 m, bearing: 308.495305 deg, approach rate: 0.080276 m/s, LOS rate: -0.176581 deg/s, cmd heading: 39.236486 deg, new cmd heading: 39.031676 deg. 2025-01-08T22:14:03.296Z,1736374443.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681231 target range: 335.000000 and range: 335.00 m. 2025-01-08T22:14:03.316Z,1736374443.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:03.316Z,1736374443.316 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:03.316Z,1736374443.316 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:03.316Z,1736374443.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:03.568Z,1736374443.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:03.569Z,1736374443.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000042 2025-01-08T22:14:03.716Z,1736374443.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:03.725Z,1736374443.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.00 m. 2025-01-08T22:14:03.728Z,1736374443.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.000000 m, nav range: 207.712997 m, bearing: 308.420146 deg, approach rate: 0.065682 m/s, LOS rate: -0.173541 deg/s, cmd heading: 39.031676 deg, new cmd heading: 38.806231 deg. 2025-01-08T22:14:03.729Z,1736374443.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677297 target range: 335.000000 and range: 335.00 m. 2025-01-08T22:14:03.820Z,1736374443.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:03.822Z,1736374443.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252865 2025-01-08T22:14:04.068Z,1736374444.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:04.072Z,1736374444.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:04.073Z,1736374444.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504474 2025-01-08T22:14:04.079Z,1736374444.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.00 m. 2025-01-08T22:14:04.081Z,1736374444.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.000000 m, nav range: 207.735870 m, bearing: 308.359148 deg, approach rate: 0.064693 m/s, LOS rate: -0.172505 deg/s, cmd heading: 38.806232 deg, new cmd heading: 38.623260 deg. 2025-01-08T22:14:04.082Z,1736374444.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674103 target range: 335.000000 and range: 335.00 m. 2025-01-08T22:14:04.324Z,1736374444.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:04.325Z,1736374444.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756315 2025-01-08T22:14:04.533Z,1736374444.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:04.545Z,1736374444.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.00 m. 2025-01-08T22:14:04.552Z,1736374444.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.000000 m, nav range: 207.765274 m, bearing: 308.278663 deg, approach rate: 0.063026 m/s, LOS rate: -0.172492 deg/s, cmd heading: 38.623258 deg, new cmd heading: 38.381839 deg. 2025-01-08T22:14:04.553Z,1736374444.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669889 target range: 335.000000 and range: 335.00 m. 2025-01-08T22:14:04.576Z,1736374444.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:04.577Z,1736374444.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008202 2025-01-08T22:14:04.828Z,1736374444.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:04.828Z,1736374444.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259783 2025-01-08T22:14:04.930Z,1736374444.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:04.938Z,1736374444.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.00 m. 2025-01-08T22:14:04.964Z,1736374444.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.000000 m, nav range: 207.785934 m, bearing: 308.211969 deg, approach rate: 0.052578 m/s, LOS rate: -0.169712 deg/s, cmd heading: 38.381838 deg, new cmd heading: 38.181776 deg. 2025-01-08T22:14:04.965Z,1736374444.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666398 target range: 335.000000 and range: 335.00 m. 2025-01-08T22:14:05.080Z,1736374445.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:05.081Z,1736374445.081 [DAT](INFO): DAT read: Rx Time:22:14:03.7959 2025-01-08T22:14:05.081Z,1736374445.081 [DAT](INFO): Rx dataTimestamp_ set to:1736374445.080765 2025-01-08T22:14:05.082Z,1736374445.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513046 2025-01-08T22:14:05.284Z,1736374445.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:05.292Z,1736374445.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:05.294Z,1736374445.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.00 m. 2025-01-08T22:14:05.297Z,1736374445.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 335.000000 m, nav range: 207.803619 m, bearing: 308.152403 deg, approach rate: 0.049722 m/s, LOS rate: -0.167459 deg/s, cmd heading: 38.181775 deg, new cmd heading: 38.003092 deg. 2025-01-08T22:14:05.298Z,1736374445.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663279 target range: 335.000000 and range: 335.00 m. 2025-01-08T22:14:05.332Z,1736374445.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:05.333Z,1736374445.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763981 2025-01-08T22:14:05.584Z,1736374445.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:05.591Z,1736374445.591 [DAT](INFO): DAT read: 22:14:03.7959 LVL= 30192, 32753, 32754, 32755, AGC= 62, IDX= 414,-0.19, 2.686, 1.342, 1.945, 1.928, PHS= 0.846,-0.539, 0.014, RAW= 113.4, -5.4, CAL= 118.4, -17.1, ROT= 31.6, 17.1 2025-01-08T22:14:05.592Z,1736374445.592 [DAT](INFO): got valid direction response: 22:14:03.7959 LVL= 30192, 32753, 32754, 32755, AGC= 62, IDX= 414,-0.19, 2.686, 1.342, 1.945, 1.928, PHS= 0.846,-0.539, 0.014, RAW= 113.4, -5.4, CAL= 118.4, -17.1, ROT= 31.6, 17.1 2025-01-08T22:14:05.593Z,1736374445.593 [DAT](INFO): DAT read: Bearing 31.6, 17.1 (Local) 2025-01-08T22:14:05.593Z,1736374445.593 [DAT](INFO): Local bearing/azimuth received: Bearing 31.6, 17.1 (Local) 2025-01-08T22:14:05.628Z,1736374445.628 [DAT](INFO): DAT read: Range 10 to 50 : 332.9 m (Round-trip 443.9 ms) speed 0.4 m/s 2025-01-08T22:14:05.629Z,1736374445.629 [DAT](INFO): DAT read: user:2415> 2025-01-08T22:14:05.630Z,1736374445.630 [DAT](INFO): DAT read: Tx time:22:14:04.8979 2025-01-08T22:14:05.630Z,1736374445.630 [DAT](INFO): Ping request sent. 2025-01-08T22:14:05.630Z,1736374445.630 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:05.630Z,1736374445.630 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:05.632Z,1736374445.632 [DAT](INFO): direction in FSK: [-0.010327,-0.307253,0.951572] 2025-01-08T22:14:05.633Z,1736374445.633 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:05.633Z,1736374445.633 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:05.636Z,1736374445.636 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:05.636Z,1736374445.636 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:05.772Z,1736374445.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:05.815Z,1736374445.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 332.899994 m, deltaT: 4.029364 s, deltaX: -2.100006 m, approachRate: -0.521176 m/s, rangeRepo size: 4 2025-01-08T22:14:05.821Z,1736374445.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 332.899994 m, bearing: 311.065268 deg, lat: 36.904633 deg, lon: -122.124261 deg, deltaT: 4.029364 s, deltaX: -2.100006 m, approachRate: -0.521176 m/s, posRepo size: 4 2025-01-08T22:14:05.822Z,1736374445.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.90 m. 2025-01-08T22:14:05.829Z,1736374445.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.899994 m, nav range: 186.342606 m, bearing: 298.610119 deg, approach rate: 0.000000 m/s, LOS rate: -0.167459 deg/s, cmd heading: 38.003091 deg, new cmd heading: 37.741651 deg. 2025-01-08T22:14:05.830Z,1736374445.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658716 target range: 332.899994 and range: 332.90 m. 2025-01-08T22:14:05.836Z,1736374445.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:05.837Z,1736374445.837 [DAT](INFO): DAT read: TxSync time:22:14:04.8971 2025-01-08T22:14:06.088Z,1736374446.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:06.129Z,1736374446.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:06.142Z,1736374446.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.90 m. 2025-01-08T22:14:06.145Z,1736374446.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.899994 m, nav range: 186.376938 m, bearing: 298.546063 deg, approach rate: 0.104906 m/s, LOS rate: -0.195692 deg/s, cmd heading: 37.741651 deg, new cmd heading: 37.549522 deg. 2025-01-08T22:14:06.146Z,1736374446.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655363 target range: 332.899994 and range: 332.90 m. 2025-01-08T22:14:06.340Z,1736374446.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:06.592Z,1736374446.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:06.598Z,1736374446.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:06.608Z,1736374446.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.90 m. 2025-01-08T22:14:06.610Z,1736374446.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.899994 m, nav range: 186.424713 m, bearing: 298.463667 deg, approach rate: 0.102615 m/s, LOS rate: -0.176931 deg/s, cmd heading: 37.549522 deg, new cmd heading: 37.302397 deg. 2025-01-08T22:14:06.612Z,1736374446.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651050 target range: 332.899994 and range: 332.90 m. 2025-01-08T22:14:06.844Z,1736374446.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:06.968Z,1736374446.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:07.027Z,1736374447.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.90 m. 2025-01-08T22:14:07.030Z,1736374447.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.899994 m, nav range: 186.461929 m, bearing: 298.398651 deg, approach rate: 0.091221 m/s, LOS rate: -0.159329 deg/s, cmd heading: 37.302395 deg, new cmd heading: 37.107389 deg. 2025-01-08T22:14:07.031Z,1736374447.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647646 target range: 332.899994 and range: 332.90 m. 2025-01-08T22:14:07.096Z,1736374447.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:07.348Z,1736374447.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:07.358Z,1736374447.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:07.389Z,1736374447.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:07.396Z,1736374447.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.90 m. 2025-01-08T22:14:07.398Z,1736374447.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.899994 m, nav range: 186.501434 m, bearing: 298.330137 deg, approach rate: 0.103749 m/s, LOS rate: -0.179896 deg/s, cmd heading: 37.107390 deg, new cmd heading: 36.901891 deg. 2025-01-08T22:14:07.404Z,1736374447.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644059 target range: 332.899994 and range: 332.90 m. 2025-01-08T22:14:07.600Z,1736374447.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:07.601Z,1736374447.601 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:07.601Z,1736374447.601 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:07.602Z,1736374447.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:07.764Z,1736374447.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:07.801Z,1736374447.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.90 m. 2025-01-08T22:14:07.808Z,1736374447.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.899994 m, nav range: 186.537430 m, bearing: 298.257495 deg, approach rate: 0.088883 m/s, LOS rate: -0.179338 deg/s, cmd heading: 36.901890 deg, new cmd heading: 36.684007 deg. 2025-01-08T22:14:07.809Z,1736374447.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640257 target range: 332.899994 and range: 332.90 m. 2025-01-08T22:14:07.852Z,1736374447.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:07.853Z,1736374447.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222274 2025-01-08T22:14:08.104Z,1736374448.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:08.106Z,1736374448.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475327 2025-01-08T22:14:08.169Z,1736374448.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:08.179Z,1736374448.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.90 m. 2025-01-08T22:14:08.181Z,1736374448.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.899994 m, nav range: 186.571747 m, bearing: 298.185136 deg, approach rate: 0.090861 m/s, LOS rate: -0.191549 deg/s, cmd heading: 36.684007 deg, new cmd heading: 36.466970 deg. 2025-01-08T22:14:08.182Z,1736374448.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636469 target range: 332.899994 and range: 332.90 m. 2025-01-08T22:14:08.356Z,1736374448.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:08.357Z,1736374448.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726988 2025-01-08T22:14:08.608Z,1736374448.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:08.608Z,1736374448.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978132 2025-01-08T22:14:08.630Z,1736374448.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:08.640Z,1736374448.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.90 m. 2025-01-08T22:14:08.644Z,1736374448.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.899994 m, nav range: 186.621521 m, bearing: 298.098975 deg, approach rate: 0.107810 m/s, LOS rate: -0.186574 deg/s, cmd heading: 36.466971 deg, new cmd heading: 36.208558 deg. 2025-01-08T22:14:08.646Z,1736374448.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631959 target range: 332.899994 and range: 332.90 m. 2025-01-08T22:14:08.861Z,1736374448.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:08.861Z,1736374448.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231005 2025-01-08T22:14:08.977Z,1736374448.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:08.990Z,1736374448.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.90 m. 2025-01-08T22:14:08.994Z,1736374448.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.899994 m, nav range: 186.659271 m, bearing: 298.034172 deg, approach rate: 0.108014 m/s, LOS rate: -0.185382 deg/s, cmd heading: 36.208557 deg, new cmd heading: 36.014188 deg. 2025-01-08T22:14:08.995Z,1736374448.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628566 target range: 332.899994 and range: 332.90 m. 2025-01-08T22:14:09.112Z,1736374449.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:09.113Z,1736374449.113 [DAT](INFO): DAT read: Rx Time:22:14:07.7439 2025-01-08T22:14:09.113Z,1736374449.113 [DAT](INFO): Rx dataTimestamp_ set to:1736374449.112756 2025-01-08T22:14:09.114Z,1736374449.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483347 2025-01-08T22:14:09.364Z,1736374449.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:09.364Z,1736374449.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734198 2025-01-08T22:14:09.370Z,1736374449.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:09.379Z,1736374449.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.90 m. 2025-01-08T22:14:09.382Z,1736374449.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 332.899994 m, nav range: 186.697586 m, bearing: 297.960753 deg, approach rate: 0.098361 m/s, LOS rate: -0.188438 deg/s, cmd heading: 36.014187 deg, new cmd heading: 35.793979 deg. 2025-01-08T22:14:09.383Z,1736374449.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624723 target range: 332.899994 and range: 332.90 m. 2025-01-08T22:14:09.616Z,1736374449.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:09.625Z,1736374449.625 [DAT](INFO): DAT read: 22:14:07.7439 LVL= 22224, 32753, 32754, 32755, AGC= 69, IDX= 236, 0.18, 1.542,-0.165, 0.599, 0.915, PHS= 0.715,-1.033,-0.319, RAW= 114.0, 8.4, CAL= 123.4, 5.3, ROT= 26.6, -5.3 2025-01-08T22:14:09.626Z,1736374449.626 [DAT](INFO): got valid direction response: 22:14:07.7439 LVL= 22224, 32753, 32754, 32755, AGC= 69, IDX= 236, 0.18, 1.542,-0.165, 0.599, 0.915, PHS= 0.715,-1.033,-0.319, RAW= 114.0, 8.4, CAL= 123.4, 5.3, ROT= 26.6, -5.3 2025-01-08T22:14:09.628Z,1736374449.628 [DAT](INFO): DAT read: Bearing 26.6, -5.3 (Local) 2025-01-08T22:14:09.629Z,1736374449.629 [DAT](INFO): Local bearing/azimuth received: Bearing 26.6, -5.3 (Local) 2025-01-08T22:14:09.630Z,1736374449.630 [DAT](INFO): DAT read: Range 10 to 50 : 331.2 m (Round-trip 4time:22:14:08.8480 2025-01-08T22:14:09.631Z,1736374449.631 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:09.637Z,1736374449.637 [DAT](INFO): direction in FSK: [-0.275639,-0.297731,0.913991] 2025-01-08T22:14:09.638Z,1736374449.638 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:09.647Z,1736374449.647 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:09.647Z,1736374449.647 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:09.648Z,1736374449.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:09.839Z,1736374449.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:09.854Z,1736374449.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 331.200012 m, deltaT: 4.032993 s, deltaX: -1.699982 m, approachRate: -0.421519 m/s, rangeRepo size: 4 2025-01-08T22:14:09.858Z,1736374449.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 331.200012 m, bearing: 274.407943 deg, lat: 36.903953 deg, lon: -122.124261 deg, deltaT: 4.032993 s, deltaX: -1.699982 m, approachRate: -0.421519 m/s, posRepo size: 4 2025-01-08T22:14:09.859Z,1736374449.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T22:14:09.862Z,1736374449.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 165.503998 m, bearing: 274.047505 deg, approach rate: 0.000000 m/s, LOS rate: -0.188438 deg/s, cmd heading: 35.793979 deg, new cmd heading: 35.525852 deg. 2025-01-08T22:14:09.863Z,1736374449.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.620043 target range: 331.200012 and range: 331.20 m. 2025-01-08T22:14:09.868Z,1736374449.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:09.869Z,1736374449.869 [DAT](INFO): DAT read: TxSync time:22:14:08.8472 2025-01-08T22:14:09.869Z,1736374449.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.239250 2025-01-08T22:14:10.120Z,1736374450.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:10.120Z,1736374450.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.490115 2025-01-08T22:14:10.183Z,1736374450.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:10.190Z,1736374450.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:10.193Z,1736374450.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T22:14:10.195Z,1736374450.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 165.627869 m, bearing: 273.985561 deg, approach rate: 0.365355 m/s, LOS rate: -0.182567 deg/s, cmd heading: 35.525853 deg, new cmd heading: 35.340159 deg. 2025-01-08T22:14:10.196Z,1736374450.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616802 target range: 331.200012 and range: 331.20 m. 2025-01-08T22:14:10.373Z,1736374450.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:10.373Z,1736374450.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.743217 2025-01-08T22:14:10.624Z,1736374450.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:10.625Z,1736374450.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.994520 2025-01-08T22:14:10.692Z,1736374450.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:10.721Z,1736374450.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T22:14:10.729Z,1736374450.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 165.832321 m, bearing: 273.888872 deg, approach rate: 0.386582 m/s, LOS rate: -0.182596 deg/s, cmd heading: 35.340160 deg, new cmd heading: 35.050453 deg. 2025-01-08T22:14:10.730Z,1736374450.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.611746 target range: 331.200012 and range: 331.20 m. 2025-01-08T22:14:10.876Z,1736374450.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:10.876Z,1736374450.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.246212 2025-01-08T22:14:11.033Z,1736374451.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:11.041Z,1736374451.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T22:14:11.044Z,1736374451.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 165.968658 m, bearing: 273.824373 deg, approach rate: 0.426797 m/s, LOS rate: -0.201745 deg/s, cmd heading: 35.050454 deg, new cmd heading: 34.857117 deg. 2025-01-08T22:14:11.045Z,1736374451.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608371 target range: 331.200012 and range: 331.20 m. 2025-01-08T22:14:11.128Z,1736374451.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:11.129Z,1736374451.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.499055 2025-01-08T22:14:11.380Z,1736374451.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:11.380Z,1736374451.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.750232 2025-01-08T22:14:11.432Z,1736374451.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:11.458Z,1736374451.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T22:14:11.465Z,1736374451.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 166.128265 m, bearing: 273.748630 deg, approach rate: 0.382524 m/s, LOS rate: -0.181355 deg/s, cmd heading: 34.857116 deg, new cmd heading: 34.630108 deg. 2025-01-08T22:14:11.466Z,1736374451.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604409 target range: 331.200012 and range: 331.20 m. 2025-01-08T22:14:11.632Z,1736374451.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:11.632Z,1736374451.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.002173 2025-01-08T22:14:11.859Z,1736374451.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:11.869Z,1736374451.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T22:14:11.872Z,1736374451.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 166.312027 m, bearing: 273.668065 deg, approach rate: 0.447396 m/s, LOS rate: -0.195931 deg/s, cmd heading: 34.630108 deg, new cmd heading: 34.388681 deg. 2025-01-08T22:14:11.874Z,1736374451.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600196 target range: 331.200012 and range: 331.20 m. 2025-01-08T22:14:11.894Z,1736374451.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:11.894Z,1736374451.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.264241 2025-01-08T22:14:12.148Z,1736374452.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:12.148Z,1736374452.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.518208 2025-01-08T22:14:12.255Z,1736374452.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:12.263Z,1736374452.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:12.290Z,1736374452.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T22:14:12.293Z,1736374452.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 166.483093 m, bearing: 273.593348 deg, approach rate: 0.406873 m/s, LOS rate: -0.177528 deg/s, cmd heading: 34.388681 deg, new cmd heading: 34.164762 deg. 2025-01-08T22:14:12.294Z,1736374452.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596288 target range: 331.200012 and range: 331.20 m. 2025-01-08T22:14:12.400Z,1736374452.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:12.400Z,1736374452.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.770134 2025-01-08T22:14:12.652Z,1736374452.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:12.654Z,1736374452.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.022998 2025-01-08T22:14:12.721Z,1736374452.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:12.731Z,1736374452.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T22:14:12.750Z,1736374452.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 166.690857 m, bearing: 273.504426 deg, approach rate: 0.470509 m/s, LOS rate: -0.201126 deg/s, cmd heading: 34.164763 deg, new cmd heading: 33.898330 deg. 2025-01-08T22:14:12.751Z,1736374452.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591637 target range: 331.200012 and range: 331.20 m. 2025-01-08T22:14:12.905Z,1736374452.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:12.907Z,1736374452.907 [DAT](INFO): DAT read: Rx Time:22:14:11.6912 2025-01-08T22:14:12.908Z,1736374452.908 [DAT](INFO): Rx dataTimestamp_ set to:1736374452.907524 2025-01-08T22:14:12.908Z,1736374452.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.278138 2025-01-08T22:14:13.050Z,1736374453.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:13.063Z,1736374453.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.20 m. 2025-01-08T22:14:13.065Z,1736374453.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.200012 m, nav range: 166.837234 m, bearing: 273.441842 deg, approach rate: 0.441275 m/s, LOS rate: -0.188503 deg/s, cmd heading: 33.898331 deg, new cmd heading: 33.710744 deg. 2025-01-08T22:14:13.066Z,1736374453.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588363 target range: 331.200012 and range: 331.20 m. 2025-01-08T22:14:13.158Z,1736374453.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:13.158Z,1736374453.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.528220 2025-01-08T22:14:13.412Z,1736374453.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:13.418Z,1736374453.418 [DAT](INFO): DAT read: 22:14:11.6912 LVL= 27552, 32753, 32754, 32755, AGC= 63, IDX= 220, 0.29, 2.337, 0.657, 1.342, 1.743, PHS= 0.681,-1.039,-0.404, RAW= 111.4, 10.1, CAL= 120.7, 7.5, ROT= 29.3, -7.5 2025-01-08T22:14:13.424Z,1736374453.424 [DAT](INFO): got valid direction response: 22:14:11.6912 LVL= 27552, 32753, 32754, 32755, AGC= 63, IDX= 220, 0.29, 2.337, 0.657, 1.342, 1.743, PHS= 0.681,-1.039,-0.404, RAW= 111.4, 10.1, CAL= 120.7, 7.5, ROT= 29.3, -7.5 2025-01-08T22:14:13.425Z,1736374453.425 [DAT](INFO): DAT read: Bearing 29.3, -7.5 (Local) 2025-01-08T22:14:13.425Z,1736374453.425 [DAT](INFO): Local bearing/azimuth received: Bearing 29.3, -7.5 (Local) 2025-01-08T22:14:13.426Z,1736374453.426 [DAT](INFO): DAT read: Range 10 to 50 : 329.2 m (Round-trip 439.0 ms) speed 0.2 m/s 2025-01-08T22:14:13.444Z,1736374453.444 [DAT](INFO): DAT read: user:2417> 2025-01-08T22:14:13.445Z,1736374453.445 [DAT](INFO): DAT read: Tx time:22:14:12.7980 2025-01-08T22:14:13.445Z,1736374453.445 [DAT](INFO): Ping request sent. 2025-01-08T22:14:13.445Z,1736374453.445 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:13.446Z,1736374453.446 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:13.447Z,1736374453.447 [DAT](INFO): direction in FSK: [-0.304626,-0.250779,0.918865] 2025-01-08T22:14:13.451Z,1736374453.451 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:13.452Z,1736374453.452 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:13.455Z,1736374453.455 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:13.455Z,1736374453.455 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:13.665Z,1736374453.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:13.666Z,1736374453.666 [DAT](INFO): DAT read: TxSync time:22:14:12.7972 2025-01-08T22:14:13.778Z,1736374453.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:13.793Z,1736374453.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 329.200012 m, deltaT: 3.795021 s, deltaX: -2.000000 m, approachRate: -0.527006 m/s, rangeRepo size: 4 2025-01-08T22:14:13.795Z,1736374453.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 329.200012 m, bearing: 267.468675 deg, lat: 36.903930 deg, lon: -122.124109 deg, deltaT: 3.795021 s, deltaX: -2.000000 m, approachRate: -0.527006 m/s, posRepo size: 4 2025-01-08T22:14:13.796Z,1736374453.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:13.798Z,1736374453.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 153.483612 m, bearing: 272.640819 deg, approach rate: 0.000000 m/s, LOS rate: -0.188503 deg/s, cmd heading: 33.710744 deg, new cmd heading: 33.298139 deg. 2025-01-08T22:14:13.800Z,1736374453.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581162 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:13.916Z,1736374453.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:14.168Z,1736374454.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:14.205Z,1736374454.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:14.214Z,1736374454.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:14.217Z,1736374454.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 153.678711 m, bearing: 272.551057 deg, approach rate: 0.462286 m/s, LOS rate: -0.212419 deg/s, cmd heading: 33.298139 deg, new cmd heading: 33.029199 deg. 2025-01-08T22:14:14.218Z,1736374454.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.576468 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:14.422Z,1736374454.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:14.546Z,1736374454.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:14.560Z,1736374454.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:14.562Z,1736374454.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:14.569Z,1736374454.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 153.834595 m, bearing: 272.479635 deg, approach rate: 0.448454 m/s, LOS rate: -0.205263 deg/s, cmd heading: 33.029200 deg, new cmd heading: 32.815151 deg. 2025-01-08T22:14:14.570Z,1736374454.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572732 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:14.674Z,1736374454.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:14.678Z,1736374454.678 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:14.678Z,1736374454.678 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:14.679Z,1736374454.679 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:14.924Z,1736374454.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:14.924Z,1736374454.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478956 2025-01-08T22:14:15.011Z,1736374455.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:15.031Z,1736374455.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:15.037Z,1736374455.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 154.034698 m, bearing: 272.384545 deg, approach rate: 0.426996 m/s, LOS rate: -0.202645 deg/s, cmd heading: 32.815152 deg, new cmd heading: 32.530257 deg. 2025-01-08T22:14:15.038Z,1736374455.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567760 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:15.176Z,1736374455.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:15.176Z,1736374455.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730969 2025-01-08T22:14:15.338Z,1736374455.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:15.349Z,1736374455.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:15.352Z,1736374455.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 154.175598 m, bearing: 272.317278 deg, approach rate: 0.442088 m/s, LOS rate: -0.210867 deg/s, cmd heading: 32.530258 deg, new cmd heading: 32.328640 deg. 2025-01-08T22:14:15.353Z,1736374455.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564241 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:15.429Z,1736374455.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:15.430Z,1736374455.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984045 2025-01-08T22:14:15.680Z,1736374455.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:15.681Z,1736374455.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235584 2025-01-08T22:14:15.773Z,1736374455.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:15.784Z,1736374455.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:15.787Z,1736374455.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 154.351608 m, bearing: 272.229524 deg, approach rate: 0.404728 m/s, LOS rate: -0.201557 deg/s, cmd heading: 32.328641 deg, new cmd heading: 32.065681 deg. 2025-01-08T22:14:15.788Z,1736374455.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559652 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:15.932Z,1736374455.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:15.933Z,1736374455.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486990 2025-01-08T22:14:16.126Z,1736374456.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:16.140Z,1736374456.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:16.169Z,1736374456.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 154.492722 m, bearing: 272.157838 deg, approach rate: 0.397190 m/s, LOS rate: -0.201589 deg/s, cmd heading: 32.065682 deg, new cmd heading: 31.850822 deg. 2025-01-08T22:14:16.170Z,1736374456.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555902 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:16.184Z,1736374456.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:16.184Z,1736374456.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738960 2025-01-08T22:14:16.436Z,1736374456.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:16.436Z,1736374456.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990842 2025-01-08T22:14:16.535Z,1736374456.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:16.544Z,1736374456.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:16.547Z,1736374456.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 154.655045 m, bearing: 272.074647 deg, approach rate: 0.400899 m/s, LOS rate: -0.205245 deg/s, cmd heading: 31.850822 deg, new cmd heading: 31.601514 deg. 2025-01-08T22:14:16.548Z,1736374456.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.551550 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:16.690Z,1736374456.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:16.693Z,1736374456.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246944 2025-01-08T22:14:16.940Z,1736374456.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:16.941Z,1736374456.941 [DAT](INFO): DAT read: Rx Time:22:14:15.6021 2025-01-08T22:14:16.941Z,1736374456.941 [DAT](INFO): Rx dataTimestamp_ set to:1736374456.940972 2025-01-08T22:14:16.942Z,1736374456.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496270 2025-01-08T22:14:17.008Z,1736374457.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:17.015Z,1736374457.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:17.017Z,1736374457.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:17.020Z,1736374457.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 154.820404 m, bearing: 271.978639 deg, approach rate: 0.349692 m/s, LOS rate: -0.202816 deg/s, cmd heading: 31.601513 deg, new cmd heading: 31.313798 deg. 2025-01-08T22:14:17.021Z,1736374457.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546529 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:17.192Z,1736374457.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:17.192Z,1736374457.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746806 2025-01-08T22:14:17.337Z,1736374457.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:17.346Z,1736374457.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:17.349Z,1736374457.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 154.934448 m, bearing: 271.911764 deg, approach rate: 0.346510 m/s, LOS rate: -0.203042 deg/s, cmd heading: 31.313798 deg, new cmd heading: 31.113322 deg. 2025-01-08T22:14:17.350Z,1736374457.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543030 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:17.446Z,1736374457.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:17.453Z,1736374457.453 [DAT](INFO): DAT read: 22:14:15.6021 LVL= 21920, 32753, 30434, 32755, AGC= 70, IDX= 41,-0.12, 2.568, 0.894, 1.524, 1.942, PHS= 0.714,-1.001,-0.421, RAW= 109.4, 9.4, CAL= 119.0, 7.0, ROT= 31.0, -7.0 2025-01-08T22:14:17.454Z,1736374457.454 [DAT](INFO): got valid direction response: 22:14:15.6021 LVL= 21920, 32753, 30434, 32755, AGC= 70, IDX= 41,-0.12, 2.568, 0.894, 1.524, 1.942, PHS= 0.714,-1.001,-0.421, RAW= 109.4, 9.4, CAL= 119.0, 7.0, ROT= 31.0, -7.0 2025-01-08T22:14:17.456Z,1736374457.456 [DAT](INFO): DAT read: Bearing 31.0, -7.0 (Local) 2025-01-08T22:14:17.457Z,1736374457.457 [DAT](INFO): Local bearing/azimuth received: Bearing 31.0, -7.0 (Local) 2025-01-08T22:14:17.459Z,1736374457.459 [DAT](INFO): DAT read: Range 10 to 50 : 300.0 m (Round-trip 400.0 ms) speed 0.3 m/s 2025-01-08T22:14:17.460Z,1736374457.460 [DAT](INFO): DAT read: user:2418> 2025-01-08T22:14:17.462Z,1736374457.462 [DAT](INFO): DAT read: Tx time:22:14:16.6980 2025-01-08T22:14:17.462Z,1736374457.462 [DAT](INFO): Ping request sent. 2025-01-08T22:14:17.462Z,1736374457.462 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:17.463Z,1736374457.463 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:17.468Z,1736374457.468 [DAT](INFO): direction in FSK: [-0.289054,-0.218430,0.932060] 2025-01-08T22:14:17.469Z,1736374457.469 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:17.469Z,1736374457.469 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:17.474Z,1736374457.474 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:17.474Z,1736374457.474 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:17.697Z,1736374457.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:17.701Z,1736374457.701 [DAT](INFO): DAT read: TxSync time:22:14:16.6972 2025-01-08T22:14:17.786Z,1736374457.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:17.801Z,1736374457.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 300.000000 m, deltaT: 4.033905 s, deltaX: -29.200012 m, approachRate: -7.238647 m/s, rangeRepo size: 4 2025-01-08T22:14:17.802Z,1736374457.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:17.805Z,1736374457.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 155.075378 m, bearing: 271.825066 deg, approach rate: 0.310320 m/s, LOS rate: -0.190729 deg/s, cmd heading: 31.113322 deg, new cmd heading: 30.853468 deg. 2025-01-08T22:14:17.806Z,1736374457.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.538495 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:17.948Z,1736374457.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:18.155Z,1736374458.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:18.173Z,1736374458.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:18.184Z,1736374458.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 155.187180 m, bearing: 271.755814 deg, approach rate: 0.300164 m/s, LOS rate: -0.185795 deg/s, cmd heading: 30.853467 deg, new cmd heading: 30.645861 deg. 2025-01-08T22:14:18.187Z,1736374458.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534871 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:18.200Z,1736374458.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:18.452Z,1736374458.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:18.549Z,1736374458.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:18.558Z,1736374458.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:18.561Z,1736374458.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 155.313217 m, bearing: 271.677130 deg, approach rate: 0.327448 m/s, LOS rate: -0.204257 deg/s, cmd heading: 30.645860 deg, new cmd heading: 30.410001 deg. 2025-01-08T22:14:18.562Z,1736374458.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530755 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:18.705Z,1736374458.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:18.956Z,1736374458.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:19.007Z,1736374459.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:19.033Z,1736374459.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:19.090Z,1736374459.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:19.101Z,1736374459.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 155.443039 m, bearing: 271.589406 deg, approach rate: 0.272042 m/s, LOS rate: -0.183671 deg/s, cmd heading: 30.410000 deg, new cmd heading: 30.147051 deg. 2025-01-08T22:14:19.110Z,1736374459.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526165 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:19.208Z,1736374459.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:19.209Z,1736374459.209 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:19.209Z,1736374459.209 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:19.210Z,1736374459.210 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:19.445Z,1736374459.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:19.454Z,1736374459.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:19.457Z,1736374459.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 155.566193 m, bearing: 271.505106 deg, approach rate: 0.294237 m/s, LOS rate: -0.201251 deg/s, cmd heading: 30.147051 deg, new cmd heading: 29.894351 deg. 2025-01-08T22:14:19.458Z,1736374459.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521755 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:19.460Z,1736374459.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:19.461Z,1736374459.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998672 2025-01-08T22:14:19.714Z,1736374459.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:19.716Z,1736374459.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253730 2025-01-08T22:14:19.873Z,1736374459.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:19.882Z,1736374459.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:19.885Z,1736374459.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 155.674362 m, bearing: 271.424906 deg, approach rate: 0.252631 m/s, LOS rate: -0.187175 deg/s, cmd heading: 29.894351 deg, new cmd heading: 29.653922 deg. 2025-01-08T22:14:19.886Z,1736374459.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517559 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:19.964Z,1736374459.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:19.965Z,1736374459.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502462 2025-01-08T22:14:20.216Z,1736374460.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:20.217Z,1736374460.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754537 2025-01-08T22:14:20.260Z,1736374460.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:20.275Z,1736374460.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:20.282Z,1736374460.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 155.771332 m, bearing: 271.351901 deg, approach rate: 0.247048 m/s, LOS rate: -0.185880 deg/s, cmd heading: 29.653922 deg, new cmd heading: 29.435042 deg. 2025-01-08T22:14:20.283Z,1736374460.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513738 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:20.468Z,1736374460.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:20.468Z,1736374460.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006337 2025-01-08T22:14:20.677Z,1736374460.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:20.701Z,1736374460.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:20.722Z,1736374460.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:20.725Z,1736374460.725 [DAT](INFO): DAT read: Rx Time:22:14:19.5181 2025-01-08T22:14:20.729Z,1736374460.729 [DAT](INFO): Rx dataTimestamp_ set to:1736374460.726034 2025-01-08T22:14:20.732Z,1736374460.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268802 2025-01-08T22:14:20.737Z,1736374460.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 155.874313 m, bearing: 271.273491 deg, approach rate: 0.244531 m/s, LOS rate: -0.186063 deg/s, cmd heading: 29.435042 deg, new cmd heading: 29.199968 deg. 2025-01-08T22:14:20.746Z,1736374460.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509636 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:20.972Z,1736374460.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:20.973Z,1736374460.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510277 2025-01-08T22:14:21.087Z,1736374461.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:21.118Z,1736374461.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:21.125Z,1736374461.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.20 m. 2025-01-08T22:14:21.131Z,1736374461.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.200012 m, nav range: 155.977264 m, bearing: 271.195399 deg, approach rate: 0.239805 m/s, LOS rate: -0.181779 deg/s, cmd heading: 29.199967 deg, new cmd heading: 28.965849 deg. 2025-01-08T22:14:21.136Z,1736374461.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.505549 target range: 329.200012 and range: 329.20 m. 2025-01-08T22:14:21.224Z,1736374461.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:21.236Z,1736374461.236 [DAT](INFO): DAT read: 22:14:19.5181 LVL= 23264, 30001, 24402, 32755, AGC= 70, IDX= 92,-0.22, 3.031, 1.312, 1.833, 2.271, PHS= 0.849,-0.911,-0.441, RAW= 105.0, 6.4, CAL= 115.2, 4.4, ROT= 34.8, -4.4 2025-01-08T22:14:21.237Z,1736374461.237 [DAT](INFO): got valid direction response: 22:14:19.5181 LVL= 23264, 30001, 24402, 32755, AGC= 70, IDX= 92,-0.22, 3.031, 1.312, 1.833, 2.271, PHS= 0.849,-0.911,-0.441, RAW= 105.0, 6.4, CAL= 115.2, 4.4, ROT= 34.8, -4.4 2025-01-08T22:14:21.238Z,1736374461.238 [DAT](INFO): DAT read: Bearing 34.8, -4.4 (Local) 2025-01-08T22:14:21.238Z,1736374461.238 [DAT](INFO): Local bearing/azimuth received: Bearing 34.8, -4.4 (Local) 2025-01-08T22:14:21.248Z,1736374461.248 [DAT](INFO): DAT read: Range 10 to 50 : 311.9 m (Round-trip 415.9 ms) speed 0.4 m/s 2025-01-08T22:14:21.250Z,1736374461.250 [DAT](INFO): DAT read: user:2419> 2025-01-08T22:14:21.259Z,1736374461.259 [DAT](INFO): DAT read: Tx time:22:14:20.5981 2025-01-08T22:14:21.259Z,1736374461.259 [DAT](INFO): Ping request sent. 2025-01-08T22:14:21.259Z,1736374461.259 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:21.264Z,1736374461.264 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:21.264Z,1736374461.264 [DAT](INFO): direction in FSK: [-0.228544,-0.146325,0.962474] 2025-01-08T22:14:21.265Z,1736374461.265 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:21.265Z,1736374461.265 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:21.272Z,1736374461.272 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:21.272Z,1736374461.272 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:21.476Z,1736374461.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:21.476Z,1736374461.476 [DAT](INFO): DAT read: TxSync time:22:14:20.5973 2025-01-08T22:14:21.608Z,1736374461.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:21.649Z,1736374461.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 311.899994 m, deltaT: 7.813229 s, deltaX: -17.300018 m, approachRate: -2.214196 m/s, rangeRepo size: 4 2025-01-08T22:14:21.659Z,1736374461.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 311.899994 m, bearing: 262.178517 deg, lat: 36.903809 deg, lon: -122.123670 deg, deltaT: 7.813229 s, deltaX: -17.300018 m, approachRate: -2.214196 m/s, posRepo size: 4 2025-01-08T22:14:21.666Z,1736374461.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T22:14:21.680Z,1736374461.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 117.529228 m, bearing: 264.893516 deg, approach rate: 0.000000 m/s, LOS rate: -0.181779 deg/s, cmd heading: 28.965849 deg, new cmd heading: 28.684072 deg. 2025-01-08T22:14:21.687Z,1736374461.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500632 target range: 311.899994 and range: 311.90 m. 2025-01-08T22:14:21.731Z,1736374461.731 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:21.985Z,1736374461.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:22.180Z,1736374462.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:22.190Z,1736374462.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T22:14:22.197Z,1736374462.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 117.712479 m, bearing: 264.755105 deg, approach rate: 0.334527 m/s, LOS rate: -0.252278 deg/s, cmd heading: 28.684073 deg, new cmd heading: 28.269493 deg. 2025-01-08T22:14:22.201Z,1736374462.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493396 target range: 311.899994 and range: 311.90 m. 2025-01-08T22:14:22.236Z,1736374462.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:22.488Z,1736374462.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:22.594Z,1736374462.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:22.618Z,1736374462.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T22:14:22.647Z,1736374462.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 117.845024 m, bearing: 264.655276 deg, approach rate: 0.308815 m/s, LOS rate: -0.232327 deg/s, cmd heading: 28.269494 deg, new cmd heading: 27.970348 deg. 2025-01-08T22:14:22.657Z,1736374462.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488175 target range: 311.899994 and range: 311.90 m. 2025-01-08T22:14:22.742Z,1736374462.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:22.992Z,1736374462.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:23.042Z,1736374463.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:23.050Z,1736374463.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T22:14:23.053Z,1736374463.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 118.002373 m, bearing: 264.547899 deg, approach rate: 0.364278 m/s, LOS rate: -0.248257 deg/s, cmd heading: 27.970347 deg, new cmd heading: 27.648649 deg. 2025-01-08T22:14:23.054Z,1736374463.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.482560 target range: 311.899994 and range: 311.90 m. 2025-01-08T22:14:23.244Z,1736374463.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:23.400Z,1736374463.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:23.424Z,1736374463.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:23.426Z,1736374463.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T22:14:23.431Z,1736374463.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 118.127014 m, bearing: 264.461747 deg, approach rate: 0.331752 m/s, LOS rate: -0.229064 deg/s, cmd heading: 27.648648 deg, new cmd heading: 27.390467 deg. 2025-01-08T22:14:23.436Z,1736374463.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478054 target range: 311.899994 and range: 311.90 m. 2025-01-08T22:14:23.496Z,1736374463.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:23.496Z,1736374463.496 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:23.496Z,1736374463.496 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:23.497Z,1736374463.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:23.750Z,1736374463.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:23.753Z,1736374463.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492991 2025-01-08T22:14:23.861Z,1736374463.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:23.870Z,1736374463.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T22:14:23.874Z,1736374463.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 118.301025 m, bearing: 264.348106 deg, approach rate: 0.391787 m/s, LOS rate: -0.255487 deg/s, cmd heading: 27.390467 deg, new cmd heading: 27.050049 deg. 2025-01-08T22:14:23.875Z,1736374463.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472112 target range: 311.899994 and range: 311.90 m. 2025-01-08T22:14:23.000Z,1736374464.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:24.000Z,1736374464.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741469 2025-01-08T22:14:24.213Z,1736374464.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:24.222Z,1736374464.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T22:14:24.228Z,1736374464.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 118.433281 m, bearing: 264.261397 deg, approach rate: 0.376106 m/s, LOS rate: -0.246307 deg/s, cmd heading: 27.050049 deg, new cmd heading: 26.790214 deg. 2025-01-08T22:14:24.230Z,1736374464.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467577 target range: 311.899994 and range: 311.90 m. 2025-01-08T22:14:24.252Z,1736374464.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:24.253Z,1736374464.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993559 2025-01-08T22:14:24.504Z,1736374464.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:24.504Z,1736374464.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245412 2025-01-08T22:14:24.614Z,1736374464.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:24.625Z,1736374464.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T22:14:24.628Z,1736374464.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 118.583458 m, bearing: 264.162488 deg, approach rate: 0.372862 m/s, LOS rate: -0.245263 deg/s, cmd heading: 26.790213 deg, new cmd heading: 26.493864 deg. 2025-01-08T22:14:24.629Z,1736374464.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.462405 target range: 311.899994 and range: 311.90 m. 2025-01-08T22:14:24.757Z,1736374464.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:24.758Z,1736374464.758 [DAT](INFO): DAT read: Rx Time:22:14:23.4162 2025-01-08T22:14:24.761Z,1736374464.761 [DAT](INFO): Rx dataTimestamp_ set to:1736374464.760229 2025-01-08T22:14:24.763Z,1736374464.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503875 2025-01-08T22:14:25.008Z,1736374465.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:25.009Z,1736374465.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749607 2025-01-08T22:14:25.135Z,1736374465.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:25.149Z,1736374465.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.90 m. 2025-01-08T22:14:25.152Z,1736374465.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.899994 m, nav range: 118.800201 m, bearing: 264.030896 deg, approach rate: 0.413402 m/s, LOS rate: -0.250531 deg/s, cmd heading: 26.493863 deg, new cmd heading: 26.099815 deg. 2025-01-08T22:14:25.153Z,1736374465.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455528 target range: 311.899994 and range: 311.90 m. 2025-01-08T22:14:25.261Z,1736374465.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:25.269Z,1736374465.269 [DAT](INFO): DAT read: 22:14:23.4162 LVL= 21888, 32753, 27554, 32755, AGC= 66, IDX= 424,-0.29,-0.053,-1.825,-1.387,-0.899, PHS= 0.934,-0.879,-0.491, RAW= 101.7, 5.3, CAL= 111.9, 3.5, ROT= 38.1, -3.5 2025-01-08T22:14:25.270Z,1736374465.270 [DAT](INFO): got valid direction response: 22:14:23.4162 LVL= 21888, 32753, 27554, 32755, AGC= 66, IDX= 424,-0.29,-0.053,-1.825,-1.387,-0.899, PHS= 0.934,-0.879,-0.491, RAW= 101.7, 5.3, CAL= 111.9, 3.5, ROT= 38.1, -3.5 2025-01-08T22:14:25.271Z,1736374465.271 [DAT](INFO): DAT read: Bearing 38.1, -3.5 (Local) 2025-01-08T22:14:25.272Z,1736374465.272 [DAT](INFO): Local bearing/azimuth received: Bearing 38.1, -3.5 (Local) 2025-01-08T22:14:25.274Z,1736374465.274 [DAT](INFO): DAT read: Range 10 to 50 : 310.4 m (Round-trip 413.9 ms) speed 0.4 m/s 2025-01-08T22:14:25.274Z,1736374465.274 [DAT](INFO): DAT read: user:2420> 2025-01-08T22:14:25.280Z,1736374465.280 [DAT](INFO): DAT read: Tx time:22:14:24.4981 2025-01-08T22:14:25.280Z,1736374465.280 [DAT](INFO): Ping request sent. 2025-01-08T22:14:25.280Z,1736374465.280 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:25.280Z,1736374465.280 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:25.281Z,1736374465.281 [DAT](INFO): direction in FSK: [-0.203624,-0.091586,0.974756] 2025-01-08T22:14:25.281Z,1736374465.281 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:25.282Z,1736374465.282 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:25.285Z,1736374465.285 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:25.286Z,1736374465.286 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:25.460Z,1736374465.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:25.485Z,1736374465.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 310.399994 m, deltaT: 4.036175 s, deltaX: -1.500000 m, approachRate: -0.371639 m/s, rangeRepo size: 4 2025-01-08T22:14:25.487Z,1736374465.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 310.399994 m, bearing: 257.130874 deg, lat: 36.903791 deg, lon: -122.123670 deg, deltaT: 4.036175 s, deltaX: -1.500000 m, approachRate: -0.371639 m/s, posRepo size: 4 2025-01-08T22:14:25.488Z,1736374465.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.40 m. 2025-01-08T22:14:25.497Z,1736374465.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.399994 m, nav range: 119.159096 m, bearing: 263.003281 deg, approach rate: 0.000000 m/s, LOS rate: -0.250531 deg/s, cmd heading: 26.099814 deg, new cmd heading: 25.847694 deg. 2025-01-08T22:14:25.498Z,1736374465.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451127 target range: 310.399994 and range: 310.40 m. 2025-01-08T22:14:25.512Z,1736374465.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:25.513Z,1736374465.513 [DAT](INFO): DAT read: TxSync time:22:14:24.4973 2025-01-08T22:14:25.766Z,1736374465.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:25.880Z,1736374465.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:25.887Z,1736374465.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:25.889Z,1736374465.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.40 m. 2025-01-08T22:14:25.893Z,1736374465.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.399994 m, nav range: 119.346458 m, bearing: 262.900389 deg, approach rate: 0.463047 m/s, LOS rate: -0.253888 deg/s, cmd heading: 25.847695 deg, new cmd heading: 25.539506 deg. 2025-01-08T22:14:25.894Z,1736374465.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445748 target range: 310.399994 and range: 310.40 m. 2025-01-08T22:14:26.016Z,1736374466.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:26.017Z,1736374466.017 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:26.017Z,1736374466.017 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:26.017Z,1736374466.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:26.268Z,1736374466.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:26.269Z,1736374466.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989143 2025-01-08T22:14:26.291Z,1736374466.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:26.305Z,1736374466.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.40 m. 2025-01-08T22:14:26.308Z,1736374466.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.399994 m, nav range: 119.529999 m, bearing: 262.800111 deg, approach rate: 0.441306 m/s, LOS rate: -0.240738 deg/s, cmd heading: 25.539507 deg, new cmd heading: 25.239138 deg. 2025-01-08T22:14:26.311Z,1736374466.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440506 target range: 310.399994 and range: 310.40 m. 2025-01-08T22:14:26.522Z,1736374466.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:26.524Z,1736374466.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243553 2025-01-08T22:14:26.652Z,1736374466.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:26.688Z,1736374466.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.40 m. 2025-01-08T22:14:26.696Z,1736374466.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.399994 m, nav range: 119.690445 m, bearing: 262.712378 deg, approach rate: 0.418783 m/s, LOS rate: -0.228685 deg/s, cmd heading: 25.239139 deg, new cmd heading: 24.976296 deg. 2025-01-08T22:14:26.701Z,1736374466.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435919 target range: 310.399994 and range: 310.40 m. 2025-01-08T22:14:26.774Z,1736374466.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:26.776Z,1736374466.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495699 2025-01-08T22:14:27.024Z,1736374467.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:27.025Z,1736374467.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744643 2025-01-08T22:14:27.165Z,1736374467.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:27.174Z,1736374467.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.40 m. 2025-01-08T22:14:27.177Z,1736374467.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.399994 m, nav range: 119.931999 m, bearing: 262.583324 deg, approach rate: 0.496876 m/s, LOS rate: -0.264930 deg/s, cmd heading: 24.976296 deg, new cmd heading: 24.589917 deg. 2025-01-08T22:14:27.178Z,1736374467.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429175 target range: 310.399994 and range: 310.40 m. 2025-01-08T22:14:27.278Z,1736374467.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:27.282Z,1736374467.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002274 2025-01-08T22:14:27.528Z,1736374467.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:27.528Z,1736374467.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248329 2025-01-08T22:14:27.558Z,1736374467.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:27.566Z,1736374467.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.40 m. 2025-01-08T22:14:27.569Z,1736374467.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.399994 m, nav range: 120.116280 m, bearing: 262.484622 deg, approach rate: 0.469936 m/s, LOS rate: -0.251315 deg/s, cmd heading: 24.589917 deg, new cmd heading: 24.294269 deg. 2025-01-08T22:14:27.570Z,1736374467.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424015 target range: 310.399994 and range: 310.40 m. 2025-01-08T22:14:27.780Z,1736374467.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:27.781Z,1736374467.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500734 2025-01-08T22:14:27.962Z,1736374467.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:27.969Z,1736374467.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:27.987Z,1736374467.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.40 m. 2025-01-08T22:14:27.991Z,1736374467.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.399994 m, nav range: 120.297768 m, bearing: 262.384369 deg, approach rate: 0.448131 m/s, LOS rate: -0.247170 deg/s, cmd heading: 24.294269 deg, new cmd heading: 23.993969 deg. 2025-01-08T22:14:27.993Z,1736374467.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418774 target range: 310.399994 and range: 310.40 m. 2025-01-08T22:14:28.032Z,1736374468.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:28.033Z,1736374468.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752558 2025-01-08T22:14:28.284Z,1736374468.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:28.284Z,1736374468.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004301 2025-01-08T22:14:28.332Z,1736374468.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:28.341Z,1736374468.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.40 m. 2025-01-08T22:14:28.353Z,1736374468.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.399994 m, nav range: 120.463547 m, bearing: 262.292555 deg, approach rate: 0.448765 m/s, LOS rate: -0.248201 deg/s, cmd heading: 23.993968 deg, new cmd heading: 23.718905 deg. 2025-01-08T22:14:28.354Z,1736374468.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413973 target range: 310.399994 and range: 310.40 m. 2025-01-08T22:14:28.536Z,1736374468.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:28.537Z,1736374468.537 [DAT](INFO): DAT read: Rx Time:22:14:27.2947 2025-01-08T22:14:28.537Z,1736374468.537 [DAT](INFO): Rx dataTimestamp_ set to:1736374468.536717 2025-01-08T22:14:28.538Z,1736374468.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257535 2025-01-08T22:14:28.709Z,1736374468.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:28.717Z,1736374468.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.40 m. 2025-01-08T22:14:28.720Z,1736374468.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 310.399994 m, nav range: 120.631355 m, bearing: 262.199144 deg, approach rate: 0.445831 m/s, LOS rate: -0.247828 deg/s, cmd heading: 23.718904 deg, new cmd heading: 23.439063 deg. 2025-01-08T22:14:28.721Z,1736374468.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.409089 target range: 310.399994 and range: 310.40 m. 2025-01-08T22:14:28.788Z,1736374468.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:28.789Z,1736374468.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508609 2025-01-08T22:14:29.040Z,1736374469.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:29.047Z,1736374469.047 [DAT](INFO): DAT read: 22:14:27.2947 LVL= 20976, 30753, 22802, 32755, AGC= 66, IDX= 223, 0.21, 0.659,-1.229,-0.856,-0.365, PHS= 1.112,-0.817,-0.494, RAW= 99.0, 2.3, CAL= 109.2, 0.0, ROT= 40.8, -0.0 2025-01-08T22:14:29.048Z,1736374469.048 [DAT](INFO): got valid direction response: 22:14:27.2947 LVL= 20976, 30753, 22802, 32755, AGC= 66, IDX= 223, 0.21, 0.659,-1.229,-0.856,-0.365, PHS= 1.112,-0.817,-0.494, RAW= 99.0, 2.3, CAL= 109.2, 0.0, ROT= 40.8, -0.0 2025-01-08T22:14:29.049Z,1736374469.049 [DAT](INFO): DAT read: Bearing 40.8, -0.0 (Local) 2025-01-08T22:14:29.049Z,1736374469.049 [DAT](INFO): Local bearing/azimuth received: Bearing 40.8, -0.0 (Local) 2025-01-08T22:14:29.051Z,1736374469.051 [DAT](INFO): DAT read: Range 10 to 50 : 294.3 m (Round-trip 392.4 ms) speed 0.4 m/s 2025-01-08T22:14:29.052Z,1736374469.052 [DAT](INFO): DAT read: user:2421> 2025-01-08T22:14:29.052Z,1736374469.052 [DAT](INFO): DAT read: Tx time:22:14:28.3981 2025-01-08T22:14:29.053Z,1736374469.053 [DAT](INFO): Ping request sent. 2025-01-08T22:14:29.053Z,1736374469.053 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:29.053Z,1736374469.053 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:29.054Z,1736374469.054 [DAT](INFO): direction in FSK: [-0.141659,-0.047225,0.988788] 2025-01-08T22:14:29.054Z,1736374469.054 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:29.054Z,1736374469.054 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:29.058Z,1736374469.058 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:29.058Z,1736374469.058 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:29.172Z,1736374469.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:29.227Z,1736374469.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 294.299988 m, deltaT: 3.779240 s, deltaX: -16.100006 m, approachRate: -4.260118 m/s, rangeRepo size: 4 2025-01-08T22:14:29.253Z,1736374469.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 294.299988 m, bearing: 258.239478 deg, lat: 36.903791 deg, lon: -122.123372 deg, deltaT: 3.779240 s, deltaX: -16.100006 m, approachRate: -4.260118 m/s, posRepo size: 4 2025-01-08T22:14:29.254Z,1736374469.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T22:14:29.266Z,1736374469.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 94.634537 m, bearing: 259.871113 deg, approach rate: 0.000000 m/s, LOS rate: -0.247828 deg/s, cmd heading: 23.439063 deg, new cmd heading: 23.060807 deg. 2025-01-08T22:14:29.267Z,1736374469.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.402487 target range: 294.299988 and range: 294.30 m. 2025-01-08T22:14:29.288Z,1736374469.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:14:29.292Z,1736374469.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:29.293Z,1736374469.293 [DAT](INFO): DAT read: TxSync time:22:14:28.3973 2025-01-08T22:14:29.545Z,1736374469.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:29.579Z,1736374469.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:29.600Z,1736374469.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T22:14:29.602Z,1736374469.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 94.811844 m, bearing: 259.744494 deg, approach rate: 0.480307 m/s, LOS rate: -0.342356 deg/s, cmd heading: 23.060807 deg, new cmd heading: 22.681666 deg. 2025-01-08T22:14:29.608Z,1736374469.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.395870 target range: 294.299988 and range: 294.30 m. 2025-01-08T22:14:29.798Z,1736374469.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:29.979Z,1736374469.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:30.012Z,1736374470.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:30.014Z,1736374470.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T22:14:30.021Z,1736374470.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 94.972672 m, bearing: 259.619389 deg, approach rate: 0.384028 m/s, LOS rate: -0.298224 deg/s, cmd heading: 22.681667 deg, new cmd heading: 22.306991 deg. 2025-01-08T22:14:30.022Z,1736374470.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.389330 target range: 294.299988 and range: 294.30 m. 2025-01-08T22:14:30.048Z,1736374470.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:30.049Z,1736374470.049 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:30.049Z,1736374470.049 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:30.049Z,1736374470.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:30.292Z,1736374470.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:14:30.300Z,1736374470.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:30.300Z,1736374470.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247748 2025-01-08T22:14:30.371Z,1736374470.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:30.429Z,1736374470.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T22:14:30.436Z,1736374470.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 95.129326 m, bearing: 259.496722 deg, approach rate: 0.379275 m/s, LOS rate: -0.296498 deg/s, cmd heading: 22.306991 deg, new cmd heading: 21.939603 deg. 2025-01-08T22:14:30.439Z,1736374470.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.382918 target range: 294.299988 and range: 294.30 m. 2025-01-08T22:14:30.557Z,1736374470.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:30.557Z,1736374470.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504697 2025-01-08T22:14:30.760Z,1736374470.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:30.769Z,1736374470.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T22:14:30.772Z,1736374470.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 95.284447 m, bearing: 259.374616 deg, approach rate: 0.453477 m/s, LOS rate: -0.356383 deg/s, cmd heading: 21.939604 deg, new cmd heading: 21.573885 deg. 2025-01-08T22:14:30.774Z,1736374470.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.376535 target range: 294.299988 and range: 294.30 m. 2025-01-08T22:14:30.804Z,1736374470.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:30.804Z,1736374470.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751839 2025-01-08T22:14:31.056Z,1736374471.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:31.059Z,1736374471.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005772 2025-01-08T22:14:31.189Z,1736374471.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:31.199Z,1736374471.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T22:14:31.202Z,1736374471.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 95.432777 m, bearing: 259.237087 deg, approach rate: 0.345173 m/s, LOS rate: -0.319537 deg/s, cmd heading: 21.573885 deg, new cmd heading: 21.161949 deg. 2025-01-08T22:14:31.203Z,1736374471.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.369346 target range: 294.299988 and range: 294.30 m. 2025-01-08T22:14:31.308Z,1736374471.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:31.308Z,1736374471.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255816 2025-01-08T22:14:31.560Z,1736374471.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:31.561Z,1736374471.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508076 2025-01-08T22:14:31.590Z,1736374471.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:31.598Z,1736374471.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T22:14:31.601Z,1736374471.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 95.571678 m, bearing: 259.109145 deg, approach rate: 0.347573 m/s, LOS rate: -0.319686 deg/s, cmd heading: 21.161949 deg, new cmd heading: 20.778686 deg. 2025-01-08T22:14:31.602Z,1736374471.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.362656 target range: 294.299988 and range: 294.30 m. 2025-01-08T22:14:31.813Z,1736374471.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:31.814Z,1736374471.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761669 2025-01-08T22:14:31.988Z,1736374471.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:32.002Z,1736374472.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T22:14:32.025Z,1736374472.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 95.689758 m, bearing: 258.978668 deg, approach rate: 0.292519 m/s, LOS rate: -0.322831 deg/s, cmd heading: 20.778685 deg, new cmd heading: 20.387743 deg. 2025-01-08T22:14:32.026Z,1736374472.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.355833 target range: 294.299988 and range: 294.30 m. 2025-01-08T22:14:32.064Z,1736374472.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:32.065Z,1736374472.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012018 2025-01-08T22:14:32.316Z,1736374472.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:32.316Z,1736374472.316 [DAT](INFO): DAT read: Rx Time:22:14:31.1920 2025-01-08T22:14:32.317Z,1736374472.317 [DAT](INFO): Rx dataTimestamp_ set to:1736374472.316591 2025-01-08T22:14:32.317Z,1736374472.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264756 2025-01-08T22:14:32.406Z,1736374472.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:32.431Z,1736374472.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:32.440Z,1736374472.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T22:14:32.448Z,1736374472.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 95.812119 m, bearing: 258.841712 deg, approach rate: 0.279427 m/s, LOS rate: -0.312358 deg/s, cmd heading: 20.387744 deg, new cmd heading: 19.977409 deg. 2025-01-08T22:14:32.449Z,1736374472.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.348672 target range: 294.299988 and range: 294.30 m. 2025-01-08T22:14:32.568Z,1736374472.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:32.569Z,1736374472.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516508 2025-01-08T22:14:32.793Z,1736374472.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:32.801Z,1736374472.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.30 m. 2025-01-08T22:14:32.804Z,1736374472.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 294.299988 m, nav range: 95.923996 m, bearing: 258.714891 deg, approach rate: 0.309733 m/s, LOS rate: -0.350694 deg/s, cmd heading: 19.977409 deg, new cmd heading: 19.597395 deg. 2025-01-08T22:14:32.805Z,1736374472.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342039 target range: 294.299988 and range: 294.30 m. 2025-01-08T22:14:32.820Z,1736374472.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:32.820Z,1736374472.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767826 2025-01-08T22:14:33.072Z,1736374473.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:33.079Z,1736374473.079 [DAT](INFO): DAT read: 22:14:31.1920 LVL= 16976, 32753, 22738, 32755, AGC= 60, IDX= 419, 0.10,-2.942, 1.371, 1.665, 2.226, PHS= 1.204,-0.808,-0.564, RAW= 96.4, 1.8, CAL= 105.6, -0.9, ROT= 44.4, 0.9 2025-01-08T22:14:33.080Z,1736374473.080 [DAT](INFO): got valid direction response: 22:14:31.1920 LVL= 16976, 32753, 22738, 32755, AGC= 60, IDX= 419, 0.10,-2.942, 1.371, 1.665, 2.226, PHS= 1.204,-0.808,-0.564, RAW= 96.4, 1.8, CAL= 105.6, -0.9, ROT= 44.4, 0.9 2025-01-08T22:14:33.081Z,1736374473.081 [DAT](INFO): DAT read: Bearing 44.4, 0.9 (Local) 2025-01-08T22:14:33.081Z,1736374473.081 [DAT](INFO): Local bearing/azimuth received: Bearing 44.4, 0.9 (Local) 2025-01-08T22:14:33.083Z,1736374473.083 [DAT](INFO): DAT read: Range 10 to 50 : 292.2 m (Round-trip 389.7 ms) speed 0.3 m/s 2025-01-08T22:14:33.084Z,1736374473.084 [DAT](INFO): DAT read: user:2422> 2025-01-08T22:14:33.085Z,1736374473.085 [DAT](INFO): DAT read: Tx time:22:14:32.2982 2025-01-08T22:14:33.085Z,1736374473.085 [DAT](INFO): Ping request sent. 2025-01-08T22:14:33.085Z,1736374473.085 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:33.085Z,1736374473.085 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:33.086Z,1736374473.086 [DAT](INFO): direction in FSK: [-0.129063,-0.001764,0.991635] 2025-01-08T22:14:33.086Z,1736374473.086 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:33.087Z,1736374473.087 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:33.091Z,1736374473.091 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:33.091Z,1736374473.091 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:33.221Z,1736374473.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:33.252Z,1736374473.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 292.200012 m, deltaT: 4.031566 s, deltaX: -2.099976 m, approachRate: -0.520883 m/s, rangeRepo size: 4 2025-01-08T22:14:33.254Z,1736374473.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 292.200012 m, bearing: 243.427944 deg, lat: 36.903791 deg, lon: -122.123168 deg, deltaT: 4.031566 s, deltaX: -2.099976 m, approachRate: -0.520883 m/s, posRepo size: 4 2025-01-08T22:14:33.255Z,1736374473.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.20 m. 2025-01-08T22:14:33.262Z,1736374473.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.200012 m, nav range: 78.349144 m, bearing: 255.944076 deg, approach rate: 0.000000 m/s, LOS rate: -0.350694 deg/s, cmd heading: 19.597396 deg, new cmd heading: 19.127894 deg. 2025-01-08T22:14:33.263Z,1736374473.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.333845 target range: 292.200012 and range: 292.20 m. 2025-01-08T22:14:33.327Z,1736374473.327 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:33.329Z,1736374473.329 [DAT](INFO): DAT read: TxSync time:22:14:32.2974 2025-01-08T22:14:33.580Z,1736374473.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:33.586Z,1736374473.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:33.595Z,1736374473.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.20 m. 2025-01-08T22:14:33.598Z,1736374473.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.200012 m, nav range: 78.450607 m, bearing: 255.797410 deg, approach rate: 0.291903 m/s, LOS rate: -0.421401 deg/s, cmd heading: 19.127894 deg, new cmd heading: 18.688474 deg. 2025-01-08T22:14:33.599Z,1736374473.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326175 target range: 292.200012 and range: 292.20 m. 2025-01-08T22:14:33.832Z,1736374473.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:34.018Z,1736374474.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:34.028Z,1736374474.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.20 m. 2025-01-08T22:14:34.031Z,1736374474.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.200012 m, nav range: 78.569481 m, bearing: 255.618268 deg, approach rate: 0.274414 m/s, LOS rate: -0.412913 deg/s, cmd heading: 18.688473 deg, new cmd heading: 18.151878 deg. 2025-01-08T22:14:34.032Z,1736374474.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.316810 target range: 292.200012 and range: 292.20 m. 2025-01-08T22:14:34.084Z,1736374474.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:34.336Z,1736374474.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:34.427Z,1736374474.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:34.433Z,1736374474.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:34.436Z,1736374474.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.20 m. 2025-01-08T22:14:34.438Z,1736374474.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.200012 m, nav range: 78.680969 m, bearing: 255.449328 deg, approach rate: 0.273753 m/s, LOS rate: -0.414234 deg/s, cmd heading: 18.151878 deg, new cmd heading: 17.645790 deg. 2025-01-08T22:14:34.439Z,1736374474.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307977 target range: 292.200012 and range: 292.20 m. 2025-01-08T22:14:34.588Z,1736374474.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:34.588Z,1736374474.588 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:34.588Z,1736374474.588 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:34.589Z,1736374474.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:34.809Z,1736374474.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:34.818Z,1736374474.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.20 m. 2025-01-08T22:14:34.821Z,1736374474.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.200012 m, nav range: 78.784111 m, bearing: 255.290760 deg, approach rate: 0.269390 m/s, LOS rate: -0.413613 deg/s, cmd heading: 17.645790 deg, new cmd heading: 17.170719 deg. 2025-01-08T22:14:34.822Z,1736374474.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.299686 target range: 292.200012 and range: 292.20 m. 2025-01-08T22:14:34.842Z,1736374474.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:34.843Z,1736374474.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758165 2025-01-08T22:14:35.092Z,1736374475.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:35.092Z,1736374475.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007473 2025-01-08T22:14:35.240Z,1736374475.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:35.249Z,1736374475.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.20 m. 2025-01-08T22:14:35.252Z,1736374475.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.200012 m, nav range: 78.903481 m, bearing: 255.114760 deg, approach rate: 0.276923 m/s, LOS rate: -0.407679 deg/s, cmd heading: 17.170720 deg, new cmd heading: 16.643536 deg. 2025-01-08T22:14:35.253Z,1736374475.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.290484 target range: 292.200012 and range: 292.20 m. 2025-01-08T22:14:35.344Z,1736374475.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:35.345Z,1736374475.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260025 2025-01-08T22:14:35.596Z,1736374475.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:35.597Z,1736374475.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511603 2025-01-08T22:14:35.608Z,1736374475.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:35.656Z,1736374475.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.20 m. 2025-01-08T22:14:35.669Z,1736374475.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.200012 m, nav range: 79.004089 m, bearing: 254.964254 deg, approach rate: 0.252745 m/s, LOS rate: -0.377612 deg/s, cmd heading: 16.643535 deg, new cmd heading: 16.192602 deg. 2025-01-08T22:14:35.671Z,1736374475.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.282614 target range: 292.200012 and range: 292.20 m. 2025-01-08T22:14:35.848Z,1736374475.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:35.848Z,1736374475.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763423 2025-01-08T22:14:36.043Z,1736374476.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:36.052Z,1736374476.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.20 m. 2025-01-08T22:14:36.054Z,1736374476.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.200012 m, nav range: 79.140099 m, bearing: 254.786342 deg, approach rate: 0.336583 m/s, LOS rate: -0.439525 deg/s, cmd heading: 16.192603 deg, new cmd heading: 15.659798 deg. 2025-01-08T22:14:36.055Z,1736374476.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273315 target range: 292.200012 and range: 292.20 m. 2025-01-08T22:14:36.101Z,1736374476.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:36.102Z,1736374476.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016444 2025-01-08T22:14:36.352Z,1736374476.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:36.352Z,1736374476.352 [DAT](INFO): DAT read: Rx Time:22:14:35.0903 2025-01-08T22:14:36.353Z,1736374476.353 [DAT](INFO): Rx dataTimestamp_ set to:1736374476.352618 2025-01-08T22:14:36.353Z,1736374476.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268516 2025-01-08T22:14:36.433Z,1736374476.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:36.443Z,1736374476.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:36.446Z,1736374476.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.20 m. 2025-01-08T22:14:36.449Z,1736374476.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.200012 m, nav range: 79.260796 m, bearing: 254.626750 deg, approach rate: 0.305530 m/s, LOS rate: -0.403372 deg/s, cmd heading: 15.659798 deg, new cmd heading: 15.181764 deg. 2025-01-08T22:14:36.450Z,1736374476.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.264972 target range: 292.200012 and range: 292.20 m. 2025-01-08T22:14:36.604Z,1736374476.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:36.604Z,1736374476.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519526 2025-01-08T22:14:36.827Z,1736374476.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:36.835Z,1736374476.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.20 m. 2025-01-08T22:14:36.838Z,1736374476.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.200012 m, nav range: 79.381859 m, bearing: 254.464930 deg, approach rate: 0.311473 m/s, LOS rate: -0.415697 deg/s, cmd heading: 15.181764 deg, new cmd heading: 14.697056 deg. 2025-01-08T22:14:36.839Z,1736374476.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.256512 target range: 292.200012 and range: 292.20 m. 2025-01-08T22:14:36.856Z,1736374476.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:36.863Z,1736374476.863 [DAT](INFO): DAT read: 22:14:35.0903 LVL= 19248, 32753, 26658, 27379, AGC= 63, IDX= 417, 0.06, 1.045,-0.762,-0.663,-0.048, PHS= 1.181,-0.667,-0.618, RAW= 91.3, 1.2, CAL= 99.1, -2.2, ROT= 50.9, 2.2 2025-01-08T22:14:36.864Z,1736374476.864 [DAT](INFO): got valid direction response: 22:14:35.0903 LVL= 19248, 32753, 26658, 27379, AGC= 63, IDX= 417, 0.06, 1.045,-0.762,-0.663,-0.048, PHS= 1.181,-0.667,-0.618, RAW= 91.3, 1.2, CAL= 99.1, -2.2, ROT= 50.9, 2.2 2025-01-08T22:14:36.865Z,1736374476.865 [DAT](INFO): DAT read: Bearing 50.9, 2.2 (Local) 2025-01-08T22:14:36.865Z,1736374476.865 [DAT](INFO): Local bearing/azimuth received: Bearing 50.9, 2.2 (Local) 2025-01-08T22:14:36.867Z,1736374476.867 [DAT](INFO): DAT read: Range 10 to 50 : 290.9 m (Round-trip 387.9 ms) speed 0.1 m/s 2025-01-08T22:14:36.868Z,1736374476.868 [DAT](INFO): DAT read: user:2423> 2025-01-08T22:14:36.869Z,1736374476.869 [DAT](INFO): DAT read: Tx time:22:14:36.1982 2025-01-08T22:14:36.869Z,1736374476.869 [DAT](INFO): Ping request sent. 2025-01-08T22:14:36.869Z,1736374476.869 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:36.869Z,1736374476.869 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:36.870Z,1736374476.870 [DAT](INFO): direction in FSK: [-0.109219,0.085688,0.990318] 2025-01-08T22:14:36.870Z,1736374476.870 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:36.871Z,1736374476.871 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:36.878Z,1736374476.878 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:36.878Z,1736374476.878 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:37.108Z,1736374477.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:37.110Z,1736374477.110 [DAT](INFO): DAT read: TxSync time:22:14:36.1974 2025-01-08T22:14:37.260Z,1736374477.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:37.275Z,1736374477.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 290.899994 m, deltaT: 3.784429 s, deltaX: -1.300018 m, approachRate: -0.343518 m/s, rangeRepo size: 4 2025-01-08T22:14:37.277Z,1736374477.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 290.899994 m, bearing: 193.894462 deg, lat: 36.903810 deg, lon: -122.122878 deg, deltaT: 3.784429 s, deltaX: -1.300018 m, approachRate: -0.343518 m/s, posRepo size: 4 2025-01-08T22:14:37.278Z,1736374477.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m. 2025-01-08T22:14:37.281Z,1736374477.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.899994 m, nav range: 54.373032 m, bearing: 249.045539 deg, approach rate: 0.000000 m/s, LOS rate: -0.415697 deg/s, cmd heading: 14.697056 deg, new cmd heading: 14.149574 deg. 2025-01-08T22:14:37.282Z,1736374477.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246957 target range: 290.899994 and range: 290.90 m. 2025-01-08T22:14:37.361Z,1736374477.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:37.612Z,1736374477.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:37.652Z,1736374477.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:37.667Z,1736374477.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m. 2025-01-08T22:14:37.671Z,1736374477.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.899994 m, nav range: 54.533176 m, bearing: 248.838461 deg, approach rate: 0.408552 m/s, LOS rate: -0.526733 deg/s, cmd heading: 14.149574 deg, new cmd heading: 13.530190 deg. 2025-01-08T22:14:37.674Z,1736374477.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.236146 target range: 290.899994 and range: 290.90 m. 2025-01-08T22:14:37.864Z,1736374477.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:38.076Z,1736374478.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:38.085Z,1736374478.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m. 2025-01-08T22:14:38.092Z,1736374478.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.899994 m, nav range: 54.723068 m, bearing: 248.624348 deg, approach rate: 0.453450 m/s, LOS rate: -0.509514 deg/s, cmd heading: 13.530190 deg, new cmd heading: 12.890108 deg. 2025-01-08T22:14:38.093Z,1736374478.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.224975 target range: 290.899994 and range: 290.90 m. 2025-01-08T22:14:38.116Z,1736374478.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:38.368Z,1736374478.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:38.465Z,1736374478.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:38.482Z,1736374478.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:38.505Z,1736374478.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m. 2025-01-08T22:14:38.519Z,1736374478.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.899994 m, nav range: 54.893269 m, bearing: 248.431129 deg, approach rate: 0.405531 m/s, LOS rate: -0.458947 deg/s, cmd heading: 12.890108 deg, new cmd heading: 12.312271 deg. 2025-01-08T22:14:38.520Z,1736374478.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.214890 target range: 290.899994 and range: 290.90 m. 2025-01-08T22:14:38.622Z,1736374478.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:38.623Z,1736374478.623 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:38.623Z,1736374478.623 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:38.624Z,1736374478.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:38.855Z,1736374478.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:38.864Z,1736374478.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m. 2025-01-08T22:14:38.867Z,1736374478.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.899994 m, nav range: 55.069023 m, bearing: 248.230905 deg, approach rate: 0.488658 m/s, LOS rate: -0.554913 deg/s, cmd heading: 12.312271 deg, new cmd heading: 11.713540 deg. 2025-01-08T22:14:38.868Z,1736374478.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.204440 target range: 290.899994 and range: 290.90 m. 2025-01-08T22:14:38.872Z,1736374478.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:38.873Z,1736374478.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003854 2025-01-08T22:14:39.124Z,1736374479.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:39.125Z,1736374479.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255910 2025-01-08T22:14:39.287Z,1736374479.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:39.296Z,1736374479.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m. 2025-01-08T22:14:39.315Z,1736374479.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.899994 m, nav range: 55.279678 m, bearing: 248.026530 deg, approach rate: 0.487450 m/s, LOS rate: -0.471115 deg/s, cmd heading: 11.713540 deg, new cmd heading: 11.102774 deg. 2025-01-08T22:14:39.316Z,1736374479.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.193780 target range: 290.899994 and range: 290.90 m. 2025-01-08T22:14:39.377Z,1736374479.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:39.379Z,1736374479.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509557 2025-01-08T22:14:39.628Z,1736374479.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:39.629Z,1736374479.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759748 2025-01-08T22:14:39.687Z,1736374479.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:39.721Z,1736374479.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m. 2025-01-08T22:14:39.728Z,1736374479.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.899994 m, nav range: 55.473038 m, bearing: 247.836438 deg, approach rate: 0.455917 m/s, LOS rate: -0.446649 deg/s, cmd heading: 11.102774 deg, new cmd heading: 10.534506 deg. 2025-01-08T22:14:39.729Z,1736374479.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183862 target range: 290.899994 and range: 290.90 m. 2025-01-08T22:14:39.880Z,1736374479.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:39.880Z,1736374479.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011431 2025-01-08T22:14:40.099Z,1736374480.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:40.121Z,1736374480.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m. 2025-01-08T22:14:40.128Z,1736374480.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.899994 m, nav range: 55.679554 m, bearing: 247.645105 deg, approach rate: 0.516253 m/s, LOS rate: -0.476522 deg/s, cmd heading: 10.534506 deg, new cmd heading: 9.962657 deg. 2025-01-08T22:14:40.129Z,1736374480.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.173881 target range: 290.899994 and range: 290.90 m. 2025-01-08T22:14:40.132Z,1736374480.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:40.133Z,1736374480.133 [DAT](INFO): DAT read: Rx Time:22:14:38.9887 2025-01-08T22:14:40.133Z,1736374480.133 [DAT](INFO): Rx dataTimestamp_ set to:1736374480.132803 2025-01-08T22:14:40.134Z,1736374480.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264685 2025-01-08T22:14:40.384Z,1736374480.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:40.384Z,1736374480.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515508 2025-01-08T22:14:40.552Z,1736374480.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:40.607Z,1736374480.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:40.622Z,1736374480.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m. 2025-01-08T22:14:40.626Z,1736374480.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.899994 m, nav range: 55.905762 m, bearing: 247.435599 deg, approach rate: 0.451153 m/s, LOS rate: -0.416152 deg/s, cmd heading: 9.962657 deg, new cmd heading: 9.336708 deg. 2025-01-08T22:14:40.627Z,1736374480.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.162956 target range: 290.899994 and range: 290.90 m. 2025-01-08T22:14:40.640Z,1736374480.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:40.642Z,1736374480.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772584 2025-01-08T22:14:40.892Z,1736374480.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:40.903Z,1736374480.903 [DAT](INFO): DAT read: 22:14:38.9887 LVL= 18720, 32753, 23170, 29555, AGC= 62, IDX= 433, 0.18,-1.084,-2.767,-2.841,-2.136, PHS= 1.141,-0.583,-0.707, RAW= 86.6, 1.7, CAL= 93.0, -1.6, ROT= 57.0, 1.6 2025-01-08T22:14:40.909Z,1736374480.909 [DAT](INFO): got valid direction response: 22:14:38.9887 LVL= 18720, 32753, 23170, 29555, AGC= 62, IDX= 433, 0.18,-1.084,-2.767,-2.841,-2.136, PHS= 1.141,-0.583,-0.707, RAW= 86.6, 1.7, CAL= 93.0, -1.6, ROT= 57.0, 1.6 2025-01-08T22:14:40.910Z,1736374480.910 [DAT](INFO): DAT read: Bearing 57.0, 1.6 (Local) 2025-01-08T22:14:40.911Z,1736374480.911 [DAT](INFO): Local bearing/azimuth received: Bearing 57.0, 1.6 (Local) 2025-01-08T22:14:40.913Z,1736374480.913 [DAT](INFO): DAT read: Range 10 to 50 : 289.8 m (Round-trip 386.4 ms) speed 0.3 m/s 2025-01-08T22:14:40.913Z,1736374480.913 [DAT](INFO): DAT read: user:2424> 2025-01-08T22:14:40.914Z,1736374480.914 [DAT](INFO): DAT read: Tx time:22:14:40.0982 2025-01-08T22:14:40.914Z,1736374480.914 [DAT](INFO): Ping request sent. 2025-01-08T22:14:40.915Z,1736374480.915 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:40.920Z,1736374480.920 [DAT](INFO): DAT read: TxSync time:22:14:40.0974 2025-01-08T22:14:40.921Z,1736374480.921 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:40.923Z,1736374480.923 [DAT](INFO): direction in FSK: [-0.111373,0.168129,0.979453] 2025-01-08T22:14:40.924Z,1736374480.924 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:40.925Z,1736374480.925 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:40.964Z,1736374480.964 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:40.964Z,1736374480.964 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:41.144Z,1736374481.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:41.291Z,1736374481.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:41.330Z,1736374481.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 289.799988 m, deltaT: 4.036248 s, deltaX: -1.100006 m, approachRate: -0.272532 m/s, rangeRepo size: 4 2025-01-08T22:14:41.337Z,1736374481.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 289.799988 m, bearing: 138.402761 deg, lat: 36.903810 deg, lon: -122.122674 deg, deltaT: 4.036248 s, deltaX: -1.100006 m, approachRate: -0.272532 m/s, posRepo size: 4 2025-01-08T22:14:41.337Z,1736374481.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.80 m. 2025-01-08T22:14:41.352Z,1736374481.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 289.799988 m, nav range: 40.171783 m, bearing: 236.978891 deg, approach rate: 0.000000 m/s, LOS rate: -0.416152 deg/s, cmd heading: 9.336707 deg, new cmd heading: 8.454267 deg. 2025-01-08T22:14:41.353Z,1736374481.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.147555 target range: 289.799988 and range: 289.80 m. 2025-01-08T22:14:41.396Z,1736374481.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:41.648Z,1736374481.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:41.689Z,1736374481.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:41.711Z,1736374481.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.80 m. 2025-01-08T22:14:41.719Z,1736374481.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 289.799988 m, nav range: 40.391277 m, bearing: 236.779816 deg, approach rate: 0.574121 m/s, LOS rate: -0.517881 deg/s, cmd heading: 8.454267 deg, new cmd heading: 7.860310 deg. 2025-01-08T22:14:41.720Z,1736374481.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.137188 target range: 289.799988 and range: 289.80 m. 2025-01-08T22:14:41.902Z,1736374481.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:42.142Z,1736374482.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:42.150Z,1736374482.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.80 m. 2025-01-08T22:14:42.152Z,1736374482.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:42.155Z,1736374482.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 289.799988 m, nav range: 40.628746 m, bearing: 236.536064 deg, approach rate: 0.540734 m/s, LOS rate: -0.551796 deg/s, cmd heading: 7.860310 deg, new cmd heading: 7.133368 deg. 2025-01-08T22:14:42.176Z,1736374482.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.124501 target range: 289.799988 and range: 289.80 m. 2025-01-08T22:14:42.405Z,1736374482.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:42.488Z,1736374482.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:42.497Z,1736374482.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.80 m. 2025-01-08T22:14:42.508Z,1736374482.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 289.799988 m, nav range: 40.810318 m, bearing: 236.350235 deg, approach rate: 0.524141 m/s, LOS rate: -0.534041 deg/s, cmd heading: 7.133368 deg, new cmd heading: 6.578381 deg. 2025-01-08T22:14:42.509Z,1736374482.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114814 target range: 289.799988 and range: 289.80 m. 2025-01-08T22:14:42.656Z,1736374482.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:42.880Z,1736374482.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:42.886Z,1736374482.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:42.888Z,1736374482.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.80 m. 2025-01-08T22:14:42.892Z,1736374482.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 289.799988 m, nav range: 41.014332 m, bearing: 236.139860 deg, approach rate: 0.520810 m/s, LOS rate: -0.534378 deg/s, cmd heading: 6.578381 deg, new cmd heading: 5.950420 deg. 2025-01-08T22:14:42.893Z,1736374482.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103854 target range: 289.799988 and range: 289.80 m. 2025-01-08T22:14:42.908Z,1736374482.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:42.908Z,1736374482.908 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:42.908Z,1736374482.908 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:42.909Z,1736374482.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:43.160Z,1736374483.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:43.160Z,1736374483.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245849 2025-01-08T22:14:43.302Z,1736374483.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:43.312Z,1736374483.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.80 m. 2025-01-08T22:14:43.314Z,1736374483.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 289.799988 m, nav range: 41.214767 m, bearing: 235.894290 deg, approach rate: 0.474094 m/s, LOS rate: -0.578024 deg/s, cmd heading: 5.950420 deg, new cmd heading: 5.217337 deg. 2025-01-08T22:14:43.315Z,1736374483.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091060 target range: 289.799988 and range: 289.80 m. 2025-01-08T22:14:43.412Z,1736374483.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:43.412Z,1736374483.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497736 2025-01-08T22:14:43.664Z,1736374483.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:43.666Z,1736374483.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750989 2025-01-08T22:14:43.749Z,1736374483.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:43.774Z,1736374483.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.80 m. 2025-01-08T22:14:43.777Z,1736374483.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 289.799988 m, nav range: 41.423248 m, bearing: 235.630379 deg, approach rate: 0.450640 m/s, LOS rate: -0.567581 deg/s, cmd heading: 5.217337 deg, new cmd heading: 4.429641 deg. 2025-01-08T22:14:43.778Z,1736374483.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077312 target range: 289.799988 and range: 289.80 m. 2025-01-08T22:14:43.917Z,1736374483.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:43.918Z,1736374483.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003287 2025-01-08T22:14:44.168Z,1736374484.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:44.169Z,1736374484.169 [DAT](INFO): DAT read: Rx Time:22:14:42.8873 2025-01-08T22:14:44.169Z,1736374484.169 [DAT](INFO): Rx dataTimestamp_ set to:1736374484.168830 2025-01-08T22:14:44.170Z,1736374484.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255077 2025-01-08T22:14:44.185Z,1736374484.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:44.205Z,1736374484.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.80 m. 2025-01-08T22:14:44.232Z,1736374484.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 289.799988 m, nav range: 41.603531 m, bearing: 235.339842 deg, approach rate: 0.418881 m/s, LOS rate: -0.672126 deg/s, cmd heading: 4.429641 deg, new cmd heading: 3.561876 deg. 2025-01-08T22:14:44.233Z,1736374484.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062166 target range: 289.799988 and range: 289.80 m. 2025-01-08T22:14:44.420Z,1736374484.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:44.421Z,1736374484.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506144 2025-01-08T22:14:44.660Z,1736374484.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:44.673Z,1736374484.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:44.700Z,1736374484.700 [DAT](INFO): DAT read: 22:14:42.8873 LVL= 12336, 26385, 22642, 25651, AGC= 64, IDX= 434, 0.11,-0.202,-1.604,-2.027,-1.030, PHS= 0.917,-0.527,-1.000, RAW= 76.3, 7.1, CAL= 79.9, 9.0, ROT= 70.1, -9.0 2025-01-08T22:14:44.701Z,1736374484.701 [DAT](INFO): got valid direction response: 22:14:42.8873 LVL= 12336, 26385, 22642, 25651, AGC= 64, IDX= 434, 0.11,-0.202,-1.604,-2.027,-1.030, PHS= 0.917,-0.527,-1.000, RAW= 76.3, 7.1, CAL= 79.9, 9.0, ROT= 70.1, -9.0 2025-01-08T22:14:44.702Z,1736374484.702 [DAT](INFO): DAT read: Bearing 70.1, -9.0 (Local) 2025-01-08T22:14:44.702Z,1736374484.702 [DAT](INFO): Local bearing/azimuth received: Bearing 70.1, -9.0 (Local) 2025-01-08T22:14:44.704Z,1736374484.704 [DAT](INFO): DAT read: Range 10 to 50 : 288.6 m (Round-trip 384.9 ms) speed 0.0 m/s 2025-01-08T22:14:44.705Z,1736374484.705 [DAT](INFO): DAT read: user:2425> 2025-01-08T22:14:44.705Z,1736374484.705 [DAT](INFO): DAT read: Tx time:22:14:43.9982 2025-01-08T22:14:44.706Z,1736374484.706 [DAT](INFO): Ping request sent. 2025-01-08T22:14:44.706Z,1736374484.706 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:44.711Z,1736374484.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.80 m. 2025-01-08T22:14:44.707Z,1736374484.707 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:44.712Z,1736374484.712 [DAT](INFO): direction in FSK: [-0.193540,0.339358,0.920532] 2025-01-08T22:14:44.712Z,1736374484.712 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:44.713Z,1736374484.713 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:44.717Z,1736374484.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 289.799988 m, nav range: 41.800987 m, bearing: 235.026422 deg, approach rate: 0.389902 m/s, LOS rate: -0.615961 deg/s, cmd heading: 3.561876 deg, new cmd heading: 2.626146 deg. 2025-01-08T22:14:44.718Z,1736374484.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045835 target range: 289.799988 and range: 289.80 m. 2025-01-08T22:14:44.728Z,1736374484.728 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:44.728Z,1736374484.728 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:44.924Z,1736374484.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:44.925Z,1736374484.925 [DAT](INFO): DAT read: TxSync time:22:14:43.9974 2025-01-08T22:14:45.081Z,1736374485.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:45.137Z,1736374485.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 288.600006 m, deltaT: 3.780896 s, deltaX: -1.199982 m, approachRate: -0.317380 m/s, rangeRepo size: 4 2025-01-08T22:14:45.139Z,1736374485.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 288.600006 m, bearing: 125.231463 deg, lat: 36.903810 deg, lon: -122.122361 deg, deltaT: 3.780896 s, deltaX: -1.199982 m, approachRate: -0.317380 m/s, posRepo size: 4 2025-01-08T22:14:45.140Z,1736374485.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m. 2025-01-08T22:14:45.143Z,1736374485.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.600006 m, nav range: 25.069992 m, bearing: 194.906557 deg, approach rate: 0.000000 m/s, LOS rate: -0.615961 deg/s, cmd heading: 2.626146 deg, new cmd heading: 1.842044 deg. 2025-01-08T22:14:45.152Z,1736374485.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032150 target range: 288.600006 and range: 288.60 m. 2025-01-08T22:14:45.178Z,1736374485.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:45.428Z,1736374485.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:45.478Z,1736374485.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:45.485Z,1736374485.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:45.503Z,1736374485.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m. 2025-01-08T22:14:45.507Z,1736374485.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.600006 m, nav range: 25.316774 m, bearing: 194.730562 deg, approach rate: 0.701060 m/s, LOS rate: -0.495092 deg/s, cmd heading: 1.842044 deg, new cmd heading: 1.319222 deg. 2025-01-08T22:14:45.512Z,1736374485.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023025 target range: 288.600006 and range: 288.60 m. 2025-01-08T22:14:45.680Z,1736374485.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:45.681Z,1736374485.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:45.681Z,1736374485.681 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:45.681Z,1736374485.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:45.846Z,1736374485.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:45.854Z,1736374485.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m. 2025-01-08T22:14:45.857Z,1736374485.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.600006 m, nav range: 25.543976 m, bearing: 194.563221 deg, approach rate: 0.619427 m/s, LOS rate: -0.452171 deg/s, cmd heading: 1.319222 deg, new cmd heading: 0.821675 deg. 2025-01-08T22:14:45.858Z,1736374485.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.014341 target range: 288.600006 and range: 288.60 m. 2025-01-08T22:14:45.933Z,1736374485.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:45.934Z,1736374485.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227670 2025-01-08T22:14:46.184Z,1736374486.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:46.184Z,1736374486.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478335 2025-01-08T22:14:46.283Z,1736374486.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:46.293Z,1736374486.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m. 2025-01-08T22:14:46.296Z,1736374486.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.600006 m, nav range: 25.810160 m, bearing: 194.327425 deg, approach rate: 0.606151 m/s, LOS rate: -0.531412 deg/s, cmd heading: 0.821675 deg, new cmd heading: 0.121621 deg. 2025-01-08T22:14:46.297Z,1736374486.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002123 target range: 288.600006 and range: 288.60 m. 2025-01-08T22:14:46.436Z,1736374486.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:46.437Z,1736374486.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730486 2025-01-08T22:14:46.688Z,1736374486.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:46.689Z,1736374486.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983139 2025-01-08T22:14:46.752Z,1736374486.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:46.761Z,1736374486.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m. 2025-01-08T22:14:46.764Z,1736374486.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.600006 m, nav range: 26.092520 m, bearing: 194.059766 deg, approach rate: 0.602870 m/s, LOS rate: -0.565295 deg/s, cmd heading: 0.121621 deg, new cmd heading: 359.327387 deg. 2025-01-08T22:14:46.765Z,1736374486.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271446 target range: 288.600006 and range: 288.60 m. 2025-01-08T22:14:46.941Z,1736374486.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:46.941Z,1736374486.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235290 2025-01-08T22:14:47.192Z,1736374487.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:47.192Z,1736374487.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486419 2025-01-08T22:14:47.199Z,1736374487.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:47.209Z,1736374487.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m. 2025-01-08T22:14:47.213Z,1736374487.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.600006 m, nav range: 26.370304 m, bearing: 193.793760 deg, approach rate: 0.620527 m/s, LOS rate: -0.587954 deg/s, cmd heading: 359.327400 deg, new cmd heading: 358.537842 deg. 2025-01-08T22:14:47.214Z,1736374487.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257666 target range: 288.600006 and range: 288.60 m. 2025-01-08T22:14:47.445Z,1736374487.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:47.446Z,1736374487.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739878 2025-01-08T22:14:47.696Z,1736374487.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:47.697Z,1736374487.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990503 2025-01-08T22:14:47.699Z,1736374487.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:47.706Z,1736374487.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:47.708Z,1736374487.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m. 2025-01-08T22:14:47.710Z,1736374487.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.600006 m, nav range: 26.677952 m, bearing: 193.483510 deg, approach rate: 0.616642 m/s, LOS rate: -0.614684 deg/s, cmd heading: 358.537830 deg, new cmd heading: 357.617897 deg. 2025-01-08T22:14:47.736Z,1736374487.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241610 target range: 288.600006 and range: 288.60 m. 2025-01-08T22:14:47.948Z,1736374487.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:47.948Z,1736374487.948 [DAT](INFO): DAT read: Rx Time:22:14:46.7862 2025-01-08T22:14:47.949Z,1736374487.949 [DAT](INFO): Rx dataTimestamp_ set to:1736374487.948607 2025-01-08T22:14:47.950Z,1736374487.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243824 2025-01-08T22:14:48.062Z,1736374488.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:48.101Z,1736374488.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m. 2025-01-08T22:14:48.125Z,1736374488.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.600006 m, nav range: 26.900217 m, bearing: 193.256370 deg, approach rate: 0.574905 m/s, LOS rate: -0.582658 deg/s, cmd heading: 357.617886 deg, new cmd heading: 356.942130 deg. 2025-01-08T22:14:48.133Z,1736374488.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229815 target range: 288.600006 and range: 288.60 m. 2025-01-08T22:14:48.201Z,1736374488.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:48.202Z,1736374488.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495903 2025-01-08T22:14:48.453Z,1736374488.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:48.456Z,1736374488.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749599 2025-01-08T22:14:48.551Z,1736374488.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:48.561Z,1736374488.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m. 2025-01-08T22:14:48.564Z,1736374488.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.600006 m, nav range: 27.207342 m, bearing: 192.968216 deg, approach rate: 0.658873 m/s, LOS rate: -0.611195 deg/s, cmd heading: 356.942134 deg, new cmd heading: 356.087496 deg. 2025-01-08T22:14:48.564Z,1736374488.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214899 target range: 288.600006 and range: 288.60 m. 2025-01-08T22:14:48.705Z,1736374488.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:48.718Z,1736374488.718 [DAT](INFO): DAT read: 22:14:46.7862 LVL= 14368, 23825, 19218, 26019, AGC= 62, IDX= 423, 0.17,-1.111,-2.288, 3.009,-2.027, PHS= 1.004,-0.214,-1.250, RAW= 62.7, 4.8, CAL= 63.3, 5.0, ROT= 86.7, -5.0 2025-01-08T22:14:48.725Z,1736374488.725 [DAT](INFO): got valid direction response: 22:14:46.7862 LVL= 14368, 23825, 19218, 26019, AGC= 62, IDX= 423, 0.17,-1.111,-2.288, 3.009,-2.027, PHS= 1.004,-0.214,-1.250, RAW= 62.7, 4.8, CAL= 63.3, 5.0, ROT= 86.7, -5.0 2025-01-08T22:14:48.727Z,1736374488.727 [DAT](INFO): DAT read: Bearing 86.7, -5.0 (Local) 2025-01-08T22:14:48.728Z,1736374488.728 [DAT](INFO): Local bearing/azimuth received: Bearing 86.7, -5.0 (Local) 2025-01-08T22:14:48.731Z,1736374488.731 [DAT](INFO): DAT read: Range 10 to 50 : 287.8 m (Round-trip 383.8 ms) speed 0.0 m/s 2025-01-08T22:14:48.744Z,1736374488.744 [DAT](INFO): DAT read: user:2426> 2025-01-08T22:14:48.746Z,1736374488.746 [DAT](INFO): DAT read: Tx time:22:14:47.8998 2025-01-08T22:14:48.747Z,1736374488.747 [DAT](INFO): Ping request sent. 2025-01-08T22:14:48.747Z,1736374488.747 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:48.752Z,1736374488.752 [DAT](INFO): DAT read: TxSync time:22:14:47.8990 2025-01-08T22:14:48.752Z,1736374488.752 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:48.753Z,1736374488.753 [DAT](INFO): direction in FSK: [-0.122998,0.542521,0.830989] 2025-01-08T22:14:48.753Z,1736374488.753 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:48.753Z,1736374488.753 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:48.761Z,1736374488.761 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:48.761Z,1736374488.761 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:48.885Z,1736374488.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:48.929Z,1736374488.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 287.799988 m, deltaT: 4.031523 s, deltaX: -0.800018 m, approachRate: -0.198441 m/s, rangeRepo size: 4 2025-01-08T22:14:48.940Z,1736374488.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 287.799988 m, bearing: 100.784370 deg, lat: 36.903801 deg, lon: -122.122024 deg, deltaT: 4.031523 s, deltaX: -0.800018 m, approachRate: -0.198441 m/s, posRepo size: 4 2025-01-08T22:14:48.941Z,1736374488.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:48.947Z,1736374488.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 36.578762 m, bearing: 139.244398 deg, approach rate: 0.000000 m/s, LOS rate: -0.611195 deg/s, cmd heading: 356.087486 deg, new cmd heading: 355.413206 deg. 2025-01-08T22:14:48.948Z,1736374488.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.203131 target range: 287.799988 and range: 287.80 m. 2025-01-08T22:14:48.956Z,1736374488.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:49.208Z,1736374489.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:49.319Z,1736374489.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:49.330Z,1736374489.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:49.333Z,1736374489.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 36.827377 m, bearing: 139.498337 deg, approach rate: 0.618852 m/s, LOS rate: 0.627835 deg/s, cmd heading: 355.413210 deg, new cmd heading: 356.169838 deg. 2025-01-08T22:14:49.334Z,1736374489.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216336 target range: 287.799988 and range: 287.80 m. 2025-01-08T22:14:49.460Z,1736374489.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:49.686Z,1736374489.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:49.699Z,1736374489.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:49.712Z,1736374489.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:49.723Z,1736374489.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 37.039585 m, bearing: 139.707224 deg, approach rate: 0.575972 m/s, LOS rate: 0.563710 deg/s, cmd heading: 356.169831 deg, new cmd heading: 356.792876 deg. 2025-01-08T22:14:49.725Z,1736374489.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.227211 target range: 287.799988 and range: 287.80 m. 2025-01-08T22:14:49.964Z,1736374489.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:50.093Z,1736374490.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:50.104Z,1736374490.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:50.107Z,1736374490.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:50.110Z,1736374490.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 37.276447 m, bearing: 139.933395 deg, approach rate: 0.581024 m/s, LOS rate: 0.551271 deg/s, cmd heading: 356.792881 deg, new cmd heading: 357.467049 deg. 2025-01-08T22:14:50.111Z,1736374490.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238977 target range: 287.799988 and range: 287.80 m. 2025-01-08T22:14:50.216Z,1736374490.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:50.216Z,1736374490.216 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:50.216Z,1736374490.216 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:50.217Z,1736374490.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:50.468Z,1736374490.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:50.468Z,1736374490.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721716 2025-01-08T22:14:50.516Z,1736374490.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:50.526Z,1736374490.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:50.529Z,1736374490.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 37.502048 m, bearing: 140.192779 deg, approach rate: 0.537659 m/s, LOS rate: 0.614451 deg/s, cmd heading: 357.467048 deg, new cmd heading: 358.240470 deg. 2025-01-08T22:14:50.530Z,1736374490.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.252476 target range: 287.799988 and range: 287.80 m. 2025-01-08T22:14:50.720Z,1736374490.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:50.721Z,1736374490.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974326 2025-01-08T22:14:50.891Z,1736374490.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:50.900Z,1736374490.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:50.902Z,1736374490.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 37.702412 m, bearing: 140.416882 deg, approach rate: 0.536472 m/s, LOS rate: 0.596844 deg/s, cmd heading: 358.240471 deg, new cmd heading: 358.909175 deg. 2025-01-08T22:14:50.903Z,1736374490.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264147 target range: 287.799988 and range: 287.80 m. 2025-01-08T22:14:50.973Z,1736374490.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:50.974Z,1736374490.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227355 2025-01-08T22:14:51.224Z,1736374491.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:51.225Z,1736374491.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477974 2025-01-08T22:14:51.332Z,1736374491.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:51.341Z,1736374491.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:51.345Z,1736374491.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 37.916977 m, bearing: 140.705192 deg, approach rate: 0.485484 m/s, LOS rate: 0.648648 deg/s, cmd heading: 358.909174 deg, new cmd heading: 359.769143 deg. 2025-01-08T22:14:51.345Z,1736374491.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279156 target range: 287.799988 and range: 287.80 m. 2025-01-08T22:14:51.476Z,1736374491.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:51.477Z,1736374491.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729974 2025-01-08T22:14:51.704Z,1736374491.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:51.713Z,1736374491.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:51.716Z,1736374491.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 38.107563 m, bearing: 140.952476 deg, approach rate: 0.513067 m/s, LOS rate: 0.662367 deg/s, cmd heading: 359.769150 deg, new cmd heading: 0.507246 deg. 2025-01-08T22:14:51.717Z,1736374491.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008853 target range: 287.799988 and range: 287.80 m. 2025-01-08T22:14:51.729Z,1736374491.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:51.731Z,1736374491.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984128 2025-01-08T22:14:51.982Z,1736374491.982 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:51.982Z,1736374491.982 [DAT](INFO): DAT read: Rx Time:22:14:50.6879 2025-01-08T22:14:51.983Z,1736374491.983 [DAT](INFO): Rx dataTimestamp_ set to:1736374491.982480 2025-01-08T22:14:51.983Z,1736374491.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236719 2025-01-08T22:14:52.112Z,1736374492.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:52.155Z,1736374492.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:52.177Z,1736374492.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:52.201Z,1736374492.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 38.313374 m, bearing: 141.214500 deg, approach rate: 0.448878 m/s, LOS rate: 0.568410 deg/s, cmd heading: 0.507246 deg, new cmd heading: 1.289046 deg. 2025-01-08T22:14:52.209Z,1736374492.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022498 target range: 287.799988 and range: 287.80 m. 2025-01-08T22:14:52.232Z,1736374492.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:52.233Z,1736374492.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485838 2025-01-08T22:14:52.484Z,1736374492.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:52.485Z,1736374492.485 [DAT](INFO): DAT read: Range 10 to 50 : 287.9 m (Round-trip 383.9 ms) speed 0.2 m/s 2025-01-08T22:14:52.486Z,1736374492.486 [DAT](INFO): DAT read: user:2427> 2025-01-08T22:14:52.487Z,1736374492.487 [DAT](INFO): DAT read: Tx time:22:14:51.7983 2025-01-08T22:14:52.487Z,1736374492.487 [DAT](INFO): Ping request sent. 2025-01-08T22:14:52.487Z,1736374492.487 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:52.488Z,1736374492.488 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:14:52.488Z,1736374492.488 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:52.488Z,1736374492.488 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:52.612Z,1736374492.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:52.637Z,1736374492.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 287.899994 m, deltaT: 3.778654 s, deltaX: 0.100006 m, approachRate: 0.026466 m/s, rangeRepo size: 4 2025-01-08T22:14:52.637Z,1736374492.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:52.654Z,1736374492.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 38.545219 m, bearing: 141.549568 deg, approach rate: 0.498871 m/s, LOS rate: 0.716638 deg/s, cmd heading: 1.289046 deg, new cmd heading: 2.288097 deg. 2025-01-08T22:14:52.673Z,1736374492.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039935 target range: 287.799988 and range: 287.90 m. 2025-01-08T22:14:52.739Z,1736374492.739 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:52.740Z,1736374492.740 [DAT](INFO): DAT read: TxSync time:22:14:51.7975 2025-01-08T22:14:52.992Z,1736374492.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:52.998Z,1736374492.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:53.007Z,1736374493.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:53.010Z,1736374493.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 38.725182 m, bearing: 141.805607 deg, approach rate: 0.486292 m/s, LOS rate: 0.688648 deg/s, cmd heading: 2.288097 deg, new cmd heading: 3.052596 deg. 2025-01-08T22:14:53.010Z,1736374493.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.053278 target range: 287.799988 and range: 287.90 m. 2025-01-08T22:14:53.246Z,1736374493.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:53.414Z,1736374493.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:53.424Z,1736374493.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:53.426Z,1736374493.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 38.907124 m, bearing: 142.089059 deg, approach rate: 0.436636 m/s, LOS rate: 0.677062 deg/s, cmd heading: 3.052596 deg, new cmd heading: 3.898909 deg. 2025-01-08T22:14:53.428Z,1736374493.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068049 target range: 287.799988 and range: 287.90 m. 2025-01-08T22:14:53.496Z,1736374493.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:53.748Z,1736374493.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:53.798Z,1736374493.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:53.806Z,1736374493.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:53.809Z,1736374493.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 39.073994 m, bearing: 142.349960 deg, approach rate: 0.435218 m/s, LOS rate: 0.677556 deg/s, cmd heading: 3.898909 deg, new cmd heading: 4.678221 deg. 2025-01-08T22:14:53.810Z,1736374493.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081650 target range: 287.799988 and range: 287.90 m. 2025-01-08T22:14:53.000Z,1736374494.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:54.248Z,1736374494.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:54.252Z,1736374494.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:54.258Z,1736374494.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:54.260Z,1736374494.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:54.262Z,1736374494.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 39.270325 m, bearing: 142.652502 deg, approach rate: 0.433112 m/s, LOS rate: 0.664076 deg/s, cmd heading: 4.678221 deg, new cmd heading: 5.581229 deg. 2025-01-08T22:14:54.288Z,1736374494.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097411 target range: 287.799988 and range: 287.90 m. 2025-01-08T22:14:54.504Z,1736374494.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:54.505Z,1736374494.505 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:54.505Z,1736374494.505 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:54.505Z,1736374494.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:54.756Z,1736374494.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:54.756Z,1736374494.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268983 2025-01-08T22:14:54.890Z,1736374494.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:54.898Z,1736374494.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:54.917Z,1736374494.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 39.559719 m, bearing: 143.086013 deg, approach rate: 0.453140 m/s, LOS rate: 0.673829 deg/s, cmd heading: 5.581228 deg, new cmd heading: 6.872019 deg. 2025-01-08T22:14:54.918Z,1736374494.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119939 target range: 287.799988 and range: 287.90 m. 2025-01-08T22:14:55.008Z,1736374495.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:55.009Z,1736374495.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521314 2025-01-08T22:14:55.261Z,1736374495.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:55.264Z,1736374495.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775674 2025-01-08T22:14:55.407Z,1736374495.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:55.424Z,1736374495.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:55.431Z,1736374495.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 39.798546 m, bearing: 143.419723 deg, approach rate: 0.453775 m/s, LOS rate: 0.630245 deg/s, cmd heading: 6.872019 deg, new cmd heading: 7.867034 deg. 2025-01-08T22:14:55.432Z,1736374495.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.137306 target range: 287.799988 and range: 287.90 m. 2025-01-08T22:14:55.512Z,1736374495.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:55.513Z,1736374495.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025239 2025-01-08T22:14:55.764Z,1736374495.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:55.765Z,1736374495.765 [DAT](INFO): DAT read: Rx Time:22:14:54.5858 2025-01-08T22:14:55.765Z,1736374495.765 [DAT](INFO): Rx dataTimestamp_ set to:1736374495.764688 2025-01-08T22:14:55.765Z,1736374495.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278128 2025-01-08T22:14:55.780Z,1736374495.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:55.810Z,1736374495.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:55.824Z,1736374495.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 39.972660 m, bearing: 143.664317 deg, approach rate: 0.451677 m/s, LOS rate: 0.631745 deg/s, cmd heading: 7.867034 deg, new cmd heading: 8.597577 deg. 2025-01-08T22:14:55.825Z,1736374495.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.150056 target range: 287.799988 and range: 287.90 m. 2025-01-08T22:14:56.018Z,1736374496.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:56.019Z,1736374496.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532069 2025-01-08T22:14:56.156Z,1736374496.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:56.165Z,1736374496.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.80 m. 2025-01-08T22:14:56.188Z,1736374496.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.799988 m, nav range: 40.145382 m, bearing: 143.908679 deg, approach rate: 0.486256 m/s, LOS rate: 0.684981 deg/s, cmd heading: 8.597577 deg, new cmd heading: 9.327469 deg. 2025-01-08T22:14:56.195Z,1736374496.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.162795 target range: 287.799988 and range: 287.90 m. 2025-01-08T22:14:56.271Z,1736374496.271 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:56.275Z,1736374496.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786444 2025-01-08T22:14:56.520Z,1736374496.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:56.529Z,1736374496.529 [DAT](INFO): DAT read: 22:14:54.5858 LVL= 17888, 25137, 24530, 30851, AGC= 66, IDX= 434,-0.17, 0.114,-0.580,-1.838,-0.767, PHS= 0.969, 0.234,-1.074, RAW= 50.8, -1.5, CAL= 52.4, -4.5, ROT= 97.6, 4.5 2025-01-08T22:14:56.530Z,1736374496.530 [DAT](INFO): got valid direction response: 22:14:54.5858 LVL= 17888, 25137, 24530, 30851, AGC= 66, IDX= 434,-0.17, 0.114,-0.580,-1.838,-0.767, PHS= 0.969, 0.234,-1.074, RAW= 50.8, -1.5, CAL= 52.4, -4.5, ROT= 97.6, 4.5 2025-01-08T22:14:56.535Z,1736374496.535 [DAT](INFO): DAT read: Bearing 97.6, 4.5 (Local) 2025-01-08T22:14:56.535Z,1736374496.535 [DAT](INFO): Local bearing/azimuth received: Bearing 97.6, 4.5 (Local) 2025-01-08T22:14:56.537Z,1736374496.537 [DAT](INFO): DAT read: Range 10 to 50 : 287.4 m (Round-trip 383.3 ms) speed 0.0 m/s 2025-01-08T22:14:56.538Z,1736374496.538 [DAT](INFO): DAT read: user:2428> 2025-01-08T22:14:56.538Z,1736374496.538 [DAT](INFO): DAT read: Tx time:22:14:55.6999 2025-01-08T22:14:56.539Z,1736374496.539 [DAT](INFO): Ping request sent. 2025-01-08T22:14:56.539Z,1736374496.539 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:14:56.549Z,1736374496.549 [DAT](INFO): DAT read: TxSync time:22:14:55.6991 2025-01-08T22:14:56.549Z,1736374496.549 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:14:56.550Z,1736374496.550 [DAT](INFO): direction in FSK: [0.016742,0.691748,0.721945] 2025-01-08T22:14:56.550Z,1736374496.550 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:56.550Z,1736374496.550 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:56.559Z,1736374496.559 [DAT](INFO): publishing transmit ping time 2025-01-08T22:14:56.559Z,1736374496.559 [DAT](INFO): publishing direction and range info 2025-01-08T22:14:56.692Z,1736374496.692 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:14:56.709Z,1736374496.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:56.756Z,1736374496.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 287.399994 m, deltaT: 4.036387 s, deltaX: -0.500000 m, approachRate: -0.123873 m/s, rangeRepo size: 4 2025-01-08T22:14:56.766Z,1736374496.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 287.399994 m, bearing: 92.348728 deg, lat: 36.903801 deg, lon: -122.121392 deg, deltaT: 7.815041 s, deltaX: -0.399994 m, approachRate: -0.051183 m/s, posRepo size: 4 2025-01-08T22:14:56.772Z,1736374496.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:56.773Z,1736374496.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T22:14:56.781Z,1736374496.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 86.271912 m, bearing: 112.349046 deg, approach rate: 0.000000 m/s, LOS rate: 0.684981 deg/s, cmd heading: 9.327469 deg, new cmd heading: 10.530723 deg. 2025-01-08T22:14:56.782Z,1736374496.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183796 target range: 287.399994 and range: 287.40 m. 2025-01-08T22:14:57.024Z,1736374497.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:57.082Z,1736374497.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:57.101Z,1736374497.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:57.103Z,1736374497.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T22:14:57.114Z,1736374497.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 86.341042 m, bearing: 112.506108 deg, approach rate: 0.196536 m/s, LOS rate: 0.446169 deg/s, cmd heading: 10.530722 deg, new cmd heading: 11.001521 deg. 2025-01-08T22:14:57.120Z,1736374497.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192013 target range: 287.399994 and range: 287.40 m. 2025-01-08T22:14:57.278Z,1736374497.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:57.280Z,1736374497.280 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:14:57.280Z,1736374497.280 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:14:57.281Z,1736374497.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:14:57.484Z,1736374497.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:57.494Z,1736374497.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T22:14:57.512Z,1736374497.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 86.436668 m, bearing: 112.670725 deg, approach rate: 0.244549 m/s, LOS rate: 0.420514 deg/s, cmd heading: 11.001521 deg, new cmd heading: 11.494812 deg. 2025-01-08T22:14:57.513Z,1736374497.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.200622 target range: 287.399994 and range: 287.40 m. 2025-01-08T22:14:57.528Z,1736374497.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:57.529Z,1736374497.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989924 2025-01-08T22:14:57.781Z,1736374497.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:57.783Z,1736374497.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243516 2025-01-08T22:14:57.873Z,1736374497.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:57.882Z,1736374497.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T22:14:57.888Z,1736374497.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 86.527611 m, bearing: 112.830197 deg, approach rate: 0.234400 m/s, LOS rate: 0.410599 deg/s, cmd heading: 11.494812 deg, new cmd heading: 11.972714 deg. 2025-01-08T22:14:57.890Z,1736374497.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.208963 target range: 287.399994 and range: 287.40 m. 2025-01-08T22:14:58.032Z,1736374498.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:58.033Z,1736374498.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494287 2025-01-08T22:14:58.290Z,1736374498.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:58.293Z,1736374498.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753324 2025-01-08T22:14:58.361Z,1736374498.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:58.370Z,1736374498.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T22:14:58.374Z,1736374498.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 86.665596 m, bearing: 113.028285 deg, approach rate: 0.282507 m/s, LOS rate: 0.404912 deg/s, cmd heading: 11.972714 deg, new cmd heading: 12.566007 deg. 2025-01-08T22:14:58.375Z,1736374498.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.219318 target range: 287.399994 and range: 287.40 m. 2025-01-08T22:14:58.540Z,1736374498.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:58.541Z,1736374498.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002161 2025-01-08T22:14:58.698Z,1736374498.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:58.708Z,1736374498.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T22:14:58.710Z,1736374498.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 86.761780 m, bearing: 113.165123 deg, approach rate: 0.284639 m/s, LOS rate: 0.404501 deg/s, cmd heading: 12.566008 deg, new cmd heading: 12.976062 deg. 2025-01-08T22:14:58.712Z,1736374498.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226475 target range: 287.399994 and range: 287.40 m. 2025-01-08T22:14:58.793Z,1736374498.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:58.795Z,1736374498.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255997 2025-01-08T22:14:59.044Z,1736374499.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:59.045Z,1736374499.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505631 2025-01-08T22:14:59.099Z,1736374499.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:59.119Z,1736374499.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:14:59.125Z,1736374499.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T22:14:59.132Z,1736374499.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 86.868042 m, bearing: 113.329491 deg, approach rate: 0.254557 m/s, LOS rate: 0.393270 deg/s, cmd heading: 12.976062 deg, new cmd heading: 13.468548 deg. 2025-01-08T22:14:59.133Z,1736374499.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.235070 target range: 287.399994 and range: 287.40 m. 2025-01-08T22:14:59.297Z,1736374499.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:59.300Z,1736374499.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760000 2025-01-08T22:14:59.509Z,1736374499.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:59.518Z,1736374499.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T22:14:59.537Z,1736374499.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 86.985168 m, bearing: 113.495422 deg, approach rate: 0.298442 m/s, LOS rate: 0.422228 deg/s, cmd heading: 13.468547 deg, new cmd heading: 13.965657 deg. 2025-01-08T22:14:59.538Z,1736374499.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.243747 target range: 287.399994 and range: 287.40 m. 2025-01-08T22:14:59.548Z,1736374499.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:59.549Z,1736374499.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009884 2025-01-08T22:14:59.800Z,1736374499.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:14:59.800Z,1736374499.800 [DAT](INFO): DAT read: Rx Time:22:14:58.4859 2025-01-08T22:14:59.801Z,1736374499.801 [DAT](INFO): Rx dataTimestamp_ set to:1736374499.800679 2025-01-08T22:14:59.801Z,1736374499.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262637 2025-01-08T22:14:59.899Z,1736374499.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:14:59.908Z,1736374499.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m. 2025-01-08T22:14:59.910Z,1736374499.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 287.399994 m, nav range: 87.092209 m, bearing: 113.654695 deg, approach rate: 0.274780 m/s, LOS rate: 0.408361 deg/s, cmd heading: 13.965657 deg, new cmd heading: 14.442877 deg. 2025-01-08T22:14:59.911Z,1736374499.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.252076 target range: 287.399994 and range: 287.40 m. 2025-01-08T22:15:00.052Z,1736374500.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:00.052Z,1736374500.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513549 2025-01-08T22:15:00.305Z,1736374500.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:00.348Z,1736374500.348 [DAT](INFO): DAT read: 22:14:58.4859 LVL= 19952, 30561, 30450, 32755, AGC= 65, IDX= 421, 0.27, 2.524, 1.688, 0.735, 1.634, PHS= 0.978, 0.101,-0.902, RAW= 57.8, -2.2, CAL= 61.3, -6.1, ROT= 88.7, 6.1 2025-01-08T22:15:00.349Z,1736374500.349 [DAT](INFO): got valid direction response: 22:14:58.4859 LVL= 19952, 30561, 30450, 32755, AGC= 65, IDX= 421, 0.27, 2.524, 1.688, 0.735, 1.634, PHS= 0.978, 0.101,-0.902, RAW= 57.8, -2.2, CAL= 61.3, -6.1, ROT= 88.7, 6.1 2025-01-08T22:15:00.350Z,1736374500.350 [DAT](INFO): DAT read: Bearing 88.7, 6.1 (Local) 2025-01-08T22:15:00.351Z,1736374500.351 [DAT](INFO): Local bearing/azimuth received: Bearing 88.7, 6.1 (Local) 2025-01-08T22:15:00.360Z,1736374500.360 [DAT](INFO): DAT read: Range 10 to 50 : 286.4 m (Round-trip 381.9 ms) speed -0.2 m/s 2025-01-08T22:15:00.361Z,1736374500.361 [DAT](INFO): DAT read: user:2429> 2025-01-08T22:15:00.362Z,1736374500.362 [DAT](INFO): DAT read: Tx time:22:14:59.5983 2025-01-08T22:15:00.362Z,1736374500.362 [DAT](INFO): Ping request sent. 2025-01-08T22:15:00.362Z,1736374500.362 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:00.363Z,1736374500.363 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:00.368Z,1736374500.368 [DAT](INFO): direction in FSK: [0.016243,0.603753,0.797006] 2025-01-08T22:15:00.368Z,1736374500.368 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:00.368Z,1736374500.368 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:00.376Z,1736374500.376 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:00.376Z,1736374500.376 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:00.412Z,1736374500.412 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:15:00.442Z,1736374500.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:00.478Z,1736374500.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 286.399994 m, deltaT: 3.785608 s, deltaX: -1.000000 m, approachRate: -0.264158 m/s, rangeRepo size: 4 2025-01-08T22:15:00.485Z,1736374500.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 286.399994 m, bearing: 105.670526 deg, lat: 36.903801 deg, lon: -122.121029 deg, deltaT: 3.785608 s, deltaX: -1.000000 m, approachRate: -0.264158 m/s, posRepo size: 4 2025-01-08T22:15:00.485Z,1736374500.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.40 m. 2025-01-08T22:15:00.492Z,1736374500.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 286.399994 m, nav range: 117.539680 m, bearing: 107.485976 deg, approach rate: 0.000000 m/s, LOS rate: 0.408361 deg/s, cmd heading: 14.442877 deg, new cmd heading: 15.141023 deg. 2025-01-08T22:15:00.493Z,1736374500.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.264261 target range: 286.399994 and range: 286.40 m. 2025-01-08T22:15:00.557Z,1736374500.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:00.558Z,1736374500.558 [DAT](INFO): DAT read: TxSync time:22:14:59.5975 2025-01-08T22:15:00.786Z,1736374500.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:00.803Z,1736374500.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.40 m. 2025-01-08T22:15:00.808Z,1736374500.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:00.811Z,1736374500.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 286.399994 m, nav range: 117.609695 m, bearing: 107.596580 deg, approach rate: 0.215237 m/s, LOS rate: 0.339811 deg/s, cmd heading: 15.141023 deg, new cmd heading: 15.472634 deg. 2025-01-08T22:15:00.816Z,1736374500.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.270048 target range: 286.399994 and range: 286.40 m. 2025-01-08T22:15:01.060Z,1736374501.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:01.188Z,1736374501.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:01.196Z,1736374501.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:01.198Z,1736374501.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.40 m. 2025-01-08T22:15:01.201Z,1736374501.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 286.399994 m, nav range: 117.689178 m, bearing: 107.725579 deg, approach rate: 0.201151 m/s, LOS rate: 0.326241 deg/s, cmd heading: 15.472634 deg, new cmd heading: 15.859362 deg. 2025-01-08T22:15:01.202Z,1736374501.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.276798 target range: 286.399994 and range: 286.40 m. 2025-01-08T22:15:01.315Z,1736374501.315 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:01.316Z,1736374501.316 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:01.317Z,1736374501.317 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:01.318Z,1736374501.318 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:01.416Z,1736374501.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:15:01.564Z,1736374501.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:01.564Z,1736374501.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.201925 2025-01-08T22:15:01.622Z,1736374501.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:01.654Z,1736374501.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.40 m. 2025-01-08T22:15:01.668Z,1736374501.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 286.399994 m, nav range: 117.776711 m, bearing: 107.864707 deg, approach rate: 0.191952 m/s, LOS rate: 0.304872 deg/s, cmd heading: 15.859363 deg, new cmd heading: 16.276429 deg. 2025-01-08T22:15:01.669Z,1736374501.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.284077 target range: 286.399994 and range: 286.40 m. 2025-01-08T22:15:01.816Z,1736374501.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:01.816Z,1736374501.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.453957 2025-01-08T22:15:02.068Z,1736374502.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:02.069Z,1736374502.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706098 2025-01-08T22:15:02.082Z,1736374502.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:02.093Z,1736374502.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.40 m. 2025-01-08T22:15:02.096Z,1736374502.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 286.399994 m, nav range: 117.867287 m, bearing: 108.012476 deg, approach rate: 0.206121 m/s, LOS rate: 0.336014 deg/s, cmd heading: 16.276430 deg, new cmd heading: 16.719386 deg. 2025-01-08T22:15:02.097Z,1736374502.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.291808 target range: 286.399994 and range: 286.40 m. 2025-01-08T22:15:02.326Z,1736374502.326 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:02.330Z,1736374502.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966866 2025-01-08T22:15:02.510Z,1736374502.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:02.518Z,1736374502.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.40 m. 2025-01-08T22:15:02.521Z,1736374502.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 286.399994 m, nav range: 117.936615 m, bearing: 108.149709 deg, approach rate: 0.163051 m/s, LOS rate: 0.322563 deg/s, cmd heading: 16.719386 deg, new cmd heading: 17.130835 deg. 2025-01-08T22:15:02.522Z,1736374502.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.298989 target range: 286.399994 and range: 286.40 m. 2025-01-08T22:15:02.577Z,1736374502.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:02.578Z,1736374502.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215337 2025-01-08T22:15:02.828Z,1736374502.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:02.829Z,1736374502.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466154 2025-01-08T22:15:02.955Z,1736374502.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:02.963Z,1736374502.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.40 m. 2025-01-08T22:15:02.966Z,1736374502.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 286.399994 m, nav range: 118.004204 m, bearing: 108.292784 deg, approach rate: 0.152049 m/s, LOS rate: 0.321681 deg/s, cmd heading: 17.130835 deg, new cmd heading: 17.559807 deg. 2025-01-08T22:15:02.970Z,1736374502.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.306476 target range: 286.399994 and range: 286.40 m. 2025-01-08T22:15:03.080Z,1736374503.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:03.080Z,1736374503.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717978 2025-01-08T22:15:03.334Z,1736374503.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:03.336Z,1736374503.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973535 2025-01-08T22:15:03.455Z,1736374503.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:03.463Z,1736374503.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:03.465Z,1736374503.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.40 m. 2025-01-08T22:15:03.484Z,1736374503.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 286.399994 m, nav range: 118.058815 m, bearing: 108.454478 deg, approach rate: 0.108707 m/s, LOS rate: 0.321713 deg/s, cmd heading: 17.559807 deg, new cmd heading: 18.044651 deg. 2025-01-08T22:15:03.491Z,1736374503.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.314939 target range: 286.399994 and range: 286.40 m. 2025-01-08T22:15:03.584Z,1736374503.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:03.585Z,1736374503.585 [DAT](INFO): DAT read: Rx Time:22:15:02.3838 2025-01-08T22:15:03.585Z,1736374503.585 [DAT](INFO): Rx dataTimestamp_ set to:1736374503.584733 2025-01-08T22:15:03.586Z,1736374503.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223593 2025-01-08T22:15:03.768Z,1736374503.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:03.778Z,1736374503.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.40 m. 2025-01-08T22:15:03.781Z,1736374503.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 286.399994 m, nav range: 118.091599 m, bearing: 108.555749 deg, approach rate: 0.104863 m/s, LOS rate: 0.323840 deg/s, cmd heading: 18.044651 deg, new cmd heading: 18.348375 deg. 2025-01-08T22:15:03.782Z,1736374503.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.320240 target range: 286.399994 and range: 286.40 m. 2025-01-08T22:15:03.836Z,1736374503.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:03.837Z,1736374503.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474111 2025-01-08T22:15:04.088Z,1736374504.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:04.098Z,1736374504.098 [DAT](INFO): DAT read: 22:15:02.3838 LVL= 16944, 27441, 21602, 26435, AGC= 67, IDX= 416,-0.20,-2.957, 2.038, 1.505, 2.197, PHS= 1.218,-0.112,-0.695, RAW= 72.7, -4.9, CAL= 80.9, -11.3, ROT= 69.1, 11.3 2025-01-08T22:15:04.099Z,1736374504.099 [DAT](INFO): got valid direction response: 22:15:02.3838 LVL= 16944, 27441, 21602, 26435, AGC= 67, IDX= 416,-0.20,-2.957, 2.038, 1.505, 2.197, PHS= 1.218,-0.112,-0.695, RAW= 72.7, -4.9, CAL= 80.9, -11.3, ROT= 69.1, 11.3 2025-01-08T22:15:04.100Z,1736374504.100 [DAT](INFO): DAT read: Bearing 69.1, 11.3 (Local) 2025-01-08T22:15:04.100Z,1736374504.100 [DAT](INFO): Local bearing/azimuth received: Bearing 69.1, 11.3 (Local) 2025-01-08T22:15:04.102Z,1736374504.102 [DAT](INFO): DAT read: Range 10 to 50 : 285.9 m (Round-trip 381.3 ms) speed 0.0 m/s 2025-01-08T22:15:04.103Z,1736374504.103 [DAT](INFO): DAT read: user:2430> 2025-01-08T22:15:04.104Z,1736374504.104 [DAT](INFO): DAT read: Tx time:22:15:03.4984 2025-01-08T22:15:04.104Z,1736374504.104 [DAT](INFO): Ping request sent. 2025-01-08T22:15:04.104Z,1736374504.104 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:04.104Z,1736374504.104 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:04.105Z,1736374504.105 [DAT](INFO): direction in FSK: [0.037591,0.386269,0.921620] 2025-01-08T22:15:04.106Z,1736374504.106 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:04.106Z,1736374504.106 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:04.111Z,1736374504.111 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:04.112Z,1736374504.112 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:04.220Z,1736374504.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:04.284Z,1736374504.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 285.899994 m, deltaT: 3.782102 s, deltaX: -0.500000 m, approachRate: -0.132202 m/s, rangeRepo size: 4 2025-01-08T22:15:04.293Z,1736374504.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 285.899994 m, bearing: 121.267212 deg, lat: 36.903836 deg, lon: -122.121029 deg, deltaT: 3.782102 s, deltaX: -0.500000 m, approachRate: -0.132202 m/s, posRepo size: 4 2025-01-08T22:15:04.293Z,1736374504.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m. 2025-01-08T22:15:04.300Z,1736374504.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.899994 m, nav range: 116.954193 m, bearing: 106.906843 deg, approach rate: 0.000000 m/s, LOS rate: 0.323840 deg/s, cmd heading: 18.348376 deg, new cmd heading: 18.831481 deg. 2025-01-08T22:15:04.301Z,1736374504.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328671 target range: 285.899994 and range: 285.90 m. 2025-01-08T22:15:04.342Z,1736374504.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:04.345Z,1736374504.345 [DAT](INFO): DAT read: TxSync time:22:15:03.4976 2025-01-08T22:15:04.592Z,1736374504.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:04.674Z,1736374504.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:04.691Z,1736374504.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m. 2025-01-08T22:15:04.698Z,1736374504.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.899994 m, nav range: 116.977455 m, bearing: 107.055072 deg, approach rate: 0.056046 m/s, LOS rate: 0.357058 deg/s, cmd heading: 18.831480 deg, new cmd heading: 19.276069 deg. 2025-01-08T22:15:04.699Z,1736374504.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.336431 target range: 285.899994 and range: 285.90 m. 2025-01-08T22:15:04.844Z,1736374504.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:05.003Z,1736374505.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:05.036Z,1736374505.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m. 2025-01-08T22:15:05.038Z,1736374505.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.899994 m, nav range: 116.992905 m, bearing: 107.162368 deg, approach rate: 0.044827 m/s, LOS rate: 0.311281 deg/s, cmd heading: 19.276069 deg, new cmd heading: 19.597911 deg. 2025-01-08T22:15:05.040Z,1736374505.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342048 target range: 285.899994 and range: 285.90 m. 2025-01-08T22:15:05.097Z,1736374505.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:05.348Z,1736374505.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:05.497Z,1736374505.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:05.504Z,1736374505.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:05.506Z,1736374505.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m. 2025-01-08T22:15:05.510Z,1736374505.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.899994 m, nav range: 117.000946 m, bearing: 107.326462 deg, approach rate: 0.017077 m/s, LOS rate: 0.348460 deg/s, cmd heading: 19.597911 deg, new cmd heading: 20.090146 deg. 2025-01-08T22:15:05.511Z,1736374505.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.350639 target range: 285.899994 and range: 285.90 m. 2025-01-08T22:15:05.600Z,1736374505.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:05.600Z,1736374505.600 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:05.600Z,1736374505.600 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:05.601Z,1736374505.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:05.854Z,1736374505.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:05.854Z,1736374505.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750285 2025-01-08T22:15:05.921Z,1736374505.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:05.939Z,1736374505.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m. 2025-01-08T22:15:05.946Z,1736374505.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.899994 m, nav range: 117.000122 m, bearing: 107.467101 deg, approach rate: -0.001903 m/s, LOS rate: 0.324738 deg/s, cmd heading: 20.090146 deg, new cmd heading: 20.512059 deg. 2025-01-08T22:15:05.947Z,1736374505.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.358003 target range: 285.899994 and range: 285.90 m. 2025-01-08T22:15:06.104Z,1736374506.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:06.105Z,1736374506.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000851 2025-01-08T22:15:06.313Z,1736374506.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:06.322Z,1736374506.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m. 2025-01-08T22:15:06.346Z,1736374506.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.899994 m, nav range: 116.997810 m, bearing: 107.596981 deg, approach rate: -0.006033 m/s, LOS rate: 0.338955 deg/s, cmd heading: 20.512059 deg, new cmd heading: 20.901700 deg. 2025-01-08T22:15:06.347Z,1736374506.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.364803 target range: 285.899994 and range: 285.90 m. 2025-01-08T22:15:06.356Z,1736374506.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:06.359Z,1736374506.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253790 2025-01-08T22:15:06.608Z,1736374506.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:06.609Z,1736374506.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504596 2025-01-08T22:15:06.848Z,1736374506.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:06.858Z,1736374506.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m. 2025-01-08T22:15:06.862Z,1736374506.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:06.863Z,1736374506.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758427 2025-01-08T22:15:06.865Z,1736374506.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.899994 m, nav range: 116.978798 m, bearing: 107.773688 deg, approach rate: -0.035575 m/s, LOS rate: 0.330700 deg/s, cmd heading: 20.901699 deg, new cmd heading: 21.431890 deg. 2025-01-08T22:15:06.865Z,1736374506.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.374057 target range: 285.899994 and range: 285.90 m. 2025-01-08T22:15:07.116Z,1736374507.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:07.117Z,1736374507.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012573 2025-01-08T22:15:07.235Z,1736374507.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:07.245Z,1736374507.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m. 2025-01-08T22:15:07.248Z,1736374507.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.899994 m, nav range: 116.965729 m, bearing: 107.901580 deg, approach rate: -0.033626 m/s, LOS rate: 0.329093 deg/s, cmd heading: 21.431889 deg, new cmd heading: 21.815603 deg. 2025-01-08T22:15:07.249Z,1736374507.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.380754 target range: 285.899994 and range: 285.90 m. 2025-01-08T22:15:07.368Z,1736374507.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:07.369Z,1736374507.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264407 2025-01-08T22:15:07.620Z,1736374507.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:07.621Z,1736374507.621 [DAT](INFO): DAT read: Rx Time:22:15:06.2833 2025-01-08T22:15:07.622Z,1736374507.622 [DAT](INFO): Rx dataTimestamp_ set to:1736374507.621367 2025-01-08T22:15:07.622Z,1736374507.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518092 2025-01-08T22:15:07.666Z,1736374507.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:07.710Z,1736374507.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:07.716Z,1736374507.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m. 2025-01-08T22:15:07.719Z,1736374507.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.899994 m, nav range: 116.951988 m, bearing: 108.044967 deg, approach rate: -0.029169 m/s, LOS rate: 0.304428 deg/s, cmd heading: 21.815604 deg, new cmd heading: 22.245807 deg. 2025-01-08T22:15:07.725Z,1736374507.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.388263 target range: 285.899994 and range: 285.90 m. 2025-01-08T22:15:07.872Z,1736374507.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:07.872Z,1736374507.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768277 2025-01-08T22:15:08.030Z,1736374508.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:08.038Z,1736374508.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m. 2025-01-08T22:15:08.041Z,1736374508.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.899994 m, nav range: 116.934105 m, bearing: 108.165738 deg, approach rate: -0.055517 m/s, LOS rate: 0.374978 deg/s, cmd heading: 22.245807 deg, new cmd heading: 22.608168 deg. 2025-01-08T22:15:08.042Z,1736374508.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.394587 target range: 285.899994 and range: 285.90 m. 2025-01-08T22:15:08.124Z,1736374508.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:08.131Z,1736374508.131 [DAT](INFO): DAT read: 22:15:06.2833 LVL= 16688, 31665, 27810, 32755, AGC= 65, IDX= 439,-0.39, 2.028, 0.472, 0.133, 0.751, PHS= 1.365,-0.231,-0.620, RAW= 79.4, -5.7, CAL= 88.2, -13.0, ROT= 61.8, 13.0 2025-01-08T22:15:08.132Z,1736374508.132 [DAT](INFO): got valid direction response: 22:15:06.2833 LVL= 16688, 31665, 27810, 32755, AGC= 65, IDX= 439,-0.39, 2.028, 0.472, 0.133, 0.751, PHS= 1.365,-0.231,-0.620, RAW= 79.4, -5.7, CAL= 88.2, -13.0, ROT= 61.8, 13.0 2025-01-08T22:15:08.133Z,1736374508.133 [DAT](INFO): DAT read: Bearing 61.8, 13.0 (Local) 2025-01-08T22:15:08.134Z,1736374508.134 [DAT](INFO): Local bearing/azimuth received: Bearing 61.8, 13.0 (Local) 2025-01-08T22:15:08.139Z,1736374508.139 [DAT](INFO): DAT read: Range 10 to 50 : 285.5 m (Round-trip 380.7 ms) speed 0.2 m/s 2025-01-08T22:15:08.151Z,1736374508.151 [DAT](INFO): DAT read: user:2431> 2025-01-08T22:15:08.156Z,1736374508.156 [DAT](INFO): DAT read: Tx time:22:15:07.3984 2025-01-08T22:15:08.157Z,1736374508.157 [DAT](INFO): Ping request sent. 2025-01-08T22:15:08.157Z,1736374508.157 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:08.157Z,1736374508.157 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:08.167Z,1736374508.167 [DAT](INFO): direction in FSK: [0.041001,0.279941,0.959141] 2025-01-08T22:15:08.172Z,1736374508.172 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:08.172Z,1736374508.172 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:08.181Z,1736374508.181 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:08.182Z,1736374508.182 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:08.377Z,1736374508.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:08.378Z,1736374508.378 [DAT](INFO): DAT read: TxSync time:22:15:07.3976 2025-01-08T22:15:08.577Z,1736374508.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:08.617Z,1736374508.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 285.500000 m, deltaT: 4.036630 s, deltaX: -0.399994 m, approachRate: -0.099091 m/s, rangeRepo size: 4 2025-01-08T22:15:08.624Z,1736374508.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 285.500000 m, bearing: 141.396745 deg, lat: 36.903886 deg, lon: -122.121029 deg, deltaT: 4.036630 s, deltaX: -0.399994 m, approachRate: -0.099091 m/s, posRepo size: 4 2025-01-08T22:15:08.625Z,1736374508.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.50 m. 2025-01-08T22:15:08.628Z,1736374508.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:08.632Z,1736374508.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.500000 m, nav range: 115.303436 m, bearing: 105.736324 deg, approach rate: 0.000000 m/s, LOS rate: 0.374978 deg/s, cmd heading: 22.608167 deg, new cmd heading: 23.259043 deg. 2025-01-08T22:15:08.633Z,1736374508.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.405947 target range: 285.500000 and range: 285.50 m. 2025-01-08T22:15:08.880Z,1736374508.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:09.062Z,1736374509.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:09.078Z,1736374509.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.50 m. 2025-01-08T22:15:09.082Z,1736374509.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.500000 m, nav range: 115.275665 m, bearing: 105.892904 deg, approach rate: -0.060344 m/s, LOS rate: 0.340317 deg/s, cmd heading: 23.259043 deg, new cmd heading: 23.728885 deg. 2025-01-08T22:15:09.083Z,1736374509.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414147 target range: 285.500000 and range: 285.50 m. 2025-01-08T22:15:09.132Z,1736374509.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:09.384Z,1736374509.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:09.397Z,1736374509.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:09.473Z,1736374509.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.50 m. 2025-01-08T22:15:09.489Z,1736374509.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.500000 m, nav range: 115.252838 m, bearing: 106.000852 deg, approach rate: -0.058562 m/s, LOS rate: 0.276992 deg/s, cmd heading: 23.728885 deg, new cmd heading: 24.052792 deg. 2025-01-08T22:15:09.490Z,1736374509.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419800 target range: 285.500000 and range: 285.50 m. 2025-01-08T22:15:09.636Z,1736374509.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:09.842Z,1736374509.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:09.849Z,1736374509.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:09.851Z,1736374509.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.50 m. 2025-01-08T22:15:09.854Z,1736374509.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.500000 m, nav range: 115.220718 m, bearing: 106.137783 deg, approach rate: -0.083674 m/s, LOS rate: 0.356809 deg/s, cmd heading: 24.052791 deg, new cmd heading: 24.463689 deg. 2025-01-08T22:15:09.855Z,1736374509.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426972 target range: 285.500000 and range: 285.50 m. 2025-01-08T22:15:09.888Z,1736374509.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:09.889Z,1736374509.889 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:09.889Z,1736374509.889 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:09.890Z,1736374509.890 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:10.140Z,1736374510.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:10.142Z,1736374510.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984843 2025-01-08T22:15:10.224Z,1736374510.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:10.241Z,1736374510.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.50 m. 2025-01-08T22:15:10.248Z,1736374510.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.500000 m, nav range: 115.190552 m, bearing: 106.262539 deg, approach rate: -0.077316 m/s, LOS rate: 0.319830 deg/s, cmd heading: 24.463689 deg, new cmd heading: 24.838048 deg. 2025-01-08T22:15:10.249Z,1736374510.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433506 target range: 285.500000 and range: 285.50 m. 2025-01-08T22:15:10.392Z,1736374510.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:10.393Z,1736374510.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235718 2025-01-08T22:15:10.644Z,1736374510.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:10.646Z,1736374510.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488280 2025-01-08T22:15:10.654Z,1736374510.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:10.694Z,1736374510.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.50 m. 2025-01-08T22:15:10.701Z,1736374510.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.500000 m, nav range: 115.164856 m, bearing: 106.400893 deg, approach rate: -0.056672 m/s, LOS rate: 0.305209 deg/s, cmd heading: 24.838048 deg, new cmd heading: 25.253196 deg. 2025-01-08T22:15:10.702Z,1736374510.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440751 target range: 285.500000 and range: 285.50 m. 2025-01-08T22:15:10.896Z,1736374510.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:10.896Z,1736374510.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739254 2025-01-08T22:15:11.000Z,1736374511.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:11.014Z,1736374511.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.50 m. 2025-01-08T22:15:11.016Z,1736374511.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.500000 m, nav range: 115.142540 m, bearing: 106.511298 deg, approach rate: -0.069892 m/s, LOS rate: 0.345846 deg/s, cmd heading: 25.253197 deg, new cmd heading: 25.584472 deg. 2025-01-08T22:15:11.017Z,1736374511.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446533 target range: 285.500000 and range: 285.50 m. 2025-01-08T22:15:11.148Z,1736374511.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:11.149Z,1736374511.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991462 2025-01-08T22:15:11.396Z,1736374511.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:11.400Z,1736374511.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:11.401Z,1736374511.401 [DAT](INFO): DAT read: Rx Time:22:15:10.1815 2025-01-08T22:15:11.401Z,1736374511.401 [DAT](INFO): Rx dataTimestamp_ set to:1736374511.400684 2025-01-08T22:15:11.401Z,1736374511.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244426 2025-01-08T22:15:11.428Z,1736374511.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.50 m. 2025-01-08T22:15:11.437Z,1736374511.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.500000 m, nav range: 115.116249 m, bearing: 106.637431 deg, approach rate: -0.063398 m/s, LOS rate: 0.304227 deg/s, cmd heading: 25.584471 deg, new cmd heading: 25.962952 deg. 2025-01-08T22:15:11.438Z,1736374511.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453139 target range: 285.500000 and range: 285.50 m. 2025-01-08T22:15:11.652Z,1736374511.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:11.653Z,1736374511.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496017 2025-01-08T22:15:11.831Z,1736374511.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:11.888Z,1736374511.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:11.897Z,1736374511.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.50 m. 2025-01-08T22:15:11.904Z,1736374511.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:11.912Z,1736374511.912 [DAT](INFO): DAT read: 22:15:10.1815 LVL= 17200, 32033, 22226, 28467, AGC= 68, IDX= 421, 0.07,-1.995, 2.727, 2.597,-3.101, PHS= 1.194,-0.408,-0.588, RAW= 84.7, -2.4, CAL= 92.4, -8.1, ROT= 57.6, 8.1 2025-01-08T22:15:11.913Z,1736374511.913 [DAT](INFO): got valid direction response: 22:15:10.1815 LVL= 17200, 32033, 22226, 28467, AGC= 68, IDX= 421, 0.07,-1.995, 2.727, 2.597,-3.101, PHS= 1.194,-0.408,-0.588, RAW= 84.7, -2.4, CAL= 92.4, -8.1, ROT= 57.6, 8.1 2025-01-08T22:15:11.914Z,1736374511.914 [DAT](INFO): DAT read: Bearing 57.6, 8.1 (Local) 2025-01-08T22:15:11.914Z,1736374511.914 [DAT](INFO): Local bearing/azimuth received: Bearing 57.6, 8.1 (Local) 2025-01-08T22:15:11.916Z,1736374511.916 [DAT](INFO): DAT read: Range 10 to 50 : 284.2 m (Round-trip 379.0 ms) speed 0.4 m/s 2025-01-08T22:15:11.917Z,1736374511.917 [DAT](INFO): DAT read: user:2432> 2025-01-08T22:15:11.918Z,1736374511.918 [DAT](INFO): DAT read: Tx time:22:15:11.2984 2025-01-08T22:15:11.918Z,1736374511.918 [DAT](INFO): Ping request sent. 2025-01-08T22:15:11.918Z,1736374511.918 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:11.918Z,1736374511.918 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:11.919Z,1736374511.919 [DAT](INFO): direction in FSK: [-0.031523,0.195030,0.980291] 2025-01-08T22:15:11.920Z,1736374511.920 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:11.920Z,1736374511.920 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:11.925Z,1736374511.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 285.500000 m, nav range: 115.096649 m, bearing: 106.773984 deg, approach rate: -0.042345 m/s, LOS rate: 0.295069 deg/s, cmd heading: 25.962953 deg, new cmd heading: 26.372674 deg. 2025-01-08T22:15:11.926Z,1736374511.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460290 target range: 285.500000 and range: 285.50 m. 2025-01-08T22:15:11.933Z,1736374511.933 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:11.934Z,1736374511.934 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:12.156Z,1736374512.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:12.157Z,1736374512.157 [DAT](INFO): DAT read: TxSync time:22:15:11.2976 2025-01-08T22:15:12.223Z,1736374512.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:12.253Z,1736374512.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 284.200012 m, deltaT: 3.779412 s, deltaX: -1.299988 m, approachRate: -0.343966 m/s, rangeRepo size: 4 2025-01-08T22:15:12.260Z,1736374512.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 284.200012 m, bearing: 195.005476 deg, lat: 36.903945 deg, lon: -122.121760 deg, deltaT: 3.779412 s, deltaX: -1.299988 m, approachRate: -0.343966 m/s, posRepo size: 4 2025-01-08T22:15:12.264Z,1736374512.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T22:15:12.266Z,1736374512.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 52.522587 m, bearing: 120.755024 deg, approach rate: 0.000000 m/s, LOS rate: 0.295069 deg/s, cmd heading: 26.372673 deg, new cmd heading: 26.692713 deg. 2025-01-08T22:15:12.268Z,1736374512.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.465876 target range: 284.200012 and range: 284.20 m. 2025-01-08T22:15:12.408Z,1736374512.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:12.646Z,1736374512.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:12.660Z,1736374512.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:12.686Z,1736374512.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T22:15:12.697Z,1736374512.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 52.574780 m, bearing: 121.041189 deg, approach rate: 0.120329 m/s, LOS rate: 0.659088 deg/s, cmd heading: 26.692712 deg, new cmd heading: 27.550288 deg. 2025-01-08T22:15:12.698Z,1736374512.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.480843 target range: 284.200012 and range: 284.20 m. 2025-01-08T22:15:12.913Z,1736374512.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:13.015Z,1736374513.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:13.024Z,1736374513.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T22:15:13.046Z,1736374513.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 52.618263 m, bearing: 121.290427 deg, approach rate: 0.129192 m/s, LOS rate: 0.739884 deg/s, cmd heading: 27.550289 deg, new cmd heading: 28.297342 deg. 2025-01-08T22:15:13.051Z,1736374513.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493882 target range: 284.200012 and range: 284.20 m. 2025-01-08T22:15:13.164Z,1736374513.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:13.416Z,1736374513.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:13.418Z,1736374513.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:13.427Z,1736374513.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T22:15:13.430Z,1736374513.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 52.665066 m, bearing: 121.562757 deg, approach rate: 0.115905 m/s, LOS rate: 0.673816 deg/s, cmd heading: 28.297342 deg, new cmd heading: 29.113548 deg. 2025-01-08T22:15:13.431Z,1736374513.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.508127 target range: 284.200012 and range: 284.20 m. 2025-01-08T22:15:13.668Z,1736374513.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:13.845Z,1736374513.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:13.854Z,1736374513.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T22:15:13.858Z,1736374513.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 52.723061 m, bearing: 121.864577 deg, approach rate: 0.135810 m/s, LOS rate: 0.706008 deg/s, cmd heading: 29.113548 deg, new cmd heading: 30.017931 deg. 2025-01-08T22:15:13.859Z,1736374513.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523912 target range: 284.200012 and range: 284.20 m. 2025-01-08T22:15:13.922Z,1736374513.922 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:14.172Z,1736374514.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:14.242Z,1736374514.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:14.249Z,1736374514.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:14.251Z,1736374514.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T22:15:14.253Z,1736374514.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 52.776440 m, bearing: 122.144049 deg, approach rate: 0.134504 m/s, LOS rate: 0.703497 deg/s, cmd heading: 30.017930 deg, new cmd heading: 30.855436 deg. 2025-01-08T22:15:14.254Z,1736374514.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.538529 target range: 284.200012 and range: 284.20 m. 2025-01-08T22:15:14.424Z,1736374514.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:14.425Z,1736374514.425 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:14.425Z,1736374514.425 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:14.425Z,1736374514.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:14.666Z,1736374514.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:14.677Z,1736374514.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:14.678Z,1736374514.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759183 2025-01-08T22:15:14.697Z,1736374514.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T22:15:14.703Z,1736374514.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 52.832962 m, bearing: 122.450401 deg, approach rate: 0.126539 m/s, LOS rate: 0.685105 deg/s, cmd heading: 30.855434 deg, new cmd heading: 31.773424 deg. 2025-01-08T22:15:14.712Z,1736374514.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554551 target range: 284.200012 and range: 284.20 m. 2025-01-08T22:15:14.928Z,1736374514.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:14.928Z,1736374514.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010367 2025-01-08T22:15:15.035Z,1736374515.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:15.060Z,1736374515.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T22:15:15.069Z,1736374515.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 52.881832 m, bearing: 122.717406 deg, approach rate: 0.141269 m/s, LOS rate: 0.771119 deg/s, cmd heading: 31.773422 deg, new cmd heading: 32.573643 deg. 2025-01-08T22:15:15.070Z,1736374515.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568517 target range: 284.200012 and range: 284.20 m. 2025-01-08T22:15:15.181Z,1736374515.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:15.181Z,1736374515.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263217 2025-01-08T22:15:15.432Z,1736374515.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:15.432Z,1736374515.432 [DAT](INFO): DAT read: Rx Time:22:15:14.0790 2025-01-08T22:15:15.433Z,1736374515.433 [DAT](INFO): Rx dataTimestamp_ set to:1736374515.432623 2025-01-08T22:15:15.433Z,1736374515.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515401 2025-01-08T22:15:15.445Z,1736374515.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:15.453Z,1736374515.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T22:15:15.457Z,1736374515.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 52.937378 m, bearing: 123.012967 deg, approach rate: 0.135488 m/s, LOS rate: 0.720177 deg/s, cmd heading: 32.573643 deg, new cmd heading: 33.459321 deg. 2025-01-08T22:15:15.458Z,1736374515.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583975 target range: 284.200012 and range: 284.20 m. 2025-01-08T22:15:15.684Z,1736374515.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:15.685Z,1736374515.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766658 2025-01-08T22:15:15.867Z,1736374515.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:15.877Z,1736374515.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.20 m. 2025-01-08T22:15:15.880Z,1736374515.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.200012 m, nav range: 52.989578 m, bearing: 123.322237 deg, approach rate: 0.123242 m/s, LOS rate: 0.729449 deg/s, cmd heading: 33.459321 deg, new cmd heading: 34.386132 deg. 2025-01-08T22:15:15.881Z,1736374515.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600151 target range: 284.200012 and range: 284.20 m. 2025-01-08T22:15:15.936Z,1736374515.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:15.945Z,1736374515.945 [DAT](INFO): DAT read: 22:15:14.0790 LVL= 17296, 32753, 24050, 31043, AGC= 63, IDX= 410,-0.19, 2.608, 0.936, 0.935, 1.566, PHS= 1.130,-0.584,-0.635, RAW= 88.5, 1.0, CAL= 95.7, -2.6, ROT= 54.3, 2.6 2025-01-08T22:15:15.946Z,1736374515.946 [DAT](INFO): got valid direction response: 22:15:14.0790 LVL= 17296, 32753, 24050, 31043, AGC= 63, IDX= 410,-0.19, 2.608, 0.936, 0.935, 1.566, PHS= 1.130,-0.584,-0.635, RAW= 88.5, 1.0, CAL= 95.7, -2.6, ROT= 54.3, 2.6 2025-01-08T22:15:15.947Z,1736374515.947 [DAT](INFO): DAT read: Bearing 54.3, 2.6 (Local) 2025-01-08T22:15:15.948Z,1736374515.948 [DAT](INFO): Local bearing/azimuth received: Bearing 54.3, 2.6 (Local) 2025-01-08T22:15:15.949Z,1736374515.949 [DAT](INFO): DAT read: Range 10 to 50 : 282.2 m (Round-trip 376.3 ms) speed 0.0 m/s 2025-01-08T22:15:15.950Z,1736374515.950 [DAT](INFO): DAT read: user:2433> 2025-01-08T22:15:15.951Z,1736374515.951 [DAT](INFO): DAT read: Tx time:22:15:15.1985 2025-01-08T22:15:15.951Z,1736374515.951 [DAT](INFO): Ping request sent. 2025-01-08T22:15:15.951Z,1736374515.951 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:15.952Z,1736374515.952 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:15.953Z,1736374515.953 [DAT](INFO): direction in FSK: [-0.102415,0.133646,0.985723] 2025-01-08T22:15:15.953Z,1736374515.953 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:15.953Z,1736374515.953 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:15.957Z,1736374515.957 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:15.957Z,1736374515.957 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:16.188Z,1736374516.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:16.190Z,1736374516.190 [DAT](INFO): DAT read: TxSync time:22:15:15.1977 2025-01-08T22:15:16.268Z,1736374516.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:16.293Z,1736374516.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 282.200012 m, deltaT: 4.032691 s, deltaX: -2.000000 m, approachRate: -0.495947 m/s, rangeRepo size: 4 2025-01-08T22:15:16.300Z,1736374516.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 282.200012 m, bearing: 231.485284 deg, lat: 36.903945 deg, lon: -122.122086 deg, deltaT: 4.032691 s, deltaX: -2.000000 m, approachRate: -0.495947 m/s, posRepo size: 4 2025-01-08T22:15:16.300Z,1736374516.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.20 m. 2025-01-08T22:15:16.303Z,1736374516.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.200012 m, nav range: 33.043354 m, bearing: 152.700116 deg, approach rate: 0.000000 m/s, LOS rate: 0.729449 deg/s, cmd heading: 34.386133 deg, new cmd heading: 35.295877 deg. 2025-01-08T22:15:16.308Z,1736374516.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616029 target range: 282.200012 and range: 282.20 m. 2025-01-08T22:15:16.441Z,1736374516.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:16.686Z,1736374516.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:16.692Z,1736374516.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:16.707Z,1736374516.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:16.713Z,1736374516.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.20 m. 2025-01-08T22:15:16.720Z,1736374516.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.200012 m, nav range: 33.229733 m, bearing: 153.095383 deg, approach rate: 0.443188 m/s, LOS rate: 0.934625 deg/s, cmd heading: 35.295877 deg, new cmd heading: 36.474852 deg. 2025-01-08T22:15:16.721Z,1736374516.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636606 target range: 282.200012 and range: 282.20 m. 2025-01-08T22:15:16.944Z,1736374516.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:16.944Z,1736374516.944 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:16.944Z,1736374516.944 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:16.945Z,1736374516.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:17.052Z,1736374517.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:17.077Z,1736374517.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.20 m. 2025-01-08T22:15:17.084Z,1736374517.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.200012 m, nav range: 33.392204 m, bearing: 153.441338 deg, approach rate: 0.446779 m/s, LOS rate: 0.946704 deg/s, cmd heading: 36.474853 deg, new cmd heading: 37.507551 deg. 2025-01-08T22:15:17.085Z,1736374517.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654630 target range: 282.200012 and range: 282.20 m. 2025-01-08T22:15:17.196Z,1736374517.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:17.196Z,1736374517.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245452 2025-01-08T22:15:17.448Z,1736374517.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:17.448Z,1736374517.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497218 2025-01-08T22:15:17.476Z,1736374517.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:17.486Z,1736374517.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.20 m. 2025-01-08T22:15:17.489Z,1736374517.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.200012 m, nav range: 33.579029 m, bearing: 153.841006 deg, approach rate: 0.456788 m/s, LOS rate: 0.971746 deg/s, cmd heading: 37.507550 deg, new cmd heading: 38.699702 deg. 2025-01-08T22:15:17.490Z,1736374517.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675437 target range: 282.200012 and range: 282.20 m. 2025-01-08T22:15:17.700Z,1736374517.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:17.701Z,1736374517.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750044 2025-01-08T22:15:17.888Z,1736374517.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:17.898Z,1736374517.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.20 m. 2025-01-08T22:15:17.901Z,1736374517.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.200012 m, nav range: 33.753597 m, bearing: 154.236652 deg, approach rate: 0.423803 m/s, LOS rate: 0.955542 deg/s, cmd heading: 38.699702 deg, new cmd heading: 39.880323 deg. 2025-01-08T22:15:17.901Z,1736374517.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696043 target range: 282.200012 and range: 282.20 m. 2025-01-08T22:15:17.952Z,1736374517.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:17.954Z,1736374517.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002602 2025-01-08T22:15:18.204Z,1736374518.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:18.204Z,1736374518.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253324 2025-01-08T22:15:18.279Z,1736374518.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:18.292Z,1736374518.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.20 m. 2025-01-08T22:15:18.294Z,1736374518.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.200012 m, nav range: 33.914730 m, bearing: 154.604385 deg, approach rate: 0.413551 m/s, LOS rate: 0.939306 deg/s, cmd heading: 39.880324 deg, new cmd heading: 40.978141 deg. 2025-01-08T22:15:18.299Z,1736374518.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715203 target range: 282.200012 and range: 282.20 m. 2025-01-08T22:15:18.460Z,1736374518.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:18.461Z,1736374518.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509597 2025-01-08T22:15:18.708Z,1736374518.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:18.712Z,1736374518.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:18.713Z,1736374518.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761496 2025-01-08T22:15:18.716Z,1736374518.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:18.718Z,1736374518.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.20 m. 2025-01-08T22:15:18.721Z,1736374518.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.200012 m, nav range: 34.090660 m, bearing: 155.030020 deg, approach rate: 0.408232 m/s, LOS rate: 0.982546 deg/s, cmd heading: 40.978140 deg, new cmd heading: 42.248234 deg. 2025-01-08T22:15:18.722Z,1736374518.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.737371 target range: 282.200012 and range: 282.20 m. 2025-01-08T22:15:18.964Z,1736374518.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:18.965Z,1736374518.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013525 2025-01-08T22:15:19.083Z,1736374519.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:19.096Z,1736374519.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.20 m. 2025-01-08T22:15:19.098Z,1736374519.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.200012 m, nav range: 34.240166 m, bearing: 155.396917 deg, approach rate: 0.396563 m/s, LOS rate: 0.968939 deg/s, cmd heading: 42.248234 deg, new cmd heading: 43.343979 deg. 2025-01-08T22:15:19.099Z,1736374519.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756495 target range: 282.200012 and range: 282.20 m. 2025-01-08T22:15:19.217Z,1736374519.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:19.218Z,1736374519.218 [DAT](INFO): DAT read: Rx Time:22:15:17.9775 2025-01-08T22:15:19.218Z,1736374519.218 [DAT](INFO): Rx dataTimestamp_ set to:1736374519.218182 2025-01-08T22:15:19.219Z,1736374519.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267980 2025-01-08T22:15:19.468Z,1736374519.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:19.468Z,1736374519.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517466 2025-01-08T22:15:19.483Z,1736374519.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:19.493Z,1736374519.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.20 m. 2025-01-08T22:15:19.496Z,1736374519.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.200012 m, nav range: 34.396980 m, bearing: 155.788226 deg, approach rate: 0.394396 m/s, LOS rate: 0.979665 deg/s, cmd heading: 43.343981 deg, new cmd heading: 44.512384 deg. 2025-01-08T22:15:19.497Z,1736374519.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.776888 target range: 282.200012 and range: 282.20 m. 2025-01-08T22:15:19.720Z,1736374519.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:19.727Z,1736374519.727 [DAT](INFO): DAT read: 22:15:17.9775 LVL= 19920, 32753, 29682, 32755, AGC= 64, IDX= 427, 0.32, 2.076, 0.494, 0.723, 1.172, PHS= 0.992,-0.631,-0.452, RAW= 95.8, 1.2, CAL= 104.7, -2.0, ROT= 45.3, 2.0 2025-01-08T22:15:19.728Z,1736374519.728 [DAT](INFO): got valid direction response: 22:15:17.9775 LVL= 19920, 32753, 29682, 32755, AGC= 64, IDX= 427, 0.32, 2.076, 0.494, 0.723, 1.172, PHS= 0.992,-0.631,-0.452, RAW= 95.8, 1.2, CAL= 104.7, -2.0, ROT= 45.3, 2.0 2025-01-08T22:15:19.729Z,1736374519.729 [DAT](INFO): DAT read: Bearing 45.3, 2.0 (Local) 2025-01-08T22:15:19.730Z,1736374519.730 [DAT](INFO): Local bearing/azimuth received: Bearing 45.3, 2.0 (Local) 2025-01-08T22:15:19.731Z,1736374519.731 [DAT](INFO): DAT read: Range 10 to 50 : 281.1 m (Round-trip 374.9 ms) speed 0.3 m/s 2025-01-08T22:15:19.732Z,1736374519.732 [DAT](INFO): DAT read: user:2434> 2025-01-08T22:15:19.733Z,1736374519.733 [DAT](INFO): DAT read: Tx time:22:15:19.0985 2025-01-08T22:15:19.733Z,1736374519.733 [DAT](INFO): Ping request sent. 2025-01-08T22:15:19.733Z,1736374519.733 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:19.733Z,1736374519.733 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:19.734Z,1736374519.734 [DAT](INFO): direction in FSK: [-0.116863,0.008277,0.993114] 2025-01-08T22:15:19.734Z,1736374519.734 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:19.735Z,1736374519.735 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:19.759Z,1736374519.759 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:19.759Z,1736374519.759 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:19.925Z,1736374519.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:19.940Z,1736374519.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 281.100006 m, deltaT: 3.783239 s, deltaX: -1.100006 m, approachRate: -0.290758 m/s, rangeRepo size: 4 2025-01-08T22:15:19.942Z,1736374519.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 281.100006 m, bearing: 268.302712 deg, lat: 36.903953 deg, lon: -122.122348 deg, deltaT: 3.783239 s, deltaX: -1.100006 m, approachRate: -0.290758 m/s, posRepo size: 4 2025-01-08T22:15:19.943Z,1736374519.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m. 2025-01-08T22:15:19.946Z,1736374519.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 281.100006 m, nav range: 32.185516 m, bearing: 196.962320 deg, approach rate: 0.000000 m/s, LOS rate: 0.979665 deg/s, cmd heading: 44.512384 deg, new cmd heading: 45.821955 deg. 2025-01-08T22:15:19.947Z,1736374519.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.799744 target range: 281.100006 and range: 281.10 m. 2025-01-08T22:15:19.972Z,1736374519.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:19.973Z,1736374519.973 [DAT](INFO): DAT read: TxSync time:22:15:19.0977 2025-01-08T22:15:20.225Z,1736374520.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:20.326Z,1736374520.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:20.335Z,1736374520.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m. 2025-01-08T22:15:20.338Z,1736374520.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 281.100006 m, nav range: 32.456509 m, bearing: 197.107176 deg, approach rate: 0.683575 m/s, LOS rate: 0.362345 deg/s, cmd heading: 45.821953 deg, new cmd heading: 46.252883 deg. 2025-01-08T22:15:20.339Z,1736374520.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807265 target range: 281.100006 and range: 281.10 m. 2025-01-08T22:15:20.476Z,1736374520.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:20.716Z,1736374520.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:20.724Z,1736374520.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:20.726Z,1736374520.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m. 2025-01-08T22:15:20.728Z,1736374520.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:20.728Z,1736374520.728 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:20.729Z,1736374520.729 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:20.729Z,1736374520.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:20.733Z,1736374520.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 281.100006 m, nav range: 32.715988 m, bearing: 197.270726 deg, approach rate: 0.664342 m/s, LOS rate: 0.415413 deg/s, cmd heading: 46.252883 deg, new cmd heading: 46.739629 deg. 2025-01-08T22:15:20.734Z,1736374520.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815760 target range: 281.100006 and range: 281.10 m. 2025-01-08T22:15:20.980Z,1736374520.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:20.980Z,1736374520.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247359 2025-01-08T22:15:21.110Z,1736374521.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:21.118Z,1736374521.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m. 2025-01-08T22:15:21.121Z,1736374521.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 281.100006 m, nav range: 32.976616 m, bearing: 197.440521 deg, approach rate: 0.663516 m/s, LOS rate: 0.428854 deg/s, cmd heading: 46.739630 deg, new cmd heading: 47.244976 deg. 2025-01-08T22:15:21.122Z,1736374521.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824580 target range: 281.100006 and range: 281.10 m. 2025-01-08T22:15:21.232Z,1736374521.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:21.233Z,1736374521.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499877 2025-01-08T22:15:21.484Z,1736374521.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:21.484Z,1736374521.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751416 2025-01-08T22:15:21.527Z,1736374521.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:21.535Z,1736374521.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m. 2025-01-08T22:15:21.538Z,1736374521.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 281.100006 m, nav range: 33.250462 m, bearing: 197.626242 deg, approach rate: 0.657461 m/s, LOS rate: 0.442214 deg/s, cmd heading: 47.244975 deg, new cmd heading: 47.797531 deg. 2025-01-08T22:15:21.539Z,1736374521.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834224 target range: 281.100006 and range: 281.10 m. 2025-01-08T22:15:21.736Z,1736374521.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:21.737Z,1736374521.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003586 2025-01-08T22:15:21.940Z,1736374521.940 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-2768,-32768,V 2025-01-08T22:15:21.948Z,1736374521.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:15:21.948Z,1736374521.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:21.984Z,1736374521.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m. 2025-01-08T22:15:21.988Z,1736374521.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:21.988Z,1736374521.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255455 2025-01-08T22:15:21.991Z,1736374521.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 281.100006 m, nav range: 33.527348 m, bearing: 197.810705 deg, approach rate: 0.615940 m/s, LOS rate: 0.406954 deg/s, cmd heading: 47.797531 deg, new cmd heading: 48.346333 deg. 2025-01-08T22:15:21.992Z,1736374521.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.843803 target range: 281.100006 and range: 281.10 m. 2025-01-08T22:15:22.240Z,1736374522.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:22.241Z,1736374522.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507590 2025-01-08T22:15:22.466Z,1736374522.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:15:22.466Z,1736374522.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:22.476Z,1736374522.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m. 2025-01-08T22:15:22.478Z,1736374522.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 281.100006 m, nav range: 33.863487 m, bearing: 198.056436 deg, approach rate: 0.684821 m/s, LOS rate: 0.495659 deg/s, cmd heading: 48.346333 deg, new cmd heading: 49.076165 deg. 2025-01-08T22:15:22.479Z,1736374522.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.856541 target range: 281.100006 and range: 281.10 m. 2025-01-08T22:15:22.492Z,1736374522.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:22.493Z,1736374522.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759508 2025-01-08T22:15:22.744Z,1736374522.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:22.745Z,1736374522.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011485 2025-01-08T22:15:22.805Z,1736374522.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:22.821Z,1736374522.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:22.828Z,1736374522.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m. 2025-01-08T22:15:22.831Z,1736374522.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 281.100006 m, nav range: 34.064377 m, bearing: 198.223470 deg, approach rate: 0.578377 m/s, LOS rate: 0.478070 deg/s, cmd heading: 49.076166 deg, new cmd heading: 49.574302 deg. 2025-01-08T22:15:22.841Z,1736374522.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.865235 target range: 281.100006 and range: 281.10 m. 2025-01-08T22:15:22.996Z,1736374522.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:22.997Z,1736374522.997 [DAT](INFO): DAT read: Rx Time:22:15:21.8754 2025-01-08T22:15:22.997Z,1736374522.997 [DAT](INFO): Rx dataTimestamp_ set to:1736374522.996814 2025-01-08T22:15:22.998Z,1736374522.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264599 2025-01-08T22:15:23.173Z,1736374523.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:23.181Z,1736374523.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m. 2025-01-08T22:15:23.184Z,1736374523.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 281.100006 m, nav range: 34.280499 m, bearing: 198.410324 deg, approach rate: 0.602665 m/s, LOS rate: 0.517764 deg/s, cmd heading: 49.574302 deg, new cmd heading: 50.131311 deg. 2025-01-08T22:15:23.185Z,1736374523.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874956 target range: 281.100006 and range: 281.10 m. 2025-01-08T22:15:23.249Z,1736374523.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:23.250Z,1736374523.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516713 2025-01-08T22:15:23.500Z,1736374523.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:23.500Z,1736374523.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767346 2025-01-08T22:15:23.705Z,1736374523.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:23.722Z,1736374523.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.10 m. 2025-01-08T22:15:23.729Z,1736374523.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 281.100006 m, nav range: 34.593384 m, bearing: 198.676160 deg, approach rate: 0.578783 m/s, LOS rate: 0.487299 deg/s, cmd heading: 50.131311 deg, new cmd heading: 50.921550 deg. 2025-01-08T22:15:23.730Z,1736374523.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.888749 target range: 281.100006 and range: 281.10 m. 2025-01-08T22:15:23.752Z,1736374523.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:23.760Z,1736374523.760 [DAT](INFO): DAT read: 22:15:21.8754 LVL= 32336, 32753, 32754, 32755, AGC= 66, IDX= 422, 0.14,-0.082,-1.434,-1.073,-0.788, PHS= 0.794,-0.599,-0.288, RAW= 102.3, 1.5, CAL= 112.6, -1.8, ROT= 37.4, 1.8 2025-01-08T22:15:23.761Z,1736374523.761 [DAT](INFO): got valid direction response: 22:15:21.8754 LVL= 32336, 32753, 32754, 32755, AGC= 66, IDX= 422, 0.14,-0.082,-1.434,-1.073,-0.788, PHS= 0.794,-0.599,-0.288, RAW= 102.3, 1.5, CAL= 112.6, -1.8, ROT= 37.4, 1.8 2025-01-08T22:15:23.762Z,1736374523.762 [DAT](INFO): DAT read: Bearing 37.4, 1.8 (Local) 2025-01-08T22:15:23.762Z,1736374523.762 [DAT](INFO): Local bearing/azimuth received: Bearing 37.4, 1.8 (Local) 2025-01-08T22:15:23.764Z,1736374523.764 [DAT](INFO): DAT read: Range 10 to 50 : 279.6 m (Round-trip 372.8 ms) speed 0.5 m/s 2025-01-08T22:15:23.765Z,1736374523.765 [DAT](INFO): DAT read: user:2435> 2025-01-08T22:15:23.766Z,1736374523.766 [DAT](INFO): DAT read: Tx time:22:15:22.9985 2025-01-08T22:15:23.766Z,1736374523.766 [DAT](INFO): Ping request sent. 2025-01-08T22:15:23.766Z,1736374523.766 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:23.766Z,1736374523.766 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:23.768Z,1736374523.768 [DAT](INFO): direction in FSK: [-0.131550,-0.106032,0.985623] 2025-01-08T22:15:23.768Z,1736374523.768 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:23.769Z,1736374523.769 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:23.780Z,1736374523.780 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:23.780Z,1736374523.780 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:24.009Z,1736374524.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:24.010Z,1736374524.010 [DAT](INFO): DAT read: TxSync time:22:15:22.9977 2025-01-08T22:15:24.110Z,1736374524.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:24.142Z,1736374524.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 279.600006 m, deltaT: 4.032283 s, deltaX: -1.500000 m, approachRate: -0.371998 m/s, rangeRepo size: 4 2025-01-08T22:15:24.148Z,1736374524.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 279.600006 m, bearing: 288.537818 deg, lat: 36.903976 deg, lon: -122.122659 deg, deltaT: 4.032283 s, deltaX: -1.500000 m, approachRate: -0.371998 m/s, posRepo size: 4 2025-01-08T22:15:24.149Z,1736374524.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.60 m. 2025-01-08T22:15:24.156Z,1736374524.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.600006 m, nav range: 49.394302 m, bearing: 232.023086 deg, approach rate: 0.000000 m/s, LOS rate: 0.487299 deg/s, cmd heading: 50.921550 deg, new cmd heading: 51.534115 deg. 2025-01-08T22:15:24.157Z,1736374524.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899440 target range: 279.600006 and range: 279.60 m. 2025-01-08T22:15:24.256Z,1736374524.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:24.455Z,1736374524.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:24.466Z,1736374524.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.60 m. 2025-01-08T22:15:24.469Z,1736374524.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.600006 m, nav range: 49.613739 m, bearing: 232.012818 deg, approach rate: 0.674225 m/s, LOS rate: -0.031410 deg/s, cmd heading: 51.534115 deg, new cmd heading: 51.503446 deg. 2025-01-08T22:15:24.470Z,1736374524.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.898905 target range: 279.600006 and range: 279.60 m. 2025-01-08T22:15:24.508Z,1736374524.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:24.760Z,1736374524.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:24.902Z,1736374524.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:24.910Z,1736374524.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:24.913Z,1736374524.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.60 m. 2025-01-08T22:15:24.915Z,1736374524.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.600006 m, nav range: 49.891582 m, bearing: 232.000881 deg, approach rate: 0.622609 m/s, LOS rate: -0.026600 deg/s, cmd heading: 51.503448 deg, new cmd heading: 51.467837 deg. 2025-01-08T22:15:24.916Z,1736374524.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.898283 target range: 279.600006 and range: 279.60 m. 2025-01-08T22:15:25.012Z,1736374525.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:25.012Z,1736374525.012 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:25.012Z,1736374525.012 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:25.013Z,1736374525.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:25.264Z,1736374525.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:25.264Z,1736374525.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498191 2025-01-08T22:15:25.300Z,1736374525.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:25.319Z,1736374525.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.60 m. 2025-01-08T22:15:25.322Z,1736374525.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.600006 m, nav range: 50.136868 m, bearing: 231.990453 deg, approach rate: 0.609299 m/s, LOS rate: -0.025777 deg/s, cmd heading: 51.467839 deg, new cmd heading: 51.436708 deg. 2025-01-08T22:15:25.323Z,1736374525.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.897740 target range: 279.600006 and range: 279.60 m. 2025-01-08T22:15:25.516Z,1736374525.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:25.517Z,1736374525.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750549 2025-01-08T22:15:25.756Z,1736374525.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:25.768Z,1736374525.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:25.768Z,1736374525.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002376 2025-01-08T22:15:25.786Z,1736374525.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.60 m. 2025-01-08T22:15:25.793Z,1736374525.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.600006 m, nav range: 50.407501 m, bearing: 231.978415 deg, approach rate: 0.575420 m/s, LOS rate: -0.025457 deg/s, cmd heading: 51.436707 deg, new cmd heading: 51.400787 deg. 2025-01-08T22:15:25.794Z,1736374525.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.897113 target range: 279.600006 and range: 279.60 m. 2025-01-08T22:15:26.021Z,1736374526.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:26.022Z,1736374526.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255758 2025-01-08T22:15:26.109Z,1736374526.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:26.117Z,1736374526.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.60 m. 2025-01-08T22:15:26.120Z,1736374526.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.600006 m, nav range: 50.615837 m, bearing: 231.971812 deg, approach rate: 0.627707 m/s, LOS rate: -0.019812 deg/s, cmd heading: 51.400787 deg, new cmd heading: 51.381060 deg. 2025-01-08T22:15:26.121Z,1736374526.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896769 target range: 279.600006 and range: 279.60 m. 2025-01-08T22:15:26.272Z,1736374526.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:26.273Z,1736374526.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506500 2025-01-08T22:15:26.524Z,1736374526.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:26.525Z,1736374526.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758391 2025-01-08T22:15:26.565Z,1736374526.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:26.594Z,1736374526.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.60 m. 2025-01-08T22:15:26.601Z,1736374526.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.600006 m, nav range: 50.885193 m, bearing: 231.966135 deg, approach rate: 0.564688 m/s, LOS rate: -0.011840 deg/s, cmd heading: 51.381061 deg, new cmd heading: 51.364118 deg. 2025-01-08T22:15:26.602Z,1736374526.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896473 target range: 279.600006 and range: 279.60 m. 2025-01-08T22:15:26.776Z,1736374526.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:26.777Z,1736374526.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010398 2025-01-08T22:15:26.954Z,1736374526.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:26.962Z,1736374526.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:26.965Z,1736374526.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.60 m. 2025-01-08T22:15:26.967Z,1736374526.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.600006 m, nav range: 51.105949 m, bearing: 231.949225 deg, approach rate: 0.596314 m/s, LOS rate: -0.045480 deg/s, cmd heading: 51.364119 deg, new cmd heading: 51.313609 deg. 2025-01-08T22:15:26.968Z,1736374526.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.895591 target range: 279.600006 and range: 279.60 m. 2025-01-08T22:15:27.028Z,1736374527.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:27.029Z,1736374527.029 [DAT](INFO): DAT read: Rx Time:22:15:25.7925 2025-01-08T22:15:27.029Z,1736374527.029 [DAT](INFO): Rx dataTimestamp_ set to:1736374527.028743 2025-01-08T22:15:27.030Z,1736374527.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263443 2025-01-08T22:15:27.280Z,1736374527.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:27.280Z,1736374527.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514374 2025-01-08T22:15:27.356Z,1736374527.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:27.374Z,1736374527.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.60 m. 2025-01-08T22:15:27.382Z,1736374527.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.600006 m, nav range: 51.333950 m, bearing: 231.934995 deg, approach rate: 0.558222 m/s, LOS rate: -0.034685 deg/s, cmd heading: 51.313610 deg, new cmd heading: 51.271109 deg. 2025-01-08T22:15:27.383Z,1736374527.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.894850 target range: 279.600006 and range: 279.60 m. 2025-01-08T22:15:27.536Z,1736374527.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:27.553Z,1736374527.553 [DAT](INFO): DAT read: 22:15:25.7925 LVL= 19952, 28001, 26290, 21811, AGC= 72, IDX= 100,-0.09,-1.681,-2.941,-2.284,-2.818, PHS= 1.224,-0.077, 0.531, RAW= 117.8, -27.8, CAL= 125.1, -32.9, ROT= 24.9, 32.9 2025-01-08T22:15:27.554Z,1736374527.554 [DAT](INFO): got valid direction response: 22:15:25.7925 LVL= 19952, 28001, 26290, 21811, AGC= 72, IDX= 100,-0.09,-1.681,-2.941,-2.284,-2.818, PHS= 1.224,-0.077, 0.531, RAW= 117.8, -27.8, CAL= 125.1, -32.9, ROT= 24.9, 32.9 2025-01-08T22:15:27.562Z,1736374527.562 [DAT](INFO): DAT read: Bearing 24.9, 32.9 (Local) 2025-01-08T22:15:27.562Z,1736374527.562 [DAT](INFO): Local bearing/azimuth received: Bearing 24.9, 32.9 (Local) 2025-01-08T22:15:27.564Z,1736374527.564 [DAT](INFO): DAT read: Range 10 to 50 : 292.3 m (Round-trip 389.8 ms) speed 0.3 m/s 2025-01-08T22:15:27.565Z,1736374527.565 [DAT](INFO): DAT read: user:2436> 2025-01-08T22:15:27.566Z,1736374527.566 [DAT](INFO): DAT read: Tx time:22:15:26.8986 2025-01-08T22:15:27.566Z,1736374527.566 [DAT](INFO): Ping request sent. 2025-01-08T22:15:27.566Z,1736374527.566 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:27.566Z,1736374527.566 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:27.567Z,1736374527.567 [DAT](INFO): direction in FSK: [0.411393,-0.359101,0.837736] 2025-01-08T22:15:27.568Z,1736374527.568 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:27.568Z,1736374527.568 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:27.571Z,1736374527.571 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:27.571Z,1736374527.571 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:27.784Z,1736374527.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:27.785Z,1736374527.785 [DAT](INFO): DAT read: TxSync time:22:15:26.8978 2025-01-08T22:15:27.830Z,1736374527.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:27.869Z,1736374527.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 292.299988 m, deltaT: 3.783996 s, deltaX: 12.699982 m, approachRate: 3.356236 m/s, rangeRepo size: 4 2025-01-08T22:15:27.875Z,1736374527.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 292.299988 m, bearing: 358.997178 deg, lat: 36.904208 deg, lon: -122.122659 deg, deltaT: 3.783996 s, deltaX: 12.699982 m, approachRate: 3.356236 m/s, posRepo size: 4 2025-01-08T22:15:27.876Z,1736374527.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:27.879Z,1736374527.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 41.055565 m, bearing: 261.594402 deg, approach rate: 0.000000 m/s, LOS rate: -0.034685 deg/s, cmd heading: 51.271109 deg, new cmd heading: 51.219555 deg. 2025-01-08T22:15:27.884Z,1736374527.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.893950 target range: 292.299988 and range: 292.30 m. 2025-01-08T22:15:28.036Z,1736374528.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:28.170Z,1736374528.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:28.217Z,1736374528.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:28.224Z,1736374528.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 41.216976 m, bearing: 261.441872 deg, approach rate: 0.462892 m/s, LOS rate: -0.435708 deg/s, cmd heading: 51.219554 deg, new cmd heading: 50.763767 deg. 2025-01-08T22:15:28.227Z,1736374528.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.885995 target range: 292.299988 and range: 292.30 m. 2025-01-08T22:15:28.290Z,1736374528.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:28.540Z,1736374528.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:28.577Z,1736374528.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:28.585Z,1736374528.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:28.588Z,1736374528.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 41.409824 m, bearing: 261.261375 deg, approach rate: 0.523663 m/s, LOS rate: -0.487842 deg/s, cmd heading: 50.763766 deg, new cmd heading: 50.224812 deg. 2025-01-08T22:15:28.590Z,1736374528.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876588 target range: 292.299988 and range: 292.30 m. 2025-01-08T22:15:28.792Z,1736374528.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:29.027Z,1736374529.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:29.034Z,1736374529.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:29.036Z,1736374529.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:29.039Z,1736374529.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 41.626209 m, bearing: 261.053824 deg, approach rate: 0.480005 m/s, LOS rate: -0.458014 deg/s, cmd heading: 50.224813 deg, new cmd heading: 49.605423 deg. 2025-01-08T22:15:29.041Z,1736374529.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.865778 target range: 292.299988 and range: 292.30 m. 2025-01-08T22:15:29.044Z,1736374529.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:29.044Z,1736374529.044 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:29.045Z,1736374529.045 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:29.045Z,1736374529.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:29.296Z,1736374529.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:29.298Z,1736374529.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731989 2025-01-08T22:15:29.441Z,1736374529.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:29.453Z,1736374529.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:29.457Z,1736374529.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 41.825050 m, bearing: 260.863755 deg, approach rate: 0.476669 m/s, LOS rate: -0.453473 deg/s, cmd heading: 49.605424 deg, new cmd heading: 49.037948 deg. 2025-01-08T22:15:29.458Z,1736374529.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.855874 target range: 292.299988 and range: 292.30 m. 2025-01-08T22:15:29.548Z,1736374529.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:29.549Z,1736374529.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982652 2025-01-08T22:15:29.800Z,1736374529.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:29.801Z,1736374529.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235215 2025-01-08T22:15:29.913Z,1736374529.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:29.921Z,1736374529.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:29.925Z,1736374529.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 42.073494 m, bearing: 260.642364 deg, approach rate: 0.531051 m/s, LOS rate: -0.470430 deg/s, cmd heading: 49.037948 deg, new cmd heading: 48.377727 deg. 2025-01-08T22:15:29.926Z,1736374529.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.844351 target range: 292.299988 and range: 292.30 m. 2025-01-08T22:15:30.052Z,1736374530.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:30.053Z,1736374530.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487030 2025-01-08T22:15:30.293Z,1736374530.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:30.302Z,1736374530.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:30.304Z,1736374530.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:30.305Z,1736374530.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738587 2025-01-08T22:15:30.306Z,1736374530.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 42.273888 m, bearing: 260.466079 deg, approach rate: 0.526911 m/s, LOS rate: -0.461322 deg/s, cmd heading: 48.377728 deg, new cmd heading: 47.851396 deg. 2025-01-08T22:15:30.310Z,1736374530.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835164 target range: 292.299988 and range: 292.30 m. 2025-01-08T22:15:30.557Z,1736374530.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:30.558Z,1736374530.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991637 2025-01-08T22:15:30.690Z,1736374530.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:30.727Z,1736374530.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:30.738Z,1736374530.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 42.482674 m, bearing: 260.281380 deg, approach rate: 0.492526 m/s, LOS rate: -0.433563 deg/s, cmd heading: 47.851397 deg, new cmd heading: 47.300041 deg. 2025-01-08T22:15:30.742Z,1736374530.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825541 target range: 292.299988 and range: 292.30 m. 2025-01-08T22:15:30.810Z,1736374530.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:30.810Z,1736374530.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244446 2025-01-08T22:15:31.060Z,1736374531.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:31.060Z,1736374531.060 [DAT](INFO): DAT read: Rx Time:22:15:29.7108 2025-01-08T22:15:31.061Z,1736374531.061 [DAT](INFO): Rx dataTimestamp_ set to:1736374531.060629 2025-01-08T22:15:31.061Z,1736374531.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495478 2025-01-08T22:15:31.130Z,1736374531.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:31.137Z,1736374531.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:31.140Z,1736374531.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:31.143Z,1736374531.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 42.729881 m, bearing: 260.080115 deg, approach rate: 0.597605 m/s, LOS rate: -0.483726 deg/s, cmd heading: 47.300040 deg, new cmd heading: 46.699762 deg. 2025-01-08T22:15:31.144Z,1736374531.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815065 target range: 292.299988 and range: 292.30 m. 2025-01-08T22:15:31.312Z,1736374531.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:31.312Z,1736374531.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746360 2025-01-08T22:15:31.496Z,1736374531.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:31.505Z,1736374531.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:31.509Z,1736374531.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 42.935596 m, bearing: 259.914717 deg, approach rate: 0.562569 m/s, LOS rate: -0.450146 deg/s, cmd heading: 46.699762 deg, new cmd heading: 46.205958 deg. 2025-01-08T22:15:31.510Z,1736374531.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806446 target range: 292.299988 and range: 292.30 m. 2025-01-08T22:15:31.536Z,1736374531.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:15:31.565Z,1736374531.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:31.568Z,1736374531.568 [DAT](INFO): DAT read: Range 10 to 50 : 306.0 m (Round-trip 408.1 ms) speed 0.4 m/s 2025-01-08T22:15:31.570Z,1736374531.570 [DAT](INFO): DAT read: user:2437> 2025-01-08T22:15:31.573Z,1736374531.573 [DAT](INFO): DAT read: Tx time:22:15:30.7986 2025-01-08T22:15:31.574Z,1736374531.574 [DAT](INFO): Ping request sent. 2025-01-08T22:15:31.574Z,1736374531.574 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:31.575Z,1736374531.575 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:15:31.575Z,1736374531.575 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:31.576Z,1736374531.576 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:31.818Z,1736374531.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:31.819Z,1736374531.819 [DAT](INFO): DAT read: TxSync time:22:15:30.7978 2025-01-08T22:15:31.924Z,1736374531.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:31.934Z,1736374531.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 306.000000 m, deltaT: 4.028565 s, deltaX: 13.700012 m, approachRate: 3.400718 m/s, rangeRepo size: 4 2025-01-08T22:15:31.935Z,1736374531.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:31.938Z,1736374531.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 43.199039 m, bearing: 259.713388 deg, approach rate: 0.614513 m/s, LOS rate: -0.466760 deg/s, cmd heading: 46.205957 deg, new cmd heading: 45.605675 deg. 2025-01-08T22:15:31.940Z,1736374531.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795969 target range: 292.299988 and range: 306.00 m. 2025-01-08T22:15:32.068Z,1736374532.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:32.292Z,1736374532.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:32.300Z,1736374532.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:32.303Z,1736374532.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 43.425255 m, bearing: 259.541835 deg, approach rate: 0.616502 m/s, LOS rate: -0.465094 deg/s, cmd heading: 45.605675 deg, new cmd heading: 45.093712 deg. 2025-01-08T22:15:32.304Z,1736374532.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787034 target range: 292.299988 and range: 306.00 m. 2025-01-08T22:15:32.320Z,1736374532.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:32.540Z,1736374532.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:15:32.572Z,1736374532.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:32.709Z,1736374532.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:32.756Z,1736374532.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:32.774Z,1736374532.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 43.681244 m, bearing: 259.348498 deg, approach rate: 0.569856 m/s, LOS rate: -0.427863 deg/s, cmd heading: 45.093711 deg, new cmd heading: 44.517120 deg. 2025-01-08T22:15:32.782Z,1736374532.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.776970 target range: 292.299988 and range: 306.00 m. 2025-01-08T22:15:32.824Z,1736374532.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:33.076Z,1736374533.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:33.128Z,1736374533.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:33.137Z,1736374533.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:33.159Z,1736374533.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 43.960999 m, bearing: 259.167710 deg, approach rate: 0.722970 m/s, LOS rate: -0.464236 deg/s, cmd heading: 44.517121 deg, new cmd heading: 43.978225 deg. 2025-01-08T22:15:33.160Z,1736374533.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767565 target range: 292.299988 and range: 306.00 m. 2025-01-08T22:15:33.328Z,1736374533.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:33.503Z,1736374533.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:33.522Z,1736374533.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:33.525Z,1736374533.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:33.527Z,1736374533.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 44.211288 m, bearing: 259.005372 deg, approach rate: 0.645036 m/s, LOS rate: -0.416001 deg/s, cmd heading: 43.978225 deg, new cmd heading: 43.493981 deg. 2025-01-08T22:15:33.528Z,1736374533.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759113 target range: 292.299988 and range: 306.00 m. 2025-01-08T22:15:33.580Z,1736374533.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:33.581Z,1736374533.581 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:33.581Z,1736374533.581 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:33.581Z,1736374533.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:33.836Z,1736374533.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:33.838Z,1736374533.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264314 2025-01-08T22:15:33.958Z,1736374533.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:33.967Z,1736374533.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:33.970Z,1736374533.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 44.525837 m, bearing: 258.821725 deg, approach rate: 0.711824 m/s, LOS rate: -0.412656 deg/s, cmd heading: 43.493982 deg, new cmd heading: 42.946952 deg. 2025-01-08T22:15:33.971Z,1736374533.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749566 target range: 292.299988 and range: 306.00 m. 2025-01-08T22:15:34.084Z,1736374534.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:34.084Z,1736374534.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510921 2025-01-08T22:15:34.313Z,1736374534.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:34.323Z,1736374534.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:34.326Z,1736374534.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 44.769722 m, bearing: 258.675542 deg, approach rate: 0.683766 m/s, LOS rate: -0.407611 deg/s, cmd heading: 42.946952 deg, new cmd heading: 42.510801 deg. 2025-01-08T22:15:34.327Z,1736374534.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741953 target range: 292.299988 and range: 306.00 m. 2025-01-08T22:15:34.336Z,1736374534.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:34.336Z,1736374534.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762708 2025-01-08T22:15:34.588Z,1736374534.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:34.588Z,1736374534.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014851 2025-01-08T22:15:34.715Z,1736374534.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:34.738Z,1736374534.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:34.746Z,1736374534.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 45.045338 m, bearing: 258.508617 deg, approach rate: 0.667339 m/s, LOS rate: -0.401697 deg/s, cmd heading: 42.510800 deg, new cmd heading: 42.013102 deg. 2025-01-08T22:15:34.752Z,1736374534.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.733267 target range: 292.299988 and range: 306.00 m. 2025-01-08T22:15:34.842Z,1736374534.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:34.845Z,1736374534.845 [DAT](INFO): DAT read: Rx Time:22:15:33.6070 2025-01-08T22:15:34.847Z,1736374534.847 [DAT](INFO): Rx dataTimestamp_ set to:1736374534.845772 2025-01-08T22:15:34.848Z,1736374534.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274660 2025-01-08T22:15:35.092Z,1736374535.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:35.092Z,1736374535.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518783 2025-01-08T22:15:35.137Z,1736374535.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:35.168Z,1736374535.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:35.170Z,1736374535.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 45.331631 m, bearing: 258.331472 deg, approach rate: 0.663240 m/s, LOS rate: -0.407790 deg/s, cmd heading: 42.013101 deg, new cmd heading: 41.485039 deg. 2025-01-08T22:15:35.176Z,1736374535.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.724051 target range: 292.299988 and range: 306.00 m. 2025-01-08T22:15:35.344Z,1736374535.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:35.345Z,1736374535.345 [DAT](INFO): DAT read: Range 10 to 50 : 303.1 m (Round-trip 404.2 ms) speed 0.4 m/s 2025-01-08T22:15:35.346Z,1736374535.346 [DAT](INFO): DAT read: user:2438> 2025-01-08T22:15:35.347Z,1736374535.347 [DAT](INFO): DAT read: Tx time:22:15:34.6986 2025-01-08T22:15:35.347Z,1736374535.347 [DAT](INFO): Ping request sent. 2025-01-08T22:15:35.347Z,1736374535.347 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:35.348Z,1736374535.348 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:15:35.348Z,1736374535.348 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:35.348Z,1736374535.348 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:35.596Z,1736374535.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:35.597Z,1736374535.597 [DAT](INFO): DAT read: TxSync time:22:15:34.6978 2025-01-08T22:15:35.627Z,1736374535.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:35.634Z,1736374535.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:35.637Z,1736374535.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 303.100006 m, deltaT: 3.779142 s, deltaX: -2.899994 m, approachRate: -0.767368 m/s, rangeRepo size: 4 2025-01-08T22:15:35.637Z,1736374535.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:35.641Z,1736374535.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 45.663395 m, bearing: 258.124145 deg, approach rate: 0.708589 m/s, LOS rate: -0.439595 deg/s, cmd heading: 41.485039 deg, new cmd heading: 40.867602 deg. 2025-01-08T22:15:35.642Z,1736374535.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713274 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:35.851Z,1736374535.851 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:35.853Z,1736374535.853 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:35.853Z,1736374535.853 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:35.854Z,1736374535.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:36.071Z,1736374536.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:36.100Z,1736374536.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:36.101Z,1736374536.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753932 2025-01-08T22:15:36.104Z,1736374536.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:36.113Z,1736374536.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 45.943958 m, bearing: 257.947590 deg, approach rate: 0.599209 m/s, LOS rate: -0.374772 deg/s, cmd heading: 40.867600 deg, new cmd heading: 40.341184 deg. 2025-01-08T22:15:36.114Z,1736374536.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704086 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:36.352Z,1736374536.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:36.353Z,1736374536.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005817 2025-01-08T22:15:36.467Z,1736374536.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:36.483Z,1736374536.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:36.493Z,1736374536.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 46.214249 m, bearing: 257.779779 deg, approach rate: 0.729174 m/s, LOS rate: -0.450062 deg/s, cmd heading: 40.341184 deg, new cmd heading: 39.840710 deg. 2025-01-08T22:15:36.494Z,1736374536.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695352 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:36.605Z,1736374536.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:36.606Z,1736374536.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258280 2025-01-08T22:15:36.858Z,1736374536.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:36.862Z,1736374536.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513639 2025-01-08T22:15:36.917Z,1736374536.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:36.927Z,1736374536.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:36.930Z,1736374536.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 46.490658 m, bearing: 257.594054 deg, approach rate: 0.611898 m/s, LOS rate: -0.408702 deg/s, cmd heading: 39.840709 deg, new cmd heading: 39.286865 deg. 2025-01-08T22:15:36.931Z,1736374536.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685685 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:37.108Z,1736374537.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:37.109Z,1736374537.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761660 2025-01-08T22:15:37.341Z,1736374537.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:37.350Z,1736374537.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:37.353Z,1736374537.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 46.749840 m, bearing: 257.418133 deg, approach rate: 0.611897 m/s, LOS rate: -0.413026 deg/s, cmd heading: 39.286866 deg, new cmd heading: 38.762043 deg. 2025-01-08T22:15:37.354Z,1736374537.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676525 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:37.360Z,1736374537.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:37.361Z,1736374537.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013094 2025-01-08T22:15:37.612Z,1736374537.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:37.612Z,1736374537.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264955 2025-01-08T22:15:37.731Z,1736374537.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:37.738Z,1736374537.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:37.741Z,1736374537.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:37.744Z,1736374537.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 46.986885 m, bearing: 257.254757 deg, approach rate: 0.606525 m/s, LOS rate: -0.415917 deg/s, cmd heading: 38.762044 deg, new cmd heading: 38.274403 deg. 2025-01-08T22:15:37.745Z,1736374537.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668014 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:37.865Z,1736374537.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:37.870Z,1736374537.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522028 2025-01-08T22:15:38.116Z,1736374538.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:38.116Z,1736374538.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768976 2025-01-08T22:15:38.178Z,1736374538.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:38.188Z,1736374538.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:38.219Z,1736374538.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 47.226353 m, bearing: 257.063109 deg, approach rate: 0.537018 m/s, LOS rate: -0.427600 deg/s, cmd heading: 38.274403 deg, new cmd heading: 37.702394 deg. 2025-01-08T22:15:38.220Z,1736374538.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658031 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:38.368Z,1736374538.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:38.369Z,1736374538.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021301 2025-01-08T22:15:38.544Z,1736374538.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:38.563Z,1736374538.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:38.566Z,1736374538.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 47.420753 m, bearing: 256.905321 deg, approach rate: 0.519096 m/s, LOS rate: -0.419603 deg/s, cmd heading: 37.702395 deg, new cmd heading: 37.230982 deg. 2025-01-08T22:15:38.584Z,1736374538.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649803 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:38.624Z,1736374538.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:38.624Z,1736374538.624 [DAT](INFO): DAT read: Rx Time:22:15:37.4640 2025-01-08T22:15:38.625Z,1736374538.625 [DAT](INFO): Rx dataTimestamp_ set to:1736374538.624654 2025-01-08T22:15:38.625Z,1736374538.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278042 2025-01-08T22:15:38.881Z,1736374538.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:38.884Z,1736374538.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535905 2025-01-08T22:15:38.970Z,1736374538.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:38.980Z,1736374538.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:38.982Z,1736374538.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 47.630409 m, bearing: 256.717082 deg, approach rate: 0.501954 m/s, LOS rate: -0.448695 deg/s, cmd heading: 37.230982 deg, new cmd heading: 36.668768 deg. 2025-01-08T22:15:38.999Z,1736374538.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639991 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:39.134Z,1736374539.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:39.136Z,1736374539.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788359 2025-01-08T22:15:39.361Z,1736374539.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:39.370Z,1736374539.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:39.373Z,1736374539.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 47.821499 m, bearing: 256.542669 deg, approach rate: 0.489187 m/s, LOS rate: -0.444709 deg/s, cmd heading: 36.668769 deg, new cmd heading: 36.147637 deg. 2025-01-08T22:15:39.374Z,1736374539.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630895 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:39.384Z,1736374539.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:39.392Z,1736374539.392 [DAT](INFO): DAT read: 22:15:37.4640 LVL= 29936, 32753, 30322, 32755, AGC= 66, IDX= 511, 0.13, 3.088, 1.315, 1.914, 2.417, PHS= 0.759,-1.055,-0.506, RAW= 107.2, 10.0, CAL= 116.6, 8.0, ROT= 33.4, -8.0 2025-01-08T22:15:39.393Z,1736374539.393 [DAT](INFO): got valid direction response: 22:15:37.4640 LVL= 29936, 32753, 30322, 32755, AGC= 66, IDX= 511, 0.13, 3.088, 1.315, 1.914, 2.417, PHS= 0.759,-1.055,-0.506, RAW= 107.2, 10.0, CAL= 116.6, 8.0, ROT= 33.4, -8.0 2025-01-08T22:15:39.394Z,1736374539.394 [DAT](INFO): DAT read: Bearing 33.4, -8.0 (Local) 2025-01-08T22:15:39.395Z,1736374539.395 [DAT](INFO): Local bearing/azimuth received: Bearing 33.4, -8.0 (Local) 2025-01-08T22:15:39.399Z,1736374539.399 [DAT](INFO): DAT read: Range 10 to 50 : 270.9 m (Round-trip 361.2 ms) speed 0.0 m/s 2025-01-08T22:15:39.413Z,1736374539.413 [DAT](INFO): DAT read: user:2439> 2025-01-08T22:15:39.414Z,1736374539.414 [DAT](INFO): DAT read: Tx time:22:15:38.5487 2025-01-08T22:15:39.414Z,1736374539.414 [DAT](INFO): Ping request sent. 2025-01-08T22:15:39.415Z,1736374539.415 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:39.423Z,1736374539.423 [DAT](INFO): DAT read: TxSync time:22:15:38.5479 2025-01-08T22:15:39.424Z,1736374539.424 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:39.425Z,1736374539.425 [DAT](INFO): direction in FSK: [-0.296853,-0.178780,0.938038] 2025-01-08T22:15:39.425Z,1736374539.425 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:39.426Z,1736374539.426 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:39.434Z,1736374539.434 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:39.434Z,1736374539.434 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:39.637Z,1736374539.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:39.775Z,1736374539.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:39.788Z,1736374539.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 270.899994 m, deltaT: 4.040302 s, deltaX: -32.200012 m, approachRate: -7.969704 m/s, rangeRepo size: 4 2025-01-08T22:15:39.789Z,1736374539.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:39.792Z,1736374539.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 48.020435 m, bearing: 256.355062 deg, approach rate: 0.476241 m/s, LOS rate: -0.447258 deg/s, cmd heading: 36.147639 deg, new cmd heading: 35.587168 deg. 2025-01-08T22:15:39.793Z,1736374539.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621113 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:39.890Z,1736374539.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:40.140Z,1736374540.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:40.212Z,1736374540.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:40.219Z,1736374540.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:40.221Z,1736374540.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:40.225Z,1736374540.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 48.213322 m, bearing: 256.150391 deg, approach rate: 0.444502 m/s, LOS rate: -0.469771 deg/s, cmd heading: 35.587167 deg, new cmd heading: 34.975636 deg. 2025-01-08T22:15:40.226Z,1736374540.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.610440 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:40.392Z,1736374540.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:40.392Z,1736374540.392 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:40.392Z,1736374540.392 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:40.393Z,1736374540.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:40.645Z,1736374540.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:40.646Z,1736374540.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230988 2025-01-08T22:15:40.662Z,1736374540.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:40.689Z,1736374540.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:40.698Z,1736374540.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 48.410107 m, bearing: 255.939908 deg, approach rate: 0.420840 m/s, LOS rate: -0.448305 deg/s, cmd heading: 34.975637 deg, new cmd heading: 34.346779 deg. 2025-01-08T22:15:40.698Z,1736374540.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599464 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:40.897Z,1736374540.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:40.900Z,1736374540.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485031 2025-01-08T22:15:41.148Z,1736374541.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:41.148Z,1736374541.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733758 2025-01-08T22:15:41.203Z,1736374541.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:41.213Z,1736374541.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:41.216Z,1736374541.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 48.635113 m, bearing: 255.687234 deg, approach rate: 0.429685 m/s, LOS rate: -0.480287 deg/s, cmd heading: 34.346778 deg, new cmd heading: 33.592309 deg. 2025-01-08T22:15:41.217Z,1736374541.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586296 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:41.400Z,1736374541.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:41.401Z,1736374541.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986055 2025-01-08T22:15:41.652Z,1736374541.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:41.654Z,1736374541.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238684 2025-01-08T22:15:41.686Z,1736374541.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:41.702Z,1736374541.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:41.715Z,1736374541.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 48.832047 m, bearing: 255.458124 deg, approach rate: 0.402421 m/s, LOS rate: -0.466281 deg/s, cmd heading: 33.592308 deg, new cmd heading: 32.907785 deg. 2025-01-08T22:15:41.721Z,1736374541.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574349 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:41.905Z,1736374541.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:41.908Z,1736374541.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493015 2025-01-08T22:15:42.072Z,1736374542.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:42.082Z,1736374542.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:42.085Z,1736374542.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 48.992702 m, bearing: 255.268595 deg, approach rate: 0.422912 m/s, LOS rate: -0.497282 deg/s, cmd heading: 32.907787 deg, new cmd heading: 32.341083 deg. 2025-01-08T22:15:42.086Z,1736374542.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564458 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:42.157Z,1736374542.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:42.158Z,1736374542.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742894 2025-01-08T22:15:42.408Z,1736374542.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:42.409Z,1736374542.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993953 2025-01-08T22:15:42.472Z,1736374542.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:42.479Z,1736374542.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:42.481Z,1736374542.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:42.484Z,1736374542.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 49.157578 m, bearing: 255.072009 deg, approach rate: 0.413086 m/s, LOS rate: -0.490882 deg/s, cmd heading: 32.341082 deg, new cmd heading: 31.753325 deg. 2025-01-08T22:15:42.485Z,1736374542.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554200 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:42.660Z,1736374542.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:42.661Z,1736374542.661 [DAT](INFO): DAT read: Rx Time:22:15:41.3120 2025-01-08T22:15:42.662Z,1736374542.662 [DAT](INFO): Rx dataTimestamp_ set to:1736374542.661465 2025-01-08T22:15:42.663Z,1736374542.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248044 2025-01-08T22:15:42.906Z,1736374542.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:42.914Z,1736374542.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:42.917Z,1736374542.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501677 2025-01-08T22:15:43.002Z,1736374543.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.30 m. 2025-01-08T22:15:43.019Z,1736374543.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 292.299988 m, nav range: 49.334538 m, bearing: 254.858580 deg, approach rate: 0.340232 m/s, LOS rate: -0.408877 deg/s, cmd heading: 31.753324 deg, new cmd heading: 31.115361 deg. 2025-01-08T22:15:43.024Z,1736374543.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543065 target range: 292.299988 and range: 303.10 m. 2025-01-08T22:15:43.164Z,1736374543.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:43.170Z,1736374543.170 [DAT](INFO): DAT read: 22:15:41.3120 LVL= 23920, 32753, 22466, 31219, AGC= 67, IDX= 426,-0.06, 0.430,-1.456,-1.091,-0.500, PHS= 1.019,-0.909,-0.594, RAW= 98.8, 5.5, CAL= 108.4, 4.0, ROT= 41.6, -4.0 2025-01-08T22:15:43.171Z,1736374543.171 [DAT](INFO): got valid direction response: 22:15:41.3120 LVL= 23920, 32753, 22466, 31219, AGC= 67, IDX= 426,-0.06, 0.430,-1.456,-1.091,-0.500, PHS= 1.019,-0.909,-0.594, RAW= 98.8, 5.5, CAL= 108.4, 4.0, ROT= 41.6, -4.0 2025-01-08T22:15:43.172Z,1736374543.172 [DAT](INFO): DAT read: Bearing 41.6, -4.0 (Local) 2025-01-08T22:15:43.173Z,1736374543.173 [DAT](INFO): Local bearing/azimuth received: Bearing 41.6, -4.0 (Local) 2025-01-08T22:15:43.175Z,1736374543.175 [DAT](INFO): DAT read: Range 10 to 50 : 269.3 m (Round-trip 359.1 ms) speed 0.4 m/s 2025-01-08T22:15:43.176Z,1736374543.176 [DAT](INFO): DAT read: user:2440> 2025-01-08T22:15:43.177Z,1736374543.177 [DAT](INFO): DAT read: Tx time:22:15:42.3987 2025-01-08T22:15:43.177Z,1736374543.177 [DAT](INFO): Ping request sent. 2025-01-08T22:15:43.177Z,1736374543.177 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:43.177Z,1736374543.177 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:43.178Z,1736374543.178 [DAT](INFO): direction in FSK: [-0.201861,-0.039510,0.978617] 2025-01-08T22:15:43.178Z,1736374543.178 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:43.179Z,1736374543.179 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:43.182Z,1736374543.182 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:43.182Z,1736374543.182 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:43.396Z,1736374543.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:43.416Z,1736374543.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:43.417Z,1736374543.417 [DAT](INFO): DAT read: TxSync time:22:15:42.3979 2025-01-08T22:15:43.428Z,1736374543.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 269.299988 m, deltaT: 7.819968 s, deltaX: -33.800018 m, approachRate: -4.322271 m/s, rangeRepo size: 4 2025-01-08T22:15:43.430Z,1736374543.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 269.299988 m, bearing: 243.728689 deg, lat: 36.904208 deg, lon: -122.123155 deg, deltaT: 15.627675 s, deltaX: -23.000000 m, approachRate: -1.471748 m/s, posRepo size: 4 2025-01-08T22:15:43.431Z,1736374543.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.30 m. 2025-01-08T22:15:43.438Z,1736374543.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.299988 m, nav range: 92.797264 m, bearing: 261.857200 deg, approach rate: 0.000000 m/s, LOS rate: -0.408877 deg/s, cmd heading: 31.115360 deg, new cmd heading: 30.598544 deg. 2025-01-08T22:15:43.439Z,1736374543.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534045 target range: 269.299988 and range: 269.30 m. 2025-01-08T22:15:43.668Z,1736374543.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:43.735Z,1736374543.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:43.744Z,1736374543.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.30 m. 2025-01-08T22:15:43.747Z,1736374543.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.299988 m, nav range: 92.918739 m, bearing: 261.756012 deg, approach rate: 0.377440 m/s, LOS rate: -0.313993 deg/s, cmd heading: 30.598544 deg, new cmd heading: 30.295381 deg. 2025-01-08T22:15:43.748Z,1736374543.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.528754 target range: 269.299988 and range: 269.30 m. 2025-01-08T22:15:43.920Z,1736374543.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:44.164Z,1736374544.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:44.172Z,1736374544.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:44.177Z,1736374544.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.30 m. 2025-01-08T22:15:44.184Z,1736374544.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.299988 m, nav range: 93.083832 m, bearing: 261.629205 deg, approach rate: 0.381530 m/s, LOS rate: -0.292534 deg/s, cmd heading: 30.295379 deg, new cmd heading: 29.915636 deg. 2025-01-08T22:15:44.185Z,1736374544.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.522126 target range: 269.299988 and range: 269.30 m. 2025-01-08T22:15:44.426Z,1736374544.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:44.531Z,1736374544.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:44.550Z,1736374544.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:44.558Z,1736374544.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.30 m. 2025-01-08T22:15:44.566Z,1736374544.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.299988 m, nav range: 93.223763 m, bearing: 261.520446 deg, approach rate: 0.368417 m/s, LOS rate: -0.285915 deg/s, cmd heading: 29.915634 deg, new cmd heading: 29.589852 deg. 2025-01-08T22:15:44.567Z,1736374544.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516440 target range: 269.299988 and range: 269.30 m. 2025-01-08T22:15:44.681Z,1736374544.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:44.681Z,1736374544.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:44.681Z,1736374544.681 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:44.682Z,1736374544.682 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:44.933Z,1736374544.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:44.936Z,1736374544.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758122 2025-01-08T22:15:45.016Z,1736374545.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:45.036Z,1736374545.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.30 m. 2025-01-08T22:15:45.039Z,1736374545.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.299988 m, nav range: 93.405327 m, bearing: 261.377409 deg, approach rate: 0.378950 m/s, LOS rate: -0.297957 deg/s, cmd heading: 29.589851 deg, new cmd heading: 29.161583 deg. 2025-01-08T22:15:45.041Z,1736374545.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.508966 target range: 269.299988 and range: 269.30 m. 2025-01-08T22:15:45.184Z,1736374545.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:45.185Z,1736374545.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007688 2025-01-08T22:15:45.378Z,1736374545.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:45.399Z,1736374545.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.30 m. 2025-01-08T22:15:45.402Z,1736374545.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.299988 m, nav range: 93.551903 m, bearing: 261.269396 deg, approach rate: 0.408075 m/s, LOS rate: -0.300241 deg/s, cmd heading: 29.161581 deg, new cmd heading: 28.838055 deg. 2025-01-08T22:15:45.408Z,1736374545.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503319 target range: 269.299988 and range: 269.30 m. 2025-01-08T22:15:45.436Z,1736374545.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:45.437Z,1736374545.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259625 2025-01-08T22:15:45.688Z,1736374545.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:45.688Z,1736374545.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511438 2025-01-08T22:15:45.758Z,1736374545.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:45.766Z,1736374545.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.30 m. 2025-01-08T22:15:45.769Z,1736374545.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.299988 m, nav range: 93.702522 m, bearing: 261.156982 deg, approach rate: 0.405709 m/s, LOS rate: -0.302314 deg/s, cmd heading: 28.838056 deg, new cmd heading: 28.501358 deg. 2025-01-08T22:15:45.770Z,1736374545.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497443 target range: 269.299988 and range: 269.30 m. 2025-01-08T22:15:45.941Z,1736374545.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:45.944Z,1736374545.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767197 2025-01-08T22:15:46.169Z,1736374546.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:46.178Z,1736374546.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.30 m. 2025-01-08T22:15:46.181Z,1736374546.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.299988 m, nav range: 93.878258 m, bearing: 261.035805 deg, approach rate: 0.427000 m/s, LOS rate: -0.293883 deg/s, cmd heading: 28.501358 deg, new cmd heading: 28.138513 deg. 2025-01-08T22:15:46.182Z,1736374546.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491110 target range: 269.299988 and range: 269.30 m. 2025-01-08T22:15:46.192Z,1736374546.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:46.193Z,1736374546.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015591 2025-01-08T22:15:46.444Z,1736374546.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:46.445Z,1736374546.445 [DAT](INFO): DAT read: Rx Time:22:15:45.1602 2025-01-08T22:15:46.446Z,1736374546.446 [DAT](INFO): Rx dataTimestamp_ set to:1736374546.445066 2025-01-08T22:15:46.449Z,1736374546.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271512 2025-01-08T22:15:46.555Z,1736374546.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:46.562Z,1736374546.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:46.564Z,1736374546.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.30 m. 2025-01-08T22:15:46.566Z,1736374546.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.299988 m, nav range: 94.042389 m, bearing: 260.921431 deg, approach rate: 0.425790 m/s, LOS rate: -0.296192 deg/s, cmd heading: 28.138513 deg, new cmd heading: 27.795994 deg. 2025-01-08T22:15:46.567Z,1736374546.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.485132 target range: 269.299988 and range: 269.30 m. 2025-01-08T22:15:46.697Z,1736374546.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:46.697Z,1736374546.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520294 2025-01-08T22:15:46.948Z,1736374546.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:46.954Z,1736374546.954 [DAT](INFO): DAT read: 22:15:45.1602 LVL= 27824, 32753, 32754, 32755, AGC= 67, IDX= 424, 0.40,-1.077,-2.803,-2.592,-2.032, PHS= 1.043,-0.723,-0.563, RAW= 94.7, 2.9, CAL= 103.5, 0.8, ROT= 46.5, -0.8 2025-01-08T22:15:46.956Z,1736374546.956 [DAT](INFO): got valid direction response: 22:15:45.1602 LVL= 27824, 32753, 32754, 32755, AGC= 67, IDX= 424, 0.40,-1.077,-2.803,-2.592,-2.032, PHS= 1.043,-0.723,-0.563, RAW= 94.7, 2.9, CAL= 103.5, 0.8, ROT= 46.5, -0.8 2025-01-08T22:15:46.958Z,1736374546.958 [DAT](INFO): DAT read: Bearing 46.5, -0.8 (Local) 2025-01-08T22:15:46.960Z,1736374546.960 [DAT](INFO): Local bearing/azimuth received: Bearing 46.5, -0.8 (Local) 2025-01-08T22:15:46.973Z,1736374546.973 [DAT](INFO): DAT read: Range 10 to 50 : 268.0 m (Round-trip 357.4 ms) speed 0.4 m/s 2025-01-08T22:15:46.983Z,1736374546.983 [DAT](INFO): DAT read: user:2441> 2025-01-08T22:15:46.985Z,1736374546.985 [DAT](INFO): DAT read: Tx time:22:15:46.2487 2025-01-08T22:15:46.986Z,1736374546.986 [DAT](INFO): Ping request sent. 2025-01-08T22:15:46.987Z,1736374546.987 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:46.988Z,1736374546.988 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:46.993Z,1736374546.993 [DAT](INFO): direction in FSK: [-0.147742,0.028810,0.988606] 2025-01-08T22:15:46.994Z,1736374546.994 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:46.995Z,1736374546.995 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:47.036Z,1736374547.036 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:47.036Z,1736374547.036 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:47.120Z,1736374547.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:47.176Z,1736374547.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 268.000000 m, deltaT: 3.784119 s, deltaX: -1.299988 m, approachRate: -0.343538 m/s, rangeRepo size: 4 2025-01-08T22:15:47.178Z,1736374547.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 268.000000 m, bearing: 224.797631 deg, lat: 36.904159 deg, lon: -122.122675 deg, deltaT: 3.784119 s, deltaX: -1.299988 m, approachRate: -0.343538 m/s, posRepo size: 4 2025-01-08T22:15:47.179Z,1736374547.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.00 m. 2025-01-08T22:15:47.185Z,1736374547.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.000000 m, nav range: 54.402424 m, bearing: 247.738063 deg, approach rate: 0.000000 m/s, LOS rate: -0.296192 deg/s, cmd heading: 27.795994 deg, new cmd heading: 27.256487 deg. 2025-01-08T22:15:47.186Z,1736374547.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475715 target range: 268.000000 and range: 268.00 m. 2025-01-08T22:15:47.200Z,1736374547.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:47.201Z,1736374547.201 [DAT](INFO): DAT read: TxSync time:22:15:46.2479 2025-01-08T22:15:47.452Z,1736374547.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:47.488Z,1736374547.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:47.512Z,1736374547.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.00 m. 2025-01-08T22:15:47.515Z,1736374547.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.000000 m, nav range: 54.601269 m, bearing: 247.588206 deg, approach rate: 0.581993 m/s, LOS rate: -0.437015 deg/s, cmd heading: 27.256486 deg, new cmd heading: 26.808562 deg. 2025-01-08T22:15:47.520Z,1736374547.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467898 target range: 268.000000 and range: 268.00 m. 2025-01-08T22:15:47.705Z,1736374547.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:47.873Z,1736374547.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:47.882Z,1736374547.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.00 m. 2025-01-08T22:15:47.885Z,1736374547.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.000000 m, nav range: 54.808807 m, bearing: 247.431591 deg, approach rate: 0.560973 m/s, LOS rate: -0.421724 deg/s, cmd heading: 26.808561 deg, new cmd heading: 26.340506 deg. 2025-01-08T22:15:47.886Z,1736374547.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.459729 target range: 268.000000 and range: 268.00 m. 2025-01-08T22:15:47.957Z,1736374547.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:48.208Z,1736374548.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:48.326Z,1736374548.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:48.335Z,1736374548.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.00 m. 2025-01-08T22:15:48.338Z,1736374548.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.000000 m, nav range: 55.060318 m, bearing: 247.253964 deg, approach rate: 0.555605 m/s, LOS rate: -0.390597 deg/s, cmd heading: 26.340505 deg, new cmd heading: 25.810074 deg. 2025-01-08T22:15:48.339Z,1736374548.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450471 target range: 268.000000 and range: 268.00 m. 2025-01-08T22:15:48.460Z,1736374548.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:48.712Z,1736374548.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:48.776Z,1736374548.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:48.783Z,1736374548.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:48.785Z,1736374548.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.00 m. 2025-01-08T22:15:48.788Z,1736374548.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.000000 m, nav range: 55.307468 m, bearing: 247.075391 deg, approach rate: 0.549219 m/s, LOS rate: -0.395054 deg/s, cmd heading: 25.810074 deg, new cmd heading: 25.276764 deg. 2025-01-08T22:15:48.789Z,1736374548.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441163 target range: 268.000000 and range: 268.00 m. 2025-01-08T22:15:48.964Z,1736374548.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:48.964Z,1736374548.964 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:48.964Z,1736374548.964 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:48.964Z,1736374548.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:49.180Z,1736374549.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:49.189Z,1736374549.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.00 m. 2025-01-08T22:15:49.193Z,1736374549.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.000000 m, nav range: 55.533554 m, bearing: 246.916175 deg, approach rate: 0.559788 m/s, LOS rate: -0.392611 deg/s, cmd heading: 25.276763 deg, new cmd heading: 24.801074 deg. 2025-01-08T22:15:49.194Z,1736374549.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432860 target range: 268.000000 and range: 268.00 m. 2025-01-08T22:15:49.216Z,1736374549.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:49.217Z,1736374549.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230169 2025-01-08T22:15:49.468Z,1736374549.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:49.468Z,1736374549.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482033 2025-01-08T22:15:49.545Z,1736374549.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:49.568Z,1736374549.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.00 m. 2025-01-08T22:15:49.570Z,1736374549.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.000000 m, nav range: 55.737076 m, bearing: 246.772178 deg, approach rate: 0.536879 m/s, LOS rate: -0.378470 deg/s, cmd heading: 24.801074 deg, new cmd heading: 24.370668 deg. 2025-01-08T22:15:49.576Z,1736374549.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425348 target range: 268.000000 and range: 268.00 m. 2025-01-08T22:15:49.720Z,1736374549.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:49.721Z,1736374549.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734908 2025-01-08T22:15:49.920Z,1736374549.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:49.936Z,1736374549.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.00 m. 2025-01-08T22:15:49.938Z,1736374549.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.000000 m, nav range: 55.945919 m, bearing: 246.623743 deg, approach rate: 0.568426 m/s, LOS rate: -0.402499 deg/s, cmd heading: 24.370668 deg, new cmd heading: 23.927035 deg. 2025-01-08T22:15:49.939Z,1736374549.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417606 target range: 268.000000 and range: 268.00 m. 2025-01-08T22:15:49.972Z,1736374549.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:49.973Z,1736374549.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986789 2025-01-08T22:15:50.224Z,1736374550.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:50.225Z,1736374550.225 [DAT](INFO): DAT read: Rx Time:22:15:49.0084 2025-01-08T22:15:50.225Z,1736374550.225 [DAT](INFO): Rx dataTimestamp_ set to:1736374550.225024 2025-01-08T22:15:50.226Z,1736374550.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239441 2025-01-08T22:15:50.368Z,1736374550.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:50.378Z,1736374550.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.00 m. 2025-01-08T22:15:50.381Z,1736374550.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.000000 m, nav range: 56.188927 m, bearing: 246.444257 deg, approach rate: 0.549523 m/s, LOS rate: -0.404122 deg/s, cmd heading: 23.927035 deg, new cmd heading: 23.390924 deg. 2025-01-08T22:15:50.382Z,1736374550.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.408249 target range: 268.000000 and range: 268.00 m. 2025-01-08T22:15:50.476Z,1736374550.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:50.477Z,1736374550.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490324 2025-01-08T22:15:50.728Z,1736374550.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:50.734Z,1736374550.734 [DAT](INFO): DAT read: 22:15:49.0084 LVL= 16016, 29681, 26034, 30195, AGC= 64, IDX= 422,-0.14, 2.216, 0.233, 0.410, 1.030, PHS= 1.275,-0.750,-0.622, RAW= 93.2, 1.0, CAL= 101.5, -2.4, ROT= 48.5, 2.4 2025-01-08T22:15:50.736Z,1736374550.736 [DAT](INFO): got valid direction response: 22:15:49.0084 LVL= 16016, 29681, 26034, 30195, AGC= 64, IDX= 422,-0.14, 2.216, 0.233, 0.410, 1.030, PHS= 1.275,-0.750,-0.622, RAW= 93.2, 1.0, CAL= 101.5, -2.4, ROT= 48.5, 2.4 2025-01-08T22:15:50.737Z,1736374550.737 [DAT](INFO): DAT read: Bearing 48.5, 2.4 (Local) 2025-01-08T22:15:50.737Z,1736374550.737 [DAT](INFO): Local bearing/azimuth received: Bearing 48.5, 2.4 (Local) 2025-01-08T22:15:50.739Z,1736374550.739 [DAT](INFO): DAT read: Range 10 to 50 : 266.7 m (Round-trip 355.6 ms) speed 0.1 m/s 2025-01-08T22:15:50.743Z,1736374550.743 [DAT](INFO): DAT read: user:2442> 2025-01-08T22:15:50.745Z,1736374550.745 [DAT](INFO): DAT read: Tx time:22:15:50.0987 2025-01-08T22:15:50.745Z,1736374550.745 [DAT](INFO): Ping request sent. 2025-01-08T22:15:50.746Z,1736374550.746 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:50.746Z,1736374550.746 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:50.765Z,1736374550.765 [DAT](INFO): direction in FSK: [-0.109279,0.052463,0.992626] 2025-01-08T22:15:50.766Z,1736374550.766 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:50.767Z,1736374550.767 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:50.782Z,1736374550.782 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:50.782Z,1736374550.782 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:50.794Z,1736374550.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:50.836Z,1736374550.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 266.700012 m, deltaT: 3.780065 s, deltaX: -1.299988 m, approachRate: -0.343906 m/s, rangeRepo size: 4 2025-01-08T22:15:50.838Z,1736374550.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 266.700012 m, bearing: 217.113784 deg, lat: 36.904108 deg, lon: -122.122436 deg, deltaT: 3.780065 s, deltaX: -1.299988 m, approachRate: -0.343906 m/s, posRepo size: 4 2025-01-08T22:15:50.839Z,1736374550.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.70 m. 2025-01-08T22:15:50.859Z,1736374550.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.700012 m, nav range: 41.604240 m, bearing: 227.024728 deg, approach rate: 0.000000 m/s, LOS rate: -0.404122 deg/s, cmd heading: 23.390924 deg, new cmd heading: 22.850894 deg. 2025-01-08T22:15:50.865Z,1736374550.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.398823 target range: 266.700012 and range: 266.70 m. 2025-01-08T22:15:50.980Z,1736374550.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:50.982Z,1736374550.982 [DAT](INFO): DAT read: TxSync time:22:15:50.0979 2025-01-08T22:15:51.158Z,1736374551.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:51.186Z,1736374551.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:51.214Z,1736374551.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.70 m. 2025-01-08T22:15:51.221Z,1736374551.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.700012 m, nav range: 41.833416 m, bearing: 226.924297 deg, approach rate: 0.586735 m/s, LOS rate: -0.255714 deg/s, cmd heading: 22.850893 deg, new cmd heading: 22.551254 deg. 2025-01-08T22:15:51.221Z,1736374551.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393594 target range: 266.700012 and range: 266.70 m. 2025-01-08T22:15:51.232Z,1736374551.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:51.232Z,1736374551.232 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:51.232Z,1736374551.232 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:51.233Z,1736374551.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:51.484Z,1736374551.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:51.485Z,1736374551.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739717 2025-01-08T22:15:51.553Z,1736374551.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:51.563Z,1736374551.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.70 m. 2025-01-08T22:15:51.566Z,1736374551.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.700012 m, nav range: 42.081646 m, bearing: 226.811674 deg, approach rate: 0.711169 m/s, LOS rate: -0.320757 deg/s, cmd heading: 22.551254 deg, new cmd heading: 22.215382 deg. 2025-01-08T22:15:51.567Z,1736374551.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.387732 target range: 266.700012 and range: 266.70 m. 2025-01-08T22:15:51.736Z,1736374551.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:51.738Z,1736374551.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992685 2025-01-08T22:15:51.934Z,1736374551.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:51.944Z,1736374551.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.70 m. 2025-01-08T22:15:51.947Z,1736374551.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.700012 m, nav range: 42.320328 m, bearing: 226.702299 deg, approach rate: 0.625553 m/s, LOS rate: -0.285041 deg/s, cmd heading: 22.215382 deg, new cmd heading: 21.889111 deg. 2025-01-08T22:15:51.948Z,1736374551.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.382037 target range: 266.700012 and range: 266.70 m. 2025-01-08T22:15:51.988Z,1736374551.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:51.989Z,1736374551.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243393 2025-01-08T22:15:52.241Z,1736374552.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:52.242Z,1736374552.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496188 2025-01-08T22:15:52.413Z,1736374552.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:52.438Z,1736374552.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.70 m. 2025-01-08T22:15:52.445Z,1736374552.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.700012 m, nav range: 42.620934 m, bearing: 226.552816 deg, approach rate: 0.608853 m/s, LOS rate: -0.300630 deg/s, cmd heading: 21.889110 deg, new cmd heading: 21.443834 deg. 2025-01-08T22:15:52.446Z,1736374552.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.374266 target range: 266.700012 and range: 266.70 m. 2025-01-08T22:15:52.492Z,1736374552.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:52.493Z,1736374552.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747449 2025-01-08T22:15:52.744Z,1736374552.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:52.744Z,1736374552.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998981 2025-01-08T22:15:52.809Z,1736374552.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:52.818Z,1736374552.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.70 m. 2025-01-08T22:15:52.820Z,1736374552.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.700012 m, nav range: 42.868164 m, bearing: 226.426159 deg, approach rate: 0.650994 m/s, LOS rate: -0.331582 deg/s, cmd heading: 21.443835 deg, new cmd heading: 21.066061 deg. 2025-01-08T22:15:52.821Z,1736374552.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.367672 target range: 266.700012 and range: 266.70 m. 2025-01-08T22:15:52.996Z,1736374552.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:52.996Z,1736374552.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251071 2025-01-08T22:15:53.248Z,1736374553.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:53.248Z,1736374553.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503066 2025-01-08T22:15:53.293Z,1736374553.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:53.300Z,1736374553.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:53.302Z,1736374553.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.70 m. 2025-01-08T22:15:53.305Z,1736374553.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.700012 m, nav range: 43.163979 m, bearing: 226.269978 deg, approach rate: 0.611135 m/s, LOS rate: -0.320450 deg/s, cmd heading: 21.066060 deg, new cmd heading: 20.600738 deg. 2025-01-08T22:15:53.306Z,1736374553.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.359551 target range: 266.700012 and range: 266.70 m. 2025-01-08T22:15:53.500Z,1736374553.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:53.500Z,1736374553.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754928 2025-01-08T22:15:53.666Z,1736374553.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:53.708Z,1736374553.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.70 m. 2025-01-08T22:15:53.717Z,1736374553.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.700012 m, nav range: 43.391506 m, bearing: 226.148000 deg, approach rate: 0.567039 m/s, LOS rate: -0.302396 deg/s, cmd heading: 20.600738 deg, new cmd heading: 20.236729 deg. 2025-01-08T22:15:53.718Z,1736374553.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.353198 target range: 266.700012 and range: 266.70 m. 2025-01-08T22:15:53.752Z,1736374553.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:53.753Z,1736374553.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007253 2025-01-08T22:15:54.004Z,1736374554.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:54.004Z,1736374554.004 [DAT](INFO): DAT read: Rx Time:22:15:52.8562 2025-01-08T22:15:54.005Z,1736374554.005 [DAT](INFO): Rx dataTimestamp_ set to:1736374554.004648 2025-01-08T22:15:54.005Z,1736374554.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260068 2025-01-08T22:15:54.155Z,1736374554.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:54.173Z,1736374554.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.70 m. 2025-01-08T22:15:54.180Z,1736374554.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.700012 m, nav range: 43.688503 m, bearing: 225.987117 deg, approach rate: 0.634062 m/s, LOS rate: -0.341136 deg/s, cmd heading: 20.236729 deg, new cmd heading: 19.757372 deg. 2025-01-08T22:15:54.181Z,1736374554.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.344831 target range: 266.700012 and range: 266.70 m. 2025-01-08T22:15:54.256Z,1736374554.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:54.257Z,1736374554.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512098 2025-01-08T22:15:54.509Z,1736374554.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:54.511Z,1736374554.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765234 2025-01-08T22:15:54.519Z,1736374554.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:54.580Z,1736374554.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.70 m. 2025-01-08T22:15:54.583Z,1736374554.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.700012 m, nav range: 43.903454 m, bearing: 225.867637 deg, approach rate: 0.525882 m/s, LOS rate: -0.290878 deg/s, cmd heading: 19.757372 deg, new cmd heading: 19.400694 deg. 2025-01-08T22:15:54.584Z,1736374554.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.338606 target range: 266.700012 and range: 266.70 m. 2025-01-08T22:15:54.761Z,1736374554.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:54.770Z,1736374554.770 [DAT](INFO): DAT read: 22:15:52.8562 LVL= 15792, 30801, 22162, 29555, AGC= 64, IDX= 414,-0.10, 1.578,-0.099,-0.245, 0.532, PHS= 1.134,-0.583,-0.780, RAW= 84.7, 2.5, CAL= 90.3, -0.4, ROT= 59.7, 0.4 2025-01-08T22:15:54.772Z,1736374554.772 [DAT](INFO): got valid direction response: 22:15:52.8562 LVL= 15792, 30801, 22162, 29555, AGC= 64, IDX= 414,-0.10, 1.578,-0.099,-0.245, 0.532, PHS= 1.134,-0.583,-0.780, RAW= 84.7, 2.5, CAL= 90.3, -0.4, ROT= 59.7, 0.4 2025-01-08T22:15:54.773Z,1736374554.773 [DAT](INFO): DAT read: Bearing 59.7, 0.4 (Local) 2025-01-08T22:15:54.773Z,1736374554.773 [DAT](INFO): Local bearing/azimuth received: Bearing 59.7, 0.4 (Local) 2025-01-08T22:15:54.775Z,1736374554.775 [DAT](INFO): DAT read: Range 10 to 50 : 264.9 m (Round-trip 353.3 ms) speed 0.3 m/s 2025-01-08T22:15:54.776Z,1736374554.776 [DAT](INFO): DAT read: user:2443> 2025-01-08T22:15:54.776Z,1736374554.776 [DAT](INFO): DAT read: Tx time:22:15:53.9488 2025-01-08T22:15:54.777Z,1736374554.777 [DAT](INFO): Ping request sent. 2025-01-08T22:15:54.777Z,1736374554.777 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:54.777Z,1736374554.777 [DAT](INFO): DAT read: TxSync time:22:15:53.9480 2025-01-08T22:15:54.778Z,1736374554.778 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:54.779Z,1736374554.779 [DAT](INFO): direction in FSK: [-0.124154,0.201387,0.971612] 2025-01-08T22:15:54.803Z,1736374554.803 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:54.820Z,1736374554.820 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:54.860Z,1736374554.860 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:54.861Z,1736374554.861 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:54.928Z,1736374554.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:54.961Z,1736374554.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 264.899994 m, deltaT: 4.033553 s, deltaX: -1.800018 m, approachRate: -0.446261 m/s, rangeRepo size: 4 2025-01-08T22:15:54.968Z,1736374554.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 264.899994 m, bearing: 163.468853 deg, lat: 36.904099 deg, lon: -122.122436 deg, deltaT: 4.033553 s, deltaX: -1.800018 m, approachRate: -0.446261 m/s, posRepo size: 4 2025-01-08T22:15:54.968Z,1736374554.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.90 m. 2025-01-08T22:15:54.972Z,1736374554.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 264.899994 m, nav range: 44.855591 m, bearing: 224.806302 deg, approach rate: 0.000000 m/s, LOS rate: -0.290878 deg/s, cmd heading: 19.400693 deg, new cmd heading: 19.068583 deg. 2025-01-08T22:15:54.973Z,1736374554.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.332810 target range: 264.899994 and range: 264.90 m. 2025-01-08T22:15:55.012Z,1736374555.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:55.264Z,1736374555.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:55.332Z,1736374555.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:55.346Z,1736374555.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:55.348Z,1736374555.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.90 m. 2025-01-08T22:15:55.351Z,1736374555.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 264.899994 m, nav range: 45.103607 m, bearing: 224.684371 deg, approach rate: 0.640391 m/s, LOS rate: -0.313099 deg/s, cmd heading: 19.068584 deg, new cmd heading: 18.704809 deg. 2025-01-08T22:15:55.352Z,1736374555.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326461 target range: 264.899994 and range: 264.90 m. 2025-01-08T22:15:55.516Z,1736374555.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:55.516Z,1736374555.516 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:55.516Z,1736374555.516 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:55.516Z,1736374555.516 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:15:55.695Z,1736374555.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:55.703Z,1736374555.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.90 m. 2025-01-08T22:15:55.706Z,1736374555.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 264.899994 m, nav range: 45.322071 m, bearing: 224.574300 deg, approach rate: 0.615455 m/s, LOS rate: -0.308597 deg/s, cmd heading: 18.704809 deg, new cmd heading: 18.376192 deg. 2025-01-08T22:15:55.707Z,1736374555.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.320725 target range: 264.899994 and range: 264.90 m. 2025-01-08T22:15:55.768Z,1736374555.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:55.769Z,1736374555.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992068 2025-01-08T22:15:56.020Z,1736374556.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:56.020Z,1736374556.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243669 2025-01-08T22:15:56.097Z,1736374556.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:56.164Z,1736374556.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.90 m. 2025-01-08T22:15:56.180Z,1736374556.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 264.899994 m, nav range: 45.564278 m, bearing: 224.452252 deg, approach rate: 0.532051 m/s, LOS rate: -0.266677 deg/s, cmd heading: 18.376192 deg, new cmd heading: 18.011998 deg. 2025-01-08T22:15:56.181Z,1736374556.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.314369 target range: 264.899994 and range: 264.90 m. 2025-01-08T22:15:56.273Z,1736374556.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:56.274Z,1736374556.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497370 2025-01-08T22:15:56.513Z,1736374556.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:56.522Z,1736374556.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.90 m. 2025-01-08T22:15:56.524Z,1736374556.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:56.525Z,1736374556.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748216 2025-01-08T22:15:56.528Z,1736374556.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 264.899994 m, nav range: 45.820744 m, bearing: 224.329991 deg, approach rate: 0.704209 m/s, LOS rate: -0.333828 deg/s, cmd heading: 18.011998 deg, new cmd heading: 17.647272 deg. 2025-01-08T22:15:56.529Z,1736374556.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.308003 target range: 264.899994 and range: 264.90 m. 2025-01-08T22:15:56.776Z,1736374556.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:56.776Z,1736374556.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999658 2025-01-08T22:15:56.901Z,1736374556.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:56.911Z,1736374556.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.90 m. 2025-01-08T22:15:56.914Z,1736374556.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 264.899994 m, nav range: 46.059113 m, bearing: 224.215515 deg, approach rate: 0.613479 m/s, LOS rate: -0.293094 deg/s, cmd heading: 17.647272 deg, new cmd heading: 17.305628 deg. 2025-01-08T22:15:56.915Z,1736374556.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.302040 target range: 264.899994 and range: 264.90 m. 2025-01-08T22:15:57.028Z,1736374557.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:57.029Z,1736374557.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251810 2025-01-08T22:15:57.280Z,1736374557.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:57.280Z,1736374557.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503519 2025-01-08T22:15:57.314Z,1736374557.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:57.345Z,1736374557.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.90 m. 2025-01-08T22:15:57.357Z,1736374557.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 264.899994 m, nav range: 46.301311 m, bearing: 224.094447 deg, approach rate: 0.558210 m/s, LOS rate: -0.277573 deg/s, cmd heading: 17.305628 deg, new cmd heading: 16.944329 deg. 2025-01-08T22:15:57.358Z,1736374557.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.295734 target range: 264.899994 and range: 264.90 m. 2025-01-08T22:15:57.532Z,1736374557.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:57.534Z,1736374557.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756377 2025-01-08T22:15:57.701Z,1736374557.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:57.708Z,1736374557.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:57.710Z,1736374557.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.90 m. 2025-01-08T22:15:57.729Z,1736374557.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 264.899994 m, nav range: 46.528252 m, bearing: 223.979943 deg, approach rate: 0.621117 m/s, LOS rate: -0.311859 deg/s, cmd heading: 16.944328 deg, new cmd heading: 16.602497 deg. 2025-01-08T22:15:57.732Z,1736374557.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.289768 target range: 264.899994 and range: 264.90 m. 2025-01-08T22:15:57.785Z,1736374557.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:57.786Z,1736374557.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009195 2025-01-08T22:15:58.036Z,1736374558.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:58.037Z,1736374558.037 [DAT](INFO): DAT read: Rx Time:22:15:56.7043 2025-01-08T22:15:58.037Z,1736374558.037 [DAT](INFO): Rx dataTimestamp_ set to:1736374558.036950 2025-01-08T22:15:58.038Z,1736374558.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261009 2025-01-08T22:15:58.129Z,1736374558.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:58.209Z,1736374558.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.90 m. 2025-01-08T22:15:58.221Z,1736374558.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 264.899994 m, nav range: 46.777805 m, bearing: 223.852684 deg, approach rate: 0.499927 m/s, LOS rate: -0.253576 deg/s, cmd heading: 16.602496 deg, new cmd heading: 16.222762 deg. 2025-01-08T22:15:58.221Z,1736374558.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.283141 target range: 264.899994 and range: 264.90 m. 2025-01-08T22:15:58.292Z,1736374558.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:58.293Z,1736374558.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516146 2025-01-08T22:15:58.532Z,1736374558.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:58.541Z,1736374558.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.90 m. 2025-01-08T22:15:58.544Z,1736374558.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:58.551Z,1736374558.551 [DAT](INFO): DAT read: 22:15:56.7043 LVL= 16720, 32753, 27954, 32755, AGC= 63, IDX= 427,-0.11,-0.831,-2.272,-2.644,-1.736, PHS= 0.993,-0.489,-0.912, RAW= 77.8, 4.8, CAL= 81.9, 3.8, ROT= 68.1, -3.8 2025-01-08T22:15:58.552Z,1736374558.552 [DAT](INFO): got valid direction response: 22:15:56.7043 LVL= 16720, 32753, 27954, 32755, AGC= 63, IDX= 427,-0.11,-0.831,-2.272,-2.644,-1.736, PHS= 0.993,-0.489,-0.912, RAW= 77.8, 4.8, CAL= 81.9, 3.8, ROT= 68.1, -3.8 2025-01-08T22:15:58.553Z,1736374558.553 [DAT](INFO): DAT read: Bearing 68.1, -3.8 (Local) 2025-01-08T22:15:58.553Z,1736374558.553 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, -3.8 (Local) 2025-01-08T22:15:58.555Z,1736374558.555 [DAT](INFO): DAT read: Range 10 to 50 : 263.5 m (Round-trip 351.4 ms) speed 0.0 m/s 2025-01-08T22:15:58.556Z,1736374558.556 [DAT](INFO): DAT read: user:2444> 2025-01-08T22:15:58.557Z,1736374558.557 [DAT](INFO): DAT read: Tx time:22:15:57.7988 2025-01-08T22:15:58.557Z,1736374558.557 [DAT](INFO): Ping request sent. 2025-01-08T22:15:58.558Z,1736374558.558 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:15:58.558Z,1736374558.558 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:15:58.559Z,1736374558.559 [DAT](INFO): direction in FSK: [-0.153034,0.315072,0.936648] 2025-01-08T22:15:58.559Z,1736374558.559 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:58.560Z,1736374558.560 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:58.562Z,1736374558.562 [DAT](INFO): publishing transmit ping time 2025-01-08T22:15:58.563Z,1736374558.563 [DAT](INFO): publishing direction and range info 2025-01-08T22:15:58.580Z,1736374558.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 264.899994 m, nav range: 47.016872 m, bearing: 223.721068 deg, approach rate: 0.722340 m/s, LOS rate: -0.395657 deg/s, cmd heading: 16.222761 deg, new cmd heading: 15.829925 deg. 2025-01-08T22:15:58.581Z,1736374558.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.276284 target range: 264.899994 and range: 264.90 m. 2025-01-08T22:15:58.801Z,1736374558.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:58.802Z,1736374558.802 [DAT](INFO): DAT read: TxSync time:22:15:57.7980 2025-01-08T22:15:58.921Z,1736374558.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:58.937Z,1736374558.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 263.500000 m, deltaT: 3.782637 s, deltaX: -1.399994 m, approachRate: -0.370111 m/s, rangeRepo size: 4 2025-01-08T22:15:58.939Z,1736374558.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 263.500000 m, bearing: 146.474998 deg, lat: 36.904080 deg, lon: -122.122344 deg, deltaT: 3.782637 s, deltaX: -1.399994 m, approachRate: -0.370111 m/s, posRepo size: 4 2025-01-08T22:15:58.940Z,1736374558.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.50 m. 2025-01-08T22:15:58.943Z,1736374558.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.500000 m, nav range: 43.704796 m, bearing: 213.884037 deg, approach rate: 0.000000 m/s, LOS rate: -0.395657 deg/s, cmd heading: 15.829925 deg, new cmd heading: 15.360218 deg. 2025-01-08T22:15:58.944Z,1736374558.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.268086 target range: 263.500000 and range: 263.50 m. 2025-01-08T22:15:59.052Z,1736374559.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:59.304Z,1736374559.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:59.337Z,1736374559.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:59.367Z,1736374559.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.50 m. 2025-01-08T22:15:59.370Z,1736374559.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.500000 m, nav range: 43.960037 m, bearing: 213.782452 deg, approach rate: 0.592074 m/s, LOS rate: -0.234276 deg/s, cmd heading: 15.360218 deg, new cmd heading: 15.057233 deg. 2025-01-08T22:15:59.371Z,1736374559.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262798 target range: 263.500000 and range: 263.50 m. 2025-01-08T22:15:59.556Z,1736374559.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:59.735Z,1736374559.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:15:59.742Z,1736374559.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:15:59.746Z,1736374559.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.50 m. 2025-01-08T22:15:59.750Z,1736374559.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.500000 m, nav range: 44.203384 m, bearing: 213.683614 deg, approach rate: 0.641843 m/s, LOS rate: -0.259254 deg/s, cmd heading: 15.057232 deg, new cmd heading: 14.762356 deg. 2025-01-08T22:15:59.751Z,1736374559.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.257652 target range: 263.500000 and range: 263.50 m. 2025-01-08T22:15:59.809Z,1736374559.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:15:59.810Z,1736374559.810 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:15:59.810Z,1736374559.810 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:15:59.811Z,1736374559.811 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:00.060Z,1736374560.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:00.060Z,1736374560.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502727 2025-01-08T22:16:00.125Z,1736374560.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:00.133Z,1736374560.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.50 m. 2025-01-08T22:16:00.136Z,1736374560.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.500000 m, nav range: 44.441238 m, bearing: 213.585474 deg, approach rate: 0.615087 m/s, LOS rate: -0.252430 deg/s, cmd heading: 14.762356 deg, new cmd heading: 14.469514 deg. 2025-01-08T22:16:00.137Z,1736374560.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.252541 target range: 263.500000 and range: 263.50 m. 2025-01-08T22:16:00.312Z,1736374560.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:00.312Z,1736374560.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754733 2025-01-08T22:16:00.555Z,1736374560.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:00.564Z,1736374560.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:00.565Z,1736374560.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006972 2025-01-08T22:16:00.567Z,1736374560.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.50 m. 2025-01-08T22:16:00.569Z,1736374560.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.500000 m, nav range: 44.697674 m, bearing: 213.465623 deg, approach rate: 0.591567 m/s, LOS rate: -0.274896 deg/s, cmd heading: 14.469515 deg, new cmd heading: 14.112030 deg. 2025-01-08T22:16:00.570Z,1736374560.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246301 target range: 263.500000 and range: 263.50 m. 2025-01-08T22:16:00.817Z,1736374560.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:00.819Z,1736374560.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260565 2025-01-08T22:16:00.956Z,1736374560.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:00.966Z,1736374560.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.50 m. 2025-01-08T22:16:00.969Z,1736374560.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.500000 m, nav range: 44.935947 m, bearing: 213.352617 deg, approach rate: 0.596767 m/s, LOS rate: -0.281528 deg/s, cmd heading: 14.112030 deg, new cmd heading: 13.774813 deg. 2025-01-08T22:16:00.970Z,1736374560.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.240416 target range: 263.500000 and range: 263.50 m. 2025-01-08T22:16:01.068Z,1736374561.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:01.068Z,1736374561.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510897 2025-01-08T22:16:01.320Z,1736374561.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:01.320Z,1736374561.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762739 2025-01-08T22:16:01.377Z,1736374561.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:01.406Z,1736374561.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.50 m. 2025-01-08T22:16:01.414Z,1736374561.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.500000 m, nav range: 45.184662 m, bearing: 213.213030 deg, approach rate: 0.565364 m/s, LOS rate: -0.315555 deg/s, cmd heading: 13.774813 deg, new cmd heading: 13.358365 deg. 2025-01-08T22:16:01.415Z,1736374561.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.233147 target range: 263.500000 and range: 263.50 m. 2025-01-08T22:16:01.572Z,1736374561.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:01.573Z,1736374561.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015043 2025-01-08T22:16:01.752Z,1736374561.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:01.769Z,1736374561.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:01.776Z,1736374561.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.50 m. 2025-01-08T22:16:01.778Z,1736374561.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.500000 m, nav range: 45.405796 m, bearing: 213.087550 deg, approach rate: 0.604623 m/s, LOS rate: -0.341416 deg/s, cmd heading: 13.358364 deg, new cmd heading: 12.983763 deg. 2025-01-08T22:16:01.782Z,1736374561.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226609 target range: 263.500000 and range: 263.50 m. 2025-01-08T22:16:01.825Z,1736374561.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:01.828Z,1736374561.828 [DAT](INFO): DAT read: Rx Time:22:16:00.5538 2025-01-08T22:16:01.829Z,1736374561.829 [DAT](INFO): Rx dataTimestamp_ set to:1736374561.828160 2025-01-08T22:16:01.830Z,1736374561.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272527 2025-01-08T22:16:02.076Z,1736374562.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:02.076Z,1736374562.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518894 2025-01-08T22:16:02.305Z,1736374562.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:02.315Z,1736374562.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.50 m. 2025-01-08T22:16:02.318Z,1736374562.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.500000 m, nav range: 45.727764 m, bearing: 212.889629 deg, approach rate: 0.592522 m/s, LOS rate: -0.361671 deg/s, cmd heading: 12.983763 deg, new cmd heading: 12.394202 deg. 2025-01-08T22:16:02.319Z,1736374562.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216320 target range: 263.500000 and range: 263.50 m. 2025-01-08T22:16:02.341Z,1736374562.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:02.348Z,1736374562.348 [DAT](INFO): DAT read: 22:16:00.5538 LVL= 16496, 27073, 20066, 28531, AGC= 65, IDX= 436, 0.37, 0.544,-0.621,-1.308,-0.248, PHS= 0.880,-0.326,-1.062, RAW= 67.9, 6.0, CAL= 69.4, 7.3, ROT= 80.6, -7.3 2025-01-08T22:16:02.349Z,1736374562.349 [DAT](INFO): got valid direction response: 22:16:00.5538 LVL= 16496, 27073, 20066, 28531, AGC= 65, IDX= 436, 0.37, 0.544,-0.621,-1.308,-0.248, PHS= 0.880,-0.326,-1.062, RAW= 67.9, 6.0, CAL= 69.4, 7.3, ROT= 80.6, -7.3 2025-01-08T22:16:02.350Z,1736374562.350 [DAT](INFO): DAT read: Bearing 80.6, -7.3 (Local) 2025-01-08T22:16:02.350Z,1736374562.350 [DAT](INFO): Local bearing/azimuth received: Bearing 80.6, -7.3 (Local) 2025-01-08T22:16:02.352Z,1736374562.352 [DAT](INFO): DAT read: Range 10 to 50 : 263.1 m (Round-trip 350.8 ms) speed 0.1 m/s 2025-01-08T22:16:02.353Z,1736374562.353 [DAT](INFO): DAT read: user:2445> 2025-01-08T22:16:02.354Z,1736374562.354 [DAT](INFO): DAT read: Tx time:22:16:01.6488 2025-01-08T22:16:02.354Z,1736374562.354 [DAT](INFO): Ping request sent. 2025-01-08T22:16:02.354Z,1736374562.354 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:02.354Z,1736374562.354 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:02.355Z,1736374562.355 [DAT](INFO): direction in FSK: [-0.157340,0.466798,0.870255] 2025-01-08T22:16:02.356Z,1736374562.356 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:02.356Z,1736374562.356 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:02.368Z,1736374562.368 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:02.368Z,1736374562.368 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:02.593Z,1736374562.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:02.594Z,1736374562.594 [DAT](INFO): DAT read: TxSync time:22:16:01.6480 2025-01-08T22:16:02.660Z,1736374562.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:16:02.764Z,1736374562.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:02.803Z,1736374562.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 263.100006 m, deltaT: 3.796962 s, deltaX: -0.399994 m, approachRate: -0.105346 m/s, rangeRepo size: 4 2025-01-08T22:16:02.809Z,1736374562.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 263.100006 m, bearing: 130.201092 deg, lat: 36.903910 deg, lon: -122.121904 deg, deltaT: 3.796962 s, deltaX: -0.399994 m, approachRate: -0.105346 m/s, posRepo size: 4 2025-01-08T22:16:02.810Z,1736374562.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.10 m. 2025-01-08T22:16:02.817Z,1736374562.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.100006 m, nav range: 59.415863 m, bearing: 166.147145 deg, approach rate: 0.000000 m/s, LOS rate: -0.361671 deg/s, cmd heading: 12.394202 deg, new cmd heading: 11.865405 deg. 2025-01-08T22:16:02.818Z,1736374562.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.207090 target range: 263.100006 and range: 263.10 m. 2025-01-08T22:16:02.845Z,1736374562.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:03.096Z,1736374563.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:03.136Z,1736374563.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:03.166Z,1736374563.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.10 m. 2025-01-08T22:16:03.183Z,1736374563.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.100006 m, nav range: 59.643456 m, bearing: 166.225062 deg, approach rate: 0.625765 m/s, LOS rate: 0.213416 deg/s, cmd heading: 11.865405 deg, new cmd heading: 12.098264 deg. 2025-01-08T22:16:03.196Z,1736374563.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.211155 target range: 263.100006 and range: 263.10 m. 2025-01-08T22:16:03.348Z,1736374563.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:03.544Z,1736374563.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:03.553Z,1736374563.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.10 m. 2025-01-08T22:16:03.556Z,1736374563.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.100006 m, nav range: 59.891506 m, bearing: 166.311185 deg, approach rate: 0.640764 m/s, LOS rate: 0.221550 deg/s, cmd heading: 12.098264 deg, new cmd heading: 12.355560 deg. 2025-01-08T22:16:03.558Z,1736374563.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.215645 target range: 263.100006 and range: 263.10 m. 2025-01-08T22:16:03.600Z,1736374563.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:03.664Z,1736374563.664 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:16:03.852Z,1736374563.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:03.929Z,1736374563.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:03.942Z,1736374563.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:03.945Z,1736374563.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.10 m. 2025-01-08T22:16:03.948Z,1736374563.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.100006 m, nav range: 60.125690 m, bearing: 166.391228 deg, approach rate: 0.597909 m/s, LOS rate: 0.203568 deg/s, cmd heading: 12.355559 deg, new cmd heading: 12.594753 deg. 2025-01-08T22:16:03.948Z,1736374563.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.219820 target range: 263.100006 and range: 263.10 m. 2025-01-08T22:16:04.104Z,1736374564.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:04.105Z,1736374564.105 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:04.105Z,1736374564.105 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:04.105Z,1736374564.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:04.356Z,1736374564.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:04.357Z,1736374564.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003013 2025-01-08T22:16:04.362Z,1736374564.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:04.399Z,1736374564.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.10 m. 2025-01-08T22:16:04.406Z,1736374564.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.100006 m, nav range: 60.382595 m, bearing: 166.487920 deg, approach rate: 0.565973 m/s, LOS rate: 0.212109 deg/s, cmd heading: 12.594754 deg, new cmd heading: 12.883591 deg. 2025-01-08T22:16:04.412Z,1736374564.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.224861 target range: 263.100006 and range: 263.10 m. 2025-01-08T22:16:04.608Z,1736374564.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:04.609Z,1736374564.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254731 2025-01-08T22:16:04.704Z,1736374564.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:04.714Z,1736374564.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.10 m. 2025-01-08T22:16:04.717Z,1736374564.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.100006 m, nav range: 60.587120 m, bearing: 166.561898 deg, approach rate: 0.648929 m/s, LOS rate: 0.233932 deg/s, cmd heading: 12.883590 deg, new cmd heading: 13.104776 deg. 2025-01-08T22:16:04.718Z,1736374564.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228721 target range: 263.100006 and range: 263.10 m. 2025-01-08T22:16:04.860Z,1736374564.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:04.860Z,1736374564.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506280 2025-01-08T22:16:05.103Z,1736374565.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:05.112Z,1736374565.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:05.113Z,1736374565.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758497 2025-01-08T22:16:05.114Z,1736374565.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.10 m. 2025-01-08T22:16:05.117Z,1736374565.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.100006 m, nav range: 60.825500 m, bearing: 166.645858 deg, approach rate: 0.595814 m/s, LOS rate: 0.209029 deg/s, cmd heading: 13.104777 deg, new cmd heading: 13.355667 deg. 2025-01-08T22:16:05.118Z,1736374565.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.233100 target range: 263.100006 and range: 263.10 m. 2025-01-08T22:16:05.364Z,1736374565.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:05.364Z,1736374565.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010280 2025-01-08T22:16:05.534Z,1736374565.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:05.547Z,1736374565.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.10 m. 2025-01-08T22:16:05.566Z,1736374565.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.100006 m, nav range: 61.077465 m, bearing: 166.756581 deg, approach rate: 0.581941 m/s, LOS rate: 0.254671 deg/s, cmd heading: 13.355667 deg, new cmd heading: 13.686460 deg. 2025-01-08T22:16:05.567Z,1736374565.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238874 target range: 263.100006 and range: 263.10 m. 2025-01-08T22:16:05.616Z,1736374565.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:05.618Z,1736374565.618 [DAT](INFO): DAT read: Rx Time:22:16:04.4029 2025-01-08T22:16:05.618Z,1736374565.618 [DAT](INFO): Rx dataTimestamp_ set to:1736374565.618072 2025-01-08T22:16:05.625Z,1736374565.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267541 2025-01-08T22:16:05.868Z,1736374565.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:05.868Z,1736374565.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514380 2025-01-08T22:16:05.934Z,1736374565.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:05.944Z,1736374565.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.10 m. 2025-01-08T22:16:05.957Z,1736374565.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.100006 m, nav range: 61.311562 m, bearing: 166.857351 deg, approach rate: 0.591057 m/s, LOS rate: 0.253457 deg/s, cmd heading: 13.686460 deg, new cmd heading: 13.987613 deg. 2025-01-08T22:16:05.958Z,1736374565.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.244130 target range: 263.100006 and range: 263.10 m. 2025-01-08T22:16:06.120Z,1736374566.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:06.129Z,1736374566.129 [DAT](INFO): DAT read: 22:16:04.4029 LVL= 14128, 31921, 25330, 29619, AGC= 62, IDX= 427,-0.16,-2.690, 2.665, 1.602, 2.773, PHS= 0.909,-0.061,-1.174, RAW= 57.7, 3.7, CAL= 57.8, 3.3, ROT= 92.2, -3.3 2025-01-08T22:16:06.131Z,1736374566.131 [DAT](INFO): got valid direction response: 22:16:04.4029 LVL= 14128, 31921, 25330, 29619, AGC= 62, IDX= 427,-0.16,-2.690, 2.665, 1.602, 2.773, PHS= 0.909,-0.061,-1.174, RAW= 57.7, 3.7, CAL= 57.8, 3.3, ROT= 92.2, -3.3 2025-01-08T22:16:06.135Z,1736374566.135 [DAT](INFO): DAT read: Bearing 92.2, -3.3 (Local) 2025-01-08T22:16:06.137Z,1736374566.137 [DAT](INFO): Local bearing/azimuth received: Bearing 92.2, -3.3 (Local) 2025-01-08T22:16:06.138Z,1736374566.138 [DAT](INFO): DAT read: Range 10 to 50 : 262.4 m (Round-trip 349.9 ms) speed 0.2 m/s 2025-01-08T22:16:06.139Z,1736374566.139 [DAT](INFO): DAT read: user:2446> 2025-01-08T22:16:06.161Z,1736374566.161 [DAT](INFO): DAT read: Tx time:22:16:05.4989 2025-01-08T22:16:06.161Z,1736374566.161 [DAT](INFO): Ping request sent. 2025-01-08T22:16:06.161Z,1736374566.161 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:06.162Z,1736374566.162 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:06.191Z,1736374566.191 [DAT](INFO): direction in FSK: [-0.092427,0.609152,0.787649] 2025-01-08T22:16:06.192Z,1736374566.192 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:06.192Z,1736374566.192 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:06.195Z,1736374566.195 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:06.204Z,1736374566.204 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:06.372Z,1736374566.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:06.373Z,1736374566.373 [DAT](INFO): DAT read: TxSync time:22:16:05.4981 2025-01-08T22:16:06.464Z,1736374566.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:06.486Z,1736374566.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 262.399994 m, deltaT: 3.779140 s, deltaX: -0.700012 m, approachRate: -0.185231 m/s, rangeRepo size: 4 2025-01-08T22:16:06.492Z,1736374566.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 262.399994 m, bearing: 114.403246 deg, lat: 36.903910 deg, lon: -122.121567 deg, deltaT: 3.779140 s, deltaX: -0.700012 m, approachRate: -0.185231 m/s, posRepo size: 4 2025-01-08T22:16:06.493Z,1736374566.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.40 m. 2025-01-08T22:16:06.500Z,1736374566.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.399994 m, nav range: 74.343643 m, bearing: 143.852048 deg, approach rate: 0.000000 m/s, LOS rate: 0.253457 deg/s, cmd heading: 13.987614 deg, new cmd heading: 14.399714 deg. 2025-01-08T22:16:06.501Z,1736374566.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.251322 target range: 262.399994 and range: 262.40 m. 2025-01-08T22:16:06.624Z,1736374566.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:06.778Z,1736374566.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:06.784Z,1736374566.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:06.786Z,1736374566.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.40 m. 2025-01-08T22:16:06.789Z,1736374566.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.399994 m, nav range: 74.478737 m, bearing: 143.978681 deg, approach rate: 0.448310 m/s, LOS rate: 0.419472 deg/s, cmd heading: 14.399714 deg, new cmd heading: 14.778919 deg. 2025-01-08T22:16:06.807Z,1736374566.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.257941 target range: 262.399994 and range: 262.40 m. 2025-01-08T22:16:06.876Z,1736374566.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:06.876Z,1736374566.876 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:06.876Z,1736374566.876 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:06.877Z,1736374566.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:07.128Z,1736374567.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:07.128Z,1736374567.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966956 2025-01-08T22:16:07.216Z,1736374567.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:07.225Z,1736374567.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.40 m. 2025-01-08T22:16:07.228Z,1736374567.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.399994 m, nav range: 74.660324 m, bearing: 144.147956 deg, approach rate: 0.414145 m/s, LOS rate: 0.385125 deg/s, cmd heading: 14.778919 deg, new cmd heading: 15.285496 deg. 2025-01-08T22:16:07.229Z,1736374567.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.266782 target range: 262.399994 and range: 262.40 m. 2025-01-08T22:16:07.382Z,1736374567.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:07.383Z,1736374567.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221375 2025-01-08T22:16:07.633Z,1736374567.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:07.636Z,1736374567.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:07.637Z,1736374567.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475156 2025-01-08T22:16:07.648Z,1736374567.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.40 m. 2025-01-08T22:16:07.680Z,1736374567.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.399994 m, nav range: 74.813644 m, bearing: 144.318513 deg, approach rate: 0.362873 m/s, LOS rate: 0.402839 deg/s, cmd heading: 15.285495 deg, new cmd heading: 15.796103 deg. 2025-01-08T22:16:07.681Z,1736374567.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.275694 target range: 262.399994 and range: 262.40 m. 2025-01-08T22:16:07.888Z,1736374567.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:07.888Z,1736374567.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726900 2025-01-08T22:16:08.016Z,1736374568.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:08.024Z,1736374568.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.40 m. 2025-01-08T22:16:08.027Z,1736374568.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.399994 m, nav range: 74.953888 m, bearing: 144.474108 deg, approach rate: 0.372164 m/s, LOS rate: 0.412130 deg/s, cmd heading: 15.796103 deg, new cmd heading: 16.262006 deg. 2025-01-08T22:16:08.028Z,1736374568.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.283826 target range: 262.399994 and range: 262.40 m. 2025-01-08T22:16:08.140Z,1736374568.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:08.141Z,1736374568.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979793 2025-01-08T22:16:08.392Z,1736374568.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:08.393Z,1736374568.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230996 2025-01-08T22:16:08.458Z,1736374568.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:08.479Z,1736374568.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.40 m. 2025-01-08T22:16:08.486Z,1736374568.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.399994 m, nav range: 75.113838 m, bearing: 144.661347 deg, approach rate: 0.351667 m/s, LOS rate: 0.410787 deg/s, cmd heading: 16.262006 deg, new cmd heading: 16.822508 deg. 2025-01-08T22:16:08.487Z,1736374568.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.293608 target range: 262.399994 and range: 262.40 m. 2025-01-08T22:16:08.644Z,1736374568.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:08.646Z,1736374568.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483767 2025-01-08T22:16:08.832Z,1736374568.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:08.839Z,1736374568.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:08.842Z,1736374568.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.40 m. 2025-01-08T22:16:08.845Z,1736374568.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.399994 m, nav range: 75.248703 m, bearing: 144.819577 deg, approach rate: 0.371623 m/s, LOS rate: 0.435223 deg/s, cmd heading: 16.822508 deg, new cmd heading: 17.296335 deg. 2025-01-08T22:16:08.846Z,1736374568.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.301878 target range: 262.399994 and range: 262.40 m. 2025-01-08T22:16:08.896Z,1736374568.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:08.897Z,1736374568.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735051 2025-01-08T22:16:09.148Z,1736374569.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:09.148Z,1736374569.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986969 2025-01-08T22:16:09.228Z,1736374569.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:09.236Z,1736374569.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.40 m. 2025-01-08T22:16:09.239Z,1736374569.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.399994 m, nav range: 75.390816 m, bearing: 144.986912 deg, approach rate: 0.360202 m/s, LOS rate: 0.423330 deg/s, cmd heading: 17.296336 deg, new cmd heading: 17.797380 deg. 2025-01-08T22:16:09.241Z,1736374569.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.310623 target range: 262.399994 and range: 262.40 m. 2025-01-08T22:16:09.400Z,1736374569.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:09.401Z,1736374569.401 [DAT](INFO): DAT read: Rx Time:22:16:08.2514 2025-01-08T22:16:09.402Z,1736374569.402 [DAT](INFO): Rx dataTimestamp_ set to:1736374569.401252 2025-01-08T22:16:09.402Z,1736374569.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240553 2025-01-08T22:16:09.652Z,1736374569.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:09.654Z,1736374569.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491773 2025-01-08T22:16:09.686Z,1736374569.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:09.696Z,1736374569.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.40 m. 2025-01-08T22:16:09.699Z,1736374569.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.399994 m, nav range: 75.559685 m, bearing: 145.176269 deg, approach rate: 0.367391 m/s, LOS rate: 0.411044 deg/s, cmd heading: 17.797380 deg, new cmd heading: 18.364162 deg. 2025-01-08T22:16:09.700Z,1736374569.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.320515 target range: 262.399994 and range: 262.40 m. 2025-01-08T22:16:09.905Z,1736374569.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:09.909Z,1736374569.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.745333 2025-01-08T22:16:10.031Z,1736374570.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:10.056Z,1736374570.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.40 m. 2025-01-08T22:16:10.058Z,1736374570.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 262.399994 m, nav range: 75.684570 m, bearing: 145.319131 deg, approach rate: 0.347514 m/s, LOS rate: 0.396881 deg/s, cmd heading: 18.364162 deg, new cmd heading: 18.792033 deg. 2025-01-08T22:16:10.060Z,1736374570.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.327983 target range: 262.399994 and range: 262.40 m. 2025-01-08T22:16:10.156Z,1736374570.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:10.167Z,1736374570.167 [DAT](INFO): DAT read: 22:16:08.2514 LVL= 15088, 23281, 17666, 25907, AGC= 67, IDX= 427, 0.45,-0.657,-1.687,-2.841,-1.845, PHS= 1.275, 0.204,-0.999, RAW= 58.1, -4.9, CAL= 63.5, -10.2, ROT= 86.5, 10.2 2025-01-08T22:16:10.169Z,1736374570.169 [DAT](INFO): got valid direction response: 22:16:08.2514 LVL= 15088, 23281, 17666, 25907, AGC= 67, IDX= 427, 0.45,-0.657,-1.687,-2.841,-1.845, PHS= 1.275, 0.204,-0.999, RAW= 58.1, -4.9, CAL= 63.5, -10.2, ROT= 86.5, 10.2 2025-01-08T22:16:10.170Z,1736374570.170 [DAT](INFO): DAT read: Bearing 86.5, 10.2 (Local) 2025-01-08T22:16:10.170Z,1736374570.170 [DAT](INFO): Local bearing/azimuth received: Bearing 86.5, 10.2 (Local) 2025-01-08T22:16:10.182Z,1736374570.182 [DAT](INFO): DAT read: Range 10 to 50 : 261.3 m (Round-trip 348.4 ms) speed 0.1 m/s 2025-01-08T22:16:10.183Z,1736374570.183 [DAT](INFO): DAT read: user:2447> 2025-01-08T22:16:10.184Z,1736374570.184 [DAT](INFO): DAT read: Tx time:22:16:09.3489 2025-01-08T22:16:10.184Z,1736374570.184 [DAT](INFO): Ping request sent. 2025-01-08T22:16:10.185Z,1736374570.185 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:10.185Z,1736374570.185 [DAT](INFO): DAT read: TxSync time:22:16:09.3481 2025-01-08T22:16:10.186Z,1736374570.186 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:10.187Z,1736374570.187 [DAT](INFO): direction in FSK: [0.066291,0.595234,0.800814] 2025-01-08T22:16:10.187Z,1736374570.187 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:10.191Z,1736374570.191 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:10.197Z,1736374570.197 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:10.198Z,1736374570.198 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:10.408Z,1736374570.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:10.471Z,1736374570.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:10.506Z,1736374570.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 261.299988 m, deltaT: 4.035652 s, deltaX: -1.100006 m, approachRate: -0.272572 m/s, rangeRepo size: 4 2025-01-08T22:16:10.513Z,1736374570.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 261.299988 m, bearing: 100.046753 deg, lat: 36.903910 deg, lon: -122.121077 deg, deltaT: 4.035652 s, deltaX: -1.100006 m, approachRate: -0.272572 m/s, posRepo size: 4 2025-01-08T22:16:10.514Z,1736374570.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.30 m. 2025-01-08T22:16:10.521Z,1736374570.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.299988 m, nav range: 106.762741 m, bearing: 125.841075 deg, approach rate: 0.000000 m/s, LOS rate: 0.396881 deg/s, cmd heading: 18.792033 deg, new cmd heading: 19.327456 deg. 2025-01-08T22:16:10.528Z,1736374570.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.337328 target range: 261.299988 and range: 261.30 m. 2025-01-08T22:16:10.661Z,1736374570.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:10.852Z,1736374570.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:10.877Z,1736374570.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:10.879Z,1736374570.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.30 m. 2025-01-08T22:16:10.882Z,1736374570.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.299988 m, nav range: 106.836693 m, bearing: 125.970756 deg, approach rate: 0.197936 m/s, LOS rate: 0.346857 deg/s, cmd heading: 19.327456 deg, new cmd heading: 19.716223 deg. 2025-01-08T22:16:10.883Z,1736374570.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.344113 target range: 261.299988 and range: 261.30 m. 2025-01-08T22:16:10.912Z,1736374570.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:10.913Z,1736374570.913 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:10.913Z,1736374570.913 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:10.913Z,1736374570.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:11.164Z,1736374571.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:11.164Z,1736374571.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979792 2025-01-08T22:16:11.241Z,1736374571.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:11.250Z,1736374571.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.30 m. 2025-01-08T22:16:11.268Z,1736374571.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.299988 m, nav range: 106.908546 m, bearing: 126.103859 deg, approach rate: 0.193704 m/s, LOS rate: 0.358580 deg/s, cmd heading: 19.716224 deg, new cmd heading: 20.115258 deg. 2025-01-08T22:16:11.269Z,1736374571.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.351077 target range: 261.299988 and range: 261.30 m. 2025-01-08T22:16:11.416Z,1736374571.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:11.417Z,1736374571.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232118 2025-01-08T22:16:11.668Z,1736374571.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:11.670Z,1736374571.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484961 2025-01-08T22:16:11.737Z,1736374571.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:11.747Z,1736374571.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.30 m. 2025-01-08T22:16:11.752Z,1736374571.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.299988 m, nav range: 107.020813 m, bearing: 126.271986 deg, approach rate: 0.225844 m/s, LOS rate: 0.337862 deg/s, cmd heading: 20.115257 deg, new cmd heading: 20.619096 deg. 2025-01-08T22:16:11.753Z,1736374571.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.359871 target range: 261.299988 and range: 261.30 m. 2025-01-08T22:16:11.920Z,1736374571.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:11.920Z,1736374571.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735836 2025-01-08T22:16:12.085Z,1736374572.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:12.093Z,1736374572.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.30 m. 2025-01-08T22:16:12.096Z,1736374572.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.299988 m, nav range: 107.098167 m, bearing: 126.390427 deg, approach rate: 0.223085 m/s, LOS rate: 0.341328 deg/s, cmd heading: 20.619096 deg, new cmd heading: 20.974156 deg. 2025-01-08T22:16:12.097Z,1736374572.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.366068 target range: 261.299988 and range: 261.30 m. 2025-01-08T22:16:12.172Z,1736374572.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:12.175Z,1736374572.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989506 2025-01-08T22:16:12.425Z,1736374572.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:12.425Z,1736374572.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240697 2025-01-08T22:16:12.544Z,1736374572.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:12.552Z,1736374572.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.30 m. 2025-01-08T22:16:12.555Z,1736374572.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.299988 m, nav range: 107.220337 m, bearing: 126.535194 deg, approach rate: 0.266341 m/s, LOS rate: 0.315245 deg/s, cmd heading: 20.974157 deg, new cmd heading: 21.407953 deg. 2025-01-08T22:16:12.580Z,1736374572.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373639 target range: 261.299988 and range: 261.30 m. 2025-01-08T22:16:12.676Z,1736374572.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:12.678Z,1736374572.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492669 2025-01-08T22:16:12.908Z,1736374572.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:12.915Z,1736374572.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:12.917Z,1736374572.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.30 m. 2025-01-08T22:16:12.920Z,1736374572.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.299988 m, nav range: 107.314781 m, bearing: 126.651085 deg, approach rate: 0.258849 m/s, LOS rate: 0.317351 deg/s, cmd heading: 21.407952 deg, new cmd heading: 21.755317 deg. 2025-01-08T22:16:12.921Z,1736374572.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.379702 target range: 261.299988 and range: 261.30 m. 2025-01-08T22:16:12.928Z,1736374572.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:12.929Z,1736374572.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743914 2025-01-08T22:16:13.180Z,1736374573.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:13.181Z,1736374573.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996038 2025-01-08T22:16:13.337Z,1736374573.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:13.347Z,1736374573.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.30 m. 2025-01-08T22:16:13.403Z,1736374573.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.299988 m, nav range: 107.423225 m, bearing: 126.787850 deg, approach rate: 0.252439 m/s, LOS rate: 0.318043 deg/s, cmd heading: 21.755317 deg, new cmd heading: 22.165190 deg. 2025-01-08T22:16:13.421Z,1736374573.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.386856 target range: 261.299988 and range: 261.30 m. 2025-01-08T22:16:13.432Z,1736374573.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:13.433Z,1736374573.433 [DAT](INFO): DAT read: Rx Time:22:16:12.1007 2025-01-08T22:16:13.433Z,1736374573.433 [DAT](INFO): Rx dataTimestamp_ set to:1736374573.432992 2025-01-08T22:16:13.434Z,1736374573.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249187 2025-01-08T22:16:13.686Z,1736374573.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:13.686Z,1736374573.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501756 2025-01-08T22:16:13.818Z,1736374573.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:13.853Z,1736374573.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.30 m. 2025-01-08T22:16:13.860Z,1736374573.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.299988 m, nav range: 107.557709 m, bearing: 126.937688 deg, approach rate: 0.265848 m/s, LOS rate: 0.295830 deg/s, cmd heading: 22.165190 deg, new cmd heading: 22.614132 deg. 2025-01-08T22:16:13.861Z,1736374573.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.394691 target range: 261.299988 and range: 261.30 m. 2025-01-08T22:16:13.937Z,1736374573.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:13.950Z,1736374573.950 [DAT](INFO): DAT read: 22:16:12.1007 LVL= 16688, 32753, 26994, 32755, AGC= 64, IDX= 436, 0.22, 0.379,-0.807,-1.529,-0.759, PHS= 1.226,-0.000,-0.772, RAW= 67.5, -5.2, CAL= 75.2, -11.4, ROT= 74.8, 11.4 2025-01-08T22:16:13.952Z,1736374573.952 [DAT](INFO): got valid direction response: 22:16:12.1007 LVL= 16688, 32753, 26994, 32755, AGC= 64, IDX= 436, 0.22, 0.379,-0.807,-1.529,-0.759, PHS= 1.226,-0.000,-0.772, RAW= 67.5, -5.2, CAL= 75.2, -11.4, ROT= 74.8, 11.4 2025-01-08T22:16:13.953Z,1736374573.953 [DAT](INFO): DAT read: Bearing 74.8, 11.4 (Local) 2025-01-08T22:16:13.954Z,1736374573.954 [DAT](INFO): Local bearing/azimuth received: Bearing 74.8, 11.4 (Local) 2025-01-08T22:16:13.955Z,1736374573.955 [DAT](INFO): DAT read: Range 10 to 50 : 260.7 m (Round-trip 347.7 ms) speed -0.3 m/s 2025-01-08T22:16:13.956Z,1736374573.956 [DAT](INFO): DAT read: user:2448> 2025-01-08T22:16:13.958Z,1736374573.958 [DAT](INFO): DAT read: Tx time:22:16:13.1989 2025-01-08T22:16:13.958Z,1736374573.958 [DAT](INFO): Ping request sent. 2025-01-08T22:16:13.958Z,1736374573.958 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:13.959Z,1736374573.959 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:13.960Z,1736374573.960 [DAT](INFO): direction in FSK: [0.054191,0.464252,0.884044] 2025-01-08T22:16:13.960Z,1736374573.960 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:13.961Z,1736374573.961 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:13.966Z,1736374573.966 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:13.966Z,1736374573.966 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:14.144Z,1736374574.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:14.181Z,1736374574.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 260.700012 m, deltaT: 3.780896 s, deltaX: -0.599976 m, approachRate: -0.158686 m/s, rangeRepo size: 4 2025-01-08T22:16:14.189Z,1736374574.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:14.191Z,1736374574.191 [DAT](INFO): DAT read: TxSync time:22:16:13.1981 2025-01-08T22:16:14.196Z,1736374574.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 260.700012 m, bearing: 106.604547 deg, lat: 36.903924 deg, lon: -122.121077 deg, deltaT: 3.780896 s, deltaX: -0.599976 m, approachRate: -0.158686 m/s, posRepo size: 4 2025-01-08T22:16:14.196Z,1736374574.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m. 2025-01-08T22:16:14.208Z,1736374574.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.700012 m, nav range: 106.698540 m, bearing: 126.356104 deg, approach rate: 0.000000 m/s, LOS rate: 0.295830 deg/s, cmd heading: 22.614133 deg, new cmd heading: 22.905431 deg. 2025-01-08T22:16:14.209Z,1736374574.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.399775 target range: 260.700012 and range: 260.70 m. 2025-01-08T22:16:14.452Z,1736374574.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:14.574Z,1736374574.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:14.597Z,1736374574.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m. 2025-01-08T22:16:14.604Z,1736374574.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.700012 m, nav range: 106.834427 m, bearing: 126.491433 deg, approach rate: 0.326231 m/s, LOS rate: 0.324477 deg/s, cmd heading: 22.905430 deg, new cmd heading: 23.310893 deg. 2025-01-08T22:16:14.605Z,1736374574.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.406852 target range: 260.700012 and range: 260.70 m. 2025-01-08T22:16:14.705Z,1736374574.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:14.920Z,1736374574.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:14.928Z,1736374574.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:14.930Z,1736374574.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m. 2025-01-08T22:16:14.933Z,1736374574.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.700012 m, nav range: 106.938889 m, bearing: 126.597164 deg, approach rate: 0.313978 m/s, LOS rate: 0.317481 deg/s, cmd heading: 23.310893 deg, new cmd heading: 23.627771 deg. 2025-01-08T22:16:14.934Z,1736374574.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412382 target range: 260.700012 and range: 260.70 m. 2025-01-08T22:16:14.956Z,1736374574.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:14.957Z,1736374574.957 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:14.957Z,1736374574.957 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:14.957Z,1736374574.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:15.208Z,1736374575.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:15.208Z,1736374575.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250032 2025-01-08T22:16:15.335Z,1736374575.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:15.344Z,1736374575.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m. 2025-01-08T22:16:15.347Z,1736374575.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.700012 m, nav range: 107.061714 m, bearing: 126.723809 deg, approach rate: 0.296350 m/s, LOS rate: 0.305216 deg/s, cmd heading: 23.627771 deg, new cmd heading: 24.007266 deg. 2025-01-08T22:16:15.348Z,1736374575.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419006 target range: 260.700012 and range: 260.70 m. 2025-01-08T22:16:15.461Z,1736374575.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:15.462Z,1736374575.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503678 2025-01-08T22:16:15.712Z,1736374575.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:15.712Z,1736374575.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754121 2025-01-08T22:16:15.845Z,1736374575.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:15.854Z,1736374575.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m. 2025-01-08T22:16:15.857Z,1736374575.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.700012 m, nav range: 107.208534 m, bearing: 126.878963 deg, approach rate: 0.288381 m/s, LOS rate: 0.304333 deg/s, cmd heading: 24.007266 deg, new cmd heading: 24.472080 deg. 2025-01-08T22:16:15.858Z,1736374575.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427118 target range: 260.700012 and range: 260.70 m. 2025-01-08T22:16:15.964Z,1736374575.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:15.965Z,1736374575.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006627 2025-01-08T22:16:16.216Z,1736374576.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:16.216Z,1736374576.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258104 2025-01-08T22:16:16.235Z,1736374576.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:16.245Z,1736374576.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m. 2025-01-08T22:16:16.248Z,1736374576.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.700012 m, nav range: 107.320297 m, bearing: 126.997484 deg, approach rate: 0.285723 m/s, LOS rate: 0.302683 deg/s, cmd heading: 24.472079 deg, new cmd heading: 24.827267 deg. 2025-01-08T22:16:16.249Z,1736374576.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433318 target range: 260.700012 and range: 260.70 m. 2025-01-08T22:16:16.472Z,1736374576.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:16.474Z,1736374576.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515438 2025-01-08T22:16:16.626Z,1736374576.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:16.649Z,1736374576.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m. 2025-01-08T22:16:16.658Z,1736374576.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.700012 m, nav range: 107.424942 m, bearing: 127.117599 deg, approach rate: 0.259204 m/s, LOS rate: 0.297232 deg/s, cmd heading: 24.827266 deg, new cmd heading: 25.187254 deg. 2025-01-08T22:16:16.664Z,1736374576.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439601 target range: 260.700012 and range: 260.70 m. 2025-01-08T22:16:16.720Z,1736374576.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:16.721Z,1736374576.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763021 2025-01-08T22:16:16.972Z,1736374576.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:16.972Z,1736374576.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014059 2025-01-08T22:16:17.004Z,1736374577.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:17.016Z,1736374577.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:17.018Z,1736374577.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m. 2025-01-08T22:16:17.021Z,1736374577.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.700012 m, nav range: 107.524826 m, bearing: 127.233615 deg, approach rate: 0.270249 m/s, LOS rate: 0.313605 deg/s, cmd heading: 25.187255 deg, new cmd heading: 25.534976 deg. 2025-01-08T22:16:17.022Z,1736374577.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445669 target range: 260.700012 and range: 260.70 m. 2025-01-08T22:16:17.224Z,1736374577.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:17.225Z,1736374577.225 [DAT](INFO): DAT read: Rx Time:22:16:15.9502 2025-01-08T22:16:17.225Z,1736374577.225 [DAT](INFO): Rx dataTimestamp_ set to:1736374577.225179 2025-01-08T22:16:17.226Z,1736374577.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267733 2025-01-08T22:16:17.368Z,1736374577.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:17.378Z,1736374577.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m. 2025-01-08T22:16:17.381Z,1736374577.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.700012 m, nav range: 107.620995 m, bearing: 127.345514 deg, approach rate: 0.267231 m/s, LOS rate: 0.310665 deg/s, cmd heading: 25.534975 deg, new cmd heading: 25.870369 deg. 2025-01-08T22:16:17.382Z,1736374577.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451523 target range: 260.700012 and range: 260.70 m. 2025-01-08T22:16:17.478Z,1736374577.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:17.478Z,1736374577.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520119 2025-01-08T22:16:17.728Z,1736374577.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:17.739Z,1736374577.739 [DAT](INFO): DAT read: 22:16:15.9502 LVL= 16320, 29169, 23170, 32755, AGC= 64, IDX= 415,-0.45, 2.518, 1.146, 0.686, 1.412, PHS= 1.194,-0.219,-0.729, RAW= 75.2, -2.9, CAL= 82.4, -8.5, ROT= 67.6, 8.5 2025-01-08T22:16:17.741Z,1736374577.741 [DAT](INFO): got valid direction response: 22:16:15.9502 LVL= 16320, 29169, 23170, 32755, AGC= 64, IDX= 415,-0.45, 2.518, 1.146, 0.686, 1.412, PHS= 1.194,-0.219,-0.729, RAW= 75.2, -2.9, CAL= 82.4, -8.5, ROT= 67.6, 8.5 2025-01-08T22:16:17.742Z,1736374577.742 [DAT](INFO): DAT read: Bearing 67.6, 8.5 (Local) 2025-01-08T22:16:17.742Z,1736374577.742 [DAT](INFO): Local bearing/azimuth received: Bearing 67.6, 8.5 (Local) 2025-01-08T22:16:17.749Z,1736374577.749 [DAT](INFO): DAT read: Range 10 to 50 : 260.3 m (Round-trip 347.1 ms) speed 0.1 m/s 2025-01-08T22:16:17.750Z,1736374577.750 [DAT](INFO): DAT read: user:2449> 2025-01-08T22:16:17.751Z,1736374577.751 [DAT](INFO): DAT read: Tx time:22:16:17.0490 2025-01-08T22:16:17.751Z,1736374577.751 [DAT](INFO): Ping request sent. 2025-01-08T22:16:17.751Z,1736374577.751 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:17.751Z,1736374577.751 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:17.752Z,1736374577.752 [DAT](INFO): direction in FSK: [-0.004695,0.350712,0.936471] 2025-01-08T22:16:17.753Z,1736374577.753 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:17.753Z,1736374577.753 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:17.800Z,1736374577.800 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:17.800Z,1736374577.800 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:17.928Z,1736374577.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:17.968Z,1736374577.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 260.299988 m, deltaT: 3.791027 s, deltaX: -0.400024 m, approachRate: -0.105519 m/s, rangeRepo size: 4 2025-01-08T22:16:17.970Z,1736374577.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 260.299988 m, bearing: 127.123970 deg, lat: 36.904259 deg, lon: -122.121077 deg, deltaT: 3.791027 s, deltaX: -0.400024 m, approachRate: -0.105519 m/s, posRepo size: 4 2025-01-08T22:16:17.970Z,1736374577.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:17.977Z,1736374577.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 90.034897 m, bearing: 108.357715 deg, approach rate: 0.000000 m/s, LOS rate: 0.310665 deg/s, cmd heading: 25.870369 deg, new cmd heading: 26.415347 deg. 2025-01-08T22:16:17.978Z,1736374577.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461035 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:17.980Z,1736374577.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:17.981Z,1736374577.981 [DAT](INFO): DAT read: TxSync time:22:16:17.0482 2025-01-08T22:16:18.233Z,1736374578.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:18.263Z,1736374578.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:18.272Z,1736374578.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:18.275Z,1736374578.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 90.038857 m, bearing: 108.493009 deg, approach rate: 0.012827 m/s, LOS rate: 0.438267 deg/s, cmd heading: 26.415347 deg, new cmd heading: 26.821204 deg. 2025-01-08T22:16:18.276Z,1736374578.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468118 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:18.485Z,1736374578.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:18.699Z,1736374578.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:18.725Z,1736374578.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:18.732Z,1736374578.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 90.022011 m, bearing: 108.670589 deg, approach rate: -0.037135 m/s, LOS rate: 0.391532 deg/s, cmd heading: 26.821205 deg, new cmd heading: 27.354027 deg. 2025-01-08T22:16:18.733Z,1736374578.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.477418 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:18.736Z,1736374578.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:18.988Z,1736374578.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:19.178Z,1736374579.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:19.193Z,1736374579.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:19.198Z,1736374579.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:19.224Z,1736374579.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 90.002190 m, bearing: 108.865637 deg, approach rate: -0.041882 m/s, LOS rate: 0.412230 deg/s, cmd heading: 27.354027 deg, new cmd heading: 27.939278 deg. 2025-01-08T22:16:19.231Z,1736374579.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.487632 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:19.240Z,1736374579.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:19.241Z,1736374579.241 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:19.241Z,1736374579.241 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:19.241Z,1736374579.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:19.493Z,1736374579.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:19.496Z,1736374579.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744123 2025-01-08T22:16:19.609Z,1736374579.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:19.618Z,1736374579.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:19.637Z,1736374579.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.968857 m, bearing: 109.042354 deg, approach rate: -0.079395 m/s, LOS rate: 0.421074 deg/s, cmd heading: 27.939278 deg, new cmd heading: 28.469610 deg. 2025-01-08T22:16:19.638Z,1736374579.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496888 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:19.744Z,1736374579.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:19.744Z,1736374579.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993469 2025-01-08T22:16:19.998Z,1736374579.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:20.001Z,1736374580.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249816 2025-01-08T22:16:20.113Z,1736374580.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:20.121Z,1736374580.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:20.127Z,1736374580.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.924522 m, bearing: 109.248582 deg, approach rate: -0.088080 m/s, LOS rate: 0.409920 deg/s, cmd heading: 28.469610 deg, new cmd heading: 29.088575 deg. 2025-01-08T22:16:20.130Z,1736374580.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507691 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:20.248Z,1736374580.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:20.260Z,1736374580.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507814 2025-01-08T22:16:20.501Z,1736374580.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:20.504Z,1736374580.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752048 2025-01-08T22:16:20.608Z,1736374580.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:20.618Z,1736374580.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:20.621Z,1736374580.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.855156 m, bearing: 109.456057 deg, approach rate: -0.139780 m/s, LOS rate: 0.418404 deg/s, cmd heading: 29.088574 deg, new cmd heading: 29.711451 deg. 2025-01-08T22:16:20.622Z,1736374580.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.518563 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:20.753Z,1736374580.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:20.754Z,1736374580.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002669 2025-01-08T22:16:20.977Z,1736374580.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:20.987Z,1736374580.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:20.991Z,1736374580.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.802208 m, bearing: 109.610325 deg, approach rate: -0.143321 m/s, LOS rate: 0.417824 deg/s, cmd heading: 29.711453 deg, new cmd heading: 30.174520 deg. 2025-01-08T22:16:20.992Z,1736374580.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526645 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:21.004Z,1736374581.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:21.005Z,1736374581.005 [DAT](INFO): DAT read: Rx Time:22:16:19.7991 2025-01-08T22:16:21.005Z,1736374581.005 [DAT](INFO): Rx dataTimestamp_ set to:1736374581.004796 2025-01-08T22:16:21.006Z,1736374581.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254646 2025-01-08T22:16:21.256Z,1736374581.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:21.258Z,1736374581.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506857 2025-01-08T22:16:21.372Z,1736374581.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:21.395Z,1736374581.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:21.397Z,1736374581.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:21.404Z,1736374581.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.744270 m, bearing: 109.775464 deg, approach rate: -0.141168 m/s, LOS rate: 0.402627 deg/s, cmd heading: 30.174519 deg, new cmd heading: 30.670242 deg. 2025-01-08T22:16:21.405Z,1736374581.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535297 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:21.508Z,1736374581.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:21.508Z,1736374581.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757231 2025-01-08T22:16:21.760Z,1736374581.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:21.765Z,1736374581.765 [DAT](INFO): DAT read: 22:16:19.7991 LVL= 18576, 30913, 27538, 32755, AGC= 62, IDX= 434, 0.21,-1.638, 3.068, 2.839,-2.799, PHS= 1.249,-0.369,-0.648, RAW= 82.2, .8990 2025-01-08T22:16:21.766Z,1736374581.766 [DAT](INFO): unknown deviceResponse_: 22:16:19.7991 LVL= 18576, 30913, 27538, 32755, AGC= 62, IDX= 434, 0.21,-1.638, 3.068, 2.839,-2.799, PHS= 1.249,-0.369,-0.648, RAW= 82.2, .8990 2025-01-08T22:16:21.767Z,1736374581.767 [DAT](INFO): DAT read: TxSync time:22:16:20.8982 2025-01-08T22:16:21.767Z,1736374581.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016402 2025-01-08T22:16:21.788Z,1736374581.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:21.797Z,1736374581.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:21.800Z,1736374581.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.681763 m, bearing: 109.949891 deg, approach rate: -0.156313 m/s, LOS rate: 0.436493 deg/s, cmd heading: 30.670240 deg, new cmd heading: 31.193871 deg. 2025-01-08T22:16:21.801Z,1736374581.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544436 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:22.012Z,1736374582.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:22.012Z,1736374582.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.261458 2025-01-08T22:16:22.190Z,1736374582.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:22.216Z,1736374582.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:22.218Z,1736374582.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.620148 m, bearing: 110.118184 deg, approach rate: -0.147256 m/s, LOS rate: 0.402486 deg/s, cmd heading: 31.193870 deg, new cmd heading: 31.699085 deg. 2025-01-08T22:16:22.220Z,1736374582.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553253 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:22.264Z,1736374582.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:22.265Z,1736374582.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.513647 2025-01-08T22:16:22.518Z,1736374582.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:22.521Z,1736374582.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.769156 2025-01-08T22:16:22.631Z,1736374582.631 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for BIT error. Device response is::TS,25010814172681,35.0, +10.9, 0.0,1493.1, 2025-01-08T22:16:22.638Z,1736374582.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:16:22.639Z,1736374582.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:22.653Z,1736374582.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:22.658Z,1736374582.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.549042 m, bearing: 110.305420 deg, approach rate: -0.162765 m/s, LOS rate: 0.428931 deg/s, cmd heading: 31.699086 deg, new cmd heading: 32.261220 deg. 2025-01-08T22:16:22.660Z,1736374582.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563065 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:22.768Z,1736374582.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:22.770Z,1736374582.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.018494 2025-01-08T22:16:23.020Z,1736374583.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:23.020Z,1736374583.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.269423 2025-01-08T22:16:23.039Z,1736374583.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:16:23.044Z,1736374583.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:23.060Z,1736374583.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:23.063Z,1736374583.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.483429 m, bearing: 110.472612 deg, approach rate: -0.160931 m/s, LOS rate: 0.410380 deg/s, cmd heading: 32.261220 deg, new cmd heading: 32.763151 deg. 2025-01-08T22:16:23.068Z,1736374583.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571825 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:23.273Z,1736374583.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:23.273Z,1736374583.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.522255 2025-01-08T22:16:23.525Z,1736374583.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:23.528Z,1736374583.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.775784 2025-01-08T22:16:23.547Z,1736374583.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T22:16:23.552Z,1736374583.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:23.577Z,1736374583.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:23.584Z,1736374583.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:23.586Z,1736374583.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.398163 m, bearing: 110.683564 deg, approach rate: -0.164264 m/s, LOS rate: 0.406783 deg/s, cmd heading: 32.763150 deg, new cmd heading: 33.396583 deg. 2025-01-08T22:16:23.592Z,1736374583.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582880 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:23.776Z,1736374583.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:23.776Z,1736374583.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.025485 2025-01-08T22:16:23.914Z,1736374583.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:23.922Z,1736374583.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:23.926Z,1736374583.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.337463 m, bearing: 110.841296 deg, approach rate: -0.177212 m/s, LOS rate: 0.460810 deg/s, cmd heading: 33.396582 deg, new cmd heading: 33.870087 deg. 2025-01-08T22:16:23.927Z,1736374583.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591145 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:24.028Z,1736374584.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:24.029Z,1736374584.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.277832 2025-01-08T22:16:24.280Z,1736374584.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:24.281Z,1736374584.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.529557 2025-01-08T22:16:24.282Z,1736374584.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:24.322Z,1736374584.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:24.329Z,1736374584.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.273170 m, bearing: 110.998132 deg, approach rate: -0.160865 m/s, LOS rate: 0.392694 deg/s, cmd heading: 33.870088 deg, new cmd heading: 34.340923 deg. 2025-01-08T22:16:24.330Z,1736374584.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599362 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:24.533Z,1736374584.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:24.544Z,1736374584.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792813 2025-01-08T22:16:24.715Z,1736374584.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:24.741Z,1736374584.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:24.748Z,1736374584.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.212166 m, bearing: 111.175533 deg, approach rate: -0.145530 m/s, LOS rate: 0.423491 deg/s, cmd heading: 34.340924 deg, new cmd heading: 34.873477 deg. 2025-01-08T22:16:24.752Z,1736374584.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608657 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:24.784Z,1736374584.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:24.785Z,1736374584.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.033598 2025-01-08T22:16:25.036Z,1736374585.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:25.037Z,1736374585.037 [DAT](INFO): DAT read: Rx Time:22:16:23.6472 2025-01-08T22:16:25.037Z,1736374585.037 [DAT](INFO): Rx dataTimestamp_ set to:1736374585.036832 2025-01-08T22:16:25.038Z,1736374585.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.286686 2025-01-08T22:16:25.149Z,1736374585.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:25.166Z,1736374585.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:25.169Z,1736374585.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.150154 m, bearing: 111.353268 deg, approach rate: -0.145914 m/s, LOS rate: 0.418503 deg/s, cmd heading: 34.873477 deg, new cmd heading: 35.407037 deg. 2025-01-08T22:16:25.170Z,1736374585.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.617969 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:25.290Z,1736374585.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:25.301Z,1736374585.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549140 2025-01-08T22:16:25.542Z,1736374585.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:25.597Z,1736374585.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:25.600Z,1736374585.600 [DAT](INFO): DAT read: 22:16:23.6472 LVL= 17600, 30401, 21730, 28259, AGC= 62, IDX= 416, 0.24,-1.321,-2.983,-3.055,-2.513, PHS= 1.280,-0.423,-0.546, RAW= 86.6, -3.6, CAL= 94.8, -10.2, ROT= 55.2, 10.2 2025-01-08T22:16:25.601Z,1736374585.601 [DAT](INFO): got valid direction response: 22:16:23.6472 LVL= 17600, 30401, 21730, 28259, AGC= 62, IDX= 416, 0.24,-1.321,-2.983,-3.055,-2.513, PHS= 1.280,-0.423,-0.546, RAW= 86.6, -3.6, CAL= 94.8, -10.2, ROT= 55.2, 10.2 2025-01-08T22:16:25.602Z,1736374585.602 [DAT](INFO): DAT read: Bearing 55.2, 10.2 (Local) 2025-01-08T22:16:25.602Z,1736374585.602 [DAT](INFO): Local bearing/azimuth received: Bearing 55.2, 10.2 (Local) 2025-01-08T22:16:25.612Z,1736374585.612 [DAT](INFO): DAT read: Range 10 to 50 : 258.0 m (Round-trip 344.1 ms) speed 0.4 m/s 2025-01-08T22:16:25.613Z,1736374585.613 [DAT](INFO): DAT read: user:2451> 2025-01-08T22:16:25.614Z,1736374585.614 [DAT](INFO): DAT read: Tx time:22:16:24.7490 2025-01-08T22:16:25.614Z,1736374585.614 [DAT](INFO): Ping request sent. 2025-01-08T22:16:25.614Z,1736374585.614 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:25.625Z,1736374585.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:25.628Z,1736374585.628 [DAT](INFO): DAT read: TxSync time:22:16:24.7482 2025-01-08T22:16:25.628Z,1736374585.628 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:25.629Z,1736374585.629 [DAT](INFO): direction in FSK: [-0.011640,0.163049,0.986549] 2025-01-08T22:16:25.629Z,1736374585.629 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:25.630Z,1736374585.630 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:25.632Z,1736374585.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.30 m. 2025-01-08T22:16:25.635Z,1736374585.635 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:25.635Z,1736374585.635 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:25.642Z,1736374585.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 260.299988 m, nav range: 89.084778 m, bearing: 111.536461 deg, approach rate: -0.141685 m/s, LOS rate: 0.397312 deg/s, cmd heading: 35.407038 deg, new cmd heading: 35.957004 deg. 2025-01-08T22:16:25.674Z,1736374585.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.627568 target range: 260.299988 and range: 260.30 m. 2025-01-08T22:16:25.705Z,1736374585.705 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:25.705Z,1736374585.705 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:25.706Z,1736374585.706 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:25.792Z,1736374585.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:25.793Z,1736374585.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.178824 2025-01-08T22:16:26.044Z,1736374586.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:26.045Z,1736374586.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.430009 2025-01-08T22:16:26.074Z,1736374586.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:26.105Z,1736374586.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 258.000000 m, deltaT: 7.815262 s, deltaX: -2.299988 m, approachRate: -0.294294 m/s, rangeRepo size: 4 2025-01-08T22:16:26.112Z,1736374586.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 258.000000 m, bearing: 262.987915 deg, lat: 36.904286 deg, lon: -122.121247 deg, deltaT: 7.815262 s, deltaX: -2.299988 m, approachRate: -0.294294 m/s, posRepo size: 4 2025-01-08T22:16:26.113Z,1736374586.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.00 m. 2025-01-08T22:16:26.120Z,1736374586.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.000000 m, nav range: 73.871780 m, bearing: 113.872255 deg, approach rate: 0.000000 m/s, LOS rate: 0.397312 deg/s, cmd heading: 35.957005 deg, new cmd heading: 36.525959 deg. 2025-01-08T22:16:26.121Z,1736374586.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637498 target range: 258.000000 and range: 258.00 m. 2025-01-08T22:16:26.296Z,1736374586.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:26.297Z,1736374586.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.682214 2025-01-08T22:16:26.404Z,1736374586.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:26.413Z,1736374586.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.00 m. 2025-01-08T22:16:26.416Z,1736374586.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.000000 m, nav range: 73.845802 m, bearing: 114.032315 deg, approach rate: -0.084119 m/s, LOS rate: 0.518467 deg/s, cmd heading: 36.525960 deg, new cmd heading: 37.006296 deg. 2025-01-08T22:16:26.417Z,1736374586.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645882 target range: 258.000000 and range: 258.00 m. 2025-01-08T22:16:26.548Z,1736374586.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:26.549Z,1736374586.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.934027 2025-01-08T22:16:26.800Z,1736374586.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:26.800Z,1736374586.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.185944 2025-01-08T22:16:26.825Z,1736374586.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:26.834Z,1736374586.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.00 m. 2025-01-08T22:16:26.841Z,1736374586.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.000000 m, nav range: 73.826393 m, bearing: 114.226008 deg, approach rate: -0.046172 m/s, LOS rate: 0.460888 deg/s, cmd heading: 37.006296 deg, new cmd heading: 37.587508 deg. 2025-01-08T22:16:26.869Z,1736374586.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656026 target range: 258.000000 and range: 258.00 m. 2025-01-08T22:16:27.052Z,1736374587.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:27.052Z,1736374587.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.437832 2025-01-08T22:16:27.183Z,1736374587.183 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:16:27.207Z,1736374587.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:27.236Z,1736374587.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.00 m. 2025-01-08T22:16:27.238Z,1736374587.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.000000 m, nav range: 73.807892 m, bearing: 114.401625 deg, approach rate: -0.048486 m/s, LOS rate: 0.460355 deg/s, cmd heading: 37.587508 deg, new cmd heading: 38.114474 deg. 2025-01-08T22:16:27.244Z,1736374587.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665223 target range: 258.000000 and range: 258.00 m. 2025-01-08T22:16:27.306Z,1736374587.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:27.307Z,1736374587.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.692354 2025-01-08T22:16:27.556Z,1736374587.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:27.557Z,1736374587.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942062 2025-01-08T22:16:27.701Z,1736374587.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:27.709Z,1736374587.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:27.712Z,1736374587.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.00 m. 2025-01-08T22:16:27.714Z,1736374587.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.000000 m, nav range: 73.798225 m, bearing: 114.625186 deg, approach rate: -0.019499 m/s, LOS rate: 0.451013 deg/s, cmd heading: 38.114474 deg, new cmd heading: 38.785211 deg. 2025-01-08T22:16:27.715Z,1736374587.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676930 target range: 258.000000 and range: 258.00 m. 2025-01-08T22:16:27.808Z,1736374587.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:27.809Z,1736374587.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194629 2025-01-08T22:16:28.024Z,1736374588.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:28.033Z,1736374588.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.00 m. 2025-01-08T22:16:28.036Z,1736374588.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.000000 m, nav range: 73.791626 m, bearing: 114.771306 deg, approach rate: -0.020511 m/s, LOS rate: 0.454192 deg/s, cmd heading: 38.785212 deg, new cmd heading: 39.223604 deg. 2025-01-08T22:16:28.037Z,1736374588.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684581 target range: 258.000000 and range: 258.00 m. 2025-01-08T22:16:28.060Z,1736374588.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:28.061Z,1736374588.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446029 2025-01-08T22:16:28.313Z,1736374588.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:28.315Z,1736374588.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.699701 2025-01-08T22:16:28.426Z,1736374588.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:28.451Z,1736374588.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.00 m. 2025-01-08T22:16:28.458Z,1736374588.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.000000 m, nav range: 73.783134 m, bearing: 114.953039 deg, approach rate: -0.020325 m/s, LOS rate: 0.435048 deg/s, cmd heading: 39.223604 deg, new cmd heading: 39.768849 deg. 2025-01-08T22:16:28.464Z,1736374588.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694097 target range: 258.000000 and range: 258.00 m. 2025-01-08T22:16:28.564Z,1736374588.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:28.565Z,1736374588.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950409 2025-01-08T22:16:28.816Z,1736374588.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:28.816Z,1736374588.816 [DAT](INFO): DAT read: Rx Time:22:16:27.4954 2025-01-08T22:16:28.817Z,1736374588.817 [DAT](INFO): Rx dataTimestamp_ set to:1736374588.816666 2025-01-08T22:16:28.817Z,1736374588.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203006 2025-01-08T22:16:28.946Z,1736374588.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:28.955Z,1736374588.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.00 m. 2025-01-08T22:16:28.959Z,1736374588.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.000000 m, nav range: 73.786537 m, bearing: 115.183983 deg, approach rate: 0.006747 m/s, LOS rate: 0.457920 deg/s, cmd heading: 39.768848 deg, new cmd heading: 40.461611 deg. 2025-01-08T22:16:28.960Z,1736374588.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706188 target range: 258.000000 and range: 258.00 m. 2025-01-08T22:16:29.068Z,1736374589.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:29.069Z,1736374589.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.454083 2025-01-08T22:16:29.320Z,1736374589.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:29.334Z,1736374589.334 [DAT](INFO): DAT read: 22:16:27.4954 LVL= 17568, 29457, 23410, 32755, AGC= 65, IDX= 428, 0.15,-0.527,-2.199,-2.107,-1.571, PHS= 1.132,-0.581,-0.539, RAW= 91.2, -0.1, CAL= 99.1, -4.5, ROT= 50.9, 4.5 2025-01-08T22:16:29.335Z,1736374589.335 [DAT](INFO): got valid direction response: 22:16:27.4954 LVL= 17568, 29457, 23410, 32755, AGC= 65, IDX= 428, 0.15,-0.527,-2.199,-2.107,-1.571, PHS= 1.132,-0.581,-0.539, RAW= 91.2, -0.1, CAL= 99.1, -4.5, ROT= 50.9, 4.5 2025-01-08T22:16:29.336Z,1736374589.336 [DAT](INFO): DAT read: Bearing 50.9, 4.5 (Local) 2025-01-08T22:16:29.336Z,1736374589.336 [DAT](INFO): Local bearing/azimuth received: Bearing 50.9, 4.5 (Local) 2025-01-08T22:16:29.338Z,1736374589.338 [DAT](INFO): DAT read: Range 10 to 50 : 256.5 m (Round-trip 342.1 ms) speed 0.1 m/s 2025-01-08T22:16:29.338Z,1736374589.338 [DAT](INFO): DAT read: user:2452> 2025-01-08T22:16:29.339Z,1736374589.339 [DAT](INFO): DAT read: Tx time:22:16:28.5991 2025-01-08T22:16:29.340Z,1736374589.340 [DAT](INFO): Ping request sent. 2025-01-08T22:16:29.340Z,1736374589.340 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:29.340Z,1736374589.340 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:29.341Z,1736374589.341 [DAT](INFO): direction in FSK: [-0.084344,0.086183,0.992703] 2025-01-08T22:16:29.341Z,1736374589.341 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:29.341Z,1736374589.341 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:29.380Z,1736374589.380 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:29.380Z,1736374589.380 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:29.449Z,1736374589.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:29.494Z,1736374589.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 256.500000 m, deltaT: 3.776808 s, deltaX: -1.500000 m, approachRate: -0.397161 m/s, rangeRepo size: 4 2025-01-08T22:16:29.501Z,1736374589.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 256.500000 m, bearing: 272.648574 deg, lat: 36.904303 deg, lon: -122.121616 deg, deltaT: 3.776808 s, deltaX: -1.500000 m, approachRate: -0.397161 m/s, posRepo size: 4 2025-01-08T22:16:29.501Z,1736374589.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.50 m. 2025-01-08T22:16:29.508Z,1736374589.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.500000 m, nav range: 45.107082 m, bearing: 131.424675 deg, approach rate: 0.000000 m/s, LOS rate: 0.457920 deg/s, cmd heading: 40.461610 deg, new cmd heading: 41.201773 deg. 2025-01-08T22:16:29.509Z,1736374589.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719107 target range: 256.500000 and range: 256.50 m. 2025-01-08T22:16:29.574Z,1736374589.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:29.576Z,1736374589.576 [DAT](INFO): DAT read: TxSync time:22:16:28.5983 2025-01-08T22:16:29.824Z,1736374589.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:30.061Z,1736374590.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:30.068Z,1736374590.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:30.070Z,1736374590.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.50 m. 2025-01-08T22:16:30.073Z,1736374590.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.500000 m, nav range: 45.195881 m, bearing: 131.849810 deg, approach rate: 0.154195 m/s, LOS rate: 0.736769 deg/s, cmd heading: 41.201774 deg, new cmd heading: 42.474450 deg. 2025-01-08T22:16:30.074Z,1736374590.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741319 target range: 256.500000 and range: 256.50 m. 2025-01-08T22:16:30.076Z,1736374590.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:30.076Z,1736374590.076 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:30.076Z,1736374590.076 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:30.077Z,1736374590.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:30.328Z,1736374590.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:30.329Z,1736374590.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988816 2025-01-08T22:16:30.421Z,1736374590.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:30.438Z,1736374590.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.50 m. 2025-01-08T22:16:30.444Z,1736374590.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.500000 m, nav range: 45.247990 m, bearing: 132.116306 deg, approach rate: 0.141613 m/s, LOS rate: 0.723404 deg/s, cmd heading: 42.474450 deg, new cmd heading: 43.272965 deg. 2025-01-08T22:16:30.445Z,1736374590.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755256 target range: 256.500000 and range: 256.50 m. 2025-01-08T22:16:30.580Z,1736374590.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:30.580Z,1736374590.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240620 2025-01-08T22:16:30.787Z,1736374590.787 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, -63, ++4,A 2025-01-08T22:16:30.797Z,1736374590.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:16:30.797Z,1736374590.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:30.806Z,1736374590.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.50 m. 2025-01-08T22:16:30.810Z,1736374590.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.500000 m, nav range: 45.301327 m, bearing: 132.383411 deg, approach rate: 0.144820 m/s, LOS rate: 0.724381 deg/s, cmd heading: 43.272964 deg, new cmd heading: 44.073280 deg. 2025-01-08T22:16:30.811Z,1736374590.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769224 target range: 256.500000 and range: 256.50 m. 2025-01-08T22:16:30.832Z,1736374590.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:30.833Z,1736374590.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492911 2025-01-08T22:16:31.084Z,1736374591.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:31.084Z,1736374591.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744712 2025-01-08T22:16:31.180Z,1736374591.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:16:31.180Z,1736374591.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:31.189Z,1736374591.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.50 m. 2025-01-08T22:16:31.192Z,1736374591.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.500000 m, nav range: 45.352642 m, bearing: 132.655859 deg, approach rate: 0.134112 m/s, LOS rate: 0.711230 deg/s, cmd heading: 44.073281 deg, new cmd heading: 44.889642 deg. 2025-01-08T22:16:31.193Z,1736374591.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783472 target range: 256.500000 and range: 256.50 m. 2025-01-08T22:16:31.336Z,1736374591.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:31.336Z,1736374591.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996653 2025-01-08T22:16:31.574Z,1736374591.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:16:31.575Z,1736374591.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:31.583Z,1736374591.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.50 m. 2025-01-08T22:16:31.586Z,1736374591.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.500000 m, nav range: 45.405136 m, bearing: 132.937446 deg, approach rate: 0.133052 m/s, LOS rate: 0.712885 deg/s, cmd heading: 44.889642 deg, new cmd heading: 45.733360 deg. 2025-01-08T22:16:31.587Z,1736374591.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.798198 target range: 256.500000 and range: 256.50 m. 2025-01-08T22:16:31.588Z,1736374591.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:31.588Z,1736374591.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248794 2025-01-08T22:16:31.842Z,1736374591.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:31.847Z,1736374591.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503274 2025-01-08T22:16:32.010Z,1736374592.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:32.019Z,1736374592.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.50 m. 2025-01-08T22:16:32.022Z,1736374592.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.500000 m, nav range: 45.435226 m, bearing: 133.276525 deg, approach rate: 0.069066 m/s, LOS rate: 0.777764 deg/s, cmd heading: 45.733362 deg, new cmd heading: 46.749813 deg. 2025-01-08T22:16:32.022Z,1736374592.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815938 target range: 256.500000 and range: 256.50 m. 2025-01-08T22:16:32.092Z,1736374592.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:32.093Z,1736374592.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752923 2025-01-08T22:16:32.344Z,1736374592.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:32.346Z,1736374592.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006093 2025-01-08T22:16:32.373Z,1736374592.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:32.399Z,1736374592.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:32.408Z,1736374592.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.50 m. 2025-01-08T22:16:32.411Z,1736374592.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.500000 m, nav range: 45.459915 m, bearing: 133.558545 deg, approach rate: 0.064242 m/s, LOS rate: 0.733438 deg/s, cmd heading: 46.749814 deg, new cmd heading: 47.595351 deg. 2025-01-08T22:16:32.416Z,1736374592.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830696 target range: 256.500000 and range: 256.50 m. 2025-01-08T22:16:32.596Z,1736374592.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:32.596Z,1736374592.596 [DAT](INFO): DAT read: Rx Time:22:16:31.3442 2025-01-08T22:16:32.597Z,1736374592.597 [DAT](INFO): Rx dataTimestamp_ set to:1736374592.596672 2025-01-08T22:16:32.597Z,1736374592.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257793 2025-01-08T22:16:32.796Z,1736374592.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:32.804Z,1736374592.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.50 m. 2025-01-08T22:16:32.809Z,1736374592.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.500000 m, nav range: 45.474442 m, bearing: 133.897078 deg, approach rate: 0.036200 m/s, LOS rate: 0.843366 deg/s, cmd heading: 47.595350 deg, new cmd heading: 48.610512 deg. 2025-01-08T22:16:32.810Z,1736374592.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.848413 target range: 256.500000 and range: 256.50 m. 2025-01-08T22:16:32.849Z,1736374592.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:32.850Z,1736374592.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510331 2025-01-08T22:16:33.100Z,1736374593.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:33.107Z,1736374593.107 [DAT](INFO): DAT read: 22:16:31.3442 LVL= 18288, 32753, 27250, 32755, AGC= 63, IDX= 432,-0.03, 2.710, 0.990, 1.247, 1.761, PHS= 1.037,-0.724,-0.517, RAW= 96.2, 2.5, CAL= 105.4, 0.3, ROT= 44.6, -0.3 2025-01-08T22:16:33.108Z,1736374593.108 [DAT](INFO): got valid direction response: 22:16:31.3442 LVL= 18288, 32753, 27250, 32755, AGC= 63, IDX= 432,-0.03, 2.710, 0.990, 1.247, 1.761, PHS= 1.037,-0.724,-0.517, RAW= 96.2, 2.5, CAL= 105.4, 0.3, ROT= 44.6, -0.3 2025-01-08T22:16:33.109Z,1736374593.109 [DAT](INFO): DAT read: Bearing 44.6, -0.3 (Local) 2025-01-08T22:16:33.110Z,1736374593.110 [DAT](INFO): Local bearing/azimuth received: Bearing 44.6, -0.3 (Local) 2025-01-08T22:16:33.111Z,1736374593.111 [DAT](INFO): DAT read: Range 10 to 50 : 255.7 m (Round-trip 341.0 ms) speed 0.2 m/s 2025-01-08T22:16:33.112Z,1736374593.112 [DAT](INFO): DAT read: user:2453> 2025-01-08T22:16:33.113Z,1736374593.113 [DAT](INFO): DAT read: Tx time:22:16:32.4491 2025-01-08T22:16:33.113Z,1736374593.113 [DAT](INFO): Ping request sent. 2025-01-08T22:16:33.113Z,1736374593.113 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:33.113Z,1736374593.113 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:33.114Z,1736374593.114 [DAT](INFO): direction in FSK: [-0.141835,0.002574,0.989887] 2025-01-08T22:16:33.114Z,1736374593.114 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:33.115Z,1736374593.115 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:33.130Z,1736374593.130 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:33.130Z,1736374593.130 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:33.204Z,1736374593.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:33.251Z,1736374593.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 255.699997 m, deltaT: 3.779897 s, deltaX: -0.800003 m, approachRate: -0.211647 m/s, rangeRepo size: 4 2025-01-08T22:16:33.258Z,1736374593.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 255.699997 m, bearing: 281.613233 deg, lat: 36.904545 deg, lon: -122.122111 deg, deltaT: 3.779897 s, deltaX: -0.800003 m, approachRate: -0.211647 m/s, posRepo size: 4 2025-01-08T22:16:33.258Z,1736374593.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.70 m. 2025-01-08T22:16:33.265Z,1736374593.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.699997 m, nav range: 12.330234 m, bearing: 247.173089 deg, approach rate: 0.000000 m/s, LOS rate: 0.843366 deg/s, cmd heading: 48.610511 deg, new cmd heading: 49.738129 deg. 2025-01-08T22:16:33.266Z,1736374593.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.868094 target range: 255.699997 and range: 255.70 m. 2025-01-08T22:16:33.353Z,1736374593.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:33.353Z,1736374593.353 [DAT](INFO): DAT read: TxSync time:22:16:32.4483 2025-01-08T22:16:33.582Z,1736374593.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:33.605Z,1736374593.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:33.623Z,1736374593.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.70 m. 2025-01-08T22:16:33.639Z,1736374593.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.699997 m, nav range: 12.548240 m, bearing: 246.708319 deg, approach rate: 0.587149 m/s, LOS rate: -1.229989 deg/s, cmd heading: 49.738131 deg, new cmd heading: 48.368321 deg. 2025-01-08T22:16:33.646Z,1736374593.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.844186 target range: 255.699997 and range: 255.70 m. 2025-01-08T22:16:33.815Z,1736374593.815 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:16:33.856Z,1736374593.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:34.014Z,1736374594.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:34.048Z,1736374594.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.70 m. 2025-01-08T22:16:34.053Z,1736374594.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.699997 m, nav range: 12.818531 m, bearing: 246.275838 deg, approach rate: 0.640808 m/s, LOS rate: -1.003696 deg/s, cmd heading: 48.368323 deg, new cmd heading: 47.098460 deg. 2025-01-08T22:16:34.054Z,1736374594.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822023 target range: 255.699997 and range: 255.70 m. 2025-01-08T22:16:34.108Z,1736374594.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:34.360Z,1736374594.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:34.424Z,1736374594.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:34.430Z,1736374594.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:34.432Z,1736374594.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.70 m. 2025-01-08T22:16:34.438Z,1736374594.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.699997 m, nav range: 13.075890 m, bearing: 245.881665 deg, approach rate: 0.661384 m/s, LOS rate: -0.993040 deg/s, cmd heading: 47.098461 deg, new cmd heading: 45.939381 deg. 2025-01-08T22:16:34.440Z,1736374594.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.801793 target range: 255.699997 and range: 255.70 m. 2025-01-08T22:16:34.613Z,1736374594.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:34.613Z,1736374594.613 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:34.614Z,1736374594.614 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:34.614Z,1736374594.614 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:34.816Z,1736374594.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:16:34.820Z,1736374594.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:34.829Z,1736374594.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.70 m. 2025-01-08T22:16:34.832Z,1736374594.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.699997 m, nav range: 13.337080 m, bearing: 245.574068 deg, approach rate: 0.658010 m/s, LOS rate: -0.759740 deg/s, cmd heading: 45.939381 deg, new cmd heading: 45.034743 deg. 2025-01-08T22:16:34.833Z,1736374594.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786005 target range: 255.699997 and range: 255.70 m. 2025-01-08T22:16:34.864Z,1736374594.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:34.865Z,1736374594.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751548 2025-01-08T22:16:35.116Z,1736374595.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:35.116Z,1736374595.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003352 2025-01-08T22:16:35.213Z,1736374595.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:35.221Z,1736374595.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.70 m. 2025-01-08T22:16:35.225Z,1736374595.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.699997 m, nav range: 13.597219 m, bearing: 245.299108 deg, approach rate: 0.663169 m/s, LOS rate: -0.687541 deg/s, cmd heading: 45.034743 deg, new cmd heading: 44.225699 deg. 2025-01-08T22:16:35.226Z,1736374595.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771884 target range: 255.699997 and range: 255.70 m. 2025-01-08T22:16:35.368Z,1736374595.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:35.368Z,1736374595.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255322 2025-01-08T22:16:35.620Z,1736374595.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:35.621Z,1736374595.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507959 2025-01-08T22:16:35.626Z,1736374595.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:35.635Z,1736374595.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.70 m. 2025-01-08T22:16:35.637Z,1736374595.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.699997 m, nav range: 13.870956 m, bearing: 245.021239 deg, approach rate: 0.662618 m/s, LOS rate: -0.659340 deg/s, cmd heading: 44.225700 deg, new cmd heading: 43.408603 deg. 2025-01-08T22:16:35.638Z,1736374595.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757623 target range: 255.699997 and range: 255.70 m. 2025-01-08T22:16:35.872Z,1736374595.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:35.874Z,1736374595.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760215 2025-01-08T22:16:36.030Z,1736374596.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:36.063Z,1736374596.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.70 m. 2025-01-08T22:16:36.069Z,1736374596.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.699997 m, nav range: 14.147943 m, bearing: 244.824403 deg, approach rate: 0.647091 m/s, LOS rate: -0.450842 deg/s, cmd heading: 43.408605 deg, new cmd heading: 42.829678 deg. 2025-01-08T22:16:36.070Z,1736374596.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747519 target range: 255.699997 and range: 255.70 m. 2025-01-08T22:16:36.125Z,1736374596.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:36.126Z,1736374596.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013425 2025-01-08T22:16:36.376Z,1736374596.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:36.377Z,1736374596.376 [DAT](INFO): DAT read: Rx Time:22:16:35.1922 2025-01-08T22:16:36.377Z,1736374596.377 [DAT](INFO): Rx dataTimestamp_ set to:1736374596.376682 2025-01-08T22:16:36.377Z,1736374596.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264507 2025-01-08T22:16:36.457Z,1736374596.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:36.473Z,1736374596.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:36.481Z,1736374596.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.70 m. 2025-01-08T22:16:36.487Z,1736374596.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.699997 m, nav range: 14.441728 m, bearing: 244.638829 deg, approach rate: 0.702923 m/s, LOS rate: -0.434979 deg/s, cmd heading: 42.829678 deg, new cmd heading: 42.284299 deg. 2025-01-08T22:16:36.488Z,1736374596.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738000 target range: 255.699997 and range: 255.70 m. 2025-01-08T22:16:36.628Z,1736374596.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:36.629Z,1736374596.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516217 2025-01-08T22:16:36.837Z,1736374596.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:36.882Z,1736374596.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:36.909Z,1736374596.909 [DAT](INFO): DAT read: 22:16:35.1922 LVL= 26176, 31985, 27090, 32723, AGC= 66, IDX= 428, 0.34,-0.137,-1.762,-1.298,-0.884, PHS= 0.835,-0.831,-0.417, RAW= 103.8, 5.6, CAL= 114.1, 3.5, ROT= 35.9, -3.5 2025-01-08T22:16:36.910Z,1736374596.910 [DAT](INFO): got valid direction response: 22:16:35.1922 LVL= 26176, 31985, 27090, 32723, AGC= 66, IDX= 428, 0.34,-0.137,-1.762,-1.298,-0.884, PHS= 0.835,-0.831,-0.417, RAW= 103.8, 5.6, CAL= 114.1, 3.5, ROT= 35.9, -3.5 2025-01-08T22:16:36.914Z,1736374596.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.70 m. 2025-01-08T22:16:36.919Z,1736374596.919 [DAT](INFO): DAT read: Bearing 35.9, -3.5 (Local) 2025-01-08T22:16:36.920Z,1736374596.920 [DAT](INFO): Local bearing/azimuth received: Bearing 35.9, -3.5 (Local) 2025-01-08T22:16:36.921Z,1736374596.921 [DAT](INFO): DAT read: Range 10 to 50 : 254.2 m (Round-trip 339.0 ms) speed 0.6 m/s 2025-01-08T22:16:36.922Z,1736374596.922 [DAT](INFO): DAT read: user:2454> 2025-01-08T22:16:36.923Z,1736374596.923 [DAT](INFO): DAT read: Tx time:22:16:36.2991 2025-01-08T22:16:36.926Z,1736374596.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 255.699997 m, nav range: 14.705956 m, bearing: 244.465769 deg, approach rate: 0.609052 m/s, LOS rate: -0.391738 deg/s, cmd heading: 42.284298 deg, new cmd heading: 41.774461 deg. 2025-01-08T22:16:36.927Z,1736374596.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.729102 target range: 255.699997 and range: 255.70 m. 2025-01-08T22:16:36.931Z,1736374596.931 [DAT](INFO): Ping request sent. 2025-01-08T22:16:36.931Z,1736374596.931 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:36.932Z,1736374596.932 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:36.933Z,1736374596.933 [DAT](INFO): direction in FSK: [-0.210642,-0.127720,0.969184] 2025-01-08T22:16:36.933Z,1736374596.933 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:36.933Z,1736374596.933 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:36.944Z,1736374596.944 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:36.945Z,1736374596.945 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:37.132Z,1736374597.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:37.133Z,1736374597.133 [DAT](INFO): DAT read: TxSync time:22:16:36.2983 2025-01-08T22:16:37.241Z,1736374597.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:37.271Z,1736374597.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 254.199997 m, deltaT: 3.782376 s, deltaX: -1.500000 m, approachRate: -0.396576 m/s, rangeRepo size: 4 2025-01-08T22:16:37.274Z,1736374597.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 254.199997 m, bearing: 287.463960 deg, lat: 36.904584 deg, lon: -122.122357 deg, deltaT: 3.782376 s, deltaX: -1.500000 m, approachRate: -0.396576 m/s, posRepo size: 4 2025-01-08T22:16:37.275Z,1736374597.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:37.277Z,1736374597.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 35.411896 m, bearing: 266.567248 deg, approach rate: 0.000000 m/s, LOS rate: -0.391738 deg/s, cmd heading: 41.774461 deg, new cmd heading: 41.356134 deg. 2025-01-08T22:16:37.278Z,1736374597.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721801 target range: 254.199997 and range: 254.20 m. 2025-01-08T22:16:37.384Z,1736374597.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:37.636Z,1736374597.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:37.704Z,1736374597.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:37.769Z,1736374597.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:37.783Z,1736374597.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 35.693161 m, bearing: 266.299802 deg, approach rate: 0.571200 m/s, LOS rate: -0.538854 deg/s, cmd heading: 41.356133 deg, new cmd heading: 40.560171 deg. 2025-01-08T22:16:37.784Z,1736374597.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707909 target range: 254.199997 and range: 254.20 m. 2025-01-08T22:16:37.889Z,1736374597.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:38.141Z,1736374598.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:38.151Z,1736374598.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:38.165Z,1736374598.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:38.184Z,1736374598.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 35.952312 m, bearing: 266.045504 deg, approach rate: 0.644389 m/s, LOS rate: -0.627762 deg/s, cmd heading: 40.560170 deg, new cmd heading: 39.802820 deg. 2025-01-08T22:16:38.185Z,1736374598.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694690 target range: 254.199997 and range: 254.20 m. 2025-01-08T22:16:38.393Z,1736374598.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:38.502Z,1736374598.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:38.529Z,1736374598.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:38.536Z,1736374598.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:38.552Z,1736374598.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 36.156891 m, bearing: 265.850722 deg, approach rate: 0.558391 m/s, LOS rate: -0.528642 deg/s, cmd heading: 39.802822 deg, new cmd heading: 39.221804 deg. 2025-01-08T22:16:38.553Z,1736374598.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684550 target range: 254.199997 and range: 254.20 m. 2025-01-08T22:16:38.644Z,1736374598.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:38.645Z,1736374598.645 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:38.645Z,1736374598.645 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:38.646Z,1736374598.646 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:38.896Z,1736374598.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:38.897Z,1736374598.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965098 2025-01-08T22:16:38.923Z,1736374598.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:38.932Z,1736374598.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:38.934Z,1736374598.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 36.388420 m, bearing: 265.616086 deg, approach rate: 0.578314 m/s, LOS rate: -0.582344 deg/s, cmd heading: 39.221805 deg, new cmd heading: 38.522412 deg. 2025-01-08T22:16:38.936Z,1736374598.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672343 target range: 254.199997 and range: 254.20 m. 2025-01-08T22:16:39.148Z,1736374599.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:39.149Z,1736374599.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217561 2025-01-08T22:16:39.304Z,1736374599.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:39.329Z,1736374599.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:39.332Z,1736374599.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 36.597076 m, bearing: 265.404116 deg, approach rate: 0.525438 m/s, LOS rate: -0.530740 deg/s, cmd heading: 38.522414 deg, new cmd heading: 37.890155 deg. 2025-01-08T22:16:39.333Z,1736374599.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661308 target range: 254.199997 and range: 254.20 m. 2025-01-08T22:16:39.401Z,1736374599.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:39.402Z,1736374599.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470164 2025-01-08T22:16:39.652Z,1736374599.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:39.653Z,1736374599.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721745 2025-01-08T22:16:39.726Z,1736374599.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:39.747Z,1736374599.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:39.757Z,1736374599.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 36.828156 m, bearing: 265.168379 deg, approach rate: 0.554567 m/s, LOS rate: -0.562194 deg/s, cmd heading: 37.890153 deg, new cmd heading: 37.187417 deg. 2025-01-08T22:16:39.762Z,1736374599.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649043 target range: 254.199997 and range: 254.20 m. 2025-01-08T22:16:39.905Z,1736374599.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:39.907Z,1736374599.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974714 2025-01-08T22:16:40.149Z,1736374600.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:40.156Z,1736374600.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:40.157Z,1736374600.157 [DAT](INFO): DAT read: Rx Time:22:16:39.0394 2025-01-08T22:16:40.158Z,1736374600.158 [DAT](INFO): Rx dataTimestamp_ set to:1736374600.157336 2025-01-08T22:16:40.158Z,1736374600.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226744 2025-01-08T22:16:40.162Z,1736374600.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:40.164Z,1736374600.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 37.038555 m, bearing: 264.925140 deg, approach rate: 0.505785 m/s, LOS rate: -0.581405 deg/s, cmd heading: 37.187416 deg, new cmd heading: 36.461885 deg. 2025-01-08T22:16:40.165Z,1736374600.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636380 target range: 254.199997 and range: 254.20 m. 2025-01-08T22:16:40.408Z,1736374600.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:40.409Z,1736374600.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477447 2025-01-08T22:16:40.536Z,1736374600.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:40.545Z,1736374600.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:40.563Z,1736374600.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:40.572Z,1736374600.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 37.228664 m, bearing: 264.702013 deg, approach rate: 0.492797 m/s, LOS rate: -0.575429 deg/s, cmd heading: 36.461886 deg, new cmd heading: 35.795956 deg. 2025-01-08T22:16:40.580Z,1736374600.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624757 target range: 254.199997 and range: 254.20 m. 2025-01-08T22:16:40.661Z,1736374600.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:40.662Z,1736374600.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.730834 2025-01-08T22:16:40.912Z,1736374600.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:40.922Z,1736374600.922 [DAT](INFO): DAT read: 32= 65, IDX= 415,-0.18,-0.110,-1.905,-1.441,-0.960, PHS= 0.938,-0.898,-0.484, RAW= 102.4, 5.4, CAL= 112.6, 3.5, ROT= 37.4, -3.5 2025-01-08T22:16:40.923Z,1736374600.923 [DAT](INFO): unknown deviceResponse_: 32= 65, IDX= 415,-0.18,-0.110,-1.905,-1.441,-0.960, PHS= 0.938,-0.898,-0.484, RAW= 102.4, 5.4, CAL= 112.6, 3.5, ROT= 37.4, -3.5 2025-01-08T22:16:40.924Z,1736374600.924 [DAT](INFO): DAT read: Bearing 37.4, -3.5 (Local) 2025-01-08T22:16:40.925Z,1736374600.925 [DAT](INFO): Local bearing/azimuth received: Bearing 37.4, -3.5 (Local) 2025-01-08T22:16:40.926Z,1736374600.926 [DAT](INFO): DAT read: Range 10 to 50 : 252.1 m (Round-trip 336.2 ms) speed 0.4 m/s 2025-01-08T22:16:40.932Z,1736374600.932 [DAT](INFO): DAT read: user:2455> 2025-01-08T22:16:40.932Z,1736374600.932 [DAT](INFO): DAT read: Tx time:22:16:40.1491 2025-01-08T22:16:40.933Z,1736374600.933 [DAT](INFO): Ping request sent. 2025-01-08T22:16:40.933Z,1736374600.933 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:40.933Z,1736374600.933 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:16:40.933Z,1736374600.933 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:40.934Z,1736374600.934 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:40.997Z,1736374600.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:16:40.997Z,1736374600.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:41.024Z,1736374601.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 252.100006 m, deltaT: 4.029794 s, deltaX: -2.099991 m, approachRate: -0.521116 m/s, rangeRepo size: 4 2025-01-08T22:16:41.025Z,1736374601.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:41.036Z,1736374601.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 37.454521 m, bearing: 264.431892 deg, approach rate: 0.482857 m/s, LOS rate: -0.574003 deg/s, cmd heading: 35.795956 deg, new cmd heading: 34.990537 deg. 2025-01-08T22:16:41.037Z,1736374601.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.610700 target range: 254.199997 and range: 252.10 m. 2025-01-08T22:16:41.164Z,1736374601.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:41.165Z,1736374601.165 [DAT](INFO): DAT read: TxSync time:22:16:40.1484 2025-01-08T22:16:41.418Z,1736374601.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:41.473Z,1736374601.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:16:41.473Z,1736374601.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:41.507Z,1736374601.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:41.521Z,1736374601.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 37.681355 m, bearing: 264.145180 deg, approach rate: 0.462745 m/s, LOS rate: -0.581376 deg/s, cmd heading: 34.990537 deg, new cmd heading: 34.135645 deg. 2025-01-08T22:16:41.523Z,1736374601.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595779 target range: 254.199997 and range: 252.10 m. 2025-01-08T22:16:41.528Z,1736374601.528 [CTD_Seabird](ERROR): Failed to parse device response: 67.11,10.0775,3.692.22 2025-01-08T22:16:41.668Z,1736374601.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:41.913Z,1736374601.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:41.920Z,1736374601.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:41.924Z,1736374601.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:41.927Z,1736374601.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 37.864746 m, bearing: 263.869579 deg, approach rate: 0.438907 m/s, LOS rate: -0.656393 deg/s, cmd heading: 34.135646 deg, new cmd heading: 33.312907 deg. 2025-01-08T22:16:41.931Z,1736374601.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581420 target range: 254.199997 and range: 252.10 m. 2025-01-08T22:16:42.172Z,1736374602.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:42.282Z,1736374602.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:42.291Z,1736374602.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:42.294Z,1736374602.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 38.016266 m, bearing: 263.637602 deg, approach rate: 0.411845 m/s, LOS rate: -0.628021 deg/s, cmd heading: 33.312906 deg, new cmd heading: 32.619784 deg. 2025-01-08T22:16:42.295Z,1736374602.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569323 target range: 254.199997 and range: 252.10 m. 2025-01-08T22:16:42.425Z,1736374602.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:42.676Z,1736374602.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:42.773Z,1736374602.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:42.784Z,1736374602.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:42.787Z,1736374602.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:42.790Z,1736374602.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 38.218948 m, bearing: 263.331618 deg, approach rate: 0.408630 m/s, LOS rate: -0.613623 deg/s, cmd heading: 32.619785 deg, new cmd heading: 31.706782 deg. 2025-01-08T22:16:42.792Z,1736374602.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553388 target range: 254.199997 and range: 252.10 m. 2025-01-08T22:16:42.928Z,1736374602.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:42.928Z,1736374602.928 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:42.929Z,1736374602.929 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:42.929Z,1736374602.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:43.181Z,1736374603.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:43.182Z,1736374603.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249200 2025-01-08T22:16:43.320Z,1736374603.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:43.329Z,1736374603.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:43.332Z,1736374603.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 38.430786 m, bearing: 262.986382 deg, approach rate: 0.391031 m/s, LOS rate: -0.633753 deg/s, cmd heading: 31.706783 deg, new cmd heading: 30.676901 deg. 2025-01-08T22:16:43.333Z,1736374603.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535413 target range: 254.199997 and range: 252.10 m. 2025-01-08T22:16:43.432Z,1736374603.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:43.432Z,1736374603.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499638 2025-01-08T22:16:43.688Z,1736374603.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:43.689Z,1736374603.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756016 2025-01-08T22:16:43.792Z,1736374603.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:43.812Z,1736374603.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:43.822Z,1736374603.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 38.601807 m, bearing: 262.675608 deg, approach rate: 0.354911 m/s, LOS rate: -0.642075 deg/s, cmd heading: 30.676900 deg, new cmd heading: 29.748794 deg. 2025-01-08T22:16:43.826Z,1736374603.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519214 target range: 254.199997 and range: 252.10 m. 2025-01-08T22:16:43.941Z,1736374603.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:43.942Z,1736374603.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009369 2025-01-08T22:16:44.192Z,1736374604.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:44.193Z,1736374604.193 [DAT](INFO): DAT read: Rx Time:22:16:42.8869 2025-01-08T22:16:44.193Z,1736374604.193 [DAT](INFO): Rx dataTimestamp_ set to:1736374604.192934 2025-01-08T22:16:44.194Z,1736374604.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261006 2025-01-08T22:16:44.271Z,1736374604.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:44.281Z,1736374604.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:44.284Z,1736374604.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 38.772919 m, bearing: 262.365296 deg, approach rate: 0.363746 m/s, LOS rate: -0.656739 deg/s, cmd heading: 29.748793 deg, new cmd heading: 28.822052 deg. 2025-01-08T22:16:44.285Z,1736374604.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503040 target range: 254.199997 and range: 252.10 m. 2025-01-08T22:16:44.444Z,1736374604.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:44.444Z,1736374604.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511581 2025-01-08T22:16:44.653Z,1736374604.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:44.668Z,1736374604.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.20 m. 2025-01-08T22:16:44.674Z,1736374604.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.199997 m, nav range: 38.900318 m, bearing: 262.109514 deg, approach rate: 0.330232 m/s, LOS rate: -0.660838 deg/s, cmd heading: 28.822053 deg, new cmd heading: 28.057268 deg. 2025-01-08T22:16:44.675Z,1736374604.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.489692 target range: 254.199997 and range: 252.10 m. 2025-01-08T22:16:44.696Z,1736374604.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:44.702Z,1736374604.702 [DAT](INFO): DAT read: 22:16:42.8869 LVL= 21760, 32753, 27730, 32755, AGC= 64, IDX= 420, 0.06,-1.679, 2.576, 2.801,-2.852, PHS= 1.261,-0.808,-0.633, RAW= 94.4, 1.8, CAL= 103.0, -0.9, ROT= 47.0, 0.9 2025-01-08T22:16:44.703Z,1736374604.703 [DAT](INFO): got valid direction response: 22:16:42.8869 LVL= 21760, 32753, 27730, 32755, AGC= 64, IDX= 420, 0.06,-1.679, 2.576, 2.801,-2.852, PHS= 1.261,-0.808,-0.633, RAW= 94.4, 1.8, CAL= 103.0, -0.9, ROT= 47.0, 0.9 2025-01-08T22:16:44.704Z,1736374604.704 [DAT](INFO): DAT read: Bearing 47.0, 0.9 (Local) 2025-01-08T22:16:44.705Z,1736374604.705 [DAT](INFO): Local bearing/azimuth received: Bearing 47.0, 0.9 (Local) 2025-01-08T22:16:44.706Z,1736374604.706 [DAT](INFO): DAT read: Range 10 to 50 : 250.1 m (Round-trip 333.5 ms) speed 0.1 m/s 2025-01-08T22:16:44.708Z,1736374604.708 [DAT](INFO): DAT read: user:2456> 2025-01-08T22:16:44.709Z,1736374604.709 [DAT](INFO): DAT read: Tx time:22:16:44.0007 2025-01-08T22:16:44.709Z,1736374604.709 [DAT](INFO): Ping request sent. 2025-01-08T22:16:44.709Z,1736374604.709 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:44.709Z,1736374604.709 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:44.710Z,1736374604.710 [DAT](INFO): direction in FSK: [-0.126895,0.033415,0.991353] 2025-01-08T22:16:44.710Z,1736374604.710 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:44.711Z,1736374604.711 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:44.714Z,1736374604.714 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:44.714Z,1736374604.714 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:44.958Z,1736374604.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:44.959Z,1736374604.959 [DAT](INFO): DAT read: TxSync time:22:16:44.0000 2025-01-08T22:16:45.082Z,1736374605.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:45.121Z,1736374605.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 250.100006 m, deltaT: 3.783838 s, deltaX: -2.000000 m, approachRate: -0.528564 m/s, rangeRepo size: 4 2025-01-08T22:16:45.128Z,1736374605.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 250.100006 m, bearing: 172.199922 deg, lat: 36.904584 deg, lon: -122.122357 deg, deltaT: 7.813632 s, deltaX: -4.099991 m, approachRate: -0.524723 m/s, posRepo size: 4 2025-01-08T22:16:45.129Z,1736374605.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.10 m. 2025-01-08T22:16:45.136Z,1736374605.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.100006 m, nav range: 39.041969 m, bearing: 261.827826 deg, approach rate: 0.000000 m/s, LOS rate: -0.660838 deg/s, cmd heading: 28.057268 deg, new cmd heading: 27.157251 deg. 2025-01-08T22:16:45.137Z,1736374605.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473983 target range: 250.100006 and range: 250.10 m. 2025-01-08T22:16:45.200Z,1736374605.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:45.452Z,1736374605.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:45.453Z,1736374605.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:45.461Z,1736374605.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:45.464Z,1736374605.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.10 m. 2025-01-08T22:16:45.466Z,1736374605.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.100006 m, nav range: 39.158394 m, bearing: 261.581867 deg, approach rate: 0.340139 m/s, LOS rate: -0.716442 deg/s, cmd heading: 27.157250 deg, new cmd heading: 26.421609 deg. 2025-01-08T22:16:45.468Z,1736374605.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461144 target range: 250.100006 and range: 250.10 m. 2025-01-08T22:16:45.704Z,1736374605.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:45.704Z,1736374605.704 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:45.704Z,1736374605.704 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:45.704Z,1736374605.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:45.930Z,1736374605.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:45.939Z,1736374605.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.10 m. 2025-01-08T22:16:45.942Z,1736374605.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.100006 m, nav range: 39.312168 m, bearing: 261.260295 deg, approach rate: 0.323397 m/s, LOS rate: -0.673637 deg/s, cmd heading: 26.421608 deg, new cmd heading: 25.460761 deg. 2025-01-08T22:16:45.944Z,1736374605.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444374 target range: 250.100006 and range: 250.10 m. 2025-01-08T22:16:45.956Z,1736374605.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:45.957Z,1736374605.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247894 2025-01-08T22:16:46.208Z,1736374606.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:46.209Z,1736374606.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499592 2025-01-08T22:16:46.337Z,1736374606.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:46.347Z,1736374606.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.10 m. 2025-01-08T22:16:46.350Z,1736374606.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.100006 m, nav range: 39.441246 m, bearing: 260.985792 deg, approach rate: 0.316219 m/s, LOS rate: -0.670282 deg/s, cmd heading: 25.460761 deg, new cmd heading: 24.640007 deg. 2025-01-08T22:16:46.351Z,1736374606.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430049 target range: 250.100006 and range: 250.10 m. 2025-01-08T22:16:46.460Z,1736374606.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:46.460Z,1736374606.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751299 2025-01-08T22:16:46.712Z,1736374606.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:46.712Z,1736374606.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003462 2025-01-08T22:16:46.754Z,1736374606.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:46.764Z,1736374606.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.10 m. 2025-01-08T22:16:46.766Z,1736374606.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.100006 m, nav range: 39.571457 m, bearing: 260.704663 deg, approach rate: 0.312491 m/s, LOS rate: -0.672453 deg/s, cmd heading: 24.640006 deg, new cmd heading: 23.799459 deg. 2025-01-08T22:16:46.767Z,1736374606.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415379 target range: 250.100006 and range: 250.10 m. 2025-01-08T22:16:46.964Z,1736374606.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:46.966Z,1736374606.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256239 2025-01-08T22:16:47.193Z,1736374607.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:47.202Z,1736374607.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.10 m. 2025-01-08T22:16:47.205Z,1736374607.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.100006 m, nav range: 39.714317 m, bearing: 260.423135 deg, approach rate: 0.325889 m/s, LOS rate: -0.639900 deg/s, cmd heading: 23.799459 deg, new cmd heading: 22.957979 deg. 2025-01-08T22:16:47.206Z,1736374607.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.400692 target range: 250.100006 and range: 250.10 m. 2025-01-08T22:16:47.236Z,1736374607.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:47.237Z,1736374607.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527491 2025-01-08T22:16:47.488Z,1736374607.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:47.488Z,1736374607.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779437 2025-01-08T22:16:47.564Z,1736374607.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:47.582Z,1736374607.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:47.589Z,1736374607.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.10 m. 2025-01-08T22:16:47.597Z,1736374607.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.100006 m, nav range: 39.831535 m, bearing: 260.183091 deg, approach rate: 0.302724 m/s, LOS rate: -0.618105 deg/s, cmd heading: 22.957978 deg, new cmd heading: 22.240004 deg. 2025-01-08T22:16:47.598Z,1736374607.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.388161 target range: 250.100006 and range: 250.10 m. 2025-01-08T22:16:47.740Z,1736374607.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:47.742Z,1736374607.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032534 2025-01-08T22:16:47.985Z,1736374607.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:47.993Z,1736374607.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:47.994Z,1736374607.994 [DAT](INFO): DAT read: Rx Time:22:16:46.7378 2025-01-08T22:16:47.995Z,1736374607.995 [DAT](INFO): Rx dataTimestamp_ set to:1736374607.994302 2025-01-08T22:16:47.995Z,1736374607.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286109 2025-01-08T22:16:47.999Z,1736374607.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.10 m. 2025-01-08T22:16:48.002Z,1736374608.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.100006 m, nav range: 39.973763 m, bearing: 259.911956 deg, approach rate: 0.346923 m/s, LOS rate: -0.659002 deg/s, cmd heading: 22.240004 deg, new cmd heading: 21.429552 deg. 2025-01-08T22:16:48.003Z,1736374608.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.374016 target range: 250.100006 and range: 250.10 m. 2025-01-08T22:16:48.244Z,1736374608.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:48.245Z,1736374608.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535585 2025-01-08T22:16:48.353Z,1736374608.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:48.363Z,1736374608.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.10 m. 2025-01-08T22:16:48.366Z,1736374608.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.100006 m, nav range: 40.097389 m, bearing: 259.673912 deg, approach rate: 0.339773 m/s, LOS rate: -0.652217 deg/s, cmd heading: 21.429551 deg, new cmd heading: 20.717658 deg. 2025-01-08T22:16:48.367Z,1736374608.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.361591 target range: 250.100006 and range: 250.10 m. 2025-01-08T22:16:48.496Z,1736374608.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:48.503Z,1736374608.503 [DAT](INFO): DAT read: 22:16:46.7378 LVL= 19728, 28609, 24242, 27795, AGC= 64, IDX= 430,-0.28, 2.401, 0.618, 0.544, 1.355, PHS= 1.135,-0.689,-0.813, RAW= 86.7, 3.9, CAL= 93.1, 2.2, ROT= 56.9, -2.2 2025-01-08T22:16:48.504Z,1736374608.504 [DAT](INFO): got valid direction response: 22:16:46.7378 LVL= 19728, 28609, 24242, 27795, AGC= 64, IDX= 430,-0.28, 2.401, 0.618, 0.544, 1.355, PHS= 1.135,-0.689,-0.813, RAW= 86.7, 3.9, CAL= 93.1, 2.2, ROT= 56.9, -2.2 2025-01-08T22:16:48.505Z,1736374608.505 [DAT](INFO): DAT read: Bearing 56.9, -2.2 (Local) 2025-01-08T22:16:48.505Z,1736374608.505 [DAT](INFO): Local bearing/azimuth received: Bearing 56.9, -2.2 (Local) 2025-01-08T22:16:48.509Z,1736374608.509 [DAT](INFO): DAT read: Range 10 to 50 : 249.7 m (Round-trip 333.0 ms) speed 0.0 m/s 2025-01-08T22:16:48.509Z,1736374608.509 [DAT](INFO): DAT read: user:2457> 2025-01-08T22:16:48.510Z,1736374608.510 [DAT](INFO): DAT read: Tx time:22:16:47.8507 2025-01-08T22:16:48.510Z,1736374608.510 [DAT](INFO): Ping request sent. 2025-01-08T22:16:48.510Z,1736374608.510 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:48.511Z,1736374608.511 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:48.512Z,1736374608.512 [DAT](INFO): direction in FSK: [-0.153889,0.166800,0.973908] 2025-01-08T22:16:48.512Z,1736374608.512 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:48.513Z,1736374608.513 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:48.524Z,1736374608.524 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:48.525Z,1736374608.525 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:48.748Z,1736374608.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:48.749Z,1736374608.749 [DAT](INFO): DAT read: TxSync time:22:16:47.8500 2025-01-08T22:16:48.787Z,1736374608.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:48.802Z,1736374608.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 249.699997 m, deltaT: 3.800328 s, deltaX: -0.400009 m, approachRate: -0.105256 m/s, rangeRepo size: 4 2025-01-08T22:16:48.805Z,1736374608.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 249.699997 m, bearing: 136.305119 deg, lat: 36.904584 deg, lon: -122.122357 deg, deltaT: 3.800328 s, deltaX: -0.400009 m, approachRate: -0.105256 m/s, posRepo size: 4 2025-01-08T22:16:48.805Z,1736374608.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T22:16:48.835Z,1736374608.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 40.243523 m, bearing: 259.396086 deg, approach rate: 0.000000 m/s, LOS rate: -0.652217 deg/s, cmd heading: 20.717658 deg, new cmd heading: 19.859282 deg. 2025-01-08T22:16:48.836Z,1736374608.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.346610 target range: 249.699997 and range: 249.70 m. 2025-01-08T22:16:48.000Z,1736374609.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:49.195Z,1736374609.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:49.204Z,1736374609.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T22:16:49.212Z,1736374609.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 40.387062 m, bearing: 259.135237 deg, approach rate: 0.357514 m/s, LOS rate: -0.647385 deg/s, cmd heading: 19.859282 deg, new cmd heading: 19.079569 deg. 2025-01-08T22:16:49.213Z,1736374609.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.333001 target range: 249.699997 and range: 249.70 m. 2025-01-08T22:16:49.252Z,1736374609.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:49.504Z,1736374609.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:49.573Z,1736374609.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:49.582Z,1736374609.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T22:16:49.585Z,1736374609.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 40.519958 m, bearing: 258.892960 deg, approach rate: 0.350972 m/s, LOS rate: -0.637738 deg/s, cmd heading: 19.079570 deg, new cmd heading: 18.355164 deg. 2025-01-08T22:16:49.585Z,1736374609.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.320358 target range: 249.699997 and range: 249.70 m. 2025-01-08T22:16:49.756Z,1736374609.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:50.008Z,1736374610.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:50.037Z,1736374610.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:50.045Z,1736374610.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:50.047Z,1736374610.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T22:16:50.050Z,1736374610.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 40.693081 m, bearing: 258.600322 deg, approach rate: 0.372125 m/s, LOS rate: -0.626345 deg/s, cmd heading: 18.355164 deg, new cmd heading: 17.481056 deg. 2025-01-08T22:16:50.051Z,1736374610.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.305102 target range: 249.699997 and range: 249.70 m. 2025-01-08T22:16:50.260Z,1736374610.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:50.260Z,1736374610.260 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:50.260Z,1736374610.260 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:50.260Z,1736374610.260 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:50.381Z,1736374610.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:50.394Z,1736374610.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T22:16:50.397Z,1736374610.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 40.820122 m, bearing: 258.381754 deg, approach rate: 0.365603 m/s, LOS rate: -0.627047 deg/s, cmd heading: 17.481056 deg, new cmd heading: 16.827420 deg. 2025-01-08T22:16:50.398Z,1736374610.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.293694 target range: 249.699997 and range: 249.70 m. 2025-01-08T22:16:50.512Z,1736374610.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:50.512Z,1736374610.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001944 2025-01-08T22:16:50.764Z,1736374610.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:50.765Z,1736374610.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254644 2025-01-08T22:16:50.800Z,1736374610.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:50.813Z,1736374610.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T22:16:50.820Z,1736374610.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 40.974049 m, bearing: 258.115112 deg, approach rate: 0.367363 m/s, LOS rate: -0.633976 deg/s, cmd heading: 16.827421 deg, new cmd heading: 16.030555 deg. 2025-01-08T22:16:50.824Z,1736374610.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279786 target range: 249.699997 and range: 249.70 m. 2025-01-08T22:16:51.016Z,1736374611.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:51.016Z,1736374611.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505838 2025-01-08T22:16:51.221Z,1736374611.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:51.230Z,1736374611.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T22:16:51.233Z,1736374611.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 41.141140 m, bearing: 257.846043 deg, approach rate: 0.400674 m/s, LOS rate: -0.642586 deg/s, cmd heading: 16.030555 deg, new cmd heading: 15.226682 deg. 2025-01-08T22:16:51.234Z,1736374611.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265756 target range: 249.699997 and range: 249.70 m. 2025-01-08T22:16:51.268Z,1736374611.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:51.270Z,1736374611.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759494 2025-01-08T22:16:51.520Z,1736374611.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:51.521Z,1736374611.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010069 2025-01-08T22:16:51.598Z,1736374611.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:51.622Z,1736374611.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T22:16:51.629Z,1736374611.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 41.287231 m, bearing: 257.600962 deg, approach rate: 0.372795 m/s, LOS rate: -0.623180 deg/s, cmd heading: 15.226682 deg, new cmd heading: 14.494084 deg. 2025-01-08T22:16:51.630Z,1736374611.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.252969 target range: 249.699997 and range: 249.70 m. 2025-01-08T22:16:51.772Z,1736374611.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:51.773Z,1736374611.773 [DAT](INFO): DAT read: Rx Time:22:16:50.5871 2025-01-08T22:16:51.774Z,1736374611.774 [DAT](INFO): Rx dataTimestamp_ set to:1736374611.772917 2025-01-08T22:16:51.775Z,1736374611.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264287 2025-01-08T22:16:52.024Z,1736374612.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:52.025Z,1736374612.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514277 2025-01-08T22:16:52.044Z,1736374612.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:52.051Z,1736374612.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:52.053Z,1736374612.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.70 m. 2025-01-08T22:16:52.084Z,1736374612.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.699997 m, nav range: 41.467464 m, bearing: 257.311163 deg, approach rate: 0.418606 m/s, LOS rate: -0.670154 deg/s, cmd heading: 14.494083 deg, new cmd heading: 13.628535 deg. 2025-01-08T22:16:52.085Z,1736374612.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.237863 target range: 249.699997 and range: 249.70 m. 2025-01-08T22:16:52.277Z,1736374612.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:52.294Z,1736374612.294 [DAT](INFO): DAT read: 22:16:50.5871 LVL= 13424, 29953, 25218, 30899, AGC= 59, IDX= 438, 0.16,-2.964, 1.761, 1.313, 2.382, PHS= 1.025,-0.574,-1.073, RAW= 76.8, 6.6, CAL= 80.7, 7.8, ROT= 69.3, -7.8 2025-01-08T22:16:52.301Z,1736374612.301 [DAT](INFO): got valid direction response: 22:16:50.5871 LVL= 13424, 29953, 25218, 30899, AGC= 59, IDX= 438, 0.16,-2.964, 1.761, 1.313, 2.382, PHS= 1.025,-0.574,-1.073, RAW= 76.8, 6.6, CAL= 80.7, 7.8, ROT= 69.3, -7.8 2025-01-08T22:16:52.302Z,1736374612.302 [DAT](INFO): DAT read: Bearing 69.3, -7.8 (Local) 2025-01-08T22:16:52.302Z,1736374612.302 [DAT](INFO): Local bearing/azimuth received: Bearing 69.3, -7.8 (Local) 2025-01-08T22:16:52.304Z,1736374612.304 [DAT](INFO): DAT read: Range 10 to 50 : 249.1 m (Round-trip 332.2 ms) speed 0.4 m/s 2025-01-08T22:16:52.304Z,1736374612.304 [DAT](INFO): DAT read: user:2458> 2025-01-08T22:16:52.305Z,1736374612.305 [DAT](INFO): DAT read: Tx time:22:16:51.7007 2025-01-08T22:16:52.305Z,1736374612.305 [DAT](INFO): Ping request sent. 2025-01-08T22:16:52.306Z,1736374612.306 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:52.306Z,1736374612.306 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:52.324Z,1736374612.324 [DAT](INFO): direction in FSK: [-0.185403,0.330754,0.925326] 2025-01-08T22:16:52.325Z,1736374612.325 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:52.325Z,1736374612.325 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:52.333Z,1736374612.333 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:52.333Z,1736374612.333 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:52.424Z,1736374612.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:52.456Z,1736374612.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 249.100006 m, deltaT: 3.781427 s, deltaX: -0.599991 m, approachRate: -0.158668 m/s, rangeRepo size: 4 2025-01-08T22:16:52.459Z,1736374612.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 249.100006 m, bearing: 126.765103 deg, lat: 36.904557 deg, lon: -122.121909 deg, deltaT: 3.781427 s, deltaX: -0.599991 m, approachRate: -0.158668 m/s, posRepo size: 4 2025-01-08T22:16:52.468Z,1736374612.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.10 m. 2025-01-08T22:16:52.470Z,1736374612.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.100006 m, nav range: 12.361446 m, bearing: 183.426385 deg, approach rate: 0.000000 m/s, LOS rate: -0.670154 deg/s, cmd heading: 13.628534 deg, new cmd heading: 12.828798 deg. 2025-01-08T22:16:52.476Z,1736374612.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.223905 target range: 249.100006 and range: 249.10 m. 2025-01-08T22:16:52.528Z,1736374612.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:52.529Z,1736374612.529 [DAT](INFO): DAT read: TxSync time:22:16:51.7000 2025-01-08T22:16:52.781Z,1736374612.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:52.828Z,1736374612.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:52.836Z,1736374612.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.10 m. 2025-01-08T22:16:52.839Z,1736374612.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.100006 m, nav range: 12.595499 m, bearing: 183.865951 deg, approach rate: 0.607397 m/s, LOS rate: 1.119523 deg/s, cmd heading: 12.828799 deg, new cmd heading: 14.122759 deg. 2025-01-08T22:16:52.841Z,1736374612.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246489 target range: 249.100006 and range: 249.10 m. 2025-01-08T22:16:53.033Z,1736374613.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:53.226Z,1736374613.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:53.234Z,1736374613.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.10 m. 2025-01-08T22:16:53.237Z,1736374613.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.100006 m, nav range: 12.825745 m, bearing: 184.292684 deg, approach rate: 0.578075 m/s, LOS rate: 1.052151 deg/s, cmd heading: 14.122759 deg, new cmd heading: 15.379763 deg. 2025-01-08T22:16:53.238Z,1736374613.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.268427 target range: 249.100006 and range: 249.10 m. 2025-01-08T22:16:53.284Z,1736374613.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:53.536Z,1736374613.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:53.618Z,1736374613.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:53.628Z,1736374613.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.10 m. 2025-01-08T22:16:53.630Z,1736374613.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.100006 m, nav range: 13.054811 m, bearing: 184.689459 deg, approach rate: 0.582792 m/s, LOS rate: 0.991759 deg/s, cmd heading: 15.379762 deg, new cmd heading: 16.549030 deg. 2025-01-08T22:16:53.631Z,1736374613.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.288835 target range: 249.100006 and range: 249.10 m. 2025-01-08T22:16:53.789Z,1736374613.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:54.041Z,1736374614.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:54.080Z,1736374614.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:54.087Z,1736374614.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:54.089Z,1736374614.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.10 m. 2025-01-08T22:16:54.093Z,1736374614.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.100006 m, nav range: 13.328978 m, bearing: 185.122273 deg, approach rate: 0.593785 m/s, LOS rate: 0.918088 deg/s, cmd heading: 16.549031 deg, new cmd heading: 17.820543 deg. 2025-01-08T22:16:54.094Z,1736374614.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.311027 target range: 249.100006 and range: 249.10 m. 2025-01-08T22:16:54.292Z,1736374614.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:54.292Z,1736374614.292 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:54.292Z,1736374614.292 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:54.293Z,1736374614.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:54.420Z,1736374614.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:54.429Z,1736374614.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.10 m. 2025-01-08T22:16:54.432Z,1736374614.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.100006 m, nav range: 13.532434 m, bearing: 185.419884 deg, approach rate: 0.598403 m/s, LOS rate: 0.862167 deg/s, cmd heading: 17.820542 deg, new cmd heading: 18.699879 deg. 2025-01-08T22:16:54.433Z,1736374614.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326374 target range: 249.100006 and range: 249.10 m. 2025-01-08T22:16:54.544Z,1736374614.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:54.546Z,1736374614.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239981 2025-01-08T22:16:54.796Z,1736374614.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:54.796Z,1736374614.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490894 2025-01-08T22:16:54.845Z,1736374614.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:54.854Z,1736374614.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.10 m. 2025-01-08T22:16:54.858Z,1736374614.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.100006 m, nav range: 13.787846 m, bearing: 185.769003 deg, approach rate: 0.600919 m/s, LOS rate: 0.806166 deg/s, cmd heading: 18.699880 deg, new cmd heading: 19.727718 deg. 2025-01-08T22:16:54.859Z,1736374614.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.344314 target range: 249.100006 and range: 249.10 m. 2025-01-08T22:16:55.049Z,1736374615.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:55.051Z,1736374615.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745239 2025-01-08T22:16:55.260Z,1736374615.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:55.270Z,1736374615.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.10 m. 2025-01-08T22:16:55.272Z,1736374615.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.100006 m, nav range: 14.034308 m, bearing: 186.045448 deg, approach rate: 0.593394 m/s, LOS rate: 0.653890 deg/s, cmd heading: 19.727719 deg, new cmd heading: 20.542432 deg. 2025-01-08T22:16:55.274Z,1736374615.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.358533 target range: 249.100006 and range: 249.10 m. 2025-01-08T22:16:55.300Z,1736374615.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:55.301Z,1736374615.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994975 2025-01-08T22:16:55.552Z,1736374615.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:55.552Z,1736374615.552 [DAT](INFO): DAT read: Rx Time:22:16:54.4344 2025-01-08T22:16:55.553Z,1736374615.553 [DAT](INFO): Rx dataTimestamp_ set to:1736374615.552620 2025-01-08T22:16:55.553Z,1736374615.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247885 2025-01-08T22:16:55.626Z,1736374615.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:55.652Z,1736374615.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.10 m. 2025-01-08T22:16:55.656Z,1736374615.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.100006 m, nav range: 14.252195 m, bearing: 186.277775 deg, approach rate: 0.575224 m/s, LOS rate: 0.603969 deg/s, cmd heading: 20.542433 deg, new cmd heading: 21.228725 deg. 2025-01-08T22:16:55.658Z,1736374615.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.370511 target range: 249.100006 and range: 249.10 m. 2025-01-08T22:16:55.805Z,1736374615.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:55.806Z,1736374615.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500377 2025-01-08T22:16:56.056Z,1736374616.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:56.057Z,1736374616.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751109 2025-01-08T22:16:56.155Z,1736374616.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:56.185Z,1736374616.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:56.193Z,1736374616.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.10 m. 2025-01-08T22:16:56.201Z,1736374616.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 249.100006 m, nav range: 14.565764 m, bearing: 186.531325 deg, approach rate: 0.575786 m/s, LOS rate: 0.455553 deg/s, cmd heading: 21.228725 deg, new cmd heading: 21.972956 deg. 2025-01-08T22:16:56.202Z,1736374616.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.383500 target range: 249.100006 and range: 249.10 m. 2025-01-08T22:16:56.309Z,1736374616.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:56.320Z,1736374616.320 [DAT](INFO): DAT read: 22:16:54.4344 LVL= 14768, 27169, 23506, 27283, AGC= 65, IDX= 411,-0.41, 1.320, 0.065,-0.920, 0.325, PHS= 1.083,-0.213,-1.247, RAW= 63.7, 3.8, CAL= 64.9, 2.9, ROT= 85.1, -2.9 2025-01-08T22:16:56.321Z,1736374616.321 [DAT](INFO): got valid direction response: 22:16:54.4344 LVL= 14768, 27169, 23506, 27283, AGC= 65, IDX= 411,-0.41, 1.320, 0.065,-0.920, 0.325, PHS= 1.083,-0.213,-1.247, RAW= 63.7, 3.8, CAL= 64.9, 2.9, ROT= 85.1, -2.9 2025-01-08T22:16:56.322Z,1736374616.322 [DAT](INFO): DAT read: Bearing 85.1, -2.9 (Local) 2025-01-08T22:16:56.322Z,1736374616.322 [DAT](INFO): Local bearing/azimuth received: Bearing 85.1, -2.9 (Local) 2025-01-08T22:16:56.324Z,1736374616.324 [DAT](INFO): DAT read: Range 10 to 50 : 247.1 m (Round-trip 329.5 ms) speed 0.0 m/s 2025-01-08T22:16:56.325Z,1736374616.325 [DAT](INFO): DAT read: user:2459> 2025-01-08T22:16:56.326Z,1736374616.326 [DAT](INFO): DAT read: Tx time:22:16:55.5492 2025-01-08T22:16:56.326Z,1736374616.326 [DAT](INFO): Ping request sent. 2025-01-08T22:16:56.326Z,1736374616.326 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:16:56.327Z,1736374616.327 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:16:56.333Z,1736374616.333 [DAT](INFO): direction in FSK: [-0.106883,0.527747,0.842650] 2025-01-08T22:16:56.334Z,1736374616.334 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:56.334Z,1736374616.334 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:56.347Z,1736374616.347 [DAT](INFO): publishing transmit ping time 2025-01-08T22:16:56.362Z,1736374616.362 [DAT](INFO): publishing direction and range info 2025-01-08T22:16:56.560Z,1736374616.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:56.561Z,1736374616.561 [DAT](INFO): DAT read: TxSync time:22:16:55.5484 2025-01-08T22:16:56.572Z,1736374616.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:56.613Z,1736374616.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 247.100006 m, deltaT: 4.032470 s, deltaX: -2.000000 m, approachRate: -0.495974 m/s, rangeRepo size: 4 2025-01-08T22:16:56.620Z,1736374616.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 247.100006 m, bearing: 109.102938 deg, lat: 36.904438 deg, lon: -122.121657 deg, deltaT: 4.032470 s, deltaX: -2.000000 m, approachRate: -0.495974 m/s, posRepo size: 4 2025-01-08T22:16:56.621Z,1736374616.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.10 m. 2025-01-08T22:16:56.628Z,1736374616.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.100006 m, nav range: 34.728085 m, bearing: 143.589636 deg, approach rate: 0.000000 m/s, LOS rate: 0.455553 deg/s, cmd heading: 21.972956 deg, new cmd heading: 22.533213 deg. 2025-01-08T22:16:56.629Z,1736374616.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393279 target range: 247.100006 and range: 247.10 m. 2025-01-08T22:16:56.812Z,1736374616.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:56.977Z,1736374616.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:56.986Z,1736374616.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.10 m. 2025-01-08T22:16:56.988Z,1736374616.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.100006 m, nav range: 34.871796 m, bearing: 143.917193 deg, approach rate: 0.375529 m/s, LOS rate: 0.852400 deg/s, cmd heading: 22.533214 deg, new cmd heading: 23.511734 deg. 2025-01-08T22:16:56.989Z,1736374616.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.410357 target range: 247.100006 and range: 247.10 m. 2025-01-08T22:16:57.065Z,1736374617.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:57.316Z,1736374617.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:57.568Z,1736374617.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:57.608Z,1736374617.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:57.625Z,1736374617.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.10 m. 2025-01-08T22:16:57.632Z,1736374617.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.100006 m, nav range: 35.112389 m, bearing: 144.405795 deg, approach rate: 0.376139 m/s, LOS rate: 0.758629 deg/s, cmd heading: 23.511734 deg, new cmd heading: 24.967167 deg. 2025-01-08T22:16:57.633Z,1736374617.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435759 target range: 247.100006 and range: 247.10 m. 2025-01-08T22:16:57.821Z,1736374617.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:58.045Z,1736374618.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:58.074Z,1736374618.074 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:58.098Z,1736374618.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.10 m. 2025-01-08T22:16:58.105Z,1736374618.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.100006 m, nav range: 35.279995 m, bearing: 144.739276 deg, approach rate: 0.354576 m/s, LOS rate: 0.702133 deg/s, cmd heading: 24.967167 deg, new cmd heading: 25.962752 deg. 2025-01-08T22:16:58.106Z,1736374618.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453136 target range: 247.100006 and range: 247.10 m. 2025-01-08T22:16:58.324Z,1736374618.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:58.563Z,1736374618.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:58.570Z,1736374618.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:16:58.572Z,1736374618.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.10 m. 2025-01-08T22:16:58.576Z,1736374618.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:58.576Z,1736374618.576 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:16:58.576Z,1736374618.576 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:16:58.577Z,1736374618.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:16:58.600Z,1736374618.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.100006 m, nav range: 35.496758 m, bearing: 145.092447 deg, approach rate: 0.457086 m/s, LOS rate: 0.740176 deg/s, cmd heading: 25.962753 deg, new cmd heading: 27.015668 deg. 2025-01-08T22:16:58.601Z,1736374618.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.471512 target range: 247.100006 and range: 247.10 m. 2025-01-08T22:16:58.828Z,1736374618.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:58.828Z,1736374618.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502033 2025-01-08T22:16:58.932Z,1736374618.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:58.941Z,1736374618.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.10 m. 2025-01-08T22:16:58.944Z,1736374618.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.100006 m, nav range: 35.650120 m, bearing: 145.343090 deg, approach rate: 0.416189 m/s, LOS rate: 0.677259 deg/s, cmd heading: 27.015667 deg, new cmd heading: 27.764318 deg. 2025-01-08T22:16:58.945Z,1736374618.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484579 target range: 247.100006 and range: 247.10 m. 2025-01-08T22:16:59.082Z,1736374619.082 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:59.084Z,1736374619.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757559 2025-01-08T22:16:59.332Z,1736374619.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:59.332Z,1736374619.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005933 2025-01-08T22:16:59.355Z,1736374619.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:16:59.355Z,1736374619.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:59.389Z,1736374619.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.10 m. 2025-01-08T22:16:59.397Z,1736374619.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.100006 m, nav range: 35.826763 m, bearing: 145.627784 deg, approach rate: 0.394355 m/s, LOS rate: 0.632440 deg/s, cmd heading: 27.764318 deg, new cmd heading: 28.614121 deg. 2025-01-08T22:16:59.398Z,1736374619.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.499411 target range: 247.100006 and range: 247.10 m. 2025-01-08T22:16:59.584Z,1736374619.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:59.585Z,1736374619.585 [DAT](INFO): DAT read: Rx Time:22:16:58.2829 2025-01-08T22:16:59.585Z,1736374619.585 [DAT](INFO): Rx dataTimestamp_ set to:1736374619.584867 2025-01-08T22:16:59.586Z,1736374619.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259346 2025-01-08T22:16:59.738Z,1736374619.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:16:59.738Z,1736374619.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:16:59.746Z,1736374619.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.10 m. 2025-01-08T22:16:59.750Z,1736374619.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.100006 m, nav range: 35.983643 m, bearing: 145.890144 deg, approach rate: 0.438247 m/s, LOS rate: 0.729713 deg/s, cmd heading: 28.614121 deg, new cmd heading: 29.397719 deg. 2025-01-08T22:16:59.751Z,1736374619.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513087 target range: 247.100006 and range: 247.10 m. 2025-01-08T22:16:59.837Z,1736374619.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:16:59.838Z,1736374619.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511327 2025-01-08T22:17:00.090Z,1736374620.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:00.152Z,1736374620.152 [DAT](INFO): DAT read: 22:16:58.2829 LVL= 17552, 32753, 32754, 32755, AGC= 64, IDX= 442,-0.16,-2.635, 2.637, 1.589, 2.569, PHS= 1.167, 0.115,-0.982, RAW= 59.3, -3.3, CAL= 63.9, -7.8, ROT= 86.1, 7.8 2025-01-08T22:17:00.153Z,1736374620.153 [DAT](INFO): got valid direction response: 22:16:58.2829 LVL= 17552, 32753, 32754, 32755, AGC= 64, IDX= 442,-0.16,-2.635, 2.637, 1.589, 2.569, PHS= 1.167, 0.115,-0.982, RAW= 59.3, -3.3, CAL= 63.9, -7.8, ROT= 86.1, 7.8 2025-01-08T22:17:00.154Z,1736374620.154 [DAT](INFO): DAT read: Bearing 86.1, 7.8 (Local) 2025-01-08T22:17:00.154Z,1736374620.154 [DAT](INFO): Local bearing/azimuth received: Bearing 86.1, 7.8 (Local) 2025-01-08T22:17:00.165Z,1736374620.165 [DAT](INFO): DAT read: Range 10 to 50 : 247.0 m (Round-trip 329.4 ms) speed 0.0 m/s 2025-01-08T22:17:00.165Z,1736374620.165 [DAT](INFO): DAT read: user:2460> 2025-01-08T22:17:00.166Z,1736374620.166 [DAT](INFO): DAT read: Tx time:22:16:59.3993 2025-01-08T22:17:00.166Z,1736374620.166 [DAT](INFO): Ping request sent. 2025-01-08T22:17:00.166Z,1736374620.166 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:00.167Z,1736374620.167 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:17:00.176Z,1736374620.176 [DAT](INFO): direction in FSK: [0.032948,0.582009,0.812514] 2025-01-08T22:17:00.176Z,1736374620.176 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:00.177Z,1736374620.177 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:00.187Z,1736374620.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:00.194Z,1736374620.194 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:00.194Z,1736374620.194 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:00.238Z,1736374620.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 247.000000 m, deltaT: 3.780417 s, deltaX: -0.100006 m, approachRate: -0.026454 m/s, rangeRepo size: 4 2025-01-08T22:17:00.249Z,1736374620.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 247.000000 m, bearing: 98.885487 deg, lat: 36.904438 deg, lon: -122.121194 deg, deltaT: 3.780417 s, deltaX: -0.100006 m, approachRate: -0.026454 m/s, posRepo size: 4 2025-01-08T22:17:00.250Z,1736374620.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.00 m. 2025-01-08T22:17:00.268Z,1736374620.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.000000 m, nav range: 68.333763 m, bearing: 116.088202 deg, approach rate: 0.000000 m/s, LOS rate: 0.729713 deg/s, cmd heading: 29.397718 deg, new cmd heading: 30.472830 deg. 2025-01-08T22:17:00.269Z,1736374620.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531851 target range: 247.000000 and range: 247.00 m. 2025-01-08T22:17:00.341Z,1736374620.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:00.342Z,1736374620.342 [DAT](INFO): DAT read: TxSync time:22:16:59.3985 2025-01-08T22:17:00.563Z,1736374620.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:00.572Z,1736374620.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.00 m. 2025-01-08T22:17:00.575Z,1736374620.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.000000 m, nav range: 68.399368 m, bearing: 116.261866 deg, approach rate: 0.196684 m/s, LOS rate: 0.520140 deg/s, cmd heading: 30.472831 deg, new cmd heading: 30.993306 deg. 2025-01-08T22:17:00.576Z,1736374620.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540935 target range: 247.000000 and range: 247.00 m. 2025-01-08T22:17:00.605Z,1736374620.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:00.856Z,1736374620.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:00.956Z,1736374620.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:00.963Z,1736374620.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:00.965Z,1736374620.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.00 m. 2025-01-08T22:17:00.968Z,1736374620.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.000000 m, nav range: 68.464348 m, bearing: 116.443979 deg, approach rate: 0.164943 m/s, LOS rate: 0.461835 deg/s, cmd heading: 30.993305 deg, new cmd heading: 31.539109 deg. 2025-01-08T22:17:00.969Z,1736374620.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550461 target range: 247.000000 and range: 247.00 m. 2025-01-08T22:17:01.110Z,1736374621.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:01.112Z,1736374621.112 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:01.112Z,1736374621.112 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:01.113Z,1736374621.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:01.360Z,1736374621.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:01.360Z,1736374621.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.193929 2025-01-08T22:17:01.400Z,1736374621.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:01.409Z,1736374621.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.00 m. 2025-01-08T22:17:01.428Z,1736374621.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.000000 m, nav range: 68.531151 m, bearing: 116.643661 deg, approach rate: 0.150518 m/s, LOS rate: 0.449475 deg/s, cmd heading: 31.539109 deg, new cmd heading: 32.137547 deg. 2025-01-08T22:17:01.429Z,1736374621.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560906 target range: 247.000000 and range: 247.00 m. 2025-01-08T22:17:01.612Z,1736374621.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:01.613Z,1736374621.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.446087 2025-01-08T22:17:01.772Z,1736374621.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:01.780Z,1736374621.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.00 m. 2025-01-08T22:17:01.782Z,1736374621.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.000000 m, nav range: 68.581322 m, bearing: 116.812679 deg, approach rate: 0.135294 m/s, LOS rate: 0.455451 deg/s, cmd heading: 32.137546 deg, new cmd heading: 32.644217 deg. 2025-01-08T22:17:01.784Z,1736374621.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569749 target range: 247.000000 and range: 247.00 m. 2025-01-08T22:17:01.865Z,1736374621.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:01.866Z,1736374621.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699827 2025-01-08T22:17:02.117Z,1736374622.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:02.130Z,1736374622.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952474 2025-01-08T22:17:02.223Z,1736374622.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:02.238Z,1736374622.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.00 m. 2025-01-08T22:17:02.242Z,1736374622.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.000000 m, nav range: 68.631607 m, bearing: 117.017143 deg, approach rate: 0.109762 m/s, LOS rate: 0.445970 deg/s, cmd heading: 32.644216 deg, new cmd heading: 33.257132 deg. 2025-01-08T22:17:02.244Z,1736374622.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580446 target range: 247.000000 and range: 247.00 m. 2025-01-08T22:17:02.370Z,1736374622.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:02.370Z,1736374622.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203913 2025-01-08T22:17:02.568Z,1736374622.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:02.598Z,1736374622.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.00 m. 2025-01-08T22:17:02.601Z,1736374622.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.000000 m, nav range: 68.664543 m, bearing: 117.174451 deg, approach rate: 0.091456 m/s, LOS rate: 0.436601 deg/s, cmd heading: 33.257130 deg, new cmd heading: 33.728818 deg. 2025-01-08T22:17:02.602Z,1736374622.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588679 target range: 247.000000 and range: 247.00 m. 2025-01-08T22:17:02.620Z,1736374622.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:02.621Z,1736374622.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454684 2025-01-08T22:17:02.872Z,1736374622.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:02.873Z,1736374622.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706208 2025-01-08T22:17:02.978Z,1736374622.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:02.986Z,1736374622.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:02.988Z,1736374622.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.00 m. 2025-01-08T22:17:02.991Z,1736374622.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.000000 m, nav range: 68.700752 m, bearing: 117.361763 deg, approach rate: 0.092934 m/s, LOS rate: 0.480499 deg/s, cmd heading: 33.728816 deg, new cmd heading: 34.290437 deg. 2025-01-08T22:17:02.992Z,1736374622.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598481 target range: 247.000000 and range: 247.00 m. 2025-01-08T22:17:03.126Z,1736374623.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:03.129Z,1736374623.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962030 2025-01-08T22:17:03.376Z,1736374623.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:03.377Z,1736374623.377 [DAT](INFO): DAT read: Rx Time:22:17:02.1326 2025-01-08T22:17:03.377Z,1736374623.377 [DAT](INFO): Rx dataTimestamp_ set to:1736374623.377128 2025-01-08T22:17:03.378Z,1736374623.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211545 2025-01-08T22:17:03.432Z,1736374623.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:03.452Z,1736374623.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.00 m. 2025-01-08T22:17:03.455Z,1736374623.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.000000 m, nav range: 68.721794 m, bearing: 117.568813 deg, approach rate: 0.045297 m/s, LOS rate: 0.445578 deg/s, cmd heading: 34.290435 deg, new cmd heading: 34.911369 deg. 2025-01-08T22:17:03.460Z,1736374623.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.609318 target range: 247.000000 and range: 247.00 m. 2025-01-08T22:17:03.628Z,1736374623.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:03.628Z,1736374623.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.462031 2025-01-08T22:17:03.793Z,1736374623.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:03.853Z,1736374623.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.00 m. 2025-01-08T22:17:03.862Z,1736374623.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 247.000000 m, nav range: 68.736008 m, bearing: 117.733156 deg, approach rate: 0.035447 m/s, LOS rate: 0.409771 deg/s, cmd heading: 34.911368 deg, new cmd heading: 35.404283 deg. 2025-01-08T22:17:03.868Z,1736374623.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.617921 target range: 247.000000 and range: 247.00 m. 2025-01-08T22:17:03.880Z,1736374623.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:03.886Z,1736374623.886 [DAT](INFO): DAT read: 22:17:02.1326 LVL= 17504, 32753, 24434, 31107, AGC= 66, IDX= 439, 0.01,-2.853, 1.926, 1.503, 2.138, PHS= 1.381,-0.164,-0.637, RAW= 77.0, -6.4, CAL= 86.2, -13.9, ROT= 63.8, 13.9 2025-01-08T22:17:03.887Z,1736374623.887 [DAT](INFO): got valid direction response: 22:17:02.1326 LVL= 17504, 32753, 24434, 31107, AGC= 66, IDX= 439, 0.01,-2.853, 1.926, 1.503, 2.138, PHS= 1.381,-0.164,-0.637, RAW= 77.0, -6.4, CAL= 86.2, -13.9, ROT= 63.8, 13.9 2025-01-08T22:17:03.888Z,1736374623.888 [DAT](INFO): DAT read: Bearing 63.8, 13.9 (Local) 2025-01-08T22:17:03.889Z,1736374623.889 [DAT](INFO): Local bearing/azimuth received: Bearing 63.8, 13.9 (Local) 2025-01-08T22:17:03.890Z,1736374623.890 [DAT](INFO): DAT read: Range 10 to 50 : 246.8 m (Round-trip 329.1 ms) speed 0.2 m/s 2025-01-08T22:17:03.891Z,1736374623.891 [DAT](INFO): DAT read: user:2461> 2025-01-08T22:17:03.892Z,1736374623.892 [DAT](INFO): DAT read: Tx time:22:17:03.2493 2025-01-08T22:17:03.893Z,1736374623.893 [DAT](INFO): Ping request sent. 2025-01-08T22:17:03.893Z,1736374623.893 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:03.894Z,1736374623.894 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:17:03.896Z,1736374623.896 [DAT](INFO): direction in FSK: [0.058273,0.315702,0.947067] 2025-01-08T22:17:03.897Z,1736374623.897 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:03.898Z,1736374623.898 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:03.901Z,1736374623.901 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:03.901Z,1736374623.901 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:04.136Z,1736374624.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:04.151Z,1736374624.151 [DAT](INFO): DAT read: TxSync time:22:17:03.2485 2025-01-08T22:17:04.360Z,1736374624.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:04.374Z,1736374624.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 246.800003 m, deltaT: 3.789347 s, deltaX: -0.199997 m, approachRate: -0.052779 m/s, rangeRepo size: 4 2025-01-08T22:17:04.388Z,1736374624.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:04.397Z,1736374624.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 246.800003 m, bearing: 95.232842 deg, lat: 36.904438 deg, lon: -122.121194 deg, deltaT: 3.789347 s, deltaX: -0.199997 m, approachRate: -0.052779 m/s, posRepo size: 4 2025-01-08T22:17:04.398Z,1736374624.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.80 m. 2025-01-08T22:17:04.404Z,1736374624.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.800003 m, nav range: 68.722588 m, bearing: 118.003441 deg, approach rate: 0.000000 m/s, LOS rate: 0.409771 deg/s, cmd heading: 35.404282 deg, new cmd heading: 36.043087 deg. 2025-01-08T22:17:04.405Z,1736374624.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.629071 target range: 246.800003 and range: 246.80 m. 2025-01-08T22:17:04.641Z,1736374624.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:04.745Z,1736374624.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:04.754Z,1736374624.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.80 m. 2025-01-08T22:17:04.757Z,1736374624.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.800003 m, nav range: 68.711555 m, bearing: 118.186404 deg, approach rate: -0.028974 m/s, LOS rate: 0.480603 deg/s, cmd heading: 36.043086 deg, new cmd heading: 36.592046 deg. 2025-01-08T22:17:04.758Z,1736374624.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638652 target range: 246.800003 and range: 246.80 m. 2025-01-08T22:17:04.892Z,1736374624.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:04.936Z,1736374624.936 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:17:05.145Z,1736374625.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:05.254Z,1736374625.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:05.282Z,1736374625.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:05.285Z,1736374625.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.80 m. 2025-01-08T22:17:05.288Z,1736374625.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.800003 m, nav range: 68.675903 m, bearing: 118.429935 deg, approach rate: -0.067049 m/s, LOS rate: 0.458234 deg/s, cmd heading: 36.592045 deg, new cmd heading: 37.322974 deg. 2025-01-08T22:17:05.289Z,1736374625.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651409 target range: 246.800003 and range: 246.80 m. 2025-01-08T22:17:05.400Z,1736374625.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:05.401Z,1736374625.401 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:05.401Z,1736374625.401 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:05.401Z,1736374625.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:05.600Z,1736374625.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:05.609Z,1736374625.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.80 m. 2025-01-08T22:17:05.612Z,1736374625.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.800003 m, nav range: 68.652374 m, bearing: 118.595631 deg, approach rate: -0.072753 m/s, LOS rate: 0.512512 deg/s, cmd heading: 37.322974 deg, new cmd heading: 37.820220 deg. 2025-01-08T22:17:05.613Z,1736374625.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660087 target range: 246.800003 and range: 246.80 m. 2025-01-08T22:17:05.652Z,1736374625.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:05.654Z,1736374625.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761082 2025-01-08T22:17:05.904Z,1736374625.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:05.905Z,1736374625.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011758 2025-01-08T22:17:05.942Z,1736374625.942 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:17:06.026Z,1736374626.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:06.050Z,1736374626.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.80 m. 2025-01-08T22:17:06.058Z,1736374626.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.800003 m, nav range: 68.617958 m, bearing: 118.798822 deg, approach rate: -0.078000 m/s, LOS rate: 0.460739 deg/s, cmd heading: 37.820219 deg, new cmd heading: 38.430074 deg. 2025-01-08T22:17:06.059Z,1736374626.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670731 target range: 246.800003 and range: 246.80 m. 2025-01-08T22:17:06.161Z,1736374626.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:06.163Z,1736374626.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269730 2025-01-08T22:17:06.412Z,1736374626.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:06.412Z,1736374626.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519546 2025-01-08T22:17:06.474Z,1736374626.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:06.483Z,1736374626.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.80 m. 2025-01-08T22:17:06.486Z,1736374626.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.800003 m, nav range: 68.570259 m, bearing: 119.022443 deg, approach rate: -0.110189 m/s, LOS rate: 0.516943 deg/s, cmd heading: 38.430073 deg, new cmd heading: 39.101369 deg. 2025-01-08T22:17:06.487Z,1736374626.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682448 target range: 246.800003 and range: 246.80 m. 2025-01-08T22:17:06.664Z,1736374626.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:06.665Z,1736374626.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772095 2025-01-08T22:17:06.837Z,1736374626.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:06.846Z,1736374626.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.80 m. 2025-01-08T22:17:06.849Z,1736374626.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.800003 m, nav range: 68.526199 m, bearing: 119.203636 deg, approach rate: -0.121283 m/s, LOS rate: 0.499091 deg/s, cmd heading: 39.101368 deg, new cmd heading: 39.645281 deg. 2025-01-08T22:17:06.850Z,1736374626.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691941 target range: 246.800003 and range: 246.80 m. 2025-01-08T22:17:06.917Z,1736374626.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:06.918Z,1736374626.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025348 2025-01-08T22:17:07.170Z,1736374627.170 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:07.172Z,1736374627.172 [DAT](INFO): DAT read: Rx Time:22:17:05.9810 2025-01-08T22:17:07.174Z,1736374627.174 [DAT](INFO): Rx dataTimestamp_ set to:1736374627.172920 2025-01-08T22:17:07.176Z,1736374627.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283031 2025-01-08T22:17:07.308Z,1736374627.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:07.314Z,1736374627.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:07.317Z,1736374627.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.80 m. 2025-01-08T22:17:07.320Z,1736374627.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.800003 m, nav range: 68.470268 m, bearing: 119.444970 deg, approach rate: -0.118897 m/s, LOS rate: 0.513439 deg/s, cmd heading: 39.645280 deg, new cmd heading: 40.369833 deg. 2025-01-08T22:17:07.320Z,1736374627.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704587 target range: 246.800003 and range: 246.80 m. 2025-01-08T22:17:07.420Z,1736374627.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:07.421Z,1736374627.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527943 2025-01-08T22:17:07.674Z,1736374627.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:07.692Z,1736374627.692 [DAT](INFO): DAT read: 22:17:05.9810 LVL= 18480, 32753, 28002, 32755, AGC= 64, IDX= 423, 0.22,-2.160, 2.516, 2.438, 2.944, PHS= 1.267,-0.381,-0.508, RAW= 86.3, -4.5, CAL= 94.7, -11.7, ROT= 55.3, 11.7 2025-01-08T22:17:07.695Z,1736374627.695 [DAT](INFO): got valid direction response: 22:17:05.9810 LVL= 18480, 32753, 28002, 32755, AGC= 64, IDX= 423, 0.22,-2.160, 2.516, 2.438, 2.944, PHS= 1.267,-0.381,-0.508, RAW= 86.3, -4.5, CAL= 94.7, -11.7, ROT= 55.3, 11.7 2025-01-08T22:17:07.704Z,1736374627.704 [DAT](INFO): DAT read: Bearing 55.3, 11.7 (Local) 2025-01-08T22:17:07.704Z,1736374627.704 [DAT](INFO): Local bearing/azimuth received: Bearing 55.3, 11.7 (Local) 2025-01-08T22:17:07.706Z,1736374627.706 [DAT](INFO): DAT read: Range 10 to 50 : 245.7 m (Round-trip 327.6 ms) speed 0.4 m/s 2025-01-08T22:17:07.707Z,1736374627.707 [DAT](INFO): DAT read: user:2462> 2025-01-08T22:17:07.709Z,1736374627.709 [DAT](INFO): DAT read: Tx time:22:17:07.0993 2025-01-08T22:17:07.709Z,1736374627.709 [DAT](INFO): Ping request sent. 2025-01-08T22:17:07.709Z,1736374627.709 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:07.709Z,1736374627.709 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:17:07.710Z,1736374627.710 [DAT](INFO): direction in FSK: [0.005827,0.165742,0.986152] 2025-01-08T22:17:07.710Z,1736374627.710 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:07.711Z,1736374627.711 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:07.714Z,1736374627.714 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:07.714Z,1736374627.714 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:07.746Z,1736374627.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:07.792Z,1736374627.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 245.699997 m, deltaT: 3.794725 s, deltaX: -1.100006 m, approachRate: -0.289878 m/s, rangeRepo size: 4 2025-01-08T22:17:07.794Z,1736374627.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 245.699997 m, bearing: 269.730553 deg, lat: 36.904572 deg, lon: -122.121194 deg, deltaT: 3.794725 s, deltaX: -1.100006 m, approachRate: -0.289878 m/s, posRepo size: 4 2025-01-08T22:17:07.795Z,1736374627.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m. 2025-01-08T22:17:07.802Z,1736374627.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.699997 m, nav range: 62.398998 m, bearing: 107.707898 deg, approach rate: 0.000000 m/s, LOS rate: 0.513439 deg/s, cmd heading: 40.369833 deg, new cmd heading: 41.094362 deg. 2025-01-08T22:17:07.811Z,1736374627.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.717232 target range: 245.699997 and range: 245.70 m. 2025-01-08T22:17:07.925Z,1736374627.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:07.929Z,1736374627.929 [DAT](INFO): DAT read: TxSync time:22:17:07.0985 2025-01-08T22:17:08.128Z,1736374628.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:08.161Z,1736374628.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m. 2025-01-08T22:17:08.177Z,1736374628.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:08.188Z,1736374628.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.699997 m, nav range: 62.298714 m, bearing: 107.907315 deg, approach rate: -0.272926 m/s, LOS rate: 0.543589 deg/s, cmd heading: 41.094362 deg, new cmd heading: 41.693553 deg. 2025-01-08T22:17:08.196Z,1736374628.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.727690 target range: 245.699997 and range: 245.70 m. 2025-01-08T22:17:08.428Z,1736374628.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:08.516Z,1736374628.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:08.527Z,1736374628.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m. 2025-01-08T22:17:08.556Z,1736374628.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.699997 m, nav range: 62.197849 m, bearing: 108.110598 deg, approach rate: -0.270887 m/s, LOS rate: 0.546836 deg/s, cmd heading: 41.693554 deg, new cmd heading: 42.304371 deg. 2025-01-08T22:17:08.559Z,1736374628.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738351 target range: 245.699997 and range: 245.70 m. 2025-01-08T22:17:08.680Z,1736374628.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:08.889Z,1736374628.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:08.898Z,1736374628.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m. 2025-01-08T22:17:08.900Z,1736374628.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.699997 m, nav range: 62.099491 m, bearing: 108.305201 deg, approach rate: -0.265161 m/s, LOS rate: 0.525453 deg/s, cmd heading: 42.304371 deg, new cmd heading: 42.889082 deg. 2025-01-08T22:17:08.901Z,1736374628.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748556 target range: 245.699997 and range: 245.70 m. 2025-01-08T22:17:08.933Z,1736374628.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:09.184Z,1736374629.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:09.326Z,1736374629.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:09.333Z,1736374629.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:09.341Z,1736374629.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m. 2025-01-08T22:17:09.344Z,1736374629.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.699997 m, nav range: 61.995358 m, bearing: 108.531601 deg, approach rate: -0.235028 m/s, LOS rate: 0.511838 deg/s, cmd heading: 42.889083 deg, new cmd heading: 43.569390 deg. 2025-01-08T22:17:09.345Z,1736374629.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.760429 target range: 245.699997 and range: 245.70 m. 2025-01-08T22:17:09.437Z,1736374629.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:09.437Z,1736374629.437 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:09.437Z,1736374629.437 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:09.437Z,1736374629.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:09.688Z,1736374629.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:09.688Z,1736374629.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979547 2025-01-08T22:17:09.733Z,1736374629.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:09.757Z,1736374629.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m. 2025-01-08T22:17:09.765Z,1736374629.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.699997 m, nav range: 61.902512 m, bearing: 108.731563 deg, approach rate: -0.223333 m/s, LOS rate: 0.481713 deg/s, cmd heading: 43.569391 deg, new cmd heading: 44.170154 deg. 2025-01-08T22:17:09.765Z,1736374629.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770915 target range: 245.699997 and range: 245.70 m. 2025-01-08T22:17:09.940Z,1736374629.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:09.941Z,1736374629.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232158 2025-01-08T22:17:10.102Z,1736374630.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:10.112Z,1736374630.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m. 2025-01-08T22:17:10.114Z,1736374630.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.699997 m, nav range: 61.807056 m, bearing: 108.934223 deg, approach rate: -0.268974 m/s, LOS rate: 0.571939 deg/s, cmd heading: 44.170154 deg, new cmd heading: 44.779050 deg. 2025-01-08T22:17:10.115Z,1736374630.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781542 target range: 245.699997 and range: 245.70 m. 2025-01-08T22:17:10.194Z,1736374630.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:10.197Z,1736374630.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487229 2025-01-08T22:17:10.444Z,1736374630.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:10.444Z,1736374630.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735481 2025-01-08T22:17:10.601Z,1736374630.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:10.611Z,1736374630.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m. 2025-01-08T22:17:10.614Z,1736374630.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.699997 m, nav range: 61.695850 m, bearing: 109.195718 deg, approach rate: -0.222667 m/s, LOS rate: 0.524530 deg/s, cmd heading: 44.779051 deg, new cmd heading: 45.564897 deg. 2025-01-08T22:17:10.635Z,1736374630.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795258 target range: 245.699997 and range: 245.70 m. 2025-01-08T22:17:10.698Z,1736374630.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:10.699Z,1736374630.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989854 2025-01-08T22:17:10.948Z,1736374630.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:10.949Z,1736374630.949 [DAT](INFO): DAT read: Rx Time:22:17:09.8289 2025-01-08T22:17:10.949Z,1736374630.949 [DAT](INFO): Rx dataTimestamp_ set to:1736374630.948970 2025-01-08T22:17:10.950Z,1736374630.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240824 2025-01-08T22:17:11.061Z,1736374631.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:11.076Z,1736374631.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m. 2025-01-08T22:17:11.101Z,1736374631.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.699997 m, nav range: 61.589825 m, bearing: 109.435845 deg, approach rate: -0.228228 m/s, LOS rate: 0.517778 deg/s, cmd heading: 45.564899 deg, new cmd heading: 46.286479 deg. 2025-01-08T22:17:11.102Z,1736374631.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807851 target range: 245.699997 and range: 245.70 m. 2025-01-08T22:17:11.201Z,1736374631.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:11.204Z,1736374631.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494049 2025-01-08T22:17:11.448Z,1736374631.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:11.452Z,1736374631.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:11.452Z,1736374631.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743501 2025-01-08T22:17:11.466Z,1736374631.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:11.473Z,1736374631.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m. 2025-01-08T22:17:11.499Z,1736374631.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.699997 m, nav range: 61.510616 m, bearing: 109.634090 deg, approach rate: -0.199403 m/s, LOS rate: 0.499713 deg/s, cmd heading: 46.286478 deg, new cmd heading: 46.881956 deg. 2025-01-08T22:17:11.507Z,1736374631.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818245 target range: 245.699997 and range: 245.70 m. 2025-01-08T22:17:11.706Z,1736374631.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:11.715Z,1736374631.715 [DAT](INFO): DAT read: 22:17:09.8289 LVL= 19952, 32753, 26994, 32755, AGC= 62, IDX= 416, 0.31,-1.116,-2.738,-2.612,-2.074, PHS= 1.046,-0.617,-0.540, RAW= 92.3, 1.4, CAL= 100.3, -1.7, ROT= 49.7, 1.7 2025-01-08T22:17:11.716Z,1736374631.716 [DAT](INFO): got valid direction response: 22:17:09.8289 LVL= 19952, 32753, 26994, 32755, AGC= 62, IDX= 416, 0.31,-1.116,-2.738,-2.612,-2.074, PHS= 1.046,-0.617,-0.540, RAW= 92.3, 1.4, CAL= 100.3, -1.7, ROT= 49.7, 1.7 2025-01-08T22:17:11.717Z,1736374631.717 [DAT](INFO): DAT read: Bearing 49.7, 1.7 (Local) 2025-01-08T22:17:11.717Z,1736374631.717 [DAT](INFO): Local bearing/azimuth received: Bearing 49.7, 1.7 (Local) 2025-01-08T22:17:11.718Z,1736374631.718 [DAT](INFO): DAT read: Range 10 to 50 : 243.9 m (Round-trip 325.3 ms) speed 0.0 m/s 2025-01-08T22:17:11.725Z,1736374631.725 [DAT](INFO): DAT read: user:2463> 2025-01-08T22:17:11.732Z,1736374631.732 [DAT](INFO): DAT read: Tx time:22:17:10.9494 2025-01-08T22:17:11.732Z,1736374631.732 [DAT](INFO): Ping request sent. 2025-01-08T22:17:11.732Z,1736374631.732 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:11.733Z,1736374631.733 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:17:11.734Z,1736374631.734 [DAT](INFO): direction in FSK: [-0.115165,0.068243,0.990999] 2025-01-08T22:17:11.734Z,1736374631.734 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:11.734Z,1736374631.734 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:11.765Z,1736374631.765 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:11.766Z,1736374631.766 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:11.861Z,1736374631.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:11.897Z,1736374631.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 243.899994 m, deltaT: 4.032275 s, deltaX: -1.800003 m, approachRate: -0.446399 m/s, rangeRepo size: 4 2025-01-08T22:17:11.911Z,1736374631.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 243.899994 m, bearing: 262.663055 deg, lat: 36.904701 deg, lon: -122.121652 deg, deltaT: 4.032275 s, deltaX: -1.800003 m, approachRate: -0.446399 m/s, posRepo size: 4 2025-01-08T22:17:11.912Z,1736374631.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m. 2025-01-08T22:17:11.915Z,1736374631.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.899994 m, nav range: 18.274862 m, bearing: 110.959030 deg, approach rate: 0.000000 m/s, LOS rate: 0.499713 deg/s, cmd heading: 46.881957 deg, new cmd heading: 47.517387 deg. 2025-01-08T22:17:11.920Z,1736374631.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829335 target range: 243.899994 and range: 243.90 m. 2025-01-08T22:17:11.957Z,1736374631.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:11.959Z,1736374631.959 [DAT](INFO): DAT read: TxSync time:22:17:10.9486 2025-01-08T22:17:12.208Z,1736374632.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:12.282Z,1736374632.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:12.310Z,1736374632.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m. 2025-01-08T22:17:12.317Z,1736374632.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.899994 m, nav range: 18.191366 m, bearing: 111.691426 deg, approach rate: -0.202023 m/s, LOS rate: 1.780154 deg/s, cmd heading: 47.517387 deg, new cmd heading: 49.723509 deg. 2025-01-08T22:17:12.318Z,1736374632.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867839 target range: 243.899994 and range: 243.90 m. 2025-01-08T22:17:12.460Z,1736374632.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:12.658Z,1736374632.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:12.675Z,1736374632.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m. 2025-01-08T22:17:12.705Z,1736374632.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.899994 m, nav range: 18.123320 m, bearing: 112.354951 deg, approach rate: -0.187124 m/s, LOS rate: 1.831464 deg/s, cmd heading: 49.723507 deg, new cmd heading: 51.720700 deg. 2025-01-08T22:17:12.706Z,1736374632.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902696 target range: 243.899994 and range: 243.90 m. 2025-01-08T22:17:12.712Z,1736374632.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:12.964Z,1736374632.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:13.024Z,1736374633.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:13.057Z,1736374633.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m. 2025-01-08T22:17:13.060Z,1736374633.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.899994 m, nav range: 18.055090 m, bearing: 113.001770 deg, approach rate: -0.177917 m/s, LOS rate: 1.692995 deg/s, cmd heading: 51.720699 deg, new cmd heading: 53.667700 deg. 2025-01-08T22:17:13.061Z,1736374633.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.936678 target range: 243.899994 and range: 243.90 m. 2025-01-08T22:17:13.216Z,1736374633.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:13.446Z,1736374633.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:13.454Z,1736374633.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m. 2025-01-08T22:17:13.458Z,1736374633.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.899994 m, nav range: 17.972288 m, bearing: 113.752271 deg, approach rate: -0.208511 m/s, LOS rate: 1.898559 deg/s, cmd heading: 53.667699 deg, new cmd heading: 55.928336 deg. 2025-01-08T22:17:13.459Z,1736374633.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.976134 target range: 243.899994 and range: 243.90 m. 2025-01-08T22:17:13.468Z,1736374633.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:13.720Z,1736374633.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:13.833Z,1736374633.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:13.840Z,1736374633.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:13.842Z,1736374633.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m. 2025-01-08T22:17:13.846Z,1736374633.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.899994 m, nav range: 17.897106 m, bearing: 114.445815 deg, approach rate: -0.193615 m/s, LOS rate: 1.793535 deg/s, cmd heading: 55.928335 deg, new cmd heading: 58.016730 deg. 2025-01-08T22:17:13.847Z,1736374633.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.012583 target range: 243.899994 and range: 243.90 m. 2025-01-08T22:17:13.972Z,1736374633.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:13.972Z,1736374633.972 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:13.972Z,1736374633.972 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:13.973Z,1736374633.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:14.225Z,1736374634.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:14.226Z,1736374634.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493733 2025-01-08T22:17:14.322Z,1736374634.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:14.338Z,1736374634.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m. 2025-01-08T22:17:14.345Z,1736374634.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.899994 m, nav range: 17.802923 m, bearing: 115.326943 deg, approach rate: -0.189991 m/s, LOS rate: 1.786793 deg/s, cmd heading: 58.016733 deg, new cmd heading: 60.672094 deg. 2025-01-08T22:17:14.346Z,1736374634.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.058928 target range: 243.899994 and range: 243.90 m. 2025-01-08T22:17:14.476Z,1736374634.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:14.476Z,1736374634.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743979 2025-01-08T22:17:14.664Z,1736374634.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:14.694Z,1736374634.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m. 2025-01-08T22:17:14.701Z,1736374634.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.899994 m, nav range: 17.732420 m, bearing: 115.952895 deg, approach rate: -0.198171 m/s, LOS rate: 1.766395 deg/s, cmd heading: 60.672092 deg, new cmd heading: 62.556698 deg. 2025-01-08T22:17:14.702Z,1736374634.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.091820 target range: 243.899994 and range: 243.90 m. 2025-01-08T22:17:14.728Z,1736374634.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:14.729Z,1736374634.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996296 2025-01-08T22:17:14.980Z,1736374634.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:14.981Z,1736374634.981 [DAT](INFO): DAT read: Rx Time:22:17:13.6772 2025-01-08T22:17:14.981Z,1736374634.981 [DAT](INFO): Rx dataTimestamp_ set to:1736374634.980701 2025-01-08T22:17:14.981Z,1736374634.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249047 2025-01-08T22:17:15.057Z,1736374635.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:15.065Z,1736374635.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m. 2025-01-08T22:17:15.068Z,1736374635.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.899994 m, nav range: 17.650776 m, bearing: 116.677787 deg, approach rate: -0.219918 m/s, LOS rate: 1.961559 deg/s, cmd heading: 62.556699 deg, new cmd heading: 64.740316 deg. 2025-01-08T22:17:15.069Z,1736374635.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129932 target range: 243.899994 and range: 243.90 m. 2025-01-08T22:17:15.232Z,1736374635.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:15.232Z,1736374635.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499892 2025-01-08T22:17:15.473Z,1736374635.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:15.482Z,1736374635.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m. 2025-01-08T22:17:15.484Z,1736374635.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:15.491Z,1736374635.491 [DAT](INFO): DAT read: 22:17:13.6772 LVL= 20672, 32753, 25442, 32755, AGC= 63, IDX= 431,-0.19,-2.299, 2.451, 2.685,-3.115, PHS= 0.904,-0.671,-0.486, RAW= 96.2, 3.4, CAL= 105.3, 1.5, ROT= 44.7, -1.5 2025-01-08T22:17:15.492Z,1736374635.492 [DAT](INFO): got valid direction response: 22:17:13.6772 LVL= 20672, 32753, 25442, 32755, AGC= 63, IDX= 431,-0.19,-2.299, 2.451, 2.685,-3.115, PHS= 0.904,-0.671,-0.486, RAW= 96.2, 3.4, CAL= 105.3, 1.5, ROT= 44.7, -1.5 2025-01-08T22:17:15.493Z,1736374635.493 [DAT](INFO): DAT read: Bearing 44.7, -1.5 (Local) 2025-01-08T22:17:15.494Z,1736374635.494 [DAT](INFO): Local bearing/azimuth received: Bearing 44.7, -1.5 (Local) 2025-01-08T22:17:15.495Z,1736374635.495 [DAT](INFO): DAT read: Range 10 to 50 : 242.7 m (Round-trip 323.7 ms) speed 0.2 m/s 2025-01-08T22:17:15.496Z,1736374635.496 [DAT](INFO): DAT read: user:2464> 2025-01-08T22:17:15.497Z,1736374635.497 [DAT](INFO): DAT read: Tx time:22:17:14.7994 2025-01-08T22:17:15.497Z,1736374635.497 [DAT](INFO): Ping request sent. 2025-01-08T22:17:15.497Z,1736374635.497 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:15.497Z,1736374635.497 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:17:15.498Z,1736374635.498 [DAT](INFO): direction in FSK: [-0.159926,0.003645,0.987122] 2025-01-08T22:17:15.499Z,1736374635.499 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:15.499Z,1736374635.499 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:15.502Z,1736374635.502 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:15.502Z,1736374635.502 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:15.521Z,1736374635.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.899994 m, nav range: 17.554092 m, bearing: 117.450610 deg, approach rate: -0.231719 m/s, LOS rate: 1.862350 deg/s, cmd heading: 64.740317 deg, new cmd heading: 67.070200 deg. 2025-01-08T22:17:15.522Z,1736374635.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170596 target range: 243.899994 and range: 243.90 m. 2025-01-08T22:17:15.736Z,1736374635.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:15.737Z,1736374635.737 [DAT](INFO): DAT read: TxSync time:22:17:14.7986 2025-01-08T22:17:15.857Z,1736374635.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:15.888Z,1736374635.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 242.699997 m, deltaT: 3.777124 s, deltaX: -1.199997 m, approachRate: -0.317701 m/s, rangeRepo size: 4 2025-01-08T22:17:15.895Z,1736374635.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 242.699997 m, bearing: 277.551474 deg, lat: 36.904712 deg, lon: -122.122054 deg, deltaT: 3.777124 s, deltaX: -1.199997 m, approachRate: -0.317701 m/s, posRepo size: 4 2025-01-08T22:17:15.896Z,1736374635.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.70 m. 2025-01-08T22:17:15.899Z,1736374635.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.699997 m, nav range: 21.540237 m, bearing: 251.017184 deg, approach rate: 0.000000 m/s, LOS rate: 1.862350 deg/s, cmd heading: 67.070197 deg, new cmd heading: 69.308760 deg. 2025-01-08T22:17:15.904Z,1736374635.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209666 target range: 242.699997 and range: 242.70 m. 2025-01-08T22:17:15.988Z,1736374635.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:16.240Z,1736374636.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:16.249Z,1736374636.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:16.256Z,1736374636.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:16.260Z,1736374636.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.70 m. 2025-01-08T22:17:16.266Z,1736374636.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.699997 m, nav range: 21.768618 m, bearing: 250.802851 deg, approach rate: 0.607688 m/s, LOS rate: -0.564326 deg/s, cmd heading: 69.308757 deg, new cmd heading: 68.672531 deg. 2025-01-08T22:17:16.288Z,1736374636.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198562 target range: 242.699997 and range: 242.70 m. 2025-01-08T22:17:16.492Z,1736374636.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:16.493Z,1736374636.493 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:16.493Z,1736374636.493 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:16.494Z,1736374636.494 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:16.712Z,1736374636.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:16.729Z,1736374636.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.70 m. 2025-01-08T22:17:16.735Z,1736374636.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.699997 m, nav range: 22.045902 m, bearing: 250.595346 deg, approach rate: 0.590457 m/s, LOS rate: -0.436306 deg/s, cmd heading: 68.672532 deg, new cmd heading: 68.057874 deg. 2025-01-08T22:17:16.736Z,1736374636.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.187834 target range: 242.699997 and range: 242.70 m. 2025-01-08T22:17:16.744Z,1736374636.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:16.745Z,1736374636.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247299 2025-01-08T22:17:16.997Z,1736374636.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:16.998Z,1736374636.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501007 2025-01-08T22:17:17.081Z,1736374637.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:17.089Z,1736374637.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.70 m. 2025-01-08T22:17:17.092Z,1736374637.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.699997 m, nav range: 22.268705 m, bearing: 250.447932 deg, approach rate: 0.618547 m/s, LOS rate: -0.405158 deg/s, cmd heading: 68.057876 deg, new cmd heading: 67.620066 deg. 2025-01-08T22:17:17.093Z,1736374637.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.180193 target range: 242.699997 and range: 242.70 m. 2025-01-08T22:17:17.272Z,1736374637.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:17.272Z,1736374637.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775208 2025-01-08T22:17:17.493Z,1736374637.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:17.502Z,1736374637.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.70 m. 2025-01-08T22:17:17.505Z,1736374637.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.699997 m, nav range: 22.522480 m, bearing: 250.309347 deg, approach rate: 0.614591 m/s, LOS rate: -0.331842 deg/s, cmd heading: 67.620068 deg, new cmd heading: 67.209007 deg. 2025-01-08T22:17:17.506Z,1736374637.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.173018 target range: 242.699997 and range: 242.70 m. 2025-01-08T22:17:17.525Z,1736374637.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:17.525Z,1736374637.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.028069 2025-01-08T22:17:17.776Z,1736374637.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:17.776Z,1736374637.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279222 2025-01-08T22:17:17.878Z,1736374637.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:17.887Z,1736374637.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.70 m. 2025-01-08T22:17:17.890Z,1736374637.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.699997 m, nav range: 22.759750 m, bearing: 250.182632 deg, approach rate: 0.616219 m/s, LOS rate: -0.325663 deg/s, cmd heading: 67.209007 deg, new cmd heading: 66.832831 deg. 2025-01-08T22:17:17.892Z,1736374637.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166453 target range: 242.699997 and range: 242.70 m. 2025-01-08T22:17:18.028Z,1736374638.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:18.029Z,1736374638.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531381 2025-01-08T22:17:18.276Z,1736374638.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:18.280Z,1736374638.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:18.281Z,1736374638.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783358 2025-01-08T22:17:18.285Z,1736374638.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:18.287Z,1736374638.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.70 m. 2025-01-08T22:17:18.289Z,1736374638.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.699997 m, nav range: 23.006968 m, bearing: 250.087864 deg, approach rate: 0.618290 m/s, LOS rate: -0.234468 deg/s, cmd heading: 66.832827 deg, new cmd heading: 66.551580 deg. 2025-01-08T22:17:18.314Z,1736374638.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.161544 target range: 242.699997 and range: 242.70 m. 2025-01-08T22:17:18.532Z,1736374638.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:18.533Z,1736374638.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035391 2025-01-08T22:17:18.710Z,1736374638.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:18.760Z,1736374638.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.70 m. 2025-01-08T22:17:18.763Z,1736374638.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.699997 m, nav range: 23.277239 m, bearing: 250.006225 deg, approach rate: 0.581460 m/s, LOS rate: -0.173598 deg/s, cmd heading: 66.551581 deg, new cmd heading: 66.309509 deg. 2025-01-08T22:17:18.768Z,1736374638.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157319 target range: 242.699997 and range: 242.70 m. 2025-01-08T22:17:18.784Z,1736374638.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:18.785Z,1736374638.785 [DAT](INFO): DAT read: Rx Time:22:17:17.5253 2025-01-08T22:17:18.785Z,1736374638.785 [DAT](INFO): Rx dataTimestamp_ set to:1736374638.784938 2025-01-08T22:17:18.786Z,1736374638.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288541 2025-01-08T22:17:19.037Z,1736374639.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:19.038Z,1736374639.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540680 2025-01-08T22:17:19.180Z,1736374639.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:19.236Z,1736374639.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.70 m. 2025-01-08T22:17:19.239Z,1736374639.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.699997 m, nav range: 23.570827 m, bearing: 249.939554 deg, approach rate: 0.605732 m/s, LOS rate: -0.135842 deg/s, cmd heading: 66.309512 deg, new cmd heading: 66.111991 deg. 2025-01-08T22:17:19.245Z,1736374639.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.153872 target range: 242.699997 and range: 242.70 m. 2025-01-08T22:17:19.288Z,1736374639.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:19.296Z,1736374639.296 [DAT](INFO): DAT read: 22:17:17.5253 LVL= 22688, 32753, 28914, 32755, AGC= 69, IDX= 428, 0.27, 2.691, 1.068, 1.727, 1.935, PHS= 0.844,-0.820,-0.211, RAW= 111.2, 2.6, CAL= 122.0, -1.1, ROT= 28.0, 1.1 2025-01-08T22:17:19.297Z,1736374639.297 [DAT](INFO): got valid direction response: 22:17:17.5253 LVL= 22688, 32753, 28914, 32755, AGC= 69, IDX= 428, 0.27, 2.691, 1.068, 1.727, 1.935, PHS= 0.844,-0.820,-0.211, RAW= 111.2, 2.6, CAL= 122.0, -1.1, ROT= 28.0, 1.1 2025-01-08T22:17:19.299Z,1736374639.299 [DAT](INFO): DAT read: Bearing 28.0, 1.1 (Local) 2025-01-08T22:17:19.299Z,1736374639.299 [DAT](INFO): Local bearing/azimuth received: Bearing 28.0, 1.1 (Local) 2025-01-08T22:17:19.302Z,1736374639.302 [DAT](INFO): DAT read: Range 10 to 50 : 241.3 m (Round-trip 321.8 ms) speed 0.4 m/s 2025-01-08T22:17:19.303Z,1736374639.303 [DAT](INFO): DAT read: user:2465> 2025-01-08T22:17:19.305Z,1736374639.305 [DAT](INFO): DAT read: Tx time:22:17:18.6494 2025-01-08T22:17:19.305Z,1736374639.305 [DAT](INFO): Ping request sent. 2025-01-08T22:17:19.305Z,1736374639.305 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:19.306Z,1736374639.306 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:17:19.308Z,1736374639.308 [DAT](INFO): direction in FSK: [-0.163231,-0.261117,0.951406] 2025-01-08T22:17:19.308Z,1736374639.308 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:19.309Z,1736374639.309 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:19.314Z,1736374639.314 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:19.315Z,1736374639.315 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:19.540Z,1736374639.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:19.541Z,1736374639.541 [DAT](INFO): DAT read: TxSync time:22:17:18.6486 2025-01-08T22:17:19.622Z,1736374639.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:19.667Z,1736374639.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 241.300003 m, deltaT: 3.804245 s, deltaX: -1.399994 m, approachRate: -0.368008 m/s, rangeRepo size: 4 2025-01-08T22:17:19.682Z,1736374639.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 241.300003 m, bearing: 308.533355 deg, lat: 36.904742 deg, lon: -122.122414 deg, deltaT: 3.804245 s, deltaX: -1.399994 m, approachRate: -0.368008 m/s, posRepo size: 4 2025-01-08T22:17:19.683Z,1736374639.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:19.689Z,1736374639.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 54.666275 m, bearing: 264.906770 deg, approach rate: 0.000000 m/s, LOS rate: -0.135842 deg/s, cmd heading: 66.111990 deg, new cmd heading: 65.937148 deg. 2025-01-08T22:17:19.695Z,1736374639.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150820 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:19.792Z,1736374639.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:19.981Z,1736374639.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:19.989Z,1736374639.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:19.999Z,1736374639.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 54.871399 m, bearing: 264.840823 deg, approach rate: 0.632962 m/s, LOS rate: -0.202736 deg/s, cmd heading: 65.937150 deg, new cmd heading: 65.740049 deg. 2025-01-08T22:17:19.000Z,1736374640.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147380 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:20.045Z,1736374640.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:20.296Z,1736374640.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:20.458Z,1736374640.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:20.465Z,1736374640.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:20.468Z,1736374640.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:20.470Z,1736374640.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 55.130550 m, bearing: 264.762091 deg, approach rate: 0.542222 m/s, LOS rate: -0.163957 deg/s, cmd heading: 65.740052 deg, new cmd heading: 65.504966 deg. 2025-01-08T22:17:20.491Z,1736374640.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.143277 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:20.548Z,1736374640.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:20.549Z,1736374640.549 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:20.549Z,1736374640.549 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:20.550Z,1736374640.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:20.798Z,1736374640.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:20.800Z,1736374640.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:20.801Z,1736374640.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495590 2025-01-08T22:17:20.809Z,1736374640.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:20.812Z,1736374640.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 55.314854 m, bearing: 264.706565 deg, approach rate: 0.538687 m/s, LOS rate: -0.161750 deg/s, cmd heading: 65.504963 deg, new cmd heading: 65.338943 deg. 2025-01-08T22:17:20.813Z,1736374640.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140380 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:21.053Z,1736374641.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:21.054Z,1736374641.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748639 2025-01-08T22:17:21.196Z,1736374641.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:21.209Z,1736374641.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:21.228Z,1736374641.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 55.535301 m, bearing: 264.657361 deg, approach rate: 0.551097 m/s, LOS rate: -0.122517 deg/s, cmd heading: 65.338942 deg, new cmd heading: 65.191916 deg. 2025-01-08T22:17:21.229Z,1736374641.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137814 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:21.304Z,1736374641.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:21.305Z,1736374641.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999301 2025-01-08T22:17:21.556Z,1736374641.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:21.557Z,1736374641.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251090 2025-01-08T22:17:21.628Z,1736374641.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:21.637Z,1736374641.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:21.639Z,1736374641.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 55.766541 m, bearing: 264.606762 deg, approach rate: 0.541240 m/s, LOS rate: -0.117942 deg/s, cmd heading: 65.191915 deg, new cmd heading: 65.040747 deg. 2025-01-08T22:17:21.641Z,1736374641.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135175 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:21.808Z,1736374641.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:21.809Z,1736374641.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503727 2025-01-08T22:17:21.998Z,1736374641.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:22.008Z,1736374642.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:22.011Z,1736374642.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 55.965061 m, bearing: 264.565531 deg, approach rate: 0.536166 m/s, LOS rate: -0.110962 deg/s, cmd heading: 65.040750 deg, new cmd heading: 64.917496 deg. 2025-01-08T22:17:22.012Z,1736374642.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133024 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:22.060Z,1736374642.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:22.061Z,1736374642.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755950 2025-01-08T22:17:22.312Z,1736374642.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:22.312Z,1736374642.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006985 2025-01-08T22:17:22.469Z,1736374642.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:22.477Z,1736374642.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:22.478Z,1736374642.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:22.481Z,1736374642.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 56.211727 m, bearing: 264.513791 deg, approach rate: 0.522973 m/s, LOS rate: -0.109216 deg/s, cmd heading: 64.917499 deg, new cmd heading: 64.762961 deg. 2025-01-08T22:17:22.482Z,1736374642.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130327 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:22.565Z,1736374642.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:22.566Z,1736374642.566 [DAT](INFO): DAT read: Rx Time:22:17:21.4177 2025-01-08T22:17:22.567Z,1736374642.567 [DAT](INFO): Rx dataTimestamp_ set to:1736374642.566032 2025-01-08T22:17:22.568Z,1736374642.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262322 2025-01-08T22:17:22.801Z,1736374642.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:22.816Z,1736374642.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:22.816Z,1736374642.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511063 2025-01-08T22:17:22.824Z,1736374642.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:22.827Z,1736374642.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 56.385750 m, bearing: 264.478318 deg, approach rate: 0.503271 m/s, LOS rate: -0.102273 deg/s, cmd heading: 64.762959 deg, new cmd heading: 64.656867 deg. 2025-01-08T22:17:22.830Z,1736374642.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128475 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:23.069Z,1736374643.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:23.072Z,1736374643.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765387 2025-01-08T22:17:23.207Z,1736374643.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:23.220Z,1736374643.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:23.223Z,1736374643.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 56.598938 m, bearing: 264.435522 deg, approach rate: 0.538296 m/s, LOS rate: -0.107651 deg/s, cmd heading: 64.656866 deg, new cmd heading: 64.528963 deg. 2025-01-08T22:17:23.224Z,1736374643.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126243 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:23.320Z,1736374643.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:23.329Z,1736374643.329 [DAT](INFO): DAT read: 22:17:21.4178 LVL= 21552, 26897, 27522, 32755, AGC= 62, IDX= 132, 0.13,-2.787, 1.962, 2.725, 2.876, PHS= 0.709,-0.867,-0.154, RAW= 116.9, 4.6, CAL= 127.0, 0.8, ROT= 23.0, -0.8 2025-01-08T22:17:23.331Z,1736374643.331 [DAT](INFO): got valid direction response: 22:17:21.4178 LVL= 21552, 26897, 27522, 32755, AGC= 62, IDX= 132, 0.13,-2.787, 1.962, 2.725, 2.876, PHS= 0.709,-0.867,-0.154, RAW= 116.9, 4.6, CAL= 127.0, 0.8, ROT= 23.0, -0.8 2025-01-08T22:17:23.333Z,1736374643.333 [DAT](INFO): DAT read: Bearing 23.0, -0.8 (Local) 2025-01-08T22:17:23.333Z,1736374643.333 [DAT](INFO): Local bearing/azimuth received: Bearing 23.0, -0.8 (Local) 2025-01-08T22:17:23.336Z,1736374643.336 [DAT](INFO): DAT read: Range 10 to 50 : 273.1 m (Round-trip 364.2 ms) speed 0.3 m/s 2025-01-08T22:17:23.337Z,1736374643.337 [DAT](INFO): DAT read: user:2466> 2025-01-08T22:17:23.338Z,1736374643.338 [DAT](INFO): DAT read: Tx time:22:17:22.4995 2025-01-08T22:17:23.338Z,1736374643.338 [DAT](INFO): Ping request sent. 2025-01-08T22:17:23.338Z,1736374643.338 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:23.339Z,1736374643.339 [DAT](INFO): DAT read: TxSync time:22:17:22.4987 2025-01-08T22:17:23.346Z,1736374643.346 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:17:23.379Z,1736374643.379 [DAT](INFO): direction in FSK: [-0.206966,-0.354303,0.911940] 2025-01-08T22:17:23.380Z,1736374643.380 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:23.381Z,1736374643.381 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:23.390Z,1736374643.390 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:23.390Z,1736374643.390 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:23.572Z,1736374643.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:23.654Z,1736374643.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:23.699Z,1736374643.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 273.100006 m, deltaT: 4.031863 s, deltaX: 31.800003 m, approachRate: 7.887174 m/s, rangeRepo size: 4 2025-01-08T22:17:23.708Z,1736374643.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:23.715Z,1736374643.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 56.838192 m, bearing: 264.383459 deg, approach rate: 0.500744 m/s, LOS rate: -0.108506 deg/s, cmd heading: 64.528964 deg, new cmd heading: 64.373433 deg. 2025-01-08T22:17:23.716Z,1736374643.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123528 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:23.824Z,1736374643.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:24.076Z,1736374644.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:24.087Z,1736374644.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:24.097Z,1736374644.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:24.099Z,1736374644.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 57.070633 m, bearing: 264.332847 deg, approach rate: 0.583186 m/s, LOS rate: -0.126468 deg/s, cmd heading: 64.373433 deg, new cmd heading: 64.222214 deg. 2025-01-08T22:17:24.100Z,1736374644.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120889 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:24.328Z,1736374644.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:24.580Z,1736374644.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:24.588Z,1736374644.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:24.600Z,1736374644.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:24.602Z,1736374644.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:24.609Z,1736374644.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 57.355991 m, bearing: 264.275428 deg, approach rate: 0.564339 m/s, LOS rate: -0.112988 deg/s, cmd heading: 64.222213 deg, new cmd heading: 64.050816 deg. 2025-01-08T22:17:24.610Z,1736374644.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117898 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:24.832Z,1736374644.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:24.832Z,1736374644.832 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:24.832Z,1736374644.832 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:24.833Z,1736374644.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:24.955Z,1736374644.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:24.972Z,1736374644.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:24.980Z,1736374644.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 57.562595 m, bearing: 264.232301 deg, approach rate: 0.558244 m/s, LOS rate: -0.116112 deg/s, cmd heading: 64.050816 deg, new cmd heading: 63.921899 deg. 2025-01-08T22:17:24.981Z,1736374644.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.115648 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:25.084Z,1736374645.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:25.085Z,1736374645.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747034 2025-01-08T22:17:25.336Z,1736374645.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:25.336Z,1736374645.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997995 2025-01-08T22:17:25.368Z,1736374645.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:25.378Z,1736374645.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:25.380Z,1736374645.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 57.799244 m, bearing: 264.180500 deg, approach rate: 0.584203 m/s, LOS rate: -0.127354 deg/s, cmd heading: 63.921896 deg, new cmd heading: 63.767131 deg. 2025-01-08T22:17:25.381Z,1736374645.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112946 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:25.588Z,1736374645.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:25.589Z,1736374645.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250299 2025-01-08T22:17:25.796Z,1736374645.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:25.804Z,1736374645.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:25.820Z,1736374645.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 58.056927 m, bearing: 264.126938 deg, approach rate: 0.603665 m/s, LOS rate: -0.124921 deg/s, cmd heading: 63.767131 deg, new cmd heading: 63.607158 deg. 2025-01-08T22:17:25.821Z,1736374645.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.110154 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:25.840Z,1736374645.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:25.841Z,1736374645.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502571 2025-01-08T22:17:26.092Z,1736374646.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:26.093Z,1736374646.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754275 2025-01-08T22:17:26.147Z,1736374646.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:26.168Z,1736374646.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:26.171Z,1736374646.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 58.267982 m, bearing: 264.081163 deg, approach rate: 0.580374 m/s, LOS rate: -0.125421 deg/s, cmd heading: 63.607161 deg, new cmd heading: 63.470332 deg. 2025-01-08T22:17:26.172Z,1736374646.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107766 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:26.344Z,1736374646.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:26.345Z,1736374646.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006752 2025-01-08T22:17:26.572Z,1736374646.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:26.590Z,1736374646.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:26.596Z,1736374646.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:26.596Z,1736374646.596 [DAT](INFO): DAT read: Rx Time:22:17:25.2664 2025-01-08T22:17:26.597Z,1736374646.597 [DAT](INFO): Rx dataTimestamp_ set to:1736374646.596611 2025-01-08T22:17:26.597Z,1736374646.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259095 2025-01-08T22:17:26.608Z,1736374646.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 58.534412 m, bearing: 264.023047 deg, approach rate: 0.632134 m/s, LOS rate: -0.137258 deg/s, cmd heading: 63.470332 deg, new cmd heading: 63.296779 deg. 2025-01-08T22:17:26.609Z,1736374646.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104737 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:26.848Z,1736374646.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:26.849Z,1736374646.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510551 2025-01-08T22:17:26.963Z,1736374646.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:26.970Z,1736374646.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:26.972Z,1736374646.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:26.975Z,1736374646.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 58.779026 m, bearing: 263.967846 deg, approach rate: 0.639770 m/s, LOS rate: -0.143773 deg/s, cmd heading: 63.296777 deg, new cmd heading: 63.131864 deg. 2025-01-08T22:17:26.977Z,1736374646.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101859 target range: 241.300003 and range: 241.30 m. 2025-01-08T22:17:27.101Z,1736374647.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:27.103Z,1736374647.103 [DAT](INFO): DAT read: Range 10 to 50 : 272.0 m (Round-trip 362.7 ms) speed 0.4 m/s 2025-01-08T22:17:27.104Z,1736374647.104 [DAT](INFO): DAT read: user:2467> 2025-01-08T22:17:27.105Z,1736374647.105 [DAT](INFO): DAT read: Tx time:22:17:26.3495 2025-01-08T22:17:27.105Z,1736374647.105 [DAT](INFO): Ping request sent. 2025-01-08T22:17:27.105Z,1736374647.105 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:27.105Z,1736374647.105 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:17:27.105Z,1736374647.105 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:27.106Z,1736374647.106 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:27.352Z,1736374647.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:27.353Z,1736374647.353 [DAT](INFO): DAT read: TxSync time:22:17:26.3487 2025-01-08T22:17:27.434Z,1736374647.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:27.449Z,1736374647.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 272.000000 m, deltaT: 7.813225 s, deltaX: 30.699997 m, approachRate: 3.929235 m/s, rangeRepo size: 4 2025-01-08T22:17:27.449Z,1736374647.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:27.452Z,1736374647.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 59.074486 m, bearing: 263.901797 deg, approach rate: 0.620546 m/s, LOS rate: -0.138027 deg/s, cmd heading: 63.131862 deg, new cmd heading: 62.934706 deg. 2025-01-08T22:17:27.453Z,1736374647.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.098418 target range: 241.300003 and range: 272.00 m. 2025-01-08T22:17:27.605Z,1736374647.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:27.833Z,1736374647.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:27.856Z,1736374647.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:27.860Z,1736374647.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:27.862Z,1736374647.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 59.335213 m, bearing: 263.849234 deg, approach rate: 0.634116 m/s, LOS rate: -0.127278 deg/s, cmd heading: 62.934709 deg, new cmd heading: 62.777712 deg. 2025-01-08T22:17:27.868Z,1736374647.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095678 target range: 241.300003 and range: 272.00 m. 2025-01-08T22:17:28.108Z,1736374648.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:28.212Z,1736374648.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:28.240Z,1736374648.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:28.248Z,1736374648.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 59.583668 m, bearing: 263.799582 deg, approach rate: 0.653384 m/s, LOS rate: -0.130029 deg/s, cmd heading: 62.777710 deg, new cmd heading: 62.629376 deg. 2025-01-08T22:17:28.251Z,1736374648.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093089 target range: 241.300003 and range: 272.00 m. 2025-01-08T22:17:28.361Z,1736374648.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:28.612Z,1736374648.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:28.626Z,1736374648.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:28.634Z,1736374648.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:28.659Z,1736374648.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 59.851231 m, bearing: 263.735736 deg, approach rate: 0.677422 m/s, LOS rate: -0.160923 deg/s, cmd heading: 62.629379 deg, new cmd heading: 62.438699 deg. 2025-01-08T22:17:28.661Z,1736374648.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089761 target range: 241.300003 and range: 272.00 m. 2025-01-08T22:17:28.864Z,1736374648.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:29.011Z,1736374649.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:29.018Z,1736374649.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:29.021Z,1736374649.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:29.040Z,1736374649.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 60.100025 m, bearing: 263.675022 deg, approach rate: 0.643823 m/s, LOS rate: -0.156464 deg/s, cmd heading: 62.438700 deg, new cmd heading: 62.257313 deg. 2025-01-08T22:17:29.042Z,1736374649.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.086595 target range: 241.300003 and range: 272.00 m. 2025-01-08T22:17:29.116Z,1736374649.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:29.117Z,1736374649.117 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:29.117Z,1736374649.117 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:29.118Z,1736374649.118 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:29.369Z,1736374649.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:29.371Z,1736374649.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265454 2025-01-08T22:17:29.426Z,1736374649.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:29.435Z,1736374649.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:29.438Z,1736374649.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 60.367657 m, bearing: 263.608350 deg, approach rate: 0.646356 m/s, LOS rate: -0.160306 deg/s, cmd heading: 62.257311 deg, new cmd heading: 62.058181 deg. 2025-01-08T22:17:29.439Z,1736374649.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.083120 target range: 241.300003 and range: 272.00 m. 2025-01-08T22:17:29.620Z,1736374649.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:29.621Z,1736374649.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515840 2025-01-08T22:17:29.833Z,1736374649.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:29.843Z,1736374649.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:29.846Z,1736374649.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 60.633236 m, bearing: 263.544270 deg, approach rate: 0.651092 m/s, LOS rate: -0.156410 deg/s, cmd heading: 62.058184 deg, new cmd heading: 61.866786 deg. 2025-01-08T22:17:29.848Z,1736374649.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079779 target range: 241.300003 and range: 272.00 m. 2025-01-08T22:17:29.872Z,1736374649.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:29.872Z,1736374649.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767448 2025-01-08T22:17:30.124Z,1736374650.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:30.125Z,1736374650.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020225 2025-01-08T22:17:30.300Z,1736374650.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:30.308Z,1736374650.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:30.311Z,1736374650.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 60.936817 m, bearing: 263.468290 deg, approach rate: 0.652432 m/s, LOS rate: -0.162477 deg/s, cmd heading: 61.866788 deg, new cmd heading: 61.639984 deg. 2025-01-08T22:17:30.312Z,1736374650.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.075821 target range: 241.300003 and range: 272.00 m. 2025-01-08T22:17:30.377Z,1736374650.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:30.378Z,1736374650.378 [DAT](INFO): DAT read: Rx Time:22:17:29.1125 2025-01-08T22:17:30.379Z,1736374650.379 [DAT](INFO): Rx dataTimestamp_ set to:1736374650.378142 2025-01-08T22:17:30.380Z,1736374650.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274781 2025-01-08T22:17:30.628Z,1736374650.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:30.628Z,1736374650.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523327 2025-01-08T22:17:30.753Z,1736374650.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:30.799Z,1736374650.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.30 m. 2025-01-08T22:17:30.822Z,1736374650.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.300003 m, nav range: 61.222019 m, bearing: 263.394297 deg, approach rate: 0.583334 m/s, LOS rate: -0.150635 deg/s, cmd heading: 61.639985 deg, new cmd heading: 61.419042 deg. 2025-01-08T22:17:30.828Z,1736374650.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071965 target range: 241.300003 and range: 272.00 m. 2025-01-08T22:17:30.880Z,1736374650.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:30.887Z,1736374650.887 [DAT](INFO): DAT read: 22:17:29.1125 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 173,-0.36,-0.800,-2.422,-1.678,-1.331, PHS= 0.619,-1.044,-0.350, RAW= 114.5, 10.7, CAL= 123.3, 7.6, ROT= 26.7, -7.6 2025-01-08T22:17:30.888Z,1736374650.888 [DAT](INFO): got valid direction response: 22:17:29.1125 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 173,-0.36,-0.800,-2.422,-1.678,-1.331, PHS= 0.619,-1.044,-0.350, RAW= 114.5, 10.7, CAL= 123.3, 7.6, ROT= 26.7, -7.6 2025-01-08T22:17:30.889Z,1736374650.889 [DAT](INFO): DAT read: Bearing 26.7, -7.6 (Local) 2025-01-08T22:17:30.889Z,1736374650.889 [DAT](INFO): Local bearing/azimuth received: Bearing 26.7, -7.6 (Local) 2025-01-08T22:17:30.892Z,1736374650.892 [DAT](INFO): DAT read: Range 10 to 50 : 269.1 m (Round-trip 358.8 ms) speed 0.3 m/s 2025-01-08T22:17:30.893Z,1736374650.893 [DAT](INFO): DAT read: user:2468> 2025-01-08T22:17:30.894Z,1736374650.894 [DAT](INFO): DAT read: Tx time:22:17:30.1995 2025-01-08T22:17:30.894Z,1736374650.894 [DAT](INFO): Ping request sent. 2025-01-08T22:17:30.894Z,1736374650.894 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:30.894Z,1736374650.894 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:17:30.895Z,1736374650.895 [DAT](INFO): direction in FSK: [-0.318414,-0.302004,0.898558] 2025-01-08T22:17:30.896Z,1736374650.896 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:30.896Z,1736374650.896 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:30.899Z,1736374650.899 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:30.899Z,1736374650.899 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:31.134Z,1736374651.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:31.136Z,1736374651.136 [DAT](INFO): DAT read: TxSync time:22:17:30.1987 2025-01-08T22:17:31.221Z,1736374651.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:31.258Z,1736374651.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 269.100006 m, deltaT: 3.778710 s, deltaX: -2.899994 m, approachRate: -0.767456 m/s, rangeRepo size: 4 2025-01-08T22:17:31.264Z,1736374651.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 269.100006 m, bearing: 298.545650 deg, lat: 36.905336 deg, lon: -122.122943 deg, deltaT: 11.591935 s, deltaX: 27.800003 m, approachRate: 2.398219 m/s, posRepo size: 4 2025-01-08T22:17:31.265Z,1736374651.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m. 2025-01-08T22:17:31.271Z,1736374651.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.100006 m, nav range: 123.110359 m, bearing: 298.560901 deg, approach rate: 0.000000 m/s, LOS rate: -0.150635 deg/s, cmd heading: 61.419042 deg, new cmd heading: 61.211154 deg. 2025-01-08T22:17:31.276Z,1736374651.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068336 target range: 269.100006 and range: 269.10 m. 2025-01-08T22:17:31.385Z,1736374651.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:31.636Z,1736374651.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:31.666Z,1736374651.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:31.693Z,1736374651.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:31.696Z,1736374651.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m. 2025-01-08T22:17:31.698Z,1736374651.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.100006 m, nav range: 123.282875 m, bearing: 298.458218 deg, approach rate: 0.393689 m/s, LOS rate: -0.234000 deg/s, cmd heading: 61.211151 deg, new cmd heading: 60.903535 deg. 2025-01-08T22:17:31.703Z,1736374651.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062967 target range: 269.100006 and range: 269.10 m. 2025-01-08T22:17:31.888Z,1736374651.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:31.888Z,1736374651.888 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:31.888Z,1736374651.888 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:31.888Z,1736374651.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:32.033Z,1736374652.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:32.045Z,1736374652.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m. 2025-01-08T22:17:32.069Z,1736374652.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.100006 m, nav range: 123.425072 m, bearing: 298.373616 deg, approach rate: 0.407026 m/s, LOS rate: -0.241886 deg/s, cmd heading: 60.903533 deg, new cmd heading: 60.650022 deg. 2025-01-08T22:17:32.070Z,1736374652.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.058543 target range: 269.100006 and range: 269.10 m. 2025-01-08T22:17:32.141Z,1736374652.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:32.143Z,1736374652.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248532 2025-01-08T22:17:32.392Z,1736374652.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:32.392Z,1736374652.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498443 2025-01-08T22:17:32.478Z,1736374652.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:32.486Z,1736374652.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m. 2025-01-08T22:17:32.498Z,1736374652.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.100006 m, nav range: 123.597801 m, bearing: 298.271320 deg, approach rate: 0.390897 m/s, LOS rate: -0.231177 deg/s, cmd heading: 60.650024 deg, new cmd heading: 60.343569 deg. 2025-01-08T22:17:32.499Z,1736374652.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.053194 target range: 269.100006 and range: 269.10 m. 2025-01-08T22:17:32.644Z,1736374652.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:32.646Z,1736374652.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751427 2025-01-08T22:17:32.876Z,1736374652.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:32.889Z,1736374652.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m. 2025-01-08T22:17:32.896Z,1736374652.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:32.897Z,1736374652.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002504 2025-01-08T22:17:32.898Z,1736374652.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.100006 m, nav range: 123.742958 m, bearing: 298.182377 deg, approach rate: 0.360591 m/s, LOS rate: -0.220689 deg/s, cmd heading: 60.343567 deg, new cmd heading: 60.077052 deg. 2025-01-08T22:17:32.904Z,1736374652.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.048542 target range: 269.100006 and range: 269.10 m. 2025-01-08T22:17:33.148Z,1736374653.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:33.148Z,1736374653.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254408 2025-01-08T22:17:33.252Z,1736374653.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:33.261Z,1736374653.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m. 2025-01-08T22:17:33.264Z,1736374653.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.100006 m, nav range: 123.879608 m, bearing: 298.098415 deg, approach rate: 0.366868 m/s, LOS rate: -0.225166 deg/s, cmd heading: 60.077053 deg, new cmd heading: 59.825447 deg. 2025-01-08T22:17:33.265Z,1736374653.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044151 target range: 269.100006 and range: 269.10 m. 2025-01-08T22:17:33.401Z,1736374653.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:33.402Z,1736374653.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507508 2025-01-08T22:17:33.652Z,1736374653.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:33.653Z,1736374653.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759147 2025-01-08T22:17:33.736Z,1736374653.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:33.751Z,1736374653.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:33.753Z,1736374653.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m. 2025-01-08T22:17:33.761Z,1736374653.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.100006 m, nav range: 124.047424 m, bearing: 297.992872 deg, approach rate: 0.341171 m/s, LOS rate: -0.214279 deg/s, cmd heading: 59.825449 deg, new cmd heading: 59.509252 deg. 2025-01-08T22:17:33.762Z,1736374653.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.038632 target range: 269.100006 and range: 269.10 m. 2025-01-08T22:17:33.904Z,1736374653.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:33.905Z,1736374653.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010537 2025-01-08T22:17:34.048Z,1736374654.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:34.058Z,1736374654.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m. 2025-01-08T22:17:34.061Z,1736374654.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.100006 m, nav range: 124.154953 m, bearing: 297.924760 deg, approach rate: 0.352849 m/s, LOS rate: -0.223312 deg/s, cmd heading: 59.509253 deg, new cmd heading: 59.305095 deg. 2025-01-08T22:17:34.062Z,1736374654.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035069 target range: 269.100006 and range: 269.10 m. 2025-01-08T22:17:34.156Z,1736374654.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:34.157Z,1736374654.157 [DAT](INFO): DAT read: Rx Time:22:17:32.9617 2025-01-08T22:17:34.157Z,1736374654.157 [DAT](INFO): Rx dataTimestamp_ set to:1736374654.157183 2025-01-08T22:17:34.158Z,1736374654.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263987 2025-01-08T22:17:34.408Z,1736374654.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:34.408Z,1736374654.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514282 2025-01-08T22:17:34.536Z,1736374654.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:34.583Z,1736374654.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m. 2025-01-08T22:17:34.613Z,1736374654.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.100006 m, nav range: 124.322624 m, bearing: 297.819005 deg, approach rate: 0.337185 m/s, LOS rate: -0.212386 deg/s, cmd heading: 59.305098 deg, new cmd heading: 58.988263 deg. 2025-01-08T22:17:34.632Z,1736374654.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.029539 target range: 269.100006 and range: 269.10 m. 2025-01-08T22:17:34.662Z,1736374654.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:34.688Z,1736374654.688 [DAT](INFO): DAT read: 22:17:32.9617 LVL= 25184, 32753, 27202, 29971, AGC= 68, IDX= 184, 0.40, 1.755,-0.034, 0.765, 1.053, PHS= 0.790,-1.041,-0.292, RAW= 114.0, 6.9, CAL= 123.9, 3.6, ROT= 26.1, -3.6 2025-01-08T22:17:34.689Z,1736374654.689 [DAT](INFO): got valid direction response: 22:17:32.9617 LVL= 25184, 32753, 27202, 29971, AGC= 68, IDX= 184, 0.40, 1.755,-0.034, 0.765, 1.053, PHS= 0.790,-1.041,-0.292, RAW= 114.0, 6.9, CAL= 123.9, 3.6, ROT= 26.1, -3.6 2025-01-08T22:17:34.690Z,1736374654.690 [DAT](INFO): DAT read: Bearing 26.1, -3.6 (Local) 2025-01-08T22:17:34.691Z,1736374654.691 [DAT](INFO): Local bearing/azimuth received: Bearing 26.1, -3.6 (Local) 2025-01-08T22:17:34.701Z,1736374654.701 [DAT](INFO): DAT read: Range 10 to 50 : 268.5 m (Round-trip 358.1 ms) speed 0.4 m/s 2025-01-08T22:17:34.702Z,1736374654.702 [DAT](INFO): DAT read: user:2469> 2025-01-08T22:17:34.703Z,1736374654.703 [DAT](INFO): DAT read: Tx time:22:17:34.0495 2025-01-08T22:17:34.728Z,1736374654.728 [DAT](INFO): Ping request sent. 2025-01-08T22:17:34.729Z,1736374654.729 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:34.729Z,1736374654.729 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:17:34.730Z,1736374654.730 [DAT](INFO): direction in FSK: [-0.246879,-0.301697,0.920885] 2025-01-08T22:17:34.730Z,1736374654.730 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:34.731Z,1736374654.731 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:34.750Z,1736374654.750 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:34.750Z,1736374654.750 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:34.912Z,1736374654.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:34.914Z,1736374654.914 [DAT](INFO): DAT read: TxSync time:22:17:34.0487 2025-01-08T22:17:35.118Z,1736374655.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:35.133Z,1736374655.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 268.500000 m, deltaT: 3.782438 s, deltaX: -0.600006 m, approachRate: -0.158629 m/s, rangeRepo size: 4 2025-01-08T22:17:35.156Z,1736374655.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 268.500000 m, bearing: 304.813746 deg, lat: 36.905417 deg, lon: -122.122943 deg, deltaT: 3.782438 s, deltaX: -0.600006 m, approachRate: -0.158629 m/s, posRepo size: 4 2025-01-08T22:17:35.156Z,1736374655.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.50 m. 2025-01-08T22:17:35.164Z,1736374655.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:35.165Z,1736374655.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.500000 m, nav range: 128.936432 m, bearing: 301.232965 deg, approach rate: 0.000000 m/s, LOS rate: -0.212386 deg/s, cmd heading: 58.988266 deg, new cmd heading: 58.620431 deg. 2025-01-08T22:17:35.166Z,1736374655.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023120 target range: 268.500000 and range: 268.50 m. 2025-01-08T22:17:35.416Z,1736374655.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:35.669Z,1736374655.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:35.731Z,1736374655.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:35.752Z,1736374655.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:35.754Z,1736374655.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.50 m. 2025-01-08T22:17:35.761Z,1736374655.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.500000 m, nav range: 129.117981 m, bearing: 301.098461 deg, approach rate: 0.292387 m/s, LOS rate: -0.216316 deg/s, cmd heading: 58.620433 deg, new cmd heading: 58.217495 deg. 2025-01-08T22:17:35.762Z,1736374655.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.016087 target range: 268.500000 and range: 268.50 m. 2025-01-08T22:17:35.921Z,1736374655.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:35.922Z,1736374655.922 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:35.922Z,1736374655.922 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:35.922Z,1736374655.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:36.060Z,1736374656.060 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:17:36.162Z,1736374656.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:36.172Z,1736374656.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:36.173Z,1736374656.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469418 2025-01-08T22:17:36.194Z,1736374656.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.50 m. 2025-01-08T22:17:36.199Z,1736374656.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.500000 m, nav range: 129.246078 m, bearing: 301.002614 deg, approach rate: 0.291187 m/s, LOS rate: -0.217659 deg/s, cmd heading: 58.217493 deg, new cmd heading: 57.930241 deg. 2025-01-08T22:17:36.208Z,1736374656.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.011073 target range: 268.500000 and range: 268.50 m. 2025-01-08T22:17:36.424Z,1736374656.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:36.424Z,1736374656.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721200 2025-01-08T22:17:36.578Z,1736374656.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:36.662Z,1736374656.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.50 m. 2025-01-08T22:17:36.675Z,1736374656.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.500000 m, nav range: 129.367828 m, bearing: 300.910794 deg, approach rate: 0.261602 m/s, LOS rate: -0.197107 deg/s, cmd heading: 57.930243 deg, new cmd heading: 57.655044 deg. 2025-01-08T22:17:36.676Z,1736374656.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:36.678Z,1736374656.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974826 2025-01-08T22:17:36.681Z,1736374656.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006270 target range: 268.500000 and range: 268.50 m. 2025-01-08T22:17:36.928Z,1736374656.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:36.928Z,1736374656.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225378 2025-01-08T22:17:37.018Z,1736374657.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:37.027Z,1736374657.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.50 m. 2025-01-08T22:17:37.030Z,1736374657.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.500000 m, nav range: 129.501831 m, bearing: 300.813946 deg, approach rate: 0.364194 m/s, LOS rate: -0.262943 deg/s, cmd heading: 57.655041 deg, new cmd heading: 57.364799 deg. 2025-01-08T22:17:37.031Z,1736374657.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.001205 target range: 268.500000 and range: 268.50 m. 2025-01-08T22:17:37.064Z,1736374657.064 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:17:37.180Z,1736374657.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:37.180Z,1736374657.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477283 2025-01-08T22:17:37.432Z,1736374657.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:37.432Z,1736374657.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729346 2025-01-08T22:17:37.472Z,1736374657.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:37.480Z,1736374657.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.50 m. 2025-01-08T22:17:37.483Z,1736374657.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.500000 m, nav range: 129.638306 m, bearing: 300.713572 deg, approach rate: 0.301060 m/s, LOS rate: -0.221189 deg/s, cmd heading: 57.364799 deg, new cmd heading: 57.063996 deg. 2025-01-08T22:17:37.486Z,1736374657.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.995955 target range: 268.500000 and range: 268.50 m. 2025-01-08T22:17:37.684Z,1736374657.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:37.685Z,1736374657.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981491 2025-01-08T22:17:37.831Z,1736374657.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:37.865Z,1736374657.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:37.867Z,1736374657.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.50 m. 2025-01-08T22:17:37.874Z,1736374657.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.500000 m, nav range: 129.744797 m, bearing: 300.630791 deg, approach rate: 0.275614 m/s, LOS rate: -0.214071 deg/s, cmd heading: 57.063997 deg, new cmd heading: 56.815861 deg. 2025-01-08T22:17:37.880Z,1736374657.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991624 target range: 268.500000 and range: 268.50 m. 2025-01-08T22:17:37.936Z,1736374657.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:37.937Z,1736374657.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233501 2025-01-08T22:17:38.188Z,1736374658.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:38.189Z,1736374658.189 [DAT](INFO): DAT read: Rx Time:22:17:36.8084 2025-01-08T22:17:38.189Z,1736374658.189 [DAT](INFO): Rx dataTimestamp_ set to:1736374658.188695 2025-01-08T22:17:38.189Z,1736374658.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486424 2025-01-08T22:17:38.308Z,1736374658.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:38.332Z,1736374658.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.50 m. 2025-01-08T22:17:38.334Z,1736374658.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 268.500000 m, nav range: 129.885971 m, bearing: 300.520786 deg, approach rate: 0.303650 m/s, LOS rate: -0.236352 deg/s, cmd heading: 56.815860 deg, new cmd heading: 56.486206 deg. 2025-01-08T22:17:38.335Z,1736374658.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985870 target range: 268.500000 and range: 268.50 m. 2025-01-08T22:17:38.440Z,1736374658.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:38.441Z,1736374658.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.737873 2025-01-08T22:17:38.693Z,1736374658.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:38.703Z,1736374658.703 [DAT](INFO): DAT read: 22:17:36.8084 LVL= 32240, 32753, 32754, 32755, AGC= 65, IDX= 176, 0.35,-0.568,-2.242,-1.585,-1.168, PHS= 0.688,-1.027,-0.421, RAW= 110.4, 10.1, CAL= 119.8, 7.6, ROT= 30.2, -7.6 2025-01-08T22:17:38.704Z,1736374658.704 [DAT](INFO): got valid direction response: 22:17:36.8084 LVL= 32240, 32753, 32754, 32755, AGC= 65, IDX= 176, 0.35,-0.568,-2.242,-1.585,-1.168, PHS= 0.688,-1.027,-0.421, RAW= 110.4, 10.1, CAL= 119.8, 7.6, ROT= 30.2, -7.6 2025-01-08T22:17:38.705Z,1736374658.705 [DAT](INFO): DAT read: Bearing 30.2, -7.6 (Local) 2025-01-08T22:17:38.705Z,1736374658.705 [DAT](INFO): Local bearing/azimuth received: Bearing 30.2, -7.6 (Local) 2025-01-08T22:17:38.708Z,1736374658.708 [DAT](INFO): DAT read: Range 10 to 50 : 266.0 m (Round-trip 354.7 ms) speed 0.5 m/s 2025-01-08T22:17:38.709Z,1736374658.709 [DAT](INFO): DAT read: user:2470> 2025-01-08T22:17:38.709Z,1736374658.709 [DAT](INFO): DAT read: Tx time:22:17:37.8996 2025-01-08T22:17:38.710Z,1736374658.710 [DAT](INFO): Ping request sent. 2025-01-08T22:17:38.710Z,1736374658.710 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:38.710Z,1736374658.710 [DAT](INFO): DAT read: TxSync time:22:17:37.8988 2025-01-08T22:17:38.711Z,1736374658.711 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:17:38.720Z,1736374658.720 [DAT](INFO): direction in FSK: [-0.303048,-0.233537,0.923917] 2025-01-08T22:17:38.720Z,1736374658.720 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:38.721Z,1736374658.721 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:38.728Z,1736374658.728 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:38.728Z,1736374658.728 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:38.756Z,1736374658.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:38.817Z,1736374658.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 266.000000 m, deltaT: 4.031069 s, deltaX: -2.500000 m, approachRate: -0.620183 m/s, rangeRepo size: 4 2025-01-08T22:17:38.828Z,1736374658.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 266.000000 m, bearing: 288.351839 deg, lat: 36.905417 deg, lon: -122.122943 deg, deltaT: 4.031069 s, deltaX: -2.500000 m, approachRate: -0.620183 m/s, posRepo size: 4 2025-01-08T22:17:38.828Z,1736374658.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:38.831Z,1736374658.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 130.025803 m, bearing: 300.416263 deg, approach rate: 0.000000 m/s, LOS rate: -0.236352 deg/s, cmd heading: 56.486207 deg, new cmd heading: 56.142212 deg. 2025-01-08T22:17:38.841Z,1736374658.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.979866 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:38.945Z,1736374658.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:39.141Z,1736374659.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:39.155Z,1736374659.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:39.159Z,1736374659.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 130.145447 m, bearing: 300.326827 deg, approach rate: 0.357588 m/s, LOS rate: -0.267058 deg/s, cmd heading: 56.142212 deg, new cmd heading: 55.874151 deg. 2025-01-08T22:17:39.164Z,1736374659.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.975188 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:39.196Z,1736374659.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:39.448Z,1736374659.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:39.532Z,1736374659.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:39.567Z,1736374659.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:39.570Z,1736374659.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 130.268219 m, bearing: 300.235550 deg, approach rate: 0.295363 m/s, LOS rate: -0.219385 deg/s, cmd heading: 55.874151 deg, new cmd heading: 55.600581 deg. 2025-01-08T22:17:39.571Z,1736374659.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970413 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:39.702Z,1736374659.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:39.934Z,1736374659.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:39.942Z,1736374659.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:39.944Z,1736374659.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:39.946Z,1736374659.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 130.394821 m, bearing: 300.139981 deg, approach rate: 0.336161 m/s, LOS rate: -0.253514 deg/s, cmd heading: 55.600581 deg, new cmd heading: 55.314154 deg. 2025-01-08T22:17:39.948Z,1736374659.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.965414 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:39.952Z,1736374659.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:39.952Z,1736374659.952 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:39.952Z,1736374659.952 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:39.953Z,1736374659.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:40.204Z,1736374660.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:40.204Z,1736374660.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494659 2025-01-08T22:17:40.313Z,1736374660.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:40.322Z,1736374660.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:40.325Z,1736374660.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 130.514145 m, bearing: 300.049533 deg, approach rate: 0.315383 m/s, LOS rate: -0.238844 deg/s, cmd heading: 55.314154 deg, new cmd heading: 55.043059 deg. 2025-01-08T22:17:40.326Z,1736374660.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960683 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:40.456Z,1736374660.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:40.456Z,1736374660.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746704 2025-01-08T22:17:40.710Z,1736374660.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:40.716Z,1736374660.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004900 2025-01-08T22:17:40.796Z,1736374660.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:40.804Z,1736374660.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:40.808Z,1736374660.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 130.669250 m, bearing: 299.931451 deg, approach rate: 0.321636 m/s, LOS rate: -0.244570 deg/s, cmd heading: 55.043060 deg, new cmd heading: 54.689241 deg. 2025-01-08T22:17:40.809Z,1736374660.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.954507 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:40.960Z,1736374660.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:40.960Z,1736374660.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250610 2025-01-08T22:17:41.126Z,1736374661.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:41.134Z,1736374661.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:41.137Z,1736374661.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 130.774933 m, bearing: 299.850561 deg, approach rate: 0.319870 m/s, LOS rate: -0.244633 deg/s, cmd heading: 54.689239 deg, new cmd heading: 54.446767 deg. 2025-01-08T22:17:41.138Z,1736374661.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.950275 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:41.212Z,1736374661.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:41.213Z,1736374661.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502903 2025-01-08T22:17:41.464Z,1736374661.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:41.464Z,1736374661.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754707 2025-01-08T22:17:41.544Z,1736374661.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:41.556Z,1736374661.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:41.577Z,1736374661.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 130.907837 m, bearing: 299.748085 deg, approach rate: 0.315210 m/s, LOS rate: -0.242796 deg/s, cmd heading: 54.446768 deg, new cmd heading: 54.139655 deg. 2025-01-08T22:17:41.578Z,1736374661.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.944915 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:41.717Z,1736374661.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:41.720Z,1736374661.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009327 2025-01-08T22:17:41.966Z,1736374661.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:41.968Z,1736374661.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:41.969Z,1736374661.969 [DAT](INFO): DAT read: Rx Time:22:17:40.6562 2025-01-08T22:17:41.969Z,1736374661.969 [DAT](INFO): Rx dataTimestamp_ set to:1736374661.968894 2025-01-08T22:17:41.970Z,1736374661.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260013 2025-01-08T22:17:41.977Z,1736374661.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:41.979Z,1736374661.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:41.982Z,1736374661.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 131.040710 m, bearing: 299.646846 deg, approach rate: 0.314513 m/s, LOS rate: -0.239390 deg/s, cmd heading: 54.139655 deg, new cmd heading: 53.836250 deg. 2025-01-08T22:17:41.983Z,1736374661.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939620 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:42.220Z,1736374662.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:42.222Z,1736374662.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511731 2025-01-08T22:17:42.380Z,1736374662.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:42.389Z,1736374662.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:42.392Z,1736374662.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 131.169098 m, bearing: 299.547085 deg, approach rate: 0.312987 m/s, LOS rate: -0.242962 deg/s, cmd heading: 53.836251 deg, new cmd heading: 53.537264 deg. 2025-01-08T22:17:42.393Z,1736374662.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.934402 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:42.472Z,1736374662.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:42.481Z,1736374662.481 [DAT](INFO): DAT read: 22:17:40.6562 LVL= 25664, 32753, 26018, 31507, AGC= 64, IDX= 419,-0.08, 0.970,-0.256, 0.127,-0.107, PHS= 1.165,-0.102, 0.231, RAW= 104.7, -21.9, CAL= 113.5, -29.2, ROT= 36.5, 29.2 2025-01-08T22:17:42.484Z,1736374662.484 [DAT](INFO): got valid direction response: 22:17:40.6562 LVL= 25664, 32753, 26018, 31507, AGC= 64, IDX= 419,-0.08, 0.970,-0.256, 0.127,-0.107, PHS= 1.165,-0.102, 0.231, RAW= 104.7, -21.9, CAL= 113.5, -29.2, ROT= 36.5, 29.2 2025-01-08T22:17:42.485Z,1736374662.485 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:17:42.485Z,1736374662.485 [DAT](INFO): Received a bad header 2025-01-08T22:17:42.500Z,1736374662.500 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T22:17:42.503Z,1736374662.503 [DAT](INFO): direction in FSK: [0.313936,-0.161083,0.935679] 2025-01-08T22:17:42.509Z,1736374662.509 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:42.509Z,1736374662.509 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:42.509Z,1736374662.509 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:42.725Z,1736374662.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:42.727Z,1736374662.727 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:42.728Z,1736374662.728 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:42.728Z,1736374662.728 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:42.815Z,1736374662.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:42.824Z,1736374662.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:42.827Z,1736374662.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 131.305527 m, bearing: 299.440850 deg, approach rate: 0.314194 m/s, LOS rate: -0.244404 deg/s, cmd heading: 53.537263 deg, new cmd heading: 53.218893 deg. 2025-01-08T22:17:42.828Z,1736374662.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928845 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:42.976Z,1736374662.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:42.976Z,1736374662.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:42.976Z,1736374662.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:42.976Z,1736374662.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:43.143Z,1736374663.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:43.152Z,1736374663.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:43.155Z,1736374663.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 131.407990 m, bearing: 299.360419 deg, approach rate: 0.311058 m/s, LOS rate: -0.243985 deg/s, cmd heading: 53.218894 deg, new cmd heading: 52.977789 deg. 2025-01-08T22:17:43.156Z,1736374663.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.924637 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:43.228Z,1736374663.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:43.229Z,1736374663.229 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:43.229Z,1736374663.229 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:43.229Z,1736374663.229 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:43.480Z,1736374663.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:43.480Z,1736374663.480 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:43.480Z,1736374663.480 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:43.481Z,1736374663.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:43.589Z,1736374663.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:43.598Z,1736374663.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:43.601Z,1736374663.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 131.545746 m, bearing: 299.251311 deg, approach rate: 0.309201 m/s, LOS rate: -0.244640 deg/s, cmd heading: 52.977789 deg, new cmd heading: 52.650813 deg. 2025-01-08T22:17:43.602Z,1736374663.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.918930 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:43.734Z,1736374663.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:43.737Z,1736374663.737 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:43.737Z,1736374663.737 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:43.738Z,1736374663.738 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:43.975Z,1736374663.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:43.982Z,1736374663.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:43.984Z,1736374663.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:43.984Z,1736374663.984 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:43.984Z,1736374663.984 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:43.984Z,1736374663.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:43.986Z,1736374663.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:44.005Z,1736374664.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 131.661301 m, bearing: 299.158049 deg, approach rate: 0.297541 m/s, LOS rate: -0.239928 deg/s, cmd heading: 52.650814 deg, new cmd heading: 52.371276 deg. 2025-01-08T22:17:44.006Z,1736374664.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.914051 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:44.236Z,1736374664.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:44.236Z,1736374664.236 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:44.236Z,1736374664.236 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:44.236Z,1736374664.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:44.352Z,1736374664.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:44.361Z,1736374664.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:44.364Z,1736374664.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 131.772842 m, bearing: 299.067078 deg, approach rate: 0.297440 m/s, LOS rate: -0.242382 deg/s, cmd heading: 52.371275 deg, new cmd heading: 52.098592 deg. 2025-01-08T22:17:44.365Z,1736374664.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.909292 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:44.488Z,1736374664.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:44.488Z,1736374664.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:44.488Z,1736374664.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:44.488Z,1736374664.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:44.741Z,1736374664.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:44.742Z,1736374664.742 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:44.743Z,1736374664.743 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:44.743Z,1736374664.743 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:44.840Z,1736374664.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:44.849Z,1736374664.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:44.852Z,1736374664.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 131.913132 m, bearing: 298.948873 deg, approach rate: 0.287687 m/s, LOS rate: -0.242141 deg/s, cmd heading: 52.098593 deg, new cmd heading: 51.744360 deg. 2025-01-08T22:17:44.853Z,1736374664.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.903109 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:44.992Z,1736374664.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:44.993Z,1736374664.993 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:44.993Z,1736374664.993 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:44.993Z,1736374664.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:45.179Z,1736374665.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:45.188Z,1736374665.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:45.192Z,1736374665.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 132.009827 m, bearing: 298.866483 deg, approach rate: 0.285339 m/s, LOS rate: -0.242945 deg/s, cmd heading: 51.744359 deg, new cmd heading: 51.497374 deg. 2025-01-08T22:17:45.192Z,1736374665.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.898799 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:45.244Z,1736374665.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:45.245Z,1736374665.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:45.245Z,1736374665.245 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:45.246Z,1736374665.246 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:45.496Z,1736374665.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:45.496Z,1736374665.496 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:45.496Z,1736374665.496 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:45.496Z,1736374665.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:45.576Z,1736374665.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:45.584Z,1736374665.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:45.587Z,1736374665.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 132.122116 m, bearing: 298.769973 deg, approach rate: 0.283137 m/s, LOS rate: -0.243143 deg/s, cmd heading: 51.497372 deg, new cmd heading: 51.208090 deg. 2025-01-08T22:17:45.588Z,1736374665.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.893750 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:45.750Z,1736374665.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:45.752Z,1736374665.752 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:45.752Z,1736374665.752 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:45.752Z,1736374665.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:45.970Z,1736374665.970 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814185107,35.0, +10.9, 03, 0 2025-01-08T22:17:45.983Z,1736374665.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:17:45.983Z,1736374665.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:45.991Z,1736374665.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:45.993Z,1736374665.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:45.996Z,1736374665.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 132.236099 m, bearing: 298.670983 deg, approach rate: 0.278707 m/s, LOS rate: -0.241838 deg/s, cmd heading: 51.208090 deg, new cmd heading: 50.911379 deg. 2025-01-08T22:17:45.997Z,1736374665.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.888571 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:45.000Z,1736374666.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:46.000Z,1736374666.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:46.000Z,1736374666.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:46.000Z,1736374666.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:46.252Z,1736374666.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:46.252Z,1736374666.252 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:46.253Z,1736374666.253 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:46.253Z,1736374666.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:46.392Z,1736374666.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:17:46.392Z,1736374666.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:46.401Z,1736374666.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:46.404Z,1736374666.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 132.349869 m, bearing: 298.571362 deg, approach rate: 0.279029 m/s, LOS rate: -0.244119 deg/s, cmd heading: 50.911380 deg, new cmd heading: 50.612777 deg. 2025-01-08T22:17:46.405Z,1736374666.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.883360 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:46.504Z,1736374666.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:46.504Z,1736374666.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:46.504Z,1736374666.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:46.504Z,1736374666.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:46.758Z,1736374666.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:46.760Z,1736374666.760 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:46.760Z,1736374666.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:46.760Z,1736374666.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:46.880Z,1736374666.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:46.888Z,1736374666.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:46.892Z,1736374666.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 132.482269 m, bearing: 298.453026 deg, approach rate: 0.271745 m/s, LOS rate: -0.242637 deg/s, cmd heading: 50.612778 deg, new cmd heading: 50.258127 deg. 2025-01-08T22:17:46.893Z,1736374666.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.877170 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:47.008Z,1736374667.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:47.009Z,1736374667.009 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:47.009Z,1736374667.009 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:47.009Z,1736374667.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:47.192Z,1736374667.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:47.201Z,1736374667.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:47.204Z,1736374667.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 132.567337 m, bearing: 298.377376 deg, approach rate: 0.272262 m/s, LOS rate: -0.241962 deg/s, cmd heading: 50.258127 deg, new cmd heading: 50.031326 deg. 2025-01-08T22:17:47.205Z,1736374667.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873211 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:47.261Z,1736374667.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:47.261Z,1736374667.261 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:47.262Z,1736374667.262 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:47.262Z,1736374667.262 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:47.512Z,1736374667.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:47.512Z,1736374667.512 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:47.512Z,1736374667.512 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:47.512Z,1736374667.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:47.609Z,1736374667.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:47.633Z,1736374667.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:47.640Z,1736374667.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 132.679855 m, bearing: 298.276295 deg, approach rate: 0.260304 m/s, LOS rate: -0.233646 deg/s, cmd heading: 50.031327 deg, new cmd heading: 49.728344 deg. 2025-01-08T22:17:47.641Z,1736374667.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867923 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:47.768Z,1736374667.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:47.769Z,1736374667.769 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:47.770Z,1736374667.770 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:47.770Z,1736374667.770 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:48.013Z,1736374668.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:48.019Z,1736374668.019 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:48.021Z,1736374668.021 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:48.021Z,1736374668.021 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:48.022Z,1736374668.022 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:48.028Z,1736374668.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:48.030Z,1736374668.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:48.060Z,1736374668.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 132.788086 m, bearing: 298.179424 deg, approach rate: 0.272557 m/s, LOS rate: -0.243752 deg/s, cmd heading: 49.728343 deg, new cmd heading: 49.437969 deg. 2025-01-08T22:17:48.062Z,1736374668.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.862855 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:48.268Z,1736374668.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:48.268Z,1736374668.268 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:48.268Z,1736374668.268 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:48.268Z,1736374668.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:48.394Z,1736374668.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:48.403Z,1736374668.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:48.406Z,1736374668.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 132.889389 m, bearing: 298.087975 deg, approach rate: 0.271778 m/s, LOS rate: -0.245155 deg/s, cmd heading: 49.437968 deg, new cmd heading: 49.163831 deg. 2025-01-08T22:17:48.408Z,1736374668.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858071 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:48.520Z,1736374668.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:48.520Z,1736374668.520 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:48.520Z,1736374668.520 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:48.520Z,1736374668.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:17:48.778Z,1736374668.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:48.780Z,1736374668.780 [DAT](INFO): Reached modem response timeout 2025-01-08T22:17:48.780Z,1736374668.780 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:17:48.781Z,1736374668.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:48.903Z,1736374668.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:48.912Z,1736374668.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:48.915Z,1736374668.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 133.028152 m, bearing: 297.965573 deg, approach rate: 0.272458 m/s, LOS rate: -0.240081 deg/s, cmd heading: 49.163831 deg, new cmd heading: 48.797015 deg. 2025-01-08T22:17:48.916Z,1736374668.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.851669 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:49.028Z,1736374669.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:49.029Z,1736374669.029 [DAT](INFO): Reached modem response timeout 2025-01-08T22:17:49.029Z,1736374669.029 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:17:49.029Z,1736374669.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:49.229Z,1736374669.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:49.237Z,1736374669.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:49.241Z,1736374669.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 133.114441 m, bearing: 297.886655 deg, approach rate: 0.265514 m/s, LOS rate: -0.242680 deg/s, cmd heading: 48.797016 deg, new cmd heading: 48.560415 deg. 2025-01-08T22:17:49.242Z,1736374669.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847539 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:49.280Z,1736374669.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:49.281Z,1736374669.281 [DAT](INFO): Reached modem response timeout 2025-01-08T22:17:49.281Z,1736374669.281 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:17:49.281Z,1736374669.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:49.532Z,1736374669.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:49.533Z,1736374669.533 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:17:49.533Z,1736374669.533 [DAT](INFO): response not received 2025-01-08T22:17:49.533Z,1736374669.533 [DAT](INFO): DAT read: user:2472> 2025-01-08T22:17:49.534Z,1736374669.534 [DAT](INFO): DAT read: Tx time:22:17:48.8497 2025-01-08T22:17:49.534Z,1736374669.534 [DAT](INFO): Ping request sent. 2025-01-08T22:17:49.534Z,1736374669.534 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:49.534Z,1736374669.534 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:49.535Z,1736374669.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734 2025-01-08T22:17:49.688Z,1736374669.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:49.706Z,1736374669.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:49.718Z,1736374669.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 133.236618 m, bearing: 297.775484 deg, approach rate: 0.260713 m/s, LOS rate: -0.237010 deg/s, cmd heading: 48.560415 deg, new cmd heading: 48.227211 deg. 2025-01-08T22:17:49.736Z,1736374669.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841724 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:49.784Z,1736374669.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:49.785Z,1736374669.785 [DAT](INFO): DAT read: TxSync time:22:17:48.8489 2025-01-08T22:17:49.787Z,1736374669.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252102 2025-01-08T22:17:50.036Z,1736374670.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:50.036Z,1736374670.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502121 2025-01-08T22:17:50.061Z,1736374670.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:50.068Z,1736374670.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:50.070Z,1736374670.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:50.097Z,1736374670.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 133.335083 m, bearing: 297.683364 deg, approach rate: 0.270332 m/s, LOS rate: -0.252723 deg/s, cmd heading: 48.227211 deg, new cmd heading: 47.951060 deg. 2025-01-08T22:17:50.098Z,1736374670.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836904 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:50.288Z,1736374670.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:50.289Z,1736374670.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754363 2025-01-08T22:17:50.436Z,1736374670.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:50.445Z,1736374670.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:50.460Z,1736374670.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 133.433945 m, bearing: 297.590440 deg, approach rate: 0.263338 m/s, LOS rate: -0.247338 deg/s, cmd heading: 47.951060 deg, new cmd heading: 47.672496 deg. 2025-01-08T22:17:50.461Z,1736374670.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832042 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:50.541Z,1736374670.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:50.542Z,1736374670.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007391 2025-01-08T22:17:50.793Z,1736374670.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:50.796Z,1736374670.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261397 2025-01-08T22:17:50.980Z,1736374670.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:50.988Z,1736374670.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:50.992Z,1736374670.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 133.578033 m, bearing: 297.455063 deg, approach rate: 0.265479 m/s, LOS rate: -0.249159 deg/s, cmd heading: 47.672497 deg, new cmd heading: 47.266811 deg. 2025-01-08T22:17:50.993Z,1736374670.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824961 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:51.046Z,1736374671.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:51.048Z,1736374671.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512733 2025-01-08T22:17:51.296Z,1736374671.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:51.297Z,1736374671.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762257 2025-01-08T22:17:51.342Z,1736374671.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:51.363Z,1736374671.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:51.366Z,1736374671.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 133.673279 m, bearing: 297.364551 deg, approach rate: 0.253945 m/s, LOS rate: -0.241152 deg/s, cmd heading: 47.266811 deg, new cmd heading: 46.995472 deg. 2025-01-08T22:17:51.367Z,1736374671.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820226 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:51.548Z,1736374671.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:51.548Z,1736374671.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013995 2025-01-08T22:17:51.799Z,1736374671.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:51.801Z,1736374671.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:51.804Z,1736374671.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268647 2025-01-08T22:17:51.814Z,1736374671.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:51.817Z,1736374671.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 133.792282 m, bearing: 297.250516 deg, approach rate: 0.263851 m/s, LOS rate: -0.252613 deg/s, cmd heading: 46.995472 deg, new cmd heading: 46.653673 deg. 2025-01-08T22:17:51.861Z,1736374671.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814260 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:52.052Z,1736374672.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:52.052Z,1736374672.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518076 2025-01-08T22:17:52.304Z,1736374672.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:52.305Z,1736374672.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770270 2025-01-08T22:17:52.392Z,1736374672.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:52.399Z,1736374672.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:52.403Z,1736374672.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:52.405Z,1736374672.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 133.949844 m, bearing: 297.100339 deg, approach rate: 0.267859 m/s, LOS rate: -0.255003 deg/s, cmd heading: 46.653672 deg, new cmd heading: 46.203681 deg. 2025-01-08T22:17:52.407Z,1736374672.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806406 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:52.556Z,1736374672.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:52.556Z,1736374672.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022077 2025-01-08T22:17:52.730Z,1736374672.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:52.744Z,1736374672.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:52.747Z,1736374672.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 134.038132 m, bearing: 297.014535 deg, approach rate: 0.258271 m/s, LOS rate: -0.250839 deg/s, cmd heading: 46.203682 deg, new cmd heading: 45.946444 deg. 2025-01-08T22:17:52.748Z,1736374672.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.801917 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:52.808Z,1736374672.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:52.809Z,1736374672.809 [DAT](INFO): DAT read: Rx Time:22:17:51.5527 2025-01-08T22:17:52.810Z,1736374672.810 [DAT](INFO): Rx dataTimestamp_ set to:1736374672.809256 2025-01-08T22:17:52.810Z,1736374672.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275770 2025-01-08T22:17:53.060Z,1736374673.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:53.060Z,1736374673.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526001 2025-01-08T22:17:53.163Z,1736374673.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:53.172Z,1736374673.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.00 m. 2025-01-08T22:17:53.196Z,1736374673.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 266.000000 m, nav range: 134.148926 m, bearing: 296.908163 deg, approach rate: 0.259198 m/s, LOS rate: -0.248647 deg/s, cmd heading: 45.946443 deg, new cmd heading: 45.627594 deg. 2025-01-08T22:17:53.203Z,1736374673.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796352 target range: 266.000000 and range: 266.00 m. 2025-01-08T22:17:53.313Z,1736374673.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:53.323Z,1736374673.323 [DAT](INFO): DAT read: 22:17:51.5527 LVL= 23056, 32753, 32546, 32755, AGC= 65, IDX= 401, 0.05, 2.258, 0.494, 0.816, 1.428, PHS= 0.918,-0.887,-0.615, RAW= 98.0, 7.0, CAL= 107.3, 5.9, ROT= 42.7, -5.9 2025-01-08T22:17:53.325Z,1736374673.325 [DAT](INFO): got valid direction response: 22:17:51.5527 LVL= 23056, 32753, 32546, 32755, AGC= 65, IDX= 401, 0.05, 2.258, 0.494, 0.816, 1.428, PHS= 0.918,-0.887,-0.615, RAW= 98.0, 7.0, CAL= 107.3, 5.9, ROT= 42.7, -5.9 2025-01-08T22:17:53.327Z,1736374673.327 [DAT](INFO): DAT read: Bearing 42.7, -5.9 (Local) 2025-01-08T22:17:53.328Z,1736374673.328 [DAT](INFO): Local bearing/azimuth received: Bearing 42.7, -5.9 (Local) 2025-01-08T22:17:53.331Z,1736374673.331 [DAT](INFO): DAT read: Range 10 to 50 : 224.1 m (Round-trip 298.9 ms) speed 0.3 m/s 2025-01-08T22:17:53.337Z,1736374673.337 [DAT](INFO): DAT read: user:2473> 2025-01-08T22:17:53.338Z,1736374673.338 [DAT](INFO): DAT read: Tx time:22:17:52.6497 2025-01-08T22:17:53.338Z,1736374673.338 [DAT](INFO): Ping request sent. 2025-01-08T22:17:53.338Z,1736374673.338 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:53.339Z,1736374673.339 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:17:53.365Z,1736374673.365 [DAT](INFO): direction in FSK: [-0.229253,-0.025121,0.973043] 2025-01-08T22:17:53.365Z,1736374673.365 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:53.366Z,1736374673.366 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:53.371Z,1736374673.371 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:53.371Z,1736374673.371 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:53.552Z,1736374673.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:53.564Z,1736374673.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:53.565Z,1736374673.565 [DAT](INFO): DAT read: TxSync time:22:17:52.6489 2025-01-08T22:17:53.579Z,1736374673.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 224.100006 m, deltaT: 14.619040 s, deltaX: -41.899994 m, approachRate: -2.866125 m/s, rangeRepo size: 4 2025-01-08T22:17:53.585Z,1736374673.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 224.100006 m, bearing: 252.763926 deg, lat: 36.905336 deg, lon: -122.122876 deg, deltaT: 14.619040 s, deltaX: -41.899994 m, approachRate: -2.866125 m/s, posRepo size: 4 2025-01-08T22:17:53.588Z,1736374673.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m. 2025-01-08T22:17:53.591Z,1736374673.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 224.100006 m, nav range: 124.954376 m, bearing: 294.373004 deg, approach rate: 0.000000 m/s, LOS rate: -0.248647 deg/s, cmd heading: 45.627593 deg, new cmd heading: 45.324631 deg. 2025-01-08T22:17:53.592Z,1736374673.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791064 target range: 224.100006 and range: 224.10 m. 2025-01-08T22:17:53.816Z,1736374673.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:53.974Z,1736374673.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:53.983Z,1736374673.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m. 2025-01-08T22:17:53.985Z,1736374673.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 224.100006 m, nav range: 125.067856 m, bearing: 294.264374 deg, approach rate: 0.280457 m/s, LOS rate: -0.268228 deg/s, cmd heading: 45.324630 deg, new cmd heading: 44.999039 deg. 2025-01-08T22:17:53.986Z,1736374673.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785381 target range: 224.100006 and range: 224.10 m. 2025-01-08T22:17:54.068Z,1736374674.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:54.320Z,1736374674.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:54.360Z,1736374674.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:54.368Z,1736374674.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m. 2025-01-08T22:17:54.371Z,1736374674.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 224.100006 m, nav range: 125.170845 m, bearing: 294.164616 deg, approach rate: 0.267140 m/s, LOS rate: -0.258546 deg/s, cmd heading: 44.999038 deg, new cmd heading: 44.700013 deg. 2025-01-08T22:17:54.372Z,1736374674.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780162 target range: 224.100006 and range: 224.10 m. 2025-01-08T22:17:54.572Z,1736374674.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:54.755Z,1736374674.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:54.779Z,1736374674.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:54.781Z,1736374674.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m. 2025-01-08T22:17:54.784Z,1736374674.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 224.100006 m, nav range: 125.275803 m, bearing: 294.062256 deg, approach rate: 0.254260 m/s, LOS rate: -0.247759 deg/s, cmd heading: 44.700013 deg, new cmd heading: 44.393193 deg. 2025-01-08T22:17:54.785Z,1736374674.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774807 target range: 224.100006 and range: 224.10 m. 2025-01-08T22:17:54.828Z,1736374674.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:54.829Z,1736374674.829 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:54.829Z,1736374674.829 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:54.831Z,1736374674.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:55.080Z,1736374675.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:55.080Z,1736374675.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742192 2025-01-08T22:17:55.182Z,1736374675.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:55.192Z,1736374675.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m. 2025-01-08T22:17:55.194Z,1736374675.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 224.100006 m, nav range: 125.384827 m, bearing: 293.954645 deg, approach rate: 0.265642 m/s, LOS rate: -0.261971 deg/s, cmd heading: 44.393194 deg, new cmd heading: 44.070645 deg. 2025-01-08T22:17:55.195Z,1736374675.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769178 target range: 224.100006 and range: 224.10 m. 2025-01-08T22:17:55.332Z,1736374675.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:55.333Z,1736374675.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994309 2025-01-08T22:17:55.558Z,1736374675.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:55.567Z,1736374675.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m. 2025-01-08T22:17:55.569Z,1736374675.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 224.100006 m, nav range: 125.479759 m, bearing: 293.859864 deg, approach rate: 0.252950 m/s, LOS rate: -0.252353 deg/s, cmd heading: 44.070645 deg, new cmd heading: 43.786521 deg. 2025-01-08T22:17:55.570Z,1736374675.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764219 target range: 224.100006 and range: 224.10 m. 2025-01-08T22:17:55.584Z,1736374675.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:55.584Z,1736374675.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246232 2025-01-08T22:17:55.836Z,1736374675.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:55.836Z,1736374675.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498216 2025-01-08T22:17:56.020Z,1736374676.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:56.030Z,1736374676.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m. 2025-01-08T22:17:56.032Z,1736374676.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 224.100006 m, nav range: 125.592072 m, bearing: 293.746101 deg, approach rate: 0.242605 m/s, LOS rate: -0.245520 deg/s, cmd heading: 43.786523 deg, new cmd heading: 43.445541 deg. 2025-01-08T22:17:56.033Z,1736374676.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758268 target range: 224.100006 and range: 224.10 m. 2025-01-08T22:17:56.089Z,1736374676.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:56.090Z,1736374676.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751441 2025-01-08T22:17:56.340Z,1736374676.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:56.341Z,1736374676.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002846 2025-01-08T22:17:56.366Z,1736374676.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:56.376Z,1736374676.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m. 2025-01-08T22:17:56.378Z,1736374676.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 224.100006 m, nav range: 125.675217 m, bearing: 293.661128 deg, approach rate: 0.240492 m/s, LOS rate: -0.245614 deg/s, cmd heading: 43.445542 deg, new cmd heading: 43.190795 deg. 2025-01-08T22:17:56.379Z,1736374676.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753822 target range: 224.100006 and range: 224.10 m. 2025-01-08T22:17:56.592Z,1736374676.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:56.593Z,1736374676.593 [DAT](INFO): DAT read: Rx Time:22:17:55.3507 2025-01-08T22:17:56.593Z,1736374676.593 [DAT](INFO): Rx dataTimestamp_ set to:1736374676.592847 2025-01-08T22:17:56.594Z,1736374676.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255432 2025-01-08T22:17:56.788Z,1736374676.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:56.809Z,1736374676.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:56.812Z,1736374676.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.10 m. 2025-01-08T22:17:56.815Z,1736374676.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 224.100006 m, nav range: 125.777191 m, bearing: 293.557444 deg, approach rate: 0.233820 m/s, LOS rate: -0.237548 deg/s, cmd heading: 43.190797 deg, new cmd heading: 42.879999 deg. 2025-01-08T22:17:56.816Z,1736374676.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748397 target range: 224.100006 and range: 224.10 m. 2025-01-08T22:17:56.844Z,1736374676.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:56.844Z,1736374676.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506085 2025-01-08T22:17:57.098Z,1736374677.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:57.109Z,1736374677.109 [DAT](INFO): DAT read: 22:17:55.3507 LVL= 15664, 28145, 22178, 32755, AGC= 65, IDX= 429, 0.34,-2.245, 2.252, 2.485, 3.029, PHS= 1.097,-0.730,-0.547, RAW= 95.2, 2.1, CAL= 104.1, -0.4, ROT= 45.9, 0.4 2025-01-08T22:17:57.110Z,1736374677.110 [DAT](INFO): got valid direction response: 22:17:55.3507 LVL= 15664, 28145, 22178, 32755, AGC= 65, IDX= 429, 0.34,-2.245, 2.252, 2.485, 3.029, PHS= 1.097,-0.730,-0.547, RAW= 95.2, 2.1, CAL= 104.1, -0.4, ROT= 45.9, 0.4 2025-01-08T22:17:57.113Z,1736374677.113 [DAT](INFO): DAT read: Bearing 45.9, 0.4 (Local) 2025-01-08T22:17:57.113Z,1736374677.113 [DAT](INFO): Local bearing/azimuth received: Bearing 45.9, 0.4 (Local) 2025-01-08T22:17:57.115Z,1736374677.115 [DAT](INFO): DAT read: Range 10 to 50 : 222.6 m (Round-trip 296.9 ms) speed 0.4 m/s 2025-01-08T22:17:57.116Z,1736374677.116 [DAT](INFO): DAT read: user:2474> 2025-01-08T22:17:57.117Z,1736374677.117 [DAT](INFO): DAT read: Tx time:22:17:56.4497 2025-01-08T22:17:57.117Z,1736374677.117 [DAT](INFO): Ping request sent. 2025-01-08T22:17:57.117Z,1736374677.117 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:17:57.117Z,1736374677.117 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:17:57.118Z,1736374677.118 [DAT](INFO): direction in FSK: [-0.133069,0.018912,0.990926] 2025-01-08T22:17:57.119Z,1736374677.119 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:57.119Z,1736374677.119 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:57.166Z,1736374677.166 [DAT](INFO): publishing transmit ping time 2025-01-08T22:17:57.167Z,1736374677.167 [DAT](INFO): publishing direction and range info 2025-01-08T22:17:57.257Z,1736374677.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:57.301Z,1736374677.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 222.600006 m, deltaT: 3.786533 s, deltaX: -1.500000 m, approachRate: -0.396141 m/s, rangeRepo size: 4 2025-01-08T22:17:57.303Z,1736374677.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 222.600006 m, bearing: 250.181475 deg, lat: 36.905141 deg, lon: -122.122785 deg, deltaT: 3.786533 s, deltaX: -1.500000 m, approachRate: -0.396141 m/s, posRepo size: 4 2025-01-08T22:17:57.308Z,1736374677.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:17:57.315Z,1736374677.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 111.081528 m, bearing: 284.841504 deg, approach rate: 0.000000 m/s, LOS rate: -0.237548 deg/s, cmd heading: 42.879999 deg, new cmd heading: 42.531887 deg. 2025-01-08T22:17:57.316Z,1736374677.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742321 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:17:57.350Z,1736374677.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:57.351Z,1736374677.351 [DAT](INFO): DAT read: TxSync time:22:17:56.4489 2025-01-08T22:17:57.594Z,1736374677.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:57.600Z,1736374677.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:57.604Z,1736374677.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:17:57.606Z,1736374677.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 111.179649 m, bearing: 284.757000 deg, approach rate: 0.323018 m/s, LOS rate: -0.277941 deg/s, cmd heading: 42.531885 deg, new cmd heading: 42.278601 deg. 2025-01-08T22:17:57.608Z,1736374677.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.737901 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:17:57.852Z,1736374677.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:58.022Z,1736374678.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:58.032Z,1736374678.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:17:58.034Z,1736374678.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 111.304214 m, bearing: 284.650289 deg, approach rate: 0.291253 m/s, LOS rate: -0.249229 deg/s, cmd heading: 42.278601 deg, new cmd heading: 41.958828 deg. 2025-01-08T22:17:58.035Z,1736374678.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732320 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:17:58.104Z,1736374678.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:58.356Z,1736374678.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:58.404Z,1736374678.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:58.414Z,1736374678.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:17:58.417Z,1736374678.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 111.415604 m, bearing: 284.554969 deg, approach rate: 0.291458 m/s, LOS rate: -0.249162 deg/s, cmd heading: 41.958829 deg, new cmd heading: 41.673158 deg. 2025-01-08T22:17:58.418Z,1736374678.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.727334 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:17:58.608Z,1736374678.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:58.806Z,1736374678.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:58.813Z,1736374678.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:17:58.815Z,1736374678.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:17:58.817Z,1736374678.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 111.531746 m, bearing: 284.454719 deg, approach rate: 0.289647 m/s, LOS rate: -0.249753 deg/s, cmd heading: 41.673160 deg, new cmd heading: 41.372726 deg. 2025-01-08T22:17:58.818Z,1736374678.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722090 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:17:58.860Z,1736374678.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:58.860Z,1736374678.860 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:17:58.861Z,1736374678.861 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:17:58.861Z,1736374678.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:17:59.114Z,1736374679.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:59.115Z,1736374679.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997505 2025-01-08T22:17:59.225Z,1736374679.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:59.234Z,1736374679.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:17:59.237Z,1736374679.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 111.646294 m, bearing: 284.349402 deg, approach rate: 0.273180 m/s, LOS rate: -0.250909 deg/s, cmd heading: 41.372727 deg, new cmd heading: 41.057102 deg. 2025-01-08T22:17:59.238Z,1736374679.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716582 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:17:59.364Z,1736374679.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:59.365Z,1736374679.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247478 2025-01-08T22:17:59.608Z,1736374679.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:17:59.616Z,1736374679.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:59.617Z,1736374679.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499420 2025-01-08T22:17:59.636Z,1736374679.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:17:59.639Z,1736374679.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 111.749779 m, bearing: 284.253136 deg, approach rate: 0.257194 m/s, LOS rate: -0.239030 deg/s, cmd heading: 41.057100 deg, new cmd heading: 40.768573 deg. 2025-01-08T22:17:59.652Z,1736374679.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711546 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:17:59.869Z,1736374679.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:17:59.871Z,1736374679.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753154 2025-01-08T22:18:00.046Z,1736374680.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:00.071Z,1736374680.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:18:00.078Z,1736374680.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 111.864479 m, bearing: 284.143170 deg, approach rate: 0.263960 m/s, LOS rate: -0.252804 deg/s, cmd heading: 40.768573 deg, new cmd heading: 40.439018 deg. 2025-01-08T22:18:00.079Z,1736374680.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705794 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:18:00.120Z,1736374680.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:00.120Z,1736374680.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003272 2025-01-08T22:18:00.372Z,1736374680.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:00.372Z,1736374680.372 [DAT](INFO): DAT read: Rx Time:22:17:59.1488 2025-01-08T22:18:00.373Z,1736374680.373 [DAT](INFO): Rx dataTimestamp_ set to:1736374680.372677 2025-01-08T22:18:00.374Z,1736374680.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257125 2025-01-08T22:18:00.427Z,1736374680.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:00.452Z,1736374680.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:18:00.460Z,1736374680.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 111.963303 m, bearing: 284.047227 deg, approach rate: 0.262328 m/s, LOS rate: -0.254457 deg/s, cmd heading: 40.439016 deg, new cmd heading: 40.151443 deg. 2025-01-08T22:18:00.468Z,1736374680.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700775 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:18:00.625Z,1736374680.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:00.626Z,1736374680.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508825 2025-01-08T22:18:00.874Z,1736374680.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:00.876Z,1736374680.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:00.883Z,1736374680.883 [DAT](INFO): DAT read: 22:17:59.1488 LVL= 16800, 32753, 29346, 31603, AGC= 63, IDX= 425,-0.07, 0.375,-1.422,-1.316,-0.665, PHS= 1.128,-0.710,-0.654, RAW= 91.5, 2.6, CAL= 99.3, 0.3, ROT= 50.7, -0.3 2025-01-08T22:18:00.886Z,1736374680.886 [DAT](INFO): got valid direction response: 22:17:59.1488 LVL= 16800, 32753, 29346, 31603, AGC= 63, IDX= 425,-0.07, 0.375,-1.422,-1.316,-0.665, PHS= 1.128,-0.710,-0.654, RAW= 91.5, 2.6, CAL= 99.3, 0.3, ROT= 50.7, -0.3 2025-01-08T22:18:00.894Z,1736374680.894 [DAT](INFO): DAT read: Bearing 50.7, -0.3 (Local) 2025-01-08T22:18:00.895Z,1736374680.895 [DAT](INFO): Local bearing/azimuth received: Bearing 50.7, -0.3 (Local) 2025-01-08T22:18:00.900Z,1736374680.900 [DAT](INFO): DAT read: Range 10 to 50 : 221.2 m (Round-trip 295.0 ms) speed 0.0 m/s 2025-01-08T22:18:00.901Z,1736374680.901 [DAT](INFO): DAT read: user:2475> 2025-01-08T22:18:00.902Z,1736374680.902 [DAT](INFO): DAT read: Tx time:22:18:00.2497 2025-01-08T22:18:00.902Z,1736374680.902 [DAT](INFO): Ping request sent. 2025-01-08T22:18:00.902Z,1736374680.902 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:00.903Z,1736374680.903 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:00.904Z,1736374680.904 [DAT](INFO): direction in FSK: [-0.137655,0.083577,0.986948] 2025-01-08T22:18:00.904Z,1736374680.904 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:00.904Z,1736374680.904 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:00.928Z,1736374680.928 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:00.928Z,1736374680.928 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:01.013Z,1736374681.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 221.199997 m, deltaT: 3.777005 s, deltaX: -1.400009 m, approachRate: -0.370666 m/s, rangeRepo size: 4 2025-01-08T22:18:01.015Z,1736374681.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 221.199997 m, bearing: 223.292374 deg, lat: 36.904772 deg, lon: -122.122270 deg, deltaT: 3.777005 s, deltaX: -1.400009 m, approachRate: -0.370666 m/s, posRepo size: 4 2025-01-08T22:18:01.019Z,1736374681.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T22:18:01.022Z,1736374681.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 64.581352 m, bearing: 257.410844 deg, approach rate: 0.000000 m/s, LOS rate: -0.254457 deg/s, cmd heading: 40.151445 deg, new cmd heading: 39.725055 deg. 2025-01-08T22:18:01.031Z,1736374681.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693333 target range: 221.199997 and range: 221.20 m. 2025-01-08T22:18:01.128Z,1736374681.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:01.129Z,1736374681.129 [DAT](INFO): DAT read: TxSync time:22:18:00.2489 2025-01-08T22:18:01.380Z,1736374681.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:01.412Z,1736374681.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:01.432Z,1736374681.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:01.434Z,1736374681.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T22:18:01.442Z,1736374681.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 64.829330 m, bearing: 257.249222 deg, approach rate: 0.579452 m/s, LOS rate: -0.376218 deg/s, cmd heading: 39.725056 deg, new cmd heading: 39.242057 deg. 2025-01-08T22:18:01.448Z,1736374681.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684903 target range: 221.199997 and range: 221.20 m. 2025-01-08T22:18:01.632Z,1736374681.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:01.632Z,1736374681.632 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:01.632Z,1736374681.632 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:01.632Z,1736374681.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:01.754Z,1736374681.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:01.766Z,1736374681.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T22:18:01.768Z,1736374681.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 64.986465 m, bearing: 257.146730 deg, approach rate: 0.477014 m/s, LOS rate: -0.310384 deg/s, cmd heading: 39.242056 deg, new cmd heading: 38.935325 deg. 2025-01-08T22:18:01.769Z,1736374681.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679550 target range: 221.199997 and range: 221.20 m. 2025-01-08T22:18:01.884Z,1736374681.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:01.885Z,1736374681.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982247 2025-01-08T22:18:02.136Z,1736374682.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:02.136Z,1736374682.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234071 2025-01-08T22:18:02.177Z,1736374682.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:02.214Z,1736374682.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T22:18:02.221Z,1736374682.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 65.187721 m, bearing: 257.015330 deg, approach rate: 0.446948 m/s, LOS rate: -0.290911 deg/s, cmd heading: 38.935326 deg, new cmd heading: 38.542351 deg. 2025-01-08T22:18:02.222Z,1736374682.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672691 target range: 221.199997 and range: 221.20 m. 2025-01-08T22:18:02.388Z,1736374682.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:02.389Z,1736374682.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486226 2025-01-08T22:18:02.563Z,1736374682.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:02.572Z,1736374682.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T22:18:02.576Z,1736374682.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 65.371635 m, bearing: 256.895604 deg, approach rate: 0.514454 m/s, LOS rate: -0.333961 deg/s, cmd heading: 38.542351 deg, new cmd heading: 38.184189 deg. 2025-01-08T22:18:02.577Z,1736374682.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666440 target range: 221.199997 and range: 221.20 m. 2025-01-08T22:18:02.640Z,1736374682.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:02.641Z,1736374682.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738800 2025-01-08T22:18:02.892Z,1736374682.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:02.893Z,1736374682.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990512 2025-01-08T22:18:02.985Z,1736374682.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:03.045Z,1736374683.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T22:18:03.052Z,1736374683.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 65.571342 m, bearing: 256.764644 deg, approach rate: 0.421576 m/s, LOS rate: -0.275611 deg/s, cmd heading: 38.184190 deg, new cmd heading: 37.792512 deg. 2025-01-08T22:18:03.053Z,1736374683.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659604 target range: 221.199997 and range: 221.20 m. 2025-01-08T22:18:03.144Z,1736374683.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:03.145Z,1736374683.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242942 2025-01-08T22:18:03.396Z,1736374683.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:03.397Z,1736374683.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494095 2025-01-08T22:18:03.397Z,1736374683.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:03.406Z,1736374683.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T22:18:03.414Z,1736374683.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 65.779755 m, bearing: 256.631739 deg, approach rate: 0.577825 m/s, LOS rate: -0.367312 deg/s, cmd heading: 37.792512 deg, new cmd heading: 37.395068 deg. 2025-01-08T22:18:03.436Z,1736374683.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.652667 target range: 221.199997 and range: 221.20 m. 2025-01-08T22:18:03.649Z,1736374683.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:03.650Z,1736374683.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747729 2025-01-08T22:18:03.766Z,1736374683.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:03.772Z,1736374683.772 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:03.776Z,1736374683.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T22:18:03.778Z,1736374683.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 65.965820 m, bearing: 256.510355 deg, approach rate: 0.503385 m/s, LOS rate: -0.327469 deg/s, cmd heading: 37.395067 deg, new cmd heading: 37.031946 deg. 2025-01-08T22:18:03.780Z,1736374683.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.646329 target range: 221.199997 and range: 221.20 m. 2025-01-08T22:18:03.900Z,1736374683.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:03.901Z,1736374683.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998921 2025-01-08T22:18:04.152Z,1736374684.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:04.152Z,1736374684.152 [DAT](INFO): DAT read: Rx Time:22:18:02.9474 2025-01-08T22:18:04.153Z,1736374684.153 [DAT](INFO): Rx dataTimestamp_ set to:1736374684.152646 2025-01-08T22:18:04.153Z,1736374684.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251060 2025-01-08T22:18:04.295Z,1736374684.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:04.304Z,1736374684.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.20 m. 2025-01-08T22:18:04.308Z,1736374684.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.199997 m, nav range: 66.245079 m, bearing: 256.338301 deg, approach rate: 0.528780 m/s, LOS rate: -0.324413 deg/s, cmd heading: 37.031947 deg, new cmd heading: 36.517975 deg. 2025-01-08T22:18:04.309Z,1736374684.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637359 target range: 221.199997 and range: 221.20 m. 2025-01-08T22:18:04.404Z,1736374684.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:04.405Z,1736374684.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502102 2025-01-08T22:18:04.645Z,1736374684.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:04.658Z,1736374684.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:04.668Z,1736374684.668 [DAT](INFO): DAT read: 22:18:02.9474 LVL= 16496, 28785, 25314, 27475, AGC= 66, IDX= 426,-0.01,-0.814,-2.566,-2.599,-1.946, PHS= 1.220,-0.573,-0.656, RAW= 87.7, 0.1, CAL= 95.0, -4.2, ROT= 55.0, 4.2 2025-01-08T22:18:04.670Z,1736374684.670 [DAT](INFO): got valid direction response: 22:18:02.9474 LVL= 16496, 28785, 25314, 27475, AGC= 66, IDX= 426,-0.01,-0.814,-2.566,-2.599,-1.946, PHS= 1.220,-0.573,-0.656, RAW= 87.7, 0.1, CAL= 95.0, -4.2, ROT= 55.0, 4.2 2025-01-08T22:18:04.680Z,1736374684.680 [DAT](INFO): DAT read: Bearing 55.0, 4.2 (Local) 2025-01-08T22:18:04.680Z,1736374684.680 [DAT](INFO): Local bearing/azimuth received: Bearing 55.0, 4.2 (Local) 2025-01-08T22:18:04.682Z,1736374684.682 [DAT](INFO): DAT read: Range 10 to 50 : 220.1 m (Round-trip 293.5 ms) speed 0.3 m/s 2025-01-08T22:18:04.682Z,1736374684.682 [DAT](INFO): DAT read: user:2476> 2025-01-08T22:18:04.687Z,1736374684.687 [DAT](INFO): DAT read: Tx time:22:18:04.0498 2025-01-08T22:18:04.688Z,1736374684.688 [DAT](INFO): Ping request sent. 2025-01-08T22:18:04.688Z,1736374684.688 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:04.688Z,1736374684.688 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:04.689Z,1736374684.689 [DAT](INFO): direction in FSK: [-0.083327,0.146286,0.985727] 2025-01-08T22:18:04.689Z,1736374684.689 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:04.690Z,1736374684.690 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:04.702Z,1736374684.702 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:04.702Z,1736374684.702 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:04.721Z,1736374684.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 220.100006 m, deltaT: 3.781917 s, deltaX: -1.099991 m, approachRate: -0.290855 m/s, rangeRepo size: 4 2025-01-08T22:18:04.723Z,1736374684.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 220.100006 m, bearing: 185.744493 deg, lat: 36.904705 deg, lon: -122.121971 deg, deltaT: 3.781917 s, deltaX: -1.099991 m, approachRate: -0.290855 m/s, posRepo size: 4 2025-01-08T22:18:04.728Z,1736374684.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.10 m. 2025-01-08T22:18:04.730Z,1736374684.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.100006 m, nav range: 44.472523 m, bearing: 238.428279 deg, approach rate: 0.000000 m/s, LOS rate: -0.324413 deg/s, cmd heading: 36.517975 deg, new cmd heading: 36.112510 deg. 2025-01-08T22:18:04.731Z,1736374684.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630282 target range: 220.100006 and range: 220.10 m. 2025-01-08T22:18:04.908Z,1736374684.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:04.909Z,1736374684.909 [DAT](INFO): DAT read: TxSync time:22:18:04.0490 2025-01-08T22:18:05.160Z,1736374685.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:05.312Z,1736374685.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:05.325Z,1736374685.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.10 m. 2025-01-08T22:18:05.377Z,1736374685.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.100006 m, nav range: 44.904011 m, bearing: 238.252981 deg, approach rate: 0.713188 m/s, LOS rate: -0.286959 deg/s, cmd heading: 36.112511 deg, new cmd heading: 35.591684 deg. 2025-01-08T22:18:05.378Z,1736374685.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621192 target range: 220.100006 and range: 220.10 m. 2025-01-08T22:18:05.412Z,1736374685.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:05.665Z,1736374685.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:05.720Z,1736374685.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:05.744Z,1736374685.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.10 m. 2025-01-08T22:18:05.770Z,1736374685.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.100006 m, nav range: 45.166672 m, bearing: 238.147991 deg, approach rate: 0.635838 m/s, LOS rate: -0.252677 deg/s, cmd heading: 35.591685 deg, new cmd heading: 35.278551 deg. 2025-01-08T22:18:05.771Z,1736374685.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615727 target range: 220.100006 and range: 220.10 m. 2025-01-08T22:18:05.916Z,1736374685.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:06.168Z,1736374686.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:06.185Z,1736374686.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:06.216Z,1736374686.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:06.218Z,1736374686.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.10 m. 2025-01-08T22:18:06.226Z,1736374686.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.100006 m, nav range: 45.467445 m, bearing: 238.035576 deg, approach rate: 0.626142 m/s, LOS rate: -0.232473 deg/s, cmd heading: 35.278552 deg, new cmd heading: 34.943544 deg. 2025-01-08T22:18:06.227Z,1736374686.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.609880 target range: 220.100006 and range: 220.10 m. 2025-01-08T22:18:06.420Z,1736374686.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:06.420Z,1736374686.420 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:06.420Z,1736374686.420 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:06.421Z,1736374686.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:06.529Z,1736374686.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:06.537Z,1736374686.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.10 m. 2025-01-08T22:18:06.541Z,1736374686.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.100006 m, nav range: 45.690025 m, bearing: 237.951467 deg, approach rate: 0.697835 m/s, LOS rate: -0.262417 deg/s, cmd heading: 34.943545 deg, new cmd heading: 34.692446 deg. 2025-01-08T22:18:06.542Z,1736374686.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605497 target range: 220.100006 and range: 220.10 m. 2025-01-08T22:18:06.673Z,1736374686.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:06.674Z,1736374686.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985638 2025-01-08T22:18:06.925Z,1736374686.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:06.928Z,1736374686.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239715 2025-01-08T22:18:06.937Z,1736374686.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:06.945Z,1736374686.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.10 m. 2025-01-08T22:18:06.950Z,1736374686.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.100006 m, nav range: 45.953281 m, bearing: 237.850530 deg, approach rate: 0.645101 m/s, LOS rate: -0.245925 deg/s, cmd heading: 34.692447 deg, new cmd heading: 34.391374 deg. 2025-01-08T22:18:06.951Z,1736374686.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600243 target range: 220.100006 and range: 220.10 m. 2025-01-08T22:18:07.176Z,1736374687.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:07.178Z,1736374687.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489375 2025-01-08T22:18:07.185Z,1736374687.185 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:18:07.341Z,1736374687.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:07.350Z,1736374687.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.10 m. 2025-01-08T22:18:07.358Z,1736374687.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.100006 m, nav range: 46.218151 m, bearing: 237.753043 deg, approach rate: 0.654782 m/s, LOS rate: -0.239614 deg/s, cmd heading: 34.391375 deg, new cmd heading: 34.100594 deg. 2025-01-08T22:18:07.362Z,1736374687.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595168 target range: 220.100006 and range: 220.10 m. 2025-01-08T22:18:07.429Z,1736374687.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:07.430Z,1736374687.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741941 2025-01-08T22:18:07.680Z,1736374687.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:07.681Z,1736374687.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992908 2025-01-08T22:18:07.737Z,1736374687.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:07.747Z,1736374687.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.10 m. 2025-01-08T22:18:07.750Z,1736374687.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.100006 m, nav range: 46.478390 m, bearing: 237.656151 deg, approach rate: 0.655984 m/s, LOS rate: -0.242868 deg/s, cmd heading: 34.100594 deg, new cmd heading: 33.811548 deg. 2025-01-08T22:18:07.755Z,1736374687.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590123 target range: 220.100006 and range: 220.10 m. 2025-01-08T22:18:07.932Z,1736374687.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:07.934Z,1736374687.934 [DAT](INFO): DAT read: Rx Time:22:18:06.7458 2025-01-08T22:18:07.936Z,1736374687.936 [DAT](INFO): Rx dataTimestamp_ set to:1736374687.934727 2025-01-08T22:18:07.936Z,1736374687.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248440 2025-01-08T22:18:08.184Z,1736374688.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:08.184Z,1736374688.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496493 2025-01-08T22:18:08.188Z,1736374688.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:18:08.193Z,1736374688.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:08.220Z,1736374688.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:08.222Z,1736374688.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.10 m. 2025-01-08T22:18:08.229Z,1736374688.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.100006 m, nav range: 46.771458 m, bearing: 237.543466 deg, approach rate: 0.616707 m/s, LOS rate: -0.235640 deg/s, cmd heading: 33.811547 deg, new cmd heading: 33.475613 deg. 2025-01-08T22:18:08.230Z,1736374688.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584260 target range: 220.100006 and range: 220.10 m. 2025-01-08T22:18:08.437Z,1736374688.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:08.461Z,1736374688.461 [DAT](INFO): DAT read: 22:18:06.7458 LVL= 16656, 27505, 19474, 25171, AGC= 63, IDX= 425,-0.38,-2.186, 2.545, 2.349, 3.132, PHS= 1.054,-0.540,-0.786, RAW= 82.9, 3.2, CAL= 88.1, 0.7, ROT= 61.9, -0.7 2025-01-08T22:18:08.462Z,1736374688.462 [DAT](INFO): got valid direction response: 22:18:06.7458 LVL= 16656, 27505, 19474, 25171, AGC= 63, IDX= 425,-0.38,-2.186, 2.545, 2.349, 3.132, PHS= 1.054,-0.540,-0.786, RAW= 82.9, 3.2, CAL= 88.1, 0.7, ROT= 61.9, -0.7 2025-01-08T22:18:08.463Z,1736374688.463 [DAT](INFO): DAT read: Bearing 61.9, -0.7 (Local) 2025-01-08T22:18:08.486Z,1736374688.486 [DAT](INFO): Local bearing/azimuth received: Bearing 61.9, -0.7 (Local) 2025-01-08T22:18:08.509Z,1736374688.509 [DAT](INFO): DAT read: Range 10 to 50 : 218.8 m (Round-trip 291.8 ms) speed 0.2 m/s 2025-01-08T22:18:08.509Z,1736374688.509 [DAT](INFO): DAT read: user:2477> 2025-01-08T22:18:08.510Z,1736374688.510 [DAT](INFO): DAT read: Tx time:22:18:07.8498 2025-01-08T22:18:08.510Z,1736374688.510 [DAT](INFO): Ping request sent. 2025-01-08T22:18:08.511Z,1736374688.511 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:08.511Z,1736374688.511 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:08.520Z,1736374688.520 [DAT](INFO): direction in FSK: [-0.133114,0.230340,0.963963] 2025-01-08T22:18:08.521Z,1736374688.521 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:08.521Z,1736374688.521 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:08.532Z,1736374688.532 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:08.532Z,1736374688.532 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:08.584Z,1736374688.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:08.615Z,1736374688.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 218.800003 m, deltaT: 3.779634 s, deltaX: -1.300003 m, approachRate: -0.343949 m/s, rangeRepo size: 4 2025-01-08T22:18:08.623Z,1736374688.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 218.800003 m, bearing: 168.576846 deg, lat: 36.904691 deg, lon: -122.121573 deg, deltaT: 3.779634 s, deltaX: -1.300003 m, approachRate: -0.343949 m/s, posRepo size: 4 2025-01-08T22:18:08.632Z,1736374688.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.80 m. 2025-01-08T22:18:08.634Z,1736374688.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.800003 m, nav range: 27.220394 m, bearing: 188.970210 deg, approach rate: 0.000000 m/s, LOS rate: -0.235640 deg/s, cmd heading: 33.475614 deg, new cmd heading: 33.198501 deg. 2025-01-08T22:18:08.640Z,1736374688.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579423 target range: 218.800003 and range: 218.80 m. 2025-01-08T22:18:08.688Z,1736374688.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:08.689Z,1736374688.689 [DAT](INFO): DAT read: TxSync time:22:18:07.8490 2025-01-08T22:18:08.941Z,1736374688.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:08.985Z,1736374688.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:09.004Z,1736374689.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.80 m. 2025-01-08T22:18:09.006Z,1736374689.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.800003 m, nav range: 27.454956 m, bearing: 189.252266 deg, approach rate: 0.601391 m/s, LOS rate: 0.716980 deg/s, cmd heading: 33.198500 deg, new cmd heading: 34.037375 deg. 2025-01-08T22:18:09.012Z,1736374689.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594064 target range: 218.800003 and range: 218.80 m. 2025-01-08T22:18:09.209Z,1736374689.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:09.383Z,1736374689.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:09.392Z,1736374689.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.80 m. 2025-01-08T22:18:09.395Z,1736374689.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.800003 m, nav range: 27.686003 m, bearing: 189.509334 deg, approach rate: 0.594707 m/s, LOS rate: 0.656162 deg/s, cmd heading: 34.037377 deg, new cmd heading: 34.802098 deg. 2025-01-08T22:18:09.396Z,1736374689.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607411 target range: 218.800003 and range: 218.80 m. 2025-01-08T22:18:09.461Z,1736374689.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:09.712Z,1736374689.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:09.766Z,1736374689.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:09.778Z,1736374689.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.80 m. 2025-01-08T22:18:09.781Z,1736374689.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.800003 m, nav range: 27.909834 m, bearing: 189.751568 deg, approach rate: 0.580534 m/s, LOS rate: 0.623223 deg/s, cmd heading: 34.802099 deg, new cmd heading: 35.522932 deg. 2025-01-08T22:18:09.782Z,1736374689.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.619992 target range: 218.800003 and range: 218.80 m. 2025-01-08T22:18:09.964Z,1736374689.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:10.212Z,1736374690.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:10.216Z,1736374690.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:10.235Z,1736374690.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:10.242Z,1736374690.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.80 m. 2025-01-08T22:18:10.249Z,1736374690.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.800003 m, nav range: 28.158783 m, bearing: 189.995295 deg, approach rate: 0.536942 m/s, LOS rate: 0.521030 deg/s, cmd heading: 35.522933 deg, new cmd heading: 36.247608 deg. 2025-01-08T22:18:10.250Z,1736374690.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.632640 target range: 218.800003 and range: 218.80 m. 2025-01-08T22:18:10.468Z,1736374690.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:10.468Z,1736374690.468 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:10.468Z,1736374690.468 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:10.468Z,1736374690.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:10.577Z,1736374690.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:10.588Z,1736374690.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.80 m. 2025-01-08T22:18:10.612Z,1736374690.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.800003 m, nav range: 28.363409 m, bearing: 190.190944 deg, approach rate: 0.591155 m/s, LOS rate: 0.561144 deg/s, cmd heading: 36.247609 deg, new cmd heading: 36.830302 deg. 2025-01-08T22:18:10.621Z,1736374690.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642810 target range: 218.800003 and range: 218.80 m. 2025-01-08T22:18:10.720Z,1736374690.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:10.721Z,1736374690.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210873 2025-01-08T22:18:10.970Z,1736374690.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:10.972Z,1736374690.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:10.973Z,1736374690.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461915 2025-01-08T22:18:11.004Z,1736374691.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.80 m. 2025-01-08T22:18:11.011Z,1736374691.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.800003 m, nav range: 28.583759 m, bearing: 190.397759 deg, approach rate: 0.528802 m/s, LOS rate: 0.492491 deg/s, cmd heading: 36.830303 deg, new cmd heading: 37.445937 deg. 2025-01-08T22:18:11.012Z,1736374691.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653555 target range: 218.800003 and range: 218.80 m. 2025-01-08T22:18:11.225Z,1736374691.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:11.226Z,1736374691.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715386 2025-01-08T22:18:11.417Z,1736374691.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:11.427Z,1736374691.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.80 m. 2025-01-08T22:18:11.430Z,1736374691.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.800003 m, nav range: 28.829536 m, bearing: 190.594552 deg, approach rate: 0.582158 m/s, LOS rate: 0.462157 deg/s, cmd heading: 37.445938 deg, new cmd heading: 38.031263 deg. 2025-01-08T22:18:11.430Z,1736374691.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663771 target range: 218.800003 and range: 218.80 m. 2025-01-08T22:18:11.476Z,1736374691.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:11.477Z,1736374691.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.965947 2025-01-08T22:18:11.728Z,1736374691.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:11.729Z,1736374691.729 [DAT](INFO): DAT read: Rx Time:22:18:10.5443 2025-01-08T22:18:11.729Z,1736374691.729 [DAT](INFO): Rx dataTimestamp_ set to:1736374691.728897 2025-01-08T22:18:11.730Z,1736374691.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219106 2025-01-08T22:18:11.812Z,1736374691.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:11.830Z,1736374691.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.80 m. 2025-01-08T22:18:11.833Z,1736374691.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.800003 m, nav range: 29.047396 m, bearing: 190.764008 deg, approach rate: 0.539505 m/s, LOS rate: 0.416493 deg/s, cmd heading: 38.031262 deg, new cmd heading: 38.535804 deg. 2025-01-08T22:18:11.834Z,1736374691.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672577 target range: 218.800003 and range: 218.80 m. 2025-01-08T22:18:11.980Z,1736374691.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:11.980Z,1736374691.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469687 2025-01-08T22:18:12.233Z,1736374692.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:12.249Z,1736374692.249 [DAT](INFO): DAT read: 22:18:10.5443 LVL= 18032, 31377, 30674, 32755, AGC= 62, IDX= 426, 0.20, 2.751, 1.341, 0.915, 1.878, PHS= 0.961,-0.490,-0.966, RAW= 76.3, 5.8, CAL= 80.0, 6.1, ROT= 70.0, -6.1 2025-01-08T22:18:12.254Z,1736374692.254 [DAT](INFO): got valid direction response: 22:18:10.5443 LVL= 18032, 31377, 30674, 32755, AGC= 62, IDX= 426, 0.20, 2.751, 1.341, 0.915, 1.878, PHS= 0.961,-0.490,-0.966, RAW= 76.3, 5.8, CAL= 80.0, 6.1, ROT= 70.0, -6.1 2025-01-08T22:18:12.257Z,1736374692.257 [DAT](INFO): DAT read: Bearing 70.0, -6.1 (Local) 2025-01-08T22:18:12.258Z,1736374692.258 [DAT](INFO): Local bearing/azimuth received: Bearing 70.0, -6.1 (Local) 2025-01-08T22:18:12.260Z,1736374692.260 [DAT](INFO): DAT read: Range 10 to 50 : 217.8 m (Round-trip 290.4 ms) speed 0.2 m/s 2025-01-08T22:18:12.261Z,1736374692.261 [DAT](INFO): DAT read: user:2478> 2025-01-08T22:18:12.261Z,1736374692.261 [DAT](INFO): DAT read: Tx time:22:18:11.6498 2025-01-08T22:18:12.262Z,1736374692.262 [DAT](INFO): Ping request sent. 2025-01-08T22:18:12.262Z,1736374692.262 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:12.262Z,1736374692.262 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:12.263Z,1736374692.263 [DAT](INFO): direction in FSK: [-0.168467,0.339436,0.925420] 2025-01-08T22:18:12.275Z,1736374692.275 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:12.276Z,1736374692.276 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:12.279Z,1736374692.279 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:12.279Z,1736374692.279 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:12.331Z,1736374692.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:12.374Z,1736374692.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 217.800003 m, deltaT: 3.796058 s, deltaX: -1.000000 m, approachRate: -0.263431 m/s, rangeRepo size: 4 2025-01-08T22:18:12.381Z,1736374692.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 217.800003 m, bearing: 161.547357 deg, lat: 36.904678 deg, lon: -122.121559 deg, deltaT: 3.796058 s, deltaX: -1.000000 m, approachRate: -0.263431 m/s, posRepo size: 4 2025-01-08T22:18:12.382Z,1736374692.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T22:18:12.396Z,1736374692.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 30.458387 m, bearing: 188.182167 deg, approach rate: 0.000000 m/s, LOS rate: 0.416493 deg/s, cmd heading: 38.535804 deg, new cmd heading: 39.213614 deg. 2025-01-08T22:18:12.397Z,1736374692.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684407 target range: 217.800003 and range: 217.80 m. 2025-01-08T22:18:12.484Z,1736374692.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:12.485Z,1736374692.485 [DAT](INFO): DAT read: TxSync time:22:18:11.6490 2025-01-08T22:18:12.621Z,1736374692.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:12.633Z,1736374692.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:12.642Z,1736374692.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T22:18:12.650Z,1736374692.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 30.607000 m, bearing: 188.295678 deg, approach rate: 0.567039 m/s, LOS rate: 0.431003 deg/s, cmd heading: 39.213615 deg, new cmd heading: 39.552491 deg. 2025-01-08T22:18:12.656Z,1736374692.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690321 target range: 217.800003 and range: 217.80 m. 2025-01-08T22:18:12.736Z,1736374692.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:12.737Z,1736374692.737 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:12.737Z,1736374692.737 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:12.738Z,1736374692.738 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:12.988Z,1736374692.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:12.988Z,1736374692.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.726514 2025-01-08T22:18:12.997Z,1736374692.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:13.039Z,1736374693.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T22:18:13.042Z,1736374693.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 30.798664 m, bearing: 188.442860 deg, approach rate: 0.479056 m/s, LOS rate: 0.365586 deg/s, cmd heading: 39.552492 deg, new cmd heading: 39.991280 deg. 2025-01-08T22:18:13.043Z,1736374693.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697980 target range: 217.800003 and range: 217.80 m. 2025-01-08T22:18:13.240Z,1736374693.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:13.241Z,1736374693.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979165 2025-01-08T22:18:13.442Z,1736374693.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:13.451Z,1736374693.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T22:18:13.454Z,1736374693.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 31.016491 m, bearing: 188.590199 deg, approach rate: 0.523790 m/s, LOS rate: 0.351804 deg/s, cmd heading: 39.991280 deg, new cmd heading: 40.430183 deg. 2025-01-08T22:18:13.455Z,1736374693.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705640 target range: 217.800003 and range: 217.80 m. 2025-01-08T22:18:13.492Z,1736374693.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:13.493Z,1736374693.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231169 2025-01-08T22:18:13.744Z,1736374693.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:13.744Z,1736374693.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482763 2025-01-08T22:18:13.816Z,1736374693.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:13.833Z,1736374693.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T22:18:13.841Z,1736374693.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 31.198999 m, bearing: 188.713766 deg, approach rate: 0.477271 m/s, LOS rate: 0.321246 deg/s, cmd heading: 40.430181 deg, new cmd heading: 40.798710 deg. 2025-01-08T22:18:13.842Z,1736374693.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712072 target range: 217.800003 and range: 217.80 m. 2025-01-08T22:18:13.997Z,1736374693.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:14.001Z,1736374694.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737288 2025-01-08T22:18:14.248Z,1736374694.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:14.248Z,1736374694.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986615 2025-01-08T22:18:14.325Z,1736374694.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:14.334Z,1736374694.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T22:18:14.337Z,1736374694.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 31.447998 m, bearing: 188.877776 deg, approach rate: 0.497695 m/s, LOS rate: 0.325223 deg/s, cmd heading: 40.798711 deg, new cmd heading: 41.286831 deg. 2025-01-08T22:18:14.337Z,1736374694.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.720591 target range: 217.800003 and range: 217.80 m. 2025-01-08T22:18:14.500Z,1736374694.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:14.500Z,1736374694.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238705 2025-01-08T22:18:14.610Z,1736374694.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:14.618Z,1736374694.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T22:18:14.622Z,1736374694.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 31.587851 m, bearing: 188.969890 deg, approach rate: 0.491438 m/s, LOS rate: 0.322253 deg/s, cmd heading: 41.286830 deg, new cmd heading: 41.561947 deg. 2025-01-08T22:18:14.623Z,1736374694.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725393 target range: 217.800003 and range: 217.80 m. 2025-01-08T22:18:14.752Z,1736374694.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:14.753Z,1736374694.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490907 2025-01-08T22:18:15.004Z,1736374695.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:15.004Z,1736374695.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742510 2025-01-08T22:18:15.029Z,1736374695.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:15.054Z,1736374695.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:15.062Z,1736374695.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T22:18:15.069Z,1736374695.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 31.792967 m, bearing: 189.106472 deg, approach rate: 0.469165 m/s, LOS rate: 0.310392 deg/s, cmd heading: 41.561947 deg, new cmd heading: 41.969045 deg. 2025-01-08T22:18:15.070Z,1736374695.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732498 target range: 217.800003 and range: 217.80 m. 2025-01-08T22:18:15.256Z,1736374695.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:15.258Z,1736374695.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996010 2025-01-08T22:18:15.442Z,1736374695.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:15.471Z,1736374695.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T22:18:15.478Z,1736374695.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 31.993504 m, bearing: 189.248577 deg, approach rate: 0.483218 m/s, LOS rate: 0.340272 deg/s, cmd heading: 41.969043 deg, new cmd heading: 42.392678 deg. 2025-01-08T22:18:15.479Z,1736374695.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739892 target range: 217.800003 and range: 217.80 m. 2025-01-08T22:18:15.510Z,1736374695.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:15.511Z,1736374695.511 [DAT](INFO): DAT read: Rx Time:22:18:14.3436 2025-01-08T22:18:15.511Z,1736374695.511 [DAT](INFO): Rx dataTimestamp_ set to:1736374695.510862 2025-01-08T22:18:15.512Z,1736374695.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250107 2025-01-08T22:18:15.761Z,1736374695.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:15.762Z,1736374695.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500032 2025-01-08T22:18:15.817Z,1736374695.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:15.849Z,1736374695.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.80 m. 2025-01-08T22:18:15.856Z,1736374695.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.800003 m, nav range: 32.174953 m, bearing: 189.379435 deg, approach rate: 0.479401 m/s, LOS rate: 0.343783 deg/s, cmd heading: 42.392679 deg, new cmd heading: 42.783031 deg. 2025-01-08T22:18:15.858Z,1736374695.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746705 target range: 217.800003 and range: 217.80 m. 2025-01-08T22:18:16.013Z,1736374696.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:16.016Z,1736374696.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753357 2025-01-08T22:18:16.265Z,1736374696.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:16.282Z,1736374696.282 [DAT](INFO): DAT read: 22:18:14.3436 LVL= 18192, 28865, 20898, 29299, AGC= 62, IDX= 434, 0.20,-2.840, 1.879, 1.578, 2.307, PHS= 1.224,-0.381,-0.732, RAW= 80.3, -1.2, CAL= 87.1, -6.2, ROT= 62.9, 6.2 2025-01-08T22:18:16.284Z,1736374696.284 [DAT](INFO): got valid direction response: 22:18:14.3436 LVL= 18192, 28865, 20898, 29299, AGC= 62, IDX= 434, 0.20,-2.840, 1.879, 1.578, 2.307, PHS= 1.224,-0.381,-0.732, RAW= 80.3, -1.2, CAL= 87.1, -6.2, ROT= 62.9, 6.2 2025-01-08T22:18:16.285Z,1736374696.285 [DAT](INFO): DAT read: Bearing 62.9, 6.2 (Local) 2025-01-08T22:18:16.285Z,1736374696.285 [DAT](INFO): Local bearing/azimuth received: Bearing 62.9, 6.2 (Local) 2025-01-08T22:18:16.287Z,1736374696.287 [DAT](INFO): DAT read: Range 10 to 50 : 217.2 m (Round-trip 289.6 ms) speed 0.2 m/s 2025-01-08T22:18:16.292Z,1736374696.292 [DAT](INFO): DAT read: user:2479> 2025-01-08T22:18:16.293Z,1736374696.293 [DAT](INFO): DAT read: Tx time:22:18:15.4499 2025-01-08T22:18:16.293Z,1736374696.293 [DAT](INFO): Ping request sent. 2025-01-08T22:18:16.293Z,1736374696.293 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:16.294Z,1736374696.294 [DAT](INFO): DAT read: TxSync time:22:18:15.4491 2025-01-08T22:18:16.295Z,1736374696.295 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:16.300Z,1736374696.300 [DAT](INFO): direction in FSK: [-0.045001,0.269819,0.961859] 2025-01-08T22:18:16.300Z,1736374696.300 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:16.300Z,1736374696.300 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:16.308Z,1736374696.308 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:16.309Z,1736374696.309 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:16.365Z,1736374696.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:16.393Z,1736374696.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 217.199997 m, deltaT: 4.031089 s, deltaX: -0.600006 m, approachRate: -0.148845 m/s, rangeRepo size: 4 2025-01-08T22:18:16.395Z,1736374696.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 217.199997 m, bearing: 170.828925 deg, lat: 36.904691 deg, lon: -122.121460 deg, deltaT: 4.031089 s, deltaX: -0.600006 m, approachRate: -0.148845 m/s, posRepo size: 4 2025-01-08T22:18:16.404Z,1736374696.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.20 m. 2025-01-08T22:18:16.406Z,1736374696.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.199997 m, nav range: 30.810459 m, bearing: 173.734847 deg, approach rate: 0.000000 m/s, LOS rate: 0.343783 deg/s, cmd heading: 42.783031 deg, new cmd heading: 43.338147 deg. 2025-01-08T22:18:16.417Z,1736374696.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756393 target range: 217.199997 and range: 217.20 m. 2025-01-08T22:18:16.516Z,1736374696.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:16.718Z,1736374696.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:16.748Z,1736374696.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.20 m. 2025-01-08T22:18:16.755Z,1736374696.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.199997 m, nav range: 30.956396 m, bearing: 173.956577 deg, approach rate: 0.404014 m/s, LOS rate: 0.610945 deg/s, cmd heading: 43.338148 deg, new cmd heading: 44.000171 deg. 2025-01-08T22:18:16.756Z,1736374696.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767948 target range: 217.199997 and range: 217.20 m. 2025-01-08T22:18:16.768Z,1736374696.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:17.022Z,1736374697.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:17.115Z,1736374697.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:17.122Z,1736374697.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:17.140Z,1736374697.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.20 m. 2025-01-08T22:18:17.143Z,1736374697.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.199997 m, nav range: 31.119886 m, bearing: 174.206301 deg, approach rate: 0.417291 m/s, LOS rate: 0.634043 deg/s, cmd heading: 44.000171 deg, new cmd heading: 44.745364 deg. 2025-01-08T22:18:17.148Z,1736374697.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780954 target range: 217.199997 and range: 217.20 m. 2025-01-08T22:18:17.276Z,1736374697.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:17.276Z,1736374697.276 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:17.277Z,1736374697.277 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:17.277Z,1736374697.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:17.528Z,1736374697.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:17.529Z,1736374697.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235256 2025-01-08T22:18:17.573Z,1736374697.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:17.582Z,1736374697.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.20 m. 2025-01-08T22:18:17.585Z,1736374697.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.199997 m, nav range: 31.310268 m, bearing: 174.505056 deg, approach rate: 0.430853 m/s, LOS rate: 0.671996 deg/s, cmd heading: 44.745365 deg, new cmd heading: 45.636102 deg. 2025-01-08T22:18:17.586Z,1736374697.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796500 target range: 217.199997 and range: 217.20 m. 2025-01-08T22:18:17.780Z,1736374697.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:17.780Z,1736374697.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486854 2025-01-08T22:18:17.913Z,1736374697.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:17.921Z,1736374697.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.20 m. 2025-01-08T22:18:17.925Z,1736374697.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.199997 m, nav range: 31.449717 m, bearing: 174.730009 deg, approach rate: 0.411265 m/s, LOS rate: 0.660497 deg/s, cmd heading: 45.636104 deg, new cmd heading: 46.307939 deg. 2025-01-08T22:18:17.926Z,1736374697.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808226 target range: 217.199997 and range: 217.20 m. 2025-01-08T22:18:18.032Z,1736374698.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:18.032Z,1736374698.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738938 2025-01-08T22:18:18.284Z,1736374698.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:18.284Z,1736374698.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990844 2025-01-08T22:18:18.415Z,1736374698.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:18.424Z,1736374698.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.20 m. 2025-01-08T22:18:18.427Z,1736374698.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.199997 m, nav range: 31.661631 m, bearing: 175.103332 deg, approach rate: 0.422269 m/s, LOS rate: 0.738914 deg/s, cmd heading: 46.307938 deg, new cmd heading: 47.420261 deg. 2025-01-08T22:18:18.448Z,1736374698.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827640 target range: 217.199997 and range: 217.20 m. 2025-01-08T22:18:18.536Z,1736374698.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:18.537Z,1736374698.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243416 2025-01-08T22:18:18.788Z,1736374698.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:18.788Z,1736374698.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494848 2025-01-08T22:18:18.816Z,1736374698.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:18.825Z,1736374698.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.20 m. 2025-01-08T22:18:18.828Z,1736374698.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.199997 m, nav range: 31.832087 m, bearing: 175.398343 deg, approach rate: 0.423947 m/s, LOS rate: 0.729802 deg/s, cmd heading: 47.420262 deg, new cmd heading: 48.300484 deg. 2025-01-08T22:18:18.829Z,1736374698.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.843002 target range: 217.199997 and range: 217.20 m. 2025-01-08T22:18:19.040Z,1736374699.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:19.042Z,1736374699.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748335 2025-01-08T22:18:19.187Z,1736374699.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:19.265Z,1736374699.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:19.280Z,1736374699.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.20 m. 2025-01-08T22:18:19.283Z,1736374699.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.199997 m, nav range: 31.987135 m, bearing: 175.673048 deg, approach rate: 0.340877 m/s, LOS rate: 0.601015 deg/s, cmd heading: 48.300485 deg, new cmd heading: 49.120546 deg. 2025-01-08T22:18:19.288Z,1736374699.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.857315 target range: 217.199997 and range: 217.20 m. 2025-01-08T22:18:19.292Z,1736374699.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:19.293Z,1736374699.293 [DAT](INFO): DAT read: Rx Time:22:18:18.1424 2025-01-08T22:18:19.293Z,1736374699.293 [DAT](INFO): Rx dataTimestamp_ set to:1736374699.292976 2025-01-08T22:18:19.294Z,1736374699.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000275 2025-01-08T22:18:19.544Z,1736374699.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:19.544Z,1736374699.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250726 2025-01-08T22:18:19.587Z,1736374699.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:19.618Z,1736374699.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.20 m. 2025-01-08T22:18:19.625Z,1736374699.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.199997 m, nav range: 32.165970 m, bearing: 175.984232 deg, approach rate: 0.529790 m/s, LOS rate: 0.916738 deg/s, cmd heading: 49.120545 deg, new cmd heading: 50.048821 deg. 2025-01-08T22:18:19.626Z,1736374699.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873517 target range: 217.199997 and range: 217.20 m. 2025-01-08T22:18:19.797Z,1736374699.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:19.800Z,1736374699.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506009 2025-01-08T22:18:19.956Z,1736374699.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:19.966Z,1736374699.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.20 m. 2025-01-08T22:18:19.968Z,1736374699.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.199997 m, nav range: 32.329765 m, bearing: 176.270781 deg, approach rate: 0.470621 m/s, LOS rate: 0.819145 deg/s, cmd heading: 50.048819 deg, new cmd heading: 50.904044 deg. 2025-01-08T22:18:19.969Z,1736374699.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.888443 target range: 217.199997 and range: 217.20 m. 2025-01-08T22:18:20.049Z,1736374700.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:20.057Z,1736374700.057 [DAT](INFO): DAT read: 22:18:18.1424 LVL= 20336, 32753, 32754, 32755, AGC= 63, IDX= 422,-0.09, 1.817, 0.163,-0.029, 0.613, PHS= 1.292,-0.402,-0.645, RAW= 83.4, -2.7, CAL= 91.2, -8.6, ROT= 58.8, 8.6 2025-01-08T22:18:20.058Z,1736374700.058 [DAT](INFO): got valid direction response: 22:18:18.1424 LVL= 20336, 32753, 32754, 32755, AGC= 63, IDX= 422,-0.09, 1.817, 0.163,-0.029, 0.613, PHS= 1.292,-0.402,-0.645, RAW= 83.4, -2.7, CAL= 91.2, -8.6, ROT= 58.8, 8.6 2025-01-08T22:18:20.059Z,1736374700.059 [DAT](INFO): DAT read: Bearing 58.8, 8.6 (Local) 2025-01-08T22:18:20.060Z,1736374700.060 [DAT](INFO): Local bearing/azimuth received: Bearing 58.8, 8.6 (Local) 2025-01-08T22:18:20.061Z,1736374700.061 [DAT](INFO): DAT read: Range 10 to 50 : 216.3 m (Round-trip 288.4 ms) speed 0.4 m/s 2025-01-08T22:18:20.062Z,1736374700.062 [DAT](INFO): DAT read: user:2480> 2025-01-08T22:18:20.067Z,1736374700.067 [DAT](INFO): DAT read: Tx time:22:18:19.2499 2025-01-08T22:18:20.068Z,1736374700.068 [DAT](INFO): Ping request sent. 2025-01-08T22:18:20.068Z,1736374700.068 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:20.068Z,1736374700.068 [DAT](INFO): DAT read: TxSync time:22:18:19.2491 2025-01-08T22:18:20.069Z,1736374700.069 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:20.070Z,1736374700.070 [DAT](INFO): direction in FSK: [-0.022506,0.217247,0.975857] 2025-01-08T22:18:20.070Z,1736374700.070 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:20.070Z,1736374700.070 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:20.081Z,1736374700.081 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:20.082Z,1736374700.082 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:20.301Z,1736374700.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:20.433Z,1736374700.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:20.463Z,1736374700.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 216.300003 m, deltaT: 3.784036 s, deltaX: -0.899994 m, approachRate: -0.237840 m/s, rangeRepo size: 4 2025-01-08T22:18:20.466Z,1736374700.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 216.300003 m, bearing: 222.882642 deg, lat: 36.904691 deg, lon: -122.121460 deg, deltaT: 3.784036 s, deltaX: -0.899994 m, approachRate: -0.237840 m/s, posRepo size: 4 2025-01-08T22:18:20.466Z,1736374700.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.30 m. 2025-01-08T22:18:20.473Z,1736374700.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.300003 m, nav range: 32.525745 m, bearing: 176.672143 deg, approach rate: 0.000000 m/s, LOS rate: 0.819145 deg/s, cmd heading: 50.904044 deg, new cmd heading: 52.085984 deg. 2025-01-08T22:18:20.474Z,1736374700.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.909072 target range: 216.300003 and range: 216.30 m. 2025-01-08T22:18:20.555Z,1736374700.555 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:20.816Z,1736374700.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:20.848Z,1736374700.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:20.858Z,1736374700.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.30 m. 2025-01-08T22:18:20.881Z,1736374700.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.300003 m, nav range: 32.713448 m, bearing: 177.019109 deg, approach rate: 0.457564 m/s, LOS rate: 0.840945 deg/s, cmd heading: 52.085984 deg, new cmd heading: 53.120792 deg. 2025-01-08T22:18:20.881Z,1736374700.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.927133 target range: 216.300003 and range: 216.30 m. 2025-01-08T22:18:21.068Z,1736374701.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:21.320Z,1736374701.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:21.373Z,1736374701.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:21.385Z,1736374701.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:21.392Z,1736374701.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.30 m. 2025-01-08T22:18:21.394Z,1736374701.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.300003 m, nav range: 32.948719 m, bearing: 177.497259 deg, approach rate: 0.443549 m/s, LOS rate: 0.894990 deg/s, cmd heading: 53.120792 deg, new cmd heading: 54.544688 deg. 2025-01-08T22:18:21.399Z,1736374701.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.951984 target range: 216.300003 and range: 216.30 m. 2025-01-08T22:18:21.572Z,1736374701.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:21.572Z,1736374701.572 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:21.572Z,1736374701.572 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:21.573Z,1736374701.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:21.736Z,1736374701.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:21.746Z,1736374701.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.30 m. 2025-01-08T22:18:21.749Z,1736374701.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.300003 m, nav range: 33.109665 m, bearing: 177.828397 deg, approach rate: 0.448816 m/s, LOS rate: 0.918923 deg/s, cmd heading: 54.544689 deg, new cmd heading: 55.533170 deg. 2025-01-08T22:18:21.750Z,1736374701.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.969237 target range: 216.300003 and range: 216.30 m. 2025-01-08T22:18:21.825Z,1736374701.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:21.826Z,1736374701.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757929 2025-01-08T22:18:22.076Z,1736374702.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:22.076Z,1736374702.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008785 2025-01-08T22:18:22.138Z,1736374702.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:22.146Z,1736374702.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.30 m. 2025-01-08T22:18:22.150Z,1736374702.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.300003 m, nav range: 33.285736 m, bearing: 178.196154 deg, approach rate: 0.439762 m/s, LOS rate: 0.913660 deg/s, cmd heading: 55.533171 deg, new cmd heading: 56.630464 deg. 2025-01-08T22:18:22.150Z,1736374702.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988388 target range: 216.300003 and range: 216.30 m. 2025-01-08T22:18:22.330Z,1736374702.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:22.333Z,1736374702.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264863 2025-01-08T22:18:22.570Z,1736374702.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:22.580Z,1736374702.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:22.580Z,1736374702.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512812 2025-01-08T22:18:22.582Z,1736374702.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.30 m. 2025-01-08T22:18:22.585Z,1736374702.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.300003 m, nav range: 33.470036 m, bearing: 178.598555 deg, approach rate: 0.423415 m/s, LOS rate: 0.919390 deg/s, cmd heading: 56.630464 deg, new cmd heading: 57.830835 deg. 2025-01-08T22:18:22.585Z,1736374702.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009338 target range: 216.300003 and range: 216.30 m. 2025-01-08T22:18:22.832Z,1736374702.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:22.833Z,1736374702.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764944 2025-01-08T22:18:23.008Z,1736374703.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:23.023Z,1736374703.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.30 m. 2025-01-08T22:18:23.031Z,1736374703.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.300003 m, nav range: 33.658401 m, bearing: 179.001693 deg, approach rate: 0.427933 m/s, LOS rate: 0.910724 deg/s, cmd heading: 57.830836 deg, new cmd heading: 59.033295 deg. 2025-01-08T22:18:23.032Z,1736374703.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030325 target range: 216.300003 and range: 216.30 m. 2025-01-08T22:18:23.084Z,1736374703.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:23.085Z,1736374703.085 [DAT](INFO): DAT read: Rx Time:22:18:21.9405 2025-01-08T22:18:23.085Z,1736374703.085 [DAT](INFO): Rx dataTimestamp_ set to:1736374703.084932 2025-01-08T22:18:23.086Z,1736374703.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018112 2025-01-08T22:18:23.338Z,1736374703.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:23.339Z,1736374703.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271368 2025-01-08T22:18:23.406Z,1736374703.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:23.413Z,1736374703.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:23.415Z,1736374703.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.30 m. 2025-01-08T22:18:23.418Z,1736374703.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.300003 m, nav range: 33.825405 m, bearing: 179.384314 deg, approach rate: 0.424337 m/s, LOS rate: 0.967386 deg/s, cmd heading: 59.033298 deg, new cmd heading: 60.175331 deg. 2025-01-08T22:18:23.419Z,1736374703.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.050258 target range: 216.300003 and range: 216.30 m. 2025-01-08T22:18:23.589Z,1736374703.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:23.592Z,1736374703.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523325 2025-01-08T22:18:23.831Z,1736374703.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:23.841Z,1736374703.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:23.852Z,1736374703.852 [DAT](INFO): DAT read: 22:18:21.9405 LVL= 24336, 32753, 32754, 32755, AGC= 66, IDX= 418, 0.33,-0.686,-2.179,-2.134,-1.584, PHS= 0.986,-0.548,-0.554, RAW= 89.8, 1.5, CAL= 97.2, -1.7, ROT= 52.8, 1.7 2025-01-08T22:18:23.853Z,1736374703.853 [DAT](INFO): got valid direction response: 22:18:21.9405 LVL= 24336, 32753, 32754, 32755, AGC= 66, IDX= 418, 0.33,-0.686,-2.179,-2.134,-1.584, PHS= 0.986,-0.548,-0.554, RAW= 89.8, 1.5, CAL= 97.2, -1.7, ROT= 52.8, 1.7 2025-01-08T22:18:23.854Z,1736374703.854 [DAT](INFO): DAT read: Bearing 52.8, 1.7 (Local) 2025-01-08T22:18:23.854Z,1736374703.854 [DAT](INFO): Local bearing/azimuth received: Bearing 52.8, 1.7 (Local) 2025-01-08T22:18:23.856Z,1736374703.856 [DAT](INFO): DAT read: Range 10 to 50 : 214.8 m (Round-trip 286.5 ms) speed 0.4 m/s 2025-01-08T22:18:23.858Z,1736374703.858 [DAT](INFO): DAT read: user:2481> 2025-01-08T22:18:23.858Z,1736374703.858 [DAT](INFO): DAT read: Tx time:22:18:23.0499 2025-01-08T22:18:23.859Z,1736374703.859 [DAT](INFO): Ping request sent. 2025-01-08T22:18:23.859Z,1736374703.859 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:23.859Z,1736374703.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.30 m. 2025-01-08T22:18:23.862Z,1736374703.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.300003 m, nav range: 34.001617 m, bearing: 179.793174 deg, approach rate: 0.415829 m/s, LOS rate: 0.959828 deg/s, cmd heading: 60.175333 deg, new cmd heading: 61.395361 deg. 2025-01-08T22:18:23.863Z,1736374703.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071551 target range: 216.300003 and range: 216.30 m. 2025-01-08T22:18:23.864Z,1736374703.864 [DAT](INFO): DAT read: TxSync time:22:18:23.0491 2025-01-08T22:18:23.864Z,1736374703.864 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:23.865Z,1736374703.865 [DAT](INFO): direction in FSK: [-0.113832,0.112424,0.987119] 2025-01-08T22:18:23.866Z,1736374703.866 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:23.866Z,1736374703.866 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:23.881Z,1736374703.881 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:23.881Z,1736374703.881 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:24.092Z,1736374704.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:24.245Z,1736374704.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:24.259Z,1736374704.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 214.800003 m, deltaT: 3.792106 s, deltaX: -1.500000 m, approachRate: -0.395559 m/s, rangeRepo size: 4 2025-01-08T22:18:24.265Z,1736374704.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 214.800003 m, bearing: 268.134568 deg, lat: 36.904779 deg, lon: -122.121460 deg, deltaT: 3.792106 s, deltaX: -1.500000 m, approachRate: -0.395559 m/s, posRepo size: 4 2025-01-08T22:18:24.266Z,1736374704.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.80 m. 2025-01-08T22:18:24.269Z,1736374704.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 214.800003 m, nav range: 24.389513 m, bearing: 180.269949 deg, approach rate: 0.000000 m/s, LOS rate: 0.959828 deg/s, cmd heading: 61.395362 deg, new cmd heading: 62.601811 deg. 2025-01-08T22:18:24.270Z,1736374704.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.092608 target range: 214.800003 and range: 214.80 m. 2025-01-08T22:18:24.346Z,1736374704.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:24.596Z,1736374704.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:24.689Z,1736374704.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:24.698Z,1736374704.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.80 m. 2025-01-08T22:18:24.701Z,1736374704.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 214.800003 m, nav range: 24.570585 m, bearing: 180.856805 deg, approach rate: 0.411533 m/s, LOS rate: 1.323929 deg/s, cmd heading: 62.601812 deg, new cmd heading: 64.348833 deg. 2025-01-08T22:18:24.702Z,1736374704.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123099 target range: 214.800003 and range: 214.80 m. 2025-01-08T22:18:24.848Z,1736374704.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:25.043Z,1736374705.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:25.052Z,1736374705.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.80 m. 2025-01-08T22:18:25.054Z,1736374705.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 214.800003 m, nav range: 24.710836 m, bearing: 181.329960 deg, approach rate: 0.396911 m/s, LOS rate: 1.331414 deg/s, cmd heading: 64.348831 deg, new cmd heading: 65.759939 deg. 2025-01-08T22:18:25.056Z,1736374705.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147727 target range: 214.800003 and range: 214.80 m. 2025-01-08T22:18:25.101Z,1736374705.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:25.353Z,1736374705.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:25.477Z,1736374705.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:25.488Z,1736374705.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:25.490Z,1736374705.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.80 m. 2025-01-08T22:18:25.498Z,1736374705.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 214.800003 m, nav range: 24.877302 m, bearing: 181.904458 deg, approach rate: 0.379602 m/s, LOS rate: 1.301275 deg/s, cmd heading: 65.759941 deg, new cmd heading: 67.471365 deg. 2025-01-08T22:18:25.498Z,1736374705.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.177598 target range: 214.800003 and range: 214.80 m. 2025-01-08T22:18:25.604Z,1736374705.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:25.605Z,1736374705.605 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:25.605Z,1736374705.605 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:25.606Z,1736374705.606 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:25.849Z,1736374705.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:25.856Z,1736374705.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:25.857Z,1736374705.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997829 2025-01-08T22:18:25.861Z,1736374705.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.80 m. 2025-01-08T22:18:25.864Z,1736374705.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 214.800003 m, nav range: 25.018982 m, bearing: 182.395895 deg, approach rate: 0.381954 m/s, LOS rate: 1.317343 deg/s, cmd heading: 67.471368 deg, new cmd heading: 68.936990 deg. 2025-01-08T22:18:25.865Z,1736374705.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203177 target range: 214.800003 and range: 214.80 m. 2025-01-08T22:18:26.108Z,1736374706.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:26.109Z,1736374706.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250489 2025-01-08T22:18:26.268Z,1736374706.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:26.276Z,1736374706.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.80 m. 2025-01-08T22:18:26.278Z,1736374706.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 214.800003 m, nav range: 25.176369 m, bearing: 182.947560 deg, approach rate: 0.379249 m/s, LOS rate: 1.320997 deg/s, cmd heading: 68.936990 deg, new cmd heading: 70.581164 deg. 2025-01-08T22:18:26.280Z,1736374706.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231874 target range: 214.800003 and range: 214.80 m. 2025-01-08T22:18:26.366Z,1736374706.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:26.369Z,1736374706.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509651 2025-01-08T22:18:26.616Z,1736374706.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:26.616Z,1736374706.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757584 2025-01-08T22:18:26.713Z,1736374706.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:26.732Z,1736374706.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.80 m. 2025-01-08T22:18:26.734Z,1736374706.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 214.800003 m, nav range: 25.335083 m, bearing: 183.516173 deg, approach rate: 0.351539 m/s, LOS rate: 1.251521 deg/s, cmd heading: 70.581167 deg, new cmd heading: 72.275798 deg. 2025-01-08T22:18:26.739Z,1736374706.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261451 target range: 214.800003 and range: 214.80 m. 2025-01-08T22:18:26.868Z,1736374706.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:26.870Z,1736374706.870 [DAT](INFO): DAT read: Rx Time:22:18:25.7382 2025-01-08T22:18:26.870Z,1736374706.870 [DAT](INFO): Rx dataTimestamp_ set to:1736374706.869817 2025-01-08T22:18:26.871Z,1736374706.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012326 2025-01-08T22:18:27.061Z,1736374707.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:27.070Z,1736374707.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.80 m. 2025-01-08T22:18:27.085Z,1736374707.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 214.800003 m, nav range: 25.456936 m, bearing: 183.960714 deg, approach rate: 0.355756 m/s, LOS rate: 1.291636 deg/s, cmd heading: 72.275798 deg, new cmd heading: 73.602787 deg. 2025-01-08T22:18:27.086Z,1736374707.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284611 target range: 214.800003 and range: 214.80 m. 2025-01-08T22:18:27.120Z,1736374707.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:27.120Z,1736374707.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261703 2025-01-08T22:18:27.374Z,1736374707.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:27.377Z,1736374707.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517334 2025-01-08T22:18:27.499Z,1736374707.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:27.506Z,1736374707.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:27.525Z,1736374707.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.80 m. 2025-01-08T22:18:27.541Z,1736374707.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 214.800003 m, nav range: 25.599091 m, bearing: 184.502381 deg, approach rate: 0.312381 m/s, LOS rate: 1.183671 deg/s, cmd heading: 73.602788 deg, new cmd heading: 75.218312 deg. 2025-01-08T22:18:27.543Z,1736374707.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312807 target range: 214.800003 and range: 214.80 m. 2025-01-08T22:18:27.624Z,1736374707.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:27.634Z,1736374707.634 [DAT](INFO): DAT read: 22:18:25.7382 LVL= 23312, 32753, 30002, 32755, AGC= 62, IDX= 410, 0.25,-2.093, 2.606, 2.956,-2.919, PHS= 0.914,-0.711,-0.411, RAW= 100.0, 2.8, CAL= 110.4, 0.7, ROT= 39.6, -0.7 2025-01-08T22:18:27.636Z,1736374707.636 [DAT](INFO): got valid direction response: 22:18:25.7382 LVL= 23312, 32753, 30002, 32755, AGC= 62, IDX= 410, 0.25,-2.093, 2.606, 2.956,-2.919, PHS= 0.914,-0.711,-0.411, RAW= 100.0, 2.8, CAL= 110.4, 0.7, ROT= 39.6, -0.7 2025-01-08T22:18:27.638Z,1736374707.638 [DAT](INFO): DAT read: Bearing 39.6, -0.7 (Local) 2025-01-08T22:18:27.638Z,1736374707.638 [DAT](INFO): Local bearing/azimuth received: Bearing 39.6, -0.7 (Local) 2025-01-08T22:18:27.642Z,1736374707.642 [DAT](INFO): DAT read: Range 10 to 50 : 213.0 m (Round-trip 284.1 ms) speed 0.2 m/s 2025-01-08T22:18:27.644Z,1736374707.644 [DAT](INFO): DAT read: user:2482> 2025-01-08T22:18:27.647Z,1736374707.647 [DAT](INFO): DAT read: Tx time:22:18:26.8515 2025-01-08T22:18:27.656Z,1736374707.656 [DAT](INFO): Ping request sent. 2025-01-08T22:18:27.656Z,1736374707.656 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:27.657Z,1736374707.657 [DAT](INFO): DAT read: TxSync time:22:18:26.8507 2025-01-08T22:18:27.658Z,1736374707.658 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:27.680Z,1736374707.680 [DAT](INFO): direction in FSK: [-0.153702,-0.064141,0.986033] 2025-01-08T22:18:27.680Z,1736374707.680 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:27.680Z,1736374707.680 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:27.697Z,1736374707.697 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:27.697Z,1736374707.697 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:27.876Z,1736374707.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:27.890Z,1736374707.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:27.921Z,1736374707.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 213.000000 m, deltaT: 3.783608 s, deltaX: -1.800003 m, approachRate: -0.475737 m/s, rangeRepo size: 4 2025-01-08T22:18:27.923Z,1736374707.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 213.000000 m, bearing: 297.199300 deg, lat: 36.904883 deg, lon: -122.121597 deg, deltaT: 3.783608 s, deltaX: -1.800003 m, approachRate: -0.475737 m/s, posRepo size: 4 2025-01-08T22:18:27.928Z,1736374707.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m. 2025-01-08T22:18:27.931Z,1736374707.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.000000 m, nav range: 20.046267 m, bearing: 225.809674 deg, approach rate: 0.000000 m/s, LOS rate: 1.183671 deg/s, cmd heading: 75.218312 deg, new cmd heading: 76.621590 deg. 2025-01-08T22:18:27.932Z,1736374707.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337299 target range: 213.000000 and range: 213.00 m. 2025-01-08T22:18:28.128Z,1736374708.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:28.273Z,1736374708.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:28.292Z,1736374708.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m. 2025-01-08T22:18:28.297Z,1736374708.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.000000 m, nav range: 20.276091 m, bearing: 226.053833 deg, approach rate: 0.620420 m/s, LOS rate: 0.651645 deg/s, cmd heading: 76.621588 deg, new cmd heading: 77.345722 deg. 2025-01-08T22:18:28.298Z,1736374708.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349938 target range: 213.000000 and range: 213.00 m. 2025-01-08T22:18:28.382Z,1736374708.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:28.632Z,1736374708.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:28.731Z,1736374708.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:28.741Z,1736374708.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m. 2025-01-08T22:18:28.744Z,1736374708.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.000000 m, nav range: 20.530703 m, bearing: 226.358833 deg, approach rate: 0.566444 m/s, LOS rate: 0.670126 deg/s, cmd heading: 77.345725 deg, new cmd heading: 78.249298 deg. 2025-01-08T22:18:28.745Z,1736374708.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365708 target range: 213.000000 and range: 213.00 m. 2025-01-08T22:18:28.884Z,1736374708.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:29.088Z,1736374709.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:29.097Z,1736374709.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m. 2025-01-08T22:18:29.100Z,1736374709.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.000000 m, nav range: 20.729130 m, bearing: 226.590874 deg, approach rate: 0.555734 m/s, LOS rate: 0.643652 deg/s, cmd heading: 78.249297 deg, new cmd heading: 78.938719 deg. 2025-01-08T22:18:29.101Z,1736374709.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.377741 target range: 213.000000 and range: 213.00 m. 2025-01-08T22:18:29.136Z,1736374709.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:29.390Z,1736374709.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:29.510Z,1736374709.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:29.517Z,1736374709.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:29.519Z,1736374709.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m. 2025-01-08T22:18:29.522Z,1736374709.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.000000 m, nav range: 20.945608 m, bearing: 226.867267 deg, approach rate: 0.513376 m/s, LOS rate: 0.648686 deg/s, cmd heading: 78.938716 deg, new cmd heading: 79.759267 deg. 2025-01-08T22:18:29.523Z,1736374709.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392062 target range: 213.000000 and range: 213.00 m. 2025-01-08T22:18:29.641Z,1736374709.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:29.642Z,1736374709.642 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:29.642Z,1736374709.642 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:29.643Z,1736374709.643 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:29.892Z,1736374709.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:29.893Z,1736374709.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236710 2025-01-08T22:18:29.900Z,1736374709.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:29.909Z,1736374709.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m. 2025-01-08T22:18:29.912Z,1736374709.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.000000 m, nav range: 21.143564 m, bearing: 227.130703 deg, approach rate: 0.507407 m/s, LOS rate: 0.668923 deg/s, cmd heading: 79.759268 deg, new cmd heading: 80.542126 deg. 2025-01-08T22:18:29.913Z,1736374709.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405725 target range: 213.000000 and range: 213.00 m. 2025-01-08T22:18:30.144Z,1736374710.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:30.144Z,1736374710.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488120 2025-01-08T22:18:30.306Z,1736374710.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:30.323Z,1736374710.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m. 2025-01-08T22:18:30.329Z,1736374710.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.000000 m, nav range: 21.350611 m, bearing: 227.400400 deg, approach rate: 0.500452 m/s, LOS rate: 0.645560 deg/s, cmd heading: 80.542123 deg, new cmd heading: 81.343313 deg. 2025-01-08T22:18:30.330Z,1736374710.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.419709 target range: 213.000000 and range: 213.00 m. 2025-01-08T22:18:30.397Z,1736374710.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:30.400Z,1736374710.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743637 2025-01-08T22:18:30.650Z,1736374710.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:30.651Z,1736374710.651 [DAT](INFO): DAT read: Rx Time:22:18:29.5379 2025-01-08T22:18:30.652Z,1736374710.652 [DAT](INFO): Rx dataTimestamp_ set to:1736374710.651305 2025-01-08T22:18:30.653Z,1736374710.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996186 2025-01-08T22:18:30.752Z,1736374710.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:30.782Z,1736374710.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m. 2025-01-08T22:18:30.801Z,1736374710.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.000000 m, nav range: 21.556166 m, bearing: 227.692942 deg, approach rate: 0.447167 m/s, LOS rate: 0.630327 deg/s, cmd heading: 81.343311 deg, new cmd heading: 82.212497 deg. 2025-01-08T22:18:30.802Z,1736374710.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434879 target range: 213.000000 and range: 213.00 m. 2025-01-08T22:18:30.900Z,1736374710.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:30.901Z,1736374710.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245076 2025-01-08T22:18:31.114Z,1736374711.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:31.123Z,1736374711.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m. 2025-01-08T22:18:31.127Z,1736374711.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.000000 m, nav range: 21.724377 m, bearing: 227.940969 deg, approach rate: 0.494286 m/s, LOS rate: 0.723179 deg/s, cmd heading: 82.212494 deg, new cmd heading: 82.950770 deg. 2025-01-08T22:18:31.128Z,1736374711.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447764 target range: 213.000000 and range: 213.00 m. 2025-01-08T22:18:31.161Z,1736374711.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:31.162Z,1736374711.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506110 2025-01-08T22:18:31.413Z,1736374711.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:31.461Z,1736374711.461 [DAT](INFO): DAT read: 22:18:29.5379 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 423, 0.06,-1.782, 3.053,-2.572,-2.366, PHS= 0.671,-0.818,-0.209, RAW= 114.0, 5.5, CAL= 124.2, 2.2, ROT= 25.8, -2.2 2025-01-08T22:18:31.462Z,1736374711.462 [DAT](INFO): got valid direction response: 22:18:29.5379 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 423, 0.06,-1.782, 3.053,-2.572,-2.366, PHS= 0.671,-0.818,-0.209, RAW= 114.0, 5.5, CAL= 124.2, 2.2, ROT= 25.8, -2.2 2025-01-08T22:18:31.491Z,1736374711.491 [DAT](INFO): DAT read: Bearing 25.8, -2.2 (Local) 2025-01-08T22:18:31.492Z,1736374711.492 [DAT](INFO): Local bearing/azimuth received: Bearing 25.8, -2.2 (Local) 2025-01-08T22:18:31.494Z,1736374711.494 [DAT](INFO): DAT read: Range 10 to 50 : 211.7 m (Round-trip 282.3 ms) speed 0.0 m/s 2025-01-08T22:18:31.494Z,1736374711.494 [DAT](INFO): DAT read: user:2483> 2025-01-08T22:18:31.508Z,1736374711.508 [DAT](INFO): DAT read: Tx time:22:18:30.6500 2025-01-08T22:18:31.508Z,1736374711.508 [DAT](INFO): Ping request sent. 2025-01-08T22:18:31.508Z,1736374711.508 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:31.509Z,1736374711.509 [DAT](INFO): DAT read: TxSync time:22:18:30.6492 2025-01-08T22:18:31.510Z,1736374711.510 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:31.511Z,1736374711.511 [DAT](INFO): direction in FSK: [-0.222064,-0.304237,0.926352] 2025-01-08T22:18:31.511Z,1736374711.511 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:31.525Z,1736374711.525 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:31.537Z,1736374711.537 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:31.537Z,1736374711.537 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:31.605Z,1736374711.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:31.637Z,1736374711.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 211.699997 m, deltaT: 3.789003 s, deltaX: -1.300003 m, approachRate: -0.343099 m/s, rangeRepo size: 4 2025-01-08T22:18:31.649Z,1736374711.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 211.699997 m, bearing: 318.434049 deg, lat: 36.904984 deg, lon: -122.122003 deg, deltaT: 3.789003 s, deltaX: -1.300003 m, approachRate: -0.343099 m/s, posRepo size: 4 2025-01-08T22:18:31.650Z,1736374711.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.70 m. 2025-01-08T22:18:31.658Z,1736374711.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.699997 m, nav range: 52.616795 m, bearing: 266.242516 deg, approach rate: 0.000000 m/s, LOS rate: 0.723179 deg/s, cmd heading: 82.950769 deg, new cmd heading: 84.065997 deg. 2025-01-08T22:18:31.667Z,1736374711.667 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:31.674Z,1736374711.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.467228 target range: 211.699997 and range: 211.70 m. 2025-01-08T22:18:31.920Z,1736374711.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:31.997Z,1736374711.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:32.010Z,1736374712.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:32.012Z,1736374712.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.70 m. 2025-01-08T22:18:32.015Z,1736374712.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.699997 m, nav range: 52.812881 m, bearing: 266.217962 deg, approach rate: 0.522292 m/s, LOS rate: -0.065158 deg/s, cmd heading: 84.065996 deg, new cmd heading: 83.992608 deg. 2025-01-08T22:18:32.038Z,1736374712.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.465948 target range: 211.699997 and range: 211.70 m. 2025-01-08T22:18:32.172Z,1736374712.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:32.172Z,1736374712.172 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:32.172Z,1736374712.172 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:32.173Z,1736374712.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:32.426Z,1736374712.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:32.429Z,1736374712.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.919655 2025-01-08T22:18:32.592Z,1736374712.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:32.608Z,1736374712.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.70 m. 2025-01-08T22:18:32.611Z,1736374712.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.699997 m, nav range: 53.101368 m, bearing: 266.197101 deg, approach rate: 0.484058 m/s, LOS rate: -0.034814 deg/s, cmd heading: 83.992605 deg, new cmd heading: 83.930361 deg. 2025-01-08T22:18:32.628Z,1736374712.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.464861 target range: 211.699997 and range: 211.70 m. 2025-01-08T22:18:32.677Z,1736374712.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:32.678Z,1736374712.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.169415 2025-01-08T22:18:32.861Z,1736374712.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:32.870Z,1736374712.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.70 m. 2025-01-08T22:18:32.873Z,1736374712.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.699997 m, nav range: 53.232155 m, bearing: 266.190479 deg, approach rate: 0.500208 m/s, LOS rate: -0.025265 deg/s, cmd heading: 83.930362 deg, new cmd heading: 83.910544 deg. 2025-01-08T22:18:32.875Z,1736374712.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.464515 target range: 211.699997 and range: 211.70 m. 2025-01-08T22:18:32.928Z,1736374712.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:32.929Z,1736374712.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.420207 2025-01-08T22:18:33.181Z,1736374713.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:33.182Z,1736374713.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.673481 2025-01-08T22:18:33.248Z,1736374713.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:33.272Z,1736374713.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.70 m. 2025-01-08T22:18:33.275Z,1736374713.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.699997 m, nav range: 53.420593 m, bearing: 266.184132 deg, approach rate: 0.469059 m/s, LOS rate: -0.015741 deg/s, cmd heading: 83.910541 deg, new cmd heading: 83.891569 deg. 2025-01-08T22:18:33.276Z,1736374713.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.464184 target range: 211.699997 and range: 211.70 m. 2025-01-08T22:18:33.433Z,1736374713.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:33.436Z,1736374713.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.927470 2025-01-08T22:18:33.659Z,1736374713.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:33.684Z,1736374713.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:33.685Z,1736374713.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.176127 2025-01-08T22:18:33.687Z,1736374713.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.70 m. 2025-01-08T22:18:33.693Z,1736374713.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.699997 m, nav range: 53.619133 m, bearing: 266.180183 deg, approach rate: 0.478218 m/s, LOS rate: -0.009477 deg/s, cmd heading: 83.891566 deg, new cmd heading: 83.879763 deg. 2025-01-08T22:18:33.694Z,1736374713.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463978 target range: 211.699997 and range: 211.70 m. 2025-01-08T22:18:33.936Z,1736374713.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:33.936Z,1736374713.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.427868 2025-01-08T22:18:34.017Z,1736374714.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:34.033Z,1736374714.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:34.035Z,1736374714.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.70 m. 2025-01-08T22:18:34.047Z,1736374714.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.699997 m, nav range: 53.807102 m, bearing: 266.179063 deg, approach rate: 0.539574 m/s, LOS rate: -0.003206 deg/s, cmd heading: 83.879764 deg, new cmd heading: 83.876413 deg. 2025-01-08T22:18:34.053Z,1736374714.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463920 target range: 211.699997 and range: 211.70 m. 2025-01-08T22:18:34.188Z,1736374714.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:34.189Z,1736374714.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.680451 2025-01-08T22:18:34.413Z,1736374714.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:34.440Z,1736374714.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:34.440Z,1736374714.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.931898 2025-01-08T22:18:34.465Z,1736374714.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.70 m. 2025-01-08T22:18:34.488Z,1736374714.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.699997 m, nav range: 54.006596 m, bearing: 266.180497 deg, approach rate: 0.470358 m/s, LOS rate: 0.003369 deg/s, cmd heading: 83.876410 deg, new cmd heading: 83.880697 deg. 2025-01-08T22:18:34.497Z,1736374714.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463994 target range: 211.699997 and range: 211.70 m. 2025-01-08T22:18:34.692Z,1736374714.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:34.692Z,1736374714.692 [DAT](INFO): DAT read: Rx Time:22:18:33.3599 2025-01-08T22:18:34.693Z,1736374714.693 [DAT](INFO): Rx dataTimestamp_ set to:1736374714.692661 2025-01-08T22:18:34.693Z,1736374714.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.184987 2025-01-08T22:18:34.838Z,1736374714.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:34.848Z,1736374714.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.70 m. 2025-01-08T22:18:34.850Z,1736374714.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.699997 m, nav range: 54.233128 m, bearing: 266.179383 deg, approach rate: 0.582645 m/s, LOS rate: -0.002853 deg/s, cmd heading: 83.880699 deg, new cmd heading: 83.877372 deg. 2025-01-08T22:18:34.852Z,1736374714.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463936 target range: 211.699997 and range: 211.70 m. 2025-01-08T22:18:34.945Z,1736374714.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:34.946Z,1736374714.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.437097 2025-01-08T22:18:35.196Z,1736374715.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:35.202Z,1736374715.202 [DAT](INFO): DAT read: 22:18:33.3599 LVL= 19136, 27073, 26946, 25171, AGC= 64, IDX= 147,-0.48, 2.082, 0.993, 1.821, 1.019, PHS= 1.151, 0.021, 0.798, RAW= 132.3, -34.8, CAL= 137.6, -37.8, ROT= 12.4, 37.8 2025-01-08T22:18:35.203Z,1736374715.203 [DAT](INFO): got valid direction response: 22:18:33.3599 LVL= 19136, 27073, 26946, 25171, AGC= 64, IDX= 147,-0.48, 2.082, 0.993, 1.821, 1.019, PHS= 1.151, 0.021, 0.798, RAW= 132.3, -34.8, CAL= 137.6, -37.8, ROT= 12.4, 37.8 2025-01-08T22:18:35.204Z,1736374715.204 [DAT](INFO): DAT read: Bearing 12.4, 37.8 (Local) 2025-01-08T22:18:35.205Z,1736374715.205 [DAT](INFO): Local bearing/azimuth received: Bearing 12.4, 37.8 (Local) 2025-01-08T22:18:35.206Z,1736374715.206 [DAT](INFO): DAT read: Range 10 to 50 : 229.3 m (Round-trip 305.8 ms) speed 0.4 m/s 2025-01-08T22:18:35.207Z,1736374715.207 [DAT](INFO): DAT read: user:2484> 2025-01-08T22:18:35.208Z,1736374715.208 [DAT](INFO): DAT read: Tx time:22:18:34.4500 2025-01-08T22:18:35.208Z,1736374715.208 [DAT](INFO): Ping request sent. 2025-01-08T22:18:35.209Z,1736374715.209 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:35.209Z,1736374715.209 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:35.210Z,1736374715.210 [DAT](INFO): direction in FSK: [0.527181,-0.520326,0.671819] 2025-01-08T22:18:35.210Z,1736374715.210 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:35.210Z,1736374715.210 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:35.213Z,1736374715.213 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:35.214Z,1736374715.214 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:35.285Z,1736374715.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:35.316Z,1736374715.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 229.300003 m, deltaT: 3.782093 s, deltaX: 17.600006 m, approachRate: 4.653510 m/s, rangeRepo size: 4 2025-01-08T22:18:35.318Z,1736374715.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 229.300003 m, bearing: 31.941948 deg, lat: 36.905353 deg, lon: -122.122003 deg, deltaT: 3.782093 s, deltaX: 17.600006 m, approachRate: 4.653510 m/s, posRepo size: 4 2025-01-08T22:18:35.319Z,1736374715.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T22:18:35.338Z,1736374715.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 65.986549 m, bearing: 304.547260 deg, approach rate: 0.000000 m/s, LOS rate: -0.002853 deg/s, cmd heading: 83.877373 deg, new cmd heading: 83.873375 deg. 2025-01-08T22:18:35.343Z,1736374715.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463867 target range: 229.300003 and range: 229.30 m. 2025-01-08T22:18:35.450Z,1736374715.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:35.453Z,1736374715.453 [DAT](INFO): DAT read: TxSync time:22:18:34.4492 2025-01-08T22:18:35.700Z,1736374715.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:35.716Z,1736374715.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:35.737Z,1736374715.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T22:18:35.744Z,1736374715.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 66.190727 m, bearing: 304.421824 deg, approach rate: 0.483431 m/s, LOS rate: -0.296077 deg/s, cmd heading: 83.873377 deg, new cmd heading: 83.498236 deg. 2025-01-08T22:18:35.745Z,1736374715.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457319 target range: 229.300003 and range: 229.30 m. 2025-01-08T22:18:35.952Z,1736374715.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:36.108Z,1736374716.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:36.129Z,1736374716.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:36.132Z,1736374716.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T22:18:36.134Z,1736374716.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 66.377052 m, bearing: 304.308195 deg, approach rate: 0.472761 m/s, LOS rate: -0.287502 deg/s, cmd heading: 83.498236 deg, new cmd heading: 83.158309 deg. 2025-01-08T22:18:36.136Z,1736374716.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.451386 target range: 229.300003 and range: 229.30 m. 2025-01-08T22:18:36.205Z,1736374716.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:36.206Z,1736374716.206 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:36.206Z,1736374716.206 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:36.206Z,1736374716.206 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:36.456Z,1736374716.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:36.457Z,1736374716.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248069 2025-01-08T22:18:36.570Z,1736374716.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:36.594Z,1736374716.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T22:18:36.600Z,1736374716.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 66.600060 m, bearing: 304.180255 deg, approach rate: 0.482519 m/s, LOS rate: -0.275896 deg/s, cmd heading: 83.158311 deg, new cmd heading: 82.775782 deg. 2025-01-08T22:18:36.601Z,1736374716.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.444710 target range: 229.300003 and range: 229.30 m. 2025-01-08T22:18:36.708Z,1736374716.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:36.709Z,1736374716.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500468 2025-01-08T22:18:36.962Z,1736374716.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:36.964Z,1736374716.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755925 2025-01-08T22:18:37.059Z,1736374717.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:37.068Z,1736374717.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T22:18:37.070Z,1736374717.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 66.857155 m, bearing: 304.032687 deg, approach rate: 0.542072 m/s, LOS rate: -0.309941 deg/s, cmd heading: 82.775780 deg, new cmd heading: 82.334789 deg. 2025-01-08T22:18:37.072Z,1736374717.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437013 target range: 229.300003 and range: 229.30 m. 2025-01-08T22:18:37.212Z,1736374717.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:37.212Z,1736374717.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003880 2025-01-08T22:18:37.433Z,1736374717.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:37.448Z,1736374717.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T22:18:37.450Z,1736374717.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 67.052696 m, bearing: 303.921807 deg, approach rate: 0.515498 m/s, LOS rate: -0.291458 deg/s, cmd heading: 82.334789 deg, new cmd heading: 82.003121 deg. 2025-01-08T22:18:37.451Z,1736374717.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431224 target range: 229.300003 and range: 229.30 m. 2025-01-08T22:18:37.465Z,1736374717.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:37.467Z,1736374717.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258010 2025-01-08T22:18:37.716Z,1736374717.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:37.716Z,1736374717.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507800 2025-01-08T22:18:37.853Z,1736374717.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:37.886Z,1736374717.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T22:18:37.893Z,1736374717.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 67.292633 m, bearing: 303.786617 deg, approach rate: 0.547185 m/s, LOS rate: -0.307206 deg/s, cmd heading: 82.003121 deg, new cmd heading: 81.599004 deg. 2025-01-08T22:18:37.894Z,1736374717.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424171 target range: 229.300003 and range: 229.30 m. 2025-01-08T22:18:37.970Z,1736374717.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:37.970Z,1736374717.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761695 2025-01-08T22:18:38.220Z,1736374718.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:38.220Z,1736374718.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011794 2025-01-08T22:18:38.234Z,1736374718.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:38.241Z,1736374718.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:38.260Z,1736374718.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T22:18:38.262Z,1736374718.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 67.509445 m, bearing: 303.665639 deg, approach rate: 0.606223 m/s, LOS rate: -0.337177 deg/s, cmd heading: 81.599006 deg, new cmd heading: 81.237243 deg. 2025-01-08T22:18:38.268Z,1736374718.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.417857 target range: 229.300003 and range: 229.30 m. 2025-01-08T22:18:38.336Z,1736374718.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:18:38.472Z,1736374718.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:38.472Z,1736374718.472 [DAT](INFO): DAT read: Rx Time:22:18:37.1566 2025-01-08T22:18:38.473Z,1736374718.473 [DAT](INFO): Rx dataTimestamp_ set to:1736374718.472612 2025-01-08T22:18:38.473Z,1736374718.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264881 2025-01-08T22:18:38.692Z,1736374718.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:38.700Z,1736374718.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.30 m. 2025-01-08T22:18:38.703Z,1736374718.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 229.300003 m, nav range: 67.780724 m, bearing: 303.516951 deg, approach rate: 0.594165 m/s, LOS rate: -0.324358 deg/s, cmd heading: 81.237245 deg, new cmd heading: 80.792977 deg. 2025-01-08T22:18:38.704Z,1736374718.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.410103 target range: 229.300003 and range: 229.30 m. 2025-01-08T22:18:38.741Z,1736374718.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:38.742Z,1736374718.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533108 2025-01-08T22:18:38.992Z,1736374718.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:38.998Z,1736374718.998 [DAT](INFO): DAT read: 22:18:37.1566 LVL= 24864, 32753, 31122, 32755, AGC= 65, IDX= 406,-0.24,-2.484, 2.267,-2.994, 2.934, PHS= 0.952,-0.620, 0.352, RAW= 127.8, -10.0, CAL= 132.2, -21.8, ROT= 17.8, 21.8 2025-01-08T22:18:38.999Z,1736374718.999 [DAT](INFO): got valid direction response: 22:18:37.1566 LVL= 24864, 32753, 31122, 32755, AGC= 65, IDX= 406,-0.24,-2.484, 2.267,-2.994, 2.934, PHS= 0.952,-0.620, 0.352, RAW= 127.8, -10.0, CAL= 132.2, -21.8, ROT= 17.8, 21.8 2025-01-08T22:18:39.000Z,1736374719.000 [DAT](INFO): DAT read: Bearing 17.8, 21.8 (Local) 2025-01-08T22:18:39.001Z,1736374719.001 [DAT](INFO): Local bearing/azimuth received: Bearing 17.8, 21.8 (Local) 2025-01-08T22:18:39.002Z,1736374719.002 [DAT](INFO): DAT read: Range 10 to 50 : 226.8 m (Round-trip 302.5 ms) speed 0.4 m/s 2025-01-08T22:18:39.003Z,1736374719.003 [DAT](INFO): DAT read: user:2485> 2025-01-08T22:18:39.004Z,1736374719.004 [DAT](INFO): DAT read: Tx time:22:18:38.2500 2025-01-08T22:18:39.004Z,1736374719.004 [DAT](INFO): Ping request sent. 2025-01-08T22:18:39.004Z,1736374719.004 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:39.004Z,1736374719.004 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:39.005Z,1736374719.005 [DAT](INFO): direction in FSK: [0.072640,-0.543790,0.836072] 2025-01-08T22:18:39.006Z,1736374719.006 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:39.006Z,1736374719.006 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:39.009Z,1736374719.009 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:39.010Z,1736374719.010 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:39.108Z,1736374719.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:39.155Z,1736374719.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 226.800003 m, deltaT: 3.796112 s, deltaX: -2.500000 m, approachRate: -0.658569 m/s, rangeRepo size: 4 2025-01-08T22:18:39.158Z,1736374719.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 226.800003 m, bearing: 4.761421 deg, lat: 36.905883 deg, lon: -122.122003 deg, deltaT: 3.796112 s, deltaX: -2.500000 m, approachRate: -0.658569 m/s, posRepo size: 4 2025-01-08T22:18:39.165Z,1736374719.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:39.176Z,1736374719.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 111.822792 m, bearing: 329.470274 deg, approach rate: 0.000000 m/s, LOS rate: -0.324358 deg/s, cmd heading: 80.792976 deg, new cmd heading: 80.354515 deg. 2025-01-08T22:18:39.177Z,1736374719.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402451 target range: 226.800003 and range: 226.80 m. 2025-01-08T22:18:39.245Z,1736374719.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:39.246Z,1736374719.246 [DAT](INFO): DAT read: TxSync time:22:18:38.2492 2025-01-08T22:18:39.340Z,1736374719.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:18:39.448Z,1736374719.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:39.458Z,1736374719.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:39.467Z,1736374719.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 111.946793 m, bearing: 329.365150 deg, approach rate: 0.404535 m/s, LOS rate: -0.342573 deg/s, cmd heading: 80.354512 deg, new cmd heading: 80.039492 deg. 2025-01-08T22:18:39.469Z,1736374719.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.396953 target range: 226.800003 and range: 226.80 m. 2025-01-08T22:18:39.496Z,1736374719.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:39.748Z,1736374719.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:39.879Z,1736374719.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:39.892Z,1736374719.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:39.895Z,1736374719.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 112.097214 m, bearing: 329.230282 deg, approach rate: 0.345904 m/s, LOS rate: -0.309723 deg/s, cmd heading: 80.039490 deg, new cmd heading: 79.635435 deg. 2025-01-08T22:18:39.900Z,1736374719.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389901 target range: 226.800003 and range: 226.80 m. 2025-01-08T22:18:40.000Z,1736374720.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:40.252Z,1736374720.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:40.258Z,1736374720.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:40.265Z,1736374720.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:40.267Z,1736374720.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:40.269Z,1736374720.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 112.236687 m, bearing: 329.104630 deg, approach rate: 0.372150 m/s, LOS rate: -0.334855 deg/s, cmd heading: 79.635436 deg, new cmd heading: 79.258955 deg. 2025-01-08T22:18:40.270Z,1736374720.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.383330 target range: 226.800003 and range: 226.80 m. 2025-01-08T22:18:40.504Z,1736374720.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:40.504Z,1736374720.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:40.504Z,1736374720.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:40.505Z,1736374720.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:40.697Z,1736374720.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:40.726Z,1736374720.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:40.733Z,1736374720.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 112.390190 m, bearing: 328.962882 deg, approach rate: 0.334359 m/s, LOS rate: -0.308331 deg/s, cmd heading: 79.258956 deg, new cmd heading: 78.834302 deg. 2025-01-08T22:18:40.734Z,1736374720.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.375918 target range: 226.800003 and range: 226.80 m. 2025-01-08T22:18:40.756Z,1736374720.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:40.757Z,1736374720.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752474 2025-01-08T22:18:41.009Z,1736374721.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:41.010Z,1736374721.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005659 2025-01-08T22:18:41.095Z,1736374721.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:41.116Z,1736374721.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:41.119Z,1736374721.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 112.528381 m, bearing: 328.834285 deg, approach rate: 0.354165 m/s, LOS rate: -0.329171 deg/s, cmd heading: 78.834303 deg, new cmd heading: 78.448992 deg. 2025-01-08T22:18:41.126Z,1736374721.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369193 target range: 226.800003 and range: 226.80 m. 2025-01-08T22:18:41.260Z,1736374721.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:41.261Z,1736374721.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256407 2025-01-08T22:18:41.470Z,1736374721.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:41.478Z,1736374721.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:41.481Z,1736374721.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 112.657814 m, bearing: 328.713176 deg, approach rate: 0.357672 m/s, LOS rate: -0.334287 deg/s, cmd heading: 78.448991 deg, new cmd heading: 78.086086 deg. 2025-01-08T22:18:41.482Z,1736374721.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362859 target range: 226.800003 and range: 226.80 m. 2025-01-08T22:18:41.513Z,1736374721.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:41.514Z,1736374721.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509385 2025-01-08T22:18:41.764Z,1736374721.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:41.764Z,1736374721.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760263 2025-01-08T22:18:41.900Z,1736374721.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:41.909Z,1736374721.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:41.932Z,1736374721.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 112.806717 m, bearing: 328.574499 deg, approach rate: 0.345339 m/s, LOS rate: -0.321199 deg/s, cmd heading: 78.086083 deg, new cmd heading: 77.670608 deg. 2025-01-08T22:18:41.933Z,1736374721.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355608 target range: 226.800003 and range: 226.80 m. 2025-01-08T22:18:42.016Z,1736374722.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:42.016Z,1736374722.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012329 2025-01-08T22:18:42.268Z,1736374722.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:42.268Z,1736374722.268 [DAT](INFO): DAT read: Rx Time:22:18:40.9536 2025-01-08T22:18:42.269Z,1736374722.269 [DAT](INFO): Rx dataTimestamp_ set to:1736374722.268546 2025-01-08T22:18:42.269Z,1736374722.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265239 2025-01-08T22:18:42.369Z,1736374722.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:42.377Z,1736374722.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:42.379Z,1736374722.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:42.382Z,1736374722.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 112.968147 m, bearing: 328.422664 deg, approach rate: 0.343477 m/s, LOS rate: -0.322599 deg/s, cmd heading: 77.670609 deg, new cmd heading: 77.215765 deg. 2025-01-08T22:18:42.383Z,1736374722.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347669 target range: 226.800003 and range: 226.80 m. 2025-01-08T22:18:42.520Z,1736374722.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:42.521Z,1736374722.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516695 2025-01-08T22:18:42.772Z,1736374722.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:42.774Z,1736374722.774 [DAT](INFO): DAT read: Range 10 to 50 : 224.5 m (Round-trip 299.4 ms) speed 0.1 m/s 2025-01-08T22:18:42.776Z,1736374722.776 [DAT](INFO): DAT read: user:2486> 2025-01-08T22:18:42.776Z,1736374722.776 [DAT](INFO): DAT read: Tx time:22:18:42.0500 2025-01-08T22:18:42.777Z,1736374722.777 [DAT](INFO): Ping request sent. 2025-01-08T22:18:42.777Z,1736374722.777 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:42.777Z,1736374722.777 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:18:42.777Z,1736374722.777 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:42.778Z,1736374722.778 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:42.781Z,1736374722.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:18:42.781Z,1736374722.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:42.792Z,1736374722.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 224.500000 m, deltaT: 3.780244 s, deltaX: -2.300003 m, approachRate: -0.608427 m/s, rangeRepo size: 4 2025-01-08T22:18:42.792Z,1736374722.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:42.795Z,1736374722.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 113.107964 m, bearing: 328.289336 deg, approach rate: 0.340075 m/s, LOS rate: -0.323891 deg/s, cmd heading: 77.215767 deg, new cmd heading: 76.816285 deg. 2025-01-08T22:18:42.796Z,1736374722.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.340697 target range: 226.800003 and range: 224.50 m. 2025-01-08T22:18:43.025Z,1736374723.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:43.026Z,1736374723.026 [DAT](INFO): DAT read: TxSync time:22:18:42.0493 2025-01-08T22:18:43.216Z,1736374723.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:18:43.216Z,1736374723.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:43.226Z,1736374723.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:43.229Z,1736374723.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 113.253555 m, bearing: 328.148193 deg, approach rate: 0.334202 m/s, LOS rate: -0.323573 deg/s, cmd heading: 76.816283 deg, new cmd heading: 76.393406 deg. 2025-01-08T22:18:43.230Z,1736374723.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.333316 target range: 226.800003 and range: 224.50 m. 2025-01-08T22:18:43.278Z,1736374723.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:43.529Z,1736374723.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:43.702Z,1736374723.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:43.711Z,1736374723.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:43.714Z,1736374723.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 113.397568 m, bearing: 328.005554 deg, approach rate: 0.296983 m/s, LOS rate: -0.293777 deg/s, cmd heading: 76.393405 deg, new cmd heading: 75.966040 deg. 2025-01-08T22:18:43.715Z,1736374723.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325858 target range: 226.800003 and range: 224.50 m. 2025-01-08T22:18:43.781Z,1736374723.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:44.026Z,1736374724.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:44.032Z,1736374724.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:44.037Z,1736374724.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:44.041Z,1736374724.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 113.492180 m, bearing: 327.909984 deg, approach rate: 0.289773 m/s, LOS rate: -0.292463 deg/s, cmd heading: 75.966040 deg, new cmd heading: 75.679571 deg. 2025-01-08T22:18:44.042Z,1736374724.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320858 target range: 226.800003 and range: 224.50 m. 2025-01-08T22:18:44.284Z,1736374724.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:44.439Z,1736374724.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:44.450Z,1736374724.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:44.457Z,1736374724.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:44.466Z,1736374724.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 113.610291 m, bearing: 327.788298 deg, approach rate: 0.282439 m/s, LOS rate: -0.290686 deg/s, cmd heading: 75.679568 deg, new cmd heading: 75.314895 deg. 2025-01-08T22:18:44.471Z,1736374724.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.314493 target range: 226.800003 and range: 224.50 m. 2025-01-08T22:18:44.537Z,1736374724.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:44.538Z,1736374724.538 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:44.538Z,1736374724.538 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:44.538Z,1736374724.538 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:44.788Z,1736374724.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:44.789Z,1736374724.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011841 2025-01-08T22:18:44.875Z,1736374724.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:44.884Z,1736374724.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:44.886Z,1736374724.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 113.724068 m, bearing: 327.667363 deg, approach rate: 0.266051 m/s, LOS rate: -0.282505 deg/s, cmd heading: 75.314898 deg, new cmd heading: 74.952460 deg. 2025-01-08T22:18:44.908Z,1736374724.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308167 target range: 226.800003 and range: 224.50 m. 2025-01-08T22:18:45.040Z,1736374725.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:45.041Z,1736374725.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264398 2025-01-08T22:18:45.292Z,1736374725.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:45.292Z,1736374725.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515692 2025-01-08T22:18:45.414Z,1736374725.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:45.423Z,1736374725.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:45.426Z,1736374725.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 113.858879 m, bearing: 327.516199 deg, approach rate: 0.249898 m/s, LOS rate: -0.279877 deg/s, cmd heading: 74.952461 deg, new cmd heading: 74.499517 deg. 2025-01-08T22:18:45.428Z,1736374725.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300262 target range: 226.800003 and range: 224.50 m. 2025-01-08T22:18:45.544Z,1736374725.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:45.545Z,1736374725.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768528 2025-01-08T22:18:45.796Z,1736374725.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:45.796Z,1736374725.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019653 2025-01-08T22:18:45.891Z,1736374725.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:45.916Z,1736374725.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:45.918Z,1736374725.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 113.978584 m, bearing: 327.390193 deg, approach rate: 0.244912 m/s, LOS rate: -0.257532 deg/s, cmd heading: 74.499517 deg, new cmd heading: 74.121901 deg. 2025-01-08T22:18:45.924Z,1736374725.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293671 target range: 226.800003 and range: 224.50 m. 2025-01-08T22:18:46.048Z,1736374726.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:46.048Z,1736374726.048 [DAT](INFO): DAT read: Rx Time:22:18:44.7511 2025-01-08T22:18:46.049Z,1736374726.049 [DAT](INFO): Rx dataTimestamp_ set to:1736374726.048597 2025-01-08T22:18:46.049Z,1736374726.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272599 2025-01-08T22:18:46.300Z,1736374726.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:46.300Z,1736374726.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523629 2025-01-08T22:18:46.368Z,1736374726.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:46.385Z,1736374726.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.80 m. 2025-01-08T22:18:46.392Z,1736374726.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 226.800003 m, nav range: 114.095581 m, bearing: 327.261052 deg, approach rate: 0.247025 m/s, LOS rate: -0.272387 deg/s, cmd heading: 74.121903 deg, new cmd heading: 73.734883 deg. 2025-01-08T22:18:46.393Z,1736374726.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286916 target range: 226.800003 and range: 224.50 m. 2025-01-08T22:18:46.552Z,1736374726.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:46.561Z,1736374726.561 [DAT](INFO): DAT read: 22:18:44.7511 LVL= 21408, 32753, 26402, 32755, AGC= 65, IDX= 144,-0.44, 2.575, 0.886, 1.604, 1.919, PHS= 0.744,-0.986,-0.318, RAW= 112.5, 7.5, CAL= 122.4, 4.4, ROT= 27.6, -4.4 2025-01-08T22:18:46.562Z,1736374726.562 [DAT](INFO): got valid direction response: 22:18:44.7511 LVL= 21408, 32753, 26402, 32755, AGC= 65, IDX= 144,-0.44, 2.575, 0.886, 1.604, 1.919, PHS= 0.744,-0.986,-0.318, RAW= 112.5, 7.5, CAL= 122.4, 4.4, ROT= 27.6, -4.4 2025-01-08T22:18:46.563Z,1736374726.563 [DAT](INFO): DAT read: Bearing 27.6, -4.4 (Local) 2025-01-08T22:18:46.564Z,1736374726.564 [DAT](INFO): Local bearing/azimuth received: Bearing 27.6, -4.4 (Local) 2025-01-08T22:18:46.565Z,1736374726.565 [DAT](INFO): DAT read: Range 10 to 50 : 222.6 m (Round-trip 296.9 ms) speed 0.8 m/s 2025-01-08T22:18:46.566Z,1736374726.566 [DAT](INFO): DAT read: user:2487> 2025-01-08T22:18:46.567Z,1736374726.567 [DAT](INFO): DAT read: Tx time:22:18:45.8500 2025-01-08T22:18:46.567Z,1736374726.567 [DAT](INFO): Ping request sent. 2025-01-08T22:18:46.567Z,1736374726.567 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:46.567Z,1736374726.567 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:46.568Z,1736374726.568 [DAT](INFO): direction in FSK: [-0.256567,-0.275057,0.926562] 2025-01-08T22:18:46.569Z,1736374726.569 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:46.569Z,1736374726.569 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:46.572Z,1736374726.572 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:46.572Z,1736374726.572 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:46.804Z,1736374726.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:46.805Z,1736374726.805 [DAT](INFO): DAT read: TxSync time:22:18:45.8493 2025-01-08T22:18:46.841Z,1736374726.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:46.876Z,1736374726.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 222.600006 m, deltaT: 3.780150 s, deltaX: -1.899994 m, approachRate: -0.502624 m/s, rangeRepo size: 4 2025-01-08T22:18:46.878Z,1736374726.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 222.600006 m, bearing: 317.985827 deg, lat: 36.905883 deg, lon: -122.121910 deg, deltaT: 7.560394 s, deltaX: -4.199997 m, approachRate: -0.555526 m/s, posRepo size: 4 2025-01-08T22:18:46.878Z,1736374726.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:18:46.897Z,1736374726.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 109.946701 m, bearing: 330.755070 deg, approach rate: 0.000000 m/s, LOS rate: -0.272387 deg/s, cmd heading: 73.734884 deg, new cmd heading: 73.338006 deg. 2025-01-08T22:18:46.898Z,1736374726.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.279990 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:18:47.056Z,1736374727.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:47.182Z,1736374727.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:47.189Z,1736374727.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:47.192Z,1736374727.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:18:47.195Z,1736374727.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 110.011696 m, bearing: 330.661962 deg, approach rate: 0.202152 m/s, LOS rate: -0.289421 deg/s, cmd heading: 73.338009 deg, new cmd heading: 73.058853 deg. 2025-01-08T22:18:47.196Z,1736374727.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275118 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:18:47.309Z,1736374727.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:47.309Z,1736374727.309 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:47.310Z,1736374727.310 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:47.310Z,1736374727.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:47.560Z,1736374727.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:47.560Z,1736374727.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993244 2025-01-08T22:18:47.589Z,1736374727.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:47.605Z,1736374727.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:18:47.610Z,1736374727.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 110.088127 m, bearing: 330.550751 deg, approach rate: 0.184932 m/s, LOS rate: -0.268899 deg/s, cmd heading: 73.058852 deg, new cmd heading: 72.725454 deg. 2025-01-08T22:18:47.614Z,1736374727.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.269299 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:18:47.812Z,1736374727.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:47.813Z,1736374727.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245672 2025-01-08T22:18:47.995Z,1736374727.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:48.006Z,1736374728.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:18:48.009Z,1736374728.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 110.164505 m, bearing: 330.441828 deg, approach rate: 0.190649 m/s, LOS rate: -0.271696 deg/s, cmd heading: 72.725457 deg, new cmd heading: 72.398919 deg. 2025-01-08T22:18:48.032Z,1736374728.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.263600 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:18:48.066Z,1736374728.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:48.067Z,1736374728.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500342 2025-01-08T22:18:48.316Z,1736374728.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:48.316Z,1736374728.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749375 2025-01-08T22:18:48.414Z,1736374728.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:48.456Z,1736374728.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:18:48.460Z,1736374728.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 110.242050 m, bearing: 330.328998 deg, approach rate: 0.172570 m/s, LOS rate: -0.250917 deg/s, cmd heading: 72.398919 deg, new cmd heading: 72.060670 deg. 2025-01-08T22:18:48.461Z,1736374728.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257696 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:18:48.568Z,1736374728.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:48.568Z,1736374728.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001477 2025-01-08T22:18:48.820Z,1736374728.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:48.821Z,1736374728.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253530 2025-01-08T22:18:48.826Z,1736374728.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:48.836Z,1736374728.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:18:48.838Z,1736374728.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 110.320000 m, bearing: 330.221333 deg, approach rate: 0.205199 m/s, LOS rate: -0.283223 deg/s, cmd heading: 72.060668 deg, new cmd heading: 71.737905 deg. 2025-01-08T22:18:48.839Z,1736374728.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252063 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:18:49.072Z,1736374729.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:49.072Z,1736374729.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505367 2025-01-08T22:18:49.186Z,1736374729.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:49.194Z,1736374729.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:49.201Z,1736374729.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:18:49.220Z,1736374729.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 110.384636 m, bearing: 330.126951 deg, approach rate: 0.176787 m/s, LOS rate: -0.257992 deg/s, cmd heading: 71.737907 deg, new cmd heading: 71.454930 deg. 2025-01-08T22:18:49.221Z,1736374729.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247124 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:18:49.325Z,1736374729.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:49.326Z,1736374729.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758509 2025-01-08T22:18:49.577Z,1736374729.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:49.578Z,1736374729.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010785 2025-01-08T22:18:49.680Z,1736374729.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:49.746Z,1736374729.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:18:49.755Z,1736374729.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 110.470055 m, bearing: 329.996987 deg, approach rate: 0.157076 m/s, LOS rate: -0.238806 deg/s, cmd heading: 71.454932 deg, new cmd heading: 71.065347 deg. 2025-01-08T22:18:49.760Z,1736374729.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240324 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:18:49.828Z,1736374729.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:49.829Z,1736374729.829 [DAT](INFO): DAT read: Rx Time:22:18:48.5487 2025-01-08T22:18:49.829Z,1736374729.829 [DAT](INFO): Rx dataTimestamp_ set to:1736374729.828899 2025-01-08T22:18:49.830Z,1736374729.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262727 2025-01-08T22:18:50.076Z,1736374730.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:50.090Z,1736374730.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:50.094Z,1736374730.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526264 2025-01-08T22:18:50.125Z,1736374730.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.60 m. 2025-01-08T22:18:50.132Z,1736374730.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.600006 m, nav range: 110.540886 m, bearing: 329.889582 deg, approach rate: 0.186252 m/s, LOS rate: -0.282241 deg/s, cmd heading: 71.065345 deg, new cmd heading: 70.743342 deg. 2025-01-08T22:18:50.133Z,1736374730.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.234704 target range: 222.600006 and range: 222.60 m. 2025-01-08T22:18:50.341Z,1736374730.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:50.348Z,1736374730.348 [DAT](INFO): DAT read: 22:18:48.5487 LVL= 21760, 32753, 31986, 32755, AGC= 68, IDX= 151, 0.03,-1.265,-3.030,-2.289,-1.944, PHS= 0.767,-1.039,-0.348, RAW= 112.3, 7.9, CAL= 122.1, 4.9, ROT= 27.9, -4.9 2025-01-08T22:18:50.349Z,1736374730.349 [DAT](INFO): got valid direction response: 22:18:48.5487 LVL= 21760, 32753, 31986, 32755, AGC= 68, IDX= 151, 0.03,-1.265,-3.030,-2.289,-1.944, PHS= 0.767,-1.039,-0.348, RAW= 112.3, 7.9, CAL= 122.1, 4.9, ROT= 27.9, -4.9 2025-01-08T22:18:50.350Z,1736374730.350 [DAT](INFO): DAT read: Bearing 27.9, -4.9 (Local) 2025-01-08T22:18:50.351Z,1736374730.351 [DAT](INFO): Local bearing/azimuth received: Bearing 27.9, -4.9 (Local) 2025-01-08T22:18:50.358Z,1736374730.358 [DAT](INFO): DAT read: Range 10 to 50 : 220.8 m (Round-trip 294.5 ms) speed 0.4 m/s 2025-01-08T22:18:50.359Z,1736374730.359 [DAT](INFO): DAT read: user:2488> 2025-01-08T22:18:50.361Z,1736374730.361 [DAT](INFO): DAT read: Tx time:22:18:49.6500 2025-01-08T22:18:50.361Z,1736374730.361 [DAT](INFO): Ping request sent. 2025-01-08T22:18:50.361Z,1736374730.361 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:50.361Z,1736374730.361 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:50.362Z,1736374730.362 [DAT](INFO): direction in FSK: [-0.264544,-0.270271,0.925727] 2025-01-08T22:18:50.362Z,1736374730.362 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:50.363Z,1736374730.363 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:50.366Z,1736374730.366 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:50.366Z,1736374730.366 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:50.534Z,1736374730.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:50.566Z,1736374730.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 220.800003 m, deltaT: 3.788913 s, deltaX: -1.800003 m, approachRate: -0.475071 m/s, rangeRepo size: 4 2025-01-08T22:18:50.572Z,1736374730.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 220.800003 m, bearing: 311.752363 deg, lat: 36.905883 deg, lon: -122.121910 deg, deltaT: 3.788913 s, deltaX: -1.800003 m, approachRate: -0.475071 m/s, posRepo size: 4 2025-01-08T22:18:50.573Z,1736374730.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:50.588Z,1736374730.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 110.621742 m, bearing: 329.765587 deg, approach rate: 0.000000 m/s, LOS rate: -0.282241 deg/s, cmd heading: 70.743343 deg, new cmd heading: 70.370707 deg. 2025-01-08T22:18:50.589Z,1736374730.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228201 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:50.592Z,1736374730.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:50.593Z,1736374730.593 [DAT](INFO): DAT read: TxSync time:22:18:49.6493 2025-01-08T22:18:50.844Z,1736374730.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:50.959Z,1736374730.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:50.987Z,1736374730.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:50.998Z,1736374730.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 110.697906 m, bearing: 329.647599 deg, approach rate: 0.180685 m/s, LOS rate: -0.279712 deg/s, cmd heading: 70.370708 deg, new cmd heading: 70.016991 deg. 2025-01-08T22:18:50.998Z,1736374730.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222027 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:51.096Z,1736374731.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:51.330Z,1736374731.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:51.337Z,1736374731.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:51.340Z,1736374731.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:51.344Z,1736374731.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 110.763016 m, bearing: 329.544387 deg, approach rate: 0.184687 m/s, LOS rate: -0.292595 deg/s, cmd heading: 70.016993 deg, new cmd heading: 69.707544 deg. 2025-01-08T22:18:51.345Z,1736374731.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216626 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:51.348Z,1736374731.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:51.348Z,1736374731.348 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:51.348Z,1736374731.348 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:51.349Z,1736374731.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:51.600Z,1736374731.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:51.600Z,1736374731.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239389 2025-01-08T22:18:51.810Z,1736374731.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:51.819Z,1736374731.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:51.822Z,1736374731.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 110.851334 m, bearing: 329.404100 deg, approach rate: 0.184152 m/s, LOS rate: -0.292282 deg/s, cmd heading: 69.707545 deg, new cmd heading: 69.287025 deg. 2025-01-08T22:18:51.823Z,1736374731.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209287 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:51.852Z,1736374731.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:51.853Z,1736374731.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492021 2025-01-08T22:18:52.104Z,1736374732.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:52.105Z,1736374732.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743639 2025-01-08T22:18:52.187Z,1736374732.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:52.198Z,1736374732.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:52.203Z,1736374732.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 110.921051 m, bearing: 329.294246 deg, approach rate: 0.183701 m/s, LOS rate: -0.289276 deg/s, cmd heading: 69.287024 deg, new cmd heading: 68.957673 deg. 2025-01-08T22:18:52.204Z,1736374732.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203538 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:52.360Z,1736374732.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:52.361Z,1736374732.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999852 2025-01-08T22:18:52.553Z,1736374732.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:52.583Z,1736374732.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:52.590Z,1736374732.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 110.986916 m, bearing: 329.187147 deg, approach rate: 0.171347 m/s, LOS rate: -0.278452 deg/s, cmd heading: 68.957672 deg, new cmd heading: 68.636570 deg. 2025-01-08T22:18:52.596Z,1736374732.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.197934 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:52.609Z,1736374732.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:52.610Z,1736374732.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248651 2025-01-08T22:18:52.861Z,1736374732.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:52.862Z,1736374732.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500507 2025-01-08T22:18:52.997Z,1736374732.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:53.006Z,1736374733.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:53.010Z,1736374733.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.065086 m, bearing: 329.052454 deg, approach rate: 0.184721 m/s, LOS rate: -0.318062 deg/s, cmd heading: 68.636571 deg, new cmd heading: 68.232783 deg. 2025-01-08T22:18:53.012Z,1736374733.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190887 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:53.112Z,1736374733.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:53.113Z,1736374733.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751651 2025-01-08T22:18:53.364Z,1736374733.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:53.364Z,1736374733.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003336 2025-01-08T22:18:53.370Z,1736374733.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:53.378Z,1736374733.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:53.381Z,1736374733.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:53.384Z,1736374733.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.129288 m, bearing: 328.939445 deg, approach rate: 0.171161 m/s, LOS rate: -0.301107 deg/s, cmd heading: 68.232784 deg, new cmd heading: 67.893958 deg. 2025-01-08T22:18:53.385Z,1736374733.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.184973 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:53.616Z,1736374733.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:53.616Z,1736374733.616 [DAT](INFO): DAT read: Rx Time:22:18:52.3194 2025-01-08T22:18:53.617Z,1736374733.617 [DAT](INFO): Rx dataTimestamp_ set to:1736374733.616658 2025-01-08T22:18:53.617Z,1736374733.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256553 2025-01-08T22:18:53.833Z,1736374733.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:53.843Z,1736374733.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:53.845Z,1736374733.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.214005 m, bearing: 328.793374 deg, approach rate: 0.183547 m/s, LOS rate: -0.316236 deg/s, cmd heading: 67.893959 deg, new cmd heading: 67.456087 deg. 2025-01-08T22:18:53.846Z,1736374733.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.177331 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:53.868Z,1736374733.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:53.869Z,1736374733.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507596 2025-01-08T22:18:54.120Z,1736374734.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:54.137Z,1736374734.137 [DAT](INFO): DAT read: 22:18:52.3194 LVL= 19264, 32753, 30322, 32755, AGC= 64, IDX= 135, 0.47, 2.714, 0.977, 1.771, 2.151, PHS= 0.651,-1.127,-0.383, RAW= 114.6, 11.1, CAL= 123.3, 8.0, ROT= 26.7, -8.0 2025-01-08T22:18:54.138Z,1736374734.138 [DAT](INFO): got valid direction response: 22:18:52.3194 LVL= 19264, 32753, 30322, 32755, AGC= 64, IDX= 135, 0.47, 2.714, 0.977, 1.771, 2.151, PHS= 0.651,-1.127,-0.383, RAW= 114.6, 11.1, CAL= 123.3, 8.0, ROT= 26.7, -8.0 2025-01-08T22:18:54.139Z,1736374734.139 [DAT](INFO): DAT read: Bearing 26.7, -8.0 (Local) 2025-01-08T22:18:54.139Z,1736374734.139 [DAT](INFO): Local bearing/azimuth received: Bearing 26.7, -8.0 (Local) 2025-01-08T22:18:54.142Z,1736374734.142 [DAT](INFO): DAT read: Range 10 to 50 : 198.8 m (Round-trip 265.1 ms) speed 0.4 m/s 2025-01-08T22:18:54.143Z,1736374734.143 [DAT](INFO): DAT read: user:2489> 2025-01-08T22:18:54.144Z,1736374734.144 [DAT](INFO): DAT read: Tx time:22:18:53.4001 2025-01-08T22:18:54.144Z,1736374734.144 [DAT](INFO): Ping request sent. 2025-01-08T22:18:54.144Z,1736374734.144 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:54.144Z,1736374734.144 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:54.145Z,1736374734.145 [DAT](INFO): direction in FSK: [-0.325445,-0.302263,0.895948] 2025-01-08T22:18:54.146Z,1736374734.146 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:54.146Z,1736374734.146 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:54.158Z,1736374734.158 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:54.158Z,1736374734.158 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:54.242Z,1736374734.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:54.276Z,1736374734.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 198.800003 m, deltaT: 3.778704 s, deltaX: -22.000000 m, approachRate: -5.822102 m/s, rangeRepo size: 4 2025-01-08T22:18:54.277Z,1736374734.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:54.280Z,1736374734.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.288612 m, bearing: 328.664607 deg, approach rate: 0.174086 m/s, LOS rate: -0.300257 deg/s, cmd heading: 67.456089 deg, new cmd heading: 67.070054 deg. 2025-01-08T22:18:54.281Z,1736374734.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170593 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:54.373Z,1736374734.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:54.375Z,1736374734.375 [DAT](INFO): DAT read: TxSync time:22:18:53.3994 2025-01-08T22:18:54.561Z,1736374734.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:54.570Z,1736374734.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:54.592Z,1736374734.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.346519 m, bearing: 328.564067 deg, approach rate: 0.194029 m/s, LOS rate: -0.336705 deg/s, cmd heading: 67.070053 deg, new cmd heading: 66.768593 deg. 2025-01-08T22:18:54.593Z,1736374734.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.165332 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:54.625Z,1736374734.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:54.876Z,1736374734.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:54.991Z,1736374734.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:54.000Z,1736374735.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:55.002Z,1736374735.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.418983 m, bearing: 328.424077 deg, approach rate: 0.168383 m/s, LOS rate: -0.325080 deg/s, cmd heading: 66.768589 deg, new cmd heading: 66.348900 deg. 2025-01-08T22:18:55.020Z,1736374735.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.158007 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:55.128Z,1736374735.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:55.368Z,1736374735.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:55.380Z,1736374735.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:55.396Z,1736374735.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:55.398Z,1736374735.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:55.408Z,1736374735.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.481743 m, bearing: 328.301762 deg, approach rate: 0.157719 m/s, LOS rate: -0.307214 deg/s, cmd heading: 66.348902 deg, new cmd heading: 65.982169 deg. 2025-01-08T22:18:55.409Z,1736374735.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.151606 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:55.632Z,1736374735.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:55.632Z,1736374735.632 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:55.632Z,1736374735.632 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:55.633Z,1736374735.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:55.860Z,1736374735.860 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,32768,-32768,V 2025-01-08T22:18:55.867Z,1736374735.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:18:55.867Z,1736374735.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:55.877Z,1736374735.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:55.880Z,1736374735.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.564827 m, bearing: 328.139398 deg, approach rate: 0.173286 m/s, LOS rate: -0.338385 deg/s, cmd heading: 65.982168 deg, new cmd heading: 65.495452 deg. 2025-01-08T22:18:55.881Z,1736374735.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.143111 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:55.884Z,1736374735.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:55.884Z,1736374735.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740290 2025-01-08T22:18:56.136Z,1736374736.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:56.136Z,1736374736.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992297 2025-01-08T22:18:56.198Z,1736374736.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:18:56.198Z,1736374736.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:56.219Z,1736374736.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:56.222Z,1736374736.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.619530 m, bearing: 328.031916 deg, approach rate: 0.161890 m/s, LOS rate: -0.317931 deg/s, cmd heading: 65.495449 deg, new cmd heading: 65.173165 deg. 2025-01-08T22:18:56.227Z,1736374736.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137486 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:56.388Z,1736374736.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:56.388Z,1736374736.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244257 2025-01-08T22:18:56.585Z,1736374736.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:18:56.585Z,1736374736.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:56.594Z,1736374736.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:56.597Z,1736374736.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.683182 m, bearing: 327.906276 deg, approach rate: 0.167871 m/s, LOS rate: -0.331165 deg/s, cmd heading: 65.173166 deg, new cmd heading: 64.796466 deg. 2025-01-08T22:18:56.598Z,1736374736.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130912 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:56.640Z,1736374736.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:56.641Z,1736374736.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497104 2025-01-08T22:18:56.892Z,1736374736.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:56.892Z,1736374736.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748254 2025-01-08T22:18:57.002Z,1736374737.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:57.031Z,1736374737.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:57.042Z,1736374737.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.743362 m, bearing: 327.765652 deg, approach rate: 0.137909 m/s, LOS rate: -0.322077 deg/s, cmd heading: 64.796468 deg, new cmd heading: 64.374831 deg. 2025-01-08T22:18:57.043Z,1736374737.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123553 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:57.144Z,1736374737.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:57.145Z,1736374737.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000882 2025-01-08T22:18:57.390Z,1736374737.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:57.396Z,1736374737.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:57.397Z,1736374737.397 [DAT](INFO): DAT read: Rx Time:22:18:56.0662 2025-01-08T22:18:57.397Z,1736374737.397 [DAT](INFO): Rx dataTimestamp_ set to:1736374737.396713 2025-01-08T22:18:57.397Z,1736374737.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253351 2025-01-08T22:18:57.401Z,1736374737.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:57.403Z,1736374737.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:57.406Z,1736374737.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.798058 m, bearing: 327.635168 deg, approach rate: 0.147013 m/s, LOS rate: -0.350551 deg/s, cmd heading: 64.374833 deg, new cmd heading: 63.983579 deg. 2025-01-08T22:18:57.406Z,1736374737.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116724 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:57.649Z,1736374737.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:57.650Z,1736374737.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505087 2025-01-08T22:18:57.860Z,1736374737.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:57.874Z,1736374737.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m. 2025-01-08T22:18:57.884Z,1736374737.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.800003 m, nav range: 111.863075 m, bearing: 327.476820 deg, approach rate: 0.138389 m/s, LOS rate: -0.336846 deg/s, cmd heading: 63.983580 deg, new cmd heading: 63.508822 deg. 2025-01-08T22:18:57.885Z,1736374737.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108438 target range: 220.800003 and range: 220.80 m. 2025-01-08T22:18:57.908Z,1736374737.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:57.915Z,1736374737.915 [DAT](INFO): DAT read: 22:18:56.0662 LVL= 23584, 32753, 32754, 32755, AGC= 67, IDX= 407,-0.25, 2.040, 0.405, 1.041, 1.469, PHS= 0.659,-1.017,-0.430, RAW= 110.2, 10.7, CAL= 119.4, 8.3, ROT= 30.6, -8.3 2025-01-08T22:18:57.916Z,1736374737.916 [DAT](INFO): got valid direction response: 22:18:56.0662 LVL= 23584, 32753, 32754, 32755, AGC= 67, IDX= 407,-0.25, 2.040, 0.405, 1.041, 1.469, PHS= 0.659,-1.017,-0.430, RAW= 110.2, 10.7, CAL= 119.4, 8.3, ROT= 30.6, -8.3 2025-01-08T22:18:57.917Z,1736374737.917 [DAT](INFO): DAT read: Bearing 30.6, -8.3 (Local) 2025-01-08T22:18:57.917Z,1736374737.917 [DAT](INFO): Local bearing/azimuth received: Bearing 30.6, -8.3 (Local) 2025-01-08T22:18:57.919Z,1736374737.919 [DAT](INFO): DAT read: Range 10 to 50 : 196.4 m (Round-trip 261.9 ms) speed 0.4 m/s 2025-01-08T22:18:57.920Z,1736374737.920 [DAT](INFO): DAT read: user:2490> 2025-01-08T22:18:57.921Z,1736374737.921 [DAT](INFO): DAT read: Tx time:22:18:57.1501 2025-01-08T22:18:57.921Z,1736374737.921 [DAT](INFO): Ping request sent. 2025-01-08T22:18:57.921Z,1736374737.921 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:18:57.921Z,1736374737.921 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:18:57.922Z,1736374737.922 [DAT](INFO): direction in FSK: [-0.313644,-0.228882,0.921543] 2025-01-08T22:18:57.922Z,1736374737.922 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:57.923Z,1736374737.923 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:57.927Z,1736374737.927 [DAT](INFO): publishing transmit ping time 2025-01-08T22:18:57.927Z,1736374737.927 [DAT](INFO): publishing direction and range info 2025-01-08T22:18:58.160Z,1736374738.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:58.161Z,1736374738.161 [DAT](INFO): DAT read: TxSync time:22:18:57.1494 2025-01-08T22:18:58.255Z,1736374738.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:58.300Z,1736374738.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 196.399994 m, deltaT: 7.567081 s, deltaX: -24.400009 m, approachRate: -3.224494 m/s, rangeRepo size: 4 2025-01-08T22:18:58.302Z,1736374738.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 196.399994 m, bearing: 291.483271 deg, lat: 36.905547 deg, lon: -122.122018 deg, deltaT: 7.567081 s, deltaX: -24.400009 m, approachRate: -3.224494 m/s, posRepo size: 4 2025-01-08T22:18:58.307Z,1736374738.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.40 m. 2025-01-08T22:18:58.310Z,1736374738.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.399994 m, nav range: 90.123154 m, bearing: 309.130266 deg, approach rate: 0.000000 m/s, LOS rate: -0.336846 deg/s, cmd heading: 63.508820 deg, new cmd heading: 63.081922 deg. 2025-01-08T22:18:58.311Z,1736374738.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100987 target range: 196.399994 and range: 196.40 m. 2025-01-08T22:18:58.412Z,1736374738.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:58.664Z,1736374738.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:58.822Z,1736374738.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:58.879Z,1736374738.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.40 m. 2025-01-08T22:18:58.894Z,1736374738.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.399994 m, nav range: 90.298836 m, bearing: 308.923147 deg, approach rate: 0.301600 m/s, LOS rate: -0.354876 deg/s, cmd heading: 63.081920 deg, new cmd heading: 62.461796 deg. 2025-01-08T22:18:58.901Z,1736374738.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.090164 target range: 196.399994 and range: 196.40 m. 2025-01-08T22:18:58.916Z,1736374738.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:59.168Z,1736374739.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:59.330Z,1736374739.330 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2025-01-08T22:18:59.332Z,1736374739.332 [BPC1](INFO): Received data from all battery sticks. 2025-01-08T22:18:59.420Z,1736374739.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:59.468Z,1736374739.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:59.478Z,1736374739.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:18:59.481Z,1736374739.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.40 m. 2025-01-08T22:18:59.484Z,1736374739.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.399994 m, nav range: 90.501404 m, bearing: 308.689984 deg, approach rate: 0.335925 m/s, LOS rate: -0.385794 deg/s, cmd heading: 62.461793 deg, new cmd heading: 61.763908 deg. 2025-01-08T22:18:59.485Z,1736374739.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077983 target range: 196.399994 and range: 196.40 m. 2025-01-08T22:18:59.673Z,1736374739.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:59.674Z,1736374739.674 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:18:59.674Z,1736374739.674 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:18:59.675Z,1736374739.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:18:59.924Z,1736374739.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:18:59.925Z,1736374739.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004228 2025-01-08T22:18:59.947Z,1736374739.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:18:59.955Z,1736374739.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.40 m. 2025-01-08T22:18:59.959Z,1736374739.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.399994 m, nav range: 90.644913 m, bearing: 308.523375 deg, approach rate: 0.302518 m/s, LOS rate: -0.350657 deg/s, cmd heading: 61.763905 deg, new cmd heading: 61.264883 deg. 2025-01-08T22:18:59.960Z,1736374739.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.069274 target range: 196.399994 and range: 196.40 m. 2025-01-08T22:19:00.176Z,1736374740.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:00.176Z,1736374740.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255465 2025-01-08T22:19:00.308Z,1736374740.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:00.317Z,1736374740.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.40 m. 2025-01-08T22:19:00.320Z,1736374740.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.399994 m, nav range: 90.748589 m, bearing: 308.395841 deg, approach rate: 0.286007 m/s, LOS rate: -0.351421 deg/s, cmd heading: 61.264884 deg, new cmd heading: 60.882726 deg. 2025-01-08T22:19:00.321Z,1736374740.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062604 target range: 196.399994 and range: 196.40 m. 2025-01-08T22:19:00.428Z,1736374740.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:00.429Z,1736374740.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508395 2025-01-08T22:19:00.680Z,1736374740.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:00.681Z,1736374740.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760088 2025-01-08T22:19:00.736Z,1736374740.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:00.749Z,1736374740.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.40 m. 2025-01-08T22:19:00.752Z,1736374740.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.399994 m, nav range: 90.871849 m, bearing: 308.245311 deg, approach rate: 0.285738 m/s, LOS rate: -0.348481 deg/s, cmd heading: 60.882728 deg, new cmd heading: 60.431759 deg. 2025-01-08T22:19:00.753Z,1736374740.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.054733 target range: 196.399994 and range: 196.40 m. 2025-01-08T22:19:00.933Z,1736374740.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:00.935Z,1736374740.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013723 2025-01-08T22:19:01.144Z,1736374741.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:01.161Z,1736374741.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.40 m. 2025-01-08T22:19:01.164Z,1736374741.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.399994 m, nav range: 90.987350 m, bearing: 308.106572 deg, approach rate: 0.280341 m/s, LOS rate: -0.336315 deg/s, cmd heading: 60.431758 deg, new cmd heading: 60.016077 deg. 2025-01-08T22:19:01.165Z,1736374741.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.047478 target range: 196.399994 and range: 196.40 m. 2025-01-08T22:19:01.184Z,1736374741.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:01.184Z,1736374741.184 [DAT](INFO): DAT read: Rx Time:22:18:59.8141 2025-01-08T22:19:01.185Z,1736374741.185 [DAT](INFO): Rx dataTimestamp_ set to:1736374741.184519 2025-01-08T22:19:01.185Z,1736374741.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264422 2025-01-08T22:19:01.436Z,1736374741.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:01.437Z,1736374741.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516118 2025-01-08T22:19:01.544Z,1736374741.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:01.550Z,1736374741.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:01.553Z,1736374741.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.40 m. 2025-01-08T22:19:01.564Z,1736374741.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.399994 m, nav range: 91.098923 m, bearing: 307.970139 deg, approach rate: 0.284737 m/s, LOS rate: -0.347754 deg/s, cmd heading: 60.016080 deg, new cmd heading: 59.607292 deg. 2025-01-08T22:19:01.565Z,1736374741.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.040344 target range: 196.399994 and range: 196.40 m. 2025-01-08T22:19:01.689Z,1736374741.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:01.699Z,1736374741.699 [DAT](INFO): DAT read: 22:18:59.8141 LVL= 27344, 32753, 29810, 32755, AGC= 63, IDX= 417,-0.06, 2.082, 0.315, 0.873, 1.389, PHS= 0.781,-1.026,-0.519, RAW= 105.8, 9.5, CAL= 115.3, 7.7, ROT= 34.7, -7.7 2025-01-08T22:19:01.702Z,1736374741.702 [DAT](INFO): got valid direction response: 22:18:59.8141 LVL= 27344, 32753, 29810, 32755, AGC= 63, IDX= 417,-0.06, 2.082, 0.315, 0.873, 1.389, PHS= 0.781,-1.026,-0.519, RAW= 105.8, 9.5, CAL= 115.3, 7.7, ROT= 34.7, -7.7 2025-01-08T22:19:01.704Z,1736374741.704 [DAT](INFO): DAT read: Bearing 34.7, -7.7 (Local) 2025-01-08T22:19:01.704Z,1736374741.704 [DAT](INFO): Local bearing/azimuth received: Bearing 34.7, -7.7 (Local) 2025-01-08T22:19:01.706Z,1736374741.706 [DAT](INFO): DAT read: Range 10 to 50 : 194.8 m (Round-trip 259.8 ms) speed 0.4 m/s 2025-01-08T22:19:01.706Z,1736374741.706 [DAT](INFO): DAT read: user:2491> 2025-01-08T22:19:01.712Z,1736374741.712 [DAT](INFO): DAT read: Tx time:22:19:00.9001 2025-01-08T22:19:01.712Z,1736374741.712 [DAT](INFO): Ping request sent. 2025-01-08T22:19:01.712Z,1736374741.712 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:01.713Z,1736374741.713 [DAT](INFO): DAT read: TxSync time:22:19:00.8994 2025-01-08T22:19:01.713Z,1736374741.713 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:01.714Z,1736374741.714 [DAT](INFO): direction in FSK: [-0.286340,-0.155940,0.945353] 2025-01-08T22:19:01.714Z,1736374741.714 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:01.715Z,1736374741.715 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:01.722Z,1736374741.722 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:01.722Z,1736374741.722 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:01.940Z,1736374741.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:02.001Z,1736374742.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:02.033Z,1736374742.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 194.800003 m, deltaT: 3.781173 s, deltaX: -1.599991 m, approachRate: -0.423147 m/s, rangeRepo size: 4 2025-01-08T22:19:02.035Z,1736374742.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 194.800003 m, bearing: 280.444976 deg, lat: 36.905495 deg, lon: -122.122018 deg, deltaT: 3.781173 s, deltaX: -1.599991 m, approachRate: -0.423147 m/s, posRepo size: 4 2025-01-08T22:19:02.040Z,1736374742.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.80 m. 2025-01-08T22:19:02.047Z,1736374742.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.800003 m, nav range: 87.795547 m, bearing: 304.831793 deg, approach rate: 0.000000 m/s, LOS rate: -0.347754 deg/s, cmd heading: 59.607293 deg, new cmd heading: 59.107119 deg. 2025-01-08T22:19:02.048Z,1736374742.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.031614 target range: 194.800003 and range: 194.80 m. 2025-01-08T22:19:02.192Z,1736374742.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:02.328Z,1736374742.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:02.358Z,1736374742.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.80 m. 2025-01-08T22:19:02.361Z,1736374742.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.800003 m, nav range: 87.895523 m, bearing: 304.723601 deg, approach rate: 0.307779 m/s, LOS rate: -0.332694 deg/s, cmd heading: 59.107118 deg, new cmd heading: 58.782916 deg. 2025-01-08T22:19:02.362Z,1736374742.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.025955 target range: 194.800003 and range: 194.80 m. 2025-01-08T22:19:02.444Z,1736374742.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:02.696Z,1736374742.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:02.741Z,1736374742.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:02.750Z,1736374742.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.80 m. 2025-01-08T22:19:02.769Z,1736374742.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.800003 m, nav range: 88.020515 m, bearing: 304.586405 deg, approach rate: 0.317973 m/s, LOS rate: -0.348524 deg/s, cmd heading: 58.782917 deg, new cmd heading: 58.371919 deg. 2025-01-08T22:19:02.770Z,1736374742.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.018782 target range: 194.800003 and range: 194.80 m. 2025-01-08T22:19:02.948Z,1736374742.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:03.166Z,1736374743.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:03.176Z,1736374743.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.80 m. 2025-01-08T22:19:03.179Z,1736374743.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.800003 m, nav range: 88.152626 m, bearing: 304.445562 deg, approach rate: 0.310088 m/s, LOS rate: -0.330088 deg/s, cmd heading: 58.371917 deg, new cmd heading: 57.950030 deg. 2025-01-08T22:19:03.180Z,1736374743.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.011419 target range: 194.800003 and range: 194.80 m. 2025-01-08T22:19:03.201Z,1736374743.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:03.452Z,1736374743.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:03.548Z,1736374743.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:03.575Z,1736374743.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:03.577Z,1736374743.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.80 m. 2025-01-08T22:19:03.584Z,1736374743.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.800003 m, nav range: 88.269714 m, bearing: 304.318327 deg, approach rate: 0.291737 m/s, LOS rate: -0.316599 deg/s, cmd heading: 57.950030 deg, new cmd heading: 57.568836 deg. 2025-01-08T22:19:03.585Z,1736374743.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.004766 target range: 194.800003 and range: 194.80 m. 2025-01-08T22:19:03.709Z,1736374743.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:03.709Z,1736374743.709 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:03.709Z,1736374743.709 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:03.709Z,1736374743.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:03.960Z,1736374743.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:03.960Z,1736374743.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248386 2025-01-08T22:19:04.004Z,1736374744.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:04.014Z,1736374744.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.80 m. 2025-01-08T22:19:04.016Z,1736374744.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.800003 m, nav range: 88.414223 m, bearing: 304.168381 deg, approach rate: 0.331396 m/s, LOS rate: -0.343304 deg/s, cmd heading: 57.568837 deg, new cmd heading: 57.119743 deg. 2025-01-08T22:19:04.017Z,1736374744.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996928 target range: 194.800003 and range: 194.80 m. 2025-01-08T22:19:04.212Z,1736374744.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:04.212Z,1736374744.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500295 2025-01-08T22:19:04.368Z,1736374744.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:04.377Z,1736374744.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.80 m. 2025-01-08T22:19:04.380Z,1736374744.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.800003 m, nav range: 88.528236 m, bearing: 304.048624 deg, approach rate: 0.313305 m/s, LOS rate: -0.328664 deg/s, cmd heading: 57.119742 deg, new cmd heading: 56.760938 deg. 2025-01-08T22:19:04.381Z,1736374744.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990665 target range: 194.800003 and range: 194.80 m. 2025-01-08T22:19:04.464Z,1736374744.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:04.465Z,1736374744.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752501 2025-01-08T22:19:04.716Z,1736374744.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:04.717Z,1736374744.717 [DAT](INFO): DAT read: Rx Time:22:19:03.5621 2025-01-08T22:19:04.717Z,1736374744.717 [DAT](INFO): Rx dataTimestamp_ set to:1736374744.716684 2025-01-08T22:19:04.717Z,1736374744.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005414 2025-01-08T22:19:04.801Z,1736374744.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:04.810Z,1736374744.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.80 m. 2025-01-08T22:19:04.813Z,1736374744.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.800003 m, nav range: 88.663124 m, bearing: 303.905853 deg, approach rate: 0.311523 m/s, LOS rate: -0.329226 deg/s, cmd heading: 56.760938 deg, new cmd heading: 56.333287 deg. 2025-01-08T22:19:04.814Z,1736374744.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983201 target range: 194.800003 and range: 194.80 m. 2025-01-08T22:19:04.969Z,1736374744.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:04.970Z,1736374744.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257833 2025-01-08T22:19:05.221Z,1736374745.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:05.236Z,1736374745.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510905 2025-01-08T22:19:05.273Z,1736374745.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:05.295Z,1736374745.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.80 m. 2025-01-08T22:19:05.302Z,1736374745.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.800003 m, nav range: 88.811493 m, bearing: 303.751942 deg, approach rate: 0.306397 m/s, LOS rate: -0.317311 deg/s, cmd heading: 56.333286 deg, new cmd heading: 55.872334 deg. 2025-01-08T22:19:05.303Z,1736374745.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.975156 target range: 194.800003 and range: 194.80 m. 2025-01-08T22:19:05.472Z,1736374745.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:05.479Z,1736374745.479 [DAT](INFO): DAT read: 22:19:03.5621 LVL= 16592, 32753, 28146, 32755, AGC= 62, IDX= 428, 0.49, 0.304,-1.473,-1.078,-0.556, PHS= 0.948,-0.870,-0.525, RAW= 100.3, 5.4, CAL= 110.3, 3.8, ROT= 39.7, -3.8 2025-01-08T22:19:05.480Z,1736374745.480 [DAT](INFO): got valid direction response: 22:19:03.5621 LVL= 16592, 32753, 28146, 32755, AGC= 62, IDX= 428, 0.49, 0.304,-1.473,-1.078,-0.556, PHS= 0.948,-0.870,-0.525, RAW= 100.3, 5.4, CAL= 110.3, 3.8, ROT= 39.7, -3.8 2025-01-08T22:19:05.481Z,1736374745.481 [DAT](INFO): DAT read: Bearing 39.7, -3.8 (Local) 2025-01-08T22:19:05.482Z,1736374745.482 [DAT](INFO): Local bearing/azimuth received: Bearing 39.7, -3.8 (Local) 2025-01-08T22:19:05.486Z,1736374745.486 [DAT](INFO): DAT read: Range 10 to 50 : 193.3 m (Round-trip 257.8 ms) speed 0.5 m/s 2025-01-08T22:19:05.487Z,1736374745.487 [DAT](INFO): DAT read: user:2492> 2025-01-08T22:19:05.488Z,1736374745.488 [DAT](INFO): DAT read: Tx time:22:19:04.6501 2025-01-08T22:19:05.489Z,1736374745.489 [DAT](INFO): Ping request sent. 2025-01-08T22:19:05.489Z,1736374745.489 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:05.489Z,1736374745.489 [DAT](INFO): DAT read: TxSync time:22:19:04.6494 2025-01-08T22:19:05.490Z,1736374745.490 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:05.516Z,1736374745.516 [DAT](INFO): direction in FSK: [-0.202978,-0.066385,0.976930] 2025-01-08T22:19:05.516Z,1736374745.516 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:05.516Z,1736374745.516 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:05.525Z,1736374745.525 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:05.525Z,1736374745.525 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:05.594Z,1736374745.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:05.648Z,1736374745.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 193.300003 m, deltaT: 3.782365 s, deltaX: -1.500000 m, approachRate: -0.396577 m/s, rangeRepo size: 4 2025-01-08T22:19:05.660Z,1736374745.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 193.300003 m, bearing: 273.950216 deg, lat: 36.905315 deg, lon: -122.122018 deg, deltaT: 3.782365 s, deltaX: -1.500000 m, approachRate: -0.396577 m/s, posRepo size: 4 2025-01-08T22:19:05.661Z,1736374745.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.30 m. 2025-01-08T22:19:05.670Z,1736374745.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.300003 m, nav range: 79.609238 m, bearing: 291.607022 deg, approach rate: 0.000000 m/s, LOS rate: -0.317311 deg/s, cmd heading: 55.872334 deg, new cmd heading: 55.537684 deg. 2025-01-08T22:19:05.676Z,1736374745.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.969315 target range: 193.300003 and range: 193.30 m. 2025-01-08T22:19:05.725Z,1736374745.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:05.976Z,1736374745.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:06.050Z,1736374746.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:06.058Z,1736374746.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:06.061Z,1736374746.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.30 m. 2025-01-08T22:19:06.063Z,1736374746.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.300003 m, nav range: 79.800911 m, bearing: 291.459515 deg, approach rate: 0.462427 m/s, LOS rate: -0.355018 deg/s, cmd heading: 55.537685 deg, new cmd heading: 55.096236 deg. 2025-01-08T22:19:06.064Z,1736374746.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.961611 target range: 193.300003 and range: 193.30 m. 2025-01-08T22:19:06.228Z,1736374746.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:06.228Z,1736374746.228 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:06.228Z,1736374746.228 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:06.229Z,1736374746.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:06.399Z,1736374746.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:06.408Z,1736374746.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.30 m. 2025-01-08T22:19:06.410Z,1736374746.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.300003 m, nav range: 79.946617 m, bearing: 291.346827 deg, approach rate: 0.420728 m/s, LOS rate: -0.324794 deg/s, cmd heading: 55.096237 deg, new cmd heading: 54.758793 deg. 2025-01-08T22:19:06.412Z,1736374746.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.955721 target range: 193.300003 and range: 193.30 m. 2025-01-08T22:19:06.481Z,1736374746.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:06.482Z,1736374746.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993265 2025-01-08T22:19:06.732Z,1736374746.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:06.732Z,1736374746.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243654 2025-01-08T22:19:06.802Z,1736374746.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:06.811Z,1736374746.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.30 m. 2025-01-08T22:19:06.814Z,1736374746.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.300003 m, nav range: 80.115295 m, bearing: 291.216639 deg, approach rate: 0.417520 m/s, LOS rate: -0.321570 deg/s, cmd heading: 54.758795 deg, new cmd heading: 54.369058 deg. 2025-01-08T22:19:06.815Z,1736374746.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.948919 target range: 193.300003 and range: 193.30 m. 2025-01-08T22:19:06.986Z,1736374746.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:06.989Z,1736374746.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499844 2025-01-08T22:19:07.236Z,1736374747.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:07.236Z,1736374747.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747689 2025-01-08T22:19:07.249Z,1736374747.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:07.281Z,1736374747.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.30 m. 2025-01-08T22:19:07.288Z,1736374747.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.300003 m, nav range: 80.299973 m, bearing: 291.068472 deg, approach rate: 0.392637 m/s, LOS rate: -0.314288 deg/s, cmd heading: 54.369057 deg, new cmd heading: 53.925589 deg. 2025-01-08T22:19:07.289Z,1736374747.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.941179 target range: 193.300003 and range: 193.30 m. 2025-01-08T22:19:07.488Z,1736374747.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:07.489Z,1736374747.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999808 2025-01-08T22:19:07.632Z,1736374747.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:07.674Z,1736374747.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.30 m. 2025-01-08T22:19:07.679Z,1736374747.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.300003 m, nav range: 80.456512 m, bearing: 290.940366 deg, approach rate: 0.399142 m/s, LOS rate: -0.326007 deg/s, cmd heading: 53.925590 deg, new cmd heading: 53.542025 deg. 2025-01-08T22:19:07.681Z,1736374747.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.934485 target range: 193.300003 and range: 193.30 m. 2025-01-08T22:19:07.740Z,1736374747.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:07.741Z,1736374747.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251959 2025-01-08T22:19:07.994Z,1736374747.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:07.996Z,1736374747.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506781 2025-01-08T22:19:08.069Z,1736374748.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:08.077Z,1736374748.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:08.079Z,1736374748.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.30 m. 2025-01-08T22:19:08.082Z,1736374748.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.300003 m, nav range: 80.627037 m, bearing: 290.789284 deg, approach rate: 0.420734 m/s, LOS rate: -0.371973 deg/s, cmd heading: 53.542024 deg, new cmd heading: 53.089747 deg. 2025-01-08T22:19:08.083Z,1736374748.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.926591 target range: 193.300003 and range: 193.30 m. 2025-01-08T22:19:08.244Z,1736374748.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:08.245Z,1736374748.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755972 2025-01-08T22:19:08.408Z,1736374748.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:08.433Z,1736374748.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.30 m. 2025-01-08T22:19:08.441Z,1736374748.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.300003 m, nav range: 80.759010 m, bearing: 290.671541 deg, approach rate: 0.372761 m/s, LOS rate: -0.332025 deg/s, cmd heading: 53.089746 deg, new cmd heading: 52.737097 deg. 2025-01-08T22:19:08.442Z,1736374748.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.920436 target range: 193.300003 and range: 193.30 m. 2025-01-08T22:19:08.497Z,1736374748.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:08.498Z,1736374748.498 [DAT](INFO): DAT read: Rx Time:22:19:07.3095 2025-01-08T22:19:08.499Z,1736374748.499 [DAT](INFO): Rx dataTimestamp_ set to:1736374748.498552 2025-01-08T22:19:08.500Z,1736374748.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011391 2025-01-08T22:19:08.748Z,1736374748.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:08.748Z,1736374748.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259572 2025-01-08T22:19:08.825Z,1736374748.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:08.862Z,1736374748.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.30 m. 2025-01-08T22:19:08.869Z,1736374748.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 193.300003 m, nav range: 80.920616 m, bearing: 290.526649 deg, approach rate: 0.376372 m/s, LOS rate: -0.336772 deg/s, cmd heading: 52.737096 deg, new cmd heading: 52.303297 deg. 2025-01-08T22:19:08.870Z,1736374748.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.912865 target range: 193.300003 and range: 193.30 m. 2025-01-08T22:19:09.002Z,1736374749.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:09.031Z,1736374749.031 [DAT](INFO): DAT read: 22:19:07.3096 LVL= 17264, 32113, 23506, 32755, AGC= 63, IDX= 418, 0.13, 0.077,-1.735,-1.447,-0.907, PHS= 1.072,-0.781,-0.543, RAW= 96.8, 2.9, CAL= 106.2, 0.8, ROT= 43.8, -0.8 2025-01-08T22:19:09.040Z,1736374749.040 [DAT](INFO): got valid direction response: 22:19:07.3096 LVL= 17264, 32113, 23506, 32755, AGC= 63, IDX= 418, 0.13, 0.077,-1.735,-1.447,-0.907, PHS= 1.072,-0.781,-0.543, RAW= 96.8, 2.9, CAL= 106.2, 0.8, ROT= 43.8, -0.8 2025-01-08T22:19:09.041Z,1736374749.041 [DAT](INFO): DAT read: Bearing 43.8, -0.8 (Local) 2025-01-08T22:19:09.041Z,1736374749.041 [DAT](INFO): Local bearing/azimuth received: Bearing 43.8, -0.8 (Local) 2025-01-08T22:19:09.043Z,1736374749.043 [DAT](INFO): DAT read: Range 10 to 50 : 191.4 m (Round-trip 255.2 ms) speed 0.4 m/s 2025-01-08T22:19:09.053Z,1736374749.053 [DAT](INFO): DAT read: user:2493> 2025-01-08T22:19:09.064Z,1736374749.064 [DAT](INFO): DAT read: Tx time:22:19:08.4002 2025-01-08T22:19:09.064Z,1736374749.064 [DAT](INFO): Ping request sent. 2025-01-08T22:19:09.064Z,1736374749.064 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:09.064Z,1736374749.064 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:09.065Z,1736374749.065 [DAT](INFO): direction in FSK: [-0.151152,-0.007587,0.988481] 2025-01-08T22:19:09.066Z,1736374749.066 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:09.066Z,1736374749.066 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:09.075Z,1736374749.075 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:09.076Z,1736374749.076 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:09.252Z,1736374749.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:09.253Z,1736374749.253 [DAT](INFO): DAT read: TxSync time:22:19:08.3995 2025-01-08T22:19:09.303Z,1736374749.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:09.342Z,1736374749.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 191.399994 m, deltaT: 3.530730 s, deltaX: -1.900009 m, approachRate: -0.538135 m/s, rangeRepo size: 4 2025-01-08T22:19:09.345Z,1736374749.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 191.399994 m, bearing: 266.325523 deg, lat: 36.905160 deg, lon: -122.121995 deg, deltaT: 3.530730 s, deltaX: -1.900009 m, approachRate: -0.538135 m/s, posRepo size: 4 2025-01-08T22:19:09.346Z,1736374749.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.40 m. 2025-01-08T22:19:09.349Z,1736374749.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.399994 m, nav range: 74.818916 m, bearing: 278.397254 deg, approach rate: 0.000000 m/s, LOS rate: -0.336772 deg/s, cmd heading: 52.303297 deg, new cmd heading: 51.820529 deg. 2025-01-08T22:19:09.350Z,1736374749.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.904439 target range: 191.399994 and range: 191.40 m. 2025-01-08T22:19:09.460Z,1736374749.460 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:19:09.504Z,1736374749.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:09.636Z,1736374749.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:09.648Z,1736374749.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.40 m. 2025-01-08T22:19:09.652Z,1736374749.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.399994 m, nav range: 74.971512 m, bearing: 278.290569 deg, approach rate: 0.497188 m/s, LOS rate: -0.346895 deg/s, cmd heading: 51.820529 deg, new cmd heading: 51.501129 deg. 2025-01-08T22:19:09.654Z,1736374749.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.898864 target range: 191.399994 and range: 191.40 m. 2025-01-08T22:19:09.756Z,1736374749.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:10.009Z,1736374750.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:10.096Z,1736374750.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:10.104Z,1736374750.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:10.106Z,1736374750.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.40 m. 2025-01-08T22:19:10.109Z,1736374750.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.399994 m, nav range: 75.164047 m, bearing: 278.139960 deg, approach rate: 0.419730 m/s, LOS rate: -0.327487 deg/s, cmd heading: 51.501129 deg, new cmd heading: 51.050471 deg. 2025-01-08T22:19:10.110Z,1736374750.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.890999 target range: 191.399994 and range: 191.40 m. 2025-01-08T22:19:10.260Z,1736374750.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:10.260Z,1736374750.260 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:10.260Z,1736374750.260 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:10.260Z,1736374750.260 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:10.444Z,1736374750.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:10.453Z,1736374750.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.40 m. 2025-01-08T22:19:10.456Z,1736374750.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.399994 m, nav range: 75.309334 m, bearing: 278.026150 deg, approach rate: 0.418456 m/s, LOS rate: -0.327164 deg/s, cmd heading: 51.050470 deg, new cmd heading: 50.709702 deg. 2025-01-08T22:19:10.457Z,1736374750.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.885051 target range: 191.399994 and range: 191.40 m. 2025-01-08T22:19:10.464Z,1736374750.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:19:10.517Z,1736374750.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:10.518Z,1736374750.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.453652 2025-01-08T22:19:10.768Z,1736374750.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:10.768Z,1736374750.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704375 2025-01-08T22:19:10.859Z,1736374750.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:10.881Z,1736374750.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.40 m. 2025-01-08T22:19:10.887Z,1736374750.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.399994 m, nav range: 75.482178 m, bearing: 277.890682 deg, approach rate: 0.404187 m/s, LOS rate: -0.316060 deg/s, cmd heading: 50.709701 deg, new cmd heading: 50.304234 deg. 2025-01-08T22:19:10.888Z,1736374750.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.877975 target range: 191.399994 and range: 191.40 m. 2025-01-08T22:19:11.021Z,1736374751.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:11.024Z,1736374751.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958955 2025-01-08T22:19:11.272Z,1736374751.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:11.272Z,1736374751.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208435 2025-01-08T22:19:11.275Z,1736374751.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:11.283Z,1736374751.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.40 m. 2025-01-08T22:19:11.286Z,1736374751.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.399994 m, nav range: 75.650078 m, bearing: 277.754396 deg, approach rate: 0.416939 m/s, LOS rate: -0.337681 deg/s, cmd heading: 50.304234 deg, new cmd heading: 49.896291 deg. 2025-01-08T22:19:11.287Z,1736374751.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.870855 target range: 191.399994 and range: 191.40 m. 2025-01-08T22:19:11.525Z,1736374751.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:11.526Z,1736374751.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461955 2025-01-08T22:19:11.658Z,1736374751.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:11.688Z,1736374751.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.40 m. 2025-01-08T22:19:11.692Z,1736374751.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.399994 m, nav range: 75.803650 m, bearing: 277.628738 deg, approach rate: 0.379107 m/s, LOS rate: -0.309571 deg/s, cmd heading: 49.896291 deg, new cmd heading: 49.520085 deg. 2025-01-08T22:19:11.708Z,1736374751.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864289 target range: 191.399994 and range: 191.40 m. 2025-01-08T22:19:11.777Z,1736374751.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:11.778Z,1736374751.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713886 2025-01-08T22:19:12.029Z,1736374752.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:12.042Z,1736374752.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976848 2025-01-08T22:19:12.130Z,1736374752.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:12.137Z,1736374752.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:12.139Z,1736374752.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.40 m. 2025-01-08T22:19:12.143Z,1736374752.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.399994 m, nav range: 75.980957 m, bearing: 277.474045 deg, approach rate: 0.393458 m/s, LOS rate: -0.342473 deg/s, cmd heading: 49.520084 deg, new cmd heading: 49.057100 deg. 2025-01-08T22:19:12.144Z,1736374752.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.856208 target range: 191.399994 and range: 191.40 m. 2025-01-08T22:19:12.280Z,1736374752.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:12.280Z,1736374752.280 [DAT](INFO): DAT read: Rx Time:22:19:11.0578 2025-01-08T22:19:12.281Z,1736374752.281 [DAT](INFO): Rx dataTimestamp_ set to:1736374752.280641 2025-01-08T22:19:12.281Z,1736374752.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217414 2025-01-08T22:19:12.460Z,1736374752.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:12.490Z,1736374752.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.40 m. 2025-01-08T22:19:12.498Z,1736374752.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.399994 m, nav range: 76.103683 m, bearing: 277.365504 deg, approach rate: 0.349714 m/s, LOS rate: -0.308792 deg/s, cmd heading: 49.057099 deg, new cmd heading: 48.732006 deg. 2025-01-08T22:19:12.499Z,1736374752.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.850534 target range: 191.399994 and range: 191.40 m. 2025-01-08T22:19:12.532Z,1736374752.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:12.532Z,1736374752.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468408 2025-01-08T22:19:12.784Z,1736374752.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:12.791Z,1736374752.791 [DAT](INFO): DAT read: 22:19:11.0578 LVL= 17456, 31585, 27874, 32755, AGC= 63, IDX= 415,-0.26, 1.035,-0.749,-0.640,-0.091, PHS= 1.214,-0.610,-0.552, RAW= 91.6, -0.6, CAL= 99.6, -5.3, ROT= 50.4, 5.3 2025-01-08T22:19:12.792Z,1736374752.792 [DAT](INFO): got valid direction response: 22:19:11.0578 LVL= 17456, 31585, 27874, 32755, AGC= 63, IDX= 415,-0.26, 1.035,-0.749,-0.640,-0.091, PHS= 1.214,-0.610,-0.552, RAW= 91.6, -0.6, CAL= 99.6, -5.3, ROT= 50.4, 5.3 2025-01-08T22:19:12.793Z,1736374752.793 [DAT](INFO): DAT read: Bearing 50.4, 5.3 (Local) 2025-01-08T22:19:12.793Z,1736374752.793 [DAT](INFO): Local bearing/azimuth received: Bearing 50.4, 5.3 (Local) 2025-01-08T22:19:12.795Z,1736374752.795 [DAT](INFO): DAT read: Range 10 to 50 : 190.0 m (Round-trip 253.4 ms) speed 0.0 m/s 2025-01-08T22:19:12.796Z,1736374752.796 [DAT](INFO): DAT read: user:2494> 2025-01-08T22:19:12.796Z,1736374752.796 [DAT](INFO): DAT read: Tx time:22:19:12.1502 2025-01-08T22:19:12.797Z,1736374752.797 [DAT](INFO): Ping request sent. 2025-01-08T22:19:12.797Z,1736374752.797 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:12.797Z,1736374752.797 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:12.798Z,1736374752.798 [DAT](INFO): direction in FSK: [-0.076477,0.079293,0.993913] 2025-01-08T22:19:12.798Z,1736374752.798 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:12.798Z,1736374752.798 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:12.802Z,1736374752.802 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:12.802Z,1736374752.802 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:12.960Z,1736374752.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:12.991Z,1736374752.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 190.000000 m, deltaT: 3.781266 s, deltaX: -1.399994 m, approachRate: -0.370245 m/s, rangeRepo size: 4 2025-01-08T22:19:12.997Z,1736374752.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 190.000000 m, bearing: 230.924135 deg, lat: 36.905081 deg, lon: -122.121722 deg, deltaT: 3.781266 s, deltaX: -1.399994 m, approachRate: -0.370245 m/s, posRepo size: 4 2025-01-08T22:19:12.998Z,1736374752.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.00 m. 2025-01-08T22:19:13.006Z,1736374753.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.000000 m, nav range: 51.400330 m, bearing: 270.922075 deg, approach rate: 0.000000 m/s, LOS rate: -0.308792 deg/s, cmd heading: 48.732006 deg, new cmd heading: 48.268734 deg. 2025-01-08T22:19:13.013Z,1736374753.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.842448 target range: 190.000000 and range: 190.00 m. 2025-01-08T22:19:13.037Z,1736374753.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:13.040Z,1736374753.040 [DAT](INFO): DAT read: TxSync time:22:19:12.1495 2025-01-08T22:19:13.288Z,1736374753.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:13.373Z,1736374753.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:13.383Z,1736374753.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.00 m. 2025-01-08T22:19:13.402Z,1736374753.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.000000 m, nav range: 51.565071 m, bearing: 270.734609 deg, approach rate: 0.419464 m/s, LOS rate: -0.475800 deg/s, cmd heading: 48.268735 deg, new cmd heading: 47.708152 deg. 2025-01-08T22:19:13.403Z,1736374753.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832664 target range: 190.000000 and range: 190.00 m. 2025-01-08T22:19:13.540Z,1736374753.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:13.760Z,1736374753.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:13.769Z,1736374753.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.00 m. 2025-01-08T22:19:13.792Z,1736374753.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:13.795Z,1736374753.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.000000 m, nav range: 51.720695 m, bearing: 270.559180 deg, approach rate: 0.403156 m/s, LOS rate: -0.453094 deg/s, cmd heading: 47.708151 deg, new cmd heading: 47.183463 deg. 2025-01-08T22:19:13.799Z,1736374753.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823507 target range: 190.000000 and range: 190.00 m. 2025-01-08T22:19:14.046Z,1736374754.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:14.244Z,1736374754.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:14.255Z,1736374754.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:14.261Z,1736374754.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.00 m. 2025-01-08T22:19:14.268Z,1736374754.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.000000 m, nav range: 51.921925 m, bearing: 270.349409 deg, approach rate: 0.408478 m/s, LOS rate: -0.424165 deg/s, cmd heading: 47.183462 deg, new cmd heading: 46.556615 deg. 2025-01-08T22:19:14.272Z,1736374754.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812566 target range: 190.000000 and range: 190.00 m. 2025-01-08T22:19:14.298Z,1736374754.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:14.300Z,1736374754.300 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:14.300Z,1736374754.300 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:14.300Z,1736374754.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:14.548Z,1736374754.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:14.548Z,1736374754.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751550 2025-01-08T22:19:14.554Z,1736374754.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:14.564Z,1736374754.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.00 m. 2025-01-08T22:19:14.566Z,1736374754.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.000000 m, nav range: 52.047340 m, bearing: 270.211232 deg, approach rate: 0.415287 m/s, LOS rate: -0.456440 deg/s, cmd heading: 46.556615 deg, new cmd heading: 46.143090 deg. 2025-01-08T22:19:14.596Z,1736374754.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805349 target range: 190.000000 and range: 190.00 m. 2025-01-08T22:19:14.800Z,1736374754.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:14.801Z,1736374754.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004517 2025-01-08T22:19:15.006Z,1736374755.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:15.015Z,1736374755.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.00 m. 2025-01-08T22:19:15.018Z,1736374755.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.000000 m, nav range: 52.228428 m, bearing: 270.008646 deg, approach rate: 0.401089 m/s, LOS rate: -0.447149 deg/s, cmd heading: 46.143091 deg, new cmd heading: 45.537465 deg. 2025-01-08T22:19:15.019Z,1736374755.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794779 target range: 190.000000 and range: 190.00 m. 2025-01-08T22:19:15.054Z,1736374755.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:15.056Z,1736374755.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258941 2025-01-08T22:19:15.304Z,1736374755.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:15.304Z,1736374755.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507596 2025-01-08T22:19:15.446Z,1736374755.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:15.470Z,1736374755.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.00 m. 2025-01-08T22:19:15.473Z,1736374755.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.000000 m, nav range: 52.414242 m, bearing: 269.821006 deg, approach rate: 0.408671 m/s, LOS rate: -0.411222 deg/s, cmd heading: 45.537465 deg, new cmd heading: 44.976561 deg. 2025-01-08T22:19:15.474Z,1736374755.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784989 target range: 190.000000 and range: 190.00 m. 2025-01-08T22:19:15.556Z,1736374755.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:15.556Z,1736374755.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759726 2025-01-08T22:19:15.810Z,1736374755.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:15.811Z,1736374755.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013853 2025-01-08T22:19:15.870Z,1736374755.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:15.887Z,1736374755.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.00 m. 2025-01-08T22:19:15.894Z,1736374755.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.000000 m, nav range: 52.591820 m, bearing: 269.639948 deg, approach rate: 0.425911 m/s, LOS rate: -0.432791 deg/s, cmd heading: 44.976560 deg, new cmd heading: 44.435237 deg. 2025-01-08T22:19:15.894Z,1736374755.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775541 target range: 190.000000 and range: 190.00 m. 2025-01-08T22:19:16.062Z,1736374756.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:16.065Z,1736374756.065 [DAT](INFO): DAT read: Rx Time:22:19:14.8065 2025-01-08T22:19:16.067Z,1736374756.067 [DAT](INFO): Rx dataTimestamp_ set to:1736374756.065752 2025-01-08T22:19:16.069Z,1736374756.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271488 2025-01-08T22:19:16.312Z,1736374756.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:16.312Z,1736374756.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515702 2025-01-08T22:19:16.314Z,1736374756.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:16.321Z,1736374756.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:16.323Z,1736374756.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.00 m. 2025-01-08T22:19:16.327Z,1736374756.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.000000 m, nav range: 52.796947 m, bearing: 269.451574 deg, approach rate: 0.469857 m/s, LOS rate: -0.429804 deg/s, cmd heading: 44.435237 deg, new cmd heading: 43.872330 deg. 2025-01-08T22:19:16.328Z,1736374756.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765717 target range: 190.000000 and range: 190.00 m. 2025-01-08T22:19:16.564Z,1736374756.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:16.573Z,1736374756.573 [DAT](INFO): DAT read: 22:19:14.8065 LVL= 17360, 26801, 28290, 26515, AGC= 67, IDX= 434, 0.32,-0.672,-2.426,-2.474,-1.809, PHS= 1.225,-0.570,-0.668, RAW= 87.4, 0.1, CAL= 94.5, -4.1, ROT= 55.5, 4.1 2025-01-08T22:19:16.575Z,1736374756.575 [DAT](INFO): got valid direction response: 22:19:14.8065 LVL= 17360, 26801, 28290, 26515, AGC= 67, IDX= 434, 0.32,-0.672,-2.426,-2.474,-1.809, PHS= 1.225,-0.570,-0.668, RAW= 87.4, 0.1, CAL= 94.5, -4.1, ROT= 55.5, 4.1 2025-01-08T22:19:16.576Z,1736374756.576 [DAT](INFO): DAT read: Bearing 55.5, 4.1 (Local) 2025-01-08T22:19:16.576Z,1736374756.576 [DAT](INFO): Local bearing/azimuth received: Bearing 55.5, 4.1 (Local) 2025-01-08T22:19:16.578Z,1736374756.578 [DAT](INFO): DAT read: Range 10 to 50 : 189.0 m (Round-trip 252.1 ms) speed 0.0 m/s 2025-01-08T22:19:16.578Z,1736374756.578 [DAT](INFO): DAT read: user:2495> 2025-01-08T22:19:16.580Z,1736374756.580 [DAT](INFO): DAT read: Tx time:22:19:15.9002 2025-01-08T22:19:16.580Z,1736374756.580 [DAT](INFO): Ping request sent. 2025-01-08T22:19:16.580Z,1736374756.580 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:16.581Z,1736374756.581 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:16.582Z,1736374756.582 [DAT](INFO): direction in FSK: [-0.083498,0.153013,0.984690] 2025-01-08T22:19:16.582Z,1736374756.582 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:16.582Z,1736374756.582 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:16.591Z,1736374756.591 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:16.592Z,1736374756.592 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:16.712Z,1736374756.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:16.753Z,1736374756.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 189.000000 m, deltaT: 3.779995 s, deltaX: -1.000000 m, approachRate: -0.264551 m/s, rangeRepo size: 4 2025-01-08T22:19:16.759Z,1736374756.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 189.000000 m, bearing: 178.567775 deg, lat: 36.905043 deg, lon: -122.121529 deg, deltaT: 3.779995 s, deltaX: -1.000000 m, approachRate: -0.264551 m/s, posRepo size: 4 2025-01-08T22:19:16.760Z,1736374756.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.00 m. 2025-01-08T22:19:16.763Z,1736374756.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.000000 m, nav range: 36.200531 m, bearing: 262.143717 deg, approach rate: 0.000000 m/s, LOS rate: -0.429804 deg/s, cmd heading: 43.872330 deg, new cmd heading: 43.318675 deg. 2025-01-08T22:19:16.768Z,1736374756.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756054 target range: 189.000000 and range: 189.00 m. 2025-01-08T22:19:16.816Z,1736374756.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:16.818Z,1736374756.818 [DAT](INFO): DAT read: TxSync time:22:19:15.8995 2025-01-08T22:19:17.068Z,1736374757.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:17.077Z,1736374757.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:17.140Z,1736374757.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.00 m. 2025-01-08T22:19:17.164Z,1736374757.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.000000 m, nav range: 36.383556 m, bearing: 261.949750 deg, approach rate: 0.479751 m/s, LOS rate: -0.505873 deg/s, cmd heading: 43.318675 deg, new cmd heading: 42.739722 deg. 2025-01-08T22:19:17.166Z,1736374757.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745949 target range: 189.000000 and range: 189.00 m. 2025-01-08T22:19:17.320Z,1736374757.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:17.508Z,1736374757.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:17.517Z,1736374757.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.00 m. 2025-01-08T22:19:17.520Z,1736374757.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.000000 m, nav range: 36.621075 m, bearing: 261.730004 deg, approach rate: 0.620021 m/s, LOS rate: -0.569906 deg/s, cmd heading: 42.739721 deg, new cmd heading: 42.084789 deg. 2025-01-08T22:19:17.521Z,1736374757.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.734518 target range: 189.000000 and range: 189.00 m. 2025-01-08T22:19:17.573Z,1736374757.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:17.824Z,1736374757.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:17.893Z,1736374757.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:17.911Z,1736374757.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.00 m. 2025-01-08T22:19:17.924Z,1736374757.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.000000 m, nav range: 36.834538 m, bearing: 261.533391 deg, approach rate: 0.542135 m/s, LOS rate: -0.496446 deg/s, cmd heading: 42.084788 deg, new cmd heading: 41.498389 deg. 2025-01-08T22:19:17.925Z,1736374757.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.724284 target range: 189.000000 and range: 189.00 m. 2025-01-08T22:19:18.076Z,1736374758.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:18.328Z,1736374758.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:18.338Z,1736374758.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:18.346Z,1736374758.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:18.348Z,1736374758.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.00 m. 2025-01-08T22:19:18.350Z,1736374758.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.000000 m, nav range: 37.097015 m, bearing: 261.312392 deg, approach rate: 0.601120 m/s, LOS rate: -0.502545 deg/s, cmd heading: 41.498389 deg, new cmd heading: 40.840112 deg. 2025-01-08T22:19:18.367Z,1736374758.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712794 target range: 189.000000 and range: 189.00 m. 2025-01-08T22:19:18.580Z,1736374758.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:18.580Z,1736374758.580 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:18.580Z,1736374758.580 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:18.580Z,1736374758.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:18.712Z,1736374758.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:18.721Z,1736374758.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.00 m. 2025-01-08T22:19:18.744Z,1736374758.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.000000 m, nav range: 37.318512 m, bearing: 261.128667 deg, approach rate: 0.593196 m/s, LOS rate: -0.489116 deg/s, cmd heading: 40.840112 deg, new cmd heading: 40.292229 deg. 2025-01-08T22:19:18.745Z,1736374758.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703232 target range: 189.000000 and range: 189.00 m. 2025-01-08T22:19:18.832Z,1736374758.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:18.834Z,1736374758.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252698 2025-01-08T22:19:19.084Z,1736374759.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:19.084Z,1736374759.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503957 2025-01-08T22:19:19.141Z,1736374759.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:19.192Z,1736374759.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.00 m. 2025-01-08T22:19:19.199Z,1736374759.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.000000 m, nav range: 37.570370 m, bearing: 260.917618 deg, approach rate: 0.537660 m/s, LOS rate: -0.447522 deg/s, cmd heading: 40.292228 deg, new cmd heading: 39.663352 deg. 2025-01-08T22:19:19.209Z,1736374759.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692256 target range: 189.000000 and range: 189.00 m. 2025-01-08T22:19:19.337Z,1736374759.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:19.337Z,1736374759.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756948 2025-01-08T22:19:19.536Z,1736374759.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:19.546Z,1736374759.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.00 m. 2025-01-08T22:19:19.549Z,1736374759.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.000000 m, nav range: 37.812111 m, bearing: 260.723213 deg, approach rate: 0.678288 m/s, LOS rate: -0.541984 deg/s, cmd heading: 39.663352 deg, new cmd heading: 39.083885 deg. 2025-01-08T22:19:19.549Z,1736374759.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682142 target range: 189.000000 and range: 189.00 m. 2025-01-08T22:19:19.591Z,1736374759.591 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:19.593Z,1736374759.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012696 2025-01-08T22:19:19.840Z,1736374759.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:19.841Z,1736374759.841 [DAT](INFO): DAT read: Rx Time:22:19:18.5548 2025-01-08T22:19:19.842Z,1736374759.842 [DAT](INFO): Rx dataTimestamp_ set to:1736374759.841494 2025-01-08T22:19:19.842Z,1736374759.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261848 2025-01-08T22:19:19.900Z,1736374759.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:19.925Z,1736374759.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.00 m. 2025-01-08T22:19:19.932Z,1736374759.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.000000 m, nav range: 38.034035 m, bearing: 260.544068 deg, approach rate: 0.584518 m/s, LOS rate: -0.469090 deg/s, cmd heading: 39.083886 deg, new cmd heading: 38.549603 deg. 2025-01-08T22:19:19.933Z,1736374759.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672818 target range: 189.000000 and range: 189.00 m. 2025-01-08T22:19:20.093Z,1736374760.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:20.096Z,1736374760.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514621 2025-01-08T22:19:20.328Z,1736374760.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:20.336Z,1736374760.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.00 m. 2025-01-08T22:19:20.339Z,1736374760.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 189.000000 m, nav range: 38.298347 m, bearing: 260.333590 deg, approach rate: 0.643278 m/s, LOS rate: -0.508718 deg/s, cmd heading: 38.549605 deg, new cmd heading: 37.922557 deg. 2025-01-08T22:19:20.340Z,1736374760.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661873 target range: 189.000000 and range: 189.00 m. 2025-01-08T22:19:20.352Z,1736374760.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:20.359Z,1736374760.359 [DAT](INFO): DAT read: 22:19:18.5548 LVL= 15856, 26225, 22658, 30643, AGC= 62, IDX= 417,-0.40,-0.025,-1.561,-1.775,-0.967, PHS= 1.030,-0.547,-0.811, RAW= 82.4, 3.8, CAL= 87.5, 1.9, ROT= 62.5, -1.9 2025-01-08T22:19:20.360Z,1736374760.360 [DAT](INFO): got valid direction response: 22:19:18.5548 LVL= 15856, 26225, 22658, 30643, AGC= 62, IDX= 417,-0.40,-0.025,-1.561,-1.775,-0.967, PHS= 1.030,-0.547,-0.811, RAW= 82.4, 3.8, CAL= 87.5, 1.9, ROT= 62.5, -1.9 2025-01-08T22:19:20.361Z,1736374760.361 [DAT](INFO): DAT read: Bearing 62.5, -1.9 (Local) 2025-01-08T22:19:20.362Z,1736374760.362 [DAT](INFO): Local bearing/azimuth received: Bearing 62.5, -1.9 (Local) 2025-01-08T22:19:20.363Z,1736374760.363 [DAT](INFO): DAT read: Range 10 to 50 : 187.8 m (Round-trip 250.4 ms) speed 0.4 m/s 2025-01-08T22:19:20.364Z,1736374760.364 [DAT](INFO): DAT read: user:2496> 2025-01-08T22:19:20.365Z,1736374760.365 [DAT](INFO): DAT read: Tx time:22:19:19.6502 2025-01-08T22:19:20.365Z,1736374760.365 [DAT](INFO): Ping request sent. 2025-01-08T22:19:20.365Z,1736374760.365 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:20.365Z,1736374760.365 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:20.366Z,1736374760.366 [DAT](INFO): direction in FSK: [-0.144595,0.239837,0.959985] 2025-01-08T22:19:20.367Z,1736374760.367 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:20.367Z,1736374760.367 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:20.370Z,1736374760.370 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:20.370Z,1736374760.370 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:20.604Z,1736374760.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:20.605Z,1736374760.605 [DAT](INFO): DAT read: TxSync time:22:19:19.6495 2025-01-08T22:19:20.741Z,1736374760.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:20.781Z,1736374760.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 187.800003 m, deltaT: 3.788080 s, deltaX: -1.199997 m, approachRate: -0.316782 m/s, rangeRepo size: 4 2025-01-08T22:19:20.783Z,1736374760.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 187.800003 m, bearing: 173.427796 deg, lat: 36.905001 deg, lon: -122.121255 deg, deltaT: 3.788080 s, deltaX: -1.199997 m, approachRate: -0.316782 m/s, posRepo size: 4 2025-01-08T22:19:20.816Z,1736374760.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T22:19:20.818Z,1736374760.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 17.634062 m, bearing: 230.555703 deg, approach rate: 0.000000 m/s, LOS rate: -0.508718 deg/s, cmd heading: 37.922556 deg, new cmd heading: 37.244854 deg. 2025-01-08T22:19:20.825Z,1736374760.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650045 target range: 187.800003 and range: 187.80 m. 2025-01-08T22:19:20.856Z,1736374760.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:21.108Z,1736374761.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:21.346Z,1736374761.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T22:19:21.346Z,1736374761.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:21.353Z,1736374761.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:21.356Z,1736374761.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T22:19:21.360Z,1736374761.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:21.360Z,1736374761.360 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:21.360Z,1736374761.360 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:21.361Z,1736374761.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:21.362Z,1736374761.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 18.057571 m, bearing: 230.589622 deg, approach rate: 0.736540 m/s, LOS rate: 0.057606 deg/s, cmd heading: 37.244854 deg, new cmd heading: 37.344225 deg. 2025-01-08T22:19:21.364Z,1736374761.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651780 target range: 187.800003 and range: 187.80 m. 2025-01-08T22:19:21.612Z,1736374761.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:21.612Z,1736374761.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247189 2025-01-08T22:19:21.766Z,1736374761.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T22:19:21.766Z,1736374761.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:21.776Z,1736374761.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T22:19:21.778Z,1736374761.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 18.351879 m, bearing: 230.591470 deg, approach rate: 0.700536 m/s, LOS rate: 0.004328 deg/s, cmd heading: 37.344223 deg, new cmd heading: 37.349678 deg. 2025-01-08T22:19:21.780Z,1736374761.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651875 target range: 187.800003 and range: 187.80 m. 2025-01-08T22:19:21.864Z,1736374761.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:21.864Z,1736374761.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499227 2025-01-08T22:19:22.116Z,1736374762.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:22.116Z,1736374762.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751233 2025-01-08T22:19:22.286Z,1736374762.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:22.316Z,1736374762.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T22:19:22.319Z,1736374762.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 18.686949 m, bearing: 230.502689 deg, approach rate: 0.619493 m/s, LOS rate: -0.161199 deg/s, cmd heading: 37.349677 deg, new cmd heading: 37.088113 deg. 2025-01-08T22:19:22.325Z,1736374762.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647310 target range: 187.800003 and range: 187.80 m. 2025-01-08T22:19:22.368Z,1736374762.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:22.368Z,1736374762.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003258 2025-01-08T22:19:22.566Z,1736374762.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:22.577Z,1736374762.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T22:19:22.580Z,1736374762.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 18.868061 m, bearing: 230.449485 deg, approach rate: 0.697611 m/s, LOS rate: -0.202965 deg/s, cmd heading: 37.088112 deg, new cmd heading: 36.930032 deg. 2025-01-08T22:19:22.581Z,1736374762.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644551 target range: 187.800003 and range: 187.80 m. 2025-01-08T22:19:22.620Z,1736374762.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:22.621Z,1736374762.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255992 2025-01-08T22:19:22.872Z,1736374762.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:22.873Z,1736374762.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507322 2025-01-08T22:19:22.971Z,1736374762.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:22.998Z,1736374762.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T22:19:23.005Z,1736374763.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 19.129129 m, bearing: 230.366040 deg, approach rate: 0.617979 m/s, LOS rate: -0.194829 deg/s, cmd heading: 36.930030 deg, new cmd heading: 36.683112 deg. 2025-01-08T22:19:23.006Z,1736374763.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640241 target range: 187.800003 and range: 187.80 m. 2025-01-08T22:19:23.124Z,1736374763.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:23.126Z,1736374763.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760665 2025-01-08T22:19:23.376Z,1736374763.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:23.377Z,1736374763.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011857 2025-01-08T22:19:23.399Z,1736374763.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:23.406Z,1736374763.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:23.409Z,1736374763.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T22:19:23.412Z,1736374763.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 19.388189 m, bearing: 230.216989 deg, approach rate: 0.630753 m/s, LOS rate: -0.358055 deg/s, cmd heading: 36.683112 deg, new cmd heading: 36.241945 deg. 2025-01-08T22:19:23.413Z,1736374763.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.632541 target range: 187.800003 and range: 187.80 m. 2025-01-08T22:19:23.628Z,1736374763.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:23.629Z,1736374763.629 [DAT](INFO): DAT read: Rx Time:22:19:22.3029 2025-01-08T22:19:23.629Z,1736374763.629 [DAT](INFO): Rx dataTimestamp_ set to:1736374763.628800 2025-01-08T22:19:23.630Z,1736374763.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264389 2025-01-08T22:19:23.781Z,1736374763.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:23.790Z,1736374763.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T22:19:23.794Z,1736374763.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 19.619045 m, bearing: 230.080960 deg, approach rate: 0.606383 m/s, LOS rate: -0.353099 deg/s, cmd heading: 36.241943 deg, new cmd heading: 35.838665 deg. 2025-01-08T22:19:23.795Z,1736374763.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.625503 target range: 187.800003 and range: 187.80 m. 2025-01-08T22:19:23.880Z,1736374763.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:23.881Z,1736374763.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515931 2025-01-08T22:19:24.132Z,1736374764.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:24.138Z,1736374764.138 [DAT](INFO): DAT read: 22:19:22.3029 LVL= 15168, 29745, 26930, 30771, AGC= 61, IDX= 428, 0.01,-0.998,-2.255,-2.897,-1.749, PHS= 0.840,-0.459,-1.150, RAW= 70.0, 8.8, CAL= 71.3, 13.1, ROT= 78.7, -13.1 2025-01-08T22:19:24.139Z,1736374764.139 [DAT](INFO): got valid direction response: 22:19:22.3029 LVL= 15168, 29745, 26930, 30771, AGC= 61, IDX= 428, 0.01,-0.998,-2.255,-2.897,-1.749, PHS= 0.840,-0.459,-1.150, RAW= 70.0, 8.8, CAL= 71.3, 13.1, ROT= 78.7, -13.1 2025-01-08T22:19:24.141Z,1736374764.141 [DAT](INFO): DAT read: Bearing 78.7, -13.1 (Local) 2025-01-08T22:19:24.142Z,1736374764.142 [DAT](INFO): Local bearing/azimuth received: Bearing 78.7, -13.1 (Local) 2025-01-08T22:19:24.154Z,1736374764.154 [DAT](INFO): DAT read: Range 10 to 50 : 186.3 m (Round-trip 248.4 ms) speed 0.0 m/s 2025-01-08T22:19:24.185Z,1736374764.185 [DAT](INFO): DAT read: user:2497> 2025-01-08T22:19:24.200Z,1736374764.200 [DAT](INFO): DAT read: Tx time:22:19:23.4003 2025-01-08T22:19:24.201Z,1736374764.201 [DAT](INFO): Ping request sent. 2025-01-08T22:19:24.201Z,1736374764.201 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:24.224Z,1736374764.224 [DAT](INFO): DAT read: TxSync time:22:19:23.3996 2025-01-08T22:19:24.227Z,1736374764.227 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:24.239Z,1736374764.239 [DAT](INFO): direction in FSK: [-0.212589,0.435712,0.874620] 2025-01-08T22:19:24.255Z,1736374764.255 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:24.255Z,1736374764.255 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:24.258Z,1736374764.258 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:24.259Z,1736374764.259 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:24.373Z,1736374764.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:24.384Z,1736374764.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:24.413Z,1736374764.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 186.300003 m, deltaT: 3.779973 s, deltaX: -1.500000 m, approachRate: -0.396828 m/s, rangeRepo size: 4 2025-01-08T22:19:24.415Z,1736374764.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 186.300003 m, bearing: 157.057874 deg, lat: 36.904900 deg, lon: -122.121120 deg, deltaT: 3.779973 s, deltaX: -1.500000 m, approachRate: -0.396828 m/s, posRepo size: 4 2025-01-08T22:19:24.417Z,1736374764.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.30 m. 2025-01-08T22:19:24.428Z,1736374764.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.300003 m, nav range: 24.327244 m, bearing: 187.615998 deg, approach rate: 0.000000 m/s, LOS rate: -0.353099 deg/s, cmd heading: 35.838665 deg, new cmd heading: 35.179316 deg. 2025-01-08T22:19:24.429Z,1736374764.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613995 target range: 186.300003 and range: 186.30 m. 2025-01-08T22:19:24.636Z,1736374764.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:24.768Z,1736374764.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:24.785Z,1736374764.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.30 m. 2025-01-08T22:19:24.792Z,1736374764.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.300003 m, nav range: 24.538517 m, bearing: 187.848796 deg, approach rate: 0.567574 m/s, LOS rate: 0.620013 deg/s, cmd heading: 35.179316 deg, new cmd heading: 35.871662 deg. 2025-01-08T22:19:24.793Z,1736374764.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626079 target range: 186.300003 and range: 186.30 m. 2025-01-08T22:19:24.888Z,1736374764.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:25.125Z,1736374765.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:25.134Z,1736374765.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.30 m. 2025-01-08T22:19:25.138Z,1736374765.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.300003 m, nav range: 24.730780 m, bearing: 188.052624 deg, approach rate: 0.550385 m/s, LOS rate: 0.578956 deg/s, cmd heading: 35.871662 deg, new cmd heading: 36.478369 deg. 2025-01-08T22:19:25.139Z,1736374765.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636668 target range: 186.300003 and range: 186.30 m. 2025-01-08T22:19:25.140Z,1736374765.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:25.392Z,1736374765.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:25.554Z,1736374765.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:25.562Z,1736374765.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:25.564Z,1736374765.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.30 m. 2025-01-08T22:19:25.566Z,1736374765.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.300003 m, nav range: 24.956905 m, bearing: 188.238360 deg, approach rate: 0.525862 m/s, LOS rate: 0.428018 deg/s, cmd heading: 36.478370 deg, new cmd heading: 37.030510 deg. 2025-01-08T22:19:25.568Z,1736374765.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.646304 target range: 186.300003 and range: 186.30 m. 2025-01-08T22:19:25.644Z,1736374765.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:25.645Z,1736374765.645 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:25.645Z,1736374765.645 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:25.646Z,1736374765.646 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:25.896Z,1736374765.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:25.896Z,1736374765.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695509 2025-01-08T22:19:25.937Z,1736374765.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:25.947Z,1736374765.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.30 m. 2025-01-08T22:19:25.950Z,1736374765.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.300003 m, nav range: 25.159807 m, bearing: 188.397663 deg, approach rate: 0.529889 m/s, LOS rate: 0.412673 deg/s, cmd heading: 37.030509 deg, new cmd heading: 37.504553 deg. 2025-01-08T22:19:25.951Z,1736374765.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654578 target range: 186.300003 and range: 186.30 m. 2025-01-08T22:19:26.148Z,1736374766.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:26.148Z,1736374766.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947442 2025-01-08T22:19:26.378Z,1736374766.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:26.387Z,1736374766.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.30 m. 2025-01-08T22:19:26.390Z,1736374766.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.300003 m, nav range: 25.396664 m, bearing: 188.535429 deg, approach rate: 0.538245 m/s, LOS rate: 0.310147 deg/s, cmd heading: 37.504552 deg, new cmd heading: 37.913989 deg. 2025-01-08T22:19:26.392Z,1736374766.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661724 target range: 186.300003 and range: 186.30 m. 2025-01-08T22:19:26.400Z,1736374766.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:26.401Z,1736374766.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.199779 2025-01-08T22:19:26.652Z,1736374766.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:26.653Z,1736374766.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452335 2025-01-08T22:19:26.732Z,1736374766.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:26.740Z,1736374766.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.30 m. 2025-01-08T22:19:26.760Z,1736374766.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.300003 m, nav range: 25.586411 m, bearing: 188.640589 deg, approach rate: 0.537256 m/s, LOS rate: 0.295546 deg/s, cmd heading: 37.913987 deg, new cmd heading: 38.227125 deg. 2025-01-08T22:19:26.761Z,1736374766.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667189 target range: 186.300003 and range: 186.30 m. 2025-01-08T22:19:26.904Z,1736374766.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:26.906Z,1736374766.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704247 2025-01-08T22:19:27.141Z,1736374767.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:27.150Z,1736374767.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.30 m. 2025-01-08T22:19:27.152Z,1736374767.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.300003 m, nav range: 25.806677 m, bearing: 188.758497 deg, approach rate: 0.537769 m/s, LOS rate: 0.285408 deg/s, cmd heading: 38.227124 deg, new cmd heading: 38.577823 deg. 2025-01-08T22:19:27.153Z,1736374767.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673310 target range: 186.300003 and range: 186.30 m. 2025-01-08T22:19:27.156Z,1736374767.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:27.157Z,1736374767.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955598 2025-01-08T22:19:27.408Z,1736374767.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:27.409Z,1736374767.409 [DAT](INFO): DAT read: Rx Time:22:19:26.0527 2025-01-08T22:19:27.410Z,1736374767.410 [DAT](INFO): Rx dataTimestamp_ set to:1736374767.409348 2025-01-08T22:19:27.410Z,1736374767.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209248 2025-01-08T22:19:27.565Z,1736374767.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:27.592Z,1736374767.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:27.594Z,1736374767.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.30 m. 2025-01-08T22:19:27.601Z,1736374767.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.300003 m, nav range: 26.031334 m, bearing: 188.855091 deg, approach rate: 0.505264 m/s, LOS rate: 0.215371 deg/s, cmd heading: 38.577824 deg, new cmd heading: 38.865104 deg. 2025-01-08T22:19:27.602Z,1736374767.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678324 target range: 186.300003 and range: 186.30 m. 2025-01-08T22:19:27.663Z,1736374767.663 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:27.664Z,1736374767.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.462868 2025-01-08T22:19:27.916Z,1736374767.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:27.922Z,1736374767.922 [DAT](INFO): DAT read: 22:19:26.0527 LVL= 13696, 27697, 22162, 27875, AGC= 64, IDX= 442, 0.05, 0.358,-0.666,-1.674,-0.538, PHS= 0.984,-0.081,-1.139, RAW= 60.1, 2.6, CAL= 61.0, 1.0, ROT= 89.0, -1.0 2025-01-08T22:19:27.924Z,1736374767.924 [DAT](INFO): got valid direction response: 22:19:26.0527 LVL= 13696, 27697, 22162, 27875, AGC= 64, IDX= 442, 0.05, 0.358,-0.666,-1.674,-0.538, PHS= 0.984,-0.081,-1.139, RAW= 60.1, 2.6, CAL= 61.0, 1.0, ROT= 89.0, -1.0 2025-01-08T22:19:27.925Z,1736374767.925 [DAT](INFO): DAT read: Bearing 89.0, -1.0 (Local) 2025-01-08T22:19:27.926Z,1736374767.926 [DAT](INFO): Local bearing/azimuth received: Bearing 89.0, -1.0 (Local) 2025-01-08T22:19:27.931Z,1736374767.931 [DAT](INFO): DAT read: Range 10 to 50 : 186.1 m (Round-trip 248.2 ms) speed 0.3 m/s 2025-01-08T22:19:27.932Z,1736374767.932 [DAT](INFO): DAT read: user:2498> 2025-01-08T22:19:27.933Z,1736374767.933 [DAT](INFO): DAT read: Tx time:22:19:27.1503 2025-01-08T22:19:27.933Z,1736374767.933 [DAT](INFO): Ping request sent. 2025-01-08T22:19:27.933Z,1736374767.933 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:27.933Z,1736374767.933 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:27.934Z,1736374767.934 [DAT](INFO): direction in FSK: [-0.077769,0.577174,0.812910] 2025-01-08T22:19:27.935Z,1736374767.935 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:27.935Z,1736374767.935 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:27.943Z,1736374767.943 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:27.943Z,1736374767.943 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:28.015Z,1736374768.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:28.076Z,1736374768.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 186.100006 m, deltaT: 3.783937 s, deltaX: -0.199997 m, approachRate: -0.052854 m/s, rangeRepo size: 4 2025-01-08T22:19:28.078Z,1736374768.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 186.100006 m, bearing: 133.543493 deg, lat: 36.904714 deg, lon: -122.121046 deg, deltaT: 3.783937 s, deltaX: -0.199997 m, approachRate: -0.052854 m/s, posRepo size: 4 2025-01-08T22:19:28.078Z,1736374768.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.10 m. 2025-01-08T22:19:28.085Z,1736374768.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.100006 m, nav range: 46.680588 m, bearing: 176.955460 deg, approach rate: 0.000000 m/s, LOS rate: 0.215371 deg/s, cmd heading: 38.865105 deg, new cmd heading: 39.172742 deg. 2025-01-08T22:19:28.086Z,1736374768.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683693 target range: 186.100006 and range: 186.10 m. 2025-01-08T22:19:28.168Z,1736374768.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:28.169Z,1736374768.169 [DAT](INFO): DAT read: TxSync time:22:19:27.1496 2025-01-08T22:19:28.420Z,1736374768.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:28.464Z,1736374768.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:28.492Z,1736374768.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.10 m. 2025-01-08T22:19:28.494Z,1736374768.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.100006 m, nav range: 46.905815 m, bearing: 177.084261 deg, approach rate: 0.557029 m/s, LOS rate: 0.317019 deg/s, cmd heading: 39.172740 deg, new cmd heading: 39.557281 deg. 2025-01-08T22:19:28.500Z,1736374768.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690405 target range: 186.100006 and range: 186.10 m. 2025-01-08T22:19:28.672Z,1736374768.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:28.818Z,1736374768.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:28.828Z,1736374768.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.10 m. 2025-01-08T22:19:28.831Z,1736374768.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.100006 m, nav range: 47.083664 m, bearing: 177.185261 deg, approach rate: 0.503405 m/s, LOS rate: 0.284803 deg/s, cmd heading: 39.557283 deg, new cmd heading: 39.859136 deg. 2025-01-08T22:19:28.832Z,1736374768.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695673 target range: 186.100006 and range: 186.10 m. 2025-01-08T22:19:28.925Z,1736374768.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:29.176Z,1736374769.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:29.236Z,1736374769.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:29.250Z,1736374769.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.10 m. 2025-01-08T22:19:29.255Z,1736374769.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.100006 m, nav range: 47.293613 m, bearing: 177.303412 deg, approach rate: 0.497755 m/s, LOS rate: 0.278871 deg/s, cmd heading: 39.859136 deg, new cmd heading: 40.212010 deg. 2025-01-08T22:19:29.256Z,1736374769.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701832 target range: 186.100006 and range: 186.10 m. 2025-01-08T22:19:29.428Z,1736374769.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:29.680Z,1736374769.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:29.738Z,1736374769.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:29.746Z,1736374769.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:29.749Z,1736374769.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.10 m. 2025-01-08T22:19:29.767Z,1736374769.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.100006 m, nav range: 47.538246 m, bearing: 177.465904 deg, approach rate: 0.490431 m/s, LOS rate: 0.324082 deg/s, cmd heading: 40.212011 deg, new cmd heading: 40.696967 deg. 2025-01-08T22:19:29.775Z,1736374769.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710296 target range: 186.100006 and range: 186.10 m. 2025-01-08T22:19:29.932Z,1736374769.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:29.932Z,1736374769.932 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:29.932Z,1736374769.932 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:29.932Z,1736374769.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:30.116Z,1736374770.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:30.140Z,1736374770.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.10 m. 2025-01-08T22:19:30.148Z,1736374770.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.100006 m, nav range: 47.722412 m, bearing: 177.588181 deg, approach rate: 0.470148 m/s, LOS rate: 0.310949 deg/s, cmd heading: 40.696968 deg, new cmd heading: 41.062378 deg. 2025-01-08T22:19:30.149Z,1736374770.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716674 target range: 186.100006 and range: 186.10 m. 2025-01-08T22:19:30.184Z,1736374770.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:30.185Z,1736374770.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251356 2025-01-08T22:19:30.437Z,1736374770.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:30.439Z,1736374770.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505561 2025-01-08T22:19:30.538Z,1736374770.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:30.549Z,1736374770.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.10 m. 2025-01-08T22:19:30.552Z,1736374770.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.100006 m, nav range: 47.929184 m, bearing: 177.754987 deg, approach rate: 0.505803 m/s, LOS rate: 0.406279 deg/s, cmd heading: 41.062377 deg, new cmd heading: 41.560623 deg. 2025-01-08T22:19:30.553Z,1736374770.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725370 target range: 186.100006 and range: 186.10 m. 2025-01-08T22:19:30.688Z,1736374770.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:30.688Z,1736374770.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755261 2025-01-08T22:19:30.925Z,1736374770.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:30.934Z,1736374770.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.10 m. 2025-01-08T22:19:30.941Z,1736374770.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:30.943Z,1736374770.943 [DAT](INFO): DAT read: Rx Time:22:19:29.8026 2025-01-08T22:19:30.943Z,1736374770.943 [DAT](INFO): Rx dataTimestamp_ set to:1736374770.943221 2025-01-08T22:19:30.944Z,1736374770.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010877 2025-01-08T22:19:30.956Z,1736374770.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.100006 m, nav range: 48.117851 m, bearing: 177.907936 deg, approach rate: 0.490659 m/s, LOS rate: 0.396207 deg/s, cmd heading: 41.560622 deg, new cmd heading: 42.017658 deg. 2025-01-08T22:19:30.958Z,1736374770.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.733346 target range: 186.100006 and range: 186.10 m. 2025-01-08T22:19:31.192Z,1736374771.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:31.193Z,1736374771.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259929 2025-01-08T22:19:31.292Z,1736374771.292 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:19:31.412Z,1736374771.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:31.438Z,1736374771.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.10 m. 2025-01-08T22:19:31.441Z,1736374771.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.100006 m, nav range: 48.355061 m, bearing: 178.132424 deg, approach rate: 0.470452 m/s, LOS rate: 0.443038 deg/s, cmd heading: 42.017657 deg, new cmd heading: 42.687787 deg. 2025-01-08T22:19:31.442Z,1736374771.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745042 target range: 186.100006 and range: 186.10 m. 2025-01-08T22:19:31.444Z,1736374771.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:31.444Z,1736374771.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511296 2025-01-08T22:19:31.696Z,1736374771.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:31.705Z,1736374771.705 [DAT](INFO): DAT read: 22:19:29.8026 LVL= 18352, 29745, 25586, 32755, AGC= 60, IDX= 441,-0.23,-2.892, 2.448, 1.395, 2.384, PHS= 1.095, 0.110,-0.992, RAW= 58.1, -2.4, CAL= 61.9, -6.4, ROT= 88.1, 6.4 2025-01-08T22:19:31.706Z,1736374771.706 [DAT](INFO): got valid direction response: 22:19:29.8026 LVL= 18352, 29745, 25586, 32755, AGC= 60, IDX= 441,-0.23,-2.892, 2.448, 1.395, 2.384, PHS= 1.095, 0.110,-0.992, RAW= 58.1, -2.4, CAL= 61.9, -6.4, ROT= 88.1, 6.4 2025-01-08T22:19:31.713Z,1736374771.713 [DAT](INFO): DAT read: Bearing 88.1, 6.4 (Local) 2025-01-08T22:19:31.714Z,1736374771.714 [DAT](INFO): Local bearing/azimuth received: Bearing 88.1, 6.4 (Local) 2025-01-08T22:19:31.716Z,1736374771.716 [DAT](INFO): DAT read: Range 10 to 50 : 186.0 m (Round-trip 248.1 ms) speed 0.0 m/s 2025-01-08T22:19:31.716Z,1736374771.716 [DAT](INFO): DAT read: user:2499> 2025-01-08T22:19:31.717Z,1736374771.717 [DAT](INFO): DAT read: Tx time:22:19:30.9003 2025-01-08T22:19:31.718Z,1736374771.718 [DAT](INFO): Ping request sent. 2025-01-08T22:19:31.718Z,1736374771.718 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:31.718Z,1736374771.718 [DAT](INFO): DAT read: TxSync time:22:19:30.8996 2025-01-08T22:19:31.719Z,1736374771.719 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:31.720Z,1736374771.720 [DAT](INFO): direction in FSK: [0.018957,0.598736,0.800722] 2025-01-08T22:19:31.720Z,1736374771.720 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:31.721Z,1736374771.721 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:31.727Z,1736374771.727 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:31.727Z,1736374771.727 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:31.852Z,1736374771.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:31.896Z,1736374771.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 186.000000 m, deltaT: 3.780299 s, deltaX: -0.100006 m, approachRate: -0.026455 m/s, rangeRepo size: 4 2025-01-08T22:19:31.898Z,1736374771.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 186.000000 m, bearing: 126.235288 deg, lat: 36.904714 deg, lon: -122.120721 deg, deltaT: 3.780299 s, deltaX: -0.100006 m, approachRate: -0.026455 m/s, posRepo size: 4 2025-01-08T22:19:31.898Z,1736374771.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.00 m. 2025-01-08T22:19:31.905Z,1736374771.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.000000 m, nav range: 57.288292 m, bearing: 148.046800 deg, approach rate: 0.000000 m/s, LOS rate: 0.443038 deg/s, cmd heading: 42.687788 deg, new cmd heading: 43.284051 deg. 2025-01-08T22:19:31.906Z,1736374771.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755449 target range: 186.000000 and range: 186.00 m. 2025-01-08T22:19:31.948Z,1736374771.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:32.200Z,1736374772.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:32.217Z,1736374772.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:32.230Z,1736374772.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:32.232Z,1736374772.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.00 m. 2025-01-08T22:19:32.234Z,1736374772.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.000000 m, nav range: 57.370113 m, bearing: 148.259080 deg, approach rate: 0.237153 m/s, LOS rate: 0.614397 deg/s, cmd heading: 43.284049 deg, new cmd heading: 43.919952 deg. 2025-01-08T22:19:32.255Z,1736374772.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766548 target range: 186.000000 and range: 186.00 m. 2025-01-08T22:19:32.452Z,1736374772.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:32.452Z,1736374772.452 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:32.452Z,1736374772.452 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:32.453Z,1736374772.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:32.704Z,1736374772.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:32.704Z,1736374772.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986744 2025-01-08T22:19:32.763Z,1736374772.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:32.772Z,1736374772.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.00 m. 2025-01-08T22:19:32.775Z,1736374772.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.000000 m, nav range: 57.468075 m, bearing: 148.608592 deg, approach rate: 0.181505 m/s, LOS rate: 0.646475 deg/s, cmd heading: 43.919950 deg, new cmd heading: 44.966577 deg. 2025-01-08T22:19:32.776Z,1736374772.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784815 target range: 186.000000 and range: 186.00 m. 2025-01-08T22:19:32.960Z,1736374772.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:32.962Z,1736374772.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244293 2025-01-08T22:19:33.108Z,1736374773.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:33.136Z,1736374773.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.00 m. 2025-01-08T22:19:33.139Z,1736374773.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.000000 m, nav range: 57.522572 m, bearing: 148.830179 deg, approach rate: 0.149303 m/s, LOS rate: 0.606498 deg/s, cmd heading: 44.966578 deg, new cmd heading: 45.630678 deg. 2025-01-08T22:19:33.140Z,1736374773.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796406 target range: 186.000000 and range: 186.00 m. 2025-01-08T22:19:33.212Z,1736374773.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:33.213Z,1736374773.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494849 2025-01-08T22:19:33.464Z,1736374773.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:33.465Z,1736374773.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747521 2025-01-08T22:19:33.555Z,1736374773.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:33.565Z,1736374773.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.00 m. 2025-01-08T22:19:33.568Z,1736374773.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.000000 m, nav range: 57.581745 m, bearing: 149.133619 deg, approach rate: 0.137934 m/s, LOS rate: 0.706593 deg/s, cmd heading: 45.630677 deg, new cmd heading: 46.539981 deg. 2025-01-08T22:19:33.569Z,1736374773.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812276 target range: 186.000000 and range: 186.00 m. 2025-01-08T22:19:33.716Z,1736374773.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:33.716Z,1736374773.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998682 2025-01-08T22:19:33.929Z,1736374773.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:33.954Z,1736374773.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.00 m. 2025-01-08T22:19:33.957Z,1736374773.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.000000 m, nav range: 57.629276 m, bearing: 149.387826 deg, approach rate: 0.122331 m/s, LOS rate: 0.653713 deg/s, cmd heading: 46.539980 deg, new cmd heading: 47.301923 deg. 2025-01-08T22:19:33.958Z,1736374773.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825574 target range: 186.000000 and range: 186.00 m. 2025-01-08T22:19:33.968Z,1736374773.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:33.969Z,1736374773.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251006 2025-01-08T22:19:34.220Z,1736374774.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:34.222Z,1736374774.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503940 2025-01-08T22:19:34.449Z,1736374774.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:34.464Z,1736374774.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:34.466Z,1736374774.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.00 m. 2025-01-08T22:19:34.472Z,1736374774.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:34.472Z,1736374774.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754801 2025-01-08T22:19:34.475Z,1736374774.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.000000 m, nav range: 57.682384 m, bearing: 149.752633 deg, approach rate: 0.103631 m/s, LOS rate: 0.711198 deg/s, cmd heading: 47.301922 deg, new cmd heading: 48.395197 deg. 2025-01-08T22:19:34.480Z,1736374774.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.844656 target range: 186.000000 and range: 186.00 m. 2025-01-08T22:19:34.724Z,1736374774.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:34.725Z,1736374774.725 [DAT](INFO): DAT read: Rx Time:22:19:33.5508 2025-01-08T22:19:34.726Z,1736374774.726 [DAT](INFO): Rx dataTimestamp_ set to:1736374774.725642 2025-01-08T22:19:34.727Z,1736374774.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009210 2025-01-08T22:19:34.763Z,1736374774.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:34.796Z,1736374774.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.00 m. 2025-01-08T22:19:34.799Z,1736374774.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.000000 m, nav range: 57.712116 m, bearing: 149.973466 deg, approach rate: 0.090155 m/s, LOS rate: 0.669278 deg/s, cmd heading: 48.395196 deg, new cmd heading: 49.057323 deg. 2025-01-08T22:19:34.804Z,1736374774.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.856212 target range: 186.000000 and range: 186.00 m. 2025-01-08T22:19:34.976Z,1736374774.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:34.976Z,1736374774.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258758 2025-01-08T22:19:35.230Z,1736374775.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:35.233Z,1736374775.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514823 2025-01-08T22:19:35.290Z,1736374775.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:35.316Z,1736374775.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.00 m. 2025-01-08T22:19:35.318Z,1736374775.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.000000 m, nav range: 57.757885 m, bearing: 150.343600 deg, approach rate: 0.089502 m/s, LOS rate: 0.723228 deg/s, cmd heading: 49.057321 deg, new cmd heading: 50.166699 deg. 2025-01-08T22:19:35.324Z,1736374775.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.875574 target range: 186.000000 and range: 186.00 m. 2025-01-08T22:19:35.481Z,1736374775.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:35.493Z,1736374775.493 [DAT](INFO): DAT read: 22:19:33.5508 LVL= 20112, 29745, 25698, 29859, AGC= 64, IDX= 422,-0.35, 1.120,-0.270,-1.090,-0.262, PHS= 1.471, 0.039,-0.831, RAW= 68.0, -6.8, CAL= 76.8, -13.7, ROT= 73.2, 13.7 2025-01-08T22:19:35.500Z,1736374775.500 [DAT](INFO): got valid direction response: 22:19:33.5508 LVL= 20112, 29745, 25698, 29859, AGC= 64, IDX= 422,-0.35, 1.120,-0.270,-1.090,-0.262, PHS= 1.471, 0.039,-0.831, RAW= 68.0, -6.8, CAL= 76.8, -13.7, ROT= 73.2, 13.7 2025-01-08T22:19:35.502Z,1736374775.502 [DAT](INFO): DAT read: Bearing 73.2, 13.7 (Local) 2025-01-08T22:19:35.502Z,1736374775.502 [DAT](INFO): Local bearing/azimuth received: Bearing 73.2, 13.7 (Local) 2025-01-08T22:19:35.512Z,1736374775.512 [DAT](INFO): DAT read: Range 10 to 50 : 184.6 m (Round-trip 246.2 ms) speed 0.4 m/s 2025-01-08T22:19:35.513Z,1736374775.513 [DAT](INFO): DAT read: user:2500> 2025-01-08T22:19:35.514Z,1736374775.514 [DAT](INFO): DAT read: Tx time:22:19:34.6504 2025-01-08T22:19:35.514Z,1736374775.514 [DAT](INFO): Ping request sent. 2025-01-08T22:19:35.514Z,1736374775.514 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:35.520Z,1736374775.520 [DAT](INFO): DAT read: TxSync time:22:19:34.6497 2025-01-08T22:19:35.522Z,1736374775.522 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:35.527Z,1736374775.527 [DAT](INFO): direction in FSK: [0.082032,0.453268,0.887592] 2025-01-08T22:19:35.528Z,1736374775.528 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:35.528Z,1736374775.528 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:35.536Z,1736374775.536 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:35.536Z,1736374775.536 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:35.732Z,1736374775.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:35.793Z,1736374775.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:35.862Z,1736374775.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 184.600006 m, deltaT: 3.784672 s, deltaX: -1.399994 m, approachRate: -0.369912 m/s, rangeRepo size: 4 2025-01-08T22:19:35.868Z,1736374775.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 184.600006 m, bearing: 125.403646 deg, lat: 36.904714 deg, lon: -122.120595 deg, deltaT: 3.784672 s, deltaX: -1.399994 m, approachRate: -0.369912 m/s, posRepo size: 4 2025-01-08T22:19:35.869Z,1736374775.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.60 m. 2025-01-08T22:19:35.876Z,1736374775.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.600006 m, nav range: 64.070274 m, bearing: 141.891118 deg, approach rate: 0.000000 m/s, LOS rate: 0.723228 deg/s, cmd heading: 50.166698 deg, new cmd heading: 51.367876 deg. 2025-01-08T22:19:35.877Z,1736374775.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896539 target range: 184.600006 and range: 184.60 m. 2025-01-08T22:19:35.984Z,1736374775.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:36.236Z,1736374776.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:36.297Z,1736374776.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:36.305Z,1736374776.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.60 m. 2025-01-08T22:19:36.309Z,1736374776.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.600006 m, nav range: 64.051170 m, bearing: 142.216580 deg, approach rate: -0.042994 m/s, LOS rate: 0.732670 deg/s, cmd heading: 51.367875 deg, new cmd heading: 52.344451 deg. 2025-01-08T22:19:36.310Z,1736374776.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.913583 target range: 184.600006 and range: 184.60 m. 2025-01-08T22:19:36.488Z,1736374776.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:36.733Z,1736374776.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:36.740Z,1736374776.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:36.755Z,1736374776.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:36.759Z,1736374776.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.60 m. 2025-01-08T22:19:36.766Z,1736374776.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.600006 m, nav range: 64.034714 m, bearing: 142.490233 deg, approach rate: -0.036403 m/s, LOS rate: 0.605487 deg/s, cmd heading: 52.344452 deg, new cmd heading: 53.165563 deg. 2025-01-08T22:19:36.766Z,1736374776.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.927914 target range: 184.600006 and range: 184.60 m. 2025-01-08T22:19:36.993Z,1736374776.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:36.993Z,1736374776.993 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:36.993Z,1736374776.993 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:36.993Z,1736374776.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:37.093Z,1736374777.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:37.102Z,1736374777.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.60 m. 2025-01-08T22:19:37.105Z,1736374777.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.600006 m, nav range: 64.018562 m, bearing: 142.715784 deg, approach rate: -0.046877 m/s, LOS rate: 0.654793 deg/s, cmd heading: 53.165564 deg, new cmd heading: 53.842355 deg. 2025-01-08T22:19:37.106Z,1736374777.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939726 target range: 184.600006 and range: 184.60 m. 2025-01-08T22:19:37.244Z,1736374777.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:37.245Z,1736374777.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730156 2025-01-08T22:19:37.496Z,1736374777.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:37.497Z,1736374777.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982772 2025-01-08T22:19:37.546Z,1736374777.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:37.577Z,1736374777.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.60 m. 2025-01-08T22:19:37.584Z,1736374777.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.600006 m, nav range: 64.003288 m, bearing: 142.985171 deg, approach rate: -0.032194 m/s, LOS rate: 0.567944 deg/s, cmd heading: 53.842354 deg, new cmd heading: 54.650650 deg. 2025-01-08T22:19:37.586Z,1736374777.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.953834 target range: 184.600006 and range: 184.60 m. 2025-01-08T22:19:37.749Z,1736374777.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:37.750Z,1736374777.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235526 2025-01-08T22:19:37.910Z,1736374777.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:37.918Z,1736374777.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.60 m. 2025-01-08T22:19:37.921Z,1736374777.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.600006 m, nav range: 63.988758 m, bearing: 143.201368 deg, approach rate: -0.042494 m/s, LOS rate: 0.632421 deg/s, cmd heading: 54.650649 deg, new cmd heading: 55.299358 deg. 2025-01-08T22:19:37.922Z,1736374777.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.965156 target range: 184.600006 and range: 184.60 m. 2025-01-08T22:19:38.001Z,1736374778.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:38.002Z,1736374778.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487243 2025-01-08T22:19:38.252Z,1736374778.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:38.252Z,1736374778.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737894 2025-01-08T22:19:38.320Z,1736374778.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:38.342Z,1736374778.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.60 m. 2025-01-08T22:19:38.349Z,1736374778.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.600006 m, nav range: 63.970154 m, bearing: 143.445379 deg, approach rate: -0.043918 m/s, LOS rate: 0.576193 deg/s, cmd heading: 55.299360 deg, new cmd heading: 56.031565 deg. 2025-01-08T22:19:38.352Z,1736374778.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.977935 target range: 184.600006 and range: 184.60 m. 2025-01-08T22:19:38.504Z,1736374778.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:38.505Z,1736374778.505 [DAT](INFO): DAT read: Rx Time:22:19:37.2990 2025-01-08T22:19:38.505Z,1736374778.505 [DAT](INFO): Rx dataTimestamp_ set to:1736374778.504693 2025-01-08T22:19:38.505Z,1736374778.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991069 2025-01-08T22:19:38.745Z,1736374778.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:38.753Z,1736374778.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.60 m. 2025-01-08T22:19:38.756Z,1736374778.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:38.756Z,1736374778.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241996 2025-01-08T22:19:38.758Z,1736374778.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.600006 m, nav range: 63.965019 m, bearing: 143.684902 deg, approach rate: -0.012490 m/s, LOS rate: 0.582679 deg/s, cmd heading: 56.031566 deg, new cmd heading: 56.750154 deg. 2025-01-08T22:19:38.760Z,1736374778.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990477 target range: 184.600006 and range: 184.60 m. 2025-01-08T22:19:39.009Z,1736374779.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:39.021Z,1736374779.021 [DAT](INFO): DAT read: 22:19:37.2990 LVL= 14576, 26705, 22002, 32755, AGC= 60, IDX= 419,-0.05,-3.039, 1.647, 1.363, 2.028, PHS= 1.305,-0.334,-0.668, RAW= 80.9, -3.3, CAL= 88.9, -9.5, ROT= 61.1, 9.5 2025-01-08T22:19:39.022Z,1736374779.022 [DAT](INFO): got valid direction response: 22:19:37.2990 LVL= 14576, 26705, 22002, 32755, AGC= 60, IDX= 419,-0.05,-3.039, 1.647, 1.363, 2.028, PHS= 1.305,-0.334,-0.668, RAW= 80.9, -3.3, CAL= 88.9, -9.5, ROT= 61.1, 9.5 2025-01-08T22:19:39.040Z,1736374779.040 [DAT](INFO): DAT read: Bearing 61.1, 9.5 (Local) 2025-01-08T22:19:39.041Z,1736374779.041 [DAT](INFO): Local bearing/azimuth received: Bearing 61.1, 9.5 (Local) 2025-01-08T22:19:39.043Z,1736374779.043 [DAT](INFO): DAT read: Range 10 to 50 : 183.3 m (Round-trip 244.4 ms) speed 0.1 m/s 2025-01-08T22:19:39.068Z,1736374779.068 [DAT](INFO): DAT read: user:2501> 2025-01-08T22:19:39.069Z,1736374779.069 [DAT](INFO): DAT read: Tx time:22:19:38.4004 2025-01-08T22:19:39.069Z,1736374779.069 [DAT](INFO): Ping request sent. 2025-01-08T22:19:39.069Z,1736374779.069 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:39.069Z,1736374779.069 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:39.070Z,1736374779.070 [DAT](INFO): direction in FSK: [-0.006111,0.257727,0.966198] 2025-01-08T22:19:39.070Z,1736374779.070 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:39.071Z,1736374779.071 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:39.078Z,1736374779.078 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:39.078Z,1736374779.078 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:39.129Z,1736374779.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:39.158Z,1736374779.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 183.300003 m, deltaT: 3.529255 s, deltaX: -1.300003 m, approachRate: -0.368351 m/s, rangeRepo size: 4 2025-01-08T22:19:39.169Z,1736374779.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 183.300003 m, bearing: 205.266549 deg, lat: 36.904714 deg, lon: -122.120595 deg, deltaT: 3.529255 s, deltaX: -1.300003 m, approachRate: -0.368351 m/s, posRepo size: 4 2025-01-08T22:19:39.169Z,1736374779.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.30 m. 2025-01-08T22:19:39.177Z,1736374779.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.300003 m, nav range: 63.958721 m, bearing: 143.901304 deg, approach rate: 0.000000 m/s, LOS rate: 0.582679 deg/s, cmd heading: 56.750153 deg, new cmd heading: 57.455774 deg. 2025-01-08T22:19:39.177Z,1736374779.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.002792 target range: 183.300003 and range: 183.30 m. 2025-01-08T22:19:39.260Z,1736374779.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:39.262Z,1736374779.262 [DAT](INFO): DAT read: TxSync time:22:19:38.3997 2025-01-08T22:19:39.513Z,1736374779.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:39.551Z,1736374779.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:39.577Z,1736374779.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:39.587Z,1736374779.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.30 m. 2025-01-08T22:19:39.594Z,1736374779.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.300003 m, nav range: 63.960743 m, bearing: 144.114084 deg, approach rate: 0.004784 m/s, LOS rate: 0.503474 deg/s, cmd heading: 57.455777 deg, new cmd heading: 58.094068 deg. 2025-01-08T22:19:39.600Z,1736374779.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.013933 target range: 183.300003 and range: 183.30 m. 2025-01-08T22:19:39.764Z,1736374779.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:39.764Z,1736374779.764 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:39.764Z,1736374779.764 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:39.764Z,1736374779.764 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:39.923Z,1736374779.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:39.932Z,1736374779.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.30 m. 2025-01-08T22:19:39.935Z,1736374779.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.300003 m, nav range: 63.960743 m, bearing: 144.301881 deg, approach rate: -0.000000 m/s, LOS rate: 0.532186 deg/s, cmd heading: 58.094065 deg, new cmd heading: 58.657438 deg. 2025-01-08T22:19:39.937Z,1736374779.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023765 target range: 183.300003 and range: 183.30 m. 2025-01-08T22:19:40.016Z,1736374780.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:40.017Z,1736374780.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.948283 2025-01-08T22:19:40.268Z,1736374780.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:40.268Z,1736374780.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.199375 2025-01-08T22:19:40.364Z,1736374780.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:40.381Z,1736374780.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.30 m. 2025-01-08T22:19:40.388Z,1736374780.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.300003 m, nav range: 63.961632 m, bearing: 144.524561 deg, approach rate: 0.001979 m/s, LOS rate: 0.495771 deg/s, cmd heading: 58.657439 deg, new cmd heading: 59.325438 deg. 2025-01-08T22:19:40.389Z,1736374780.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035424 target range: 183.300003 and range: 183.30 m. 2025-01-08T22:19:40.520Z,1736374780.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:40.521Z,1736374780.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.452412 2025-01-08T22:19:40.588Z,1736374780.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:19:40.751Z,1736374780.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:40.772Z,1736374780.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:40.772Z,1736374780.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703392 2025-01-08T22:19:40.781Z,1736374780.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.30 m. 2025-01-08T22:19:40.783Z,1736374780.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.300003 m, nav range: 63.972778 m, bearing: 144.703857 deg, approach rate: 0.027928 m/s, LOS rate: 0.449145 deg/s, cmd heading: 59.325439 deg, new cmd heading: 59.863215 deg. 2025-01-08T22:19:40.784Z,1736374780.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044810 target range: 183.300003 and range: 183.30 m. 2025-01-08T22:19:41.024Z,1736374781.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:41.025Z,1736374781.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956166 2025-01-08T22:19:41.145Z,1736374781.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:41.154Z,1736374781.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.30 m. 2025-01-08T22:19:41.157Z,1736374781.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.300003 m, nav range: 63.983181 m, bearing: 144.887104 deg, approach rate: 0.027868 m/s, LOS rate: 0.490825 deg/s, cmd heading: 59.863213 deg, new cmd heading: 60.412848 deg. 2025-01-08T22:19:41.159Z,1736374781.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.054403 target range: 183.300003 and range: 183.30 m. 2025-01-08T22:19:41.276Z,1736374781.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:41.277Z,1736374781.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207591 2025-01-08T22:19:41.528Z,1736374781.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:41.528Z,1736374781.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459238 2025-01-08T22:19:41.590Z,1736374781.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:41.592Z,1736374781.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:19:41.602Z,1736374781.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:41.605Z,1736374781.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.30 m. 2025-01-08T22:19:41.608Z,1736374781.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.300003 m, nav range: 64.011467 m, bearing: 145.075823 deg, approach rate: 0.062682 m/s, LOS rate: 0.418019 deg/s, cmd heading: 60.412846 deg, new cmd heading: 60.978732 deg. 2025-01-08T22:19:41.609Z,1736374781.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.064280 target range: 183.300003 and range: 183.30 m. 2025-01-08T22:19:41.780Z,1736374781.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:41.781Z,1736374781.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711888 2025-01-08T22:19:41.948Z,1736374781.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:41.958Z,1736374781.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.30 m. 2025-01-08T22:19:41.961Z,1736374781.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.300003 m, nav range: 64.033470 m, bearing: 145.227926 deg, approach rate: 0.062479 m/s, LOS rate: 0.431759 deg/s, cmd heading: 60.978734 deg, new cmd heading: 61.434878 deg. 2025-01-08T22:19:41.962Z,1736374781.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.072241 target range: 183.300003 and range: 183.30 m. 2025-01-08T22:19:42.032Z,1736374782.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:42.032Z,1736374782.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963457 2025-01-08T22:19:42.284Z,1736374782.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:42.284Z,1736374782.284 [DAT](INFO): DAT read: Rx Time:22:19:41.0487 2025-01-08T22:19:42.285Z,1736374782.285 [DAT](INFO): Rx dataTimestamp_ set to:1736374782.284575 2025-01-08T22:19:42.285Z,1736374782.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216358 2025-01-08T22:19:42.361Z,1736374782.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:42.370Z,1736374782.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.30 m. 2025-01-08T22:19:42.373Z,1736374782.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.300003 m, nav range: 64.057869 m, bearing: 145.403410 deg, approach rate: 0.059143 m/s, LOS rate: 0.425212 deg/s, cmd heading: 61.434881 deg, new cmd heading: 61.961115 deg. 2025-01-08T22:19:42.374Z,1736374782.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.081425 target range: 183.300003 and range: 183.30 m. 2025-01-08T22:19:42.536Z,1736374782.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:42.536Z,1736374782.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467442 2025-01-08T22:19:42.788Z,1736374782.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:42.795Z,1736374782.795 [DAT](INFO): DAT read: 22:19:41.0487 LVL= 14320, 27585, 19122, 29171, AGC= 62, IDX= 432,-0.26,-1.871, 2.861, 2.776,-2.954, PHS= 1.171,-0.421,-0.557, RAW= 86.0, -2.3, CAL= 93.7, -8.2, ROT= 56.3, 8.2 2025-01-08T22:19:42.796Z,1736374782.796 [DAT](INFO): got valid direction response: 22:19:41.0487 LVL= 14320, 27585, 19122, 29171, AGC= 62, IDX= 432,-0.26,-1.871, 2.861, 2.776,-2.954, PHS= 1.171,-0.421,-0.557, RAW= 86.0, -2.3, CAL= 93.7, -8.2, ROT= 56.3, 8.2 2025-01-08T22:19:42.797Z,1736374782.797 [DAT](INFO): DAT read: Bearing 56.3, 8.2 (Local) 2025-01-08T22:19:42.797Z,1736374782.797 [DAT](INFO): Local bearing/azimuth received: Bearing 56.3, 8.2 (Local) 2025-01-08T22:19:42.799Z,1736374782.799 [DAT](INFO): DAT read: Range 10 to 50 : 183.0 m (Round-trip 244.1 ms) speed 0.1 m/s 2025-01-08T22:19:42.800Z,1736374782.800 [DAT](INFO): DAT read: user:2502> 2025-01-08T22:19:42.800Z,1736374782.800 [DAT](INFO): DAT read: Tx time:22:19:42.1504 2025-01-08T22:19:42.801Z,1736374782.801 [DAT](INFO): Ping request sent. 2025-01-08T22:19:42.801Z,1736374782.801 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:42.801Z,1736374782.801 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:42.802Z,1736374782.802 [DAT](INFO): direction in FSK: [-0.033748,0.174674,0.984048] 2025-01-08T22:19:42.802Z,1736374782.802 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:42.802Z,1736374782.802 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:42.806Z,1736374782.806 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:42.806Z,1736374782.806 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:42.854Z,1736374782.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:42.902Z,1736374782.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 183.000000 m, deltaT: 3.777703 s, deltaX: -0.300003 m, approachRate: -0.079414 m/s, rangeRepo size: 4 2025-01-08T22:19:42.908Z,1736374782.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 183.000000 m, bearing: 263.621659 deg, lat: 36.904915 deg, lon: -122.120595 deg, deltaT: 3.777703 s, deltaX: -0.300003 m, approachRate: -0.079414 m/s, posRepo size: 4 2025-01-08T22:19:42.909Z,1736374782.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.00 m. 2025-01-08T22:19:42.920Z,1736374782.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.000000 m, nav range: 47.394108 m, bearing: 130.182872 deg, approach rate: 0.000000 m/s, LOS rate: 0.425212 deg/s, cmd heading: 61.961113 deg, new cmd heading: 62.638548 deg. 2025-01-08T22:19:42.921Z,1736374782.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093249 target range: 183.000000 and range: 183.00 m. 2025-01-08T22:19:43.040Z,1736374783.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:43.042Z,1736374783.042 [DAT](INFO): DAT read: TxSync time:22:19:42.1497 2025-01-08T22:19:43.203Z,1736374783.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:43.221Z,1736374783.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.00 m. 2025-01-08T22:19:43.227Z,1736374783.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.000000 m, nav range: 47.376228 m, bearing: 130.374520 deg, approach rate: -0.055928 m/s, LOS rate: 0.599710 deg/s, cmd heading: 62.638545 deg, new cmd heading: 63.213684 deg. 2025-01-08T22:19:43.228Z,1736374783.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.103287 target range: 183.000000 and range: 183.00 m. 2025-01-08T22:19:43.292Z,1736374783.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:43.544Z,1736374783.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:43.638Z,1736374783.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:43.646Z,1736374783.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:43.650Z,1736374783.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.00 m. 2025-01-08T22:19:43.656Z,1736374783.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.000000 m, nav range: 47.350994 m, bearing: 130.618206 deg, approach rate: -0.058832 m/s, LOS rate: 0.568440 deg/s, cmd heading: 63.213681 deg, new cmd heading: 63.945088 deg. 2025-01-08T22:19:43.658Z,1736374783.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116052 target range: 183.000000 and range: 183.00 m. 2025-01-08T22:19:43.796Z,1736374783.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:43.796Z,1736374783.796 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:43.796Z,1736374783.796 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:43.797Z,1736374783.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:44.010Z,1736374784.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:44.018Z,1736374784.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.00 m. 2025-01-08T22:19:44.021Z,1736374784.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.000000 m, nav range: 47.328781 m, bearing: 130.824623 deg, approach rate: -0.060291 m/s, LOS rate: 0.560523 deg/s, cmd heading: 63.945085 deg, new cmd heading: 64.564600 deg. 2025-01-08T22:19:44.022Z,1736374784.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126865 target range: 183.000000 and range: 183.00 m. 2025-01-08T22:19:44.048Z,1736374784.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:44.048Z,1736374784.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247695 2025-01-08T22:19:44.300Z,1736374784.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:44.301Z,1736374784.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499843 2025-01-08T22:19:44.415Z,1736374784.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:44.425Z,1736374784.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.00 m. 2025-01-08T22:19:44.428Z,1736374784.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.000000 m, nav range: 47.302967 m, bearing: 131.049491 deg, approach rate: -0.063578 m/s, LOS rate: 0.554134 deg/s, cmd heading: 64.564597 deg, new cmd heading: 65.239537 deg. 2025-01-08T22:19:44.429Z,1736374784.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138645 target range: 183.000000 and range: 183.00 m. 2025-01-08T22:19:44.552Z,1736374784.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:44.553Z,1736374784.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751935 2025-01-08T22:19:44.804Z,1736374784.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:44.804Z,1736374784.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003756 2025-01-08T22:19:44.863Z,1736374784.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:44.871Z,1736374784.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.00 m. 2025-01-08T22:19:44.875Z,1736374784.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.000000 m, nav range: 47.266598 m, bearing: 131.311063 deg, approach rate: -0.081339 m/s, LOS rate: 0.585450 deg/s, cmd heading: 65.239535 deg, new cmd heading: 66.024803 deg. 2025-01-08T22:19:44.892Z,1736374784.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.152350 target range: 183.000000 and range: 183.00 m. 2025-01-08T22:19:45.056Z,1736374785.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:45.057Z,1736374785.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255883 2025-01-08T22:19:45.214Z,1736374785.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:45.238Z,1736374785.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.00 m. 2025-01-08T22:19:45.254Z,1736374785.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.000000 m, nav range: 47.236473 m, bearing: 131.516012 deg, approach rate: -0.081993 m/s, LOS rate: 0.558184 deg/s, cmd heading: 66.024802 deg, new cmd heading: 66.640017 deg. 2025-01-08T22:19:45.255Z,1736374785.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163088 target range: 183.000000 and range: 183.00 m. 2025-01-08T22:19:45.311Z,1736374785.311 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:45.312Z,1736374785.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511067 2025-01-08T22:19:45.565Z,1736374785.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:45.568Z,1736374785.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767077 2025-01-08T22:19:45.677Z,1736374785.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:45.700Z,1736374785.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:45.702Z,1736374785.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.00 m. 2025-01-08T22:19:45.709Z,1736374785.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.000000 m, nav range: 47.172630 m, bearing: 131.815871 deg, approach rate: -0.137706 m/s, LOS rate: 0.647656 deg/s, cmd heading: 66.640018 deg, new cmd heading: 67.540733 deg. 2025-01-08T22:19:45.713Z,1736374785.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.178808 target range: 183.000000 and range: 183.00 m. 2025-01-08T22:19:45.816Z,1736374785.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:45.817Z,1736374785.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016305 2025-01-08T22:19:46.038Z,1736374786.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:46.049Z,1736374786.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.00 m. 2025-01-08T22:19:46.052Z,1736374786.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.000000 m, nav range: 47.121910 m, bearing: 132.050436 deg, approach rate: -0.146280 m/s, LOS rate: 0.677225 deg/s, cmd heading: 67.540735 deg, new cmd heading: 68.245149 deg. 2025-01-08T22:19:46.053Z,1736374786.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.191103 target range: 183.000000 and range: 183.00 m. 2025-01-08T22:19:46.068Z,1736374786.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:46.068Z,1736374786.068 [DAT](INFO): DAT read: Rx Time:22:19:44.7976 2025-01-08T22:19:46.069Z,1736374786.069 [DAT](INFO): Rx dataTimestamp_ set to:1736374786.068561 2025-01-08T22:19:46.069Z,1736374786.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268689 2025-01-08T22:19:46.320Z,1736374786.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:46.320Z,1736374786.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519753 2025-01-08T22:19:46.453Z,1736374786.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:46.557Z,1736374786.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.00 m. 2025-01-08T22:19:46.572Z,1736374786.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:46.578Z,1736374786.578 [DAT](INFO): DAT read: 22:19:44.7976 LVL= 19760, 31217, 24178, 32755, AGC= 59, IDX= 437,-0.01, 2.112, 0.553, 0.696, 1.237, PHS= 0.962,-0.637,-0.544, RAW= 93.0, 2.8, CAL= 101.1, 0.7, ROT= 48.9, -0.7 2025-01-08T22:19:46.580Z,1736374786.580 [DAT](INFO): got valid direction response: 22:19:44.7976 LVL= 19760, 31217, 24178, 32755, AGC= 59, IDX= 437,-0.01, 2.112, 0.553, 0.696, 1.237, PHS= 0.962,-0.637,-0.544, RAW= 93.0, 2.8, CAL= 101.1, 0.7, ROT= 48.9, -0.7 2025-01-08T22:19:46.581Z,1736374786.581 [DAT](INFO): DAT read: Bearing 48.9, -0.7 (Local) 2025-01-08T22:19:46.581Z,1736374786.581 [DAT](INFO): Local bearing/azimuth received: Bearing 48.9, -0.7 (Local) 2025-01-08T22:19:46.582Z,1736374786.582 [DAT](INFO): DAT read: Range 10 to 50 : 182.2 m (Round-trip 243.0 ms) speed 0.4 m/s 2025-01-08T22:19:46.583Z,1736374786.583 [DAT](INFO): DAT read: user:2503> 2025-01-08T22:19:46.584Z,1736374786.584 [DAT](INFO): DAT read: Tx time:22:19:45.9004 2025-01-08T22:19:46.584Z,1736374786.584 [DAT](INFO): Ping request sent. 2025-01-08T22:19:46.584Z,1736374786.584 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:46.585Z,1736374786.585 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:46.586Z,1736374786.586 [DAT](INFO): direction in FSK: [-0.143978,0.058878,0.987828] 2025-01-08T22:19:46.586Z,1736374786.586 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:46.586Z,1736374786.586 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:46.593Z,1736374786.593 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:46.594Z,1736374786.594 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:46.596Z,1736374786.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.000000 m, nav range: 47.062759 m, bearing: 132.318641 deg, approach rate: -0.117900 m/s, LOS rate: 0.535261 deg/s, cmd heading: 68.245146 deg, new cmd heading: 69.050718 deg. 2025-01-08T22:19:46.597Z,1736374786.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205162 target range: 183.000000 and range: 183.00 m. 2025-01-08T22:19:46.826Z,1736374786.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:46.828Z,1736374786.828 [DAT](INFO): DAT read: TxSync time:22:19:45.8997 2025-01-08T22:19:46.946Z,1736374786.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:46.985Z,1736374786.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 182.199997 m, deltaT: 3.784210 s, deltaX: -0.800003 m, approachRate: -0.211406 m/s, rangeRepo size: 4 2025-01-08T22:19:46.987Z,1736374786.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 182.199997 m, bearing: 282.427793 deg, lat: 36.905069 deg, lon: -122.121083 deg, deltaT: 3.784210 s, deltaX: -0.800003 m, approachRate: -0.211406 m/s, posRepo size: 4 2025-01-08T22:19:46.996Z,1736374786.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.20 m. 2025-01-08T22:19:46.999Z,1736374786.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.199997 m, nav range: 17.122633 m, bearing: 211.325934 deg, approach rate: 0.000000 m/s, LOS rate: 0.535261 deg/s, cmd heading: 69.050719 deg, new cmd heading: 69.746722 deg. 2025-01-08T22:19:47.004Z,1736374787.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217310 target range: 182.199997 and range: 182.20 m. 2025-01-08T22:19:47.076Z,1736374787.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:47.284Z,1736374787.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:47.294Z,1736374787.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.20 m. 2025-01-08T22:19:47.296Z,1736374787.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.199997 m, nav range: 17.302301 m, bearing: 211.696788 deg, approach rate: 0.580420 m/s, LOS rate: 1.185597 deg/s, cmd heading: 69.746723 deg, new cmd heading: 70.847588 deg. 2025-01-08T22:19:47.297Z,1736374787.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236524 target range: 182.199997 and range: 182.20 m. 2025-01-08T22:19:47.328Z,1736374787.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:47.582Z,1736374787.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:47.735Z,1736374787.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:47.741Z,1736374787.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:47.762Z,1736374787.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.20 m. 2025-01-08T22:19:47.775Z,1736374787.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.199997 m, nav range: 17.561518 m, bearing: 212.294977 deg, approach rate: 0.576335 m/s, LOS rate: 1.310340 deg/s, cmd heading: 70.847585 deg, new cmd heading: 72.615068 deg. 2025-01-08T22:19:47.776Z,1736374787.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.267372 target range: 182.199997 and range: 182.20 m. 2025-01-08T22:19:47.836Z,1736374787.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:47.837Z,1736374787.837 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:47.837Z,1736374787.837 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:47.837Z,1736374787.837 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:48.088Z,1736374788.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:48.088Z,1736374788.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503872 2025-01-08T22:19:48.104Z,1736374788.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:48.114Z,1736374788.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.20 m. 2025-01-08T22:19:48.141Z,1736374788.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.199997 m, nav range: 17.773708 m, bearing: 212.781321 deg, approach rate: 0.573231 m/s, LOS rate: 1.298155 deg/s, cmd heading: 72.615067 deg, new cmd heading: 74.056362 deg. 2025-01-08T22:19:48.142Z,1736374788.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.292527 target range: 182.199997 and range: 182.20 m. 2025-01-08T22:19:48.342Z,1736374788.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:48.343Z,1736374788.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758753 2025-01-08T22:19:48.519Z,1736374788.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:48.537Z,1736374788.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.20 m. 2025-01-08T22:19:48.549Z,1736374788.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.199997 m, nav range: 18.010904 m, bearing: 213.323510 deg, approach rate: 0.563999 m/s, LOS rate: 1.272206 deg/s, cmd heading: 74.056360 deg, new cmd heading: 75.661062 deg. 2025-01-08T22:19:48.573Z,1736374788.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320535 target range: 182.199997 and range: 182.20 m. 2025-01-08T22:19:48.594Z,1736374788.594 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:48.596Z,1736374788.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011201 2025-01-08T22:19:48.846Z,1736374788.846 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:48.846Z,1736374788.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261880 2025-01-08T22:19:48.952Z,1736374788.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:48.968Z,1736374788.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.20 m. 2025-01-08T22:19:48.971Z,1736374788.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.199997 m, nav range: 18.271154 m, bearing: 213.971829 deg, approach rate: 0.599283 m/s, LOS rate: 1.471601 deg/s, cmd heading: 75.661059 deg, new cmd heading: 77.577555 deg. 2025-01-08T22:19:48.973Z,1736374788.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353984 target range: 182.199997 and range: 182.20 m. 2025-01-08T22:19:49.096Z,1736374789.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:49.096Z,1736374789.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511954 2025-01-08T22:19:49.318Z,1736374789.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:49.329Z,1736374789.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.20 m. 2025-01-08T22:19:49.331Z,1736374789.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.199997 m, nav range: 18.490459 m, bearing: 214.518522 deg, approach rate: 0.608853 m/s, LOS rate: 1.499750 deg/s, cmd heading: 77.577555 deg, new cmd heading: 79.197726 deg. 2025-01-08T22:19:49.332Z,1736374789.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382261 target range: 182.199997 and range: 182.20 m. 2025-01-08T22:19:49.348Z,1736374789.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:49.349Z,1736374789.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764294 2025-01-08T22:19:49.601Z,1736374789.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:49.604Z,1736374789.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019296 2025-01-08T22:19:49.765Z,1736374789.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:49.772Z,1736374789.772 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:49.774Z,1736374789.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.20 m. 2025-01-08T22:19:49.777Z,1736374789.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.199997 m, nav range: 18.773544 m, bearing: 215.202339 deg, approach rate: 0.635058 m/s, LOS rate: 1.510873 deg/s, cmd heading: 79.197724 deg, new cmd heading: 81.217357 deg. 2025-01-08T22:19:49.778Z,1736374789.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.417510 target range: 182.199997 and range: 182.20 m. 2025-01-08T22:19:49.853Z,1736374789.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:49.854Z,1736374789.854 [DAT](INFO): DAT read: Rx Time:22:19:48.5446 2025-01-08T22:19:49.855Z,1736374789.855 [DAT](INFO): Rx dataTimestamp_ set to:1736374789.854584 2025-01-08T22:19:49.856Z,1736374789.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271569 2025-01-08T22:19:50.104Z,1736374790.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:50.104Z,1736374790.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519958 2025-01-08T22:19:50.138Z,1736374790.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:50.147Z,1736374790.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.20 m. 2025-01-08T22:19:50.150Z,1736374790.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.199997 m, nav range: 19.004005 m, bearing: 215.783490 deg, approach rate: 0.618342 m/s, LOS rate: 1.540330 deg/s, cmd heading: 81.217356 deg, new cmd heading: 82.939117 deg. 2025-01-08T22:19:50.151Z,1736374790.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447561 target range: 182.199997 and range: 182.20 m. 2025-01-08T22:19:50.356Z,1736374790.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:50.363Z,1736374790.363 [DAT](INFO): DAT read: 22:19:48.5446 LVL= 18704, 32753, 27378, 32755, AGC= 63, IDX= 405, 0.01,-2.545, 2.147, 2.463, 2.917, PHS= 0.909,-0.723,-0.457, RAW= 98.7, 3.6, CAL= 108.7, 1.7, ROT= 41.3, -1.7 2025-01-08T22:19:50.365Z,1736374790.365 [DAT](INFO): got valid direction response: 22:19:48.5446 LVL= 18704, 32753, 27378, 32755, AGC= 63, IDX= 405, 0.01,-2.545, 2.147, 2.463, 2.917, PHS= 0.909,-0.723,-0.457, RAW= 98.7, 3.6, CAL= 108.7, 1.7, ROT= 41.3, -1.7 2025-01-08T22:19:50.365Z,1736374790.365 [DAT](INFO): DAT read: Bearing 41.3, -1.7 (Local) 2025-01-08T22:19:50.366Z,1736374790.366 [DAT](INFO): Local bearing/azimuth received: Bearing 41.3, -1.7 (Local) 2025-01-08T22:19:50.368Z,1736374790.368 [DAT](INFO): DAT read: Range 10 to 50 : 179.9 m (Round-trip 239.9 ms) speed 0.6 m/s 2025-01-08T22:19:50.369Z,1736374790.369 [DAT](INFO): DAT read: user:2504> 2025-01-08T22:19:50.369Z,1736374790.369 [DAT](INFO): DAT read: Tx time:22:19:49.6505 2025-01-08T22:19:50.370Z,1736374790.370 [DAT](INFO): Ping request sent. 2025-01-08T22:19:50.370Z,1736374790.370 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:50.370Z,1736374790.370 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:50.371Z,1736374790.371 [DAT](INFO): direction in FSK: [-0.167163,-0.041199,0.985068] 2025-01-08T22:19:50.371Z,1736374790.371 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:50.372Z,1736374790.372 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:50.381Z,1736374790.381 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:50.382Z,1736374790.382 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:50.532Z,1736374790.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:50.583Z,1736374790.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 179.899994 m, deltaT: 3.783902 s, deltaX: -2.300003 m, approachRate: -0.607839 m/s, rangeRepo size: 4 2025-01-08T22:19:50.610Z,1736374790.610 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:50.613Z,1736374790.613 [DAT](INFO): DAT read: TxSync time:22:19:49.6498 2025-01-08T22:19:50.625Z,1736374790.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 179.899994 m, bearing: 302.961101 deg, lat: 36.905172 deg, lon: -122.121199 deg, deltaT: 3.783902 s, deltaX: -2.300003 m, approachRate: -0.607839 m/s, posRepo size: 4 2025-01-08T22:19:50.631Z,1736374790.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T22:19:50.634Z,1736374790.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 22.094936 m, bearing: 259.385164 deg, approach rate: 0.000000 m/s, LOS rate: 1.540330 deg/s, cmd heading: 82.939117 deg, new cmd heading: 84.913342 deg. 2025-01-08T22:19:50.639Z,1736374790.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.482017 target range: 179.899994 and range: 179.90 m. 2025-01-08T22:19:50.861Z,1736374790.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:50.953Z,1736374790.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:50.962Z,1736374790.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T22:19:50.965Z,1736374790.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 22.435303 m, bearing: 259.376169 deg, approach rate: 0.878270 m/s, LOS rate: -0.022857 deg/s, cmd heading: 84.913342 deg, new cmd heading: 84.886768 deg. 2025-01-08T22:19:50.966Z,1736374790.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.481554 target range: 179.899994 and range: 179.90 m. 2025-01-08T22:19:51.112Z,1736374791.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:51.328Z,1736374791.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:51.337Z,1736374791.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T22:19:51.342Z,1736374791.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 22.739559 m, bearing: 259.387675 deg, approach rate: 0.811294 m/s, LOS rate: 0.030270 deg/s, cmd heading: 84.886766 deg, new cmd heading: 84.920822 deg. 2025-01-08T22:19:51.364Z,1736374791.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:51.365Z,1736374791.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.482148 target range: 179.899994 and range: 179.90 m. 2025-01-08T22:19:51.617Z,1736374791.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:51.764Z,1736374791.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:51.773Z,1736374791.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T22:19:51.776Z,1736374791.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 23.083244 m, bearing: 259.434030 deg, approach rate: 0.787535 m/s, LOS rate: 0.104638 deg/s, cmd heading: 84.920821 deg, new cmd heading: 85.057815 deg. 2025-01-08T22:19:51.777Z,1736374791.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.484539 target range: 179.899994 and range: 179.90 m. 2025-01-08T22:19:51.868Z,1736374791.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:52.120Z,1736374792.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:52.166Z,1736374792.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:52.178Z,1736374792.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:52.184Z,1736374792.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T22:19:52.186Z,1736374792.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 23.401211 m, bearing: 259.494976 deg, approach rate: 0.782920 m/s, LOS rate: 0.148027 deg/s, cmd heading: 85.057814 deg, new cmd heading: 85.238168 deg. 2025-01-08T22:19:52.192Z,1736374792.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487687 target range: 179.899994 and range: 179.90 m. 2025-01-08T22:19:52.372Z,1736374792.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:52.373Z,1736374792.373 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:52.373Z,1736374792.373 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:52.373Z,1736374792.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:52.545Z,1736374792.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:52.559Z,1736374792.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T22:19:52.562Z,1736374792.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 23.700062 m, bearing: 259.568392 deg, approach rate: 0.787503 m/s, LOS rate: 0.191019 deg/s, cmd heading: 85.238165 deg, new cmd heading: 85.455635 deg. 2025-01-08T22:19:52.563Z,1736374792.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491482 target range: 179.899994 and range: 179.90 m. 2025-01-08T22:19:52.625Z,1736374792.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:52.628Z,1736374792.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257168 2025-01-08T22:19:52.876Z,1736374792.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:52.877Z,1736374792.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507043 2025-01-08T22:19:52.968Z,1736374792.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:52.978Z,1736374792.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T22:19:52.981Z,1736374792.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 24.002914 m, bearing: 259.649073 deg, approach rate: 0.722875 m/s, LOS rate: 0.190146 deg/s, cmd heading: 85.455632 deg, new cmd heading: 85.694619 deg. 2025-01-08T22:19:52.982Z,1736374792.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.495653 target range: 179.899994 and range: 179.90 m. 2025-01-08T22:19:53.128Z,1736374793.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:53.129Z,1736374793.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758809 2025-01-08T22:19:53.351Z,1736374793.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:53.361Z,1736374793.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T22:19:53.364Z,1736374793.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 24.276503 m, bearing: 259.736341 deg, approach rate: 0.714417 m/s, LOS rate: 0.225313 deg/s, cmd heading: 85.694620 deg, new cmd heading: 85.953471 deg. 2025-01-08T22:19:53.365Z,1736374793.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.500171 target range: 179.899994 and range: 179.90 m. 2025-01-08T22:19:53.394Z,1736374793.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:53.395Z,1736374793.395 [DAT](INFO): DAT read: Rx Time:22:19:52.2916 2025-01-08T22:19:53.402Z,1736374793.402 [DAT](INFO): Rx dataTimestamp_ set to:1736374793.394902 2025-01-08T22:19:53.403Z,1736374793.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032788 2025-01-08T22:19:53.646Z,1736374793.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:53.649Z,1736374793.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279219 2025-01-08T22:19:53.786Z,1736374793.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:53.797Z,1736374793.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T22:19:53.801Z,1736374793.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 24.553583 m, bearing: 259.838969 deg, approach rate: 0.636161 m/s, LOS rate: 0.232969 deg/s, cmd heading: 85.953471 deg, new cmd heading: 86.257877 deg. 2025-01-08T22:19:53.802Z,1736374793.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.505484 target range: 179.899994 and range: 179.90 m. 2025-01-08T22:19:53.896Z,1736374793.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:53.897Z,1736374793.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527747 2025-01-08T22:19:54.148Z,1736374794.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:54.154Z,1736374794.154 [DAT](INFO): DAT read: 22:19:52.2916 LVL= 27600, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.19, 0.601,-0.920,-0.323,-0.009, PHS= 0.698,-0.864,-0.317, RAW= 110.2, 7.1, CAL= 120.4, 4.4, ROT= 29.6, -4.4 2025-01-08T22:19:54.155Z,1736374794.155 [DAT](INFO): got valid direction response: 22:19:52.2916 LVL= 27600, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.19, 0.601,-0.920,-0.323,-0.009, PHS= 0.698,-0.864,-0.317, RAW= 110.2, 7.1, CAL= 120.4, 4.4, ROT= 29.6, -4.4 2025-01-08T22:19:54.156Z,1736374794.156 [DAT](INFO): DAT read: Bearing 29.6, -4.4 (Local) 2025-01-08T22:19:54.156Z,1736374794.156 [DAT](INFO): Local bearing/azimuth received: Bearing 29.6, -4.4 (Local) 2025-01-08T22:19:54.159Z,1736374794.159 [DAT](INFO): DAT read: Range 10 to 50 : 177.6 m (Round-trip 236.9 ms) speed 0.3 m/s 2025-01-08T22:19:54.160Z,1736374794.160 [DAT](INFO): DAT read: user:2505> 2025-01-08T22:19:54.160Z,1736374794.160 [DAT](INFO): DAT read: Tx time:22:19:53.4005 2025-01-08T22:19:54.161Z,1736374794.161 [DAT](INFO): Ping request sent. 2025-01-08T22:19:54.161Z,1736374794.161 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:54.161Z,1736374794.161 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:54.162Z,1736374794.162 [DAT](INFO): direction in FSK: [-0.247149,-0.236027,0.939792] 2025-01-08T22:19:54.162Z,1736374794.162 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:54.162Z,1736374794.162 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:54.165Z,1736374794.165 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:54.166Z,1736374794.166 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:54.213Z,1736374794.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:54.265Z,1736374794.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 177.600006 m, deltaT: 3.791859 s, deltaX: -2.299988 m, approachRate: -0.606559 m/s, rangeRepo size: 4 2025-01-08T22:19:54.267Z,1736374794.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 177.600006 m, bearing: 323.045912 deg, lat: 36.905288 deg, lon: -122.121477 deg, deltaT: 3.791859 s, deltaX: -2.299988 m, approachRate: -0.606559 m/s, posRepo size: 4 2025-01-08T22:19:54.272Z,1736374794.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:54.280Z,1736374794.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 49.881233 m, bearing: 279.866605 deg, approach rate: 0.000000 m/s, LOS rate: 0.232969 deg/s, cmd heading: 86.257878 deg, new cmd heading: 86.578552 deg. 2025-01-08T22:19:54.281Z,1736374794.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511081 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:54.401Z,1736374794.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:54.402Z,1736374794.402 [DAT](INFO): DAT read: TxSync time:22:19:53.3998 2025-01-08T22:19:54.582Z,1736374794.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:54.598Z,1736374794.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:54.609Z,1736374794.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:54.616Z,1736374794.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 50.116966 m, bearing: 279.824685 deg, approach rate: 0.666715 m/s, LOS rate: -0.118002 deg/s, cmd heading: 86.578549 deg, new cmd heading: 86.453382 deg. 2025-01-08T22:19:54.617Z,1736374794.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.508896 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:54.654Z,1736374794.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:54.656Z,1736374794.656 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:54.656Z,1736374794.656 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:54.657Z,1736374794.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:54.904Z,1736374794.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:54.905Z,1736374794.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744137 2025-01-08T22:19:54.997Z,1736374794.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:55.005Z,1736374795.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:55.025Z,1736374795.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 50.343475 m, bearing: 279.794387 deg, approach rate: 0.571270 m/s, LOS rate: -0.076072 deg/s, cmd heading: 86.453379 deg, new cmd heading: 86.362892 deg. 2025-01-08T22:19:55.026Z,1736374795.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.507317 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:55.156Z,1736374795.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:55.156Z,1736374795.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995646 2025-01-08T22:19:55.369Z,1736374795.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:55.379Z,1736374795.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:55.402Z,1736374795.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 50.546913 m, bearing: 279.770717 deg, approach rate: 0.544577 m/s, LOS rate: -0.063105 deg/s, cmd heading: 86.362893 deg, new cmd heading: 86.292170 deg. 2025-01-08T22:19:55.403Z,1736374795.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.506083 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:55.408Z,1736374795.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:55.409Z,1736374795.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248338 2025-01-08T22:19:55.661Z,1736374795.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:55.664Z,1736374795.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502997 2025-01-08T22:19:55.813Z,1736374795.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:55.871Z,1736374795.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:55.878Z,1736374795.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 50.756672 m, bearing: 279.746114 deg, approach rate: 0.427241 m/s, LOS rate: -0.049906 deg/s, cmd heading: 86.292173 deg, new cmd heading: 86.218668 deg. 2025-01-08T22:19:55.884Z,1736374795.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.504800 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:55.912Z,1736374795.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:55.914Z,1736374795.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753247 2025-01-08T22:19:56.164Z,1736374796.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:56.164Z,1736374796.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003717 2025-01-08T22:19:56.196Z,1736374796.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:56.205Z,1736374796.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:56.209Z,1736374796.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 50.937344 m, bearing: 279.725085 deg, approach rate: 0.538754 m/s, LOS rate: -0.062484 deg/s, cmd heading: 86.218666 deg, new cmd heading: 86.155804 deg. 2025-01-08T22:19:56.210Z,1736374796.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503702 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:56.416Z,1736374796.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:56.416Z,1736374796.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255796 2025-01-08T22:19:56.602Z,1736374796.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:56.610Z,1736374796.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:56.612Z,1736374796.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:56.615Z,1736374796.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 51.128872 m, bearing: 279.702956 deg, approach rate: 0.470503 m/s, LOS rate: -0.054158 deg/s, cmd heading: 86.155801 deg, new cmd heading: 86.089663 deg. 2025-01-08T22:19:56.617Z,1736374796.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.502548 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:56.670Z,1736374796.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:56.674Z,1736374796.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513024 2025-01-08T22:19:56.921Z,1736374796.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:56.925Z,1736374796.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762078 2025-01-08T22:19:57.035Z,1736374797.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:57.044Z,1736374797.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:57.047Z,1736374797.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 51.312355 m, bearing: 279.679172 deg, approach rate: 0.424981 m/s, LOS rate: -0.054892 deg/s, cmd heading: 86.089665 deg, new cmd heading: 86.018567 deg. 2025-01-08T22:19:57.048Z,1736374797.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.501307 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:57.172Z,1736374797.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:57.172Z,1736374797.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011733 2025-01-08T22:19:57.389Z,1736374797.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:57.398Z,1736374797.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:57.401Z,1736374797.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 51.463131 m, bearing: 279.664602 deg, approach rate: 0.425445 m/s, LOS rate: -0.040993 deg/s, cmd heading: 86.018569 deg, new cmd heading: 85.974986 deg. 2025-01-08T22:19:57.402Z,1736374797.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.500547 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:57.424Z,1736374797.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:57.425Z,1736374797.425 [DAT](INFO): DAT read: Rx Time:22:19:56.0704 2025-01-08T22:19:57.426Z,1736374797.426 [DAT](INFO): Rx dataTimestamp_ set to:1736374797.425311 2025-01-08T22:19:57.426Z,1736374797.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265440 2025-01-08T22:19:57.676Z,1736374797.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:57.677Z,1736374797.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516586 2025-01-08T22:19:57.858Z,1736374797.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:57.866Z,1736374797.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:57.870Z,1736374797.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 51.657665 m, bearing: 279.650076 deg, approach rate: 0.415678 m/s, LOS rate: -0.030921 deg/s, cmd heading: 85.974986 deg, new cmd heading: 85.931574 deg. 2025-01-08T22:19:57.871Z,1736374797.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499789 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:57.928Z,1736374797.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:57.937Z,1736374797.937 [DAT](INFO): DAT read: 22:19:56.0704 LVL= 19824, 32753, 29058, 32755, AGC= 65, IDX= 219, 0.43,-0.371,-1.972,-1.198,-0.955, PHS= 0.672,-0.970,-0.246, RAW= 116.1, 7.7, CAL= 125.5, 4.2, ROT= 24.5, -4.2 2025-01-08T22:19:57.942Z,1736374797.942 [DAT](INFO): got valid direction response: 22:19:56.0704 LVL= 19824, 32753, 29058, 32755, AGC= 65, IDX= 219, 0.43,-0.371,-1.972,-1.198,-0.955, PHS= 0.672,-0.970,-0.246, RAW= 116.1, 7.7, CAL= 125.5, 4.2, ROT= 24.5, -4.2 2025-01-08T22:19:57.945Z,1736374797.945 [DAT](INFO): DAT read: Bearing 24.5, -4.2 (Local) 2025-01-08T22:19:57.946Z,1736374797.946 [DAT](INFO): Local bearing/azimuth received: Bearing 24.5, -4.2 (Local) 2025-01-08T22:19:57.949Z,1736374797.949 [DAT](INFO): DAT read: Range 10 to 50 : 199.2 m (Round-trip 265.7 ms) speed 0.4 m/s 2025-01-08T22:19:57.950Z,1736374797.950 [DAT](INFO): DAT read: user:2506> 2025-01-08T22:19:57.951Z,1736374797.951 [DAT](INFO): DAT read: Tx time:22:19:57.1505 2025-01-08T22:19:57.951Z,1736374797.951 [DAT](INFO): Ping request sent. 2025-01-08T22:19:57.951Z,1736374797.951 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:19:57.952Z,1736374797.952 [DAT](INFO): DAT read: TxSync time:22:19:57.1498 2025-01-08T22:19:57.953Z,1736374797.953 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:19:57.954Z,1736374797.954 [DAT](INFO): direction in FSK: [-0.264060,-0.335140,0.904408] 2025-01-08T22:19:57.954Z,1736374797.954 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:57.954Z,1736374797.954 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:57.958Z,1736374797.958 [DAT](INFO): publishing transmit ping time 2025-01-08T22:19:57.959Z,1736374797.959 [DAT](INFO): publishing direction and range info 2025-01-08T22:19:58.180Z,1736374798.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:58.217Z,1736374798.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:58.252Z,1736374798.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 199.199997 m, deltaT: 3.780574 s, deltaX: 21.599991 m, approachRate: 5.713416 m/s, rangeRepo size: 4 2025-01-08T22:19:58.252Z,1736374798.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:58.259Z,1736374798.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 51.806942 m, bearing: 279.639228 deg, approach rate: 0.392284 m/s, LOS rate: -0.028427 deg/s, cmd heading: 85.931573 deg, new cmd heading: 85.899121 deg. 2025-01-08T22:19:58.260Z,1736374798.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499223 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:58.432Z,1736374798.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:58.601Z,1736374798.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:58.610Z,1736374798.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:58.612Z,1736374798.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 51.966236 m, bearing: 279.628163 deg, approach rate: 0.439289 m/s, LOS rate: -0.030419 deg/s, cmd heading: 85.899123 deg, new cmd heading: 85.866031 deg. 2025-01-08T22:19:58.613Z,1736374798.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498645 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:58.685Z,1736374798.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:58.938Z,1736374798.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:59.054Z,1736374799.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:59.066Z,1736374799.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:19:59.068Z,1736374799.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:59.071Z,1736374799.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 52.171787 m, bearing: 279.606428 deg, approach rate: 0.448250 m/s, LOS rate: -0.047212 deg/s, cmd heading: 85.866031 deg, new cmd heading: 85.801081 deg. 2025-01-08T22:19:59.072Z,1736374799.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497511 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:59.189Z,1736374799.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:59.190Z,1736374799.190 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:19:59.190Z,1736374799.190 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:19:59.190Z,1736374799.190 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:19:59.419Z,1736374799.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:59.440Z,1736374799.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:59.440Z,1736374799.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489286 2025-01-08T22:19:59.449Z,1736374799.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:59.463Z,1736374799.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 52.337452 m, bearing: 279.589059 deg, approach rate: 0.434722 m/s, LOS rate: -0.045431 deg/s, cmd heading: 85.801082 deg, new cmd heading: 85.749143 deg. 2025-01-08T22:19:59.464Z,1736374799.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.496605 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:19:59.697Z,1736374799.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:59.697Z,1736374799.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746476 2025-01-08T22:19:59.929Z,1736374799.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:19:59.943Z,1736374799.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:19:59.944Z,1736374799.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:19:59.945Z,1736374799.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993635 2025-01-08T22:19:59.948Z,1736374799.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 52.589077 m, bearing: 279.557506 deg, approach rate: 0.511101 m/s, LOS rate: -0.063784 deg/s, cmd heading: 85.749145 deg, new cmd heading: 85.654939 deg. 2025-01-08T22:19:59.949Z,1736374799.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494961 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:20:00.196Z,1736374800.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:00.196Z,1736374800.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245369 2025-01-08T22:20:00.359Z,1736374800.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:00.368Z,1736374800.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:20:00.371Z,1736374800.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 52.800880 m, bearing: 279.530209 deg, approach rate: 0.496616 m/s, LOS rate: -0.063748 deg/s, cmd heading: 85.654937 deg, new cmd heading: 85.573372 deg. 2025-01-08T22:20:00.372Z,1736374800.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.493537 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:20:00.448Z,1736374800.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:00.449Z,1736374800.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498351 2025-01-08T22:20:00.700Z,1736374800.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:00.700Z,1736374800.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749538 2025-01-08T22:20:00.868Z,1736374800.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:00.903Z,1736374800.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:20:00.906Z,1736374800.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 53.085602 m, bearing: 279.491388 deg, approach rate: 0.548422 m/s, LOS rate: -0.074375 deg/s, cmd heading: 85.573371 deg, new cmd heading: 85.457532 deg. 2025-01-08T22:20:00.907Z,1736374800.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491515 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:20:00.953Z,1736374800.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:00.956Z,1736374800.956 [DAT](INFO): DAT read: Rx Time:22:19:59.7879 2025-01-08T22:20:00.956Z,1736374800.956 [DAT](INFO): Rx dataTimestamp_ set to:1736374800.955761 2025-01-08T22:20:00.957Z,1736374800.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005627 2025-01-08T22:20:01.200Z,1736374801.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:01.204Z,1736374801.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:01.204Z,1736374801.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253501 2025-01-08T22:20:01.229Z,1736374801.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:01.231Z,1736374801.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:20:01.233Z,1736374801.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 53.270512 m, bearing: 279.465314 deg, approach rate: 0.538482 m/s, LOS rate: -0.075667 deg/s, cmd heading: 85.457531 deg, new cmd heading: 85.379581 deg. 2025-01-08T22:20:01.234Z,1736374801.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.490155 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:20:01.458Z,1736374801.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:01.460Z,1736374801.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508957 2025-01-08T22:20:01.603Z,1736374801.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:01.613Z,1736374801.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.60 m. 2025-01-08T22:20:01.616Z,1736374801.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.600006 m, nav range: 53.495319 m, bearing: 279.433319 deg, approach rate: 0.588285 m/s, LOS rate: -0.083374 deg/s, cmd heading: 85.379578 deg, new cmd heading: 85.283996 deg. 2025-01-08T22:20:01.616Z,1736374801.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488487 target range: 177.600006 and range: 177.60 m. 2025-01-08T22:20:01.709Z,1736374801.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:01.716Z,1736374801.716 [DAT](INFO): DAT read: 22:19:59.7879 LVL= 18176, 32753, 26290, 32755, AGC= 67, IDX= 113,-0.05, 0.964,-0.686, 0.080, 0.400, PHS= 0.651,-1.039,-0.324, RAW= 114.9, 9.7, CAL= 123.9, 6.5, ROT= 26.1, -6.5 2025-01-08T22:20:01.717Z,1736374801.717 [DAT](INFO): got valid direction response: 22:19:59.7879 LVL= 18176, 32753, 26290, 32755, AGC= 67, IDX= 113,-0.05, 0.964,-0.686, 0.080, 0.400, PHS= 0.651,-1.039,-0.324, RAW= 114.9, 9.7, CAL= 123.9, 6.5, ROT= 26.1, -6.5 2025-01-08T22:20:01.718Z,1736374801.718 [DAT](INFO): DAT read: Bearing 26.1, -6.5 (Local) 2025-01-08T22:20:01.719Z,1736374801.719 [DAT](INFO): Local bearing/azimuth received: Bearing 26.1, -6.5 (Local) 2025-01-08T22:20:01.722Z,1736374801.722 [DAT](INFO): DAT read: Range 10 to 50 : 174.9 m (Round-trip 233.2 ms) speed 0.6 m/s 2025-01-08T22:20:01.726Z,1736374801.726 [DAT](INFO): DAT read: user:2507> 2025-01-08T22:20:01.727Z,1736374801.727 [DAT](INFO): DAT read: Tx time:22:20:00.9006 2025-01-08T22:20:01.727Z,1736374801.727 [DAT](INFO): Ping request sent. 2025-01-08T22:20:01.727Z,1736374801.727 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:01.728Z,1736374801.728 [DAT](INFO): DAT read: TxSync time:22:20:00.8999 2025-01-08T22:20:01.728Z,1736374801.728 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:01.729Z,1736374801.729 [DAT](INFO): direction in FSK: [-0.300533,-0.310759,0.901725] 2025-01-08T22:20:01.729Z,1736374801.729 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:01.730Z,1736374801.730 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:01.742Z,1736374801.742 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:01.749Z,1736374801.749 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:01.960Z,1736374801.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:02.083Z,1736374802.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:02.126Z,1736374802.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 174.899994 m, deltaT: 7.560987 s, deltaX: -2.700012 m, approachRate: -0.357098 m/s, rangeRepo size: 4 2025-01-08T22:20:02.129Z,1736374802.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 174.899994 m, bearing: 327.310569 deg, lat: 36.905816 deg, lon: -122.121477 deg, deltaT: 7.560987 s, deltaX: -2.700012 m, approachRate: -0.357098 m/s, posRepo size: 4 2025-01-08T22:20:02.130Z,1736374802.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.90 m. 2025-01-08T22:20:02.137Z,1736374802.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.899994 m, nav range: 85.919525 m, bearing: 321.847544 deg, approach rate: 0.000000 m/s, LOS rate: -0.083374 deg/s, cmd heading: 85.283996 deg, new cmd heading: 85.155720 deg. 2025-01-08T22:20:02.138Z,1736374802.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.486248 target range: 174.899994 and range: 174.90 m. 2025-01-08T22:20:02.212Z,1736374802.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:02.416Z,1736374802.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:02.451Z,1736374802.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.90 m. 2025-01-08T22:20:02.454Z,1736374802.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.899994 m, nav range: 86.055115 m, bearing: 321.738764 deg, approach rate: 0.416457 m/s, LOS rate: -0.333587 deg/s, cmd heading: 85.155718 deg, new cmd heading: 84.829895 deg. 2025-01-08T22:20:02.455Z,1736374802.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.480561 target range: 174.899994 and range: 174.90 m. 2025-01-08T22:20:02.464Z,1736374802.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:02.716Z,1736374802.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:02.867Z,1736374802.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:02.876Z,1736374802.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.90 m. 2025-01-08T22:20:02.878Z,1736374802.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.899994 m, nav range: 86.250290 m, bearing: 321.576645 deg, approach rate: 0.460140 m/s, LOS rate: -0.381342 deg/s, cmd heading: 84.829898 deg, new cmd heading: 84.344653 deg. 2025-01-08T22:20:02.879Z,1736374802.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.472092 target range: 174.899994 and range: 174.90 m. 2025-01-08T22:20:02.968Z,1736374802.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:03.220Z,1736374803.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:03.230Z,1736374803.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:03.253Z,1736374803.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:03.255Z,1736374803.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.90 m. 2025-01-08T22:20:03.262Z,1736374803.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.899994 m, nav range: 86.407898 m, bearing: 321.446440 deg, approach rate: 0.415456 m/s, LOS rate: -0.342595 deg/s, cmd heading: 84.344654 deg, new cmd heading: 83.954757 deg. 2025-01-08T22:20:03.272Z,1736374803.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.465287 target range: 174.899994 and range: 174.90 m. 2025-01-08T22:20:03.472Z,1736374803.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:03.472Z,1736374803.472 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:03.472Z,1736374803.472 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:03.473Z,1736374803.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:03.662Z,1736374803.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:03.685Z,1736374803.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.90 m. 2025-01-08T22:20:03.692Z,1736374803.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.899994 m, nav range: 86.596001 m, bearing: 321.292143 deg, approach rate: 0.437489 m/s, LOS rate: -0.358084 deg/s, cmd heading: 83.954759 deg, new cmd heading: 83.492884 deg. 2025-01-08T22:20:03.693Z,1736374803.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457226 target range: 174.899994 and range: 174.90 m. 2025-01-08T22:20:03.725Z,1736374803.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:03.726Z,1736374803.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998784 2025-01-08T22:20:03.976Z,1736374803.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:03.977Z,1736374803.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249735 2025-01-08T22:20:04.077Z,1736374804.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:04.085Z,1736374804.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.90 m. 2025-01-08T22:20:04.105Z,1736374804.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.899994 m, nav range: 86.792419 m, bearing: 321.133489 deg, approach rate: 0.490307 m/s, LOS rate: -0.395140 deg/s, cmd heading: 83.492881 deg, new cmd heading: 83.018009 deg. 2025-01-08T22:20:04.106Z,1736374804.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448938 target range: 174.899994 and range: 174.90 m. 2025-01-08T22:20:04.233Z,1736374804.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:04.234Z,1736374804.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506471 2025-01-08T22:20:04.435Z,1736374804.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:04.445Z,1736374804.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.90 m. 2025-01-08T22:20:04.448Z,1736374804.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.899994 m, nav range: 86.961472 m, bearing: 320.996446 deg, approach rate: 0.470190 m/s, LOS rate: -0.380421 deg/s, cmd heading: 83.018006 deg, new cmd heading: 82.607683 deg. 2025-01-08T22:20:04.449Z,1736374804.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.441776 target range: 174.899994 and range: 174.90 m. 2025-01-08T22:20:04.484Z,1736374804.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:04.485Z,1736374804.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757444 2025-01-08T22:20:04.736Z,1736374804.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:04.736Z,1736374804.736 [DAT](INFO): DAT read: Rx Time:22:20:03.5343 2025-01-08T22:20:04.737Z,1736374804.737 [DAT](INFO): Rx dataTimestamp_ set to:1736374804.736623 2025-01-08T22:20:04.737Z,1736374804.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010384 2025-01-08T22:20:04.902Z,1736374804.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:04.918Z,1736374804.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.90 m. 2025-01-08T22:20:04.931Z,1736374804.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.899994 m, nav range: 87.190277 m, bearing: 320.813136 deg, approach rate: 0.483274 m/s, LOS rate: -0.386164 deg/s, cmd heading: 82.607682 deg, new cmd heading: 82.059212 deg. 2025-01-08T22:20:04.932Z,1736374804.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432203 target range: 174.899994 and range: 174.90 m. 2025-01-08T22:20:04.988Z,1736374804.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:04.989Z,1736374804.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261827 2025-01-08T22:20:05.242Z,1736374805.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:05.252Z,1736374805.252 [DAT](INFO): DAT read: 22:20:03.5343 LVL= 26272, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.27,-2.235, 2.274, 3.093,-2.896, PHS= 0.749,-1.067,-0.297, RAW= 115.0, 7.8, CAL= 124.4, 4.5, ROT= 25.6, -4.5 2025-01-08T22:20:05.253Z,1736374805.253 [DAT](INFO): got valid direction response: 22:20:03.5343 LVL= 26272, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.27,-2.235, 2.274, 3.093,-2.896, PHS= 0.749,-1.067,-0.297, RAW= 115.0, 7.8, CAL= 124.4, 4.5, ROT= 25.6, -4.5 2025-01-08T22:20:05.254Z,1736374805.254 [DAT](INFO): DAT read: Bearing 25.6, -4.5 (Local) 2025-01-08T22:20:05.254Z,1736374805.254 [DAT](INFO): Local bearing/azimuth received: Bearing 25.6, -4.5 (Local) 2025-01-08T22:20:05.260Z,1736374805.260 [DAT](INFO): DAT read: Range 10 to 50 : 172.1 m (Round-trip 229.5 ms) speed 0.1 m/s 2025-01-08T22:20:05.261Z,1736374805.261 [DAT](INFO): DAT read: user:2508> 2025-01-08T22:20:05.261Z,1736374805.261 [DAT](INFO): DAT read: Tx time:22:20:04.6506 2025-01-08T22:20:05.262Z,1736374805.262 [DAT](INFO): Ping request sent. 2025-01-08T22:20:05.262Z,1736374805.262 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:05.262Z,1736374805.262 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:05.263Z,1736374805.263 [DAT](INFO): direction in FSK: [-0.265973,-0.316145,0.910665] 2025-01-08T22:20:05.308Z,1736374805.308 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:05.308Z,1736374805.308 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:05.330Z,1736374805.330 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:05.330Z,1736374805.330 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:05.366Z,1736374805.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:05.412Z,1736374805.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.100006 m, deltaT: 3.533563 s, deltaX: -2.799988 m, approachRate: -0.792398 m/s, rangeRepo size: 4 2025-01-08T22:20:05.414Z,1736374805.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 172.100006 m, bearing: 331.266767 deg, lat: 36.905816 deg, lon: -122.121465 deg, deltaT: 3.533563 s, deltaX: -2.799988 m, approachRate: -0.792398 m/s, posRepo size: 4 2025-01-08T22:20:05.414Z,1736374805.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:05.421Z,1736374805.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 86.781914 m, bearing: 321.146202 deg, approach rate: 0.000000 m/s, LOS rate: -0.386164 deg/s, cmd heading: 82.059211 deg, new cmd heading: 81.493264 deg. 2025-01-08T22:20:05.422Z,1736374805.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422326 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:05.492Z,1736374805.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:05.493Z,1736374805.493 [DAT](INFO): DAT read: TxSync time:22:20:04.6499 2025-01-08T22:20:05.702Z,1736374805.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:05.710Z,1736374805.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:05.712Z,1736374805.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:05.714Z,1736374805.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 86.945137 m, bearing: 321.013001 deg, approach rate: 0.534855 m/s, LOS rate: -0.435659 deg/s, cmd heading: 81.493261 deg, new cmd heading: 81.094414 deg. 2025-01-08T22:20:05.716Z,1736374805.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.415365 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:05.744Z,1736374805.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:05.744Z,1736374805.744 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:05.744Z,1736374805.744 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:05.745Z,1736374805.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:05.996Z,1736374805.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:05.996Z,1736374805.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.734704 2025-01-08T22:20:06.115Z,1736374806.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:20:06.115Z,1736374806.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:06.125Z,1736374806.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:06.128Z,1736374806.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 87.145935 m, bearing: 320.849767 deg, approach rate: 0.487465 m/s, LOS rate: -0.395359 deg/s, cmd heading: 81.094413 deg, new cmd heading: 80.605852 deg. 2025-01-08T22:20:06.128Z,1736374806.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406837 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:06.248Z,1736374806.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:06.249Z,1736374806.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987287 2025-01-08T22:20:06.500Z,1736374806.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:06.500Z,1736374806.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238519 2025-01-08T22:20:06.521Z,1736374806.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:20:06.521Z,1736374806.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:06.548Z,1736374806.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:06.551Z,1736374806.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 87.343300 m, bearing: 320.689800 deg, approach rate: 0.465032 m/s, LOS rate: -0.376063 deg/s, cmd heading: 80.605849 deg, new cmd heading: 80.127045 deg. 2025-01-08T22:20:06.556Z,1736374806.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398481 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:06.752Z,1736374806.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:06.752Z,1736374806.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490682 2025-01-08T22:20:06.920Z,1736374806.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:06.967Z,1736374806.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:06.970Z,1736374806.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 87.547241 m, bearing: 320.530674 deg, approach rate: 0.491680 m/s, LOS rate: -0.382740 deg/s, cmd heading: 80.127046 deg, new cmd heading: 79.650792 deg. 2025-01-08T22:20:06.971Z,1736374806.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390169 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:07.004Z,1736374807.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:07.004Z,1736374807.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742739 2025-01-08T22:20:07.256Z,1736374807.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:07.257Z,1736374807.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994876 2025-01-08T22:20:07.316Z,1736374807.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:07.334Z,1736374807.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:07.342Z,1736374807.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 87.748955 m, bearing: 320.372399 deg, approach rate: 0.543940 m/s, LOS rate: -0.425822 deg/s, cmd heading: 79.650791 deg, new cmd heading: 79.177069 deg. 2025-01-08T22:20:07.343Z,1736374807.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381901 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:07.509Z,1736374807.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:07.509Z,1736374807.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247640 2025-01-08T22:20:07.704Z,1736374807.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:07.711Z,1736374807.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:07.713Z,1736374807.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:07.716Z,1736374807.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 87.944839 m, bearing: 320.217432 deg, approach rate: 0.516369 m/s, LOS rate: -0.407597 deg/s, cmd heading: 79.177069 deg, new cmd heading: 78.713214 deg. 2025-01-08T22:20:07.717Z,1736374807.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373805 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:07.760Z,1736374807.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:07.760Z,1736374807.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498746 2025-01-08T22:20:08.012Z,1736374808.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:08.014Z,1736374808.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751757 2025-01-08T22:20:08.146Z,1736374808.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:08.171Z,1736374808.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:08.178Z,1736374808.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 88.163246 m, bearing: 320.048640 deg, approach rate: 0.477452 m/s, LOS rate: -0.368076 deg/s, cmd heading: 78.713211 deg, new cmd heading: 78.208104 deg. 2025-01-08T22:20:08.178Z,1736374808.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364989 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:08.264Z,1736374808.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:08.265Z,1736374808.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002802 2025-01-08T22:20:08.516Z,1736374808.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:08.517Z,1736374808.517 [DAT](INFO): DAT read: Rx Time:22:20:07.3115 2025-01-08T22:20:08.517Z,1736374808.517 [DAT](INFO): Rx dataTimestamp_ set to:1736374808.516715 2025-01-08T22:20:08.518Z,1736374808.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255795 2025-01-08T22:20:08.519Z,1736374808.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:08.563Z,1736374808.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:08.566Z,1736374808.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 88.346199 m, bearing: 319.906338 deg, approach rate: 0.484421 m/s, LOS rate: -0.376007 deg/s, cmd heading: 78.208104 deg, new cmd heading: 77.782089 deg. 2025-01-08T22:20:08.571Z,1736374808.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357554 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:08.770Z,1736374808.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:08.772Z,1736374808.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510595 2025-01-08T22:20:08.950Z,1736374808.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:08.997Z,1736374808.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:09.021Z,1736374809.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:09.031Z,1736374809.031 [DAT](INFO): DAT read: 22:20:07.3115 LVL= 23024, 32753, 28658, 32755, AGC= 62, IDX= 209, 0.20,-1.508, 2.909,-2.569,-2.236, PHS= 0.817,-1.091,-0.335, RAW= 113.2, 7.4, CAL= 123.0, 4.2, ROT= 27.0, -4.2 2025-01-08T22:20:09.032Z,1736374809.032 [DAT](INFO): got valid direction response: 22:20:07.3115 LVL= 23024, 32753, 28658, 32755, AGC= 62, IDX= 209, 0.20,-1.508, 2.909,-2.569,-2.236, PHS= 0.817,-1.091,-0.335, RAW= 113.2, 7.4, CAL= 123.0, 4.2, ROT= 27.0, -4.2 2025-01-08T22:20:09.033Z,1736374809.033 [DAT](INFO): DAT read: Bearing 27.0, -4.2 (Local) 2025-01-08T22:20:09.033Z,1736374809.033 [DAT](INFO): Local bearing/azimuth received: Bearing 27.0, -4.2 (Local) 2025-01-08T22:20:09.035Z,1736374809.035 [DAT](INFO): DAT read: Range 10 to 50 : 192.5 m (Round-trip 256.7 ms) speed 0.4 m/s 2025-01-08T22:20:09.036Z,1736374809.036 [DAT](INFO): DAT read: user:2509> 2025-01-08T22:20:09.036Z,1736374809.036 [DAT](INFO): DAT read: Tx time:22:20:08.4006 2025-01-08T22:20:09.037Z,1736374809.037 [DAT](INFO): Ping request sent. 2025-01-08T22:20:09.037Z,1736374809.037 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:09.037Z,1736374809.037 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:09.038Z,1736374809.038 [DAT](INFO): direction in FSK: [-0.255505,-0.286428,0.923405] 2025-01-08T22:20:09.038Z,1736374809.038 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:09.038Z,1736374809.038 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:09.045Z,1736374809.045 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:09.046Z,1736374809.046 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:09.053Z,1736374809.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 88.545967 m, bearing: 319.750951 deg, approach rate: 0.451379 m/s, LOS rate: -0.350306 deg/s, cmd heading: 77.782092 deg, new cmd heading: 77.316993 deg. 2025-01-08T22:20:09.057Z,1736374809.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349436 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:09.272Z,1736374809.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:09.273Z,1736374809.273 [DAT](INFO): DAT read: TxSync time:22:20:08.3999 2025-01-08T22:20:09.364Z,1736374809.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:09.400Z,1736374809.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 192.500000 m, deltaT: 3.779021 s, deltaX: 20.399994 m, approachRate: 5.398222 m/s, rangeRepo size: 4 2025-01-08T22:20:09.401Z,1736374809.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:09.408Z,1736374809.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 88.733795 m, bearing: 319.600847 deg, approach rate: 0.464782 m/s, LOS rate: -0.370645 deg/s, cmd heading: 77.316990 deg, new cmd heading: 76.867643 deg. 2025-01-08T22:20:09.409Z,1736374809.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341594 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:09.525Z,1736374809.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:09.760Z,1736374809.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:09.767Z,1736374809.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:09.769Z,1736374809.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:09.776Z,1736374809.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:09.776Z,1736374809.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:09.776Z,1736374809.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:09.777Z,1736374809.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:09.796Z,1736374809.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 88.914619 m, bearing: 319.457392 deg, approach rate: 0.483423 m/s, LOS rate: -0.382740 deg/s, cmd heading: 76.867646 deg, new cmd heading: 76.438162 deg. 2025-01-08T22:20:09.797Z,1736374809.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334098 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:10.029Z,1736374810.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:10.031Z,1736374810.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993613 2025-01-08T22:20:10.178Z,1736374810.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:10.226Z,1736374810.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:10.232Z,1736374810.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 89.095306 m, bearing: 319.319752 deg, approach rate: 0.395810 m/s, LOS rate: -0.300900 deg/s, cmd heading: 76.438163 deg, new cmd heading: 76.026088 deg. 2025-01-08T22:20:10.233Z,1736374810.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326906 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:10.280Z,1736374810.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:10.280Z,1736374810.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243669 2025-01-08T22:20:10.532Z,1736374810.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:10.533Z,1736374810.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495754 2025-01-08T22:20:10.549Z,1736374810.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:10.557Z,1736374810.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:10.580Z,1736374810.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 89.255150 m, bearing: 319.196543 deg, approach rate: 0.482462 m/s, LOS rate: -0.371221 deg/s, cmd heading: 76.026091 deg, new cmd heading: 75.657131 deg. 2025-01-08T22:20:10.581Z,1736374810.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320466 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:10.784Z,1736374810.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:10.785Z,1736374810.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748350 2025-01-08T22:20:10.978Z,1736374810.978 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814211620,35.0, +100,1493.3, 0 2025-01-08T22:20:10.986Z,1736374810.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:20:10.986Z,1736374810.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:10.000Z,1736374811.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:11.002Z,1736374811.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 89.443558 m, bearing: 319.052282 deg, approach rate: 0.425308 m/s, LOS rate: -0.324965 deg/s, cmd heading: 75.657131 deg, new cmd heading: 75.225269 deg. 2025-01-08T22:20:11.004Z,1736374811.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312929 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:11.036Z,1736374811.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:11.037Z,1736374811.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999993 2025-01-08T22:20:11.288Z,1736374811.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:11.288Z,1736374811.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251663 2025-01-08T22:20:11.427Z,1736374811.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:20:11.427Z,1736374811.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:11.452Z,1736374811.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:11.455Z,1736374811.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 89.628883 m, bearing: 318.904466 deg, approach rate: 0.409634 m/s, LOS rate: -0.326048 deg/s, cmd heading: 75.225272 deg, new cmd heading: 74.782751 deg. 2025-01-08T22:20:11.457Z,1736374811.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.305205 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:11.541Z,1736374811.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:11.542Z,1736374811.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504815 2025-01-08T22:20:11.712Z,1736374811.712 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:20:11.792Z,1736374811.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:11.793Z,1736374811.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755944 2025-01-08T22:20:11.864Z,1736374811.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:20:11.864Z,1736374811.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:11.882Z,1736374811.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:11.899Z,1736374811.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:11.941Z,1736374811.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 89.805664 m, bearing: 318.761625 deg, approach rate: 0.397403 m/s, LOS rate: -0.320474 deg/s, cmd heading: 74.782751 deg, new cmd heading: 74.355080 deg. 2025-01-08T22:20:11.953Z,1736374811.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.297741 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:12.044Z,1736374812.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:12.044Z,1736374812.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007718 2025-01-08T22:20:12.296Z,1736374812.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:12.298Z,1736374812.298 [DAT](INFO): DAT read: Rx Time:22:20:11.0285 2025-01-08T22:20:12.298Z,1736374812.298 [DAT](INFO): Rx dataTimestamp_ set to:1736374812.297782 2025-01-08T22:20:12.299Z,1736374812.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261842 2025-01-08T22:20:12.402Z,1736374812.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:12.412Z,1736374812.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T22:20:12.414Z,1736374812.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 89.982788 m, bearing: 318.617174 deg, approach rate: 0.344557 m/s, LOS rate: -0.280446 deg/s, cmd heading: 74.355079 deg, new cmd heading: 73.922586 deg. 2025-01-08T22:20:12.415Z,1736374812.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.290192 target range: 172.100006 and range: 172.10 m. 2025-01-08T22:20:12.548Z,1736374812.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:12.549Z,1736374812.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512548 2025-01-08T22:20:12.717Z,1736374812.717 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:20:12.785Z,1736374812.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:12.800Z,1736374812.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:12.806Z,1736374812.806 [DAT](INFO): DAT read: 22:20:11.0285 LVL= 20912, 28625, 21874, 22355, AGC= 66, IDX= 111,-0.15, 0.110,-1.803,-1.040,-0.694, PHS= 0.892,-1.061,-0.348, RAW= 111.1, 6.1, CAL= 121.6, 3.2, ROT= 28.4, -3.2 2025-01-08T22:20:12.808Z,1736374812.808 [DAT](INFO): got valid direction response: 22:20:11.0285 LVL= 20912, 28625, 21874, 22355, AGC= 66, IDX= 111,-0.15, 0.110,-1.803,-1.040,-0.694, PHS= 0.892,-1.061,-0.348, RAW= 111.1, 6.1, CAL= 121.6, 3.2, ROT= 28.4, -3.2 2025-01-08T22:20:12.809Z,1736374812.809 [DAT](INFO): DAT read: Bearing 28.4, -3.2 (Local) 2025-01-08T22:20:12.809Z,1736374812.809 [DAT](INFO): Local bearing/azimuth received: Bearing 28.4, -3.2 (Local) 2025-01-08T22:20:12.811Z,1736374812.811 [DAT](INFO): DAT read: Range 10 to 50 : 167.7 m (Round-trip 223.7 ms) speed 0.0 m/s 2025-01-08T22:20:12.812Z,1736374812.812 [DAT](INFO): DAT read: user:2510> 2025-01-08T22:20:12.813Z,1736374812.813 [DAT](INFO): DAT read: Tx time:22:20:12.1506 2025-01-08T22:20:12.813Z,1736374812.813 [DAT](INFO): Ping request sent. 2025-01-08T22:20:12.813Z,1736374812.813 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:12.813Z,1736374812.813 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:12.814Z,1736374812.814 [DAT](INFO): direction in FSK: [-0.229567,-0.254334,0.939475] 2025-01-08T22:20:12.815Z,1736374812.815 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:12.815Z,1736374812.815 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:12.818Z,1736374812.818 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:12.819Z,1736374812.819 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:12.843Z,1736374812.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 167.699997 m, deltaT: 7.557658 s, deltaX: -4.400009 m, approachRate: -0.582192 m/s, rangeRepo size: 4 2025-01-08T22:20:12.850Z,1736374812.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 167.699997 m, bearing: 322.846910 deg, lat: 36.905813 deg, lon: -122.121287 deg, deltaT: 7.557658 s, deltaX: -4.400009 m, approachRate: -0.582192 m/s, posRepo size: 4 2025-01-08T22:20:12.850Z,1736374812.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T22:20:12.858Z,1736374812.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 80.154968 m, bearing: 326.818109 deg, approach rate: 0.000000 m/s, LOS rate: -0.280446 deg/s, cmd heading: 73.922584 deg, new cmd heading: 73.560332 deg. 2025-01-08T22:20:12.859Z,1736374812.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.283870 target range: 167.699997 and range: 167.70 m. 2025-01-08T22:20:13.052Z,1736374813.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:13.053Z,1736374813.053 [DAT](INFO): DAT read: TxSync time:22:20:12.1499 2025-01-08T22:20:13.283Z,1736374813.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:13.304Z,1736374813.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:13.308Z,1736374813.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T22:20:13.311Z,1736374813.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 80.259018 m, bearing: 326.671401 deg, approach rate: 0.223058 m/s, LOS rate: -0.314099 deg/s, cmd heading: 73.560331 deg, new cmd heading: 73.120788 deg. 2025-01-08T22:20:13.316Z,1736374813.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276199 target range: 167.699997 and range: 167.70 m. 2025-01-08T22:20:13.557Z,1736374813.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:13.603Z,1736374813.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:13.628Z,1736374813.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T22:20:13.631Z,1736374813.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 80.323769 m, bearing: 326.576418 deg, approach rate: 0.202374 m/s, LOS rate: -0.296623 deg/s, cmd heading: 73.120788 deg, new cmd heading: 72.836071 deg. 2025-01-08T22:20:13.632Z,1736374813.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.271229 target range: 167.699997 and range: 167.70 m. 2025-01-08T22:20:13.808Z,1736374813.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:14.062Z,1736374814.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:14.115Z,1736374814.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:14.122Z,1736374814.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:14.124Z,1736374814.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T22:20:14.127Z,1736374814.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 80.410110 m, bearing: 326.436365 deg, approach rate: 0.174124 m/s, LOS rate: -0.282140 deg/s, cmd heading: 72.836072 deg, new cmd heading: 72.416371 deg. 2025-01-08T22:20:14.146Z,1736374814.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.263904 target range: 167.699997 and range: 167.70 m. 2025-01-08T22:20:14.313Z,1736374814.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:14.313Z,1736374814.313 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:14.314Z,1736374814.314 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:14.314Z,1736374814.314 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:14.502Z,1736374814.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:14.511Z,1736374814.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T22:20:14.534Z,1736374814.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 80.475632 m, bearing: 326.330800 deg, approach rate: 0.169469 m/s, LOS rate: -0.272818 deg/s, cmd heading: 72.416370 deg, new cmd heading: 72.099938 deg. 2025-01-08T22:20:14.535Z,1736374814.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258381 target range: 167.699997 and range: 167.70 m. 2025-01-08T22:20:14.564Z,1736374814.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:14.564Z,1736374814.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751493 2025-01-08T22:20:14.816Z,1736374814.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:14.817Z,1736374814.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003648 2025-01-08T22:20:15.026Z,1736374815.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:15.037Z,1736374815.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T22:20:15.040Z,1736374815.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 80.550552 m, bearing: 326.190745 deg, approach rate: 0.142381 m/s, LOS rate: -0.265918 deg/s, cmd heading: 72.099935 deg, new cmd heading: 71.680165 deg. 2025-01-08T22:20:15.042Z,1736374815.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251055 target range: 167.699997 and range: 167.70 m. 2025-01-08T22:20:15.068Z,1736374815.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:15.069Z,1736374815.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255546 2025-01-08T22:20:15.320Z,1736374815.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:15.320Z,1736374815.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507348 2025-01-08T22:20:15.377Z,1736374815.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:15.385Z,1736374815.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T22:20:15.389Z,1736374815.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 80.599358 m, bearing: 326.096909 deg, approach rate: 0.140246 m/s, LOS rate: -0.269482 deg/s, cmd heading: 71.680165 deg, new cmd heading: 71.398830 deg. 2025-01-08T22:20:15.390Z,1736374815.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246145 target range: 167.699997 and range: 167.70 m. 2025-01-08T22:20:15.572Z,1736374815.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:15.572Z,1736374815.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759459 2025-01-08T22:20:15.767Z,1736374815.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:15.777Z,1736374815.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T22:20:15.780Z,1736374815.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 80.652374 m, bearing: 325.991990 deg, approach rate: 0.135289 m/s, LOS rate: -0.267557 deg/s, cmd heading: 71.398829 deg, new cmd heading: 71.084285 deg. 2025-01-08T22:20:15.781Z,1736374815.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240655 target range: 167.699997 and range: 167.70 m. 2025-01-08T22:20:15.826Z,1736374815.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:15.828Z,1736374815.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014992 2025-01-08T22:20:16.076Z,1736374816.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:16.076Z,1736374816.076 [DAT](INFO): DAT read: Rx Time:22:20:14.7766 2025-01-08T22:20:16.077Z,1736374816.077 [DAT](INFO): Rx dataTimestamp_ set to:1736374816.076594 2025-01-08T22:20:16.077Z,1736374816.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264414 2025-01-08T22:20:16.197Z,1736374816.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:16.223Z,1736374816.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:16.225Z,1736374816.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T22:20:16.230Z,1736374816.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 80.704880 m, bearing: 325.865838 deg, approach rate: 0.117067 m/s, LOS rate: -0.281089 deg/s, cmd heading: 71.084285 deg, new cmd heading: 70.706079 deg. 2025-01-08T22:20:16.231Z,1736374816.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.234054 target range: 167.699997 and range: 167.70 m. 2025-01-08T22:20:16.328Z,1736374816.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:16.329Z,1736374816.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515705 2025-01-08T22:20:16.580Z,1736374816.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:16.586Z,1736374816.586 [DAT](INFO): DAT read: 22:20:14.7766 LVL= 17584, 31905, 26210, 32755, AGC= 60, IDX= 427, 0.25,-0.479,-2.434,-1.888,-1.451, PHS= 1.060,-0.936,-0.440, RAW= 103.8, 3.5, CAL= 114.6, 1.2, ROT= 35.4, -1.2 2025-01-08T22:20:16.587Z,1736374816.587 [DAT](INFO): got valid direction response: 22:20:14.7766 LVL= 17584, 31905, 26210, 32755, AGC= 60, IDX= 427, 0.25,-0.479,-2.434,-1.888,-1.451, PHS= 1.060,-0.936,-0.440, RAW= 103.8, 3.5, CAL= 114.6, 1.2, ROT= 35.4, -1.2 2025-01-08T22:20:16.588Z,1736374816.588 [DAT](INFO): DAT read: Bearing 35.4, -1.2 (Local) 2025-01-08T22:20:16.589Z,1736374816.589 [DAT](INFO): Local bearing/azimuth received: Bearing 35.4, -1.2 (Local) 2025-01-08T22:20:16.590Z,1736374816.590 [DAT](INFO): DAT read: Range 10 to 50 : 166.2 m (Round-trip 221.7 ms) speed 0.4 m/s 2025-01-08T22:20:16.592Z,1736374816.592 [DAT](INFO): DAT read: user:2511> 2025-01-08T22:20:16.593Z,1736374816.593 [DAT](INFO): DAT read: Tx time:22:20:15.9007 2025-01-08T22:20:16.593Z,1736374816.593 [DAT](INFO): Ping request sent. 2025-01-08T22:20:16.593Z,1736374816.593 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:16.593Z,1736374816.593 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:16.594Z,1736374816.594 [DAT](INFO): direction in FSK: [-0.172895,-0.130405,0.976269] 2025-01-08T22:20:16.595Z,1736374816.595 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:16.595Z,1736374816.595 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:16.598Z,1736374816.598 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:16.598Z,1736374816.598 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:16.646Z,1736374816.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:16.704Z,1736374816.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 166.199997 m, deltaT: 3.779896 s, deltaX: -1.500000 m, approachRate: -0.396836 m/s, rangeRepo size: 4 2025-01-08T22:20:16.706Z,1736374816.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 166.199997 m, bearing: 318.650312 deg, lat: 36.905747 deg, lon: -122.121267 deg, deltaT: 3.779896 s, deltaX: -1.500000 m, approachRate: -0.396836 m/s, posRepo size: 4 2025-01-08T22:20:16.706Z,1736374816.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.20 m. 2025-01-08T22:20:16.714Z,1736374816.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.199997 m, nav range: 73.779518 m, bearing: 323.707559 deg, approach rate: 0.000000 m/s, LOS rate: -0.281089 deg/s, cmd heading: 70.706077 deg, new cmd heading: 70.307216 deg. 2025-01-08T22:20:16.714Z,1736374816.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227092 target range: 166.199997 and range: 166.20 m. 2025-01-08T22:20:16.832Z,1736374816.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:16.833Z,1736374816.833 [DAT](INFO): DAT read: TxSync time:22:20:15.9000 2025-01-08T22:20:17.084Z,1736374817.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:17.111Z,1736374817.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:17.124Z,1736374817.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.20 m. 2025-01-08T22:20:17.127Z,1736374817.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.199997 m, nav range: 73.844124 m, bearing: 323.541891 deg, approach rate: 0.153419 m/s, LOS rate: -0.393069 deg/s, cmd heading: 70.307215 deg, new cmd heading: 69.810657 deg. 2025-01-08T22:20:17.132Z,1736374817.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218426 target range: 166.199997 and range: 166.20 m. 2025-01-08T22:20:17.336Z,1736374817.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:17.447Z,1736374817.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:17.458Z,1736374817.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.20 m. 2025-01-08T22:20:17.461Z,1736374817.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.199997 m, nav range: 73.888954 m, bearing: 323.426667 deg, approach rate: 0.133530 m/s, LOS rate: -0.342994 deg/s, cmd heading: 69.810660 deg, new cmd heading: 69.465202 deg. 2025-01-08T22:20:17.462Z,1736374817.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212397 target range: 166.199997 and range: 166.20 m. 2025-01-08T22:20:17.588Z,1736374817.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:17.837Z,1736374817.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:17.840Z,1736374817.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:17.848Z,1736374817.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.20 m. 2025-01-08T22:20:17.850Z,1736374817.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.199997 m, nav range: 73.944038 m, bearing: 323.283868 deg, approach rate: 0.140259 m/s, LOS rate: -0.363332 deg/s, cmd heading: 69.465203 deg, new cmd heading: 69.037134 deg. 2025-01-08T22:20:17.852Z,1736374817.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204925 target range: 166.199997 and range: 166.20 m. 2025-01-08T22:20:18.094Z,1736374818.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:18.296Z,1736374818.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:18.302Z,1736374818.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:18.320Z,1736374818.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.20 m. 2025-01-08T22:20:18.324Z,1736374818.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.199997 m, nav range: 74.020714 m, bearing: 323.092155 deg, approach rate: 0.162269 m/s, LOS rate: -0.405303 deg/s, cmd heading: 69.037134 deg, new cmd heading: 68.462612 deg. 2025-01-08T22:20:18.326Z,1736374818.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194898 target range: 166.199997 and range: 166.20 m. 2025-01-08T22:20:18.344Z,1736374818.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:18.344Z,1736374818.344 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:18.345Z,1736374818.345 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:18.345Z,1736374818.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:18.596Z,1736374818.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:18.598Z,1736374818.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004447 2025-01-08T22:20:18.684Z,1736374818.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:18.702Z,1736374818.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.20 m. 2025-01-08T22:20:18.709Z,1736374818.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.199997 m, nav range: 74.083557 m, bearing: 322.929489 deg, approach rate: 0.164819 m/s, LOS rate: -0.426262 deg/s, cmd heading: 68.462613 deg, new cmd heading: 67.975040 deg. 2025-01-08T22:20:18.710Z,1736374818.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186388 target range: 166.199997 and range: 166.20 m. 2025-01-08T22:20:18.848Z,1736374818.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:18.849Z,1736374818.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256026 2025-01-08T22:20:19.094Z,1736374819.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:19.100Z,1736374819.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:19.100Z,1736374819.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507249 2025-01-08T22:20:19.105Z,1736374819.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.20 m. 2025-01-08T22:20:19.109Z,1736374819.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.199997 m, nav range: 74.168037 m, bearing: 322.737292 deg, approach rate: 0.209535 m/s, LOS rate: -0.476159 deg/s, cmd heading: 67.975040 deg, new cmd heading: 67.399127 deg. 2025-01-08T22:20:19.110Z,1736374819.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.176337 target range: 166.199997 and range: 166.20 m. 2025-01-08T22:20:19.352Z,1736374819.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:19.353Z,1736374819.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759932 2025-01-08T22:20:19.467Z,1736374819.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:19.481Z,1736374819.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.20 m. 2025-01-08T22:20:19.484Z,1736374819.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.199997 m, nav range: 74.245598 m, bearing: 322.562872 deg, approach rate: 0.206120 m/s, LOS rate: -0.463046 deg/s, cmd heading: 67.399125 deg, new cmd heading: 66.876425 deg. 2025-01-08T22:20:19.485Z,1736374819.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.167214 target range: 166.199997 and range: 166.20 m. 2025-01-08T22:20:19.604Z,1736374819.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:19.605Z,1736374819.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011356 2025-01-08T22:20:19.856Z,1736374819.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:19.856Z,1736374819.856 [DAT](INFO): DAT read: Rx Time:22:20:18.5242 2025-01-08T22:20:19.857Z,1736374819.857 [DAT](INFO): Rx dataTimestamp_ set to:1736374819.856632 2025-01-08T22:20:19.858Z,1736374819.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265031 2025-01-08T22:20:19.863Z,1736374819.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:19.872Z,1736374819.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.20 m. 2025-01-08T22:20:19.876Z,1736374819.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.199997 m, nav range: 74.326134 m, bearing: 322.377342 deg, approach rate: 0.206326 m/s, LOS rate: -0.474793 deg/s, cmd heading: 66.876424 deg, new cmd heading: 66.320458 deg. 2025-01-08T22:20:19.877Z,1736374819.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157510 target range: 166.199997 and range: 166.20 m. 2025-01-08T22:20:20.108Z,1736374820.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:20.109Z,1736374820.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515929 2025-01-08T22:20:20.293Z,1736374820.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:20.304Z,1736374820.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:20.310Z,1736374820.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.20 m. 2025-01-08T22:20:20.315Z,1736374820.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.199997 m, nav range: 74.433342 m, bearing: 322.152636 deg, approach rate: 0.245264 m/s, LOS rate: -0.513327 deg/s, cmd heading: 66.320461 deg, new cmd heading: 65.647345 deg. 2025-01-08T22:20:20.316Z,1736374820.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145762 target range: 166.199997 and range: 166.20 m. 2025-01-08T22:20:20.360Z,1736374820.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:20.366Z,1736374820.366 [DAT](INFO): DAT read: 22:20:18.5242 LVL= 19728, 32753, 27346, 32755, AGC= 64, IDX= 418,-0.11, 2.795, 0.995, 1.393, 1.951, PHS= 0.933,-0.909,-0.560, RAW= 100.3, 6.4, CAL= 110.1, 4.9, ROT= 39.9, -4.9 2025-01-08T22:20:20.368Z,1736374820.368 [DAT](INFO): got valid direction response: 22:20:18.5242 LVL= 19728, 32753, 27346, 32755, AGC= 64, IDX= 418,-0.11, 2.795, 0.995, 1.393, 1.951, PHS= 0.933,-0.909,-0.560, RAW= 100.3, 6.4, CAL= 110.1, 4.9, ROT= 39.9, -4.9 2025-01-08T22:20:20.369Z,1736374820.369 [DAT](INFO): DAT read: Bearing 39.9, -4.9 (Local) 2025-01-08T22:20:20.369Z,1736374820.369 [DAT](INFO): Local bearing/azimuth received: Bearing 39.9, -4.9 (Local) 2025-01-08T22:20:20.371Z,1736374820.371 [DAT](INFO): DAT read: Range 10 to 50 : 164.4 m (Round-trip 219.3 ms) speed 0.4 m/s 2025-01-08T22:20:20.371Z,1736374820.371 [DAT](INFO): DAT read: user:2512> 2025-01-08T22:20:20.375Z,1736374820.375 [DAT](INFO): DAT read: Tx time:22:20:19.6507 2025-01-08T22:20:20.380Z,1736374820.380 [DAT](INFO): Ping request sent. 2025-01-08T22:20:20.380Z,1736374820.380 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:20.380Z,1736374820.380 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:20.381Z,1736374820.381 [DAT](INFO): direction in FSK: [-0.221316,-0.064874,0.973042] 2025-01-08T22:20:20.381Z,1736374820.381 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:20.381Z,1736374820.381 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:20.386Z,1736374820.386 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:20.386Z,1736374820.386 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:20.612Z,1736374820.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:20.613Z,1736374820.613 [DAT](INFO): DAT read: TxSync time:22:20:19.6500 2025-01-08T22:20:20.693Z,1736374820.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:20.726Z,1736374820.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 164.399994 m, deltaT: 3.780234 s, deltaX: -1.800003 m, approachRate: -0.476162 m/s, rangeRepo size: 4 2025-01-08T22:20:20.729Z,1736374820.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 164.399994 m, bearing: 289.744061 deg, lat: 36.905612 deg, lon: -122.121175 deg, deltaT: 3.780234 s, deltaX: -1.800003 m, approachRate: -0.476162 m/s, posRepo size: 4 2025-01-08T22:20:20.729Z,1736374820.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m. 2025-01-08T22:20:20.740Z,1736374820.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.399994 m, nav range: 57.747375 m, bearing: 319.107986 deg, approach rate: 0.000000 m/s, LOS rate: -0.513327 deg/s, cmd heading: 65.647346 deg, new cmd heading: 65.005530 deg. 2025-01-08T22:20:20.742Z,1736374820.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134561 target range: 164.399994 and range: 164.40 m. 2025-01-08T22:20:20.864Z,1736374820.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:21.116Z,1736374821.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:21.129Z,1736374821.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:21.173Z,1736374821.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m. 2025-01-08T22:20:21.179Z,1736374821.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.399994 m, nav range: 57.888603 m, bearing: 318.794178 deg, approach rate: 0.315775 m/s, LOS rate: -0.699938 deg/s, cmd heading: 65.005533 deg, new cmd heading: 64.066492 deg. 2025-01-08T22:20:21.180Z,1736374821.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118171 target range: 164.399994 and range: 164.40 m. 2025-01-08T22:20:21.368Z,1736374821.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:21.496Z,1736374821.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:21.529Z,1736374821.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m. 2025-01-08T22:20:21.535Z,1736374821.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.399994 m, nav range: 58.007702 m, bearing: 318.531237 deg, approach rate: 0.334646 m/s, LOS rate: -0.737296 deg/s, cmd heading: 64.066491 deg, new cmd heading: 63.279341 deg. 2025-01-08T22:20:21.536Z,1736374821.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104433 target range: 164.399994 and range: 164.40 m. 2025-01-08T22:20:21.620Z,1736374821.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:21.872Z,1736374821.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:21.903Z,1736374821.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:21.915Z,1736374821.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m. 2025-01-08T22:20:21.918Z,1736374821.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.399994 m, nav range: 58.141010 m, bearing: 318.240855 deg, approach rate: 0.345095 m/s, LOS rate: -0.749983 deg/s, cmd heading: 63.279339 deg, new cmd heading: 62.410262 deg. 2025-01-08T22:20:21.919Z,1736374821.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089265 target range: 164.399994 and range: 164.40 m. 2025-01-08T22:20:22.125Z,1736374822.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:22.348Z,1736374822.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:22.366Z,1736374822.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:22.368Z,1736374822.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m. 2025-01-08T22:20:22.371Z,1736374822.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.399994 m, nav range: 58.308956 m, bearing: 317.912861 deg, approach rate: 0.370629 m/s, LOS rate: -0.721740 deg/s, cmd heading: 62.410259 deg, new cmd heading: 61.429213 deg. 2025-01-08T22:20:22.376Z,1736374822.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:22.377Z,1736374822.377 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:22.377Z,1736374822.377 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:22.377Z,1736374822.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:22.389Z,1736374822.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.072142 target range: 164.399994 and range: 164.40 m. 2025-01-08T22:20:22.628Z,1736374822.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:22.629Z,1736374822.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249327 2025-01-08T22:20:22.733Z,1736374822.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:22.747Z,1736374822.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m. 2025-01-08T22:20:22.750Z,1736374822.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.399994 m, nav range: 58.457253 m, bearing: 317.627832 deg, approach rate: 0.391122 m/s, LOS rate: -0.749837 deg/s, cmd heading: 61.429212 deg, new cmd heading: 60.576360 deg. 2025-01-08T22:20:22.751Z,1736374822.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.057257 target range: 164.399994 and range: 164.40 m. 2025-01-08T22:20:22.880Z,1736374822.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:22.880Z,1736374822.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500763 2025-01-08T22:20:23.132Z,1736374823.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:23.132Z,1736374823.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752802 2025-01-08T22:20:23.173Z,1736374823.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:23.193Z,1736374823.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m. 2025-01-08T22:20:23.200Z,1736374823.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.399994 m, nav range: 58.635098 m, bearing: 317.308235 deg, approach rate: 0.398605 m/s, LOS rate: -0.714137 deg/s, cmd heading: 60.576360 deg, new cmd heading: 59.620571 deg. 2025-01-08T22:20:23.201Z,1736374823.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.040575 target range: 164.399994 and range: 164.40 m. 2025-01-08T22:20:23.384Z,1736374823.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:23.384Z,1736374823.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004809 2025-01-08T22:20:23.510Z,1736374823.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:23.519Z,1736374823.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m. 2025-01-08T22:20:23.522Z,1736374823.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.399994 m, nav range: 58.771515 m, bearing: 317.063144 deg, approach rate: 0.419098 m/s, LOS rate: -0.751214 deg/s, cmd heading: 59.620571 deg, new cmd heading: 58.887047 deg. 2025-01-08T22:20:23.522Z,1736374823.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.027773 target range: 164.399994 and range: 164.40 m. 2025-01-08T22:20:23.636Z,1736374823.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:23.637Z,1736374823.637 [DAT](INFO): DAT read: Rx Time:22:20:22.2712 2025-01-08T22:20:23.638Z,1736374823.638 [DAT](INFO): Rx dataTimestamp_ set to:1736374823.637908 2025-01-08T22:20:23.639Z,1736374823.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259603 2025-01-08T22:20:23.889Z,1736374823.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:23.890Z,1736374823.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510236 2025-01-08T22:20:23.985Z,1736374823.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:24.002Z,1736374824.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.40 m. 2025-01-08T22:20:24.010Z,1736374824.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.399994 m, nav range: 58.962673 m, bearing: 316.719038 deg, approach rate: 0.395501 m/s, LOS rate: -0.709632 deg/s, cmd heading: 58.887050 deg, new cmd heading: 57.858196 deg. 2025-01-08T22:20:24.011Z,1736374824.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009816 target range: 164.399994 and range: 164.40 m. 2025-01-08T22:20:24.142Z,1736374824.142 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:24.153Z,1736374824.153 [DAT](INFO): DAT read: 22:20:22.2712 LVL= 19280, 30305, 24610, 31539, AGC= 62, IDX= 404,-0.08, 2.832, 0.951, 1.242, 1.795, PHS= 1.125,-0.797,-0.556, RAW= 96.6, 2.6, CAL= 106.0, 0.4, ROT= 44.0, -0.4 2025-01-08T22:20:24.154Z,1736374824.154 [DAT](INFO): got valid direction response: 22:20:22.2712 LVL= 19280, 30305, 24610, 31539, AGC= 62, IDX= 404,-0.08, 2.832, 0.951, 1.242, 1.795, PHS= 1.125,-0.797,-0.556, RAW= 96.6, 2.6, CAL= 106.0, 0.4, ROT= 44.0, -0.4 2025-01-08T22:20:24.156Z,1736374824.156 [DAT](INFO): DAT read: Bearing 44.0, -0.4 (Local) 2025-01-08T22:20:24.156Z,1736374824.156 [DAT](INFO): Local bearing/azimuth received: Bearing 44.0, -0.4 (Local) 2025-01-08T22:20:24.158Z,1736374824.158 [DAT](INFO): DAT read: Range 10 to 50 : 162.3 m (Round-trip 216.4 ms) speed 0.4 m/s 2025-01-08T22:20:24.160Z,1736374824.160 [DAT](INFO): DAT read: user:2513> 2025-01-08T22:20:24.161Z,1736374824.161 [DAT](INFO): DAT read: Tx time:22:20:23.3507 2025-01-08T22:20:24.161Z,1736374824.161 [DAT](INFO): Ping request sent. 2025-01-08T22:20:24.161Z,1736374824.161 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:24.162Z,1736374824.162 [DAT](INFO): DAT read: TxSync time:22:20:23.3500 2025-01-08T22:20:24.162Z,1736374824.162 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:24.168Z,1736374824.168 [DAT](INFO): direction in FSK: [-0.143773,-0.004996,0.989598] 2025-01-08T22:20:24.168Z,1736374824.168 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:24.168Z,1736374824.168 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:24.175Z,1736374824.175 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:24.176Z,1736374824.176 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:24.392Z,1736374824.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:24.433Z,1736374824.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:24.472Z,1736374824.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 162.300003 m, deltaT: 3.782485 s, deltaX: -2.099991 m, approachRate: -0.555188 m/s, rangeRepo size: 4 2025-01-08T22:20:24.475Z,1736374824.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 162.300003 m, bearing: 275.864645 deg, lat: 36.905458 deg, lon: -122.121151 deg, deltaT: 3.782485 s, deltaX: -2.099991 m, approachRate: -0.555188 m/s, posRepo size: 4 2025-01-08T22:20:24.480Z,1736374824.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m. 2025-01-08T22:20:24.483Z,1736374824.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.300003 m, nav range: 46.384796 m, bearing: 303.649745 deg, approach rate: 0.000000 m/s, LOS rate: -0.709632 deg/s, cmd heading: 57.858198 deg, new cmd heading: 56.868174 deg. 2025-01-08T22:20:24.488Z,1736374824.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992537 target range: 162.300003 and range: 162.30 m. 2025-01-08T22:20:24.645Z,1736374824.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:24.753Z,1736374824.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:24.769Z,1736374824.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:24.771Z,1736374824.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m. 2025-01-08T22:20:24.778Z,1736374824.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.300003 m, nav range: 46.553967 m, bearing: 303.403675 deg, approach rate: 0.557619 m/s, LOS rate: -0.808144 deg/s, cmd heading: 56.868172 deg, new cmd heading: 56.132688 deg. 2025-01-08T22:20:24.784Z,1736374824.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.979700 target range: 162.300003 and range: 162.30 m. 2025-01-08T22:20:24.896Z,1736374824.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:24.896Z,1736374824.896 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:24.897Z,1736374824.897 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:24.897Z,1736374824.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:25.148Z,1736374825.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:25.148Z,1736374825.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987051 2025-01-08T22:20:25.208Z,1736374825.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:25.220Z,1736374825.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m. 2025-01-08T22:20:25.222Z,1736374825.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.300003 m, nav range: 46.777657 m, bearing: 303.087033 deg, approach rate: 0.498405 m/s, LOS rate: -0.702135 deg/s, cmd heading: 56.132687 deg, new cmd heading: 55.187393 deg. 2025-01-08T22:20:25.239Z,1736374825.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.963202 target range: 162.300003 and range: 162.30 m. 2025-01-08T22:20:25.400Z,1736374825.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:25.400Z,1736374825.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239142 2025-01-08T22:20:25.534Z,1736374825.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:25.544Z,1736374825.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m. 2025-01-08T22:20:25.546Z,1736374825.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.300003 m, nav range: 46.935287 m, bearing: 302.857516 deg, approach rate: 0.486494 m/s, LOS rate: -0.705974 deg/s, cmd heading: 55.187392 deg, new cmd heading: 54.501188 deg. 2025-01-08T22:20:25.549Z,1736374825.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.951225 target range: 162.300003 and range: 162.30 m. 2025-01-08T22:20:25.652Z,1736374825.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:25.654Z,1736374825.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492175 2025-01-08T22:20:25.904Z,1736374825.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:25.905Z,1736374825.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743210 2025-01-08T22:20:25.950Z,1736374825.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:25.976Z,1736374825.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m. 2025-01-08T22:20:26.000Z,1736374826.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.300003 m, nav range: 47.133446 m, bearing: 302.564051 deg, approach rate: 0.460465 m/s, LOS rate: -0.679061 deg/s, cmd heading: 54.501187 deg, new cmd heading: 53.624566 deg. 2025-01-08T22:20:26.001Z,1736374826.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.935925 target range: 162.300003 and range: 162.30 m. 2025-01-08T22:20:26.157Z,1736374826.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:26.160Z,1736374826.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998357 2025-01-08T22:20:26.368Z,1736374826.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:26.406Z,1736374826.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m. 2025-01-08T22:20:26.409Z,1736374826.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:26.410Z,1736374826.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248435 2025-01-08T22:20:26.419Z,1736374826.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.300003 m, nav range: 47.296066 m, bearing: 302.306811 deg, approach rate: 0.377175 m/s, LOS rate: -0.594578 deg/s, cmd heading: 53.624566 deg, new cmd heading: 52.855549 deg. 2025-01-08T22:20:26.420Z,1736374826.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.922503 target range: 162.300003 and range: 162.30 m. 2025-01-08T22:20:26.660Z,1736374826.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:26.661Z,1736374826.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499395 2025-01-08T22:20:26.740Z,1736374826.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:26.769Z,1736374826.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:26.771Z,1736374826.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m. 2025-01-08T22:20:26.778Z,1736374826.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.300003 m, nav range: 47.438950 m, bearing: 302.075373 deg, approach rate: 0.390349 m/s, LOS rate: -0.630368 deg/s, cmd heading: 52.855549 deg, new cmd heading: 52.163362 deg. 2025-01-08T22:20:26.784Z,1736374826.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910422 target range: 162.300003 and range: 162.30 m. 2025-01-08T22:20:26.912Z,1736374826.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:26.913Z,1736374826.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751317 2025-01-08T22:20:27.166Z,1736374827.166 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:27.168Z,1736374827.168 [DAT](INFO): DAT read: Rx Time:22:20:25.9691 2025-01-08T22:20:27.170Z,1736374827.170 [DAT](INFO): Rx dataTimestamp_ set to:1736374827.169154 2025-01-08T22:20:27.170Z,1736374827.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009015 2025-01-08T22:20:27.254Z,1736374827.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:27.279Z,1736374827.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m. 2025-01-08T22:20:27.285Z,1736374827.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.300003 m, nav range: 47.585396 m, bearing: 301.802236 deg, approach rate: 0.288465 m/s, LOS rate: -0.536360 deg/s, cmd heading: 52.163364 deg, new cmd heading: 51.346531 deg. 2025-01-08T22:20:27.286Z,1736374827.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896166 target range: 162.300003 and range: 162.30 m. 2025-01-08T22:20:27.416Z,1736374827.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:27.417Z,1736374827.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255928 2025-01-08T22:20:27.549Z,1736374827.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:27.602Z,1736374827.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.30 m. 2025-01-08T22:20:27.624Z,1736374827.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.300003 m, nav range: 47.664993 m, bearing: 301.642570 deg, approach rate: 0.245937 m/s, LOS rate: -0.492503 deg/s, cmd heading: 51.346531 deg, new cmd heading: 50.868346 deg. 2025-01-08T22:20:27.636Z,1736374827.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.887820 target range: 162.300003 and range: 162.30 m. 2025-01-08T22:20:27.670Z,1736374827.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:27.684Z,1736374827.684 [DAT](INFO): DAT read: 22:20:25.9691 LVL= 16576, 28961, 23650, 30403, AGC= 62, IDX= 414, 0.42, 0.756,-1.176,-1.154,-0.362, PHS= 1.206,-0.767,-0.795, RAW= 89.3, 3.6, CAL= 96.4, 1.7, ROT= 53.6, -1.7 2025-01-08T22:20:27.685Z,1736374827.685 [DAT](INFO): got valid direction response: 22:20:25.9691 LVL= 16576, 28961, 23650, 30403, AGC= 62, IDX= 414, 0.42, 0.756,-1.176,-1.154,-0.362, PHS= 1.206,-0.767,-0.795, RAW= 89.3, 3.6, CAL= 96.4, 1.7, ROT= 53.6, -1.7 2025-01-08T22:20:27.686Z,1736374827.686 [DAT](INFO): DAT read: Bearing 53.6, -1.7 (Local) 2025-01-08T22:20:27.686Z,1736374827.686 [DAT](INFO): Local bearing/azimuth received: Bearing 53.6, -1.7 (Local) 2025-01-08T22:20:27.688Z,1736374827.688 [DAT](INFO): DAT read: Range 10 to 50 : 160.6 m (Round-trip 214.2 ms) speed 0.0 m/s 2025-01-08T22:20:27.689Z,1736374827.689 [DAT](INFO): DAT read: user:2514> 2025-01-08T22:20:27.689Z,1736374827.689 [DAT](INFO): DAT read: Tx time:22:20:27.0507 2025-01-08T22:20:27.690Z,1736374827.690 [DAT](INFO): Ping request sent. 2025-01-08T22:20:27.690Z,1736374827.690 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:27.690Z,1736374827.690 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:27.693Z,1736374827.693 [DAT](INFO): direction in FSK: [-0.152545,0.122926,0.980622] 2025-01-08T22:20:27.693Z,1736374827.693 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:27.693Z,1736374827.693 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:27.696Z,1736374827.696 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:27.697Z,1736374827.697 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:27.924Z,1736374827.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:27.928Z,1736374827.928 [DAT](INFO): DAT read: TxSync time:22:20:27.0500 2025-01-08T22:20:28.020Z,1736374828.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:28.048Z,1736374828.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.600006 m, deltaT: 3.527735 s, deltaX: -1.699997 m, approachRate: -0.481895 m/s, rangeRepo size: 4 2025-01-08T22:20:28.050Z,1736374828.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 160.600006 m, bearing: 195.748710 deg, lat: 36.905335 deg, lon: -122.121046 deg, deltaT: 3.527735 s, deltaX: -1.699997 m, approachRate: -0.481895 m/s, posRepo size: 4 2025-01-08T22:20:28.051Z,1736374828.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:28.059Z,1736374828.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 33.377266 m, bearing: 289.529716 deg, approach rate: 0.000000 m/s, LOS rate: -0.492503 deg/s, cmd heading: 50.868346 deg, new cmd heading: 50.217082 deg. 2025-01-08T22:20:28.064Z,1736374828.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876453 target range: 160.600006 and range: 160.60 m. 2025-01-08T22:20:28.178Z,1736374828.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:28.428Z,1736374828.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:28.434Z,1736374828.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:28.469Z,1736374828.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:28.476Z,1736374828.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 33.479008 m, bearing: 289.278325 deg, approach rate: 0.239049 m/s, LOS rate: -0.588864 deg/s, cmd heading: 50.217081 deg, new cmd heading: 49.465245 deg. 2025-01-08T22:20:28.477Z,1736374828.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.863331 target range: 160.600006 and range: 160.60 m. 2025-01-08T22:20:28.680Z,1736374828.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:28.821Z,1736374828.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:28.830Z,1736374828.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:28.833Z,1736374828.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:28.836Z,1736374828.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 33.571247 m, bearing: 289.044794 deg, approach rate: 0.253259 m/s, LOS rate: -0.639437 deg/s, cmd heading: 49.465244 deg, new cmd heading: 48.766610 deg. 2025-01-08T22:20:28.837Z,1736374828.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.851138 target range: 160.600006 and range: 160.60 m. 2025-01-08T22:20:28.932Z,1736374828.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:28.932Z,1736374828.932 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:28.932Z,1736374828.932 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:28.933Z,1736374828.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:29.185Z,1736374829.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:29.189Z,1736374829.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499008 2025-01-08T22:20:29.299Z,1736374829.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:29.308Z,1736374829.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:29.310Z,1736374829.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 33.642822 m, bearing: 288.762137 deg, approach rate: 0.150831 m/s, LOS rate: -0.594376 deg/s, cmd heading: 48.766612 deg, new cmd heading: 47.920510 deg. 2025-01-08T22:20:29.312Z,1736374829.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836371 target range: 160.600006 and range: 160.60 m. 2025-01-08T22:20:29.438Z,1736374829.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:29.439Z,1736374829.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749041 2025-01-08T22:20:29.673Z,1736374829.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:29.689Z,1736374829.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:29.692Z,1736374829.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:29.693Z,1736374829.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003018 2025-01-08T22:20:29.694Z,1736374829.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 33.696880 m, bearing: 288.540253 deg, approach rate: 0.141771 m/s, LOS rate: -0.580971 deg/s, cmd heading: 47.920512 deg, new cmd heading: 47.255960 deg. 2025-01-08T22:20:29.715Z,1736374829.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824772 target range: 160.600006 and range: 160.60 m. 2025-01-08T22:20:29.944Z,1736374829.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:29.944Z,1736374829.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254488 2025-01-08T22:20:30.126Z,1736374830.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:30.135Z,1736374830.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:30.164Z,1736374830.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 33.760166 m, bearing: 288.269562 deg, approach rate: 0.141839 m/s, LOS rate: -0.605544 deg/s, cmd heading: 47.255958 deg, new cmd heading: 46.445464 deg. 2025-01-08T22:20:30.173Z,1736374830.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810626 target range: 160.600006 and range: 160.60 m. 2025-01-08T22:20:30.198Z,1736374830.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:30.200Z,1736374830.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509581 2025-01-08T22:20:30.449Z,1736374830.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:30.450Z,1736374830.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759796 2025-01-08T22:20:30.579Z,1736374830.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:30.593Z,1736374830.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:30.599Z,1736374830.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 33.800789 m, bearing: 288.000423 deg, approach rate: 0.088846 m/s, LOS rate: -0.587927 deg/s, cmd heading: 46.445464 deg, new cmd heading: 45.639074 deg. 2025-01-08T22:20:30.600Z,1736374830.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796552 target range: 160.600006 and range: 160.60 m. 2025-01-08T22:20:30.700Z,1736374830.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:30.701Z,1736374830.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010863 2025-01-08T22:20:30.936Z,1736374830.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:30.952Z,1736374830.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:30.952Z,1736374830.952 [DAT](INFO): DAT read: Rx Time:22:20:29.6687 2025-01-08T22:20:30.953Z,1736374830.953 [DAT](INFO): Rx dataTimestamp_ set to:1736374830.952600 2025-01-08T22:20:30.953Z,1736374830.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263519 2025-01-08T22:20:30.961Z,1736374830.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:30.963Z,1736374830.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:30.970Z,1736374830.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 33.834839 m, bearing: 287.760917 deg, approach rate: 0.091840 m/s, LOS rate: -0.645346 deg/s, cmd heading: 45.639075 deg, new cmd heading: 44.921319 deg. 2025-01-08T22:20:30.971Z,1736374830.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784025 target range: 160.600006 and range: 160.60 m. 2025-01-08T22:20:31.206Z,1736374831.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:31.208Z,1736374831.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517652 2025-01-08T22:20:31.421Z,1736374831.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:31.456Z,1736374831.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:31.464Z,1736374831.464 [DAT](INFO): DAT read: 22:20:29.6687 LVL= 10960, 26097, 18162, 25859, AGC= 58, IDX= 441,-0.16,-1.474,-2.900, 2.955,-2.282, PHS= 0.896,-0.572,-1.050, RAW= 76.4, 8.3, CAL= 80.0, 11.6, ROT= 70.0, -11.6 2025-01-08T22:20:31.465Z,1736374831.465 [DAT](INFO): got valid direction response: 22:20:29.6687 LVL= 10960, 26097, 18162, 25859, AGC= 58, IDX= 441,-0.16,-1.474,-2.900, 2.955,-2.282, PHS= 0.896,-0.572,-1.050, RAW= 76.4, 8.3, CAL= 80.0, 11.6, ROT= 70.0, -11.6 2025-01-08T22:20:31.466Z,1736374831.466 [DAT](INFO): DAT read: Bearing 70.0, -11.6 (Local) 2025-01-08T22:20:31.467Z,1736374831.467 [DAT](INFO): Local bearing/azimuth received: Bearing 70.0, -11.6 (Local) 2025-01-08T22:20:31.468Z,1736374831.468 [DAT](INFO): DAT read: Range 10 to 50 : 160.2 m (Round-trip 213.7 ms) speed 0.0 m/s 2025-01-08T22:20:31.469Z,1736374831.469 [DAT](INFO): DAT read: user:2515> 2025-01-08T22:20:31.470Z,1736374831.470 [DAT](INFO): DAT read: Tx time:22:20:30.7508 2025-01-08T22:20:31.470Z,1736374831.470 [DAT](INFO): Ping request sent. 2025-01-08T22:20:31.470Z,1736374831.470 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:31.471Z,1736374831.471 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:31.472Z,1736374831.472 [DAT](INFO): direction in FSK: [-0.215762,0.338278,0.915978] 2025-01-08T22:20:31.472Z,1736374831.472 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:31.472Z,1736374831.472 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:31.479Z,1736374831.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.199997 m, deltaT: 3.786172 s, deltaX: -0.400009 m, approachRate: -0.105650 m/s, rangeRepo size: 4 2025-01-08T22:20:31.480Z,1736374831.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:31.482Z,1736374831.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 33.879742 m, bearing: 287.435281 deg, approach rate: 0.087167 m/s, LOS rate: -0.631293 deg/s, cmd heading: 44.921317 deg, new cmd heading: 43.945804 deg. 2025-01-08T22:20:31.488Z,1736374831.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766999 target range: 160.600006 and range: 160.20 m. 2025-01-08T22:20:31.491Z,1736374831.491 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:31.492Z,1736374831.492 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:31.708Z,1736374831.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:31.709Z,1736374831.709 [DAT](INFO): DAT read: TxSync time:22:20:30.7500 2025-01-08T22:20:31.814Z,1736374831.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:31.852Z,1736374831.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:31.854Z,1736374831.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 33.914272 m, bearing: 287.171241 deg, approach rate: 0.093506 m/s, LOS rate: -0.714271 deg/s, cmd heading: 43.945806 deg, new cmd heading: 43.154546 deg. 2025-01-08T22:20:31.863Z,1736374831.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753189 target range: 160.600006 and range: 160.20 m. 2025-01-08T22:20:31.960Z,1736374831.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:32.214Z,1736374832.214 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:32.269Z,1736374832.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:32.278Z,1736374832.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:32.281Z,1736374832.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 33.952614 m, bearing: 286.865329 deg, approach rate: 0.088961 m/s, LOS rate: -0.708978 deg/s, cmd heading: 43.154546 deg, new cmd heading: 42.237930 deg. 2025-01-08T22:20:32.282Z,1736374832.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.737191 target range: 160.600006 and range: 160.20 m. 2025-01-08T22:20:32.464Z,1736374832.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:32.656Z,1736374832.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:32.671Z,1736374832.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:32.676Z,1736374832.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 34.006489 m, bearing: 286.581230 deg, approach rate: 0.137395 m/s, LOS rate: -0.723377 deg/s, cmd heading: 42.237931 deg, new cmd heading: 41.387048 deg. 2025-01-08T22:20:32.678Z,1736374832.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722340 target range: 160.600006 and range: 160.20 m. 2025-01-08T22:20:32.716Z,1736374832.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:32.968Z,1736374832.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:33.096Z,1736374833.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:33.103Z,1736374833.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:33.105Z,1736374833.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:33.109Z,1736374833.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 34.060787 m, bearing: 286.252624 deg, approach rate: 0.124860 m/s, LOS rate: -0.754421 deg/s, cmd heading: 41.387050 deg, new cmd heading: 40.402907 deg. 2025-01-08T22:20:33.110Z,1736374833.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705164 target range: 160.600006 and range: 160.20 m. 2025-01-08T22:20:33.222Z,1736374833.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:33.224Z,1736374833.224 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:33.224Z,1736374833.224 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:33.225Z,1736374833.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:33.472Z,1736374833.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:33.472Z,1736374833.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001996 2025-01-08T22:20:33.518Z,1736374833.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:33.548Z,1736374833.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:33.551Z,1736374833.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 34.149029 m, bearing: 285.907400 deg, approach rate: 0.199195 m/s, LOS rate: -0.777286 deg/s, cmd heading: 40.402908 deg, new cmd heading: 39.370031 deg. 2025-01-08T22:20:33.559Z,1736374833.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687137 target range: 160.600006 and range: 160.20 m. 2025-01-08T22:20:33.724Z,1736374833.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:33.725Z,1736374833.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254819 2025-01-08T22:20:33.916Z,1736374833.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:33.925Z,1736374833.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:33.928Z,1736374833.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 34.230923 m, bearing: 285.581209 deg, approach rate: 0.217722 m/s, LOS rate: -0.865130 deg/s, cmd heading: 39.370030 deg, new cmd heading: 38.393897 deg. 2025-01-08T22:20:33.929Z,1736374833.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670100 target range: 160.600006 and range: 160.20 m. 2025-01-08T22:20:33.976Z,1736374833.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:33.978Z,1736374833.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507251 2025-01-08T22:20:34.229Z,1736374834.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:34.232Z,1736374834.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761313 2025-01-08T22:20:34.332Z,1736374834.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:34.342Z,1736374834.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:34.361Z,1736374834.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 34.361553 m, bearing: 285.212488 deg, approach rate: 0.313277 m/s, LOS rate: -0.880897 deg/s, cmd heading: 38.393897 deg, new cmd heading: 37.292081 deg. 2025-01-08T22:20:34.362Z,1736374834.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650870 target range: 160.600006 and range: 160.20 m. 2025-01-08T22:20:34.481Z,1736374834.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:34.482Z,1736374834.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011847 2025-01-08T22:20:34.696Z,1736374834.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:34.704Z,1736374834.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:34.708Z,1736374834.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 34.474373 m, bearing: 284.891615 deg, approach rate: 0.310771 m/s, LOS rate: -0.880974 deg/s, cmd heading: 37.292082 deg, new cmd heading: 36.332709 deg. 2025-01-08T22:20:34.709Z,1736374834.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634125 target range: 160.600006 and range: 160.20 m. 2025-01-08T22:20:34.732Z,1736374834.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:34.733Z,1736374834.733 [DAT](INFO): DAT read: Rx Time:22:20:33.3677 2025-01-08T22:20:34.733Z,1736374834.733 [DAT](INFO): Rx dataTimestamp_ set to:1736374834.732730 2025-01-08T22:20:34.734Z,1736374834.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263276 2025-01-08T22:20:34.985Z,1736374834.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:34.987Z,1736374834.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516329 2025-01-08T22:20:35.102Z,1736374835.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:35.121Z,1736374835.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:35.123Z,1736374835.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.60 m. 2025-01-08T22:20:35.133Z,1736374835.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.600006 m, nav range: 34.600117 m, bearing: 284.533019 deg, approach rate: 0.300580 m/s, LOS rate: -0.854072 deg/s, cmd heading: 36.332710 deg, new cmd heading: 35.260962 deg. 2025-01-08T22:20:35.134Z,1736374835.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615420 target range: 160.600006 and range: 160.20 m. 2025-01-08T22:20:35.238Z,1736374835.238 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:35.291Z,1736374835.291 [DAT](INFO): DAT read: 22:20:33.3677 LVL= 10384, 19905, 14834, 21331, AGC= 62, IDX= 431,-0.04, 1.638, 0.416,-0.569, 0.681, PHS= 1.045,-0.218,-1.253, RAW= 63.3, 4.3, CAL= 64.2, 4.1, ROT= 85.8, -4.1 2025-01-08T22:20:35.296Z,1736374835.296 [DAT](INFO): got valid direction response: 22:20:33.3677 LVL= 10384, 19905, 14834, 21331, AGC= 62, IDX= 431,-0.04, 1.638, 0.416,-0.569, 0.681, PHS= 1.045,-0.218,-1.253, RAW= 63.3, 4.3, CAL= 64.2, 4.1, ROT= 85.8, -4.1 2025-01-08T22:20:35.297Z,1736374835.297 [DAT](INFO): DAT read: Bearing 85.8, -4.1 (Local) 2025-01-08T22:20:35.298Z,1736374835.298 [DAT](INFO): Local bearing/azimuth received: Bearing 85.8, -4.1 (Local) 2025-01-08T22:20:35.303Z,1736374835.303 [DAT](INFO): DAT read: Range 10 to 50 : 159.5 m (Round-trip 212.7 ms) speed 0.4 m/s 2025-01-08T22:20:35.304Z,1736374835.304 [DAT](INFO): DAT read: user:2516> 2025-01-08T22:20:35.305Z,1736374835.305 [DAT](INFO): DAT read: Tx time:22:20:34.4508 2025-01-08T22:20:35.305Z,1736374835.305 [DAT](INFO): Ping request sent. 2025-01-08T22:20:35.305Z,1736374835.305 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:35.306Z,1736374835.306 [DAT](INFO): DAT read: TxSync time:22:20:34.4500 2025-01-08T22:20:35.307Z,1736374835.307 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:35.313Z,1736374835.313 [DAT](INFO): direction in FSK: [-0.116170,0.533975,0.837481] 2025-01-08T22:20:35.314Z,1736374835.314 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:35.314Z,1736374835.314 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:35.338Z,1736374835.338 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:35.338Z,1736374835.338 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:35.488Z,1736374835.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:35.548Z,1736374835.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:35.579Z,1736374835.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.500000 m, deltaT: 3.784058 s, deltaX: -0.699997 m, approachRate: -0.184986 m/s, rangeRepo size: 4 2025-01-08T22:20:35.589Z,1736374835.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.500000 m, bearing: 141.744704 deg, lat: 36.904999 deg, lon: -122.120775 deg, deltaT: 7.570230 s, deltaX: -1.100006 m, approachRate: -0.145307 m/s, posRepo size: 4 2025-01-08T22:20:35.590Z,1736374835.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:35.601Z,1736374835.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 30.385319 m, bearing: 198.505746 deg, approach rate: 0.000000 m/s, LOS rate: -0.854072 deg/s, cmd heading: 35.260961 deg, new cmd heading: 34.094268 deg. 2025-01-08T22:20:35.602Z,1736374835.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595057 target range: 159.500000 and range: 159.50 m. 2025-01-08T22:20:35.740Z,1736374835.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:35.922Z,1736374835.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:35.932Z,1736374835.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:35.935Z,1736374835.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 30.614595 m, bearing: 198.755509 deg, approach rate: 0.647971 m/s, LOS rate: 0.700578 deg/s, cmd heading: 34.094269 deg, new cmd heading: 34.837901 deg. 2025-01-08T22:20:35.936Z,1736374835.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608036 target range: 159.500000 and range: 159.50 m. 2025-01-08T22:20:35.992Z,1736374835.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:36.244Z,1736374836.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:36.366Z,1736374836.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:36.376Z,1736374836.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:36.378Z,1736374836.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 30.897085 m, bearing: 199.105472 deg, approach rate: 0.636443 m/s, LOS rate: 0.781245 deg/s, cmd heading: 34.837902 deg, new cmd heading: 35.878071 deg. 2025-01-08T22:20:36.380Z,1736374836.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626190 target range: 159.500000 and range: 159.50 m. 2025-01-08T22:20:36.496Z,1736374836.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:36.748Z,1736374836.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:36.800Z,1736374836.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:36.812Z,1736374836.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:36.814Z,1736374836.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 31.175482 m, bearing: 199.437371 deg, approach rate: 0.639501 m/s, LOS rate: 0.755588 deg/s, cmd heading: 35.878072 deg, new cmd heading: 36.864774 deg. 2025-01-08T22:20:36.815Z,1736374836.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643412 target range: 159.500000 and range: 159.50 m. 2025-01-08T22:20:36.000Z,1736374837.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:37.203Z,1736374837.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:37.210Z,1736374837.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:37.212Z,1736374837.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:37.215Z,1736374837.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 31.436481 m, bearing: 199.736296 deg, approach rate: 0.650637 m/s, LOS rate: 0.738991 deg/s, cmd heading: 36.864775 deg, new cmd heading: 37.754031 deg. 2025-01-08T22:20:37.216Z,1736374837.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658932 target range: 159.500000 and range: 159.50 m. 2025-01-08T22:20:37.253Z,1736374837.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:37.255Z,1736374837.255 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:37.256Z,1736374837.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:37.257Z,1736374837.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:37.504Z,1736374837.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:37.504Z,1736374837.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198915 2025-01-08T22:20:37.649Z,1736374837.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:37.681Z,1736374837.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:37.688Z,1736374837.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 31.730669 m, bearing: 200.097081 deg, approach rate: 0.628180 m/s, LOS rate: 0.763239 deg/s, cmd heading: 37.754031 deg, new cmd heading: 38.826219 deg. 2025-01-08T22:20:37.688Z,1736374837.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677645 target range: 159.500000 and range: 159.50 m. 2025-01-08T22:20:37.757Z,1736374837.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:37.758Z,1736374837.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452503 2025-01-08T22:20:37.997Z,1736374837.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:38.005Z,1736374838.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:38.008Z,1736374838.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:38.009Z,1736374838.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703454 2025-01-08T22:20:38.025Z,1736374838.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 31.963076 m, bearing: 200.367481 deg, approach rate: 0.716820 m/s, LOS rate: 0.827935 deg/s, cmd heading: 38.826221 deg, new cmd heading: 39.631464 deg. 2025-01-08T22:20:38.026Z,1736374838.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691700 target range: 159.500000 and range: 159.50 m. 2025-01-08T22:20:38.260Z,1736374838.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:38.262Z,1736374838.262 [DAT](INFO): DAT read: Rx Time:22:20:37.0659 2025-01-08T22:20:38.264Z,1736374838.264 [DAT](INFO): Rx dataTimestamp_ set to:1736374838.262456 2025-01-08T22:20:38.265Z,1736374838.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959460 2025-01-08T22:20:38.444Z,1736374838.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:38.472Z,1736374838.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:38.479Z,1736374838.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 32.259705 m, bearing: 200.698146 deg, approach rate: 0.634426 m/s, LOS rate: 0.700716 deg/s, cmd heading: 39.631466 deg, new cmd heading: 40.614239 deg. 2025-01-08T22:20:38.480Z,1736374838.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708852 target range: 159.500000 and range: 159.50 m. 2025-01-08T22:20:38.514Z,1736374838.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:38.515Z,1736374838.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209285 2025-01-08T22:20:38.768Z,1736374838.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:38.771Z,1736374838.771 [DAT](INFO): DAT read: Range 10 to 50 : 158.1 m (Round-trip 210.9 ms) speed 0.0 m/s 2025-01-08T22:20:38.772Z,1736374838.772 [DAT](INFO): DAT read: user:2517> 2025-01-08T22:20:38.773Z,1736374838.773 [DAT](INFO): DAT read: Tx time:22:20:38.1508 2025-01-08T22:20:38.773Z,1736374838.773 [DAT](INFO): Ping request sent. 2025-01-08T22:20:38.773Z,1736374838.773 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:38.773Z,1736374838.773 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:20:38.773Z,1736374838.773 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:38.775Z,1736374838.775 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:38.847Z,1736374838.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:38.873Z,1736374838.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 158.100006 m, deltaT: 3.527910 s, deltaX: -1.399994 m, approachRate: -0.396834 m/s, rangeRepo size: 4 2025-01-08T22:20:38.873Z,1736374838.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:38.881Z,1736374838.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 32.528419 m, bearing: 200.987987 deg, approach rate: 0.672305 m/s, LOS rate: 0.719166 deg/s, cmd heading: 40.614238 deg, new cmd heading: 41.476507 deg. 2025-01-08T22:20:38.882Z,1736374838.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.723902 target range: 159.500000 and range: 158.10 m. 2025-01-08T22:20:39.020Z,1736374839.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:39.021Z,1736374839.021 [DAT](INFO): DAT read: TxSync time:22:20:38.1500 2025-01-08T22:20:39.260Z,1736374839.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:39.272Z,1736374839.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:39.272Z,1736374839.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:39.275Z,1736374839.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:39.278Z,1736374839.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 32.805725 m, bearing: 201.278032 deg, approach rate: 0.689393 m/s, LOS rate: 0.714966 deg/s, cmd heading: 41.476508 deg, new cmd heading: 42.339220 deg. 2025-01-08T22:20:39.281Z,1736374839.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738959 target range: 159.500000 and range: 158.10 m. 2025-01-08T22:20:39.525Z,1736374839.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:39.527Z,1736374839.527 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:39.527Z,1736374839.527 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:39.528Z,1736374839.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:39.702Z,1736374839.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:39.711Z,1736374839.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:39.733Z,1736374839.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 33.087791 m, bearing: 201.537716 deg, approach rate: 0.646699 m/s, LOS rate: 0.590306 deg/s, cmd heading: 42.339219 deg, new cmd heading: 43.111581 deg. 2025-01-08T22:20:39.734Z,1736374839.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752439 target range: 159.500000 and range: 158.10 m. 2025-01-08T22:20:39.776Z,1736374839.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:39.777Z,1736374839.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003495 2025-01-08T22:20:40.028Z,1736374840.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:40.029Z,1736374840.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255531 2025-01-08T22:20:40.076Z,1736374840.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:40.085Z,1736374840.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:40.088Z,1736374840.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 33.327400 m, bearing: 201.754395 deg, approach rate: 0.640324 m/s, LOS rate: 0.574882 deg/s, cmd heading: 43.111580 deg, new cmd heading: 43.756914 deg. 2025-01-08T22:20:40.088Z,1736374840.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763702 target range: 159.500000 and range: 158.10 m. 2025-01-08T22:20:40.280Z,1736374840.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:40.280Z,1736374840.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507198 2025-01-08T22:20:40.496Z,1736374840.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:40.533Z,1736374840.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:40.535Z,1736374840.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761299 2025-01-08T22:20:40.540Z,1736374840.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:40.548Z,1736374840.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 33.578079 m, bearing: 201.932606 deg, approach rate: 0.550542 m/s, LOS rate: 0.388464 deg/s, cmd heading: 43.756914 deg, new cmd heading: 44.287538 deg. 2025-01-08T22:20:40.549Z,1736374840.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772963 target range: 159.500000 and range: 158.10 m. 2025-01-08T22:20:40.784Z,1736374840.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:40.784Z,1736374840.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011267 2025-01-08T22:20:40.909Z,1736374840.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:40.918Z,1736374840.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:40.936Z,1736374840.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 33.825371 m, bearing: 202.106376 deg, approach rate: 0.655233 m/s, LOS rate: 0.457062 deg/s, cmd heading: 44.287537 deg, new cmd heading: 44.805023 deg. 2025-01-08T22:20:40.937Z,1736374840.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781995 target range: 159.500000 and range: 158.10 m. 2025-01-08T22:20:41.037Z,1736374841.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:41.038Z,1736374841.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264504 2025-01-08T22:20:41.276Z,1736374841.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:41.283Z,1736374841.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:41.285Z,1736374841.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:41.288Z,1736374841.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:41.288Z,1736374841.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515401 2025-01-08T22:20:41.289Z,1736374841.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 34.044952 m, bearing: 202.260401 deg, approach rate: 0.597386 m/s, LOS rate: 0.416331 deg/s, cmd heading: 44.805023 deg, new cmd heading: 45.264107 deg. 2025-01-08T22:20:41.290Z,1736374841.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790008 target range: 159.500000 and range: 158.10 m. 2025-01-08T22:20:41.540Z,1736374841.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:41.540Z,1736374841.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767345 2025-01-08T22:20:41.722Z,1736374841.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:41.756Z,1736374841.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:41.763Z,1736374841.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 34.291958 m, bearing: 202.373775 deg, approach rate: 0.553563 m/s, LOS rate: 0.252252 deg/s, cmd heading: 45.264108 deg, new cmd heading: 45.601775 deg. 2025-01-08T22:20:41.768Z,1736374841.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795901 target range: 159.500000 and range: 158.10 m. 2025-01-08T22:20:41.792Z,1736374841.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:41.793Z,1736374841.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019762 2025-01-08T22:20:42.044Z,1736374842.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:42.045Z,1736374842.045 [DAT](INFO): DAT read: Rx Time:22:20:40.7656 2025-01-08T22:20:42.045Z,1736374842.045 [DAT](INFO): Rx dataTimestamp_ set to:1736374842.044827 2025-01-08T22:20:42.046Z,1736374842.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272547 2025-01-08T22:20:42.118Z,1736374842.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:42.128Z,1736374842.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:42.130Z,1736374842.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 34.510040 m, bearing: 202.484859 deg, approach rate: 0.550619 m/s, LOS rate: 0.278694 deg/s, cmd heading: 45.601775 deg, new cmd heading: 45.932917 deg. 2025-01-08T22:20:42.131Z,1736374842.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.801681 target range: 159.500000 and range: 158.10 m. 2025-01-08T22:20:42.296Z,1736374842.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:42.297Z,1736374842.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523494 2025-01-08T22:20:42.537Z,1736374842.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:42.545Z,1736374842.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.50 m. 2025-01-08T22:20:42.548Z,1736374842.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:42.555Z,1736374842.555 [DAT](INFO): DAT read: 22:20:40.7656 LVL= 16752, 24545, 23458, 30835, AGC= 61, IDX= 440,-0.12, 2.513, 1.883, 0.485, 1.677, PHS= 0.925, 0.253,-1.195, RAW= 48.1, 0.2, CAL= 48.3, -1.9, ROT= 101.7, 1.9 2025-01-08T22:20:42.569Z,1736374842.569 [DAT](INFO): got valid direction response: 22:20:40.7656 LVL= 16752, 24545, 23458, 30835, AGC= 61, IDX= 440,-0.12, 2.513, 1.883, 0.485, 1.677, PHS= 0.925, 0.253,-1.195, RAW= 48.1, 0.2, CAL= 48.3, -1.9, ROT= 101.7, 1.9 2025-01-08T22:20:42.570Z,1736374842.570 [DAT](INFO): DAT read: Bearing 101.7, 1.9 (Local) 2025-01-08T22:20:42.571Z,1736374842.571 [DAT](INFO): Local bearing/azimuth received: Bearing 101.7, 1.9 (Local) 2025-01-08T22:20:42.572Z,1736374842.572 [DAT](INFO): DAT read: Range 10 to 50 : 157.8 m (Round-trip 210.5 ms) speed -0.3 m/s 2025-01-08T22:20:42.573Z,1736374842.573 [DAT](INFO): DAT read: user:2518> 2025-01-08T22:20:42.574Z,1736374842.574 [DAT](INFO): DAT read: Tx time:22:20:41.8509 2025-01-08T22:20:42.574Z,1736374842.574 [DAT](INFO): Ping request sent. 2025-01-08T22:20:42.574Z,1736374842.574 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:42.575Z,1736374842.575 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:42.584Z,1736374842.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.500000 m, nav range: 34.724579 m, bearing: 202.535450 deg, approach rate: 0.513520 m/s, LOS rate: 0.120348 deg/s, cmd heading: 45.932916 deg, new cmd heading: 46.083752 deg. 2025-01-08T22:20:42.585Z,1736374842.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804313 target range: 159.500000 and range: 158.10 m. 2025-01-08T22:20:42.588Z,1736374842.588 [DAT](INFO): direction in FSK: [-0.008073,0.725247,0.688441] 2025-01-08T22:20:42.588Z,1736374842.588 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:42.589Z,1736374842.589 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:42.600Z,1736374842.600 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:42.600Z,1736374842.600 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:42.801Z,1736374842.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:42.802Z,1736374842.802 [DAT](INFO): DAT read: TxSync time:22:20:41.8501 2025-01-08T22:20:42.848Z,1736374842.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:20:42.994Z,1736374842.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:43.028Z,1736374843.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 157.800003 m, deltaT: 3.779560 s, deltaX: -0.300003 m, approachRate: -0.079375 m/s, rangeRepo size: 4 2025-01-08T22:20:43.030Z,1736374843.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 157.800003 m, bearing: 132.909724 deg, lat: 36.904743 deg, lon: -122.120545 deg, deltaT: 7.307470 s, deltaX: -1.699997 m, approachRate: -0.232638 m/s, posRepo size: 4 2025-01-08T22:20:43.031Z,1736374843.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:43.038Z,1736374843.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 61.190517 m, bearing: 173.399006 deg, approach rate: 0.000000 m/s, LOS rate: 0.120348 deg/s, cmd heading: 46.083751 deg, new cmd heading: 46.256305 deg. 2025-01-08T22:20:43.043Z,1736374843.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807325 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:43.052Z,1736374843.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:43.304Z,1736374843.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:43.452Z,1736374843.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:43.460Z,1736374843.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:43.462Z,1736374843.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:43.465Z,1736374843.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 61.377285 m, bearing: 173.509967 deg, approach rate: 0.425225 m/s, LOS rate: 0.251863 deg/s, cmd heading: 46.256305 deg, new cmd heading: 46.588172 deg. 2025-01-08T22:20:43.466Z,1736374843.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813117 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:43.556Z,1736374843.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:43.556Z,1736374843.556 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:43.556Z,1736374843.556 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:43.557Z,1736374843.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:43.810Z,1736374843.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:43.811Z,1736374843.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237258 2025-01-08T22:20:43.856Z,1736374843.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:20:43.905Z,1736374843.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:43.938Z,1736374843.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:43.943Z,1736374843.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 61.560608 m, bearing: 173.621134 deg, approach rate: 0.384985 m/s, LOS rate: 0.232759 deg/s, cmd heading: 46.588174 deg, new cmd heading: 46.920677 deg. 2025-01-08T22:20:43.944Z,1736374843.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818920 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:44.060Z,1736374844.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:44.061Z,1736374844.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487005 2025-01-08T22:20:44.283Z,1736374844.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:44.305Z,1736374844.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:44.309Z,1736374844.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 61.712971 m, bearing: 173.715049 deg, approach rate: 0.415699 m/s, LOS rate: 0.255602 deg/s, cmd heading: 46.920678 deg, new cmd heading: 47.201727 deg. 2025-01-08T22:20:44.310Z,1736374844.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823826 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:44.312Z,1736374844.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:44.313Z,1736374844.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738692 2025-01-08T22:20:44.564Z,1736374844.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:44.564Z,1736374844.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990291 2025-01-08T22:20:44.733Z,1736374844.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:44.743Z,1736374844.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:44.746Z,1736374844.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 61.889183 m, bearing: 173.811053 deg, approach rate: 0.402710 m/s, LOS rate: 0.218779 deg/s, cmd heading: 47.201726 deg, new cmd heading: 47.488915 deg. 2025-01-08T22:20:44.747Z,1736374844.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828838 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:44.817Z,1736374844.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:44.818Z,1736374844.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243197 2025-01-08T22:20:45.068Z,1736374845.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:45.068Z,1736374845.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494191 2025-01-08T22:20:45.110Z,1736374845.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:45.131Z,1736374845.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:45.140Z,1736374845.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 62.036083 m, bearing: 173.891758 deg, approach rate: 0.381858 m/s, LOS rate: 0.209291 deg/s, cmd heading: 47.488915 deg, new cmd heading: 47.730455 deg. 2025-01-08T22:20:45.142Z,1736374845.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833054 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:45.320Z,1736374845.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:45.320Z,1736374845.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746347 2025-01-08T22:20:45.523Z,1736374845.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:45.531Z,1736374845.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:45.553Z,1736374845.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:45.560Z,1736374845.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 62.196182 m, bearing: 173.985274 deg, approach rate: 0.376123 m/s, LOS rate: 0.219132 deg/s, cmd heading: 47.730455 deg, new cmd heading: 48.010277 deg. 2025-01-08T22:20:45.561Z,1736374845.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837937 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:45.572Z,1736374845.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:45.572Z,1736374845.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998357 2025-01-08T22:20:45.824Z,1736374845.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:45.825Z,1736374845.825 [DAT](INFO): DAT read: Rx Time:22:20:44.4664 2025-01-08T22:20:45.826Z,1736374845.826 [DAT](INFO): Rx dataTimestamp_ set to:1736374845.825287 2025-01-08T22:20:45.826Z,1736374845.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251986 2025-01-08T22:20:45.907Z,1736374845.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:45.918Z,1736374845.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:45.921Z,1736374845.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 62.344543 m, bearing: 174.072498 deg, approach rate: 0.406307 m/s, LOS rate: 0.238306 deg/s, cmd heading: 48.010277 deg, new cmd heading: 48.271325 deg. 2025-01-08T22:20:45.922Z,1736374845.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.842494 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:46.076Z,1736374846.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:46.076Z,1736374846.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502376 2025-01-08T22:20:46.312Z,1736374846.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:46.320Z,1736374846.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:46.324Z,1736374846.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 62.500957 m, bearing: 174.164776 deg, approach rate: 0.389050 m/s, LOS rate: 0.228950 deg/s, cmd heading: 48.271324 deg, new cmd heading: 48.547464 deg. 2025-01-08T22:20:46.326Z,1736374846.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847313 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:46.328Z,1736374846.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:46.347Z,1736374846.347 [DAT](INFO): DAT read: 22:20:44.4664 LVL= 13296, 31169, 22818, 27267, AGC= 58, IDX= 432, 0.04, 1.008, 0.183,-0.999,-0.087, PHS= 1.183, 0.317,-0.915, RAW= 54.3, -6.5, CAL= 59.9, -12.1, ROT= 90.1, 12.1 2025-01-08T22:20:46.348Z,1736374846.348 [DAT](INFO): got valid direction response: 22:20:44.4664 LVL= 13296, 31169, 22818, 27267, AGC= 58, IDX= 432, 0.04, 1.008, 0.183,-0.999,-0.087, PHS= 1.183, 0.317,-0.915, RAW= 54.3, -6.5, CAL= 59.9, -12.1, ROT= 90.1, 12.1 2025-01-08T22:20:46.349Z,1736374846.349 [DAT](INFO): DAT read: Bearing 90.1, 12.1 (Local) 2025-01-08T22:20:46.349Z,1736374846.349 [DAT](INFO): Local bearing/azimuth received: Bearing 90.1, 12.1 (Local) 2025-01-08T22:20:46.364Z,1736374846.364 [DAT](INFO): DAT read: Range 10 to 50 : 158.4 m (Round-trip 211.3 ms) speed 0.0 m/s 2025-01-08T22:20:46.364Z,1736374846.364 [DAT](INFO): DAT read: user:2519> 2025-01-08T22:20:46.365Z,1736374846.365 [DAT](INFO): DAT read: Tx time:22:20:45.5509 2025-01-08T22:20:46.365Z,1736374846.365 [DAT](INFO): Ping request sent. 2025-01-08T22:20:46.365Z,1736374846.365 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:46.366Z,1736374846.366 [DAT](INFO): DAT read: TxSync time:22:20:45.5501 2025-01-08T22:20:46.367Z,1736374846.367 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:46.382Z,1736374846.382 [DAT](INFO): direction in FSK: [0.102460,0.640563,0.761040] 2025-01-08T22:20:46.388Z,1736374846.388 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:46.388Z,1736374846.388 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:46.415Z,1736374846.415 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:46.420Z,1736374846.420 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:46.580Z,1736374846.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:46.780Z,1736374846.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:46.806Z,1736374846.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 158.399994 m, deltaT: 3.780054 s, deltaX: 0.599991 m, approachRate: 0.158725 m/s, rangeRepo size: 4 2025-01-08T22:20:46.812Z,1736374846.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 158.399994 m, bearing: 126.102661 deg, lat: 36.904743 deg, lon: -122.120101 deg, deltaT: 3.780054 s, deltaX: 0.599991 m, approachRate: 0.158725 m/s, posRepo size: 4 2025-01-08T22:20:46.813Z,1736374846.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:20:46.828Z,1736374846.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 77.321533 m, bearing: 143.762608 deg, approach rate: 0.000000 m/s, LOS rate: 0.228950 deg/s, cmd heading: 48.547465 deg, new cmd heading: 48.880790 deg. 2025-01-08T22:20:46.832Z,1736374846.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:46.833Z,1736374846.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.853131 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:20:47.084Z,1736374847.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:47.132Z,1736374847.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:47.142Z,1736374847.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:20:47.145Z,1736374847.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 77.380852 m, bearing: 143.879467 deg, approach rate: 0.176886 m/s, LOS rate: 0.348204 deg/s, cmd heading: 48.880788 deg, new cmd heading: 49.231093 deg. 2025-01-08T22:20:47.146Z,1736374847.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.859245 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:20:47.336Z,1736374847.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:47.547Z,1736374847.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:47.582Z,1736374847.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:47.588Z,1736374847.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:47.588Z,1736374847.588 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:47.588Z,1736374847.588 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:47.589Z,1736374847.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:47.604Z,1736374847.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:20:47.615Z,1736374847.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 77.431549 m, bearing: 144.038984 deg, approach rate: 0.112755 m/s, LOS rate: 0.354547 deg/s, cmd heading: 49.231092 deg, new cmd heading: 49.709318 deg. 2025-01-08T22:20:47.616Z,1736374847.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867591 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:20:47.840Z,1736374847.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:47.842Z,1736374847.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476186 2025-01-08T22:20:47.929Z,1736374847.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:47.937Z,1736374847.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:20:47.941Z,1736374847.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 77.477539 m, bearing: 144.185879 deg, approach rate: 0.132510 m/s, LOS rate: 0.422995 deg/s, cmd heading: 49.709318 deg, new cmd heading: 50.149732 deg. 2025-01-08T22:20:47.942Z,1736374847.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.875278 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:20:48.092Z,1736374848.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:48.093Z,1736374848.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727219 2025-01-08T22:20:48.335Z,1736374848.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:48.344Z,1736374848.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:48.345Z,1736374848.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979081 2025-01-08T22:20:48.346Z,1736374848.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:20:48.349Z,1736374848.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 77.525848 m, bearing: 144.341802 deg, approach rate: 0.118220 m/s, LOS rate: 0.381327 deg/s, cmd heading: 50.149732 deg, new cmd heading: 50.617197 deg. 2025-01-08T22:20:48.350Z,1736374848.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.883437 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:20:48.596Z,1736374848.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:48.596Z,1736374848.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230861 2025-01-08T22:20:48.762Z,1736374848.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:48.789Z,1736374848.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:20:48.799Z,1736374848.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 77.555511 m, bearing: 144.533477 deg, approach rate: 0.067089 m/s, LOS rate: 0.433344 deg/s, cmd heading: 50.617197 deg, new cmd heading: 51.191982 deg. 2025-01-08T22:20:48.800Z,1736374848.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.893469 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:20:48.848Z,1736374848.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:48.849Z,1736374848.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483309 2025-01-08T22:20:49.100Z,1736374849.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:49.100Z,1736374849.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734923 2025-01-08T22:20:49.212Z,1736374849.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:49.221Z,1736374849.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:20:49.225Z,1736374849.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 77.582603 m, bearing: 144.735206 deg, approach rate: 0.062557 m/s, LOS rate: 0.465643 deg/s, cmd heading: 51.191981 deg, new cmd heading: 51.796935 deg. 2025-01-08T22:20:49.226Z,1736374849.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.904027 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:20:49.353Z,1736374849.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:49.354Z,1736374849.354 [DAT](INFO): DAT read: Rx Time:22:20:48.1656 2025-01-08T22:20:49.354Z,1736374849.354 [DAT](INFO): Rx dataTimestamp_ set to:1736374849.353764 2025-01-08T22:20:49.355Z,1736374849.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989069 2025-01-08T22:20:49.604Z,1736374849.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:49.604Z,1736374849.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238918 2025-01-08T22:20:49.666Z,1736374849.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:49.701Z,1736374849.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:49.712Z,1736374849.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:20:49.716Z,1736374849.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 77.587303 m, bearing: 144.963671 deg, approach rate: 0.009625 m/s, LOS rate: 0.467859 deg/s, cmd heading: 51.796934 deg, new cmd heading: 52.482251 deg. 2025-01-08T22:20:49.717Z,1736374849.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.915988 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:20:49.858Z,1736374849.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:49.886Z,1736374849.886 [DAT](INFO): DAT read: 22:20:48.1656 LVL= 11376, 28097, 18130, 29155, AGC= 59, IDX= 439, 0.08, 1.800, 0.805,-0.243, 0.660, PHS= 1.228, 0.192,-0.906, RAW= 59.0, -5.6, CAL= 65.2, -11.2, ROT= 84.8, 11.2 2025-01-08T22:20:49.887Z,1736374849.887 [DAT](INFO): got valid direction response: 22:20:48.1656 LVL= 11376, 28097, 18130, 29155, AGC= 59, IDX= 439, 0.08, 1.800, 0.805,-0.243, 0.660, PHS= 1.228, 0.192,-0.906, RAW= 59.0, -5.6, CAL= 65.2, -11.2, ROT= 84.8, 11.2 2025-01-08T22:20:49.892Z,1736374849.892 [DAT](INFO): DAT read: Bearing 84.8, 11.2 (Local) 2025-01-08T22:20:49.893Z,1736374849.893 [DAT](INFO): Local bearing/azimuth received: Bearing 84.8, 11.2 (Local) 2025-01-08T22:20:49.900Z,1736374849.900 [DAT](INFO): DAT read: Range 10 to 50 : 157.8 m (Round-trip 210.5 ms) speed 0.0 m/s 2025-01-08T22:20:49.901Z,1736374849.901 [DAT](INFO): DAT read: user:2520> 2025-01-08T22:20:49.902Z,1736374849.902 [DAT](INFO): DAT read: Tx time:22:20:49.2509 2025-01-08T22:20:49.907Z,1736374849.907 [DAT](INFO): Ping request sent. 2025-01-08T22:20:49.908Z,1736374849.908 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:49.908Z,1736374849.908 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:49.910Z,1736374849.910 [DAT](INFO): direction in FSK: [0.077250,0.581207,0.810080] 2025-01-08T22:20:49.910Z,1736374849.910 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:49.910Z,1736374849.910 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:49.928Z,1736374849.928 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:49.929Z,1736374849.929 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:50.108Z,1736374850.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:50.109Z,1736374850.109 [DAT](INFO): DAT read: TxSync time:22:20:49.2501 2025-01-08T22:20:50.131Z,1736374850.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:50.170Z,1736374850.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 157.800003 m, deltaT: 3.531062 s, deltaX: -0.599991 m, approachRate: -0.169918 m/s, rangeRepo size: 4 2025-01-08T22:20:50.177Z,1736374850.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 157.800003 m, bearing: 136.413032 deg, lat: 36.904743 deg, lon: -122.120088 deg, deltaT: 3.531062 s, deltaX: -0.599991 m, approachRate: -0.169918 m/s, posRepo size: 4 2025-01-08T22:20:50.178Z,1736374850.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:50.185Z,1736374850.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 78.283493 m, bearing: 144.473683 deg, approach rate: 0.000000 m/s, LOS rate: 0.467859 deg/s, cmd heading: 52.482252 deg, new cmd heading: 53.127640 deg. 2025-01-08T22:20:50.186Z,1736374850.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.927252 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:50.360Z,1736374850.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:50.563Z,1736374850.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:50.572Z,1736374850.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:50.593Z,1736374850.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 78.264740 m, bearing: 144.709849 deg, approach rate: -0.046594 m/s, LOS rate: 0.586926 deg/s, cmd heading: 53.127639 deg, new cmd heading: 53.836271 deg. 2025-01-08T22:20:50.594Z,1736374850.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939620 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:50.612Z,1736374850.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:50.865Z,1736374850.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:50.977Z,1736374850.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:51.001Z,1736374851.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:51.009Z,1736374851.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 78.244324 m, bearing: 144.935561 deg, approach rate: -0.047560 m/s, LOS rate: 0.525935 deg/s, cmd heading: 53.836272 deg, new cmd heading: 54.513550 deg. 2025-01-08T22:20:51.010Z,1736374851.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.951441 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:51.116Z,1736374851.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:51.368Z,1736374851.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:51.412Z,1736374851.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:51.422Z,1736374851.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:51.426Z,1736374851.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 78.224167 m, bearing: 145.173062 deg, approach rate: -0.047911 m/s, LOS rate: 0.564668 deg/s, cmd heading: 54.513550 deg, new cmd heading: 55.226199 deg. 2025-01-08T22:20:51.428Z,1736374851.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.963879 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:51.620Z,1736374851.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:51.817Z,1736374851.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:51.824Z,1736374851.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:51.826Z,1736374851.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:51.829Z,1736374851.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 78.193825 m, bearing: 145.406185 deg, approach rate: -0.075095 m/s, LOS rate: 0.577192 deg/s, cmd heading: 55.226198 deg, new cmd heading: 55.925802 deg. 2025-01-08T22:20:51.830Z,1736374851.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.976089 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:51.872Z,1736374851.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:51.872Z,1736374851.872 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:51.872Z,1736374851.872 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:51.873Z,1736374851.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:52.124Z,1736374852.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:52.125Z,1736374852.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221920 2025-01-08T22:20:52.193Z,1736374852.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:52.221Z,1736374852.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:52.224Z,1736374852.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 78.163597 m, bearing: 145.622350 deg, approach rate: -0.076608 m/s, LOS rate: 0.548050 deg/s, cmd heading: 55.925801 deg, new cmd heading: 56.574516 deg. 2025-01-08T22:20:52.225Z,1736374852.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.987412 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:52.376Z,1736374852.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:52.377Z,1736374852.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473597 2025-01-08T22:20:52.628Z,1736374852.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:52.628Z,1736374852.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725562 2025-01-08T22:20:52.632Z,1736374852.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:52.641Z,1736374852.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:52.646Z,1736374852.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 78.124664 m, bearing: 145.878740 deg, approach rate: -0.092680 m/s, LOS rate: 0.610644 deg/s, cmd heading: 56.574515 deg, new cmd heading: 57.344019 deg. 2025-01-08T22:20:52.649Z,1736374852.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.000842 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:52.880Z,1736374852.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:52.880Z,1736374852.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977489 2025-01-08T22:20:53.004Z,1736374853.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:53.013Z,1736374853.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:53.016Z,1736374853.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 78.085892 m, bearing: 146.095471 deg, approach rate: -0.104199 m/s, LOS rate: 0.582739 deg/s, cmd heading: 57.344021 deg, new cmd heading: 57.994509 deg. 2025-01-08T22:20:53.017Z,1736374853.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.012195 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:53.133Z,1736374853.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:53.136Z,1736374853.136 [DAT](INFO): DAT read: Rx Time:22:20:51.8634 2025-01-08T22:20:53.138Z,1736374853.138 [DAT](INFO): Rx dataTimestamp_ set to:1736374853.136661 2025-01-08T22:20:53.138Z,1736374853.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235536 2025-01-08T22:20:53.384Z,1736374853.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:53.384Z,1736374853.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481528 2025-01-08T22:20:53.425Z,1736374853.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:53.433Z,1736374853.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m. 2025-01-08T22:20:53.437Z,1736374853.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.800003 m, nav range: 78.039436 m, bearing: 146.341017 deg, approach rate: -0.110399 m/s, LOS rate: 0.583871 deg/s, cmd heading: 57.994508 deg, new cmd heading: 58.731540 deg. 2025-01-08T22:20:53.438Z,1736374853.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.025059 target range: 157.800003 and range: 157.80 m. 2025-01-08T22:20:53.636Z,1736374853.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:53.644Z,1736374853.644 [DAT](INFO): DAT read: 22:20:51.8634 LVL= 13680, 28785, 19122, 28531, AGC= 59, IDX= 418,-0.07,-2.610, 2.478, 1.577, 2.446, PHS= 1.315, 0.078,-0.872, RAW= 64.3, -5.5, CAL= 71.7, -11.5, ROT= 78.3, 11.5 2025-01-08T22:20:53.645Z,1736374853.645 [DAT](INFO): got valid direction response: 22:20:51.8634 LVL= 13680, 28785, 19122, 28531, AGC= 59, IDX= 418,-0.07,-2.610, 2.478, 1.577, 2.446, PHS= 1.315, 0.078,-0.872, RAW= 64.3, -5.5, CAL= 71.7, -11.5, ROT= 78.3, 11.5 2025-01-08T22:20:53.647Z,1736374853.647 [DAT](INFO): DAT read: Bearing 78.3, 11.5 (Local) 2025-01-08T22:20:53.647Z,1736374853.647 [DAT](INFO): Local bearing/azimuth received: Bearing 78.3, 11.5 (Local) 2025-01-08T22:20:53.650Z,1736374853.650 [DAT](INFO): DAT read: Range 10 to 50 : 156.2 m (Round-trip 208.3 ms) speed 0.1 m/s 2025-01-08T22:20:53.651Z,1736374853.651 [DAT](INFO): DAT read: user:2521> 2025-01-08T22:20:53.655Z,1736374853.655 [DAT](INFO): DAT read: Tx time:22:20:52.9509 2025-01-08T22:20:53.657Z,1736374853.657 [DAT](INFO): Ping request sent. 2025-01-08T22:20:53.657Z,1736374853.657 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:53.659Z,1736374853.659 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:53.661Z,1736374853.661 [DAT](INFO): direction in FSK: [0.065499,0.508905,0.858327] 2025-01-08T22:20:53.662Z,1736374853.662 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:53.662Z,1736374853.662 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:53.670Z,1736374853.670 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:53.671Z,1736374853.671 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:53.700Z,1736374853.700 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:20:53.861Z,1736374853.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:53.888Z,1736374853.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:53.889Z,1736374853.889 [DAT](INFO): DAT read: TxSync time:22:20:52.9501 2025-01-08T22:20:53.901Z,1736374853.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 156.199997 m, deltaT: 3.776798 s, deltaX: -1.600006 m, approachRate: -0.423641 m/s, rangeRepo size: 4 2025-01-08T22:20:53.903Z,1736374853.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 156.199997 m, bearing: 144.407024 deg, lat: 36.904886 deg, lon: -122.120088 deg, deltaT: 3.776798 s, deltaX: -1.600006 m, approachRate: -0.423641 m/s, posRepo size: 4 2025-01-08T22:20:53.908Z,1736374853.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.20 m. 2025-01-08T22:20:53.911Z,1736374853.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.199997 m, nav range: 65.307953 m, bearing: 138.866764 deg, approach rate: 0.000000 m/s, LOS rate: 0.583871 deg/s, cmd heading: 58.731540 deg, new cmd heading: 59.548887 deg. 2025-01-08T22:20:53.920Z,1736374853.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.039324 target range: 156.199997 and range: 156.20 m. 2025-01-08T22:20:54.141Z,1736374854.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:54.338Z,1736374854.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:54.346Z,1736374854.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:54.348Z,1736374854.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.20 m. 2025-01-08T22:20:54.351Z,1736374854.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.199997 m, nav range: 65.217155 m, bearing: 139.173502 deg, approach rate: -0.202673 m/s, LOS rate: 0.685634 deg/s, cmd heading: 59.548888 deg, new cmd heading: 60.470302 deg. 2025-01-08T22:20:54.352Z,1736374854.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.055406 target range: 156.199997 and range: 156.20 m. 2025-01-08T22:20:54.392Z,1736374854.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:54.393Z,1736374854.393 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:54.393Z,1736374854.393 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:54.393Z,1736374854.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:54.645Z,1736374854.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:54.646Z,1736374854.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989300 2025-01-08T22:20:54.654Z,1736374854.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:54.697Z,1736374854.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.20 m. 2025-01-08T22:20:54.708Z,1736374854.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.199997 m, nav range: 65.168724 m, bearing: 139.364095 deg, approach rate: -0.138973 m/s, LOS rate: 0.547308 deg/s, cmd heading: 60.470301 deg, new cmd heading: 61.042485 deg. 2025-01-08T22:20:54.710Z,1736374854.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065392 target range: 156.199997 and range: 156.20 m. 2025-01-08T22:20:54.896Z,1736374854.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:54.898Z,1736374854.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241242 2025-01-08T22:20:55.025Z,1736374855.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:55.034Z,1736374855.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.20 m. 2025-01-08T22:20:55.036Z,1736374855.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.199997 m, nav range: 65.109459 m, bearing: 139.587136 deg, approach rate: -0.175842 m/s, LOS rate: 0.662370 deg/s, cmd heading: 61.042487 deg, new cmd heading: 61.712186 deg. 2025-01-08T22:20:55.037Z,1736374855.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077081 target range: 156.199997 and range: 156.20 m. 2025-01-08T22:20:55.148Z,1736374855.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:55.149Z,1736374855.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492358 2025-01-08T22:20:55.400Z,1736374855.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:55.400Z,1736374855.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743909 2025-01-08T22:20:55.443Z,1736374855.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:55.452Z,1736374855.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.20 m. 2025-01-08T22:20:55.455Z,1736374855.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.199997 m, nav range: 65.040779 m, bearing: 139.838174 deg, approach rate: -0.164178 m/s, LOS rate: 0.600733 deg/s, cmd heading: 61.712187 deg, new cmd heading: 62.466050 deg. 2025-01-08T22:20:55.456Z,1736374855.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.090238 target range: 156.199997 and range: 156.20 m. 2025-01-08T22:20:55.652Z,1736374855.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:55.653Z,1736374855.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996766 2025-01-08T22:20:55.856Z,1736374855.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:55.882Z,1736374855.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.20 m. 2025-01-08T22:20:55.905Z,1736374855.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:55.907Z,1736374855.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250549 2025-01-08T22:20:55.927Z,1736374855.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.199997 m, nav range: 64.986115 m, bearing: 140.064004 deg, approach rate: -0.128580 m/s, LOS rate: 0.531633 deg/s, cmd heading: 62.466048 deg, new cmd heading: 63.144075 deg. 2025-01-08T22:20:55.932Z,1736374855.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.102072 target range: 156.199997 and range: 156.20 m. 2025-01-08T22:20:56.158Z,1736374856.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:56.160Z,1736374856.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502514 2025-01-08T22:20:56.235Z,1736374856.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:56.246Z,1736374856.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.20 m. 2025-01-08T22:20:56.248Z,1736374856.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.199997 m, nav range: 64.934959 m, bearing: 140.271091 deg, approach rate: -0.138821 m/s, LOS rate: 0.562419 deg/s, cmd heading: 63.144074 deg, new cmd heading: 63.765799 deg. 2025-01-08T22:20:56.249Z,1736374856.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112923 target range: 156.199997 and range: 156.20 m. 2025-01-08T22:20:56.409Z,1736374856.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:56.410Z,1736374856.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753428 2025-01-08T22:20:56.660Z,1736374856.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:56.662Z,1736374856.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005126 2025-01-08T22:20:56.728Z,1736374856.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:56.734Z,1736374856.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:56.741Z,1736374856.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.20 m. 2025-01-08T22:20:56.751Z,1736374856.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.199997 m, nav range: 64.888878 m, bearing: 140.502602 deg, approach rate: -0.093120 m/s, LOS rate: 0.468161 deg/s, cmd heading: 63.765799 deg, new cmd heading: 64.460789 deg. 2025-01-08T22:20:56.756Z,1736374856.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125053 target range: 156.199997 and range: 156.20 m. 2025-01-08T22:20:56.912Z,1736374856.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:56.912Z,1736374856.912 [DAT](INFO): DAT read: Rx Time:22:20:55.5628 2025-01-08T22:20:56.913Z,1736374856.913 [DAT](INFO): Rx dataTimestamp_ set to:1736374856.912539 2025-01-08T22:20:56.913Z,1736374856.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256956 2025-01-08T22:20:57.039Z,1736374857.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:57.064Z,1736374857.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.20 m. 2025-01-08T22:20:57.066Z,1736374857.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.199997 m, nav range: 64.858994 m, bearing: 140.649054 deg, approach rate: -0.092546 m/s, LOS rate: 0.453737 deg/s, cmd heading: 64.460791 deg, new cmd heading: 64.900338 deg. 2025-01-08T22:20:57.067Z,1736374857.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132725 target range: 156.199997 and range: 156.20 m. 2025-01-08T22:20:57.164Z,1736374857.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:57.165Z,1736374857.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508888 2025-01-08T22:20:57.416Z,1736374857.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:57.429Z,1736374857.429 [DAT](INFO): DAT read: 22:20:55.5628 LVL= 22384, 27633, 20658, 27411, AGC= 60, IDX= 427,-0.30, 1.447,-0.023,-0.532, 0.269, PHS= 1.266,-0.245,-0.804, RAW= 74.9, -2.4, CAL= 81.8, -7.7, ROT= 68.2, 7.7 2025-01-08T22:20:57.430Z,1736374857.430 [DAT](INFO): got valid direction response: 22:20:55.5628 LVL= 22384, 27633, 20658, 27411, AGC= 60, IDX= 427,-0.30, 1.447,-0.023,-0.532, 0.269, PHS= 1.266,-0.245,-0.804, RAW= 74.9, -2.4, CAL= 81.8, -7.7, ROT= 68.2, 7.7 2025-01-08T22:20:57.440Z,1736374857.440 [DAT](INFO): DAT read: Bearing 68.2, 7.7 (Local) 2025-01-08T22:20:57.440Z,1736374857.440 [DAT](INFO): Local bearing/azimuth received: Bearing 68.2, 7.7 (Local) 2025-01-08T22:20:57.444Z,1736374857.444 [DAT](INFO): DAT read: Range 10 to 50 : 155.7 m (Round-trip 207.7 ms) speed 0.0 m/s 2025-01-08T22:20:57.447Z,1736374857.447 [DAT](INFO): DAT read: user:2522> 2025-01-08T22:20:57.452Z,1736374857.452 [DAT](INFO): DAT read: Tx time:22:20:56.6510 2025-01-08T22:20:57.452Z,1736374857.452 [DAT](INFO): Ping request sent. 2025-01-08T22:20:57.453Z,1736374857.453 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:20:57.453Z,1736374857.453 [DAT](INFO): DAT read: TxSync time:22:20:56.6502 2025-01-08T22:20:57.454Z,1736374857.454 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:20:57.455Z,1736374857.455 [DAT](INFO): direction in FSK: [-0.013891,0.356061,0.934359] 2025-01-08T22:20:57.455Z,1736374857.455 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:57.459Z,1736374857.459 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:57.462Z,1736374857.462 [DAT](INFO): publishing transmit ping time 2025-01-08T22:20:57.462Z,1736374857.462 [DAT](INFO): publishing direction and range info 2025-01-08T22:20:57.505Z,1736374857.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:57.621Z,1736374857.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 155.699997 m, deltaT: 3.780008 s, deltaX: -0.500000 m, approachRate: -0.132275 m/s, rangeRepo size: 4 2025-01-08T22:20:57.623Z,1736374857.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.699997 m, bearing: 172.533592 deg, lat: 36.904905 deg, lon: -122.120088 deg, deltaT: 3.780008 s, deltaX: -0.500000 m, approachRate: -0.132275 m/s, posRepo size: 4 2025-01-08T22:20:57.636Z,1736374857.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.70 m. 2025-01-08T22:20:57.638Z,1736374857.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.699997 m, nav range: 63.195141 m, bearing: 139.664537 deg, approach rate: 0.000000 m/s, LOS rate: 0.453737 deg/s, cmd heading: 64.900341 deg, new cmd heading: 65.648351 deg. 2025-01-08T22:20:57.652Z,1736374857.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145780 target range: 155.699997 and range: 155.70 m. 2025-01-08T22:20:57.669Z,1736374857.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:57.920Z,1736374857.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:58.012Z,1736374858.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:58.029Z,1736374858.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.70 m. 2025-01-08T22:20:58.035Z,1736374858.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.699997 m, nav range: 63.162323 m, bearing: 139.885923 deg, approach rate: -0.078957 m/s, LOS rate: 0.532913 deg/s, cmd heading: 65.648350 deg, new cmd heading: 66.312820 deg. 2025-01-08T22:20:58.036Z,1736374858.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157377 target range: 155.699997 and range: 155.70 m. 2025-01-08T22:20:58.172Z,1736374858.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:58.355Z,1736374858.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:58.365Z,1736374858.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.70 m. 2025-01-08T22:20:58.368Z,1736374858.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.699997 m, nav range: 63.139191 m, bearing: 140.035467 deg, approach rate: -0.068739 m/s, LOS rate: 0.444546 deg/s, cmd heading: 66.312818 deg, new cmd heading: 66.761607 deg. 2025-01-08T22:20:58.369Z,1736374858.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.165210 target range: 155.699997 and range: 155.70 m. 2025-01-08T22:20:58.428Z,1736374858.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:58.680Z,1736374858.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:58.784Z,1736374858.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:58.808Z,1736374858.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:20:58.810Z,1736374858.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.70 m. 2025-01-08T22:20:58.817Z,1736374858.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.699997 m, nav range: 63.117466 m, bearing: 140.207348 deg, approach rate: -0.048867 m/s, LOS rate: 0.386760 deg/s, cmd heading: 66.761609 deg, new cmd heading: 67.277414 deg. 2025-01-08T22:20:58.818Z,1736374858.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.174212 target range: 155.699997 and range: 155.70 m. 2025-01-08T22:20:58.932Z,1736374858.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:58.932Z,1736374858.932 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:20:58.932Z,1736374858.932 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:20:58.933Z,1736374858.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:20:59.155Z,1736374859.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:59.165Z,1736374859.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.70 m. 2025-01-08T22:20:59.168Z,1736374859.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.699997 m, nav range: 63.097824 m, bearing: 140.355599 deg, approach rate: -0.055311 m/s, LOS rate: 0.417596 deg/s, cmd heading: 67.277411 deg, new cmd heading: 67.722291 deg. 2025-01-08T22:20:59.169Z,1736374859.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.181977 target range: 155.699997 and range: 155.70 m. 2025-01-08T22:20:59.184Z,1736374859.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:59.184Z,1736374859.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731708 2025-01-08T22:20:59.436Z,1736374859.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:59.437Z,1736374859.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984071 2025-01-08T22:20:59.673Z,1736374859.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:20:59.688Z,1736374859.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:59.689Z,1736374859.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235969 2025-01-08T22:20:59.696Z,1736374859.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.70 m. 2025-01-08T22:20:59.699Z,1736374859.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.699997 m, nav range: 63.069431 m, bearing: 140.562672 deg, approach rate: -0.053443 m/s, LOS rate: 0.389940 deg/s, cmd heading: 67.722289 deg, new cmd heading: 68.343763 deg. 2025-01-08T22:20:59.700Z,1736374859.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.192824 target range: 155.699997 and range: 155.70 m. 2025-01-08T22:20:59.940Z,1736374859.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:20:59.940Z,1736374859.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487823 2025-01-08T22:21:00.077Z,1736374860.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:00.094Z,1736374860.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.70 m. 2025-01-08T22:21:00.100Z,1736374860.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.699997 m, nav range: 63.043346 m, bearing: 140.724315 deg, approach rate: -0.065629 m/s, LOS rate: 0.406862 deg/s, cmd heading: 68.343761 deg, new cmd heading: 68.828880 deg. 2025-01-08T22:21:00.101Z,1736374860.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.201291 target range: 155.699997 and range: 155.70 m. 2025-01-08T22:21:00.192Z,1736374860.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:00.193Z,1736374860.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740283 2025-01-08T22:21:00.444Z,1736374860.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:00.444Z,1736374860.444 [DAT](INFO): DAT read: Rx Time:22:20:59.2625 2025-01-08T22:21:00.445Z,1736374860.445 [DAT](INFO): Rx dataTimestamp_ set to:1736374860.444615 2025-01-08T22:21:00.445Z,1736374860.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992852 2025-01-08T22:21:00.556Z,1736374860.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:00.566Z,1736374860.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.70 m. 2025-01-08T22:21:00.569Z,1736374860.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.699997 m, nav range: 63.011940 m, bearing: 140.916193 deg, approach rate: -0.066419 m/s, LOS rate: 0.405988 deg/s, cmd heading: 68.828882 deg, new cmd heading: 69.404780 deg. 2025-01-08T22:21:00.570Z,1736374860.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.211342 target range: 155.699997 and range: 155.70 m. 2025-01-08T22:21:00.696Z,1736374860.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:00.697Z,1736374860.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244390 2025-01-08T22:21:00.950Z,1736374860.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:00.968Z,1736374860.968 [DAT](INFO): DAT read: 22:20:59.2625 LVL= 19440, 29505, 20546, 27331, AGC= 57, IDX= 439,-0.21,-1.248,-2.879,-3.102,-2.447, PHS= 1.287,-0.386,-0.658, RAW= 82.6, -2.7, CAL= 90.3, -8.5, ROT= 59.7, 8.5 2025-01-08T22:21:00.971Z,1736374860.971 [DAT](INFO): got valid direction response: 22:20:59.2625 LVL= 19440, 29505, 20546, 27331, AGC= 57, IDX= 439,-0.21,-1.248,-2.879,-3.102,-2.447, PHS= 1.287,-0.386,-0.658, RAW= 82.6, -2.7, CAL= 90.3, -8.5, ROT= 59.7, 8.5 2025-01-08T22:21:00.987Z,1736374860.987 [DAT](INFO): DAT read: Bearing 59.7, 8.5 (Local) 2025-01-08T22:21:00.000Z,1736374861.000 [DAT](INFO): Local bearing/azimuth received: Bearing 59.7, 8.5 (Local) 2025-01-08T22:21:01.002Z,1736374861.002 [DAT](INFO): DAT read: Range 10 to 50 : 155.4 m (Round-trip 207.3 ms) speed 0.2 m/s 2025-01-08T22:21:01.002Z,1736374861.002 [DAT](INFO): DAT read: user:2523> 2025-01-08T22:21:01.008Z,1736374861.008 [DAT](INFO): DAT read: Tx time:22:21:00.3510 2025-01-08T22:21:01.008Z,1736374861.008 [DAT](INFO): Ping request sent. 2025-01-08T22:21:01.008Z,1736374861.008 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:01.009Z,1736374861.009 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:01.010Z,1736374861.010 [DAT](INFO): direction in FSK: [-0.021454,0.230722,0.972783] 2025-01-08T22:21:01.010Z,1736374861.010 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:01.010Z,1736374861.010 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:01.021Z,1736374861.021 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:01.022Z,1736374861.022 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:01.125Z,1736374861.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:01.166Z,1736374861.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 155.399994 m, deltaT: 3.534458 s, deltaX: -0.300003 m, approachRate: -0.084880 m/s, rangeRepo size: 4 2025-01-08T22:21:01.172Z,1736374861.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.399994 m, bearing: 209.670727 deg, lat: 36.904952 deg, lon: -122.120233 deg, deltaT: 3.534458 s, deltaX: -0.300003 m, approachRate: -0.084880 m/s, posRepo size: 4 2025-01-08T22:21:01.173Z,1736374861.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m. 2025-01-08T22:21:01.180Z,1736374861.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.399994 m, nav range: 51.244453 m, bearing: 148.840737 deg, approach rate: 0.000000 m/s, LOS rate: 0.405988 deg/s, cmd heading: 69.404783 deg, new cmd heading: 70.133695 deg. 2025-01-08T22:21:01.181Z,1736374861.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224064 target range: 155.399994 and range: 155.40 m. 2025-01-08T22:21:01.200Z,1736374861.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:01.201Z,1736374861.201 [DAT](INFO): DAT read: TxSync time:22:21:00.3502 2025-01-08T22:21:01.452Z,1736374861.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:01.473Z,1736374861.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:01.489Z,1736374861.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:01.491Z,1736374861.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m. 2025-01-08T22:21:01.498Z,1736374861.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.399994 m, nav range: 51.235374 m, bearing: 149.026311 deg, approach rate: -0.027882 m/s, LOS rate: 0.570007 deg/s, cmd heading: 70.133694 deg, new cmd heading: 70.690496 deg. 2025-01-08T22:21:01.499Z,1736374861.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233782 target range: 155.399994 and range: 155.40 m. 2025-01-08T22:21:01.706Z,1736374861.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:01.708Z,1736374861.708 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:01.708Z,1736374861.708 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:01.709Z,1736374861.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:01.879Z,1736374861.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:01.887Z,1736374861.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m. 2025-01-08T22:21:01.890Z,1736374861.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.399994 m, nav range: 51.212799 m, bearing: 149.269306 deg, approach rate: -0.056943 m/s, LOS rate: 0.613191 deg/s, cmd heading: 70.690498 deg, new cmd heading: 71.419764 deg. 2025-01-08T22:21:01.907Z,1736374861.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246510 target range: 155.399994 and range: 155.40 m. 2025-01-08T22:21:01.956Z,1736374861.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:01.957Z,1736374861.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.949009 2025-01-08T22:21:02.209Z,1736374862.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:02.209Z,1736374862.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200967 2025-01-08T22:21:02.273Z,1736374862.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:02.284Z,1736374862.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m. 2025-01-08T22:21:02.286Z,1736374862.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.399994 m, nav range: 51.189400 m, bearing: 149.505547 deg, approach rate: -0.059028 m/s, LOS rate: 0.596220 deg/s, cmd heading: 71.419764 deg, new cmd heading: 72.128772 deg. 2025-01-08T22:21:02.288Z,1736374862.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258885 target range: 155.399994 and range: 155.40 m. 2025-01-08T22:21:02.460Z,1736374862.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:02.461Z,1736374862.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.452059 2025-01-08T22:21:02.712Z,1736374862.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:02.712Z,1736374862.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703937 2025-01-08T22:21:02.747Z,1736374862.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:02.782Z,1736374862.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m. 2025-01-08T22:21:02.794Z,1736374862.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.399994 m, nav range: 51.141304 m, bearing: 149.836584 deg, approach rate: -0.101916 m/s, LOS rate: 0.702133 deg/s, cmd heading: 72.128772 deg, new cmd heading: 73.122710 deg. 2025-01-08T22:21:02.795Z,1736374862.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276232 target range: 155.399994 and range: 155.40 m. 2025-01-08T22:21:02.964Z,1736374862.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:02.966Z,1736374862.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957112 2025-01-08T22:21:03.068Z,1736374863.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:03.098Z,1736374863.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m. 2025-01-08T22:21:03.107Z,1736374863.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.399994 m, nav range: 51.107536 m, bearing: 150.061484 deg, approach rate: -0.098619 m/s, LOS rate: 0.657261 deg/s, cmd heading: 73.122708 deg, new cmd heading: 73.797822 deg. 2025-01-08T22:21:03.109Z,1736374863.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.288015 target range: 155.399994 and range: 155.40 m. 2025-01-08T22:21:03.216Z,1736374863.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:03.217Z,1736374863.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208278 2025-01-08T22:21:03.468Z,1736374863.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:03.469Z,1736374863.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460068 2025-01-08T22:21:03.474Z,1736374863.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:03.483Z,1736374863.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m. 2025-01-08T22:21:03.486Z,1736374863.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.399994 m, nav range: 51.063080 m, bearing: 150.344633 deg, approach rate: -0.115427 m/s, LOS rate: 0.735807 deg/s, cmd heading: 73.797824 deg, new cmd heading: 74.647944 deg. 2025-01-08T22:21:03.487Z,1736374863.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.302852 target range: 155.399994 and range: 155.40 m. 2025-01-08T22:21:03.720Z,1736374863.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:03.720Z,1736374863.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711986 2025-01-08T22:21:03.897Z,1736374863.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:03.904Z,1736374863.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:03.906Z,1736374863.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m. 2025-01-08T22:21:03.908Z,1736374863.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.399994 m, nav range: 51.004398 m, bearing: 150.666903 deg, approach rate: -0.138828 m/s, LOS rate: 0.763297 deg/s, cmd heading: 74.647943 deg, new cmd heading: 75.615770 deg. 2025-01-08T22:21:03.909Z,1736374863.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319744 target range: 155.399994 and range: 155.40 m. 2025-01-08T22:21:03.972Z,1736374863.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:03.973Z,1736374863.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964046 2025-01-08T22:21:04.224Z,1736374864.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:04.225Z,1736374864.225 [DAT](INFO): DAT read: Rx Time:22:21:02.9603 2025-01-08T22:21:04.226Z,1736374864.226 [DAT](INFO): Rx dataTimestamp_ set to:1736374864.225338 2025-01-08T22:21:04.226Z,1736374864.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217693 2025-01-08T22:21:04.292Z,1736374864.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:04.333Z,1736374864.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m. 2025-01-08T22:21:04.343Z,1736374864.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.399994 m, nav range: 50.947796 m, bearing: 150.966670 deg, approach rate: -0.134151 m/s, LOS rate: 0.711249 deg/s, cmd heading: 75.615768 deg, new cmd heading: 76.515988 deg. 2025-01-08T22:21:04.348Z,1736374864.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335456 target range: 155.399994 and range: 155.40 m. 2025-01-08T22:21:04.476Z,1736374864.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:04.477Z,1736374864.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468266 2025-01-08T22:21:04.729Z,1736374864.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:04.744Z,1736374864.744 [DAT](INFO): DAT read: 22:21:02.9603 LVL= 22352, 32753, 28066, 32755, AGC= 61, IDX= 417, 0.29,-2.738, 1.938, 1.877, 2.419, PHS= 1.214,-0.435,-0.545, RAW= 86.8, -2.8, CAL= 94.8, -8.9, ROT= 55.2, 8.9 2025-01-08T22:21:04.745Z,1736374864.745 [DAT](INFO): got valid direction response: 22:21:02.9603 LVL= 22352, 32753, 28066, 32755, AGC= 61, IDX= 417, 0.29,-2.738, 1.938, 1.877, 2.419, PHS= 1.214,-0.435,-0.545, RAW= 86.8, -2.8, CAL= 94.8, -8.9, ROT= 55.2, 8.9 2025-01-08T22:21:04.746Z,1736374864.746 [DAT](INFO): DAT read: Bearing 55.2, 8.9 (Local) 2025-01-08T22:21:04.746Z,1736374864.746 [DAT](INFO): Local bearing/azimuth received: Bearing 55.2, 8.9 (Local) 2025-01-08T22:21:04.756Z,1736374864.756 [DAT](INFO): DAT read: Range 10 to 50 : 153.8 m (Round-trip 205.1 ms) speed 0.5 m/s 2025-01-08T22:21:04.757Z,1736374864.757 [DAT](INFO): DAT read: user:2524> 2025-01-08T22:21:04.758Z,1736374864.758 [DAT](INFO): DAT read: Tx time:22:21:04.0510 2025-01-08T22:21:04.759Z,1736374864.759 [DAT](INFO): Ping request sent. 2025-01-08T22:21:04.759Z,1736374864.759 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:04.764Z,1736374864.764 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:04.764Z,1736374864.764 [DAT](INFO): direction in FSK: [-0.027014,0.159614,0.986810] 2025-01-08T22:21:04.765Z,1736374864.765 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:04.765Z,1736374864.765 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:04.768Z,1736374864.768 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:04.769Z,1736374864.769 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:04.888Z,1736374864.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:04.914Z,1736374864.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 153.800003 m, deltaT: 3.779501 s, deltaX: -1.599991 m, approachRate: -0.423334 m/s, rangeRepo size: 4 2025-01-08T22:21:04.928Z,1736374864.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 153.800003 m, bearing: 286.263158 deg, lat: 36.905096 deg, lon: -122.120508 deg, deltaT: 3.779501 s, deltaX: -1.599991 m, approachRate: -0.423334 m/s, posRepo size: 4 2025-01-08T22:21:04.929Z,1736374864.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.80 m. 2025-01-08T22:21:04.938Z,1736374864.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.800003 m, nav range: 28.661228 m, bearing: 180.197323 deg, approach rate: 0.000000 m/s, LOS rate: 0.711249 deg/s, cmd heading: 76.515986 deg, new cmd heading: 77.765358 deg. 2025-01-08T22:21:04.939Z,1736374864.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357262 target range: 153.800003 and range: 153.80 m. 2025-01-08T22:21:04.980Z,1736374864.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:04.981Z,1736374864.981 [DAT](INFO): DAT read: TxSync time:22:21:04.0502 2025-01-08T22:21:05.225Z,1736374865.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:05.240Z,1736374865.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:05.246Z,1736374865.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.80 m. 2025-01-08T22:21:05.252Z,1736374865.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.800003 m, nav range: 28.729023 m, bearing: 180.681640 deg, approach rate: 0.203900 m/s, LOS rate: 1.453178 deg/s, cmd heading: 77.765358 deg, new cmd heading: 79.214554 deg. 2025-01-08T22:21:05.253Z,1736374865.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382555 target range: 153.800003 and range: 153.80 m. 2025-01-08T22:21:05.492Z,1736374865.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:05.629Z,1736374865.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:05.637Z,1736374865.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.80 m. 2025-01-08T22:21:05.640Z,1736374865.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.800003 m, nav range: 28.809414 m, bearing: 181.262991 deg, approach rate: 0.205176 m/s, LOS rate: 1.479577 deg/s, cmd heading: 79.214553 deg, new cmd heading: 80.953176 deg. 2025-01-08T22:21:05.642Z,1736374865.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412899 target range: 153.800003 and range: 153.80 m. 2025-01-08T22:21:05.744Z,1736374865.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:05.996Z,1736374865.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:06.072Z,1736374866.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:06.102Z,1736374866.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:06.110Z,1736374866.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.80 m. 2025-01-08T22:21:06.113Z,1736374866.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.800003 m, nav range: 28.890381 m, bearing: 181.930442 deg, approach rate: 0.171700 m/s, LOS rate: 1.411410 deg/s, cmd heading: 80.953178 deg, new cmd heading: 82.949067 deg. 2025-01-08T22:21:06.114Z,1736374866.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447734 target range: 153.800003 and range: 153.80 m. 2025-01-08T22:21:06.248Z,1736374866.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:06.248Z,1736374866.248 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:06.248Z,1736374866.248 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:06.248Z,1736374866.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:06.436Z,1736374866.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:06.448Z,1736374866.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.80 m. 2025-01-08T22:21:06.450Z,1736374866.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.800003 m, nav range: 28.955896 m, bearing: 182.477464 deg, approach rate: 0.193559 m/s, LOS rate: 1.612436 deg/s, cmd heading: 82.949068 deg, new cmd heading: 84.585951 deg. 2025-01-08T22:21:06.467Z,1736374866.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476303 target range: 153.800003 and range: 153.80 m. 2025-01-08T22:21:06.500Z,1736374866.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:06.501Z,1736374866.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742012 2025-01-08T22:21:06.754Z,1736374866.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:06.756Z,1736374866.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996787 2025-01-08T22:21:06.869Z,1736374866.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:06.880Z,1736374866.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.80 m. 2025-01-08T22:21:06.882Z,1736374866.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.800003 m, nav range: 29.035616 m, bearing: 183.125012 deg, approach rate: 0.184596 m/s, LOS rate: 1.495290 deg/s, cmd heading: 84.585951 deg, new cmd heading: 86.522481 deg. 2025-01-08T22:21:06.883Z,1736374866.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.510102 target range: 153.800003 and range: 153.80 m. 2025-01-08T22:21:07.004Z,1736374867.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:07.004Z,1736374867.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245660 2025-01-08T22:21:07.249Z,1736374867.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:07.256Z,1736374867.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:07.257Z,1736374867.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497838 2025-01-08T22:21:07.260Z,1736374867.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.80 m. 2025-01-08T22:21:07.263Z,1736374867.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.800003 m, nav range: 29.103960 m, bearing: 183.691095 deg, approach rate: 0.179462 m/s, LOS rate: 1.482941 deg/s, cmd heading: 86.522480 deg, new cmd heading: 88.216222 deg. 2025-01-08T22:21:07.264Z,1736374867.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539664 target range: 153.800003 and range: 153.80 m. 2025-01-08T22:21:07.508Z,1736374867.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:07.509Z,1736374867.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750188 2025-01-08T22:21:07.656Z,1736374867.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:07.672Z,1736374867.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.80 m. 2025-01-08T22:21:07.698Z,1736374867.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.800003 m, nav range: 29.175400 m, bearing: 184.298363 deg, approach rate: 0.173679 m/s, LOS rate: 1.472703 deg/s, cmd heading: 88.216223 deg, new cmd heading: 90.032923 deg. 2025-01-08T22:21:07.707Z,1736374867.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.571371 target range: 153.800003 and range: 153.80 m. 2025-01-08T22:21:07.761Z,1736374867.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:07.764Z,1736374867.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004724 2025-01-08T22:21:08.013Z,1736374868.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:08.014Z,1736374868.014 [DAT](INFO): DAT read: Rx Time:22:21:06.6578 2025-01-08T22:21:08.015Z,1736374868.015 [DAT](INFO): Rx dataTimestamp_ set to:1736374868.014234 2025-01-08T22:21:08.015Z,1736374868.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256490 2025-01-08T22:21:08.124Z,1736374868.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:08.134Z,1736374868.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:08.139Z,1736374868.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.80 m. 2025-01-08T22:21:08.158Z,1736374868.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.800003 m, nav range: 29.258032 m, bearing: 184.962230 deg, approach rate: 0.176905 m/s, LOS rate: 1.417211 deg/s, cmd heading: 90.032924 deg, new cmd heading: 92.018059 deg. 2025-01-08T22:21:08.164Z,1736374868.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.606018 target range: 153.800003 and range: 153.80 m. 2025-01-08T22:21:08.264Z,1736374868.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:08.265Z,1736374868.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505708 2025-01-08T22:21:08.462Z,1736374868.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:08.471Z,1736374868.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.80 m. 2025-01-08T22:21:08.474Z,1736374868.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.800003 m, nav range: 29.311272 m, bearing: 185.445278 deg, approach rate: 0.160145 m/s, LOS rate: 1.450349 deg/s, cmd heading: 92.018057 deg, new cmd heading: 93.464247 deg. 2025-01-08T22:21:08.476Z,1736374868.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631259 target range: 153.800003 and range: 153.80 m. 2025-01-08T22:21:08.516Z,1736374868.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:08.522Z,1736374868.522 [DAT](INFO): DAT read: 22:21:06.6578 LVL= 16560, 32753, 27202, 32755, AGC= 58, IDX= 423, 0.25, 1.333,-0.212,-0.039, 0.471, PHS= 0.950,-0.637,-0.513, RAW= 94.0, 2.7, CAL= 102.5, 0.5, ROT= 47.5, -0.5 2025-01-08T22:21:08.524Z,1736374868.524 [DAT](INFO): got valid direction response: 22:21:06.6578 LVL= 16560, 32753, 27202, 32755, AGC= 58, IDX= 423, 0.25, 1.333,-0.212,-0.039, 0.471, PHS= 0.950,-0.637,-0.513, RAW= 94.0, 2.7, CAL= 102.5, 0.5, ROT= 47.5, -0.5 2025-01-08T22:21:08.527Z,1736374868.527 [DAT](INFO): DAT read: Bearing 47.5, -0.5 (Local) 2025-01-08T22:21:08.529Z,1736374868.529 [DAT](INFO): Local bearing/azimuth received: Bearing 47.5, -0.5 (Local) 2025-01-08T22:21:08.533Z,1736374868.533 [DAT](INFO): DAT read: Range 10 to 50 : 151.9 m (Round-trip 202.6 ms) speed 0.3 m/s 2025-01-08T22:21:08.533Z,1736374868.533 [DAT](INFO): DAT read: user:2525> 2025-01-08T22:21:08.534Z,1736374868.534 [DAT](INFO): DAT read: Tx time:22:21:07.7510 2025-01-08T22:21:08.534Z,1736374868.534 [DAT](INFO): Ping request sent. 2025-01-08T22:21:08.534Z,1736374868.534 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:08.535Z,1736374868.535 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:08.572Z,1736374868.572 [DAT](INFO): direction in FSK: [-0.141799,0.040254,0.989077] 2025-01-08T22:21:08.572Z,1736374868.572 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:08.572Z,1736374868.572 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:08.578Z,1736374868.578 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:08.578Z,1736374868.578 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:08.771Z,1736374868.771 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:08.774Z,1736374868.774 [DAT](INFO): DAT read: TxSync time:22:21:07.7502 2025-01-08T22:21:08.916Z,1736374868.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:08.945Z,1736374868.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 151.899994 m, deltaT: 3.786323 s, deltaX: -1.900009 m, approachRate: -0.501809 m/s, rangeRepo size: 4 2025-01-08T22:21:08.951Z,1736374868.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 151.899994 m, bearing: 305.667768 deg, lat: 36.905269 deg, lon: -122.120586 deg, deltaT: 3.786323 s, deltaX: -1.900009 m, approachRate: -0.501809 m/s, posRepo size: 4 2025-01-08T22:21:08.952Z,1736374868.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T22:21:08.955Z,1736374868.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 14.148724 m, bearing: 225.447585 deg, approach rate: 0.000000 m/s, LOS rate: 1.450349 deg/s, cmd heading: 93.464247 deg, new cmd heading: 95.524142 deg. 2025-01-08T22:21:08.960Z,1736374868.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667211 target range: 151.899994 and range: 151.90 m. 2025-01-08T22:21:09.021Z,1736374869.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:09.269Z,1736374869.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:09.272Z,1736374869.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:09.280Z,1736374869.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T22:21:09.282Z,1736374869.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 14.329236 m, bearing: 226.070895 deg, approach rate: 0.539566 m/s, LOS rate: 1.839618 deg/s, cmd heading: 95.524143 deg, new cmd heading: 97.369843 deg. 2025-01-08T22:21:09.283Z,1736374869.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.699424 target range: 151.899994 and range: 151.90 m. 2025-01-08T22:21:09.524Z,1736374869.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:09.686Z,1736374869.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:09.695Z,1736374869.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T22:21:09.698Z,1736374869.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 14.540430 m, bearing: 226.808302 deg, approach rate: 0.508071 m/s, LOS rate: 1.748170 deg/s, cmd heading: 97.369845 deg, new cmd heading: 99.548821 deg. 2025-01-08T22:21:09.700Z,1736374869.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.737455 target range: 151.899994 and range: 151.90 m. 2025-01-08T22:21:09.778Z,1736374869.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:10.029Z,1736374870.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:10.180Z,1736374870.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:10.187Z,1736374870.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:10.189Z,1736374870.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T22:21:10.209Z,1736374870.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 14.767621 m, bearing: 227.646123 deg, approach rate: 0.459783 m/s, LOS rate: 1.669418 deg/s, cmd heading: 99.548819 deg, new cmd heading: 102.021990 deg. 2025-01-08T22:21:10.210Z,1736374870.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780620 target range: 151.899994 and range: 151.90 m. 2025-01-08T22:21:10.280Z,1736374870.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:10.281Z,1736374870.281 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:10.281Z,1736374870.281 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:10.281Z,1736374870.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:10.532Z,1736374870.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:10.532Z,1736374870.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997955 2025-01-08T22:21:10.553Z,1736374870.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:10.562Z,1736374870.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T22:21:10.582Z,1736374870.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 14.937478 m, bearing: 228.276653 deg, approach rate: 0.455077 m/s, LOS rate: 1.670056 deg/s, cmd heading: 102.021989 deg, new cmd heading: 103.891366 deg. 2025-01-08T22:21:10.582Z,1736374870.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813246 target range: 151.899994 and range: 151.90 m. 2025-01-08T22:21:10.785Z,1736374870.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:10.787Z,1736374870.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252023 2025-01-08T22:21:11.026Z,1736374871.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:11.036Z,1736374871.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:11.036Z,1736374871.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501950 2025-01-08T22:21:11.035Z,1736374871.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T22:21:11.040Z,1736374871.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 15.138614 m, bearing: 228.989847 deg, approach rate: 0.425535 m/s, LOS rate: 1.488794 deg/s, cmd heading: 103.891364 deg, new cmd heading: 106.001511 deg. 2025-01-08T22:21:11.042Z,1736374871.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.850075 target range: 151.899994 and range: 151.90 m. 2025-01-08T22:21:11.288Z,1736374871.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:11.288Z,1736374871.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753884 2025-01-08T22:21:11.394Z,1736374871.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:11.406Z,1736374871.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T22:21:11.409Z,1736374871.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 15.289229 m, bearing: 229.559628 deg, approach rate: 0.406098 m/s, LOS rate: 1.521114 deg/s, cmd heading: 106.001510 deg, new cmd heading: 107.693493 deg. 2025-01-08T22:21:11.410Z,1736374871.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.879606 target range: 151.899994 and range: 151.90 m. 2025-01-08T22:21:11.540Z,1736374871.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:11.540Z,1736374871.540 [DAT](INFO): DAT read: Rx Time:22:21:10.3561 2025-01-08T22:21:11.542Z,1736374871.542 [DAT](INFO): Rx dataTimestamp_ set to:1736374871.541011 2025-01-08T22:21:11.542Z,1736374871.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007649 2025-01-08T22:21:11.794Z,1736374871.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:11.797Z,1736374871.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261500 2025-01-08T22:21:11.878Z,1736374871.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:11.903Z,1736374871.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T22:21:11.906Z,1736374871.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 15.471180 m, bearing: 230.263859 deg, approach rate: 0.378084 m/s, LOS rate: 1.446110 deg/s, cmd heading: 107.693491 deg, new cmd heading: 109.780363 deg. 2025-01-08T22:21:11.907Z,1736374871.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.916029 target range: 151.899994 and range: 151.90 m. 2025-01-08T22:21:12.046Z,1736374872.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:12.088Z,1736374872.088 [DAT](INFO): DAT read: 22:21:10.3562 LVL= 21488, 32753, 31970, 32755, AGC= 65, IDX= 422, 0.23,-2.673, 2.002, 2.524, 2.827, PHS= 0.872,-0.778,-0.305, RAW= 106.2, 2.9, CAL= 117.4, 0.3, ROT= 32.6, -0.3 2025-01-08T22:21:12.089Z,1736374872.089 [DAT](INFO): got valid direction response: 22:21:10.3562 LVL= 21488, 32753, 31970, 32755, AGC= 65, IDX= 422, 0.23,-2.673, 2.002, 2.524, 2.827, PHS= 0.872,-0.778,-0.305, RAW= 106.2, 2.9, CAL= 117.4, 0.3, ROT= 32.6, -0.3 2025-01-08T22:21:12.090Z,1736374872.090 [DAT](INFO): DAT read: Bearing 32.6, -0.3 (Local) 2025-01-08T22:21:12.090Z,1736374872.090 [DAT](INFO): Local bearing/azimuth received: Bearing 32.6, -0.3 (Local) 2025-01-08T22:21:12.093Z,1736374872.093 [DAT](INFO): DAT read: Range 10 to 50 : 150.6 m (Round-trip 200.9 ms) speed 0.3 m/s 2025-01-08T22:21:12.094Z,1736374872.094 [DAT](INFO): DAT read: user:2526> 2025-01-08T22:21:12.095Z,1736374872.095 [DAT](INFO): DAT read: Tx time:22:21:11.4511 2025-01-08T22:21:12.099Z,1736374872.099 [DAT](INFO): Ping request sent. 2025-01-08T22:21:12.099Z,1736374872.099 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:12.100Z,1736374872.100 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:12.101Z,1736374872.101 [DAT](INFO): direction in FSK: [-0.163465,-0.172645,0.971325] 2025-01-08T22:21:12.101Z,1736374872.101 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:12.101Z,1736374872.101 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:12.108Z,1736374872.108 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:12.109Z,1736374872.109 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:12.256Z,1736374872.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:12.294Z,1736374872.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 150.600006 m, deltaT: 3.530417 s, deltaX: -1.299988 m, approachRate: -0.368225 m/s, rangeRepo size: 4 2025-01-08T22:21:12.296Z,1736374872.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:12.297Z,1736374872.297 [DAT](INFO): DAT read: TxSync time:22:21:11.4503 2025-01-08T22:21:12.300Z,1736374872.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 150.600006 m, bearing: 335.178906 deg, lat: 36.905383 deg, lon: -122.120632 deg, deltaT: 3.530417 s, deltaX: -1.299988 m, approachRate: -0.368225 m/s, posRepo size: 4 2025-01-08T22:21:12.301Z,1736374872.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m. 2025-01-08T22:21:12.312Z,1736374872.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.600006 m, nav range: 16.421391 m, bearing: 279.746058 deg, approach rate: 0.000000 m/s, LOS rate: 1.446110 deg/s, cmd heading: 109.780360 deg, new cmd heading: 111.541397 deg. 2025-01-08T22:21:12.312Z,1736374872.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.946765 target range: 150.600006 and range: 150.60 m. 2025-01-08T22:21:12.548Z,1736374872.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:12.603Z,1736374872.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:12.611Z,1736374872.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:12.613Z,1736374872.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m. 2025-01-08T22:21:12.616Z,1736374872.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.600006 m, nav range: 16.609947 m, bearing: 279.738755 deg, approach rate: 0.589256 m/s, LOS rate: -0.022563 deg/s, cmd heading: 111.541395 deg, new cmd heading: 111.519735 deg. 2025-01-08T22:21:12.617Z,1736374872.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.946387 target range: 150.600006 and range: 150.60 m. 2025-01-08T22:21:12.801Z,1736374872.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:12.803Z,1736374872.803 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:12.803Z,1736374872.803 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:12.804Z,1736374872.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:13.030Z,1736374873.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:13.038Z,1736374873.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m. 2025-01-08T22:21:13.041Z,1736374873.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.600006 m, nav range: 16.836014 m, bearing: 279.765095 deg, approach rate: 0.531481 m/s, LOS rate: 0.061093 deg/s, cmd heading: 111.519736 deg, new cmd heading: 111.597694 deg. 2025-01-08T22:21:13.042Z,1736374873.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.947747 target range: 150.600006 and range: 150.60 m. 2025-01-08T22:21:13.052Z,1736374873.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:13.052Z,1736374873.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.957371 2025-01-08T22:21:13.304Z,1736374873.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:13.304Z,1736374873.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.209253 2025-01-08T22:21:13.419Z,1736374873.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:13.431Z,1736374873.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m. 2025-01-08T22:21:13.434Z,1736374873.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.600006 m, nav range: 17.035522 m, bearing: 279.806934 deg, approach rate: 0.508068 m/s, LOS rate: 0.105301 deg/s, cmd heading: 111.597696 deg, new cmd heading: 111.721744 deg. 2025-01-08T22:21:13.435Z,1736374873.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.949912 target range: 150.600006 and range: 150.60 m. 2025-01-08T22:21:13.556Z,1736374873.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:13.557Z,1736374873.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.461482 2025-01-08T22:21:13.810Z,1736374873.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:13.812Z,1736374873.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717023 2025-01-08T22:21:13.902Z,1736374873.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:13.912Z,1736374873.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m. 2025-01-08T22:21:13.915Z,1736374873.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.600006 m, nav range: 17.300961 m, bearing: 279.887194 deg, approach rate: 0.551772 m/s, LOS rate: 0.164277 deg/s, cmd heading: 111.721746 deg, new cmd heading: 111.958828 deg. 2025-01-08T22:21:13.917Z,1736374873.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.954050 target range: 150.600006 and range: 150.60 m. 2025-01-08T22:21:13.984Z,1736374873.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:21:14.060Z,1736374874.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:14.061Z,1736374874.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965436 2025-01-08T22:21:14.234Z,1736374874.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:14.243Z,1736374874.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m. 2025-01-08T22:21:14.246Z,1736374874.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.600006 m, nav range: 17.478283 m, bearing: 279.955300 deg, approach rate: 0.535826 m/s, LOS rate: 0.203711 deg/s, cmd heading: 111.958828 deg, new cmd heading: 112.161072 deg. 2025-01-08T22:21:14.247Z,1736374874.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.957580 target range: 150.600006 and range: 150.60 m. 2025-01-08T22:21:14.314Z,1736374874.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:14.314Z,1736374874.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219329 2025-01-08T22:21:14.564Z,1736374874.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:14.564Z,1736374874.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469260 2025-01-08T22:21:14.629Z,1736374874.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:14.636Z,1736374874.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:14.638Z,1736374874.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m. 2025-01-08T22:21:14.642Z,1736374874.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.600006 m, nav range: 17.689182 m, bearing: 280.053375 deg, approach rate: 0.533841 m/s, LOS rate: 0.245295 deg/s, cmd heading: 112.161070 deg, new cmd heading: 112.451787 deg. 2025-01-08T22:21:14.643Z,1736374874.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.962654 target range: 150.600006 and range: 150.60 m. 2025-01-08T22:21:14.816Z,1736374874.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:14.817Z,1736374874.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721573 2025-01-08T22:21:14.988Z,1736374874.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:21:15.057Z,1736374875.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:15.066Z,1736374875.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m. 2025-01-08T22:21:15.068Z,1736374875.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:15.069Z,1736374875.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973467 2025-01-08T22:21:15.070Z,1736374875.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.600006 m, nav range: 17.929678 m, bearing: 280.146693 deg, approach rate: 0.562737 m/s, LOS rate: 0.215425 deg/s, cmd heading: 112.451784 deg, new cmd heading: 112.727979 deg. 2025-01-08T22:21:15.071Z,1736374875.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.967474 target range: 150.600006 and range: 150.60 m. 2025-01-08T22:21:15.320Z,1736374875.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:15.320Z,1736374875.320 [DAT](INFO): DAT read: Rx Time:22:21:14.0541 2025-01-08T22:21:15.321Z,1736374875.321 [DAT](INFO): Rx dataTimestamp_ set to:1736374875.320604 2025-01-08T22:21:15.321Z,1736374875.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226329 2025-01-08T22:21:15.429Z,1736374875.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:15.438Z,1736374875.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m. 2025-01-08T22:21:15.443Z,1736374875.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.600006 m, nav range: 18.137772 m, bearing: 280.264387 deg, approach rate: 0.559220 m/s, LOS rate: 0.312656 deg/s, cmd heading: 112.727976 deg, new cmd heading: 113.077002 deg. 2025-01-08T22:21:15.464Z,1736374875.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.973566 target range: 150.600006 and range: 150.60 m. 2025-01-08T22:21:15.572Z,1736374875.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:15.572Z,1736374875.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477265 2025-01-08T22:21:15.826Z,1736374875.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:15.852Z,1736374875.852 [DAT](INFO): DAT read: 22:21:14.0541 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 415, 0.11, 2.545, 1.137, 1.853, 2.107, PHS= 0.526,-0.922,-0.256, RAW= 117.3, 10.4, CAL= 125.8, 6.9, ROT= 24.2, -6.9 2025-01-08T22:21:15.865Z,1736374875.865 [DAT](INFO): got valid direction response: 22:21:14.0541 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 415, 0.11, 2.545, 1.137, 1.853, 2.107, PHS= 0.526,-0.922,-0.256, RAW= 117.3, 10.4, CAL= 125.8, 6.9, ROT= 24.2, -6.9 2025-01-08T22:21:15.924Z,1736374875.924 [DAT](INFO): DAT read: Bearing 24.2, -6.9 (Local) 2025-01-08T22:21:15.925Z,1736374875.925 [DAT](INFO): Local bearing/azimuth received: Bearing 24.2, -6.9 (Local) 2025-01-08T22:21:15.927Z,1736374875.927 [DAT](INFO): DAT read: Range 10 to 50 : 149.1 m (Round-trip 198.9 ms) speed 0.5 m/s 2025-01-08T22:21:15.936Z,1736374875.936 [DAT](INFO): DAT read: user:2527> 2025-01-08T22:21:15.936Z,1736374875.936 [DAT](INFO): DAT read: Tx time:22:21:15.1511 2025-01-08T22:21:15.937Z,1736374875.937 [DAT](INFO): Ping request sent. 2025-01-08T22:21:15.937Z,1736374875.937 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:15.937Z,1736374875.937 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:15.938Z,1736374875.938 [DAT](INFO): direction in FSK: [-0.315127,-0.349163,0.882485] 2025-01-08T22:21:15.938Z,1736374875.938 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:15.938Z,1736374875.938 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:15.954Z,1736374875.954 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:15.954Z,1736374875.954 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:16.050Z,1736374876.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:16.076Z,1736374876.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:16.077Z,1736374876.077 [DAT](INFO): DAT read: TxSync time:22:21:15.1503 2025-01-08T22:21:16.093Z,1736374876.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 149.100006 m, deltaT: 3.779613 s, deltaX: -1.500000 m, approachRate: -0.396866 m/s, rangeRepo size: 4 2025-01-08T22:21:16.095Z,1736374876.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 149.100006 m, bearing: 345.243773 deg, lat: 36.905587 deg, lon: -122.120719 deg, deltaT: 3.779613 s, deltaX: -1.500000 m, approachRate: -0.396866 m/s, posRepo size: 4 2025-01-08T22:21:16.108Z,1736374876.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m. 2025-01-08T22:21:16.110Z,1736374876.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.100006 m, nav range: 36.786644 m, bearing: 315.216233 deg, approach rate: 0.000000 m/s, LOS rate: 0.312656 deg/s, cmd heading: 113.077006 deg, new cmd heading: 113.690887 deg. 2025-01-08T22:21:16.116Z,1736374876.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.984280 target range: 149.100006 and range: 149.10 m. 2025-01-08T22:21:16.298Z,1736374876.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:16.321Z,1736374876.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m. 2025-01-08T22:21:16.328Z,1736374876.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:16.345Z,1736374876.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.100006 m, nav range: 36.925858 m, bearing: 315.126590 deg, approach rate: 0.613681 m/s, LOS rate: -0.393674 deg/s, cmd heading: 113.690889 deg, new cmd heading: 113.422976 deg. 2025-01-08T22:21:16.345Z,1736374876.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.979604 target range: 149.100006 and range: 149.10 m. 2025-01-08T22:21:16.580Z,1736374876.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:16.692Z,1736374876.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:16.699Z,1736374876.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:16.701Z,1736374876.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m. 2025-01-08T22:21:16.704Z,1736374876.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.100006 m, nav range: 37.149811 m, bearing: 314.996201 deg, approach rate: 0.586244 m/s, LOS rate: -0.339261 deg/s, cmd heading: 113.422975 deg, new cmd heading: 113.034174 deg. 2025-01-08T22:21:16.705Z,1736374876.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.972818 target range: 149.100006 and range: 149.10 m. 2025-01-08T22:21:16.834Z,1736374876.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:16.836Z,1736374876.836 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:16.836Z,1736374876.836 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:16.837Z,1736374876.837 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:17.084Z,1736374877.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:17.084Z,1736374877.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.147388 2025-01-08T22:21:17.137Z,1736374877.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:17.169Z,1736374877.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m. 2025-01-08T22:21:17.176Z,1736374877.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.100006 m, nav range: 37.415405 m, bearing: 314.840975 deg, approach rate: 0.567868 m/s, LOS rate: -0.329533 deg/s, cmd heading: 113.034173 deg, new cmd heading: 112.571810 deg. 2025-01-08T22:21:17.177Z,1736374877.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.964749 target range: 149.100006 and range: 149.10 m. 2025-01-08T22:21:17.336Z,1736374877.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:17.336Z,1736374877.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.399619 2025-01-08T22:21:17.490Z,1736374877.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:17.519Z,1736374877.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m. 2025-01-08T22:21:17.526Z,1736374877.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.100006 m, nav range: 37.627968 m, bearing: 314.726928 deg, approach rate: 0.607081 m/s, LOS rate: -0.323880 deg/s, cmd heading: 112.571811 deg, new cmd heading: 112.231606 deg. 2025-01-08T22:21:17.532Z,1736374877.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.958811 target range: 149.100006 and range: 149.10 m. 2025-01-08T22:21:17.588Z,1736374877.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:17.589Z,1736374877.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.652454 2025-01-08T22:21:17.840Z,1736374877.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:17.840Z,1736374877.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.903651 2025-01-08T22:21:17.967Z,1736374877.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:17.976Z,1736374877.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m. 2025-01-08T22:21:17.979Z,1736374877.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.100006 m, nav range: 37.925293 m, bearing: 314.578281 deg, approach rate: 0.649885 m/s, LOS rate: -0.322361 deg/s, cmd heading: 112.231606 deg, new cmd heading: 111.789171 deg. 2025-01-08T22:21:17.980Z,1736374877.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.951089 target range: 149.100006 and range: 149.10 m. 2025-01-08T22:21:18.092Z,1736374878.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:18.094Z,1736374878.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.156806 2025-01-08T22:21:18.329Z,1736374878.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:18.337Z,1736374878.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m. 2025-01-08T22:21:18.340Z,1736374878.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.100006 m, nav range: 38.151363 m, bearing: 314.466890 deg, approach rate: 0.627146 m/s, LOS rate: -0.307180 deg/s, cmd heading: 111.789173 deg, new cmd heading: 111.456985 deg. 2025-01-08T22:21:18.341Z,1736374878.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.945291 target range: 149.100006 and range: 149.10 m. 2025-01-08T22:21:18.344Z,1736374878.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:18.345Z,1736374878.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.407705 2025-01-08T22:21:18.596Z,1736374878.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:18.596Z,1736374878.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.659631 2025-01-08T22:21:18.720Z,1736374878.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:18.728Z,1736374878.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:18.730Z,1736374878.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m. 2025-01-08T22:21:18.733Z,1736374878.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.100006 m, nav range: 38.397789 m, bearing: 314.358113 deg, approach rate: 0.626252 m/s, LOS rate: -0.274665 deg/s, cmd heading: 111.456987 deg, new cmd heading: 111.132754 deg. 2025-01-08T22:21:18.734Z,1736374878.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.939632 target range: 149.100006 and range: 149.10 m. 2025-01-08T22:21:18.849Z,1736374878.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:18.850Z,1736374878.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.913129 2025-01-08T22:21:19.100Z,1736374879.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:19.101Z,1736374879.101 [DAT](INFO): DAT read: Rx Time:22:21:17.7505 2025-01-08T22:21:19.101Z,1736374879.101 [DAT](INFO): Rx dataTimestamp_ set to:1736374879.100682 2025-01-08T22:21:19.101Z,1736374879.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.164689 2025-01-08T22:21:19.168Z,1736374879.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:19.201Z,1736374879.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m. 2025-01-08T22:21:19.208Z,1736374879.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.100006 m, nav range: 38.684662 m, bearing: 314.237767 deg, approach rate: 0.609336 m/s, LOS rate: -0.253728 deg/s, cmd heading: 111.132751 deg, new cmd heading: 110.774394 deg. 2025-01-08T22:21:19.209Z,1736374879.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.933378 target range: 149.100006 and range: 149.10 m. 2025-01-08T22:21:19.352Z,1736374879.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:19.353Z,1736374879.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.415837 2025-01-08T22:21:19.528Z,1736374879.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:19.537Z,1736374879.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m. 2025-01-08T22:21:19.540Z,1736374879.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.100006 m, nav range: 38.914925 m, bearing: 314.145248 deg, approach rate: 0.685747 m/s, LOS rate: -0.273899 deg/s, cmd heading: 110.774392 deg, new cmd heading: 110.498482 deg. 2025-01-08T22:21:19.541Z,1736374879.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.928562 target range: 149.100006 and range: 149.10 m. 2025-01-08T22:21:19.605Z,1736374879.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:19.616Z,1736374879.616 [DAT](INFO): DAT read: 22:21:17.7505 LVL= 32752, 32753, 31362, 32755, AGC= 67, IDX= 412, 0.35, 1.510,-0.167, 0.882, 0.837, PHS= 0.761,-0.956, 0.043, RAW= 125.4, 2.1, CAL= 132.7, -4.9, ROT= 17.3, 4.9 2025-01-08T22:21:19.617Z,1736374879.617 [DAT](INFO): got valid direction response: 22:21:17.7505 LVL= 32752, 32753, 31362, 32755, AGC= 67, IDX= 412, 0.35, 1.510,-0.167, 0.882, 0.837, PHS= 0.761,-0.956, 0.043, RAW= 125.4, 2.1, CAL= 132.7, -4.9, ROT= 17.3, 4.9 2025-01-08T22:21:19.618Z,1736374879.618 [DAT](INFO): DAT read: Bearing 17.3, 4.9 (Local) 2025-01-08T22:21:19.619Z,1736374879.619 [DAT](INFO): Local bearing/azimuth received: Bearing 17.3, 4.9 (Local) 2025-01-08T22:21:19.621Z,1736374879.621 [DAT](INFO): DAT read: Range 10 to 50 : 146.4 m (Round-trip 195.3 ms) speed 0.4 m/s 2025-01-08T22:21:19.622Z,1736374879.622 [DAT](INFO): DAT read: user:2528> 2025-01-08T22:21:19.623Z,1736374879.623 [DAT](INFO): DAT read: Tx time:22:21:18.8511 2025-01-08T22:21:19.623Z,1736374879.623 [DAT](INFO): Ping request sent. 2025-01-08T22:21:19.623Z,1736374879.623 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:19.623Z,1736374879.623 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:19.625Z,1736374879.625 [DAT](INFO): direction in FSK: [-0.163470,-0.498854,0.851130] 2025-01-08T22:21:19.626Z,1736374879.626 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:19.626Z,1736374879.626 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:19.669Z,1736374879.669 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:19.670Z,1736374879.670 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:19.856Z,1736374879.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:19.856Z,1736374879.856 [DAT](INFO): DAT read: TxSync time:22:21:18.8503 2025-01-08T22:21:19.995Z,1736374879.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:20.010Z,1736374880.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 146.399994 m, deltaT: 3.778766 s, deltaX: -2.700012 m, approachRate: -0.714522 m/s, rangeRepo size: 4 2025-01-08T22:21:20.013Z,1736374880.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 146.399994 m, bearing: 11.372921 deg, lat: 36.905979 deg, lon: -122.120719 deg, deltaT: 3.778766 s, deltaX: -2.700012 m, approachRate: -0.714522 m/s, posRepo size: 4 2025-01-08T22:21:20.013Z,1736374880.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:21:20.016Z,1736374880.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 76.212646 m, bearing: 338.284889 deg, approach rate: 0.000000 m/s, LOS rate: -0.273899 deg/s, cmd heading: 110.498479 deg, new cmd heading: 110.109933 deg. 2025-01-08T22:21:20.017Z,1736374880.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.921781 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:21:20.110Z,1736374880.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:20.351Z,1736374880.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:20.360Z,1736374880.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:20.362Z,1736374880.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:21:20.365Z,1736374880.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 76.398331 m, bearing: 338.172457 deg, approach rate: 0.527578 m/s, LOS rate: -0.318673 deg/s, cmd heading: 110.109930 deg, new cmd heading: 109.773458 deg. 2025-01-08T22:21:20.366Z,1736374880.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.915908 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:21:20.612Z,1736374880.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:20.752Z,1736374880.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:20.761Z,1736374880.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:20.795Z,1736374880.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:21:20.798Z,1736374880.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 76.608452 m, bearing: 338.046095 deg, approach rate: 0.520465 m/s, LOS rate: -0.312138 deg/s, cmd heading: 109.773455 deg, new cmd heading: 109.395413 deg. 2025-01-08T22:21:20.799Z,1736374880.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.909310 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:21:20.864Z,1736374880.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:20.865Z,1736374880.865 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:20.865Z,1736374880.865 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:20.865Z,1736374880.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:21.116Z,1736374881.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:21.116Z,1736374881.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493471 2025-01-08T22:21:21.149Z,1736374881.149 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814222625,35.0, +10.9, 0., 0 2025-01-08T22:21:21.162Z,1736374881.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:21:21.162Z,1736374881.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:21.171Z,1736374881.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:21:21.174Z,1736374881.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 76.821617 m, bearing: 337.919672 deg, approach rate: 0.525790 m/s, LOS rate: -0.310967 deg/s, cmd heading: 109.395411 deg, new cmd heading: 109.017201 deg. 2025-01-08T22:21:21.175Z,1736374881.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.902709 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:21:21.368Z,1736374881.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:21.368Z,1736374881.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745344 2025-01-08T22:21:21.542Z,1736374881.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:21:21.542Z,1736374881.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:21.550Z,1736374881.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:21:21.562Z,1736374881.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 77.021873 m, bearing: 337.800638 deg, approach rate: 0.527576 m/s, LOS rate: -0.312779 deg/s, cmd heading: 109.017203 deg, new cmd heading: 108.661035 deg. 2025-01-08T22:21:21.563Z,1736374881.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.896493 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:21:21.621Z,1736374881.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:21.623Z,1736374881.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999567 2025-01-08T22:21:21.872Z,1736374881.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:21.872Z,1736374881.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249466 2025-01-08T22:21:22.030Z,1736374882.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:22.051Z,1736374882.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:21:22.054Z,1736374882.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 77.277008 m, bearing: 337.656632 deg, approach rate: 0.513799 m/s, LOS rate: -0.289046 deg/s, cmd heading: 108.661036 deg, new cmd heading: 108.230453 deg. 2025-01-08T22:21:22.060Z,1736374882.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.888978 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:21:22.125Z,1736374882.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:22.126Z,1736374882.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503015 2025-01-08T22:21:22.363Z,1736374882.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:22.377Z,1736374882.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:22.378Z,1736374882.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754363 2025-01-08T22:21:22.386Z,1736374882.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:21:22.409Z,1736374882.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 77.449966 m, bearing: 337.559705 deg, approach rate: 0.512255 m/s, LOS rate: -0.286432 deg/s, cmd heading: 108.230454 deg, new cmd heading: 107.940322 deg. 2025-01-08T22:21:22.410Z,1736374882.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.883914 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:21:22.628Z,1736374882.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:22.629Z,1736374882.629 [DAT](INFO): DAT read: Rx Time:22:21:21.4475 2025-01-08T22:21:22.629Z,1736374882.629 [DAT](INFO): Rx dataTimestamp_ set to:1736374882.628775 2025-01-08T22:21:22.630Z,1736374882.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006639 2025-01-08T22:21:22.756Z,1736374882.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:22.764Z,1736374882.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:22.766Z,1736374882.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:21:22.770Z,1736374882.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 77.652321 m, bearing: 337.441820 deg, approach rate: 0.530372 m/s, LOS rate: -0.308172 deg/s, cmd heading: 107.940321 deg, new cmd heading: 107.587592 deg. 2025-01-08T22:21:22.770Z,1736374882.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.877758 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:21:22.881Z,1736374882.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:22.882Z,1736374882.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259116 2025-01-08T22:21:23.134Z,1736374883.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:23.160Z,1736374883.160 [DAT](INFO): DAT read: 22:21:21.4475 LVL= 22208, 32753, 27506, 32755, AGC= 60, IDX= 413, 0.23,-2.242, 2.636,-2.851,-2.685, PHS= 0.531,-0.916,-0.169, RAW= 121.0, 8.9, CAL= 129.4, 4.7, ROT= 20.6, -4.7 2025-01-08T22:21:23.161Z,1736374883.161 [DAT](INFO): got valid direction response: 22:21:21.4475 LVL= 22208, 32753, 27506, 32755, AGC= 60, IDX= 413, 0.23,-2.242, 2.636,-2.851,-2.685, PHS= 0.531,-0.916,-0.169, RAW= 121.0, 8.9, CAL= 129.4, 4.7, ROT= 20.6, -4.7 2025-01-08T22:21:23.162Z,1736374883.162 [DAT](INFO): DAT read: Bearing 20.6, -4.7 (Local) 2025-01-08T22:21:23.162Z,1736374883.162 [DAT](INFO): Local bearing/azimuth received: Bearing 20.6, -4.7 (Local) 2025-01-08T22:21:23.173Z,1736374883.173 [DAT](INFO): DAT read: Range 10 to 50 : 144.1 m (Round-trip 192.2 ms) speed 0.4 m/s 2025-01-08T22:21:23.174Z,1736374883.174 [DAT](INFO): DAT read: user:2529> 2025-01-08T22:21:23.199Z,1736374883.199 [DAT](INFO): DAT read: Tx time:22:21:22.5511 2025-01-08T22:21:23.200Z,1736374883.200 [DAT](INFO): Ping request sent. 2025-01-08T22:21:23.200Z,1736374883.200 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:23.200Z,1736374883.200 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:23.201Z,1736374883.201 [DAT](INFO): direction in FSK: [-0.290053,-0.413807,0.862921] 2025-01-08T22:21:23.201Z,1736374883.201 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:23.202Z,1736374883.202 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:23.209Z,1736374883.209 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:23.209Z,1736374883.209 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:23.311Z,1736374883.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:23.360Z,1736374883.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 144.100006 m, deltaT: 3.530200 s, deltaX: -2.299988 m, approachRate: -0.651518 m/s, rangeRepo size: 4 2025-01-08T22:21:23.372Z,1736374883.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 144.100006 m, bearing: 355.666605 deg, lat: 36.906023 deg, lon: -122.120719 deg, deltaT: 3.530200 s, deltaX: -2.299988 m, approachRate: -0.651518 m/s, posRepo size: 4 2025-01-08T22:21:23.373Z,1736374883.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T22:21:23.381Z,1736374883.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 82.448349 m, bearing: 338.587527 deg, approach rate: 0.000000 m/s, LOS rate: -0.308172 deg/s, cmd heading: 107.587589 deg, new cmd heading: 107.045723 deg. 2025-01-08T22:21:23.382Z,1736374883.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.868300 target range: 144.100006 and range: 144.10 m. 2025-01-08T22:21:23.384Z,1736374883.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:23.385Z,1736374883.385 [DAT](INFO): DAT read: TxSync time:22:21:22.5503 2025-01-08T22:21:23.636Z,1736374883.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:23.805Z,1736374883.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:23.830Z,1736374883.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T22:21:23.837Z,1736374883.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 82.694756 m, bearing: 338.445586 deg, approach rate: 0.515956 m/s, LOS rate: -0.296326 deg/s, cmd heading: 107.045723 deg, new cmd heading: 106.621180 deg. 2025-01-08T22:21:23.838Z,1736374883.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.860891 target range: 144.100006 and range: 144.10 m. 2025-01-08T22:21:23.889Z,1736374883.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:24.140Z,1736374884.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:24.261Z,1736374884.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:24.277Z,1736374884.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T22:21:24.281Z,1736374884.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 82.926277 m, bearing: 338.314360 deg, approach rate: 0.519587 m/s, LOS rate: -0.293679 deg/s, cmd heading: 106.621179 deg, new cmd heading: 106.228605 deg. 2025-01-08T22:21:24.282Z,1736374884.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.854039 target range: 144.100006 and range: 144.10 m. 2025-01-08T22:21:24.392Z,1736374884.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:24.646Z,1736374884.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:24.728Z,1736374884.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:24.754Z,1736374884.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T22:21:24.756Z,1736374884.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 83.164108 m, bearing: 338.180572 deg, approach rate: 0.497509 m/s, LOS rate: -0.279065 deg/s, cmd heading: 106.228607 deg, new cmd heading: 105.828397 deg. 2025-01-08T22:21:24.758Z,1736374884.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.847054 target range: 144.100006 and range: 144.10 m. 2025-01-08T22:21:24.896Z,1736374884.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:25.139Z,1736374885.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:25.146Z,1736374885.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:25.148Z,1736374885.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:25.148Z,1736374885.148 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:25.148Z,1736374885.148 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:25.149Z,1736374885.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:25.177Z,1736374885.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T22:21:25.180Z,1736374885.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 83.374939 m, bearing: 338.055108 deg, approach rate: 0.498465 m/s, LOS rate: -0.295882 deg/s, cmd heading: 105.828399 deg, new cmd heading: 105.452965 deg. 2025-01-08T22:21:25.181Z,1736374885.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.840501 target range: 144.100006 and range: 144.10 m. 2025-01-08T22:21:25.400Z,1736374885.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:25.400Z,1736374885.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200537 2025-01-08T22:21:25.522Z,1736374885.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:25.547Z,1736374885.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T22:21:25.554Z,1736374885.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 83.567780 m, bearing: 337.935173 deg, approach rate: 0.520676 m/s, LOS rate: -0.323080 deg/s, cmd heading: 105.452964 deg, new cmd heading: 105.093996 deg. 2025-01-08T22:21:25.555Z,1736374885.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.834236 target range: 144.100006 and range: 144.10 m. 2025-01-08T22:21:25.652Z,1736374885.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:25.654Z,1736374885.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.453340 2025-01-08T22:21:25.904Z,1736374885.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:25.904Z,1736374885.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704532 2025-01-08T22:21:25.997Z,1736374885.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:26.051Z,1736374886.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T22:21:26.054Z,1736374886.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 83.807167 m, bearing: 337.787369 deg, approach rate: 0.478661 m/s, LOS rate: -0.294694 deg/s, cmd heading: 105.093997 deg, new cmd heading: 104.651859 deg. 2025-01-08T22:21:26.055Z,1736374886.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.826519 target range: 144.100006 and range: 144.10 m. 2025-01-08T22:21:26.156Z,1736374886.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:26.157Z,1736374886.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.956692 2025-01-08T22:21:26.401Z,1736374886.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:26.409Z,1736374886.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:26.411Z,1736374886.411 [DAT](INFO): DAT read: Rx Time:22:21:25.1447 2025-01-08T22:21:26.412Z,1736374886.412 [DAT](INFO): Rx dataTimestamp_ set to:1736374886.411655 2025-01-08T22:21:26.414Z,1736374886.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213638 2025-01-08T22:21:26.422Z,1736374886.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T22:21:26.426Z,1736374886.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 84.011620 m, bearing: 337.659768 deg, approach rate: 0.544619 m/s, LOS rate: -0.339074 deg/s, cmd heading: 104.651858 deg, new cmd heading: 104.269993 deg. 2025-01-08T22:21:26.427Z,1736374886.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.819855 target range: 144.100006 and range: 144.10 m. 2025-01-08T22:21:26.660Z,1736374886.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:26.661Z,1736374886.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.461212 2025-01-08T22:21:26.761Z,1736374886.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:26.769Z,1736374886.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T22:21:26.772Z,1736374886.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 84.192665 m, bearing: 337.545364 deg, approach rate: 0.522031 m/s, LOS rate: -0.329167 deg/s, cmd heading: 104.269996 deg, new cmd heading: 103.927525 deg. 2025-01-08T22:21:26.773Z,1736374886.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813877 target range: 144.100006 and range: 144.10 m. 2025-01-08T22:21:26.913Z,1736374886.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:26.920Z,1736374886.920 [DAT](INFO): DAT read: 22:21:25.1447 LVL= 21328, 32753, 28626, 32755, AGC= 67, IDX= 416,-0.29, 2.461, 0.875, 1.617, 1.885, PHS= 0.665,-0.963,-0.271, RAW= 115.1, 8.1, CAL= 124.5, 4.7, ROT= 25.5, -4.7 2025-01-08T22:21:26.921Z,1736374886.921 [DAT](INFO): got valid direction response: 22:21:25.1447 LVL= 21328, 32753, 28626, 32755, AGC= 67, IDX= 416,-0.29, 2.461, 0.875, 1.617, 1.885, PHS= 0.665,-0.963,-0.271, RAW= 115.1, 8.1, CAL= 124.5, 4.7, ROT= 25.5, -4.7 2025-01-08T22:21:26.922Z,1736374886.922 [DAT](INFO): DAT read: Bearing 25.5, -4.7 (Local) 2025-01-08T22:21:26.922Z,1736374886.922 [DAT](INFO): Local bearing/azimuth received: Bearing 25.5, -4.7 (Local) 2025-01-08T22:21:26.924Z,1736374886.924 [DAT](INFO): DAT read: Range 10 to 50 : 141.9 m (Round-trip 189.3 ms) speed 0.4 m/s 2025-01-08T22:21:26.925Z,1736374886.925 [DAT](INFO): DAT read: user:2530> 2025-01-08T22:21:26.926Z,1736374886.926 [DAT](INFO): DAT read: Tx time:22:21:26.2512 2025-01-08T22:21:26.926Z,1736374886.926 [DAT](INFO): Ping request sent. 2025-01-08T22:21:26.926Z,1736374886.926 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:26.927Z,1736374886.927 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:26.928Z,1736374886.928 [DAT](INFO): direction in FSK: [-0.270650,-0.316749,0.909076] 2025-01-08T22:21:26.928Z,1736374886.928 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:26.928Z,1736374886.928 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:26.944Z,1736374886.944 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:26.944Z,1736374886.944 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:27.164Z,1736374887.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:27.165Z,1736374887.165 [DAT](INFO): DAT read: TxSync time:22:21:26.2504 2025-01-08T22:21:27.218Z,1736374887.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:27.252Z,1736374887.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 141.899994 m, deltaT: 3.777680 s, deltaX: -2.200012 m, approachRate: -0.582371 m/s, rangeRepo size: 4 2025-01-08T22:21:27.254Z,1736374887.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 141.899994 m, bearing: 348.048666 deg, lat: 36.906023 deg, lon: -122.120489 deg, deltaT: 3.777680 s, deltaX: -2.200012 m, approachRate: -0.582371 m/s, posRepo size: 4 2025-01-08T22:21:27.254Z,1736374887.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.90 m. 2025-01-08T22:21:27.261Z,1736374887.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.899994 m, nav range: 78.862778 m, bearing: 351.253102 deg, approach rate: 0.000000 m/s, LOS rate: -0.329167 deg/s, cmd heading: 103.927523 deg, new cmd heading: 103.455900 deg. 2025-01-08T22:21:27.262Z,1736374887.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.805646 target range: 141.899994 and range: 141.90 m. 2025-01-08T22:21:27.416Z,1736374887.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:27.576Z,1736374887.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:27.583Z,1736374887.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:27.585Z,1736374887.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.90 m. 2025-01-08T22:21:27.588Z,1736374887.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.899994 m, nav range: 79.002518 m, bearing: 351.098622 deg, approach rate: 0.412761 m/s, LOS rate: -0.455493 deg/s, cmd heading: 103.455899 deg, new cmd heading: 102.993288 deg. 2025-01-08T22:21:27.589Z,1736374887.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.797572 target range: 141.899994 and range: 141.90 m. 2025-01-08T22:21:27.669Z,1736374887.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:27.670Z,1736374887.670 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:27.670Z,1736374887.670 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:27.670Z,1736374887.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:27.920Z,1736374887.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:27.920Z,1736374887.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993944 2025-01-08T22:21:27.973Z,1736374887.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:27.986Z,1736374887.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.90 m. 2025-01-08T22:21:28.030Z,1736374888.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.899994 m, nav range: 79.156349 m, bearing: 350.927280 deg, approach rate: 0.384828 m/s, LOS rate: -0.427797 deg/s, cmd heading: 102.993290 deg, new cmd heading: 102.480279 deg. 2025-01-08T22:21:28.038Z,1736374888.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.788618 target range: 141.899994 and range: 141.90 m. 2025-01-08T22:21:28.172Z,1736374888.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:28.172Z,1736374888.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246045 2025-01-08T22:21:28.416Z,1736374888.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:28.424Z,1736374888.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:28.424Z,1736374888.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498031 2025-01-08T22:21:28.440Z,1736374888.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.90 m. 2025-01-08T22:21:28.449Z,1736374888.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.899994 m, nav range: 79.327080 m, bearing: 350.741698 deg, approach rate: 0.374965 m/s, LOS rate: -0.406705 deg/s, cmd heading: 102.480281 deg, new cmd heading: 101.924751 deg. 2025-01-08T22:21:28.450Z,1736374888.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.778922 target range: 141.899994 and range: 141.90 m. 2025-01-08T22:21:28.676Z,1736374888.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:28.677Z,1736374888.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750643 2025-01-08T22:21:28.883Z,1736374888.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:28.912Z,1736374888.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.90 m. 2025-01-08T22:21:28.914Z,1736374888.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.899994 m, nav range: 79.505501 m, bearing: 350.546142 deg, approach rate: 0.385305 m/s, LOS rate: -0.421359 deg/s, cmd heading: 101.924748 deg, new cmd heading: 101.339419 deg. 2025-01-08T22:21:28.920Z,1736374888.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.768707 target range: 141.899994 and range: 141.90 m. 2025-01-08T22:21:28.928Z,1736374888.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:28.929Z,1736374888.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002138 2025-01-08T22:21:29.180Z,1736374889.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:29.180Z,1736374889.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253947 2025-01-08T22:21:29.317Z,1736374889.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:29.325Z,1736374889.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.90 m. 2025-01-08T22:21:29.346Z,1736374889.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.899994 m, nav range: 79.668266 m, bearing: 350.361231 deg, approach rate: 0.385957 m/s, LOS rate: -0.437573 deg/s, cmd heading: 101.339421 deg, new cmd heading: 100.785840 deg. 2025-01-08T22:21:29.352Z,1736374889.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.759045 target range: 141.899994 and range: 141.90 m. 2025-01-08T22:21:29.432Z,1736374889.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:29.433Z,1736374889.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506100 2025-01-08T22:21:29.684Z,1736374889.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:29.684Z,1736374889.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757914 2025-01-08T22:21:29.761Z,1736374889.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:29.769Z,1736374889.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:29.771Z,1736374889.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.90 m. 2025-01-08T22:21:29.774Z,1736374889.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.899994 m, nav range: 79.832443 m, bearing: 350.171018 deg, approach rate: 0.368589 m/s, LOS rate: -0.426164 deg/s, cmd heading: 100.785841 deg, new cmd heading: 100.216394 deg. 2025-01-08T22:21:29.776Z,1736374889.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749106 target range: 141.899994 and range: 141.90 m. 2025-01-08T22:21:29.936Z,1736374889.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:29.937Z,1736374889.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010229 2025-01-08T22:21:30.188Z,1736374890.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:30.189Z,1736374890.189 [DAT](INFO): DAT read: Rx Time:22:21:28.8414 2025-01-08T22:21:30.189Z,1736374890.189 [DAT](INFO): Rx dataTimestamp_ set to:1736374890.188731 2025-01-08T22:21:30.190Z,1736374890.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263138 2025-01-08T22:21:30.203Z,1736374890.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:30.213Z,1736374890.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.90 m. 2025-01-08T22:21:30.247Z,1736374890.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.899994 m, nav range: 79.989212 m, bearing: 349.994039 deg, approach rate: 0.354777 m/s, LOS rate: -0.399728 deg/s, cmd heading: 100.216395 deg, new cmd heading: 99.686515 deg. 2025-01-08T22:21:30.248Z,1736374890.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.739858 target range: 141.899994 and range: 141.90 m. 2025-01-08T22:21:30.440Z,1736374890.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:30.440Z,1736374890.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514013 2025-01-08T22:21:30.575Z,1736374890.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:30.584Z,1736374890.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.90 m. 2025-01-08T22:21:30.586Z,1736374890.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.899994 m, nav range: 80.120399 m, bearing: 349.844729 deg, approach rate: 0.353403 m/s, LOS rate: -0.401563 deg/s, cmd heading: 99.686515 deg, new cmd heading: 99.239329 deg. 2025-01-08T22:21:30.587Z,1736374890.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.732053 target range: 141.899994 and range: 141.90 m. 2025-01-08T22:21:30.692Z,1736374890.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:30.699Z,1736374890.699 [DAT](INFO): DAT read: 22:21:28.8414 LVL= 16112, 29553, 23106, 32755, AGC= 67, IDX= 411,-0.09,-2.914, 1.658, 2.408, 2.680, PHS= 0.777,-0.975,-0.274, RAW= 113.4, 6.2, CAL= 123.5, 3.0, ROT= 26.5, -3.0 2025-01-08T22:21:30.703Z,1736374890.703 [DAT](INFO): got valid direction response: 22:21:28.8414 LVL= 16112, 29553, 23106, 32755, AGC= 67, IDX= 411,-0.09,-2.914, 1.658, 2.408, 2.680, PHS= 0.777,-0.975,-0.274, RAW= 113.4, 6.2, CAL= 123.5, 3.0, ROT= 26.5, -3.0 2025-01-08T22:21:30.704Z,1736374890.704 [DAT](INFO): DAT read: Bearing 26.5, -3.0 (Local) 2025-01-08T22:21:30.704Z,1736374890.704 [DAT](INFO): Local bearing/azimuth received: Bearing 26.5, -3.0 (Local) 2025-01-08T22:21:30.706Z,1736374890.706 [DAT](INFO): DAT read: Range 10 to 50 : 139.5 m (Round-trip 186.0 ms) speed 0.4 m/s 2025-01-08T22:21:30.707Z,1736374890.707 [DAT](INFO): DAT read: user:2531> 2025-01-08T22:21:30.717Z,1736374890.717 [DAT](INFO): DAT read: Tx time:22:21:29.9512 2025-01-08T22:21:30.717Z,1736374890.717 [DAT](INFO): Ping request sent. 2025-01-08T22:21:30.717Z,1736374890.717 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:30.717Z,1736374890.717 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:30.718Z,1736374890.718 [DAT](INFO): direction in FSK: [-0.234509,-0.293017,0.926902] 2025-01-08T22:21:30.719Z,1736374890.719 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:30.721Z,1736374890.721 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:30.732Z,1736374890.732 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:30.732Z,1736374890.732 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:30.944Z,1736374890.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:30.945Z,1736374890.945 [DAT](INFO): DAT read: TxSync time:22:21:29.9504 2025-01-08T22:21:30.970Z,1736374890.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:31.017Z,1736374891.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 139.500000 m, deltaT: 3.779362 s, deltaX: -2.399994 m, approachRate: -0.635026 m/s, rangeRepo size: 4 2025-01-08T22:21:31.023Z,1736374891.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 139.500000 m, bearing: 349.047757 deg, lat: 36.906023 deg, lon: -122.120446 deg, deltaT: 3.779362 s, deltaX: -2.399994 m, approachRate: -0.635026 m/s, posRepo size: 4 2025-01-08T22:21:31.026Z,1736374891.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m. 2025-01-08T22:21:31.033Z,1736374891.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.500000 m, nav range: 79.662933 m, bearing: 352.393023 deg, approach rate: 0.000000 m/s, LOS rate: -0.401563 deg/s, cmd heading: 99.239329 deg, new cmd heading: 98.717932 deg. 2025-01-08T22:21:31.034Z,1736374891.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.722953 target range: 139.500000 and range: 139.50 m. 2025-01-08T22:21:31.196Z,1736374891.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:31.441Z,1736374891.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:31.448Z,1736374891.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:31.474Z,1736374891.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m. 2025-01-08T22:21:31.480Z,1736374891.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.500000 m, nav range: 79.803223 m, bearing: 352.208561 deg, approach rate: 0.306917 m/s, LOS rate: -0.402845 deg/s, cmd heading: 98.717933 deg, new cmd heading: 98.165539 deg. 2025-01-08T22:21:31.481Z,1736374891.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.713312 target range: 139.500000 and range: 139.50 m. 2025-01-08T22:21:31.700Z,1736374891.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:31.780Z,1736374891.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:31.787Z,1736374891.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:31.789Z,1736374891.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m. 2025-01-08T22:21:31.792Z,1736374891.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.500000 m, nav range: 79.903046 m, bearing: 352.075816 deg, approach rate: 0.316754 m/s, LOS rate: -0.420694 deg/s, cmd heading: 98.165541 deg, new cmd heading: 97.767811 deg. 2025-01-08T22:21:31.793Z,1736374891.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.706370 target range: 139.500000 and range: 139.50 m. 2025-01-08T22:21:31.952Z,1736374891.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:31.952Z,1736374891.952 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:31.952Z,1736374891.952 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:31.953Z,1736374891.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:32.204Z,1736374892.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:32.204Z,1736374892.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487354 2025-01-08T22:21:32.216Z,1736374892.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:32.225Z,1736374892.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m. 2025-01-08T22:21:32.228Z,1736374892.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.500000 m, nav range: 80.025963 m, bearing: 351.911421 deg, approach rate: 0.282377 m/s, LOS rate: -0.377082 deg/s, cmd heading: 97.767813 deg, new cmd heading: 97.275399 deg. 2025-01-08T22:21:32.229Z,1736374892.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.697776 target range: 139.500000 and range: 139.50 m. 2025-01-08T22:21:32.456Z,1736374892.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:32.457Z,1736374892.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740021 2025-01-08T22:21:32.592Z,1736374892.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:32.600Z,1736374892.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m. 2025-01-08T22:21:32.603Z,1736374892.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.500000 m, nav range: 80.130730 m, bearing: 351.768870 deg, approach rate: 0.278529 m/s, LOS rate: -0.378487 deg/s, cmd heading: 97.275397 deg, new cmd heading: 96.848309 deg. 2025-01-08T22:21:32.627Z,1736374892.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.690322 target range: 139.500000 and range: 139.50 m. 2025-01-08T22:21:32.708Z,1736374892.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:32.709Z,1736374892.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992093 2025-01-08T22:21:32.960Z,1736374892.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:32.961Z,1736374892.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243394 2025-01-08T22:21:33.009Z,1736374893.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:33.026Z,1736374893.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m. 2025-01-08T22:21:33.033Z,1736374893.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.500000 m, nav range: 80.244682 m, bearing: 351.610666 deg, approach rate: 0.267691 m/s, LOS rate: -0.371114 deg/s, cmd heading: 96.848312 deg, new cmd heading: 96.374387 deg. 2025-01-08T22:21:33.034Z,1736374893.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.682050 target range: 139.500000 and range: 139.50 m. 2025-01-08T22:21:33.212Z,1736374893.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:33.213Z,1736374893.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495373 2025-01-08T22:21:33.438Z,1736374893.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:33.446Z,1736374893.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m. 2025-01-08T22:21:33.449Z,1736374893.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.500000 m, nav range: 80.351303 m, bearing: 351.455302 deg, approach rate: 0.253825 m/s, LOS rate: -0.369374 deg/s, cmd heading: 96.374386 deg, new cmd heading: 95.908922 deg. 2025-01-08T22:21:33.450Z,1736374893.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673926 target range: 139.500000 and range: 139.50 m. 2025-01-08T22:21:33.467Z,1736374893.467 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:33.468Z,1736374893.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750854 2025-01-08T22:21:33.720Z,1736374893.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:33.720Z,1736374893.720 [DAT](INFO): DAT read: Rx Time:22:21:32.5383 2025-01-08T22:21:33.721Z,1736374893.721 [DAT](INFO): Rx dataTimestamp_ set to:1736374893.720574 2025-01-08T22:21:33.721Z,1736374893.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004270 2025-01-08T22:21:33.833Z,1736374893.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:33.849Z,1736374893.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:33.851Z,1736374893.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m. 2025-01-08T22:21:33.861Z,1736374893.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.500000 m, nav range: 80.445747 m, bearing: 351.310948 deg, approach rate: 0.233425 m/s, LOS rate: -0.356361 deg/s, cmd heading: 95.908922 deg, new cmd heading: 95.476378 deg. 2025-01-08T22:21:33.862Z,1736374893.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666377 target range: 139.500000 and range: 139.50 m. 2025-01-08T22:21:33.973Z,1736374893.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:33.974Z,1736374893.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256397 2025-01-08T22:21:34.226Z,1736374894.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:34.256Z,1736374894.256 [DAT](INFO): DAT read: 22:21:32.5383 LVL= 19216, 32753, 28050, 32755, AGC= 66, IDX= 414, 0.15, 1.030,-0.898,-0.024, 0.247, PHS= 0.870,-1.099,-0.274, RAW= 114.6, 5.9, CAL= 124.7, 2.5, ROT= 25.3, -2.5 2025-01-08T22:21:34.257Z,1736374894.257 [DAT](INFO): got valid direction response: 22:21:32.5383 LVL= 19216, 32753, 28050, 32755, AGC= 66, IDX= 414, 0.15, 1.030,-0.898,-0.024, 0.247, PHS= 0.870,-1.099,-0.274, RAW= 114.6, 5.9, CAL= 124.7, 2.5, ROT= 25.3, -2.5 2025-01-08T22:21:34.259Z,1736374894.259 [DAT](INFO): DAT read: Bearing 25.3, -2.5 (Local) 2025-01-08T22:21:34.268Z,1736374894.268 [DAT](INFO): Local bearing/azimuth received: Bearing 25.3, -2.5 (Local) 2025-01-08T22:21:34.270Z,1736374894.270 [DAT](INFO): DAT read: Range 10 to 50 : 137.2 m (Round-trip 183.0 ms) speed 0.1 m/s 2025-01-08T22:21:34.271Z,1736374894.271 [DAT](INFO): DAT read: user:2532> 2025-01-08T22:21:34.282Z,1736374894.282 [DAT](INFO): DAT read: Tx time:22:21:33.6512 2025-01-08T22:21:34.282Z,1736374894.282 [DAT](INFO): Ping request sent. 2025-01-08T22:21:34.282Z,1736374894.282 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:34.282Z,1736374894.282 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:34.292Z,1736374894.292 [DAT](INFO): direction in FSK: [-0.229904,-0.314612,0.920958] 2025-01-08T22:21:34.293Z,1736374894.293 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:34.293Z,1736374894.293 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:34.304Z,1736374894.304 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:34.305Z,1736374894.305 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:34.375Z,1736374894.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:34.397Z,1736374894.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.199997 m, deltaT: 3.534094 s, deltaX: -2.300003 m, approachRate: -0.650804 m/s, rangeRepo size: 4 2025-01-08T22:21:34.399Z,1736374894.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.199997 m, bearing: 344.754084 deg, lat: 36.905831 deg, lon: -122.120446 deg, deltaT: 3.534094 s, deltaX: -2.300003 m, approachRate: -0.650804 m/s, posRepo size: 4 2025-01-08T22:21:34.404Z,1736374894.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.20 m. 2025-01-08T22:21:34.407Z,1736374894.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.199997 m, nav range: 59.620998 m, bearing: 347.960551 deg, approach rate: 0.000000 m/s, LOS rate: -0.356361 deg/s, cmd heading: 95.476380 deg, new cmd heading: 94.892939 deg. 2025-01-08T22:21:34.412Z,1736374894.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656194 target range: 137.199997 and range: 137.20 m. 2025-01-08T22:21:34.476Z,1736374894.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:34.478Z,1736374894.478 [DAT](INFO): DAT read: TxSync time:22:21:33.6504 2025-01-08T22:21:34.644Z,1736374894.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:34.671Z,1736374894.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.20 m. 2025-01-08T22:21:34.679Z,1736374894.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.199997 m, nav range: 59.686813 m, bearing: 347.832716 deg, approach rate: 0.240210 m/s, LOS rate: -0.466056 deg/s, cmd heading: 94.892938 deg, new cmd heading: 94.509861 deg. 2025-01-08T22:21:34.686Z,1736374894.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.649508 target range: 137.199997 and range: 137.20 m. 2025-01-08T22:21:34.728Z,1736374894.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:34.980Z,1736374894.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:35.026Z,1736374895.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:35.035Z,1736374895.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.20 m. 2025-01-08T22:21:35.038Z,1736374895.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.199997 m, nav range: 59.778309 m, bearing: 347.653399 deg, approach rate: 0.250999 m/s, LOS rate: -0.491167 deg/s, cmd heading: 94.509860 deg, new cmd heading: 93.972748 deg. 2025-01-08T22:21:35.039Z,1736374895.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.640134 target range: 137.199997 and range: 137.20 m. 2025-01-08T22:21:35.232Z,1736374895.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:35.455Z,1736374895.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:35.469Z,1736374895.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.20 m. 2025-01-08T22:21:35.472Z,1736374895.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.199997 m, nav range: 59.881096 m, bearing: 347.447447 deg, approach rate: 0.236827 m/s, LOS rate: -0.473709 deg/s, cmd heading: 93.972748 deg, new cmd heading: 93.355977 deg. 2025-01-08T22:21:35.473Z,1736374895.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629369 target range: 137.199997 and range: 137.20 m. 2025-01-08T22:21:35.484Z,1736374895.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:35.736Z,1736374895.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:35.825Z,1736374895.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:35.838Z,1736374895.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.20 m. 2025-01-08T22:21:35.841Z,1736374895.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.199997 m, nav range: 59.968811 m, bearing: 347.269604 deg, approach rate: 0.237821 m/s, LOS rate: -0.481475 deg/s, cmd heading: 93.355975 deg, new cmd heading: 92.823244 deg. 2025-01-08T22:21:35.842Z,1736374895.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.620071 target range: 137.199997 and range: 137.20 m. 2025-01-08T22:21:35.988Z,1736374895.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:36.240Z,1736374896.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:36.276Z,1736374896.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:36.292Z,1736374896.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:36.294Z,1736374896.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.20 m. 2025-01-08T22:21:36.302Z,1736374896.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.199997 m, nav range: 60.078377 m, bearing: 347.049601 deg, approach rate: 0.240216 m/s, LOS rate: -0.481462 deg/s, cmd heading: 92.823241 deg, new cmd heading: 92.164465 deg. 2025-01-08T22:21:36.309Z,1736374896.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608573 target range: 137.199997 and range: 137.20 m. 2025-01-08T22:21:36.492Z,1736374896.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:36.492Z,1736374896.492 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:36.492Z,1736374896.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:36.492Z,1736374896.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:36.635Z,1736374896.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:36.646Z,1736374896.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.20 m. 2025-01-08T22:21:36.652Z,1736374896.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.199997 m, nav range: 60.162064 m, bearing: 346.874116 deg, approach rate: 0.237920 m/s, LOS rate: -0.498207 deg/s, cmd heading: 92.164462 deg, new cmd heading: 91.638755 deg. 2025-01-08T22:21:36.653Z,1736374896.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.599398 target range: 137.199997 and range: 137.20 m. 2025-01-08T22:21:36.744Z,1736374896.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:36.745Z,1736374896.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.462412 2025-01-08T22:21:36.996Z,1736374896.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:36.996Z,1736374896.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714313 2025-01-08T22:21:37.064Z,1736374897.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:37.073Z,1736374897.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.20 m. 2025-01-08T22:21:37.077Z,1736374897.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.199997 m, nav range: 60.261066 m, bearing: 346.663871 deg, approach rate: 0.231800 m/s, LOS rate: -0.491445 deg/s, cmd heading: 91.638756 deg, new cmd heading: 91.009086 deg. 2025-01-08T22:21:37.078Z,1736374897.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.588408 target range: 137.199997 and range: 137.20 m. 2025-01-08T22:21:37.249Z,1736374897.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:37.250Z,1736374897.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967549 2025-01-08T22:21:37.496Z,1736374897.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:37.500Z,1736374897.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:37.501Z,1736374897.501 [DAT](INFO): DAT read: Rx Time:22:21:36.2360 2025-01-08T22:21:37.501Z,1736374897.501 [DAT](INFO): Rx dataTimestamp_ set to:1736374897.500923 2025-01-08T22:21:37.502Z,1736374897.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219563 2025-01-08T22:21:37.507Z,1736374897.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.20 m. 2025-01-08T22:21:37.510Z,1736374897.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.199997 m, nav range: 60.363781 m, bearing: 346.436540 deg, approach rate: 0.236416 m/s, LOS rate: -0.522352 deg/s, cmd heading: 91.009088 deg, new cmd heading: 90.328287 deg. 2025-01-08T22:21:37.511Z,1736374897.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.576526 target range: 137.199997 and range: 137.20 m. 2025-01-08T22:21:37.752Z,1736374897.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:37.753Z,1736374897.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.470937 2025-01-08T22:21:37.871Z,1736374897.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:37.882Z,1736374897.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.20 m. 2025-01-08T22:21:37.887Z,1736374897.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.199997 m, nav range: 60.450565 m, bearing: 346.237397 deg, approach rate: 0.231440 m/s, LOS rate: -0.530318 deg/s, cmd heading: 90.328289 deg, new cmd heading: 89.731742 deg. 2025-01-08T22:21:37.890Z,1736374897.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.566114 target range: 137.199997 and range: 137.20 m. 2025-01-08T22:21:38.004Z,1736374898.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:38.015Z,1736374898.015 [DAT](INFO): DAT read: 22:21:36.2360 LVL= 18160, 32753, 30850, 32755, AGC= 65, IDX= 421, 0.09,-2.871, 1.603, 2.356, 2.731, PHS= 0.769,-1.081,-0.378, RAW= 112.1, 8.6, CAL= 121.7, 5.7, ROT= 28.3, -5.7 2025-01-08T22:21:38.017Z,1736374898.017 [DAT](INFO): got valid direction response: 22:21:36.2360 LVL= 18160, 32753, 30850, 32755, AGC= 65, IDX= 421, 0.09,-2.871, 1.603, 2.356, 2.731, PHS= 0.769,-1.081,-0.378, RAW= 112.1, 8.6, CAL= 121.7, 5.7, ROT= 28.3, -5.7 2025-01-08T22:21:38.018Z,1736374898.018 [DAT](INFO): DAT read: Bearing 28.3, -5.7 (Local) 2025-01-08T22:21:38.018Z,1736374898.018 [DAT](INFO): Local bearing/azimuth received: Bearing 28.3, -5.7 (Local) 2025-01-08T22:21:38.020Z,1736374898.020 [DAT](INFO): DAT read: Range 10 to 50 : 135.3 m (Round-trip 180.5 ms) speed 0.5 m/s 2025-01-08T22:21:38.021Z,1736374898.021 [DAT](INFO): DAT read: user:2533> 2025-01-08T22:21:38.022Z,1736374898.022 [DAT](INFO): DAT read: Tx time:22:21:37.3513 2025-01-08T22:21:38.022Z,1736374898.022 [DAT](INFO): Ping request sent. 2025-01-08T22:21:38.022Z,1736374898.022 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:38.022Z,1736374898.022 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:38.025Z,1736374898.025 [DAT](INFO): direction in FSK: [-0.276757,-0.265998,0.923391] 2025-01-08T22:21:38.025Z,1736374898.025 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:38.026Z,1736374898.026 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:38.029Z,1736374898.029 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:38.029Z,1736374898.029 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:38.256Z,1736374898.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:38.257Z,1736374898.257 [DAT](INFO): DAT read: TxSync time:22:21:37.3505 2025-01-08T22:21:38.310Z,1736374898.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:38.351Z,1736374898.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.300003 m, deltaT: 3.778707 s, deltaX: -1.899994 m, approachRate: -0.502816 m/s, rangeRepo size: 4 2025-01-08T22:21:38.353Z,1736374898.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 135.300003 m, bearing: 330.706156 deg, lat: 36.905798 deg, lon: -122.120469 deg, deltaT: 3.778707 s, deltaX: -1.899994 m, approachRate: -0.502816 m/s, posRepo size: 4 2025-01-08T22:21:38.354Z,1736374898.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.30 m. 2025-01-08T22:21:38.361Z,1736374898.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.300003 m, nav range: 57.494854 m, bearing: 343.137283 deg, approach rate: 0.000000 m/s, LOS rate: -0.530318 deg/s, cmd heading: 89.731740 deg, new cmd heading: 89.000238 deg. 2025-01-08T22:21:38.362Z,1736374898.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553347 target range: 135.300003 and range: 135.30 m. 2025-01-08T22:21:38.508Z,1736374898.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:38.658Z,1736374898.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:38.670Z,1736374898.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:38.674Z,1736374898.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.30 m. 2025-01-08T22:21:38.678Z,1736374898.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.300003 m, nav range: 57.594120 m, bearing: 342.932852 deg, approach rate: 0.299621 m/s, LOS rate: -0.615983 deg/s, cmd heading: 89.000240 deg, new cmd heading: 88.388028 deg. 2025-01-08T22:21:38.680Z,1736374898.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542662 target range: 135.300003 and range: 135.30 m. 2025-01-08T22:21:38.760Z,1736374898.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:38.761Z,1736374898.761 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:38.761Z,1736374898.761 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:38.761Z,1736374898.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:39.012Z,1736374899.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:39.012Z,1736374899.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990210 2025-01-08T22:21:39.080Z,1736374899.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:39.104Z,1736374899.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.30 m. 2025-01-08T22:21:39.106Z,1736374899.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.300003 m, nav range: 57.715839 m, bearing: 342.685155 deg, approach rate: 0.283099 m/s, LOS rate: -0.574884 deg/s, cmd heading: 88.388030 deg, new cmd heading: 87.646551 deg. 2025-01-08T22:21:39.108Z,1736374899.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.529721 target range: 135.300003 and range: 135.30 m. 2025-01-08T22:21:39.264Z,1736374899.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:39.264Z,1736374899.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242273 2025-01-08T22:21:39.494Z,1736374899.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:39.502Z,1736374899.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.30 m. 2025-01-08T22:21:39.505Z,1736374899.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.300003 m, nav range: 57.838982 m, bearing: 342.423299 deg, approach rate: 0.308384 m/s, LOS rate: -0.654366 deg/s, cmd heading: 87.646552 deg, new cmd heading: 86.862708 deg. 2025-01-08T22:21:39.506Z,1736374899.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.516040 target range: 135.300003 and range: 135.30 m. 2025-01-08T22:21:39.516Z,1736374899.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:39.518Z,1736374899.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495696 2025-01-08T22:21:39.768Z,1736374899.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:39.768Z,1736374899.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746116 2025-01-08T22:21:39.877Z,1736374899.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:39.885Z,1736374899.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.30 m. 2025-01-08T22:21:39.888Z,1736374899.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.300003 m, nav range: 57.951973 m, bearing: 342.181019 deg, approach rate: 0.295025 m/s, LOS rate: -0.631369 deg/s, cmd heading: 86.862705 deg, new cmd heading: 86.137323 deg. 2025-01-08T22:21:39.889Z,1736374899.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503380 target range: 135.300003 and range: 135.30 m. 2025-01-08T22:21:40.020Z,1736374900.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:40.020Z,1736374900.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998194 2025-01-08T22:21:40.272Z,1736374900.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:40.272Z,1736374900.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250206 2025-01-08T22:21:40.294Z,1736374900.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:40.323Z,1736374900.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.30 m. 2025-01-08T22:21:40.331Z,1736374900.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.300003 m, nav range: 58.079399 m, bearing: 341.906577 deg, approach rate: 0.291361 m/s, LOS rate: -0.626133 deg/s, cmd heading: 86.137326 deg, new cmd heading: 85.315867 deg. 2025-01-08T22:21:40.332Z,1736374900.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489043 target range: 135.300003 and range: 135.30 m. 2025-01-08T22:21:40.524Z,1736374900.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:40.525Z,1736374900.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502474 2025-01-08T22:21:40.685Z,1736374900.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:40.693Z,1736374900.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:40.695Z,1736374900.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.30 m. 2025-01-08T22:21:40.698Z,1736374900.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.300003 m, nav range: 58.197956 m, bearing: 341.649758 deg, approach rate: 0.318590 m/s, LOS rate: -0.688725 deg/s, cmd heading: 85.315866 deg, new cmd heading: 84.547026 deg. 2025-01-08T22:21:40.699Z,1736374900.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.475624 target range: 135.300003 and range: 135.30 m. 2025-01-08T22:21:40.776Z,1736374900.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:40.777Z,1736374900.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754522 2025-01-08T22:21:41.028Z,1736374901.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:41.028Z,1736374901.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006178 2025-01-08T22:21:41.089Z,1736374901.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:41.098Z,1736374901.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.30 m. 2025-01-08T22:21:41.102Z,1736374901.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.300003 m, nav range: 58.319386 m, bearing: 341.384575 deg, approach rate: 0.301175 m/s, LOS rate: -0.656346 deg/s, cmd heading: 84.547025 deg, new cmd heading: 83.753188 deg. 2025-01-08T22:21:41.103Z,1736374901.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.461769 target range: 135.300003 and range: 135.30 m. 2025-01-08T22:21:41.281Z,1736374901.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:41.282Z,1736374901.282 [DAT](INFO): DAT read: Rx Time:22:21:39.9330 2025-01-08T22:21:41.282Z,1736374901.282 [DAT](INFO): Rx dataTimestamp_ set to:1736374901.281740 2025-01-08T22:21:41.283Z,1736374901.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260337 2025-01-08T22:21:41.527Z,1736374901.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:41.532Z,1736374901.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:41.534Z,1736374901.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511765 2025-01-08T22:21:41.549Z,1736374901.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.30 m. 2025-01-08T22:21:41.556Z,1736374901.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.300003 m, nav range: 58.451366 m, bearing: 341.093008 deg, approach rate: 0.294108 m/s, LOS rate: -0.648262 deg/s, cmd heading: 83.753187 deg, new cmd heading: 82.880531 deg. 2025-01-08T22:21:41.558Z,1736374901.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.446538 target range: 135.300003 and range: 135.30 m. 2025-01-08T22:21:41.784Z,1736374901.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:41.790Z,1736374901.790 [DAT](INFO): DAT read: 22:21:39.9330 LVL= 14640, 26161, 22194, 30195, AGC= 61, IDX= 406, 0.35, 1.094,-0.821,-0.137, 0.243, PHS= 0.938,-1.017,-0.384, RAW= 108.5, 5.4, CAL= 119.3, 2.8, ROT= 30.7, -2.8 2025-01-08T22:21:41.792Z,1736374901.792 [DAT](INFO): got valid direction response: 22:21:39.9330 LVL= 14640, 26161, 22194, 30195, AGC= 61, IDX= 406, 0.35, 1.094,-0.821,-0.137, 0.243, PHS= 0.938,-1.017,-0.384, RAW= 108.5, 5.4, CAL= 119.3, 2.8, ROT= 30.7, -2.8 2025-01-08T22:21:41.793Z,1736374901.793 [DAT](INFO): DAT read: Bearing 30.7, -2.8 (Local) 2025-01-08T22:21:41.793Z,1736374901.793 [DAT](INFO): Local bearing/azimuth received: Bearing 30.7, -2.8 (Local) 2025-01-08T22:21:41.795Z,1736374901.795 [DAT](INFO): DAT read: Range 10 to 50 : 133.1 m (Round-trip 177.5 ms) speed 0.6 m/s 2025-01-08T22:21:41.796Z,1736374901.796 [DAT](INFO): DAT read: user:2534> 2025-01-08T22:21:41.797Z,1736374901.797 [DAT](INFO): DAT read: Tx time:22:21:41.0513 2025-01-08T22:21:41.797Z,1736374901.797 [DAT](INFO): Ping request sent. 2025-01-08T22:21:41.797Z,1736374901.797 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:41.797Z,1736374901.797 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:41.798Z,1736374901.798 [DAT](INFO): direction in FSK: [-0.213807,-0.209766,0.954088] 2025-01-08T22:21:41.799Z,1736374901.799 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:41.799Z,1736374901.799 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:41.802Z,1736374901.802 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:41.802Z,1736374901.802 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:41.940Z,1736374901.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:41.993Z,1736374901.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.100006 m, deltaT: 3.778816 s, deltaX: -2.199997 m, approachRate: -0.582192 m/s, rangeRepo size: 4 2025-01-08T22:21:41.999Z,1736374901.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.100006 m, bearing: 328.353650 deg, lat: 36.905783 deg, lon: -122.120486 deg, deltaT: 3.778816 s, deltaX: -2.199997 m, approachRate: -0.582192 m/s, posRepo size: 4 2025-01-08T22:21:41.000Z,1736374902.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m. 2025-01-08T22:21:42.002Z,1736374902.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.100006 m, nav range: 57.631081 m, bearing: 338.882324 deg, approach rate: 0.000000 m/s, LOS rate: -0.648262 deg/s, cmd heading: 82.880534 deg, new cmd heading: 82.014204 deg. 2025-01-08T22:21:42.012Z,1736374902.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431418 target range: 133.100006 and range: 133.10 m. 2025-01-08T22:21:42.036Z,1736374902.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:42.037Z,1736374902.037 [DAT](INFO): DAT read: TxSync time:22:21:41.0505 2025-01-08T22:21:42.288Z,1736374902.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:42.358Z,1736374902.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:42.367Z,1736374902.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m. 2025-01-08T22:21:42.370Z,1736374902.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.100006 m, nav range: 57.767029 m, bearing: 338.600025 deg, approach rate: 0.363152 m/s, LOS rate: -0.752314 deg/s, cmd heading: 82.014207 deg, new cmd heading: 81.169368 deg. 2025-01-08T22:21:42.371Z,1736374902.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.416673 target range: 133.100006 and range: 133.10 m. 2025-01-08T22:21:42.540Z,1736374902.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:42.739Z,1736374902.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:42.747Z,1736374902.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:42.749Z,1736374902.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m. 2025-01-08T22:21:42.752Z,1736374902.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.100006 m, nav range: 57.890114 m, bearing: 338.342301 deg, approach rate: 0.322188 m/s, LOS rate: -0.673183 deg/s, cmd heading: 81.169367 deg, new cmd heading: 80.397889 deg. 2025-01-08T22:21:42.752Z,1736374902.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403208 target range: 133.100006 and range: 133.10 m. 2025-01-08T22:21:42.792Z,1736374902.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:42.793Z,1736374902.793 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:42.793Z,1736374902.793 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:42.794Z,1736374902.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:43.044Z,1736374903.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:43.045Z,1736374903.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247396 2025-01-08T22:21:43.149Z,1736374903.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:43.157Z,1736374903.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m. 2025-01-08T22:21:43.161Z,1736374903.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.100006 m, nav range: 58.021236 m, bearing: 338.065429 deg, approach rate: 0.321166 m/s, LOS rate: -0.676623 deg/s, cmd heading: 80.397890 deg, new cmd heading: 79.569211 deg. 2025-01-08T22:21:43.162Z,1736374903.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388745 target range: 133.100006 and range: 133.10 m. 2025-01-08T22:21:43.298Z,1736374903.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:43.301Z,1736374903.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502740 2025-01-08T22:21:43.548Z,1736374903.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:43.548Z,1736374903.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751228 2025-01-08T22:21:43.571Z,1736374903.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:43.634Z,1736374903.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m. 2025-01-08T22:21:43.641Z,1736374903.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.100006 m, nav range: 58.148987 m, bearing: 337.795142 deg, approach rate: 0.267952 m/s, LOS rate: -0.565669 deg/s, cmd heading: 79.569211 deg, new cmd heading: 78.760190 deg. 2025-01-08T22:21:43.642Z,1736374903.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374625 target range: 133.100006 and range: 133.10 m. 2025-01-08T22:21:43.800Z,1736374903.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:43.801Z,1736374903.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004045 2025-01-08T22:21:43.960Z,1736374903.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:43.970Z,1736374903.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m. 2025-01-08T22:21:43.973Z,1736374903.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.100006 m, nav range: 58.268074 m, bearing: 337.546669 deg, approach rate: 0.354007 m/s, LOS rate: -0.737119 deg/s, cmd heading: 78.760189 deg, new cmd heading: 78.016335 deg. 2025-01-08T22:21:43.974Z,1736374903.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361642 target range: 133.100006 and range: 133.10 m. 2025-01-08T22:21:44.055Z,1736374904.055 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:44.056Z,1736374904.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259039 2025-01-08T22:21:44.305Z,1736374904.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:44.309Z,1736374904.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511076 2025-01-08T22:21:44.385Z,1736374904.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:44.402Z,1736374904.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m. 2025-01-08T22:21:44.410Z,1736374904.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.100006 m, nav range: 58.377056 m, bearing: 337.288796 deg, approach rate: 0.252345 m/s, LOS rate: -0.595979 deg/s, cmd heading: 78.016333 deg, new cmd heading: 77.244209 deg. 2025-01-08T22:21:44.411Z,1736374904.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348166 target range: 133.100006 and range: 133.10 m. 2025-01-08T22:21:44.556Z,1736374904.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:44.556Z,1736374904.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759201 2025-01-08T22:21:44.756Z,1736374904.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:44.782Z,1736374904.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:44.784Z,1736374904.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m. 2025-01-08T22:21:44.786Z,1736374904.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.100006 m, nav range: 58.469677 m, bearing: 337.063046 deg, approach rate: 0.242586 m/s, LOS rate: -0.590331 deg/s, cmd heading: 77.244208 deg, new cmd heading: 76.568062 deg. 2025-01-08T22:21:44.788Z,1736374904.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336365 target range: 133.100006 and range: 133.10 m. 2025-01-08T22:21:44.808Z,1736374904.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:44.809Z,1736374904.809 [DAT](INFO): DAT read: Rx Time:22:21:43.6303 2025-01-08T22:21:44.809Z,1736374904.809 [DAT](INFO): Rx dataTimestamp_ set to:1736374904.809229 2025-01-08T22:21:44.810Z,1736374904.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012850 2025-01-08T22:21:45.060Z,1736374905.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:45.061Z,1736374905.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263325 2025-01-08T22:21:45.116Z,1736374905.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:21:45.162Z,1736374905.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:45.170Z,1736374905.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m. 2025-01-08T22:21:45.173Z,1736374905.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.100006 m, nav range: 58.567978 m, bearing: 336.815486 deg, approach rate: 0.254591 m/s, LOS rate: -0.640081 deg/s, cmd heading: 76.568060 deg, new cmd heading: 75.826670 deg. 2025-01-08T22:21:45.174Z,1736374905.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323425 target range: 133.100006 and range: 133.10 m. 2025-01-08T22:21:45.314Z,1736374905.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:45.356Z,1736374905.356 [DAT](INFO): DAT read: 22:21:43.6303 LVL= 19056, 24017, 27266, 32755, AGC= 59, IDX= 411,-0.09,-2.697, 1.484, 1.865, 2.342, PHS= 1.332,-0.811,-0.481, RAW= 98.2, -0.4, CAL= 107.2, -5.1, ROT= 42.8, 5.1 2025-01-08T22:21:45.358Z,1736374905.358 [DAT](INFO): got valid direction response: 22:21:43.6303 LVL= 19056, 24017, 27266, 32755, AGC= 59, IDX= 411,-0.09,-2.697, 1.484, 1.865, 2.342, PHS= 1.332,-0.811,-0.481, RAW= 98.2, -0.4, CAL= 107.2, -5.1, ROT= 42.8, 5.1 2025-01-08T22:21:45.365Z,1736374905.365 [DAT](INFO): DAT read: Bearing 42.8, 5.1 (Local) 2025-01-08T22:21:45.365Z,1736374905.365 [DAT](INFO): Local bearing/azimuth received: Bearing 42.8, 5.1 (Local) 2025-01-08T22:21:45.387Z,1736374905.387 [DAT](INFO): DAT read: Range 10 to 50 : 131.1 m (Round-trip 174.9 ms) speed 0.0 m/s 2025-01-08T22:21:45.388Z,1736374905.388 [DAT](INFO): DAT read: user:2535> 2025-01-08T22:21:45.389Z,1736374905.389 [DAT](INFO): DAT read: Tx time:22:21:44.7513 2025-01-08T22:21:45.389Z,1736374905.389 [DAT](INFO): Ping request sent. 2025-01-08T22:21:45.389Z,1736374905.389 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:45.390Z,1736374905.390 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:45.391Z,1736374905.391 [DAT](INFO): direction in FSK: [-0.089764,-0.036491,0.995294] 2025-01-08T22:21:45.403Z,1736374905.403 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:45.404Z,1736374905.404 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:45.407Z,1736374905.407 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:45.407Z,1736374905.407 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:45.564Z,1736374905.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:45.564Z,1736374905.564 [DAT](INFO): DAT read: TxSync time:22:21:44.7505 2025-01-08T22:21:45.593Z,1736374905.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:45.652Z,1736374905.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.100006 m, deltaT: 3.532223 s, deltaX: -2.000000 m, approachRate: -0.566216 m/s, rangeRepo size: 4 2025-01-08T22:21:45.659Z,1736374905.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.100006 m, bearing: 326.177158 deg, lat: 36.905713 deg, lon: -122.120469 deg, deltaT: 3.532223 s, deltaX: -2.000000 m, approachRate: -0.566216 m/s, posRepo size: 4 2025-01-08T22:21:45.661Z,1736374905.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:21:45.670Z,1736374905.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 50.941612 m, bearing: 334.653049 deg, approach rate: 0.000000 m/s, LOS rate: -0.640081 deg/s, cmd heading: 75.826670 deg, new cmd heading: 74.919279 deg. 2025-01-08T22:21:45.676Z,1736374905.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.307588 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:21:45.816Z,1736374905.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:45.973Z,1736374905.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:45.983Z,1736374905.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:21:46.001Z,1736374906.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 51.026863 m, bearing: 334.405322 deg, approach rate: 0.250710 m/s, LOS rate: -0.727307 deg/s, cmd heading: 74.919279 deg, new cmd heading: 74.177385 deg. 2025-01-08T22:21:46.002Z,1736374906.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294640 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:21:46.068Z,1736374906.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:46.120Z,1736374906.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:21:46.322Z,1736374906.322 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:46.498Z,1736374906.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:46.511Z,1736374906.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:21:46.529Z,1736374906.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 51.146980 m, bearing: 334.091642 deg, approach rate: 0.227505 m/s, LOS rate: -0.592719 deg/s, cmd heading: 74.177384 deg, new cmd heading: 73.238642 deg. 2025-01-08T22:21:46.530Z,1736374906.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.278255 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:21:46.572Z,1736374906.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:46.804Z,1736374906.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:46.824Z,1736374906.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:46.833Z,1736374906.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:46.835Z,1736374906.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:21:46.842Z,1736374906.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 51.215290 m, bearing: 333.908336 deg, approach rate: 0.210647 m/s, LOS rate: -0.564508 deg/s, cmd heading: 73.238643 deg, new cmd heading: 72.689475 deg. 2025-01-08T22:21:46.848Z,1736374906.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268671 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:21:47.076Z,1736374907.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:47.076Z,1736374907.076 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:47.076Z,1736374907.076 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:47.077Z,1736374907.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:47.225Z,1736374907.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:47.234Z,1736374907.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:21:47.253Z,1736374907.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 51.303215 m, bearing: 333.653701 deg, approach rate: 0.220288 m/s, LOS rate: -0.636870 deg/s, cmd heading: 72.689475 deg, new cmd heading: 71.926928 deg. 2025-01-08T22:21:47.254Z,1736374907.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255362 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:21:47.330Z,1736374907.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:47.335Z,1736374907.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944995 2025-01-08T22:21:47.580Z,1736374907.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:47.581Z,1736374907.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191253 2025-01-08T22:21:47.692Z,1736374907.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:47.711Z,1736374907.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:21:47.718Z,1736374907.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 51.399620 m, bearing: 333.392698 deg, approach rate: 0.202246 m/s, LOS rate: -0.546524 deg/s, cmd heading: 71.926926 deg, new cmd heading: 71.145436 deg. 2025-01-08T22:21:47.744Z,1736374907.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.241722 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:21:47.832Z,1736374907.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:47.833Z,1736374907.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443866 2025-01-08T22:21:48.036Z,1736374908.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:48.045Z,1736374908.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:21:48.048Z,1736374908.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 51.465435 m, bearing: 333.198900 deg, approach rate: 0.196631 m/s, LOS rate: -0.578255 deg/s, cmd heading: 71.145436 deg, new cmd heading: 70.564807 deg. 2025-01-08T22:21:48.049Z,1736374908.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231588 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:21:48.084Z,1736374908.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:48.085Z,1736374908.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.695927 2025-01-08T22:21:48.338Z,1736374908.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:48.341Z,1736374908.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.951267 2025-01-08T22:21:48.484Z,1736374908.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:48.512Z,1736374908.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:21:48.520Z,1736374908.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 51.537476 m, bearing: 332.958679 deg, approach rate: 0.154255 m/s, LOS rate: -0.513647 deg/s, cmd heading: 70.564809 deg, new cmd heading: 69.845193 deg. 2025-01-08T22:21:48.521Z,1736374908.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219029 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:21:48.588Z,1736374908.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:48.590Z,1736374908.590 [DAT](INFO): DAT read: Rx Time:22:21:47.3285 2025-01-08T22:21:48.590Z,1736374908.590 [DAT](INFO): Rx dataTimestamp_ set to:1736374908.589980 2025-01-08T22:21:48.593Z,1736374908.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203182 2025-01-08T22:21:48.840Z,1736374908.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:48.840Z,1736374908.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.450929 2025-01-08T22:21:48.866Z,1736374908.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:48.873Z,1736374908.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:48.876Z,1736374908.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:21:48.879Z,1736374908.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 51.597244 m, bearing: 332.752407 deg, approach rate: 0.164202 m/s, LOS rate: -0.566032 deg/s, cmd heading: 69.845193 deg, new cmd heading: 69.227119 deg. 2025-01-08T22:21:48.909Z,1736374908.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208241 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:21:49.094Z,1736374909.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:49.101Z,1736374909.101 [DAT](INFO): DAT read: 22:21:47.3285 LVL= 12400, 22193, 17906, 27715, AGC= 55, IDX= 424,-0.21, 1.372,-0.636,-0.520, 0.205, PHS= 1.255,-0.794,-0.728, RAW= 91.6, 2.7, CAL= 99.4, 0.4, ROT= 50.6, -0.4 2025-01-08T22:21:49.102Z,1736374909.102 [DAT](INFO): got valid direction response: 22:21:47.3285 LVL= 12400, 22193, 17906, 27715, AGC= 55, IDX= 424,-0.21, 1.372,-0.636,-0.520, 0.205, PHS= 1.255,-0.794,-0.728, RAW= 91.6, 2.7, CAL= 99.4, 0.4, ROT= 50.6, -0.4 2025-01-08T22:21:49.103Z,1736374909.103 [DAT](INFO): DAT read: Bearing 50.6, -0.4 (Local) 2025-01-08T22:21:49.103Z,1736374909.103 [DAT](INFO): Local bearing/azimuth received: Bearing 50.6, -0.4 (Local) 2025-01-08T22:21:49.106Z,1736374909.106 [DAT](INFO): DAT read: Range 10 to 50 : 129.7 m (Round-trip 173.0 ms) speed 0.4 m/s 2025-01-08T22:21:49.107Z,1736374909.107 [DAT](INFO): DAT read: user:2536> 2025-01-08T22:21:49.109Z,1736374909.109 [DAT](INFO): DAT read: Tx time:22:21:48.4513 2025-01-08T22:21:49.109Z,1736374909.109 [DAT](INFO): Ping request sent. 2025-01-08T22:21:49.109Z,1736374909.109 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:49.110Z,1736374909.110 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:49.112Z,1736374909.112 [DAT](INFO): direction in FSK: [-0.138582,0.082071,0.986945] 2025-01-08T22:21:49.112Z,1736374909.112 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:49.113Z,1736374909.113 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:49.119Z,1736374909.119 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:49.120Z,1736374909.120 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:49.346Z,1736374909.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:49.348Z,1736374909.348 [DAT](INFO): DAT read: TxSync time:22:21:48.4505 2025-01-08T22:21:49.480Z,1736374909.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:49.506Z,1736374909.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.699997 m, deltaT: 3.778029 s, deltaX: -1.400009 m, approachRate: -0.370566 m/s, rangeRepo size: 4 2025-01-08T22:21:49.512Z,1736374909.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.699997 m, bearing: 215.702419 deg, lat: 36.905603 deg, lon: -122.120469 deg, deltaT: 3.778029 s, deltaX: -1.400009 m, approachRate: -0.370566 m/s, posRepo size: 4 2025-01-08T22:21:49.513Z,1736374909.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m. 2025-01-08T22:21:49.520Z,1736374909.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.699997 m, nav range: 41.188717 m, bearing: 324.490393 deg, approach rate: 0.000000 m/s, LOS rate: -0.566032 deg/s, cmd heading: 69.227116 deg, new cmd heading: 68.159492 deg. 2025-01-08T22:21:49.521Z,1736374909.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.189608 target range: 129.699997 and range: 129.70 m. 2025-01-08T22:21:49.596Z,1736374909.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:49.850Z,1736374909.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:49.931Z,1736374909.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:49.939Z,1736374909.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m. 2025-01-08T22:21:49.943Z,1736374909.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.699997 m, nav range: 41.282974 m, bearing: 324.199834 deg, approach rate: 0.217210 m/s, LOS rate: -0.668046 deg/s, cmd heading: 68.159489 deg, new cmd heading: 67.289871 deg. 2025-01-08T22:21:49.944Z,1736374909.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.174430 target range: 129.699997 and range: 129.70 m. 2025-01-08T22:21:50.100Z,1736374910.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:50.346Z,1736374910.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:50.354Z,1736374910.354 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:50.406Z,1736374910.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m. 2025-01-08T22:21:50.413Z,1736374910.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.699997 m, nav range: 41.367477 m, bearing: 323.935903 deg, approach rate: 0.180944 m/s, LOS rate: -0.563989 deg/s, cmd heading: 67.289869 deg, new cmd heading: 66.499748 deg. 2025-01-08T22:21:50.414Z,1736374910.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160640 target range: 129.699997 and range: 129.70 m. 2025-01-08T22:21:50.604Z,1736374910.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:50.785Z,1736374910.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:50.794Z,1736374910.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m. 2025-01-08T22:21:50.797Z,1736374910.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.699997 m, nav range: 41.456470 m, bearing: 323.669452 deg, approach rate: 0.229617 m/s, LOS rate: -0.686011 deg/s, cmd heading: 66.499746 deg, new cmd heading: 65.702164 deg. 2025-01-08T22:21:50.798Z,1736374910.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146719 target range: 129.699997 and range: 129.70 m. 2025-01-08T22:21:50.857Z,1736374910.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:51.108Z,1736374911.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:51.149Z,1736374911.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:51.161Z,1736374911.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:51.164Z,1736374911.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m. 2025-01-08T22:21:51.166Z,1736374911.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.699997 m, nav range: 41.530666 m, bearing: 323.450186 deg, approach rate: 0.200756 m/s, LOS rate: -0.592217 deg/s, cmd heading: 65.702165 deg, new cmd heading: 65.045573 deg. 2025-01-08T22:21:51.168Z,1736374911.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135259 target range: 129.699997 and range: 129.70 m. 2025-01-08T22:21:51.362Z,1736374911.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:51.363Z,1736374911.363 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:51.364Z,1736374911.364 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:51.365Z,1736374911.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:51.577Z,1736374911.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:51.586Z,1736374911.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m. 2025-01-08T22:21:51.589Z,1736374911.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.699997 m, nav range: 41.603039 m, bearing: 323.176565 deg, approach rate: 0.171254 m/s, LOS rate: -0.646336 deg/s, cmd heading: 65.045572 deg, new cmd heading: 64.226195 deg. 2025-01-08T22:21:51.590Z,1736374911.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120959 target range: 129.699997 and range: 129.70 m. 2025-01-08T22:21:51.633Z,1736374911.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:51.634Z,1736374911.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524754 2025-01-08T22:21:51.884Z,1736374911.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:51.885Z,1736374911.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775290 2025-01-08T22:21:51.969Z,1736374911.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:51.985Z,1736374911.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m. 2025-01-08T22:21:51.992Z,1736374911.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.699997 m, nav range: 41.667957 m, bearing: 322.925874 deg, approach rate: 0.162792 m/s, LOS rate: -0.627662 deg/s, cmd heading: 64.226195 deg, new cmd heading: 63.475337 deg. 2025-01-08T22:21:51.996Z,1736374911.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107854 target range: 129.699997 and range: 129.70 m. 2025-01-08T22:21:52.136Z,1736374912.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:52.137Z,1736374912.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027280 2025-01-08T22:21:52.374Z,1736374912.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:52.390Z,1736374912.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:52.393Z,1736374912.393 [DAT](INFO): DAT read: Rx Time:22:21:51.0267 2025-01-08T22:21:52.394Z,1736374912.394 [DAT](INFO): Rx dataTimestamp_ set to:1736374912.393464 2025-01-08T22:21:52.397Z,1736374912.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287046 2025-01-08T22:21:52.471Z,1736374912.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m. 2025-01-08T22:21:52.474Z,1736374912.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.699997 m, nav range: 41.733559 m, bearing: 322.666278 deg, approach rate: 0.135981 m/s, LOS rate: -0.537254 deg/s, cmd heading: 63.475339 deg, new cmd heading: 62.697826 deg. 2025-01-08T22:21:52.489Z,1736374912.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094283 target range: 129.699997 and range: 129.70 m. 2025-01-08T22:21:52.640Z,1736374912.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:52.641Z,1736374912.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531195 2025-01-08T22:21:52.807Z,1736374912.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:52.825Z,1736374912.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m. 2025-01-08T22:21:52.830Z,1736374912.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.699997 m, nav range: 41.801079 m, bearing: 322.376245 deg, approach rate: 0.188798 m/s, LOS rate: -0.809668 deg/s, cmd heading: 62.697824 deg, new cmd heading: 61.829201 deg. 2025-01-08T22:21:52.832Z,1736374912.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079123 target range: 129.699997 and range: 129.70 m. 2025-01-08T22:21:52.893Z,1736374912.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:52.914Z,1736374912.914 [DAT](INFO): DAT read: 22:21:51.0267 LVL= 12960, 23953, 18738, 28803, AGC= 58, IDX= 421,-0.25,-0.550,-2.193,-2.366,-1.522, PHS= 1.060,-0.624,-0.847, RAW= 83.9, 4.6, CAL= 89.4, 3.3, ROT= 60.6, -3.3 2025-01-08T22:21:52.917Z,1736374912.917 [DAT](INFO): got valid direction response: 22:21:51.0267 LVL= 12960, 23953, 18738, 28803, AGC= 58, IDX= 421,-0.25,-0.550,-2.193,-2.366,-1.522, PHS= 1.060,-0.624,-0.847, RAW= 83.9, 4.6, CAL= 89.4, 3.3, ROT= 60.6, -3.3 2025-01-08T22:21:52.919Z,1736374912.919 [DAT](INFO): DAT read: Bearing 60.6, -3.3 (Local) 2025-01-08T22:21:52.919Z,1736374912.919 [DAT](INFO): Local bearing/azimuth received: Bearing 60.6, -3.3 (Local) 2025-01-08T22:21:52.934Z,1736374912.934 [DAT](INFO): DAT read: Range 10 to 50 : 128.3 m (Round-trip 171.1 ms) speed 0.2 m/s 2025-01-08T22:21:52.935Z,1736374912.935 [DAT](INFO): DAT read: user:2537> 2025-01-08T22:21:52.940Z,1736374912.940 [DAT](INFO): DAT read: Tx time:22:21:52.1514 2025-01-08T22:21:52.940Z,1736374912.940 [DAT](INFO): Ping request sent. 2025-01-08T22:21:52.940Z,1736374912.940 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:52.940Z,1736374912.940 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:52.942Z,1736374912.942 [DAT](INFO): direction in FSK: [-0.161330,0.215672,0.963046] 2025-01-08T22:21:52.942Z,1736374912.942 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:52.951Z,1736374912.951 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:52.960Z,1736374912.960 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:52.960Z,1736374912.960 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:53.144Z,1736374913.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:53.144Z,1736374913.144 [DAT](INFO): DAT read: TxSync time:22:21:52.1506 2025-01-08T22:21:53.179Z,1736374913.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:53.205Z,1736374913.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.300003 m, deltaT: 3.798895 s, deltaX: -1.399994 m, approachRate: -0.368527 m/s, rangeRepo size: 4 2025-01-08T22:21:53.212Z,1736374913.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.300003 m, bearing: 186.706199 deg, lat: 36.905359 deg, lon: -122.120273 deg, deltaT: 3.798895 s, deltaX: -1.399994 m, approachRate: -0.368527 m/s, posRepo size: 4 2025-01-08T22:21:53.213Z,1736374913.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.30 m. 2025-01-08T22:21:53.216Z,1736374913.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.300003 m, nav range: 10.146059 m, bearing: 305.250960 deg, approach rate: 0.000000 m/s, LOS rate: -0.809668 deg/s, cmd heading: 61.829201 deg, new cmd heading: 60.906102 deg. 2025-01-08T22:21:53.217Z,1736374913.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.063012 target range: 128.300003 and range: 128.30 m. 2025-01-08T22:21:53.398Z,1736374913.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:53.587Z,1736374913.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:53.595Z,1736374913.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:53.597Z,1736374913.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.30 m. 2025-01-08T22:21:53.600Z,1736374913.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.300003 m, nav range: 10.265841 m, bearing: 304.197648 deg, approach rate: 0.305553 m/s, LOS rate: -2.655417 deg/s, cmd heading: 60.906101 deg, new cmd heading: 57.786299 deg. 2025-01-08T22:21:53.601Z,1736374913.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008561 target range: 128.300003 and range: 128.30 m. 2025-01-08T22:21:53.648Z,1736374913.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:53.649Z,1736374913.649 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:53.649Z,1736374913.649 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:53.650Z,1736374913.650 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:53.900Z,1736374913.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:53.900Z,1736374913.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.960193 2025-01-08T22:21:54.003Z,1736374914.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:54.013Z,1736374914.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.30 m. 2025-01-08T22:21:54.015Z,1736374914.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.300003 m, nav range: 10.388289 m, bearing: 303.152124 deg, approach rate: 0.294544 m/s, LOS rate: -2.485172 deg/s, cmd heading: 57.786296 deg, new cmd heading: 54.689885 deg. 2025-01-08T22:21:54.016Z,1736374914.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.954519 target range: 128.300003 and range: 128.30 m. 2025-01-08T22:21:54.152Z,1736374914.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:54.153Z,1736374914.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.212569 2025-01-08T22:21:54.369Z,1736374914.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:54.382Z,1736374914.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.30 m. 2025-01-08T22:21:54.385Z,1736374914.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.300003 m, nav range: 10.496816 m, bearing: 302.246366 deg, approach rate: 0.293524 m/s, LOS rate: -2.424322 deg/s, cmd heading: 54.689885 deg, new cmd heading: 52.002787 deg. 2025-01-08T22:21:54.386Z,1736374914.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.907620 target range: 128.300003 and range: 128.30 m. 2025-01-08T22:21:54.405Z,1736374914.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:54.408Z,1736374914.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466963 2025-01-08T22:21:54.656Z,1736374914.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:54.657Z,1736374914.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716827 2025-01-08T22:21:54.817Z,1736374914.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:54.826Z,1736374914.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.30 m. 2025-01-08T22:21:54.828Z,1736374914.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.300003 m, nav range: 10.636692 m, bearing: 301.072060 deg, approach rate: 0.315509 m/s, LOS rate: -2.613778 deg/s, cmd heading: 52.002786 deg, new cmd heading: 48.530696 deg. 2025-01-08T22:21:54.829Z,1736374914.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847020 target range: 128.300003 and range: 128.30 m. 2025-01-08T22:21:54.909Z,1736374914.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:54.911Z,1736374914.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970148 2025-01-08T22:21:55.160Z,1736374915.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:55.161Z,1736374915.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220444 2025-01-08T22:21:55.184Z,1736374915.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:55.211Z,1736374915.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.30 m. 2025-01-08T22:21:55.217Z,1736374915.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.300003 m, nav range: 10.752021 m, bearing: 300.122901 deg, approach rate: 0.299602 m/s, LOS rate: -2.439172 deg/s, cmd heading: 48.530697 deg, new cmd heading: 45.716159 deg. 2025-01-08T22:21:55.218Z,1736374915.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.797898 target range: 128.300003 and range: 128.30 m. 2025-01-08T22:21:55.412Z,1736374915.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:55.412Z,1736374915.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472288 2025-01-08T22:21:55.615Z,1736374915.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:55.623Z,1736374915.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:55.626Z,1736374915.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.30 m. 2025-01-08T22:21:55.629Z,1736374915.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.300003 m, nav range: 10.896807 m, bearing: 298.980803 deg, approach rate: 0.348716 m/s, LOS rate: -2.714010 deg/s, cmd heading: 45.716160 deg, new cmd heading: 42.339529 deg. 2025-01-08T22:21:55.630Z,1736374915.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738964 target range: 128.300003 and range: 128.30 m. 2025-01-08T22:21:55.665Z,1736374915.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:55.666Z,1736374915.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725715 2025-01-08T22:21:55.916Z,1736374915.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:55.916Z,1736374915.916 [DAT](INFO): DAT read: Rx Time:22:21:54.7253 2025-01-08T22:21:55.917Z,1736374915.917 [DAT](INFO): Rx dataTimestamp_ set to:1736374915.916564 2025-01-08T22:21:55.917Z,1736374915.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977234 2025-01-08T22:21:55.998Z,1736374915.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:56.015Z,1736374916.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.30 m. 2025-01-08T22:21:56.021Z,1736374916.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.300003 m, nav range: 11.026015 m, bearing: 297.975966 deg, approach rate: 0.332239 m/s, LOS rate: -2.553363 deg/s, cmd heading: 42.339530 deg, new cmd heading: 39.363178 deg. 2025-01-08T22:21:56.022Z,1736374916.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687017 target range: 128.300003 and range: 128.30 m. 2025-01-08T22:21:56.168Z,1736374916.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:56.169Z,1736374916.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228438 2025-01-08T22:21:56.422Z,1736374916.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:56.474Z,1736374916.474 [DAT](INFO): DAT read: 22:21:54.7253 LVL= 11696, 25777, 17234, 26403, AGC= 55, IDX= 423,-0.12, 0.109,-1.256,-1.903,-0.758, PHS= 0.955,-0.451,-1.148, RAW= 71.0, 7.0, CAL= 73.1, 9.2, ROT= 76.9, -9.2 2025-01-08T22:21:56.486Z,1736374916.486 [DAT](INFO): got valid direction response: 22:21:54.7253 LVL= 11696, 25777, 17234, 26403, AGC= 55, IDX= 423,-0.12, 0.109,-1.256,-1.903,-0.758, PHS= 0.955,-0.451,-1.148, RAW= 71.0, 7.0, CAL= 73.1, 9.2, ROT= 76.9, -9.2 2025-01-08T22:21:56.495Z,1736374916.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:56.496Z,1736374916.496 [DAT](INFO): DAT read: Bearing 76.9, -9.2 (Local) 2025-01-08T22:21:56.496Z,1736374916.496 [DAT](INFO): Local bearing/azimuth received: Bearing 76.9, -9.2 (Local) 2025-01-08T22:21:56.498Z,1736374916.498 [DAT](INFO): DAT read: Range 10 to 50 : 127.3 m (Round-trip 169.8 ms) speed 0.0 m/s 2025-01-08T22:21:56.499Z,1736374916.499 [DAT](INFO): DAT read: user:2538> 2025-01-08T22:21:56.512Z,1736374916.512 [DAT](INFO): DAT read: Tx time:22:21:55.8014 2025-01-08T22:21:56.512Z,1736374916.512 [DAT](INFO): Ping request sent. 2025-01-08T22:21:56.512Z,1736374916.512 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:21:56.513Z,1736374916.513 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:21:56.514Z,1736374916.514 [DAT](INFO): direction in FSK: [-0.181097,0.421064,0.888768] 2025-01-08T22:21:56.514Z,1736374916.514 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:56.514Z,1736374916.514 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:56.530Z,1736374916.530 [DAT](INFO): publishing transmit ping time 2025-01-08T22:21:56.530Z,1736374916.530 [DAT](INFO): publishing direction and range info 2025-01-08T22:21:56.542Z,1736374916.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.300003 m, deltaT: 3.529901 s, deltaX: -1.000000 m, approachRate: -0.283294 m/s, rangeRepo size: 4 2025-01-08T22:21:56.553Z,1736374916.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.300003 m, bearing: 168.462542 deg, lat: 36.905221 deg, lon: -122.120272 deg, deltaT: 3.529901 s, deltaX: -1.000000 m, approachRate: -0.283294 m/s, posRepo size: 4 2025-01-08T22:21:56.554Z,1736374916.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:21:56.561Z,1736374916.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 14.326880 m, bearing: 223.983501 deg, approach rate: 0.000000 m/s, LOS rate: -2.553363 deg/s, cmd heading: 39.363179 deg, new cmd heading: 35.339085 deg. 2025-01-08T22:21:56.562Z,1736374916.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616783 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:21:56.676Z,1736374916.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:56.677Z,1736374916.677 [DAT](INFO): DAT read: TxSync time:22:21:55.8006 2025-01-08T22:21:56.893Z,1736374916.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:56.928Z,1736374916.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:56.947Z,1736374916.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:21:56.957Z,1736374916.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 14.575871 m, bearing: 224.299707 deg, approach rate: 0.613353 m/s, LOS rate: 0.765619 deg/s, cmd heading: 35.339085 deg, new cmd heading: 36.271409 deg. 2025-01-08T22:21:56.959Z,1736374916.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633056 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:21:57.180Z,1736374917.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:57.212Z,1736374917.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:57.221Z,1736374917.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:21:57.224Z,1736374917.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 14.777267 m, bearing: 224.527983 deg, approach rate: 0.734387 m/s, LOS rate: 0.821054 deg/s, cmd heading: 36.271409 deg, new cmd heading: 36.946870 deg. 2025-01-08T22:21:57.226Z,1736374917.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644845 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:21:57.433Z,1736374917.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:57.653Z,1736374917.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:57.677Z,1736374917.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:57.684Z,1736374917.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:57.684Z,1736374917.684 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:21:57.684Z,1736374917.684 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:21:57.685Z,1736374917.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:21:57.692Z,1736374917.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:21:57.695Z,1736374917.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 15.069290 m, bearing: 224.890789 deg, approach rate: 0.626502 m/s, LOS rate: 0.763273 deg/s, cmd heading: 36.946870 deg, new cmd heading: 38.014068 deg. 2025-01-08T22:21:57.709Z,1736374917.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663471 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:21:57.936Z,1736374917.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:57.938Z,1736374917.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.424711 2025-01-08T22:21:58.014Z,1736374918.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:58.022Z,1736374918.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:21:58.026Z,1736374918.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 15.312435 m, bearing: 225.132222 deg, approach rate: 0.725202 m/s, LOS rate: 0.708657 deg/s, cmd heading: 38.014067 deg, new cmd heading: 38.726824 deg. 2025-01-08T22:21:58.027Z,1736374918.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675911 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:21:58.188Z,1736374918.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:58.188Z,1736374918.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.676026 2025-01-08T22:21:58.404Z,1736374918.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:58.414Z,1736374918.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:21:58.417Z,1736374918.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 15.577307 m, bearing: 225.355516 deg, approach rate: 0.676905 m/s, LOS rate: 0.560947 deg/s, cmd heading: 38.726824 deg, new cmd heading: 39.385287 deg. 2025-01-08T22:21:58.418Z,1736374918.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687403 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:21:58.440Z,1736374918.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:58.440Z,1736374918.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.928080 2025-01-08T22:21:58.692Z,1736374918.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:58.693Z,1736374918.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180740 2025-01-08T22:21:58.848Z,1736374918.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:58.857Z,1736374918.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:21:58.860Z,1736374918.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 15.888148 m, bearing: 225.654244 deg, approach rate: 0.700692 m/s, LOS rate: 0.660207 deg/s, cmd heading: 39.385289 deg, new cmd heading: 40.263865 deg. 2025-01-08T22:21:58.861Z,1736374918.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702737 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:21:58.945Z,1736374918.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:58.947Z,1736374918.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434029 2025-01-08T22:21:59.196Z,1736374919.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:59.197Z,1736374919.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.684098 2025-01-08T22:21:59.214Z,1736374919.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:59.222Z,1736374919.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:21:59.226Z,1736374919.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 16.146130 m, bearing: 225.862963 deg, approach rate: 0.707009 m/s, LOS rate: 0.562865 deg/s, cmd heading: 40.263866 deg, new cmd heading: 40.879995 deg. 2025-01-08T22:21:59.227Z,1736374919.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713491 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:21:59.449Z,1736374919.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:59.450Z,1736374919.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.937213 2025-01-08T22:21:59.667Z,1736374919.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:21:59.680Z,1736374919.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:21:59.682Z,1736374919.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:21:59.700Z,1736374919.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:59.700Z,1736374919.700 [DAT](INFO): DAT read: Rx Time:22:21:58.3748 2025-01-08T22:21:59.701Z,1736374919.701 [DAT](INFO): Rx dataTimestamp_ set to:1736374919.700664 2025-01-08T22:21:59.701Z,1736374919.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.189073 2025-01-08T22:21:59.705Z,1736374919.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 16.468315 m, bearing: 226.103919 deg, approach rate: 0.700396 m/s, LOS rate: 0.513562 deg/s, cmd heading: 40.879997 deg, new cmd heading: 41.588684 deg. 2025-01-08T22:21:59.706Z,1736374919.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725859 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:21:59.953Z,1736374919.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:21:59.955Z,1736374919.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.441887 2025-01-08T22:22:00.034Z,1736374920.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:00.046Z,1736374920.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:00.051Z,1736374920.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 16.731552 m, bearing: 226.265902 deg, approach rate: 0.726648 m/s, LOS rate: 0.440108 deg/s, cmd heading: 41.588684 deg, new cmd heading: 42.066975 deg. 2025-01-08T22:22:00.052Z,1736374920.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.734207 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:22:00.204Z,1736374920.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:00.205Z,1736374920.205 [DAT](INFO): DAT read: Range 10 to 50 : 126.9 m (Round-trip 169.2 ms) speed -0.1 m/s 2025-01-08T22:22:00.206Z,1736374920.206 [DAT](INFO): DAT read: user:2539> 2025-01-08T22:22:00.207Z,1736374920.207 [DAT](INFO): DAT read: Tx time:22:21:59.4514 2025-01-08T22:22:00.207Z,1736374920.207 [DAT](INFO): Ping request sent. 2025-01-08T22:22:00.208Z,1736374920.208 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:00.208Z,1736374920.208 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:22:00.209Z,1736374920.209 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:00.209Z,1736374920.209 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:00.429Z,1736374920.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:00.438Z,1736374920.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.900002 m, deltaT: 3.781044 s, deltaX: -0.400002 m, approachRate: -0.105791 m/s, rangeRepo size: 4 2025-01-08T22:22:00.439Z,1736374920.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:00.443Z,1736374920.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 17.016800 m, bearing: 226.407336 deg, approach rate: 0.725434 m/s, LOS rate: 0.353660 deg/s, cmd heading: 42.066975 deg, new cmd heading: 42.484155 deg. 2025-01-08T22:22:00.456Z,1736374920.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:00.457Z,1736374920.457 [DAT](INFO): DAT read: TxSync time:22:21:59.4506 2025-01-08T22:22:00.467Z,1736374920.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741488 target range: 127.300003 and range: 126.90 m. 2025-01-08T22:22:00.709Z,1736374920.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:00.855Z,1736374920.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:00.872Z,1736374920.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:00.874Z,1736374920.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 17.306683 m, bearing: 226.559393 deg, approach rate: 0.667911 m/s, LOS rate: 0.344483 deg/s, cmd heading: 42.484156 deg, new cmd heading: 42.932679 deg. 2025-01-08T22:22:00.877Z,1736374920.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749317 target range: 127.300003 and range: 126.90 m. 2025-01-08T22:22:00.960Z,1736374920.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:01.214Z,1736374921.214 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:01.257Z,1736374921.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:01.266Z,1736374921.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:01.269Z,1736374921.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 17.581615 m, bearing: 226.675432 deg, approach rate: 0.696655 m/s, LOS rate: 0.289434 deg/s, cmd heading: 42.932677 deg, new cmd heading: 43.275346 deg. 2025-01-08T22:22:01.270Z,1736374921.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755297 target range: 127.300003 and range: 126.90 m. 2025-01-08T22:22:01.468Z,1736374921.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:01.684Z,1736374921.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:01.690Z,1736374921.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:01.713Z,1736374921.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:01.720Z,1736374921.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:01.720Z,1736374921.720 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:01.720Z,1736374921.720 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:01.721Z,1736374921.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:01.728Z,1736374921.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 17.850012 m, bearing: 226.764571 deg, approach rate: 0.600347 m/s, LOS rate: 0.196388 deg/s, cmd heading: 43.275344 deg, new cmd heading: 43.538739 deg. 2025-01-08T22:22:01.729Z,1736374921.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759894 target range: 127.300003 and range: 126.90 m. 2025-01-08T22:22:01.972Z,1736374921.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:01.972Z,1736374921.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764932 2025-01-08T22:22:02.049Z,1736374922.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:02.074Z,1736374922.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:02.081Z,1736374922.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 18.080231 m, bearing: 226.821708 deg, approach rate: 0.638805 m/s, LOS rate: 0.156524 deg/s, cmd heading: 43.538740 deg, new cmd heading: 43.707969 deg. 2025-01-08T22:22:02.082Z,1736374922.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762848 target range: 127.300003 and range: 126.90 m. 2025-01-08T22:22:02.224Z,1736374922.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:02.225Z,1736374922.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017175 2025-01-08T22:22:02.448Z,1736374922.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:02.457Z,1736374922.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:02.460Z,1736374922.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 18.331581 m, bearing: 226.868944 deg, approach rate: 0.656535 m/s, LOS rate: 0.121689 deg/s, cmd heading: 43.707969 deg, new cmd heading: 43.847731 deg. 2025-01-08T22:22:02.461Z,1736374922.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765287 target range: 127.300003 and range: 126.90 m. 2025-01-08T22:22:02.476Z,1736374922.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:02.477Z,1736374922.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269128 2025-01-08T22:22:02.728Z,1736374922.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:02.729Z,1736374922.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521112 2025-01-08T22:22:02.892Z,1736374922.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:02.903Z,1736374922.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:02.905Z,1736374922.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 18.578884 m, bearing: 226.869800 deg, approach rate: 0.554589 m/s, LOS rate: 0.001894 deg/s, cmd heading: 43.847731 deg, new cmd heading: 43.850265 deg. 2025-01-08T22:22:02.906Z,1736374922.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765332 target range: 127.300003 and range: 126.90 m. 2025-01-08T22:22:02.980Z,1736374922.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:02.982Z,1736374922.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773931 2025-01-08T22:22:03.232Z,1736374923.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:03.232Z,1736374923.232 [DAT](INFO): DAT read: Rx Time:22:22:02.0242 2025-01-08T22:22:03.233Z,1736374923.233 [DAT](INFO): Rx dataTimestamp_ set to:1736374923.232510 2025-01-08T22:22:03.233Z,1736374923.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025832 2025-01-08T22:22:03.293Z,1736374923.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:03.322Z,1736374923.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:03.326Z,1736374923.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 18.802340 m, bearing: 226.865540 deg, approach rate: 0.536375 m/s, LOS rate: -0.010104 deg/s, cmd heading: 43.850265 deg, new cmd heading: 43.837638 deg. 2025-01-08T22:22:03.327Z,1736374923.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765111 target range: 127.300003 and range: 126.90 m. 2025-01-08T22:22:03.484Z,1736374923.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:03.485Z,1736374923.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277644 2025-01-08T22:22:03.725Z,1736374923.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:03.733Z,1736374923.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:03.735Z,1736374923.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:03.736Z,1736374923.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:03.738Z,1736374923.738 [DAT](INFO): DAT read: Range 10 to 50 : 126.3 m (Round-trip 168.5 ms) speed 0.0 m/s 2025-01-08T22:22:03.738Z,1736374923.738 [DAT](INFO): DAT read: user:2540> 2025-01-08T22:22:03.739Z,1736374923.739 [DAT](INFO): DAT read: Tx time:22:22:03.1015 2025-01-08T22:22:03.740Z,1736374923.740 [DAT](INFO): Ping request sent. 2025-01-08T22:22:03.740Z,1736374923.740 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:03.740Z,1736374923.740 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:22:03.740Z,1736374923.740 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:03.741Z,1736374923.741 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:03.745Z,1736374923.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 19.010197 m, bearing: 226.816755 deg, approach rate: 0.500330 m/s, LOS rate: -0.116147 deg/s, cmd heading: 43.837636 deg, new cmd heading: 43.692880 deg. 2025-01-08T22:22:03.746Z,1736374923.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762585 target range: 127.300003 and range: 126.90 m. 2025-01-08T22:22:03.989Z,1736374923.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:03.990Z,1736374923.990 [DAT](INFO): DAT read: TxSync time:22:22:03.1007 2025-01-08T22:22:04.101Z,1736374924.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:04.121Z,1736374924.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.300003 m, deltaT: 3.532253 s, deltaX: -0.599998 m, approachRate: -0.169863 m/s, rangeRepo size: 4 2025-01-08T22:22:04.122Z,1736374924.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:04.127Z,1736374924.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 19.191858 m, bearing: 226.774985 deg, approach rate: 0.472501 m/s, LOS rate: -0.107614 deg/s, cmd heading: 43.692881 deg, new cmd heading: 43.568759 deg. 2025-01-08T22:22:04.128Z,1736374924.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.760418 target range: 127.300003 and range: 126.30 m. 2025-01-08T22:22:04.240Z,1736374924.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:04.492Z,1736374924.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:04.626Z,1736374924.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:04.635Z,1736374924.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:04.637Z,1736374924.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 19.445024 m, bearing: 226.716498 deg, approach rate: 0.491061 m/s, LOS rate: -0.111970 deg/s, cmd heading: 43.568759 deg, new cmd heading: 43.395582 deg. 2025-01-08T22:22:04.638Z,1736374924.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757396 target range: 127.300003 and range: 126.30 m. 2025-01-08T22:22:04.744Z,1736374924.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:04.000Z,1736374925.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:05.033Z,1736374925.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:05.042Z,1736374925.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:05.061Z,1736374925.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 19.609751 m, bearing: 226.552633 deg, approach rate: 0.404844 m/s, LOS rate: -0.399344 deg/s, cmd heading: 43.395583 deg, new cmd heading: 42.908130 deg. 2025-01-08T22:22:05.062Z,1736374925.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748888 target range: 127.300003 and range: 126.30 m. 2025-01-08T22:22:05.252Z,1736374925.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:05.465Z,1736374925.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:05.473Z,1736374925.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:05.477Z,1736374925.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 19.788422 m, bearing: 226.397255 deg, approach rate: 0.413672 m/s, LOS rate: -0.356494 deg/s, cmd heading: 42.908129 deg, new cmd heading: 42.446215 deg. 2025-01-08T22:22:05.478Z,1736374925.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740826 target range: 127.300003 and range: 126.30 m. 2025-01-08T22:22:05.504Z,1736374925.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:05.756Z,1736374925.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:05.897Z,1736374925.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:05.904Z,1736374925.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:05.906Z,1736374925.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:05.910Z,1736374925.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 19.952322 m, bearing: 226.172226 deg, approach rate: 0.378791 m/s, LOS rate: -0.515793 deg/s, cmd heading: 42.446214 deg, new cmd heading: 41.776704 deg. 2025-01-08T22:22:05.911Z,1736374925.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.729141 target range: 127.300003 and range: 126.30 m. 2025-01-08T22:22:06.009Z,1736374926.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:06.010Z,1736374926.010 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:06.010Z,1736374926.010 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:06.011Z,1736374926.011 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:06.260Z,1736374926.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:06.260Z,1736374926.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520729 2025-01-08T22:22:06.269Z,1736374926.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:06.278Z,1736374926.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:06.281Z,1736374926.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 20.094215 m, bearing: 225.985556 deg, approach rate: 0.381690 m/s, LOS rate: -0.498591 deg/s, cmd heading: 41.776705 deg, new cmd heading: 41.220669 deg. 2025-01-08T22:22:06.282Z,1736374926.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719436 target range: 127.300003 and range: 126.30 m. 2025-01-08T22:22:06.512Z,1736374926.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:06.512Z,1736374926.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772742 2025-01-08T22:22:06.716Z,1736374926.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:06.741Z,1736374926.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:06.748Z,1736374926.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 20.254784 m, bearing: 225.713561 deg, approach rate: 0.346995 m/s, LOS rate: -0.583132 deg/s, cmd heading: 41.220670 deg, new cmd heading: 40.411209 deg. 2025-01-08T22:22:06.749Z,1736374926.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705309 target range: 127.300003 and range: 126.30 m. 2025-01-08T22:22:06.764Z,1736374926.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:06.764Z,1736374926.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024740 2025-01-08T22:22:07.017Z,1736374927.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:07.019Z,1736374927.019 [DAT](INFO): DAT read: Rx Time:22:22:05.6746 2025-01-08T22:22:07.020Z,1736374927.020 [DAT](INFO): Rx dataTimestamp_ set to:1736374927.019185 2025-01-08T22:22:07.020Z,1736374927.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280720 2025-01-08T22:22:07.088Z,1736374927.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:07.098Z,1736374927.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:07.101Z,1736374927.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 20.389351 m, bearing: 225.493040 deg, approach rate: 0.376054 m/s, LOS rate: -0.612186 deg/s, cmd heading: 40.411210 deg, new cmd heading: 39.754045 deg. 2025-01-08T22:22:07.102Z,1736374927.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693839 target range: 127.300003 and range: 126.30 m. 2025-01-08T22:22:07.268Z,1736374927.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:07.268Z,1736374927.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528608 2025-01-08T22:22:07.508Z,1736374927.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:07.520Z,1736374927.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:07.527Z,1736374927.527 [DAT](INFO): DAT read: 22:22:05.6746 LVL= 11888, 15121, 13922, 19955, AGC= 57, IDX= 446,-0.04, 0.408,-0.618,-1.971,-0.878, PHS= 1.374, 0.307,-1.096, RAW= 55.5, -5.5, CAL= 60.7, -10.8, ROT= 89.3, 10.8 2025-01-08T22:22:07.528Z,1736374927.528 [DAT](INFO): got valid direction response: 22:22:05.6746 LVL= 11888, 15121, 13922, 19955, AGC= 57, IDX= 446,-0.04, 0.408,-0.618,-1.971,-0.878, PHS= 1.374, 0.307,-1.096, RAW= 55.5, -5.5, CAL= 60.7, -10.8, ROT= 89.3, 10.8 2025-01-08T22:22:07.529Z,1736374927.529 [DAT](INFO): DAT read: Bearing 89.3, 10.8 (Local) 2025-01-08T22:22:07.530Z,1736374927.530 [DAT](INFO): Local bearing/azimuth received: Bearing 89.3, 10.8 (Local) 2025-01-08T22:22:07.531Z,1736374927.531 [DAT](INFO): DAT read: Range 10 to 50 : 126.6 m (Round-trip 168.9 ms) speed 0.0 m/s 2025-01-08T22:22:07.532Z,1736374927.532 [DAT](INFO): DAT read: user:2541> 2025-01-08T22:22:07.533Z,1736374927.533 [DAT](INFO): DAT read: Tx time:22:22:06.8015 2025-01-08T22:22:07.533Z,1736374927.533 [DAT](INFO): Ping request sent. 2025-01-08T22:22:07.533Z,1736374927.533 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:07.534Z,1736374927.534 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:07.534Z,1736374927.534 [DAT](INFO): direction in FSK: [0.082253,0.627045,0.774629] 2025-01-08T22:22:07.535Z,1736374927.535 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:07.535Z,1736374927.535 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:07.538Z,1736374927.538 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:07.538Z,1736374927.538 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:07.576Z,1736374927.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.599998 m, deltaT: 3.783745 s, deltaX: 0.299995 m, approachRate: 0.079285 m/s, rangeRepo size: 4 2025-01-08T22:22:07.578Z,1736374927.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.599998 m, bearing: 114.620691 deg, lat: 36.905068 deg, lon: -122.120038 deg, deltaT: 11.097042 s, deltaX: -0.700005 m, approachRate: -0.063080 m/s, posRepo size: 4 2025-01-08T22:22:07.579Z,1736374927.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-08T22:22:07.590Z,1736374927.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 31.988512 m, bearing: 168.747195 deg, approach rate: 0.000000 m/s, LOS rate: -0.612186 deg/s, cmd heading: 39.754044 deg, new cmd heading: 38.894061 deg. 2025-01-08T22:22:07.597Z,1736374927.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678829 target range: 126.599998 and range: 126.60 m. 2025-01-08T22:22:07.772Z,1736374927.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:07.773Z,1736374927.773 [DAT](INFO): DAT read: TxSync time:22:22:06.8007 2025-01-08T22:22:07.954Z,1736374927.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:07.996Z,1736374927.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-08T22:22:07.998Z,1736374927.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 32.156357 m, bearing: 168.913897 deg, approach rate: 0.399125 m/s, LOS rate: 0.394339 deg/s, cmd heading: 38.894061 deg, new cmd heading: 39.391545 deg. 2025-01-08T22:22:08.003Z,1736374928.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687512 target range: 126.599998 and range: 126.60 m. 2025-01-08T22:22:08.024Z,1736374928.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:08.276Z,1736374928.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:08.329Z,1736374928.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:08.385Z,1736374928.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:08.389Z,1736374928.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-08T22:22:08.412Z,1736374928.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 32.297298 m, bearing: 169.054318 deg, approach rate: 0.352553 m/s, LOS rate: 0.349718 deg/s, cmd heading: 39.391545 deg, new cmd heading: 39.810962 deg. 2025-01-08T22:22:08.413Z,1736374928.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694832 target range: 126.599998 and range: 126.60 m. 2025-01-08T22:22:08.528Z,1736374928.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:08.528Z,1736374928.528 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:08.528Z,1736374928.528 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:08.529Z,1736374928.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:08.735Z,1736374928.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:08.745Z,1736374928.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-08T22:22:08.748Z,1736374928.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 32.454193 m, bearing: 169.246170 deg, approach rate: 0.438766 m/s, LOS rate: 0.533929 deg/s, cmd heading: 39.810963 deg, new cmd heading: 40.383715 deg. 2025-01-08T22:22:08.748Z,1736374928.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704829 target range: 126.599998 and range: 126.60 m. 2025-01-08T22:22:08.780Z,1736374928.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:08.781Z,1736374928.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247221 2025-01-08T22:22:09.032Z,1736374929.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:09.032Z,1736374929.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498994 2025-01-08T22:22:09.124Z,1736374929.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:09.133Z,1736374929.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-08T22:22:09.136Z,1736374929.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 32.604958 m, bearing: 169.428377 deg, approach rate: 0.387908 m/s, LOS rate: 0.466641 deg/s, cmd heading: 40.383715 deg, new cmd heading: 40.927793 deg. 2025-01-08T22:22:09.137Z,1736374929.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714325 target range: 126.599998 and range: 126.60 m. 2025-01-08T22:22:09.284Z,1736374929.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:09.285Z,1736374929.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751520 2025-01-08T22:22:09.513Z,1736374929.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:09.522Z,1736374929.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-08T22:22:09.526Z,1736374929.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 32.756283 m, bearing: 169.608182 deg, approach rate: 0.389525 m/s, LOS rate: 0.460695 deg/s, cmd heading: 40.927795 deg, new cmd heading: 41.464700 deg. 2025-01-08T22:22:09.527Z,1736374929.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.723696 target range: 126.599998 and range: 126.60 m. 2025-01-08T22:22:09.536Z,1736374929.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:09.537Z,1736374929.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003186 2025-01-08T22:22:09.794Z,1736374929.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:09.795Z,1736374929.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261372 2025-01-08T22:22:09.942Z,1736374929.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:09.950Z,1736374929.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-08T22:22:09.953Z,1736374929.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 32.923508 m, bearing: 169.871912 deg, approach rate: 0.390218 m/s, LOS rate: 0.612285 deg/s, cmd heading: 41.464702 deg, new cmd heading: 42.251822 deg. 2025-01-08T22:22:09.954Z,1736374929.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.737433 target range: 126.599998 and range: 126.60 m. 2025-01-08T22:22:10.048Z,1736374930.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:10.049Z,1736374930.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516139 2025-01-08T22:22:10.300Z,1736374930.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:10.301Z,1736374930.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767194 2025-01-08T22:22:10.334Z,1736374930.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:10.356Z,1736374930.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-08T22:22:10.359Z,1736374930.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 33.077484 m, bearing: 170.110771 deg, approach rate: 0.384174 m/s, LOS rate: 0.593180 deg/s, cmd heading: 42.251823 deg, new cmd heading: 42.965025 deg. 2025-01-08T22:22:10.360Z,1736374930.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749881 target range: 126.599998 and range: 126.60 m. 2025-01-08T22:22:10.553Z,1736374930.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:10.554Z,1736374930.554 [DAT](INFO): DAT read: Rx Time:22:22:09.3750 2025-01-08T22:22:10.554Z,1736374930.554 [DAT](INFO): Rx dataTimestamp_ set to:1736374930.554011 2025-01-08T22:22:10.555Z,1736374930.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021496 2025-01-08T22:22:10.761Z,1736374930.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:10.768Z,1736374930.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:10.770Z,1736374930.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-08T22:22:10.774Z,1736374930.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 33.246288 m, bearing: 170.454260 deg, approach rate: 0.402681 m/s, LOS rate: 0.815225 deg/s, cmd heading: 42.965025 deg, new cmd heading: 43.990145 deg. 2025-01-08T22:22:10.776Z,1736374930.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767773 target range: 126.599998 and range: 126.60 m. 2025-01-08T22:22:10.804Z,1736374930.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:10.805Z,1736374930.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271276 2025-01-08T22:22:11.058Z,1736374931.058 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:11.104Z,1736374931.104 [DAT](INFO): DAT read: 22:22:09.3750 LVL= 15568, 20881, 19842, 27923, AGC= 62, IDX= 451, 0.10, 2.581, 1.420, 0.089, 1.276, PHS= 1.392, 0.191,-1.190, RAW= 57.7, -3.5, CAL= 62.1, -8.1, ROT= 87.9, 8.1 2025-01-08T22:22:11.105Z,1736374931.105 [DAT](INFO): got valid direction response: 22:22:09.3750 LVL= 15568, 20881, 19842, 27923, AGC= 62, IDX= 451, 0.10, 2.581, 1.420, 0.089, 1.276, PHS= 1.392, 0.191,-1.190, RAW= 57.7, -3.5, CAL= 62.1, -8.1, ROT= 87.9, 8.1 2025-01-08T22:22:11.106Z,1736374931.106 [DAT](INFO): DAT read: Bearing 87.9, 8.1 (Local) 2025-01-08T22:22:11.106Z,1736374931.106 [DAT](INFO): Local bearing/azimuth received: Bearing 87.9, 8.1 (Local) 2025-01-08T22:22:11.113Z,1736374931.113 [DAT](INFO): DAT read: Range 10 to 50 : 127.0 m (Round-trip 169.4 ms) speed -0.1 m/s 2025-01-08T22:22:11.114Z,1736374931.114 [DAT](INFO): DAT read: user:2542> 2025-01-08T22:22:11.119Z,1736374931.119 [DAT](INFO): DAT read: Tx time:22:22:10.5015 2025-01-08T22:22:11.120Z,1736374931.120 [DAT](INFO): Ping request sent. 2025-01-08T22:22:11.120Z,1736374931.120 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:11.120Z,1736374931.120 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:11.121Z,1736374931.121 [DAT](INFO): direction in FSK: [0.041606,0.602798,0.796808] 2025-01-08T22:22:11.121Z,1736374931.121 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:11.121Z,1736374931.121 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:11.137Z,1736374931.137 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:11.137Z,1736374931.137 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:11.230Z,1736374931.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:11.268Z,1736374931.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.000000 m, deltaT: 3.538397 s, deltaX: 0.400002 m, approachRate: 0.113046 m/s, rangeRepo size: 4 2025-01-08T22:22:11.270Z,1736374931.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.000000 m, bearing: 125.825161 deg, lat: 36.905040 deg, lon: -122.119535 deg, deltaT: 3.538397 s, deltaX: 0.400002 m, approachRate: 0.113046 m/s, posRepo size: 4 2025-01-08T22:22:11.271Z,1736374931.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m. 2025-01-08T22:22:11.278Z,1736374931.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.000000 m, nav range: 61.714966 m, bearing: 125.824933 deg, approach rate: 0.000000 m/s, LOS rate: 0.815225 deg/s, cmd heading: 43.990144 deg, new cmd heading: 45.175177 deg. 2025-01-08T22:22:11.279Z,1736374931.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788456 target range: 127.000000 and range: 127.00 m. 2025-01-08T22:22:11.308Z,1736374931.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:11.309Z,1736374931.309 [DAT](INFO): DAT read: TxSync time:22:22:10.5007 2025-01-08T22:22:11.560Z,1736374931.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:11.610Z,1736374931.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:11.620Z,1736374931.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m. 2025-01-08T22:22:11.622Z,1736374931.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.000000 m, nav range: 61.698101 m, bearing: 126.039464 deg, approach rate: -0.046319 m/s, LOS rate: 0.589361 deg/s, cmd heading: 45.175175 deg, new cmd heading: 45.818914 deg. 2025-01-08T22:22:11.624Z,1736374931.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.799691 target range: 127.000000 and range: 127.00 m. 2025-01-08T22:22:11.812Z,1736374931.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:12.064Z,1736374932.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:12.139Z,1736374932.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:12.172Z,1736374932.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m. 2025-01-08T22:22:12.179Z,1736374932.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.000000 m, nav range: 61.624443 m, bearing: 126.371082 deg, approach rate: -0.134415 m/s, LOS rate: 0.605873 deg/s, cmd heading: 45.818914 deg, new cmd heading: 46.814850 deg. 2025-01-08T22:22:12.180Z,1736374932.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817073 target range: 127.000000 and range: 127.00 m. 2025-01-08T22:22:12.317Z,1736374932.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:12.505Z,1736374932.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:12.514Z,1736374932.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m. 2025-01-08T22:22:12.533Z,1736374932.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.000000 m, nav range: 61.572308 m, bearing: 126.600966 deg, approach rate: -0.150145 m/s, LOS rate: 0.662600 deg/s, cmd heading: 46.814851 deg, new cmd heading: 47.505051 deg. 2025-01-08T22:22:12.534Z,1736374932.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829120 target range: 127.000000 and range: 127.00 m. 2025-01-08T22:22:12.568Z,1736374932.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:12.820Z,1736374932.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:12.937Z,1736374932.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:12.946Z,1736374932.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:12.948Z,1736374932.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m. 2025-01-08T22:22:12.951Z,1736374932.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.000000 m, nav range: 61.492012 m, bearing: 126.896754 deg, approach rate: -0.185136 m/s, LOS rate: 0.682880 deg/s, cmd heading: 47.505052 deg, new cmd heading: 48.393500 deg. 2025-01-08T22:22:12.952Z,1736374932.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.844626 target range: 127.000000 and range: 127.00 m. 2025-01-08T22:22:13.072Z,1736374933.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:13.073Z,1736374933.073 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:13.073Z,1736374933.073 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:13.073Z,1736374933.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:13.318Z,1736374933.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:13.324Z,1736374933.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:13.325Z,1736374933.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205327 2025-01-08T22:22:13.330Z,1736374933.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m. 2025-01-08T22:22:13.332Z,1736374933.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.000000 m, nav range: 61.419785 m, bearing: 127.157286 deg, approach rate: -0.189307 m/s, LOS rate: 0.683652 deg/s, cmd heading: 48.393499 deg, new cmd heading: 49.175963 deg. 2025-01-08T22:22:13.333Z,1736374933.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858282 target range: 127.000000 and range: 127.00 m. 2025-01-08T22:22:13.576Z,1736374933.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:13.577Z,1736374933.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457006 2025-01-08T22:22:13.784Z,1736374933.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:13.818Z,1736374933.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m. 2025-01-08T22:22:13.828Z,1736374933.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:13.829Z,1736374933.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708989 2025-01-08T22:22:13.830Z,1736374933.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.000000 m, nav range: 61.312595 m, bearing: 127.481051 deg, approach rate: -0.219493 m/s, LOS rate: 0.664132 deg/s, cmd heading: 49.175962 deg, new cmd heading: 50.148855 deg. 2025-01-08T22:22:13.831Z,1736374933.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.875263 target range: 127.000000 and range: 127.00 m. 2025-01-08T22:22:14.080Z,1736374934.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:14.080Z,1736374934.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960671 2025-01-08T22:22:14.162Z,1736374934.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:14.172Z,1736374934.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m. 2025-01-08T22:22:14.174Z,1736374934.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.000000 m, nav range: 61.223316 m, bearing: 127.743472 deg, approach rate: -0.252590 m/s, LOS rate: 0.743525 deg/s, cmd heading: 50.148854 deg, new cmd heading: 50.937213 deg. 2025-01-08T22:22:14.175Z,1736374934.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.889022 target range: 127.000000 and range: 127.00 m. 2025-01-08T22:22:14.333Z,1736374934.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:14.334Z,1736374934.334 [DAT](INFO): DAT read: Rx Time:22:22:13.0751 2025-01-08T22:22:14.334Z,1736374934.334 [DAT](INFO): Rx dataTimestamp_ set to:1736374934.333703 2025-01-08T22:22:14.334Z,1736374934.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214767 2025-01-08T22:22:14.555Z,1736374934.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:14.564Z,1736374934.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m. 2025-01-08T22:22:14.567Z,1736374934.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.000000 m, nav range: 61.127914 m, bearing: 128.015208 deg, approach rate: -0.242669 m/s, LOS rate: 0.692277 deg/s, cmd heading: 50.937211 deg, new cmd heading: 51.753633 deg. 2025-01-08T22:22:14.568Z,1736374934.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.903271 target range: 127.000000 and range: 127.00 m. 2025-01-08T22:22:14.586Z,1736374934.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:14.586Z,1736374934.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466683 2025-01-08T22:22:14.836Z,1736374934.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:14.848Z,1736374934.848 [DAT](INFO): DAT read: 22:22:13.0751 LVL= 15200, 22065, 23282, 30899, AGC= 60, IDX= 421,-0.34, 2.171, 1.145,-0.153, 1.003, PHS= 1.256, 0.190,-1.158, RAW= 56.1, -2.8, CAL= 59.7, -6.8, ROT= 90.3, 6.8 2025-01-08T22:22:14.849Z,1736374934.849 [DAT](INFO): got valid direction response: 22:22:13.0751 LVL= 15200, 22065, 23282, 30899, AGC= 60, IDX= 421,-0.34, 2.171, 1.145,-0.153, 1.003, PHS= 1.256, 0.190,-1.158, RAW= 56.1, -2.8, CAL= 59.7, -6.8, ROT= 90.3, 6.8 2025-01-08T22:22:14.850Z,1736374934.850 [DAT](INFO): DAT read: Bearing 90.3, 6.8 (Local) 2025-01-08T22:22:14.850Z,1736374934.850 [DAT](INFO): Local bearing/azimuth received: Bearing 90.3, 6.8 (Local) 2025-01-08T22:22:14.852Z,1736374934.852 [DAT](INFO): DAT read: Range 10 to 50 : 127.1 m (Round-trip 169.5 ms) speed -0.3 m/s 2025-01-08T22:22:14.852Z,1736374934.852 [DAT](INFO): DAT read: user:2543> 2025-01-08T22:22:14.853Z,1736374934.853 [DAT](INFO): DAT read: Tx time:22:22:14.2015 2025-01-08T22:22:14.853Z,1736374934.853 [DAT](INFO): Ping request sent. 2025-01-08T22:22:14.853Z,1736374934.853 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:14.854Z,1736374934.854 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:14.855Z,1736374934.855 [DAT](INFO): direction in FSK: [0.030414,0.624131,0.780728] 2025-01-08T22:22:14.855Z,1736374934.855 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:14.857Z,1736374934.857 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:14.861Z,1736374934.861 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:14.862Z,1736374934.862 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:15.053Z,1736374935.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:15.081Z,1736374935.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.099998 m, deltaT: 3.777667 s, deltaX: 0.099998 m, approachRate: 0.026471 m/s, rangeRepo size: 4 2025-01-08T22:22:15.083Z,1736374935.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.099998 m, bearing: 138.883428 deg, lat: 36.905040 deg, lon: -122.119535 deg, deltaT: 3.777667 s, deltaX: 0.099998 m, approachRate: 0.026471 m/s, posRepo size: 4 2025-01-08T22:22:15.088Z,1736374935.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:15.089Z,1736374935.089 [DAT](INFO): DAT read: TxSync time:22:22:14.2007 2025-01-08T22:22:15.090Z,1736374935.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.10 m. 2025-01-08T22:22:15.096Z,1736374935.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.099998 m, nav range: 61.008354 m, bearing: 128.360760 deg, approach rate: 0.000000 m/s, LOS rate: 0.692277 deg/s, cmd heading: 51.753634 deg, new cmd heading: 52.824174 deg. 2025-01-08T22:22:15.097Z,1736374935.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.921956 target range: 127.099998 and range: 127.10 m. 2025-01-08T22:22:15.340Z,1736374935.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:15.492Z,1736374935.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:15.518Z,1736374935.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:15.521Z,1736374935.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.10 m. 2025-01-08T22:22:15.532Z,1736374935.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.099998 m, nav range: 60.899601 m, bearing: 128.665204 deg, approach rate: -0.246565 m/s, LOS rate: 0.691462 deg/s, cmd heading: 52.824174 deg, new cmd heading: 53.739054 deg. 2025-01-08T22:22:15.533Z,1736374935.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937923 target range: 127.099998 and range: 127.10 m. 2025-01-08T22:22:15.592Z,1736374935.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:15.593Z,1736374935.593 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:15.593Z,1736374935.593 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:15.593Z,1736374935.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:15.844Z,1736374935.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:15.844Z,1736374935.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990777 2025-01-08T22:22:16.018Z,1736374936.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:16.048Z,1736374936.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.10 m. 2025-01-08T22:22:16.050Z,1736374936.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.099998 m, nav range: 60.786980 m, bearing: 129.010590 deg, approach rate: -0.215588 m/s, LOS rate: 0.662386 deg/s, cmd heading: 53.739054 deg, new cmd heading: 54.777014 deg. 2025-01-08T22:22:16.055Z,1736374936.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956039 target range: 127.099998 and range: 127.10 m. 2025-01-08T22:22:16.096Z,1736374936.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:16.097Z,1736374936.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243157 2025-01-08T22:22:16.240Z,1736374936.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:22:16.348Z,1736374936.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:16.348Z,1736374936.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494917 2025-01-08T22:22:16.382Z,1736374936.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:16.405Z,1736374936.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.10 m. 2025-01-08T22:22:16.412Z,1736374936.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.099998 m, nav range: 60.705814 m, bearing: 129.249073 deg, approach rate: -0.224308 m/s, LOS rate: 0.659947 deg/s, cmd heading: 54.777014 deg, new cmd heading: 55.493379 deg. 2025-01-08T22:22:16.413Z,1736374936.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.968542 target range: 127.099998 and range: 127.10 m. 2025-01-08T22:22:16.600Z,1736374936.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:16.600Z,1736374936.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746852 2025-01-08T22:22:16.849Z,1736374936.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:16.852Z,1736374936.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:16.852Z,1736374936.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998968 2025-01-08T22:22:16.861Z,1736374936.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.10 m. 2025-01-08T22:22:16.863Z,1736374936.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.099998 m, nav range: 60.618656 m, bearing: 129.538622 deg, approach rate: -0.191475 m/s, LOS rate: 0.637013 deg/s, cmd heading: 55.493378 deg, new cmd heading: 56.363205 deg. 2025-01-08T22:22:16.864Z,1736374936.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983724 target range: 127.099998 and range: 127.10 m. 2025-01-08T22:22:17.104Z,1736374937.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:17.105Z,1736374937.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251926 2025-01-08T22:22:17.203Z,1736374937.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:17.217Z,1736374937.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.10 m. 2025-01-08T22:22:17.219Z,1736374937.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.099998 m, nav range: 60.550816 m, bearing: 129.758021 deg, approach rate: -0.190445 m/s, LOS rate: 0.616593 deg/s, cmd heading: 56.363206 deg, new cmd heading: 57.022109 deg. 2025-01-08T22:22:17.220Z,1736374937.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.995224 target range: 127.099998 and range: 127.10 m. 2025-01-08T22:22:17.244Z,1736374937.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:22:17.356Z,1736374937.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:17.356Z,1736374937.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502918 2025-01-08T22:22:17.597Z,1736374937.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:17.609Z,1736374937.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:17.610Z,1736374937.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756254 2025-01-08T22:22:17.612Z,1736374937.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:17.614Z,1736374937.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.10 m. 2025-01-08T22:22:17.617Z,1736374937.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.099998 m, nav range: 60.473087 m, bearing: 130.001799 deg, approach rate: -0.195785 m/s, LOS rate: 0.614826 deg/s, cmd heading: 57.022107 deg, new cmd heading: 57.754340 deg. 2025-01-08T22:22:17.617Z,1736374937.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008003 target range: 127.099998 and range: 127.10 m. 2025-01-08T22:22:17.860Z,1736374937.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:17.861Z,1736374937.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007016 2025-01-08T22:22:18.050Z,1736374938.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:18.080Z,1736374938.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.10 m. 2025-01-08T22:22:18.082Z,1736374938.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.099998 m, nav range: 60.407990 m, bearing: 130.249161 deg, approach rate: -0.146100 m/s, LOS rate: 0.555757 deg/s, cmd heading: 57.754338 deg, new cmd heading: 58.497181 deg. 2025-01-08T22:22:18.092Z,1736374938.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.020968 target range: 127.099998 and range: 127.10 m. 2025-01-08T22:22:18.112Z,1736374938.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:18.113Z,1736374938.113 [DAT](INFO): DAT read: Rx Time:22:22:16.7753 2025-01-08T22:22:18.113Z,1736374938.113 [DAT](INFO): Rx dataTimestamp_ set to:1736374938.112900 2025-01-08T22:22:18.114Z,1736374938.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260211 2025-01-08T22:22:18.364Z,1736374938.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:18.364Z,1736374938.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510864 2025-01-08T22:22:18.426Z,1736374938.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:18.484Z,1736374938.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.10 m. 2025-01-08T22:22:18.487Z,1736374938.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.099998 m, nav range: 60.350262 m, bearing: 130.453078 deg, approach rate: -0.135864 m/s, LOS rate: 0.480380 deg/s, cmd heading: 58.497182 deg, new cmd heading: 59.109492 deg. 2025-01-08T22:22:18.492Z,1736374938.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.031655 target range: 127.099998 and range: 127.10 m. 2025-01-08T22:22:18.617Z,1736374938.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:18.624Z,1736374938.624 [DAT](INFO): DAT read: 22:22:16.7753 LVL= 16800, 26033, 29330, 31507, AGC= 59, IDX= 422,-0.25, 2.020, 1.229,-0.077, 1.002, PHS= 1.105, 0.274,-1.082, RAW= 52.1, -3.1, CAL= 55.0, -7.1, ROT= 95.0, 7.1 2025-01-08T22:22:18.626Z,1736374938.626 [DAT](INFO): got valid direction response: 22:22:16.7753 LVL= 16800, 26033, 29330, 31507, AGC= 59, IDX= 422,-0.25, 2.020, 1.229,-0.077, 1.002, PHS= 1.105, 0.274,-1.082, RAW= 52.1, -3.1, CAL= 55.0, -7.1, ROT= 95.0, 7.1 2025-01-08T22:22:18.627Z,1736374938.627 [DAT](INFO): DAT read: Bearing 95.0, 7.1 (Local) 2025-01-08T22:22:18.627Z,1736374938.627 [DAT](INFO): Local bearing/azimuth received: Bearing 95.0, 7.1 (Local) 2025-01-08T22:22:18.629Z,1736374938.629 [DAT](INFO): DAT read: Range 10 to 50 : 127.2 m (Round-trip 169.7 ms) speed 0.2 m/s 2025-01-08T22:22:18.630Z,1736374938.630 [DAT](INFO): DAT read: user:2544> 2025-01-08T22:22:18.631Z,1736374938.631 [DAT](INFO): DAT read: Tx time:22:22:17.9015 2025-01-08T22:22:18.631Z,1736374938.631 [DAT](INFO): Ping request sent. 2025-01-08T22:22:18.631Z,1736374938.631 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:18.632Z,1736374938.632 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:18.632Z,1736374938.632 [DAT](INFO): direction in FSK: [0.045346,0.673562,0.737738] 2025-01-08T22:22:18.633Z,1736374938.633 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:18.633Z,1736374938.633 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:18.636Z,1736374938.636 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:18.636Z,1736374938.636 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:18.868Z,1736374938.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:18.869Z,1736374938.869 [DAT](INFO): DAT read: TxSync time:22:22:17.9007 2025-01-08T22:22:18.940Z,1736374938.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:18.965Z,1736374938.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.199997 m, deltaT: 3.780860 s, deltaX: 0.099998 m, approachRate: 0.026449 m/s, rangeRepo size: 4 2025-01-08T22:22:18.967Z,1736374938.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.199997 m, bearing: 143.126927 deg, lat: 36.905040 deg, lon: -122.119535 deg, deltaT: 3.780860 s, deltaX: 0.099998 m, approachRate: 0.026449 m/s, posRepo size: 4 2025-01-08T22:22:18.976Z,1736374938.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:22:18.979Z,1736374938.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 60.297462 m, bearing: 130.709444 deg, approach rate: 0.000000 m/s, LOS rate: 0.480380 deg/s, cmd heading: 59.109495 deg, new cmd heading: 59.801066 deg. 2025-01-08T22:22:18.988Z,1736374938.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.043725 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:22:18.997Z,1736374938.997 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T22:12:18.8Z 2025-01-08T22:22:18.997Z,1736374938.997 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T22:22:18.997Z,1736374938.997 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:22:18.997Z,1736374938.997 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T22:22:18.997Z,1736374938.997 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:22:18.997Z,1736374938.997 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T22:22:19.121Z,1736374939.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:19.256Z,1736374939.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:19.274Z,1736374939.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:22:19.281Z,1736374939.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 60.261883 m, bearing: 130.866366 deg, approach rate: -0.114751 m/s, LOS rate: 0.506398 deg/s, cmd heading: 59.801066 deg, new cmd heading: 60.272098 deg. 2025-01-08T22:22:19.282Z,1736374939.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.051947 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:22:19.296Z,1736374939.296 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T22:22:19.296Z,1736374939.296 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T22:22:19.296Z,1736374939.296 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T22:22:19.296Z,1736374939.296 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:22:19.296Z,1736374939.296 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T22:22:19.377Z,1736374939.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:19.628Z,1736374939.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:19.880Z,1736374939.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:19.964Z,1736374939.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:19.999Z,1736374939.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:20.005Z,1736374940.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:22:20.013Z,1736374940.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 60.199791 m, bearing: 131.182356 deg, approach rate: -0.084981 m/s, LOS rate: 0.432916 deg/s, cmd heading: 60.272096 deg, new cmd heading: 61.220952 deg. 2025-01-08T22:22:20.014Z,1736374940.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068507 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:22:20.132Z,1736374940.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:20.132Z,1736374940.132 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:20.132Z,1736374940.132 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:20.133Z,1736374940.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:20.335Z,1736374940.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:20.373Z,1736374940.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:22:20.380Z,1736374940.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 60.165638 m, bearing: 131.347723 deg, approach rate: -0.092837 m/s, LOS rate: 0.449769 deg/s, cmd heading: 61.220953 deg, new cmd heading: 61.717323 deg. 2025-01-08T22:22:20.381Z,1736374940.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077170 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:22:20.384Z,1736374940.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:20.384Z,1736374940.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753402 2025-01-08T22:22:20.636Z,1736374940.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:20.637Z,1736374940.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005628 2025-01-08T22:22:20.745Z,1736374940.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:20.753Z,1736374940.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:22:20.772Z,1736374940.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 60.126236 m, bearing: 131.530421 deg, approach rate: -0.103540 m/s, LOS rate: 0.480404 deg/s, cmd heading: 61.717323 deg, new cmd heading: 62.265758 deg. 2025-01-08T22:22:20.773Z,1736374940.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.086743 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:22:20.889Z,1736374940.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:20.890Z,1736374940.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258813 2025-01-08T22:22:21.140Z,1736374941.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:21.140Z,1736374941.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509150 2025-01-08T22:22:21.173Z,1736374941.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:21.206Z,1736374941.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:22:21.209Z,1736374941.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 60.092518 m, bearing: 131.720144 deg, approach rate: -0.074418 m/s, LOS rate: 0.418967 deg/s, cmd heading: 62.265760 deg, new cmd heading: 62.835228 deg. 2025-01-08T22:22:21.210Z,1736374941.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.096682 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:22:21.392Z,1736374941.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:21.393Z,1736374941.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762291 2025-01-08T22:22:21.553Z,1736374941.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:21.562Z,1736374941.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:22:21.565Z,1736374941.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 60.061596 m, bearing: 131.888048 deg, approach rate: -0.086935 m/s, LOS rate: 0.472295 deg/s, cmd heading: 62.835227 deg, new cmd heading: 63.339184 deg. 2025-01-08T22:22:21.566Z,1736374941.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.105477 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:22:21.645Z,1736374941.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:21.646Z,1736374941.646 [DAT](INFO): DAT read: Rx Time:22:22:20.4755 2025-01-08T22:22:21.647Z,1736374941.647 [DAT](INFO): Rx dataTimestamp_ set to:1736374941.646025 2025-01-08T22:22:21.648Z,1736374941.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016827 2025-01-08T22:22:21.896Z,1736374941.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:21.896Z,1736374941.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265335 2025-01-08T22:22:21.984Z,1736374941.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:21.994Z,1736374941.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:22:21.997Z,1736374941.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 60.027241 m, bearing: 132.071356 deg, approach rate: -0.079520 m/s, LOS rate: 0.424538 deg/s, cmd heading: 63.339186 deg, new cmd heading: 63.889407 deg. 2025-01-08T22:22:21.998Z,1736374941.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.115080 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:22:22.154Z,1736374942.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:22.159Z,1736374942.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526767 2025-01-08T22:22:22.364Z,1736374942.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:22.392Z,1736374942.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:22.401Z,1736374942.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:22.411Z,1736374942.411 [DAT](INFO): DAT read: 22:22:20.4755 LVL= 10160, 24737, 20146, 30899, AGC= 55, IDX= 439,-0.30,-2.980, 2.682, 1.378, 2.391, PHS= 1.000, 0.337,-1.016, RAW= 48.8, -3.6, CAL= 51.3, -7.6, ROT= 98.7, 7.6 2025-01-08T22:22:22.412Z,1736374942.412 [DAT](INFO): got valid direction response: 22:22:20.4755 LVL= 10160, 24737, 20146, 30899, AGC= 55, IDX= 439,-0.30,-2.980, 2.682, 1.378, 2.391, PHS= 1.000, 0.337,-1.016, RAW= 48.8, -3.6, CAL= 51.3, -7.6, ROT= 98.7, 7.6 2025-01-08T22:22:22.413Z,1736374942.413 [DAT](INFO): DAT read: Bearing 98.7, 7.6 (Local) 2025-01-08T22:22:22.413Z,1736374942.413 [DAT](INFO): Local bearing/azimuth received: Bearing 98.7, 7.6 (Local) 2025-01-08T22:22:22.415Z,1736374942.415 [DAT](INFO): DAT read: Range 10 to 50 : 127.3 m (Round-trip 169.8 ms) speed 0.1 m/s 2025-01-08T22:22:22.416Z,1736374942.416 [DAT](INFO): DAT read: user:2545> 2025-01-08T22:22:22.417Z,1736374942.417 [DAT](INFO): DAT read: Tx time:22:22:21.6016 2025-01-08T22:22:22.417Z,1736374942.417 [DAT](INFO): Ping request sent. 2025-01-08T22:22:22.417Z,1736374942.417 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:22.418Z,1736374942.418 [DAT](INFO): DAT read: TxSync time:22:22:21.6008 2025-01-08T22:22:22.418Z,1736374942.418 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:22.420Z,1736374942.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:22:22.423Z,1736374942.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 59.994732 m, bearing: 132.232296 deg, approach rate: -0.076254 m/s, LOS rate: 0.377711 deg/s, cmd heading: 63.889405 deg, new cmd heading: 64.372475 deg. 2025-01-08T22:22:22.428Z,1736374942.428 [DAT](INFO): direction in FSK: [0.061462,0.711098,0.700401] 2025-01-08T22:22:22.428Z,1736374942.428 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:22.428Z,1736374942.428 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:22.432Z,1736374942.432 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:22.432Z,1736374942.432 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:22.436Z,1736374942.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123512 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:22:22.653Z,1736374942.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:22.904Z,1736374942.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:22.931Z,1736374942.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:22.946Z,1736374942.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.300003 m, deltaT: 3.784125 s, deltaX: 0.100006 m, approachRate: 0.026428 m/s, rangeRepo size: 4 2025-01-08T22:22:22.949Z,1736374942.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.300003 m, bearing: 145.899271 deg, lat: 36.904988 deg, lon: -122.119597 deg, deltaT: 3.784125 s, deltaX: 0.100006 m, approachRate: 0.026428 m/s, posRepo size: 4 2025-01-08T22:22:22.949Z,1736374942.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:22.952Z,1736374942.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 60.378960 m, bearing: 140.108884 deg, approach rate: 0.000000 m/s, LOS rate: 0.377711 deg/s, cmd heading: 64.372477 deg, new cmd heading: 64.967794 deg. 2025-01-08T22:22:22.953Z,1736374942.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133902 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:22:23.156Z,1736374943.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:23.372Z,1736374943.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:23.382Z,1736374943.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:23.388Z,1736374943.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 60.361664 m, bearing: 140.306173 deg, approach rate: -0.039638 m/s, LOS rate: 0.452263 deg/s, cmd heading: 64.967796 deg, new cmd heading: 65.559809 deg. 2025-01-08T22:22:23.390Z,1736374943.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.144235 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:22:23.409Z,1736374943.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:23.660Z,1736374943.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:23.801Z,1736374943.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:23.813Z,1736374943.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:23.816Z,1736374943.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 60.343315 m, bearing: 140.497607 deg, approach rate: -0.042632 m/s, LOS rate: 0.444917 deg/s, cmd heading: 65.559810 deg, new cmd heading: 66.134268 deg. 2025-01-08T22:22:23.816Z,1736374943.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.154261 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:22:23.914Z,1736374943.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:24.164Z,1736374944.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:24.377Z,1736374944.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:24.405Z,1736374944.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:24.417Z,1736374944.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:24.418Z,1736374944.418 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:24.418Z,1736374944.418 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:24.420Z,1736374944.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:24.432Z,1736374944.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:24.434Z,1736374944.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 60.306198 m, bearing: 140.775604 deg, approach rate: -0.061606 m/s, LOS rate: 0.461696 deg/s, cmd heading: 66.134270 deg, new cmd heading: 66.968710 deg. 2025-01-08T22:22:24.443Z,1736374944.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.168824 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:22:24.668Z,1736374944.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:24.670Z,1736374944.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251713 2025-01-08T22:22:24.730Z,1736374944.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:24.740Z,1736374944.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:24.743Z,1736374944.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 60.281231 m, bearing: 140.946441 deg, approach rate: -0.076964 m/s, LOS rate: 0.526844 deg/s, cmd heading: 66.968707 deg, new cmd heading: 67.481416 deg. 2025-01-08T22:22:24.744Z,1736374944.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.177773 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:22:24.920Z,1736374944.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:24.920Z,1736374944.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503069 2025-01-08T22:22:25.140Z,1736374945.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:25.150Z,1736374945.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:25.153Z,1736374945.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 60.242020 m, bearing: 141.162304 deg, approach rate: -0.095441 m/s, LOS rate: 0.525755 deg/s, cmd heading: 67.481415 deg, new cmd heading: 68.129396 deg. 2025-01-08T22:22:25.154Z,1736374945.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.189082 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:22:25.172Z,1736374945.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:25.172Z,1736374945.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754949 2025-01-08T22:22:25.425Z,1736374945.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:25.427Z,1736374945.427 [DAT](INFO): DAT read: Rx Time:22:22:24.1749 2025-01-08T22:22:25.428Z,1736374945.428 [DAT](INFO): Rx dataTimestamp_ set to:1736374945.427462 2025-01-08T22:22:25.430Z,1736374945.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012000 2025-01-08T22:22:25.528Z,1736374945.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:25.564Z,1736374945.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m. 2025-01-08T22:22:25.567Z,1736374945.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.300003 m, nav range: 60.203808 m, bearing: 141.366042 deg, approach rate: -0.093383 m/s, LOS rate: 0.498218 deg/s, cmd heading: 68.129395 deg, new cmd heading: 68.740974 deg. 2025-01-08T22:22:25.572Z,1736374945.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.199756 target range: 127.300003 and range: 127.30 m. 2025-01-08T22:22:25.676Z,1736374945.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:25.678Z,1736374945.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260022 2025-01-08T22:22:25.929Z,1736374945.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:25.971Z,1736374945.971 [DAT](INFO): DAT read: 22:22:24.1749 LVL= 15344, 25121, 19042, 26611, AGC= 59, IDX= 432,-0.04,-2.244,-3.046, 1.969, 2.924, PHS= 1.203, 0.360,-0.958, RAW= 52.8, -6.5, CAL= 58.0, -12.1, ROT= 92.0, 12.1 2025-01-08T22:22:25.981Z,1736374945.981 [DAT](INFO): got valid direction response: 22:22:24.1749 LVL= 15344, 25121, 19042, 26611, AGC= 59, IDX= 432,-0.04,-2.244,-3.046, 1.969, 2.924, PHS= 1.203, 0.360,-0.958, RAW= 52.8, -6.5, CAL= 58.0, -12.1, ROT= 92.0, 12.1 2025-01-08T22:22:25.982Z,1736374945.982 [DAT](INFO): DAT read: Bearing 92.0, 12.1 (Local) 2025-01-08T22:22:25.982Z,1736374945.982 [DAT](INFO): Local bearing/azimuth received: Bearing 92.0, 12.1 (Local) 2025-01-08T22:22:25.994Z,1736374945.994 [DAT](INFO): DAT read: Range 10 to 50 : 126.8 m (Round-trip 169.1 ms) speed 0.0 m/s 2025-01-08T22:22:25.995Z,1736374945.995 [DAT](INFO): DAT read: user:2546> 2025-01-08T22:22:26.017Z,1736374946.017 [DAT](INFO): DAT read: Tx time:22:22:25.3016 2025-01-08T22:22:26.018Z,1736374946.018 [DAT](INFO): Ping request sent. 2025-01-08T22:22:26.018Z,1736374946.018 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:26.018Z,1736374946.018 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:26.019Z,1736374946.019 [DAT](INFO): direction in FSK: [0.105561,0.658612,0.745042] 2025-01-08T22:22:26.036Z,1736374946.036 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:26.036Z,1736374946.036 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:26.039Z,1736374946.039 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:26.055Z,1736374946.055 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:26.086Z,1736374946.086 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -67.82, +1169.31, -11.83 2025-01-08T22:22:26.108Z,1736374946.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T22:22:26.109Z,1736374946.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:26.138Z,1736374946.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.800003 m, deltaT: 3.530104 s, deltaX: -0.500000 m, approachRate: -0.141639 m/s, rangeRepo size: 4 2025-01-08T22:22:26.145Z,1736374946.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.800003 m, bearing: 143.405556 deg, lat: 36.904964 deg, lon: -122.119600 deg, deltaT: 3.530104 s, deltaX: -0.500000 m, approachRate: -0.141639 m/s, posRepo size: 4 2025-01-08T22:22:26.146Z,1736374946.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T22:22:26.153Z,1736374946.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 62.100674 m, bearing: 143.405351 deg, approach rate: 0.000000 m/s, LOS rate: 0.498218 deg/s, cmd heading: 68.740970 deg, new cmd heading: 69.605435 deg. 2025-01-08T22:22:26.154Z,1736374946.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.214844 target range: 126.800003 and range: 126.80 m. 2025-01-08T22:22:26.180Z,1736374946.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:26.181Z,1736374946.181 [DAT](INFO): DAT read: TxSync time:22:22:25.3008 2025-01-08T22:22:26.432Z,1736374946.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:26.459Z,1736374946.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:22:26.459Z,1736374946.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:26.478Z,1736374946.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:26.484Z,1736374946.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T22:22:26.487Z,1736374946.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 62.069046 m, bearing: 143.586933 deg, approach rate: -0.091293 m/s, LOS rate: 0.524402 deg/s, cmd heading: 69.605433 deg, new cmd heading: 70.150439 deg. 2025-01-08T22:22:26.492Z,1736374946.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224356 target range: 126.800003 and range: 126.80 m. 2025-01-08T22:22:26.684Z,1736374946.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:26.685Z,1736374946.685 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:26.685Z,1736374946.685 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:26.685Z,1736374946.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:26.854Z,1736374946.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:22:26.854Z,1736374946.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:26.866Z,1736374946.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T22:22:26.869Z,1736374946.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 62.031994 m, bearing: 143.788540 deg, approach rate: -0.097073 m/s, LOS rate: 0.528505 deg/s, cmd heading: 70.150441 deg, new cmd heading: 70.755600 deg. 2025-01-08T22:22:26.872Z,1736374946.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.234918 target range: 126.800003 and range: 126.80 m. 2025-01-08T22:22:26.938Z,1736374946.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:26.940Z,1736374946.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.921615 2025-01-08T22:22:27.188Z,1736374947.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:27.189Z,1736374947.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.170881 2025-01-08T22:22:27.282Z,1736374947.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:27.293Z,1736374947.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T22:22:27.296Z,1736374947.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 61.962502 m, bearing: 144.051613 deg, approach rate: -0.162575 m/s, LOS rate: 0.616140 deg/s, cmd heading: 70.755603 deg, new cmd heading: 71.545655 deg. 2025-01-08T22:22:27.297Z,1736374947.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248707 target range: 126.800003 and range: 126.80 m. 2025-01-08T22:22:27.440Z,1736374947.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:27.440Z,1736374947.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.422683 2025-01-08T22:22:27.674Z,1736374947.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:27.692Z,1736374947.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:27.693Z,1736374947.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.675584 2025-01-08T22:22:27.712Z,1736374947.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T22:22:27.715Z,1736374947.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 61.896603 m, bearing: 144.291269 deg, approach rate: -0.157440 m/s, LOS rate: 0.573176 deg/s, cmd heading: 71.545658 deg, new cmd heading: 72.265352 deg. 2025-01-08T22:22:27.722Z,1736374947.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261268 target range: 126.800003 and range: 126.80 m. 2025-01-08T22:22:27.946Z,1736374947.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:27.948Z,1736374947.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.930094 2025-01-08T22:22:28.167Z,1736374948.167 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, + +0.00, +0.00, 20.00,1842.12 2025-01-08T22:22:28.176Z,1736374948.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:22:28.176Z,1736374948.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:28.184Z,1736374948.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T22:22:28.187Z,1736374948.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 61.814228 m, bearing: 144.597295 deg, approach rate: -0.174350 m/s, LOS rate: 0.648579 deg/s, cmd heading: 72.265355 deg, new cmd heading: 73.184573 deg. 2025-01-08T22:22:28.188Z,1736374948.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277312 target range: 126.800003 and range: 126.80 m. 2025-01-08T22:22:28.196Z,1736374948.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:28.197Z,1736374948.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.178884 2025-01-08T22:22:28.448Z,1736374948.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:28.448Z,1736374948.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430749 2025-01-08T22:22:28.544Z,1736374948.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:22:28.544Z,1736374948.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:28.551Z,1736374948.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:28.553Z,1736374948.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T22:22:28.556Z,1736374948.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 61.748226 m, bearing: 144.822444 deg, approach rate: -0.179111 m/s, LOS rate: 0.611644 deg/s, cmd heading: 73.184575 deg, new cmd heading: 73.860711 deg. 2025-01-08T22:22:28.557Z,1736374948.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.289113 target range: 126.800003 and range: 126.80 m. 2025-01-08T22:22:28.700Z,1736374948.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:28.701Z,1736374948.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683134 2025-01-08T22:22:28.953Z,1736374948.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:28.956Z,1736374948.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.938176 2025-01-08T22:22:29.024Z,1736374949.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:29.033Z,1736374949.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T22:22:29.036Z,1736374949.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 61.630844 m, bearing: 145.154908 deg, approach rate: -0.244402 m/s, LOS rate: 0.693540 deg/s, cmd heading: 73.860709 deg, new cmd heading: 74.859894 deg. 2025-01-08T22:22:29.037Z,1736374949.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.306552 target range: 126.800003 and range: 126.80 m. 2025-01-08T22:22:29.204Z,1736374949.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:29.205Z,1736374949.205 [DAT](INFO): DAT read: Rx Time:22:22:27.8742 2025-01-08T22:22:29.206Z,1736374949.206 [DAT](INFO): Rx dataTimestamp_ set to:1736374949.205412 2025-01-08T22:22:29.206Z,1736374949.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.188583 2025-01-08T22:22:29.457Z,1736374949.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:29.457Z,1736374949.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.439723 2025-01-08T22:22:29.471Z,1736374949.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:29.479Z,1736374949.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T22:22:29.482Z,1736374949.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 61.514820 m, bearing: 145.463211 deg, approach rate: -0.260142 m/s, LOS rate: 0.692559 deg/s, cmd heading: 74.859891 deg, new cmd heading: 75.786458 deg. 2025-01-08T22:22:29.483Z,1736374949.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322723 target range: 126.800003 and range: 126.80 m. 2025-01-08T22:22:29.709Z,1736374949.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:29.715Z,1736374949.715 [DAT](INFO): DAT read: 22:22:27.8742 LVL= 15632, 23329, 16914, 20899, AGC= 61, IDX= 440, 0.02, 0.719,-0.356,-1.438,-0.574, PHS= 1.380, 0.265,-0.868, RAW= 59.7, -8.0, CAL= 67.9, -14.8, ROT= 82.1, 14.8 2025-01-08T22:22:29.716Z,1736374949.716 [DAT](INFO): got valid direction response: 22:22:27.8742 LVL= 15632, 23329, 16914, 20899, AGC= 61, IDX= 440, 0.02, 0.719,-0.356,-1.438,-0.574, PHS= 1.380, 0.265,-0.868, RAW= 59.7, -8.0, CAL= 67.9, -14.8, ROT= 82.1, 14.8 2025-01-08T22:22:29.717Z,1736374949.717 [DAT](INFO): DAT read: Bearing 82.1, 14.8 (Local) 2025-01-08T22:22:29.718Z,1736374949.718 [DAT](INFO): Local bearing/azimuth received: Bearing 82.1, 14.8 (Local) 2025-01-08T22:22:29.722Z,1736374949.722 [DAT](INFO): DAT read: Range 10 to 50 : 126.3 m (Round-trip 168.4 ms) speed 0.1 m/s 2025-01-08T22:22:29.723Z,1736374949.723 [DAT](INFO): DAT read: user:2547> 2025-01-08T22:22:29.724Z,1736374949.724 [DAT](INFO): DAT read: Tx time:22:22:29.0016 2025-01-08T22:22:29.724Z,1736374949.724 [DAT](INFO): Ping request sent. 2025-01-08T22:22:29.724Z,1736374949.724 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:29.725Z,1736374949.725 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:29.726Z,1736374949.726 [DAT](INFO): direction in FSK: [0.120650,0.566356,0.815282] 2025-01-08T22:22:29.726Z,1736374949.726 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:29.727Z,1736374949.727 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:29.730Z,1736374949.730 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:29.730Z,1736374949.730 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:29.883Z,1736374949.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:29.911Z,1736374949.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.300003 m, deltaT: 3.777737 s, deltaX: -0.500000 m, approachRate: -0.132354 m/s, rangeRepo size: 4 2025-01-08T22:22:29.919Z,1736374949.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.300003 m, bearing: 147.900481 deg, lat: 36.904964 deg, lon: -122.119627 deg, deltaT: 3.777737 s, deltaX: -0.500000 m, approachRate: -0.132354 m/s, posRepo size: 4 2025-01-08T22:22:29.924Z,1736374949.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m. 2025-01-08T22:22:29.927Z,1736374949.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.300003 m, nav range: 60.108902 m, bearing: 147.606405 deg, approach rate: 0.000000 m/s, LOS rate: 0.692559 deg/s, cmd heading: 75.786461 deg, new cmd heading: 76.681567 deg. 2025-01-08T22:22:29.934Z,1736374949.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338346 target range: 126.300003 and range: 126.30 m. 2025-01-08T22:22:29.962Z,1736374949.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:29.964Z,1736374949.964 [DAT](INFO): DAT read: TxSync time:22:22:29.0008 2025-01-08T22:22:30.214Z,1736374950.214 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:30.299Z,1736374950.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:30.307Z,1736374950.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m. 2025-01-08T22:22:30.311Z,1736374950.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.300003 m, nav range: 59.992905 m, bearing: 147.903585 deg, approach rate: -0.292202 m/s, LOS rate: 0.750054 deg/s, cmd heading: 76.681571 deg, new cmd heading: 77.574759 deg. 2025-01-08T22:22:30.328Z,1736374950.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353935 target range: 126.300003 and range: 126.30 m. 2025-01-08T22:22:30.464Z,1736374950.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:30.688Z,1736374950.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:30.696Z,1736374950.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:30.698Z,1736374950.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m. 2025-01-08T22:22:30.700Z,1736374950.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.300003 m, nav range: 59.880859 m, bearing: 148.181519 deg, approach rate: -0.286842 m/s, LOS rate: 0.712853 deg/s, cmd heading: 77.574761 deg, new cmd heading: 78.410060 deg. 2025-01-08T22:22:30.701Z,1736374950.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368514 target range: 126.300003 and range: 126.30 m. 2025-01-08T22:22:30.716Z,1736374950.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:30.716Z,1736374950.716 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:30.716Z,1736374950.716 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:30.717Z,1736374950.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:30.972Z,1736374950.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:30.975Z,1736374950.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249801 2025-01-08T22:22:31.088Z,1736374951.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:31.097Z,1736374951.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m. 2025-01-08T22:22:31.101Z,1736374951.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.300003 m, nav range: 59.762455 m, bearing: 148.465887 deg, approach rate: -0.296241 m/s, LOS rate: 0.712879 deg/s, cmd heading: 78.410059 deg, new cmd heading: 79.264788 deg. 2025-01-08T22:22:31.102Z,1736374951.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.383432 target range: 126.300003 and range: 126.30 m. 2025-01-08T22:22:31.224Z,1736374951.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:31.225Z,1736374951.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501325 2025-01-08T22:22:31.476Z,1736374951.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:31.477Z,1736374951.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752415 2025-01-08T22:22:31.480Z,1736374951.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:31.513Z,1736374951.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m. 2025-01-08T22:22:31.521Z,1736374951.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.300003 m, nav range: 59.644085 m, bearing: 148.744037 deg, approach rate: -0.284917 m/s, LOS rate: 0.670833 deg/s, cmd heading: 79.264789 deg, new cmd heading: 80.100831 deg. 2025-01-08T22:22:31.532Z,1736374951.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398023 target range: 126.300003 and range: 126.30 m. 2025-01-08T22:22:31.728Z,1736374951.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:31.730Z,1736374951.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005424 2025-01-08T22:22:31.941Z,1736374951.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:31.954Z,1736374951.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m. 2025-01-08T22:22:31.957Z,1736374951.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.300003 m, nav range: 59.502457 m, bearing: 149.071242 deg, approach rate: -0.320808 m/s, LOS rate: 0.742926 deg/s, cmd heading: 80.100832 deg, new cmd heading: 81.084683 deg. 2025-01-08T22:22:31.959Z,1736374951.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.415195 target range: 126.300003 and range: 126.30 m. 2025-01-08T22:22:31.981Z,1736374951.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:31.985Z,1736374951.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260290 2025-01-08T22:22:32.232Z,1736374952.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:32.232Z,1736374952.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508307 2025-01-08T22:22:32.355Z,1736374952.355 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-378,V 2025-01-08T22:22:32.366Z,1736374952.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:22:32.366Z,1736374952.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:32.379Z,1736374952.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m. 2025-01-08T22:22:32.401Z,1736374952.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.300003 m, nav range: 59.369202 m, bearing: 149.372881 deg, approach rate: -0.314111 m/s, LOS rate: 0.712621 deg/s, cmd heading: 81.084686 deg, new cmd heading: 81.991554 deg. 2025-01-08T22:22:32.402Z,1736374952.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431023 target range: 126.300003 and range: 126.30 m. 2025-01-08T22:22:32.484Z,1736374952.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:32.485Z,1736374952.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760594 2025-01-08T22:22:32.737Z,1736374952.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:32.738Z,1736374952.738 [DAT](INFO): DAT read: Rx Time:22:22:31.5731 2025-01-08T22:22:32.738Z,1736374952.738 [DAT](INFO): Rx dataTimestamp_ set to:1736374952.738187 2025-01-08T22:22:32.739Z,1736374952.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014887 2025-01-08T22:22:32.815Z,1736374952.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:22:32.816Z,1736374952.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:32.831Z,1736374952.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:32.837Z,1736374952.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m. 2025-01-08T22:22:32.844Z,1736374952.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.300003 m, nav range: 59.227398 m, bearing: 149.688058 deg, approach rate: -0.309487 m/s, LOS rate: 0.689517 deg/s, cmd heading: 81.991551 deg, new cmd heading: 82.939254 deg. 2025-01-08T22:22:32.845Z,1736374952.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447563 target range: 126.300003 and range: 126.30 m. 2025-01-08T22:22:32.990Z,1736374952.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:32.993Z,1736374952.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267860 2025-01-08T22:22:33.242Z,1736374953.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:33.244Z,1736374953.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519640 2025-01-08T22:22:33.292Z,1736374953.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:33.315Z,1736374953.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m. 2025-01-08T22:22:33.322Z,1736374953.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.300003 m, nav range: 59.088985 m, bearing: 149.982462 deg, approach rate: -0.289672 m/s, LOS rate: 0.617575 deg/s, cmd heading: 82.939253 deg, new cmd heading: 83.824462 deg. 2025-01-08T22:22:33.323Z,1736374953.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463013 target range: 126.300003 and range: 126.30 m. 2025-01-08T22:22:33.492Z,1736374953.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:33.504Z,1736374953.504 [DAT](INFO): DAT read: 22:22:31.5731 LVL= 17776, 26993, 17506, 25907, AGC= 55, IDX= 429,-0.17, 1.348, 0.017,-0.588, 0.181, PHS= 1.255,-0.116,-0.771, RAW= 71.5, -4.2, CAL= 79.2, -10.1, ROT= 70.8, 10.1 2025-01-08T22:22:33.505Z,1736374953.505 [DAT](INFO): got valid direction response: 22:22:31.5731 LVL= 17776, 26993, 17506, 25907, AGC= 55, IDX= 429,-0.17, 1.348, 0.017,-0.588, 0.181, PHS= 1.255,-0.116,-0.771, RAW= 71.5, -4.2, CAL= 79.2, -10.1, ROT= 70.8, 10.1 2025-01-08T22:22:33.506Z,1736374953.506 [DAT](INFO): DAT read: Bearing 70.8, 10.1 (Local) 2025-01-08T22:22:33.507Z,1736374953.507 [DAT](INFO): Local bearing/azimuth received: Bearing 70.8, 10.1 (Local) 2025-01-08T22:22:33.509Z,1736374953.509 [DAT](INFO): DAT read: Range 10 to 50 : 125.4 m (Round-trip 167.2 ms) speed 0.3 m/s 2025-01-08T22:22:33.510Z,1736374953.510 [DAT](INFO): DAT read: user:2548> 2025-01-08T22:22:33.511Z,1736374953.511 [DAT](INFO): DAT read: Tx time:22:22:32.7017 2025-01-08T22:22:33.511Z,1736374953.511 [DAT](INFO): Ping request sent. 2025-01-08T22:22:33.511Z,1736374953.511 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:33.512Z,1736374953.512 [DAT](INFO): DAT read: TxSync time:22:22:32.7009 2025-01-08T22:22:33.512Z,1736374953.512 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:33.513Z,1736374953.513 [DAT](INFO): direction in FSK: [0.025944,0.405387,0.913777] 2025-01-08T22:22:33.513Z,1736374953.513 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:33.514Z,1736374953.514 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:33.547Z,1736374953.547 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:33.557Z,1736374953.557 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:33.640Z,1736374953.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:33.682Z,1736374953.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.400002 m, deltaT: 3.782990 s, deltaX: -0.900002 m, approachRate: -0.237907 m/s, rangeRepo size: 4 2025-01-08T22:22:33.688Z,1736374953.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.400002 m, bearing: 171.549454 deg, lat: 36.904964 deg, lon: -122.119627 deg, deltaT: 3.782990 s, deltaX: -0.900002 m, approachRate: -0.237907 m/s, posRepo size: 4 2025-01-08T22:22:33.689Z,1736374953.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:22:33.696Z,1736374953.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 58.984104 m, bearing: 150.193628 deg, approach rate: 0.000000 m/s, LOS rate: 0.617575 deg/s, cmd heading: 83.824460 deg, new cmd heading: 84.503846 deg. 2025-01-08T22:22:33.697Z,1736374953.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474870 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:22:33.744Z,1736374953.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:33.997Z,1736374953.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:34.101Z,1736374954.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:34.110Z,1736374954.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:22:34.113Z,1736374954.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 58.859200 m, bearing: 150.443824 deg, approach rate: -0.291192 m/s, LOS rate: 0.584521 deg/s, cmd heading: 84.503845 deg, new cmd heading: 85.255980 deg. 2025-01-08T22:22:34.114Z,1736374954.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487998 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:22:34.248Z,1736374954.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:34.420Z,1736374954.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:34.428Z,1736374954.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:22:34.430Z,1736374954.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 58.771076 m, bearing: 150.616271 deg, approach rate: -0.277362 m/s, LOS rate: 0.543578 deg/s, cmd heading: 85.255979 deg, new cmd heading: 85.774081 deg. 2025-01-08T22:22:34.432Z,1736374954.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497040 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:22:34.500Z,1736374954.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:34.752Z,1736374954.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:34.828Z,1736374954.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:34.835Z,1736374954.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:34.837Z,1736374954.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:22:34.840Z,1736374954.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 58.655155 m, bearing: 150.836402 deg, approach rate: -0.283061 m/s, LOS rate: 0.538586 deg/s, cmd heading: 85.774083 deg, new cmd heading: 86.435750 deg. 2025-01-08T22:22:34.842Z,1736374954.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.508588 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:22:35.007Z,1736374955.007 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:35.009Z,1736374955.009 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:35.009Z,1736374955.009 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:35.010Z,1736374955.010 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:35.256Z,1736374955.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:35.257Z,1736374955.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745492 2025-01-08T22:22:35.259Z,1736374955.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:35.268Z,1736374955.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:22:35.271Z,1736374955.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 58.545654 m, bearing: 151.042592 deg, approach rate: -0.254258 m/s, LOS rate: 0.479661 deg/s, cmd heading: 86.435750 deg, new cmd heading: 87.055452 deg. 2025-01-08T22:22:35.272Z,1736374955.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519404 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:22:35.508Z,1736374955.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:35.509Z,1736374955.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997703 2025-01-08T22:22:35.640Z,1736374955.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:35.654Z,1736374955.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:22:35.659Z,1736374955.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 58.444485 m, bearing: 151.224718 deg, approach rate: -0.262345 m/s, LOS rate: 0.473092 deg/s, cmd heading: 87.055453 deg, new cmd heading: 87.602759 deg. 2025-01-08T22:22:35.661Z,1736374955.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.528957 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:22:35.763Z,1736374955.763 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:35.764Z,1736374955.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252611 2025-01-08T22:22:36.016Z,1736374956.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:36.016Z,1736374956.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505332 2025-01-08T22:22:36.134Z,1736374956.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:36.146Z,1736374956.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:22:36.148Z,1736374956.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 58.336830 m, bearing: 151.429547 deg, approach rate: -0.218919 m/s, LOS rate: 0.417293 deg/s, cmd heading: 87.602756 deg, new cmd heading: 88.218350 deg. 2025-01-08T22:22:36.149Z,1736374956.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539701 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:22:36.268Z,1736374956.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:36.269Z,1736374956.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757726 2025-01-08T22:22:36.453Z,1736374956.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:36.462Z,1736374956.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:22:36.464Z,1736374956.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 58.266342 m, bearing: 151.561547 deg, approach rate: -0.223032 m/s, LOS rate: 0.418168 deg/s, cmd heading: 88.218348 deg, new cmd heading: 88.614820 deg. 2025-01-08T22:22:36.465Z,1736374956.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546620 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:22:36.521Z,1736374956.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:36.522Z,1736374956.522 [DAT](INFO): DAT read: Rx Time:22:22:35.2715 2025-01-08T22:22:36.523Z,1736374956.523 [DAT](INFO): Rx dataTimestamp_ set to:1736374956.522521 2025-01-08T22:22:36.524Z,1736374956.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012575 2025-01-08T22:22:36.772Z,1736374956.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:36.772Z,1736374956.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261381 2025-01-08T22:22:36.852Z,1736374956.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:36.859Z,1736374956.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:36.861Z,1736374956.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:22:36.865Z,1736374956.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 58.177006 m, bearing: 151.726020 deg, approach rate: -0.223597 m/s, LOS rate: 0.412288 deg/s, cmd heading: 88.614820 deg, new cmd heading: 89.108986 deg. 2025-01-08T22:22:36.866Z,1736374956.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555245 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:22:37.026Z,1736374957.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:37.069Z,1736374957.069 [DAT](INFO): DAT read: 22:22:35.2715 LVL= 15856, 25313, 18098, 25811, AGC= 56, IDX= 429, 0.10,-2.931, 1.746, 1.537, 2.168, PHS= 1.273,-0.374,-0.634, RAW= 82.8, -3.0, CAL= 90.7, -9.0, ROT= 59.3, 9.0 2025-01-08T22:22:37.074Z,1736374957.074 [DAT](INFO): got valid direction response: 22:22:35.2715 LVL= 15856, 25313, 18098, 25811, AGC= 56, IDX= 429, 0.10,-2.931, 1.746, 1.537, 2.168, PHS= 1.273,-0.374,-0.634, RAW= 82.8, -3.0, CAL= 90.7, -9.0, ROT= 59.3, 9.0 2025-01-08T22:22:37.086Z,1736374957.086 [DAT](INFO): DAT read: Bearing 59.3, 9.0 (Local) 2025-01-08T22:22:37.092Z,1736374957.092 [DAT](INFO): Local bearing/azimuth received: Bearing 59.3, 9.0 (Local) 2025-01-08T22:22:37.095Z,1736374957.095 [DAT](INFO): DAT read: Range 10 to 50 : 124.2 m (Round-trip 165.7 ms) speed 0.3 m/s 2025-01-08T22:22:37.108Z,1736374957.108 [DAT](INFO): DAT read: user:2549> 2025-01-08T22:22:37.109Z,1736374957.109 [DAT](INFO): DAT read: Tx time:22:22:36.3517 2025-01-08T22:22:37.110Z,1736374957.110 [DAT](INFO): Ping request sent. 2025-01-08T22:22:37.110Z,1736374957.110 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:37.110Z,1736374957.110 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:37.111Z,1736374957.111 [DAT](INFO): direction in FSK: [-0.016133,0.227086,0.973741] 2025-01-08T22:22:37.116Z,1736374957.116 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:37.116Z,1736374957.116 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:37.119Z,1736374957.119 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:37.119Z,1736374957.119 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:37.276Z,1736374957.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:37.277Z,1736374957.277 [DAT](INFO): DAT read: TxSync time:22:22:36.3509 2025-01-08T22:22:37.323Z,1736374957.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:37.368Z,1736374957.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.199997 m, deltaT: 3.534482 s, deltaX: -1.200005 m, approachRate: -0.339514 m/s, rangeRepo size: 4 2025-01-08T22:22:37.370Z,1736374957.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 124.199997 m, bearing: 247.817231 deg, lat: 36.905056 deg, lon: -122.119703 deg, deltaT: 3.534482 s, deltaX: -1.200005 m, approachRate: -0.339514 m/s, posRepo size: 4 2025-01-08T22:22:37.371Z,1736374957.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:22:37.378Z,1736374957.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 45.891708 m, bearing: 153.365037 deg, approach rate: 0.000000 m/s, LOS rate: 0.412288 deg/s, cmd heading: 89.108984 deg, new cmd heading: 89.729774 deg. 2025-01-08T22:22:37.388Z,1736374957.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.566080 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:22:37.530Z,1736374957.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:37.780Z,1736374957.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:37.802Z,1736374957.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:37.811Z,1736374957.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:22:37.814Z,1736374957.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 45.794571 m, bearing: 153.602395 deg, approach rate: -0.216790 m/s, LOS rate: 0.530855 deg/s, cmd heading: 89.729773 deg, new cmd heading: 90.443318 deg. 2025-01-08T22:22:37.815Z,1736374957.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.578534 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:22:38.034Z,1736374958.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:38.229Z,1736374958.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:38.238Z,1736374958.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:22:38.241Z,1736374958.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 45.708752 m, bearing: 153.816177 deg, approach rate: -0.201187 m/s, LOS rate: 0.502111 deg/s, cmd heading: 90.443316 deg, new cmd heading: 91.085838 deg. 2025-01-08T22:22:38.242Z,1736374958.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.589748 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:22:38.284Z,1736374958.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:38.537Z,1736374958.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:38.608Z,1736374958.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:38.618Z,1736374958.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:22:38.621Z,1736374958.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 45.631821 m, bearing: 154.005255 deg, approach rate: -0.202482 m/s, LOS rate: 0.498489 deg/s, cmd heading: 91.085839 deg, new cmd heading: 91.654008 deg. 2025-01-08T22:22:38.622Z,1736374958.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.599664 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:22:38.788Z,1736374958.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:39.009Z,1736374959.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:39.016Z,1736374959.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:39.018Z,1736374959.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:22:39.021Z,1736374959.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 45.549656 m, bearing: 154.205443 deg, approach rate: -0.205207 m/s, LOS rate: 0.500873 deg/s, cmd heading: 91.654008 deg, new cmd heading: 92.255633 deg. 2025-01-08T22:22:39.022Z,1736374959.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.610165 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:22:39.040Z,1736374959.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:39.040Z,1736374959.040 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:39.040Z,1736374959.040 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:39.041Z,1736374959.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:39.294Z,1736374959.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:39.295Z,1736374959.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.185334 2025-01-08T22:22:39.438Z,1736374959.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:39.448Z,1736374959.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:22:39.450Z,1736374959.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 45.459389 m, bearing: 154.427928 deg, approach rate: -0.210266 m/s, LOS rate: 0.519278 deg/s, cmd heading: 92.255631 deg, new cmd heading: 92.924380 deg. 2025-01-08T22:22:39.451Z,1736374959.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621836 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:22:39.549Z,1736374959.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:39.550Z,1736374959.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440082 2025-01-08T22:22:39.800Z,1736374959.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:39.800Z,1736374959.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.690694 2025-01-08T22:22:39.813Z,1736374959.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:39.837Z,1736374959.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:22:39.845Z,1736374959.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 45.379749 m, bearing: 154.622426 deg, approach rate: -0.204271 m/s, LOS rate: 0.499751 deg/s, cmd heading: 92.924382 deg, new cmd heading: 93.508877 deg. 2025-01-08T22:22:39.846Z,1736374959.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.632038 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:22:40.052Z,1736374960.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:40.052Z,1736374960.052 [DAT](INFO): DAT read: Rx Time:22:22:38.9201 2025-01-08T22:22:40.053Z,1736374960.053 [DAT](INFO): Rx dataTimestamp_ set to:1736374960.052558 2025-01-08T22:22:40.053Z,1736374960.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.943636 2025-01-08T22:22:40.251Z,1736374960.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:40.281Z,1736374960.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:22:40.288Z,1736374960.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 45.273819 m, bearing: 154.879049 deg, approach rate: -0.238736 m/s, LOS rate: 0.579706 deg/s, cmd heading: 93.508876 deg, new cmd heading: 94.280498 deg. 2025-01-08T22:22:40.289Z,1736374960.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645505 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:22:40.304Z,1736374960.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:40.305Z,1736374960.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.194951 2025-01-08T22:22:40.556Z,1736374960.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:40.556Z,1736374960.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.446669 2025-01-08T22:22:40.668Z,1736374960.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:40.694Z,1736374960.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:22:40.701Z,1736374960.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 45.171913 m, bearing: 155.123770 deg, approach rate: -0.246597 m/s, LOS rate: 0.593522 deg/s, cmd heading: 94.280496 deg, new cmd heading: 95.016271 deg. 2025-01-08T22:22:40.702Z,1736374960.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658347 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:22:40.809Z,1736374960.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:40.816Z,1736374960.816 [DAT](INFO): DAT read: 22:22:38.9201 LVL= 22160, 28657, 23634, 29299, AGC= 63, IDX= 430, 0.05, 0.821,-0.865,-0.875,-0.246, PHS= 1.155,-0.572,-0.631, RAW= 88.3, 0.6, CAL= 95.5, -3.4, ROT= 54.5, 3.4 2025-01-08T22:22:40.817Z,1736374960.817 [DAT](INFO): got valid direction response: 22:22:38.9201 LVL= 22160, 28657, 23634, 29299, AGC= 63, IDX= 430, 0.05, 0.821,-0.865,-0.875,-0.246, PHS= 1.155,-0.572,-0.631, RAW= 88.3, 0.6, CAL= 95.5, -3.4, ROT= 54.5, 3.4 2025-01-08T22:22:40.819Z,1736374960.819 [DAT](INFO): DAT read: Bearing 54.5, 3.4 (Local) 2025-01-08T22:22:40.819Z,1736374960.819 [DAT](INFO): Local bearing/azimuth received: Bearing 54.5, 3.4 (Local) 2025-01-08T22:22:40.822Z,1736374960.822 [DAT](INFO): DAT read: Range 10 to 50 : 123.1 m (Round-trip 164.2 ms) speed 0.3 m/s 2025-01-08T22:22:40.824Z,1736374960.824 [DAT](INFO): DAT read: user:2550> 2025-01-08T22:22:40.825Z,1736374960.825 [DAT](INFO): DAT read: Tx time:22:22:40.0017 2025-01-08T22:22:40.826Z,1736374960.826 [DAT](INFO): Ping request sent. 2025-01-08T22:22:40.826Z,1736374960.826 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:40.827Z,1736374960.827 [DAT](INFO): DAT read: TxSync time:22:22:40.0009 2025-01-08T22:22:40.828Z,1736374960.828 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:40.829Z,1736374960.829 [DAT](INFO): direction in FSK: [-0.092907,0.136828,0.986228] 2025-01-08T22:22:40.829Z,1736374960.829 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:40.830Z,1736374960.830 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:40.833Z,1736374960.833 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:40.833Z,1736374960.833 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:41.034Z,1736374961.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:41.060Z,1736374961.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:41.076Z,1736374961.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.099998 m, deltaT: 3.782825 s, deltaX: -1.099998 m, approachRate: -0.290788 m/s, rangeRepo size: 4 2025-01-08T22:22:41.078Z,1736374961.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.099998 m, bearing: 310.799012 deg, lat: 36.905201 deg, lon: -122.119915 deg, deltaT: 3.782825 s, deltaX: -1.099998 m, approachRate: -0.290788 m/s, posRepo size: 4 2025-01-08T22:22:41.078Z,1736374961.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T22:22:41.130Z,1736374961.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 24.771257 m, bearing: 180.126787 deg, approach rate: 0.000000 m/s, LOS rate: 0.593522 deg/s, cmd heading: 95.016271 deg, new cmd heading: 95.686257 deg. 2025-01-08T22:22:41.138Z,1736374961.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670040 target range: 123.099998 and range: 123.10 m. 2025-01-08T22:22:41.312Z,1736374961.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:41.479Z,1736374961.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:41.490Z,1736374961.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:41.496Z,1736374961.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T22:22:41.501Z,1736374961.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 24.752401 m, bearing: 180.749773 deg, approach rate: -0.044291 m/s, LOS rate: 1.464418 deg/s, cmd heading: 95.686258 deg, new cmd heading: 97.555938 deg. 2025-01-08T22:22:41.502Z,1736374961.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.702672 target range: 123.099998 and range: 123.10 m. 2025-01-08T22:22:41.565Z,1736374961.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:41.565Z,1736374961.565 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:41.565Z,1736374961.565 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:41.566Z,1736374961.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:41.816Z,1736374961.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:41.816Z,1736374961.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990388 2025-01-08T22:22:41.833Z,1736374961.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:41.843Z,1736374961.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T22:22:41.846Z,1736374961.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 24.736423 m, bearing: 181.246564 deg, approach rate: -0.046085 m/s, LOS rate: 1.433811 deg/s, cmd heading: 97.555940 deg, new cmd heading: 99.046923 deg. 2025-01-08T22:22:41.847Z,1736374961.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.728695 target range: 123.099998 and range: 123.10 m. 2025-01-08T22:22:42.068Z,1736374962.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:42.069Z,1736374962.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242574 2025-01-08T22:22:42.271Z,1736374962.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:42.281Z,1736374962.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T22:22:42.283Z,1736374962.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 24.710789 m, bearing: 181.947976 deg, approach rate: -0.058558 m/s, LOS rate: 1.603882 deg/s, cmd heading: 99.046923 deg, new cmd heading: 101.152340 deg. 2025-01-08T22:22:42.284Z,1736374962.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.765441 target range: 123.099998 and range: 123.10 m. 2025-01-08T22:22:42.320Z,1736374962.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:42.320Z,1736374962.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494367 2025-01-08T22:22:42.572Z,1736374962.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:42.573Z,1736374962.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746589 2025-01-08T22:22:42.658Z,1736374962.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:42.682Z,1736374962.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T22:22:42.689Z,1736374962.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 24.688614 m, bearing: 182.569619 deg, approach rate: -0.055192 m/s, LOS rate: 1.548592 deg/s, cmd heading: 101.152342 deg, new cmd heading: 103.018248 deg. 2025-01-08T22:22:42.690Z,1736374962.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.798008 target range: 123.099998 and range: 123.10 m. 2025-01-08T22:22:42.824Z,1736374962.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:42.826Z,1736374962.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999715 2025-01-08T22:22:43.045Z,1736374963.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:43.069Z,1736374963.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T22:22:43.078Z,1736374963.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:43.079Z,1736374963.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252522 2025-01-08T22:22:43.087Z,1736374963.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 24.665958 m, bearing: 183.191491 deg, approach rate: -0.058672 m/s, LOS rate: 1.611947 deg/s, cmd heading: 103.018247 deg, new cmd heading: 104.884880 deg. 2025-01-08T22:22:43.088Z,1736374963.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.830586 target range: 123.099998 and range: 123.10 m. 2025-01-08T22:22:43.332Z,1736374963.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:43.332Z,1736374963.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506299 2025-01-08T22:22:43.482Z,1736374963.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:43.491Z,1736374963.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T22:22:43.494Z,1736374963.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 24.636997 m, bearing: 183.947102 deg, approach rate: -0.068583 m/s, LOS rate: 1.791426 deg/s, cmd heading: 104.884877 deg, new cmd heading: 107.153125 deg. 2025-01-08T22:22:43.496Z,1736374963.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870175 target range: 123.099998 and range: 123.10 m. 2025-01-08T22:22:43.585Z,1736374963.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:43.586Z,1736374963.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760191 2025-01-08T22:22:43.836Z,1736374963.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:43.836Z,1736374963.836 [DAT](INFO): DAT read: Rx Time:22:22:42.5682 2025-01-08T22:22:43.837Z,1736374963.837 [DAT](INFO): Rx dataTimestamp_ set to:1736374963.836569 2025-01-08T22:22:43.837Z,1736374963.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011328 2025-01-08T22:22:43.868Z,1736374963.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:43.902Z,1736374963.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:43.905Z,1736374963.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T22:22:43.911Z,1736374963.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 24.610510 m, bearing: 184.613406 deg, approach rate: -0.064002 m/s, LOS rate: 1.611713 deg/s, cmd heading: 107.153128 deg, new cmd heading: 109.153333 deg. 2025-01-08T22:22:43.912Z,1736374963.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.905085 target range: 123.099998 and range: 123.10 m. 2025-01-08T22:22:44.088Z,1736374964.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:44.089Z,1736374964.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262521 2025-01-08T22:22:44.333Z,1736374964.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:44.340Z,1736374964.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:44.347Z,1736374964.347 [DAT](INFO): DAT read: 22:22:42.5682 LVL= 17136, 32753, 24562, 32291, AGC= 63, IDX= 427, 0.10, 0.611,-0.983,-0.805,-0.260, PHS= 0.959,-0.676,-0.548, RAW= 94.0, 3.4, CAL= 102.5, 1.5, ROT= 47.5, -1.5 2025-01-08T22:22:44.348Z,1736374964.348 [DAT](INFO): got valid direction response: 22:22:42.5682 LVL= 17136, 32753, 24562, 32291, AGC= 63, IDX= 427, 0.10, 0.611,-0.983,-0.805,-0.260, PHS= 0.959,-0.676,-0.548, RAW= 94.0, 3.4, CAL= 102.5, 1.5, ROT= 47.5, -1.5 2025-01-08T22:22:44.349Z,1736374964.349 [DAT](INFO): DAT read: Bearing 47.5, -1.5 (Local) 2025-01-08T22:22:44.350Z,1736374964.350 [DAT](INFO): Local bearing/azimuth received: Bearing 47.5, -1.5 (Local) 2025-01-08T22:22:44.352Z,1736374964.352 [DAT](INFO): DAT read: Range 10 to 50 : 121.8 m (Round-trip 162.4 ms) speed 0.4 m/s 2025-01-08T22:22:44.353Z,1736374964.353 [DAT](INFO): DAT read: user:2551> 2025-01-08T22:22:44.354Z,1736374964.354 [DAT](INFO): DAT read: Tx time:22:22:43.6517 2025-01-08T22:22:44.354Z,1736374964.354 [DAT](INFO): Ping request sent. 2025-01-08T22:22:44.354Z,1736374964.354 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:44.355Z,1736374964.355 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:44.356Z,1736374964.356 [DAT](INFO): direction in FSK: [-0.156107,0.040845,0.986895] 2025-01-08T22:22:44.356Z,1736374964.356 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:44.356Z,1736374964.356 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:44.377Z,1736374964.377 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:44.377Z,1736374964.377 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:44.381Z,1736374964.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.800003 m, deltaT: 3.530996 s, deltaX: -1.299995 m, approachRate: -0.368167 m/s, rangeRepo size: 4 2025-01-08T22:22:44.383Z,1736374964.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 121.800003 m, bearing: 328.221308 deg, lat: 36.905409 deg, lon: -122.119982 deg, deltaT: 3.530996 s, deltaX: -1.299995 m, approachRate: -0.368167 m/s, posRepo size: 4 2025-01-08T22:22:44.392Z,1736374964.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m. 2025-01-08T22:22:44.395Z,1736374964.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.800003 m, nav range: 8.387550 m, bearing: 260.628108 deg, approach rate: 0.000000 m/s, LOS rate: 1.611713 deg/s, cmd heading: 109.153335 deg, new cmd heading: 111.385832 deg. 2025-01-08T22:22:44.400Z,1736374964.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.944049 target range: 121.800003 and range: 121.80 m. 2025-01-08T22:22:44.596Z,1736374964.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:44.597Z,1736374964.597 [DAT](INFO): DAT read: TxSync time:22:22:43.6509 2025-01-08T22:22:44.733Z,1736374964.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:44.773Z,1736374964.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m. 2025-01-08T22:22:44.780Z,1736374964.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.800003 m, nav range: 8.689960 m, bearing: 261.355700 deg, approach rate: 0.744599 m/s, LOS rate: 1.729105 deg/s, cmd heading: 111.385830 deg, new cmd heading: 113.491642 deg. 2025-01-08T22:22:44.784Z,1736374964.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.980803 target range: 121.800003 and range: 121.80 m. 2025-01-08T22:22:44.848Z,1736374964.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:45.091Z,1736374965.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:45.100Z,1736374965.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:45.101Z,1736374965.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m. 2025-01-08T22:22:45.104Z,1736374965.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.800003 m, nav range: 8.958627 m, bearing: 261.999330 deg, approach rate: 0.818371 m/s, LOS rate: 1.901687 deg/s, cmd heading: 113.491639 deg, new cmd heading: 115.363915 deg. 2025-01-08T22:22:45.105Z,1736374965.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.013480 target range: 121.800003 and range: 121.80 m. 2025-01-08T22:22:45.352Z,1736374965.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:45.501Z,1736374965.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:45.511Z,1736374965.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m. 2025-01-08T22:22:45.514Z,1736374965.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.800003 m, nav range: 9.272209 m, bearing: 262.774891 deg, approach rate: 0.765429 m/s, LOS rate: 1.829001 deg/s, cmd heading: 115.363917 deg, new cmd heading: 117.610691 deg. 2025-01-08T22:22:45.515Z,1736374965.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052694 target range: 121.800003 and range: 121.80 m. 2025-01-08T22:22:45.604Z,1736374965.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:45.857Z,1736374965.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:45.892Z,1736374965.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:45.901Z,1736374965.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m. 2025-01-08T22:22:45.904Z,1736374965.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.800003 m, nav range: 9.568294 m, bearing: 263.508656 deg, approach rate: 0.758662 m/s, LOS rate: 1.821909 deg/s, cmd heading: 117.610694 deg, new cmd heading: 119.742829 deg. 2025-01-08T22:22:45.905Z,1736374965.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089907 target range: 121.800003 and range: 121.80 m. 2025-01-08T22:22:46.108Z,1736374966.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:46.301Z,1736374966.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:46.329Z,1736374966.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:46.331Z,1736374966.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m. 2025-01-08T22:22:46.338Z,1736374966.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.800003 m, nav range: 9.871463 m, bearing: 264.253101 deg, approach rate: 0.705230 m/s, LOS rate: 1.678490 deg/s, cmd heading: 119.742833 deg, new cmd heading: 121.906487 deg. 2025-01-08T22:22:46.339Z,1736374966.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.127670 target range: 121.800003 and range: 121.80 m. 2025-01-08T22:22:46.360Z,1736374966.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:46.361Z,1736374966.361 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:46.361Z,1736374966.361 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:46.361Z,1736374966.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:46.612Z,1736374966.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:46.612Z,1736374966.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258134 2025-01-08T22:22:46.696Z,1736374966.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:46.705Z,1736374966.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m. 2025-01-08T22:22:46.708Z,1736374966.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.800003 m, nav range: 10.163158 m, bearing: 264.971343 deg, approach rate: 0.780166 m/s, LOS rate: 1.865820 deg/s, cmd heading: 121.906487 deg, new cmd heading: 123.998385 deg. 2025-01-08T22:22:46.709Z,1736374966.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.164180 target range: 121.800003 and range: 121.80 m. 2025-01-08T22:22:46.864Z,1736374966.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:46.865Z,1736374966.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510501 2025-01-08T22:22:47.094Z,1736374967.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:47.103Z,1736374967.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m. 2025-01-08T22:22:47.106Z,1736374967.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.800003 m, nav range: 10.454470 m, bearing: 265.693636 deg, approach rate: 0.731596 m/s, LOS rate: 1.763366 deg/s, cmd heading: 123.998382 deg, new cmd heading: 126.103878 deg. 2025-01-08T22:22:47.107Z,1736374967.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200928 target range: 121.800003 and range: 121.80 m. 2025-01-08T22:22:47.116Z,1736374967.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:47.116Z,1736374967.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762175 2025-01-08T22:22:47.364Z,1736374967.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:22:47.368Z,1736374967.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:47.369Z,1736374967.369 [DAT](INFO): DAT read: Rx Time:22:22:46.2159 2025-01-08T22:22:47.370Z,1736374967.370 [DAT](INFO): Rx dataTimestamp_ set to:1736374967.369497 2025-01-08T22:22:47.371Z,1736374967.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016387 2025-01-08T22:22:47.523Z,1736374967.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:47.533Z,1736374967.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m. 2025-01-08T22:22:47.535Z,1736374967.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.800003 m, nav range: 10.749492 m, bearing: 266.452952 deg, approach rate: 0.686649 m/s, LOS rate: 1.718717 deg/s, cmd heading: 126.103884 deg, new cmd heading: 128.318147 deg. 2025-01-08T22:22:47.536Z,1736374967.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239574 target range: 121.800003 and range: 121.80 m. 2025-01-08T22:22:47.622Z,1736374967.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:47.622Z,1736374967.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267976 2025-01-08T22:22:47.873Z,1736374967.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:47.878Z,1736374967.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522874 2025-01-08T22:22:47.951Z,1736374967.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:47.968Z,1736374967.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m. 2025-01-08T22:22:47.970Z,1736374967.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.800003 m, nav range: 11.039532 m, bearing: 267.205320 deg, approach rate: 0.666429 m/s, LOS rate: 1.683259 deg/s, cmd heading: 128.318149 deg, new cmd heading: 130.514811 deg. 2025-01-08T22:22:47.976Z,1736374967.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277913 target range: 121.800003 and range: 121.80 m. 2025-01-08T22:22:48.124Z,1736374968.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:48.131Z,1736374968.131 [DAT](INFO): DAT read: 22:22:46.2159 LVL= 19408, 32753, 29410, 32755, AGC= 62, IDX= 418, 0.04, 0.672,-0.950,-0.493,-0.100, PHS= 0.861,-0.803,-0.396, RAW= 103.6, 4.5, CAL= 114.1, 2.4, ROT= 35.9, -2.4 2025-01-08T22:22:48.132Z,1736374968.132 [DAT](INFO): got valid direction response: 22:22:46.2159 LVL= 19408, 32753, 29410, 32755, AGC= 62, IDX= 418, 0.04, 0.672,-0.950,-0.493,-0.100, PHS= 0.861,-0.803,-0.396, RAW= 103.6, 4.5, CAL= 114.1, 2.4, ROT= 35.9, -2.4 2025-01-08T22:22:48.133Z,1736374968.133 [DAT](INFO): DAT read: Bearing 35.9, -2.4 (Local) 2025-01-08T22:22:48.133Z,1736374968.133 [DAT](INFO): Local bearing/azimuth received: Bearing 35.9, -2.4 (Local) 2025-01-08T22:22:48.135Z,1736374968.135 [DAT](INFO): DAT read: Range 10 to 50 : 119.9 m (Round-trip 159.9 ms) speed 0.4 m/s 2025-01-08T22:22:48.136Z,1736374968.136 [DAT](INFO): DAT read: user:2552> 2025-01-08T22:22:48.137Z,1736374968.137 [DAT](INFO): DAT read: Tx time:22:22:47.3018 2025-01-08T22:22:48.137Z,1736374968.137 [DAT](INFO): Ping request sent. 2025-01-08T22:22:48.137Z,1736374968.137 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:48.138Z,1736374968.138 [DAT](INFO): DAT read: TxSync time:22:22:47.3010 2025-01-08T22:22:48.138Z,1736374968.138 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:48.143Z,1736374968.143 [DAT](INFO): direction in FSK: [-0.191441,-0.124914,0.973523] 2025-01-08T22:22:48.144Z,1736374968.144 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:48.144Z,1736374968.144 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:48.147Z,1736374968.147 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:48.164Z,1736374968.164 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:48.368Z,1736374968.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:22:48.376Z,1736374968.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:48.398Z,1736374968.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:48.429Z,1736374968.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.900002 m, deltaT: 3.783745 s, deltaX: -1.900002 m, approachRate: -0.502148 m/s, rangeRepo size: 4 2025-01-08T22:22:48.431Z,1736374968.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 119.900002 m, bearing: 351.346863 deg, lat: 36.905644 deg, lon: -122.120026 deg, deltaT: 3.783745 s, deltaX: -1.900002 m, approachRate: -0.502148 m/s, posRepo size: 4 2025-01-08T22:22:48.436Z,1736374968.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.90 m. 2025-01-08T22:22:48.438Z,1736374968.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.900002 m, nav range: 29.916222 m, bearing: 329.289205 deg, approach rate: 0.000000 m/s, LOS rate: 1.683259 deg/s, cmd heading: 130.514806 deg, new cmd heading: 132.837749 deg. 2025-01-08T22:22:48.444Z,1736374968.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318456 target range: 119.900002 and range: 119.90 m. 2025-01-08T22:22:48.628Z,1736374968.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:48.731Z,1736374968.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:48.738Z,1736374968.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:48.740Z,1736374968.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.90 m. 2025-01-08T22:22:48.742Z,1736374968.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.900002 m, nav range: 30.119066 m, bearing: 329.043918 deg, approach rate: 0.650998 m/s, LOS rate: -0.781907 deg/s, cmd heading: 132.837754 deg, new cmd heading: 132.106890 deg. 2025-01-08T22:22:48.744Z,1736374968.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305700 target range: 119.900002 and range: 119.90 m. 2025-01-08T22:22:48.880Z,1736374968.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:48.880Z,1736374968.880 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:48.880Z,1736374968.880 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:48.881Z,1736374968.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:49.132Z,1736374969.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:49.133Z,1736374969.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995502 2025-01-08T22:22:49.169Z,1736374969.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:49.198Z,1736374969.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.90 m. 2025-01-08T22:22:49.221Z,1736374969.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.900002 m, nav range: 30.391642 m, bearing: 328.740835 deg, approach rate: 0.594496 m/s, LOS rate: -0.655103 deg/s, cmd heading: 132.106896 deg, new cmd heading: 131.205880 deg. 2025-01-08T22:22:49.230Z,1736374969.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289975 target range: 119.900002 and range: 119.90 m. 2025-01-08T22:22:49.384Z,1736374969.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:49.386Z,1736374969.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248302 2025-01-08T22:22:49.600Z,1736374969.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:49.609Z,1736374969.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.90 m. 2025-01-08T22:22:49.612Z,1736374969.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.900002 m, nav range: 30.651808 m, bearing: 328.504215 deg, approach rate: 0.633378 m/s, LOS rate: -0.571164 deg/s, cmd heading: 131.205885 deg, new cmd heading: 130.502087 deg. 2025-01-08T22:22:49.613Z,1736374969.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277691 target range: 119.900002 and range: 119.90 m. 2025-01-08T22:22:49.636Z,1736374969.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:49.637Z,1736374969.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499307 2025-01-08T22:22:49.888Z,1736374969.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:49.888Z,1736374969.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751204 2025-01-08T22:22:49.978Z,1736374969.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:50.002Z,1736374970.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.90 m. 2025-01-08T22:22:50.004Z,1736374970.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.900002 m, nav range: 30.883472 m, bearing: 328.311624 deg, approach rate: 0.589961 m/s, LOS rate: -0.486775 deg/s, cmd heading: 130.502089 deg, new cmd heading: 129.928671 deg. 2025-01-08T22:22:50.005Z,1736374970.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.267683 target range: 119.900002 and range: 119.90 m. 2025-01-08T22:22:50.140Z,1736374970.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:50.141Z,1736374970.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003468 2025-01-08T22:22:50.392Z,1736374970.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:50.393Z,1736374970.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255763 2025-01-08T22:22:50.436Z,1736374970.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:50.453Z,1736374970.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.90 m. 2025-01-08T22:22:50.459Z,1736374970.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.900002 m, nav range: 31.154217 m, bearing: 328.137143 deg, approach rate: 0.600432 m/s, LOS rate: -0.383584 deg/s, cmd heading: 129.928667 deg, new cmd heading: 129.409788 deg. 2025-01-08T22:22:50.460Z,1736374970.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.258627 target range: 119.900002 and range: 119.90 m. 2025-01-08T22:22:50.644Z,1736374970.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:50.646Z,1736374970.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507952 2025-01-08T22:22:50.786Z,1736374970.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:50.810Z,1736374970.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:50.820Z,1736374970.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.90 m. 2025-01-08T22:22:50.822Z,1736374970.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.900002 m, nav range: 31.363228 m, bearing: 328.016279 deg, approach rate: 0.574050 m/s, LOS rate: -0.329743 deg/s, cmd heading: 129.409791 deg, new cmd heading: 129.049619 deg. 2025-01-08T22:22:50.825Z,1736374970.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252341 target range: 119.900002 and range: 119.90 m. 2025-01-08T22:22:50.896Z,1736374970.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:50.896Z,1736374970.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759180 2025-01-08T22:22:51.148Z,1736374971.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:51.149Z,1736374971.149 [DAT](INFO): DAT read: Rx Time:22:22:49.8633 2025-01-08T22:22:51.150Z,1736374971.150 [DAT](INFO): Rx dataTimestamp_ set to:1736374971.149093 2025-01-08T22:22:51.152Z,1736374971.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014645 2025-01-08T22:22:51.193Z,1736374971.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:51.279Z,1736374971.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.90 m. 2025-01-08T22:22:51.301Z,1736374971.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.900002 m, nav range: 31.607918 m, bearing: 327.889617 deg, approach rate: 0.535843 m/s, LOS rate: -0.275228 deg/s, cmd heading: 129.049621 deg, new cmd heading: 128.672582 deg. 2025-01-08T22:22:51.302Z,1736374971.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.245760 target range: 119.900002 and range: 119.90 m. 2025-01-08T22:22:51.401Z,1736374971.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:51.402Z,1736374971.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264651 2025-01-08T22:22:51.627Z,1736374971.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:51.636Z,1736374971.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.90 m. 2025-01-08T22:22:51.638Z,1736374971.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.900002 m, nav range: 31.858803 m, bearing: 327.796956 deg, approach rate: 0.692861 m/s, LOS rate: -0.253883 deg/s, cmd heading: 128.672581 deg, new cmd heading: 128.396790 deg. 2025-01-08T22:22:51.640Z,1736374971.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240947 target range: 119.900002 and range: 119.90 m. 2025-01-08T22:22:51.653Z,1736374971.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:51.662Z,1736374971.662 [DAT](INFO): DAT read: 22:22:49.8633 LVL= 32656, 32753, 32754, 32755, AGC= 64, IDX= 407,-0.15, 1.490, 0.110, 0.771, 1.026, PHS= 0.552,-0.870,-0.258, RAW= 115.4, 9.4, CAL= 124.4, 6.1, ROT= 25.6, -6.1 2025-01-08T22:22:51.665Z,1736374971.665 [DAT](INFO): got valid direction response: 22:22:49.8633 LVL= 32656, 32753, 32754, 32755, AGC= 64, IDX= 407,-0.15, 1.490, 0.110, 0.771, 1.026, PHS= 0.552,-0.870,-0.258, RAW= 115.4, 9.4, CAL= 124.4, 6.1, ROT= 25.6, -6.1 2025-01-08T22:22:51.666Z,1736374971.666 [DAT](INFO): DAT read: Bearing 25.6, -6.1 (Local) 2025-01-08T22:22:51.667Z,1736374971.667 [DAT](INFO): Local bearing/azimuth received: Bearing 25.6, -6.1 (Local) 2025-01-08T22:22:51.673Z,1736374971.673 [DAT](INFO): DAT read: Range 10 to 50 : 118.0 m (Round-trip 157.4 ms) speed 0.6 m/s 2025-01-08T22:22:51.674Z,1736374971.674 [DAT](INFO): DAT read: user:2553> 2025-01-08T22:22:51.684Z,1736374971.684 [DAT](INFO): DAT read: Tx time:22:22:50.9518 2025-01-08T22:22:51.684Z,1736374971.684 [DAT](INFO): Ping request sent. 2025-01-08T22:22:51.684Z,1736374971.684 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:51.685Z,1736374971.685 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:51.685Z,1736374971.685 [DAT](INFO): direction in FSK: [-0.294360,-0.319630,0.900660] 2025-01-08T22:22:51.686Z,1736374971.686 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:51.686Z,1736374971.686 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:51.694Z,1736374971.694 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:51.694Z,1736374971.694 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:51.904Z,1736374971.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:51.905Z,1736374971.905 [DAT](INFO): DAT read: TxSync time:22:22:50.9510 2025-01-08T22:22:52.019Z,1736374972.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:52.046Z,1736374972.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.000000 m, deltaT: 3.529052 s, deltaX: -1.900002 m, approachRate: -0.538389 m/s, rangeRepo size: 4 2025-01-08T22:22:52.052Z,1736374972.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.000000 m, bearing: 6.320823 deg, lat: 36.905656 deg, lon: -122.120026 deg, deltaT: 3.529052 s, deltaX: -1.900002 m, approachRate: -0.538389 m/s, posRepo size: 4 2025-01-08T22:22:52.056Z,1736374972.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T22:22:52.059Z,1736374972.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 33.241245 m, bearing: 328.975832 deg, approach rate: 0.000000 m/s, LOS rate: -0.253883 deg/s, cmd heading: 128.396792 deg, new cmd heading: 128.084709 deg. 2025-01-08T22:22:52.060Z,1736374972.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.235500 target range: 118.000000 and range: 118.00 m. 2025-01-08T22:22:52.157Z,1736374972.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:52.408Z,1736374972.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:52.446Z,1736374972.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:52.455Z,1736374972.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T22:22:52.458Z,1736374972.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 33.484913 m, bearing: 328.902285 deg, approach rate: 0.595188 m/s, LOS rate: -0.178340 deg/s, cmd heading: 128.084707 deg, new cmd heading: 127.865674 deg. 2025-01-08T22:22:52.460Z,1736374972.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.231677 target range: 118.000000 and range: 118.00 m. 2025-01-08T22:22:52.660Z,1736374972.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:52.819Z,1736374972.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:52.826Z,1736374972.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:52.828Z,1736374972.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T22:22:52.830Z,1736374972.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 33.696709 m, bearing: 328.848230 deg, approach rate: 0.567128 m/s, LOS rate: -0.143833 deg/s, cmd heading: 127.865677 deg, new cmd heading: 127.704532 deg. 2025-01-08T22:22:52.832Z,1736374972.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.228865 target range: 118.000000 and range: 118.00 m. 2025-01-08T22:22:52.912Z,1736374972.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:52.912Z,1736374972.912 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:52.912Z,1736374972.912 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:52.913Z,1736374972.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:53.164Z,1736374973.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:53.164Z,1736374973.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480074 2025-01-08T22:22:53.234Z,1736374973.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:53.257Z,1736374973.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T22:22:53.266Z,1736374973.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 33.933243 m, bearing: 328.796007 deg, approach rate: 0.551894 m/s, LOS rate: -0.121000 deg/s, cmd heading: 127.704539 deg, new cmd heading: 127.548962 deg. 2025-01-08T22:22:53.280Z,1736374973.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.226149 target range: 118.000000 and range: 118.00 m. 2025-01-08T22:22:53.416Z,1736374973.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:53.417Z,1736374973.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733001 2025-01-08T22:22:53.637Z,1736374973.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:53.669Z,1736374973.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:53.670Z,1736374973.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985009 2025-01-08T22:22:53.685Z,1736374973.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T22:22:53.692Z,1736374973.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 34.164165 m, bearing: 328.758093 deg, approach rate: 0.539499 m/s, LOS rate: -0.087979 deg/s, cmd heading: 127.548961 deg, new cmd heading: 127.435988 deg. 2025-01-08T22:22:53.693Z,1736374973.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.224178 target range: 118.000000 and range: 118.00 m. 2025-01-08T22:22:53.920Z,1736374973.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:53.920Z,1736374973.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236259 2025-01-08T22:22:54.021Z,1736374974.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:54.031Z,1736374974.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T22:22:54.034Z,1736374974.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 34.384472 m, bearing: 328.726164 deg, approach rate: 0.636404 m/s, LOS rate: -0.091644 deg/s, cmd heading: 127.435989 deg, new cmd heading: 127.340815 deg. 2025-01-08T22:22:54.034Z,1736374974.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.222517 target range: 118.000000 and range: 118.00 m. 2025-01-08T22:22:54.182Z,1736374974.182 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:54.183Z,1736374974.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498706 2025-01-08T22:22:54.436Z,1736374974.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:54.436Z,1736374974.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752223 2025-01-08T22:22:54.456Z,1736374974.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:54.466Z,1736374974.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T22:22:54.469Z,1736374974.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 34.641331 m, bearing: 328.678197 deg, approach rate: 0.590206 m/s, LOS rate: -0.109400 deg/s, cmd heading: 127.340817 deg, new cmd heading: 127.197985 deg. 2025-01-08T22:22:54.470Z,1736374974.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.220024 target range: 118.000000 and range: 118.00 m. 2025-01-08T22:22:54.688Z,1736374974.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:54.689Z,1736374974.689 [DAT](INFO): DAT read: Rx Time:22:22:53.5102 2025-01-08T22:22:54.689Z,1736374974.689 [DAT](INFO): Rx dataTimestamp_ set to:1736374974.688983 2025-01-08T22:22:54.690Z,1736374974.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005568 2025-01-08T22:22:54.832Z,1736374974.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:54.838Z,1736374974.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:54.841Z,1736374974.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T22:22:54.845Z,1736374974.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 34.863308 m, bearing: 328.638395 deg, approach rate: 0.591837 m/s, LOS rate: -0.105445 deg/s, cmd heading: 127.197985 deg, new cmd heading: 127.079338 deg. 2025-01-08T22:22:54.848Z,1736374974.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217953 target range: 118.000000 and range: 118.00 m. 2025-01-08T22:22:54.940Z,1736374974.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:54.942Z,1736374974.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257392 2025-01-08T22:22:55.193Z,1736374975.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:55.218Z,1736374975.218 [DAT](INFO): DAT read: 22:22:53.5102 LVL= 32752, 32753, 31986, 32755, AGC= 66, IDX= 408, 0.20,-1.977, 2.923,-2.605,-2.459, PHS= 0.570,-0.854,-0.148, RAW= 119.7, 7.1, CAL= 128.8, 3.0, ROT= 21.2, -3.0 2025-01-08T22:22:55.221Z,1736374975.221 [DAT](INFO): got valid direction response: 22:22:53.5102 LVL= 32752, 32753, 31986, 32755, AGC= 66, IDX= 408, 0.20,-1.977, 2.923,-2.605,-2.459, PHS= 0.570,-0.854,-0.148, RAW= 119.7, 7.1, CAL= 128.8, 3.0, ROT= 21.2, -3.0 2025-01-08T22:22:55.222Z,1736374975.222 [DAT](INFO): DAT read: Bearing 21.2, -3.0 (Local) 2025-01-08T22:22:55.222Z,1736374975.222 [DAT](INFO): Local bearing/azimuth received: Bearing 21.2, -3.0 (Local) 2025-01-08T22:22:55.247Z,1736374975.247 [DAT](INFO): DAT read: Range 10 to 50 : 115.6 m (Round-trip 154.2 ms) speed 0.4 m/s 2025-01-08T22:22:55.252Z,1736374975.252 [DAT](INFO): DAT read: user:2554> 2025-01-08T22:22:55.253Z,1736374975.253 [DAT](INFO): DAT read: Tx time:22:22:54.6018 2025-01-08T22:22:55.253Z,1736374975.253 [DAT](INFO): Ping request sent. 2025-01-08T22:22:55.253Z,1736374975.253 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:55.253Z,1736374975.253 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:55.254Z,1736374975.254 [DAT](INFO): direction in FSK: [-0.255295,-0.396570,0.881792] 2025-01-08T22:22:55.254Z,1736374975.254 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:55.255Z,1736374975.255 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:55.266Z,1736374975.266 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:55.266Z,1736374975.266 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:55.365Z,1736374975.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:55.421Z,1736374975.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.599998 m, deltaT: 3.540742 s, deltaX: -2.400002 m, approachRate: -0.677824 m/s, rangeRepo size: 4 2025-01-08T22:22:55.423Z,1736374975.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.599998 m, bearing: 17.141796 deg, lat: 36.905908 deg, lon: -122.119949 deg, deltaT: 3.540742 s, deltaX: -2.400002 m, approachRate: -0.677824 m/s, posRepo size: 4 2025-01-08T22:22:55.436Z,1736374975.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.60 m. 2025-01-08T22:22:55.438Z,1736374975.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.599998 m, nav range: 59.133087 m, bearing: 348.844988 deg, approach rate: 0.000000 m/s, LOS rate: -0.105445 deg/s, cmd heading: 127.079344 deg, new cmd heading: 126.896149 deg. 2025-01-08T22:22:55.444Z,1736374975.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:55.445Z,1736374975.445 [DAT](INFO): DAT read: TxSync time:22:22:54.6010 2025-01-08T22:22:55.446Z,1736374975.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214756 target range: 115.599998 and range: 115.60 m. 2025-01-08T22:22:55.696Z,1736374975.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:55.751Z,1736374975.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:55.768Z,1736374975.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.60 m. 2025-01-08T22:22:55.770Z,1736374975.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.599998 m, nav range: 59.346931 m, bearing: 348.739549 deg, approach rate: 0.615310 m/s, LOS rate: -0.302294 deg/s, cmd heading: 126.896145 deg, new cmd heading: 126.580971 deg. 2025-01-08T22:22:55.776Z,1736374975.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209255 target range: 115.599998 and range: 115.60 m. 2025-01-08T22:22:55.948Z,1736374975.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:56.200Z,1736374976.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:56.221Z,1736374976.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:56.238Z,1736374976.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.60 m. 2025-01-08T22:22:56.245Z,1736374976.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.599998 m, nav range: 59.612492 m, bearing: 348.609798 deg, approach rate: 0.564439 m/s, LOS rate: -0.274552 deg/s, cmd heading: 126.580973 deg, new cmd heading: 126.193461 deg. 2025-01-08T22:22:56.246Z,1736374976.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202491 target range: 115.599998 and range: 115.60 m. 2025-01-08T22:22:56.452Z,1736374976.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:56.620Z,1736374976.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:56.630Z,1736374976.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.60 m. 2025-01-08T22:22:56.659Z,1736374976.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.599998 m, nav range: 59.836586 m, bearing: 348.487490 deg, approach rate: 0.571612 m/s, LOS rate: -0.310812 deg/s, cmd heading: 126.193455 deg, new cmd heading: 125.827909 deg. 2025-01-08T22:22:56.661Z,1736374976.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196111 target range: 115.599998 and range: 115.60 m. 2025-01-08T22:22:56.704Z,1736374976.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:56.956Z,1736374976.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:57.084Z,1736374977.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:57.090Z,1736374977.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:57.093Z,1736374977.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.60 m. 2025-01-08T22:22:57.114Z,1736374977.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.599998 m, nav range: 60.096340 m, bearing: 348.345282 deg, approach rate: 0.560833 m/s, LOS rate: -0.305713 deg/s, cmd heading: 125.827903 deg, new cmd heading: 125.403131 deg. 2025-01-08T22:22:57.119Z,1736374977.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.188698 target range: 115.599998 and range: 115.60 m. 2025-01-08T22:22:57.208Z,1736374977.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:57.209Z,1736374977.209 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:57.210Z,1736374977.210 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:57.210Z,1736374977.210 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:57.460Z,1736374977.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:57.460Z,1736374977.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207268 2025-01-08T22:22:57.521Z,1736374977.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:57.531Z,1736374977.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.60 m. 2025-01-08T22:22:57.558Z,1736374977.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.599998 m, nav range: 60.352909 m, bearing: 348.194292 deg, approach rate: 0.586894 m/s, LOS rate: -0.343915 deg/s, cmd heading: 125.403134 deg, new cmd heading: 124.952102 deg. 2025-01-08T22:22:57.568Z,1736374977.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.180825 target range: 115.599998 and range: 115.60 m. 2025-01-08T22:22:57.712Z,1736374977.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:57.712Z,1736374977.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459448 2025-01-08T22:22:57.891Z,1736374977.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:57.904Z,1736374977.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.60 m. 2025-01-08T22:22:57.906Z,1736374977.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.599998 m, nav range: 60.568638 m, bearing: 348.066705 deg, approach rate: 0.578566 m/s, LOS rate: -0.340958 deg/s, cmd heading: 124.952095 deg, new cmd heading: 124.570703 deg. 2025-01-08T22:22:57.907Z,1736374977.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174169 target range: 115.599998 and range: 115.60 m. 2025-01-08T22:22:57.965Z,1736374977.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:57.966Z,1736374977.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712779 2025-01-08T22:22:58.216Z,1736374978.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:58.216Z,1736374978.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963236 2025-01-08T22:22:58.293Z,1736374978.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:58.305Z,1736374978.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.60 m. 2025-01-08T22:22:58.309Z,1736374978.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.599998 m, nav range: 60.803230 m, bearing: 347.927221 deg, approach rate: 0.584133 m/s, LOS rate: -0.345974 deg/s, cmd heading: 124.570698 deg, new cmd heading: 124.153868 deg. 2025-01-08T22:22:58.310Z,1736374978.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.166894 target range: 115.599998 and range: 115.60 m. 2025-01-08T22:22:58.468Z,1736374978.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:58.469Z,1736374978.469 [DAT](INFO): DAT read: Rx Time:22:22:57.1570 2025-01-08T22:22:58.469Z,1736374978.469 [DAT](INFO): Rx dataTimestamp_ set to:1736374978.468922 2025-01-08T22:22:58.470Z,1736374978.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216750 2025-01-08T22:22:58.720Z,1736374978.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:58.721Z,1736374978.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467508 2025-01-08T22:22:58.729Z,1736374978.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:58.737Z,1736374978.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.60 m. 2025-01-08T22:22:58.740Z,1736374978.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.599998 m, nav range: 61.064579 m, bearing: 347.767542 deg, approach rate: 0.605191 m/s, LOS rate: -0.368178 deg/s, cmd heading: 124.153865 deg, new cmd heading: 123.676888 deg. 2025-01-08T22:22:58.741Z,1736374978.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.158569 target range: 115.599998 and range: 115.60 m. 2025-01-08T22:22:58.972Z,1736374978.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:58.984Z,1736374978.984 [DAT](INFO): DAT read: 22:22:57.1570 LVL= 23408, 32753, 28146, 32755, AGC= 67, IDX= 407,-0.29,-1.263,-2.664,-1.981,-1.692, PHS= 0.517,-0.926,-0.292, RAW= 116.0, 11.2, CAL= 124.4, 7.9, ROT= 25.6, -7.9 2025-01-08T22:22:58.985Z,1736374978.985 [DAT](INFO): got valid direction response: 22:22:57.1570 LVL= 23408, 32753, 28146, 32755, AGC= 67, IDX= 407,-0.29,-1.263,-2.664,-1.981,-1.692, PHS= 0.517,-0.926,-0.292, RAW= 116.0, 11.2, CAL= 124.4, 7.9, ROT= 25.6, -7.9 2025-01-08T22:22:58.986Z,1736374978.986 [DAT](INFO): DAT read: Bearing 25.6, -7.9 (Local) 2025-01-08T22:22:58.986Z,1736374978.986 [DAT](INFO): Local bearing/azimuth received: Bearing 25.6, -7.9 (Local) 2025-01-08T22:22:58.988Z,1736374978.988 [DAT](INFO): DAT read: Range 10 to 50 : 113.1 m (Round-trip 150.9 ms) speed 0.4 m/s 2025-01-08T22:22:58.989Z,1736374978.989 [DAT](INFO): DAT read: user:2555> 2025-01-08T22:22:58.989Z,1736374978.989 [DAT](INFO): DAT read: Tx time:22:22:58.2519 2025-01-08T22:22:58.990Z,1736374978.990 [DAT](INFO): Ping request sent. 2025-01-08T22:22:58.990Z,1736374978.990 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:22:58.990Z,1736374978.990 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:22:58.992Z,1736374978.992 [DAT](INFO): direction in FSK: [-0.328174,-0.324764,0.887035] 2025-01-08T22:22:58.992Z,1736374978.992 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:58.992Z,1736374978.992 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:58.995Z,1736374978.995 [DAT](INFO): publishing transmit ping time 2025-01-08T22:22:58.996Z,1736374978.996 [DAT](INFO): publishing direction and range info 2025-01-08T22:22:59.116Z,1736374979.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:59.148Z,1736374979.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.099998 m, deltaT: 3.779060 s, deltaX: -2.500000 m, approachRate: -0.661540 m/s, rangeRepo size: 4 2025-01-08T22:22:59.150Z,1736374979.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.099998 m, bearing: 3.149900 deg, lat: 36.905908 deg, lon: -122.119768 deg, deltaT: 3.779060 s, deltaX: -2.500000 m, approachRate: -0.661540 m/s, posRepo size: 4 2025-01-08T22:22:59.151Z,1736374979.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.10 m. 2025-01-08T22:22:59.157Z,1736374979.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.099998 m, nav range: 59.944775 m, bearing: 2.809469 deg, approach rate: 0.000000 m/s, LOS rate: -0.368178 deg/s, cmd heading: 123.676885 deg, new cmd heading: 123.228198 deg. 2025-01-08T22:22:59.163Z,1736374979.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150738 target range: 113.099998 and range: 113.10 m. 2025-01-08T22:22:59.224Z,1736374979.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:59.225Z,1736374979.225 [DAT](INFO): DAT read: TxSync time:22:22:58.2511 2025-01-08T22:22:59.476Z,1736374979.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:59.530Z,1736374979.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:59.538Z,1736374979.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:22:59.540Z,1736374979.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.10 m. 2025-01-08T22:22:59.544Z,1736374979.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.099998 m, nav range: 60.144688 m, bearing: 2.580059 deg, approach rate: 0.503790 m/s, LOS rate: -0.576201 deg/s, cmd heading: 123.228197 deg, new cmd heading: 122.542289 deg. 2025-01-08T22:22:59.545Z,1736374979.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.138767 target range: 113.099998 and range: 113.10 m. 2025-01-08T22:22:59.728Z,1736374979.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:59.728Z,1736374979.728 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:22:59.728Z,1736374979.728 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:22:59.728Z,1736374979.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:22:59.922Z,1736374979.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:22:59.935Z,1736374979.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.10 m. 2025-01-08T22:22:59.938Z,1736374979.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.099998 m, nav range: 60.327766 m, bearing: 2.369076 deg, approach rate: 0.463634 m/s, LOS rate: -0.532676 deg/s, cmd heading: 122.542295 deg, new cmd heading: 121.911295 deg. 2025-01-08T22:22:59.938Z,1736374979.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.127753 target range: 113.099998 and range: 113.10 m. 2025-01-08T22:22:59.980Z,1736374979.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:22:59.981Z,1736374979.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990833 2025-01-08T22:23:00.235Z,1736374980.235 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:00.236Z,1736374980.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245690 2025-01-08T22:23:00.338Z,1736374980.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:00.348Z,1736374980.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.10 m. 2025-01-08T22:23:00.351Z,1736374980.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.099998 m, nav range: 60.532688 m, bearing: 2.132728 deg, approach rate: 0.496566 m/s, LOS rate: -0.570778 deg/s, cmd heading: 121.911295 deg, new cmd heading: 121.204689 deg. 2025-01-08T22:23:00.352Z,1736374980.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.115421 target range: 113.099998 and range: 113.10 m. 2025-01-08T22:23:00.489Z,1736374980.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:00.492Z,1736374980.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500832 2025-01-08T22:23:00.740Z,1736374980.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:00.741Z,1736374980.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750833 2025-01-08T22:23:00.773Z,1736374980.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:00.791Z,1736374980.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.10 m. 2025-01-08T22:23:00.798Z,1736374980.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.099998 m, nav range: 60.741657 m, bearing: 1.885678 deg, approach rate: 0.471475 m/s, LOS rate: -0.555474 deg/s, cmd heading: 121.204685 deg, new cmd heading: 120.466127 deg. 2025-01-08T22:23:00.798Z,1736374980.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102530 target range: 113.099998 and range: 113.10 m. 2025-01-08T22:23:00.993Z,1736374980.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:00.995Z,1736374980.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004674 2025-01-08T22:23:01.211Z,1736374981.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:01.238Z,1736374981.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.10 m. 2025-01-08T22:23:01.244Z,1736374981.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:01.245Z,1736374981.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254650 2025-01-08T22:23:01.246Z,1736374981.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.099998 m, nav range: 60.950741 m, bearing: 1.637264 deg, approach rate: 0.467422 m/s, LOS rate: -0.553442 deg/s, cmd heading: 120.466123 deg, new cmd heading: 119.723481 deg. 2025-01-08T22:23:01.252Z,1736374981.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089569 target range: 113.099998 and range: 113.10 m. 2025-01-08T22:23:01.496Z,1736374981.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:01.496Z,1736374981.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506453 2025-01-08T22:23:01.666Z,1736374981.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:01.677Z,1736374981.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:01.681Z,1736374981.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.10 m. 2025-01-08T22:23:01.684Z,1736374981.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.099998 m, nav range: 61.164986 m, bearing: 1.369637 deg, approach rate: 0.484003 m/s, LOS rate: -0.602479 deg/s, cmd heading: 119.723476 deg, new cmd heading: 118.923463 deg. 2025-01-08T22:23:01.685Z,1736374981.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075606 target range: 113.099998 and range: 113.10 m. 2025-01-08T22:23:01.749Z,1736374981.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:01.750Z,1736374981.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760014 2025-01-08T22:23:01.000Z,1736374982.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:02.000Z,1736374982.000 [DAT](INFO): DAT read: Rx Time:22:23:00.8038 2025-01-08T22:23:02.001Z,1736374982.001 [DAT](INFO): Rx dataTimestamp_ set to:1736374982.000519 2025-01-08T22:23:02.001Z,1736374982.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011467 2025-01-08T22:23:02.030Z,1736374982.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:02.046Z,1736374982.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.10 m. 2025-01-08T22:23:02.077Z,1736374982.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.099998 m, nav range: 61.335587 m, bearing: 1.154767 deg, approach rate: 0.467066 m/s, LOS rate: -0.586628 deg/s, cmd heading: 118.923456 deg, new cmd heading: 118.280666 deg. 2025-01-08T22:23:02.078Z,1736374982.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064387 target range: 113.099998 and range: 113.10 m. 2025-01-08T22:23:02.252Z,1736374982.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:02.252Z,1736374982.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262506 2025-01-08T22:23:02.505Z,1736374982.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:02.516Z,1736374982.516 [DAT](INFO): DAT read: 22:23:00.8038 LVL= 16816, 32753, 24738, 32755, AGC= 68, IDX= 406,-0.44, 2.917, 1.164, 1.938, 2.186, PHS= 0.819,-0.975,-0.251, RAW= 113.6, 5.3, CAL= 124.0, 1.9, ROT= 26.0, -1.9 2025-01-08T22:23:02.517Z,1736374982.517 [DAT](INFO): got valid direction response: 22:23:00.8038 LVL= 16816, 32753, 24738, 32755, AGC= 68, IDX= 406,-0.44, 2.917, 1.164, 1.938, 2.186, PHS= 0.819,-0.975,-0.251, RAW= 113.6, 5.3, CAL= 124.0, 1.9, ROT= 26.0, -1.9 2025-01-08T22:23:02.518Z,1736374982.518 [DAT](INFO): DAT read: Bearing 26.0, -1.9 (Local) 2025-01-08T22:23:02.519Z,1736374982.519 [DAT](INFO): Local bearing/azimuth received: Bearing 26.0, -1.9 (Local) 2025-01-08T22:23:02.521Z,1736374982.521 [DAT](INFO): DAT read: Range 10 to 50 : 110.7 m (Round-trip 147.7 ms) speed 0.5 m/s 2025-01-08T22:23:02.522Z,1736374982.522 [DAT](INFO): DAT read: user:2556> 2025-01-08T22:23:02.522Z,1736374982.522 [DAT](INFO): DAT read: Tx time:22:23:01.9019 2025-01-08T22:23:02.523Z,1736374982.523 [DAT](INFO): Ping request sent. 2025-01-08T22:23:02.523Z,1736374982.523 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:02.523Z,1736374982.523 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:23:02.524Z,1736374982.524 [DAT](INFO): direction in FSK: [-0.216342,-0.298720,0.929496] 2025-01-08T22:23:02.525Z,1736374982.525 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:02.525Z,1736374982.525 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:02.528Z,1736374982.528 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:02.529Z,1736374982.529 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:02.534Z,1736374982.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:02.577Z,1736374982.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 110.699997 m, deltaT: 3.533286 s, deltaX: -2.400002 m, approachRate: -0.679255 m/s, rangeRepo size: 4 2025-01-08T22:23:02.584Z,1736374982.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 110.699997 m, bearing: 12.228158 deg, lat: 36.905908 deg, lon: -122.119740 deg, deltaT: 3.533286 s, deltaX: -2.400002 m, approachRate: -0.679255 m/s, posRepo size: 4 2025-01-08T22:23:02.584Z,1736374982.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.70 m. 2025-01-08T22:23:02.587Z,1736374982.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.699997 m, nav range: 61.657494 m, bearing: 3.170647 deg, approach rate: 0.000000 m/s, LOS rate: -0.586628 deg/s, cmd heading: 118.280667 deg, new cmd heading: 117.362901 deg. 2025-01-08T22:23:02.597Z,1736374982.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048369 target range: 110.699997 and range: 110.70 m. 2025-01-08T22:23:02.757Z,1736374982.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:02.758Z,1736374982.758 [DAT](INFO): DAT read: TxSync time:22:23:01.9011 2025-01-08T22:23:03.008Z,1736374983.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:03.009Z,1736374983.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:03.030Z,1736374983.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.70 m. 2025-01-08T22:23:03.046Z,1736374983.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.699997 m, nav range: 61.859818 m, bearing: 2.896728 deg, approach rate: 0.437082 m/s, LOS rate: -0.589811 deg/s, cmd heading: 117.362895 deg, new cmd heading: 116.543885 deg. 2025-01-08T22:23:03.052Z,1736374983.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.034075 target range: 110.699997 and range: 110.70 m. 2025-01-08T22:23:03.260Z,1736374983.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:03.322Z,1736374983.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:03.331Z,1736374983.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.70 m. 2025-01-08T22:23:03.334Z,1736374983.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.699997 m, nav range: 61.996925 m, bearing: 2.710457 deg, approach rate: 0.456336 m/s, LOS rate: -0.618594 deg/s, cmd heading: 116.543887 deg, new cmd heading: 115.986327 deg. 2025-01-08T22:23:03.335Z,1736374983.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.024343 target range: 110.699997 and range: 110.70 m. 2025-01-08T22:23:03.512Z,1736374983.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:03.747Z,1736374983.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:03.754Z,1736374983.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:03.756Z,1736374983.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.70 m. 2025-01-08T22:23:03.760Z,1736374983.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.699997 m, nav range: 62.167870 m, bearing: 2.468689 deg, approach rate: 0.401811 m/s, LOS rate: -0.566721 deg/s, cmd heading: 115.986325 deg, new cmd heading: 115.263056 deg. 2025-01-08T22:23:03.761Z,1736374983.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.011720 target range: 110.699997 and range: 110.70 m. 2025-01-08T22:23:03.764Z,1736374983.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:03.765Z,1736374983.765 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:03.765Z,1736374983.765 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:03.765Z,1736374983.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:04.016Z,1736374984.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:04.016Z,1736374984.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493719 2025-01-08T22:23:04.135Z,1736374984.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:04.145Z,1736374984.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.70 m. 2025-01-08T22:23:04.148Z,1736374984.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.699997 m, nav range: 62.323006 m, bearing: 2.248452 deg, approach rate: 0.399257 m/s, LOS rate: -0.565387 deg/s, cmd heading: 115.263062 deg, new cmd heading: 114.604028 deg. 2025-01-08T22:23:04.149Z,1736374984.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.000218 target range: 110.699997 and range: 110.70 m. 2025-01-08T22:23:04.268Z,1736374984.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:04.268Z,1736374984.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745691 2025-01-08T22:23:04.520Z,1736374984.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:04.521Z,1736374984.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998001 2025-01-08T22:23:04.555Z,1736374984.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:04.592Z,1736374984.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.70 m. 2025-01-08T22:23:04.594Z,1736374984.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.699997 m, nav range: 62.493736 m, bearing: 2.030579 deg, approach rate: 0.384429 m/s, LOS rate: -0.489236 deg/s, cmd heading: 114.604031 deg, new cmd heading: 113.952228 deg. 2025-01-08T22:23:04.596Z,1736374984.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.988842 target range: 110.699997 and range: 110.70 m. 2025-01-08T22:23:04.772Z,1736374984.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:04.772Z,1736374984.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249705 2025-01-08T22:23:04.935Z,1736374984.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:04.943Z,1736374984.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.70 m. 2025-01-08T22:23:04.946Z,1736374984.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.699997 m, nav range: 62.646069 m, bearing: 1.832937 deg, approach rate: 0.430068 m/s, LOS rate: -0.556632 deg/s, cmd heading: 113.952226 deg, new cmd heading: 113.360762 deg. 2025-01-08T22:23:04.947Z,1736374984.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.978518 target range: 110.699997 and range: 110.70 m. 2025-01-08T22:23:05.024Z,1736374985.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:05.026Z,1736374985.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503026 2025-01-08T22:23:05.277Z,1736374985.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:05.278Z,1736374985.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755307 2025-01-08T22:23:05.352Z,1736374985.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:05.374Z,1736374985.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.70 m. 2025-01-08T22:23:05.381Z,1736374985.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.699997 m, nav range: 62.811295 m, bearing: 1.615205 deg, approach rate: 0.383848 m/s, LOS rate: -0.504495 deg/s, cmd heading: 113.360759 deg, new cmd heading: 112.709313 deg. 2025-01-08T22:23:05.382Z,1736374985.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.967149 target range: 110.699997 and range: 110.70 m. 2025-01-08T22:23:05.528Z,1736374985.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:05.528Z,1736374985.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005742 2025-01-08T22:23:05.773Z,1736374985.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:05.780Z,1736374985.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:05.781Z,1736374985.781 [DAT](INFO): DAT read: Rx Time:22:23:04.4508 2025-01-08T22:23:05.781Z,1736374985.781 [DAT](INFO): Rx dataTimestamp_ set to:1736374985.780756 2025-01-08T22:23:05.782Z,1736374985.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258866 2025-01-08T22:23:05.784Z,1736374985.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:05.786Z,1736374985.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.70 m. 2025-01-08T22:23:05.789Z,1736374985.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.699997 m, nav range: 62.971020 m, bearing: 1.411034 deg, approach rate: 0.386896 m/s, LOS rate: -0.493301 deg/s, cmd heading: 112.709316 deg, new cmd heading: 112.098379 deg. 2025-01-08T22:23:05.790Z,1736374985.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.956486 target range: 110.699997 and range: 110.70 m. 2025-01-08T22:23:06.033Z,1736374986.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:06.034Z,1736374986.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511448 2025-01-08T22:23:06.220Z,1736374986.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:06.249Z,1736374986.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.70 m. 2025-01-08T22:23:06.256Z,1736374986.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.699997 m, nav range: 63.141254 m, bearing: 1.195676 deg, approach rate: 0.367824 m/s, LOS rate: -0.464065 deg/s, cmd heading: 112.098376 deg, new cmd heading: 111.454072 deg. 2025-01-08T22:23:06.260Z,1736374986.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.945240 target range: 110.699997 and range: 110.70 m. 2025-01-08T22:23:06.284Z,1736374986.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:06.292Z,1736374986.292 [DAT](INFO): DAT read: 22:23:04.4508 LVL= 17040, 32753, 27970, 32755, AGC= 64, IDX= 407, 0.49,-1.738, 2.571,-2.877,-2.558, PHS= 0.908,-1.107,-0.322, RAW= 112.7, 6.0, CAL= 123.0, 2.8, ROT= 27.0, -2.8 2025-01-08T22:23:06.294Z,1736374986.294 [DAT](INFO): got valid direction response: 22:23:04.4508 LVL= 17040, 32753, 27970, 32755, AGC= 64, IDX= 407, 0.49,-1.738, 2.571,-2.877,-2.558, PHS= 0.908,-1.107,-0.322, RAW= 112.7, 6.0, CAL= 123.0, 2.8, ROT= 27.0, -2.8 2025-01-08T22:23:06.295Z,1736374986.295 [DAT](INFO): DAT read: Bearing 27.0, -2.8 (Local) 2025-01-08T22:23:06.296Z,1736374986.296 [DAT](INFO): Local bearing/azimuth received: Bearing 27.0, -2.8 (Local) 2025-01-08T22:23:06.298Z,1736374986.298 [DAT](INFO): DAT read: Range 10 to 50 : 108.6 m (Round-trip 144.8 ms) speeds 2025-01-08T22:23:06.308Z,1736374986.308 [DAT](INFO): DAT read: user:2557> 2025-01-08T22:23:06.309Z,1736374986.309 [DAT](INFO): DAT read: Tx time:22:23:05.5519 2025-01-08T22:23:06.310Z,1736374986.310 [DAT](INFO): Ping request sent. 2025-01-08T22:23:06.310Z,1736374986.310 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:06.310Z,1736374986.310 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:23:06.358Z,1736374986.358 [DAT](INFO): direction in FSK: [-0.228991,-0.281791,0.931749] 2025-01-08T22:23:06.364Z,1736374986.364 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:06.364Z,1736374986.364 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:06.367Z,1736374986.367 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:06.367Z,1736374986.367 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:06.538Z,1736374986.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:06.540Z,1736374986.540 [DAT](INFO): DAT read: TxSync time:22:23:05.5511 2025-01-08T22:23:06.653Z,1736374986.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:06.690Z,1736374986.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.599998 m, deltaT: 3.778060 s, deltaX: -2.099998 m, approachRate: -0.555840 m/s, rangeRepo size: 4 2025-01-08T22:23:06.697Z,1736374986.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.599998 m, bearing: 1.426075 deg, lat: 36.905850 deg, lon: -122.119740 deg, deltaT: 3.778060 s, deltaX: -2.099998 m, approachRate: -0.555840 m/s, posRepo size: 4 2025-01-08T22:23:06.697Z,1736374986.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T22:23:06.704Z,1736374986.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 56.814945 m, bearing: 1.110544 deg, approach rate: 0.000000 m/s, LOS rate: -0.464065 deg/s, cmd heading: 111.454071 deg, new cmd heading: 110.841209 deg. 2025-01-08T22:23:06.705Z,1736374986.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.934544 target range: 108.599998 and range: 108.60 m. 2025-01-08T22:23:06.788Z,1736374986.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:07.040Z,1736374987.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:07.116Z,1736374987.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:07.124Z,1736374987.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T22:23:07.128Z,1736374987.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 56.977654 m, bearing: 0.871846 deg, approach rate: 0.374270 m/s, LOS rate: -0.547497 deg/s, cmd heading: 110.841211 deg, new cmd heading: 110.127200 deg. 2025-01-08T22:23:07.129Z,1736374987.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.922082 target range: 108.599998 and range: 108.60 m. 2025-01-08T22:23:07.293Z,1736374987.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:07.544Z,1736374987.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:07.593Z,1736374987.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:07.610Z,1736374987.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T22:23:07.617Z,1736374987.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 57.138981 m, bearing: 0.638846 deg, approach rate: 0.331973 m/s, LOS rate: -0.478103 deg/s, cmd heading: 110.127197 deg, new cmd heading: 109.430206 deg. 2025-01-08T22:23:07.618Z,1736374987.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.909917 target range: 108.599998 and range: 108.60 m. 2025-01-08T22:23:07.796Z,1736374987.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:07.921Z,1736374987.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:07.928Z,1736374987.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:07.930Z,1736374987.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T22:23:07.933Z,1736374987.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 57.248348 m, bearing: 0.477968 deg, approach rate: 0.341617 m/s, LOS rate: -0.501552 deg/s, cmd heading: 109.430204 deg, new cmd heading: 108.948505 deg. 2025-01-08T22:23:07.934Z,1736374987.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.901510 target range: 108.599998 and range: 108.60 m. 2025-01-08T22:23:08.048Z,1736374988.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:08.048Z,1736374988.048 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:08.048Z,1736374988.048 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:08.049Z,1736374988.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:08.300Z,1736374988.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:08.301Z,1736374988.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990646 2025-01-08T22:23:08.328Z,1736374988.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:08.352Z,1736374988.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T22:23:08.355Z,1736374988.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 57.381702 m, bearing: 0.276820 deg, approach rate: 0.315989 m/s, LOS rate: -0.475520 deg/s, cmd heading: 108.948505 deg, new cmd heading: 108.346487 deg. 2025-01-08T22:23:08.360Z,1736374988.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.891003 target range: 108.599998 and range: 108.60 m. 2025-01-08T22:23:08.556Z,1736374988.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:08.560Z,1736374988.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248603 2025-01-08T22:23:08.764Z,1736374988.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:08.793Z,1736374988.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T22:23:08.800Z,1736374988.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 57.529778 m, bearing: 0.066020 deg, approach rate: 0.336159 m/s, LOS rate: -0.477324 deg/s, cmd heading: 108.346485 deg, new cmd heading: 107.715739 deg. 2025-01-08T22:23:08.801Z,1736374988.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.879994 target range: 108.599998 and range: 108.60 m. 2025-01-08T22:23:08.804Z,1736374988.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:08.804Z,1736374988.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494610 2025-01-08T22:23:09.056Z,1736374989.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:09.056Z,1736374989.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746481 2025-01-08T22:23:09.150Z,1736374989.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:09.171Z,1736374989.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T22:23:09.178Z,1736374989.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 57.656689 m, bearing: 359.876224 deg, approach rate: 0.335904 m/s, LOS rate: -0.501239 deg/s, cmd heading: 107.715737 deg, new cmd heading: 107.147621 deg. 2025-01-08T22:23:09.178Z,1736374989.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870079 target range: 108.599998 and range: 108.60 m. 2025-01-08T22:23:09.310Z,1736374989.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:09.313Z,1736374989.313 [DAT](INFO): DAT read: Rx Time:22:23:08.0977 2025-01-08T22:23:09.313Z,1736374989.313 [DAT](INFO): Rx dataTimestamp_ set to:1736374989.312984 2025-01-08T22:23:09.314Z,1736374989.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003932 2025-01-08T22:23:09.569Z,1736374989.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:09.571Z,1736374989.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260952 2025-01-08T22:23:09.636Z,1736374989.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:09.675Z,1736374989.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T22:23:09.682Z,1736374989.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 57.815414 m, bearing: 359.633404 deg, approach rate: 0.315195 m/s, LOS rate: -0.480863 deg/s, cmd heading: 107.147623 deg, new cmd heading: 106.421204 deg. 2025-01-08T22:23:09.683Z,1736374989.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.857400 target range: 108.599998 and range: 108.60 m. 2025-01-08T22:23:09.820Z,1736374989.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:09.829Z,1736374989.829 [DAT](INFO): DAT read: 22:23:08.0977 LVL= 13664, 25345, 24050, 31411, AGC= 62, IDX= 407, 0.03, 2.073, 0.101, 0.840, 1.214, PHS= 0.947,-1.066,-0.377, RAW= 109.7, 5.7, CAL= 120.3, 2.9, ROT= 29.7, -2.9 2025-01-08T22:23:09.830Z,1736374989.830 [DAT](INFO): got valid direction response: 22:23:08.0977 LVL= 13664, 25345, 24050, 31411, AGC= 62, IDX= 407, 0.03, 2.073, 0.101, 0.840, 1.214, PHS= 0.947,-1.066,-0.377, RAW= 109.7, 5.7, CAL= 120.3, 2.9, ROT= 29.7, -2.9 2025-01-08T22:23:09.832Z,1736374989.832 [DAT](INFO): DAT read: Bearing 29.7, -2.9 (Local) 2025-01-08T22:23:09.832Z,1736374989.832 [DAT](INFO): Local bearing/azimuth received: Bearing 29.7, -2.9 (Local) 2025-01-08T22:23:09.833Z,1736374989.833 [DAT](INFO): DAT read: Range 10 to 50 : 106.2 m (Round-trip 141.6 ms) speed 0.4 m/s 2025-01-08T22:23:09.834Z,1736374989.834 [DAT](INFO): DAT read: user:2558> 2025-01-08T22:23:09.835Z,1736374989.835 [DAT](INFO): DAT read: Tx time:22:23:09.2019 2025-01-08T22:23:09.835Z,1736374989.835 [DAT](INFO): Ping request sent. 2025-01-08T22:23:09.836Z,1736374989.836 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:09.836Z,1736374989.836 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:23:09.837Z,1736374989.837 [DAT](INFO): direction in FSK: [-0.219647,-0.229813,0.948125] 2025-01-08T22:23:09.837Z,1736374989.837 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:09.837Z,1736374989.837 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:09.841Z,1736374989.841 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:09.841Z,1736374989.841 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:10.021Z,1736374990.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:10.054Z,1736374990.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 106.199997 m, deltaT: 3.536886 s, deltaX: -2.400002 m, approachRate: -0.678563 m/s, rangeRepo size: 4 2025-01-08T22:23:10.063Z,1736374990.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 106.199997 m, bearing: 352.311732 deg, lat: 36.905721 deg, lon: -122.119742 deg, deltaT: 3.536886 s, deltaX: -2.400002 m, approachRate: -0.678563 m/s, posRepo size: 4 2025-01-08T22:23:10.068Z,1736374990.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m. 2025-01-08T22:23:10.070Z,1736374990.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.199997 m, nav range: 43.572815 m, bearing: 359.019143 deg, approach rate: 0.000000 m/s, LOS rate: -0.480863 deg/s, cmd heading: 106.421205 deg, new cmd heading: 105.875462 deg. 2025-01-08T22:23:10.072Z,1736374990.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:10.073Z,1736374990.073 [DAT](INFO): DAT read: TxSync time:22:23:09.2011 2025-01-08T22:23:10.076Z,1736374990.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.847875 target range: 106.199997 and range: 106.20 m. 2025-01-08T22:23:10.324Z,1736374990.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:10.470Z,1736374990.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:10.478Z,1736374990.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:10.480Z,1736374990.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m. 2025-01-08T22:23:10.483Z,1736374990.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.199997 m, nav range: 43.717800 m, bearing: 358.720656 deg, approach rate: 0.339102 m/s, LOS rate: -0.695807 deg/s, cmd heading: 105.875459 deg, new cmd heading: 104.983042 deg. 2025-01-08T22:23:10.484Z,1736374990.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.832300 target range: 106.199997 and range: 106.20 m. 2025-01-08T22:23:10.578Z,1736374990.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:10.580Z,1736374990.580 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:10.580Z,1736374990.580 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:10.581Z,1736374990.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:10.828Z,1736374990.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:10.828Z,1736374990.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992800 2025-01-08T22:23:10.922Z,1736374990.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:10.933Z,1736374990.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m. 2025-01-08T22:23:10.936Z,1736374990.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.199997 m, nav range: 43.872585 m, bearing: 358.409868 deg, approach rate: 0.342076 m/s, LOS rate: -0.684415 deg/s, cmd heading: 104.983040 deg, new cmd heading: 104.054053 deg. 2025-01-08T22:23:10.937Z,1736374990.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.816086 target range: 106.199997 and range: 106.20 m. 2025-01-08T22:23:11.080Z,1736374991.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:11.081Z,1736374991.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245735 2025-01-08T22:23:11.290Z,1736374991.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:11.315Z,1736374991.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m. 2025-01-08T22:23:11.318Z,1736374991.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.199997 m, nav range: 43.995693 m, bearing: 358.156370 deg, approach rate: 0.335890 m/s, LOS rate: -0.689711 deg/s, cmd heading: 104.054052 deg, new cmd heading: 103.295733 deg. 2025-01-08T22:23:11.319Z,1736374991.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.802851 target range: 106.199997 and range: 106.20 m. 2025-01-08T22:23:11.332Z,1736374991.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:11.332Z,1736374991.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496827 2025-01-08T22:23:11.585Z,1736374991.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:11.594Z,1736374991.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751262 2025-01-08T22:23:11.720Z,1736374991.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:11.745Z,1736374991.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m. 2025-01-08T22:23:11.752Z,1736374991.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.199997 m, nav range: 44.134407 m, bearing: 357.844166 deg, approach rate: 0.311062 m/s, LOS rate: -0.697906 deg/s, cmd heading: 103.295731 deg, new cmd heading: 102.362150 deg. 2025-01-08T22:23:11.753Z,1736374991.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.786556 target range: 106.199997 and range: 106.20 m. 2025-01-08T22:23:11.836Z,1736374991.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:11.837Z,1736374991.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001765 2025-01-08T22:23:12.088Z,1736374992.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:12.089Z,1736374992.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252913 2025-01-08T22:23:12.121Z,1736374992.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:12.134Z,1736374992.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m. 2025-01-08T22:23:12.137Z,1736374992.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.199997 m, nav range: 44.262806 m, bearing: 357.551726 deg, approach rate: 0.330572 m/s, LOS rate: -0.750722 deg/s, cmd heading: 102.362146 deg, new cmd heading: 101.487442 deg. 2025-01-08T22:23:12.138Z,1736374992.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.771290 target range: 106.199997 and range: 106.20 m. 2025-01-08T22:23:12.340Z,1736374992.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:12.340Z,1736374992.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504730 2025-01-08T22:23:12.501Z,1736374992.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:12.507Z,1736374992.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:12.510Z,1736374992.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m. 2025-01-08T22:23:12.513Z,1736374992.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.199997 m, nav range: 44.382687 m, bearing: 357.274745 deg, approach rate: 0.318236 m/s, LOS rate: -0.733286 deg/s, cmd heading: 101.487445 deg, new cmd heading: 100.658808 deg. 2025-01-08T22:23:12.514Z,1736374992.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756828 target range: 106.199997 and range: 106.20 m. 2025-01-08T22:23:12.603Z,1736374992.603 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:12.606Z,1736374992.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769412 2025-01-08T22:23:12.852Z,1736374992.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:12.853Z,1736374992.853 [DAT](INFO): DAT read: Rx Time:22:23:11.7449 2025-01-08T22:23:12.853Z,1736374992.853 [DAT](INFO): Rx dataTimestamp_ set to:1736374992.852733 2025-01-08T22:23:12.854Z,1736374992.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017943 2025-01-08T22:23:12.968Z,1736374992.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:12.977Z,1736374992.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m. 2025-01-08T22:23:12.980Z,1736374992.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.199997 m, nav range: 44.527351 m, bearing: 356.910102 deg, approach rate: 0.309943 m/s, LOS rate: -0.778701 deg/s, cmd heading: 100.658806 deg, new cmd heading: 99.568571 deg. 2025-01-08T22:23:12.981Z,1736374992.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.737799 target range: 106.199997 and range: 106.20 m. 2025-01-08T22:23:13.104Z,1736374993.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:13.105Z,1736374993.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269294 2025-01-08T22:23:13.303Z,1736374993.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:13.313Z,1736374993.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m. 2025-01-08T22:23:13.316Z,1736374993.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.199997 m, nav range: 44.630516 m, bearing: 356.647488 deg, approach rate: 0.306784 m/s, LOS rate: -0.779137 deg/s, cmd heading: 99.568572 deg, new cmd heading: 98.782601 deg. 2025-01-08T22:23:13.317Z,1736374993.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724082 target range: 106.199997 and range: 106.20 m. 2025-01-08T22:23:13.356Z,1736374993.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:13.357Z,1736374993.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520945 2025-01-08T22:23:13.610Z,1736374993.610 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:13.632Z,1736374993.632 [DAT](INFO): DAT read: 22:23:11.7449 LVL= 14880, 25057, 23106, 25539, AGC= 61, IDX= 409, 0.13, 2.886, 0.938, 1.439, 1.892, PHS= 1.082,-0.906,-0.456, RAW= 102.5, 3.1, CAL= 113.2, 0.9, ROT= 36.8, -0.9 2025-01-08T22:23:13.633Z,1736374993.633 [DAT](INFO): got valid direction response: 22:23:11.7449 LVL= 14880, 25057, 23106, 25539, AGC= 61, IDX= 409, 0.13, 2.886, 0.938, 1.439, 1.892, PHS= 1.082,-0.906,-0.456, RAW= 102.5, 3.1, CAL= 113.2, 0.9, ROT= 36.8, -0.9 2025-01-08T22:23:13.634Z,1736374993.634 [DAT](INFO): DAT read: Bearing 36.8, -0.9 (Local) 2025-01-08T22:23:13.635Z,1736374993.635 [DAT](INFO): Local bearing/azimuth received: Bearing 36.8, -0.9 (Local) 2025-01-08T22:23:13.636Z,1736374993.636 [DAT](INFO): DAT read: Range 10 to 50 : 104.0 m (Round-trip 138.7 ms) speed 0.4 m/s 2025-01-08T22:23:13.637Z,1736374993.637 [DAT](INFO): DAT read: user:2559> 2025-01-08T22:23:13.638Z,1736374993.638 [DAT](INFO): DAT read: Tx time:22:23:12.8520 2025-01-08T22:23:13.638Z,1736374993.638 [DAT](INFO): Ping request sent. 2025-01-08T22:23:13.638Z,1736374993.638 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:13.638Z,1736374993.638 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:23:13.656Z,1736374993.656 [DAT](INFO): direction in FSK: [-0.163290,-0.107333,0.980722] 2025-01-08T22:23:13.656Z,1736374993.656 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:13.656Z,1736374993.656 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:13.676Z,1736374993.676 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:13.677Z,1736374993.677 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:13.792Z,1736374993.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:13.822Z,1736374993.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.000000 m, deltaT: 3.789189 s, deltaX: -2.199997 m, approachRate: -0.580598 m/s, rangeRepo size: 4 2025-01-08T22:23:13.828Z,1736374993.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 104.000000 m, bearing: 335.266185 deg, lat: 36.905672 deg, lon: -122.119768 deg, deltaT: 3.789189 s, deltaX: -2.199997 m, approachRate: -0.580598 m/s, posRepo size: 4 2025-01-08T22:23:13.829Z,1736374993.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:23:13.836Z,1736374993.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 39.582558 m, bearing: 352.404478 deg, approach rate: 0.000000 m/s, LOS rate: -0.779137 deg/s, cmd heading: 98.782601 deg, new cmd heading: 97.595388 deg. 2025-01-08T22:23:13.837Z,1736374993.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.703361 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:23:13.860Z,1736374993.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:13.861Z,1736374993.861 [DAT](INFO): DAT read: TxSync time:22:23:12.8512 2025-01-08T22:23:14.113Z,1736374994.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:14.144Z,1736374994.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:14.162Z,1736374994.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:23:14.170Z,1736374994.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 39.703590 m, bearing: 352.083662 deg, approach rate: 0.356195 m/s, LOS rate: -0.941269 deg/s, cmd heading: 97.595385 deg, new cmd heading: 96.635965 deg. 2025-01-08T22:23:14.171Z,1736374994.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.686616 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:23:14.364Z,1736374994.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:14.521Z,1736374994.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:14.529Z,1736374994.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:14.531Z,1736374994.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:23:14.534Z,1736374994.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 39.828659 m, bearing: 351.747934 deg, approach rate: 0.337898 m/s, LOS rate: -0.904183 deg/s, cmd heading: 96.635962 deg, new cmd heading: 95.632050 deg. 2025-01-08T22:23:14.535Z,1736374994.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669094 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:23:14.618Z,1736374994.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:14.622Z,1736374994.622 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:14.623Z,1736374994.623 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:14.624Z,1736374994.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:14.868Z,1736374994.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:14.868Z,1736374994.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230333 2025-01-08T22:23:14.958Z,1736374994.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:14.967Z,1736374994.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:23:14.970Z,1736374994.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 39.981148 m, bearing: 351.353406 deg, approach rate: 0.350041 m/s, LOS rate: -0.902187 deg/s, cmd heading: 95.632047 deg, new cmd heading: 94.453151 deg. 2025-01-08T22:23:14.971Z,1736374994.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648518 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:23:15.120Z,1736374995.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:15.121Z,1736374995.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483151 2025-01-08T22:23:15.345Z,1736374995.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:15.355Z,1736374995.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:23:15.358Z,1736374995.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 40.118263 m, bearing: 351.005271 deg, approach rate: 0.352988 m/s, LOS rate: -0.893166 deg/s, cmd heading: 94.453149 deg, new cmd heading: 93.412434 deg. 2025-01-08T22:23:15.360Z,1736374995.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.630355 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:23:15.372Z,1736374995.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:15.372Z,1736374995.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734406 2025-01-08T22:23:15.631Z,1736374995.631 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:15.633Z,1736374995.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994948 2025-01-08T22:23:15.756Z,1736374995.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:15.766Z,1736374995.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:23:15.785Z,1736374995.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 40.253632 m, bearing: 350.624548 deg, approach rate: 0.329785 m/s, LOS rate: -0.924392 deg/s, cmd heading: 93.412433 deg, new cmd heading: 92.274264 deg. 2025-01-08T22:23:15.786Z,1736374995.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.610490 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:23:15.884Z,1736374995.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:15.884Z,1736374995.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246331 2025-01-08T22:23:16.130Z,1736374996.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:16.136Z,1736374996.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:16.137Z,1736374996.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498702 2025-01-08T22:23:16.141Z,1736374996.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:23:16.149Z,1736374996.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 40.374863 m, bearing: 350.277958 deg, approach rate: 0.322931 m/s, LOS rate: -0.920456 deg/s, cmd heading: 92.274264 deg, new cmd heading: 91.237735 deg. 2025-01-08T22:23:16.154Z,1736374996.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.592399 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:23:16.389Z,1736374996.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:16.390Z,1736374996.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751846 2025-01-08T22:23:16.535Z,1736374996.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:16.543Z,1736374996.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:16.545Z,1736374996.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:23:16.564Z,1736374996.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 40.503990 m, bearing: 349.902007 deg, approach rate: 0.319496 m/s, LOS rate: -0.927230 deg/s, cmd heading: 91.237735 deg, new cmd heading: 90.113631 deg. 2025-01-08T22:23:16.565Z,1736374996.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.572780 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:23:16.643Z,1736374996.643 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:16.645Z,1736374996.645 [DAT](INFO): DAT read: Rx Time:22:23:15.3926 2025-01-08T22:23:16.647Z,1736374996.647 [DAT](INFO): Rx dataTimestamp_ set to:1736374996.645869 2025-01-08T22:23:16.649Z,1736374996.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010554 2025-01-08T22:23:16.892Z,1736374996.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:16.893Z,1736374996.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255100 2025-01-08T22:23:17.006Z,1736374997.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:17.032Z,1736374997.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:23:17.034Z,1736374997.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 40.645241 m, bearing: 349.466874 deg, approach rate: 0.290671 m/s, LOS rate: -0.892316 deg/s, cmd heading: 90.113630 deg, new cmd heading: 88.813001 deg. 2025-01-08T22:23:17.037Z,1736374997.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550079 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:23:17.144Z,1736374997.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:17.151Z,1736374997.151 [DAT](INFO): DAT read: 22:23:15.3926 LVL= 14320, 23217, 20418, 30323, AGC= 60, IDX= 418, 0.19, 2.834, 0.784, 1.062, 1.598, PHS= 1.323,-0.767,-0.539, RAW= 95.7, -0.2, CAL= 104.4, -4.6, ROT= 45.6, 4.6 2025-01-08T22:23:17.152Z,1736374997.152 [DAT](INFO): got valid direction response: 22:23:15.3926 LVL= 14320, 23217, 20418, 30323, AGC= 60, IDX= 418, 0.19, 2.834, 0.784, 1.062, 1.598, PHS= 1.323,-0.767,-0.539, RAW= 95.7, -0.2, CAL= 104.4, -4.6, ROT= 45.6, 4.6 2025-01-08T22:23:17.153Z,1736374997.153 [DAT](INFO): DAT read: Bearing 45.6, 4.6 (Local) 2025-01-08T22:23:17.153Z,1736374997.153 [DAT](INFO): Local bearing/azimuth received: Bearing 45.6, 4.6 (Local) 2025-01-08T22:23:17.157Z,1736374997.157 [DAT](INFO): DAT read: Range 10 to 50 : 102.3 m (Round-trip 136.5 ms) speed 0.4 m/s 2025-01-08T22:23:17.158Z,1736374997.158 [DAT](INFO): DAT read: user:2560> 2025-01-08T22:23:17.159Z,1736374997.159 [DAT](INFO): DAT read: Tx time:22:23:16.5020 2025-01-08T22:23:17.164Z,1736374997.164 [DAT](INFO): Ping request sent. 2025-01-08T22:23:17.164Z,1736374997.164 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:17.165Z,1736374997.165 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:23:17.172Z,1736374997.172 [DAT](INFO): direction in FSK: [-0.090606,0.008021,0.995855] 2025-01-08T22:23:17.172Z,1736374997.172 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:17.172Z,1736374997.172 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:17.181Z,1736374997.181 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:17.181Z,1736374997.181 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:17.396Z,1736374997.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:17.396Z,1736374997.396 [DAT](INFO): DAT read: TxSync time:22:23:16.5012 2025-01-08T22:23:17.481Z,1736374997.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:17.497Z,1736374997.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.300003 m, deltaT: 3.533891 s, deltaX: -1.699997 m, approachRate: -0.481055 m/s, rangeRepo size: 4 2025-01-08T22:23:17.500Z,1736374997.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.300003 m, bearing: 281.936123 deg, lat: 36.905614 deg, lon: -122.119766 deg, deltaT: 3.533891 s, deltaX: -1.699997 m, approachRate: -0.481055 m/s, posRepo size: 4 2025-01-08T22:23:17.500Z,1736374997.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.30 m. 2025-01-08T22:23:17.503Z,1736374997.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.300003 m, nav range: 34.452095 m, bearing: 347.282628 deg, approach rate: 0.000000 m/s, LOS rate: -0.892316 deg/s, cmd heading: 88.813004 deg, new cmd heading: 87.566940 deg. 2025-01-08T22:23:17.524Z,1736374997.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.528331 target range: 102.300003 and range: 102.30 m. 2025-01-08T22:23:17.651Z,1736374997.651 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:17.900Z,1736374997.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:17.917Z,1736374997.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:17.927Z,1736374997.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.30 m. 2025-01-08T22:23:17.930Z,1736374997.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.300003 m, nav range: 34.584576 m, bearing: 346.829026 deg, approach rate: 0.308009 m/s, LOS rate: -1.050546 deg/s, cmd heading: 87.566939 deg, new cmd heading: 86.211612 deg. 2025-01-08T22:23:17.931Z,1736374997.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.504676 target range: 102.300003 and range: 102.30 m. 2025-01-08T22:23:18.152Z,1736374998.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:18.315Z,1736374998.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:18.336Z,1736374998.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.30 m. 2025-01-08T22:23:18.338Z,1736374998.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.300003 m, nav range: 34.703197 m, bearing: 346.413651 deg, approach rate: 0.293220 m/s, LOS rate: -1.023242 deg/s, cmd heading: 86.211611 deg, new cmd heading: 84.969950 deg. 2025-01-08T22:23:18.343Z,1736374998.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.483005 target range: 102.300003 and range: 102.30 m. 2025-01-08T22:23:18.405Z,1736374998.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:18.488Z,1736374998.488 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:23:18.657Z,1736374998.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:18.794Z,1736374998.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:18.801Z,1736374998.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:18.803Z,1736374998.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.30 m. 2025-01-08T22:23:18.806Z,1736374998.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.300003 m, nav range: 34.844368 m, bearing: 345.944986 deg, approach rate: 0.299636 m/s, LOS rate: -0.990705 deg/s, cmd heading: 84.969951 deg, new cmd heading: 83.569948 deg. 2025-01-08T22:23:18.806Z,1736374998.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.458571 target range: 102.300003 and range: 102.30 m. 2025-01-08T22:23:18.908Z,1736374998.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:18.909Z,1736374998.909 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:18.909Z,1736374998.909 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:18.909Z,1736374998.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:19.099Z,1736374999.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:19.107Z,1736374999.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.30 m. 2025-01-08T22:23:19.111Z,1736374999.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.300003 m, nav range: 34.929222 m, bearing: 345.643382 deg, approach rate: 0.278839 m/s, LOS rate: -0.988688 deg/s, cmd heading: 83.569946 deg, new cmd heading: 82.667412 deg. 2025-01-08T22:23:19.112Z,1736374999.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442819 target range: 102.300003 and range: 102.30 m. 2025-01-08T22:23:19.161Z,1736374999.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:19.162Z,1736374999.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997621 2025-01-08T22:23:19.412Z,1736374999.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:19.412Z,1736374999.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248457 2025-01-08T22:23:19.492Z,1736374999.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:23:19.509Z,1736374999.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:19.518Z,1736374999.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.30 m. 2025-01-08T22:23:19.537Z,1736374999.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.300003 m, nav range: 35.039894 m, bearing: 345.235987 deg, approach rate: 0.269274 m/s, LOS rate: -0.988086 deg/s, cmd heading: 82.667412 deg, new cmd heading: 81.449279 deg. 2025-01-08T22:23:19.538Z,1736374999.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421558 target range: 102.300003 and range: 102.30 m. 2025-01-08T22:23:19.674Z,1736374999.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:19.679Z,1736374999.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514029 2025-01-08T22:23:19.924Z,1736374999.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:19.925Z,1736374999.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760429 2025-01-08T22:23:19.926Z,1736374999.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:19.935Z,1736374999.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.30 m. 2025-01-08T22:23:19.938Z,1736374999.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.300003 m, nav range: 35.144054 m, bearing: 344.847655 deg, approach rate: 0.249732 m/s, LOS rate: -0.928289 deg/s, cmd heading: 81.449282 deg, new cmd heading: 80.287907 deg. 2025-01-08T22:23:19.939Z,1736374999.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401288 target range: 102.300003 and range: 102.30 m. 2025-01-08T22:23:20.176Z,1736375000.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:20.177Z,1736375000.177 [DAT](INFO): DAT read: Rx Time:22:23:19.0406 2025-01-08T22:23:20.177Z,1736375000.177 [DAT](INFO): Rx dataTimestamp_ set to:1736375000.176731 2025-01-08T22:23:20.178Z,1736375000.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013511 2025-01-08T22:23:20.338Z,1736375000.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:20.348Z,1736375000.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.30 m. 2025-01-08T22:23:20.351Z,1736375000.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.300003 m, nav range: 35.243500 m, bearing: 344.462556 deg, approach rate: 0.240739 m/s, LOS rate: -0.929618 deg/s, cmd heading: 80.287904 deg, new cmd heading: 79.136031 deg. 2025-01-08T22:23:20.352Z,1736375000.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381184 target range: 102.300003 and range: 102.30 m. 2025-01-08T22:23:20.428Z,1736375000.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:20.429Z,1736375000.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264508 2025-01-08T22:23:20.682Z,1736375000.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:20.685Z,1736375000.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520403 2025-01-08T22:23:20.832Z,1736375000.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:20.839Z,1736375000.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:20.841Z,1736375000.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.30 m. 2025-01-08T22:23:20.845Z,1736375000.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.300003 m, nav range: 35.347862 m, bearing: 344.028603 deg, approach rate: 0.211809 m/s, LOS rate: -0.878121 deg/s, cmd heading: 79.136033 deg, new cmd heading: 77.838254 deg. 2025-01-08T22:23:20.846Z,1736375000.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358534 target range: 102.300003 and range: 102.30 m. 2025-01-08T22:23:20.932Z,1736375000.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:20.939Z,1736375000.939 [DAT](INFO): DAT read: 22:23:19.0406 LVL= 11760, 23217, 18610, 24979, AGC= 55, IDX= 413, 0.04,-0.689,-2.421,-2.642,-1.680, PHS= 1.079,-0.693,-0.965, RAW= 83.0, 6.1, CAL= 88.5, 6.2, ROT= 61.5, -6.2 2025-01-08T22:23:20.944Z,1736375000.944 [DAT](INFO): got valid direction response: 22:23:19.0406 LVL= 11760, 23217, 18610, 24979, AGC= 55, IDX= 413, 0.04,-0.689,-2.421,-2.642,-1.680, PHS= 1.079,-0.693,-0.965, RAW= 83.0, 6.1, CAL= 88.5, 6.2, ROT= 61.5, -6.2 2025-01-08T22:23:20.946Z,1736375000.946 [DAT](INFO): DAT read: Bearing 61.5, -6.2 (Local) 2025-01-08T22:23:20.946Z,1736375000.946 [DAT](INFO): Local bearing/azimuth received: Bearing 61.5, -6.2 (Local) 2025-01-08T22:23:20.948Z,1736375000.948 [DAT](INFO): DAT read: Range 10 to 50 : 100.8 m (Round-trip 134.4 ms) speed 0.3 m/s 2025-01-08T22:23:20.949Z,1736375000.949 [DAT](INFO): DAT read: user:2561> 2025-01-08T22:23:20.950Z,1736375000.950 [DAT](INFO): DAT read: Tx time:22:23:20.1536 2025-01-08T22:23:20.950Z,1736375000.950 [DAT](INFO): Ping request sent. 2025-01-08T22:23:20.950Z,1736375000.950 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:20.951Z,1736375000.951 [DAT](INFO): DAT read: TxSync time:22:23:20.1528 2025-01-08T22:23:20.956Z,1736375000.956 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:23:20.957Z,1736375000.957 [DAT](INFO): direction in FSK: [-0.187146,0.231353,0.954700] 2025-01-08T22:23:20.957Z,1736375000.957 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:20.957Z,1736375000.957 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:20.965Z,1736375000.965 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:20.965Z,1736375000.965 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:21.171Z,1736375001.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:21.184Z,1736375001.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:21.208Z,1736375001.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 100.800003 m, deltaT: 3.788647 s, deltaX: -1.500000 m, approachRate: -0.395920 m/s, rangeRepo size: 4 2025-01-08T22:23:21.210Z,1736375001.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 100.800003 m, bearing: 213.614846 deg, lat: 36.905479 deg, lon: -122.119781 deg, deltaT: 3.788647 s, deltaX: -1.500000 m, approachRate: -0.395920 m/s, posRepo size: 4 2025-01-08T22:23:21.210Z,1736375001.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:21.217Z,1736375001.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 22.173073 m, bearing: 329.286443 deg, approach rate: 0.000000 m/s, LOS rate: -0.878121 deg/s, cmd heading: 77.838256 deg, new cmd heading: 76.895295 deg. 2025-01-08T22:23:21.218Z,1736375001.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342076 target range: 100.800003 and range: 100.80 m. 2025-01-08T22:23:21.436Z,1736375001.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:21.532Z,1736375001.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:21.549Z,1736375001.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:21.552Z,1736375001.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 22.294214 m, bearing: 328.845118 deg, approach rate: 0.349839 m/s, LOS rate: -1.267544 deg/s, cmd heading: 76.895294 deg, new cmd heading: 75.578758 deg. 2025-01-08T22:23:21.553Z,1736375001.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319098 target range: 100.800003 and range: 100.80 m. 2025-01-08T22:23:21.690Z,1736375001.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:21.942Z,1736375001.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:21.980Z,1736375001.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:21.998Z,1736375001.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:22.005Z,1736375002.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 22.432478 m, bearing: 328.315296 deg, approach rate: 0.305314 m/s, LOS rate: -1.162726 deg/s, cmd heading: 75.578755 deg, new cmd heading: 73.999509 deg. 2025-01-08T22:23:22.006Z,1736375002.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.291535 target range: 100.800003 and range: 100.80 m. 2025-01-08T22:23:22.192Z,1736375002.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:22.349Z,1736375002.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:22.371Z,1736375002.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:22.378Z,1736375002.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 22.544163 m, bearing: 327.877978 deg, approach rate: 0.299596 m/s, LOS rate: -1.167288 deg/s, cmd heading: 73.999513 deg, new cmd heading: 72.694296 deg. 2025-01-08T22:23:22.379Z,1736375002.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268755 target range: 100.800003 and range: 100.80 m. 2025-01-08T22:23:22.444Z,1736375002.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:22.697Z,1736375002.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:22.831Z,1736375002.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:22.839Z,1736375002.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:22.843Z,1736375002.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 22.684801 m, bearing: 327.333063 deg, approach rate: 0.300178 m/s, LOS rate: -1.155835 deg/s, cmd heading: 72.694298 deg, new cmd heading: 71.070148 deg. 2025-01-08T22:23:22.844Z,1736375002.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240408 target range: 100.800003 and range: 100.80 m. 2025-01-08T22:23:22.948Z,1736375002.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:23.145Z,1736375003.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:23.152Z,1736375003.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:23.154Z,1736375003.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:23.157Z,1736375003.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 22.767851 m, bearing: 326.965134 deg, approach rate: 0.263462 m/s, LOS rate: -1.162929 deg/s, cmd heading: 71.070147 deg, new cmd heading: 69.970529 deg. 2025-01-08T22:23:23.159Z,1736375003.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221216 target range: 100.800003 and range: 100.80 m. 2025-01-08T22:23:23.200Z,1736375003.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:23.201Z,1736375003.201 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:23.201Z,1736375003.201 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:23.202Z,1736375003.202 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:23.452Z,1736375003.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:23.452Z,1736375003.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502228 2025-01-08T22:23:23.546Z,1736375003.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:23.566Z,1736375003.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:23.573Z,1736375003.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 22.870581 m, bearing: 326.494929 deg, approach rate: 0.249375 m/s, LOS rate: -1.136277 deg/s, cmd heading: 69.970527 deg, new cmd heading: 68.566544 deg. 2025-01-08T22:23:23.574Z,1736375003.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.196712 target range: 100.800003 and range: 100.80 m. 2025-01-08T22:23:23.704Z,1736375003.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:23.706Z,1736375003.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755031 2025-01-08T22:23:23.956Z,1736375003.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:23.957Z,1736375003.957 [DAT](INFO): DAT read: Rx Time:22:23:22.6906 2025-01-08T22:23:23.957Z,1736375003.957 [DAT](INFO): Rx dataTimestamp_ set to:1736375003.956818 2025-01-08T22:23:23.958Z,1736375003.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007512 2025-01-08T22:23:23.974Z,1736375003.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:24.004Z,1736375004.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:24.006Z,1736375004.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 22.974588 m, bearing: 325.987691 deg, approach rate: 0.249335 m/s, LOS rate: -1.210465 deg/s, cmd heading: 68.566541 deg, new cmd heading: 67.052090 deg. 2025-01-08T22:23:24.016Z,1736375004.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170280 target range: 100.800003 and range: 100.80 m. 2025-01-08T22:23:24.209Z,1736375004.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:24.210Z,1736375004.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259507 2025-01-08T22:23:24.376Z,1736375004.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:24.406Z,1736375004.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:24.410Z,1736375004.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 23.069105 m, bearing: 325.509971 deg, approach rate: 0.225313 m/s, LOS rate: -1.134130 deg/s, cmd heading: 67.052090 deg, new cmd heading: 65.625113 deg. 2025-01-08T22:23:24.411Z,1736375004.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145374 target range: 100.800003 and range: 100.80 m. 2025-01-08T22:23:24.460Z,1736375004.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:24.461Z,1736375004.461 [DAT](INFO): DAT read: Range 10 to 50 : 99.6 m (Round-trip 132.9 ms) speed 0.1 m/s 2025-01-08T22:23:24.462Z,1736375004.462 [DAT](INFO): DAT read: user:2562> 2025-01-08T22:23:24.463Z,1736375004.463 [DAT](INFO): DAT read: Tx time:22:23:23.8036 2025-01-08T22:23:24.464Z,1736375004.464 [DAT](INFO): Ping request sent. 2025-01-08T22:23:24.464Z,1736375004.464 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:24.464Z,1736375004.464 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:23:24.464Z,1736375004.464 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:24.465Z,1736375004.465 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:24.712Z,1736375004.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:24.713Z,1736375004.713 [DAT](INFO): DAT read: TxSync time:22:23:23.8028 2025-01-08T22:23:24.845Z,1736375004.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:24.855Z,1736375004.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.599998 m, deltaT: 3.527317 s, deltaX: -1.200005 m, approachRate: -0.340203 m/s, rangeRepo size: 4 2025-01-08T22:23:24.856Z,1736375004.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:24.859Z,1736375004.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 23.176174 m, bearing: 324.933349 deg, approach rate: 0.237432 m/s, LOS rate: -1.272765 deg/s, cmd heading: 65.625113 deg, new cmd heading: 63.903786 deg. 2025-01-08T22:23:24.860Z,1736375004.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.115332 target range: 100.800003 and range: 99.60 m. 2025-01-08T22:23:24.964Z,1736375004.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:25.164Z,1736375005.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:25.173Z,1736375005.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:25.176Z,1736375005.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:25.178Z,1736375005.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 23.247070 m, bearing: 324.541592 deg, approach rate: 0.220956 m/s, LOS rate: -1.217222 deg/s, cmd heading: 63.903789 deg, new cmd heading: 62.732276 deg. 2025-01-08T22:23:25.180Z,1736375005.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094885 target range: 100.800003 and range: 99.60 m. 2025-01-08T22:23:25.216Z,1736375005.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:25.217Z,1736375005.217 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:25.217Z,1736375005.217 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:25.218Z,1736375005.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:25.468Z,1736375005.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:25.468Z,1736375005.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004743 2025-01-08T22:23:25.574Z,1736375005.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:25.584Z,1736375005.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:25.586Z,1736375005.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 23.335562 m, bearing: 324.036616 deg, approach rate: 0.216354 m/s, LOS rate: -1.229926 deg/s, cmd heading: 62.732275 deg, new cmd heading: 61.223461 deg. 2025-01-08T22:23:25.588Z,1736375005.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068551 target range: 100.800003 and range: 99.60 m. 2025-01-08T22:23:25.720Z,1736375005.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:25.720Z,1736375005.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256732 2025-01-08T22:23:25.972Z,1736375005.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:25.973Z,1736375005.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509021 2025-01-08T22:23:26.037Z,1736375006.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:26.047Z,1736375006.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:26.049Z,1736375006.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 23.441141 m, bearing: 323.445224 deg, approach rate: 0.228159 m/s, LOS rate: -1.272233 deg/s, cmd heading: 61.223459 deg, new cmd heading: 59.457864 deg. 2025-01-08T22:23:26.050Z,1736375006.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.037735 target range: 100.800003 and range: 99.60 m. 2025-01-08T22:23:26.224Z,1736375006.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:26.225Z,1736375006.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760756 2025-01-08T22:23:26.377Z,1736375006.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:26.386Z,1736375006.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:26.392Z,1736375006.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 23.515909 m, bearing: 323.010207 deg, approach rate: 0.220599 m/s, LOS rate: -1.279400 deg/s, cmd heading: 59.457862 deg, new cmd heading: 58.157197 deg. 2025-01-08T22:23:26.394Z,1736375006.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.015035 target range: 100.800003 and range: 99.60 m. 2025-01-08T22:23:26.477Z,1736375006.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:26.478Z,1736375006.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013580 2025-01-08T22:23:26.728Z,1736375006.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:26.728Z,1736375006.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264767 2025-01-08T22:23:26.878Z,1736375006.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:26.899Z,1736375006.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:26.906Z,1736375006.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 23.623896 m, bearing: 322.339898 deg, approach rate: 0.210315 m/s, LOS rate: -1.299501 deg/s, cmd heading: 58.157196 deg, new cmd heading: 56.156319 deg. 2025-01-08T22:23:26.912Z,1736375006.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.980113 target range: 100.800003 and range: 99.60 m. 2025-01-08T22:23:26.980Z,1736375006.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:26.981Z,1736375006.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517014 2025-01-08T22:23:27.205Z,1736375007.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:27.213Z,1736375007.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:27.215Z,1736375007.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:27.232Z,1736375007.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:27.232Z,1736375007.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768685 2025-01-08T22:23:27.240Z,1736375007.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 23.692062 m, bearing: 321.902264 deg, approach rate: 0.215778 m/s, LOS rate: -1.381305 deg/s, cmd heading: 56.156320 deg, new cmd heading: 54.847435 deg. 2025-01-08T22:23:27.244Z,1736375007.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.957268 target range: 100.800003 and range: 99.60 m. 2025-01-08T22:23:27.484Z,1736375007.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:27.484Z,1736375007.484 [DAT](INFO): DAT read: Rx Time:22:23:26.3397 2025-01-08T22:23:27.485Z,1736375007.485 [DAT](INFO): Rx dataTimestamp_ set to:1736375007.484597 2025-01-08T22:23:27.485Z,1736375007.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021740 2025-01-08T22:23:27.619Z,1736375007.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:27.629Z,1736375007.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:27.632Z,1736375007.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 23.775242 m, bearing: 321.347651 deg, approach rate: 0.200956 m/s, LOS rate: -1.335202 deg/s, cmd heading: 54.847433 deg, new cmd heading: 53.189904 deg. 2025-01-08T22:23:27.632Z,1736375007.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928339 target range: 100.800003 and range: 99.60 m. 2025-01-08T22:23:27.736Z,1736375007.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:27.737Z,1736375007.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272909 2025-01-08T22:23:27.989Z,1736375007.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:27.992Z,1736375007.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527050 2025-01-08T22:23:28.057Z,1736375008.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:28.067Z,1736375008.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:28.069Z,1736375008.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 23.862408 m, bearing: 320.734531 deg, approach rate: 0.199089 m/s, LOS rate: -1.395241 deg/s, cmd heading: 53.189904 deg, new cmd heading: 51.357923 deg. 2025-01-08T22:23:28.070Z,1736375008.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896365 target range: 100.800003 and range: 99.60 m. 2025-01-08T22:23:28.241Z,1736375008.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:28.246Z,1736375008.246 [DAT](INFO): DAT read: Range 10 to 50 : 99.0 m (Round-trip 132.0 ms) speed 0.0 m/s 2025-01-08T22:23:28.247Z,1736375008.247 [DAT](INFO): DAT read: user:2563> 2025-01-08T22:23:28.248Z,1736375008.248 [DAT](INFO): DAT read: Tx time:22:23:27.4536 2025-01-08T22:23:28.248Z,1736375008.248 [DAT](INFO): Ping request sent. 2025-01-08T22:23:28.248Z,1736375008.248 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:28.249Z,1736375008.249 [DAT](INFO): DAT read: TxSync time:22:23:27.4528 2025-01-08T22:23:28.249Z,1736375008.249 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:23:28.249Z,1736375008.249 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:28.250Z,1736375008.250 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:28.429Z,1736375008.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:28.438Z,1736375008.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.000000 m, deltaT: 3.782248 s, deltaX: -0.599998 m, approachRate: -0.158635 m/s, rangeRepo size: 4 2025-01-08T22:23:28.439Z,1736375008.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:28.442Z,1736375008.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 23.933836 m, bearing: 320.214166 deg, approach rate: 0.192442 m/s, LOS rate: -1.397766 deg/s, cmd heading: 51.357924 deg, new cmd heading: 49.801893 deg. 2025-01-08T22:23:28.443Z,1736375008.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869207 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:28.493Z,1736375008.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:28.744Z,1736375008.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:28.912Z,1736375008.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:28.920Z,1736375008.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:28.923Z,1736375008.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.032255 m, bearing: 319.527401 deg, approach rate: 0.204029 m/s, LOS rate: -1.417844 deg/s, cmd heading: 49.801894 deg, new cmd heading: 47.750960 deg. 2025-01-08T22:23:28.924Z,1736375008.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833411 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:28.996Z,1736375008.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:29.238Z,1736375009.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:29.246Z,1736375009.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:29.248Z,1736375009.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:29.248Z,1736375009.248 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:29.248Z,1736375009.248 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:29.249Z,1736375009.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:29.253Z,1736375009.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:29.256Z,1736375009.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.097073 m, bearing: 319.061647 deg, approach rate: 0.195691 m/s, LOS rate: -1.402365 deg/s, cmd heading: 47.750959 deg, new cmd heading: 46.357747 deg. 2025-01-08T22:23:29.257Z,1736375009.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809095 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:29.500Z,1736375009.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:29.500Z,1736375009.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252427 2025-01-08T22:23:29.640Z,1736375009.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:29.654Z,1736375009.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:29.676Z,1736375009.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.173693 m, bearing: 318.487493 deg, approach rate: 0.190335 m/s, LOS rate: -1.421738 deg/s, cmd heading: 46.357747 deg, new cmd heading: 44.641286 deg. 2025-01-08T22:23:29.677Z,1736375009.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779137 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:29.753Z,1736375009.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:29.754Z,1736375009.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505888 2025-01-08T22:23:30.004Z,1736375010.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:30.004Z,1736375010.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756439 2025-01-08T22:23:30.088Z,1736375010.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:30.098Z,1736375010.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:30.101Z,1736375010.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.257496 m, bearing: 317.854951 deg, approach rate: 0.188661 m/s, LOS rate: -1.419057 deg/s, cmd heading: 44.641287 deg, new cmd heading: 42.750942 deg. 2025-01-08T22:23:30.102Z,1736375010.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746145 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:30.256Z,1736375010.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:30.256Z,1736375010.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008315 2025-01-08T22:23:30.451Z,1736375010.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:30.479Z,1736375010.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:30.482Z,1736375010.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.316166 m, bearing: 317.338463 deg, approach rate: 0.160663 m/s, LOS rate: -1.410930 deg/s, cmd heading: 42.750943 deg, new cmd heading: 41.205613 deg. 2025-01-08T22:23:30.483Z,1736375010.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719174 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:30.508Z,1736375010.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:30.510Z,1736375010.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261551 2025-01-08T22:23:30.760Z,1736375010.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:30.760Z,1736375010.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512516 2025-01-08T22:23:30.905Z,1736375010.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:30.922Z,1736375010.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:30.929Z,1736375010.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.384985 m, bearing: 316.689524 deg, approach rate: 0.149951 m/s, LOS rate: -1.409966 deg/s, cmd heading: 41.205613 deg, new cmd heading: 39.265072 deg. 2025-01-08T22:23:30.930Z,1736375010.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685305 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:31.012Z,1736375011.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:31.013Z,1736375011.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764599 2025-01-08T22:23:31.264Z,1736375011.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:31.265Z,1736375011.265 [DAT](INFO): DAT read: Rx Time:22:23:29.9899 2025-01-08T22:23:31.265Z,1736375011.265 [DAT](INFO): Rx dataTimestamp_ set to:1736375011.264691 2025-01-08T22:23:31.265Z,1736375011.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017541 2025-01-08T22:23:31.309Z,1736375011.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:31.324Z,1736375011.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:31.336Z,1736375011.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:31.338Z,1736375011.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.448101 m, bearing: 316.116065 deg, approach rate: 0.155821 m/s, LOS rate: -1.412072 deg/s, cmd heading: 39.265074 deg, new cmd heading: 37.549682 deg. 2025-01-08T22:23:31.343Z,1736375011.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655366 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:31.516Z,1736375011.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:31.517Z,1736375011.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268838 2025-01-08T22:23:31.685Z,1736375011.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:31.694Z,1736375011.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:31.697Z,1736375011.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.502867 m, bearing: 315.580397 deg, approach rate: 0.149346 m/s, LOS rate: -1.457483 deg/s, cmd heading: 37.549682 deg, new cmd heading: 35.946711 deg. 2025-01-08T22:23:31.698Z,1736375011.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.627388 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:31.768Z,1736375011.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:31.770Z,1736375011.770 [DAT](INFO): DAT read: Range 10 to 50 : 99.0 m (Round-trip 132.1 ms) speed 0.0 m/s 2025-01-08T22:23:31.770Z,1736375011.770 [DAT](INFO): DAT read: user:2564> 2025-01-08T22:23:31.771Z,1736375011.771 [DAT](INFO): DAT read: Tx time:22:23:31.1037 2025-01-08T22:23:31.771Z,1736375011.771 [DAT](INFO): Ping request sent. 2025-01-08T22:23:31.772Z,1736375011.772 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:31.772Z,1736375011.772 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:23:31.772Z,1736375011.772 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:31.773Z,1736375011.773 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:32.020Z,1736375012.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:32.021Z,1736375012.021 [DAT](INFO): DAT read: TxSync time:22:23:31.1029 2025-01-08T22:23:32.162Z,1736375012.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:32.174Z,1736375012.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.000000 m, deltaT: 3.525763 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:23:32.176Z,1736375012.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:32.178Z,1736375012.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.574322 m, bearing: 314.933943 deg, approach rate: 0.149091 m/s, LOS rate: -1.344874 deg/s, cmd heading: 35.946712 deg, new cmd heading: 34.013764 deg. 2025-01-08T22:23:32.180Z,1736375012.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593652 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:32.272Z,1736375012.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:32.516Z,1736375012.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:32.524Z,1736375012.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:32.551Z,1736375012.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:32.557Z,1736375012.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.617998 m, bearing: 314.452134 deg, approach rate: 0.115740 m/s, LOS rate: -1.274485 deg/s, cmd heading: 34.013765 deg, new cmd heading: 32.571224 deg. 2025-01-08T22:23:32.559Z,1736375012.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568475 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:32.777Z,1736375012.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:32.970Z,1736375012.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:32.980Z,1736375012.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:32.983Z,1736375012.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.673609 m, bearing: 313.848959 deg, approach rate: 0.129460 m/s, LOS rate: -1.400984 deg/s, cmd heading: 32.571226 deg, new cmd heading: 30.766411 deg. 2025-01-08T22:23:32.984Z,1736375012.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536975 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:33.028Z,1736375013.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:33.280Z,1736375013.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:33.346Z,1736375013.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:33.353Z,1736375013.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:33.355Z,1736375013.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:33.358Z,1736375013.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.715950 m, bearing: 313.350535 deg, approach rate: 0.112995 m/s, LOS rate: -1.327834 deg/s, cmd heading: 30.766410 deg, new cmd heading: 29.274054 deg. 2025-01-08T22:23:33.360Z,1736375013.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510929 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:33.532Z,1736375013.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:33.532Z,1736375013.532 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:33.532Z,1736375013.532 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:33.533Z,1736375013.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:33.739Z,1736375013.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:33.748Z,1736375013.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:33.751Z,1736375013.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.755987 m, bearing: 312.828653 deg, approach rate: 0.101759 m/s, LOS rate: -1.324264 deg/s, cmd heading: 29.274054 deg, new cmd heading: 27.711350 deg. 2025-01-08T22:23:33.752Z,1736375013.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483654 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:33.785Z,1736375013.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:33.786Z,1736375013.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014126 2025-01-08T22:23:34.036Z,1736375014.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:34.036Z,1736375014.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264791 2025-01-08T22:23:34.170Z,1736375014.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:34.204Z,1736375014.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:34.207Z,1736375014.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.800014 m, bearing: 312.295313 deg, approach rate: 0.096599 m/s, LOS rate: -1.168097 deg/s, cmd heading: 27.711350 deg, new cmd heading: 26.114605 deg. 2025-01-08T22:23:34.212Z,1736375014.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455786 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:34.288Z,1736375014.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:34.290Z,1736375014.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518191 2025-01-08T22:23:34.540Z,1736375014.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:34.540Z,1736375014.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768942 2025-01-08T22:23:34.546Z,1736375014.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:34.565Z,1736375014.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:34.570Z,1736375014.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.827686 m, bearing: 311.828129 deg, approach rate: 0.077170 m/s, LOS rate: -1.301395 deg/s, cmd heading: 26.114605 deg, new cmd heading: 24.714909 deg. 2025-01-08T22:23:34.574Z,1736375014.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431357 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:34.792Z,1736375014.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:34.793Z,1736375014.793 [DAT](INFO): DAT read: Rx Time:22:23:33.6402 2025-01-08T22:23:34.793Z,1736375014.793 [DAT](INFO): Rx dataTimestamp_ set to:1736375014.793057 2025-01-08T22:23:34.794Z,1736375014.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022322 2025-01-08T22:23:35.005Z,1736375015.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:35.014Z,1736375015.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:35.017Z,1736375015.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.837948 m, bearing: 311.303939 deg, approach rate: 0.022722 m/s, LOS rate: -1.160215 deg/s, cmd heading: 24.714908 deg, new cmd heading: 23.143405 deg. 2025-01-08T22:23:35.018Z,1736375015.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.403929 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:35.044Z,1736375015.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:35.045Z,1736375015.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272961 2025-01-08T22:23:35.300Z,1736375015.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:35.302Z,1736375015.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530193 2025-01-08T22:23:35.408Z,1736375015.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:35.414Z,1736375015.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:35.416Z,1736375015.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-01-08T22:23:35.419Z,1736375015.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.800003 m, nav range: 24.842455 m, bearing: 310.843762 deg, approach rate: 0.011212 m/s, LOS rate: -1.144570 deg/s, cmd heading: 23.143404 deg, new cmd heading: 21.763406 deg. 2025-01-08T22:23:35.420Z,1736375015.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.379843 target range: 100.800003 and range: 99.00 m. 2025-01-08T22:23:35.548Z,1736375015.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:35.566Z,1736375015.566 [DAT](INFO): DAT read: 22:23:33.6402 LVL= 13088, 15857, 18418, 21731, AGC= 54, IDX= 440,-0.04,-3.007,-2.846, 1.230, 2.766, PHS= 0.598, 0.718,-1.539, RAW= 27.3, 2.1, CAL= 26.5, 1.9, ROT= 123.5, -1.9 2025-01-08T22:23:35.583Z,1736375015.583 [DAT](INFO): got valid direction response: 22:23:33.6402 LVL= 13088, 15857, 18418, 21731, AGC= 54, IDX= 440,-0.04,-3.007,-2.846, 1.230, 2.766, PHS= 0.598, 0.718,-1.539, RAW= 27.3, 2.1, CAL= 26.5, 1.9, ROT= 123.5, -1.9 2025-01-08T22:23:35.585Z,1736375015.585 [DAT](INFO): DAT read: Bearing 123.5, -1.9 (Local) 2025-01-08T22:23:35.586Z,1736375015.586 [DAT](INFO): Local bearing/azimuth received: Bearing 123.5, -1.9 (Local) 2025-01-08T22:23:35.590Z,1736375015.590 [DAT](INFO): DAT read: Range 10 to 50 : 99.3 m (Round-trip 132.4 ms) speed -0.1 m/s 2025-01-08T22:23:35.592Z,1736375015.592 [DAT](INFO): DAT read: user:2565> 2025-01-08T22:23:35.594Z,1736375015.594 [DAT](INFO): DAT read: Tx time:22:23:34.7521 2025-01-08T22:23:35.596Z,1736375015.596 [DAT](INFO): Ping request sent. 2025-01-08T22:23:35.596Z,1736375015.596 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:35.597Z,1736375015.597 [DAT](INFO): DAT read: TxSync time:22:23:34.7513 2025-01-08T22:23:35.598Z,1736375015.598 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:23:35.600Z,1736375015.600 [DAT](INFO): direction in FSK: [-0.000374,0.914972,0.403517] 2025-01-08T22:23:35.600Z,1736375015.600 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:35.600Z,1736375015.600 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:35.604Z,1736375015.604 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:35.604Z,1736375015.604 [DAT](INFO): publishing direction and range info 2025-01-08T22:23:35.773Z,1736375015.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:35.787Z,1736375015.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.300003 m, deltaT: 3.779905 s, deltaX: 0.300003 m, approachRate: 0.079368 m/s, rangeRepo size: 4 2025-01-08T22:23:35.789Z,1736375015.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.300003 m, bearing: 123.528897 deg, lat: 36.905326 deg, lon: -122.119781 deg, deltaT: 14.615233 s, deltaX: -1.500000 m, approachRate: -0.102633 m/s, posRepo size: 4 2025-01-08T22:23:35.790Z,1736375015.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:35.802Z,1736375015.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:35.805Z,1736375015.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 18.939245 m, bearing: 267.121969 deg, approach rate: 0.000000 m/s, LOS rate: -1.144570 deg/s, cmd heading: 21.763406 deg, new cmd heading: 20.492815 deg. 2025-01-08T22:23:35.806Z,1736375015.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357667 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:23:36.057Z,1736375016.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:36.183Z,1736375016.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:36.193Z,1736375016.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:36.207Z,1736375016.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.061810 m, bearing: 266.681828 deg, approach rate: 0.301778 m/s, LOS rate: -1.076737 deg/s, cmd heading: 20.492815 deg, new cmd heading: 19.181123 deg. 2025-01-08T22:23:36.209Z,1736375016.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.334774 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:23:36.309Z,1736375016.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:36.560Z,1736375016.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:36.566Z,1736375016.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:36.580Z,1736375016.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:36.582Z,1736375016.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.169605 m, bearing: 266.257970 deg, approach rate: 0.278330 m/s, LOS rate: -1.088241 deg/s, cmd heading: 19.181123 deg, new cmd heading: 17.916917 deg. 2025-01-08T22:23:36.584Z,1736375016.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312709 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:23:36.812Z,1736375016.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:37.072Z,1736375017.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:37.078Z,1736375017.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:37.086Z,1736375017.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:37.089Z,1736375017.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.294008 m, bearing: 265.688683 deg, approach rate: 0.245631 m/s, LOS rate: -1.116778 deg/s, cmd heading: 17.916916 deg, new cmd heading: 16.220591 deg. 2025-01-08T22:23:37.090Z,1736375017.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.283103 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:23:37.324Z,1736375017.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:37.440Z,1736375017.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:37.450Z,1736375017.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:37.453Z,1736375017.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:37.471Z,1736375017.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.375854 m, bearing: 265.276171 deg, approach rate: 0.223414 m/s, LOS rate: -1.121257 deg/s, cmd heading: 16.220591 deg, new cmd heading: 14.988483 deg. 2025-01-08T22:23:37.472Z,1736375017.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.261598 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:23:37.576Z,1736375017.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:37.576Z,1736375017.576 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:37.576Z,1736375017.576 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:37.576Z,1736375017.576 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:37.828Z,1736375017.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:37.829Z,1736375017.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232893 2025-01-08T22:23:37.912Z,1736375017.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:37.962Z,1736375017.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:37.990Z,1736375017.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.478727 m, bearing: 264.736867 deg, approach rate: 0.202609 m/s, LOS rate: -1.056541 deg/s, cmd heading: 14.988483 deg, new cmd heading: 13.379562 deg. 2025-01-08T22:23:37.991Z,1736375017.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.233517 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:23:38.080Z,1736375018.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:38.082Z,1736375018.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485578 2025-01-08T22:23:38.315Z,1736375018.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:38.332Z,1736375018.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:38.332Z,1736375018.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736647 2025-01-08T22:23:38.349Z,1736375018.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:38.356Z,1736375018.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.546158 m, bearing: 264.264017 deg, approach rate: 0.173636 m/s, LOS rate: -1.213388 deg/s, cmd heading: 13.379562 deg, new cmd heading: 11.966209 deg. 2025-01-08T22:23:38.357Z,1736375018.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.208850 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:23:38.585Z,1736375018.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:38.585Z,1736375018.585 [DAT](INFO): DAT read: Rx Time:22:23:37.2896 2025-01-08T22:23:38.586Z,1736375018.586 [DAT](INFO): Rx dataTimestamp_ set to:1736375018.585601 2025-01-08T22:23:38.586Z,1736375018.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990675 2025-01-08T22:23:38.720Z,1736375018.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:38.729Z,1736375018.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:38.732Z,1736375018.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.610815 m, bearing: 263.787000 deg, approach rate: 0.169856 m/s, LOS rate: -1.248985 deg/s, cmd heading: 11.966209 deg, new cmd heading: 10.540187 deg. 2025-01-08T22:23:38.733Z,1736375018.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183961 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:23:38.836Z,1736375018.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:38.837Z,1736375018.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241509 2025-01-08T22:23:39.088Z,1736375019.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:39.089Z,1736375019.089 [DAT](INFO): DAT read: Range 10 to 50 : 99.9 m (Round-trip 133.3 ms) speed -0.4 m/s 2025-01-08T22:23:39.090Z,1736375019.090 [DAT](INFO): DAT read: user:2566> 2025-01-08T22:23:39.091Z,1736375019.091 [DAT](INFO): DAT read: Tx time:22:23:38.4037 2025-01-08T22:23:39.092Z,1736375019.092 [DAT](INFO): Ping request sent. 2025-01-08T22:23:39.092Z,1736375019.092 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:39.093Z,1736375019.093 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:23:39.093Z,1736375019.093 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:39.093Z,1736375019.093 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:39.212Z,1736375019.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:39.234Z,1736375019.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.539979 s, deltaX: 0.599998 m, approachRate: 0.169492 m/s, rangeRepo size: 4 2025-01-08T22:23:39.234Z,1736375019.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:39.241Z,1736375019.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.665361 m, bearing: 263.173060 deg, approach rate: 0.108280 m/s, LOS rate: -1.215330 deg/s, cmd heading: 10.540187 deg, new cmd heading: 8.704141 deg. 2025-01-08T22:23:39.243Z,1736375019.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.151916 target range: 99.300003 and range: 99.90 m. 2025-01-08T22:23:39.341Z,1736375019.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:39.343Z,1736375019.343 [DAT](INFO): DAT read: TxSync time:22:23:38.4029 2025-01-08T22:23:39.548Z,1736375019.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:39.574Z,1736375019.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:39.581Z,1736375019.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:39.587Z,1736375019.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.700872 m, bearing: 262.743050 deg, approach rate: 0.102164 m/s, LOS rate: -1.234888 deg/s, cmd heading: 8.704141 deg, new cmd heading: 7.416665 deg. 2025-01-08T22:23:39.588Z,1736375019.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129445 target range: 99.300003 and range: 99.90 m. 2025-01-08T22:23:39.592Z,1736375019.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:39.592Z,1736375019.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:39.592Z,1736375019.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:39.593Z,1736375019.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:39.844Z,1736375019.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:39.844Z,1736375019.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752562 2025-01-08T22:23:39.986Z,1736375019.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:40.035Z,1736375020.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:40.042Z,1736375020.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.743853 m, bearing: 262.190210 deg, approach rate: 0.094642 m/s, LOS rate: -1.214684 deg/s, cmd heading: 7.416665 deg, new cmd heading: 5.762241 deg. 2025-01-08T22:23:40.048Z,1736375020.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100570 target range: 99.300003 and range: 99.90 m. 2025-01-08T22:23:40.098Z,1736375020.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:40.100Z,1736375020.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008551 2025-01-08T22:23:40.348Z,1736375020.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:40.349Z,1736375020.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256689 2025-01-08T22:23:40.510Z,1736375020.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:40.519Z,1736375020.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:40.522Z,1736375020.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.785254 m, bearing: 261.484983 deg, approach rate: 0.085531 m/s, LOS rate: -1.453853 deg/s, cmd heading: 5.762241 deg, new cmd heading: 3.651996 deg. 2025-01-08T22:23:40.523Z,1736375020.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.063739 target range: 99.300003 and range: 99.90 m. 2025-01-08T22:23:40.600Z,1736375020.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:40.601Z,1736375020.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509147 2025-01-08T22:23:40.852Z,1736375020.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:40.852Z,1736375020.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760439 2025-01-08T22:23:40.899Z,1736375020.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:40.911Z,1736375020.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:40.913Z,1736375020.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.813526 m, bearing: 260.962814 deg, approach rate: 0.072169 m/s, LOS rate: -1.330972 deg/s, cmd heading: 3.651995 deg, new cmd heading: 2.088131 deg. 2025-01-08T22:23:40.914Z,1736375020.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036445 target range: 99.300003 and range: 99.90 m. 2025-01-08T22:23:41.105Z,1736375021.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:41.106Z,1736375021.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014044 2025-01-08T22:23:41.309Z,1736375021.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:41.338Z,1736375021.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:41.344Z,1736375021.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.842585 m, bearing: 260.371575 deg, approach rate: 0.068054 m/s, LOS rate: -1.382601 deg/s, cmd heading: 2.088131 deg, new cmd heading: 0.317607 deg. 2025-01-08T22:23:41.345Z,1736375021.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005543 target range: 99.300003 and range: 99.90 m. 2025-01-08T22:23:41.356Z,1736375021.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:41.357Z,1736375021.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264629 2025-01-08T22:23:41.608Z,1736375021.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:41.608Z,1736375021.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516431 2025-01-08T22:23:41.709Z,1736375021.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:41.716Z,1736375021.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:41.718Z,1736375021.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:41.721Z,1736375021.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.862358 m, bearing: 259.789432 deg, approach rate: 0.051958 m/s, LOS rate: -1.528110 deg/s, cmd heading: 0.317607 deg, new cmd heading: 358.573488 deg. 2025-01-08T22:23:41.722Z,1736375021.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258288 target range: 99.300003 and range: 99.90 m. 2025-01-08T22:23:41.860Z,1736375021.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:41.861Z,1736375021.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768521 2025-01-08T22:23:42.112Z,1736375022.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:42.113Z,1736375022.113 [DAT](INFO): DAT read: Rx Time:22:23:40.9432 2025-01-08T22:23:42.113Z,1736375022.113 [DAT](INFO): Rx dataTimestamp_ set to:1736375022.112904 2025-01-08T22:23:42.114Z,1736375022.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021801 2025-01-08T22:23:42.120Z,1736375022.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:42.150Z,1736375022.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:42.156Z,1736375022.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.890083 m, bearing: 259.169225 deg, approach rate: 0.064270 m/s, LOS rate: -1.435670 deg/s, cmd heading: 358.573484 deg, new cmd heading: 356.716142 deg. 2025-01-08T22:23:42.157Z,1736375022.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.225871 target range: 99.300003 and range: 99.90 m. 2025-01-08T22:23:42.364Z,1736375022.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:42.365Z,1736375022.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272969 2025-01-08T22:23:42.502Z,1736375022.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:42.512Z,1736375022.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:42.514Z,1736375022.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.912670 m, bearing: 258.591357 deg, approach rate: 0.062475 m/s, LOS rate: -1.596532 deg/s, cmd heading: 356.716137 deg, new cmd heading: 354.985057 deg. 2025-01-08T22:23:42.515Z,1736375022.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195658 target range: 99.300003 and range: 99.90 m. 2025-01-08T22:23:42.616Z,1736375022.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:42.617Z,1736375022.617 [DAT](INFO): DAT read: Range 10 to 50 : 101.4 m (Round-trip 135.3 ms) speed -0.6 m/s 2025-01-08T22:23:42.618Z,1736375022.618 [DAT](INFO): DAT read: user:2567> 2025-01-08T22:23:42.619Z,1736375022.619 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:23:42.621Z,1736375022.621 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:42.621Z,1736375022.621 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:42.621Z,1736375022.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:42.868Z,1736375022.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:42.869Z,1736375022.869 [DAT](INFO): DAT read: Tx time:22:23:42.0522 2025-01-08T22:23:42.869Z,1736375022.869 [DAT](INFO): Ping request sent. 2025-01-08T22:23:42.869Z,1736375022.869 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:42.870Z,1736375022.870 [DAT](INFO): DAT read: TxSync time:22:23:42.0514 2025-01-08T22:23:42.870Z,1736375022.870 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:42.871Z,1736375022.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001565 2025-01-08T22:23:42.937Z,1736375022.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:42.954Z,1736375022.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 101.400002 m, deltaT: 3.528184 s, deltaX: 1.500000 m, approachRate: 0.425148 m/s, rangeRepo size: 4 2025-01-08T22:23:42.954Z,1736375022.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:42.961Z,1736375022.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.934483 m, bearing: 257.933329 deg, approach rate: 0.049334 m/s, LOS rate: -1.486619 deg/s, cmd heading: 354.985067 deg, new cmd heading: 353.013963 deg. 2025-01-08T22:23:42.962Z,1736375022.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161256 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:43.120Z,1736375023.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:43.120Z,1736375023.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251447 2025-01-08T22:23:43.332Z,1736375023.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:43.340Z,1736375023.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:43.365Z,1736375023.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.968607 m, bearing: 257.333574 deg, approach rate: 0.088126 m/s, LOS rate: -1.546184 deg/s, cmd heading: 353.013956 deg, new cmd heading: 351.218385 deg. 2025-01-08T22:23:43.368Z,1736375023.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129917 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:43.372Z,1736375023.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:43.374Z,1736375023.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505020 2025-01-08T22:23:43.624Z,1736375023.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:43.624Z,1736375023.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755493 2025-01-08T22:23:43.714Z,1736375023.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:43.733Z,1736375023.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:43.739Z,1736375023.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:43.743Z,1736375023.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.999193 m, bearing: 256.753505 deg, approach rate: 0.077489 m/s, LOS rate: -1.467313 deg/s, cmd heading: 351.218381 deg, new cmd heading: 349.481397 deg. 2025-01-08T22:23:43.748Z,1736375023.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099601 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:43.876Z,1736375023.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:43.877Z,1736375023.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007800 2025-01-08T22:23:44.128Z,1736375024.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:44.129Z,1736375024.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259754 2025-01-08T22:23:44.168Z,1736375024.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:44.177Z,1736375024.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:44.181Z,1736375024.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.074011 m, bearing: 256.065679 deg, approach rate: 0.169420 m/s, LOS rate: -1.551695 deg/s, cmd heading: 349.481409 deg, new cmd heading: 347.426554 deg. 2025-01-08T22:23:44.182Z,1736375024.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063737 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:44.380Z,1736375024.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:44.380Z,1736375024.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511437 2025-01-08T22:23:44.528Z,1736375024.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:44.552Z,1736375024.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:44.555Z,1736375024.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.126596 m, bearing: 255.515554 deg, approach rate: 0.140044 m/s, LOS rate: -1.461220 deg/s, cmd heading: 347.426561 deg, new cmd heading: 345.780975 deg. 2025-01-08T22:23:44.561Z,1736375024.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035017 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:44.632Z,1736375024.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:44.635Z,1736375024.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765253 2025-01-08T22:23:44.884Z,1736375024.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:44.884Z,1736375024.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015326 2025-01-08T22:23:44.974Z,1736375024.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:45.000Z,1736375025.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:45.003Z,1736375025.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.188255 m, bearing: 254.838493 deg, approach rate: 0.137658 m/s, LOS rate: -1.506942 deg/s, cmd heading: 345.780977 deg, new cmd heading: 343.756888 deg. 2025-01-08T22:23:45.004Z,1736375025.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999690 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:45.136Z,1736375025.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:45.137Z,1736375025.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267681 2025-01-08T22:23:45.388Z,1736375025.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:45.388Z,1736375025.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519423 2025-01-08T22:23:45.395Z,1736375025.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:45.404Z,1736375025.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:45.406Z,1736375025.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.274023 m, bearing: 254.226556 deg, approach rate: 0.212488 m/s, LOS rate: -1.509618 deg/s, cmd heading: 343.756891 deg, new cmd heading: 341.929502 deg. 2025-01-08T22:23:45.432Z,1736375025.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967796 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:45.640Z,1736375025.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:45.641Z,1736375025.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772118 2025-01-08T22:23:45.820Z,1736375025.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:45.828Z,1736375025.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:45.830Z,1736375025.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:45.833Z,1736375025.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.357258 m, bearing: 253.612106 deg, approach rate: 0.195383 m/s, LOS rate: -1.436420 deg/s, cmd heading: 341.929515 deg, new cmd heading: 340.094363 deg. 2025-01-08T22:23:45.834Z,1736375025.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935766 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:45.892Z,1736375025.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:45.894Z,1736375025.894 [DAT](INFO): DAT read: Rx Time:22:23:44.5941 2025-01-08T22:23:45.894Z,1736375025.894 [DAT](INFO): Rx dataTimestamp_ set to:1736375025.894034 2025-01-08T22:23:45.895Z,1736375025.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026382 2025-01-08T22:23:46.144Z,1736375026.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:46.144Z,1736375026.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275318 2025-01-08T22:23:46.272Z,1736375026.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:46.281Z,1736375026.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:46.284Z,1736375026.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.460072 m, bearing: 252.992451 deg, approach rate: 0.228097 m/s, LOS rate: -1.367797 deg/s, cmd heading: 340.094353 deg, new cmd heading: 338.245408 deg. 2025-01-08T22:23:46.285Z,1736375026.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903496 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:46.396Z,1736375026.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:46.397Z,1736375026.397 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:23:46.397Z,1736375026.397 [DAT](INFO): Received a bad header 2025-01-08T22:23:46.414Z,1736375026.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.544397 2025-01-08T22:23:46.640Z,1736375026.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:46.649Z,1736375026.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:46.650Z,1736375026.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780353 2025-01-08T22:23:46.656Z,1736375026.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:46.664Z,1736375026.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.541529 m, bearing: 252.484041 deg, approach rate: 0.217000 m/s, LOS rate: -1.349002 deg/s, cmd heading: 338.245420 deg, new cmd heading: 336.726615 deg. 2025-01-08T22:23:46.668Z,1736375026.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876988 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:46.900Z,1736375026.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:46.900Z,1736375026.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031369 2025-01-08T22:23:47.043Z,1736375027.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:47.053Z,1736375027.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:47.059Z,1736375027.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.627371 m, bearing: 251.927900 deg, approach rate: 0.217198 m/s, LOS rate: -1.401271 deg/s, cmd heading: 336.726605 deg, new cmd heading: 335.065615 deg. 2025-01-08T22:23:47.060Z,1736375027.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847998 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:47.152Z,1736375027.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:47.154Z,1736375027.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284459 2025-01-08T22:23:47.404Z,1736375027.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:47.404Z,1736375027.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535396 2025-01-08T22:23:47.489Z,1736375027.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:47.499Z,1736375027.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:47.502Z,1736375027.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.729511 m, bearing: 251.367662 deg, approach rate: 0.228354 m/s, LOS rate: -1.246327 deg/s, cmd heading: 335.065612 deg, new cmd heading: 333.393681 deg. 2025-01-08T22:23:47.502Z,1736375027.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818818 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:47.656Z,1736375027.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:47.657Z,1736375027.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788276 2025-01-08T22:23:47.844Z,1736375027.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:47.883Z,1736375027.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:47.892Z,1736375027.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:47.904Z,1736375027.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.808157 m, bearing: 250.918957 deg, approach rate: 0.202353 m/s, LOS rate: -1.150127 deg/s, cmd heading: 333.393691 deg, new cmd heading: 332.052924 deg. 2025-01-08T22:23:47.905Z,1736375027.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795417 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:47.908Z,1736375027.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:47.909Z,1736375027.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039777 2025-01-08T22:23:48.160Z,1736375028.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:48.160Z,1736375028.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291470 2025-01-08T22:23:48.263Z,1736375028.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:48.296Z,1736375028.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:48.298Z,1736375028.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.888531 m, bearing: 250.411356 deg, approach rate: 0.198848 m/s, LOS rate: -1.250975 deg/s, cmd heading: 332.052925 deg, new cmd heading: 330.536354 deg. 2025-01-08T22:23:48.304Z,1736375028.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768948 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:48.412Z,1736375028.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:48.412Z,1736375028.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543439 2025-01-08T22:23:48.655Z,1736375028.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:48.672Z,1736375028.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:48.674Z,1736375028.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.804245 2025-01-08T22:23:48.684Z,1736375028.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:48.686Z,1736375028.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.960657 m, bearing: 249.933794 deg, approach rate: 0.183711 m/s, LOS rate: -1.212186 deg/s, cmd heading: 330.536350 deg, new cmd heading: 329.108907 deg. 2025-01-08T22:23:48.693Z,1736375028.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744034 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:48.924Z,1736375028.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:48.924Z,1736375028.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055381 2025-01-08T22:23:49.177Z,1736375029.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:49.178Z,1736375029.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.309072 2025-01-08T22:23:49.184Z,1736375029.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:49.202Z,1736375029.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:49.210Z,1736375029.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 21.053902 m, bearing: 249.286837 deg, approach rate: 0.180108 m/s, LOS rate: -1.244078 deg/s, cmd heading: 329.108895 deg, new cmd heading: 327.177393 deg. 2025-01-08T22:23:49.211Z,1736375029.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710323 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:49.428Z,1736375029.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:49.429Z,1736375029.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559813 2025-01-08T22:23:49.554Z,1736375029.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:49.578Z,1736375029.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:49.585Z,1736375029.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 21.090370 m, bearing: 248.843679 deg, approach rate: 0.096888 m/s, LOS rate: -1.175316 deg/s, cmd heading: 327.177399 deg, new cmd heading: 325.850473 deg. 2025-01-08T22:23:49.586Z,1736375029.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687164 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:49.612Z,1736375029.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:23:49.680Z,1736375029.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:49.681Z,1736375029.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.812003 2025-01-08T22:23:49.932Z,1736375029.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:49.932Z,1736375029.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063319 2025-01-08T22:23:50.006Z,1736375030.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:50.014Z,1736375030.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:50.016Z,1736375030.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:50.019Z,1736375030.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 21.125515 m, bearing: 248.296831 deg, approach rate: 0.080250 m/s, LOS rate: -1.246584 deg/s, cmd heading: 325.850485 deg, new cmd heading: 324.213140 deg. 2025-01-08T22:23:50.036Z,1736375030.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.658587 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:50.184Z,1736375030.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:50.185Z,1736375030.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315551 2025-01-08T22:23:50.417Z,1736375030.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:50.427Z,1736375030.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:50.436Z,1736375030.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:50.437Z,1736375030.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567521 2025-01-08T22:23:50.453Z,1736375030.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 21.119282 m, bearing: 247.774135 deg, approach rate: -0.015185 m/s, LOS rate: -1.273700 deg/s, cmd heading: 324.213152 deg, new cmd heading: 322.645016 deg. 2025-01-08T22:23:50.454Z,1736375030.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631218 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:50.616Z,1736375030.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:23:50.689Z,1736375030.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:50.690Z,1736375030.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.820951 2025-01-08T22:23:50.813Z,1736375030.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:50.821Z,1736375030.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:50.824Z,1736375030.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 21.109472 m, bearing: 247.270398 deg, approach rate: -0.024860 m/s, LOS rate: -1.277212 deg/s, cmd heading: 322.645022 deg, new cmd heading: 321.133478 deg. 2025-01-08T22:23:50.825Z,1736375030.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604836 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:50.940Z,1736375030.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:50.942Z,1736375030.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.072664 2025-01-08T22:23:51.193Z,1736375031.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:51.196Z,1736375031.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326659 2025-01-08T22:23:51.289Z,1736375031.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:51.298Z,1736375031.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:51.301Z,1736375031.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 21.053379 m, bearing: 246.618962 deg, approach rate: -0.117626 m/s, LOS rate: -1.369657 deg/s, cmd heading: 321.133474 deg, new cmd heading: 319.174764 deg. 2025-01-08T22:23:51.302Z,1736375031.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570651 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:51.444Z,1736375031.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:51.445Z,1736375031.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575663 2025-01-08T22:23:51.608Z,1736375031.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:51.617Z,1736375031.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:51.622Z,1736375031.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 21.008417 m, bearing: 246.187687 deg, approach rate: -0.141091 m/s, LOS rate: -1.356223 deg/s, cmd heading: 319.174767 deg, new cmd heading: 317.878409 deg. 2025-01-08T22:23:51.643Z,1736375031.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548025 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:51.697Z,1736375031.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:51.698Z,1736375031.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.829396 2025-01-08T22:23:51.948Z,1736375031.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:51.948Z,1736375031.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079430 2025-01-08T22:23:52.012Z,1736375032.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:52.019Z,1736375032.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:52.021Z,1736375032.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:52.024Z,1736375032.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.947472 m, bearing: 245.640669 deg, approach rate: -0.150666 m/s, LOS rate: -1.356220 deg/s, cmd heading: 317.878397 deg, new cmd heading: 316.233044 deg. 2025-01-08T22:23:52.025Z,1736375032.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519308 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:52.200Z,1736375032.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:52.201Z,1736375032.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331941 2025-01-08T22:23:52.452Z,1736375032.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:52.452Z,1736375032.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583299 2025-01-08T22:23:52.506Z,1736375032.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:52.535Z,1736375032.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:52.538Z,1736375032.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.826981 m, bearing: 244.878337 deg, approach rate: -0.241902 m/s, LOS rate: -1.539291 deg/s, cmd heading: 316.233032 deg, new cmd heading: 313.934108 deg. 2025-01-08T22:23:52.539Z,1736375032.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479184 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:52.704Z,1736375032.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:52.705Z,1736375032.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836122 2025-01-08T22:23:52.882Z,1736375032.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:52.907Z,1736375032.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:52.911Z,1736375032.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.731991 m, bearing: 244.299922 deg, approach rate: -0.244935 m/s, LOS rate: -1.498276 deg/s, cmd heading: 313.934100 deg, new cmd heading: 312.191471 deg. 2025-01-08T22:23:52.912Z,1736375032.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448769 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:52.956Z,1736375032.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:52.956Z,1736375032.956 [DAT](INFO): Reached modem response timeout 2025-01-08T22:23:52.956Z,1736375032.956 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:23:52.957Z,1736375032.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:53.210Z,1736375033.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:53.211Z,1736375033.211 [DAT](INFO): Reached modem response timeout 2025-01-08T22:23:53.212Z,1736375033.212 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:23:53.213Z,1736375033.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:53.342Z,1736375033.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:53.351Z,1736375033.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:53.370Z,1736375033.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.582365 m, bearing: 243.528207 deg, approach rate: -0.337186 m/s, LOS rate: -1.751670 deg/s, cmd heading: 312.191473 deg, new cmd heading: 309.860853 deg. 2025-01-08T22:23:53.370Z,1736375033.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408092 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:53.460Z,1736375033.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:53.461Z,1736375033.461 [DAT](INFO): Reached modem response timeout 2025-01-08T22:23:53.461Z,1736375033.461 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:23:53.462Z,1736375033.462 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:53.712Z,1736375033.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:53.713Z,1736375033.713 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:23:53.713Z,1736375033.713 [DAT](INFO): response not received 2025-01-08T22:23:53.713Z,1736375033.713 [DAT](INFO): DAT read: user:2569> 2025-01-08T22:23:53.714Z,1736375033.714 [DAT](INFO): DAT read: Tx time:22:23:53.0023 2025-01-08T22:23:53.714Z,1736375033.714 [DAT](INFO): Ping request sent. 2025-01-08T22:23:53.714Z,1736375033.714 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:53.715Z,1736375033.715 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:53.715Z,1736375033.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000866 2025-01-08T22:23:53.777Z,1736375033.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:53.813Z,1736375033.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:53.819Z,1736375033.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.437063 m, bearing: 242.800782 deg, approach rate: -0.314591 m/s, LOS rate: -1.586093 deg/s, cmd heading: 309.860848 deg, new cmd heading: 307.664194 deg. 2025-01-08T22:23:53.820Z,1736375033.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.369753 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:53.964Z,1736375033.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:53.965Z,1736375033.965 [DAT](INFO): DAT read: TxSync time:22:23:53.0015 2025-01-08T22:23:53.966Z,1736375033.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251111 2025-01-08T22:23:54.217Z,1736375034.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:54.220Z,1736375034.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504966 2025-01-08T22:23:54.286Z,1736375034.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:54.294Z,1736375034.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:54.312Z,1736375034.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:54.315Z,1736375034.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.254173 m, bearing: 241.877454 deg, approach rate: -0.366265 m/s, LOS rate: -1.865720 deg/s, cmd heading: 307.664205 deg, new cmd heading: 304.871543 deg. 2025-01-08T22:23:54.316Z,1736375034.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321012 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:54.468Z,1736375034.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:54.468Z,1736375034.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753894 2025-01-08T22:23:54.687Z,1736375034.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:54.697Z,1736375034.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:54.705Z,1736375034.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 20.106455 m, bearing: 241.150564 deg, approach rate: -0.383669 m/s, LOS rate: -1.901773 deg/s, cmd heading: 304.871531 deg, new cmd heading: 302.675973 deg. 2025-01-08T22:23:54.706Z,1736375034.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282692 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:54.720Z,1736375034.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:54.720Z,1736375034.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005998 2025-01-08T22:23:54.972Z,1736375034.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:54.972Z,1736375034.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257967 2025-01-08T22:23:55.076Z,1736375035.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:55.088Z,1736375035.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:55.090Z,1736375035.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.961622 m, bearing: 240.453684 deg, approach rate: -0.370479 m/s, LOS rate: -1.795496 deg/s, cmd heading: 302.675981 deg, new cmd heading: 300.571172 deg. 2025-01-08T22:23:55.099Z,1736375035.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245956 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:55.226Z,1736375035.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:55.229Z,1736375035.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513842 2025-01-08T22:23:55.476Z,1736375035.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:55.477Z,1736375035.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762508 2025-01-08T22:23:55.529Z,1736375035.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:55.550Z,1736375035.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:55.561Z,1736375035.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.796476 m, bearing: 239.584033 deg, approach rate: -0.357654 m/s, LOS rate: -1.899028 deg/s, cmd heading: 300.571162 deg, new cmd heading: 297.942392 deg. 2025-01-08T22:23:55.562Z,1736375035.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200076 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:55.728Z,1736375035.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:55.729Z,1736375035.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014112 2025-01-08T22:23:55.970Z,1736375035.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:55.979Z,1736375035.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:55.980Z,1736375035.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:55.980Z,1736375035.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266038 2025-01-08T22:23:55.983Z,1736375035.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.626808 m, bearing: 238.757714 deg, approach rate: -0.395422 m/s, LOS rate: -1.942367 deg/s, cmd heading: 297.942387 deg, new cmd heading: 295.443674 deg. 2025-01-08T22:23:55.984Z,1736375035.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.156465 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:56.234Z,1736375036.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:56.237Z,1736375036.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522329 2025-01-08T22:23:56.400Z,1736375036.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:56.407Z,1736375036.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:56.410Z,1736375036.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:56.413Z,1736375036.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.484474 m, bearing: 237.963338 deg, approach rate: -0.329940 m/s, LOS rate: -1.854809 deg/s, cmd heading: 295.443685 deg, new cmd heading: 293.044627 deg. 2025-01-08T22:23:56.414Z,1736375036.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.114594 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:56.485Z,1736375036.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:56.486Z,1736375036.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771504 2025-01-08T22:23:56.736Z,1736375036.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:56.736Z,1736375036.736 [DAT](INFO): DAT read: Rx Time:22:23:55.5515 2025-01-08T22:23:56.737Z,1736375036.737 [DAT](INFO): Rx dataTimestamp_ set to:1736375036.736598 2025-01-08T22:23:56.737Z,1736375036.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022972 2025-01-08T22:23:56.775Z,1736375036.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:56.800Z,1736375036.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:56.803Z,1736375036.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.357208 m, bearing: 237.272966 deg, approach rate: -0.326384 m/s, LOS rate: -1.782113 deg/s, cmd heading: 293.044622 deg, new cmd heading: 290.960859 deg. 2025-01-08T22:23:56.808Z,1736375036.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.078225 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:56.988Z,1736375036.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:56.988Z,1736375036.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273917 2025-01-08T22:23:57.185Z,1736375037.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:57.195Z,1736375037.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:57.198Z,1736375037.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.213520 m, bearing: 236.516953 deg, approach rate: -0.363761 m/s, LOS rate: -1.928180 deg/s, cmd heading: 290.960868 deg, new cmd heading: 288.677144 deg. 2025-01-08T22:23:57.199Z,1736375037.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038367 target range: 99.300003 and range: 101.40 m. 2025-01-08T22:23:57.242Z,1736375037.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:57.249Z,1736375037.249 [DAT](INFO): DAT read: Range 10 to 50 : 108.8 m (Round-trip 145.1 ms) speed -0.9 m/s 2025-01-08T22:23:57.252Z,1736375037.252 [DAT](INFO): DAT read: user:2570> 2025-01-08T22:23:57.254Z,1736375037.254 [DAT](INFO): DAT read: Tx time:22:23:56.6523 2025-01-08T22:23:57.256Z,1736375037.256 [DAT](INFO): Ping request sent. 2025-01-08T22:23:57.256Z,1736375037.256 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:23:57.257Z,1736375037.257 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:23:57.257Z,1736375037.257 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:57.277Z,1736375037.277 [DAT](INFO): publishing transmit ping time 2025-01-08T22:23:57.492Z,1736375037.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:57.494Z,1736375037.494 [DAT](INFO): DAT read: TxSync time:22:23:56.6515 2025-01-08T22:23:57.630Z,1736375037.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:57.640Z,1736375037.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.800003 m, deltaT: 14.626431 s, deltaX: 7.400002 m, approachRate: 0.505934 m/s, rangeRepo size: 4 2025-01-08T22:23:57.640Z,1736375037.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:57.646Z,1736375037.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 19.091490 m, bearing: 235.737431 deg, approach rate: -0.275211 m/s, LOS rate: -1.769215 deg/s, cmd heading: 288.677153 deg, new cmd heading: 286.325033 deg. 2025-01-08T22:23:57.648Z,1736375037.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997314 target range: 99.300003 and range: 108.80 m. 2025-01-08T22:23:57.744Z,1736375037.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:57.996Z,1736375037.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:57.987Z,1736375037.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:58.013Z,1736375038.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:58.017Z,1736375038.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 18.984150 m, bearing: 235.122459 deg, approach rate: -0.286921 m/s, LOS rate: -1.653094 deg/s, cmd heading: 286.325027 deg, new cmd heading: 284.470363 deg. 2025-01-08T22:23:58.021Z,1736375038.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.964944 target range: 99.300003 and range: 108.80 m. 2025-01-08T22:23:58.249Z,1736375038.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:58.429Z,1736375038.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:58.436Z,1736375038.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:23:58.438Z,1736375038.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:58.441Z,1736375038.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 18.883102 m, bearing: 234.425249 deg, approach rate: -0.237421 m/s, LOS rate: -1.646892 deg/s, cmd heading: 284.470357 deg, new cmd heading: 282.368529 deg. 2025-01-08T22:23:58.443Z,1736375038.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.928260 target range: 99.300003 and range: 108.80 m. 2025-01-08T22:23:58.501Z,1736375038.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:58.502Z,1736375038.502 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:23:58.502Z,1736375038.502 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:23:58.502Z,1736375038.502 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:23:58.752Z,1736375038.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:58.752Z,1736375038.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496868 2025-01-08T22:23:58.809Z,1736375038.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:58.818Z,1736375038.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:58.820Z,1736375038.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 18.787315 m, bearing: 233.833854 deg, approach rate: -0.252434 m/s, LOS rate: -1.566459 deg/s, cmd heading: 282.368517 deg, new cmd heading: 280.585896 deg. 2025-01-08T22:23:58.821Z,1736375038.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.897148 target range: 99.300003 and range: 108.80 m. 2025-01-08T22:23:59.004Z,1736375039.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:59.004Z,1736375039.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748937 2025-01-08T22:23:59.222Z,1736375039.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:59.238Z,1736375039.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:59.241Z,1736375039.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 18.685854 m, bearing: 233.186583 deg, approach rate: -0.241638 m/s, LOS rate: -1.549863 deg/s, cmd heading: 280.585892 deg, new cmd heading: 278.634331 deg. 2025-01-08T22:23:59.242Z,1736375039.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863087 target range: 99.300003 and range: 108.80 m. 2025-01-08T22:23:59.258Z,1736375039.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:59.260Z,1736375039.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004071 2025-01-08T22:23:59.509Z,1736375039.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:59.510Z,1736375039.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254560 2025-01-08T22:23:59.629Z,1736375039.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:23:59.637Z,1736375039.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:23:59.661Z,1736375039.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 18.606647 m, bearing: 232.618030 deg, approach rate: -0.198065 m/s, LOS rate: -1.427761 deg/s, cmd heading: 278.634343 deg, new cmd heading: 276.921960 deg. 2025-01-08T22:23:59.663Z,1736375039.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833200 target range: 99.300003 and range: 108.80 m. 2025-01-08T22:23:59.760Z,1736375039.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:23:59.761Z,1736375039.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505239 2025-01-08T22:24:00.012Z,1736375040.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:00.012Z,1736375040.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756987 2025-01-08T22:24:00.034Z,1736375040.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:00.043Z,1736375040.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:00.046Z,1736375040.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 18.525368 m, bearing: 232.054414 deg, approach rate: -0.200523 m/s, LOS rate: -1.396558 deg/s, cmd heading: 276.921960 deg, new cmd heading: 275.224219 deg. 2025-01-08T22:24:00.047Z,1736375040.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803569 target range: 99.300003 and range: 108.80 m. 2025-01-08T22:24:00.264Z,1736375040.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:00.318Z,1736375040.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.061544 2025-01-08T22:24:00.424Z,1736375040.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:00.433Z,1736375040.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:00.436Z,1736375040.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 18.448853 m, bearing: 231.507351 deg, approach rate: -0.196043 m/s, LOS rate: -1.407443 deg/s, cmd heading: 275.224221 deg, new cmd heading: 273.576705 deg. 2025-01-08T22:24:00.437Z,1736375040.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.774814 target range: 99.300003 and range: 108.80 m. 2025-01-08T22:24:00.516Z,1736375040.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:00.517Z,1736375040.517 [DAT](INFO): DAT read: Rx Time:22:23:59.2039 2025-01-08T22:24:00.518Z,1736375040.518 [DAT](INFO): Rx dataTimestamp_ set to:1736375040.518034 2025-01-08T22:24:00.519Z,1736375040.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263855 2025-01-08T22:24:00.768Z,1736375040.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:00.768Z,1736375040.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512835 2025-01-08T22:24:00.831Z,1736375040.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:00.832Z,1736375040.832 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:24:00.840Z,1736375040.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:00.842Z,1736375040.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:00.861Z,1736375040.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 18.361353 m, bearing: 230.942733 deg, approach rate: -0.214057 m/s, LOS rate: -1.387832 deg/s, cmd heading: 273.576698 deg, new cmd heading: 271.875299 deg. 2025-01-08T22:24:00.872Z,1736375040.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.745119 target range: 99.300003 and range: 108.80 m. 2025-01-08T22:24:01.021Z,1736375041.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:01.023Z,1736375041.023 [DAT](INFO): DAT read: Range 10 to 50 : 110.5 m (Round-trip 147.4 ms) speed -0.8 m/s 2025-01-08T22:24:01.024Z,1736375041.024 [DAT](INFO): DAT read: user:2571> 2025-01-08T22:24:01.024Z,1736375041.024 [DAT](INFO): DAT read: Tx time:22:24:00.3023 2025-01-08T22:24:01.025Z,1736375041.025 [DAT](INFO): Ping request sent. 2025-01-08T22:24:01.026Z,1736375041.026 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:01.026Z,1736375041.026 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:24:01.026Z,1736375041.026 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:01.027Z,1736375041.027 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:01.217Z,1736375041.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:01.227Z,1736375041.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 110.500000 m, deltaT: 3.778616 s, deltaX: 1.699997 m, approachRate: 0.449899 m/s, rangeRepo size: 4 2025-01-08T22:24:01.243Z,1736375041.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:01.246Z,1736375041.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 18.275921 m, bearing: 230.409211 deg, approach rate: -0.222570 m/s, LOS rate: -1.396427 deg/s, cmd heading: 271.875297 deg, new cmd heading: 270.267693 deg. 2025-01-08T22:24:01.251Z,1736375041.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717061 target range: 99.300003 and range: 110.50 m. 2025-01-08T22:24:01.272Z,1736375041.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:01.273Z,1736375041.273 [DAT](INFO): DAT read: TxSync time:22:24:00.3015 2025-01-08T22:24:01.525Z,1736375041.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:01.634Z,1736375041.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:24:01.634Z,1736375041.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:01.644Z,1736375041.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:01.649Z,1736375041.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 18.180357 m, bearing: 229.836107 deg, approach rate: -0.228486 m/s, LOS rate: -1.377428 deg/s, cmd heading: 270.267689 deg, new cmd heading: 268.539894 deg. 2025-01-08T22:24:01.651Z,1736375041.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686905 target range: 99.300003 and range: 110.50 m. 2025-01-08T22:24:01.776Z,1736375041.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:02.029Z,1736375042.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:02.048Z,1736375042.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:24:02.049Z,1736375042.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:02.057Z,1736375042.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:02.061Z,1736375042.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 18.082249 m, bearing: 229.268013 deg, approach rate: -0.237504 m/s, LOS rate: -1.382699 deg/s, cmd heading: 268.539897 deg, new cmd heading: 266.826908 deg. 2025-01-08T22:24:02.062Z,1736375042.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657008 target range: 99.300003 and range: 110.50 m. 2025-01-08T22:24:02.280Z,1736375042.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:02.449Z,1736375042.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:02.458Z,1736375042.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:02.462Z,1736375042.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 17.992477 m, bearing: 228.835343 deg, approach rate: -0.223956 m/s, LOS rate: -1.084773 deg/s, cmd heading: 266.826913 deg, new cmd heading: 265.522665 deg. 2025-01-08T22:24:02.463Z,1736375042.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634245 target range: 99.300003 and range: 110.50 m. 2025-01-08T22:24:02.533Z,1736375042.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:02.784Z,1736375042.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:02.853Z,1736375042.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:02.861Z,1736375042.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:02.865Z,1736375042.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:02.868Z,1736375042.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 17.899994 m, bearing: 228.402645 deg, approach rate: -0.228304 m/s, LOS rate: -1.073662 deg/s, cmd heading: 265.522675 deg, new cmd heading: 264.218112 deg. 2025-01-08T22:24:02.869Z,1736375042.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611476 target range: 99.300003 and range: 110.50 m. 2025-01-08T22:24:03.037Z,1736375043.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:03.038Z,1736375043.038 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:03.038Z,1736375043.038 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:03.039Z,1736375043.039 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:03.244Z,1736375043.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:03.252Z,1736375043.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:03.255Z,1736375043.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 17.808376 m, bearing: 227.986226 deg, approach rate: -0.235376 m/s, LOS rate: -1.075323 deg/s, cmd heading: 264.218109 deg, new cmd heading: 262.962637 deg. 2025-01-08T22:24:03.256Z,1736375043.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589564 target range: 99.300003 and range: 110.50 m. 2025-01-08T22:24:03.288Z,1736375043.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:03.290Z,1736375043.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264333 2025-01-08T22:24:03.540Z,1736375043.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:03.540Z,1736375043.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515211 2025-01-08T22:24:03.700Z,1736375043.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:03.710Z,1736375043.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:03.713Z,1736375043.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 17.676783 m, bearing: 227.444517 deg, approach rate: -0.287641 m/s, LOS rate: -1.192879 deg/s, cmd heading: 262.962638 deg, new cmd heading: 261.325882 deg. 2025-01-08T22:24:03.714Z,1736375043.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560997 target range: 99.300003 and range: 110.50 m. 2025-01-08T22:24:03.792Z,1736375043.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:03.793Z,1736375043.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767922 2025-01-08T22:24:04.044Z,1736375044.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:04.045Z,1736375044.045 [DAT](INFO): DAT read: Rx Time:22:24:02.8557 2025-01-08T22:24:04.045Z,1736375044.045 [DAT](INFO): Rx dataTimestamp_ set to:1736375044.044733 2025-01-08T22:24:04.046Z,1736375044.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020327 2025-01-08T22:24:04.050Z,1736375044.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:04.068Z,1736375044.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:04.071Z,1736375044.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 17.573532 m, bearing: 227.032007 deg, approach rate: -0.288104 m/s, LOS rate: -1.157796 deg/s, cmd heading: 261.325879 deg, new cmd heading: 260.081285 deg. 2025-01-08T22:24:04.072Z,1736375044.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539275 target range: 99.300003 and range: 110.50 m. 2025-01-08T22:24:04.300Z,1736375044.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:04.301Z,1736375044.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275395 2025-01-08T22:24:04.470Z,1736375044.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:04.480Z,1736375044.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:04.483Z,1736375044.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 17.423788 m, bearing: 226.458639 deg, approach rate: -0.364413 m/s, LOS rate: -1.407303 deg/s, cmd heading: 260.081282 deg, new cmd heading: 258.346954 deg. 2025-01-08T22:24:04.506Z,1736375044.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509005 target range: 99.300003 and range: 110.50 m. 2025-01-08T22:24:04.554Z,1736375044.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:04.578Z,1736375044.578 [DAT](INFO): DAT read: 22:24:02.8557 LVL= 19952, 17521, 13378, 26147, AGC= 54, IDX= 437, 0.01, 0.632, 2.940, 2.691, 2.146, PHS=-1.426, 0.841, 0.542, RAW= 277.0, 0.4, CAL= 278.7, -0.3, ROT= 231.3, 0.3 2025-01-08T22:24:04.587Z,1736375044.587 [DAT](INFO): got valid direction response: 22:24:02.8557 LVL= 19952, 17521, 13378, 26147, AGC= 54, IDX= 437, 0.01, 0.632, 2.940, 2.691, 2.146, PHS=-1.426, 0.841, 0.542, RAW= 277.0, 0.4, CAL= 278.7, -0.3, ROT= 231.3, 0.3 2025-01-08T22:24:04.588Z,1736375044.588 [DAT](INFO): DAT read: Bearing 231.3, 0.3 (Local) 2025-01-08T22:24:04.589Z,1736375044.589 [DAT](INFO): Local bearing/azimuth received: Bearing 231.3, 0.3 (Local) 2025-01-08T22:24:04.590Z,1736375044.590 [DAT](INFO): DAT read: Range 10 to 50 : 111.9 m (Round-trip 149.3 ms) speed -0.3 m/s 2025-01-08T22:24:04.598Z,1736375044.598 [DAT](INFO): DAT read: user:2572> 2025-01-08T22:24:04.604Z,1736375044.604 [DAT](INFO): DAT read: Tx time:22:24:03.9523 2025-01-08T22:24:04.604Z,1736375044.604 [DAT](INFO): Ping request sent. 2025-01-08T22:24:04.604Z,1736375044.604 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:04.605Z,1736375044.605 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:24:04.605Z,1736375044.605 [DAT](INFO): direction in FSK: [0.087941,0.014475,-0.996021] 2025-01-08T22:24:04.606Z,1736375044.606 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:04.606Z,1736375044.606 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:04.633Z,1736375044.633 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:04.633Z,1736375044.633 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:04.806Z,1736375044.806 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:04.807Z,1736375044.807 [DAT](INFO): DAT read: TxSync time:22:24:03.9515 2025-01-08T22:24:04.881Z,1736375044.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:04.920Z,1736375044.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.900002 m, deltaT: 3.532924 s, deltaX: 1.400002 m, approachRate: 0.396273 m/s, rangeRepo size: 4 2025-01-08T22:24:04.922Z,1736375044.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.900002 m, bearing: 320.623156 deg, lat: 36.905326 deg, lon: -122.119766 deg, deltaT: 29.006134 s, deltaX: 12.599998 m, approachRate: 0.434391 m/s, posRepo size: 4 2025-01-08T22:24:04.923Z,1736375044.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m. 2025-01-08T22:24:04.929Z,1736375044.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.900002 m, nav range: 16.296108 m, bearing: 222.466776 deg, approach rate: 0.000000 m/s, LOS rate: -1.407303 deg/s, cmd heading: 258.346960 deg, new cmd heading: 256.540979 deg. 2025-01-08T22:24:04.930Z,1736375044.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477485 target range: 111.900002 and range: 111.90 m. 2025-01-08T22:24:05.056Z,1736375045.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:05.262Z,1736375045.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:05.269Z,1736375045.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:05.271Z,1736375045.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m. 2025-01-08T22:24:05.273Z,1736375045.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.900002 m, nav range: 16.163887 m, bearing: 221.894549 deg, approach rate: -0.363645 m/s, LOS rate: -1.586629 deg/s, cmd heading: 256.540976 deg, new cmd heading: 254.810807 deg. 2025-01-08T22:24:05.274Z,1736375045.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.447288 target range: 111.900002 and range: 111.90 m. 2025-01-08T22:24:05.309Z,1736375045.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:05.309Z,1736375045.309 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:05.309Z,1736375045.309 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:05.310Z,1736375045.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:05.561Z,1736375045.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:05.561Z,1736375045.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.957205 2025-01-08T22:24:05.712Z,1736375045.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:05.721Z,1736375045.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m. 2025-01-08T22:24:05.724Z,1736375045.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.900002 m, nav range: 15.988062 m, bearing: 221.089954 deg, approach rate: -0.390376 m/s, LOS rate: -1.805991 deg/s, cmd heading: 254.810807 deg, new cmd heading: 252.372032 deg. 2025-01-08T22:24:05.725Z,1736375045.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404723 target range: 111.900002 and range: 111.90 m. 2025-01-08T22:24:05.812Z,1736375045.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:05.814Z,1736375045.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.209346 2025-01-08T22:24:06.064Z,1736375046.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:06.064Z,1736375046.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460227 2025-01-08T22:24:06.076Z,1736375046.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:06.085Z,1736375046.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m. 2025-01-08T22:24:06.093Z,1736375046.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.900002 m, nav range: 15.837211 m, bearing: 220.458835 deg, approach rate: -0.415027 m/s, LOS rate: -1.752861 deg/s, cmd heading: 252.372020 deg, new cmd heading: 250.461376 deg. 2025-01-08T22:24:06.096Z,1736375046.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371376 target range: 111.900002 and range: 111.90 m. 2025-01-08T22:24:06.316Z,1736375046.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:06.316Z,1736375046.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712077 2025-01-08T22:24:06.569Z,1736375046.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:06.570Z,1736375046.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965518 2025-01-08T22:24:06.645Z,1736375046.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:06.661Z,1736375046.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m. 2025-01-08T22:24:06.694Z,1736375046.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.900002 m, nav range: 15.576748 m, bearing: 219.338966 deg, approach rate: -0.451745 m/s, LOS rate: -1.974646 deg/s, cmd heading: 250.461370 deg, new cmd heading: 247.049842 deg. 2025-01-08T22:24:06.699Z,1736375046.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311833 target range: 111.900002 and range: 111.90 m. 2025-01-08T22:24:06.820Z,1736375046.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:06.821Z,1736375046.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216322 2025-01-08T22:24:07.072Z,1736375047.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:07.073Z,1736375047.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468881 2025-01-08T22:24:07.123Z,1736375047.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:07.152Z,1736375047.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m. 2025-01-08T22:24:07.154Z,1736375047.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.900002 m, nav range: 15.354891 m, bearing: 218.392926 deg, approach rate: -0.471671 m/s, LOS rate: -2.040262 deg/s, cmd heading: 247.049855 deg, new cmd heading: 244.173276 deg. 2025-01-08T22:24:07.159Z,1736375047.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261628 target range: 111.900002 and range: 111.90 m. 2025-01-08T22:24:07.324Z,1736375047.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:07.326Z,1736375047.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721559 2025-01-08T22:24:07.577Z,1736375047.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:07.577Z,1736375047.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972953 2025-01-08T22:24:07.584Z,1736375047.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:07.590Z,1736375047.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:07.594Z,1736375047.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m. 2025-01-08T22:24:07.617Z,1736375047.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.900002 m, nav range: 15.127103 m, bearing: 217.390819 deg, approach rate: -0.492392 m/s, LOS rate: -2.198686 deg/s, cmd heading: 244.173280 deg, new cmd heading: 241.124724 deg. 2025-01-08T22:24:07.618Z,1736375047.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208420 target range: 111.900002 and range: 111.90 m. 2025-01-08T22:24:07.828Z,1736375047.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:07.828Z,1736375047.828 [DAT](INFO): DAT read: Rx Time:22:24:06.5071 2025-01-08T22:24:07.829Z,1736375047.829 [DAT](INFO): Rx dataTimestamp_ set to:1736375047.828581 2025-01-08T22:24:07.829Z,1736375047.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225152 2025-01-08T22:24:07.956Z,1736375047.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:07.965Z,1736375047.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.90 m. 2025-01-08T22:24:07.968Z,1736375047.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.900002 m, nav range: 14.940241 m, bearing: 216.582145 deg, approach rate: -0.503007 m/s, LOS rate: -2.203992 deg/s, cmd heading: 241.124720 deg, new cmd heading: 238.669940 deg. 2025-01-08T22:24:07.969Z,1736375047.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165576 target range: 111.900002 and range: 111.90 m. 2025-01-08T22:24:08.081Z,1736375048.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:08.082Z,1736375048.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477275 2025-01-08T22:24:08.332Z,1736375048.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:08.338Z,1736375048.338 [DAT](INFO): DAT read: 22:24:06.5071 LVL= 15568, 14577, 11746, 23123, AGC= 54, IDX= 433, 0.09,-2.040,-0.412, 0.502,-0.560, PHS=-1.392, 0.195, 1.058, RAW= 249.7, 1.3, CAL= 253.5, 2.3, ROT= 256.5, -2.3 2025-01-08T22:24:08.339Z,1736375048.339 [DAT](INFO): got valid direction response: 22:24:06.5071 LVL= 15568, 14577, 11746, 23123, AGC= 54, IDX= 433, 0.09,-2.040,-0.412, 0.502,-0.560, PHS=-1.392, 0.195, 1.058, RAW= 249.7, 1.3, CAL= 253.5, 2.3, ROT= 256.5, -2.3 2025-01-08T22:24:08.340Z,1736375048.340 [DAT](INFO): DAT read: Bearing 256.5, -2.3 (Local) 2025-01-08T22:24:08.341Z,1736375048.341 [DAT](INFO): Local bearing/azimuth received: Bearing 256.5, -2.3 (Local) 2025-01-08T22:24:08.343Z,1736375048.343 [DAT](INFO): DAT read: Range 10 to 50 : 112.8 m (Round-trip 150.5 ms) speed -0.1 m/s 2025-01-08T22:24:08.349Z,1736375048.349 [DAT](INFO): DAT read: user:2573> 2025-01-08T22:24:08.350Z,1736375048.350 [DAT](INFO): DAT read: Tx time:22:24:07.6024 2025-01-08T22:24:08.350Z,1736375048.350 [DAT](INFO): Ping request sent. 2025-01-08T22:24:08.350Z,1736375048.350 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:08.350Z,1736375048.350 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:24:08.360Z,1736375048.360 [DAT](INFO): direction in FSK: [0.024015,-0.437175,-0.899056] 2025-01-08T22:24:08.360Z,1736375048.360 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:08.360Z,1736375048.360 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:08.367Z,1736375048.367 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:08.368Z,1736375048.368 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:08.546Z,1736375048.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:08.581Z,1736375048.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.800003 m, deltaT: 3.777778 s, deltaX: 0.900002 m, approachRate: 0.238236 m/s, rangeRepo size: 4 2025-01-08T22:24:08.583Z,1736375048.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 112.800003 m, bearing: 178.574683 deg, lat: 36.905083 deg, lon: -122.119691 deg, deltaT: 3.777778 s, deltaX: 0.900002 m, approachRate: 0.238236 m/s, posRepo size: 4 2025-01-08T22:24:08.584Z,1736375048.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:08.585Z,1736375048.585 [DAT](INFO): DAT read: TxSync time:22:24:07.6016 2025-01-08T22:24:08.593Z,1736375048.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:08.599Z,1736375048.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 39.065327 m, bearing: 182.720648 deg, approach rate: 0.000000 m/s, LOS rate: -2.203992 deg/s, cmd heading: 238.669950 deg, new cmd heading: 234.611602 deg. 2025-01-08T22:24:08.600Z,1736375048.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.094745 target range: 112.800003 and range: 112.80 m. 2025-01-08T22:24:08.836Z,1736375048.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:08.889Z,1736375048.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:08.905Z,1736375048.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:08.914Z,1736375048.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 39.022644 m, bearing: 182.340559 deg, approach rate: -0.131279 m/s, LOS rate: -1.170309 deg/s, cmd heading: 234.611616 deg, new cmd heading: 233.470262 deg. 2025-01-08T22:24:08.915Z,1736375048.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.074825 target range: 112.800003 and range: 112.80 m. 2025-01-08T22:24:09.088Z,1736375049.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:09.330Z,1736375049.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:09.338Z,1736375049.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:09.340Z,1736375049.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:09.343Z,1736375049.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 38.948669 m, bearing: 181.856121 deg, approach rate: -0.170941 m/s, LOS rate: -1.121553 deg/s, cmd heading: 233.470264 deg, new cmd heading: 232.014521 deg. 2025-01-08T22:24:09.360Z,1736375049.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.049417 target range: 112.800003 and range: 112.80 m. 2025-01-08T22:24:09.594Z,1736375049.594 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:09.741Z,1736375049.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:09.757Z,1736375049.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:09.765Z,1736375049.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:09.772Z,1736375049.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 38.886398 m, bearing: 181.411757 deg, approach rate: -0.145957 m/s, LOS rate: -1.043200 deg/s, cmd heading: 232.014532 deg, new cmd heading: 230.679561 deg. 2025-01-08T22:24:09.773Z,1736375049.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.026118 target range: 112.800003 and range: 112.80 m. 2025-01-08T22:24:09.844Z,1736375049.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:09.844Z,1736375049.844 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:09.845Z,1736375049.845 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:09.845Z,1736375049.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:10.098Z,1736375050.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:10.098Z,1736375050.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748450 2025-01-08T22:24:10.105Z,1736375050.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:10.113Z,1736375050.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:10.117Z,1736375050.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 38.824924 m, bearing: 181.020815 deg, approach rate: -0.176436 m/s, LOS rate: -1.123813 deg/s, cmd heading: 230.679558 deg, new cmd heading: 229.505046 deg. 2025-01-08T22:24:10.117Z,1736375050.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.005619 target range: 112.800003 and range: 112.80 m. 2025-01-08T22:24:10.348Z,1736375050.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:10.349Z,1736375050.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999369 2025-01-08T22:24:10.531Z,1736375050.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:10.540Z,1736375050.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:10.560Z,1736375050.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 38.743183 m, bearing: 180.582519 deg, approach rate: -0.191519 m/s, LOS rate: -1.029078 deg/s, cmd heading: 229.505039 deg, new cmd heading: 228.187624 deg. 2025-01-08T22:24:10.561Z,1736375050.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.982625 target range: 112.800003 and range: 112.80 m. 2025-01-08T22:24:10.601Z,1736375050.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:10.602Z,1736375050.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252114 2025-01-08T22:24:10.852Z,1736375050.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:10.852Z,1736375050.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502403 2025-01-08T22:24:10.913Z,1736375050.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:10.922Z,1736375050.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:10.925Z,1736375050.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 38.655991 m, bearing: 180.194257 deg, approach rate: -0.228466 m/s, LOS rate: -1.019631 deg/s, cmd heading: 228.187618 deg, new cmd heading: 227.020374 deg. 2025-01-08T22:24:10.926Z,1736375050.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.962253 target range: 112.800003 and range: 112.80 m. 2025-01-08T22:24:11.104Z,1736375051.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:11.105Z,1736375051.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754911 2025-01-08T22:24:11.306Z,1736375051.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:11.316Z,1736375051.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:11.318Z,1736375051.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 38.560272 m, bearing: 179.797638 deg, approach rate: -0.243284 m/s, LOS rate: -1.010568 deg/s, cmd heading: 227.020380 deg, new cmd heading: 225.827749 deg. 2025-01-08T22:24:11.320Z,1736375051.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.941438 target range: 112.800003 and range: 112.80 m. 2025-01-08T22:24:11.356Z,1736375051.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:11.357Z,1736375051.357 [DAT](INFO): DAT read: Rx Time:22:24:10.1574 2025-01-08T22:24:11.357Z,1736375051.357 [DAT](INFO): Rx dataTimestamp_ set to:1736375051.356737 2025-01-08T22:24:11.358Z,1736375051.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007660 2025-01-08T22:24:11.608Z,1736375051.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:11.609Z,1736375051.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259510 2025-01-08T22:24:11.734Z,1736375051.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:11.764Z,1736375051.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:11.766Z,1736375051.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 38.449337 m, bearing: 179.398169 deg, approach rate: -0.249815 m/s, LOS rate: -0.902151 deg/s, cmd heading: 225.827747 deg, new cmd heading: 224.626070 deg. 2025-01-08T22:24:11.771Z,1736375051.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.920465 target range: 112.800003 and range: 112.80 m. 2025-01-08T22:24:11.860Z,1736375051.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:11.863Z,1736375051.863 [DAT](INFO): DAT read: Range 10 to 50 : 113.1 m (Round-trip 150.8 ms) speed 0.0 m/s 2025-01-08T22:24:11.864Z,1736375051.864 [DAT](INFO): DAT read: user:2574> 2025-01-08T22:24:11.866Z,1736375051.866 [DAT](INFO): DAT read: Tx time:22:24:11.2524 2025-01-08T22:24:11.866Z,1736375051.866 [DAT](INFO): Ping request sent. 2025-01-08T22:24:11.866Z,1736375051.866 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:11.867Z,1736375051.867 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:24:11.867Z,1736375051.867 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:11.869Z,1736375051.869 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:12.113Z,1736375052.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:12.115Z,1736375052.115 [DAT](INFO): DAT read: TxSync time:22:24:11.2516 2025-01-08T22:24:12.132Z,1736375052.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:12.139Z,1736375052.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:12.142Z,1736375052.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.099998 m, deltaT: 3.528589 s, deltaX: 0.299995 m, approachRate: 0.085019 m/s, rangeRepo size: 4 2025-01-08T22:24:12.142Z,1736375052.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:12.145Z,1736375052.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 38.347717 m, bearing: 179.024084 deg, approach rate: -0.266017 m/s, LOS rate: -0.981855 deg/s, cmd heading: 224.626070 deg, new cmd heading: 223.500994 deg. 2025-01-08T22:24:12.146Z,1736375052.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.900828 target range: 112.800003 and range: 113.10 m. 2025-01-08T22:24:12.364Z,1736375052.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:12.365Z,1736375052.365 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:12.365Z,1736375052.365 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:12.366Z,1736375052.366 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:12.567Z,1736375052.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:12.577Z,1736375052.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:12.596Z,1736375052.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 38.230759 m, bearing: 178.628282 deg, approach rate: -0.268501 m/s, LOS rate: -0.911414 deg/s, cmd heading: 223.500988 deg, new cmd heading: 222.310129 deg. 2025-01-08T22:24:12.597Z,1736375052.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880044 target range: 112.800003 and range: 113.10 m. 2025-01-08T22:24:12.616Z,1736375052.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:12.617Z,1736375052.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750506 2025-01-08T22:24:12.868Z,1736375052.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:12.869Z,1736375052.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002531 2025-01-08T22:24:12.921Z,1736375052.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:12.931Z,1736375052.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:12.934Z,1736375052.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 38.116932 m, bearing: 178.318650 deg, approach rate: -0.321683 m/s, LOS rate: -0.877652 deg/s, cmd heading: 222.310131 deg, new cmd heading: 221.378547 deg. 2025-01-08T22:24:12.936Z,1736375052.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.863785 target range: 112.800003 and range: 113.10 m. 2025-01-08T22:24:13.120Z,1736375053.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:13.120Z,1736375053.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254344 2025-01-08T22:24:13.326Z,1736375053.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:13.334Z,1736375053.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:13.337Z,1736375053.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 37.981380 m, bearing: 177.969472 deg, approach rate: -0.335980 m/s, LOS rate: -0.868560 deg/s, cmd heading: 221.378548 deg, new cmd heading: 220.327402 deg. 2025-01-08T22:24:13.338Z,1736375053.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.845438 target range: 112.800003 and range: 113.10 m. 2025-01-08T22:24:13.372Z,1736375053.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:13.373Z,1736375053.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507304 2025-01-08T22:24:13.624Z,1736375053.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:13.625Z,1736375053.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758539 2025-01-08T22:24:13.767Z,1736375053.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:13.776Z,1736375053.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:13.779Z,1736375053.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 37.825958 m, bearing: 177.607570 deg, approach rate: -0.351459 m/s, LOS rate: -0.821734 deg/s, cmd heading: 220.327395 deg, new cmd heading: 219.237366 deg. 2025-01-08T22:24:13.780Z,1736375053.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.826414 target range: 112.800003 and range: 113.10 m. 2025-01-08T22:24:13.877Z,1736375053.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:13.878Z,1736375053.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011495 2025-01-08T22:24:14.128Z,1736375054.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:14.129Z,1736375054.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262592 2025-01-08T22:24:14.133Z,1736375054.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:14.140Z,1736375054.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:14.160Z,1736375054.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:14.169Z,1736375054.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 37.692799 m, bearing: 177.310819 deg, approach rate: -0.363060 m/s, LOS rate: -0.811947 deg/s, cmd heading: 219.237365 deg, new cmd heading: 218.344044 deg. 2025-01-08T22:24:14.170Z,1736375054.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810822 target range: 112.800003 and range: 113.10 m. 2025-01-08T22:24:14.382Z,1736375054.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:14.384Z,1736375054.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518194 2025-01-08T22:24:14.581Z,1736375054.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:14.590Z,1736375054.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:14.593Z,1736375054.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 37.524532 m, bearing: 176.950447 deg, approach rate: -0.376565 m/s, LOS rate: -0.810092 deg/s, cmd heading: 218.344045 deg, new cmd heading: 217.258218 deg. 2025-01-08T22:24:14.594Z,1736375054.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791871 target range: 112.800003 and range: 113.10 m. 2025-01-08T22:24:14.633Z,1736375054.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:14.634Z,1736375054.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767719 2025-01-08T22:24:14.884Z,1736375054.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:14.884Z,1736375054.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018371 2025-01-08T22:24:14.938Z,1736375054.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:14.977Z,1736375054.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:14.984Z,1736375054.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 37.386330 m, bearing: 176.667174 deg, approach rate: -0.357249 m/s, LOS rate: -0.734954 deg/s, cmd heading: 217.258222 deg, new cmd heading: 216.405328 deg. 2025-01-08T22:24:14.985Z,1736375054.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776985 target range: 112.800003 and range: 113.10 m. 2025-01-08T22:24:15.136Z,1736375055.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:15.136Z,1736375055.136 [DAT](INFO): DAT read: Rx Time:22:24:13.8072 2025-01-08T22:24:15.137Z,1736375055.137 [DAT](INFO): Rx dataTimestamp_ set to:1736375055.136679 2025-01-08T22:24:15.137Z,1736375055.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271491 2025-01-08T22:24:15.348Z,1736375055.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:15.357Z,1736375055.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:15.361Z,1736375055.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 37.221722 m, bearing: 176.345481 deg, approach rate: -0.433033 m/s, LOS rate: -0.850014 deg/s, cmd heading: 216.405323 deg, new cmd heading: 215.436073 deg. 2025-01-08T22:24:15.362Z,1736375055.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.760069 target range: 112.800003 and range: 113.10 m. 2025-01-08T22:24:15.388Z,1736375055.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:15.388Z,1736375055.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522483 2025-01-08T22:24:15.640Z,1736375055.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:15.642Z,1736375055.642 [DAT](INFO): DAT read: Range 10 to 50 : 112.9 m (Round-trip 150.6 ms) speed 0.0 m/s 2025-01-08T22:24:15.644Z,1736375055.644 [DAT](INFO): DAT read: user:2575> 2025-01-08T22:24:15.645Z,1736375055.645 [DAT](INFO): DAT read: Tx time:22:24:14.9024 2025-01-08T22:24:15.645Z,1736375055.645 [DAT](INFO): Ping request sent. 2025-01-08T22:24:15.645Z,1736375055.645 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:15.646Z,1736375055.646 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:24:15.646Z,1736375055.646 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:15.647Z,1736375055.647 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:15.785Z,1736375055.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:15.794Z,1736375055.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.900002 m, deltaT: 3.779502 s, deltaX: -0.199997 m, approachRate: -0.052916 m/s, rangeRepo size: 4 2025-01-08T22:24:15.796Z,1736375055.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:15.798Z,1736375055.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 37.054043 m, bearing: 176.007384 deg, approach rate: -0.383749 m/s, LOS rate: -0.777264 deg/s, cmd heading: 215.436078 deg, new cmd heading: 214.417312 deg. 2025-01-08T22:24:15.799Z,1736375055.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.742288 target range: 112.800003 and range: 112.90 m. 2025-01-08T22:24:15.894Z,1736375055.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:15.895Z,1736375055.895 [DAT](INFO): DAT read: TxSync time:22:24:14.9016 2025-01-08T22:24:16.148Z,1736375056.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:16.170Z,1736375056.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:16.183Z,1736375056.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:16.201Z,1736375056.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:16.211Z,1736375056.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 36.906822 m, bearing: 175.705810 deg, approach rate: -0.361501 m/s, LOS rate: -0.743467 deg/s, cmd heading: 214.417315 deg, new cmd heading: 213.509064 deg. 2025-01-08T22:24:16.216Z,1736375056.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.726436 target range: 112.800003 and range: 112.90 m. 2025-01-08T22:24:16.400Z,1736375056.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:16.400Z,1736375056.400 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:16.400Z,1736375056.400 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:16.400Z,1736375056.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:16.608Z,1736375056.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:16.637Z,1736375056.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:16.645Z,1736375056.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 36.721947 m, bearing: 175.376248 deg, approach rate: -0.424078 m/s, LOS rate: -0.759771 deg/s, cmd heading: 213.509063 deg, new cmd heading: 212.515503 deg. 2025-01-08T22:24:16.646Z,1736375056.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.709095 target range: 112.800003 and range: 112.90 m. 2025-01-08T22:24:16.652Z,1736375056.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:16.653Z,1736375056.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008137 2025-01-08T22:24:16.904Z,1736375056.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:16.905Z,1736375056.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259434 2025-01-08T22:24:16.965Z,1736375056.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:16.973Z,1736375056.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:16.976Z,1736375056.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 36.566273 m, bearing: 175.112368 deg, approach rate: -0.463222 m/s, LOS rate: -0.788537 deg/s, cmd heading: 212.515503 deg, new cmd heading: 211.720548 deg. 2025-01-08T22:24:16.977Z,1736375056.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.695221 target range: 112.800003 and range: 112.90 m. 2025-01-08T22:24:17.156Z,1736375057.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:17.156Z,1736375057.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511313 2025-01-08T22:24:17.366Z,1736375057.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:17.399Z,1736375057.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:17.406Z,1736375057.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 36.385803 m, bearing: 174.821530 deg, approach rate: -0.424038 m/s, LOS rate: -0.686749 deg/s, cmd heading: 211.720551 deg, new cmd heading: 210.843782 deg. 2025-01-08T22:24:17.407Z,1736375057.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.679918 target range: 112.800003 and range: 112.90 m. 2025-01-08T22:24:17.408Z,1736375057.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:17.409Z,1736375057.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764117 2025-01-08T22:24:17.660Z,1736375057.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:17.662Z,1736375057.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016476 2025-01-08T22:24:17.810Z,1736375057.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:17.819Z,1736375057.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:17.822Z,1736375057.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 36.200802 m, bearing: 174.513522 deg, approach rate: -0.440401 m/s, LOS rate: -0.736966 deg/s, cmd heading: 210.843787 deg, new cmd heading: 209.915126 deg. 2025-01-08T22:24:17.823Z,1736375057.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.663710 target range: 112.800003 and range: 112.90 m. 2025-01-08T22:24:17.912Z,1736375057.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:17.913Z,1736375057.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267558 2025-01-08T22:24:18.164Z,1736375058.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:18.164Z,1736375058.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519156 2025-01-08T22:24:18.195Z,1736375058.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:18.203Z,1736375058.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:18.205Z,1736375058.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:18.208Z,1736375058.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 36.019951 m, bearing: 174.225846 deg, approach rate: -0.468536 m/s, LOS rate: -0.749028 deg/s, cmd heading: 209.915127 deg, new cmd heading: 209.047837 deg. 2025-01-08T22:24:18.210Z,1736375058.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.648573 target range: 112.800003 and range: 112.90 m. 2025-01-08T22:24:18.416Z,1736375058.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:18.416Z,1736375058.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771260 2025-01-08T22:24:18.650Z,1736375058.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:18.665Z,1736375058.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:18.669Z,1736375058.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:18.670Z,1736375058.670 [DAT](INFO): DAT read: Rx Time:22:24:17.4567 2025-01-08T22:24:18.671Z,1736375058.671 [DAT](INFO): Rx dataTimestamp_ set to:1736375058.669922 2025-01-08T22:24:18.680Z,1736375058.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026023 2025-01-08T22:24:18.682Z,1736375058.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 35.816219 m, bearing: 173.904915 deg, approach rate: -0.442645 m/s, LOS rate: -0.701246 deg/s, cmd heading: 209.047843 deg, new cmd heading: 208.079671 deg. 2025-01-08T22:24:18.683Z,1736375058.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.631675 target range: 112.800003 and range: 112.90 m. 2025-01-08T22:24:18.920Z,1736375058.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:18.920Z,1736375058.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275215 2025-01-08T22:24:18.993Z,1736375058.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:19.002Z,1736375059.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.80 m. 2025-01-08T22:24:19.005Z,1736375059.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.800003 m, nav range: 35.658283 m, bearing: 173.666802 deg, approach rate: -0.468442 m/s, LOS rate: -0.709376 deg/s, cmd heading: 208.079678 deg, new cmd heading: 207.362213 deg. 2025-01-08T22:24:19.006Z,1736375059.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.619153 target range: 112.800003 and range: 112.90 m. 2025-01-08T22:24:19.174Z,1736375059.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:19.182Z,1736375059.182 [DAT](INFO): DAT read: 22:24:17.4566 LVL= 22384, 25553, 12866, 26707, AGC= 57, IDX= 429, 0.09,-1.758,-1.424, 0.458,-0.880, PHS=-0.790,-0.498, 1.335, RAW= 217.3, -0.5, CAL= 216.8, -6.5, ROT= 293.2, 6.5 2025-01-08T22:24:19.183Z,1736375059.183 [DAT](INFO): got valid direction response: 22:24:17.4566 LVL= 22384, 25553, 12866, 26707, AGC= 57, IDX= 429, 0.09,-1.758,-1.424, 0.458,-0.880, PHS=-0.790,-0.498, 1.335, RAW= 217.3, -0.5, CAL= 216.8, -6.5, ROT= 293.2, 6.5 2025-01-08T22:24:19.184Z,1736375059.184 [DAT](INFO): DAT read: Bearing 293.2, 6.5 (Local) 2025-01-08T22:24:19.184Z,1736375059.184 [DAT](INFO): Local bearing/azimuth received: Bearing 293.2, 6.5 (Local) 2025-01-08T22:24:19.186Z,1736375059.186 [DAT](INFO): DAT read: Range 10 to 50 : 112.5 m (Round-trip 150.0 ms) speed 0.2 m/s 2025-01-08T22:24:19.186Z,1736375059.186 [DAT](INFO): DAT read: user:2576> 2025-01-08T22:24:19.198Z,1736375059.198 [DAT](INFO): DAT read: Tx time:22:24:18.5524 2025-01-08T22:24:19.206Z,1736375059.206 [DAT](INFO): Ping request sent. 2025-01-08T22:24:19.206Z,1736375059.206 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:19.206Z,1736375059.206 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:24:19.222Z,1736375059.222 [DAT](INFO): direction in FSK: [-0.008786,-0.835170,-0.549922] 2025-01-08T22:24:19.239Z,1736375059.239 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:19.240Z,1736375059.240 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:19.249Z,1736375059.249 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:19.249Z,1736375059.249 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:19.401Z,1736375059.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:19.424Z,1736375059.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:19.425Z,1736375059.425 [DAT](INFO): DAT read: TxSync time:22:24:18.5516 2025-01-08T22:24:19.434Z,1736375059.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.500000 m, deltaT: 3.534988 s, deltaX: -0.400002 m, approachRate: -0.113155 m/s, rangeRepo size: 4 2025-01-08T22:24:19.441Z,1736375059.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 112.500000 m, bearing: 129.087662 deg, lat: 36.905010 deg, lon: -122.119657 deg, deltaT: 10.843079 s, deltaX: -0.300003 m, approachRate: -0.027668 m/s, posRepo size: 4 2025-01-08T22:24:19.442Z,1736375059.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T22:24:19.456Z,1736375059.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 43.921490 m, bearing: 170.684279 deg, approach rate: 0.000000 m/s, LOS rate: -0.709376 deg/s, cmd heading: 207.362207 deg, new cmd heading: 206.443599 deg. 2025-01-08T22:24:19.458Z,1736375059.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603121 target range: 112.500000 and range: 112.50 m. 2025-01-08T22:24:19.677Z,1736375059.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:19.827Z,1736375059.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:19.836Z,1736375059.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T22:24:19.838Z,1736375059.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 43.736774 m, bearing: 170.439737 deg, approach rate: -0.459436 m/s, LOS rate: -0.610807 deg/s, cmd heading: 206.443601 deg, new cmd heading: 205.706921 deg. 2025-01-08T22:24:19.840Z,1736375059.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590263 target range: 112.500000 and range: 112.50 m. 2025-01-08T22:24:19.930Z,1736375059.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:20.180Z,1736375060.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:20.205Z,1736375060.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:20.211Z,1736375060.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:20.213Z,1736375060.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T22:24:20.216Z,1736375060.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 43.564457 m, bearing: 170.233649 deg, approach rate: -0.456471 m/s, LOS rate: -0.548089 deg/s, cmd heading: 205.706925 deg, new cmd heading: 205.086239 deg. 2025-01-08T22:24:20.217Z,1736375060.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579430 target range: 112.500000 and range: 112.50 m. 2025-01-08T22:24:20.432Z,1736375060.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:20.432Z,1736375060.432 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:20.432Z,1736375060.432 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:20.432Z,1736375060.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:20.682Z,1736375060.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:20.684Z,1736375060.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:20.685Z,1736375060.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485511 2025-01-08T22:24:20.694Z,1736375060.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T22:24:20.697Z,1736375060.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 43.345249 m, bearing: 169.971406 deg, approach rate: -0.456411 m/s, LOS rate: -0.548774 deg/s, cmd heading: 205.086238 deg, new cmd heading: 204.295583 deg. 2025-01-08T22:24:20.698Z,1736375060.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.565631 target range: 112.500000 and range: 112.50 m. 2025-01-08T22:24:20.748Z,1736375060.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:24:20.936Z,1736375060.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:20.937Z,1736375060.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737754 2025-01-08T22:24:21.015Z,1736375061.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:21.024Z,1736375061.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T22:24:21.028Z,1736375061.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 43.189777 m, bearing: 169.792143 deg, approach rate: -0.471574 m/s, LOS rate: -0.545694 deg/s, cmd heading: 204.295589 deg, new cmd heading: 203.755880 deg. 2025-01-08T22:24:21.048Z,1736375061.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.556211 target range: 112.500000 and range: 112.50 m. 2025-01-08T22:24:21.193Z,1736375061.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:21.193Z,1736375061.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994382 2025-01-08T22:24:21.420Z,1736375061.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:21.429Z,1736375061.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T22:24:21.432Z,1736375061.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 42.997368 m, bearing: 169.578197 deg, approach rate: -0.474425 m/s, LOS rate: -0.529886 deg/s, cmd heading: 203.755881 deg, new cmd heading: 203.111200 deg. 2025-01-08T22:24:21.433Z,1736375061.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544959 target range: 112.500000 and range: 112.50 m. 2025-01-08T22:24:21.444Z,1736375061.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:21.445Z,1736375061.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245505 2025-01-08T22:24:21.696Z,1736375061.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:21.696Z,1736375061.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497424 2025-01-08T22:24:21.752Z,1736375061.752 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:24:21.846Z,1736375061.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:21.870Z,1736375061.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T22:24:21.878Z,1736375061.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 42.789749 m, bearing: 169.347231 deg, approach rate: -0.470603 m/s, LOS rate: -0.526061 deg/s, cmd heading: 203.111193 deg, new cmd heading: 202.414971 deg. 2025-01-08T22:24:21.883Z,1736375061.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532808 target range: 112.500000 and range: 112.50 m. 2025-01-08T22:24:21.949Z,1736375061.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:21.950Z,1736375061.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750895 2025-01-08T22:24:22.200Z,1736375062.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:22.200Z,1736375062.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001453 2025-01-08T22:24:22.234Z,1736375062.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:22.248Z,1736375062.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:22.249Z,1736375062.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T22:24:22.252Z,1736375062.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 42.597343 m, bearing: 169.140104 deg, approach rate: -0.507162 m/s, LOS rate: -0.548433 deg/s, cmd heading: 202.414965 deg, new cmd heading: 201.790801 deg. 2025-01-08T22:24:22.253Z,1736375062.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521914 target range: 112.500000 and range: 112.50 m. 2025-01-08T22:24:22.452Z,1736375062.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:22.453Z,1736375062.453 [DAT](INFO): DAT read: Rx Time:22:24:21.1051 2025-01-08T22:24:22.453Z,1736375062.453 [DAT](INFO): Rx dataTimestamp_ set to:1736375062.452703 2025-01-08T22:24:22.453Z,1736375062.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254510 2025-01-08T22:24:22.702Z,1736375062.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:22.704Z,1736375062.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:22.704Z,1736375062.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505433 2025-01-08T22:24:22.737Z,1736375062.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T22:24:22.744Z,1736375062.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 42.364399 m, bearing: 168.871406 deg, approach rate: -0.483438 m/s, LOS rate: -0.560702 deg/s, cmd heading: 201.790795 deg, new cmd heading: 200.980326 deg. 2025-01-08T22:24:22.745Z,1736375062.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507768 target range: 112.500000 and range: 112.50 m. 2025-01-08T22:24:22.956Z,1736375062.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:22.963Z,1736375062.963 [DAT](INFO): DAT read: 22:24:21.1051 LVL= 21680, 27121, 13122, 30963, AGC= 54, IDX= 428, 0.35, 2.183, 1.944,-2.379, 2.792, PHS=-0.521,-0.801, 1.109, RAW= 202.2, 2.4, CAL= 202.3, -5.0, ROT= 307.7, 5.0 2025-01-08T22:24:22.964Z,1736375062.964 [DAT](INFO): got valid direction response: 22:24:21.1051 LVL= 21680, 27121, 13122, 30963, AGC= 54, IDX= 428, 0.35, 2.183, 1.944,-2.379, 2.792, PHS=-0.521,-0.801, 1.109, RAW= 202.2, 2.4, CAL= 202.3, -5.0, ROT= 307.7, 5.0 2025-01-08T22:24:22.965Z,1736375062.965 [DAT](INFO): DAT read: Bearing 307.7, 5.0 (Local) 2025-01-08T22:24:22.965Z,1736375062.965 [DAT](INFO): Local bearing/azimuth received: Bearing 307.7, 5.0 (Local) 2025-01-08T22:24:22.967Z,1736375062.967 [DAT](INFO): DAT read: Range 10 to 50 : 111.3 m (Round-trip 148.5 ms) speed 0.4 m/s 2025-01-08T22:24:22.968Z,1736375062.968 [DAT](INFO): DAT read: user:2577> 2025-01-08T22:24:22.969Z,1736375062.969 [DAT](INFO): DAT read: Tx time:22:24:22.2025 2025-01-08T22:24:22.969Z,1736375062.969 [DAT](INFO): Ping request sent. 2025-01-08T22:24:22.969Z,1736375062.969 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:22.970Z,1736375062.970 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:24:22.970Z,1736375062.970 [DAT](INFO): direction in FSK: [-0.093017,-0.939459,-0.329794] 2025-01-08T22:24:22.971Z,1736375062.971 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:22.971Z,1736375062.971 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:22.974Z,1736375062.974 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:22.974Z,1736375062.974 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:23.098Z,1736375063.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:23.141Z,1736375063.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.300003 m, deltaT: 3.780999 s, deltaX: -1.199997 m, approachRate: -0.317376 m/s, rangeRepo size: 4 2025-01-08T22:24:23.148Z,1736375063.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.300003 m, bearing: 111.467826 deg, lat: 36.905010 deg, lon: -122.118929 deg, deltaT: 3.780999 s, deltaX: -1.199997 m, approachRate: -0.317376 m/s, posRepo size: 4 2025-01-08T22:24:23.149Z,1736375063.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T22:24:23.156Z,1736375063.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 83.947235 m, bearing: 119.500602 deg, approach rate: 0.000000 m/s, LOS rate: -0.560702 deg/s, cmd heading: 200.980324 deg, new cmd heading: 200.292460 deg. 2025-01-08T22:24:23.157Z,1736375063.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.495763 target range: 111.300003 and range: 111.30 m. 2025-01-08T22:24:23.208Z,1736375063.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:23.210Z,1736375063.210 [DAT](INFO): DAT read: TxSync time:22:24:22.2017 2025-01-08T22:24:23.460Z,1736375063.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:23.484Z,1736375063.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:23.506Z,1736375063.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T22:24:23.520Z,1736375063.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 83.937431 m, bearing: 119.327805 deg, approach rate: -0.026827 m/s, LOS rate: -0.472892 deg/s, cmd heading: 200.292456 deg, new cmd heading: 199.774019 deg. 2025-01-08T22:24:23.521Z,1736375063.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.486714 target range: 111.300003 and range: 111.30 m. 2025-01-08T22:24:23.712Z,1736375063.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:23.904Z,1736375063.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:23.918Z,1736375063.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T22:24:23.920Z,1736375063.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 83.934875 m, bearing: 119.131175 deg, approach rate: -0.006206 m/s, LOS rate: -0.477487 deg/s, cmd heading: 199.774017 deg, new cmd heading: 199.184131 deg. 2025-01-08T22:24:23.921Z,1736375063.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.476419 target range: 111.300003 and range: 111.30 m. 2025-01-08T22:24:23.965Z,1736375063.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:24.216Z,1736375064.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:24.296Z,1736375064.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:24.316Z,1736375064.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:24.324Z,1736375064.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T22:24:24.336Z,1736375064.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 83.927635 m, bearing: 118.947531 deg, approach rate: -0.017813 m/s, LOS rate: -0.451858 deg/s, cmd heading: 199.184135 deg, new cmd heading: 198.633172 deg. 2025-01-08T22:24:24.337Z,1736375064.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.466803 target range: 111.300003 and range: 111.30 m. 2025-01-08T22:24:24.468Z,1736375064.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:24.468Z,1736375064.468 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:24.469Z,1736375064.469 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:24.469Z,1736375064.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:24.720Z,1736375064.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:24.721Z,1736375064.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751416 2025-01-08T22:24:24.735Z,1736375064.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:24.746Z,1736375064.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T22:24:24.749Z,1736375064.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 83.925903 m, bearing: 118.736730 deg, approach rate: -0.004103 m/s, LOS rate: -0.499365 deg/s, cmd heading: 198.633171 deg, new cmd heading: 198.000783 deg. 2025-01-08T22:24:24.750Z,1736375064.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.455765 target range: 111.300003 and range: 111.30 m. 2025-01-08T22:24:24.972Z,1736375064.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:24.972Z,1736375064.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003066 2025-01-08T22:24:25.098Z,1736375065.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:25.116Z,1736375065.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T22:24:25.121Z,1736375065.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 83.921516 m, bearing: 118.562587 deg, approach rate: -0.011867 m/s, LOS rate: -0.471095 deg/s, cmd heading: 198.000777 deg, new cmd heading: 197.478336 deg. 2025-01-08T22:24:25.122Z,1736375065.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.446647 target range: 111.300003 and range: 111.30 m. 2025-01-08T22:24:25.225Z,1736375065.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:25.226Z,1736375065.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256848 2025-01-08T22:24:25.476Z,1736375065.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:25.477Z,1736375065.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507319 2025-01-08T22:24:25.495Z,1736375065.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:25.503Z,1736375065.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T22:24:25.506Z,1736375065.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 83.913170 m, bearing: 118.371553 deg, approach rate: -0.021547 m/s, LOS rate: -0.493218 deg/s, cmd heading: 197.478336 deg, new cmd heading: 196.905198 deg. 2025-01-08T22:24:25.507Z,1736375065.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.436644 target range: 111.300003 and range: 111.30 m. 2025-01-08T22:24:25.728Z,1736375065.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:25.728Z,1736375065.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759191 2025-01-08T22:24:25.928Z,1736375065.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:25.937Z,1736375065.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T22:24:25.940Z,1736375065.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 83.901054 m, bearing: 118.157107 deg, approach rate: -0.027941 m/s, LOS rate: -0.494626 deg/s, cmd heading: 196.905201 deg, new cmd heading: 196.261799 deg. 2025-01-08T22:24:25.941Z,1736375065.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.425415 target range: 111.300003 and range: 111.30 m. 2025-01-08T22:24:25.980Z,1736375065.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:25.981Z,1736375065.981 [DAT](INFO): DAT read: Rx Time:22:24:24.7530 2025-01-08T22:24:25.982Z,1736375065.982 [DAT](INFO): Rx dataTimestamp_ set to:1736375065.981800 2025-01-08T22:24:25.983Z,1736375065.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013763 2025-01-08T22:24:26.232Z,1736375066.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:26.233Z,1736375066.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264004 2025-01-08T22:24:26.318Z,1736375066.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:26.325Z,1736375066.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:26.327Z,1736375066.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T22:24:26.330Z,1736375066.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 83.888100 m, bearing: 117.964052 deg, approach rate: -0.033180 m/s, LOS rate: -0.494531 deg/s, cmd heading: 196.261797 deg, new cmd heading: 195.682564 deg. 2025-01-08T22:24:26.331Z,1736375066.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.415305 target range: 111.300003 and range: 111.30 m. 2025-01-08T22:24:26.485Z,1736375066.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:26.498Z,1736375066.498 [DAT](INFO): DAT read: 22:24:24.7530 LVL= 21488, 22001, 12786, 30995, AGC= 60, IDX= 422, 0.23, 2.127, 1.515,-2.710, 2.610, PHS=-0.394,-1.048, 0.961, RAW= 191.4, 5.5, CAL= 191.6, -3.0, ROT= 318.4, 3.0 2025-01-08T22:24:26.499Z,1736375066.499 [DAT](INFO): got valid direction response: 22:24:24.7530 LVL= 21488, 22001, 12786, 30995, AGC= 60, IDX= 422, 0.23, 2.127, 1.515,-2.710, 2.610, PHS=-0.394,-1.048, 0.961, RAW= 191.4, 5.5, CAL= 191.6, -3.0, ROT= 318.4, 3.0 2025-01-08T22:24:26.500Z,1736375066.500 [DAT](INFO): DAT read: Bearing 318.4, 3.0 (Local) 2025-01-08T22:24:26.500Z,1736375066.500 [DAT](INFO): Local bearing/azimuth received: Bearing 318.4, 3.0 (Local) 2025-01-08T22:24:26.502Z,1736375066.502 [DAT](INFO): DAT read: Range 10 to 50 : 109.7 m (Round-trip 146.3 ms) speed 0.4 m/s 2025-01-08T22:24:26.503Z,1736375066.503 [DAT](INFO): DAT read: user:2578> 2025-01-08T22:24:26.512Z,1736375066.512 [DAT](INFO): DAT read: Tx time:22:24:25.8525 2025-01-08T22:24:26.512Z,1736375066.512 [DAT](INFO): Ping request sent. 2025-01-08T22:24:26.512Z,1736375066.512 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:26.512Z,1736375066.512 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:24:26.513Z,1736375066.513 [DAT](INFO): direction in FSK: [-0.170571,-0.972792,-0.156787] 2025-01-08T22:24:26.513Z,1736375066.513 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:26.514Z,1736375066.514 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:26.521Z,1736375066.521 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:26.521Z,1736375066.521 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:26.737Z,1736375066.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:26.738Z,1736375066.738 [DAT](INFO): DAT read: TxSync time:22:24:25.8517 2025-01-08T22:24:26.800Z,1736375066.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:26.816Z,1736375066.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.699997 m, deltaT: 3.528937 s, deltaX: -1.600006 m, approachRate: -0.453396 m/s, rangeRepo size: 4 2025-01-08T22:24:26.818Z,1736375066.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 109.699997 m, bearing: 99.174233 deg, lat: 36.905042 deg, lon: -122.118929 deg, deltaT: 3.528937 s, deltaX: -1.600006 m, approachRate: -0.453396 m/s, posRepo size: 4 2025-01-08T22:24:26.818Z,1736375066.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T22:24:26.821Z,1736375066.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 82.285652 m, bearing: 115.526326 deg, approach rate: 0.000000 m/s, LOS rate: -0.494531 deg/s, cmd heading: 195.682570 deg, new cmd heading: 194.959733 deg. 2025-01-08T22:24:26.822Z,1736375066.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.402689 target range: 109.699997 and range: 109.70 m. 2025-01-08T22:24:26.988Z,1736375066.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:27.104Z,1736375067.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:27.113Z,1736375067.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T22:24:27.116Z,1736375067.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 82.286003 m, bearing: 115.370122 deg, approach rate: 0.001174 m/s, LOS rate: -0.522614 deg/s, cmd heading: 194.959731 deg, new cmd heading: 194.491133 deg. 2025-01-08T22:24:27.117Z,1736375067.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.394511 target range: 109.699997 and range: 109.70 m. 2025-01-08T22:24:27.240Z,1736375067.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:27.493Z,1736375067.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:27.509Z,1736375067.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:27.518Z,1736375067.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T22:24:27.536Z,1736375067.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 82.285370 m, bearing: 115.162277 deg, approach rate: -0.001566 m/s, LOS rate: -0.514160 deg/s, cmd heading: 194.491139 deg, new cmd heading: 193.867625 deg. 2025-01-08T22:24:27.537Z,1736375067.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.383628 target range: 109.699997 and range: 109.70 m. 2025-01-08T22:24:27.744Z,1736375067.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:27.938Z,1736375067.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:27.947Z,1736375067.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T22:24:27.950Z,1736375067.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 82.277481 m, bearing: 114.942904 deg, approach rate: -0.018366 m/s, LOS rate: -0.510772 deg/s, cmd heading: 193.867625 deg, new cmd heading: 193.209473 deg. 2025-01-08T22:24:27.951Z,1736375067.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.372141 target range: 109.699997 and range: 109.70 m. 2025-01-08T22:24:27.997Z,1736375067.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:28.249Z,1736375068.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:28.330Z,1736375068.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:28.336Z,1736375068.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:28.338Z,1736375068.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T22:24:28.341Z,1736375068.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 82.269745 m, bearing: 114.742609 deg, approach rate: -0.019775 m/s, LOS rate: -0.512035 deg/s, cmd heading: 193.209468 deg, new cmd heading: 192.608550 deg. 2025-01-08T22:24:28.342Z,1736375068.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.361653 target range: 109.699997 and range: 109.70 m. 2025-01-08T22:24:28.501Z,1736375068.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:28.502Z,1736375068.502 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:28.502Z,1736375068.502 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:28.502Z,1736375068.502 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:28.752Z,1736375068.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:28.752Z,1736375068.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240278 2025-01-08T22:24:28.807Z,1736375068.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:28.821Z,1736375068.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T22:24:28.824Z,1736375068.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 82.247108 m, bearing: 114.497625 deg, approach rate: -0.046925 m/s, LOS rate: -0.507981 deg/s, cmd heading: 192.608548 deg, new cmd heading: 191.873438 deg. 2025-01-08T22:24:28.825Z,1736375068.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.348823 target range: 109.699997 and range: 109.70 m. 2025-01-08T22:24:29.004Z,1736375069.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:29.005Z,1736375069.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492599 2025-01-08T22:24:29.130Z,1736375069.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:29.139Z,1736375069.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T22:24:29.143Z,1736375069.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 82.228706 m, bearing: 114.332651 deg, approach rate: -0.057905 m/s, LOS rate: -0.519232 deg/s, cmd heading: 191.873442 deg, new cmd heading: 191.378420 deg. 2025-01-08T22:24:29.144Z,1736375069.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.340183 target range: 109.699997 and range: 109.70 m. 2025-01-08T22:24:29.256Z,1736375069.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:29.256Z,1736375069.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744374 2025-01-08T22:24:29.509Z,1736375069.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:29.511Z,1736375069.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998276 2025-01-08T22:24:29.572Z,1736375069.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:29.581Z,1736375069.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T22:24:29.584Z,1736375069.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 82.201241 m, bearing: 114.106453 deg, approach rate: -0.062028 m/s, LOS rate: -0.511004 deg/s, cmd heading: 191.378417 deg, new cmd heading: 190.699631 deg. 2025-01-08T22:24:29.585Z,1736375069.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.328336 target range: 109.699997 and range: 109.70 m. 2025-01-08T22:24:29.761Z,1736375069.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:29.764Z,1736375069.764 [DAT](INFO): DAT read: Rx Time:22:24:28.4007 2025-01-08T22:24:29.766Z,1736375069.766 [DAT](INFO): Rx dataTimestamp_ set to:1736375069.764817 2025-01-08T22:24:29.770Z,1736375069.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254943 2025-01-08T22:24:29.996Z,1736375069.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:30.005Z,1736375070.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T22:24:30.008Z,1736375070.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 82.155075 m, bearing: 113.896939 deg, approach rate: -0.108948 m/s, LOS rate: -0.494718 deg/s, cmd heading: 190.699633 deg, new cmd heading: 190.070764 deg. 2025-01-08T22:24:30.010Z,1736375070.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.317361 target range: 109.699997 and range: 109.70 m. 2025-01-08T22:24:30.012Z,1736375070.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:30.013Z,1736375070.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500564 2025-01-08T22:24:30.264Z,1736375070.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:30.270Z,1736375070.270 [DAT](INFO): DAT read: 22:24:28.4007 LVL= 29856, 31041, 17138, 32755, AGC= 64, IDX= 416,-0.12,-2.005,-2.762,-0.718,-1.596, PHS=-0.321,-1.119, 0.875, RAW= 186.6, 6.6, CAL= 186.6, -2.4, ROT= 323.4, 2.4 2025-01-08T22:24:30.271Z,1736375070.271 [DAT](INFO): got valid direction response: 22:24:28.4007 LVL= 29856, 31041, 17138, 32755, AGC= 64, IDX= 416,-0.12,-2.005,-2.762,-0.718,-1.596, PHS=-0.321,-1.119, 0.875, RAW= 186.6, 6.6, CAL= 186.6, -2.4, ROT= 323.4, 2.4 2025-01-08T22:24:30.272Z,1736375070.272 [DAT](INFO): DAT read: Bearing 323.4, 2.4 (Local) 2025-01-08T22:24:30.273Z,1736375070.273 [DAT](INFO): Local bearing/azimuth received: Bearing 323.4, 2.4 (Local) 2025-01-08T22:24:30.274Z,1736375070.274 [DAT](INFO): DAT read: Range 10 to 50 : 108.0 m (Round-trip 144.1 ms) speed 0.4 m/s 2025-01-08T22:24:30.276Z,1736375070.276 [DAT](INFO): DAT read: user:2579> 2025-01-08T22:24:30.277Z,1736375070.277 [DAT](INFO): DAT read: Tx time:22:24:29.5025 2025-01-08T22:24:30.277Z,1736375070.277 [DAT](INFO): Ping request sent. 2025-01-08T22:24:30.277Z,1736375070.277 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:30.277Z,1736375070.277 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:24:30.278Z,1736375070.278 [DAT](INFO): direction in FSK: [-0.199362,-0.976898,-0.076981] 2025-01-08T22:24:30.278Z,1736375070.278 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:30.279Z,1736375070.279 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:30.304Z,1736375070.304 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:30.304Z,1736375070.304 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:30.434Z,1736375070.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:30.478Z,1736375070.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.000000 m, deltaT: 3.779043 s, deltaX: -1.699997 m, approachRate: -0.449849 m/s, rangeRepo size: 4 2025-01-08T22:24:30.485Z,1736375070.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.000000 m, bearing: 93.196203 deg, lat: 36.905042 deg, lon: -122.118670 deg, deltaT: 3.779043 s, deltaX: -1.699997 m, approachRate: -0.449849 m/s, posRepo size: 4 2025-01-08T22:24:30.487Z,1736375070.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-08T22:24:30.500Z,1736375070.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 103.585266 m, bearing: 108.563678 deg, approach rate: 0.000000 m/s, LOS rate: -0.494718 deg/s, cmd heading: 190.070764 deg, new cmd heading: 189.369661 deg. 2025-01-08T22:24:30.501Z,1736375070.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.305124 target range: 108.000000 and range: 108.00 m. 2025-01-08T22:24:30.516Z,1736375070.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:30.517Z,1736375070.517 [DAT](INFO): DAT read: TxSync time:22:24:29.5017 2025-01-08T22:24:30.769Z,1736375070.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:30.865Z,1736375070.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:30.872Z,1736375070.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:30.874Z,1736375070.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-08T22:24:30.879Z,1736375070.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 103.547440 m, bearing: 108.396102 deg, approach rate: -0.095302 m/s, LOS rate: -0.422351 deg/s, cmd heading: 189.369659 deg, new cmd heading: 188.866761 deg. 2025-01-08T22:24:30.880Z,1736375070.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.296347 target range: 108.000000 and range: 108.00 m. 2025-01-08T22:24:31.020Z,1736375071.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:31.020Z,1736375071.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:31.020Z,1736375071.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:31.020Z,1736375071.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:31.218Z,1736375071.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:31.228Z,1736375071.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-08T22:24:31.232Z,1736375071.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 103.515495 m, bearing: 108.259091 deg, approach rate: -0.090231 m/s, LOS rate: -0.387125 deg/s, cmd heading: 188.866765 deg, new cmd heading: 188.455613 deg. 2025-01-08T22:24:31.233Z,1736375071.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.289171 target range: 108.000000 and range: 108.00 m. 2025-01-08T22:24:31.277Z,1736375071.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:31.278Z,1736375071.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000691 2025-01-08T22:24:31.528Z,1736375071.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:31.528Z,1736375071.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251371 2025-01-08T22:24:31.624Z,1736375071.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:31.634Z,1736375071.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-08T22:24:31.636Z,1736375071.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 103.477524 m, bearing: 108.101891 deg, approach rate: -0.093726 m/s, LOS rate: -0.388161 deg/s, cmd heading: 188.455615 deg, new cmd heading: 187.983854 deg. 2025-01-08T22:24:31.637Z,1736375071.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.280937 target range: 108.000000 and range: 108.00 m. 2025-01-08T22:24:31.781Z,1736375071.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:31.784Z,1736375071.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505674 2025-01-08T22:24:32.032Z,1736375072.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:32.033Z,1736375072.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755898 2025-01-08T22:24:32.102Z,1736375072.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:32.112Z,1736375072.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-08T22:24:32.115Z,1736375072.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 103.413681 m, bearing: 107.914471 deg, approach rate: -0.133477 m/s, LOS rate: -0.392083 deg/s, cmd heading: 187.983854 deg, new cmd heading: 187.421264 deg. 2025-01-08T22:24:32.116Z,1736375072.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.271118 target range: 108.000000 and range: 108.00 m. 2025-01-08T22:24:32.285Z,1736375072.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:32.286Z,1736375072.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008975 2025-01-08T22:24:32.478Z,1736375072.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:32.486Z,1736375072.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-08T22:24:32.490Z,1736375072.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 103.361931 m, bearing: 107.767003 deg, approach rate: -0.138142 m/s, LOS rate: -0.393849 deg/s, cmd heading: 187.421265 deg, new cmd heading: 186.978649 deg. 2025-01-08T22:24:32.491Z,1736375072.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.263393 target range: 108.000000 and range: 108.00 m. 2025-01-08T22:24:32.536Z,1736375072.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:32.536Z,1736375072.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259401 2025-01-08T22:24:32.789Z,1736375072.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:32.792Z,1736375072.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514479 2025-01-08T22:24:32.934Z,1736375072.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:32.941Z,1736375072.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:32.944Z,1736375072.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-08T22:24:32.947Z,1736375072.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 103.284988 m, bearing: 107.588359 deg, approach rate: -0.168151 m/s, LOS rate: -0.390699 deg/s, cmd heading: 186.978655 deg, new cmd heading: 186.442342 deg. 2025-01-08T22:24:32.948Z,1736375072.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.254033 target range: 108.000000 and range: 108.00 m. 2025-01-08T22:24:33.040Z,1736375073.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:33.041Z,1736375073.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763537 2025-01-08T22:24:33.292Z,1736375073.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:33.293Z,1736375073.293 [DAT](INFO): DAT read: Rx Time:22:24:32.0481 2025-01-08T22:24:33.294Z,1736375073.294 [DAT](INFO): Rx dataTimestamp_ set to:1736375073.293371 2025-01-08T22:24:33.294Z,1736375073.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017142 2025-01-08T22:24:33.415Z,1736375073.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:33.436Z,1736375073.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-08T22:24:33.439Z,1736375073.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 103.196831 m, bearing: 107.401029 deg, approach rate: -0.179271 m/s, LOS rate: -0.381266 deg/s, cmd heading: 186.442349 deg, new cmd heading: 185.879898 deg. 2025-01-08T22:24:33.444Z,1736375073.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.244216 target range: 108.000000 and range: 108.00 m. 2025-01-08T22:24:33.544Z,1736375073.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:33.545Z,1736375073.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268107 2025-01-08T22:24:33.798Z,1736375073.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:33.835Z,1736375073.835 [DAT](INFO): DAT read: 22:24:32.0481 LVL= 32752, 32753, 24466, 32755, AGC= 64, IDX= 421, 0.13,-0.889,-1.743, 0.276,-0.621, PHS=-0.181,-1.075, 0.894, RAW= 183.0, 4.3, CAL= 183.0, -4.4, ROT= 327.0, 4.4 2025-01-08T22:24:33.852Z,1736375073.852 [DAT](INFO): got valid direction response: 22:24:32.0481 LVL= 32752, 32753, 24466, 32755, AGC= 64, IDX= 421, 0.13,-0.889,-1.743, 0.276,-0.621, PHS=-0.181,-1.075, 0.894, RAW= 183.0, 4.3, CAL= 183.0, -4.4, ROT= 327.0, 4.4 2025-01-08T22:24:33.853Z,1736375073.853 [DAT](INFO): DAT read: Bearing 327.0, 4.4 (Local) 2025-01-08T22:24:33.854Z,1736375073.854 [DAT](INFO): Local bearing/azimuth received: Bearing 327.0, 4.4 (Local) 2025-01-08T22:24:33.872Z,1736375073.872 [DAT](INFO): DAT read: Range 10 to 50 : 106.1 m (Round-trip 141.5 ms) speed 0.6 m/s 2025-01-08T22:24:33.873Z,1736375073.873 [DAT](INFO): DAT read: user:2580> 2025-01-08T22:24:33.873Z,1736375073.873 [DAT](INFO): DAT read: Tx time:22:24:33.1525 2025-01-08T22:24:33.874Z,1736375073.874 [DAT](INFO): Ping request sent. 2025-01-08T22:24:33.874Z,1736375073.874 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:33.874Z,1736375073.874 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:24:33.884Z,1736375073.884 [DAT](INFO): direction in FSK: [-0.163456,-0.986449,-0.014173] 2025-01-08T22:24:33.884Z,1736375073.884 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:33.884Z,1736375073.884 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:33.896Z,1736375073.896 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:33.896Z,1736375073.896 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:33.937Z,1736375073.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:33.997Z,1736375073.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 106.099998 m, deltaT: 3.534402 s, deltaX: -1.900002 m, approachRate: -0.537574 m/s, rangeRepo size: 4 2025-01-08T22:24:34.003Z,1736375074.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 106.099998 m, bearing: 90.953072 deg, lat: 36.905207 deg, lon: -122.118590 deg, deltaT: 3.534402 s, deltaX: -1.900002 m, approachRate: -0.537574 m/s, posRepo size: 4 2025-01-08T22:24:34.004Z,1736375074.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.10 m. 2025-01-08T22:24:34.007Z,1736375074.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.099998 m, nav range: 106.308670 m, bearing: 96.546229 deg, approach rate: 0.000000 m/s, LOS rate: -0.381266 deg/s, cmd heading: 185.879896 deg, new cmd heading: 185.238844 deg. 2025-01-08T22:24:34.016Z,1736375074.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.233028 target range: 106.099998 and range: 106.10 m. 2025-01-08T22:24:34.048Z,1736375074.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:34.049Z,1736375074.049 [DAT](INFO): DAT read: TxSync time:22:24:33.1518 2025-01-08T22:24:34.296Z,1736375074.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:34.300Z,1736375074.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:34.329Z,1736375074.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.10 m. 2025-01-08T22:24:34.336Z,1736375074.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.099998 m, nav range: 106.285698 m, bearing: 96.407620 deg, approach rate: -0.069086 m/s, LOS rate: -0.416942 deg/s, cmd heading: 185.238842 deg, new cmd heading: 184.822931 deg. 2025-01-08T22:24:34.337Z,1736375074.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.225769 target range: 106.099998 and range: 106.10 m. 2025-01-08T22:24:34.553Z,1736375074.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:34.698Z,1736375074.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:34.706Z,1736375074.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.10 m. 2025-01-08T22:24:34.710Z,1736375074.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.099998 m, nav range: 106.259392 m, bearing: 96.256712 deg, approach rate: -0.069688 m/s, LOS rate: -0.399871 deg/s, cmd heading: 184.822925 deg, new cmd heading: 184.370099 deg. 2025-01-08T22:24:34.711Z,1736375074.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.217865 target range: 106.099998 and range: 106.10 m. 2025-01-08T22:24:34.806Z,1736375074.806 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:35.056Z,1736375075.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:35.107Z,1736375075.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:35.135Z,1736375075.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:35.141Z,1736375075.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.10 m. 2025-01-08T22:24:35.149Z,1736375075.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.099998 m, nav range: 106.244675 m, bearing: 96.092541 deg, approach rate: -0.033850 m/s, LOS rate: -0.377649 deg/s, cmd heading: 184.370097 deg, new cmd heading: 183.877528 deg. 2025-01-08T22:24:35.150Z,1736375075.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.209268 target range: 106.099998 and range: 106.10 m. 2025-01-08T22:24:35.308Z,1736375075.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:35.309Z,1736375075.309 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:35.309Z,1736375075.309 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:35.309Z,1736375075.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:35.500Z,1736375075.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:35.515Z,1736375075.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.10 m. 2025-01-08T22:24:35.518Z,1736375075.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.099998 m, nav range: 106.230072 m, bearing: 95.939434 deg, approach rate: -0.039215 m/s, LOS rate: -0.411223 deg/s, cmd heading: 183.877531 deg, new cmd heading: 183.418158 deg. 2025-01-08T22:24:35.518Z,1736375075.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.201251 target range: 106.099998 and range: 106.10 m. 2025-01-08T22:24:35.561Z,1736375075.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:35.561Z,1736375075.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.687534 2025-01-08T22:24:35.813Z,1736375075.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:35.822Z,1736375075.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947589 2025-01-08T22:24:35.929Z,1736375075.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:35.937Z,1736375075.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.10 m. 2025-01-08T22:24:35.940Z,1736375075.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.099998 m, nav range: 106.230209 m, bearing: 95.768962 deg, approach rate: 0.000324 m/s, LOS rate: -0.402237 deg/s, cmd heading: 183.418160 deg, new cmd heading: 182.906758 deg. 2025-01-08T22:24:35.941Z,1736375075.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.192325 target range: 106.099998 and range: 106.10 m. 2025-01-08T22:24:36.065Z,1736375076.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:36.066Z,1736375076.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.192033 2025-01-08T22:24:36.307Z,1736375076.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:36.316Z,1736375076.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:36.316Z,1736375076.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.442799 2025-01-08T22:24:36.318Z,1736375076.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.10 m. 2025-01-08T22:24:36.322Z,1736375076.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.099998 m, nav range: 106.228737 m, bearing: 95.619225 deg, approach rate: -0.003869 m/s, LOS rate: -0.393474 deg/s, cmd heading: 182.906756 deg, new cmd heading: 182.457549 deg. 2025-01-08T22:24:36.324Z,1736375076.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.184485 target range: 106.099998 and range: 106.10 m. 2025-01-08T22:24:36.568Z,1736375076.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:36.568Z,1736375076.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694756 2025-01-08T22:24:36.707Z,1736375076.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:36.735Z,1736375076.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.10 m. 2025-01-08T22:24:36.738Z,1736375076.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.099998 m, nav range: 106.225021 m, bearing: 95.460554 deg, approach rate: -0.008905 m/s, LOS rate: -0.380283 deg/s, cmd heading: 182.457548 deg, new cmd heading: 181.981530 deg. 2025-01-08T22:24:36.739Z,1736375076.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.176177 target range: 106.099998 and range: 106.10 m. 2025-01-08T22:24:36.830Z,1736375076.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:36.833Z,1736375076.833 [DAT](INFO): DAT read: Rx Time:22:24:35.6951 2025-01-08T22:24:36.834Z,1736375076.834 [DAT](INFO): Rx dataTimestamp_ set to:1736375076.833335 2025-01-08T22:24:36.837Z,1736375076.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962477 2025-01-08T22:24:37.080Z,1736375077.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:37.080Z,1736375077.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206648 2025-01-08T22:24:37.135Z,1736375077.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:37.158Z,1736375077.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:37.165Z,1736375077.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.10 m. 2025-01-08T22:24:37.172Z,1736375077.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.099998 m, nav range: 106.241333 m, bearing: 95.293224 deg, approach rate: 0.037970 m/s, LOS rate: -0.389447 deg/s, cmd heading: 181.981525 deg, new cmd heading: 181.479624 deg. 2025-01-08T22:24:37.177Z,1736375077.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.167417 target range: 106.099998 and range: 106.10 m. 2025-01-08T22:24:37.332Z,1736375077.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:37.333Z,1736375077.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.459195 2025-01-08T22:24:37.538Z,1736375077.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:37.561Z,1736375077.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.10 m. 2025-01-08T22:24:37.568Z,1736375077.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.099998 m, nav range: 106.254707 m, bearing: 95.135454 deg, approach rate: 0.033742 m/s, LOS rate: -0.397990 deg/s, cmd heading: 181.479629 deg, new cmd heading: 181.006390 deg. 2025-01-08T22:24:37.569Z,1736375077.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.159158 target range: 106.099998 and range: 106.10 m. 2025-01-08T22:24:37.584Z,1736375077.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:37.592Z,1736375077.592 [DAT](INFO): DAT read: 22:24:35.6951 LVL= 32752, 32753, 21682, 32755, AGC= 63, IDX= 405, 0.18,-1.853,-2.790,-0.743,-1.687, PHS=-0.078,-1.056, 0.941, RAW= 180.7, 2.3, CAL= 180.9, -6.0, ROT= 329.1, 6.0 2025-01-08T22:24:37.595Z,1736375077.595 [DAT](INFO): got valid direction response: 22:24:35.6951 LVL= 32752, 32753, 21682, 32755, AGC= 63, IDX= 405, 0.18,-1.853,-2.790,-0.743,-1.687, PHS=-0.078,-1.056, 0.941, RAW= 180.7, 2.3, CAL= 180.9, -6.0, ROT= 329.1, 6.0 2025-01-08T22:24:37.598Z,1736375077.598 [DAT](INFO): DAT read: Bearing 329.1, 6.0 (Local) 2025-01-08T22:24:37.598Z,1736375077.598 [DAT](INFO): Local bearing/azimuth received: Bearing 329.1, 6.0 (Local) 2025-01-08T22:24:37.601Z,1736375077.601 [DAT](INFO): DAT read: Range 10 to 50 : 103.7 m (Round-trip 138.3 ms) speed 0.5 m/s 2025-01-08T22:24:37.602Z,1736375077.602 [DAT](INFO): DAT read: user:2581> 2025-01-08T22:24:37.608Z,1736375077.608 [DAT](INFO): DAT read: Tx time:22:24:36.8026 2025-01-08T22:24:37.608Z,1736375077.608 [DAT](INFO): Ping request sent. 2025-01-08T22:24:37.608Z,1736375077.608 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:37.609Z,1736375077.609 [DAT](INFO): DAT read: TxSync time:22:24:36.8018 2025-01-08T22:24:37.611Z,1736375077.611 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:24:37.645Z,1736375077.645 [DAT](INFO): direction in FSK: [-0.129320,-0.991178,0.029026] 2025-01-08T22:24:37.646Z,1736375077.646 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:37.647Z,1736375077.647 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:37.673Z,1736375077.673 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:37.674Z,1736375077.674 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:37.837Z,1736375077.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:37.978Z,1736375077.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:38.013Z,1736375078.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.699997 m, deltaT: 3.786189 s, deltaX: -2.400002 m, approachRate: -0.633883 m/s, rangeRepo size: 4 2025-01-08T22:24:38.024Z,1736375078.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.699997 m, bearing: 87.499899 deg, lat: 36.905285 deg, lon: -122.118590 deg, deltaT: 3.786189 s, deltaX: -2.400002 m, approachRate: -0.633883 m/s, posRepo size: 4 2025-01-08T22:24:38.024Z,1736375078.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m. 2025-01-08T22:24:38.032Z,1736375078.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.699997 m, nav range: 105.897003 m, bearing: 90.288451 deg, approach rate: 0.000000 m/s, LOS rate: -0.397990 deg/s, cmd heading: 181.006392 deg, new cmd heading: 180.467233 deg. 2025-01-08T22:24:38.033Z,1736375078.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.149747 target range: 103.699997 and range: 103.70 m. 2025-01-08T22:24:38.088Z,1736375078.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:38.329Z,1736375078.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:38.337Z,1736375078.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m. 2025-01-08T22:24:38.341Z,1736375078.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:38.344Z,1736375078.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.699997 m, nav range: 105.947426 m, bearing: 90.153376 deg, approach rate: 0.155398 m/s, LOS rate: -0.416089 deg/s, cmd heading: 180.467231 deg, new cmd heading: 180.062208 deg. 2025-01-08T22:24:38.345Z,1736375078.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.142678 target range: 103.699997 and range: 103.70 m. 2025-01-08T22:24:38.592Z,1736375078.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:38.736Z,1736375078.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:38.746Z,1736375078.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m. 2025-01-08T22:24:38.749Z,1736375078.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.699997 m, nav range: 106.003120 m, bearing: 89.996207 deg, approach rate: 0.136161 m/s, LOS rate: -0.384043 deg/s, cmd heading: 180.062214 deg, new cmd heading: 179.590966 deg. 2025-01-08T22:24:38.750Z,1736375078.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.134454 target range: 103.699997 and range: 103.70 m. 2025-01-08T22:24:38.845Z,1736375078.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:39.096Z,1736375079.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:39.161Z,1736375079.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:39.168Z,1736375079.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:39.170Z,1736375079.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m. 2025-01-08T22:24:39.261Z,1736375079.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.699997 m, nav range: 106.081367 m, bearing: 89.832818 deg, approach rate: 0.184514 m/s, LOS rate: -0.385001 deg/s, cmd heading: 179.590972 deg, new cmd heading: 179.101180 deg. 2025-01-08T22:24:39.262Z,1736375079.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.125905 target range: 103.699997 and range: 103.70 m. 2025-01-08T22:24:39.350Z,1736375079.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:39.351Z,1736375079.351 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:39.351Z,1736375079.351 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:39.352Z,1736375079.352 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:39.574Z,1736375079.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:39.604Z,1736375079.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:39.604Z,1736375079.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995990 2025-01-08T22:24:39.587Z,1736375079.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m. 2025-01-08T22:24:39.613Z,1736375079.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.699997 m, nav range: 106.154572 m, bearing: 89.673684 deg, approach rate: 0.175667 m/s, LOS rate: -0.381609 deg/s, cmd heading: 179.101179 deg, new cmd heading: 178.624117 deg. 2025-01-08T22:24:39.621Z,1736375079.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.117579 target range: 103.699997 and range: 103.70 m. 2025-01-08T22:24:39.857Z,1736375079.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:39.860Z,1736375079.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251287 2025-01-08T22:24:40.005Z,1736375080.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:40.015Z,1736375080.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m. 2025-01-08T22:24:40.018Z,1736375080.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.699997 m, nav range: 106.242943 m, bearing: 89.510783 deg, approach rate: 0.206526 m/s, LOS rate: -0.380386 deg/s, cmd heading: 178.624118 deg, new cmd heading: 178.135834 deg. 2025-01-08T22:24:40.019Z,1736375080.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.109057 target range: 103.699997 and range: 103.70 m. 2025-01-08T22:24:40.113Z,1736375080.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:40.114Z,1736375080.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505767 2025-01-08T22:24:40.364Z,1736375080.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:40.364Z,1736375080.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756208 2025-01-08T22:24:40.393Z,1736375080.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:40.402Z,1736375080.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m. 2025-01-08T22:24:40.405Z,1736375080.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.699997 m, nav range: 106.320099 m, bearing: 89.364048 deg, approach rate: 0.199501 m/s, LOS rate: -0.379134 deg/s, cmd heading: 178.135828 deg, new cmd heading: 177.695952 deg. 2025-01-08T22:24:40.406Z,1736375080.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.101379 target range: 103.699997 and range: 103.70 m. 2025-01-08T22:24:40.616Z,1736375080.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:40.618Z,1736375080.618 [DAT](INFO): DAT read: Rx Time:22:24:39.3430 2025-01-08T22:24:40.618Z,1736375080.618 [DAT](INFO): Rx dataTimestamp_ set to:1736375080.617728 2025-01-08T22:24:40.620Z,1736375080.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010683 2025-01-08T22:24:40.831Z,1736375080.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:40.846Z,1736375080.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.70 m. 2025-01-08T22:24:40.870Z,1736375080.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:40.872Z,1736375080.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263520 2025-01-08T22:24:40.880Z,1736375080.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.699997 m, nav range: 106.404411 m, bearing: 89.197867 deg, approach rate: 0.189768 m/s, LOS rate: -0.373739 deg/s, cmd heading: 177.695950 deg, new cmd heading: 177.197815 deg. 2025-01-08T22:24:40.889Z,1736375080.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.092685 target range: 103.699997 and range: 103.70 m. 2025-01-08T22:24:41.120Z,1736375081.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:41.128Z,1736375081.128 [DAT](INFO): DAT read: 22:24:39.3430 LVL= 32752, 32753, 20914, 32755, AGC= 64, IDX= 416, 0.03,-2.754, 2.617,-1.666,-2.648, PHS=-0.017,-0.971, 0.979, RAW= 180.7, 0.1, CAL= 181.2, -7.7, ROT= 328.8, 7.7 2025-01-08T22:24:41.129Z,1736375081.129 [DAT](INFO): got valid direction response: 22:24:39.3430 LVL= 32752, 32753, 20914, 32755, AGC= 64, IDX= 416, 0.03,-2.754, 2.617,-1.666,-2.648, PHS=-0.017,-0.971, 0.979, RAW= 180.7, 0.1, CAL= 181.2, -7.7, ROT= 328.8, 7.7 2025-01-08T22:24:41.130Z,1736375081.130 [DAT](INFO): DAT read: Bearing 328.8, 7.7 (Local) 2025-01-08T22:24:41.130Z,1736375081.130 [DAT](INFO): Local bearing/azimuth received: Bearing 328.8, 7.7 (Local) 2025-01-08T22:24:41.132Z,1736375081.132 [DAT](INFO): DAT read: Range 10 to 50 : 102.2 m (Round-trip 136.3 ms) speed 0.5 m/s 2025-01-08T22:24:41.132Z,1736375081.132 [DAT](INFO): DAT read: user:2582> 2025-01-08T22:24:41.133Z,1736375081.133 [DAT](INFO): DAT read: Tx time:22:24:40.4526 2025-01-08T22:24:41.133Z,1736375081.133 [DAT](INFO): Ping request sent. 2025-01-08T22:24:41.133Z,1736375081.133 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:41.134Z,1736375081.134 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:24:41.134Z,1736375081.134 [DAT](INFO): direction in FSK: [-0.088510,-0.995585,0.031250] 2025-01-08T22:24:41.135Z,1736375081.135 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:41.135Z,1736375081.135 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:41.138Z,1736375081.138 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:41.139Z,1736375081.139 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:41.306Z,1736375081.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:41.337Z,1736375081.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.199997 m, deltaT: 3.535725 s, deltaX: -1.500000 m, approachRate: -0.424241 m/s, rangeRepo size: 4 2025-01-08T22:24:41.339Z,1736375081.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.199997 m, bearing: 85.170185 deg, lat: 36.905300 deg, lon: -122.118590 deg, deltaT: 3.535725 s, deltaX: -1.500000 m, approachRate: -0.424241 m/s, posRepo size: 4 2025-01-08T22:24:41.344Z,1736375081.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T22:24:41.346Z,1736375081.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 106.537369 m, bearing: 88.103604 deg, approach rate: 0.000000 m/s, LOS rate: -0.373739 deg/s, cmd heading: 177.197811 deg, new cmd heading: 176.648368 deg. 2025-01-08T22:24:41.351Z,1736375081.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.083096 target range: 102.199997 and range: 102.20 m. 2025-01-08T22:24:41.372Z,1736375081.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:41.373Z,1736375081.373 [DAT](INFO): DAT read: TxSync time:22:24:40.4518 2025-01-08T22:24:41.624Z,1736375081.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:41.764Z,1736375081.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:41.771Z,1736375081.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:41.773Z,1736375081.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T22:24:41.777Z,1736375081.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 106.630539 m, bearing: 87.930221 deg, approach rate: 0.212946 m/s, LOS rate: -0.395929 deg/s, cmd heading: 176.648363 deg, new cmd heading: 176.128685 deg. 2025-01-08T22:24:41.778Z,1736375081.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.074025 target range: 102.199997 and range: 102.20 m. 2025-01-08T22:24:41.877Z,1736375081.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:41.877Z,1736375081.877 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:41.877Z,1736375081.877 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:41.878Z,1736375081.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:42.128Z,1736375082.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:42.128Z,1736375082.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995059 2025-01-08T22:24:42.174Z,1736375082.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:42.200Z,1736375082.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T22:24:42.207Z,1736375082.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 106.690750 m, bearing: 87.772712 deg, approach rate: 0.141075 m/s, LOS rate: -0.368835 deg/s, cmd heading: 176.128681 deg, new cmd heading: 175.656432 deg. 2025-01-08T22:24:42.209Z,1736375082.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.065783 target range: 102.199997 and range: 102.20 m. 2025-01-08T22:24:42.380Z,1736375082.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:42.380Z,1736375082.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247045 2025-01-08T22:24:42.545Z,1736375082.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:42.555Z,1736375082.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T22:24:42.558Z,1736375082.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 106.744843 m, bearing: 87.630331 deg, approach rate: 0.152403 m/s, LOS rate: -0.400947 deg/s, cmd heading: 175.656428 deg, new cmd heading: 175.229511 deg. 2025-01-08T22:24:42.559Z,1736375082.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.058332 target range: 102.199997 and range: 102.20 m. 2025-01-08T22:24:42.633Z,1736375082.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:42.633Z,1736375082.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499987 2025-01-08T22:24:42.886Z,1736375082.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:42.889Z,1736375082.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754729 2025-01-08T22:24:43.004Z,1736375083.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:43.013Z,1736375083.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T22:24:43.016Z,1736375083.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 106.781204 m, bearing: 87.453036 deg, approach rate: 0.079427 m/s, LOS rate: -0.387145 deg/s, cmd heading: 175.229514 deg, new cmd heading: 174.697824 deg. 2025-01-08T22:24:43.017Z,1736375083.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.049052 target range: 102.199997 and range: 102.20 m. 2025-01-08T22:24:43.137Z,1736375083.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:43.139Z,1736375083.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004982 2025-01-08T22:24:43.353Z,1736375083.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:43.363Z,1736375083.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T22:24:43.366Z,1736375083.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 106.807533 m, bearing: 87.317550 deg, approach rate: 0.075270 m/s, LOS rate: -0.387232 deg/s, cmd heading: 174.697825 deg, new cmd heading: 174.291476 deg. 2025-01-08T22:24:43.366Z,1736375083.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.041960 target range: 102.199997 and range: 102.20 m. 2025-01-08T22:24:43.388Z,1736375083.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:43.393Z,1736375083.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258870 2025-01-08T22:24:43.640Z,1736375083.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:43.641Z,1736375083.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507304 2025-01-08T22:24:43.777Z,1736375083.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:43.784Z,1736375083.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:43.786Z,1736375083.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T22:24:43.789Z,1736375083.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 106.840225 m, bearing: 87.153546 deg, approach rate: 0.077172 m/s, LOS rate: -0.387026 deg/s, cmd heading: 174.291470 deg, new cmd heading: 173.799619 deg. 2025-01-08T22:24:43.790Z,1736375083.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.033376 target range: 102.199997 and range: 102.20 m. 2025-01-08T22:24:43.894Z,1736375083.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:43.896Z,1736375083.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762043 2025-01-08T22:24:44.144Z,1736375084.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:44.145Z,1736375084.145 [DAT](INFO): DAT read: Rx Time:22:24:42.9891 2025-01-08T22:24:44.146Z,1736375084.146 [DAT](INFO): Rx dataTimestamp_ set to:1736375084.145370 2025-01-08T22:24:44.147Z,1736375084.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013286 2025-01-08T22:24:44.236Z,1736375084.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:44.247Z,1736375084.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T22:24:44.250Z,1736375084.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 106.843773 m, bearing: 86.973106 deg, approach rate: 0.007709 m/s, LOS rate: -0.392051 deg/s, cmd heading: 173.799614 deg, new cmd heading: 173.258331 deg. 2025-01-08T22:24:44.251Z,1736375084.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.023928 target range: 102.199997 and range: 102.20 m. 2025-01-08T22:24:44.396Z,1736375084.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:44.397Z,1736375084.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263383 2025-01-08T22:24:44.611Z,1736375084.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:44.620Z,1736375084.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T22:24:44.622Z,1736375084.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 106.847481 m, bearing: 86.825114 deg, approach rate: 0.009958 m/s, LOS rate: -0.397423 deg/s, cmd heading: 173.258335 deg, new cmd heading: 172.814382 deg. 2025-01-08T22:24:44.623Z,1736375084.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.016180 target range: 102.199997 and range: 102.20 m. 2025-01-08T22:24:44.650Z,1736375084.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:44.653Z,1736375084.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519365 2025-01-08T22:24:44.900Z,1736375084.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:44.909Z,1736375084.909 [DAT](INFO): DAT read: 22:24:42.9891 LVL= 32752, 32753, 21330, 32755, AGC= 66, IDX= 408, 0.13,-2.063,-2.926,-1.071,-1.975, PHS= 0.001,-0.904, 0.902, RAW= 179.9, 0.0, CAL= 180.4, -7.8, ROT= 329.6, 7.8 2025-01-08T22:24:44.911Z,1736375084.911 [DAT](INFO): got valid direction response: 22:24:42.9891 LVL= 32752, 32753, 21330, 32755, AGC= 66, IDX= 408, 0.13,-2.063,-2.926,-1.071,-1.975, PHS= 0.001,-0.904, 0.902, RAW= 179.9, 0.0, CAL= 180.4, -7.8, ROT= 329.6, 7.8 2025-01-08T22:24:44.927Z,1736375084.927 [DAT](INFO): DAT read: Bearing 329.6, 7.8 (Local) 2025-01-08T22:24:44.928Z,1736375084.928 [DAT](INFO): Local bearing/azimuth received: Bearing 329.6, 7.8 (Local) 2025-01-08T22:24:44.947Z,1736375084.947 [DAT](INFO): DAT read: Range 10 to 50 : 99.3 m (Round-trip 132.4 ms) speed 0.4 m/s 2025-01-08T22:24:44.950Z,1736375084.950 [DAT](INFO): DAT read: user:2583> 2025-01-08T22:24:44.957Z,1736375084.957 [DAT](INFO): DAT read: Tx time:22:24:44.1026 2025-01-08T22:24:44.958Z,1736375084.958 [DAT](INFO): Ping request sent. 2025-01-08T22:24:44.959Z,1736375084.959 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:44.974Z,1736375084.974 [DAT](INFO): DAT read: TxSync time:22:24:44.1018 2025-01-08T22:24:44.981Z,1736375084.981 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:24:44.981Z,1736375084.981 [DAT](INFO): direction in FSK: [-0.087945,-0.995109,0.044986] 2025-01-08T22:24:44.982Z,1736375084.982 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:44.982Z,1736375084.982 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:44.989Z,1736375084.989 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:44.990Z,1736375084.990 [DAT](INFO): publishing direction and range info 2025-01-08T22:24:45.152Z,1736375085.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:45.195Z,1736375085.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:45.232Z,1736375085.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.300003 m, deltaT: 3.780076 s, deltaX: -2.899994 m, approachRate: -0.767179 m/s, rangeRepo size: 4 2025-01-08T22:24:45.234Z,1736375085.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.300003 m, bearing: 80.413817 deg, lat: 36.905330 deg, lon: -122.118617 deg, deltaT: 3.780076 s, deltaX: -2.899994 m, approachRate: -0.767179 m/s, posRepo size: 4 2025-01-08T22:24:45.239Z,1736375085.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:45.243Z,1736375085.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.682632 m, bearing: 84.678261 deg, approach rate: 0.000000 m/s, LOS rate: -0.397423 deg/s, cmd heading: 172.814386 deg, new cmd heading: 172.089179 deg. 2025-01-08T22:24:45.248Z,1736375085.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.003523 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:45.405Z,1736375085.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:45.517Z,1736375085.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:45.535Z,1736375085.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:45.542Z,1736375085.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.670311 m, bearing: 84.545040 deg, approach rate: -0.040105 m/s, LOS rate: -0.433673 deg/s, cmd heading: 172.089184 deg, new cmd heading: 171.689481 deg. 2025-01-08T22:24:45.548Z,1736375085.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.996547 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:45.656Z,1736375085.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:45.908Z,1736375085.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:45.920Z,1736375085.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:45.932Z,1736375085.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:45.934Z,1736375085.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:45.937Z,1736375085.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.654465 m, bearing: 84.378667 deg, approach rate: -0.039694 m/s, LOS rate: -0.416814 deg/s, cmd heading: 171.689482 deg, new cmd heading: 171.190300 deg. 2025-01-08T22:24:45.938Z,1736375085.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.987834 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:46.160Z,1736375086.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:46.160Z,1736375086.160 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:24:46.160Z,1736375086.160 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:24:46.161Z,1736375086.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:46.345Z,1736375086.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:46.356Z,1736375086.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:46.360Z,1736375086.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.617859 m, bearing: 84.197613 deg, approach rate: -0.086835 m/s, LOS rate: -0.429636 deg/s, cmd heading: 171.190304 deg, new cmd heading: 170.646971 deg. 2025-01-08T22:24:46.361Z,1736375086.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.978352 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:46.413Z,1736375086.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:46.414Z,1736375086.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.455966 2025-01-08T22:24:46.664Z,1736375086.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:46.665Z,1736375086.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706969 2025-01-08T22:24:46.739Z,1736375086.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:46.747Z,1736375086.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:46.750Z,1736375086.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.583336 m, bearing: 84.029643 deg, approach rate: -0.088123 m/s, LOS rate: -0.428898 deg/s, cmd heading: 170.646976 deg, new cmd heading: 170.142913 deg. 2025-01-08T22:24:46.751Z,1736375086.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.969554 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:46.916Z,1736375086.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:46.917Z,1736375086.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958667 2025-01-08T22:24:47.168Z,1736375087.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:47.169Z,1736375087.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210676 2025-01-08T22:24:47.239Z,1736375087.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:47.248Z,1736375087.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:47.251Z,1736375087.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.534554 m, bearing: 83.812777 deg, approach rate: -0.097309 m/s, LOS rate: -0.432794 deg/s, cmd heading: 170.142908 deg, new cmd heading: 169.492036 deg. 2025-01-08T22:24:47.252Z,1736375087.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.958194 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:47.420Z,1736375087.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:47.421Z,1736375087.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463228 2025-01-08T22:24:47.606Z,1736375087.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:47.616Z,1736375087.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:47.619Z,1736375087.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.496460 m, bearing: 83.653489 deg, approach rate: -0.103619 m/s, LOS rate: -0.433441 deg/s, cmd heading: 169.492032 deg, new cmd heading: 169.014006 deg. 2025-01-08T22:24:47.620Z,1736375087.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.949851 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:47.674Z,1736375087.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:47.675Z,1736375087.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716585 2025-01-08T22:24:47.924Z,1736375087.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:47.924Z,1736375087.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966308 2025-01-08T22:24:48.087Z,1736375088.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:48.094Z,1736375088.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:48.117Z,1736375088.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:48.124Z,1736375088.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.454384 m, bearing: 83.444899 deg, approach rate: -0.083978 m/s, LOS rate: -0.416484 deg/s, cmd heading: 169.014001 deg, new cmd heading: 168.388006 deg. 2025-01-08T22:24:48.126Z,1736375088.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.938925 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:48.177Z,1736375088.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:48.177Z,1736375088.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219262 2025-01-08T22:24:48.428Z,1736375088.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:48.428Z,1736375088.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.470412 2025-01-08T22:24:48.436Z,1736375088.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:48.445Z,1736375088.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:48.448Z,1736375088.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.422142 m, bearing: 83.293261 deg, approach rate: -0.098249 m/s, LOS rate: -0.462224 deg/s, cmd heading: 168.388000 deg, new cmd heading: 167.932954 deg. 2025-01-08T22:24:48.449Z,1736375088.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.930983 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:48.680Z,1736375088.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:48.681Z,1736375088.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722700 2025-01-08T22:24:48.845Z,1736375088.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:48.855Z,1736375088.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:48.859Z,1736375088.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.382668 m, bearing: 83.115569 deg, approach rate: -0.096301 m/s, LOS rate: -0.433655 deg/s, cmd heading: 167.932960 deg, new cmd heading: 167.399699 deg. 2025-01-08T22:24:48.860Z,1736375088.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.921676 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:48.932Z,1736375088.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:48.933Z,1736375088.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.974661 2025-01-08T22:24:49.184Z,1736375089.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:49.184Z,1736375089.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.226314 2025-01-08T22:24:49.291Z,1736375089.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:49.301Z,1736375089.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:49.303Z,1736375089.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.359070 m, bearing: 82.933597 deg, approach rate: -0.052978 m/s, LOS rate: -0.408623 deg/s, cmd heading: 167.399699 deg, new cmd heading: 166.853679 deg. 2025-01-08T22:24:49.304Z,1736375089.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.912146 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:49.436Z,1736375089.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:49.437Z,1736375089.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.478514 2025-01-08T22:24:49.652Z,1736375089.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:49.688Z,1736375089.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:49.689Z,1736375089.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.730503 2025-01-08T22:24:49.694Z,1736375089.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:49.698Z,1736375089.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.336876 m, bearing: 82.774394 deg, approach rate: -0.057417 m/s, LOS rate: -0.411954 deg/s, cmd heading: 166.853680 deg, new cmd heading: 166.375981 deg. 2025-01-08T22:24:49.699Z,1736375089.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.903809 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:49.940Z,1736375089.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:49.941Z,1736375089.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.982655 2025-01-08T22:24:50.116Z,1736375090.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:50.123Z,1736375090.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:50.126Z,1736375090.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:50.130Z,1736375090.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.336174 m, bearing: 82.575974 deg, approach rate: -0.001600 m/s, LOS rate: -0.452179 deg/s, cmd heading: 166.375977 deg, new cmd heading: 165.780736 deg. 2025-01-08T22:24:50.131Z,1736375090.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.893420 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:50.193Z,1736375090.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:50.193Z,1736375090.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.235221 2025-01-08T22:24:50.444Z,1736375090.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:50.445Z,1736375090.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.486507 2025-01-08T22:24:50.455Z,1736375090.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:50.464Z,1736375090.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:50.467Z,1736375090.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.333710 m, bearing: 82.431692 deg, approach rate: -0.007280 m/s, LOS rate: -0.426249 deg/s, cmd heading: 165.780740 deg, new cmd heading: 165.347892 deg. 2025-01-08T22:24:50.468Z,1736375090.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.885865 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:50.696Z,1736375090.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:50.696Z,1736375090.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.738286 2025-01-08T22:24:50.872Z,1736375090.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:50.882Z,1736375090.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:50.885Z,1736375090.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.328468 m, bearing: 82.253696 deg, approach rate: -0.012561 m/s, LOS rate: -0.426582 deg/s, cmd heading: 165.347897 deg, new cmd heading: 164.813899 deg. 2025-01-08T22:24:50.886Z,1736375090.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.876545 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:50.949Z,1736375090.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:50.950Z,1736375090.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.991645 2025-01-08T22:24:51.200Z,1736375091.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:51.200Z,1736375091.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.242314 2025-01-08T22:24:51.270Z,1736375091.270 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -64.11261.47, -12.20, 7.24, 0.00 2025-01-08T22:24:51.295Z,1736375091.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:24:51.299Z,1736375091.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:51.312Z,1736375091.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:51.314Z,1736375091.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.320312 m, bearing: 82.073481 deg, approach rate: -0.018963 m/s, LOS rate: -0.419050 deg/s, cmd heading: 164.813899 deg, new cmd heading: 164.273228 deg. 2025-01-08T22:24:51.320Z,1736375091.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867109 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:51.452Z,1736375091.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:51.452Z,1736375091.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.494312 2025-01-08T22:24:51.681Z,1736375091.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:24:51.681Z,1736375091.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:51.696Z,1736375091.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:51.699Z,1736375091.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.310654 m, bearing: 81.908653 deg, approach rate: -0.025171 m/s, LOS rate: -0.429590 deg/s, cmd heading: 164.273221 deg, new cmd heading: 163.778706 deg. 2025-01-08T22:24:51.704Z,1736375091.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:51.705Z,1736375091.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.746679 2025-01-08T22:24:51.720Z,1736375091.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858478 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:51.884Z,1736375091.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:24:51.956Z,1736375091.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:51.956Z,1736375091.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.998397 2025-01-08T22:24:52.138Z,1736375092.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:52.147Z,1736375092.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:52.150Z,1736375092.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:52.153Z,1736375092.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.355988 m, bearing: 81.726797 deg, approach rate: 0.099823 m/s, LOS rate: -0.400265 deg/s, cmd heading: 163.778702 deg, new cmd heading: 163.233387 deg. 2025-01-08T22:24:52.154Z,1736375092.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848960 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:52.208Z,1736375092.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:52.210Z,1736375092.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.251424 2025-01-08T22:24:52.460Z,1736375092.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:52.461Z,1736375092.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.502918 2025-01-08T22:24:52.601Z,1736375092.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:52.611Z,1736375092.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:52.614Z,1736375092.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.399460 m, bearing: 81.542810 deg, approach rate: 0.094256 m/s, LOS rate: -0.398750 deg/s, cmd heading: 163.233393 deg, new cmd heading: 162.681681 deg. 2025-01-08T22:24:52.615Z,1736375092.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839331 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:52.712Z,1736375092.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:52.713Z,1736375092.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.754524 2025-01-08T22:24:52.888Z,1736375092.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:24:52.964Z,1736375092.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:52.964Z,1736375092.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.006365 2025-01-08T22:24:53.001Z,1736375093.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:53.042Z,1736375093.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:53.066Z,1736375093.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.434311 m, bearing: 81.383612 deg, approach rate: 0.081142 m/s, LOS rate: -0.370531 deg/s, cmd heading: 162.681678 deg, new cmd heading: 162.204253 deg. 2025-01-08T22:24:53.073Z,1736375093.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.830998 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:53.216Z,1736375093.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:53.216Z,1736375093.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.258321 2025-01-08T22:24:53.468Z,1736375093.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:53.469Z,1736375093.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.510477 2025-01-08T22:24:53.573Z,1736375093.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:53.590Z,1736375093.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:53.597Z,1736375093.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.501282 m, bearing: 81.163020 deg, approach rate: 0.121849 m/s, LOS rate: -0.401092 deg/s, cmd heading: 162.204248 deg, new cmd heading: 161.542929 deg. 2025-01-08T22:24:53.598Z,1736375093.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.819456 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:53.720Z,1736375093.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:53.720Z,1736375093.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.762286 2025-01-08T22:24:53.901Z,1736375093.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:53.937Z,1736375093.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:53.947Z,1736375093.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.537720 m, bearing: 81.036464 deg, approach rate: 0.105066 m/s, LOS rate: -0.364790 deg/s, cmd heading: 161.542935 deg, new cmd heading: 161.163404 deg. 2025-01-08T22:24:53.956Z,1736375093.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.812832 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:53.976Z,1736375093.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:53.977Z,1736375093.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.019096 2025-01-08T22:24:54.228Z,1736375094.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:54.229Z,1736375094.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.270445 2025-01-08T22:24:54.350Z,1736375094.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:54.365Z,1736375094.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:54.368Z,1736375094.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:54.371Z,1736375094.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.589821 m, bearing: 80.865018 deg, approach rate: 0.121051 m/s, LOS rate: -0.398137 deg/s, cmd heading: 161.163409 deg, new cmd heading: 160.649341 deg. 2025-01-08T22:24:54.372Z,1736375094.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803860 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:54.480Z,1736375094.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:54.481Z,1736375094.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.522632 2025-01-08T22:24:54.719Z,1736375094.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:54.729Z,1736375094.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:54.732Z,1736375094.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:54.733Z,1736375094.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.774449 2025-01-08T22:24:54.733Z,1736375094.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.624878 m, bearing: 80.723592 deg, approach rate: 0.096955 m/s, LOS rate: -0.391001 deg/s, cmd heading: 160.649341 deg, new cmd heading: 160.225213 deg. 2025-01-08T22:24:54.734Z,1736375094.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796458 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:54.984Z,1736375094.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:54.985Z,1736375094.985 [DAT](INFO): Reached modem response timeout 2025-01-08T22:24:54.985Z,1736375094.985 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:24:54.985Z,1736375094.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:55.196Z,1736375095.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:55.205Z,1736375095.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:55.209Z,1736375095.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.662842 m, bearing: 80.539082 deg, approach rate: 0.079683 m/s, LOS rate: -0.387132 deg/s, cmd heading: 160.225214 deg, new cmd heading: 159.671903 deg. 2025-01-08T22:24:55.210Z,1736375095.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.786800 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:55.236Z,1736375095.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:55.236Z,1736375095.236 [DAT](INFO): Reached modem response timeout 2025-01-08T22:24:55.236Z,1736375095.236 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:24:55.237Z,1736375095.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:55.489Z,1736375095.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:55.489Z,1736375095.489 [DAT](INFO): Reached modem response timeout 2025-01-08T22:24:55.489Z,1736375095.489 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:24:55.489Z,1736375095.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:24:55.533Z,1736375095.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:55.560Z,1736375095.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:55.577Z,1736375095.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.685974 m, bearing: 80.408602 deg, approach rate: 0.067683 m/s, LOS rate: -0.381690 deg/s, cmd heading: 159.671900 deg, new cmd heading: 159.280553 deg. 2025-01-08T22:24:55.578Z,1736375095.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779970 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:55.740Z,1736375095.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:55.741Z,1736375095.741 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:24:55.741Z,1736375095.741 [DAT](INFO): response not received 2025-01-08T22:24:55.741Z,1736375095.741 [DAT](INFO): DAT read: user:2584> 2025-01-08T22:24:55.743Z,1736375095.743 [DAT](INFO): DAT read: Tx time:22:24:55.0527 2025-01-08T22:24:55.743Z,1736375095.743 [DAT](INFO): Ping request sent. 2025-01-08T22:24:55.743Z,1736375095.743 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:24:55.743Z,1736375095.743 [DAT](INFO): publishing transmit ping time 2025-01-08T22:24:55.744Z,1736375095.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766 2025-01-08T22:24:55.921Z,1736375095.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:55.930Z,1736375095.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:55.933Z,1736375095.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.711197 m, bearing: 80.258266 deg, approach rate: 0.065922 m/s, LOS rate: -0.392823 deg/s, cmd heading: 159.280558 deg, new cmd heading: 158.829670 deg. 2025-01-08T22:24:55.934Z,1736375095.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.772101 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:55.993Z,1736375095.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:55.994Z,1736375095.994 [DAT](INFO): DAT read: TxSync time:22:24:55.0519 2025-01-08T22:24:55.994Z,1736375095.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251220 2025-01-08T22:24:56.244Z,1736375096.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:56.245Z,1736375096.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501344 2025-01-08T22:24:56.339Z,1736375096.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:56.367Z,1736375096.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:56.370Z,1736375096.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.711739 m, bearing: 80.095659 deg, approach rate: 0.001285 m/s, LOS rate: -0.385798 deg/s, cmd heading: 158.829670 deg, new cmd heading: 158.341863 deg. 2025-01-08T22:24:56.371Z,1736375096.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.763587 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:56.496Z,1736375096.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:56.497Z,1736375096.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753635 2025-01-08T22:24:56.734Z,1736375096.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:56.741Z,1736375096.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:56.744Z,1736375096.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:56.747Z,1736375096.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.710823 m, bearing: 79.942028 deg, approach rate: -0.002329 m/s, LOS rate: -0.390836 deg/s, cmd heading: 158.341858 deg, new cmd heading: 157.880970 deg. 2025-01-08T22:24:56.748Z,1736375096.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:56.748Z,1736375096.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005211 2025-01-08T22:24:56.749Z,1736375096.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.755543 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:56.000Z,1736375097.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:57.000Z,1736375097.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257149 2025-01-08T22:24:57.208Z,1736375097.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:57.217Z,1736375097.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:57.220Z,1736375097.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.685905 m, bearing: 79.752926 deg, approach rate: -0.052644 m/s, LOS rate: -0.399616 deg/s, cmd heading: 157.880970 deg, new cmd heading: 157.313551 deg. 2025-01-08T22:24:57.221Z,1736375097.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.745639 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:57.252Z,1736375097.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:57.253Z,1736375097.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510097 2025-01-08T22:24:57.504Z,1736375097.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:57.504Z,1736375097.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761102 2025-01-08T22:24:57.541Z,1736375097.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:57.550Z,1736375097.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:57.553Z,1736375097.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.666367 m, bearing: 79.620159 deg, approach rate: -0.058776 m/s, LOS rate: -0.399463 deg/s, cmd heading: 157.313545 deg, new cmd heading: 156.915174 deg. 2025-01-08T22:24:57.554Z,1736375097.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.738686 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:57.756Z,1736375097.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:57.756Z,1736375097.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013247 2025-01-08T22:24:57.943Z,1736375097.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:57.952Z,1736375097.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:57.954Z,1736375097.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.641373 m, bearing: 79.459867 deg, approach rate: -0.062238 m/s, LOS rate: -0.399237 deg/s, cmd heading: 156.915168 deg, new cmd heading: 156.434192 deg. 2025-01-08T22:24:57.956Z,1736375097.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.730292 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:58.008Z,1736375098.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:58.009Z,1736375098.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265904 2025-01-08T22:24:58.260Z,1736375098.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:58.260Z,1736375098.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517208 2025-01-08T22:24:58.385Z,1736375098.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:58.397Z,1736375098.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:58.400Z,1736375098.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.576027 m, bearing: 79.279738 deg, approach rate: -0.146733 m/s, LOS rate: -0.404732 deg/s, cmd heading: 156.434186 deg, new cmd heading: 155.893476 deg. 2025-01-08T22:24:58.401Z,1736375098.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.720855 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:58.512Z,1736375098.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:58.513Z,1736375098.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769536 2025-01-08T22:24:58.744Z,1736375098.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:58.761Z,1736375098.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:24:58.763Z,1736375098.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:58.764Z,1736375098.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:58.765Z,1736375098.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021376 2025-01-08T22:24:58.770Z,1736375098.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.522827 m, bearing: 79.133576 deg, approach rate: -0.145413 m/s, LOS rate: -0.399711 deg/s, cmd heading: 155.893481 deg, new cmd heading: 155.454781 deg. 2025-01-08T22:24:58.771Z,1736375098.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.713198 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:59.016Z,1736375099.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:59.016Z,1736375099.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273209 2025-01-08T22:24:59.226Z,1736375099.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:59.235Z,1736375099.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:59.238Z,1736375099.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.433983 m, bearing: 78.932752 deg, approach rate: -0.188227 m/s, LOS rate: -0.425832 deg/s, cmd heading: 155.454778 deg, new cmd heading: 154.851816 deg. 2025-01-08T22:24:59.239Z,1736375099.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702674 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:59.268Z,1736375099.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:59.268Z,1736375099.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525241 2025-01-08T22:24:59.520Z,1736375099.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:59.520Z,1736375099.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777193 2025-01-08T22:24:59.570Z,1736375099.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:59.581Z,1736375099.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:59.584Z,1736375099.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.370018 m, bearing: 78.788533 deg, approach rate: -0.184818 m/s, LOS rate: -0.416956 deg/s, cmd heading: 154.851822 deg, new cmd heading: 154.418909 deg. 2025-01-08T22:24:59.585Z,1736375099.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.695118 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:24:59.772Z,1736375099.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:24:59.772Z,1736375099.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029114 2025-01-08T22:24:59.967Z,1736375099.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:24:59.981Z,1736375099.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:24:59.984Z,1736375099.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.296181 m, bearing: 78.622759 deg, approach rate: -0.184578 m/s, LOS rate: -0.414692 deg/s, cmd heading: 154.418911 deg, new cmd heading: 153.921251 deg. 2025-01-08T22:24:59.985Z,1736375099.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686433 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:00.024Z,1736375100.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:00.026Z,1736375100.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282346 2025-01-08T22:25:00.276Z,1736375100.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:00.277Z,1736375100.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533808 2025-01-08T22:25:00.399Z,1736375100.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:00.408Z,1736375100.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:00.411Z,1736375100.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.205040 m, bearing: 78.438366 deg, approach rate: -0.213767 m/s, LOS rate: -0.432865 deg/s, cmd heading: 153.921250 deg, new cmd heading: 153.367604 deg. 2025-01-08T22:25:00.412Z,1736375100.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.676770 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:00.529Z,1736375100.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:00.529Z,1736375100.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786121 2025-01-08T22:25:00.767Z,1736375100.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:00.774Z,1736375100.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:00.776Z,1736375100.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:00.780Z,1736375100.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:00.781Z,1736375100.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037595 2025-01-08T22:25:00.781Z,1736375100.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.125832 m, bearing: 78.281226 deg, approach rate: -0.214471 m/s, LOS rate: -0.425807 deg/s, cmd heading: 153.367608 deg, new cmd heading: 152.895844 deg. 2025-01-08T22:25:00.782Z,1736375100.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668536 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:01.032Z,1736375101.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:01.033Z,1736375101.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290012 2025-01-08T22:25:01.228Z,1736375101.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:01.245Z,1736375101.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:01.252Z,1736375101.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 104.025558 m, bearing: 78.084228 deg, approach rate: -0.214091 m/s, LOS rate: -0.421012 deg/s, cmd heading: 152.895847 deg, new cmd heading: 152.304304 deg. 2025-01-08T22:25:01.253Z,1736375101.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.658211 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:01.284Z,1736375101.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:01.284Z,1736375101.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541188 2025-01-08T22:25:01.536Z,1736375101.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:01.536Z,1736375101.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793139 2025-01-08T22:25:01.618Z,1736375101.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:01.628Z,1736375101.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:01.640Z,1736375101.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.952324 m, bearing: 77.914662 deg, approach rate: -0.190919 m/s, LOS rate: -0.442361 deg/s, cmd heading: 152.304298 deg, new cmd heading: 151.795256 deg. 2025-01-08T22:25:01.641Z,1736375101.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.649327 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:01.788Z,1736375101.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:01.788Z,1736375101.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045185 2025-01-08T22:25:01.974Z,1736375101.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:01.987Z,1736375101.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:01.990Z,1736375101.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.884018 m, bearing: 77.759387 deg, approach rate: -0.190420 m/s, LOS rate: -0.433149 deg/s, cmd heading: 151.795258 deg, new cmd heading: 151.329140 deg. 2025-01-08T22:25:01.991Z,1736375101.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.641192 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:02.041Z,1736375102.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:02.044Z,1736375102.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299470 2025-01-08T22:25:02.292Z,1736375102.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:02.293Z,1736375102.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550166 2025-01-08T22:25:02.433Z,1736375102.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:02.442Z,1736375102.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:02.446Z,1736375102.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.814079 m, bearing: 77.564023 deg, approach rate: -0.153880 m/s, LOS rate: -0.430131 deg/s, cmd heading: 151.329138 deg, new cmd heading: 150.742672 deg. 2025-01-08T22:25:02.447Z,1736375102.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.630956 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:02.544Z,1736375102.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:02.545Z,1736375102.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801337 2025-01-08T22:25:02.787Z,1736375102.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:02.800Z,1736375102.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:02.800Z,1736375102.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057221 2025-01-08T22:25:02.814Z,1736375102.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:02.817Z,1736375102.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:02.828Z,1736375102.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.751961 m, bearing: 77.402701 deg, approach rate: -0.165700 m/s, LOS rate: -0.430580 deg/s, cmd heading: 150.742671 deg, new cmd heading: 150.258427 deg. 2025-01-08T22:25:02.829Z,1736375102.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.622504 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:03.053Z,1736375103.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:03.054Z,1736375103.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310944 2025-01-08T22:25:03.241Z,1736375103.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:03.271Z,1736375103.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:03.274Z,1736375103.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.673317 m, bearing: 77.204396 deg, approach rate: -0.174562 m/s, LOS rate: -0.440500 deg/s, cmd heading: 150.258424 deg, new cmd heading: 149.663081 deg. 2025-01-08T22:25:03.280Z,1736375103.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.612113 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:03.304Z,1736375103.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:03.305Z,1736375103.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561335 2025-01-08T22:25:03.556Z,1736375103.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:03.556Z,1736375103.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813104 2025-01-08T22:25:03.637Z,1736375103.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:03.673Z,1736375103.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:03.682Z,1736375103.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.632355 m, bearing: 77.038091 deg, approach rate: -0.101043 m/s, LOS rate: -0.410394 deg/s, cmd heading: 149.663078 deg, new cmd heading: 149.163978 deg. 2025-01-08T22:25:03.683Z,1736375103.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.603403 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:03.808Z,1736375103.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:03.809Z,1736375103.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065609 2025-01-08T22:25:03.000Z,1736375104.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:04.008Z,1736375104.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:04.027Z,1736375104.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.592537 m, bearing: 76.886187 deg, approach rate: -0.118718 m/s, LOS rate: -0.453078 deg/s, cmd heading: 149.163982 deg, new cmd heading: 148.708106 deg. 2025-01-08T22:25:04.028Z,1736375104.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.595446 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:04.060Z,1736375104.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:04.061Z,1736375104.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317416 2025-01-08T22:25:04.312Z,1736375104.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:04.313Z,1736375104.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569249 2025-01-08T22:25:04.438Z,1736375104.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:04.448Z,1736375104.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:04.451Z,1736375104.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.562279 m, bearing: 76.705105 deg, approach rate: -0.068761 m/s, LOS rate: -0.411624 deg/s, cmd heading: 148.708108 deg, new cmd heading: 148.164718 deg. 2025-01-08T22:25:04.452Z,1736375104.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.585962 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:04.566Z,1736375104.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:04.568Z,1736375104.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824791 2025-01-08T22:25:04.812Z,1736375104.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:04.816Z,1736375104.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:04.817Z,1736375104.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073263 2025-01-08T22:25:04.821Z,1736375104.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:04.823Z,1736375104.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:04.828Z,1736375104.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.533699 m, bearing: 76.550678 deg, approach rate: -0.076250 m/s, LOS rate: -0.412118 deg/s, cmd heading: 148.164712 deg, new cmd heading: 147.701314 deg. 2025-01-08T22:25:04.829Z,1736375104.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.577874 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:05.068Z,1736375105.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:05.068Z,1736375105.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325194 2025-01-08T22:25:05.232Z,1736375105.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:05.286Z,1736375105.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:05.298Z,1736375105.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.500359 m, bearing: 76.384649 deg, approach rate: -0.071940 m/s, LOS rate: -0.358363 deg/s, cmd heading: 147.701311 deg, new cmd heading: 147.203078 deg. 2025-01-08T22:25:05.304Z,1736375105.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569178 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:05.320Z,1736375105.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:05.320Z,1736375105.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577212 2025-01-08T22:25:05.572Z,1736375105.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:05.573Z,1736375105.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829900 2025-01-08T22:25:05.657Z,1736375105.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:05.673Z,1736375105.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:05.678Z,1736375105.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.485413 m, bearing: 76.211907 deg, approach rate: -0.038698 m/s, LOS rate: -0.447326 deg/s, cmd heading: 147.203076 deg, new cmd heading: 146.684789 deg. 2025-01-08T22:25:05.680Z,1736375105.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560133 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:05.824Z,1736375105.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:05.825Z,1736375105.825 [DAT](INFO): Reached modem response timeout 2025-01-08T22:25:05.825Z,1736375105.825 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:25:05.826Z,1736375105.826 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:06.034Z,1736375106.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:06.042Z,1736375106.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:06.077Z,1736375106.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:06.078Z,1736375106.078 [DAT](INFO): Reached modem response timeout 2025-01-08T22:25:06.078Z,1736375106.078 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:25:06.078Z,1736375106.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:06.098Z,1736375106.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.470261 m, bearing: 76.065058 deg, approach rate: -0.040981 m/s, LOS rate: -0.397232 deg/s, cmd heading: 146.684787 deg, new cmd heading: 146.244184 deg. 2025-01-08T22:25:06.108Z,1736375106.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552443 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:06.328Z,1736375106.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:06.328Z,1736375106.328 [DAT](INFO): Reached modem response timeout 2025-01-08T22:25:06.328Z,1736375106.328 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:25:06.329Z,1736375106.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:06.461Z,1736375106.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:06.470Z,1736375106.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:06.473Z,1736375106.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.464508 m, bearing: 75.903920 deg, approach rate: -0.013440 m/s, LOS rate: -0.376508 deg/s, cmd heading: 146.244186 deg, new cmd heading: 145.760757 deg. 2025-01-08T22:25:06.474Z,1736375106.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544005 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:06.581Z,1736375106.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:06.582Z,1736375106.582 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:25:06.582Z,1736375106.582 [DAT](INFO): response not received 2025-01-08T22:25:06.583Z,1736375106.583 [DAT](INFO): DAT read: user:2585> 2025-01-08T22:25:06.585Z,1736375106.585 [DAT](ERROR): No response from remote modem. 2025-01-08T22:25:06.585Z,1736375106.585 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:25:06.585Z,1736375106.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:06.833Z,1736375106.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:06.833Z,1736375106.833 [DAT](INFO): DAT read: Tx time:22:25:06.0028 2025-01-08T22:25:06.834Z,1736375106.834 [DAT](INFO): Ping request sent. 2025-01-08T22:25:06.835Z,1736375106.835 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:06.836Z,1736375106.836 [DAT](INFO): DAT read: TxSync time:22:25:06.0020 2025-01-08T22:25:06.837Z,1736375106.837 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:06.838Z,1736375106.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002988 2025-01-08T22:25:06.885Z,1736375106.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:06.896Z,1736375106.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:06.898Z,1736375106.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:06.905Z,1736375106.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.456413 m, bearing: 75.744390 deg, approach rate: -0.018907 m/s, LOS rate: -0.372652 deg/s, cmd heading: 145.760758 deg, new cmd heading: 145.282143 deg. 2025-01-08T22:25:06.906Z,1736375106.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535652 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:07.084Z,1736375107.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:07.084Z,1736375107.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250157 2025-01-08T22:25:07.313Z,1736375107.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:07.336Z,1736375107.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:07.336Z,1736375107.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502196 2025-01-08T22:25:07.338Z,1736375107.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:07.345Z,1736375107.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.446129 m, bearing: 75.585364 deg, approach rate: -0.023409 m/s, LOS rate: -0.362004 deg/s, cmd heading: 145.282140 deg, new cmd heading: 144.805027 deg. 2025-01-08T22:25:07.346Z,1736375107.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.527324 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:07.588Z,1736375107.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:07.589Z,1736375107.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754972 2025-01-08T22:25:07.699Z,1736375107.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:07.708Z,1736375107.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:07.712Z,1736375107.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.435738 m, bearing: 75.441099 deg, approach rate: -0.028098 m/s, LOS rate: -0.390128 deg/s, cmd heading: 144.805024 deg, new cmd heading: 144.372192 deg. 2025-01-08T22:25:07.713Z,1736375107.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519770 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:07.840Z,1736375107.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:07.841Z,1736375107.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006287 2025-01-08T22:25:08.068Z,1736375108.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:08.076Z,1736375108.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:08.084Z,1736375108.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.424995 m, bearing: 75.305264 deg, approach rate: -0.029137 m/s, LOS rate: -0.368471 deg/s, cmd heading: 144.372195 deg, new cmd heading: 143.964655 deg. 2025-01-08T22:25:08.085Z,1736375108.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.512657 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:08.092Z,1736375108.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:08.092Z,1736375108.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258191 2025-01-08T22:25:08.344Z,1736375108.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:08.345Z,1736375108.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510471 2025-01-08T22:25:08.490Z,1736375108.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:08.500Z,1736375108.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:08.503Z,1736375108.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.394508 m, bearing: 75.148793 deg, approach rate: -0.071928 m/s, LOS rate: -0.369267 deg/s, cmd heading: 143.964651 deg, new cmd heading: 143.495111 deg. 2025-01-08T22:25:08.504Z,1736375108.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504462 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:08.596Z,1736375108.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:08.597Z,1736375108.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762398 2025-01-08T22:25:08.848Z,1736375108.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:08.848Z,1736375108.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014144 2025-01-08T22:25:08.866Z,1736375108.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:08.874Z,1736375108.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:08.878Z,1736375108.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.365395 m, bearing: 75.009402 deg, approach rate: -0.077744 m/s, LOS rate: -0.372326 deg/s, cmd heading: 143.495116 deg, new cmd heading: 143.076833 deg. 2025-01-08T22:25:08.880Z,1736375108.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497162 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:09.101Z,1736375109.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:09.102Z,1736375109.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267964 2025-01-08T22:25:09.292Z,1736375109.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:09.342Z,1736375109.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:09.352Z,1736375109.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:09.352Z,1736375109.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518178 2025-01-08T22:25:09.368Z,1736375109.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:09.371Z,1736375109.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.330368 m, bearing: 74.852286 deg, approach rate: -0.070927 m/s, LOS rate: -0.318257 deg/s, cmd heading: 143.076836 deg, new cmd heading: 142.605342 deg. 2025-01-08T22:25:09.377Z,1736375109.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.488933 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:09.604Z,1736375109.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:09.604Z,1736375109.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770155 2025-01-08T22:25:09.732Z,1736375109.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:09.740Z,1736375109.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:09.776Z,1736375109.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.276779 m, bearing: 74.687004 deg, approach rate: -0.144181 m/s, LOS rate: -0.444922 deg/s, cmd heading: 142.605348 deg, new cmd heading: 142.109257 deg. 2025-01-08T22:25:09.777Z,1736375109.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.480274 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:09.859Z,1736375109.859 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:09.860Z,1736375109.860 [DAT](INFO): DAT read: Rx Time:22:25:08.5157 2025-01-08T22:25:09.861Z,1736375109.861 [DAT](INFO): Rx dataTimestamp_ set to:1736375109.860485 2025-01-08T22:25:09.862Z,1736375109.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027449 2025-01-08T22:25:10.093Z,1736375110.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:10.101Z,1736375110.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.30 m. 2025-01-08T22:25:10.104Z,1736375110.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.300003 m, nav range: 103.229607 m, bearing: 74.552450 deg, approach rate: -0.130635 m/s, LOS rate: -0.372789 deg/s, cmd heading: 142.109257 deg, new cmd heading: 141.705418 deg. 2025-01-08T22:25:10.105Z,1736375110.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473226 target range: 99.300003 and range: 99.30 m. 2025-01-08T22:25:10.113Z,1736375110.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:10.115Z,1736375110.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280041 2025-01-08T22:25:10.366Z,1736375110.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:10.377Z,1736375110.377 [DAT](INFO): DAT read: 22:25:08.5157 LVL= 25040, 27441, 17346, 27379, AGC= 65, IDX= 133,-0.20, 2.823, 1.488, 2.851, 2.468, PHS= 0.444,-0.932, 0.381, RAW= 147.7, 1.6, CAL= 150.7, -7.3, ROT= 359.3, 7.3 2025-01-08T22:25:10.378Z,1736375110.378 [DAT](INFO): got valid direction response: 22:25:08.5157 LVL= 25040, 27441, 17346, 27379, AGC= 65, IDX= 133,-0.20, 2.823, 1.488, 2.851, 2.468, PHS= 0.444,-0.932, 0.381, RAW= 147.7, 1.6, CAL= 150.7, -7.3, ROT= 359.3, 7.3 2025-01-08T22:25:10.379Z,1736375110.379 [DAT](INFO): DAT read: Bearing 359.3, 7.3 (Local) 2025-01-08T22:25:10.379Z,1736375110.379 [DAT](INFO): Local bearing/azimuth received: Bearing 359.3, 7.3 (Local) 2025-01-08T22:25:10.381Z,1736375110.381 [DAT](INFO): DAT read: Range 10 to 50 : 81.4 m (Round-trip 108.6 ms) speed 0.5 m/s 2025-01-08T22:25:10.381Z,1736375110.381 [DAT](INFO): DAT read: user:2586> 2025-01-08T22:25:10.382Z,1736375110.382 [DAT](INFO): DAT read: Tx time:22:25:09.6029 2025-01-08T22:25:10.382Z,1736375110.382 [DAT](INFO): Ping request sent. 2025-01-08T22:25:10.382Z,1736375110.382 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:10.383Z,1736375110.383 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:25:10.429Z,1736375110.429 [DAT](INFO): direction in FSK: [-0.153961,-0.801020,0.578501] 2025-01-08T22:25:10.429Z,1736375110.429 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:10.429Z,1736375110.429 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:10.433Z,1736375110.433 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:10.433Z,1736375110.433 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:10.548Z,1736375110.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:10.575Z,1736375110.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.400002 m, deltaT: 25.465772 s, deltaX: -17.900002 m, approachRate: -0.702904 m/s, rangeRepo size: 4 2025-01-08T22:25:10.581Z,1736375110.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.400002 m, bearing: 43.651480 deg, lat: 36.905346 deg, lon: -122.118643 deg, deltaT: 25.465772 s, deltaX: -17.900002 m, approachRate: -0.702904 m/s, posRepo size: 4 2025-01-08T22:25:10.582Z,1736375110.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:25:10.589Z,1736375110.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 101.399658 m, bearing: 73.086291 deg, approach rate: 0.000000 m/s, LOS rate: -0.372789 deg/s, cmd heading: 141.705416 deg, new cmd heading: 141.176449 deg. 2025-01-08T22:25:10.590Z,1736375110.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463994 target range: 81.400002 and range: 81.40 m. 2025-01-08T22:25:10.616Z,1736375110.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:10.617Z,1736375110.617 [DAT](INFO): DAT read: TxSync time:22:25:09.6021 2025-01-08T22:25:10.868Z,1736375110.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:10.905Z,1736375110.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:10.918Z,1736375110.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:25:10.925Z,1736375110.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 101.335785 m, bearing: 72.944250 deg, approach rate: -0.185818 m/s, LOS rate: -0.413478 deg/s, cmd heading: 141.176445 deg, new cmd heading: 140.750063 deg. 2025-01-08T22:25:10.927Z,1736375110.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456552 target range: 81.400002 and range: 81.40 m. 2025-01-08T22:25:11.120Z,1736375111.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:11.296Z,1736375111.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:11.342Z,1736375111.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:11.372Z,1736375111.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:11.372Z,1736375111.372 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:11.372Z,1736375111.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:11.373Z,1736375111.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:11.377Z,1736375111.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:25:11.385Z,1736375111.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 101.263817 m, bearing: 72.788919 deg, approach rate: -0.163116 m/s, LOS rate: -0.352309 deg/s, cmd heading: 140.750063 deg, new cmd heading: 140.283748 deg. 2025-01-08T22:25:11.386Z,1736375111.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448413 target range: 81.400002 and range: 81.40 m. 2025-01-08T22:25:11.624Z,1736375111.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:11.625Z,1736375111.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242012 2025-01-08T22:25:11.813Z,1736375111.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:11.834Z,1736375111.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:25:11.841Z,1736375111.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 101.149673 m, bearing: 72.583951 deg, approach rate: -0.240236 m/s, LOS rate: -0.431878 deg/s, cmd heading: 140.283753 deg, new cmd heading: 139.668182 deg. 2025-01-08T22:25:11.843Z,1736375111.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437670 target range: 81.400002 and range: 81.40 m. 2025-01-08T22:25:11.876Z,1736375111.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:11.877Z,1736375111.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494232 2025-01-08T22:25:12.128Z,1736375112.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:12.129Z,1736375112.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746050 2025-01-08T22:25:12.200Z,1736375112.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:12.226Z,1736375112.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:25:12.233Z,1736375112.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 101.062988 m, bearing: 72.430798 deg, approach rate: -0.221603 m/s, LOS rate: -0.391860 deg/s, cmd heading: 139.668189 deg, new cmd heading: 139.208344 deg. 2025-01-08T22:25:12.234Z,1736375112.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429644 target range: 81.400002 and range: 81.40 m. 2025-01-08T22:25:12.385Z,1736375112.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:12.388Z,1736375112.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004478 2025-01-08T22:25:12.632Z,1736375112.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:12.632Z,1736375112.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249922 2025-01-08T22:25:12.709Z,1736375112.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:12.727Z,1736375112.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:25:12.734Z,1736375112.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 100.936462 m, bearing: 72.214828 deg, approach rate: -0.252259 m/s, LOS rate: -0.431125 deg/s, cmd heading: 139.208339 deg, new cmd heading: 138.559646 deg. 2025-01-08T22:25:12.735Z,1736375112.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418322 target range: 81.400002 and range: 81.40 m. 2025-01-08T22:25:12.884Z,1736375112.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:12.884Z,1736375112.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501887 2025-01-08T22:25:13.045Z,1736375113.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:13.072Z,1736375113.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:25:13.074Z,1736375113.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 100.852249 m, bearing: 72.072560 deg, approach rate: -0.256376 m/s, LOS rate: -0.433477 deg/s, cmd heading: 138.559649 deg, new cmd heading: 138.132498 deg. 2025-01-08T22:25:13.076Z,1736375113.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410867 target range: 81.400002 and range: 81.40 m. 2025-01-08T22:25:13.136Z,1736375113.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:13.137Z,1736375113.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754111 2025-01-08T22:25:13.389Z,1736375113.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:13.392Z,1736375113.392 [DAT](INFO): DAT read: Rx Time:22:25:12.1122 2025-01-08T22:25:13.393Z,1736375113.393 [DAT](INFO): Rx dataTimestamp_ set to:1736375113.392585 2025-01-08T22:25:13.395Z,1736375113.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012114 2025-01-08T22:25:13.533Z,1736375113.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:13.549Z,1736375113.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:13.556Z,1736375113.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:25:13.583Z,1736375113.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.400002 m, nav range: 100.721786 m, bearing: 71.859947 deg, approach rate: -0.263005 m/s, LOS rate: -0.429169 deg/s, cmd heading: 138.132503 deg, new cmd heading: 137.493866 deg. 2025-01-08T22:25:13.584Z,1736375113.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.399721 target range: 81.400002 and range: 81.40 m. 2025-01-08T22:25:13.642Z,1736375113.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:13.645Z,1736375113.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262231 2025-01-08T22:25:13.893Z,1736375113.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:13.900Z,1736375113.900 [DAT](INFO): DAT read: 22:25:12.1122 LVL= 20544, 26481, 18658, 29875, AGC= 65, IDX= 400, 0.11,-1.583,-3.012,-1.740,-2.135, PHS= 0.640,-0.830, 0.392, RAW= 140.9, -3.0, CAL= 146.0, -12.3, ROT= 4.0, 12.3 2025-01-08T22:25:13.901Z,1736375113.901 [DAT](INFO): got valid direction response: 22:25:12.1122 LVL= 20544, 26481, 18658, 29875, AGC= 65, IDX= 400, 0.11,-1.583,-3.012,-1.740,-2.135, PHS= 0.640,-0.830, 0.392, RAW= 140.9, -3.0, CAL= 146.0, -12.3, ROT= 4.0, 12.3 2025-01-08T22:25:13.902Z,1736375113.902 [DAT](INFO): DAT read: Bearing 4.0, 12.3 (Local) 2025-01-08T22:25:13.902Z,1736375113.902 [DAT](INFO): Local bearing/azimuth received: Bearing 4.0, 12.3 (Local) 2025-01-08T22:25:13.904Z,1736375113.904 [DAT](INFO): DAT read: Range 10 to 50 : 78.8 m (Round-trip 105.1 ms) speed 0.6 m/s 2025-01-08T22:25:13.904Z,1736375113.904 [DAT](INFO): DAT read: user:2587> 2025-01-08T22:25:13.905Z,1736375113.905 [DAT](INFO): DAT read: Tx time:22:25:13.2029 2025-01-08T22:25:13.905Z,1736375113.905 [DAT](INFO): Ping request sent. 2025-01-08T22:25:13.906Z,1736375113.906 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:13.906Z,1736375113.906 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:25:13.907Z,1736375113.907 [DAT](INFO): direction in FSK: [-0.066259,-0.728769,0.681547] 2025-01-08T22:25:13.907Z,1736375113.907 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:13.907Z,1736375113.907 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:13.915Z,1736375113.915 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:13.916Z,1736375113.916 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:13.969Z,1736375113.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:14.016Z,1736375114.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.800003 m, deltaT: 3.527042 s, deltaX: -2.599998 m, approachRate: -0.737161 m/s, rangeRepo size: 4 2025-01-08T22:25:14.018Z,1736375114.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.800003 m, bearing: 46.246625 deg, lat: 36.905391 deg, lon: -122.118689 deg, deltaT: 3.527042 s, deltaX: -2.599998 m, approachRate: -0.737161 m/s, posRepo size: 4 2025-01-08T22:25:14.020Z,1736375114.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:25:14.022Z,1736375114.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.800003 m, nav range: 98.510353 m, bearing: 68.106686 deg, approach rate: 0.000000 m/s, LOS rate: -0.429169 deg/s, cmd heading: 137.493866 deg, new cmd heading: 136.906857 deg. 2025-01-08T22:25:14.032Z,1736375114.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389475 target range: 78.800003 and range: 78.80 m. 2025-01-08T22:25:14.145Z,1736375114.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:14.147Z,1736375114.147 [DAT](INFO): DAT read: TxSync time:22:25:13.2021 2025-01-08T22:25:14.326Z,1736375114.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:14.355Z,1736375114.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:25:14.358Z,1736375114.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.800003 m, nav range: 98.430313 m, bearing: 67.945546 deg, approach rate: -0.232781 m/s, LOS rate: -0.469027 deg/s, cmd heading: 136.906853 deg, new cmd heading: 136.423051 deg. 2025-01-08T22:25:14.366Z,1736375114.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.381032 target range: 78.800003 and range: 78.80 m. 2025-01-08T22:25:14.397Z,1736375114.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:14.648Z,1736375114.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:14.756Z,1736375114.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:14.765Z,1736375114.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:25:14.768Z,1736375114.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.800003 m, nav range: 98.340157 m, bearing: 67.751927 deg, approach rate: -0.218010 m/s, LOS rate: -0.468623 deg/s, cmd heading: 136.423057 deg, new cmd heading: 135.841689 deg. 2025-01-08T22:25:14.769Z,1736375114.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.370885 target range: 78.800003 and range: 78.80 m. 2025-01-08T22:25:14.900Z,1736375114.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:15.114Z,1736375115.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:15.138Z,1736375115.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:25:15.141Z,1736375115.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.800003 m, nav range: 98.263618 m, bearing: 67.590616 deg, approach rate: -0.204879 m/s, LOS rate: -0.432138 deg/s, cmd heading: 135.841685 deg, new cmd heading: 135.357386 deg. 2025-01-08T22:25:15.144Z,1736375115.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.362432 target range: 78.800003 and range: 78.80 m. 2025-01-08T22:25:15.153Z,1736375115.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:15.406Z,1736375115.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:15.555Z,1736375115.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:15.564Z,1736375115.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:15.566Z,1736375115.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:25:15.569Z,1736375115.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.800003 m, nav range: 98.189598 m, bearing: 67.393880 deg, approach rate: -0.173052 m/s, LOS rate: -0.460292 deg/s, cmd heading: 135.357383 deg, new cmd heading: 134.766755 deg. 2025-01-08T22:25:15.570Z,1736375115.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.352123 target range: 78.800003 and range: 78.80 m. 2025-01-08T22:25:15.657Z,1736375115.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:15.658Z,1736375115.658 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:15.658Z,1736375115.658 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:15.659Z,1736375115.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:15.908Z,1736375115.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:15.909Z,1736375115.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002792 2025-01-08T22:25:15.926Z,1736375115.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:15.935Z,1736375115.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:25:15.958Z,1736375115.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.800003 m, nav range: 98.124969 m, bearing: 67.228672 deg, approach rate: -0.175237 m/s, LOS rate: -0.448250 deg/s, cmd heading: 134.766749 deg, new cmd heading: 134.270810 deg. 2025-01-08T22:25:15.960Z,1736375115.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343468 target range: 78.800003 and range: 78.80 m. 2025-01-08T22:25:16.162Z,1736375116.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:16.163Z,1736375116.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257492 2025-01-08T22:25:16.328Z,1736375116.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:16.337Z,1736375116.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:25:16.340Z,1736375116.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.800003 m, nav range: 98.052040 m, bearing: 67.049594 deg, approach rate: -0.181447 m/s, LOS rate: -0.445871 deg/s, cmd heading: 134.270809 deg, new cmd heading: 133.733194 deg. 2025-01-08T22:25:16.341Z,1736375116.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334085 target range: 78.800003 and range: 78.80 m. 2025-01-08T22:25:16.414Z,1736375116.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:16.417Z,1736375116.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510688 2025-01-08T22:25:16.664Z,1736375116.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:16.665Z,1736375116.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759301 2025-01-08T22:25:16.772Z,1736375116.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:16.781Z,1736375116.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:25:16.807Z,1736375116.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.800003 m, nav range: 97.989441 m, bearing: 66.858956 deg, approach rate: -0.140862 m/s, LOS rate: -0.429252 deg/s, cmd heading: 133.733191 deg, new cmd heading: 133.160931 deg. 2025-01-08T22:25:16.813Z,1736375116.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324097 target range: 78.800003 and range: 78.80 m. 2025-01-08T22:25:16.916Z,1736375116.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:16.917Z,1736375116.917 [DAT](INFO): DAT read: Rx Time:22:25:15.7088 2025-01-08T22:25:16.918Z,1736375116.918 [DAT](INFO): Rx dataTimestamp_ set to:1736375116.917602 2025-01-08T22:25:16.919Z,1736375116.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013239 2025-01-08T22:25:17.136Z,1736375117.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:17.145Z,1736375117.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:25:17.148Z,1736375117.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.800003 m, nav range: 97.932892 m, bearing: 66.702701 deg, approach rate: -0.155594 m/s, LOS rate: -0.430183 deg/s, cmd heading: 133.160931 deg, new cmd heading: 132.691906 deg. 2025-01-08T22:25:17.149Z,1736375117.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315911 target range: 78.800003 and range: 78.80 m. 2025-01-08T22:25:17.168Z,1736375117.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:17.169Z,1736375117.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262961 2025-01-08T22:25:17.421Z,1736375117.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:17.446Z,1736375117.446 [DAT](INFO): DAT read: 22:25:15.7088 LVL= 19824, 32753, 20402, 32755, AGC= 64, IDX= 415,-0.01,-1.685, 3.050,-2.080,-2.290, PHS= 0.692,-0.897, 0.207, RAW= 132.7, -0.0, CAL= 138.3, -8.8, ROT= 11.7, 8.8 2025-01-08T22:25:17.452Z,1736375117.452 [DAT](INFO): got valid direction response: 22:25:15.7088 LVL= 19824, 32753, 20402, 32755, AGC= 64, IDX= 415,-0.01,-1.685, 3.050,-2.080,-2.290, PHS= 0.692,-0.897, 0.207, RAW= 132.7, -0.0, CAL= 138.3, -8.8, ROT= 11.7, 8.8 2025-01-08T22:25:17.455Z,1736375117.455 [DAT](INFO): DAT read: Bearing 11.7, 8.8 (Local) 2025-01-08T22:25:17.456Z,1736375117.456 [DAT](INFO): Local bearing/azimuth received: Bearing 11.7, 8.8 (Local) 2025-01-08T22:25:17.475Z,1736375117.475 [DAT](INFO): DAT read: Range 10 to 50 : 76.3 m (Round-trip 101.8 ms) speed 0.9 m/s 2025-01-08T22:25:17.477Z,1736375117.477 [DAT](INFO): DAT read: user:2588> 2025-01-08T22:25:17.478Z,1736375117.478 [DAT](INFO): DAT read: Tx time:22:25:16.8029 2025-01-08T22:25:17.478Z,1736375117.478 [DAT](INFO): Ping request sent. 2025-01-08T22:25:17.478Z,1736375117.478 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:17.478Z,1736375117.478 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:25:17.494Z,1736375117.494 [DAT](INFO): direction in FSK: [-0.124958,-0.612925,0.780198] 2025-01-08T22:25:17.494Z,1736375117.494 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:17.494Z,1736375117.494 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:17.498Z,1736375117.498 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:17.498Z,1736375117.498 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:17.629Z,1736375117.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:17.665Z,1736375117.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.300003 m, deltaT: 3.528261 s, deltaX: -2.500000 m, approachRate: -0.708564 m/s, rangeRepo size: 4 2025-01-08T22:25:17.672Z,1736375117.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:17.674Z,1736375117.674 [DAT](INFO): DAT read: TxSync time:22:25:16.8021 2025-01-08T22:25:17.677Z,1736375117.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.300003 m, bearing: 35.582704 deg, lat: 36.905412 deg, lon: -122.119196 deg, deltaT: 3.528261 s, deltaX: -2.500000 m, approachRate: -0.708564 m/s, posRepo size: 4 2025-01-08T22:25:17.678Z,1736375117.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.30 m. 2025-01-08T22:25:17.685Z,1736375117.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.300003 m, nav range: 60.907349 m, bearing: 47.275467 deg, approach rate: 0.000000 m/s, LOS rate: -0.430183 deg/s, cmd heading: 132.691902 deg, new cmd heading: 132.029615 deg. 2025-01-08T22:25:17.686Z,1736375117.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304352 target range: 76.300003 and range: 76.30 m. 2025-01-08T22:25:17.924Z,1736375117.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:17.976Z,1736375117.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:17.989Z,1736375117.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:17.991Z,1736375117.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.30 m. 2025-01-08T22:25:17.995Z,1736375117.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.300003 m, nav range: 60.952648 m, bearing: 47.046812 deg, approach rate: 0.136066 m/s, LOS rate: -0.686294 deg/s, cmd heading: 132.029619 deg, new cmd heading: 131.344201 deg. 2025-01-08T22:25:18.016Z,1736375118.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.292389 target range: 76.300003 and range: 76.30 m. 2025-01-08T22:25:18.176Z,1736375118.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:18.176Z,1736375118.176 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:18.176Z,1736375118.176 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:18.176Z,1736375118.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:18.386Z,1736375118.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:18.413Z,1736375118.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.30 m. 2025-01-08T22:25:18.420Z,1736375118.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.300003 m, nav range: 61.005322 m, bearing: 46.776025 deg, approach rate: 0.124839 m/s, LOS rate: -0.641228 deg/s, cmd heading: 131.344196 deg, new cmd heading: 130.532592 deg. 2025-01-08T22:25:18.421Z,1736375118.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278224 target range: 76.300003 and range: 76.30 m. 2025-01-08T22:25:18.430Z,1736375118.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:18.432Z,1736375118.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.953460 2025-01-08T22:25:18.680Z,1736375118.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:18.681Z,1736375118.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.202912 2025-01-08T22:25:18.816Z,1736375118.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:18.825Z,1736375118.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.30 m. 2025-01-08T22:25:18.829Z,1736375118.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.300003 m, nav range: 61.067520 m, bearing: 46.507708 deg, approach rate: 0.150908 m/s, LOS rate: -0.650332 deg/s, cmd heading: 130.532592 deg, new cmd heading: 129.728518 deg. 2025-01-08T22:25:18.830Z,1736375118.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.264190 target range: 76.300003 and range: 76.30 m. 2025-01-08T22:25:18.932Z,1736375118.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:18.933Z,1736375118.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454827 2025-01-08T22:25:19.184Z,1736375119.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:19.185Z,1736375119.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706559 2025-01-08T22:25:19.211Z,1736375119.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:19.254Z,1736375119.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.30 m. 2025-01-08T22:25:19.271Z,1736375119.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.300003 m, nav range: 61.119587 m, bearing: 46.263185 deg, approach rate: 0.121444 m/s, LOS rate: -0.569853 deg/s, cmd heading: 129.728515 deg, new cmd heading: 128.995613 deg. 2025-01-08T22:25:19.272Z,1736375119.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.251398 target range: 76.300003 and range: 76.30 m. 2025-01-08T22:25:19.437Z,1736375119.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:19.440Z,1736375119.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960951 2025-01-08T22:25:19.613Z,1736375119.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:19.622Z,1736375119.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.30 m. 2025-01-08T22:25:19.626Z,1736375119.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.300003 m, nav range: 61.167538 m, bearing: 46.015450 deg, approach rate: 0.130113 m/s, LOS rate: -0.671693 deg/s, cmd heading: 128.995608 deg, new cmd heading: 128.253029 deg. 2025-01-08T22:25:19.627Z,1736375119.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.238438 target range: 76.300003 and range: 76.30 m. 2025-01-08T22:25:19.688Z,1736375119.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:19.688Z,1736375119.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210389 2025-01-08T22:25:19.940Z,1736375119.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:19.940Z,1736375119.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.462339 2025-01-08T22:25:19.998Z,1736375119.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:20.005Z,1736375120.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:20.007Z,1736375120.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.30 m. 2025-01-08T22:25:20.021Z,1736375120.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.300003 m, nav range: 61.211296 m, bearing: 45.780588 deg, approach rate: 0.113788 m/s, LOS rate: -0.610292 deg/s, cmd heading: 128.253030 deg, new cmd heading: 127.548984 deg. 2025-01-08T22:25:20.022Z,1736375120.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.226150 target range: 76.300003 and range: 76.30 m. 2025-01-08T22:25:20.192Z,1736375120.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:20.192Z,1736375120.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714429 2025-01-08T22:25:20.417Z,1736375120.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:20.426Z,1736375120.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.30 m. 2025-01-08T22:25:20.429Z,1736375120.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.300003 m, nav range: 61.256969 m, bearing: 45.524478 deg, approach rate: 0.109128 m/s, LOS rate: -0.611467 deg/s, cmd heading: 127.548988 deg, new cmd heading: 126.781280 deg. 2025-01-08T22:25:20.430Z,1736375120.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.212751 target range: 76.300003 and range: 76.30 m. 2025-01-08T22:25:20.444Z,1736375120.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:20.446Z,1736375120.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967078 2025-01-08T22:25:20.696Z,1736375120.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:20.697Z,1736375120.697 [DAT](INFO): DAT read: Rx Time:22:25:19.3052 2025-01-08T22:25:20.698Z,1736375120.698 [DAT](INFO): Rx dataTimestamp_ set to:1736375120.697698 2025-01-08T22:25:20.699Z,1736375120.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220704 2025-01-08T22:25:20.841Z,1736375120.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:20.864Z,1736375120.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.30 m. 2025-01-08T22:25:20.867Z,1736375120.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.300003 m, nav range: 61.295959 m, bearing: 45.266447 deg, approach rate: 0.088820 m/s, LOS rate: -0.587424 deg/s, cmd heading: 126.781275 deg, new cmd heading: 126.007723 deg. 2025-01-08T22:25:20.876Z,1736375120.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199250 target range: 76.300003 and range: 76.30 m. 2025-01-08T22:25:20.948Z,1736375120.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:20.949Z,1736375120.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471198 2025-01-08T22:25:21.200Z,1736375121.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:21.208Z,1736375121.208 [DAT](INFO): DAT read: 22:25:19.3052 LVL= 30496, 32049, 28082, 32755, AGC= 65, IDX= 410,-0.44,-0.048,-1.592,-0.574,-0.546, PHS= 0.586,-0.999,-0.031, RAW= 127.3, 6.5, CAL= 134.6, 1.1, ROT= 15.4, -1.1 2025-01-08T22:25:21.209Z,1736375121.209 [DAT](INFO): got valid direction response: 22:25:19.3052 LVL= 30496, 32049, 28082, 32755, AGC= 65, IDX= 410,-0.44,-0.048,-1.592,-0.574,-0.546, PHS= 0.586,-0.999,-0.031, RAW= 127.3, 6.5, CAL= 134.6, 1.1, ROT= 15.4, -1.1 2025-01-08T22:25:21.210Z,1736375121.210 [DAT](INFO): DAT read: Bearing 15.4, -1.1 (Local) 2025-01-08T22:25:21.210Z,1736375121.210 [DAT](INFO): Local bearing/azimuth received: Bearing 15.4, -1.1 (Local) 2025-01-08T22:25:21.212Z,1736375121.212 [DAT](INFO): DAT read: Range 10 to 50 : 73.5 m (Round-trip 98.1 ms) speed 0.6 m/s 2025-01-08T22:25:21.212Z,1736375121.212 [DAT](INFO): DAT read: user:2589> 2025-01-08T22:25:21.213Z,1736375121.213 [DAT](INFO): DAT read: Tx time:22:25:20.4030 2025-01-08T22:25:21.213Z,1736375121.213 [DAT](INFO): Ping request sent. 2025-01-08T22:25:21.214Z,1736375121.214 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:21.214Z,1736375121.214 [DAT](INFO): DAT read: TxSync time:22:25:20.4022 2025-01-08T22:25:21.215Z,1736375121.215 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:25:21.220Z,1736375121.220 [DAT](INFO): direction in FSK: [-0.248443,-0.518151,0.818410] 2025-01-08T22:25:21.220Z,1736375121.220 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:21.220Z,1736375121.220 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:21.224Z,1736375121.224 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:21.224Z,1736375121.224 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:21.235Z,1736375121.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:21.311Z,1736375121.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 3.779166 s, deltaX: -2.800003 m, approachRate: -0.740905 m/s, rangeRepo size: 4 2025-01-08T22:25:21.317Z,1736375121.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.500000 m, bearing: 17.714153 deg, lat: 36.905412 deg, lon: -122.119218 deg, deltaT: 3.779166 s, deltaX: -2.800003 m, approachRate: -0.740905 m/s, posRepo size: 4 2025-01-08T22:25:21.318Z,1736375121.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:25:21.326Z,1736375121.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 59.914234 m, bearing: 43.656868 deg, approach rate: 0.000000 m/s, LOS rate: -0.587424 deg/s, cmd heading: 126.007728 deg, new cmd heading: 125.222287 deg. 2025-01-08T22:25:21.336Z,1736375121.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.185541 target range: 73.500000 and range: 73.50 m. 2025-01-08T22:25:21.454Z,1736375121.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:21.704Z,1736375121.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:21.743Z,1736375121.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:21.768Z,1736375121.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:25:21.771Z,1736375121.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 59.956661 m, bearing: 43.334770 deg, approach rate: 0.092562 m/s, LOS rate: -0.702214 deg/s, cmd heading: 125.222284 deg, new cmd heading: 124.256769 deg. 2025-01-08T22:25:21.776Z,1736375121.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168690 target range: 73.500000 and range: 73.50 m. 2025-01-08T22:25:21.956Z,1736375121.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:22.054Z,1736375122.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:22.070Z,1736375122.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:22.076Z,1736375122.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:25:22.092Z,1736375122.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 59.981537 m, bearing: 43.136238 deg, approach rate: 0.080712 m/s, LOS rate: -0.643890 deg/s, cmd heading: 124.256768 deg, new cmd heading: 123.661442 deg. 2025-01-08T22:25:22.093Z,1736375122.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.158299 target range: 73.500000 and range: 73.50 m. 2025-01-08T22:25:22.208Z,1736375122.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:22.209Z,1736375122.209 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:22.209Z,1736375122.209 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:22.210Z,1736375122.210 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:22.455Z,1736375122.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:22.460Z,1736375122.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:22.461Z,1736375122.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247208 2025-01-08T22:25:22.471Z,1736375122.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:25:22.474Z,1736375122.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 60.011978 m, bearing: 42.881136 deg, approach rate: 0.077195 m/s, LOS rate: -0.646575 deg/s, cmd heading: 123.661436 deg, new cmd heading: 122.896566 deg. 2025-01-08T22:25:22.476Z,1736375122.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.144950 target range: 73.500000 and range: 73.50 m. 2025-01-08T22:25:22.712Z,1736375122.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:22.712Z,1736375122.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498826 2025-01-08T22:25:22.884Z,1736375122.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:22.896Z,1736375122.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:25:22.898Z,1736375122.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 60.028606 m, bearing: 42.603959 deg, approach rate: 0.039170 m/s, LOS rate: -0.652745 deg/s, cmd heading: 122.896564 deg, new cmd heading: 122.065324 deg. 2025-01-08T22:25:22.899Z,1736375122.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.130442 target range: 73.500000 and range: 73.50 m. 2025-01-08T22:25:22.964Z,1736375122.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:22.965Z,1736375122.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751003 2025-01-08T22:25:23.008Z,1736375123.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:25:23.216Z,1736375123.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:23.216Z,1736375123.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002825 2025-01-08T22:25:23.254Z,1736375123.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:23.292Z,1736375123.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:25:23.301Z,1736375123.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 60.041008 m, bearing: 42.365369 deg, approach rate: 0.031623 m/s, LOS rate: -0.608257 deg/s, cmd heading: 122.065330 deg, new cmd heading: 121.349748 deg. 2025-01-08T22:25:23.302Z,1736375123.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.117953 target range: 73.500000 and range: 73.50 m. 2025-01-08T22:25:23.468Z,1736375123.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:23.469Z,1736375123.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255532 2025-01-08T22:25:23.705Z,1736375123.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:23.715Z,1736375123.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:25:23.718Z,1736375123.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 60.046425 m, bearing: 42.060874 deg, approach rate: 0.012676 m/s, LOS rate: -0.712466 deg/s, cmd heading: 121.349744 deg, new cmd heading: 120.436422 deg. 2025-01-08T22:25:23.719Z,1736375123.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102012 target range: 73.500000 and range: 73.50 m. 2025-01-08T22:25:23.720Z,1736375123.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:23.720Z,1736375123.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506850 2025-01-08T22:25:23.972Z,1736375123.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:23.973Z,1736375123.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759527 2025-01-08T22:25:24.012Z,1736375124.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:25:24.068Z,1736375124.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:24.076Z,1736375124.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:24.078Z,1736375124.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:25:24.081Z,1736375124.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 60.046432 m, bearing: 41.816057 deg, approach rate: 0.000021 m/s, LOS rate: -0.674424 deg/s, cmd heading: 120.436425 deg, new cmd heading: 119.702018 deg. 2025-01-08T22:25:24.082Z,1736375124.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089194 target range: 73.500000 and range: 73.50 m. 2025-01-08T22:25:24.224Z,1736375124.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:24.225Z,1736375124.225 [DAT](INFO): DAT read: Rx Time:22:25:22.9017 2025-01-08T22:25:24.225Z,1736375124.225 [DAT](INFO): Rx dataTimestamp_ set to:1736375124.224724 2025-01-08T22:25:24.227Z,1736375124.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013036 2025-01-08T22:25:24.476Z,1736375124.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:24.477Z,1736375124.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263398 2025-01-08T22:25:24.500Z,1736375124.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:24.508Z,1736375124.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:25:24.515Z,1736375124.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 60.044956 m, bearing: 41.525248 deg, approach rate: -0.003432 m/s, LOS rate: -0.676067 deg/s, cmd heading: 119.702016 deg, new cmd heading: 118.829638 deg. 2025-01-08T22:25:24.519Z,1736375124.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073968 target range: 73.500000 and range: 73.50 m. 2025-01-08T22:25:24.728Z,1736375124.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:24.734Z,1736375124.734 [DAT](INFO): DAT read: 22:25:22.9017 LVL= 22320, 30065, 26226, 32755, AGC= 64, IDX= 405, 0.12,-2.365, 2.407,-3.003,-2.847, PHS= 0.571,-0.982,-0.159, RAW= 122.0, 8.5, CAL= 130.2, 4.2, ROT= 19.8, -4.2 2025-01-08T22:25:24.740Z,1736375124.740 [DAT](INFO): got valid direction response: 22:25:22.9017 LVL= 22320, 30065, 26226, 32755, AGC= 64, IDX= 405, 0.12,-2.365, 2.407,-3.003,-2.847, PHS= 0.571,-0.982,-0.159, RAW= 122.0, 8.5, CAL= 130.2, 4.2, ROT= 19.8, -4.2 2025-01-08T22:25:24.741Z,1736375124.741 [DAT](INFO): DAT read: Bearing 19.8, -4.2 (Local) 2025-01-08T22:25:24.742Z,1736375124.742 [DAT](INFO): Local bearing/azimuth received: Bearing 19.8, -4.2 (Local) 2025-01-08T22:25:24.745Z,1736375124.745 [DAT](INFO): DAT read: Range 10 to 50 : 70.9 m (Round-trip 94.6 ms) speed 0.5 m/s 2025-01-08T22:25:24.746Z,1736375124.746 [DAT](INFO): DAT read: user:2590> 2025-01-08T22:25:24.746Z,1736375124.746 [DAT](INFO): DAT read: Tx time:22:25:24.0030 2025-01-08T22:25:24.747Z,1736375124.747 [DAT](INFO): Ping request sent. 2025-01-08T22:25:24.747Z,1736375124.747 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:24.748Z,1736375124.748 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:25:24.749Z,1736375124.749 [DAT](INFO): direction in FSK: [-0.283898,-0.429346,0.857359] 2025-01-08T22:25:24.749Z,1736375124.749 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:24.749Z,1736375124.749 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:24.753Z,1736375124.753 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:24.753Z,1736375124.753 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:24.953Z,1736375124.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:24.980Z,1736375124.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:24.981Z,1736375124.981 [DAT](INFO): DAT read: TxSync time:22:25:24.0022 2025-01-08T22:25:24.984Z,1736375124.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.900002 m, deltaT: 3.527477 s, deltaX: -2.599998 m, approachRate: -0.737070 m/s, rangeRepo size: 4 2025-01-08T22:25:24.986Z,1736375124.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.900002 m, bearing: 5.705641 deg, lat: 36.905412 deg, lon: -122.119366 deg, deltaT: 3.527477 s, deltaX: -2.599998 m, approachRate: -0.737070 m/s, posRepo size: 4 2025-01-08T22:25:24.991Z,1736375124.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:25:24.994Z,1736375124.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.900002 m, nav range: 52.310814 m, bearing: 30.310207 deg, approach rate: 0.000000 m/s, LOS rate: -0.676067 deg/s, cmd heading: 118.829637 deg, new cmd heading: 117.874207 deg. 2025-01-08T22:25:24.000Z,1736375125.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057293 target range: 70.900002 and range: 70.90 m. 2025-01-08T22:25:25.232Z,1736375125.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:25.286Z,1736375125.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:25.295Z,1736375125.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:25:25.298Z,1736375125.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.900002 m, nav range: 52.345795 m, bearing: 30.048274 deg, approach rate: 0.110829 m/s, LOS rate: -0.829318 deg/s, cmd heading: 117.874203 deg, new cmd heading: 117.088981 deg. 2025-01-08T22:25:25.298Z,1736375125.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.043588 target range: 70.900002 and range: 70.90 m. 2025-01-08T22:25:25.486Z,1736375125.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:25.710Z,1736375125.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:25.719Z,1736375125.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:25:25.722Z,1736375125.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.900002 m, nav range: 52.393917 m, bearing: 29.704704 deg, approach rate: 0.113513 m/s, LOS rate: -0.809678 deg/s, cmd heading: 117.088977 deg, new cmd heading: 116.059330 deg. 2025-01-08T22:25:25.722Z,1736375125.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.025617 target range: 70.900002 and range: 70.90 m. 2025-01-08T22:25:25.736Z,1736375125.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:25.988Z,1736375125.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:26.130Z,1736375126.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:26.136Z,1736375126.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:26.138Z,1736375126.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:25:26.141Z,1736375126.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.900002 m, nav range: 52.443466 m, bearing: 29.364817 deg, approach rate: 0.118092 m/s, LOS rate: -0.809296 deg/s, cmd heading: 116.059326 deg, new cmd heading: 115.040740 deg. 2025-01-08T22:25:26.143Z,1736375126.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.007840 target range: 70.900002 and range: 70.90 m. 2025-01-08T22:25:26.240Z,1736375126.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:26.240Z,1736375126.240 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:26.240Z,1736375126.240 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:26.241Z,1736375126.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:26.493Z,1736375126.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:26.493Z,1736375126.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746489 2025-01-08T22:25:26.495Z,1736375126.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:26.503Z,1736375126.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:25:26.506Z,1736375126.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.900002 m, nav range: 52.482510 m, bearing: 29.068691 deg, approach rate: 0.107038 m/s, LOS rate: -0.811222 deg/s, cmd heading: 115.040740 deg, new cmd heading: 114.153099 deg. 2025-01-08T22:25:26.507Z,1736375126.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.992347 target range: 70.900002 and range: 70.90 m. 2025-01-08T22:25:26.744Z,1736375126.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:26.744Z,1736375126.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997679 2025-01-08T22:25:26.926Z,1736375126.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:26.935Z,1736375126.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:25:26.938Z,1736375126.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.900002 m, nav range: 52.537018 m, bearing: 28.725398 deg, approach rate: 0.126243 m/s, LOS rate: -0.794250 deg/s, cmd heading: 114.153102 deg, new cmd heading: 113.124405 deg. 2025-01-08T22:25:26.939Z,1736375126.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.974393 target range: 70.900002 and range: 70.90 m. 2025-01-08T22:25:26.996Z,1736375126.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:26.997Z,1736375126.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250651 2025-01-08T22:25:27.248Z,1736375127.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:27.248Z,1736375127.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501527 2025-01-08T22:25:27.313Z,1736375127.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:27.330Z,1736375127.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:25:27.337Z,1736375127.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.900002 m, nav range: 52.579720 m, bearing: 28.415438 deg, approach rate: 0.108107 m/s, LOS rate: -0.784074 deg/s, cmd heading: 113.124407 deg, new cmd heading: 112.195370 deg. 2025-01-08T22:25:27.338Z,1736375127.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.958179 target range: 70.900002 and range: 70.90 m. 2025-01-08T22:25:27.500Z,1736375127.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:27.501Z,1736375127.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753842 2025-01-08T22:25:27.731Z,1736375127.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:27.740Z,1736375127.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:25:27.744Z,1736375127.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.900002 m, nav range: 52.632103 m, bearing: 28.089615 deg, approach rate: 0.127730 m/s, LOS rate: -0.793685 deg/s, cmd heading: 112.195372 deg, new cmd heading: 111.218974 deg. 2025-01-08T22:25:27.745Z,1736375127.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.941137 target range: 70.900002 and range: 70.90 m. 2025-01-08T22:25:27.752Z,1736375127.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:27.753Z,1736375127.753 [DAT](INFO): DAT read: Rx Time:22:25:26.4987 2025-01-08T22:25:27.753Z,1736375127.753 [DAT](INFO): Rx dataTimestamp_ set to:1736375127.752772 2025-01-08T22:25:27.754Z,1736375127.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006815 2025-01-08T22:25:28.004Z,1736375128.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:28.005Z,1736375128.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257762 2025-01-08T22:25:28.109Z,1736375128.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:28.137Z,1736375128.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:25:28.140Z,1736375128.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.900002 m, nav range: 52.676945 m, bearing: 27.794492 deg, approach rate: 0.112815 m/s, LOS rate: -0.741845 deg/s, cmd heading: 111.218976 deg, new cmd heading: 110.334435 deg. 2025-01-08T22:25:28.141Z,1736375128.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.925699 target range: 70.900002 and range: 70.90 m. 2025-01-08T22:25:28.256Z,1736375128.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:28.271Z,1736375128.271 [DAT](INFO): DAT read: 22:25:26.4987 LVL= 22400, 29617, 24482, 32755, AGC= 64, IDX= 407,-0.42,-0.797,-2.423,-1.704,-1.468, PHS= 0.758,-0.909,-0.239, RAW= 113.5, 5.4, CAL= 123.8, 2.1, ROT= 26.2, -2.1 2025-01-08T22:25:28.288Z,1736375128.288 [DAT](INFO): got valid direction response: 22:25:26.4987 LVL= 22400, 29617, 24482, 32755, AGC= 64, IDX= 407,-0.42,-0.797,-2.423,-1.704,-1.468, PHS= 0.758,-0.909,-0.239, RAW= 113.5, 5.4, CAL= 123.8, 2.1, ROT= 26.2, -2.1 2025-01-08T22:25:28.289Z,1736375128.289 [DAT](INFO): DAT read: Bearing 26.2, -2.1 (Local) 2025-01-08T22:25:28.289Z,1736375128.289 [DAT](INFO): Local bearing/azimuth received: Bearing 26.2, -2.1 (Local) 2025-01-08T22:25:28.291Z,1736375128.291 [DAT](INFO): DAT read: Range 10 to 50 : 68.7 m (Round-trip 91.6 ms) speed 0.6 m/s 2025-01-08T22:25:28.296Z,1736375128.296 [DAT](INFO): DAT read: user:2591> 2025-01-08T22:25:28.297Z,1736375128.297 [DAT](INFO): DAT read: Tx time:22:25:27.6030 2025-01-08T22:25:28.298Z,1736375128.298 [DAT](INFO): Ping request sent. 2025-01-08T22:25:28.298Z,1736375128.298 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:28.299Z,1736375128.299 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:25:28.309Z,1736375128.309 [DAT](INFO): direction in FSK: [-0.219301,-0.296581,0.929487] 2025-01-08T22:25:28.309Z,1736375128.309 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:28.310Z,1736375128.310 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:28.314Z,1736375128.314 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:28.314Z,1736375128.314 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:28.508Z,1736375128.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:28.509Z,1736375128.509 [DAT](INFO): DAT read: TxSync time:22:25:27.6022 2025-01-08T22:25:28.535Z,1736375128.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:28.579Z,1736375128.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.699997 m, deltaT: 3.529111 s, deltaX: -2.200005 m, approachRate: -0.623388 m/s, rangeRepo size: 4 2025-01-08T22:25:28.600Z,1736375128.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.699997 m, bearing: 357.063194 deg, lat: 36.905405 deg, lon: -122.119530 deg, deltaT: 3.529111 s, deltaX: -2.200005 m, approachRate: -0.623388 m/s, posRepo size: 4 2025-01-08T22:25:28.603Z,1736375128.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T22:25:28.633Z,1736375128.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 47.052315 m, bearing: 11.915370 deg, approach rate: 0.000000 m/s, LOS rate: -0.741845 deg/s, cmd heading: 110.334439 deg, new cmd heading: 109.370054 deg. 2025-01-08T22:25:28.643Z,1736375128.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.908868 target range: 68.699997 and range: 68.70 m. 2025-01-08T22:25:28.760Z,1736375128.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:28.985Z,1736375128.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:28.992Z,1736375128.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:28.994Z,1736375128.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T22:25:28.997Z,1736375128.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 47.195644 m, bearing: 11.568074 deg, approach rate: 0.338375 m/s, LOS rate: -0.817408 deg/s, cmd heading: 109.370057 deg, new cmd heading: 108.331453 deg. 2025-01-08T22:25:28.998Z,1736375128.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.890741 target range: 68.699997 and range: 68.70 m. 2025-01-08T22:25:29.012Z,1736375129.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:29.012Z,1736375129.012 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:29.012Z,1736375129.012 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:29.013Z,1736375129.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:29.264Z,1736375129.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:29.265Z,1736375129.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966331 2025-01-08T22:25:29.349Z,1736375129.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:29.357Z,1736375129.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T22:25:29.360Z,1736375129.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 47.305386 m, bearing: 11.286689 deg, approach rate: 0.302475 m/s, LOS rate: -0.773766 deg/s, cmd heading: 108.331452 deg, new cmd heading: 107.489320 deg. 2025-01-08T22:25:29.361Z,1736375129.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.876043 target range: 68.699997 and range: 68.70 m. 2025-01-08T22:25:29.516Z,1736375129.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:29.517Z,1736375129.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.218565 2025-01-08T22:25:29.768Z,1736375129.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:29.768Z,1736375129.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470291 2025-01-08T22:25:29.779Z,1736375129.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:29.788Z,1736375129.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T22:25:29.791Z,1736375129.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 47.435242 m, bearing: 10.971912 deg, approach rate: 0.301433 m/s, LOS rate: -0.728683 deg/s, cmd heading: 107.489323 deg, new cmd heading: 106.547667 deg. 2025-01-08T22:25:29.793Z,1736375129.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.859608 target range: 68.699997 and range: 68.70 m. 2025-01-08T22:25:30.021Z,1736375130.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:30.021Z,1736375130.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723086 2025-01-08T22:25:30.156Z,1736375130.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:30.165Z,1736375130.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T22:25:30.168Z,1736375130.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 47.546227 m, bearing: 10.694721 deg, approach rate: 0.293992 m/s, LOS rate: -0.732545 deg/s, cmd heading: 106.547666 deg, new cmd heading: 105.718096 deg. 2025-01-08T22:25:30.169Z,1736375130.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.845129 target range: 68.699997 and range: 68.70 m. 2025-01-08T22:25:30.272Z,1736375130.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:30.274Z,1736375130.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975336 2025-01-08T22:25:30.525Z,1736375130.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:30.527Z,1736375130.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227979 2025-01-08T22:25:30.561Z,1736375130.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:30.581Z,1736375130.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T22:25:30.594Z,1736375130.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 47.661201 m, bearing: 10.396558 deg, approach rate: 0.276377 m/s, LOS rate: -0.714994 deg/s, cmd heading: 105.718098 deg, new cmd heading: 104.825841 deg. 2025-01-08T22:25:30.595Z,1736375130.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.829556 target range: 68.699997 and range: 68.70 m. 2025-01-08T22:25:30.776Z,1736375130.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:30.777Z,1736375130.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479055 2025-01-08T22:25:31.001Z,1736375131.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:31.014Z,1736375131.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:31.016Z,1736375131.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T22:25:31.018Z,1736375131.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 47.786911 m, bearing: 10.094327 deg, approach rate: 0.289425 m/s, LOS rate: -0.694003 deg/s, cmd heading: 104.825843 deg, new cmd heading: 103.921615 deg. 2025-01-08T22:25:31.020Z,1736375131.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813774 target range: 68.699997 and range: 68.70 m. 2025-01-08T22:25:31.028Z,1736375131.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:31.028Z,1736375131.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730322 2025-01-08T22:25:31.280Z,1736375131.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:31.281Z,1736375131.281 [DAT](INFO): DAT read: Rx Time:22:25:30.0957 2025-01-08T22:25:31.281Z,1736375131.281 [DAT](INFO): Rx dataTimestamp_ set to:1736375131.280992 2025-01-08T22:25:31.282Z,1736375131.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983638 2025-01-08T22:25:31.377Z,1736375131.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:31.400Z,1736375131.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T22:25:31.408Z,1736375131.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 47.886684 m, bearing: 9.832845 deg, approach rate: 0.262829 m/s, LOS rate: -0.687372 deg/s, cmd heading: 103.921615 deg, new cmd heading: 103.138855 deg. 2025-01-08T22:25:31.409Z,1736375131.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.800113 target range: 68.699997 and range: 68.70 m. 2025-01-08T22:25:31.532Z,1736375131.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:31.533Z,1736375131.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235126 2025-01-08T22:25:31.785Z,1736375131.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:31.810Z,1736375131.810 [DAT](INFO): DAT read: 22:25:30.0957 LVL= 20304, 32753, 31986, 32755, AGC= 62, IDX= 407, 0.20, 2.848, 0.999, 1.798, 2.140, PHS= 0.795,-1.094,-0.345, RAW= 113.2, 7.9, CAL= 122.9, 4.8, ROT= 27.1, -4.8 2025-01-08T22:25:31.812Z,1736375131.812 [DAT](INFO): got valid direction response: 22:25:30.0957 LVL= 20304, 32753, 31986, 32755, AGC= 62, IDX= 407, 0.20, 2.848, 0.999, 1.798, 2.140, PHS= 0.795,-1.094,-0.345, RAW= 113.2, 7.9, CAL= 122.9, 4.8, ROT= 27.1, -4.8 2025-01-08T22:25:31.812Z,1736375131.812 [DAT](INFO): DAT read: Bearing 27.1, -4.8 (Local) 2025-01-08T22:25:31.813Z,1736375131.813 [DAT](INFO): Local bearing/azimuth received: Bearing 27.1, -4.8 (Local) 2025-01-08T22:25:31.814Z,1736375131.814 [DAT](INFO): DAT read: Range 10 to 50 : 66.3 m (Round-trip 88.5 ms) speed 0.7 m/s 2025-01-08T22:25:31.815Z,1736375131.815 [DAT](INFO): DAT read: user:2592> 2025-01-08T22:25:31.816Z,1736375131.816 [DAT](INFO): DAT read: Tx time:22:25:31.2030 2025-01-08T22:25:31.816Z,1736375131.816 [DAT](INFO): Ping request sent. 2025-01-08T22:25:31.816Z,1736375131.816 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:31.817Z,1736375131.817 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:25:31.818Z,1736375131.818 [DAT](INFO): direction in FSK: [-0.264744,-0.285707,0.921023] 2025-01-08T22:25:31.818Z,1736375131.818 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:31.818Z,1736375131.818 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:31.821Z,1736375131.821 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:31.822Z,1736375131.822 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:31.952Z,1736375131.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:31.978Z,1736375131.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.528237 s, deltaX: -2.399994 m, approachRate: -0.680225 m/s, rangeRepo size: 4 2025-01-08T22:25:31.986Z,1736375131.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.300003 m, bearing: 343.138163 deg, lat: 36.905345 deg, lon: -122.119621 deg, deltaT: 3.528237 s, deltaX: -2.399994 m, approachRate: -0.680225 m/s, posRepo size: 4 2025-01-08T22:25:31.991Z,1736375131.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T22:25:31.995Z,1736375131.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 40.642906 m, bearing: 359.791391 deg, approach rate: 0.000000 m/s, LOS rate: -0.687372 deg/s, cmd heading: 103.138855 deg, new cmd heading: 101.938654 deg. 2025-01-08T22:25:32.001Z,1736375132.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.779165 target range: 66.300003 and range: 66.30 m. 2025-01-08T22:25:32.036Z,1736375132.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:32.037Z,1736375132.037 [DAT](INFO): DAT read: TxSync time:22:25:31.2022 2025-01-08T22:25:32.288Z,1736375132.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:32.294Z,1736375132.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:32.303Z,1736375132.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T22:25:32.306Z,1736375132.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 40.750614 m, bearing: 359.539163 deg, approach rate: 0.330799 m/s, LOS rate: -0.772610 deg/s, cmd heading: 101.938654 deg, new cmd heading: 101.184015 deg. 2025-01-08T22:25:32.307Z,1736375132.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.765994 target range: 66.300003 and range: 66.30 m. 2025-01-08T22:25:32.540Z,1736375132.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:32.750Z,1736375132.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:32.759Z,1736375132.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T22:25:32.762Z,1736375132.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 40.890202 m, bearing: 359.208054 deg, approach rate: 0.306709 m/s, LOS rate: -0.725044 deg/s, cmd heading: 101.184014 deg, new cmd heading: 100.194181 deg. 2025-01-08T22:25:32.764Z,1736375132.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.748718 target range: 66.300003 and range: 66.30 m. 2025-01-08T22:25:32.796Z,1736375132.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:33.048Z,1736375133.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:33.106Z,1736375133.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:33.115Z,1736375133.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:33.117Z,1736375133.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T22:25:33.120Z,1736375133.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 40.997093 m, bearing: 358.948035 deg, approach rate: 0.297785 m/s, LOS rate: -0.722482 deg/s, cmd heading: 100.194183 deg, new cmd heading: 99.416213 deg. 2025-01-08T22:25:33.121Z,1736375133.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.735140 target range: 66.300003 and range: 66.30 m. 2025-01-08T22:25:33.300Z,1736375133.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:33.300Z,1736375133.300 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:33.300Z,1736375133.300 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:33.300Z,1736375133.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:33.503Z,1736375133.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:33.512Z,1736375133.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T22:25:33.518Z,1736375133.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 41.113422 m, bearing: 358.657448 deg, approach rate: 0.295336 m/s, LOS rate: -0.735651 deg/s, cmd heading: 99.416211 deg, new cmd heading: 98.546985 deg. 2025-01-08T22:25:33.519Z,1736375133.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.719969 target range: 66.300003 and range: 66.30 m. 2025-01-08T22:25:33.552Z,1736375133.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:33.552Z,1736375133.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735877 2025-01-08T22:25:33.804Z,1736375133.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:33.804Z,1736375133.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987937 2025-01-08T22:25:33.955Z,1736375133.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:33.977Z,1736375133.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T22:25:33.984Z,1736375133.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 41.233360 m, bearing: 358.309733 deg, approach rate: 0.257198 m/s, LOS rate: -0.743473 deg/s, cmd heading: 98.546987 deg, new cmd heading: 97.506999 deg. 2025-01-08T22:25:33.985Z,1736375133.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.701818 target range: 66.300003 and range: 66.30 m. 2025-01-08T22:25:34.057Z,1736375134.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:34.058Z,1736375134.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240760 2025-01-08T22:25:34.303Z,1736375134.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:34.308Z,1736375134.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:34.308Z,1736375134.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491857 2025-01-08T22:25:34.334Z,1736375134.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T22:25:34.338Z,1736375134.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 41.323120 m, bearing: 358.041237 deg, approach rate: 0.251452 m/s, LOS rate: -0.750526 deg/s, cmd heading: 97.507002 deg, new cmd heading: 96.703318 deg. 2025-01-08T22:25:34.339Z,1736375134.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.687791 target range: 66.300003 and range: 66.30 m. 2025-01-08T22:25:34.562Z,1736375134.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:34.565Z,1736375134.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748371 2025-01-08T22:25:34.762Z,1736375134.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:34.770Z,1736375134.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T22:25:34.773Z,1736375134.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 41.435314 m, bearing: 357.674891 deg, approach rate: 0.257374 m/s, LOS rate: -0.838120 deg/s, cmd heading: 96.703321 deg, new cmd heading: 95.607400 deg. 2025-01-08T22:25:34.774Z,1736375134.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668664 target range: 66.300003 and range: 66.30 m. 2025-01-08T22:25:34.813Z,1736375134.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:34.814Z,1736375134.814 [DAT](INFO): DAT read: Rx Time:22:25:33.6924 2025-01-08T22:25:34.815Z,1736375134.815 [DAT](INFO): Rx dataTimestamp_ set to:1736375134.814368 2025-01-08T22:25:34.815Z,1736375134.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998773 2025-01-08T22:25:35.064Z,1736375135.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:35.065Z,1736375135.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248093 2025-01-08T22:25:35.126Z,1736375135.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:35.133Z,1736375135.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:35.135Z,1736375135.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T22:25:35.138Z,1736375135.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 41.522091 m, bearing: 357.384459 deg, approach rate: 0.238148 m/s, LOS rate: -0.795387 deg/s, cmd heading: 95.607397 deg, new cmd heading: 94.737992 deg. 2025-01-08T22:25:35.139Z,1736375135.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653490 target range: 66.300003 and range: 66.30 m. 2025-01-08T22:25:35.316Z,1736375135.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:35.317Z,1736375135.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500102 2025-01-08T22:25:35.543Z,1736375135.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:35.554Z,1736375135.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T22:25:35.557Z,1736375135.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 41.623066 m, bearing: 357.052400 deg, approach rate: 0.240526 m/s, LOS rate: -0.789052 deg/s, cmd heading: 94.737989 deg, new cmd heading: 93.744333 deg. 2025-01-08T22:25:35.558Z,1736375135.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636147 target range: 66.300003 and range: 66.30 m. 2025-01-08T22:25:35.568Z,1736375135.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:35.574Z,1736375135.574 [DAT](INFO): DAT read: 22:25:33.6924 LVL= 12000, 24561, 19154, 32755, AGC= 59, IDX= 406, 0.10,-0.274,-2.241,-1.618,-1.233, PHS= 1.047,-0.961,-0.388, RAW= 106.1, 3.4, CAL= 117.2, 0.9, ROT= 32.8, -0.9 2025-01-08T22:25:35.576Z,1736375135.576 [DAT](INFO): got valid direction response: 22:25:33.6924 LVL= 12000, 24561, 19154, 32755, AGC= 59, IDX= 406, 0.10,-0.274,-2.241,-1.618,-1.233, PHS= 1.047,-0.961,-0.388, RAW= 106.1, 3.4, CAL= 117.2, 0.9, ROT= 32.8, -0.9 2025-01-08T22:25:35.577Z,1736375135.577 [DAT](INFO): DAT read: Bearing 32.8, -0.9 (Local) 2025-01-08T22:25:35.577Z,1736375135.577 [DAT](INFO): Local bearing/azimuth received: Bearing 32.8, -0.9 (Local) 2025-01-08T22:25:35.580Z,1736375135.580 [DAT](INFO): DAT read: Range 10 to 50 : 63.9 m (Round-trip 85.3 ms) speed 0.4 m/s 2025-01-08T22:25:35.582Z,1736375135.582 [DAT](INFO): DAT read: user:2593> 2025-01-08T22:25:35.601Z,1736375135.601 [DAT](INFO): DAT read: Tx time:22:25:34.8030 2025-01-08T22:25:35.601Z,1736375135.601 [DAT](INFO): Ping request sent. 2025-01-08T22:25:35.601Z,1736375135.601 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:35.602Z,1736375135.602 [DAT](INFO): DAT read: TxSync time:22:25:34.8022 2025-01-08T22:25:35.604Z,1736375135.604 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:25:35.606Z,1736375135.606 [DAT](INFO): direction in FSK: [-0.173057,-0.170522,0.970038] 2025-01-08T22:25:35.607Z,1736375135.607 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:35.607Z,1736375135.607 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:35.624Z,1736375135.624 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:35.624Z,1736375135.624 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:35.820Z,1736375135.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:35.981Z,1736375135.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:36.006Z,1736375136.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.900002 m, deltaT: 3.782617 s, deltaX: -2.400002 m, approachRate: -0.634482 m/s, rangeRepo size: 4 2025-01-08T22:25:36.013Z,1736375136.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.900002 m, bearing: 336.746061 deg, lat: 36.905216 deg, lon: -122.119654 deg, deltaT: 3.782617 s, deltaX: -2.400002 m, approachRate: -0.634482 m/s, posRepo size: 4 2025-01-08T22:25:36.014Z,1736375136.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m. 2025-01-08T22:25:36.021Z,1736375136.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.900002 m, nav range: 27.884670 m, bearing: 348.879558 deg, approach rate: 0.000000 m/s, LOS rate: -0.789052 deg/s, cmd heading: 93.744333 deg, new cmd heading: 92.676228 deg. 2025-01-08T22:25:36.022Z,1736375136.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.617505 target range: 63.900002 and range: 63.90 m. 2025-01-08T22:25:36.072Z,1736375136.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:36.324Z,1736375136.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:36.330Z,1736375136.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:36.339Z,1736375136.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m. 2025-01-08T22:25:36.342Z,1736375136.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.900002 m, nav range: 27.990892 m, bearing: 348.464537 deg, approach rate: 0.318961 m/s, LOS rate: -1.241471 deg/s, cmd heading: 92.676228 deg, new cmd heading: 91.436095 deg. 2025-01-08T22:25:36.361Z,1736375136.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.595861 target range: 63.900002 and range: 63.90 m. 2025-01-08T22:25:36.576Z,1736375136.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:36.793Z,1736375136.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:36.802Z,1736375136.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m. 2025-01-08T22:25:36.805Z,1736375136.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.900002 m, nav range: 28.129169 m, bearing: 347.904117 deg, approach rate: 0.298527 m/s, LOS rate: -1.203925 deg/s, cmd heading: 91.436098 deg, new cmd heading: 89.763606 deg. 2025-01-08T22:25:36.806Z,1736375136.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.566670 target range: 63.900002 and range: 63.90 m. 2025-01-08T22:25:36.828Z,1736375136.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:37.080Z,1736375137.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:37.137Z,1736375137.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:37.145Z,1736375137.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:37.147Z,1736375137.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m. 2025-01-08T22:25:37.150Z,1736375137.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.900002 m, nav range: 28.231327 m, bearing: 347.489193 deg, approach rate: 0.296189 m/s, LOS rate: -1.198641 deg/s, cmd heading: 89.763603 deg, new cmd heading: 88.523537 deg. 2025-01-08T22:25:37.151Z,1736375137.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545027 target range: 63.900002 and range: 63.90 m. 2025-01-08T22:25:37.332Z,1736375137.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:37.333Z,1736375137.333 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:37.333Z,1736375137.333 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:37.333Z,1736375137.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:37.536Z,1736375137.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:37.545Z,1736375137.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m. 2025-01-08T22:25:37.547Z,1736375137.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.900002 m, nav range: 28.348078 m, bearing: 347.007884 deg, approach rate: 0.293614 m/s, LOS rate: -1.205434 deg/s, cmd heading: 88.523534 deg, new cmd heading: 87.085875 deg. 2025-01-08T22:25:37.548Z,1736375137.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519935 target range: 63.900002 and range: 63.90 m. 2025-01-08T22:25:37.585Z,1736375137.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:37.586Z,1736375137.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984875 2025-01-08T22:25:37.836Z,1736375137.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:37.836Z,1736375137.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235192 2025-01-08T22:25:37.977Z,1736375137.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:37.986Z,1736375137.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m. 2025-01-08T22:25:37.989Z,1736375137.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.900002 m, nav range: 28.482553 m, bearing: 346.469280 deg, approach rate: 0.304557 m/s, LOS rate: -1.214037 deg/s, cmd heading: 87.085875 deg, new cmd heading: 85.478137 deg. 2025-01-08T22:25:37.990Z,1736375137.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491875 target range: 63.900002 and range: 63.90 m. 2025-01-08T22:25:38.089Z,1736375138.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:38.090Z,1736375138.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488255 2025-01-08T22:25:38.340Z,1736375138.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:38.341Z,1736375138.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739387 2025-01-08T22:25:38.351Z,1736375138.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:38.361Z,1736375138.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m. 2025-01-08T22:25:38.364Z,1736375138.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.900002 m, nav range: 28.591808 m, bearing: 346.011405 deg, approach rate: 0.291977 m/s, LOS rate: -1.218954 deg/s, cmd heading: 85.478137 deg, new cmd heading: 84.110036 deg. 2025-01-08T22:25:38.365Z,1736375138.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.467997 target range: 63.900002 and range: 63.90 m. 2025-01-08T22:25:38.592Z,1736375138.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:38.592Z,1736375138.592 [DAT](INFO): DAT read: Rx Time:22:25:37.2904 2025-01-08T22:25:38.594Z,1736375138.594 [DAT](INFO): Rx dataTimestamp_ set to:1736375138.592769 2025-01-08T22:25:38.596Z,1736375138.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993685 2025-01-08T22:25:38.824Z,1736375138.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:38.834Z,1736375138.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.90 m. 2025-01-08T22:25:38.837Z,1736375138.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.900002 m, nav range: 28.727119 m, bearing: 345.438154 deg, approach rate: 0.285505 m/s, LOS rate: -1.203836 deg/s, cmd heading: 84.110037 deg, new cmd heading: 82.398922 deg. 2025-01-08T22:25:38.838Z,1736375138.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.438133 target range: 63.900002 and range: 63.90 m. 2025-01-08T22:25:38.844Z,1736375138.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:38.845Z,1736375138.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243613 2025-01-08T22:25:39.096Z,1736375139.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:39.102Z,1736375139.102 [DAT](INFO): DAT read: 22:25:37.2904 LVL= 16368, 26001, 19410, 25187, AGC= 57, IDX= 416,-0.49,-0.254,-2.397,-2.075,-1.543, PHS= 1.377,-0.806,-0.534, RAW= 96.6, -0.4, CAL= 105.3, -5.0, ROT= 44.7, 5.0 2025-01-08T22:25:39.104Z,1736375139.104 [DAT](INFO): got valid direction response: 22:25:37.2904 LVL= 16368, 26001, 19410, 25187, AGC= 57, IDX= 416,-0.49,-0.254,-2.397,-2.075,-1.543, PHS= 1.377,-0.806,-0.534, RAW= 96.6, -0.4, CAL= 105.3, -5.0, ROT= 44.7, 5.0 2025-01-08T22:25:39.105Z,1736375139.105 [DAT](INFO): DAT read: Bearing 44.7, 5.0 (Local) 2025-01-08T22:25:39.105Z,1736375139.105 [DAT](INFO): Local bearing/azimuth received: Bearing 44.7, 5.0 (Local) 2025-01-08T22:25:39.106Z,1736375139.106 [DAT](INFO): DAT read: Range 10 to 50 : 62.4 m (Round-trip 83.2 ms) speed 0.4 m/s 2025-01-08T22:25:39.107Z,1736375139.107 [DAT](INFO): DAT read: user:2594> 2025-01-08T22:25:39.108Z,1736375139.108 [DAT](INFO): DAT read: Tx time:22:25:38.4031 2025-01-08T22:25:39.108Z,1736375139.108 [DAT](INFO): Ping request sent. 2025-01-08T22:25:39.108Z,1736375139.108 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:39.109Z,1736375139.109 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:25:39.125Z,1736375139.125 [DAT](INFO): direction in FSK: [-0.088209,-0.007258,0.996076] 2025-01-08T22:25:39.125Z,1736375139.125 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:39.126Z,1736375139.126 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:39.150Z,1736375139.150 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:39.150Z,1736375139.150 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:39.180Z,1736375139.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:39.253Z,1736375139.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.528027 s, deltaX: -1.500000 m, approachRate: -0.425167 m/s, rangeRepo size: 4 2025-01-08T22:25:39.260Z,1736375139.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.400002 m, bearing: 307.926229 deg, lat: 36.905188 deg, lon: -122.119654 deg, deltaT: 3.528027 s, deltaX: -1.500000 m, approachRate: -0.425167 m/s, posRepo size: 4 2025-01-08T22:25:39.261Z,1736375139.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m. 2025-01-08T22:25:39.272Z,1736375139.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.400002 m, nav range: 25.798227 m, bearing: 343.194757 deg, approach rate: 0.000000 m/s, LOS rate: -1.203836 deg/s, cmd heading: 82.398924 deg, new cmd heading: 80.888284 deg. 2025-01-08T22:25:39.273Z,1736375139.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411767 target range: 62.400002 and range: 62.40 m. 2025-01-08T22:25:39.348Z,1736375139.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:39.349Z,1736375139.349 [DAT](INFO): DAT read: TxSync time:22:25:38.4023 2025-01-08T22:25:39.577Z,1736375139.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:39.584Z,1736375139.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:39.586Z,1736375139.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m. 2025-01-08T22:25:39.589Z,1736375139.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.400002 m, nav range: 25.916430 m, bearing: 342.666001 deg, approach rate: 0.354485 m/s, LOS rate: -1.578468 deg/s, cmd heading: 80.888284 deg, new cmd heading: 79.309673 deg. 2025-01-08T22:25:39.590Z,1736375139.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384215 target range: 62.400002 and range: 62.40 m. 2025-01-08T22:25:39.608Z,1736375139.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:39.608Z,1736375139.608 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:39.608Z,1736375139.608 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:39.609Z,1736375139.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:39.860Z,1736375139.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:39.861Z,1736375139.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752711 2025-01-08T22:25:39.992Z,1736375139.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:40.002Z,1736375140.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m. 2025-01-08T22:25:40.005Z,1736375140.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.400002 m, nav range: 26.038813 m, bearing: 342.130884 deg, approach rate: 0.294545 m/s, LOS rate: -1.281818 deg/s, cmd heading: 79.309670 deg, new cmd heading: 77.712302 deg. 2025-01-08T22:25:40.006Z,1736375140.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356336 target range: 62.400002 and range: 62.40 m. 2025-01-08T22:25:40.112Z,1736375140.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:40.113Z,1736375140.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004324 2025-01-08T22:25:40.364Z,1736375140.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:40.364Z,1736375140.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256196 2025-01-08T22:25:40.369Z,1736375140.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:40.379Z,1736375140.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m. 2025-01-08T22:25:40.382Z,1736375140.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.400002 m, nav range: 26.148403 m, bearing: 341.643116 deg, approach rate: 0.290425 m/s, LOS rate: -1.287196 deg/s, cmd heading: 77.712301 deg, new cmd heading: 76.255460 deg. 2025-01-08T22:25:40.383Z,1736375140.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.330909 target range: 62.400002 and range: 62.40 m. 2025-01-08T22:25:40.617Z,1736375140.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:40.620Z,1736375140.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510433 2025-01-08T22:25:40.825Z,1736375140.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:40.834Z,1736375140.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m. 2025-01-08T22:25:40.837Z,1736375140.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.400002 m, nav range: 26.283123 m, bearing: 341.060085 deg, approach rate: 0.295891 m/s, LOS rate: -1.273950 deg/s, cmd heading: 76.255463 deg, new cmd heading: 74.515901 deg. 2025-01-08T22:25:40.838Z,1736375140.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300548 target range: 62.400002 and range: 62.40 m. 2025-01-08T22:25:40.868Z,1736375140.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:40.869Z,1736375140.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760292 2025-01-08T22:25:41.120Z,1736375141.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:41.121Z,1736375141.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013032 2025-01-08T22:25:41.198Z,1736375141.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:41.206Z,1736375141.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m. 2025-01-08T22:25:41.210Z,1736375141.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.400002 m, nav range: 26.384125 m, bearing: 340.618752 deg, approach rate: 0.271485 m/s, LOS rate: -1.181716 deg/s, cmd heading: 74.515902 deg, new cmd heading: 73.197216 deg. 2025-01-08T22:25:41.211Z,1736375141.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277532 target range: 62.400002 and range: 62.40 m. 2025-01-08T22:25:41.372Z,1736375141.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:41.372Z,1736375141.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264069 2025-01-08T22:25:41.584Z,1736375141.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:41.591Z,1736375141.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:41.593Z,1736375141.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m. 2025-01-08T22:25:41.596Z,1736375141.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.400002 m, nav range: 26.485283 m, bearing: 340.158363 deg, approach rate: 0.261522 m/s, LOS rate: -1.185676 deg/s, cmd heading: 73.197218 deg, new cmd heading: 71.821606 deg. 2025-01-08T22:25:41.597Z,1736375141.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253523 target range: 62.400002 and range: 62.40 m. 2025-01-08T22:25:41.624Z,1736375141.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:41.624Z,1736375141.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516202 2025-01-08T22:25:41.876Z,1736375141.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:41.877Z,1736375141.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768712 2025-01-08T22:25:42.032Z,1736375142.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:42.041Z,1736375142.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m. 2025-01-08T22:25:42.045Z,1736375142.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.400002 m, nav range: 26.597979 m, bearing: 339.622961 deg, approach rate: 0.251808 m/s, LOS rate: -1.191216 deg/s, cmd heading: 71.821604 deg, new cmd heading: 70.222644 deg. 2025-01-08T22:25:42.046Z,1736375142.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225616 target range: 62.400002 and range: 62.40 m. 2025-01-08T22:25:42.129Z,1736375142.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:42.130Z,1736375142.130 [DAT](INFO): DAT read: Rx Time:22:25:40.8883 2025-01-08T22:25:42.131Z,1736375142.131 [DAT](INFO): Rx dataTimestamp_ set to:1736375142.130209 2025-01-08T22:25:42.132Z,1736375142.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023845 2025-01-08T22:25:42.380Z,1736375142.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:42.380Z,1736375142.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272133 2025-01-08T22:25:42.430Z,1736375142.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:42.439Z,1736375142.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.40 m. 2025-01-08T22:25:42.443Z,1736375142.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.400002 m, nav range: 26.693783 m, bearing: 339.145510 deg, approach rate: 0.240317 m/s, LOS rate: -1.193337 deg/s, cmd heading: 70.222643 deg, new cmd heading: 68.795743 deg. 2025-01-08T22:25:42.444Z,1736375142.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.200712 target range: 62.400002 and range: 62.40 m. 2025-01-08T22:25:42.593Z,1736375142.593 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:25:42.632Z,1736375142.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:42.639Z,1736375142.639 [DAT](INFO): DAT read: 22:25:40.8883 LVL= 11984, 23665, 19010, 26387, AGC= 53, IDX= 428,-0.40,-1.942, 2.496, 2.326,-2.985, PHS= 1.131,-0.755,-0.976, RAW= 84.5, 6.0, CAL= 90.4, 5.9, ROT= 59.6, -5.9 2025-01-08T22:25:42.644Z,1736375142.644 [DAT](INFO): got valid direction response: 22:25:40.8883 LVL= 11984, 23665, 19010, 26387, AGC= 53, IDX= 428,-0.40,-1.942, 2.496, 2.326,-2.985, PHS= 1.131,-0.755,-0.976, RAW= 84.5, 6.0, CAL= 90.4, 5.9, ROT= 59.6, -5.9 2025-01-08T22:25:42.647Z,1736375142.647 [DAT](INFO): DAT read: Bearing 59.6, -5.9 (Local) 2025-01-08T22:25:42.656Z,1736375142.656 [DAT](INFO): Local bearing/azimuth received: Bearing 59.6, -5.9 (Local) 2025-01-08T22:25:42.658Z,1736375142.658 [DAT](INFO): DAT read: Range 10 to 50 : 60.8 m (Round-trip 81.1 ms) speed 0.3 m/s 2025-01-08T22:25:42.668Z,1736375142.668 [DAT](INFO): DAT read: user:2595> 2025-01-08T22:25:42.669Z,1736375142.669 [DAT](INFO): DAT read: Tx time:22:25:42.0031 2025-01-08T22:25:42.670Z,1736375142.670 [DAT](INFO): Ping request sent. 2025-01-08T22:25:42.670Z,1736375142.670 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:42.670Z,1736375142.670 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:25:42.676Z,1736375142.676 [DAT](INFO): direction in FSK: [-0.189239,0.205379,0.960212] 2025-01-08T22:25:42.677Z,1736375142.677 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:42.677Z,1736375142.677 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:42.705Z,1736375142.705 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:42.706Z,1736375142.706 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:42.884Z,1736375142.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:42.885Z,1736375142.885 [DAT](INFO): DAT read: TxSync time:22:25:42.0023 2025-01-08T22:25:42.925Z,1736375142.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:25:42.926Z,1736375142.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:42.971Z,1736375142.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.799999 m, deltaT: 3.536279 s, deltaX: -1.600002 m, approachRate: -0.452454 m/s, rangeRepo size: 4 2025-01-08T22:25:42.978Z,1736375142.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 60.799999 m, bearing: 198.490812 deg, lat: 36.905087 deg, lon: -122.119654 deg, deltaT: 3.536279 s, deltaX: -1.600002 m, approachRate: -0.452454 m/s, posRepo size: 4 2025-01-08T22:25:42.978Z,1736375142.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:42.985Z,1736375142.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 16.888123 m, bearing: 324.515090 deg, approach rate: 0.000000 m/s, LOS rate: -1.193337 deg/s, cmd heading: 68.795742 deg, new cmd heading: 66.896770 deg. 2025-01-08T22:25:42.986Z,1736375142.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.167569 target range: 60.799999 and range: 60.80 m. 2025-01-08T22:25:43.136Z,1736375143.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:43.316Z,1736375143.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:25:43.316Z,1736375143.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:43.325Z,1736375143.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:43.329Z,1736375143.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 17.020391 m, bearing: 323.847771 deg, approach rate: 0.372545 m/s, LOS rate: -1.864906 deg/s, cmd heading: 66.896772 deg, new cmd heading: 64.911213 deg. 2025-01-08T22:25:43.330Z,1736375143.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132914 target range: 60.799999 and range: 60.80 m. 2025-01-08T22:25:43.389Z,1736375143.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:43.643Z,1736375143.643 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:43.694Z,1736375143.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:25:43.694Z,1736375143.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:43.703Z,1736375143.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:43.705Z,1736375143.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:43.708Z,1736375143.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 17.145046 m, bearing: 323.201520 deg, approach rate: 0.327750 m/s, LOS rate: -1.686775 deg/s, cmd heading: 64.911215 deg, new cmd heading: 62.987320 deg. 2025-01-08T22:25:43.709Z,1736375143.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099336 target range: 60.799999 and range: 60.80 m. 2025-01-08T22:25:43.892Z,1736375143.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:43.893Z,1736375143.893 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:43.893Z,1736375143.893 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:43.893Z,1736375143.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:44.136Z,1736375144.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:44.144Z,1736375144.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:44.145Z,1736375144.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474877 2025-01-08T22:25:44.148Z,1736375144.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:44.150Z,1736375144.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 17.268730 m, bearing: 322.567994 deg, approach rate: 0.279734 m/s, LOS rate: -1.422542 deg/s, cmd heading: 62.987322 deg, new cmd heading: 61.101077 deg. 2025-01-08T22:25:44.152Z,1736375144.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.066415 target range: 60.799999 and range: 60.80 m. 2025-01-08T22:25:44.396Z,1736375144.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:44.396Z,1736375144.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726605 2025-01-08T22:25:44.546Z,1736375144.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:44.573Z,1736375144.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:44.581Z,1736375144.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 17.374399 m, bearing: 321.966263 deg, approach rate: 0.248072 m/s, LOS rate: -1.404026 deg/s, cmd heading: 61.101076 deg, new cmd heading: 59.307482 deg. 2025-01-08T22:25:44.582Z,1736375144.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035111 target range: 60.799999 and range: 60.80 m. 2025-01-08T22:25:44.648Z,1736375144.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:44.650Z,1736375144.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979466 2025-01-08T22:25:44.900Z,1736375144.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:44.901Z,1736375144.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230876 2025-01-08T22:25:45.068Z,1736375145.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:45.077Z,1736375145.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:45.080Z,1736375145.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 17.516508 m, bearing: 321.207151 deg, approach rate: 0.281925 m/s, LOS rate: -1.493713 deg/s, cmd heading: 59.307482 deg, new cmd heading: 57.049856 deg. 2025-01-08T22:25:45.081Z,1736375145.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.995708 target range: 60.799999 and range: 60.80 m. 2025-01-08T22:25:45.152Z,1736375145.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:45.153Z,1736375145.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482752 2025-01-08T22:25:45.377Z,1736375145.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:45.385Z,1736375145.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:45.388Z,1736375145.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 17.593235 m, bearing: 320.747933 deg, approach rate: 0.249092 m/s, LOS rate: -1.484324 deg/s, cmd heading: 57.049855 deg, new cmd heading: 55.678486 deg. 2025-01-08T22:25:45.389Z,1736375145.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971773 target range: 60.799999 and range: 60.80 m. 2025-01-08T22:25:45.405Z,1736375145.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:45.406Z,1736375145.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736160 2025-01-08T22:25:45.656Z,1736375145.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:45.657Z,1736375145.657 [DAT](INFO): DAT read: Rx Time:22:25:44.4868 2025-01-08T22:25:45.658Z,1736375145.658 [DAT](INFO): Rx dataTimestamp_ set to:1736375145.657345 2025-01-08T22:25:45.659Z,1736375145.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988754 2025-01-08T22:25:45.773Z,1736375145.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:45.790Z,1736375145.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:45.798Z,1736375145.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:45.821Z,1736375145.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 17.687695 m, bearing: 320.154061 deg, approach rate: 0.228680 m/s, LOS rate: -1.430017 deg/s, cmd heading: 55.678486 deg, new cmd heading: 53.906981 deg. 2025-01-08T22:25:45.829Z,1736375145.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940854 target range: 60.799999 and range: 60.80 m. 2025-01-08T22:25:45.908Z,1736375145.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:45.909Z,1736375145.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239091 2025-01-08T22:25:46.160Z,1736375146.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:46.162Z,1736375146.161 [DAT](INFO): DAT read: Range 10 to 50 : 59.6 m (Round-trip 79.5 ms) speed 0.0 m/s 2025-01-08T22:25:46.162Z,1736375146.162 [DAT](INFO): DAT read: user:2596> 2025-01-08T22:25:46.163Z,1736375146.163 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:25:46.164Z,1736375146.164 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:46.164Z,1736375146.164 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:46.164Z,1736375146.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:46.252Z,1736375146.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:46.262Z,1736375146.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 3.527888 s, deltaX: -1.200001 m, approachRate: -0.340147 m/s, rangeRepo size: 4 2025-01-08T22:25:46.263Z,1736375146.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:46.264Z,1736375146.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-08T22:25:46.267Z,1736375146.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 17.794134 m, bearing: 319.431497 deg, approach rate: 0.229745 m/s, LOS rate: -1.550251 deg/s, cmd heading: 53.906981 deg, new cmd heading: 51.753330 deg. 2025-01-08T22:25:46.268Z,1736375146.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.903266 target range: 60.799999 and range: 59.60 m. 2025-01-08T22:25:46.294Z,1736375146.294 [DockingStepper](INFO): Changing to mode: 2 2025-01-08T22:25:46.295Z,1736375146.295 [DockingStepper](INFO): Armed mode. 2025-01-08T22:25:46.367Z,1736375146.367 [DockingStepper](INFO): Commanding negative:54494 2025-01-08T22:25:46.413Z,1736375146.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:46.414Z,1736375146.414 [DAT](INFO): DAT read: Tx time:22:25:45.6031 2025-01-08T22:25:46.415Z,1736375146.415 [DAT](INFO): Ping request sent. 2025-01-08T22:25:46.415Z,1736375146.415 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:46.416Z,1736375146.416 [DAT](INFO): DAT read: TxSync time:22:25:45.6023 2025-01-08T22:25:46.417Z,1736375146.417 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:46.418Z,1736375146.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002492 2025-01-08T22:25:46.581Z,1736375146.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:46.589Z,1736375146.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:46.590Z,1736375146.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-08T22:25:46.593Z,1736375146.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 17.863667 m, bearing: 318.934714 deg, approach rate: 0.212438 m/s, LOS rate: -1.511868 deg/s, cmd heading: 51.753330 deg, new cmd heading: 50.269132 deg. 2025-01-08T22:25:46.594Z,1736375146.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.877362 target range: 60.799999 and range: 59.60 m. 2025-01-08T22:25:46.666Z,1736375146.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:46.668Z,1736375146.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252136 2025-01-08T22:25:46.916Z,1736375146.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:46.916Z,1736375146.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501496 2025-01-08T22:25:47.007Z,1736375147.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:47.017Z,1736375147.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:47.017Z,1736375147.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-08T22:25:47.020Z,1736375147.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 17.954788 m, bearing: 318.243976 deg, approach rate: 0.213082 m/s, LOS rate: -1.607011 deg/s, cmd heading: 50.269134 deg, new cmd heading: 48.208375 deg. 2025-01-08T22:25:47.021Z,1736375147.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841395 target range: 60.799999 and range: 59.60 m. 2025-01-08T22:25:47.168Z,1736375147.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:47.168Z,1736375147.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753508 2025-01-08T22:25:47.385Z,1736375147.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:47.416Z,1736375147.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:47.416Z,1736375147.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-08T22:25:47.419Z,1736375147.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.032505 m, bearing: 317.630549 deg, approach rate: 0.195095 m/s, LOS rate: -1.533238 deg/s, cmd heading: 48.208377 deg, new cmd heading: 46.376687 deg. 2025-01-08T22:25:47.420Z,1736375147.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:47.421Z,1736375147.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005589 2025-01-08T22:25:47.422Z,1736375147.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809426 target range: 60.799999 and range: 59.60 m. 2025-01-08T22:25:47.676Z,1736375147.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:47.677Z,1736375147.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262388 2025-01-08T22:25:47.798Z,1736375147.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:47.810Z,1736375147.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:47.813Z,1736375147.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:47.813Z,1736375147.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-08T22:25:47.816Z,1736375147.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.113907 m, bearing: 316.958598 deg, approach rate: 0.204801 m/s, LOS rate: -1.682945 deg/s, cmd heading: 46.376687 deg, new cmd heading: 44.370757 deg. 2025-01-08T22:25:47.817Z,1736375147.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774416 target range: 60.799999 and range: 59.60 m. 2025-01-08T22:25:47.925Z,1736375147.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:47.927Z,1736375147.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511334 2025-01-08T22:25:48.176Z,1736375148.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:48.177Z,1736375148.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762109 2025-01-08T22:25:48.230Z,1736375148.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:48.238Z,1736375148.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:48.239Z,1736375148.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-08T22:25:48.243Z,1736375148.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.196615 m, bearing: 316.241892 deg, approach rate: 0.194230 m/s, LOS rate: -1.675398 deg/s, cmd heading: 44.370756 deg, new cmd heading: 42.231462 deg. 2025-01-08T22:25:48.244Z,1736375148.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.737078 target range: 60.799999 and range: 59.60 m. 2025-01-08T22:25:48.430Z,1736375148.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:48.432Z,1736375148.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017086 2025-01-08T22:25:48.612Z,1736375148.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:48.621Z,1736375148.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:48.621Z,1736375148.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-08T22:25:48.624Z,1736375148.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.265888 m, bearing: 315.606540 deg, approach rate: 0.181152 m/s, LOS rate: -1.655141 deg/s, cmd heading: 42.231463 deg, new cmd heading: 40.333370 deg. 2025-01-08T22:25:48.626Z,1736375148.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703950 target range: 60.799999 and range: 59.60 m. 2025-01-08T22:25:48.682Z,1736375148.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:48.683Z,1736375148.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268076 2025-01-08T22:25:48.937Z,1736375148.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:48.940Z,1736375148.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524376 2025-01-08T22:25:49.050Z,1736375149.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:49.058Z,1736375149.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:49.060Z,1736375149.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-08T22:25:49.062Z,1736375149.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.342707 m, bearing: 314.867970 deg, approach rate: 0.175643 m/s, LOS rate: -1.681598 deg/s, cmd heading: 40.333370 deg, new cmd heading: 38.128088 deg. 2025-01-08T22:25:49.064Z,1736375149.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665461 target range: 60.799999 and range: 59.60 m. 2025-01-08T22:25:49.188Z,1736375149.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:49.189Z,1736375149.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773578 2025-01-08T22:25:49.408Z,1736375149.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:49.419Z,1736375149.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:49.419Z,1736375149.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-08T22:25:49.422Z,1736375149.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.402054 m, bearing: 314.263900 deg, approach rate: 0.164633 m/s, LOS rate: -1.670299 deg/s, cmd heading: 38.128090 deg, new cmd heading: 36.322355 deg. 2025-01-08T22:25:49.423Z,1736375149.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633945 target range: 60.799999 and range: 59.60 m. 2025-01-08T22:25:49.440Z,1736375149.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:49.440Z,1736375149.440 [DAT](INFO): DAT read: Rx Time:22:25:48.0862 2025-01-08T22:25:49.441Z,1736375149.441 [DAT](INFO): Rx dataTimestamp_ set to:1736375149.440608 2025-01-08T22:25:49.441Z,1736375149.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026476 2025-01-08T22:25:49.693Z,1736375149.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:49.695Z,1736375149.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279446 2025-01-08T22:25:49.836Z,1736375149.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:49.846Z,1736375149.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:49.848Z,1736375149.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:49.849Z,1736375149.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-08T22:25:49.853Z,1736375149.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.469128 m, bearing: 313.541509 deg, approach rate: 0.156059 m/s, LOS rate: -1.674622 deg/s, cmd heading: 36.322355 deg, new cmd heading: 34.164133 deg. 2025-01-08T22:25:49.858Z,1736375149.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596277 target range: 60.799999 and range: 59.60 m. 2025-01-08T22:25:49.946Z,1736375149.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:49.948Z,1736375149.948 [DAT](INFO): DAT read: Range 10 to 50 : 59.1 m (Round-trip 78.9 ms) speed 0.0 m/s 2025-01-08T22:25:49.948Z,1736375149.948 [DAT](INFO): DAT read: user:2597> 2025-01-08T22:25:49.949Z,1736375149.949 [DAT](INFO): DAT read: Tx time:22:25:49.2032 2025-01-08T22:25:49.949Z,1736375149.949 [DAT](INFO): Ping request sent. 2025-01-08T22:25:49.949Z,1736375149.949 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:49.950Z,1736375149.950 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:25:49.950Z,1736375149.950 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:49.951Z,1736375149.951 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:50.196Z,1736375150.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:50.197Z,1736375150.197 [DAT](INFO): DAT read: TxSync time:22:25:49.2024 2025-01-08T22:25:50.275Z,1736375150.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:50.308Z,1736375150.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.099998 m, deltaT: 3.785891 s, deltaX: -0.500000 m, approachRate: -0.132069 m/s, rangeRepo size: 4 2025-01-08T22:25:50.311Z,1736375150.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:50.320Z,1736375150.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:25:50.323Z,1736375150.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.535822 m, bearing: 312.802084 deg, approach rate: 0.146620 m/s, LOS rate: -1.619653 deg/s, cmd heading: 34.164135 deg, new cmd heading: 31.954997 deg. 2025-01-08T22:25:50.336Z,1736375150.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557720 target range: 60.799999 and range: 59.10 m. 2025-01-08T22:25:50.448Z,1736375150.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:50.636Z,1736375150.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:50.673Z,1736375150.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:50.674Z,1736375150.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:25:50.682Z,1736375150.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.587946 m, bearing: 312.194273 deg, approach rate: 0.141119 m/s, LOS rate: -1.640919 deg/s, cmd heading: 31.954996 deg, new cmd heading: 30.137321 deg. 2025-01-08T22:25:50.683Z,1736375150.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525995 target range: 60.799999 and range: 59.10 m. 2025-01-08T22:25:50.700Z,1736375150.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:50.953Z,1736375150.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:51.071Z,1736375151.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:51.094Z,1736375151.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:51.095Z,1736375151.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:25:51.102Z,1736375151.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.640974 m, bearing: 311.485640 deg, approach rate: 0.125922 m/s, LOS rate: -1.677905 deg/s, cmd heading: 30.137322 deg, new cmd heading: 28.018491 deg. 2025-01-08T22:25:51.103Z,1736375151.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.489015 target range: 60.799999 and range: 59.10 m. 2025-01-08T22:25:51.205Z,1736375151.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:51.449Z,1736375151.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:51.456Z,1736375151.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:51.459Z,1736375151.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:51.460Z,1736375151.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:25:51.463Z,1736375151.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.684198 m, bearing: 310.868930 deg, approach rate: 0.118544 m/s, LOS rate: -1.687398 deg/s, cmd heading: 28.018491 deg, new cmd heading: 26.173316 deg. 2025-01-08T22:25:51.464Z,1736375151.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456811 target range: 60.799999 and range: 59.10 m. 2025-01-08T22:25:51.709Z,1736375151.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:51.867Z,1736375151.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:51.879Z,1736375151.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:51.881Z,1736375151.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:51.881Z,1736375151.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:25:51.902Z,1736375151.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.734514 m, bearing: 310.190220 deg, approach rate: 0.119103 m/s, LOS rate: -1.602228 deg/s, cmd heading: 26.173316 deg, new cmd heading: 24.143548 deg. 2025-01-08T22:25:51.916Z,1736375151.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421384 target range: 60.799999 and range: 59.10 m. 2025-01-08T22:25:51.975Z,1736375151.975 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:51.976Z,1736375151.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:51.976Z,1736375151.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:51.977Z,1736375151.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:52.229Z,1736375152.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:52.229Z,1736375152.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279842 2025-01-08T22:25:52.304Z,1736375152.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:52.331Z,1736375152.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:52.331Z,1736375152.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:25:52.332Z,1736375152.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 59.10 m. 2025-01-08T22:25:52.332Z,1736375152.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-01-08T22:25:52.335Z,1736375152.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.774569 m, bearing: 309.509800 deg, approach rate: 0.089085 m/s, LOS rate: -1.510054 deg/s, cmd heading: 24.143549 deg, new cmd heading: 22.107551 deg. 2025-01-08T22:25:52.337Z,1736375152.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.385850 target range: 60.799999 and range: 59.10 m. 2025-01-08T22:25:52.480Z,1736375152.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:52.481Z,1736375152.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531382 2025-01-08T22:25:52.732Z,1736375152.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:52.733Z,1736375152.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783005 2025-01-08T22:25:52.764Z,1736375152.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:52.774Z,1736375152.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:52.777Z,1736375152.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.793404 m, bearing: 308.786487 deg, approach rate: 0.042496 m/s, LOS rate: -1.630264 deg/s, cmd heading: 22.107550 deg, new cmd heading: 19.940876 deg. 2025-01-08T22:25:52.778Z,1736375152.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.348034 target range: 60.799999 and range: 59.10 m. 2025-01-08T22:25:52.985Z,1736375152.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:52.988Z,1736375152.988 [DAT](INFO): DAT read: Rx Time:22:25:51.6865 2025-01-08T22:25:52.990Z,1736375152.990 [DAT](INFO): Rx dataTimestamp_ set to:1736375152.988563 2025-01-08T22:25:53.003Z,1736375153.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.041575 2025-01-08T22:25:53.189Z,1736375153.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:53.199Z,1736375153.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.80 m. 2025-01-08T22:25:53.202Z,1736375153.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.799999 m, nav range: 18.794590 m, bearing: 308.168071 deg, approach rate: 0.002789 m/s, LOS rate: -1.453663 deg/s, cmd heading: 19.940876 deg, new cmd heading: 18.086428 deg. 2025-01-08T22:25:53.204Z,1736375153.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.315668 target range: 60.799999 and range: 59.10 m. 2025-01-08T22:25:53.236Z,1736375153.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:53.237Z,1736375153.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287814 2025-01-08T22:25:53.488Z,1736375153.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:53.495Z,1736375153.495 [DAT](INFO): DAT read: 22:25:51.6865 LVL= 12688, 13025, 13794, 19299, AGC= 52, IDX= 439,-0.05,-1.353,-1.809, 2.589,-2.239, PHS= 0.974, 0.477,-1.457, RAW= 41.2, 0.1, CAL= 40.8, -1.7, ROT= 109.2, 1.7 2025-01-08T22:25:53.496Z,1736375153.496 [DAT](INFO): got valid direction response: 22:25:51.6865 LVL= 12688, 13025, 13794, 19299, AGC= 52, IDX= 439,-0.05,-1.353,-1.809, 2.589,-2.239, PHS= 0.974, 0.477,-1.457, RAW= 41.2, 0.1, CAL= 40.8, -1.7, ROT= 109.2, 1.7 2025-01-08T22:25:53.497Z,1736375153.497 [DAT](INFO): DAT read: Bearing 109.2, 1.7 (Local) 2025-01-08T22:25:53.498Z,1736375153.498 [DAT](INFO): Local bearing/azimuth received: Bearing 109.2, 1.7 (Local) 2025-01-08T22:25:53.500Z,1736375153.500 [DAT](INFO): DAT read: Range 10 to 50 : 59.3 m (Round-trip 79.1 ms) speed -0.1 m/s 2025-01-08T22:25:53.501Z,1736375153.501 [DAT](INFO): DAT read: user:2598> 2025-01-08T22:25:53.501Z,1736375153.501 [DAT](INFO): DAT read: Tx time:22:25:52.8032 2025-01-08T22:25:53.502Z,1736375153.502 [DAT](INFO): Ping request sent. 2025-01-08T22:25:53.502Z,1736375153.502 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:53.502Z,1736375153.502 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:25:53.503Z,1736375153.503 [DAT](INFO): direction in FSK: [0.008643,0.798193,0.602339] 2025-01-08T22:25:53.504Z,1736375153.504 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:53.504Z,1736375153.504 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:53.513Z,1736375153.513 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:53.513Z,1736375153.513 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:53.680Z,1736375153.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:53.713Z,1736375153.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.299999 m, deltaT: 3.541904 s, deltaX: 0.200001 m, approachRate: 0.056467 m/s, rangeRepo size: 4 2025-01-08T22:25:53.715Z,1736375153.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.299999 m, bearing: 118.577699 deg, lat: 36.904981 deg, lon: -122.119601 deg, deltaT: 10.855683 s, deltaX: -1.500000 m, approachRate: -0.138176 m/s, posRepo size: 4 2025-01-08T22:25:53.720Z,1736375153.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m. 2025-01-08T22:25:53.722Z,1736375153.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.299999 m, nav range: 10.160309 m, bearing: 267.941916 deg, approach rate: 0.000000 m/s, LOS rate: -1.453663 deg/s, cmd heading: 18.086428 deg, new cmd heading: 15.871974 deg. 2025-01-08T22:25:53.732Z,1736375153.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.277018 target range: 59.299999 and range: 59.30 m. 2025-01-08T22:25:53.740Z,1736375153.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:53.741Z,1736375153.741 [DAT](INFO): DAT read: TxSync time:22:25:52.8024 2025-01-08T22:25:53.994Z,1736375153.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:54.152Z,1736375154.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:25:54.181Z,1736375154.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:54.189Z,1736375154.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:54.192Z,1736375154.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m. 2025-01-08T22:25:54.233Z,1736375154.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.299999 m, nav range: 10.287881 m, bearing: 266.881890 deg, approach rate: 0.263569 m/s, LOS rate: -2.162775 deg/s, cmd heading: 15.871975 deg, new cmd heading: 12.734648 deg. 2025-01-08T22:25:54.234Z,1736375154.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.222262 target range: 59.299999 and range: 59.30 m. 2025-01-08T22:25:54.244Z,1736375154.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:54.245Z,1736375154.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:54.245Z,1736375154.245 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:54.245Z,1736375154.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:54.496Z,1736375154.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:54.496Z,1736375154.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994764 2025-01-08T22:25:54.581Z,1736375154.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:54.589Z,1736375154.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m. 2025-01-08T22:25:54.612Z,1736375154.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.299999 m, nav range: 10.390151 m, bearing: 266.070442 deg, approach rate: 0.256964 m/s, LOS rate: -2.018709 deg/s, cmd heading: 12.734648 deg, new cmd heading: 10.325766 deg. 2025-01-08T22:25:54.613Z,1736375154.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.180219 target range: 59.299999 and range: 59.30 m. 2025-01-08T22:25:54.748Z,1736375154.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:54.749Z,1736375154.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247551 2025-01-08T22:25:55.001Z,1736375155.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:55.004Z,1736375155.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501642 2025-01-08T22:25:55.018Z,1736375155.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:55.048Z,1736375155.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m. 2025-01-08T22:25:55.051Z,1736375155.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.299999 m, nav range: 10.485240 m, bearing: 265.268532 deg, approach rate: 0.207263 m/s, LOS rate: -1.732000 deg/s, cmd heading: 10.325766 deg, new cmd heading: 7.943304 deg. 2025-01-08T22:25:55.056Z,1736375155.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.138637 target range: 59.299999 and range: 59.30 m. 2025-01-08T22:25:55.156Z,1736375155.156 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:25:55.252Z,1736375155.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:55.252Z,1736375155.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750684 2025-01-08T22:25:55.404Z,1736375155.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:55.441Z,1736375155.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m. 2025-01-08T22:25:55.445Z,1736375155.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.299999 m, nav range: 10.579386 m, bearing: 264.372117 deg, approach rate: 0.239530 m/s, LOS rate: -2.260316 deg/s, cmd heading: 7.943303 deg, new cmd heading: 5.280019 deg. 2025-01-08T22:25:55.446Z,1736375155.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092154 target range: 59.299999 and range: 59.30 m. 2025-01-08T22:25:55.504Z,1736375155.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:55.505Z,1736375155.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002844 2025-01-08T22:25:55.756Z,1736375155.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:55.757Z,1736375155.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254891 2025-01-08T22:25:55.764Z,1736375155.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:55.798Z,1736375155.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m. 2025-01-08T22:25:55.805Z,1736375155.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.299999 m, nav range: 10.651706 m, bearing: 263.618978 deg, approach rate: 0.202570 m/s, LOS rate: -2.095173 deg/s, cmd heading: 5.280019 deg, new cmd heading: 3.037153 deg. 2025-01-08T22:25:55.806Z,1736375155.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.053008 target range: 59.299999 and range: 59.30 m. 2025-01-08T22:25:56.010Z,1736375156.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:56.013Z,1736375156.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510387 2025-01-08T22:25:56.189Z,1736375156.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:56.197Z,1736375156.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:56.230Z,1736375156.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m. 2025-01-08T22:25:56.237Z,1736375156.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.299999 m, nav range: 10.728699 m, bearing: 262.729394 deg, approach rate: 0.191985 m/s, LOS rate: -2.202202 deg/s, cmd heading: 3.037153 deg, new cmd heading: 0.389546 deg. 2025-01-08T22:25:56.238Z,1736375156.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006799 target range: 59.299999 and range: 59.30 m. 2025-01-08T22:25:56.261Z,1736375156.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:56.262Z,1736375156.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759836 2025-01-08T22:25:56.512Z,1736375156.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:56.513Z,1736375156.513 [DAT](INFO): DAT read: Rx Time:22:25:55.2873 2025-01-08T22:25:56.513Z,1736375156.513 [DAT](INFO): Rx dataTimestamp_ set to:1736375156.512758 2025-01-08T22:25:56.514Z,1736375156.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011907 2025-01-08T22:25:56.591Z,1736375156.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:56.601Z,1736375156.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m. 2025-01-08T22:25:56.604Z,1736375156.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.299999 m, nav range: 10.799468 m, bearing: 261.888521 deg, approach rate: 0.176107 m/s, LOS rate: -2.078691 deg/s, cmd heading: 0.389546 deg, new cmd heading: 357.885145 deg. 2025-01-08T22:25:56.605Z,1736375156.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.246274 target range: 59.299999 and range: 59.30 m. 2025-01-08T22:25:56.764Z,1736375156.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:56.764Z,1736375156.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262764 2025-01-08T22:25:57.018Z,1736375157.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:57.064Z,1736375157.064 [DAT](INFO): DAT read: 22:25:55.2873 LVL= 17168, 19921, 19074, 25251, AGC= 54, IDX= 431, 0.33,-1.192,-0.509,-2.936,-1.517, PHS= 0.413, 1.055,-1.422, RAW= 15.5, -0.4, CAL= 15.2, -2.0, ROT= 134.8, 2.0 2025-01-08T22:25:57.065Z,1736375157.065 [DAT](INFO): got valid direction response: 22:25:55.2873 LVL= 17168, 19921, 19074, 25251, AGC= 54, IDX= 431, 0.33,-1.192,-0.509,-2.936,-1.517, PHS= 0.413, 1.055,-1.422, RAW= 15.5, -0.4, CAL= 15.2, -2.0, ROT= 134.8, 2.0 2025-01-08T22:25:57.066Z,1736375157.066 [DAT](INFO): DAT read: Bearing 134.8, 2.0 (Local) 2025-01-08T22:25:57.066Z,1736375157.066 [DAT](INFO): Local bearing/azimuth received: Bearing 134.8, 2.0 (Local) 2025-01-08T22:25:57.072Z,1736375157.072 [DAT](INFO): DAT read: Range 10 to 50 : 59.9 m (Round-trip 79.9 ms) speed -0.3 m/s 2025-01-08T22:25:57.072Z,1736375157.072 [DAT](INFO): DAT read: user:2599> 2025-01-08T22:25:57.073Z,1736375157.073 [DAT](INFO): DAT read: Tx time:22:25:56.4032 2025-01-08T22:25:57.073Z,1736375157.073 [DAT](INFO): Ping request sent. 2025-01-08T22:25:57.073Z,1736375157.073 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:25:57.074Z,1736375157.074 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:25:57.075Z,1736375157.075 [DAT](INFO): direction in FSK: [0.068558,0.972961,0.220558] 2025-01-08T22:25:57.075Z,1736375157.075 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:57.091Z,1736375157.091 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:57.100Z,1736375157.100 [DAT](INFO): publishing transmit ping time 2025-01-08T22:25:57.101Z,1736375157.101 [DAT](INFO): publishing direction and range info 2025-01-08T22:25:57.195Z,1736375157.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:57.230Z,1736375157.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.900002 m, deltaT: 3.530403 s, deltaX: 0.600002 m, approachRate: 0.169953 m/s, rangeRepo size: 4 2025-01-08T22:25:57.236Z,1736375157.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.900002 m, bearing: 109.334694 deg, lat: 36.904828 deg, lon: -122.119595 deg, deltaT: 3.530403 s, deltaX: 0.600002 m, approachRate: 0.169953 m/s, posRepo size: 4 2025-01-08T22:25:57.237Z,1736375157.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:25:57.244Z,1736375157.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 21.423176 m, bearing: 208.644267 deg, approach rate: 0.000000 m/s, LOS rate: -2.078691 deg/s, cmd heading: 357.885138 deg, new cmd heading: 353.971130 deg. 2025-01-08T22:25:57.245Z,1736375157.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177962 target range: 59.900002 and range: 59.90 m. 2025-01-08T22:25:57.268Z,1736375157.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:57.269Z,1736375157.269 [DAT](INFO): DAT read: TxSync time:22:25:56.4024 2025-01-08T22:25:57.520Z,1736375157.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:57.685Z,1736375157.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:57.695Z,1736375157.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 59.90 m. 2025-01-08T22:25:57.695Z,1736375157.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:25:57.698Z,1736375157.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 21.626776 m, bearing: 208.497646 deg, approach rate: 0.437724 m/s, LOS rate: -0.312257 deg/s, cmd heading: 353.971139 deg, new cmd heading: 353.535424 deg. 2025-01-08T22:25:57.699Z,1736375157.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170357 target range: 59.900002 and range: 59.90 m. 2025-01-08T22:25:57.773Z,1736375157.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:58.026Z,1736375158.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:58.119Z,1736375158.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:58.129Z,1736375158.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 59.90 m. 2025-01-08T22:25:58.129Z,1736375158.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:25:58.132Z,1736375158.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 21.816391 m, bearing: 208.381461 deg, approach rate: 0.436775 m/s, LOS rate: -0.265304 deg/s, cmd heading: 353.535427 deg, new cmd heading: 353.189905 deg. 2025-01-08T22:25:58.133Z,1736375158.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164327 target range: 59.900002 and range: 59.90 m. 2025-01-08T22:25:58.276Z,1736375158.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:58.500Z,1736375158.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:58.507Z,1736375158.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:25:58.510Z,1736375158.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 59.90 m. 2025-01-08T22:25:58.510Z,1736375158.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:25:58.513Z,1736375158.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 21.981495 m, bearing: 208.271065 deg, approach rate: 0.434379 m/s, LOS rate: -0.288264 deg/s, cmd heading: 353.189902 deg, new cmd heading: 352.861205 deg. 2025-01-08T22:25:58.514Z,1736375158.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158590 target range: 59.900002 and range: 59.90 m. 2025-01-08T22:25:58.528Z,1736375158.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:58.528Z,1736375158.528 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:25:58.528Z,1736375158.528 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:25:58.528Z,1736375158.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:25:58.782Z,1736375158.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:58.783Z,1736375158.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709302 2025-01-08T22:25:58.907Z,1736375158.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:58.925Z,1736375158.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:25:58.932Z,1736375158.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 22.157619 m, bearing: 208.143064 deg, approach rate: 0.423677 m/s, LOS rate: -0.305464 deg/s, cmd heading: 352.861206 deg, new cmd heading: 352.480263 deg. 2025-01-08T22:25:58.933Z,1736375158.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151941 target range: 59.900002 and range: 59.90 m. 2025-01-08T22:25:59.038Z,1736375159.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:59.040Z,1736375159.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966091 2025-01-08T22:25:59.288Z,1736375159.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:59.288Z,1736375159.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215018 2025-01-08T22:25:59.356Z,1736375159.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:59.370Z,1736375159.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 59.90 m. 2025-01-08T22:25:59.370Z,1736375159.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:25:59.378Z,1736375159.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 22.358574 m, bearing: 208.041834 deg, approach rate: 0.451284 m/s, LOS rate: -0.225291 deg/s, cmd heading: 352.480272 deg, new cmd heading: 352.179313 deg. 2025-01-08T22:25:59.379Z,1736375159.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146688 target range: 59.900002 and range: 59.90 m. 2025-01-08T22:25:59.540Z,1736375159.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:59.540Z,1736375159.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466934 2025-01-08T22:25:59.720Z,1736375159.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:25:59.736Z,1736375159.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 59.90 m. 2025-01-08T22:25:59.737Z,1736375159.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:25:59.744Z,1736375159.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 22.519463 m, bearing: 207.941377 deg, approach rate: 0.439126 m/s, LOS rate: -0.272225 deg/s, cmd heading: 352.179307 deg, new cmd heading: 351.880093 deg. 2025-01-08T22:25:59.745Z,1736375159.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.141466 target range: 59.900002 and range: 59.90 m. 2025-01-08T22:25:59.792Z,1736375159.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:25:59.793Z,1736375159.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719706 2025-01-08T22:26:00.046Z,1736375160.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:00.050Z,1736375160.050 [DAT](INFO): DAT read: Rx Time:22:25:58.8886 2025-01-08T22:26:00.052Z,1736375160.052 [DAT](INFO): Rx dataTimestamp_ set to:1736375160.049876 2025-01-08T22:26:00.053Z,1736375160.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979579 2025-01-08T22:26:00.170Z,1736375160.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:00.187Z,1736375160.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 59.90 m. 2025-01-08T22:26:00.191Z,1736375160.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:00.195Z,1736375160.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 22.729242 m, bearing: 207.851384 deg, approach rate: 0.465739 m/s, LOS rate: -0.197953 deg/s, cmd heading: 351.880090 deg, new cmd heading: 351.612605 deg. 2025-01-08T22:26:00.200Z,1736375160.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.136797 target range: 59.900002 and range: 59.90 m. 2025-01-08T22:26:00.296Z,1736375160.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:00.297Z,1736375160.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223773 2025-01-08T22:26:00.520Z,1736375160.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:00.528Z,1736375160.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:26:00.530Z,1736375160.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 59.90 m. 2025-01-08T22:26:00.530Z,1736375160.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:00.533Z,1736375160.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 22.891922 m, bearing: 207.773254 deg, approach rate: 0.473917 m/s, LOS rate: -0.225990 deg/s, cmd heading: 351.612592 deg, new cmd heading: 351.379869 deg. 2025-01-08T22:26:00.534Z,1736375160.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.132736 target range: 59.900002 and range: 59.90 m. 2025-01-08T22:26:00.549Z,1736375160.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:00.552Z,1736375160.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477595 2025-01-08T22:26:00.802Z,1736375160.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:00.804Z,1736375160.804 [DAT](INFO): DAT read: Range 10 to 50 : 60.9 m (Round-trip 81.3 ms) speed -0.4 m/s 2025-01-08T22:26:00.804Z,1736375160.804 [DAT](INFO): DAT read: user:2600> 2025-01-08T22:26:00.805Z,1736375160.805 [DAT](INFO): DAT read: Tx time:22:26:00.0032 2025-01-08T22:26:00.805Z,1736375160.805 [DAT](INFO): Ping request sent. 2025-01-08T22:26:00.805Z,1736375160.805 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:00.806Z,1736375160.806 [DAT](INFO): DAT read: TxSync time:22:26:00.0024 2025-01-08T22:26:00.807Z,1736375160.807 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:26:00.807Z,1736375160.807 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:00.807Z,1736375160.807 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:00.933Z,1736375160.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:00.942Z,1736375160.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.900002 m, deltaT: 3.783453 s, deltaX: 1.000000 m, approachRate: 0.264309 m/s, rangeRepo size: 4 2025-01-08T22:26:00.945Z,1736375160.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:00.952Z,1736375160.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 23.083099 m, bearing: 207.671382 deg, approach rate: 0.464623 m/s, LOS rate: -0.245530 deg/s, cmd heading: 351.379874 deg, new cmd heading: 351.076794 deg. 2025-01-08T22:26:00.955Z,1736375160.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.127446 target range: 59.900002 and range: 60.90 m. 2025-01-08T22:26:01.054Z,1736375161.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:01.305Z,1736375161.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:01.371Z,1736375161.371 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -58.70, +1307.39, -12.3 2025-01-08T22:26:01.380Z,1736375161.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:26:01.380Z,1736375161.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:01.413Z,1736375161.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:01.420Z,1736375161.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 23.288488 m, bearing: 207.552517 deg, approach rate: 0.435363 m/s, LOS rate: -0.249737 deg/s, cmd heading: 351.076805 deg, new cmd heading: 350.723358 deg. 2025-01-08T22:26:01.421Z,1736375161.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.121277 target range: 59.900002 and range: 60.90 m. 2025-01-08T22:26:01.556Z,1736375161.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:01.766Z,1736375161.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:26:01.767Z,1736375161.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:01.776Z,1736375161.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:01.779Z,1736375161.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 23.460960 m, bearing: 207.443347 deg, approach rate: 0.476535 m/s, LOS rate: -0.299416 deg/s, cmd heading: 350.723356 deg, new cmd heading: 350.398258 deg. 2025-01-08T22:26:01.780Z,1736375161.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.115603 target range: 59.900002 and range: 60.90 m. 2025-01-08T22:26:01.820Z,1736375161.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:02.073Z,1736375162.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:02.204Z,1736375162.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:02.220Z,1736375162.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 60.90 m. 2025-01-08T22:26:02.221Z,1736375162.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:02.228Z,1736375162.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 23.671387 m, bearing: 207.339149 deg, approach rate: 0.472674 m/s, LOS rate: -0.231976 deg/s, cmd heading: 350.398267 deg, new cmd heading: 350.088454 deg. 2025-01-08T22:26:02.229Z,1736375162.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.110196 target range: 59.900002 and range: 60.90 m. 2025-01-08T22:26:02.324Z,1736375162.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:02.577Z,1736375162.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:02.577Z,1736375162.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:02.589Z,1736375162.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:26:02.592Z,1736375162.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 60.90 m. 2025-01-08T22:26:02.593Z,1736375162.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:02.596Z,1736375162.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 23.844828 m, bearing: 207.243784 deg, approach rate: 0.467362 m/s, LOS rate: -0.255105 deg/s, cmd heading: 350.088449 deg, new cmd heading: 349.804439 deg. 2025-01-08T22:26:02.597Z,1736375162.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.105239 target range: 59.900002 and range: 60.90 m. 2025-01-08T22:26:02.828Z,1736375162.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:02.828Z,1736375162.828 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:26:02.829Z,1736375162.829 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:26:02.829Z,1736375162.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:26:02.976Z,1736375162.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:02.990Z,1736375162.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:03.020Z,1736375163.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 24.031389 m, bearing: 207.132054 deg, approach rate: 0.468428 m/s, LOS rate: -0.278359 deg/s, cmd heading: 349.804450 deg, new cmd heading: 349.471866 deg. 2025-01-08T22:26:03.021Z,1736375163.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099435 target range: 59.900002 and range: 60.90 m. 2025-01-08T22:26:03.081Z,1736375163.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:03.084Z,1736375163.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277814 2025-01-08T22:26:03.332Z,1736375163.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:03.332Z,1736375163.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526932 2025-01-08T22:26:03.416Z,1736375163.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:03.445Z,1736375163.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 60.90 m. 2025-01-08T22:26:03.445Z,1736375163.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:03.452Z,1736375163.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 24.229542 m, bearing: 206.972070 deg, approach rate: 0.435464 m/s, LOS rate: -0.348708 deg/s, cmd heading: 349.471874 deg, new cmd heading: 348.995860 deg. 2025-01-08T22:26:03.453Z,1736375163.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091127 target range: 59.900002 and range: 60.90 m. 2025-01-08T22:26:03.584Z,1736375163.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:03.584Z,1736375163.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778773 2025-01-08T22:26:03.781Z,1736375163.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:03.807Z,1736375163.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 60.90 m. 2025-01-08T22:26:03.807Z,1736375163.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:03.812Z,1736375163.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 24.393440 m, bearing: 206.832963 deg, approach rate: 0.452855 m/s, LOS rate: -0.381772 deg/s, cmd heading: 348.995865 deg, new cmd heading: 348.581356 deg. 2025-01-08T22:26:03.813Z,1736375163.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083892 target range: 59.900002 and range: 60.90 m. 2025-01-08T22:26:03.853Z,1736375163.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:03.854Z,1736375163.854 [DAT](INFO): DAT read: Rx Time:22:26:02.4908 2025-01-08T22:26:03.854Z,1736375163.854 [DAT](INFO): Rx dataTimestamp_ set to:1736375163.854099 2025-01-08T22:26:03.856Z,1736375163.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.049891 2025-01-08T22:26:04.106Z,1736375164.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:04.108Z,1736375164.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.302053 2025-01-08T22:26:04.220Z,1736375164.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:04.230Z,1736375164.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 60.90 m. 2025-01-08T22:26:04.231Z,1736375164.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:04.253Z,1736375164.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 24.580704 m, bearing: 206.623121 deg, approach rate: 0.442067 m/s, LOS rate: -0.491592 deg/s, cmd heading: 348.581354 deg, new cmd heading: 347.956651 deg. 2025-01-08T22:26:04.254Z,1736375164.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072989 target range: 59.900002 and range: 60.90 m. 2025-01-08T22:26:04.357Z,1736375164.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:04.366Z,1736375164.366 [DAT](INFO): DAT read: Range 10 to 50 : 62.4 m (Round-trip 83.3 ms) speed 0.0 m/s 2025-01-08T22:26:04.368Z,1736375164.368 [DAT](INFO): DAT read: user:2601> 2025-01-08T22:26:04.369Z,1736375164.369 [DAT](INFO): DAT read: Tx time:22:26:03.6048 2025-01-08T22:26:04.370Z,1736375164.370 [DAT](INFO): Ping request sent. 2025-01-08T22:26:04.370Z,1736375164.370 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:04.371Z,1736375164.371 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:26:04.371Z,1736375164.371 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:04.372Z,1736375164.372 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:04.592Z,1736375164.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:04.599Z,1736375164.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:26:04.602Z,1736375164.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.555307 s, deltaX: 1.500000 m, approachRate: 0.421905 m/s, rangeRepo size: 4 2025-01-08T22:26:04.603Z,1736375164.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:04.606Z,1736375164.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 24.738195 m, bearing: 206.440969 deg, approach rate: 0.424300 m/s, LOS rate: -0.487612 deg/s, cmd heading: 347.956638 deg, new cmd heading: 347.413678 deg. 2025-01-08T22:26:04.608Z,1736375164.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:04.609Z,1736375164.609 [DAT](INFO): DAT read: TxSync time:22:26:03.6041 2025-01-08T22:26:04.610Z,1736375164.610 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:26:04.610Z,1736375164.610 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:26:04.610Z,1736375164.610 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:26:04.627Z,1736375164.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063512 target range: 59.900002 and range: 62.40 m. 2025-01-08T22:26:04.861Z,1736375164.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:04.862Z,1736375164.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.492259 2025-01-08T22:26:04.999Z,1736375164.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:05.008Z,1736375165.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:05.010Z,1736375165.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 24.909697 m, bearing: 206.235965 deg, approach rate: 0.422454 m/s, LOS rate: -0.501504 deg/s, cmd heading: 347.413665 deg, new cmd heading: 346.802911 deg. 2025-01-08T22:26:05.012Z,1736375165.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052853 target range: 59.900002 and range: 62.40 m. 2025-01-08T22:26:05.114Z,1736375165.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:05.117Z,1736375165.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746701 2025-01-08T22:26:05.364Z,1736375165.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:05.364Z,1736375165.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994562 2025-01-08T22:26:05.445Z,1736375165.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:05.453Z,1736375165.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:05.456Z,1736375165.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 25.077988 m, bearing: 205.974128 deg, approach rate: 0.377482 m/s, LOS rate: -0.583365 deg/s, cmd heading: 346.802910 deg, new cmd heading: 346.022721 deg. 2025-01-08T22:26:05.457Z,1736375165.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039236 target range: 59.900002 and range: 62.40 m. 2025-01-08T22:26:05.616Z,1736375165.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:05.616Z,1736375165.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246617 2025-01-08T22:26:05.813Z,1736375165.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:05.822Z,1736375165.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:05.849Z,1736375165.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 25.227270 m, bearing: 205.745448 deg, approach rate: 0.405183 m/s, LOS rate: -0.617010 deg/s, cmd heading: 346.022711 deg, new cmd heading: 345.340765 deg. 2025-01-08T22:26:05.850Z,1736375165.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027333 target range: 59.900002 and range: 62.40 m. 2025-01-08T22:26:05.869Z,1736375165.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:05.869Z,1736375165.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499657 2025-01-08T22:26:06.124Z,1736375166.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:06.126Z,1736375166.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755981 2025-01-08T22:26:06.246Z,1736375166.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:26:06.246Z,1736375166.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:06.271Z,1736375166.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:06.278Z,1736375166.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 25.396601 m, bearing: 205.490039 deg, approach rate: 0.377068 m/s, LOS rate: -0.564955 deg/s, cmd heading: 345.340757 deg, new cmd heading: 344.579685 deg. 2025-01-08T22:26:06.283Z,1736375166.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014050 target range: 59.900002 and range: 62.40 m. 2025-01-08T22:26:06.372Z,1736375166.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:06.373Z,1736375166.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003459 2025-01-08T22:26:06.624Z,1736375166.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:06.625Z,1736375166.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255592 2025-01-08T22:26:06.628Z,1736375166.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:26:06.628Z,1736375166.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:06.664Z,1736375166.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:26:06.677Z,1736375166.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:06.682Z,1736375166.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 25.538889 m, bearing: 205.249984 deg, approach rate: 0.358756 m/s, LOS rate: -0.601883 deg/s, cmd heading: 344.579683 deg, new cmd heading: 343.863571 deg. 2025-01-08T22:26:06.683Z,1736375166.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001552 target range: 59.900002 and range: 62.40 m. 2025-01-08T22:26:06.878Z,1736375166.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:06.880Z,1736375166.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510439 2025-01-08T22:26:07.013Z,1736375167.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:26:07.013Z,1736375167.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:07.021Z,1736375167.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:07.028Z,1736375167.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 25.684635 m, bearing: 204.999805 deg, approach rate: 0.411807 m/s, LOS rate: -0.702870 deg/s, cmd heading: 343.863579 deg, new cmd heading: 343.117344 deg. 2025-01-08T22:26:07.029Z,1736375167.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.988527 target range: 59.900002 and range: 62.40 m. 2025-01-08T22:26:07.128Z,1736375167.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:07.129Z,1736375167.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759467 2025-01-08T22:26:07.380Z,1736375167.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:07.381Z,1736375167.381 [DAT](INFO): DAT read: Rx Time:22:26:06.0943 2025-01-08T22:26:07.381Z,1736375167.381 [DAT](INFO): Rx dataTimestamp_ set to:1736375167.380690 2025-01-08T22:26:07.381Z,1736375167.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011755 2025-01-08T22:26:07.462Z,1736375167.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:07.473Z,1736375167.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:07.477Z,1736375167.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 25.840437 m, bearing: 204.622614 deg, approach rate: 0.344717 m/s, LOS rate: -0.829511 deg/s, cmd heading: 343.117340 deg, new cmd heading: 341.992742 deg. 2025-01-08T22:26:07.478Z,1736375167.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968899 target range: 59.900002 and range: 62.40 m. 2025-01-08T22:26:07.632Z,1736375167.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:07.633Z,1736375167.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262843 2025-01-08T22:26:07.825Z,1736375167.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:07.834Z,1736375167.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:07.837Z,1736375167.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 25.964870 m, bearing: 204.316947 deg, approach rate: 0.345083 m/s, LOS rate: -0.843618 deg/s, cmd heading: 341.992735 deg, new cmd heading: 341.080211 deg. 2025-01-08T22:26:07.838Z,1736375167.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952973 target range: 59.900002 and range: 62.40 m. 2025-01-08T22:26:07.885Z,1736375167.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:07.887Z,1736375167.887 [DAT](INFO): DAT read: Range 10 to 50 : 63.9 m (Round-trip 85.3 ms) speed -0.5 m/s 2025-01-08T22:26:07.889Z,1736375167.889 [DAT](INFO): DAT read: user:2602> 2025-01-08T22:26:07.890Z,1736375167.890 [DAT](INFO): DAT read: Tx time:22:26:07.2033 2025-01-08T22:26:07.890Z,1736375167.890 [DAT](INFO): Ping request sent. 2025-01-08T22:26:07.890Z,1736375167.890 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:07.891Z,1736375167.891 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:26:07.893Z,1736375167.893 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:07.894Z,1736375167.894 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:08.136Z,1736375168.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:08.137Z,1736375168.137 [DAT](INFO): DAT read: TxSync time:22:26:07.2025 2025-01-08T22:26:08.272Z,1736375168.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:08.285Z,1736375168.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.900002 m, deltaT: 3.527727 s, deltaX: 1.500000 m, approachRate: 0.425203 m/s, rangeRepo size: 4 2025-01-08T22:26:08.286Z,1736375168.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:08.293Z,1736375168.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 26.116398 m, bearing: 203.909913 deg, approach rate: 0.336235 m/s, LOS rate: -0.897949 deg/s, cmd heading: 341.080222 deg, new cmd heading: 339.866397 deg. 2025-01-08T22:26:08.294Z,1736375168.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931787 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:08.388Z,1736375168.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:08.625Z,1736375168.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:08.634Z,1736375168.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:08.637Z,1736375168.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 26.235271 m, bearing: 203.588252 deg, approach rate: 0.340195 m/s, LOS rate: -0.916361 deg/s, cmd heading: 339.866388 deg, new cmd heading: 338.905871 deg. 2025-01-08T22:26:08.638Z,1736375168.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915023 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:08.640Z,1736375168.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:08.892Z,1736375168.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:09.039Z,1736375169.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:09.046Z,1736375169.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:26:09.048Z,1736375169.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:09.051Z,1736375169.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 26.373465 m, bearing: 203.209855 deg, approach rate: 0.333666 m/s, LOS rate: -0.908841 deg/s, cmd heading: 338.905872 deg, new cmd heading: 337.776785 deg. 2025-01-08T22:26:09.052Z,1736375169.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895317 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:09.144Z,1736375169.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:09.145Z,1736375169.145 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:26:09.145Z,1736375169.145 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:26:09.146Z,1736375169.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:26:09.396Z,1736375169.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:09.397Z,1736375169.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506295 2025-01-08T22:26:09.472Z,1736375169.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:09.482Z,1736375169.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:09.485Z,1736375169.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 26.518696 m, bearing: 202.809816 deg, approach rate: 0.334961 m/s, LOS rate: -0.917589 deg/s, cmd heading: 337.776787 deg, new cmd heading: 336.583424 deg. 2025-01-08T22:26:09.486Z,1736375169.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874489 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:09.649Z,1736375169.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:09.650Z,1736375169.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759520 2025-01-08T22:26:09.835Z,1736375169.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:09.865Z,1736375169.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:09.868Z,1736375169.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 26.639248 m, bearing: 202.473964 deg, approach rate: 0.314549 m/s, LOS rate: -0.872345 deg/s, cmd heading: 336.583417 deg, new cmd heading: 335.580530 deg. 2025-01-08T22:26:09.869Z,1736375169.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856985 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:09.901Z,1736375169.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:09.902Z,1736375169.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011383 2025-01-08T22:26:10.152Z,1736375170.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:10.154Z,1736375170.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262764 2025-01-08T22:26:10.289Z,1736375170.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:10.299Z,1736375170.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:10.302Z,1736375170.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 26.793034 m, bearing: 202.064795 deg, approach rate: 0.354436 m/s, LOS rate: -0.937608 deg/s, cmd heading: 335.580526 deg, new cmd heading: 334.360258 deg. 2025-01-08T22:26:10.303Z,1736375170.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835687 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:10.404Z,1736375170.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:10.404Z,1736375170.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514264 2025-01-08T22:26:10.652Z,1736375170.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:10.656Z,1736375170.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:10.657Z,1736375170.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767070 2025-01-08T22:26:10.688Z,1736375170.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:10.690Z,1736375170.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 26.914574 m, bearing: 201.738987 deg, approach rate: 0.316102 m/s, LOS rate: -0.843533 deg/s, cmd heading: 334.360245 deg, new cmd heading: 333.387333 deg. 2025-01-08T22:26:10.696Z,1736375170.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818707 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:10.908Z,1736375170.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:10.909Z,1736375170.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018246 2025-01-08T22:26:11.061Z,1736375171.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:11.068Z,1736375171.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:26:11.070Z,1736375171.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:11.075Z,1736375171.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 27.051481 m, bearing: 201.369649 deg, approach rate: 0.354074 m/s, LOS rate: -0.950350 deg/s, cmd heading: 333.387325 deg, new cmd heading: 332.285063 deg. 2025-01-08T22:26:11.076Z,1736375171.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799469 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:11.160Z,1736375171.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:11.160Z,1736375171.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270188 2025-01-08T22:26:11.412Z,1736375171.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:11.412Z,1736375171.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522236 2025-01-08T22:26:11.498Z,1736375171.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:11.515Z,1736375171.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:11.522Z,1736375171.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 27.210136 m, bearing: 200.995762 deg, approach rate: 0.356609 m/s, LOS rate: -0.835478 deg/s, cmd heading: 332.285069 deg, new cmd heading: 331.170097 deg. 2025-01-08T22:26:11.523Z,1736375171.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780009 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:11.666Z,1736375171.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:11.668Z,1736375171.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777540 2025-01-08T22:26:11.880Z,1736375171.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:11.888Z,1736375171.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:11.891Z,1736375171.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 27.345947 m, bearing: 200.666321 deg, approach rate: 0.363675 m/s, LOS rate: -0.877791 deg/s, cmd heading: 331.170109 deg, new cmd heading: 330.186799 deg. 2025-01-08T22:26:11.893Z,1736375171.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762847 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:11.916Z,1736375171.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:11.916Z,1736375171.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026143 2025-01-08T22:26:12.168Z,1736375172.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:12.169Z,1736375172.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278502 2025-01-08T22:26:12.320Z,1736375172.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:12.349Z,1736375172.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:12.356Z,1736375172.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 27.508209 m, bearing: 200.325510 deg, approach rate: 0.352146 m/s, LOS rate: -0.735271 deg/s, cmd heading: 330.186808 deg, new cmd heading: 329.170518 deg. 2025-01-08T22:26:12.357Z,1736375172.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745110 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:12.420Z,1736375172.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:12.422Z,1736375172.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532051 2025-01-08T22:26:12.673Z,1736375172.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:12.674Z,1736375172.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783012 2025-01-08T22:26:12.700Z,1736375172.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:12.708Z,1736375172.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:12.712Z,1736375172.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 27.647522 m, bearing: 200.030667 deg, approach rate: 0.387963 m/s, LOS rate: -0.816949 deg/s, cmd heading: 329.170531 deg, new cmd heading: 328.290530 deg. 2025-01-08T22:26:12.713Z,1736375172.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729751 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:12.924Z,1736375172.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:12.924Z,1736375172.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034114 2025-01-08T22:26:13.079Z,1736375173.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:13.086Z,1736375173.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:26:13.088Z,1736375173.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:13.091Z,1736375173.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 27.785421 m, bearing: 199.735725 deg, approach rate: 0.362580 m/s, LOS rate: -0.771641 deg/s, cmd heading: 328.290529 deg, new cmd heading: 327.410168 deg. 2025-01-08T22:26:13.094Z,1736375173.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714386 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:13.177Z,1736375173.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:13.179Z,1736375173.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288313 2025-01-08T22:26:13.428Z,1736375173.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:13.428Z,1736375173.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538241 2025-01-08T22:26:13.518Z,1736375173.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:13.548Z,1736375173.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:13.551Z,1736375173.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 27.953337 m, bearing: 199.432209 deg, approach rate: 0.365481 m/s, LOS rate: -0.656655 deg/s, cmd heading: 327.410172 deg, new cmd heading: 326.505173 deg. 2025-01-08T22:26:13.560Z,1736375173.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698590 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:13.680Z,1736375173.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:13.681Z,1736375173.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790742 2025-01-08T22:26:13.933Z,1736375173.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:13.934Z,1736375173.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043802 2025-01-08T22:26:13.000Z,1736375174.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:14.041Z,1736375174.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:14.049Z,1736375174.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 28.133926 m, bearing: 199.094206 deg, approach rate: 0.366325 m/s, LOS rate: -0.681231 deg/s, cmd heading: 326.505172 deg, new cmd heading: 325.497782 deg. 2025-01-08T22:26:14.050Z,1736375174.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681008 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:14.185Z,1736375174.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:14.189Z,1736375174.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296438 2025-01-08T22:26:14.423Z,1736375174.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:14.444Z,1736375174.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:14.445Z,1736375174.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554522 2025-01-08T22:26:14.453Z,1736375174.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:14.460Z,1736375174.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 28.296677 m, bearing: 198.813923 deg, approach rate: 0.395189 m/s, LOS rate: -0.676664 deg/s, cmd heading: 325.497774 deg, new cmd heading: 324.661823 deg. 2025-01-08T22:26:14.461Z,1736375174.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666418 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:14.700Z,1736375174.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:14.702Z,1736375174.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811401 2025-01-08T22:26:14.873Z,1736375174.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:14.882Z,1736375174.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:14.885Z,1736375174.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 28.466198 m, bearing: 198.509618 deg, approach rate: 0.394773 m/s, LOS rate: -0.704426 deg/s, cmd heading: 324.661813 deg, new cmd heading: 323.754416 deg. 2025-01-08T22:26:14.886Z,1736375174.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.650580 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:14.952Z,1736375174.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:14.953Z,1736375174.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062359 2025-01-08T22:26:15.204Z,1736375175.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:15.205Z,1736375175.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314896 2025-01-08T22:26:15.341Z,1736375175.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:15.356Z,1736375175.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:26:15.358Z,1736375175.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:15.365Z,1736375175.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 28.640965 m, bearing: 198.191836 deg, approach rate: 0.367197 m/s, LOS rate: -0.663607 deg/s, cmd heading: 323.754409 deg, new cmd heading: 322.806970 deg. 2025-01-08T22:26:15.366Z,1736375175.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.634045 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:15.456Z,1736375175.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:15.457Z,1736375175.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566319 2025-01-08T22:26:15.708Z,1736375175.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:15.709Z,1736375175.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818351 2025-01-08T22:26:15.714Z,1736375175.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:15.723Z,1736375175.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:15.727Z,1736375175.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 28.779047 m, bearing: 197.943602 deg, approach rate: 0.378445 m/s, LOS rate: -0.677071 deg/s, cmd heading: 322.806980 deg, new cmd heading: 322.065896 deg. 2025-01-08T22:26:15.728Z,1736375175.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621110 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:15.960Z,1736375175.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:15.961Z,1736375175.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070415 2025-01-08T22:26:16.089Z,1736375176.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:16.099Z,1736375176.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:16.102Z,1736375176.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 28.916632 m, bearing: 197.691475 deg, approach rate: 0.366006 m/s, LOS rate: -0.667522 deg/s, cmd heading: 322.065904 deg, new cmd heading: 321.313167 deg. 2025-01-08T22:26:16.103Z,1736375176.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607973 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:16.213Z,1736375176.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:16.215Z,1736375176.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324605 2025-01-08T22:26:16.465Z,1736375176.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:16.466Z,1736375176.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575712 2025-01-08T22:26:16.526Z,1736375176.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:16.548Z,1736375176.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:16.551Z,1736375176.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 29.069033 m, bearing: 197.382504 deg, approach rate: 0.342803 m/s, LOS rate: -0.691335 deg/s, cmd heading: 321.313163 deg, new cmd heading: 320.391196 deg. 2025-01-08T22:26:16.564Z,1736375176.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.591881 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:16.716Z,1736375176.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:16.717Z,1736375176.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826394 2025-01-08T22:26:16.889Z,1736375176.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:16.899Z,1736375176.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:16.902Z,1736375176.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 29.194729 m, bearing: 197.122734 deg, approach rate: 0.353897 m/s, LOS rate: -0.728232 deg/s, cmd heading: 320.391197 deg, new cmd heading: 319.615291 deg. 2025-01-08T22:26:16.903Z,1736375176.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578339 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:16.968Z,1736375176.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:16.969Z,1736375176.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078643 2025-01-08T22:26:17.220Z,1736375177.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:17.220Z,1736375177.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330155 2025-01-08T22:26:17.354Z,1736375177.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:17.389Z,1736375177.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:26:17.391Z,1736375177.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:17.394Z,1736375177.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 29.355881 m, bearing: 196.794709 deg, approach rate: 0.327501 m/s, LOS rate: -0.662966 deg/s, cmd heading: 319.615287 deg, new cmd heading: 318.636716 deg. 2025-01-08T22:26:17.396Z,1736375177.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561260 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:17.472Z,1736375177.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:17.472Z,1736375177.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582272 2025-01-08T22:26:17.724Z,1736375177.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:17.725Z,1736375177.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834301 2025-01-08T22:26:17.755Z,1736375177.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:17.777Z,1736375177.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:17.805Z,1736375177.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 29.490593 m, bearing: 196.477151 deg, approach rate: 0.348311 m/s, LOS rate: -0.817322 deg/s, cmd heading: 318.636712 deg, new cmd heading: 317.688481 deg. 2025-01-08T22:26:17.806Z,1736375177.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.544710 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:17.978Z,1736375177.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:17.980Z,1736375177.980 [DAT](INFO): Reached modem response timeout 2025-01-08T22:26:17.981Z,1736375177.981 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:26:17.982Z,1736375177.982 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:26:18.104Z,1736375178.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:18.130Z,1736375178.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:18.137Z,1736375178.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 29.606215 m, bearing: 196.200096 deg, approach rate: 0.327961 m/s, LOS rate: -0.782796 deg/s, cmd heading: 317.688491 deg, new cmd heading: 316.860632 deg. 2025-01-08T22:26:18.138Z,1736375178.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.530262 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:18.229Z,1736375178.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:18.229Z,1736375178.229 [DAT](INFO): Reached modem response timeout 2025-01-08T22:26:18.230Z,1736375178.230 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:26:18.230Z,1736375178.230 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:26:18.480Z,1736375178.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:18.480Z,1736375178.480 [DAT](INFO): Reached modem response timeout 2025-01-08T22:26:18.480Z,1736375178.480 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:26:18.481Z,1736375178.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:26:18.564Z,1736375178.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:18.573Z,1736375178.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:18.576Z,1736375178.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 29.759359 m, bearing: 195.798744 deg, approach rate: 0.345916 m/s, LOS rate: -0.901882 deg/s, cmd heading: 316.860645 deg, new cmd heading: 315.662968 deg. 2025-01-08T22:26:18.578Z,1736375178.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509358 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:18.732Z,1736375178.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:18.733Z,1736375178.733 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:26:18.733Z,1736375178.733 [DAT](INFO): response not received 2025-01-08T22:26:18.734Z,1736375178.734 [DAT](INFO): DAT read: user:2603> 2025-01-08T22:26:18.735Z,1736375178.735 [DAT](ERROR): No response from remote modem. 2025-01-08T22:26:18.735Z,1736375178.735 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:26:18.736Z,1736375178.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:26:18.913Z,1736375178.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:18.940Z,1736375178.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:18.945Z,1736375178.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 29.870848 m, bearing: 195.490712 deg, approach rate: 0.303396 m/s, LOS rate: -0.835121 deg/s, cmd heading: 315.662957 deg, new cmd heading: 314.742395 deg. 2025-01-08T22:26:18.946Z,1736375178.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493291 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:18.984Z,1736375178.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:18.986Z,1736375178.986 [DAT](INFO): DAT read: Tx time:22:26:18.1534 2025-01-08T22:26:18.986Z,1736375178.986 [DAT](INFO): Ping request sent. 2025-01-08T22:26:18.987Z,1736375178.987 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:18.988Z,1736375178.988 [DAT](INFO): DAT read: TxSync time:22:26:18.1526 2025-01-08T22:26:18.988Z,1736375178.988 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:18.989Z,1736375178.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002886 2025-01-08T22:26:19.236Z,1736375179.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:19.236Z,1736375179.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250102 2025-01-08T22:26:19.378Z,1736375179.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:19.408Z,1736375179.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:26:19.411Z,1736375179.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:19.414Z,1736375179.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 30.020809 m, bearing: 195.083642 deg, approach rate: 0.318769 m/s, LOS rate: -0.860966 deg/s, cmd heading: 314.742384 deg, new cmd heading: 313.527467 deg. 2025-01-08T22:26:19.415Z,1736375179.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472086 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:19.488Z,1736375179.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:19.490Z,1736375179.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502957 2025-01-08T22:26:19.740Z,1736375179.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:19.740Z,1736375179.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753934 2025-01-08T22:26:19.816Z,1736375179.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:19.839Z,1736375179.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:19.842Z,1736375179.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 30.150721 m, bearing: 194.671688 deg, approach rate: 0.303431 m/s, LOS rate: -0.958036 deg/s, cmd heading: 313.527458 deg, new cmd heading: 312.297120 deg. 2025-01-08T22:26:19.844Z,1736375179.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450613 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:19.992Z,1736375179.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:19.993Z,1736375179.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006762 2025-01-08T22:26:20.120Z,1736375180.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:20.130Z,1736375180.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:20.133Z,1736375180.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 30.238731 m, bearing: 194.385629 deg, approach rate: 0.302379 m/s, LOS rate: -0.979951 deg/s, cmd heading: 312.297122 deg, new cmd heading: 311.441509 deg. 2025-01-08T22:26:20.134Z,1736375180.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.435680 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:20.212Z,1736375180.212 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:26:20.244Z,1736375180.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:20.245Z,1736375180.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258941 2025-01-08T22:26:20.496Z,1736375180.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:20.497Z,1736375180.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510245 2025-01-08T22:26:20.572Z,1736375180.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:20.581Z,1736375180.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:20.584Z,1736375180.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 30.370518 m, bearing: 193.930647 deg, approach rate: 0.291774 m/s, LOS rate: -1.002945 deg/s, cmd heading: 311.441518 deg, new cmd heading: 310.082763 deg. 2025-01-08T22:26:20.585Z,1736375180.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.411965 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:20.748Z,1736375180.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:20.748Z,1736375180.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762111 2025-01-08T22:26:20.935Z,1736375180.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:20.946Z,1736375180.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:20.949Z,1736375180.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 30.471203 m, bearing: 193.562628 deg, approach rate: 0.276539 m/s, LOS rate: -1.007443 deg/s, cmd heading: 310.082775 deg, new cmd heading: 308.982510 deg. 2025-01-08T22:26:20.950Z,1736375180.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.392762 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:21.000Z,1736375181.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:21.002Z,1736375181.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015139 2025-01-08T22:26:21.252Z,1736375181.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:21.252Z,1736375181.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266028 2025-01-08T22:26:21.386Z,1736375181.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:21.435Z,1736375181.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:26:21.437Z,1736375181.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:21.444Z,1736375181.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 30.593296 m, bearing: 193.105725 deg, approach rate: 0.248279 m/s, LOS rate: -0.925404 deg/s, cmd heading: 308.982513 deg, new cmd heading: 307.617547 deg. 2025-01-08T22:26:21.445Z,1736375181.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368939 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:21.505Z,1736375181.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:21.506Z,1736375181.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519277 2025-01-08T22:26:21.756Z,1736375181.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:21.756Z,1736375181.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770077 2025-01-08T22:26:21.764Z,1736375181.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:21.773Z,1736375181.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:21.777Z,1736375181.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 30.696655 m, bearing: 192.705913 deg, approach rate: 0.308171 m/s, LOS rate: -1.188036 deg/s, cmd heading: 307.617541 deg, new cmd heading: 306.422326 deg. 2025-01-08T22:26:21.778Z,1736375181.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348079 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:22.008Z,1736375182.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:22.009Z,1736375182.009 [DAT](INFO): DAT read: Rx Time:22:26:20.6532 2025-01-08T22:26:22.010Z,1736375182.010 [DAT](INFO): Rx dataTimestamp_ set to:1736375182.009337 2025-01-08T22:26:22.010Z,1736375182.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023861 2025-01-08T22:26:22.148Z,1736375182.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:22.157Z,1736375182.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:22.161Z,1736375182.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.900002 m, nav range: 30.798759 m, bearing: 192.300030 deg, approach rate: 0.265822 m/s, LOS rate: -1.053180 deg/s, cmd heading: 306.422340 deg, new cmd heading: 305.208920 deg. 2025-01-08T22:26:22.162Z,1736375182.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326900 target range: 59.900002 and range: 63.90 m. 2025-01-08T22:26:22.260Z,1736375182.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:22.262Z,1736375182.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275160 2025-01-08T22:26:22.512Z,1736375182.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:22.513Z,1736375182.513 [DAT](INFO): DAT read: Range 10 to 50 : 71.7 m (Round-trip 95.7 ms) speed -0.2 m/s 2025-01-08T22:26:22.514Z,1736375182.514 [DAT](INFO): DAT read: user:2604> 2025-01-08T22:26:22.515Z,1736375182.515 [DAT](INFO): DAT read: Tx time:22:26:21.7534 2025-01-08T22:26:22.515Z,1736375182.515 [DAT](INFO): Ping request sent. 2025-01-08T22:26:22.515Z,1736375182.515 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:22.516Z,1736375182.516 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:26:22.516Z,1736375182.516 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:22.516Z,1736375182.516 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:22.614Z,1736375182.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:22.636Z,1736375182.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 14.627126 s, deltaX: 7.799995 m, approachRate: 0.533256 m/s, rangeRepo size: 4 2025-01-08T22:26:22.637Z,1736375182.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:22.637Z,1736375182.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 71.70 m. Rolling out. 2025-01-08T22:26:22.638Z,1736375182.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-01-08T22:26:22.683Z,1736375182.683 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T22:26:22.683Z,1736375182.683 [DockingStepper](INFO): Standby mode. 2025-01-08T22:26:22.755Z,1736375182.755 [DockingStepper](INFO): Commanding positive:54396 2025-01-08T22:26:22.765Z,1736375182.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:22.766Z,1736375182.766 [DAT](INFO): DAT read: TxSync time:22:26:21.7526 2025-01-08T22:26:22.974Z,1736375182.974 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -22.00 mm. 2025-01-08T22:26:22.976Z,1736375182.976 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 21.81 mm. 2025-01-08T22:26:22.977Z,1736375182.977 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 0.00 deg, mass-position 21.81 mm. 2025-01-08T22:26:22.977Z,1736375182.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:23.001Z,1736375183.001 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-01-08T22:26:23.001Z,1736375183.001 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T22:26:23.002Z,1736375183.002 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-01-08T22:26:23.008Z,1736375183.008 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 71.699997 m (mode 5.000000 count ). 2025-01-08T22:26:23.010Z,1736375183.010 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-01-08T22:26:23.010Z,1736375183.010 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-01-08T22:26:23.016Z,1736375183.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:23.036Z,1736375183.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:23.038Z,1736375183.038 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-01-08T22:26:23.038Z,1736375183.038 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T22:26:23.038Z,1736375183.038 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-01-08T22:26:23.038Z,1736375183.038 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-01-08T22:26:23.268Z,1736375183.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:23.380Z,1736375183.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:23.425Z,1736375183.425 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-01-08T22:26:23.425Z,1736375183.425 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-01-08T22:26:23.450Z,1736375183.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:23.520Z,1736375183.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:23.772Z,1736375183.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:23.802Z,1736375183.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:23.812Z,1736375183.812 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-01-08T22:26:23.812Z,1736375183.812 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-01-08T22:26:23.815Z,1736375183.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:24.024Z,1736375184.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:24.184Z,1736375184.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:24.191Z,1736375184.191 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-01-08T22:26:24.191Z,1736375184.191 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T22:26:24.191Z,1736375184.191 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-01-08T22:26:24.207Z,1736375184.207 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T22:26:24.211Z,1736375184.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:24.277Z,1736375184.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:24.528Z,1736375184.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:24.608Z,1736375184.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:24.634Z,1736375184.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:24.780Z,1736375184.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:24.997Z,1736375184.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:25.005Z,1736375185.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:25.045Z,1736375185.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:25.296Z,1736375185.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:25.309Z,1736375185.309 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:26:25.421Z,1736375185.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:25.484Z,1736375185.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:25.548Z,1736375185.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:25.548Z,1736375185.548 [DAT](INFO): DAT read: Rx Time:22:26:24.2554 2025-01-08T22:26:25.549Z,1736375185.549 [DAT](INFO): Rx dataTimestamp_ set to:1736375185.548628 2025-01-08T22:26:25.800Z,1736375185.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:25.857Z,1736375185.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:25.887Z,1736375185.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:26.052Z,1736375186.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:26.053Z,1736375186.053 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:26:26.053Z,1736375186.053 [DAT](INFO): Received a bad header 2025-01-08T22:26:26.213Z,1736375186.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:26.222Z,1736375186.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:26.304Z,1736375186.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:26.317Z,1736375186.317 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:26:26.320Z,1736375186.320 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:26:26.556Z,1736375186.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:26.645Z,1736375186.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:26.675Z,1736375186.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:26.808Z,1736375186.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:27.012Z,1736375187.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:27.020Z,1736375187.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:27.061Z,1736375187.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:27.312Z,1736375187.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:27.430Z,1736375187.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:27.439Z,1736375187.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:27.564Z,1736375187.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:27.816Z,1736375187.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:27.821Z,1736375187.821 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.09, 80.54, 89.03, 82.57 2025-01-08T22:26:27.852Z,1736375187.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:26:27.852Z,1736375187.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:27.862Z,1736375187.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:28.068Z,1736375188.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:28.223Z,1736375188.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:26:28.224Z,1736375188.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:28.233Z,1736375188.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:28.320Z,1736375188.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:28.574Z,1736375188.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:28.682Z,1736375188.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:28.690Z,1736375188.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:28.824Z,1736375188.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:29.044Z,1736375189.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:29.052Z,1736375189.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:29.076Z,1736375189.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:29.328Z,1736375189.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:29.459Z,1736375189.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:29.468Z,1736375189.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:29.580Z,1736375189.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:29.832Z,1736375189.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:29.914Z,1736375189.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:29.949Z,1736375189.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:30.084Z,1736375190.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:30.336Z,1736375190.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:30.362Z,1736375190.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:30.375Z,1736375190.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:30.588Z,1736375190.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:30.794Z,1736375190.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:30.803Z,1736375190.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:30.840Z,1736375190.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:31.092Z,1736375191.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:31.213Z,1736375191.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:31.242Z,1736375191.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:31.344Z,1736375191.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:31.596Z,1736375191.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:31.670Z,1736375191.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:31.683Z,1736375191.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:31.850Z,1736375191.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:32.032Z,1736375192.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:32.041Z,1736375192.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:32.105Z,1736375192.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:32.356Z,1736375192.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:32.444Z,1736375192.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:32.453Z,1736375192.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:32.609Z,1736375192.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:32.860Z,1736375192.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:32.871Z,1736375192.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:32.881Z,1736375192.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:33.112Z,1736375193.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:33.297Z,1736375193.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:33.329Z,1736375193.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:33.364Z,1736375193.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:33.365Z,1736375193.365 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:26:33.366Z,1736375193.366 [DAT](INFO): response not received 2025-01-08T22:26:33.366Z,1736375193.366 [DAT](INFO): DAT read: user:2606> 2025-01-08T22:26:33.367Z,1736375193.367 [DAT](INFO): DAT read: Tx time:22:26:32.7035 2025-01-08T22:26:33.367Z,1736375193.367 [DAT](INFO): Ping request sent. 2025-01-08T22:26:33.368Z,1736375193.368 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:33.368Z,1736375193.368 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:33.461Z,1736375193.461 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:26:33.616Z,1736375193.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:33.617Z,1736375193.617 [DAT](INFO): DAT read: TxSync time:22:26:32.7027 2025-01-08T22:26:33.794Z,1736375193.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:33.816Z,1736375193.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:33.868Z,1736375193.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:34.120Z,1736375194.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:34.224Z,1736375194.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:34.234Z,1736375194.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:34.372Z,1736375194.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:34.625Z,1736375194.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:34.696Z,1736375194.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:34.705Z,1736375194.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:34.878Z,1736375194.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:35.100Z,1736375195.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:35.108Z,1736375195.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:35.128Z,1736375195.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:35.380Z,1736375195.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:35.511Z,1736375195.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:35.519Z,1736375195.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:35.633Z,1736375195.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:35.884Z,1736375195.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:35.948Z,1736375195.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:35.981Z,1736375195.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:36.138Z,1736375196.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:36.362Z,1736375196.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:36.371Z,1736375196.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:36.388Z,1736375196.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:36.388Z,1736375196.388 [DAT](INFO): DAT read: Rx Time:22:26:35.2103 2025-01-08T22:26:36.389Z,1736375196.389 [DAT](INFO): Rx dataTimestamp_ set to:1736375196.388622 2025-01-08T22:26:36.640Z,1736375196.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:36.780Z,1736375196.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:36.789Z,1736375196.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:36.892Z,1736375196.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:36.894Z,1736375196.894 [DAT](INFO): DAT read: Range 10 to 50 : 77.0 m (Round-trip 102.7 ms) speed -0.2 m/s 2025-01-08T22:26:36.895Z,1736375196.895 [DAT](INFO): DAT read: user:2607> 2025-01-08T22:26:36.895Z,1736375196.895 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-01-08T22:26:37.144Z,1736375197.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:37.145Z,1736375197.145 [DAT](INFO): DAT read: Tx time:22:26:36.3035 2025-01-08T22:26:37.145Z,1736375197.145 [DAT](INFO): Ping request sent. 2025-01-08T22:26:37.145Z,1736375197.145 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:37.146Z,1736375197.146 [DAT](INFO): DAT read: TxSync time:22:26:36.3027 2025-01-08T22:26:37.146Z,1736375197.146 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:37.220Z,1736375197.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:37.238Z,1736375197.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.000000 m, deltaT: 14.379895 s, deltaX: 5.300003 m, approachRate: 0.368570 m/s, rangeRepo size: 4 2025-01-08T22:26:37.239Z,1736375197.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:37.398Z,1736375197.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:37.649Z,1736375197.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:37.731Z,1736375197.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:37.739Z,1736375197.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:37.900Z,1736375197.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:38.144Z,1736375198.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:38.152Z,1736375198.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:38.158Z,1736375198.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:38.404Z,1736375198.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:38.636Z,1736375198.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:38.658Z,1736375198.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:38.690Z,1736375198.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:38.908Z,1736375198.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:39.160Z,1736375199.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:39.178Z,1736375199.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:39.187Z,1736375199.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:39.412Z,1736375199.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:39.665Z,1736375199.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:39.694Z,1736375199.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:39.704Z,1736375199.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:39.916Z,1736375199.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:40.066Z,1736375200.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:26:40.066Z,1736375200.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:40.074Z,1736375200.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:40.168Z,1736375200.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:40.169Z,1736375200.169 [DAT](INFO): DAT read: Rx Time:22:26:38.8116 2025-01-08T22:26:40.170Z,1736375200.170 [DAT](INFO): Rx dataTimestamp_ set to:1736375200.169436 2025-01-08T22:26:40.420Z,1736375200.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:40.488Z,1736375200.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:26:40.488Z,1736375200.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:40.497Z,1736375200.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:40.548Z,1736375200.548 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:26:40.674Z,1736375200.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:40.685Z,1736375200.685 [DAT](INFO): DAT read: Range 10 to 50 : 77.9 m (Round-trip 103.9 ms) speed -0.2 m/s 2025-01-08T22:26:40.694Z,1736375200.694 [DAT](INFO): DAT read: user:2608> 2025-01-08T22:26:40.697Z,1736375200.697 [DAT](INFO): DAT read: Tx time:22:26:39.9036 2025-01-08T22:26:40.697Z,1736375200.697 [DAT](INFO): Ping request sent. 2025-01-08T22:26:40.697Z,1736375200.697 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:40.698Z,1736375200.698 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-01-08T22:26:40.698Z,1736375200.698 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:40.700Z,1736375200.700 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:40.924Z,1736375200.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:40.925Z,1736375200.925 [DAT](INFO): DAT read: TxSync time:22:26:39.9028 2025-01-08T22:26:40.965Z,1736375200.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:40.984Z,1736375200.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.900002 m, deltaT: 3.782429 s, deltaX: 0.900002 m, approachRate: 0.237943 m/s, rangeRepo size: 4 2025-01-08T22:26:40.985Z,1736375200.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:41.177Z,1736375201.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:41.400Z,1736375201.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:41.408Z,1736375201.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:41.428Z,1736375201.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:41.682Z,1736375201.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:41.835Z,1736375201.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:41.860Z,1736375201.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:41.932Z,1736375201.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:42.184Z,1736375202.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:42.245Z,1736375202.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:42.270Z,1736375202.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:42.436Z,1736375202.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:42.689Z,1736375202.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:42.769Z,1736375202.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:42.794Z,1736375202.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:42.940Z,1736375202.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:43.192Z,1736375203.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:43.218Z,1736375203.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:43.227Z,1736375203.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:43.444Z,1736375203.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:43.600Z,1736375203.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:43.624Z,1736375203.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:43.698Z,1736375203.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:43.701Z,1736375203.701 [DAT](INFO): DAT read: Rx Time:22:26:42.4126 2025-01-08T22:26:43.702Z,1736375203.702 [DAT](INFO): Rx dataTimestamp_ set to:1736375203.701360 2025-01-08T22:26:43.948Z,1736375203.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:44.046Z,1736375204.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:44.055Z,1736375204.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:44.200Z,1736375204.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:44.202Z,1736375204.202 [DAT](INFO): DAT read: Range 10 to 50 : 78.6 m (Round-trip 104.9 ms) speed -0.2 m/s 2025-01-08T22:26:44.202Z,1736375204.202 [DAT](INFO): DAT read: user:2609> 2025-01-08T22:26:44.204Z,1736375204.204 [DAT](INFO): DAT read: Tx time:22:26:43.5036 2025-01-08T22:26:44.204Z,1736375204.204 [DAT](INFO): Ping request sent. 2025-01-08T22:26:44.204Z,1736375204.204 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:44.204Z,1736375204.204 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-01-08T22:26:44.205Z,1736375204.205 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:44.205Z,1736375204.205 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:44.413Z,1736375204.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:44.426Z,1736375204.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.599998 m, deltaT: 3.525648 s, deltaX: 0.699997 m, approachRate: 0.198544 m/s, rangeRepo size: 4 2025-01-08T22:26:44.428Z,1736375204.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:44.465Z,1736375204.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:44.466Z,1736375204.466 [DAT](INFO): DAT read: TxSync time:22:26:43.5028 2025-01-08T22:26:44.717Z,1736375204.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:44.839Z,1736375204.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:44.873Z,1736375204.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:44.969Z,1736375204.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:45.220Z,1736375205.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:45.237Z,1736375205.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:45.246Z,1736375205.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:45.472Z,1736375205.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:45.622Z,1736375205.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:45.656Z,1736375205.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:45.725Z,1736375205.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:45.976Z,1736375205.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:46.067Z,1736375206.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:46.076Z,1736375206.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:46.228Z,1736375206.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:46.428Z,1736375206.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:46.437Z,1736375206.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:46.480Z,1736375206.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:46.734Z,1736375206.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:46.863Z,1736375206.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:46.871Z,1736375206.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:46.984Z,1736375206.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:47.237Z,1736375207.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:47.238Z,1736375207.238 [DAT](INFO): DAT read: Rx Time:22:26:46.0134 2025-01-08T22:26:47.239Z,1736375207.239 [DAT](INFO): Rx dataTimestamp_ set to:1736375207.238315 2025-01-08T22:26:47.270Z,1736375207.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:47.286Z,1736375207.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:47.488Z,1736375207.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:47.708Z,1736375207.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:47.717Z,1736375207.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:47.740Z,1736375207.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:47.745Z,1736375207.745 [DAT](INFO): DAT read: Range 10 to 50 : 79.2 m (Round-trip 105.7 ms) speed 0.0 m/s 2025-01-08T22:26:47.748Z,1736375207.748 [DAT](INFO): DAT read: user:2610> 2025-01-08T22:26:47.750Z,1736375207.750 [DAT](INFO): DAT read: Tx time:22:26:47.1036 2025-01-08T22:26:47.752Z,1736375207.752 [DAT](INFO): Ping request sent. 2025-01-08T22:26:47.752Z,1736375207.752 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:47.753Z,1736375207.753 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-01-08T22:26:47.753Z,1736375207.753 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:47.760Z,1736375207.760 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:47.994Z,1736375207.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:47.996Z,1736375207.996 [DAT](INFO): DAT read: TxSync time:22:26:47.1028 2025-01-08T22:26:48.133Z,1736375208.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:48.160Z,1736375208.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.540450 s, deltaX: 0.599998 m, approachRate: 0.169470 m/s, rangeRepo size: 4 2025-01-08T22:26:48.161Z,1736375208.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:48.244Z,1736375208.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:48.496Z,1736375208.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:48.521Z,1736375208.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:48.551Z,1736375208.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:48.749Z,1736375208.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:48.951Z,1736375208.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:48.961Z,1736375208.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:49.000Z,1736375209.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:49.252Z,1736375209.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:49.324Z,1736375209.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:49.334Z,1736375209.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:49.504Z,1736375209.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:49.725Z,1736375209.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:49.733Z,1736375209.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:49.758Z,1736375209.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:50.010Z,1736375210.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:50.152Z,1736375210.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:50.161Z,1736375210.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:50.264Z,1736375210.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:50.516Z,1736375210.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:50.552Z,1736375210.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:50.569Z,1736375210.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:50.768Z,1736375210.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:50.768Z,1736375210.768 [DAT](INFO): DAT read: Rx Time:22:26:49.6141 2025-01-08T22:26:50.769Z,1736375210.769 [DAT](INFO): Rx dataTimestamp_ set to:1736375210.768609 2025-01-08T22:26:50.968Z,1736375210.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:50.977Z,1736375210.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:51.020Z,1736375211.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:51.273Z,1736375211.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:51.274Z,1736375211.274 [DAT](INFO): DAT read: Range 10 to 50 : 79.8 m (Round-trip 106.4 ms) speed -0.3 m/s 2025-01-08T22:26:51.275Z,1736375211.275 [DAT](INFO): DAT read: user:2611> 2025-01-08T22:26:51.276Z,1736375211.276 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-08T22:26:51.373Z,1736375211.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:51.390Z,1736375211.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.800003 m, deltaT: 3.532381 s, deltaX: 0.600006 m, approachRate: 0.169859 m/s, rangeRepo size: 4 2025-01-08T22:26:51.391Z,1736375211.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:51.524Z,1736375211.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:51.525Z,1736375211.525 [DAT](INFO): DAT read: Tx time:22:26:50.7036 2025-01-08T22:26:51.525Z,1736375211.525 [DAT](INFO): Ping request sent. 2025-01-08T22:26:51.525Z,1736375211.525 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:51.527Z,1736375211.527 [DAT](INFO): DAT read: TxSync time:22:26:50.7028 2025-01-08T22:26:51.529Z,1736375211.529 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:51.766Z,1736375211.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:51.774Z,1736375211.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:51.776Z,1736375211.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:52.028Z,1736375212.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:52.203Z,1736375212.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:52.240Z,1736375212.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:52.280Z,1736375212.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:52.532Z,1736375212.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:52.590Z,1736375212.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:52.600Z,1736375212.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:52.786Z,1736375212.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:53.020Z,1736375213.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:53.029Z,1736375213.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:53.036Z,1736375213.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:53.288Z,1736375213.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:53.397Z,1736375213.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:53.426Z,1736375213.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:53.540Z,1736375213.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:53.792Z,1736375213.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:53.798Z,1736375213.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:53.806Z,1736375213.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:54.044Z,1736375214.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:54.296Z,1736375214.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:54.303Z,1736375214.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:54.313Z,1736375214.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:54.548Z,1736375214.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:54.549Z,1736375214.549 [DAT](INFO): DAT read: Rx Time:22:26:53.2152 2025-01-08T22:26:54.549Z,1736375214.549 [DAT](INFO): Rx dataTimestamp_ set to:1736375214.549008 2025-01-08T22:26:54.621Z,1736375214.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:54.643Z,1736375214.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:54.800Z,1736375214.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:55.029Z,1736375215.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:55.038Z,1736375215.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:55.052Z,1736375215.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:55.053Z,1736375215.053 [DAT](INFO): DAT read: Range 10 to 50 : 80.5 m (Round-trip 107.4 ms) speed -0.3 m/s 2025-01-08T22:26:55.054Z,1736375215.054 [DAT](INFO): DAT read: user:2612> 2025-01-08T22:26:55.055Z,1736375215.055 [DAT](INFO): DAT read: Tx time:22:26:54.3037 2025-01-08T22:26:55.055Z,1736375215.055 [DAT](INFO): Ping request sent. 2025-01-08T22:26:55.056Z,1736375215.056 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:55.056Z,1736375215.056 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-01-08T22:26:55.056Z,1736375215.056 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:55.057Z,1736375215.057 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:55.304Z,1736375215.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:55.304Z,1736375215.304 [DAT](INFO): DAT read: TxSync time:22:26:54.3029 2025-01-08T22:26:55.412Z,1736375215.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:55.422Z,1736375215.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.500000 m, deltaT: 3.779185 s, deltaX: 0.699997 m, approachRate: 0.185224 m/s, rangeRepo size: 4 2025-01-08T22:26:55.422Z,1736375215.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:55.556Z,1736375215.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:55.808Z,1736375215.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:55.820Z,1736375215.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:55.829Z,1736375215.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:56.060Z,1736375216.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:56.296Z,1736375216.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:56.304Z,1736375216.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:56.312Z,1736375216.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:56.444Z,1736375216.444 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:26:56.564Z,1736375216.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:56.624Z,1736375216.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:56.633Z,1736375216.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:56.816Z,1736375216.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:57.058Z,1736375217.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:57.076Z,1736375217.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:57.089Z,1736375217.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:57.328Z,1736375217.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:57.431Z,1736375217.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:57.449Z,1736375217.449 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:26:57.467Z,1736375217.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:57.580Z,1736375217.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:57.832Z,1736375217.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:57.847Z,1736375217.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:57.878Z,1736375217.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:58.084Z,1736375218.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:58.084Z,1736375218.084 [DAT](INFO): DAT read: Rx Time:22:26:56.8160 2025-01-08T22:26:58.085Z,1736375218.085 [DAT](INFO): Rx dataTimestamp_ set to:1736375218.084544 2025-01-08T22:26:58.278Z,1736375218.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:58.287Z,1736375218.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:58.336Z,1736375218.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:58.588Z,1736375218.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:58.589Z,1736375218.589 [DAT](INFO): DAT read: Range 10 to 50 : 81.1 m (Round-trip 108.2 ms) speed -0.1 m/s 2025-01-08T22:26:58.590Z,1736375218.590 [DAT](INFO): DAT read: user:2613> 2025-01-08T22:26:58.591Z,1736375218.591 [DAT](INFO): DAT read: Tx time:22:26:57.9037 2025-01-08T22:26:58.596Z,1736375218.596 [DAT](INFO): Ping request sent. 2025-01-08T22:26:58.596Z,1736375218.596 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:26:58.596Z,1736375218.596 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-01-08T22:26:58.596Z,1736375218.596 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:58.597Z,1736375218.597 [DAT](INFO): publishing transmit ping time 2025-01-08T22:26:58.694Z,1736375218.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:58.722Z,1736375218.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.099998 m, deltaT: 3.535954 s, deltaX: 0.599998 m, approachRate: 0.169685 m/s, rangeRepo size: 4 2025-01-08T22:26:58.723Z,1736375218.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:58.840Z,1736375218.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:58.841Z,1736375218.841 [DAT](INFO): DAT read: TxSync time:22:26:57.9029 2025-01-08T22:26:59.086Z,1736375219.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:59.092Z,1736375219.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:59.098Z,1736375219.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:59.344Z,1736375219.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:59.451Z,1736375219.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:59.461Z,1736375219.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:26:59.596Z,1736375219.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:59.848Z,1736375219.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:26:59.878Z,1736375219.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:26:59.887Z,1736375219.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:00.102Z,1736375220.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:00.352Z,1736375220.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:00.357Z,1736375220.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:00.366Z,1736375220.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:00.604Z,1736375220.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:00.753Z,1736375220.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:00.769Z,1736375220.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:00.856Z,1736375220.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:01.108Z,1736375221.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:01.214Z,1736375221.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:01.231Z,1736375221.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:01.361Z,1736375221.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:01.549Z,1736375221.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:01.558Z,1736375221.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:01.612Z,1736375221.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:01.613Z,1736375221.613 [DAT](INFO): DAT read: Rx Time:22:27:00.4163 2025-01-08T22:27:01.613Z,1736375221.613 [DAT](INFO): Rx dataTimestamp_ set to:1736375221.612956 2025-01-08T22:27:01.864Z,1736375221.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:02.001Z,1736375222.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:02.033Z,1736375222.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:02.116Z,1736375222.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:02.117Z,1736375222.117 [DAT](INFO): DAT read: Range 10 to 50 : 81.3 m (Round-trip 108.4 ms) speed -0.1 m/s 2025-01-08T22:27:02.118Z,1736375222.118 [DAT](INFO): DAT read: user:2614> 2025-01-08T22:27:02.122Z,1736375222.122 [DAT](INFO): DAT read: Tx time:22:27:01.5037 2025-01-08T22:27:02.122Z,1736375222.122 [DAT](INFO): Ping request sent. 2025-01-08T22:27:02.122Z,1736375222.122 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:27:02.123Z,1736375222.123 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-01-08T22:27:02.123Z,1736375222.123 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:02.124Z,1736375222.124 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:02.368Z,1736375222.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:02.369Z,1736375222.369 [DAT](INFO): DAT read: TxSync time:22:27:01.5029 2025-01-08T22:27:02.395Z,1736375222.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:02.404Z,1736375222.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.300003 m, deltaT: 3.528041 s, deltaX: 0.200005 m, approachRate: 0.056690 m/s, rangeRepo size: 4 2025-01-08T22:27:02.405Z,1736375222.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:02.620Z,1736375222.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:02.761Z,1736375222.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:02.770Z,1736375222.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:02.872Z,1736375222.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:03.124Z,1736375223.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:03.206Z,1736375223.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:03.215Z,1736375223.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:03.378Z,1736375223.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:03.572Z,1736375223.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:03.581Z,1736375223.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:03.628Z,1736375223.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:03.880Z,1736375223.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:03.976Z,1736375223.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:04.045Z,1736375224.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:04.147Z,1736375224.147 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:04.392Z,1736375224.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:04.397Z,1736375224.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:04.422Z,1736375224.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:04.644Z,1736375224.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:04.782Z,1736375224.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:04.790Z,1736375224.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:04.896Z,1736375224.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:05.148Z,1736375225.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:05.149Z,1736375225.149 [DAT](INFO): DAT read: Rx Time:22:27:04.0167 2025-01-08T22:27:05.149Z,1736375225.149 [DAT](INFO): Rx dataTimestamp_ set to:1736375225.148695 2025-01-08T22:27:05.222Z,1736375225.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:05.231Z,1736375225.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:05.400Z,1736375225.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:05.588Z,1736375225.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:05.597Z,1736375225.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:05.653Z,1736375225.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:05.904Z,1736375225.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:05.906Z,1736375225.906 [DAT](INFO): DAT read: Range 10 to 50 : 81.6 m (Round-trip 108.9 ms) speed 0.0 m/s 2025-01-08T22:27:05.906Z,1736375225.906 [DAT](INFO): DAT read: user:2615> 2025-01-08T22:27:05.907Z,1736375225.907 [DAT](INFO): DAT read: Tx time:22:27:05.1037 2025-01-08T22:27:05.908Z,1736375225.908 [DAT](INFO): Ping request sent. 2025-01-08T22:27:05.908Z,1736375225.908 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:27:05.908Z,1736375225.908 [DAT](INFO): DAT read: TxSync time:22:27:05.1030 2025-01-08T22:27:05.909Z,1736375225.909 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-01-08T22:27:05.909Z,1736375225.909 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:05.910Z,1736375225.910 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:06.062Z,1736375226.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:06.094Z,1736375226.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.787949 s, deltaX: 0.299995 m, approachRate: 0.079197 m/s, rangeRepo size: 4 2025-01-08T22:27:06.094Z,1736375226.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:06.156Z,1736375226.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:06.409Z,1736375226.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:06.497Z,1736375226.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:06.505Z,1736375226.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:06.660Z,1736375226.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:06.803Z,1736375226.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:06.812Z,1736375226.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:06.913Z,1736375226.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:07.165Z,1736375227.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:07.229Z,1736375227.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:07.237Z,1736375227.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:07.416Z,1736375227.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:07.616Z,1736375227.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:07.642Z,1736375227.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:07.670Z,1736375227.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:07.920Z,1736375227.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:08.159Z,1736375228.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:08.172Z,1736375228.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:08.175Z,1736375228.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:08.424Z,1736375228.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:08.480Z,1736375228.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:08.489Z,1736375228.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:08.676Z,1736375228.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:08.886Z,1736375228.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:08.900Z,1736375228.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:08.928Z,1736375228.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:08.930Z,1736375228.930 [DAT](INFO): DAT read: Rx Time:22:27:07.6174 2025-01-08T22:27:08.930Z,1736375228.930 [DAT](INFO): Rx dataTimestamp_ set to:1736375228.929944 2025-01-08T22:27:09.180Z,1736375229.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:09.320Z,1736375229.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:09.330Z,1736375229.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:09.432Z,1736375229.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:09.432Z,1736375229.432 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:27:09.433Z,1736375229.433 [DAT](INFO): Received a bad header 2025-01-08T22:27:09.686Z,1736375229.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:09.704Z,1736375229.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:09.713Z,1736375229.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:09.936Z,1736375229.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:10.174Z,1736375230.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:10.188Z,1736375230.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:10.218Z,1736375230.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:10.440Z,1736375230.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:10.508Z,1736375230.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:10.518Z,1736375230.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:10.692Z,1736375230.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:10.929Z,1736375230.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:10.938Z,1736375230.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:10.944Z,1736375230.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:11.196Z,1736375231.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:11.356Z,1736375231.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:11.365Z,1736375231.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:11.448Z,1736375231.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:11.703Z,1736375231.703 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:11.762Z,1736375231.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:11.771Z,1736375231.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:11.953Z,1736375231.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:12.204Z,1736375232.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:12.250Z,1736375232.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:12.267Z,1736375232.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:12.456Z,1736375232.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:12.573Z,1736375232.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:12.603Z,1736375232.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:12.708Z,1736375232.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:12.960Z,1736375232.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:12.984Z,1736375232.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:13.013Z,1736375233.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:13.212Z,1736375233.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:13.433Z,1736375233.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:13.441Z,1736375233.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:13.464Z,1736375233.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:13.716Z,1736375233.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:13.813Z,1736375233.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:13.821Z,1736375233.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:13.968Z,1736375233.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:14.220Z,1736375234.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:14.279Z,1736375234.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:14.298Z,1736375234.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:14.472Z,1736375234.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:14.710Z,1736375234.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:14.724Z,1736375234.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:14.735Z,1736375234.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:14.976Z,1736375234.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:15.172Z,1736375235.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:15.215Z,1736375235.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:15.228Z,1736375235.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:15.480Z,1736375235.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:15.655Z,1736375235.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:15.684Z,1736375235.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:15.732Z,1736375235.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:15.984Z,1736375235.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:16.029Z,1736375236.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:16.058Z,1736375236.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:16.236Z,1736375236.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:16.467Z,1736375236.467 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00 +0.00, 20.00,2132, -97, -3,A 2025-01-08T22:27:16.474Z,1736375236.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:27:16.474Z,1736375236.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:16.484Z,1736375236.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:16.488Z,1736375236.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:16.740Z,1736375236.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:16.741Z,1736375236.741 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:27:16.741Z,1736375236.741 [DAT](INFO): response not received 2025-01-08T22:27:16.741Z,1736375236.741 [DAT](INFO): DAT read: user:2617> 2025-01-08T22:27:16.742Z,1736375236.742 [DAT](INFO): DAT read: Tx time:22:27:16.0538 2025-01-08T22:27:16.743Z,1736375236.743 [DAT](INFO): Ping request sent. 2025-01-08T22:27:16.743Z,1736375236.743 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:27:16.743Z,1736375236.743 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:16.880Z,1736375236.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:27:16.881Z,1736375236.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:16.894Z,1736375236.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:16.992Z,1736375236.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:16.994Z,1736375236.994 [DAT](INFO): DAT read: TxSync time:22:27:16.0531 2025-01-08T22:27:17.244Z,1736375237.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:17.301Z,1736375237.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:17.310Z,1736375237.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:17.496Z,1736375237.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:17.700Z,1736375237.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:17.709Z,1736375237.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:17.748Z,1736375237.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:17.000Z,1736375238.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:18.080Z,1736375238.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:18.089Z,1736375238.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:18.254Z,1736375238.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:18.504Z,1736375238.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:18.530Z,1736375238.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:18.539Z,1736375238.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:18.756Z,1736375238.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:18.900Z,1736375238.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:18.910Z,1736375238.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:19.008Z,1736375239.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:19.261Z,1736375239.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:19.368Z,1736375239.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:19.378Z,1736375239.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:19.512Z,1736375239.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:19.718Z,1736375239.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:19.728Z,1736375239.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:19.764Z,1736375239.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:19.765Z,1736375239.765 [DAT](INFO): DAT read: Rx Time:22:27:18.5686 2025-01-08T22:27:19.765Z,1736375239.765 [DAT](INFO): Rx dataTimestamp_ set to:1736375239.765208 2025-01-08T22:27:20.016Z,1736375240.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:20.112Z,1736375240.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:20.120Z,1736375240.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:20.271Z,1736375240.271 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:20.278Z,1736375240.278 [DAT](INFO): DAT read: Range 10 to 50 : 82.9 m (Round-trip 110.6 ms) speed 0.0 m/s 2025-01-08T22:27:20.297Z,1736375240.297 [DAT](INFO): DAT read: user:2618> 2025-01-08T22:27:20.297Z,1736375240.297 [DAT](INFO): DAT read: Tx time:22:27:19.6539 2025-01-08T22:27:20.298Z,1736375240.298 [DAT](INFO): Ping request sent. 2025-01-08T22:27:20.298Z,1736375240.298 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:27:20.298Z,1736375240.298 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-01-08T22:27:20.298Z,1736375240.298 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:20.299Z,1736375240.299 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:20.520Z,1736375240.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:20.521Z,1736375240.521 [DAT](INFO): DAT read: TxSync time:22:27:19.6531 2025-01-08T22:27:20.547Z,1736375240.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:20.558Z,1736375240.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.900002 m, deltaT: 14.368856 s, deltaX: 1.300003 m, approachRate: 0.090474 m/s, rangeRepo size: 4 2025-01-08T22:27:20.558Z,1736375240.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:20.772Z,1736375240.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:20.966Z,1736375240.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:20.974Z,1736375240.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:21.024Z,1736375241.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:21.278Z,1736375241.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:21.405Z,1736375241.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:27:21.405Z,1736375241.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:21.422Z,1736375241.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:21.530Z,1736375241.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:21.772Z,1736375241.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:27:21.773Z,1736375241.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:21.780Z,1736375241.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:21.782Z,1736375241.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:27:21.784Z,1736375241.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:22.032Z,1736375242.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:22.032Z,1736375242.032 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:27:22.032Z,1736375242.032 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:27:22.033Z,1736375242.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:27:22.194Z,1736375242.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:27:22.194Z,1736375242.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:22.210Z,1736375242.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:22.286Z,1736375242.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:22.288Z,1736375242.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989991 2025-01-08T22:27:22.536Z,1736375242.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:22.537Z,1736375242.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238820 2025-01-08T22:27:22.614Z,1736375242.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:22.624Z,1736375242.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:22.788Z,1736375242.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:22.789Z,1736375242.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490854 2025-01-08T22:27:22.994Z,1736375242.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:23.002Z,1736375243.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:23.040Z,1736375243.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:23.041Z,1736375243.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742796 2025-01-08T22:27:23.294Z,1736375243.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:23.297Z,1736375243.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998646 2025-01-08T22:27:23.446Z,1736375243.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:23.459Z,1736375243.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:23.544Z,1736375243.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:23.545Z,1736375243.545 [DAT](INFO): DAT read: Rx Time:22:27:22.1689 2025-01-08T22:27:23.545Z,1736375243.545 [DAT](INFO): Rx dataTimestamp_ set to:1736375243.544779 2025-01-08T22:27:23.546Z,1736375243.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247840 2025-01-08T22:27:23.796Z,1736375243.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:23.796Z,1736375243.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498715 2025-01-08T22:27:23.822Z,1736375243.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:23.838Z,1736375243.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:24.048Z,1736375244.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:24.050Z,1736375244.050 [DAT](INFO): DAT read: Range 10 to 50 : 83.1 m (Round-trip 110.9 ms) speed 0.0 m/s 2025-01-08T22:27:24.051Z,1736375244.051 [DAT](INFO): DAT read: user:2619> 2025-01-08T22:27:24.052Z,1736375244.052 [DAT](INFO): DAT read: Tx time:22:27:23.2539 2025-01-08T22:27:24.052Z,1736375244.052 [DAT](INFO): Ping request sent. 2025-01-08T22:27:24.052Z,1736375244.052 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:27:24.053Z,1736375244.053 [DAT](INFO): DAT read: TxSync time:22:27:23.2531 2025-01-08T22:27:24.053Z,1736375244.053 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:27:24.053Z,1736375244.053 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:24.054Z,1736375244.054 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:24.294Z,1736375244.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:24.301Z,1736375244.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:24.358Z,1736375244.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.099998 m, deltaT: 3.775471 s, deltaX: 0.199997 m, approachRate: 0.052973 m/s, rangeRepo size: 4 2025-01-08T22:27:24.358Z,1736375244.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:24.552Z,1736375244.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:24.671Z,1736375244.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:24.712Z,1736375244.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:24.804Z,1736375244.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:25.025Z,1736375245.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:25.035Z,1736375245.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:25.073Z,1736375245.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:25.325Z,1736375245.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:25.459Z,1736375245.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:25.474Z,1736375245.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:25.577Z,1736375245.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:25.828Z,1736375245.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:25.837Z,1736375245.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:25.846Z,1736375245.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:26.080Z,1736375246.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:26.246Z,1736375246.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:26.255Z,1736375246.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:26.333Z,1736375246.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:26.584Z,1736375246.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:26.686Z,1736375246.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:26.732Z,1736375246.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:26.836Z,1736375246.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:27.088Z,1736375247.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:27.090Z,1736375247.090 [DAT](INFO): DAT read: Rx Time:22:27:25.7692 2025-01-08T22:27:27.090Z,1736375247.090 [DAT](INFO): Rx dataTimestamp_ set to:1736375247.089742 2025-01-08T22:27:27.151Z,1736375247.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:27.162Z,1736375247.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:27.342Z,1736375247.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:27.568Z,1736375247.568 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:27:27.586Z,1736375247.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:27.592Z,1736375247.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:27.594Z,1736375247.594 [DAT](INFO): DAT read: Range 10 to 50 : 83.4 m (Round-trip 111.2 ms) speed 0.2 m/s 2025-01-08T22:27:27.595Z,1736375247.595 [DAT](INFO): DAT read: user:2620> 2025-01-08T22:27:27.596Z,1736375247.596 [DAT](INFO): DAT read: Tx time:22:27:26.8539 2025-01-08T22:27:27.596Z,1736375247.596 [DAT](INFO): Ping request sent. 2025-01-08T22:27:27.596Z,1736375247.596 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:27:27.597Z,1736375247.597 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-01-08T22:27:27.597Z,1736375247.597 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:27.597Z,1736375247.597 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:27.636Z,1736375247.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.400002 m, deltaT: 3.543744 s, deltaX: 0.300003 m, approachRate: 0.084657 m/s, rangeRepo size: 4 2025-01-08T22:27:27.636Z,1736375247.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:27.846Z,1736375247.846 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:27.849Z,1736375247.849 [DAT](INFO): DAT read: TxSync time:22:27:26.8531 2025-01-08T22:27:27.961Z,1736375247.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:27.991Z,1736375247.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:28.097Z,1736375248.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:28.349Z,1736375248.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:28.463Z,1736375248.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:28.475Z,1736375248.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:28.572Z,1736375248.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:27:28.600Z,1736375248.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:28.852Z,1736375248.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:28.876Z,1736375248.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:28.894Z,1736375248.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:29.104Z,1736375249.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:29.296Z,1736375249.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:29.305Z,1736375249.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:29.358Z,1736375249.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:29.608Z,1736375249.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:29.723Z,1736375249.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:29.732Z,1736375249.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:29.861Z,1736375249.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:30.112Z,1736375250.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:30.115Z,1736375250.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:30.148Z,1736375250.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:30.364Z,1736375250.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:30.536Z,1736375250.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:30.553Z,1736375250.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:30.617Z,1736375250.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:30.618Z,1736375250.618 [DAT](INFO): DAT read: Rx Time:22:27:29.3693 2025-01-08T22:27:30.619Z,1736375250.619 [DAT](INFO): Rx dataTimestamp_ set to:1736375250.618410 2025-01-08T22:27:30.868Z,1736375250.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:30.907Z,1736375250.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:30.916Z,1736375250.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:31.120Z,1736375251.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:31.121Z,1736375251.121 [DAT](INFO): DAT read: Range 10 to 50 : 83.4 m (Round-trip 111.2 ms) speed 0.0 m/s 2025-01-08T22:27:31.122Z,1736375251.122 [DAT](INFO): DAT read: user:2621> 2025-01-08T22:27:31.123Z,1736375251.123 [DAT](INFO): DAT read: Tx time:22:27:30.4539 2025-01-08T22:27:31.123Z,1736375251.123 [DAT](INFO): Ping request sent. 2025-01-08T22:27:31.123Z,1736375251.123 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:27:31.124Z,1736375251.124 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-01-08T22:27:31.124Z,1736375251.124 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:31.124Z,1736375251.124 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:31.319Z,1736375251.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:31.330Z,1736375251.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.400002 m, deltaT: 3.527936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:27:31.330Z,1736375251.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:31.374Z,1736375251.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:31.377Z,1736375251.377 [DAT](INFO): DAT read: TxSync time:22:27:30.4531 2025-01-08T22:27:31.624Z,1736375251.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:31.764Z,1736375251.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:31.773Z,1736375251.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:31.878Z,1736375251.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:32.128Z,1736375252.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:32.136Z,1736375252.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:32.146Z,1736375252.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:32.380Z,1736375252.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:32.559Z,1736375252.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:32.568Z,1736375252.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:32.632Z,1736375252.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:32.884Z,1736375252.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:32.969Z,1736375252.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:32.983Z,1736375252.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:33.136Z,1736375253.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:33.380Z,1736375253.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:33.388Z,1736375253.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:33.399Z,1736375253.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:33.640Z,1736375253.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:33.803Z,1736375253.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:33.812Z,1736375253.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:33.894Z,1736375253.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:34.144Z,1736375254.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:34.186Z,1736375254.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:34.197Z,1736375254.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:34.398Z,1736375254.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:34.648Z,1736375254.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:34.654Z,1736375254.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:34.669Z,1736375254.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:34.900Z,1736375254.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:35.016Z,1736375255.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:35.025Z,1736375255.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:35.152Z,1736375255.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:35.404Z,1736375255.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:35.478Z,1736375255.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:35.504Z,1736375255.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:35.656Z,1736375255.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:35.908Z,1736375255.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:35.957Z,1736375255.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:35.966Z,1736375255.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:36.160Z,1736375256.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:36.356Z,1736375256.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:36.365Z,1736375256.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:36.414Z,1736375256.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:36.664Z,1736375256.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:36.780Z,1736375256.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:36.789Z,1736375256.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:36.916Z,1736375256.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:37.159Z,1736375257.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:37.168Z,1736375257.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:37.170Z,1736375257.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:37.420Z,1736375257.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:37.611Z,1736375257.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:37.624Z,1736375257.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:37.674Z,1736375257.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:37.924Z,1736375257.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:37.985Z,1736375257.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:38.001Z,1736375258.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:38.176Z,1736375258.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:38.382Z,1736375258.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:38.391Z,1736375258.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:38.428Z,1736375258.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:38.681Z,1736375258.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:38.812Z,1736375258.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:38.820Z,1736375258.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:38.932Z,1736375258.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:39.184Z,1736375259.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:39.186Z,1736375259.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:39.197Z,1736375259.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:39.437Z,1736375259.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:39.647Z,1736375259.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:39.663Z,1736375259.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:39.688Z,1736375259.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:39.940Z,1736375259.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:40.066Z,1736375260.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:40.074Z,1736375260.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:40.192Z,1736375260.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:40.444Z,1736375260.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:40.498Z,1736375260.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:40.538Z,1736375260.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:40.696Z,1736375260.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:40.948Z,1736375260.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:41.094Z,1736375261.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:41.103Z,1736375261.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:41.200Z,1736375261.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:41.452Z,1736375261.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:41.581Z,1736375261.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:41.606Z,1736375261.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:41.704Z,1736375261.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:41.956Z,1736375261.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:41.956Z,1736375261.956 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:27:41.957Z,1736375261.957 [DAT](INFO): response not received 2025-01-08T22:27:41.957Z,1736375261.957 [DAT](INFO): DAT read: user:2622> 2025-01-08T22:27:41.957Z,1736375261.957 [DAT](ERROR): No response from remote modem. 2025-01-08T22:27:42.072Z,1736375262.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:42.082Z,1736375262.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:42.208Z,1736375262.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:42.208Z,1736375262.208 [DAT](INFO): DAT read: Tx time:22:27:41.4040 2025-01-08T22:27:42.209Z,1736375262.209 [DAT](INFO): Ping request sent. 2025-01-08T22:27:42.209Z,1736375262.209 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:27:42.210Z,1736375262.210 [DAT](INFO): DAT read: TxSync time:22:27:41.4032 2025-01-08T22:27:42.210Z,1736375262.210 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:42.460Z,1736375262.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:42.501Z,1736375262.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:42.534Z,1736375262.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:42.712Z,1736375262.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:42.964Z,1736375262.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:42.991Z,1736375262.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:43.016Z,1736375263.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:43.216Z,1736375263.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:43.374Z,1736375263.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:43.383Z,1736375263.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:43.469Z,1736375263.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:43.721Z,1736375263.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:43.817Z,1736375263.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:43.826Z,1736375263.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:43.972Z,1736375263.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:44.177Z,1736375264.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:44.186Z,1736375264.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:44.224Z,1736375264.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:44.476Z,1736375264.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:44.615Z,1736375264.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:44.676Z,1736375264.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:44.728Z,1736375264.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:44.980Z,1736375264.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:45.091Z,1736375265.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:45.112Z,1736375265.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:45.232Z,1736375265.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:45.233Z,1736375265.233 [DAT](INFO): DAT read: Rx Time:22:27:43.9195 2025-01-08T22:27:45.233Z,1736375265.233 [DAT](INFO): Rx dataTimestamp_ set to:1736375265.232887 2025-01-08T22:27:45.484Z,1736375265.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:45.505Z,1736375265.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:45.527Z,1736375265.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:45.736Z,1736375265.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:45.737Z,1736375265.737 [DAT](INFO): DAT read: Range 10 to 50 : 83.4 m (Round-trip 111.3 ms) speed -0.1 m/s 2025-01-08T22:27:45.738Z,1736375265.738 [DAT](INFO): DAT read: user:2623> 2025-01-08T22:27:45.739Z,1736375265.739 [DAT](INFO): DAT read: Tx time:22:27:45.0041 2025-01-08T22:27:45.739Z,1736375265.739 [DAT](INFO): Ping request sent. 2025-01-08T22:27:45.739Z,1736375265.739 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:27:45.740Z,1736375265.740 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-01-08T22:27:45.740Z,1736375265.740 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:45.740Z,1736375265.740 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:45.942Z,1736375265.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:45.953Z,1736375265.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.400002 m, deltaT: 14.616013 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:27:45.953Z,1736375265.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:45.988Z,1736375265.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:45.989Z,1736375265.989 [DAT](INFO): DAT read: TxSync time:22:27:45.0033 2025-01-08T22:27:46.240Z,1736375266.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:46.351Z,1736375266.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:46.361Z,1736375266.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:46.492Z,1736375266.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:46.744Z,1736375266.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:46.781Z,1736375266.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:46.795Z,1736375266.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:46.997Z,1736375266.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:47.198Z,1736375267.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:47.208Z,1736375267.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:47.248Z,1736375267.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:47.500Z,1736375267.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:47.604Z,1736375267.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:47.628Z,1736375267.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:47.752Z,1736375267.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:48.004Z,1736375268.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:48.031Z,1736375268.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:48.040Z,1736375268.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:48.256Z,1736375268.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:48.401Z,1736375268.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:48.410Z,1736375268.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:48.509Z,1736375268.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:48.762Z,1736375268.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:48.836Z,1736375268.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:48.867Z,1736375268.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:49.012Z,1736375269.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:49.264Z,1736375269.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:49.292Z,1736375269.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:49.301Z,1736375269.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:49.516Z,1736375269.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:49.758Z,1736375269.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:49.768Z,1736375269.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:49.772Z,1736375269.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:50.020Z,1736375270.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:50.141Z,1736375270.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:50.151Z,1736375270.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:50.272Z,1736375270.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:50.524Z,1736375270.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:50.566Z,1736375270.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:50.590Z,1736375270.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:50.776Z,1736375270.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:51.016Z,1736375271.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:51.025Z,1736375271.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:51.028Z,1736375271.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:51.280Z,1736375271.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:51.398Z,1736375271.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:51.406Z,1736375271.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:51.533Z,1736375271.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:51.784Z,1736375271.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:51.846Z,1736375271.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:51.873Z,1736375271.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:52.037Z,1736375272.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:52.251Z,1736375272.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:52.260Z,1736375272.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:52.288Z,1736375272.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:52.540Z,1736375272.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:52.772Z,1736375272.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:52.792Z,1736375272.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:52.796Z,1736375272.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:53.044Z,1736375273.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:53.232Z,1736375273.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:53.245Z,1736375273.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:53.296Z,1736375273.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:53.548Z,1736375273.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:53.657Z,1736375273.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:53.671Z,1736375273.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:53.800Z,1736375273.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:54.052Z,1736375274.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:54.089Z,1736375274.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:54.115Z,1736375274.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:54.304Z,1736375274.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:54.457Z,1736375274.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:54.467Z,1736375274.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:54.556Z,1736375274.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:54.808Z,1736375274.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:54.907Z,1736375274.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:54.945Z,1736375274.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:55.061Z,1736375275.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:55.312Z,1736375275.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:55.325Z,1736375275.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:55.346Z,1736375275.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:55.564Z,1736375275.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:55.816Z,1736375275.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:55.835Z,1736375275.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:55.844Z,1736375275.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:56.068Z,1736375276.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:56.281Z,1736375276.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:56.290Z,1736375276.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:56.320Z,1736375276.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:56.572Z,1736375276.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:56.573Z,1736375276.573 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:27:56.573Z,1736375276.573 [DAT](INFO): response not received 2025-01-08T22:27:56.573Z,1736375276.573 [DAT](INFO): DAT read: user:2624> 2025-01-08T22:27:56.574Z,1736375276.574 [DAT](INFO): DAT read: Tx time:22:27:55.9541 2025-01-08T22:27:56.574Z,1736375276.574 [DAT](INFO): Ping request sent. 2025-01-08T22:27:56.574Z,1736375276.574 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:27:56.575Z,1736375276.575 [DAT](INFO): publishing transmit ping time 2025-01-08T22:27:56.691Z,1736375276.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:56.700Z,1736375276.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:56.826Z,1736375276.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:56.829Z,1736375276.829 [DAT](INFO): DAT read: TxSync time:22:27:55.9533 2025-01-08T22:27:57.077Z,1736375277.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:57.098Z,1736375277.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:57.107Z,1736375277.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:57.328Z,1736375277.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:57.535Z,1736375277.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:57.544Z,1736375277.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:57.581Z,1736375277.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:57.832Z,1736375277.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:57.982Z,1736375277.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:57.995Z,1736375277.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:58.084Z,1736375278.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:58.336Z,1736375278.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:58.378Z,1736375278.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:58.402Z,1736375278.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:58.588Z,1736375278.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:58.692Z,1736375278.692 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:27:58.785Z,1736375278.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:58.826Z,1736375278.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:58.841Z,1736375278.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:59.092Z,1736375279.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:59.344Z,1736375279.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:59.346Z,1736375279.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:59.354Z,1736375279.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:59.598Z,1736375279.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:27:59.598Z,1736375279.598 [DAT](INFO): DAT read: Rx Time:22:27:58.4699 2025-01-08T22:27:59.599Z,1736375279.599 [DAT](INFO): Rx dataTimestamp_ set to:1736375279.598593 2025-01-08T22:27:59.696Z,1736375279.696 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:27:59.783Z,1736375279.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:27:59.792Z,1736375279.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:27:59.849Z,1736375279.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:00.100Z,1736375280.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:00.201Z,1736375280.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:00.215Z,1736375280.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:00.352Z,1736375280.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:00.354Z,1736375280.354 [DAT](INFO): DAT read: Range 10 to 50 : 83.7 m (Round-trip 111.6 ms) speed 0.0 m/s 2025-01-08T22:28:00.354Z,1736375280.354 [DAT](INFO): DAT read: user:2625> 2025-01-08T22:28:00.355Z,1736375280.355 [DAT](INFO): DAT read: Tx time:22:27:59.5541 2025-01-08T22:28:00.356Z,1736375280.356 [DAT](INFO): Ping request sent. 2025-01-08T22:28:00.356Z,1736375280.356 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:28:00.356Z,1736375280.356 [DAT](INFO): DAT read: TxSync time:22:27:59.5534 2025-01-08T22:28:00.357Z,1736375280.357 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-01-08T22:28:00.357Z,1736375280.357 [DAT](INFO): publishing transmit ping time 2025-01-08T22:28:00.357Z,1736375280.357 [DAT](INFO): publishing transmit ping time 2025-01-08T22:28:00.583Z,1736375280.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:00.594Z,1736375280.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 14.616012 s, deltaX: 0.299995 m, approachRate: 0.020525 m/s, rangeRepo size: 4 2025-01-08T22:28:00.594Z,1736375280.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:00.612Z,1736375280.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:00.866Z,1736375280.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:01.010Z,1736375281.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:01.022Z,1736375281.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:01.116Z,1736375281.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:01.368Z,1736375281.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:01.377Z,1736375281.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:01.386Z,1736375281.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:01.620Z,1736375281.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:01.781Z,1736375281.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:01.797Z,1736375281.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:01.874Z,1736375281.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:02.124Z,1736375282.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:02.227Z,1736375282.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:02.235Z,1736375282.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:02.376Z,1736375282.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:02.632Z,1736375282.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:02.658Z,1736375282.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:02.694Z,1736375282.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:02.885Z,1736375282.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:03.084Z,1736375283.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:03.123Z,1736375283.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:03.136Z,1736375283.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:03.388Z,1736375283.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:03.388Z,1736375283.388 [DAT](INFO): DAT read: Rx Time:22:28:02.0698 2025-01-08T22:28:03.389Z,1736375283.389 [DAT](INFO): Rx dataTimestamp_ set to:1736375283.388641 2025-01-08T22:28:03.456Z,1736375283.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:03.483Z,1736375283.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:03.640Z,1736375283.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:03.893Z,1736375283.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:03.898Z,1736375283.898 [DAT](INFO): DAT read: Range 10 to 50 : 83.6 m (Round-trip 111.5 ms) speed -0.1 m/s 2025-01-08T22:28:03.902Z,1736375283.902 [DAT](INFO): DAT read: user:2626> 2025-01-08T22:28:03.905Z,1736375283.905 [DAT](INFO): DAT read: Tx time:22:28:03.1541 2025-01-08T22:28:03.906Z,1736375283.906 [DAT](INFO): Ping request sent. 2025-01-08T22:28:03.906Z,1736375283.906 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:28:03.912Z,1736375283.912 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-08T22:28:03.913Z,1736375283.913 [DAT](INFO): publishing transmit ping time 2025-01-08T22:28:03.924Z,1736375283.924 [DAT](INFO): publishing transmit ping time 2025-01-08T22:28:03.950Z,1736375283.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:03.980Z,1736375283.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.599998 m, deltaT: 3.541999 s, deltaX: -0.099998 m, approachRate: -0.028232 m/s, rangeRepo size: 4 2025-01-08T22:28:03.981Z,1736375283.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:04.144Z,1736375284.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:04.145Z,1736375284.145 [DAT](INFO): DAT read: TxSync time:22:28:03.1534 2025-01-08T22:28:04.396Z,1736375284.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:04.423Z,1736375284.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:04.433Z,1736375284.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:04.649Z,1736375284.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:04.832Z,1736375284.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:04.840Z,1736375284.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:04.902Z,1736375284.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:05.152Z,1736375285.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:05.271Z,1736375285.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:05.281Z,1736375285.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:05.406Z,1736375285.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:05.656Z,1736375285.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:05.660Z,1736375285.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:05.685Z,1736375285.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:05.910Z,1736375285.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:06.150Z,1736375286.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:06.160Z,1736375286.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:06.188Z,1736375286.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:06.412Z,1736375286.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:06.590Z,1736375286.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:06.600Z,1736375286.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:06.666Z,1736375286.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:06.918Z,1736375286.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:06.921Z,1736375286.921 [DAT](INFO): DAT read: Rx Time:22:28:05.6700 2025-01-08T22:28:06.923Z,1736375286.923 [DAT](INFO): Rx dataTimestamp_ set to:1736375286.921918 2025-01-08T22:28:07.025Z,1736375287.025 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814291225,35.0, +10.9, 0.0,1493.:RA, 0.00, 68.64, 55.39, 61.85, 60.83 2025-01-08T22:28:07.033Z,1736375287.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:28:07.033Z,1736375287.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:07.042Z,1736375287.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:07.168Z,1736375287.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:07.420Z,1736375287.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:07.421Z,1736375287.421 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:28:07.421Z,1736375287.421 [DAT](INFO): Received a bad header 2025-01-08T22:28:07.430Z,1736375287.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:28:07.431Z,1736375287.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:07.440Z,1736375287.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:07.673Z,1736375287.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:07.836Z,1736375287.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:28:07.837Z,1736375287.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:07.846Z,1736375287.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:07.926Z,1736375287.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:08.176Z,1736375288.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:08.268Z,1736375288.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:08.277Z,1736375288.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:08.429Z,1736375288.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:08.680Z,1736375288.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:08.682Z,1736375288.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:08.691Z,1736375288.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:08.932Z,1736375288.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:09.120Z,1736375289.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:09.144Z,1736375289.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:09.184Z,1736375289.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:09.436Z,1736375289.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:09.525Z,1736375289.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:09.538Z,1736375289.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:09.688Z,1736375289.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:09.933Z,1736375289.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:09.940Z,1736375289.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:09.952Z,1736375289.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:10.192Z,1736375290.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:10.413Z,1736375290.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:10.422Z,1736375290.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:10.444Z,1736375290.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:10.696Z,1736375290.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:10.822Z,1736375290.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:10.831Z,1736375290.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:10.948Z,1736375290.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:11.200Z,1736375291.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:11.299Z,1736375291.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:11.308Z,1736375291.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:11.452Z,1736375291.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:11.700Z,1736375291.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:11.704Z,1736375291.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:11.711Z,1736375291.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:11.957Z,1736375291.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:12.130Z,1736375292.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:12.139Z,1736375292.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:12.208Z,1736375292.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:12.461Z,1736375292.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:12.503Z,1736375292.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:12.512Z,1736375292.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:12.712Z,1736375292.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:12.923Z,1736375292.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:12.956Z,1736375292.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:12.965Z,1736375292.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:13.217Z,1736375293.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:13.373Z,1736375293.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:13.383Z,1736375293.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:13.468Z,1736375293.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:13.720Z,1736375293.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:13.761Z,1736375293.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:13.786Z,1736375293.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:13.972Z,1736375293.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:14.214Z,1736375294.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:14.222Z,1736375294.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:14.224Z,1736375294.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:14.476Z,1736375294.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:14.638Z,1736375294.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:14.680Z,1736375294.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:14.728Z,1736375294.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:14.729Z,1736375294.729 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:28:14.729Z,1736375294.729 [DAT](INFO): response not received 2025-01-08T22:28:14.730Z,1736375294.730 [DAT](INFO): DAT read: user:2628> 2025-01-08T22:28:14.731Z,1736375294.731 [DAT](INFO): DAT read: Tx time:22:28:14.1042 2025-01-08T22:28:14.732Z,1736375294.732 [DAT](INFO): Ping request sent. 2025-01-08T22:28:14.732Z,1736375294.732 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:28:14.732Z,1736375294.732 [DAT](INFO): publishing transmit ping time 2025-01-08T22:28:14.980Z,1736375294.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:14.981Z,1736375294.981 [DAT](INFO): DAT read: TxSync time:22:28:14.1035 2025-01-08T22:28:15.151Z,1736375295.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:15.160Z,1736375295.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:15.232Z,1736375295.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:15.484Z,1736375295.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:15.564Z,1736375295.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:15.573Z,1736375295.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:15.736Z,1736375295.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:15.969Z,1736375295.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:15.986Z,1736375295.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:15.988Z,1736375295.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:16.240Z,1736375296.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:16.412Z,1736375296.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:16.420Z,1736375296.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:16.492Z,1736375296.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:16.744Z,1736375296.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:16.834Z,1736375296.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:16.855Z,1736375296.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:16.996Z,1736375296.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:17.248Z,1736375297.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:17.284Z,1736375297.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:17.301Z,1736375297.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:17.500Z,1736375297.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:17.642Z,1736375297.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:17.657Z,1736375297.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:17.752Z,1736375297.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:18.004Z,1736375298.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:18.060Z,1736375298.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:18.136Z,1736375298.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:18.256Z,1736375298.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:18.508Z,1736375298.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:18.556Z,1736375298.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:18.565Z,1736375298.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:18.762Z,1736375298.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:18.998Z,1736375298.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:19.012Z,1736375299.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:19.030Z,1736375299.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:19.265Z,1736375299.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:19.431Z,1736375299.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:19.439Z,1736375299.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:19.516Z,1736375299.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:19.768Z,1736375299.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:19.829Z,1736375299.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:19.837Z,1736375299.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:20.020Z,1736375300.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:20.234Z,1736375300.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:20.243Z,1736375300.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:20.272Z,1736375300.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:20.524Z,1736375300.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:20.613Z,1736375300.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:20.646Z,1736375300.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:20.777Z,1736375300.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:21.031Z,1736375301.031 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:21.069Z,1736375301.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:21.090Z,1736375301.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:21.284Z,1736375301.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:21.529Z,1736375301.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:21.536Z,1736375301.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:21.538Z,1736375301.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:21.788Z,1736375301.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:21.894Z,1736375301.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:21.901Z,1736375301.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:28:21.904Z,1736375301.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:22.040Z,1736375302.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:22.040Z,1736375302.040 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:28:22.041Z,1736375302.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:28:22.292Z,1736375302.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:22.292Z,1736375302.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560787 2025-01-08T22:28:22.358Z,1736375302.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:22.371Z,1736375302.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:22.544Z,1736375302.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:22.545Z,1736375302.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813428 2025-01-08T22:28:22.738Z,1736375302.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:22.748Z,1736375302.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:22.796Z,1736375302.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:22.797Z,1736375302.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064981 2025-01-08T22:28:23.048Z,1736375303.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:23.048Z,1736375303.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316699 2025-01-08T22:28:23.150Z,1736375303.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:23.202Z,1736375303.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:23.300Z,1736375303.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:23.300Z,1736375303.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568829 2025-01-08T22:28:23.554Z,1736375303.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:23.556Z,1736375303.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823913 2025-01-08T22:28:23.662Z,1736375303.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:23.685Z,1736375303.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:23.804Z,1736375303.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:23.804Z,1736375303.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072843 2025-01-08T22:28:24.056Z,1736375304.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:24.057Z,1736375304.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325033 2025-01-08T22:28:24.089Z,1736375304.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:24.098Z,1736375304.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:24.308Z,1736375304.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:24.308Z,1736375304.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576841 2025-01-08T22:28:24.507Z,1736375304.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:24.516Z,1736375304.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:24.560Z,1736375304.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:24.561Z,1736375304.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829192 2025-01-08T22:28:24.812Z,1736375304.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:24.812Z,1736375304.812 [DAT](INFO): Reached modem response timeout 2025-01-08T22:28:24.812Z,1736375304.812 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:28:24.813Z,1736375304.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:28:24.913Z,1736375304.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:24.921Z,1736375304.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:25.064Z,1736375305.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:25.065Z,1736375305.065 [DAT](INFO): Reached modem response timeout 2025-01-08T22:28:25.065Z,1736375305.065 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:28:25.066Z,1736375305.066 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:28:25.324Z,1736375305.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:25.324Z,1736375305.324 [DAT](INFO): Reached modem response timeout 2025-01-08T22:28:25.324Z,1736375305.324 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:28:25.325Z,1736375305.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:28:25.387Z,1736375305.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:25.401Z,1736375305.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:25.576Z,1736375305.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:25.577Z,1736375305.577 [DAT](INFO): Reached modem response timeout 2025-01-08T22:28:25.577Z,1736375305.577 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:28:25.577Z,1736375305.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:28:25.712Z,1736375305.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:25.720Z,1736375305.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:25.828Z,1736375305.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:25.829Z,1736375305.829 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:28:25.829Z,1736375305.829 [DAT](INFO): response not received 2025-01-08T22:28:25.829Z,1736375305.829 [DAT](INFO): DAT read: user:2629> 2025-01-08T22:28:25.830Z,1736375305.830 [DAT](INFO): DAT read: Tx time:22:28:25.0543 2025-01-08T22:28:25.831Z,1736375305.831 [DAT](INFO): Ping request sent. 2025-01-08T22:28:25.831Z,1736375305.831 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:28:25.831Z,1736375305.831 [DAT](INFO): publishing transmit ping time 2025-01-08T22:28:25.832Z,1736375305.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001254 2025-01-08T22:28:26.080Z,1736375306.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:26.081Z,1736375306.081 [DAT](INFO): DAT read: TxSync time:22:28:25.0536 2025-01-08T22:28:26.081Z,1736375306.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250181 2025-01-08T22:28:26.136Z,1736375306.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:26.146Z,1736375306.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:26.332Z,1736375306.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:26.332Z,1736375306.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501178 2025-01-08T22:28:26.584Z,1736375306.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:26.584Z,1736375306.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753288 2025-01-08T22:28:26.637Z,1736375306.637 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -71.57, +1339 -20.20, 5.69, 0.00 2025-01-08T22:28:26.646Z,1736375306.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:28:26.646Z,1736375306.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:26.665Z,1736375306.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:26.836Z,1736375306.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:26.837Z,1736375306.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005409 2025-01-08T22:28:27.037Z,1736375307.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:28:27.037Z,1736375307.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:27.068Z,1736375307.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:27.088Z,1736375307.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:27.088Z,1736375307.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257366 2025-01-08T22:28:27.340Z,1736375307.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:27.340Z,1736375307.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509290 2025-01-08T22:28:27.466Z,1736375307.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:27.496Z,1736375307.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:27.592Z,1736375307.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:27.593Z,1736375307.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761202 2025-01-08T22:28:27.844Z,1736375307.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:27.845Z,1736375307.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013810 2025-01-08T22:28:27.886Z,1736375307.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:27.912Z,1736375307.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:28.096Z,1736375308.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:28.097Z,1736375308.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266040 2025-01-08T22:28:28.347Z,1736375308.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:28.350Z,1736375308.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:28.350Z,1736375308.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519351 2025-01-08T22:28:28.359Z,1736375308.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:28.604Z,1736375308.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:28.604Z,1736375308.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773309 2025-01-08T22:28:28.795Z,1736375308.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:28.803Z,1736375308.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:28.856Z,1736375308.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:28.857Z,1736375308.857 [DAT](INFO): DAT read: Rx Time:22:28:27.5701 2025-01-08T22:28:28.857Z,1736375308.857 [DAT](INFO): Rx dataTimestamp_ set to:1736375308.856831 2025-01-08T22:28:28.858Z,1736375308.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026528 2025-01-08T22:28:29.108Z,1736375309.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:29.108Z,1736375309.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277360 2025-01-08T22:28:29.188Z,1736375309.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:29.198Z,1736375309.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:29.361Z,1736375309.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:29.362Z,1736375309.362 [DAT](INFO): DAT read: Range 10 to 50 : 83.7 m (Round-trip 111.6 ms) speed -0.1 m/s 2025-01-08T22:28:29.363Z,1736375309.363 [DAT](INFO): DAT read: user:2630> 2025-01-08T22:28:29.364Z,1736375309.364 [DAT](INFO): DAT read: Tx time:22:28:28.6543 2025-01-08T22:28:29.364Z,1736375309.364 [DAT](INFO): Ping request sent. 2025-01-08T22:28:29.364Z,1736375309.364 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:28:29.365Z,1736375309.365 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:28:29.365Z,1736375309.365 [DAT](INFO): publishing transmit ping time 2025-01-08T22:28:29.365Z,1736375309.365 [DAT](INFO): publishing transmit ping time 2025-01-08T22:28:29.613Z,1736375309.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:29.614Z,1736375309.614 [DAT](INFO): DAT read: TxSync time:22:28:28.6536 2025-01-08T22:28:29.629Z,1736375309.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:29.670Z,1736375309.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 25.466952 s, deltaX: 0.099998 m, approachRate: 0.003927 m/s, rangeRepo size: 4 2025-01-08T22:28:29.675Z,1736375309.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:29.818Z,1736375309.818 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:28:29.864Z,1736375309.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:30.067Z,1736375310.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:30.077Z,1736375310.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:30.116Z,1736375310.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:30.368Z,1736375310.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:30.503Z,1736375310.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:30.512Z,1736375310.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:30.625Z,1736375310.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:30.820Z,1736375310.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:28:30.871Z,1736375310.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:30.877Z,1736375310.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:30.881Z,1736375310.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:31.128Z,1736375311.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:31.348Z,1736375311.348 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814293661,35.0, +10.9, 0., 0 2025-01-08T22:28:31.377Z,1736375311.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:28:31.377Z,1736375311.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:31.380Z,1736375311.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:31.393Z,1736375311.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:31.632Z,1736375311.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:31.780Z,1736375311.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:28:31.780Z,1736375311.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:31.794Z,1736375311.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:31.884Z,1736375311.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:32.137Z,1736375312.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:32.200Z,1736375312.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:28:32.200Z,1736375312.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:32.209Z,1736375312.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:32.388Z,1736375312.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:32.640Z,1736375312.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:32.666Z,1736375312.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:32.689Z,1736375312.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:32.893Z,1736375312.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:33.081Z,1736375313.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:33.089Z,1736375313.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:33.144Z,1736375313.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:33.396Z,1736375313.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:33.520Z,1736375313.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:33.540Z,1736375313.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:33.648Z,1736375313.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:33.900Z,1736375313.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:33.928Z,1736375313.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:33.937Z,1736375313.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:34.154Z,1736375314.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:34.392Z,1736375314.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:34.403Z,1736375314.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:34.404Z,1736375314.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:34.656Z,1736375314.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:34.752Z,1736375314.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:34.761Z,1736375314.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:34.908Z,1736375314.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:35.130Z,1736375315.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:35.138Z,1736375315.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:35.160Z,1736375315.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:35.412Z,1736375315.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:35.592Z,1736375315.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:35.600Z,1736375315.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:35.664Z,1736375315.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:35.918Z,1736375315.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:35.980Z,1736375315.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:36.001Z,1736375316.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:36.168Z,1736375316.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:36.420Z,1736375316.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:36.438Z,1736375316.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:36.448Z,1736375316.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:36.672Z,1736375316.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:36.849Z,1736375316.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:36.874Z,1736375316.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:36.924Z,1736375316.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:37.177Z,1736375317.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:37.251Z,1736375317.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:37.259Z,1736375317.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:37.429Z,1736375317.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:37.681Z,1736375317.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:37.724Z,1736375317.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:37.733Z,1736375317.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:37.932Z,1736375317.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:38.135Z,1736375318.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:38.144Z,1736375318.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:38.184Z,1736375318.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:38.436Z,1736375318.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:38.559Z,1736375318.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:38.567Z,1736375318.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:38.689Z,1736375318.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:38.940Z,1736375318.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:38.962Z,1736375318.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:38.979Z,1736375318.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:39.192Z,1736375319.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:39.348Z,1736375319.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:39.357Z,1736375319.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:39.447Z,1736375319.447 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:39.696Z,1736375319.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:39.775Z,1736375319.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:39.785Z,1736375319.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:39.948Z,1736375319.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:40.185Z,1736375320.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:40.196Z,1736375320.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:40.200Z,1736375320.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:40.201Z,1736375320.201 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:28:40.201Z,1736375320.201 [DAT](INFO): response not received 2025-01-08T22:28:40.202Z,1736375320.202 [DAT](INFO): DAT read: user:2631> 2025-01-08T22:28:40.203Z,1736375320.203 [DAT](INFO): DAT read: Tx time:22:28:39.6044 2025-01-08T22:28:40.203Z,1736375320.203 [DAT](INFO): Ping request sent. 2025-01-08T22:28:40.203Z,1736375320.203 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:28:40.203Z,1736375320.203 [DAT](INFO): publishing transmit ping time 2025-01-08T22:28:40.454Z,1736375320.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:40.458Z,1736375320.458 [DAT](INFO): DAT read: TxSync time:22:28:39.6037 2025-01-08T22:28:40.657Z,1736375320.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:40.677Z,1736375320.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:40.704Z,1736375320.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:40.956Z,1736375320.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:41.019Z,1736375321.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:41.028Z,1736375321.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:41.208Z,1736375321.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:41.437Z,1736375321.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:41.462Z,1736375321.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:41.495Z,1736375321.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:41.712Z,1736375321.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:41.906Z,1736375321.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:41.916Z,1736375321.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:41.964Z,1736375321.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:42.216Z,1736375322.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:42.302Z,1736375322.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:42.323Z,1736375322.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:42.470Z,1736375322.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:42.721Z,1736375322.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:42.765Z,1736375322.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:42.774Z,1736375322.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:42.972Z,1736375322.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:43.184Z,1736375323.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:43.193Z,1736375323.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:43.224Z,1736375323.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:43.478Z,1736375323.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:43.481Z,1736375323.481 [DAT](INFO): DAT read: Rx Time:22:28:42.1203 2025-01-08T22:28:43.483Z,1736375323.483 [DAT](INFO): Rx dataTimestamp_ set to:1736375323.481532 2025-01-08T22:28:43.614Z,1736375323.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:43.649Z,1736375323.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:43.728Z,1736375323.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:43.980Z,1736375323.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:43.981Z,1736375323.981 [DAT](INFO): DAT read: Range 10 to 50 : 83.7 m (Round-trip 111.7 ms) speed 0.2 m/s 2025-01-08T22:28:43.982Z,1736375323.982 [DAT](INFO): DAT read: user:2632> 2025-01-08T22:28:43.983Z,1736375323.983 [DAT](INFO): DAT read: Tx time:22:28:43.2044 2025-01-08T22:28:43.983Z,1736375323.983 [DAT](INFO): Ping request sent. 2025-01-08T22:28:43.983Z,1736375323.983 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:28:43.984Z,1736375323.984 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-01-08T22:28:43.984Z,1736375323.984 [DAT](INFO): publishing transmit ping time 2025-01-08T22:28:43.984Z,1736375323.984 [DAT](INFO): publishing transmit ping time 2025-01-08T22:28:44.084Z,1736375324.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:44.106Z,1736375324.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 14.619030 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:28:44.107Z,1736375324.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:44.232Z,1736375324.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:44.234Z,1736375324.234 [DAT](INFO): DAT read: TxSync time:22:28:43.2037 2025-01-08T22:28:44.485Z,1736375324.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:44.538Z,1736375324.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:44.569Z,1736375324.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:44.736Z,1736375324.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:44.984Z,1736375324.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:44.988Z,1736375324.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:44.994Z,1736375324.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:45.240Z,1736375325.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:45.385Z,1736375325.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:45.395Z,1736375325.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:45.493Z,1736375325.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:45.744Z,1736375325.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:45.828Z,1736375325.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:45.837Z,1736375325.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:45.997Z,1736375325.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:46.235Z,1736375326.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:46.245Z,1736375326.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:46.248Z,1736375326.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:46.502Z,1736375326.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:46.678Z,1736375326.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:46.718Z,1736375326.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:46.753Z,1736375326.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:47.004Z,1736375327.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:47.129Z,1736375327.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:47.139Z,1736375327.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:47.256Z,1736375327.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:47.511Z,1736375327.511 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:47.616Z,1736375327.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:47.625Z,1736375327.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:47.764Z,1736375327.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:48.016Z,1736375328.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:48.026Z,1736375328.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:48.035Z,1736375328.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:48.268Z,1736375328.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:48.453Z,1736375328.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:48.462Z,1736375328.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:48.521Z,1736375328.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:48.772Z,1736375328.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:48.877Z,1736375328.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:48.899Z,1736375328.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:49.024Z,1736375329.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:49.276Z,1736375329.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:49.300Z,1736375329.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:49.309Z,1736375329.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:49.530Z,1736375329.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:49.759Z,1736375329.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:49.775Z,1736375329.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:49.781Z,1736375329.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:50.032Z,1736375330.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:50.212Z,1736375330.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:50.220Z,1736375330.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:50.284Z,1736375330.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:50.536Z,1736375330.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:50.686Z,1736375330.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:50.696Z,1736375330.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:50.788Z,1736375330.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:51.040Z,1736375331.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:51.073Z,1736375331.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:51.083Z,1736375331.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:51.292Z,1736375331.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:51.489Z,1736375331.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:51.530Z,1736375331.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:51.544Z,1736375331.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:51.797Z,1736375331.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:51.945Z,1736375331.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:51.953Z,1736375331.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:52.048Z,1736375332.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:52.300Z,1736375332.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:52.360Z,1736375332.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:52.369Z,1736375332.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:52.552Z,1736375332.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:52.794Z,1736375332.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:52.802Z,1736375332.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:52.804Z,1736375332.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:53.056Z,1736375333.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:53.190Z,1736375333.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:53.199Z,1736375333.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:53.309Z,1736375333.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:53.561Z,1736375333.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:53.586Z,1736375333.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:53.682Z,1736375333.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:53.812Z,1736375333.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:54.064Z,1736375334.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:54.069Z,1736375334.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:54.078Z,1736375334.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:54.316Z,1736375334.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:54.492Z,1736375334.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:54.514Z,1736375334.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:54.568Z,1736375334.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:54.820Z,1736375334.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:54.820Z,1736375334.820 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:28:54.821Z,1736375334.821 [DAT](INFO): response not received 2025-01-08T22:28:54.821Z,1736375334.821 [DAT](INFO): DAT read: user:2633> 2025-01-08T22:28:54.822Z,1736375334.822 [DAT](INFO): DAT read: Tx time:22:28:54.1545 2025-01-08T22:28:54.822Z,1736375334.822 [DAT](INFO): Ping request sent. 2025-01-08T22:28:54.822Z,1736375334.822 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:28:54.822Z,1736375334.822 [DAT](INFO): publishing transmit ping time 2025-01-08T22:28:54.982Z,1736375334.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:55.000Z,1736375335.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:55.074Z,1736375335.074 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:55.077Z,1736375335.077 [DAT](INFO): DAT read: TxSync time:22:28:54.1538 2025-01-08T22:28:55.324Z,1736375335.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:55.406Z,1736375335.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:55.415Z,1736375335.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:55.576Z,1736375335.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:55.828Z,1736375335.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:55.873Z,1736375335.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:55.891Z,1736375335.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:56.080Z,1736375336.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:56.332Z,1736375336.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:56.346Z,1736375336.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:56.355Z,1736375336.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:56.585Z,1736375336.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:56.786Z,1736375336.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:56.795Z,1736375336.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:56.836Z,1736375336.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:57.088Z,1736375337.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:57.151Z,1736375337.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:57.160Z,1736375337.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:57.340Z,1736375337.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:57.564Z,1736375337.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:57.573Z,1736375337.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:57.592Z,1736375337.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:57.844Z,1736375337.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:57.987Z,1736375337.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:57.995Z,1736375337.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:58.096Z,1736375338.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:58.348Z,1736375338.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:58.365Z,1736375338.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:58.387Z,1736375338.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:58.602Z,1736375338.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:58.786Z,1736375338.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:58.820Z,1736375338.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:58.853Z,1736375338.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:59.104Z,1736375339.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:59.223Z,1736375339.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:59.232Z,1736375339.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:59.356Z,1736375339.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:59.608Z,1736375339.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:28:59.704Z,1736375339.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:28:59.769Z,1736375339.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:28:59.861Z,1736375339.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:00.114Z,1736375340.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:00.176Z,1736375340.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:00.185Z,1736375340.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:00.364Z,1736375340.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:00.576Z,1736375340.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:00.585Z,1736375340.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:00.616Z,1736375340.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:00.868Z,1736375340.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:00.940Z,1736375340.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:29:01.019Z,1736375341.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:01.047Z,1736375341.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:01.120Z,1736375341.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:01.372Z,1736375341.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:01.472Z,1736375341.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:01.481Z,1736375341.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:01.624Z,1736375341.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:01.876Z,1736375341.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:01.882Z,1736375341.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:01.891Z,1736375341.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:01.944Z,1736375341.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:29:02.128Z,1736375342.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:02.262Z,1736375342.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:02.270Z,1736375342.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:02.380Z,1736375342.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:02.632Z,1736375342.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:02.689Z,1736375342.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:02.698Z,1736375342.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:02.884Z,1736375342.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:03.136Z,1736375343.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:03.182Z,1736375343.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:03.207Z,1736375343.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:03.388Z,1736375343.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:03.567Z,1736375343.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:03.575Z,1736375343.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:03.640Z,1736375343.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:03.892Z,1736375343.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:03.998Z,1736375343.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:04.012Z,1736375344.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:04.144Z,1736375344.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:04.396Z,1736375344.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:04.413Z,1736375344.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:04.422Z,1736375344.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:04.648Z,1736375344.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:04.888Z,1736375344.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:04.897Z,1736375344.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:04.900Z,1736375344.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:05.152Z,1736375345.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:05.240Z,1736375345.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:05.249Z,1736375345.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:05.404Z,1736375345.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:05.656Z,1736375345.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:05.657Z,1736375345.657 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:29:05.658Z,1736375345.658 [DAT](INFO): response not received 2025-01-08T22:29:05.658Z,1736375345.658 [DAT](INFO): DAT read: user:2634> 2025-01-08T22:29:05.659Z,1736375345.659 [DAT](ERROR): No response from remote modem. 2025-01-08T22:29:05.668Z,1736375345.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:05.689Z,1736375345.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:05.908Z,1736375345.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:05.909Z,1736375345.909 [DAT](INFO): DAT read: Tx time:22:29:05.1046 2025-01-08T22:29:05.909Z,1736375345.909 [DAT](INFO): Ping request sent. 2025-01-08T22:29:05.909Z,1736375345.909 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:29:05.910Z,1736375345.910 [DAT](INFO): DAT read: TxSync time:22:29:05.1039 2025-01-08T22:29:05.910Z,1736375345.910 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:06.070Z,1736375346.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:06.079Z,1736375346.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:06.160Z,1736375346.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:06.412Z,1736375346.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:06.444Z,1736375346.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:06.469Z,1736375346.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:06.664Z,1736375346.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:06.895Z,1736375346.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:06.904Z,1736375346.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:06.917Z,1736375346.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:07.168Z,1736375347.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:07.304Z,1736375347.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:07.317Z,1736375347.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:07.420Z,1736375347.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:07.672Z,1736375347.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:07.717Z,1736375347.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:07.734Z,1736375347.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:07.924Z,1736375347.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:08.176Z,1736375348.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:08.215Z,1736375348.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:08.247Z,1736375348.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:08.428Z,1736375348.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:08.666Z,1736375348.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:08.680Z,1736375348.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:08.682Z,1736375348.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:08.932Z,1736375348.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:09.078Z,1736375349.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:09.093Z,1736375349.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:09.186Z,1736375349.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:09.436Z,1736375349.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:09.464Z,1736375349.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:09.497Z,1736375349.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:09.688Z,1736375349.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:09.940Z,1736375349.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:09.951Z,1736375349.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:09.969Z,1736375349.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:10.193Z,1736375350.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:10.375Z,1736375350.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:10.385Z,1736375350.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:10.444Z,1736375350.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:10.696Z,1736375350.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:10.759Z,1736375350.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:10.788Z,1736375350.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:10.948Z,1736375350.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:11.200Z,1736375351.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:11.216Z,1736375351.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:11.233Z,1736375351.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:11.452Z,1736375351.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:11.646Z,1736375351.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:11.665Z,1736375351.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:11.704Z,1736375351.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:11.956Z,1736375351.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:12.071Z,1736375352.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:12.080Z,1736375352.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:12.209Z,1736375352.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:12.452Z,1736375352.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:12.464Z,1736375352.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:12.488Z,1736375352.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:12.723Z,1736375352.723 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:12.969Z,1736375352.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:12.972Z,1736375352.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:12.000Z,1736375353.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:13.225Z,1736375353.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:13.423Z,1736375353.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:13.432Z,1736375353.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:13.478Z,1736375353.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:13.732Z,1736375353.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:13.833Z,1736375353.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:13.842Z,1736375353.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:13.984Z,1736375353.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:14.236Z,1736375354.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:14.313Z,1736375354.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:14.326Z,1736375354.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:14.488Z,1736375354.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:14.670Z,1736375354.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:14.683Z,1736375354.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:14.740Z,1736375354.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:14.992Z,1736375354.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:15.089Z,1736375355.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:15.098Z,1736375355.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:15.244Z,1736375355.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:15.459Z,1736375355.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:15.470Z,1736375355.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:15.496Z,1736375355.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:15.748Z,1736375355.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:15.888Z,1736375355.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:15.898Z,1736375355.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:16.002Z,1736375356.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:16.252Z,1736375356.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:16.416Z,1736375356.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:16.445Z,1736375356.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:16.504Z,1736375356.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:16.756Z,1736375356.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:16.757Z,1736375356.757 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:29:16.757Z,1736375356.757 [DAT](INFO): response not received 2025-01-08T22:29:16.757Z,1736375356.757 [DAT](INFO): DAT read: user:2635> 2025-01-08T22:29:16.758Z,1736375356.758 [DAT](INFO): DAT read: Tx time:22:29:16.0547 2025-01-08T22:29:16.758Z,1736375356.758 [DAT](INFO): Ping request sent. 2025-01-08T22:29:16.758Z,1736375356.758 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:29:16.759Z,1736375356.759 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:16.786Z,1736375356.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:16.839Z,1736375356.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:17.008Z,1736375357.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:17.008Z,1736375357.008 [DAT](INFO): DAT read: TxSync time:22:29:16.0540 2025-01-08T22:29:17.201Z,1736375357.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:17.245Z,1736375357.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:17.260Z,1736375357.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:17.512Z,1736375357.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:17.591Z,1736375357.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:17.600Z,1736375357.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:17.764Z,1736375357.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:18.017Z,1736375358.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:18.065Z,1736375358.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:18.073Z,1736375358.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:18.268Z,1736375358.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:18.397Z,1736375358.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:18.406Z,1736375358.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:18.520Z,1736375358.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:18.773Z,1736375358.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:18.808Z,1736375358.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:18.830Z,1736375358.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:19.026Z,1736375359.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:19.276Z,1736375359.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:19.315Z,1736375359.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:19.328Z,1736375359.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:19.529Z,1736375359.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:19.618Z,1736375359.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:19.628Z,1736375359.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:19.780Z,1736375359.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:20.033Z,1736375360.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:20.065Z,1736375360.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:20.079Z,1736375360.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:20.284Z,1736375360.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:20.436Z,1736375360.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:20.445Z,1736375360.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:20.536Z,1736375360.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:20.788Z,1736375360.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:20.845Z,1736375360.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:20.854Z,1736375360.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:21.044Z,1736375361.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:21.257Z,1736375361.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:21.265Z,1736375361.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:21.292Z,1736375361.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:21.544Z,1736375361.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:21.624Z,1736375361.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:21.633Z,1736375361.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:21.796Z,1736375361.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:22.049Z,1736375362.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:22.082Z,1736375362.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:22.105Z,1736375362.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:29:22.112Z,1736375362.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:22.302Z,1736375362.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:22.303Z,1736375362.303 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:29:22.304Z,1736375362.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:29:22.471Z,1736375362.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:22.480Z,1736375362.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:22.553Z,1736375362.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:22.554Z,1736375362.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795646 2025-01-08T22:29:22.804Z,1736375362.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:22.804Z,1736375362.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046038 2025-01-08T22:29:22.877Z,1736375362.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:22.903Z,1736375362.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:23.057Z,1736375363.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:23.060Z,1736375363.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301016 2025-01-08T22:29:23.286Z,1736375363.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:23.295Z,1736375363.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:23.308Z,1736375363.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:23.308Z,1736375363.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550052 2025-01-08T22:29:23.560Z,1736375363.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:23.561Z,1736375363.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802674 2025-01-08T22:29:23.660Z,1736375363.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:23.674Z,1736375363.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:23.812Z,1736375363.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:23.812Z,1736375363.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053916 2025-01-08T22:29:24.056Z,1736375364.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:24.078Z,1736375364.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:24.081Z,1736375364.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.321572 2025-01-08T22:29:24.128Z,1736375364.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:24.329Z,1736375364.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:24.331Z,1736375364.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.572114 2025-01-08T22:29:24.481Z,1736375364.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:24.489Z,1736375364.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:24.580Z,1736375364.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:24.581Z,1736375364.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822375 2025-01-08T22:29:24.832Z,1736375364.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:24.833Z,1736375364.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074316 2025-01-08T22:29:24.858Z,1736375364.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:24.880Z,1736375364.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:25.085Z,1736375365.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:25.088Z,1736375365.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.328374 2025-01-08T22:29:25.293Z,1736375365.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:25.322Z,1736375365.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:25.336Z,1736375365.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:25.336Z,1736375365.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578102 2025-01-08T22:29:25.588Z,1736375365.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:25.588Z,1736375365.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830012 2025-01-08T22:29:25.688Z,1736375365.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:25.699Z,1736375365.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:25.840Z,1736375365.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:25.840Z,1736375365.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082042 2025-01-08T22:29:26.094Z,1736375366.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:26.096Z,1736375366.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.337118 2025-01-08T22:29:26.199Z,1736375366.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:26.208Z,1736375366.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:26.344Z,1736375366.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:26.344Z,1736375366.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586042 2025-01-08T22:29:26.589Z,1736375366.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:26.596Z,1736375366.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:26.597Z,1736375366.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838202 2025-01-08T22:29:26.616Z,1736375366.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:26.848Z,1736375366.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:26.849Z,1736375366.849 [DAT](INFO): Reached modem response timeout 2025-01-08T22:29:26.849Z,1736375366.849 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:29:26.849Z,1736375366.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:29:26.994Z,1736375366.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:27.003Z,1736375367.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:27.101Z,1736375367.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:27.103Z,1736375367.103 [DAT](INFO): Reached modem response timeout 2025-01-08T22:29:27.104Z,1736375367.104 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:29:27.105Z,1736375367.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:29:27.352Z,1736375367.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:27.352Z,1736375367.352 [DAT](INFO): Reached modem response timeout 2025-01-08T22:29:27.352Z,1736375367.352 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:29:27.352Z,1736375367.352 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:29:27.478Z,1736375367.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:27.490Z,1736375367.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:27.604Z,1736375367.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:27.605Z,1736375367.605 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:29:27.606Z,1736375367.606 [DAT](INFO): response not received 2025-01-08T22:29:27.606Z,1736375367.606 [DAT](INFO): DAT read: user:2636> 2025-01-08T22:29:27.608Z,1736375367.608 [DAT](INFO): DAT read: Tx time:22:29:27.0048 2025-01-08T22:29:27.608Z,1736375367.608 [DAT](INFO): Ping request sent. 2025-01-08T22:29:27.608Z,1736375367.608 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:29:27.609Z,1736375367.609 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:27.610Z,1736375367.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001289 2025-01-08T22:29:27.804Z,1736375367.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:27.814Z,1736375367.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:27.856Z,1736375367.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:27.857Z,1736375367.857 [DAT](INFO): DAT read: TxSync time:22:29:27.0041 2025-01-08T22:29:27.857Z,1736375367.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248918 2025-01-08T22:29:28.108Z,1736375368.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:28.108Z,1736375368.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499987 2025-01-08T22:29:28.244Z,1736375368.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:28.261Z,1736375368.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:28.360Z,1736375368.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:28.360Z,1736375368.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751900 2025-01-08T22:29:28.612Z,1736375368.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:28.613Z,1736375368.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004461 2025-01-08T22:29:28.684Z,1736375368.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:28.692Z,1736375368.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:28.864Z,1736375368.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:28.865Z,1736375368.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256077 2025-01-08T22:29:29.061Z,1736375369.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:29.089Z,1736375369.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:29.127Z,1736375369.127 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:29.130Z,1736375369.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520750 2025-01-08T22:29:29.376Z,1736375369.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:29.377Z,1736375369.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768563 2025-01-08T22:29:29.501Z,1736375369.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:29.518Z,1736375369.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:29.628Z,1736375369.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:29.629Z,1736375369.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020072 2025-01-08T22:29:29.880Z,1736375369.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:29.881Z,1736375369.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272072 2025-01-08T22:29:29.921Z,1736375369.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:29.938Z,1736375369.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:30.132Z,1736375370.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:30.133Z,1736375370.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524571 2025-01-08T22:29:30.384Z,1736375370.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:30.385Z,1736375370.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776100 2025-01-08T22:29:30.392Z,1736375370.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:30.400Z,1736375370.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:30.636Z,1736375370.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:30.637Z,1736375370.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028699 2025-01-08T22:29:30.749Z,1736375370.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:30.758Z,1736375370.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:30.888Z,1736375370.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:30.888Z,1736375370.888 [DAT](INFO): DAT read: Rx Time:22:29:29.5193 2025-01-08T22:29:30.889Z,1736375370.889 [DAT](INFO): Rx dataTimestamp_ set to:1736375370.888567 2025-01-08T22:29:30.889Z,1736375370.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280957 2025-01-08T22:29:31.140Z,1736375371.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:31.141Z,1736375371.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532104 2025-01-08T22:29:31.278Z,1736375371.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:31.287Z,1736375371.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:31.392Z,1736375371.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:31.393Z,1736375371.393 [DAT](INFO): DAT read: Range 10 to 50 : 82.7 m (Round-trip 110.3 ms) speed 0.2 m/s 2025-01-08T22:29:31.394Z,1736375371.394 [DAT](INFO): DAT read: user:2637> 2025-01-08T22:29:31.395Z,1736375371.395 [DAT](INFO): DAT read: Tx time:22:29:30.6048 2025-01-08T22:29:31.395Z,1736375371.395 [DAT](INFO): Ping request sent. 2025-01-08T22:29:31.395Z,1736375371.395 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:29:31.396Z,1736375371.396 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:29:31.396Z,1736375371.396 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:31.396Z,1736375371.396 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:31.644Z,1736375371.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:31.646Z,1736375371.646 [DAT](INFO): DAT read: TxSync time:22:29:30.6041 2025-01-08T22:29:31.718Z,1736375371.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:31.729Z,1736375371.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.699997 m, deltaT: 47.411930 s, deltaX: -1.000000 m, approachRate: -0.021092 m/s, rangeRepo size: 4 2025-01-08T22:29:31.730Z,1736375371.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:31.896Z,1736375371.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:32.068Z,1736375372.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:29:32.128Z,1736375372.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:32.137Z,1736375372.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:32.148Z,1736375372.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:32.400Z,1736375372.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:32.561Z,1736375372.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:32.576Z,1736375372.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:32.652Z,1736375372.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:32.904Z,1736375372.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:32.952Z,1736375372.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:32.977Z,1736375372.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:33.072Z,1736375373.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:29:33.157Z,1736375373.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:33.398Z,1736375373.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:33.406Z,1736375373.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:33.408Z,1736375373.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:33.661Z,1736375373.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:33.778Z,1736375373.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:33.786Z,1736375373.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:33.916Z,1736375373.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:34.168Z,1736375374.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:34.196Z,1736375374.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:34.250Z,1736375374.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:34.420Z,1736375374.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:34.420Z,1736375374.420 [DAT](INFO): DAT read: Rx Time:22:29:33.1191 2025-01-08T22:29:34.421Z,1736375374.421 [DAT](INFO): Rx dataTimestamp_ set to:1736375374.420574 2025-01-08T22:29:34.603Z,1736375374.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:34.621Z,1736375374.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:34.673Z,1736375374.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:34.924Z,1736375374.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:34.925Z,1736375374.925 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:29:34.925Z,1736375374.925 [DAT](INFO): Received a bad header 2025-01-08T22:29:35.009Z,1736375375.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:35.018Z,1736375375.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:35.177Z,1736375375.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:35.428Z,1736375375.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:35.470Z,1736375375.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:35.478Z,1736375375.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:35.680Z,1736375375.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:35.821Z,1736375375.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:35.832Z,1736375375.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:35.932Z,1736375375.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:36.184Z,1736375376.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:36.263Z,1736375376.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:36.335Z,1736375376.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:36.436Z,1736375376.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:36.688Z,1736375376.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:36.758Z,1736375376.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:36.767Z,1736375376.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:36.940Z,1736375376.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:37.149Z,1736375377.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:37.158Z,1736375377.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:37.192Z,1736375377.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:37.444Z,1736375377.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:37.610Z,1736375377.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:37.619Z,1736375377.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:37.696Z,1736375377.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:37.948Z,1736375377.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:37.976Z,1736375377.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:37.985Z,1736375377.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:38.200Z,1736375378.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:38.389Z,1736375378.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:38.398Z,1736375378.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:38.453Z,1736375378.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:38.704Z,1736375378.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:38.763Z,1736375378.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:38.771Z,1736375378.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:38.956Z,1736375378.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:39.175Z,1736375379.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:39.185Z,1736375379.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:39.208Z,1736375379.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:39.460Z,1736375379.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:39.617Z,1736375379.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:39.652Z,1736375379.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:39.712Z,1736375379.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:39.964Z,1736375379.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:39.977Z,1736375379.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:39.986Z,1736375379.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:40.216Z,1736375380.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:40.413Z,1736375380.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:40.442Z,1736375380.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:40.468Z,1736375380.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:40.721Z,1736375380.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:40.785Z,1736375380.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:40.805Z,1736375380.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:40.972Z,1736375380.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:41.192Z,1736375381.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:41.202Z,1736375381.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:41.225Z,1736375381.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:41.476Z,1736375381.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:41.607Z,1736375381.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:29:41.607Z,1736375381.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:41.646Z,1736375381.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:41.729Z,1736375381.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:41.980Z,1736375381.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:41.997Z,1736375381.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:29:41.997Z,1736375381.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:42.018Z,1736375382.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:42.232Z,1736375382.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:42.233Z,1736375382.233 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:29:42.233Z,1736375382.233 [DAT](INFO): response not received 2025-01-08T22:29:42.233Z,1736375382.233 [DAT](INFO): DAT read: user:2639> 2025-01-08T22:29:42.234Z,1736375382.234 [DAT](INFO): DAT read: Tx time:22:29:41.5549 2025-01-08T22:29:42.234Z,1736375382.234 [DAT](INFO): Ping request sent. 2025-01-08T22:29:42.234Z,1736375382.234 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:29:42.234Z,1736375382.234 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:42.458Z,1736375382.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:42.484Z,1736375382.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:42.485Z,1736375382.485 [DAT](INFO): DAT read: TxSync time:22:29:41.5541 2025-01-08T22:29:42.487Z,1736375382.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:42.736Z,1736375382.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:42.805Z,1736375382.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:42.814Z,1736375382.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:42.988Z,1736375382.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:43.216Z,1736375383.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:43.231Z,1736375383.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:43.240Z,1736375383.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:43.492Z,1736375383.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:43.656Z,1736375383.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:43.671Z,1736375383.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:43.744Z,1736375383.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:43.996Z,1736375383.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:44.083Z,1736375384.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:44.091Z,1736375384.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:44.249Z,1736375384.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:44.500Z,1736375384.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:44.548Z,1736375384.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:44.559Z,1736375384.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:44.752Z,1736375384.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:44.900Z,1736375384.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:44.909Z,1736375384.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:45.004Z,1736375385.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:45.256Z,1736375385.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:45.257Z,1736375385.257 [DAT](INFO): DAT read: Rx Time:22:29:44.0689 2025-01-08T22:29:45.257Z,1736375385.257 [DAT](INFO): Rx dataTimestamp_ set to:1736375385.256823 2025-01-08T22:29:45.318Z,1736375385.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:45.327Z,1736375385.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:45.508Z,1736375385.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:45.760Z,1736375385.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:45.762Z,1736375385.762 [DAT](INFO): DAT read: Range 10 to 50 : 82.3 m (Round-trip 109.8 ms) speed 0.0 m/s 2025-01-08T22:29:45.763Z,1736375385.763 [DAT](INFO): DAT read: user:2640> 2025-01-08T22:29:45.764Z,1736375385.764 [DAT](INFO): DAT read: Tx time:22:29:45.1549 2025-01-08T22:29:45.764Z,1736375385.764 [DAT](INFO): Ping request sent. 2025-01-08T22:29:45.764Z,1736375385.764 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:29:45.765Z,1736375385.765 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-01-08T22:29:45.765Z,1736375385.765 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:45.765Z,1736375385.765 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:45.860Z,1736375385.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:45.879Z,1736375385.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.300003 m, deltaT: 14.368425 s, deltaX: -0.399994 m, approachRate: -0.027838 m/s, rangeRepo size: 4 2025-01-08T22:29:45.883Z,1736375385.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:46.012Z,1736375386.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:46.013Z,1736375386.013 [DAT](INFO): DAT read: TxSync time:22:29:45.1541 2025-01-08T22:29:46.264Z,1736375386.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:46.270Z,1736375386.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:46.279Z,1736375386.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:46.516Z,1736375386.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:46.738Z,1736375386.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:46.749Z,1736375386.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:46.769Z,1736375386.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:47.020Z,1736375387.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:47.078Z,1736375387.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:47.087Z,1736375387.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:47.272Z,1736375387.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:47.498Z,1736375387.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:47.506Z,1736375387.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:47.524Z,1736375387.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:47.776Z,1736375387.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:47.887Z,1736375387.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:47.896Z,1736375387.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:48.028Z,1736375388.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:48.280Z,1736375388.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:48.288Z,1736375388.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:48.318Z,1736375388.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:48.532Z,1736375388.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:48.740Z,1736375388.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:48.759Z,1736375388.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:48.785Z,1736375388.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:49.036Z,1736375389.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:49.036Z,1736375389.036 [DAT](INFO): DAT read: Rx Time:22:29:47.6687 2025-01-08T22:29:49.037Z,1736375389.037 [DAT](INFO): Rx dataTimestamp_ set to:1736375389.036634 2025-01-08T22:29:49.121Z,1736375389.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:49.131Z,1736375389.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:49.288Z,1736375389.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:49.528Z,1736375389.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:49.536Z,1736375389.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:49.542Z,1736375389.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:49.546Z,1736375389.546 [DAT](INFO): DAT read: Range 10 to 50 : 82.2 m (Round-trip 109.6 ms) speed -0.1 m/s 2025-01-08T22:29:49.547Z,1736375389.547 [DAT](INFO): DAT read: user:2641> 2025-01-08T22:29:49.556Z,1736375389.556 [DAT](INFO): DAT read: Tx time:22:29:48.7549 2025-01-08T22:29:49.556Z,1736375389.556 [DAT](INFO): Ping request sent. 2025-01-08T22:29:49.556Z,1736375389.556 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:29:49.557Z,1736375389.557 [DAT](INFO): DAT read: TxSync time:22:29:48.7541 2025-01-08T22:29:49.557Z,1736375389.557 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-01-08T22:29:49.557Z,1736375389.557 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:49.558Z,1736375389.558 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:49.792Z,1736375389.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:49.900Z,1736375389.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:49.910Z,1736375389.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.199997 m, deltaT: 3.782905 s, deltaX: -0.100006 m, approachRate: -0.026436 m/s, rangeRepo size: 4 2025-01-08T22:29:49.911Z,1736375389.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:50.044Z,1736375390.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:50.297Z,1736375390.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:50.316Z,1736375390.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:50.325Z,1736375390.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:50.549Z,1736375390.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:50.749Z,1736375390.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:50.757Z,1736375390.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:50.801Z,1736375390.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:51.052Z,1736375391.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:51.142Z,1736375391.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:51.158Z,1736375391.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:51.304Z,1736375391.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:51.556Z,1736375391.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:51.576Z,1736375391.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:51.585Z,1736375391.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:51.808Z,1736375391.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:51.940Z,1736375391.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:51.956Z,1736375391.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:52.061Z,1736375392.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:52.312Z,1736375392.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:52.341Z,1736375392.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:52.351Z,1736375392.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:52.564Z,1736375392.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:52.565Z,1736375392.565 [DAT](INFO): DAT read: Rx Time:22:29:51.2684 2025-01-08T22:29:52.565Z,1736375392.565 [DAT](INFO): Rx dataTimestamp_ set to:1736375392.564714 2025-01-08T22:29:52.766Z,1736375392.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:52.774Z,1736375392.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:52.816Z,1736375392.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:53.068Z,1736375393.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:53.069Z,1736375393.069 [DAT](INFO): DAT read: Range 10 to 50 : 81.9 m (Round-trip 109.3 ms) speed 0.0 m/s 2025-01-08T22:29:53.070Z,1736375393.070 [DAT](INFO): DAT read: user:2642> 2025-01-08T22:29:53.071Z,1736375393.071 [DAT](INFO): DAT read: Tx time:22:29:52.3549 2025-01-08T22:29:53.071Z,1736375393.071 [DAT](INFO): Ping request sent. 2025-01-08T22:29:53.071Z,1736375393.071 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:29:53.072Z,1736375393.072 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-01-08T22:29:53.072Z,1736375393.072 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:53.072Z,1736375393.072 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:53.188Z,1736375393.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:53.206Z,1736375393.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.900002 m, deltaT: 3.524734 s, deltaX: -0.299995 m, approachRate: -0.085112 m/s, rangeRepo size: 4 2025-01-08T22:29:53.206Z,1736375393.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:53.321Z,1736375393.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:53.323Z,1736375393.323 [DAT](INFO): DAT read: TxSync time:22:29:52.3541 2025-01-08T22:29:53.572Z,1736375393.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:53.573Z,1736375393.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:29:53.573Z,1736375393.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:53.616Z,1736375393.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:53.824Z,1736375393.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:53.962Z,1736375393.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:29:53.963Z,1736375393.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:53.971Z,1736375393.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:54.076Z,1736375394.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:54.328Z,1736375394.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:54.350Z,1736375394.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:29:54.350Z,1736375394.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:54.359Z,1736375394.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:54.580Z,1736375394.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:54.778Z,1736375394.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:54.786Z,1736375394.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:54.833Z,1736375394.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:55.084Z,1736375395.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:55.164Z,1736375395.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:55.177Z,1736375395.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:55.336Z,1736375395.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:55.588Z,1736375395.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:55.648Z,1736375395.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:55.661Z,1736375395.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:55.840Z,1736375395.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:56.005Z,1736375396.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:56.014Z,1736375396.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:56.093Z,1736375396.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:56.094Z,1736375396.094 [DAT](INFO): DAT read: Rx Time:22:29:54.8687 2025-01-08T22:29:56.095Z,1736375396.095 [DAT](INFO): Rx dataTimestamp_ set to:1736375396.094325 2025-01-08T22:29:56.345Z,1736375396.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:56.392Z,1736375396.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:56.417Z,1736375396.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.90 m. 2025-01-08T22:29:56.597Z,1736375396.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:56.607Z,1736375396.607 [DAT](INFO): DAT read: 22:29:54.8687 LVL= 20112, 24001, 12386, 28051, AGC= 60, IDX= 446,-0.08,-1.892, 0.716,-0.197,-0.320, PHS=-1.483, 1.083, 0.120, RAW= 291.8, 2.5, CAL= 294.7, 3.2, ROT= 215.3, -3.2 2025-01-08T22:29:56.611Z,1736375396.611 [DAT](INFO): got valid direction response: 22:29:54.8687 LVL= 20112, 24001, 12386, 28051, AGC= 60, IDX= 446,-0.08,-1.892, 0.716,-0.197,-0.320, PHS=-1.483, 1.083, 0.120, RAW= 291.8, 2.5, CAL= 294.7, 3.2, ROT= 215.3, -3.2 2025-01-08T22:29:56.612Z,1736375396.612 [DAT](INFO): DAT read: Bearing 215.3, -3.2 (Local) 2025-01-08T22:29:56.613Z,1736375396.613 [DAT](INFO): Local bearing/azimuth received: Bearing 215.3, -3.2 (Local) 2025-01-08T22:29:56.614Z,1736375396.614 [DAT](INFO): DAT read: Range 10 to 50 : 82.1 m (Round-trip 109.5 ms) speed 0.0 m/s 2025-01-08T22:29:56.615Z,1736375396.615 [DAT](INFO): DAT read: user:2643> 2025-01-08T22:29:56.624Z,1736375396.624 [DAT](INFO): DAT read: Tx time:22:29:55.9550 2025-01-08T22:29:56.624Z,1736375396.624 [DAT](INFO): Ping request sent. 2025-01-08T22:29:56.624Z,1736375396.624 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:29:56.625Z,1736375396.625 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-01-08T22:29:56.626Z,1736375396.626 [DAT](INFO): direction in FSK: [0.064659,0.277919,-0.958426] 2025-01-08T22:29:56.626Z,1736375396.626 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:56.627Z,1736375396.627 [DAT](INFO): publishing direction and range info 2025-01-08T22:29:56.676Z,1736375396.676 [DAT](INFO): publishing transmit ping time 2025-01-08T22:29:56.677Z,1736375396.677 [DAT](INFO): publishing direction and range info 2025-01-08T22:29:56.842Z,1736375396.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:56.848Z,1736375396.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:56.849Z,1736375396.849 [DAT](INFO): DAT read: TxSync time:22:29:55.9542 2025-01-08T22:29:56.887Z,1736375396.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.099998 m, deltaT: 3.530032 s, deltaX: 0.199997 m, approachRate: 0.056656 m/s, rangeRepo size: 4 2025-01-08T22:29:56.893Z,1736375396.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.099998 m, bearing: 358.447291 deg, lat: 36.904828 deg, lon: -122.119595 deg, deltaT: 239.579584 s, deltaX: 22.199997 m, approachRate: 0.092662 m/s, posRepo size: 4 2025-01-08T22:29:56.894Z,1736375396.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:29:57.102Z,1736375397.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:57.211Z,1736375397.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:57.220Z,1736375397.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:29:57.352Z,1736375397.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:57.605Z,1736375397.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:57.642Z,1736375397.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:57.681Z,1736375397.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:29:57.857Z,1736375397.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:58.015Z,1736375398.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:58.043Z,1736375398.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:29:58.108Z,1736375398.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:58.361Z,1736375398.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:58.415Z,1736375398.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:58.423Z,1736375398.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:29:58.613Z,1736375398.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:58.839Z,1736375398.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:58.847Z,1736375398.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:29:58.864Z,1736375398.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:59.116Z,1736375399.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:59.230Z,1736375399.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:59.244Z,1736375399.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:29:59.368Z,1736375399.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:59.623Z,1736375399.623 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:29:59.627Z,1736375399.627 [DAT](INFO): DAT read: Rx Time:22:29:58.4688 2025-01-08T22:29:59.629Z,1736375399.629 [DAT](INFO): Rx dataTimestamp_ set to:1736375399.628342 2025-01-08T22:29:59.711Z,1736375399.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:29:59.720Z,1736375399.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:29:59.876Z,1736375399.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:00.065Z,1736375400.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:00.073Z,1736375400.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:00.130Z,1736375400.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:00.133Z,1736375400.133 [DAT](INFO): DAT read: Range 10 to 50 : 82.2 m (Round-trip 109.6 ms) speed 0.0 m/s 2025-01-08T22:30:00.133Z,1736375400.133 [DAT](INFO): DAT read: user:2644> 2025-01-08T22:30:00.134Z,1736375400.134 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-08T22:30:00.380Z,1736375400.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:00.381Z,1736375400.381 [DAT](INFO): DAT read: Tx time:22:29:59.5550 2025-01-08T22:30:00.381Z,1736375400.381 [DAT](INFO): Ping request sent. 2025-01-08T22:30:00.381Z,1736375400.381 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:00.382Z,1736375400.382 [DAT](INFO): DAT read: TxSync time:22:29:59.5542 2025-01-08T22:30:00.382Z,1736375400.382 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:00.468Z,1736375400.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:00.486Z,1736375400.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.199997 m, deltaT: 3.532442 s, deltaX: 0.099998 m, approachRate: 0.028309 m/s, rangeRepo size: 4 2025-01-08T22:30:00.486Z,1736375400.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:00.633Z,1736375400.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:00.884Z,1736375400.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:00.897Z,1736375400.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:00.906Z,1736375400.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:01.136Z,1736375401.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:01.286Z,1736375401.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:01.296Z,1736375401.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:01.388Z,1736375401.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:01.641Z,1736375401.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:01.731Z,1736375401.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:01.741Z,1736375401.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:01.892Z,1736375401.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:02.087Z,1736375402.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:02.097Z,1736375402.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:02.144Z,1736375402.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:02.396Z,1736375402.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:02.492Z,1736375402.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:02.501Z,1736375402.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:02.650Z,1736375402.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:02.902Z,1736375402.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:02.924Z,1736375402.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:02.933Z,1736375402.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:03.156Z,1736375403.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:03.208Z,1736375403.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:30:03.294Z,1736375403.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:03.303Z,1736375403.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:03.408Z,1736375403.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:03.408Z,1736375403.408 [DAT](INFO): DAT read: Rx Time:22:30:02.0681 2025-01-08T22:30:03.409Z,1736375403.409 [DAT](INFO): Rx dataTimestamp_ set to:1736375403.408602 2025-01-08T22:30:03.664Z,1736375403.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:03.772Z,1736375403.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:03.782Z,1736375403.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:03.912Z,1736375403.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:03.914Z,1736375403.914 [DAT](INFO): DAT read: Range 10 to 50 : 81.6 m (Round-trip 108.9 ms) speed 0.0 m/s 2025-01-08T22:30:03.914Z,1736375403.914 [DAT](INFO): DAT read: user:2645> 2025-01-08T22:30:03.915Z,1736375403.915 [DAT](INFO): DAT read: Tx time:22:30:03.1550 2025-01-08T22:30:03.916Z,1736375403.916 [DAT](INFO): Ping request sent. 2025-01-08T22:30:03.916Z,1736375403.916 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:03.916Z,1736375403.916 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-01-08T22:30:03.916Z,1736375403.916 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:03.917Z,1736375403.917 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:04.132Z,1736375404.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:04.141Z,1736375404.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.781717 s, deltaX: -0.599998 m, approachRate: -0.158658 m/s, rangeRepo size: 4 2025-01-08T22:30:04.142Z,1736375404.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:04.165Z,1736375404.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:04.166Z,1736375404.166 [DAT](INFO): DAT read: TxSync time:22:30:03.1542 2025-01-08T22:30:04.213Z,1736375404.213 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:30:04.416Z,1736375404.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:04.516Z,1736375404.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:04.525Z,1736375404.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:04.669Z,1736375404.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:04.920Z,1736375404.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:04.945Z,1736375404.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:04.970Z,1736375404.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:05.172Z,1736375405.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:05.342Z,1736375405.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:05.352Z,1736375405.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:05.425Z,1736375405.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:05.677Z,1736375405.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:05.787Z,1736375405.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:05.820Z,1736375405.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:05.928Z,1736375405.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:06.148Z,1736375406.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:06.172Z,1736375406.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:06.180Z,1736375406.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:06.432Z,1736375406.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:06.541Z,1736375406.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:06.551Z,1736375406.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:06.687Z,1736375406.687 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:06.936Z,1736375406.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:06.937Z,1736375406.937 [DAT](INFO): DAT read: Rx Time:22:30:05.6681 2025-01-08T22:30:06.937Z,1736375406.937 [DAT](INFO): Rx dataTimestamp_ set to:1736375406.936680 2025-01-08T22:30:06.977Z,1736375406.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:06.985Z,1736375406.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:07.188Z,1736375407.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:07.354Z,1736375407.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:07.421Z,1736375407.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:07.441Z,1736375407.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:07.442Z,1736375407.442 [DAT](INFO): DAT read: Range 10 to 50 : 81.6 m (Round-trip 108.9 ms) speed 0.0 m/s 2025-01-08T22:30:07.444Z,1736375407.444 [DAT](INFO): DAT read: user:2646> 2025-01-08T22:30:07.445Z,1736375407.445 [DAT](INFO): DAT read: Tx time:22:30:06.7551 2025-01-08T22:30:07.445Z,1736375407.445 [DAT](INFO): Ping request sent. 2025-01-08T22:30:07.445Z,1736375407.445 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:07.445Z,1736375407.445 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-01-08T22:30:07.445Z,1736375407.445 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:07.446Z,1736375407.446 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:07.693Z,1736375407.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:07.696Z,1736375407.696 [DAT](INFO): DAT read: TxSync time:22:30:06.7543 2025-01-08T22:30:07.803Z,1736375407.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:07.813Z,1736375407.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.528743 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:30:07.814Z,1736375407.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:07.944Z,1736375407.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:08.150Z,1736375408.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:08.168Z,1736375408.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:08.196Z,1736375408.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:08.448Z,1736375408.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:08.560Z,1736375408.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:08.569Z,1736375408.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:08.700Z,1736375408.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:08.952Z,1736375408.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:08.990Z,1736375408.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:09.002Z,1736375409.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:09.204Z,1736375409.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:09.365Z,1736375409.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:09.373Z,1736375409.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:09.457Z,1736375409.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:09.708Z,1736375409.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:09.843Z,1736375409.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:09.869Z,1736375409.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:09.960Z,1736375409.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:10.175Z,1736375410.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:10.183Z,1736375410.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:10.212Z,1736375410.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:10.465Z,1736375410.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:10.466Z,1736375410.466 [DAT](INFO): DAT read: Rx Time:22:30:09.2682 2025-01-08T22:30:10.466Z,1736375410.466 [DAT](INFO): Rx dataTimestamp_ set to:1736375410.465805 2025-01-08T22:30:10.576Z,1736375410.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:10.602Z,1736375410.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:10.716Z,1736375410.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:10.968Z,1736375410.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:10.970Z,1736375410.970 [DAT](INFO): DAT read: Range 10 to 50 : 81.6 m (Round-trip 108.9 ms) speed -0.1 m/s 2025-01-08T22:30:10.970Z,1736375410.970 [DAT](INFO): DAT read: user:2647> 2025-01-08T22:30:10.971Z,1736375410.971 [DAT](INFO): DAT read: Tx time:22:30:10.3551 2025-01-08T22:30:10.971Z,1736375410.971 [DAT](INFO): Ping request sent. 2025-01-08T22:30:10.972Z,1736375410.972 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:10.972Z,1736375410.972 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-01-08T22:30:10.972Z,1736375410.972 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:10.973Z,1736375410.973 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:11.049Z,1736375411.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:11.071Z,1736375411.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.527212 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:30:11.076Z,1736375411.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:11.220Z,1736375411.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:11.222Z,1736375411.222 [DAT](INFO): DAT read: TxSync time:22:30:10.3543 2025-01-08T22:30:11.431Z,1736375411.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:11.439Z,1736375411.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:11.472Z,1736375411.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:11.724Z,1736375411.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:11.859Z,1736375411.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:11.868Z,1736375411.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:11.976Z,1736375411.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:12.219Z,1736375412.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:12.229Z,1736375412.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:12.238Z,1736375412.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:12.480Z,1736375412.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:12.633Z,1736375412.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:12.641Z,1736375412.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:12.732Z,1736375412.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:12.984Z,1736375412.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:13.077Z,1736375413.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:13.101Z,1736375413.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:13.236Z,1736375413.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:13.433Z,1736375413.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:13.441Z,1736375413.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:13.488Z,1736375413.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:13.740Z,1736375413.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:13.895Z,1736375413.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:13.904Z,1736375413.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:13.996Z,1736375413.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:14.248Z,1736375414.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:14.249Z,1736375414.249 [DAT](INFO): DAT read: Rx Time:22:30:12.8680 2025-01-08T22:30:14.249Z,1736375414.249 [DAT](INFO): Rx dataTimestamp_ set to:1736375414.248712 2025-01-08T22:30:14.262Z,1736375414.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:14.281Z,1736375414.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:14.500Z,1736375414.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:14.669Z,1736375414.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:14.682Z,1736375414.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:30:14.754Z,1736375414.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:14.777Z,1736375414.777 [DAT](INFO): DAT read: 22:30:12.8680 LVL= 21744, 22673, 13042, 25395, AGC= 61, IDX= 421, 0.30, 2.474,-1.306,-1.831,-2.112, PHS=-1.609, 0.853, 0.278, RAW= 282.9, 4.3, CAL= 286.2, 5.9, ROT= 223.8, -5.9 2025-01-08T22:30:14.779Z,1736375414.779 [DAT](INFO): got valid direction response: 22:30:12.8680 LVL= 21744, 22673, 13042, 25395, AGC= 61, IDX= 421, 0.30, 2.474,-1.306,-1.831,-2.112, PHS=-1.609, 0.853, 0.278, RAW= 282.9, 4.3, CAL= 286.2, 5.9, ROT= 223.8, -5.9 2025-01-08T22:30:14.799Z,1736375414.799 [DAT](INFO): DAT read: Bearing 223.8, -5.9 (Local) 2025-01-08T22:30:14.800Z,1736375414.800 [DAT](INFO): Local bearing/azimuth received: Bearing 223.8, -5.9 (Local) 2025-01-08T22:30:14.810Z,1736375414.810 [DAT](INFO): DAT read: Range 10 to 50 : 81.5 m (Round-trip 108.7 ms) speed 0.0 m/s 2025-01-08T22:30:14.817Z,1736375414.817 [DAT](INFO): DAT read: user:2648> 2025-01-08T22:30:14.824Z,1736375414.824 [DAT](INFO): DAT read: Tx time:22:30:13.9551 2025-01-08T22:30:14.825Z,1736375414.825 [DAT](INFO): Ping request sent. 2025-01-08T22:30:14.825Z,1736375414.825 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:14.833Z,1736375414.833 [DAT](INFO): DAT read: TxSync time:22:30:13.9543 2025-01-08T22:30:14.835Z,1736375414.835 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-01-08T22:30:14.888Z,1736375414.888 [DAT](INFO): direction in FSK: [0.019933,0.123105,-0.992193] 2025-01-08T22:30:14.889Z,1736375414.889 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:14.889Z,1736375414.889 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:14.906Z,1736375414.906 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:14.906Z,1736375414.906 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:15.004Z,1736375415.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:15.129Z,1736375415.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:15.155Z,1736375415.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.500000 m, deltaT: 3.786715 s, deltaX: -0.099998 m, approachRate: -0.026408 m/s, rangeRepo size: 4 2025-01-08T22:30:15.169Z,1736375415.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.500000 m, bearing: 357.279461 deg, lat: 36.904828 deg, lon: -122.119601 deg, deltaT: 18.156829 s, deltaX: -0.599998 m, approachRate: -0.033045 m/s, posRepo size: 4 2025-01-08T22:30:15.170Z,1736375415.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:15.256Z,1736375415.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:15.466Z,1736375415.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:15.474Z,1736375415.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:15.508Z,1736375415.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:15.760Z,1736375415.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:15.931Z,1736375415.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:15.940Z,1736375415.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:16.012Z,1736375416.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:16.265Z,1736375416.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:16.294Z,1736375416.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:16.311Z,1736375416.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:16.516Z,1736375416.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:16.685Z,1736375416.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:16.711Z,1736375416.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:16.768Z,1736375416.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:17.020Z,1736375417.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:17.134Z,1736375417.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:17.143Z,1736375417.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:17.273Z,1736375417.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:17.484Z,1736375417.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:17.494Z,1736375417.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:17.524Z,1736375417.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:17.776Z,1736375417.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:17.778Z,1736375417.778 [DAT](INFO): DAT read: Rx Time:22:30:16.4680 2025-01-08T22:30:17.778Z,1736375417.778 [DAT](INFO): Rx dataTimestamp_ set to:1736375417.777726 2025-01-08T22:30:17.938Z,1736375417.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:17.968Z,1736375417.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:18.028Z,1736375418.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:18.280Z,1736375418.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:18.287Z,1736375418.287 [DAT](INFO): DAT read: 22:30:16.4680 LVL= 19952, 22417, 12418, 29427, AGC= 55, IDX= 438,-0.49,-0.841, 1.622, 1.149, 0.841, PHS=-1.594, 0.829, 0.305, RAW= 281.9, 4.2, CAL= 285.1, 5.7, ROT= 224.9, -5.7 2025-01-08T22:30:18.290Z,1736375418.290 [DAT](INFO): got valid direction response: 22:30:16.4680 LVL= 19952, 22417, 12418, 29427, AGC= 55, IDX= 438,-0.49,-0.841, 1.622, 1.149, 0.841, PHS=-1.594, 0.829, 0.305, RAW= 281.9, 4.2, CAL= 285.1, 5.7, ROT= 224.9, -5.7 2025-01-08T22:30:18.292Z,1736375418.292 [DAT](INFO): DAT read: Bearing 224.9, -5.7 (Local) 2025-01-08T22:30:18.292Z,1736375418.292 [DAT](INFO): Local bearing/azimuth received: Bearing 224.9, -5.7 (Local) 2025-01-08T22:30:18.294Z,1736375418.294 [DAT](INFO): DAT read: Range 10 to 50 : 81.5 m (Round-trip 108.7 ms) speed 0.1 m/s 2025-01-08T22:30:18.295Z,1736375418.295 [DAT](INFO): DAT read: user:2649> 2025-01-08T22:30:18.296Z,1736375418.296 [DAT](INFO): DAT read: Tx time:22:30:17.5551 2025-01-08T22:30:18.296Z,1736375418.296 [DAT](INFO): Ping request sent. 2025-01-08T22:30:18.297Z,1736375418.297 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:18.297Z,1736375418.297 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-01-08T22:30:18.298Z,1736375418.298 [DAT](INFO): direction in FSK: [0.021008,0.104636,-0.994289] 2025-01-08T22:30:18.298Z,1736375418.298 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:18.298Z,1736375418.298 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:18.301Z,1736375418.301 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:18.302Z,1736375418.302 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:18.339Z,1736375418.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:18.413Z,1736375418.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.500000 m, deltaT: 3.525076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:30:18.425Z,1736375418.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.500000 m, bearing: 359.398344 deg, lat: 36.905241 deg, lon: -122.119851 deg, deltaT: 3.525076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:30:18.425Z,1736375418.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:18.532Z,1736375418.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:18.533Z,1736375418.533 [DAT](INFO): DAT read: TxSync time:22:30:17.5543 2025-01-08T22:30:18.715Z,1736375418.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:18.736Z,1736375418.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:18.784Z,1736375418.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:19.036Z,1736375419.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:19.128Z,1736375419.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:19.137Z,1736375419.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:19.289Z,1736375419.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:19.514Z,1736375419.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:19.523Z,1736375419.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:19.542Z,1736375419.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:19.792Z,1736375419.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:19.969Z,1736375419.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:20.001Z,1736375420.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:20.044Z,1736375420.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:20.297Z,1736375420.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:20.355Z,1736375420.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:20.371Z,1736375420.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:20.548Z,1736375420.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:20.735Z,1736375420.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:20.744Z,1736375420.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:20.800Z,1736375420.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:21.052Z,1736375421.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:21.152Z,1736375421.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:21.162Z,1736375421.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:21.304Z,1736375421.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:21.304Z,1736375421.304 [DAT](INFO): DAT read: Rx Time:22:30:20.0680 2025-01-08T22:30:21.305Z,1736375421.305 [DAT](INFO): Rx dataTimestamp_ set to:1736375421.304598 2025-01-08T22:30:21.556Z,1736375421.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:21.560Z,1736375421.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:21.592Z,1736375421.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T22:30:21.809Z,1736375421.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:21.817Z,1736375421.817 [DAT](INFO): DAT read: 22:30:20.0680 LVL= 21296, 22449, 13298, 30771, AGC= 56, IDX= 437, 0.09, 3.107,-0.706,-1.200,-1.493, PHS=-1.596, 0.834, 0.290, RAW= 282.3, 4.3, CAL= 285.6, 5.9, ROT= 224.4, -5.9 2025-01-08T22:30:21.818Z,1736375421.818 [DAT](INFO): got valid direction response: 22:30:20.0680 LVL= 21296, 22449, 13298, 30771, AGC= 56, IDX= 437, 0.09, 3.107,-0.706,-1.200,-1.493, PHS=-1.596, 0.834, 0.290, RAW= 282.3, 4.3, CAL= 285.6, 5.9, ROT= 224.4, -5.9 2025-01-08T22:30:21.820Z,1736375421.820 [DAT](INFO): DAT read: Bearing 224.4, -5.9 (Local) 2025-01-08T22:30:21.820Z,1736375421.820 [DAT](INFO): Local bearing/azimuth received: Bearing 224.4, -5.9 (Local) 2025-01-08T22:30:21.822Z,1736375421.822 [DAT](INFO): DAT read: Range 10 to 50 : 81.4 m (Round-trip 108.6 ms) speed 0.1 m/s 2025-01-08T22:30:21.828Z,1736375421.828 [DAT](INFO): DAT read: user:2650> 2025-01-08T22:30:21.829Z,1736375421.829 [DAT](INFO): DAT read: Tx time:22:30:21.1552 2025-01-08T22:30:21.829Z,1736375421.829 [DAT](INFO): Ping request sent. 2025-01-08T22:30:21.829Z,1736375421.829 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:21.830Z,1736375421.830 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-01-08T22:30:21.831Z,1736375421.831 [DAT](INFO): direction in FSK: [0.019463,0.112789,-0.993428] 2025-01-08T22:30:21.831Z,1736375421.831 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:21.840Z,1736375421.840 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:21.864Z,1736375421.864 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:21.864Z,1736375421.864 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:22.061Z,1736375422.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:22.062Z,1736375422.062 [DAT](INFO): DAT read: TxSync time:22:30:21.1544 2025-01-08T22:30:22.071Z,1736375422.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:22.105Z,1736375422.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.400002 m, deltaT: 3.529388 s, deltaX: -0.099998 m, approachRate: -0.028333 m/s, rangeRepo size: 4 2025-01-08T22:30:22.112Z,1736375422.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.400002 m, bearing: 355.130405 deg, lat: 36.905244 deg, lon: -122.119854 deg, deltaT: 3.529388 s, deltaX: -0.099998 m, approachRate: -0.028333 m/s, posRepo size: 4 2025-01-08T22:30:22.112Z,1736375422.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:30:22.312Z,1736375422.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:22.386Z,1736375422.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:22.403Z,1736375422.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:30:22.407Z,1736375422.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:30:22.564Z,1736375422.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:22.564Z,1736375422.564 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:30:22.564Z,1736375422.564 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:30:22.565Z,1736375422.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:30:22.797Z,1736375422.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:22.806Z,1736375422.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:30:22.816Z,1736375422.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:22.817Z,1736375422.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987287 2025-01-08T22:30:23.068Z,1736375423.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:23.069Z,1736375423.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239291 2025-01-08T22:30:23.225Z,1736375423.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:23.235Z,1736375423.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:30:23.320Z,1736375423.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:23.320Z,1736375423.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491132 2025-01-08T22:30:23.572Z,1736375423.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:23.572Z,1736375423.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742978 2025-01-08T22:30:23.646Z,1736375423.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:23.660Z,1736375423.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:30:23.824Z,1736375423.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:23.825Z,1736375423.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995369 2025-01-08T22:30:24.071Z,1736375424.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:24.076Z,1736375424.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:24.077Z,1736375424.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247861 2025-01-08T22:30:24.102Z,1736375424.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:30:24.328Z,1736375424.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:24.330Z,1736375424.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500320 2025-01-08T22:30:24.509Z,1736375424.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:24.518Z,1736375424.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:30:24.580Z,1736375424.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:24.581Z,1736375424.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751133 2025-01-08T22:30:24.832Z,1736375424.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:24.832Z,1736375424.832 [DAT](INFO): DAT read: Rx Time:22:30:23.6676 2025-01-08T22:30:24.833Z,1736375424.833 [DAT](INFO): Rx dataTimestamp_ set to:1736375424.832679 2025-01-08T22:30:24.833Z,1736375424.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004136 2025-01-08T22:30:24.924Z,1736375424.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:24.953Z,1736375424.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:30:25.084Z,1736375425.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:25.084Z,1736375425.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254887 2025-01-08T22:30:25.338Z,1736375425.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:25.350Z,1736375425.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520519 2025-01-08T22:30:25.416Z,1736375425.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:25.432Z,1736375425.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.40 m. 2025-01-08T22:30:25.588Z,1736375425.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:25.596Z,1736375425.596 [DAT](INFO): DAT read: 22:30:23.6676 LVL= 23712, 24849, 15970, 28531, AGC= 60, IDX= 432, 0.37,-1.208, 1.270, 0.793, 0.488, PHS=-1.608, 0.829, 0.302, RAW= 281.9, 4.3, CAL= 285.1, 5.9, ROT= 224.9, -5.9 2025-01-08T22:30:25.598Z,1736375425.598 [DAT](INFO): got valid direction response: 22:30:23.6676 LVL= 23712, 24849, 15970, 28531, AGC= 60, IDX= 432, 0.37,-1.208, 1.270, 0.793, 0.488, PHS=-1.608, 0.829, 0.302, RAW= 281.9, 4.3, CAL= 285.1, 5.9, ROT= 224.9, -5.9 2025-01-08T22:30:25.599Z,1736375425.599 [DAT](INFO): DAT read: Bearing 224.9, -5.9 (Local) 2025-01-08T22:30:25.600Z,1736375425.600 [DAT](INFO): Local bearing/azimuth received: Bearing 224.9, -5.9 (Local) 2025-01-08T22:30:25.602Z,1736375425.602 [DAT](INFO): DAT read: Range 10 to 50 : 81.2 m (Round-trip 108.3 ms) speed -0.1 m/s 2025-01-08T22:30:25.603Z,1736375425.603 [DAT](INFO): DAT read: user:2651> 2025-01-08T22:30:25.606Z,1736375425.606 [DAT](INFO): DAT read: Tx time:22:30:24.7552 2025-01-08T22:30:25.607Z,1736375425.607 [DAT](INFO): Ping request sent. 2025-01-08T22:30:25.607Z,1736375425.607 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:25.624Z,1736375425.624 [DAT](INFO): DAT read: TxSync time:22:30:24.7544 2025-01-08T22:30:25.624Z,1736375425.624 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:30:25.625Z,1736375425.625 [DAT](INFO): direction in FSK: [0.018482,0.104747,-0.994327] 2025-01-08T22:30:25.626Z,1736375425.626 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:25.626Z,1736375425.626 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:25.644Z,1736375425.644 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:25.644Z,1736375425.644 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:25.834Z,1736375425.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:25.840Z,1736375425.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:25.878Z,1736375425.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.199997 m, deltaT: 3.778690 s, deltaX: -0.200005 m, approachRate: -0.052930 m/s, rangeRepo size: 4 2025-01-08T22:30:25.885Z,1736375425.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.199997 m, bearing: 354.556571 deg, lat: 36.905244 deg, lon: -122.119863 deg, deltaT: 3.778690 s, deltaX: -0.200005 m, approachRate: -0.052930 m/s, posRepo size: 4 2025-01-08T22:30:25.885Z,1736375425.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:26.092Z,1736375426.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:26.298Z,1736375426.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:26.307Z,1736375426.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:26.345Z,1736375426.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:26.596Z,1736375426.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:26.682Z,1736375426.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:26.714Z,1736375426.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:26.848Z,1736375426.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:27.097Z,1736375427.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:27.100Z,1736375427.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:27.140Z,1736375427.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:27.352Z,1736375427.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:27.491Z,1736375427.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:27.517Z,1736375427.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:27.604Z,1736375427.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:27.856Z,1736375427.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:27.887Z,1736375427.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:27.898Z,1736375427.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:28.108Z,1736375428.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:28.330Z,1736375428.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:28.355Z,1736375428.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:28.360Z,1736375428.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:28.612Z,1736375428.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:28.613Z,1736375428.613 [DAT](INFO): DAT read: Rx Time:22:30:27.2674 2025-01-08T22:30:28.613Z,1736375428.613 [DAT](INFO): Rx dataTimestamp_ set to:1736375428.612752 2025-01-08T22:30:28.704Z,1736375428.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:28.713Z,1736375428.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:28.864Z,1736375428.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:29.116Z,1736375429.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:29.122Z,1736375429.122 [DAT](INFO): DAT read: 22:30:27.2674 LVL= 25264, 24881, 16242, 32755, AGC= 58, IDX= 431,-0.14,-0.045, 2.400, 1.943, 1.643, PHS=-1.600, 0.804, 0.297, RAW= 281.6, 4.6, CAL= 284.9, 6.3, ROT= 225.1, -6.3 2025-01-08T22:30:29.124Z,1736375429.124 [DAT](INFO): got valid direction response: 22:30:27.2674 LVL= 25264, 24881, 16242, 32755, AGC= 58, IDX= 431,-0.14,-0.045, 2.400, 1.943, 1.643, PHS=-1.600, 0.804, 0.297, RAW= 281.6, 4.6, CAL= 284.9, 6.3, ROT= 225.1, -6.3 2025-01-08T22:30:29.125Z,1736375429.125 [DAT](INFO): DAT read: Bearing 225.1, -6.3 (Local) 2025-01-08T22:30:29.125Z,1736375429.125 [DAT](INFO): Local bearing/azimuth received: Bearing 225.1, -6.3 (Local) 2025-01-08T22:30:29.128Z,1736375429.128 [DAT](INFO): DAT read: Range 10 to 50 : 81.0 m (Round-trip 108.1 ms) speed 0.0 m/s 2025-01-08T22:30:29.129Z,1736375429.129 [DAT](INFO): DAT read: user:2652> 2025-01-08T22:30:29.129Z,1736375429.129 [DAT](INFO): DAT read: Tx time:22:30:28.3552 2025-01-08T22:30:29.130Z,1736375429.130 [DAT](INFO): Ping request sent. 2025-01-08T22:30:29.130Z,1736375429.130 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:29.130Z,1736375429.130 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-01-08T22:30:29.131Z,1736375429.131 [DAT](INFO): direction in FSK: [0.013179,0.099347,-0.994966] 2025-01-08T22:30:29.132Z,1736375429.132 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:29.132Z,1736375429.132 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:29.135Z,1736375429.135 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:29.143Z,1736375429.143 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:29.228Z,1736375429.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:29.260Z,1736375429.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.000000 m, deltaT: 3.528060 s, deltaX: -0.199997 m, approachRate: -0.056688 m/s, rangeRepo size: 4 2025-01-08T22:30:29.262Z,1736375429.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.000000 m, bearing: 357.868398 deg, lat: 36.905241 deg, lon: -122.119866 deg, deltaT: 3.528060 s, deltaX: -0.199997 m, approachRate: -0.056688 m/s, posRepo size: 4 2025-01-08T22:30:29.263Z,1736375429.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:30:29.368Z,1736375429.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:29.369Z,1736375429.369 [DAT](INFO): DAT read: TxSync time:22:30:28.3544 2025-01-08T22:30:29.620Z,1736375429.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:29.648Z,1736375429.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:29.662Z,1736375429.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:30:29.872Z,1736375429.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:30.124Z,1736375430.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:30.133Z,1736375430.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:30.142Z,1736375430.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:30:30.376Z,1736375430.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:30.599Z,1736375430.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:30.607Z,1736375430.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:30:30.628Z,1736375430.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:30.880Z,1736375430.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:31.061Z,1736375431.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:31.121Z,1736375431.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:30:31.132Z,1736375431.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:31.384Z,1736375431.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:31.528Z,1736375431.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:31.540Z,1736375431.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:30:31.636Z,1736375431.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:31.888Z,1736375431.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:31.903Z,1736375431.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:31.913Z,1736375431.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:30:32.140Z,1736375432.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:32.141Z,1736375432.141 [DAT](INFO): DAT read: Rx Time:22:30:30.8676 2025-01-08T22:30:32.141Z,1736375432.141 [DAT](INFO): Rx dataTimestamp_ set to:1736375432.140883 2025-01-08T22:30:32.324Z,1736375432.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:32.358Z,1736375432.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:30:32.392Z,1736375432.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:32.644Z,1736375432.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:32.657Z,1736375432.657 [DAT](INFO): DAT read: 22:30:30.8676 LVL= 20112, 25425, 15938, 32755, AGC= 56, IDX= 449,-0.21,-1.551, 0.946, 0.484, 0.163, PHS=-1.626, 0.830, 0.319, RAW= 281.4, 4.3, CAL= 284.7, 5.8, ROT= 225.3, -5.8 2025-01-08T22:30:32.659Z,1736375432.659 [DAT](INFO): got valid direction response: 22:30:30.8676 LVL= 20112, 25425, 15938, 32755, AGC= 56, IDX= 449,-0.21,-1.551, 0.946, 0.484, 0.163, PHS=-1.626, 0.830, 0.319, RAW= 281.4, 4.3, CAL= 284.7, 5.8, ROT= 225.3, -5.8 2025-01-08T22:30:32.681Z,1736375432.681 [DAT](INFO): DAT read: Bearing 225.3, -5.8 (Local) 2025-01-08T22:30:32.681Z,1736375432.681 [DAT](INFO): Local bearing/azimuth received: Bearing 225.3, -5.8 (Local) 2025-01-08T22:30:32.683Z,1736375432.683 [DAT](INFO): DAT read: Range 10 to 50 : 81.2 m (Round-trip 108.3 ms) speed 0.1 m/s 2025-01-08T22:30:32.709Z,1736375432.709 [DAT](INFO): DAT read: user:2653> 2025-01-08T22:30:32.710Z,1736375432.710 [DAT](INFO): DAT read: Tx time:22:30:31.9552 2025-01-08T22:30:32.711Z,1736375432.711 [DAT](INFO): Ping request sent. 2025-01-08T22:30:32.711Z,1736375432.711 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:32.711Z,1736375432.711 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-01-08T22:30:32.712Z,1736375432.712 [DAT](INFO): direction in FSK: [0.018768,0.096085,-0.995196] 2025-01-08T22:30:32.713Z,1736375432.713 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:32.713Z,1736375432.713 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:32.725Z,1736375432.725 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:32.725Z,1736375432.725 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:32.765Z,1736375432.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:32.836Z,1736375432.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.199997 m, deltaT: 3.528646 s, deltaX: 0.199997 m, approachRate: 0.056678 m/s, rangeRepo size: 4 2025-01-08T22:30:32.838Z,1736375432.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.199997 m, bearing: 354.082480 deg, lat: 36.905235 deg, lon: -122.119878 deg, deltaT: 3.528646 s, deltaX: 0.199997 m, approachRate: 0.056678 m/s, posRepo size: 4 2025-01-08T22:30:32.838Z,1736375432.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:32.896Z,1736375432.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:32.897Z,1736375432.897 [DAT](INFO): DAT read: TxSync time:22:30:31.9544 2025-01-08T22:30:33.148Z,1736375433.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:33.235Z,1736375433.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:33.244Z,1736375433.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:33.400Z,1736375433.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:33.641Z,1736375433.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:33.652Z,1736375433.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:33.657Z,1736375433.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:33.904Z,1736375433.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:34.050Z,1736375434.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:34.064Z,1736375434.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:34.156Z,1736375434.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:34.348Z,1736375434.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:30:34.408Z,1736375434.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:34.527Z,1736375434.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:34.545Z,1736375434.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:34.661Z,1736375434.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:34.912Z,1736375434.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:34.960Z,1736375434.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:34.969Z,1736375434.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:35.165Z,1736375435.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:35.352Z,1736375435.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:30:35.380Z,1736375435.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:35.389Z,1736375435.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:35.416Z,1736375435.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:35.668Z,1736375435.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:35.670Z,1736375435.670 [DAT](INFO): DAT read: Rx Time:22:30:34.4675 2025-01-08T22:30:35.670Z,1736375435.670 [DAT](INFO): Rx dataTimestamp_ set to:1736375435.669719 2025-01-08T22:30:35.761Z,1736375435.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:35.782Z,1736375435.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:35.920Z,1736375435.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:36.172Z,1736375436.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:36.174Z,1736375436.174 [DAT](INFO): DAT read: Range 10 to 50 : 81.0 m (Round-trip 108.1 ms) speed 0.0 m/s 2025-01-08T22:30:36.175Z,1736375436.175 [DAT](INFO): DAT read: user:2654> 2025-01-08T22:30:36.176Z,1736375436.176 [DAT](INFO): DAT read: Tx time:22:30:35.5553 2025-01-08T22:30:36.176Z,1736375436.176 [DAT](INFO): Ping request sent. 2025-01-08T22:30:36.176Z,1736375436.176 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:36.177Z,1736375436.177 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-01-08T22:30:36.177Z,1736375436.177 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:36.178Z,1736375436.178 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:36.309Z,1736375436.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:36.332Z,1736375436.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.000000 m, deltaT: 3.528092 s, deltaX: -0.199997 m, approachRate: -0.056687 m/s, rangeRepo size: 4 2025-01-08T22:30:36.333Z,1736375436.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:36.424Z,1736375436.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:36.425Z,1736375436.425 [DAT](INFO): DAT read: TxSync time:22:30:35.5545 2025-01-08T22:30:36.676Z,1736375436.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:36.761Z,1736375436.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:36.790Z,1736375436.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:36.928Z,1736375436.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:37.182Z,1736375437.182 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:37.261Z,1736375437.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:37.270Z,1736375437.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:37.432Z,1736375437.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:37.675Z,1736375437.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:37.684Z,1736375437.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:37.687Z,1736375437.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:37.936Z,1736375437.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:38.064Z,1736375438.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:38.097Z,1736375438.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:38.191Z,1736375438.191 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:38.441Z,1736375438.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:38.527Z,1736375438.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:38.544Z,1736375438.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:38.692Z,1736375438.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:38.932Z,1736375438.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:38.940Z,1736375438.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:38.944Z,1736375438.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:39.198Z,1736375439.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:39.384Z,1736375439.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:39.392Z,1736375439.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:39.448Z,1736375439.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:39.449Z,1736375439.449 [DAT](INFO): DAT read: Rx Time:22:30:38.0671 2025-01-08T22:30:39.449Z,1736375439.449 [DAT](INFO): Rx dataTimestamp_ set to:1736375439.448787 2025-01-08T22:30:39.700Z,1736375439.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:39.765Z,1736375439.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:39.775Z,1736375439.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:39.953Z,1736375439.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:39.957Z,1736375439.957 [DAT](INFO): DAT read: Range 10 to 50 : 80.7 m (Round-trip 107.7 ms) speed -0.2 m/s 2025-01-08T22:30:39.957Z,1736375439.957 [DAT](INFO): DAT read: user:2655> 2025-01-08T22:30:39.958Z,1736375439.958 [DAT](INFO): DAT read: Tx time:22:30:39.1553 2025-01-08T22:30:39.958Z,1736375439.958 [DAT](INFO): Ping request sent. 2025-01-08T22:30:39.959Z,1736375439.959 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:39.959Z,1736375439.959 [DAT](INFO): DAT read: TxSync time:22:30:39.1545 2025-01-08T22:30:39.960Z,1736375439.960 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-01-08T22:30:39.960Z,1736375439.960 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:39.961Z,1736375439.961 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:40.205Z,1736375440.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:40.276Z,1736375440.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:40.286Z,1736375440.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.699997 m, deltaT: 3.780718 s, deltaX: -0.300003 m, approachRate: -0.079351 m/s, rangeRepo size: 4 2025-01-08T22:30:40.287Z,1736375440.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:40.456Z,1736375440.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:40.694Z,1736375440.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:40.709Z,1736375440.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:40.736Z,1736375440.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:40.961Z,1736375440.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:41.131Z,1736375441.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:41.145Z,1736375441.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:41.214Z,1736375441.214 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:41.464Z,1736375441.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:41.570Z,1736375441.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:41.604Z,1736375441.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:41.717Z,1736375441.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:41.968Z,1736375441.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:41.987Z,1736375441.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:42.012Z,1736375442.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:42.222Z,1736375442.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:42.461Z,1736375442.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:42.470Z,1736375442.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:42.472Z,1736375442.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:42.725Z,1736375442.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:42.850Z,1736375442.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:42.858Z,1736375442.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:42.976Z,1736375442.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:42.978Z,1736375442.978 [DAT](INFO): DAT read: Rx Time:22:30:41.6671 2025-01-08T22:30:42.979Z,1736375442.979 [DAT](INFO): Rx dataTimestamp_ set to:1736375442.978412 2025-01-08T22:30:43.230Z,1736375443.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:43.380Z,1736375443.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:43.389Z,1736375443.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T22:30:43.480Z,1736375443.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:43.486Z,1736375443.486 [DAT](INFO): DAT read: 22:30:41.6671 LVL= 20656, 23857, 13378, 28979, AGC= 60, IDX= 427, 0.19, 2.600,-1.196,-1.714,-2.031, PHS=-1.564, 0.882, 0.314, RAW= 282.8, 3.4, CAL= 285.8, 4.3, ROT= 224.2, -4.3 2025-01-08T22:30:43.488Z,1736375443.488 [DAT](INFO): got valid direction response: 22:30:41.6671 LVL= 20656, 23857, 13378, 28979, AGC= 60, IDX= 427, 0.19, 2.600,-1.196,-1.714,-2.031, PHS=-1.564, 0.882, 0.314, RAW= 282.8, 3.4, CAL= 285.8, 4.3, ROT= 224.2, -4.3 2025-01-08T22:30:43.489Z,1736375443.489 [DAT](INFO): DAT read: Bearing 224.2, -4.3 (Local) 2025-01-08T22:30:43.489Z,1736375443.489 [DAT](INFO): Local bearing/azimuth received: Bearing 224.2, -4.3 (Local) 2025-01-08T22:30:43.490Z,1736375443.490 [DAT](INFO): DAT read: Range 10 to 50 : 80.7 m (Round-trip 107.7 ms) speed 0.0 m/s 2025-01-08T22:30:43.491Z,1736375443.491 [DAT](INFO): DAT read: user:2656> 2025-01-08T22:30:43.492Z,1736375443.492 [DAT](INFO): DAT read: Tx time:22:30:42.7553 2025-01-08T22:30:43.492Z,1736375443.492 [DAT](INFO): Ping request sent. 2025-01-08T22:30:43.492Z,1736375443.492 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:43.493Z,1736375443.493 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-01-08T22:30:43.494Z,1736375443.494 [DAT](INFO): direction in FSK: [0.038751,0.120759,-0.991925] 2025-01-08T22:30:43.495Z,1736375443.495 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:43.495Z,1736375443.495 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:43.498Z,1736375443.498 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:43.499Z,1736375443.499 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:43.732Z,1736375443.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:43.733Z,1736375443.733 [DAT](INFO): DAT read: TxSync time:22:30:42.7545 2025-01-08T22:30:43.787Z,1736375443.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:43.821Z,1736375443.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.699997 m, deltaT: 3.526658 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:30:43.828Z,1736375443.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.699997 m, bearing: 350.299837 deg, lat: 36.905233 deg, lon: -122.119883 deg, deltaT: 10.835468 s, deltaX: -0.500000 m, approachRate: -0.046145 m/s, posRepo size: 4 2025-01-08T22:30:43.832Z,1736375443.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:30:43.984Z,1736375443.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:44.237Z,1736375444.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:44.302Z,1736375444.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:44.319Z,1736375444.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:30:44.489Z,1736375444.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:44.740Z,1736375444.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:44.761Z,1736375444.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:44.781Z,1736375444.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:30:44.992Z,1736375444.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:45.185Z,1736375445.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:45.197Z,1736375445.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:30:45.244Z,1736375445.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:45.496Z,1736375445.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:45.630Z,1736375445.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:45.653Z,1736375445.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:30:45.748Z,1736375445.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:45.991Z,1736375445.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:45.000Z,1736375446.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:46.001Z,1736375446.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:30:46.252Z,1736375446.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:46.504Z,1736375446.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:46.505Z,1736375446.505 [DAT](INFO): DAT read: Rx Time:22:30:45.2672 2025-01-08T22:30:46.505Z,1736375446.505 [DAT](INFO): Rx dataTimestamp_ set to:1736375446.504699 2025-01-08T22:30:46.522Z,1736375446.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:46.566Z,1736375446.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:30:46.757Z,1736375446.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:47.003Z,1736375447.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:47.008Z,1736375447.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:47.015Z,1736375447.015 [DAT](INFO): DAT read: 22:30:45.2672 LVL= 21872, 21617, 12706, 27763, AGC= 57, IDX= 443, 0.28,-1.876, 0.653, 0.042,-0.208, PHS=-1.581, 0.907, 0.246, RAW= 284.9, 3.9, CAL= 288.0, 5.2, ROT= 222.0, -5.2 2025-01-08T22:30:47.016Z,1736375447.016 [DAT](INFO): got valid direction response: 22:30:45.2672 LVL= 21872, 21617, 12706, 27763, AGC= 57, IDX= 443, 0.28,-1.876, 0.653, 0.042,-0.208, PHS=-1.581, 0.907, 0.246, RAW= 284.9, 3.9, CAL= 288.0, 5.2, ROT= 222.0, -5.2 2025-01-08T22:30:47.017Z,1736375447.017 [DAT](INFO): DAT read: Bearing 222.0, -5.2 (Local) 2025-01-08T22:30:47.018Z,1736375447.018 [DAT](INFO): Local bearing/azimuth received: Bearing 222.0, -5.2 (Local) 2025-01-08T22:30:47.022Z,1736375447.022 [DAT](INFO): DAT read: Range 10 to 50 : 80.8 m (Round-trip 107.8 ms) speed 0.2 m/s 2025-01-08T22:30:47.023Z,1736375447.023 [DAT](INFO): DAT read: user:2657> 2025-01-08T22:30:47.024Z,1736375447.024 [DAT](INFO): DAT read: Tx time:22:30:46.3553 2025-01-08T22:30:47.024Z,1736375447.024 [DAT](INFO): Ping request sent. 2025-01-08T22:30:47.024Z,1736375447.024 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:47.024Z,1736375447.024 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-01-08T22:30:47.025Z,1736375447.025 [DAT](INFO): direction in FSK: [0.031048,0.157326,-0.987059] 2025-01-08T22:30:47.025Z,1736375447.025 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:47.026Z,1736375447.026 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:47.034Z,1736375447.034 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:47.034Z,1736375447.034 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:47.068Z,1736375447.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.800003 m, deltaT: 3.527850 s, deltaX: 0.100006 m, approachRate: 0.028348 m/s, rangeRepo size: 4 2025-01-08T22:30:47.070Z,1736375447.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.800003 m, bearing: 351.452825 deg, lat: 36.905233 deg, lon: -122.119884 deg, deltaT: 3.527850 s, deltaX: 0.100006 m, approachRate: 0.028348 m/s, posRepo size: 4 2025-01-08T22:30:47.071Z,1736375447.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:30:47.260Z,1736375447.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:47.261Z,1736375447.261 [DAT](INFO): DAT read: TxSync time:22:30:46.3545 2025-01-08T22:30:47.512Z,1736375447.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:47.516Z,1736375447.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:47.558Z,1736375447.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:30:47.764Z,1736375447.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:47.879Z,1736375447.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:47.907Z,1736375447.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:30:48.017Z,1736375448.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:48.269Z,1736375448.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:48.363Z,1736375448.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:48.372Z,1736375448.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:30:48.520Z,1736375448.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:48.774Z,1736375448.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:48.798Z,1736375448.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:48.808Z,1736375448.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:30:49.028Z,1736375449.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:49.218Z,1736375449.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:49.230Z,1736375449.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:30:49.280Z,1736375449.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:49.532Z,1736375449.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:49.639Z,1736375449.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:49.651Z,1736375449.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:30:49.785Z,1736375449.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:50.043Z,1736375450.043 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:50.044Z,1736375450.044 [DAT](INFO): DAT read: Rx Time:22:30:48.8670 2025-01-08T22:30:50.044Z,1736375450.044 [DAT](INFO): Rx dataTimestamp_ set to:1736375450.044217 2025-01-08T22:30:50.050Z,1736375450.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:50.058Z,1736375450.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:30:50.289Z,1736375450.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:50.483Z,1736375450.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:50.492Z,1736375450.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:30:50.541Z,1736375450.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:50.792Z,1736375450.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:50.804Z,1736375450.804 [DAT](INFO): DAT read: 22:30:48.8670 LVL= 19952, 22769, 14978, 26067, AGC= 60, IDX= 440, 0.22, 1.797,-1.940,-2.590,-2.808, PHS=-1.590, 0.914, 0.215, RAW= 285.7, 4.2, CAL= 288.9, 5.8, ROT= 221.1, -5.8 2025-01-08T22:30:50.805Z,1736375450.805 [DAT](INFO): got valid direction response: 22:30:48.8670 LVL= 19952, 22769, 14978, 26067, AGC= 60, IDX= 440, 0.22, 1.797,-1.940,-2.590,-2.808, PHS=-1.590, 0.914, 0.215, RAW= 285.7, 4.2, CAL= 288.9, 5.8, ROT= 221.1, -5.8 2025-01-08T22:30:50.806Z,1736375450.806 [DAT](INFO): DAT read: Bearing 221.1, -5.8 (Local) 2025-01-08T22:30:50.806Z,1736375450.806 [DAT](INFO): Local bearing/azimuth received: Bearing 221.1, -5.8 (Local) 2025-01-08T22:30:50.808Z,1736375450.808 [DAT](INFO): DAT read: Range 10 to 50 : 80.6 m (Round-trip 107.5 ms) speed 0.0 m/s 2025-01-08T22:30:50.809Z,1736375450.809 [DAT](INFO): DAT read: user:2658> 2025-01-08T22:30:50.810Z,1736375450.810 [DAT](INFO): DAT read: Tx time:22:30:49.9554 2025-01-08T22:30:50.810Z,1736375450.810 [DAT](INFO): Ping request sent. 2025-01-08T22:30:50.810Z,1736375450.810 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:50.811Z,1736375450.811 [DAT](INFO): DAT read: TxSync time:22:30:49.9546 2025-01-08T22:30:50.812Z,1736375450.812 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-01-08T22:30:50.813Z,1736375450.813 [DAT](INFO): direction in FSK: [0.026393,0.172300,-0.984691] 2025-01-08T22:30:50.813Z,1736375450.813 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:50.813Z,1736375450.813 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:50.869Z,1736375450.869 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:50.870Z,1736375450.870 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:50.912Z,1736375450.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:50.952Z,1736375450.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.599998 m, deltaT: 3.783948 s, deltaX: -0.200005 m, approachRate: -0.052856 m/s, rangeRepo size: 4 2025-01-08T22:30:50.954Z,1736375450.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.599998 m, bearing: 349.487661 deg, lat: 36.905256 deg, lon: -122.119911 deg, deltaT: 3.783948 s, deltaX: -0.200005 m, approachRate: -0.052856 m/s, posRepo size: 4 2025-01-08T22:30:50.954Z,1736375450.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:51.044Z,1736375451.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:51.296Z,1736375451.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:51.464Z,1736375451.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:51.473Z,1736375451.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:51.558Z,1736375451.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:51.805Z,1736375451.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:51.868Z,1736375451.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:51.885Z,1736375451.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:52.056Z,1736375452.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:52.256Z,1736375452.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:52.265Z,1736375452.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:52.308Z,1736375452.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:52.560Z,1736375452.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:52.713Z,1736375452.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:52.724Z,1736375452.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:52.812Z,1736375452.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:53.064Z,1736375453.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:53.088Z,1736375453.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:53.101Z,1736375453.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:53.316Z,1736375453.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:53.545Z,1736375453.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:53.554Z,1736375453.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:53.568Z,1736375453.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:53.820Z,1736375453.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:53.821Z,1736375453.821 [DAT](INFO): DAT read: Rx Time:22:30:52.4669 2025-01-08T22:30:53.821Z,1736375453.821 [DAT](INFO): Rx dataTimestamp_ set to:1736375453.820827 2025-01-08T22:30:53.923Z,1736375453.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:53.933Z,1736375453.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:54.072Z,1736375454.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:54.324Z,1736375454.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:54.325Z,1736375454.325 [DAT](INFO): DAT read: Range 10 to 50 : 80.5 m (Round-trip 107.4 ms) speed 0.1 m/s 2025-01-08T22:30:54.326Z,1736375454.326 [DAT](INFO): DAT read: user:2659> 2025-01-08T22:30:54.328Z,1736375454.328 [DAT](INFO): DAT read: Tx time:22:30:53.5554 2025-01-08T22:30:54.328Z,1736375454.328 [DAT](INFO): Ping request sent. 2025-01-08T22:30:54.328Z,1736375454.328 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:54.329Z,1736375454.329 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-01-08T22:30:54.329Z,1736375454.329 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:54.329Z,1736375454.329 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:54.348Z,1736375454.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:54.445Z,1736375454.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.500000 m, deltaT: 3.531998 s, deltaX: -0.099998 m, approachRate: -0.028312 m/s, rangeRepo size: 4 2025-01-08T22:30:54.446Z,1736375454.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:54.576Z,1736375454.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:54.577Z,1736375454.577 [DAT](INFO): DAT read: TxSync time:22:30:53.5546 2025-01-08T22:30:54.829Z,1736375454.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:54.903Z,1736375454.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:54.911Z,1736375454.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:55.080Z,1736375455.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:55.318Z,1736375455.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:55.327Z,1736375455.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:55.340Z,1736375455.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:55.592Z,1736375455.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:55.742Z,1736375455.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:55.769Z,1736375455.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:55.844Z,1736375455.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:56.098Z,1736375456.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:56.150Z,1736375456.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:56.158Z,1736375456.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:56.348Z,1736375456.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:56.572Z,1736375456.572 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 83.59, 67.74, 76.12 2025-01-08T22:30:56.580Z,1736375456.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:30:56.580Z,1736375456.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:56.600Z,1736375456.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:56.609Z,1736375456.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:56.853Z,1736375456.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:56.994Z,1736375456.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:30:56.995Z,1736375456.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:57.003Z,1736375457.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:57.104Z,1736375457.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:57.356Z,1736375457.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:57.356Z,1736375457.356 [DAT](INFO): DAT read: Rx Time:22:30:56.0671 2025-01-08T22:30:57.357Z,1736375457.357 [DAT](INFO): Rx dataTimestamp_ set to:1736375457.356671 2025-01-08T22:30:57.533Z,1736375457.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:57.541Z,1736375457.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.60 m. 2025-01-08T22:30:57.608Z,1736375457.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:57.860Z,1736375457.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:57.873Z,1736375457.873 [DAT](INFO): DAT read: 22:30:56.0671 LVL= 24944, 23009, 12754, 29171, AGC= 60, IDX= 441, 0.20, 0.977,-2.820, 2.762, 2.565, PHS=-1.499, 0.945, 0.194, RAW= 287.4, 3.4, CAL= 290.5, 4.4, ROT= 219.5, -4.4 2025-01-08T22:30:57.874Z,1736375457.874 [DAT](INFO): got valid direction response: 22:30:56.0671 LVL= 24944, 23009, 12754, 29171, AGC= 60, IDX= 441, 0.20, 0.977,-2.820, 2.762, 2.565, PHS=-1.499, 0.945, 0.194, RAW= 287.4, 3.4, CAL= 290.5, 4.4, ROT= 219.5, -4.4 2025-01-08T22:30:57.877Z,1736375457.877 [DAT](INFO): DAT read: Bearing 219.5, -4.4 (Local) 2025-01-08T22:30:57.878Z,1736375457.878 [DAT](INFO): Local bearing/azimuth received: Bearing 219.5, -4.4 (Local) 2025-01-08T22:30:57.884Z,1736375457.884 [DAT](INFO): DAT read: Range 10 to 50 : 80.7 m (Round-trip 107.6 ms) speed 0.0 m/s 2025-01-08T22:30:57.885Z,1736375457.885 [DAT](INFO): DAT read: user:2660> 2025-01-08T22:30:57.885Z,1736375457.885 [DAT](INFO): DAT read: Tx time:22:30:57.1554 2025-01-08T22:30:57.886Z,1736375457.886 [DAT](INFO): Ping request sent. 2025-01-08T22:30:57.886Z,1736375457.886 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:30:57.886Z,1736375457.886 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-01-08T22:30:57.887Z,1736375457.887 [DAT](INFO): direction in FSK: [0.044017,0.202577,-0.978277] 2025-01-08T22:30:57.888Z,1736375457.888 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:57.888Z,1736375457.888 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:57.893Z,1736375457.893 [DAT](INFO): publishing transmit ping time 2025-01-08T22:30:57.893Z,1736375457.893 [DAT](INFO): publishing direction and range info 2025-01-08T22:30:58.005Z,1736375458.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:58.046Z,1736375458.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.699997 m, deltaT: 3.537074 s, deltaX: 0.199997 m, approachRate: 0.056543 m/s, rangeRepo size: 4 2025-01-08T22:30:58.052Z,1736375458.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.699997 m, bearing: 345.813192 deg, lat: 36.905256 deg, lon: -122.119913 deg, deltaT: 7.069072 s, deltaX: 0.099998 m, approachRate: 0.014146 m/s, posRepo size: 4 2025-01-08T22:30:58.052Z,1736375458.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:30:58.112Z,1736375458.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:58.113Z,1736375458.113 [DAT](INFO): DAT read: TxSync time:22:30:57.1546 2025-01-08T22:30:58.366Z,1736375458.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:58.424Z,1736375458.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:58.438Z,1736375458.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:30:58.620Z,1736375458.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:58.844Z,1736375458.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:58.853Z,1736375458.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:30:58.868Z,1736375458.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:59.120Z,1736375459.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:59.223Z,1736375459.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:59.247Z,1736375459.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:30:59.372Z,1736375459.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:59.624Z,1736375459.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:30:59.649Z,1736375459.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:30:59.691Z,1736375459.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:30:59.877Z,1736375459.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:00.101Z,1736375460.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:00.109Z,1736375460.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:31:00.128Z,1736375460.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:00.380Z,1736375460.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:00.572Z,1736375460.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:00.582Z,1736375460.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:31:00.633Z,1736375460.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:00.884Z,1736375460.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:00.885Z,1736375460.885 [DAT](INFO): DAT read: Rx Time:22:30:59.6668 2025-01-08T22:31:00.885Z,1736375460.885 [DAT](INFO): Rx dataTimestamp_ set to:1736375460.884950 2025-01-08T22:31:00.905Z,1736375460.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:00.951Z,1736375460.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:31:01.136Z,1736375461.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:01.362Z,1736375461.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:01.388Z,1736375461.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:01.395Z,1736375461.395 [DAT](INFO): DAT read: 22:30:59.6668 LVL= 20976, 20529, 11570, 28259, AGC= 56, IDX= 438, 0.29,-1.907, 0.652,-0.091,-0.263, PHS=-1.556, 0.962, 0.169, RAW= 287.9, 3.9, CAL= 291.0, 5.3, ROT= 219.0, -5.3 2025-01-08T22:31:01.396Z,1736375461.396 [DAT](INFO): got valid direction response: 22:30:59.6668 LVL= 20976, 20529, 11570, 28259, AGC= 56, IDX= 438, 0.29,-1.907, 0.652,-0.091,-0.263, PHS=-1.556, 0.962, 0.169, RAW= 287.9, 3.9, CAL= 291.0, 5.3, ROT= 219.0, -5.3 2025-01-08T22:31:01.397Z,1736375461.397 [DAT](INFO): DAT read: Bearing 219.0, -5.3 (Local) 2025-01-08T22:31:01.398Z,1736375461.398 [DAT](INFO): Local bearing/azimuth received: Bearing 219.0, -5.3 (Local) 2025-01-08T22:31:01.400Z,1736375461.400 [DAT](INFO): DAT read: Range 10 to 50 : 80.4 m (Round-trip 107.3 ms) speed 0.0 m/s 2025-01-08T22:31:01.401Z,1736375461.401 [DAT](INFO): DAT read: user:2661> 2025-01-08T22:31:01.401Z,1736375461.401 [DAT](INFO): DAT read: Tx time:22:31:00.7554 2025-01-08T22:31:01.402Z,1736375461.402 [DAT](INFO): Ping request sent. 2025-01-08T22:31:01.402Z,1736375461.402 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:01.402Z,1736375461.402 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-01-08T22:31:01.403Z,1736375461.403 [DAT](INFO): direction in FSK: [0.034860,0.211518,-0.976752] 2025-01-08T22:31:01.403Z,1736375461.403 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:01.404Z,1736375461.404 [DAT](INFO): publishing direction and range info 2025-01-08T22:31:01.407Z,1736375461.407 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:01.407Z,1736375461.407 [DAT](INFO): publishing direction and range info 2025-01-08T22:31:01.456Z,1736375461.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.526997 s, deltaX: -0.299995 m, approachRate: -0.085057 m/s, rangeRepo size: 4 2025-01-08T22:31:01.458Z,1736375461.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.400002 m, bearing: 347.769651 deg, lat: 36.905263 deg, lon: -122.119928 deg, deltaT: 3.526997 s, deltaX: -0.299995 m, approachRate: -0.085057 m/s, posRepo size: 4 2025-01-08T22:31:01.459Z,1736375461.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:01.640Z,1736375461.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:01.641Z,1736375461.641 [DAT](INFO): DAT read: TxSync time:22:31:00.7546 2025-01-08T22:31:01.892Z,1736375461.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:01.939Z,1736375461.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:01.968Z,1736375461.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:02.145Z,1736375462.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:02.303Z,1736375462.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:02.332Z,1736375462.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:02.397Z,1736375462.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:02.648Z,1736375462.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:02.750Z,1736375462.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:02.759Z,1736375462.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:02.900Z,1736375462.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:03.120Z,1736375463.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:03.129Z,1736375463.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:03.152Z,1736375463.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:03.404Z,1736375463.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:03.557Z,1736375463.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:03.607Z,1736375463.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:03.657Z,1736375463.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:03.908Z,1736375463.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:03.951Z,1736375463.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:03.959Z,1736375463.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:04.160Z,1736375464.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:04.329Z,1736375464.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:04.337Z,1736375464.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:04.413Z,1736375464.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:04.414Z,1736375464.414 [DAT](INFO): DAT read: Rx Time:22:31:03.2667 2025-01-08T22:31:04.415Z,1736375464.415 [DAT](INFO): Rx dataTimestamp_ set to:1736375464.414667 2025-01-08T22:31:04.664Z,1736375464.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:04.772Z,1736375464.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:04.782Z,1736375464.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:04.917Z,1736375464.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:05.138Z,1736375465.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:05.151Z,1736375465.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:05.170Z,1736375465.170 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:05.171Z,1736375465.171 [DAT](INFO): DAT read: Range 10 to 50 : 80.3 m (Round-trip 107.1 ms) speed 0.0 m/s 2025-01-08T22:31:05.172Z,1736375465.172 [DAT](INFO): DAT read: user:2662> 2025-01-08T22:31:05.173Z,1736375465.173 [DAT](INFO): DAT read: Tx time:22:31:04.3555 2025-01-08T22:31:05.173Z,1736375465.173 [DAT](INFO): Ping request sent. 2025-01-08T22:31:05.173Z,1736375465.173 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:05.174Z,1736375465.174 [DAT](INFO): DAT read: TxSync time:22:31:04.3547 2025-01-08T22:31:05.174Z,1736375465.174 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-01-08T22:31:05.175Z,1736375465.175 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:05.175Z,1736375465.175 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:05.420Z,1736375465.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:05.480Z,1736375465.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:31:05.577Z,1736375465.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:05.627Z,1736375465.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.300003 m, deltaT: 3.781732 s, deltaX: -0.099998 m, approachRate: -0.026443 m/s, rangeRepo size: 4 2025-01-08T22:31:05.632Z,1736375465.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:05.675Z,1736375465.675 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:05.924Z,1736375465.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:05.972Z,1736375465.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:05.980Z,1736375465.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:06.177Z,1736375466.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:06.377Z,1736375466.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:06.408Z,1736375466.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:06.428Z,1736375466.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:06.484Z,1736375466.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:31:06.680Z,1736375466.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:06.817Z,1736375466.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:06.826Z,1736375466.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:06.932Z,1736375466.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:07.184Z,1736375467.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:07.235Z,1736375467.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:07.244Z,1736375467.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:07.436Z,1736375467.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:07.688Z,1736375467.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:07.701Z,1736375467.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:07.711Z,1736375467.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:07.941Z,1736375467.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:08.027Z,1736375468.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:08.042Z,1736375468.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:08.192Z,1736375468.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:08.193Z,1736375468.193 [DAT](INFO): DAT read: Rx Time:22:31:06.8667 2025-01-08T22:31:08.194Z,1736375468.194 [DAT](INFO): Rx dataTimestamp_ set to:1736375468.193716 2025-01-08T22:31:08.429Z,1736375468.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:08.438Z,1736375468.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:08.444Z,1736375468.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:08.696Z,1736375468.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:08.697Z,1736375468.697 [DAT](INFO): DAT read: Range 10 to 50 : 80.3 m (Round-trip 107.1 ms) speed 0.0 m/s 2025-01-08T22:31:08.698Z,1736375468.698 [DAT](INFO): DAT read: user:2663> 2025-01-08T22:31:08.699Z,1736375468.699 [DAT](INFO): DAT read: Tx time:22:31:07.9555 2025-01-08T22:31:08.699Z,1736375468.699 [DAT](INFO): Ping request sent. 2025-01-08T22:31:08.700Z,1736375468.700 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:08.700Z,1736375468.700 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-01-08T22:31:08.700Z,1736375468.700 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:08.701Z,1736375468.701 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:08.861Z,1736375468.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:08.871Z,1736375468.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.300003 m, deltaT: 3.526286 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:31:08.871Z,1736375468.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:08.948Z,1736375468.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:08.949Z,1736375468.949 [DAT](INFO): DAT read: TxSync time:22:31:07.9547 2025-01-08T22:31:09.200Z,1736375469.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:09.298Z,1736375469.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:09.314Z,1736375469.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:09.452Z,1736375469.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:09.704Z,1736375469.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:09.741Z,1736375469.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:09.750Z,1736375469.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:09.956Z,1736375469.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:10.094Z,1736375470.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:10.102Z,1736375470.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:10.208Z,1736375470.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:10.461Z,1736375470.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:10.513Z,1736375470.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:10.521Z,1736375470.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:10.712Z,1736375470.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:10.904Z,1736375470.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:10.913Z,1736375470.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:10.964Z,1736375470.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:11.216Z,1736375471.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:11.304Z,1736375471.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:11.315Z,1736375471.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:11.468Z,1736375471.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:11.720Z,1736375471.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:11.721Z,1736375471.721 [DAT](INFO): DAT read: Rx Time:22:31:10.4667 2025-01-08T22:31:11.721Z,1736375471.721 [DAT](INFO): Rx dataTimestamp_ set to:1736375471.720742 2025-01-08T22:31:11.746Z,1736375471.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:11.783Z,1736375471.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:11.975Z,1736375471.975 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:12.096Z,1736375472.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:12.112Z,1736375472.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:12.224Z,1736375472.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:12.225Z,1736375472.225 [DAT](INFO): DAT read: Range 10 to 50 : 80.3 m (Round-trip 107.1 ms) speed 0.0 m/s 2025-01-08T22:31:12.226Z,1736375472.226 [DAT](INFO): DAT read: user:2664> 2025-01-08T22:31:12.228Z,1736375472.228 [DAT](INFO): DAT read: Tx time:22:31:11.5555 2025-01-08T22:31:12.228Z,1736375472.228 [DAT](INFO): Ping request sent. 2025-01-08T22:31:12.228Z,1736375472.228 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:12.228Z,1736375472.228 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-01-08T22:31:12.228Z,1736375472.228 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:12.229Z,1736375472.229 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:12.476Z,1736375472.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:12.477Z,1736375472.477 [DAT](INFO): DAT read: TxSync time:22:31:11.5547 2025-01-08T22:31:12.503Z,1736375472.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:12.544Z,1736375472.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.300003 m, deltaT: 3.527861 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:31:12.545Z,1736375472.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:12.728Z,1736375472.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:12.940Z,1736375472.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:12.949Z,1736375472.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:12.980Z,1736375472.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:13.233Z,1736375473.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:13.317Z,1736375473.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:13.327Z,1736375473.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:13.484Z,1736375473.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:13.738Z,1736375473.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:13.789Z,1736375473.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:13.798Z,1736375473.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:13.988Z,1736375473.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:14.114Z,1736375474.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:14.147Z,1736375474.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:14.241Z,1736375474.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:14.492Z,1736375474.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:14.590Z,1736375474.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:14.599Z,1736375474.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:14.744Z,1736375474.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:14.996Z,1736375474.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:15.024Z,1736375475.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:15.057Z,1736375475.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:15.248Z,1736375475.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:15.248Z,1736375475.248 [DAT](INFO): DAT read: Rx Time:22:31:14.0666 2025-01-08T22:31:15.249Z,1736375475.249 [DAT](INFO): Rx dataTimestamp_ set to:1736375475.248620 2025-01-08T22:31:15.406Z,1736375475.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:15.416Z,1736375475.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:15.500Z,1736375475.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:15.754Z,1736375475.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:15.758Z,1736375475.758 [DAT](INFO): DAT read: Range 10 to 50 : 80.1 m (Round-trip 106.9 ms) speed 0.0 m/s 2025-01-08T22:31:15.762Z,1736375475.762 [DAT](INFO): DAT read: user:2665> 2025-01-08T22:31:15.776Z,1736375475.776 [DAT](INFO): DAT read: Tx time:22:31:15.1556 2025-01-08T22:31:15.776Z,1736375475.776 [DAT](INFO): Ping request sent. 2025-01-08T22:31:15.776Z,1736375475.776 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:15.777Z,1736375475.777 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-01-08T22:31:15.777Z,1736375475.777 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:15.778Z,1736375475.778 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:15.888Z,1736375475.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:15.900Z,1736375475.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.099998 m, deltaT: 3.530171 s, deltaX: -0.200005 m, approachRate: -0.056656 m/s, rangeRepo size: 4 2025-01-08T22:31:15.901Z,1736375475.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:16.004Z,1736375476.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:16.005Z,1736375476.005 [DAT](INFO): DAT read: TxSync time:22:31:15.1548 2025-01-08T22:31:16.211Z,1736375476.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:16.224Z,1736375476.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:16.256Z,1736375476.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:16.508Z,1736375476.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:16.604Z,1736375476.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:16.613Z,1736375476.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:16.762Z,1736375476.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:17.012Z,1736375477.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:17.033Z,1736375477.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:17.041Z,1736375477.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:17.264Z,1736375477.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:17.428Z,1736375477.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:17.445Z,1736375477.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:17.516Z,1736375477.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:17.770Z,1736375477.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:17.856Z,1736375477.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:17.866Z,1736375477.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:18.020Z,1736375478.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:18.229Z,1736375478.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:18.238Z,1736375478.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:18.273Z,1736375478.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:18.524Z,1736375478.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:18.624Z,1736375478.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:18.634Z,1736375478.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:18.778Z,1736375478.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:19.028Z,1736375479.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:19.029Z,1736375479.029 [DAT](INFO): DAT read: Rx Time:22:31:17.6666 2025-01-08T22:31:19.029Z,1736375479.029 [DAT](INFO): Rx dataTimestamp_ set to:1736375479.028985 2025-01-08T22:31:19.102Z,1736375479.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:19.112Z,1736375479.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:19.281Z,1736375479.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:19.462Z,1736375479.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:19.471Z,1736375479.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:19.532Z,1736375479.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:19.538Z,1736375479.538 [DAT](INFO): DAT read: Range 10 to 50 : 80.1 m (Round-trip 106.9 ms) speed 0.1 m/s 2025-01-08T22:31:19.539Z,1736375479.539 [DAT](INFO): DAT read: user:2666> 2025-01-08T22:31:19.540Z,1736375479.540 [DAT](INFO): DAT read: Tx time:22:31:18.7556 2025-01-08T22:31:19.540Z,1736375479.540 [DAT](INFO): Ping request sent. 2025-01-08T22:31:19.540Z,1736375479.540 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:19.541Z,1736375479.541 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-01-08T22:31:19.541Z,1736375479.541 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:19.541Z,1736375479.541 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:19.785Z,1736375479.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:19.789Z,1736375479.789 [DAT](INFO): DAT read: TxSync time:22:31:18.7548 2025-01-08T22:31:19.896Z,1736375479.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:19.906Z,1736375479.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.099998 m, deltaT: 3.777981 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:31:19.906Z,1736375479.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:20.036Z,1736375480.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:20.262Z,1736375480.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:20.270Z,1736375480.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:20.288Z,1736375480.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:20.540Z,1736375480.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:20.665Z,1736375480.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:20.692Z,1736375480.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:20.795Z,1736375480.795 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:21.044Z,1736375481.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:21.084Z,1736375481.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:21.129Z,1736375481.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:21.297Z,1736375481.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:21.480Z,1736375481.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:21.488Z,1736375481.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:21.548Z,1736375481.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:21.801Z,1736375481.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:21.918Z,1736375481.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:21.926Z,1736375481.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:22.052Z,1736375482.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:22.304Z,1736375482.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:22.367Z,1736375482.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:22.390Z,1736375482.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:22.556Z,1736375482.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:22.557Z,1736375482.557 [DAT](INFO): DAT read: Rx Time:22:31:21.2665 2025-01-08T22:31:22.558Z,1736375482.558 [DAT](INFO): Rx dataTimestamp_ set to:1736375482.557420 2025-01-08T22:31:22.790Z,1736375482.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:22.810Z,1736375482.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:22.837Z,1736375482.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:31:22.864Z,1736375482.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:22.865Z,1736375482.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 80.10 m and bearing: 352.923136 deg. Not drifting fast enough. 2025-01-08T22:31:23.061Z,1736375483.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:23.063Z,1736375483.063 [DAT](INFO): DAT read: Range 10 to 50 : 80.0 m (Round-trip 106.7 ms) speed -0.1 m/s 2025-01-08T22:31:23.064Z,1736375483.064 [DAT](INFO): DAT read: user:2667> 2025-01-08T22:31:23.066Z,1736375483.066 [DAT](INFO): DAT read: Tx time:22:31:22.3556 2025-01-08T22:31:23.066Z,1736375483.066 [DAT](INFO): Ping request sent. 2025-01-08T22:31:23.066Z,1736375483.066 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:23.067Z,1736375483.067 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-01-08T22:31:23.067Z,1736375483.067 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:23.068Z,1736375483.068 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:23.312Z,1736375483.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:23.313Z,1736375483.313 [DAT](INFO): DAT read: TxSync time:22:31:22.3548 2025-01-08T22:31:23.316Z,1736375483.316 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 21.81 mm (2 active estimators). 2025-01-08T22:31:23.317Z,1736375483.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:23.326Z,1736375483.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.000000 m, deltaT: 3.528861 s, deltaX: -0.099998 m, approachRate: -0.028337 m/s, rangeRepo size: 4 2025-01-08T22:31:23.326Z,1736375483.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:23.328Z,1736375483.328 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-01-08T22:31:23.328Z,1736375483.328 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T22:31:23.328Z,1736375483.328 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-01-08T22:31:23.328Z,1736375483.328 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-01-08T22:31:23.565Z,1736375483.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:23.728Z,1736375483.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:23.736Z,1736375483.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:23.817Z,1736375483.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:24.068Z,1736375484.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:24.166Z,1736375484.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:24.174Z,1736375484.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:24.320Z,1736375484.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:24.572Z,1736375484.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:24.591Z,1736375484.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:24.600Z,1736375484.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:24.825Z,1736375484.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:25.012Z,1736375485.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:25.020Z,1736375485.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:25.076Z,1736375485.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:25.329Z,1736375485.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:25.412Z,1736375485.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:25.421Z,1736375485.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:25.580Z,1736375485.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:25.791Z,1736375485.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:25.818Z,1736375485.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:25.833Z,1736375485.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:26.084Z,1736375486.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:26.085Z,1736375486.085 [DAT](INFO): DAT read: Rx Time:22:31:24.8663 2025-01-08T22:31:26.086Z,1736375486.086 [DAT](INFO): Rx dataTimestamp_ set to:1736375486.085324 2025-01-08T22:31:26.336Z,1736375486.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:26.377Z,1736375486.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:26.431Z,1736375486.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:26.588Z,1736375486.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:26.590Z,1736375486.590 [DAT](INFO): DAT read: Range 10 to 50 : 79.8 m (Round-trip 106.5 ms) speed 0.0 m/s 2025-01-08T22:31:26.591Z,1736375486.591 [DAT](INFO): DAT read: user:2668> 2025-01-08T22:31:26.592Z,1736375486.592 [DAT](INFO): DAT read: Tx time:22:31:25.9556 2025-01-08T22:31:26.593Z,1736375486.593 [DAT](INFO): Ping request sent. 2025-01-08T22:31:26.594Z,1736375486.594 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:26.594Z,1736375486.594 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-01-08T22:31:26.594Z,1736375486.594 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:26.617Z,1736375486.617 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:26.728Z,1736375486.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:26.738Z,1736375486.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.800003 m, deltaT: 3.527297 s, deltaX: -0.199997 m, approachRate: -0.056700 m/s, rangeRepo size: 4 2025-01-08T22:31:26.738Z,1736375486.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:26.840Z,1736375486.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:26.841Z,1736375486.841 [DAT](INFO): DAT read: TxSync time:22:31:25.9548 2025-01-08T22:31:27.092Z,1736375487.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:27.164Z,1736375487.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:27.173Z,1736375487.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:27.345Z,1736375487.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:27.534Z,1736375487.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:27.542Z,1736375487.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:27.596Z,1736375487.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:27.848Z,1736375487.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:28.004Z,1736375488.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:28.016Z,1736375488.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:28.101Z,1736375488.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:28.344Z,1736375488.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:28.352Z,1736375488.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:28.380Z,1736375488.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:28.604Z,1736375488.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:28.753Z,1736375488.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:28.762Z,1736375488.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:28.856Z,1736375488.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:29.110Z,1736375489.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:29.240Z,1736375489.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:29.264Z,1736375489.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:29.360Z,1736375489.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:29.591Z,1736375489.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:29.604Z,1736375489.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:29.612Z,1736375489.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:29.613Z,1736375489.613 [DAT](INFO): DAT read: Rx Time:22:31:28.4666 2025-01-08T22:31:29.614Z,1736375489.614 [DAT](INFO): Rx dataTimestamp_ set to:1736375489.613293 2025-01-08T22:31:29.864Z,1736375489.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:30.050Z,1736375490.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:30.058Z,1736375490.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:30.117Z,1736375490.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:30.368Z,1736375490.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:30.369Z,1736375490.369 [DAT](INFO): DAT read: Range 10 to 50 : 80.0 m (Round-trip 106.7 ms) speed -0.3 m/s 2025-01-08T22:31:30.370Z,1736375490.370 [DAT](INFO): DAT read: user:2669> 2025-01-08T22:31:30.371Z,1736375490.371 [DAT](INFO): DAT read: Tx time:22:31:29.5557 2025-01-08T22:31:30.371Z,1736375490.371 [DAT](INFO): Ping request sent. 2025-01-08T22:31:30.371Z,1736375490.371 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:30.372Z,1736375490.372 [DAT](INFO): DAT read: TxSync time:22:31:29.5549 2025-01-08T22:31:30.373Z,1736375490.373 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-01-08T22:31:30.373Z,1736375490.373 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:30.373Z,1736375490.373 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:30.501Z,1736375490.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:30.529Z,1736375490.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.000000 m, deltaT: 3.779611 s, deltaX: 0.199997 m, approachRate: 0.052915 m/s, rangeRepo size: 4 2025-01-08T22:31:30.530Z,1736375490.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:30.620Z,1736375490.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:30.816Z,1736375490.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:30.825Z,1736375490.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:30.872Z,1736375490.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:31.124Z,1736375491.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:31.264Z,1736375491.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:31.272Z,1736375491.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:31.383Z,1736375491.383 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:31.636Z,1736375491.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:31.638Z,1736375491.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:31.654Z,1736375491.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:31.888Z,1736375491.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:32.065Z,1736375492.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:32.073Z,1736375492.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:32.140Z,1736375492.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:32.392Z,1736375492.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:32.496Z,1736375492.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:32.505Z,1736375492.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:32.645Z,1736375492.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:32.875Z,1736375492.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:32.896Z,1736375492.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:32.902Z,1736375492.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:33.148Z,1736375493.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:33.366Z,1736375493.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:33.375Z,1736375493.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:33.421Z,1736375493.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:33.423Z,1736375493.423 [DAT](INFO): DAT read: Rx Time:22:31:32.0670 2025-01-08T22:31:33.423Z,1736375493.423 [DAT](INFO): Rx dataTimestamp_ set to:1736375493.422883 2025-01-08T22:31:33.672Z,1736375493.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:33.767Z,1736375493.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:33.803Z,1736375493.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:33.924Z,1736375493.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:33.925Z,1736375493.925 [DAT](INFO): DAT read: Range 10 to 50 : 80.4 m (Round-trip 107.2 ms) speed -0.1 m/s 2025-01-08T22:31:33.926Z,1736375493.926 [DAT](INFO): DAT read: user:2670> 2025-01-08T22:31:33.928Z,1736375493.928 [DAT](INFO): DAT read: Tx time:22:31:33.1557 2025-01-08T22:31:33.928Z,1736375493.928 [DAT](INFO): Ping request sent. 2025-01-08T22:31:33.928Z,1736375493.928 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:33.929Z,1736375493.929 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-01-08T22:31:33.929Z,1736375493.929 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:33.929Z,1736375493.929 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:34.160Z,1736375494.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:34.176Z,1736375494.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:34.177Z,1736375494.177 [DAT](INFO): DAT read: TxSync time:22:31:33.1549 2025-01-08T22:31:34.195Z,1736375494.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.556202 s, deltaX: 0.400002 m, approachRate: 0.112480 m/s, rangeRepo size: 4 2025-01-08T22:31:34.199Z,1736375494.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:34.428Z,1736375494.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:34.526Z,1736375494.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:34.556Z,1736375494.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:34.680Z,1736375494.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:34.932Z,1736375494.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:34.936Z,1736375494.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:34.945Z,1736375494.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:35.185Z,1736375495.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:35.368Z,1736375495.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:35.377Z,1736375495.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:35.436Z,1736375495.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:35.688Z,1736375495.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:35.741Z,1736375495.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:35.768Z,1736375495.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:35.940Z,1736375495.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:36.185Z,1736375496.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:36.192Z,1736375496.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:36.196Z,1736375496.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:36.445Z,1736375496.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:36.551Z,1736375496.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:36.560Z,1736375496.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:36.616Z,1736375496.616 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:31:36.696Z,1736375496.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:36.948Z,1736375496.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:36.949Z,1736375496.949 [DAT](INFO): DAT read: Rx Time:22:31:35.6679 2025-01-08T22:31:36.949Z,1736375496.949 [DAT](INFO): Rx dataTimestamp_ set to:1736375496.948691 2025-01-08T22:31:36.956Z,1736375496.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:36.966Z,1736375496.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:31:37.200Z,1736375497.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:37.439Z,1736375497.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:37.452Z,1736375497.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:37.458Z,1736375497.458 [DAT](INFO): DAT read: 22:31:35.6679 LVL= 21072, 24561, 15970, 29971, AGC= 59, IDX= 431,-0.23,-0.868, 1.644, 1.147, 0.776, PHS=-1.556, 0.915, 0.368, RAW= 282.2, 2.4, CAL= 284.8, 2.8, ROT= 225.2, -2.8 2025-01-08T22:31:37.460Z,1736375497.460 [DAT](INFO): got valid direction response: 22:31:35.6679 LVL= 21072, 24561, 15970, 29971, AGC= 59, IDX= 431,-0.23,-0.868, 1.644, 1.147, 0.776, PHS=-1.556, 0.915, 0.368, RAW= 282.2, 2.4, CAL= 284.8, 2.8, ROT= 225.2, -2.8 2025-01-08T22:31:37.461Z,1736375497.461 [DAT](INFO): DAT read: Bearing 225.2, -2.8 (Local) 2025-01-08T22:31:37.461Z,1736375497.461 [DAT](INFO): Local bearing/azimuth received: Bearing 225.2, -2.8 (Local) 2025-01-08T22:31:37.462Z,1736375497.462 [DAT](INFO): DAT read: Range 10 to 50 : 81.0 m (Round-trip 108.1 ms) speed -0.2 m/s 2025-01-08T22:31:37.463Z,1736375497.463 [DAT](INFO): DAT read: user:2671> 2025-01-08T22:31:37.464Z,1736375497.464 [DAT](INFO): DAT read: Tx time:22:31:36.7557 2025-01-08T22:31:37.464Z,1736375497.464 [DAT](INFO): Ping request sent. 2025-01-08T22:31:37.464Z,1736375497.464 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:37.465Z,1736375497.465 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-01-08T22:31:37.466Z,1736375497.466 [DAT](INFO): direction in FSK: [0.055389,0.108325,-0.992571] 2025-01-08T22:31:37.466Z,1736375497.466 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:37.466Z,1736375497.466 [DAT](INFO): publishing direction and range info 2025-01-08T22:31:37.473Z,1736375497.473 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:37.474Z,1736375497.474 [DAT](INFO): publishing direction and range info 2025-01-08T22:31:37.490Z,1736375497.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.000000 m, deltaT: 3.528083 s, deltaX: 0.599998 m, approachRate: 0.170064 m/s, rangeRepo size: 4 2025-01-08T22:31:37.501Z,1736375497.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.000000 m, bearing: 334.978854 deg, lat: 36.905263 deg, lon: -122.119949 deg, deltaT: 36.064085 s, deltaX: 0.599998 m, approachRate: 0.016637 m/s, posRepo size: 4 2025-01-08T22:31:37.501Z,1736375497.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:31:37.622Z,1736375497.622 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:31:37.704Z,1736375497.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:37.705Z,1736375497.705 [DAT](INFO): DAT read: TxSync time:22:31:36.7549 2025-01-08T22:31:37.811Z,1736375497.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:37.841Z,1736375497.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:31:37.956Z,1736375497.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:38.208Z,1736375498.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:38.308Z,1736375498.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:38.317Z,1736375498.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:31:38.460Z,1736375498.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:38.688Z,1736375498.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:38.712Z,1736375498.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:38.714Z,1736375498.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:31:38.964Z,1736375498.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:39.146Z,1736375499.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:39.154Z,1736375499.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:31:39.216Z,1736375499.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:39.468Z,1736375499.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:39.518Z,1736375499.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:39.526Z,1736375499.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:31:39.720Z,1736375499.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:39.925Z,1736375499.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:39.935Z,1736375499.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:31:39.972Z,1736375499.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:40.224Z,1736375500.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:40.349Z,1736375500.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:40.358Z,1736375500.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:31:40.477Z,1736375500.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:40.479Z,1736375500.479 [DAT](INFO): DAT read: Rx Time:22:31:39.2694 2025-01-08T22:31:40.480Z,1736375500.480 [DAT](INFO): Rx dataTimestamp_ set to:1736375500.479587 2025-01-08T22:31:40.728Z,1736375500.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:40.733Z,1736375500.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:40.741Z,1736375500.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.00 m. 2025-01-08T22:31:40.982Z,1736375500.982 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:40.997Z,1736375500.997 [DAT](INFO): DAT read: 22:31:39.2694 LVL= 18976, 20017, 14962, 28147, AGC= 57, IDX= 445,-0.29,-1.578, 0.622, 0.704, 0.036, PHS=-1.526, 0.633, 0.665, RAW= 269.3, 2.1, CAL= 271.8, 2.5, ROT= 238.2, -2.5 2025-01-08T22:31:40.998Z,1736375500.998 [DAT](INFO): got valid direction response: 22:31:39.2694 LVL= 18976, 20017, 14962, 28147, AGC= 57, IDX= 445,-0.29,-1.578, 0.622, 0.704, 0.036, PHS=-1.526, 0.633, 0.665, RAW= 269.3, 2.1, CAL= 271.8, 2.5, ROT= 238.2, -2.5 2025-01-08T22:31:41.001Z,1736375501.001 [DAT](INFO): DAT read: Bearing 238.2, -2.5 (Local) 2025-01-08T22:31:41.002Z,1736375501.002 [DAT](INFO): Local bearing/azimuth received: Bearing 238.2, -2.5 (Local) 2025-01-08T22:31:41.004Z,1736375501.004 [DAT](INFO): DAT read: Range 10 to 50 : 82.0 m (Round-trip 109.4 ms) speed -0.2 m/s 2025-01-08T22:31:41.005Z,1736375501.005 [DAT](INFO): DAT read: user:2672> 2025-01-08T22:31:41.005Z,1736375501.005 [DAT](INFO): DAT read: Tx time:22:31:40.3558 2025-01-08T22:31:41.006Z,1736375501.006 [DAT](INFO): Ping request sent. 2025-01-08T22:31:41.006Z,1736375501.006 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:41.006Z,1736375501.006 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-01-08T22:31:41.044Z,1736375501.044 [DAT](INFO): direction in FSK: [0.043458,-0.118046,-0.992057] 2025-01-08T22:31:41.045Z,1736375501.045 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:41.046Z,1736375501.046 [DAT](INFO): publishing direction and range info 2025-01-08T22:31:41.058Z,1736375501.058 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:41.058Z,1736375501.058 [DAT](INFO): publishing direction and range info 2025-01-08T22:31:41.232Z,1736375501.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:41.233Z,1736375501.233 [DAT](INFO): DAT read: TxSync time:22:31:40.3550 2025-01-08T22:31:41.236Z,1736375501.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:41.268Z,1736375501.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.000000 m, deltaT: 3.530717 s, deltaX: 1.000000 m, approachRate: 0.283229 m/s, rangeRepo size: 4 2025-01-08T22:31:41.270Z,1736375501.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.000000 m, bearing: 176.024044 deg, lat: 36.905111 deg, lon: -122.119959 deg, deltaT: 3.530717 s, deltaX: 1.000000 m, approachRate: 0.283229 m/s, posRepo size: 4 2025-01-08T22:31:41.270Z,1736375501.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:41.486Z,1736375501.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:41.544Z,1736375501.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:41.552Z,1736375501.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:41.736Z,1736375501.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:41.948Z,1736375501.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:41.957Z,1736375501.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:42.005Z,1736375502.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:42.256Z,1736375502.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:42.376Z,1736375502.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:42.385Z,1736375502.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:42.508Z,1736375502.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:42.761Z,1736375502.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:42.770Z,1736375502.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:42.798Z,1736375502.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:43.012Z,1736375503.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:43.242Z,1736375503.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:43.264Z,1736375503.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:43.285Z,1736375503.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:43.516Z,1736375503.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:43.677Z,1736375503.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:43.688Z,1736375503.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:43.768Z,1736375503.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:44.020Z,1736375504.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:44.020Z,1736375504.020 [DAT](INFO): DAT read: Rx Time:22:31:42.8704 2025-01-08T22:31:44.021Z,1736375504.021 [DAT](INFO): Rx dataTimestamp_ set to:1736375504.020676 2025-01-08T22:31:44.089Z,1736375504.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:44.099Z,1736375504.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:44.272Z,1736375504.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:44.505Z,1736375504.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:44.515Z,1736375504.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:44.525Z,1736375504.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:44.776Z,1736375504.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:44.778Z,1736375504.778 [DAT](INFO): DAT read: Range 10 to 50 : 82.8 m (Round-trip 110.4 ms) speed 0.0 m/s 2025-01-08T22:31:44.779Z,1736375504.779 [DAT](INFO): DAT read: user:2673> 2025-01-08T22:31:44.780Z,1736375504.780 [DAT](INFO): DAT read: Tx time:22:31:43.9558 2025-01-08T22:31:44.780Z,1736375504.780 [DAT](INFO): Ping request sent. 2025-01-08T22:31:44.780Z,1736375504.780 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:44.781Z,1736375504.781 [DAT](INFO): DAT read: TxSync time:22:31:43.9550 2025-01-08T22:31:44.781Z,1736375504.781 [DAT](ERROR): #Rx 23: Read range message, but no direction. 2025-01-08T22:31:44.781Z,1736375504.781 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:44.782Z,1736375504.782 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:44.880Z,1736375504.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:44.889Z,1736375504.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.800003 m, deltaT: 3.793080 s, deltaX: 0.800003 m, approachRate: 0.210911 m/s, rangeRepo size: 4 2025-01-08T22:31:44.890Z,1736375504.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:45.028Z,1736375505.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:45.280Z,1736375505.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:45.332Z,1736375505.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:45.341Z,1736375505.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:45.532Z,1736375505.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:45.694Z,1736375505.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:45.708Z,1736375505.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:45.784Z,1736375505.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:46.036Z,1736375506.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:46.092Z,1736375506.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:46.113Z,1736375506.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:46.288Z,1736375506.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:46.520Z,1736375506.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:46.529Z,1736375506.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:46.540Z,1736375506.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:46.792Z,1736375506.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:46.910Z,1736375506.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:46.921Z,1736375506.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:47.045Z,1736375507.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:47.296Z,1736375507.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:47.346Z,1736375507.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:47.355Z,1736375507.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:47.548Z,1736375507.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:47.715Z,1736375507.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:47.723Z,1736375507.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:47.800Z,1736375507.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:47.801Z,1736375507.801 [DAT](INFO): DAT read: Rx Time:22:31:46.4706 2025-01-08T22:31:47.802Z,1736375507.802 [DAT](INFO): Rx dataTimestamp_ set to:1736375507.801509 2025-01-08T22:31:48.052Z,1736375508.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:48.138Z,1736375508.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:48.152Z,1736375508.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:48.306Z,1736375508.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:48.309Z,1736375508.309 [DAT](INFO): DAT read: Range 10 to 50 : 82.9 m (Round-trip 110.6 ms) speed 0.0 m/s 2025-01-08T22:31:48.310Z,1736375508.310 [DAT](INFO): DAT read: user:2674> 2025-01-08T22:31:48.311Z,1736375508.311 [DAT](INFO): DAT read: Tx time:22:31:47.5558 2025-01-08T22:31:48.312Z,1736375508.312 [DAT](INFO): Ping request sent. 2025-01-08T22:31:48.312Z,1736375508.312 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:48.312Z,1736375508.312 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-01-08T22:31:48.312Z,1736375508.312 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:48.313Z,1736375508.313 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:48.556Z,1736375508.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:48.557Z,1736375508.557 [DAT](INFO): DAT read: TxSync time:22:31:47.5550 2025-01-08T22:31:48.646Z,1736375508.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:48.662Z,1736375508.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.900002 m, deltaT: 3.530803 s, deltaX: 0.099998 m, approachRate: 0.028322 m/s, rangeRepo size: 4 2025-01-08T22:31:48.691Z,1736375508.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:48.808Z,1736375508.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:49.061Z,1736375509.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:49.154Z,1736375509.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:49.163Z,1736375509.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:49.312Z,1736375509.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:49.564Z,1736375509.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:49.623Z,1736375509.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:49.659Z,1736375509.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:49.816Z,1736375509.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:49.958Z,1736375509.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:49.967Z,1736375509.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:50.068Z,1736375510.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:50.321Z,1736375510.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:50.390Z,1736375510.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:50.400Z,1736375510.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:50.572Z,1736375510.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:50.763Z,1736375510.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:50.771Z,1736375510.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:50.824Z,1736375510.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:51.076Z,1736375511.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:51.166Z,1736375511.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:51.174Z,1736375511.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:51.328Z,1736375511.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:51.329Z,1736375511.329 [DAT](INFO): DAT read: Rx Time:22:31:50.0706 2025-01-08T22:31:51.330Z,1736375511.330 [DAT](INFO): Rx dataTimestamp_ set to:1736375511.329713 2025-01-08T22:31:51.580Z,1736375511.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:51.603Z,1736375511.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:51.632Z,1736375511.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:51.832Z,1736375511.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:51.833Z,1736375511.833 [DAT](INFO): DAT read: Range 10 to 50 : 82.9 m (Round-trip 110.6 ms) speed 0.0 m/s 2025-01-08T22:31:51.834Z,1736375511.834 [DAT](INFO): DAT read: user:2675> 2025-01-08T22:31:51.835Z,1736375511.835 [DAT](INFO): DAT read: Tx time:22:31:51.1558 2025-01-08T22:31:51.835Z,1736375511.835 [DAT](INFO): Ping request sent. 2025-01-08T22:31:51.836Z,1736375511.836 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:51.836Z,1736375511.836 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-01-08T22:31:51.836Z,1736375511.836 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:51.837Z,1736375511.837 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:51.986Z,1736375511.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:51.996Z,1736375511.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.900002 m, deltaT: 3.525323 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:31:51.996Z,1736375511.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:52.086Z,1736375512.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:52.087Z,1736375512.087 [DAT](INFO): DAT read: TxSync time:22:31:51.1550 2025-01-08T22:31:52.341Z,1736375512.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:52.421Z,1736375512.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:52.431Z,1736375512.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:52.592Z,1736375512.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:52.786Z,1736375512.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:52.795Z,1736375512.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:52.845Z,1736375512.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:53.096Z,1736375513.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:53.189Z,1736375513.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:53.198Z,1736375513.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:53.348Z,1736375513.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:53.600Z,1736375513.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:53.625Z,1736375513.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:53.634Z,1736375513.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:53.852Z,1736375513.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:53.989Z,1736375513.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:53.998Z,1736375513.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:54.104Z,1736375514.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:54.356Z,1736375514.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:54.422Z,1736375514.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:54.432Z,1736375514.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:54.608Z,1736375514.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:54.798Z,1736375514.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:54.833Z,1736375514.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:54.860Z,1736375514.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:54.861Z,1736375514.861 [DAT](INFO): DAT read: Rx Time:22:31:53.6703 2025-01-08T22:31:54.861Z,1736375514.861 [DAT](INFO): Rx dataTimestamp_ set to:1736375514.860774 2025-01-08T22:31:55.112Z,1736375515.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:55.200Z,1736375515.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:55.208Z,1736375515.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:31:55.383Z,1736375515.383 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:55.391Z,1736375515.391 [DAT](INFO): DAT read: 22:31:53.6703 LVL= 17456, 23185, 11458, 24803, AGC= 57, IDX= 438, 0.27,-1.121,-0.694, 1.158,-0.151, PHS=-0.882,-0.496, 1.306, RAW= 219.5, 0.7, CAL= 219.8, -4.6, ROT= 290.2, 4.6 2025-01-08T22:31:55.392Z,1736375515.392 [DAT](INFO): got valid direction response: 22:31:53.6703 LVL= 17456, 23185, 11458, 24803, AGC= 57, IDX= 438, 0.27,-1.121,-0.694, 1.158,-0.151, PHS=-0.882,-0.496, 1.306, RAW= 219.5, 0.7, CAL= 219.8, -4.6, ROT= 290.2, 4.6 2025-01-08T22:31:55.393Z,1736375515.393 [DAT](INFO): DAT read: Bearing 290.2, 4.6 (Local) 2025-01-08T22:31:55.393Z,1736375515.393 [DAT](INFO): Local bearing/azimuth received: Bearing 290.2, 4.6 (Local) 2025-01-08T22:31:55.420Z,1736375515.420 [DAT](INFO): DAT read: Range 10 to 50 : 82.7 m (Round-trip 110.3 ms) speed 0.1 m/s 2025-01-08T22:31:55.420Z,1736375515.420 [DAT](INFO): DAT read: user:2676> 2025-01-08T22:31:55.421Z,1736375515.421 [DAT](INFO): DAT read: Tx time:22:31:54.7558 2025-01-08T22:31:55.421Z,1736375515.421 [DAT](INFO): Ping request sent. 2025-01-08T22:31:55.421Z,1736375515.421 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:55.422Z,1736375515.422 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-01-08T22:31:55.423Z,1736375515.423 [DAT](INFO): direction in FSK: [-0.026442,-0.813150,-0.581453] 2025-01-08T22:31:55.440Z,1736375515.440 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:55.440Z,1736375515.440 [DAT](INFO): publishing direction and range info 2025-01-08T22:31:55.443Z,1736375515.443 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:55.457Z,1736375515.457 [DAT](INFO): publishing direction and range info 2025-01-08T22:31:55.632Z,1736375515.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:55.633Z,1736375515.633 [DAT](INFO): DAT read: TxSync time:22:31:54.7550 2025-01-08T22:31:55.638Z,1736375515.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:55.688Z,1736375515.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.699997 m, deltaT: 3.551606 s, deltaX: -0.200005 m, approachRate: -0.056314 m/s, rangeRepo size: 4 2025-01-08T22:31:55.690Z,1736375515.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.699997 m, bearing: 92.443340 deg, lat: 36.905107 deg, lon: -122.119949 deg, deltaT: 14.400812 s, deltaX: 0.699997 m, approachRate: 0.048608 m/s, posRepo size: 4 2025-01-08T22:31:55.691Z,1736375515.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.70 m. 2025-01-08T22:31:55.888Z,1736375515.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:56.029Z,1736375516.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:56.037Z,1736375516.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.70 m. 2025-01-08T22:31:56.137Z,1736375516.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:56.388Z,1736375516.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:56.475Z,1736375516.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:56.489Z,1736375516.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.70 m. 2025-01-08T22:31:56.641Z,1736375516.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:56.843Z,1736375516.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:56.855Z,1736375516.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.70 m. 2025-01-08T22:31:56.892Z,1736375516.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:57.144Z,1736375517.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:57.221Z,1736375517.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:57.230Z,1736375517.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.70 m. 2025-01-08T22:31:57.400Z,1736375517.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:57.652Z,1736375517.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:57.661Z,1736375517.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:57.690Z,1736375517.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.70 m. 2025-01-08T22:31:57.904Z,1736375517.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:58.038Z,1736375518.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:58.048Z,1736375518.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.70 m. 2025-01-08T22:31:58.156Z,1736375518.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:58.408Z,1736375518.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:58.408Z,1736375518.408 [DAT](INFO): DAT read: Rx Time:22:31:57.2692 2025-01-08T22:31:58.409Z,1736375518.409 [DAT](INFO): Rx dataTimestamp_ set to:1736375518.408584 2025-01-08T22:31:58.475Z,1736375518.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:58.489Z,1736375518.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.70 m. 2025-01-08T22:31:58.661Z,1736375518.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:58.843Z,1736375518.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:58.851Z,1736375518.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.70 m. 2025-01-08T22:31:58.921Z,1736375518.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:59.172Z,1736375519.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:59.180Z,1736375519.180 [DAT](INFO): DAT read: 22:31:57.2692 LVL= 21664, 24305, 11762, 25875, AGC= 56, IDX= 426, 0.18,-1.870,-2.031,-0.087,-1.213, PHS=-0.569,-0.771, 1.123, RAW= 204.4, 2.4, CAL= 204.7, -4.8, ROT= 305.3, 4.8 2025-01-08T22:31:59.181Z,1736375519.181 [DAT](INFO): got valid direction response: 22:31:57.2692 LVL= 21664, 24305, 11762, 25875, AGC= 56, IDX= 426, 0.18,-1.870,-2.031,-0.087,-1.213, PHS=-0.569,-0.771, 1.123, RAW= 204.4, 2.4, CAL= 204.7, -4.8, ROT= 305.3, 4.8 2025-01-08T22:31:59.182Z,1736375519.182 [DAT](INFO): DAT read: Bearing 305.3, 4.8 (Local) 2025-01-08T22:31:59.183Z,1736375519.183 [DAT](INFO): Local bearing/azimuth received: Bearing 305.3, 4.8 (Local) 2025-01-08T22:31:59.185Z,1736375519.185 [DAT](INFO): DAT read: Range 10 to 50 : 81.8 m (Round-trip 109.1 ms) speed 0.3 m/s 2025-01-08T22:31:59.185Z,1736375519.185 [DAT](INFO): DAT read: user:2677> 2025-01-08T22:31:59.186Z,1736375519.186 [DAT](INFO): DAT read: Tx time:22:31:58.3559 2025-01-08T22:31:59.186Z,1736375519.186 [DAT](INFO): Ping request sent. 2025-01-08T22:31:59.186Z,1736375519.186 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:31:59.188Z,1736375519.188 [DAT](INFO): DAT read: TxSync time:22:31:58.3551 2025-01-08T22:31:59.196Z,1736375519.196 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-01-08T22:31:59.197Z,1736375519.197 [DAT](INFO): direction in FSK: [-0.089060,-0.926893,-0.364605] 2025-01-08T22:31:59.198Z,1736375519.198 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:59.198Z,1736375519.198 [DAT](INFO): publishing direction and range info 2025-01-08T22:31:59.201Z,1736375519.201 [DAT](INFO): publishing transmit ping time 2025-01-08T22:31:59.201Z,1736375519.201 [DAT](INFO): publishing direction and range info 2025-01-08T22:31:59.286Z,1736375519.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:59.388Z,1736375519.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.800003 m, deltaT: 3.788319 s, deltaX: -0.899994 m, approachRate: -0.237571 m/s, rangeRepo size: 4 2025-01-08T22:31:59.413Z,1736375519.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.800003 m, bearing: 76.431087 deg, lat: 36.905050 deg, lon: -122.119934 deg, deltaT: 3.788319 s, deltaX: -0.899994 m, approachRate: -0.237571 m/s, posRepo size: 4 2025-01-08T22:31:59.413Z,1736375519.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T22:31:59.424Z,1736375519.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:59.677Z,1736375519.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:31:59.721Z,1736375519.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:31:59.742Z,1736375519.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T22:31:59.928Z,1736375519.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:00.056Z,1736375520.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:00.065Z,1736375520.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T22:32:00.180Z,1736375520.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:00.433Z,1736375520.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:00.487Z,1736375520.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:00.500Z,1736375520.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T22:32:00.684Z,1736375520.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:00.856Z,1736375520.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:00.865Z,1736375520.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T22:32:00.936Z,1736375520.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:01.188Z,1736375521.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:01.263Z,1736375521.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:01.272Z,1736375521.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T22:32:01.441Z,1736375521.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:01.692Z,1736375521.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:01.705Z,1736375521.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:01.714Z,1736375521.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T22:32:01.944Z,1736375521.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:02.129Z,1736375522.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:02.150Z,1736375522.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T22:32:02.196Z,1736375522.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:02.197Z,1736375522.197 [DAT](INFO): DAT read: Rx Time:22:32:00.8673 2025-01-08T22:32:02.197Z,1736375522.197 [DAT](INFO): Rx dataTimestamp_ set to:1736375522.197038 2025-01-08T22:32:02.453Z,1736375522.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:02.614Z,1736375522.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:02.624Z,1736375522.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T22:32:02.700Z,1736375522.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:02.706Z,1736375522.706 [DAT](INFO): DAT read: 22:32:00.8673 LVL= 25040, 22065, 11074, 26867, AGC= 55, IDX= 423, 0.05,-1.787,-2.193,-0.165,-1.185, PHS=-0.514,-0.961, 1.017, RAW= 197.6, 5.1, CAL= 198.0, -3.0, ROT= 312.0, 3.0 2025-01-08T22:32:02.708Z,1736375522.708 [DAT](INFO): got valid direction response: 22:32:00.8673 LVL= 25040, 22065, 11074, 26867, AGC= 55, IDX= 423, 0.05,-1.787,-2.193,-0.165,-1.185, PHS=-0.514,-0.961, 1.017, RAW= 197.6, 5.1, CAL= 198.0, -3.0, ROT= 312.0, 3.0 2025-01-08T22:32:02.709Z,1736375522.709 [DAT](INFO): DAT read: Bearing 312.0, 3.0 (Local) 2025-01-08T22:32:02.709Z,1736375522.709 [DAT](INFO): Local bearing/azimuth received: Bearing 312.0, 3.0 (Local) 2025-01-08T22:32:02.711Z,1736375522.711 [DAT](INFO): DAT read: Range 10 to 50 : 80.4 m (Round-trip 107.3 ms) speed 0.3 m/s 2025-01-08T22:32:02.712Z,1736375522.712 [DAT](INFO): DAT read: user:2678> 2025-01-08T22:32:02.713Z,1736375522.713 [DAT](INFO): DAT read: Tx time:22:32:01.9559 2025-01-08T22:32:02.713Z,1736375522.713 [DAT](INFO): Ping request sent. 2025-01-08T22:32:02.713Z,1736375522.713 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:02.714Z,1736375522.714 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-01-08T22:32:02.715Z,1736375522.715 [DAT](INFO): direction in FSK: [-0.152835,-0.954038,-0.257785] 2025-01-08T22:32:02.715Z,1736375522.715 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:02.723Z,1736375522.723 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:02.726Z,1736375522.726 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:02.727Z,1736375522.727 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:02.954Z,1736375522.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:02.956Z,1736375522.956 [DAT](INFO): DAT read: TxSync time:22:32:01.9551 2025-01-08T22:32:03.023Z,1736375523.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:03.063Z,1736375523.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.528059 s, deltaX: -1.400002 m, approachRate: -0.396819 m/s, rangeRepo size: 4 2025-01-08T22:32:03.069Z,1736375523.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.400002 m, bearing: 71.495871 deg, lat: 36.905050 deg, lon: -122.119244 deg, deltaT: 3.528059 s, deltaX: -1.400002 m, approachRate: -0.396819 m/s, posRepo size: 4 2025-01-08T22:32:03.070Z,1736375523.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:32:03.208Z,1736375523.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:03.462Z,1736375523.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:03.465Z,1736375523.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:03.481Z,1736375523.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:32:03.713Z,1736375523.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:03.833Z,1736375523.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:03.842Z,1736375523.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:32:03.975Z,1736375523.975 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:04.220Z,1736375524.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:04.242Z,1736375524.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:04.251Z,1736375524.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:32:04.474Z,1736375524.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:04.724Z,1736375524.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:04.730Z,1736375524.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:04.738Z,1736375524.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:32:04.976Z,1736375524.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:05.107Z,1736375525.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:05.116Z,1736375525.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:32:05.228Z,1736375525.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:05.481Z,1736375525.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:05.569Z,1736375525.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:05.578Z,1736375525.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:32:05.732Z,1736375525.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:05.733Z,1736375525.733 [DAT](INFO): DAT read: Rx Time:22:32:04.4656 2025-01-08T22:32:05.733Z,1736375525.733 [DAT](INFO): Rx dataTimestamp_ set to:1736375525.732906 2025-01-08T22:32:05.931Z,1736375525.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:05.940Z,1736375525.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:32:05.985Z,1736375525.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:06.236Z,1736375526.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:06.242Z,1736375526.242 [DAT](INFO): DAT read: 22:32:04.4656 LVL= 22080, 23361, 11586, 27491, AGC= 59, IDX= 421,-0.34,-0.799,-1.080, 0.915,-0.135, PHS=-0.576,-0.897, 1.048, RAW= 201.1, 4.8, CAL= 201.7, -3.0, ROT= 308.3, 3.0 2025-01-08T22:32:06.244Z,1736375526.244 [DAT](INFO): got valid direction response: 22:32:04.4656 LVL= 22080, 23361, 11586, 27491, AGC= 59, IDX= 421,-0.34,-0.799,-1.080, 0.915,-0.135, PHS=-0.576,-0.897, 1.048, RAW= 201.1, 4.8, CAL= 201.7, -3.0, ROT= 308.3, 3.0 2025-01-08T22:32:06.245Z,1736375526.245 [DAT](INFO): DAT read: Bearing 308.3, 3.0 (Local) 2025-01-08T22:32:06.245Z,1736375526.245 [DAT](INFO): Local bearing/azimuth received: Bearing 308.3, 3.0 (Local) 2025-01-08T22:32:06.247Z,1736375526.247 [DAT](INFO): DAT read: Range 10 to 50 : 79.1 m (Round-trip 105.5 ms) speed 0.3 m/s 2025-01-08T22:32:06.248Z,1736375526.248 [DAT](INFO): DAT read: user:2679> 2025-01-08T22:32:06.248Z,1736375526.248 [DAT](INFO): DAT read: Tx time:22:32:05.5559 2025-01-08T22:32:06.249Z,1736375526.249 [DAT](INFO): Ping request sent. 2025-01-08T22:32:06.249Z,1736375526.249 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:06.249Z,1736375526.249 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-01-08T22:32:06.250Z,1736375526.250 [DAT](INFO): direction in FSK: [-0.138521,-0.938970,-0.314878] 2025-01-08T22:32:06.250Z,1736375526.250 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:06.251Z,1736375526.251 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:06.254Z,1736375526.254 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:06.254Z,1736375526.254 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:06.354Z,1736375526.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:06.399Z,1736375526.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.099998 m, deltaT: 3.535930 s, deltaX: -1.300003 m, approachRate: -0.367655 m/s, rangeRepo size: 4 2025-01-08T22:32:06.410Z,1736375526.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.099998 m, bearing: 74.616563 deg, lat: 36.905017 deg, lon: -122.119220 deg, deltaT: 3.535930 s, deltaX: -1.300003 m, approachRate: -0.367655 m/s, posRepo size: 4 2025-01-08T22:32:06.415Z,1736375526.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m. 2025-01-08T22:32:06.489Z,1736375526.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:06.493Z,1736375526.493 [DAT](INFO): DAT read: TxSync time:22:32:05.5551 2025-01-08T22:32:06.740Z,1736375526.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:06.813Z,1736375526.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:06.821Z,1736375526.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m. 2025-01-08T22:32:06.992Z,1736375526.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:07.188Z,1736375527.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:07.198Z,1736375527.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m. 2025-01-08T22:32:07.245Z,1736375527.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:07.498Z,1736375527.498 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:07.606Z,1736375527.606 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V 2025-01-08T22:32:07.615Z,1736375527.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:32:07.640Z,1736375527.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:07.666Z,1736375527.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m. 2025-01-08T22:32:07.748Z,1736375527.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:07.764Z,1736375527.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:32:07.000Z,1736375528.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:08.076Z,1736375528.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:32:08.076Z,1736375528.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:08.102Z,1736375528.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m. 2025-01-08T22:32:08.252Z,1736375528.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:08.496Z,1736375528.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:32:08.497Z,1736375528.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:08.506Z,1736375528.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:08.568Z,1736375528.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m. 2025-01-08T22:32:08.756Z,1736375528.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:08.772Z,1736375528.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:32:09.008Z,1736375529.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:09.009Z,1736375529.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:09.018Z,1736375529.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m. 2025-01-08T22:32:09.260Z,1736375529.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:09.261Z,1736375529.261 [DAT](INFO): DAT read: Rx Time:22:32:08.0637 2025-01-08T22:32:09.262Z,1736375529.262 [DAT](INFO): Rx dataTimestamp_ set to:1736375529.261242 2025-01-08T22:32:09.383Z,1736375529.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:09.412Z,1736375529.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.10 m. 2025-01-08T22:32:09.513Z,1736375529.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:09.768Z,1736375529.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:09.785Z,1736375529.785 [DAT](INFO): DAT read: 22:32:08.0637 LVL= 23696, 25777, 12482, 30195, AGC= 56, IDX= 417, 0.21, 0.539, 0.342, 2.309, 1.172, PHS=-0.544,-0.782, 1.135, RAW= 203.5, 2.1, CAL= 203.6, -5.1, ROT= 306.4, 5.1 2025-01-08T22:32:09.787Z,1736375529.787 [DAT](INFO): got valid direction response: 22:32:08.0637 LVL= 23696, 25777, 12482, 30195, AGC= 56, IDX= 417, 0.21, 0.539, 0.342, 2.309, 1.172, PHS=-0.544,-0.782, 1.135, RAW= 203.5, 2.1, CAL= 203.6, -5.1, ROT= 306.4, 5.1 2025-01-08T22:32:09.800Z,1736375529.800 [DAT](INFO): DAT read: Bearing 306.4, 5.1 (Local) 2025-01-08T22:32:09.800Z,1736375529.800 [DAT](INFO): Local bearing/azimuth received: Bearing 306.4, 5.1 (Local) 2025-01-08T22:32:09.803Z,1736375529.803 [DAT](INFO): DAT read: Range 10 to 50 : 77.7 m (Round-trip 103.6 ms) speed 0.4 m/s 2025-01-08T22:32:09.805Z,1736375529.805 [DAT](INFO): DAT read: user:2680> 2025-01-08T22:32:09.807Z,1736375529.807 [DAT](INFO): DAT read: Tx time:22:32:09.1560 2025-01-08T22:32:09.839Z,1736375529.839 [DAT](INFO): Ping request sent. 2025-01-08T22:32:09.840Z,1736375529.840 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:09.840Z,1736375529.840 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-01-08T22:32:09.841Z,1736375529.841 [DAT](INFO): direction in FSK: [-0.085373,-0.933105,-0.349322] 2025-01-08T22:32:09.841Z,1736375529.841 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:09.841Z,1736375529.841 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:09.849Z,1736375529.849 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:09.849Z,1736375529.849 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:09.926Z,1736375529.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:09.975Z,1736375529.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.699997 m, deltaT: 3.532265 s, deltaX: -1.400002 m, approachRate: -0.396347 m/s, rangeRepo size: 4 2025-01-08T22:32:09.985Z,1736375529.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 77.699997 m, bearing: 78.839804 deg, lat: 36.905017 deg, lon: -122.119220 deg, deltaT: 3.532265 s, deltaX: -1.400002 m, approachRate: -0.396347 m/s, posRepo size: 4 2025-01-08T22:32:09.986Z,1736375529.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T22:32:10.019Z,1736375530.019 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:10.020Z,1736375530.020 [DAT](INFO): DAT read: TxSync time:22:32:09.1552 2025-01-08T22:32:10.268Z,1736375530.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:10.278Z,1736375530.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:10.302Z,1736375530.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T22:32:10.522Z,1736375530.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:10.698Z,1736375530.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:10.707Z,1736375530.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T22:32:10.773Z,1736375530.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:11.024Z,1736375531.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:11.058Z,1736375531.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:11.075Z,1736375531.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T22:32:11.276Z,1736375531.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:11.521Z,1736375531.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:11.530Z,1736375531.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:11.590Z,1736375531.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T22:32:11.780Z,1736375531.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:11.894Z,1736375531.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:11.903Z,1736375531.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T22:32:12.034Z,1736375532.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:12.286Z,1736375532.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:12.366Z,1736375532.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:12.374Z,1736375532.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T22:32:12.536Z,1736375532.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:12.788Z,1736375532.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:12.834Z,1736375532.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:12.850Z,1736375532.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T22:32:13.040Z,1736375533.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:13.042Z,1736375533.042 [DAT](INFO): DAT read: Rx Time:22:32:11.6617 2025-01-08T22:32:13.043Z,1736375533.043 [DAT](INFO): Rx dataTimestamp_ set to:1736375533.042052 2025-01-08T22:32:13.269Z,1736375533.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:13.292Z,1736375533.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:13.315Z,1736375533.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T22:32:13.546Z,1736375533.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:13.615Z,1736375533.615 [DAT](INFO): DAT read: 22:32:11.6617 LVL= 19952, 23953, 10914, 25155, AGC= 54, IDX= 428,-0.23,-0.145,-0.211, 1.758, 0.573, PHS=-0.630,-0.737, 1.182, RAW= 207.2, 2.0, CAL= 207.5, -5.0, ROT= 302.5, 5.0 2025-01-08T22:32:13.621Z,1736375533.621 [DAT](INFO): got valid direction response: 22:32:11.6617 LVL= 19952, 23953, 10914, 25155, AGC= 54, IDX= 428,-0.23,-0.145,-0.211, 1.758, 0.573, PHS=-0.630,-0.737, 1.182, RAW= 207.2, 2.0, CAL= 207.5, -5.0, ROT= 302.5, 5.0 2025-01-08T22:32:13.622Z,1736375533.622 [DAT](INFO): DAT read: Bearing 302.5, 5.0 (Local) 2025-01-08T22:32:13.622Z,1736375533.622 [DAT](INFO): Local bearing/azimuth received: Bearing 302.5, 5.0 (Local) 2025-01-08T22:32:13.630Z,1736375533.630 [DAT](INFO): DAT read: Range 10 to 50 : 76.1 m (Round-trip 101.5 ms) speed 0.4 m/s 2025-01-08T22:32:13.631Z,1736375533.631 [DAT](INFO): DAT read: user:2681> 2025-01-08T22:32:13.637Z,1736375533.637 [DAT](INFO): DAT read: Tx time:22:32:12.7560 2025-01-08T22:32:13.637Z,1736375533.637 [DAT](INFO): Ping request sent. 2025-01-08T22:32:13.637Z,1736375533.637 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:13.638Z,1736375533.638 [DAT](INFO): DAT read: TxSync time:22:32:12.7552 2025-01-08T22:32:13.652Z,1736375533.652 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-01-08T22:32:13.653Z,1736375533.653 [DAT](INFO): direction in FSK: [-0.075549,-0.910723,-0.406049] 2025-01-08T22:32:13.654Z,1736375533.654 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:13.654Z,1736375533.654 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:13.680Z,1736375533.680 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:13.680Z,1736375533.680 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:13.796Z,1736375533.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:13.876Z,1736375533.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:13.904Z,1736375533.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.099998 m, deltaT: 3.778512 s, deltaX: -1.599998 m, approachRate: -0.423447 m/s, rangeRepo size: 4 2025-01-08T22:32:13.906Z,1736375533.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.099998 m, bearing: 81.790198 deg, lat: 36.905017 deg, lon: -122.119220 deg, deltaT: 3.778512 s, deltaX: -1.599998 m, approachRate: -0.423447 m/s, posRepo size: 4 2025-01-08T22:32:13.906Z,1736375533.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.10 m. 2025-01-08T22:32:14.048Z,1736375534.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:14.211Z,1736375534.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:14.235Z,1736375534.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.10 m. 2025-01-08T22:32:14.300Z,1736375534.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:14.552Z,1736375534.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:14.712Z,1736375534.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:14.721Z,1736375534.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.10 m. 2025-01-08T22:32:14.804Z,1736375534.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:15.021Z,1736375535.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:15.030Z,1736375535.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.10 m. 2025-01-08T22:32:15.056Z,1736375535.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:15.308Z,1736375535.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:15.436Z,1736375535.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:15.451Z,1736375535.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.10 m. 2025-01-08T22:32:15.561Z,1736375535.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:15.812Z,1736375535.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:15.876Z,1736375535.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:15.885Z,1736375535.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.10 m. 2025-01-08T22:32:16.066Z,1736375536.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:16.316Z,1736375536.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:16.328Z,1736375536.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:16.337Z,1736375536.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.10 m. 2025-01-08T22:32:16.568Z,1736375536.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:16.569Z,1736375536.569 [DAT](INFO): DAT read: Rx Time:22:32:15.2597 2025-01-08T22:32:16.569Z,1736375536.569 [DAT](INFO): Rx dataTimestamp_ set to:1736375536.568787 2025-01-08T22:32:16.756Z,1736375536.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:16.770Z,1736375536.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.10 m. 2025-01-08T22:32:16.821Z,1736375536.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:17.072Z,1736375537.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:17.079Z,1736375537.079 [DAT](INFO): DAT read: 22:32:15.2597 LVL= 21040, 26417, 11730, 26771, AGC= 59, IDX= 423, 0.44,-2.557,-2.495,-0.548,-1.762, PHS=-0.707,-0.685, 1.211, RAW= 210.6, 1.9, CAL= 210.9, -4.7, ROT= 299.1, 4.7 2025-01-08T22:32:17.080Z,1736375537.080 [DAT](INFO): got valid direction response: 22:32:15.2597 LVL= 21040, 26417, 11730, 26771, AGC= 59, IDX= 423, 0.44,-2.557,-2.495,-0.548,-1.762, PHS=-0.707,-0.685, 1.211, RAW= 210.6, 1.9, CAL= 210.9, -4.7, ROT= 299.1, 4.7 2025-01-08T22:32:17.081Z,1736375537.081 [DAT](INFO): DAT read: Bearing 299.1, 4.7 (Local) 2025-01-08T22:32:17.081Z,1736375537.081 [DAT](INFO): Local bearing/azimuth received: Bearing 299.1, 4.7 (Local) 2025-01-08T22:32:17.083Z,1736375537.083 [DAT](INFO): DAT read: Range 10 to 50 : 74.7 m (Round-trip 99.6 ms) speed 0.2 m/s 2025-01-08T22:32:17.084Z,1736375537.084 [DAT](INFO): DAT read: user:2682> 2025-01-08T22:32:17.085Z,1736375537.085 [DAT](INFO): DAT read: Tx time:22:32:16.3560 2025-01-08T22:32:17.085Z,1736375537.085 [DAT](INFO): Ping request sent. 2025-01-08T22:32:17.085Z,1736375537.085 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:17.085Z,1736375537.085 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-01-08T22:32:17.086Z,1736375537.086 [DAT](INFO): direction in FSK: [-0.067082,-0.886948,-0.456971] 2025-01-08T22:32:17.086Z,1736375537.086 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:17.087Z,1736375537.087 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:17.090Z,1736375537.090 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:17.090Z,1736375537.090 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:17.174Z,1736375537.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:17.220Z,1736375537.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.699997 m, deltaT: 3.525246 s, deltaX: -1.400002 m, approachRate: -0.397136 m/s, rangeRepo size: 4 2025-01-08T22:32:17.222Z,1736375537.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.699997 m, bearing: 84.522395 deg, lat: 36.904947 deg, lon: -122.119228 deg, deltaT: 3.525246 s, deltaX: -1.400002 m, approachRate: -0.397136 m/s, posRepo size: 4 2025-01-08T22:32:17.223Z,1736375537.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m. 2025-01-08T22:32:17.324Z,1736375537.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:17.325Z,1736375537.325 [DAT](INFO): DAT read: TxSync time:22:32:16.3552 2025-01-08T22:32:17.549Z,1736375537.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:17.564Z,1736375537.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m. 2025-01-08T22:32:17.576Z,1736375537.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:17.828Z,1736375537.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:17.976Z,1736375537.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:17.986Z,1736375537.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m. 2025-01-08T22:32:18.080Z,1736375538.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:18.332Z,1736375538.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:18.347Z,1736375538.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:18.357Z,1736375538.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m. 2025-01-08T22:32:18.584Z,1736375538.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:18.803Z,1736375538.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:18.814Z,1736375538.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m. 2025-01-08T22:32:18.836Z,1736375538.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:19.088Z,1736375539.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:19.172Z,1736375539.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:19.181Z,1736375539.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m. 2025-01-08T22:32:19.340Z,1736375539.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:19.568Z,1736375539.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:19.577Z,1736375539.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m. 2025-01-08T22:32:19.592Z,1736375539.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:19.602Z,1736375539.602 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T22:22:19.3Z 2025-01-08T22:32:19.602Z,1736375539.602 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T22:32:19.602Z,1736375539.602 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:32:19.602Z,1736375539.602 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T22:32:19.602Z,1736375539.602 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:32:19.602Z,1736375539.602 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T22:32:19.845Z,1736375539.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:20.020Z,1736375540.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:20.030Z,1736375540.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m. 2025-01-08T22:32:20.034Z,1736375540.034 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T22:32:20.034Z,1736375540.034 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T22:32:20.035Z,1736375540.035 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T22:32:20.035Z,1736375540.035 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:32:20.035Z,1736375540.035 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T22:32:20.097Z,1736375540.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:20.098Z,1736375540.098 [DAT](INFO): DAT read: Rx Time:22:32:18.8583 2025-01-08T22:32:20.099Z,1736375540.099 [DAT](INFO): Rx dataTimestamp_ set to:1736375540.098399 2025-01-08T22:32:20.349Z,1736375540.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:20.589Z,1736375540.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:20.600Z,1736375540.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:20.606Z,1736375540.606 [DAT](INFO): DAT read: 22:32:18.8583 LVL= 22768, 28257, 14258, 30787, AGC= 54, IDX= 425,-0.05,-0.478,-0.358, 1.572, 0.348, PHS=-0.738,-0.659, 1.221, RAW= 212.0, 1.9, CAL= 212.4, -4.6, ROT= 297.6, 4.6 2025-01-08T22:32:20.608Z,1736375540.608 [DAT](INFO): got valid direction response: 22:32:18.8583 LVL= 22768, 28257, 14258, 30787, AGC= 54, IDX= 425,-0.05,-0.478,-0.358, 1.572, 0.348, PHS=-0.738,-0.659, 1.221, RAW= 212.0, 1.9, CAL= 212.4, -4.6, ROT= 297.6, 4.6 2025-01-08T22:32:20.609Z,1736375540.609 [DAT](INFO): DAT read: Bearing 297.6, 4.6 (Local) 2025-01-08T22:32:20.609Z,1736375540.609 [DAT](INFO): Local bearing/azimuth received: Bearing 297.6, 4.6 (Local) 2025-01-08T22:32:20.612Z,1736375540.612 [DAT](INFO): DAT read: Range 10 to 50 : 73.5 m (Round-trip 98.1 ms) speed 0.3 m/s 2025-01-08T22:32:20.612Z,1736375540.612 [DAT](INFO): DAT read: user:2683> 2025-01-08T22:32:20.613Z,1736375540.613 [DAT](INFO): DAT read: Tx time:22:32:19.9560 2025-01-08T22:32:20.613Z,1736375540.613 [DAT](INFO): Ping request sent. 2025-01-08T22:32:20.613Z,1736375540.613 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:20.614Z,1736375540.614 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-01-08T22:32:20.615Z,1736375540.615 [DAT](INFO): direction in FSK: [-0.062857,-0.875914,-0.478356] 2025-01-08T22:32:20.615Z,1736375540.615 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:20.616Z,1736375540.616 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:20.619Z,1736375540.619 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:20.619Z,1736375540.619 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:20.654Z,1736375540.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 3.528099 s, deltaX: -1.199997 m, approachRate: -0.340126 m/s, rangeRepo size: 4 2025-01-08T22:32:20.668Z,1736375540.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.500000 m, bearing: 82.131367 deg, lat: 36.904886 deg, lon: -122.119262 deg, deltaT: 3.528099 s, deltaX: -1.199997 m, approachRate: -0.340126 m/s, posRepo size: 4 2025-01-08T22:32:20.670Z,1736375540.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:32:20.852Z,1736375540.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:20.853Z,1736375540.853 [DAT](INFO): DAT read: TxSync time:22:32:19.9552 2025-01-08T22:32:21.072Z,1736375541.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:21.098Z,1736375541.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:32:21.105Z,1736375541.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:21.357Z,1736375541.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:21.430Z,1736375541.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:21.490Z,1736375541.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:32:21.608Z,1736375541.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:21.844Z,1736375541.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:21.860Z,1736375541.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:21.869Z,1736375541.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:32:22.113Z,1736375542.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:22.246Z,1736375542.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:22.262Z,1736375542.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:32:22.365Z,1736375542.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:22.616Z,1736375542.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:22.653Z,1736375542.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:22.681Z,1736375542.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:32:22.868Z,1736375542.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:23.062Z,1736375543.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:23.070Z,1736375543.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:32:23.072Z,1736375543.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:32:23.120Z,1736375543.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:23.121Z,1736375543.121 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:32:23.121Z,1736375543.121 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:32:23.121Z,1736375543.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:32:23.373Z,1736375543.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:23.375Z,1736375543.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761281 2025-01-08T22:32:23.452Z,1736375543.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:23.461Z,1736375543.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:32:23.624Z,1736375543.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:23.625Z,1736375543.625 [DAT](INFO): DAT read: Rx Time:22:32:22.4566 2025-01-08T22:32:23.625Z,1736375543.625 [DAT](INFO): Rx dataTimestamp_ set to:1736375543.624819 2025-01-08T22:32:23.626Z,1736375543.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012226 2025-01-08T22:32:23.868Z,1736375543.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:23.876Z,1736375543.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:23.878Z,1736375543.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264371 2025-01-08T22:32:23.884Z,1736375543.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:32:24.129Z,1736375544.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:24.132Z,1736375544.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517480 2025-01-08T22:32:24.245Z,1736375544.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:24.253Z,1736375544.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T22:32:24.380Z,1736375544.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:24.387Z,1736375544.387 [DAT](INFO): DAT read: 22:32:22.4566 LVL= 25680, 32753, 15090, 30371, AGC= 58, IDX= 423, 0.35,-1.551,-1.409, 0.464,-0.726, PHS=-0.737,-0.637, 1.186, RAW= 212.7, 2.0, CAL= 213.2, -4.3, ROT= 296.8, 4.3 2025-01-08T22:32:24.390Z,1736375544.390 [DAT](INFO): got valid direction response: 22:32:22.4566 LVL= 25680, 32753, 15090, 30371, AGC= 58, IDX= 423, 0.35,-1.551,-1.409, 0.464,-0.726, PHS=-0.737,-0.637, 1.186, RAW= 212.7, 2.0, CAL= 213.2, -4.3, ROT= 296.8, 4.3 2025-01-08T22:32:24.394Z,1736375544.394 [DAT](INFO): DAT read: Bearing 296.8, 4.3 (Local) 2025-01-08T22:32:24.395Z,1736375544.395 [DAT](INFO): Local bearing/azimuth received: Bearing 296.8, 4.3 (Local) 2025-01-08T22:32:24.398Z,1736375544.398 [DAT](INFO): DAT read: Range 10 to 50 : 72.2 m (Round-trip 96.3 ms) speed 0.4 m/s 2025-01-08T22:32:24.400Z,1736375544.400 [DAT](INFO): DAT read: user:2684> 2025-01-08T22:32:24.401Z,1736375544.401 [DAT](INFO): DAT read: Tx time:22:32:23.5561 2025-01-08T22:32:24.402Z,1736375544.402 [DAT](INFO): Ping request sent. 2025-01-08T22:32:24.402Z,1736375544.402 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:24.402Z,1736375544.402 [DAT](INFO): DAT read: TxSync time:22:32:23.5553 2025-01-08T22:32:24.403Z,1736375544.403 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:32:24.404Z,1736375544.404 [DAT](INFO): direction in FSK: [-0.064860,-0.870850,-0.487252] 2025-01-08T22:32:24.404Z,1736375544.404 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:24.405Z,1736375544.405 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:24.408Z,1736375544.408 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:24.408Z,1736375544.408 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:24.632Z,1736375544.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:24.681Z,1736375544.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:24.713Z,1736375544.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.199997 m, deltaT: 3.779943 s, deltaX: -1.300003 m, approachRate: -0.343921 m/s, rangeRepo size: 4 2025-01-08T22:32:24.720Z,1736375544.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.199997 m, bearing: 78.420766 deg, lat: 36.904837 deg, lon: -122.119283 deg, deltaT: 3.779943 s, deltaX: -1.300003 m, approachRate: -0.343921 m/s, posRepo size: 4 2025-01-08T22:32:24.720Z,1736375544.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m. 2025-01-08T22:32:24.884Z,1736375544.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:25.089Z,1736375545.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:25.099Z,1736375545.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m. 2025-01-08T22:32:25.136Z,1736375545.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:25.388Z,1736375545.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:25.463Z,1736375545.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:25.486Z,1736375545.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m. 2025-01-08T22:32:25.640Z,1736375545.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:25.892Z,1736375545.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:25.901Z,1736375545.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:25.910Z,1736375545.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m. 2025-01-08T22:32:26.144Z,1736375546.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:26.271Z,1736375546.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:26.279Z,1736375546.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m. 2025-01-08T22:32:26.396Z,1736375546.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:26.648Z,1736375546.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:26.696Z,1736375546.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:26.704Z,1736375546.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m. 2025-01-08T22:32:26.900Z,1736375546.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:27.104Z,1736375547.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:27.113Z,1736375547.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m. 2025-01-08T22:32:27.152Z,1736375547.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:27.404Z,1736375547.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:27.406Z,1736375547.406 [DAT](INFO): DAT read: Rx Time:22:32:26.0548 2025-01-08T22:32:27.408Z,1736375547.408 [DAT](INFO): Rx dataTimestamp_ set to:1736375547.406423 2025-01-08T22:32:27.497Z,1736375547.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:27.505Z,1736375547.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m. 2025-01-08T22:32:27.656Z,1736375547.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:27.908Z,1736375547.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:27.915Z,1736375547.915 [DAT](INFO): DAT read: 22:32:26.0548 LVL= 21152, 27889, 14658, 29363, AGC= 56, IDX= 421,-0.05, 2.990,-2.994,-1.087,-2.289, PHS=-0.917,-0.658, 1.199, RAW= 216.4, 3.8, CAL= 218.1, -1.3, ROT= 291.9, 1.3 2025-01-08T22:32:27.917Z,1736375547.917 [DAT](INFO): got valid direction response: 22:32:26.0548 LVL= 21152, 27889, 14658, 29363, AGC= 56, IDX= 421,-0.05, 2.990,-2.994,-1.087,-2.289, PHS=-0.917,-0.658, 1.199, RAW= 216.4, 3.8, CAL= 218.1, -1.3, ROT= 291.9, 1.3 2025-01-08T22:32:27.918Z,1736375547.918 [DAT](INFO): DAT read: Bearing 291.9, 1.3 (Local) 2025-01-08T22:32:27.918Z,1736375547.918 [DAT](INFO): Local bearing/azimuth received: Bearing 291.9, 1.3 (Local) 2025-01-08T22:32:27.919Z,1736375547.919 [DAT](INFO): DAT read: Range 10 to 50 : 70.9 m (Round-trip 94.6 ms) speed 0.3 m/s 2025-01-08T22:32:27.920Z,1736375547.920 [DAT](INFO): DAT read: user:2685> 2025-01-08T22:32:27.921Z,1736375547.921 [DAT](INFO): DAT read: Tx time:22:32:27.1561 2025-01-08T22:32:27.921Z,1736375547.921 [DAT](INFO): Ping request sent. 2025-01-08T22:32:27.921Z,1736375547.921 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:27.922Z,1736375547.922 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-01-08T22:32:27.922Z,1736375547.922 [DAT](INFO): direction in FSK: [-0.089901,-0.835617,-0.541905] 2025-01-08T22:32:27.923Z,1736375547.923 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:27.988Z,1736375547.988 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:27.991Z,1736375547.991 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:27.991Z,1736375547.991 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:28.041Z,1736375548.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:28.080Z,1736375548.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.900002 m, deltaT: 3.527977 s, deltaX: -1.299995 m, approachRate: -0.368482 m/s, rangeRepo size: 4 2025-01-08T22:32:28.082Z,1736375548.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.900002 m, bearing: 76.683604 deg, lat: 36.904834 deg, lon: -122.119296 deg, deltaT: 3.527977 s, deltaX: -1.299995 m, approachRate: -0.368482 m/s, posRepo size: 4 2025-01-08T22:32:28.083Z,1736375548.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:32:28.161Z,1736375548.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:28.162Z,1736375548.162 [DAT](INFO): DAT read: TxSync time:22:32:27.1553 2025-01-08T22:32:28.379Z,1736375548.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:28.388Z,1736375548.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:32:28.412Z,1736375548.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:28.664Z,1736375548.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:28.776Z,1736375548.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:28.856Z,1736375548.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:32:28.916Z,1736375548.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:29.168Z,1736375549.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:29.197Z,1736375549.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:29.206Z,1736375549.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:32:29.422Z,1736375549.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:29.584Z,1736375549.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:29.592Z,1736375549.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:32:29.672Z,1736375549.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:29.926Z,1736375549.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:30.055Z,1736375550.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:30.064Z,1736375550.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:32:30.176Z,1736375550.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:30.414Z,1736375550.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:30.423Z,1736375550.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:32:30.428Z,1736375550.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:30.680Z,1736375550.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:30.888Z,1736375550.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:30.905Z,1736375550.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:32:30.932Z,1736375550.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:30.933Z,1736375550.933 [DAT](INFO): DAT read: Rx Time:22:32:29.6534 2025-01-08T22:32:30.933Z,1736375550.933 [DAT](INFO): Rx dataTimestamp_ set to:1736375550.932876 2025-01-08T22:32:31.184Z,1736375551.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:31.384Z,1736375551.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:31.409Z,1736375551.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m. 2025-01-08T22:32:31.436Z,1736375551.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:31.442Z,1736375551.442 [DAT](INFO): DAT read: 22:32:29.6534 LVL= 23664, 28241, 13362, 27075, AGC= 61, IDX= 422, 0.33, 2.822,-3.102,-1.227,-2.425, PHS=-0.949,-0.630, 1.194, RAW= 217.9, 3.9, CAL= 219.7, -0.8, ROT= 290.3, 0.8 2025-01-08T22:32:31.444Z,1736375551.444 [DAT](INFO): got valid direction response: 22:32:29.6534 LVL= 23664, 28241, 13362, 27075, AGC= 61, IDX= 422, 0.33, 2.822,-3.102,-1.227,-2.425, PHS=-0.949,-0.630, 1.194, RAW= 217.9, 3.9, CAL= 219.7, -0.8, ROT= 290.3, 0.8 2025-01-08T22:32:31.445Z,1736375551.445 [DAT](INFO): DAT read: Bearing 290.3, 0.8 (Local) 2025-01-08T22:32:31.445Z,1736375551.445 [DAT](INFO): Local bearing/azimuth received: Bearing 290.3, 0.8 (Local) 2025-01-08T22:32:31.449Z,1736375551.449 [DAT](INFO): DAT read: Range 10 to 50 : 69.8 m (Round-trip 93.1 ms) speed 0.0 m/s 2025-01-08T22:32:31.451Z,1736375551.451 [DAT](INFO): DAT read: user:2686> 2025-01-08T22:32:31.490Z,1736375551.490 [DAT](INFO): DAT read: Tx time:22:32:30.7561 2025-01-08T22:32:31.499Z,1736375551.499 [DAT](INFO): Ping request sent. 2025-01-08T22:32:31.499Z,1736375551.499 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:31.500Z,1736375551.500 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-01-08T22:32:31.501Z,1736375551.501 [DAT](INFO): direction in FSK: [-0.088382,-0.822182,-0.562321] 2025-01-08T22:32:31.501Z,1736375551.501 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:31.501Z,1736375551.501 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:31.523Z,1736375551.523 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:31.528Z,1736375551.528 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:31.688Z,1736375551.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:31.689Z,1736375551.689 [DAT](INFO): DAT read: TxSync time:22:32:30.7553 2025-01-08T22:32:31.792Z,1736375551.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:31.856Z,1736375551.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.800003 m, deltaT: 3.528070 s, deltaX: -1.099998 m, approachRate: -0.311785 m/s, rangeRepo size: 4 2025-01-08T22:32:31.887Z,1736375551.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.800003 m, bearing: 75.959665 deg, lat: 36.904832 deg, lon: -122.119327 deg, deltaT: 3.528070 s, deltaX: -1.099998 m, approachRate: -0.311785 m/s, posRepo size: 4 2025-01-08T22:32:31.888Z,1736375551.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.80 m. 2025-01-08T22:32:31.941Z,1736375551.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:32.188Z,1736375552.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:32.192Z,1736375552.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:32.199Z,1736375552.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.80 m. 2025-01-08T22:32:32.444Z,1736375552.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:32.580Z,1736375552.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:32.588Z,1736375552.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.80 m. 2025-01-08T22:32:32.696Z,1736375552.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:32.948Z,1736375552.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:33.009Z,1736375553.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:33.018Z,1736375553.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.80 m. 2025-01-08T22:32:33.200Z,1736375553.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:33.384Z,1736375553.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:33.395Z,1736375553.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.80 m. 2025-01-08T22:32:33.452Z,1736375553.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:33.704Z,1736375553.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:33.791Z,1736375553.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:33.801Z,1736375553.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.80 m. 2025-01-08T22:32:33.956Z,1736375553.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:34.208Z,1736375554.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:34.210Z,1736375554.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:34.220Z,1736375554.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.80 m. 2025-01-08T22:32:34.460Z,1736375554.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:34.462Z,1736375554.462 [DAT](INFO): DAT read: Rx Time:22:32:33.2524 2025-01-08T22:32:34.463Z,1736375554.463 [DAT](INFO): Rx dataTimestamp_ set to:1736375554.462382 2025-01-08T22:32:34.604Z,1736375554.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:34.613Z,1736375554.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.80 m. 2025-01-08T22:32:34.712Z,1736375554.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:34.964Z,1736375554.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:34.970Z,1736375554.970 [DAT](INFO): DAT read: 22:32:33.2524 LVL= 19440, 24241, 11762, 24771, AGC= 56, IDX= 428,-0.45, 1.918, 2.373,-1.949, 3.063, PHS=-1.057,-0.643, 1.268, RAW= 219.6, 4.1, CAL= 221.7, 0.0, ROT= 288.3, -0.0 2025-01-08T22:32:34.972Z,1736375554.972 [DAT](INFO): got valid direction response: 22:32:33.2524 LVL= 19440, 24241, 11762, 24771, AGC= 56, IDX= 428,-0.45, 1.918, 2.373,-1.949, 3.063, PHS=-1.057,-0.643, 1.268, RAW= 219.6, 4.1, CAL= 221.7, 0.0, ROT= 288.3, -0.0 2025-01-08T22:32:34.973Z,1736375554.973 [DAT](INFO): DAT read: Bearing 288.3, -0.0 (Local) 2025-01-08T22:32:34.973Z,1736375554.973 [DAT](INFO): Local bearing/azimuth received: Bearing 288.3, -0.0 (Local) 2025-01-08T22:32:34.974Z,1736375554.974 [DAT](INFO): DAT read: Range 10 to 50 : 69.0 m (Round-trip 92.0 ms) speed 0.2 m/s 2025-01-08T22:32:34.975Z,1736375554.975 [DAT](INFO): DAT read: user:2687> 2025-01-08T22:32:34.976Z,1736375554.976 [DAT](INFO): DAT read: Tx time:22:32:34.3562 2025-01-08T22:32:34.976Z,1736375554.976 [DAT](INFO): Ping request sent. 2025-01-08T22:32:34.976Z,1736375554.976 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:34.976Z,1736375554.976 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-01-08T22:32:34.978Z,1736375554.978 [DAT](INFO): direction in FSK: [-0.088212,-0.806241,-0.584974] 2025-01-08T22:32:34.978Z,1736375554.978 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:34.978Z,1736375554.978 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:34.982Z,1736375554.982 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:34.982Z,1736375554.982 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:35.113Z,1736375555.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:35.145Z,1736375555.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.000000 m, deltaT: 3.528138 s, deltaX: -0.800003 m, approachRate: -0.226749 m/s, rangeRepo size: 4 2025-01-08T22:32:35.164Z,1736375555.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.000000 m, bearing: 75.072509 deg, lat: 36.904821 deg, lon: -122.119376 deg, deltaT: 3.528138 s, deltaX: -0.800003 m, approachRate: -0.226749 m/s, posRepo size: 4 2025-01-08T22:32:35.164Z,1736375555.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.00 m. 2025-01-08T22:32:35.217Z,1736375555.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:35.218Z,1736375555.218 [DAT](INFO): DAT read: TxSync time:22:32:34.3554 2025-01-08T22:32:35.415Z,1736375555.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:35.423Z,1736375555.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.00 m. 2025-01-08T22:32:35.469Z,1736375555.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:35.720Z,1736375555.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:35.819Z,1736375555.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:35.828Z,1736375555.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.00 m. 2025-01-08T22:32:35.972Z,1736375555.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:36.224Z,1736375556.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:36.252Z,1736375556.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:36.261Z,1736375556.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.00 m. 2025-01-08T22:32:36.481Z,1736375556.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:36.650Z,1736375556.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:36.665Z,1736375556.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.00 m. 2025-01-08T22:32:36.729Z,1736375556.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:36.980Z,1736375556.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:37.076Z,1736375557.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:37.094Z,1736375557.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.00 m. 2025-01-08T22:32:37.233Z,1736375557.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:37.449Z,1736375557.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:37.458Z,1736375557.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.00 m. 2025-01-08T22:32:37.484Z,1736375557.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:37.736Z,1736375557.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:37.855Z,1736375557.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:37.865Z,1736375557.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.00 m. 2025-01-08T22:32:37.989Z,1736375557.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:37.990Z,1736375557.990 [DAT](INFO): DAT read: Rx Time:22:32:36.8512 2025-01-08T22:32:37.991Z,1736375557.991 [DAT](INFO): Rx dataTimestamp_ set to:1736375557.990661 2025-01-08T22:32:38.240Z,1736375558.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:38.260Z,1736375558.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:38.289Z,1736375558.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.00 m. 2025-01-08T22:32:38.492Z,1736375558.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:38.660Z,1736375558.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:38.674Z,1736375558.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.00 m. 2025-01-08T22:32:38.745Z,1736375558.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:38.764Z,1736375558.764 [DAT](INFO): DAT read: 22:32:36.8512 LVL= 14704, 19825, 10962, 19251, AGC= 56, IDX= 430, 0.48,-0.453, 0.076, 2.050, 0.697, PHS=-1.062,-0.575, 1.350, RAW= 221.0, 2.6, CAL= 222.4, -1.5, ROT= 287.6, 1.5 2025-01-08T22:32:38.766Z,1736375558.766 [DAT](INFO): got valid direction response: 22:32:36.8512 LVL= 14704, 19825, 10962, 19251, AGC= 56, IDX= 430, 0.48,-0.453, 0.076, 2.050, 0.697, PHS=-1.062,-0.575, 1.350, RAW= 221.0, 2.6, CAL= 222.4, -1.5, ROT= 287.6, 1.5 2025-01-08T22:32:38.772Z,1736375558.772 [DAT](INFO): DAT read: Bearing 287.6, 1.5 (Local) 2025-01-08T22:32:38.772Z,1736375558.772 [DAT](INFO): Local bearing/azimuth received: Bearing 287.6, 1.5 (Local) 2025-01-08T22:32:38.774Z,1736375558.774 [DAT](INFO): DAT read: Range 10 to 50 : 68.1 m (Round-trip 90.9 ms) speed 0.2 m/s 2025-01-08T22:32:38.775Z,1736375558.775 [DAT](INFO): DAT read: user:2688> 2025-01-08T22:32:38.784Z,1736375558.784 [DAT](INFO): DAT read: Tx time:22:32:37.9562 2025-01-08T22:32:38.785Z,1736375558.785 [DAT](INFO): Ping request sent. 2025-01-08T22:32:38.785Z,1736375558.785 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:38.786Z,1736375558.786 [DAT](INFO): DAT read: TxSync time:22:32:37.9554 2025-01-08T22:32:38.786Z,1736375558.786 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-01-08T22:32:38.791Z,1736375558.791 [DAT](INFO): direction in FSK: [-0.058744,-0.795747,-0.602774] 2025-01-08T22:32:38.792Z,1736375558.792 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:38.792Z,1736375558.792 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:38.817Z,1736375558.817 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:38.817Z,1736375558.817 [DAT](INFO): publishing direction and range info 2025-01-08T22:32:38.888Z,1736375558.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:32:38.997Z,1736375558.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:39.070Z,1736375559.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:39.086Z,1736375559.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.099998 m, deltaT: 3.780703 s, deltaX: -0.900002 m, approachRate: -0.238051 m/s, rangeRepo size: 4 2025-01-08T22:32:39.104Z,1736375559.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.099998 m, bearing: 74.648521 deg, lat: 36.904797 deg, lon: -122.119386 deg, deltaT: 3.780703 s, deltaX: -0.900002 m, approachRate: -0.238051 m/s, posRepo size: 4 2025-01-08T22:32:39.105Z,1736375559.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:39.248Z,1736375559.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:39.459Z,1736375559.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:39.485Z,1736375559.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:39.501Z,1736375559.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:39.752Z,1736375559.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:39.860Z,1736375559.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:39.869Z,1736375559.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:39.908Z,1736375559.908 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:32:40.004Z,1736375560.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:40.256Z,1736375560.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:40.316Z,1736375560.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:40.333Z,1736375560.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:40.508Z,1736375560.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:40.692Z,1736375560.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:40.701Z,1736375560.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:40.760Z,1736375560.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:41.013Z,1736375561.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:41.090Z,1736375561.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:41.124Z,1736375561.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:41.264Z,1736375561.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:41.500Z,1736375561.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:41.516Z,1736375561.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:41.526Z,1736375561.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:41.769Z,1736375561.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:41.770Z,1736375561.770 [DAT](INFO): DAT read: Rx Time:22:32:40.4500 2025-01-08T22:32:41.770Z,1736375561.770 [DAT](INFO): Rx dataTimestamp_ set to:1736375561.770099 2025-01-08T22:32:41.885Z,1736375561.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:41.918Z,1736375561.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:42.022Z,1736375562.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:42.272Z,1736375562.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:42.273Z,1736375562.273 [DAT](INFO): DAT read: Range 10 to 50 : 67.2 m (Round-trip 89.6 ms) speed 0.1 m/s 2025-01-08T22:32:42.274Z,1736375562.274 [DAT](INFO): DAT read: user:2689> 2025-01-08T22:32:42.275Z,1736375562.275 [DAT](INFO): DAT read: Tx time:22:32:41.5562 2025-01-08T22:32:42.276Z,1736375562.276 [DAT](INFO): Ping request sent. 2025-01-08T22:32:42.276Z,1736375562.276 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:42.276Z,1736375562.276 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-08T22:32:42.276Z,1736375562.276 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:42.278Z,1736375562.278 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:42.367Z,1736375562.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:42.392Z,1736375562.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.199997 m, deltaT: 3.527074 s, deltaX: -0.900002 m, approachRate: -0.255169 m/s, rangeRepo size: 4 2025-01-08T22:32:42.393Z,1736375562.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:42.524Z,1736375562.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:42.526Z,1736375562.526 [DAT](INFO): DAT read: TxSync time:22:32:41.5554 2025-01-08T22:32:42.717Z,1736375562.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:42.726Z,1736375562.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:42.776Z,1736375562.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:43.029Z,1736375563.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:43.118Z,1736375563.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:43.126Z,1736375563.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:43.280Z,1736375563.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:43.509Z,1736375563.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:43.532Z,1736375563.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:43.538Z,1736375563.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:43.784Z,1736375563.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:43.898Z,1736375563.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:43.906Z,1736375563.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:44.038Z,1736375564.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:44.288Z,1736375564.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:44.348Z,1736375564.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:44.356Z,1736375564.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:44.540Z,1736375564.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:44.712Z,1736375564.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:44.723Z,1736375564.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:44.794Z,1736375564.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:45.046Z,1736375565.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:45.145Z,1736375565.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:45.177Z,1736375565.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:45.296Z,1736375565.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:45.297Z,1736375565.297 [DAT](INFO): DAT read: Rx Time:22:32:44.0494 2025-01-08T22:32:45.298Z,1736375565.298 [DAT](INFO): Rx dataTimestamp_ set to:1736375565.297767 2025-01-08T22:32:45.512Z,1736375565.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:45.520Z,1736375565.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:45.548Z,1736375565.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:45.800Z,1736375565.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:45.802Z,1736375565.802 [DAT](INFO): DAT read: Range 10 to 50 : 66.7 m (Round-trip 89.0 ms) speed 0.0 m/s 2025-01-08T22:32:45.802Z,1736375565.802 [DAT](INFO): DAT read: user:2690> 2025-01-08T22:32:45.803Z,1736375565.803 [DAT](INFO): DAT read: Tx time:22:32:45.1562 2025-01-08T22:32:45.803Z,1736375565.803 [DAT](INFO): Ping request sent. 2025-01-08T22:32:45.804Z,1736375565.804 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:45.804Z,1736375565.804 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-01-08T22:32:45.804Z,1736375565.804 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:45.805Z,1736375565.805 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:45.956Z,1736375565.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:45.985Z,1736375565.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.699997 m, deltaT: 3.528141 s, deltaX: -0.500000 m, approachRate: -0.141718 m/s, rangeRepo size: 4 2025-01-08T22:32:45.985Z,1736375565.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:46.053Z,1736375566.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:46.056Z,1736375566.056 [DAT](INFO): DAT read: TxSync time:22:32:45.1555 2025-01-08T22:32:46.304Z,1736375566.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:46.381Z,1736375566.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:46.389Z,1736375566.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:46.556Z,1736375566.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:46.781Z,1736375566.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:46.790Z,1736375566.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:46.808Z,1736375566.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:47.061Z,1736375567.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:47.178Z,1736375567.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:47.187Z,1736375567.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:47.312Z,1736375567.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:47.550Z,1736375567.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:47.564Z,1736375567.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:47.581Z,1736375567.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:47.816Z,1736375567.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:47.956Z,1736375567.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:47.965Z,1736375567.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:48.078Z,1736375568.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:48.320Z,1736375568.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:48.402Z,1736375568.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:48.412Z,1736375568.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:48.572Z,1736375568.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:48.776Z,1736375568.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:48.785Z,1736375568.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:48.826Z,1736375568.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:48.828Z,1736375568.828 [DAT](INFO): DAT read: Rx Time:22:32:47.6489 2025-01-08T22:32:48.829Z,1736375568.829 [DAT](INFO): Rx dataTimestamp_ set to:1736375568.828459 2025-01-08T22:32:49.076Z,1736375569.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:49.235Z,1736375569.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:49.268Z,1736375569.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:49.328Z,1736375569.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:49.330Z,1736375569.330 [DAT](INFO): DAT read: Range 10 to 50 : 66.3 m (Round-trip 88.4 ms) speed 0.1 m/s 2025-01-08T22:32:49.330Z,1736375569.330 [DAT](INFO): DAT read: user:2691> 2025-01-08T22:32:49.331Z,1736375569.331 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-01-08T22:32:49.580Z,1736375569.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:49.581Z,1736375569.581 [DAT](INFO): DAT read: Tx time:22:32:48.7563 2025-01-08T22:32:49.581Z,1736375569.581 [DAT](INFO): Ping request sent. 2025-01-08T22:32:49.581Z,1736375569.581 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:49.582Z,1736375569.582 [DAT](INFO): DAT read: TxSync time:22:32:48.7555 2025-01-08T22:32:49.582Z,1736375569.582 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:49.589Z,1736375569.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:49.629Z,1736375569.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.528216 s, deltaX: -0.399994 m, approachRate: -0.113370 m/s, rangeRepo size: 4 2025-01-08T22:32:49.629Z,1736375569.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:49.832Z,1736375569.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:49.988Z,1736375569.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:49.997Z,1736375569.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:50.086Z,1736375570.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:50.336Z,1736375570.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:50.453Z,1736375570.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:50.465Z,1736375570.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:50.588Z,1736375570.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:50.810Z,1736375570.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:50.818Z,1736375570.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:50.840Z,1736375570.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:51.092Z,1736375571.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:51.230Z,1736375571.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:51.239Z,1736375571.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:51.345Z,1736375571.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:51.596Z,1736375571.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:51.605Z,1736375571.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:51.615Z,1736375571.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:51.848Z,1736375571.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:52.019Z,1736375572.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:52.028Z,1736375572.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:52.101Z,1736375572.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:52.352Z,1736375572.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:52.353Z,1736375572.353 [DAT](INFO): DAT read: Rx Time:22:32:51.2481 2025-01-08T22:32:52.354Z,1736375572.354 [DAT](INFO): Rx dataTimestamp_ set to:1736375572.353354 2025-01-08T22:32:52.445Z,1736375572.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:52.454Z,1736375572.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:52.604Z,1736375572.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:52.831Z,1736375572.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:52.839Z,1736375572.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:52.857Z,1736375572.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:53.108Z,1736375573.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:53.109Z,1736375573.109 [DAT](INFO): DAT read: Range 10 to 50 : 65.7 m (Round-trip 87.6 ms) speed 0.1 m/s 2025-01-08T22:32:53.111Z,1736375573.111 [DAT](INFO): DAT read: user:2692> 2025-01-08T22:32:53.113Z,1736375573.113 [DAT](INFO): DAT read: Tx time:22:32:52.3563 2025-01-08T22:32:53.113Z,1736375573.113 [DAT](INFO): Ping request sent. 2025-01-08T22:32:53.113Z,1736375573.113 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:53.113Z,1736375573.113 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-01-08T22:32:53.114Z,1736375573.114 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:53.114Z,1736375573.114 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:53.356Z,1736375573.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:53.360Z,1736375573.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:53.361Z,1736375573.361 [DAT](INFO): DAT read: TxSync time:22:32:52.3555 2025-01-08T22:32:53.381Z,1736375573.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 3.779688 s, deltaX: -0.600006 m, approachRate: -0.158745 m/s, rangeRepo size: 4 2025-01-08T22:32:53.382Z,1736375573.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:53.612Z,1736375573.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:53.709Z,1736375573.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:53.717Z,1736375573.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:53.864Z,1736375573.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:54.090Z,1736375574.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:54.102Z,1736375574.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:54.116Z,1736375574.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:54.368Z,1736375574.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:54.526Z,1736375574.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:54.537Z,1736375574.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:54.620Z,1736375574.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:54.872Z,1736375574.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:54.978Z,1736375574.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:54.999Z,1736375574.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:55.126Z,1736375575.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:55.371Z,1736375575.371 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for water velocity. Device response is::WS-32768,-32768,V 2025-01-08T22:32:55.380Z,1736375575.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:55.381Z,1736375575.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:32:55.381Z,1736375575.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:55.406Z,1736375575.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:55.632Z,1736375575.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:55.822Z,1736375575.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:32:55.822Z,1736375575.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:55.841Z,1736375575.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:55.884Z,1736375575.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:56.136Z,1736375576.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:56.136Z,1736375576.136 [DAT](INFO): DAT read: Rx Time:22:32:54.8477 2025-01-08T22:32:56.137Z,1736375576.137 [DAT](INFO): Rx dataTimestamp_ set to:1736375576.136600 2025-01-08T22:32:56.313Z,1736375576.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:56.321Z,1736375576.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:56.388Z,1736375576.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:56.638Z,1736375576.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:56.640Z,1736375576.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:56.642Z,1736375576.642 [DAT](INFO): DAT read: Range 10 to 50 : 65.4 m (Round-trip 87.3 ms) speed 0.0 m/s 2025-01-08T22:32:56.643Z,1736375576.643 [DAT](INFO): DAT read: user:2693> 2025-01-08T22:32:56.644Z,1736375576.644 [DAT](INFO): DAT read: Tx time:22:32:55.9563 2025-01-08T22:32:56.645Z,1736375576.645 [DAT](INFO): Ping request sent. 2025-01-08T22:32:56.645Z,1736375576.645 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:32:56.645Z,1736375576.645 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-01-08T22:32:56.645Z,1736375576.645 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:56.646Z,1736375576.646 [DAT](INFO): publishing transmit ping time 2025-01-08T22:32:56.692Z,1736375576.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.532284 s, deltaX: -0.299995 m, approachRate: -0.084930 m/s, rangeRepo size: 4 2025-01-08T22:32:56.693Z,1736375576.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:56.892Z,1736375576.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:56.893Z,1736375576.893 [DAT](INFO): DAT read: TxSync time:22:32:55.9555 2025-01-08T22:32:57.023Z,1736375577.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:57.058Z,1736375577.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:57.145Z,1736375577.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:57.396Z,1736375577.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:57.468Z,1736375577.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:57.477Z,1736375577.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:57.650Z,1736375577.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:57.857Z,1736375577.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:57.865Z,1736375577.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:57.900Z,1736375577.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:58.152Z,1736375578.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:58.337Z,1736375578.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:58.365Z,1736375578.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:58.404Z,1736375578.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:58.648Z,1736375578.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:58.665Z,1736375578.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:58.681Z,1736375578.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:58.916Z,1736375578.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:59.050Z,1736375579.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:59.059Z,1736375579.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:59.168Z,1736375579.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:59.420Z,1736375579.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:59.512Z,1736375579.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:59.521Z,1736375579.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:59.672Z,1736375579.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:32:59.673Z,1736375579.673 [DAT](INFO): DAT read: Rx Time:22:32:58.4478 2025-01-08T22:32:59.674Z,1736375579.674 [DAT](INFO): Rx dataTimestamp_ set to:1736375579.673807 2025-01-08T22:32:59.876Z,1736375579.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:32:59.894Z,1736375579.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:32:59.924Z,1736375579.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:00.176Z,1736375580.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:00.178Z,1736375580.178 [DAT](INFO): DAT read: Range 10 to 50 : 65.5 m (Round-trip 87.4 ms) speed 0.0 m/s 2025-01-08T22:33:00.179Z,1736375580.179 [DAT](INFO): DAT read: user:2694> 2025-01-08T22:33:00.180Z,1736375580.180 [DAT](INFO): DAT read: Tx time:22:32:59.5563 2025-01-08T22:33:00.180Z,1736375580.180 [DAT](INFO): Ping request sent. 2025-01-08T22:33:00.180Z,1736375580.180 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:00.180Z,1736375580.180 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-01-08T22:33:00.181Z,1736375580.181 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:00.181Z,1736375580.181 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:00.385Z,1736375580.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:00.395Z,1736375580.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.500000 m, deltaT: 3.535680 s, deltaX: 0.099998 m, approachRate: 0.028283 m/s, rangeRepo size: 4 2025-01-08T22:33:00.395Z,1736375580.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:00.430Z,1736375580.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:00.431Z,1736375580.431 [DAT](INFO): DAT read: TxSync time:22:32:59.5555 2025-01-08T22:33:00.674Z,1736375580.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:00.680Z,1736375580.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:00.707Z,1736375580.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:00.933Z,1736375580.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:01.066Z,1736375581.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:01.074Z,1736375581.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:01.184Z,1736375581.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:01.436Z,1736375581.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:01.538Z,1736375581.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:01.548Z,1736375581.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:01.689Z,1736375581.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:01.875Z,1736375581.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:01.901Z,1736375581.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:01.941Z,1736375581.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:02.192Z,1736375582.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:02.334Z,1736375582.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:02.351Z,1736375582.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:02.444Z,1736375582.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:02.696Z,1736375582.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:02.710Z,1736375582.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:02.741Z,1736375582.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:02.950Z,1736375582.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:03.084Z,1736375583.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:03.112Z,1736375583.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:03.200Z,1736375583.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:03.201Z,1736375583.201 [DAT](INFO): DAT read: Rx Time:22:33:02.0477 2025-01-08T22:33:03.201Z,1736375583.201 [DAT](INFO): Rx dataTimestamp_ set to:1736375583.200946 2025-01-08T22:33:03.452Z,1736375583.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:03.525Z,1736375583.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:03.537Z,1736375583.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:03.710Z,1736375583.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:03.713Z,1736375583.713 [DAT](INFO): DAT read: Range 10 to 50 : 65.4 m (Round-trip 87.2 ms) speed 0.0 m/s 2025-01-08T22:33:03.714Z,1736375583.714 [DAT](INFO): DAT read: user:2695> 2025-01-08T22:33:03.714Z,1736375583.714 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-01-08T22:33:03.899Z,1736375583.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:03.908Z,1736375583.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.534454 s, deltaX: -0.099998 m, approachRate: -0.028292 m/s, rangeRepo size: 4 2025-01-08T22:33:03.909Z,1736375583.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:03.957Z,1736375583.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:03.959Z,1736375583.959 [DAT](INFO): DAT read: Tx time:22:33:03.1564 2025-01-08T22:33:03.960Z,1736375583.960 [DAT](INFO): Ping request sent. 2025-01-08T22:33:03.960Z,1736375583.960 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:03.961Z,1736375583.961 [DAT](INFO): DAT read: TxSync time:22:33:03.1556 2025-01-08T22:33:03.961Z,1736375583.961 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:04.208Z,1736375584.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:04.364Z,1736375584.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:04.379Z,1736375584.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:04.462Z,1736375584.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:04.712Z,1736375584.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:04.722Z,1736375584.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:04.756Z,1736375584.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:04.965Z,1736375584.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:05.116Z,1736375585.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:05.124Z,1736375585.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:05.216Z,1736375585.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:05.468Z,1736375585.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:05.542Z,1736375585.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:05.551Z,1736375585.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:05.720Z,1736375585.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:05.914Z,1736375585.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:05.922Z,1736375585.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:05.973Z,1736375585.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:06.225Z,1736375586.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:06.360Z,1736375586.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:06.403Z,1736375586.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:06.476Z,1736375586.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:06.728Z,1736375586.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:06.758Z,1736375586.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:06.768Z,1736375586.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:06.981Z,1736375586.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:06.984Z,1736375586.984 [DAT](INFO): DAT read: Rx Time:22:33:05.6477 2025-01-08T22:33:06.985Z,1736375586.985 [DAT](INFO): Rx dataTimestamp_ set to:1736375586.984670 2025-01-08T22:33:07.124Z,1736375587.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:07.133Z,1736375587.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:07.232Z,1736375587.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:07.484Z,1736375587.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:07.485Z,1736375587.485 [DAT](INFO): DAT read: Range 10 to 50 : 65.4 m (Round-trip 87.2 ms) speed 0.0 m/s 2025-01-08T22:33:07.486Z,1736375587.486 [DAT](INFO): DAT read: user:2696> 2025-01-08T22:33:07.487Z,1736375587.487 [DAT](INFO): DAT read: Tx time:22:33:06.7564 2025-01-08T22:33:07.487Z,1736375587.487 [DAT](INFO): Ping request sent. 2025-01-08T22:33:07.487Z,1736375587.487 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:07.488Z,1736375587.488 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-01-08T22:33:07.488Z,1736375587.488 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:07.488Z,1736375587.488 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:07.627Z,1736375587.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:07.637Z,1736375587.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.773482 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:33:07.638Z,1736375587.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:07.736Z,1736375587.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:07.737Z,1736375587.737 [DAT](INFO): DAT read: TxSync time:22:33:06.7556 2025-01-08T22:33:07.948Z,1736375587.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:07.956Z,1736375587.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:07.988Z,1736375587.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:08.240Z,1736375588.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:08.347Z,1736375588.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:08.430Z,1736375588.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:08.492Z,1736375588.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:08.745Z,1736375588.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:08.763Z,1736375588.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:08.772Z,1736375588.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:08.996Z,1736375588.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:09.165Z,1736375589.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:09.173Z,1736375589.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:09.248Z,1736375589.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:09.500Z,1736375589.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:09.588Z,1736375589.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:09.621Z,1736375589.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:09.752Z,1736375589.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:09.959Z,1736375589.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:09.972Z,1736375589.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:10.004Z,1736375590.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:10.029Z,1736375590.029 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:33:10.256Z,1736375590.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:10.374Z,1736375590.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:10.390Z,1736375590.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:10.509Z,1736375590.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:10.510Z,1736375590.510 [DAT](INFO): DAT read: Rx Time:22:33:09.2482 2025-01-08T22:33:10.510Z,1736375590.510 [DAT](INFO): Rx dataTimestamp_ set to:1736375590.509855 2025-01-08T22:33:10.760Z,1736375590.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:10.808Z,1736375590.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:10.821Z,1736375590.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:11.012Z,1736375591.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:11.014Z,1736375591.014 [DAT](INFO): DAT read: Range 10 to 50 : 65.7 m (Round-trip 87.6 ms) speed 0.0 m/s 2025-01-08T22:33:11.014Z,1736375591.014 [DAT](INFO): DAT read: user:2697> 2025-01-08T22:33:11.015Z,1736375591.015 [DAT](INFO): DAT read: Tx time:22:33:10.3564 2025-01-08T22:33:11.015Z,1736375591.015 [DAT](INFO): Ping request sent. 2025-01-08T22:33:11.016Z,1736375591.016 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:11.016Z,1736375591.016 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-01-08T22:33:11.016Z,1736375591.016 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:11.017Z,1736375591.017 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:11.032Z,1736375591.032 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:33:11.174Z,1736375591.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:11.184Z,1736375591.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 3.528190 s, deltaX: 0.299995 m, approachRate: 0.085028 m/s, rangeRepo size: 4 2025-01-08T22:33:11.185Z,1736375591.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:11.264Z,1736375591.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:11.266Z,1736375591.266 [DAT](INFO): DAT read: TxSync time:22:33:10.3556 2025-01-08T22:33:11.516Z,1736375591.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:11.593Z,1736375591.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:11.603Z,1736375591.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:11.768Z,1736375591.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:11.976Z,1736375591.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:11.986Z,1736375591.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:12.020Z,1736375592.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:12.272Z,1736375592.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:12.378Z,1736375592.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:12.386Z,1736375592.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:12.524Z,1736375592.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:12.776Z,1736375592.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:12.813Z,1736375592.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:12.850Z,1736375592.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:13.028Z,1736375593.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:13.193Z,1736375593.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:13.225Z,1736375593.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:13.280Z,1736375593.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:13.532Z,1736375593.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:13.633Z,1736375593.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:13.641Z,1736375593.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:13.784Z,1736375593.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:14.006Z,1736375594.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:14.015Z,1736375594.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:14.053Z,1736375594.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:14.054Z,1736375594.054 [DAT](INFO): DAT read: Rx Time:22:33:12.8487 2025-01-08T22:33:14.055Z,1736375594.055 [DAT](INFO): Rx dataTimestamp_ set to:1736375594.054374 2025-01-08T22:33:14.304Z,1736375594.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:14.415Z,1736375594.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:14.423Z,1736375594.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:14.556Z,1736375594.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:14.558Z,1736375594.558 [DAT](INFO): DAT read: Range 10 to 50 : 66.0 m (Round-trip 88.1 ms) speed 0.0 m/s 2025-01-08T22:33:14.558Z,1736375594.558 [DAT](INFO): DAT read: user:2698> 2025-01-08T22:33:14.559Z,1736375594.559 [DAT](INFO): DAT read: Tx time:22:33:13.9564 2025-01-08T22:33:14.559Z,1736375594.559 [DAT](INFO): Ping request sent. 2025-01-08T22:33:14.560Z,1736375594.560 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:14.560Z,1736375594.560 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-01-08T22:33:14.560Z,1736375594.560 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:14.561Z,1736375594.561 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:14.808Z,1736375594.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:14.809Z,1736375594.809 [DAT](INFO): DAT read: TxSync time:22:33:13.9556 2025-01-08T22:33:14.857Z,1736375594.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:14.875Z,1736375594.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 3.544069 s, deltaX: 0.300003 m, approachRate: 0.084649 m/s, rangeRepo size: 4 2025-01-08T22:33:14.879Z,1736375594.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:15.060Z,1736375595.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:15.213Z,1736375595.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:15.227Z,1736375595.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:15.312Z,1736375595.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:15.564Z,1736375595.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:15.642Z,1736375595.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:15.656Z,1736375595.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:15.816Z,1736375595.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:16.016Z,1736375596.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:16.024Z,1736375596.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:16.068Z,1736375596.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:16.320Z,1736375596.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:16.420Z,1736375596.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:16.429Z,1736375596.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:16.572Z,1736375596.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:16.824Z,1736375596.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:16.857Z,1736375596.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:33:16.857Z,1736375596.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:16.873Z,1736375596.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:17.077Z,1736375597.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:17.232Z,1736375597.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:33:17.232Z,1736375597.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:17.240Z,1736375597.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:17.328Z,1736375597.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:17.580Z,1736375597.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:17.580Z,1736375597.580 [DAT](INFO): DAT read: Rx Time:22:33:16.4493 2025-01-08T22:33:17.581Z,1736375597.581 [DAT](INFO): Rx dataTimestamp_ set to:1736375597.580672 2025-01-08T22:33:17.691Z,1736375597.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:17.701Z,1736375597.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:17.832Z,1736375597.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:18.084Z,1736375598.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:18.132Z,1736375598.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:18.151Z,1736375598.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:18.336Z,1736375598.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:18.338Z,1736375598.338 [DAT](INFO): DAT read: Range 10 to 50 : 66.4 m (Round-trip 88.6 ms) speed -0.1 m/s 2025-01-08T22:33:18.338Z,1736375598.338 [DAT](INFO): DAT read: user:2699> 2025-01-08T22:33:18.354Z,1736375598.354 [DAT](INFO): DAT read: Tx time:22:33:17.5565 2025-01-08T22:33:18.354Z,1736375598.354 [DAT](INFO): Ping request sent. 2025-01-08T22:33:18.354Z,1736375598.354 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:18.364Z,1736375598.364 [DAT](INFO): DAT read: TxSync time:22:33:17.5557 2025-01-08T22:33:18.364Z,1736375598.364 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-01-08T22:33:18.365Z,1736375598.365 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:18.365Z,1736375598.365 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:18.579Z,1736375598.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:18.588Z,1736375598.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:18.598Z,1736375598.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.400002 m, deltaT: 3.780040 s, deltaX: 0.400002 m, approachRate: 0.105819 m/s, rangeRepo size: 4 2025-01-08T22:33:18.598Z,1736375598.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:18.840Z,1736375598.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:19.035Z,1736375599.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:19.069Z,1736375599.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:19.092Z,1736375599.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:19.344Z,1736375599.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:19.417Z,1736375599.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:19.425Z,1736375599.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:19.598Z,1736375599.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:19.844Z,1736375599.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:19.848Z,1736375599.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:19.859Z,1736375599.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:20.100Z,1736375600.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:20.230Z,1736375600.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:20.238Z,1736375600.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:20.352Z,1736375600.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:20.604Z,1736375600.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:20.679Z,1736375600.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:20.697Z,1736375600.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:20.856Z,1736375600.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:21.037Z,1736375601.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:21.046Z,1736375601.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:21.109Z,1736375601.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:21.360Z,1736375601.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:21.361Z,1736375601.361 [DAT](INFO): DAT read: Rx Time:22:33:20.0500 2025-01-08T22:33:21.362Z,1736375601.362 [DAT](INFO): Rx dataTimestamp_ set to:1736375601.361351 2025-01-08T22:33:21.439Z,1736375601.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:21.463Z,1736375601.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:21.614Z,1736375601.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:21.894Z,1736375601.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:21.899Z,1736375601.899 [DAT](INFO): DAT read: Range 10 to 50 : 67.0 m (Round-trip 89.4 ms) speed -0.2 m/s 2025-01-08T22:33:21.900Z,1736375601.900 [DAT](INFO): DAT read: user:2700> 2025-01-08T22:33:21.900Z,1736375601.900 [DAT](INFO): DAT read: Tx time:22:33:21.1565 2025-01-08T22:33:21.901Z,1736375601.901 [DAT](INFO): Ping request sent. 2025-01-08T22:33:21.901Z,1736375601.901 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:21.901Z,1736375601.901 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-01-08T22:33:21.901Z,1736375601.901 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:21.902Z,1736375601.902 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:21.906Z,1736375601.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:21.917Z,1736375601.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.000000 m, deltaT: 3.558602 s, deltaX: 0.599998 m, approachRate: 0.168605 m/s, rangeRepo size: 4 2025-01-08T22:33:21.917Z,1736375601.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:22.144Z,1736375602.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:22.145Z,1736375602.145 [DAT](INFO): DAT read: TxSync time:22:33:21.1557 2025-01-08T22:33:22.263Z,1736375602.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:22.271Z,1736375602.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:22.396Z,1736375602.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:22.649Z,1736375602.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:22.706Z,1736375602.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:22.716Z,1736375602.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:22.900Z,1736375602.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:23.059Z,1736375603.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:23.069Z,1736375603.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:23.152Z,1736375603.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:23.404Z,1736375603.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:23.480Z,1736375603.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:23.486Z,1736375603.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:33:23.488Z,1736375603.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:23.657Z,1736375603.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:23.659Z,1736375603.659 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:33:23.660Z,1736375603.660 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:33:23.661Z,1736375603.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:33:23.908Z,1736375603.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:23.909Z,1736375603.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007733 2025-01-08T22:33:23.909Z,1736375603.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:23.919Z,1736375603.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:24.160Z,1736375604.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:24.161Z,1736375604.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260054 2025-01-08T22:33:24.303Z,1736375604.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:24.311Z,1736375604.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:24.412Z,1736375604.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:24.413Z,1736375604.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511792 2025-01-08T22:33:24.666Z,1736375604.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:24.667Z,1736375604.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766070 2025-01-08T22:33:24.749Z,1736375604.749 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -88.31425.75, -22.10, 8.71, 0.00 2025-01-08T22:33:24.756Z,1736375604.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:33:24.756Z,1736375604.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:24.766Z,1736375604.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:24.916Z,1736375604.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:24.916Z,1736375604.916 [DAT](INFO): DAT read: Rx Time:22:33:23.6509 2025-01-08T22:33:24.917Z,1736375604.917 [DAT](INFO): Rx dataTimestamp_ set to:1736375604.916632 2025-01-08T22:33:24.917Z,1736375604.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016673 2025-01-08T22:33:25.168Z,1736375605.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:25.169Z,1736375605.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267608 2025-01-08T22:33:25.236Z,1736375605.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:33:25.236Z,1736375605.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:25.253Z,1736375605.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:25.420Z,1736375605.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:25.423Z,1736375605.423 [DAT](INFO): DAT read: Range 10 to 50 : 67.7 m (Round-trip 90.3 ms) speed -0.2 m/s 2025-01-08T22:33:25.425Z,1736375605.425 [DAT](INFO): DAT read: user:2701> 2025-01-08T22:33:25.426Z,1736375605.426 [DAT](INFO): DAT read: Tx time:22:33:24.7565 2025-01-08T22:33:25.426Z,1736375605.426 [DAT](INFO): Ping request sent. 2025-01-08T22:33:25.426Z,1736375605.426 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:25.427Z,1736375605.427 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:33:25.427Z,1736375605.427 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:25.429Z,1736375605.429 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:25.674Z,1736375605.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:25.677Z,1736375605.677 [DAT](INFO): DAT read: TxSync time:22:33:24.7557 2025-01-08T22:33:25.738Z,1736375605.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:25.760Z,1736375605.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.699997 m, deltaT: 3.525989 s, deltaX: 0.699997 m, approachRate: 0.198525 m/s, rangeRepo size: 4 2025-01-08T22:33:25.760Z,1736375605.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:25.924Z,1736375605.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:26.055Z,1736375606.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:26.065Z,1736375606.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:26.176Z,1736375606.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:26.430Z,1736375606.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:26.453Z,1736375606.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:26.479Z,1736375606.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:26.685Z,1736375606.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:26.886Z,1736375606.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:26.896Z,1736375606.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:26.936Z,1736375606.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:27.188Z,1736375607.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:27.261Z,1736375607.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:27.269Z,1736375607.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:27.440Z,1736375607.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:27.693Z,1736375607.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:27.770Z,1736375607.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:27.779Z,1736375607.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:27.946Z,1736375607.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:28.076Z,1736375608.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:28.087Z,1736375608.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:28.196Z,1736375608.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:28.452Z,1736375608.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:28.453Z,1736375608.453 [DAT](INFO): DAT read: Rx Time:22:33:27.2519 2025-01-08T22:33:28.453Z,1736375608.453 [DAT](INFO): Rx dataTimestamp_ set to:1736375608.452927 2025-01-08T22:33:28.478Z,1736375608.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:28.505Z,1736375608.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:28.706Z,1736375608.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:28.906Z,1736375608.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:28.943Z,1736375608.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:28.956Z,1736375608.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:28.958Z,1736375608.958 [DAT](INFO): DAT read: Range 10 to 50 : 68.4 m (Round-trip 91.3 ms) speed -0.2 m/s 2025-01-08T22:33:28.958Z,1736375608.958 [DAT](INFO): DAT read: user:2702> 2025-01-08T22:33:28.959Z,1736375608.959 [DAT](INFO): DAT read: Tx time:22:33:28.3566 2025-01-08T22:33:28.960Z,1736375608.960 [DAT](INFO): Ping request sent. 2025-01-08T22:33:28.960Z,1736375608.960 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:28.960Z,1736375608.960 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-01-08T22:33:28.960Z,1736375608.960 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:28.961Z,1736375608.961 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:29.208Z,1736375609.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:29.209Z,1736375609.209 [DAT](INFO): DAT read: TxSync time:22:33:28.3558 2025-01-08T22:33:29.299Z,1736375609.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:29.316Z,1736375609.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.400002 m, deltaT: 3.535477 s, deltaX: 0.700005 m, approachRate: 0.197994 m/s, rangeRepo size: 4 2025-01-08T22:33:29.317Z,1736375609.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:29.461Z,1736375609.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:29.716Z,1736375609.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:29.785Z,1736375609.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:29.800Z,1736375609.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:29.968Z,1736375609.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:30.096Z,1736375610.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:30.104Z,1736375610.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:30.220Z,1736375610.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:30.473Z,1736375610.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:30.513Z,1736375610.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:30.521Z,1736375610.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:30.725Z,1736375610.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:30.930Z,1736375610.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:30.938Z,1736375610.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:30.977Z,1736375610.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:31.229Z,1736375611.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:31.300Z,1736375611.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:31.309Z,1736375611.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:31.480Z,1736375611.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:31.709Z,1736375611.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:31.734Z,1736375611.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:31.788Z,1736375611.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:31.984Z,1736375611.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:32.140Z,1736375612.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:32.178Z,1736375612.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:32.236Z,1736375612.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:32.237Z,1736375612.237 [DAT](INFO): DAT read: Rx Time:22:33:30.8531 2025-01-08T22:33:32.238Z,1736375612.238 [DAT](INFO): Rx dataTimestamp_ set to:1736375612.237640 2025-01-08T22:33:32.492Z,1736375612.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:32.542Z,1736375612.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:32.557Z,1736375612.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:32.746Z,1736375612.746 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:32.753Z,1736375612.753 [DAT](INFO): DAT read: Range 10 to 50 : 69.2 m (Round-trip 92.3 ms) speed -0.2 m/s 2025-01-08T22:33:32.756Z,1736375612.756 [DAT](INFO): DAT read: user:2703> 2025-01-08T22:33:32.759Z,1736375612.759 [DAT](INFO): DAT read: Tx time:22:33:31.9566 2025-01-08T22:33:32.760Z,1736375612.760 [DAT](INFO): Ping request sent. 2025-01-08T22:33:32.761Z,1736375612.761 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:32.763Z,1736375612.763 [DAT](INFO): DAT read: TxSync time:22:33:31.9558 2025-01-08T22:33:32.765Z,1736375612.765 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-01-08T22:33:32.765Z,1736375612.765 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:32.797Z,1736375612.797 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:32.977Z,1736375612.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:32.987Z,1736375612.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.199997 m, deltaT: 3.790118 s, deltaX: 0.799995 m, approachRate: 0.211074 m/s, rangeRepo size: 4 2025-01-08T22:33:32.996Z,1736375612.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:33.000Z,1736375613.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:33.248Z,1736375613.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:33.326Z,1736375613.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:33.335Z,1736375613.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:33.500Z,1736375613.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:33.721Z,1736375613.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:33.754Z,1736375613.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:33.793Z,1736375613.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:34.004Z,1736375614.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:34.170Z,1736375614.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:34.180Z,1736375614.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:34.256Z,1736375614.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:34.511Z,1736375614.511 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:34.561Z,1736375614.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:34.591Z,1736375614.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:34.765Z,1736375614.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:34.974Z,1736375614.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:34.983Z,1736375614.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:35.018Z,1736375615.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:35.268Z,1736375615.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:35.349Z,1736375615.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:35.358Z,1736375615.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:35.520Z,1736375615.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:35.747Z,1736375615.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:35.759Z,1736375615.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:35.772Z,1736375615.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:35.773Z,1736375615.773 [DAT](INFO): DAT read: Rx Time:22:33:34.4542 2025-01-08T22:33:35.774Z,1736375615.774 [DAT](INFO): Rx dataTimestamp_ set to:1736375615.772704 2025-01-08T22:33:36.024Z,1736375616.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:36.222Z,1736375616.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:36.232Z,1736375616.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T22:33:36.276Z,1736375616.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:36.288Z,1736375616.288 [DAT](INFO): DAT read: 22:33:34.4542 LVL= 17488, 15617, 13810, 21843, AGC= 58, IDX= 442,-0.26,-2.219,-0.284, 0.340,-0.603, PHS=-1.528, 0.366, 0.940, RAW= 257.2, 2.0, CAL= 261.1, 3.2, ROT= 248.9, -3.2 2025-01-08T22:33:36.289Z,1736375616.289 [DAT](INFO): got valid direction response: 22:33:34.4542 LVL= 17488, 15617, 13810, 21843, AGC= 58, IDX= 442,-0.26,-2.219,-0.284, 0.340,-0.603, PHS=-1.528, 0.366, 0.940, RAW= 257.2, 2.0, CAL= 261.1, 3.2, ROT= 248.9, -3.2 2025-01-08T22:33:36.291Z,1736375616.291 [DAT](INFO): DAT read: Bearing 248.9, -3.2 (Local) 2025-01-08T22:33:36.292Z,1736375616.292 [DAT](INFO): Local bearing/azimuth received: Bearing 248.9, -3.2 (Local) 2025-01-08T22:33:36.293Z,1736375616.293 [DAT](INFO): DAT read: Range 10 to 50 : 70.1 m (Round-trip 93.5 ms) speed -0.2 m/s 2025-01-08T22:33:36.294Z,1736375616.294 [DAT](INFO): DAT read: user:2704> 2025-01-08T22:33:36.301Z,1736375616.301 [DAT](INFO): DAT read: Tx time:22:33:35.5566 2025-01-08T22:33:36.301Z,1736375616.301 [DAT](INFO): Ping request sent. 2025-01-08T22:33:36.302Z,1736375616.302 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:36.302Z,1736375616.302 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-01-08T22:33:36.303Z,1736375616.303 [DAT](INFO): direction in FSK: [0.024866,-0.320100,-0.947058] 2025-01-08T22:33:36.307Z,1736375616.307 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:36.308Z,1736375616.308 [DAT](INFO): publishing direction and range info 2025-01-08T22:33:36.319Z,1736375616.319 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:36.328Z,1736375616.328 [DAT](INFO): publishing direction and range info 2025-01-08T22:33:36.528Z,1736375616.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:36.529Z,1736375616.529 [DAT](INFO): DAT read: TxSync time:22:33:35.5558 2025-01-08T22:33:36.606Z,1736375616.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:36.648Z,1736375616.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.099998 m, deltaT: 3.530345 s, deltaX: 0.900002 m, approachRate: 0.254933 m/s, rangeRepo size: 4 2025-01-08T22:33:36.657Z,1736375616.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.099998 m, bearing: 92.393891 deg, lat: 36.904777 deg, lon: -122.119406 deg, deltaT: 57.531849 s, deltaX: 2.000000 m, approachRate: 0.034763 m/s, posRepo size: 4 2025-01-08T22:33:36.658Z,1736375616.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.10 m. 2025-01-08T22:33:36.782Z,1736375616.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:36.989Z,1736375616.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:37.014Z,1736375617.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.10 m. 2025-01-08T22:33:37.032Z,1736375617.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:37.284Z,1736375617.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:37.433Z,1736375617.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:37.442Z,1736375617.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.10 m. 2025-01-08T22:33:37.536Z,1736375617.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:37.762Z,1736375617.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:37.771Z,1736375617.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.10 m. 2025-01-08T22:33:37.790Z,1736375617.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:38.040Z,1736375618.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:38.193Z,1736375618.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:38.202Z,1736375618.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.10 m. 2025-01-08T22:33:38.293Z,1736375618.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:38.544Z,1736375618.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:38.596Z,1736375618.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:38.604Z,1736375618.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.10 m. 2025-01-08T22:33:38.798Z,1736375618.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:39.016Z,1736375619.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:39.025Z,1736375619.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.10 m. 2025-01-08T22:33:39.048Z,1736375619.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:39.300Z,1736375619.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:39.300Z,1736375619.300 [DAT](INFO): DAT read: Rx Time:22:33:38.0554 2025-01-08T22:33:39.301Z,1736375619.301 [DAT](INFO): Rx dataTimestamp_ set to:1736375619.300587 2025-01-08T22:33:39.381Z,1736375619.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:39.389Z,1736375619.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.10 m. 2025-01-08T22:33:39.552Z,1736375619.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:39.790Z,1736375619.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:39.800Z,1736375619.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.10 m. 2025-01-08T22:33:39.804Z,1736375619.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:39.811Z,1736375619.811 [DAT](INFO): DAT read: 22:33:38.0554 LVL= 19632, 15809, 12850, 22515, AGC= 56, IDX= 438,-0.13, 2.837,-1.509,-0.923,-1.834, PHS=-1.524, 0.372, 0.908, RAW= 257.9, 2.2, CAL= 261.8, 3.5, ROT= 248.2, -3.5 2025-01-08T22:33:39.812Z,1736375619.812 [DAT](INFO): got valid direction response: 22:33:38.0554 LVL= 19632, 15809, 12850, 22515, AGC= 56, IDX= 438,-0.13, 2.837,-1.509,-0.923,-1.834, PHS=-1.524, 0.372, 0.908, RAW= 257.9, 2.2, CAL= 261.8, 3.5, ROT= 248.2, -3.5 2025-01-08T22:33:39.813Z,1736375619.813 [DAT](INFO): DAT read: Bearing 248.2, -3.5 (Local) 2025-01-08T22:33:39.814Z,1736375619.814 [DAT](INFO): Local bearing/azimuth received: Bearing 248.2, -3.5 (Local) 2025-01-08T22:33:39.818Z,1736375619.818 [DAT](INFO): DAT read: Range 10 to 50 : 71.0 m (Round-trip 94.7 ms) speed -0.3 m/s 2025-01-08T22:33:39.845Z,1736375619.845 [DAT](INFO): DAT read: user:2705> 2025-01-08T22:33:39.864Z,1736375619.864 [DAT](INFO): DAT read: Tx time:22:33:39.1566 2025-01-08T22:33:39.865Z,1736375619.865 [DAT](INFO): Ping request sent. 2025-01-08T22:33:39.866Z,1736375619.866 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:39.867Z,1736375619.867 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-01-08T22:33:39.879Z,1736375619.879 [DAT](INFO): direction in FSK: [0.021990,-0.308060,-0.951113] 2025-01-08T22:33:39.888Z,1736375619.888 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:39.900Z,1736375619.900 [DAT](INFO): publishing direction and range info 2025-01-08T22:33:39.918Z,1736375619.918 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:39.918Z,1736375619.918 [DAT](INFO): publishing direction and range info 2025-01-08T22:33:40.057Z,1736375620.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:40.058Z,1736375620.058 [DAT](INFO): DAT read: TxSync time:22:33:39.1559 2025-01-08T22:33:40.229Z,1736375620.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:40.268Z,1736375620.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.000000 m, deltaT: 3.527335 s, deltaX: 0.900002 m, approachRate: 0.255151 m/s, rangeRepo size: 4 2025-01-08T22:33:40.270Z,1736375620.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.000000 m, bearing: 92.757529 deg, lat: 36.904750 deg, lon: -122.119424 deg, deltaT: 3.527335 s, deltaX: 0.900002 m, approachRate: 0.255151 m/s, posRepo size: 4 2025-01-08T22:33:40.271Z,1736375620.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:40.308Z,1736375620.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:40.560Z,1736375620.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:40.652Z,1736375620.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:40.688Z,1736375620.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:40.812Z,1736375620.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:41.045Z,1736375621.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:41.053Z,1736375621.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:41.064Z,1736375621.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:41.181Z,1736375621.181 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:33:41.316Z,1736375621.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:41.407Z,1736375621.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:41.416Z,1736375621.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:41.568Z,1736375621.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:41.808Z,1736375621.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:41.820Z,1736375621.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:41.837Z,1736375621.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:42.072Z,1736375622.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:42.185Z,1736375622.185 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:33:42.243Z,1736375622.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:42.262Z,1736375622.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:42.324Z,1736375622.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:42.576Z,1736375622.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:42.628Z,1736375622.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:42.636Z,1736375622.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:42.828Z,1736375622.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:42.829Z,1736375622.829 [DAT](INFO): DAT read: Rx Time:22:33:41.6571 2025-01-08T22:33:42.830Z,1736375622.830 [DAT](INFO): Rx dataTimestamp_ set to:1736375622.829291 2025-01-08T22:33:43.045Z,1736375623.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:43.054Z,1736375623.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:43.080Z,1736375623.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:43.332Z,1736375623.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:43.333Z,1736375623.333 [DAT](INFO): DAT read: Range 10 to 50 : 72.1 m (Round-trip 96.2 ms) speed -0.3 m/s 2025-01-08T22:33:43.334Z,1736375623.334 [DAT](INFO): DAT read: user:2706> 2025-01-08T22:33:43.335Z,1736375623.335 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-08T22:33:43.447Z,1736375623.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:43.471Z,1736375623.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.099998 m, deltaT: 3.528014 s, deltaX: 1.099998 m, approachRate: 0.311790 m/s, rangeRepo size: 4 2025-01-08T22:33:43.476Z,1736375623.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:43.592Z,1736375623.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:43.593Z,1736375623.593 [DAT](INFO): DAT read: Tx time:22:33:42.7567 2025-01-08T22:33:43.593Z,1736375623.593 [DAT](INFO): Ping request sent. 2025-01-08T22:33:43.593Z,1736375623.593 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:43.594Z,1736375623.594 [DAT](INFO): DAT read: TxSync time:22:33:42.7559 2025-01-08T22:33:43.594Z,1736375623.594 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:43.821Z,1736375623.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:43.830Z,1736375623.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:43.844Z,1736375623.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:44.098Z,1736375624.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:44.247Z,1736375624.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:44.255Z,1736375624.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:44.352Z,1736375624.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:44.609Z,1736375624.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:44.658Z,1736375624.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:44.673Z,1736375624.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:44.860Z,1736375624.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:45.059Z,1736375625.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:45.068Z,1736375625.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:45.112Z,1736375625.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:45.364Z,1736375625.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:45.440Z,1736375625.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:45.449Z,1736375625.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:45.622Z,1736375625.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:45.842Z,1736375625.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:45.853Z,1736375625.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:45.870Z,1736375625.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:46.120Z,1736375626.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:46.286Z,1736375626.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:46.296Z,1736375626.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:46.374Z,1736375626.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:46.624Z,1736375626.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:46.625Z,1736375626.625 [DAT](INFO): DAT read: Rx Time:22:33:45.2585 2025-01-08T22:33:46.625Z,1736375626.625 [DAT](INFO): Rx dataTimestamp_ set to:1736375626.624783 2025-01-08T22:33:46.701Z,1736375626.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:46.714Z,1736375626.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:46.876Z,1736375626.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:47.091Z,1736375627.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:47.102Z,1736375627.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T22:33:47.128Z,1736375627.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:47.135Z,1736375627.135 [DAT](INFO): DAT read: 22:33:45.2585 LVL= 17392, 15217, 10978, 22451, AGC= 56, IDX= 437,-0.15, 2.052,-2.071,-1.975,-2.563, PHS=-1.580, 0.540, 0.586, RAW= 268.9, 4.3, CAL= 272.5, 5.7, ROT= 237.5, -5.7 2025-01-08T22:33:47.136Z,1736375627.136 [DAT](INFO): got valid direction response: 22:33:45.2585 LVL= 17392, 15217, 10978, 22451, AGC= 56, IDX= 437,-0.15, 2.052,-2.071,-1.975,-2.563, PHS=-1.580, 0.540, 0.586, RAW= 268.9, 4.3, CAL= 272.5, 5.7, ROT= 237.5, -5.7 2025-01-08T22:33:47.137Z,1736375627.137 [DAT](INFO): DAT read: Bearing 237.5, -5.7 (Local) 2025-01-08T22:33:47.137Z,1736375627.137 [DAT](INFO): Local bearing/azimuth received: Bearing 237.5, -5.7 (Local) 2025-01-08T22:33:47.139Z,1736375627.139 [DAT](INFO): DAT read: Range 10 to 50 : 73.2 m (Round-trip 97.7 ms) speed -0.3 m/s 2025-01-08T22:33:47.140Z,1736375627.140 [DAT](INFO): DAT read: user:2707> 2025-01-08T22:33:47.140Z,1736375627.140 [DAT](INFO): DAT read: Tx time:22:33:46.3567 2025-01-08T22:33:47.141Z,1736375627.141 [DAT](INFO): Ping request sent. 2025-01-08T22:33:47.141Z,1736375627.141 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:47.141Z,1736375627.141 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-01-08T22:33:47.142Z,1736375627.142 [DAT](INFO): direction in FSK: [0.001607,-0.121387,-0.992604] 2025-01-08T22:33:47.142Z,1736375627.142 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:47.143Z,1736375627.143 [DAT](INFO): publishing direction and range info 2025-01-08T22:33:47.160Z,1736375627.159 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:47.160Z,1736375627.160 [DAT](INFO): publishing direction and range info 2025-01-08T22:33:47.380Z,1736375627.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:47.381Z,1736375627.381 [DAT](INFO): DAT read: TxSync time:22:33:46.3559 2025-01-08T22:33:47.480Z,1736375627.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:47.510Z,1736375627.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.199997 m, deltaT: 3.796351 s, deltaX: 1.099998 m, approachRate: 0.289752 m/s, rangeRepo size: 4 2025-01-08T22:33:47.513Z,1736375627.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.199997 m, bearing: 217.168479 deg, lat: 36.904229 deg, lon: -122.119737 deg, deltaT: 7.324365 s, deltaX: 2.199997 m, approachRate: 0.300367 m/s, posRepo size: 4 2025-01-08T22:33:47.513Z,1736375627.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T22:33:47.632Z,1736375627.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:47.880Z,1736375627.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:47.884Z,1736375627.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:47.890Z,1736375627.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T22:33:48.136Z,1736375628.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:48.306Z,1736375628.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:48.315Z,1736375628.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T22:33:48.388Z,1736375628.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:48.640Z,1736375628.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:48.708Z,1736375628.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:48.721Z,1736375628.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T22:33:48.892Z,1736375628.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:49.133Z,1736375629.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:49.145Z,1736375629.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:49.147Z,1736375629.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T22:33:49.396Z,1736375629.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:49.477Z,1736375629.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:49.503Z,1736375629.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T22:33:49.648Z,1736375629.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:49.888Z,1736375629.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:49.898Z,1736375629.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T22:33:49.900Z,1736375629.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:50.152Z,1736375630.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:50.153Z,1736375630.153 [DAT](INFO): DAT read: Rx Time:22:33:48.8603 2025-01-08T22:33:50.153Z,1736375630.153 [DAT](INFO): Rx dataTimestamp_ set to:1736375630.152895 2025-01-08T22:33:50.313Z,1736375630.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:50.341Z,1736375630.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T22:33:50.405Z,1736375630.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:50.656Z,1736375630.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:50.673Z,1736375630.673 [DAT](INFO): DAT read: 22:33:48.8603 LVL= 20720, 20417, 14194, 26995, AGC= 59, IDX= 439,-0.47,-1.799, 0.403, 0.516,-0.085, PHS=-1.626, 0.535, 0.598, RAW= 268.6, 4.5, CAL= 272.3, 6.0, ROT= 237.7, -6.0 2025-01-08T22:33:50.674Z,1736375630.674 [DAT](INFO): got valid direction response: 22:33:48.8603 LVL= 20720, 20417, 14194, 26995, AGC= 59, IDX= 439,-0.47,-1.799, 0.403, 0.516,-0.085, PHS=-1.626, 0.535, 0.598, RAW= 268.6, 4.5, CAL= 272.3, 6.0, ROT= 237.7, -6.0 2025-01-08T22:33:50.676Z,1736375630.676 [DAT](INFO): DAT read: Bearing 237.7, -6.0 (Local) 2025-01-08T22:33:50.676Z,1736375630.676 [DAT](INFO): Local bearing/azimuth received: Bearing 237.7, -6.0 (Local) 2025-01-08T22:33:50.678Z,1736375630.678 [DAT](INFO): DAT read: Range 10 to 50 : 74.6 m (Round-trip 99.5 ms) speed -0.4 m/s 2025-01-08T22:33:50.710Z,1736375630.710 [DAT](INFO): DAT read: user:2708> 2025-01-08T22:33:50.720Z,1736375630.720 [DAT](INFO): DAT read: Tx time:22:33:49.9567 2025-01-08T22:33:50.720Z,1736375630.720 [DAT](INFO): Ping request sent. 2025-01-08T22:33:50.720Z,1736375630.720 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:50.721Z,1736375630.721 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-01-08T22:33:50.721Z,1736375630.721 [DAT](INFO): direction in FSK: [-0.003953,-0.127261,-0.991861] 2025-01-08T22:33:50.722Z,1736375630.722 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:50.722Z,1736375630.722 [DAT](INFO): publishing direction and range info 2025-01-08T22:33:50.741Z,1736375630.741 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:50.741Z,1736375630.741 [DAT](INFO): publishing direction and range info 2025-01-08T22:33:50.766Z,1736375630.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:50.824Z,1736375630.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.599998 m, deltaT: 3.527976 s, deltaX: 1.400002 m, approachRate: 0.396829 m/s, rangeRepo size: 4 2025-01-08T22:33:50.840Z,1736375630.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.599998 m, bearing: 194.759399 deg, lat: 36.904204 deg, lon: -122.119742 deg, deltaT: 3.527976 s, deltaX: 1.400002 m, approachRate: 0.396829 m/s, posRepo size: 4 2025-01-08T22:33:50.841Z,1736375630.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T22:33:50.908Z,1736375630.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:50.909Z,1736375630.909 [DAT](INFO): DAT read: TxSync time:22:33:49.9559 2025-01-08T22:33:51.160Z,1736375631.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:51.183Z,1736375631.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:51.197Z,1736375631.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T22:33:51.413Z,1736375631.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:51.550Z,1736375631.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:51.559Z,1736375631.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T22:33:51.664Z,1736375631.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:51.916Z,1736375631.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:51.924Z,1736375631.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:51.954Z,1736375631.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T22:33:52.168Z,1736375632.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:52.371Z,1736375632.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:52.385Z,1736375632.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T22:33:52.420Z,1736375632.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:52.672Z,1736375632.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:52.741Z,1736375632.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:52.754Z,1736375632.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T22:33:52.924Z,1736375632.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:53.164Z,1736375633.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:53.173Z,1736375633.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T22:33:53.176Z,1736375633.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:53.428Z,1736375633.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:53.536Z,1736375633.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:53.545Z,1736375633.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T22:33:53.680Z,1736375633.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:53.681Z,1736375633.681 [DAT](INFO): DAT read: Rx Time:22:33:52.4622 2025-01-08T22:33:53.682Z,1736375633.682 [DAT](INFO): Rx dataTimestamp_ set to:1736375633.681269 2025-01-08T22:33:53.932Z,1736375633.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:53.959Z,1736375633.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:53.969Z,1736375633.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T22:33:54.184Z,1736375634.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:54.206Z,1736375634.206 [DAT](INFO): DAT read: 22:33:52.4623 LVL= 20832, 16977, 13474, 25651, AGC= 59, IDX= 457, 0.20,-1.369, 0.849, 1.005, 0.359, PHS=-1.640, 0.537, 0.642, RAW= 267.6, 4.2, CAL= 271.2, 5.6, ROT= 238.8, -5.6 2025-01-08T22:33:54.207Z,1736375634.207 [DAT](INFO): got valid direction response: 22:33:52.4623 LVL= 20832, 16977, 13474, 25651, AGC= 59, IDX= 457, 0.20,-1.369, 0.849, 1.005, 0.359, PHS=-1.640, 0.537, 0.642, RAW= 267.6, 4.2, CAL= 271.2, 5.6, ROT= 238.8, -5.6 2025-01-08T22:33:54.208Z,1736375634.208 [DAT](INFO): DAT read: Bearing 238.8, -5.6 (Local) 2025-01-08T22:33:54.209Z,1736375634.209 [DAT](INFO): Local bearing/azimuth received: Bearing 238.8, -5.6 (Local) 2025-01-08T22:33:54.210Z,1736375634.210 [DAT](INFO): DAT read: Range 10 to 50 : 75.9 m (Round-trip 101.3 ms) speed -0.4 m/s 2025-01-08T22:33:54.215Z,1736375634.215 [DAT](INFO): DAT read: user:2709> 2025-01-08T22:33:54.217Z,1736375634.217 [DAT](INFO): DAT read: Tx time:22:33:53.5568 2025-01-08T22:33:54.217Z,1736375634.217 [DAT](INFO): Ping request sent. 2025-01-08T22:33:54.217Z,1736375634.217 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:54.218Z,1736375634.218 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-01-08T22:33:54.219Z,1736375634.219 [DAT](INFO): direction in FSK: [0.001623,-0.143260,-0.989684] 2025-01-08T22:33:54.219Z,1736375634.219 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:54.219Z,1736375634.219 [DAT](INFO): publishing direction and range info 2025-01-08T22:33:54.222Z,1736375634.222 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:54.223Z,1736375634.223 [DAT](INFO): publishing direction and range info 2025-01-08T22:33:54.436Z,1736375634.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:54.437Z,1736375634.437 [DAT](INFO): DAT read: TxSync time:22:33:53.5560 2025-01-08T22:33:54.446Z,1736375634.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:54.485Z,1736375634.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.900002 m, deltaT: 3.528341 s, deltaX: 1.300003 m, approachRate: 0.368446 m/s, rangeRepo size: 4 2025-01-08T22:33:54.487Z,1736375634.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 75.900002 m, bearing: 156.418609 deg, lat: 36.904138 deg, lon: -122.119861 deg, deltaT: 3.528341 s, deltaX: 1.300003 m, approachRate: 0.368446 m/s, posRepo size: 4 2025-01-08T22:33:54.491Z,1736375634.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:54.688Z,1736375634.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:54.832Z,1736375634.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:54.845Z,1736375634.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:54.940Z,1736375634.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:55.192Z,1736375635.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:55.271Z,1736375635.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:55.280Z,1736375635.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:55.449Z,1736375635.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:55.630Z,1736375635.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:55.639Z,1736375635.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:55.701Z,1736375635.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:55.952Z,1736375635.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:56.043Z,1736375636.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:56.052Z,1736375636.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:56.204Z,1736375636.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:56.456Z,1736375636.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:56.471Z,1736375636.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:56.480Z,1736375636.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:56.708Z,1736375636.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:56.839Z,1736375636.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:56.850Z,1736375636.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:56.962Z,1736375636.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:57.212Z,1736375637.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:57.213Z,1736375637.213 [DAT](INFO): DAT read: Rx Time:22:33:56.0641 2025-01-08T22:33:57.214Z,1736375637.214 [DAT](INFO): Rx dataTimestamp_ set to:1736375637.213350 2025-01-08T22:33:57.299Z,1736375637.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:57.308Z,1736375637.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:57.464Z,1736375637.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:57.670Z,1736375637.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:57.683Z,1736375637.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:57.717Z,1736375637.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:57.968Z,1736375637.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:57.970Z,1736375637.970 [DAT](INFO): DAT read: Range 10 to 50 : 77.4 m (Round-trip 103.3 ms) speed -0.4 m/s 2025-01-08T22:33:57.970Z,1736375637.970 [DAT](INFO): DAT read: user:2710> 2025-01-08T22:33:57.971Z,1736375637.971 [DAT](INFO): DAT read: Tx time:22:33:57.1567 2025-01-08T22:33:57.972Z,1736375637.972 [DAT](INFO): Ping request sent. 2025-01-08T22:33:57.972Z,1736375637.972 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:33:57.972Z,1736375637.972 [DAT](INFO): DAT read: TxSync time:22:33:57.1560 2025-01-08T22:33:57.973Z,1736375637.973 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-01-08T22:33:57.973Z,1736375637.973 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:57.973Z,1736375637.973 [DAT](INFO): publishing transmit ping time 2025-01-08T22:33:58.123Z,1736375638.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:58.192Z,1736375638.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.400002 m, deltaT: 3.783238 s, deltaX: 1.500000 m, approachRate: 0.396486 m/s, rangeRepo size: 4 2025-01-08T22:33:58.192Z,1736375638.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:58.220Z,1736375638.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:58.472Z,1736375638.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:58.510Z,1736375638.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:58.519Z,1736375638.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:58.724Z,1736375638.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:58.922Z,1736375638.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:58.930Z,1736375638.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:58.976Z,1736375638.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:59.229Z,1736375639.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:59.356Z,1736375639.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:59.365Z,1736375639.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:59.480Z,1736375639.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:59.732Z,1736375639.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:33:59.777Z,1736375639.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:33:59.810Z,1736375639.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:33:59.984Z,1736375639.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:00.236Z,1736375640.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:00.279Z,1736375640.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:00.288Z,1736375640.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:34:00.489Z,1736375640.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:00.590Z,1736375640.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:00.599Z,1736375640.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:34:00.740Z,1736375640.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:00.992Z,1736375640.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:00.993Z,1736375640.993 [DAT](INFO): DAT read: Rx Time:22:33:59.6661 2025-01-08T22:34:00.993Z,1736375640.993 [DAT](INFO): Rx dataTimestamp_ set to:1736375640.992770 2025-01-08T22:34:01.002Z,1736375641.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:01.012Z,1736375641.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:34:01.245Z,1736375641.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:01.433Z,1736375641.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:01.441Z,1736375641.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m. 2025-01-08T22:34:01.496Z,1736375641.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:01.506Z,1736375641.506 [DAT](INFO): DAT read: 22:33:59.6661 LVL= 21728, 19393, 15634, 32099, AGC= 57, IDX= 464, 0.26, 2.096,-1.855,-1.934,-2.427, PHS=-1.672, 0.619, 0.490, RAW= 272.9, 5.1, CAL= 276.8, 6.8, ROT= 233.2, -6.8 2025-01-08T22:34:01.510Z,1736375641.510 [DAT](INFO): got valid direction response: 22:33:59.6661 LVL= 21728, 19393, 15634, 32099, AGC= 57, IDX= 464, 0.26, 2.096,-1.855,-1.934,-2.427, PHS=-1.672, 0.619, 0.490, RAW= 272.9, 5.1, CAL= 276.8, 6.8, ROT= 233.2, -6.8 2025-01-08T22:34:01.513Z,1736375641.513 [DAT](INFO): DAT read: Bearing 233.2, -6.8 (Local) 2025-01-08T22:34:01.514Z,1736375641.514 [DAT](INFO): Local bearing/azimuth received: Bearing 233.2, -6.8 (Local) 2025-01-08T22:34:01.519Z,1736375641.519 [DAT](INFO): DAT read: Range 10 to 50 : 78.8 m (Round-trip 105.1 ms) speed -0.4 m/s 2025-01-08T22:34:01.520Z,1736375641.520 [DAT](INFO): DAT read: user:2711> 2025-01-08T22:34:01.521Z,1736375641.521 [DAT](INFO): DAT read: Tx time:22:34:00.7568 2025-01-08T22:34:01.521Z,1736375641.521 [DAT](INFO): Ping request sent. 2025-01-08T22:34:01.521Z,1736375641.521 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:34:01.522Z,1736375641.522 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-01-08T22:34:01.547Z,1736375641.547 [DAT](INFO): direction in FSK: [-0.008211,-0.052381,-0.998593] 2025-01-08T22:34:01.555Z,1736375641.555 [DAT](INFO): publishing transmit ping time 2025-01-08T22:34:01.570Z,1736375641.570 [DAT](INFO): publishing direction and range info 2025-01-08T22:34:01.577Z,1736375641.577 [DAT](INFO): publishing transmit ping time 2025-01-08T22:34:01.577Z,1736375641.577 [DAT](INFO): publishing direction and range info 2025-01-08T22:34:01.748Z,1736375641.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:01.749Z,1736375641.749 [DAT](INFO): DAT read: TxSync time:22:34:00.7560 2025-01-08T22:34:01.809Z,1736375641.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:01.840Z,1736375641.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.800003 m, deltaT: 3.529169 s, deltaX: 1.400002 m, approachRate: 0.396694 m/s, rangeRepo size: 4 2025-01-08T22:34:01.842Z,1736375641.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.800003 m, bearing: 236.144373 deg, lat: 36.904115 deg, lon: -122.119877 deg, deltaT: 7.312407 s, deltaX: 2.900002 m, approachRate: 0.396586 m/s, posRepo size: 4 2025-01-08T22:34:01.842Z,1736375641.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:34:02.002Z,1736375642.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:02.252Z,1736375642.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:02.306Z,1736375642.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:02.316Z,1736375642.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:34:02.504Z,1736375642.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:02.673Z,1736375642.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:02.685Z,1736375642.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:34:02.756Z,1736375642.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:03.008Z,1736375643.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:03.085Z,1736375643.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:03.094Z,1736375643.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:34:03.260Z,1736375643.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:03.501Z,1736375643.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:03.510Z,1736375643.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:34:03.512Z,1736375643.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:03.764Z,1736375643.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:03.876Z,1736375643.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:03.885Z,1736375643.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:34:04.016Z,1736375644.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:04.273Z,1736375644.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:04.323Z,1736375644.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:04.352Z,1736375644.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:34:04.526Z,1736375644.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:04.528Z,1736375644.528 [DAT](INFO): DAT read: Rx Time:22:34:03.2685 2025-01-08T22:34:04.528Z,1736375644.528 [DAT](INFO): Rx dataTimestamp_ set to:1736375644.528139 2025-01-08T22:34:04.690Z,1736375644.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:04.713Z,1736375644.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.80 m. 2025-01-08T22:34:04.776Z,1736375644.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:05.028Z,1736375645.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:05.034Z,1736375645.034 [DAT](INFO): DAT read: 22:34:03.2685 LVL= 18384, 18465, 12178, 27203, AGC= 57, IDX= 457, 0.13, 1.898,-2.078,-2.215,-2.686, PHS=-1.611, 0.655, 0.468, RAW= 274.3, 4.5, CAL= 277.9, 5.9, ROT= 232.1, -5.9 2025-01-08T22:34:05.035Z,1736375645.035 [DAT](INFO): got valid direction response: 22:34:03.2685 LVL= 18384, 18465, 12178, 27203, AGC= 57, IDX= 457, 0.13, 1.898,-2.078,-2.215,-2.686, PHS=-1.611, 0.655, 0.468, RAW= 274.3, 4.5, CAL= 277.9, 5.9, ROT= 232.1, -5.9 2025-01-08T22:34:05.036Z,1736375645.036 [DAT](INFO): DAT read: Bearing 232.1, -5.9 (Local) 2025-01-08T22:34:05.037Z,1736375645.037 [DAT](INFO): Local bearing/azimuth received: Bearing 232.1, -5.9 (Local) 2025-01-08T22:34:05.050Z,1736375645.050 [DAT](INFO): DAT read: Range 10 to 50 : 80.7 m (Round-trip 107.6 ms) speed -0.6 m/s 2025-01-08T22:34:05.051Z,1736375645.051 [DAT](INFO): DAT read: user:2712> 2025-01-08T22:34:05.052Z,1736375645.052 [DAT](INFO): DAT read: Tx time:22:34:04.3568 2025-01-08T22:34:05.052Z,1736375645.052 [DAT](INFO): Ping request sent. 2025-01-08T22:34:05.053Z,1736375645.053 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:34:05.053Z,1736375645.053 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-01-08T22:34:05.054Z,1736375645.054 [DAT](INFO): direction in FSK: [0.004831,-0.028757,-0.999575] 2025-01-08T22:34:05.054Z,1736375645.054 [DAT](INFO): publishing transmit ping time 2025-01-08T22:34:05.054Z,1736375645.054 [DAT](INFO): publishing direction and range info 2025-01-08T22:34:05.078Z,1736375645.078 [DAT](INFO): publishing transmit ping time 2025-01-08T22:34:05.079Z,1736375645.079 [DAT](INFO): publishing direction and range info 2025-01-08T22:34:05.127Z,1736375645.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:05.179Z,1736375645.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.699997 m, deltaT: 3.530760 s, deltaX: 1.899994 m, approachRate: 0.538126 m/s, rangeRepo size: 4 2025-01-08T22:34:05.187Z,1736375645.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.699997 m, bearing: 232.024074 deg, lat: 36.904088 deg, lon: -122.119896 deg, deltaT: 3.530760 s, deltaX: 1.899994 m, approachRate: 0.538126 m/s, posRepo size: 4 2025-01-08T22:34:05.192Z,1736375645.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:34:05.282Z,1736375645.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:05.287Z,1736375645.287 [DAT](INFO): DAT read: TxSync time:22:34:04.3560 2025-01-08T22:34:05.536Z,1736375645.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:05.558Z,1736375645.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:05.595Z,1736375645.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:34:05.788Z,1736375645.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:05.950Z,1736375645.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:05.965Z,1736375645.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:34:06.040Z,1736375646.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:06.313Z,1736375646.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:06.404Z,1736375646.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:06.413Z,1736375646.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:34:06.564Z,1736375646.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:06.776Z,1736375646.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:06.803Z,1736375646.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:34:06.816Z,1736375646.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:07.068Z,1736375647.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:07.175Z,1736375647.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:07.184Z,1736375647.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:34:07.320Z,1736375647.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:07.572Z,1736375647.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:07.610Z,1736375647.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:07.620Z,1736375647.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:34:07.824Z,1736375647.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:07.994Z,1736375647.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:08.027Z,1736375648.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:34:08.078Z,1736375648.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:08.079Z,1736375648.079 [DAT](INFO): DAT read: Rx Time:22:34:06.8708 2025-01-08T22:34:08.079Z,1736375648.079 [DAT](INFO): Rx dataTimestamp_ set to:1736375648.079164 2025-01-08T22:34:08.330Z,1736375648.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:08.413Z,1736375648.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:08.421Z,1736375648.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m. 2025-01-08T22:34:08.581Z,1736375648.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:08.588Z,1736375648.588 [DAT](INFO): DAT read: 22:34:06.8708 LVL= 23008, 21953, 14834, 27859, AGC= 61, IDX= 449, 0.24,-2.538,-0.139,-0.340,-0.809, PHS=-1.640, 0.717, 0.466, RAW= 275.6, 4.1, CAL= 279.0, 5.3, ROT= 231.0, -5.3 2025-01-08T22:34:08.589Z,1736375648.589 [DAT](INFO): got valid direction response: 22:34:06.8708 LVL= 23008, 21953, 14834, 27859, AGC= 61, IDX= 449, 0.24,-2.538,-0.139,-0.340,-0.809, PHS=-1.640, 0.717, 0.466, RAW= 275.6, 4.1, CAL= 279.0, 5.3, ROT= 231.0, -5.3 2025-01-08T22:34:08.590Z,1736375648.590 [DAT](INFO): DAT read: Bearing 231.0, -5.3 (Local) 2025-01-08T22:34:08.591Z,1736375648.591 [DAT](INFO): Local bearing/azimuth received: Bearing 231.0, -5.3 (Local) 2025-01-08T22:34:08.593Z,1736375648.593 [DAT](INFO): DAT read: Range 10 to 50 : 82.4 m (Round-trip 109.9 ms) speed -0.4 m/s 2025-01-08T22:34:08.593Z,1736375648.593 [DAT](INFO): DAT read: user:2713> 2025-01-08T22:34:08.595Z,1736375648.595 [DAT](INFO): DAT read: Tx time:22:34:07.9568 2025-01-08T22:34:08.595Z,1736375648.595 [DAT](INFO): Ping request sent. 2025-01-08T22:34:08.595Z,1736375648.595 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:34:08.595Z,1736375648.595 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-01-08T22:34:08.596Z,1736375648.596 [DAT](INFO): direction in FSK: [0.014494,-0.006415,-0.999874] 2025-01-08T22:34:08.597Z,1736375648.597 [DAT](INFO): publishing transmit ping time 2025-01-08T22:34:08.597Z,1736375648.597 [DAT](INFO): publishing direction and range info 2025-01-08T22:34:08.600Z,1736375648.600 [DAT](INFO): publishing transmit ping time 2025-01-08T22:34:08.600Z,1736375648.600 [DAT](INFO): publishing direction and range info 2025-01-08T22:34:08.798Z,1736375648.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:08.813Z,1736375648.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.400002 m, deltaT: 3.554033 s, deltaX: 1.700005 m, approachRate: 0.478331 m/s, rangeRepo size: 4 2025-01-08T22:34:08.832Z,1736375648.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:08.832Z,1736375648.832 [DAT](INFO): DAT read: TxSync time:22:34:07.9560 2025-01-08T22:34:08.834Z,1736375648.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.400002 m, bearing: 238.984821 deg, lat: 36.904018 deg, lon: -122.119928 deg, deltaT: 3.554033 s, deltaX: 1.700005 m, approachRate: 0.478331 m/s, posRepo size: 4 2025-01-08T22:34:08.834Z,1736375648.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:09.084Z,1736375649.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:09.216Z,1736375649.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:09.240Z,1736375649.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:09.338Z,1736375649.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:09.592Z,1736375649.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:09.630Z,1736375649.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:09.641Z,1736375649.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:09.845Z,1736375649.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:10.096Z,1736375650.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:10.099Z,1736375650.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:10.108Z,1736375650.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:10.350Z,1736375650.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:10.532Z,1736375650.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:10.561Z,1736375650.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:10.600Z,1736375650.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:10.852Z,1736375650.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:10.938Z,1736375650.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:10.947Z,1736375650.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:11.104Z,1736375651.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:11.357Z,1736375651.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:11.408Z,1736375651.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:11.417Z,1736375651.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:11.608Z,1736375651.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:11.609Z,1736375651.609 [DAT](INFO): DAT read: Rx Time:22:34:10.4731 2025-01-08T22:34:11.609Z,1736375651.609 [DAT](INFO): Rx dataTimestamp_ set to:1736375651.608705 2025-01-08T22:34:11.755Z,1736375651.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:11.765Z,1736375651.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:11.860Z,1736375651.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:12.112Z,1736375652.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:12.207Z,1736375652.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:12.247Z,1736375652.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:12.327Z,1736375652.327 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:34:12.366Z,1736375652.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:12.371Z,1736375652.371 [DAT](INFO): DAT read: Range 10 to 50 : 84.0 m (Round-trip 112.1 ms) speed -0.4 m/s 2025-01-08T22:34:12.373Z,1736375652.373 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-01-08T22:34:12.586Z,1736375652.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:12.616Z,1736375652.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:12.621Z,1736375652.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.000000 m, deltaT: 3.784420 s, deltaX: 1.599998 m, approachRate: 0.422786 m/s, rangeRepo size: 4 2025-01-08T22:34:12.622Z,1736375652.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:12.868Z,1736375652.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:13.002Z,1736375653.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:13.011Z,1736375653.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:13.121Z,1736375653.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:13.329Z,1736375653.329 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:34:13.374Z,1736375653.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:13.441Z,1736375653.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:13.451Z,1736375653.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:13.624Z,1736375653.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:13.876Z,1736375653.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:13.892Z,1736375653.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:13.923Z,1736375653.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:14.130Z,1736375654.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:14.273Z,1736375654.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:14.282Z,1736375654.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:14.382Z,1736375654.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:14.632Z,1736375654.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:14.733Z,1736375654.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:14.742Z,1736375654.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:14.884Z,1736375654.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:15.096Z,1736375655.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:15.113Z,1736375655.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:15.138Z,1736375655.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:15.389Z,1736375655.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:15.525Z,1736375655.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:15.535Z,1736375655.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:15.642Z,1736375655.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:15.889Z,1736375655.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:15.892Z,1736375655.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:15.900Z,1736375655.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:16.144Z,1736375656.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:16.296Z,1736375656.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:16.305Z,1736375656.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:16.398Z,1736375656.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:16.648Z,1736375656.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:16.729Z,1736375656.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:16.737Z,1736375656.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:16.900Z,1736375656.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:17.106Z,1736375657.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:17.114Z,1736375657.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:17.155Z,1736375657.155 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:17.405Z,1736375657.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:17.532Z,1736375657.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:17.541Z,1736375657.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:17.656Z,1736375657.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:17.908Z,1736375657.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:17.913Z,1736375657.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:17.952Z,1736375657.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:18.160Z,1736375658.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:18.316Z,1736375658.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:18.325Z,1736375658.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:18.413Z,1736375658.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:18.664Z,1736375658.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:18.751Z,1736375658.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:18.771Z,1736375658.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:18.916Z,1736375658.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:19.130Z,1736375659.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:19.139Z,1736375659.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:19.168Z,1736375659.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:19.422Z,1736375659.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:19.573Z,1736375659.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:19.582Z,1736375659.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:19.673Z,1736375659.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:19.924Z,1736375659.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:19.949Z,1736375659.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:19.958Z,1736375659.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:20.176Z,1736375660.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:20.340Z,1736375660.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:20.369Z,1736375660.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:20.436Z,1736375660.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:20.688Z,1736375660.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:20.780Z,1736375660.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:20.788Z,1736375660.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:20.940Z,1736375660.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:21.152Z,1736375661.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:21.161Z,1736375661.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:21.192Z,1736375661.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:21.446Z,1736375661.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:21.610Z,1736375661.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:21.620Z,1736375661.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:21.697Z,1736375661.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:21.948Z,1736375661.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:21.952Z,1736375661.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:21.981Z,1736375661.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:22.200Z,1736375662.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:22.367Z,1736375662.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:22.376Z,1736375662.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:22.453Z,1736375662.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:22.704Z,1736375662.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:22.789Z,1736375662.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:22.814Z,1736375662.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:22.956Z,1736375662.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:23.179Z,1736375663.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:23.189Z,1736375663.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:23.208Z,1736375663.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:23.461Z,1736375663.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:23.596Z,1736375663.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:23.602Z,1736375663.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:34:23.605Z,1736375663.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:23.712Z,1736375663.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:23.713Z,1736375663.713 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:34:23.713Z,1736375663.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:34:23.964Z,1736375663.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:23.964Z,1736375663.964 [DAT](INFO): DAT read: user:2714> 2025-01-08T22:34:23.965Z,1736375663.965 [DAT](INFO): DAT read: Tx time:22:34:23.1570 2025-01-08T22:34:23.966Z,1736375663.966 [DAT](INFO): Ping request sent. 2025-01-08T22:34:23.966Z,1736375663.966 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:34:23.966Z,1736375663.966 [DAT](INFO): DAT read: TxSync time:22:34:23.1562 2025-01-08T22:34:23.967Z,1736375663.967 [DAT](INFO): publishing transmit ping time 2025-01-08T22:34:23.967Z,1736375663.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001622 2025-01-08T22:34:23.976Z,1736375663.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:23.986Z,1736375663.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:24.217Z,1736375664.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:24.217Z,1736375664.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251511 2025-01-08T22:34:24.392Z,1736375664.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:24.402Z,1736375664.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:24.473Z,1736375664.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:24.473Z,1736375664.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507794 2025-01-08T22:34:24.724Z,1736375664.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:24.725Z,1736375664.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758833 2025-01-08T22:34:24.803Z,1736375664.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:24.828Z,1736375664.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:24.976Z,1736375664.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:24.976Z,1736375664.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010777 2025-01-08T22:34:25.203Z,1736375665.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:25.226Z,1736375665.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:25.228Z,1736375665.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:25.229Z,1736375665.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262863 2025-01-08T22:34:25.480Z,1736375665.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:25.481Z,1736375665.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514828 2025-01-08T22:34:25.617Z,1736375665.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:25.630Z,1736375665.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:25.732Z,1736375665.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:25.733Z,1736375665.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766850 2025-01-08T22:34:25.984Z,1736375665.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:25.984Z,1736375665.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018806 2025-01-08T22:34:26.015Z,1736375666.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:26.023Z,1736375666.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:26.236Z,1736375666.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:26.237Z,1736375666.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271035 2025-01-08T22:34:26.398Z,1736375666.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:26.428Z,1736375666.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:26.488Z,1736375666.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:26.489Z,1736375666.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523549 2025-01-08T22:34:26.740Z,1736375666.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:26.741Z,1736375666.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774912 2025-01-08T22:34:26.825Z,1736375666.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:34:26.825Z,1736375666.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:26.854Z,1736375666.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:26.992Z,1736375666.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:26.992Z,1736375666.992 [DAT](INFO): DAT read: Rx Time:22:34:25.6839 2025-01-08T22:34:26.993Z,1736375666.993 [DAT](INFO): Rx dataTimestamp_ set to:1736375666.992633 2025-01-08T22:34:26.993Z,1736375666.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027766 2025-01-08T22:34:27.209Z,1736375667.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:34:27.209Z,1736375667.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:27.218Z,1736375667.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:27.244Z,1736375667.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:27.245Z,1736375667.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279604 2025-01-08T22:34:27.496Z,1736375667.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:27.497Z,1736375667.497 [DAT](INFO): DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.8 ms) speed -0.5 m/s 2025-01-08T22:34:27.498Z,1736375667.498 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:34:27.648Z,1736375667.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:27.692Z,1736375667.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 15.129674 s, deltaX: 8.099998 m, approachRate: 0.535372 m/s, rangeRepo size: 4 2025-01-08T22:34:27.692Z,1736375667.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:27.748Z,1736375667.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:27.000Z,1736375668.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:28.020Z,1736375668.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:28.029Z,1736375668.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:28.252Z,1736375668.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:28.424Z,1736375668.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:28.432Z,1736375668.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:28.506Z,1736375668.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:28.756Z,1736375668.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:28.857Z,1736375668.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:28.866Z,1736375668.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:29.008Z,1736375669.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:29.260Z,1736375669.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:29.273Z,1736375669.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:29.283Z,1736375669.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:29.512Z,1736375669.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:29.726Z,1736375669.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:29.750Z,1736375669.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:29.764Z,1736375669.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:30.016Z,1736375670.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:30.172Z,1736375670.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:30.185Z,1736375670.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:30.269Z,1736375670.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:30.520Z,1736375670.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:30.553Z,1736375670.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:30.562Z,1736375670.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:30.772Z,1736375670.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:30.981Z,1736375670.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:31.010Z,1736375671.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:31.024Z,1736375671.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:31.276Z,1736375671.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:31.368Z,1736375671.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:31.376Z,1736375671.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:31.528Z,1736375671.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:31.780Z,1736375671.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:31.797Z,1736375671.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:31.805Z,1736375671.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:32.032Z,1736375672.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:32.195Z,1736375672.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:32.204Z,1736375672.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:32.284Z,1736375672.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:32.536Z,1736375672.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:32.580Z,1736375672.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:32.589Z,1736375672.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:32.790Z,1736375672.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:33.016Z,1736375673.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:33.024Z,1736375673.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:33.042Z,1736375673.042 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:33.292Z,1736375673.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:33.386Z,1736375673.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:33.394Z,1736375673.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:33.545Z,1736375673.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:33.796Z,1736375673.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:33.819Z,1736375673.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:33.828Z,1736375673.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:34.048Z,1736375674.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:34.230Z,1736375674.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:34.287Z,1736375674.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:34.300Z,1736375674.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:34.553Z,1736375674.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:34.762Z,1736375674.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:34.774Z,1736375674.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:34.804Z,1736375674.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:35.056Z,1736375675.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:35.116Z,1736375675.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:35.124Z,1736375675.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:35.313Z,1736375675.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:35.515Z,1736375675.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:35.537Z,1736375675.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:35.560Z,1736375675.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:35.812Z,1736375675.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:35.956Z,1736375675.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:35.966Z,1736375675.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:36.064Z,1736375676.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:36.316Z,1736375676.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:36.321Z,1736375676.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:36.330Z,1736375676.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:36.570Z,1736375676.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:36.790Z,1736375676.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:36.800Z,1736375676.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:36.820Z,1736375676.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:37.074Z,1736375677.074 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:37.140Z,1736375677.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:37.155Z,1736375677.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:37.328Z,1736375677.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:37.533Z,1736375677.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:37.572Z,1736375677.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:37.580Z,1736375677.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:37.833Z,1736375677.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:37.958Z,1736375677.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:37.967Z,1736375677.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:38.084Z,1736375678.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:38.336Z,1736375678.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:38.352Z,1736375678.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:38.367Z,1736375678.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:38.588Z,1736375678.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:38.822Z,1736375678.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:38.831Z,1736375678.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:38.840Z,1736375678.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:39.092Z,1736375679.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:39.153Z,1736375679.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:39.163Z,1736375679.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:39.344Z,1736375679.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:39.555Z,1736375679.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:39.567Z,1736375679.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:39.596Z,1736375679.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:39.848Z,1736375679.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:39.995Z,1736375679.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:40.024Z,1736375680.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:40.101Z,1736375680.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:40.352Z,1736375680.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:40.361Z,1736375680.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:40.398Z,1736375680.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:40.604Z,1736375680.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:40.856Z,1736375680.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:40.858Z,1736375680.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:40.888Z,1736375680.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:41.108Z,1736375681.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:41.183Z,1736375681.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:41.220Z,1736375681.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:41.360Z,1736375681.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:41.612Z,1736375681.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:41.613Z,1736375681.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:41.637Z,1736375681.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:41.864Z,1736375681.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:42.018Z,1736375682.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:42.032Z,1736375682.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:42.117Z,1736375682.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:42.368Z,1736375682.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:42.382Z,1736375682.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:42.391Z,1736375682.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:42.621Z,1736375682.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:42.849Z,1736375682.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:42.866Z,1736375682.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:42.872Z,1736375682.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:43.124Z,1736375683.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:43.263Z,1736375683.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:43.272Z,1736375683.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:43.376Z,1736375683.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:43.460Z,1736375683.460 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:34:43.628Z,1736375683.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:43.649Z,1736375683.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:43.691Z,1736375683.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:43.880Z,1736375683.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:44.031Z,1736375684.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:44.055Z,1736375684.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:44.132Z,1736375684.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:44.384Z,1736375684.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:44.420Z,1736375684.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:44.431Z,1736375684.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:44.464Z,1736375684.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:34:44.640Z,1736375684.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:44.856Z,1736375684.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:44.888Z,1736375684.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:44.900Z,1736375684.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:45.140Z,1736375685.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:45.257Z,1736375685.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:45.267Z,1736375685.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:45.392Z,1736375685.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:45.634Z,1736375685.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:45.645Z,1736375685.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:45.649Z,1736375685.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:45.896Z,1736375685.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:46.048Z,1736375686.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:46.056Z,1736375686.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:46.148Z,1736375686.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:46.400Z,1736375686.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:46.425Z,1736375686.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:46.434Z,1736375686.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:46.652Z,1736375686.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:46.832Z,1736375686.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:46.901Z,1736375686.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:46.904Z,1736375686.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:47.156Z,1736375687.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:47.259Z,1736375687.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:47.288Z,1736375687.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:47.408Z,1736375687.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:47.652Z,1736375687.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:47.660Z,1736375687.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:47.686Z,1736375687.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:47.912Z,1736375687.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:48.077Z,1736375688.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:48.086Z,1736375688.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:48.164Z,1736375688.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:48.416Z,1736375688.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:48.450Z,1736375688.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:48.459Z,1736375688.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:48.670Z,1736375688.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:48.915Z,1736375688.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:48.922Z,1736375688.922 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:48.951Z,1736375688.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:49.172Z,1736375689.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:49.297Z,1736375689.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:49.306Z,1736375689.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:49.424Z,1736375689.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:49.676Z,1736375689.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:49.698Z,1736375689.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:49.719Z,1736375689.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:49.930Z,1736375689.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:50.101Z,1736375690.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:50.126Z,1736375690.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:50.180Z,1736375690.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:50.432Z,1736375690.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:50.472Z,1736375690.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:50.507Z,1736375690.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:50.686Z,1736375690.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:50.871Z,1736375690.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:50.884Z,1736375690.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:50.937Z,1736375690.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:51.189Z,1736375691.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:51.305Z,1736375691.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:51.334Z,1736375691.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:51.440Z,1736375691.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:51.708Z,1736375691.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:51.742Z,1736375691.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:51.750Z,1736375691.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:51.950Z,1736375691.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:52.112Z,1736375692.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:52.120Z,1736375692.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:52.200Z,1736375692.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:52.452Z,1736375692.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:52.490Z,1736375692.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:52.501Z,1736375692.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:52.704Z,1736375692.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:52.893Z,1736375692.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:52.902Z,1736375692.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:52.958Z,1736375692.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:53.208Z,1736375693.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:53.333Z,1736375693.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:53.342Z,1736375693.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:53.460Z,1736375693.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:53.708Z,1736375693.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:53.712Z,1736375693.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:53.732Z,1736375693.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:53.965Z,1736375693.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:54.148Z,1736375694.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:54.157Z,1736375694.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:54.216Z,1736375694.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:54.468Z,1736375694.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:54.572Z,1736375694.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:54.596Z,1736375694.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:54.720Z,1736375694.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:54.916Z,1736375694.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:54.924Z,1736375694.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:54.973Z,1736375694.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:55.224Z,1736375695.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:55.370Z,1736375695.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:55.405Z,1736375695.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:55.480Z,1736375695.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:55.729Z,1736375695.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:55.732Z,1736375695.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:55.759Z,1736375695.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:55.986Z,1736375695.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:56.175Z,1736375696.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:56.184Z,1736375696.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:56.237Z,1736375696.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:56.488Z,1736375696.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:56.545Z,1736375696.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:56.555Z,1736375696.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:56.740Z,1736375696.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:56.952Z,1736375696.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:56.974Z,1736375696.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:56.994Z,1736375696.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:57.244Z,1736375697.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:57.381Z,1736375697.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:57.389Z,1736375697.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:57.496Z,1736375697.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:57.748Z,1736375697.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:57.772Z,1736375697.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:57.796Z,1736375697.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:58.001Z,1736375698.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:58.180Z,1736375698.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:58.190Z,1736375698.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:58.253Z,1736375698.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:58.504Z,1736375698.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:58.556Z,1736375698.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:58.566Z,1736375698.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:58.756Z,1736375698.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:58.968Z,1736375698.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:58.980Z,1736375698.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:59.009Z,1736375699.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:59.261Z,1736375699.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:59.425Z,1736375699.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:59.441Z,1736375699.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:34:59.513Z,1736375699.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:59.764Z,1736375699.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:34:59.799Z,1736375699.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:34:59.808Z,1736375699.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:00.017Z,1736375700.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:00.210Z,1736375700.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:00.220Z,1736375700.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:00.269Z,1736375700.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:00.520Z,1736375700.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:00.585Z,1736375700.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:00.593Z,1736375700.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:00.772Z,1736375700.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:00.996Z,1736375700.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:01.006Z,1736375701.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:01.024Z,1736375701.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:01.276Z,1736375701.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:01.418Z,1736375701.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:01.452Z,1736375701.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:01.529Z,1736375701.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:01.780Z,1736375701.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:01.811Z,1736375701.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:01.823Z,1736375701.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:02.034Z,1736375702.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:02.224Z,1736375702.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:02.237Z,1736375702.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:02.285Z,1736375702.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:02.536Z,1736375702.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:02.600Z,1736375702.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:02.608Z,1736375702.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:02.788Z,1736375702.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:03.011Z,1736375703.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:03.034Z,1736375703.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:03.040Z,1736375703.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:03.292Z,1736375703.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:03.426Z,1736375703.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:03.438Z,1736375703.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:03.544Z,1736375703.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:03.796Z,1736375703.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:03.809Z,1736375703.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:03.818Z,1736375703.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:04.049Z,1736375704.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:04.232Z,1736375704.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:04.242Z,1736375704.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:04.300Z,1736375704.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:04.552Z,1736375704.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:04.612Z,1736375704.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:04.639Z,1736375704.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:04.804Z,1736375704.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:05.021Z,1736375705.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:05.029Z,1736375705.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:05.056Z,1736375705.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:05.310Z,1736375705.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:05.450Z,1736375705.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:05.459Z,1736375705.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:05.560Z,1736375705.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:05.812Z,1736375705.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:05.829Z,1736375705.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:05.869Z,1736375705.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:06.065Z,1736375706.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:06.248Z,1736375706.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:06.272Z,1736375706.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:06.317Z,1736375706.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:06.568Z,1736375706.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:06.637Z,1736375706.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:06.648Z,1736375706.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:06.820Z,1736375706.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:07.050Z,1736375707.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:07.059Z,1736375707.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:07.073Z,1736375707.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:07.324Z,1736375707.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:07.472Z,1736375707.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:07.481Z,1736375707.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:07.576Z,1736375707.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:07.828Z,1736375707.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:07.846Z,1736375707.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:07.854Z,1736375707.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:08.080Z,1736375708.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:08.286Z,1736375708.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:08.332Z,1736375708.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:08.336Z,1736375708.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:08.584Z,1736375708.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:08.674Z,1736375708.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:08.685Z,1736375708.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:08.836Z,1736375708.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:09.058Z,1736375709.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:09.066Z,1736375709.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:09.088Z,1736375709.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:09.347Z,1736375709.347 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:09.480Z,1736375709.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:09.489Z,1736375709.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:09.600Z,1736375709.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:09.852Z,1736375709.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:09.879Z,1736375709.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:09.888Z,1736375709.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:10.104Z,1736375710.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:10.321Z,1736375710.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:10.330Z,1736375710.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:10.356Z,1736375710.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:10.608Z,1736375710.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:10.689Z,1736375710.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:10.717Z,1736375710.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:10.860Z,1736375710.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:11.081Z,1736375711.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:11.093Z,1736375711.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:11.113Z,1736375711.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:11.364Z,1736375711.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:11.518Z,1736375711.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:11.527Z,1736375711.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:11.616Z,1736375711.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:11.868Z,1736375711.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:11.912Z,1736375711.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:11.921Z,1736375711.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:12.120Z,1736375712.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:12.318Z,1736375712.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:12.332Z,1736375712.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:12.372Z,1736375712.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:12.624Z,1736375712.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:12.697Z,1736375712.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:12.722Z,1736375712.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:12.881Z,1736375712.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:13.099Z,1736375713.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:13.107Z,1736375713.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:13.132Z,1736375713.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:13.384Z,1736375713.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:13.524Z,1736375713.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:13.533Z,1736375713.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:13.640Z,1736375713.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:13.892Z,1736375713.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:13.925Z,1736375713.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:13.934Z,1736375713.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:14.144Z,1736375714.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:14.357Z,1736375714.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:14.374Z,1736375714.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:14.396Z,1736375714.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:14.584Z,1736375714.584 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:35:14.648Z,1736375714.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:14.719Z,1736375714.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:14.729Z,1736375714.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:14.900Z,1736375714.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:15.130Z,1736375715.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:15.138Z,1736375715.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:15.153Z,1736375715.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:15.404Z,1736375715.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:15.545Z,1736375715.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:15.554Z,1736375715.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:15.588Z,1736375715.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:35:15.656Z,1736375715.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:15.908Z,1736375715.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:15.961Z,1736375715.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:15.975Z,1736375715.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:16.162Z,1736375716.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:16.398Z,1736375716.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:16.413Z,1736375716.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:16.423Z,1736375716.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:16.665Z,1736375716.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:16.740Z,1736375716.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:16.750Z,1736375716.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:16.916Z,1736375716.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:17.142Z,1736375717.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:17.168Z,1736375717.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:17.170Z,1736375717.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:17.420Z,1736375717.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:17.578Z,1736375717.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:17.587Z,1736375717.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:17.672Z,1736375717.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:17.924Z,1736375717.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:17.958Z,1736375717.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:17.968Z,1736375717.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:18.178Z,1736375718.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:18.429Z,1736375718.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:18.431Z,1736375718.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:18.441Z,1736375718.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:18.680Z,1736375718.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:18.754Z,1736375718.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:18.780Z,1736375718.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:18.932Z,1736375718.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:19.154Z,1736375719.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:19.165Z,1736375719.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:19.184Z,1736375719.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:19.436Z,1736375719.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:19.588Z,1736375719.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:19.597Z,1736375719.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:19.688Z,1736375719.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:19.940Z,1736375719.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:19.982Z,1736375719.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:19.990Z,1736375719.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:20.192Z,1736375720.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:20.424Z,1736375720.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:20.445Z,1736375720.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:20.463Z,1736375720.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:20.696Z,1736375720.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:20.781Z,1736375720.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:20.789Z,1736375720.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:20.948Z,1736375720.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:21.178Z,1736375721.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:21.186Z,1736375721.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:21.201Z,1736375721.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:21.452Z,1736375721.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:21.660Z,1736375721.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:21.677Z,1736375721.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:21.704Z,1736375721.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:21.956Z,1736375721.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:21.991Z,1736375721.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:22.016Z,1736375722.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:22.210Z,1736375722.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:22.457Z,1736375722.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:22.460Z,1736375722.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:22.467Z,1736375722.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:22.713Z,1736375722.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:22.787Z,1736375722.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:22.815Z,1736375722.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:22.964Z,1736375722.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:23.192Z,1736375723.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:23.201Z,1736375723.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:23.216Z,1736375723.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:23.468Z,1736375723.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:23.621Z,1736375723.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:23.649Z,1736375723.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:35:23.657Z,1736375723.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:23.721Z,1736375723.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:23.722Z,1736375723.722 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:35:23.722Z,1736375723.722 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:35:23.972Z,1736375723.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:23.972Z,1736375723.972 [DAT](INFO): DAT read: user:2715> 2025-01-08T22:35:23.973Z,1736375723.973 [DAT](INFO): DAT read: Tx time:22:35:23.2075 2025-01-08T22:35:23.973Z,1736375723.973 [DAT](INFO): Ping request sent. 2025-01-08T22:35:23.973Z,1736375723.973 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:35:23.974Z,1736375723.974 [DAT](INFO): publishing transmit ping time 2025-01-08T22:35:23.974Z,1736375723.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721 2025-01-08T22:35:24.004Z,1736375724.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:24.045Z,1736375724.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:24.225Z,1736375724.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:24.226Z,1736375724.226 [DAT](INFO): DAT read: TxSync time:22:35:23.2067 2025-01-08T22:35:24.228Z,1736375724.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253667 2025-01-08T22:35:24.476Z,1736375724.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:24.476Z,1736375724.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503052 2025-01-08T22:35:24.490Z,1736375724.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:24.524Z,1736375724.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:24.729Z,1736375724.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:24.729Z,1736375724.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755719 2025-01-08T22:35:24.816Z,1736375724.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:24.825Z,1736375724.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:24.980Z,1736375724.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:24.981Z,1736375724.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007079 2025-01-08T22:35:25.221Z,1736375725.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:25.232Z,1736375725.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:25.233Z,1736375725.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259097 2025-01-08T22:35:25.233Z,1736375725.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:25.484Z,1736375725.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:25.484Z,1736375725.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510993 2025-01-08T22:35:25.658Z,1736375725.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:25.674Z,1736375725.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:25.736Z,1736375725.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:25.737Z,1736375725.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763266 2025-01-08T22:35:25.989Z,1736375725.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:25.990Z,1736375725.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016630 2025-01-08T22:35:26.016Z,1736375726.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:26.024Z,1736375726.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:26.240Z,1736375726.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:26.240Z,1736375726.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266952 2025-01-08T22:35:26.492Z,1736375726.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:26.492Z,1736375726.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518980 2025-01-08T22:35:26.532Z,1736375726.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:26.540Z,1736375726.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:26.744Z,1736375726.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:26.746Z,1736375726.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772124 2025-01-08T22:35:26.824Z,1736375726.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:26.833Z,1736375726.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:26.996Z,1736375726.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:26.997Z,1736375726.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023101 2025-01-08T22:35:27.243Z,1736375727.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:27.248Z,1736375727.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:27.249Z,1736375727.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275262 2025-01-08T22:35:27.270Z,1736375727.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:27.502Z,1736375727.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:27.504Z,1736375727.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530154 2025-01-08T22:35:27.664Z,1736375727.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:27.697Z,1736375727.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:27.753Z,1736375727.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:27.754Z,1736375727.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780153 2025-01-08T22:35:28.004Z,1736375728.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:28.004Z,1736375728.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030929 2025-01-08T22:35:28.036Z,1736375728.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:28.045Z,1736375728.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:28.259Z,1736375728.259 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:28.260Z,1736375728.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286741 2025-01-08T22:35:28.508Z,1736375728.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:28.508Z,1736375728.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534974 2025-01-08T22:35:28.563Z,1736375728.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:28.571Z,1736375728.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:28.760Z,1736375728.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:28.760Z,1736375728.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787007 2025-01-08T22:35:28.852Z,1736375728.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:28.860Z,1736375728.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:29.012Z,1736375729.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:29.013Z,1736375729.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039504 2025-01-08T22:35:29.264Z,1736375729.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:29.264Z,1736375729.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291037 2025-01-08T22:35:29.267Z,1736375729.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:29.277Z,1736375729.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:29.517Z,1736375729.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:29.520Z,1736375729.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545948 2025-01-08T22:35:29.700Z,1736375729.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:29.708Z,1736375729.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:29.768Z,1736375729.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:29.769Z,1736375729.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795099 2025-01-08T22:35:30.020Z,1736375730.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:30.020Z,1736375730.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046901 2025-01-08T22:35:30.069Z,1736375730.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:30.078Z,1736375730.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:30.272Z,1736375730.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:30.274Z,1736375730.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299717 2025-01-08T22:35:30.526Z,1736375730.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:30.528Z,1736375730.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554318 2025-01-08T22:35:30.537Z,1736375730.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:30.558Z,1736375730.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:30.778Z,1736375730.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:30.780Z,1736375730.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806120 2025-01-08T22:35:30.905Z,1736375730.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:30.918Z,1736375730.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:31.028Z,1736375731.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:31.030Z,1736375731.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056205 2025-01-08T22:35:31.273Z,1736375731.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:31.280Z,1736375731.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:31.281Z,1736375731.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307277 2025-01-08T22:35:31.285Z,1736375731.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:31.534Z,1736375731.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:31.536Z,1736375731.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562094 2025-01-08T22:35:31.714Z,1736375731.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:31.762Z,1736375731.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:31.784Z,1736375731.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:31.784Z,1736375731.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811032 2025-01-08T22:35:32.038Z,1736375732.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:32.039Z,1736375732.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065316 2025-01-08T22:35:32.080Z,1736375732.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:32.108Z,1736375732.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:32.292Z,1736375732.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:32.293Z,1736375732.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319080 2025-01-08T22:35:32.497Z,1736375732.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:32.546Z,1736375732.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:32.549Z,1736375732.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574853 2025-01-08T22:35:32.568Z,1736375732.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:32.796Z,1736375732.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:32.797Z,1736375732.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823662 2025-01-08T22:35:32.926Z,1736375732.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:32.959Z,1736375732.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:33.049Z,1736375733.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:33.050Z,1736375733.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076069 2025-01-08T22:35:33.300Z,1736375733.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:33.301Z,1736375733.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327257 2025-01-08T22:35:33.307Z,1736375733.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:33.316Z,1736375733.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:33.556Z,1736375733.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:33.558Z,1736375733.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584299 2025-01-08T22:35:33.729Z,1736375733.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:33.739Z,1736375733.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:33.808Z,1736375733.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:33.809Z,1736375733.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835115 2025-01-08T22:35:34.060Z,1736375734.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:34.060Z,1736375734.060 [DAT](INFO): Reached modem response timeout 2025-01-08T22:35:34.110Z,1736375734.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:34.121Z,1736375734.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:34.312Z,1736375734.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:34.520Z,1736375734.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:34.547Z,1736375734.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:34.565Z,1736375734.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:34.816Z,1736375734.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:34.817Z,1736375734.817 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:35:34.817Z,1736375734.817 [DAT](INFO): response not received 2025-01-08T22:35:34.817Z,1736375734.817 [DAT](ERROR): No response from remote modem. 2025-01-08T22:35:34.941Z,1736375734.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:34.951Z,1736375734.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:35.068Z,1736375735.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:35.318Z,1736375735.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:35.320Z,1736375735.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:35.329Z,1736375735.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:35.573Z,1736375735.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:35.745Z,1736375735.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:35.753Z,1736375735.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:35.824Z,1736375735.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:36.076Z,1736375736.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:36.134Z,1736375736.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:36.143Z,1736375736.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:36.330Z,1736375736.330 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:36.531Z,1736375736.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:36.556Z,1736375736.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:36.582Z,1736375736.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:36.832Z,1736375736.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:36.938Z,1736375736.938 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, +9A 2025-01-08T22:35:36.946Z,1736375736.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:35:36.946Z,1736375736.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:36.955Z,1736375736.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:37.084Z,1736375737.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:37.336Z,1736375737.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:37.339Z,1736375737.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:35:37.339Z,1736375737.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:37.354Z,1736375737.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:37.590Z,1736375737.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:37.768Z,1736375737.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:37.793Z,1736375737.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:37.840Z,1736375737.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:38.092Z,1736375738.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:38.154Z,1736375738.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:38.164Z,1736375738.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:38.344Z,1736375738.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:38.572Z,1736375738.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:38.591Z,1736375738.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:38.597Z,1736375738.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:38.850Z,1736375738.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:38.970Z,1736375738.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:38.994Z,1736375738.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:39.100Z,1736375739.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:39.352Z,1736375739.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:39.358Z,1736375739.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:39.368Z,1736375739.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:39.604Z,1736375739.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:39.798Z,1736375739.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:39.806Z,1736375739.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:39.856Z,1736375739.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:40.108Z,1736375740.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:40.185Z,1736375740.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:40.207Z,1736375740.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:40.360Z,1736375740.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:40.576Z,1736375740.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:40.589Z,1736375740.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:40.612Z,1736375740.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:40.866Z,1736375740.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:40.993Z,1736375740.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:41.003Z,1736375741.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:41.116Z,1736375741.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:41.368Z,1736375741.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:41.394Z,1736375741.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:41.404Z,1736375741.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:41.630Z,1736375741.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:41.796Z,1736375741.796 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 86.31, 74.76, 80.88, 80.54 2025-01-08T22:35:41.820Z,1736375741.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:35:41.820Z,1736375741.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:41.837Z,1736375741.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:41.881Z,1736375741.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:42.132Z,1736375742.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:42.190Z,1736375742.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:35:42.190Z,1736375742.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:42.200Z,1736375742.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:42.384Z,1736375742.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:42.601Z,1736375742.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:35:42.601Z,1736375742.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:42.609Z,1736375742.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:42.637Z,1736375742.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:42.888Z,1736375742.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:43.041Z,1736375743.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:43.058Z,1736375743.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:43.141Z,1736375743.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:43.392Z,1736375743.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:43.406Z,1736375743.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:43.415Z,1736375743.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:43.645Z,1736375743.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:43.834Z,1736375743.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:43.842Z,1736375743.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:43.896Z,1736375743.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:44.148Z,1736375744.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:44.208Z,1736375744.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:44.218Z,1736375744.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:44.401Z,1736375744.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:44.631Z,1736375744.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:44.640Z,1736375744.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:44.653Z,1736375744.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:44.904Z,1736375744.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:45.029Z,1736375745.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:45.038Z,1736375745.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:45.156Z,1736375745.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:45.408Z,1736375745.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:45.424Z,1736375745.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:45.434Z,1736375745.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:45.660Z,1736375745.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:45.713Z,1736375745.713 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:35:45.844Z,1736375745.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:45.853Z,1736375745.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:45.912Z,1736375745.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:46.164Z,1736375746.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:46.220Z,1736375746.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:46.229Z,1736375746.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:46.416Z,1736375746.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:46.668Z,1736375746.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:46.696Z,1736375746.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:46.710Z,1736375746.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:46.717Z,1736375746.717 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:35:46.920Z,1736375746.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:47.064Z,1736375747.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:47.073Z,1736375747.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:47.172Z,1736375747.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:47.424Z,1736375747.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:47.440Z,1736375747.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:47.473Z,1736375747.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:47.676Z,1736375747.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:47.860Z,1736375747.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:47.869Z,1736375747.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:47.929Z,1736375747.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:48.180Z,1736375748.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:48.249Z,1736375748.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:48.273Z,1736375748.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:48.432Z,1736375748.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:48.684Z,1736375748.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:48.687Z,1736375748.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:48.706Z,1736375748.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:48.936Z,1736375748.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:49.080Z,1736375749.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:49.089Z,1736375749.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:49.188Z,1736375749.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:49.440Z,1736375749.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:49.457Z,1736375749.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:49.466Z,1736375749.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:49.692Z,1736375749.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:49.883Z,1736375749.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:49.925Z,1736375749.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:49.944Z,1736375749.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:50.196Z,1736375750.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:50.270Z,1736375750.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:50.279Z,1736375750.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:50.448Z,1736375750.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:50.687Z,1736375750.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:50.698Z,1736375750.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:50.703Z,1736375750.703 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:50.952Z,1736375750.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:51.109Z,1736375751.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:51.122Z,1736375751.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:51.204Z,1736375751.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:51.457Z,1736375751.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:51.498Z,1736375751.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:51.507Z,1736375751.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:51.708Z,1736375751.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:51.912Z,1736375751.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:51.921Z,1736375751.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:51.960Z,1736375751.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:52.212Z,1736375752.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:52.304Z,1736375752.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:52.314Z,1736375752.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:52.464Z,1736375752.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:52.698Z,1736375752.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:52.706Z,1736375752.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:52.716Z,1736375752.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:52.968Z,1736375752.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:53.120Z,1736375753.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:53.145Z,1736375753.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:53.220Z,1736375753.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:53.472Z,1736375753.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:53.525Z,1736375753.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:53.534Z,1736375753.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:53.724Z,1736375753.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:53.948Z,1736375753.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:53.956Z,1736375753.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:53.976Z,1736375753.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:54.228Z,1736375754.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:54.339Z,1736375754.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:54.359Z,1736375754.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:54.480Z,1736375754.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:54.725Z,1736375754.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:54.732Z,1736375754.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:54.742Z,1736375754.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:54.984Z,1736375754.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:55.141Z,1736375755.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:55.150Z,1736375755.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:55.236Z,1736375755.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:55.488Z,1736375755.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:55.530Z,1736375755.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:55.539Z,1736375755.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:55.740Z,1736375755.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:55.981Z,1736375755.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:55.989Z,1736375755.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:55.992Z,1736375755.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:56.244Z,1736375756.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:56.323Z,1736375756.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:56.348Z,1736375756.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:56.497Z,1736375756.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:56.733Z,1736375756.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:56.748Z,1736375756.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:56.763Z,1736375756.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:57.000Z,1736375757.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:57.156Z,1736375757.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:57.189Z,1736375757.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:57.253Z,1736375757.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:57.504Z,1736375757.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:57.552Z,1736375757.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:57.561Z,1736375757.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:57.756Z,1736375757.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:57.990Z,1736375757.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:58.008Z,1736375758.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:58.021Z,1736375758.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:58.260Z,1736375758.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:58.349Z,1736375758.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:58.357Z,1736375758.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:58.513Z,1736375758.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:58.750Z,1736375758.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:58.759Z,1736375758.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:58.764Z,1736375758.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:59.017Z,1736375759.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:59.184Z,1736375759.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:59.192Z,1736375759.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:59.268Z,1736375759.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:59.520Z,1736375759.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:35:59.557Z,1736375759.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:35:59.567Z,1736375759.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:35:59.772Z,1736375759.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:00.021Z,1736375760.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:00.024Z,1736375760.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:00.032Z,1736375760.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:00.276Z,1736375760.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:00.384Z,1736375760.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:00.393Z,1736375760.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:00.529Z,1736375760.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:00.770Z,1736375760.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:00.789Z,1736375760.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:00.797Z,1736375760.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:01.041Z,1736375761.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:01.219Z,1736375761.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:01.228Z,1736375761.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:01.292Z,1736375761.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:01.544Z,1736375761.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:01.585Z,1736375761.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:01.594Z,1736375761.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:01.797Z,1736375761.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:02.048Z,1736375762.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:02.048Z,1736375762.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:02.057Z,1736375762.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:02.300Z,1736375762.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:02.388Z,1736375762.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:02.415Z,1736375762.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:02.552Z,1736375762.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:02.790Z,1736375762.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:02.799Z,1736375762.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:02.804Z,1736375762.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:03.056Z,1736375763.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:03.218Z,1736375763.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:03.226Z,1736375763.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:03.309Z,1736375763.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:03.560Z,1736375763.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:03.597Z,1736375763.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:03.621Z,1736375763.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:03.812Z,1736375763.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:04.064Z,1736375764.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:04.091Z,1736375764.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:04.109Z,1736375764.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:04.316Z,1736375764.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:04.408Z,1736375764.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:04.422Z,1736375764.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:04.569Z,1736375764.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:04.820Z,1736375764.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:04.837Z,1736375764.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:04.846Z,1736375764.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:04.869Z,1736375764.869 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:36:05.072Z,1736375765.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:05.236Z,1736375765.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:05.264Z,1736375765.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:05.324Z,1736375765.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:05.576Z,1736375765.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:05.622Z,1736375765.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:05.631Z,1736375765.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:05.829Z,1736375765.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:06.080Z,1736375766.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:06.110Z,1736375766.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:06.119Z,1736375766.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:06.332Z,1736375766.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:06.569Z,1736375766.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:06.578Z,1736375766.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:06.584Z,1736375766.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:06.836Z,1736375766.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:06.953Z,1736375766.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:06.961Z,1736375766.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:07.088Z,1736375767.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:07.340Z,1736375767.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:07.389Z,1736375767.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:07.418Z,1736375767.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:07.592Z,1736375767.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:07.774Z,1736375767.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:07.783Z,1736375767.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:07.845Z,1736375767.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:08.098Z,1736375768.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:08.205Z,1736375768.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:08.214Z,1736375768.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:08.348Z,1736375768.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:08.581Z,1736375768.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:08.589Z,1736375768.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:08.600Z,1736375768.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:08.852Z,1736375768.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:08.984Z,1736375768.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:08.992Z,1736375768.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:09.106Z,1736375769.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:09.356Z,1736375769.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:09.410Z,1736375769.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:09.419Z,1736375769.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:09.608Z,1736375769.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:09.782Z,1736375769.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:09.816Z,1736375769.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:09.860Z,1736375769.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:10.113Z,1736375770.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:10.206Z,1736375770.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:10.236Z,1736375770.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:10.364Z,1736375770.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:10.597Z,1736375770.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:10.606Z,1736375770.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:10.616Z,1736375770.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:10.868Z,1736375770.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:11.016Z,1736375771.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:11.024Z,1736375771.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:11.121Z,1736375771.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:11.372Z,1736375771.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:11.446Z,1736375771.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:11.455Z,1736375771.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:11.624Z,1736375771.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:11.817Z,1736375771.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:11.826Z,1736375771.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:11.877Z,1736375771.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:12.129Z,1736375772.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:12.237Z,1736375772.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:12.246Z,1736375772.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:12.380Z,1736375772.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:12.624Z,1736375772.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:12.632Z,1736375772.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:12.656Z,1736375772.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:12.885Z,1736375772.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:13.019Z,1736375773.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:13.027Z,1736375773.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:13.138Z,1736375773.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:13.388Z,1736375773.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:13.465Z,1736375773.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:13.494Z,1736375773.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:13.640Z,1736375773.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:13.831Z,1736375773.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:13.848Z,1736375773.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:13.892Z,1736375773.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:14.145Z,1736375774.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:14.255Z,1736375774.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:14.288Z,1736375774.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:14.396Z,1736375774.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:14.637Z,1736375774.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:14.648Z,1736375774.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:14.650Z,1736375774.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:14.900Z,1736375774.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:15.058Z,1736375775.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:15.067Z,1736375775.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:15.154Z,1736375775.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:15.404Z,1736375775.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:15.486Z,1736375775.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:15.496Z,1736375775.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:15.656Z,1736375775.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:15.858Z,1736375775.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:15.869Z,1736375775.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:15.908Z,1736375775.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:16.161Z,1736375776.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:16.281Z,1736375776.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:16.290Z,1736375776.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:16.412Z,1736375776.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:16.666Z,1736375776.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:16.706Z,1736375776.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:16.715Z,1736375776.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:16.839Z,1736375776.839 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:36:16.916Z,1736375776.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:17.056Z,1736375777.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:17.066Z,1736375777.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:17.172Z,1736375777.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:17.424Z,1736375777.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:17.498Z,1736375777.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:17.507Z,1736375777.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:17.676Z,1736375777.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:17.840Z,1736375777.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:36:17.864Z,1736375777.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:17.872Z,1736375777.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:17.928Z,1736375777.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:18.180Z,1736375778.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:18.322Z,1736375778.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:18.335Z,1736375778.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:18.432Z,1736375778.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:18.684Z,1736375778.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:18.685Z,1736375778.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:18.694Z,1736375778.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:18.936Z,1736375778.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:19.140Z,1736375779.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:19.156Z,1736375779.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:19.192Z,1736375779.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:19.445Z,1736375779.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:19.544Z,1736375779.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:19.553Z,1736375779.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:19.696Z,1736375779.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:19.948Z,1736375779.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:19.972Z,1736375779.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:19.997Z,1736375779.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:20.201Z,1736375780.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:20.414Z,1736375780.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:20.430Z,1736375780.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:20.452Z,1736375780.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:20.704Z,1736375780.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:20.830Z,1736375780.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:20.839Z,1736375780.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:20.956Z,1736375780.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:21.208Z,1736375781.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:21.294Z,1736375781.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:21.304Z,1736375781.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:21.460Z,1736375781.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:21.713Z,1736375781.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:21.715Z,1736375781.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:21.723Z,1736375781.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:21.964Z,1736375781.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:22.038Z,1736375782.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:22.048Z,1736375782.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:22.217Z,1736375782.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:22.460Z,1736375782.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:22.468Z,1736375782.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:22.481Z,1736375782.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:22.720Z,1736375782.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:22.849Z,1736375782.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:22.877Z,1736375782.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:22.972Z,1736375782.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:23.224Z,1736375783.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:23.325Z,1736375783.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:23.337Z,1736375783.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:23.479Z,1736375783.479 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:23.699Z,1736375783.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:23.706Z,1736375783.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:23.708Z,1736375783.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:23.728Z,1736375783.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:23.729Z,1736375783.729 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:36:23.729Z,1736375783.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:36:23.980Z,1736375783.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:23.980Z,1736375783.980 [DAT](INFO): DAT read: user:2716> 2025-01-08T22:36:23.981Z,1736375783.981 [DAT](INFO): DAT read: Tx time:22:36:23.2081 2025-01-08T22:36:23.981Z,1736375783.981 [DAT](INFO): Ping request sent. 2025-01-08T22:36:23.981Z,1736375783.981 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:36:23.982Z,1736375783.982 [DAT](INFO): publishing transmit ping time 2025-01-08T22:36:23.982Z,1736375783.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721 2025-01-08T22:36:24.065Z,1736375784.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:24.082Z,1736375784.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:24.232Z,1736375784.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:24.233Z,1736375784.233 [DAT](INFO): DAT read: TxSync time:22:36:23.2073 2025-01-08T22:36:24.233Z,1736375784.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251770 2025-01-08T22:36:24.484Z,1736375784.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:24.484Z,1736375784.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502920 2025-01-08T22:36:24.496Z,1736375784.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:24.504Z,1736375784.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:24.736Z,1736375784.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:24.738Z,1736375784.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756219 2025-01-08T22:36:24.862Z,1736375784.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:24.871Z,1736375784.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:24.988Z,1736375784.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:24.988Z,1736375784.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006864 2025-01-08T22:36:25.240Z,1736375785.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:25.240Z,1736375785.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258749 2025-01-08T22:36:25.341Z,1736375785.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:25.359Z,1736375785.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:25.496Z,1736375785.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:25.496Z,1736375785.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514960 2025-01-08T22:36:25.714Z,1736375785.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:25.723Z,1736375785.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:25.744Z,1736375785.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:25.745Z,1736375785.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763243 2025-01-08T22:36:25.996Z,1736375785.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:25.997Z,1736375785.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015242 2025-01-08T22:36:26.076Z,1736375786.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:26.085Z,1736375786.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:26.248Z,1736375786.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:26.248Z,1736375786.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266837 2025-01-08T22:36:26.500Z,1736375786.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:26.501Z,1736375786.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519181 2025-01-08T22:36:26.503Z,1736375786.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:26.512Z,1736375786.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:26.752Z,1736375786.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:26.752Z,1736375786.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770848 2025-01-08T22:36:26.881Z,1736375786.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:26.890Z,1736375786.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:27.008Z,1736375787.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:27.011Z,1736375787.011 [DAT](INFO): DAT read: Rx Time:22:36:25.8727 2025-01-08T22:36:27.014Z,1736375787.014 [DAT](INFO): Rx dataTimestamp_ set to:1736375787.012330 2025-01-08T22:36:27.015Z,1736375787.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033861 2025-01-08T22:36:27.256Z,1736375787.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:27.256Z,1736375787.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274897 2025-01-08T22:36:27.310Z,1736375787.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:27.382Z,1736375787.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:27.508Z,1736375787.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:27.509Z,1736375787.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526991 2025-01-08T22:36:27.718Z,1736375787.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:27.727Z,1736375787.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.40 m. 2025-01-08T22:36:27.760Z,1736375787.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:27.770Z,1736375787.770 [DAT](INFO): DAT read: 22:36:25.8727 LVL= 24112, 18913, 15586, 23283, AGC= 65, IDX= 264, 0.08, 1.850,-2.215, 2.580, 1.930, PHS= 0.009, 2.186, 0.648, RAW= 313.4, -27.4, CAL= 312.0, -41.1, ROT= 198.0, 41.1 2025-01-08T22:36:27.772Z,1736375787.772 [DAT](INFO): got valid direction response: 22:36:25.8727 LVL= 24112, 18913, 15586, 23283, AGC= 65, IDX= 264, 0.08, 1.850,-2.215, 2.580, 1.930, PHS= 0.009, 2.186, 0.648, RAW= 313.4, -27.4, CAL= 312.0, -41.1, ROT= 198.0, 41.1 2025-01-08T22:36:27.774Z,1736375787.774 [DAT](INFO): DAT read: Bearing 198.0, 41.1 (Local) 2025-01-08T22:36:27.774Z,1736375787.774 [DAT](INFO): Local bearing/azimuth received: Bearing 198.0, 41.1 (Local) 2025-01-08T22:36:27.785Z,1736375787.785 [DAT](INFO): DAT read: Range 10 to 50 : 195.3 m (Round-trip 260.5 ms) speed -0.5 m/s 2025-01-08T22:36:27.786Z,1736375787.786 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:36:27.787Z,1736375787.787 [DAT](INFO): direction in FSK: [0.601464,0.502018,-0.621465] 2025-01-08T22:36:27.787Z,1736375787.787 [DAT](INFO): publishing direction and range info 2025-01-08T22:36:28.012Z,1736375788.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:28.096Z,1736375788.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:28.142Z,1736375788.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 195.300003 m, deltaT: 120.264462 s, deltaX: 103.200005 m, approachRate: 0.858109 m/s, rangeRepo size: 4 2025-01-08T22:36:28.149Z,1736375788.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 195.300003 m, bearing: 217.484599 deg, lat: 36.903990 deg, lon: -122.119937 deg, deltaT: 139.178556 s, deltaX: 112.900002 m, approachRate: 0.811188 m/s, posRepo size: 4 2025-01-08T22:36:28.149Z,1736375788.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.30 m. 2025-01-08T22:36:28.149Z,1736375788.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 195.30 m. Resuming terminal guidance. 2025-01-08T22:36:28.150Z,1736375788.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-01-08T22:36:28.264Z,1736375788.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:28.516Z,1736375788.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:28.527Z,1736375788.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:28.550Z,1736375788.550 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-01-08T22:36:28.550Z,1736375788.550 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T22:36:28.550Z,1736375788.550 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-01-08T22:36:28.552Z,1736375788.552 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 195.300003 m (mode 1.000000 count ). 2025-01-08T22:36:28.553Z,1736375788.553 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-01-08T22:36:28.553Z,1736375788.553 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-01-08T22:36:28.768Z,1736375788.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:28.910Z,1736375788.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:28.917Z,1736375788.917 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-01-08T22:36:28.917Z,1736375788.917 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-01-08T22:36:28.918Z,1736375788.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:29.020Z,1736375789.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:29.020Z,1736375789.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:36:29.020Z,1736375789.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:36:29.020Z,1736375789.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:36:29.272Z,1736375789.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:29.273Z,1736375789.273 [DAT](INFO): DAT read: user:2717> 2025-01-08T22:36:29.274Z,1736375789.274 [DAT](INFO): DAT read: Tx time:22:36:28.5081 2025-01-08T22:36:29.274Z,1736375789.274 [DAT](INFO): Ping request sent. 2025-01-08T22:36:29.274Z,1736375789.274 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:36:29.274Z,1736375789.274 [DAT](INFO): publishing transmit ping time 2025-01-08T22:36:29.275Z,1736375789.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000704 2025-01-08T22:36:29.309Z,1736375789.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:29.315Z,1736375789.315 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-01-08T22:36:29.315Z,1736375789.315 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-01-08T22:36:29.524Z,1736375789.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:29.525Z,1736375789.525 [DAT](INFO): DAT read: TxSync time:22:36:28.5073 2025-01-08T22:36:29.526Z,1736375789.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251491 2025-01-08T22:36:29.742Z,1736375789.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:29.749Z,1736375789.749 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-01-08T22:36:29.749Z,1736375789.749 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T22:36:29.749Z,1736375789.749 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-01-08T22:36:29.749Z,1736375789.749 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T22:36:29.778Z,1736375789.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:29.779Z,1736375789.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504943 2025-01-08T22:36:30.028Z,1736375790.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:30.029Z,1736375790.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755228 2025-01-08T22:36:30.116Z,1736375790.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:30.280Z,1736375790.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:30.281Z,1736375790.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006658 2025-01-08T22:36:30.532Z,1736375790.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:30.532Z,1736375790.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258574 2025-01-08T22:36:30.541Z,1736375790.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:30.784Z,1736375790.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:30.784Z,1736375790.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510348 2025-01-08T22:36:30.935Z,1736375790.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:30.942Z,1736375790.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:31.036Z,1736375791.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:31.037Z,1736375791.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763244 2025-01-08T22:36:31.288Z,1736375791.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:31.289Z,1736375791.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014591 2025-01-08T22:36:31.316Z,1736375791.316 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:36:31.324Z,1736375791.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:31.540Z,1736375791.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:31.541Z,1736375791.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266632 2025-01-08T22:36:31.777Z,1736375791.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:31.792Z,1736375791.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:31.793Z,1736375791.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518610 2025-01-08T22:36:32.044Z,1736375792.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:32.045Z,1736375792.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770420 2025-01-08T22:36:32.138Z,1736375792.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:32.296Z,1736375792.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:32.297Z,1736375792.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022579 2025-01-08T22:36:32.548Z,1736375792.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:32.549Z,1736375792.549 [DAT](INFO): DAT read: Rx Time:22:36:31.1775 2025-01-08T22:36:32.549Z,1736375792.549 [DAT](INFO): Rx dataTimestamp_ set to:1736375792.548720 2025-01-08T22:36:32.550Z,1736375792.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275613 2025-01-08T22:36:32.591Z,1736375792.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:32.800Z,1736375792.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:32.800Z,1736375792.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526484 2025-01-08T22:36:32.946Z,1736375792.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:32.953Z,1736375792.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:33.052Z,1736375793.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:33.053Z,1736375793.053 [DAT](INFO): DAT read: Range 10 to 50 : 198.9 m (Round-trip 265.3 ms) speed -0.3 m/s 2025-01-08T22:36:33.054Z,1736375793.054 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:36:33.055Z,1736375793.055 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:36:33.055Z,1736375793.055 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:36:33.055Z,1736375793.055 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:36:33.304Z,1736375793.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:33.305Z,1736375793.305 [DAT](INFO): DAT read: user:2718> 2025-01-08T22:36:33.306Z,1736375793.306 [DAT](INFO): DAT read: Tx time:22:36:32.5082 2025-01-08T22:36:33.306Z,1736375793.306 [DAT](INFO): Ping request sent. 2025-01-08T22:36:33.306Z,1736375793.306 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:36:33.307Z,1736375793.307 [DAT](INFO): DAT read: TxSync time:22:36:32.5074 2025-01-08T22:36:33.308Z,1736375793.308 [DAT](INFO): publishing transmit ping time 2025-01-08T22:36:33.309Z,1736375793.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002271 2025-01-08T22:36:33.398Z,1736375793.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:33.477Z,1736375793.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 198.899994 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-01-08T22:36:33.557Z,1736375793.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:33.558Z,1736375793.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251302 2025-01-08T22:36:33.808Z,1736375793.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:33.808Z,1736375793.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502099 2025-01-08T22:36:33.809Z,1736375793.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:34.060Z,1736375794.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:34.062Z,1736375794.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755096 2025-01-08T22:36:34.164Z,1736375794.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:34.312Z,1736375794.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:34.313Z,1736375794.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006729 2025-01-08T22:36:34.564Z,1736375794.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:34.564Z,1736375794.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258157 2025-01-08T22:36:34.622Z,1736375794.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:34.816Z,1736375794.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:34.816Z,1736375794.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510059 2025-01-08T22:36:34.000Z,1736375795.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:35.007Z,1736375795.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:35.068Z,1736375795.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:35.068Z,1736375795.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762040 2025-01-08T22:36:35.322Z,1736375795.322 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:35.325Z,1736375795.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018359 2025-01-08T22:36:35.420Z,1736375795.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:35.573Z,1736375795.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:35.574Z,1736375795.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267825 2025-01-08T22:36:35.824Z,1736375795.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:35.825Z,1736375795.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518288 2025-01-08T22:36:35.829Z,1736375795.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:36.076Z,1736375796.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:36.076Z,1736375796.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770114 2025-01-08T22:36:36.203Z,1736375796.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:36.328Z,1736375796.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:36.329Z,1736375796.329 [DAT](INFO): DAT read: Rx Time:22:36:35.1811 2025-01-08T22:36:36.330Z,1736375796.330 [DAT](INFO): Rx dataTimestamp_ set to:1736375796.329498 2025-01-08T22:36:36.330Z,1736375796.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023965 2025-01-08T22:36:36.581Z,1736375796.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:36.583Z,1736375796.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276121 2025-01-08T22:36:36.714Z,1736375796.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:36.847Z,1736375796.847 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:36.848Z,1736375796.848 [DAT](INFO): DAT read: Range 10 to 50 : 201.6 m (Round-trip 268.8 ms) speed -0.6 m/s 2025-01-08T22:36:36.849Z,1736375796.849 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:36:36.850Z,1736375796.850 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:36:36.850Z,1736375796.850 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:36:36.850Z,1736375796.850 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:36:37.021Z,1736375797.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:37.028Z,1736375797.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:37.032Z,1736375797.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 201.600006 m, deltaT: 3.794852 s, deltaX: 2.700012 m, approachRate: 0.711493 m/s, rangeRepo size: 2 2025-01-08T22:36:37.102Z,1736375797.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:37.104Z,1736375797.104 [DAT](INFO): DAT read: user:2719> 2025-01-08T22:36:37.105Z,1736375797.105 [DAT](INFO): DAT read: Tx time:22:36:36.3082 2025-01-08T22:36:37.105Z,1736375797.105 [DAT](INFO): Ping request sent. 2025-01-08T22:36:37.105Z,1736375797.105 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:36:37.106Z,1736375797.106 [DAT](INFO): DAT read: TxSync time:22:36:36.3074 2025-01-08T22:36:37.106Z,1736375797.106 [DAT](INFO): publishing transmit ping time 2025-01-08T22:36:37.107Z,1736375797.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001526 2025-01-08T22:36:37.352Z,1736375797.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:37.352Z,1736375797.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246974 2025-01-08T22:36:37.425Z,1736375797.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:37.605Z,1736375797.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:37.607Z,1736375797.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502015 2025-01-08T22:36:37.857Z,1736375797.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:37.858Z,1736375797.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752441 2025-01-08T22:36:37.968Z,1736375797.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:38.109Z,1736375798.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:38.109Z,1736375798.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004109 2025-01-08T22:36:38.353Z,1736375798.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:38.360Z,1736375798.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:38.360Z,1736375798.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255099 2025-01-08T22:36:38.612Z,1736375798.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:38.614Z,1736375798.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509081 2025-01-08T22:36:38.773Z,1736375798.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:38.864Z,1736375798.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:38.865Z,1736375798.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759850 2025-01-08T22:36:39.116Z,1736375799.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:39.117Z,1736375799.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011153 2025-01-08T22:36:39.175Z,1736375799.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:39.182Z,1736375799.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:39.369Z,1736375799.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:39.370Z,1736375799.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264340 2025-01-08T22:36:39.607Z,1736375799.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:39.631Z,1736375799.631 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:39.633Z,1736375799.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527134 2025-01-08T22:36:39.876Z,1736375799.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:39.876Z,1736375799.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771025 2025-01-08T22:36:40.054Z,1736375800.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:40.129Z,1736375800.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:40.130Z,1736375800.130 [DAT](INFO): DAT read: Rx Time:22:36:38.9540 2025-01-08T22:36:40.130Z,1736375800.130 [DAT](INFO): Rx dataTimestamp_ set to:1736375800.130170 2025-01-08T22:36:40.132Z,1736375800.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026166 2025-01-08T22:36:40.380Z,1736375800.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:40.380Z,1736375800.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275034 2025-01-08T22:36:40.467Z,1736375800.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:40.634Z,1736375800.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:40.636Z,1736375800.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530291 2025-01-08T22:36:40.884Z,1736375800.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:40.890Z,1736375800.890 [DAT](INFO): DAT read: 22:36:38.9540 LVL= 19232, 14225, 7938, 21027, AGC= 59, IDX= 151, 0.10,-0.539, 1.605, 1.688, 0.897, PHS=-1.348, 0.754, 0.788, RAW= 269.2, -1.9, CAL= 271.8, -4.1, ROT= 238.2, 4.1 2025-01-08T22:36:40.891Z,1736375800.891 [DAT](INFO): got valid direction response: 22:36:38.9540 LVL= 19232, 14225, 7938, 21027, AGC= 59, IDX= 151, 0.10,-0.539, 1.605, 1.688, 0.897, PHS=-1.348, 0.754, 0.788, RAW= 269.2, -1.9, CAL= 271.8, -4.1, ROT= 238.2, 4.1 2025-01-08T22:36:40.892Z,1736375800.892 [DAT](INFO): DAT read: Bearing 238.2, 4.1 (Local) 2025-01-08T22:36:40.892Z,1736375800.892 [DAT](INFO): Local bearing/azimuth received: Bearing 238.2, 4.1 (Local) 2025-01-08T22:36:40.894Z,1736375800.894 [DAT](INFO): DAT read: Range 10 to 50 : 181.2 m (Round-trip 241.6 ms) speed -0.4 m/s 2025-01-08T22:36:40.894Z,1736375800.894 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:36:40.896Z,1736375800.896 [DAT](INFO): direction in FSK: [0.118997,-0.123084,-0.985236] 2025-01-08T22:36:40.896Z,1736375800.896 [DAT](INFO): publishing direction and range info 2025-01-08T22:36:40.902Z,1736375800.902 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:36:40.902Z,1736375800.902 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:36:40.902Z,1736375800.902 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:36:40.945Z,1736375800.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:40.996Z,1736375800.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 181.199997 m, deltaT: 4.037079 s, deltaX: -20.400009 m, approachRate: -5.053161 m/s, rangeRepo size: 2 2025-01-08T22:36:41.136Z,1736375801.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:41.137Z,1736375801.137 [DAT](INFO): DAT read: user:2720> 2025-01-08T22:36:41.137Z,1736375801.137 [DAT](INFO): DAT read: Tx time:22:36:40.3582 2025-01-08T22:36:41.138Z,1736375801.138 [DAT](INFO): Ping request sent. 2025-01-08T22:36:41.138Z,1736375801.138 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:36:41.138Z,1736375801.138 [DAT](INFO): publishing transmit ping time 2025-01-08T22:36:41.138Z,1736375801.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722 2025-01-08T22:36:41.300Z,1736375801.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:41.306Z,1736375801.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:41.388Z,1736375801.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:41.389Z,1736375801.389 [DAT](INFO): DAT read: TxSync time:22:36:40.3574 2025-01-08T22:36:41.389Z,1736375801.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251767 2025-01-08T22:36:41.641Z,1736375801.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:41.643Z,1736375801.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505226 2025-01-08T22:36:41.818Z,1736375801.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:41.898Z,1736375801.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:41.899Z,1736375801.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760597 2025-01-08T22:36:42.148Z,1736375802.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:42.148Z,1736375802.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010625 2025-01-08T22:36:42.184Z,1736375802.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:42.401Z,1736375802.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:42.402Z,1736375802.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264169 2025-01-08T22:36:42.652Z,1736375802.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:42.653Z,1736375802.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515556 2025-01-08T22:36:42.689Z,1736375802.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:42.906Z,1736375802.906 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:42.907Z,1736375802.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769079 2025-01-08T22:36:42.997Z,1736375802.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:43.160Z,1736375803.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:43.161Z,1736375803.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022826 2025-01-08T22:36:43.396Z,1736375803.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:43.412Z,1736375803.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:43.413Z,1736375803.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275189 2025-01-08T22:36:43.418Z,1736375803.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:43.664Z,1736375803.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:43.665Z,1736375803.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527267 2025-01-08T22:36:43.837Z,1736375803.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:43.916Z,1736375803.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:43.917Z,1736375803.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779682 2025-01-08T22:36:44.168Z,1736375804.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:44.168Z,1736375804.168 [DAT](INFO): DAT read: Rx Time:22:36:43.0058 2025-01-08T22:36:44.169Z,1736375804.169 [DAT](INFO): Rx dataTimestamp_ set to:1736375804.168599 2025-01-08T22:36:44.169Z,1736375804.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031728 2025-01-08T22:36:44.227Z,1736375804.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:44.420Z,1736375804.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:44.420Z,1736375804.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282779 2025-01-08T22:36:44.673Z,1736375804.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:44.677Z,1736375804.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538517 2025-01-08T22:36:44.750Z,1736375804.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:44.924Z,1736375804.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:44.931Z,1736375804.931 [DAT](INFO): DAT read: 22:36:43.0058 LVL= 30912, 27713, 20306, 32755, AGC= 63, IDX= 458, 0.15, 0.010, 1.307, 2.570, 1.309, PHS=-1.211, 0.045, 1.258, RAW= 240.6, -0.9, CAL= 242.9, -1.6, ROT= 267.1, 1.6 2025-01-08T22:36:44.932Z,1736375804.932 [DAT](INFO): got valid direction response: 22:36:43.0058 LVL= 30912, 27713, 20306, 32755, AGC= 63, IDX= 458, 0.15, 0.010, 1.307, 2.570, 1.309, PHS=-1.211, 0.045, 1.258, RAW= 240.6, -0.9, CAL= 242.9, -1.6, ROT= 267.1, 1.6 2025-01-08T22:36:44.933Z,1736375804.933 [DAT](INFO): DAT read: Bearing 267.1, 1.6 (Local) 2025-01-08T22:36:44.933Z,1736375804.933 [DAT](INFO): Local bearing/azimuth received: Bearing 267.1, 1.6 (Local) 2025-01-08T22:36:44.934Z,1736375804.934 [DAT](INFO): DAT read: Range 10 to 50 : 182.6 m (Round-trip 243.5 ms) speed 0.0 m/s 2025-01-08T22:36:44.935Z,1736375804.935 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:36:44.950Z,1736375804.950 [DAT](INFO): direction in FSK: [0.046618,-0.569816,-0.820449] 2025-01-08T22:36:44.950Z,1736375804.950 [DAT](INFO): publishing direction and range info 2025-01-08T22:36:44.954Z,1736375804.954 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:36:44.954Z,1736375804.954 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:36:44.954Z,1736375804.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:36:45.071Z,1736375805.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:45.101Z,1736375805.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 182.600006 m, deltaT: 8.077078 s, deltaX: -19.000000 m, approachRate: -2.352336 m/s, rangeRepo size: 3 2025-01-08T22:36:45.109Z,1736375805.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 182.600006 m, bearing: 19.982311 deg, lat: 36.903816 deg, lon: -122.119928 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-01-08T22:36:45.109Z,1736375805.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:45.116Z,1736375805.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 98.867683 m, bearing: 347.258564 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 352.923136 deg, new cmd heading: 347.258564 deg. 2025-01-08T22:36:45.117Z,1736375805.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.060805 target range: 182.600006 and range: 182.60 m. 2025-01-08T22:36:45.176Z,1736375805.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:45.177Z,1736375805.177 [DAT](INFO): DAT read: user:2721> 2025-01-08T22:36:45.179Z,1736375805.179 [DAT](INFO): DAT read: Tx time:22:36:44.4082 2025-01-08T22:36:45.179Z,1736375805.179 [DAT](INFO): Ping request sent. 2025-01-08T22:36:45.179Z,1736375805.179 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:36:45.180Z,1736375805.180 [DAT](INFO): publishing transmit ping time 2025-01-08T22:36:45.181Z,1736375805.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001141 2025-01-08T22:36:45.428Z,1736375805.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:45.429Z,1736375805.429 [DAT](INFO): DAT read: TxSync time:22:36:44.4074 2025-01-08T22:36:45.430Z,1736375805.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250724 2025-01-08T22:36:45.436Z,1736375805.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:45.442Z,1736375805.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:45.445Z,1736375805.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:45.449Z,1736375805.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.015205 m, bearing: 347.163198 deg, approach rate: 0.428731 m/s, LOS rate: -0.276742 deg/s, cmd heading: 347.258565 deg, new cmd heading: 347.163198 deg. 2025-01-08T22:36:45.449Z,1736375805.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059141 target range: 182.600006 and range: 182.60 m. 2025-01-08T22:36:45.680Z,1736375805.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:45.681Z,1736375805.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501504 2025-01-08T22:36:45.869Z,1736375805.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:45.881Z,1736375805.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:45.888Z,1736375805.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.180283 m, bearing: 347.052329 deg, approach rate: 0.378099 m/s, LOS rate: -0.253517 deg/s, cmd heading: 347.163189 deg, new cmd heading: 347.052329 deg. 2025-01-08T22:36:45.889Z,1736375805.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.057206 target range: 182.600006 and range: 182.60 m. 2025-01-08T22:36:45.932Z,1736375805.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:45.933Z,1736375805.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753108 2025-01-08T22:36:46.184Z,1736375806.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:46.185Z,1736375806.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005187 2025-01-08T22:36:46.248Z,1736375806.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:46.257Z,1736375806.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:46.260Z,1736375806.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.320602 m, bearing: 346.952941 deg, approach rate: 0.373167 m/s, LOS rate: -0.263937 deg/s, cmd heading: 347.052321 deg, new cmd heading: 346.952941 deg. 2025-01-08T22:36:46.261Z,1736375806.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055471 target range: 182.600006 and range: 182.60 m. 2025-01-08T22:36:46.436Z,1736375806.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:46.436Z,1736375806.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256870 2025-01-08T22:36:46.693Z,1736375806.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:46.694Z,1736375806.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514266 2025-01-08T22:36:46.782Z,1736375806.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:46.800Z,1736375806.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:46.802Z,1736375806.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.511436 m, bearing: 346.810702 deg, approach rate: 0.352376 m/s, LOS rate: -0.262141 deg/s, cmd heading: 346.952928 deg, new cmd heading: 346.810702 deg. 2025-01-08T22:36:46.803Z,1736375806.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052989 target range: 182.600006 and range: 182.60 m. 2025-01-08T22:36:46.944Z,1736375806.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:46.945Z,1736375806.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765347 2025-01-08T22:36:47.154Z,1736375807.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:47.163Z,1736375807.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:47.166Z,1736375807.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.639397 m, bearing: 346.709214 deg, approach rate: 0.351235 m/s, LOS rate: -0.278215 deg/s, cmd heading: 346.810696 deg, new cmd heading: 346.709214 deg. 2025-01-08T22:36:47.167Z,1736375807.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051218 target range: 182.600006 and range: 182.60 m. 2025-01-08T22:36:47.196Z,1736375807.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:47.197Z,1736375807.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017391 2025-01-08T22:36:47.448Z,1736375807.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:47.448Z,1736375807.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268844 2025-01-08T22:36:47.651Z,1736375807.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:47.686Z,1736375807.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:47.692Z,1736375807.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:47.694Z,1736375807.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.793655 m, bearing: 346.569218 deg, approach rate: 0.291880 m/s, LOS rate: -0.264483 deg/s, cmd heading: 346.709227 deg, new cmd heading: 346.569218 deg. 2025-01-08T22:36:47.700Z,1736375807.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:47.701Z,1736375807.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521035 2025-01-08T22:36:47.701Z,1736375807.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.048774 target range: 182.600006 and range: 182.60 m. 2025-01-08T22:36:47.952Z,1736375807.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:47.952Z,1736375807.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772820 2025-01-08T22:36:47.968Z,1736375807.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:36:48.139Z,1736375808.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:36:48.139Z,1736375808.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:48.168Z,1736375808.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:48.170Z,1736375808.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.940887 m, bearing: 346.426719 deg, approach rate: 0.309241 m/s, LOS rate: -0.298859 deg/s, cmd heading: 346.569208 deg, new cmd heading: 346.426719 deg. 2025-01-08T22:36:48.171Z,1736375808.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.046287 target range: 182.600006 and range: 182.60 m. 2025-01-08T22:36:48.204Z,1736375808.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:48.205Z,1736375808.205 [DAT](INFO): DAT read: Rx Time:22:36:47.0569 2025-01-08T22:36:48.206Z,1736375808.206 [DAT](INFO): Rx dataTimestamp_ set to:1736375808.205542 2025-01-08T22:36:48.207Z,1736375808.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027256 2025-01-08T22:36:48.456Z,1736375808.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:48.456Z,1736375808.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276881 2025-01-08T22:36:48.503Z,1736375808.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:36:48.503Z,1736375808.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:48.512Z,1736375808.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:48.515Z,1736375808.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.044258 m, bearing: 346.319660 deg, approach rate: 0.300076 m/s, LOS rate: -0.310459 deg/s, cmd heading: 346.426730 deg, new cmd heading: 346.319660 deg. 2025-01-08T22:36:48.516Z,1736375808.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044418 target range: 182.600006 and range: 182.60 m. 2025-01-08T22:36:48.710Z,1736375808.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:48.712Z,1736375808.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532186 2025-01-08T22:36:48.942Z,1736375808.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:48.960Z,1736375808.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:48.962Z,1736375808.962 [DAT](INFO): DAT read: Range 10 to 50 : 183.3 m (Round-trip 244.5 ms) speed 0.0 m/s 2025-01-08T22:36:48.963Z,1736375808.963 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:36:48.964Z,1736375808.964 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:36:48.964Z,1736375808.964 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:36:48.964Z,1736375808.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:36:48.972Z,1736375808.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:36:48.975Z,1736375808.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:48.978Z,1736375808.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.164261 m, bearing: 346.196951 deg, approach rate: 0.268630 m/s, LOS rate: -0.274358 deg/s, cmd heading: 346.319660 deg, new cmd heading: 346.196951 deg. 2025-01-08T22:36:48.984Z,1736375808.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.042277 target range: 182.600006 and range: 182.60 m. 2025-01-08T22:36:49.213Z,1736375809.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:49.214Z,1736375809.214 [DAT](INFO): DAT read: user:2722> 2025-01-08T22:36:49.214Z,1736375809.214 [DAT](INFO): DAT read: Tx time:22:36:48.4583 2025-01-08T22:36:49.215Z,1736375809.215 [DAT](INFO): Ping request sent. 2025-01-08T22:36:49.215Z,1736375809.215 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:36:49.215Z,1736375809.215 [DAT](INFO): publishing transmit ping time 2025-01-08T22:36:49.216Z,1736375809.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000859 2025-01-08T22:36:49.320Z,1736375809.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:49.330Z,1736375809.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 183.300003 m, deltaT: 4.036065 s, deltaX: 0.699997 m, approachRate: 0.173435 m/s, rangeRepo size: 4 2025-01-08T22:36:49.330Z,1736375809.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:49.333Z,1736375809.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.261795 m, bearing: 346.090019 deg, approach rate: 0.263523 m/s, LOS rate: -0.288634 deg/s, cmd heading: 346.196963 deg, new cmd heading: 346.090019 deg. 2025-01-08T22:36:49.334Z,1736375809.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.040411 target range: 182.600006 and range: 183.30 m. 2025-01-08T22:36:49.464Z,1736375809.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:49.465Z,1736375809.465 [DAT](INFO): DAT read: TxSync time:22:36:48.4575 2025-01-08T22:36:49.466Z,1736375809.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250785 2025-01-08T22:36:49.717Z,1736375809.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:49.718Z,1736375809.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503172 2025-01-08T22:36:49.784Z,1736375809.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:49.802Z,1736375809.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:49.816Z,1736375809.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:49.825Z,1736375809.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.376450 m, bearing: 345.955828 deg, approach rate: 0.237874 m/s, LOS rate: -0.278090 deg/s, cmd heading: 346.090029 deg, new cmd heading: 345.955828 deg. 2025-01-08T22:36:49.825Z,1736375809.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038068 target range: 182.600006 and range: 183.30 m. 2025-01-08T22:36:49.968Z,1736375809.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:49.968Z,1736375809.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753668 2025-01-08T22:36:50.117Z,1736375810.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:50.142Z,1736375810.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:50.148Z,1736375810.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.454330 m, bearing: 345.858289 deg, approach rate: 0.235718 m/s, LOS rate: -0.294987 deg/s, cmd heading: 345.955830 deg, new cmd heading: 345.858289 deg. 2025-01-08T22:36:50.149Z,1736375810.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.036366 target range: 182.600006 and range: 183.30 m. 2025-01-08T22:36:50.220Z,1736375810.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:50.221Z,1736375810.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006476 2025-01-08T22:36:50.472Z,1736375810.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:50.473Z,1736375810.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257827 2025-01-08T22:36:50.532Z,1736375810.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:50.549Z,1736375810.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:50.556Z,1736375810.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.545647 m, bearing: 345.735207 deg, approach rate: 0.224152 m/s, LOS rate: -0.301852 deg/s, cmd heading: 345.858295 deg, new cmd heading: 345.735207 deg. 2025-01-08T22:36:50.556Z,1736375810.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034218 target range: 182.600006 and range: 183.30 m. 2025-01-08T22:36:50.726Z,1736375810.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:50.738Z,1736375810.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.523157 2025-01-08T22:36:50.961Z,1736375810.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:50.970Z,1736375810.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:50.973Z,1736375810.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.638550 m, bearing: 345.608363 deg, approach rate: 0.220616 m/s, LOS rate: -0.300938 deg/s, cmd heading: 345.735215 deg, new cmd heading: 345.608363 deg. 2025-01-08T22:36:50.974Z,1736375810.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032004 target range: 182.600006 and range: 183.30 m. 2025-01-08T22:36:50.976Z,1736375810.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:50.977Z,1736375810.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761824 2025-01-08T22:36:51.228Z,1736375811.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:51.229Z,1736375811.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014345 2025-01-08T22:36:51.327Z,1736375811.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:51.352Z,1736375811.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:51.355Z,1736375811.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.705887 m, bearing: 345.497408 deg, approach rate: 0.176111 m/s, LOS rate: -0.289992 deg/s, cmd heading: 345.608364 deg, new cmd heading: 345.497408 deg. 2025-01-08T22:36:51.360Z,1736375811.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030067 target range: 182.600006 and range: 183.30 m. 2025-01-08T22:36:51.480Z,1736375811.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:51.481Z,1736375811.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265750 2025-01-08T22:36:51.738Z,1736375811.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:51.739Z,1736375811.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524019 2025-01-08T22:36:51.849Z,1736375811.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:36:51.849Z,1736375811.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:51.859Z,1736375811.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:51.865Z,1736375811.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:51.870Z,1736375811.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.793144 m, bearing: 345.338295 deg, approach rate: 0.170418 m/s, LOS rate: -0.310486 deg/s, cmd heading: 345.497415 deg, new cmd heading: 345.338295 deg. 2025-01-08T22:36:51.871Z,1736375811.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027290 target range: 182.600006 and range: 183.30 m. 2025-01-08T22:36:51.992Z,1736375811.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:51.992Z,1736375811.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777636 2025-01-08T22:36:52.161Z,1736375812.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:36:52.161Z,1736375812.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:52.180Z,1736375812.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:52.183Z,1736375812.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.840630 m, bearing: 345.241597 deg, approach rate: 0.150791 m/s, LOS rate: -0.306922 deg/s, cmd heading: 345.338299 deg, new cmd heading: 345.241597 deg. 2025-01-08T22:36:52.188Z,1736375812.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025603 target range: 182.600006 and range: 183.30 m. 2025-01-08T22:36:52.244Z,1736375812.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:52.246Z,1736375812.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030774 2025-01-08T22:36:52.496Z,1736375812.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:52.497Z,1736375812.497 [DAT](INFO): DAT read: Rx Time:22:36:51.1071 2025-01-08T22:36:52.497Z,1736375812.497 [DAT](INFO): Rx dataTimestamp_ set to:1736375812.496773 2025-01-08T22:36:52.498Z,1736375812.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282828 2025-01-08T22:36:52.551Z,1736375812.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:36:52.551Z,1736375812.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:52.580Z,1736375812.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:52.582Z,1736375812.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.893433 m, bearing: 345.120297 deg, approach rate: 0.131845 m/s, LOS rate: -0.302718 deg/s, cmd heading: 345.241610 deg, new cmd heading: 345.120297 deg. 2025-01-08T22:36:52.591Z,1736375812.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023486 target range: 182.600006 and range: 183.30 m. 2025-01-08T22:36:52.750Z,1736375812.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:52.754Z,1736375812.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538981 2025-01-08T22:36:52.982Z,1736375812.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:52.991Z,1736375812.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.60 m. 2025-01-08T22:36:52.994Z,1736375812.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.944527 m, bearing: 344.987755 deg, approach rate: 0.124307 m/s, LOS rate: -0.322299 deg/s, cmd heading: 345.120306 deg, new cmd heading: 344.987755 deg. 2025-01-08T22:36:52.994Z,1736375812.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021172 target range: 182.600006 and range: 183.30 m. 2025-01-08T22:36:52.000Z,1736375813.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:53.008Z,1736375813.008 [DAT](INFO): DAT read: 22:36:51.1071 LVL= 19632, 27057, 14098, 28611, AGC= 59, IDX= 438,-0.07, 1.793, 2.242,-2.209, 2.748, PHS=-0.867,-0.459, 1.324, RAW= 220.1, 0.0, CAL= 220.0, -5.4, ROT= 290.0, 5.4 2025-01-08T22:36:53.009Z,1736375813.009 [DAT](INFO): got valid direction response: 22:36:51.1071 LVL= 19632, 27057, 14098, 28611, AGC= 59, IDX= 438,-0.07, 1.793, 2.242,-2.209, 2.748, PHS=-0.867,-0.459, 1.324, RAW= 220.1, 0.0, CAL= 220.0, -5.4, ROT= 290.0, 5.4 2025-01-08T22:36:53.010Z,1736375813.010 [DAT](INFO): DAT read: Bearing 290.0, 5.4 (Local) 2025-01-08T22:36:53.010Z,1736375813.010 [DAT](INFO): Local bearing/azimuth received: Bearing 290.0, 5.4 (Local) 2025-01-08T22:36:53.013Z,1736375813.013 [DAT](INFO): DAT read: Range 10 to 50 : 183.5 m (Round-trip 244.7 ms) speed 0.1 m/s 2025-01-08T22:36:53.013Z,1736375813.013 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:36:53.014Z,1736375813.014 [DAT](INFO): direction in FSK: [-0.012249,-0.808554,-0.588294] 2025-01-08T22:36:53.014Z,1736375813.014 [DAT](INFO): publishing direction and range info 2025-01-08T22:36:53.018Z,1736375813.018 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:36:53.018Z,1736375813.018 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:36:53.018Z,1736375813.018 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:36:53.254Z,1736375813.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:53.255Z,1736375813.255 [DAT](INFO): DAT read: user:2723> 2025-01-08T22:36:53.256Z,1736375813.256 [DAT](INFO): DAT read: Tx time:22:36:52.5083 2025-01-08T22:36:53.256Z,1736375813.256 [DAT](INFO): Ping request sent. 2025-01-08T22:36:53.256Z,1736375813.256 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:36:53.256Z,1736375813.256 [DAT](INFO): publishing transmit ping time 2025-01-08T22:36:53.257Z,1736375813.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-01-08T22:36:53.372Z,1736375813.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:53.400Z,1736375813.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 183.500000 m, deltaT: 4.040112 s, deltaX: 0.199997 m, approachRate: 0.049503 m/s, rangeRepo size: 4 2025-01-08T22:36:53.402Z,1736375813.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 183.500000 m, bearing: 343.764048 deg, lat: 36.903816 deg, lon: -122.119956 deg, deltaT: 8.076177 s, deltaX: 0.899994 m, approachRate: 0.111438 m/s, posRepo size: 2 2025-01-08T22:36:53.402Z,1736375813.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m. 2025-01-08T22:36:53.413Z,1736375813.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.500000 m, nav range: 101.648933 m, bearing: 343.540676 deg, approach rate: 0.000000 m/s, LOS rate: -0.322299 deg/s, cmd heading: 344.987746 deg, new cmd heading: 344.597874 deg. 2025-01-08T22:36:53.414Z,1736375813.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014368 target range: 183.500000 and range: 183.50 m. 2025-01-08T22:36:53.508Z,1736375813.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:53.509Z,1736375813.509 [DAT](INFO): DAT read: TxSync time:22:36:52.5075 2025-01-08T22:36:53.509Z,1736375813.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253361 2025-01-08T22:36:53.761Z,1736375813.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:53.763Z,1736375813.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506860 2025-01-08T22:36:53.846Z,1736375813.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:53.864Z,1736375813.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:53.866Z,1736375813.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m. 2025-01-08T22:36:53.885Z,1736375813.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.500000 m, nav range: 101.696152 m, bearing: 343.394043 deg, approach rate: 0.100041 m/s, LOS rate: -0.310526 deg/s, cmd heading: 344.597879 deg, new cmd heading: 344.158192 deg. 2025-01-08T22:36:53.886Z,1736375813.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.006694 target range: 183.500000 and range: 183.50 m. 2025-01-08T22:36:54.012Z,1736375814.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:54.013Z,1736375814.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756787 2025-01-08T22:36:54.172Z,1736375814.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:54.182Z,1736375814.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m. 2025-01-08T22:36:54.204Z,1736375814.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.500000 m, nav range: 101.723206 m, bearing: 343.295392 deg, approach rate: 0.085756 m/s, LOS rate: -0.312623 deg/s, cmd heading: 344.158206 deg, new cmd heading: 343.862334 deg. 2025-01-08T22:36:54.205Z,1736375814.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001530 target range: 183.500000 and range: 183.50 m. 2025-01-08T22:36:54.265Z,1736375814.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:54.266Z,1736375814.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009835 2025-01-08T22:36:54.516Z,1736375814.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:54.517Z,1736375814.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260507 2025-01-08T22:36:54.581Z,1736375814.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:54.589Z,1736375814.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m. 2025-01-08T22:36:54.592Z,1736375814.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.500000 m, nav range: 101.750534 m, bearing: 343.171219 deg, approach rate: 0.067019 m/s, LOS rate: -0.304434 deg/s, cmd heading: 343.862322 deg, new cmd heading: 343.489910 deg. 2025-01-08T22:36:54.593Z,1736375814.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.995030 target range: 183.500000 and range: 183.50 m. 2025-01-08T22:36:54.769Z,1736375814.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:54.772Z,1736375814.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514815 2025-01-08T22:36:55.009Z,1736375815.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:55.020Z,1736375815.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:55.020Z,1736375815.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764474 2025-01-08T22:36:55.019Z,1736375815.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m. 2025-01-08T22:36:55.025Z,1736375815.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.500000 m, nav range: 101.767365 m, bearing: 343.045365 deg, approach rate: 0.039176 m/s, LOS rate: -0.292899 deg/s, cmd heading: 343.489913 deg, new cmd heading: 343.112419 deg. 2025-01-08T22:36:55.026Z,1736375815.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.988441 target range: 183.500000 and range: 183.50 m. 2025-01-08T22:36:55.272Z,1736375815.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:55.273Z,1736375815.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016438 2025-01-08T22:36:55.383Z,1736375815.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:55.392Z,1736375815.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m. 2025-01-08T22:36:55.395Z,1736375815.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.500000 m, nav range: 101.775917 m, bearing: 342.935309 deg, approach rate: 0.022954 m/s, LOS rate: -0.295359 deg/s, cmd heading: 343.112422 deg, new cmd heading: 342.782284 deg. 2025-01-08T22:36:55.397Z,1736375815.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982679 target range: 183.500000 and range: 183.50 m. 2025-01-08T22:36:55.524Z,1736375815.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:55.525Z,1736375815.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269276 2025-01-08T22:36:55.777Z,1736375815.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:55.780Z,1736375815.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523102 2025-01-08T22:36:55.881Z,1736375815.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:55.889Z,1736375815.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:55.894Z,1736375815.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m. 2025-01-08T22:36:55.917Z,1736375815.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.500000 m, nav range: 101.769417 m, bearing: 342.791323 deg, approach rate: -0.012946 m/s, LOS rate: -0.286772 deg/s, cmd heading: 342.782278 deg, new cmd heading: 342.350303 deg. 2025-01-08T22:36:55.920Z,1736375815.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975140 target range: 183.500000 and range: 183.50 m. 2025-01-08T22:36:56.029Z,1736375816.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:56.030Z,1736375816.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773577 2025-01-08T22:36:56.217Z,1736375816.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:56.231Z,1736375816.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m. 2025-01-08T22:36:56.234Z,1736375816.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.500000 m, nav range: 101.765388 m, bearing: 342.694055 deg, approach rate: -0.011945 m/s, LOS rate: -0.288437 deg/s, cmd heading: 342.350309 deg, new cmd heading: 342.058497 deg. 2025-01-08T22:36:56.235Z,1736375816.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970047 target range: 183.500000 and range: 183.50 m. 2025-01-08T22:36:56.280Z,1736375816.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:56.281Z,1736375816.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025063 2025-01-08T22:36:56.532Z,1736375816.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:56.533Z,1736375816.533 [DAT](INFO): DAT read: Rx Time:22:36:55.1562 2025-01-08T22:36:56.533Z,1736375816.533 [DAT](INFO): Rx dataTimestamp_ set to:1736375816.532949 2025-01-08T22:36:56.534Z,1736375816.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277764 2025-01-08T22:36:56.609Z,1736375816.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:56.624Z,1736375816.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m. 2025-01-08T22:36:56.627Z,1736375816.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.500000 m, nav range: 101.754776 m, bearing: 342.580505 deg, approach rate: -0.026980 m/s, LOS rate: -0.288706 deg/s, cmd heading: 342.058496 deg, new cmd heading: 341.717814 deg. 2025-01-08T22:36:56.629Z,1736375816.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964101 target range: 183.500000 and range: 183.50 m. 2025-01-08T22:36:56.785Z,1736375816.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:56.788Z,1736375816.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531060 2025-01-08T22:36:57.034Z,1736375817.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:57.036Z,1736375817.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:57.042Z,1736375817.042 [DAT](INFO): DAT read: 22:36:55.1562 LVL= 24608, 28849, 14578, 30803, AGC= 59, IDX= 429, 0.13, 0.695, 0.421, 2.386, 1.288, PHS=-0.505,-0.820, 1.095, RAW= 201.2, 2.6, CAL= 201.2, -4.9, ROT= 308.8, 4.9 2025-01-08T22:36:57.043Z,1736375817.043 [DAT](INFO): got valid direction response: 22:36:55.1562 LVL= 24608, 28849, 14578, 30803, AGC= 59, IDX= 429, 0.13, 0.695, 0.421, 2.386, 1.288, PHS=-0.505,-0.820, 1.095, RAW= 201.2, 2.6, CAL= 201.2, -4.9, ROT= 308.8, 4.9 2025-01-08T22:36:57.047Z,1736375817.047 [DAT](INFO): DAT read: Bearing 308.8, 4.9 (Local) 2025-01-08T22:36:57.047Z,1736375817.047 [DAT](INFO): Local bearing/azimuth received: Bearing 308.8, 4.9 (Local) 2025-01-08T22:36:57.048Z,1736375817.048 [DAT](INFO): DAT read: Range 10 to 50 : 182.8 m (Round-trip 243.8 ms) speed 0.2 m/s 2025-01-08T22:36:57.049Z,1736375817.049 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:36:57.050Z,1736375817.050 [DAT](INFO): direction in FSK: [-0.098824,-0.944325,-0.313822] 2025-01-08T22:36:57.050Z,1736375817.050 [DAT](INFO): publishing direction and range info 2025-01-08T22:36:57.058Z,1736375817.058 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:36:57.058Z,1736375817.058 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:36:57.058Z,1736375817.058 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:36:57.070Z,1736375817.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 182.800003 m, deltaT: 4.035909 s, deltaX: -0.699997 m, approachRate: -0.173442 m/s, rangeRepo size: 4 2025-01-08T22:36:57.092Z,1736375817.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 182.800003 m, bearing: 324.019568 deg, lat: 36.903816 deg, lon: -122.120094 deg, deltaT: 4.035909 s, deltaX: -0.699997 m, approachRate: -0.173442 m/s, posRepo size: 3 2025-01-08T22:36:57.093Z,1736375817.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.80 m. 2025-01-08T22:36:57.102Z,1736375817.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.800003 m, nav range: 106.082176 m, bearing: 336.121881 deg, approach rate: 0.000000 m/s, LOS rate: -0.288706 deg/s, cmd heading: 341.717807 deg, new cmd heading: 341.332591 deg. 2025-01-08T22:36:57.108Z,1736375817.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.957377 target range: 182.800003 and range: 182.80 m. 2025-01-08T22:36:57.288Z,1736375817.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:57.289Z,1736375817.289 [DAT](INFO): DAT read: user:2724> 2025-01-08T22:36:57.289Z,1736375817.289 [DAT](INFO): DAT read: Tx time:22:36:56.5083 2025-01-08T22:36:57.290Z,1736375817.290 [DAT](INFO): Ping request sent. 2025-01-08T22:36:57.290Z,1736375817.290 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:36:57.290Z,1736375817.290 [DAT](INFO): publishing transmit ping time 2025-01-08T22:36:57.291Z,1736375817.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000716 2025-01-08T22:36:57.464Z,1736375817.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:57.480Z,1736375817.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.80 m. 2025-01-08T22:36:57.487Z,1736375817.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.800003 m, nav range: 106.067284 m, bearing: 336.008358 deg, approach rate: -0.036193 m/s, LOS rate: -0.275928 deg/s, cmd heading: 341.332584 deg, new cmd heading: 340.991972 deg. 2025-01-08T22:36:57.489Z,1736375817.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951433 target range: 182.800003 and range: 182.80 m. 2025-01-08T22:36:57.541Z,1736375817.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:57.542Z,1736375817.542 [DAT](INFO): DAT read: TxSync time:22:36:56.5075 2025-01-08T22:36:57.544Z,1736375817.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253456 2025-01-08T22:36:57.793Z,1736375817.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:57.796Z,1736375817.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505214 2025-01-08T22:36:57.913Z,1736375817.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:57.920Z,1736375817.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:57.925Z,1736375817.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.80 m. 2025-01-08T22:36:57.930Z,1736375817.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.800003 m, nav range: 106.045090 m, bearing: 335.891931 deg, approach rate: -0.049985 m/s, LOS rate: -0.262270 deg/s, cmd heading: 340.991976 deg, new cmd heading: 340.642626 deg. 2025-01-08T22:36:57.931Z,1736375817.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945335 target range: 182.800003 and range: 182.80 m. 2025-01-08T22:36:58.044Z,1736375818.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:58.045Z,1736375818.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754561 2025-01-08T22:36:58.223Z,1736375818.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:58.235Z,1736375818.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.80 m. 2025-01-08T22:36:58.238Z,1736375818.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.800003 m, nav range: 106.021591 m, bearing: 335.812366 deg, approach rate: -0.075611 m/s, LOS rate: -0.256070 deg/s, cmd heading: 340.642626 deg, new cmd heading: 340.403880 deg. 2025-01-08T22:36:58.239Z,1736375818.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941168 target range: 182.800003 and range: 182.80 m. 2025-01-08T22:36:58.296Z,1736375818.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:58.297Z,1736375818.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007441 2025-01-08T22:36:58.548Z,1736375818.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:58.548Z,1736375818.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258540 2025-01-08T22:36:58.625Z,1736375818.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:58.635Z,1736375818.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.80 m. 2025-01-08T22:36:58.638Z,1736375818.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.800003 m, nav range: 105.985634 m, bearing: 335.709207 deg, approach rate: -0.089968 m/s, LOS rate: -0.258201 deg/s, cmd heading: 340.403869 deg, new cmd heading: 340.094290 deg. 2025-01-08T22:36:58.639Z,1736375818.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935765 target range: 182.800003 and range: 182.80 m. 2025-01-08T22:36:58.810Z,1736375818.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:58.813Z,1736375818.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522828 2025-01-08T22:36:59.048Z,1736375819.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:59.057Z,1736375819.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.80 m. 2025-01-08T22:36:59.060Z,1736375819.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:59.061Z,1736375819.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770672 2025-01-08T22:36:59.063Z,1736375819.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.800003 m, nav range: 105.938904 m, bearing: 335.602647 deg, approach rate: -0.110777 m/s, LOS rate: -0.252719 deg/s, cmd heading: 340.094298 deg, new cmd heading: 339.774480 deg. 2025-01-08T22:36:59.066Z,1736375819.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930183 target range: 182.800003 and range: 182.80 m. 2025-01-08T22:36:59.313Z,1736375819.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:59.313Z,1736375819.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023568 2025-01-08T22:36:59.429Z,1736375819.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:59.438Z,1736375819.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.80 m. 2025-01-08T22:36:59.457Z,1736375819.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.800003 m, nav range: 105.891373 m, bearing: 335.507915 deg, approach rate: -0.124785 m/s, LOS rate: -0.248812 deg/s, cmd heading: 339.774481 deg, new cmd heading: 339.490162 deg. 2025-01-08T22:36:59.460Z,1736375819.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925221 target range: 182.800003 and range: 182.80 m. 2025-01-08T22:36:59.564Z,1736375819.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:59.565Z,1736375819.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274976 2025-01-08T22:36:59.817Z,1736375819.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:36:59.820Z,1736375819.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528925 2025-01-08T22:36:59.925Z,1736375819.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:36:59.936Z,1736375819.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:36:59.938Z,1736375819.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.80 m. 2025-01-08T22:36:59.941Z,1736375819.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.800003 m, nav range: 105.819412 m, bearing: 335.380534 deg, approach rate: -0.143783 m/s, LOS rate: -0.254691 deg/s, cmd heading: 339.490154 deg, new cmd heading: 339.107755 deg. 2025-01-08T22:36:59.942Z,1736375819.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918547 target range: 182.800003 and range: 182.80 m. 2025-01-08T22:37:00.068Z,1736375820.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:00.068Z,1736375820.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778536 2025-01-08T22:37:00.260Z,1736375820.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:00.271Z,1736375820.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.80 m. 2025-01-08T22:37:00.273Z,1736375820.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.800003 m, nav range: 105.766266 m, bearing: 335.295884 deg, approach rate: -0.159893 m/s, LOS rate: -0.254798 deg/s, cmd heading: 339.107745 deg, new cmd heading: 338.853672 deg. 2025-01-08T22:37:00.274Z,1736375820.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.914112 target range: 182.800003 and range: 182.80 m. 2025-01-08T22:37:00.322Z,1736375820.322 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:00.324Z,1736375820.324 [DAT](INFO): DAT read: Rx Time:22:36:59.1547 2025-01-08T22:37:00.324Z,1736375820.324 [DAT](INFO): Rx dataTimestamp_ set to:1736375820.323952 2025-01-08T22:37:00.325Z,1736375820.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034904 2025-01-08T22:37:00.572Z,1736375820.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:00.572Z,1736375820.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282521 2025-01-08T22:37:00.641Z,1736375820.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:00.656Z,1736375820.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.80 m. 2025-01-08T22:37:00.661Z,1736375820.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.800003 m, nav range: 105.699944 m, bearing: 335.200068 deg, approach rate: -0.172527 m/s, LOS rate: -0.249406 deg/s, cmd heading: 338.853662 deg, new cmd heading: 338.566037 deg. 2025-01-08T22:37:00.663Z,1736375820.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909092 target range: 182.800003 and range: 182.80 m. 2025-01-08T22:37:00.826Z,1736375820.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:00.830Z,1736375820.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538949 2025-01-08T22:37:01.049Z,1736375821.049 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3278,V 2025-01-08T22:37:01.056Z,1736375821.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:37:01.057Z,1736375821.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:01.076Z,1736375821.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:01.084Z,1736375821.084 [DAT](INFO): DAT read: 22:36:59.1547 LVL= 30704, 28753, 14658, 32035, AGC= 64, IDX= 429,-0.01,-0.487,-1.417, 0.839,-0.208, PHS=-0.191,-1.162, 1.044, RAW= 183.9, 3.3, CAL= 184.0, -5.1, ROT= 326.0, 5.1 2025-01-08T22:37:01.085Z,1736375821.085 [DAT](INFO): got valid direction response: 22:36:59.1547 LVL= 30704, 28753, 14658, 32035, AGC= 64, IDX= 429,-0.01,-0.487,-1.417, 0.839,-0.208, PHS=-0.191,-1.162, 1.044, RAW= 183.9, 3.3, CAL= 184.0, -5.1, ROT= 326.0, 5.1 2025-01-08T22:37:01.086Z,1736375821.086 [DAT](INFO): DAT read: Bearing 326.0, 5.1 (Local) 2025-01-08T22:37:01.086Z,1736375821.086 [DAT](INFO): Local bearing/azimuth received: Bearing 326.0, 5.1 (Local) 2025-01-08T22:37:01.088Z,1736375821.088 [DAT](INFO): DAT read: Range 10 to 50 : 181.6 m (Round-trip 242.2 ms) speed -0.1 m/s 2025-01-08T22:37:01.088Z,1736375821.088 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:01.089Z,1736375821.089 [DAT](INFO): direction in FSK: [-0.142785,-0.989340,-0.028597] 2025-01-08T22:37:01.089Z,1736375821.089 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:01.101Z,1736375821.101 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:01.101Z,1736375821.101 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:01.101Z,1736375821.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:01.120Z,1736375821.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 181.600006 m, deltaT: 4.040308 s, deltaX: -1.199997 m, approachRate: -0.297006 m/s, rangeRepo size: 4 2025-01-08T22:37:01.122Z,1736375821.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 181.600006 m, bearing: 302.225182 deg, lat: 36.903824 deg, lon: -122.120094 deg, deltaT: 4.040308 s, deltaX: -1.199997 m, approachRate: -0.297006 m/s, posRepo size: 4 2025-01-08T22:37:01.123Z,1736375821.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:01.130Z,1736375821.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 106.468010 m, bearing: 335.308419 deg, approach rate: 0.000000 m/s, LOS rate: -0.249406 deg/s, cmd heading: 338.566029 deg, new cmd heading: 338.221937 deg. 2025-01-08T22:37:01.136Z,1736375821.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903086 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:01.328Z,1736375821.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:01.330Z,1736375821.330 [DAT](INFO): DAT read: user:2725> 2025-01-08T22:37:01.330Z,1736375821.330 [DAT](INFO): DAT read: Tx time:22:37:00.5583 2025-01-08T22:37:01.331Z,1736375821.331 [DAT](INFO): Ping request sent. 2025-01-08T22:37:01.331Z,1736375821.331 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:01.331Z,1736375821.331 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:01.332Z,1736375821.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000848 2025-01-08T22:37:01.486Z,1736375821.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:37:01.486Z,1736375821.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:01.510Z,1736375821.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:01.517Z,1736375821.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 106.380943 m, bearing: 335.204165 deg, approach rate: -0.220251 m/s, LOS rate: -0.263945 deg/s, cmd heading: 338.221925 deg, new cmd heading: 337.908911 deg. 2025-01-08T22:37:01.518Z,1736375821.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.897623 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:01.580Z,1736375821.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:01.581Z,1736375821.581 [DAT](INFO): DAT read: TxSync time:22:37:00.5576 2025-01-08T22:37:01.583Z,1736375821.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251779 2025-01-08T22:37:01.833Z,1736375821.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:01.835Z,1736375821.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503845 2025-01-08T22:37:01.974Z,1736375821.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:01.981Z,1736375821.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:01.999Z,1736375821.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:02.002Z,1736375822.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 106.284081 m, bearing: 335.079739 deg, approach rate: -0.204851 m/s, LOS rate: -0.263383 deg/s, cmd heading: 337.908911 deg, new cmd heading: 337.535297 deg. 2025-01-08T22:37:02.003Z,1736375822.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891102 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:02.085Z,1736375822.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:02.086Z,1736375822.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754956 2025-01-08T22:37:02.300Z,1736375822.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:02.336Z,1736375822.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:02.336Z,1736375822.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005555 2025-01-08T22:37:02.352Z,1736375822.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:02.355Z,1736375822.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 106.215012 m, bearing: 334.997525 deg, approach rate: -0.187169 m/s, LOS rate: -0.222933 deg/s, cmd heading: 337.535299 deg, new cmd heading: 337.288501 deg. 2025-01-08T22:37:02.360Z,1736375822.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886795 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:02.589Z,1736375822.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:02.591Z,1736375822.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260022 2025-01-08T22:37:02.705Z,1736375822.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:02.723Z,1736375822.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:02.726Z,1736375822.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 106.123970 m, bearing: 334.896660 deg, approach rate: -0.245422 m/s, LOS rate: -0.272137 deg/s, cmd heading: 337.288511 deg, new cmd heading: 336.985658 deg. 2025-01-08T22:37:02.727Z,1736375822.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881509 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:02.840Z,1736375822.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:02.841Z,1736375822.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509786 2025-01-08T22:37:03.092Z,1736375823.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:03.094Z,1736375823.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762543 2025-01-08T22:37:03.159Z,1736375823.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:03.169Z,1736375823.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:03.172Z,1736375823.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 106.014893 m, bearing: 334.778764 deg, approach rate: -0.244771 m/s, LOS rate: -0.264830 deg/s, cmd heading: 336.985660 deg, new cmd heading: 336.631615 deg. 2025-01-08T22:37:03.172Z,1736375823.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875330 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:03.344Z,1736375823.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:03.344Z,1736375823.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013568 2025-01-08T22:37:03.519Z,1736375823.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:03.527Z,1736375823.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:03.533Z,1736375823.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 105.923248 m, bearing: 334.686419 deg, approach rate: -0.255556 m/s, LOS rate: -0.257734 deg/s, cmd heading: 336.631611 deg, new cmd heading: 336.354337 deg. 2025-01-08T22:37:03.534Z,1736375823.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870491 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:03.597Z,1736375823.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:03.598Z,1736375823.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267081 2025-01-08T22:37:03.850Z,1736375823.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:03.852Z,1736375823.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521003 2025-01-08T22:37:03.983Z,1736375823.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:04.006Z,1736375824.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:04.012Z,1736375824.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:04.014Z,1736375824.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 105.810196 m, bearing: 334.568580 deg, approach rate: -0.235369 m/s, LOS rate: -0.245597 deg/s, cmd heading: 336.354332 deg, new cmd heading: 336.000442 deg. 2025-01-08T22:37:04.020Z,1736375824.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864314 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:04.100Z,1736375824.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:04.101Z,1736375824.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770550 2025-01-08T22:37:04.329Z,1736375824.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:04.338Z,1736375824.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:04.341Z,1736375824.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 105.721535 m, bearing: 334.481986 deg, approach rate: -0.268421 m/s, LOS rate: -0.262380 deg/s, cmd heading: 336.000446 deg, new cmd heading: 335.740450 deg. 2025-01-08T22:37:04.342Z,1736375824.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859776 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:04.352Z,1736375824.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:04.352Z,1736375824.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021744 2025-01-08T22:37:04.604Z,1736375824.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:04.604Z,1736375824.604 [DAT](INFO): DAT read: Rx Time:22:37:03.2612 2025-01-08T22:37:04.605Z,1736375824.605 [DAT](INFO): Rx dataTimestamp_ set to:1736375824.604599 2025-01-08T22:37:04.605Z,1736375824.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274661 2025-01-08T22:37:04.720Z,1736375824.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:04.736Z,1736375824.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:04.738Z,1736375824.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 105.616402 m, bearing: 334.385470 deg, approach rate: -0.264183 m/s, LOS rate: -0.242772 deg/s, cmd heading: 335.740462 deg, new cmd heading: 335.450627 deg. 2025-01-08T22:37:04.740Z,1736375824.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854718 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:04.857Z,1736375824.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:04.862Z,1736375824.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531118 2025-01-08T22:37:05.108Z,1736375825.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:05.115Z,1736375825.115 [DAT](INFO): DAT read: 22:37:03.2612 LVL= 22128, 26865, 16738, 27491, AGC= 59, IDX= 193,-0.07,-3.054, 2.305,-2.243,-3.010, PHS= 0.044,-0.921, 0.764, RAW= 175.2, 1.6, CAL= 175.7, -6.8, ROT= 334.3, 6.8 2025-01-08T22:37:05.116Z,1736375825.116 [DAT](INFO): got valid direction response: 22:37:03.2612 LVL= 22128, 26865, 16738, 27491, AGC= 59, IDX= 193,-0.07,-3.054, 2.305,-2.243,-3.010, PHS= 0.044,-0.921, 0.764, RAW= 175.2, 1.6, CAL= 175.7, -6.8, ROT= 334.3, 6.8 2025-01-08T22:37:05.117Z,1736375825.117 [DAT](INFO): DAT read: Bearing 334.3, 6.8 (Local) 2025-01-08T22:37:05.117Z,1736375825.117 [DAT](INFO): Local bearing/azimuth received: Bearing 334.3, 6.8 (Local) 2025-01-08T22:37:05.119Z,1736375825.119 [DAT](INFO): DAT read: Range 10 to 50 : 224.0 m (Round-trip 298.7 ms) speed 0.7 m/s 2025-01-08T22:37:05.119Z,1736375825.119 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:05.120Z,1736375825.120 [DAT](INFO): direction in FSK: [-0.124630,-0.984315,0.124867] 2025-01-08T22:37:05.120Z,1736375825.120 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:05.129Z,1736375825.129 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:05.129Z,1736375825.129 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:05.130Z,1736375825.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:05.234Z,1736375825.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:05.273Z,1736375825.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 224.000000 m, deltaT: 4.031715 s, deltaX: 42.399994 m, approachRate: 10.516615 m/s, rangeRepo size: 4 2025-01-08T22:37:05.276Z,1736375825.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:05.280Z,1736375825.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 105.477028 m, bearing: 334.260123 deg, approach rate: -0.259982 m/s, LOS rate: -0.234126 deg/s, cmd heading: 335.450616 deg, new cmd heading: 335.074084 deg. 2025-01-08T22:37:05.281Z,1736375825.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848146 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:05.361Z,1736375825.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:05.362Z,1736375825.362 [DAT](INFO): DAT read: user:2726> 2025-01-08T22:37:05.364Z,1736375825.364 [DAT](INFO): DAT read: Tx time:22:37:04.6083 2025-01-08T22:37:05.364Z,1736375825.364 [DAT](INFO): Ping request sent. 2025-01-08T22:37:05.364Z,1736375825.364 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:05.365Z,1736375825.365 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:05.365Z,1736375825.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001143 2025-01-08T22:37:05.575Z,1736375825.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:05.585Z,1736375825.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:05.588Z,1736375825.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 105.376549 m, bearing: 334.180141 deg, approach rate: -0.321082 m/s, LOS rate: -0.255825 deg/s, cmd heading: 335.074082 deg, new cmd heading: 334.833910 deg. 2025-01-08T22:37:05.589Z,1736375825.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843954 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:05.612Z,1736375825.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:05.613Z,1736375825.613 [DAT](INFO): DAT read: TxSync time:22:37:04.6076 2025-01-08T22:37:05.614Z,1736375825.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249801 2025-01-08T22:37:05.864Z,1736375825.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:05.864Z,1736375825.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500310 2025-01-08T22:37:06.021Z,1736375826.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:06.027Z,1736375826.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:06.029Z,1736375826.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:06.056Z,1736375826.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 105.241371 m, bearing: 334.081434 deg, approach rate: -0.304091 m/s, LOS rate: -0.222333 deg/s, cmd heading: 334.833905 deg, new cmd heading: 334.537406 deg. 2025-01-08T22:37:06.064Z,1736375826.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838779 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:06.116Z,1736375826.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:06.117Z,1736375826.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752373 2025-01-08T22:37:06.368Z,1736375826.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:06.368Z,1736375826.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004169 2025-01-08T22:37:06.417Z,1736375826.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:06.433Z,1736375826.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:06.462Z,1736375826.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 105.112740 m, bearing: 333.997156 deg, approach rate: -0.318364 m/s, LOS rate: -0.208844 deg/s, cmd heading: 334.537393 deg, new cmd heading: 334.284251 deg. 2025-01-08T22:37:06.472Z,1736375826.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834361 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:06.620Z,1736375826.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:06.621Z,1736375826.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256955 2025-01-08T22:37:06.805Z,1736375826.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:06.833Z,1736375826.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:06.841Z,1736375826.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 104.982864 m, bearing: 333.916418 deg, approach rate: -0.324656 m/s, LOS rate: -0.202075 deg/s, cmd heading: 334.284239 deg, new cmd heading: 334.041726 deg. 2025-01-08T22:37:06.842Z,1736375826.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830128 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:06.873Z,1736375826.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:06.874Z,1736375826.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509724 2025-01-08T22:37:07.124Z,1736375827.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:07.125Z,1736375827.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761028 2025-01-08T22:37:07.323Z,1736375827.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:07.333Z,1736375827.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:07.352Z,1736375827.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 104.789963 m, bearing: 333.823588 deg, approach rate: -0.386232 m/s, LOS rate: -0.186209 deg/s, cmd heading: 334.041739 deg, new cmd heading: 333.762738 deg. 2025-01-08T22:37:07.356Z,1736375827.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825259 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:07.376Z,1736375827.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:07.377Z,1736375827.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012691 2025-01-08T22:37:07.628Z,1736375827.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:07.629Z,1736375827.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264325 2025-01-08T22:37:07.706Z,1736375827.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:07.729Z,1736375827.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:07.732Z,1736375827.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 104.643967 m, bearing: 333.757168 deg, approach rate: -0.369383 m/s, LOS rate: -0.168282 deg/s, cmd heading: 333.762740 deg, new cmd heading: 333.563204 deg. 2025-01-08T22:37:07.733Z,1736375827.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821776 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:07.880Z,1736375827.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:07.880Z,1736375827.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516192 2025-01-08T22:37:08.133Z,1736375828.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:08.134Z,1736375828.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769841 2025-01-08T22:37:08.173Z,1736375828.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:08.180Z,1736375828.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:08.182Z,1736375828.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:08.185Z,1736375828.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 104.458015 m, bearing: 333.685760 deg, approach rate: -0.409304 m/s, LOS rate: -0.157458 deg/s, cmd heading: 333.563216 deg, new cmd heading: 333.348613 deg. 2025-01-08T22:37:08.186Z,1736375828.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818031 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:08.384Z,1736375828.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:08.384Z,1736375828.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020202 2025-01-08T22:37:08.533Z,1736375828.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:08.558Z,1736375828.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:08.565Z,1736375828.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 104.308907 m, bearing: 333.635224 deg, approach rate: -0.397325 m/s, LOS rate: -0.134855 deg/s, cmd heading: 333.348612 deg, new cmd heading: 333.196786 deg. 2025-01-08T22:37:08.566Z,1736375828.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815381 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:08.637Z,1736375828.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:08.638Z,1736375828.638 [DAT](INFO): DAT read: Rx Time:22:37:07.3083 2025-01-08T22:37:08.638Z,1736375828.638 [DAT](INFO): Rx dataTimestamp_ set to:1736375828.637872 2025-01-08T22:37:08.639Z,1736375828.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274907 2025-01-08T22:37:08.888Z,1736375828.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:08.888Z,1736375828.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524252 2025-01-08T22:37:08.997Z,1736375828.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:09.036Z,1736375829.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.60 m. 2025-01-08T22:37:09.045Z,1736375829.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.600006 m, nav range: 104.116066 m, bearing: 333.573990 deg, approach rate: -0.408231 m/s, LOS rate: -0.129868 deg/s, cmd heading: 333.196790 deg, new cmd heading: 333.012750 deg. 2025-01-08T22:37:09.047Z,1736375829.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812169 target range: 181.600006 and range: 181.60 m. 2025-01-08T22:37:09.141Z,1736375829.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:09.156Z,1736375829.156 [DAT](INFO): DAT read: 22:37:07.3083 LVL= 27840, 32673, 23282, 32755, AGC= 61, IDX= 418, 0.00,-0.582,-1.698,-0.524,-1.482, PHS= 0.987,-0.170, 0.955, RAW= 148.6, -28.8, CAL= 152.2, -34.5, ROT= 357.8, 34.5 2025-01-08T22:37:09.158Z,1736375829.158 [DAT](INFO): got valid direction response: 22:37:07.3083 LVL= 27840, 32673, 23282, 32755, AGC= 61, IDX= 418, 0.00,-0.582,-1.698,-0.524,-1.482, PHS= 0.987,-0.170, 0.955, RAW= 148.6, -28.8, CAL= 152.2, -34.5, ROT= 357.8, 34.5 2025-01-08T22:37:09.162Z,1736375829.162 [DAT](INFO): DAT read: Bearing 357.8, 34.5 (Local) 2025-01-08T22:37:09.163Z,1736375829.163 [DAT](INFO): Local bearing/azimuth received: Bearing 357.8, 34.5 (Local) 2025-01-08T22:37:09.164Z,1736375829.164 [DAT](INFO): DAT read: Range 10 to 50 : 221.8 m (Round-trip 295.8 ms) speed 0.4 m/s 2025-01-08T22:37:09.165Z,1736375829.165 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:09.166Z,1736375829.166 [DAT](INFO): direction in FSK: [0.427539,-0.734174,0.527446] 2025-01-08T22:37:09.166Z,1736375829.166 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:09.180Z,1736375829.180 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:09.180Z,1736375829.180 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:09.180Z,1736375829.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:09.360Z,1736375829.360 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 83 Device respsone is::TS,2501081438, 0.00, 86.65, 85.29, 87.33, 83.93 2025-01-08T22:37:09.379Z,1736375829.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:37:09.379Z,1736375829.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:09.392Z,1736375829.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:09.392Z,1736375829.392 [DAT](INFO): DAT read: user:2727> 2025-01-08T22:37:09.393Z,1736375829.393 [DAT](INFO): DAT read: Tx time:22:37:08.6583 2025-01-08T22:37:09.393Z,1736375829.393 [DAT](INFO): Ping request sent. 2025-01-08T22:37:09.394Z,1736375829.394 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:09.394Z,1736375829.394 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:09.395Z,1736375829.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725 2025-01-08T22:37:09.422Z,1736375829.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 221.800003 m, deltaT: 8.065227 s, deltaX: 40.199997 m, approachRate: 4.984360 m/s, rangeRepo size: 4 2025-01-08T22:37:09.429Z,1736375829.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 221.800003 m, bearing: 305.682251 deg, lat: 36.903996 deg, lon: -122.121320 deg, deltaT: 8.065227 s, deltaX: 40.199997 m, approachRate: 4.984360 m/s, posRepo size: 4 2025-01-08T22:37:09.430Z,1736375829.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:09.437Z,1736375829.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 191.603149 m, bearing: 305.839267 deg, approach rate: 0.000000 m/s, LOS rate: -0.129868 deg/s, cmd heading: 333.012758 deg, new cmd heading: 332.860450 deg. 2025-01-08T22:37:09.438Z,1736375829.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809511 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:09.644Z,1736375829.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:09.646Z,1736375829.646 [DAT](INFO): DAT read: TxSync time:22:37:08.6576 2025-01-08T22:37:09.647Z,1736375829.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252690 2025-01-08T22:37:09.750Z,1736375829.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:37:09.750Z,1736375829.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:09.767Z,1736375829.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:09.778Z,1736375829.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 191.497711 m, bearing: 305.795280 deg, approach rate: -0.307992 m/s, LOS rate: -0.128559 deg/s, cmd heading: 332.860445 deg, new cmd heading: 332.728412 deg. 2025-01-08T22:37:09.804Z,1736375829.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807206 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:09.896Z,1736375829.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:09.897Z,1736375829.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503059 2025-01-08T22:37:10.148Z,1736375830.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:10.149Z,1736375830.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755070 2025-01-08T22:37:10.178Z,1736375830.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:10.205Z,1736375830.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:10.212Z,1736375830.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:10.215Z,1736375830.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 191.347733 m, bearing: 305.749767 deg, approach rate: -0.337736 m/s, LOS rate: -0.102571 deg/s, cmd heading: 332.728403 deg, new cmd heading: 332.591758 deg. 2025-01-08T22:37:10.220Z,1736375830.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804821 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:10.402Z,1736375830.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:10.404Z,1736375830.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010665 2025-01-08T22:37:10.564Z,1736375830.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:10.588Z,1736375830.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:10.590Z,1736375830.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 191.212524 m, bearing: 305.708642 deg, approach rate: -0.355500 m/s, LOS rate: -0.108206 deg/s, cmd heading: 332.591745 deg, new cmd heading: 332.468282 deg. 2025-01-08T22:37:10.592Z,1736375830.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802666 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:10.652Z,1736375830.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:10.653Z,1736375830.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259647 2025-01-08T22:37:10.904Z,1736375830.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:10.904Z,1736375830.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510702 2025-01-08T22:37:11.017Z,1736375831.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:11.050Z,1736375831.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:11.053Z,1736375831.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 191.044983 m, bearing: 305.663513 deg, approach rate: -0.362118 m/s, LOS rate: -0.097626 deg/s, cmd heading: 332.468282 deg, new cmd heading: 332.332776 deg. 2025-01-08T22:37:11.054Z,1736375831.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800301 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:11.156Z,1736375831.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:11.158Z,1736375831.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763599 2025-01-08T22:37:11.410Z,1736375831.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:11.412Z,1736375831.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017395 2025-01-08T22:37:11.413Z,1736375831.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:11.422Z,1736375831.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:11.437Z,1736375831.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 190.890991 m, bearing: 305.625722 deg, approach rate: -0.414989 m/s, LOS rate: -0.101923 deg/s, cmd heading: 332.332772 deg, new cmd heading: 332.219308 deg. 2025-01-08T22:37:11.440Z,1736375831.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798321 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:11.665Z,1736375831.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:11.666Z,1736375831.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272078 2025-01-08T22:37:11.799Z,1736375831.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:11.807Z,1736375831.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:11.810Z,1736375831.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 190.742615 m, bearing: 305.591395 deg, approach rate: -0.384934 m/s, LOS rate: -0.089125 deg/s, cmd heading: 332.219308 deg, new cmd heading: 332.116247 deg. 2025-01-08T22:37:11.811Z,1736375831.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796522 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:11.916Z,1736375831.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:11.917Z,1736375831.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523131 2025-01-08T22:37:12.168Z,1736375832.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:12.168Z,1736375832.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774797 2025-01-08T22:37:12.239Z,1736375832.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:12.246Z,1736375832.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:12.249Z,1736375832.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:12.252Z,1736375832.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 190.568985 m, bearing: 305.548072 deg, approach rate: -0.393117 m/s, LOS rate: -0.098178 deg/s, cmd heading: 332.116255 deg, new cmd heading: 331.986167 deg. 2025-01-08T22:37:12.253Z,1736375832.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794252 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:12.420Z,1736375832.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:12.421Z,1736375832.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027024 2025-01-08T22:37:12.606Z,1736375832.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:12.616Z,1736375832.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:12.618Z,1736375832.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 190.421112 m, bearing: 305.515273 deg, approach rate: -0.403325 m/s, LOS rate: -0.089528 deg/s, cmd heading: 331.986180 deg, new cmd heading: 331.887708 deg. 2025-01-08T22:37:12.620Z,1736375832.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792533 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:12.673Z,1736375832.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:12.674Z,1736375832.674 [DAT](INFO): DAT read: Rx Time:22:37:11.3264 2025-01-08T22:37:12.675Z,1736375832.675 [DAT](INFO): Rx dataTimestamp_ set to:1736375832.674251 2025-01-08T22:37:12.676Z,1736375832.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281993 2025-01-08T22:37:12.924Z,1736375832.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:12.924Z,1736375832.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530719 2025-01-08T22:37:13.088Z,1736375833.088 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:37:13.130Z,1736375833.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:13.139Z,1736375833.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:13.142Z,1736375833.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 190.214951 m, bearing: 305.467358 deg, approach rate: -0.393854 m/s, LOS rate: -0.091636 deg/s, cmd heading: 331.887716 deg, new cmd heading: 331.743816 deg. 2025-01-08T22:37:13.143Z,1736375833.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790022 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:13.177Z,1736375833.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:13.184Z,1736375833.184 [DAT](INFO): DAT read: 22:37:11.3265 LVL= 24272, 32753, 30162, 32755, AGC= 66, IDX= 107, 0.34,-2.385, 2.292,-2.917,-2.867, PHS= 0.570,-1.077,-0.053, RAW= 128.0, 7.8, CAL= 134.8, 2.5, ROT= 15.2, -2.5 2025-01-08T22:37:13.185Z,1736375833.185 [DAT](INFO): got valid direction response: 22:37:11.3265 LVL= 24272, 32753, 30162, 32755, AGC= 66, IDX= 107, 0.34,-2.385, 2.292,-2.917,-2.867, PHS= 0.570,-1.077,-0.053, RAW= 128.0, 7.8, CAL= 134.8, 2.5, ROT= 15.2, -2.5 2025-01-08T22:37:13.186Z,1736375833.186 [DAT](INFO): DAT read: Bearing 15.2, -2.5 (Local) 2025-01-08T22:37:13.186Z,1736375833.186 [DAT](INFO): Local bearing/azimuth received: Bearing 15.2, -2.5 (Local) 2025-01-08T22:37:13.188Z,1736375833.188 [DAT](INFO): DAT read: Range 10 to 50 : 197.9 m (Round-trip 263.9 ms) speed 0.5 m/s 2025-01-08T22:37:13.189Z,1736375833.189 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:13.189Z,1736375833.189 [DAT](INFO): direction in FSK: [-0.274053,-0.525117,0.805697] 2025-01-08T22:37:13.190Z,1736375833.190 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:13.198Z,1736375833.198 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:13.199Z,1736375833.199 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:13.199Z,1736375833.199 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:13.429Z,1736375833.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:13.430Z,1736375833.430 [DAT](INFO): DAT read: user:2728> 2025-01-08T22:37:13.431Z,1736375833.431 [DAT](INFO): DAT read: Tx time:22:37:12.6584 2025-01-08T22:37:13.439Z,1736375833.439 [DAT](INFO): Ping request sent. 2025-01-08T22:37:13.439Z,1736375833.439 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:13.440Z,1736375833.440 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:13.440Z,1736375833.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000790 2025-01-08T22:37:13.508Z,1736375833.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:13.534Z,1736375833.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 197.899994 m, deltaT: 4.035562 s, deltaX: -23.900009 m, approachRate: -5.922349 m/s, rangeRepo size: 4 2025-01-08T22:37:13.535Z,1736375833.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:13.538Z,1736375833.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 190.066391 m, bearing: 305.432745 deg, approach rate: -0.376359 m/s, LOS rate: -0.087756 deg/s, cmd heading: 331.743818 deg, new cmd heading: 331.639899 deg. 2025-01-08T22:37:13.539Z,1736375833.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788208 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:13.680Z,1736375833.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:13.681Z,1736375833.681 [DAT](INFO): DAT read: TxSync time:22:37:12.6577 2025-01-08T22:37:13.682Z,1736375833.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242499 2025-01-08T22:37:13.865Z,1736375833.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:13.892Z,1736375833.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:13.894Z,1736375833.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 189.919968 m, bearing: 305.402283 deg, approach rate: -0.408596 m/s, LOS rate: -0.085070 deg/s, cmd heading: 331.639890 deg, new cmd heading: 331.548434 deg. 2025-01-08T22:37:13.898Z,1736375833.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786612 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:13.932Z,1736375833.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:13.933Z,1736375833.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493529 2025-01-08T22:37:14.184Z,1736375834.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:14.184Z,1736375834.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745076 2025-01-08T22:37:14.294Z,1736375834.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:14.301Z,1736375834.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:14.304Z,1736375834.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:14.306Z,1736375834.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 189.754257 m, bearing: 305.363576 deg, approach rate: -0.402585 m/s, LOS rate: -0.094120 deg/s, cmd heading: 331.548447 deg, new cmd heading: 331.432224 deg. 2025-01-08T22:37:14.308Z,1736375834.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784584 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:14.436Z,1736375834.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:14.436Z,1736375834.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996975 2025-01-08T22:37:14.688Z,1736375834.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:14.688Z,1736375834.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248902 2025-01-08T22:37:14.704Z,1736375834.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:14.714Z,1736375834.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:14.736Z,1736375834.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 189.595367 m, bearing: 305.326384 deg, approach rate: -0.387416 m/s, LOS rate: -0.090760 deg/s, cmd heading: 331.432225 deg, new cmd heading: 331.320555 deg. 2025-01-08T22:37:14.737Z,1736375834.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782635 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:14.940Z,1736375834.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:14.940Z,1736375834.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501093 2025-01-08T22:37:15.155Z,1736375835.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:15.184Z,1736375835.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:15.192Z,1736375835.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:15.192Z,1736375835.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753142 2025-01-08T22:37:15.194Z,1736375835.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 189.434036 m, bearing: 305.283425 deg, approach rate: -0.357467 m/s, LOS rate: -0.095266 deg/s, cmd heading: 331.320565 deg, new cmd heading: 331.191580 deg. 2025-01-08T22:37:15.195Z,1736375835.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780384 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:15.444Z,1736375835.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:15.445Z,1736375835.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005041 2025-01-08T22:37:15.527Z,1736375835.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:15.549Z,1736375835.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:15.557Z,1736375835.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 189.291840 m, bearing: 305.251326 deg, approach rate: -0.370634 m/s, LOS rate: -0.083730 deg/s, cmd heading: 331.191583 deg, new cmd heading: 331.095212 deg. 2025-01-08T22:37:15.575Z,1736375835.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778702 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:15.696Z,1736375835.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:15.697Z,1736375835.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257422 2025-01-08T22:37:15.899Z,1736375835.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:15.908Z,1736375835.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:15.910Z,1736375835.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 189.147293 m, bearing: 305.220139 deg, approach rate: -0.402919 m/s, LOS rate: -0.087000 deg/s, cmd heading: 331.095223 deg, new cmd heading: 331.001590 deg. 2025-01-08T22:37:15.912Z,1736375835.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777068 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:15.948Z,1736375835.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:15.949Z,1736375835.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509329 2025-01-08T22:37:16.200Z,1736375836.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:16.200Z,1736375836.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761021 2025-01-08T22:37:16.338Z,1736375836.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:16.346Z,1736375836.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:16.351Z,1736375836.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:16.356Z,1736375836.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 188.982727 m, bearing: 305.181246 deg, approach rate: -0.372817 m/s, LOS rate: -0.088187 deg/s, cmd heading: 331.001595 deg, new cmd heading: 330.884815 deg. 2025-01-08T22:37:16.357Z,1736375836.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775030 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:16.455Z,1736375836.455 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:16.456Z,1736375836.456 [DAT](INFO): DAT read: Rx Time:22:37:15.3253 2025-01-08T22:37:16.456Z,1736375836.456 [DAT](INFO): Rx dataTimestamp_ set to:1736375836.455886 2025-01-08T22:37:16.457Z,1736375836.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017377 2025-01-08T22:37:16.704Z,1736375836.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:16.705Z,1736375836.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265415 2025-01-08T22:37:16.739Z,1736375836.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:16.768Z,1736375836.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:16.771Z,1736375836.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 188.827591 m, bearing: 305.147780 deg, approach rate: -0.369815 m/s, LOS rate: -0.079843 deg/s, cmd heading: 330.884826 deg, new cmd heading: 330.784345 deg. 2025-01-08T22:37:16.780Z,1736375836.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773276 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:16.956Z,1736375836.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:16.956Z,1736375836.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516984 2025-01-08T22:37:17.170Z,1736375837.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:17.180Z,1736375837.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m. 2025-01-08T22:37:17.187Z,1736375837.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.800003 m, nav range: 188.654175 m, bearing: 305.111746 deg, approach rate: -0.422293 m/s, LOS rate: -0.087827 deg/s, cmd heading: 330.784340 deg, new cmd heading: 330.676141 deg. 2025-01-08T22:37:17.189Z,1736375837.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771388 target range: 221.800003 and range: 221.80 m. 2025-01-08T22:37:17.208Z,1736375837.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:17.214Z,1736375837.214 [DAT](INFO): DAT read: 22:37:15.3253 LVL= 23520, 32753, 32754, 32755, AGC= 65, IDX= 429, 0.45, 0.535,-1.169,-0.452,-0.078, PHS= 0.701,-1.044,-0.378, RAW= 112.2, 9.5, CAL= 121.6, 6.7, ROT= 28.4, -6.7 2025-01-08T22:37:17.215Z,1736375837.215 [DAT](INFO): got valid direction response: 22:37:15.3253 LVL= 23520, 32753, 32754, 32755, AGC= 65, IDX= 429, 0.45, 0.535,-1.169,-0.452,-0.078, PHS= 0.701,-1.044,-0.378, RAW= 112.2, 9.5, CAL= 121.6, 6.7, ROT= 28.4, -6.7 2025-01-08T22:37:17.216Z,1736375837.216 [DAT](INFO): DAT read: Bearing 28.4, -6.7 (Local) 2025-01-08T22:37:17.216Z,1736375837.216 [DAT](INFO): Local bearing/azimuth received: Bearing 28.4, -6.7 (Local) 2025-01-08T22:37:17.218Z,1736375837.218 [DAT](INFO): DAT read: Range 10 to 50 : 197.0 m (Round-trip 262.7 ms) speed 0.4 m/s 2025-01-08T22:37:17.218Z,1736375837.218 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:17.219Z,1736375837.219 [DAT](INFO): direction in FSK: [-0.293599,-0.265872,0.918211] 2025-01-08T22:37:17.219Z,1736375837.219 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:17.222Z,1736375837.222 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:17.223Z,1736375837.223 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:17.223Z,1736375837.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:17.460Z,1736375837.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:17.460Z,1736375837.460 [DAT](INFO): DAT read: user:2729> 2025-01-08T22:37:17.462Z,1736375837.462 [DAT](INFO): DAT read: Tx time:22:37:16.7084 2025-01-08T22:37:17.462Z,1736375837.462 [DAT](INFO): Ping request sent. 2025-01-08T22:37:17.463Z,1736375837.463 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:17.463Z,1736375837.463 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:17.464Z,1736375837.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001553 2025-01-08T22:37:17.521Z,1736375837.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:17.577Z,1736375837.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 197.000000 m, deltaT: 8.066330 s, deltaX: -24.800003 m, approachRate: -3.074509 m/s, rangeRepo size: 4 2025-01-08T22:37:17.585Z,1736375837.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 197.000000 m, bearing: 200.031058 deg, lat: 36.903591 deg, lon: -122.121320 deg, deltaT: 8.066330 s, deltaX: -24.800003 m, approachRate: -3.074509 m/s, posRepo size: 4 2025-01-08T22:37:17.586Z,1736375837.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:17.592Z,1736375837.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 166.746872 m, bearing: 292.311765 deg, approach rate: 0.000000 m/s, LOS rate: -0.087827 deg/s, cmd heading: 330.676150 deg, new cmd heading: 330.571465 deg. 2025-01-08T22:37:17.593Z,1736375837.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769560 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:17.713Z,1736375837.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:17.714Z,1736375837.714 [DAT](INFO): DAT read: TxSync time:22:37:16.7077 2025-01-08T22:37:17.715Z,1736375837.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252263 2025-01-08T22:37:17.920Z,1736375837.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:17.937Z,1736375837.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:17.944Z,1736375837.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 166.609695 m, bearing: 292.264507 deg, approach rate: -0.380261 m/s, LOS rate: -0.131109 deg/s, cmd heading: 330.571457 deg, new cmd heading: 330.429567 deg. 2025-01-08T22:37:17.946Z,1736375837.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767084 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:17.964Z,1736375837.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:17.965Z,1736375837.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502216 2025-01-08T22:37:18.216Z,1736375838.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:18.218Z,1736375838.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755029 2025-01-08T22:37:18.357Z,1736375838.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:18.365Z,1736375838.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:18.367Z,1736375838.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:18.370Z,1736375838.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 166.446579 m, bearing: 292.214807 deg, approach rate: -0.378999 m/s, LOS rate: -0.115591 deg/s, cmd heading: 330.429580 deg, new cmd heading: 330.280334 deg. 2025-01-08T22:37:18.373Z,1736375838.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764479 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:18.468Z,1736375838.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:18.469Z,1736375838.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007135 2025-01-08T22:37:18.722Z,1736375838.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:18.722Z,1736375838.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260052 2025-01-08T22:37:18.740Z,1736375838.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:18.757Z,1736375838.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:18.764Z,1736375838.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 166.302521 m, bearing: 292.171770 deg, approach rate: -0.369782 m/s, LOS rate: -0.110567 deg/s, cmd heading: 330.280327 deg, new cmd heading: 330.151105 deg. 2025-01-08T22:37:18.765Z,1736375838.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762224 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:18.972Z,1736375838.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:18.972Z,1736375838.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509937 2025-01-08T22:37:19.097Z,1736375839.097 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:37:19.224Z,1736375839.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:19.225Z,1736375839.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762488 2025-01-08T22:37:19.234Z,1736375839.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:19.265Z,1736375839.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:19.284Z,1736375839.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 166.098679 m, bearing: 292.115744 deg, approach rate: -0.418877 m/s, LOS rate: -0.115270 deg/s, cmd heading: 330.151100 deg, new cmd heading: 329.982815 deg. 2025-01-08T22:37:19.285Z,1736375839.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759286 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:19.476Z,1736375839.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:19.476Z,1736375839.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014058 2025-01-08T22:37:19.542Z,1736375839.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:19.551Z,1736375839.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:19.554Z,1736375839.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 165.969299 m, bearing: 292.082020 deg, approach rate: -0.420375 m/s, LOS rate: -0.109659 deg/s, cmd heading: 329.982804 deg, new cmd heading: 329.881555 deg. 2025-01-08T22:37:19.555Z,1736375839.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757519 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:19.728Z,1736375839.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:19.729Z,1736375839.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267102 2025-01-08T22:37:19.938Z,1736375839.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:19.948Z,1736375839.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:19.950Z,1736375839.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 165.801773 m, bearing: 292.038823 deg, approach rate: -0.423008 m/s, LOS rate: -0.109185 deg/s, cmd heading: 329.881553 deg, new cmd heading: 329.751830 deg. 2025-01-08T22:37:19.951Z,1736375839.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755255 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:19.980Z,1736375839.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:19.981Z,1736375839.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518186 2025-01-08T22:37:20.102Z,1736375840.102 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:37:20.232Z,1736375840.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:20.234Z,1736375840.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771306 2025-01-08T22:37:20.367Z,1736375840.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:20.378Z,1736375840.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:20.397Z,1736375840.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:20.405Z,1736375840.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 165.600800 m, bearing: 291.992800 deg, approach rate: -0.446676 m/s, LOS rate: -0.102413 deg/s, cmd heading: 329.751834 deg, new cmd heading: 329.613598 deg. 2025-01-08T22:37:20.406Z,1736375840.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752842 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:20.485Z,1736375840.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:20.486Z,1736375840.486 [DAT](INFO): DAT read: Rx Time:22:37:19.3427 2025-01-08T22:37:20.487Z,1736375840.487 [DAT](INFO): Rx dataTimestamp_ set to:1736375840.486500 2025-01-08T22:37:20.488Z,1736375840.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025607 2025-01-08T22:37:20.736Z,1736375840.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:20.737Z,1736375840.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274151 2025-01-08T22:37:20.746Z,1736375840.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:20.755Z,1736375840.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:20.758Z,1736375840.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 165.422272 m, bearing: 291.952199 deg, approach rate: -0.498921 m/s, LOS rate: -0.113588 deg/s, cmd heading: 329.613591 deg, new cmd heading: 329.491657 deg. 2025-01-08T22:37:20.759Z,1736375840.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750714 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:20.989Z,1736375840.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:20.992Z,1736375840.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528618 2025-01-08T22:37:21.214Z,1736375841.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:21.239Z,1736375841.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:21.240Z,1736375841.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:21.248Z,1736375841.248 [DAT](INFO): DAT read: 22:37:19.3427 LVL= 18992, 32689, 26194, 32755, AGC= 67, IDX= 113,-0.12,-0.436,-2.103,-1.508,-1.073, PHS= 0.725,-0.983,-0.437, RAW= 108.2, 9.2, CAL= 117.9, 7.0, ROT= 32.1, -7.0 2025-01-08T22:37:21.250Z,1736375841.250 [DAT](INFO): got valid direction response: 22:37:19.3427 LVL= 18992, 32689, 26194, 32755, AGC= 67, IDX= 113,-0.12,-0.436,-2.103,-1.508,-1.073, PHS= 0.725,-0.983,-0.437, RAW= 108.2, 9.2, CAL= 117.9, 7.0, ROT= 32.1, -7.0 2025-01-08T22:37:21.253Z,1736375841.253 [DAT](INFO): DAT read: Bearing 32.1, -7.0 (Local) 2025-01-08T22:37:21.254Z,1736375841.254 [DAT](INFO): Local bearing/azimuth received: Bearing 32.1, -7.0 (Local) 2025-01-08T22:37:21.260Z,1736375841.260 [DAT](INFO): DAT read: Range 10 to 50 : 172.5 m (Round-trip 230.1 ms) speed 0.1 m/s 2025-01-08T22:37:21.261Z,1736375841.261 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:21.262Z,1736375841.262 [DAT](INFO): direction in FSK: [-0.284578,-0.198582,0.937859] 2025-01-08T22:37:21.263Z,1736375841.263 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:21.274Z,1736375841.274 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:21.274Z,1736375841.274 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:21.275Z,1736375841.275 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:21.277Z,1736375841.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 165.180756 m, bearing: 291.903324 deg, approach rate: -0.499341 m/s, LOS rate: -0.101197 deg/s, cmd heading: 329.491659 deg, new cmd heading: 329.344820 deg. 2025-01-08T22:37:21.278Z,1736375841.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748151 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:21.492Z,1736375841.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:21.492Z,1736375841.492 [DAT](INFO): DAT read: user:2730> 2025-01-08T22:37:21.493Z,1736375841.493 [DAT](INFO): DAT read: Tx time:22:37:20.7584 2025-01-08T22:37:21.493Z,1736375841.493 [DAT](INFO): Ping request sent. 2025-01-08T22:37:21.493Z,1736375841.493 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:21.494Z,1736375841.494 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:21.494Z,1736375841.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715 2025-01-08T22:37:21.590Z,1736375841.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:21.608Z,1736375841.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 172.500000 m, deltaT: 4.032307 s, deltaX: -24.500000 m, approachRate: -6.075926 m/s, rangeRepo size: 4 2025-01-08T22:37:21.609Z,1736375841.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:21.613Z,1736375841.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 164.985947 m, bearing: 291.863946 deg, approach rate: -0.528608 m/s, LOS rate: -0.106976 deg/s, cmd heading: 329.344810 deg, new cmd heading: 329.226537 deg. 2025-01-08T22:37:21.614Z,1736375841.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746087 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:21.744Z,1736375841.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:21.745Z,1736375841.745 [DAT](INFO): DAT read: TxSync time:22:37:20.7577 2025-01-08T22:37:21.746Z,1736375841.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252841 2025-01-08T22:37:21.985Z,1736375841.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:21.996Z,1736375841.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:21.997Z,1736375841.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503153 2025-01-08T22:37:22.009Z,1736375842.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:22.016Z,1736375842.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 164.781982 m, bearing: 291.822679 deg, approach rate: -0.507424 m/s, LOS rate: -0.102792 deg/s, cmd heading: 329.226538 deg, new cmd heading: 329.102583 deg. 2025-01-08T22:37:22.017Z,1736375842.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743924 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:22.249Z,1736375842.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:22.251Z,1736375842.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757144 2025-01-08T22:37:22.433Z,1736375842.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:22.440Z,1736375842.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:22.442Z,1736375842.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:22.445Z,1736375842.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 164.537659 m, bearing: 291.777674 deg, approach rate: -0.565146 m/s, LOS rate: -0.104255 deg/s, cmd heading: 329.102584 deg, new cmd heading: 328.967370 deg. 2025-01-08T22:37:22.446Z,1736375842.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741564 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:22.501Z,1736375842.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:22.502Z,1736375842.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008427 2025-01-08T22:37:22.752Z,1736375842.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:22.752Z,1736375842.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258939 2025-01-08T22:37:22.814Z,1736375842.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:22.822Z,1736375842.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:22.825Z,1736375842.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 164.329987 m, bearing: 291.739207 deg, approach rate: -0.545415 m/s, LOS rate: -0.101156 deg/s, cmd heading: 328.967373 deg, new cmd heading: 328.851826 deg. 2025-01-08T22:37:22.826Z,1736375842.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739547 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:23.004Z,1736375843.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:23.005Z,1736375843.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511170 2025-01-08T22:37:23.256Z,1736375843.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:23.257Z,1736375843.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763115 2025-01-08T22:37:23.258Z,1736375843.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:23.266Z,1736375843.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:23.269Z,1736375843.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 164.076599 m, bearing: 291.695993 deg, approach rate: -0.570501 m/s, LOS rate: -0.097446 deg/s, cmd heading: 328.851834 deg, new cmd heading: 328.721993 deg. 2025-01-08T22:37:23.270Z,1736375843.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737281 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:23.508Z,1736375843.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:23.508Z,1736375843.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014982 2025-01-08T22:37:23.702Z,1736375843.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:23.729Z,1736375843.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:23.733Z,1736375843.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 163.823303 m, bearing: 291.652756 deg, approach rate: -0.547044 m/s, LOS rate: -0.093525 deg/s, cmd heading: 328.722006 deg, new cmd heading: 328.592092 deg. 2025-01-08T22:37:23.734Z,1736375843.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735014 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:23.760Z,1736375843.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:23.762Z,1736375843.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268756 2025-01-08T22:37:24.012Z,1736375844.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:24.013Z,1736375844.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519520 2025-01-08T22:37:24.107Z,1736375844.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:24.117Z,1736375844.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:24.120Z,1736375844.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 163.592148 m, bearing: 291.613244 deg, approach rate: -0.596038 m/s, LOS rate: -0.102026 deg/s, cmd heading: 328.592095 deg, new cmd heading: 328.473393 deg. 2025-01-08T22:37:24.121Z,1736375844.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732942 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:24.264Z,1736375844.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:24.264Z,1736375844.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771088 2025-01-08T22:37:24.516Z,1736375844.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:24.518Z,1736375844.518 [DAT](INFO): DAT read: Rx Time:22:37:23.3906 2025-01-08T22:37:24.519Z,1736375844.519 [DAT](INFO): Rx dataTimestamp_ set to:1736375844.518255 2025-01-08T22:37:24.520Z,1736375844.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026122 2025-01-08T22:37:24.624Z,1736375844.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:24.647Z,1736375844.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:24.655Z,1736375844.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:24.665Z,1736375844.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 163.295044 m, bearing: 291.563526 deg, approach rate: -0.557103 m/s, LOS rate: -0.093395 deg/s, cmd heading: 328.473387 deg, new cmd heading: 328.323964 deg. 2025-01-08T22:37:24.666Z,1736375844.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730334 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:24.768Z,1736375844.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:24.770Z,1736375844.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276237 2025-01-08T22:37:25.008Z,1736375845.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:25.020Z,1736375845.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:25.020Z,1736375845.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526824 2025-01-08T22:37:25.094Z,1736375845.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:25.101Z,1736375845.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 163.074203 m, bearing: 291.526602 deg, approach rate: -0.506363 m/s, LOS rate: -0.084778 deg/s, cmd heading: 328.323970 deg, new cmd heading: 328.213046 deg. 2025-01-08T22:37:25.102Z,1736375845.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728398 target range: 197.000000 and range: 197.00 m. 2025-01-08T22:37:25.272Z,1736375845.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:25.278Z,1736375845.278 [DAT](INFO): DAT read: 22:06 LVL= 21008, 32753, 28274, 32755, AGC= 65, IDX= 426,-0.03, 0.707,-0.947,-0.483,-0.043, PHS= 0.838,-0.857,-0.443, RAW= 103.6, 6.1, CAL= 113.7, 4.2, ROT= 36.3, -4.2 2025-01-08T22:37:25.280Z,1736375845.280 [DAT](INFO): unknown deviceResponse_: 22:06 LVL= 21008, 32753, 28274, 32755, AGC= 65, IDX= 426,-0.03, 0.707,-0.947,-0.483,-0.043, PHS= 0.838,-0.857,-0.443, RAW= 103.6, 6.1, CAL= 113.7, 4.2, ROT= 36.3, -4.2 2025-01-08T22:37:25.281Z,1736375845.281 [DAT](INFO): DAT read: Bearing 36.3, -4.2 (Local) 2025-01-08T22:37:25.281Z,1736375845.281 [DAT](INFO): Local bearing/azimuth received: Bearing 36.3, -4.2 (Local) 2025-01-08T22:37:25.282Z,1736375845.282 [DAT](INFO): DAT read: Range 10 to 50 : 170.9 m (Round-trip 227.9 ms) speed 0.3 m/s 2025-01-08T22:37:25.283Z,1736375845.283 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:37:25.284Z,1736375845.284 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:25.284Z,1736375845.284 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:25.284Z,1736375845.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:25.524Z,1736375845.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:25.524Z,1736375845.524 [DAT](INFO): DAT read: user:2731> 2025-01-08T22:37:25.525Z,1736375845.525 [DAT](INFO): DAT read: Tx time:22:37:24.7585 2025-01-08T22:37:25.526Z,1736375845.526 [DAT](INFO): Ping request sent. 2025-01-08T22:37:25.526Z,1736375845.526 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:25.526Z,1736375845.526 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:25.526Z,1736375845.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725 2025-01-08T22:37:25.601Z,1736375845.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:25.629Z,1736375845.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.899994 m, deltaT: 8.064608 s, deltaX: -26.100006 m, approachRate: -3.236364 m/s, rangeRepo size: 4 2025-01-08T22:37:25.635Z,1736375845.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:25.645Z,1736375845.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 162.750824 m, bearing: 291.473043 deg, approach rate: -0.603103 m/s, LOS rate: -0.100085 deg/s, cmd heading: 328.213047 deg, new cmd heading: 328.052052 deg. 2025-01-08T22:37:25.652Z,1736375845.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725588 target range: 197.000000 and range: 170.90 m. 2025-01-08T22:37:25.776Z,1736375845.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:25.776Z,1736375845.776 [DAT](INFO): DAT read: TxSync time:22:37:24.7578 2025-01-08T22:37:25.777Z,1736375845.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251569 2025-01-08T22:37:25.978Z,1736375845.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:25.987Z,1736375845.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:25.990Z,1736375845.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 162.545166 m, bearing: 291.439222 deg, approach rate: -0.564673 m/s, LOS rate: -0.092980 deg/s, cmd heading: 328.052046 deg, new cmd heading: 327.950454 deg. 2025-01-08T22:37:25.991Z,1736375845.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723815 target range: 197.000000 and range: 170.90 m. 2025-01-08T22:37:26.028Z,1736375846.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:26.029Z,1736375846.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503652 2025-01-08T22:37:26.280Z,1736375846.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:26.280Z,1736375846.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754803 2025-01-08T22:37:26.413Z,1736375846.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:26.427Z,1736375846.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:26.430Z,1736375846.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 162.318024 m, bearing: 291.398330 deg, approach rate: -0.516188 m/s, LOS rate: -0.093058 deg/s, cmd heading: 327.950467 deg, new cmd heading: 327.827621 deg. 2025-01-08T22:37:26.431Z,1736375846.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721672 target range: 197.000000 and range: 170.90 m. 2025-01-08T22:37:26.532Z,1736375846.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:26.533Z,1736375846.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006861 2025-01-08T22:37:26.785Z,1736375846.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:26.785Z,1736375846.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259759 2025-01-08T22:37:26.810Z,1736375846.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:26.818Z,1736375846.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:26.820Z,1736375846.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:26.823Z,1736375846.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 162.110687 m, bearing: 291.361375 deg, approach rate: -0.527856 m/s, LOS rate: -0.094203 deg/s, cmd heading: 327.827633 deg, new cmd heading: 327.716627 deg. 2025-01-08T22:37:26.824Z,1736375846.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719734 target range: 197.000000 and range: 170.90 m. 2025-01-08T22:37:27.036Z,1736375847.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:27.037Z,1736375847.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511650 2025-01-08T22:37:27.253Z,1736375847.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:27.286Z,1736375847.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:27.288Z,1736375847.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:27.288Z,1736375847.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762804 2025-01-08T22:37:27.293Z,1736375847.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 161.882355 m, bearing: 291.320798 deg, approach rate: -0.490050 m/s, LOS rate: -0.087211 deg/s, cmd heading: 327.716629 deg, new cmd heading: 327.594725 deg. 2025-01-08T22:37:27.294Z,1736375847.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717607 target range: 197.000000 and range: 170.90 m. 2025-01-08T22:37:27.540Z,1736375847.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:27.540Z,1736375847.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014683 2025-01-08T22:37:27.660Z,1736375847.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:27.685Z,1736375847.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:27.697Z,1736375847.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 161.672073 m, bearing: 291.282476 deg, approach rate: -0.526671 m/s, LOS rate: -0.096106 deg/s, cmd heading: 327.594724 deg, new cmd heading: 327.479609 deg. 2025-01-08T22:37:27.698Z,1736375847.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715598 target range: 197.000000 and range: 170.90 m. 2025-01-08T22:37:27.792Z,1736375847.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:27.793Z,1736375847.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267129 2025-01-08T22:37:28.045Z,1736375848.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:28.046Z,1736375848.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520446 2025-01-08T22:37:28.101Z,1736375848.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:28.130Z,1736375848.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:28.133Z,1736375848.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 161.441544 m, bearing: 291.240659 deg, approach rate: -0.518777 m/s, LOS rate: -0.094238 deg/s, cmd heading: 327.479622 deg, new cmd heading: 327.353992 deg. 2025-01-08T22:37:28.134Z,1736375848.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713405 target range: 197.000000 and range: 170.90 m. 2025-01-08T22:37:28.296Z,1736375848.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:28.297Z,1736375848.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771437 2025-01-08T22:37:28.546Z,1736375848.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:28.548Z,1736375848.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:28.549Z,1736375848.549 [DAT](INFO): DAT read: Rx Time:22:37:27.3888 2025-01-08T22:37:28.549Z,1736375848.549 [DAT](INFO): Rx dataTimestamp_ set to:1736375848.548961 2025-01-08T22:37:28.550Z,1736375848.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024096 2025-01-08T22:37:28.558Z,1736375848.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:28.561Z,1736375848.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 161.219910 m, bearing: 291.196342 deg, approach rate: -0.517603 m/s, LOS rate: -0.103639 deg/s, cmd heading: 327.354001 deg, new cmd heading: 327.220868 deg. 2025-01-08T22:37:28.562Z,1736375848.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711082 target range: 197.000000 and range: 170.90 m. 2025-01-08T22:37:28.800Z,1736375848.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:28.800Z,1736375848.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274767 2025-01-08T22:37:28.926Z,1736375848.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:28.934Z,1736375848.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:28.936Z,1736375848.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m. 2025-01-08T22:37:28.939Z,1736375848.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 197.000000 m, nav range: 161.030014 m, bearing: 291.158754 deg, approach rate: -0.501479 m/s, LOS rate: -0.099382 deg/s, cmd heading: 327.220867 deg, new cmd heading: 327.107968 deg. 2025-01-08T22:37:28.940Z,1736375848.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709111 target range: 197.000000 and range: 170.90 m. 2025-01-08T22:37:29.054Z,1736375849.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:29.056Z,1736375849.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529961 2025-01-08T22:37:29.305Z,1736375849.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:29.312Z,1736375849.312 [DAT](INFO): DAT read: 22:37:27.3888 LVL= 20064, 32753, 28578, 32755, AGC= 58, IDX= 424, 0.32, 2.212, 0.587, 0.952, 1.429, PHS= 0.871,-0.795,-0.480, RAW= 100.2, 5.3, CAL= 110.3, 3.7, ROT= 39.7, -3.7 2025-01-08T22:37:29.313Z,1736375849.313 [DAT](INFO): got valid direction response: 22:37:27.3888 LVL= 20064, 32753, 28578, 32755, AGC= 58, IDX= 424, 0.32, 2.212, 0.587, 0.952, 1.429, PHS= 0.871,-0.795,-0.480, RAW= 100.2, 5.3, CAL= 110.3, 3.7, ROT= 39.7, -3.7 2025-01-08T22:37:29.314Z,1736375849.314 [DAT](INFO): DAT read: Bearing 39.7, -3.7 (Local) 2025-01-08T22:37:29.315Z,1736375849.315 [DAT](INFO): Local bearing/azimuth received: Bearing 39.7, -3.7 (Local) 2025-01-08T22:37:29.316Z,1736375849.316 [DAT](INFO): DAT read: Range 10 to 50 : 169.5 m (Round-trip 226.1 ms) speed 0.3 m/s 2025-01-08T22:37:29.317Z,1736375849.317 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:29.318Z,1736375849.318 [DAT](INFO): direction in FSK: [-0.201512,-0.065765,0.977276] 2025-01-08T22:37:29.318Z,1736375849.318 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:29.322Z,1736375849.322 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:29.322Z,1736375849.322 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:29.322Z,1736375849.322 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:29.435Z,1736375849.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:29.461Z,1736375849.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 169.500000 m, deltaT: 4.033318 s, deltaX: -1.399994 m, approachRate: -0.347107 m/s, rangeRepo size: 4 2025-01-08T22:37:29.469Z,1736375849.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 169.500000 m, bearing: 174.462697 deg, lat: 36.902380 deg, lon: -122.119902 deg, deltaT: 12.097926 s, deltaX: -27.500000 m, approachRate: -2.273117 m/s, posRepo size: 4 2025-01-08T22:37:29.470Z,1736375849.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m. 2025-01-08T22:37:29.477Z,1736375849.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.500000 m, nav range: 80.453918 m, bearing: 197.285226 deg, approach rate: 0.000000 m/s, LOS rate: -0.099382 deg/s, cmd heading: 327.107977 deg, new cmd heading: 326.951634 deg. 2025-01-08T22:37:29.478Z,1736375849.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706382 target range: 169.500000 and range: 169.50 m. 2025-01-08T22:37:29.556Z,1736375849.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:29.556Z,1736375849.556 [DAT](INFO): DAT read: user:2732> 2025-01-08T22:37:29.557Z,1736375849.557 [DAT](INFO): DAT read: Tx time:22:37:28.8085 2025-01-08T22:37:29.557Z,1736375849.557 [DAT](INFO): Ping request sent. 2025-01-08T22:37:29.557Z,1736375849.557 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:29.558Z,1736375849.558 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:29.558Z,1736375849.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722 2025-01-08T22:37:29.808Z,1736375849.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:29.809Z,1736375849.809 [DAT](INFO): DAT read: TxSync time:22:37:28.8078 2025-01-08T22:37:29.810Z,1736375849.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252086 2025-01-08T22:37:29.889Z,1736375849.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:29.905Z,1736375849.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m. 2025-01-08T22:37:29.908Z,1736375849.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.500000 m, nav range: 80.598816 m, bearing: 197.131863 deg, approach rate: 0.326385 m/s, LOS rate: -0.344832 deg/s, cmd heading: 326.951621 deg, new cmd heading: 326.492369 deg. 2025-01-08T22:37:29.909Z,1736375849.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698367 target range: 169.500000 and range: 169.50 m. 2025-01-08T22:37:30.060Z,1736375850.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:30.060Z,1736375850.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502942 2025-01-08T22:37:30.312Z,1736375850.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:30.313Z,1736375850.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755452 2025-01-08T22:37:30.366Z,1736375850.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:30.377Z,1736375850.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m. 2025-01-08T22:37:30.380Z,1736375850.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.500000 m, nav range: 80.755821 m, bearing: 196.966639 deg, approach rate: 0.332346 m/s, LOS rate: -0.349063 deg/s, cmd heading: 326.492359 deg, new cmd heading: 325.997664 deg. 2025-01-08T22:37:30.381Z,1736375850.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689733 target range: 169.500000 and range: 169.50 m. 2025-01-08T22:37:30.564Z,1736375850.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:30.565Z,1736375850.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007020 2025-01-08T22:37:30.813Z,1736375850.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:30.816Z,1736375850.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:30.817Z,1736375850.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259122 2025-01-08T22:37:30.824Z,1736375850.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m. 2025-01-08T22:37:30.826Z,1736375850.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.500000 m, nav range: 80.900841 m, bearing: 196.811340 deg, approach rate: 0.324702 m/s, LOS rate: -0.347094 deg/s, cmd heading: 325.997662 deg, new cmd heading: 325.532611 deg. 2025-01-08T22:37:30.828Z,1736375850.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681616 target range: 169.500000 and range: 169.50 m. 2025-01-08T22:37:31.068Z,1736375851.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:31.068Z,1736375851.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510811 2025-01-08T22:37:31.231Z,1736375851.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:31.238Z,1736375851.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:31.240Z,1736375851.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m. 2025-01-08T22:37:31.243Z,1736375851.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.500000 m, nav range: 81.036140 m, bearing: 196.666252 deg, approach rate: 0.324754 m/s, LOS rate: -0.347667 deg/s, cmd heading: 325.532608 deg, new cmd heading: 325.098078 deg. 2025-01-08T22:37:31.244Z,1736375851.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674032 target range: 169.500000 and range: 169.50 m. 2025-01-08T22:37:31.321Z,1736375851.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:31.323Z,1736375851.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765431 2025-01-08T22:37:31.572Z,1736375851.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:31.572Z,1736375851.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014966 2025-01-08T22:37:31.654Z,1736375851.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:31.685Z,1736375851.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m. 2025-01-08T22:37:31.692Z,1736375851.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.500000 m, nav range: 81.177963 m, bearing: 196.513676 deg, approach rate: 0.319221 m/s, LOS rate: -0.342823 deg/s, cmd heading: 325.098071 deg, new cmd heading: 324.641154 deg. 2025-01-08T22:37:31.693Z,1736375851.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666057 target range: 169.500000 and range: 169.50 m. 2025-01-08T22:37:31.825Z,1736375851.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:31.826Z,1736375851.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268125 2025-01-08T22:37:32.036Z,1736375852.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:32.055Z,1736375852.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m. 2025-01-08T22:37:32.067Z,1736375852.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.500000 m, nav range: 81.306274 m, bearing: 196.375796 deg, approach rate: 0.346720 m/s, LOS rate: -0.371989 deg/s, cmd heading: 324.641159 deg, new cmd heading: 324.228179 deg. 2025-01-08T22:37:32.076Z,1736375852.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:32.077Z,1736375852.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519007 2025-01-08T22:37:32.088Z,1736375852.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.658849 target range: 169.500000 and range: 169.50 m. 2025-01-08T22:37:32.331Z,1736375852.331 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:32.333Z,1736375852.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775002 2025-01-08T22:37:32.493Z,1736375852.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:32.510Z,1736375852.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m. 2025-01-08T22:37:32.519Z,1736375852.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.500000 m, nav range: 81.463844 m, bearing: 196.208591 deg, approach rate: 0.346361 m/s, LOS rate: -0.366830 deg/s, cmd heading: 324.228178 deg, new cmd heading: 323.727545 deg. 2025-01-08T22:37:32.534Z,1736375852.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.650112 target range: 169.500000 and range: 169.50 m. 2025-01-08T22:37:32.582Z,1736375852.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:32.585Z,1736375852.585 [DAT](INFO): DAT read: Rx Time:22:37:31.4370 2025-01-08T22:37:32.587Z,1736375852.587 [DAT](INFO): Rx dataTimestamp_ set to:1736375852.585856 2025-01-08T22:37:32.589Z,1736375852.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030780 2025-01-08T22:37:32.832Z,1736375852.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:32.832Z,1736375852.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274921 2025-01-08T22:37:32.965Z,1736375852.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:32.982Z,1736375852.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m. 2025-01-08T22:37:32.989Z,1736375852.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.500000 m, nav range: 81.625778 m, bearing: 196.035662 deg, approach rate: 0.342796 m/s, LOS rate: -0.365343 deg/s, cmd heading: 323.727553 deg, new cmd heading: 323.209812 deg. 2025-01-08T22:37:32.990Z,1736375852.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641076 target range: 169.500000 and range: 169.50 m. 2025-01-08T22:37:33.086Z,1736375853.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:33.088Z,1736375853.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530357 2025-01-08T22:37:33.337Z,1736375853.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:33.367Z,1736375853.367 [DAT](INFO): DAT read: 22:37:31.4370 LVL= 18928, 32753, 25650, 32755, AGC= 58, IDX= 421, 0.45,-0.541,-2.123,-1.848,-1.367, PHS= 0.914,-0.709,-0.483, RAW= 97.4, 3.7, CAL= 106.9, 1.8, ROT= 43.1, -1.8 2025-01-08T22:37:33.368Z,1736375853.368 [DAT](INFO): got valid direction response: 22:37:31.4370 LVL= 18928, 32753, 25650, 32755, AGC= 58, IDX= 421, 0.45,-0.541,-2.123,-1.848,-1.367, PHS= 0.914,-0.709,-0.483, RAW= 97.4, 3.7, CAL= 106.9, 1.8, ROT= 43.1, -1.8 2025-01-08T22:37:33.369Z,1736375853.369 [DAT](INFO): DAT read: Bearing 43.1, -1.8 (Local) 2025-01-08T22:37:33.369Z,1736375853.369 [DAT](INFO): Local bearing/azimuth received: Bearing 43.1, -1.8 (Local) 2025-01-08T22:37:33.370Z,1736375853.370 [DAT](INFO): DAT read: Range 10 to 50 : 168.2 m (Round-trip 224.3 ms) speed 0.4 m/s 2025-01-08T22:37:33.393Z,1736375853.393 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:33.394Z,1736375853.394 [DAT](INFO): direction in FSK: [-0.166670,-0.017403,0.985859] 2025-01-08T22:37:33.394Z,1736375853.394 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:33.410Z,1736375853.410 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:33.410Z,1736375853.410 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:33.410Z,1736375853.410 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:33.552Z,1736375853.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:33.585Z,1736375853.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 168.199997 m, deltaT: 4.031811 s, deltaX: -1.300003 m, approachRate: -0.322437 m/s, rangeRepo size: 4 2025-01-08T22:37:33.587Z,1736375853.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 168.199997 m, bearing: 167.157645 deg, lat: 36.902380 deg, lon: -122.119719 deg, deltaT: 4.031811 s, deltaX: -1.300003 m, approachRate: -0.322437 m/s, posRepo size: 4 2025-01-08T22:37:33.588Z,1736375853.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:33.591Z,1736375853.591 [DAT](INFO): DAT read: user:2733> 2025-01-08T22:37:33.593Z,1736375853.593 [DAT](INFO): DAT read: Tx time:22:37:32.9085 2025-01-08T22:37:33.594Z,1736375853.594 [DAT](INFO): Ping request sent. 2025-01-08T22:37:33.594Z,1736375853.594 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:33.594Z,1736375853.594 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:33.596Z,1736375853.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002115 2025-01-08T22:37:33.602Z,1736375853.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.20 m. 2025-01-08T22:37:33.609Z,1736375853.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.199997 m, nav range: 78.969627 m, bearing: 184.430771 deg, approach rate: 0.000000 m/s, LOS rate: -0.365343 deg/s, cmd heading: 323.209824 deg, new cmd heading: 322.549862 deg. 2025-01-08T22:37:33.610Z,1736375853.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629557 target range: 168.199997 and range: 168.20 m. 2025-01-08T22:37:33.840Z,1736375853.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:33.841Z,1736375853.841 [DAT](INFO): DAT read: TxSync time:22:37:32.9078 2025-01-08T22:37:33.841Z,1736375853.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247725 2025-01-08T22:37:34.002Z,1736375854.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:34.020Z,1736375854.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:34.022Z,1736375854.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.20 m. 2025-01-08T22:37:34.030Z,1736375854.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.199997 m, nav range: 79.174866 m, bearing: 184.280034 deg, approach rate: 0.468453 m/s, LOS rate: -0.343161 deg/s, cmd heading: 322.549864 deg, new cmd heading: 322.098837 deg. 2025-01-08T22:37:34.035Z,1736375854.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621685 target range: 168.199997 and range: 168.20 m. 2025-01-08T22:37:34.093Z,1736375854.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:34.094Z,1736375854.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499954 2025-01-08T22:37:34.346Z,1736375854.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:34.349Z,1736375854.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754777 2025-01-08T22:37:34.434Z,1736375854.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:34.450Z,1736375854.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.20 m. 2025-01-08T22:37:34.457Z,1736375854.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.199997 m, nav range: 79.372223 m, bearing: 184.135053 deg, approach rate: 0.461539 m/s, LOS rate: -0.338209 deg/s, cmd heading: 322.098826 deg, new cmd heading: 321.664973 deg. 2025-01-08T22:37:34.458Z,1736375854.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614113 target range: 168.199997 and range: 168.20 m. 2025-01-08T22:37:34.596Z,1736375854.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:34.596Z,1736375854.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002815 2025-01-08T22:37:34.799Z,1736375854.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:34.808Z,1736375854.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.20 m. 2025-01-08T22:37:34.810Z,1736375854.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.199997 m, nav range: 79.539001 m, bearing: 184.012386 deg, approach rate: 0.466634 m/s, LOS rate: -0.342492 deg/s, cmd heading: 321.664972 deg, new cmd heading: 321.297749 deg. 2025-01-08T22:37:34.827Z,1736375854.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607704 target range: 168.199997 and range: 168.20 m. 2025-01-08T22:37:34.848Z,1736375854.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:34.848Z,1736375854.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254892 2025-01-08T22:37:35.100Z,1736375855.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:35.100Z,1736375855.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506846 2025-01-08T22:37:35.212Z,1736375855.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:35.221Z,1736375855.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.20 m. 2025-01-08T22:37:35.224Z,1736375855.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.199997 m, nav range: 79.726616 m, bearing: 183.873463 deg, approach rate: 0.453854 m/s, LOS rate: -0.335275 deg/s, cmd heading: 321.297754 deg, new cmd heading: 320.881972 deg. 2025-01-08T22:37:35.225Z,1736375855.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600447 target range: 168.199997 and range: 168.20 m. 2025-01-08T22:37:35.353Z,1736375855.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:35.359Z,1736375855.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764490 2025-01-08T22:37:35.604Z,1736375855.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:35.604Z,1736375855.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010819 2025-01-08T22:37:35.666Z,1736375855.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:35.696Z,1736375855.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.20 m. 2025-01-08T22:37:35.703Z,1736375855.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.199997 m, nav range: 79.930199 m, bearing: 183.721567 deg, approach rate: 0.428038 m/s, LOS rate: -0.318552 deg/s, cmd heading: 320.881959 deg, new cmd heading: 320.427442 deg. 2025-01-08T22:37:35.704Z,1736375855.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592514 target range: 168.199997 and range: 168.20 m. 2025-01-08T22:37:35.856Z,1736375855.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:35.857Z,1736375855.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263387 2025-01-08T22:37:36.108Z,1736375856.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:36.108Z,1736375856.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514827 2025-01-08T22:37:36.138Z,1736375856.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:36.154Z,1736375856.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:36.160Z,1736375856.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.20 m. 2025-01-08T22:37:36.168Z,1736375856.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.199997 m, nav range: 80.140579 m, bearing: 183.562914 deg, approach rate: 0.453539 m/s, LOS rate: -0.341127 deg/s, cmd heading: 320.427451 deg, new cmd heading: 319.952753 deg. 2025-01-08T22:37:36.169Z,1736375856.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584229 target range: 168.199997 and range: 168.20 m. 2025-01-08T22:37:36.362Z,1736375856.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:36.364Z,1736375856.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770261 2025-01-08T22:37:36.565Z,1736375856.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:36.589Z,1736375856.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.20 m. 2025-01-08T22:37:36.597Z,1736375856.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.199997 m, nav range: 80.327560 m, bearing: 183.420044 deg, approach rate: 0.436444 m/s, LOS rate: -0.332704 deg/s, cmd heading: 319.952753 deg, new cmd heading: 319.525150 deg. 2025-01-08T22:37:36.598Z,1736375856.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576766 target range: 168.199997 and range: 168.20 m. 2025-01-08T22:37:36.613Z,1736375856.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:36.614Z,1736375856.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020305 2025-01-08T22:37:36.864Z,1736375856.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:36.865Z,1736375856.865 [DAT](INFO): DAT read: Rx Time:22:37:35.5351 2025-01-08T22:37:36.866Z,1736375856.866 [DAT](INFO): Rx dataTimestamp_ set to:1736375856.865363 2025-01-08T22:37:36.867Z,1736375856.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272957 2025-01-08T22:37:37.033Z,1736375857.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:37.041Z,1736375857.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.20 m. 2025-01-08T22:37:37.060Z,1736375857.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.199997 m, nav range: 80.531738 m, bearing: 183.263385 deg, approach rate: 0.451303 m/s, LOS rate: -0.345393 deg/s, cmd heading: 319.525156 deg, new cmd heading: 319.056379 deg. 2025-01-08T22:37:37.061Z,1736375857.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568584 target range: 168.199997 and range: 168.20 m. 2025-01-08T22:37:37.116Z,1736375857.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:37.118Z,1736375857.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523702 2025-01-08T22:37:37.370Z,1736375857.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:37.394Z,1736375857.394 [DAT](INFO): DAT read: 22:37:35.5351 LVL= 16752, 29057, 23842, 31411, AGC= 62, IDX= 417,-0.11,-1.570,-3.116,-2.929,-2.359, PHS= 0.877,-0.710,-0.573, RAW= 94.5, 5.4, CAL= 103.1, 4.2, ROT= 46.9, -4.2 2025-01-08T22:37:37.407Z,1736375857.407 [DAT](INFO): got valid direction response: 22:37:35.5351 LVL= 16752, 29057, 23842, 31411, AGC= 62, IDX= 417,-0.11,-1.570,-3.116,-2.929,-2.359, PHS= 0.877,-0.710,-0.573, RAW= 94.5, 5.4, CAL= 103.1, 4.2, ROT= 46.9, -4.2 2025-01-08T22:37:37.429Z,1736375857.429 [DAT](INFO): DAT read: Bearing 46.9, -4.2 (Local) 2025-01-08T22:37:37.429Z,1736375857.429 [DAT](INFO): Local bearing/azimuth received: Bearing 46.9, -4.2 (Local) 2025-01-08T22:37:37.431Z,1736375857.431 [DAT](INFO): DAT read: Range 10 to 50 : 166.7 m (Round-trip 222.3 ms) speed 0.3 m/s 2025-01-08T22:37:37.448Z,1736375857.448 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:37.448Z,1736375857.448 [DAT](INFO): direction in FSK: [-0.193964,0.035231,0.980376] 2025-01-08T22:37:37.449Z,1736375857.449 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:37.464Z,1736375857.464 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:37.464Z,1736375857.464 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:37.465Z,1736375857.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:37.558Z,1736375857.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:37.606Z,1736375857.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 166.699997 m, deltaT: 4.035349 s, deltaX: -1.500000 m, approachRate: -0.371715 m/s, rangeRepo size: 4 2025-01-08T22:37:37.612Z,1736375857.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 166.699997 m, bearing: 152.078487 deg, lat: 36.902477 deg, lon: -122.119561 deg, deltaT: 4.035349 s, deltaX: -1.500000 m, approachRate: -0.371715 m/s, posRepo size: 4 2025-01-08T22:37:37.613Z,1736375857.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.70 m. 2025-01-08T22:37:37.617Z,1736375857.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.699997 m, nav range: 70.524506 m, bearing: 172.052565 deg, approach rate: 0.000000 m/s, LOS rate: -0.345393 deg/s, cmd heading: 319.056386 deg, new cmd heading: 318.472208 deg. 2025-01-08T22:37:37.618Z,1736375857.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558389 target range: 166.699997 and range: 166.70 m. 2025-01-08T22:37:37.620Z,1736375857.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:37.621Z,1736375857.621 [DAT](INFO): DAT read: user:2734> 2025-01-08T22:37:37.624Z,1736375857.624 [DAT](INFO): DAT read: Tx time:22:37:36.9086 2025-01-08T22:37:37.624Z,1736375857.624 [DAT](INFO): Ping request sent. 2025-01-08T22:37:37.625Z,1736375857.625 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:37.625Z,1736375857.625 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:37.627Z,1736375857.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002171 2025-01-08T22:37:37.872Z,1736375857.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:37.873Z,1736375857.873 [DAT](INFO): DAT read: TxSync time:22:37:36.9079 2025-01-08T22:37:37.874Z,1736375857.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249219 2025-01-08T22:37:37.941Z,1736375857.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:37.957Z,1736375857.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.70 m. 2025-01-08T22:37:37.964Z,1736375857.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.699997 m, nav range: 70.720810 m, bearing: 171.935418 deg, approach rate: 0.556936 m/s, LOS rate: -0.331436 deg/s, cmd heading: 318.472214 deg, new cmd heading: 318.121752 deg. 2025-01-08T22:37:37.965Z,1736375857.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.552272 target range: 166.699997 and range: 166.70 m. 2025-01-08T22:37:38.124Z,1736375858.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:38.124Z,1736375858.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499962 2025-01-08T22:37:38.316Z,1736375858.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:38.354Z,1736375858.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:38.378Z,1736375858.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:38.381Z,1736375858.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756416 2025-01-08T22:37:38.389Z,1736375858.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.70 m. 2025-01-08T22:37:38.430Z,1736375858.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.699997 m, nav range: 70.913193 m, bearing: 171.819819 deg, approach rate: 0.469248 m/s, LOS rate: -0.281195 deg/s, cmd heading: 318.121743 deg, new cmd heading: 317.775893 deg. 2025-01-08T22:37:38.439Z,1736375858.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.546236 target range: 166.699997 and range: 166.70 m. 2025-01-08T22:37:38.628Z,1736375858.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:38.628Z,1736375858.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003965 2025-01-08T22:37:38.761Z,1736375858.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:38.784Z,1736375858.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.70 m. 2025-01-08T22:37:38.787Z,1736375858.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.699997 m, nav range: 71.143227 m, bearing: 171.678076 deg, approach rate: 0.552231 m/s, LOS rate: -0.339174 deg/s, cmd heading: 317.775890 deg, new cmd heading: 317.352045 deg. 2025-01-08T22:37:38.792Z,1736375858.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538838 target range: 166.699997 and range: 166.70 m. 2025-01-08T22:37:38.885Z,1736375858.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:38.886Z,1736375858.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261533 2025-01-08T22:37:39.130Z,1736375859.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:39.136Z,1736375859.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:39.137Z,1736375859.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512130 2025-01-08T22:37:39.141Z,1736375859.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.70 m. 2025-01-08T22:37:39.143Z,1736375859.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.699997 m, nav range: 71.333740 m, bearing: 171.560060 deg, approach rate: 0.534171 m/s, LOS rate: -0.330015 deg/s, cmd heading: 317.352036 deg, new cmd heading: 316.998938 deg. 2025-01-08T22:37:39.144Z,1736375859.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.532675 target range: 166.699997 and range: 166.70 m. 2025-01-08T22:37:39.390Z,1736375859.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:39.392Z,1736375859.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767198 2025-01-08T22:37:39.555Z,1736375859.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:39.598Z,1736375859.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.70 m. 2025-01-08T22:37:39.606Z,1736375859.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.699997 m, nav range: 71.553192 m, bearing: 171.418740 deg, approach rate: 0.480591 m/s, LOS rate: -0.308538 deg/s, cmd heading: 316.998942 deg, new cmd heading: 316.576288 deg. 2025-01-08T22:37:39.607Z,1736375859.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525299 target range: 166.699997 and range: 166.70 m. 2025-01-08T22:37:39.642Z,1736375859.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:39.643Z,1736375859.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018415 2025-01-08T22:37:39.896Z,1736375859.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:39.897Z,1736375859.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272477 2025-01-08T22:37:39.955Z,1736375859.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:39.977Z,1736375859.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.70 m. 2025-01-08T22:37:39.985Z,1736375859.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.699997 m, nav range: 71.759491 m, bearing: 171.285310 deg, approach rate: 0.543097 m/s, LOS rate: -0.350253 deg/s, cmd heading: 316.576290 deg, new cmd heading: 316.177159 deg. 2025-01-08T22:37:39.986Z,1736375859.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518332 target range: 166.699997 and range: 166.70 m. 2025-01-08T22:37:40.148Z,1736375860.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:40.148Z,1736375860.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523918 2025-01-08T22:37:40.346Z,1736375860.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:40.355Z,1736375860.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.70 m. 2025-01-08T22:37:40.358Z,1736375860.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.699997 m, nav range: 71.960800 m, bearing: 171.154605 deg, approach rate: 0.532477 m/s, LOS rate: -0.344755 deg/s, cmd heading: 316.177161 deg, new cmd heading: 315.786151 deg. 2025-01-08T22:37:40.359Z,1736375860.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511508 target range: 166.699997 and range: 166.70 m. 2025-01-08T22:37:40.401Z,1736375860.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:40.405Z,1736375860.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780243 2025-01-08T22:37:40.654Z,1736375860.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:40.656Z,1736375860.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031317 2025-01-08T22:37:40.784Z,1736375860.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:40.791Z,1736375860.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:40.793Z,1736375860.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.70 m. 2025-01-08T22:37:40.797Z,1736375860.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.699997 m, nav range: 72.188904 m, bearing: 171.000053 deg, approach rate: 0.520774 m/s, LOS rate: -0.351736 deg/s, cmd heading: 315.786146 deg, new cmd heading: 315.323966 deg. 2025-01-08T22:37:40.797Z,1736375860.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503441 target range: 166.699997 and range: 166.70 m. 2025-01-08T22:37:40.904Z,1736375860.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:40.905Z,1736375860.905 [DAT](INFO): DAT read: Rx Time:22:37:39.5333 2025-01-08T22:37:40.905Z,1736375860.905 [DAT](INFO): Rx dataTimestamp_ set to:1736375860.904854 2025-01-08T22:37:40.906Z,1736375860.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281269 2025-01-08T22:37:41.149Z,1736375861.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:41.156Z,1736375861.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:41.156Z,1736375861.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532087 2025-01-08T22:37:41.176Z,1736375861.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.70 m. 2025-01-08T22:37:41.201Z,1736375861.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.699997 m, nav range: 72.377327 m, bearing: 170.869694 deg, approach rate: 0.514202 m/s, LOS rate: -0.354821 deg/s, cmd heading: 315.323961 deg, new cmd heading: 314.933907 deg. 2025-01-08T22:37:41.209Z,1736375861.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496634 target range: 166.699997 and range: 166.70 m. 2025-01-08T22:37:41.408Z,1736375861.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:41.422Z,1736375861.422 [DAT](INFO): DAT read: 22:37:39.5333 LVL= 15952, 26993, 21186, 29939, AGC= 57, IDX= 431, 0.37, 3.053, 1.296, 1.383, 2.014, PHS= 1.127,-0.671,-0.634, RAW= 91.0, 2.0, CAL= 98.6, -0.7, ROT= 51.4, 0.7 2025-01-08T22:37:41.428Z,1736375861.428 [DAT](INFO): got valid direction response: 22:37:39.5333 LVL= 15952, 26993, 21186, 29939, AGC= 57, IDX= 431, 0.37, 3.053, 1.296, 1.383, 2.014, PHS= 1.127,-0.671,-0.634, RAW= 91.0, 2.0, CAL= 98.6, -0.7, ROT= 51.4, 0.7 2025-01-08T22:37:41.432Z,1736375861.432 [DAT](INFO): DAT read: Bearing 51.4, 0.7 (Local) 2025-01-08T22:37:41.433Z,1736375861.433 [DAT](INFO): Local bearing/azimuth received: Bearing 51.4, 0.7 (Local) 2025-01-08T22:37:41.441Z,1736375861.441 [DAT](INFO): DAT read: Range 10 to 50 : 165.4 m (Round-trip 220.6 ms) speed 0.2 m/s 2025-01-08T22:37:41.444Z,1736375861.444 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:41.449Z,1736375861.449 [DAT](INFO): direction in FSK: [-0.125238,0.091725,0.987877] 2025-01-08T22:37:41.451Z,1736375861.451 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:41.489Z,1736375861.489 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:41.489Z,1736375861.489 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:41.489Z,1736375861.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:41.630Z,1736375861.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:41.660Z,1736375861.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:41.661Z,1736375861.661 [DAT](INFO): DAT read: user:2735> 2025-01-08T22:37:41.663Z,1736375861.663 [DAT](INFO): DAT read: Tx time:22:37:40.9586 2025-01-08T22:37:41.663Z,1736375861.663 [DAT](INFO): Ping request sent. 2025-01-08T22:37:41.663Z,1736375861.663 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:41.664Z,1736375861.664 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:41.665Z,1736375861.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001653 2025-01-08T22:37:41.697Z,1736375861.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 165.399994 m, deltaT: 4.035215 s, deltaX: -1.300003 m, approachRate: -0.322165 m/s, rangeRepo size: 4 2025-01-08T22:37:41.707Z,1736375861.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 165.399994 m, bearing: 134.504053 deg, lat: 36.902584 deg, lon: -122.119507 deg, deltaT: 4.035215 s, deltaX: -1.300003 m, approachRate: -0.322165 m/s, posRepo size: 4 2025-01-08T22:37:41.735Z,1736375861.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.40 m. 2025-01-08T22:37:41.738Z,1736375861.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.399994 m, nav range: 62.010521 m, bearing: 164.550043 deg, approach rate: 0.000000 m/s, LOS rate: -0.354821 deg/s, cmd heading: 314.933903 deg, new cmd heading: 314.367790 deg. 2025-01-08T22:37:41.739Z,1736375861.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486753 target range: 165.399994 and range: 165.40 m. 2025-01-08T22:37:41.914Z,1736375861.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:41.915Z,1736375861.915 [DAT](INFO): DAT read: TxSync time:22:37:40.9579 2025-01-08T22:37:41.916Z,1736375861.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252766 2025-01-08T22:37:42.033Z,1736375862.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:42.050Z,1736375862.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.40 m. 2025-01-08T22:37:42.057Z,1736375862.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.399994 m, nav range: 62.231129 m, bearing: 164.394632 deg, approach rate: 0.615618 m/s, LOS rate: -0.432144 deg/s, cmd heading: 314.367789 deg, new cmd heading: 313.903220 deg. 2025-01-08T22:37:42.058Z,1736375862.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478645 target range: 165.399994 and range: 165.40 m. 2025-01-08T22:37:42.168Z,1736375862.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:42.169Z,1736375862.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505964 2025-01-08T22:37:42.422Z,1736375862.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:42.424Z,1736375862.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760588 2025-01-08T22:37:42.492Z,1736375862.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:42.510Z,1736375862.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.40 m. 2025-01-08T22:37:42.517Z,1736375862.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.399994 m, nav range: 62.482506 m, bearing: 164.219267 deg, approach rate: 0.546392 m/s, LOS rate: -0.379639 deg/s, cmd heading: 313.903227 deg, new cmd heading: 313.379264 deg. 2025-01-08T22:37:42.518Z,1736375862.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469500 target range: 165.399994 and range: 165.40 m. 2025-01-08T22:37:42.672Z,1736375862.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:42.673Z,1736375862.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010117 2025-01-08T22:37:42.840Z,1736375862.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:42.848Z,1736375862.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:42.850Z,1736375862.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.40 m. 2025-01-08T22:37:42.869Z,1736375862.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.399994 m, nav range: 62.670155 m, bearing: 164.079347 deg, approach rate: 0.551967 m/s, LOS rate: -0.410339 deg/s, cmd heading: 313.379270 deg, new cmd heading: 312.960775 deg. 2025-01-08T22:37:42.870Z,1736375862.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462196 target range: 165.399994 and range: 165.40 m. 2025-01-08T22:37:42.924Z,1736375862.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:42.925Z,1736375862.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261596 2025-01-08T22:37:43.177Z,1736375863.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:43.179Z,1736375863.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514980 2025-01-08T22:37:43.220Z,1736375863.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:43.237Z,1736375863.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.40 m. 2025-01-08T22:37:43.244Z,1736375863.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.399994 m, nav range: 62.874390 m, bearing: 163.925635 deg, approach rate: 0.527159 m/s, LOS rate: -0.395464 deg/s, cmd heading: 312.960770 deg, new cmd heading: 312.501142 deg. 2025-01-08T22:37:43.246Z,1736375863.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454174 target range: 165.399994 and range: 165.40 m. 2025-01-08T22:37:43.430Z,1736375863.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:43.432Z,1736375863.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769086 2025-01-08T22:37:43.672Z,1736375863.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:43.681Z,1736375863.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:43.684Z,1736375863.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019906 2025-01-08T22:37:43.709Z,1736375863.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.40 m. 2025-01-08T22:37:43.716Z,1736375863.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.399994 m, nav range: 63.116779 m, bearing: 163.737448 deg, approach rate: 0.513387 m/s, LOS rate: -0.397052 deg/s, cmd heading: 312.501153 deg, new cmd heading: 311.938781 deg. 2025-01-08T22:37:43.717Z,1736375863.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444359 target range: 165.399994 and range: 165.40 m. 2025-01-08T22:37:43.932Z,1736375863.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:43.933Z,1736375863.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270209 2025-01-08T22:37:44.039Z,1736375864.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:44.049Z,1736375864.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.40 m. 2025-01-08T22:37:44.052Z,1736375864.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.399994 m, nav range: 63.313168 m, bearing: 163.584398 deg, approach rate: 0.578027 m/s, LOS rate: -0.449075 deg/s, cmd heading: 311.938783 deg, new cmd heading: 311.481065 deg. 2025-01-08T22:37:44.053Z,1736375864.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.436370 target range: 165.399994 and range: 165.40 m. 2025-01-08T22:37:44.184Z,1736375864.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:44.184Z,1736375864.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521458 2025-01-08T22:37:44.436Z,1736375864.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:44.436Z,1736375864.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773397 2025-01-08T22:37:44.442Z,1736375864.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:44.497Z,1736375864.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.40 m. 2025-01-08T22:37:44.515Z,1736375864.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.399994 m, nav range: 63.528065 m, bearing: 163.416216 deg, approach rate: 0.487514 m/s, LOS rate: -0.380243 deg/s, cmd heading: 311.481078 deg, new cmd heading: 310.978255 deg. 2025-01-08T22:37:44.520Z,1736375864.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427595 target range: 165.399994 and range: 165.40 m. 2025-01-08T22:37:44.688Z,1736375864.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:44.688Z,1736375864.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025333 2025-01-08T22:37:44.885Z,1736375864.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:44.892Z,1736375864.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:44.894Z,1736375864.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.40 m. 2025-01-08T22:37:44.898Z,1736375864.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.399994 m, nav range: 63.750088 m, bearing: 163.240435 deg, approach rate: 0.549792 m/s, LOS rate: -0.433767 deg/s, cmd heading: 310.978267 deg, new cmd heading: 310.452776 deg. 2025-01-08T22:37:44.899Z,1736375864.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.418423 target range: 165.399994 and range: 165.40 m. 2025-01-08T22:37:44.940Z,1736375864.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:44.942Z,1736375864.942 [DAT](INFO): DAT read: Rx Time:22:37:43.5822 2025-01-08T22:37:44.942Z,1736375864.942 [DAT](INFO): Rx dataTimestamp_ set to:1736375864.941964 2025-01-08T22:37:44.944Z,1736375864.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280471 2025-01-08T22:37:45.192Z,1736375865.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:45.192Z,1736375865.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529452 2025-01-08T22:37:45.286Z,1736375865.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:45.296Z,1736375865.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.40 m. 2025-01-08T22:37:45.299Z,1736375865.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.399994 m, nav range: 63.969357 m, bearing: 163.068490 deg, approach rate: 0.544590 m/s, LOS rate: -0.425589 deg/s, cmd heading: 310.452780 deg, new cmd heading: 309.938727 deg. 2025-01-08T22:37:45.301Z,1736375865.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409451 target range: 165.399994 and range: 165.40 m. 2025-01-08T22:37:45.444Z,1736375865.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:45.451Z,1736375865.451 [DAT](INFO): DAT read: 22:37:43.5822 LVL= 15312, 32113, 25474, 32755, AGC= 58, IDX= 435, 0.36,-3.076, 1.482, 1.354, 2.108, PHS= 1.187,-0.579,-0.757, RAW= 85.2, 1.6, CAL= 91.4, -1.8, ROT= 58.6, 1.8 2025-01-08T22:37:45.452Z,1736375865.452 [DAT](INFO): got valid direction response: 22:37:43.5822 LVL= 15312, 32113, 25474, 32755, AGC= 58, IDX= 435, 0.36,-3.076, 1.482, 1.354, 2.108, PHS= 1.187,-0.579,-0.757, RAW= 85.2, 1.6, CAL= 91.4, -1.8, ROT= 58.6, 1.8 2025-01-08T22:37:45.453Z,1736375865.453 [DAT](INFO): DAT read: Bearing 58.6, 1.8 (Local) 2025-01-08T22:37:45.453Z,1736375865.453 [DAT](INFO): Local bearing/azimuth received: Bearing 58.6, 1.8 (Local) 2025-01-08T22:37:45.455Z,1736375865.455 [DAT](INFO): DAT read: Range 10 to 50 : 164.5 m (Round-trip 219.4 ms) speed 0.2 m/s 2025-01-08T22:37:45.456Z,1736375865.456 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:45.459Z,1736375865.459 [DAT](INFO): direction in FSK: [-0.107879,0.190245,0.975791] 2025-01-08T22:37:45.460Z,1736375865.460 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:45.465Z,1736375865.465 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:45.465Z,1736375865.465 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:45.465Z,1736375865.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:45.696Z,1736375865.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:45.698Z,1736375865.698 [DAT](INFO): DAT read: user:2736> 2025-01-08T22:37:45.701Z,1736375865.701 [DAT](INFO): DAT read: Tx time:22:37:44.9086 2025-01-08T22:37:45.701Z,1736375865.701 [DAT](INFO): Ping request sent. 2025-01-08T22:37:45.702Z,1736375865.702 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:45.702Z,1736375865.702 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:45.706Z,1736375865.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004403 2025-01-08T22:37:45.785Z,1736375865.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:45.840Z,1736375865.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 164.500000 m, deltaT: 4.036309 s, deltaX: -0.899994 m, approachRate: -0.222974 m/s, rangeRepo size: 4 2025-01-08T22:37:45.842Z,1736375865.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 164.500000 m, bearing: 93.329968 deg, lat: 36.902686 deg, lon: -122.119432 deg, deltaT: 4.036309 s, deltaX: -0.899994 m, approachRate: -0.222974 m/s, posRepo size: 4 2025-01-08T22:37:45.847Z,1736375865.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.50 m. 2025-01-08T22:37:45.850Z,1736375865.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.500000 m, nav range: 56.153664 m, bearing: 152.872859 deg, approach rate: 0.000000 m/s, LOS rate: -0.425589 deg/s, cmd heading: 309.938740 deg, new cmd heading: 309.250551 deg. 2025-01-08T22:37:45.851Z,1736375865.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397440 target range: 164.500000 and range: 164.50 m. 2025-01-08T22:37:45.948Z,1736375865.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:45.950Z,1736375865.950 [DAT](INFO): DAT read: TxSync time:22:37:44.9079 2025-01-08T22:37:45.952Z,1736375865.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249476 2025-01-08T22:37:46.152Z,1736375866.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:46.161Z,1736375866.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.50 m. 2025-01-08T22:37:46.165Z,1736375866.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.500000 m, nav range: 56.371017 m, bearing: 152.743054 deg, approach rate: 0.667594 m/s, LOS rate: -0.397154 deg/s, cmd heading: 309.250557 deg, new cmd heading: 308.862649 deg. 2025-01-08T22:37:46.166Z,1736375866.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.390670 target range: 164.500000 and range: 164.50 m. 2025-01-08T22:37:46.200Z,1736375866.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:46.201Z,1736375866.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499394 2025-01-08T22:37:46.452Z,1736375866.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:46.453Z,1736375866.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751249 2025-01-08T22:37:46.586Z,1736375866.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:46.596Z,1736375866.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.50 m. 2025-01-08T22:37:46.599Z,1736375866.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.500000 m, nav range: 56.612961 m, bearing: 152.591799 deg, approach rate: 0.557802 m/s, LOS rate: -0.347229 deg/s, cmd heading: 308.862657 deg, new cmd heading: 308.410841 deg. 2025-01-08T22:37:46.600Z,1736375866.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382785 target range: 164.500000 and range: 164.50 m. 2025-01-08T22:37:46.705Z,1736375866.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:46.706Z,1736375866.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005065 2025-01-08T22:37:46.937Z,1736375866.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:46.956Z,1736375866.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:46.956Z,1736375866.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255127 2025-01-08T22:37:46.976Z,1736375866.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:46.983Z,1736375866.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.50 m. 2025-01-08T22:37:46.986Z,1736375866.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.500000 m, nav range: 56.807999 m, bearing: 152.468477 deg, approach rate: 0.508396 m/s, LOS rate: -0.320352 deg/s, cmd heading: 308.410854 deg, new cmd heading: 308.042164 deg. 2025-01-08T22:37:46.991Z,1736375866.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.376350 target range: 164.500000 and range: 164.50 m. 2025-01-08T22:37:47.208Z,1736375867.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:47.208Z,1736375867.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507023 2025-01-08T22:37:47.341Z,1736375867.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:47.350Z,1736375867.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.50 m. 2025-01-08T22:37:47.353Z,1736375867.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.500000 m, nav range: 57.031296 m, bearing: 152.326510 deg, approach rate: 0.600983 m/s, LOS rate: -0.380594 deg/s, cmd heading: 308.042160 deg, new cmd heading: 307.617935 deg. 2025-01-08T22:37:47.354Z,1736375867.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368946 target range: 164.500000 and range: 164.50 m. 2025-01-08T22:37:47.460Z,1736375867.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:47.461Z,1736375867.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759300 2025-01-08T22:37:47.712Z,1736375867.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:47.713Z,1736375867.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011952 2025-01-08T22:37:47.801Z,1736375867.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:47.809Z,1736375867.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.50 m. 2025-01-08T22:37:47.812Z,1736375867.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.500000 m, nav range: 57.286186 m, bearing: 152.171988 deg, approach rate: 0.554645 m/s, LOS rate: -0.334746 deg/s, cmd heading: 307.617923 deg, new cmd heading: 307.156430 deg. 2025-01-08T22:37:47.813Z,1736375867.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.360891 target range: 164.500000 and range: 164.50 m. 2025-01-08T22:37:47.964Z,1736375867.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:47.965Z,1736375867.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263282 2025-01-08T22:37:48.149Z,1736375868.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:48.157Z,1736375868.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.50 m. 2025-01-08T22:37:48.160Z,1736375868.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.500000 m, nav range: 57.477692 m, bearing: 152.053303 deg, approach rate: 0.550733 m/s, LOS rate: -0.340177 deg/s, cmd heading: 307.156421 deg, new cmd heading: 306.801558 deg. 2025-01-08T22:37:48.161Z,1736375868.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.354697 target range: 164.500000 and range: 164.50 m. 2025-01-08T22:37:48.216Z,1736375868.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:48.218Z,1736375868.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516111 2025-01-08T22:37:48.468Z,1736375868.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:48.468Z,1736375868.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767205 2025-01-08T22:37:48.616Z,1736375868.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:48.625Z,1736375868.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.50 m. 2025-01-08T22:37:48.629Z,1736375868.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.500000 m, nav range: 57.722534 m, bearing: 151.901520 deg, approach rate: 0.523017 m/s, LOS rate: -0.322854 deg/s, cmd heading: 306.801552 deg, new cmd heading: 306.348144 deg. 2025-01-08T22:37:48.630Z,1736375868.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346784 target range: 164.500000 and range: 164.50 m. 2025-01-08T22:37:48.720Z,1736375868.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:48.721Z,1736375868.721 [DAT](INFO): DAT read: Rx Time:22:37:47.5313 2025-01-08T22:37:48.721Z,1736375868.721 [DAT](INFO): Rx dataTimestamp_ set to:1736375868.721038 2025-01-08T22:37:48.722Z,1736375868.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020542 2025-01-08T22:37:48.954Z,1736375868.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:48.972Z,1736375868.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:48.972Z,1736375868.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271065 2025-01-08T22:37:48.988Z,1736375868.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:48.990Z,1736375868.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.50 m. 2025-01-08T22:37:49.005Z,1736375869.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.500000 m, nav range: 57.903824 m, bearing: 151.788282 deg, approach rate: 0.497696 m/s, LOS rate: -0.309900 deg/s, cmd heading: 306.348136 deg, new cmd heading: 306.009490 deg. 2025-01-08T22:37:49.005Z,1736375869.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.340873 target range: 164.500000 and range: 164.50 m. 2025-01-08T22:37:49.227Z,1736375869.227 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:49.240Z,1736375869.240 [DAT](INFO): DAT read: 22:37:47.5313 LVL= 12128, 24865, 18530, 25843, AGC= 61, IDX= 425,-0.41, 1.939, 0.458, 0.101, 1.051, PHS= 0.976,-0.546,-0.953, RAW= 78.5, 6.0, CAL= 82.8, 6.4, ROT= 67.2, -6.4 2025-01-08T22:37:49.242Z,1736375869.242 [DAT](INFO): got valid direction response: 22:37:47.5313 LVL= 12128, 24865, 18530, 25843, AGC= 61, IDX= 425,-0.41, 1.939, 0.458, 0.101, 1.051, PHS= 0.976,-0.546,-0.953, RAW= 78.5, 6.0, CAL= 82.8, 6.4, ROT= 67.2, -6.4 2025-01-08T22:37:49.242Z,1736375869.242 [DAT](INFO): DAT read: Bearing 67.2, -6.4 (Local) 2025-01-08T22:37:49.243Z,1736375869.243 [DAT](INFO): Local bearing/azimuth received: Bearing 67.2, -6.4 (Local) 2025-01-08T22:37:49.244Z,1736375869.244 [DAT](INFO): DAT read: Range 10 to 50 : 163.8 m (Round-trip 218.4 ms) speed 0.1 m/s 2025-01-08T22:37:49.246Z,1736375869.246 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:49.246Z,1736375869.246 [DAT](INFO): direction in FSK: [-0.177166,0.304860,0.935774] 2025-01-08T22:37:49.247Z,1736375869.247 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:49.251Z,1736375869.251 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:49.251Z,1736375869.251 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:49.251Z,1736375869.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:49.374Z,1736375869.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:49.405Z,1736375869.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 163.800003 m, deltaT: 3.782753 s, deltaX: -0.699997 m, approachRate: -0.185050 m/s, rangeRepo size: 4 2025-01-08T22:37:49.407Z,1736375869.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 163.800003 m, bearing: 74.974889 deg, lat: 36.902916 deg, lon: -122.119393 deg, deltaT: 3.782753 s, deltaX: -0.699997 m, approachRate: -0.185050 m/s, posRepo size: 4 2025-01-08T22:37:49.416Z,1736375869.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.80 m. 2025-01-08T22:37:49.419Z,1736375869.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.800003 m, nav range: 40.245899 m, bearing: 129.488286 deg, approach rate: 0.000000 m/s, LOS rate: -0.309900 deg/s, cmd heading: 306.009496 deg, new cmd heading: 305.623977 deg. 2025-01-08T22:37:49.424Z,1736375869.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.334145 target range: 163.800003 and range: 163.80 m. 2025-01-08T22:37:49.476Z,1736375869.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:49.478Z,1736375869.478 [DAT](INFO): DAT read: user:2737> 2025-01-08T22:37:49.479Z,1736375869.479 [DAT](INFO): DAT read: Tx time:22:37:48.7087 2025-01-08T22:37:49.480Z,1736375869.480 [DAT](INFO): Ping request sent. 2025-01-08T22:37:49.480Z,1736375869.480 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:49.480Z,1736375869.480 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:49.481Z,1736375869.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001141 2025-01-08T22:37:49.728Z,1736375869.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:49.729Z,1736375869.729 [DAT](INFO): DAT read: TxSync time:22:37:48.7080 2025-01-08T22:37:49.729Z,1736375869.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249521 2025-01-08T22:37:49.828Z,1736375869.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:49.842Z,1736375869.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.80 m. 2025-01-08T22:37:49.849Z,1736375869.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.800003 m, nav range: 40.519085 m, bearing: 129.425646 deg, approach rate: 0.624119 m/s, LOS rate: -0.142143 deg/s, cmd heading: 305.623972 deg, new cmd heading: 305.437320 deg. 2025-01-08T22:37:49.850Z,1736375869.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330887 target range: 163.800003 and range: 163.80 m. 2025-01-08T22:37:49.980Z,1736375869.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:49.980Z,1736375869.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500350 2025-01-08T22:37:50.175Z,1736375870.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:50.185Z,1736375870.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.80 m. 2025-01-08T22:37:50.188Z,1736375870.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.800003 m, nav range: 40.727516 m, bearing: 129.375444 deg, approach rate: 0.607406 m/s, LOS rate: -0.145549 deg/s, cmd heading: 305.437317 deg, new cmd heading: 305.287482 deg. 2025-01-08T22:37:50.189Z,1736375870.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.328272 target range: 163.800003 and range: 163.80 m. 2025-01-08T22:37:50.220Z,1736375870.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:37:50.232Z,1736375870.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:50.233Z,1736375870.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753473 2025-01-08T22:37:50.484Z,1736375870.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:50.484Z,1736375870.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004448 2025-01-08T22:37:50.639Z,1736375870.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:50.668Z,1736375870.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.80 m. 2025-01-08T22:37:50.677Z,1736375870.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.800003 m, nav range: 41.004425 m, bearing: 129.311856 deg, approach rate: 0.594305 m/s, LOS rate: -0.135552 deg/s, cmd heading: 305.287490 deg, new cmd heading: 305.098015 deg. 2025-01-08T22:37:50.684Z,1736375870.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.324965 target range: 163.800003 and range: 163.80 m. 2025-01-08T22:37:50.736Z,1736375870.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:50.736Z,1736375870.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256406 2025-01-08T22:37:50.988Z,1736375870.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:50.988Z,1736375870.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508496 2025-01-08T22:37:50.990Z,1736375870.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:50.997Z,1736375870.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:50.999Z,1736375870.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.80 m. 2025-01-08T22:37:51.002Z,1736375871.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.800003 m, nav range: 41.213440 m, bearing: 129.262178 deg, approach rate: 0.600533 m/s, LOS rate: -0.142007 deg/s, cmd heading: 305.098021 deg, new cmd heading: 304.949745 deg. 2025-01-08T22:37:51.035Z,1736375871.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322377 target range: 163.800003 and range: 163.80 m. 2025-01-08T22:37:51.224Z,1736375871.224 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:37:51.240Z,1736375871.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:51.240Z,1736375871.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760465 2025-01-08T22:37:51.411Z,1736375871.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:51.422Z,1736375871.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.80 m. 2025-01-08T22:37:51.425Z,1736375871.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.800003 m, nav range: 41.464497 m, bearing: 129.203181 deg, approach rate: 0.593355 m/s, LOS rate: -0.138592 deg/s, cmd heading: 304.949751 deg, new cmd heading: 304.773831 deg. 2025-01-08T22:37:51.426Z,1736375871.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319307 target range: 163.800003 and range: 163.80 m. 2025-01-08T22:37:51.492Z,1736375871.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:51.492Z,1736375871.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012382 2025-01-08T22:37:51.748Z,1736375871.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:51.749Z,1736375871.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269159 2025-01-08T22:37:51.844Z,1736375871.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:51.853Z,1736375871.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.80 m. 2025-01-08T22:37:51.877Z,1736375871.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.800003 m, nav range: 41.722797 m, bearing: 129.152819 deg, approach rate: 0.599954 m/s, LOS rate: -0.116252 deg/s, cmd heading: 304.773832 deg, new cmd heading: 304.623682 deg. 2025-01-08T22:37:51.878Z,1736375871.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316686 target range: 163.800003 and range: 163.80 m. 2025-01-08T22:37:51.000Z,1736375872.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:52.000Z,1736375872.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520467 2025-01-08T22:37:52.201Z,1736375872.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:52.210Z,1736375872.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.80 m. 2025-01-08T22:37:52.213Z,1736375872.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.800003 m, nav range: 41.935951 m, bearing: 129.110108 deg, approach rate: 0.597180 m/s, LOS rate: -0.119053 deg/s, cmd heading: 304.623678 deg, new cmd heading: 304.496196 deg. 2025-01-08T22:37:52.214Z,1736375872.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314461 target range: 163.800003 and range: 163.80 m. 2025-01-08T22:37:52.252Z,1736375872.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:52.253Z,1736375872.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773270 2025-01-08T22:37:52.504Z,1736375872.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:52.504Z,1736375872.504 [DAT](INFO): DAT read: Rx Time:22:37:51.3306 2025-01-08T22:37:52.505Z,1736375872.505 [DAT](INFO): Rx dataTimestamp_ set to:1736375872.504607 2025-01-08T22:37:52.505Z,1736375872.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025439 2025-01-08T22:37:52.694Z,1736375872.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:52.715Z,1736375872.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.80 m. 2025-01-08T22:37:52.722Z,1736375872.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.800003 m, nav range: 42.237339 m, bearing: 129.047046 deg, approach rate: 0.596355 m/s, LOS rate: -0.123889 deg/s, cmd heading: 304.496199 deg, new cmd heading: 304.308365 deg. 2025-01-08T22:37:52.724Z,1736375872.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.311183 target range: 163.800003 and range: 163.80 m. 2025-01-08T22:37:52.758Z,1736375872.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:52.759Z,1736375872.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279265 2025-01-08T22:37:53.009Z,1736375873.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:53.025Z,1736375873.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.544024 2025-01-08T22:37:53.097Z,1736375873.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:53.104Z,1736375873.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:53.106Z,1736375873.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.80 m. 2025-01-08T22:37:53.110Z,1736375873.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.800003 m, nav range: 42.483711 m, bearing: 128.996169 deg, approach rate: 0.629672 m/s, LOS rate: -0.129276 deg/s, cmd heading: 304.308369 deg, new cmd heading: 304.156623 deg. 2025-01-08T22:37:53.111Z,1736375873.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308535 target range: 163.800003 and range: 163.80 m. 2025-01-08T22:37:53.260Z,1736375873.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:53.267Z,1736375873.267 [DAT](INFO): DAT read: 22:37:51.3306 LVL= 8688, 23457, 15266, 25299, AGC= 60, IDX= 434, 0.07,-2.947, 2.097, 1.382, 2.471, PHS= 0.953,-0.326,-1.092, RAW= 68.3, 5.3, CAL= 70.0, 5.6, ROT= 80.0, -5.6 2025-01-08T22:37:53.268Z,1736375873.268 [DAT](INFO): got valid direction response: 22:37:51.3306 LVL= 8688, 23457, 15266, 25299, AGC= 60, IDX= 434, 0.07,-2.947, 2.097, 1.382, 2.471, PHS= 0.953,-0.326,-1.092, RAW= 68.3, 5.3, CAL= 70.0, 5.6, ROT= 80.0, -5.6 2025-01-08T22:37:53.269Z,1736375873.269 [DAT](INFO): DAT read: Bearing 80.0, -5.6 (Local) 2025-01-08T22:37:53.269Z,1736375873.269 [DAT](INFO): Local bearing/azimuth received: Bearing 80.0, -5.6 (Local) 2025-01-08T22:37:53.271Z,1736375873.271 [DAT](INFO): DAT read: Range 10 to 50 : 163.2 m (Round-trip 217.7 ms) speed 0.0 m/s 2025-01-08T22:37:53.272Z,1736375873.272 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:53.273Z,1736375873.273 [DAT](INFO): direction in FSK: [-0.143379,0.462581,0.874906] 2025-01-08T22:37:53.273Z,1736375873.273 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:53.280Z,1736375873.280 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:53.281Z,1736375873.281 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:53.281Z,1736375873.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:53.436Z,1736375873.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:53.456Z,1736375873.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 163.199997 m, deltaT: 4.033028 s, deltaX: -0.600006 m, approachRate: -0.148773 m/s, rangeRepo size: 4 2025-01-08T22:37:53.458Z,1736375873.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 163.199997 m, bearing: 53.407793 deg, lat: 36.903120 deg, lon: -122.119387 deg, deltaT: 4.033028 s, deltaX: -0.600006 m, approachRate: -0.148773 m/s, posRepo size: 4 2025-01-08T22:37:53.459Z,1736375873.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.20 m. 2025-01-08T22:37:53.478Z,1736375873.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.199997 m, nav range: 33.938461 m, bearing: 97.010588 deg, approach rate: 0.000000 m/s, LOS rate: -0.129276 deg/s, cmd heading: 304.156629 deg, new cmd heading: 304.023216 deg. 2025-01-08T22:37:53.484Z,1736375873.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.306206 target range: 163.199997 and range: 163.20 m. 2025-01-08T22:37:53.513Z,1736375873.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:53.513Z,1736375873.513 [DAT](INFO): DAT read: user:2738> 2025-01-08T22:37:53.514Z,1736375873.514 [DAT](INFO): DAT read: Tx time:22:37:52.7587 2025-01-08T22:37:53.514Z,1736375873.514 [DAT](INFO): Ping request sent. 2025-01-08T22:37:53.514Z,1736375873.514 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:53.515Z,1736375873.515 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:53.516Z,1736375873.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001429 2025-01-08T22:37:53.764Z,1736375873.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:53.765Z,1736375873.765 [DAT](INFO): DAT read: TxSync time:22:37:52.7580 2025-01-08T22:37:53.765Z,1736375873.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250940 2025-01-08T22:37:53.880Z,1736375873.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:53.890Z,1736375873.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.20 m. 2025-01-08T22:37:53.895Z,1736375873.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.199997 m, nav range: 34.201576 m, bearing: 97.199135 deg, approach rate: 0.599401 m/s, LOS rate: 0.426223 deg/s, cmd heading: 304.023222 deg, new cmd heading: 304.584493 deg. 2025-01-08T22:37:53.897Z,1736375873.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316002 target range: 163.199997 and range: 163.20 m. 2025-01-08T22:37:54.016Z,1736375874.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:54.017Z,1736375874.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502074 2025-01-08T22:37:54.268Z,1736375874.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:54.269Z,1736375874.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754069 2025-01-08T22:37:54.272Z,1736375874.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:54.289Z,1736375874.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.20 m. 2025-01-08T22:37:54.296Z,1736375874.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.199997 m, nav range: 34.436214 m, bearing: 97.355161 deg, approach rate: 0.587758 m/s, LOS rate: 0.388174 deg/s, cmd heading: 304.584500 deg, new cmd heading: 305.049377 deg. 2025-01-08T22:37:54.297Z,1736375874.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.324116 target range: 163.199997 and range: 163.20 m. 2025-01-08T22:37:54.520Z,1736375874.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:54.521Z,1736375874.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006281 2025-01-08T22:37:54.716Z,1736375874.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:54.725Z,1736375874.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.20 m. 2025-01-08T22:37:54.728Z,1736375874.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.199997 m, nav range: 34.704342 m, bearing: 97.524239 deg, approach rate: 0.614577 m/s, LOS rate: 0.384550 deg/s, cmd heading: 305.049390 deg, new cmd heading: 305.552691 deg. 2025-01-08T22:37:54.730Z,1736375874.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.332901 target range: 163.199997 and range: 163.20 m. 2025-01-08T22:37:54.772Z,1736375874.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:54.773Z,1736375874.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258108 2025-01-08T22:37:55.024Z,1736375875.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:55.025Z,1736375875.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510084 2025-01-08T22:37:55.049Z,1736375875.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:55.057Z,1736375875.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.20 m. 2025-01-08T22:37:55.060Z,1736375875.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.199997 m, nav range: 34.906139 m, bearing: 97.644909 deg, approach rate: 0.606722 m/s, LOS rate: 0.360707 deg/s, cmd heading: 305.552693 deg, new cmd heading: 305.912604 deg. 2025-01-08T22:37:55.062Z,1736375875.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339182 target range: 163.199997 and range: 163.20 m. 2025-01-08T22:37:55.276Z,1736375875.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:55.276Z,1736375875.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761915 2025-01-08T22:37:55.450Z,1736375875.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:55.457Z,1736375875.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:55.459Z,1736375875.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.20 m. 2025-01-08T22:37:55.463Z,1736375875.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.199997 m, nav range: 35.149715 m, bearing: 97.788516 deg, approach rate: 0.606167 m/s, LOS rate: 0.354907 deg/s, cmd heading: 305.912616 deg, new cmd heading: 306.340446 deg. 2025-01-08T22:37:55.464Z,1736375875.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346649 target range: 163.199997 and range: 163.20 m. 2025-01-08T22:37:55.530Z,1736375875.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:55.530Z,1736375875.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016029 2025-01-08T22:37:55.780Z,1736375875.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:55.781Z,1736375875.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266468 2025-01-08T22:37:55.893Z,1736375875.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:55.906Z,1736375875.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.20 m. 2025-01-08T22:37:55.909Z,1736375875.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.199997 m, nav range: 35.429966 m, bearing: 97.968159 deg, approach rate: 0.626635 m/s, LOS rate: 0.398499 deg/s, cmd heading: 306.340432 deg, new cmd heading: 306.875080 deg. 2025-01-08T22:37:55.910Z,1736375875.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355980 target range: 163.199997 and range: 163.20 m. 2025-01-08T22:37:56.033Z,1736375876.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:56.034Z,1736375876.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519196 2025-01-08T22:37:56.263Z,1736375876.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:56.272Z,1736375876.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.20 m. 2025-01-08T22:37:56.274Z,1736375876.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.199997 m, nav range: 35.663696 m, bearing: 98.115229 deg, approach rate: 0.640490 m/s, LOS rate: 0.400376 deg/s, cmd heading: 306.875072 deg, new cmd heading: 307.313384 deg. 2025-01-08T22:37:56.275Z,1736375876.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.363630 target range: 163.199997 and range: 163.20 m. 2025-01-08T22:37:56.284Z,1736375876.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:56.285Z,1736375876.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770275 2025-01-08T22:37:56.536Z,1736375876.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:56.536Z,1736375876.536 [DAT](INFO): DAT read: Rx Time:22:37:55.3801 2025-01-08T22:37:56.537Z,1736375876.537 [DAT](INFO): Rx dataTimestamp_ set to:1736375876.536671 2025-01-08T22:37:56.537Z,1736375876.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023041 2025-01-08T22:37:56.767Z,1736375876.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:56.776Z,1736375876.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.20 m. 2025-01-08T22:37:56.780Z,1736375876.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.199997 m, nav range: 36.012222 m, bearing: 98.288726 deg, approach rate: 0.690906 m/s, LOS rate: 0.340605 deg/s, cmd heading: 307.313379 deg, new cmd heading: 307.828818 deg. 2025-01-08T22:37:56.781Z,1736375876.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.372626 target range: 163.199997 and range: 163.20 m. 2025-01-08T22:37:56.788Z,1736375876.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:56.788Z,1736375876.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274024 2025-01-08T22:37:57.041Z,1736375877.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:57.044Z,1736375877.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528393 2025-01-08T22:37:57.122Z,1736375877.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:57.132Z,1736375877.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.20 m. 2025-01-08T22:37:57.134Z,1736375877.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.199997 m, nav range: 36.258011 m, bearing: 98.409626 deg, approach rate: 0.690305 m/s, LOS rate: 0.337248 deg/s, cmd heading: 307.828812 deg, new cmd heading: 308.189047 deg. 2025-01-08T22:37:57.136Z,1736375877.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.378913 target range: 163.199997 and range: 163.20 m. 2025-01-08T22:37:57.292Z,1736375877.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:57.298Z,1736375877.298 [DAT](INFO): DAT read: 22:37:55.3801 LVL= 9040, 23537, 16994, 23715, AGC= 59, IDX= 429,-0.21,-2.214, 3.011, 1.906, 3.121, PHS= 1.036,-0.063,-1.218, RAW= 59.2, 2.5, CAL= 59.9, 1.0, ROT= 90.1, -1.0 2025-01-08T22:37:57.300Z,1736375877.300 [DAT](INFO): got valid direction response: 22:37:55.3801 LVL= 9040, 23537, 16994, 23715, AGC= 59, IDX= 429,-0.21,-2.214, 3.011, 1.906, 3.121, PHS= 1.036,-0.063,-1.218, RAW= 59.2, 2.5, CAL= 59.9, 1.0, ROT= 90.1, -1.0 2025-01-08T22:37:57.301Z,1736375877.301 [DAT](INFO): DAT read: Bearing 90.1, -1.0 (Local) 2025-01-08T22:37:57.301Z,1736375877.301 [DAT](INFO): Local bearing/azimuth received: Bearing 90.1, -1.0 (Local) 2025-01-08T22:37:57.302Z,1736375877.302 [DAT](INFO): DAT read: Range 10 to 50 : 162.9 m (Round-trip 217.2 ms) speed 0.0 m/s 2025-01-08T22:37:57.303Z,1736375877.303 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:37:57.304Z,1736375877.304 [DAT](INFO): direction in FSK: [-0.074786,0.589659,0.804182] 2025-01-08T22:37:57.304Z,1736375877.304 [DAT](INFO): publishing direction and range info 2025-01-08T22:37:57.307Z,1736375877.307 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:37:57.307Z,1736375877.307 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:37:57.308Z,1736375877.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:37:57.513Z,1736375877.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:57.543Z,1736375877.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 162.899994 m, deltaT: 4.031638 s, deltaX: -0.300003 m, approachRate: -0.074412 m/s, rangeRepo size: 4 2025-01-08T22:37:57.544Z,1736375877.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:57.544Z,1736375877.544 [DAT](INFO): DAT read: user:2739> 2025-01-08T22:37:57.546Z,1736375877.546 [DAT](INFO): DAT read: Tx time:22:37:56.7587 2025-01-08T22:37:57.546Z,1736375877.546 [DAT](INFO): Ping request sent. 2025-01-08T22:37:57.546Z,1736375877.546 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:37:57.547Z,1736375877.547 [DAT](INFO): publishing transmit ping time 2025-01-08T22:37:57.548Z,1736375877.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722 2025-01-08T22:37:57.560Z,1736375877.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 162.899994 m, bearing: 40.589343 deg, lat: 36.903259 deg, lon: -122.119215 deg, deltaT: 4.031638 s, deltaX: -0.300003 m, approachRate: -0.074412 m/s, posRepo size: 4 2025-01-08T22:37:57.561Z,1736375877.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m. 2025-01-08T22:37:57.568Z,1736375877.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.899994 m, nav range: 52.411266 m, bearing: 78.945734 deg, approach rate: 0.000000 m/s, LOS rate: 0.337248 deg/s, cmd heading: 308.189036 deg, new cmd heading: 308.604107 deg. 2025-01-08T22:37:57.569Z,1736375877.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.386158 target range: 162.899994 and range: 162.90 m. 2025-01-08T22:37:57.798Z,1736375877.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:57.799Z,1736375877.799 [DAT](INFO): DAT read: TxSync time:22:37:56.7580 2025-01-08T22:37:57.800Z,1736375877.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253967 2025-01-08T22:37:57.964Z,1736375877.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:57.970Z,1736375877.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:57.973Z,1736375877.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m. 2025-01-08T22:37:57.975Z,1736375877.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.899994 m, nav range: 52.679314 m, bearing: 79.155553 deg, approach rate: 0.622775 m/s, LOS rate: 0.485009 deg/s, cmd heading: 308.604121 deg, new cmd heading: 309.230351 deg. 2025-01-08T22:37:57.976Z,1736375877.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397088 target range: 162.899994 and range: 162.90 m. 2025-01-08T22:37:58.048Z,1736375878.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:58.049Z,1736375878.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502242 2025-01-08T22:37:58.300Z,1736375878.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:58.300Z,1736375878.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754041 2025-01-08T22:37:58.324Z,1736375878.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:58.362Z,1736375878.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m. 2025-01-08T22:37:58.373Z,1736375878.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.899994 m, nav range: 52.895134 m, bearing: 79.323037 deg, approach rate: 0.554631 m/s, LOS rate: 0.428656 deg/s, cmd heading: 309.230340 deg, new cmd heading: 309.730728 deg. 2025-01-08T22:37:58.374Z,1736375878.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405821 target range: 162.899994 and range: 162.90 m. 2025-01-08T22:37:58.552Z,1736375878.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:58.552Z,1736375878.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006059 2025-01-08T22:37:58.780Z,1736375878.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:58.789Z,1736375878.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m. 2025-01-08T22:37:58.792Z,1736375878.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.899994 m, nav range: 53.169716 m, bearing: 79.533392 deg, approach rate: 0.642926 m/s, LOS rate: 0.489996 deg/s, cmd heading: 309.730719 deg, new cmd heading: 310.358500 deg. 2025-01-08T22:37:58.793Z,1736375878.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416778 target range: 162.899994 and range: 162.90 m. 2025-01-08T22:37:58.804Z,1736375878.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:58.805Z,1736375878.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258127 2025-01-08T22:37:59.056Z,1736375879.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:59.056Z,1736375879.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509944 2025-01-08T22:37:59.157Z,1736375879.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:59.167Z,1736375879.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m. 2025-01-08T22:37:59.170Z,1736375879.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.899994 m, nav range: 53.396393 m, bearing: 79.706699 deg, approach rate: 0.599684 m/s, LOS rate: 0.456543 deg/s, cmd heading: 310.358496 deg, new cmd heading: 310.876193 deg. 2025-01-08T22:37:59.171Z,1736375879.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425813 target range: 162.899994 and range: 162.90 m. 2025-01-08T22:37:59.308Z,1736375879.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:59.309Z,1736375879.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762376 2025-01-08T22:37:59.541Z,1736375879.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:59.550Z,1736375879.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m. 2025-01-08T22:37:59.553Z,1736375879.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.899994 m, nav range: 53.626831 m, bearing: 79.883755 deg, approach rate: 0.600746 m/s, LOS rate: 0.459598 deg/s, cmd heading: 310.876197 deg, new cmd heading: 311.405069 deg. 2025-01-08T22:37:59.554Z,1736375879.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.435044 target range: 162.899994 and range: 162.90 m. 2025-01-08T22:37:59.560Z,1736375879.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:59.561Z,1736375879.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014258 2025-01-08T22:37:59.812Z,1736375879.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:37:59.813Z,1736375879.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266658 2025-01-08T22:37:59.977Z,1736375879.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:37:59.985Z,1736375879.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:37:59.987Z,1736375879.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m. 2025-01-08T22:38:00.006Z,1736375880.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.899994 m, nav range: 53.882992 m, bearing: 80.076277 deg, approach rate: 0.586954 m/s, LOS rate: 0.439036 deg/s, cmd heading: 311.405072 deg, new cmd heading: 311.979870 deg. 2025-01-08T22:38:00.007Z,1736375880.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445076 target range: 162.899994 and range: 162.90 m. 2025-01-08T22:38:00.064Z,1736375880.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:00.065Z,1736375880.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518121 2025-01-08T22:38:00.316Z,1736375880.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:00.317Z,1736375880.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770109 2025-01-08T22:38:00.343Z,1736375880.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:00.353Z,1736375880.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m. 2025-01-08T22:38:00.356Z,1736375880.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.899994 m, nav range: 54.097179 m, bearing: 80.238387 deg, approach rate: 0.584861 m/s, LOS rate: 0.440905 deg/s, cmd heading: 311.979873 deg, new cmd heading: 312.464266 deg. 2025-01-08T22:38:00.357Z,1736375880.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453530 target range: 162.899994 and range: 162.90 m. 2025-01-08T22:38:00.570Z,1736375880.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:00.571Z,1736375880.571 [DAT](INFO): DAT read: Rx Time:22:37:59.3801 2025-01-08T22:38:00.572Z,1736375880.572 [DAT](INFO): Rx dataTimestamp_ set to:1736375880.571665 2025-01-08T22:38:00.572Z,1736375880.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026078 2025-01-08T22:38:00.794Z,1736375880.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:00.820Z,1736375880.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:00.820Z,1736375880.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274023 2025-01-08T22:38:00.824Z,1736375880.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m. 2025-01-08T22:38:00.826Z,1736375880.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.899994 m, nav range: 54.355488 m, bearing: 80.427666 deg, approach rate: 0.573796 m/s, LOS rate: 0.418458 deg/s, cmd heading: 312.464270 deg, new cmd heading: 313.029390 deg. 2025-01-08T22:38:00.831Z,1736375880.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463394 target range: 162.899994 and range: 162.90 m. 2025-01-08T22:38:01.074Z,1736375881.074 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:01.089Z,1736375881.089 [DAT](INFO): DAT read: 22:37:59.3801 LVL= 11856, 24609, 18866, 26403, AGC= 61, IDX= 443, 0.45, 1.746, 0.658,-0.421, 0.562, PHS= 1.272, 0.143,-0.986, RAW= 60.0, -4.4, CAL= 65.6, -9.6, ROT= 84.4, 9.6 2025-01-08T22:38:01.090Z,1736375881.090 [DAT](INFO): got valid direction response: 22:37:59.3801 LVL= 11856, 24609, 18866, 26403, AGC= 61, IDX= 443, 0.45, 1.746, 0.658,-0.421, 0.562, PHS= 1.272, 0.143,-0.986, RAW= 60.0, -4.4, CAL= 65.6, -9.6, ROT= 84.4, 9.6 2025-01-08T22:38:01.095Z,1736375881.095 [DAT](INFO): DAT read: Bearing 84.4, 9.6 (Local) 2025-01-08T22:38:01.108Z,1736375881.108 [DAT](INFO): Local bearing/azimuth received: Bearing 84.4, 9.6 (Local) 2025-01-08T22:38:01.110Z,1736375881.110 [DAT](INFO): DAT read: Range 10 to 50 : 162.8 m (Round-trip 217.1 ms) speed 0.0 m/s 2025-01-08T22:38:01.112Z,1736375881.112 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:01.113Z,1736375881.113 [DAT](INFO): direction in FSK: [0.053415,0.570713,0.819411] 2025-01-08T22:38:01.113Z,1736375881.113 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:01.158Z,1736375881.158 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:01.158Z,1736375881.158 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:01.158Z,1736375881.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:01.199Z,1736375881.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:01.238Z,1736375881.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 162.800003 m, deltaT: 3.782572 s, deltaX: -0.099991 m, approachRate: -0.026435 m/s, rangeRepo size: 4 2025-01-08T22:38:01.244Z,1736375881.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 162.800003 m, bearing: 29.598938 deg, lat: 36.903525 deg, lon: -122.119215 deg, deltaT: 3.782572 s, deltaX: -0.099991 m, approachRate: -0.026435 m/s, posRepo size: 4 2025-01-08T22:38:01.246Z,1736375881.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.80 m. 2025-01-08T22:38:01.271Z,1736375881.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.800003 m, nav range: 66.165039 m, bearing: 54.480591 deg, approach rate: 0.000000 m/s, LOS rate: 0.418458 deg/s, cmd heading: 313.029400 deg, new cmd heading: 313.574145 deg. 2025-01-08T22:38:01.272Z,1736375881.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472901 target range: 162.800003 and range: 162.80 m. 2025-01-08T22:38:01.324Z,1736375881.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:01.324Z,1736375881.324 [DAT](INFO): DAT read: user:2740> 2025-01-08T22:38:01.325Z,1736375881.325 [DAT](INFO): DAT read: Tx time:22:38:00.6088 2025-01-08T22:38:01.325Z,1736375881.325 [DAT](INFO): Ping request sent. 2025-01-08T22:38:01.326Z,1736375881.326 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:01.326Z,1736375881.326 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:01.326Z,1736375881.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721 2025-01-08T22:38:01.576Z,1736375881.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:01.576Z,1736375881.576 [DAT](INFO): DAT read: TxSync time:22:38:00.6081 2025-01-08T22:38:01.577Z,1736375881.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251559 2025-01-08T22:38:01.587Z,1736375881.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:01.600Z,1736375881.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.80 m. 2025-01-08T22:38:01.603Z,1736375881.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.800003 m, nav range: 66.293724 m, bearing: 54.686721 deg, approach rate: 0.354424 m/s, LOS rate: 0.566619 deg/s, cmd heading: 313.574149 deg, new cmd heading: 314.191312 deg. 2025-01-08T22:38:01.613Z,1736375881.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483673 target range: 162.800003 and range: 162.80 m. 2025-01-08T22:38:01.829Z,1736375881.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:01.830Z,1736375881.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504687 2025-01-08T22:38:02.072Z,1736375882.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:38:02.072Z,1736375882.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:02.080Z,1736375882.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:02.081Z,1736375882.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754938 2025-01-08T22:38:02.081Z,1736375882.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:02.083Z,1736375882.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.80 m. 2025-01-08T22:38:02.086Z,1736375882.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.800003 m, nav range: 66.455338 m, bearing: 54.942564 deg, approach rate: 0.334673 m/s, LOS rate: 0.528515 deg/s, cmd heading: 314.191325 deg, new cmd heading: 314.956939 deg. 2025-01-08T22:38:02.087Z,1736375882.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497036 target range: 162.800003 and range: 162.80 m. 2025-01-08T22:38:02.332Z,1736375882.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:02.333Z,1736375882.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007361 2025-01-08T22:38:02.436Z,1736375882.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:38:02.436Z,1736375882.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:02.445Z,1736375882.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.80 m. 2025-01-08T22:38:02.449Z,1736375882.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.800003 m, nav range: 66.573677 m, bearing: 55.136053 deg, approach rate: 0.327294 m/s, LOS rate: 0.534183 deg/s, cmd heading: 314.956934 deg, new cmd heading: 315.536348 deg. 2025-01-08T22:38:02.450Z,1736375882.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507148 target range: 162.800003 and range: 162.80 m. 2025-01-08T22:38:02.585Z,1736375882.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:02.586Z,1736375882.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260677 2025-01-08T22:38:02.836Z,1736375882.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:02.836Z,1736375882.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510884 2025-01-08T22:38:02.887Z,1736375882.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:02.918Z,1736375882.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.80 m. 2025-01-08T22:38:02.936Z,1736375882.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.800003 m, nav range: 66.716354 m, bearing: 55.349324 deg, approach rate: 0.301603 m/s, LOS rate: 0.449866 deg/s, cmd heading: 315.536353 deg, new cmd heading: 316.174772 deg. 2025-01-08T22:38:02.937Z,1736375882.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518291 target range: 162.800003 and range: 162.80 m. 2025-01-08T22:38:03.088Z,1736375883.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:03.089Z,1736375883.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763150 2025-01-08T22:38:03.240Z,1736375883.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:03.249Z,1736375883.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.80 m. 2025-01-08T22:38:03.252Z,1736375883.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.800003 m, nav range: 66.826309 m, bearing: 55.516474 deg, approach rate: 0.331885 m/s, LOS rate: 0.503689 deg/s, cmd heading: 316.174784 deg, new cmd heading: 316.675394 deg. 2025-01-08T22:38:03.253Z,1736375883.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527028 target range: 162.800003 and range: 162.80 m. 2025-01-08T22:38:03.340Z,1736375883.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:03.341Z,1736375883.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015331 2025-01-08T22:38:03.592Z,1736375883.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:03.592Z,1736375883.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266727 2025-01-08T22:38:03.648Z,1736375883.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:03.662Z,1736375883.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.80 m. 2025-01-08T22:38:03.685Z,1736375883.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.800003 m, nav range: 66.951118 m, bearing: 55.710041 deg, approach rate: 0.302549 m/s, LOS rate: 0.468348 deg/s, cmd heading: 316.675382 deg, new cmd heading: 317.254980 deg. 2025-01-08T22:38:03.686Z,1736375883.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537144 target range: 162.800003 and range: 162.80 m. 2025-01-08T22:38:03.844Z,1736375883.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:03.846Z,1736375883.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520610 2025-01-08T22:38:04.097Z,1736375884.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:04.098Z,1736375884.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772286 2025-01-08T22:38:04.103Z,1736375884.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:04.120Z,1736375884.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:04.122Z,1736375884.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.80 m. 2025-01-08T22:38:04.130Z,1736375884.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.800003 m, nav range: 67.070366 m, bearing: 55.920690 deg, approach rate: 0.258965 m/s, LOS rate: 0.456644 deg/s, cmd heading: 317.254992 deg, new cmd heading: 317.885790 deg. 2025-01-08T22:38:04.131Z,1736375884.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548154 target range: 162.800003 and range: 162.80 m. 2025-01-08T22:38:04.348Z,1736375884.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:04.349Z,1736375884.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023294 2025-01-08T22:38:04.456Z,1736375884.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:04.465Z,1736375884.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.80 m. 2025-01-08T22:38:04.469Z,1736375884.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.800003 m, nav range: 67.164726 m, bearing: 56.091034 deg, approach rate: 0.274757 m/s, LOS rate: 0.495306 deg/s, cmd heading: 317.885801 deg, new cmd heading: 318.396099 deg. 2025-01-08T22:38:04.470Z,1736375884.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557060 target range: 162.800003 and range: 162.80 m. 2025-01-08T22:38:04.600Z,1736375884.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:04.600Z,1736375884.600 [DAT](INFO): DAT read: Rx Time:22:38:03.2299 2025-01-08T22:38:04.601Z,1736375884.601 [DAT](INFO): Rx dataTimestamp_ set to:1736375884.600571 2025-01-08T22:38:04.601Z,1736375884.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275815 2025-01-08T22:38:04.852Z,1736375884.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:04.853Z,1736375884.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527629 2025-01-08T22:38:05.018Z,1736375885.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:05.042Z,1736375885.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.80 m. 2025-01-08T22:38:05.045Z,1736375885.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.800003 m, nav range: 67.307816 m, bearing: 56.348443 deg, approach rate: 0.248284 m/s, LOS rate: 0.445698 deg/s, cmd heading: 318.396098 deg, new cmd heading: 319.166637 deg. 2025-01-08T22:38:05.046Z,1736375885.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570508 target range: 162.800003 and range: 162.80 m. 2025-01-08T22:38:05.105Z,1736375885.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:05.124Z,1736375885.124 [DAT](INFO): DAT read: 22:38:03.2299 LVL= 15184, 23361, 20466, 27011, AGC= 61, IDX= 441, 0.04,-0.085,-1.448,-2.259,-1.438, PHS= 1.441, 0.038,-0.824, RAW= 67.9, -6.7, CAL= 76.6, -13.5, ROT= 73.4, 13.5 2025-01-08T22:38:05.126Z,1736375885.126 [DAT](INFO): got valid direction response: 22:38:03.2299 LVL= 15184, 23361, 20466, 27011, AGC= 61, IDX= 441, 0.04,-0.085,-1.448,-2.259,-1.438, PHS= 1.441, 0.038,-0.824, RAW= 67.9, -6.7, CAL= 76.6, -13.5, ROT= 73.4, 13.5 2025-01-08T22:38:05.130Z,1736375885.130 [DAT](INFO): DAT read: Bearing 73.4, 13.5 (Local) 2025-01-08T22:38:05.131Z,1736375885.131 [DAT](INFO): Local bearing/azimuth received: Bearing 73.4, 13.5 (Local) 2025-01-08T22:38:05.139Z,1736375885.139 [DAT](INFO): DAT read: Range 10 to 50 : 162.6 m (Round-trip 216.9 ms) speed 0.0 m/s 2025-01-08T22:38:05.140Z,1736375885.140 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:05.141Z,1736375885.141 [DAT](INFO): direction in FSK: [0.079938,0.456040,0.886362] 2025-01-08T22:38:05.141Z,1736375885.141 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:05.178Z,1736375885.178 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:05.178Z,1736375885.178 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:05.183Z,1736375885.183 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:05.356Z,1736375885.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:05.357Z,1736375885.357 [DAT](INFO): DAT read: user:2741> 2025-01-08T22:38:05.357Z,1736375885.357 [DAT](INFO): DAT read: Tx time:22:38:04.6588 2025-01-08T22:38:05.358Z,1736375885.358 [DAT](INFO): Ping request sent. 2025-01-08T22:38:05.358Z,1736375885.358 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:05.358Z,1736375885.358 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:05.359Z,1736375885.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725 2025-01-08T22:38:05.428Z,1736375885.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:05.468Z,1736375885.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 162.600006 m, deltaT: 4.031674 s, deltaX: -0.199997 m, approachRate: -0.049606 m/s, rangeRepo size: 4 2025-01-08T22:38:05.470Z,1736375885.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 162.600006 m, bearing: 27.003096 deg, lat: 36.903542 deg, lon: -122.119215 deg, deltaT: 4.031674 s, deltaX: -0.199997 m, approachRate: -0.049606 m/s, posRepo size: 4 2025-01-08T22:38:05.475Z,1736375885.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.60 m. 2025-01-08T22:38:05.478Z,1736375885.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.600006 m, nav range: 68.478043 m, bearing: 55.209707 deg, approach rate: 0.000000 m/s, LOS rate: 0.445698 deg/s, cmd heading: 319.166626 deg, new cmd heading: 319.719411 deg. 2025-01-08T22:38:05.492Z,1736375885.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580156 target range: 162.600006 and range: 162.60 m. 2025-01-08T22:38:05.608Z,1736375885.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:05.609Z,1736375885.609 [DAT](INFO): DAT read: TxSync time:22:38:04.6581 2025-01-08T22:38:05.610Z,1736375885.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251691 2025-01-08T22:38:05.860Z,1736375885.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:05.860Z,1736375885.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502644 2025-01-08T22:38:05.905Z,1736375885.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:05.914Z,1736375885.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.60 m. 2025-01-08T22:38:05.918Z,1736375885.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.600006 m, nav range: 68.585403 m, bearing: 55.440552 deg, approach rate: 0.233857 m/s, LOS rate: 0.502046 deg/s, cmd heading: 319.719407 deg, new cmd heading: 320.410821 deg. 2025-01-08T22:38:05.919Z,1736375885.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592224 target range: 162.600006 and range: 162.60 m. 2025-01-08T22:38:05.954Z,1736375885.954 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:38:06.113Z,1736375886.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:06.114Z,1736375886.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756186 2025-01-08T22:38:06.214Z,1736375886.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:06.221Z,1736375886.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:06.223Z,1736375886.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.60 m. 2025-01-08T22:38:06.226Z,1736375886.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.600006 m, nav range: 68.654129 m, bearing: 55.590048 deg, approach rate: 0.222534 m/s, LOS rate: 0.483584 deg/s, cmd heading: 320.410813 deg, new cmd heading: 320.858843 deg. 2025-01-08T22:38:06.227Z,1736375886.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600043 target range: 162.600006 and range: 162.60 m. 2025-01-08T22:38:06.365Z,1736375886.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:06.366Z,1736375886.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007784 2025-01-08T22:38:06.616Z,1736375886.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:06.616Z,1736375886.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258665 2025-01-08T22:38:06.619Z,1736375886.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:06.629Z,1736375886.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.60 m. 2025-01-08T22:38:06.632Z,1736375886.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.600006 m, nav range: 68.742661 m, bearing: 55.786410 deg, approach rate: 0.218240 m/s, LOS rate: 0.483429 deg/s, cmd heading: 320.858846 deg, new cmd heading: 321.447150 deg. 2025-01-08T22:38:06.633Z,1736375886.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610311 target range: 162.600006 and range: 162.60 m. 2025-01-08T22:38:06.868Z,1736375886.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:06.868Z,1736375886.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510499 2025-01-08T22:38:07.056Z,1736375887.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:07.064Z,1736375887.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.60 m. 2025-01-08T22:38:07.067Z,1736375887.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.600006 m, nav range: 68.831879 m, bearing: 56.002251 deg, approach rate: 0.204775 m/s, LOS rate: 0.494759 deg/s, cmd heading: 321.447144 deg, new cmd heading: 322.093800 deg. 2025-01-08T22:38:07.068Z,1736375887.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621597 target range: 162.600006 and range: 162.60 m. 2025-01-08T22:38:07.120Z,1736375887.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:07.121Z,1736375887.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762766 2025-01-08T22:38:07.372Z,1736375887.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:07.373Z,1736375887.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014835 2025-01-08T22:38:07.442Z,1736375887.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:07.452Z,1736375887.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.60 m. 2025-01-08T22:38:07.455Z,1736375887.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.600006 m, nav range: 68.909454 m, bearing: 56.193622 deg, approach rate: 0.200124 m/s, LOS rate: 0.493126 deg/s, cmd heading: 322.093799 deg, new cmd heading: 322.667245 deg. 2025-01-08T22:38:07.456Z,1736375887.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631606 target range: 162.600006 and range: 162.60 m. 2025-01-08T22:38:07.624Z,1736375887.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:07.624Z,1736375887.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266653 2025-01-08T22:38:07.876Z,1736375887.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:07.876Z,1736375887.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518674 2025-01-08T22:38:07.922Z,1736375887.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:07.932Z,1736375887.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.60 m. 2025-01-08T22:38:07.934Z,1736375887.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.600006 m, nav range: 69.007500 m, bearing: 56.438499 deg, approach rate: 0.204611 m/s, LOS rate: 0.510306 deg/s, cmd heading: 322.667234 deg, new cmd heading: 323.400779 deg. 2025-01-08T22:38:07.937Z,1736375887.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644408 target range: 162.600006 and range: 162.60 m. 2025-01-08T22:38:08.128Z,1736375888.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:08.128Z,1736375888.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770417 2025-01-08T22:38:08.244Z,1736375888.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:08.252Z,1736375888.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:08.254Z,1736375888.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.60 m. 2025-01-08T22:38:08.256Z,1736375888.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.600006 m, nav range: 69.074089 m, bearing: 56.602645 deg, approach rate: 0.206616 m/s, LOS rate: 0.508827 deg/s, cmd heading: 323.400769 deg, new cmd heading: 323.892719 deg. 2025-01-08T22:38:08.257Z,1736375888.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.652994 target range: 162.600006 and range: 162.60 m. 2025-01-08T22:38:08.380Z,1736375888.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:08.380Z,1736375888.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022683 2025-01-08T22:38:08.632Z,1736375888.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:08.633Z,1736375888.633 [DAT](INFO): DAT read: Rx Time:22:38:07.2792 2025-01-08T22:38:08.633Z,1736375888.633 [DAT](INFO): Rx dataTimestamp_ set to:1736375888.632798 2025-01-08T22:38:08.634Z,1736375888.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275790 2025-01-08T22:38:08.641Z,1736375888.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:08.657Z,1736375888.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.60 m. 2025-01-08T22:38:08.662Z,1736375888.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.600006 m, nav range: 69.152946 m, bearing: 56.805832 deg, approach rate: 0.195869 m/s, LOS rate: 0.504106 deg/s, cmd heading: 323.892707 deg, new cmd heading: 324.501547 deg. 2025-01-08T22:38:08.663Z,1736375888.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663620 target range: 162.600006 and range: 162.60 m. 2025-01-08T22:38:08.884Z,1736375888.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:08.885Z,1736375888.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527065 2025-01-08T22:38:09.091Z,1736375889.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:09.117Z,1736375889.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.60 m. 2025-01-08T22:38:09.125Z,1736375889.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.600006 m, nav range: 69.239357 m, bearing: 57.038628 deg, approach rate: 0.194948 m/s, LOS rate: 0.524546 deg/s, cmd heading: 324.501550 deg, new cmd heading: 325.199030 deg. 2025-01-08T22:38:09.126Z,1736375889.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675794 target range: 162.600006 and range: 162.60 m. 2025-01-08T22:38:09.136Z,1736375889.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:09.145Z,1736375889.145 [DAT](INFO): DAT read: 22:38:07.2792 LVL= 13952, 26609, 18674, 28195, AGC= 61, IDX= 435, 0.11,-2.760, 2.023, 1.668, 2.367, PHS= 1.244,-0.297,-0.702, RAW= 78.6, -2.8, CAL= 86.1, -8.5, ROT= 63.9, 8.5 2025-01-08T22:38:09.148Z,1736375889.148 [DAT](INFO): got valid direction response: 22:38:07.2792 LVL= 13952, 26609, 18674, 28195, AGC= 61, IDX= 435, 0.11,-2.760, 2.023, 1.668, 2.367, PHS= 1.244,-0.297,-0.702, RAW= 78.6, -2.8, CAL= 86.1, -8.5, ROT= 63.9, 8.5 2025-01-08T22:38:09.149Z,1736375889.149 [DAT](INFO): DAT read: Bearing 63.9, 8.5 (Local) 2025-01-08T22:38:09.149Z,1736375889.149 [DAT](INFO): Local bearing/azimuth received: Bearing 63.9, 8.5 (Local) 2025-01-08T22:38:09.151Z,1736375889.151 [DAT](INFO): DAT read: Range 10 to 50 : 162.2 m (Round-trip 216.3 ms) speed 0.2 m/s 2025-01-08T22:38:09.152Z,1736375889.152 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:09.153Z,1736375889.153 [DAT](INFO): direction in FSK: [-0.012785,0.295561,0.955238] 2025-01-08T22:38:09.153Z,1736375889.153 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:09.157Z,1736375889.157 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:09.157Z,1736375889.157 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:09.157Z,1736375889.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:09.388Z,1736375889.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:09.388Z,1736375889.388 [DAT](INFO): DAT read: user:2742> 2025-01-08T22:38:09.389Z,1736375889.389 [DAT](INFO): DAT read: Tx time:22:38:08.6088 2025-01-08T22:38:09.389Z,1736375889.389 [DAT](INFO): Ping request sent. 2025-01-08T22:38:09.390Z,1736375889.390 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:09.390Z,1736375889.390 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:09.390Z,1736375889.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723 2025-01-08T22:38:09.468Z,1736375889.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:09.483Z,1736375889.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 162.199997 m, deltaT: 4.029898 s, deltaX: -0.400009 m, approachRate: -0.099260 m/s, rangeRepo size: 4 2025-01-08T22:38:09.485Z,1736375889.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 162.199997 m, bearing: 55.984687 deg, lat: 36.903542 deg, lon: -122.119448 deg, deltaT: 4.029898 s, deltaX: -0.400009 m, approachRate: -0.099260 m/s, posRepo size: 4 2025-01-08T22:38:09.486Z,1736375889.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T22:38:09.489Z,1736375889.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 53.117069 m, bearing: 45.075474 deg, approach rate: 0.000000 m/s, LOS rate: 0.524546 deg/s, cmd heading: 325.199021 deg, new cmd heading: 325.801362 deg. 2025-01-08T22:38:09.490Z,1736375889.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686306 target range: 162.199997 and range: 162.20 m. 2025-01-08T22:38:09.640Z,1736375889.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:09.641Z,1736375889.641 [DAT](INFO): DAT read: TxSync time:22:38:08.6081 2025-01-08T22:38:09.643Z,1736375889.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253373 2025-01-08T22:38:09.893Z,1736375889.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:09.897Z,1736375889.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506837 2025-01-08T22:38:09.934Z,1736375889.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:09.972Z,1736375889.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T22:38:09.974Z,1736375889.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 53.136761 m, bearing: 45.416868 deg, approach rate: 0.040607 m/s, LOS rate: 0.703745 deg/s, cmd heading: 325.801362 deg, new cmd heading: 326.825052 deg. 2025-01-08T22:38:09.980Z,1736375889.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704173 target range: 162.199997 and range: 162.20 m. 2025-01-08T22:38:10.144Z,1736375890.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:10.144Z,1736375890.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754819 2025-01-08T22:38:10.274Z,1736375890.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:10.289Z,1736375890.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:10.296Z,1736375890.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T22:38:10.319Z,1736375890.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 53.150410 m, bearing: 45.665819 deg, approach rate: 0.042084 m/s, LOS rate: 0.767388 deg/s, cmd heading: 326.825044 deg, new cmd heading: 327.571659 deg. 2025-01-08T22:38:10.320Z,1736375890.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717204 target range: 162.199997 and range: 162.20 m. 2025-01-08T22:38:10.396Z,1736375890.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:10.397Z,1736375890.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007573 2025-01-08T22:38:10.648Z,1736375890.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:10.649Z,1736375890.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259661 2025-01-08T22:38:10.697Z,1736375890.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:10.706Z,1736375890.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T22:38:10.708Z,1736375890.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 53.165649 m, bearing: 45.975015 deg, approach rate: 0.036803 m/s, LOS rate: 0.746476 deg/s, cmd heading: 327.571665 deg, new cmd heading: 328.498902 deg. 2025-01-08T22:38:10.709Z,1736375890.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733387 target range: 162.199997 and range: 162.20 m. 2025-01-08T22:38:10.901Z,1736375890.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:10.904Z,1736375890.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513759 2025-01-08T22:38:11.128Z,1736375891.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:11.136Z,1736375891.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T22:38:11.139Z,1736375891.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 53.178860 m, bearing: 46.286423 deg, approach rate: 0.030687 m/s, LOS rate: 0.723200 deg/s, cmd heading: 328.498904 deg, new cmd heading: 329.432809 deg. 2025-01-08T22:38:11.140Z,1736375891.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749687 target range: 162.199997 and range: 162.20 m. 2025-01-08T22:38:11.160Z,1736375891.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:11.161Z,1736375891.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770916 2025-01-08T22:38:11.413Z,1736375891.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:11.413Z,1736375891.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023709 2025-01-08T22:38:11.479Z,1736375891.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:11.507Z,1736375891.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T22:38:11.509Z,1736375891.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 53.184776 m, bearing: 46.539570 deg, approach rate: 0.016854 m/s, LOS rate: 0.721016 deg/s, cmd heading: 329.432810 deg, new cmd heading: 330.192119 deg. 2025-01-08T22:38:11.510Z,1736375891.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762939 target range: 162.199997 and range: 162.20 m. 2025-01-08T22:38:11.665Z,1736375891.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:11.666Z,1736375891.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275869 2025-01-08T22:38:11.917Z,1736375891.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:11.919Z,1736375891.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528987 2025-01-08T22:38:11.947Z,1736375891.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:11.968Z,1736375891.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T22:38:11.976Z,1736375891.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 53.190632 m, bearing: 46.878157 deg, approach rate: 0.012165 m/s, LOS rate: 0.703331 deg/s, cmd heading: 330.192108 deg, new cmd heading: 331.207646 deg. 2025-01-08T22:38:11.977Z,1736375891.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780664 target range: 162.199997 and range: 162.20 m. 2025-01-08T22:38:12.169Z,1736375892.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:12.171Z,1736375892.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781033 2025-01-08T22:38:12.305Z,1736375892.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:12.318Z,1736375892.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:12.320Z,1736375892.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T22:38:12.322Z,1736375892.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 53.187294 m, bearing: 47.137695 deg, approach rate: -0.009508 m/s, LOS rate: 0.739316 deg/s, cmd heading: 331.207648 deg, new cmd heading: 331.986260 deg. 2025-01-08T22:38:12.324Z,1736375892.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794253 target range: 162.199997 and range: 162.20 m. 2025-01-08T22:38:12.422Z,1736375892.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:12.422Z,1736375892.422 [DAT](INFO): DAT read: Rx Time:22:38:11.2284 2025-01-08T22:38:12.423Z,1736375892.423 [DAT](INFO): Rx dataTimestamp_ set to:1736375892.422517 2025-01-08T22:38:12.423Z,1736375892.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033830 2025-01-08T22:38:12.672Z,1736375892.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:12.673Z,1736375892.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283422 2025-01-08T22:38:12.691Z,1736375892.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:12.713Z,1736375892.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.20 m. 2025-01-08T22:38:12.719Z,1736375892.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.199997 m, nav range: 53.181980 m, bearing: 47.416451 deg, approach rate: -0.013990 m/s, LOS rate: 0.733962 deg/s, cmd heading: 331.986262 deg, new cmd heading: 332.822552 deg. 2025-01-08T22:38:12.720Z,1736375892.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808849 target range: 162.199997 and range: 162.20 m. 2025-01-08T22:38:12.938Z,1736375892.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:12.946Z,1736375892.946 [DAT](INFO): DAT read: 22:38:11.2283 LVL= 16112, 29217, 18610, 30019, AGC= 58, IDX= 425, 0.32, 1.092,-0.565,-0.705,-0.062, PHS= 1.242,-0.457,-0.647, RAW= 84.8, -1.6, CAL= 92.1, -6.9, ROT= 57.9, 6.9 2025-01-08T22:38:12.948Z,1736375892.948 [DAT](INFO): got valid direction response: 22:38:11.2283 LVL= 16112, 29217, 18610, 30019, AGC= 58, IDX= 425, 0.32, 1.092,-0.565,-0.705,-0.062, PHS= 1.242,-0.457,-0.647, RAW= 84.8, -1.6, CAL= 92.1, -6.9, ROT= 57.9, 6.9 2025-01-08T22:38:12.948Z,1736375892.948 [DAT](INFO): DAT read: Bearing 57.9, 6.9 (Local) 2025-01-08T22:38:12.949Z,1736375892.949 [DAT](INFO): Local bearing/azimuth received: Bearing 57.9, 6.9 (Local) 2025-01-08T22:38:12.950Z,1736375892.950 [DAT](INFO): DAT read: Range 10 to 50 : 161.4 m (Round-trip 215.3 ms) speed 0.1 m/s 2025-01-08T22:38:12.951Z,1736375892.951 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:12.952Z,1736375892.952 [DAT](INFO): direction in FSK: [-0.046925,0.195514,0.979578] 2025-01-08T22:38:12.952Z,1736375892.952 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:12.955Z,1736375892.955 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:12.955Z,1736375892.955 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:12.956Z,1736375892.956 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:13.071Z,1736375893.071 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:38:13.121Z,1736375893.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:13.158Z,1736375893.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 161.399994 m, deltaT: 3.801841 s, deltaX: -0.800003 m, approachRate: -0.210425 m/s, rangeRepo size: 4 2025-01-08T22:38:13.165Z,1736375893.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 161.399994 m, bearing: 177.549716 deg, lat: 36.903542 deg, lon: -122.119624 deg, deltaT: 3.801841 s, deltaX: -0.800003 m, approachRate: -0.210425 m/s, posRepo size: 4 2025-01-08T22:38:13.165Z,1736375893.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:38:13.179Z,1736375893.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 42.914261 m, bearing: 33.519672 deg, approach rate: 0.000000 m/s, LOS rate: 0.733962 deg/s, cmd heading: 332.822551 deg, new cmd heading: 333.830798 deg. 2025-01-08T22:38:13.181Z,1736375893.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826447 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:38:13.190Z,1736375893.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:13.192Z,1736375893.192 [DAT](INFO): DAT read: user:2743> 2025-01-08T22:38:13.193Z,1736375893.193 [DAT](INFO): DAT read: Tx time:22:38:12.4088 2025-01-08T22:38:13.193Z,1736375893.193 [DAT](INFO): Ping request sent. 2025-01-08T22:38:13.193Z,1736375893.193 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:13.193Z,1736375893.193 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:13.194Z,1736375893.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729 2025-01-08T22:38:13.441Z,1736375893.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:13.442Z,1736375893.442 [DAT](INFO): DAT read: TxSync time:22:38:12.4081 2025-01-08T22:38:13.443Z,1736375893.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249521 2025-01-08T22:38:13.521Z,1736375893.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:13.538Z,1736375893.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:38:13.545Z,1736375893.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 42.847221 m, bearing: 33.863311 deg, approach rate: -0.176122 m/s, LOS rate: 0.904193 deg/s, cmd heading: 333.830796 deg, new cmd heading: 334.863209 deg. 2025-01-08T22:38:13.547Z,1736375893.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844466 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:38:13.694Z,1736375893.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:13.696Z,1736375893.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502730 2025-01-08T22:38:13.946Z,1736375893.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:13.949Z,1736375893.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755239 2025-01-08T22:38:14.037Z,1736375894.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:14.046Z,1736375894.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:38:14.049Z,1736375894.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 42.758110 m, bearing: 34.294097 deg, approach rate: -0.175280 m/s, LOS rate: 0.849106 deg/s, cmd heading: 334.863220 deg, new cmd heading: 336.158038 deg. 2025-01-08T22:38:14.050Z,1736375894.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867064 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:38:14.197Z,1736375894.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:14.198Z,1736375894.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004595 2025-01-08T22:38:14.405Z,1736375894.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:14.413Z,1736375894.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:14.428Z,1736375894.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:38:14.439Z,1736375894.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 42.693214 m, bearing: 34.601855 deg, approach rate: -0.175813 m/s, LOS rate: 0.835029 deg/s, cmd heading: 336.158033 deg, new cmd heading: 337.082625 deg. 2025-01-08T22:38:14.440Z,1736375894.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883202 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:38:14.456Z,1736375894.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:14.456Z,1736375894.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263279 2025-01-08T22:38:14.708Z,1736375894.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:14.709Z,1736375894.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515343 2025-01-08T22:38:14.846Z,1736375894.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:14.874Z,1736375894.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:38:14.882Z,1736375894.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 42.613735 m, bearing: 34.969500 deg, approach rate: -0.173155 m/s, LOS rate: 0.802448 deg/s, cmd heading: 337.082622 deg, new cmd heading: 338.187470 deg. 2025-01-08T22:38:14.883Z,1736375894.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902485 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:38:14.962Z,1736375894.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:14.965Z,1736375894.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771245 2025-01-08T22:38:15.212Z,1736375895.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:15.213Z,1736375895.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019342 2025-01-08T22:38:15.300Z,1736375895.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:15.308Z,1736375895.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:38:15.311Z,1736375895.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 42.534138 m, bearing: 35.346450 deg, approach rate: -0.183601 m/s, LOS rate: 0.871103 deg/s, cmd heading: 338.187473 deg, new cmd heading: 339.320283 deg. 2025-01-08T22:38:15.313Z,1736375895.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922256 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:38:15.464Z,1736375895.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:15.465Z,1736375895.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271401 2025-01-08T22:38:15.662Z,1736375895.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:15.686Z,1736375895.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:38:15.693Z,1736375895.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 42.468700 m, bearing: 35.647200 deg, approach rate: -0.172939 m/s, LOS rate: 0.796050 deg/s, cmd heading: 339.320274 deg, new cmd heading: 340.223834 deg. 2025-01-08T22:38:15.694Z,1736375895.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938026 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:38:15.716Z,1736375895.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:15.716Z,1736375895.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523232 2025-01-08T22:38:15.969Z,1736375895.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:15.974Z,1736375895.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780297 2025-01-08T22:38:16.111Z,1736375896.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:16.129Z,1736375896.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:38:16.136Z,1736375896.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 42.402367 m, bearing: 36.008215 deg, approach rate: -0.149835 m/s, LOS rate: 0.816733 deg/s, cmd heading: 340.223826 deg, new cmd heading: 341.308429 deg. 2025-01-08T22:38:16.137Z,1736375896.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956956 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:38:16.221Z,1736375896.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:16.222Z,1736375896.222 [DAT](INFO): DAT read: Rx Time:22:38:15.0274 2025-01-08T22:38:16.222Z,1736375896.222 [DAT](INFO): Rx dataTimestamp_ set to:1736375896.221989 2025-01-08T22:38:16.223Z,1736375896.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029575 2025-01-08T22:38:16.472Z,1736375896.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:16.472Z,1736375896.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279220 2025-01-08T22:38:16.473Z,1736375896.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:16.489Z,1736375896.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:16.495Z,1736375896.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:38:16.499Z,1736375896.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 42.342430 m, bearing: 36.303709 deg, approach rate: -0.165615 m/s, LOS rate: 0.817656 deg/s, cmd heading: 341.308432 deg, new cmd heading: 342.196095 deg. 2025-01-08T22:38:16.504Z,1736375896.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972448 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:38:16.725Z,1736375896.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:16.763Z,1736375896.763 [DAT](INFO): DAT read: 22:38:15.0274 LVL= 14832, 29041, 18066, 29171, AGC= 62, IDX= 432,-0.44,-1.962, 2.757, 2.903,-2.875, PHS= 1.002,-0.604,-0.508, RAW= 93.0, 1.4, CAL= 101.3, -1.7, ROT= 48.7, 1.7 2025-01-08T22:38:16.764Z,1736375896.764 [DAT](INFO): got valid direction response: 22:38:15.0274 LVL= 14832, 29041, 18066, 29171, AGC= 62, IDX= 432,-0.44,-1.962, 2.757, 2.903,-2.875, PHS= 1.002,-0.604,-0.508, RAW= 93.0, 1.4, CAL= 101.3, -1.7, ROT= 48.7, 1.7 2025-01-08T22:38:16.765Z,1736375896.765 [DAT](INFO): DAT read: Bearing 48.7, 1.7 (Local) 2025-01-08T22:38:16.765Z,1736375896.765 [DAT](INFO): Local bearing/azimuth received: Bearing 48.7, 1.7 (Local) 2025-01-08T22:38:16.767Z,1736375896.767 [DAT](INFO): DAT read: Range 10 to 50 : 160.7 m (Round-trip 214.3 ms) speed 0.1 m/s 2025-01-08T22:38:16.772Z,1736375896.772 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:16.773Z,1736375896.773 [DAT](INFO): direction in FSK: [-0.117130,0.056035,0.991534] 2025-01-08T22:38:16.773Z,1736375896.773 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:16.781Z,1736375896.781 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:16.781Z,1736375896.781 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:16.781Z,1736375896.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:16.885Z,1736375896.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:16.919Z,1736375896.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.699997 m, deltaT: 3.788027 s, deltaX: -0.699997 m, approachRate: -0.184792 m/s, rangeRepo size: 4 2025-01-08T22:38:16.933Z,1736375896.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 160.699997 m, bearing: 213.779430 deg, lat: 36.903281 deg, lon: -122.119729 deg, deltaT: 3.788027 s, deltaX: -0.699997 m, approachRate: -0.184792 m/s, posRepo size: 4 2025-01-08T22:38:16.940Z,1736375896.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.70 m. 2025-01-08T22:38:16.958Z,1736375896.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.699997 m, nav range: 16.660580 m, bearing: 72.741600 deg, approach rate: 0.000000 m/s, LOS rate: 0.817656 deg/s, cmd heading: 342.196084 deg, new cmd heading: 343.243102 deg. 2025-01-08T22:38:16.977Z,1736375896.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:16.981Z,1736375896.981 [DAT](INFO): DAT read: user:2744> 2025-01-08T22:38:16.984Z,1736375896.984 [DAT](INFO): DAT read: Tx time:22:38:16.2589 2025-01-08T22:38:16.985Z,1736375896.985 [DAT](INFO): Ping request sent. 2025-01-08T22:38:16.985Z,1736375896.985 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:16.986Z,1736375896.986 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:16.988Z,1736375896.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002585 2025-01-08T22:38:16.990Z,1736375896.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.990722 target range: 160.699997 and range: 160.70 m. 2025-01-08T22:38:17.228Z,1736375897.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:17.229Z,1736375897.229 [DAT](INFO): DAT read: TxSync time:22:38:16.2582 2025-01-08T22:38:17.230Z,1736375897.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245681 2025-01-08T22:38:17.332Z,1736375897.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:17.349Z,1736375897.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.70 m. 2025-01-08T22:38:17.356Z,1736375897.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.699997 m, nav range: 16.754095 m, bearing: 73.601726 deg, approach rate: 0.216798 m/s, LOS rate: 1.982839 deg/s, cmd heading: 343.243097 deg, new cmd heading: 345.807265 deg. 2025-01-08T22:38:17.357Z,1736375897.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035475 target range: 160.699997 and range: 160.70 m. 2025-01-08T22:38:17.480Z,1736375897.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:17.481Z,1736375897.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496317 2025-01-08T22:38:17.692Z,1736375897.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:17.709Z,1736375897.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.70 m. 2025-01-08T22:38:17.716Z,1736375897.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.699997 m, nav range: 16.828732 m, bearing: 74.292055 deg, approach rate: 0.207387 m/s, LOS rate: 1.909613 deg/s, cmd heading: 345.807259 deg, new cmd heading: 347.868122 deg. 2025-01-08T22:38:17.717Z,1736375897.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071444 target range: 160.699997 and range: 160.70 m. 2025-01-08T22:38:17.732Z,1736375897.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:17.733Z,1736375897.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748037 2025-01-08T22:38:17.985Z,1736375897.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:17.988Z,1736375897.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002408 2025-01-08T22:38:18.123Z,1736375898.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:18.144Z,1736375898.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.70 m. 2025-01-08T22:38:18.152Z,1736375898.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.699997 m, nav range: 16.924303 m, bearing: 75.091126 deg, approach rate: 0.219659 m/s, LOS rate: 1.826134 deg/s, cmd heading: 347.868119 deg, new cmd heading: 350.250343 deg. 2025-01-08T22:38:18.153Z,1736375898.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113022 target range: 160.699997 and range: 160.70 m. 2025-01-08T22:38:18.236Z,1736375898.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:18.236Z,1736375898.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251973 2025-01-08T22:38:18.488Z,1736375898.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:18.489Z,1736375898.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504053 2025-01-08T22:38:18.490Z,1736375898.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:18.505Z,1736375898.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:18.512Z,1736375898.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.70 m. 2025-01-08T22:38:18.515Z,1736375898.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.699997 m, nav range: 17.005568 m, bearing: 75.770350 deg, approach rate: 0.223835 m/s, LOS rate: 1.861873 deg/s, cmd heading: 350.250352 deg, new cmd heading: 352.277393 deg. 2025-01-08T22:38:18.520Z,1736375898.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.148400 target range: 160.699997 and range: 160.70 m. 2025-01-08T22:38:18.740Z,1736375898.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:18.740Z,1736375898.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755899 2025-01-08T22:38:18.900Z,1736375898.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:18.916Z,1736375898.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.70 m. 2025-01-08T22:38:18.923Z,1736375898.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.699997 m, nav range: 17.095240 m, bearing: 76.525483 deg, approach rate: 0.219202 m/s, LOS rate: 1.836177 deg/s, cmd heading: 352.277388 deg, new cmd heading: 354.529679 deg. 2025-01-08T22:38:18.924Z,1736375898.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187710 target range: 160.699997 and range: 160.70 m. 2025-01-08T22:38:18.994Z,1736375898.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:18.998Z,1736375898.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012717 2025-01-08T22:38:19.244Z,1736375899.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:19.245Z,1736375899.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260009 2025-01-08T22:38:19.347Z,1736375899.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:19.364Z,1736375899.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.70 m. 2025-01-08T22:38:19.366Z,1736375899.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.699997 m, nav range: 17.183714 m, bearing: 77.329452 deg, approach rate: 0.199643 m/s, LOS rate: 1.804761 deg/s, cmd heading: 354.529684 deg, new cmd heading: 356.927693 deg. 2025-01-08T22:38:19.372Z,1736375899.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229563 target range: 160.699997 and range: 160.70 m. 2025-01-08T22:38:19.496Z,1736375899.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:19.497Z,1736375899.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512483 2025-01-08T22:38:19.717Z,1736375899.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:19.733Z,1736375899.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.70 m. 2025-01-08T22:38:19.740Z,1736375899.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.699997 m, nav range: 17.255831 m, bearing: 77.996274 deg, approach rate: 0.192919 m/s, LOS rate: 1.776310 deg/s, cmd heading: 356.927682 deg, new cmd heading: 358.918940 deg. 2025-01-08T22:38:19.741Z,1736375899.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264317 target range: 160.699997 and range: 160.70 m. 2025-01-08T22:38:19.748Z,1736375899.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:19.749Z,1736375899.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764268 2025-01-08T22:38:20.002Z,1736375900.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:20.005Z,1736375900.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019638 2025-01-08T22:38:20.152Z,1736375900.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:20.169Z,1736375900.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.70 m. 2025-01-08T22:38:20.176Z,1736375900.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.699997 m, nav range: 17.332102 m, bearing: 78.765794 deg, approach rate: 0.175040 m/s, LOS rate: 1.758200 deg/s, cmd heading: 358.918928 deg, new cmd heading: 1.216029 deg. 2025-01-08T22:38:20.177Z,1736375900.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021224 target range: 160.699997 and range: 160.70 m. 2025-01-08T22:38:20.253Z,1736375900.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:20.255Z,1736375900.255 [DAT](INFO): DAT read: Rx Time:22:38:18.8762 2025-01-08T22:38:20.256Z,1736375900.256 [DAT](INFO): Rx dataTimestamp_ set to:1736375900.255175 2025-01-08T22:38:20.258Z,1736375900.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272796 2025-01-08T22:38:20.504Z,1736375900.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:20.504Z,1736375900.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519987 2025-01-08T22:38:20.509Z,1736375900.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:20.528Z,1736375900.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:20.544Z,1736375900.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.70 m. 2025-01-08T22:38:20.562Z,1736375900.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.699997 m, nav range: 17.392794 m, bearing: 79.397347 deg, approach rate: 0.164244 m/s, LOS rate: 1.703108 deg/s, cmd heading: 1.216029 deg, new cmd heading: 3.103354 deg. 2025-01-08T22:38:20.570Z,1736375900.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.054164 target range: 160.699997 and range: 160.70 m. 2025-01-08T22:38:20.756Z,1736375900.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:20.763Z,1736375900.763 [DAT](INFO): DAT read: 22:38:18.8762 LVL= 20464, 32753, 24818, 32755, AGC= 65, IDX= 435, 0.37,-0.161,-1.835,-1.411,-0.987, PHS= 0.914,-0.800,-0.426, RAW= 102.0, 4.0, CAL= 112.4, 2.0, ROT= 37.6, -2.0 2025-01-08T22:38:20.764Z,1736375900.764 [DAT](INFO): got valid direction response: 22:38:18.8762 LVL= 20464, 32753, 24818, 32755, AGC= 65, IDX= 435, 0.37,-0.161,-1.835,-1.411,-0.987, PHS= 0.914,-0.800,-0.426, RAW= 102.0, 4.0, CAL= 112.4, 2.0, ROT= 37.6, -2.0 2025-01-08T22:38:20.765Z,1736375900.765 [DAT](INFO): DAT read: Bearing 37.6, -2.0 (Local) 2025-01-08T22:38:20.765Z,1736375900.765 [DAT](INFO): Local bearing/azimuth received: Bearing 37.6, -2.0 (Local) 2025-01-08T22:38:20.767Z,1736375900.767 [DAT](INFO): DAT read: Range 10 to 50 : 159.8 m (Round-trip 213.1 ms) speed 0.3 m/s 2025-01-08T22:38:20.767Z,1736375900.767 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:20.768Z,1736375900.768 [DAT](INFO): direction in FSK: [-0.179772,-0.097605,0.978854] 2025-01-08T22:38:20.768Z,1736375900.768 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:20.772Z,1736375900.772 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:20.772Z,1736375900.772 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:20.773Z,1736375900.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:20.936Z,1736375900.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:20.969Z,1736375900.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.800003 m, deltaT: 4.030091 s, deltaX: -0.899994 m, approachRate: -0.223319 m/s, rangeRepo size: 4 2025-01-08T22:38:20.977Z,1736375900.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.800003 m, bearing: 230.093381 deg, lat: 36.903157 deg, lon: -122.119887 deg, deltaT: 4.030091 s, deltaX: -0.899994 m, approachRate: -0.223319 m/s, posRepo size: 4 2025-01-08T22:38:20.978Z,1736375900.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.80 m. 2025-01-08T22:38:20.992Z,1736375900.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.800003 m, nav range: 11.325201 m, bearing: 163.971063 deg, approach rate: 0.000000 m/s, LOS rate: 1.703108 deg/s, cmd heading: 3.103354 deg, new cmd heading: 5.266043 deg. 2025-01-08T22:38:21.000Z,1736375901.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091910 target range: 159.800003 and range: 159.80 m. 2025-01-08T22:38:21.009Z,1736375901.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:21.012Z,1736375901.012 [DAT](INFO): DAT read: user:2745> 2025-01-08T22:38:21.014Z,1736375901.014 [DAT](INFO): DAT read: Tx time:22:38:20.2589 2025-01-08T22:38:21.016Z,1736375901.016 [DAT](INFO): Ping request sent. 2025-01-08T22:38:21.017Z,1736375901.017 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:21.017Z,1736375901.017 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:21.021Z,1736375901.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003927 2025-01-08T22:38:21.260Z,1736375901.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:21.262Z,1736375901.262 [DAT](INFO): DAT read: TxSync time:22:38:20.2582 2025-01-08T22:38:21.264Z,1736375901.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247158 2025-01-08T22:38:21.352Z,1736375901.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:38:21.393Z,1736375901.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:21.410Z,1736375901.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.80 m. 2025-01-08T22:38:21.417Z,1736375901.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.800003 m, nav range: 11.572506 m, bearing: 163.801010 deg, approach rate: 0.551562 m/s, LOS rate: -0.371161 deg/s, cmd heading: 5.266043 deg, new cmd heading: 4.766802 deg. 2025-01-08T22:38:21.418Z,1736375901.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.083196 target range: 159.800003 and range: 159.80 m. 2025-01-08T22:38:21.512Z,1736375901.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:21.513Z,1736375901.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497198 2025-01-08T22:38:21.765Z,1736375901.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:21.766Z,1736375901.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749952 2025-01-08T22:38:21.781Z,1736375901.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:21.797Z,1736375901.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.80 m. 2025-01-08T22:38:21.804Z,1736375901.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.800003 m, nav range: 11.783186 m, bearing: 163.688180 deg, approach rate: 0.544441 m/s, LOS rate: -0.286363 deg/s, cmd heading: 4.766802 deg, new cmd heading: 4.434368 deg. 2025-01-08T22:38:21.805Z,1736375901.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077394 target range: 159.800003 and range: 159.80 m. 2025-01-08T22:38:22.017Z,1736375902.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:22.024Z,1736375902.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007559 2025-01-08T22:38:22.270Z,1736375902.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:22.270Z,1736375902.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254226 2025-01-08T22:38:22.275Z,1736375902.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:22.311Z,1736375902.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.80 m. 2025-01-08T22:38:22.314Z,1736375902.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.800003 m, nav range: 12.056558 m, bearing: 163.589492 deg, approach rate: 0.536254 m/s, LOS rate: -0.189200 deg/s, cmd heading: 4.434368 deg, new cmd heading: 4.145019 deg. 2025-01-08T22:38:22.315Z,1736375902.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072344 target range: 159.800003 and range: 159.80 m. 2025-01-08T22:38:22.356Z,1736375902.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:38:22.520Z,1736375902.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:22.521Z,1736375902.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505227 2025-01-08T22:38:22.772Z,1736375902.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:22.773Z,1736375902.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756442 2025-01-08T22:38:22.800Z,1736375902.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:22.811Z,1736375902.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:22.818Z,1736375902.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.80 m. 2025-01-08T22:38:22.825Z,1736375902.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.800003 m, nav range: 12.347822 m, bearing: 163.565666 deg, approach rate: 0.570672 m/s, LOS rate: -0.045581 deg/s, cmd heading: 4.145019 deg, new cmd heading: 4.075227 deg. 2025-01-08T22:38:22.826Z,1736375902.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071126 target range: 159.800003 and range: 159.80 m. 2025-01-08T22:38:23.025Z,1736375903.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:23.028Z,1736375903.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010970 2025-01-08T22:38:23.223Z,1736375903.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:23.250Z,1736375903.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.80 m. 2025-01-08T22:38:23.261Z,1736375903.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.800003 m, nav range: 12.577396 m, bearing: 163.577612 deg, approach rate: 0.530750 m/s, LOS rate: 0.027114 deg/s, cmd heading: 4.075227 deg, new cmd heading: 4.110412 deg. 2025-01-08T22:38:23.262Z,1736375903.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071740 target range: 159.800003 and range: 159.80 m. 2025-01-08T22:38:23.276Z,1736375903.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:23.277Z,1736375903.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260427 2025-01-08T22:38:23.528Z,1736375903.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:23.529Z,1736375903.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512865 2025-01-08T22:38:23.556Z,1736375903.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:23.573Z,1736375903.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.80 m. 2025-01-08T22:38:23.588Z,1736375903.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.800003 m, nav range: 12.761721 m, bearing: 163.632733 deg, approach rate: 0.570213 m/s, LOS rate: 0.168056 deg/s, cmd heading: 4.110412 deg, new cmd heading: 4.273386 deg. 2025-01-08T22:38:23.589Z,1736375903.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074585 target range: 159.800003 and range: 159.80 m. 2025-01-08T22:38:23.780Z,1736375903.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:23.781Z,1736375903.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764816 2025-01-08T22:38:23.971Z,1736375903.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:23.988Z,1736375903.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.80 m. 2025-01-08T22:38:23.991Z,1736375903.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.800003 m, nav range: 12.987689 m, bearing: 163.725081 deg, approach rate: 0.544776 m/s, LOS rate: 0.218762 deg/s, cmd heading: 4.273386 deg, new cmd heading: 4.545606 deg. 2025-01-08T22:38:23.997Z,1736375903.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079336 target range: 159.800003 and range: 159.80 m. 2025-01-08T22:38:24.032Z,1736375904.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:24.037Z,1736375904.037 [DAT](INFO): DAT read: Rx Time:22:38:22.8743 2025-01-08T22:38:24.038Z,1736375904.038 [DAT](INFO): Rx dataTimestamp_ set to:1736375904.037887 2025-01-08T22:38:24.039Z,1736375904.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022541 2025-01-08T22:38:24.285Z,1736375904.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:24.287Z,1736375904.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270117 2025-01-08T22:38:24.423Z,1736375904.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:24.460Z,1736375904.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.80 m. 2025-01-08T22:38:24.468Z,1736375904.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.800003 m, nav range: 13.233795 m, bearing: 163.891564 deg, approach rate: 0.521242 m/s, LOS rate: 0.346046 deg/s, cmd heading: 4.545606 deg, new cmd heading: 5.035754 deg. 2025-01-08T22:38:24.469Z,1736375904.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.087890 target range: 159.800003 and range: 159.80 m. 2025-01-08T22:38:24.538Z,1736375904.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:24.541Z,1736375904.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524117 2025-01-08T22:38:24.773Z,1736375904.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:24.786Z,1736375904.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.80 m. 2025-01-08T22:38:24.788Z,1736375904.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:24.794Z,1736375904.794 [DAT](INFO): DAT read: 22:38:22.8743 LVL= 27376, 32753, 32754, 32755, AGC= 61, IDX= 413, 0.34, 2.713, 1.164, 1.973, 2.179, PHS= 0.623,-0.968,-0.208, RAW= 118.5, 8.1, CAL= 127.5, 4.2, ROT= 22.5, -4.2 2025-01-08T22:38:24.796Z,1736375904.796 [DAT](INFO): got valid direction response: 22:38:22.8743 LVL= 27376, 32753, 32754, 32755, AGC= 61, IDX= 413, 0.34, 2.713, 1.164, 1.973, 2.179, PHS= 0.623,-0.968,-0.208, RAW= 118.5, 8.1, CAL= 127.5, 4.2, ROT= 22.5, -4.2 2025-01-08T22:38:24.797Z,1736375904.797 [DAT](INFO): DAT read: Bearing 22.5, -4.2 (Local) 2025-01-08T22:38:24.797Z,1736375904.797 [DAT](INFO): Local bearing/azimuth received: Bearing 22.5, -4.2 (Local) 2025-01-08T22:38:24.798Z,1736375904.798 [DAT](INFO): DAT read: Range 10 to 50 : 158.4 m (Round-trip 211.2 ms) speed 0.1 m/s 2025-01-08T22:38:24.799Z,1736375904.799 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:24.800Z,1736375904.800 [DAT](INFO): direction in FSK: [-0.273272,-0.374447,0.886065] 2025-01-08T22:38:24.800Z,1736375904.800 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:24.804Z,1736375904.804 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:24.804Z,1736375904.804 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:24.804Z,1736375904.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:24.809Z,1736375904.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.800003 m, nav range: 13.425623 m, bearing: 164.017047 deg, approach rate: 0.588209 m/s, LOS rate: 0.379276 deg/s, cmd heading: 5.035755 deg, new cmd heading: 5.406820 deg. 2025-01-08T22:38:24.810Z,1736375904.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.094367 target range: 159.800003 and range: 159.80 m. 2025-01-08T22:38:25.040Z,1736375905.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:25.041Z,1736375905.041 [DAT](INFO): DAT read: user:2746> 2025-01-08T22:38:25.042Z,1736375905.042 [DAT](INFO): DAT read: Tx time:22:38:24.2589 2025-01-08T22:38:25.042Z,1736375905.042 [DAT](INFO): Ping request sent. 2025-01-08T22:38:25.042Z,1736375905.042 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:25.042Z,1736375905.042 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:25.043Z,1736375905.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000702 2025-01-08T22:38:25.228Z,1736375905.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:25.258Z,1736375905.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 158.399994 m, deltaT: 4.031977 s, deltaX: -1.400009 m, approachRate: -0.347226 m/s, rangeRepo size: 4 2025-01-08T22:38:25.275Z,1736375905.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 158.399994 m, bearing: 246.913487 deg, lat: 36.902983 deg, lon: -122.120120 deg, deltaT: 4.031977 s, deltaX: -1.400009 m, approachRate: -0.347226 m/s, posRepo size: 4 2025-01-08T22:38:25.276Z,1736375905.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:38:25.278Z,1736375905.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 36.617176 m, bearing: 207.629703 deg, approach rate: 0.000000 m/s, LOS rate: 0.379276 deg/s, cmd heading: 5.406820 deg, new cmd heading: 5.942992 deg. 2025-01-08T22:38:25.284Z,1736375905.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103725 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:38:25.292Z,1736375905.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:25.293Z,1736375905.293 [DAT](INFO): DAT read: TxSync time:22:38:24.2582 2025-01-08T22:38:25.293Z,1736375905.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251513 2025-01-08T22:38:25.546Z,1736375905.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:25.546Z,1736375905.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504230 2025-01-08T22:38:25.621Z,1736375905.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:25.638Z,1736375905.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:25.648Z,1736375905.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:38:25.657Z,1736375905.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 36.798733 m, bearing: 207.441904 deg, approach rate: 0.465153 m/s, LOS rate: -0.478771 deg/s, cmd heading: 5.942992 deg, new cmd heading: 5.382393 deg. 2025-01-08T22:38:25.659Z,1736375905.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093940 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:38:25.796Z,1736375905.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:25.797Z,1736375905.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754864 2025-01-08T22:38:26.030Z,1736375906.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:26.048Z,1736375906.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:26.048Z,1736375906.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006499 2025-01-08T22:38:26.067Z,1736375906.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:38:26.070Z,1736375906.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 36.987831 m, bearing: 207.256190 deg, approach rate: 0.464601 m/s, LOS rate: -0.453953 deg/s, cmd heading: 5.382393 deg, new cmd heading: 4.828117 deg. 2025-01-08T22:38:26.071Z,1736375906.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084267 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:38:26.300Z,1736375906.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:26.300Z,1736375906.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258503 2025-01-08T22:38:26.466Z,1736375906.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:26.490Z,1736375906.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:38:26.497Z,1736375906.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 37.197491 m, bearing: 207.065730 deg, approach rate: 0.482244 m/s, LOS rate: -0.435612 deg/s, cmd heading: 4.828117 deg, new cmd heading: 4.259979 deg. 2025-01-08T22:38:26.498Z,1736375906.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074351 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:38:26.553Z,1736375906.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:26.555Z,1736375906.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512539 2025-01-08T22:38:26.804Z,1736375906.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:26.804Z,1736375906.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762521 2025-01-08T22:38:26.821Z,1736375906.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:26.838Z,1736375906.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:38:26.849Z,1736375906.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 37.370571 m, bearing: 206.916562 deg, approach rate: 0.496581 m/s, LOS rate: -0.425994 deg/s, cmd heading: 4.259978 deg, new cmd heading: 3.814554 deg. 2025-01-08T22:38:26.850Z,1736375906.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.066577 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:38:27.056Z,1736375907.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:27.058Z,1736375907.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015859 2025-01-08T22:38:27.243Z,1736375907.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:27.264Z,1736375907.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:38:27.266Z,1736375907.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 37.574318 m, bearing: 206.742690 deg, approach rate: 0.478676 m/s, LOS rate: -0.406272 deg/s, cmd heading: 3.814554 deg, new cmd heading: 3.295784 deg. 2025-01-08T22:38:27.272Z,1736375907.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057522 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:38:27.308Z,1736375907.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:27.310Z,1736375907.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267821 2025-01-08T22:38:27.560Z,1736375907.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:27.561Z,1736375907.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518592 2025-01-08T22:38:27.629Z,1736375907.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:27.649Z,1736375907.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:27.663Z,1736375907.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:38:27.685Z,1736375907.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 37.762062 m, bearing: 206.587446 deg, approach rate: 0.471645 m/s, LOS rate: -0.388060 deg/s, cmd heading: 3.295784 deg, new cmd heading: 2.832378 deg. 2025-01-08T22:38:27.692Z,1736375907.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049434 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:38:27.813Z,1736375907.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:27.813Z,1736375907.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771480 2025-01-08T22:38:28.033Z,1736375908.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:28.050Z,1736375908.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:38:28.056Z,1736375908.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 37.958572 m, bearing: 206.429146 deg, approach rate: 0.506931 m/s, LOS rate: -0.406248 deg/s, cmd heading: 2.832378 deg, new cmd heading: 2.359947 deg. 2025-01-08T22:38:28.057Z,1736375908.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041189 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:38:28.064Z,1736375908.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:28.065Z,1736375908.065 [DAT](INFO): DAT read: Rx Time:22:38:26.8718 2025-01-08T22:38:28.065Z,1736375908.065 [DAT](INFO): Rx dataTimestamp_ set to:1736375908.065214 2025-01-08T22:38:28.066Z,1736375908.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024042 2025-01-08T22:38:28.316Z,1736375908.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:28.317Z,1736375908.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274573 2025-01-08T22:38:28.489Z,1736375908.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:28.515Z,1736375908.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T22:38:28.563Z,1736375908.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 38.175316 m, bearing: 206.243455 deg, approach rate: 0.466209 m/s, LOS rate: -0.397147 deg/s, cmd heading: 2.359947 deg, new cmd heading: 1.806056 deg. 2025-01-08T22:38:28.570Z,1736375908.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:28.586Z,1736375908.586 [DAT](INFO): DAT read: 22:38:26.8718 LVL= 21360, 32753, 22898, 31795, AGC= 64, IDX= 421, 0.03,-0.532,-2.151,-1.164,-1.078, PHS= 0.634,-1.026,-0.089, RAW= 124.2, 6.7, CAL= 132.3, 1.9, ROT= 17.7, -1.9 2025-01-08T22:38:28.587Z,1736375908.587 [DAT](INFO): got valid direction response: 22:38:26.8718 LVL= 21360, 32753, 22898, 31795, AGC= 64, IDX= 421, 0.03,-0.532,-2.151,-1.164,-1.078, PHS= 0.634,-1.026,-0.089, RAW= 124.2, 6.7, CAL= 132.3, 1.9, ROT= 17.7, -1.9 2025-01-08T22:38:28.588Z,1736375908.588 [DAT](INFO): DAT read: Bearing 17.7, -1.9 (Local) 2025-01-08T22:38:28.589Z,1736375908.589 [DAT](INFO): Local bearing/azimuth received: Bearing 17.7, -1.9 (Local) 2025-01-08T22:38:28.590Z,1736375908.590 [DAT](INFO): DAT read: Range 10 to 50 : 156.4 m (Round-trip 208.6 ms) speed 0.5 m/s 2025-01-08T22:38:28.591Z,1736375908.591 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:28.592Z,1736375908.592 [DAT](INFO): direction in FSK: [-0.251886,-0.470358,0.845764] 2025-01-08T22:38:28.592Z,1736375908.592 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:28.597Z,1736375908.597 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:28.597Z,1736375908.597 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:28.597Z,1736375908.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:28.600Z,1736375908.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.031522 target range: 158.399994 and range: 158.40 m. 2025-01-08T22:38:28.821Z,1736375908.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:28.822Z,1736375908.822 [DAT](INFO): DAT read: user:2747> 2025-01-08T22:38:28.824Z,1736375908.824 [DAT](INFO): DAT read: Tx time:22:38:28.0590 2025-01-08T22:38:28.824Z,1736375908.824 [DAT](INFO): Ping request sent. 2025-01-08T22:38:28.825Z,1736375908.825 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:28.825Z,1736375908.825 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:28.826Z,1736375908.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001581 2025-01-08T22:38:28.861Z,1736375908.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:28.890Z,1736375908.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 156.399994 m, deltaT: 3.782193 s, deltaX: -2.000000 m, approachRate: -0.528794 m/s, rangeRepo size: 4 2025-01-08T22:38:28.897Z,1736375908.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 156.399994 m, bearing: 258.555763 deg, lat: 36.902983 deg, lon: -122.120488 deg, deltaT: 3.782193 s, deltaX: -2.000000 m, approachRate: -0.528794 m/s, posRepo size: 4 2025-01-08T22:38:28.898Z,1736375908.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m. 2025-01-08T22:38:28.905Z,1736375908.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.399994 m, nav range: 60.427937 m, bearing: 235.243935 deg, approach rate: 0.000000 m/s, LOS rate: -0.397147 deg/s, cmd heading: 1.806056 deg, new cmd heading: 1.359092 deg. 2025-01-08T22:38:28.906Z,1736375908.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023721 target range: 156.399994 and range: 156.40 m. 2025-01-08T22:38:29.072Z,1736375909.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:29.073Z,1736375909.073 [DAT](INFO): DAT read: TxSync time:22:38:28.0583 2025-01-08T22:38:29.073Z,1736375909.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249083 2025-01-08T22:38:29.314Z,1736375909.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:29.324Z,1736375909.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:29.325Z,1736375909.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500287 2025-01-08T22:38:29.344Z,1736375909.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m. 2025-01-08T22:38:29.347Z,1736375909.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.399994 m, nav range: 60.552628 m, bearing: 235.039578 deg, approach rate: 0.274398 m/s, LOS rate: -0.448788 deg/s, cmd heading: 1.359092 deg, new cmd heading: 0.747306 deg. 2025-01-08T22:38:29.352Z,1736375909.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013043 target range: 156.399994 and range: 156.40 m. 2025-01-08T22:38:29.576Z,1736375909.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:29.576Z,1736375909.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752137 2025-01-08T22:38:29.666Z,1736375909.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:29.687Z,1736375909.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:29.689Z,1736375909.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m. 2025-01-08T22:38:29.697Z,1736375909.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.399994 m, nav range: 60.648869 m, bearing: 234.881594 deg, approach rate: 0.278826 m/s, LOS rate: -0.456978 deg/s, cmd heading: 0.747306 deg, new cmd heading: 0.274118 deg. 2025-01-08T22:38:29.698Z,1736375909.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004784 target range: 156.399994 and range: 156.40 m. 2025-01-08T22:38:29.828Z,1736375909.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:29.830Z,1736375909.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005374 2025-01-08T22:38:30.059Z,1736375910.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:30.077Z,1736375910.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m. 2025-01-08T22:38:30.080Z,1736375910.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:30.081Z,1736375910.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256560 2025-01-08T22:38:30.085Z,1736375910.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.399994 m, nav range: 60.755390 m, bearing: 234.706384 deg, approach rate: 0.274982 m/s, LOS rate: -0.451505 deg/s, cmd heading: 0.274118 deg, new cmd heading: 359.749426 deg. 2025-01-08T22:38:30.086Z,1736375910.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.278812 target range: 156.399994 and range: 156.40 m. 2025-01-08T22:38:30.332Z,1736375910.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:30.333Z,1736375910.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508368 2025-01-08T22:38:30.499Z,1736375910.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:30.508Z,1736375910.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m. 2025-01-08T22:38:30.511Z,1736375910.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.399994 m, nav range: 60.882236 m, bearing: 234.511195 deg, approach rate: 0.293950 m/s, LOS rate: -0.451381 deg/s, cmd heading: 359.749424 deg, new cmd heading: 359.165098 deg. 2025-01-08T22:38:30.512Z,1736375910.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268613 target range: 156.399994 and range: 156.40 m. 2025-01-08T22:38:30.585Z,1736375910.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:30.586Z,1736375910.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761420 2025-01-08T22:38:30.836Z,1736375910.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:30.836Z,1736375910.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012106 2025-01-08T22:38:30.852Z,1736375910.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:30.861Z,1736375910.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m. 2025-01-08T22:38:30.864Z,1736375910.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.399994 m, nav range: 60.980495 m, bearing: 234.355073 deg, approach rate: 0.278690 m/s, LOS rate: -0.442093 deg/s, cmd heading: 359.165088 deg, new cmd heading: 358.697487 deg. 2025-01-08T22:38:30.865Z,1736375910.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.260452 target range: 156.399994 and range: 156.40 m. 2025-01-08T22:38:31.089Z,1736375911.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:31.090Z,1736375911.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265558 2025-01-08T22:38:31.277Z,1736375911.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:31.286Z,1736375911.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m. 2025-01-08T22:38:31.289Z,1736375911.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.399994 m, nav range: 61.100788 m, bearing: 234.167428 deg, approach rate: 0.282720 m/s, LOS rate: -0.440146 deg/s, cmd heading: 358.697493 deg, new cmd heading: 358.135685 deg. 2025-01-08T22:38:31.290Z,1736375911.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.250647 target range: 156.399994 and range: 156.40 m. 2025-01-08T22:38:31.340Z,1736375911.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:31.348Z,1736375911.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523060 2025-01-08T22:38:31.592Z,1736375911.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:31.592Z,1736375911.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768089 2025-01-08T22:38:31.662Z,1736375911.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:31.689Z,1736375911.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:31.691Z,1736375911.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m. 2025-01-08T22:38:31.698Z,1736375911.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.399994 m, nav range: 61.208267 m, bearing: 233.996712 deg, approach rate: 0.265615 m/s, LOS rate: -0.421151 deg/s, cmd heading: 358.135696 deg, new cmd heading: 357.624462 deg. 2025-01-08T22:38:31.713Z,1736375911.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241724 target range: 156.399994 and range: 156.40 m. 2025-01-08T22:38:31.845Z,1736375911.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:31.846Z,1736375911.846 [DAT](INFO): DAT read: Rx Time:22:38:30.6696 2025-01-08T22:38:31.847Z,1736375911.847 [DAT](INFO): Rx dataTimestamp_ set to:1736375911.846386 2025-01-08T22:38:31.847Z,1736375911.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022976 2025-01-08T22:38:32.058Z,1736375912.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:32.067Z,1736375912.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m. 2025-01-08T22:38:32.070Z,1736375912.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.399994 m, nav range: 61.316589 m, bearing: 233.820630 deg, approach rate: 0.287990 m/s, LOS rate: -0.467312 deg/s, cmd heading: 357.624470 deg, new cmd heading: 357.097172 deg. 2025-01-08T22:38:32.071Z,1736375912.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232522 target range: 156.399994 and range: 156.40 m. 2025-01-08T22:38:32.096Z,1736375912.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:32.097Z,1736375912.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272898 2025-01-08T22:38:32.350Z,1736375912.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:32.382Z,1736375912.382 [DAT](INFO): DAT read: 22:38:30.6696 LVL= 18304, 32753, 23858, 32755, AGC= 67, IDX= 415,-0.36,-0.361,-1.981,-1.129,-0.849, PHS= 0.576,-1.084,-0.283, RAW= 118.9, 11.0, CAL= 127.0, 7.3, ROT= 23.0, -7.3 2025-01-08T22:38:32.393Z,1736375912.393 [DAT](INFO): got valid direction response: 22:38:30.6696 LVL= 18304, 32753, 23858, 32755, AGC= 67, IDX= 415,-0.36,-0.361,-1.981,-1.129,-0.849, PHS= 0.576,-1.084,-0.283, RAW= 118.9, 11.0, CAL= 127.0, 7.3, ROT= 23.0, -7.3 2025-01-08T22:38:32.394Z,1736375912.394 [DAT](INFO): DAT read: Bearing 23.0, -7.3 (Local) 2025-01-08T22:38:32.395Z,1736375912.395 [DAT](INFO): Local bearing/azimuth received: Bearing 23.0, -7.3 (Local) 2025-01-08T22:38:32.404Z,1736375912.404 [DAT](INFO): DAT read: Range 10 to 50 : 154.8 m (Round-trip 206.4 ms) speed 0.4 m/s 2025-01-08T22:38:32.405Z,1736375912.405 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:32.406Z,1736375912.406 [DAT](INFO): direction in FSK: [-0.327210,-0.371802,0.868733] 2025-01-08T22:38:32.406Z,1736375912.406 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:32.433Z,1736375912.433 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:32.433Z,1736375912.433 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:32.434Z,1736375912.434 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:32.545Z,1736375912.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:32.596Z,1736375912.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.800003 m, deltaT: 3.780234 s, deltaX: -1.599991 m, approachRate: -0.423252 m/s, rangeRepo size: 4 2025-01-08T22:38:32.598Z,1736375912.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 154.800003 m, bearing: 246.104672 deg, lat: 36.902983 deg, lon: -122.120701 deg, deltaT: 3.780234 s, deltaX: -1.599991 m, approachRate: -0.423252 m/s, posRepo size: 4 2025-01-08T22:38:32.599Z,1736375912.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m. 2025-01-08T22:38:32.600Z,1736375912.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:32.600Z,1736375912.600 [DAT](INFO): DAT read: user:2748> 2025-01-08T22:38:32.601Z,1736375912.601 [DAT](INFO): DAT read: Tx time:22:38:31.9090 2025-01-08T22:38:32.602Z,1736375912.602 [DAT](INFO): Ping request sent. 2025-01-08T22:38:32.602Z,1736375912.602 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:32.602Z,1736375912.602 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:32.602Z,1736375912.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725 2025-01-08T22:38:32.606Z,1736375912.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.800003 m, nav range: 77.471527 m, bearing: 241.922751 deg, approach rate: 0.000000 m/s, LOS rate: -0.467312 deg/s, cmd heading: 357.097180 deg, new cmd heading: 356.363578 deg. 2025-01-08T22:38:32.607Z,1736375912.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219718 target range: 154.800003 and range: 154.80 m. 2025-01-08T22:38:32.852Z,1736375912.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:32.854Z,1736375912.854 [DAT](INFO): DAT read: TxSync time:22:38:31.9083 2025-01-08T22:38:32.858Z,1736375912.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253031 2025-01-08T22:38:32.942Z,1736375912.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:32.951Z,1736375912.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m. 2025-01-08T22:38:32.954Z,1736375912.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.800003 m, nav range: 77.564194 m, bearing: 241.777667 deg, approach rate: 0.257107 m/s, LOS rate: -0.402059 deg/s, cmd heading: 356.363590 deg, new cmd heading: 355.928867 deg. 2025-01-08T22:38:32.955Z,1736375912.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212131 target range: 154.800003 and range: 154.80 m. 2025-01-08T22:38:33.104Z,1736375913.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:33.105Z,1736375913.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503387 2025-01-08T22:38:33.356Z,1736375913.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:33.356Z,1736375913.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754756 2025-01-08T22:38:33.372Z,1736375913.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:33.382Z,1736375913.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m. 2025-01-08T22:38:33.385Z,1736375913.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.800003 m, nav range: 77.670265 m, bearing: 241.624938 deg, approach rate: 0.245868 m/s, LOS rate: -0.353533 deg/s, cmd heading: 355.928862 deg, new cmd heading: 355.471311 deg. 2025-01-08T22:38:33.386Z,1736375913.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.204145 target range: 154.800003 and range: 154.80 m. 2025-01-08T22:38:33.608Z,1736375913.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:33.609Z,1736375913.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006978 2025-01-08T22:38:33.740Z,1736375913.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:33.747Z,1736375913.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:33.749Z,1736375913.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m. 2025-01-08T22:38:33.752Z,1736375913.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.800003 m, nav range: 77.761589 m, bearing: 241.494423 deg, approach rate: 0.248639 m/s, LOS rate: -0.354924 deg/s, cmd heading: 355.471321 deg, new cmd heading: 355.080242 deg. 2025-01-08T22:38:33.753Z,1736375913.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.197320 target range: 154.800003 and range: 154.80 m. 2025-01-08T22:38:33.861Z,1736375913.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:33.862Z,1736375913.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260231 2025-01-08T22:38:34.112Z,1736375914.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:34.113Z,1736375914.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511299 2025-01-08T22:38:34.137Z,1736375914.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:34.147Z,1736375914.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m. 2025-01-08T22:38:34.150Z,1736375914.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.800003 m, nav range: 77.853157 m, bearing: 241.351457 deg, approach rate: 0.230334 m/s, LOS rate: -0.359200 deg/s, cmd heading: 355.080252 deg, new cmd heading: 354.651866 deg. 2025-01-08T22:38:34.151Z,1736375914.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.189843 target range: 154.800003 and range: 154.80 m. 2025-01-08T22:38:34.365Z,1736375914.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:34.366Z,1736375914.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763641 2025-01-08T22:38:34.574Z,1736375914.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:34.610Z,1736375914.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m. 2025-01-08T22:38:34.616Z,1736375914.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:34.617Z,1736375914.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014952 2025-01-08T22:38:34.618Z,1736375914.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.800003 m, nav range: 77.963493 m, bearing: 241.197683 deg, approach rate: 0.238512 m/s, LOS rate: -0.331940 deg/s, cmd heading: 354.651863 deg, new cmd heading: 354.191204 deg. 2025-01-08T22:38:34.624Z,1736375914.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181803 target range: 154.800003 and range: 154.80 m. 2025-01-08T22:38:34.868Z,1736375914.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:34.869Z,1736375914.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267315 2025-01-08T22:38:34.949Z,1736375914.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:34.958Z,1736375914.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m. 2025-01-08T22:38:34.961Z,1736375914.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.800003 m, nav range: 78.057167 m, bearing: 241.065582 deg, approach rate: 0.269052 m/s, LOS rate: -0.378969 deg/s, cmd heading: 354.191207 deg, new cmd heading: 353.795386 deg. 2025-01-08T22:38:34.963Z,1736375914.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174894 target range: 154.800003 and range: 154.80 m. 2025-01-08T22:38:35.120Z,1736375915.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:35.121Z,1736375915.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518932 2025-01-08T22:38:35.372Z,1736375915.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:35.373Z,1736375915.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771013 2025-01-08T22:38:35.376Z,1736375915.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:35.386Z,1736375915.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m. 2025-01-08T22:38:35.389Z,1736375915.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.800003 m, nav range: 78.167297 m, bearing: 240.920365 deg, approach rate: 0.257366 m/s, LOS rate: -0.338879 deg/s, cmd heading: 353.795384 deg, new cmd heading: 353.360359 deg. 2025-01-08T22:38:35.390Z,1736375915.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167302 target range: 154.800003 and range: 154.80 m. 2025-01-08T22:38:35.626Z,1736375915.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:35.627Z,1736375915.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025251 2025-01-08T22:38:35.793Z,1736375915.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:35.800Z,1736375915.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:35.802Z,1736375915.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m. 2025-01-08T22:38:35.805Z,1736375915.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.800003 m, nav range: 78.273399 m, bearing: 240.778598 deg, approach rate: 0.254898 m/s, LOS rate: -0.340118 deg/s, cmd heading: 353.360356 deg, new cmd heading: 352.935638 deg. 2025-01-08T22:38:35.806Z,1736375915.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159889 target range: 154.800003 and range: 154.80 m. 2025-01-08T22:38:35.876Z,1736375915.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:35.878Z,1736375915.878 [DAT](INFO): DAT read: Rx Time:22:38:34.5171 2025-01-08T22:38:35.879Z,1736375915.879 [DAT](INFO): Rx dataTimestamp_ set to:1736375915.878269 2025-01-08T22:38:35.880Z,1736375915.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278147 2025-01-08T22:38:36.128Z,1736375916.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:36.129Z,1736375916.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527194 2025-01-08T22:38:36.290Z,1736375916.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:36.321Z,1736375916.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.80 m. 2025-01-08T22:38:36.324Z,1736375916.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.800003 m, nav range: 78.398666 m, bearing: 240.609440 deg, approach rate: 0.241311 m/s, LOS rate: -0.325340 deg/s, cmd heading: 352.935627 deg, new cmd heading: 352.428979 deg. 2025-01-08T22:38:36.325Z,1736375916.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151046 target range: 154.800003 and range: 154.80 m. 2025-01-08T22:38:36.380Z,1736375916.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:36.386Z,1736375916.386 [DAT](INFO): DAT read: 22:38:34.5171 LVL= 24368, 32753, 32754, 32755, AGC= 66, IDX= 421, 0.45,-1.871, 2.488,-2.894,-2.763, PHS= 0.980,-0.985,-0.134, RAW= 115.6, 1.6, CAL= 124.8, -3.8, ROT= 25.2, 3.8 2025-01-08T22:38:36.387Z,1736375916.387 [DAT](INFO): got valid direction response: 22:38:34.5171 LVL= 24368, 32753, 32754, 32755, AGC= 66, IDX= 421, 0.45,-1.871, 2.488,-2.894,-2.763, PHS= 0.980,-0.985,-0.134, RAW= 115.6, 1.6, CAL= 124.8, -3.8, ROT= 25.2, 3.8 2025-01-08T22:38:36.388Z,1736375916.388 [DAT](INFO): DAT read: Bearing 25.2, 3.8 (Local) 2025-01-08T22:38:36.389Z,1736375916.389 [DAT](INFO): Local bearing/azimuth received: Bearing 25.2, 3.8 (Local) 2025-01-08T22:38:36.390Z,1736375916.390 [DAT](INFO): DAT read: Range 10 to 50 : 153.0 m (Round-trip 204.0 ms) speed 0.4 m/s 2025-01-08T22:38:36.391Z,1736375916.391 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:36.392Z,1736375916.392 [DAT](INFO): direction in FSK: [-0.149122,-0.337839,0.929316] 2025-01-08T22:38:36.392Z,1736375916.392 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:36.404Z,1736375916.404 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:36.404Z,1736375916.404 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:36.404Z,1736375916.404 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:36.633Z,1736375916.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:36.635Z,1736375916.635 [DAT](INFO): DAT read: user:2749> 2025-01-08T22:38:36.636Z,1736375916.636 [DAT](INFO): DAT read: Tx time:22:38:35.8590 2025-01-08T22:38:36.637Z,1736375916.637 [DAT](INFO): Ping request sent. 2025-01-08T22:38:36.637Z,1736375916.637 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:36.637Z,1736375916.637 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:36.638Z,1736375916.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728 2025-01-08T22:38:36.809Z,1736375916.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:36.823Z,1736375916.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 153.000000 m, deltaT: 4.029693 s, deltaX: -1.800003 m, approachRate: -0.446685 m/s, rangeRepo size: 4 2025-01-08T22:38:36.825Z,1736375916.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 153.000000 m, bearing: 268.147112 deg, lat: 36.903039 deg, lon: -122.120701 deg, deltaT: 4.029693 s, deltaX: -1.800003 m, approachRate: -0.446685 m/s, posRepo size: 4 2025-01-08T22:38:36.826Z,1736375916.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:36.830Z,1736375916.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 75.666740 m, bearing: 244.508523 deg, approach rate: 0.000000 m/s, LOS rate: -0.325340 deg/s, cmd heading: 352.428991 deg, new cmd heading: 351.939801 deg. 2025-01-08T22:38:36.831Z,1736375916.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142509 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:36.884Z,1736375916.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:36.885Z,1736375916.885 [DAT](INFO): DAT read: TxSync time:22:38:35.8583 2025-01-08T22:38:36.886Z,1736375916.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248722 2025-01-08T22:38:37.136Z,1736375917.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:37.136Z,1736375917.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499491 2025-01-08T22:38:37.340Z,1736375917.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:38:37.340Z,1736375917.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:37.350Z,1736375917.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:37.353Z,1736375917.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 75.778664 m, bearing: 244.317776 deg, approach rate: 0.212262 m/s, LOS rate: -0.361218 deg/s, cmd heading: 351.939813 deg, new cmd heading: 351.368436 deg. 2025-01-08T22:38:37.354Z,1736375917.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.132536 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:37.388Z,1736375917.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:37.389Z,1736375917.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751805 2025-01-08T22:38:37.641Z,1736375917.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:37.644Z,1736375917.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005975 2025-01-08T22:38:37.708Z,1736375917.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:38:37.709Z,1736375917.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:37.718Z,1736375917.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:37.721Z,1736375917.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 75.856987 m, bearing: 244.185468 deg, approach rate: 0.212684 m/s, LOS rate: -0.358905 deg/s, cmd heading: 351.368427 deg, new cmd heading: 350.971921 deg. 2025-01-08T22:38:37.722Z,1736375917.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.125616 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:37.892Z,1736375917.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:37.892Z,1736375917.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255428 2025-01-08T22:38:38.063Z,1736375918.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:38:38.066Z,1736375918.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:38.073Z,1736375918.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:38.076Z,1736375918.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:38.079Z,1736375918.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 75.929016 m, bearing: 244.057760 deg, approach rate: 0.201470 m/s, LOS rate: -0.356869 deg/s, cmd heading: 350.971921 deg, new cmd heading: 350.589167 deg. 2025-01-08T22:38:38.088Z,1736375918.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.118935 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:38.145Z,1736375918.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:38.146Z,1736375918.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508941 2025-01-08T22:38:38.396Z,1736375918.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:38.397Z,1736375918.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760146 2025-01-08T22:38:38.511Z,1736375918.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:38.520Z,1736375918.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:38.522Z,1736375918.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 75.994637 m, bearing: 243.879963 deg, approach rate: 0.147797 m/s, LOS rate: -0.400106 deg/s, cmd heading: 350.589157 deg, new cmd heading: 350.056242 deg. 2025-01-08T22:38:38.523Z,1736375918.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.109634 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:38.648Z,1736375918.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:38.649Z,1736375918.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012356 2025-01-08T22:38:38.900Z,1736375918.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:38.900Z,1736375918.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263600 2025-01-08T22:38:38.940Z,1736375918.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:38.974Z,1736375918.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:38.985Z,1736375918.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.052696 m, bearing: 243.714812 deg, approach rate: 0.127630 m/s, LOS rate: -0.362768 deg/s, cmd heading: 350.056238 deg, new cmd heading: 349.561176 deg. 2025-01-08T22:38:38.986Z,1736375918.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.100994 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:39.152Z,1736375919.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:39.153Z,1736375919.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516023 2025-01-08T22:38:39.389Z,1736375919.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:39.398Z,1736375919.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:39.401Z,1736375919.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.097862 m, bearing: 243.528816 deg, approach rate: 0.106485 m/s, LOS rate: -0.438249 deg/s, cmd heading: 349.561186 deg, new cmd heading: 349.003548 deg. 2025-01-08T22:38:39.402Z,1736375919.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091261 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:39.404Z,1736375919.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:39.404Z,1736375919.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767585 2025-01-08T22:38:39.656Z,1736375919.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:39.658Z,1736375919.658 [DAT](INFO): DAT read: Rx Time:22:38:38.4987 2025-01-08T22:38:39.659Z,1736375919.659 [DAT](INFO): Rx dataTimestamp_ set to:1736375919.658262 2025-01-08T22:38:39.660Z,1736375919.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022709 2025-01-08T22:38:39.773Z,1736375919.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:39.782Z,1736375919.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:39.801Z,1736375919.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.132599 m, bearing: 243.373977 deg, approach rate: 0.090448 m/s, LOS rate: -0.402988 deg/s, cmd heading: 349.003542 deg, new cmd heading: 348.539246 deg. 2025-01-08T22:38:39.802Z,1736375919.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083158 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:39.910Z,1736375919.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:39.910Z,1736375919.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273467 2025-01-08T22:38:40.161Z,1736375920.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:40.164Z,1736375920.164 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:38:40.165Z,1736375920.165 [DAT](INFO): Received a bad header 2025-01-08T22:38:40.180Z,1736375920.180 [DAT](INFO): DAT read: 6.0 CCERR:006 Mod:MFSK 2025-01-08T22:38:40.180Z,1736375920.180 [DAT](INFO): unknown deviceResponse_: 6.0 CCERR:006 Mod:MFSK 2025-01-08T22:38:40.181Z,1736375920.181 [DAT](INFO): DAT read: 2025-01-08T22:38:40.181Z,1736375920.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.544421 2025-01-08T22:38:40.230Z,1736375920.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:40.253Z,1736375920.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:40.259Z,1736375920.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:40.263Z,1736375920.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.172523 m, bearing: 243.189569 deg, approach rate: 0.084487 m/s, LOS rate: -0.390031 deg/s, cmd heading: 348.539253 deg, new cmd heading: 347.986337 deg. 2025-01-08T22:38:40.276Z,1736375920.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.073507 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:40.413Z,1736375920.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:40.413Z,1736375920.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776423 2025-01-08T22:38:40.659Z,1736375920.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:40.664Z,1736375920.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:40.666Z,1736375920.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028641 2025-01-08T22:38:40.676Z,1736375920.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:40.681Z,1736375920.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.196075 m, bearing: 243.004962 deg, approach rate: 0.055921 m/s, LOS rate: -0.438187 deg/s, cmd heading: 347.986336 deg, new cmd heading: 347.432705 deg. 2025-01-08T22:38:40.682Z,1736375920.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063845 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:40.916Z,1736375920.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:40.916Z,1736375920.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279604 2025-01-08T22:38:41.022Z,1736375921.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:41.032Z,1736375921.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:41.035Z,1736375921.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.214722 m, bearing: 242.847865 deg, approach rate: 0.052373 m/s, LOS rate: -0.441137 deg/s, cmd heading: 347.432708 deg, new cmd heading: 346.961544 deg. 2025-01-08T22:38:41.036Z,1736375921.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055621 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:41.168Z,1736375921.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:41.169Z,1736375921.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531679 2025-01-08T22:38:41.420Z,1736375921.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:41.420Z,1736375921.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783610 2025-01-08T22:38:41.460Z,1736375921.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:41.470Z,1736375921.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:41.473Z,1736375921.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.231499 m, bearing: 242.652124 deg, approach rate: 0.038320 m/s, LOS rate: -0.446993 deg/s, cmd heading: 346.961534 deg, new cmd heading: 346.374461 deg. 2025-01-08T22:38:41.474Z,1736375921.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045375 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:41.673Z,1736375921.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:41.675Z,1736375921.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037817 2025-01-08T22:38:41.848Z,1736375921.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:41.860Z,1736375921.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:41.868Z,1736375921.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.244881 m, bearing: 242.479145 deg, approach rate: 0.034325 m/s, LOS rate: -0.443616 deg/s, cmd heading: 346.374466 deg, new cmd heading: 345.855634 deg. 2025-01-08T22:38:41.869Z,1736375921.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.036320 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:41.924Z,1736375921.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:41.925Z,1736375921.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287631 2025-01-08T22:38:42.176Z,1736375922.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:42.176Z,1736375922.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539491 2025-01-08T22:38:42.251Z,1736375922.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:42.258Z,1736375922.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:42.276Z,1736375922.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:42.279Z,1736375922.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.257599 m, bearing: 242.298937 deg, approach rate: 0.031824 m/s, LOS rate: -0.450842 deg/s, cmd heading: 345.855644 deg, new cmd heading: 345.315127 deg. 2025-01-08T22:38:42.280Z,1736375922.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026886 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:42.429Z,1736375922.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:42.430Z,1736375922.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792958 2025-01-08T22:38:42.680Z,1736375922.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:42.681Z,1736375922.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044103 2025-01-08T22:38:42.701Z,1736375922.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:42.709Z,1736375922.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:42.712Z,1736375922.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.269661 m, bearing: 242.092209 deg, approach rate: 0.026824 m/s, LOS rate: -0.459646 deg/s, cmd heading: 345.315131 deg, new cmd heading: 344.695072 deg. 2025-01-08T22:38:42.713Z,1736375922.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.016064 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:42.932Z,1736375922.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:42.932Z,1736375922.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295562 2025-01-08T22:38:43.050Z,1736375923.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:43.059Z,1736375923.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:43.062Z,1736375923.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.278130 m, bearing: 241.931941 deg, approach rate: 0.024237 m/s, LOS rate: -0.458633 deg/s, cmd heading: 344.695059 deg, new cmd heading: 344.214320 deg. 2025-01-08T22:38:43.064Z,1736375923.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007673 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:43.186Z,1736375923.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:43.189Z,1736375923.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551935 2025-01-08T22:38:43.436Z,1736375923.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:43.436Z,1736375923.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799581 2025-01-08T22:38:43.657Z,1736375923.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:43.670Z,1736375923.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:43.688Z,1736375923.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:43.688Z,1736375923.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051481 2025-01-08T22:38:43.696Z,1736375923.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.300285 m, bearing: 241.651846 deg, approach rate: 0.036241 m/s, LOS rate: -0.458027 deg/s, cmd heading: 344.214323 deg, new cmd heading: 343.374343 deg. 2025-01-08T22:38:43.697Z,1736375923.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993013 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:43.940Z,1736375923.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:43.941Z,1736375923.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304176 2025-01-08T22:38:44.010Z,1736375924.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:44.019Z,1736375924.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:44.022Z,1736375924.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.310905 m, bearing: 241.488412 deg, approach rate: 0.030433 m/s, LOS rate: -0.468267 deg/s, cmd heading: 343.374346 deg, new cmd heading: 342.884125 deg. 2025-01-08T22:38:44.023Z,1736375924.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.984457 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:44.192Z,1736375924.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:44.192Z,1736375924.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555506 2025-01-08T22:38:44.444Z,1736375924.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:44.445Z,1736375924.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807665 2025-01-08T22:38:44.453Z,1736375924.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:44.461Z,1736375924.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:44.464Z,1736375924.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:44.467Z,1736375924.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.340164 m, bearing: 241.285786 deg, approach rate: 0.065721 m/s, LOS rate: -0.454960 deg/s, cmd heading: 342.884130 deg, new cmd heading: 342.276509 deg. 2025-01-08T22:38:44.468Z,1736375924.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973852 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:44.696Z,1736375924.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:44.696Z,1736375924.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059439 2025-01-08T22:38:44.792Z,1736375924.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:44.816Z,1736375924.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:44.821Z,1736375924.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.361923 m, bearing: 241.131147 deg, approach rate: 0.061758 m/s, LOS rate: -0.438779 deg/s, cmd heading: 342.276516 deg, new cmd heading: 341.812742 deg. 2025-01-08T22:38:44.822Z,1736375924.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965758 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:44.948Z,1736375924.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:44.948Z,1736375924.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311562 2025-01-08T22:38:45.200Z,1736375925.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:45.201Z,1736375925.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563646 2025-01-08T22:38:45.216Z,1736375925.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:45.231Z,1736375925.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:45.238Z,1736375925.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.387947 m, bearing: 240.937233 deg, approach rate: 0.062825 m/s, LOS rate: -0.467971 deg/s, cmd heading: 341.812746 deg, new cmd heading: 341.231224 deg. 2025-01-08T22:38:45.239Z,1736375925.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955608 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:45.452Z,1736375925.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:45.452Z,1736375925.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815449 2025-01-08T22:38:45.622Z,1736375925.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:45.657Z,1736375925.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:45.673Z,1736375925.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.426186 m, bearing: 240.754391 deg, approach rate: 0.089706 m/s, LOS rate: -0.428722 deg/s, cmd heading: 341.231224 deg, new cmd heading: 340.682991 deg. 2025-01-08T22:38:45.675Z,1736375925.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946040 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:45.707Z,1736375925.707 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:45.707Z,1736375925.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070486 2025-01-08T22:38:45.960Z,1736375925.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:45.960Z,1736375925.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323549 2025-01-08T22:38:46.005Z,1736375926.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:46.037Z,1736375926.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:46.048Z,1736375926.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.461342 m, bearing: 240.581616 deg, approach rate: 0.092442 m/s, LOS rate: -0.454094 deg/s, cmd heading: 340.682978 deg, new cmd heading: 340.164905 deg. 2025-01-08T22:38:46.049Z,1736375926.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936997 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:46.213Z,1736375926.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:46.213Z,1736375926.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576382 2025-01-08T22:38:46.464Z,1736375926.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:46.464Z,1736375926.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827614 2025-01-08T22:38:46.476Z,1736375926.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:46.510Z,1736375926.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:46.516Z,1736375926.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:46.518Z,1736375926.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.513412 m, bearing: 240.376558 deg, approach rate: 0.109795 m/s, LOS rate: -0.432084 deg/s, cmd heading: 340.164895 deg, new cmd heading: 339.550166 deg. 2025-01-08T22:38:46.524Z,1736375926.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926269 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:46.718Z,1736375926.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:46.720Z,1736375926.720 [DAT](INFO): Reached modem response timeout 2025-01-08T22:38:46.720Z,1736375926.720 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:38:46.720Z,1736375926.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:46.847Z,1736375926.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:46.863Z,1736375926.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:46.884Z,1736375926.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.553612 m, bearing: 240.215305 deg, approach rate: 0.114445 m/s, LOS rate: -0.458839 deg/s, cmd heading: 339.550178 deg, new cmd heading: 339.066684 deg. 2025-01-08T22:38:46.888Z,1736375926.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917830 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:46.968Z,1736375926.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:46.968Z,1736375926.968 [DAT](INFO): DAT read: user:2750> 2025-01-08T22:38:46.969Z,1736375926.969 [DAT](INFO): Reached modem response timeout 2025-01-08T22:38:46.969Z,1736375926.969 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:38:46.969Z,1736375926.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:47.220Z,1736375927.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:47.220Z,1736375927.220 [DAT](INFO): Reached modem response timeout 2025-01-08T22:38:47.220Z,1736375927.220 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:38:47.221Z,1736375927.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:47.254Z,1736375927.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:47.275Z,1736375927.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:47.279Z,1736375927.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.596794 m, bearing: 240.037773 deg, approach rate: 0.105739 m/s, LOS rate: -0.434471 deg/s, cmd heading: 339.066682 deg, new cmd heading: 338.534402 deg. 2025-01-08T22:38:47.288Z,1736375927.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908540 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:47.472Z,1736375927.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:47.473Z,1736375927.473 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:38:47.473Z,1736375927.473 [DAT](INFO): response not received 2025-01-08T22:38:47.473Z,1736375927.473 [DAT](INFO): DAT read: user:2751> 2025-01-08T22:38:47.474Z,1736375927.474 [DAT](INFO): DAT read: Tx time:22:38:46.8091 2025-01-08T22:38:47.474Z,1736375927.474 [DAT](INFO): Ping request sent. 2025-01-08T22:38:47.474Z,1736375927.474 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:47.474Z,1736375927.474 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:47.475Z,1736375927.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719 2025-01-08T22:38:47.673Z,1736375927.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:47.685Z,1736375927.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:47.688Z,1736375927.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.641312 m, bearing: 239.856421 deg, approach rate: 0.107610 m/s, LOS rate: -0.438118 deg/s, cmd heading: 338.534392 deg, new cmd heading: 337.990670 deg. 2025-01-08T22:38:47.689Z,1736375927.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.899050 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:47.724Z,1736375927.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:47.725Z,1736375927.725 [DAT](INFO): DAT read: TxSync time:22:38:46.8083 2025-01-08T22:38:47.725Z,1736375927.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251065 2025-01-08T22:38:47.976Z,1736375927.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:47.978Z,1736375927.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503282 2025-01-08T22:38:48.035Z,1736375928.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:48.048Z,1736375928.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:48.050Z,1736375928.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.678444 m, bearing: 239.699902 deg, approach rate: 0.102531 m/s, LOS rate: -0.431978 deg/s, cmd heading: 337.990682 deg, new cmd heading: 337.521363 deg. 2025-01-08T22:38:48.072Z,1736375928.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890859 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:48.228Z,1736375928.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:48.229Z,1736375928.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754629 2025-01-08T22:38:48.482Z,1736375928.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:48.482Z,1736375928.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007854 2025-01-08T22:38:48.524Z,1736375928.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:48.532Z,1736375928.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:48.534Z,1736375928.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:48.537Z,1736375928.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.725189 m, bearing: 239.488339 deg, approach rate: 0.096047 m/s, LOS rate: -0.434430 deg/s, cmd heading: 337.521366 deg, new cmd heading: 336.887091 deg. 2025-01-08T22:38:48.538Z,1736375928.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879789 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:48.733Z,1736375928.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:48.734Z,1736375928.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260123 2025-01-08T22:38:48.922Z,1736375928.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:48.932Z,1736375928.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:48.934Z,1736375928.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.762642 m, bearing: 239.316002 deg, approach rate: 0.094193 m/s, LOS rate: -0.433214 deg/s, cmd heading: 336.887087 deg, new cmd heading: 336.370343 deg. 2025-01-08T22:38:48.936Z,1736375928.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870770 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:48.984Z,1736375928.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:48.986Z,1736375928.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511051 2025-01-08T22:38:49.236Z,1736375929.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:49.237Z,1736375929.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762290 2025-01-08T22:38:49.289Z,1736375929.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:49.306Z,1736375929.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:49.314Z,1736375929.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.797707 m, bearing: 239.157592 deg, approach rate: 0.093634 m/s, LOS rate: -0.422813 deg/s, cmd heading: 336.370342 deg, new cmd heading: 335.895340 deg. 2025-01-08T22:38:49.314Z,1736375929.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862480 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:49.488Z,1736375929.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:49.488Z,1736375929.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014027 2025-01-08T22:38:49.706Z,1736375929.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:49.714Z,1736375929.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:49.717Z,1736375929.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.831734 m, bearing: 238.976432 deg, approach rate: 0.083292 m/s, LOS rate: -0.443249 deg/s, cmd heading: 335.895344 deg, new cmd heading: 335.352120 deg. 2025-01-08T22:38:49.718Z,1736375929.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852999 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:49.741Z,1736375929.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:49.741Z,1736375929.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267016 2025-01-08T22:38:49.992Z,1736375929.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:49.992Z,1736375929.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518045 2025-01-08T22:38:50.075Z,1736375930.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:50.084Z,1736375930.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:50.087Z,1736375930.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.860611 m, bearing: 238.816175 deg, approach rate: 0.078033 m/s, LOS rate: -0.432885 deg/s, cmd heading: 335.352125 deg, new cmd heading: 334.871547 deg. 2025-01-08T22:38:50.088Z,1736375930.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844611 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:50.244Z,1736375930.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:50.246Z,1736375930.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771312 2025-01-08T22:38:50.497Z,1736375930.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:50.500Z,1736375930.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025058 2025-01-08T22:38:50.567Z,1736375930.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:50.574Z,1736375930.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:50.576Z,1736375930.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:50.580Z,1736375930.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.891632 m, bearing: 238.595541 deg, approach rate: 0.063104 m/s, LOS rate: -0.448634 deg/s, cmd heading: 334.871553 deg, new cmd heading: 334.209949 deg. 2025-01-08T22:38:50.581Z,1736375930.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833064 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:50.748Z,1736375930.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:50.750Z,1736375930.750 [DAT](INFO): DAT read: Rx Time:22:38:49.4085 2025-01-08T22:38:50.752Z,1736375930.752 [DAT](INFO): Rx dataTimestamp_ set to:1736375930.750599 2025-01-08T22:38:50.753Z,1736375930.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278496 2025-01-08T22:38:50.904Z,1736375930.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:50.914Z,1736375930.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m. 2025-01-08T22:38:50.917Z,1736375930.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.000000 m, nav range: 76.909409 m, bearing: 238.443881 deg, approach rate: 0.052589 m/s, LOS rate: -0.448561 deg/s, cmd heading: 334.209953 deg, new cmd heading: 333.755090 deg. 2025-01-08T22:38:50.918Z,1736375930.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825125 target range: 153.000000 and range: 153.00 m. 2025-01-08T22:38:51.001Z,1736375931.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:51.002Z,1736375931.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527345 2025-01-08T22:38:51.252Z,1736375931.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:51.258Z,1736375931.258 [DAT](INFO): DAT read: 22:38:49.4085 LVL= 15312, 21409, 17362, 22307, AGC= 62, IDX= 27,-0.24,-2.829, 1.418, 1.937, 2.366, PHS= 1.176,-0.901,-0.432, RAW= 102.4, 1.7, CAL= 112.9, -1.4, ROT= 37.1, 1.4 2025-01-08T22:38:51.259Z,1736375931.259 [DAT](INFO): got valid direction response: 22:38:49.4085 LVL= 15312, 21409, 17362, 22307, AGC= 62, IDX= 27,-0.24,-2.829, 1.418, 1.937, 2.366, PHS= 1.176,-0.901,-0.432, RAW= 102.4, 1.7, CAL= 112.9, -1.4, ROT= 37.1, 1.4 2025-01-08T22:38:51.265Z,1736375931.265 [DAT](INFO): DAT read: Range 10 to 50 : 146.4 m (Round-trip 195.2 ms) speed 0.3 m/s 2025-01-08T22:38:51.266Z,1736375931.266 [DAT](INFO): DAT read: user:2752> 2025-01-08T22:38:51.267Z,1736375931.267 [DAT](INFO): DAT read: Tx time:22:38:50.5092 2025-01-08T22:38:51.267Z,1736375931.267 [DAT](INFO): Ping request sent. 2025-01-08T22:38:51.267Z,1736375931.267 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:51.268Z,1736375931.268 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:51.269Z,1736375931.269 [DAT](INFO): direction in FSK: [-0.135538,-0.108500,0.984813] 2025-01-08T22:38:51.269Z,1736375931.269 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:51.269Z,1736375931.269 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:51.301Z,1736375931.301 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:51.301Z,1736375931.301 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:51.364Z,1736375931.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:51.415Z,1736375931.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 146.399994 m, deltaT: 14.871859 s, deltaX: -6.600006 m, approachRate: -0.443792 m/s, rangeRepo size: 4 2025-01-08T22:38:51.430Z,1736375931.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 146.399994 m, bearing: 241.265548 deg, lat: 36.903110 deg, lon: -122.120701 deg, deltaT: 14.871859 s, deltaX: -6.600006 m, approachRate: -0.443792 m/s, posRepo size: 4 2025-01-08T22:38:51.430Z,1736375931.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:38:51.452Z,1736375931.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 73.091537 m, bearing: 243.504838 deg, approach rate: 0.000000 m/s, LOS rate: -0.448561 deg/s, cmd heading: 333.755090 deg, new cmd heading: 333.082384 deg. 2025-01-08T22:38:51.461Z,1736375931.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813384 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:38:51.505Z,1736375931.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:51.506Z,1736375931.506 [DAT](INFO): DAT read: TxSync time:22:38:50.5084 2025-01-08T22:38:51.756Z,1736375931.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:51.941Z,1736375931.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:51.950Z,1736375931.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:38:51.977Z,1736375931.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 73.078819 m, bearing: 243.231662 deg, approach rate: -0.023713 m/s, LOS rate: -0.509422 deg/s, cmd heading: 333.082371 deg, new cmd heading: 332.262761 deg. 2025-01-08T22:38:51.979Z,1736375931.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799079 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:38:52.008Z,1736375932.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:52.260Z,1736375932.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:52.453Z,1736375932.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:52.462Z,1736375932.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:38:52.471Z,1736375932.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 73.069061 m, bearing: 242.992504 deg, approach rate: -0.019083 m/s, LOS rate: -0.467767 deg/s, cmd heading: 332.262748 deg, new cmd heading: 331.545218 deg. 2025-01-08T22:38:52.474Z,1736375932.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786556 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:38:52.501Z,1736375932.501 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:38:52.514Z,1736375932.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:52.764Z,1736375932.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:52.873Z,1736375932.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:52.880Z,1736375932.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:52.882Z,1736375932.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:38:52.885Z,1736375932.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 73.053917 m, bearing: 242.798468 deg, approach rate: -0.036004 m/s, LOS rate: -0.461400 deg/s, cmd heading: 331.545223 deg, new cmd heading: 330.963016 deg. 2025-01-08T22:38:52.886Z,1736375932.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776394 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:38:53.016Z,1736375933.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:53.016Z,1736375933.016 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:53.016Z,1736375933.016 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:53.017Z,1736375933.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:53.252Z,1736375933.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:53.260Z,1736375933.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:38:53.265Z,1736375933.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 73.039467 m, bearing: 242.629582 deg, approach rate: -0.038238 m/s, LOS rate: -0.446999 deg/s, cmd heading: 330.963018 deg, new cmd heading: 330.456274 deg. 2025-01-08T22:38:53.266Z,1736375933.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767550 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:38:53.268Z,1736375933.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:53.269Z,1736375933.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001651 2025-01-08T22:38:53.505Z,1736375933.505 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:38:53.521Z,1736375933.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:53.524Z,1736375933.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256148 2025-01-08T22:38:53.702Z,1736375933.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:53.711Z,1736375933.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:38:53.715Z,1736375933.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 73.020218 m, bearing: 242.416415 deg, approach rate: -0.042713 m/s, LOS rate: -0.473136 deg/s, cmd heading: 330.456273 deg, new cmd heading: 329.816629 deg. 2025-01-08T22:38:53.732Z,1736375933.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756386 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:38:53.772Z,1736375933.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:53.773Z,1736375933.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506413 2025-01-08T22:38:54.024Z,1736375934.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:54.024Z,1736375934.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757450 2025-01-08T22:38:54.061Z,1736375934.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:54.070Z,1736375934.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:38:54.073Z,1736375934.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 73.002182 m, bearing: 242.251450 deg, approach rate: -0.050183 m/s, LOS rate: -0.459114 deg/s, cmd heading: 329.816639 deg, new cmd heading: 329.321635 deg. 2025-01-08T22:38:54.074Z,1736375934.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747747 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:38:54.276Z,1736375934.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:54.276Z,1736375934.276 [DAT](INFO): DAT read: Rx Time:22:38:53.1070 2025-01-08T22:38:54.277Z,1736375934.277 [DAT](INFO): Rx dataTimestamp_ set to:1736375934.276607 2025-01-08T22:38:54.277Z,1736375934.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010442 2025-01-08T22:38:54.452Z,1736375934.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:54.461Z,1736375934.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:38:54.484Z,1736375934.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 72.980965 m, bearing: 242.071247 deg, approach rate: -0.054303 m/s, LOS rate: -0.461342 deg/s, cmd heading: 329.321642 deg, new cmd heading: 328.780892 deg. 2025-01-08T22:38:54.485Z,1736375934.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738309 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:38:54.530Z,1736375934.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:54.532Z,1736375934.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264798 2025-01-08T22:38:54.781Z,1736375934.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:54.785Z,1736375934.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517479 2025-01-08T22:38:54.887Z,1736375934.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:54.906Z,1736375934.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:54.912Z,1736375934.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.40 m. 2025-01-08T22:38:54.914Z,1736375934.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.399994 m, nav range: 72.951096 m, bearing: 241.869689 deg, approach rate: -0.066241 m/s, LOS rate: -0.447182 deg/s, cmd heading: 328.780882 deg, new cmd heading: 328.175985 deg. 2025-01-08T22:38:54.920Z,1736375934.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727751 target range: 146.399994 and range: 146.40 m. 2025-01-08T22:38:55.032Z,1736375935.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:55.039Z,1736375935.039 [DAT](INFO): DAT read: 22:38:53.1070 LVL= 19120, 32753, 31922, 32755, AGC= 60, IDX= 427,-0.37, 0.970,-1.140,-0.831,-0.285, PHS= 1.343,-0.808,-0.549, RAW= 96.3, 0.1, CAL= 105.2, -4.0, ROT= 44.8, 4.0 2025-01-08T22:38:55.040Z,1736375935.040 [DAT](INFO): got valid direction response: 22:38:53.1070 LVL= 19120, 32753, 31922, 32755, AGC= 60, IDX= 427,-0.37, 0.970,-1.140,-0.831,-0.285, PHS= 1.343,-0.808,-0.549, RAW= 96.3, 0.1, CAL= 105.2, -4.0, ROT= 44.8, 4.0 2025-01-08T22:38:55.041Z,1736375935.041 [DAT](INFO): DAT read: Bearing 44.8, 4.0 (Local) 2025-01-08T22:38:55.042Z,1736375935.042 [DAT](INFO): Local bearing/azimuth received: Bearing 44.8, 4.0 (Local) 2025-01-08T22:38:55.043Z,1736375935.043 [DAT](INFO): DAT read: Range 10 to 50 : 145.2 m (Round-trip 193.6 ms) speed 0.4 m/s 2025-01-08T22:38:55.044Z,1736375935.044 [DAT](INFO): DAT read: user:2753> 2025-01-08T22:38:55.045Z,1736375935.045 [DAT](INFO): DAT read: Tx time:22:38:54.2092 2025-01-08T22:38:55.046Z,1736375935.046 [DAT](INFO): Ping request sent. 2025-01-08T22:38:55.046Z,1736375935.046 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:55.050Z,1736375935.050 [DAT](INFO): DAT read: TxSync time:22:38:54.2084 2025-01-08T22:38:55.061Z,1736375935.061 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:55.062Z,1736375935.062 [DAT](INFO): direction in FSK: [-0.097509,-0.002637,0.995231] 2025-01-08T22:38:55.064Z,1736375935.064 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:55.064Z,1736375935.064 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:55.069Z,1736375935.069 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:55.069Z,1736375935.069 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:55.252Z,1736375935.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:55.267Z,1736375935.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 145.199997 m, deltaT: 3.780313 s, deltaX: -1.199997 m, approachRate: -0.317433 m/s, rangeRepo size: 4 2025-01-08T22:38:55.269Z,1736375935.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 145.199997 m, bearing: 247.432565 deg, lat: 36.903297 deg, lon: -122.120614 deg, deltaT: 3.780313 s, deltaX: -1.199997 m, approachRate: -0.317433 m/s, posRepo size: 4 2025-01-08T22:38:55.270Z,1736375935.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m. 2025-01-08T22:38:55.273Z,1736375935.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.199997 m, nav range: 58.138489 m, bearing: 256.317495 deg, approach rate: 0.000000 m/s, LOS rate: -0.447182 deg/s, cmd heading: 328.175973 deg, new cmd heading: 327.700598 deg. 2025-01-08T22:38:55.274Z,1736375935.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719454 target range: 145.199997 and range: 145.20 m. 2025-01-08T22:38:55.284Z,1736375935.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:55.538Z,1736375935.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:55.698Z,1736375935.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:55.707Z,1736375935.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m. 2025-01-08T22:38:55.710Z,1736375935.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.199997 m, nav range: 58.044643 m, bearing: 256.075011 deg, approach rate: -0.212968 m/s, LOS rate: -0.551169 deg/s, cmd heading: 327.700592 deg, new cmd heading: 326.972005 deg. 2025-01-08T22:38:55.711Z,1736375935.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706738 target range: 145.199997 and range: 145.20 m. 2025-01-08T22:38:55.788Z,1736375935.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:56.040Z,1736375936.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:56.078Z,1736375936.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:56.088Z,1736375936.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m. 2025-01-08T22:38:56.091Z,1736375936.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.199997 m, nav range: 57.963017 m, bearing: 255.868601 deg, approach rate: -0.214076 m/s, LOS rate: -0.542098 deg/s, cmd heading: 326.972002 deg, new cmd heading: 326.351924 deg. 2025-01-08T22:38:56.092Z,1736375936.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695916 target range: 145.199997 and range: 145.20 m. 2025-01-08T22:38:56.292Z,1736375936.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:56.468Z,1736375936.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:56.477Z,1736375936.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m. 2025-01-08T22:38:56.481Z,1736375936.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.199997 m, nav range: 57.877617 m, bearing: 255.656814 deg, approach rate: -0.219743 m/s, LOS rate: -0.545754 deg/s, cmd heading: 326.351930 deg, new cmd heading: 325.715660 deg. 2025-01-08T22:38:56.482Z,1736375936.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684811 target range: 145.199997 and range: 145.20 m. 2025-01-08T22:38:56.546Z,1736375936.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:56.796Z,1736375936.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:56.911Z,1736375936.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:56.918Z,1736375936.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:56.920Z,1736375936.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m. 2025-01-08T22:38:56.925Z,1736375936.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.199997 m, nav range: 57.773693 m, bearing: 255.412469 deg, approach rate: -0.234617 m/s, LOS rate: -0.552621 deg/s, cmd heading: 325.715657 deg, new cmd heading: 324.981345 deg. 2025-01-08T22:38:56.927Z,1736375936.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671995 target range: 145.199997 and range: 145.20 m. 2025-01-08T22:38:57.048Z,1736375937.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:57.049Z,1736375937.049 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:57.049Z,1736375937.049 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:57.049Z,1736375937.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:57.292Z,1736375937.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:57.300Z,1736375937.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:57.301Z,1736375937.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254568 2025-01-08T22:38:57.303Z,1736375937.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m. 2025-01-08T22:38:57.306Z,1736375937.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.199997 m, nav range: 57.684822 m, bearing: 255.200817 deg, approach rate: -0.231931 m/s, LOS rate: -0.553206 deg/s, cmd heading: 324.981357 deg, new cmd heading: 324.345452 deg. 2025-01-08T22:38:57.307Z,1736375937.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.660896 target range: 145.199997 and range: 145.20 m. 2025-01-08T22:38:57.572Z,1736375937.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:57.575Z,1736375937.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528222 2025-01-08T22:38:57.706Z,1736375937.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:57.716Z,1736375937.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m. 2025-01-08T22:38:57.719Z,1736375937.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.199997 m, nav range: 57.576290 m, bearing: 254.964048 deg, approach rate: -0.262703 m/s, LOS rate: -0.574182 deg/s, cmd heading: 324.345439 deg, new cmd heading: 323.633830 deg. 2025-01-08T22:38:57.752Z,1736375937.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648476 target range: 145.199997 and range: 145.20 m. 2025-01-08T22:38:57.812Z,1736375937.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:57.812Z,1736375937.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766457 2025-01-08T22:38:58.064Z,1736375938.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:58.065Z,1736375938.065 [DAT](INFO): DAT read: Rx Time:22:38:56.8053 2025-01-08T22:38:58.065Z,1736375938.065 [DAT](INFO): Rx dataTimestamp_ set to:1736375938.064809 2025-01-08T22:38:58.066Z,1736375938.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019590 2025-01-08T22:38:58.100Z,1736375938.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:58.109Z,1736375938.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m. 2025-01-08T22:38:58.112Z,1736375938.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.199997 m, nav range: 57.471546 m, bearing: 254.738218 deg, approach rate: -0.266759 m/s, LOS rate: -0.576184 deg/s, cmd heading: 323.633843 deg, new cmd heading: 322.955152 deg. 2025-01-08T22:38:58.113Z,1736375938.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636631 target range: 145.199997 and range: 145.20 m. 2025-01-08T22:38:58.316Z,1736375938.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:58.316Z,1736375938.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270393 2025-01-08T22:38:58.531Z,1736375938.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:58.570Z,1736375938.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:58.613Z,1736375938.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.20 m. 2025-01-08T22:38:58.636Z,1736375938.636 [DAT](INFO): DAT read: 22:38:56.8053 LVL= 17728, 27505, 21458, 27059, AGC= 58, IDX= 426,-0.29, 1.440,-0.511,-0.418, 0.256, PHS= 1.272,-0.719,-0.677, RAW= 91.1, 1.3, CAL= 98.7, -2.0, ROT= 51.3, 2.0 2025-01-08T22:38:58.637Z,1736375938.637 [DAT](INFO): got valid direction response: 22:38:56.8053 LVL= 17728, 27505, 21458, 27059, AGC= 58, IDX= 426,-0.29, 1.440,-0.511,-0.418, 0.256, PHS= 1.272,-0.719,-0.677, RAW= 91.1, 1.3, CAL= 98.7, -2.0, ROT= 51.3, 2.0 2025-01-08T22:38:58.638Z,1736375938.638 [DAT](INFO): DAT read: Bearing 51.3, 2.0 (Local) 2025-01-08T22:38:58.638Z,1736375938.638 [DAT](INFO): Local bearing/azimuth received: Bearing 51.3, 2.0 (Local) 2025-01-08T22:38:58.639Z,1736375938.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.199997 m, nav range: 57.356075 m, bearing: 254.491839 deg, approach rate: -0.233895 m/s, LOS rate: -0.500065 deg/s, cmd heading: 322.955140 deg, new cmd heading: 322.214557 deg. 2025-01-08T22:38:58.640Z,1736375938.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623705 target range: 145.199997 and range: 145.20 m. 2025-01-08T22:38:58.650Z,1736375938.650 [DAT](INFO): DAT read: Range 10 to 50 : 143.9 m (Round-trip 191.9 ms) speed 0.2 m/s 2025-01-08T22:38:58.672Z,1736375938.672 [DAT](INFO): DAT read: user:2754> 2025-01-08T22:38:58.673Z,1736375938.673 [DAT](INFO): DAT read: Tx time:22:38:57.9092 2025-01-08T22:38:58.674Z,1736375938.674 [DAT](INFO): Ping request sent. 2025-01-08T22:38:58.674Z,1736375938.674 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:38:58.675Z,1736375938.675 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:38:58.684Z,1736375938.684 [DAT](INFO): direction in FSK: [-0.111052,0.090572,0.989679] 2025-01-08T22:38:58.685Z,1736375938.685 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:58.685Z,1736375938.685 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:58.700Z,1736375938.700 [DAT](INFO): publishing transmit ping time 2025-01-08T22:38:58.700Z,1736375938.700 [DAT](INFO): publishing direction and range info 2025-01-08T22:38:58.820Z,1736375938.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:58.821Z,1736375938.821 [DAT](INFO): DAT read: TxSync time:22:38:57.9084 2025-01-08T22:38:59.072Z,1736375939.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:59.132Z,1736375939.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:59.170Z,1736375939.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 143.899994 m, deltaT: 3.537755 s, deltaX: -1.300003 m, approachRate: -0.367466 m/s, rangeRepo size: 4 2025-01-08T22:38:59.177Z,1736375939.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 143.899994 m, bearing: 92.937158 deg, lat: 36.903314 deg, lon: -122.120207 deg, deltaT: 3.537755 s, deltaX: -1.300003 m, approachRate: -0.367466 m/s, posRepo size: 4 2025-01-08T22:38:59.177Z,1736375939.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.90 m. 2025-01-08T22:38:59.185Z,1736375939.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.899994 m, nav range: 23.285542 m, bearing: 233.881951 deg, approach rate: 0.000000 m/s, LOS rate: -0.500065 deg/s, cmd heading: 322.214557 deg, new cmd heading: 321.363309 deg. 2025-01-08T22:38:59.186Z,1736375939.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608848 target range: 143.899994 and range: 143.90 m. 2025-01-08T22:38:59.324Z,1736375939.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:59.509Z,1736375939.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:59.519Z,1736375939.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:38:59.521Z,1736375939.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.90 m. 2025-01-08T22:38:59.524Z,1736375939.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.899994 m, nav range: 23.258297 m, bearing: 233.281299 deg, approach rate: -0.077563 m/s, LOS rate: -1.711985 deg/s, cmd heading: 321.363296 deg, new cmd heading: 319.559858 deg. 2025-01-08T22:38:59.525Z,1736375939.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577372 target range: 143.899994 and range: 143.90 m. 2025-01-08T22:38:59.578Z,1736375939.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:59.580Z,1736375939.580 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:38:59.581Z,1736375939.581 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:38:59.582Z,1736375939.582 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:38:59.828Z,1736375939.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:38:59.829Z,1736375939.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.154264 2025-01-08T22:38:59.967Z,1736375939.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:38:59.981Z,1736375939.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.90 m. 2025-01-08T22:38:59.984Z,1736375939.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.899994 m, nav range: 23.219311 m, bearing: 232.526274 deg, approach rate: -0.085066 m/s, LOS rate: -1.650150 deg/s, cmd heading: 319.559853 deg, new cmd heading: 317.292227 deg. 2025-01-08T22:38:59.985Z,1736375939.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537794 target range: 143.899994 and range: 143.90 m. 2025-01-08T22:39:00.080Z,1736375940.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:00.082Z,1736375940.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.407385 2025-01-08T22:39:00.332Z,1736375940.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:00.333Z,1736375940.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.658427 2025-01-08T22:39:00.370Z,1736375940.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:00.386Z,1736375940.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.90 m. 2025-01-08T22:39:00.392Z,1736375940.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.899994 m, nav range: 23.188334 m, bearing: 231.859480 deg, approach rate: -0.076246 m/s, LOS rate: -1.643378 deg/s, cmd heading: 317.292230 deg, new cmd heading: 315.290036 deg. 2025-01-08T22:39:00.394Z,1736375940.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502849 target range: 143.899994 and range: 143.90 m. 2025-01-08T22:39:00.584Z,1736375940.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:00.586Z,1736375940.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.911381 2025-01-08T22:39:00.790Z,1736375940.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:00.799Z,1736375940.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.90 m. 2025-01-08T22:39:00.802Z,1736375940.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.899994 m, nav range: 23.151352 m, bearing: 231.151437 deg, approach rate: -0.089429 m/s, LOS rate: -1.714883 deg/s, cmd heading: 315.290029 deg, new cmd heading: 313.163539 deg. 2025-01-08T22:39:00.803Z,1736375940.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465735 target range: 143.899994 and range: 143.90 m. 2025-01-08T22:39:00.836Z,1736375940.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:00.836Z,1736375940.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.162341 2025-01-08T22:39:01.088Z,1736375941.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:01.088Z,1736375941.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.414251 2025-01-08T22:39:01.164Z,1736375941.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:01.173Z,1736375941.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.90 m. 2025-01-08T22:39:01.175Z,1736375941.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.899994 m, nav range: 23.118610 m, bearing: 230.519444 deg, approach rate: -0.087679 m/s, LOS rate: -1.694787 deg/s, cmd heading: 313.163545 deg, new cmd heading: 311.265612 deg. 2025-01-08T22:39:01.176Z,1736375941.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432610 target range: 143.899994 and range: 143.90 m. 2025-01-08T22:39:01.341Z,1736375941.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:01.345Z,1736375941.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.669616 2025-01-08T22:39:01.559Z,1736375941.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:01.568Z,1736375941.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:01.573Z,1736375941.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.90 m. 2025-01-08T22:39:01.577Z,1736375941.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.899994 m, nav range: 23.083605 m, bearing: 229.852175 deg, approach rate: -0.087378 m/s, LOS rate: -1.668066 deg/s, cmd heading: 311.265599 deg, new cmd heading: 309.261620 deg. 2025-01-08T22:39:01.578Z,1736375941.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397634 target range: 143.899994 and range: 143.90 m. 2025-01-08T22:39:01.593Z,1736375941.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:01.596Z,1736375941.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.921121 2025-01-08T22:39:01.844Z,1736375941.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:01.844Z,1736375941.844 [DAT](INFO): DAT read: Rx Time:22:39:00.5041 2025-01-08T22:39:01.845Z,1736375941.845 [DAT](INFO): Rx dataTimestamp_ set to:1736375941.844615 2025-01-08T22:39:01.846Z,1736375941.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.172029 2025-01-08T22:39:01.993Z,1736375941.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:02.001Z,1736375942.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.90 m. 2025-01-08T22:39:02.004Z,1736375942.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.899994 m, nav range: 23.046967 m, bearing: 229.104077 deg, approach rate: -0.085656 m/s, LOS rate: -1.751693 deg/s, cmd heading: 309.261622 deg, new cmd heading: 307.014977 deg. 2025-01-08T22:39:02.006Z,1736375942.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.358422 target range: 143.899994 and range: 143.90 m. 2025-01-08T22:39:02.097Z,1736375942.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:02.098Z,1736375942.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.423701 2025-01-08T22:39:02.348Z,1736375942.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:02.354Z,1736375942.354 [DAT](INFO): DAT read: 22:39:00.5042 LVL= 13728, 27409, 19922, 27091, AGC= 59, IDX= 430,-0.19, 1.766, 0.156,-0.127, 0.851, PHS= 1.003,-0.648,-0.981, RAW= 81.0, 6.9, CAL= 86.0, 7.9, ROT= 64.0, -7.9 2025-01-08T22:39:02.356Z,1736375942.356 [DAT](INFO): got valid direction response: 22:39:00.5042 LVL= 13728, 27409, 19922, 27091, AGC= 59, IDX= 430,-0.19, 1.766, 0.156,-0.127, 0.851, PHS= 1.003,-0.648,-0.981, RAW= 81.0, 6.9, CAL= 86.0, 7.9, ROT= 64.0, -7.9 2025-01-08T22:39:02.357Z,1736375942.357 [DAT](INFO): DAT read: Bearing 64.0, -7.9 (Local) 2025-01-08T22:39:02.357Z,1736375942.357 [DAT](INFO): Local bearing/azimuth received: Bearing 64.0, -7.9 (Local) 2025-01-08T22:39:02.359Z,1736375942.359 [DAT](INFO): DAT read: Range 10 to 50 : 143.1 m (Round-trip 190.8 ms) speed 0.0 m/s 2025-01-08T22:39:02.359Z,1736375942.359 [DAT](INFO): DAT read: user:2755> 2025-01-08T22:39:02.360Z,1736375942.360 [DAT](INFO): DAT read: Tx time:22:39:01.6093 2025-01-08T22:39:02.360Z,1736375942.360 [DAT](INFO): Ping request sent. 2025-01-08T22:39:02.360Z,1736375942.360 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:02.361Z,1736375942.361 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:39:02.362Z,1736375942.362 [DAT](INFO): direction in FSK: [-0.197883,0.264127,0.943970] 2025-01-08T22:39:02.362Z,1736375942.362 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:02.363Z,1736375942.363 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:02.374Z,1736375942.374 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:02.374Z,1736375942.374 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:02.416Z,1736375942.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:02.451Z,1736375942.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 143.100006 m, deltaT: 3.778045 s, deltaX: -0.799988 m, approachRate: -0.211746 m/s, rangeRepo size: 4 2025-01-08T22:39:02.462Z,1736375942.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 143.100006 m, bearing: 82.063539 deg, lat: 36.903392 deg, lon: -122.120066 deg, deltaT: 3.778045 s, deltaX: -0.799988 m, approachRate: -0.211746 m/s, posRepo size: 4 2025-01-08T22:39:02.472Z,1736375942.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:02.474Z,1736375942.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.139871 m, bearing: 215.181318 deg, approach rate: 0.000000 m/s, LOS rate: -1.751693 deg/s, cmd heading: 307.014981 deg, new cmd heading: 304.655294 deg. 2025-01-08T22:39:02.483Z,1736375942.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317238 target range: 143.100006 and range: 143.10 m. 2025-01-08T22:39:02.602Z,1736375942.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:02.603Z,1736375942.603 [DAT](INFO): DAT read: TxSync time:22:39:01.6085 2025-01-08T22:39:02.834Z,1736375942.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:02.856Z,1736375942.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:02.851Z,1736375942.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:02.859Z,1736375942.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.175429 m, bearing: 213.030411 deg, approach rate: 0.088755 m/s, LOS rate: -5.344112 deg/s, cmd heading: 304.655288 deg, new cmd heading: 298.258848 deg. 2025-01-08T22:39:02.865Z,1736375942.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205599 target range: 143.100006 and range: 143.10 m. 2025-01-08T22:39:03.108Z,1736375943.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:03.175Z,1736375943.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:03.185Z,1736375943.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:03.187Z,1736375943.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.205976 m, bearing: 211.370326 deg, approach rate: 0.091541 m/s, LOS rate: -4.955748 deg/s, cmd heading: 298.258843 deg, new cmd heading: 293.310164 deg. 2025-01-08T22:39:03.188Z,1736375943.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.119228 target range: 143.100006 and range: 143.10 m. 2025-01-08T22:39:03.360Z,1736375943.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:03.572Z,1736375943.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:03.579Z,1736375943.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:03.581Z,1736375943.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:03.584Z,1736375943.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.244464 m, bearing: 209.444281 deg, approach rate: 0.096974 m/s, LOS rate: -4.829256 deg/s, cmd heading: 293.310152 deg, new cmd heading: 287.579261 deg. 2025-01-08T22:39:03.585Z,1736375943.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.019205 target range: 143.100006 and range: 143.10 m. 2025-01-08T22:39:03.613Z,1736375943.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:03.613Z,1736375943.613 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:03.613Z,1736375943.613 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:03.613Z,1736375943.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:03.864Z,1736375943.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:03.864Z,1736375943.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503972 2025-01-08T22:39:04.031Z,1736375944.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:04.051Z,1736375944.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:04.058Z,1736375944.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.289589 m, bearing: 207.386564 deg, approach rate: 0.096146 m/s, LOS rate: -4.359474 deg/s, cmd heading: 287.579268 deg, new cmd heading: 281.464365 deg. 2025-01-08T22:39:04.059Z,1736375944.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.912480 target range: 143.100006 and range: 143.10 m. 2025-01-08T22:39:04.116Z,1736375944.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:04.117Z,1736375944.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756103 2025-01-08T22:39:04.368Z,1736375944.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:04.368Z,1736375944.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007785 2025-01-08T22:39:04.399Z,1736375944.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:04.420Z,1736375944.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:04.423Z,1736375944.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.331024 m, bearing: 205.618066 deg, approach rate: 0.112135 m/s, LOS rate: -4.761464 deg/s, cmd heading: 281.464364 deg, new cmd heading: 276.200951 deg. 2025-01-08T22:39:04.432Z,1736375944.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820616 target range: 143.100006 and range: 143.10 m. 2025-01-08T22:39:04.620Z,1736375944.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:04.621Z,1736375944.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260303 2025-01-08T22:39:04.809Z,1736375944.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:04.820Z,1736375944.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:04.822Z,1736375944.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.381422 m, bearing: 203.796880 deg, approach rate: 0.126278 m/s, LOS rate: -4.534983 deg/s, cmd heading: 276.200938 deg, new cmd heading: 270.787317 deg. 2025-01-08T22:39:04.824Z,1736375944.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.726130 target range: 143.100006 and range: 143.10 m. 2025-01-08T22:39:04.872Z,1736375944.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:04.874Z,1736375944.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512898 2025-01-08T22:39:05.124Z,1736375945.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:05.124Z,1736375945.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763950 2025-01-08T22:39:05.223Z,1736375945.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:05.233Z,1736375945.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:05.236Z,1736375945.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.440558 m, bearing: 201.988561 deg, approach rate: 0.142918 m/s, LOS rate: -4.338927 deg/s, cmd heading: 270.787303 deg, new cmd heading: 265.417027 deg. 2025-01-08T22:39:05.237Z,1736375945.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632401 target range: 143.100006 and range: 143.10 m. 2025-01-08T22:39:05.377Z,1736375945.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:05.377Z,1736375945.377 [DAT](INFO): DAT read: Rx Time:22:39:04.2038 2025-01-08T22:39:05.378Z,1736375945.378 [DAT](INFO): Rx dataTimestamp_ set to:1736375945.377657 2025-01-08T22:39:05.379Z,1736375945.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019004 2025-01-08T22:39:05.593Z,1736375945.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:05.601Z,1736375945.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:05.603Z,1736375945.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:05.605Z,1736375945.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.486781 m, bearing: 200.368221 deg, approach rate: 0.125119 m/s, LOS rate: -4.361571 deg/s, cmd heading: 265.417026 deg, new cmd heading: 260.594547 deg. 2025-01-08T22:39:05.606Z,1736375945.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548233 target range: 143.100006 and range: 143.10 m. 2025-01-08T22:39:05.630Z,1736375945.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:05.632Z,1736375945.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271363 2025-01-08T22:39:05.880Z,1736375945.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:05.882Z,1736375945.882 [DAT](INFO): DAT read: Range 10 to 50 : 142.7 m (Round-trip 190.3 ms) speed 0.0 m/s 2025-01-08T22:39:05.882Z,1736375945.882 [DAT](INFO): DAT read: user:2756> 2025-01-08T22:39:05.883Z,1736375945.883 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:39:05.884Z,1736375945.884 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:05.884Z,1736375945.884 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:05.884Z,1736375945.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:06.056Z,1736375946.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:06.083Z,1736375946.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 142.699997 m, deltaT: 3.532208 s, deltaX: -0.400009 m, approachRate: -0.113246 m/s, rangeRepo size: 4 2025-01-08T22:39:06.088Z,1736375946.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:06.090Z,1736375946.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.544458 m, bearing: 198.452612 deg, approach rate: 0.122246 m/s, LOS rate: -4.031945 deg/s, cmd heading: 260.594557 deg, new cmd heading: 254.906347 deg. 2025-01-08T22:39:06.096Z,1736375946.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448955 target range: 143.100006 and range: 142.70 m. 2025-01-08T22:39:06.132Z,1736375946.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:06.133Z,1736375946.133 [DAT](INFO): DAT read: Tx time:22:39:05.3093 2025-01-08T22:39:06.133Z,1736375946.133 [DAT](INFO): Ping request sent. 2025-01-08T22:39:06.133Z,1736375946.133 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:06.134Z,1736375946.134 [DAT](INFO): DAT read: TxSync time:22:39:05.3085 2025-01-08T22:39:06.134Z,1736375946.134 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:06.135Z,1736375946.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001533 2025-01-08T22:39:06.384Z,1736375946.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:06.384Z,1736375946.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251087 2025-01-08T22:39:06.416Z,1736375946.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:06.432Z,1736375946.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:06.435Z,1736375946.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.589376 m, bearing: 196.975774 deg, approach rate: 0.125516 m/s, LOS rate: -4.104732 deg/s, cmd heading: 254.906348 deg, new cmd heading: 250.508151 deg. 2025-01-08T22:39:06.437Z,1736375946.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372192 target range: 143.100006 and range: 142.70 m. 2025-01-08T22:39:06.636Z,1736375946.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:06.636Z,1736375946.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502945 2025-01-08T22:39:06.850Z,1736375946.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:06.859Z,1736375946.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:06.863Z,1736375946.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.644444 m, bearing: 195.347900 deg, approach rate: 0.129089 m/s, LOS rate: -3.791277 deg/s, cmd heading: 250.508143 deg, new cmd heading: 245.667831 deg. 2025-01-08T22:39:06.865Z,1736375946.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287713 target range: 143.100006 and range: 142.70 m. 2025-01-08T22:39:06.888Z,1736375946.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:06.889Z,1736375946.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755266 2025-01-08T22:39:07.140Z,1736375947.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:07.140Z,1736375947.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007104 2025-01-08T22:39:07.213Z,1736375947.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:07.221Z,1736375947.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:07.232Z,1736375947.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.689669 m, bearing: 193.996657 deg, approach rate: 0.124777 m/s, LOS rate: -3.708356 deg/s, cmd heading: 245.667834 deg, new cmd heading: 241.642213 deg. 2025-01-08T22:39:07.233Z,1736375947.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.217452 target range: 143.100006 and range: 142.70 m. 2025-01-08T22:39:07.392Z,1736375947.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:07.393Z,1736375947.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259205 2025-01-08T22:39:07.612Z,1736375947.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:07.639Z,1736375947.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:07.641Z,1736375947.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:07.644Z,1736375947.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:07.646Z,1736375947.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512583 2025-01-08T22:39:07.648Z,1736375947.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.737954 m, bearing: 192.517400 deg, approach rate: 0.115059 m/s, LOS rate: -3.505034 deg/s, cmd heading: 241.642203 deg, new cmd heading: 237.238140 deg. 2025-01-08T22:39:07.650Z,1736375947.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140587 target range: 143.100006 and range: 142.70 m. 2025-01-08T22:39:07.896Z,1736375947.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:07.897Z,1736375947.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763700 2025-01-08T22:39:08.070Z,1736375948.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:08.078Z,1736375948.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:08.082Z,1736375948.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.799384 m, bearing: 190.938877 deg, approach rate: 0.140535 m/s, LOS rate: -3.585573 deg/s, cmd heading: 237.238151 deg, new cmd heading: 232.546751 deg. 2025-01-08T22:39:08.084Z,1736375948.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.058706 target range: 143.100006 and range: 142.70 m. 2025-01-08T22:39:08.148Z,1736375948.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:08.150Z,1736375948.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016504 2025-01-08T22:39:08.400Z,1736375948.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:08.400Z,1736375948.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267050 2025-01-08T22:39:08.419Z,1736375948.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:08.428Z,1736375948.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:08.445Z,1736375948.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.839897 m, bearing: 189.732935 deg, approach rate: 0.115795 m/s, LOS rate: -3.430799 deg/s, cmd heading: 232.546740 deg, new cmd heading: 228.950490 deg. 2025-01-08T22:39:08.452Z,1736375948.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.995940 target range: 143.100006 and range: 142.70 m. 2025-01-08T22:39:08.652Z,1736375948.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:08.653Z,1736375948.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520112 2025-01-08T22:39:08.864Z,1736375948.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:08.874Z,1736375948.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:08.876Z,1736375948.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.896651 m, bearing: 188.277589 deg, approach rate: 0.127383 m/s, LOS rate: -3.245306 deg/s, cmd heading: 228.950495 deg, new cmd heading: 224.621033 deg. 2025-01-08T22:39:08.877Z,1736375948.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.920377 target range: 143.100006 and range: 142.70 m. 2025-01-08T22:39:08.916Z,1736375948.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:08.917Z,1736375948.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783674 2025-01-08T22:39:09.169Z,1736375949.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:09.170Z,1736375949.170 [DAT](INFO): DAT read: Rx Time:22:39:07.9039 2025-01-08T22:39:09.170Z,1736375949.170 [DAT](INFO): Rx dataTimestamp_ set to:1736375949.169878 2025-01-08T22:39:09.171Z,1736375949.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037302 2025-01-08T22:39:09.307Z,1736375949.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:09.316Z,1736375949.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:09.319Z,1736375949.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.939851 m, bearing: 186.823729 deg, approach rate: 0.097602 m/s, LOS rate: -3.268519 deg/s, cmd heading: 224.621030 deg, new cmd heading: 220.289264 deg. 2025-01-08T22:39:09.321Z,1736375949.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844773 target range: 143.100006 and range: 142.70 m. 2025-01-08T22:39:09.420Z,1736375949.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:09.422Z,1736375949.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288890 2025-01-08T22:39:09.657Z,1736375949.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:09.670Z,1736375949.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:09.673Z,1736375949.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:09.675Z,1736375949.675 [DAT](INFO): DAT read: Range 10 to 50 : 142.8 m (Round-trip 190.4 ms) speed 0.0 m/s 2025-01-08T22:39:09.677Z,1736375949.677 [DAT](INFO): DAT read: user:2757> 2025-01-08T22:39:09.678Z,1736375949.678 [DAT](INFO): DAT read: Tx time:22:39:09.0093 2025-01-08T22:39:09.679Z,1736375949.679 [DAT](INFO): Ping request sent. 2025-01-08T22:39:09.679Z,1736375949.679 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:09.680Z,1736375949.680 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:39:09.680Z,1736375949.680 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:09.681Z,1736375949.681 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:09.684Z,1736375949.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 142.800003 m, deltaT: 3.792782 s, deltaX: 0.100006 m, approachRate: 0.026367 m/s, rangeRepo size: 4 2025-01-08T22:39:09.685Z,1736375949.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:09.717Z,1736375949.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 8.978159 m, bearing: 185.681484 deg, approach rate: 0.104459 m/s, LOS rate: -3.101196 deg/s, cmd heading: 220.289269 deg, new cmd heading: 216.881407 deg. 2025-01-08T22:39:09.725Z,1736375949.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.785295 target range: 143.100006 and range: 142.80 m. 2025-01-08T22:39:09.924Z,1736375949.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:09.925Z,1736375949.925 [DAT](INFO): DAT read: TxSync time:22:39:09.0085 2025-01-08T22:39:10.177Z,1736375950.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:10.214Z,1736375950.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:10.223Z,1736375950.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:10.226Z,1736375950.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 9.027314 m, bearing: 183.856978 deg, approach rate: 0.091043 m/s, LOS rate: -3.360291 deg/s, cmd heading: 216.881401 deg, new cmd heading: 211.454890 deg. 2025-01-08T22:39:10.227Z,1736375950.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.690584 target range: 143.100006 and range: 142.80 m. 2025-01-08T22:39:10.428Z,1736375950.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:10.587Z,1736375950.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:10.596Z,1736375950.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:10.599Z,1736375950.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 9.059885 m, bearing: 182.642729 deg, approach rate: 0.087445 m/s, LOS rate: -3.248018 deg/s, cmd heading: 211.454884 deg, new cmd heading: 207.830349 deg. 2025-01-08T22:39:10.600Z,1736375950.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627324 target range: 143.100006 and range: 142.80 m. 2025-01-08T22:39:10.680Z,1736375950.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:10.933Z,1736375950.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:11.016Z,1736375951.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:39:11.016Z,1736375951.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:11.029Z,1736375951.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:11.036Z,1736375951.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 9.094802 m, bearing: 181.290324 deg, approach rate: 0.080457 m/s, LOS rate: -3.104003 deg/s, cmd heading: 207.830348 deg, new cmd heading: 203.795767 deg. 2025-01-08T22:39:11.037Z,1736375951.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.556907 target range: 143.100006 and range: 142.80 m. 2025-01-08T22:39:11.184Z,1736375951.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:11.406Z,1736375951.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:39:11.406Z,1736375951.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:11.415Z,1736375951.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:11.418Z,1736375951.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 9.127809 m, bearing: 179.986549 deg, approach rate: 0.085531 m/s, LOS rate: -3.365989 deg/s, cmd heading: 203.795769 deg, new cmd heading: 199.904916 deg. 2025-01-08T22:39:11.419Z,1736375951.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488999 target range: 143.100006 and range: 142.80 m. 2025-01-08T22:39:11.436Z,1736375951.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:11.688Z,1736375951.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:11.881Z,1736375951.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:39:11.881Z,1736375951.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:11.900Z,1736375951.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:11.902Z,1736375951.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:11.906Z,1736375951.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 9.166558 m, bearing: 178.456229 deg, approach rate: 0.079512 m/s, LOS rate: -3.126463 deg/s, cmd heading: 199.904911 deg, new cmd heading: 195.343564 deg. 2025-01-08T22:39:11.906Z,1736375951.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.409388 target range: 143.100006 and range: 142.80 m. 2025-01-08T22:39:11.940Z,1736375951.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:11.940Z,1736375951.940 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:11.940Z,1736375951.940 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:11.941Z,1736375951.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:12.192Z,1736375952.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:12.192Z,1736375952.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513839 2025-01-08T22:39:12.301Z,1736375952.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T22:39:12.301Z,1736375952.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:12.310Z,1736375952.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:12.332Z,1736375952.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 9.200488 m, bearing: 177.107786 deg, approach rate: 0.083356 m/s, LOS rate: -3.300225 deg/s, cmd heading: 195.343561 deg, new cmd heading: 191.320147 deg. 2025-01-08T22:39:12.333Z,1736375952.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.339166 target range: 143.100006 and range: 142.80 m. 2025-01-08T22:39:12.444Z,1736375952.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:12.445Z,1736375952.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765999 2025-01-08T22:39:12.697Z,1736375952.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:12.698Z,1736375952.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018971 2025-01-08T22:39:12.708Z,1736375952.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T22:39:12.708Z,1736375952.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:12.735Z,1736375952.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:12.746Z,1736375952.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 9.232601 m, bearing: 175.804713 deg, approach rate: 0.075509 m/s, LOS rate: -3.053049 deg/s, cmd heading: 191.320142 deg, new cmd heading: 187.430842 deg. 2025-01-08T22:39:12.753Z,1736375952.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.271285 target range: 143.100006 and range: 142.80 m. 2025-01-08T22:39:12.948Z,1736375952.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:12.949Z,1736375952.949 [DAT](INFO): DAT read: Rx Time:22:39:11.6046 2025-01-08T22:39:12.950Z,1736375952.950 [DAT](INFO): Rx dataTimestamp_ set to:1736375952.949776 2025-01-08T22:39:12.951Z,1736375952.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272479 2025-01-08T22:39:13.185Z,1736375953.185 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -82, +57,A 2025-01-08T22:39:13.198Z,1736375953.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s. 2025-01-08T22:39:13.199Z,1736375953.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:13.215Z,1736375953.215 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:13.216Z,1736375953.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537465 2025-01-08T22:39:13.231Z,1736375953.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m. 2025-01-08T22:39:13.310Z,1736375953.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.100006 m, nav range: 9.277558 m, bearing: 174.248550 deg, approach rate: 0.090823 m/s, LOS rate: -3.128165 deg/s, cmd heading: 187.430841 deg, new cmd heading: 182.795682 deg. 2025-01-08T22:39:13.320Z,1736375953.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.190387 target range: 143.100006 and range: 142.80 m. 2025-01-08T22:39:13.468Z,1736375953.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:13.474Z,1736375953.474 [DAT](INFO): DAT read: 22:39:11.6046 LVL= 14096, 15281, 17554, 20611, AGC= 58, IDX= 450, 0.08,-1.727,-2.107, 2.252,-2.567, PHS= 0.928, 0.507,-1.467, RAW= 39.5, 0.3, CAL= 39.0, -1.3, ROT= 111.0, 1.3 2025-01-08T22:39:13.476Z,1736375953.476 [DAT](INFO): got valid direction response: 22:39:11.6046 LVL= 14096, 15281, 17554, 20611, AGC= 58, IDX= 450, 0.08,-1.727,-2.107, 2.252,-2.567, PHS= 0.928, 0.507,-1.467, RAW= 39.5, 0.3, CAL= 39.0, -1.3, ROT= 111.0, 1.3 2025-01-08T22:39:13.477Z,1736375953.477 [DAT](INFO): DAT read: Bearing 111.0, 1.3 (Local) 2025-01-08T22:39:13.477Z,1736375953.477 [DAT](INFO): Local bearing/azimuth received: Bearing 111.0, 1.3 (Local) 2025-01-08T22:39:13.480Z,1736375953.480 [DAT](INFO): DAT read: Range 10 to 50 : 143.4 m (Round-trip 191.2 ms) speed -0.4 m/s 2025-01-08T22:39:13.481Z,1736375953.481 [DAT](INFO): DAT read: user:2758> 2025-01-08T22:39:13.482Z,1736375953.482 [DAT](INFO): DAT read: Tx time:22:39:12.7093 2025-01-08T22:39:13.482Z,1736375953.482 [DAT](INFO): Ping request sent. 2025-01-08T22:39:13.482Z,1736375953.482 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:13.482Z,1736375953.482 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:39:13.483Z,1736375953.483 [DAT](INFO): direction in FSK: [0.007696,0.814698,0.579835] 2025-01-08T22:39:13.484Z,1736375953.484 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:13.484Z,1736375953.484 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:13.487Z,1736375953.487 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:13.487Z,1736375953.487 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:13.680Z,1736375953.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.1 s old, using for 20.0 s. 2025-01-08T22:39:13.680Z,1736375953.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:13.720Z,1736375953.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:13.721Z,1736375953.721 [DAT](INFO): DAT read: TxSync time:22:39:12.7085 2025-01-08T22:39:13.722Z,1736375953.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 143.399994 m, deltaT: 3.794988 s, deltaX: 0.599991 m, approachRate: 0.158101 m/s, rangeRepo size: 4 2025-01-08T22:39:13.728Z,1736375953.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 143.399994 m, bearing: 1.860416 deg, lat: 36.903435 deg, lon: -122.120037 deg, deltaT: 11.119978 s, deltaX: 0.299988 m, approachRate: 0.026977 m/s, posRepo size: 4 2025-01-08T22:39:13.729Z,1736375953.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.40 m. 2025-01-08T22:39:13.736Z,1736375953.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.399994 m, nav range: 5.823106 m, bearing: 139.667772 deg, approach rate: 0.000000 m/s, LOS rate: -3.128165 deg/s, cmd heading: 182.795683 deg, new cmd heading: 178.256175 deg. 2025-01-08T22:39:13.737Z,1736375953.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.111157 target range: 143.399994 and range: 143.40 m. 2025-01-08T22:39:13.977Z,1736375953.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:14.228Z,1736375954.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:14.230Z,1736375954.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:14.238Z,1736375954.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:14.244Z,1736375954.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.40 m. 2025-01-08T22:39:14.263Z,1736375954.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.399994 m, nav range: 6.059588 m, bearing: 136.929661 deg, approach rate: 0.447631 m/s, LOS rate: -4.978726 deg/s, cmd heading: 178.256176 deg, new cmd heading: 170.414749 deg. 2025-01-08T22:39:14.264Z,1736375954.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.974298 target range: 143.399994 and range: 143.40 m. 2025-01-08T22:39:14.482Z,1736375954.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:14.484Z,1736375954.484 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:14.484Z,1736375954.484 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:14.484Z,1736375954.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:14.585Z,1736375954.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:14.610Z,1736375954.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.40 m. 2025-01-08T22:39:14.614Z,1736375954.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.399994 m, nav range: 6.211843 m, bearing: 135.251150 deg, approach rate: 0.414694 m/s, LOS rate: -4.459037 deg/s, cmd heading: 170.414750 deg, new cmd heading: 165.515320 deg. 2025-01-08T22:39:14.615Z,1736375954.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.888787 target range: 143.399994 and range: 143.40 m. 2025-01-08T22:39:14.732Z,1736375954.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:14.733Z,1736375954.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250578 2025-01-08T22:39:14.984Z,1736375954.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:14.985Z,1736375954.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502850 2025-01-08T22:39:15.113Z,1736375955.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:15.122Z,1736375955.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.40 m. 2025-01-08T22:39:15.125Z,1736375955.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.399994 m, nav range: 6.466298 m, bearing: 132.652429 deg, approach rate: 0.497330 m/s, LOS rate: -4.877647 deg/s, cmd heading: 165.515318 deg, new cmd heading: 158.070686 deg. 2025-01-08T22:39:15.126Z,1736375955.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.758854 target range: 143.399994 and range: 143.40 m. 2025-01-08T22:39:15.236Z,1736375955.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:15.237Z,1736375955.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755397 2025-01-08T22:39:15.473Z,1736375955.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:15.482Z,1736375955.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.40 m. 2025-01-08T22:39:15.485Z,1736375955.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.399994 m, nav range: 6.641313 m, bearing: 130.957297 deg, approach rate: 0.486107 m/s, LOS rate: -4.583525 deg/s, cmd heading: 158.070685 deg, new cmd heading: 153.132290 deg. 2025-01-08T22:39:15.486Z,1736375955.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672663 target range: 143.399994 and range: 143.40 m. 2025-01-08T22:39:15.488Z,1736375955.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:15.489Z,1736375955.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006469 2025-01-08T22:39:15.740Z,1736375955.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:15.740Z,1736375955.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258289 2025-01-08T22:39:15.908Z,1736375955.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:15.917Z,1736375955.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.40 m. 2025-01-08T22:39:15.920Z,1736375955.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.399994 m, nav range: 6.870692 m, bearing: 128.941603 deg, approach rate: 0.526624 m/s, LOS rate: -4.472346 deg/s, cmd heading: 153.132295 deg, new cmd heading: 147.308443 deg. 2025-01-08T22:39:15.921Z,1736375955.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571017 target range: 143.399994 and range: 143.40 m. 2025-01-08T22:39:15.994Z,1736375955.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:15.995Z,1736375955.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512814 2025-01-08T22:39:16.244Z,1736375956.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:16.245Z,1736375956.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763048 2025-01-08T22:39:16.301Z,1736375956.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:16.316Z,1736375956.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:16.318Z,1736375956.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.40 m. 2025-01-08T22:39:16.325Z,1736375956.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.399994 m, nav range: 7.078981 m, bearing: 127.181332 deg, approach rate: 0.519698 m/s, LOS rate: -4.262103 deg/s, cmd heading: 147.308438 deg, new cmd heading: 142.197413 deg. 2025-01-08T22:39:16.326Z,1736375956.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.481813 target range: 143.399994 and range: 143.40 m. 2025-01-08T22:39:16.496Z,1736375956.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:16.497Z,1736375956.497 [DAT](INFO): DAT read: Rx Time:22:39:15.3066 2025-01-08T22:39:16.498Z,1736375956.498 [DAT](INFO): Rx dataTimestamp_ set to:1736375956.497402 2025-01-08T22:39:16.498Z,1736375956.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016153 2025-01-08T22:39:16.748Z,1736375956.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:16.748Z,1736375956.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266440 2025-01-08T22:39:16.766Z,1736375956.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:16.859Z,1736375956.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.40 m. 2025-01-08T22:39:16.897Z,1736375956.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.399994 m, nav range: 7.318631 m, bearing: 125.111937 deg, approach rate: 0.444152 m/s, LOS rate: -3.708902 deg/s, cmd heading: 142.197408 deg, new cmd heading: 136.215643 deg. 2025-01-08T22:39:16.898Z,1736375956.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.377411 target range: 143.399994 and range: 143.40 m. 2025-01-08T22:39:17.002Z,1736375957.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:17.022Z,1736375957.022 [DAT](INFO): DAT read: 22:39:15.3065 LVL= 14448, 21057, 19954, 27619, AGC= 59, IDX= 453, 0.02, 1.866, 2.834, 0.329, 1.675, PHS= 0.280, 1.206,-1.349, RAW= 9.0, -1.2, CAL= 8.9, -3.0, ROT= 141.1, 3.0 2025-01-08T22:39:17.024Z,1736375957.024 [DAT](INFO): got valid direction response: 22:39:15.3065 LVL= 14448, 21057, 19954, 27619, AGC= 59, IDX= 453, 0.02, 1.866, 2.834, 0.329, 1.675, PHS= 0.280, 1.206,-1.349, RAW= 9.0, -1.2, CAL= 8.9, -3.0, ROT= 141.1, 3.0 2025-01-08T22:39:17.024Z,1736375957.024 [DAT](INFO): DAT read: Bearing 141.1, 3.0 (Local) 2025-01-08T22:39:17.025Z,1736375957.025 [DAT](INFO): Local bearing/azimuth received: Bearing 141.1, 3.0 (Local) 2025-01-08T22:39:17.026Z,1736375957.026 [DAT](INFO): DAT read: Range 10 to 50 : 144.7 m (Round-trip 193.0 ms) speed -0.4 m/s 2025-01-08T22:39:17.033Z,1736375957.033 [DAT](INFO): DAT read: user:2759> 2025-01-08T22:39:17.034Z,1736375957.034 [DAT](INFO): DAT read: Tx time:22:39:16.4093 2025-01-08T22:39:17.034Z,1736375957.034 [DAT](INFO): Ping request sent. 2025-01-08T22:39:17.034Z,1736375957.034 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:17.034Z,1736375957.034 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:39:17.042Z,1736375957.042 [DAT](INFO): direction in FSK: [0.095859,0.988992,0.112721] 2025-01-08T22:39:17.043Z,1736375957.043 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:17.048Z,1736375957.048 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:17.050Z,1736375957.050 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:17.051Z,1736375957.051 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:17.253Z,1736375957.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:17.254Z,1736375957.254 [DAT](INFO): DAT read: TxSync time:22:39:16.4085 2025-01-08T22:39:17.359Z,1736375957.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:17.387Z,1736375957.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 144.699997 m, deltaT: 3.534401 s, deltaX: 1.300003 m, approachRate: 0.367814 m/s, rangeRepo size: 4 2025-01-08T22:39:17.401Z,1736375957.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 144.699997 m, bearing: 345.824179 deg, lat: 36.903499 deg, lon: -122.120037 deg, deltaT: 3.534401 s, deltaX: 1.300003 m, approachRate: 0.367814 m/s, posRepo size: 4 2025-01-08T22:39:17.402Z,1736375957.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:17.409Z,1736375957.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 7.129909 m, bearing: 64.414586 deg, approach rate: 0.000000 m/s, LOS rate: -3.708902 deg/s, cmd heading: 136.215637 deg, new cmd heading: 130.355944 deg. 2025-01-08T22:39:17.410Z,1736375957.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275141 target range: 144.699997 and range: 144.70 m. 2025-01-08T22:39:17.504Z,1736375957.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:17.756Z,1736375957.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:17.801Z,1736375957.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:17.855Z,1736375957.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:17.878Z,1736375957.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 7.463979 m, bearing: 64.905040 deg, approach rate: 0.714510 m/s, LOS rate: 1.002020 deg/s, cmd heading: 130.355950 deg, new cmd heading: 131.761158 deg. 2025-01-08T22:39:17.886Z,1736375957.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299666 target range: 144.699997 and range: 144.70 m. 2025-01-08T22:39:18.008Z,1736375958.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:18.248Z,1736375958.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:18.260Z,1736375958.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:18.262Z,1736375958.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:18.265Z,1736375958.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 7.794688 m, bearing: 65.276550 deg, approach rate: 0.810748 m/s, LOS rate: 0.872126 deg/s, cmd heading: 131.761152 deg, new cmd heading: 132.828265 deg. 2025-01-08T22:39:18.266Z,1736375958.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318290 target range: 144.699997 and range: 144.70 m. 2025-01-08T22:39:18.512Z,1736375958.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:18.626Z,1736375958.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:18.633Z,1736375958.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:18.636Z,1736375958.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:18.638Z,1736375958.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 8.075325 m, bearing: 65.567696 deg, approach rate: 0.751115 m/s, LOS rate: 0.752159 deg/s, cmd heading: 132.828260 deg, new cmd heading: 133.671280 deg. 2025-01-08T22:39:18.639Z,1736375958.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333004 target range: 144.699997 and range: 144.70 m. 2025-01-08T22:39:18.764Z,1736375958.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:18.764Z,1736375958.764 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:18.764Z,1736375958.764 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:18.765Z,1736375958.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:19.016Z,1736375959.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:19.016Z,1736375959.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982381 2025-01-08T22:39:19.060Z,1736375959.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:19.069Z,1736375959.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:19.093Z,1736375959.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 8.378965 m, bearing: 65.741835 deg, approach rate: 0.699440 m/s, LOS rate: 0.386593 deg/s, cmd heading: 133.671283 deg, new cmd heading: 134.174752 deg. 2025-01-08T22:39:19.094Z,1736375959.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341791 target range: 144.699997 and range: 144.70 m. 2025-01-08T22:39:19.269Z,1736375959.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:19.270Z,1736375959.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235974 2025-01-08T22:39:19.438Z,1736375959.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:19.447Z,1736375959.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:19.450Z,1736375959.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 8.643692 m, bearing: 65.831147 deg, approach rate: 0.701019 m/s, LOS rate: 0.229263 deg/s, cmd heading: 134.174750 deg, new cmd heading: 134.434478 deg. 2025-01-08T22:39:19.451Z,1736375959.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.346324 target range: 144.699997 and range: 144.70 m. 2025-01-08T22:39:19.521Z,1736375959.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:19.522Z,1736375959.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487703 2025-01-08T22:39:19.772Z,1736375959.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:19.773Z,1736375959.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738603 2025-01-08T22:39:19.836Z,1736375959.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:19.850Z,1736375959.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:19.885Z,1736375959.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 8.923362 m, bearing: 65.864536 deg, approach rate: 0.692981 m/s, LOS rate: 0.080140 deg/s, cmd heading: 134.434474 deg, new cmd heading: 134.531502 deg. 2025-01-08T22:39:19.895Z,1736375959.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.348018 target range: 144.699997 and range: 144.70 m. 2025-01-08T22:39:20.024Z,1736375960.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:20.025Z,1736375960.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991308 2025-01-08T22:39:20.276Z,1736375960.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:20.276Z,1736375960.276 [DAT](INFO): DAT read: Rx Time:22:39:19.0091 2025-01-08T22:39:20.277Z,1736375960.277 [DAT](INFO): Rx dataTimestamp_ set to:1736375960.276488 2025-01-08T22:39:20.277Z,1736375960.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243252 2025-01-08T22:39:20.297Z,1736375960.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:20.331Z,1736375960.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:20.334Z,1736375960.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 9.222907 m, bearing: 65.814888 deg, approach rate: 0.628580 m/s, LOS rate: -0.100799 deg/s, cmd heading: 134.531504 deg, new cmd heading: 134.387399 deg. 2025-01-08T22:39:20.335Z,1736375960.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.345503 target range: 144.699997 and range: 144.70 m. 2025-01-08T22:39:20.529Z,1736375960.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:20.530Z,1736375960.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495839 2025-01-08T22:39:20.645Z,1736375960.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:20.662Z,1736375960.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:20.689Z,1736375960.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:20.704Z,1736375960.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 9.448726 m, bearing: 65.695539 deg, approach rate: 0.624081 m/s, LOS rate: -0.321955 deg/s, cmd heading: 134.387401 deg, new cmd heading: 134.037914 deg. 2025-01-08T22:39:20.706Z,1736375960.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.339403 target range: 144.699997 and range: 144.70 m. 2025-01-08T22:39:20.780Z,1736375960.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:20.783Z,1736375960.783 [DAT](INFO): DAT read: Range 10 to 50 : 146.7 m (Round-trip 195.6 ms) speed -0.5 m/s 2025-01-08T22:39:20.784Z,1736375960.784 [DAT](INFO): DAT read: user:2760> 2025-01-08T22:39:20.785Z,1736375960.785 [DAT](INFO): DAT read: Tx time:22:39:20.1094 2025-01-08T22:39:20.785Z,1736375960.785 [DAT](INFO): Ping request sent. 2025-01-08T22:39:20.785Z,1736375960.785 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:20.785Z,1736375960.785 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:39:20.786Z,1736375960.786 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:20.786Z,1736375960.786 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:21.032Z,1736375961.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:21.033Z,1736375961.033 [DAT](INFO): DAT read: TxSync time:22:39:20.1086 2025-01-08T22:39:21.042Z,1736375961.042 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 96.85, 95.32, 100.24 2025-01-08T22:39:21.051Z,1736375961.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:39:21.051Z,1736375961.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:21.061Z,1736375961.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 146.699997 m, deltaT: 3.778124 s, deltaX: 2.000000 m, approachRate: 0.529363 m/s, rangeRepo size: 4 2025-01-08T22:39:21.061Z,1736375961.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:21.093Z,1736375961.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 9.711600 m, bearing: 65.516243 deg, approach rate: 0.708320 m/s, LOS rate: -0.470039 deg/s, cmd heading: 134.037914 deg, new cmd heading: 133.514600 deg. 2025-01-08T22:39:21.094Z,1736375961.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330269 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:21.285Z,1736375961.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:21.453Z,1736375961.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:39:21.453Z,1736375961.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:21.463Z,1736375961.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:21.465Z,1736375961.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 9.971128 m, bearing: 65.301464 deg, approach rate: 0.645962 m/s, LOS rate: -0.520665 deg/s, cmd heading: 133.514598 deg, new cmd heading: 132.887060 deg. 2025-01-08T22:39:21.466Z,1736375961.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319317 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:21.539Z,1736375961.539 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:21.793Z,1736375961.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:21.882Z,1736375961.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:39:21.882Z,1736375961.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:21.914Z,1736375961.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:21.960Z,1736375961.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 10.246614 m, bearing: 65.032834 deg, approach rate: 0.610925 m/s, LOS rate: -0.579705 deg/s, cmd heading: 132.887054 deg, new cmd heading: 132.102881 deg. 2025-01-08T22:39:21.961Z,1736375961.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305630 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:22.046Z,1736375962.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:22.300Z,1736375962.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:22.305Z,1736375962.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:22.325Z,1736375962.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:22.329Z,1736375962.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 10.479994 m, bearing: 64.713992 deg, approach rate: 0.565598 m/s, LOS rate: -0.755503 deg/s, cmd heading: 132.102880 deg, new cmd heading: 131.167742 deg. 2025-01-08T22:39:22.330Z,1736375962.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289309 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:22.552Z,1736375962.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:22.666Z,1736375962.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:22.691Z,1736375962.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:22.697Z,1736375962.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:22.705Z,1736375962.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 10.675681 m, bearing: 64.388580 deg, approach rate: 0.525870 m/s, LOS rate: -0.858446 deg/s, cmd heading: 131.167745 deg, new cmd heading: 130.209498 deg. 2025-01-08T22:39:22.706Z,1736375962.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272584 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:22.804Z,1736375962.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:22.804Z,1736375962.804 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:22.804Z,1736375962.804 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:22.805Z,1736375962.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:23.056Z,1736375963.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:23.056Z,1736375963.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271250 2025-01-08T22:39:23.066Z,1736375963.066 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 97.36, 97.36, 93.79 2025-01-08T22:39:23.094Z,1736375963.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:39:23.094Z,1736375963.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:23.115Z,1736375963.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:23.118Z,1736375963.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 10.906729 m, bearing: 63.983722 deg, approach rate: 0.558643 m/s, LOS rate: -0.958149 deg/s, cmd heading: 130.209497 deg, new cmd heading: 129.020833 deg. 2025-01-08T22:39:23.119Z,1736375963.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.251838 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:23.308Z,1736375963.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:23.309Z,1736375963.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523853 2025-01-08T22:39:23.560Z,1736375963.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:23.560Z,1736375963.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775306 2025-01-08T22:39:23.563Z,1736375963.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:39:23.564Z,1736375963.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:23.573Z,1736375963.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:23.575Z,1736375963.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 11.155163 m, bearing: 63.489655 deg, approach rate: 0.538281 m/s, LOS rate: -1.046639 deg/s, cmd heading: 129.020839 deg, new cmd heading: 127.571976 deg. 2025-01-08T22:39:23.576Z,1736375963.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.226551 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:23.636Z,1736375963.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:39:23.813Z,1736375963.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:23.814Z,1736375963.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028730 2025-01-08T22:39:24.032Z,1736375964.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:24.042Z,1736375964.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:24.046Z,1736375964.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 11.394506 m, bearing: 62.920749 deg, approach rate: 0.509473 m/s, LOS rate: -1.185530 deg/s, cmd heading: 127.571978 deg, new cmd heading: 125.901612 deg. 2025-01-08T22:39:24.047Z,1736375964.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.197398 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:24.065Z,1736375964.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:24.068Z,1736375964.068 [DAT](INFO): DAT read: Rx Time:22:39:22.7458 2025-01-08T22:39:24.069Z,1736375964.069 [DAT](INFO): Rx dataTimestamp_ set to:1736375964.068407 2025-01-08T22:39:24.071Z,1736375964.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285251 2025-01-08T22:39:24.317Z,1736375964.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:24.318Z,1736375964.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532954 2025-01-08T22:39:24.490Z,1736375964.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:24.507Z,1736375964.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:24.515Z,1736375964.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 11.625432 m, bearing: 62.358398 deg, approach rate: 0.497229 m/s, LOS rate: -1.186785 deg/s, cmd heading: 125.901615 deg, new cmd heading: 124.248556 deg. 2025-01-08T22:39:24.524Z,1736375964.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168546 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:24.568Z,1736375964.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:24.574Z,1736375964.574 [DAT](INFO): DAT read: 22:39:22.7458 LVL= 19920, 18897, 20978, 32755, AGC= 64, IDX= 294,-0.50, 0.560, 2.211, 0.253, 0.051, PHS= 0.596, 2.207, 0.198, RAW= 340.8, -29.9, CAL= 346.6, -43.1, ROT= 163.4, 43.1 2025-01-08T22:39:24.576Z,1736375964.576 [DAT](INFO): got valid direction response: 22:39:22.7458 LVL= 19920, 18897, 20978, 32755, AGC= 64, IDX= 294,-0.50, 0.560, 2.211, 0.253, 0.051, PHS= 0.596, 2.207, 0.198, RAW= 340.8, -29.9, CAL= 346.6, -43.1, ROT= 163.4, 43.1 2025-01-08T22:39:24.577Z,1736375964.577 [DAT](INFO): DAT read: Bearing 163.4, 43.1 (Local) 2025-01-08T22:39:24.577Z,1736375964.577 [DAT](INFO): Local bearing/azimuth received: Bearing 163.4, 43.1 (Local) 2025-01-08T22:39:24.579Z,1736375964.579 [DAT](INFO): DAT read: Range 10 to 50 : 174.1 m (Round-trip 232.2 ms) speed -0.8 m/s 2025-01-08T22:39:24.580Z,1736375964.580 [DAT](INFO): DAT read: user:2761> 2025-01-08T22:39:24.581Z,1736375964.581 [DAT](INFO): DAT read: Tx time:22:39:23.8610 2025-01-08T22:39:24.581Z,1736375964.581 [DAT](INFO): Ping request sent. 2025-01-08T22:39:24.582Z,1736375964.582 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:24.582Z,1736375964.582 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:39:24.583Z,1736375964.583 [DAT](INFO): direction in FSK: [0.623135,0.732584,-0.273906] 2025-01-08T22:39:24.591Z,1736375964.591 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:24.591Z,1736375964.591 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:24.594Z,1736375964.594 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:24.595Z,1736375964.595 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:24.640Z,1736375964.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:39:24.820Z,1736375964.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:24.821Z,1736375964.821 [DAT](INFO): DAT read: TxSync time:22:39:23.8602 2025-01-08T22:39:24.869Z,1736375964.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:24.897Z,1736375964.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 174.100006 m, deltaT: 3.787574 s, deltaX: 27.400009 m, approachRate: 7.234185 m/s, rangeRepo size: 4 2025-01-08T22:39:24.897Z,1736375964.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:24.904Z,1736375964.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 11.815280 m, bearing: 61.882168 deg, approach rate: 0.504456 m/s, LOS rate: -1.245071 deg/s, cmd heading: 124.248559 deg, new cmd heading: 122.843123 deg. 2025-01-08T22:39:24.905Z,1736375964.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.144017 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:25.072Z,1736375965.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:25.282Z,1736375965.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:25.305Z,1736375965.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:25.311Z,1736375965.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:25.324Z,1736375965.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:25.325Z,1736375965.325 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:25.325Z,1736375965.325 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:25.325Z,1736375965.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:25.323Z,1736375965.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 12.033983 m, bearing: 61.364379 deg, approach rate: 0.515752 m/s, LOS rate: -1.198856 deg/s, cmd heading: 122.843124 deg, new cmd heading: 121.318370 deg. 2025-01-08T22:39:25.329Z,1736375965.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.117405 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:25.576Z,1736375965.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:25.576Z,1736375965.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994692 2025-01-08T22:39:25.678Z,1736375965.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:25.688Z,1736375965.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:25.690Z,1736375965.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 12.241508 m, bearing: 60.859814 deg, approach rate: 0.545664 m/s, LOS rate: -1.304196 deg/s, cmd heading: 121.318366 deg, new cmd heading: 119.830685 deg. 2025-01-08T22:39:25.692Z,1736375965.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091440 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:25.828Z,1736375965.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:25.829Z,1736375965.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247583 2025-01-08T22:39:26.080Z,1736375966.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:26.081Z,1736375966.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499320 2025-01-08T22:39:26.086Z,1736375966.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:26.095Z,1736375966.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:26.122Z,1736375966.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 12.476764 m, bearing: 60.411680 deg, approach rate: 0.577626 m/s, LOS rate: -1.079548 deg/s, cmd heading: 119.830683 deg, new cmd heading: 118.511877 deg. 2025-01-08T22:39:26.123Z,1736375966.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068423 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:26.333Z,1736375966.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:26.335Z,1736375966.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752595 2025-01-08T22:39:26.491Z,1736375966.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:26.508Z,1736375966.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:26.510Z,1736375966.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 12.707954 m, bearing: 59.955563 deg, approach rate: 0.565659 m/s, LOS rate: -1.095679 deg/s, cmd heading: 118.511883 deg, new cmd heading: 117.168684 deg. 2025-01-08T22:39:26.516Z,1736375966.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.044979 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:26.584Z,1736375966.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:26.585Z,1736375966.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003722 2025-01-08T22:39:26.836Z,1736375966.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:26.836Z,1736375966.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254844 2025-01-08T22:39:26.876Z,1736375966.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:26.886Z,1736375966.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:26.889Z,1736375966.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 12.926040 m, bearing: 59.507485 deg, approach rate: 0.569934 m/s, LOS rate: -1.151218 deg/s, cmd heading: 117.168685 deg, new cmd heading: 115.847378 deg. 2025-01-08T22:39:26.890Z,1736375966.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.021918 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:27.088Z,1736375967.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:27.089Z,1736375967.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506917 2025-01-08T22:39:27.314Z,1736375967.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:27.322Z,1736375967.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:27.324Z,1736375967.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:27.327Z,1736375967.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 13.208030 m, bearing: 59.111646 deg, approach rate: 0.644100 m/s, LOS rate: -0.884834 deg/s, cmd heading: 115.847385 deg, new cmd heading: 114.685390 deg. 2025-01-08T22:39:27.328Z,1736375967.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.001638 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:27.340Z,1736375967.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:27.340Z,1736375967.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758838 2025-01-08T22:39:27.592Z,1736375967.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:27.593Z,1736375967.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010993 2025-01-08T22:39:27.694Z,1736375967.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:27.704Z,1736375967.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:27.706Z,1736375967.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 13.447440 m, bearing: 58.718367 deg, approach rate: 0.631270 m/s, LOS rate: -1.018515 deg/s, cmd heading: 114.685392 deg, new cmd heading: 113.526729 deg. 2025-01-08T22:39:27.707Z,1736375967.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.981415 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:27.844Z,1736375967.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:27.844Z,1736375967.844 [DAT](INFO): DAT read: Rx Time:22:39:26.5335 2025-01-08T22:39:27.845Z,1736375967.845 [DAT](INFO): Rx dataTimestamp_ set to:1736375967.844681 2025-01-08T22:39:27.846Z,1736375967.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264782 2025-01-08T22:39:28.097Z,1736375968.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:28.097Z,1736375968.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515763 2025-01-08T22:39:28.104Z,1736375968.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:28.114Z,1736375968.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:28.141Z,1736375968.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 13.727366 m, bearing: 58.375798 deg, approach rate: 0.682007 m/s, LOS rate: -0.817604 deg/s, cmd heading: 113.526726 deg, new cmd heading: 112.520085 deg. 2025-01-08T22:39:28.142Z,1736375968.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.963846 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:28.348Z,1736375968.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:28.354Z,1736375968.354 [DAT](INFO): DAT read: 22:39:26.5335 LVL= 17376, 14225, 16130, 23411, AGC= 63, IDX= 281,-0.18, 0.834, 2.627, 0.878, 0.597, PHS= 0.325, 2.076, 0.278, RAW= 331.3, -28.1, CAL= 334.8, -41.4, ROT= 175.2, 41.4 2025-01-08T22:39:28.356Z,1736375968.356 [DAT](INFO): got valid direction response: 22:39:26.5335 LVL= 17376, 14225, 16130, 23411, AGC= 63, IDX= 281,-0.18, 0.834, 2.627, 0.878, 0.597, PHS= 0.325, 2.076, 0.278, RAW= 331.3, -28.1, CAL= 334.8, -41.4, ROT= 175.2, 41.4 2025-01-08T22:39:28.357Z,1736375968.357 [DAT](INFO): DAT read: Bearing 175.2, 41.4 (Local) 2025-01-08T22:39:28.357Z,1736375968.357 [DAT](INFO): Local bearing/azimuth received: Bearing 175.2, 41.4 (Local) 2025-01-08T22:39:28.359Z,1736375968.359 [DAT](INFO): DAT read: Range 10 to 50 : 201.3 m (Round-trip 268.4 ms) speed -0.1 m/s 2025-01-08T22:39:28.372Z,1736375968.372 [DAT](INFO): DAT read: user:2762> 2025-01-08T22:39:28.374Z,1736375968.374 [DAT](INFO): DAT read: Tx time:22:39:27.6594 2025-01-08T22:39:28.375Z,1736375968.375 [DAT](INFO): Ping request sent. 2025-01-08T22:39:28.375Z,1736375968.375 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:28.384Z,1736375968.384 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:39:28.385Z,1736375968.385 [DAT](INFO): direction in FSK: [0.605417,0.682082,-0.410164] 2025-01-08T22:39:28.386Z,1736375968.386 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:28.386Z,1736375968.386 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:28.400Z,1736375968.400 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:28.400Z,1736375968.400 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:28.600Z,1736375968.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:28.602Z,1736375968.602 [DAT](INFO): DAT read: TxSync time:22:39:27.6586 2025-01-08T22:39:28.608Z,1736375968.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:28.631Z,1736375968.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 201.300003 m, deltaT: 7.567417 s, deltaX: 54.600006 m, approachRate: 7.215144 m/s, rangeRepo size: 4 2025-01-08T22:39:28.640Z,1736375968.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:28.642Z,1736375968.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 14.073290 m, bearing: 57.972043 deg, approach rate: 0.669783 m/s, LOS rate: -0.762535 deg/s, cmd heading: 112.520086 deg, new cmd heading: 111.338772 deg. 2025-01-08T22:39:28.648Z,1736375968.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.943228 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:28.853Z,1736375968.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:29.104Z,1736375969.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:29.127Z,1736375969.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:29.137Z,1736375969.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:29.140Z,1736375969.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 14.449838 m, bearing: 57.485999 deg, approach rate: 0.743215 m/s, LOS rate: -0.934325 deg/s, cmd heading: 111.338770 deg, new cmd heading: 109.918943 deg. 2025-01-08T22:39:29.141Z,1736375969.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.918447 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:29.357Z,1736375969.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:29.561Z,1736375969.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:29.569Z,1736375969.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:29.571Z,1736375969.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:29.573Z,1736375969.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 14.762335 m, bearing: 57.054964 deg, approach rate: 0.720298 m/s, LOS rate: -0.972484 deg/s, cmd heading: 109.918945 deg, new cmd heading: 108.653431 deg. 2025-01-08T22:39:29.574Z,1736375969.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.896360 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:29.608Z,1736375969.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:29.608Z,1736375969.608 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:29.609Z,1736375969.609 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:29.609Z,1736375969.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:29.860Z,1736375969.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:29.860Z,1736375969.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485775 2025-01-08T22:39:29.972Z,1736375969.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:29.982Z,1736375969.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:29.985Z,1736375969.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 15.055236 m, bearing: 56.624083 deg, approach rate: 0.711628 m/s, LOS rate: -1.026485 deg/s, cmd heading: 108.653434 deg, new cmd heading: 107.386158 deg. 2025-01-08T22:39:29.986Z,1736375969.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.874242 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:30.113Z,1736375970.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:30.114Z,1736375970.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739695 2025-01-08T22:39:30.364Z,1736375970.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:30.364Z,1736375970.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989772 2025-01-08T22:39:30.421Z,1736375970.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:30.446Z,1736375970.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:30.460Z,1736375970.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 15.378808 m, bearing: 56.164569 deg, approach rate: 0.697121 m/s, LOS rate: -0.969162 deg/s, cmd heading: 107.386160 deg, new cmd heading: 106.036885 deg. 2025-01-08T22:39:30.461Z,1736375970.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.850693 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:30.616Z,1736375970.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:30.616Z,1736375970.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241794 2025-01-08T22:39:30.775Z,1736375970.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:30.803Z,1736375970.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:30.806Z,1736375970.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 15.631009 m, bearing: 55.784701 deg, approach rate: 0.707871 m/s, LOS rate: -1.048990 deg/s, cmd heading: 106.036884 deg, new cmd heading: 104.915821 deg. 2025-01-08T22:39:30.807Z,1736375970.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.831126 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:30.868Z,1736375970.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:30.869Z,1736375970.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493961 2025-01-08T22:39:31.120Z,1736375971.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:31.120Z,1736375971.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745649 2025-01-08T22:39:31.191Z,1736375971.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:39:31.192Z,1736375971.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:31.216Z,1736375971.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:31.223Z,1736375971.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 15.924419 m, bearing: 55.317838 deg, approach rate: 0.709075 m/s, LOS rate: -1.107454 deg/s, cmd heading: 104.915817 deg, new cmd heading: 103.541311 deg. 2025-01-08T22:39:31.224Z,1736375971.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.807137 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:31.372Z,1736375971.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:31.372Z,1736375971.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997705 2025-01-08T22:39:31.589Z,1736375971.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:39:31.589Z,1736375971.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:31.596Z,1736375971.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:31.598Z,1736375971.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:31.601Z,1736375971.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 16.201963 m, bearing: 54.856693 deg, approach rate: 0.726675 m/s, LOS rate: -1.186688 deg/s, cmd heading: 103.541310 deg, new cmd heading: 102.181845 deg. 2025-01-08T22:39:31.602Z,1736375971.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.783410 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:31.624Z,1736375971.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:31.625Z,1736375971.625 [DAT](INFO): DAT read: Rx Time:22:39:30.3324 2025-01-08T22:39:31.625Z,1736375971.625 [DAT](INFO): Rx dataTimestamp_ set to:1736375971.624738 2025-01-08T22:39:31.626Z,1736375971.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250885 2025-01-08T22:39:31.876Z,1736375971.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:31.876Z,1736375971.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501736 2025-01-08T22:39:32.014Z,1736375972.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:39:32.015Z,1736375972.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:32.108Z,1736375972.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:32.111Z,1736375972.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 16.494980 m, bearing: 54.348374 deg, approach rate: 0.574913 m/s, LOS rate: -0.979619 deg/s, cmd heading: 102.181843 deg, new cmd heading: 100.684334 deg. 2025-01-08T22:39:32.116Z,1736375972.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757273 target range: 144.699997 and range: 146.70 m. 2025-01-08T22:39:32.131Z,1736375972.131 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:32.134Z,1736375972.134 [DAT](INFO): DAT read: Range 10 to 50 : 201.5 m (Round-trip 268.7 ms) speed -0.4 m/s 2025-01-08T22:39:32.135Z,1736375972.135 [DAT](INFO): DAT read: user:2763> 2025-01-08T22:39:32.136Z,1736375972.136 [DAT](INFO): DAT read: Tx time:22:39:31.4095 2025-01-08T22:39:32.136Z,1736375972.136 [DAT](INFO): Ping request sent. 2025-01-08T22:39:32.137Z,1736375972.137 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:32.137Z,1736375972.137 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:39:32.137Z,1736375972.137 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:32.138Z,1736375972.138 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:32.380Z,1736375972.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:32.381Z,1736375972.381 [DAT](INFO): DAT read: TxSync time:22:39:31.4087 2025-01-08T22:39:32.471Z,1736375972.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:32.480Z,1736375972.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 201.500000 m, deltaT: 11.351344 s, deltaX: 54.800003 m, approachRate: 4.827622 m/s, rangeRepo size: 4 2025-01-08T22:39:32.482Z,1736375972.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:32.488Z,1736375972.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 16.781286 m, bearing: 53.761426 deg, approach rate: 0.771522 m/s, LOS rate: -1.554660 deg/s, cmd heading: 100.684338 deg, new cmd heading: 98.954094 deg. 2025-01-08T22:39:32.489Z,1736375972.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.727075 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:32.632Z,1736375972.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:32.817Z,1736375972.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:32.826Z,1736375972.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:32.830Z,1736375972.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 16.995134 m, bearing: 53.306634 deg, approach rate: 0.617091 m/s, LOS rate: -1.295846 deg/s, cmd heading: 98.954094 deg, new cmd heading: 97.607147 deg. 2025-01-08T22:39:32.832Z,1736375972.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.703566 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:32.885Z,1736375972.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:33.136Z,1736375973.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:33.247Z,1736375973.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:33.256Z,1736375973.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:33.259Z,1736375973.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 17.230646 m, bearing: 52.675188 deg, approach rate: 0.547213 m/s, LOS rate: -1.447086 deg/s, cmd heading: 97.607146 deg, new cmd heading: 95.739400 deg. 2025-01-08T22:39:33.260Z,1736375973.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670968 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:33.388Z,1736375973.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:33.630Z,1736375973.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:33.637Z,1736375973.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:33.640Z,1736375973.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:33.640Z,1736375973.640 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:33.640Z,1736375973.640 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:33.641Z,1736375973.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:33.639Z,1736375973.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:33.648Z,1736375973.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 17.436224 m, bearing: 52.105178 deg, approach rate: 0.536901 m/s, LOS rate: -1.471101 deg/s, cmd heading: 95.739404 deg, new cmd heading: 94.050053 deg. 2025-01-08T22:39:33.649Z,1736375973.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.641483 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:33.892Z,1736375973.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:33.892Z,1736375973.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755798 2025-01-08T22:39:34.033Z,1736375974.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:34.086Z,1736375974.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:34.133Z,1736375974.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 17.648979 m, bearing: 51.495537 deg, approach rate: 0.477630 m/s, LOS rate: -1.352107 deg/s, cmd heading: 94.050052 deg, new cmd heading: 92.243807 deg. 2025-01-08T22:39:34.144Z,1736375974.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:34.144Z,1736375974.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007944 2025-01-08T22:39:34.148Z,1736375974.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.609958 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:34.397Z,1736375974.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:34.398Z,1736375974.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260973 2025-01-08T22:39:34.491Z,1736375974.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:34.520Z,1736375974.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:34.523Z,1736375974.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 17.854919 m, bearing: 50.751591 deg, approach rate: 0.477915 m/s, LOS rate: -1.706475 deg/s, cmd heading: 92.243808 deg, new cmd heading: 90.038865 deg. 2025-01-08T22:39:34.528Z,1736375974.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.571475 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:34.648Z,1736375974.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:34.649Z,1736375974.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512735 2025-01-08T22:39:34.836Z,1736375974.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:34.845Z,1736375974.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:34.849Z,1736375974.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 18.007391 m, bearing: 50.186964 deg, approach rate: 0.462735 m/s, LOS rate: -1.699045 deg/s, cmd heading: 90.038866 deg, new cmd heading: 88.359835 deg. 2025-01-08T22:39:34.850Z,1736375974.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542170 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:34.900Z,1736375974.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:34.901Z,1736375974.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764046 2025-01-08T22:39:35.154Z,1736375975.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:35.156Z,1736375975.156 [DAT](INFO): DAT read: Rx Time:22:39:34.0220 2025-01-08T22:39:35.158Z,1736375975.158 [DAT](INFO): Rx dataTimestamp_ set to:1736375975.157091 2025-01-08T22:39:35.160Z,1736375975.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023149 2025-01-08T22:39:35.266Z,1736375975.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:35.275Z,1736375975.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:35.278Z,1736375975.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 18.176966 m, bearing: 49.449929 deg, approach rate: 0.394211 m/s, LOS rate: -1.697357 deg/s, cmd heading: 88.359835 deg, new cmd heading: 86.170485 deg. 2025-01-08T22:39:35.280Z,1736375975.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503959 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:35.404Z,1736375975.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:35.404Z,1736375975.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267783 2025-01-08T22:39:35.656Z,1736375975.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:35.657Z,1736375975.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520808 2025-01-08T22:39:35.667Z,1736375975.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:35.708Z,1736375975.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:35.710Z,1736375975.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:35.717Z,1736375975.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 18.338072 m, bearing: 48.773711 deg, approach rate: 0.370072 m/s, LOS rate: -1.539639 deg/s, cmd heading: 86.170486 deg, new cmd heading: 84.160526 deg. 2025-01-08T22:39:35.718Z,1736375975.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468878 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:35.908Z,1736375975.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:35.910Z,1736375975.910 [DAT](INFO): DAT read: Range 10 to 50 : 156.2 m (Round-trip 208.3 ms) speed -0.5 m/s 2025-01-08T22:39:35.910Z,1736375975.910 [DAT](INFO): DAT read: user:2764> 2025-01-08T22:39:35.911Z,1736375975.911 [DAT](INFO): DAT read: Tx time:22:39:35.1095 2025-01-08T22:39:35.912Z,1736375975.912 [DAT](INFO): Ping request sent. 2025-01-08T22:39:35.912Z,1736375975.912 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:35.913Z,1736375975.913 [DAT](INFO): DAT read: TxSync time:22:39:35.1087 2025-01-08T22:39:35.913Z,1736375975.913 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:39:35.913Z,1736375975.913 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:35.914Z,1736375975.914 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:36.070Z,1736375976.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:36.087Z,1736375976.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 156.199997 m, deltaT: 3.776032 s, deltaX: -45.300003 m, approachRate: -11.996721 m/s, rangeRepo size: 4 2025-01-08T22:39:36.088Z,1736375976.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:36.090Z,1736375976.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 18.502508 m, bearing: 48.106098 deg, approach rate: 0.437646 m/s, LOS rate: -1.761018 deg/s, cmd heading: 84.160525 deg, new cmd heading: 82.176322 deg. 2025-01-08T22:39:36.091Z,1736375976.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434247 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:36.162Z,1736375976.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:36.412Z,1736375976.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:36.525Z,1736375976.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:36.534Z,1736375976.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:36.536Z,1736375976.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 18.658604 m, bearing: 47.305452 deg, approach rate: 0.348763 m/s, LOS rate: -1.773853 deg/s, cmd heading: 82.176321 deg, new cmd heading: 79.795927 deg. 2025-01-08T22:39:36.537Z,1736375976.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392702 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:36.664Z,1736375976.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:36.857Z,1736375976.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:36.887Z,1736375976.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:36.894Z,1736375976.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 18.769363 m, bearing: 46.719640 deg, approach rate: 0.313512 m/s, LOS rate: -1.648363 deg/s, cmd heading: 79.795925 deg, new cmd heading: 78.049431 deg. 2025-01-08T22:39:36.900Z,1736375976.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362220 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:36.916Z,1736375976.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:37.169Z,1736375977.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:37.293Z,1736375977.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:37.303Z,1736375977.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:37.306Z,1736375977.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 18.915676 m, bearing: 45.948722 deg, approach rate: 0.351430 m/s, LOS rate: -1.837299 deg/s, cmd heading: 78.049432 deg, new cmd heading: 75.755862 deg. 2025-01-08T22:39:37.308Z,1736375977.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322189 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:37.420Z,1736375977.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:37.672Z,1736375977.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:37.688Z,1736375977.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:37.697Z,1736375977.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:37.701Z,1736375977.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 19.037622 m, bearing: 45.240340 deg, approach rate: 0.310042 m/s, LOS rate: -1.789439 deg/s, cmd heading: 75.755862 deg, new cmd heading: 73.645339 deg. 2025-01-08T22:39:37.701Z,1736375977.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285354 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:37.924Z,1736375977.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:38.082Z,1736375978.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:38.089Z,1736375978.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:38.091Z,1736375978.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:38.094Z,1736375978.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 19.156141 m, bearing: 44.531176 deg, approach rate: 0.300664 m/s, LOS rate: -1.787865 deg/s, cmd heading: 73.645340 deg, new cmd heading: 71.532024 deg. 2025-01-08T22:39:38.094Z,1736375978.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248469 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:38.178Z,1736375978.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:38.180Z,1736375978.180 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:38.180Z,1736375978.180 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:38.181Z,1736375978.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:38.428Z,1736375978.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:38.429Z,1736375978.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516550 2025-01-08T22:39:38.515Z,1736375978.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:38.523Z,1736375978.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:38.526Z,1736375978.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 19.292725 m, bearing: 43.790883 deg, approach rate: 0.315959 m/s, LOS rate: -1.700352 deg/s, cmd heading: 71.532025 deg, new cmd heading: 69.328017 deg. 2025-01-08T22:39:38.527Z,1736375978.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210002 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:38.680Z,1736375978.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:38.681Z,1736375978.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769099 2025-01-08T22:39:38.881Z,1736375978.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:38.890Z,1736375978.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:38.893Z,1736375978.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 19.405760 m, bearing: 43.163934 deg, approach rate: 0.308142 m/s, LOS rate: -1.699119 deg/s, cmd heading: 69.328018 deg, new cmd heading: 67.458828 deg. 2025-01-08T22:39:38.894Z,1736375978.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.177379 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:38.932Z,1736375978.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:38.934Z,1736375978.934 [DAT](INFO): DAT read: Rx Time:22:39:37.7246 2025-01-08T22:39:38.934Z,1736375978.934 [DAT](INFO): Rx dataTimestamp_ set to:1736375978.934051 2025-01-08T22:39:38.936Z,1736375978.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023795 2025-01-08T22:39:39.186Z,1736375979.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:39.189Z,1736375979.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276693 2025-01-08T22:39:39.317Z,1736375979.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:39.325Z,1736375979.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:39.328Z,1736375979.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 19.559698 m, bearing: 42.483732 deg, approach rate: 0.353445 m/s, LOS rate: -1.549428 deg/s, cmd heading: 67.458828 deg, new cmd heading: 65.435169 deg. 2025-01-08T22:39:39.330Z,1736375979.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.142059 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:39.436Z,1736375979.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:39.438Z,1736375979.438 [DAT](INFO): DAT read: Range 10 to 50 : 158.1 m (Round-trip 210.9 ms) speed -0.4 m/s 2025-01-08T22:39:39.438Z,1736375979.438 [DAT](INFO): DAT read: user:2765> 2025-01-08T22:39:39.439Z,1736375979.439 [DAT](INFO): DAT read: Tx time:22:39:38.8095 2025-01-08T22:39:39.440Z,1736375979.440 [DAT](INFO): Ping request sent. 2025-01-08T22:39:39.440Z,1736375979.440 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:39.440Z,1736375979.440 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:39:39.440Z,1736375979.440 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:39.441Z,1736375979.441 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:39.688Z,1736375979.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:39.689Z,1736375979.689 [DAT](INFO): DAT read: TxSync time:22:39:38.8087 2025-01-08T22:39:39.757Z,1736375979.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:39.770Z,1736375979.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 158.100006 m, deltaT: 7.304242 s, deltaX: -43.399994 m, approachRate: -5.941752 m/s, rangeRepo size: 4 2025-01-08T22:39:39.775Z,1736375979.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:39.778Z,1736375979.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 19.712151 m, bearing: 41.796224 deg, approach rate: 0.343079 m/s, LOS rate: -1.535164 deg/s, cmd heading: 65.435173 deg, new cmd heading: 63.389519 deg. 2025-01-08T22:39:39.784Z,1736375979.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106356 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:39.940Z,1736375979.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:40.145Z,1736375980.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:40.153Z,1736375980.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:40.155Z,1736375980.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:40.168Z,1736375980.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 19.843313 m, bearing: 41.186998 deg, approach rate: 0.340616 m/s, LOS rate: -1.571611 deg/s, cmd heading: 63.389517 deg, new cmd heading: 61.574560 deg. 2025-01-08T22:39:40.173Z,1736375980.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074679 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:40.193Z,1736375980.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:40.195Z,1736375980.195 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:40.195Z,1736375980.195 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:40.196Z,1736375980.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:40.444Z,1736375980.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:40.445Z,1736375980.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005419 2025-01-08T22:39:40.665Z,1736375980.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:40.693Z,1736375980.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:40.696Z,1736375980.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:40.697Z,1736375980.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257259 2025-01-08T22:39:40.700Z,1736375980.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 20.042038 m, bearing: 40.444924 deg, approach rate: 0.368946 m/s, LOS rate: -1.364010 deg/s, cmd heading: 61.574558 deg, new cmd heading: 59.371559 deg. 2025-01-08T22:39:40.701Z,1736375980.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.036229 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:40.948Z,1736375980.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:40.949Z,1736375980.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509087 2025-01-08T22:39:41.051Z,1736375981.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:41.069Z,1736375981.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:41.076Z,1736375981.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 20.183392 m, bearing: 39.901871 deg, approach rate: 0.376387 m/s, LOS rate: -1.435856 deg/s, cmd heading: 59.371556 deg, new cmd heading: 57.754261 deg. 2025-01-08T22:39:41.077Z,1736375981.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008002 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:41.201Z,1736375981.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:41.204Z,1736375981.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764086 2025-01-08T22:39:41.452Z,1736375981.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:41.452Z,1736375981.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012689 2025-01-08T22:39:41.457Z,1736375981.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:41.496Z,1736375981.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:41.498Z,1736375981.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 20.357250 m, bearing: 39.374372 deg, approach rate: 0.436678 m/s, LOS rate: -1.313577 deg/s, cmd heading: 57.754263 deg, new cmd heading: 56.185696 deg. 2025-01-08T22:39:41.504Z,1736375981.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.980625 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:41.704Z,1736375981.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:41.705Z,1736375981.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264837 2025-01-08T22:39:41.867Z,1736375981.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:41.892Z,1736375981.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:41.895Z,1736375981.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 20.531176 m, bearing: 38.860594 deg, approach rate: 0.409136 m/s, LOS rate: -1.198339 deg/s, cmd heading: 56.185696 deg, new cmd heading: 54.657803 deg. 2025-01-08T22:39:41.896Z,1736375981.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.953959 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:41.956Z,1736375981.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:41.957Z,1736375981.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517255 2025-01-08T22:39:42.209Z,1736375982.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:42.212Z,1736375982.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771839 2025-01-08T22:39:42.319Z,1736375982.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:42.326Z,1736375982.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:42.328Z,1736375982.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:42.339Z,1736375982.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 20.730093 m, bearing: 38.344236 deg, approach rate: 0.456280 m/s, LOS rate: -1.173049 deg/s, cmd heading: 54.657803 deg, new cmd heading: 53.123981 deg. 2025-01-08T22:39:42.340Z,1736375982.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.927188 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:42.460Z,1736375982.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:42.460Z,1736375982.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020650 2025-01-08T22:39:42.717Z,1736375982.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:42.718Z,1736375982.718 [DAT](INFO): DAT read: Rx Time:22:39:41.4273 2025-01-08T22:39:42.719Z,1736375982.719 [DAT](INFO): Rx dataTimestamp_ set to:1736375982.718861 2025-01-08T22:39:42.720Z,1736375982.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280115 2025-01-08T22:39:42.860Z,1736375982.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:42.869Z,1736375982.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:42.892Z,1736375982.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 20.970125 m, bearing: 37.739696 deg, approach rate: 0.443698 m/s, LOS rate: -1.104677 deg/s, cmd heading: 53.123982 deg, new cmd heading: 51.331738 deg. 2025-01-08T22:39:42.893Z,1736375982.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.895908 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:42.964Z,1736375982.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:42.966Z,1736375982.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525886 2025-01-08T22:39:43.209Z,1736375983.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:43.218Z,1736375983.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:43.278Z,1736375983.278 [DAT](INFO): DAT read: 22:39:41.4273 LVL= 22048, 21969, 14466, 26163, AGC= 58, IDX= 455,-0.18,-0.044, 2.190, 2.283, 1.573, PHS=-1.529, 0.664, 0.707, RAW= 269.0, 1.4, CAL= 271.2, 1.5, ROT= 238.8, -1.5 2025-01-08T22:39:43.282Z,1736375983.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.70 m. 2025-01-08T22:39:43.288Z,1736375983.288 [DAT](INFO): got valid direction response: 22:39:41.4273 LVL= 22048, 21969, 14466, 26163, AGC= 58, IDX= 455,-0.18,-0.044, 2.190, 2.283, 1.573, PHS=-1.529, 0.664, 0.707, RAW= 269.0, 1.4, CAL= 271.2, 1.5, ROT= 238.8, -1.5 2025-01-08T22:39:43.289Z,1736375983.289 [DAT](INFO): DAT read: Bearing 238.8, -1.5 (Local) 2025-01-08T22:39:43.289Z,1736375983.289 [DAT](INFO): Local bearing/azimuth received: Bearing 238.8, -1.5 (Local) 2025-01-08T22:39:43.291Z,1736375983.291 [DAT](INFO): DAT read: Range 10 to 50 : 160.1 m (Round-trip 213.5 ms) speed -0.4 m/s 2025-01-08T22:39:43.294Z,1736375983.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.699997 m, nav range: 21.096828 m, bearing: 37.281239 deg, approach rate: 0.307593 m/s, LOS rate: -1.106282 deg/s, cmd heading: 51.331737 deg, new cmd heading: 49.964900 deg. 2025-01-08T22:39:43.295Z,1736375983.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872052 target range: 144.699997 and range: 201.50 m. 2025-01-08T22:39:43.302Z,1736375983.302 [DAT](INFO): DAT read: user:2766> 2025-01-08T22:39:43.312Z,1736375983.312 [DAT](INFO): DAT read: Tx time:22:39:42.5096 2025-01-08T22:39:43.312Z,1736375983.312 [DAT](INFO): Ping request sent. 2025-01-08T22:39:43.313Z,1736375983.313 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:43.313Z,1736375983.313 [DAT](INFO): DAT read: TxSync time:22:39:42.5088 2025-01-08T22:39:43.314Z,1736375983.314 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:39:43.315Z,1736375983.315 [DAT](INFO): direction in FSK: [0.056022,-0.122778,-0.990852] 2025-01-08T22:39:43.323Z,1736375983.323 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:43.323Z,1736375983.323 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:43.326Z,1736375983.326 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:43.327Z,1736375983.327 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:43.468Z,1736375983.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:43.556Z,1736375983.556 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:39:43.720Z,1736375983.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:43.755Z,1736375983.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:43.775Z,1736375983.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.100006 m, deltaT: 11.086495 s, deltaX: -41.399994 m, approachRate: -3.734272 m/s, rangeRepo size: 4 2025-01-08T22:39:43.781Z,1736375983.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 160.100006 m, bearing: 84.176710 deg, lat: 36.903697 deg, lon: -122.120505 deg, deltaT: 26.215963 s, deltaX: 15.400009 m, approachRate: 0.587429 m/s, posRepo size: 4 2025-01-08T22:39:43.782Z,1736375983.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-01-08T22:39:43.789Z,1736375983.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.100006 m, nav range: 48.599777 m, bearing: 323.448363 deg, approach rate: 0.000000 m/s, LOS rate: -1.106282 deg/s, cmd heading: 49.964900 deg, new cmd heading: 48.329936 deg. 2025-01-08T22:39:43.790Z,1736375983.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.843517 target range: 160.100006 and range: 160.10 m. 2025-01-08T22:39:43.974Z,1736375983.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:44.107Z,1736375984.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:44.117Z,1736375984.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-01-08T22:39:44.120Z,1736375984.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.100006 m, nav range: 48.811909 m, bearing: 323.532958 deg, approach rate: 0.617539 m/s, LOS rate: 0.245196 deg/s, cmd heading: 48.329937 deg, new cmd heading: 48.582618 deg. 2025-01-08T22:39:44.121Z,1736375984.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847927 target range: 160.100006 and range: 160.10 m. 2025-01-08T22:39:44.227Z,1736375984.227 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:44.481Z,1736375984.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:44.544Z,1736375984.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:44.568Z,1736375984.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:44.570Z,1736375984.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-01-08T22:39:44.577Z,1736375984.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.100006 m, nav range: 49.061848 m, bearing: 323.628367 deg, approach rate: 0.552329 m/s, LOS rate: 0.209766 deg/s, cmd heading: 48.582616 deg, new cmd heading: 48.867383 deg. 2025-01-08T22:39:44.578Z,1736375984.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.852897 target range: 160.100006 and range: 160.10 m. 2025-01-08T22:39:44.732Z,1736375984.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:44.732Z,1736375984.732 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:44.733Z,1736375984.733 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:44.733Z,1736375984.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:44.914Z,1736375984.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:44.923Z,1736375984.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-01-08T22:39:44.926Z,1736375984.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.100006 m, nav range: 49.276249 m, bearing: 323.700505 deg, approach rate: 0.607314 m/s, LOS rate: 0.203448 deg/s, cmd heading: 48.867384 deg, new cmd heading: 49.082854 deg. 2025-01-08T22:39:44.927Z,1736375984.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.856657 target range: 160.100006 and range: 160.10 m. 2025-01-08T22:39:44.984Z,1736375984.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:44.986Z,1736375984.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.673242 2025-01-08T22:39:45.236Z,1736375985.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:45.236Z,1736375985.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.924007 2025-01-08T22:39:45.367Z,1736375985.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:45.376Z,1736375985.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-01-08T22:39:45.379Z,1736375985.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.100006 m, nav range: 49.550232 m, bearing: 323.757425 deg, approach rate: 0.605988 m/s, LOS rate: 0.125198 deg/s, cmd heading: 49.082853 deg, new cmd heading: 49.252668 deg. 2025-01-08T22:39:45.381Z,1736375985.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.859621 target range: 160.100006 and range: 160.10 m. 2025-01-08T22:39:45.489Z,1736375985.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:45.490Z,1736375985.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.176957 2025-01-08T22:39:45.724Z,1736375985.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:45.740Z,1736375985.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:45.741Z,1736375985.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.428788 2025-01-08T22:39:45.760Z,1736375985.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-01-08T22:39:45.772Z,1736375985.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.100006 m, nav range: 49.767487 m, bearing: 323.793526 deg, approach rate: 0.570603 m/s, LOS rate: 0.094402 deg/s, cmd heading: 49.252668 deg, new cmd heading: 49.360498 deg. 2025-01-08T22:39:45.775Z,1736375985.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.861503 target range: 160.100006 and range: 160.10 m. 2025-01-08T22:39:45.992Z,1736375985.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:45.993Z,1736375985.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.680566 2025-01-08T22:39:46.126Z,1736375986.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:46.137Z,1736375986.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-01-08T22:39:46.140Z,1736375986.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.100006 m, nav range: 50.013912 m, bearing: 323.825226 deg, approach rate: 0.646975 m/s, LOS rate: 0.082816 deg/s, cmd heading: 49.360496 deg, new cmd heading: 49.455128 deg. 2025-01-08T22:39:46.141Z,1736375986.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.863155 target range: 160.100006 and range: 160.10 m. 2025-01-08T22:39:46.244Z,1736375986.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:46.246Z,1736375986.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.932843 2025-01-08T22:39:46.496Z,1736375986.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:46.497Z,1736375986.497 [DAT](INFO): DAT read: Rx Time:22:39:45.1291 2025-01-08T22:39:46.498Z,1736375986.498 [DAT](INFO): Rx dataTimestamp_ set to:1736375986.497398 2025-01-08T22:39:46.498Z,1736375986.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.185912 2025-01-08T22:39:46.581Z,1736375986.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:46.589Z,1736375986.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:46.591Z,1736375986.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-01-08T22:39:46.593Z,1736375986.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.100006 m, nav range: 50.303806 m, bearing: 323.838298 deg, approach rate: 0.638567 m/s, LOS rate: 0.028630 deg/s, cmd heading: 49.455129 deg, new cmd heading: 49.494120 deg. 2025-01-08T22:39:46.594Z,1736375986.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.863835 target range: 160.100006 and range: 160.10 m. 2025-01-08T22:39:46.748Z,1736375986.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:46.749Z,1736375986.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.436508 2025-01-08T22:39:46.932Z,1736375986.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:46.940Z,1736375986.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-01-08T22:39:46.943Z,1736375986.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.100006 m, nav range: 50.526791 m, bearing: 323.841186 deg, approach rate: 0.638367 m/s, LOS rate: 0.008230 deg/s, cmd heading: 49.494119 deg, new cmd heading: 49.502743 deg. 2025-01-08T22:39:46.944Z,1736375986.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.863986 target range: 160.100006 and range: 160.10 m. 2025-01-08T22:39:47.002Z,1736375987.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:47.027Z,1736375987.027 [DAT](INFO): DAT read: 22:39:45.1291 LVL= 23504, 20657, 13554, 28387, AGC= 59, IDX= 457, 0.28,-1.993,-0.623, 0.659,-0.635, PHS=-1.270, 0.059, 1.291, RAW= 241.2, -0.7, CAL= 243.7, -1.1, ROT= 266.3, 1.1 2025-01-08T22:39:47.028Z,1736375987.028 [DAT](INFO): got valid direction response: 22:39:45.1291 LVL= 23504, 20657, 13554, 28387, AGC= 59, IDX= 457, 0.28,-1.993,-0.623, 0.659,-0.635, PHS=-1.270, 0.059, 1.291, RAW= 241.2, -0.7, CAL= 243.7, -1.1, ROT= 266.3, 1.1 2025-01-08T22:39:47.030Z,1736375987.030 [DAT](INFO): DAT read: Bearing 266.3, 1.1 (Local) 2025-01-08T22:39:47.030Z,1736375987.030 [DAT](INFO): Local bearing/azimuth received: Bearing 266.3, 1.1 (Local) 2025-01-08T22:39:47.040Z,1736375987.040 [DAT](INFO): DAT read: Range 10 to 50 : 161.4 m (Round-trip 215.3 ms) speed -0.1 m/s 2025-01-08T22:39:47.041Z,1736375987.041 [DAT](INFO): DAT read: user:2767> 2025-01-08T22:39:47.042Z,1736375987.042 [DAT](INFO): DAT read: Tx time:22:39:46.2096 2025-01-08T22:39:47.042Z,1736375987.042 [DAT](INFO): Ping request sent. 2025-01-08T22:39:47.042Z,1736375987.042 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:47.048Z,1736375987.048 [DAT](INFO): DAT read: TxSync time:22:39:46.2088 2025-01-08T22:39:47.050Z,1736375987.050 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:39:47.051Z,1736375987.051 [DAT](INFO): direction in FSK: [0.045367,-0.560464,-0.826936] 2025-01-08T22:39:47.060Z,1736375987.060 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:47.060Z,1736375987.060 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:47.068Z,1736375987.068 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:47.068Z,1736375987.068 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:47.252Z,1736375987.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:47.394Z,1736375987.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:47.424Z,1736375987.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 161.399994 m, deltaT: 3.783906 s, deltaX: 1.299988 m, approachRate: 0.343557 m/s, rangeRepo size: 4 2025-01-08T22:39:47.426Z,1736375987.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 161.399994 m, bearing: 47.441852 deg, lat: 36.903697 deg, lon: -122.120505 deg, deltaT: 3.783906 s, deltaX: 1.299988 m, approachRate: 0.343557 m/s, posRepo size: 4 2025-01-08T22:39:47.432Z,1736375987.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:47.434Z,1736375987.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 50.826233 m, bearing: 323.819610 deg, approach rate: 0.000000 m/s, LOS rate: 0.008230 deg/s, cmd heading: 49.502742 deg, new cmd heading: 49.514582 deg. 2025-01-08T22:39:47.439Z,1736375987.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864192 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:39:47.505Z,1736375987.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:47.757Z,1736375987.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:47.764Z,1736375987.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:47.796Z,1736375987.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:47.805Z,1736375987.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 51.052414 m, bearing: 323.796320 deg, approach rate: 0.608413 m/s, LOS rate: -0.062371 deg/s, cmd heading: 49.514582 deg, new cmd heading: 49.445022 deg. 2025-01-08T22:39:47.806Z,1736375987.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.862978 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:39:48.008Z,1736375988.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:48.144Z,1736375988.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:48.157Z,1736375988.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:48.159Z,1736375988.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 51.310879 m, bearing: 323.762127 deg, approach rate: 0.707491 m/s, LOS rate: -0.093126 deg/s, cmd heading: 49.445023 deg, new cmd heading: 49.342959 deg. 2025-01-08T22:39:48.160Z,1736375988.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.861197 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:39:48.262Z,1736375988.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:48.512Z,1736375988.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:48.585Z,1736375988.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:48.592Z,1736375988.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:48.594Z,1736375988.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:48.609Z,1736375988.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 51.604687 m, bearing: 323.705931 deg, approach rate: 0.671168 m/s, LOS rate: -0.127641 deg/s, cmd heading: 49.342960 deg, new cmd heading: 49.175334 deg. 2025-01-08T22:39:48.610Z,1736375988.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858271 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:39:48.764Z,1736375988.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:48.764Z,1736375988.764 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:48.764Z,1736375988.764 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:48.764Z,1736375988.764 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:48.953Z,1736375988.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:48.961Z,1736375988.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:48.965Z,1736375988.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 51.848175 m, bearing: 323.651736 deg, approach rate: 0.663736 m/s, LOS rate: -0.147039 deg/s, cmd heading: 49.175333 deg, new cmd heading: 49.013512 deg. 2025-01-08T22:39:48.966Z,1736375988.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.855447 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:39:49.017Z,1736375989.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:49.018Z,1736375989.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975046 2025-01-08T22:39:49.268Z,1736375989.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:49.268Z,1736375989.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225998 2025-01-08T22:39:49.415Z,1736375989.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:49.440Z,1736375989.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:49.443Z,1736375989.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 52.145885 m, bearing: 323.570774 deg, approach rate: 0.621734 m/s, LOS rate: -0.168115 deg/s, cmd heading: 49.013513 deg, new cmd heading: 48.772014 deg. 2025-01-08T22:39:49.448Z,1736375989.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.851232 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:39:49.520Z,1736375989.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:49.520Z,1736375989.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478061 2025-01-08T22:39:49.761Z,1736375989.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:49.772Z,1736375989.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:49.772Z,1736375989.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730101 2025-01-08T22:39:49.776Z,1736375989.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:49.778Z,1736375989.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 52.367279 m, bearing: 323.503771 deg, approach rate: 0.659284 m/s, LOS rate: -0.198682 deg/s, cmd heading: 48.772014 deg, new cmd heading: 48.571858 deg. 2025-01-08T22:39:49.780Z,1736375989.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847739 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:39:50.024Z,1736375990.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:50.025Z,1736375990.025 [DAT](INFO): DAT read: Rx Time:22:39:48.8300 2025-01-08T22:39:50.026Z,1736375990.026 [DAT](INFO): Rx dataTimestamp_ set to:1736375990.025436 2025-01-08T22:39:50.028Z,1736375990.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985301 2025-01-08T22:39:50.172Z,1736375990.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:50.197Z,1736375990.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:50.204Z,1736375990.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 52.627701 m, bearing: 323.416602 deg, approach rate: 0.618061 m/s, LOS rate: -0.205857 deg/s, cmd heading: 48.571859 deg, new cmd heading: 48.311645 deg. 2025-01-08T22:39:50.205Z,1736375990.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.843197 target range: 161.399994 and range: 161.40 m. 2025-01-08T22:39:50.276Z,1736375990.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:50.277Z,1736375990.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234911 2025-01-08T22:39:50.528Z,1736375990.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:50.530Z,1736375990.530 [DAT](INFO): DAT read: Range 10 to 50 : 162.2 m (Round-trip 216.3 ms) speed 0.0 m/s 2025-01-08T22:39:50.531Z,1736375990.531 [DAT](INFO): DAT read: user:2768> 2025-01-08T22:39:50.532Z,1736375990.532 [DAT](INFO): DAT read: Tx time:22:39:49.9096 2025-01-08T22:39:50.532Z,1736375990.532 [DAT](INFO): Ping request sent. 2025-01-08T22:39:50.532Z,1736375990.532 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:50.532Z,1736375990.532 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:39:50.533Z,1736375990.533 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:50.533Z,1736375990.533 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:50.684Z,1736375990.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:50.695Z,1736375990.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:50.709Z,1736375990.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 162.199997 m, deltaT: 3.525590 s, deltaX: 0.800003 m, approachRate: 0.226913 m/s, rangeRepo size: 4 2025-01-08T22:39:50.709Z,1736375990.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:50.716Z,1736375990.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 52.945827 m, bearing: 323.306349 deg, approach rate: 0.622724 m/s, LOS rate: -0.214519 deg/s, cmd heading: 48.311646 deg, new cmd heading: 47.982881 deg. 2025-01-08T22:39:50.717Z,1736375990.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837459 target range: 161.399994 and range: 162.20 m. 2025-01-08T22:39:50.781Z,1736375990.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:50.782Z,1736375990.782 [DAT](INFO): DAT read: TxSync time:22:39:49.9088 2025-01-08T22:39:50.784Z,1736375990.784 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:50.784Z,1736375990.784 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:50.785Z,1736375990.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:51.001Z,1736375991.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:51.009Z,1736375991.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:51.013Z,1736375991.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 53.139076 m, bearing: 323.226407 deg, approach rate: 0.641690 m/s, LOS rate: -0.264485 deg/s, cmd heading: 47.982881 deg, new cmd heading: 47.743929 deg. 2025-01-08T22:39:51.014Z,1736375991.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833289 target range: 161.399994 and range: 162.20 m. 2025-01-08T22:39:51.032Z,1736375991.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:51.033Z,1736375991.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500376 2025-01-08T22:39:51.284Z,1736375991.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:51.284Z,1736375991.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752216 2025-01-08T22:39:51.448Z,1736375991.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:51.456Z,1736375991.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:51.459Z,1736375991.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 53.399979 m, bearing: 323.108052 deg, approach rate: 0.583438 m/s, LOS rate: -0.263376 deg/s, cmd heading: 47.743927 deg, new cmd heading: 47.390602 deg. 2025-01-08T22:39:51.460Z,1736375991.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827122 target range: 161.399994 and range: 162.20 m. 2025-01-08T22:39:51.537Z,1736375991.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:51.538Z,1736375991.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005313 2025-01-08T22:39:51.788Z,1736375991.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:51.788Z,1736375991.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256302 2025-01-08T22:39:51.870Z,1736375991.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:51.891Z,1736375991.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:51.902Z,1736375991.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 53.633152 m, bearing: 322.995205 deg, approach rate: 0.541292 m/s, LOS rate: -0.260826 deg/s, cmd heading: 47.390602 deg, new cmd heading: 47.053536 deg. 2025-01-08T22:39:51.903Z,1736375991.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821239 target range: 161.399994 and range: 162.20 m. 2025-01-08T22:39:52.040Z,1736375992.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:52.040Z,1736375992.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508163 2025-01-08T22:39:52.225Z,1736375992.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:52.234Z,1736375992.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:52.237Z,1736375992.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 53.846607 m, bearing: 322.885609 deg, approach rate: 0.615240 m/s, LOS rate: -0.314638 deg/s, cmd heading: 47.053535 deg, new cmd heading: 46.726052 deg. 2025-01-08T22:39:52.238Z,1736375992.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815523 target range: 161.399994 and range: 162.20 m. 2025-01-08T22:39:52.292Z,1736375992.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:52.294Z,1736375992.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761831 2025-01-08T22:39:52.544Z,1736375992.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:52.544Z,1736375992.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012244 2025-01-08T22:39:52.680Z,1736375992.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:52.692Z,1736375992.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:52.695Z,1736375992.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 54.091461 m, bearing: 322.766647 deg, approach rate: 0.534615 m/s, LOS rate: -0.258564 deg/s, cmd heading: 46.726052 deg, new cmd heading: 46.370788 deg. 2025-01-08T22:39:52.697Z,1736375992.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809323 target range: 161.399994 and range: 162.20 m. 2025-01-08T22:39:52.796Z,1736375992.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:52.796Z,1736375992.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264289 2025-01-08T22:39:53.022Z,1736375993.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:53.030Z,1736375993.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:53.032Z,1736375993.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:53.035Z,1736375993.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 54.271469 m, bearing: 322.665480 deg, approach rate: 0.528866 m/s, LOS rate: -0.296246 deg/s, cmd heading: 46.370789 deg, new cmd heading: 46.068296 deg. 2025-01-08T22:39:53.036Z,1736375993.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804043 target range: 161.399994 and range: 162.20 m. 2025-01-08T22:39:53.060Z,1736375993.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:53.060Z,1736375993.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528174 2025-01-08T22:39:53.304Z,1736375993.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:53.304Z,1736375993.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772238 2025-01-08T22:39:53.482Z,1736375993.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:53.491Z,1736375993.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:53.494Z,1736375993.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 54.499420 m, bearing: 322.528658 deg, approach rate: 0.497350 m/s, LOS rate: -0.297272 deg/s, cmd heading: 46.068297 deg, new cmd heading: 45.659558 deg. 2025-01-08T22:39:53.495Z,1736375993.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796910 target range: 161.399994 and range: 162.20 m. 2025-01-08T22:39:53.556Z,1736375993.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:53.557Z,1736375993.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025284 2025-01-08T22:39:53.808Z,1736375993.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:53.809Z,1736375993.809 [DAT](INFO): DAT read: Rx Time:22:39:52.5303 2025-01-08T22:39:53.809Z,1736375993.809 [DAT](INFO): Rx dataTimestamp_ set to:1736375993.808960 2025-01-08T22:39:53.810Z,1736375993.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277592 2025-01-08T22:39:53.829Z,1736375993.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:53.846Z,1736375993.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:53.849Z,1736375993.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 54.668503 m, bearing: 322.420601 deg, approach rate: 0.476040 m/s, LOS rate: -0.303288 deg/s, cmd heading: 45.659558 deg, new cmd heading: 45.336391 deg. 2025-01-08T22:39:53.850Z,1736375993.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791269 target range: 161.399994 and range: 162.20 m. 2025-01-08T22:39:54.060Z,1736375994.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:54.060Z,1736375994.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528252 2025-01-08T22:39:54.260Z,1736375994.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:54.270Z,1736375994.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m. 2025-01-08T22:39:54.273Z,1736375994.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.399994 m, nav range: 54.870228 m, bearing: 322.273592 deg, approach rate: 0.475641 m/s, LOS rate: -0.345352 deg/s, cmd heading: 45.336391 deg, new cmd heading: 44.896996 deg. 2025-01-08T22:39:54.274Z,1736375994.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783600 target range: 161.399994 and range: 162.20 m. 2025-01-08T22:39:54.313Z,1736375994.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:54.323Z,1736375994.323 [DAT](INFO): DAT read: 22:39:52.5304 LVL= 20800, 27505, 10530, 26995, AGC= 59, IDX= 438,-0.32, 2.460, 3.067,-1.485,-2.864, PHS=-0.872,-0.305, 1.375, RAW= 224.0, -2.0, CAL= 223.0, -7.8, ROT= 287.0, 7.8 2025-01-08T22:39:54.325Z,1736375994.325 [DAT](INFO): got valid direction response: 22:39:52.5304 LVL= 20800, 27505, 10530, 26995, AGC= 59, IDX= 438,-0.32, 2.460, 3.067,-1.485,-2.864, PHS=-0.872,-0.305, 1.375, RAW= 224.0, -2.0, CAL= 223.0, -7.8, ROT= 287.0, 7.8 2025-01-08T22:39:54.326Z,1736375994.326 [DAT](INFO): DAT read: Bearing 287.0, 7.8 (Local) 2025-01-08T22:39:54.327Z,1736375994.327 [DAT](INFO): Local bearing/azimuth received: Bearing 287.0, 7.8 (Local) 2025-01-08T22:39:54.331Z,1736375994.331 [DAT](INFO): DAT read: Range 10 to 50 : 162.4 m (Round-trip 216.6 ms) speed 0.0 m/s 2025-01-08T22:39:54.332Z,1736375994.332 [DAT](INFO): DAT read: user:2769> 2025-01-08T22:39:54.333Z,1736375994.333 [DAT](INFO): DAT read: Tx time:22:39:53.6097 2025-01-08T22:39:54.333Z,1736375994.333 [DAT](INFO): Ping request sent. 2025-01-08T22:39:54.334Z,1736375994.334 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:54.334Z,1736375994.334 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:39:54.335Z,1736375994.335 [DAT](INFO): direction in FSK: [0.033087,-0.770441,-0.636652] 2025-01-08T22:39:54.336Z,1736375994.336 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:54.336Z,1736375994.336 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:54.339Z,1736375994.339 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:54.339Z,1736375994.339 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:54.564Z,1736375994.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:54.565Z,1736375994.565 [DAT](INFO): DAT read: TxSync time:22:39:53.6089 2025-01-08T22:39:54.719Z,1736375994.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:54.753Z,1736375994.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 162.399994 m, deltaT: 3.785037 s, deltaX: 0.199997 m, approachRate: 0.052839 m/s, rangeRepo size: 4 2025-01-08T22:39:54.755Z,1736375994.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 162.399994 m, bearing: 16.153650 deg, lat: 36.903697 deg, lon: -122.119960 deg, deltaT: 7.310627 s, deltaX: 1.000000 m, approachRate: 0.136787 m/s, posRepo size: 4 2025-01-08T22:39:54.764Z,1736375994.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.40 m. 2025-01-08T22:39:54.766Z,1736375994.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.399994 m, nav range: 45.884647 m, bearing: 18.632685 deg, approach rate: 0.000000 m/s, LOS rate: -0.345352 deg/s, cmd heading: 44.896995 deg, new cmd heading: 44.397779 deg. 2025-01-08T22:39:54.768Z,1736375994.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774887 target range: 162.399994 and range: 162.40 m. 2025-01-08T22:39:54.776Z,1736375994.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:39:54.817Z,1736375994.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:55.052Z,1736375995.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:55.058Z,1736375995.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:55.061Z,1736375995.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.40 m. 2025-01-08T22:39:55.065Z,1736375995.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.399994 m, nav range: 45.875763 m, bearing: 18.409401 deg, approach rate: -0.028790 m/s, LOS rate: -0.723689 deg/s, cmd heading: 44.397780 deg, new cmd heading: 43.727831 deg. 2025-01-08T22:39:55.066Z,1736375995.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763195 target range: 162.399994 and range: 162.40 m. 2025-01-08T22:39:55.068Z,1736375995.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:55.068Z,1736375995.068 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:55.068Z,1736375995.068 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:55.069Z,1736375995.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:55.320Z,1736375995.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:55.320Z,1736375995.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986996 2025-01-08T22:39:55.510Z,1736375995.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:55.519Z,1736375995.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.40 m. 2025-01-08T22:39:55.522Z,1736375995.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.399994 m, nav range: 45.863640 m, bearing: 18.114079 deg, approach rate: -0.026428 m/s, LOS rate: -0.643951 deg/s, cmd heading: 43.727831 deg, new cmd heading: 42.841704 deg. 2025-01-08T22:39:55.523Z,1736375995.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747729 target range: 162.399994 and range: 162.40 m. 2025-01-08T22:39:55.572Z,1736375995.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:55.574Z,1736375995.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240219 2025-01-08T22:39:55.780Z,1736375995.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:39:55.824Z,1736375995.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:55.825Z,1736375995.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491734 2025-01-08T22:39:55.862Z,1736375995.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:55.875Z,1736375995.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.40 m. 2025-01-08T22:39:55.878Z,1736375995.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.399994 m, nav range: 45.843475 m, bearing: 17.887517 deg, approach rate: -0.056688 m/s, LOS rate: -0.637205 deg/s, cmd heading: 42.841706 deg, new cmd heading: 42.161753 deg. 2025-01-08T22:39:55.879Z,1736375995.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.735861 target range: 162.399994 and range: 162.40 m. 2025-01-08T22:39:56.082Z,1736375996.082 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:56.084Z,1736375996.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750681 2025-01-08T22:39:56.254Z,1736375996.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:56.265Z,1736375996.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.40 m. 2025-01-08T22:39:56.268Z,1736375996.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.399994 m, nav range: 45.814762 m, bearing: 17.636714 deg, approach rate: -0.073668 m/s, LOS rate: -0.643872 deg/s, cmd heading: 42.161754 deg, new cmd heading: 41.408921 deg. 2025-01-08T22:39:56.269Z,1736375996.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722722 target range: 162.399994 and range: 162.40 m. 2025-01-08T22:39:56.336Z,1736375996.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:56.337Z,1736375996.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003284 2025-01-08T22:39:56.588Z,1736375996.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:56.589Z,1736375996.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255392 2025-01-08T22:39:56.699Z,1736375996.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:56.708Z,1736375996.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.40 m. 2025-01-08T22:39:56.710Z,1736375996.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.399994 m, nav range: 45.777809 m, bearing: 17.351740 deg, approach rate: -0.083525 m/s, LOS rate: -0.644646 deg/s, cmd heading: 41.408920 deg, new cmd heading: 40.553373 deg. 2025-01-08T22:39:56.711Z,1736375996.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707790 target range: 162.399994 and range: 162.40 m. 2025-01-08T22:39:56.841Z,1736375996.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:56.842Z,1736375996.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509091 2025-01-08T22:39:57.059Z,1736375997.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:57.067Z,1736375997.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:57.089Z,1736375997.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.40 m. 2025-01-08T22:39:57.092Z,1736375997.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:57.093Z,1736375997.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759377 2025-01-08T22:39:57.094Z,1736375997.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.399994 m, nav range: 45.742558 m, bearing: 17.121738 deg, approach rate: -0.092289 m/s, LOS rate: -0.602608 deg/s, cmd heading: 40.553374 deg, new cmd heading: 39.862873 deg. 2025-01-08T22:39:57.095Z,1736375997.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695738 target range: 162.399994 and range: 162.40 m. 2025-01-08T22:39:57.344Z,1736375997.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:57.345Z,1736375997.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011721 2025-01-08T22:39:57.526Z,1736375997.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:57.559Z,1736375997.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.40 m. 2025-01-08T22:39:57.563Z,1736375997.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.399994 m, nav range: 45.696285 m, bearing: 16.826508 deg, approach rate: -0.103750 m/s, LOS rate: -0.662619 deg/s, cmd heading: 39.862873 deg, new cmd heading: 38.976361 deg. 2025-01-08T22:39:57.568Z,1736375997.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680266 target range: 162.399994 and range: 162.40 m. 2025-01-08T22:39:57.598Z,1736375997.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:57.599Z,1736375997.599 [DAT](INFO): DAT read: Rx Time:22:39:56.2299 2025-01-08T22:39:57.600Z,1736375997.600 [DAT](INFO): Rx dataTimestamp_ set to:1736375997.599332 2025-01-08T22:39:57.600Z,1736375997.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266834 2025-01-08T22:39:57.849Z,1736375997.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:57.851Z,1736375997.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516988 2025-01-08T22:39:57.945Z,1736375997.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:57.954Z,1736375997.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.40 m. 2025-01-08T22:39:57.961Z,1736375997.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.399994 m, nav range: 45.648880 m, bearing: 16.561992 deg, approach rate: -0.113229 m/s, LOS rate: -0.632460 deg/s, cmd heading: 38.976362 deg, new cmd heading: 38.182042 deg. 2025-01-08T22:39:57.964Z,1736375997.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666402 target range: 162.399994 and range: 162.40 m. 2025-01-08T22:39:58.101Z,1736375998.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:58.110Z,1736375998.110 [DAT](INFO): DAT read: 22:39:56.2299 LVL= 24000, 28465, 11570, 28915, AGC= 60, IDX= 433, 0.06, 3.005, 2.882,-1.451,-2.671, PHS=-0.519,-0.684, 1.216, RAW= 205.5, -0.1, CAL= 205.0, -7.1, ROT= 305.0, 7.1 2025-01-08T22:39:58.112Z,1736375998.112 [DAT](INFO): got valid direction response: 22:39:56.2299 LVL= 24000, 28465, 11570, 28915, AGC= 60, IDX= 433, 0.06, 3.005, 2.882,-1.451,-2.671, PHS=-0.519,-0.684, 1.216, RAW= 205.5, -0.1, CAL= 205.0, -7.1, ROT= 305.0, 7.1 2025-01-08T22:39:58.113Z,1736375998.113 [DAT](INFO): DAT read: Bearing 305.0, 7.1 (Local) 2025-01-08T22:39:58.113Z,1736375998.113 [DAT](INFO): Local bearing/azimuth received: Bearing 305.0, 7.1 (Local) 2025-01-08T22:39:58.115Z,1736375998.115 [DAT](INFO): DAT read: Range 10 to 50 : 162.0 m (Round-trip 216.1 ms) speed 0.1 m/s 2025-01-08T22:39:58.116Z,1736375998.116 [DAT](INFO): DAT read: user:2770> 2025-01-08T22:39:58.117Z,1736375998.117 [DAT](INFO): DAT read: Tx time:22:39:57.3097 2025-01-08T22:39:58.117Z,1736375998.117 [DAT](INFO): Ping request sent. 2025-01-08T22:39:58.117Z,1736375998.117 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:39:58.118Z,1736375998.118 [DAT](INFO): DAT read: TxSync time:22:39:57.3089 2025-01-08T22:39:58.118Z,1736375998.118 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:39:58.119Z,1736375998.119 [DAT](INFO): direction in FSK: [-0.038802,-0.924707,-0.378696] 2025-01-08T22:39:58.120Z,1736375998.120 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:58.120Z,1736375998.120 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:58.123Z,1736375998.123 [DAT](INFO): publishing transmit ping time 2025-01-08T22:39:58.123Z,1736375998.123 [DAT](INFO): publishing direction and range info 2025-01-08T22:39:58.282Z,1736375998.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:58.316Z,1736375998.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 162.000000 m, deltaT: 3.788679 s, deltaX: -0.399994 m, approachRate: -0.105576 m/s, rangeRepo size: 4 2025-01-08T22:39:58.318Z,1736375998.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 162.000000 m, bearing: 350.944068 deg, lat: 36.903872 deg, lon: -122.119960 deg, deltaT: 3.788679 s, deltaX: -0.399994 m, approachRate: -0.105576 m/s, posRepo size: 4 2025-01-08T22:39:58.323Z,1736375998.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m. 2025-01-08T22:39:58.326Z,1736375998.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.000000 m, nav range: 64.549477 m, bearing: 11.473002 deg, approach rate: 0.000000 m/s, LOS rate: -0.632460 deg/s, cmd heading: 38.182042 deg, new cmd heading: 37.511381 deg. 2025-01-08T22:39:58.327Z,1736375998.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654697 target range: 162.000000 and range: 162.00 m. 2025-01-08T22:39:58.352Z,1736375998.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:58.604Z,1736375998.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:58.714Z,1736375998.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:58.723Z,1736375998.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m. 2025-01-08T22:39:58.726Z,1736375998.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.000000 m, nav range: 64.507996 m, bearing: 11.271600 deg, approach rate: -0.099760 m/s, LOS rate: -0.484672 deg/s, cmd heading: 37.511382 deg, new cmd heading: 36.906809 deg. 2025-01-08T22:39:58.727Z,1736375998.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644145 target range: 162.000000 and range: 162.00 m. 2025-01-08T22:39:58.856Z,1736375998.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:59.086Z,1736375999.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:59.093Z,1736375999.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:39:59.095Z,1736375999.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m. 2025-01-08T22:39:59.098Z,1736375999.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.000000 m, nav range: 64.466751 m, bearing: 11.099355 deg, approach rate: -0.110996 m/s, LOS rate: -0.463835 deg/s, cmd heading: 36.906808 deg, new cmd heading: 36.389756 deg. 2025-01-08T22:39:59.099Z,1736375999.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635121 target range: 162.000000 and range: 162.00 m. 2025-01-08T22:39:59.108Z,1736375999.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:59.108Z,1736375999.108 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:39:59.108Z,1736375999.108 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:39:59.109Z,1736375999.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:39:59.360Z,1736375999.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:59.360Z,1736375999.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243308 2025-01-08T22:39:59.564Z,1736375999.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:59.572Z,1736375999.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m. 2025-01-08T22:39:59.575Z,1736375999.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.000000 m, nav range: 64.413498 m, bearing: 10.874523 deg, approach rate: -0.111484 m/s, LOS rate: -0.471065 deg/s, cmd heading: 36.389756 deg, new cmd heading: 35.714735 deg. 2025-01-08T22:39:59.576Z,1736375999.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623340 target range: 162.000000 and range: 162.00 m. 2025-01-08T22:39:59.613Z,1736375999.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:59.613Z,1736375999.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496296 2025-01-08T22:39:59.864Z,1736375999.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:39:59.865Z,1736375999.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747485 2025-01-08T22:39:59.915Z,1736375999.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:39:59.923Z,1736375999.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m. 2025-01-08T22:39:59.926Z,1736375999.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.000000 m, nav range: 64.368584 m, bearing: 10.710505 deg, approach rate: -0.128063 m/s, LOS rate: -0.467986 deg/s, cmd heading: 35.714735 deg, new cmd heading: 35.222351 deg. 2025-01-08T22:39:59.927Z,1736375999.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.614746 target range: 162.000000 and range: 162.00 m. 2025-01-08T22:40:00.116Z,1736376000.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:00.116Z,1736376000.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999328 2025-01-08T22:40:00.298Z,1736376000.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:00.307Z,1736376000.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m. 2025-01-08T22:40:00.310Z,1736376000.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.000000 m, nav range: 64.313461 m, bearing: 10.532515 deg, approach rate: -0.143640 m/s, LOS rate: -0.464211 deg/s, cmd heading: 35.222350 deg, new cmd heading: 34.687938 deg. 2025-01-08T22:40:00.311Z,1736376000.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605419 target range: 162.000000 and range: 162.00 m. 2025-01-08T22:40:00.369Z,1736376000.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:00.370Z,1736376000.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252711 2025-01-08T22:40:00.620Z,1736376000.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:00.621Z,1736376000.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503722 2025-01-08T22:40:00.768Z,1736376000.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:00.776Z,1736376000.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m. 2025-01-08T22:40:00.780Z,1736376000.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.000000 m, nav range: 64.245087 m, bearing: 10.313861 deg, approach rate: -0.145748 m/s, LOS rate: -0.466578 deg/s, cmd heading: 34.687939 deg, new cmd heading: 34.031310 deg. 2025-01-08T22:40:00.781Z,1736376000.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593958 target range: 162.000000 and range: 162.00 m. 2025-01-08T22:40:00.873Z,1736376000.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:00.874Z,1736376000.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756715 2025-01-08T22:40:01.104Z,1736376001.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:01.110Z,1736376001.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:01.113Z,1736376001.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m. 2025-01-08T22:40:01.116Z,1736376001.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.000000 m, nav range: 64.190895 m, bearing: 10.158223 deg, approach rate: -0.161171 m/s, LOS rate: -0.463275 deg/s, cmd heading: 34.031308 deg, new cmd heading: 33.564010 deg. 2025-01-08T22:40:01.117Z,1736376001.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585802 target range: 162.000000 and range: 162.00 m. 2025-01-08T22:40:01.124Z,1736376001.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:01.125Z,1736376001.125 [DAT](INFO): DAT read: Rx Time:22:39:59.9290 2025-01-08T22:40:01.125Z,1736376001.125 [DAT](INFO): Rx dataTimestamp_ set to:1736376001.124706 2025-01-08T22:40:01.125Z,1736376001.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008419 2025-01-08T22:40:01.376Z,1736376001.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:01.377Z,1736376001.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259532 2025-01-08T22:40:01.570Z,1736376001.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:01.630Z,1736376001.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:01.642Z,1736376001.642 [DAT](INFO): DAT read: 22:39:59.9290 LVL= 28848, 32753, 17058, 32755, AGC= 61, IDX= 439,-0.38,-2.822, 2.674,-1.557,-2.471, PHS=-0.262,-1.091, 0.911, RAW= 185.7, 5.1, CAL= 185.7, -3.6, ROT= 324.3, 3.6 2025-01-08T22:40:01.648Z,1736376001.648 [DAT](INFO): got valid direction response: 22:39:59.9290 LVL= 28848, 32753, 17058, 32755, AGC= 61, IDX= 439,-0.38,-2.822, 2.674,-1.557,-2.471, PHS=-0.262,-1.091, 0.911, RAW= 185.7, 5.1, CAL= 185.7, -3.6, ROT= 324.3, 3.6 2025-01-08T22:40:01.650Z,1736376001.650 [DAT](INFO): DAT read: Bearing 324.3, 3.6 (Local) 2025-01-08T22:40:01.650Z,1736376001.650 [DAT](INFO): Local bearing/azimuth received: Bearing 324.3, 3.6 (Local) 2025-01-08T22:40:01.652Z,1736376001.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.00 m. 2025-01-08T22:40:01.662Z,1736376001.662 [DAT](INFO): DAT read: Range 10 to 50 : 161.3 m (Round-trip 215.1 ms) speed 0.3 m/s 2025-01-08T22:40:01.665Z,1736376001.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.000000 m, nav range: 64.108932 m, bearing: 9.943961 deg, approach rate: -0.151841 m/s, LOS rate: -0.397440 deg/s, cmd heading: 33.564011 deg, new cmd heading: 32.920433 deg. 2025-01-08T22:40:01.666Z,1736376001.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574570 target range: 162.000000 and range: 162.00 m. 2025-01-08T22:40:01.672Z,1736376001.672 [DAT](INFO): DAT read: user:2771> 2025-01-08T22:40:01.673Z,1736376001.673 [DAT](INFO): DAT read: Tx time:22:40:01.0097 2025-01-08T22:40:01.673Z,1736376001.673 [DAT](INFO): Ping request sent. 2025-01-08T22:40:01.674Z,1736376001.674 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:40:01.674Z,1736376001.674 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:40:01.684Z,1736376001.684 [DAT](INFO): direction in FSK: [-0.174524,-0.982821,-0.060033] 2025-01-08T22:40:01.684Z,1736376001.684 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:01.684Z,1736376001.684 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:01.696Z,1736376001.696 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:01.697Z,1736376001.697 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:01.880Z,1736376001.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:01.881Z,1736376001.881 [DAT](INFO): DAT read: TxSync time:22:40:01.0089 2025-01-08T22:40:02.042Z,1736376002.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:02.082Z,1736376002.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 161.300003 m, deltaT: 3.528558 s, deltaX: -0.699997 m, approachRate: -0.198380 m/s, rangeRepo size: 4 2025-01-08T22:40:02.088Z,1736376002.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 161.300003 m, bearing: 325.572369 deg, lat: 36.904376 deg, lon: -122.119960 deg, deltaT: 3.528558 s, deltaX: -0.699997 m, approachRate: -0.198380 m/s, posRepo size: 4 2025-01-08T22:40:02.089Z,1736376002.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:02.094Z,1736376002.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 119.679474 m, bearing: 5.186912 deg, approach rate: 0.000000 m/s, LOS rate: -0.397440 deg/s, cmd heading: 32.920433 deg, new cmd heading: 32.408993 deg. 2025-01-08T22:40:02.095Z,1736376002.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565644 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:02.132Z,1736376002.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:02.384Z,1736376002.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:02.390Z,1736376002.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:02.399Z,1736376002.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:02.402Z,1736376002.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 119.624985 m, bearing: 5.100925 deg, approach rate: -0.171445 m/s, LOS rate: -0.270673 deg/s, cmd heading: 32.408995 deg, new cmd heading: 32.150918 deg. 2025-01-08T22:40:02.403Z,1736376002.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561139 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:02.637Z,1736376002.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:02.817Z,1736376002.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:02.826Z,1736376002.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:02.830Z,1736376002.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 119.551201 m, bearing: 4.996798 deg, approach rate: -0.172528 m/s, LOS rate: -0.243628 deg/s, cmd heading: 32.150916 deg, new cmd heading: 31.838347 deg. 2025-01-08T22:40:02.847Z,1736376002.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555684 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:02.888Z,1736376002.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:03.140Z,1736376003.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:03.191Z,1736376003.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:03.198Z,1736376003.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:03.200Z,1736376003.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:03.203Z,1736376003.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 119.481476 m, bearing: 4.906487 deg, approach rate: -0.186497 m/s, LOS rate: -0.241700 deg/s, cmd heading: 31.838346 deg, new cmd heading: 31.567257 deg. 2025-01-08T22:40:03.220Z,1736376003.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550953 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:03.392Z,1736376003.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:03.392Z,1736376003.392 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:03.392Z,1736376003.392 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:03.393Z,1736376003.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:03.656Z,1736376003.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:03.658Z,1736376003.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983968 2025-01-08T22:40:03.686Z,1736376003.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:03.695Z,1736376003.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:03.711Z,1736376003.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 119.385445 m, bearing: 4.796774 deg, approach rate: -0.194245 m/s, LOS rate: -0.222098 deg/s, cmd heading: 31.567256 deg, new cmd heading: 31.237856 deg. 2025-01-08T22:40:03.716Z,1736376003.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545203 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:03.908Z,1736376003.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:03.908Z,1736376003.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234760 2025-01-08T22:40:04.011Z,1736376004.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:04.020Z,1736376004.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:04.024Z,1736376004.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 119.312958 m, bearing: 4.726845 deg, approach rate: -0.223020 m/s, LOS rate: -0.215283 deg/s, cmd heading: 31.237857 deg, new cmd heading: 31.027941 deg. 2025-01-08T22:40:04.027Z,1736376004.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541540 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:04.160Z,1736376004.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:04.160Z,1736376004.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486772 2025-01-08T22:40:04.412Z,1736376004.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:04.413Z,1736376004.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739494 2025-01-08T22:40:04.427Z,1736376004.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:04.437Z,1736376004.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:04.464Z,1736376004.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 119.220467 m, bearing: 4.637237 deg, approach rate: -0.221760 m/s, LOS rate: -0.215014 deg/s, cmd heading: 31.027941 deg, new cmd heading: 30.758911 deg. 2025-01-08T22:40:04.465Z,1736376004.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536844 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:04.664Z,1736376004.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:04.665Z,1736376004.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991367 2025-01-08T22:40:04.850Z,1736376004.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:04.877Z,1736376004.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:04.885Z,1736376004.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 119.111992 m, bearing: 4.557689 deg, approach rate: -0.246180 m/s, LOS rate: -0.180695 deg/s, cmd heading: 30.758910 deg, new cmd heading: 30.520052 deg. 2025-01-08T22:40:04.886Z,1736376004.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.532675 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:04.916Z,1736376004.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:04.917Z,1736376004.917 [DAT](INFO): DAT read: Rx Time:22:40:03.6595 2025-01-08T22:40:04.917Z,1736376004.917 [DAT](INFO): Rx dataTimestamp_ set to:1736376004.916748 2025-01-08T22:40:04.918Z,1736376004.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243981 2025-01-08T22:40:05.168Z,1736376005.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:05.168Z,1736376005.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494787 2025-01-08T22:40:05.215Z,1736376005.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:05.222Z,1736376005.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:05.241Z,1736376005.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:05.243Z,1736376005.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 119.014046 m, bearing: 4.490390 deg, approach rate: -0.269653 m/s, LOS rate: -0.185432 deg/s, cmd heading: 30.520051 deg, new cmd heading: 30.317988 deg. 2025-01-08T22:40:05.244Z,1736376005.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529149 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:05.420Z,1736376005.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:05.431Z,1736376005.431 [DAT](INFO): DAT read: 22:40:03.6595 LVL= 24816, 32753, 15138, 32755, AGC= 64, IDX= 240,-0.08,-0.132,-0.959, 0.900,-0.019, PHS=-0.025,-0.893, 0.916, RAW= 181.3, 0.0, CAL= 181.7, -7.8, ROT= 328.3, 7.8 2025-01-08T22:40:05.433Z,1736376005.433 [DAT](INFO): got valid direction response: 22:40:03.6595 LVL= 24816, 32753, 15138, 32755, AGC= 64, IDX= 240,-0.08,-0.132,-0.959, 0.900,-0.019, PHS=-0.025,-0.893, 0.916, RAW= 181.3, 0.0, CAL= 181.7, -7.8, ROT= 328.3, 7.8 2025-01-08T22:40:05.434Z,1736376005.434 [DAT](INFO): DAT read: Bearing 328.3, 7.8 (Local) 2025-01-08T22:40:05.435Z,1736376005.435 [DAT](INFO): Local bearing/azimuth received: Bearing 328.3, 7.8 (Local) 2025-01-08T22:40:05.437Z,1736376005.437 [DAT](INFO): DAT read: Range 10 to 50 : 184.2 m (Round-trip 245.7 ms) speed 0.4 m/s 2025-01-08T22:40:05.439Z,1736376005.439 [DAT](INFO): DAT read: user:2772> 2025-01-08T22:40:05.446Z,1736376005.446 [DAT](INFO): DAT read: Tx time:22:40:04.7597 2025-01-08T22:40:05.446Z,1736376005.446 [DAT](INFO): Ping request sent. 2025-01-08T22:40:05.446Z,1736376005.446 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:40:05.447Z,1736376005.447 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:40:05.449Z,1736376005.449 [DAT](INFO): direction in FSK: [-0.085957,-0.996086,0.020587] 2025-01-08T22:40:05.449Z,1736376005.449 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:05.449Z,1736376005.449 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:05.467Z,1736376005.467 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:05.468Z,1736376005.468 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:05.672Z,1736376005.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:05.673Z,1736376005.673 [DAT](INFO): DAT read: TxSync time:22:40:04.7589 2025-01-08T22:40:05.684Z,1736376005.684 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814411088,35.0, +10.9, 0., 0 2025-01-08T22:40:05.697Z,1736376005.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:40:05.697Z,1736376005.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:05.737Z,1736376005.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 184.199997 m, deltaT: 3.790085 s, deltaX: 22.899994 m, approachRate: 6.042079 m/s, rangeRepo size: 4 2025-01-08T22:40:05.738Z,1736376005.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:05.745Z,1736376005.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 118.879028 m, bearing: 4.403560 deg, approach rate: -0.272170 m/s, LOS rate: -0.175232 deg/s, cmd heading: 30.317987 deg, new cmd heading: 30.057203 deg. 2025-01-08T22:40:05.746Z,1736376005.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.524597 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:05.924Z,1736376005.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:06.071Z,1736376006.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:40:06.071Z,1736376006.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:06.085Z,1736376006.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:06.091Z,1736376006.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 118.769936 m, bearing: 4.337660 deg, approach rate: -0.313614 m/s, LOS rate: -0.189620 deg/s, cmd heading: 30.057204 deg, new cmd heading: 29.859323 deg. 2025-01-08T22:40:06.094Z,1736376006.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521143 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:06.176Z,1736376006.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:06.430Z,1736376006.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:06.509Z,1736376006.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:40:06.509Z,1736376006.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:06.520Z,1736376006.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:06.522Z,1736376006.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 118.632217 m, bearing: 4.264338 deg, approach rate: -0.316773 m/s, LOS rate: -0.168847 deg/s, cmd heading: 29.859323 deg, new cmd heading: 29.639104 deg. 2025-01-08T22:40:06.543Z,1736376006.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517300 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:06.681Z,1736376006.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:06.933Z,1736376006.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:06.968Z,1736376006.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:06.989Z,1736376006.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:06.997Z,1736376006.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 118.472549 m, bearing: 4.206979 deg, approach rate: -0.339768 m/s, LOS rate: -0.122222 deg/s, cmd heading: 29.639104 deg, new cmd heading: 29.466796 deg. 2025-01-08T22:40:07.005Z,1736376007.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514293 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:07.184Z,1736376007.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:07.323Z,1736376007.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:07.351Z,1736376007.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:07.353Z,1736376007.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:07.360Z,1736376007.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 118.346024 m, bearing: 4.164785 deg, approach rate: -0.347452 m/s, LOS rate: -0.115994 deg/s, cmd heading: 29.466795 deg, new cmd heading: 29.340076 deg. 2025-01-08T22:40:07.361Z,1736376007.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512081 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:07.436Z,1736376007.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:07.436Z,1736376007.436 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:07.436Z,1736376007.436 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:07.437Z,1736376007.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:07.688Z,1736376007.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:07.688Z,1736376007.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242159 2025-01-08T22:40:07.761Z,1736376007.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:07.771Z,1736376007.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:07.774Z,1736376007.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 118.182304 m, bearing: 4.118819 deg, approach rate: -0.392307 m/s, LOS rate: -0.110295 deg/s, cmd heading: 29.340075 deg, new cmd heading: 29.201988 deg. 2025-01-08T22:40:07.774Z,1736376007.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509671 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:07.940Z,1736376007.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:07.940Z,1736376007.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494200 2025-01-08T22:40:08.132Z,1736376008.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:08.143Z,1736376008.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:08.147Z,1736376008.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 118.039032 m, bearing: 4.084706 deg, approach rate: -0.385015 m/s, LOS rate: -0.091784 deg/s, cmd heading: 29.201989 deg, new cmd heading: 29.099525 deg. 2025-01-08T22:40:08.148Z,1736376008.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507883 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:08.193Z,1736376008.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:08.194Z,1736376008.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747609 2025-01-08T22:40:08.446Z,1736376008.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:08.448Z,1736376008.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001246 2025-01-08T22:40:08.537Z,1736376008.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:08.546Z,1736376008.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:08.549Z,1736376008.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 117.879494 m, bearing: 4.049500 deg, approach rate: -0.396602 m/s, LOS rate: -0.087639 deg/s, cmd heading: 29.099526 deg, new cmd heading: 28.993764 deg. 2025-01-08T22:40:08.554Z,1736376008.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.506037 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:08.697Z,1736376008.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:08.698Z,1736376008.698 [DAT](INFO): DAT read: Rx Time:22:40:07.4067 2025-01-08T22:40:08.699Z,1736376008.699 [DAT](INFO): Rx dataTimestamp_ set to:1736376008.698144 2025-01-08T22:40:08.700Z,1736376008.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253211 2025-01-08T22:40:08.948Z,1736376008.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:08.948Z,1736376008.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502199 2025-01-08T22:40:08.965Z,1736376008.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:08.973Z,1736376008.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:08.979Z,1736376008.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 117.701904 m, bearing: 4.015360 deg, approach rate: -0.414600 m/s, LOS rate: -0.079824 deg/s, cmd heading: 28.993764 deg, new cmd heading: 28.891188 deg. 2025-01-08T22:40:09.000Z,1736376009.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.504246 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:09.200Z,1736376009.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:09.213Z,1736376009.213 [DAT](INFO): DAT read: 22:40:07.4067 LVL= 21008, 23057, 16194, 23379, AGC= 62, IDX= 94,-0.09,-2.345, 2.722,-1.932,-2.585, PHS= 0.328,-0.930, 0.650, RAW= 161.1, -0.7, CAL= 163.4, -9.1, ROT= 346.6, 9.1 2025-01-08T22:40:09.214Z,1736376009.214 [DAT](INFO): got valid direction response: 22:40:07.4067 LVL= 21008, 23057, 16194, 23379, AGC= 62, IDX= 94,-0.09,-2.345, 2.722,-1.932,-2.585, PHS= 0.328,-0.930, 0.650, RAW= 161.1, -0.7, CAL= 163.4, -9.1, ROT= 346.6, 9.1 2025-01-08T22:40:09.215Z,1736376009.215 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:40:09.234Z,1736376009.234 [DAT](INFO): Received a bad header 2025-01-08T22:40:09.248Z,1736376009.248 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T22:40:09.248Z,1736376009.248 [DAT](INFO): direction in FSK: [-0.099357,-0.923946,0.369394] 2025-01-08T22:40:09.256Z,1736376009.256 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:09.256Z,1736376009.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:09.256Z,1736376009.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:09.348Z,1736376009.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:09.355Z,1736376009.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:09.357Z,1736376009.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:09.360Z,1736376009.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 117.541061 m, bearing: 3.986737 deg, approach rate: -0.419412 m/s, LOS rate: -0.074737 deg/s, cmd heading: 28.891188 deg, new cmd heading: 28.805204 deg. 2025-01-08T22:40:09.361Z,1736376009.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.502746 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:09.452Z,1736376009.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:09.452Z,1736376009.452 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:09.452Z,1736376009.452 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:09.453Z,1736376009.453 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:09.704Z,1736376009.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:09.704Z,1736376009.704 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:09.704Z,1736376009.704 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:09.704Z,1736376009.704 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:09.786Z,1736376009.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:09.803Z,1736376009.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:09.810Z,1736376009.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 117.351120 m, bearing: 3.951092 deg, approach rate: -0.426298 m/s, LOS rate: -0.080131 deg/s, cmd heading: 28.805203 deg, new cmd heading: 28.698094 deg. 2025-01-08T22:40:09.811Z,1736376009.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500876 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:09.956Z,1736376009.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:09.956Z,1736376009.956 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:09.956Z,1736376009.956 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:09.956Z,1736376009.956 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:10.152Z,1736376010.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:10.168Z,1736376010.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:10.172Z,1736376010.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 117.190483 m, bearing: 3.922993 deg, approach rate: -0.440294 m/s, LOS rate: -0.077123 deg/s, cmd heading: 28.698095 deg, new cmd heading: 28.613682 deg. 2025-01-08T22:40:10.173Z,1736376010.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.499403 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:10.211Z,1736376010.211 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:10.212Z,1736376010.212 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:10.212Z,1736376010.212 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:10.213Z,1736376010.213 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:10.464Z,1736376010.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:10.465Z,1736376010.465 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:10.465Z,1736376010.465 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:10.465Z,1736376010.465 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:10.569Z,1736376010.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:10.578Z,1736376010.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:10.650Z,1736376010.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 117.007736 m, bearing: 3.890926 deg, approach rate: -0.445310 m/s, LOS rate: -0.078261 deg/s, cmd heading: 28.613682 deg, new cmd heading: 28.517332 deg. 2025-01-08T22:40:10.664Z,1736376010.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497721 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:10.717Z,1736376010.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:10.718Z,1736376010.718 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:10.718Z,1736376010.718 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:10.718Z,1736376010.718 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:10.968Z,1736376010.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:10.968Z,1736376010.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:10.968Z,1736376010.968 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:10.968Z,1736376010.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:10.981Z,1736376010.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:10.989Z,1736376010.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:10.992Z,1736376010.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 116.829597 m, bearing: 3.852913 deg, approach rate: -0.432673 m/s, LOS rate: -0.092469 deg/s, cmd heading: 28.517332 deg, new cmd heading: 28.403119 deg. 2025-01-08T22:40:10.993Z,1736376010.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495728 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:11.220Z,1736376011.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:11.220Z,1736376011.220 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:11.220Z,1736376011.220 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:11.221Z,1736376011.221 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:11.366Z,1736376011.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:11.372Z,1736376011.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:11.374Z,1736376011.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:11.377Z,1736376011.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 116.662201 m, bearing: 3.818364 deg, approach rate: -0.434936 m/s, LOS rate: -0.089895 deg/s, cmd heading: 28.403120 deg, new cmd heading: 28.299325 deg. 2025-01-08T22:40:11.378Z,1736376011.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493916 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:11.472Z,1736376011.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:11.472Z,1736376011.472 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:11.472Z,1736376011.472 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:11.473Z,1736376011.473 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:11.724Z,1736376011.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:11.724Z,1736376011.724 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:11.724Z,1736376011.724 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:11.724Z,1736376011.724 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:11.802Z,1736376011.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:11.881Z,1736376011.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:11.888Z,1736376011.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 116.467575 m, bearing: 3.768560 deg, approach rate: -0.391486 m/s, LOS rate: -0.100348 deg/s, cmd heading: 28.299325 deg, new cmd heading: 28.149662 deg. 2025-01-08T22:40:11.889Z,1736376011.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491304 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:11.976Z,1736376011.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:11.976Z,1736376011.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:11.976Z,1736376011.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:11.976Z,1736376011.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:12.172Z,1736376012.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:12.209Z,1736376012.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:12.211Z,1736376012.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 116.301842 m, bearing: 3.726912 deg, approach rate: -0.491714 m/s, LOS rate: -0.123740 deg/s, cmd heading: 28.149662 deg, new cmd heading: 28.024541 deg. 2025-01-08T22:40:12.213Z,1736376012.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.489121 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:12.228Z,1736376012.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:12.228Z,1736376012.228 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:12.229Z,1736376012.229 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:12.229Z,1736376012.229 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:12.480Z,1736376012.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:12.480Z,1736376012.480 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:12.481Z,1736376012.481 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:12.481Z,1736376012.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:12.586Z,1736376012.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:12.625Z,1736376012.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:12.645Z,1736376012.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 116.117043 m, bearing: 3.680876 deg, approach rate: -0.443909 m/s, LOS rate: -0.110761 deg/s, cmd heading: 28.024541 deg, new cmd heading: 27.886212 deg. 2025-01-08T22:40:12.654Z,1736376012.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486706 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:12.732Z,1736376012.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:12.732Z,1736376012.732 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:12.732Z,1736376012.732 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:12.732Z,1736376012.732 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:12.984Z,1736376012.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:12.985Z,1736376012.985 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:12.985Z,1736376012.985 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:12.985Z,1736376012.985 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:13.022Z,1736376013.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:13.057Z,1736376013.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:13.064Z,1736376013.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 115.923546 m, bearing: 3.618367 deg, approach rate: -0.447661 m/s, LOS rate: -0.144858 deg/s, cmd heading: 27.886213 deg, new cmd heading: 27.698373 deg. 2025-01-08T22:40:13.065Z,1736376013.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483428 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:13.236Z,1736376013.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:13.236Z,1736376013.236 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:13.236Z,1736376013.236 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:13.236Z,1736376013.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:13.376Z,1736376013.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:13.383Z,1736376013.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:13.385Z,1736376013.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:13.388Z,1736376013.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 115.766930 m, bearing: 3.567523 deg, approach rate: -0.476990 m/s, LOS rate: -0.155058 deg/s, cmd heading: 27.698374 deg, new cmd heading: 27.545638 deg. 2025-01-08T22:40:13.389Z,1736376013.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.480762 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:13.489Z,1736376013.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:13.490Z,1736376013.490 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:13.490Z,1736376013.490 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:13.490Z,1736376013.490 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:13.740Z,1736376013.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:13.740Z,1736376013.740 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:13.740Z,1736376013.740 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:13.740Z,1736376013.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:13.837Z,1736376013.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:13.854Z,1736376013.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:13.860Z,1736376013.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 115.562172 m, bearing: 3.491615 deg, approach rate: -0.437350 m/s, LOS rate: -0.162422 deg/s, cmd heading: 27.545637 deg, new cmd heading: 27.317512 deg. 2025-01-08T22:40:13.861Z,1736376013.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.476781 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:13.992Z,1736376013.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:13.992Z,1736376013.992 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:13.992Z,1736376013.992 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:13.992Z,1736376013.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:14.245Z,1736376014.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:14.245Z,1736376014.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:14.246Z,1736376014.246 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:14.246Z,1736376014.246 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:14.293Z,1736376014.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:14.322Z,1736376014.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:14.329Z,1736376014.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 115.360817 m, bearing: 3.415855 deg, approach rate: -0.429969 m/s, LOS rate: -0.162060 deg/s, cmd heading: 27.317512 deg, new cmd heading: 27.089835 deg. 2025-01-08T22:40:14.330Z,1736376014.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472807 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:14.496Z,1736376014.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:14.497Z,1736376014.497 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:14.497Z,1736376014.497 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:14.497Z,1736376014.497 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:14.748Z,1736376014.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:14.748Z,1736376014.748 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:14.748Z,1736376014.748 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:14.748Z,1736376014.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:14.809Z,1736376014.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:14.819Z,1736376014.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:14.833Z,1736376014.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 115.128563 m, bearing: 3.330059 deg, approach rate: -0.467322 m/s, LOS rate: -0.172980 deg/s, cmd heading: 27.089835 deg, new cmd heading: 26.831929 deg. 2025-01-08T22:40:14.840Z,1736376014.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468305 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:14.000Z,1736376015.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:15.000Z,1736376015.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:15.000Z,1736376015.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:15.000Z,1736376015.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:15.253Z,1736376015.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:15.253Z,1736376015.253 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:15.253Z,1736376015.253 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:15.253Z,1736376015.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:15.267Z,1736376015.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:15.304Z,1736376015.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:15.307Z,1736376015.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 114.926544 m, bearing: 3.252755 deg, approach rate: -0.416288 m/s, LOS rate: -0.159574 deg/s, cmd heading: 26.831929 deg, new cmd heading: 26.599612 deg. 2025-01-08T22:40:15.312Z,1736376015.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464251 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:15.504Z,1736376015.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:15.504Z,1736376015.504 [DAT](INFO): Reached modem response timeout 2025-01-08T22:40:15.504Z,1736376015.504 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:40:15.504Z,1736376015.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:15.673Z,1736376015.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:15.720Z,1736376015.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:15.737Z,1736376015.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:15.758Z,1736376015.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:15.759Z,1736376015.759 [DAT](INFO): Reached modem response timeout 2025-01-08T22:40:15.760Z,1736376015.760 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:40:15.761Z,1736376015.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:15.767Z,1736376015.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 114.748947 m, bearing: 3.183465 deg, approach rate: -0.415873 m/s, LOS rate: -0.162505 deg/s, cmd heading: 26.599612 deg, new cmd heading: 26.391421 deg. 2025-01-08T22:40:15.768Z,1736376015.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460617 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:16.009Z,1736376016.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:16.009Z,1736376016.009 [DAT](INFO): Reached modem response timeout 2025-01-08T22:40:16.010Z,1736376016.010 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:40:16.010Z,1736376016.010 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:16.091Z,1736376016.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:16.100Z,1736376016.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:16.102Z,1736376016.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 114.562584 m, bearing: 3.115708 deg, approach rate: -0.505573 m/s, LOS rate: -0.184114 deg/s, cmd heading: 26.391421 deg, new cmd heading: 26.187818 deg. 2025-01-08T22:40:16.105Z,1736376016.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.457064 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:16.260Z,1736376016.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:16.262Z,1736376016.262 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:40:16.263Z,1736376016.263 [DAT](INFO): response not received 2025-01-08T22:40:16.264Z,1736376016.264 [DAT](INFO): DAT read: user:2774> 2025-01-08T22:40:16.265Z,1736376016.265 [DAT](ERROR): No response from remote modem. 2025-01-08T22:40:16.266Z,1736376016.266 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:40:16.267Z,1736376016.267 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:16.481Z,1736376016.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:16.492Z,1736376016.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:16.495Z,1736376016.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 114.389313 m, bearing: 3.052460 deg, approach rate: -0.441828 m/s, LOS rate: -0.161520 deg/s, cmd heading: 26.187818 deg, new cmd heading: 25.997789 deg. 2025-01-08T22:40:16.497Z,1736376016.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453747 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:16.512Z,1736376016.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:16.513Z,1736376016.513 [DAT](INFO): DAT read: Tx time:22:40:15.7098 2025-01-08T22:40:16.513Z,1736376016.513 [DAT](INFO): Ping request sent. 2025-01-08T22:40:16.514Z,1736376016.514 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:40:16.514Z,1736376016.514 [DAT](INFO): DAT read: TxSync time:22:40:15.7090 2025-01-08T22:40:16.515Z,1736376016.515 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:16.515Z,1736376016.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001667 2025-01-08T22:40:16.766Z,1736376016.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:16.767Z,1736376016.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253127 2025-01-08T22:40:16.966Z,1736376016.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:16.974Z,1736376016.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:16.977Z,1736376016.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 114.164650 m, bearing: 2.985268 deg, approach rate: -0.465703 m/s, LOS rate: -0.139558 deg/s, cmd heading: 25.997790 deg, new cmd heading: 25.795816 deg. 2025-01-08T22:40:16.978Z,1736376016.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450222 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:17.016Z,1736376017.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:17.017Z,1736376017.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502896 2025-01-08T22:40:17.268Z,1736376017.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:17.268Z,1736376017.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754719 2025-01-08T22:40:17.342Z,1736376017.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:17.351Z,1736376017.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:17.353Z,1736376017.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 113.992989 m, bearing: 2.932092 deg, approach rate: -0.456364 m/s, LOS rate: -0.141581 deg/s, cmd heading: 25.795816 deg, new cmd heading: 25.636049 deg. 2025-01-08T22:40:17.354Z,1736376017.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447433 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:17.522Z,1736376017.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:17.525Z,1736376017.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010788 2025-01-08T22:40:17.773Z,1736376017.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:17.776Z,1736376017.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261216 2025-01-08T22:40:17.801Z,1736376017.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:17.820Z,1736376017.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:17.822Z,1736376017.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:17.830Z,1736376017.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 113.784103 m, bearing: 2.866297 deg, approach rate: -0.442944 m/s, LOS rate: -0.139775 deg/s, cmd heading: 25.636050 deg, new cmd heading: 25.438304 deg. 2025-01-08T22:40:17.831Z,1736376017.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.443982 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:18.024Z,1736376018.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:18.025Z,1736376018.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511004 2025-01-08T22:40:18.170Z,1736376018.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:18.178Z,1736376018.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:18.205Z,1736376018.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 113.612419 m, bearing: 2.825576 deg, approach rate: -0.482377 m/s, LOS rate: -0.114586 deg/s, cmd heading: 25.438304 deg, new cmd heading: 25.315956 deg. 2025-01-08T22:40:18.212Z,1736376018.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441847 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:18.277Z,1736376018.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:18.278Z,1736376018.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764159 2025-01-08T22:40:18.528Z,1736376018.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:18.528Z,1736376018.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014804 2025-01-08T22:40:18.559Z,1736376018.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:18.569Z,1736376018.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:18.572Z,1736376018.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 113.431000 m, bearing: 2.782707 deg, approach rate: -0.464404 m/s, LOS rate: -0.109912 deg/s, cmd heading: 25.315956 deg, new cmd heading: 25.187144 deg. 2025-01-08T22:40:18.573Z,1736376018.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439599 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:18.781Z,1736376018.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:18.784Z,1736376018.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270184 2025-01-08T22:40:18.957Z,1736376018.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:18.967Z,1736376018.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:18.970Z,1736376018.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 113.244972 m, bearing: 2.738939 deg, approach rate: -0.467097 m/s, LOS rate: -0.110079 deg/s, cmd heading: 25.187144 deg, new cmd heading: 25.055623 deg. 2025-01-08T22:40:18.971Z,1736376018.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437303 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:19.032Z,1736376019.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:19.033Z,1736376019.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519055 2025-01-08T22:40:19.284Z,1736376019.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:19.284Z,1736376019.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770766 2025-01-08T22:40:19.384Z,1736376019.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:19.392Z,1736376019.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:19.395Z,1736376019.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 113.045647 m, bearing: 2.692599 deg, approach rate: -0.468849 m/s, LOS rate: -0.109191 deg/s, cmd heading: 25.055623 deg, new cmd heading: 24.916360 deg. 2025-01-08T22:40:19.397Z,1736376019.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434873 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:19.536Z,1736376019.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:19.537Z,1736376019.537 [DAT](INFO): DAT read: Rx Time:22:40:18.3508 2025-01-08T22:40:19.537Z,1736376019.537 [DAT](INFO): Rx dataTimestamp_ set to:1736376019.536778 2025-01-08T22:40:19.538Z,1736376019.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023963 2025-01-08T22:40:19.789Z,1736376019.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:19.792Z,1736376019.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277197 2025-01-08T22:40:19.897Z,1736376019.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:19.906Z,1736376019.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:19.909Z,1736376019.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:19.912Z,1736376019.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 112.797676 m, bearing: 2.655751 deg, approach rate: -0.480117 m/s, LOS rate: -0.071501 deg/s, cmd heading: 24.916361 deg, new cmd heading: 24.805575 deg. 2025-01-08T22:40:19.913Z,1736376019.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432939 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:20.041Z,1736376020.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:20.058Z,1736376020.058 [DAT](INFO): DAT read: 22:40:18.3508 LVL= 23680, 32753, 20898, 32755, AGC= 63, IDX= 37,-0.14, 0.584,-1.050, 0.473,-0.164, PHS= 0.836,-0.839, 0.634, RAW= 143.7, -8.0, CAL= 150.0, -17.1, ROT= 360.0, 17.1 2025-01-08T22:40:20.069Z,1736376020.069 [DAT](INFO): got valid direction response: 22:40:18.3508 LVL= 23680, 32753, 20898, 32755, AGC= 63, IDX= 37,-0.14, 0.584,-1.050, 0.473,-0.164, PHS= 0.836,-0.839, 0.634, RAW= 143.7, -8.0, CAL= 150.0, -17.1, ROT= 360.0, 17.1 2025-01-08T22:40:20.071Z,1736376020.071 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:40:20.075Z,1736376020.075 [DAT](INFO): Received a bad header 2025-01-08T22:40:20.088Z,1736376020.088 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T22:40:20.089Z,1736376020.089 [DAT](INFO): direction in FSK: [0.033722,-0.762361,0.646272] 2025-01-08T22:40:20.103Z,1736376020.103 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:20.103Z,1736376020.103 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:20.108Z,1736376020.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:20.292Z,1736376020.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:20.293Z,1736376020.293 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:20.294Z,1736376020.294 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:20.294Z,1736376020.294 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:20.320Z,1736376020.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:20.361Z,1736376020.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:20.368Z,1736376020.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 112.592270 m, bearing: 2.626913 deg, approach rate: -0.454371 m/s, LOS rate: -0.063908 deg/s, cmd heading: 24.805575 deg, new cmd heading: 24.718904 deg. 2025-01-08T22:40:20.369Z,1736376020.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431426 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:20.544Z,1736376020.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:20.544Z,1736376020.544 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:20.544Z,1736376020.544 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:20.544Z,1736376020.544 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:20.722Z,1736376020.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:20.732Z,1736376020.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:20.735Z,1736376020.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 112.396805 m, bearing: 2.600232 deg, approach rate: -0.526005 m/s, LOS rate: -0.071926 deg/s, cmd heading: 24.718904 deg, new cmd heading: 24.638720 deg. 2025-01-08T22:40:20.736Z,1736376020.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430027 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:20.798Z,1736376020.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:20.800Z,1736376020.800 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:20.800Z,1736376020.800 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:20.801Z,1736376020.801 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:21.048Z,1736376021.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:21.048Z,1736376021.048 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:21.048Z,1736376021.048 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:21.048Z,1736376021.048 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:21.156Z,1736376021.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:21.166Z,1736376021.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:21.170Z,1736376021.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 112.179596 m, bearing: 2.596124 deg, approach rate: -0.500560 m/s, LOS rate: -0.009486 deg/s, cmd heading: 24.638721 deg, new cmd heading: 24.626371 deg. 2025-01-08T22:40:21.170Z,1736376021.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429811 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:21.300Z,1736376021.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:21.300Z,1736376021.300 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:21.300Z,1736376021.300 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:21.301Z,1736376021.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:21.531Z,1736376021.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:21.552Z,1736376021.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:21.552Z,1736376021.552 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:21.552Z,1736376021.552 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:21.552Z,1736376021.552 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:21.555Z,1736376021.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:21.558Z,1736376021.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 111.991959 m, bearing: 2.593236 deg, approach rate: -0.503343 m/s, LOS rate: -0.007759 deg/s, cmd heading: 24.626372 deg, new cmd heading: 24.617694 deg. 2025-01-08T22:40:21.559Z,1736376021.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429660 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:21.808Z,1736376021.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:21.810Z,1736376021.810 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:21.810Z,1736376021.810 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:21.811Z,1736376021.811 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:21.978Z,1736376021.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:21.986Z,1736376021.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:22.001Z,1736376022.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:22.004Z,1736376022.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 111.772156 m, bearing: 2.589365 deg, approach rate: -0.476235 m/s, LOS rate: -0.008404 deg/s, cmd heading: 24.617694 deg, new cmd heading: 24.606057 deg. 2025-01-08T22:40:22.005Z,1736376022.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429457 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:22.057Z,1736376022.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:22.057Z,1736376022.057 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:22.058Z,1736376022.058 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:22.058Z,1736376022.058 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:22.308Z,1736376022.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:22.308Z,1736376022.308 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:22.308Z,1736376022.308 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:22.308Z,1736376022.308 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:22.427Z,1736376022.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:22.437Z,1736376022.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:22.440Z,1736376022.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 111.551315 m, bearing: 2.586051 deg, approach rate: -0.505940 m/s, LOS rate: -0.007606 deg/s, cmd heading: 24.606057 deg, new cmd heading: 24.596097 deg. 2025-01-08T22:40:22.441Z,1736376022.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429283 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:22.560Z,1736376022.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:22.560Z,1736376022.560 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:22.560Z,1736376022.560 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:22.560Z,1736376022.560 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:22.641Z,1736376022.641 [CTD_Seabird](ERROR): Failed to parse device response: 66.79,10.07448,9035.81 2025-01-08T22:40:22.813Z,1736376022.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:22.815Z,1736376022.815 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:22.815Z,1736376022.815 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:22.816Z,1736376022.816 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:22.958Z,1736376022.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:22.970Z,1736376022.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:22.973Z,1736376022.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 111.286530 m, bearing: 2.570958 deg, approach rate: -0.496608 m/s, LOS rate: -0.028376 deg/s, cmd heading: 24.596097 deg, new cmd heading: 24.550707 deg. 2025-01-08T22:40:22.974Z,1736376022.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428491 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:23.064Z,1736376023.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:23.064Z,1736376023.064 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:23.064Z,1736376023.064 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:23.064Z,1736376023.064 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:23.317Z,1736376023.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:23.319Z,1736376023.319 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:23.320Z,1736376023.320 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:23.320Z,1736376023.320 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:23.382Z,1736376023.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:23.406Z,1736376023.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:23.414Z,1736376023.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 111.075676 m, bearing: 2.559795 deg, approach rate: -0.483445 m/s, LOS rate: -0.025641 deg/s, cmd heading: 24.550707 deg, new cmd heading: 24.517157 deg. 2025-01-08T22:40:23.420Z,1736376023.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427905 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:23.568Z,1736376023.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:23.568Z,1736376023.568 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:23.568Z,1736376023.568 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:23.568Z,1736376023.568 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:23.757Z,1736376023.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:23.767Z,1736376023.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:23.770Z,1736376023.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 110.887733 m, bearing: 2.550028 deg, approach rate: -0.521715 m/s, LOS rate: -0.027160 deg/s, cmd heading: 24.517157 deg, new cmd heading: 24.487805 deg. 2025-01-08T22:40:23.771Z,1736376023.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427393 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:23.822Z,1736376023.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:23.824Z,1736376023.824 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:23.824Z,1736376023.824 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:23.825Z,1736376023.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:24.072Z,1736376024.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:24.072Z,1736376024.072 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:24.072Z,1736376024.072 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:24.072Z,1736376024.072 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:24.212Z,1736376024.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:24.219Z,1736376024.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:24.221Z,1736376024.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:24.226Z,1736376024.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 110.661469 m, bearing: 2.522483 deg, approach rate: -0.497429 m/s, LOS rate: -0.060678 deg/s, cmd heading: 24.487804 deg, new cmd heading: 24.405002 deg. 2025-01-08T22:40:24.228Z,1736376024.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425948 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:24.324Z,1736376024.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:24.324Z,1736376024.324 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:24.324Z,1736376024.324 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:24.325Z,1736376024.325 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:24.571Z,1736376024.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:24.576Z,1736376024.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:24.576Z,1736376024.576 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:24.576Z,1736376024.576 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:24.576Z,1736376024.576 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:24.582Z,1736376024.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:24.584Z,1736376024.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 110.482185 m, bearing: 2.500697 deg, approach rate: -0.497852 m/s, LOS rate: -0.060596 deg/s, cmd heading: 24.405002 deg, new cmd heading: 24.339537 deg. 2025-01-08T22:40:24.585Z,1736376024.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424805 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:24.830Z,1736376024.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:24.832Z,1736376024.832 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:24.833Z,1736376024.833 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:24.833Z,1736376024.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:25.014Z,1736376025.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:25.028Z,1736376025.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:25.031Z,1736376025.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 110.265358 m, bearing: 2.459463 deg, approach rate: -0.486027 m/s, LOS rate: -0.092609 deg/s, cmd heading: 24.339538 deg, new cmd heading: 24.215593 deg. 2025-01-08T22:40:25.032Z,1736376025.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422642 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:25.080Z,1736376025.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:25.081Z,1736376025.081 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:25.081Z,1736376025.081 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:25.081Z,1736376025.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:25.332Z,1736376025.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:25.332Z,1736376025.332 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:25.332Z,1736376025.332 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:25.332Z,1736376025.332 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:25.399Z,1736376025.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:25.425Z,1736376025.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:25.433Z,1736376025.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 110.086761 m, bearing: 2.425147 deg, approach rate: -0.449107 m/s, LOS rate: -0.086434 deg/s, cmd heading: 24.215592 deg, new cmd heading: 24.112476 deg. 2025-01-08T22:40:25.434Z,1736376025.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420842 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:25.584Z,1736376025.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:25.584Z,1736376025.584 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:25.584Z,1736376025.584 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:25.584Z,1736376025.584 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:25.776Z,1736376025.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:25.785Z,1736376025.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:25.788Z,1736376025.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 109.892799 m, bearing: 2.387523 deg, approach rate: -0.538799 m/s, LOS rate: -0.104698 deg/s, cmd heading: 24.112475 deg, new cmd heading: 23.999405 deg. 2025-01-08T22:40:25.789Z,1736376025.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418869 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:25.837Z,1736376025.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:25.838Z,1736376025.838 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:25.838Z,1736376025.838 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:25.838Z,1736376025.838 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:25.902Z,1736376025.902 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:40:26.088Z,1736376026.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:26.088Z,1736376026.088 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:26.088Z,1736376026.088 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:26.088Z,1736376026.088 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:26.222Z,1736376026.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:26.230Z,1736376026.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:26.232Z,1736376026.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:26.235Z,1736376026.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 109.668327 m, bearing: 2.328867 deg, approach rate: -0.502204 m/s, LOS rate: -0.131498 deg/s, cmd heading: 23.999405 deg, new cmd heading: 23.823076 deg. 2025-01-08T22:40:26.236Z,1736376026.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415791 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:26.341Z,1736376026.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:26.342Z,1736376026.342 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:26.342Z,1736376026.342 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:26.342Z,1736376026.342 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:40:26.587Z,1736376026.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:26.592Z,1736376026.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:26.592Z,1736376026.592 [DAT](INFO): Reached modem response timeout 2025-01-08T22:40:26.592Z,1736376026.592 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:40:26.593Z,1736376026.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:26.619Z,1736376026.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:26.633Z,1736376026.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 109.485023 m, bearing: 2.280425 deg, approach rate: -0.474262 m/s, LOS rate: -0.125542 deg/s, cmd heading: 23.823077 deg, new cmd heading: 23.677510 deg. 2025-01-08T22:40:26.634Z,1736376026.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413251 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:26.845Z,1736376026.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:26.846Z,1736376026.846 [DAT](INFO): Reached modem response timeout 2025-01-08T22:40:26.847Z,1736376026.847 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:40:26.848Z,1736376026.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:26.905Z,1736376026.905 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:40:27.082Z,1736376027.082 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 78.62, 62.87, 85.63 2025-01-08T22:40:27.096Z,1736376027.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:27.097Z,1736376027.097 [DAT](INFO): Reached modem response timeout 2025-01-08T22:40:27.097Z,1736376027.097 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:40:27.097Z,1736376027.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:27.133Z,1736376027.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:40:27.133Z,1736376027.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:27.150Z,1736376027.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:27.157Z,1736376027.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 109.211418 m, bearing: 2.206728 deg, approach rate: -0.515097 m/s, LOS rate: -0.139092 deg/s, cmd heading: 23.677510 deg, new cmd heading: 23.455865 deg. 2025-01-08T22:40:27.158Z,1736376027.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.409382 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:27.348Z,1736376027.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:27.351Z,1736376027.351 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:40:27.352Z,1736376027.352 [DAT](INFO): response not received 2025-01-08T22:40:27.352Z,1736376027.352 [DAT](INFO): DAT read: user:2776> 2025-01-08T22:40:27.353Z,1736376027.353 [DAT](INFO): DAT read: Tx time:22:40:26.6599 2025-01-08T22:40:27.353Z,1736376027.353 [DAT](INFO): Ping request sent. 2025-01-08T22:40:27.353Z,1736376027.353 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:40:27.353Z,1736376027.353 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:27.354Z,1736376027.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000718 2025-01-08T22:40:27.502Z,1736376027.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:40:27.502Z,1736376027.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:27.511Z,1736376027.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:27.514Z,1736376027.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 109.026474 m, bearing: 2.156424 deg, approach rate: -0.512824 m/s, LOS rate: -0.139723 deg/s, cmd heading: 23.455865 deg, new cmd heading: 23.304697 deg. 2025-01-08T22:40:27.515Z,1736376027.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.406744 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:27.600Z,1736376027.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:27.601Z,1736376027.601 [DAT](INFO): DAT read: TxSync time:22:40:26.6591 2025-01-08T22:40:27.601Z,1736376027.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248292 2025-01-08T22:40:27.852Z,1736376027.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:27.853Z,1736376027.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500004 2025-01-08T22:40:27.953Z,1736376027.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T22:40:27.953Z,1736376027.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:27.965Z,1736376027.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:27.972Z,1736376027.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 108.800850 m, bearing: 2.094558 deg, approach rate: -0.496082 m/s, LOS rate: -0.136308 deg/s, cmd heading: 23.304698 deg, new cmd heading: 23.118715 deg. 2025-01-08T22:40:27.973Z,1736376027.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.403498 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:28.104Z,1736376028.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:28.106Z,1736376028.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752246 2025-01-08T22:40:28.320Z,1736376028.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:28.327Z,1736376028.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:28.329Z,1736376028.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:28.332Z,1736376028.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 108.605934 m, bearing: 2.031823 deg, approach rate: -0.535692 m/s, LOS rate: -0.172725 deg/s, cmd heading: 23.118715 deg, new cmd heading: 22.930174 deg. 2025-01-08T22:40:28.333Z,1736376028.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.400207 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:28.357Z,1736376028.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:28.359Z,1736376028.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005571 2025-01-08T22:40:28.609Z,1736376028.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:28.610Z,1736376028.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256838 2025-01-08T22:40:28.710Z,1736376028.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:28.719Z,1736376028.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:28.722Z,1736376028.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 108.400238 m, bearing: 1.964873 deg, approach rate: -0.527988 m/s, LOS rate: -0.172176 deg/s, cmd heading: 22.930174 deg, new cmd heading: 22.728944 deg. 2025-01-08T22:40:28.723Z,1736376028.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.396695 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:28.862Z,1736376028.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:28.863Z,1736376028.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509877 2025-01-08T22:40:29.112Z,1736376029.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:29.113Z,1736376029.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760150 2025-01-08T22:40:29.128Z,1736376029.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:29.138Z,1736376029.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:29.141Z,1736376029.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 108.174644 m, bearing: 1.893504 deg, approach rate: -0.538566 m/s, LOS rate: -0.170735 deg/s, cmd heading: 22.728943 deg, new cmd heading: 22.514393 deg. 2025-01-08T22:40:29.141Z,1736376029.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.392950 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:29.366Z,1736376029.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:29.368Z,1736376029.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014859 2025-01-08T22:40:29.526Z,1736376029.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:29.537Z,1736376029.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:29.540Z,1736376029.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 107.960167 m, bearing: 1.825395 deg, approach rate: -0.537513 m/s, LOS rate: -0.171031 deg/s, cmd heading: 22.514392 deg, new cmd heading: 22.309659 deg. 2025-01-08T22:40:29.541Z,1736376029.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.389377 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:29.616Z,1736376029.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:29.617Z,1736376029.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263668 2025-01-08T22:40:29.868Z,1736376029.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:29.868Z,1736376029.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515203 2025-01-08T22:40:29.978Z,1736376029.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:29.999Z,1736376029.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:30.002Z,1736376030.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 107.715469 m, bearing: 1.747681 deg, approach rate: -0.533841 m/s, LOS rate: -0.169929 deg/s, cmd heading: 22.309659 deg, new cmd heading: 22.075988 deg. 2025-01-08T22:40:30.011Z,1736376030.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.385299 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:30.120Z,1736376030.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:30.120Z,1736376030.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767286 2025-01-08T22:40:30.334Z,1736376030.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:30.342Z,1736376030.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:30.344Z,1736376030.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:30.346Z,1736376030.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 107.521164 m, bearing: 1.690611 deg, approach rate: -0.557212 m/s, LOS rate: -0.163955 deg/s, cmd heading: 22.075988 deg, new cmd heading: 21.904470 deg. 2025-01-08T22:40:30.364Z,1736376030.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.382305 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:30.372Z,1736376030.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:30.373Z,1736376030.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019461 2025-01-08T22:40:30.624Z,1736376030.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:30.625Z,1736376030.625 [DAT](INFO): DAT read: Rx Time:22:40:29.2601 2025-01-08T22:40:30.627Z,1736376030.627 [DAT](INFO): Rx dataTimestamp_ set to:1736376030.625991 2025-01-08T22:40:30.628Z,1736376030.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274960 2025-01-08T22:40:30.723Z,1736376030.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:30.752Z,1736376030.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.30 m. 2025-01-08T22:40:30.759Z,1736376030.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.300003 m, nav range: 107.308418 m, bearing: 1.628450 deg, approach rate: -0.520660 m/s, LOS rate: -0.152432 deg/s, cmd heading: 21.904470 deg, new cmd heading: 21.717616 deg. 2025-01-08T22:40:30.760Z,1736376030.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.379044 target range: 161.300003 and range: 161.30 m. 2025-01-08T22:40:30.876Z,1736376030.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:30.877Z,1736376030.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523948 2025-01-08T22:40:31.128Z,1736376031.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:31.135Z,1736376031.135 [DAT](INFO): DAT read: 22:40:29.2602 LVL= 26656, 30545, 18162, 22083, AGC= 67, IDX= 19, 0.29,-2.092, 2.514,-2.297,-2.882, PHS= 0.878,-0.840, 0.582, RAW= 140.7, -7.8, CAL= 147.0, -17.5, ROT= 3.0, 17.5 2025-01-08T22:40:31.136Z,1736376031.136 [DAT](INFO): got valid direction response: 22:40:29.2602 LVL= 26656, 30545, 18162, 22083, AGC= 67, IDX= 19, 0.29,-2.092, 2.514,-2.297,-2.882, PHS= 0.878,-0.840, 0.582, RAW= 140.7, -7.8, CAL= 147.0, -17.5, ROT= 3.0, 17.5 2025-01-08T22:40:31.137Z,1736376031.137 [DAT](INFO): DAT read: Bearing 3.0, 17.5 (Local) 2025-01-08T22:40:31.137Z,1736376031.137 [DAT](INFO): Local bearing/azimuth received: Bearing 3.0, 17.5 (Local) 2025-01-08T22:40:31.139Z,1736376031.139 [DAT](INFO): DAT read: Range 10 to 50 : 147.0 m (Round-trip 196.0 ms) speed 0.4 m/s 2025-01-08T22:40:31.140Z,1736376031.140 [DAT](INFO): DAT read: user:2777> 2025-01-08T22:40:31.140Z,1736376031.140 [DAT](INFO): DAT read: Tx time:22:40:30.3600 2025-01-08T22:40:31.141Z,1736376031.141 [DAT](INFO): Ping request sent. 2025-01-08T22:40:31.141Z,1736376031.141 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:40:31.141Z,1736376031.141 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:40:31.142Z,1736376031.142 [DAT](INFO): direction in FSK: [0.029614,-0.726681,0.686337] 2025-01-08T22:40:31.142Z,1736376031.142 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:31.142Z,1736376031.142 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:31.150Z,1736376031.150 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:31.150Z,1736376031.150 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:31.246Z,1736376031.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:31.293Z,1736376031.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 147.000000 m, deltaT: 29.497636 s, deltaX: -14.300003 m, approachRate: -0.484785 m/s, rangeRepo size: 4 2025-01-08T22:40:31.300Z,1736376031.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 147.000000 m, bearing: 287.207408 deg, lat: 36.904467 deg, lon: -122.121103 deg, deltaT: 29.497636 s, deltaX: -14.300003 m, approachRate: -0.484785 m/s, posRepo size: 4 2025-01-08T22:40:31.300Z,1736376031.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m. 2025-01-08T22:40:31.308Z,1736376031.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.000000 m, nav range: 153.115219 m, bearing: 319.841435 deg, approach rate: 0.000000 m/s, LOS rate: -0.152432 deg/s, cmd heading: 21.717616 deg, new cmd heading: 21.470597 deg. 2025-01-08T22:40:31.309Z,1736376031.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.374733 target range: 147.000000 and range: 147.00 m. 2025-01-08T22:40:31.332Z,1736376031.332 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:40:31.380Z,1736376031.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:31.382Z,1736376031.382 [DAT](INFO): DAT read: TxSync time:22:40:30.3592 2025-01-08T22:40:31.601Z,1736376031.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:31.627Z,1736376031.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m. 2025-01-08T22:40:31.632Z,1736376031.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:31.631Z,1736376031.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.000000 m, nav range: 153.028671 m, bearing: 319.767626 deg, approach rate: -0.265154 m/s, LOS rate: -0.226256 deg/s, cmd heading: 21.470597 deg, new cmd heading: 21.249045 deg. 2025-01-08T22:40:31.636Z,1736376031.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.370866 target range: 147.000000 and range: 147.00 m. 2025-01-08T22:40:31.884Z,1736376031.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:32.061Z,1736376032.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:32.070Z,1736376032.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m. 2025-01-08T22:40:32.074Z,1736376032.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.000000 m, nav range: 152.902328 m, bearing: 319.676335 deg, approach rate: -0.279900 m/s, LOS rate: -0.202412 deg/s, cmd heading: 21.249045 deg, new cmd heading: 20.974949 deg. 2025-01-08T22:40:32.074Z,1736376032.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.366082 target range: 147.000000 and range: 147.00 m. 2025-01-08T22:40:32.136Z,1736376032.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:32.380Z,1736376032.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:32.387Z,1736376032.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:32.388Z,1736376032.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:32.388Z,1736376032.388 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:32.388Z,1736376032.388 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:32.389Z,1736376032.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:32.393Z,1736376032.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m. 2025-01-08T22:40:32.396Z,1736376032.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.000000 m, nav range: 152.814011 m, bearing: 319.612973 deg, approach rate: -0.273738 m/s, LOS rate: -0.196504 deg/s, cmd heading: 20.974949 deg, new cmd heading: 20.784752 deg. 2025-01-08T22:40:32.397Z,1736376032.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.362762 target range: 147.000000 and range: 147.00 m. 2025-01-08T22:40:32.641Z,1736376032.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:32.642Z,1736376032.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501064 2025-01-08T22:40:32.786Z,1736376032.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:32.794Z,1736376032.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m. 2025-01-08T22:40:32.798Z,1736376032.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.000000 m, nav range: 152.701065 m, bearing: 319.532440 deg, approach rate: -0.281400 m/s, LOS rate: -0.200794 deg/s, cmd heading: 20.784752 deg, new cmd heading: 20.542976 deg. 2025-01-08T22:40:32.799Z,1736376032.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.358543 target range: 147.000000 and range: 147.00 m. 2025-01-08T22:40:32.893Z,1736376032.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:32.894Z,1736376032.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753183 2025-01-08T22:40:33.144Z,1736376033.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:33.145Z,1736376033.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004084 2025-01-08T22:40:33.232Z,1736376033.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:33.292Z,1736376033.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m. 2025-01-08T22:40:33.303Z,1736376033.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.000000 m, nav range: 152.564240 m, bearing: 319.448692 deg, approach rate: -0.274830 m/s, LOS rate: -0.168369 deg/s, cmd heading: 20.542976 deg, new cmd heading: 20.291508 deg. 2025-01-08T22:40:33.304Z,1736376033.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.354154 target range: 147.000000 and range: 147.00 m. 2025-01-08T22:40:33.396Z,1736376033.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:33.396Z,1736376033.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255702 2025-01-08T22:40:33.599Z,1736376033.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:33.609Z,1736376033.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m. 2025-01-08T22:40:33.613Z,1736376033.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.000000 m, nav range: 152.449142 m, bearing: 319.379868 deg, approach rate: -0.365667 m/s, LOS rate: -0.218821 deg/s, cmd heading: 20.291508 deg, new cmd heading: 20.084881 deg. 2025-01-08T22:40:33.614Z,1736376033.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.350547 target range: 147.000000 and range: 147.00 m. 2025-01-08T22:40:33.648Z,1736376033.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:33.649Z,1736376033.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508481 2025-01-08T22:40:33.900Z,1736376033.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:33.900Z,1736376033.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759704 2025-01-08T22:40:34.084Z,1736376034.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:34.118Z,1736376034.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m. 2025-01-08T22:40:34.125Z,1736376034.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.000000 m, nav range: 152.294022 m, bearing: 319.295451 deg, approach rate: -0.303741 m/s, LOS rate: -0.165463 deg/s, cmd heading: 20.084882 deg, new cmd heading: 19.831377 deg. 2025-01-08T22:40:34.126Z,1736376034.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.346123 target range: 147.000000 and range: 147.00 m. 2025-01-08T22:40:34.152Z,1736376034.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:34.153Z,1736376034.153 [DAT](INFO): DAT read: Rx Time:22:40:32.9573 2025-01-08T22:40:34.153Z,1736376034.153 [DAT](INFO): Rx dataTimestamp_ set to:1736376034.152742 2025-01-08T22:40:34.154Z,1736376034.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012820 2025-01-08T22:40:34.404Z,1736376034.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:34.404Z,1736376034.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263686 2025-01-08T22:40:34.435Z,1736376034.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:34.476Z,1736376034.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:34.478Z,1736376034.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.00 m. 2025-01-08T22:40:34.485Z,1736376034.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.000000 m, nav range: 152.181549 m, bearing: 319.234022 deg, approach rate: -0.311868 m/s, LOS rate: -0.170459 deg/s, cmd heading: 19.831377 deg, new cmd heading: 19.646954 deg. 2025-01-08T22:40:34.486Z,1736376034.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342904 target range: 147.000000 and range: 147.00 m. 2025-01-08T22:40:34.660Z,1736376034.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:34.673Z,1736376034.673 [DAT](INFO): DAT read: 22:40:32.9573 LVL= 32752, 32753, 32114, 32755, AGC= 66, IDX= 406, 0.19, 0.344,-1.398, 0.013,-0.495, PHS= 0.927,-0.856, 0.505, RAW= 136.9, -7.2, CAL= 142.8, -17.7, ROT= 7.2, 17.7 2025-01-08T22:40:34.674Z,1736376034.674 [DAT](INFO): got valid direction response: 22:40:32.9573 LVL= 32752, 32753, 32114, 32755, AGC= 66, IDX= 406, 0.19, 0.344,-1.398, 0.013,-0.495, PHS= 0.927,-0.856, 0.505, RAW= 136.9, -7.2, CAL= 142.8, -17.7, ROT= 7.2, 17.7 2025-01-08T22:40:34.676Z,1736376034.676 [DAT](INFO): DAT read: Bearing 7.2, 17.7 (Local) 2025-01-08T22:40:34.676Z,1736376034.676 [DAT](INFO): Local bearing/azimuth received: Bearing 7.2, 17.7 (Local) 2025-01-08T22:40:34.680Z,1736376034.680 [DAT](INFO): DAT read: Range 10 to 50 : 144.8 m (Round-trip 193.1 ms) speed 0.4 m/s 2025-01-08T22:40:34.680Z,1736376034.680 [DAT](INFO): DAT read: user:2778> 2025-01-08T22:40:34.681Z,1736376034.681 [DAT](INFO): DAT read: Tx time:22:40:34.0600 2025-01-08T22:40:34.681Z,1736376034.681 [DAT](INFO): Ping request sent. 2025-01-08T22:40:34.682Z,1736376034.682 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:40:34.682Z,1736376034.682 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:40:34.683Z,1736376034.683 [DAT](INFO): direction in FSK: [0.016223,-0.677137,0.735678] 2025-01-08T22:40:34.683Z,1736376034.683 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:34.684Z,1736376034.684 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:34.686Z,1736376034.686 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:34.687Z,1736376034.687 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:34.847Z,1736376034.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:34.893Z,1736376034.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 144.800003 m, deltaT: 3.532558 s, deltaX: -2.199997 m, approachRate: -0.622777 m/s, rangeRepo size: 4 2025-01-08T22:40:34.900Z,1736376034.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 144.800003 m, bearing: 284.825946 deg, lat: 36.904467 deg, lon: -122.121164 deg, deltaT: 3.532558 s, deltaX: -2.199997 m, approachRate: -0.622777 m/s, posRepo size: 4 2025-01-08T22:40:34.904Z,1736376034.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m. 2025-01-08T22:40:34.906Z,1736376034.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.800003 m, nav range: 155.661285 m, bearing: 317.646445 deg, approach rate: 0.000000 m/s, LOS rate: -0.170459 deg/s, cmd heading: 19.646954 deg, new cmd heading: 19.435070 deg. 2025-01-08T22:40:34.908Z,1736376034.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:34.909Z,1736376034.909 [DAT](INFO): DAT read: TxSync time:22:40:34.0592 2025-01-08T22:40:34.909Z,1736376034.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.339206 target range: 144.800003 and range: 144.80 m. 2025-01-08T22:40:35.164Z,1736376035.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:35.244Z,1736376035.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:35.254Z,1736376035.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m. 2025-01-08T22:40:35.257Z,1736376035.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.800003 m, nav range: 155.535355 m, bearing: 317.581359 deg, approach rate: -0.348698 m/s, LOS rate: -0.180369 deg/s, cmd heading: 19.435069 deg, new cmd heading: 19.239652 deg. 2025-01-08T22:40:35.258Z,1736376035.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.335795 target range: 144.800003 and range: 144.80 m. 2025-01-08T22:40:35.416Z,1736376035.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:35.632Z,1736376035.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:35.640Z,1736376035.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m. 2025-01-08T22:40:35.644Z,1736376035.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.800003 m, nav range: 155.411606 m, bearing: 317.518125 deg, approach rate: -0.320281 m/s, LOS rate: -0.163788 deg/s, cmd heading: 19.239653 deg, new cmd heading: 19.049802 deg. 2025-01-08T22:40:35.645Z,1736376035.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.332482 target range: 144.800003 and range: 144.80 m. 2025-01-08T22:40:35.668Z,1736376035.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:35.920Z,1736376035.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:36.107Z,1736376036.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:36.118Z,1736376036.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m. 2025-01-08T22:40:36.121Z,1736376036.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.800003 m, nav range: 155.259460 m, bearing: 317.443023 deg, approach rate: -0.318504 m/s, LOS rate: -0.157374 deg/s, cmd heading: 19.049802 deg, new cmd heading: 18.824276 deg. 2025-01-08T22:40:36.122Z,1736376036.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328546 target range: 144.800003 and range: 144.80 m. 2025-01-08T22:40:36.172Z,1736376036.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:36.424Z,1736376036.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:36.455Z,1736376036.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:36.463Z,1736376036.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m. 2025-01-08T22:40:36.471Z,1736376036.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.800003 m, nav range: 155.147842 m, bearing: 317.387910 deg, approach rate: -0.323358 m/s, LOS rate: -0.159778 deg/s, cmd heading: 18.824276 deg, new cmd heading: 18.658819 deg. 2025-01-08T22:40:36.472Z,1736376036.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.325658 target range: 144.800003 and range: 144.80 m. 2025-01-08T22:40:36.676Z,1736376036.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:36.842Z,1736376036.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:36.885Z,1736376036.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:36.892Z,1736376036.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m. 2025-01-08T22:40:36.894Z,1736376036.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.800003 m, nav range: 155.023209 m, bearing: 317.326738 deg, approach rate: -0.293745 m/s, LOS rate: -0.144291 deg/s, cmd heading: 18.658818 deg, new cmd heading: 18.475154 deg. 2025-01-08T22:40:36.900Z,1736376036.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.322452 target range: 144.800003 and range: 144.80 m. 2025-01-08T22:40:36.930Z,1736376036.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:36.931Z,1736376036.931 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:36.931Z,1736376036.931 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:36.931Z,1736376036.931 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:37.180Z,1736376037.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:37.181Z,1736376037.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499339 2025-01-08T22:40:37.281Z,1736376037.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:37.290Z,1736376037.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m. 2025-01-08T22:40:37.293Z,1736376037.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.800003 m, nav range: 154.882309 m, bearing: 317.259725 deg, approach rate: -0.350110 m/s, LOS rate: -0.166666 deg/s, cmd heading: 18.475153 deg, new cmd heading: 18.273933 deg. 2025-01-08T22:40:37.294Z,1736376037.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.318940 target range: 144.800003 and range: 144.80 m. 2025-01-08T22:40:37.432Z,1736376037.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:37.432Z,1736376037.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750675 2025-01-08T22:40:37.658Z,1736376037.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:37.673Z,1736376037.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m. 2025-01-08T22:40:37.678Z,1736376037.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.800003 m, nav range: 154.760223 m, bearing: 317.202588 deg, approach rate: -0.319062 m/s, LOS rate: -0.149440 deg/s, cmd heading: 18.273932 deg, new cmd heading: 18.102388 deg. 2025-01-08T22:40:37.680Z,1736376037.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.315946 target range: 144.800003 and range: 144.80 m. 2025-01-08T22:40:37.684Z,1736376037.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:37.685Z,1736376037.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003059 2025-01-08T22:40:37.936Z,1736376037.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:37.937Z,1736376037.937 [DAT](INFO): DAT read: Rx Time:22:40:36.6546 2025-01-08T22:40:37.937Z,1736376037.937 [DAT](INFO): Rx dataTimestamp_ set to:1736376037.936685 2025-01-08T22:40:37.937Z,1736376037.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255876 2025-01-08T22:40:38.139Z,1736376038.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:38.149Z,1736376038.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m. 2025-01-08T22:40:38.151Z,1736376038.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.800003 m, nav range: 154.606888 m, bearing: 317.130582 deg, approach rate: -0.322163 m/s, LOS rate: -0.151438 deg/s, cmd heading: 18.102388 deg, new cmd heading: 17.886156 deg. 2025-01-08T22:40:38.152Z,1736376038.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312172 target range: 144.800003 and range: 144.80 m. 2025-01-08T22:40:38.188Z,1736376038.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:38.189Z,1736376038.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507404 2025-01-08T22:40:38.442Z,1736376038.442 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:38.451Z,1736376038.451 [DAT](INFO): DAT read: 22:40:36.6546 LVL= 30816, 32753, 31058, 32755, AGC= 64, IDX= 411,-0.08,-0.359,-2.144,-0.811,-1.167, PHS= 0.895,-0.931, 0.352, RAW= 133.2, -3.9, CAL= 138.7, -14.2, ROT= 11.3, 14.2 2025-01-08T22:40:38.452Z,1736376038.452 [DAT](INFO): got valid direction response: 22:40:36.6546 LVL= 30816, 32753, 31058, 32755, AGC= 64, IDX= 411,-0.08,-0.359,-2.144,-0.811,-1.167, PHS= 0.895,-0.931, 0.352, RAW= 133.2, -3.9, CAL= 138.7, -14.2, ROT= 11.3, 14.2 2025-01-08T22:40:38.453Z,1736376038.453 [DAT](INFO): DAT read: Bearing 11.3, 14.2 (Local) 2025-01-08T22:40:38.454Z,1736376038.454 [DAT](INFO): Local bearing/azimuth received: Bearing 11.3, 14.2 (Local) 2025-01-08T22:40:38.455Z,1736376038.455 [DAT](INFO): DAT read: Range 10 to 50 : 142.8 m (Round-trip 190.5 ms) speed 0.4 m/s 2025-01-08T22:40:38.456Z,1736376038.456 [DAT](INFO): DAT read: user:2779> 2025-01-08T22:40:38.457Z,1736376038.457 [DAT](INFO): DAT read: Tx time:22:40:37.7600 2025-01-08T22:40:38.457Z,1736376038.457 [DAT](INFO): Ping request sent. 2025-01-08T22:40:38.457Z,1736376038.457 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:40:38.457Z,1736376038.457 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:40:38.458Z,1736376038.458 [DAT](INFO): direction in FSK: [-0.048177,-0.624269,0.779722] 2025-01-08T22:40:38.458Z,1736376038.458 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:38.459Z,1736376038.459 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:38.462Z,1736376038.462 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:38.462Z,1736376038.462 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:38.536Z,1736376038.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:38.594Z,1736376038.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 142.800003 m, deltaT: 3.783409 s, deltaX: -2.000000 m, approachRate: -0.528624 m/s, rangeRepo size: 4 2025-01-08T22:40:38.600Z,1736376038.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 142.800003 m, bearing: 278.944771 deg, lat: 36.903729 deg, lon: -122.121164 deg, deltaT: 3.783409 s, deltaX: -2.000000 m, approachRate: -0.528624 m/s, posRepo size: 4 2025-01-08T22:40:38.601Z,1736376038.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:38.608Z,1736376038.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.712112 m, bearing: 286.465543 deg, approach rate: 0.000000 m/s, LOS rate: -0.151438 deg/s, cmd heading: 17.886157 deg, new cmd heading: 17.686818 deg. 2025-01-08T22:40:38.609Z,1736376038.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.308693 target range: 142.800003 and range: 142.80 m. 2025-01-08T22:40:38.692Z,1736376038.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:38.693Z,1736376038.693 [DAT](INFO): DAT read: TxSync time:22:40:37.7592 2025-01-08T22:40:38.915Z,1736376038.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:38.944Z,1736376038.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:38.943Z,1736376038.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:38.949Z,1736376038.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:38.957Z,1736376038.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.682266 m, bearing: 286.362505 deg, approach rate: -0.082451 m/s, LOS rate: -0.284723 deg/s, cmd heading: 17.686818 deg, new cmd heading: 17.377622 deg. 2025-01-08T22:40:38.958Z,1736376038.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.303297 target range: 142.800003 and range: 142.80 m. 2025-01-08T22:40:39.196Z,1736376039.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:39.197Z,1736376039.197 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:39.197Z,1736376039.197 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:39.197Z,1736376039.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:39.311Z,1736376039.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:39.320Z,1736376039.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:39.323Z,1736376039.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.655952 m, bearing: 286.254120 deg, approach rate: -0.070924 m/s, LOS rate: -0.292201 deg/s, cmd heading: 17.377622 deg, new cmd heading: 17.052394 deg. 2025-01-08T22:40:39.344Z,1736376039.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.297620 target range: 142.800003 and range: 142.80 m. 2025-01-08T22:40:39.448Z,1736376039.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:39.449Z,1736376039.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991776 2025-01-08T22:40:39.700Z,1736376039.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:39.700Z,1736376039.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243471 2025-01-08T22:40:39.701Z,1736376039.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:39.714Z,1736376039.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:39.718Z,1736376039.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.630516 m, bearing: 286.147710 deg, approach rate: -0.064570 m/s, LOS rate: -0.270183 deg/s, cmd heading: 17.052394 deg, new cmd heading: 16.733091 deg. 2025-01-08T22:40:39.719Z,1736376039.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292048 target range: 142.800003 and range: 142.80 m. 2025-01-08T22:40:39.952Z,1736376039.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:39.952Z,1736376039.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495363 2025-01-08T22:40:40.170Z,1736376040.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:40.180Z,1736376040.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:40.183Z,1736376040.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.608437 m, bearing: 286.014332 deg, approach rate: -0.047501 m/s, LOS rate: -0.286999 deg/s, cmd heading: 16.733091 deg, new cmd heading: 16.332885 deg. 2025-01-08T22:40:40.184Z,1736376040.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.285063 target range: 142.800003 and range: 142.80 m. 2025-01-08T22:40:40.204Z,1736376040.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:40.204Z,1736376040.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747459 2025-01-08T22:40:40.456Z,1736376040.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:40.457Z,1736376040.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999508 2025-01-08T22:40:40.508Z,1736376040.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:40.517Z,1736376040.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:40.519Z,1736376040.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.592224 m, bearing: 285.918697 deg, approach rate: -0.048019 m/s, LOS rate: -0.283301 deg/s, cmd heading: 16.332885 deg, new cmd heading: 16.045939 deg. 2025-01-08T22:40:40.520Z,1736376040.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.280054 target range: 142.800003 and range: 142.80 m. 2025-01-08T22:40:40.708Z,1736376040.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:40.708Z,1736376040.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251342 2025-01-08T22:40:40.904Z,1736376040.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:40.913Z,1736376040.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:40.916Z,1736376040.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.573044 m, bearing: 285.806790 deg, approach rate: -0.048500 m/s, LOS rate: -0.283024 deg/s, cmd heading: 16.045938 deg, new cmd heading: 15.710162 deg. 2025-01-08T22:40:40.917Z,1736376040.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.274194 target range: 142.800003 and range: 142.80 m. 2025-01-08T22:40:40.960Z,1736376040.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:40.961Z,1736376040.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503523 2025-01-08T22:40:41.212Z,1736376041.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:41.213Z,1736376041.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756121 2025-01-08T22:40:41.323Z,1736376041.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:41.331Z,1736376041.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:41.361Z,1736376041.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:41.369Z,1736376041.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.559929 m, bearing: 285.686089 deg, approach rate: -0.029222 m/s, LOS rate: -0.268967 deg/s, cmd heading: 15.710163 deg, new cmd heading: 15.348023 deg. 2025-01-08T22:40:41.370Z,1736376041.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.267874 target range: 142.800003 and range: 142.80 m. 2025-01-08T22:40:41.465Z,1736376041.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:41.466Z,1736376041.466 [DAT](INFO): DAT read: Rx Time:22:40:40.3522 2025-01-08T22:40:41.467Z,1736376041.467 [DAT](INFO): Rx dataTimestamp_ set to:1736376041.466238 2025-01-08T22:40:41.467Z,1736376041.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010030 2025-01-08T22:40:41.719Z,1736376041.719 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:41.720Z,1736376041.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263093 2025-01-08T22:40:41.736Z,1736376041.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:41.745Z,1736376041.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:41.748Z,1736376041.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.547493 m, bearing: 285.567170 deg, approach rate: -0.032410 m/s, LOS rate: -0.309957 deg/s, cmd heading: 15.348022 deg, new cmd heading: 14.991227 deg. 2025-01-08T22:40:41.749Z,1736376041.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.261646 target range: 142.800003 and range: 142.80 m. 2025-01-08T22:40:41.972Z,1736376041.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:41.973Z,1736376041.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515581 2025-01-08T22:40:42.216Z,1736376042.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:42.224Z,1736376042.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:42.232Z,1736376042.232 [DAT](INFO): DAT read: 22:40:40.3522 LVL= 26848, 32545, 29922, 32755, AGC= 63, IDX= 418,-0.14,-1.565, 2.878,-2.081,-2.334, PHS= 0.858,-1.024, 0.250, RAW= 131.5, -1.0, CAL= 137.3, -10.1, ROT= 12.7, 10.1 2025-01-08T22:40:42.233Z,1736376042.233 [DAT](INFO): got valid direction response: 22:40:40.3522 LVL= 26848, 32545, 29922, 32755, AGC= 63, IDX= 418,-0.14,-1.565, 2.878,-2.081,-2.334, PHS= 0.858,-1.024, 0.250, RAW= 131.5, -1.0, CAL= 137.3, -10.1, ROT= 12.7, 10.1 2025-01-08T22:40:42.234Z,1736376042.234 [DAT](INFO): DAT read: Bearing 12.7, 10.1 (Local) 2025-01-08T22:40:42.234Z,1736376042.234 [DAT](INFO): Local bearing/azimuth received: Bearing 12.7, 10.1 (Local) 2025-01-08T22:40:42.236Z,1736376042.236 [DAT](INFO): DAT read: Range 10 to 50 : 141.0 m (Round-trip 188.0 ms) speed 0.4 m/s 2025-01-08T22:40:42.236Z,1736376042.236 [DAT](INFO): DAT read: user:2780> 2025-01-08T22:40:42.237Z,1736376042.237 [DAT](INFO): DAT read: Tx time:22:40:41.4600 2025-01-08T22:40:42.237Z,1736376042.237 [DAT](INFO): Ping request sent. 2025-01-08T22:40:42.238Z,1736376042.238 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:40:42.238Z,1736376042.238 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:40:42.239Z,1736376042.239 [DAT](INFO): direction in FSK: [-0.105323,-0.597833,0.794672] 2025-01-08T22:40:42.239Z,1736376042.239 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:42.240Z,1736376042.240 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:42.242Z,1736376042.242 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:42.243Z,1736376042.243 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:42.246Z,1736376042.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 141.000000 m, deltaT: 3.780444 s, deltaX: -1.800003 m, approachRate: -0.476135 m/s, rangeRepo size: 4 2025-01-08T22:40:42.257Z,1736376042.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:42.263Z,1736376042.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.542412 m, bearing: 285.426474 deg, approach rate: -0.010161 m/s, LOS rate: -0.281363 deg/s, cmd heading: 14.991227 deg, new cmd heading: 14.569128 deg. 2025-01-08T22:40:42.264Z,1736376042.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.254279 target range: 142.800003 and range: 141.00 m. 2025-01-08T22:40:42.476Z,1736376042.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:42.477Z,1736376042.477 [DAT](INFO): DAT read: TxSync time:22:40:41.4592 2025-01-08T22:40:42.610Z,1736376042.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:42.624Z,1736376042.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:42.626Z,1736376042.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.537865 m, bearing: 285.311113 deg, approach rate: -0.012008 m/s, LOS rate: -0.304660 deg/s, cmd heading: 14.569128 deg, new cmd heading: 14.223037 deg. 2025-01-08T22:40:42.628Z,1736376042.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.248239 target range: 142.800003 and range: 141.00 m. 2025-01-08T22:40:42.728Z,1736376042.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:42.980Z,1736376042.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:43.075Z,1736376043.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:43.159Z,1736376043.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:43.162Z,1736376043.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.531509 m, bearing: 285.174854 deg, approach rate: -0.011975 m/s, LOS rate: -0.256768 deg/s, cmd heading: 14.223037 deg, new cmd heading: 13.814242 deg. 2025-01-08T22:40:43.166Z,1736376043.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.241104 target range: 142.800003 and range: 141.00 m. 2025-01-08T22:40:43.232Z,1736376043.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:43.484Z,1736376043.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:43.501Z,1736376043.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:43.516Z,1736376043.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:43.518Z,1736376043.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:43.525Z,1736376043.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.528748 m, bearing: 285.045086 deg, approach rate: -0.007585 m/s, LOS rate: -0.356386 deg/s, cmd heading: 13.814242 deg, new cmd heading: 13.424935 deg. 2025-01-08T22:40:43.526Z,1736376043.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.234309 target range: 142.800003 and range: 141.00 m. 2025-01-08T22:40:43.736Z,1736376043.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:43.736Z,1736376043.736 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:43.736Z,1736376043.736 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:43.736Z,1736376043.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:43.870Z,1736376043.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:43.878Z,1736376043.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:43.882Z,1736376043.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.526451 m, bearing: 284.932707 deg, approach rate: -0.006375 m/s, LOS rate: -0.311985 deg/s, cmd heading: 13.424935 deg, new cmd heading: 13.087796 deg. 2025-01-08T22:40:43.883Z,1736376043.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228425 target range: 142.800003 and range: 141.00 m. 2025-01-08T22:40:43.988Z,1736376043.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:43.989Z,1736376043.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750953 2025-01-08T22:40:44.240Z,1736376044.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:44.240Z,1736376044.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002743 2025-01-08T22:40:44.300Z,1736376044.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:44.329Z,1736376044.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:44.337Z,1736376044.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.533363 m, bearing: 284.797648 deg, approach rate: 0.015356 m/s, LOS rate: -0.300024 deg/s, cmd heading: 13.087796 deg, new cmd heading: 12.682652 deg. 2025-01-08T22:40:44.338Z,1736376044.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.221354 target range: 142.800003 and range: 141.00 m. 2025-01-08T22:40:44.494Z,1736376044.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:44.495Z,1736376044.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257384 2025-01-08T22:40:44.699Z,1736376044.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:44.718Z,1736376044.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:44.724Z,1736376044.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.540001 m, bearing: 284.671769 deg, approach rate: 0.017042 m/s, LOS rate: -0.323178 deg/s, cmd heading: 12.682652 deg, new cmd heading: 12.305042 deg. 2025-01-08T22:40:44.726Z,1736376044.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.214763 target range: 142.800003 and range: 141.00 m. 2025-01-08T22:40:44.744Z,1736376044.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:44.745Z,1736376044.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506932 2025-01-08T22:40:44.996Z,1736376044.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:44.997Z,1736376044.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759264 2025-01-08T22:40:45.092Z,1736376045.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:45.105Z,1736376045.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:45.108Z,1736376045.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.546227 m, bearing: 284.548014 deg, approach rate: 0.016078 m/s, LOS rate: -0.319585 deg/s, cmd heading: 12.305042 deg, new cmd heading: 11.933806 deg. 2025-01-08T22:40:45.109Z,1736376045.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.208284 target range: 142.800003 and range: 141.00 m. 2025-01-08T22:40:45.248Z,1736376045.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:45.249Z,1736376045.249 [DAT](INFO): DAT read: Rx Time:22:40:44.0495 2025-01-08T22:40:45.250Z,1736376045.250 [DAT](INFO): Rx dataTimestamp_ set to:1736376045.249319 2025-01-08T22:40:45.250Z,1736376045.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012526 2025-01-08T22:40:45.502Z,1736376045.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:45.503Z,1736376045.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265722 2025-01-08T22:40:45.595Z,1736376045.595 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00 +0.00, +0.00, 20.00,2939.11 2025-01-08T22:40:45.602Z,1736376045.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:40:45.602Z,1736376045.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:45.609Z,1736376045.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:45.636Z,1736376045.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.80 m. 2025-01-08T22:40:45.646Z,1736376045.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.800003 m, nav range: 109.552040 m, bearing: 284.387273 deg, approach rate: 0.011491 m/s, LOS rate: -0.317697 deg/s, cmd heading: 11.933806 deg, new cmd heading: 11.451620 deg. 2025-01-08T22:40:45.652Z,1736376045.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.199868 target range: 142.800003 and range: 141.00 m. 2025-01-08T22:40:45.754Z,1736376045.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:45.789Z,1736376045.789 [DAT](INFO): DAT read: 22:40:44.0495 LVL= 23008, 32753, 30290, 32755, AGC= 64, IDX= 405,-0.01, 2.919, 1.155, 2.420, 2.254, PHS= 0.753,-1.052, 0.164, RAW= 131.3, 1.7, CAL= 137.3, -6.2, ROT= 12.7, 6.2 2025-01-08T22:40:45.790Z,1736376045.790 [DAT](INFO): got valid direction response: 22:40:44.0495 LVL= 23008, 32753, 30290, 32755, AGC= 64, IDX= 405,-0.01, 2.919, 1.155, 2.420, 2.254, PHS= 0.753,-1.052, 0.164, RAW= 131.3, 1.7, CAL= 137.3, -6.2, ROT= 12.7, 6.2 2025-01-08T22:40:45.791Z,1736376045.791 [DAT](INFO): DAT read: Bearing 12.7, 6.2 (Local) 2025-01-08T22:40:45.791Z,1736376045.791 [DAT](INFO): Local bearing/azimuth received: Bearing 12.7, 6.2 (Local) 2025-01-08T22:40:45.806Z,1736376045.806 [DAT](INFO): DAT read: Range 10 to 50 : 138.9 m (Round-trip 185.2 ms) speed 0.6 m/s 2025-01-08T22:40:45.807Z,1736376045.807 [DAT](INFO): DAT read: user:2781> 2025-01-08T22:40:45.816Z,1736376045.816 [DAT](INFO): DAT read: Tx time:22:40:45.1601 2025-01-08T22:40:45.816Z,1736376045.816 [DAT](INFO): Ping request sent. 2025-01-08T22:40:45.817Z,1736376045.817 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:40:45.817Z,1736376045.817 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:40:45.819Z,1736376045.819 [DAT](INFO): direction in FSK: [-0.158682,-0.590375,0.791377] 2025-01-08T22:40:45.830Z,1736376045.830 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:45.831Z,1736376045.831 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:45.838Z,1736376045.838 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:45.838Z,1736376045.838 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:46.004Z,1736376046.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:46.005Z,1736376046.005 [DAT](INFO): DAT read: TxSync time:22:40:45.1593 2025-01-08T22:40:46.016Z,1736376046.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:40:46.016Z,1736376046.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:46.038Z,1736376046.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 138.899994 m, deltaT: 3.530758 s, deltaX: -2.100006 m, approachRate: -0.594775 m/s, rangeRepo size: 4 2025-01-08T22:40:46.044Z,1736376046.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 138.899994 m, bearing: 268.530404 deg, lat: 36.903591 deg, lon: -122.121110 deg, deltaT: 7.311202 s, deltaX: -3.900009 m, approachRate: -0.533429 m/s, posRepo size: 4 2025-01-08T22:40:46.045Z,1736376046.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T22:40:46.053Z,1736376046.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 101.981972 m, bearing: 276.575117 deg, approach rate: 0.000000 m/s, LOS rate: -0.317697 deg/s, cmd heading: 11.451620 deg, new cmd heading: 11.045724 deg. 2025-01-08T22:40:46.054Z,1736376046.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192784 target range: 138.899994 and range: 138.90 m. 2025-01-08T22:40:46.256Z,1736376046.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:46.508Z,1736376046.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:46.516Z,1736376046.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:46.530Z,1736376046.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T22:40:46.537Z,1736376046.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 102.043236 m, bearing: 276.404444 deg, approach rate: 0.124435 m/s, LOS rate: -0.346448 deg/s, cmd heading: 11.045724 deg, new cmd heading: 10.534028 deg. 2025-01-08T22:40:46.538Z,1736376046.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183853 target range: 138.899994 and range: 138.90 m. 2025-01-08T22:40:46.761Z,1736376046.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:46.894Z,1736376046.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:46.904Z,1736376046.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T22:40:46.907Z,1736376046.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 102.087311 m, bearing: 276.275295 deg, approach rate: 0.117875 m/s, LOS rate: -0.345248 deg/s, cmd heading: 10.534027 deg, new cmd heading: 10.146755 deg. 2025-01-08T22:40:46.908Z,1736376046.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.177094 target range: 138.899994 and range: 138.90 m. 2025-01-08T22:40:47.012Z,1736376047.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:47.264Z,1736376047.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:47.284Z,1736376047.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:47.293Z,1736376047.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T22:40:47.316Z,1736376047.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 102.126381 m, bearing: 276.145056 deg, approach rate: 0.100355 m/s, LOS rate: -0.334403 deg/s, cmd heading: 10.146756 deg, new cmd heading: 9.756193 deg. 2025-01-08T22:40:47.317Z,1736376047.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.170278 target range: 138.899994 and range: 138.90 m. 2025-01-08T22:40:47.516Z,1736376047.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:47.694Z,1736376047.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:47.701Z,1736376047.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:47.703Z,1736376047.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T22:40:47.706Z,1736376047.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 102.167122 m, bearing: 276.008024 deg, approach rate: 0.099281 m/s, LOS rate: -0.333797 deg/s, cmd heading: 9.756194 deg, new cmd heading: 9.345269 deg. 2025-01-08T22:40:47.707Z,1736376047.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.163106 target range: 138.899994 and range: 138.90 m. 2025-01-08T22:40:47.768Z,1736376047.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:47.769Z,1736376047.769 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:47.769Z,1736376047.769 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:47.770Z,1736376047.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:48.020Z,1736376048.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:48.020Z,1736376048.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203775 2025-01-08T22:40:48.069Z,1736376048.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:48.094Z,1736376048.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T22:40:48.101Z,1736376048.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 102.203682 m, bearing: 275.882805 deg, approach rate: 0.093617 m/s, LOS rate: -0.320527 deg/s, cmd heading: 9.345269 deg, new cmd heading: 8.969750 deg. 2025-01-08T22:40:48.102Z,1736376048.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.156552 target range: 138.899994 and range: 138.90 m. 2025-01-08T22:40:48.272Z,1736376048.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:48.273Z,1736376048.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456304 2025-01-08T22:40:48.495Z,1736376048.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:48.504Z,1736376048.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T22:40:48.508Z,1736376048.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 102.242332 m, bearing: 275.744801 deg, approach rate: 0.094057 m/s, LOS rate: -0.335707 deg/s, cmd heading: 8.969750 deg, new cmd heading: 8.555904 deg. 2025-01-08T22:40:48.509Z,1736376048.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.149329 target range: 138.899994 and range: 138.90 m. 2025-01-08T22:40:48.524Z,1736376048.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:48.524Z,1736376048.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707727 2025-01-08T22:40:48.776Z,1736376048.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:48.776Z,1736376048.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959700 2025-01-08T22:40:48.889Z,1736376048.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:48.898Z,1736376048.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T22:40:48.901Z,1736376048.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 102.276642 m, bearing: 275.617047 deg, approach rate: 0.087255 m/s, LOS rate: -0.324791 deg/s, cmd heading: 8.555904 deg, new cmd heading: 8.172777 deg. 2025-01-08T22:40:48.902Z,1736376048.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.142642 target range: 138.899994 and range: 138.90 m. 2025-01-08T22:40:49.031Z,1736376049.031 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:49.032Z,1736376049.032 [DAT](INFO): DAT read: Rx Time:22:40:47.7466 2025-01-08T22:40:49.033Z,1736376049.033 [DAT](INFO): Rx dataTimestamp_ set to:1736376049.032328 2025-01-08T22:40:49.033Z,1736376049.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216549 2025-01-08T22:40:49.284Z,1736376049.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:49.285Z,1736376049.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467970 2025-01-08T22:40:49.326Z,1736376049.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:49.335Z,1736376049.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T22:40:49.338Z,1736376049.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 102.292816 m, bearing: 275.478693 deg, approach rate: 0.036990 m/s, LOS rate: -0.316366 deg/s, cmd heading: 8.172777 deg, new cmd heading: 7.757786 deg. 2025-01-08T22:40:49.339Z,1736376049.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.135399 target range: 138.899994 and range: 138.90 m. 2025-01-08T22:40:49.536Z,1736376049.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:49.542Z,1736376049.542 [DAT](INFO): DAT read: 22:40:47.7466 LVL= 27968, 32753, 32754, 32755, AGC= 64, IDX= 409,-0.22, 1.156,-0.276, 0.639, 0.692, PHS= 0.553,-0.921,-0.056, RAW= 125.7, 6.7, CAL= 133.4, 1.6, ROT= 16.6, -1.6 2025-01-08T22:40:49.544Z,1736376049.544 [DAT](INFO): got valid direction response: 22:40:47.7466 LVL= 27968, 32753, 32754, 32755, AGC= 64, IDX= 409,-0.22, 1.156,-0.276, 0.639, 0.692, PHS= 0.553,-0.921,-0.056, RAW= 125.7, 6.7, CAL= 133.4, 1.6, ROT= 16.6, -1.6 2025-01-08T22:40:49.544Z,1736376049.544 [DAT](INFO): DAT read: Bearing 16.6, -1.6 (Local) 2025-01-08T22:40:49.545Z,1736376049.545 [DAT](INFO): Local bearing/azimuth received: Bearing 16.6, -1.6 (Local) 2025-01-08T22:40:49.548Z,1736376049.548 [DAT](INFO): DAT read: Range 10 to 50 : 136.8 m (Round-trip 182.4 ms) speed 0.1 m/s 2025-01-08T22:40:49.548Z,1736376049.548 [DAT](INFO): DAT read: user:2782> 2025-01-08T22:40:49.549Z,1736376049.549 [DAT](INFO): DAT read: Tx time:22:40:48.8601 2025-01-08T22:40:49.549Z,1736376049.549 [DAT](INFO): Ping request sent. 2025-01-08T22:40:49.549Z,1736376049.549 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:40:49.550Z,1736376049.550 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:40:49.551Z,1736376049.551 [DAT](INFO): direction in FSK: [-0.251414,-0.493549,0.832586] 2025-01-08T22:40:49.551Z,1736376049.551 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:49.551Z,1736376049.551 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:49.554Z,1736376049.554 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:49.554Z,1736376049.554 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:49.722Z,1736376049.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:49.760Z,1736376049.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.800003 m, deltaT: 3.781102 s, deltaX: -2.099991 m, approachRate: -0.555391 m/s, rangeRepo size: 4 2025-01-08T22:40:49.762Z,1736376049.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.800003 m, bearing: 256.856012 deg, lat: 36.903523 deg, lon: -122.121082 deg, deltaT: 3.781102 s, deltaX: -2.099991 m, approachRate: -0.555391 m/s, posRepo size: 4 2025-01-08T22:40:49.767Z,1736376049.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.80 m. 2025-01-08T22:40:49.770Z,1736376049.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.800003 m, nav range: 99.397659 m, bearing: 271.125133 deg, approach rate: 0.000000 m/s, LOS rate: -0.316366 deg/s, cmd heading: 7.757786 deg, new cmd heading: 7.366209 deg. 2025-01-08T22:40:49.771Z,1736376049.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128565 target range: 136.800003 and range: 136.80 m. 2025-01-08T22:40:49.788Z,1736376049.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:49.790Z,1736376049.790 [DAT](INFO): DAT read: TxSync time:22:40:48.8593 2025-01-08T22:40:50.047Z,1736376050.047 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:50.101Z,1736376050.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:50.116Z,1736376050.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:50.118Z,1736376050.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.80 m. 2025-01-08T22:40:50.130Z,1736376050.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.800003 m, nav range: 99.424812 m, bearing: 271.002628 deg, approach rate: 0.073330 m/s, LOS rate: -0.330747 deg/s, cmd heading: 7.366209 deg, new cmd heading: 6.998800 deg. 2025-01-08T22:40:50.131Z,1736376050.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.122152 target range: 136.800003 and range: 136.80 m. 2025-01-08T22:40:50.300Z,1736376050.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:50.300Z,1736376050.300 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:50.301Z,1736376050.301 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:50.301Z,1736376050.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:50.510Z,1736376050.510 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-01-08T22:40:50.528Z,1736376050.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:50.552Z,1736376050.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:50.553Z,1736376050.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003311 2025-01-08T22:40:50.557Z,1736376050.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.80 m. 2025-01-08T22:40:50.566Z,1736376050.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.800003 m, nav range: 99.442513 m, bearing: 270.866046 deg, approach rate: 0.040267 m/s, LOS rate: -0.310662 deg/s, cmd heading: 6.998800 deg, new cmd heading: 6.589134 deg. 2025-01-08T22:40:50.572Z,1736376050.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115002 target range: 136.800003 and range: 136.80 m. 2025-01-08T22:40:50.804Z,1736376050.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:50.806Z,1736376050.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255886 2025-01-08T22:40:50.903Z,1736376050.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:50.912Z,1736376050.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.80 m. 2025-01-08T22:40:50.916Z,1736376050.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.800003 m, nav range: 99.457436 m, bearing: 270.746108 deg, approach rate: 0.042141 m/s, LOS rate: -0.338641 deg/s, cmd heading: 6.589134 deg, new cmd heading: 6.229380 deg. 2025-01-08T22:40:50.918Z,1736376050.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108723 target range: 136.800003 and range: 136.80 m. 2025-01-08T22:40:51.056Z,1736376051.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:51.056Z,1736376051.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507034 2025-01-08T22:40:51.308Z,1736376051.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:51.309Z,1736376051.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759280 2025-01-08T22:40:51.342Z,1736376051.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:51.359Z,1736376051.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.80 m. 2025-01-08T22:40:51.366Z,1736376051.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.800003 m, nav range: 99.455490 m, bearing: 270.605806 deg, approach rate: -0.004352 m/s, LOS rate: -0.313829 deg/s, cmd heading: 6.229380 deg, new cmd heading: 5.808474 deg. 2025-01-08T22:40:51.367Z,1736376051.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101377 target range: 136.800003 and range: 136.80 m. 2025-01-08T22:40:51.562Z,1736376051.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:51.563Z,1736376051.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014043 2025-01-08T22:40:51.709Z,1736376051.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:51.717Z,1736376051.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.80 m. 2025-01-08T22:40:51.720Z,1736376051.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.800003 m, nav range: 99.452614 m, bearing: 270.488643 deg, approach rate: -0.008028 m/s, LOS rate: -0.327021 deg/s, cmd heading: 5.808474 deg, new cmd heading: 5.456979 deg. 2025-01-08T22:40:51.721Z,1736376051.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095242 target range: 136.800003 and range: 136.80 m. 2025-01-08T22:40:51.812Z,1736376051.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:51.814Z,1736376051.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264173 2025-01-08T22:40:52.064Z,1736376052.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:52.066Z,1736376052.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515638 2025-01-08T22:40:52.114Z,1736376052.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:52.137Z,1736376052.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:52.139Z,1736376052.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.80 m. 2025-01-08T22:40:52.147Z,1736376052.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.800003 m, nav range: 99.447968 m, bearing: 270.359066 deg, approach rate: -0.011007 m/s, LOS rate: -0.306984 deg/s, cmd heading: 5.456979 deg, new cmd heading: 5.068236 deg. 2025-01-08T22:40:52.159Z,1736376052.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.088457 target range: 136.800003 and range: 136.80 m. 2025-01-08T22:40:52.316Z,1736376052.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:52.317Z,1736376052.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767177 2025-01-08T22:40:52.544Z,1736376052.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:52.568Z,1736376052.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:52.568Z,1736376052.568 [DAT](INFO): DAT read: Rx Time:22:40:51.4441 2025-01-08T22:40:52.569Z,1736376052.569 [DAT](INFO): Rx dataTimestamp_ set to:1736376052.568599 2025-01-08T22:40:52.569Z,1736376052.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019991 2025-01-08T22:40:52.581Z,1736376052.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.80 m. 2025-01-08T22:40:52.608Z,1736376052.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.800003 m, nav range: 99.434120 m, bearing: 270.218231 deg, approach rate: -0.031344 m/s, LOS rate: -0.318831 deg/s, cmd heading: 5.068236 deg, new cmd heading: 4.645680 deg. 2025-01-08T22:40:52.609Z,1736376052.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081082 target range: 136.800003 and range: 136.80 m. 2025-01-08T22:40:52.820Z,1736376052.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:52.821Z,1736376052.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271154 2025-01-08T22:40:52.916Z,1736376052.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:52.925Z,1736376052.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.80 m. 2025-01-08T22:40:52.927Z,1736376052.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.800003 m, nav range: 99.418724 m, bearing: 270.096066 deg, approach rate: -0.044762 m/s, LOS rate: -0.355230 deg/s, cmd heading: 4.645680 deg, new cmd heading: 4.279133 deg. 2025-01-08T22:40:52.928Z,1736376052.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074685 target range: 136.800003 and range: 136.80 m. 2025-01-08T22:40:53.072Z,1736376053.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:53.073Z,1736376053.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523103 2025-01-08T22:40:53.324Z,1736376053.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:53.335Z,1736376053.335 [DAT](INFO): DAT read: 22:40:51.4441 LVL= 25792, 32753, 32434, 32755, AGC= 66, IDX= 414, 0.48,-1.716, 3.119,-2.380,-2.228, PHS= 0.600,-0.888,-0.155, RAW= 119.5, 6.9, CAL= 128.7, 2.9, ROT= 21.3, -2.9 2025-01-08T22:40:53.336Z,1736376053.336 [DAT](INFO): got valid direction response: 22:40:51.4441 LVL= 25792, 32753, 32434, 32755, AGC= 66, IDX= 414, 0.48,-1.716, 3.119,-2.380,-2.228, PHS= 0.600,-0.888,-0.155, RAW= 119.5, 6.9, CAL= 128.7, 2.9, ROT= 21.3, -2.9 2025-01-08T22:40:53.337Z,1736376053.337 [DAT](INFO): DAT read: Bearing 21.3, -2.9 (Local) 2025-01-08T22:40:53.338Z,1736376053.338 [DAT](INFO): Local bearing/azimuth received: Bearing 21.3, -2.9 (Local) 2025-01-08T22:40:53.339Z,1736376053.339 [DAT](INFO): DAT read: Range 10 to 50 : 134.8 m (Round-trip 179.8 ms) speed 0.2 m/s 2025-01-08T22:40:53.340Z,1736376053.340 [DAT](INFO): DAT read: user:2783> 2025-01-08T22:40:53.341Z,1736376053.341 [DAT](INFO): DAT read: Tx time:22:40:52.5601 2025-01-08T22:40:53.341Z,1736376053.341 [DAT](INFO): Ping request sent. 2025-01-08T22:40:53.341Z,1736376053.341 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:40:53.341Z,1736376053.341 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:40:53.342Z,1736376053.342 [DAT](INFO): direction in FSK: [-0.252703,-0.393437,0.883939] 2025-01-08T22:40:53.342Z,1736376053.342 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:53.343Z,1736376053.343 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:53.370Z,1736376053.370 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:53.370Z,1736376053.370 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:53.421Z,1736376053.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:53.472Z,1736376053.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 134.800003 m, deltaT: 3.787872 s, deltaX: -2.000000 m, approachRate: -0.528001 m/s, rangeRepo size: 4 2025-01-08T22:40:53.474Z,1736376053.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 134.800003 m, bearing: 251.397190 deg, lat: 36.903464 deg, lon: -122.121046 deg, deltaT: 3.787872 s, deltaX: -2.000000 m, approachRate: -0.528001 m/s, posRepo size: 4 2025-01-08T22:40:53.474Z,1736376053.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m. 2025-01-08T22:40:53.494Z,1736376053.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.800003 m, nav range: 96.444321 m, bearing: 266.045801 deg, approach rate: 0.000000 m/s, LOS rate: -0.355230 deg/s, cmd heading: 4.279133 deg, new cmd heading: 3.714226 deg. 2025-01-08T22:40:53.494Z,1736376053.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064825 target range: 134.800003 and range: 134.80 m. 2025-01-08T22:40:53.576Z,1736376053.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:53.577Z,1736376053.577 [DAT](INFO): DAT read: TxSync time:22:40:52.5593 2025-01-08T22:40:53.828Z,1736376053.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:53.907Z,1736376053.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:53.917Z,1736376053.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m. 2025-01-08T22:40:53.920Z,1736376053.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.800003 m, nav range: 96.430984 m, bearing: 265.885971 deg, approach rate: -0.028873 m/s, LOS rate: -0.346079 deg/s, cmd heading: 3.714227 deg, new cmd heading: 3.234682 deg. 2025-01-08T22:40:53.921Z,1736376053.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056456 target range: 134.800003 and range: 134.80 m. 2025-01-08T22:40:54.080Z,1736376054.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:54.334Z,1736376054.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:54.378Z,1736376054.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:54.386Z,1736376054.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:54.388Z,1736376054.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m. 2025-01-08T22:40:54.391Z,1736376054.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.800003 m, nav range: 96.419182 m, bearing: 265.726124 deg, approach rate: -0.025029 m/s, LOS rate: -0.339016 deg/s, cmd heading: 3.234682 deg, new cmd heading: 2.755095 deg. 2025-01-08T22:40:54.392Z,1736376054.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048085 target range: 134.800003 and range: 134.80 m. 2025-01-08T22:40:54.584Z,1736376054.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:54.584Z,1736376054.584 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:54.585Z,1736376054.585 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:54.585Z,1736376054.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:54.844Z,1736376054.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:54.845Z,1736376054.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503422 2025-01-08T22:40:54.851Z,1736376054.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:54.864Z,1736376054.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m. 2025-01-08T22:40:54.867Z,1736376054.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.800003 m, nav range: 96.405121 m, bearing: 265.565635 deg, approach rate: -0.029609 m/s, LOS rate: -0.338004 deg/s, cmd heading: 2.755095 deg, new cmd heading: 2.273569 deg. 2025-01-08T22:40:54.868Z,1736376054.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039681 target range: 134.800003 and range: 134.80 m. 2025-01-08T22:40:55.096Z,1736376055.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:55.097Z,1736376055.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756147 2025-01-08T22:40:55.240Z,1736376055.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:55.254Z,1736376055.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m. 2025-01-08T22:40:55.257Z,1736376055.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.800003 m, nav range: 96.391907 m, bearing: 265.433735 deg, approach rate: -0.033812 m/s, LOS rate: -0.337554 deg/s, cmd heading: 2.273570 deg, new cmd heading: 1.877820 deg. 2025-01-08T22:40:55.258Z,1736376055.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032774 target range: 134.800003 and range: 134.80 m. 2025-01-08T22:40:55.348Z,1736376055.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:55.349Z,1736376055.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007443 2025-01-08T22:40:55.600Z,1736376055.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:55.600Z,1736376055.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259284 2025-01-08T22:40:55.692Z,1736376055.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:55.705Z,1736376055.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m. 2025-01-08T22:40:55.708Z,1736376055.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.800003 m, nav range: 96.385880 m, bearing: 265.281159 deg, approach rate: -0.013376 m/s, LOS rate: -0.338614 deg/s, cmd heading: 1.877820 deg, new cmd heading: 1.420076 deg. 2025-01-08T22:40:55.709Z,1736376055.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024785 target range: 134.800003 and range: 134.80 m. 2025-01-08T22:40:55.853Z,1736376055.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:55.855Z,1736376055.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513516 2025-01-08T22:40:56.057Z,1736376056.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:56.067Z,1736376056.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m. 2025-01-08T22:40:56.070Z,1736376056.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.800003 m, nav range: 96.380104 m, bearing: 265.157930 deg, approach rate: -0.015944 m/s, LOS rate: -0.340223 deg/s, cmd heading: 1.420076 deg, new cmd heading: 1.050370 deg. 2025-01-08T22:40:56.071Z,1736376056.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018332 target range: 134.800003 and range: 134.80 m. 2025-01-08T22:40:56.104Z,1736376056.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:56.106Z,1736376056.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763959 2025-01-08T22:40:56.358Z,1736376056.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:56.360Z,1736376056.360 [DAT](INFO): DAT read: Rx Time:22:40:55.1416 2025-01-08T22:40:56.362Z,1736376056.362 [DAT](INFO): Rx dataTimestamp_ set to:1736376056.360860 2025-01-08T22:40:56.365Z,1736376056.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022731 2025-01-08T22:40:56.472Z,1736376056.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:56.478Z,1736376056.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:56.482Z,1736376056.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m. 2025-01-08T22:40:56.501Z,1736376056.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.800003 m, nav range: 96.379799 m, bearing: 265.016725 deg, approach rate: -0.000735 m/s, LOS rate: -0.340278 deg/s, cmd heading: 1.050370 deg, new cmd heading: 0.626762 deg. 2025-01-08T22:40:56.502Z,1736376056.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010939 target range: 134.800003 and range: 134.80 m. 2025-01-08T22:40:56.608Z,1736376056.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:56.609Z,1736376056.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268174 2025-01-08T22:40:56.860Z,1736376056.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:56.885Z,1736376056.885 [DAT](INFO): DAT read: 22:40:55.1416 LVL= 21600, 32753, 30482, 32755, AGC= 65, IDX= 420, 0.19,-1.573, 3.116,-2.433,-2.195, PHS= 0.709,-0.925,-0.241, RAW= 114.6, 6.5, CAL= 124.5, 3.1, ROT= 25.5, -3.1 2025-01-08T22:40:56.886Z,1736376056.886 [DAT](INFO): got valid direction response: 22:40:55.1416 LVL= 21600, 32753, 30482, 32755, AGC= 65, IDX= 420, 0.19,-1.573, 3.116,-2.433,-2.195, PHS= 0.709,-0.925,-0.241, RAW= 114.6, 6.5, CAL= 124.5, 3.1, ROT= 25.5, -3.1 2025-01-08T22:40:56.911Z,1736376056.911 [DAT](INFO): DAT read: Bearing 25.5, -3.1 (Local) 2025-01-08T22:40:56.912Z,1736376056.912 [DAT](INFO): Local bearing/azimuth received: Bearing 25.5, -3.1 (Local) 2025-01-08T22:40:56.913Z,1736376056.913 [DAT](INFO): DAT read: Range 10 to 50 : 132.9 m (Round-trip 177.3 ms) speed 0.4 m/s 2025-01-08T22:40:56.914Z,1736376056.914 [DAT](INFO): DAT read: user:2784> 2025-01-08T22:40:56.915Z,1736376056.915 [DAT](INFO): DAT read: Tx time:22:40:56.2602 2025-01-08T22:40:56.915Z,1736376056.915 [DAT](INFO): Ping request sent. 2025-01-08T22:40:56.919Z,1736376056.919 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:40:56.920Z,1736376056.920 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:40:56.921Z,1736376056.921 [DAT](INFO): direction in FSK: [-0.240347,-0.313056,0.918819] 2025-01-08T22:40:56.921Z,1736376056.921 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:56.921Z,1736376056.921 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:56.937Z,1736376056.937 [DAT](INFO): publishing transmit ping time 2025-01-08T22:40:56.937Z,1736376056.937 [DAT](INFO): publishing direction and range info 2025-01-08T22:40:56.957Z,1736376056.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:56.987Z,1736376056.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.899994 m, deltaT: 3.536095 s, deltaX: -1.900009 m, approachRate: -0.537318 m/s, rangeRepo size: 4 2025-01-08T22:40:57.002Z,1736376057.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 132.899994 m, bearing: 247.016420 deg, lat: 36.903342 deg, lon: -122.120875 deg, deltaT: 3.536095 s, deltaX: -1.900009 m, approachRate: -0.537318 m/s, posRepo size: 4 2025-01-08T22:40:57.002Z,1736376057.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m. 2025-01-08T22:40:57.010Z,1736376057.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.899994 m, nav range: 83.798111 m, bearing: 254.624796 deg, approach rate: 0.000000 m/s, LOS rate: -0.340278 deg/s, cmd heading: 0.626762 deg, new cmd heading: 0.111844 deg. 2025-01-08T22:40:57.015Z,1736376057.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001952 target range: 132.899994 and range: 132.90 m. 2025-01-08T22:40:57.024Z,1736376057.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:40:57.112Z,1736376057.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:57.113Z,1736376057.113 [DAT](INFO): DAT read: TxSync time:22:40:56.2594 2025-01-08T22:40:57.366Z,1736376057.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:57.372Z,1736376057.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:57.399Z,1736376057.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m. 2025-01-08T22:40:57.402Z,1736376057.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.899994 m, nav range: 83.839340 m, bearing: 254.464801 deg, approach rate: 0.101827 m/s, LOS rate: -0.394955 deg/s, cmd heading: 0.111844 deg, new cmd heading: 359.632107 deg. 2025-01-08T22:40:57.411Z,1736376057.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276764 target range: 132.899994 and range: 132.90 m. 2025-01-08T22:40:57.616Z,1736376057.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:57.751Z,1736376057.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:57.769Z,1736376057.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m. 2025-01-08T22:40:57.778Z,1736376057.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.899994 m, nav range: 83.886635 m, bearing: 254.321522 deg, approach rate: 0.125213 m/s, LOS rate: -0.379121 deg/s, cmd heading: 359.632109 deg, new cmd heading: 359.202521 deg. 2025-01-08T22:40:57.796Z,1736376057.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269267 target range: 132.899994 and range: 132.90 m. 2025-01-08T22:40:57.868Z,1736376057.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:58.028Z,1736376058.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:40:58.088Z,1736376058.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:58.098Z,1736376058.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m. 2025-01-08T22:40:58.101Z,1736376058.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.899994 m, nav range: 83.928696 m, bearing: 254.193913 deg, approach rate: 0.127733 m/s, LOS rate: -0.387333 deg/s, cmd heading: 359.202517 deg, new cmd heading: 358.819890 deg. 2025-01-08T22:40:58.102Z,1736376058.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262589 target range: 132.899994 and range: 132.90 m. 2025-01-08T22:40:58.120Z,1736376058.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:58.373Z,1736376058.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:58.509Z,1736376058.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:58.536Z,1736376058.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:40:58.538Z,1736376058.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m. 2025-01-08T22:40:58.545Z,1736376058.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.899994 m, nav range: 83.987495 m, bearing: 254.035346 deg, approach rate: 0.133657 m/s, LOS rate: -0.360185 deg/s, cmd heading: 358.819890 deg, new cmd heading: 358.344533 deg. 2025-01-08T22:40:58.551Z,1736376058.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.254292 target range: 132.899994 and range: 132.90 m. 2025-01-08T22:40:58.624Z,1736376058.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:58.624Z,1736376058.624 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:40:58.624Z,1736376058.624 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:40:58.625Z,1736376058.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:40:58.877Z,1736376058.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:58.877Z,1736376058.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962349 2025-01-08T22:40:58.978Z,1736376058.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:59.004Z,1736376059.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m. 2025-01-08T22:40:59.011Z,1736376059.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.899994 m, nav range: 84.053780 m, bearing: 253.858466 deg, approach rate: 0.142114 m/s, LOS rate: -0.378933 deg/s, cmd heading: 358.344536 deg, new cmd heading: 357.814329 deg. 2025-01-08T22:40:59.013Z,1736376059.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245038 target range: 132.899994 and range: 132.90 m. 2025-01-08T22:40:59.129Z,1736376059.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:59.130Z,1736376059.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215197 2025-01-08T22:40:59.383Z,1736376059.383 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:59.385Z,1736376059.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469465 2025-01-08T22:40:59.453Z,1736376059.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:59.461Z,1736376059.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m. 2025-01-08T22:40:59.465Z,1736376059.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.899994 m, nav range: 84.132309 m, bearing: 253.685052 deg, approach rate: 0.171951 m/s, LOS rate: -0.379357 deg/s, cmd heading: 357.814322 deg, new cmd heading: 357.294583 deg. 2025-01-08T22:40:59.466Z,1736376059.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.235967 target range: 132.899994 and range: 132.90 m. 2025-01-08T22:40:59.632Z,1736376059.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:59.632Z,1736376059.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717267 2025-01-08T22:40:59.884Z,1736376059.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:40:59.886Z,1736376059.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970556 2025-01-08T22:40:59.894Z,1736376059.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:40:59.902Z,1736376059.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m. 2025-01-08T22:40:59.923Z,1736376059.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.899994 m, nav range: 84.203125 m, bearing: 253.523349 deg, approach rate: 0.160521 m/s, LOS rate: -0.366229 deg/s, cmd heading: 357.294572 deg, new cmd heading: 356.809881 deg. 2025-01-08T22:40:59.928Z,1736376059.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.227507 target range: 132.899994 and range: 132.90 m. 2025-01-08T22:41:00.136Z,1736376060.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:00.136Z,1736376060.136 [DAT](INFO): DAT read: Rx Time:22:40:58.8396 2025-01-08T22:41:00.137Z,1736376060.137 [DAT](INFO): Rx dataTimestamp_ set to:1736376060.136595 2025-01-08T22:41:00.137Z,1736376060.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222317 2025-01-08T22:41:00.288Z,1736376060.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:00.314Z,1736376060.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.90 m. 2025-01-08T22:41:00.321Z,1736376060.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.899994 m, nav range: 84.265587 m, bearing: 253.378908 deg, approach rate: 0.151733 m/s, LOS rate: -0.350617 deg/s, cmd heading: 356.809875 deg, new cmd heading: 356.376881 deg. 2025-01-08T22:41:00.322Z,1736376060.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219950 target range: 132.899994 and range: 132.90 m. 2025-01-08T22:41:00.389Z,1736376060.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:00.392Z,1736376060.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475883 2025-01-08T22:41:00.640Z,1736376060.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:00.648Z,1736376060.648 [DAT](INFO): DAT read: 22:40:58.8396 LVL= 20448, 32753, 32754, 32755, AGC= 64, IDX= 413, 0.15,-2.943, 1.684, 2.460, 2.737, PHS= 0.691,-1.006,-0.281, RAW= 115.2, 8.1, CAL= 124.6, 4.8, ROT= 25.4, -4.8 2025-01-08T22:41:00.649Z,1736376060.649 [DAT](INFO): got valid direction response: 22:40:58.8396 LVL= 20448, 32753, 32754, 32755, AGC= 64, IDX= 413, 0.15,-2.943, 1.684, 2.460, 2.737, PHS= 0.691,-1.006,-0.281, RAW= 115.2, 8.1, CAL= 124.6, 4.8, ROT= 25.4, -4.8 2025-01-08T22:41:00.651Z,1736376060.651 [DAT](INFO): DAT read: Bearing 25.4, -4.8 (Local) 2025-01-08T22:41:00.651Z,1736376060.651 [DAT](INFO): Local bearing/azimuth received: Bearing 25.4, -4.8 (Local) 2025-01-08T22:41:00.654Z,1736376060.654 [DAT](INFO): DAT read: Range 10 to 50 : 131.4 m (Round-trip 175.2 ms) speed 0.4 m/s 2025-01-08T22:41:00.655Z,1736376060.655 [DAT](INFO): DAT read: user:2785> 2025-01-08T22:41:00.657Z,1736376060.657 [DAT](INFO): DAT read: Tx time:22:40:59.9602 2025-01-08T22:41:00.657Z,1736376060.657 [DAT](INFO): Ping request sent. 2025-01-08T22:41:00.657Z,1736376060.657 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:00.658Z,1736376060.658 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:41:00.659Z,1736376060.659 [DAT](INFO): direction in FSK: [-0.271530,-0.319041,0.908011] 2025-01-08T22:41:00.661Z,1736376060.661 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:00.661Z,1736376060.661 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:00.705Z,1736376060.705 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:00.705Z,1736376060.705 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:00.839Z,1736376060.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:00.869Z,1736376060.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.399994 m, deltaT: 3.779837 s, deltaX: -1.500000 m, approachRate: -0.396843 m/s, rangeRepo size: 4 2025-01-08T22:41:00.875Z,1736376060.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.399994 m, bearing: 242.336795 deg, lat: 36.903336 deg, lon: -122.120694 deg, deltaT: 3.779837 s, deltaX: -1.500000 m, approachRate: -0.396843 m/s, posRepo size: 4 2025-01-08T22:41:00.876Z,1736376060.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m. 2025-01-08T22:41:00.878Z,1736376060.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.399994 m, nav range: 69.379028 m, bearing: 248.722804 deg, approach rate: 0.000000 m/s, LOS rate: -0.350617 deg/s, cmd heading: 356.376868 deg, new cmd heading: 355.793755 deg. 2025-01-08T22:41:00.892Z,1736376060.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:00.893Z,1736376060.893 [DAT](INFO): DAT read: TxSync time:22:40:59.9594 2025-01-08T22:41:00.895Z,1736376060.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209773 target range: 131.399994 and range: 131.40 m. 2025-01-08T22:41:01.144Z,1736376061.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:01.203Z,1736376061.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:01.218Z,1736376061.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:01.224Z,1736376061.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m. 2025-01-08T22:41:01.226Z,1736376061.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.399994 m, nav range: 69.453514 m, bearing: 248.564412 deg, approach rate: 0.212086 m/s, LOS rate: -0.450511 deg/s, cmd heading: 355.793761 deg, new cmd heading: 355.319105 deg. 2025-01-08T22:41:01.232Z,1736376061.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201488 target range: 131.399994 and range: 131.40 m. 2025-01-08T22:41:01.398Z,1736376061.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:01.400Z,1736376061.400 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:01.400Z,1736376061.400 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:01.401Z,1736376061.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:01.634Z,1736376061.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:01.644Z,1736376061.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m. 2025-01-08T22:41:01.648Z,1736376061.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:01.649Z,1736376061.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992348 2025-01-08T22:41:01.652Z,1736376061.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.399994 m, nav range: 69.537415 m, bearing: 248.375527 deg, approach rate: 0.198068 m/s, LOS rate: -0.445371 deg/s, cmd heading: 355.319117 deg, new cmd heading: 354.753166 deg. 2025-01-08T22:41:01.653Z,1736376061.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.191611 target range: 131.399994 and range: 131.40 m. 2025-01-08T22:41:01.901Z,1736376061.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:01.903Z,1736376061.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246515 2025-01-08T22:41:02.001Z,1736376062.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:02.020Z,1736376062.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m. 2025-01-08T22:41:02.028Z,1736376062.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.399994 m, nav range: 69.606041 m, bearing: 248.214487 deg, approach rate: 0.182524 m/s, LOS rate: -0.427890 deg/s, cmd heading: 354.753168 deg, new cmd heading: 354.270537 deg. 2025-01-08T22:41:02.030Z,1736376062.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183187 target range: 131.399994 and range: 131.40 m. 2025-01-08T22:41:02.152Z,1736376062.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:02.152Z,1736376062.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495559 2025-01-08T22:41:02.405Z,1736376062.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:02.408Z,1736376062.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750803 2025-01-08T22:41:02.454Z,1736376062.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:02.481Z,1736376062.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m. 2025-01-08T22:41:02.488Z,1736376062.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.399994 m, nav range: 69.689491 m, bearing: 248.015909 deg, approach rate: 0.180993 m/s, LOS rate: -0.430173 deg/s, cmd heading: 354.270547 deg, new cmd heading: 353.675548 deg. 2025-01-08T22:41:02.489Z,1736376062.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172803 target range: 131.399994 and range: 131.40 m. 2025-01-08T22:41:02.656Z,1736376062.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:02.658Z,1736376062.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000822 2025-01-08T22:41:02.908Z,1736376062.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:02.908Z,1736376062.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251523 2025-01-08T22:41:02.972Z,1736376062.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:02.980Z,1736376062.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m. 2025-01-08T22:41:02.983Z,1736376062.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.399994 m, nav range: 69.773331 m, bearing: 247.787654 deg, approach rate: 0.167744 m/s, LOS rate: -0.456137 deg/s, cmd heading: 353.675555 deg, new cmd heading: 352.991648 deg. 2025-01-08T22:41:02.984Z,1736376062.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160866 target range: 131.399994 and range: 131.40 m. 2025-01-08T22:41:03.160Z,1736376063.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:03.160Z,1736376063.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503424 2025-01-08T22:41:03.342Z,1736376063.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:03.358Z,1736376063.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:03.376Z,1736376063.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m. 2025-01-08T22:41:03.380Z,1736376063.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.399994 m, nav range: 69.830025 m, bearing: 247.623815 deg, approach rate: 0.143073 m/s, LOS rate: -0.413128 deg/s, cmd heading: 352.991635 deg, new cmd heading: 352.500529 deg. 2025-01-08T22:41:03.382Z,1736376063.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152295 target range: 131.399994 and range: 131.40 m. 2025-01-08T22:41:03.414Z,1736376063.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:03.416Z,1736376063.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759065 2025-01-08T22:41:03.664Z,1736376063.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:03.665Z,1736376063.665 [DAT](INFO): DAT read: Rx Time:22:41:02.5368 2025-01-08T22:41:03.666Z,1736376063.666 [DAT](INFO): Rx dataTimestamp_ set to:1736376063.665402 2025-01-08T22:41:03.667Z,1736376063.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009562 2025-01-08T22:41:03.880Z,1736376063.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:03.904Z,1736376063.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m. 2025-01-08T22:41:03.906Z,1736376063.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.399994 m, nav range: 69.903297 m, bearing: 247.380850 deg, approach rate: 0.138865 m/s, LOS rate: -0.459977 deg/s, cmd heading: 352.500517 deg, new cmd heading: 351.772428 deg. 2025-01-08T22:41:03.908Z,1736376063.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139587 target range: 131.399994 and range: 131.40 m. 2025-01-08T22:41:03.916Z,1736376063.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:03.916Z,1736376063.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259503 2025-01-08T22:41:04.168Z,1736376064.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:04.169Z,1736376064.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511658 2025-01-08T22:41:04.283Z,1736376064.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:04.292Z,1736376064.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m. 2025-01-08T22:41:04.295Z,1736376064.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.399994 m, nav range: 69.954544 m, bearing: 247.198261 deg, approach rate: 0.132333 m/s, LOS rate: -0.471151 deg/s, cmd heading: 351.772419 deg, new cmd heading: 351.225070 deg. 2025-01-08T22:41:04.297Z,1736376064.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.130034 target range: 131.399994 and range: 131.40 m. 2025-01-08T22:41:04.422Z,1736376064.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:04.473Z,1736376064.473 [DAT](INFO): DAT read: 22:41:02.5368 LVL= 21680, 32753, 32754, 32755, AGC= 65, IDX= 419,-0.40, 0.981,-0.782, 0.013, 0.353, PHS= 0.716,-1.088,-0.343, RAW= 114.3, 9.2, CAL= 123.5, 6.0, ROT= 26.5, -6.0 2025-01-08T22:41:04.497Z,1736376064.497 [DAT](INFO): got valid direction response: 22:41:02.5368 LVL= 21680, 32753, 32754, 32755, AGC= 65, IDX= 419,-0.40, 0.981,-0.782, 0.013, 0.353, PHS= 0.716,-1.088,-0.343, RAW= 114.3, 9.2, CAL= 123.5, 6.0, ROT= 26.5, -6.0 2025-01-08T22:41:04.498Z,1736376064.498 [DAT](INFO): DAT read: Bearing 26.5, -6.0 (Local) 2025-01-08T22:41:04.498Z,1736376064.498 [DAT](INFO): Local bearing/azimuth received: Bearing 26.5, -6.0 (Local) 2025-01-08T22:41:04.501Z,1736376064.501 [DAT](INFO): DAT read: Range 10 to 50 : 129.3 m (Round-trip 172.4 ms) speed 0.4 m/s 2025-01-08T22:41:04.502Z,1736376064.502 [DAT](INFO): DAT read: user:2786> 2025-01-08T22:41:04.504Z,1736376064.504 [DAT](INFO): DAT read: Tx time:22:41:03.6602 2025-01-08T22:41:04.505Z,1736376064.505 [DAT](INFO): Ping request sent. 2025-01-08T22:41:04.505Z,1736376064.505 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:04.506Z,1736376064.506 [DAT](INFO): DAT read: TxSync time:22:41:03.6594 2025-01-08T22:41:04.506Z,1736376064.506 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:41:04.512Z,1736376064.512 [DAT](INFO): direction in FSK: [-0.289364,-0.301038,0.908650] 2025-01-08T22:41:04.513Z,1736376064.513 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:04.513Z,1736376064.513 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:04.521Z,1736376064.521 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:04.522Z,1736376064.522 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:04.675Z,1736376064.675 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:04.701Z,1736376064.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:04.727Z,1736376064.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.300003 m, deltaT: 3.782942 s, deltaX: -2.099991 m, approachRate: -0.555121 m/s, rangeRepo size: 4 2025-01-08T22:41:04.733Z,1736376064.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.300003 m, bearing: 234.155058 deg, lat: 36.903328 deg, lon: -122.120556 deg, deltaT: 3.782942 s, deltaX: -2.099991 m, approachRate: -0.555121 m/s, posRepo size: 4 2025-01-08T22:41:04.734Z,1736376064.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T22:41:04.741Z,1736376064.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 59.269520 m, bearing: 241.573718 deg, approach rate: 0.000000 m/s, LOS rate: -0.471151 deg/s, cmd heading: 351.225075 deg, new cmd heading: 350.610134 deg. 2025-01-08T22:41:04.742Z,1736376064.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.119301 target range: 129.300003 and range: 129.30 m. 2025-01-08T22:41:04.928Z,1736376064.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:05.072Z,1736376065.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:05.089Z,1736376065.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T22:41:05.097Z,1736376065.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 59.327473 m, bearing: 241.377577 deg, approach rate: 0.159797 m/s, LOS rate: -0.540303 deg/s, cmd heading: 350.610139 deg, new cmd heading: 350.022313 deg. 2025-01-08T22:41:05.098Z,1736376065.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.109042 target range: 129.300003 and range: 129.30 m. 2025-01-08T22:41:05.180Z,1736376065.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:05.433Z,1736376065.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:05.521Z,1736376065.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:05.528Z,1736376065.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:05.552Z,1736376065.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T22:41:05.554Z,1736376065.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 59.385559 m, bearing: 241.130075 deg, approach rate: 0.131301 m/s, LOS rate: -0.558915 deg/s, cmd heading: 350.022306 deg, new cmd heading: 349.280570 deg. 2025-01-08T22:41:05.560Z,1736376065.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.096096 target range: 129.300003 and range: 129.30 m. 2025-01-08T22:41:05.684Z,1736376065.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:05.685Z,1736376065.685 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:05.685Z,1736376065.685 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:05.686Z,1736376065.686 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:05.876Z,1736376065.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:05.893Z,1736376065.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T22:41:05.900Z,1736376065.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 59.429951 m, bearing: 240.934294 deg, approach rate: 0.122806 m/s, LOS rate: -0.541206 deg/s, cmd heading: 349.280575 deg, new cmd heading: 348.693693 deg. 2025-01-08T22:41:05.901Z,1736376065.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.085853 target range: 129.300003 and range: 129.30 m. 2025-01-08T22:41:05.936Z,1736376065.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:05.937Z,1736376065.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.431871 2025-01-08T22:41:06.188Z,1736376066.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:06.188Z,1736376066.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.683654 2025-01-08T22:41:06.270Z,1736376066.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:06.279Z,1736376066.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T22:41:06.282Z,1736376066.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 59.477615 m, bearing: 240.716422 deg, approach rate: 0.123543 m/s, LOS rate: -0.564254 deg/s, cmd heading: 348.693697 deg, new cmd heading: 348.040634 deg. 2025-01-08T22:41:06.284Z,1736376066.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074455 target range: 129.300003 and range: 129.30 m. 2025-01-08T22:41:06.440Z,1736376066.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:06.441Z,1736376066.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.935975 2025-01-08T22:41:06.692Z,1736376066.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:06.692Z,1736376066.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.187787 2025-01-08T22:41:06.717Z,1736376066.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:06.757Z,1736376066.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T22:41:06.765Z,1736376066.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 59.528362 m, bearing: 240.470374 deg, approach rate: 0.106043 m/s, LOS rate: -0.513714 deg/s, cmd heading: 348.040622 deg, new cmd heading: 347.303151 deg. 2025-01-08T22:41:06.765Z,1736376066.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.061584 target range: 129.300003 and range: 129.30 m. 2025-01-08T22:41:06.944Z,1736376066.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:06.945Z,1736376066.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.439816 2025-01-08T22:41:07.080Z,1736376067.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:07.088Z,1736376067.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T22:41:07.096Z,1736376067.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 59.566322 m, bearing: 240.269901 deg, approach rate: 0.114773 m/s, LOS rate: -0.605748 deg/s, cmd heading: 347.303153 deg, new cmd heading: 346.702140 deg. 2025-01-08T22:41:07.098Z,1736376067.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051094 target range: 129.300003 and range: 129.30 m. 2025-01-08T22:41:07.197Z,1736376067.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:07.198Z,1736376067.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.693107 2025-01-08T22:41:07.449Z,1736376067.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:07.452Z,1736376067.452 [DAT](INFO): DAT read: Rx Time:22:41:06.2347 2025-01-08T22:41:07.453Z,1736376067.453 [DAT](INFO): Rx dataTimestamp_ set to:1736376067.452485 2025-01-08T22:41:07.460Z,1736376067.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949979 2025-01-08T22:41:07.566Z,1736376067.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:07.573Z,1736376067.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:07.575Z,1736376067.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T22:41:07.578Z,1736376067.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 59.616581 m, bearing: 239.995044 deg, approach rate: 0.103192 m/s, LOS rate: -0.563864 deg/s, cmd heading: 346.702151 deg, new cmd heading: 345.878336 deg. 2025-01-08T22:41:07.580Z,1736376067.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.036716 target range: 129.300003 and range: 129.30 m. 2025-01-08T22:41:07.700Z,1736376067.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:07.701Z,1736376067.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195962 2025-01-08T22:41:07.946Z,1736376067.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:07.952Z,1736376067.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:07.958Z,1736376067.958 [DAT](INFO): DAT read: 22:41:06.2347 LVL= 14480, 32753, 29426, 32755, AGC= 64, IDX= 412,-0.14,-1.358, 3.125,-2.376,-2.043, PHS= 0.773,-1.067,-0.336, RAW= 113.3, 7.9, CAL= 122.9, 4.8, ROT= 27.1, -4.8 2025-01-08T22:41:07.960Z,1736376067.960 [DAT](INFO): got valid direction response: 22:41:06.2347 LVL= 14480, 32753, 29426, 32755, AGC= 64, IDX= 412,-0.14,-1.358, 3.125,-2.376,-2.043, PHS= 0.773,-1.067,-0.336, RAW= 113.3, 7.9, CAL= 122.9, 4.8, ROT= 27.1, -4.8 2025-01-08T22:41:07.961Z,1736376067.961 [DAT](INFO): DAT read: Bearing 27.1, -4.8 (Local) 2025-01-08T22:41:07.961Z,1736376067.961 [DAT](INFO): Local bearing/azimuth received: Bearing 27.1, -4.8 (Local) 2025-01-08T22:41:07.962Z,1736376067.962 [DAT](INFO): DAT read: Range 10 to 50 : 127.7 m (Round-trip 170.3 ms) speed 0.3 m/s 2025-01-08T22:41:07.963Z,1736376067.963 [DAT](INFO): DAT read: user:2787> 2025-01-08T22:41:07.964Z,1736376067.964 [DAT](INFO): DAT read: Tx time:22:41:07.3103 2025-01-08T22:41:07.964Z,1736376067.964 [DAT](INFO): Ping request sent. 2025-01-08T22:41:07.965Z,1736376067.965 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:07.965Z,1736376067.965 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:41:07.966Z,1736376067.966 [DAT](INFO): direction in FSK: [-0.265430,-0.286493,0.920581] 2025-01-08T22:41:07.966Z,1736376067.966 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:07.966Z,1736376067.966 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:07.969Z,1736376067.969 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:07.970Z,1736376067.970 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:08.014Z,1736376068.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.699997 m, deltaT: 3.529176 s, deltaX: -1.600006 m, approachRate: -0.453365 m/s, rangeRepo size: 4 2025-01-08T22:41:08.021Z,1736376068.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.699997 m, bearing: 234.559035 deg, lat: 36.903328 deg, lon: -122.120549 deg, deltaT: 3.529176 s, deltaX: -1.600006 m, approachRate: -0.453365 m/s, posRepo size: 4 2025-01-08T22:41:08.022Z,1736376068.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m. 2025-01-08T22:41:08.057Z,1736376068.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.699997 m, nav range: 59.138889 m, bearing: 239.488472 deg, approach rate: 0.000000 m/s, LOS rate: -0.563864 deg/s, cmd heading: 345.878348 deg, new cmd heading: 345.158789 deg. 2025-01-08T22:41:08.058Z,1736376068.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024158 target range: 127.699997 and range: 127.70 m. 2025-01-08T22:41:08.208Z,1736376068.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:08.211Z,1736376068.211 [DAT](INFO): DAT read: TxSync time:22:41:07.3095 2025-01-08T22:41:08.461Z,1736376068.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:08.474Z,1736376068.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:08.553Z,1736376068.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m. 2025-01-08T22:41:08.560Z,1736376068.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.699997 m, nav range: 59.189629 m, bearing: 239.187684 deg, approach rate: 0.091793 m/s, LOS rate: -0.543687 deg/s, cmd heading: 345.158801 deg, new cmd heading: 344.257290 deg. 2025-01-08T22:41:08.561Z,1736376068.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.008423 target range: 127.699997 and range: 127.70 m. 2025-01-08T22:41:08.714Z,1736376068.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:08.965Z,1736376068.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:09.044Z,1736376069.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:09.060Z,1736376069.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m. 2025-01-08T22:41:09.068Z,1736376069.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.699997 m, nav range: 59.243942 m, bearing: 238.860580 deg, approach rate: 0.107040 m/s, LOS rate: -0.644056 deg/s, cmd heading: 344.257298 deg, new cmd heading: 343.276985 deg. 2025-01-08T22:41:09.071Z,1736376069.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.991313 target range: 127.699997 and range: 127.70 m. 2025-01-08T22:41:09.216Z,1736376069.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:09.468Z,1736376069.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:09.578Z,1736376069.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:09.586Z,1736376069.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:09.605Z,1736376069.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m. 2025-01-08T22:41:09.613Z,1736376069.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.699997 m, nav range: 59.302418 m, bearing: 238.555203 deg, approach rate: 0.107460 m/s, LOS rate: -0.560631 deg/s, cmd heading: 343.276975 deg, new cmd heading: 342.361830 deg. 2025-01-08T22:41:09.614Z,1736376069.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975341 target range: 127.699997 and range: 127.70 m. 2025-01-08T22:41:09.720Z,1736376069.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:09.720Z,1736376069.720 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:09.720Z,1736376069.720 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:09.721Z,1736376069.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:09.908Z,1736376069.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:09.938Z,1736376069.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m. 2025-01-08T22:41:09.941Z,1736376069.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.699997 m, nav range: 59.337727 m, bearing: 238.367325 deg, approach rate: 0.105940 m/s, LOS rate: -0.563367 deg/s, cmd heading: 342.361839 deg, new cmd heading: 341.798562 deg. 2025-01-08T22:41:09.942Z,1736376069.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965510 target range: 127.699997 and range: 127.70 m. 2025-01-08T22:41:09.972Z,1736376069.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:09.973Z,1736376069.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008018 2025-01-08T22:41:10.224Z,1736376070.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:10.224Z,1736376070.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259795 2025-01-08T22:41:10.306Z,1736376070.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:10.316Z,1736376070.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m. 2025-01-08T22:41:10.318Z,1736376070.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.699997 m, nav range: 59.379169 m, bearing: 238.139996 deg, approach rate: 0.109678 m/s, LOS rate: -0.601207 deg/s, cmd heading: 341.798567 deg, new cmd heading: 341.117087 deg. 2025-01-08T22:41:10.320Z,1736376070.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953616 target range: 127.699997 and range: 127.70 m. 2025-01-08T22:41:10.476Z,1736376070.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:10.476Z,1736376070.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511873 2025-01-08T22:41:10.728Z,1736376070.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:10.728Z,1736376070.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763824 2025-01-08T22:41:10.765Z,1736376070.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:10.774Z,1736376070.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m. 2025-01-08T22:41:10.777Z,1736376070.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.699997 m, nav range: 59.431957 m, bearing: 237.883434 deg, approach rate: 0.115235 m/s, LOS rate: -0.559569 deg/s, cmd heading: 341.117078 deg, new cmd heading: 340.348124 deg. 2025-01-08T22:41:10.778Z,1736376070.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940196 target range: 127.699997 and range: 127.70 m. 2025-01-08T22:41:10.981Z,1736376070.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:10.982Z,1736376070.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017606 2025-01-08T22:41:11.114Z,1736376071.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:11.125Z,1736376071.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m. 2025-01-08T22:41:11.145Z,1736376071.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.699997 m, nav range: 59.469036 m, bearing: 237.688096 deg, approach rate: 0.105840 m/s, LOS rate: -0.557235 deg/s, cmd heading: 340.348135 deg, new cmd heading: 339.762509 deg. 2025-01-08T22:41:11.146Z,1736376071.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929975 target range: 127.699997 and range: 127.70 m. 2025-01-08T22:41:11.233Z,1736376071.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:11.234Z,1736376071.234 [DAT](INFO): DAT read: Rx Time:22:41:09.8828 2025-01-08T22:41:11.236Z,1736376071.236 [DAT](INFO): Rx dataTimestamp_ set to:1736376071.234865 2025-01-08T22:41:11.236Z,1736376071.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271888 2025-01-08T22:41:11.484Z,1736376071.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:11.484Z,1736376071.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519734 2025-01-08T22:41:11.655Z,1736376071.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:11.666Z,1736376071.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:11.670Z,1736376071.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.70 m. 2025-01-08T22:41:11.674Z,1736376071.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.699997 m, nav range: 59.528831 m, bearing: 237.390402 deg, approach rate: 0.109634 m/s, LOS rate: -0.545267 deg/s, cmd heading: 339.762515 deg, new cmd heading: 338.870405 deg. 2025-01-08T22:41:11.680Z,1736376071.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.914404 target range: 127.699997 and range: 127.70 m. 2025-01-08T22:41:11.736Z,1736376071.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:11.742Z,1736376071.742 [DAT](INFO): DAT read: 22:41:09.8828 LVL= 15056, 29233, 24194, 32755, AGC= 60, IDX= 424, 0.01,-0.131,-2.103,-1.460,-1.070, PHS= 1.027,-0.985,-0.393, RAW= 106.6, 4.0, CAL= 117.7, 1.4, ROT= 32.3, -1.4 2025-01-08T22:41:11.744Z,1736376071.744 [DAT](INFO): got valid direction response: 22:41:09.8828 LVL= 15056, 29233, 24194, 32755, AGC= 60, IDX= 424, 0.01,-0.131,-2.103,-1.460,-1.070, PHS= 1.027,-0.985,-0.393, RAW= 106.6, 4.0, CAL= 117.7, 1.4, ROT= 32.3, -1.4 2025-01-08T22:41:11.745Z,1736376071.745 [DAT](INFO): DAT read: Bearing 32.3, -1.4 (Local) 2025-01-08T22:41:11.745Z,1736376071.745 [DAT](INFO): Local bearing/azimuth received: Bearing 32.3, -1.4 (Local) 2025-01-08T22:41:11.748Z,1736376071.748 [DAT](INFO): DAT read: Range 10 to 50 : 126.2 m (Round-trip 168.3 ms) speed 0.3 m/s 2025-01-08T22:41:11.748Z,1736376071.748 [DAT](INFO): DAT read: user:2788> 2025-01-08T22:41:11.749Z,1736376071.749 [DAT](INFO): DAT read: Tx time:22:41:10.9603 2025-01-08T22:41:11.749Z,1736376071.749 [DAT](INFO): Ping request sent. 2025-01-08T22:41:11.749Z,1736376071.749 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:11.750Z,1736376071.750 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:41:11.751Z,1736376071.751 [DAT](INFO): direction in FSK: [-0.184234,-0.179462,0.966360] 2025-01-08T22:41:11.751Z,1736376071.751 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:11.756Z,1736376071.756 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:11.770Z,1736376071.770 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:11.771Z,1736376071.771 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:11.988Z,1736376071.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:11.992Z,1736376071.992 [DAT](INFO): DAT read: TxSync time:22:41:10.9595 2025-01-08T22:41:12.008Z,1736376072.008 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:41:12.039Z,1736376072.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:12.078Z,1736376072.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.199997 m, deltaT: 3.784136 s, deltaX: -1.500000 m, approachRate: -0.396392 m/s, rangeRepo size: 4 2025-01-08T22:41:12.086Z,1736376072.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.199997 m, bearing: 238.806702 deg, lat: 36.903342 deg, lon: -122.120455 deg, deltaT: 3.784136 s, deltaX: -1.500000 m, approachRate: -0.396392 m/s, posRepo size: 4 2025-01-08T22:41:12.086Z,1736376072.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.20 m. 2025-01-08T22:41:12.093Z,1736376072.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.199997 m, nav range: 51.731922 m, bearing: 233.660080 deg, approach rate: 0.000000 m/s, LOS rate: -0.545267 deg/s, cmd heading: 338.870410 deg, new cmd heading: 338.204249 deg. 2025-01-08T22:41:12.094Z,1736376072.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902778 target range: 126.199997 and range: 126.20 m. 2025-01-08T22:41:12.240Z,1736376072.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:12.418Z,1736376072.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:12.427Z,1736376072.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.20 m. 2025-01-08T22:41:12.432Z,1736376072.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.199997 m, nav range: 51.782162 m, bearing: 233.421221 deg, approach rate: 0.143432 m/s, LOS rate: -0.681270 deg/s, cmd heading: 338.204248 deg, new cmd heading: 337.488406 deg. 2025-01-08T22:41:12.433Z,1736376072.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890284 target range: 126.199997 and range: 126.20 m. 2025-01-08T22:41:12.492Z,1736376072.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:12.744Z,1736376072.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:12.849Z,1736376072.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:12.858Z,1736376072.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.20 m. 2025-01-08T22:41:12.898Z,1736376072.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.199997 m, nav range: 51.841385 m, bearing: 233.160005 deg, approach rate: 0.137438 m/s, LOS rate: -0.605504 deg/s, cmd heading: 337.488417 deg, new cmd heading: 336.705715 deg. 2025-01-08T22:41:12.908Z,1736376072.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876623 target range: 126.199997 and range: 126.20 m. 2025-01-08T22:41:12.997Z,1736376072.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:13.235Z,1736376073.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:13.248Z,1736376073.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:13.264Z,1736376073.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.20 m. 2025-01-08T22:41:13.267Z,1736376073.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.199997 m, nav range: 51.894695 m, bearing: 232.918851 deg, approach rate: 0.138385 m/s, LOS rate: -0.625352 deg/s, cmd heading: 336.705704 deg, new cmd heading: 335.983025 deg. 2025-01-08T22:41:13.272Z,1736376073.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864010 target range: 126.199997 and range: 126.20 m. 2025-01-08T22:41:13.501Z,1736376073.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:13.687Z,1736376073.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:13.694Z,1736376073.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:13.698Z,1736376073.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.20 m. 2025-01-08T22:41:13.701Z,1736376073.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.199997 m, nav range: 51.956444 m, bearing: 232.646761 deg, approach rate: 0.135925 m/s, LOS rate: -0.598229 deg/s, cmd heading: 335.983016 deg, new cmd heading: 335.167776 deg. 2025-01-08T22:41:13.702Z,1736376073.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849781 target range: 126.199997 and range: 126.20 m. 2025-01-08T22:41:13.752Z,1736376073.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:13.752Z,1736376073.752 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:13.753Z,1736376073.753 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:13.753Z,1736376073.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:14.004Z,1736376074.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:14.004Z,1736376074.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254828 2025-01-08T22:41:14.043Z,1736376074.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:14.051Z,1736376074.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.20 m. 2025-01-08T22:41:14.054Z,1736376074.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.199997 m, nav range: 52.001698 m, bearing: 232.431914 deg, approach rate: 0.127935 m/s, LOS rate: -0.606854 deg/s, cmd heading: 335.167764 deg, new cmd heading: 334.523813 deg. 2025-01-08T22:41:14.055Z,1736376074.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838542 target range: 126.199997 and range: 126.20 m. 2025-01-08T22:41:14.256Z,1736376074.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:14.256Z,1736376074.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506884 2025-01-08T22:41:14.436Z,1736376074.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:14.470Z,1736376074.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.20 m. 2025-01-08T22:41:14.472Z,1736376074.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.199997 m, nav range: 52.049995 m, bearing: 232.194284 deg, approach rate: 0.115469 m/s, LOS rate: -0.567589 deg/s, cmd heading: 334.523814 deg, new cmd heading: 333.811622 deg. 2025-01-08T22:41:14.473Z,1736376074.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826112 target range: 126.199997 and range: 126.20 m. 2025-01-08T22:41:14.509Z,1736376074.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:14.510Z,1736376074.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759750 2025-01-08T22:41:14.760Z,1736376074.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:14.761Z,1736376074.761 [DAT](INFO): DAT read: Rx Time:22:41:13.5312 2025-01-08T22:41:14.761Z,1736376074.761 [DAT](INFO): Rx dataTimestamp_ set to:1736376074.760946 2025-01-08T22:41:14.762Z,1736376074.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012239 2025-01-08T22:41:14.882Z,1736376074.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:14.893Z,1736376074.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.20 m. 2025-01-08T22:41:14.897Z,1736376074.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.199997 m, nav range: 52.105572 m, bearing: 231.933439 deg, approach rate: 0.131317 m/s, LOS rate: -0.615670 deg/s, cmd heading: 333.811617 deg, new cmd heading: 333.029968 deg. 2025-01-08T22:41:14.898Z,1736376074.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812469 target range: 126.199997 and range: 126.20 m. 2025-01-08T22:41:15.017Z,1736376075.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:15.018Z,1736376075.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268468 2025-01-08T22:41:15.260Z,1736376075.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:15.268Z,1736376075.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:15.274Z,1736376075.274 [DAT](INFO): DAT read: 22:41:13.5312 LVL= 14736, 24721, 21586, 28723, AGC= 59, IDX= 424,-0.10, 0.891,-1.279,-0.947,-0.452, PHS= 1.431,-0.780,-0.498, RAW= 96.7, -1.5, CAL= 105.2, -7.2, ROT= 44.8, 7.2 2025-01-08T22:41:15.276Z,1736376075.276 [DAT](INFO): got valid direction response: 22:41:13.5312 LVL= 14736, 24721, 21586, 28723, AGC= 59, IDX= 424,-0.10, 0.891,-1.279,-0.947,-0.452, PHS= 1.431,-0.780,-0.498, RAW= 96.7, -1.5, CAL= 105.2, -7.2, ROT= 44.8, 7.2 2025-01-08T22:41:15.277Z,1736376075.277 [DAT](INFO): DAT read: Bearing 44.8, 7.2 (Local) 2025-01-08T22:41:15.277Z,1736376075.277 [DAT](INFO): Local bearing/azimuth received: Bearing 44.8, 7.2 (Local) 2025-01-08T22:41:15.278Z,1736376075.278 [DAT](INFO): DAT read: Range 10 to 50 : 125.0 m (Round-trip 166.7 ms) speed 0.3 m/s 2025-01-08T22:41:15.280Z,1736376075.280 [DAT](INFO): DAT read: user:2789> 2025-01-08T22:41:15.281Z,1736376075.281 [DAT](INFO): DAT read: Tx time:22:41:14.6103 2025-01-08T22:41:15.281Z,1736376075.281 [DAT](INFO): Ping request sent. 2025-01-08T22:41:15.281Z,1736376075.281 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:15.281Z,1736376075.281 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:41:15.282Z,1736376075.282 [DAT](INFO): direction in FSK: [-0.066887,-0.011317,0.997696] 2025-01-08T22:41:15.282Z,1736376075.282 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:15.283Z,1736376075.283 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:15.285Z,1736376075.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.20 m. 2025-01-08T22:41:15.310Z,1736376075.310 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:15.310Z,1736376075.310 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:15.313Z,1736376075.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.199997 m, nav range: 52.150986 m, bearing: 231.711705 deg, approach rate: 0.115669 m/s, LOS rate: -0.564262 deg/s, cmd heading: 333.029970 deg, new cmd heading: 332.365379 deg. 2025-01-08T22:41:15.314Z,1736376075.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800870 target range: 126.199997 and range: 126.20 m. 2025-01-08T22:41:15.525Z,1736376075.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:15.526Z,1736376075.526 [DAT](INFO): DAT read: TxSync time:22:41:14.6095 2025-01-08T22:41:15.715Z,1736376075.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:15.768Z,1736376075.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.000000 m, deltaT: 3.531848 s, deltaX: -1.199997 m, approachRate: -0.339765 m/s, rangeRepo size: 4 2025-01-08T22:41:15.770Z,1736376075.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.000000 m, bearing: 307.866992 deg, lat: 36.903344 deg, lon: -122.120422 deg, deltaT: 3.531848 s, deltaX: -1.199997 m, approachRate: -0.339765 m/s, posRepo size: 4 2025-01-08T22:41:15.771Z,1736376075.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T22:41:15.776Z,1736376075.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:15.784Z,1736376075.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 49.830791 m, bearing: 229.508200 deg, approach rate: 0.000000 m/s, LOS rate: -0.564262 deg/s, cmd heading: 332.365392 deg, new cmd heading: 331.558129 deg. 2025-01-08T22:41:15.785Z,1736376075.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786781 target range: 125.000000 and range: 125.00 m. 2025-01-08T22:41:16.028Z,1736376076.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:16.065Z,1736376076.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:16.074Z,1736376076.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:16.076Z,1736376076.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T22:41:16.079Z,1736376076.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 49.866486 m, bearing: 229.291317 deg, approach rate: 0.113691 m/s, LOS rate: -0.690309 deg/s, cmd heading: 331.558119 deg, new cmd heading: 330.907967 deg. 2025-01-08T22:41:16.080Z,1736376076.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775434 target range: 125.000000 and range: 125.00 m. 2025-01-08T22:41:16.280Z,1736376076.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:16.281Z,1736376076.281 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:16.281Z,1736376076.281 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:16.281Z,1736376076.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:16.459Z,1736376076.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:16.469Z,1736376076.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T22:41:16.471Z,1736376076.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 49.904819 m, bearing: 229.046620 deg, approach rate: 0.097722 m/s, LOS rate: -0.623308 deg/s, cmd heading: 330.907967 deg, new cmd heading: 330.174482 deg. 2025-01-08T22:41:16.472Z,1736376076.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762632 target range: 125.000000 and range: 125.00 m. 2025-01-08T22:41:16.532Z,1736376076.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:16.534Z,1736376076.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252544 2025-01-08T22:41:16.784Z,1736376076.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:16.784Z,1736376076.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503330 2025-01-08T22:41:16.950Z,1736376076.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:16.971Z,1736376076.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T22:41:16.974Z,1736376076.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 49.945076 m, bearing: 228.732197 deg, approach rate: 0.080769 m/s, LOS rate: -0.630333 deg/s, cmd heading: 330.174486 deg, new cmd heading: 329.232066 deg. 2025-01-08T22:41:16.979Z,1736376076.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746183 target range: 125.000000 and range: 125.00 m. 2025-01-08T22:41:17.036Z,1736376077.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:17.037Z,1736376077.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756410 2025-01-08T22:41:17.288Z,1736376077.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:17.289Z,1736376077.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007489 2025-01-08T22:41:17.290Z,1736376077.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:17.300Z,1736376077.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T22:41:17.303Z,1736376077.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 49.973804 m, bearing: 228.514979 deg, approach rate: 0.086219 m/s, LOS rate: -0.651535 deg/s, cmd heading: 329.232057 deg, new cmd heading: 328.580807 deg. 2025-01-08T22:41:17.304Z,1736376077.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734817 target range: 125.000000 and range: 125.00 m. 2025-01-08T22:41:17.540Z,1736376077.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:17.541Z,1736376077.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260245 2025-01-08T22:41:17.743Z,1736376077.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:17.752Z,1736376077.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T22:41:17.755Z,1736376077.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 50.000591 m, bearing: 228.218075 deg, approach rate: 0.059238 m/s, LOS rate: -0.656238 deg/s, cmd heading: 328.580812 deg, new cmd heading: 327.690653 deg. 2025-01-08T22:41:17.756Z,1736376077.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719281 target range: 125.000000 and range: 125.00 m. 2025-01-08T22:41:17.792Z,1736376077.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:17.792Z,1736376077.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511406 2025-01-08T22:41:18.044Z,1736376078.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:18.044Z,1736376078.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763328 2025-01-08T22:41:18.120Z,1736376078.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:18.126Z,1736376078.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:18.128Z,1736376078.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T22:41:18.133Z,1736376078.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 50.020939 m, bearing: 227.970428 deg, approach rate: 0.054095 m/s, LOS rate: -0.658109 deg/s, cmd heading: 327.690647 deg, new cmd heading: 326.948054 deg. 2025-01-08T22:41:18.134Z,1736376078.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706320 target range: 125.000000 and range: 125.00 m. 2025-01-08T22:41:18.296Z,1736376078.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:18.297Z,1736376078.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016050 2025-01-08T22:41:18.525Z,1736376078.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:18.534Z,1736376078.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T22:41:18.545Z,1736376078.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 50.041035 m, bearing: 227.704091 deg, approach rate: 0.049521 m/s, LOS rate: -0.656049 deg/s, cmd heading: 326.948042 deg, new cmd heading: 326.149406 deg. 2025-01-08T22:41:18.548Z,1736376078.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:18.549Z,1736376078.549 [DAT](INFO): DAT read: Rx Time:22:41:17.1800 2025-01-08T22:41:18.549Z,1736376078.549 [DAT](INFO): Rx dataTimestamp_ set to:1736376078.549230 2025-01-08T22:41:18.550Z,1736376078.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268992 2025-01-08T22:41:18.550Z,1736376078.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692381 target range: 125.000000 and range: 125.00 m. 2025-01-08T22:41:18.800Z,1736376078.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:18.800Z,1736376078.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519446 2025-01-08T22:41:18.950Z,1736376078.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:18.959Z,1736376078.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T22:41:18.961Z,1736376078.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 50.052746 m, bearing: 227.409694 deg, approach rate: 0.027604 m/s, LOS rate: -0.693743 deg/s, cmd heading: 326.149401 deg, new cmd heading: 325.266489 deg. 2025-01-08T22:41:18.980Z,1736376078.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676971 target range: 125.000000 and range: 125.00 m. 2025-01-08T22:41:19.053Z,1736376079.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:19.067Z,1736376079.067 [DAT](INFO): DAT read: 22:41:17.1800 LVL= 17392, 32753, 22306, 32755, AGC= 59, IDX= 428,-0.29, 2.716, 0.716, 0.798, 1.557, PHS= 1.247,-0.794,-0.763, RAW= 90.8, 3.1, CAL= 98.3, 1.0, ROT= 51.7, -1.0 2025-01-08T22:41:19.074Z,1736376079.074 [DAT](INFO): got valid direction response: 22:41:17.1800 LVL= 17392, 32753, 22306, 32755, AGC= 59, IDX= 428,-0.29, 2.716, 0.716, 0.798, 1.557, PHS= 1.247,-0.794,-0.763, RAW= 90.8, 3.1, CAL= 98.3, 1.0, ROT= 51.7, -1.0 2025-01-08T22:41:19.080Z,1736376079.080 [DAT](INFO): DAT read: Bearing 51.7, -1.0 (Local) 2025-01-08T22:41:19.080Z,1736376079.080 [DAT](INFO): Local bearing/azimuth received: Bearing 51.7, -1.0 (Local) 2025-01-08T22:41:19.082Z,1736376079.082 [DAT](INFO): DAT read: Range 10 to 50 : 124.2 m (Round-trip 165.6 ms) speed 0.2 m/s 2025-01-08T22:41:19.083Z,1736376079.083 [DAT](INFO): DAT read: user:2790> 2025-01-08T22:41:19.088Z,1736376079.088 [DAT](INFO): DAT read: Tx time:22:41:18.2604 2025-01-08T22:41:19.089Z,1736376079.089 [DAT](INFO): Ping request sent. 2025-01-08T22:41:19.089Z,1736376079.089 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:19.090Z,1736376079.090 [DAT](INFO): DAT read: TxSync time:22:41:18.2596 2025-01-08T22:41:19.091Z,1736376079.091 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:41:19.103Z,1736376079.103 [DAT](INFO): direction in FSK: [-0.145047,0.097391,0.984620] 2025-01-08T22:41:19.104Z,1736376079.104 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:19.104Z,1736376079.104 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:19.107Z,1736376079.107 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:19.111Z,1736376079.111 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:19.304Z,1736376079.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:19.343Z,1736376079.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:19.378Z,1736376079.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.199997 m, deltaT: 3.785340 s, deltaX: -0.800003 m, approachRate: -0.211342 m/s, rangeRepo size: 4 2025-01-08T22:41:19.384Z,1736376079.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 124.199997 m, bearing: 66.616426 deg, lat: 36.903482 deg, lon: -122.120266 deg, deltaT: 3.785340 s, deltaX: -0.800003 m, approachRate: -0.211342 m/s, posRepo size: 4 2025-01-08T22:41:19.385Z,1736376079.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:41:19.392Z,1736376079.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 29.493713 m, bearing: 230.768053 deg, approach rate: 0.000000 m/s, LOS rate: -0.693743 deg/s, cmd heading: 325.266476 deg, new cmd heading: 324.395595 deg. 2025-01-08T22:41:19.393Z,1736376079.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661771 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:41:19.556Z,1736376079.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:19.753Z,1736376079.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:19.762Z,1736376079.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:41:19.789Z,1736376079.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 29.478817 m, bearing: 230.270975 deg, approach rate: -0.038714 m/s, LOS rate: -1.292486 deg/s, cmd heading: 324.395600 deg, new cmd heading: 322.903969 deg. 2025-01-08T22:41:19.790Z,1736376079.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635737 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:41:19.808Z,1736376079.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:20.060Z,1736376080.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:20.134Z,1736376080.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:20.144Z,1736376080.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:20.146Z,1736376080.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:41:20.148Z,1736376080.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 29.464344 m, bearing: 229.809738 deg, approach rate: -0.037719 m/s, LOS rate: -1.202646 deg/s, cmd heading: 322.903969 deg, new cmd heading: 321.519861 deg. 2025-01-08T22:41:20.149Z,1736376080.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611580 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:41:20.312Z,1736376080.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:20.312Z,1736376080.312 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:20.312Z,1736376080.312 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:20.313Z,1736376080.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:20.541Z,1736376080.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:20.553Z,1736376080.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:41:20.558Z,1736376080.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 29.447584 m, bearing: 229.317294 deg, approach rate: -0.041117 m/s, LOS rate: -1.208795 deg/s, cmd heading: 321.519872 deg, new cmd heading: 320.042045 deg. 2025-01-08T22:41:20.559Z,1736376080.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585787 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:41:20.564Z,1736376080.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:20.565Z,1736376080.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475513 2025-01-08T22:41:20.816Z,1736376080.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:20.817Z,1736376080.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727642 2025-01-08T22:41:21.016Z,1736376081.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:21.053Z,1736376081.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:41:21.060Z,1736376081.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 29.428701 m, bearing: 228.733522 deg, approach rate: -0.037812 m/s, LOS rate: -1.169705 deg/s, cmd heading: 320.042037 deg, new cmd heading: 318.290174 deg. 2025-01-08T22:41:21.061Z,1736376081.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555212 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:41:21.071Z,1736376081.071 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:21.073Z,1736376081.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983555 2025-01-08T22:41:21.320Z,1736376081.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:21.320Z,1736376081.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231378 2025-01-08T22:41:21.354Z,1736376081.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:21.379Z,1736376081.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:41:21.401Z,1736376081.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 29.411892 m, bearing: 228.318738 deg, approach rate: -0.051688 m/s, LOS rate: -1.276148 deg/s, cmd heading: 318.290176 deg, new cmd heading: 317.045320 deg. 2025-01-08T22:41:21.405Z,1736376081.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.533485 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:41:21.572Z,1736376081.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:21.572Z,1736376081.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483354 2025-01-08T22:41:21.776Z,1736376081.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:21.785Z,1736376081.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:41:21.789Z,1736376081.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 29.392378 m, bearing: 227.782615 deg, approach rate: -0.047870 m/s, LOS rate: -1.316019 deg/s, cmd heading: 317.045333 deg, new cmd heading: 315.436343 deg. 2025-01-08T22:41:21.790Z,1736376081.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505403 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:41:21.824Z,1736376081.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:21.825Z,1736376081.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736321 2025-01-08T22:41:22.076Z,1736376082.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:22.076Z,1736376082.076 [DAT](INFO): DAT read: Rx Time:22:41:20.8290 2025-01-08T22:41:22.077Z,1736376082.077 [DAT](INFO): Rx dataTimestamp_ set to:1736376082.076539 2025-01-08T22:41:22.077Z,1736376082.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988319 2025-01-08T22:41:22.160Z,1736376082.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:22.168Z,1736376082.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:22.170Z,1736376082.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:41:22.175Z,1736376082.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 29.373255 m, bearing: 227.295282 deg, approach rate: -0.049778 m/s, LOS rate: -1.269364 deg/s, cmd heading: 315.436331 deg, new cmd heading: 313.973718 deg. 2025-01-08T22:41:22.176Z,1736376082.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479875 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:41:22.328Z,1736376082.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:22.329Z,1736376082.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239605 2025-01-08T22:41:22.564Z,1736376082.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:22.572Z,1736376082.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T22:41:22.577Z,1736376082.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 29.351118 m, bearing: 226.782197 deg, approach rate: -0.054943 m/s, LOS rate: -1.274419 deg/s, cmd heading: 313.973715 deg, new cmd heading: 312.433688 deg. 2025-01-08T22:41:22.578Z,1736376082.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452997 target range: 124.199997 and range: 124.20 m. 2025-01-08T22:41:22.580Z,1736376082.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:22.587Z,1736376082.587 [DAT](INFO): DAT read: 22:41:20.8290 LVL= 12432, 25633, 18562, 24643, AGC= 57, IDX= 432, 0.20, 1.878, 0.292,-0.030, 0.967, PHS= 0.999,-0.628,-1.001, RAW= 79.9, 6.9, CAL= 84.6, 8.1, ROT= 65.4, -8.1 2025-01-08T22:41:22.588Z,1736376082.588 [DAT](INFO): got valid direction response: 22:41:20.8290 LVL= 12432, 25633, 18562, 24643, AGC= 57, IDX= 432, 0.20, 1.878, 0.292,-0.030, 0.967, PHS= 0.999,-0.628,-1.001, RAW= 79.9, 6.9, CAL= 84.6, 8.1, ROT= 65.4, -8.1 2025-01-08T22:41:22.589Z,1736376082.589 [DAT](INFO): DAT read: Bearing 65.4, -8.1 (Local) 2025-01-08T22:41:22.590Z,1736376082.590 [DAT](INFO): Local bearing/azimuth received: Bearing 65.4, -8.1 (Local) 2025-01-08T22:41:22.591Z,1736376082.591 [DAT](INFO): DAT read: Range 10 to 50 : 123.3 m (Round-trip 164.4 ms) speed 0.0 m/s 2025-01-08T22:41:22.592Z,1736376082.592 [DAT](INFO): DAT read: user:2791> 2025-01-08T22:41:22.593Z,1736376082.593 [DAT](INFO): DAT read: Tx time:22:41:21.9104 2025-01-08T22:41:22.593Z,1736376082.593 [DAT](INFO): Ping request sent. 2025-01-08T22:41:22.593Z,1736376082.593 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:22.593Z,1736376082.593 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:41:22.594Z,1736376082.594 [DAT](INFO): direction in FSK: [-0.196521,0.281755,0.939145] 2025-01-08T22:41:22.594Z,1736376082.594 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:22.595Z,1736376082.595 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:22.623Z,1736376082.623 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:22.635Z,1736376082.635 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:22.832Z,1736376082.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:22.833Z,1736376082.833 [DAT](INFO): DAT read: TxSync time:22:41:21.9096 2025-01-08T22:41:23.007Z,1736376083.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:23.033Z,1736376083.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.300003 m, deltaT: 3.527466 s, deltaX: -0.899994 m, approachRate: -0.255139 m/s, rangeRepo size: 4 2025-01-08T22:41:23.048Z,1736376083.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.300003 m, bearing: 67.563451 deg, lat: 36.903682 deg, lon: -122.120084 deg, deltaT: 3.527466 s, deltaX: -0.899994 m, approachRate: -0.255139 m/s, posRepo size: 4 2025-01-08T22:41:23.049Z,1736376083.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:23.055Z,1736376083.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 5.344907 m, bearing: 290.591111 deg, approach rate: 0.000000 m/s, LOS rate: -1.274419 deg/s, cmd heading: 312.433698 deg, new cmd heading: 310.674487 deg. 2025-01-08T22:41:23.056Z,1736376083.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422293 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:41:23.084Z,1736376083.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:23.337Z,1736376083.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:23.367Z,1736376083.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:23.404Z,1736376083.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:23.408Z,1736376083.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 5.120142 m, bearing: 289.701151 deg, approach rate: -0.607537 m/s, LOS rate: -2.511042 deg/s, cmd heading: 310.674488 deg, new cmd heading: 307.889712 deg. 2025-01-08T22:41:23.409Z,1736376083.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.373689 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:41:23.588Z,1736376083.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:23.803Z,1736376083.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:23.812Z,1736376083.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:23.816Z,1736376083.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 4.857892 m, bearing: 288.557132 deg, approach rate: -0.640910 m/s, LOS rate: -2.946600 deg/s, cmd heading: 307.889710 deg, new cmd heading: 304.277408 deg. 2025-01-08T22:41:23.817Z,1736376083.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310643 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:41:23.840Z,1736376083.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:24.092Z,1736376084.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:24.181Z,1736376084.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:24.198Z,1736376084.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:24.204Z,1736376084.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:24.207Z,1736376084.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 4.630836 m, bearing: 287.507362 deg, approach rate: -0.578636 m/s, LOS rate: -2.806281 deg/s, cmd heading: 304.277414 deg, new cmd heading: 300.977530 deg. 2025-01-08T22:41:24.210Z,1736376084.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.253049 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:41:24.344Z,1736376084.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:24.345Z,1736376084.345 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:24.345Z,1736376084.345 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:24.345Z,1736376084.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:24.575Z,1736376084.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:24.585Z,1736376084.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:24.588Z,1736376084.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 4.394404 m, bearing: 286.351647 deg, approach rate: -0.620884 m/s, LOS rate: -3.198047 deg/s, cmd heading: 300.977531 deg, new cmd heading: 297.329031 deg. 2025-01-08T22:41:24.589Z,1736376084.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189371 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:41:24.597Z,1736376084.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:24.597Z,1736376084.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004225 2025-01-08T22:41:24.848Z,1736376084.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:24.848Z,1736376084.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255362 2025-01-08T22:41:25.009Z,1736376085.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:25.040Z,1736376085.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:25.043Z,1736376085.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 4.147057 m, bearing: 284.937529 deg, approach rate: -0.543288 m/s, LOS rate: -3.290971 deg/s, cmd heading: 297.329036 deg, new cmd heading: 292.843293 deg. 2025-01-08T22:41:25.048Z,1736376085.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.111080 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:41:25.101Z,1736376085.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:25.102Z,1736376085.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508711 2025-01-08T22:41:25.352Z,1736376085.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:25.352Z,1736376085.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759289 2025-01-08T22:41:25.399Z,1736376085.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:25.422Z,1736376085.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:25.440Z,1736376085.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 3.925063 m, bearing: 283.591251 deg, approach rate: -0.582355 m/s, LOS rate: -3.731096 deg/s, cmd heading: 292.843295 deg, new cmd heading: 288.584286 deg. 2025-01-08T22:41:25.441Z,1736376085.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.036746 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:41:25.605Z,1736376085.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:25.607Z,1736376085.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014020 2025-01-08T22:41:25.835Z,1736376085.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:25.844Z,1736376085.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:25.847Z,1736376085.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 3.686395 m, bearing: 281.941893 deg, approach rate: -0.565806 m/s, LOS rate: -4.162675 deg/s, cmd heading: 288.584290 deg, new cmd heading: 283.331358 deg. 2025-01-08T22:41:25.848Z,1736376085.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.945065 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:41:25.864Z,1736376085.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:25.865Z,1736376085.865 [DAT](INFO): DAT read: Rx Time:22:41:24.4786 2025-01-08T22:41:25.865Z,1736376085.865 [DAT](INFO): Rx dataTimestamp_ set to:1736376085.864747 2025-01-08T22:41:25.866Z,1736376085.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272503 2025-01-08T22:41:26.116Z,1736376086.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:26.117Z,1736376086.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523639 2025-01-08T22:41:26.197Z,1736376086.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:26.208Z,1736376086.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:26.210Z,1736376086.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:26.214Z,1736376086.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 3.488735 m, bearing: 280.493668 deg, approach rate: -0.538638 m/s, LOS rate: -4.169666 deg/s, cmd heading: 283.331355 deg, new cmd heading: 278.750799 deg. 2025-01-08T22:41:26.215Z,1736376086.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865119 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:41:26.368Z,1736376086.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:26.370Z,1736376086.370 [DAT](INFO): DAT read: Range 10 to 50 : 123.0 m (Round-trip 164.0 ms) speed 0.0 m/s 2025-01-08T22:41:26.370Z,1736376086.370 [DAT](INFO): DAT read: user:2792> 2025-01-08T22:41:26.371Z,1736376086.371 [DAT](INFO): DAT read: Tx time:22:41:25.5604 2025-01-08T22:41:26.372Z,1736376086.372 [DAT](INFO): Ping request sent. 2025-01-08T22:41:26.372Z,1736376086.372 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:26.372Z,1736376086.372 [DAT](INFO): DAT read: TxSync time:22:41:25.5596 2025-01-08T22:41:26.373Z,1736376086.373 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:41:26.373Z,1736376086.373 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:26.373Z,1736376086.373 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:26.601Z,1736376086.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:26.610Z,1736376086.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.000000 m, deltaT: 3.787144 s, deltaX: -0.300003 m, approachRate: -0.079216 m/s, rangeRepo size: 4 2025-01-08T22:41:26.610Z,1736376086.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:26.614Z,1736376086.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 3.267375 m, bearing: 278.763735 deg, approach rate: -0.554973 m/s, LOS rate: -4.630270 deg/s, cmd heading: 278.750812 deg, new cmd heading: 273.227428 deg. 2025-01-08T22:41:26.615Z,1736376086.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.768718 target range: 123.300003 and range: 123.00 m. 2025-01-08T22:41:26.628Z,1736376086.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:26.880Z,1736376086.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:27.042Z,1736376087.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:27.070Z,1736376087.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:27.073Z,1736376087.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 3.035411 m, bearing: 276.713922 deg, approach rate: -0.503667 m/s, LOS rate: -4.789889 deg/s, cmd heading: 273.227429 deg, new cmd heading: 266.638662 deg. 2025-01-08T22:41:27.074Z,1736376087.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653723 target range: 123.300003 and range: 123.00 m. 2025-01-08T22:41:27.133Z,1736376087.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:27.386Z,1736376087.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:27.410Z,1736376087.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:27.441Z,1736376087.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:27.446Z,1736376087.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 2.839184 m, bearing: 274.979077 deg, approach rate: -0.528527 m/s, LOS rate: -4.994904 deg/s, cmd heading: 266.638673 deg, new cmd heading: 261.092671 deg. 2025-01-08T22:41:27.447Z,1736376087.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.556927 target range: 123.300003 and range: 123.00 m. 2025-01-08T22:41:27.636Z,1736376087.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:27.868Z,1736376087.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:27.877Z,1736376087.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:27.880Z,1736376087.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 2.608234 m, bearing: 272.540428 deg, approach rate: -0.530215 m/s, LOS rate: -6.092539 deg/s, cmd heading: 261.092669 deg, new cmd heading: 253.181975 deg. 2025-01-08T22:41:27.881Z,1736376087.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418859 target range: 123.300003 and range: 123.00 m. 2025-01-08T22:41:27.888Z,1736376087.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:28.141Z,1736376088.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:28.161Z,1736376088.161 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:41:28.213Z,1736376088.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:28.234Z,1736376088.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:28.241Z,1736376088.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:28.248Z,1736376088.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 2.433814 m, bearing: 270.623545 deg, approach rate: -0.479008 m/s, LOS rate: -5.640529 deg/s, cmd heading: 253.181971 deg, new cmd heading: 247.043938 deg. 2025-01-08T22:41:28.249Z,1736376088.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311730 target range: 123.300003 and range: 123.00 m. 2025-01-08T22:41:28.392Z,1736376088.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:28.392Z,1736376088.392 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:28.393Z,1736376088.393 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:28.393Z,1736376088.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:28.628Z,1736376088.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:28.637Z,1736376088.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:28.644Z,1736376088.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:28.646Z,1736376088.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274369 2025-01-08T22:41:28.661Z,1736376088.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 2.227477 m, bearing: 267.913020 deg, approach rate: -0.520783 m/s, LOS rate: -7.472150 deg/s, cmd heading: 247.043926 deg, new cmd heading: 238.232545 deg. 2025-01-08T22:41:28.662Z,1736376088.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157942 target range: 123.300003 and range: 123.00 m. 2025-01-08T22:41:28.896Z,1736376088.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:28.897Z,1736376088.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525435 2025-01-08T22:41:29.042Z,1736376089.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:29.052Z,1736376089.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:29.055Z,1736376089.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 2.026112 m, bearing: 265.054380 deg, approach rate: -0.485110 m/s, LOS rate: -7.568098 deg/s, cmd heading: 238.232545 deg, new cmd heading: 228.891859 deg. 2025-01-08T22:41:29.056Z,1736376089.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.994917 target range: 123.300003 and range: 123.00 m. 2025-01-08T22:41:29.148Z,1736376089.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:29.149Z,1736376089.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776814 2025-01-08T22:41:29.164Z,1736376089.164 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:41:29.400Z,1736376089.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:29.402Z,1736376089.402 [DAT](INFO): DAT read: Rx Time:22:41:28.1288 2025-01-08T22:41:29.402Z,1736376089.402 [DAT](INFO): Rx dataTimestamp_ set to:1736376089.402104 2025-01-08T22:41:29.403Z,1736376089.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031222 2025-01-08T22:41:29.446Z,1736376089.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:29.454Z,1736376089.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:29.460Z,1736376089.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 1.836107 m, bearing: 261.680246 deg, approach rate: -0.472856 m/s, LOS rate: -9.260638 deg/s, cmd heading: 228.891865 deg, new cmd heading: 217.866555 deg. 2025-01-08T22:41:29.461Z,1736376089.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.802489 target range: 123.300003 and range: 123.00 m. 2025-01-08T22:41:29.652Z,1736376089.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:29.653Z,1736376089.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281047 2025-01-08T22:41:29.878Z,1736376089.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:29.887Z,1736376089.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:29.892Z,1736376089.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 1.634311 m, bearing: 257.772019 deg, approach rate: -0.466073 m/s, LOS rate: -10.133240 deg/s, cmd heading: 217.866560 deg, new cmd heading: 204.928862 deg. 2025-01-08T22:41:29.893Z,1736376089.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576683 target range: 123.300003 and range: 123.00 m. 2025-01-08T22:41:29.904Z,1736376089.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:29.906Z,1736376089.906 [DAT](INFO): DAT read: Range 10 to 50 : 123.1 m (Round-trip 164.2 ms) speed -0.2 m/s 2025-01-08T22:41:29.907Z,1736376089.907 [DAT](INFO): DAT read: user:2793> 2025-01-08T22:41:29.908Z,1736376089.908 [DAT](INFO): DAT read: Tx time:22:41:29.2104 2025-01-08T22:41:29.908Z,1736376089.908 [DAT](INFO): Ping request sent. 2025-01-08T22:41:29.908Z,1736376089.908 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:29.908Z,1736376089.908 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:41:29.908Z,1736376089.908 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:29.909Z,1736376089.909 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:30.156Z,1736376090.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:30.157Z,1736376090.157 [DAT](INFO): DAT read: TxSync time:22:41:29.2096 2025-01-08T22:41:30.235Z,1736376090.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:30.242Z,1736376090.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:30.245Z,1736376090.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.099998 m, deltaT: 3.536478 s, deltaX: 0.099998 m, approachRate: 0.028276 m/s, rangeRepo size: 4 2025-01-08T22:41:30.246Z,1736376090.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:30.248Z,1736376090.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.461559 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg. 2025-01-08T22:41:30.249Z,1736376090.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. 2025-01-08T22:41:30.409Z,1736376090.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:30.410Z,1736376090.410 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:30.411Z,1736376090.411 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:30.412Z,1736376090.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:30.661Z,1736376090.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:30.662Z,1736376090.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753566 2025-01-08T22:41:30.666Z,1736376090.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:30.682Z,1736376090.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:30.683Z,1736376090.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.924628 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg. 2025-01-08T22:41:30.684Z,1736376090.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. 2025-01-08T22:41:30.912Z,1736376090.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:30.914Z,1736376090.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005027 2025-01-08T22:41:31.080Z,1736376091.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:31.098Z,1736376091.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:31.104Z,1736376091.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.277564 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg. 2025-01-08T22:41:31.105Z,1736376091.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. 2025-01-08T22:41:31.164Z,1736376091.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:31.165Z,1736376091.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256914 2025-01-08T22:41:31.416Z,1736376091.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:31.419Z,1736376091.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510736 2025-01-08T22:41:31.516Z,1736376091.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:31.549Z,1736376091.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:31.556Z,1736376091.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.813493 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg. 2025-01-08T22:41:31.557Z,1736376091.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. 2025-01-08T22:41:31.668Z,1736376091.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:31.669Z,1736376091.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761246 2025-01-08T22:41:31.920Z,1736376091.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:31.921Z,1736376091.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012588 2025-01-08T22:41:31.987Z,1736376091.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:31.997Z,1736376091.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:31.998Z,1736376091.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -41.837647 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg. 2025-01-08T22:41:31.000Z,1736376092.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. 2025-01-08T22:41:32.172Z,1736376092.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:32.172Z,1736376092.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264335 2025-01-08T22:41:32.311Z,1736376092.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:32.340Z,1736376092.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:32.342Z,1736376092.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:32.344Z,1736376092.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -42.881318 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg. 2025-01-08T22:41:32.345Z,1736376092.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. 2025-01-08T22:41:32.424Z,1736376092.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:32.425Z,1736376092.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517438 2025-01-08T22:41:32.677Z,1736376092.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:32.678Z,1736376092.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769676 2025-01-08T22:41:32.750Z,1736376092.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:32.765Z,1736376092.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:32.767Z,1736376092.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -47.911476 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg. 2025-01-08T22:41:32.768Z,1736376092.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. 2025-01-08T22:41:32.929Z,1736376092.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:32.931Z,1736376092.931 [DAT](INFO): DAT read: Rx Time:22:41:31.7798 2025-01-08T22:41:32.932Z,1736376092.931 [DAT](INFO): Rx dataTimestamp_ set to:1736376092.931228 2025-01-08T22:41:32.932Z,1736376092.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024070 2025-01-08T22:41:33.181Z,1736376093.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:33.182Z,1736376093.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273696 2025-01-08T22:41:33.234Z,1736376093.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:33.243Z,1736376093.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:33.245Z,1736376093.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -37.715758 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg. 2025-01-08T22:41:33.245Z,1736376093.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. 2025-01-08T22:41:33.433Z,1736376093.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:33.436Z,1736376093.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527636 2025-01-08T22:41:33.589Z,1736376093.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:33.598Z,1736376093.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:41:33.600Z,1736376093.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -29.038855 deg/s. Setting heading cmd to target acoustic bearing of 67.563451 deg. 2025-01-08T22:41:33.601Z,1736376093.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179205 target range: 123.300003 and range: 123.10 m. 2025-01-08T22:41:33.684Z,1736376093.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:33.691Z,1736376093.691 [DAT](INFO): DAT read: 22:41:31.7798 LVL= 15328, 15841, 15074, 24915, AGC= 58, IDX= 441, 0.20,-0.405,-0.966,-2.746,-1.393, PHS= 1.077, 0.475,-1.355, RAW= 43.8, -1.8, CAL= 44.5, -4.6, ROT= 105.5, 4.6 2025-01-08T22:41:33.692Z,1736376093.692 [DAT](INFO): got valid direction response: 22:41:31.7798 LVL= 15328, 15841, 15074, 24915, AGC= 58, IDX= 441, 0.20,-0.405,-0.966,-2.746,-1.393, PHS= 1.077, 0.475,-1.355, RAW= 43.8, -1.8, CAL= 44.5, -4.6, ROT= 105.5, 4.6 2025-01-08T22:41:33.693Z,1736376093.693 [DAT](INFO): DAT read: Bearing 105.5, 4.6 (Local) 2025-01-08T22:41:33.693Z,1736376093.693 [DAT](INFO): Local bearing/azimuth received: Bearing 105.5, 4.6 (Local) 2025-01-08T22:41:33.695Z,1736376093.695 [DAT](INFO): DAT read: Range 10 to 50 : 123.9 m (Round-trip 165.3 ms) speed 0.0 m/s 2025-01-08T22:41:33.698Z,1736376093.698 [DAT](INFO): DAT read: user:2794> 2025-01-08T22:41:33.708Z,1736376093.708 [DAT](INFO): DAT read: Tx time:22:41:32.8604 2025-01-08T22:41:33.708Z,1736376093.708 [DAT](INFO): Ping request sent. 2025-01-08T22:41:33.708Z,1736376093.708 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:33.709Z,1736376093.709 [DAT](INFO): DAT read: TxSync time:22:41:32.8596 2025-01-08T22:41:33.709Z,1736376093.709 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:41:33.710Z,1736376093.710 [DAT](INFO): direction in FSK: [0.038031,0.769504,0.637509] 2025-01-08T22:41:33.710Z,1736376093.710 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:33.711Z,1736376093.711 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:33.726Z,1736376093.726 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:33.726Z,1736376093.726 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:33.938Z,1736376093.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:34.059Z,1736376094.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:34.090Z,1736376094.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.900002 m, deltaT: 3.779645 s, deltaX: 0.800003 m, approachRate: 0.211661 m/s, rangeRepo size: 4 2025-01-08T22:41:34.099Z,1736376094.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.900002 m, bearing: 2.665626 deg, lat: 36.903690 deg, lon: -122.120043 deg, deltaT: 11.103267 s, deltaX: 0.599998 m, approachRate: 0.054038 m/s, posRepo size: 4 2025-01-08T22:41:34.104Z,1736376094.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m. 2025-01-08T22:41:34.105Z,1736376094.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -29.038855 deg/s. Setting heading cmd to target acoustic bearing of 2.665626 deg. 2025-01-08T22:41:34.106Z,1736376094.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.046524 target range: 123.900002 and range: 123.90 m. 2025-01-08T22:41:34.192Z,1736376094.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:34.393Z,1736376094.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:34.402Z,1736376094.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:34.407Z,1736376094.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m. 2025-01-08T22:41:34.429Z,1736376094.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.900002 m, nav range: 4.714660 m, bearing: 89.063418 deg, approach rate: 0.699523 m/s, LOS rate: 0.553787 deg/s, cmd heading: 2.665626 deg, new cmd heading: 3.191993 deg. 2025-01-08T22:41:34.430Z,1736376094.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055711 target range: 123.900002 and range: 123.90 m. 2025-01-08T22:41:34.444Z,1736376094.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:34.444Z,1736376094.444 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:34.445Z,1736376094.445 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:34.445Z,1736376094.445 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:34.697Z,1736376094.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:34.698Z,1736376094.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990069 2025-01-08T22:41:34.797Z,1736376094.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:34.806Z,1736376094.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m. 2025-01-08T22:41:34.813Z,1736376094.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.900002 m, nav range: 4.979730 m, bearing: 89.173669 deg, approach rate: 0.664008 m/s, LOS rate: 0.261481 deg/s, cmd heading: 3.191993 deg, new cmd heading: 3.505137 deg. 2025-01-08T22:41:34.814Z,1736376094.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061176 target range: 123.900002 and range: 123.90 m. 2025-01-08T22:41:34.948Z,1736376094.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:34.949Z,1736376094.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240333 2025-01-08T22:41:35.200Z,1736376095.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:35.200Z,1736376095.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492140 2025-01-08T22:41:35.249Z,1736376095.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:35.258Z,1736376095.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m. 2025-01-08T22:41:35.284Z,1736376095.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.900002 m, nav range: 5.287764 m, bearing: 89.417929 deg, approach rate: 0.681930 m/s, LOS rate: 0.509243 deg/s, cmd heading: 3.505137 deg, new cmd heading: 4.195193 deg. 2025-01-08T22:41:35.285Z,1736376095.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073220 target range: 123.900002 and range: 123.90 m. 2025-01-08T22:41:35.455Z,1736376095.455 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:35.456Z,1736376095.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747447 2025-01-08T22:41:35.704Z,1736376095.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:35.704Z,1736376095.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996223 2025-01-08T22:41:35.728Z,1736376095.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:35.738Z,1736376095.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m. 2025-01-08T22:41:35.741Z,1736376095.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.900002 m, nav range: 5.615389 m, bearing: 89.383522 deg, approach rate: 0.681543 m/s, LOS rate: -0.067399 deg/s, cmd heading: 4.195193 deg, new cmd heading: 4.097995 deg. 2025-01-08T22:41:35.742Z,1736376095.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071524 target range: 123.900002 and range: 123.90 m. 2025-01-08T22:41:35.956Z,1736376095.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:35.957Z,1736376095.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248561 2025-01-08T22:41:36.153Z,1736376096.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:36.161Z,1736376096.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m. 2025-01-08T22:41:36.165Z,1736376096.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.900002 m, nav range: 5.910414 m, bearing: 89.328478 deg, approach rate: 0.697346 m/s, LOS rate: -0.123612 deg/s, cmd heading: 4.097995 deg, new cmd heading: 3.941107 deg. 2025-01-08T22:41:36.166Z,1736376096.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068785 target range: 123.900002 and range: 123.90 m. 2025-01-08T22:41:36.208Z,1736376096.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:36.209Z,1736376096.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500383 2025-01-08T22:41:36.462Z,1736376096.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:36.465Z,1736376096.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755869 2025-01-08T22:41:36.620Z,1736376096.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:36.632Z,1736376096.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:36.634Z,1736376096.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m. 2025-01-08T22:41:36.649Z,1736376096.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.900002 m, nav range: 6.235406 m, bearing: 89.187771 deg, approach rate: 0.687809 m/s, LOS rate: -0.282271 deg/s, cmd heading: 3.941107 deg, new cmd heading: 3.540992 deg. 2025-01-08T22:41:36.650Z,1736376096.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061802 target range: 123.900002 and range: 123.90 m. 2025-01-08T22:41:36.713Z,1736376096.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:36.714Z,1736376096.714 [DAT](INFO): DAT read: Rx Time:22:41:35.4316 2025-01-08T22:41:36.714Z,1736376096.714 [DAT](INFO): Rx dataTimestamp_ set to:1736376096.714076 2025-01-08T22:41:36.716Z,1736376096.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007437 2025-01-08T22:41:36.966Z,1736376096.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:36.967Z,1736376096.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258624 2025-01-08T22:41:37.030Z,1736376097.030 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768- 2025-01-08T22:41:37.038Z,1736376097.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:41:37.038Z,1736376097.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:37.048Z,1736376097.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.90 m. 2025-01-08T22:41:37.051Z,1736376097.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.900002 m, nav range: 6.525098 m, bearing: 89.002646 deg, approach rate: 0.699227 m/s, LOS rate: -0.426995 deg/s, cmd heading: 3.540992 deg, new cmd heading: 3.010290 deg. 2025-01-08T22:41:37.052Z,1736376097.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.052539 target range: 123.900002 and range: 123.90 m. 2025-01-08T22:41:37.216Z,1736376097.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:37.222Z,1736376097.222 [DAT](INFO): DAT read: 22:41:35.4316 LVL= 15136, 19217, 17330, 25203, AGC= 57, IDX= 458, 0.22,-0.686, 0.041,-2.379,-1.062, PHS= 0.464, 1.150,-1.320, RAW= 14.4, -2.7, CAL= 14.1, -5.1, ROT= 135.9, 5.1 2025-01-08T22:41:37.224Z,1736376097.224 [DAT](INFO): got valid direction response: 22:41:35.4316 LVL= 15136, 19217, 17330, 25203, AGC= 57, IDX= 458, 0.22,-0.686, 0.041,-2.379,-1.062, PHS= 0.464, 1.150,-1.320, RAW= 14.4, -2.7, CAL= 14.1, -5.1, ROT= 135.9, 5.1 2025-01-08T22:41:37.225Z,1736376097.225 [DAT](INFO): DAT read: Bearing 135.9, 5.1 (Local) 2025-01-08T22:41:37.225Z,1736376097.225 [DAT](INFO): Local bearing/azimuth received: Bearing 135.9, 5.1 (Local) 2025-01-08T22:41:37.227Z,1736376097.227 [DAT](INFO): DAT read: Range 10 to 50 : 125.1 m (Round-trip 166.9 ms) speed -0.4 m/s 2025-01-08T22:41:37.228Z,1736376097.228 [DAT](INFO): DAT read: user:2795> 2025-01-08T22:41:37.228Z,1736376097.228 [DAT](INFO): DAT read: Tx time:22:41:36.5105 2025-01-08T22:41:37.229Z,1736376097.229 [DAT](INFO): Ping request sent. 2025-01-08T22:41:37.229Z,1736376097.229 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:37.230Z,1736376097.230 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:41:37.240Z,1736376097.240 [DAT](INFO): direction in FSK: [0.113315,0.972376,0.204072] 2025-01-08T22:41:37.240Z,1736376097.240 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:37.241Z,1736376097.241 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:37.249Z,1736376097.249 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:37.249Z,1736376097.249 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:37.440Z,1736376097.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:41:37.440Z,1736376097.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:37.468Z,1736376097.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:37.469Z,1736376097.469 [DAT](INFO): DAT read: TxSync time:22:41:36.5097 2025-01-08T22:41:37.472Z,1736376097.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.099998 m, deltaT: 3.531968 s, deltaX: 1.199997 m, approachRate: 0.339753 m/s, rangeRepo size: 4 2025-01-08T22:41:37.474Z,1736376097.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.099998 m, bearing: 351.926495 deg, lat: 36.903781 deg, lon: -122.120043 deg, deltaT: 3.531968 s, deltaX: 1.199997 m, approachRate: 0.339753 m/s, posRepo size: 4 2025-01-08T22:41:37.474Z,1736376097.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:37.481Z,1736376097.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 12.306912 m, bearing: 33.516888 deg, approach rate: 0.000000 m/s, LOS rate: -0.426995 deg/s, cmd heading: 3.010290 deg, new cmd heading: 2.474021 deg. 2025-01-08T22:41:37.482Z,1736376097.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043180 target range: 125.099998 and range: 125.10 m. 2025-01-08T22:41:37.720Z,1736376097.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:37.837Z,1736376097.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:41:37.837Z,1736376097.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:37.848Z,1736376097.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:37.850Z,1736376097.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 12.491214 m, bearing: 34.509211 deg, approach rate: 0.486118 m/s, LOS rate: 2.578629 deg/s, cmd heading: 2.474021 deg, new cmd heading: 5.404363 deg. 2025-01-08T22:41:37.876Z,1736376097.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.094324 target range: 125.099998 and range: 125.10 m. 2025-01-08T22:41:37.974Z,1736376097.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:38.228Z,1736376098.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:38.276Z,1736376098.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:38.316Z,1736376098.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:38.325Z,1736376098.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 12.698357 m, bearing: 35.534257 deg, approach rate: 0.445125 m/s, LOS rate: 2.166651 deg/s, cmd heading: 5.404363 deg, new cmd heading: 8.426370 deg. 2025-01-08T22:41:38.326Z,1736376098.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.147068 target range: 125.099998 and range: 125.10 m. 2025-01-08T22:41:38.480Z,1736376098.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:38.672Z,1736376098.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:38.686Z,1736376098.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:38.693Z,1736376098.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:38.701Z,1736376098.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 12.894174 m, bearing: 36.402983 deg, approach rate: 0.514521 m/s, LOS rate: 2.247881 deg/s, cmd heading: 8.426369 deg, new cmd heading: 10.991158 deg. 2025-01-08T22:41:38.702Z,1736376098.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.191832 target range: 125.099998 and range: 125.10 m. 2025-01-08T22:41:38.733Z,1736376098.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:38.734Z,1736376098.734 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:38.734Z,1736376098.734 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:38.734Z,1736376098.734 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:38.990Z,1736376098.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:38.993Z,1736376098.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763425 2025-01-08T22:41:39.064Z,1736376099.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:39.073Z,1736376099.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:39.077Z,1736376099.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 13.083163 m, bearing: 37.176717 deg, approach rate: 0.495622 m/s, LOS rate: 1.999732 deg/s, cmd heading: 10.991157 deg, new cmd heading: 13.277545 deg. 2025-01-08T22:41:39.078Z,1736376099.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.231737 target range: 125.099998 and range: 125.10 m. 2025-01-08T22:41:39.240Z,1736376099.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:39.240Z,1736376099.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011754 2025-01-08T22:41:39.460Z,1736376099.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:39.469Z,1736376099.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:39.488Z,1736376099.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 13.281384 m, bearing: 37.911729 deg, approach rate: 0.501025 m/s, LOS rate: 1.830043 deg/s, cmd heading: 13.277545 deg, new cmd heading: 15.448570 deg. 2025-01-08T22:41:39.489Z,1736376099.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.269628 target range: 125.099998 and range: 125.10 m. 2025-01-08T22:41:39.492Z,1736376099.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:39.493Z,1736376099.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263832 2025-01-08T22:41:39.744Z,1736376099.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:39.744Z,1736376099.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515772 2025-01-08T22:41:39.847Z,1736376099.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:39.875Z,1736376099.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:39.877Z,1736376099.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 13.482059 m, bearing: 38.585173 deg, approach rate: 0.498622 m/s, LOS rate: 1.648380 deg/s, cmd heading: 15.448570 deg, new cmd heading: 17.437986 deg. 2025-01-08T22:41:39.878Z,1736376099.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.304350 target range: 125.099998 and range: 125.10 m. 2025-01-08T22:41:39.996Z,1736376099.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:39.997Z,1736376099.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768585 2025-01-08T22:41:40.248Z,1736376100.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:40.249Z,1736376100.249 [DAT](INFO): DAT read: Rx Time:22:41:39.0838 2025-01-08T22:41:40.249Z,1736376100.249 [DAT](INFO): Rx dataTimestamp_ set to:1736376100.248728 2025-01-08T22:41:40.250Z,1736376100.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020850 2025-01-08T22:41:40.304Z,1736376100.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:40.314Z,1736376100.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:40.329Z,1736376100.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 13.724410 m, bearing: 39.320915 deg, approach rate: 0.548563 m/s, LOS rate: 1.635905 deg/s, cmd heading: 17.437985 deg, new cmd heading: 19.605140 deg. 2025-01-08T22:41:40.331Z,1736376100.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342174 target range: 125.099998 and range: 125.10 m. 2025-01-08T22:41:40.500Z,1736376100.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:40.501Z,1736376100.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271919 2025-01-08T22:41:40.686Z,1736376100.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:40.693Z,1736376100.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:40.695Z,1736376100.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:40.698Z,1736376100.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 13.932441 m, bearing: 39.890495 deg, approach rate: 0.544721 m/s, LOS rate: 1.469133 deg/s, cmd heading: 19.605139 deg, new cmd heading: 21.287854 deg. 2025-01-08T22:41:40.700Z,1736376100.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371543 target range: 125.099998 and range: 125.10 m. 2025-01-08T22:41:40.752Z,1736376100.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:40.758Z,1736376100.758 [DAT](INFO): DAT read: Range 10 to 50 : 126.9 m (Round-trip 169.2 ms) speed -0.5 m/s 2025-01-08T22:41:40.759Z,1736376100.759 [DAT](INFO): DAT read: user:2796> 2025-01-08T22:41:40.760Z,1736376100.760 [DAT](INFO): DAT read: Tx time:22:41:40.1605 2025-01-08T22:41:40.760Z,1736376100.760 [DAT](INFO): Ping request sent. 2025-01-08T22:41:40.760Z,1736376100.760 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:40.761Z,1736376100.761 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:41:40.761Z,1736376100.761 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:40.762Z,1736376100.762 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:41.005Z,1736376101.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:41.009Z,1736376101.009 [DAT](INFO): DAT read: TxSync time:22:41:40.1597 2025-01-08T22:41:41.093Z,1736376101.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:41.103Z,1736376101.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.900002 m, deltaT: 3.536682 s, deltaX: 1.800003 m, approachRate: 0.508952 m/s, rangeRepo size: 4 2025-01-08T22:41:41.104Z,1736376101.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:41.107Z,1736376101.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 14.149911 m, bearing: 40.407442 deg, approach rate: 0.533664 m/s, LOS rate: 1.249056 deg/s, cmd heading: 21.287854 deg, new cmd heading: 22.814478 deg. 2025-01-08T22:41:41.108Z,1736376101.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.398188 target range: 125.099998 and range: 126.90 m. 2025-01-08T22:41:41.257Z,1736376101.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:41.469Z,1736376101.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:41.478Z,1736376101.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:41.482Z,1736376101.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 14.355428 m, bearing: 40.846392 deg, approach rate: 0.546923 m/s, LOS rate: 1.151403 deg/s, cmd heading: 22.814478 deg, new cmd heading: 24.112241 deg. 2025-01-08T22:41:41.484Z,1736376101.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420838 target range: 125.099998 and range: 126.90 m. 2025-01-08T22:41:41.508Z,1736376101.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:41.760Z,1736376101.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:41.868Z,1736376101.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:41.877Z,1736376101.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:41.880Z,1736376101.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 14.577529 m, bearing: 41.273071 deg, approach rate: 0.557463 m/s, LOS rate: 1.054618 deg/s, cmd heading: 24.112241 deg, new cmd heading: 25.372561 deg. 2025-01-08T22:41:41.881Z,1736376101.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442835 target range: 125.099998 and range: 126.90 m. 2025-01-08T22:41:42.014Z,1736376102.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:42.264Z,1736376102.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:42.294Z,1736376102.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:42.304Z,1736376102.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:42.307Z,1736376102.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 14.818467 m, bearing: 41.637543 deg, approach rate: 0.564656 m/s, LOS rate: 0.840273 deg/s, cmd heading: 25.372561 deg, new cmd heading: 26.448066 deg. 2025-01-08T22:41:42.308Z,1736376102.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461606 target range: 125.099998 and range: 126.90 m. 2025-01-08T22:41:42.516Z,1736376102.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:42.695Z,1736376102.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:42.702Z,1736376102.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:42.704Z,1736376102.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:42.709Z,1736376102.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 15.048524 m, bearing: 41.949623 deg, approach rate: 0.574240 m/s, LOS rate: 0.767063 deg/s, cmd heading: 26.448067 deg, new cmd heading: 27.369908 deg. 2025-01-08T22:41:42.712Z,1736376102.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.477695 target range: 125.099998 and range: 126.90 m. 2025-01-08T22:41:42.768Z,1736376102.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:42.770Z,1736376102.770 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:42.770Z,1736376102.770 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:42.770Z,1736376102.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:43.021Z,1736376103.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:43.024Z,1736376103.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262636 2025-01-08T22:41:43.134Z,1736376103.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:43.156Z,1736376103.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:43.158Z,1736376103.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 15.296387 m, bearing: 42.230704 deg, approach rate: 0.554399 m/s, LOS rate: 0.618509 deg/s, cmd heading: 27.369908 deg, new cmd heading: 28.199427 deg. 2025-01-08T22:41:43.164Z,1736376103.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.492173 target range: 125.099998 and range: 126.90 m. 2025-01-08T22:41:43.272Z,1736376103.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:43.273Z,1736376103.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512911 2025-01-08T22:41:43.483Z,1736376103.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:43.508Z,1736376103.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:43.510Z,1736376103.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 15.494391 m, bearing: 42.433096 deg, approach rate: 0.555517 m/s, LOS rate: 0.560569 deg/s, cmd heading: 28.199428 deg, new cmd heading: 28.798822 deg. 2025-01-08T22:41:43.516Z,1736376103.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.502634 target range: 125.099998 and range: 126.90 m. 2025-01-08T22:41:43.524Z,1736376103.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:43.525Z,1736376103.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764212 2025-01-08T22:41:43.776Z,1736376103.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:43.776Z,1736376103.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016024 2025-01-08T22:41:43.898Z,1736376103.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:43.906Z,1736376103.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:43.909Z,1736376103.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 15.731244 m, bearing: 42.653796 deg, approach rate: 0.593684 m/s, LOS rate: 0.544867 deg/s, cmd heading: 28.798823 deg, new cmd heading: 29.450926 deg. 2025-01-08T22:41:43.910Z,1736376103.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514016 target range: 125.099998 and range: 126.90 m. 2025-01-08T22:41:44.031Z,1736376104.031 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:44.033Z,1736376104.033 [DAT](INFO): DAT read: Rx Time:22:41:42.7366 2025-01-08T22:41:44.035Z,1736376104.035 [DAT](INFO): Rx dataTimestamp_ set to:1736376104.034040 2025-01-08T22:41:44.043Z,1736376104.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281979 2025-01-08T22:41:44.280Z,1736376104.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:44.281Z,1736376104.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520884 2025-01-08T22:41:44.332Z,1736376104.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:44.364Z,1736376104.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:44.366Z,1736376104.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 15.980846 m, bearing: 42.834904 deg, approach rate: 0.551209 m/s, LOS rate: 0.393701 deg/s, cmd heading: 29.450925 deg, new cmd heading: 29.985746 deg. 2025-01-08T22:41:44.372Z,1736376104.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523350 target range: 125.099998 and range: 126.90 m. 2025-01-08T22:41:44.532Z,1736376104.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:44.533Z,1736376104.533 [DAT](INFO): DAT read: Range 10 to 50 : 128.9 m (Round-trip 171.9 ms) speed -0.5 m/s 2025-01-08T22:41:44.534Z,1736376104.534 [DAT](INFO): DAT read: user:2797> 2025-01-08T22:41:44.535Z,1736376104.535 [DAT](INFO): DAT read: Tx time:22:41:43.8105 2025-01-08T22:41:44.535Z,1736376104.535 [DAT](INFO): Ping request sent. 2025-01-08T22:41:44.535Z,1736376104.535 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:44.536Z,1736376104.536 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:41:44.536Z,1736376104.536 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:44.537Z,1736376104.537 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:44.712Z,1736376104.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:44.720Z,1736376104.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:44.723Z,1736376104.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.899994 m, deltaT: 3.779227 s, deltaX: 1.999992 m, approachRate: 0.529207 m/s, rangeRepo size: 4 2025-01-08T22:41:44.723Z,1736376104.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:44.726Z,1736376104.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 16.200045 m, bearing: 42.985006 deg, approach rate: 0.604503 m/s, LOS rate: 0.408349 deg/s, cmd heading: 29.985746 deg, new cmd heading: 30.429950 deg. 2025-01-08T22:41:44.727Z,1736376104.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531103 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:44.784Z,1736376104.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:44.785Z,1736376104.785 [DAT](INFO): DAT read: TxSync time:22:41:43.8097 2025-01-08T22:41:44.786Z,1736376104.786 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:44.787Z,1736376104.787 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:44.788Z,1736376104.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:45.037Z,1736376105.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:45.040Z,1736376105.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503390 2025-01-08T22:41:45.149Z,1736376105.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:45.170Z,1736376105.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:45.177Z,1736376105.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 16.458551 m, bearing: 43.177149 deg, approach rate: 0.577448 m/s, LOS rate: 0.422462 deg/s, cmd heading: 30.429951 deg, new cmd heading: 30.997305 deg. 2025-01-08T22:41:45.181Z,1736376105.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541005 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:45.288Z,1736376105.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:45.289Z,1736376105.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753224 2025-01-08T22:41:45.505Z,1736376105.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:45.515Z,1736376105.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:45.518Z,1736376105.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 16.670921 m, bearing: 43.329940 deg, approach rate: 0.615524 m/s, LOS rate: 0.437201 deg/s, cmd heading: 30.997304 deg, new cmd heading: 31.449828 deg. 2025-01-08T22:41:45.518Z,1736376105.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548903 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:45.542Z,1736376105.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:45.544Z,1736376105.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008612 2025-01-08T22:41:45.792Z,1736376105.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:45.793Z,1736376105.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257066 2025-01-08T22:41:45.918Z,1736376105.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:45.926Z,1736376105.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:45.930Z,1736376105.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 16.916859 m, bearing: 43.505092 deg, approach rate: 0.597028 m/s, LOS rate: 0.419012 deg/s, cmd heading: 31.449828 deg, new cmd heading: 31.967632 deg. 2025-01-08T22:41:45.931Z,1736376105.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557940 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:46.046Z,1736376106.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:46.048Z,1736376106.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512436 2025-01-08T22:41:46.296Z,1736376106.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:46.297Z,1736376106.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761633 2025-01-08T22:41:46.357Z,1736376106.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:46.383Z,1736376106.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:46.389Z,1736376106.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 17.186262 m, bearing: 43.742572 deg, approach rate: 0.590749 m/s, LOS rate: 0.512583 deg/s, cmd heading: 31.967631 deg, new cmd heading: 32.668867 deg. 2025-01-08T22:41:46.390Z,1736376106.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570179 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:46.548Z,1736376106.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:46.550Z,1736376106.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013998 2025-01-08T22:41:46.727Z,1736376106.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:46.739Z,1736376106.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:46.753Z,1736376106.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:46.761Z,1736376106.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 17.411982 m, bearing: 43.947870 deg, approach rate: 0.609601 m/s, LOS rate: 0.547260 deg/s, cmd heading: 32.668867 deg, new cmd heading: 33.276752 deg. 2025-01-08T22:41:46.762Z,1736376106.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580789 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:46.801Z,1736376106.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:46.803Z,1736376106.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267309 2025-01-08T22:41:47.054Z,1736376107.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:47.056Z,1736376107.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520133 2025-01-08T22:41:47.163Z,1736376107.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:47.192Z,1736376107.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:47.194Z,1736376107.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 17.690451 m, bearing: 44.285639 deg, approach rate: 0.634258 m/s, LOS rate: 0.757207 deg/s, cmd heading: 33.276753 deg, new cmd heading: 34.274001 deg. 2025-01-08T22:41:47.200Z,1736376107.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598194 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:47.304Z,1736376107.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:47.305Z,1736376107.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769336 2025-01-08T22:41:47.540Z,1736376107.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:47.549Z,1736376107.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:47.552Z,1736376107.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 17.929028 m, bearing: 44.589631 deg, approach rate: 0.667609 m/s, LOS rate: 0.839339 deg/s, cmd heading: 34.274002 deg, new cmd heading: 35.173767 deg. 2025-01-08T22:41:47.553Z,1736376107.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613898 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:47.556Z,1736376107.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:47.557Z,1736376107.557 [DAT](INFO): DAT read: Rx Time:22:41:46.3901 2025-01-08T22:41:47.557Z,1736376107.557 [DAT](INFO): Rx dataTimestamp_ set to:1736376107.556787 2025-01-08T22:41:47.558Z,1736376107.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022084 2025-01-08T22:41:47.808Z,1736376107.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:47.810Z,1736376107.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274258 2025-01-08T22:41:47.937Z,1736376107.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:47.947Z,1736376107.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:47.949Z,1736376107.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 18.178562 m, bearing: 44.923221 deg, approach rate: 0.629224 m/s, LOS rate: 0.829625 deg/s, cmd heading: 35.173767 deg, new cmd heading: 36.160694 deg. 2025-01-08T22:41:47.950Z,1736376107.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631123 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:48.075Z,1736376108.075 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:48.078Z,1736376108.078 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:41:48.079Z,1736376108.079 [DAT](INFO): Received a bad header 2025-01-08T22:41:48.109Z,1736376108.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.573353 2025-01-08T22:41:48.328Z,1736376108.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:48.328Z,1736376108.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792773 2025-01-08T22:41:48.358Z,1736376108.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:48.368Z,1736376108.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:48.370Z,1736376108.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 18.453968 m, bearing: 45.338941 deg, approach rate: 0.653314 m/s, LOS rate: 0.971440 deg/s, cmd heading: 36.160695 deg, new cmd heading: 37.389044 deg. 2025-01-08T22:41:48.392Z,1736376108.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.652562 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:48.580Z,1736376108.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:48.581Z,1736376108.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.045487 2025-01-08T22:41:48.757Z,1736376108.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:48.763Z,1736376108.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:48.768Z,1736376108.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:48.773Z,1736376108.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 18.712978 m, bearing: 45.743963 deg, approach rate: 0.649020 m/s, LOS rate: 1.000836 deg/s, cmd heading: 37.389043 deg, new cmd heading: 38.587106 deg. 2025-01-08T22:41:48.774Z,1736376108.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673472 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:48.833Z,1736376108.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:48.836Z,1736376108.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.299944 2025-01-08T22:41:49.086Z,1736376109.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:49.088Z,1736376109.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.552145 2025-01-08T22:41:49.212Z,1736376109.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:49.221Z,1736376109.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:49.224Z,1736376109.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 19.024450 m, bearing: 46.253738 deg, approach rate: 0.685136 m/s, LOS rate: 1.102965 deg/s, cmd heading: 38.587106 deg, new cmd heading: 40.091028 deg. 2025-01-08T22:41:49.225Z,1736376109.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699720 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:49.337Z,1736376109.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:49.338Z,1736376109.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802215 2025-01-08T22:41:49.543Z,1736376109.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:49.552Z,1736376109.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:49.555Z,1736376109.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 19.246195 m, bearing: 46.649018 deg, approach rate: 0.669674 m/s, LOS rate: 1.179993 deg/s, cmd heading: 40.091028 deg, new cmd heading: 41.263033 deg. 2025-01-08T22:41:49.577Z,1736376109.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.720176 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:49.589Z,1736376109.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:49.590Z,1736376109.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.054385 2025-01-08T22:41:49.841Z,1736376109.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:49.843Z,1736376109.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.307043 2025-01-08T22:41:49.950Z,1736376109.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:49.958Z,1736376109.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:49.961Z,1736376109.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 19.516241 m, bearing: 47.141380 deg, approach rate: 0.665583 m/s, LOS rate: 1.196718 deg/s, cmd heading: 41.263034 deg, new cmd heading: 42.719350 deg. 2025-01-08T22:41:49.962Z,1736376109.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745593 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:50.094Z,1736376110.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:50.096Z,1736376110.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.560172 2025-01-08T22:41:50.344Z,1736376110.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:50.344Z,1736376110.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.808922 2025-01-08T22:41:50.373Z,1736376110.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:50.399Z,1736376110.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:50.406Z,1736376110.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 19.804136 m, bearing: 47.672943 deg, approach rate: 0.653069 m/s, LOS rate: 1.188265 deg/s, cmd heading: 42.719350 deg, new cmd heading: 44.290438 deg. 2025-01-08T22:41:50.406Z,1736376110.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773014 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:50.599Z,1736376110.599 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:50.600Z,1736376110.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.064506 2025-01-08T22:41:50.775Z,1736376110.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:50.781Z,1736376110.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:50.784Z,1736376110.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:50.786Z,1736376110.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 20.074516 m, bearing: 48.179907 deg, approach rate: 0.702733 m/s, LOS rate: 1.299865 deg/s, cmd heading: 44.290437 deg, new cmd heading: 45.790483 deg. 2025-01-08T22:41:50.788Z,1736376110.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.799195 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:50.848Z,1736376110.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:50.849Z,1736376110.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.313020 2025-01-08T22:41:51.102Z,1736376111.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:51.107Z,1736376111.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.570469 2025-01-08T22:41:51.257Z,1736376111.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:51.267Z,1736376111.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:51.270Z,1736376111.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 20.404577 m, bearing: 48.761037 deg, approach rate: 0.682418 m/s, LOS rate: 1.182059 deg/s, cmd heading: 45.790483 deg, new cmd heading: 47.505130 deg. 2025-01-08T22:41:51.271Z,1736376111.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829121 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:51.353Z,1736376111.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:51.354Z,1736376111.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.818371 2025-01-08T22:41:51.604Z,1736376111.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:51.604Z,1736376111.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.068849 2025-01-08T22:41:51.628Z,1736376111.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:51.659Z,1736376111.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:51.668Z,1736376111.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 20.659679 m, bearing: 49.195094 deg, approach rate: 0.652440 m/s, LOS rate: 1.096412 deg/s, cmd heading: 47.505130 deg, new cmd heading: 48.790996 deg. 2025-01-08T22:41:51.670Z,1736376111.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.851564 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:51.858Z,1736376111.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:51.860Z,1736376111.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.324077 2025-01-08T22:41:52.101Z,1736376112.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:52.110Z,1736376112.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:52.129Z,1736376112.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.592666 2025-01-08T22:41:52.173Z,1736376112.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:52.185Z,1736376112.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 20.976849 m, bearing: 49.774837 deg, approach rate: 0.623107 m/s, LOS rate: 1.121717 deg/s, cmd heading: 48.790995 deg, new cmd heading: 50.503387 deg. 2025-01-08T22:41:52.186Z,1736376112.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.881450 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:52.360Z,1736376112.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:52.360Z,1736376112.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.824796 2025-01-08T22:41:52.557Z,1736376112.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:52.578Z,1736376112.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:52.589Z,1736376112.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 21.279596 m, bearing: 50.307691 deg, approach rate: 0.737337 m/s, LOS rate: 1.279276 deg/s, cmd heading: 50.503389 deg, new cmd heading: 52.078788 deg. 2025-01-08T22:41:52.590Z,1736376112.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.908946 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:52.612Z,1736376112.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:52.614Z,1736376112.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078016 2025-01-08T22:41:52.865Z,1736376112.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:52.866Z,1736376112.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.330142 2025-01-08T22:41:53.068Z,1736376113.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:53.075Z,1736376113.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:53.077Z,1736376113.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:53.081Z,1736376113.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 21.610144 m, bearing: 50.932454 deg, approach rate: 0.662251 m/s, LOS rate: 1.232540 deg/s, cmd heading: 52.078789 deg, new cmd heading: 53.923734 deg. 2025-01-08T22:41:53.082Z,1736376113.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.941147 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:53.116Z,1736376113.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:53.116Z,1736376113.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.580903 2025-01-08T22:41:53.368Z,1736376113.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:53.368Z,1736376113.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.832867 2025-01-08T22:41:53.500Z,1736376113.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:53.513Z,1736376113.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:53.520Z,1736376113.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 21.861685 m, bearing: 51.391491 deg, approach rate: 0.577215 m/s, LOS rate: 1.041229 deg/s, cmd heading: 53.923732 deg, new cmd heading: 55.284729 deg. 2025-01-08T22:41:53.521Z,1736376113.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.964901 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:53.621Z,1736376113.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:53.622Z,1736376113.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086280 2025-01-08T22:41:53.872Z,1736376113.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:53.874Z,1736376113.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.337719 2025-01-08T22:41:53.877Z,1736376113.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:53.887Z,1736376113.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:53.890Z,1736376113.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 22.078297 m, bearing: 51.798579 deg, approach rate: 0.578664 m/s, LOS rate: 1.076828 deg/s, cmd heading: 55.284729 deg, new cmd heading: 56.493821 deg. 2025-01-08T22:41:53.891Z,1736376113.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.986003 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:54.124Z,1736376114.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:54.125Z,1736376114.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.589585 2025-01-08T22:41:54.301Z,1736376114.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:54.309Z,1736376114.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:54.314Z,1736376114.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 22.307713 m, bearing: 52.218250 deg, approach rate: 0.543022 m/s, LOS rate: 0.983126 deg/s, cmd heading: 56.493820 deg, new cmd heading: 57.739677 deg. 2025-01-08T22:41:54.315Z,1736376114.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.007748 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:54.378Z,1736376114.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:54.379Z,1736376114.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843155 2025-01-08T22:41:54.628Z,1736376114.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:54.628Z,1736376114.628 [DAT](INFO): Reached modem response timeout 2025-01-08T22:41:54.628Z,1736376114.628 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:41:54.629Z,1736376114.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:54.702Z,1736376114.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:54.711Z,1736376114.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:54.714Z,1736376114.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 22.521736 m, bearing: 52.622983 deg, approach rate: 0.533397 m/s, LOS rate: 0.999098 deg/s, cmd heading: 57.739680 deg, new cmd heading: 58.942155 deg. 2025-01-08T22:41:54.716Z,1736376114.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.028735 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:54.881Z,1736376114.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:54.881Z,1736376114.881 [DAT](INFO): Reached modem response timeout 2025-01-08T22:41:54.881Z,1736376114.881 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:41:54.882Z,1736376114.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:55.132Z,1736376115.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:55.132Z,1736376115.132 [DAT](INFO): Reached modem response timeout 2025-01-08T22:41:55.132Z,1736376115.132 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:41:55.133Z,1736376115.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:41:55.139Z,1736376115.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:55.147Z,1736376115.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:55.153Z,1736376115.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:55.156Z,1736376115.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 22.750732 m, bearing: 53.071052 deg, approach rate: 0.517695 m/s, LOS rate: 1.002750 deg/s, cmd heading: 58.942156 deg, new cmd heading: 60.272580 deg. 2025-01-08T22:41:55.157Z,1736376115.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.051955 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:55.384Z,1736376115.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:55.385Z,1736376115.385 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:41:55.385Z,1736376115.385 [DAT](INFO): response not received 2025-01-08T22:41:55.385Z,1736376115.385 [DAT](INFO): DAT read: user:2799> 2025-01-08T22:41:55.386Z,1736376115.386 [DAT](INFO): DAT read: Tx time:22:41:54.7606 2025-01-08T22:41:55.386Z,1736376115.386 [DAT](INFO): Ping request sent. 2025-01-08T22:41:55.386Z,1736376115.386 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:55.387Z,1736376115.387 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:55.387Z,1736376115.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000837 2025-01-08T22:41:55.576Z,1736376115.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:55.589Z,1736376115.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:55.597Z,1736376115.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 22.960258 m, bearing: 53.464108 deg, approach rate: 0.480765 m/s, LOS rate: 0.893644 deg/s, cmd heading: 60.272581 deg, new cmd heading: 61.440818 deg. 2025-01-08T22:41:55.598Z,1736376115.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.072345 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:55.636Z,1736376115.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:55.637Z,1736376115.637 [DAT](INFO): DAT read: TxSync time:22:41:54.7598 2025-01-08T22:41:55.637Z,1736376115.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250980 2025-01-08T22:41:55.888Z,1736376115.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:55.889Z,1736376115.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502530 2025-01-08T22:41:56.044Z,1736376116.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:56.062Z,1736376116.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:56.069Z,1736376116.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 23.181618 m, bearing: 53.892428 deg, approach rate: 0.468295 m/s, LOS rate: 0.897467 deg/s, cmd heading: 61.440816 deg, new cmd heading: 62.713284 deg. 2025-01-08T22:41:56.070Z,1736376116.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094553 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:56.140Z,1736376116.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:56.141Z,1736376116.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754696 2025-01-08T22:41:56.392Z,1736376116.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:56.392Z,1736376116.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005936 2025-01-08T22:41:56.473Z,1736376116.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:56.482Z,1736376116.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:56.485Z,1736376116.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 23.330719 m, bearing: 54.326528 deg, approach rate: 0.354886 m/s, LOS rate: 1.026618 deg/s, cmd heading: 62.713281 deg, new cmd heading: 64.007027 deg. 2025-01-08T22:41:56.486Z,1736376116.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117133 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:56.645Z,1736376116.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:56.646Z,1736376116.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259037 2025-01-08T22:41:56.836Z,1736376116.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:56.845Z,1736376116.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:56.850Z,1736376116.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 23.450163 m, bearing: 54.707106 deg, approach rate: 0.329228 m/s, LOS rate: 1.043649 deg/s, cmd heading: 64.007028 deg, new cmd heading: 65.142787 deg. 2025-01-08T22:41:56.852Z,1736376116.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136956 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:56.896Z,1736376116.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:56.896Z,1736376116.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510067 2025-01-08T22:41:57.148Z,1736376117.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:57.148Z,1736376117.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762022 2025-01-08T22:41:57.306Z,1736376117.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:57.314Z,1736376117.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:57.317Z,1736376117.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:57.319Z,1736376117.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 23.592283 m, bearing: 55.197578 deg, approach rate: 0.301064 m/s, LOS rate: 1.032734 deg/s, cmd heading: 65.142786 deg, new cmd heading: 66.605005 deg. 2025-01-08T22:41:57.320Z,1736376117.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.162477 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:57.400Z,1736376117.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:57.402Z,1736376117.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015006 2025-01-08T22:41:57.652Z,1736376117.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:57.653Z,1736376117.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266656 2025-01-08T22:41:57.669Z,1736376117.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:57.700Z,1736376117.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:57.703Z,1736376117.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 23.698275 m, bearing: 55.579688 deg, approach rate: 0.276190 m/s, LOS rate: 0.991233 deg/s, cmd heading: 66.605006 deg, new cmd heading: 67.746048 deg. 2025-01-08T22:41:57.708Z,1736376117.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.182392 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:57.904Z,1736376117.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:57.905Z,1736376117.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518261 2025-01-08T22:41:58.067Z,1736376118.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:58.075Z,1736376118.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:58.078Z,1736376118.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 23.810457 m, bearing: 56.003889 deg, approach rate: 0.299411 m/s, LOS rate: 1.126830 deg/s, cmd heading: 67.746051 deg, new cmd heading: 69.012440 deg. 2025-01-08T22:41:58.079Z,1736376118.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204494 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:58.156Z,1736376118.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:58.157Z,1736376118.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770280 2025-01-08T22:41:58.408Z,1736376118.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:58.408Z,1736376118.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021849 2025-01-08T22:41:58.493Z,1736376118.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:58.504Z,1736376118.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:58.506Z,1736376118.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 23.948545 m, bearing: 56.439770 deg, approach rate: 0.321951 m/s, LOS rate: 1.010383 deg/s, cmd heading: 69.012443 deg, new cmd heading: 70.312313 deg. 2025-01-08T22:41:58.508Z,1736376118.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227181 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:58.660Z,1736376118.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:58.661Z,1736376118.661 [DAT](INFO): DAT read: Rx Time:22:41:57.3482 2025-01-08T22:41:58.662Z,1736376118.662 [DAT](INFO): Rx dataTimestamp_ set to:1736376118.661587 2025-01-08T22:41:58.665Z,1736376118.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276389 2025-01-08T22:41:58.871Z,1736376118.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:58.902Z,1736376118.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.10 m. 2025-01-08T22:41:58.909Z,1736376118.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.099998 m, nav range: 24.072170 m, bearing: 56.822167 deg, approach rate: 0.311287 m/s, LOS rate: 0.957921 deg/s, cmd heading: 70.312310 deg, new cmd heading: 71.453449 deg. 2025-01-08T22:41:58.910Z,1736376118.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247098 target range: 125.099998 and range: 128.90 m. 2025-01-08T22:41:58.912Z,1736376118.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:58.913Z,1736376118.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526111 2025-01-08T22:41:59.164Z,1736376119.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:59.171Z,1736376119.171 [DAT](INFO): DAT read: 22:41:57.3482 LVL= 12784, 15041, 18002, 20195, AGC= 59, IDX= 2,-0.32, 0.543, 0.264,-1.720,-0.538, PHS= 1.169, 0.849,-1.185, RAW= 37.2, -7.6, CAL= 39.4, -13.0, ROT= 110.6, 13.0 2025-01-08T22:41:59.172Z,1736376119.172 [DAT](INFO): got valid direction response: 22:41:57.3482 LVL= 12784, 15041, 18002, 20195, AGC= 59, IDX= 2,-0.32, 0.543, 0.264,-1.720,-0.538, PHS= 1.169, 0.849,-1.185, RAW= 37.2, -7.6, CAL= 39.4, -13.0, ROT= 110.6, 13.0 2025-01-08T22:41:59.174Z,1736376119.174 [DAT](INFO): DAT read: Range 10 to 50 : 137.4 m (Round-trip 183.3 ms) speed -0.4 m/s 2025-01-08T22:41:59.175Z,1736376119.175 [DAT](INFO): DAT read: user:2800> 2025-01-08T22:41:59.182Z,1736376119.182 [DAT](INFO): DAT read: Tx time:22:41:58.4607 2025-01-08T22:41:59.183Z,1736376119.183 [DAT](INFO): Ping request sent. 2025-01-08T22:41:59.183Z,1736376119.183 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:41:59.183Z,1736376119.183 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:41:59.184Z,1736376119.184 [DAT](INFO): direction in FSK: [0.157814,0.818418,0.552527] 2025-01-08T22:41:59.184Z,1736376119.184 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:59.185Z,1736376119.185 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:59.188Z,1736376119.188 [DAT](INFO): publishing transmit ping time 2025-01-08T22:41:59.188Z,1736376119.188 [DAT](INFO): publishing direction and range info 2025-01-08T22:41:59.294Z,1736376119.294 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:41:59.416Z,1736376119.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:59.417Z,1736376119.417 [DAT](INFO): DAT read: TxSync time:22:41:58.4599 2025-01-08T22:41:59.427Z,1736376119.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:59.468Z,1736376119.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.399994 m, deltaT: 14.632558 s, deltaX: 8.500000 m, approachRate: 0.580896 m/s, rangeRepo size: 4 2025-01-08T22:41:59.470Z,1736376119.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.399994 m, bearing: 9.587708 deg, lat: 36.904441 deg, lon: -122.120043 deg, deltaT: 21.948467 s, deltaX: 12.299995 m, approachRate: 0.560403 m/s, posRepo size: 4 2025-01-08T22:41:59.470Z,1736376119.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T22:41:59.489Z,1736376119.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 88.883644 m, bearing: 13.326804 deg, approach rate: 0.000000 m/s, LOS rate: 0.957921 deg/s, cmd heading: 71.453450 deg, new cmd heading: 73.064158 deg. 2025-01-08T22:41:59.490Z,1736376119.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275210 target range: 137.399994 and range: 137.40 m. 2025-01-08T22:41:59.668Z,1736376119.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:59.790Z,1736376119.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:41:59.800Z,1736376119.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:41:59.802Z,1736376119.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T22:41:59.805Z,1736376119.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 88.863701 m, bearing: 13.472835 deg, approach rate: -0.058584 m/s, LOS rate: 0.429064 deg/s, cmd heading: 73.064159 deg, new cmd heading: 73.502342 deg. 2025-01-08T22:41:59.806Z,1736376119.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282858 target range: 137.399994 and range: 137.40 m. 2025-01-08T22:41:59.920Z,1736376119.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:41:59.920Z,1736376119.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:41:59.921Z,1736376119.921 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:41:59.921Z,1736376119.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:00.172Z,1736376120.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:00.172Z,1736376120.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989647 2025-01-08T22:42:00.182Z,1736376120.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:00.216Z,1736376120.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T22:42:00.219Z,1736376120.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 88.836380 m, bearing: 13.629994 deg, approach rate: -0.066013 m/s, LOS rate: 0.379844 deg/s, cmd heading: 73.502343 deg, new cmd heading: 73.973955 deg. 2025-01-08T22:42:00.224Z,1736376120.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.291089 target range: 137.399994 and range: 137.40 m. 2025-01-08T22:42:00.297Z,1736376120.297 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:42:00.424Z,1736376120.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:00.424Z,1736376120.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241567 2025-01-08T22:42:00.622Z,1736376120.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:00.649Z,1736376120.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T22:42:00.654Z,1736376120.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 88.804649 m, bearing: 13.769175 deg, approach rate: -0.073399 m/s, LOS rate: 0.322068 deg/s, cmd heading: 73.973954 deg, new cmd heading: 74.391637 deg. 2025-01-08T22:42:00.660Z,1736376120.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298379 target range: 137.399994 and range: 137.40 m. 2025-01-08T22:42:00.676Z,1736376120.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:00.677Z,1736376120.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494655 2025-01-08T22:42:00.928Z,1736376120.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:00.929Z,1736376120.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746260 2025-01-08T22:42:00.994Z,1736376120.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:01.026Z,1736376121.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T22:42:01.040Z,1736376121.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 88.773041 m, bearing: 13.886169 deg, approach rate: -0.083921 m/s, LOS rate: 0.310733 deg/s, cmd heading: 74.391641 deg, new cmd heading: 74.742745 deg. 2025-01-08T22:42:01.041Z,1736376121.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304507 target range: 137.399994 and range: 137.40 m. 2025-01-08T22:42:01.180Z,1736376121.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:01.181Z,1736376121.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998281 2025-01-08T22:42:01.430Z,1736376121.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:01.432Z,1736376121.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:01.433Z,1736376121.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249693 2025-01-08T22:42:01.441Z,1736376121.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T22:42:01.444Z,1736376121.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 88.731514 m, bearing: 14.063014 deg, approach rate: -0.099816 m/s, LOS rate: 0.425272 deg/s, cmd heading: 74.742746 deg, new cmd heading: 75.273511 deg. 2025-01-08T22:42:01.445Z,1736376121.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.313771 target range: 137.399994 and range: 137.40 m. 2025-01-08T22:42:01.684Z,1736376121.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:01.685Z,1736376121.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501782 2025-01-08T22:42:01.810Z,1736376121.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:01.824Z,1736376121.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:01.826Z,1736376121.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T22:42:01.829Z,1736376121.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 88.683357 m, bearing: 14.215655 deg, approach rate: -0.125083 m/s, LOS rate: 0.396688 deg/s, cmd heading: 75.273514 deg, new cmd heading: 75.731676 deg. 2025-01-08T22:42:01.831Z,1736376121.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321767 target range: 137.399994 and range: 137.40 m. 2025-01-08T22:42:01.937Z,1736376121.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:01.939Z,1736376121.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755884 2025-01-08T22:42:02.188Z,1736376122.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:02.188Z,1736376122.188 [DAT](INFO): DAT read: Rx Time:22:42:01.0504 2025-01-08T22:42:02.189Z,1736376122.189 [DAT](INFO): Rx dataTimestamp_ set to:1736376122.188471 2025-01-08T22:42:02.189Z,1736376122.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006460 2025-01-08T22:42:02.204Z,1736376122.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:02.212Z,1736376122.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T22:42:02.216Z,1736376122.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 88.628059 m, bearing: 14.373006 deg, approach rate: -0.143215 m/s, LOS rate: 0.407776 deg/s, cmd heading: 75.731676 deg, new cmd heading: 76.204013 deg. 2025-01-08T22:42:02.217Z,1736376122.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.330011 target range: 137.399994 and range: 137.40 m. 2025-01-08T22:42:02.440Z,1736376122.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:02.441Z,1736376122.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257847 2025-01-08T22:42:02.634Z,1736376122.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:02.642Z,1736376122.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T22:42:02.648Z,1736376122.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 88.558762 m, bearing: 14.552532 deg, approach rate: -0.161093 m/s, LOS rate: 0.417660 deg/s, cmd heading: 76.204011 deg, new cmd heading: 76.742993 deg. 2025-01-08T22:42:02.650Z,1736376122.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339418 target range: 137.399994 and range: 137.40 m. 2025-01-08T22:42:02.692Z,1736376122.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:02.693Z,1736376122.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509735 2025-01-08T22:42:02.944Z,1736376122.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:02.969Z,1736376122.969 [DAT](INFO): DAT read: 22:42:01.0504 LVL= 21200, 28577, 27586, 32755, AGC= 63, IDX= 440, 0.43,-1.745,-2.434, 2.161,-3.125, PHS= 1.468, 0.738,-1.000, RAW= 46.7, -11.0, CAL= 53.3, -18.4, ROT= 96.7, 18.4 2025-01-08T22:42:02.970Z,1736376122.970 [DAT](INFO): got valid direction response: 22:42:01.0504 LVL= 21200, 28577, 27586, 32755, AGC= 63, IDX= 440, 0.43,-1.745,-2.434, 2.161,-3.125, PHS= 1.468, 0.738,-1.000, RAW= 46.7, -11.0, CAL= 53.3, -18.4, ROT= 96.7, 18.4 2025-01-08T22:42:02.972Z,1736376122.972 [DAT](INFO): DAT read: Bearing 96.7, 18.4 (Local) 2025-01-08T22:42:02.972Z,1736376122.972 [DAT](INFO): Local bearing/azimuth received: Bearing 96.7, 18.4 (Local) 2025-01-08T22:42:02.974Z,1736376122.974 [DAT](INFO): DAT read: Range 10 to 50 : 139.2 m (Round-trip 185.6 ms) speed -0.5 m/s 2025-01-08T22:42:02.974Z,1736376122.974 [DAT](INFO): DAT read: user:2801> 2025-01-08T22:42:03.004Z,1736376123.004 [DAT](INFO): DAT read: Tx time:22:42:02.1607 2025-01-08T22:42:03.004Z,1736376123.004 [DAT](INFO): Ping request sent. 2025-01-08T22:42:03.004Z,1736376123.004 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:03.005Z,1736376123.005 [DAT](INFO): DAT read: TxSync time:22:42:02.1599 2025-01-08T22:42:03.006Z,1736376123.006 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:03.006Z,1736376123.006 [DAT](INFO): direction in FSK: [0.200252,0.713190,0.671759] 2025-01-08T22:42:03.007Z,1736376123.007 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:03.020Z,1736376123.020 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:03.036Z,1736376123.036 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:03.036Z,1736376123.036 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:03.084Z,1736376123.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:03.124Z,1736376123.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 139.199997 m, deltaT: 3.779886 s, deltaX: 1.800003 m, approachRate: 0.476206 m/s, rangeRepo size: 4 2025-01-08T22:42:03.133Z,1736376123.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 139.199997 m, bearing: 18.667373 deg, lat: 36.904441 deg, lon: -122.120043 deg, deltaT: 3.779886 s, deltaX: 1.800003 m, approachRate: 0.476206 m/s, posRepo size: 4 2025-01-08T22:42:03.135Z,1736376123.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:03.150Z,1736376123.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 88.479836 m, bearing: 14.739429 deg, approach rate: 0.000000 m/s, LOS rate: 0.417660 deg/s, cmd heading: 76.742995 deg, new cmd heading: 77.322507 deg. 2025-01-08T22:42:03.151Z,1736376123.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349532 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:03.196Z,1736376123.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:03.448Z,1736376123.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:03.636Z,1736376123.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:03.646Z,1736376123.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:03.671Z,1736376123.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 88.380943 m, bearing: 14.978608 deg, approach rate: -0.182862 m/s, LOS rate: 0.442761 deg/s, cmd heading: 77.322509 deg, new cmd heading: 78.040809 deg. 2025-01-08T22:42:03.673Z,1736376123.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362069 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:03.701Z,1736376123.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:03.952Z,1736376123.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:04.008Z,1736376124.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:04.014Z,1736376124.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:04.032Z,1736376124.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:04.034Z,1736376124.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 88.303391 m, bearing: 15.137867 deg, approach rate: -0.202892 m/s, LOS rate: 0.417016 deg/s, cmd heading: 78.040813 deg, new cmd heading: 78.518998 deg. 2025-01-08T22:42:04.035Z,1736376124.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370415 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:04.204Z,1736376124.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:04.205Z,1736376124.205 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:04.205Z,1736376124.205 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:04.206Z,1736376124.206 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:04.456Z,1736376124.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:04.457Z,1736376124.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.452318 2025-01-08T22:42:04.540Z,1736376124.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:04.565Z,1736376124.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:04.570Z,1736376124.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 88.191528 m, bearing: 15.357965 deg, approach rate: -0.208376 m/s, LOS rate: 0.410516 deg/s, cmd heading: 78.519001 deg, new cmd heading: 79.180102 deg. 2025-01-08T22:42:04.571Z,1736376124.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381953 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:04.708Z,1736376124.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:04.709Z,1736376124.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704301 2025-01-08T22:42:04.908Z,1736376124.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:04.920Z,1736376124.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:04.923Z,1736376124.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 88.108810 m, bearing: 15.509407 deg, approach rate: -0.232545 m/s, LOS rate: 0.426148 deg/s, cmd heading: 79.180102 deg, new cmd heading: 79.634844 deg. 2025-01-08T22:42:04.947Z,1736376124.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389890 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:04.960Z,1736376124.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:04.960Z,1736376124.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955967 2025-01-08T22:42:05.212Z,1736376125.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:05.213Z,1736376125.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208138 2025-01-08T22:42:05.311Z,1736376125.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:05.389Z,1736376125.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:05.397Z,1736376125.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 88.012230 m, bearing: 15.673819 deg, approach rate: -0.207118 m/s, LOS rate: 0.352969 deg/s, cmd heading: 79.634842 deg, new cmd heading: 80.128606 deg. 2025-01-08T22:42:05.398Z,1736376125.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398508 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:05.464Z,1736376125.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:05.465Z,1736376125.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460426 2025-01-08T22:42:05.716Z,1736376125.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:05.717Z,1736376125.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712077 2025-01-08T22:42:05.736Z,1736376125.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:05.745Z,1736376125.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:05.769Z,1736376125.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 87.909431 m, bearing: 15.841784 deg, approach rate: -0.287140 m/s, LOS rate: 0.469714 deg/s, cmd heading: 80.128603 deg, new cmd heading: 80.633074 deg. 2025-01-08T22:42:05.769Z,1736376125.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.407313 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:05.968Z,1736376125.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:05.969Z,1736376125.969 [DAT](INFO): DAT read: Rx Time:22:42:04.7516 2025-01-08T22:42:05.969Z,1736376125.969 [DAT](INFO): Rx dataTimestamp_ set to:1736376125.968691 2025-01-08T22:42:05.969Z,1736376125.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964998 2025-01-08T22:42:06.139Z,1736376126.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:06.146Z,1736376126.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:06.149Z,1736376126.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:06.152Z,1736376126.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 87.806320 m, bearing: 15.999684 deg, approach rate: -0.255244 m/s, LOS rate: 0.391328 deg/s, cmd heading: 80.633074 deg, new cmd heading: 81.107319 deg. 2025-01-08T22:42:06.153Z,1736376126.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.415590 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:06.220Z,1736376126.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:06.221Z,1736376126.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215995 2025-01-08T22:42:06.472Z,1736376126.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:06.478Z,1736376126.478 [DAT](INFO): DAT read: 22:42:04.7516 LVL= 21776, 30545, 26834, 32755, AGC= 64, IDX= 437, 0.04,-1.241,-1.959, 3.032,-2.287, PHS= 1.134, 0.376,-0.967, RAW= 50.9, -5.9, CAL= 55.3, -11.2, ROT= 94.7, 11.2 2025-01-08T22:42:06.480Z,1736376126.480 [DAT](INFO): got valid direction response: 22:42:04.7516 LVL= 21776, 30545, 26834, 32755, AGC= 64, IDX= 437, 0.04,-1.241,-1.959, 3.032,-2.287, PHS= 1.134, 0.376,-0.967, RAW= 50.9, -5.9, CAL= 55.3, -11.2, ROT= 94.7, 11.2 2025-01-08T22:42:06.481Z,1736376126.481 [DAT](INFO): DAT read: Bearing 94.7, 11.2 (Local) 2025-01-08T22:42:06.481Z,1736376126.481 [DAT](INFO): Local bearing/azimuth received: Bearing 94.7, 11.2 (Local) 2025-01-08T22:42:06.483Z,1736376126.483 [DAT](INFO): DAT read: Range 10 to 50 : 140.1 m (Round-trip 186.8 ms) speed -0.2 m/s 2025-01-08T22:42:06.484Z,1736376126.484 [DAT](INFO): DAT read: user:2802> 2025-01-08T22:42:06.484Z,1736376126.484 [DAT](INFO): DAT read: Tx time:22:42:05.8607 2025-01-08T22:42:06.485Z,1736376126.485 [DAT](INFO): Ping request sent. 2025-01-08T22:42:06.485Z,1736376126.485 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:06.485Z,1736376126.485 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:06.486Z,1736376126.486 [DAT](INFO): direction in FSK: [0.099776,0.682476,0.724066] 2025-01-08T22:42:06.486Z,1736376126.486 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:06.486Z,1736376126.486 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:06.492Z,1736376126.492 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:06.493Z,1736376126.493 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:06.647Z,1736376126.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:06.698Z,1736376126.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 140.100006 m, deltaT: 3.527697 s, deltaX: 0.900009 m, approachRate: 0.255127 m/s, rangeRepo size: 4 2025-01-08T22:42:06.704Z,1736376126.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 140.100006 m, bearing: 41.495758 deg, lat: 36.904441 deg, lon: -122.120043 deg, deltaT: 3.527697 s, deltaX: 0.900009 m, approachRate: 0.255127 m/s, posRepo size: 4 2025-01-08T22:42:06.705Z,1736376126.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:06.712Z,1736376126.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 87.665680 m, bearing: 16.196093 deg, approach rate: 0.000000 m/s, LOS rate: 0.391328 deg/s, cmd heading: 81.107322 deg, new cmd heading: 81.751140 deg. 2025-01-08T22:42:06.714Z,1736376126.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426827 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:06.724Z,1736376126.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:06.725Z,1736376126.725 [DAT](INFO): DAT read: TxSync time:22:42:05.8599 2025-01-08T22:42:06.976Z,1736376126.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:06.997Z,1736376126.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:07.026Z,1736376127.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:07.035Z,1736376127.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 87.563683 m, bearing: 16.330735 deg, approach rate: -0.310070 m/s, LOS rate: 0.409787 deg/s, cmd heading: 81.751142 deg, new cmd heading: 82.155532 deg. 2025-01-08T22:42:07.040Z,1736376127.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433885 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:07.228Z,1736376127.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:07.449Z,1736376127.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:07.477Z,1736376127.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:07.480Z,1736376127.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:07.484Z,1736376127.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 87.427849 m, bearing: 16.495258 deg, approach rate: -0.301481 m/s, LOS rate: 0.365722 deg/s, cmd heading: 82.155530 deg, new cmd heading: 82.649852 deg. 2025-01-08T22:42:07.485Z,1736376127.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442512 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:07.732Z,1736376127.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:07.809Z,1736376127.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:07.818Z,1736376127.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:07.821Z,1736376127.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 87.315376 m, bearing: 16.624695 deg, approach rate: -0.328969 m/s, LOS rate: 0.379078 deg/s, cmd heading: 82.649852 deg, new cmd heading: 83.038659 deg. 2025-01-08T22:42:07.822Z,1736376127.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.449298 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:07.984Z,1736376127.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:08.217Z,1736376128.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:08.224Z,1736376128.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:08.226Z,1736376128.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:08.229Z,1736376128.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 87.182312 m, bearing: 16.769890 deg, approach rate: -0.326737 m/s, LOS rate: 0.357065 deg/s, cmd heading: 83.038660 deg, new cmd heading: 83.474899 deg. 2025-01-08T22:42:08.236Z,1736376128.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:08.236Z,1736376128.236 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:08.236Z,1736376128.236 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:08.237Z,1736376128.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:08.251Z,1736376128.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.456912 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:08.488Z,1736376128.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:08.490Z,1736376128.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004961 2025-01-08T22:42:08.638Z,1736376128.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:08.652Z,1736376128.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:08.673Z,1736376128.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 87.039658 m, bearing: 16.903652 deg, approach rate: -0.335627 m/s, LOS rate: 0.315223 deg/s, cmd heading: 83.474897 deg, new cmd heading: 83.876836 deg. 2025-01-08T22:42:08.674Z,1736376128.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463927 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:08.742Z,1736376128.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:08.742Z,1736376128.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257653 2025-01-08T22:42:08.992Z,1736376128.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:08.992Z,1736376128.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507517 2025-01-08T22:42:09.018Z,1736376129.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:09.027Z,1736376129.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:09.030Z,1736376129.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 86.906792 m, bearing: 17.022350 deg, approach rate: -0.353379 m/s, LOS rate: 0.316178 deg/s, cmd heading: 83.876834 deg, new cmd heading: 84.233465 deg. 2025-01-08T22:42:09.031Z,1736376129.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.470151 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:09.244Z,1736376129.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:09.245Z,1736376129.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760281 2025-01-08T22:42:09.487Z,1736376129.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:09.497Z,1736376129.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:09.498Z,1736376129.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012998 2025-01-08T22:42:09.500Z,1736376129.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:09.503Z,1736376129.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 86.739792 m, bearing: 17.158068 deg, approach rate: -0.352578 m/s, LOS rate: 0.287086 deg/s, cmd heading: 84.233465 deg, new cmd heading: 84.641396 deg. 2025-01-08T22:42:09.504Z,1736376129.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477271 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:09.748Z,1736376129.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:09.749Z,1736376129.749 [DAT](INFO): DAT read: Rx Time:22:42:08.4517 2025-01-08T22:42:09.749Z,1736376129.749 [DAT](INFO): Rx dataTimestamp_ set to:1736376129.748838 2025-01-08T22:42:09.750Z,1736376129.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265258 2025-01-08T22:42:09.837Z,1736376129.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:09.847Z,1736376129.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:09.850Z,1736376129.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 86.612053 m, bearing: 17.257166 deg, approach rate: -0.369776 m/s, LOS rate: 0.287291 deg/s, cmd heading: 84.641398 deg, new cmd heading: 84.939129 deg. 2025-01-08T22:42:09.850Z,1736376129.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.482467 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:09.000Z,1736376130.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:10.000Z,1736376130.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515531 2025-01-08T22:42:10.228Z,1736376130.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:10.236Z,1736376130.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:10.238Z,1736376130.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:10.241Z,1736376130.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 86.464127 m, bearing: 17.367077 deg, approach rate: -0.377020 m/s, LOS rate: 0.280610 deg/s, cmd heading: 84.939126 deg, new cmd heading: 85.269420 deg. 2025-01-08T22:42:10.242Z,1736376130.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488232 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:10.252Z,1736376130.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:10.258Z,1736376130.258 [DAT](INFO): DAT read: 22:42:08.4517 LVL= 19552, 22513, 18114, 23987, AGC= 55, IDX= 420, 0.20, 2.288, 1.133, 0.062, 0.766, PHS= 1.610, 0.415,-0.706, RAW= 61.1, -13.1, CAL= 72.3, -21.5, ROT= 77.7, 21.5 2025-01-08T22:42:10.260Z,1736376130.260 [DAT](INFO): got valid direction response: 22:42:08.4517 LVL= 19552, 22513, 18114, 23987, AGC= 55, IDX= 420, 0.20, 2.288, 1.133, 0.062, 0.766, PHS= 1.610, 0.415,-0.706, RAW= 61.1, -13.1, CAL= 72.3, -21.5, ROT= 77.7, 21.5 2025-01-08T22:42:10.261Z,1736376130.261 [DAT](INFO): DAT read: Bearing 77.7, 21.5 (Local) 2025-01-08T22:42:10.261Z,1736376130.261 [DAT](INFO): Local bearing/azimuth received: Bearing 77.7, 21.5 (Local) 2025-01-08T22:42:10.264Z,1736376130.264 [DAT](INFO): DAT read: Range 10 to 50 : 140.1 m (Round-trip 186.8 ms) speed 0.0 m/s 2025-01-08T22:42:10.265Z,1736376130.265 [DAT](INFO): DAT read: user:2803> 2025-01-08T22:42:10.266Z,1736376130.266 [DAT](INFO): DAT read: Tx time:22:42:09.5608 2025-01-08T22:42:10.266Z,1736376130.266 [DAT](INFO): Ping request sent. 2025-01-08T22:42:10.266Z,1736376130.266 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:10.266Z,1736376130.266 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:10.283Z,1736376130.283 [DAT](INFO): direction in FSK: [0.210790,0.533627,0.819030] 2025-01-08T22:42:10.284Z,1736376130.284 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:10.284Z,1736376130.284 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:10.287Z,1736376130.287 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:10.295Z,1736376130.295 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:10.504Z,1736376130.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:10.505Z,1736376130.505 [DAT](INFO): DAT read: TxSync time:22:42:09.5600 2025-01-08T22:42:10.700Z,1736376130.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:10.737Z,1736376130.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 140.100006 m, deltaT: 3.779953 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:42:10.739Z,1736376130.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 140.100006 m, bearing: 31.596855 deg, lat: 36.904288 deg, lon: -122.120058 deg, deltaT: 3.779953 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:42:10.740Z,1736376130.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:10.742Z,1736376130.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 69.784325 m, bearing: 20.600717 deg, approach rate: 0.000000 m/s, LOS rate: 0.280610 deg/s, cmd heading: 85.269420 deg, new cmd heading: 85.688728 deg. 2025-01-08T22:42:10.748Z,1736376130.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.495550 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:10.756Z,1736376130.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:11.008Z,1736376131.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:11.057Z,1736376131.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:11.065Z,1736376131.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:11.068Z,1736376131.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 69.649254 m, bearing: 20.717568 deg, approach rate: -0.410338 m/s, LOS rate: 0.355676 deg/s, cmd heading: 85.688726 deg, new cmd heading: 86.039955 deg. 2025-01-08T22:42:11.069Z,1736376131.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.501680 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:11.260Z,1736376131.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:11.512Z,1736376131.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:11.517Z,1736376131.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:11.526Z,1736376131.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:11.529Z,1736376131.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 69.475204 m, bearing: 20.850171 deg, approach rate: -0.377939 m/s, LOS rate: 0.288661 deg/s, cmd heading: 86.039954 deg, new cmd heading: 86.438752 deg. 2025-01-08T22:42:11.532Z,1736376131.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.508641 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:11.764Z,1736376131.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:11.848Z,1736376131.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:11.857Z,1736376131.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:11.860Z,1736376131.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 69.347237 m, bearing: 20.943077 deg, approach rate: -0.386832 m/s, LOS rate: 0.281364 deg/s, cmd heading: 86.438756 deg, new cmd heading: 86.717987 deg. 2025-01-08T22:42:11.861Z,1736376131.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.513514 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:12.016Z,1736376132.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:12.249Z,1736376132.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:12.255Z,1736376132.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:12.257Z,1736376132.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:12.260Z,1736376132.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 69.188820 m, bearing: 21.052421 deg, approach rate: -0.395544 m/s, LOS rate: 0.273641 deg/s, cmd heading: 86.717987 deg, new cmd heading: 87.046766 deg. 2025-01-08T22:42:12.261Z,1736376132.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519253 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:12.268Z,1736376132.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:12.268Z,1736376132.268 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:12.268Z,1736376132.268 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:12.269Z,1736376132.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:12.520Z,1736376132.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:12.520Z,1736376132.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254464 2025-01-08T22:42:12.698Z,1736376132.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:12.707Z,1736376132.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:12.709Z,1736376132.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 69.008224 m, bearing: 21.168274 deg, approach rate: -0.401853 m/s, LOS rate: 0.258465 deg/s, cmd heading: 87.046765 deg, new cmd heading: 87.395230 deg. 2025-01-08T22:42:12.710Z,1736376132.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.525334 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:12.772Z,1736376132.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:12.774Z,1736376132.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506934 2025-01-08T22:42:13.024Z,1736376133.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:13.024Z,1736376133.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758384 2025-01-08T22:42:13.058Z,1736376133.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:13.067Z,1736376133.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:13.069Z,1736376133.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 68.860893 m, bearing: 21.258572 deg, approach rate: -0.409454 m/s, LOS rate: 0.251487 deg/s, cmd heading: 87.395228 deg, new cmd heading: 87.666699 deg. 2025-01-08T22:42:13.070Z,1736376133.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.530073 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:13.278Z,1736376133.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:13.281Z,1736376133.281 [DAT](INFO): DAT read: Rx Time:22:42:12.1512 2025-01-08T22:42:13.282Z,1736376133.282 [DAT](INFO): Rx dataTimestamp_ set to:1736376133.281191 2025-01-08T22:42:13.283Z,1736376133.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017110 2025-01-08T22:42:13.528Z,1736376133.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:13.528Z,1736376133.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262488 2025-01-08T22:42:13.542Z,1736376133.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:13.552Z,1736376133.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:13.554Z,1736376133.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 68.659119 m, bearing: 21.374139 deg, approach rate: -0.416298 m/s, LOS rate: 0.239136 deg/s, cmd heading: 87.666701 deg, new cmd heading: 88.014415 deg. 2025-01-08T22:42:13.555Z,1736376133.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536141 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:13.781Z,1736376133.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:13.782Z,1736376133.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515631 2025-01-08T22:42:13.893Z,1736376133.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:13.903Z,1736376133.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T22:42:13.906Z,1736376133.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 68.510384 m, bearing: 21.455571 deg, approach rate: -0.423359 m/s, LOS rate: 0.232293 deg/s, cmd heading: 88.014419 deg, new cmd heading: 88.259246 deg. 2025-01-08T22:42:13.907Z,1736376133.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540414 target range: 140.100006 and range: 140.10 m. 2025-01-08T22:42:14.032Z,1736376134.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:14.038Z,1736376134.038 [DAT](INFO): DAT read: 22:42:12.1512 LVL= 16112, 30177, 20018, 29107, AGC= 58, IDX= 432, 0.34, 1.749, 0.153,-0.139, 0.431, PHS= 1.406,-0.231,-0.573, RAW= 80.7, -6.6, CAL= 89.9, -14.6, ROT= 60.1, 14.6 2025-01-08T22:42:14.039Z,1736376134.039 [DAT](INFO): got valid direction response: 22:42:12.1512 LVL= 16112, 30177, 20018, 29107, AGC= 58, IDX= 432, 0.34, 1.749, 0.153,-0.139, 0.431, PHS= 1.406,-0.231,-0.573, RAW= 80.7, -6.6, CAL= 89.9, -14.6, ROT= 60.1, 14.6 2025-01-08T22:42:14.040Z,1736376134.040 [DAT](INFO): DAT read: Bearing 60.1, 14.6 (Local) 2025-01-08T22:42:14.041Z,1736376134.041 [DAT](INFO): Local bearing/azimuth received: Bearing 60.1, 14.6 (Local) 2025-01-08T22:42:14.042Z,1736376134.042 [DAT](INFO): DAT read: Range 10 to 50 : 139.7 m (Round-trip 186.3 ms) speed 0.0 m/s 2025-01-08T22:42:14.043Z,1736376134.043 [DAT](INFO): DAT read: user:2804> 2025-01-08T22:42:14.044Z,1736376134.044 [DAT](INFO): DAT read: Tx time:22:42:13.2608 2025-01-08T22:42:14.044Z,1736376134.044 [DAT](INFO): Ping request sent. 2025-01-08T22:42:14.044Z,1736376134.044 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:14.044Z,1736376134.044 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:14.045Z,1736376134.045 [DAT](INFO): direction in FSK: [0.056334,0.256496,0.964902] 2025-01-08T22:42:14.046Z,1736376134.046 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:14.047Z,1736376134.047 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:14.050Z,1736376134.050 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:14.050Z,1736376134.050 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:14.281Z,1736376134.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:14.284Z,1736376134.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:14.285Z,1736376134.285 [DAT](INFO): DAT read: TxSync time:22:42:13.2600 2025-01-08T22:42:14.309Z,1736376134.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 139.699997 m, deltaT: 3.779917 s, deltaX: -0.400009 m, approachRate: -0.105825 m/s, rangeRepo size: 4 2025-01-08T22:42:14.311Z,1736376134.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 139.699997 m, bearing: 306.993451 deg, lat: 36.904108 deg, lon: -122.120058 deg, deltaT: 3.779917 s, deltaX: -0.400009 m, approachRate: -0.105825 m/s, posRepo size: 4 2025-01-08T22:42:14.316Z,1736376134.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.70 m. 2025-01-08T22:42:14.318Z,1736376134.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.699997 m, nav range: 50.199417 m, bearing: 29.994193 deg, approach rate: 0.000000 m/s, LOS rate: 0.232293 deg/s, cmd heading: 88.259247 deg, new cmd heading: 88.541904 deg. 2025-01-08T22:42:14.324Z,1736376134.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545348 target range: 139.699997 and range: 139.70 m. 2025-01-08T22:42:14.536Z,1736376134.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:14.715Z,1736376134.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:14.722Z,1736376134.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:14.724Z,1736376134.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.70 m. 2025-01-08T22:42:14.727Z,1736376134.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.699997 m, nav range: 50.030132 m, bearing: 30.152875 deg, approach rate: -0.406912 m/s, LOS rate: 0.382718 deg/s, cmd heading: 88.541901 deg, new cmd heading: 89.019548 deg. 2025-01-08T22:42:14.728Z,1736376134.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553684 target range: 139.699997 and range: 139.70 m. 2025-01-08T22:42:14.788Z,1736376134.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:14.789Z,1736376134.789 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:14.789Z,1736376134.789 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:14.789Z,1736376134.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:15.040Z,1736376135.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:15.040Z,1736376135.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996192 2025-01-08T22:42:15.095Z,1736376135.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:15.104Z,1736376135.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.70 m. 2025-01-08T22:42:15.106Z,1736376135.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.699997 m, nav range: 49.878933 m, bearing: 30.288372 deg, approach rate: -0.398215 m/s, LOS rate: 0.357939 deg/s, cmd heading: 89.019549 deg, new cmd heading: 89.427263 deg. 2025-01-08T22:42:15.128Z,1736376135.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.560800 target range: 139.699997 and range: 139.70 m. 2025-01-08T22:42:15.292Z,1736376135.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:15.292Z,1736376135.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248222 2025-01-08T22:42:15.544Z,1736376135.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:15.546Z,1736376135.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501906 2025-01-08T22:42:15.598Z,1736376135.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:15.620Z,1736376135.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.70 m. 2025-01-08T22:42:15.623Z,1736376135.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.699997 m, nav range: 49.682995 m, bearing: 30.467790 deg, approach rate: -0.383057 m/s, LOS rate: 0.352145 deg/s, cmd heading: 89.427264 deg, new cmd heading: 89.967626 deg. 2025-01-08T22:42:15.628Z,1736376135.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.570231 target range: 139.699997 and range: 139.70 m. 2025-01-08T22:42:15.796Z,1736376135.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:15.797Z,1736376135.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752917 2025-01-08T22:42:15.906Z,1736376135.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:15.941Z,1736376135.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.70 m. 2025-01-08T22:42:15.948Z,1736376135.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.699997 m, nav range: 49.561340 m, bearing: 30.574840 deg, approach rate: -0.373749 m/s, LOS rate: 0.329688 deg/s, cmd heading: 89.967627 deg, new cmd heading: 90.289562 deg. 2025-01-08T22:42:15.949Z,1736376135.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.575850 target range: 139.699997 and range: 139.70 m. 2025-01-08T22:42:16.049Z,1736376136.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:16.050Z,1736376136.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005429 2025-01-08T22:42:16.300Z,1736376136.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:16.301Z,1736376136.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256459 2025-01-08T22:42:16.316Z,1736376136.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:16.324Z,1736376136.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.70 m. 2025-01-08T22:42:16.353Z,1736376136.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.699997 m, nav range: 49.396133 m, bearing: 30.714015 deg, approach rate: -0.430919 m/s, LOS rate: 0.364231 deg/s, cmd heading: 90.289562 deg, new cmd heading: 90.708475 deg. 2025-01-08T22:42:16.354Z,1736376136.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.583162 target range: 139.699997 and range: 139.70 m. 2025-01-08T22:42:16.553Z,1736376136.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:16.554Z,1736376136.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509586 2025-01-08T22:42:16.745Z,1736376136.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:16.789Z,1736376136.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:16.791Z,1736376136.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.70 m. 2025-01-08T22:42:16.804Z,1736376136.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:16.805Z,1736376136.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760382 2025-01-08T22:42:16.805Z,1736376136.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.699997 m, nav range: 49.221355 m, bearing: 30.870159 deg, approach rate: -0.374606 m/s, LOS rate: 0.335855 deg/s, cmd heading: 90.708478 deg, new cmd heading: 91.178561 deg. 2025-01-08T22:42:16.806Z,1736376136.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.591366 target range: 139.699997 and range: 139.70 m. 2025-01-08T22:42:17.056Z,1736376137.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:17.056Z,1736376137.056 [DAT](INFO): DAT read: Rx Time:22:42:15.8506 2025-01-08T22:42:17.057Z,1736376137.057 [DAT](INFO): Rx dataTimestamp_ set to:1736376137.056672 2025-01-08T22:42:17.057Z,1736376137.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013359 2025-01-08T22:42:17.161Z,1736376137.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:17.172Z,1736376137.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.70 m. 2025-01-08T22:42:17.175Z,1736376137.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.699997 m, nav range: 49.045723 m, bearing: 31.013464 deg, approach rate: -0.460485 m/s, LOS rate: 0.377073 deg/s, cmd heading: 91.178558 deg, new cmd heading: 91.610006 deg. 2025-01-08T22:42:17.176Z,1736376137.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.598896 target range: 139.699997 and range: 139.70 m. 2025-01-08T22:42:17.309Z,1736376137.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:17.310Z,1736376137.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265787 2025-01-08T22:42:17.562Z,1736376137.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:17.574Z,1736376137.574 [DAT](INFO): DAT read: 22:42:15.8506 LVL= 25440, 32753, 32466, 32755, AGC= 62, IDX= 442, 0.14,-0.289,-1.981,-1.662,-1.189, PHS= 0.988,-0.746,-0.477, RAW= 98.3, 2.9, CAL= 108.2, 0.9, ROT= 41.8, -0.9 2025-01-08T22:42:17.575Z,1736376137.575 [DAT](INFO): got valid direction response: 22:42:15.8506 LVL= 25440, 32753, 32466, 32755, AGC= 62, IDX= 442, 0.14,-0.289,-1.981,-1.662,-1.189, PHS= 0.988,-0.746,-0.477, RAW= 98.3, 2.9, CAL= 108.2, 0.9, ROT= 41.8, -0.9 2025-01-08T22:42:17.576Z,1736376137.576 [DAT](INFO): DAT read: Bearing 41.8, -0.9 (Local) 2025-01-08T22:42:17.577Z,1736376137.577 [DAT](INFO): Local bearing/azimuth received: Bearing 41.8, -0.9 (Local) 2025-01-08T22:42:17.578Z,1736376137.578 [DAT](INFO): DAT read: Range 10 to 50 : 139.2 m (Round-trip 185.7 ms) speed 0.2 m/s 2025-01-08T22:42:17.579Z,1736376137.579 [DAT](INFO): DAT read: user:2805> 2025-01-08T22:42:17.581Z,1736376137.581 [DAT](INFO): DAT read: Tx time:22:42:16.9608 2025-01-08T22:42:17.581Z,1736376137.581 [DAT](INFO): Ping request sent. 2025-01-08T22:42:17.581Z,1736376137.581 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:17.582Z,1736376137.582 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:17.583Z,1736376137.583 [DAT](INFO): direction in FSK: [-0.153777,-0.034037,0.987519] 2025-01-08T22:42:17.583Z,1736376137.583 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:17.595Z,1736376137.595 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:17.604Z,1736376137.604 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:17.604Z,1736376137.604 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:17.740Z,1736376137.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:17.769Z,1736376137.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 139.199997 m, deltaT: 3.530351 s, deltaX: -0.500000 m, approachRate: -0.141629 m/s, rangeRepo size: 4 2025-01-08T22:42:17.779Z,1736376137.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 139.199997 m, bearing: 241.634280 deg, lat: 36.904060 deg, lon: -122.120058 deg, deltaT: 3.530351 s, deltaX: -0.500000 m, approachRate: -0.141629 m/s, posRepo size: 4 2025-01-08T22:42:17.785Z,1736376137.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:17.799Z,1736376137.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 44.353180 m, bearing: 34.784418 deg, approach rate: 0.000000 m/s, LOS rate: 0.377073 deg/s, cmd heading: 91.610008 deg, new cmd heading: 92.278400 deg. 2025-01-08T22:42:17.808Z,1736376137.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.610562 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:17.812Z,1736376137.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:17.813Z,1736376137.813 [DAT](INFO): DAT read: TxSync time:22:42:16.9600 2025-01-08T22:42:18.065Z,1736376138.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:18.086Z,1736376138.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:18.095Z,1736376138.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:18.100Z,1736376138.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 44.213917 m, bearing: 34.927806 deg, approach rate: -0.420213 m/s, LOS rate: 0.434022 deg/s, cmd heading: 92.278397 deg, new cmd heading: 92.709907 deg. 2025-01-08T22:42:18.101Z,1736376138.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.618093 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:18.319Z,1736376138.319 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:18.485Z,1736376138.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:18.494Z,1736376138.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:18.501Z,1736376138.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 44.051125 m, bearing: 35.089075 deg, approach rate: -0.407403 m/s, LOS rate: 0.405082 deg/s, cmd heading: 92.709907 deg, new cmd heading: 93.195489 deg. 2025-01-08T22:42:18.522Z,1736376138.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626568 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:18.568Z,1736376138.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:18.820Z,1736376138.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:18.940Z,1736376138.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:18.955Z,1736376138.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:18.957Z,1736376138.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:18.965Z,1736376138.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 43.863201 m, bearing: 35.293904 deg, approach rate: -0.405737 m/s, LOS rate: 0.444131 deg/s, cmd heading: 93.195493 deg, new cmd heading: 93.812589 deg. 2025-01-08T22:42:18.966Z,1736376138.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.637339 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:19.072Z,1736376139.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:19.073Z,1736376139.073 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:19.073Z,1736376139.073 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:19.073Z,1736376139.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:19.295Z,1736376139.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:19.325Z,1736376139.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:19.328Z,1736376139.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745467 2025-01-08T22:42:19.331Z,1736376139.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:19.337Z,1736376139.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 43.714447 m, bearing: 35.450632 deg, approach rate: -0.399204 m/s, LOS rate: 0.422033 deg/s, cmd heading: 93.812587 deg, new cmd heading: 94.284359 deg. 2025-01-08T22:42:19.338Z,1736376139.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645573 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:19.577Z,1736376139.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:19.580Z,1736376139.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998168 2025-01-08T22:42:19.698Z,1736376139.698 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814432486,35.0, +10.9, 0.0,10 2025-01-08T22:42:19.706Z,1736376139.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:42:19.706Z,1736376139.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:19.717Z,1736376139.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:19.720Z,1736376139.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 43.539700 m, bearing: 35.628093 deg, approach rate: -0.451761 m/s, LOS rate: 0.460617 deg/s, cmd heading: 94.284362 deg, new cmd heading: 94.818866 deg. 2025-01-08T22:42:19.721Z,1736376139.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654901 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:19.828Z,1736376139.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:19.830Z,1736376139.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248065 2025-01-08T22:42:20.080Z,1736376140.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:20.081Z,1736376140.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499567 2025-01-08T22:42:20.101Z,1736376140.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:42:20.101Z,1736376140.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:20.109Z,1736376140.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:20.112Z,1736376140.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 43.369305 m, bearing: 35.795077 deg, approach rate: -0.433973 m/s, LOS rate: 0.426956 deg/s, cmd heading: 94.818865 deg, new cmd heading: 95.321771 deg. 2025-01-08T22:42:20.114Z,1736376140.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663679 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:20.119Z,1736376140.119 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T22:32:20.0Z 2025-01-08T22:42:20.119Z,1736376140.119 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T22:42:20.120Z,1736376140.120 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:42:20.120Z,1736376140.120 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T22:42:20.120Z,1736376140.120 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:42:20.120Z,1736376140.120 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T22:42:20.332Z,1736376140.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:20.332Z,1736376140.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750878 2025-01-08T22:42:20.513Z,1736376140.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:42:20.513Z,1736376140.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:20.522Z,1736376140.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:20.524Z,1736376140.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 43.189732 m, bearing: 35.964138 deg, approach rate: -0.435620 m/s, LOS rate: 0.411823 deg/s, cmd heading: 95.321772 deg, new cmd heading: 95.831049 deg. 2025-01-08T22:42:20.552Z,1736376140.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672567 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:20.585Z,1736376140.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:20.588Z,1736376140.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005200 2025-01-08T22:42:20.596Z,1736376140.596 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T22:42:20.596Z,1736376140.596 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T22:42:20.596Z,1736376140.596 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T22:42:20.596Z,1736376140.596 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:42:20.597Z,1736376140.597 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T22:42:20.836Z,1736376140.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:20.837Z,1736376140.837 [DAT](INFO): DAT read: Rx Time:22:42:19.5494 2025-01-08T22:42:20.837Z,1736376140.837 [DAT](INFO): Rx dataTimestamp_ set to:1736376140.836716 2025-01-08T22:42:20.837Z,1736376140.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256072 2025-01-08T22:42:21.088Z,1736376141.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:21.089Z,1736376141.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507046 2025-01-08T22:42:21.176Z,1736376141.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:21.199Z,1736376141.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:21.234Z,1736376141.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m. 2025-01-08T22:42:21.257Z,1736376141.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.199997 m, nav range: 42.898357 m, bearing: 36.246771 deg, approach rate: -0.409780 m/s, LOS rate: 0.400185 deg/s, cmd heading: 95.831051 deg, new cmd heading: 96.684645 deg. 2025-01-08T22:42:21.265Z,1736376141.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.687465 target range: 139.199997 and range: 139.20 m. 2025-01-08T22:42:21.340Z,1736376141.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:21.353Z,1736376141.353 [DAT](INFO): DAT read: 22:42:19.5494 LVL= 31216, 32753, 32754, 32755, AGC= 65, IDX= 428,-0.25, 1.770, 0.293, 0.923, 1.200, PHS= 0.658,-0.860,-0.280, RAW= 112.3, 7.3, CAL= 122.2, 4.3, ROT= 27.8, -4.3 2025-01-08T22:42:21.355Z,1736376141.355 [DAT](INFO): got valid direction response: 22:42:19.5494 LVL= 31216, 32753, 32754, 32755, AGC= 65, IDX= 428,-0.25, 1.770, 0.293, 0.923, 1.200, PHS= 0.658,-0.860,-0.280, RAW= 112.3, 7.3, CAL= 122.2, 4.3, ROT= 27.8, -4.3 2025-01-08T22:42:21.357Z,1736376141.357 [DAT](INFO): DAT read: Bearing 27.8, -4.3 (Local) 2025-01-08T22:42:21.357Z,1736376141.357 [DAT](INFO): Local bearing/azimuth received: Bearing 27.8, -4.3 (Local) 2025-01-08T22:42:21.370Z,1736376141.370 [DAT](INFO): DAT read: Range 10 to 50 : 138.2 m (Round-trip 184.3 ms) speed 0.4 m/s 2025-01-08T22:42:21.371Z,1736376141.371 [DAT](INFO): DAT read: user:2806> 2025-01-08T22:42:21.381Z,1736376141.381 [DAT](INFO): DAT read: Tx time:22:42:20.6625 2025-01-08T22:42:21.381Z,1736376141.381 [DAT](INFO): Ping request sent. 2025-01-08T22:42:21.381Z,1736376141.381 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:21.382Z,1736376141.382 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:21.383Z,1736376141.383 [DAT](INFO): direction in FSK: [-0.253595,-0.270868,0.928612] 2025-01-08T22:42:21.383Z,1736376141.383 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:21.391Z,1736376141.391 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:21.394Z,1736376141.394 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:21.395Z,1736376141.395 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:21.579Z,1736376141.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:21.593Z,1736376141.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:21.597Z,1736376141.597 [DAT](INFO): DAT read: TxSync time:22:42:20.6617 2025-01-08T22:42:21.655Z,1736376141.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 138.199997 m, deltaT: 3.778612 s, deltaX: -1.000000 m, approachRate: -0.264647 m/s, rangeRepo size: 4 2025-01-08T22:42:21.663Z,1736376141.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 138.199997 m, bearing: 257.311674 deg, lat: 36.903753 deg, lon: -122.120401 deg, deltaT: 3.778612 s, deltaX: -1.000000 m, approachRate: -0.264647 m/s, posRepo size: 4 2025-01-08T22:42:21.669Z,1736376141.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.20 m. 2025-01-08T22:42:21.681Z,1736376141.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.199997 m, nav range: 5.128170 m, bearing: 273.150563 deg, approach rate: 0.000000 m/s, LOS rate: 0.400185 deg/s, cmd heading: 96.684647 deg, new cmd heading: 97.189786 deg. 2025-01-08T22:42:21.682Z,1736376141.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.696282 target range: 138.199997 and range: 138.20 m. 2025-01-08T22:42:21.844Z,1736376141.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:22.012Z,1736376142.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:22.030Z,1736376142.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.20 m. 2025-01-08T22:42:22.033Z,1736376142.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.199997 m, nav range: 5.125348 m, bearing: 270.431262 deg, approach rate: -0.007512 m/s, LOS rate: -7.238456 deg/s, cmd heading: 97.189787 deg, new cmd heading: 89.084949 deg. 2025-01-08T22:42:22.034Z,1736376142.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554826 target range: 138.199997 and range: 138.20 m. 2025-01-08T22:42:22.097Z,1736376142.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:22.350Z,1736376142.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:22.356Z,1736376142.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:22.364Z,1736376142.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.20 m. 2025-01-08T22:42:22.367Z,1736376142.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.199997 m, nav range: 5.135763 m, bearing: 268.380052 deg, approach rate: 0.031094 m/s, LOS rate: -6.110186 deg/s, cmd heading: 89.084948 deg, new cmd heading: 82.968450 deg. 2025-01-08T22:42:22.368Z,1736376142.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448073 target range: 138.199997 and range: 138.20 m. 2025-01-08T22:42:22.605Z,1736376142.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:22.776Z,1736376142.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:22.785Z,1736376142.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.20 m. 2025-01-08T22:42:22.789Z,1736376142.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.199997 m, nav range: 5.178047 m, bearing: 265.946369 deg, approach rate: 0.100349 m/s, LOS rate: -5.726743 deg/s, cmd heading: 82.968453 deg, new cmd heading: 75.767360 deg. 2025-01-08T22:42:22.790Z,1736376142.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322390 target range: 138.199997 and range: 138.20 m. 2025-01-08T22:42:22.856Z,1736376142.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:23.108Z,1736376143.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:23.165Z,1736376143.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:23.174Z,1736376143.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.20 m. 2025-01-08T22:42:23.177Z,1736376143.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.199997 m, nav range: 5.230619 m, bearing: 263.753344 deg, approach rate: 0.135426 m/s, LOS rate: -5.591069 deg/s, cmd heading: 75.767357 deg, new cmd heading: 69.283814 deg. 2025-01-08T22:42:23.178Z,1736376143.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209231 target range: 138.199997 and range: 138.20 m. 2025-01-08T22:42:23.364Z,1736376143.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:23.559Z,1736376143.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:23.566Z,1736376143.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:23.572Z,1736376143.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.20 m. 2025-01-08T22:42:23.576Z,1736376143.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.199997 m, nav range: 5.296090 m, bearing: 261.600816 deg, approach rate: 0.165150 m/s, LOS rate: -5.361369 deg/s, cmd heading: 69.283813 deg, new cmd heading: 62.933688 deg. 2025-01-08T22:42:23.577Z,1736376143.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.098400 target range: 138.199997 and range: 138.20 m. 2025-01-08T22:42:23.614Z,1736376143.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:23.616Z,1736376143.616 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:23.616Z,1736376143.616 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:23.617Z,1736376143.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:23.864Z,1736376143.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:23.865Z,1736376143.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483460 2025-01-08T22:42:24.000Z,1736376144.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:24.009Z,1736376144.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.20 m. 2025-01-08T22:42:24.013Z,1736376144.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.199997 m, nav range: 5.390537 m, bearing: 259.397259 deg, approach rate: 0.215305 m/s, LOS rate: -4.934084 deg/s, cmd heading: 62.933691 deg, new cmd heading: 56.468032 deg. 2025-01-08T22:42:24.014Z,1736376144.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985553 target range: 138.199997 and range: 138.20 m. 2025-01-08T22:42:24.116Z,1736376144.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:24.117Z,1736376144.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735078 2025-01-08T22:42:24.368Z,1736376144.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:24.369Z,1736376144.369 [DAT](INFO): DAT read: Rx Time:22:42:23.2488 2025-01-08T22:42:24.369Z,1736376144.369 [DAT](INFO): Rx dataTimestamp_ set to:1736376144.368939 2025-01-08T22:42:24.370Z,1736376144.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988307 2025-01-08T22:42:24.401Z,1736376144.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:24.409Z,1736376144.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.20 m. 2025-01-08T22:42:24.412Z,1736376144.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.199997 m, nav range: 5.482756 m, bearing: 257.468989 deg, approach rate: 0.230498 m/s, LOS rate: -4.737691 deg/s, cmd heading: 56.468032 deg, new cmd heading: 50.800156 deg. 2025-01-08T22:42:24.413Z,1736376144.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.886630 target range: 138.199997 and range: 138.20 m. 2025-01-08T22:42:24.627Z,1736376144.627 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:24.629Z,1736376144.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247455 2025-01-08T22:42:24.803Z,1736376144.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:24.812Z,1736376144.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.20 m. 2025-01-08T22:42:24.815Z,1736376144.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.199997 m, nav range: 5.598209 m, bearing: 255.658609 deg, approach rate: 0.286896 m/s, LOS rate: -4.405178 deg/s, cmd heading: 50.800157 deg, new cmd heading: 45.497104 deg. 2025-01-08T22:42:24.816Z,1736376144.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794074 target range: 138.199997 and range: 138.20 m. 2025-01-08T22:42:24.876Z,1736376144.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:24.877Z,1736376144.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495119 2025-01-08T22:42:25.128Z,1736376145.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:25.135Z,1736376145.135 [DAT](INFO): DAT read: 22:42:23.2488 LVL= 27248, 32753, 30802, 32755, AGC= 61, IDX= 422,-0.38, 2.558, 1.101, 1.976, 2.002, PHS= 0.644,-0.854,-0.029, RAW= 123.3, 3.7, CAL= 131.7, -1.9, ROT= 18.3, 1.9 2025-01-08T22:42:25.136Z,1736376145.136 [DAT](INFO): got valid direction response: 22:42:23.2488 LVL= 27248, 32753, 30802, 32755, AGC= 61, IDX= 422,-0.38, 2.558, 1.101, 1.976, 2.002, PHS= 0.644,-0.854,-0.029, RAW= 123.3, 3.7, CAL= 131.7, -1.9, ROT= 18.3, 1.9 2025-01-08T22:42:25.137Z,1736376145.137 [DAT](INFO): DAT read: Bearing 18.3, 1.9 (Local) 2025-01-08T22:42:25.137Z,1736376145.137 [DAT](INFO): Local bearing/azimuth received: Bearing 18.3, 1.9 (Local) 2025-01-08T22:42:25.139Z,1736376145.139 [DAT](INFO): DAT read: Range 10 to 50 : 136.6 m (Round-trip 182.2 ms) speed 0.6 m/s 2025-01-08T22:42:25.140Z,1736376145.140 [DAT](INFO): DAT read: user:2807> 2025-01-08T22:42:25.141Z,1736376145.141 [DAT](INFO): DAT read: Tx time:22:42:24.3625 2025-01-08T22:42:25.141Z,1736376145.141 [DAT](INFO): Ping request sent. 2025-01-08T22:42:25.141Z,1736376145.141 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:25.141Z,1736376145.141 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:25.142Z,1736376145.142 [DAT](INFO): direction in FSK: [-0.194382,-0.463029,0.864766] 2025-01-08T22:42:25.142Z,1736376145.142 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:25.143Z,1736376145.143 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:25.146Z,1736376145.146 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:25.147Z,1736376145.147 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:25.203Z,1736376145.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:25.235Z,1736376145.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.600006 m, deltaT: 3.787018 s, deltaX: -1.599991 m, approachRate: -0.422494 m/s, rangeRepo size: 4 2025-01-08T22:42:25.238Z,1736376145.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.600006 m, bearing: 280.511818 deg, lat: 36.903753 deg, lon: -122.120839 deg, deltaT: 3.787018 s, deltaX: -1.599991 m, approachRate: -0.422494 m/s, posRepo size: 4 2025-01-08T22:42:25.244Z,1736376145.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T22:42:25.256Z,1736376145.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 44.501289 m, bearing: 267.974706 deg, approach rate: 0.000000 m/s, LOS rate: -4.405178 deg/s, cmd heading: 45.497106 deg, new cmd heading: 39.929757 deg. 2025-01-08T22:42:25.257Z,1736376145.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696906 target range: 136.600006 and range: 136.60 m. 2025-01-08T22:42:25.380Z,1736376145.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:25.381Z,1736376145.381 [DAT](INFO): DAT read: TxSync time:22:42:24.3617 2025-01-08T22:42:25.592Z,1736376145.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:25.604Z,1736376145.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:25.606Z,1736376145.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T22:42:25.609Z,1736376145.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 44.601173 m, bearing: 267.745078 deg, approach rate: 0.268293 m/s, LOS rate: -0.615409 deg/s, cmd heading: 39.929757 deg, new cmd heading: 39.242449 deg. 2025-01-08T22:42:25.610Z,1736376145.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684910 target range: 136.600006 and range: 136.60 m. 2025-01-08T22:42:25.633Z,1736376145.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:25.635Z,1736376145.635 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:25.635Z,1736376145.635 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:25.636Z,1736376145.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:25.884Z,1736376145.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:25.885Z,1736376145.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744056 2025-01-08T22:42:26.022Z,1736376146.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:26.032Z,1736376146.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T22:42:26.034Z,1736376146.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 44.734715 m, bearing: 267.507250 deg, approach rate: 0.313711 m/s, LOS rate: -0.557027 deg/s, cmd heading: 39.242449 deg, new cmd heading: 38.531136 deg. 2025-01-08T22:42:26.036Z,1736376146.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672495 target range: 136.600006 and range: 136.60 m. 2025-01-08T22:42:26.136Z,1736376146.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:26.137Z,1736376146.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995524 2025-01-08T22:42:26.388Z,1736376146.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:26.388Z,1736376146.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247328 2025-01-08T22:42:26.391Z,1736376146.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:26.416Z,1736376146.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T22:42:26.418Z,1736376146.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 44.858273 m, bearing: 267.313564 deg, approach rate: 0.336197 m/s, LOS rate: -0.525560 deg/s, cmd heading: 38.531136 deg, new cmd heading: 37.951698 deg. 2025-01-08T22:42:26.426Z,1736376146.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662382 target range: 136.600006 and range: 136.60 m. 2025-01-08T22:42:26.642Z,1736376146.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:26.646Z,1736376146.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504300 2025-01-08T22:42:26.828Z,1736376146.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:26.864Z,1736376146.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T22:42:26.866Z,1736376146.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 45.019665 m, bearing: 267.093355 deg, approach rate: 0.349511 m/s, LOS rate: -0.475175 deg/s, cmd heading: 37.951697 deg, new cmd heading: 37.293467 deg. 2025-01-08T22:42:26.868Z,1736376146.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650894 target range: 136.600006 and range: 136.60 m. 2025-01-08T22:42:26.892Z,1736376146.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:26.893Z,1736376146.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751445 2025-01-08T22:42:27.144Z,1736376147.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:27.144Z,1736376147.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003213 2025-01-08T22:42:27.217Z,1736376147.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:27.225Z,1736376147.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T22:42:27.228Z,1736376147.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 45.167473 m, bearing: 266.903830 deg, approach rate: 0.406058 m/s, LOS rate: -0.518958 deg/s, cmd heading: 37.293468 deg, new cmd heading: 36.726773 deg. 2025-01-08T22:42:27.229Z,1736376147.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.641003 target range: 136.600006 and range: 136.60 m. 2025-01-08T22:42:27.396Z,1736376147.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:27.396Z,1736376147.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255229 2025-01-08T22:42:27.612Z,1736376147.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:27.620Z,1736376147.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:27.622Z,1736376147.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T22:42:27.625Z,1736376147.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 45.322201 m, bearing: 266.717651 deg, approach rate: 0.389564 m/s, LOS rate: -0.467148 deg/s, cmd heading: 36.726774 deg, new cmd heading: 36.170163 deg. 2025-01-08T22:42:27.626Z,1736376147.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.631288 target range: 136.600006 and range: 136.60 m. 2025-01-08T22:42:27.667Z,1736376147.667 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:27.670Z,1736376147.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527971 2025-01-08T22:42:27.916Z,1736376147.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:27.916Z,1736376147.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775173 2025-01-08T22:42:28.041Z,1736376148.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:28.052Z,1736376148.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T22:42:28.054Z,1736376148.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 45.500679 m, bearing: 266.522892 deg, approach rate: 0.416058 m/s, LOS rate: -0.452229 deg/s, cmd heading: 36.170165 deg, new cmd heading: 35.588201 deg. 2025-01-08T22:42:28.057Z,1736376148.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621131 target range: 136.600006 and range: 136.60 m. 2025-01-08T22:42:28.173Z,1736376148.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:28.175Z,1736376148.175 [DAT](INFO): DAT read: Rx Time:22:42:26.9463 2025-01-08T22:42:28.183Z,1736376148.183 [DAT](INFO): Rx dataTimestamp_ set to:1736376148.174738 2025-01-08T22:42:28.184Z,1736376148.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.042676 2025-01-08T22:42:28.424Z,1736376148.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:28.425Z,1736376148.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283390 2025-01-08T22:42:28.427Z,1736376148.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:28.441Z,1736376148.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T22:42:28.444Z,1736376148.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 45.664860 m, bearing: 266.354951 deg, approach rate: 0.420947 m/s, LOS rate: -0.429041 deg/s, cmd heading: 35.588202 deg, new cmd heading: 35.086203 deg. 2025-01-08T22:42:28.445Z,1736376148.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612370 target range: 136.600006 and range: 136.60 m. 2025-01-08T22:42:28.677Z,1736376148.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:28.698Z,1736376148.698 [DAT](INFO): DAT read: 22:42:26.9463 LVL= 27200, 31905, 22930, 32755, AGC= 62, IDX= 412, 0.22, 2.657, 0.914, 2.281, 1.920, PHS= 0.826,-0.959, 0.359, RAW= 135.4, -2.8, CAL= 140.8, -12.6, ROT= 9.2, 12.6 2025-01-08T22:42:28.702Z,1736376148.702 [DAT](INFO): got valid direction response: 22:42:26.9463 LVL= 27200, 31905, 22930, 32755, AGC= 62, IDX= 412, 0.22, 2.657, 0.914, 2.281, 1.920, PHS= 0.826,-0.959, 0.359, RAW= 135.4, -2.8, CAL= 140.8, -12.6, ROT= 9.2, 12.6 2025-01-08T22:42:28.706Z,1736376148.706 [DAT](INFO): DAT read: Bearing 9.2, 12.6 (Local) 2025-01-08T22:42:28.706Z,1736376148.706 [DAT](INFO): Local bearing/azimuth received: Bearing 9.2, 12.6 (Local) 2025-01-08T22:42:28.714Z,1736376148.714 [DAT](INFO): DAT read: Range 10 to 50 : 134.7 m (Round-trip 179.7 ms) speed 0.3 m/s 2025-01-08T22:42:28.716Z,1736376148.716 [DAT](INFO): DAT read: user:2808> 2025-01-08T22:42:28.717Z,1736376148.717 [DAT](INFO): DAT read: Tx time:22:42:28.0609 2025-01-08T22:42:28.717Z,1736376148.717 [DAT](INFO): Ping request sent. 2025-01-08T22:42:28.717Z,1736376148.717 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:28.717Z,1736376148.717 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:28.718Z,1736376148.718 [DAT](INFO): direction in FSK: [-0.069685,-0.654964,0.752440] 2025-01-08T22:42:28.719Z,1736376148.719 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:28.719Z,1736376148.719 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:28.722Z,1736376148.722 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:28.722Z,1736376148.722 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:28.921Z,1736376148.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:28.928Z,1736376148.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:28.929Z,1736376148.929 [DAT](INFO): DAT read: TxSync time:22:42:28.0601 2025-01-08T22:42:28.951Z,1736376148.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 134.699997 m, deltaT: 3.550197 s, deltaX: -1.900009 m, approachRate: -0.535184 m/s, rangeRepo size: 4 2025-01-08T22:42:28.965Z,1736376148.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 134.699997 m, bearing: 305.458001 deg, lat: 36.903753 deg, lon: -122.121241 deg, deltaT: 3.550197 s, deltaX: -1.900009 m, approachRate: -0.535184 m/s, posRepo size: 4 2025-01-08T22:42:28.966Z,1736376148.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T22:42:28.973Z,1736376148.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 81.532669 m, bearing: 267.836323 deg, approach rate: 0.000000 m/s, LOS rate: -0.429041 deg/s, cmd heading: 35.086204 deg, new cmd heading: 34.431329 deg. 2025-01-08T22:42:28.974Z,1736376148.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600940 target range: 134.699997 and range: 134.70 m. 2025-01-08T22:42:29.181Z,1736376149.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:29.224Z,1736376149.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:29.234Z,1736376149.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T22:42:29.245Z,1736376149.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 81.664024 m, bearing: 267.766296 deg, approach rate: 0.462532 m/s, LOS rate: -0.246183 deg/s, cmd heading: 34.431329 deg, new cmd heading: 34.221587 deg. 2025-01-08T22:42:29.251Z,1736376149.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597279 target range: 134.699997 and range: 134.70 m. 2025-01-08T22:42:29.432Z,1736376149.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:29.640Z,1736376149.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:29.650Z,1736376149.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:29.654Z,1736376149.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T22:42:29.662Z,1736376149.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 81.847038 m, bearing: 267.673225 deg, approach rate: 0.436658 m/s, LOS rate: -0.221563 deg/s, cmd heading: 34.221587 deg, new cmd heading: 33.943002 deg. 2025-01-08T22:42:29.665Z,1736376149.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592417 target range: 134.699997 and range: 134.70 m. 2025-01-08T22:42:29.686Z,1736376149.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:29.688Z,1736376149.688 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:29.688Z,1736376149.688 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:29.689Z,1736376149.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:29.936Z,1736376149.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:29.937Z,1736376149.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219365 2025-01-08T22:42:30.058Z,1736376150.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:30.069Z,1736376150.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T22:42:30.072Z,1736376150.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 82.027100 m, bearing: 267.579910 deg, approach rate: 0.433608 m/s, LOS rate: -0.224220 deg/s, cmd heading: 33.943001 deg, new cmd heading: 33.663672 deg. 2025-01-08T22:42:30.073Z,1736376150.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587542 target range: 134.699997 and range: 134.70 m. 2025-01-08T22:42:30.189Z,1736376150.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:30.189Z,1736376150.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472026 2025-01-08T22:42:30.440Z,1736376150.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:30.441Z,1736376150.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723518 2025-01-08T22:42:30.446Z,1736376150.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:30.448Z,1736376150.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:42:30.456Z,1736376150.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T22:42:30.458Z,1736376150.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 82.195221 m, bearing: 267.494815 deg, approach rate: 0.434575 m/s, LOS rate: -0.219511 deg/s, cmd heading: 33.663670 deg, new cmd heading: 33.408909 deg. 2025-01-08T22:42:30.460Z,1736376150.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583095 target range: 134.699997 and range: 134.70 m. 2025-01-08T22:42:30.693Z,1736376150.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:30.696Z,1736376150.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978232 2025-01-08T22:42:30.866Z,1736376150.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:30.875Z,1736376150.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T22:42:30.899Z,1736376150.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 82.370064 m, bearing: 267.398294 deg, approach rate: 0.417128 m/s, LOS rate: -0.229785 deg/s, cmd heading: 33.408911 deg, new cmd heading: 33.119964 deg. 2025-01-08T22:42:30.904Z,1736376150.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578052 target range: 134.699997 and range: 134.70 m. 2025-01-08T22:42:30.944Z,1736376150.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:30.945Z,1736376150.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227355 2025-01-08T22:42:31.197Z,1736376151.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:31.197Z,1736376151.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480056 2025-01-08T22:42:31.286Z,1736376151.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:31.295Z,1736376151.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T22:42:31.298Z,1736376151.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 82.545692 m, bearing: 267.302388 deg, approach rate: 0.417994 m/s, LOS rate: -0.227768 deg/s, cmd heading: 33.119963 deg, new cmd heading: 32.832862 deg. 2025-01-08T22:42:31.300Z,1736376151.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573042 target range: 134.699997 and range: 134.70 m. 2025-01-08T22:42:31.449Z,1736376151.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:31.452Z,1736376151.452 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:42:31.458Z,1736376151.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733584 2025-01-08T22:42:31.652Z,1736376151.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:31.664Z,1736376151.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:31.667Z,1736376151.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T22:42:31.683Z,1736376151.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 82.698402 m, bearing: 267.219328 deg, approach rate: 0.410847 m/s, LOS rate: -0.223052 deg/s, cmd heading: 32.832863 deg, new cmd heading: 32.584143 deg. 2025-01-08T22:42:31.690Z,1736376151.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568701 target range: 134.699997 and range: 134.70 m. 2025-01-08T22:42:31.700Z,1736376151.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:31.701Z,1736376151.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983324 2025-01-08T22:42:31.952Z,1736376151.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:31.952Z,1736376151.952 [DAT](INFO): DAT read: Rx Time:22:42:30.6424 2025-01-08T22:42:31.953Z,1736376151.953 [DAT](INFO): Rx dataTimestamp_ set to:1736376151.952570 2025-01-08T22:42:31.953Z,1736376151.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236177 2025-01-08T22:42:32.077Z,1736376152.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:32.087Z,1736376152.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.70 m. 2025-01-08T22:42:32.090Z,1736376152.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.699997 m, nav range: 82.864967 m, bearing: 267.116195 deg, approach rate: 0.396206 m/s, LOS rate: -0.244827 deg/s, cmd heading: 32.584141 deg, new cmd heading: 32.275369 deg. 2025-01-08T22:42:32.091Z,1736376152.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563311 target range: 134.699997 and range: 134.70 m. 2025-01-08T22:42:32.205Z,1736376152.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:32.206Z,1736376152.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489101 2025-01-08T22:42:32.456Z,1736376152.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:32.470Z,1736376152.470 [DAT](INFO): DAT read: 22:42:30.6424 LVL= 26336, 32753, 20370, 32755, AGC= 66, IDX= 421,-0.07,-1.995, 2.986,-1.945,-2.363, PHS= 0.456,-0.887, 0.415, RAW= 148.5, 0.3, CAL= 151.8, -8.7, ROT= 358.2, 8.7 2025-01-08T22:42:32.473Z,1736376152.473 [DAT](INFO): got valid direction response: 22:42:30.6424 LVL= 26336, 32753, 20370, 32755, AGC= 66, IDX= 421,-0.07,-1.995, 2.986,-1.945,-2.363, PHS= 0.456,-0.887, 0.415, RAW= 148.5, 0.3, CAL= 151.8, -8.7, ROT= 358.2, 8.7 2025-01-08T22:42:32.475Z,1736376152.475 [DAT](INFO): DAT read: Bearing 358.2, 8.7 (Local) 2025-01-08T22:42:32.476Z,1736376152.476 [DAT](INFO): Local bearing/azimuth received: Bearing 358.2, 8.7 (Local) 2025-01-08T22:42:32.477Z,1736376152.477 [DAT](INFO): DAT read: Range 10 to 50 : 133.0 m (Round-trip 177.4 ms) speed 0.8 m/s 2025-01-08T22:42:32.478Z,1736376152.478 [DAT](INFO): DAT read: user:2809> 2025-01-08T22:42:32.479Z,1736376152.479 [DAT](INFO): DAT read: Tx time:22:42:31.7609 2025-01-08T22:42:32.479Z,1736376152.479 [DAT](INFO): Ping request sent. 2025-01-08T22:42:32.481Z,1736376152.481 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:32.482Z,1736376152.482 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:32.484Z,1736376152.484 [DAT](INFO): direction in FSK: [-0.127049,-0.812127,0.569481] 2025-01-08T22:42:32.485Z,1736376152.485 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:32.485Z,1736376152.485 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:32.501Z,1736376152.501 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:32.501Z,1736376152.501 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:32.562Z,1736376152.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:32.614Z,1736376152.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.000000 m, deltaT: 3.778813 s, deltaX: -1.699997 m, approachRate: -0.449876 m/s, rangeRepo size: 4 2025-01-08T22:42:32.633Z,1736376152.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.000000 m, bearing: 306.647551 deg, lat: 36.903929 deg, lon: -122.121365 deg, deltaT: 3.778813 s, deltaX: -1.699997 m, approachRate: -0.449876 m/s, posRepo size: 4 2025-01-08T22:42:32.633Z,1736376152.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.00 m. 2025-01-08T22:42:32.641Z,1736376152.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.000000 m, nav range: 95.202766 m, bearing: 279.205296 deg, approach rate: 0.000000 m/s, LOS rate: -0.244827 deg/s, cmd heading: 32.275369 deg, new cmd heading: 31.888957 deg. 2025-01-08T22:42:32.642Z,1736376152.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556567 target range: 133.000000 and range: 133.00 m. 2025-01-08T22:42:32.710Z,1736376152.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:32.714Z,1736376152.714 [DAT](INFO): DAT read: TxSync time:22:42:31.7601 2025-01-08T22:42:32.960Z,1736376152.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:33.036Z,1736376153.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:33.054Z,1736376153.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.00 m. 2025-01-08T22:42:33.061Z,1736376153.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.000000 m, nav range: 95.330391 m, bearing: 279.078312 deg, approach rate: 0.289266 m/s, LOS rate: -0.287429 deg/s, cmd heading: 31.888958 deg, new cmd heading: 31.508521 deg. 2025-01-08T22:42:33.067Z,1736376153.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549927 target range: 133.000000 and range: 133.00 m. 2025-01-08T22:42:33.212Z,1736376153.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:33.392Z,1736376153.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:33.402Z,1736376153.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.00 m. 2025-01-08T22:42:33.405Z,1736376153.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.000000 m, nav range: 95.422813 m, bearing: 278.982335 deg, approach rate: 0.265744 m/s, LOS rate: -0.275697 deg/s, cmd heading: 31.508520 deg, new cmd heading: 31.220870 deg. 2025-01-08T22:42:33.406Z,1736376153.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544907 target range: 133.000000 and range: 133.00 m. 2025-01-08T22:42:33.464Z,1736376153.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:33.716Z,1736376153.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:33.851Z,1736376153.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:33.858Z,1736376153.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:33.862Z,1736376153.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.00 m. 2025-01-08T22:42:33.866Z,1736376153.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.000000 m, nav range: 95.535614 m, bearing: 278.856906 deg, approach rate: 0.245340 m/s, LOS rate: -0.272485 deg/s, cmd heading: 31.220870 deg, new cmd heading: 30.845033 deg. 2025-01-08T22:42:33.867Z,1736376153.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.538347 target range: 133.000000 and range: 133.00 m. 2025-01-08T22:42:33.968Z,1736376153.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:33.968Z,1736376153.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:33.969Z,1736376153.969 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:33.969Z,1736376153.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:34.220Z,1736376154.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:34.220Z,1736376154.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741352 2025-01-08T22:42:34.254Z,1736376154.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:34.262Z,1736376154.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.00 m. 2025-01-08T22:42:34.282Z,1736376154.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.000000 m, nav range: 95.630707 m, bearing: 278.745739 deg, approach rate: 0.237405 m/s, LOS rate: -0.277260 deg/s, cmd heading: 30.845032 deg, new cmd heading: 30.511866 deg. 2025-01-08T22:42:34.288Z,1736376154.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.532533 target range: 133.000000 and range: 133.00 m. 2025-01-08T22:42:34.472Z,1736376154.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:34.472Z,1736376154.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993412 2025-01-08T22:42:34.665Z,1736376154.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:34.680Z,1736376154.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.00 m. 2025-01-08T22:42:34.683Z,1736376154.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.000000 m, nav range: 95.723282 m, bearing: 278.631370 deg, approach rate: 0.221983 m/s, LOS rate: -0.273976 deg/s, cmd heading: 30.511865 deg, new cmd heading: 30.169096 deg. 2025-01-08T22:42:34.701Z,1736376154.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526550 target range: 133.000000 and range: 133.00 m. 2025-01-08T22:42:34.724Z,1736376154.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:34.724Z,1736376154.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245446 2025-01-08T22:42:34.978Z,1736376154.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:34.979Z,1736376154.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499517 2025-01-08T22:42:35.097Z,1736376155.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:35.106Z,1736376155.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.00 m. 2025-01-08T22:42:35.109Z,1736376155.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.000000 m, nav range: 95.822273 m, bearing: 278.508366 deg, approach rate: 0.232047 m/s, LOS rate: -0.288037 deg/s, cmd heading: 30.169096 deg, new cmd heading: 29.800471 deg. 2025-01-08T22:42:35.110Z,1736376155.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520116 target range: 133.000000 and range: 133.00 m. 2025-01-08T22:42:35.228Z,1736376155.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:35.228Z,1736376155.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749339 2025-01-08T22:42:35.480Z,1736376155.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:35.480Z,1736376155.480 [DAT](INFO): DAT read: Rx Time:22:42:34.3398 2025-01-08T22:42:35.481Z,1736376155.481 [DAT](INFO): Rx dataTimestamp_ set to:1736376155.480661 2025-01-08T22:42:35.481Z,1736376155.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002420 2025-01-08T22:42:35.540Z,1736376155.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:35.556Z,1736376155.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.00 m. 2025-01-08T22:42:35.564Z,1736376155.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.000000 m, nav range: 95.913094 m, bearing: 278.381540 deg, approach rate: 0.201552 m/s, LOS rate: -0.281191 deg/s, cmd heading: 29.800471 deg, new cmd heading: 29.420357 deg. 2025-01-08T22:42:35.565Z,1736376155.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513482 target range: 133.000000 and range: 133.00 m. 2025-01-08T22:42:35.732Z,1736376155.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:35.732Z,1736376155.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253373 2025-01-08T22:42:35.925Z,1736376155.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:35.932Z,1736376155.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:35.934Z,1736376155.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.00 m. 2025-01-08T22:42:35.937Z,1736376155.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.000000 m, nav range: 95.991898 m, bearing: 278.270206 deg, approach rate: 0.208546 m/s, LOS rate: -0.294390 deg/s, cmd heading: 29.420357 deg, new cmd heading: 29.086633 deg. 2025-01-08T22:42:35.938Z,1736376155.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507658 target range: 133.000000 and range: 133.00 m. 2025-01-08T22:42:35.985Z,1736376155.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:35.986Z,1736376155.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506970 2025-01-08T22:42:36.236Z,1736376156.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:36.242Z,1736376156.242 [DAT](INFO): DAT read: 22:42:34.3399 LVL= 22336, 32753, 24370, 32755, AGC= 65, IDX= 410,-0.26, 2.995, 1.586, 2.570, 2.495, PHS= 0.587,-0.862, 0.071, RAW= 129.4, 3.2, CAL= 135.9, -3.8, ROT= 14.1, 3.8 2025-01-08T22:42:36.251Z,1736376156.251 [DAT](INFO): got valid direction response: 22:42:34.3399 LVL= 22336, 32753, 24370, 32755, AGC= 65, IDX= 410,-0.26, 2.995, 1.586, 2.570, 2.495, PHS= 0.587,-0.862, 0.071, RAW= 129.4, 3.2, CAL= 135.9, -3.8, ROT= 14.1, 3.8 2025-01-08T22:42:36.252Z,1736376156.252 [DAT](INFO): DAT read: Bearing 14.1, 3.8 (Local) 2025-01-08T22:42:36.253Z,1736376156.253 [DAT](INFO): Local bearing/azimuth received: Bearing 14.1, 3.8 (Local) 2025-01-08T22:42:36.254Z,1736376156.254 [DAT](INFO): DAT read: Range 10 to 50 : 131.1 m (Round-trip 174.8 ms) speed 0.4 m/s 2025-01-08T22:42:36.255Z,1736376156.255 [DAT](INFO): DAT read: user:2810> 2025-01-08T22:42:36.268Z,1736376156.268 [DAT](INFO): DAT read: Tx time:22:42:35.4610 2025-01-08T22:42:36.268Z,1736376156.268 [DAT](INFO): Ping request sent. 2025-01-08T22:42:36.268Z,1736376156.268 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:36.269Z,1736376156.269 [DAT](INFO): DAT read: TxSync time:22:42:35.4602 2025-01-08T22:42:36.270Z,1736376156.270 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:36.270Z,1736376156.270 [DAT](INFO): direction in FSK: [-0.187777,-0.558792,0.807769] 2025-01-08T22:42:36.271Z,1736376156.271 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:36.295Z,1736376156.295 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:36.332Z,1736376156.332 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:36.332Z,1736376156.332 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:36.374Z,1736376156.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:36.421Z,1736376156.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.100006 m, deltaT: 3.778964 s, deltaX: -1.899994 m, approachRate: -0.502782 m/s, rangeRepo size: 4 2025-01-08T22:42:36.428Z,1736376156.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.100006 m, bearing: 288.251228 deg, lat: 36.904022 deg, lon: -122.121365 deg, deltaT: 3.778964 s, deltaX: -1.899994 m, approachRate: -0.502782 m/s, posRepo size: 4 2025-01-08T22:42:36.428Z,1736376156.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:42:36.444Z,1736376156.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 98.065041 m, bearing: 284.100131 deg, approach rate: 0.000000 m/s, LOS rate: -0.294390 deg/s, cmd heading: 29.086634 deg, new cmd heading: 28.657319 deg. 2025-01-08T22:42:36.445Z,1736376156.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500165 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:42:36.488Z,1736376156.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:36.716Z,1736376156.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:36.732Z,1736376156.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:42:36.740Z,1736376156.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:36.741Z,1736376156.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 98.111008 m, bearing: 283.999794 deg, approach rate: 0.147386 m/s, LOS rate: -0.321563 deg/s, cmd heading: 28.657319 deg, new cmd heading: 28.356452 deg. 2025-01-08T22:42:36.742Z,1736376156.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.494913 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:42:36.993Z,1736376156.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:37.133Z,1736376157.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:37.142Z,1736376157.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:42:37.145Z,1736376157.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 98.168304 m, bearing: 283.877631 deg, approach rate: 0.139848 m/s, LOS rate: -0.297999 deg/s, cmd heading: 28.356452 deg, new cmd heading: 27.990181 deg. 2025-01-08T22:42:37.147Z,1736376157.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488521 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:42:37.251Z,1736376157.251 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:37.500Z,1736376157.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:37.516Z,1736376157.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:37.525Z,1736376157.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:42:37.528Z,1736376157.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 98.219193 m, bearing: 283.765458 deg, approach rate: 0.133006 m/s, LOS rate: -0.293034 deg/s, cmd heading: 27.990182 deg, new cmd heading: 27.653841 deg. 2025-01-08T22:42:37.529Z,1736376157.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.482651 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:42:37.752Z,1736376157.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:37.950Z,1736376157.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:37.957Z,1736376157.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:37.959Z,1736376157.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:42:37.962Z,1736376157.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 98.281433 m, bearing: 283.638890 deg, approach rate: 0.143203 m/s, LOS rate: -0.291021 deg/s, cmd heading: 27.653841 deg, new cmd heading: 27.274386 deg. 2025-01-08T22:42:37.965Z,1736376157.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.476028 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:42:38.004Z,1736376158.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:38.005Z,1736376158.005 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:38.005Z,1736376158.005 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:38.005Z,1736376158.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:38.256Z,1736376158.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:38.256Z,1736376158.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987895 2025-01-08T22:42:38.377Z,1736376158.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:38.386Z,1736376158.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:42:38.389Z,1736376158.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 98.340561 m, bearing: 283.514131 deg, approach rate: 0.138441 m/s, LOS rate: -0.291934 deg/s, cmd heading: 27.274387 deg, new cmd heading: 26.900338 deg. 2025-01-08T22:42:38.390Z,1736376158.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.469499 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:42:38.509Z,1736376158.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:38.509Z,1736376158.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240686 2025-01-08T22:42:38.760Z,1736376158.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:38.761Z,1736376158.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491963 2025-01-08T22:42:38.775Z,1736376158.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:38.788Z,1736376158.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:42:38.791Z,1736376158.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 98.394157 m, bearing: 283.397720 deg, approach rate: 0.133440 m/s, LOS rate: -0.289673 deg/s, cmd heading: 26.900338 deg, new cmd heading: 26.551300 deg. 2025-01-08T22:42:38.792Z,1736376158.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.463408 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:42:39.012Z,1736376159.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:39.014Z,1736376159.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745260 2025-01-08T22:42:39.265Z,1736376159.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:39.265Z,1736376159.265 [DAT](INFO): DAT read: Rx Time:22:42:38.0371 2025-01-08T22:42:39.266Z,1736376159.266 [DAT](INFO): Rx dataTimestamp_ set to:1736376159.265524 2025-01-08T22:42:39.266Z,1736376159.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997799 2025-01-08T22:42:39.297Z,1736376159.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:39.332Z,1736376159.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T22:42:39.335Z,1736376159.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 98.465538 m, bearing: 283.245455 deg, approach rate: 0.131384 m/s, LOS rate: -0.280056 deg/s, cmd heading: 26.551300 deg, new cmd heading: 26.094848 deg. 2025-01-08T22:42:39.344Z,1736376159.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455441 target range: 131.100006 and range: 131.10 m. 2025-01-08T22:42:39.516Z,1736376159.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:39.517Z,1736376159.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248877 2025-01-08T22:42:39.776Z,1736376159.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:39.783Z,1736376159.783 [DAT](INFO): DAT read: 22:42:38.0371 LVL= 24880, 32753, 29730, 32755, AGC= 64, IDX= 413, 0.15,-2.449, 2.279,-3.038,-2.894, PHS= 0.533,-1.063,-0.147, RAW= 124.9, 9.8, CAL= 132.2, 5.1, ROT= 17.8, -5.1 2025-01-08T22:42:39.784Z,1736376159.784 [DAT](INFO): got valid direction response: 22:42:38.0371 LVL= 24880, 32753, 29730, 32755, AGC= 64, IDX= 413, 0.15,-2.449, 2.279,-3.038,-2.894, PHS= 0.533,-1.063,-0.147, RAW= 124.9, 9.8, CAL= 132.2, 5.1, ROT= 17.8, -5.1 2025-01-08T22:42:39.785Z,1736376159.785 [DAT](INFO): DAT read: Bearing 17.8, -5.1 (Local) 2025-01-08T22:42:39.785Z,1736376159.785 [DAT](INFO): Local bearing/azimuth received: Bearing 17.8, -5.1 (Local) 2025-01-08T22:42:39.787Z,1736376159.787 [DAT](INFO): DAT read: Range 10 to 50 : 128.9 m (Round-trip 171.9 ms) speed 0.3 m/s 2025-01-08T22:42:39.788Z,1736376159.788 [DAT](INFO): DAT read: user:2811> 2025-01-08T22:42:39.788Z,1736376159.788 [DAT](INFO): DAT read: Tx time:22:42:39.1610 2025-01-08T22:42:39.789Z,1736376159.789 [DAT](INFO): Ping request sent. 2025-01-08T22:42:39.789Z,1736376159.789 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:39.789Z,1736376159.789 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:39.790Z,1736376159.790 [DAT](INFO): direction in FSK: [-0.308937,-0.471206,0.826149] 2025-01-08T22:42:39.790Z,1736376159.790 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:39.790Z,1736376159.790 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:39.822Z,1736376159.822 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:39.823Z,1736376159.823 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:39.853Z,1736376159.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:39.927Z,1736376159.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.899994 m, deltaT: 3.540081 s, deltaX: -2.200012 m, approachRate: -0.621458 m/s, rangeRepo size: 4 2025-01-08T22:42:39.941Z,1736376159.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.899994 m, bearing: 269.553097 deg, lat: 36.904022 deg, lon: -122.121365 deg, deltaT: 3.540081 s, deltaX: -2.200012 m, approachRate: -0.621458 m/s, posRepo size: 4 2025-01-08T22:42:39.942Z,1736376159.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m. 2025-01-08T22:42:39.953Z,1736376159.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.899994 m, nav range: 98.540245 m, bearing: 283.082923 deg, approach rate: 0.000000 m/s, LOS rate: -0.280056 deg/s, cmd heading: 26.094847 deg, new cmd heading: 25.595107 deg. 2025-01-08T22:42:39.954Z,1736376159.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446719 target range: 128.899994 and range: 128.90 m. 2025-01-08T22:42:40.028Z,1736376160.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:40.029Z,1736376160.029 [DAT](INFO): DAT read: TxSync time:22:42:39.1602 2025-01-08T22:42:40.280Z,1736376160.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:40.320Z,1736376160.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:40.343Z,1736376160.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:40.371Z,1736376160.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m. 2025-01-08T22:42:40.374Z,1736376160.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.899994 m, nav range: 98.605110 m, bearing: 282.944311 deg, approach rate: 0.152678 m/s, LOS rate: -0.326046 deg/s, cmd heading: 25.595108 deg, new cmd heading: 25.179553 deg. 2025-01-08T22:42:40.384Z,1736376160.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439466 target range: 128.899994 and range: 128.90 m. 2025-01-08T22:42:40.532Z,1736376160.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:40.532Z,1736376160.532 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:40.532Z,1736376160.532 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:40.533Z,1736376160.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:40.682Z,1736376160.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:40.690Z,1736376160.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m. 2025-01-08T22:42:40.716Z,1736376160.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.899994 m, nav range: 98.654442 m, bearing: 282.837373 deg, approach rate: 0.145477 m/s, LOS rate: -0.315199 deg/s, cmd heading: 25.179554 deg, new cmd heading: 24.858902 deg. 2025-01-08T22:42:40.719Z,1736376160.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433870 target range: 128.899994 and range: 128.90 m. 2025-01-08T22:42:40.785Z,1736376160.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:40.786Z,1736376160.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996474 2025-01-08T22:42:41.036Z,1736376161.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:41.036Z,1736376161.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247514 2025-01-08T22:42:41.107Z,1736376161.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:41.129Z,1736376161.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m. 2025-01-08T22:42:41.141Z,1736376161.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.899994 m, nav range: 98.711891 m, bearing: 282.714192 deg, approach rate: 0.130964 m/s, LOS rate: -0.280644 deg/s, cmd heading: 24.858902 deg, new cmd heading: 24.489581 deg. 2025-01-08T22:42:41.142Z,1736376161.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427424 target range: 128.899994 and range: 128.90 m. 2025-01-08T22:42:41.288Z,1736376161.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:41.288Z,1736376161.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499576 2025-01-08T22:42:41.488Z,1736376161.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:41.497Z,1736376161.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m. 2025-01-08T22:42:41.500Z,1736376161.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.899994 m, nav range: 98.763466 m, bearing: 282.604246 deg, approach rate: 0.140183 m/s, LOS rate: -0.298682 deg/s, cmd heading: 24.489580 deg, new cmd heading: 24.159919 deg. 2025-01-08T22:42:41.501Z,1736376161.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421670 target range: 128.899994 and range: 128.90 m. 2025-01-08T22:42:41.540Z,1736376161.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:41.540Z,1736376161.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751624 2025-01-08T22:42:41.793Z,1736376161.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:41.794Z,1736376161.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005183 2025-01-08T22:42:41.995Z,1736376161.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:42.021Z,1736376162.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m. 2025-01-08T22:42:42.024Z,1736376162.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.899994 m, nav range: 98.831329 m, bearing: 282.451332 deg, approach rate: 0.129361 m/s, LOS rate: -0.291283 deg/s, cmd heading: 24.159919 deg, new cmd heading: 23.701501 deg. 2025-01-08T22:42:42.025Z,1736376162.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413669 target range: 128.899994 and range: 128.90 m. 2025-01-08T22:42:42.044Z,1736376162.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:42.045Z,1736376162.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256419 2025-01-08T22:42:42.296Z,1736376162.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:42.297Z,1736376162.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508335 2025-01-08T22:42:42.332Z,1736376162.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:42.340Z,1736376162.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m. 2025-01-08T22:42:42.343Z,1736376162.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.899994 m, nav range: 98.876709 m, bearing: 282.350087 deg, approach rate: 0.142241 m/s, LOS rate: -0.317202 deg/s, cmd heading: 23.701501 deg, new cmd heading: 23.397909 deg. 2025-01-08T22:42:42.344Z,1736376162.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.408371 target range: 128.899994 and range: 128.90 m. 2025-01-08T22:42:42.548Z,1736376162.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:42.549Z,1736376162.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760176 2025-01-08T22:42:42.712Z,1736376162.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:42.721Z,1736376162.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:42.723Z,1736376162.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m. 2025-01-08T22:42:42.726Z,1736376162.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.899994 m, nav range: 98.926491 m, bearing: 282.235554 deg, approach rate: 0.130168 m/s, LOS rate: -0.299326 deg/s, cmd heading: 23.397909 deg, new cmd heading: 23.054487 deg. 2025-01-08T22:42:42.727Z,1736376162.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.402377 target range: 128.899994 and range: 128.90 m. 2025-01-08T22:42:42.802Z,1736376162.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:42.803Z,1736376162.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014148 2025-01-08T22:42:43.052Z,1736376163.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:43.052Z,1736376163.052 [DAT](INFO): DAT read: Rx Time:22:42:41.7347 2025-01-08T22:42:43.053Z,1736376163.053 [DAT](INFO): Rx dataTimestamp_ set to:1736376163.052539 2025-01-08T22:42:43.053Z,1736376163.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264545 2025-01-08T22:42:43.151Z,1736376163.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:43.161Z,1736376163.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m. 2025-01-08T22:42:43.165Z,1736376163.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.899994 m, nav range: 98.975266 m, bearing: 282.099248 deg, approach rate: 0.111425 m/s, LOS rate: -0.311235 deg/s, cmd heading: 23.054487 deg, new cmd heading: 22.645777 deg. 2025-01-08T22:42:43.169Z,1736376163.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.395243 target range: 128.899994 and range: 128.90 m. 2025-01-08T22:42:43.304Z,1736376163.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:43.305Z,1736376163.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515925 2025-01-08T22:42:43.507Z,1736376163.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:43.517Z,1736376163.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m. 2025-01-08T22:42:43.520Z,1736376163.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.899994 m, nav range: 99.013710 m, bearing: 281.988545 deg, approach rate: 0.107868 m/s, LOS rate: -0.310491 deg/s, cmd heading: 22.645777 deg, new cmd heading: 22.313800 deg. 2025-01-08T22:42:43.521Z,1736376163.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.389449 target range: 128.899994 and range: 128.90 m. 2025-01-08T22:42:43.556Z,1736376163.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:43.567Z,1736376163.567 [DAT](INFO): DAT read: 22:42:41.7347 LVL= 26816, 32753, 30786, 32755, AGC= 63, IDX= 421, 0.18, 0.109,-1.408,-0.579,-0.414, PHS= 0.611,-0.947,-0.168, RAW= 120.0, 7.5, CAL= 128.9, 3.4, ROT= 21.1, -3.4 2025-01-08T22:42:43.568Z,1736376163.568 [DAT](INFO): got valid direction response: 22:42:41.7347 LVL= 26816, 32753, 30786, 32755, AGC= 63, IDX= 421, 0.18, 0.109,-1.408,-0.579,-0.414, PHS= 0.611,-0.947,-0.168, RAW= 120.0, 7.5, CAL= 128.9, 3.4, ROT= 21.1, -3.4 2025-01-08T22:42:43.569Z,1736376163.569 [DAT](INFO): DAT read: Bearing 21.1, -3.4 (Local) 2025-01-08T22:42:43.570Z,1736376163.570 [DAT](INFO): Local bearing/azimuth received: Bearing 21.1, -3.4 (Local) 2025-01-08T22:42:43.572Z,1736376163.572 [DAT](INFO): DAT read: Range 10 to 50 : 127.2 m (Round-trip 169.6 ms) speed 0.4 m/s 2025-01-08T22:42:43.573Z,1736376163.573 [DAT](INFO): DAT read: user:2812> 2025-01-08T22:42:43.574Z,1736376163.574 [DAT](INFO): DAT read: Tx time:22:42:42.8610 2025-01-08T22:42:43.574Z,1736376163.574 [DAT](INFO): Ping request sent. 2025-01-08T22:42:43.574Z,1736376163.574 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:43.574Z,1736376163.574 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:43.575Z,1736376163.575 [DAT](INFO): direction in FSK: [-0.264137,-0.399985,0.877635] 2025-01-08T22:42:43.575Z,1736376163.575 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:43.576Z,1736376163.576 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:43.579Z,1736376163.579 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:43.579Z,1736376163.579 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:43.808Z,1736376163.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:43.810Z,1736376163.810 [DAT](INFO): DAT read: TxSync time:22:42:42.8602 2025-01-08T22:42:44.002Z,1736376164.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:44.017Z,1736376164.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.199997 m, deltaT: 3.780166 s, deltaX: -1.699997 m, approachRate: -0.449715 m/s, rangeRepo size: 4 2025-01-08T22:42:44.019Z,1736376164.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.199997 m, bearing: 265.923874 deg, lat: 36.904022 deg, lon: -122.121143 deg, deltaT: 3.780166 s, deltaX: -1.699997 m, approachRate: -0.449715 m/s, posRepo size: 4 2025-01-08T22:42:44.020Z,1736376164.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:42:44.023Z,1736376164.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 79.817482 m, bearing: 284.743519 deg, approach rate: 0.000000 m/s, LOS rate: -0.310491 deg/s, cmd heading: 22.313799 deg, new cmd heading: 21.848438 deg. 2025-01-08T22:42:44.024Z,1736376164.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.381327 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:42:44.061Z,1736376164.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:44.312Z,1736376164.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:44.323Z,1736376164.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:44.358Z,1736376164.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:42:44.362Z,1736376164.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 79.839493 m, bearing: 284.617236 deg, approach rate: 0.064371 m/s, LOS rate: -0.369213 deg/s, cmd heading: 21.848438 deg, new cmd heading: 21.469699 deg. 2025-01-08T22:42:44.364Z,1736376164.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.374717 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:42:44.566Z,1736376164.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:44.714Z,1736376164.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:44.725Z,1736376164.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:44.727Z,1736376164.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:42:44.730Z,1736376164.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 79.863274 m, bearing: 284.462902 deg, approach rate: 0.064482 m/s, LOS rate: -0.418355 deg/s, cmd heading: 21.469699 deg, new cmd heading: 21.006843 deg. 2025-01-08T22:42:44.731Z,1736376164.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.366639 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:42:44.816Z,1736376164.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:44.817Z,1736376164.817 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:44.817Z,1736376164.817 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:44.817Z,1736376164.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:45.068Z,1736376165.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:45.068Z,1736376165.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494552 2025-01-08T22:42:45.165Z,1736376165.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:45.174Z,1736376165.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:42:45.177Z,1736376165.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 79.891541 m, bearing: 284.278451 deg, approach rate: 0.063247 m/s, LOS rate: -0.412560 deg/s, cmd heading: 21.006843 deg, new cmd heading: 20.453704 deg. 2025-01-08T22:42:45.178Z,1736376165.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.356984 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:42:45.320Z,1736376165.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:45.320Z,1736376165.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746385 2025-01-08T22:42:45.525Z,1736376165.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:45.541Z,1736376165.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:42:45.544Z,1736376165.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 79.912170 m, bearing: 284.131311 deg, approach rate: 0.056183 m/s, LOS rate: -0.400612 deg/s, cmd heading: 20.453705 deg, new cmd heading: 20.012409 deg. 2025-01-08T22:42:45.545Z,1736376165.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349282 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:42:45.572Z,1736376165.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:45.573Z,1736376165.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998723 2025-01-08T22:42:45.824Z,1736376165.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:45.824Z,1736376165.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250488 2025-01-08T22:42:45.991Z,1736376165.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:46.014Z,1736376166.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:42:46.029Z,1736376166.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 79.938629 m, bearing: 283.940738 deg, approach rate: 0.056049 m/s, LOS rate: -0.403570 deg/s, cmd heading: 20.012410 deg, new cmd heading: 19.440899 deg. 2025-01-08T22:42:46.031Z,1736376166.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.339308 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:42:46.076Z,1736376166.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:46.076Z,1736376166.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502522 2025-01-08T22:42:46.333Z,1736376166.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:46.334Z,1736376166.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760036 2025-01-08T22:42:46.362Z,1736376166.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:46.373Z,1736376166.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:42:46.376Z,1736376166.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 79.958458 m, bearing: 283.790284 deg, approach rate: 0.055181 m/s, LOS rate: -0.418590 deg/s, cmd heading: 19.440899 deg, new cmd heading: 18.989660 deg. 2025-01-08T22:42:46.377Z,1736376166.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.331432 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:42:46.584Z,1736376166.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:46.584Z,1736376166.584 [DAT](INFO): DAT read: Rx Time:22:42:45.4324 2025-01-08T22:42:46.585Z,1736376166.585 [DAT](INFO): Rx dataTimestamp_ set to:1736376166.584679 2025-01-08T22:42:46.585Z,1736376166.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011554 2025-01-08T22:42:46.740Z,1736376166.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:46.747Z,1736376166.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:46.752Z,1736376166.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:42:46.756Z,1736376166.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 79.975189 m, bearing: 283.637026 deg, approach rate: 0.044338 m/s, LOS rate: -0.406054 deg/s, cmd heading: 18.989659 deg, new cmd heading: 18.529990 deg. 2025-01-08T22:42:46.757Z,1736376166.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.323409 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:42:46.837Z,1736376166.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:46.838Z,1736376166.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263832 2025-01-08T22:42:47.089Z,1736376167.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:47.103Z,1736376167.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528040 2025-01-08T22:42:47.216Z,1736376167.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:47.225Z,1736376167.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-08T22:42:47.228Z,1736376167.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 79.999893 m, bearing: 283.438665 deg, approach rate: 0.052044 m/s, LOS rate: -0.417759 deg/s, cmd heading: 18.529989 deg, new cmd heading: 17.935113 deg. 2025-01-08T22:42:47.230Z,1736376167.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.313027 target range: 127.199997 and range: 127.20 m. 2025-01-08T22:42:47.340Z,1736376167.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:47.347Z,1736376167.347 [DAT](INFO): DAT read: 22:42:45.4324 LVL= 23600, 32753, 29890, 32755, AGC= 64, IDX= 411, 0.13,-0.945,-2.481,-1.764,-1.522, PHS= 0.665,-0.912,-0.245, RAW= 114.9, 7.2, CAL= 124.5, 3.9, ROT= 25.5, -3.9 2025-01-08T22:42:47.348Z,1736376167.348 [DAT](INFO): got valid direction response: 22:42:45.4324 LVL= 23600, 32753, 29890, 32755, AGC= 64, IDX= 411, 0.13,-0.945,-2.481,-1.764,-1.522, PHS= 0.665,-0.912,-0.245, RAW= 114.9, 7.2, CAL= 124.5, 3.9, ROT= 25.5, -3.9 2025-01-08T22:42:47.349Z,1736376167.349 [DAT](INFO): DAT read: Bearing 25.5, -3.9 (Local) 2025-01-08T22:42:47.349Z,1736376167.349 [DAT](INFO): Local bearing/azimuth received: Bearing 25.5, -3.9 (Local) 2025-01-08T22:42:47.352Z,1736376167.352 [DAT](INFO): DAT read: Range 10 to 50 : 125.4 m (Round-trip 167.2 ms) speed 0.4 m/s 2025-01-08T22:42:47.352Z,1736376167.352 [DAT](INFO): DAT read: user:2813> 2025-01-08T22:42:47.353Z,1736376167.353 [DAT](INFO): DAT read: Tx time:22:42:46.5610 2025-01-08T22:42:47.353Z,1736376167.353 [DAT](INFO): Ping request sent. 2025-01-08T22:42:47.354Z,1736376167.354 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:47.354Z,1736376167.354 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:47.355Z,1736376167.355 [DAT](INFO): direction in FSK: [-0.254534,-0.316315,0.913869] 2025-01-08T22:42:47.355Z,1736376167.355 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:47.355Z,1736376167.355 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:47.413Z,1736376167.413 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:47.413Z,1736376167.413 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:47.593Z,1736376167.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:47.594Z,1736376167.594 [DAT](INFO): DAT read: TxSync time:22:42:46.5602 2025-01-08T22:42:47.684Z,1736376167.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:47.697Z,1736376167.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.400002 m, deltaT: 3.783868 s, deltaX: -1.799995 m, approachRate: -0.475702 m/s, rangeRepo size: 4 2025-01-08T22:42:47.700Z,1736376167.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.400002 m, bearing: 255.222442 deg, lat: 36.903816 deg, lon: -122.121110 deg, deltaT: 3.783868 s, deltaX: -1.799995 m, approachRate: -0.475702 m/s, posRepo size: 4 2025-01-08T22:42:47.700Z,1736376167.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:42:47.703Z,1736376167.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 75.129051 m, bearing: 266.514965 deg, approach rate: 0.000000 m/s, LOS rate: -0.417759 deg/s, cmd heading: 17.935114 deg, new cmd heading: 17.343733 deg. 2025-01-08T22:42:47.704Z,1736376167.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.302705 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:42:47.844Z,1736376167.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:48.074Z,1736376168.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:48.096Z,1736376168.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:48.108Z,1736376168.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:42:48.111Z,1736376168.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 75.213608 m, bearing: 266.353538 deg, approach rate: 0.205617 m/s, LOS rate: -0.392100 deg/s, cmd heading: 17.343732 deg, new cmd heading: 16.860009 deg. 2025-01-08T22:42:48.116Z,1736376168.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.294263 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:42:48.348Z,1736376168.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:48.509Z,1736376168.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:48.518Z,1736376168.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:42:48.521Z,1736376168.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 75.306618 m, bearing: 266.174020 deg, approach rate: 0.226542 m/s, LOS rate: -0.436709 deg/s, cmd heading: 16.860009 deg, new cmd heading: 16.322136 deg. 2025-01-08T22:42:48.522Z,1736376168.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.284875 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:42:48.600Z,1736376168.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:48.853Z,1736376168.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:48.912Z,1736376168.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:48.919Z,1736376168.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:48.921Z,1736376168.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:42:48.944Z,1736376168.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 75.391357 m, bearing: 266.007554 deg, approach rate: 0.210314 m/s, LOS rate: -0.412684 deg/s, cmd heading: 16.322136 deg, new cmd heading: 15.823313 deg. 2025-01-08T22:42:48.945Z,1736376168.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.276169 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:42:49.105Z,1736376169.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:49.105Z,1736376169.105 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:49.105Z,1736376169.105 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:49.105Z,1736376169.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:49.331Z,1736376169.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:49.357Z,1736376169.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:49.359Z,1736376169.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004679 2025-01-08T22:42:49.388Z,1736376169.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:42:49.390Z,1736376169.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 75.485710 m, bearing: 265.835140 deg, approach rate: 0.206276 m/s, LOS rate: -0.376466 deg/s, cmd heading: 15.823313 deg, new cmd heading: 15.306730 deg. 2025-01-08T22:42:49.397Z,1736376169.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.267153 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:42:49.608Z,1736376169.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:49.609Z,1736376169.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254962 2025-01-08T22:42:49.713Z,1736376169.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:49.733Z,1736376169.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:42:49.740Z,1736376169.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 75.570312 m, bearing: 265.677815 deg, approach rate: 0.238855 m/s, LOS rate: -0.443673 deg/s, cmd heading: 15.306731 deg, new cmd heading: 14.835296 deg. 2025-01-08T22:42:49.741Z,1736376169.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.258925 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:42:49.861Z,1736376169.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:49.863Z,1736376169.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508862 2025-01-08T22:42:50.112Z,1736376170.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:50.113Z,1736376170.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759287 2025-01-08T22:42:50.143Z,1736376170.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:50.177Z,1736376170.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:42:50.185Z,1736376170.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 75.674004 m, bearing: 265.500377 deg, approach rate: 0.233452 m/s, LOS rate: -0.398939 deg/s, cmd heading: 14.835296 deg, new cmd heading: 14.303727 deg. 2025-01-08T22:42:50.186Z,1736376170.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.249647 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:42:50.364Z,1736376170.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:50.365Z,1736376170.365 [DAT](INFO): DAT read: Rx Time:22:42:49.1297 2025-01-08T22:42:50.366Z,1736376170.366 [DAT](INFO): Rx dataTimestamp_ set to:1736376170.365352 2025-01-08T22:42:50.366Z,1736376170.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012590 2025-01-08T22:42:50.529Z,1736376170.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:50.538Z,1736376170.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T22:42:50.542Z,1736376170.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 75.765701 m, bearing: 265.341283 deg, approach rate: 0.253955 m/s, LOS rate: -0.440072 deg/s, cmd heading: 14.303727 deg, new cmd heading: 13.827035 deg. 2025-01-08T22:42:50.543Z,1736376170.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.241327 target range: 125.400002 and range: 125.40 m. 2025-01-08T22:42:50.616Z,1736376170.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:50.617Z,1736376170.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263102 2025-01-08T22:42:50.868Z,1736376170.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:50.878Z,1736376170.878 [DAT](INFO): DAT read: 22:42:49.1297 LVL= 23536, 32753, 32754, 32755, AGC= 62, IDX= 415, 0.06, 0.290,-1.311,-0.566,-0.295, PHS= 0.673,-0.969,-0.274, RAW= 114.9, 8.0, CAL= 124.3, 4.7, ROT= 25.7, -4.7 2025-01-08T22:42:50.880Z,1736376170.880 [DAT](INFO): got valid direction response: 22:42:49.1297 LVL= 23536, 32753, 32754, 32755, AGC= 62, IDX= 415, 0.06, 0.290,-1.311,-0.566,-0.295, PHS= 0.673,-0.969,-0.274, RAW= 114.9, 8.0, CAL= 124.3, 4.7, ROT= 25.7, -4.7 2025-01-08T22:42:50.882Z,1736376170.882 [DAT](INFO): DAT read: Bearing 25.7, -4.7 (Local) 2025-01-08T22:42:50.883Z,1736376170.883 [DAT](INFO): Local bearing/azimuth received: Bearing 25.7, -4.7 (Local) 2025-01-08T22:42:50.886Z,1736376170.886 [DAT](INFO): DAT read: Range 10 to 50 : 123.3 m (Round-trip 164.5 ms) speed 0.4 m/s 2025-01-08T22:42:50.887Z,1736376170.887 [DAT](INFO): DAT read: user:2814> 2025-01-08T22:42:50.888Z,1736376170.888 [DAT](INFO): DAT read: Tx time:22:42:50.2111 2025-01-08T22:42:50.888Z,1736376170.888 [DAT](INFO): Ping request sent. 2025-01-08T22:42:50.888Z,1736376170.888 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:50.889Z,1736376170.889 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:50.890Z,1736376170.890 [DAT](INFO): direction in FSK: [-0.269512,-0.314893,0.910058] 2025-01-08T22:42:50.890Z,1736376170.890 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:50.890Z,1736376170.890 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:50.893Z,1736376170.893 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:50.894Z,1736376170.894 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:51.054Z,1736376171.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:51.104Z,1736376171.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.300003 m, deltaT: 3.527880 s, deltaX: -2.099998 m, approachRate: -0.595258 m/s, rangeRepo size: 4 2025-01-08T22:42:51.106Z,1736376171.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.300003 m, bearing: 249.138343 deg, lat: 36.903795 deg, lon: -122.121047 deg, deltaT: 3.527880 s, deltaX: -2.099998 m, approachRate: -0.595258 m/s, posRepo size: 4 2025-01-08T22:42:51.111Z,1736376171.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:42:51.115Z,1736376171.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 70.507431 m, bearing: 262.868575 deg, approach rate: 0.000000 m/s, LOS rate: -0.440072 deg/s, cmd heading: 13.827035 deg, new cmd heading: 13.080410 deg. 2025-01-08T22:42:51.117Z,1736376171.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228296 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:42:51.120Z,1736376171.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:51.121Z,1736376171.121 [DAT](INFO): DAT read: TxSync time:22:42:50.2103 2025-01-08T22:42:51.372Z,1736376171.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:51.428Z,1736376171.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:51.452Z,1736376171.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:51.454Z,1736376171.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:42:51.462Z,1736376171.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 70.604111 m, bearing: 262.709907 deg, approach rate: 0.276420 m/s, LOS rate: -0.453030 deg/s, cmd heading: 13.080410 deg, new cmd heading: 12.605071 deg. 2025-01-08T22:42:51.468Z,1736376171.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.220000 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:42:51.624Z,1736376171.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:51.625Z,1736376171.625 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:51.625Z,1736376171.625 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:51.626Z,1736376171.626 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:51.810Z,1736376171.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:51.833Z,1736376171.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:42:51.839Z,1736376171.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 70.701965 m, bearing: 262.547215 deg, approach rate: 0.258357 m/s, LOS rate: -0.428949 deg/s, cmd heading: 12.605071 deg, new cmd heading: 12.117680 deg. 2025-01-08T22:42:51.840Z,1736376171.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.211493 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:42:51.876Z,1736376171.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:51.877Z,1736376171.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988614 2025-01-08T22:42:52.128Z,1736376172.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:52.128Z,1736376172.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239859 2025-01-08T22:42:52.206Z,1736376172.206 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 85.63, 70.20, 82.57 2025-01-08T22:42:52.214Z,1736376172.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:42:52.214Z,1736376172.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:52.223Z,1736376172.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:42:52.226Z,1736376172.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 70.805084 m, bearing: 262.375592 deg, approach rate: 0.263954 m/s, LOS rate: -0.438663 deg/s, cmd heading: 12.117680 deg, new cmd heading: 11.603576 deg. 2025-01-08T22:42:52.227Z,1736376172.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.202521 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:42:52.380Z,1736376172.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:52.382Z,1736376172.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493676 2025-01-08T22:42:52.614Z,1736376172.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:42:52.614Z,1736376172.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:52.632Z,1736376172.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:52.633Z,1736376172.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744099 2025-01-08T22:42:52.656Z,1736376172.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:42:52.673Z,1736376172.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 70.906548 m, bearing: 262.206413 deg, approach rate: 0.234288 m/s, LOS rate: -0.390090 deg/s, cmd heading: 11.603576 deg, new cmd heading: 11.096780 deg. 2025-01-08T22:42:52.675Z,1736376172.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.193675 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:42:52.884Z,1736376172.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:52.885Z,1736376172.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996364 2025-01-08T22:42:53.077Z,1736376173.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:42:53.077Z,1736376173.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:53.093Z,1736376173.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:42:53.097Z,1736376173.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 71.023781 m, bearing: 262.009260 deg, approach rate: 0.268106 m/s, LOS rate: -0.450135 deg/s, cmd heading: 11.096780 deg, new cmd heading: 10.506318 deg. 2025-01-08T22:42:53.098Z,1736376173.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183370 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:42:53.136Z,1736376173.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:53.137Z,1736376173.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248022 2025-01-08T22:42:53.388Z,1736376173.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:53.388Z,1736376173.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499934 2025-01-08T22:42:53.468Z,1736376173.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:53.486Z,1736376173.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:53.489Z,1736376173.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:42:53.492Z,1736376173.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 71.114723 m, bearing: 261.841218 deg, approach rate: 0.229675 m/s, LOS rate: -0.423845 deg/s, cmd heading: 10.506317 deg, new cmd heading: 10.002852 deg. 2025-01-08T22:42:53.493Z,1736376173.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.174583 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:42:53.640Z,1736376173.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:53.640Z,1736376173.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751807 2025-01-08T22:42:53.829Z,1736376173.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:53.840Z,1736376173.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:42:53.859Z,1736376173.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 71.196259 m, bearing: 261.684955 deg, approach rate: 0.232198 m/s, LOS rate: -0.444499 deg/s, cmd heading: 10.002851 deg, new cmd heading: 9.534609 deg. 2025-01-08T22:42:53.860Z,1736376173.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.166410 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:42:53.893Z,1736376173.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:53.894Z,1736376173.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005529 2025-01-08T22:42:54.144Z,1736376174.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:54.144Z,1736376174.144 [DAT](INFO): DAT read: Rx Time:22:42:52.7774 2025-01-08T22:42:54.145Z,1736376174.145 [DAT](INFO): Rx dataTimestamp_ set to:1736376174.144663 2025-01-08T22:42:54.145Z,1736376174.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256968 2025-01-08T22:42:54.259Z,1736376174.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:54.269Z,1736376174.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:42:54.272Z,1736376174.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 71.277504 m, bearing: 261.493096 deg, approach rate: 0.189661 m/s, LOS rate: -0.447370 deg/s, cmd heading: 9.534609 deg, new cmd heading: 8.959708 deg. 2025-01-08T22:42:54.273Z,1736376174.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.156376 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:42:54.396Z,1736376174.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:54.397Z,1736376174.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508548 2025-01-08T22:42:54.637Z,1736376174.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:54.648Z,1736376174.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:54.676Z,1736376174.676 [DAT](INFO): DAT read: 22:42:52.7774 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 426,-0.23, 2.992, 1.364, 2.100, 2.436, PHS= 0.644,-1.025,-0.339, RAW= 114.1, 9.9, CAL= 123.1, 6.9, ROT= 26.9, -6.9 2025-01-08T22:42:54.678Z,1736376174.678 [DAT](INFO): got valid direction response: 22:42:52.7774 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 426,-0.23, 2.992, 1.364, 2.100, 2.436, PHS= 0.644,-1.025,-0.339, RAW= 114.1, 9.9, CAL= 123.1, 6.9, ROT= 26.9, -6.9 2025-01-08T22:42:54.680Z,1736376174.680 [DAT](INFO): DAT read: Bearing 26.9, -6.9 (Local) 2025-01-08T22:42:54.681Z,1736376174.681 [DAT](INFO): Local bearing/azimuth received: Bearing 26.9, -6.9 (Local) 2025-01-08T22:42:54.682Z,1736376174.682 [DAT](INFO): DAT read: Range 10 to 50 : 121.6 m (Round-trip 162.2 ms) speed 0.3 m/s 2025-01-08T22:42:54.684Z,1736376174.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-01-08T22:42:54.687Z,1736376174.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.300003 m, nav range: 71.345383 m, bearing: 261.323570 deg, approach rate: 0.163439 m/s, LOS rate: -0.407796 deg/s, cmd heading: 8.959707 deg, new cmd heading: 8.451630 deg. 2025-01-08T22:42:54.687Z,1736376174.687 [DAT](INFO): DAT read: user:2815> 2025-01-08T22:42:54.688Z,1736376174.688 [DAT](INFO): DAT read: Tx time:22:42:53.8611 2025-01-08T22:42:54.689Z,1736376174.689 [DAT](INFO): Ping request sent. 2025-01-08T22:42:54.689Z,1736376174.689 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:54.689Z,1736376174.689 [DAT](INFO): DAT read: TxSync time:22:42:53.8603 2025-01-08T22:42:54.690Z,1736376174.690 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:54.691Z,1736376174.691 [DAT](INFO): direction in FSK: [-0.303716,-0.297047,0.905273] 2025-01-08T22:42:54.691Z,1736376174.691 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:54.692Z,1736376174.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.147509 target range: 123.300003 and range: 123.30 m. 2025-01-08T22:42:54.700Z,1736376174.700 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:54.712Z,1736376174.712 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:54.712Z,1736376174.712 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:54.900Z,1736376174.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:55.069Z,1736376175.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:55.129Z,1736376175.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.599998 m, deltaT: 3.781141 s, deltaX: -1.700005 m, approachRate: -0.449601 m/s, rangeRepo size: 4 2025-01-08T22:42:55.136Z,1736376175.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 121.599998 m, bearing: 238.208379 deg, lat: 36.903720 deg, lon: -122.120915 deg, deltaT: 3.781141 s, deltaX: -1.700005 m, approachRate: -0.449601 m/s, posRepo size: 4 2025-01-08T22:42:55.137Z,1736376175.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-01-08T22:42:55.143Z,1736376175.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.599998 m, nav range: 61.979656 m, bearing: 251.809615 deg, approach rate: 0.000000 m/s, LOS rate: -0.407796 deg/s, cmd heading: 8.451629 deg, new cmd heading: 7.908283 deg. 2025-01-08T22:42:55.144Z,1736376175.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.138026 target range: 121.599998 and range: 121.60 m. 2025-01-08T22:42:55.152Z,1736376175.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:55.409Z,1736376175.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:55.492Z,1736376175.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:55.500Z,1736376175.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:55.502Z,1736376175.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-01-08T22:42:55.521Z,1736376175.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.599998 m, nav range: 62.076344 m, bearing: 251.596291 deg, approach rate: 0.258519 m/s, LOS rate: -0.569491 deg/s, cmd heading: 7.908283 deg, new cmd heading: 7.269335 deg. 2025-01-08T22:42:55.522Z,1736376175.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.126874 target range: 121.599998 and range: 121.60 m. 2025-01-08T22:42:55.660Z,1736376175.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:55.661Z,1736376175.661 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:55.661Z,1736376175.661 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:55.662Z,1736376175.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:55.874Z,1736376175.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:55.882Z,1736376175.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-01-08T22:42:55.885Z,1736376175.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.599998 m, nav range: 62.161762 m, bearing: 251.404171 deg, approach rate: 0.224722 m/s, LOS rate: -0.504737 deg/s, cmd heading: 7.269334 deg, new cmd heading: 6.693789 deg. 2025-01-08T22:42:55.886Z,1736376175.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116829 target range: 121.599998 and range: 121.60 m. 2025-01-08T22:42:55.912Z,1736376175.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:55.912Z,1736376175.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223809 2025-01-08T22:42:56.164Z,1736376176.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:56.165Z,1736376176.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476438 2025-01-08T22:42:56.287Z,1736376176.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:56.324Z,1736376176.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-01-08T22:42:56.330Z,1736376176.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.599998 m, nav range: 62.240383 m, bearing: 251.188300 deg, approach rate: 0.177918 m/s, LOS rate: -0.487897 deg/s, cmd heading: 6.693789 deg, new cmd heading: 6.047022 deg. 2025-01-08T22:42:56.332Z,1736376176.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105540 target range: 121.599998 and range: 121.60 m. 2025-01-08T22:42:56.416Z,1736376176.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:56.418Z,1736376176.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728868 2025-01-08T22:42:56.668Z,1736376176.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:56.669Z,1736376176.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980546 2025-01-08T22:42:56.698Z,1736376176.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:56.706Z,1736376176.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-01-08T22:42:56.709Z,1736376176.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.599998 m, nav range: 62.316757 m, bearing: 250.973537 deg, approach rate: 0.199868 m/s, LOS rate: -0.561337 deg/s, cmd heading: 6.047022 deg, new cmd heading: 5.403551 deg. 2025-01-08T22:42:56.710Z,1736376176.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.094310 target range: 121.599998 and range: 121.60 m. 2025-01-08T22:42:56.922Z,1736376176.922 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:56.923Z,1736376176.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234830 2025-01-08T22:42:57.120Z,1736376177.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:57.146Z,1736376177.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-01-08T22:42:57.153Z,1736376177.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.599998 m, nav range: 62.392933 m, bearing: 250.755070 deg, approach rate: 0.173397 m/s, LOS rate: -0.496681 deg/s, cmd heading: 5.403551 deg, new cmd heading: 4.748981 deg. 2025-01-08T22:42:57.154Z,1736376177.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.082885 target range: 121.599998 and range: 121.60 m. 2025-01-08T22:42:57.172Z,1736376177.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:57.173Z,1736376177.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483886 2025-01-08T22:42:57.424Z,1736376177.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:57.425Z,1736376177.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736401 2025-01-08T22:42:57.510Z,1736376177.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:57.518Z,1736376177.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:57.521Z,1736376177.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-01-08T22:42:57.540Z,1736376177.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.599998 m, nav range: 62.459698 m, bearing: 250.545610 deg, approach rate: 0.178053 m/s, LOS rate: -0.558005 deg/s, cmd heading: 4.748981 deg, new cmd heading: 4.121298 deg. 2025-01-08T22:42:57.541Z,1736376177.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071930 target range: 121.599998 and range: 121.60 m. 2025-01-08T22:42:57.676Z,1736376177.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:57.678Z,1736376177.678 [DAT](INFO): DAT read: Rx Time:22:42:56.4252 2025-01-08T22:42:57.678Z,1736376177.678 [DAT](INFO): Rx dataTimestamp_ set to:1736376177.678095 2025-01-08T22:42:57.681Z,1736376177.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992240 2025-01-08T22:42:57.878Z,1736376177.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:57.917Z,1736376177.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-01-08T22:42:57.923Z,1736376177.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.599998 m, nav range: 62.520515 m, bearing: 250.350370 deg, approach rate: 0.153646 m/s, LOS rate: -0.492762 deg/s, cmd heading: 4.121298 deg, new cmd heading: 3.536168 deg. 2025-01-08T22:42:57.928Z,1736376177.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:57.929Z,1736376177.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239909 2025-01-08T22:42:57.932Z,1736376177.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061718 target range: 121.599998 and range: 121.60 m. 2025-01-08T22:42:58.181Z,1736376178.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:58.188Z,1736376178.188 [DAT](INFO): DAT read: 22:42:56.4252 LVL= 23008, 32753, 30402, 32755, AGC= 65, IDX= 419, 0.21,-0.396,-2.131,-1.457,-1.069, PHS= 0.761,-1.015,-0.391, RAW= 110.3, 8.3, CAL= 120.2, 5.7, ROT= 29.8, -5.7 2025-01-08T22:42:58.189Z,1736376178.189 [DAT](INFO): got valid direction response: 22:42:56.4252 LVL= 23008, 32753, 30402, 32755, AGC= 65, IDX= 419, 0.21,-0.396,-2.131,-1.457,-1.069, PHS= 0.761,-1.015,-0.391, RAW= 110.3, 8.3, CAL= 120.2, 5.7, ROT= 29.8, -5.7 2025-01-08T22:42:58.190Z,1736376178.190 [DAT](INFO): DAT read: Bearing 29.8, -5.7 (Local) 2025-01-08T22:42:58.190Z,1736376178.190 [DAT](INFO): Local bearing/azimuth received: Bearing 29.8, -5.7 (Local) 2025-01-08T22:42:58.248Z,1736376178.248 [DAT](INFO): DAT read: Range 10 to 50 : 120.0 m (Round-trip 160.0 ms) speed 0.4 m/s 2025-01-08T22:42:58.248Z,1736376178.248 [DAT](INFO): DAT read: user:2816> 2025-01-08T22:42:58.249Z,1736376178.249 [DAT](INFO): DAT read: Tx time:22:42:57.5111 2025-01-08T22:42:58.249Z,1736376178.249 [DAT](INFO): Ping request sent. 2025-01-08T22:42:58.250Z,1736376178.250 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:42:58.250Z,1736376178.250 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:42:58.251Z,1736376178.251 [DAT](INFO): direction in FSK: [-0.269917,-0.234988,0.933769] 2025-01-08T22:42:58.287Z,1736376178.287 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:58.288Z,1736376178.288 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:58.291Z,1736376178.291 [DAT](INFO): publishing transmit ping time 2025-01-08T22:42:58.291Z,1736376178.291 [DAT](INFO): publishing direction and range info 2025-01-08T22:42:58.432Z,1736376178.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:58.433Z,1736376178.433 [DAT](INFO): DAT read: TxSync time:22:42:57.5103 2025-01-08T22:42:58.465Z,1736376178.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:58.486Z,1736376178.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.000000 m, deltaT: 3.532099 s, deltaX: -1.599998 m, approachRate: -0.452988 m/s, rangeRepo size: 4 2025-01-08T22:42:58.493Z,1736376178.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.000000 m, bearing: 231.107401 deg, lat: 36.903682 deg, lon: -122.120888 deg, deltaT: 3.532099 s, deltaX: -1.599998 m, approachRate: -0.452988 m/s, posRepo size: 4 2025-01-08T22:42:58.493Z,1736376178.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T22:42:58.501Z,1736376178.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 61.993507 m, bearing: 245.621469 deg, approach rate: 0.000000 m/s, LOS rate: -0.492762 deg/s, cmd heading: 3.536168 deg, new cmd heading: 2.694853 deg. 2025-01-08T22:42:58.502Z,1736376178.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047034 target range: 120.000000 and range: 120.00 m. 2025-01-08T22:42:58.684Z,1736376178.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:58.787Z,1736376178.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:58.804Z,1736376178.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T22:42:58.806Z,1736376178.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 62.055435 m, bearing: 245.451018 deg, approach rate: 0.194932 m/s, LOS rate: -0.535994 deg/s, cmd heading: 2.694853 deg, new cmd heading: 2.184026 deg. 2025-01-08T22:42:58.816Z,1736376178.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038118 target range: 120.000000 and range: 120.00 m. 2025-01-08T22:42:58.836Z,1736376178.836 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:42:58.936Z,1736376178.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:59.189Z,1736376179.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:59.231Z,1736376179.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:59.241Z,1736376179.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T22:42:59.260Z,1736376179.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 62.148613 m, bearing: 245.218487 deg, approach rate: 0.213031 m/s, LOS rate: -0.530835 deg/s, cmd heading: 2.184026 deg, new cmd heading: 1.487515 deg. 2025-01-08T22:42:59.261Z,1736376179.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025962 target range: 120.000000 and range: 120.00 m. 2025-01-08T22:42:59.440Z,1736376179.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:59.580Z,1736376179.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:42:59.588Z,1736376179.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:42:59.590Z,1736376179.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T22:42:59.609Z,1736376179.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 62.220337 m, bearing: 245.035230 deg, approach rate: 0.205437 m/s, LOS rate: -0.524295 deg/s, cmd heading: 1.487515 deg, new cmd heading: 0.938393 deg. 2025-01-08T22:42:59.610Z,1736376179.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.016378 target range: 120.000000 and range: 120.00 m. 2025-01-08T22:42:59.692Z,1736376179.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:59.692Z,1736376179.692 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:42:59.692Z,1736376179.692 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:42:59.693Z,1736376179.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:42:59.944Z,1736376179.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:42:59.945Z,1736376179.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695002 2025-01-08T22:43:00.006Z,1736376180.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:00.014Z,1736376180.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T22:43:00.017Z,1736376180.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 62.308460 m, bearing: 244.812835 deg, approach rate: 0.207764 m/s, LOS rate: -0.523587 deg/s, cmd heading: 0.938393 deg, new cmd heading: 0.272184 deg. 2025-01-08T22:43:00.018Z,1736376180.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004750 target range: 120.000000 and range: 120.00 m. 2025-01-08T22:43:00.197Z,1736376180.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:00.198Z,1736376180.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948219 2025-01-08T22:43:00.421Z,1736376180.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:00.448Z,1736376180.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:00.448Z,1736376180.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198788 2025-01-08T22:43:00.450Z,1736376180.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T22:43:00.457Z,1736376180.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 62.402061 m, bearing: 244.604475 deg, approach rate: 0.214611 m/s, LOS rate: -0.477015 deg/s, cmd heading: 0.272184 deg, new cmd heading: 359.648068 deg. 2025-01-08T22:43:00.458Z,1736376180.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277043 target range: 120.000000 and range: 120.00 m. 2025-01-08T22:43:00.700Z,1736376180.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:00.700Z,1736376180.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450869 2025-01-08T22:43:00.792Z,1736376180.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:00.801Z,1736376180.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T22:43:00.804Z,1736376180.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 62.480347 m, bearing: 244.417455 deg, approach rate: 0.223012 m/s, LOS rate: -0.532097 deg/s, cmd heading: 359.648064 deg, new cmd heading: 359.087726 deg. 2025-01-08T22:43:00.805Z,1736376180.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267263 target range: 120.000000 and range: 120.00 m. 2025-01-08T22:43:00.953Z,1736376180.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:00.953Z,1736376180.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703799 2025-01-08T22:43:01.204Z,1736376181.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:01.204Z,1736376181.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954865 2025-01-08T22:43:01.242Z,1736376181.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:01.280Z,1736376181.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T22:43:01.284Z,1736376181.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 62.584236 m, bearing: 244.198614 deg, approach rate: 0.230819 m/s, LOS rate: -0.485406 deg/s, cmd heading: 359.087715 deg, new cmd heading: 358.432314 deg. 2025-01-08T22:43:01.285Z,1736376181.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255824 target range: 120.000000 and range: 120.00 m. 2025-01-08T22:43:01.456Z,1736376181.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:01.457Z,1736376181.457 [DAT](INFO): DAT read: Rx Time:22:43:00.0732 2025-01-08T22:43:01.457Z,1736376181.457 [DAT](INFO): Rx dataTimestamp_ set to:1736376181.456702 2025-01-08T22:43:01.457Z,1736376181.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207939 2025-01-08T22:43:01.596Z,1736376181.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:43:01.605Z,1736376181.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:01.612Z,1736376181.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:01.616Z,1736376181.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T22:43:01.618Z,1736376181.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 62.667191 m, bearing: 244.021885 deg, approach rate: 0.227783 m/s, LOS rate: -0.484635 deg/s, cmd heading: 358.432318 deg, new cmd heading: 357.902849 deg. 2025-01-08T22:43:01.640Z,1736376181.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.246583 target range: 120.000000 and range: 120.00 m. 2025-01-08T22:43:01.709Z,1736376181.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:01.710Z,1736376181.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.460323 2025-01-08T22:43:01.961Z,1736376181.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:01.972Z,1736376181.972 [DAT](INFO): DAT read: 22:43:00.0732 LVL= 11120, 26993, 17698, 29443, AGC= 59, IDX= 413, 0.12,-2.451, 2.088, 2.594, 3.053, PHS= 0.868,-0.918,-0.461, RAW= 104.2, 6.4, CAL= 114.4, 4.4, ROT= 35.6, -4.4 2025-01-08T22:43:01.973Z,1736376181.973 [DAT](INFO): got valid direction response: 22:43:00.0732 LVL= 11120, 26993, 17698, 29443, AGC= 59, IDX= 413, 0.12,-2.451, 2.088, 2.594, 3.053, PHS= 0.868,-0.918,-0.461, RAW= 104.2, 6.4, CAL= 114.4, 4.4, ROT= 35.6, -4.4 2025-01-08T22:43:01.974Z,1736376181.974 [DAT](INFO): DAT read: Bearing 35.6, -4.4 (Local) 2025-01-08T22:43:01.975Z,1736376181.975 [DAT](INFO): Local bearing/azimuth received: Bearing 35.6, -4.4 (Local) 2025-01-08T22:43:01.976Z,1736376181.976 [DAT](INFO): DAT read: Range 10 to 50 : 118.4 m (Round-trip 157.9 ms) speed 0.4 m/s 2025-01-08T22:43:01.977Z,1736376181.977 [DAT](INFO): DAT read: user:2817> 2025-01-08T22:43:01.978Z,1736376181.978 [DAT](INFO): DAT read: Tx time:22:43:01.1612 2025-01-08T22:43:01.978Z,1736376181.978 [DAT](INFO): Ping request sent. 2025-01-08T22:43:01.978Z,1736376181.978 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:01.979Z,1736376181.979 [DAT](INFO): DAT read: TxSync time:22:43:01.1604 2025-01-08T22:43:02.012Z,1736376182.012 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:02.012Z,1736376182.012 [DAT](INFO): direction in FSK: [-0.227397,-0.134375,0.964486] 2025-01-08T22:43:02.013Z,1736376182.013 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:02.013Z,1736376182.013 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:02.021Z,1736376182.021 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:02.021Z,1736376182.021 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:02.108Z,1736376182.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:02.153Z,1736376182.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.400002 m, deltaT: 3.780519 s, deltaX: -1.599998 m, approachRate: -0.423222 m/s, rangeRepo size: 4 2025-01-08T22:43:02.155Z,1736376182.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.400002 m, bearing: 218.931531 deg, lat: 36.903664 deg, lon: -122.120819 deg, deltaT: 3.780519 s, deltaX: -1.599998 m, approachRate: -0.423222 m/s, posRepo size: 4 2025-01-08T22:43:02.191Z,1736376182.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.40 m. 2025-01-08T22:43:02.214Z,1736376182.214 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:02.218Z,1736376182.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.400002 m, nav range: 58.343014 m, bearing: 239.339331 deg, approach rate: 0.000000 m/s, LOS rate: -0.484635 deg/s, cmd heading: 357.902841 deg, new cmd heading: 357.122488 deg. 2025-01-08T22:43:02.236Z,1736376182.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232963 target range: 118.400002 and range: 118.40 m. 2025-01-08T22:43:02.464Z,1736376182.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:02.541Z,1736376182.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:02.566Z,1736376182.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.40 m. 2025-01-08T22:43:02.573Z,1736376182.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.400002 m, nav range: 58.466846 m, bearing: 239.128127 deg, approach rate: 0.299417 m/s, LOS rate: -0.509590 deg/s, cmd heading: 357.122479 deg, new cmd heading: 356.490235 deg. 2025-01-08T22:43:02.574Z,1736376182.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.221928 target range: 118.400002 and range: 118.40 m. 2025-01-08T22:43:02.600Z,1736376182.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:43:02.716Z,1736376182.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:02.936Z,1736376182.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:02.945Z,1736376182.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.40 m. 2025-01-08T22:43:02.948Z,1736376182.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.400002 m, nav range: 58.576450 m, bearing: 238.933550 deg, approach rate: 0.289232 m/s, LOS rate: -0.512505 deg/s, cmd heading: 356.490222 deg, new cmd heading: 355.907604 deg. 2025-01-08T22:43:02.949Z,1736376182.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211760 target range: 118.400002 and range: 118.40 m. 2025-01-08T22:43:02.968Z,1736376182.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:03.221Z,1736376183.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:03.357Z,1736376183.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:03.367Z,1736376183.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.40 m. 2025-01-08T22:43:03.386Z,1736376183.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.400002 m, nav range: 58.695782 m, bearing: 238.725023 deg, approach rate: 0.282725 m/s, LOS rate: -0.493045 deg/s, cmd heading: 355.907607 deg, new cmd heading: 355.283325 deg. 2025-01-08T22:43:03.387Z,1736376183.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200864 target range: 118.400002 and range: 118.40 m. 2025-01-08T22:43:03.472Z,1736376183.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:03.720Z,1736376183.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:03.724Z,1736376183.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:03.728Z,1736376183.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:03.731Z,1736376183.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.40 m. 2025-01-08T22:43:03.754Z,1736376183.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.400002 m, nav range: 58.797180 m, bearing: 238.545062 deg, approach rate: 0.278635 m/s, LOS rate: -0.493665 deg/s, cmd heading: 355.283327 deg, new cmd heading: 354.744391 deg. 2025-01-08T22:43:03.755Z,1736376183.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.191458 target range: 118.400002 and range: 118.40 m. 2025-01-08T22:43:03.977Z,1736376183.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:03.978Z,1736376183.978 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:03.978Z,1736376183.978 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:03.978Z,1736376183.978 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:04.128Z,1736376184.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:04.137Z,1736376184.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.40 m. 2025-01-08T22:43:04.156Z,1736376184.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.400002 m, nav range: 58.909988 m, bearing: 238.342234 deg, approach rate: 0.277751 m/s, LOS rate: -0.498434 deg/s, cmd heading: 354.744398 deg, new cmd heading: 354.137105 deg. 2025-01-08T22:43:04.157Z,1736376184.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180859 target range: 118.400002 and range: 118.40 m. 2025-01-08T22:43:04.231Z,1736376184.231 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:04.233Z,1736376184.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254606 2025-01-08T22:43:04.482Z,1736376184.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:04.485Z,1736376184.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506029 2025-01-08T22:43:04.562Z,1736376184.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:04.588Z,1736376184.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.40 m. 2025-01-08T22:43:04.590Z,1736376184.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.400002 m, nav range: 59.030212 m, bearing: 238.128201 deg, approach rate: 0.276740 m/s, LOS rate: -0.491674 deg/s, cmd heading: 354.137112 deg, new cmd heading: 353.496347 deg. 2025-01-08T22:43:04.595Z,1736376184.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169675 target range: 118.400002 and range: 118.40 m. 2025-01-08T22:43:04.732Z,1736376184.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:04.732Z,1736376184.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754125 2025-01-08T22:43:04.936Z,1736376184.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:04.947Z,1736376184.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.40 m. 2025-01-08T22:43:04.950Z,1736376184.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.400002 m, nav range: 59.132885 m, bearing: 237.943321 deg, approach rate: 0.273449 m/s, LOS rate: -0.491536 deg/s, cmd heading: 353.496359 deg, new cmd heading: 352.942700 deg. 2025-01-08T22:43:04.951Z,1736376184.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160012 target range: 118.400002 and range: 118.40 m. 2025-01-08T22:43:04.984Z,1736376184.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:04.985Z,1736376184.985 [DAT](INFO): DAT read: Rx Time:22:43:03.7212 2025-01-08T22:43:04.986Z,1736376184.986 [DAT](INFO): Rx dataTimestamp_ set to:1736376184.985312 2025-01-08T22:43:04.987Z,1736376184.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008141 2025-01-08T22:43:05.237Z,1736376185.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:05.241Z,1736376185.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261778 2025-01-08T22:43:05.364Z,1736376185.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:05.436Z,1736376185.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.40 m. 2025-01-08T22:43:05.438Z,1736376185.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.400002 m, nav range: 59.240601 m, bearing: 237.728443 deg, approach rate: 0.222229 m/s, LOS rate: -0.442509 deg/s, cmd heading: 352.942703 deg, new cmd heading: 352.299271 deg. 2025-01-08T22:43:05.444Z,1736376185.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.148782 target range: 118.400002 and range: 118.40 m. 2025-01-08T22:43:05.488Z,1736376185.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:05.498Z,1736376185.498 [DAT](INFO): DAT read: 22:43:03.7212 LVL= 17520, 28385, 23842, 32755, AGC= 57, IDX= 425, 0.31,-0.100,-1.911,-1.602,-1.024, PHS= 1.013,-0.840,-0.581, RAW= 97.4, 4.8, CAL= 106.8, 3.2, ROT= 43.2, -3.2 2025-01-08T22:43:05.500Z,1736376185.500 [DAT](INFO): got valid direction response: 22:43:03.7212 LVL= 17520, 28385, 23842, 32755, AGC= 57, IDX= 425, 0.31,-0.100,-1.911,-1.602,-1.024, PHS= 1.013,-0.840,-0.581, RAW= 97.4, 4.8, CAL= 106.8, 3.2, ROT= 43.2, -3.2 2025-01-08T22:43:05.501Z,1736376185.501 [DAT](INFO): DAT read: Bearing 43.2, -3.2 (Local) 2025-01-08T22:43:05.502Z,1736376185.502 [DAT](INFO): Local bearing/azimuth received: Bearing 43.2, -3.2 (Local) 2025-01-08T22:43:05.505Z,1736376185.505 [DAT](INFO): DAT read: Range 10 to 50 : 116.9 m (Round-trip 155.9 ms) speed 0.2 m/s 2025-01-08T22:43:05.506Z,1736376185.506 [DAT](INFO): DAT read: user:2818> 2025-01-08T22:43:05.508Z,1736376185.508 [DAT](INFO): DAT read: Tx time:22:43:04.8112 2025-01-08T22:43:05.509Z,1736376185.509 [DAT](INFO): Ping request sent. 2025-01-08T22:43:05.509Z,1736376185.509 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:05.510Z,1736376185.510 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:05.511Z,1736376185.511 [DAT](INFO): direction in FSK: [-0.186515,-0.016791,0.982309] 2025-01-08T22:43:05.512Z,1736376185.512 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:05.512Z,1736376185.512 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:05.546Z,1736376185.546 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:05.546Z,1736376185.546 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:05.740Z,1736376185.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:05.741Z,1736376185.741 [DAT](INFO): DAT read: TxSync time:22:43:04.8104 2025-01-08T22:43:05.761Z,1736376185.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:05.800Z,1736376185.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.900002 m, deltaT: 3.526549 s, deltaX: -1.500000 m, approachRate: -0.425345 m/s, rangeRepo size: 4 2025-01-08T22:43:05.802Z,1736376185.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.900002 m, bearing: 194.673718 deg, lat: 36.903664 deg, lon: -122.120694 deg, deltaT: 3.526549 s, deltaX: -1.500000 m, approachRate: -0.425345 m/s, posRepo size: 4 2025-01-08T22:43:05.803Z,1736376185.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m. 2025-01-08T22:43:05.810Z,1736376185.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.900002 m, nav range: 50.315750 m, bearing: 230.714209 deg, approach rate: 0.000000 m/s, LOS rate: -0.442509 deg/s, cmd heading: 352.299272 deg, new cmd heading: 351.817625 deg. 2025-01-08T22:43:05.810Z,1736376185.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140376 target range: 116.900002 and range: 116.90 m. 2025-01-08T22:43:05.992Z,1736376185.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:06.153Z,1736376186.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:06.160Z,1736376186.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:06.162Z,1736376186.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m. 2025-01-08T22:43:06.166Z,1736376186.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.900002 m, nav range: 50.436619 m, bearing: 230.495362 deg, approach rate: 0.328585 m/s, LOS rate: -0.593516 deg/s, cmd heading: 351.817635 deg, new cmd heading: 351.162696 deg. 2025-01-08T22:43:06.167Z,1736376186.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.128945 target range: 116.900002 and range: 116.90 m. 2025-01-08T22:43:06.245Z,1736376186.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:06.247Z,1736376186.247 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:06.248Z,1736376186.248 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:06.249Z,1736376186.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:06.496Z,1736376186.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:06.497Z,1736376186.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987831 2025-01-08T22:43:06.574Z,1736376186.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:06.602Z,1736376186.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m. 2025-01-08T22:43:06.609Z,1736376186.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.900002 m, nav range: 50.561325 m, bearing: 230.251184 deg, approach rate: 0.283269 m/s, LOS rate: -0.553279 deg/s, cmd heading: 351.162701 deg, new cmd heading: 350.432016 deg. 2025-01-08T22:43:06.610Z,1736376186.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116192 target range: 116.900002 and range: 116.90 m. 2025-01-08T22:43:06.748Z,1736376186.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:06.749Z,1736376186.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239540 2025-01-08T22:43:06.960Z,1736376186.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:06.971Z,1736376186.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m. 2025-01-08T22:43:06.974Z,1736376186.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.900002 m, nav range: 50.674644 m, bearing: 230.026824 deg, approach rate: 0.307371 m/s, LOS rate: -0.607199 deg/s, cmd heading: 350.432008 deg, new cmd heading: 349.760465 deg. 2025-01-08T22:43:06.976Z,1736376186.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.104472 target range: 116.900002 and range: 116.90 m. 2025-01-08T22:43:07.004Z,1736376187.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:07.005Z,1736376187.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495635 2025-01-08T22:43:07.258Z,1736376187.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:07.260Z,1736376187.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750399 2025-01-08T22:43:07.408Z,1736376187.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:07.441Z,1736376187.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m. 2025-01-08T22:43:07.449Z,1736376187.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.900002 m, nav range: 50.803501 m, bearing: 229.761788 deg, approach rate: 0.274404 m/s, LOS rate: -0.562968 deg/s, cmd heading: 349.760464 deg, new cmd heading: 348.967427 deg. 2025-01-08T22:43:07.450Z,1736376187.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.090631 target range: 116.900002 and range: 116.90 m. 2025-01-08T22:43:07.508Z,1736376187.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:07.510Z,1736376187.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000090 2025-01-08T22:43:07.760Z,1736376187.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:07.760Z,1736376187.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251204 2025-01-08T22:43:07.762Z,1736376187.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:07.772Z,1736376187.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m. 2025-01-08T22:43:07.774Z,1736376187.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.900002 m, nav range: 50.901138 m, bearing: 229.551400 deg, approach rate: 0.294916 m/s, LOS rate: -0.634263 deg/s, cmd heading: 348.967424 deg, new cmd heading: 348.337497 deg. 2025-01-08T22:43:07.776Z,1736376187.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079636 target range: 116.900002 and range: 116.90 m. 2025-01-08T22:43:08.012Z,1736376188.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:08.012Z,1736376188.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503055 2025-01-08T22:43:08.178Z,1736376188.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:08.185Z,1736376188.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:08.188Z,1736376188.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m. 2025-01-08T22:43:08.191Z,1736376188.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.900002 m, nav range: 51.014233 m, bearing: 229.303469 deg, approach rate: 0.272116 m/s, LOS rate: -0.595223 deg/s, cmd heading: 348.337489 deg, new cmd heading: 347.595388 deg. 2025-01-08T22:43:08.192Z,1736376188.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066684 target range: 116.900002 and range: 116.90 m. 2025-01-08T22:43:08.266Z,1736376188.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:08.269Z,1736376188.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759346 2025-01-08T22:43:08.516Z,1736376188.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:08.517Z,1736376188.517 [DAT](INFO): DAT read: Rx Time:22:43:07.3700 2025-01-08T22:43:08.517Z,1736376188.517 [DAT](INFO): Rx dataTimestamp_ set to:1736376188.516712 2025-01-08T22:43:08.517Z,1736376188.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008257 2025-01-08T22:43:08.625Z,1736376188.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:08.635Z,1736376188.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m. 2025-01-08T22:43:08.638Z,1736376188.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.900002 m, nav range: 51.134102 m, bearing: 229.035634 deg, approach rate: 0.267817 m/s, LOS rate: -0.597003 deg/s, cmd heading: 347.595376 deg, new cmd heading: 346.793809 deg. 2025-01-08T22:43:08.639Z,1736376188.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052694 target range: 116.900002 and range: 116.90 m. 2025-01-08T22:43:08.768Z,1736376188.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:08.768Z,1736376188.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259157 2025-01-08T22:43:08.985Z,1736376188.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:09.009Z,1736376189.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m. 2025-01-08T22:43:09.022Z,1736376189.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:09.025Z,1736376189.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514802 2025-01-08T22:43:09.029Z,1736376189.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.900002 m, nav range: 51.231205 m, bearing: 228.821389 deg, approach rate: 0.259276 m/s, LOS rate: -0.570971 deg/s, cmd heading: 346.793812 deg, new cmd heading: 346.152325 deg. 2025-01-08T22:43:09.037Z,1736376189.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041498 target range: 116.900002 and range: 116.90 m. 2025-01-08T22:43:09.273Z,1736376189.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:09.295Z,1736376189.295 [DAT](INFO): DAT read: 22:43:07.3700 LVL= 17232, 26609, 22226, 28275, AGC= 59, IDX= 428,-0.17,-1.314,-3.047,-2.979,-2.378, PHS= 1.152,-0.623,-0.604, RAW= 90.5, 0.9, CAL= 98.1, -2.8, ROT= 51.9, 2.8 2025-01-08T22:43:09.299Z,1736376189.299 [DAT](INFO): got valid direction response: 22:43:07.3700 LVL= 17232, 26609, 22226, 28275, AGC= 59, IDX= 428,-0.17,-1.314,-3.047,-2.979,-2.378, PHS= 1.152,-0.623,-0.604, RAW= 90.5, 0.9, CAL= 98.1, -2.8, ROT= 51.9, 2.8 2025-01-08T22:43:09.303Z,1736376189.303 [DAT](INFO): DAT read: Bearing 51.9, 2.8 (Local) 2025-01-08T22:43:09.304Z,1736376189.304 [DAT](INFO): Local bearing/azimuth received: Bearing 51.9, 2.8 (Local) 2025-01-08T22:43:09.309Z,1736376189.309 [DAT](INFO): DAT read: Range 10 to 50 : 115.9 m (Round-trip 154.6 ms) speed 0.2 m/s 2025-01-08T22:43:09.365Z,1736376189.365 [DAT](INFO): DAT read: user:2819> 2025-01-08T22:43:09.366Z,1736376189.366 [DAT](INFO): DAT read: Tx time:22:43:08.4612 2025-01-08T22:43:09.367Z,1736376189.367 [DAT](INFO): Ping request sent. 2025-01-08T22:43:09.367Z,1736376189.367 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:09.396Z,1736376189.396 [DAT](INFO): DAT read: TxSync time:22:43:08.4604 2025-01-08T22:43:09.397Z,1736376189.397 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:09.398Z,1736376189.398 [DAT](INFO): direction in FSK: [-0.102341,0.099241,0.989787] 2025-01-08T22:43:09.398Z,1736376189.398 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:09.399Z,1736376189.399 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:09.421Z,1736376189.421 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:09.421Z,1736376189.421 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:09.480Z,1736376189.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:09.520Z,1736376189.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.900002 m, deltaT: 3.785535 s, deltaX: -1.000000 m, approachRate: -0.264163 m/s, rangeRepo size: 4 2025-01-08T22:43:09.522Z,1736376189.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.900002 m, bearing: 151.014854 deg, lat: 36.903664 deg, lon: -122.120525 deg, deltaT: 3.785535 s, deltaX: -1.000000 m, approachRate: -0.264163 m/s, posRepo size: 4 2025-01-08T22:43:09.523Z,1736376189.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T22:43:09.524Z,1736376189.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:09.531Z,1736376189.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.317318 m, bearing: 214.581628 deg, approach rate: 0.000000 m/s, LOS rate: -0.570971 deg/s, cmd heading: 346.152321 deg, new cmd heading: 345.293590 deg. 2025-01-08T22:43:09.537Z,1736376189.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026510 target range: 115.900002 and range: 115.90 m. 2025-01-08T22:43:09.776Z,1736376189.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:09.830Z,1736376189.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:09.852Z,1736376189.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T22:43:09.855Z,1736376189.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.452747 m, bearing: 214.361462 deg, approach rate: 0.396825 m/s, LOS rate: -0.643004 deg/s, cmd heading: 345.293602 deg, new cmd heading: 344.635294 deg. 2025-01-08T22:43:09.860Z,1736376189.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015020 target range: 115.900002 and range: 115.90 m. 2025-01-08T22:43:10.028Z,1736376190.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:10.244Z,1736376190.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:10.251Z,1736376190.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:10.253Z,1736376190.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T22:43:10.256Z,1736376190.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.613529 m, bearing: 214.103213 deg, approach rate: 0.400992 m/s, LOS rate: -0.641586 deg/s, cmd heading: 344.635281 deg, new cmd heading: 343.863576 deg. 2025-01-08T22:43:10.257Z,1736376190.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001552 target range: 115.900002 and range: 115.90 m. 2025-01-08T22:43:10.282Z,1736376190.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:10.284Z,1736376190.284 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:10.284Z,1736376190.284 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:10.285Z,1736376190.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:10.532Z,1736376190.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:10.533Z,1736376190.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.165783 2025-01-08T22:43:10.668Z,1736376190.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:10.682Z,1736376190.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T22:43:10.685Z,1736376190.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.782135 m, bearing: 213.841493 deg, approach rate: 0.393117 m/s, LOS rate: -0.607755 deg/s, cmd heading: 343.863579 deg, new cmd heading: 343.081637 deg. 2025-01-08T22:43:10.686Z,1736376190.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987904 target range: 115.900002 and range: 115.90 m. 2025-01-08T22:43:10.785Z,1736376190.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:10.788Z,1736376190.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.419745 2025-01-08T22:43:11.036Z,1736376191.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:11.036Z,1736376191.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.669487 2025-01-08T22:43:11.043Z,1736376191.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:11.051Z,1736376191.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T22:43:11.054Z,1736376191.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.931335 m, bearing: 213.609503 deg, approach rate: 0.404303 m/s, LOS rate: -0.626408 deg/s, cmd heading: 343.081631 deg, new cmd heading: 342.388173 deg. 2025-01-08T22:43:11.055Z,1736376191.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975801 target range: 115.900002 and range: 115.90 m. 2025-01-08T22:43:11.289Z,1736376191.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:11.293Z,1736376191.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.925206 2025-01-08T22:43:11.470Z,1736376191.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:11.479Z,1736376191.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T22:43:11.482Z,1736376191.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 42.098503 m, bearing: 213.353494 deg, approach rate: 0.390928 m/s, LOS rate: -0.596307 deg/s, cmd heading: 342.388176 deg, new cmd heading: 341.623247 deg. 2025-01-08T22:43:11.483Z,1736376191.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962451 target range: 115.900002 and range: 115.90 m. 2025-01-08T22:43:11.541Z,1736376191.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:11.542Z,1736376191.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.174764 2025-01-08T22:43:11.792Z,1736376191.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:11.792Z,1736376191.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.425449 2025-01-08T22:43:11.853Z,1736376191.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:11.862Z,1736376191.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T22:43:11.866Z,1736376191.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 42.247692 m, bearing: 213.123298 deg, approach rate: 0.389383 m/s, LOS rate: -0.598687 deg/s, cmd heading: 341.623249 deg, new cmd heading: 340.935136 deg. 2025-01-08T22:43:11.867Z,1736376191.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950441 target range: 115.900002 and range: 115.90 m. 2025-01-08T22:43:12.044Z,1736376192.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:12.044Z,1736376192.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.677463 2025-01-08T22:43:12.271Z,1736376192.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:12.278Z,1736376192.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:12.296Z,1736376192.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:12.297Z,1736376192.297 [DAT](INFO): DAT read: Rx Time:22:43:11.0187 2025-01-08T22:43:12.298Z,1736376192.298 [DAT](INFO): Rx dataTimestamp_ set to:1736376192.297365 2025-01-08T22:43:12.298Z,1736376192.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.931260 2025-01-08T22:43:12.300Z,1736376192.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T22:43:12.303Z,1736376192.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 42.410957 m, bearing: 212.874420 deg, approach rate: 0.372392 m/s, LOS rate: -0.565480 deg/s, cmd heading: 340.935149 deg, new cmd heading: 340.191433 deg. 2025-01-08T22:43:12.311Z,1736376192.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937460 target range: 115.900002 and range: 115.90 m. 2025-01-08T22:43:12.548Z,1736376192.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:12.548Z,1736376192.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.181396 2025-01-08T22:43:12.745Z,1736376192.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:12.754Z,1736376192.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T22:43:12.757Z,1736376192.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 42.594357 m, bearing: 212.579156 deg, approach rate: 0.404069 m/s, LOS rate: -0.647728 deg/s, cmd heading: 340.191423 deg, new cmd heading: 339.309518 deg. 2025-01-08T22:43:12.758Z,1736376192.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922068 target range: 115.900002 and range: 115.90 m. 2025-01-08T22:43:12.802Z,1736376192.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:12.809Z,1736376192.809 [DAT](INFO): DAT read: 22:43:11.0187 LVL= 11760, 24513, 17522, 26291, AGC= 57, IDX= 430, 0.39,-1.221,-2.843,-3.072,-2.206, PHS= 1.073,-0.590,-0.869, RAW= 82.4, 4.3, CAL= 87.6, 2.8, ROT= 62.4, -2.8 2025-01-08T22:43:12.810Z,1736376192.810 [DAT](INFO): got valid direction response: 22:43:11.0187 LVL= 11760, 24513, 17522, 26291, AGC= 57, IDX= 430, 0.39,-1.221,-2.843,-3.072,-2.206, PHS= 1.073,-0.590,-0.869, RAW= 82.4, 4.3, CAL= 87.6, 2.8, ROT= 62.4, -2.8 2025-01-08T22:43:12.811Z,1736376192.811 [DAT](INFO): DAT read: Bearing 62.4, -2.8 (Local) 2025-01-08T22:43:12.812Z,1736376192.812 [DAT](INFO): Local bearing/azimuth received: Bearing 62.4, -2.8 (Local) 2025-01-08T22:43:12.814Z,1736376192.814 [DAT](INFO): DAT read: Range 10 to 50 : 114.9 m (Round-trip 153.3 ms) speed 0.0 m/s 2025-01-08T22:43:12.819Z,1736376192.819 [DAT](INFO): DAT read: user:2820> 2025-01-08T22:43:12.821Z,1736376192.821 [DAT](INFO): DAT read: Tx time:22:43:12.1113 2025-01-08T22:43:12.821Z,1736376192.821 [DAT](INFO): Ping request sent. 2025-01-08T22:43:12.822Z,1736376192.822 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:12.822Z,1736376192.822 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:12.828Z,1736376192.828 [DAT](INFO): direction in FSK: [-0.152854,0.240344,0.958577] 2025-01-08T22:43:12.829Z,1736376192.829 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:12.829Z,1736376192.829 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:12.839Z,1736376192.839 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:12.843Z,1736376192.843 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:13.052Z,1736376193.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:13.054Z,1736376193.054 [DAT](INFO): DAT read: TxSync time:22:43:12.1105 2025-01-08T22:43:13.097Z,1736376193.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:13.126Z,1736376193.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.900002 m, deltaT: 3.528174 s, deltaX: -1.000000 m, approachRate: -0.283433 m/s, rangeRepo size: 4 2025-01-08T22:43:13.140Z,1736376193.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.900002 m, bearing: 114.959944 deg, lat: 36.903719 deg, lon: -122.120332 deg, deltaT: 3.528174 s, deltaX: -1.000000 m, approachRate: -0.283433 m/s, posRepo size: 4 2025-01-08T22:43:13.142Z,1736376193.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m. 2025-01-08T22:43:13.156Z,1736376193.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.900002 m, nav range: 30.572147 m, bearing: 190.774741 deg, approach rate: 0.000000 m/s, LOS rate: -0.647728 deg/s, cmd heading: 339.309509 deg, new cmd heading: 338.587320 deg. 2025-01-08T22:43:13.157Z,1736376193.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909463 target range: 114.900002 and range: 114.90 m. 2025-01-08T22:43:13.304Z,1736376193.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:13.509Z,1736376193.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:13.519Z,1736376193.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m. 2025-01-08T22:43:13.522Z,1736376193.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.900002 m, nav range: 30.779274 m, bearing: 190.534431 deg, approach rate: 0.526896 m/s, LOS rate: -0.607193 deg/s, cmd heading: 338.587312 deg, new cmd heading: 337.871274 deg. 2025-01-08T22:43:13.523Z,1736376193.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896966 target range: 114.900002 and range: 114.90 m. 2025-01-08T22:43:13.556Z,1736376193.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:13.808Z,1736376193.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:13.888Z,1736376193.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:13.900Z,1736376193.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m. 2025-01-08T22:43:13.907Z,1736376193.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.900002 m, nav range: 30.968372 m, bearing: 190.310904 deg, approach rate: 0.495975 m/s, LOS rate: -0.582696 deg/s, cmd heading: 337.871263 deg, new cmd heading: 337.204806 deg. 2025-01-08T22:43:13.909Z,1736376193.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885334 target range: 114.900002 and range: 114.90 m. 2025-01-08T22:43:14.060Z,1736376194.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:14.287Z,1736376194.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:14.294Z,1736376194.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:14.296Z,1736376194.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m. 2025-01-08T22:43:14.300Z,1736376194.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.900002 m, nav range: 31.165178 m, bearing: 190.072518 deg, approach rate: 0.497762 m/s, LOS rate: -0.599116 deg/s, cmd heading: 337.204800 deg, new cmd heading: 336.494198 deg. 2025-01-08T22:43:14.301Z,1736376194.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872931 target range: 114.900002 and range: 114.90 m. 2025-01-08T22:43:14.312Z,1736376194.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:14.312Z,1736376194.312 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:14.312Z,1736376194.312 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:14.313Z,1736376194.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:14.564Z,1736376194.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:14.565Z,1736376194.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743936 2025-01-08T22:43:14.720Z,1736376194.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:14.729Z,1736376194.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m. 2025-01-08T22:43:14.750Z,1736376194.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.900002 m, nav range: 31.385649 m, bearing: 189.780436 deg, approach rate: 0.508677 m/s, LOS rate: -0.669165 deg/s, cmd heading: 336.494187 deg, new cmd heading: 335.624167 deg. 2025-01-08T22:43:14.755Z,1736376194.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857747 target range: 114.900002 and range: 114.90 m. 2025-01-08T22:43:14.816Z,1736376194.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:14.817Z,1736376194.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996176 2025-01-08T22:43:15.068Z,1736376195.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:15.069Z,1736376195.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247605 2025-01-08T22:43:15.105Z,1736376195.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:15.117Z,1736376195.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m. 2025-01-08T22:43:15.124Z,1736376195.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.900002 m, nav range: 31.576771 m, bearing: 189.512784 deg, approach rate: 0.492305 m/s, LOS rate: -0.685259 deg/s, cmd heading: 335.624158 deg, new cmd heading: 334.826117 deg. 2025-01-08T22:43:15.125Z,1736376195.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843818 target range: 114.900002 and range: 114.90 m. 2025-01-08T22:43:15.322Z,1736376195.322 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:15.324Z,1736376195.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502900 2025-01-08T22:43:15.509Z,1736376195.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:15.523Z,1736376195.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m. 2025-01-08T22:43:15.545Z,1736376195.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.900002 m, nav range: 31.773018 m, bearing: 189.200022 deg, approach rate: 0.483784 m/s, LOS rate: -0.766249 deg/s, cmd heading: 334.826118 deg, new cmd heading: 333.893714 deg. 2025-01-08T22:43:15.548Z,1736376195.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827545 target range: 114.900002 and range: 114.90 m. 2025-01-08T22:43:15.572Z,1736376195.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:15.572Z,1736376195.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751284 2025-01-08T22:43:15.824Z,1736376195.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:15.824Z,1736376195.824 [DAT](INFO): DAT read: Rx Time:22:43:14.6681 2025-01-08T22:43:15.825Z,1736376195.825 [DAT](INFO): Rx dataTimestamp_ set to:1736376195.824588 2025-01-08T22:43:15.825Z,1736376195.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004212 2025-01-08T22:43:15.892Z,1736376195.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:15.912Z,1736376195.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m. 2025-01-08T22:43:15.922Z,1736376195.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.900002 m, nav range: 31.957369 m, bearing: 188.902435 deg, approach rate: 0.473495 m/s, LOS rate: -0.759923 deg/s, cmd heading: 333.893716 deg, new cmd heading: 333.006180 deg. 2025-01-08T22:43:15.930Z,1736376195.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812054 target range: 114.900002 and range: 114.90 m. 2025-01-08T22:43:16.076Z,1736376196.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:16.077Z,1736376196.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255323 2025-01-08T22:43:16.307Z,1736376196.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:16.329Z,1736376196.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:16.333Z,1736376196.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510942 2025-01-08T22:43:16.363Z,1736376196.363 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:16.406Z,1736376196.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m. 2025-01-08T22:43:16.442Z,1736376196.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.900002 m, nav range: 32.155617 m, bearing: 188.579194 deg, approach rate: 0.402587 m/s, LOS rate: -0.652363 deg/s, cmd heading: 333.006174 deg, new cmd heading: 332.042525 deg. 2025-01-08T22:43:16.448Z,1736376196.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795235 target range: 114.900002 and range: 114.90 m. 2025-01-08T22:43:16.580Z,1736376196.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:16.588Z,1736376196.588 [DAT](INFO): DAT read: 22:43:14.6681 LVL= 9968, 27121, 18962, 22371, AGC= 55, IDX= 440,-0.43,-0.413,-1.733,-2.595,-1.331, PHS= 1.006,-0.354,-1.266, RAW= 66.5, 6.3, CAL= 67.6, 7.8, ROT= 82.4, -7.8 2025-01-08T22:43:16.589Z,1736376196.589 [DAT](INFO): got valid direction response: 22:43:14.6681 LVL= 9968, 27121, 18962, 22371, AGC= 55, IDX= 440,-0.43,-0.413,-1.733,-2.595,-1.331, PHS= 1.006,-0.354,-1.266, RAW= 66.5, 6.3, CAL= 67.6, 7.8, ROT= 82.4, -7.8 2025-01-08T22:43:16.590Z,1736376196.590 [DAT](INFO): DAT read: Bearing 82.4, -7.8 (Local) 2025-01-08T22:43:16.590Z,1736376196.590 [DAT](INFO): Local bearing/azimuth received: Bearing 82.4, -7.8 (Local) 2025-01-08T22:43:16.592Z,1736376196.592 [DAT](INFO): DAT read: Range 10 to 50 : 114.5 m (Round-trip 152.7 ms) speed 0.0 m/s 2025-01-08T22:43:16.593Z,1736376196.593 [DAT](INFO): DAT read: user:2821> 2025-01-08T22:43:16.594Z,1736376196.594 [DAT](INFO): DAT read: Tx time:22:43:15.7613 2025-01-08T22:43:16.594Z,1736376196.594 [DAT](INFO): Ping request sent. 2025-01-08T22:43:16.594Z,1736376196.594 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:16.595Z,1736376196.595 [DAT](INFO): DAT read: TxSync time:22:43:15.7605 2025-01-08T22:43:16.612Z,1736376196.612 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:16.612Z,1736376196.612 [DAT](INFO): direction in FSK: [-0.158407,0.488076,0.858306] 2025-01-08T22:43:16.613Z,1736376196.613 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:16.614Z,1736376196.614 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:16.626Z,1736376196.626 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:16.626Z,1736376196.626 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:16.812Z,1736376196.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:16.832Z,1736376196.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:16.848Z,1736376196.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.500000 m, deltaT: 3.778804 s, deltaX: -0.400002 m, approachRate: -0.105854 m/s, rangeRepo size: 4 2025-01-08T22:43:16.850Z,1736376196.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.500000 m, bearing: 85.522641 deg, lat: 36.903843 deg, lon: -122.120173 deg, deltaT: 3.778804 s, deltaX: -0.400002 m, approachRate: -0.105854 m/s, posRepo size: 4 2025-01-08T22:43:16.855Z,1736376196.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:16.858Z,1736376196.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 20.604990 m, bearing: 152.401667 deg, approach rate: 0.000000 m/s, LOS rate: -0.652363 deg/s, cmd heading: 332.042516 deg, new cmd heading: 331.184230 deg. 2025-01-08T22:43:16.859Z,1736376196.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780255 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:17.084Z,1736376197.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:17.147Z,1736376197.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:17.155Z,1736376197.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:17.158Z,1736376197.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 20.825077 m, bearing: 152.288477 deg, approach rate: 0.705905 m/s, LOS rate: -0.359209 deg/s, cmd heading: 331.184234 deg, new cmd heading: 330.848256 deg. 2025-01-08T22:43:17.159Z,1736376197.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774391 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:17.336Z,1736376197.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:17.588Z,1736376197.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:17.592Z,1736376197.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:17.615Z,1736376197.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:17.622Z,1736376197.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 21.119623 m, bearing: 152.112357 deg, approach rate: 0.640726 m/s, LOS rate: -0.377769 deg/s, cmd heading: 330.848244 deg, new cmd heading: 330.327269 deg. 2025-01-08T22:43:17.623Z,1736376197.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765298 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:17.840Z,1736376197.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:17.941Z,1736376197.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:17.951Z,1736376197.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:17.953Z,1736376197.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 21.349497 m, bearing: 151.970225 deg, approach rate: 0.684266 m/s, LOS rate: -0.418528 deg/s, cmd heading: 330.327264 deg, new cmd heading: 329.905468 deg. 2025-01-08T22:43:17.954Z,1736376197.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757936 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:18.092Z,1736376198.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:18.344Z,1736376198.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:18.362Z,1736376198.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:18.369Z,1736376198.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:18.371Z,1736376198.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:18.374Z,1736376198.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 21.625933 m, bearing: 151.794201 deg, approach rate: 0.657506 m/s, LOS rate: -0.413323 deg/s, cmd heading: 329.905459 deg, new cmd heading: 329.384152 deg. 2025-01-08T22:43:18.375Z,1736376198.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748838 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:18.597Z,1736376198.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:18.597Z,1736376198.597 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:18.597Z,1736376198.597 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:18.598Z,1736376198.598 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:18.788Z,1736376198.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:18.798Z,1736376198.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:18.801Z,1736376198.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 21.907074 m, bearing: 151.620858 deg, approach rate: 0.658381 m/s, LOS rate: -0.400729 deg/s, cmd heading: 329.384152 deg, new cmd heading: 328.870808 deg. 2025-01-08T22:43:18.802Z,1736376198.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739879 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:18.848Z,1736376198.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:18.849Z,1736376198.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255204 2025-01-08T22:43:19.100Z,1736376199.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:19.100Z,1736376199.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506310 2025-01-08T22:43:19.171Z,1736376199.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:19.182Z,1736376199.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:19.184Z,1736376199.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 22.158922 m, bearing: 151.462231 deg, approach rate: 0.656672 m/s, LOS rate: -0.408905 deg/s, cmd heading: 328.870822 deg, new cmd heading: 328.400361 deg. 2025-01-08T22:43:19.185Z,1736376199.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731668 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:19.353Z,1736376199.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:19.354Z,1736376199.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759874 2025-01-08T22:43:19.570Z,1736376199.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:19.604Z,1736376199.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:19.604Z,1736376199.604 [DAT](INFO): DAT read: Rx Time:22:43:18.3181 2025-01-08T22:43:19.605Z,1736376199.605 [DAT](INFO): Rx dataTimestamp_ set to:1736376199.604658 2025-01-08T22:43:19.605Z,1736376199.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011348 2025-01-08T22:43:19.607Z,1736376199.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:19.614Z,1736376199.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 22.414852 m, bearing: 151.319482 deg, approach rate: 0.601792 m/s, LOS rate: -0.331826 deg/s, cmd heading: 328.400358 deg, new cmd heading: 327.977009 deg. 2025-01-08T22:43:19.620Z,1736376199.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724278 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:19.856Z,1736376199.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:19.857Z,1736376199.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262390 2025-01-08T22:43:19.957Z,1736376199.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:19.987Z,1736376199.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:19.990Z,1736376199.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 22.662443 m, bearing: 151.178401 deg, approach rate: 0.682285 m/s, LOS rate: -0.384526 deg/s, cmd heading: 327.976996 deg, new cmd heading: 327.558388 deg. 2025-01-08T22:43:19.996Z,1736376199.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716972 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:20.108Z,1736376200.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:20.109Z,1736376200.109 [DAT](INFO): DAT read: Range 10 to 50 : 114.5 m (Round-trip 152.7 ms) speed 0.0 m/s 2025-01-08T22:43:20.110Z,1736376200.110 [DAT](INFO): DAT read: user:2822> 2025-01-08T22:43:20.111Z,1736376200.111 [DAT](INFO): DAT read: Tx time:22:43:19.4113 2025-01-08T22:43:20.112Z,1736376200.112 [DAT](INFO): Ping request sent. 2025-01-08T22:43:20.112Z,1736376200.112 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:20.112Z,1736376200.112 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:43:20.112Z,1736376200.112 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:20.113Z,1736376200.113 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:20.361Z,1736376200.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:20.364Z,1736376200.364 [DAT](INFO): DAT read: TxSync time:22:43:19.4105 2025-01-08T22:43:20.371Z,1736376200.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:20.378Z,1736376200.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:20.382Z,1736376200.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.500000 m, deltaT: 3.527175 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:43:20.382Z,1736376200.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:20.385Z,1736376200.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 22.926575 m, bearing: 151.025795 deg, approach rate: 0.642357 m/s, LOS rate: -0.366858 deg/s, cmd heading: 327.558387 deg, new cmd heading: 327.105851 deg. 2025-01-08T22:43:20.386Z,1736376200.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709074 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:20.612Z,1736376200.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:20.612Z,1736376200.612 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:20.612Z,1736376200.612 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:20.613Z,1736376200.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:20.801Z,1736376200.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:20.810Z,1736376200.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:20.813Z,1736376200.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 23.190556 m, bearing: 150.914031 deg, approach rate: 0.615472 m/s, LOS rate: -0.257610 deg/s, cmd heading: 327.105846 deg, new cmd heading: 326.774377 deg. 2025-01-08T22:43:20.816Z,1736376200.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703289 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:20.865Z,1736376200.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:20.866Z,1736376200.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754216 2025-01-08T22:43:21.116Z,1736376201.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:21.116Z,1736376201.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004727 2025-01-08T22:43:21.187Z,1736376201.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:21.195Z,1736376201.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:21.200Z,1736376201.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 23.426809 m, bearing: 150.811998 deg, approach rate: 0.613417 m/s, LOS rate: -0.262251 deg/s, cmd heading: 326.774391 deg, new cmd heading: 326.471381 deg. 2025-01-08T22:43:21.201Z,1736376201.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698000 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:21.368Z,1736376201.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:21.368Z,1736376201.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256789 2025-01-08T22:43:21.610Z,1736376201.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:21.620Z,1736376201.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:21.621Z,1736376201.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509205 2025-01-08T22:43:21.625Z,1736376201.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:21.628Z,1736376201.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 23.677223 m, bearing: 150.739068 deg, approach rate: 0.581884 m/s, LOS rate: -0.167675 deg/s, cmd heading: 326.471376 deg, new cmd heading: 326.254901 deg. 2025-01-08T22:43:21.630Z,1736376201.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694222 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:21.872Z,1736376201.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:21.872Z,1736376201.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760634 2025-01-08T22:43:21.985Z,1736376201.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:21.994Z,1736376201.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:22.039Z,1736376202.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 23.898893 m, bearing: 150.669081 deg, approach rate: 0.601324 m/s, LOS rate: -0.188094 deg/s, cmd heading: 326.254914 deg, new cmd heading: 326.046900 deg. 2025-01-08T22:43:22.040Z,1736376202.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690592 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:22.124Z,1736376202.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:22.126Z,1736376202.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013829 2025-01-08T22:43:22.376Z,1736376202.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:22.376Z,1736376202.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264720 2025-01-08T22:43:22.386Z,1736376202.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:22.401Z,1736376202.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:22.405Z,1736376202.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:22.432Z,1736376202.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 24.135181 m, bearing: 150.592702 deg, approach rate: 0.574684 m/s, LOS rate: -0.183944 deg/s, cmd heading: 326.046894 deg, new cmd heading: 325.820003 deg. 2025-01-08T22:43:22.433Z,1736376202.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686632 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:22.628Z,1736376202.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:22.629Z,1736376202.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517463 2025-01-08T22:43:22.809Z,1736376202.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:22.819Z,1736376202.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:22.822Z,1736376202.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 24.374977 m, bearing: 150.548802 deg, approach rate: 0.579082 m/s, LOS rate: -0.104971 deg/s, cmd heading: 325.819995 deg, new cmd heading: 325.689591 deg. 2025-01-08T22:43:22.823Z,1736376202.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684356 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:22.881Z,1736376202.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:22.882Z,1736376202.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770179 2025-01-08T22:43:23.132Z,1736376203.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:23.132Z,1736376203.132 [DAT](INFO): DAT read: Rx Time:22:43:21.9679 2025-01-08T22:43:23.133Z,1736376203.133 [DAT](INFO): Rx dataTimestamp_ set to:1736376203.132663 2025-01-08T22:43:23.133Z,1736376203.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021760 2025-01-08T22:43:23.234Z,1736376203.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:23.243Z,1736376203.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:23.246Z,1736376203.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 24.615433 m, bearing: 150.502307 deg, approach rate: 0.567807 m/s, LOS rate: -0.108720 deg/s, cmd heading: 325.689593 deg, new cmd heading: 325.551470 deg. 2025-01-08T22:43:23.246Z,1736376203.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681945 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:23.384Z,1736376203.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:23.384Z,1736376203.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272775 2025-01-08T22:43:23.660Z,1736376203.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:23.675Z,1736376203.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:23.685Z,1736376203.685 [DAT](INFO): DAT read: 22:43:21.9679 LVL= 11952, 22193, 25666, 30195, AGC= 59, IDX= 437, 0.36, 0.879,-0.234,-1.594,-0.346, PHS= 1.313, 0.159,-1.251, RAW= 56.7, -2.0, CAL= 59.9, -5.7, ROT= 90.1, 5.7 2025-01-08T22:43:23.687Z,1736376203.687 [DAT](INFO): got valid direction response: 22:43:21.9679 LVL= 11952, 22193, 25666, 30195, AGC= 59, IDX= 437, 0.36, 0.879,-0.234,-1.594,-0.346, PHS= 1.313, 0.159,-1.251, RAW= 56.7, -2.0, CAL= 59.9, -5.7, ROT= 90.1, 5.7 2025-01-08T22:43:23.696Z,1736376203.696 [DAT](INFO): DAT read: Bearing 90.1, 5.7 (Local) 2025-01-08T22:43:23.697Z,1736376203.697 [DAT](INFO): Local bearing/azimuth received: Bearing 90.1, 5.7 (Local) 2025-01-08T22:43:23.698Z,1736376203.698 [DAT](INFO): DAT read: Range 10 to 50 : 114.3 m (Round-trip 152.4 ms) speed -0.1 m/s 2025-01-08T22:43:23.707Z,1736376203.707 [DAT](INFO): DAT read: user:2823> 2025-01-08T22:43:23.708Z,1736376203.708 [DAT](INFO): DAT read: Tx time:22:43:23.0614 2025-01-08T22:43:23.709Z,1736376203.709 [DAT](INFO): Ping request sent. 2025-01-08T22:43:23.709Z,1736376203.709 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:23.709Z,1736376203.709 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:23.710Z,1736376203.710 [DAT](INFO): direction in FSK: [0.014952,0.618093,0.785963] 2025-01-08T22:43:23.710Z,1736376203.710 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:23.710Z,1736376203.710 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:23.712Z,1736376203.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T22:43:23.726Z,1736376203.726 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:23.726Z,1736376203.726 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:23.727Z,1736376203.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 24.830238 m, bearing: 150.467469 deg, approach rate: 0.466248 m/s, LOS rate: -0.074965 deg/s, cmd heading: 325.551459 deg, new cmd heading: 325.447848 deg. 2025-01-08T22:43:23.728Z,1736376203.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680137 target range: 114.500000 and range: 114.50 m. 2025-01-08T22:43:23.888Z,1736376203.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:23.889Z,1736376203.889 [DAT](INFO): DAT read: TxSync time:22:43:23.0606 2025-01-08T22:43:24.010Z,1736376204.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:24.053Z,1736376204.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.300003 m, deltaT: 3.552796 s, deltaX: -0.199997 m, approachRate: -0.056293 m/s, rangeRepo size: 4 2025-01-08T22:43:24.060Z,1736376204.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.300003 m, bearing: 54.370033 deg, lat: 36.903874 deg, lon: -122.119959 deg, deltaT: 7.079971 s, deltaX: -0.199997 m, approachRate: -0.028248 m/s, posRepo size: 4 2025-01-08T22:43:24.061Z,1736376204.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T22:43:24.068Z,1736376204.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 36.380589 m, bearing: 120.272822 deg, approach rate: 0.000000 m/s, LOS rate: -0.074965 deg/s, cmd heading: 325.447859 deg, new cmd heading: 325.369339 deg. 2025-01-08T22:43:24.069Z,1736376204.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678766 target range: 114.300003 and range: 114.30 m. 2025-01-08T22:43:24.140Z,1736376204.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:24.393Z,1736376204.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:24.423Z,1736376204.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:24.453Z,1736376204.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:24.455Z,1736376204.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T22:43:24.458Z,1736376204.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 36.583534 m, bearing: 120.423327 deg, approach rate: 0.504620 m/s, LOS rate: 0.372153 deg/s, cmd heading: 325.369339 deg, new cmd heading: 325.818342 deg. 2025-01-08T22:43:24.458Z,1736376204.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686603 target range: 114.300003 and range: 114.30 m. 2025-01-08T22:43:24.645Z,1736376204.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:24.646Z,1736376204.646 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:24.646Z,1736376204.646 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:24.648Z,1736376204.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:24.836Z,1736376204.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:24.861Z,1736376204.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T22:43:24.865Z,1736376204.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 36.795349 m, bearing: 120.580912 deg, approach rate: 0.521854 m/s, LOS rate: 0.386010 deg/s, cmd heading: 325.818328 deg, new cmd heading: 326.288350 deg. 2025-01-08T22:43:24.866Z,1736376204.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694806 target range: 114.300003 and range: 114.30 m. 2025-01-08T22:43:24.898Z,1736376204.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:24.899Z,1736376204.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.190043 2025-01-08T22:43:25.148Z,1736376205.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:25.149Z,1736376205.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.440303 2025-01-08T22:43:25.212Z,1736376205.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:25.242Z,1736376205.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T22:43:25.245Z,1736376205.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 36.988686 m, bearing: 120.720538 deg, approach rate: 0.510585 m/s, LOS rate: 0.366812 deg/s, cmd heading: 326.288355 deg, new cmd heading: 326.705035 deg. 2025-01-08T22:43:25.246Z,1736376205.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702078 target range: 114.300003 and range: 114.30 m. 2025-01-08T22:43:25.402Z,1736376205.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:25.405Z,1736376205.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695940 2025-01-08T22:43:25.652Z,1736376205.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:25.653Z,1736376205.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944615 2025-01-08T22:43:25.655Z,1736376205.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:25.670Z,1736376205.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T22:43:25.674Z,1736376205.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 37.226479 m, bearing: 120.879031 deg, approach rate: 0.552787 m/s, LOS rate: 0.366089 deg/s, cmd heading: 326.705023 deg, new cmd heading: 327.177455 deg. 2025-01-08T22:43:25.681Z,1736376205.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710324 target range: 114.300003 and range: 114.30 m. 2025-01-08T22:43:25.904Z,1736376205.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:25.904Z,1736376205.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195657 2025-01-08T22:43:26.020Z,1736376206.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:26.049Z,1736376206.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T22:43:26.052Z,1736376206.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 37.423809 m, bearing: 121.007770 deg, approach rate: 0.520194 m/s, LOS rate: 0.337587 deg/s, cmd heading: 327.177454 deg, new cmd heading: 327.561629 deg. 2025-01-08T22:43:26.053Z,1736376206.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717029 target range: 114.300003 and range: 114.30 m. 2025-01-08T22:43:26.156Z,1736376206.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:26.156Z,1736376206.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.447786 2025-01-08T22:43:26.408Z,1736376206.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:26.408Z,1736376206.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.699630 2025-01-08T22:43:26.438Z,1736376206.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:26.446Z,1736376206.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T22:43:26.449Z,1736376206.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 37.649345 m, bearing: 121.151403 deg, approach rate: 0.567850 m/s, LOS rate: 0.359469 deg/s, cmd heading: 327.561638 deg, new cmd heading: 327.989948 deg. 2025-01-08T22:43:26.450Z,1736376206.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724504 target range: 114.300003 and range: 114.30 m. 2025-01-08T22:43:26.660Z,1736376206.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:26.661Z,1736376206.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.952399 2025-01-08T22:43:26.856Z,1736376206.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:26.862Z,1736376206.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:26.865Z,1736376206.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T22:43:26.868Z,1736376206.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 37.893757 m, bearing: 121.276583 deg, approach rate: 0.583102 m/s, LOS rate: 0.296720 deg/s, cmd heading: 327.989946 deg, new cmd heading: 328.363057 deg. 2025-01-08T22:43:26.869Z,1736376206.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731017 target range: 114.300003 and range: 114.30 m. 2025-01-08T22:43:26.912Z,1736376206.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:26.913Z,1736376206.913 [DAT](INFO): DAT read: Rx Time:22:43:25.6183 2025-01-08T22:43:26.914Z,1736376206.914 [DAT](INFO): Rx dataTimestamp_ set to:1736376206.913745 2025-01-08T22:43:26.915Z,1736376206.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205862 2025-01-08T22:43:27.164Z,1736376207.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:27.165Z,1736376207.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.455953 2025-01-08T22:43:27.240Z,1736376207.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:27.257Z,1736376207.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T22:43:27.264Z,1736376207.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 38.119213 m, bearing: 121.389737 deg, approach rate: 0.575124 m/s, LOS rate: 0.286942 deg/s, cmd heading: 328.363066 deg, new cmd heading: 328.700516 deg. 2025-01-08T22:43:27.265Z,1736376207.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736906 target range: 114.300003 and range: 114.30 m. 2025-01-08T22:43:27.416Z,1736376207.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:27.428Z,1736376207.428 [DAT](INFO): DAT read: 22:43:25.6183 LVL= 11376, 11537, 14834, 21683, AGC= 56, IDX= 425,-0.10,-1.802,-3.070, 1.995,-3.131, PHS= 1.417, 0.108,-1.160, RAW= 60.5, -3.3, CAL= 65.5, -8.0, ROT= 84.5, 8.0 2025-01-08T22:43:27.429Z,1736376207.429 [DAT](INFO): got valid direction response: 22:43:25.6183 LVL= 11376, 11537, 14834, 21683, AGC= 56, IDX= 425,-0.10,-1.802,-3.070, 1.995,-3.131, PHS= 1.417, 0.108,-1.160, RAW= 60.5, -3.3, CAL= 65.5, -8.0, ROT= 84.5, 8.0 2025-01-08T22:43:27.435Z,1736376207.435 [DAT](INFO): DAT read: Bearing 84.5, 8.0 (Local) 2025-01-08T22:43:27.444Z,1736376207.444 [DAT](INFO): Local bearing/azimuth received: Bearing 84.5, 8.0 (Local) 2025-01-08T22:43:27.446Z,1736376207.446 [DAT](INFO): DAT read: Range 10 to 50 : 114.6 m (Round-trip 152.8 ms) speed -0.2 m/s 2025-01-08T22:43:27.449Z,1736376207.449 [DAT](INFO): DAT read: user:2824> 2025-01-08T22:43:27.450Z,1736376207.450 [DAT](INFO): DAT read: Tx time:22:43:26.7114 2025-01-08T22:43:27.450Z,1736376207.450 [DAT](INFO): Ping request sent. 2025-01-08T22:43:27.451Z,1736376207.451 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:27.451Z,1736376207.451 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:27.467Z,1736376207.467 [DAT](INFO): direction in FSK: [0.031398,0.565545,0.824120] 2025-01-08T22:43:27.468Z,1736376207.468 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:27.468Z,1736376207.468 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:27.471Z,1736376207.471 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:27.475Z,1736376207.475 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:27.668Z,1736376207.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:27.670Z,1736376207.670 [DAT](INFO): DAT read: TxSync time:22:43:26.7106 2025-01-08T22:43:27.728Z,1736376207.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:27.761Z,1736376207.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.599998 m, deltaT: 3.756240 s, deltaX: 0.299995 m, approachRate: 0.079866 m/s, rangeRepo size: 4 2025-01-08T22:43:27.776Z,1736376207.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.599998 m, bearing: 49.429121 deg, lat: 36.904046 deg, lon: -122.119861 deg, deltaT: 3.756240 s, deltaX: 0.299995 m, approachRate: 0.079866 m/s, posRepo size: 4 2025-01-08T22:43:27.777Z,1736376207.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T22:43:27.784Z,1736376207.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 41.468895 m, bearing: 91.268884 deg, approach rate: 0.000000 m/s, LOS rate: 0.286942 deg/s, cmd heading: 328.700504 deg, new cmd heading: 329.133706 deg. 2025-01-08T22:43:27.785Z,1736376207.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744467 target range: 114.599998 and range: 114.60 m. 2025-01-08T22:43:27.920Z,1736376207.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:28.121Z,1736376208.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:28.137Z,1736376208.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T22:43:28.141Z,1736376208.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 41.650352 m, bearing: 91.525816 deg, approach rate: 0.481661 m/s, LOS rate: 0.679026 deg/s, cmd heading: 329.133702 deg, new cmd heading: 329.901090 deg. 2025-01-08T22:43:28.142Z,1736376208.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757860 target range: 114.599998 and range: 114.60 m. 2025-01-08T22:43:28.172Z,1736376208.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:28.424Z,1736376208.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:28.481Z,1736376208.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:28.509Z,1736376208.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T22:43:28.516Z,1736376208.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 41.814743 m, bearing: 91.756430 deg, approach rate: 0.441432 m/s, LOS rate: 0.616824 deg/s, cmd heading: 329.901088 deg, new cmd heading: 330.590176 deg. 2025-01-08T22:43:28.517Z,1736376208.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769887 target range: 114.599998 and range: 114.60 m. 2025-01-08T22:43:28.676Z,1736376208.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:28.905Z,1736376208.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:28.912Z,1736376208.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:28.915Z,1736376208.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T22:43:28.918Z,1736376208.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 42.025009 m, bearing: 92.030593 deg, approach rate: 0.518965 m/s, LOS rate: 0.673284 deg/s, cmd heading: 330.590172 deg, new cmd heading: 331.408488 deg. 2025-01-08T22:43:28.919Z,1736376208.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784169 target range: 114.599998 and range: 114.60 m. 2025-01-08T22:43:28.928Z,1736376208.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:28.929Z,1736376208.929 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:28.929Z,1736376208.929 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:28.929Z,1736376208.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:29.180Z,1736376209.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:29.181Z,1736376209.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730983 2025-01-08T22:43:29.269Z,1736376209.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:29.278Z,1736376209.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T22:43:29.282Z,1736376209.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 42.205692 m, bearing: 92.264570 deg, approach rate: 0.497287 m/s, LOS rate: 0.641204 deg/s, cmd heading: 331.408483 deg, new cmd heading: 332.107370 deg. 2025-01-08T22:43:29.283Z,1736376209.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796367 target range: 114.599998 and range: 114.60 m. 2025-01-08T22:43:29.432Z,1736376209.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:29.432Z,1736376209.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982159 2025-01-08T22:43:29.684Z,1736376209.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:29.685Z,1736376209.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234440 2025-01-08T22:43:29.724Z,1736376209.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:29.750Z,1736376209.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T22:43:29.758Z,1736376209.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 42.447083 m, bearing: 92.554915 deg, approach rate: 0.511109 m/s, LOS rate: 0.611266 deg/s, cmd heading: 332.107375 deg, new cmd heading: 332.973389 deg. 2025-01-08T22:43:29.764Z,1736376209.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811482 target range: 114.599998 and range: 114.60 m. 2025-01-08T22:43:29.936Z,1736376209.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:29.936Z,1736376209.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486182 2025-01-08T22:43:30.098Z,1736376210.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:30.122Z,1736376210.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T22:43:30.125Z,1736376210.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 42.645393 m, bearing: 92.790033 deg, approach rate: 0.533274 m/s, LOS rate: 0.629308 deg/s, cmd heading: 332.973389 deg, new cmd heading: 333.675424 deg. 2025-01-08T22:43:30.126Z,1736376210.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823735 target range: 114.599998 and range: 114.60 m. 2025-01-08T22:43:30.188Z,1736376210.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:30.190Z,1736376210.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739350 2025-01-08T22:43:30.440Z,1736376210.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:30.440Z,1736376210.440 [DAT](INFO): DAT read: Rx Time:22:43:29.2694 2025-01-08T22:43:30.441Z,1736376210.441 [DAT](INFO): Rx dataTimestamp_ set to:1736376210.440668 2025-01-08T22:43:30.441Z,1736376210.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991283 2025-01-08T22:43:30.516Z,1736376210.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:30.543Z,1736376210.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T22:43:30.550Z,1736376210.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 42.866810 m, bearing: 93.055240 deg, approach rate: 0.526311 m/s, LOS rate: 0.627145 deg/s, cmd heading: 333.675423 deg, new cmd heading: 334.466883 deg. 2025-01-08T22:43:30.551Z,1736376210.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837548 target range: 114.599998 and range: 114.60 m. 2025-01-08T22:43:30.692Z,1736376210.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:30.694Z,1736376210.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243372 2025-01-08T22:43:30.945Z,1736376210.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:30.948Z,1736376210.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497600 2025-01-08T22:43:30.984Z,1736376210.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:30.995Z,1736376210.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:31.001Z,1736376211.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T22:43:31.005Z,1736376211.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 43.120129 m, bearing: 93.348800 deg, approach rate: 0.552992 m/s, LOS rate: 0.637069 deg/s, cmd heading: 334.466878 deg, new cmd heading: 335.342311 deg. 2025-01-08T22:43:31.006Z,1736376211.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852828 target range: 114.599998 and range: 114.60 m. 2025-01-08T22:43:31.196Z,1736376211.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:31.204Z,1736376211.204 [DAT](INFO): DAT read: 22:43:29.2694 LVL= 13296, 24801, 22386, 32755, AGC= 62, IDX= 436, 0.34,-0.232,-1.254,-2.507,-1.419, PHS= 1.276, 0.212,-1.091, RAW= 56.7, -3.9, CAL= 61.1, -8.6, ROT= 88.9, 8.6 2025-01-08T22:43:31.205Z,1736376211.205 [DAT](INFO): got valid direction response: 22:43:29.2694 LVL= 13296, 24801, 22386, 32755, AGC= 62, IDX= 436, 0.34,-0.232,-1.254,-2.507,-1.419, PHS= 1.276, 0.212,-1.091, RAW= 56.7, -3.9, CAL= 61.1, -8.6, ROT= 88.9, 8.6 2025-01-08T22:43:31.206Z,1736376211.206 [DAT](INFO): DAT read: Bearing 88.9, 8.6 (Local) 2025-01-08T22:43:31.206Z,1736376211.206 [DAT](INFO): Local bearing/azimuth received: Bearing 88.9, 8.6 (Local) 2025-01-08T22:43:31.208Z,1736376211.208 [DAT](INFO): DAT read: Range 10 to 50 : 115.4 m (Round-trip 153.9 ms) speed 0.0 m/s 2025-01-08T22:43:31.208Z,1736376211.208 [DAT](INFO): DAT read: user:2825> 2025-01-08T22:43:31.209Z,1736376211.209 [DAT](INFO): DAT read: Tx time:22:43:30.3614 2025-01-08T22:43:31.209Z,1736376211.209 [DAT](INFO): Ping request sent. 2025-01-08T22:43:31.210Z,1736376211.210 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:31.210Z,1736376211.210 [DAT](INFO): DAT read: TxSync time:22:43:30.3606 2025-01-08T22:43:31.211Z,1736376211.211 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:31.212Z,1736376211.212 [DAT](INFO): direction in FSK: [0.050331,0.615530,0.786505] 2025-01-08T22:43:31.212Z,1736376211.212 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:31.212Z,1736376211.212 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:31.216Z,1736376211.216 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:31.216Z,1736376211.216 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:31.338Z,1736376211.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:31.395Z,1736376211.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.400002 m, deltaT: 3.779725 s, deltaX: 0.800003 m, approachRate: 0.211656 m/s, rangeRepo size: 4 2025-01-08T22:43:31.397Z,1736376211.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.400002 m, bearing: 50.864675 deg, lat: 36.904374 deg, lon: -122.119861 deg, deltaT: 3.779725 s, deltaX: 0.800003 m, approachRate: 0.211656 m/s, posRepo size: 4 2025-01-08T22:43:31.398Z,1736376211.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m. 2025-01-08T22:43:31.413Z,1736376211.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.400002 m, nav range: 54.824810 m, bearing: 52.044372 deg, approach rate: 0.000000 m/s, LOS rate: 0.637069 deg/s, cmd heading: 335.342317 deg, new cmd heading: 336.086415 deg. 2025-01-08T22:43:31.414Z,1736376211.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865815 target range: 115.400002 and range: 115.40 m. 2025-01-08T22:43:31.450Z,1736376211.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:31.700Z,1736376211.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:31.766Z,1736376211.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:31.784Z,1736376211.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m. 2025-01-08T22:43:31.786Z,1736376211.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.400002 m, nav range: 54.869129 m, bearing: 52.357473 deg, approach rate: 0.112736 m/s, LOS rate: 0.795799 deg/s, cmd heading: 336.086425 deg, new cmd heading: 337.024881 deg. 2025-01-08T22:43:31.792Z,1736376211.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882194 target range: 115.400002 and range: 115.40 m. 2025-01-08T22:43:31.952Z,1736376211.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:32.121Z,1736376212.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:32.130Z,1736376212.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m. 2025-01-08T22:43:32.133Z,1736376212.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.400002 m, nav range: 54.905220 m, bearing: 52.617518 deg, approach rate: 0.104343 m/s, LOS rate: 0.751325 deg/s, cmd heading: 337.024893 deg, new cmd heading: 337.804465 deg. 2025-01-08T22:43:32.134Z,1736376212.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895800 target range: 115.400002 and range: 115.40 m. 2025-01-08T22:43:32.204Z,1736376212.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:32.457Z,1736376212.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:32.537Z,1736376212.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:32.546Z,1736376212.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m. 2025-01-08T22:43:32.548Z,1736376212.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.400002 m, nav range: 54.944160 m, bearing: 52.922641 deg, approach rate: 0.093548 m/s, LOS rate: 0.732487 deg/s, cmd heading: 337.804463 deg, new cmd heading: 338.719101 deg. 2025-01-08T22:43:32.549Z,1736376212.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911764 target range: 115.400002 and range: 115.40 m. 2025-01-08T22:43:32.708Z,1736376212.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:32.724Z,1736376212.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:43:32.952Z,1736376212.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:32.960Z,1736376212.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:32.962Z,1736376212.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m. 2025-01-08T22:43:32.966Z,1736376212.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.400002 m, nav range: 54.973331 m, bearing: 53.217397 deg, approach rate: 0.069994 m/s, LOS rate: 0.706867 deg/s, cmd heading: 338.719108 deg, new cmd heading: 339.602832 deg. 2025-01-08T22:43:32.967Z,1736376212.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927187 target range: 115.400002 and range: 115.40 m. 2025-01-08T22:43:33.212Z,1736376213.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:33.333Z,1736376213.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:33.340Z,1736376213.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:33.345Z,1736376213.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m. 2025-01-08T22:43:33.352Z,1736376213.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.400002 m, nav range: 54.998325 m, bearing: 53.487623 deg, approach rate: 0.065661 m/s, LOS rate: 0.709579 deg/s, cmd heading: 339.602825 deg, new cmd heading: 340.413079 deg. 2025-01-08T22:43:33.354Z,1736376213.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941329 target range: 115.400002 and range: 115.40 m. 2025-01-08T22:43:33.465Z,1736376213.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:33.472Z,1736376213.472 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:33.472Z,1736376213.472 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:33.472Z,1736376213.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:33.716Z,1736376213.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:33.717Z,1736376213.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506966 2025-01-08T22:43:33.728Z,1736376213.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:43:33.765Z,1736376213.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:33.793Z,1736376213.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m. 2025-01-08T22:43:33.800Z,1736376213.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.400002 m, nav range: 55.019821 m, bearing: 53.776045 deg, approach rate: 0.047748 m/s, LOS rate: 0.640403 deg/s, cmd heading: 340.413077 deg, new cmd heading: 341.277934 deg. 2025-01-08T22:43:33.801Z,1736376213.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956424 target range: 115.400002 and range: 115.40 m. 2025-01-08T22:43:33.968Z,1736376213.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:33.968Z,1736376213.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758706 2025-01-08T22:43:34.144Z,1736376214.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:34.153Z,1736376214.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m. 2025-01-08T22:43:34.156Z,1736376214.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.400002 m, nav range: 55.036758 m, bearing: 54.029428 deg, approach rate: 0.047047 m/s, LOS rate: 0.703614 deg/s, cmd heading: 341.277942 deg, new cmd heading: 342.037811 deg. 2025-01-08T22:43:34.157Z,1736376214.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969686 target range: 115.400002 and range: 115.40 m. 2025-01-08T22:43:34.220Z,1736376214.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:34.221Z,1736376214.221 [DAT](INFO): DAT read: Rx Time:22:43:32.9199 2025-01-08T22:43:34.221Z,1736376214.221 [DAT](INFO): Rx dataTimestamp_ set to:1736376214.220965 2025-01-08T22:43:34.222Z,1736376214.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012147 2025-01-08T22:43:34.477Z,1736376214.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:34.480Z,1736376214.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269434 2025-01-08T22:43:34.614Z,1736376214.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:34.682Z,1736376214.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m. 2025-01-08T22:43:34.706Z,1736376214.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.400002 m, nav range: 55.054893 m, bearing: 54.343058 deg, approach rate: 0.034414 m/s, LOS rate: 0.594954 deg/s, cmd heading: 342.037815 deg, new cmd heading: 342.978306 deg. 2025-01-08T22:43:34.712Z,1736376214.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.986101 target range: 115.400002 and range: 115.40 m. 2025-01-08T22:43:34.728Z,1736376214.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:34.737Z,1736376214.737 [DAT](INFO): DAT read: 22:43:32.9199 LVL= 14208, 23089, 21794, 32755, AGC= 58, IDX= 441, 0.40,-0.962,-1.760,-3.040,-1.991, PHS= 1.117, 0.278,-1.052, RAW= 52.6, -3.7, CAL= 55.9, -7.9, ROT= 94.1, 7.9 2025-01-08T22:43:34.738Z,1736376214.738 [DAT](INFO): got valid direction response: 22:43:32.9199 LVL= 14208, 23089, 21794, 32755, AGC= 58, IDX= 441, 0.40,-0.962,-1.760,-3.040,-1.991, PHS= 1.117, 0.278,-1.052, RAW= 52.6, -3.7, CAL= 55.9, -7.9, ROT= 94.1, 7.9 2025-01-08T22:43:34.739Z,1736376214.739 [DAT](INFO): DAT read: Bearing 94.1, 7.9 (Local) 2025-01-08T22:43:34.739Z,1736376214.739 [DAT](INFO): Local bearing/azimuth received: Bearing 94.1, 7.9 (Local) 2025-01-08T22:43:34.741Z,1736376214.741 [DAT](INFO): DAT read: Range 10 to 50 : 115.7 m (Round-trip 154.3 ms) speed 0.0 m/s 2025-01-08T22:43:34.742Z,1736376214.742 [DAT](INFO): DAT read: user:2826> 2025-01-08T22:43:34.742Z,1736376214.742 [DAT](INFO): DAT read: Tx time:22:43:34.0114 2025-01-08T22:43:34.743Z,1736376214.743 [DAT](INFO): Ping request sent. 2025-01-08T22:43:34.743Z,1736376214.743 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:34.743Z,1736376214.743 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:34.744Z,1736376214.744 [DAT](INFO): direction in FSK: [0.054073,0.667270,0.742850] 2025-01-08T22:43:34.744Z,1736376214.744 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:34.745Z,1736376214.745 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:34.773Z,1736376214.773 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:34.773Z,1736376214.773 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:34.981Z,1736376214.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:34.982Z,1736376214.982 [DAT](INFO): DAT read: TxSync time:22:43:34.0106 2025-01-08T22:43:35.088Z,1736376215.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:35.103Z,1736376215.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.699997 m, deltaT: 3.531360 s, deltaX: 0.299995 m, approachRate: 0.084952 m/s, rangeRepo size: 4 2025-01-08T22:43:35.105Z,1736376215.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.699997 m, bearing: 61.163645 deg, lat: 36.904374 deg, lon: -122.119828 deg, deltaT: 3.531360 s, deltaX: 0.299995 m, approachRate: 0.084952 m/s, posRepo size: 4 2025-01-08T22:43:35.106Z,1736376215.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T22:43:35.109Z,1736376215.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 57.490250 m, bearing: 56.355275 deg, approach rate: 0.000000 m/s, LOS rate: 0.594954 deg/s, cmd heading: 342.978304 deg, new cmd heading: 343.731151 deg. 2025-01-08T22:43:35.110Z,1736376215.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999240 target range: 115.699997 and range: 115.70 m. 2025-01-08T22:43:35.232Z,1736376215.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:35.430Z,1736376215.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:35.440Z,1736376215.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:35.442Z,1736376215.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T22:43:35.445Z,1736376215.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 57.501514 m, bearing: 56.571464 deg, approach rate: 0.033109 m/s, LOS rate: 0.635283 deg/s, cmd heading: 343.731155 deg, new cmd heading: 344.379564 deg. 2025-01-08T22:43:35.446Z,1736376215.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.010557 target range: 115.699997 and range: 115.70 m. 2025-01-08T22:43:35.484Z,1736376215.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:35.484Z,1736376215.484 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:35.484Z,1736376215.484 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:35.485Z,1736376215.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:35.736Z,1736376215.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:35.737Z,1736376215.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993937 2025-01-08T22:43:35.909Z,1736376215.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:35.940Z,1736376215.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T22:43:35.942Z,1736376215.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 57.510914 m, bearing: 56.865330 deg, approach rate: 0.019056 m/s, LOS rate: 0.595672 deg/s, cmd heading: 344.379559 deg, new cmd heading: 345.260939 deg. 2025-01-08T22:43:35.948Z,1736376215.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025940 target range: 115.699997 and range: 115.70 m. 2025-01-08T22:43:35.988Z,1736376215.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:35.989Z,1736376215.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245898 2025-01-08T22:43:36.240Z,1736376216.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:36.240Z,1736376216.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497641 2025-01-08T22:43:36.367Z,1736376216.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:36.391Z,1736376216.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T22:43:36.394Z,1736376216.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 57.513683 m, bearing: 57.145739 deg, approach rate: 0.006086 m/s, LOS rate: 0.616160 deg/s, cmd heading: 345.260926 deg, new cmd heading: 346.102050 deg. 2025-01-08T22:43:36.395Z,1736376216.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.040620 target range: 115.699997 and range: 115.70 m. 2025-01-08T22:43:36.492Z,1736376216.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:36.492Z,1736376216.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749783 2025-01-08T22:43:36.745Z,1736376216.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:36.746Z,1736376216.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002807 2025-01-08T22:43:36.811Z,1736376216.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:36.823Z,1736376216.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T22:43:36.826Z,1736376216.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 57.503433 m, bearing: 57.419905 deg, approach rate: -0.023709 m/s, LOS rate: 0.634266 deg/s, cmd heading: 346.102050 deg, new cmd heading: 346.924636 deg. 2025-01-08T22:43:36.827Z,1736376216.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054977 target range: 115.699997 and range: 115.70 m. 2025-01-08T22:43:36.996Z,1736376216.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:36.997Z,1736376216.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254377 2025-01-08T22:43:37.176Z,1736376217.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:37.206Z,1736376217.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T22:43:37.209Z,1736376217.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 57.493183 m, bearing: 57.644977 deg, approach rate: -0.026727 m/s, LOS rate: 0.586978 deg/s, cmd heading: 346.924624 deg, new cmd heading: 347.599926 deg. 2025-01-08T22:43:37.210Z,1736376217.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066763 target range: 115.699997 and range: 115.70 m. 2025-01-08T22:43:37.248Z,1736376217.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:37.249Z,1736376217.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506651 2025-01-08T22:43:37.500Z,1736376217.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:37.500Z,1736376217.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757781 2025-01-08T22:43:37.581Z,1736376217.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:37.592Z,1736376217.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:37.594Z,1736376217.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T22:43:37.613Z,1736376217.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 57.479336 m, bearing: 57.894546 deg, approach rate: -0.035766 m/s, LOS rate: 0.644751 deg/s, cmd heading: 347.599938 deg, new cmd heading: 348.348780 deg. 2025-01-08T22:43:37.620Z,1736376217.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079833 target range: 115.699997 and range: 115.70 m. 2025-01-08T22:43:37.752Z,1736376217.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:37.754Z,1736376217.754 [DAT](INFO): DAT read: Rx Time:22:43:36.5703 2025-01-08T22:43:37.754Z,1736376217.754 [DAT](INFO): Rx dataTimestamp_ set to:1736376217.753773 2025-01-08T22:43:37.755Z,1736376217.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012323 2025-01-08T22:43:38.001Z,1736376218.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:38.004Z,1736376218.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:38.004Z,1736376218.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261814 2025-01-08T22:43:38.027Z,1736376218.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T22:43:38.040Z,1736376218.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 57.463959 m, bearing: 58.154186 deg, approach rate: -0.036831 m/s, LOS rate: 0.622057 deg/s, cmd heading: 348.348773 deg, new cmd heading: 349.127851 deg. 2025-01-08T22:43:38.041Z,1736376218.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.093431 target range: 115.699997 and range: 115.70 m. 2025-01-08T22:43:38.258Z,1736376218.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:38.278Z,1736376218.278 [DAT](INFO): DAT read: 22:43:36.5703 LVL= 17248, 24977, 26690, 30963, AGC= 59, IDX= 445,-0.25, 2.535, 1.786, 0.497, 1.506, PHS= 1.117, 0.327,-1.012, RAW= 51.5, -4.7, CAL= 55.2, -9.4, ROT= 94.8, 9.4 2025-01-08T22:43:38.282Z,1736376218.282 [DAT](INFO): got valid direction response: 22:43:36.5703 LVL= 17248, 24977, 26690, 30963, AGC= 59, IDX= 445,-0.25, 2.535, 1.786, 0.497, 1.506, PHS= 1.117, 0.327,-1.012, RAW= 51.5, -4.7, CAL= 55.2, -9.4, ROT= 94.8, 9.4 2025-01-08T22:43:38.283Z,1736376218.283 [DAT](INFO): DAT read: Bearing 94.8, 9.4 (Local) 2025-01-08T22:43:38.284Z,1736376218.284 [DAT](INFO): Local bearing/azimuth received: Bearing 94.8, 9.4 (Local) 2025-01-08T22:43:38.286Z,1736376218.286 [DAT](INFO): DAT read: Range 10 to 50 : 116.0 m (Round-trip 154.7 ms) speed 0.0 m/s 2025-01-08T22:43:38.288Z,1736376218.288 [DAT](INFO): DAT read: user:2827> 2025-01-08T22:43:38.289Z,1736376218.289 [DAT](INFO): DAT read: Tx time:22:43:37.6614 2025-01-08T22:43:38.289Z,1736376218.289 [DAT](INFO): Ping request sent. 2025-01-08T22:43:38.290Z,1736376218.290 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:38.290Z,1736376218.290 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:38.292Z,1736376218.292 [DAT](INFO): direction in FSK: [0.075080,0.677501,0.731680] 2025-01-08T22:43:38.292Z,1736376218.292 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:38.293Z,1736376218.293 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:38.329Z,1736376218.329 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:38.329Z,1736376218.329 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:38.397Z,1736376218.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:38.429Z,1736376218.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.000000 m, deltaT: 3.530165 s, deltaX: 0.300003 m, approachRate: 0.084983 m/s, rangeRepo size: 4 2025-01-08T22:43:38.442Z,1736376218.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.000000 m, bearing: 67.020689 deg, lat: 36.904374 deg, lon: -122.119828 deg, deltaT: 3.530165 s, deltaX: 0.300003 m, approachRate: 0.084983 m/s, posRepo size: 4 2025-01-08T22:43:38.443Z,1736376218.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.00 m. 2025-01-08T22:43:38.451Z,1736376218.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.000000 m, nav range: 57.447014 m, bearing: 58.398335 deg, approach rate: 0.000000 m/s, LOS rate: 0.622057 deg/s, cmd heading: 349.127852 deg, new cmd heading: 349.895888 deg. 2025-01-08T22:43:38.457Z,1736376218.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.106835 target range: 116.000000 and range: 116.00 m. 2025-01-08T22:43:38.509Z,1736376218.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:38.510Z,1736376218.510 [DAT](INFO): DAT read: TxSync time:22:43:37.6606 2025-01-08T22:43:38.761Z,1736376218.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:38.887Z,1736376218.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:38.899Z,1736376218.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.00 m. 2025-01-08T22:43:38.902Z,1736376218.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.000000 m, nav range: 57.412502 m, bearing: 58.704196 deg, approach rate: -0.072445 m/s, LOS rate: 0.642432 deg/s, cmd heading: 349.895893 deg, new cmd heading: 350.813945 deg. 2025-01-08T22:43:38.903Z,1736376218.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.122859 target range: 116.000000 and range: 116.00 m. 2025-01-08T22:43:39.014Z,1736376219.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:39.264Z,1736376219.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:39.269Z,1736376219.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:39.278Z,1736376219.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.00 m. 2025-01-08T22:43:39.281Z,1736376219.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.000000 m, nav range: 57.383293 m, bearing: 58.942402 deg, approach rate: -0.077120 m/s, LOS rate: 0.629243 deg/s, cmd heading: 350.813952 deg, new cmd heading: 351.528892 deg. 2025-01-08T22:43:39.282Z,1736376219.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.135336 target range: 116.000000 and range: 116.00 m. 2025-01-08T22:43:39.516Z,1736376219.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:39.720Z,1736376219.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:39.768Z,1736376219.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:39.771Z,1736376219.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:39.781Z,1736376219.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.00 m. 2025-01-08T22:43:39.788Z,1736376219.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.000000 m, nav range: 57.346397 m, bearing: 59.222091 deg, approach rate: -0.073255 m/s, LOS rate: 0.555669 deg/s, cmd heading: 351.528882 deg, new cmd heading: 352.368428 deg. 2025-01-08T22:43:39.789Z,1736376219.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.149989 target range: 116.000000 and range: 116.00 m. 2025-01-08T22:43:40.020Z,1736376220.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:40.020Z,1736376220.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:40.020Z,1736376220.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:40.020Z,1736376220.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:40.234Z,1736376220.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:40.243Z,1736376220.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.00 m. 2025-01-08T22:43:40.246Z,1736376220.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.000000 m, nav range: 57.296204 m, bearing: 59.533328 deg, approach rate: -0.108789 m/s, LOS rate: 0.675157 deg/s, cmd heading: 352.368421 deg, new cmd heading: 353.302860 deg. 2025-01-08T22:43:40.248Z,1736376220.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166298 target range: 116.000000 and range: 116.00 m. 2025-01-08T22:43:40.272Z,1736376220.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:40.272Z,1736376220.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983030 2025-01-08T22:43:40.524Z,1736376220.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:40.524Z,1736376220.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235034 2025-01-08T22:43:40.627Z,1736376220.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:40.640Z,1736376220.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.00 m. 2025-01-08T22:43:40.643Z,1736376220.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.000000 m, nav range: 57.255890 m, bearing: 59.770045 deg, approach rate: -0.101521 m/s, LOS rate: 0.596537 deg/s, cmd heading: 353.302873 deg, new cmd heading: 354.013485 deg. 2025-01-08T22:43:40.645Z,1736376220.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178701 target range: 116.000000 and range: 116.00 m. 2025-01-08T22:43:40.778Z,1736376220.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:40.781Z,1736376220.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491263 2025-01-08T22:43:41.028Z,1736376221.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:41.029Z,1736376221.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739305 2025-01-08T22:43:41.040Z,1736376221.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:41.050Z,1736376221.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.00 m. 2025-01-08T22:43:41.053Z,1736376221.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.000000 m, nav range: 57.204041 m, bearing: 60.015343 deg, approach rate: -0.126488 m/s, LOS rate: 0.598954 deg/s, cmd heading: 354.013486 deg, new cmd heading: 354.750005 deg. 2025-01-08T22:43:41.054Z,1736376221.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.191556 target range: 116.000000 and range: 116.00 m. 2025-01-08T22:43:41.280Z,1736376221.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:41.281Z,1736376221.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991675 2025-01-08T22:43:41.420Z,1736376221.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:41.449Z,1736376221.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.00 m. 2025-01-08T22:43:41.451Z,1736376221.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.000000 m, nav range: 57.154232 m, bearing: 60.240363 deg, approach rate: -0.124927 m/s, LOS rate: 0.564873 deg/s, cmd heading: 354.749999 deg, new cmd heading: 355.425615 deg. 2025-01-08T22:43:41.452Z,1736376221.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.203347 target range: 116.000000 and range: 116.00 m. 2025-01-08T22:43:41.532Z,1736376221.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:41.533Z,1736376221.533 [DAT](INFO): DAT read: Rx Time:22:43:40.2206 2025-01-08T22:43:41.533Z,1736376221.533 [DAT](INFO): Rx dataTimestamp_ set to:1736376221.532768 2025-01-08T22:43:41.534Z,1736376221.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244171 2025-01-08T22:43:41.788Z,1736376221.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:41.790Z,1736376221.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500101 2025-01-08T22:43:41.938Z,1736376221.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:41.953Z,1736376221.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:41.960Z,1736376221.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.00 m. 2025-01-08T22:43:41.962Z,1736376221.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.000000 m, nav range: 57.070755 m, bearing: 60.541017 deg, approach rate: -0.164678 m/s, LOS rate: 0.593974 deg/s, cmd heading: 355.425614 deg, new cmd heading: 356.328815 deg. 2025-01-08T22:43:41.968Z,1736376221.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219111 target range: 116.000000 and range: 116.00 m. 2025-01-08T22:43:42.036Z,1736376222.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:42.043Z,1736376222.043 [DAT](INFO): DAT read: 22:43:40.2206 LVL= 16368, 31937, 23010, 28019, AGC= 58, IDX= 447,-0.03, 0.574,-0.383,-1.555,-0.702, PHS= 1.364, 0.365,-0.856, RAW= 56.7, -9.1, CAL= 64.8, -16.1, ROT= 85.2, 16.1 2025-01-08T22:43:42.044Z,1736376222.044 [DAT](INFO): got valid direction response: 22:43:40.2206 LVL= 16368, 31937, 23010, 28019, AGC= 58, IDX= 447,-0.03, 0.574,-0.383,-1.555,-0.702, PHS= 1.364, 0.365,-0.856, RAW= 56.7, -9.1, CAL= 64.8, -16.1, ROT= 85.2, 16.1 2025-01-08T22:43:42.045Z,1736376222.045 [DAT](INFO): DAT read: Bearing 85.2, 16.1 (Local) 2025-01-08T22:43:42.045Z,1736376222.045 [DAT](INFO): Local bearing/azimuth received: Bearing 85.2, 16.1 (Local) 2025-01-08T22:43:42.048Z,1736376222.048 [DAT](INFO): DAT read: Range 10 to 50 : 116.1 m (Round-trip 154.9 ms) speed 0.0 m/s 2025-01-08T22:43:42.049Z,1736376222.049 [DAT](INFO): DAT read: user:2828> 2025-01-08T22:43:42.050Z,1736376222.050 [DAT](INFO): DAT read: Tx time:22:43:41.3115 2025-01-08T22:43:42.050Z,1736376222.050 [DAT](INFO): Ping request sent. 2025-01-08T22:43:42.050Z,1736376222.050 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:42.050Z,1736376222.050 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:42.051Z,1736376222.051 [DAT](INFO): direction in FSK: [0.146321,0.602875,0.784304] 2025-01-08T22:43:42.051Z,1736376222.051 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:42.064Z,1736376222.064 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:42.067Z,1736376222.067 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:42.068Z,1736376222.068 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:42.288Z,1736376222.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:42.288Z,1736376222.288 [DAT](INFO): DAT read: TxSync time:22:43:41.3107 2025-01-08T22:43:42.469Z,1736376222.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:42.492Z,1736376222.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.099998 m, deltaT: 3.778304 s, deltaX: 0.099998 m, approachRate: 0.026466 m/s, rangeRepo size: 4 2025-01-08T22:43:42.494Z,1736376222.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.099998 m, bearing: 65.020562 deg, lat: 36.904324 deg, lon: -122.119861 deg, deltaT: 3.778304 s, deltaX: 0.099998 m, approachRate: 0.026466 m/s, posRepo size: 4 2025-01-08T22:43:42.494Z,1736376222.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T22:43:42.503Z,1736376222.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 51.845394 m, bearing: 64.577222 deg, approach rate: 0.000000 m/s, LOS rate: 0.593974 deg/s, cmd heading: 356.328811 deg, new cmd heading: 357.282438 deg. 2025-01-08T22:43:42.524Z,1736376222.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.235755 target range: 116.099998 and range: 116.10 m. 2025-01-08T22:43:42.540Z,1736376222.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:42.793Z,1736376222.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:42.957Z,1736376222.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:42.969Z,1736376222.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T22:43:42.972Z,1736376222.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 51.779205 m, bearing: 64.886148 deg, approach rate: -0.138374 m/s, LOS rate: 0.646663 deg/s, cmd heading: 357.282442 deg, new cmd heading: 358.210321 deg. 2025-01-08T22:43:42.973Z,1736376222.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.251949 target range: 116.099998 and range: 116.10 m. 2025-01-08T22:43:43.044Z,1736376223.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:43.296Z,1736376223.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:43.323Z,1736376223.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:43.353Z,1736376223.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T22:43:43.360Z,1736376223.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 51.718613 m, bearing: 65.115275 deg, approach rate: -0.157898 m/s, LOS rate: 0.597778 deg/s, cmd heading: 358.210309 deg, new cmd heading: 358.898461 deg. 2025-01-08T22:43:43.361Z,1736376223.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263960 target range: 116.099998 and range: 116.10 m. 2025-01-08T22:43:43.549Z,1736376223.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:43.728Z,1736376223.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:43.737Z,1736376223.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T22:43:43.745Z,1736376223.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 51.648628 m, bearing: 65.368381 deg, approach rate: -0.182254 m/s, LOS rate: 0.660027 deg/s, cmd heading: 358.898464 deg, new cmd heading: 359.658762 deg. 2025-01-08T22:43:43.748Z,1736376223.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277230 target range: 116.099998 and range: 116.10 m. 2025-01-08T22:43:43.802Z,1736376223.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:44.052Z,1736376224.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:44.208Z,1736376224.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:44.244Z,1736376224.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:44.246Z,1736376224.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T22:43:44.253Z,1736376224.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 51.564751 m, bearing: 65.666680 deg, approach rate: -0.164825 m/s, LOS rate: 0.587129 deg/s, cmd heading: 359.658774 deg, new cmd heading: 0.555050 deg. 2025-01-08T22:43:44.254Z,1736376224.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009687 target range: 116.099998 and range: 116.10 m. 2025-01-08T22:43:44.304Z,1736376224.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:44.304Z,1736376224.304 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:44.304Z,1736376224.304 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:44.305Z,1736376224.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:44.556Z,1736376224.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:44.556Z,1736376224.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506396 2025-01-08T22:43:44.603Z,1736376224.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:44.612Z,1736376224.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T22:43:44.615Z,1736376224.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 51.496777 m, bearing: 65.912878 deg, approach rate: -0.185828 m/s, LOS rate: 0.673943 deg/s, cmd heading: 0.555050 deg, new cmd heading: 1.294576 deg. 2025-01-08T22:43:44.616Z,1736376224.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022595 target range: 116.099998 and range: 116.10 m. 2025-01-08T22:43:44.809Z,1736376224.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:44.812Z,1736376224.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761013 2025-01-08T22:43:45.021Z,1736376225.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:45.032Z,1736376225.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T22:43:45.034Z,1736376225.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 51.424942 m, bearing: 66.173756 deg, approach rate: -0.171477 m/s, LOS rate: 0.623613 deg/s, cmd heading: 1.294576 deg, new cmd heading: 2.078253 deg. 2025-01-08T22:43:45.036Z,1736376225.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036272 target range: 116.099998 and range: 116.10 m. 2025-01-08T22:43:45.060Z,1736376225.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:45.060Z,1736376225.060 [DAT](INFO): DAT read: Rx Time:22:43:43.8702 2025-01-08T22:43:45.061Z,1736376225.061 [DAT](INFO): Rx dataTimestamp_ set to:1736376225.060659 2025-01-08T22:43:45.061Z,1736376225.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011475 2025-01-08T22:43:45.312Z,1736376225.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:45.312Z,1736376225.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262407 2025-01-08T22:43:45.389Z,1736376225.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:45.400Z,1736376225.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T22:43:45.402Z,1736376225.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 51.353012 m, bearing: 66.400886 deg, approach rate: -0.195312 m/s, LOS rate: 0.617587 deg/s, cmd heading: 2.078253 deg, new cmd heading: 2.760561 deg. 2025-01-08T22:43:45.403Z,1736376225.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048181 target range: 116.099998 and range: 116.10 m. 2025-01-08T22:43:45.566Z,1736376225.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:45.583Z,1736376225.583 [DAT](INFO): DAT read: 22:43:43.8702 LVL= 17200, 26977, 17634, 23539, AGC= 58, IDX= 442, 0.19,-0.569,-1.880,-2.687,-1.973, PHS= 1.492, 0.140,-0.717, RAW= 67.4, -9.5, CAL= 77.9, -17.7, ROT= 72.1, 17.7 2025-01-08T22:43:45.596Z,1736376225.596 [DAT](INFO): got valid direction response: 22:43:43.8702 LVL= 17200, 26977, 17634, 23539, AGC= 58, IDX= 442, 0.19,-0.569,-1.880,-2.687,-1.973, PHS= 1.492, 0.140,-0.717, RAW= 67.4, -9.5, CAL= 77.9, -17.7, ROT= 72.1, 17.7 2025-01-08T22:43:45.598Z,1736376225.598 [DAT](INFO): DAT read: Bearing 72.1, 17.7 (Local) 2025-01-08T22:43:45.598Z,1736376225.598 [DAT](INFO): Local bearing/azimuth received: Bearing 72.1, 17.7 (Local) 2025-01-08T22:43:45.605Z,1736376225.605 [DAT](INFO): DAT read: Range 10 to 50 : 115.8 m (Round-trip 154.5 ms) speed 0.0 m/s 2025-01-08T22:43:45.606Z,1736376225.606 [DAT](INFO): DAT read: user:2829> 2025-01-08T22:43:45.612Z,1736376225.612 [DAT](INFO): DAT read: Tx time:22:43:44.9615 2025-01-08T22:43:45.613Z,1736376225.613 [DAT](INFO): Ping request sent. 2025-01-08T22:43:45.613Z,1736376225.613 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:45.614Z,1736376225.614 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:45.615Z,1736376225.615 [DAT](INFO): direction in FSK: [0.133860,0.456640,0.879523] 2025-01-08T22:43:45.615Z,1736376225.615 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:45.615Z,1736376225.615 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:45.618Z,1736376225.618 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:45.618Z,1736376225.618 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:45.817Z,1736376225.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:45.820Z,1736376225.820 [DAT](INFO): DAT read: TxSync time:22:43:44.9607 2025-01-08T22:43:45.862Z,1736376225.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:45.892Z,1736376225.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.800003 m, deltaT: 3.530193 s, deltaX: -0.299995 m, approachRate: -0.084980 m/s, rangeRepo size: 4 2025-01-08T22:43:45.894Z,1736376225.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.800003 m, bearing: 64.619592 deg, lat: 36.904300 deg, lon: -122.119866 deg, deltaT: 3.530193 s, deltaX: -0.299995 m, approachRate: -0.084980 m/s, posRepo size: 4 2025-01-08T22:43:45.894Z,1736376225.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T22:43:45.901Z,1736376225.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 49.874035 m, bearing: 69.374179 deg, approach rate: 0.000000 m/s, LOS rate: 0.617587 deg/s, cmd heading: 2.760561 deg, new cmd heading: 3.665169 deg. 2025-01-08T22:43:45.902Z,1736376225.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.063969 target range: 115.800003 and range: 115.80 m. 2025-01-08T22:43:46.068Z,1736376226.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:46.220Z,1736376226.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:46.229Z,1736376226.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T22:43:46.245Z,1736376226.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 49.824791 m, bearing: 69.612040 deg, approach rate: -0.144047 m/s, LOS rate: 0.696468 deg/s, cmd heading: 3.665169 deg, new cmd heading: 4.379418 deg. 2025-01-08T22:43:46.246Z,1736376226.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076435 target range: 115.800003 and range: 115.80 m. 2025-01-08T22:43:46.324Z,1736376226.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:46.572Z,1736376226.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:46.605Z,1736376226.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:46.612Z,1736376226.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:46.616Z,1736376226.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T22:43:46.619Z,1736376226.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 49.770882 m, bearing: 69.867468 deg, approach rate: -0.139226 m/s, LOS rate: 0.660380 deg/s, cmd heading: 4.379418 deg, new cmd heading: 5.146484 deg. 2025-01-08T22:43:46.623Z,1736376226.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089823 target range: 115.800003 and range: 115.80 m. 2025-01-08T22:43:46.826Z,1736376226.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:46.827Z,1736376226.827 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:46.828Z,1736376226.828 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:46.829Z,1736376226.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:47.070Z,1736376227.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:47.076Z,1736376227.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:47.077Z,1736376227.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463288 2025-01-08T22:43:47.082Z,1736376227.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T22:43:47.085Z,1736376227.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 49.729137 m, bearing: 70.182454 deg, approach rate: -0.089620 m/s, LOS rate: 0.676800 deg/s, cmd heading: 5.146484 deg, new cmd heading: 6.092145 deg. 2025-01-08T22:43:47.086Z,1736376227.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106328 target range: 115.800003 and range: 115.80 m. 2025-01-08T22:43:47.328Z,1736376227.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:47.328Z,1736376227.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714980 2025-01-08T22:43:47.402Z,1736376227.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:47.411Z,1736376227.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T22:43:47.415Z,1736376227.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 49.697578 m, bearing: 70.407514 deg, approach rate: -0.095847 m/s, LOS rate: 0.683955 deg/s, cmd heading: 6.092145 deg, new cmd heading: 6.767719 deg. 2025-01-08T22:43:47.416Z,1736376227.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118119 target range: 115.800003 and range: 115.80 m. 2025-01-08T22:43:47.580Z,1736376227.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:47.581Z,1736376227.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967695 2025-01-08T22:43:47.824Z,1736376227.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:47.834Z,1736376227.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:47.836Z,1736376227.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221997 2025-01-08T22:43:47.892Z,1736376227.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T22:43:47.894Z,1736376227.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 49.656616 m, bearing: 70.681154 deg, approach rate: -0.085978 m/s, LOS rate: 0.574828 deg/s, cmd heading: 6.767719 deg, new cmd heading: 7.589257 deg. 2025-01-08T22:43:47.907Z,1736376227.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.132458 target range: 115.800003 and range: 115.80 m. 2025-01-08T22:43:48.084Z,1736376228.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:48.084Z,1736376228.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471051 2025-01-08T22:43:48.229Z,1736376228.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:48.238Z,1736376228.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T22:43:48.265Z,1736376228.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 49.633533 m, bearing: 70.975577 deg, approach rate: -0.065781 m/s, LOS rate: 0.839435 deg/s, cmd heading: 7.589257 deg, new cmd heading: 8.472863 deg. 2025-01-08T22:43:48.266Z,1736376228.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.147879 target range: 115.800003 and range: 115.80 m. 2025-01-08T22:43:48.336Z,1736376228.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:48.336Z,1736376228.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723117 2025-01-08T22:43:48.588Z,1736376228.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:48.589Z,1736376228.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975329 2025-01-08T22:43:48.610Z,1736376228.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:48.633Z,1736376228.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:48.640Z,1736376228.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T22:43:48.642Z,1736376228.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 49.611355 m, bearing: 71.240641 deg, approach rate: -0.055858 m/s, LOS rate: 0.667869 deg/s, cmd heading: 8.472862 deg, new cmd heading: 9.268358 deg. 2025-01-08T22:43:48.648Z,1736376228.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.161763 target range: 115.800003 and range: 115.80 m. 2025-01-08T22:43:48.840Z,1736376228.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:48.841Z,1736376228.841 [DAT](INFO): DAT read: Rx Time:22:43:47.5198 2025-01-08T22:43:48.841Z,1736376228.841 [DAT](INFO): Rx dataTimestamp_ set to:1736376228.840751 2025-01-08T22:43:48.842Z,1736376228.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228189 2025-01-08T22:43:49.033Z,1736376229.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:49.042Z,1736376229.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T22:43:49.045Z,1736376229.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 49.614811 m, bearing: 71.544021 deg, approach rate: 0.008507 m/s, LOS rate: 0.746726 deg/s, cmd heading: 9.268358 deg, new cmd heading: 10.178353 deg. 2025-01-08T22:43:49.046Z,1736376229.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.177646 target range: 115.800003 and range: 115.80 m. 2025-01-08T22:43:49.092Z,1736376229.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:49.093Z,1736376229.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479565 2025-01-08T22:43:49.344Z,1736376229.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:49.353Z,1736376229.353 [DAT](INFO): DAT read: 22:43:47.5198 LVL= 20784, 30193, 21074, 27635, AGC= 61, IDX= 439, 0.16, 2.809, 1.220, 0.865, 1.552, PHS= 1.344,-0.285,-0.690, RAW= 79.2, -4.0, CAL= 87.3, -10.4, ROT= 62.7, 10.4 2025-01-08T22:43:49.354Z,1736376229.354 [DAT](INFO): got valid direction response: 22:43:47.5198 LVL= 20784, 30193, 21074, 27635, AGC= 61, IDX= 439, 0.16, 2.809, 1.220, 0.865, 1.552, PHS= 1.344,-0.285,-0.690, RAW= 79.2, -4.0, CAL= 87.3, -10.4, ROT= 62.7, 10.4 2025-01-08T22:43:49.355Z,1736376229.355 [DAT](INFO): DAT read: Bearing 62.7, 10.4 (Local) 2025-01-08T22:43:49.356Z,1736376229.356 [DAT](INFO): Local bearing/azimuth received: Bearing 62.7, 10.4 (Local) 2025-01-08T22:43:49.357Z,1736376229.357 [DAT](INFO): DAT read: Range 10 to 50 : 115.5 m (Round-trip 154.1 ms) speed 0.0 m/s 2025-01-08T22:43:49.358Z,1736376229.358 [DAT](INFO): DAT read: user:2830> 2025-01-08T22:43:49.359Z,1736376229.359 [DAT](INFO): DAT read: Tx time:22:43:48.6115 2025-01-08T22:43:49.359Z,1736376229.359 [DAT](INFO): Ping request sent. 2025-01-08T22:43:49.359Z,1736376229.359 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:49.359Z,1736376229.359 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:49.360Z,1736376229.360 [DAT](INFO): direction in FSK: [0.009242,0.285360,0.958376] 2025-01-08T22:43:49.360Z,1736376229.360 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:49.361Z,1736376229.361 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:49.364Z,1736376229.364 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:49.365Z,1736376229.365 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:49.473Z,1736376229.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:49.506Z,1736376229.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.500000 m, deltaT: 3.777260 s, deltaX: -0.300003 m, approachRate: -0.079423 m/s, rangeRepo size: 4 2025-01-08T22:43:49.513Z,1736376229.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.500000 m, bearing: 97.022764 deg, lat: 36.904297 deg, lon: -122.119916 deg, deltaT: 3.777260 s, deltaX: -0.300003 m, approachRate: -0.079423 m/s, posRepo size: 4 2025-01-08T22:43:49.514Z,1736376229.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T22:43:49.517Z,1736376229.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 45.302635 m, bearing: 70.405407 deg, approach rate: 0.000000 m/s, LOS rate: 0.746726 deg/s, cmd heading: 10.178353 deg, new cmd heading: 11.217417 deg. 2025-01-08T22:43:49.518Z,1736376229.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.195781 target range: 115.500000 and range: 115.50 m. 2025-01-08T22:43:49.597Z,1736376229.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:49.598Z,1736376229.598 [DAT](INFO): DAT read: TxSync time:22:43:48.6107 2025-01-08T22:43:49.850Z,1736376229.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:49.886Z,1736376229.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:49.926Z,1736376229.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T22:43:49.937Z,1736376229.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 45.298065 m, bearing: 70.728101 deg, approach rate: -0.010868 m/s, LOS rate: 0.767443 deg/s, cmd heading: 11.217417 deg, new cmd heading: 12.185500 deg. 2025-01-08T22:43:49.938Z,1736376229.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.212677 target range: 115.500000 and range: 115.50 m. 2025-01-08T22:43:50.100Z,1736376230.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:50.267Z,1736376230.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:50.289Z,1736376230.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T22:43:50.295Z,1736376230.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 45.307396 m, bearing: 71.026054 deg, approach rate: 0.025790 m/s, LOS rate: 0.823358 deg/s, cmd heading: 12.185500 deg, new cmd heading: 13.079098 deg. 2025-01-08T22:43:50.296Z,1736376230.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228273 target range: 115.500000 and range: 115.50 m. 2025-01-08T22:43:50.352Z,1736376230.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:50.604Z,1736376230.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:50.772Z,1736376230.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:50.791Z,1736376230.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:50.793Z,1736376230.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T22:43:50.796Z,1736376230.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 45.313072 m, bearing: 71.422362 deg, approach rate: 0.011235 m/s, LOS rate: 0.784308 deg/s, cmd heading: 13.079098 deg, new cmd heading: 14.267692 deg. 2025-01-08T22:43:50.797Z,1736376230.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.249018 target range: 115.500000 and range: 115.50 m. 2025-01-08T22:43:50.856Z,1736376230.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:50.858Z,1736376230.858 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:50.858Z,1736376230.858 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:50.862Z,1736376230.862 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:51.108Z,1736376231.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:51.108Z,1736376231.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749412 2025-01-08T22:43:51.183Z,1736376231.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:51.192Z,1736376231.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T22:43:51.194Z,1736376231.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 45.323906 m, bearing: 71.742465 deg, approach rate: 0.027207 m/s, LOS rate: 0.803695 deg/s, cmd heading: 14.267692 deg, new cmd heading: 15.227675 deg. 2025-01-08T22:43:51.196Z,1736376231.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265773 target range: 115.500000 and range: 115.50 m. 2025-01-08T22:43:51.360Z,1736376231.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:51.361Z,1736376231.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001579 2025-01-08T22:43:51.597Z,1736376231.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:51.606Z,1736376231.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T22:43:51.608Z,1736376231.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 45.333412 m, bearing: 72.063616 deg, approach rate: 0.022941 m/s, LOS rate: 0.774854 deg/s, cmd heading: 15.227675 deg, new cmd heading: 16.190831 deg. 2025-01-08T22:43:51.609Z,1736376231.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.282583 target range: 115.500000 and range: 115.50 m. 2025-01-08T22:43:51.612Z,1736376231.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:51.612Z,1736376231.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253488 2025-01-08T22:43:51.864Z,1736376231.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:51.865Z,1736376231.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505592 2025-01-08T22:43:52.016Z,1736376232.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:52.085Z,1736376232.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T22:43:52.096Z,1736376232.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 45.327259 m, bearing: 72.385346 deg, approach rate: -0.012841 m/s, LOS rate: 0.671501 deg/s, cmd heading: 16.190830 deg, new cmd heading: 17.156055 deg. 2025-01-08T22:43:52.098Z,1736376232.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.299430 target range: 115.500000 and range: 115.50 m. 2025-01-08T22:43:52.116Z,1736376232.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:52.116Z,1736376232.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757466 2025-01-08T22:43:52.368Z,1736376232.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:52.369Z,1736376232.369 [DAT](INFO): DAT read: Rx Time:22:43:51.1695 2025-01-08T22:43:52.370Z,1736376232.370 [DAT](INFO): Rx dataTimestamp_ set to:1736376232.369348 2025-01-08T22:43:52.370Z,1736376232.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011158 2025-01-08T22:43:52.400Z,1736376232.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:52.409Z,1736376232.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T22:43:52.412Z,1736376232.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 45.319958 m, bearing: 72.679671 deg, approach rate: -0.022515 m/s, LOS rate: 0.907729 deg/s, cmd heading: 17.156055 deg, new cmd heading: 18.039099 deg. 2025-01-08T22:43:52.414Z,1736376232.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.314842 target range: 115.500000 and range: 115.50 m. 2025-01-08T22:43:52.620Z,1736376232.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:52.621Z,1736376232.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261922 2025-01-08T22:43:52.814Z,1736376232.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:52.838Z,1736376232.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:52.873Z,1736376232.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:52.885Z,1736376232.885 [DAT](INFO): DAT read: 22:43:51.1695 LVL= 19632, 32753, 24802, 32755, AGC= 58, IDX= 435, 0.09, 1.371,-0.261,-0.332, 0.220, PHS= 1.240,-0.434,-0.554, RAW= 86.6, -2.9, CAL= 94.6, -9.1, ROT= 55.4, 9.1 2025-01-08T22:43:52.886Z,1736376232.886 [DAT](INFO): got valid direction response: 22:43:51.1695 LVL= 19632, 32753, 24802, 32755, AGC= 58, IDX= 435, 0.09, 1.371,-0.261,-0.332, 0.220, PHS= 1.240,-0.434,-0.554, RAW= 86.6, -2.9, CAL= 94.6, -9.1, ROT= 55.4, 9.1 2025-01-08T22:43:52.889Z,1736376232.889 [DAT](INFO): DAT read: Bearing 55.4, 9.1 (Local) 2025-01-08T22:43:52.890Z,1736376232.890 [DAT](INFO): Local bearing/azimuth received: Bearing 55.4, 9.1 (Local) 2025-01-08T22:43:52.892Z,1736376232.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T22:43:52.905Z,1736376232.905 [DAT](INFO): DAT read: Range 10 to 50 : 115.3 m (Round-trip 153.8 ms) speed 0.2 m/s 2025-01-08T22:43:52.906Z,1736376232.906 [DAT](INFO): DAT read: user:2831> 2025-01-08T22:43:52.911Z,1736376232.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 45.310440 m, bearing: 72.996920 deg, approach rate: -0.020823 m/s, LOS rate: 0.694237 deg/s, cmd heading: 18.039098 deg, new cmd heading: 18.990952 deg. 2025-01-08T22:43:52.917Z,1736376232.917 [DAT](INFO): DAT read: Tx time:22:43:52.2616 2025-01-08T22:43:52.918Z,1736376232.918 [DAT](INFO): Ping request sent. 2025-01-08T22:43:52.918Z,1736376232.918 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:52.925Z,1736376232.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.331455 target range: 115.500000 and range: 115.50 m. 2025-01-08T22:43:52.928Z,1736376232.928 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:52.940Z,1736376232.940 [DAT](INFO): direction in FSK: [-0.023571,0.163344,0.986288] 2025-01-08T22:43:52.941Z,1736376232.941 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:52.942Z,1736376232.942 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:52.989Z,1736376232.989 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:52.989Z,1736376232.989 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:53.124Z,1736376233.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:53.125Z,1736376233.125 [DAT](INFO): DAT read: TxSync time:22:43:52.2608 2025-01-08T22:43:53.320Z,1736376233.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:53.342Z,1736376233.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.300003 m, deltaT: 3.529829 s, deltaX: -0.199997 m, approachRate: -0.056659 m/s, rangeRepo size: 4 2025-01-08T22:43:53.348Z,1736376233.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.300003 m, bearing: 269.270196 deg, lat: 36.904251 deg, lon: -122.120102 deg, deltaT: 3.529829 s, deltaX: -0.199997 m, approachRate: -0.056659 m/s, posRepo size: 4 2025-01-08T22:43:53.349Z,1736376233.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-08T22:43:53.356Z,1736376233.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 27.910616 m, bearing: 73.755498 deg, approach rate: 0.000000 m/s, LOS rate: 0.694237 deg/s, cmd heading: 18.990952 deg, new cmd heading: 19.979611 deg. 2025-01-08T22:43:53.357Z,1736376233.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.348710 target range: 115.300003 and range: 115.30 m. 2025-01-08T22:43:53.376Z,1736376233.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:53.628Z,1736376233.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:53.690Z,1736376233.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:53.715Z,1736376233.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-08T22:43:53.718Z,1736376233.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 27.874399 m, bearing: 74.199395 deg, approach rate: -0.100018 m/s, LOS rate: 1.227472 deg/s, cmd heading: 19.979611 deg, new cmd heading: 21.312777 deg. 2025-01-08T22:43:53.719Z,1736376233.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371978 target range: 115.300003 and range: 115.30 m. 2025-01-08T22:43:53.881Z,1736376233.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:54.060Z,1736376234.060 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 92.10, 66.61, 76.47 2025-01-08T22:43:54.068Z,1736376234.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:43:54.068Z,1736376234.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:54.077Z,1736376234.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-08T22:43:54.080Z,1736376234.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 27.836966 m, bearing: 74.647262 deg, approach rate: -0.100164 m/s, LOS rate: 1.199994 deg/s, cmd heading: 21.312777 deg, new cmd heading: 22.657926 deg. 2025-01-08T22:43:54.081Z,1736376234.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.395455 target range: 115.300003 and range: 115.30 m. 2025-01-08T22:43:54.132Z,1736376234.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:54.384Z,1736376234.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:54.466Z,1736376234.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:43:54.466Z,1736376234.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:54.475Z,1736376234.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-08T22:43:54.478Z,1736376234.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 27.796175 m, bearing: 75.119143 deg, approach rate: -0.102496 m/s, LOS rate: 1.187438 deg/s, cmd heading: 22.657927 deg, new cmd heading: 24.075342 deg. 2025-01-08T22:43:54.479Z,1736376234.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420194 target range: 115.300003 and range: 115.30 m. 2025-01-08T22:43:54.636Z,1736376234.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:54.887Z,1736376234.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:43:54.887Z,1736376234.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:54.888Z,1736376234.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:54.900Z,1736376234.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:54.902Z,1736376234.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-08T22:43:54.905Z,1736376234.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 27.755119 m, bearing: 75.619365 deg, approach rate: -0.096080 m/s, LOS rate: 1.172355 deg/s, cmd heading: 24.075341 deg, new cmd heading: 25.577864 deg. 2025-01-08T22:43:54.906Z,1736376234.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446418 target range: 115.300003 and range: 115.30 m. 2025-01-08T22:43:55.140Z,1736376235.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:55.140Z,1736376235.140 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:55.140Z,1736376235.140 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:55.140Z,1736376235.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:55.309Z,1736376235.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:55.318Z,1736376235.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-08T22:43:55.321Z,1736376235.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 27.634058 m, bearing: 76.083044 deg, approach rate: -0.290765 m/s, LOS rate: 1.118529 deg/s, cmd heading: 25.577863 deg, new cmd heading: 26.974701 deg. 2025-01-08T22:43:55.322Z,1736376235.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.470797 target range: 115.300003 and range: 115.30 m. 2025-01-08T22:43:55.392Z,1736376235.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:55.393Z,1736376235.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475338 2025-01-08T22:43:55.644Z,1736376235.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:55.645Z,1736376235.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727157 2025-01-08T22:43:55.704Z,1736376235.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:55.722Z,1736376235.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-08T22:43:55.729Z,1736376235.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 27.511606 m, bearing: 76.507571 deg, approach rate: -0.303246 m/s, LOS rate: 1.055991 deg/s, cmd heading: 26.974702 deg, new cmd heading: 28.253727 deg. 2025-01-08T22:43:55.731Z,1736376235.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493121 target range: 115.300003 and range: 115.30 m. 2025-01-08T22:43:55.896Z,1736376235.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:55.896Z,1736376235.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978184 2025-01-08T22:43:56.102Z,1736376236.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:56.110Z,1736376236.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-08T22:43:56.129Z,1736376236.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 27.346661 m, bearing: 76.914463 deg, approach rate: -0.425136 m/s, LOS rate: 1.055054 deg/s, cmd heading: 28.253726 deg, new cmd heading: 29.481568 deg. 2025-01-08T22:43:56.130Z,1736376236.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514550 target range: 115.300003 and range: 115.30 m. 2025-01-08T22:43:56.148Z,1736376236.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:56.149Z,1736376236.149 [DAT](INFO): DAT read: Rx Time:22:43:54.8176 2025-01-08T22:43:56.149Z,1736376236.149 [DAT](INFO): Rx dataTimestamp_ set to:1736376236.148743 2025-01-08T22:43:56.150Z,1736376236.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231439 2025-01-08T22:43:56.400Z,1736376236.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:56.400Z,1736376236.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482311 2025-01-08T22:43:56.534Z,1736376236.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:56.542Z,1736376236.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-08T22:43:56.545Z,1736376236.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 27.164604 m, bearing: 77.354035 deg, approach rate: -0.421245 m/s, LOS rate: 1.023894 deg/s, cmd heading: 29.481569 deg, new cmd heading: 30.808872 deg. 2025-01-08T22:43:56.547Z,1736376236.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537716 target range: 115.300003 and range: 115.30 m. 2025-01-08T22:43:56.652Z,1736376236.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:56.663Z,1736376236.663 [DAT](INFO): DAT read: 22:43:54.8176 LVL= 21136, 31793, 24018, 32755, AGC= 56, IDX= 416, 0.40, 1.342,-0.288,-0.012, 0.485, PHS= 0.945,-0.727,-0.500, RAW= 97.2, 3.6, CAL= 106.6, 1.8, ROT= 43.4, -1.8 2025-01-08T22:43:56.665Z,1736376236.665 [DAT](INFO): got valid direction response: 22:43:54.8176 LVL= 21136, 31793, 24018, 32755, AGC= 56, IDX= 416, 0.40, 1.342,-0.288,-0.012, 0.485, PHS= 0.945,-0.727,-0.500, RAW= 97.2, 3.6, CAL= 106.6, 1.8, ROT= 43.4, -1.8 2025-01-08T22:43:56.666Z,1736376236.666 [DAT](INFO): DAT read: Bearing 43.4, -1.8 (Local) 2025-01-08T22:43:56.666Z,1736376236.666 [DAT](INFO): Local bearing/azimuth received: Bearing 43.4, -1.8 (Local) 2025-01-08T22:43:56.673Z,1736376236.673 [DAT](INFO): DAT read: Range 10 to 50 : 113.9 m (Round-trip 151.9 ms) speed 0.4 m/s 2025-01-08T22:43:56.679Z,1736376236.679 [DAT](INFO): DAT read: user:2832> 2025-01-08T22:43:56.681Z,1736376236.681 [DAT](INFO): DAT read: Tx time:22:43:55.9116 2025-01-08T22:43:56.681Z,1736376236.681 [DAT](INFO): Ping request sent. 2025-01-08T22:43:56.681Z,1736376236.681 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:43:56.682Z,1736376236.682 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:43:56.682Z,1736376236.682 [DAT](INFO): direction in FSK: [-0.165213,-0.014032,0.986158] 2025-01-08T22:43:56.683Z,1736376236.683 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:56.687Z,1736376236.687 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:56.690Z,1736376236.690 [DAT](INFO): publishing transmit ping time 2025-01-08T22:43:56.690Z,1736376236.690 [DAT](INFO): publishing direction and range info 2025-01-08T22:43:56.905Z,1736376236.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:56.906Z,1736376236.906 [DAT](INFO): DAT read: TxSync time:22:43:55.9108 2025-01-08T22:43:57.120Z,1736376237.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:57.154Z,1736376237.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.900002 m, deltaT: 3.778754 s, deltaX: -1.400002 m, approachRate: -0.370493 m/s, rangeRepo size: 4 2025-01-08T22:43:57.156Z,1736376237.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:57.157Z,1736376237.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.900002 m, bearing: 256.748129 deg, lat: 36.904180 deg, lon: -122.120323 deg, deltaT: 3.778754 s, deltaX: -1.400002 m, approachRate: -0.370493 m/s, posRepo size: 4 2025-01-08T22:43:57.158Z,1736376237.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.90 m. 2025-01-08T22:43:57.161Z,1736376237.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.900002 m, nav range: 7.083636 m, bearing: 109.137307 deg, approach rate: 0.000000 m/s, LOS rate: 1.023894 deg/s, cmd heading: 30.808873 deg, new cmd heading: 32.684088 deg. 2025-01-08T22:43:57.162Z,1736376237.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570445 target range: 113.900002 and range: 113.90 m. 2025-01-08T22:43:57.408Z,1736376237.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:57.449Z,1736376237.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:57.456Z,1736376237.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:57.458Z,1736376237.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.90 m. 2025-01-08T22:43:57.461Z,1736376237.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.900002 m, nav range: 7.022545 m, bearing: 110.859292 deg, approach rate: -0.200229 m/s, LOS rate: 5.692189 deg/s, cmd heading: 32.684088 deg, new cmd heading: 37.879910 deg. 2025-01-08T22:43:57.462Z,1736376237.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661129 target range: 113.900002 and range: 113.90 m. 2025-01-08T22:43:57.660Z,1736376237.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:57.661Z,1736376237.661 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:43:57.661Z,1736376237.661 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:43:57.662Z,1736376237.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:43:57.833Z,1736376237.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:57.844Z,1736376237.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.90 m. 2025-01-08T22:43:57.847Z,1736376237.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.900002 m, nav range: 6.952632 m, bearing: 112.882945 deg, approach rate: -0.181168 m/s, LOS rate: 5.295557 deg/s, cmd heading: 37.879912 deg, new cmd heading: 43.987404 deg. 2025-01-08T22:43:57.848Z,1736376237.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767725 target range: 113.900002 and range: 113.90 m. 2025-01-08T22:43:57.912Z,1736376237.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:57.913Z,1736376237.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231347 2025-01-08T22:43:58.166Z,1736376238.166 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:58.166Z,1736376238.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485153 2025-01-08T22:43:58.266Z,1736376238.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:58.274Z,1736376238.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.90 m. 2025-01-08T22:43:58.293Z,1736376238.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.900002 m, nav range: 6.864524 m, bearing: 115.242108 deg, approach rate: -0.204831 m/s, LOS rate: 5.553325 deg/s, cmd heading: 43.987405 deg, new cmd heading: 51.116687 deg. 2025-01-08T22:43:58.294Z,1736376238.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.892155 target range: 113.900002 and range: 113.90 m. 2025-01-08T22:43:58.417Z,1736376238.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:58.418Z,1736376238.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736421 2025-01-08T22:43:58.633Z,1736376238.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:58.660Z,1736376238.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.90 m. 2025-01-08T22:43:58.668Z,1736376238.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:58.670Z,1736376238.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988064 2025-01-08T22:43:58.677Z,1736376238.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.900002 m, nav range: 6.791934 m, bearing: 117.276118 deg, approach rate: -0.188554 m/s, LOS rate: 5.338777 deg/s, cmd heading: 51.116688 deg, new cmd heading: 57.259001 deg. 2025-01-08T22:43:58.679Z,1736376238.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.999358 target range: 113.900002 and range: 113.90 m. 2025-01-08T22:43:58.920Z,1736376238.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:58.920Z,1736376238.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239064 2025-01-08T22:43:59.148Z,1736376239.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:43:59.148Z,1736376239.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:59.157Z,1736376239.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.90 m. 2025-01-08T22:43:59.160Z,1736376239.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.900002 m, nav range: 6.695138 m, bearing: 120.167836 deg, approach rate: -0.194537 m/s, LOS rate: 5.893132 deg/s, cmd heading: 57.259002 deg, new cmd heading: 65.987685 deg. 2025-01-08T22:43:59.161Z,1736376239.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.151702 target range: 113.900002 and range: 113.90 m. 2025-01-08T22:43:59.172Z,1736376239.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:59.172Z,1736376239.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490900 2025-01-08T22:43:59.424Z,1736376239.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:59.424Z,1736376239.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743083 2025-01-08T22:43:59.536Z,1736376239.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:43:59.537Z,1736376239.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:59.544Z,1736376239.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:43:59.545Z,1736376239.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.90 m. 2025-01-08T22:43:59.549Z,1736376239.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.900002 m, nav range: 6.626566 m, bearing: 122.381838 deg, approach rate: -0.176398 m/s, LOS rate: 5.752934 deg/s, cmd heading: 65.987687 deg, new cmd heading: 72.666339 deg. 2025-01-08T22:43:59.550Z,1736376239.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268267 target range: 113.900002 and range: 113.90 m. 2025-01-08T22:43:59.676Z,1736376239.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:59.677Z,1736376239.677 [DAT](INFO): DAT read: Rx Time:22:43:58.4652 2025-01-08T22:43:59.678Z,1736376239.678 [DAT](INFO): Rx dataTimestamp_ set to:1736376239.677436 2025-01-08T22:43:59.679Z,1736376239.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997298 2025-01-08T22:43:59.928Z,1736376239.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:43:59.928Z,1736376239.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246929 2025-01-08T22:43:59.976Z,1736376239.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:43:59.976Z,1736376239.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:43:59.995Z,1736376239.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.90 m. 2025-01-08T22:44:00.038Z,1736376240.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.900002 m, nav range: 6.553296 m, bearing: 124.908236 deg, approach rate: -0.163032 m/s, LOS rate: 5.682450 deg/s, cmd heading: 72.666342 deg, new cmd heading: 80.282616 deg. 2025-01-08T22:44:00.047Z,1736376240.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401196 target range: 113.900002 and range: 113.90 m. 2025-01-08T22:44:00.180Z,1736376240.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:00.187Z,1736376240.187 [DAT](INFO): DAT read: 22:43:58.4652 LVL= 25072, 32753, 32626, 32755, AGC= 59, IDX= 423, 0.10,-0.486,-2.124,-1.504,-1.181, PHS= 0.783,-0.896,-0.326, RAW= 109.5, 6.0, CAL= 120.1, 3.3, ROT= 29.9, -3.3 2025-01-08T22:44:00.188Z,1736376240.188 [DAT](INFO): got valid direction response: 22:43:58.4652 LVL= 25072, 32753, 32626, 32755, AGC= 59, IDX= 423, 0.10,-0.486,-2.124,-1.504,-1.181, PHS= 0.783,-0.896,-0.326, RAW= 109.5, 6.0, CAL= 120.1, 3.3, ROT= 29.9, -3.3 2025-01-08T22:44:00.189Z,1736376240.189 [DAT](INFO): DAT read: Bearing 29.9, -3.3 (Local) 2025-01-08T22:44:00.189Z,1736376240.189 [DAT](INFO): Local bearing/azimuth received: Bearing 29.9, -3.3 (Local) 2025-01-08T22:44:00.191Z,1736376240.191 [DAT](INFO): DAT read: Range 10 to 50 : 112.1 m (Round-trip 149.5 ms) speed 0.2 m/s 2025-01-08T22:44:00.192Z,1736376240.192 [DAT](INFO): DAT read: user:2833> 2025-01-08T22:44:00.192Z,1736376240.192 [DAT](INFO): DAT read: Tx time:22:43:59.5616 2025-01-08T22:44:00.193Z,1736376240.193 [DAT](INFO): Ping request sent. 2025-01-08T22:44:00.193Z,1736376240.193 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:00.193Z,1736376240.193 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:44:00.194Z,1736376240.194 [DAT](INFO): direction in FSK: [-0.225833,-0.226149,0.947553] 2025-01-08T22:44:00.194Z,1736376240.194 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:00.195Z,1736376240.195 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:00.204Z,1736376240.204 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:00.204Z,1736376240.204 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:00.432Z,1736376240.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:00.434Z,1736376240.434 [DAT](INFO): DAT read: TxSync time:22:43:59.5608 2025-01-08T22:44:00.451Z,1736376240.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:00.482Z,1736376240.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.099998 m, deltaT: 3.528059 s, deltaX: -1.800003 m, approachRate: -0.510196 m/s, rangeRepo size: 4 2025-01-08T22:44:00.489Z,1736376240.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 112.099998 m, bearing: 276.788056 deg, lat: 36.904180 deg, lon: -122.120517 deg, deltaT: 3.528059 s, deltaX: -1.800003 m, approachRate: -0.510196 m/s, posRepo size: 4 2025-01-08T22:44:00.489Z,1736376240.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m. 2025-01-08T22:44:00.497Z,1736376240.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.099998 m, nav range: 12.689283 m, bearing: 251.789816 deg, approach rate: 0.000000 m/s, LOS rate: 5.682450 deg/s, cmd heading: 80.282617 deg, new cmd heading: 88.521084 deg. 2025-01-08T22:44:00.498Z,1736376240.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544984 target range: 112.099998 and range: 112.10 m. 2025-01-08T22:44:00.684Z,1736376240.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:00.793Z,1736376240.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:00.803Z,1736376240.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m. 2025-01-08T22:44:00.805Z,1736376240.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.099998 m, nav range: 12.871177 m, bearing: 251.338926 deg, approach rate: 0.566687 m/s, LOS rate: -1.384875 deg/s, cmd heading: 88.521082 deg, new cmd heading: 87.187784 deg. 2025-01-08T22:44:00.806Z,1736376240.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.521714 target range: 112.099998 and range: 112.10 m. 2025-01-08T22:44:00.936Z,1736376240.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:01.188Z,1736376241.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:01.228Z,1736376241.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:01.242Z,1736376241.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m. 2025-01-08T22:44:01.249Z,1736376241.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.099998 m, nav range: 13.053357 m, bearing: 250.764139 deg, approach rate: 0.414694 m/s, LOS rate: -1.290095 deg/s, cmd heading: 87.187781 deg, new cmd heading: 85.488014 deg. 2025-01-08T22:44:01.250Z,1736376241.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.492047 target range: 112.099998 and range: 112.10 m. 2025-01-08T22:44:01.440Z,1736376241.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:01.610Z,1736376241.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:01.618Z,1736376241.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:01.620Z,1736376241.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m. 2025-01-08T22:44:01.623Z,1736376241.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.099998 m, nav range: 13.217207 m, bearing: 250.294013 deg, approach rate: 0.433876 m/s, LOS rate: -1.229452 deg/s, cmd heading: 85.488014 deg, new cmd heading: 84.095409 deg. 2025-01-08T22:44:01.624Z,1736376241.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.467742 target range: 112.099998 and range: 112.10 m. 2025-01-08T22:44:01.693Z,1736376241.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:01.694Z,1736376241.694 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:44:01.694Z,1736376241.694 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:44:01.694Z,1736376241.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:01.944Z,1736376241.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:01.944Z,1736376241.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751581 2025-01-08T22:44:01.998Z,1736376241.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:02.052Z,1736376242.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m. 2025-01-08T22:44:02.099Z,1736376242.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.099998 m, nav range: 13.387800 m, bearing: 249.847767 deg, approach rate: 0.422792 m/s, LOS rate: -1.091856 deg/s, cmd heading: 84.095406 deg, new cmd heading: 82.773975 deg. 2025-01-08T22:44:02.104Z,1736376242.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.444678 target range: 112.099998 and range: 112.10 m. 2025-01-08T22:44:02.196Z,1736376242.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:02.197Z,1736376242.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004426 2025-01-08T22:44:02.448Z,1736376242.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:02.449Z,1736376242.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256509 2025-01-08T22:44:02.530Z,1736376242.530 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3278,V 2025-01-08T22:44:02.555Z,1736376242.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T22:44:02.555Z,1736376242.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:02.564Z,1736376242.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m. 2025-01-08T22:44:02.567Z,1736376242.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.099998 m, nav range: 13.640202 m, bearing: 249.279679 deg, approach rate: 0.466249 m/s, LOS rate: -1.029967 deg/s, cmd heading: 82.773977 deg, new cmd heading: 81.101751 deg. 2025-01-08T22:44:02.568Z,1736376242.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.415493 target range: 112.099998 and range: 112.10 m. 2025-01-08T22:44:02.701Z,1736376242.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:02.702Z,1736376242.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509328 2025-01-08T22:44:02.929Z,1736376242.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:44:02.929Z,1736376242.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:02.937Z,1736376242.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m. 2025-01-08T22:44:02.940Z,1736376242.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.099998 m, nav range: 13.812540 m, bearing: 248.926176 deg, approach rate: 0.461912 m/s, LOS rate: -0.935652 deg/s, cmd heading: 81.101748 deg, new cmd heading: 80.054595 deg. 2025-01-08T22:44:02.941Z,1736376242.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397216 target range: 112.099998 and range: 112.10 m. 2025-01-08T22:44:02.953Z,1736376242.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:02.955Z,1736376242.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761396 2025-01-08T22:44:03.204Z,1736376243.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:03.204Z,1736376243.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011576 2025-01-08T22:44:03.385Z,1736376243.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:03.393Z,1736376243.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m. 2025-01-08T22:44:03.397Z,1736376243.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.099998 m, nav range: 13.922628 m, bearing: 248.419037 deg, approach rate: 0.241509 m/s, LOS rate: -1.103737 deg/s, cmd heading: 80.054591 deg, new cmd heading: 78.545572 deg. 2025-01-08T22:44:03.399Z,1736376243.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370879 target range: 112.099998 and range: 112.10 m. 2025-01-08T22:44:03.457Z,1736376243.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:03.458Z,1736376243.458 [DAT](INFO): DAT read: Rx Time:22:44:02.1144 2025-01-08T22:44:03.459Z,1736376243.459 [DAT](INFO): Rx dataTimestamp_ set to:1736376243.458327 2025-01-08T22:44:03.460Z,1736376243.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266976 2025-01-08T22:44:03.708Z,1736376243.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:03.708Z,1736376243.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515515 2025-01-08T22:44:03.817Z,1736376243.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:03.840Z,1736376243.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:03.842Z,1736376243.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.10 m. 2025-01-08T22:44:03.849Z,1736376243.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.099998 m, nav range: 14.028929 m, bearing: 247.961263 deg, approach rate: 0.237010 m/s, LOS rate: -1.012921 deg/s, cmd heading: 78.545570 deg, new cmd heading: 77.182927 deg. 2025-01-08T22:44:03.850Z,1736376243.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347096 target range: 112.099998 and range: 112.10 m. 2025-01-08T22:44:03.860Z,1736376243.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:44:03.960Z,1736376243.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:03.971Z,1736376243.971 [DAT](INFO): DAT read: 22:44:02.1144 LVL= 29408, 32753, 32754, 32755, AGC= 64, IDX= 431,-0.35, 2.482, 1.067, 1.779, 1.964, PHS= 0.606,-0.849,-0.187, RAW= 117.0, 6.9, CAL= 126.5, 3.2, ROT= 23.5, -3.2 2025-01-08T22:44:03.974Z,1736376243.974 [DAT](INFO): got valid direction response: 22:44:02.1144 LVL= 29408, 32753, 32754, 32755, AGC= 64, IDX= 431,-0.35, 2.482, 1.067, 1.779, 1.964, PHS= 0.606,-0.849,-0.187, RAW= 117.0, 6.9, CAL= 126.5, 3.2, ROT= 23.5, -3.2 2025-01-08T22:44:03.976Z,1736376243.976 [DAT](INFO): DAT read: Bearing 23.5, -3.2 (Local) 2025-01-08T22:44:03.976Z,1736376243.976 [DAT](INFO): Local bearing/azimuth received: Bearing 23.5, -3.2 (Local) 2025-01-08T22:44:03.978Z,1736376243.978 [DAT](INFO): DAT read: Range 10 to 50 : 111.4 m (Round-trip 148.6 ms) speed 0.6 m/s 2025-01-08T22:44:03.978Z,1736376243.978 [DAT](INFO): DAT read: user:2834> 2025-01-08T22:44:03.980Z,1736376243.980 [DAT](INFO): DAT read: Tx time:22:44:03.2117 2025-01-08T22:44:03.980Z,1736376243.980 [DAT](INFO): Ping request sent. 2025-01-08T22:44:03.980Z,1736376243.980 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:03.981Z,1736376243.981 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:44:04.020Z,1736376244.020 [DAT](INFO): direction in FSK: [-0.249657,-0.352445,0.901917] 2025-01-08T22:44:04.020Z,1736376244.020 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:04.021Z,1736376244.021 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:04.050Z,1736376244.050 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:04.050Z,1736376244.050 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:04.220Z,1736376244.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:04.220Z,1736376244.220 [DAT](INFO): DAT read: TxSync time:22:44:03.2109 2025-01-08T22:44:04.293Z,1736376244.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:04.314Z,1736376244.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.400002 m, deltaT: 3.779360 s, deltaX: -0.699997 m, approachRate: -0.185216 m/s, rangeRepo size: 4 2025-01-08T22:44:04.316Z,1736376244.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.400002 m, bearing: 293.121631 deg, lat: 36.904180 deg, lon: -122.120796 deg, deltaT: 3.779360 s, deltaX: -0.699997 m, approachRate: -0.185216 m/s, posRepo size: 4 2025-01-08T22:44:04.317Z,1736376244.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m. 2025-01-08T22:44:04.340Z,1736376244.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.400002 m, nav range: 38.261951 m, bearing: 261.854401 deg, approach rate: 0.000000 m/s, LOS rate: -1.012921 deg/s, cmd heading: 77.182927 deg, new cmd heading: 75.752454 deg. 2025-01-08T22:44:04.341Z,1736376244.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322130 target range: 111.400002 and range: 111.40 m. 2025-01-08T22:44:04.472Z,1736376244.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:04.715Z,1736376244.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:04.724Z,1736376244.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:04.725Z,1736376244.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m. 2025-01-08T22:44:04.728Z,1736376244.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.400002 m, nav range: 38.317348 m, bearing: 261.660687 deg, approach rate: 0.134226 m/s, LOS rate: -0.468685 deg/s, cmd heading: 75.752453 deg, new cmd heading: 75.172174 deg. 2025-01-08T22:44:04.729Z,1736376244.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312002 target range: 111.400002 and range: 111.40 m. 2025-01-08T22:44:04.864Z,1736376244.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:44:04.976Z,1736376244.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:05.203Z,1736376245.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:05.211Z,1736376245.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m. 2025-01-08T22:44:05.216Z,1736376245.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.400002 m, nav range: 38.385300 m, bearing: 261.452675 deg, approach rate: 0.139910 m/s, LOS rate: -0.427534 deg/s, cmd heading: 75.172174 deg, new cmd heading: 74.549267 deg. 2025-01-08T22:44:05.217Z,1736376245.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.301130 target range: 111.400002 and range: 111.40 m. 2025-01-08T22:44:05.228Z,1736376245.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:05.481Z,1736376245.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:05.539Z,1736376245.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:05.555Z,1736376245.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m. 2025-01-08T22:44:05.561Z,1736376245.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.400002 m, nav range: 38.437248 m, bearing: 261.313350 deg, approach rate: 0.151203 m/s, LOS rate: -0.404973 deg/s, cmd heading: 74.549268 deg, new cmd heading: 74.131867 deg. 2025-01-08T22:44:05.562Z,1736376245.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293845 target range: 111.400002 and range: 111.40 m. 2025-01-08T22:44:05.732Z,1736376245.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:05.926Z,1736376245.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:05.935Z,1736376245.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:05.939Z,1736376245.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m. 2025-01-08T22:44:05.942Z,1736376245.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.400002 m, nav range: 38.499813 m, bearing: 261.156130 deg, approach rate: 0.162663 m/s, LOS rate: -0.408095 deg/s, cmd heading: 74.131868 deg, new cmd heading: 73.660985 deg. 2025-01-08T22:44:05.943Z,1736376245.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285627 target range: 111.400002 and range: 111.40 m. 2025-01-08T22:44:05.984Z,1736376245.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:05.984Z,1736376245.984 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:44:05.984Z,1736376245.984 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:44:05.985Z,1736376245.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:06.236Z,1736376246.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:06.236Z,1736376246.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256137 2025-01-08T22:44:06.361Z,1736376246.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:06.370Z,1736376246.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m. 2025-01-08T22:44:06.373Z,1736376246.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.400002 m, nav range: 38.591175 m, bearing: 260.993475 deg, approach rate: 0.211945 m/s, LOS rate: -0.376439 deg/s, cmd heading: 73.660988 deg, new cmd heading: 73.174191 deg. 2025-01-08T22:44:06.374Z,1736376246.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277131 target range: 111.400002 and range: 111.40 m. 2025-01-08T22:44:06.488Z,1736376246.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:06.489Z,1736376246.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508222 2025-01-08T22:44:06.738Z,1736376246.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:06.740Z,1736376246.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:06.741Z,1736376246.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760452 2025-01-08T22:44:06.750Z,1736376246.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m. 2025-01-08T22:44:06.753Z,1736376246.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.400002 m, nav range: 38.673069 m, bearing: 260.856059 deg, approach rate: 0.215799 m/s, LOS rate: -0.361340 deg/s, cmd heading: 73.174193 deg, new cmd heading: 72.762825 deg. 2025-01-08T22:44:06.754Z,1736376246.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.269951 target range: 111.400002 and range: 111.40 m. 2025-01-08T22:44:06.992Z,1736376246.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:06.993Z,1736376246.993 [DAT](INFO): DAT read: Rx Time:22:44:05.7628 2025-01-08T22:44:06.993Z,1736376246.993 [DAT](INFO): Rx dataTimestamp_ set to:1736376246.992690 2025-01-08T22:44:06.993Z,1736376246.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013214 2025-01-08T22:44:07.226Z,1736376247.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:07.236Z,1736376247.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m. 2025-01-08T22:44:07.243Z,1736376247.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.400002 m, nav range: 38.826981 m, bearing: 260.696838 deg, approach rate: 0.316914 m/s, LOS rate: -0.326546 deg/s, cmd heading: 72.762825 deg, new cmd heading: 72.287067 deg. 2025-01-08T22:44:07.260Z,1736376247.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:07.260Z,1736376247.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280157 2025-01-08T22:44:07.284Z,1736376247.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261647 target range: 111.400002 and range: 111.40 m. 2025-01-08T22:44:07.512Z,1736376247.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:07.528Z,1736376247.528 [DAT](INFO): DAT read: 22:44:05.7628 LVL= 25264, 30929, 24146, 32755, AGC= 67, IDX= 430, 0.16, 2.966, 1.316, 2.523, 2.310, PHS= 0.744,-0.947, 0.210, RAW= 132.0, -0.1, CAL= 137.7, -8.8, ROT= 12.3, 8.8 2025-01-08T22:44:07.529Z,1736376247.529 [DAT](INFO): got valid direction response: 22:44:05.7628 LVL= 25264, 30929, 24146, 32755, AGC= 67, IDX= 430, 0.16, 2.966, 1.316, 2.523, 2.310, PHS= 0.744,-0.947, 0.210, RAW= 132.0, -0.1, CAL= 137.7, -8.8, ROT= 12.3, 8.8 2025-01-08T22:44:07.559Z,1736376247.559 [DAT](INFO): DAT read: Bearing 12.3, 8.8 (Local) 2025-01-08T22:44:07.560Z,1736376247.560 [DAT](INFO): Local bearing/azimuth received: Bearing 12.3, 8.8 (Local) 2025-01-08T22:44:07.561Z,1736376247.561 [DAT](INFO): DAT read: Range 10 to 50 : 110.2 m (Round-trip 147.0 ms) speed 0.6 m/s 2025-01-08T22:44:07.562Z,1736376247.562 [DAT](INFO): DAT read: user:2835> 2025-01-08T22:44:07.563Z,1736376247.563 [DAT](INFO): DAT read: Tx time:22:44:06.8617 2025-01-08T22:44:07.572Z,1736376247.572 [DAT](INFO): Ping request sent. 2025-01-08T22:44:07.572Z,1736376247.572 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:07.572Z,1736376247.572 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:44:07.573Z,1736376247.573 [DAT](INFO): direction in FSK: [-0.123572,-0.603302,0.787881] 2025-01-08T22:44:07.573Z,1736376247.573 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:07.573Z,1736376247.573 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:07.589Z,1736376247.589 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:07.589Z,1736376247.589 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:07.593Z,1736376247.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:07.629Z,1736376247.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 110.199997 m, deltaT: 3.551995 s, deltaX: -1.200005 m, approachRate: -0.337840 m/s, rangeRepo size: 4 2025-01-08T22:44:07.641Z,1736376247.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 110.199997 m, bearing: 320.910895 deg, lat: 36.904280 deg, lon: -122.120990 deg, deltaT: 3.551995 s, deltaX: -1.200005 m, approachRate: -0.337840 m/s, posRepo size: 4 2025-01-08T22:44:07.641Z,1736376247.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.20 m. 2025-01-08T22:44:07.660Z,1736376247.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.199997 m, nav range: 55.888264 m, bearing: 274.956749 deg, approach rate: 0.000000 m/s, LOS rate: -0.326546 deg/s, cmd heading: 72.287068 deg, new cmd heading: 71.902072 deg. 2025-01-08T22:44:07.662Z,1736376247.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254928 target range: 110.199997 and range: 110.20 m. 2025-01-08T22:44:07.765Z,1736376247.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:07.766Z,1736376247.766 [DAT](INFO): DAT read: TxSync time:22:44:06.8609 2025-01-08T22:44:07.983Z,1736376247.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:07.998Z,1736376247.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:08.004Z,1736376248.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.20 m. 2025-01-08T22:44:08.006Z,1736376248.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.199997 m, nav range: 55.995480 m, bearing: 274.848926 deg, approach rate: 0.285536 m/s, LOS rate: -0.286603 deg/s, cmd heading: 71.902071 deg, new cmd heading: 71.579225 deg. 2025-01-08T22:44:08.012Z,1736376248.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249293 target range: 110.199997 and range: 110.20 m. 2025-01-08T22:44:08.016Z,1736376248.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:08.016Z,1736376248.016 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:44:08.016Z,1736376248.016 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:44:08.017Z,1736376248.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:08.268Z,1736376248.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:08.268Z,1736376248.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.696732 2025-01-08T22:44:08.400Z,1736376248.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:08.435Z,1736376248.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.20 m. 2025-01-08T22:44:08.438Z,1736376248.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.199997 m, nav range: 56.161480 m, bearing: 274.737130 deg, approach rate: 0.388610 m/s, LOS rate: -0.260944 deg/s, cmd heading: 71.579221 deg, new cmd heading: 71.244827 deg. 2025-01-08T22:44:08.439Z,1736376248.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.243457 target range: 110.199997 and range: 110.20 m. 2025-01-08T22:44:08.520Z,1736376248.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:08.522Z,1736376248.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.949925 2025-01-08T22:44:08.759Z,1736376248.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:08.768Z,1736376248.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.20 m. 2025-01-08T22:44:08.771Z,1736376248.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.199997 m, nav range: 56.307079 m, bearing: 274.645707 deg, approach rate: 0.431825 m/s, LOS rate: -0.270446 deg/s, cmd heading: 71.244829 deg, new cmd heading: 70.971271 deg. 2025-01-08T22:44:08.772Z,1736376248.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:08.772Z,1736376248.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200803 2025-01-08T22:44:08.774Z,1736376248.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238682 target range: 110.199997 and range: 110.20 m. 2025-01-08T22:44:09.024Z,1736376249.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:09.025Z,1736376249.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.452877 2025-01-08T22:44:09.220Z,1736376249.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:09.238Z,1736376249.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.20 m. 2025-01-08T22:44:09.244Z,1736376249.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.199997 m, nav range: 56.497887 m, bearing: 274.534981 deg, approach rate: 0.406565 m/s, LOS rate: -0.235132 deg/s, cmd heading: 70.971273 deg, new cmd heading: 70.640223 deg. 2025-01-08T22:44:09.245Z,1736376249.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232904 target range: 110.199997 and range: 110.20 m. 2025-01-08T22:44:09.276Z,1736376249.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:09.277Z,1736376249.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704907 2025-01-08T22:44:09.528Z,1736376249.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:09.528Z,1736376249.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956650 2025-01-08T22:44:09.620Z,1736376249.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:09.653Z,1736376249.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.20 m. 2025-01-08T22:44:09.662Z,1736376249.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.199997 m, nav range: 56.717033 m, bearing: 274.436502 deg, approach rate: 0.528560 m/s, LOS rate: -0.236605 deg/s, cmd heading: 70.640221 deg, new cmd heading: 70.345926 deg. 2025-01-08T22:44:09.668Z,1736376249.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227768 target range: 110.199997 and range: 110.20 m. 2025-01-08T22:44:09.780Z,1736376249.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:09.781Z,1736376249.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.209317 2025-01-08T22:44:09.977Z,1736376249.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:10.011Z,1736376250.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:10.013Z,1736376250.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.20 m. 2025-01-08T22:44:10.020Z,1736376250.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.199997 m, nav range: 56.916451 m, bearing: 274.359940 deg, approach rate: 0.552124 m/s, LOS rate: -0.211233 deg/s, cmd heading: 70.345928 deg, new cmd heading: 70.117049 deg. 2025-01-08T22:44:10.021Z,1736376250.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223773 target range: 110.199997 and range: 110.20 m. 2025-01-08T22:44:10.032Z,1736376250.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:10.033Z,1736376250.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460855 2025-01-08T22:44:10.284Z,1736376250.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:10.284Z,1736376250.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712719 2025-01-08T22:44:10.419Z,1736376250.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:10.438Z,1736376250.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.20 m. 2025-01-08T22:44:10.441Z,1736376250.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.199997 m, nav range: 57.203762 m, bearing: 274.281169 deg, approach rate: 0.676027 m/s, LOS rate: -0.184412 deg/s, cmd heading: 70.117049 deg, new cmd heading: 69.881924 deg. 2025-01-08T22:44:10.442Z,1736376250.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219670 target range: 110.199997 and range: 110.20 m. 2025-01-08T22:44:10.536Z,1736376250.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:10.538Z,1736376250.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.965876 2025-01-08T22:44:10.784Z,1736376250.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:10.788Z,1736376250.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:10.789Z,1736376250.789 [DAT](INFO): DAT read: Rx Time:22:44:09.4091 2025-01-08T22:44:10.789Z,1736376250.789 [DAT](INFO): Rx dataTimestamp_ set to:1736376250.788794 2025-01-08T22:44:10.790Z,1736376250.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217905 2025-01-08T22:44:10.801Z,1736376250.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.20 m. 2025-01-08T22:44:10.804Z,1736376250.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.199997 m, nav range: 57.468899 m, bearing: 274.216395 deg, approach rate: 0.731872 m/s, LOS rate: -0.177974 deg/s, cmd heading: 69.881926 deg, new cmd heading: 69.688502 deg. 2025-01-08T22:44:10.805Z,1736376250.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216294 target range: 110.199997 and range: 110.20 m. 2025-01-08T22:44:11.040Z,1736376251.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:11.040Z,1736376251.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468685 2025-01-08T22:44:11.253Z,1736376251.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:11.261Z,1736376251.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.20 m. 2025-01-08T22:44:11.265Z,1736376251.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.199997 m, nav range: 57.791317 m, bearing: 274.138451 deg, approach rate: 0.699906 m/s, LOS rate: -0.168257 deg/s, cmd heading: 69.688502 deg, new cmd heading: 69.455976 deg. 2025-01-08T22:44:11.266Z,1736376251.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212235 target range: 110.199997 and range: 110.20 m. 2025-01-08T22:44:11.293Z,1736376251.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:11.313Z,1736376251.313 [DAT](INFO): DAT read: 22:44:09.4091 LVL= 30256, 32753, 25282, 32755, AGC= 67, IDX= 408, 0.19,-2.098, 2.809,-1.825,-2.299, PHS= 0.289,-1.128, 0.471, RAW= 156.0, 4.9, CAL= 157.0, -4.2, ROT= 353.0, 4.2 2025-01-08T22:44:11.314Z,1736376251.314 [DAT](INFO): got valid direction response: 22:44:09.4091 LVL= 30256, 32753, 25282, 32755, AGC= 67, IDX= 408, 0.19,-2.098, 2.809,-1.825,-2.299, PHS= 0.289,-1.128, 0.471, RAW= 156.0, 4.9, CAL= 157.0, -4.2, ROT= 353.0, 4.2 2025-01-08T22:44:11.324Z,1736376251.324 [DAT](INFO): DAT read: Bearing 353.0, 4.2 (Local) 2025-01-08T22:44:11.324Z,1736376251.324 [DAT](INFO): Local bearing/azimuth received: Bearing 353.0, 4.2 (Local) 2025-01-08T22:44:11.326Z,1736376251.326 [DAT](INFO): DAT read: Range 10 to 50 : 107.4 m (Round-trip 143.3 ms) speed 0.6 m/s 2025-01-08T22:44:11.327Z,1736376251.327 [DAT](INFO): DAT read: user:2836> 2025-01-08T22:44:11.328Z,1736376251.328 [DAT](INFO): DAT read: Tx time:22:44:10.5117 2025-01-08T22:44:11.328Z,1736376251.328 [DAT](INFO): Ping request sent. 2025-01-08T22:44:11.328Z,1736376251.328 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:11.329Z,1736376251.329 [DAT](INFO): DAT read: TxSync time:22:44:10.5109 2025-01-08T22:44:11.329Z,1736376251.329 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:44:11.331Z,1736376251.331 [DAT](INFO): direction in FSK: [-0.211213,-0.871344,0.442888] 2025-01-08T22:44:11.343Z,1736376251.343 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:11.344Z,1736376251.344 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:11.360Z,1736376251.360 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:11.360Z,1736376251.360 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:11.545Z,1736376251.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:11.709Z,1736376251.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:11.733Z,1736376251.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.400002 m, deltaT: 3.780965 s, deltaX: -2.799995 m, approachRate: -0.740550 m/s, rangeRepo size: 4 2025-01-08T22:44:11.735Z,1736376251.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 107.400002 m, bearing: 328.750742 deg, lat: 36.904481 deg, lon: -122.120990 deg, deltaT: 3.780965 s, deltaX: -2.799995 m, approachRate: -0.740550 m/s, posRepo size: 4 2025-01-08T22:44:11.736Z,1736376251.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.40 m. 2025-01-08T22:44:11.739Z,1736376251.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.400002 m, nav range: 63.725025 m, bearing: 294.484625 deg, approach rate: 0.000000 m/s, LOS rate: -0.168257 deg/s, cmd heading: 69.455975 deg, new cmd heading: 69.218174 deg. 2025-01-08T22:44:11.740Z,1736376251.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208085 target range: 107.400002 and range: 107.40 m. 2025-01-08T22:44:11.796Z,1736376251.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:12.001Z,1736376252.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:12.010Z,1736376252.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.40 m. 2025-01-08T22:44:12.013Z,1736376252.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.400002 m, nav range: 63.924706 m, bearing: 294.381896 deg, approach rate: 0.719893 m/s, LOS rate: -0.369205 deg/s, cmd heading: 69.218175 deg, new cmd heading: 68.910954 deg. 2025-01-08T22:44:12.014Z,1736376252.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.202723 target range: 107.400002 and range: 107.40 m. 2025-01-08T22:44:12.049Z,1736376252.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:12.300Z,1736376252.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:12.425Z,1736376252.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:12.432Z,1736376252.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:12.434Z,1736376252.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.40 m. 2025-01-08T22:44:12.437Z,1736376252.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.400002 m, nav range: 64.221725 m, bearing: 294.233803 deg, approach rate: 0.699455 m/s, LOS rate: -0.347132 deg/s, cmd heading: 68.910953 deg, new cmd heading: 68.468738 deg. 2025-01-08T22:44:12.438Z,1736376252.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195005 target range: 107.400002 and range: 107.40 m. 2025-01-08T22:44:12.555Z,1736376252.555 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:12.556Z,1736376252.556 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:44:12.557Z,1736376252.557 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:44:12.557Z,1736376252.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:12.803Z,1736376252.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:12.816Z,1736376252.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:12.817Z,1736376252.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488699 2025-01-08T22:44:12.843Z,1736376252.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.40 m. 2025-01-08T22:44:12.857Z,1736376252.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.400002 m, nav range: 64.488007 m, bearing: 294.104335 deg, approach rate: 0.653253 m/s, LOS rate: -0.316304 deg/s, cmd heading: 68.468740 deg, new cmd heading: 68.081947 deg. 2025-01-08T22:44:12.858Z,1736376252.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.188254 target range: 107.400002 and range: 107.40 m. 2025-01-08T22:44:13.068Z,1736376253.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:13.069Z,1736376253.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740578 2025-01-08T22:44:13.216Z,1736376253.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:13.278Z,1736376253.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.40 m. 2025-01-08T22:44:13.285Z,1736376253.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.400002 m, nav range: 64.779045 m, bearing: 293.964880 deg, approach rate: 0.667941 m/s, LOS rate: -0.318615 deg/s, cmd heading: 68.081946 deg, new cmd heading: 67.665467 deg. 2025-01-08T22:44:13.286Z,1736376253.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.180985 target range: 107.400002 and range: 107.40 m. 2025-01-08T22:44:13.320Z,1736376253.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:13.321Z,1736376253.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992558 2025-01-08T22:44:13.572Z,1736376253.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:13.573Z,1736376253.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244843 2025-01-08T22:44:13.679Z,1736376253.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:13.698Z,1736376253.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.40 m. 2025-01-08T22:44:13.705Z,1736376253.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.400002 m, nav range: 65.095451 m, bearing: 293.811078 deg, approach rate: 0.753472 m/s, LOS rate: -0.364475 deg/s, cmd heading: 67.665468 deg, new cmd heading: 67.206315 deg. 2025-01-08T22:44:13.706Z,1736376253.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.172971 target range: 107.400002 and range: 107.40 m. 2025-01-08T22:44:13.824Z,1736376253.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:13.824Z,1736376253.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496495 2025-01-08T22:44:14.009Z,1736376254.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:14.018Z,1736376254.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.40 m. 2025-01-08T22:44:14.022Z,1736376254.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.400002 m, nav range: 65.325317 m, bearing: 293.699378 deg, approach rate: 0.717177 m/s, LOS rate: -0.347276 deg/s, cmd heading: 67.206316 deg, new cmd heading: 66.872398 deg. 2025-01-08T22:44:14.023Z,1736376254.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.167144 target range: 107.400002 and range: 107.40 m. 2025-01-08T22:44:14.076Z,1736376254.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:14.077Z,1736376254.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748616 2025-01-08T22:44:14.328Z,1736376254.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:14.328Z,1736376254.328 [DAT](INFO): DAT read: Rx Time:22:44:13.0561 2025-01-08T22:44:14.329Z,1736376254.329 [DAT](INFO): Rx dataTimestamp_ set to:1736376254.328606 2025-01-08T22:44:14.330Z,1736376254.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001454 2025-01-08T22:44:14.445Z,1736376254.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:14.452Z,1736376254.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:14.454Z,1736376254.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.40 m. 2025-01-08T22:44:14.458Z,1736376254.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.400002 m, nav range: 65.601097 m, bearing: 293.562843 deg, approach rate: 0.632483 m/s, LOS rate: -0.311816 deg/s, cmd heading: 66.872401 deg, new cmd heading: 66.464527 deg. 2025-01-08T22:44:14.458Z,1736376254.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160025 target range: 107.400002 and range: 107.40 m. 2025-01-08T22:44:14.581Z,1736376254.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:14.582Z,1736376254.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253821 2025-01-08T22:44:14.832Z,1736376254.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:14.838Z,1736376254.838 [DAT](INFO): DAT read: 22:44:13.0561 LVL= 21440, 30065, 15394, 29523, AGC= 65, IDX= 408, 0.34,-1.046,-2.340,-0.612,-1.179, PHS= 0.221,-1.114, 0.564, RAW= 161.1, 4.3, CAL= 161.8, -4.8, ROT= 348.2, 4.8 2025-01-08T22:44:14.840Z,1736376254.840 [DAT](INFO): got valid direction response: 22:44:13.0561 LVL= 21440, 30065, 15394, 29523, AGC= 65, IDX= 408, 0.34,-1.046,-2.340,-0.612,-1.179, PHS= 0.221,-1.114, 0.564, RAW= 161.1, 4.3, CAL= 161.8, -4.8, ROT= 348.2, 4.8 2025-01-08T22:44:14.841Z,1736376254.841 [DAT](INFO): DAT read: Bearing 348.2, 4.8 (Local) 2025-01-08T22:44:14.841Z,1736376254.841 [DAT](INFO): Local bearing/azimuth received: Bearing 348.2, 4.8 (Local) 2025-01-08T22:44:14.843Z,1736376254.843 [DAT](INFO): DAT read: Range 10 to 50 : 105.2 m (Round-trip 140.3 ms) speed 0.1 m/s 2025-01-08T22:44:14.843Z,1736376254.843 [DAT](INFO): DAT read: user:2837> 2025-01-08T22:44:14.844Z,1736376254.844 [DAT](INFO): DAT read: Tx time:22:44:14.1617 2025-01-08T22:44:14.844Z,1736376254.844 [DAT](INFO): Ping request sent. 2025-01-08T22:44:14.844Z,1736376254.844 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:14.845Z,1736376254.845 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:44:14.846Z,1736376254.846 [DAT](INFO): direction in FSK: [-0.195294,-0.912395,0.359717] 2025-01-08T22:44:14.846Z,1736376254.846 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:14.847Z,1736376254.847 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:14.849Z,1736376254.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:14.855Z,1736376254.855 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:14.879Z,1736376254.879 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:14.910Z,1736376254.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.199997 m, deltaT: 3.539118 s, deltaX: -2.200005 m, approachRate: -0.621625 m/s, rangeRepo size: 4 2025-01-08T22:44:14.924Z,1736376254.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 105.199997 m, bearing: 334.560576 deg, lat: 36.904853 deg, lon: -122.120990 deg, deltaT: 3.539118 s, deltaX: -2.200005 m, approachRate: -0.621625 m/s, posRepo size: 4 2025-01-08T22:44:14.925Z,1736376254.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:14.936Z,1736376254.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 90.672966 m, bearing: 318.210808 deg, approach rate: 0.000000 m/s, LOS rate: -0.311816 deg/s, cmd heading: 66.464530 deg, new cmd heading: 66.039119 deg. 2025-01-08T22:44:14.937Z,1736376254.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.152600 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:15.084Z,1736376255.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:15.086Z,1736376255.086 [DAT](INFO): DAT read: TxSync time:22:44:14.1610 2025-01-08T22:44:15.311Z,1736376255.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:15.331Z,1736376255.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:15.334Z,1736376255.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 90.864296 m, bearing: 318.036944 deg, approach rate: 0.457578 m/s, LOS rate: -0.414930 deg/s, cmd heading: 66.039118 deg, new cmd heading: 65.518641 deg. 2025-01-08T22:44:15.339Z,1736376255.339 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:15.340Z,1736376255.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.143516 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:15.588Z,1736376255.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:15.690Z,1736376255.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:15.701Z,1736376255.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:15.703Z,1736376255.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 90.997971 m, bearing: 317.910457 deg, approach rate: 0.358043 m/s, LOS rate: -0.338294 deg/s, cmd heading: 65.518637 deg, new cmd heading: 65.139738 deg. 2025-01-08T22:44:15.704Z,1736376255.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136903 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:15.840Z,1736376255.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:16.092Z,1736376256.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:16.136Z,1736376256.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:16.188Z,1736376256.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:16.200Z,1736376256.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.152191 m, bearing: 317.760474 deg, approach rate: 0.316501 m/s, LOS rate: -0.307282 deg/s, cmd heading: 65.139740 deg, new cmd heading: 64.690563 deg. 2025-01-08T22:44:16.201Z,1736376256.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129063 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:16.344Z,1736376256.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:16.553Z,1736376256.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:16.560Z,1736376256.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:16.562Z,1736376256.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:16.582Z,1736376256.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.260902 m, bearing: 317.638556 deg, approach rate: 0.290666 m/s, LOS rate: -0.325590 deg/s, cmd heading: 64.690566 deg, new cmd heading: 64.325252 deg. 2025-01-08T22:44:16.583Z,1736376256.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122687 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:16.596Z,1736376256.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:16.597Z,1736376256.597 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:44:16.597Z,1736376256.597 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:44:16.597Z,1736376256.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:16.848Z,1736376256.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:16.849Z,1736376256.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004008 2025-01-08T22:44:17.004Z,1736376257.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:17.013Z,1736376257.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:17.016Z,1736376257.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.375763 m, bearing: 317.504374 deg, approach rate: 0.254700 m/s, LOS rate: -0.297170 deg/s, cmd heading: 64.325253 deg, new cmd heading: 63.923220 deg. 2025-01-08T22:44:17.017Z,1736376257.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.115671 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:17.102Z,1736376257.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:17.103Z,1736376257.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257656 2025-01-08T22:44:17.352Z,1736376257.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:17.355Z,1736376257.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509971 2025-01-08T22:44:17.435Z,1736376257.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:17.444Z,1736376257.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:17.447Z,1736376257.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.453194 m, bearing: 317.394847 deg, approach rate: 0.179785 m/s, LOS rate: -0.254094 deg/s, cmd heading: 63.923221 deg, new cmd heading: 63.594921 deg. 2025-01-08T22:44:17.448Z,1736376257.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109941 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:17.604Z,1736376257.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:17.605Z,1736376257.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760558 2025-01-08T22:44:17.844Z,1736376257.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:17.854Z,1736376257.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:17.856Z,1736376257.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:17.856Z,1736376257.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011935 2025-01-08T22:44:17.858Z,1736376257.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.523804 m, bearing: 317.290241 deg, approach rate: 0.172112 m/s, LOS rate: -0.254779 deg/s, cmd heading: 63.594921 deg, new cmd heading: 63.281351 deg. 2025-01-08T22:44:17.859Z,1736376257.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104468 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:18.108Z,1736376258.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:18.109Z,1736376258.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263979 2025-01-08T22:44:18.243Z,1736376258.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:18.272Z,1736376258.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:18.298Z,1736376258.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.589874 m, bearing: 317.187690 deg, approach rate: 0.160130 m/s, LOS rate: -0.248365 deg/s, cmd heading: 63.281354 deg, new cmd heading: 62.973926 deg. 2025-01-08T22:44:18.306Z,1736376258.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099102 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:18.360Z,1736376258.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:18.361Z,1736376258.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516052 2025-01-08T22:44:18.612Z,1736376258.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:18.612Z,1736376258.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767890 2025-01-08T22:44:18.794Z,1736376258.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:18.801Z,1736376258.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:18.823Z,1736376258.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:18.826Z,1736376258.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.642525 m, bearing: 317.061893 deg, approach rate: 0.098090 m/s, LOS rate: -0.234229 deg/s, cmd heading: 62.973928 deg, new cmd heading: 62.596759 deg. 2025-01-08T22:44:18.827Z,1736376258.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.092520 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:18.864Z,1736376258.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:18.865Z,1736376258.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020245 2025-01-08T22:44:19.116Z,1736376259.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:19.116Z,1736376259.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271934 2025-01-08T22:44:19.186Z,1736376259.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:19.211Z,1736376259.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:19.228Z,1736376259.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.677742 m, bearing: 316.971997 deg, approach rate: 0.086400 m/s, LOS rate: -0.220462 deg/s, cmd heading: 62.596758 deg, new cmd heading: 62.327174 deg. 2025-01-08T22:44:19.229Z,1736376259.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.087814 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:19.368Z,1736376259.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:19.368Z,1736376259.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523808 2025-01-08T22:44:19.621Z,1736376259.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:19.622Z,1736376259.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777164 2025-01-08T22:44:19.639Z,1736376259.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:19.700Z,1736376259.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:19.703Z,1736376259.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.708344 m, bearing: 316.872330 deg, approach rate: 0.064195 m/s, LOS rate: -0.209007 deg/s, cmd heading: 62.327177 deg, new cmd heading: 62.028280 deg. 2025-01-08T22:44:19.708Z,1736376259.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.082598 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:19.874Z,1736376259.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:19.875Z,1736376259.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030437 2025-01-08T22:44:19.957Z,1736376259.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:19.982Z,1736376259.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:19.985Z,1736376259.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.726509 m, bearing: 316.802145 deg, approach rate: 0.061615 m/s, LOS rate: -0.238010 deg/s, cmd heading: 62.028281 deg, new cmd heading: 61.817768 deg. 2025-01-08T22:44:19.986Z,1736376259.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.078924 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:20.124Z,1736376260.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:20.125Z,1736376260.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279806 2025-01-08T22:44:20.376Z,1736376260.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:20.376Z,1736376260.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531911 2025-01-08T22:44:20.420Z,1736376260.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:20.428Z,1736376260.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:20.432Z,1736376260.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.748993 m, bearing: 316.699395 deg, approach rate: 0.050406 m/s, LOS rate: -0.230294 deg/s, cmd heading: 61.817768 deg, new cmd heading: 61.509598 deg. 2025-01-08T22:44:20.433Z,1736376260.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.073545 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:20.628Z,1736376260.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:20.629Z,1736376260.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784757 2025-01-08T22:44:20.836Z,1736376260.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:20.843Z,1736376260.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:20.845Z,1736376260.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:20.849Z,1736376260.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.767815 m, bearing: 316.606904 deg, approach rate: 0.045117 m/s, LOS rate: -0.221665 deg/s, cmd heading: 61.509596 deg, new cmd heading: 61.232181 deg. 2025-01-08T22:44:20.850Z,1736376260.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068703 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:20.881Z,1736376260.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:20.882Z,1736376260.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037295 2025-01-08T22:44:21.132Z,1736376261.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:21.132Z,1736376261.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287786 2025-01-08T22:44:21.251Z,1736376261.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:21.268Z,1736376261.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:21.271Z,1736376261.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.785217 m, bearing: 316.514903 deg, approach rate: 0.041393 m/s, LOS rate: -0.218789 deg/s, cmd heading: 61.232181 deg, new cmd heading: 60.956233 deg. 2025-01-08T22:44:21.272Z,1736376261.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.063887 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:21.386Z,1736376261.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:21.389Z,1736376261.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543433 2025-01-08T22:44:21.636Z,1736376261.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:21.636Z,1736376261.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791899 2025-01-08T22:44:21.718Z,1736376261.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:21.726Z,1736376261.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:21.731Z,1736376261.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.813026 m, bearing: 316.405299 deg, approach rate: 0.060379 m/s, LOS rate: -0.237901 deg/s, cmd heading: 60.956235 deg, new cmd heading: 60.627525 deg. 2025-01-08T22:44:21.732Z,1736376261.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.058150 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:21.888Z,1736376261.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:21.888Z,1736376261.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043788 2025-01-08T22:44:22.110Z,1736376262.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:22.120Z,1736376262.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:22.122Z,1736376262.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.835426 m, bearing: 316.313223 deg, approach rate: 0.057010 m/s, LOS rate: -0.234285 deg/s, cmd heading: 60.627525 deg, new cmd heading: 60.351370 deg. 2025-01-08T22:44:22.124Z,1736376262.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.053330 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:22.142Z,1736376262.142 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:22.143Z,1736376262.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297993 2025-01-08T22:44:22.393Z,1736376262.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:22.395Z,1736376262.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.550033 2025-01-08T22:44:22.480Z,1736376262.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:22.491Z,1736376262.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:22.494Z,1736376262.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.871231 m, bearing: 316.215858 deg, approach rate: 0.096419 m/s, LOS rate: -0.262092 deg/s, cmd heading: 60.351367 deg, new cmd heading: 60.059389 deg. 2025-01-08T22:44:22.494Z,1736376262.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.048234 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:22.645Z,1736376262.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:22.646Z,1736376262.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.801566 2025-01-08T22:44:22.864Z,1736376262.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:22.871Z,1736376262.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:22.874Z,1736376262.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:22.877Z,1736376262.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.908043 m, bearing: 316.114419 deg, approach rate: 0.096102 m/s, LOS rate: -0.264714 deg/s, cmd heading: 60.059390 deg, new cmd heading: 59.755197 deg. 2025-01-08T22:44:22.878Z,1736376262.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.042925 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:22.898Z,1736376262.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:22.899Z,1736376262.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.053960 2025-01-08T22:44:23.149Z,1736376263.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:23.150Z,1736376263.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305000 2025-01-08T22:44:23.271Z,1736376263.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:23.281Z,1736376263.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:23.288Z,1736376263.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 91.946671 m, bearing: 316.007031 deg, approach rate: 0.095119 m/s, LOS rate: -0.264327 deg/s, cmd heading: 59.755194 deg, new cmd heading: 59.433169 deg. 2025-01-08T22:44:23.292Z,1736376263.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.037305 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:23.410Z,1736376263.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:23.413Z,1736376263.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567675 2025-01-08T22:44:23.660Z,1736376263.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:23.661Z,1736376263.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816525 2025-01-08T22:44:23.737Z,1736376263.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:23.762Z,1736376263.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:23.767Z,1736376263.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 92.018738 m, bearing: 315.869399 deg, approach rate: 0.149416 m/s, LOS rate: -0.285128 deg/s, cmd heading: 59.433171 deg, new cmd heading: 59.020605 deg. 2025-01-08T22:44:23.779Z,1736376263.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030104 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:23.912Z,1736376263.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:23.912Z,1736376263.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067756 2025-01-08T22:44:24.073Z,1736376264.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:24.082Z,1736376264.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:24.086Z,1736376264.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 92.070206 m, bearing: 315.770274 deg, approach rate: 0.160733 m/s, LOS rate: -0.309391 deg/s, cmd heading: 59.020607 deg, new cmd heading: 58.723402 deg. 2025-01-08T22:44:24.087Z,1736376264.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.024917 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:24.165Z,1736376264.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:24.166Z,1736376264.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321103 2025-01-08T22:44:24.418Z,1736376264.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:24.421Z,1736376264.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575588 2025-01-08T22:44:24.516Z,1736376264.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:24.525Z,1736376264.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:24.528Z,1736376264.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 92.154907 m, bearing: 315.622799 deg, approach rate: 0.191498 m/s, LOS rate: -0.333113 deg/s, cmd heading: 58.723405 deg, new cmd heading: 58.281395 deg. 2025-01-08T22:44:24.529Z,1736376264.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017202 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:24.668Z,1736376264.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:24.669Z,1736376264.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824662 2025-01-08T22:44:24.890Z,1736376264.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:24.898Z,1736376264.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:24.901Z,1736376264.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:24.903Z,1736376264.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 92.224480 m, bearing: 315.502139 deg, approach rate: 0.185081 m/s, LOS rate: -0.320743 deg/s, cmd heading: 58.281396 deg, new cmd heading: 57.919697 deg. 2025-01-08T22:44:24.904Z,1736376264.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.010889 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:24.920Z,1736376264.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:24.920Z,1736376264.920 [DAT](INFO): Reached modem response timeout 2025-01-08T22:44:24.920Z,1736376264.920 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:44:24.921Z,1736376264.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:25.172Z,1736376265.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:25.172Z,1736376265.172 [DAT](INFO): Reached modem response timeout 2025-01-08T22:44:25.172Z,1736376265.172 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:44:25.173Z,1736376265.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:25.291Z,1736376265.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:25.299Z,1736376265.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:25.302Z,1736376265.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 92.303886 m, bearing: 315.365550 deg, approach rate: 0.199177 m/s, LOS rate: -0.342315 deg/s, cmd heading: 57.919697 deg, new cmd heading: 57.510288 deg. 2025-01-08T22:44:25.303Z,1736376265.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003744 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:25.426Z,1736376265.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:25.427Z,1736376265.427 [DAT](INFO): Reached modem response timeout 2025-01-08T22:44:25.428Z,1736376265.428 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:44:25.429Z,1736376265.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:25.676Z,1736376265.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:25.678Z,1736376265.678 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:44:25.678Z,1736376265.678 [DAT](INFO): response not received 2025-01-08T22:44:25.679Z,1736376265.679 [DAT](INFO): DAT read: user:2838> 2025-01-08T22:44:25.686Z,1736376265.686 [DAT](ERROR): No response from remote modem. 2025-01-08T22:44:25.687Z,1736376265.687 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:44:25.687Z,1736376265.687 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:25.777Z,1736376265.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:25.786Z,1736376265.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:25.790Z,1736376265.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 92.420441 m, bearing: 315.190856 deg, approach rate: 0.239399 m/s, LOS rate: -0.358363 deg/s, cmd heading: 57.510288 deg, new cmd heading: 56.986884 deg. 2025-01-08T22:44:25.796Z,1736376265.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994609 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:25.928Z,1736376265.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:25.930Z,1736376265.930 [DAT](INFO): DAT read: Tx time:22:44:25.1118 2025-01-08T22:44:25.930Z,1736376265.930 [DAT](INFO): Ping request sent. 2025-01-08T22:44:25.931Z,1736376265.931 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:25.940Z,1736376265.940 [DAT](INFO): DAT read: TxSync time:22:44:25.1110 2025-01-08T22:44:25.940Z,1736376265.940 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:25.941Z,1736376265.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.010077 2025-01-08T22:44:26.100Z,1736376266.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:26.113Z,1736376266.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:26.118Z,1736376266.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 92.498207 m, bearing: 315.074847 deg, approach rate: 0.238069 m/s, LOS rate: -0.354845 deg/s, cmd heading: 56.986884 deg, new cmd heading: 56.639153 deg. 2025-01-08T22:44:26.119Z,1736376266.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988540 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:26.181Z,1736376266.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:26.181Z,1736376266.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250632 2025-01-08T22:44:26.433Z,1736376266.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:26.436Z,1736376266.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504851 2025-01-08T22:44:26.575Z,1736376266.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:26.589Z,1736376266.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:26.592Z,1736376266.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 92.628540 m, bearing: 314.890603 deg, approach rate: 0.273833 m/s, LOS rate: -0.386556 deg/s, cmd heading: 56.639152 deg, new cmd heading: 56.087216 deg. 2025-01-08T22:44:26.593Z,1736376266.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.978907 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:26.684Z,1736376266.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:26.684Z,1736376266.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753857 2025-01-08T22:44:26.936Z,1736376266.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:26.936Z,1736376266.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005797 2025-01-08T22:44:26.953Z,1736376266.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:26.982Z,1736376266.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:26.989Z,1736376266.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:26.996Z,1736376266.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 92.732765 m, bearing: 314.744356 deg, approach rate: 0.260388 m/s, LOS rate: -0.364960 deg/s, cmd heading: 56.087215 deg, new cmd heading: 55.648979 deg. 2025-01-08T22:44:26.998Z,1736376266.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971258 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:27.188Z,1736376267.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:27.188Z,1736376267.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257833 2025-01-08T22:44:27.441Z,1736376267.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:27.448Z,1736376267.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517351 2025-01-08T22:44:27.544Z,1736376267.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:27.553Z,1736376267.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:27.556Z,1736376267.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 92.899727 m, bearing: 314.510265 deg, approach rate: 0.295898 m/s, LOS rate: -0.414122 deg/s, cmd heading: 55.648980 deg, new cmd heading: 54.948005 deg. 2025-01-08T22:44:27.557Z,1736376267.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959024 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:27.692Z,1736376267.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:27.693Z,1736376267.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762078 2025-01-08T22:44:27.843Z,1736376267.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:27.853Z,1736376267.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:27.872Z,1736376267.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 92.984215 m, bearing: 314.391718 deg, approach rate: 0.281902 m/s, LOS rate: -0.395181 deg/s, cmd heading: 54.948004 deg, new cmd heading: 54.592693 deg. 2025-01-08T22:44:27.873Z,1736376267.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952822 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:27.944Z,1736376267.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:27.946Z,1736376267.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014635 2025-01-08T22:44:28.196Z,1736376268.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:28.197Z,1736376268.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266284 2025-01-08T22:44:28.252Z,1736376268.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:28.260Z,1736376268.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:28.264Z,1736376268.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 93.098869 m, bearing: 314.229881 deg, approach rate: 0.281388 m/s, LOS rate: -0.396695 deg/s, cmd heading: 54.592695 deg, new cmd heading: 54.107792 deg. 2025-01-08T22:44:28.265Z,1736376268.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.944359 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:28.450Z,1736376268.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:28.452Z,1736376268.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521287 2025-01-08T22:44:28.700Z,1736376268.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:28.701Z,1736376268.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769936 2025-01-08T22:44:28.701Z,1736376268.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:28.714Z,1736376268.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:28.717Z,1736376268.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 93.224449 m, bearing: 314.045191 deg, approach rate: 0.277305 m/s, LOS rate: -0.407280 deg/s, cmd heading: 54.107792 deg, new cmd heading: 53.554488 deg. 2025-01-08T22:44:28.718Z,1736376268.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.934702 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:28.953Z,1736376268.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:28.954Z,1736376268.954 [DAT](INFO): DAT read: Rx Time:22:44:27.6459 2025-01-08T22:44:28.955Z,1736376268.955 [DAT](INFO): Rx dataTimestamp_ set to:1736376268.954285 2025-01-08T22:44:28.955Z,1736376268.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024520 2025-01-08T22:44:29.157Z,1736376269.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:29.164Z,1736376269.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:29.166Z,1736376269.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m. 2025-01-08T22:44:29.169Z,1736376269.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.199997 m, nav range: 93.350845 m, bearing: 313.858302 deg, approach rate: 0.279159 m/s, LOS rate: -0.412205 deg/s, cmd heading: 53.554489 deg, new cmd heading: 52.994598 deg. 2025-01-08T22:44:29.170Z,1736376269.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.924930 target range: 105.199997 and range: 105.20 m. 2025-01-08T22:44:29.204Z,1736376269.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:29.206Z,1736376269.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274590 2025-01-08T22:44:29.458Z,1736376269.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:29.482Z,1736376269.482 [DAT](INFO): DAT read: 22:44:27.6459 LVL= 26096, 32033, 23266, 32755, AGC= 64, IDX= 303, 0.01,-0.778,-2.281,-1.196,-1.330, PHS= 0.641,-0.904, 0.132, RAW= 131.1, 1.9, CAL= 137.1, -5.9, ROT= 12.9, 5.9 2025-01-08T22:44:29.485Z,1736376269.485 [DAT](INFO): got valid direction response: 22:44:27.6459 LVL= 26096, 32033, 23266, 32755, AGC= 64, IDX= 303, 0.01,-0.778,-2.281,-1.196,-1.330, PHS= 0.641,-0.904, 0.132, RAW= 131.1, 1.9, CAL= 137.1, -5.9, ROT= 12.9, 5.9 2025-01-08T22:44:29.489Z,1736376269.489 [DAT](INFO): DAT read: Bearing 12.9, 5.9 (Local) 2025-01-08T22:44:29.490Z,1736376269.490 [DAT](INFO): Local bearing/azimuth received: Bearing 12.9, 5.9 (Local) 2025-01-08T22:44:29.517Z,1736376269.517 [DAT](INFO): DAT read: Range 10 to 50 : 97.4 m (Round-trip 129.9 ms) speed 0.4 m/s 2025-01-08T22:44:29.518Z,1736376269.518 [DAT](INFO): DAT read: user:2839> 2025-01-08T22:44:29.518Z,1736376269.518 [DAT](INFO): DAT read: Tx time:22:44:28.7619 2025-01-08T22:44:29.519Z,1736376269.519 [DAT](INFO): Ping request sent. 2025-01-08T22:44:29.519Z,1736376269.519 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:29.527Z,1736376269.527 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:44:29.528Z,1736376269.528 [DAT](INFO): direction in FSK: [-0.163106,-0.586983,0.792999] 2025-01-08T22:44:29.529Z,1736376269.529 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:29.529Z,1736376269.529 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:29.569Z,1736376269.569 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:29.569Z,1736376269.569 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:29.632Z,1736376269.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:29.677Z,1736376269.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.400002 m, deltaT: 14.626698 s, deltaX: -7.799995 m, approachRate: -0.533271 m/s, rangeRepo size: 4 2025-01-08T22:44:29.688Z,1736376269.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.400002 m, bearing: 314.237159 deg, lat: 36.904853 deg, lon: -122.120948 deg, deltaT: 14.626698 s, deltaX: -7.799995 m, approachRate: -0.533271 m/s, posRepo size: 4 2025-01-08T22:44:29.689Z,1736376269.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.40 m. 2025-01-08T22:44:29.696Z,1736376269.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.400002 m, nav range: 90.794121 m, bearing: 315.300610 deg, approach rate: 0.000000 m/s, LOS rate: -0.412205 deg/s, cmd heading: 52.994598 deg, new cmd heading: 52.370610 deg. 2025-01-08T22:44:29.698Z,1736376269.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.914040 target range: 97.400002 and range: 97.40 m. 2025-01-08T22:44:29.708Z,1736376269.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:29.709Z,1736376269.709 [DAT](INFO): DAT read: TxSync time:22:44:28.7611 2025-01-08T22:44:29.960Z,1736376269.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:30.145Z,1736376270.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:30.154Z,1736376270.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.40 m. 2025-01-08T22:44:30.157Z,1736376270.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.400002 m, nav range: 90.919327 m, bearing: 315.082622 deg, approach rate: 0.258797 m/s, LOS rate: -0.449954 deg/s, cmd heading: 52.370612 deg, new cmd heading: 51.717578 deg. 2025-01-08T22:44:30.158Z,1736376270.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902642 target range: 97.400002 and range: 97.40 m. 2025-01-08T22:44:30.212Z,1736376270.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:30.465Z,1736376270.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:30.576Z,1736376270.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:30.587Z,1736376270.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.40 m. 2025-01-08T22:44:30.589Z,1736376270.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.400002 m, nav range: 91.009735 m, bearing: 314.901509 deg, approach rate: 0.209205 m/s, LOS rate: -0.418681 deg/s, cmd heading: 51.717578 deg, new cmd heading: 51.174794 deg. 2025-01-08T22:44:30.590Z,1736376270.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.893169 target range: 97.400002 and range: 97.40 m. 2025-01-08T22:44:30.716Z,1736376270.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:30.939Z,1736376270.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:30.964Z,1736376270.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.40 m. 2025-01-08T22:44:30.966Z,1736376270.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.400002 m, nav range: 91.086487 m, bearing: 314.749446 deg, approach rate: 0.203841 m/s, LOS rate: -0.403513 deg/s, cmd heading: 51.174793 deg, new cmd heading: 50.719000 deg. 2025-01-08T22:44:30.968Z,1736376270.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:30.970Z,1736376270.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.885214 target range: 97.400002 and range: 97.40 m. 2025-01-08T22:44:31.220Z,1736376271.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:31.331Z,1736376271.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:31.338Z,1736376271.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:31.340Z,1736376271.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.40 m. 2025-01-08T22:44:31.342Z,1736376271.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.400002 m, nav range: 91.168114 m, bearing: 314.585754 deg, approach rate: 0.216871 m/s, LOS rate: -0.434516 deg/s, cmd heading: 50.719001 deg, new cmd heading: 50.228376 deg. 2025-01-08T22:44:31.344Z,1736376271.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876651 target range: 97.400002 and range: 97.40 m. 2025-01-08T22:44:31.472Z,1736376271.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:31.473Z,1736376271.473 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:44:31.473Z,1736376271.473 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:44:31.473Z,1736376271.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:31.724Z,1736376271.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:31.724Z,1736376271.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205662 2025-01-08T22:44:31.782Z,1736376271.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:31.820Z,1736376271.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.40 m. 2025-01-08T22:44:31.823Z,1736376271.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.400002 m, nav range: 91.242760 m, bearing: 314.404750 deg, approach rate: 0.155303 m/s, LOS rate: -0.376274 deg/s, cmd heading: 50.228378 deg, new cmd heading: 49.685829 deg. 2025-01-08T22:44:31.844Z,1736376271.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867181 target range: 97.400002 and range: 97.40 m. 2025-01-08T22:44:31.976Z,1736376271.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:31.977Z,1736376271.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458512 2025-01-08T22:44:32.154Z,1736376272.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:32.163Z,1736376272.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.40 m. 2025-01-08T22:44:32.166Z,1736376272.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.400002 m, nav range: 91.302147 m, bearing: 314.255673 deg, approach rate: 0.173439 m/s, LOS rate: -0.435093 deg/s, cmd heading: 49.685829 deg, new cmd heading: 49.238897 deg. 2025-01-08T22:44:32.167Z,1736376272.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.859381 target range: 97.400002 and range: 97.40 m. 2025-01-08T22:44:32.229Z,1736376272.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:32.230Z,1736376272.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711169 2025-01-08T22:44:32.481Z,1736376272.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:32.484Z,1736376272.484 [DAT](INFO): DAT read: Rx Time:22:44:31.2934 2025-01-08T22:44:32.486Z,1736376272.486 [DAT](INFO): Rx dataTimestamp_ set to:1736376272.485188 2025-01-08T22:44:32.489Z,1736376272.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969709 2025-01-08T22:44:32.629Z,1736376272.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:32.638Z,1736376272.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.40 m. 2025-01-08T22:44:32.641Z,1736376272.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.400002 m, nav range: 91.359535 m, bearing: 314.077323 deg, approach rate: 0.120731 m/s, LOS rate: -0.374969 deg/s, cmd heading: 49.238899 deg, new cmd heading: 48.704200 deg. 2025-01-08T22:44:32.642Z,1736376272.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.850049 target range: 97.400002 and range: 97.40 m. 2025-01-08T22:44:32.733Z,1736376272.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:32.733Z,1736376272.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214569 2025-01-08T22:44:32.986Z,1736376272.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:33.008Z,1736376273.008 [DAT](INFO): DAT read: 22:44:31.2934 LVL= 32752, 32753, 31346, 32755, AGC= 67, IDX= 421, 0.33,-3.074, 1.614, 2.616, 2.670, PHS= 0.628,-1.009,-0.056, RAW= 125.4, 6.2, CAL= 133.3, 1.1, ROT= 16.7, -1.1 2025-01-08T22:44:33.009Z,1736376273.009 [DAT](INFO): got valid direction response: 22:44:31.2934 LVL= 32752, 32753, 31346, 32755, AGC= 67, IDX= 421, 0.33,-3.074, 1.614, 2.616, 2.670, PHS= 0.628,-1.009,-0.056, RAW= 125.4, 6.2, CAL= 133.3, 1.1, ROT= 16.7, -1.1 2025-01-08T22:44:33.010Z,1736376273.010 [DAT](INFO): DAT read: Bearing 16.7, -1.1 (Local) 2025-01-08T22:44:33.011Z,1736376273.011 [DAT](INFO): Local bearing/azimuth received: Bearing 16.7, -1.1 (Local) 2025-01-08T22:44:33.036Z,1736376273.036 [DAT](INFO): DAT read: Range 10 to 50 : 95.5 m (Round-trip 127.4 ms) speed 0.5 m/s 2025-01-08T22:44:33.037Z,1736376273.037 [DAT](INFO): DAT read: user:2840> 2025-01-08T22:44:33.038Z,1736376273.038 [DAT](INFO): DAT read: Tx time:22:44:32.4119 2025-01-08T22:44:33.038Z,1736376273.038 [DAT](INFO): Ping request sent. 2025-01-08T22:44:33.038Z,1736376273.038 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:33.039Z,1736376273.039 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:44:33.048Z,1736376273.048 [DAT](INFO): direction in FSK: [-0.242385,-0.490022,0.837334] 2025-01-08T22:44:33.049Z,1736376273.049 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:33.049Z,1736376273.049 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:33.065Z,1736376273.065 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:33.065Z,1736376273.065 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:33.072Z,1736376273.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:33.119Z,1736376273.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.500000 m, deltaT: 3.527245 s, deltaX: -1.900002 m, approachRate: -0.538664 m/s, rangeRepo size: 4 2025-01-08T22:44:33.121Z,1736376273.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.500000 m, bearing: 298.873758 deg, lat: 36.904853 deg, lon: -122.120799 deg, deltaT: 3.527245 s, deltaX: -1.900002 m, approachRate: -0.538664 m/s, posRepo size: 4 2025-01-08T22:44:33.123Z,1736376273.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:33.146Z,1736376273.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.417648 m, bearing: 320.279886 deg, approach rate: 0.000000 m/s, LOS rate: -0.374969 deg/s, cmd heading: 48.704201 deg, new cmd heading: 48.169426 deg. 2025-01-08T22:44:33.152Z,1736376273.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840715 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:33.236Z,1736376273.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:33.237Z,1736376273.237 [DAT](INFO): DAT read: TxSync time:22:44:32.4111 2025-01-08T22:44:33.440Z,1736376273.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:33.464Z,1736376273.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:33.476Z,1736376273.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:33.483Z,1736376273.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.430679 m, bearing: 320.123817 deg, approach rate: 0.035890 m/s, LOS rate: -0.429776 deg/s, cmd heading: 48.169424 deg, new cmd heading: 47.701302 deg. 2025-01-08T22:44:33.484Z,1736376273.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832545 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:33.488Z,1736376273.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:33.489Z,1736376273.489 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:44:33.490Z,1736376273.490 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:44:33.490Z,1736376273.490 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:33.740Z,1736376273.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:33.740Z,1736376273.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.702026 2025-01-08T22:44:33.884Z,1736376273.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:33.901Z,1736376273.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:33.908Z,1736376273.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.427116 m, bearing: 319.945963 deg, approach rate: -0.008385 m/s, LOS rate: -0.418592 deg/s, cmd heading: 47.701304 deg, new cmd heading: 47.167733 deg. 2025-01-08T22:44:33.909Z,1736376273.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823232 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:33.992Z,1736376273.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:33.993Z,1736376273.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.955090 2025-01-08T22:44:34.244Z,1736376274.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:34.245Z,1736376274.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206205 2025-01-08T22:44:34.246Z,1736376274.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:34.269Z,1736376274.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:34.275Z,1736376274.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.422600 m, bearing: 319.801175 deg, approach rate: -0.012316 m/s, LOS rate: -0.394819 deg/s, cmd heading: 47.167733 deg, new cmd heading: 46.733355 deg. 2025-01-08T22:44:34.277Z,1736376274.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815651 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:34.496Z,1736376274.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:34.496Z,1736376274.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458087 2025-01-08T22:44:34.690Z,1736376274.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:34.720Z,1736376274.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:34.727Z,1736376274.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.409149 m, bearing: 319.641135 deg, approach rate: -0.029734 m/s, LOS rate: -0.353848 deg/s, cmd heading: 46.733356 deg, new cmd heading: 46.253168 deg. 2025-01-08T22:44:34.728Z,1736376274.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807270 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:34.748Z,1736376274.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:34.749Z,1736376274.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711000 2025-01-08T22:44:34.984Z,1736376274.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:44:34.000Z,1736376275.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:35.000Z,1736376275.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962104 2025-01-08T22:44:35.141Z,1736376275.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:35.150Z,1736376275.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:35.153Z,1736376275.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.392990 m, bearing: 319.478531 deg, approach rate: -0.037584 m/s, LOS rate: -0.378269 deg/s, cmd heading: 46.253167 deg, new cmd heading: 45.765271 deg. 2025-01-08T22:44:35.154Z,1736376275.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.798755 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:35.253Z,1736376275.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:35.254Z,1736376275.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215556 2025-01-08T22:44:35.504Z,1736376275.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:35.504Z,1736376275.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465995 2025-01-08T22:44:35.609Z,1736376275.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:35.624Z,1736376275.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:35.626Z,1736376275.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:35.633Z,1736376275.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.373978 m, bearing: 319.310167 deg, approach rate: -0.039976 m/s, LOS rate: -0.354088 deg/s, cmd heading: 45.765273 deg, new cmd heading: 45.260078 deg. 2025-01-08T22:44:35.634Z,1736376275.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789937 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:35.756Z,1736376275.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:35.756Z,1736376275.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718099 2025-01-08T22:44:35.991Z,1736376275.991 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:44:36.008Z,1736376276.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:36.009Z,1736376276.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970810 2025-01-08T22:44:36.115Z,1736376276.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:36.125Z,1736376276.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:36.127Z,1736376276.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.342522 m, bearing: 319.135301 deg, approach rate: -0.063086 m/s, LOS rate: -0.350831 deg/s, cmd heading: 45.260078 deg, new cmd heading: 44.735296 deg. 2025-01-08T22:44:36.128Z,1736376276.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780778 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:36.260Z,1736376276.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:36.261Z,1736376276.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222872 2025-01-08T22:44:36.478Z,1736376276.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:36.487Z,1736376276.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:36.490Z,1736376276.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.318245 m, bearing: 319.009913 deg, approach rate: -0.067020 m/s, LOS rate: -0.346257 deg/s, cmd heading: 44.735297 deg, new cmd heading: 44.359026 deg. 2025-01-08T22:44:36.491Z,1736376276.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774211 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:36.522Z,1736376276.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:36.524Z,1736376276.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485583 2025-01-08T22:44:36.772Z,1736376276.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:36.772Z,1736376276.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733972 2025-01-08T22:44:36.900Z,1736376276.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:36.909Z,1736376276.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:36.912Z,1736376276.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.285248 m, bearing: 318.870515 deg, approach rate: -0.078148 m/s, LOS rate: -0.330273 deg/s, cmd heading: 44.359026 deg, new cmd heading: 43.940672 deg. 2025-01-08T22:44:36.914Z,1736376276.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766909 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:37.028Z,1736376277.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:37.028Z,1736376277.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.990166 2025-01-08T22:44:37.281Z,1736376277.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:37.281Z,1736376277.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.243060 2025-01-08T22:44:37.283Z,1736376277.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:37.313Z,1736376277.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:37.320Z,1736376277.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.253769 m, bearing: 318.744166 deg, approach rate: -0.077971 m/s, LOS rate: -0.313079 deg/s, cmd heading: 43.940673 deg, new cmd heading: 43.561487 deg. 2025-01-08T22:44:37.321Z,1736376277.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.760291 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:37.532Z,1736376277.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:37.535Z,1736376277.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.495851 2025-01-08T22:44:37.738Z,1736376277.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:37.745Z,1736376277.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:37.748Z,1736376277.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:37.750Z,1736376277.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.220177 m, bearing: 318.593454 deg, approach rate: -0.077286 m/s, LOS rate: -0.346883 deg/s, cmd heading: 43.561488 deg, new cmd heading: 43.109179 deg. 2025-01-08T22:44:37.752Z,1736376277.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752397 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:37.784Z,1736376277.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:37.785Z,1736376277.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.746207 2025-01-08T22:44:38.036Z,1736376278.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:38.036Z,1736376278.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.998068 2025-01-08T22:44:38.157Z,1736376278.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:38.166Z,1736376278.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:38.169Z,1736376278.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.186180 m, bearing: 318.455049 deg, approach rate: -0.081230 m/s, LOS rate: -0.330836 deg/s, cmd heading: 43.109179 deg, new cmd heading: 42.693802 deg. 2025-01-08T22:44:38.170Z,1736376278.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745147 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:38.288Z,1736376278.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:38.288Z,1736376278.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.250089 2025-01-08T22:44:38.540Z,1736376278.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:38.542Z,1736376278.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.503601 2025-01-08T22:44:38.649Z,1736376278.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:38.684Z,1736376278.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:38.686Z,1736376278.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.145294 m, bearing: 318.293305 deg, approach rate: -0.080312 m/s, LOS rate: -0.317873 deg/s, cmd heading: 42.693802 deg, new cmd heading: 42.208338 deg. 2025-01-08T22:44:38.691Z,1736376278.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.736674 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:38.792Z,1736376278.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:38.794Z,1736376278.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.755236 2025-01-08T22:44:39.045Z,1736376279.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:39.046Z,1736376279.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.007688 2025-01-08T22:44:39.139Z,1736376279.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:39.150Z,1736376279.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:39.153Z,1736376279.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.113548 m, bearing: 318.123259 deg, approach rate: -0.066890 m/s, LOS rate: -0.358431 deg/s, cmd heading: 42.208339 deg, new cmd heading: 41.698018 deg. 2025-01-08T22:44:39.154Z,1736376279.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.727768 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:39.297Z,1736376279.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:39.298Z,1736376279.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.259535 2025-01-08T22:44:39.506Z,1736376279.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:39.514Z,1736376279.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:39.517Z,1736376279.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.089043 m, bearing: 317.996462 deg, approach rate: -0.067246 m/s, LOS rate: -0.348046 deg/s, cmd heading: 41.698018 deg, new cmd heading: 41.317519 deg. 2025-01-08T22:44:39.518Z,1736376279.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721127 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:39.548Z,1736376279.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:39.551Z,1736376279.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.511993 2025-01-08T22:44:39.800Z,1736376279.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:39.800Z,1736376279.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.761988 2025-01-08T22:44:39.944Z,1736376279.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:39.952Z,1736376279.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:39.954Z,1736376279.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:39.977Z,1736376279.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.068840 m, bearing: 317.837220 deg, approach rate: -0.045898 m/s, LOS rate: -0.361870 deg/s, cmd heading: 41.317518 deg, new cmd heading: 40.839689 deg. 2025-01-08T22:44:39.978Z,1736376279.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712787 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:40.052Z,1736376280.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:40.053Z,1736376280.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.015161 2025-01-08T22:44:40.304Z,1736376280.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:40.304Z,1736376280.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.265976 2025-01-08T22:44:40.314Z,1736376280.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:40.322Z,1736376280.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:40.350Z,1736376280.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.051086 m, bearing: 317.703235 deg, approach rate: -0.048223 m/s, LOS rate: -0.364011 deg/s, cmd heading: 40.839689 deg, new cmd heading: 40.437653 deg. 2025-01-08T22:44:40.351Z,1736376280.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705770 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:40.556Z,1736376280.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:40.558Z,1736376280.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.519186 2025-01-08T22:44:40.751Z,1736376280.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:40.772Z,1736376280.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:40.774Z,1736376280.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.039307 m, bearing: 317.534132 deg, approach rate: -0.026464 m/s, LOS rate: -0.379948 deg/s, cmd heading: 40.437653 deg, new cmd heading: 39.930286 deg. 2025-01-08T22:44:40.780Z,1736376280.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696915 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:40.808Z,1736376280.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:40.808Z,1736376280.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.770134 2025-01-08T22:44:41.061Z,1736376281.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:41.061Z,1736376281.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.023149 2025-01-08T22:44:41.132Z,1736376281.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:41.153Z,1736376281.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:41.157Z,1736376281.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.028473 m, bearing: 317.386676 deg, approach rate: -0.028097 m/s, LOS rate: -0.382471 deg/s, cmd heading: 39.930287 deg, new cmd heading: 39.487869 deg. 2025-01-08T22:44:41.158Z,1736376281.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689193 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:41.312Z,1736376281.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:41.312Z,1736376281.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.274141 2025-01-08T22:44:41.539Z,1736376281.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:41.548Z,1736376281.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:41.550Z,1736376281.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.017525 m, bearing: 317.229460 deg, approach rate: -0.027735 m/s, LOS rate: -0.398328 deg/s, cmd heading: 39.487868 deg, new cmd heading: 39.016168 deg. 2025-01-08T22:44:41.552Z,1736376281.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680961 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:41.564Z,1736376281.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:41.564Z,1736376281.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.526116 2025-01-08T22:44:41.816Z,1736376281.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:41.816Z,1736376281.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.778161 2025-01-08T22:44:41.955Z,1736376281.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:41.962Z,1736376281.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:41.965Z,1736376281.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:41.968Z,1736376281.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.012329 m, bearing: 317.058155 deg, approach rate: -0.012451 m/s, LOS rate: -0.410546 deg/s, cmd heading: 39.016168 deg, new cmd heading: 38.502235 deg. 2025-01-08T22:44:41.969Z,1736376281.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671991 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:42.070Z,1736376282.070 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:42.071Z,1736376282.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.032391 2025-01-08T22:44:42.320Z,1736376282.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:42.320Z,1736376282.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.282019 2025-01-08T22:44:42.344Z,1736376282.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:42.355Z,1736376282.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:42.357Z,1736376282.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.008141 m, bearing: 316.897788 deg, approach rate: -0.010755 m/s, LOS rate: -0.411789 deg/s, cmd heading: 38.502234 deg, new cmd heading: 38.021119 deg. 2025-01-08T22:44:42.358Z,1736376282.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663594 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:42.572Z,1736376282.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:42.572Z,1736376282.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.534141 2025-01-08T22:44:42.782Z,1736376282.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:42.791Z,1736376282.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:42.794Z,1736376282.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.003487 m, bearing: 316.710251 deg, approach rate: -0.010670 m/s, LOS rate: -0.429987 deg/s, cmd heading: 38.021119 deg, new cmd heading: 37.458496 deg. 2025-01-08T22:44:42.795Z,1736376282.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653774 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:42.824Z,1736376282.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:42.824Z,1736376282.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.786069 2025-01-08T22:44:43.076Z,1736376283.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:43.076Z,1736376283.076 [DAT](INFO): Reached modem response timeout 2025-01-08T22:44:43.076Z,1736376283.076 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:44:43.077Z,1736376283.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:43.152Z,1736376283.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:43.166Z,1736376283.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:43.170Z,1736376283.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 82.000237 m, bearing: 316.551187 deg, approach rate: -0.008651 m/s, LOS rate: -0.423414 deg/s, cmd heading: 37.458496 deg, new cmd heading: 36.981295 deg. 2025-01-08T22:44:43.171Z,1736376283.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645445 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:43.328Z,1736376283.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:43.328Z,1736376283.328 [DAT](INFO): Reached modem response timeout 2025-01-08T22:44:43.328Z,1736376283.328 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:44:43.329Z,1736376283.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:43.562Z,1736376283.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:43.570Z,1736376283.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:43.573Z,1736376283.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 81.994446 m, bearing: 316.376829 deg, approach rate: -0.014349 m/s, LOS rate: -0.432086 deg/s, cmd heading: 36.981294 deg, new cmd heading: 36.458200 deg. 2025-01-08T22:44:43.574Z,1736376283.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636316 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:43.580Z,1736376283.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:43.580Z,1736376283.580 [DAT](INFO): Reached modem response timeout 2025-01-08T22:44:43.580Z,1736376283.580 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:44:43.581Z,1736376283.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:43.832Z,1736376283.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:43.832Z,1736376283.832 [DAT](INFO): Reached modem response timeout 2025-01-08T22:44:43.832Z,1736376283.832 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:44:43.833Z,1736376283.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:43.985Z,1736376283.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:44.015Z,1736376284.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:44.017Z,1736376284.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:44.021Z,1736376284.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 81.992424 m, bearing: 316.192269 deg, approach rate: -0.004521 m/s, LOS rate: -0.412720 deg/s, cmd heading: 36.458201 deg, new cmd heading: 35.904525 deg. 2025-01-08T22:44:44.022Z,1736376284.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626652 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:44.086Z,1736376284.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:44.087Z,1736376284.087 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:44:44.087Z,1736376284.087 [DAT](INFO): response not received 2025-01-08T22:44:44.087Z,1736376284.087 [DAT](INFO): DAT read: user:2841> 2025-01-08T22:44:44.088Z,1736376284.088 [DAT](INFO): DAT read: Tx time:22:44:43.3620 2025-01-08T22:44:44.088Z,1736376284.088 [DAT](INFO): Ping request sent. 2025-01-08T22:44:44.089Z,1736376284.089 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:44.089Z,1736376284.089 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:44.089Z,1736376284.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728 2025-01-08T22:44:44.336Z,1736376284.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:44.336Z,1736376284.336 [DAT](INFO): DAT read: TxSync time:22:44:43.3612 2025-01-08T22:44:44.337Z,1736376284.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248578 2025-01-08T22:44:44.355Z,1736376284.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:44.364Z,1736376284.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:44.367Z,1736376284.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 81.988289 m, bearing: 316.032216 deg, approach rate: -0.011949 m/s, LOS rate: -0.462502 deg/s, cmd heading: 35.904525 deg, new cmd heading: 35.424354 deg. 2025-01-08T22:44:44.368Z,1736376284.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618272 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:44.588Z,1736376284.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:44.588Z,1736376284.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499764 2025-01-08T22:44:44.792Z,1736376284.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:44.802Z,1736376284.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:44.805Z,1736376284.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 81.979362 m, bearing: 315.839553 deg, approach rate: -0.020356 m/s, LOS rate: -0.439407 deg/s, cmd heading: 35.424353 deg, new cmd heading: 34.846322 deg. 2025-01-08T22:44:44.806Z,1736376284.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608183 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:44.840Z,1736376284.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:44.841Z,1736376284.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751936 2025-01-08T22:44:45.093Z,1736376285.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:45.094Z,1736376285.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005354 2025-01-08T22:44:45.166Z,1736376285.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:45.175Z,1736376285.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:45.177Z,1736376285.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 81.970871 m, bearing: 315.675025 deg, approach rate: -0.022770 m/s, LOS rate: -0.441225 deg/s, cmd heading: 34.846321 deg, new cmd heading: 34.352700 deg. 2025-01-08T22:44:45.178Z,1736376285.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599568 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:45.344Z,1736376285.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:45.344Z,1736376285.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255775 2025-01-08T22:44:45.574Z,1736376285.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:45.584Z,1736376285.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:45.586Z,1736376285.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 81.960876 m, bearing: 315.495529 deg, approach rate: -0.024457 m/s, LOS rate: -0.439295 deg/s, cmd heading: 34.352699 deg, new cmd heading: 33.814161 deg. 2025-01-08T22:44:45.587Z,1736376285.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590168 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:45.596Z,1736376285.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:45.597Z,1736376285.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507915 2025-01-08T22:44:45.848Z,1736376285.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:45.849Z,1736376285.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760103 2025-01-08T22:44:45.989Z,1736376285.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:46.001Z,1736376286.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:46.004Z,1736376286.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 81.942703 m, bearing: 315.311049 deg, approach rate: -0.043494 m/s, LOS rate: -0.441610 deg/s, cmd heading: 33.814159 deg, new cmd heading: 33.260615 deg. 2025-01-08T22:44:46.005Z,1736376286.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580507 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:46.100Z,1736376286.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:46.101Z,1736376286.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011967 2025-01-08T22:44:46.352Z,1736376286.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:46.352Z,1736376286.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263750 2025-01-08T22:44:46.434Z,1736376286.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:46.441Z,1736376286.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:46.443Z,1736376286.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:46.446Z,1736376286.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 81.924194 m, bearing: 315.113408 deg, approach rate: -0.041909 m/s, LOS rate: -0.447614 deg/s, cmd heading: 33.260614 deg, new cmd heading: 32.667578 deg. 2025-01-08T22:44:46.448Z,1736376286.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570157 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:46.604Z,1736376286.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:46.604Z,1736376286.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515726 2025-01-08T22:44:46.839Z,1736376286.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:46.849Z,1736376286.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:46.852Z,1736376286.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 81.908684 m, bearing: 314.935717 deg, approach rate: -0.038212 m/s, LOS rate: -0.437845 deg/s, cmd heading: 32.667579 deg, new cmd heading: 32.134423 deg. 2025-01-08T22:44:46.853Z,1736376286.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560851 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:46.856Z,1736376286.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:46.857Z,1736376286.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768100 2025-01-08T22:44:47.109Z,1736376287.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:47.110Z,1736376287.110 [DAT](INFO): DAT read: Rx Time:22:44:45.8830 2025-01-08T22:44:47.111Z,1736376287.111 [DAT](INFO): Rx dataTimestamp_ set to:1736376287.110410 2025-01-08T22:44:47.111Z,1736376287.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022738 2025-01-08T22:44:47.210Z,1736376287.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:47.220Z,1736376287.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-08T22:44:47.222Z,1736376287.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 81.889053 m, bearing: 314.773490 deg, approach rate: -0.052960 m/s, LOS rate: -0.437774 deg/s, cmd heading: 32.134421 deg, new cmd heading: 31.647635 deg. 2025-01-08T22:44:47.223Z,1736376287.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.552355 target range: 95.500000 and range: 95.50 m. 2025-01-08T22:44:47.360Z,1736376287.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:47.360Z,1736376287.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271725 2025-01-08T22:44:47.612Z,1736376287.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:47.620Z,1736376287.620 [DAT](INFO): DAT read: 22:44:45.8830 LVL= 17968, 32753, 25650, 32755, AGC= 62, IDX= 298,-0.03, 1.053,-0.553, 0.174, 0.495, PHS= 0.646,-1.001,-0.324, RAW= 114.1, 9.5, CAL= 123.3, 6.4, ROT= 26.7, -6.4 2025-01-08T22:44:47.621Z,1736376287.621 [DAT](INFO): got valid direction response: 22:44:45.8830 LVL= 17968, 32753, 25650, 32755, AGC= 62, IDX= 298,-0.03, 1.053,-0.553, 0.174, 0.495, PHS= 0.646,-1.001,-0.324, RAW= 114.1, 9.5, CAL= 123.3, 6.4, ROT= 26.7, -6.4 2025-01-08T22:44:47.622Z,1736376287.622 [DAT](INFO): DAT read: Bearing 26.7, -6.4 (Local) 2025-01-08T22:44:47.623Z,1736376287.623 [DAT](INFO): Local bearing/azimuth received: Bearing 26.7, -6.4 (Local) 2025-01-08T22:44:47.624Z,1736376287.624 [DAT](INFO): DAT read: Range 10 to 50 : 87.6 m (Round-trip 116.8 ms) speed 0.4 m/s 2025-01-08T22:44:47.625Z,1736376287.625 [DAT](INFO): DAT read: user:2842> 2025-01-08T22:44:47.626Z,1736376287.626 [DAT](INFO): DAT read: Tx time:22:44:46.9620 2025-01-08T22:44:47.626Z,1736376287.626 [DAT](INFO): Ping request sent. 2025-01-08T22:44:47.626Z,1736376287.626 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:47.626Z,1736376287.626 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:44:47.648Z,1736376287.648 [DAT](INFO): direction in FSK: [-0.295819,-0.298096,0.907541] 2025-01-08T22:44:47.648Z,1736376287.648 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:47.649Z,1736376287.649 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:47.670Z,1736376287.670 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:47.670Z,1736376287.670 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:47.749Z,1736376287.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:47.853Z,1736376287.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.599998 m, deltaT: 14.626273 s, deltaX: -7.900002 m, approachRate: -0.540124 m/s, rangeRepo size: 4 2025-01-08T22:44:47.864Z,1736376287.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:47.865Z,1736376287.865 [DAT](INFO): DAT read: TxSync time:22:44:46.9612 2025-01-08T22:44:47.866Z,1736376287.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.599998 m, bearing: 263.119427 deg, lat: 36.904682 deg, lon: -122.120755 deg, deltaT: 14.626273 s, deltaX: -7.900002 m, approachRate: -0.540124 m/s, posRepo size: 4 2025-01-08T22:44:47.867Z,1736376287.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.60 m. 2025-01-08T22:44:47.886Z,1736376287.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.599998 m, nav range: 66.541641 m, bearing: 305.208523 deg, approach rate: 0.000000 m/s, LOS rate: -0.437774 deg/s, cmd heading: 31.647634 deg, new cmd heading: 30.815979 deg. 2025-01-08T22:44:47.887Z,1736376287.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537840 target range: 87.599998 and range: 87.60 m. 2025-01-08T22:44:48.117Z,1736376288.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:48.234Z,1736376288.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:48.243Z,1736376288.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.60 m. 2025-01-08T22:44:48.246Z,1736376288.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.599998 m, nav range: 66.568062 m, bearing: 304.936634 deg, approach rate: 0.067748 m/s, LOS rate: -0.696899 deg/s, cmd heading: 30.815980 deg, new cmd heading: 30.000692 deg. 2025-01-08T22:44:48.248Z,1736376288.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523611 target range: 87.599998 and range: 87.60 m. 2025-01-08T22:44:48.368Z,1736376288.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:48.586Z,1736376288.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:48.594Z,1736376288.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:48.597Z,1736376288.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.60 m. 2025-01-08T22:44:48.601Z,1736376288.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.599998 m, nav range: 66.583031 m, bearing: 304.746412 deg, approach rate: 0.042288 m/s, LOS rate: -0.537269 deg/s, cmd heading: 30.000691 deg, new cmd heading: 29.430175 deg. 2025-01-08T22:44:48.602Z,1736376288.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513653 target range: 87.599998 and range: 87.60 m. 2025-01-08T22:44:48.620Z,1736376288.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:48.621Z,1736376288.621 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:44:48.621Z,1736376288.621 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:44:48.621Z,1736376288.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:48.872Z,1736376288.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:48.872Z,1736376288.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246228 2025-01-08T22:44:49.003Z,1736376289.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:49.031Z,1736376289.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.60 m. 2025-01-08T22:44:49.034Z,1736376289.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.599998 m, nav range: 66.594147 m, bearing: 304.524535 deg, approach rate: 0.025823 m/s, LOS rate: -0.515340 deg/s, cmd heading: 29.430175 deg, new cmd heading: 28.764686 deg. 2025-01-08T22:44:49.042Z,1736376289.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.502038 target range: 87.599998 and range: 87.60 m. 2025-01-08T22:44:49.124Z,1736376289.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:49.125Z,1736376289.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499117 2025-01-08T22:44:49.376Z,1736376289.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:49.376Z,1736376289.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750271 2025-01-08T22:44:49.485Z,1736376289.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:49.493Z,1736376289.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.60 m. 2025-01-08T22:44:49.497Z,1736376289.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.599998 m, nav range: 66.606361 m, bearing: 304.267996 deg, approach rate: 0.026197 m/s, LOS rate: -0.550109 deg/s, cmd heading: 28.764686 deg, new cmd heading: 27.995259 deg. 2025-01-08T22:44:49.498Z,1736376289.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488609 target range: 87.599998 and range: 87.60 m. 2025-01-08T22:44:49.628Z,1736376289.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:49.628Z,1736376289.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002270 2025-01-08T22:44:49.881Z,1736376289.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:49.881Z,1736376289.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255158 2025-01-08T22:44:49.922Z,1736376289.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:49.932Z,1736376289.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.60 m. 2025-01-08T22:44:49.934Z,1736376289.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.599998 m, nav range: 66.613052 m, bearing: 304.037316 deg, approach rate: 0.015275 m/s, LOS rate: -0.526559 deg/s, cmd heading: 27.995258 deg, new cmd heading: 27.303324 deg. 2025-01-08T22:44:49.936Z,1736376289.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.476533 target range: 87.599998 and range: 87.60 m. 2025-01-08T22:44:50.132Z,1736376290.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:50.133Z,1736376290.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507089 2025-01-08T22:44:50.345Z,1736376290.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:50.355Z,1736376290.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.60 m. 2025-01-08T22:44:50.358Z,1736376290.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.599998 m, nav range: 66.617691 m, bearing: 303.814391 deg, approach rate: 0.010955 m/s, LOS rate: -0.526443 deg/s, cmd heading: 27.303324 deg, new cmd heading: 26.634629 deg. 2025-01-08T22:44:50.359Z,1736376290.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464862 target range: 87.599998 and range: 87.60 m. 2025-01-08T22:44:50.384Z,1736376290.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:50.385Z,1736376290.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758392 2025-01-08T22:44:50.636Z,1736376290.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:50.637Z,1736376290.637 [DAT](INFO): DAT read: Rx Time:22:44:49.4803 2025-01-08T22:44:50.637Z,1736376290.637 [DAT](INFO): Rx dataTimestamp_ set to:1736376290.636848 2025-01-08T22:44:50.638Z,1736376290.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011531 2025-01-08T22:44:50.818Z,1736376290.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:50.831Z,1736376290.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:50.833Z,1736376290.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.60 m. 2025-01-08T22:44:50.842Z,1736376290.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.599998 m, nav range: 66.620804 m, bearing: 303.565178 deg, approach rate: 0.006504 m/s, LOS rate: -0.520680 deg/s, cmd heading: 26.634628 deg, new cmd heading: 25.887067 deg. 2025-01-08T22:44:50.850Z,1736376290.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451815 target range: 87.599998 and range: 87.60 m. 2025-01-08T22:44:50.888Z,1736376290.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:50.889Z,1736376290.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262427 2025-01-08T22:44:51.141Z,1736376291.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:51.143Z,1736376291.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516288 2025-01-08T22:44:51.250Z,1736376291.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:51.279Z,1736376291.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.60 m. 2025-01-08T22:44:51.287Z,1736376291.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.599998 m, nav range: 66.618866 m, bearing: 303.339297 deg, approach rate: -0.004389 m/s, LOS rate: -0.511600 deg/s, cmd heading: 25.887068 deg, new cmd heading: 25.209440 deg. 2025-01-08T22:44:51.288Z,1736376291.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439988 target range: 87.599998 and range: 87.60 m. 2025-01-08T22:44:51.393Z,1736376291.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:51.401Z,1736376291.401 [DAT](INFO): DAT read: 22:44:49.4803 LVL= 25424, 32753, 32754, 32755, AGC= 66, IDX= 415,-0.25, 1.438,-0.184, 0.496, 0.899, PHS= 0.627,-1.036,-0.406, RAW= 112.0, 11.2, CAL= 121.0, 8.5, ROT= 29.0, -8.5 2025-01-08T22:44:51.403Z,1736376291.403 [DAT](INFO): got valid direction response: 22:44:49.4803 LVL= 25424, 32753, 32754, 32755, AGC= 66, IDX= 415,-0.25, 1.438,-0.184, 0.496, 0.899, PHS= 0.627,-1.036,-0.406, RAW= 112.0, 11.2, CAL= 121.0, 8.5, ROT= 29.0, -8.5 2025-01-08T22:44:51.405Z,1736376291.405 [DAT](INFO): DAT read: Bearing 29.0, -8.5 (Local) 2025-01-08T22:44:51.405Z,1736376291.405 [DAT](INFO): Local bearing/azimuth received: Bearing 29.0, -8.5 (Local) 2025-01-08T22:44:51.408Z,1736376291.408 [DAT](INFO): DAT read: Range 10 to 50 : 85.6 m (Round-trip 114.2 ms) speed 0.4 m/s 2025-01-08T22:44:51.409Z,1736376291.409 [DAT](INFO): DAT read: user:2843> 2025-01-08T22:44:51.410Z,1736376291.410 [DAT](INFO): DAT read: Tx time:22:44:50.5620 2025-01-08T22:44:51.411Z,1736376291.411 [DAT](INFO): Ping request sent. 2025-01-08T22:44:51.412Z,1736376291.412 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:51.413Z,1736376291.413 [DAT](INFO): DAT read: TxSync time:22:44:50.5612 2025-01-08T22:44:51.415Z,1736376291.415 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:44:51.415Z,1736376291.415 [DAT](INFO): direction in FSK: [-0.324627,-0.258894,0.909721] 2025-01-08T22:44:51.416Z,1736376291.416 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:51.416Z,1736376291.416 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:51.419Z,1736376291.419 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:51.419Z,1736376291.419 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:51.587Z,1736376291.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:51.625Z,1736376291.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.599998 m, deltaT: 3.780872 s, deltaX: -2.000000 m, approachRate: -0.528979 m/s, rangeRepo size: 4 2025-01-08T22:44:51.627Z,1736376291.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.599998 m, bearing: 250.412640 deg, lat: 36.904525 deg, lon: -122.120755 deg, deltaT: 3.780872 s, deltaX: -2.000000 m, approachRate: -0.528979 m/s, posRepo size: 4 2025-01-08T22:44:51.632Z,1736376291.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m. 2025-01-08T22:44:51.635Z,1736376291.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.599998 m, nav range: 58.885815 m, bearing: 288.772503 deg, approach rate: 0.000000 m/s, LOS rate: -0.511600 deg/s, cmd heading: 25.209441 deg, new cmd heading: 24.673650 deg. 2025-01-08T22:44:51.644Z,1736376291.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:51.651Z,1736376291.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430636 target range: 85.599998 and range: 85.60 m. 2025-01-08T22:44:51.896Z,1736376291.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:51.990Z,1736376291.990 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814455711,35.S,-32768,-32768,-32768,V 2025-01-08T22:44:52.000Z,1736376292.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:44:52.001Z,1736376292.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:52.009Z,1736376292.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m. 2025-01-08T22:44:52.012Z,1736376292.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.599998 m, nav range: 58.942959 m, bearing: 288.534331 deg, approach rate: 0.148418 m/s, LOS rate: -0.617994 deg/s, cmd heading: 24.673650 deg, new cmd heading: 23.959865 deg. 2025-01-08T22:44:52.014Z,1736376292.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418179 target range: 85.599998 and range: 85.60 m. 2025-01-08T22:44:52.148Z,1736376292.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:52.386Z,1736376292.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:44:52.386Z,1736376292.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:52.395Z,1736376292.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m. 2025-01-08T22:44:52.399Z,1736376292.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.599998 m, nav range: 58.992195 m, bearing: 288.311733 deg, approach rate: 0.127733 m/s, LOS rate: -0.576999 deg/s, cmd heading: 23.959865 deg, new cmd heading: 23.292660 deg. 2025-01-08T22:44:52.400Z,1736376292.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:52.403Z,1736376292.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.406534 target range: 85.599998 and range: 85.60 m. 2025-01-08T22:44:52.652Z,1736376292.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:52.897Z,1736376292.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:52.904Z,1736376292.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:52.906Z,1736376292.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:52.908Z,1736376292.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m. 2025-01-08T22:44:52.911Z,1736376292.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.599998 m, nav range: 59.028408 m, bearing: 288.031883 deg, approach rate: 0.070513 m/s, LOS rate: -0.544584 deg/s, cmd heading: 23.292659 deg, new cmd heading: 22.453688 deg. 2025-01-08T22:44:52.912Z,1736376292.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.391891 target range: 85.599998 and range: 85.60 m. 2025-01-08T22:44:53.156Z,1736376293.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:53.156Z,1736376293.156 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:44:53.157Z,1736376293.157 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:44:53.157Z,1736376293.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:53.216Z,1736376293.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:53.224Z,1736376293.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m. 2025-01-08T22:44:53.227Z,1736376293.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.599998 m, nav range: 59.051754 m, bearing: 287.857165 deg, approach rate: 0.073887 m/s, LOS rate: -0.552738 deg/s, cmd heading: 22.453689 deg, new cmd heading: 21.929759 deg. 2025-01-08T22:44:53.228Z,1736376293.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.382746 target range: 85.599998 and range: 85.60 m. 2025-01-08T22:44:53.408Z,1736376293.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:53.408Z,1736376293.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997641 2025-01-08T22:44:53.598Z,1736376293.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:53.607Z,1736376293.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m. 2025-01-08T22:44:53.609Z,1736376293.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.599998 m, nav range: 59.074253 m, bearing: 287.647495 deg, approach rate: 0.058824 m/s, LOS rate: -0.547972 deg/s, cmd heading: 21.929758 deg, new cmd heading: 21.301013 deg. 2025-01-08T22:44:53.610Z,1736376293.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371773 target range: 85.599998 and range: 85.60 m. 2025-01-08T22:44:53.664Z,1736376293.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:53.665Z,1736376293.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254242 2025-01-08T22:44:53.916Z,1736376293.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:53.916Z,1736376293.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505756 2025-01-08T22:44:54.033Z,1736376294.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:54.041Z,1736376294.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m. 2025-01-08T22:44:54.060Z,1736376294.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.599998 m, nav range: 59.084976 m, bearing: 287.416179 deg, approach rate: 0.024666 m/s, LOS rate: -0.531993 deg/s, cmd heading: 21.301012 deg, new cmd heading: 20.607226 deg. 2025-01-08T22:44:54.061Z,1736376294.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.359664 target range: 85.599998 and range: 85.60 m. 2025-01-08T22:44:54.168Z,1736376294.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:54.168Z,1736376294.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757695 2025-01-08T22:44:54.406Z,1736376294.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:54.415Z,1736376294.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.60 m. 2025-01-08T22:44:54.418Z,1736376294.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.599998 m, nav range: 59.090149 m, bearing: 287.217891 deg, approach rate: 0.013851 m/s, LOS rate: -0.530911 deg/s, cmd heading: 20.607225 deg, new cmd heading: 20.012438 deg. 2025-01-08T22:44:54.419Z,1736376294.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349283 target range: 85.599998 and range: 85.60 m. 2025-01-08T22:44:54.420Z,1736376294.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:54.421Z,1736376294.421 [DAT](INFO): DAT read: Rx Time:22:44:53.0783 2025-01-08T22:44:54.421Z,1736376294.421 [DAT](INFO): Rx dataTimestamp_ set to:1736376294.420742 2025-01-08T22:44:54.422Z,1736376294.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010820 2025-01-08T22:44:54.672Z,1736376294.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:54.674Z,1736376294.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262738 2025-01-08T22:44:54.924Z,1736376294.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:54.931Z,1736376294.931 [DAT](INFO): DAT read: 22:44:53.0783 LVL= 11968, 26689, 22210, 32755, AGC= 58, IDX= 424,-0.31, 2.354, 0.582, 1.131, 1.585, PHS= 0.857,-0.956,-0.458, RAW= 105.4, 6.9, CAL= 115.6, 4.9, ROT= 34.4, -4.9 2025-01-08T22:44:54.932Z,1736376294.932 [DAT](INFO): got valid direction response: 22:44:53.0783 LVL= 11968, 26689, 22210, 32755, AGC= 58, IDX= 424,-0.31, 2.354, 0.582, 1.131, 1.585, PHS= 0.857,-0.956,-0.458, RAW= 105.4, 6.9, CAL= 115.6, 4.9, ROT= 34.4, -4.9 2025-01-08T22:44:54.933Z,1736376294.933 [DAT](INFO): DAT read: Bearing 34.4, -4.9 (Local) 2025-01-08T22:44:54.934Z,1736376294.934 [DAT](INFO): Local bearing/azimuth received: Bearing 34.4, -4.9 (Local) 2025-01-08T22:44:54.935Z,1736376294.935 [DAT](INFO): DAT read: Range 10 to 50 : 84.0 m (Round-trip 112.1 ms) speed 0.3 m/s 2025-01-08T22:44:54.936Z,1736376294.936 [DAT](INFO): DAT read: user:2844> 2025-01-08T22:44:54.937Z,1736376294.937 [DAT](INFO): DAT read: Tx time:22:44:54.1621 2025-01-08T22:44:54.937Z,1736376294.937 [DAT](INFO): Ping request sent. 2025-01-08T22:44:54.937Z,1736376294.937 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:54.937Z,1736376294.937 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:44:54.938Z,1736376294.938 [DAT](INFO): direction in FSK: [-0.238329,-0.153798,0.958929] 2025-01-08T22:44:54.938Z,1736376294.938 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:54.939Z,1736376294.939 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:54.950Z,1736376294.950 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:54.950Z,1736376294.950 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:54.974Z,1736376294.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:55.028Z,1736376295.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.000000 m, deltaT: 3.530931 s, deltaX: -1.599998 m, approachRate: -0.453138 m/s, rangeRepo size: 4 2025-01-08T22:44:55.034Z,1736376295.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.000000 m, bearing: 241.666194 deg, lat: 36.904292 deg, lon: -122.120610 deg, deltaT: 3.530931 s, deltaX: -1.599998 m, approachRate: -0.453138 m/s, posRepo size: 4 2025-01-08T22:44:55.052Z,1736376295.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:44:55.054Z,1736376295.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 44.493713 m, bearing: 258.745935 deg, approach rate: 0.000000 m/s, LOS rate: -0.530911 deg/s, cmd heading: 20.012437 deg, new cmd heading: 19.044298 deg. 2025-01-08T22:44:55.059Z,1736376295.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.332386 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:44:55.176Z,1736376295.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:55.177Z,1736376295.177 [DAT](INFO): DAT read: TxSync time:22:44:54.1613 2025-01-08T22:44:55.373Z,1736376295.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:55.381Z,1736376295.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:55.383Z,1736376295.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:44:55.386Z,1736376295.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 44.585091 m, bearing: 258.497544 deg, approach rate: 0.253666 m/s, LOS rate: -0.688127 deg/s, cmd heading: 19.044297 deg, new cmd heading: 18.300696 deg. 2025-01-08T22:44:55.387Z,1736376295.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.319407 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:44:55.428Z,1736376295.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:55.428Z,1736376295.428 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:44:55.428Z,1736376295.428 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:44:55.429Z,1736376295.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:55.681Z,1736376295.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:55.682Z,1736376295.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744872 2025-01-08T22:44:55.801Z,1736376295.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:55.825Z,1736376295.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:44:55.838Z,1736376295.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 44.681774 m, bearing: 258.231441 deg, approach rate: 0.218781 m/s, LOS rate: -0.600848 deg/s, cmd heading: 18.300696 deg, new cmd heading: 17.504169 deg. 2025-01-08T22:44:55.847Z,1736376295.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.305505 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:44:55.933Z,1736376295.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:55.936Z,1736376295.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998885 2025-01-08T22:44:56.186Z,1736376296.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:56.188Z,1736376296.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250751 2025-01-08T22:44:56.218Z,1736376296.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:56.252Z,1736376296.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:44:56.254Z,1736376296.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 44.763443 m, bearing: 257.973884 deg, approach rate: 0.193575 m/s, LOS rate: -0.609355 deg/s, cmd heading: 17.504170 deg, new cmd heading: 16.732959 deg. 2025-01-08T22:44:56.260Z,1736376296.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292045 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:44:56.436Z,1736376296.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:56.436Z,1736376296.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499377 2025-01-08T22:44:56.607Z,1736376296.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:56.617Z,1736376296.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:44:56.620Z,1736376296.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 44.836411 m, bearing: 257.731957 deg, approach rate: 0.197203 m/s, LOS rate: -0.652771 deg/s, cmd heading: 16.732959 deg, new cmd heading: 16.008399 deg. 2025-01-08T22:44:56.621Z,1736376296.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279399 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:44:56.688Z,1736376296.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:56.689Z,1736376296.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751942 2025-01-08T22:44:56.941Z,1736376296.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:56.943Z,1736376296.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005629 2025-01-08T22:44:57.033Z,1736376297.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:57.062Z,1736376297.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:44:57.066Z,1736376297.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 44.916664 m, bearing: 257.457780 deg, approach rate: 0.180304 m/s, LOS rate: -0.614884 deg/s, cmd heading: 16.008399 deg, new cmd heading: 15.187397 deg. 2025-01-08T22:44:57.067Z,1736376297.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265070 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:44:57.192Z,1736376297.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:57.192Z,1736376297.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255333 2025-01-08T22:44:57.433Z,1736376297.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:57.440Z,1736376297.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:57.442Z,1736376297.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:44:57.444Z,1736376297.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:57.444Z,1736376297.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507500 2025-01-08T22:44:57.448Z,1736376297.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 44.992905 m, bearing: 257.201380 deg, approach rate: 0.200458 m/s, LOS rate: -0.673004 deg/s, cmd heading: 15.187397 deg, new cmd heading: 14.419550 deg. 2025-01-08T22:44:57.449Z,1736376297.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.251669 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:44:57.696Z,1736376297.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:57.697Z,1736376297.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759619 2025-01-08T22:44:57.813Z,1736376297.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:57.840Z,1736376297.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:44:57.843Z,1736376297.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 45.061356 m, bearing: 256.956564 deg, approach rate: 0.171965 m/s, LOS rate: -0.614100 deg/s, cmd heading: 14.419550 deg, new cmd heading: 13.686261 deg. 2025-01-08T22:44:57.850Z,1736376297.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238870 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:44:57.948Z,1736376297.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:57.950Z,1736376297.950 [DAT](INFO): DAT read: Rx Time:22:44:56.6766 2025-01-08T22:44:57.950Z,1736376297.950 [DAT](INFO): Rx dataTimestamp_ set to:1736376297.949754 2025-01-08T22:44:57.952Z,1736376297.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014787 2025-01-08T22:44:58.200Z,1736376298.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:58.201Z,1736376298.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263539 2025-01-08T22:44:58.281Z,1736376298.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:58.290Z,1736376298.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:44:58.293Z,1736376298.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 45.156563 m, bearing: 256.661155 deg, approach rate: 0.211582 m/s, LOS rate: -0.655112 deg/s, cmd heading: 13.686260 deg, new cmd heading: 12.801973 deg. 2025-01-08T22:44:58.294Z,1736376298.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.223437 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:44:58.452Z,1736376298.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:58.458Z,1736376298.458 [DAT](INFO): DAT read: 22:44:56.6766 LVL= 11984, 24689, 19010, 28099, AGC= 56, IDX= 423,-0.09, 2.607, 0.783, 1.133, 1.686, PHS= 1.010,-0.856,-0.555, RAW= 98.6, 4.7, CAL= 108.4, 3.0, ROT= 41.6, -3.0 2025-01-08T22:44:58.466Z,1736376298.466 [DAT](INFO): got valid direction response: 22:44:56.6766 LVL= 11984, 24689, 19010, 28099, AGC= 56, IDX= 423,-0.09, 2.607, 0.783, 1.133, 1.686, PHS= 1.010,-0.856,-0.555, RAW= 98.6, 4.7, CAL= 108.4, 3.0, ROT= 41.6, -3.0 2025-01-08T22:44:58.468Z,1736376298.468 [DAT](INFO): DAT read: Bearing 41.6, -3.0 (Local) 2025-01-08T22:44:58.468Z,1736376298.468 [DAT](INFO): Local bearing/azimuth received: Bearing 41.6, -3.0 (Local) 2025-01-08T22:44:58.469Z,1736376298.469 [DAT](INFO): DAT read: Range 10 to 50 : 82.8 m (Round-trip 110.4 ms) speed 0.3 m/s 2025-01-08T22:44:58.470Z,1736376298.470 [DAT](INFO): DAT read: user:2845> 2025-01-08T22:44:58.471Z,1736376298.471 [DAT](INFO): DAT read: Tx time:22:44:57.7621 2025-01-08T22:44:58.492Z,1736376298.492 [DAT](INFO): Ping request sent. 2025-01-08T22:44:58.492Z,1736376298.492 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:44:58.492Z,1736376298.492 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:44:58.493Z,1736376298.493 [DAT](INFO): direction in FSK: [-0.186943,-0.038317,0.981623] 2025-01-08T22:44:58.493Z,1736376298.493 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:58.493Z,1736376298.493 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:58.515Z,1736376298.515 [DAT](INFO): publishing transmit ping time 2025-01-08T22:44:58.515Z,1736376298.515 [DAT](INFO): publishing direction and range info 2025-01-08T22:44:58.640Z,1736376298.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:58.683Z,1736376298.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.800003 m, deltaT: 3.527980 s, deltaX: -1.199997 m, approachRate: -0.340137 m/s, rangeRepo size: 4 2025-01-08T22:44:58.689Z,1736376298.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.800003 m, bearing: 220.034691 deg, lat: 36.904264 deg, lon: -122.120551 deg, deltaT: 3.527980 s, deltaX: -1.199997 m, approachRate: -0.340137 m/s, posRepo size: 4 2025-01-08T22:44:58.690Z,1736376298.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:44:58.697Z,1736376298.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 41.134323 m, bearing: 250.484160 deg, approach rate: 0.000000 m/s, LOS rate: -0.655112 deg/s, cmd heading: 12.801973 deg, new cmd heading: 12.032105 deg. 2025-01-08T22:44:58.699Z,1736376298.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.210000 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:44:58.704Z,1736376298.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:58.705Z,1736376298.705 [DAT](INFO): DAT read: TxSync time:22:44:57.7613 2025-01-08T22:44:58.956Z,1736376298.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:59.062Z,1736376299.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:59.103Z,1736376299.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:44:59.110Z,1736376299.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 41.249756 m, bearing: 250.206941 deg, approach rate: 0.274308 m/s, LOS rate: -0.656923 deg/s, cmd heading: 12.032106 deg, new cmd heading: 11.202837 deg. 2025-01-08T22:44:59.111Z,1736376299.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.195526 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:44:59.212Z,1736376299.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:59.437Z,1736376299.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:59.444Z,1736376299.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:44:59.446Z,1736376299.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:44:59.465Z,1736376299.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:59.465Z,1736376299.465 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:44:59.465Z,1736376299.465 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:44:59.465Z,1736376299.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:44:59.470Z,1736376299.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 41.350918 m, bearing: 249.959755 deg, approach rate: 0.294892 m/s, LOS rate: -0.718793 deg/s, cmd heading: 11.202837 deg, new cmd heading: 10.463137 deg. 2025-01-08T22:44:59.475Z,1736376299.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.182616 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:44:59.716Z,1736376299.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:59.717Z,1736376299.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225063 2025-01-08T22:44:59.852Z,1736376299.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:44:59.860Z,1736376299.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:44:59.863Z,1736376299.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 41.461739 m, bearing: 249.685558 deg, approach rate: 0.267214 m/s, LOS rate: -0.659383 deg/s, cmd heading: 10.463137 deg, new cmd heading: 9.642801 deg. 2025-01-08T22:44:59.864Z,1736376299.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.168299 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:44:59.968Z,1736376299.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:44:59.969Z,1736376299.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476904 2025-01-08T22:45:00.221Z,1736376300.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:00.222Z,1736376300.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730444 2025-01-08T22:45:00.300Z,1736376300.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:00.318Z,1736376300.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:00.324Z,1736376300.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 41.600769 m, bearing: 249.405128 deg, approach rate: 0.304191 m/s, LOS rate: -0.611511 deg/s, cmd heading: 9.642801 deg, new cmd heading: 8.804387 deg. 2025-01-08T22:45:00.325Z,1736376300.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.153666 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:00.472Z,1736376300.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:00.473Z,1736376300.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980990 2025-01-08T22:45:00.650Z,1736376300.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:00.688Z,1736376300.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:00.695Z,1736376300.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 41.708763 m, bearing: 249.186100 deg, approach rate: 0.291157 m/s, LOS rate: -0.588980 deg/s, cmd heading: 8.804387 deg, new cmd heading: 8.149035 deg. 2025-01-08T22:45:00.697Z,1736376300.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.142228 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:00.724Z,1736376300.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:00.725Z,1736376300.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233023 2025-01-08T22:45:00.977Z,1736376300.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:00.979Z,1736376300.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486777 2025-01-08T22:45:01.094Z,1736376301.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:01.105Z,1736376301.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:01.108Z,1736376301.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 41.868240 m, bearing: 248.916400 deg, approach rate: 0.382979 m/s, LOS rate: -0.645208 deg/s, cmd heading: 8.149036 deg, new cmd heading: 7.343072 deg. 2025-01-08T22:45:01.109Z,1736376301.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128161 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:01.228Z,1736376301.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:01.229Z,1736376301.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736942 2025-01-08T22:45:01.456Z,1736376301.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:01.478Z,1736376301.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:01.481Z,1736376301.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:01.481Z,1736376301.481 [DAT](INFO): DAT read: Rx Time:22:45:00.2750 2025-01-08T22:45:01.482Z,1736376301.482 [DAT](INFO): Rx dataTimestamp_ set to:1736376301.481620 2025-01-08T22:45:01.482Z,1736376301.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990786 2025-01-08T22:45:01.485Z,1736376301.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:01.491Z,1736376301.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 41.996666 m, bearing: 248.694954 deg, approach rate: 0.338140 m/s, LOS rate: -0.581275 deg/s, cmd heading: 7.343072 deg, new cmd heading: 6.680797 deg. 2025-01-08T22:45:01.492Z,1736376301.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116602 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:01.732Z,1736376301.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:01.732Z,1736376301.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240773 2025-01-08T22:45:01.877Z,1736376301.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:01.894Z,1736376301.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:01.901Z,1736376301.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 42.144993 m, bearing: 248.436696 deg, approach rate: 0.362553 m/s, LOS rate: -0.629031 deg/s, cmd heading: 6.680798 deg, new cmd heading: 5.908800 deg. 2025-01-08T22:45:01.902Z,1736376301.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103128 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:01.986Z,1736376301.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:02.001Z,1736376302.001 [DAT](INFO): DAT read: 22:45:00.2750 LVL= 13648, 23137, 18082, 25715, AGC= 55, IDX= 423,-0.44,-1.355, 3.021, 3.139,-2.499, PHS= 1.232,-0.716,-0.648, RAW= 91.8, 1.4, CAL= 99.6, -1.8, ROT= 50.4, 1.8 2025-01-08T22:45:02.002Z,1736376302.002 [DAT](INFO): got valid direction response: 22:45:00.2750 LVL= 13648, 23137, 18082, 25715, AGC= 55, IDX= 423,-0.44,-1.355, 3.021, 3.139,-2.499, PHS= 1.232,-0.716,-0.648, RAW= 91.8, 1.4, CAL= 99.6, -1.8, ROT= 50.4, 1.8 2025-01-08T22:45:02.004Z,1736376302.004 [DAT](INFO): DAT read: Bearing 50.4, 1.8 (Local) 2025-01-08T22:45:02.004Z,1736376302.004 [DAT](INFO): Local bearing/azimuth received: Bearing 50.4, 1.8 (Local) 2025-01-08T22:45:02.006Z,1736376302.006 [DAT](INFO): DAT read: Range 10 to 50 : 81.6 m (Round-trip 108.8 ms) speed 0.3 m/s 2025-01-08T22:45:02.006Z,1736376302.006 [DAT](INFO): DAT read: user:2846> 2025-01-08T22:45:02.020Z,1736376302.020 [DAT](INFO): DAT read: Tx time:22:45:01.3621 2025-01-08T22:45:02.022Z,1736376302.022 [DAT](INFO): Ping request sent. 2025-01-08T22:45:02.022Z,1736376302.022 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:02.029Z,1736376302.029 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:45:02.031Z,1736376302.031 [DAT](INFO): direction in FSK: [-0.114486,0.078475,0.990320] 2025-01-08T22:45:02.036Z,1736376302.036 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:02.037Z,1736376302.037 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:02.047Z,1736376302.047 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:02.052Z,1736376302.052 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:02.236Z,1736376302.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:02.237Z,1736376302.237 [DAT](INFO): DAT read: TxSync time:22:45:01.3613 2025-01-08T22:45:02.325Z,1736376302.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:02.360Z,1736376302.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.534975 s, deltaX: -1.200005 m, approachRate: -0.339466 m/s, rangeRepo size: 4 2025-01-08T22:45:02.362Z,1736376302.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.599998 m, bearing: 174.160051 deg, lat: 36.904264 deg, lon: -122.120390 deg, deltaT: 3.534975 s, deltaX: -1.200005 m, approachRate: -0.339466 m/s, posRepo size: 4 2025-01-08T22:45:02.363Z,1736376302.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:45:02.370Z,1736376302.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 29.477369 m, bearing: 237.731175 deg, approach rate: 0.000000 m/s, LOS rate: -0.629031 deg/s, cmd heading: 5.908800 deg, new cmd heading: 5.038400 deg. 2025-01-08T22:45:02.371Z,1736376302.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.087937 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:45:02.488Z,1736376302.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:02.689Z,1736376302.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:02.699Z,1736376302.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:45:02.701Z,1736376302.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 29.648010 m, bearing: 237.476037 deg, approach rate: 0.496663 m/s, LOS rate: -0.738319 deg/s, cmd heading: 5.038400 deg, new cmd heading: 4.277441 deg. 2025-01-08T22:45:02.702Z,1736376302.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074655 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:45:02.740Z,1736376302.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:02.994Z,1736376302.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:03.094Z,1736376303.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:03.106Z,1736376303.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:45:03.109Z,1736376303.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 29.845661 m, bearing: 237.186325 deg, approach rate: 0.484957 m/s, LOS rate: -0.706127 deg/s, cmd heading: 4.277441 deg, new cmd heading: 3.414130 deg. 2025-01-08T22:45:03.110Z,1736376303.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059588 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:45:03.244Z,1736376303.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:03.479Z,1736376303.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:03.496Z,1736376303.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:03.499Z,1736376303.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:03.501Z,1736376303.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:45:03.508Z,1736376303.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 30.032143 m, bearing: 236.911141 deg, approach rate: 0.472011 m/s, LOS rate: -0.692203 deg/s, cmd heading: 3.414130 deg, new cmd heading: 2.593762 deg. 2025-01-08T22:45:03.509Z,1736376303.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045270 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:45:03.748Z,1736376303.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:03.748Z,1736376303.748 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:03.749Z,1736376303.749 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:03.749Z,1736376303.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:03.882Z,1736376303.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:03.909Z,1736376303.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:45:03.916Z,1736376303.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 30.226871 m, bearing: 236.620955 deg, approach rate: 0.477277 m/s, LOS rate: -0.706655 deg/s, cmd heading: 2.593762 deg, new cmd heading: 1.728883 deg. 2025-01-08T22:45:03.917Z,1736376303.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.030175 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:45:04.002Z,1736376304.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:04.005Z,1736376304.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982644 2025-01-08T22:45:04.252Z,1736376304.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:04.252Z,1736376304.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230690 2025-01-08T22:45:04.318Z,1736376304.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:04.342Z,1736376304.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:45:04.350Z,1736376304.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 30.427792 m, bearing: 236.306311 deg, approach rate: 0.463922 m/s, LOS rate: -0.721708 deg/s, cmd heading: 1.728883 deg, new cmd heading: 0.791273 deg. 2025-01-08T22:45:04.351Z,1736376304.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013810 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:45:04.504Z,1736376304.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:04.504Z,1736376304.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482652 2025-01-08T22:45:04.697Z,1736376304.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:04.712Z,1736376304.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:45:04.717Z,1736376304.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 30.601353 m, bearing: 236.031817 deg, approach rate: 0.471885 m/s, LOS rate: -0.742071 deg/s, cmd heading: 0.791273 deg, new cmd heading: 359.972518 deg. 2025-01-08T22:45:04.720Z,1736376304.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282706 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:45:04.756Z,1736376304.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:04.757Z,1736376304.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734862 2025-01-08T22:45:05.010Z,1736376305.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:05.014Z,1736376305.014 [DAT](INFO): DAT read: Rx Time:22:45:03.8736 2025-01-08T22:45:05.016Z,1736376305.016 [DAT](INFO): Rx dataTimestamp_ set to:1736376305.014476 2025-01-08T22:45:05.018Z,1736376305.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996040 2025-01-08T22:45:05.124Z,1736376305.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:05.153Z,1736376305.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:45:05.160Z,1736376305.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 30.781481 m, bearing: 235.703641 deg, approach rate: 0.406853 m/s, LOS rate: -0.736906 deg/s, cmd heading: 359.972525 deg, new cmd heading: 358.993859 deg. 2025-01-08T22:45:05.161Z,1736376305.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265625 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:45:05.262Z,1736376305.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:05.265Z,1736376305.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242825 2025-01-08T22:45:05.497Z,1736376305.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:05.505Z,1736376305.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:05.506Z,1736376305.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:45:05.509Z,1736376305.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 30.937922 m, bearing: 235.415121 deg, approach rate: 0.442407 m/s, LOS rate: -0.811789 deg/s, cmd heading: 358.993869 deg, new cmd heading: 358.132756 deg. 2025-01-08T22:45:05.510Z,1736376305.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.250596 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:45:05.512Z,1736376305.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:05.512Z,1736376305.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490702 2025-01-08T22:45:05.765Z,1736376305.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:05.772Z,1736376305.772 [DAT](INFO): DAT read: 22:45:03.8736 LVL= 10880, 23857, 16594, 25347, AGC= 55, IDX= 423, 0.05, 1.609, 0.005,-0.291, 0.665, PHS= 1.031,-0.613,-0.960, RAW= 80.6, 5.9, CAL= 85.5, 6.1, ROT= 64.5, -6.1 2025-01-08T22:45:05.774Z,1736376305.774 [DAT](INFO): got valid direction response: 22:45:03.8736 LVL= 10880, 23857, 16594, 25347, AGC= 55, IDX= 423, 0.05, 1.609, 0.005,-0.291, 0.665, PHS= 1.031,-0.613,-0.960, RAW= 80.6, 5.9, CAL= 85.5, 6.1, ROT= 64.5, -6.1 2025-01-08T22:45:05.776Z,1736376305.776 [DAT](INFO): DAT read: Bearing 64.5, -6.1 (Local) 2025-01-08T22:45:05.776Z,1736376305.776 [DAT](INFO): Local bearing/azimuth received: Bearing 64.5, -6.1 (Local) 2025-01-08T22:45:05.779Z,1736376305.779 [DAT](INFO): DAT read: Range 10 to 50 : 80.4 m (Round-trip 107.3 ms) speed -0.1 m/s 2025-01-08T22:45:05.781Z,1736376305.781 [DAT](INFO): DAT read: user:2847> 2025-01-08T22:45:05.782Z,1736376305.782 [DAT](INFO): DAT read: Tx time:22:45:04.9622 2025-01-08T22:45:05.783Z,1736376305.783 [DAT](INFO): Ping request sent. 2025-01-08T22:45:05.783Z,1736376305.783 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:05.784Z,1736376305.784 [DAT](INFO): DAT read: TxSync time:22:45:04.9614 2025-01-08T22:45:05.784Z,1736376305.784 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:45:05.785Z,1736376305.785 [DAT](INFO): direction in FSK: [-0.180215,0.269914,0.945869] 2025-01-08T22:45:05.786Z,1736376305.786 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:05.786Z,1736376305.786 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:05.789Z,1736376305.789 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:05.789Z,1736376305.789 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:05.930Z,1736376305.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:05.961Z,1736376305.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.778338 s, deltaX: -1.199997 m, approachRate: -0.317599 m/s, rangeRepo size: 4 2025-01-08T22:45:05.963Z,1736376305.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.400002 m, bearing: 133.175516 deg, lat: 36.904264 deg, lon: -122.120245 deg, deltaT: 3.778338 s, deltaX: -1.199997 m, approachRate: -0.317599 m/s, posRepo size: 4 2025-01-08T22:45:05.968Z,1736376305.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:45:05.977Z,1736376305.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 21.849566 m, bearing: 215.389129 deg, approach rate: 0.000000 m/s, LOS rate: -0.811789 deg/s, cmd heading: 358.132746 deg, new cmd heading: 357.028067 deg. 2025-01-08T22:45:05.978Z,1736376305.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.231315 target range: 80.400002 and range: 80.40 m. 2025-01-08T22:45:06.018Z,1736376306.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:06.112Z,1736376306.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:45:06.268Z,1736376306.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:06.361Z,1736376306.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:06.370Z,1736376306.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:45:06.373Z,1736376306.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 22.065334 m, bearing: 215.047466 deg, approach rate: 0.526091 m/s, LOS rate: -0.824896 deg/s, cmd heading: 357.028058 deg, new cmd heading: 356.013205 deg. 2025-01-08T22:45:06.374Z,1736376306.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.213603 target range: 80.400002 and range: 80.40 m. 2025-01-08T22:45:06.520Z,1736376306.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:06.711Z,1736376306.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:06.721Z,1736376306.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:45:06.724Z,1736376306.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 22.238083 m, bearing: 214.763101 deg, approach rate: 0.492477 m/s, LOS rate: -0.804377 deg/s, cmd heading: 356.013201 deg, new cmd heading: 355.166797 deg. 2025-01-08T22:45:06.725Z,1736376306.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.198830 target range: 80.400002 and range: 80.40 m. 2025-01-08T22:45:06.772Z,1736376306.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:07.025Z,1736376307.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:07.116Z,1736376307.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:45:07.162Z,1736376307.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:07.192Z,1736376307.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:45:07.195Z,1736376307.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 22.440342 m, bearing: 214.335530 deg, approach rate: 0.429576 m/s, LOS rate: -0.899920 deg/s, cmd heading: 355.166804 deg, new cmd heading: 353.895874 deg. 2025-01-08T22:45:07.200Z,1736376307.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.176648 target range: 80.400002 and range: 80.40 m. 2025-01-08T22:45:07.276Z,1736376307.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:07.517Z,1736376307.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:07.524Z,1736376307.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:07.526Z,1736376307.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:45:07.528Z,1736376307.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:07.528Z,1736376307.528 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:07.528Z,1736376307.528 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:07.529Z,1736376307.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:07.544Z,1736376307.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 22.598347 m, bearing: 213.998184 deg, approach rate: 0.473502 m/s, LOS rate: -1.003872 deg/s, cmd heading: 353.895870 deg, new cmd heading: 352.891015 deg. 2025-01-08T22:45:07.545Z,1736376307.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159110 target range: 80.400002 and range: 80.40 m. 2025-01-08T22:45:07.780Z,1736376307.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:07.781Z,1736376307.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998277 2025-01-08T22:45:07.927Z,1736376307.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:07.937Z,1736376307.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:45:07.939Z,1736376307.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 22.779533 m, bearing: 213.606489 deg, approach rate: 0.440892 m/s, LOS rate: -0.945545 deg/s, cmd heading: 352.891013 deg, new cmd heading: 351.725444 deg. 2025-01-08T22:45:07.940Z,1736376307.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.138767 target range: 80.400002 and range: 80.40 m. 2025-01-08T22:45:08.038Z,1736376308.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:08.041Z,1736376308.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257861 2025-01-08T22:45:08.288Z,1736376308.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:08.288Z,1736376308.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505667 2025-01-08T22:45:08.357Z,1736376308.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:08.385Z,1736376308.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:45:08.392Z,1736376308.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 22.954302 m, bearing: 213.126433 deg, approach rate: 0.389513 m/s, LOS rate: -1.061759 deg/s, cmd heading: 351.725454 deg, new cmd heading: 350.296564 deg. 2025-01-08T22:45:08.393Z,1736376308.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113828 target range: 80.400002 and range: 80.40 m. 2025-01-08T22:45:08.540Z,1736376308.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:08.540Z,1736376308.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757618 2025-01-08T22:45:08.732Z,1736376308.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:08.761Z,1736376308.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:45:08.764Z,1736376308.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 23.102005 m, bearing: 212.700556 deg, approach rate: 0.393519 m/s, LOS rate: -1.127380 deg/s, cmd heading: 350.296552 deg, new cmd heading: 349.027310 deg. 2025-01-08T22:45:08.765Z,1736376308.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091676 target range: 80.400002 and range: 80.40 m. 2025-01-08T22:45:08.792Z,1736376308.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:08.792Z,1736376308.792 [DAT](INFO): DAT read: Rx Time:22:45:07.4731 2025-01-08T22:45:08.793Z,1736376308.793 [DAT](INFO): Rx dataTimestamp_ set to:1736376308.792669 2025-01-08T22:45:08.794Z,1736376308.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011182 2025-01-08T22:45:09.045Z,1736376309.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:09.048Z,1736376309.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264711 2025-01-08T22:45:09.230Z,1736376309.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:09.253Z,1736376309.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T22:45:09.260Z,1736376309.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 23.284954 m, bearing: 212.098379 deg, approach rate: 0.371218 m/s, LOS rate: -1.212244 deg/s, cmd heading: 349.027311 deg, new cmd heading: 347.235590 deg. 2025-01-08T22:45:09.261Z,1736376309.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.060404 target range: 80.400002 and range: 80.40 m. 2025-01-08T22:45:09.296Z,1736376309.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:09.304Z,1736376309.304 [DAT](INFO): DAT read: 22:45:07.4731 LVL= 8896, 25153, 18642, 26611, AGC= 55, IDX= 418, 0.30, 1.548, 0.098,-0.736, 0.443, PHS= 1.193,-0.298,-1.182, RAW= 68.4, 2.8, CAL= 70.8, 0.4, ROT= 79.2, -0.4 2025-01-08T22:45:09.305Z,1736376309.305 [DAT](INFO): got valid direction response: 22:45:07.4731 LVL= 8896, 25153, 18642, 26611, AGC= 55, IDX= 418, 0.30, 1.548, 0.098,-0.736, 0.443, PHS= 1.193,-0.298,-1.182, RAW= 68.4, 2.8, CAL= 70.8, 0.4, ROT= 79.2, -0.4 2025-01-08T22:45:09.306Z,1736376309.306 [DAT](INFO): DAT read: Bearing 79.2, -0.4 (Local) 2025-01-08T22:45:09.306Z,1736376309.306 [DAT](INFO): Local bearing/azimuth received: Bearing 79.2, -0.4 (Local) 2025-01-08T22:45:09.308Z,1736376309.308 [DAT](INFO): DAT read: Range 10 to 50 : 80.1 m (Round-trip 106.8 ms) speed 0.1 m/s 2025-01-08T22:45:09.308Z,1736376309.308 [DAT](INFO): DAT read: user:2848> 2025-01-08T22:45:09.309Z,1736376309.309 [DAT](INFO): DAT read: Tx time:22:45:08.5622 2025-01-08T22:45:09.309Z,1736376309.309 [DAT](INFO): Ping request sent. 2025-01-08T22:45:09.309Z,1736376309.309 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:09.310Z,1736376309.310 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:45:09.311Z,1736376309.311 [DAT](INFO): direction in FSK: [-0.098162,0.459676,0.882645] 2025-01-08T22:45:09.311Z,1736376309.311 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:09.311Z,1736376309.311 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:09.316Z,1736376309.316 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:09.316Z,1736376309.316 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:09.548Z,1736376309.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:09.549Z,1736376309.549 [DAT](INFO): DAT read: TxSync time:22:45:08.5614 2025-01-08T22:45:09.615Z,1736376309.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:09.641Z,1736376309.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.099998 m, deltaT: 3.530696 s, deltaX: -0.300003 m, approachRate: -0.084970 m/s, rangeRepo size: 4 2025-01-08T22:45:09.648Z,1736376309.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.099998 m, bearing: 100.033284 deg, lat: 36.904269 deg, lon: -122.120097 deg, deltaT: 3.530696 s, deltaX: -0.300003 m, approachRate: -0.084970 m/s, posRepo size: 4 2025-01-08T22:45:09.649Z,1736376309.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:09.658Z,1736376309.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 19.333113 m, bearing: 177.336059 deg, approach rate: 0.000000 m/s, LOS rate: -1.212244 deg/s, cmd heading: 347.235589 deg, new cmd heading: 345.828046 deg. 2025-01-08T22:45:09.661Z,1736376309.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035838 target range: 80.099998 and range: 80.10 m. 2025-01-08T22:45:09.800Z,1736376309.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:09.985Z,1736376309.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:09.994Z,1736376309.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:09.999Z,1736376309.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:10.022Z,1736376310.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 19.546370 m, bearing: 177.104993 deg, approach rate: 0.599097 m/s, LOS rate: -0.642045 deg/s, cmd heading: 345.828051 deg, new cmd heading: 345.142449 deg. 2025-01-08T22:45:10.023Z,1736376310.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023872 target range: 80.099998 and range: 80.10 m. 2025-01-08T22:45:10.054Z,1736376310.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:10.056Z,1736376310.056 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:10.057Z,1736376310.057 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:10.058Z,1736376310.058 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:10.304Z,1736376310.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:10.305Z,1736376310.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995071 2025-01-08T22:45:10.433Z,1736376310.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:10.441Z,1736376310.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:10.444Z,1736376310.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 19.803852 m, bearing: 176.783101 deg, approach rate: 0.579021 m/s, LOS rate: -0.714447 deg/s, cmd heading: 345.142436 deg, new cmd heading: 344.189410 deg. 2025-01-08T22:45:10.445Z,1736376310.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007238 target range: 80.099998 and range: 80.10 m. 2025-01-08T22:45:10.560Z,1736376310.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:10.561Z,1736376310.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251650 2025-01-08T22:45:10.793Z,1736376310.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:10.812Z,1736376310.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:10.812Z,1736376310.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502862 2025-01-08T22:45:10.823Z,1736376310.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:10.834Z,1736376310.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 20.010462 m, bearing: 176.519179 deg, approach rate: 0.541622 m/s, LOS rate: -0.684720 deg/s, cmd heading: 344.189406 deg, new cmd heading: 343.405865 deg. 2025-01-08T22:45:10.835Z,1736376310.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993563 target range: 80.099998 and range: 80.10 m. 2025-01-08T22:45:11.066Z,1736376311.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:11.071Z,1736376311.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760501 2025-01-08T22:45:11.244Z,1736376311.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:11.253Z,1736376311.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:11.257Z,1736376311.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 20.259979 m, bearing: 176.240724 deg, approach rate: 0.579450 m/s, LOS rate: -0.638684 deg/s, cmd heading: 343.405874 deg, new cmd heading: 342.580858 deg. 2025-01-08T22:45:11.258Z,1736376311.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979164 target range: 80.099998 and range: 80.10 m. 2025-01-08T22:45:11.316Z,1736376311.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:11.317Z,1736376311.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007690 2025-01-08T22:45:11.568Z,1736376311.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:11.568Z,1736376311.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258805 2025-01-08T22:45:11.600Z,1736376311.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:11.609Z,1736376311.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:11.632Z,1736376311.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 20.465225 m, bearing: 175.976864 deg, approach rate: 0.577743 m/s, LOS rate: -0.735280 deg/s, cmd heading: 342.580869 deg, new cmd heading: 341.797282 deg. 2025-01-08T22:45:11.633Z,1736376311.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965488 target range: 80.099998 and range: 80.10 m. 2025-01-08T22:45:11.820Z,1736376311.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:11.820Z,1736376311.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510874 2025-01-08T22:45:12.003Z,1736376312.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:12.010Z,1736376312.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:12.013Z,1736376312.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:12.017Z,1736376312.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 20.688095 m, bearing: 175.680500 deg, approach rate: 0.551527 m/s, LOS rate: -0.725498 deg/s, cmd heading: 341.797283 deg, new cmd heading: 340.917839 deg. 2025-01-08T22:45:12.018Z,1736376312.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950139 target range: 80.099998 and range: 80.10 m. 2025-01-08T22:45:12.073Z,1736376312.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:12.074Z,1736376312.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764157 2025-01-08T22:45:12.324Z,1736376312.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:12.324Z,1736376312.324 [DAT](INFO): DAT read: Rx Time:22:45:11.0729 2025-01-08T22:45:12.325Z,1736376312.325 [DAT](INFO): Rx dataTimestamp_ set to:1736376312.324539 2025-01-08T22:45:12.325Z,1736376312.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015832 2025-01-08T22:45:12.432Z,1736376312.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:12.466Z,1736376312.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:12.477Z,1736376312.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 20.926348 m, bearing: 175.396564 deg, approach rate: 0.525414 m/s, LOS rate: -0.619026 deg/s, cmd heading: 340.917828 deg, new cmd heading: 340.075783 deg. 2025-01-08T22:45:12.478Z,1736376312.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935442 target range: 80.099998 and range: 80.10 m. 2025-01-08T22:45:12.577Z,1736376312.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:12.577Z,1736376312.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267917 2025-01-08T22:45:12.811Z,1736376312.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:12.822Z,1736376312.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:12.825Z,1736376312.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 21.134956 m, bearing: 175.138466 deg, approach rate: 0.586863 m/s, LOS rate: -0.718919 deg/s, cmd heading: 340.075774 deg, new cmd heading: 339.309170 deg. 2025-01-08T22:45:12.826Z,1736376312.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922062 target range: 80.099998 and range: 80.10 m. 2025-01-08T22:45:12.828Z,1736376312.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:12.830Z,1736376312.830 [DAT](INFO): DAT read: Range 10 to 50 : 79.9 m (Round-trip 106.6 ms) speed 0.0 m/s 2025-01-08T22:45:12.832Z,1736376312.832 [DAT](INFO): DAT read: user:2849> 2025-01-08T22:45:12.833Z,1736376312.833 [DAT](INFO): DAT read: Tx time:22:45:12.1622 2025-01-08T22:45:12.833Z,1736376312.833 [DAT](INFO): Ping request sent. 2025-01-08T22:45:12.833Z,1736376312.833 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:12.833Z,1736376312.833 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:45:12.833Z,1736376312.833 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:12.834Z,1736376312.834 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:13.081Z,1736376313.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:13.084Z,1736376313.084 [DAT](INFO): DAT read: TxSync time:22:45:12.1614 2025-01-08T22:45:13.252Z,1736376313.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:13.261Z,1736376313.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.900002 m, deltaT: 3.532029 s, deltaX: -0.199997 m, approachRate: -0.056624 m/s, rangeRepo size: 4 2025-01-08T22:45:13.261Z,1736376313.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:13.273Z,1736376313.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 21.374168 m, bearing: 174.915050 deg, approach rate: 0.545414 m/s, LOS rate: -0.503695 deg/s, cmd heading: 339.309181 deg, new cmd heading: 338.646467 deg. 2025-01-08T22:45:13.274Z,1736376313.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910496 target range: 80.099998 and range: 79.90 m. 2025-01-08T22:45:13.333Z,1736376313.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:13.584Z,1736376313.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:13.626Z,1736376313.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:13.636Z,1736376313.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:13.639Z,1736376313.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 21.576332 m, bearing: 174.722112 deg, approach rate: 0.537901 m/s, LOS rate: -0.508544 deg/s, cmd heading: 338.646462 deg, new cmd heading: 338.073090 deg. 2025-01-08T22:45:13.640Z,1736376313.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900488 target range: 80.099998 and range: 79.90 m. 2025-01-08T22:45:13.836Z,1736376313.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:14.025Z,1736376314.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:14.033Z,1736376314.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:14.036Z,1736376314.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:14.038Z,1736376314.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 21.791241 m, bearing: 174.512288 deg, approach rate: 0.538138 m/s, LOS rate: -0.520222 deg/s, cmd heading: 338.073081 deg, new cmd heading: 337.449844 deg. 2025-01-08T22:45:14.040Z,1736376314.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889611 target range: 80.099998 and range: 79.90 m. 2025-01-08T22:45:14.090Z,1736376314.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:14.093Z,1736376314.093 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:14.093Z,1736376314.093 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:14.094Z,1736376314.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:14.342Z,1736376314.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:14.344Z,1736376314.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511096 2025-01-08T22:45:14.443Z,1736376314.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:14.473Z,1736376314.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:14.481Z,1736376314.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 22.015928 m, bearing: 174.353605 deg, approach rate: 0.513373 m/s, LOS rate: -0.358863 deg/s, cmd heading: 337.449840 deg, new cmd heading: 336.978661 deg. 2025-01-08T22:45:14.482Z,1736376314.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881387 target range: 80.099998 and range: 79.90 m. 2025-01-08T22:45:14.592Z,1736376314.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:14.593Z,1736376314.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759512 2025-01-08T22:45:14.824Z,1736376314.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:14.844Z,1736376314.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:14.844Z,1736376314.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011461 2025-01-08T22:45:14.865Z,1736376314.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:14.895Z,1736376314.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 22.220312 m, bearing: 174.206037 deg, approach rate: 0.530318 m/s, LOS rate: -0.379374 deg/s, cmd heading: 336.978666 deg, new cmd heading: 336.540043 deg. 2025-01-08T22:45:14.904Z,1736376314.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873732 target range: 80.099998 and range: 79.90 m. 2025-01-08T22:45:15.096Z,1736376315.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:15.096Z,1736376315.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263453 2025-01-08T22:45:15.273Z,1736376315.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:15.302Z,1736376315.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:15.309Z,1736376315.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 22.459778 m, bearing: 174.097524 deg, approach rate: 0.540312 m/s, LOS rate: -0.242229 deg/s, cmd heading: 336.540031 deg, new cmd heading: 336.217967 deg. 2025-01-08T22:45:15.309Z,1736376315.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868111 target range: 80.099998 and range: 79.90 m. 2025-01-08T22:45:15.348Z,1736376315.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:15.349Z,1736376315.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515681 2025-01-08T22:45:15.600Z,1736376315.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:15.600Z,1736376315.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767419 2025-01-08T22:45:15.668Z,1736376315.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:15.694Z,1736376315.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:15.701Z,1736376315.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 22.670540 m, bearing: 174.003944 deg, approach rate: 0.537010 m/s, LOS rate: -0.236222 deg/s, cmd heading: 336.217974 deg, new cmd heading: 335.939845 deg. 2025-01-08T22:45:15.702Z,1736376315.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863256 target range: 80.099998 and range: 79.90 m. 2025-01-08T22:45:15.852Z,1736376315.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:15.853Z,1736376315.853 [DAT](INFO): DAT read: Rx Time:22:45:14.6727 2025-01-08T22:45:15.853Z,1736376315.853 [DAT](INFO): Rx dataTimestamp_ set to:1736376315.853055 2025-01-08T22:45:15.854Z,1736376315.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020835 2025-01-08T22:45:16.044Z,1736376316.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:16.052Z,1736376316.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:16.054Z,1736376316.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:16.056Z,1736376316.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 22.869789 m, bearing: 173.902094 deg, approach rate: 0.554232 m/s, LOS rate: -0.280836 deg/s, cmd heading: 335.939849 deg, new cmd heading: 335.636966 deg. 2025-01-08T22:45:16.057Z,1736376316.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857970 target range: 80.099998 and range: 79.90 m. 2025-01-08T22:45:16.104Z,1736376316.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:16.105Z,1736376316.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272323 2025-01-08T22:45:16.357Z,1736376316.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:16.360Z,1736376316.360 [DAT](INFO): DAT read: Range 10 to 50 : 79.8 m (Round-trip 106.4 ms) speed -0.2 m/s 2025-01-08T22:45:16.361Z,1736376316.361 [DAT](INFO): DAT read: user:2850> 2025-01-08T22:45:16.361Z,1736376316.361 [DAT](INFO): DAT read: Tx time:22:45:15.7622 2025-01-08T22:45:16.362Z,1736376316.362 [DAT](INFO): Ping request sent. 2025-01-08T22:45:16.362Z,1736376316.362 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:16.362Z,1736376316.362 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:45:16.362Z,1736376316.362 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:16.363Z,1736376316.363 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:16.488Z,1736376316.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:16.505Z,1736376316.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.800003 m, deltaT: 3.529429 s, deltaX: -0.099998 m, approachRate: -0.028333 m/s, rangeRepo size: 4 2025-01-08T22:45:16.506Z,1736376316.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:16.517Z,1736376316.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 23.107214 m, bearing: 173.806179 deg, approach rate: 0.528523 m/s, LOS rate: -0.211319 deg/s, cmd heading: 335.636971 deg, new cmd heading: 335.352185 deg. 2025-01-08T22:45:16.518Z,1736376316.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853000 target range: 80.099998 and range: 79.80 m. 2025-01-08T22:45:16.608Z,1736376316.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:16.610Z,1736376316.610 [DAT](INFO): DAT read: TxSync time:22:45:15.7614 2025-01-08T22:45:16.852Z,1736376316.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:16.860Z,1736376316.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:16.862Z,1736376316.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:16.866Z,1736376316.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 23.302132 m, bearing: 173.724250 deg, approach rate: 0.542265 m/s, LOS rate: -0.226023 deg/s, cmd heading: 335.352180 deg, new cmd heading: 335.108449 deg. 2025-01-08T22:45:16.866Z,1736376316.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848746 target range: 80.099998 and range: 79.80 m. 2025-01-08T22:45:17.113Z,1736376317.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:17.259Z,1736376317.259 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814462247,35.0, +10.9, 0.0,1493.3, , 0.00, 84.28, 80.20, 82.92, 82.24 2025-01-08T22:45:17.266Z,1736376317.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:45:17.267Z,1736376317.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:17.281Z,1736376317.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:17.287Z,1736376317.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 23.523100 m, bearing: 173.633036 deg, approach rate: 0.530386 m/s, LOS rate: -0.216883 deg/s, cmd heading: 335.108451 deg, new cmd heading: 334.837381 deg. 2025-01-08T22:45:17.288Z,1736376317.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844015 target range: 80.099998 and range: 79.80 m. 2025-01-08T22:45:17.365Z,1736376317.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:17.616Z,1736376317.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:17.673Z,1736376317.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:45:17.673Z,1736376317.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:17.685Z,1736376317.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:17.688Z,1736376317.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 23.739185 m, bearing: 173.535322 deg, approach rate: 0.531802 m/s, LOS rate: -0.238292 deg/s, cmd heading: 334.837375 deg, new cmd heading: 334.546904 deg. 2025-01-08T22:45:17.689Z,1736376317.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838945 target range: 80.099998 and range: 79.80 m. 2025-01-08T22:45:17.868Z,1736376317.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:18.061Z,1736376318.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:45:18.061Z,1736376318.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:18.068Z,1736376318.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:18.070Z,1736376318.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:18.073Z,1736376318.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 23.946011 m, bearing: 173.440349 deg, approach rate: 0.536977 m/s, LOS rate: -0.244446 deg/s, cmd heading: 334.546900 deg, new cmd heading: 334.264446 deg. 2025-01-08T22:45:18.074Z,1736376318.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834015 target range: 80.099998 and range: 79.80 m. 2025-01-08T22:45:18.122Z,1736376318.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:18.124Z,1736376318.124 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:18.124Z,1736376318.124 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:18.124Z,1736376318.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:18.372Z,1736376318.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:18.373Z,1736376318.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010841 2025-01-08T22:45:18.500Z,1736376318.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:18.508Z,1736376318.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:18.511Z,1736376318.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 24.181093 m, bearing: 173.299838 deg, approach rate: 0.537010 m/s, LOS rate: -0.317856 deg/s, cmd heading: 334.264458 deg, new cmd heading: 333.847030 deg. 2025-01-08T22:45:18.512Z,1736376318.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826730 target range: 80.099998 and range: 79.80 m. 2025-01-08T22:45:18.625Z,1736376318.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:18.626Z,1736376318.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263894 2025-01-08T22:45:18.872Z,1736376318.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:18.876Z,1736376318.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:18.877Z,1736376318.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515167 2025-01-08T22:45:18.884Z,1736376318.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:18.891Z,1736376318.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 24.380737 m, bearing: 173.179643 deg, approach rate: 0.530623 m/s, LOS rate: -0.316843 deg/s, cmd heading: 333.847024 deg, new cmd heading: 333.489397 deg. 2025-01-08T22:45:18.893Z,1736376318.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820488 target range: 80.099998 and range: 79.80 m. 2025-01-08T22:45:19.128Z,1736376319.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:19.129Z,1736376319.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767469 2025-01-08T22:45:19.304Z,1736376319.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:19.324Z,1736376319.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:19.331Z,1736376319.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 24.614904 m, bearing: 172.969513 deg, approach rate: 0.534590 m/s, LOS rate: -0.475151 deg/s, cmd heading: 333.489396 deg, new cmd heading: 332.865028 deg. 2025-01-08T22:45:19.352Z,1736376319.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809591 target range: 80.099998 and range: 79.80 m. 2025-01-08T22:45:19.380Z,1736376319.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:19.383Z,1736376319.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021045 2025-01-08T22:45:19.632Z,1736376319.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:19.633Z,1736376319.633 [DAT](INFO): DAT read: Rx Time:22:45:18.2739 2025-01-08T22:45:19.634Z,1736376319.634 [DAT](INFO): Rx dataTimestamp_ set to:1736376319.633388 2025-01-08T22:45:19.634Z,1736376319.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272523 2025-01-08T22:45:19.717Z,1736376319.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:19.737Z,1736376319.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:19.744Z,1736376319.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 24.838955 m, bearing: 172.767164 deg, approach rate: 0.540175 m/s, LOS rate: -0.483451 deg/s, cmd heading: 332.865034 deg, new cmd heading: 332.263488 deg. 2025-01-08T22:45:19.745Z,1736376319.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799092 target range: 80.099998 and range: 79.80 m. 2025-01-08T22:45:19.884Z,1736376319.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:19.884Z,1736376319.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522652 2025-01-08T22:45:20.082Z,1736376320.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:20.089Z,1736376320.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:20.091Z,1736376320.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:20.094Z,1736376320.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 25.036320 m, bearing: 172.587485 deg, approach rate: 0.557800 m/s, LOS rate: -0.503813 deg/s, cmd heading: 332.263486 deg, new cmd heading: 331.728713 deg. 2025-01-08T22:45:20.095Z,1736376320.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789758 target range: 80.099998 and range: 79.80 m. 2025-01-08T22:45:20.136Z,1736376320.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:20.139Z,1736376320.139 [DAT](INFO): DAT read: Range 10 to 50 : 80.6 m (Round-trip 107.5 ms) speed -0.4 m/s 2025-01-08T22:45:20.143Z,1736376320.143 [DAT](INFO): DAT read: user:2851> 2025-01-08T22:45:20.145Z,1736376320.145 [DAT](INFO): DAT read: Tx time:22:45:19.3623 2025-01-08T22:45:20.145Z,1736376320.145 [DAT](INFO): Ping request sent. 2025-01-08T22:45:20.145Z,1736376320.145 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:20.146Z,1736376320.146 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:45:20.146Z,1736376320.146 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:20.148Z,1736376320.148 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:20.388Z,1736376320.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:20.389Z,1736376320.389 [DAT](INFO): DAT read: TxSync time:22:45:19.3615 2025-01-08T22:45:20.520Z,1736376320.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:20.544Z,1736376320.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.599998 m, deltaT: 3.779080 s, deltaX: 0.799995 m, approachRate: 0.211691 m/s, rangeRepo size: 4 2025-01-08T22:45:20.545Z,1736376320.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:20.552Z,1736376320.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 25.278894 m, bearing: 172.309405 deg, approach rate: 0.541351 m/s, LOS rate: -0.614630 deg/s, cmd heading: 331.728710 deg, new cmd heading: 330.902537 deg. 2025-01-08T22:45:20.553Z,1736376320.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775339 target range: 80.099998 and range: 80.60 m. 2025-01-08T22:45:20.642Z,1736376320.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:20.886Z,1736376320.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:20.901Z,1736376320.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:20.895Z,1736376320.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:20.905Z,1736376320.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 25.485928 m, bearing: 172.069975 deg, approach rate: 0.581765 m/s, LOS rate: -0.667335 deg/s, cmd heading: 330.902530 deg, new cmd heading: 330.190112 deg. 2025-01-08T22:45:20.906Z,1736376320.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762905 target range: 80.099998 and range: 80.60 m. 2025-01-08T22:45:21.152Z,1736376321.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:21.324Z,1736376321.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:21.332Z,1736376321.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:21.335Z,1736376321.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 25.727200 m, bearing: 171.727313 deg, approach rate: 0.551809 m/s, LOS rate: -0.776341 deg/s, cmd heading: 330.190114 deg, new cmd heading: 329.171884 deg. 2025-01-08T22:45:21.336Z,1736376321.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745133 target range: 80.099998 and range: 80.60 m. 2025-01-08T22:45:21.404Z,1736376321.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:21.656Z,1736376321.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:21.700Z,1736376321.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:21.708Z,1736376321.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:21.727Z,1736376321.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 25.933908 m, bearing: 171.432023 deg, approach rate: 0.549315 m/s, LOS rate: -0.778456 deg/s, cmd heading: 329.171897 deg, new cmd heading: 328.293160 deg. 2025-01-08T22:45:21.728Z,1736376321.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729796 target range: 80.099998 and range: 80.60 m. 2025-01-08T22:45:21.908Z,1736376321.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:22.150Z,1736376322.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:22.160Z,1736376322.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:22.166Z,1736376322.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:22.172Z,1736376322.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:22.175Z,1736376322.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 26.179840 m, bearing: 171.078997 deg, approach rate: 0.530410 m/s, LOS rate: -0.754229 deg/s, cmd heading: 328.293152 deg, new cmd heading: 327.244145 deg. 2025-01-08T22:45:22.181Z,1736376322.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711488 target range: 80.099998 and range: 80.60 m. 2025-01-08T22:45:22.412Z,1736376322.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:22.412Z,1736376322.412 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:22.412Z,1736376322.412 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:22.413Z,1736376322.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:22.524Z,1736376322.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:22.534Z,1736376322.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:22.537Z,1736376322.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 26.383900 m, bearing: 170.743328 deg, approach rate: 0.564003 m/s, LOS rate: -0.920577 deg/s, cmd heading: 327.244144 deg, new cmd heading: 326.245034 deg. 2025-01-08T22:45:22.538Z,1736376322.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694050 target range: 80.099998 and range: 80.60 m. 2025-01-08T22:45:22.666Z,1736376322.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:22.669Z,1736376322.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523948 2025-01-08T22:45:22.909Z,1736376322.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:22.916Z,1736376322.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:22.916Z,1736376322.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771545 2025-01-08T22:45:22.921Z,1736376322.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:22.924Z,1736376322.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 26.592915 m, bearing: 170.398774 deg, approach rate: 0.540287 m/s, LOS rate: -0.883641 deg/s, cmd heading: 326.245024 deg, new cmd heading: 325.219600 deg. 2025-01-08T22:45:22.925Z,1736376322.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676153 target range: 80.099998 and range: 80.60 m. 2025-01-08T22:45:23.168Z,1736376323.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:23.169Z,1736376323.169 [DAT](INFO): DAT read: Rx Time:22:45:21.8756 2025-01-08T22:45:23.169Z,1736376323.169 [DAT](INFO): Rx dataTimestamp_ set to:1736376323.168949 2025-01-08T22:45:23.170Z,1736376323.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024807 2025-01-08T22:45:23.339Z,1736376323.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:23.353Z,1736376323.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T22:45:23.372Z,1736376323.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 26.830053 m, bearing: 170.000191 deg, approach rate: 0.548851 m/s, LOS rate: -0.914348 deg/s, cmd heading: 325.219594 deg, new cmd heading: 324.034592 deg. 2025-01-08T22:45:23.374Z,1736376323.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655470 target range: 80.099998 and range: 80.60 m. 2025-01-08T22:45:23.422Z,1736376323.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:23.424Z,1736376323.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278628 2025-01-08T22:45:23.672Z,1736376323.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:23.685Z,1736376323.685 [DAT](INFO): DAT read: 22:45:21.8756 LVL= 14944, 14913, 16882, 23539, AGC= 57, IDX= 459,-0.37,-2.598,-3.026, 1.424, 2.851, PHS= 0.922, 0.453,-1.430, RAW= 40.9, 0.5, CAL= 40.3, -1.0, ROT= 109.7, 1.0 2025-01-08T22:45:23.686Z,1736376323.686 [DAT](INFO): got valid direction response: 22:45:21.8756 LVL= 14944, 14913, 16882, 23539, AGC= 57, IDX= 459,-0.37,-2.598,-3.026, 1.424, 2.851, PHS= 0.922, 0.453,-1.430, RAW= 40.9, 0.5, CAL= 40.3, -1.0, ROT= 109.7, 1.0 2025-01-08T22:45:23.708Z,1736376323.708 [DAT](INFO): DAT read: Bearing 109.7, 1.0 (Local) 2025-01-08T22:45:23.708Z,1736376323.708 [DAT](INFO): Local bearing/azimuth received: Bearing 109.7, 1.0 (Local) 2025-01-08T22:45:23.709Z,1736376323.709 [DAT](INFO): DAT read: Range 10 to 50 : 81.9 m (Round-trip 109.2 ms) speed -0.3 m/s 2025-01-08T22:45:23.710Z,1736376323.710 [DAT](INFO): DAT read: user:2852> 2025-01-08T22:45:23.711Z,1736376323.711 [DAT](INFO): DAT read: Tx time:22:45:22.9623 2025-01-08T22:45:23.716Z,1736376323.716 [DAT](INFO): Ping request sent. 2025-01-08T22:45:23.716Z,1736376323.716 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:23.716Z,1736376323.716 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:45:23.717Z,1736376323.717 [DAT](INFO): direction in FSK: [0.000679,0.801593,0.597869] 2025-01-08T22:45:23.717Z,1736376323.717 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:23.718Z,1736376323.718 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:23.729Z,1736376323.729 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:23.730Z,1736376323.730 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:23.762Z,1736376323.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:23.829Z,1736376323.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.900002 m, deltaT: 3.535800 s, deltaX: 1.300003 m, approachRate: 0.367669 m/s, rangeRepo size: 4 2025-01-08T22:45:23.837Z,1736376323.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.900002 m, bearing: 60.329056 deg, lat: 36.904307 deg, lon: -122.119897 deg, deltaT: 14.376338 s, deltaX: 1.800003 m, approachRate: 0.125206 m/s, posRepo size: 4 2025-01-08T22:45:23.837Z,1736376323.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.90 m. 2025-01-08T22:45:23.849Z,1736376323.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.900002 m, nav range: 31.912481 m, bearing: 134.756662 deg, approach rate: 0.000000 m/s, LOS rate: -0.914348 deg/s, cmd heading: 324.034583 deg, new cmd heading: 322.729825 deg. 2025-01-08T22:45:23.850Z,1736376323.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632698 target range: 81.900002 and range: 81.90 m. 2025-01-08T22:45:23.924Z,1736376323.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:23.926Z,1736376323.926 [DAT](INFO): DAT read: TxSync time:22:45:22.9615 2025-01-08T22:45:24.150Z,1736376324.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:24.159Z,1736376324.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.90 m. 2025-01-08T22:45:24.162Z,1736376324.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.900002 m, nav range: 32.184238 m, bearing: 134.723582 deg, approach rate: 0.823369 m/s, LOS rate: -0.099381 deg/s, cmd heading: 322.729826 deg, new cmd heading: 322.631422 deg. 2025-01-08T22:45:24.162Z,1736376324.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630980 target range: 81.900002 and range: 81.90 m. 2025-01-08T22:45:24.176Z,1736376324.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:24.428Z,1736376324.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:24.582Z,1736376324.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:24.589Z,1736376324.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:24.591Z,1736376324.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.90 m. 2025-01-08T22:45:24.594Z,1736376324.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.900002 m, nav range: 32.483280 m, bearing: 134.695754 deg, approach rate: 0.691402 m/s, LOS rate: -0.063747 deg/s, cmd heading: 322.631417 deg, new cmd heading: 322.548702 deg. 2025-01-08T22:45:24.595Z,1736376324.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629537 target range: 81.900002 and range: 81.90 m. 2025-01-08T22:45:24.681Z,1736376324.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:24.682Z,1736376324.682 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:24.682Z,1736376324.682 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:24.682Z,1736376324.682 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:24.932Z,1736376324.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:24.932Z,1736376324.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216458 2025-01-08T22:45:24.974Z,1736376324.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:24.986Z,1736376324.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.90 m. 2025-01-08T22:45:24.993Z,1736376324.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.900002 m, nav range: 32.753513 m, bearing: 134.658310 deg, approach rate: 0.683757 m/s, LOS rate: -0.093960 deg/s, cmd heading: 322.548689 deg, new cmd heading: 322.437285 deg. 2025-01-08T22:45:24.994Z,1736376324.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627592 target range: 81.900002 and range: 81.90 m. 2025-01-08T22:45:25.184Z,1736376325.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:25.184Z,1736376325.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468512 2025-01-08T22:45:25.435Z,1736376325.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:25.436Z,1736376325.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:25.437Z,1736376325.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721022 2025-01-08T22:45:25.446Z,1736376325.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.90 m. 2025-01-08T22:45:25.449Z,1736376325.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.900002 m, nav range: 33.064667 m, bearing: 134.623837 deg, approach rate: 0.677710 m/s, LOS rate: -0.074379 deg/s, cmd heading: 322.437275 deg, new cmd heading: 322.334828 deg. 2025-01-08T22:45:25.450Z,1736376325.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625804 target range: 81.900002 and range: 81.90 m. 2025-01-08T22:45:25.689Z,1736376325.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:25.690Z,1736376325.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974052 2025-01-08T22:45:25.759Z,1736376325.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:25.769Z,1736376325.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.90 m. 2025-01-08T22:45:25.790Z,1736376325.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.900002 m, nav range: 33.283508 m, bearing: 134.595260 deg, approach rate: 0.676945 m/s, LOS rate: -0.087817 deg/s, cmd heading: 322.334823 deg, new cmd heading: 322.249655 deg. 2025-01-08T22:45:25.792Z,1736376325.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624318 target range: 81.900002 and range: 81.90 m. 2025-01-08T22:45:25.940Z,1736376325.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:25.940Z,1736376325.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224559 2025-01-08T22:45:26.179Z,1736376326.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:26.192Z,1736376326.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:26.192Z,1736376326.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476451 2025-01-08T22:45:26.219Z,1736376326.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.90 m. 2025-01-08T22:45:26.222Z,1736376326.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.900002 m, nav range: 33.566189 m, bearing: 134.552693 deg, approach rate: 0.628291 m/s, LOS rate: -0.093812 deg/s, cmd heading: 322.249664 deg, new cmd heading: 322.123041 deg. 2025-01-08T22:45:26.223Z,1736376326.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622108 target range: 81.900002 and range: 81.90 m. 2025-01-08T22:45:26.444Z,1736376326.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:26.444Z,1736376326.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728501 2025-01-08T22:45:26.611Z,1736376326.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:26.619Z,1736376326.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:26.621Z,1736376326.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.90 m. 2025-01-08T22:45:26.624Z,1736376326.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.900002 m, nav range: 33.846603 m, bearing: 134.522769 deg, approach rate: 0.696606 m/s, LOS rate: -0.073723 deg/s, cmd heading: 322.123032 deg, new cmd heading: 322.034001 deg. 2025-01-08T22:45:26.625Z,1736376326.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620553 target range: 81.900002 and range: 81.90 m. 2025-01-08T22:45:26.696Z,1736376326.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:26.697Z,1736376326.697 [DAT](INFO): DAT read: Rx Time:22:45:25.4769 2025-01-08T22:45:26.698Z,1736376326.698 [DAT](INFO): Rx dataTimestamp_ set to:1736376326.697506 2025-01-08T22:45:26.698Z,1736376326.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982414 2025-01-08T22:45:26.948Z,1736376326.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:26.949Z,1736376326.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232806 2025-01-08T22:45:27.009Z,1736376327.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:27.025Z,1736376327.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.90 m. 2025-01-08T22:45:27.033Z,1736376327.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.900002 m, nav range: 34.105579 m, bearing: 134.495570 deg, approach rate: 0.640884 m/s, LOS rate: -0.066798 deg/s, cmd heading: 322.033994 deg, new cmd heading: 321.953016 deg. 2025-01-08T22:45:27.033Z,1736376327.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619140 target range: 81.900002 and range: 81.90 m. 2025-01-08T22:45:27.200Z,1736376327.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:27.207Z,1736376327.207 [DAT](INFO): DAT read: 22:45:25.4769 LVL= 14912, 17009, 17954, 23027, AGC= 55, IDX= 440,-0.17,-1.119,-0.912,-3.085,-1.566, PHS= 0.535, 0.700,-1.522, RAW= 26.2, 2.7, CAL= 25.3, 3.0, ROT= 124.7, -3.0 2025-01-08T22:45:27.215Z,1736376327.215 [DAT](INFO): got valid direction response: 22:45:25.4769 LVL= 14912, 17009, 17954, 23027, AGC= 55, IDX= 440,-0.17,-1.119,-0.912,-3.085,-1.566, PHS= 0.535, 0.700,-1.522, RAW= 26.2, 2.7, CAL= 25.3, 3.0, ROT= 124.7, -3.0 2025-01-08T22:45:27.216Z,1736376327.216 [DAT](INFO): DAT read: Bearing 124.7, -3.0 (Local) 2025-01-08T22:45:27.216Z,1736376327.216 [DAT](INFO): Local bearing/azimuth received: Bearing 124.7, -3.0 (Local) 2025-01-08T22:45:27.218Z,1736376327.218 [DAT](INFO): DAT read: Range 10 to 50 : 82.8 m (Round-trip 110.5 ms) speed -0.4 m/s 2025-01-08T22:45:27.219Z,1736376327.219 [DAT](INFO): DAT read: user:2853> 2025-01-08T22:45:27.221Z,1736376327.221 [DAT](INFO): DAT read: Tx time:22:45:26.5623 2025-01-08T22:45:27.222Z,1736376327.222 [DAT](INFO): Ping request sent. 2025-01-08T22:45:27.222Z,1736376327.222 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:27.222Z,1736376327.222 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:45:27.223Z,1736376327.223 [DAT](INFO): direction in FSK: [-0.010450,0.922589,0.385643] 2025-01-08T22:45:27.240Z,1736376327.240 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:27.240Z,1736376327.240 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:27.243Z,1736376327.243 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:27.251Z,1736376327.251 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:27.453Z,1736376327.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:27.454Z,1736376327.454 [DAT](INFO): DAT read: TxSync time:22:45:26.5615 2025-01-08T22:45:27.481Z,1736376327.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:27.512Z,1736376327.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.800003 m, deltaT: 3.528249 s, deltaX: 0.900002 m, approachRate: 0.255084 m/s, rangeRepo size: 4 2025-01-08T22:45:27.515Z,1736376327.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.800003 m, bearing: 55.842377 deg, lat: 36.904385 deg, lon: -122.119698 deg, deltaT: 3.528249 s, deltaX: 0.900002 m, approachRate: 0.255084 m/s, posRepo size: 4 2025-01-08T22:45:27.520Z,1736376327.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:27.522Z,1736376327.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 44.915535 m, bearing: 110.021925 deg, approach rate: 0.000000 m/s, LOS rate: -0.066798 deg/s, cmd heading: 321.953015 deg, new cmd heading: 321.856485 deg. 2025-01-08T22:45:27.528Z,1736376327.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617455 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:27.704Z,1736376327.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:27.805Z,1736376327.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:27.814Z,1736376327.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:27.818Z,1736376327.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 45.101860 m, bearing: 110.119460 deg, approach rate: 0.606922 m/s, LOS rate: 0.316391 deg/s, cmd heading: 321.856491 deg, new cmd heading: 322.147884 deg. 2025-01-08T22:45:27.818Z,1736376327.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622541 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:27.956Z,1736376327.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:28.206Z,1736376328.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:28.208Z,1736376328.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:28.218Z,1736376328.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:28.221Z,1736376328.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 45.333160 m, bearing: 110.237141 deg, approach rate: 0.573181 m/s, LOS rate: 0.290136 deg/s, cmd heading: 322.147894 deg, new cmd heading: 322.499132 deg. 2025-01-08T22:45:28.222Z,1736376328.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.628672 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:28.460Z,1736376328.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:28.632Z,1736376328.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:28.638Z,1736376328.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:28.640Z,1736376328.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:28.644Z,1736376328.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 45.563885 m, bearing: 110.367468 deg, approach rate: 0.545637 m/s, LOS rate: 0.306648 deg/s, cmd heading: 322.499130 deg, new cmd heading: 322.888124 deg. 2025-01-08T22:45:28.645Z,1736376328.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635461 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:28.712Z,1736376328.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:28.712Z,1736376328.712 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:28.712Z,1736376328.712 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:28.713Z,1736376328.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:28.965Z,1736376328.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:28.965Z,1736376328.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743643 2025-01-08T22:45:29.022Z,1736376329.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:29.038Z,1736376329.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:29.042Z,1736376329.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 45.776146 m, bearing: 110.484883 deg, approach rate: 0.533373 m/s, LOS rate: 0.293674 deg/s, cmd heading: 322.888123 deg, new cmd heading: 323.238729 deg. 2025-01-08T22:45:29.042Z,1736376329.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641580 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:29.216Z,1736376329.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:29.217Z,1736376329.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994923 2025-01-08T22:45:29.434Z,1736376329.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:29.446Z,1736376329.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:29.465Z,1736376329.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 45.986565 m, bearing: 110.614824 deg, approach rate: 0.515760 m/s, LOS rate: 0.317043 deg/s, cmd heading: 323.238730 deg, new cmd heading: 323.626764 deg. 2025-01-08T22:45:29.466Z,1736376329.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648353 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:29.468Z,1736376329.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:29.469Z,1736376329.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246865 2025-01-08T22:45:29.720Z,1736376329.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:29.721Z,1736376329.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499311 2025-01-08T22:45:29.826Z,1736376329.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:29.837Z,1736376329.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:29.840Z,1736376329.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 46.186863 m, bearing: 110.736900 deg, approach rate: 0.512758 m/s, LOS rate: 0.311155 deg/s, cmd heading: 323.626766 deg, new cmd heading: 323.991400 deg. 2025-01-08T22:45:29.841Z,1736376329.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654716 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:29.972Z,1736376329.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:29.972Z,1736376329.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750753 2025-01-08T22:45:30.224Z,1736376330.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:30.225Z,1736376330.225 [DAT](INFO): DAT read: Rx Time:22:45:29.0788 2025-01-08T22:45:30.225Z,1736376330.225 [DAT](INFO): Rx dataTimestamp_ set to:1736376330.225034 2025-01-08T22:45:30.226Z,1736376330.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004156 2025-01-08T22:45:30.232Z,1736376330.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:30.261Z,1736376330.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:30.268Z,1736376330.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 46.394829 m, bearing: 110.861971 deg, approach rate: 0.490267 m/s, LOS rate: 0.293525 deg/s, cmd heading: 323.991389 deg, new cmd heading: 324.364915 deg. 2025-01-08T22:45:30.269Z,1736376330.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661236 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:30.476Z,1736376330.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:30.476Z,1736376330.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254655 2025-01-08T22:45:30.669Z,1736376330.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:30.698Z,1736376330.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:30.705Z,1736376330.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.80 m. 2025-01-08T22:45:30.712Z,1736376330.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.800003 m, nav range: 46.616253 m, bearing: 110.996412 deg, approach rate: 0.499499 m/s, LOS rate: 0.301838 deg/s, cmd heading: 324.364919 deg, new cmd heading: 324.766319 deg. 2025-01-08T22:45:30.713Z,1736376330.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668242 target range: 82.800003 and range: 82.80 m. 2025-01-08T22:45:30.728Z,1736376330.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:30.729Z,1736376330.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506822 2025-01-08T22:45:30.980Z,1736376330.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:30.987Z,1736376330.987 [DAT](INFO): DAT read: 22:45:29.0788 LVL= 15488, 21601, 18658, 24307, AGC= 56, IDX= 458, 0.00,-1.123,-0.513,-2.888,-1.448, PHS= 0.413, 0.982,-1.443, RAW= 17.0, 0.4, CAL= 16.7, -0.8, ROT= 133.3, 0.8 2025-01-08T22:45:30.988Z,1736376330.988 [DAT](INFO): got valid direction response: 22:45:29.0788 LVL= 15488, 21601, 18658, 24307, AGC= 56, IDX= 458, 0.00,-1.123,-0.513,-2.888,-1.448, PHS= 0.413, 0.982,-1.443, RAW= 17.0, 0.4, CAL= 16.7, -0.8, ROT= 133.3, 0.8 2025-01-08T22:45:30.989Z,1736376330.989 [DAT](INFO): DAT read: Bearing 133.3, 0.8 (Local) 2025-01-08T22:45:30.990Z,1736376330.990 [DAT](INFO): Local bearing/azimuth received: Bearing 133.3, 0.8 (Local) 2025-01-08T22:45:30.992Z,1736376330.992 [DAT](INFO): DAT read: Range 10 to 50 : 84.2 m (Round-trip 112.3 ms) speed -0.4 m/s 2025-01-08T22:45:30.992Z,1736376330.992 [DAT](INFO): DAT read: user:2854> 2025-01-08T22:45:30.993Z,1736376330.993 [DAT](INFO): DAT read: Tx time:22:45:30.1624 2025-01-08T22:45:30.993Z,1736376330.993 [DAT](INFO): Ping request sent. 2025-01-08T22:45:30.994Z,1736376330.994 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:30.994Z,1736376330.994 [DAT](INFO): DAT read: TxSync time:22:45:30.1616 2025-01-08T22:45:30.995Z,1736376330.995 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:45:31.013Z,1736376331.013 [DAT](INFO): direction in FSK: [0.049587,0.968493,0.244055] 2025-01-08T22:45:31.013Z,1736376331.013 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:31.014Z,1736376331.014 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:31.022Z,1736376331.022 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:31.022Z,1736376331.022 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:31.109Z,1736376331.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:31.143Z,1736376331.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.199997 m, deltaT: 3.779713 s, deltaX: 1.399994 m, approachRate: 0.370397 m/s, rangeRepo size: 4 2025-01-08T22:45:31.150Z,1736376331.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.199997 m, bearing: 48.407606 deg, lat: 36.904790 deg, lon: -122.119535 deg, deltaT: 3.779713 s, deltaX: 1.399994 m, approachRate: 0.370397 m/s, posRepo size: 4 2025-01-08T22:45:31.150Z,1736376331.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:31.161Z,1736376331.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 64.612442 m, bearing: 64.235586 deg, approach rate: 0.000000 m/s, LOS rate: 0.301838 deg/s, cmd heading: 324.766315 deg, new cmd heading: 325.162688 deg. 2025-01-08T22:45:31.162Z,1736376331.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675159 target range: 84.199997 and range: 84.20 m. 2025-01-08T22:45:31.232Z,1736376331.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:31.484Z,1736376331.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:31.558Z,1736376331.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:31.579Z,1736376331.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:31.590Z,1736376331.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 64.688530 m, bearing: 64.451490 deg, approach rate: 0.174278 m/s, LOS rate: 0.493942 deg/s, cmd heading: 325.162685 deg, new cmd heading: 325.809606 deg. 2025-01-08T22:45:31.591Z,1736376331.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686450 target range: 84.199997 and range: 84.20 m. 2025-01-08T22:45:31.736Z,1736376331.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:31.896Z,1736376331.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:31.921Z,1736376331.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:31.924Z,1736376331.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 64.746429 m, bearing: 64.616102 deg, approach rate: 0.169150 m/s, LOS rate: 0.480474 deg/s, cmd heading: 325.809613 deg, new cmd heading: 326.302994 deg. 2025-01-08T22:45:31.925Z,1736376331.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695062 target range: 84.199997 and range: 84.20 m. 2025-01-08T22:45:31.989Z,1736376331.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:32.240Z,1736376332.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:32.315Z,1736376332.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:32.324Z,1736376332.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:32.326Z,1736376332.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 64.817696 m, bearing: 64.818519 deg, approach rate: 0.177259 m/s, LOS rate: 0.502916 deg/s, cmd heading: 326.302999 deg, new cmd heading: 326.909560 deg. 2025-01-08T22:45:32.327Z,1736376332.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705648 target range: 84.199997 and range: 84.20 m. 2025-01-08T22:45:32.493Z,1736376332.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:32.742Z,1736376332.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:32.744Z,1736376332.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:32.752Z,1736376332.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:32.754Z,1736376332.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:32.756Z,1736376332.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 64.898682 m, bearing: 65.024161 deg, approach rate: 0.188165 m/s, LOS rate: 0.477195 deg/s, cmd heading: 326.909547 deg, new cmd heading: 327.525676 deg. 2025-01-08T22:45:32.757Z,1736376332.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716402 target range: 84.199997 and range: 84.20 m. 2025-01-08T22:45:32.996Z,1736376332.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:32.996Z,1736376332.996 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:32.996Z,1736376332.996 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:32.996Z,1736376332.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:33.115Z,1736376333.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:33.124Z,1736376333.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:33.127Z,1736376333.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 64.967239 m, bearing: 65.203449 deg, approach rate: 0.185326 m/s, LOS rate: 0.484141 deg/s, cmd heading: 327.525684 deg, new cmd heading: 328.062964 deg. 2025-01-08T22:45:33.128Z,1736376333.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725779 target range: 84.199997 and range: 84.20 m. 2025-01-08T22:45:33.249Z,1736376333.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:33.250Z,1736376333.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256228 2025-01-08T22:45:33.500Z,1736376333.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:33.500Z,1736376333.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506834 2025-01-08T22:45:33.568Z,1736376333.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:33.578Z,1736376333.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:33.585Z,1736376333.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 65.070900 m, bearing: 65.434087 deg, approach rate: 0.227927 m/s, LOS rate: 0.506313 deg/s, cmd heading: 328.062974 deg, new cmd heading: 328.753750 deg. 2025-01-08T22:45:33.586Z,1736376333.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737835 target range: 84.199997 and range: 84.20 m. 2025-01-08T22:45:33.752Z,1736376333.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:33.752Z,1736376333.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758852 2025-01-08T22:45:33.925Z,1736376333.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:33.936Z,1736376333.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:33.938Z,1736376333.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 65.152092 m, bearing: 65.615764 deg, approach rate: 0.227438 m/s, LOS rate: 0.508288 deg/s, cmd heading: 328.753752 deg, new cmd heading: 329.298089 deg. 2025-01-08T22:45:33.939Z,1736376333.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747336 target range: 84.199997 and range: 84.20 m. 2025-01-08T22:45:34.004Z,1736376334.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:34.005Z,1736376334.005 [DAT](INFO): DAT read: Rx Time:22:45:32.6814 2025-01-08T22:45:34.005Z,1736376334.005 [DAT](INFO): Rx dataTimestamp_ set to:1736376334.004955 2025-01-08T22:45:34.006Z,1736376334.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012176 2025-01-08T22:45:34.256Z,1736376334.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:34.256Z,1736376334.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262915 2025-01-08T22:45:34.318Z,1736376334.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:34.327Z,1736376334.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:34.348Z,1736376334.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 65.240059 m, bearing: 65.815242 deg, approach rate: 0.224473 m/s, LOS rate: 0.508337 deg/s, cmd heading: 329.298091 deg, new cmd heading: 329.895694 deg. 2025-01-08T22:45:34.349Z,1736376334.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757766 target range: 84.199997 and range: 84.20 m. 2025-01-08T22:45:34.508Z,1736376334.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:34.510Z,1736376334.510 [DAT](INFO): DAT read: Range 10 to 50 : 86.1 m (Round-trip 114.9 ms) speed -0.5 m/s 2025-01-08T22:45:34.511Z,1736376334.511 [DAT](INFO): DAT read: user:2855> 2025-01-08T22:45:34.512Z,1736376334.512 [DAT](INFO): DAT read: Tx time:22:45:33.7624 2025-01-08T22:45:34.512Z,1736376334.512 [DAT](INFO): Ping request sent. 2025-01-08T22:45:34.512Z,1736376334.512 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:34.513Z,1736376334.513 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:45:34.513Z,1736376334.513 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:34.513Z,1736376334.513 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:34.760Z,1736376334.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:34.760Z,1736376334.760 [DAT](INFO): DAT read: TxSync time:22:45:33.7616 2025-01-08T22:45:34.762Z,1736376334.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:34.786Z,1736376334.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:34.793Z,1736376334.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.099998 m, deltaT: 3.528271 s, deltaX: 1.900002 m, approachRate: 0.538508 m/s, rangeRepo size: 4 2025-01-08T22:45:34.793Z,1736376334.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:34.800Z,1736376334.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 65.347504 m, bearing: 66.042275 deg, approach rate: 0.231123 m/s, LOS rate: 0.487563 deg/s, cmd heading: 329.895705 deg, new cmd heading: 330.575651 deg. 2025-01-08T22:45:34.801Z,1736376334.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769634 target range: 84.199997 and range: 86.10 m. 2025-01-08T22:45:35.012Z,1736376335.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:35.012Z,1736376335.012 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:35.012Z,1736376335.012 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:35.013Z,1736376335.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:35.131Z,1736376335.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:35.141Z,1736376335.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:35.143Z,1736376335.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 65.444725 m, bearing: 66.248596 deg, approach rate: 0.278964 m/s, LOS rate: 0.591130 deg/s, cmd heading: 330.575664 deg, new cmd heading: 331.193683 deg. 2025-01-08T22:45:35.144Z,1736376335.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780420 target range: 84.199997 and range: 86.10 m. 2025-01-08T22:45:35.265Z,1736376335.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:35.266Z,1736376335.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753536 2025-01-08T22:45:35.516Z,1736376335.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:35.518Z,1736376335.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005452 2025-01-08T22:45:35.584Z,1736376335.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:35.620Z,1736376335.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:35.625Z,1736376335.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 65.581444 m, bearing: 66.499911 deg, approach rate: 0.284908 m/s, LOS rate: 0.522621 deg/s, cmd heading: 331.193687 deg, new cmd heading: 331.946014 deg. 2025-01-08T22:45:35.626Z,1736376335.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793551 target range: 84.199997 and range: 86.10 m. 2025-01-08T22:45:35.768Z,1736376335.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:35.769Z,1736376335.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256072 2025-01-08T22:45:35.935Z,1736376335.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:35.944Z,1736376335.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:35.946Z,1736376335.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 65.686554 m, bearing: 66.694238 deg, approach rate: 0.325471 m/s, LOS rate: 0.600765 deg/s, cmd heading: 331.946019 deg, new cmd heading: 332.528046 deg. 2025-01-08T22:45:35.948Z,1736376335.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803709 target range: 84.199997 and range: 86.10 m. 2025-01-08T22:45:36.022Z,1736376336.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:36.022Z,1736376336.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509829 2025-01-08T22:45:36.276Z,1736376336.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:36.276Z,1736376336.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764046 2025-01-08T22:45:36.356Z,1736376336.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:36.365Z,1736376336.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:36.368Z,1736376336.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 65.811424 m, bearing: 66.927065 deg, approach rate: 0.296289 m/s, LOS rate: 0.551397 deg/s, cmd heading: 332.528033 deg, new cmd heading: 333.225153 deg. 2025-01-08T22:45:36.369Z,1736376336.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815876 target range: 84.199997 and range: 86.10 m. 2025-01-08T22:45:36.528Z,1736376336.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:36.529Z,1736376336.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016504 2025-01-08T22:45:36.780Z,1736376336.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:36.781Z,1736376336.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268987 2025-01-08T22:45:36.788Z,1736376336.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:36.794Z,1736376336.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:36.797Z,1736376336.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:36.800Z,1736376336.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 65.950790 m, bearing: 67.168096 deg, approach rate: 0.322892 m/s, LOS rate: 0.557252 deg/s, cmd heading: 333.225149 deg, new cmd heading: 333.946672 deg. 2025-01-08T22:45:36.801Z,1736376336.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828469 target range: 84.199997 and range: 86.10 m. 2025-01-08T22:45:37.032Z,1736376337.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:37.033Z,1736376337.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520243 2025-01-08T22:45:37.169Z,1736376337.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:37.177Z,1736376337.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:37.181Z,1736376337.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 66.070267 m, bearing: 67.382205 deg, approach rate: 0.313831 m/s, LOS rate: 0.561387 deg/s, cmd heading: 333.946663 deg, new cmd heading: 334.587802 deg. 2025-01-08T22:45:37.182Z,1736376337.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839659 target range: 84.199997 and range: 86.10 m. 2025-01-08T22:45:37.252Z,1736376337.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:45:37.284Z,1736376337.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:37.284Z,1736376337.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772027 2025-01-08T22:45:37.536Z,1736376337.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:37.536Z,1736376337.536 [DAT](INFO): DAT read: Rx Time:22:45:36.2838 2025-01-08T22:45:37.537Z,1736376337.537 [DAT](INFO): Rx dataTimestamp_ set to:1736376337.536502 2025-01-08T22:45:37.537Z,1736376337.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024863 2025-01-08T22:45:37.633Z,1736376337.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:37.646Z,1736376337.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:37.669Z,1736376337.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 66.223541 m, bearing: 67.647877 deg, approach rate: 0.326867 m/s, LOS rate: 0.565247 deg/s, cmd heading: 334.587799 deg, new cmd heading: 335.382916 deg. 2025-01-08T22:45:37.675Z,1736376337.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853536 target range: 84.199997 and range: 86.10 m. 2025-01-08T22:45:37.789Z,1736376337.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:37.790Z,1736376337.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277110 2025-01-08T22:45:38.020Z,1736376338.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:38.035Z,1736376338.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.20 m. 2025-01-08T22:45:38.037Z,1736376338.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.199997 m, nav range: 66.347664 m, bearing: 67.870917 deg, approach rate: 0.319540 m/s, LOS rate: 0.573119 deg/s, cmd heading: 335.382915 deg, new cmd heading: 336.050754 deg. 2025-01-08T22:45:38.038Z,1736376338.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865192 target range: 84.199997 and range: 86.10 m. 2025-01-08T22:45:38.040Z,1736376338.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:38.046Z,1736376338.046 [DAT](INFO): DAT read: 22:45:36.2838 LVL= 15520, 17585, 15266, 21107, AGC= 57, IDX= 446,-0.18,-3.113,-2.679, 1.329, 2.648, PHS= 0.610, 1.003,-1.322, RAW= 20.9, -2.7, CAL= 20.6, -5.2, ROT= 129.4, 5.2 2025-01-08T22:45:38.049Z,1736376338.049 [DAT](INFO): got valid direction response: 22:45:36.2838 LVL= 15520, 17585, 15266, 21107, AGC= 57, IDX= 446,-0.18,-3.113,-2.679, 1.329, 2.648, PHS= 0.610, 1.003,-1.322, RAW= 20.9, -2.7, CAL= 20.6, -5.2, ROT= 129.4, 5.2 2025-01-08T22:45:38.050Z,1736376338.050 [DAT](INFO): DAT read: Bearing 129.4, 5.2 (Local) 2025-01-08T22:45:38.050Z,1736376338.050 [DAT](INFO): Local bearing/azimuth received: Bearing 129.4, 5.2 (Local) 2025-01-08T22:45:38.051Z,1736376338.051 [DAT](INFO): DAT read: Range 10 to 50 : 87.9 m (Round-trip 117.3 ms) speed -0.4 m/s 2025-01-08T22:45:38.052Z,1736376338.052 [DAT](INFO): DAT read: user:2856> 2025-01-08T22:45:38.053Z,1736376338.053 [DAT](INFO): DAT read: Tx time:22:45:37.3624 2025-01-08T22:45:38.053Z,1736376338.053 [DAT](INFO): Ping request sent. 2025-01-08T22:45:38.053Z,1736376338.053 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:38.054Z,1736376338.054 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:45:38.054Z,1736376338.054 [DAT](INFO): direction in FSK: [0.101474,0.945382,0.309767] 2025-01-08T22:45:38.055Z,1736376338.055 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:38.055Z,1736376338.055 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:38.078Z,1736376338.078 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:38.078Z,1736376338.078 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:38.256Z,1736376338.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:45:38.292Z,1736376338.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:38.293Z,1736376338.293 [DAT](INFO): DAT read: TxSync time:22:45:37.3616 2025-01-08T22:45:38.368Z,1736376338.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:38.382Z,1736376338.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.900002 m, deltaT: 3.531400 s, deltaX: 1.800003 m, approachRate: 0.509714 m/s, rangeRepo size: 4 2025-01-08T22:45:38.385Z,1736376338.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.900002 m, bearing: 53.105821 deg, lat: 36.904905 deg, lon: -122.119535 deg, deltaT: 7.059671 s, deltaX: 3.700005 m, approachRate: 0.524104 m/s, posRepo size: 4 2025-01-08T22:45:38.385Z,1736376338.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m. 2025-01-08T22:45:38.388Z,1736376338.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.900002 m, nav range: 72.216507 m, bearing: 58.614325 deg, approach rate: 0.000000 m/s, LOS rate: 0.573119 deg/s, cmd heading: 336.050744 deg, new cmd heading: 336.647877 deg. 2025-01-08T22:45:38.389Z,1736376338.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875614 target range: 87.900002 and range: 87.90 m. 2025-01-08T22:45:38.546Z,1736376338.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:38.796Z,1736376338.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:38.841Z,1736376338.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:38.869Z,1736376338.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:38.871Z,1736376338.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m. 2025-01-08T22:45:38.878Z,1736376338.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.900002 m, nav range: 72.307335 m, bearing: 58.876987 deg, approach rate: 0.185718 m/s, LOS rate: 0.536395 deg/s, cmd heading: 336.647866 deg, new cmd heading: 337.434811 deg. 2025-01-08T22:45:38.879Z,1736376338.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889349 target range: 87.900002 and range: 87.90 m. 2025-01-08T22:45:39.048Z,1736376339.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:39.049Z,1736376339.049 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:39.049Z,1736376339.049 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:39.049Z,1736376339.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:39.223Z,1736376339.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:39.233Z,1736376339.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m. 2025-01-08T22:45:39.236Z,1736376339.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.900002 m, nav range: 72.379219 m, bearing: 59.088799 deg, approach rate: 0.198446 m/s, LOS rate: 0.584153 deg/s, cmd heading: 337.434814 deg, new cmd heading: 338.069589 deg. 2025-01-08T22:45:39.237Z,1736376339.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900427 target range: 87.900002 and range: 87.90 m. 2025-01-08T22:45:39.300Z,1736376339.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:39.301Z,1736376339.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247307 2025-01-08T22:45:39.553Z,1736376339.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:39.554Z,1736376339.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500664 2025-01-08T22:45:39.703Z,1736376339.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:39.716Z,1736376339.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m. 2025-01-08T22:45:39.719Z,1736376339.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.900002 m, nav range: 72.448997 m, bearing: 59.346653 deg, approach rate: 0.144458 m/s, LOS rate: 0.533304 deg/s, cmd heading: 338.069584 deg, new cmd heading: 338.842352 deg. 2025-01-08T22:45:39.724Z,1736376339.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913915 target range: 87.900002 and range: 87.90 m. 2025-01-08T22:45:39.804Z,1736376339.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:39.805Z,1736376339.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751918 2025-01-08T22:45:40.026Z,1736376340.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:40.036Z,1736376340.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m. 2025-01-08T22:45:40.039Z,1736376340.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.900002 m, nav range: 72.495018 m, bearing: 59.523931 deg, approach rate: 0.143860 m/s, LOS rate: 0.553816 deg/s, cmd heading: 338.842352 deg, new cmd heading: 339.373831 deg. 2025-01-08T22:45:40.040Z,1736376340.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923191 target range: 87.900002 and range: 87.90 m. 2025-01-08T22:45:40.056Z,1736376340.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:40.056Z,1736376340.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003153 2025-01-08T22:45:40.308Z,1736376340.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:40.308Z,1736376340.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255045 2025-01-08T22:45:40.421Z,1736376340.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:40.437Z,1736376340.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m. 2025-01-08T22:45:40.444Z,1736376340.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.900002 m, nav range: 72.548180 m, bearing: 59.738091 deg, approach rate: 0.132504 m/s, LOS rate: 0.533397 deg/s, cmd heading: 339.373822 deg, new cmd heading: 340.015805 deg. 2025-01-08T22:45:40.445Z,1736376340.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934395 target range: 87.900002 and range: 87.90 m. 2025-01-08T22:45:40.561Z,1736376340.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:40.564Z,1736376340.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509702 2025-01-08T22:45:40.812Z,1736376340.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:40.814Z,1736376340.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760986 2025-01-08T22:45:40.872Z,1736376340.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:40.879Z,1736376340.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:40.882Z,1736376340.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m. 2025-01-08T22:45:40.885Z,1736376340.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.900002 m, nav range: 72.596344 m, bearing: 59.971512 deg, approach rate: 0.108309 m/s, LOS rate: 0.524555 deg/s, cmd heading: 340.015805 deg, new cmd heading: 340.715567 deg. 2025-01-08T22:45:40.886Z,1736376340.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946609 target range: 87.900002 and range: 87.90 m. 2025-01-08T22:45:41.064Z,1736376341.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:41.065Z,1736376341.065 [DAT](INFO): DAT read: Rx Time:22:45:39.8856 2025-01-08T22:45:41.065Z,1736376341.065 [DAT](INFO): Rx dataTimestamp_ set to:1736376341.065211 2025-01-08T22:45:41.066Z,1736376341.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012720 2025-01-08T22:45:41.316Z,1736376341.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:41.317Z,1736376341.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264112 2025-01-08T22:45:41.364Z,1736376341.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:41.373Z,1736376341.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m. 2025-01-08T22:45:41.376Z,1736376341.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.900002 m, nav range: 72.645927 m, bearing: 60.226072 deg, approach rate: 0.100958 m/s, LOS rate: 0.517959 deg/s, cmd heading: 340.715572 deg, new cmd heading: 341.478684 deg. 2025-01-08T22:45:41.377Z,1736376341.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.959928 target range: 87.900002 and range: 87.90 m. 2025-01-08T22:45:41.570Z,1736376341.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:41.608Z,1736376341.608 [DAT](INFO): DAT read: 22:45:39.8856 LVL= 15632, 15137, 14882, 20131, AGC= 54, IDX= 464, 0.18,-1.229,-1.249, 2.957,-2.049, PHS= 0.909, 0.847,-1.280, RAW= 31.4, -4.4, CAL= 31.8, -8.1, ROT= 118.2, 8.1 2025-01-08T22:45:41.609Z,1736376341.609 [DAT](INFO): got valid direction response: 22:45:39.8856 LVL= 15632, 15137, 14882, 20131, AGC= 54, IDX= 464, 0.18,-1.229,-1.249, 2.957,-2.049, PHS= 0.909, 0.847,-1.280, RAW= 31.4, -4.4, CAL= 31.8, -8.1, ROT= 118.2, 8.1 2025-01-08T22:45:41.610Z,1736376341.610 [DAT](INFO): DAT read: Bearing 118.2, 8.1 (Local) 2025-01-08T22:45:41.611Z,1736376341.611 [DAT](INFO): Local bearing/azimuth received: Bearing 118.2, 8.1 (Local) 2025-01-08T22:45:41.613Z,1736376341.613 [DAT](INFO): DAT read: Range 10 to 50 : 89.3 m (Round-trip 119.1 ms) speed -0.4 m/s 2025-01-08T22:45:41.614Z,1736376341.614 [DAT](INFO): DAT read: user:2857> 2025-01-08T22:45:41.618Z,1736376341.618 [DAT](INFO): DAT read: Tx time:22:45:40.9624 2025-01-08T22:45:41.625Z,1736376341.625 [DAT](INFO): Ping request sent. 2025-01-08T22:45:41.626Z,1736376341.626 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:41.640Z,1736376341.640 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:45:41.643Z,1736376341.643 [DAT](INFO): direction in FSK: [0.112275,0.874964,0.470991] 2025-01-08T22:45:41.668Z,1736376341.668 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:41.668Z,1736376341.668 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:41.688Z,1736376341.688 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:41.689Z,1736376341.689 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:41.820Z,1736376341.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:41.821Z,1736376341.821 [DAT](INFO): DAT read: TxSync time:22:45:40.9616 2025-01-08T22:45:41.838Z,1736376341.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:41.873Z,1736376341.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.300003 m, deltaT: 3.530911 s, deltaX: 1.400002 m, approachRate: 0.396499 m/s, rangeRepo size: 4 2025-01-08T22:45:41.875Z,1736376341.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.300003 m, bearing: 58.789294 deg, lat: 36.904905 deg, lon: -122.119535 deg, deltaT: 3.530911 s, deltaX: 1.400002 m, approachRate: 0.396499 m/s, posRepo size: 4 2025-01-08T22:45:41.881Z,1736376341.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T22:45:41.888Z,1736376341.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 72.674904 m, bearing: 60.452846 deg, approach rate: 0.000000 m/s, LOS rate: 0.517959 deg/s, cmd heading: 341.478695 deg, new cmd heading: 342.253822 deg. 2025-01-08T22:45:41.889Z,1736376341.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973456 target range: 89.300003 and range: 89.30 m. 2025-01-08T22:45:42.072Z,1736376342.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:42.274Z,1736376342.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:42.285Z,1736376342.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T22:45:42.288Z,1736376342.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 72.696548 m, bearing: 60.661893 deg, approach rate: 0.052424 m/s, LOS rate: 0.506164 deg/s, cmd heading: 342.253813 deg, new cmd heading: 342.880740 deg. 2025-01-08T22:45:42.289Z,1736376342.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.984398 target range: 89.300003 and range: 89.30 m. 2025-01-08T22:45:42.325Z,1736376342.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:42.577Z,1736376342.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:42.723Z,1736376342.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:42.732Z,1736376342.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T22:45:42.735Z,1736376342.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 72.701103 m, bearing: 60.865750 deg, approach rate: 0.010180 m/s, LOS rate: 0.455615 deg/s, cmd heading: 342.880742 deg, new cmd heading: 343.492248 deg. 2025-01-08T22:45:42.736Z,1736376342.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.995070 target range: 89.300003 and range: 89.30 m. 2025-01-08T22:45:42.829Z,1736376342.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:43.081Z,1736376343.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:43.105Z,1736376343.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:43.113Z,1736376343.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:43.116Z,1736376343.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T22:45:43.118Z,1736376343.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 72.702797 m, bearing: 61.039672 deg, approach rate: 0.004415 m/s, LOS rate: 0.453374 deg/s, cmd heading: 343.492235 deg, new cmd heading: 344.013975 deg. 2025-01-08T22:45:43.120Z,1736376343.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.004177 target range: 89.300003 and range: 89.30 m. 2025-01-08T22:45:43.332Z,1736376343.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:43.332Z,1736376343.332 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:43.332Z,1736376343.332 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:43.332Z,1736376343.332 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:43.485Z,1736376343.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:43.517Z,1736376343.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T22:45:43.532Z,1736376343.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 72.701988 m, bearing: 61.212520 deg, approach rate: -0.002018 m/s, LOS rate: 0.431382 deg/s, cmd heading: 344.013980 deg, new cmd heading: 344.532513 deg. 2025-01-08T22:45:43.536Z,1736376343.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.013227 target range: 89.300003 and range: 89.30 m. 2025-01-08T22:45:43.587Z,1736376343.587 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:43.591Z,1736376343.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964857 2025-01-08T22:45:43.836Z,1736376343.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:43.836Z,1736376343.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211248 2025-01-08T22:45:44.060Z,1736376344.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:44.069Z,1736376344.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T22:45:44.072Z,1736376344.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 72.680626 m, bearing: 61.461792 deg, approach rate: -0.038674 m/s, LOS rate: 0.451406 deg/s, cmd heading: 344.532500 deg, new cmd heading: 345.280491 deg. 2025-01-08T22:45:44.073Z,1736376344.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026281 target range: 89.300003 and range: 89.30 m. 2025-01-08T22:45:44.101Z,1736376344.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:44.102Z,1736376344.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476657 2025-01-08T22:45:44.352Z,1736376344.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:44.352Z,1736376344.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727189 2025-01-08T22:45:44.440Z,1736376344.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:44.449Z,1736376344.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T22:45:44.452Z,1736376344.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 72.664612 m, bearing: 61.626774 deg, approach rate: -0.042161 m/s, LOS rate: 0.434456 deg/s, cmd heading: 345.280488 deg, new cmd heading: 345.775531 deg. 2025-01-08T22:45:44.453Z,1736376344.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034922 target range: 89.300003 and range: 89.30 m. 2025-01-08T22:45:44.611Z,1736376344.611 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:44.614Z,1736376344.614 [DAT](INFO): DAT read: Rx Time:22:45:43.4873 2025-01-08T22:45:44.616Z,1736376344.616 [DAT](INFO): Rx dataTimestamp_ set to:1736376344.614479 2025-01-08T22:45:44.619Z,1736376344.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992681 2025-01-08T22:45:44.860Z,1736376344.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:44.860Z,1736376344.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235230 2025-01-08T22:45:44.878Z,1736376344.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:45:44.878Z,1736376344.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:44.888Z,1736376344.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T22:45:44.891Z,1736376344.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 72.643799 m, bearing: 61.816592 deg, approach rate: -0.047364 m/s, LOS rate: 0.432094 deg/s, cmd heading: 345.775540 deg, new cmd heading: 346.345136 deg. 2025-01-08T22:45:44.892Z,1736376344.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044863 target range: 89.300003 and range: 89.30 m. 2025-01-08T22:45:45.112Z,1736376345.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:45.113Z,1736376345.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487462 2025-01-08T22:45:45.273Z,1736376345.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:45:45.273Z,1736376345.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:45.281Z,1736376345.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:45.284Z,1736376345.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T22:45:45.287Z,1736376345.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 72.623283 m, bearing: 61.988000 deg, approach rate: -0.051924 m/s, LOS rate: 0.433953 deg/s, cmd heading: 346.345123 deg, new cmd heading: 346.859478 deg. 2025-01-08T22:45:45.288Z,1736376345.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053840 target range: 89.300003 and range: 89.30 m. 2025-01-08T22:45:45.365Z,1736376345.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:45.374Z,1736376345.374 [DAT](INFO): DAT read: 22:45:43.4874 LVL= 17024, 15313, 16530, 23475, AGC= 55, IDX= 465, 0.19,-3.024, 2.880, 1.003, 2.214, PHS= 1.134, 0.713,-1.214, RAW= 39.7, -5.9, CAL= 41.6, -10.6, ROT= 108.4, 10.6 2025-01-08T22:45:45.375Z,1736376345.375 [DAT](INFO): got valid direction response: 22:45:43.4874 LVL= 17024, 15313, 16530, 23475, AGC= 55, IDX= 465, 0.19,-3.024, 2.880, 1.003, 2.214, PHS= 1.134, 0.713,-1.214, RAW= 39.7, -5.9, CAL= 41.6, -10.6, ROT= 108.4, 10.6 2025-01-08T22:45:45.376Z,1736376345.376 [DAT](INFO): DAT read: Bearing 108.4, 10.6 (Local) 2025-01-08T22:45:45.377Z,1736376345.377 [DAT](INFO): Local bearing/azimuth received: Bearing 108.4, 10.6 (Local) 2025-01-08T22:45:45.378Z,1736376345.378 [DAT](INFO): DAT read: Range 10 to 50 : 90.6 m (Round-trip 120.8 ms) speed -0.4 m/s 2025-01-08T22:45:45.379Z,1736376345.379 [DAT](INFO): DAT read: user:2858> 2025-01-08T22:45:45.381Z,1736376345.381 [DAT](INFO): DAT read: Tx time:22:45:44.6125 2025-01-08T22:45:45.381Z,1736376345.381 [DAT](INFO): Ping request sent. 2025-01-08T22:45:45.382Z,1736376345.382 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:45.382Z,1736376345.382 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:45:45.383Z,1736376345.383 [DAT](INFO): direction in FSK: [0.121696,0.800977,0.586197] 2025-01-08T22:45:45.383Z,1736376345.383 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:45.384Z,1736376345.384 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:45.387Z,1736376345.387 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:45.387Z,1736376345.387 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:45.617Z,1736376345.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:45.624Z,1736376345.624 [DAT](INFO): DAT read: TxSync time:22:45:44.6117 2025-01-08T22:45:45.764Z,1736376345.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:45.795Z,1736376345.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.794032 s, deltaX: 1.299995 m, approachRate: 0.342642 m/s, rangeRepo size: 4 2025-01-08T22:45:45.798Z,1736376345.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.599998 m, bearing: 65.969903 deg, lat: 36.904905 deg, lon: -122.119545 deg, deltaT: 3.794032 s, deltaX: 1.299995 m, approachRate: 0.342642 m/s, posRepo size: 4 2025-01-08T22:45:45.799Z,1736376345.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:45.806Z,1736376345.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.832077 m, bearing: 61.880912 deg, approach rate: 0.000000 m/s, LOS rate: 0.433953 deg/s, cmd heading: 346.859491 deg, new cmd heading: 347.519587 deg. 2025-01-08T22:45:45.807Z,1736376345.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065361 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:45:45.868Z,1736376345.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:46.088Z,1736376346.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:46.117Z,1736376346.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:46.120Z,1736376346.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:46.123Z,1736376346.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.813499 m, bearing: 62.023906 deg, approach rate: -0.056938 m/s, LOS rate: 0.438374 deg/s, cmd heading: 347.519588 deg, new cmd heading: 347.948673 deg. 2025-01-08T22:45:46.124Z,1736376346.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072850 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:45:46.373Z,1736376346.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:46.492Z,1736376346.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:46.502Z,1736376346.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:46.505Z,1736376346.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.789154 m, bearing: 62.202563 deg, approach rate: -0.063233 m/s, LOS rate: 0.464188 deg/s, cmd heading: 347.948660 deg, new cmd heading: 348.484795 deg. 2025-01-08T22:45:46.506Z,1736376346.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082207 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:45:46.627Z,1736376346.627 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:46.876Z,1736376346.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:46.932Z,1736376346.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:46.941Z,1736376346.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:46.980Z,1736376346.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.780968 m, bearing: 62.402735 deg, approach rate: -0.018651 m/s, LOS rate: 0.456101 deg/s, cmd heading: 348.484803 deg, new cmd heading: 349.085364 deg. 2025-01-08T22:45:46.982Z,1736376346.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.092689 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:45:47.129Z,1736376347.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:47.297Z,1736376347.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:47.304Z,1736376347.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:47.306Z,1736376347.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:47.309Z,1736376347.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.771431 m, bearing: 62.568397 deg, approach rate: -0.026077 m/s, LOS rate: 0.453037 deg/s, cmd heading: 349.085368 deg, new cmd heading: 349.582407 deg. 2025-01-08T22:45:47.310Z,1736376347.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.101364 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:45:47.381Z,1736376347.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:47.381Z,1736376347.381 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:47.382Z,1736376347.382 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:47.382Z,1736376347.382 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:47.635Z,1736376347.635 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:47.637Z,1736376347.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255404 2025-01-08T22:45:47.745Z,1736376347.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:47.755Z,1736376347.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:47.758Z,1736376347.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.777168 m, bearing: 62.782927 deg, approach rate: 0.012783 m/s, LOS rate: 0.477961 deg/s, cmd heading: 349.582414 deg, new cmd heading: 350.225927 deg. 2025-01-08T22:45:47.780Z,1736376347.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.112596 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:45:47.884Z,1736376347.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:47.885Z,1736376347.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503544 2025-01-08T22:45:48.104Z,1736376348.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:48.112Z,1736376348.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:48.116Z,1736376348.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.781067 m, bearing: 62.954163 deg, approach rate: 0.010919 m/s, LOS rate: 0.479567 deg/s, cmd heading: 350.225927 deg, new cmd heading: 350.739591 deg. 2025-01-08T22:45:48.117Z,1736376348.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.121561 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:45:48.136Z,1736376348.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:48.136Z,1736376348.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754949 2025-01-08T22:45:48.388Z,1736376348.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:48.388Z,1736376348.388 [DAT](INFO): DAT read: Rx Time:22:45:47.1395 2025-01-08T22:45:48.389Z,1736376348.389 [DAT](INFO): Rx dataTimestamp_ set to:1736376348.388669 2025-01-08T22:45:48.389Z,1736376348.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007940 2025-01-08T22:45:48.512Z,1736376348.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:48.521Z,1736376348.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:48.524Z,1736376348.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.784332 m, bearing: 63.148998 deg, approach rate: 0.007983 m/s, LOS rate: 0.476328 deg/s, cmd heading: 350.739585 deg, new cmd heading: 351.324044 deg. 2025-01-08T22:45:48.525Z,1736376348.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.131761 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:45:48.642Z,1736376348.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:48.645Z,1736376348.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262648 2025-01-08T22:45:48.892Z,1736376348.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:48.893Z,1736376348.893 [DAT](INFO): DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.9 ms) speed -0.4 m/s 2025-01-08T22:45:48.894Z,1736376348.894 [DAT](INFO): DAT read: user:2859> 2025-01-08T22:45:48.895Z,1736376348.895 [DAT](INFO): DAT read: Tx time:22:45:48.2625 2025-01-08T22:45:48.895Z,1736376348.895 [DAT](INFO): Ping request sent. 2025-01-08T22:45:48.895Z,1736376348.895 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:48.896Z,1736376348.896 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:45:48.896Z,1736376348.896 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:48.896Z,1736376348.896 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:49.000Z,1736376349.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:49.014Z,1736376349.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.527038 s, deltaX: 1.500000 m, approachRate: 0.425286 m/s, rangeRepo size: 4 2025-01-08T22:45:49.015Z,1736376349.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:49.018Z,1736376349.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.809273 m, bearing: 63.391921 deg, approach rate: 0.050744 m/s, LOS rate: 0.494077 deg/s, cmd heading: 351.324031 deg, new cmd heading: 352.052504 deg. 2025-01-08T22:45:49.019Z,1736376349.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144475 target range: 90.599998 and range: 92.10 m. 2025-01-08T22:45:49.144Z,1736376349.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:49.145Z,1736376349.145 [DAT](INFO): DAT read: TxSync time:22:45:48.2617 2025-01-08T22:45:49.326Z,1736376349.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:49.333Z,1736376349.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:49.336Z,1736376349.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:49.338Z,1736376349.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.823570 m, bearing: 63.553718 deg, approach rate: 0.044285 m/s, LOS rate: 0.501053 deg/s, cmd heading: 352.052511 deg, new cmd heading: 352.537794 deg. 2025-01-08T22:45:49.340Z,1736376349.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152945 target range: 90.599998 and range: 92.10 m. 2025-01-08T22:45:49.396Z,1736376349.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:49.397Z,1736376349.397 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:49.397Z,1736376349.397 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:49.398Z,1736376349.398 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:49.650Z,1736376349.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:49.653Z,1736376349.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757435 2025-01-08T22:45:49.763Z,1736376349.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:49.772Z,1736376349.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:49.778Z,1736376349.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.851280 m, bearing: 63.782108 deg, approach rate: 0.063507 m/s, LOS rate: 0.523226 deg/s, cmd heading: 352.537782 deg, new cmd heading: 353.222651 deg. 2025-01-08T22:45:49.779Z,1736376349.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164898 target range: 90.599998 and range: 92.10 m. 2025-01-08T22:45:49.900Z,1736376349.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:49.901Z,1736376349.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005905 2025-01-08T22:45:50.125Z,1736376350.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:50.134Z,1736376350.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:50.137Z,1736376350.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.873711 m, bearing: 63.970995 deg, approach rate: 0.061840 m/s, LOS rate: 0.520593 deg/s, cmd heading: 353.222659 deg, new cmd heading: 353.789125 deg. 2025-01-08T22:45:50.138Z,1736376350.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174785 target range: 90.599998 and range: 92.10 m. 2025-01-08T22:45:50.152Z,1736376350.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:50.152Z,1736376350.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257048 2025-01-08T22:45:50.404Z,1736376350.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:50.404Z,1736376350.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508990 2025-01-08T22:45:50.535Z,1736376350.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:50.543Z,1736376350.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:50.546Z,1736376350.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.898148 m, bearing: 64.184670 deg, approach rate: 0.059838 m/s, LOS rate: 0.523043 deg/s, cmd heading: 353.789128 deg, new cmd heading: 354.429907 deg. 2025-01-08T22:45:50.548Z,1736376350.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185969 target range: 90.599998 and range: 92.10 m. 2025-01-08T22:45:50.662Z,1736376350.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:50.665Z,1736376350.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768713 2025-01-08T22:45:50.912Z,1736376350.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:50.912Z,1736376350.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016975 2025-01-08T22:45:50.995Z,1736376350.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:51.037Z,1736376351.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:51.060Z,1736376351.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.929558 m, bearing: 64.428234 deg, approach rate: 0.063543 m/s, LOS rate: 0.492513 deg/s, cmd heading: 354.429909 deg, new cmd heading: 355.160240 deg. 2025-01-08T22:45:51.061Z,1736376351.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.198716 target range: 90.599998 and range: 92.10 m. 2025-01-08T22:45:51.165Z,1736376351.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:51.166Z,1736376351.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269906 2025-01-08T22:45:51.341Z,1736376351.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:51.349Z,1736376351.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:51.351Z,1736376351.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:51.354Z,1736376351.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.949745 m, bearing: 64.611255 deg, approach rate: 0.064366 m/s, LOS rate: 0.583386 deg/s, cmd heading: 355.160247 deg, new cmd heading: 355.709140 deg. 2025-01-08T22:45:51.355Z,1736376351.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208296 target range: 90.599998 and range: 92.10 m. 2025-01-08T22:45:51.416Z,1736376351.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:51.417Z,1736376351.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521232 2025-01-08T22:45:51.669Z,1736376351.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:51.672Z,1736376351.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776313 2025-01-08T22:45:51.792Z,1736376351.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:51.801Z,1736376351.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:51.803Z,1736376351.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.970917 m, bearing: 64.849947 deg, approach rate: 0.047078 m/s, LOS rate: 0.530604 deg/s, cmd heading: 355.709149 deg, new cmd heading: 356.424975 deg. 2025-01-08T22:45:51.804Z,1736376351.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220789 target range: 90.599998 and range: 92.10 m. 2025-01-08T22:45:51.920Z,1736376351.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:51.920Z,1736376351.920 [DAT](INFO): DAT read: Rx Time:22:45:50.7912 2025-01-08T22:45:51.921Z,1736376351.921 [DAT](INFO): Rx dataTimestamp_ set to:1736376351.920657 2025-01-08T22:45:51.921Z,1736376351.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026032 2025-01-08T22:45:52.172Z,1736376352.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:52.173Z,1736376352.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277078 2025-01-08T22:45:52.182Z,1736376352.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:52.226Z,1736376352.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:52.241Z,1736376352.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 71.987320 m, bearing: 65.055907 deg, approach rate: 0.038529 m/s, LOS rate: 0.483662 deg/s, cmd heading: 356.424980 deg, new cmd heading: 357.042694 deg. 2025-01-08T22:45:52.242Z,1736376352.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.231571 target range: 90.599998 and range: 92.10 m. 2025-01-08T22:45:52.424Z,1736376352.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:52.425Z,1736376352.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529234 2025-01-08T22:45:52.552Z,1736376352.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:52.560Z,1736376352.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:45:52.563Z,1736376352.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 72.001450 m, bearing: 65.251768 deg, approach rate: 0.042339 m/s, LOS rate: 0.586768 deg/s, cmd heading: 357.042702 deg, new cmd heading: 357.630148 deg. 2025-01-08T22:45:52.564Z,1736376352.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241824 target range: 90.599998 and range: 92.10 m. 2025-01-08T22:45:52.677Z,1736376352.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:52.698Z,1736376352.698 [DAT](INFO): DAT read: 22:45:50.7912 LVL= 14192, 15073, 14098, 21235, AGC= 57, IDX= 440,-0.15, 1.741, 0.985,-0.661, 0.425, PHS= 1.404, 0.607,-1.089, RAW= 48.2, -8.4, CAL= 53.6, -14.7, ROT= 96.4, 14.7 2025-01-08T22:45:52.737Z,1736376352.737 [DAT](INFO): got valid direction response: 22:45:50.7912 LVL= 14192, 15073, 14098, 21235, AGC= 57, IDX= 440,-0.15, 1.741, 0.985,-0.661, 0.425, PHS= 1.404, 0.607,-1.089, RAW= 48.2, -8.4, CAL= 53.6, -14.7, ROT= 96.4, 14.7 2025-01-08T22:45:52.745Z,1736376352.745 [DAT](INFO): DAT read: Bearing 96.4, 14.7 (Local) 2025-01-08T22:45:52.746Z,1736376352.746 [DAT](INFO): Local bearing/azimuth received: Bearing 96.4, 14.7 (Local) 2025-01-08T22:45:52.754Z,1736376352.754 [DAT](INFO): DAT read: Range 10 to 50 : 93.4 m (Round-trip 124.6 ms) speed -0.1 m/s 2025-01-08T22:45:52.760Z,1736376352.760 [DAT](INFO): DAT read: user:2860> 2025-01-08T22:45:52.761Z,1736376352.761 [DAT](INFO): DAT read: Tx time:22:45:51.9125 2025-01-08T22:45:52.761Z,1736376352.761 [DAT](INFO): Ping request sent. 2025-01-08T22:45:52.761Z,1736376352.761 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:52.762Z,1736376352.762 [DAT](INFO): DAT read: TxSync time:22:45:51.9117 2025-01-08T22:45:52.762Z,1736376352.762 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:45:52.768Z,1736376352.768 [DAT](INFO): direction in FSK: [0.150313,0.705666,0.692417] 2025-01-08T22:45:52.768Z,1736376352.768 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:52.768Z,1736376352.768 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:52.784Z,1736376352.784 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:52.784Z,1736376352.784 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:52.928Z,1736376352.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:53.006Z,1736376353.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:53.058Z,1736376353.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.400002 m, deltaT: 3.785037 s, deltaX: 1.300003 m, approachRate: 0.343458 m/s, rangeRepo size: 4 2025-01-08T22:45:53.065Z,1736376353.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.400002 m, bearing: 67.577022 deg, lat: 36.904892 deg, lon: -122.119607 deg, deltaT: 7.312075 s, deltaX: 2.800003 m, approachRate: 0.382929 m/s, posRepo size: 4 2025-01-08T22:45:53.065Z,1736376353.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T22:45:53.072Z,1736376353.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 66.436684 m, bearing: 64.598929 deg, approach rate: 0.000000 m/s, LOS rate: 0.586768 deg/s, cmd heading: 357.630153 deg, new cmd heading: 358.504620 deg. 2025-01-08T22:45:53.073Z,1736376353.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257086 target range: 93.400002 and range: 93.40 m. 2025-01-08T22:45:53.180Z,1736376353.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:53.362Z,1736376353.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:53.370Z,1736376353.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:53.372Z,1736376353.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T22:45:53.375Z,1736376353.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 66.428940 m, bearing: 64.791029 deg, approach rate: -0.024554 m/s, LOS rate: 0.609185 deg/s, cmd heading: 358.504608 deg, new cmd heading: 359.080956 deg. 2025-01-08T22:45:53.376Z,1736376353.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267145 target range: 93.400002 and range: 93.40 m. 2025-01-08T22:45:53.432Z,1736376353.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:53.433Z,1736376353.433 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:53.433Z,1736376353.433 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:53.433Z,1736376353.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:53.686Z,1736376353.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:53.688Z,1736376353.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.926652 2025-01-08T22:45:53.822Z,1736376353.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:53.852Z,1736376353.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T22:45:53.855Z,1736376353.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 66.395508 m, bearing: 65.029233 deg, approach rate: -0.069660 m/s, LOS rate: 0.496576 deg/s, cmd heading: 359.080967 deg, new cmd heading: 359.795898 deg. 2025-01-08T22:45:53.860Z,1736376353.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279623 target range: 93.400002 and range: 93.40 m. 2025-01-08T22:45:53.936Z,1736376353.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:53.937Z,1736376353.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.175374 2025-01-08T22:45:54.168Z,1736376354.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:54.176Z,1736376354.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T22:45:54.179Z,1736376354.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 66.368546 m, bearing: 65.208951 deg, approach rate: -0.083139 m/s, LOS rate: 0.554393 deg/s, cmd heading: 359.795897 deg, new cmd heading: 0.335253 deg. 2025-01-08T22:45:54.181Z,1736376354.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005851 target range: 93.400002 and range: 93.40 m. 2025-01-08T22:45:54.188Z,1736376354.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:54.189Z,1736376354.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.427583 2025-01-08T22:45:54.440Z,1736376354.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:54.441Z,1736376354.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679397 2025-01-08T22:45:54.572Z,1736376354.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:54.581Z,1736376354.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T22:45:54.584Z,1736376354.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 66.334702 m, bearing: 65.418772 deg, approach rate: -0.083844 m/s, LOS rate: 0.520066 deg/s, cmd heading: 0.335253 deg, new cmd heading: 0.965011 deg. 2025-01-08T22:45:54.585Z,1736376354.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.016843 target range: 93.400002 and range: 93.40 m. 2025-01-08T22:45:54.694Z,1736376354.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:54.694Z,1736376354.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.933204 2025-01-08T22:45:54.944Z,1736376354.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:54.944Z,1736376354.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183190 2025-01-08T22:45:55.038Z,1736376355.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:55.049Z,1736376355.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T22:45:55.052Z,1736376355.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 66.270233 m, bearing: 65.653768 deg, approach rate: -0.137531 m/s, LOS rate: 0.501803 deg/s, cmd heading: 0.965011 deg, new cmd heading: 1.670647 deg. 2025-01-08T22:45:55.053Z,1736376355.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.029158 target range: 93.400002 and range: 93.40 m. 2025-01-08T22:45:55.196Z,1736376355.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:55.197Z,1736376355.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.435450 2025-01-08T22:45:55.411Z,1736376355.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:55.436Z,1736376355.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:55.438Z,1736376355.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T22:45:55.446Z,1736376355.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 66.213547 m, bearing: 65.841023 deg, approach rate: -0.145717 m/s, LOS rate: 0.481764 deg/s, cmd heading: 1.670647 deg, new cmd heading: 2.232873 deg. 2025-01-08T22:45:55.449Z,1736376355.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:55.449Z,1736376355.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.688052 2025-01-08T22:45:55.456Z,1736376355.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038971 target range: 93.400002 and range: 93.40 m. 2025-01-08T22:45:55.700Z,1736376355.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:55.701Z,1736376355.701 [DAT](INFO): DAT read: Rx Time:22:45:54.4416 2025-01-08T22:45:55.701Z,1736376355.701 [DAT](INFO): Rx dataTimestamp_ set to:1736376355.700770 2025-01-08T22:45:55.702Z,1736376355.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.940446 2025-01-08T22:45:55.924Z,1736376355.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:55.939Z,1736376355.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T22:45:55.941Z,1736376355.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 66.120110 m, bearing: 66.085690 deg, approach rate: -0.186619 m/s, LOS rate: 0.489356 deg/s, cmd heading: 2.232873 deg, new cmd heading: 2.967871 deg. 2025-01-08T22:45:55.942Z,1736376355.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051799 target range: 93.400002 and range: 93.40 m. 2025-01-08T22:45:55.952Z,1736376355.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:55.953Z,1736376355.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191582 2025-01-08T22:45:56.204Z,1736376356.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:56.212Z,1736376356.212 [DAT](INFO): DAT read: 22:45:54.4416 LVL= 11792, 16209, 16242, 23715, AGC= 56, IDX= 429, 0.31,-0.125,-1.043,-2.521,-1.460, PHS= 1.423, 0.464,-1.063, RAW= 52.5, -7.6, CAL= 58.5, -13.7, ROT= 91.5, 13.7 2025-01-08T22:45:56.213Z,1736376356.213 [DAT](INFO): got valid direction response: 22:45:54.4416 LVL= 11792, 16209, 16242, 23715, AGC= 56, IDX= 429, 0.31,-0.125,-1.043,-2.521,-1.460, PHS= 1.423, 0.464,-1.063, RAW= 52.5, -7.6, CAL= 58.5, -13.7, ROT= 91.5, 13.7 2025-01-08T22:45:56.218Z,1736376356.218 [DAT](INFO): DAT read: Bearing 91.5, 13.7 (Local) 2025-01-08T22:45:56.220Z,1736376356.220 [DAT](INFO): Local bearing/azimuth received: Bearing 91.5, 13.7 (Local) 2025-01-08T22:45:56.223Z,1736376356.223 [DAT](INFO): DAT read: Range 10 to 50 : 93.7 m (Round-trip 125.0 ms) speed -0.1 m/s 2025-01-08T22:45:56.240Z,1736376356.240 [DAT](INFO): DAT read: user:2861> 2025-01-08T22:45:56.241Z,1736376356.241 [DAT](INFO): DAT read: Tx time:22:45:55.5625 2025-01-08T22:45:56.241Z,1736376356.241 [DAT](INFO): Ping request sent. 2025-01-08T22:45:56.242Z,1736376356.242 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:45:56.242Z,1736376356.242 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:45:56.243Z,1736376356.243 [DAT](INFO): direction in FSK: [0.127714,0.658930,0.741283] 2025-01-08T22:45:56.256Z,1736376356.256 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:56.257Z,1736376356.257 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:56.284Z,1736376356.284 [DAT](INFO): publishing transmit ping time 2025-01-08T22:45:56.284Z,1736376356.284 [DAT](INFO): publishing direction and range info 2025-01-08T22:45:56.340Z,1736376356.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:56.395Z,1736376356.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.699997 m, deltaT: 3.527348 s, deltaX: 0.299995 m, approachRate: 0.085048 m/s, rangeRepo size: 4 2025-01-08T22:45:56.403Z,1736376356.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.699997 m, bearing: 74.122285 deg, lat: 36.904815 deg, lon: -122.119655 deg, deltaT: 3.527348 s, deltaX: 0.299995 m, approachRate: 0.085048 m/s, posRepo size: 4 2025-01-08T22:45:56.404Z,1736376356.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-08T22:45:56.406Z,1736376356.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 59.020756 m, bearing: 72.250076 deg, approach rate: 0.000000 m/s, LOS rate: 0.489356 deg/s, cmd heading: 2.967871 deg, new cmd heading: 3.618934 deg. 2025-01-08T22:45:56.412Z,1736376356.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.063162 target range: 93.699997 and range: 93.70 m. 2025-01-08T22:45:56.456Z,1736376356.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:56.457Z,1736376356.457 [DAT](INFO): DAT read: TxSync time:22:45:55.5617 2025-01-08T22:45:56.708Z,1736376356.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:56.743Z,1736376356.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:56.815Z,1736376356.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-08T22:45:56.828Z,1736376356.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 58.966686 m, bearing: 72.470679 deg, approach rate: -0.125157 m/s, LOS rate: 0.511105 deg/s, cmd heading: 3.618934 deg, new cmd heading: 4.281320 deg. 2025-01-08T22:45:56.829Z,1736376356.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074723 target range: 93.699997 and range: 93.70 m. 2025-01-08T22:45:56.960Z,1736376356.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:57.192Z,1736376357.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:57.202Z,1736376357.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-08T22:45:57.212Z,1736376357.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:57.221Z,1736376357.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 58.895298 m, bearing: 72.714244 deg, approach rate: -0.183984 m/s, LOS rate: 0.628481 deg/s, cmd heading: 4.281320 deg, new cmd heading: 5.012859 deg. 2025-01-08T22:45:57.222Z,1736376357.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.087491 target range: 93.699997 and range: 93.70 m. 2025-01-08T22:45:57.465Z,1736376357.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:57.541Z,1736376357.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:57.549Z,1736376357.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:57.552Z,1736376357.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-08T22:45:57.554Z,1736376357.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 58.838009 m, bearing: 72.902484 deg, approach rate: -0.164170 m/s, LOS rate: 0.539950 deg/s, cmd heading: 5.012859 deg, new cmd heading: 5.578108 deg. 2025-01-08T22:45:57.555Z,1736376357.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097356 target range: 93.699997 and range: 93.70 m. 2025-01-08T22:45:57.716Z,1736376357.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:57.717Z,1736376357.717 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:45:57.717Z,1736376357.717 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:45:57.718Z,1736376357.718 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:45:57.968Z,1736376357.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:57.968Z,1736376357.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726871 2025-01-08T22:45:57.993Z,1736376357.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:58.002Z,1736376358.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-08T22:45:58.005Z,1736376358.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 58.768188 m, bearing: 73.142270 deg, approach rate: -0.154681 m/s, LOS rate: 0.531856 deg/s, cmd heading: 5.578108 deg, new cmd heading: 6.298281 deg. 2025-01-08T22:45:58.006Z,1736376358.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109926 target range: 93.699997 and range: 93.70 m. 2025-01-08T22:45:58.220Z,1736376358.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:58.220Z,1736376358.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978772 2025-01-08T22:45:58.353Z,1736376358.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:58.395Z,1736376358.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-08T22:45:58.399Z,1736376358.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 58.707767 m, bearing: 73.332295 deg, approach rate: -0.154107 m/s, LOS rate: 0.485168 deg/s, cmd heading: 6.298281 deg, new cmd heading: 6.868923 deg. 2025-01-08T22:45:58.400Z,1736376358.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119885 target range: 93.699997 and range: 93.70 m. 2025-01-08T22:45:58.472Z,1736376358.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:58.473Z,1736376358.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231591 2025-01-08T22:45:58.724Z,1736376358.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:58.724Z,1736376358.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482707 2025-01-08T22:45:58.766Z,1736376358.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:58.840Z,1736376358.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-08T22:45:58.843Z,1736376358.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 58.636799 m, bearing: 73.549691 deg, approach rate: -0.159272 m/s, LOS rate: 0.488484 deg/s, cmd heading: 6.868923 deg, new cmd heading: 7.521871 deg. 2025-01-08T22:45:58.849Z,1736376358.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.131281 target range: 93.699997 and range: 93.70 m. 2025-01-08T22:45:58.976Z,1736376358.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:58.977Z,1736376358.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734900 2025-01-08T22:45:59.180Z,1736376359.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:59.191Z,1736376359.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-08T22:45:59.195Z,1736376359.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 58.573349 m, bearing: 73.775484 deg, approach rate: -0.181066 m/s, LOS rate: 0.645040 deg/s, cmd heading: 7.521871 deg, new cmd heading: 8.199950 deg. 2025-01-08T22:45:59.200Z,1736376359.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.143116 target range: 93.699997 and range: 93.70 m. 2025-01-08T22:45:59.228Z,1736376359.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:59.229Z,1736376359.229 [DAT](INFO): DAT read: Rx Time:22:45:58.0926 2025-01-08T22:45:59.229Z,1736376359.229 [DAT](INFO): Rx dataTimestamp_ set to:1736376359.228689 2025-01-08T22:45:59.229Z,1736376359.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987893 2025-01-08T22:45:59.480Z,1736376359.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:59.481Z,1736376359.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239522 2025-01-08T22:45:59.576Z,1736376359.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:45:59.583Z,1736376359.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:45:59.585Z,1736376359.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-08T22:45:59.588Z,1736376359.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 58.511402 m, bearing: 73.991728 deg, approach rate: -0.156879 m/s, LOS rate: 0.548210 deg/s, cmd heading: 8.199949 deg, new cmd heading: 8.849339 deg. 2025-01-08T22:45:59.589Z,1736376359.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.154450 target range: 93.699997 and range: 93.70 m. 2025-01-08T22:45:59.737Z,1736376359.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:59.737Z,1736376359.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495689 2025-01-08T22:45:59.989Z,1736376359.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:45:59.000Z,1736376360.000 [DAT](INFO): DAT read: 22:45:58.0926 LVL= 12752, 20465, 21970, 32755, AGC= 57, IDX= 438,-0.06, 1.374, 0.521,-0.817, 0.247, PHS= 1.215, 0.321,-1.067, RAW= 52.9, -4.8, CAL= 57.0, -9.5, ROT= 93.0, 9.5 2025-01-08T22:46:00.002Z,1736376360.002 [DAT](INFO): got valid direction response: 22:45:58.0926 LVL= 12752, 20465, 21970, 32755, AGC= 57, IDX= 438,-0.06, 1.374, 0.521,-0.817, 0.247, PHS= 1.215, 0.321,-1.067, RAW= 52.9, -4.8, CAL= 57.0, -9.5, ROT= 93.0, 9.5 2025-01-08T22:46:00.004Z,1736376360.004 [DAT](INFO): DAT read: Bearing 93.0, 9.5 (Local) 2025-01-08T22:46:00.005Z,1736376360.005 [DAT](INFO): Local bearing/azimuth received: Bearing 93.0, 9.5 (Local) 2025-01-08T22:46:00.009Z,1736376360.009 [DAT](INFO): DAT read: Range 10 to 50 : 94.4 m (Round-trip 125.9 ms) speed -0.3 m/s 2025-01-08T22:46:00.012Z,1736376360.012 [DAT](INFO): DAT read: user:2862> 2025-01-08T22:46:00.013Z,1736376360.013 [DAT](INFO): DAT read: Tx time:22:45:59.2125 2025-01-08T22:46:00.013Z,1736376360.013 [DAT](INFO): Ping request sent. 2025-01-08T22:46:00.013Z,1736376360.013 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:00.014Z,1736376360.014 [DAT](INFO): DAT read: TxSync time:22:45:59.2118 2025-01-08T22:46:00.015Z,1736376360.015 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:00.028Z,1736376360.028 [DAT](INFO): direction in FSK: [0.073738,0.661210,0.746568] 2025-01-08T22:46:00.028Z,1736376360.028 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:00.028Z,1736376360.028 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:00.065Z,1736376360.065 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:00.065Z,1736376360.065 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:00.084Z,1736376360.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:00.111Z,1736376360.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.400002 m, deltaT: 3.784456 s, deltaX: 0.700005 m, approachRate: 0.184968 m/s, rangeRepo size: 4 2025-01-08T22:46:00.117Z,1736376360.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.400002 m, bearing: 84.548682 deg, lat: 36.904808 deg, lon: -122.119761 deg, deltaT: 3.784456 s, deltaX: 0.700005 m, approachRate: 0.184968 m/s, posRepo size: 4 2025-01-08T22:46:00.118Z,1736376360.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.40 m. 2025-01-08T22:46:00.136Z,1736376360.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.400002 m, nav range: 49.131641 m, bearing: 72.206547 deg, approach rate: 0.000000 m/s, LOS rate: 0.548210 deg/s, cmd heading: 8.849339 deg, new cmd heading: 9.712434 deg. 2025-01-08T22:46:00.137Z,1736376360.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.169514 target range: 94.400002 and range: 94.40 m. 2025-01-08T22:46:00.240Z,1736376360.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:00.456Z,1736376360.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:00.473Z,1736376360.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.40 m. 2025-01-08T22:46:00.481Z,1736376360.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.400002 m, nav range: 49.078857 m, bearing: 72.446403 deg, approach rate: -0.145303 m/s, LOS rate: 0.660980 deg/s, cmd heading: 9.712434 deg, new cmd heading: 10.432737 deg. 2025-01-08T22:46:00.482Z,1736376360.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.182086 target range: 94.400002 and range: 94.40 m. 2025-01-08T22:46:00.492Z,1736376360.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:00.744Z,1736376360.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:00.908Z,1736376360.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:00.945Z,1736376360.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.40 m. 2025-01-08T22:46:00.951Z,1736376360.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.400002 m, nav range: 49.022518 m, bearing: 72.738733 deg, approach rate: -0.119595 m/s, LOS rate: 0.621260 deg/s, cmd heading: 10.432737 deg, new cmd heading: 11.310662 deg. 2025-01-08T22:46:00.952Z,1736376360.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.197408 target range: 94.400002 and range: 94.40 m. 2025-01-08T22:46:00.997Z,1736376360.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:01.228Z,1736376361.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:01.248Z,1736376361.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:01.254Z,1736376361.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.40 m. 2025-01-08T22:46:01.261Z,1736376361.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.400002 m, nav range: 48.982475 m, bearing: 72.945728 deg, approach rate: -0.129519 m/s, LOS rate: 0.670072 deg/s, cmd heading: 11.310662 deg, new cmd heading: 11.932130 deg. 2025-01-08T22:46:01.262Z,1736376361.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.208255 target range: 94.400002 and range: 94.40 m. 2025-01-08T22:46:01.500Z,1736376361.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:01.640Z,1736376361.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:01.652Z,1736376361.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:01.656Z,1736376361.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.40 m. 2025-01-08T22:46:01.661Z,1736376361.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.400002 m, nav range: 48.929867 m, bearing: 73.212352 deg, approach rate: -0.131069 m/s, LOS rate: 0.664978 deg/s, cmd heading: 11.932130 deg, new cmd heading: 12.732804 deg. 2025-01-08T22:46:01.663Z,1736376361.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.222229 target range: 94.400002 and range: 94.40 m. 2025-01-08T22:46:01.753Z,1736376361.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:01.754Z,1736376361.754 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:01.754Z,1736376361.754 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:01.754Z,1736376361.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:02.004Z,1736376362.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:02.004Z,1736376362.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991411 2025-01-08T22:46:02.086Z,1736376362.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:02.111Z,1736376362.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.40 m. 2025-01-08T22:46:02.118Z,1736376362.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.400002 m, nav range: 48.893082 m, bearing: 73.501125 deg, approach rate: -0.080739 m/s, LOS rate: 0.634297 deg/s, cmd heading: 12.732804 deg, new cmd heading: 13.599705 deg. 2025-01-08T22:46:02.119Z,1736376362.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.237360 target range: 94.400002 and range: 94.40 m. 2025-01-08T22:46:02.258Z,1736376362.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:02.260Z,1736376362.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245695 2025-01-08T22:46:02.445Z,1736376362.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:02.455Z,1736376362.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.40 m. 2025-01-08T22:46:02.458Z,1736376362.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.400002 m, nav range: 48.862701 m, bearing: 73.733638 deg, approach rate: -0.088286 m/s, LOS rate: 0.676111 deg/s, cmd heading: 13.599705 deg, new cmd heading: 14.297642 deg. 2025-01-08T22:46:02.459Z,1736376362.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.249541 target range: 94.400002 and range: 94.40 m. 2025-01-08T22:46:02.508Z,1736376362.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:02.509Z,1736376362.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496296 2025-01-08T22:46:02.760Z,1736376362.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:02.760Z,1736376362.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747440 2025-01-08T22:46:02.908Z,1736376362.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:02.940Z,1736376362.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.40 m. 2025-01-08T22:46:02.942Z,1736376362.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.400002 m, nav range: 48.821968 m, bearing: 74.033869 deg, approach rate: -0.084884 m/s, LOS rate: 0.626172 deg/s, cmd heading: 14.297642 deg, new cmd heading: 15.199009 deg. 2025-01-08T22:46:02.952Z,1736376362.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265273 target range: 94.400002 and range: 94.40 m. 2025-01-08T22:46:03.013Z,1736376363.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:03.014Z,1736376363.014 [DAT](INFO): DAT read: Rx Time:22:46:01.7438 2025-01-08T22:46:03.014Z,1736376363.014 [DAT](INFO): Rx dataTimestamp_ set to:1736376363.013829 2025-01-08T22:46:03.015Z,1736376363.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002050 2025-01-08T22:46:03.265Z,1736376363.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:03.265Z,1736376363.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252352 2025-01-08T22:46:03.294Z,1736376363.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:03.303Z,1736376363.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.40 m. 2025-01-08T22:46:03.306Z,1736376363.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.400002 m, nav range: 48.789139 m, bearing: 74.283739 deg, approach rate: -0.089142 m/s, LOS rate: 0.678929 deg/s, cmd heading: 15.199008 deg, new cmd heading: 15.949076 deg. 2025-01-08T22:46:03.307Z,1736376363.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.278364 target range: 94.400002 and range: 94.40 m. 2025-01-08T22:46:03.516Z,1736376363.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:03.522Z,1736376363.522 [DAT](INFO): DAT read: 22:46:01.7438 LVL= 13520, 24033, 23746, 32755, AGC= 58, IDX= 434, 0.18, 0.880, 0.175,-1.065,-0.083, PHS= 1.051, 0.305,-0.985, RAW= 51.2, -4.2, CAL= 54.6, -8.6, ROT= 95.4, 8.6 2025-01-08T22:46:03.523Z,1736376363.523 [DAT](INFO): got valid direction response: 22:46:01.7438 LVL= 13520, 24033, 23746, 32755, AGC= 58, IDX= 434, 0.18, 0.880, 0.175,-1.065,-0.083, PHS= 1.051, 0.305,-0.985, RAW= 51.2, -4.2, CAL= 54.6, -8.6, ROT= 95.4, 8.6 2025-01-08T22:46:03.524Z,1736376363.524 [DAT](INFO): DAT read: Bearing 95.4, 8.6 (Local) 2025-01-08T22:46:03.525Z,1736376363.525 [DAT](INFO): Local bearing/azimuth received: Bearing 95.4, 8.6 (Local) 2025-01-08T22:46:03.526Z,1736376363.526 [DAT](INFO): DAT read: Range 10 to 50 : 95.3 m (Round-trip 127.1 ms) speed 0.0 m/s 2025-01-08T22:46:03.527Z,1736376363.527 [DAT](INFO): DAT read: user:2863> 2025-01-08T22:46:03.528Z,1736376363.528 [DAT](INFO): DAT read: Tx time:22:46:02.8625 2025-01-08T22:46:03.528Z,1736376363.528 [DAT](INFO): Ping request sent. 2025-01-08T22:46:03.528Z,1736376363.528 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:03.528Z,1736376363.528 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:03.529Z,1736376363.529 [DAT](INFO): direction in FSK: [0.066823,0.682060,0.728237] 2025-01-08T22:46:03.530Z,1736376363.530 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:03.530Z,1736376363.530 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:03.541Z,1736376363.541 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:03.541Z,1736376363.541 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:03.694Z,1736376363.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:03.729Z,1736376363.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.300003 m, deltaT: 3.527136 s, deltaX: 0.900002 m, approachRate: 0.255165 m/s, rangeRepo size: 4 2025-01-08T22:46:03.738Z,1736376363.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.300003 m, bearing: 88.465010 deg, lat: 36.904762 deg, lon: -122.119761 deg, deltaT: 3.527136 s, deltaX: 0.900002 m, approachRate: 0.255165 m/s, posRepo size: 4 2025-01-08T22:46:03.739Z,1736376363.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-08T22:46:03.745Z,1736376363.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 47.640549 m, bearing: 80.506003 deg, approach rate: 0.000000 m/s, LOS rate: 0.678929 deg/s, cmd heading: 15.949076 deg, new cmd heading: 16.815557 deg. 2025-01-08T22:46:03.746Z,1736376363.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.293487 target range: 95.300003 and range: 95.30 m. 2025-01-08T22:46:03.768Z,1736376363.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:03.769Z,1736376363.769 [DAT](INFO): DAT read: TxSync time:22:46:02.8618 2025-01-08T22:46:04.020Z,1736376364.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:04.134Z,1736376364.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:46:04.134Z,1736376364.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:04.141Z,1736376364.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:04.143Z,1736376364.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-08T22:46:04.146Z,1736376364.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 47.622730 m, bearing: 80.800696 deg, approach rate: -0.042985 m/s, LOS rate: 0.711180 deg/s, cmd heading: 16.815557 deg, new cmd heading: 17.699891 deg. 2025-01-08T22:46:04.148Z,1736376364.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.308921 target range: 95.300003 and range: 95.30 m. 2025-01-08T22:46:04.272Z,1736376364.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:04.272Z,1736376364.272 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:04.272Z,1736376364.272 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:04.272Z,1736376364.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:04.524Z,1736376364.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:04.524Z,1736376364.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996271 2025-01-08T22:46:04.562Z,1736376364.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:46:04.562Z,1736376364.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:04.572Z,1736376364.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-08T22:46:04.575Z,1736376364.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 47.600098 m, bearing: 81.086943 deg, approach rate: -0.052712 m/s, LOS rate: 0.666994 deg/s, cmd heading: 17.699891 deg, new cmd heading: 18.558972 deg. 2025-01-08T22:46:04.576Z,1736376364.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.323915 target range: 95.300003 and range: 95.30 m. 2025-01-08T22:46:04.776Z,1736376364.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:04.777Z,1736376364.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248441 2025-01-08T22:46:05.003Z,1736376365.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:05.012Z,1736376365.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-08T22:46:05.014Z,1736376365.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 47.568638 m, bearing: 81.361415 deg, approach rate: -0.071584 m/s, LOS rate: 0.624949 deg/s, cmd heading: 18.558973 deg, new cmd heading: 19.382874 deg. 2025-01-08T22:46:05.016Z,1736376365.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.338295 target range: 95.300003 and range: 95.30 m. 2025-01-08T22:46:05.028Z,1736376365.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:05.028Z,1736376365.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500338 2025-01-08T22:46:05.280Z,1736376365.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:05.281Z,1736376365.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752419 2025-01-08T22:46:05.353Z,1736376365.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:05.377Z,1736376365.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-08T22:46:05.385Z,1736376365.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 47.538223 m, bearing: 81.577615 deg, approach rate: -0.083171 m/s, LOS rate: 0.591594 deg/s, cmd heading: 19.382873 deg, new cmd heading: 20.031859 deg. 2025-01-08T22:46:05.386Z,1736376365.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349622 target range: 95.300003 and range: 95.30 m. 2025-01-08T22:46:05.534Z,1736376365.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:05.535Z,1736376365.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006877 2025-01-08T22:46:05.765Z,1736376365.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:05.773Z,1736376365.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-08T22:46:05.776Z,1736376365.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 47.500164 m, bearing: 81.832329 deg, approach rate: -0.096141 m/s, LOS rate: 0.643942 deg/s, cmd heading: 20.031859 deg, new cmd heading: 20.796566 deg. 2025-01-08T22:46:05.777Z,1736376365.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.362969 target range: 95.300003 and range: 95.30 m. 2025-01-08T22:46:05.784Z,1736376365.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:05.785Z,1736376365.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256451 2025-01-08T22:46:06.036Z,1736376366.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:06.038Z,1736376366.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509507 2025-01-08T22:46:06.190Z,1736376366.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:06.206Z,1736376366.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:06.213Z,1736376366.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-08T22:46:06.224Z,1736376366.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 47.448700 m, bearing: 82.095480 deg, approach rate: -0.117173 m/s, LOS rate: 0.599784 deg/s, cmd heading: 20.796565 deg, new cmd heading: 21.586820 deg. 2025-01-08T22:46:06.225Z,1736376366.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.376761 target range: 95.300003 and range: 95.30 m. 2025-01-08T22:46:06.288Z,1736376366.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:06.289Z,1736376366.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761328 2025-01-08T22:46:06.540Z,1736376366.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:06.540Z,1736376366.540 [DAT](INFO): DAT read: Rx Time:22:46:05.3937 2025-01-08T22:46:06.541Z,1736376366.541 [DAT](INFO): Rx dataTimestamp_ set to:1736376366.540629 2025-01-08T22:46:06.541Z,1736376366.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013311 2025-01-08T22:46:06.589Z,1736376366.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:06.598Z,1736376366.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-08T22:46:06.601Z,1736376366.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 47.398739 m, bearing: 82.342084 deg, approach rate: -0.129535 m/s, LOS rate: 0.640045 deg/s, cmd heading: 21.586820 deg, new cmd heading: 22.327369 deg. 2025-01-08T22:46:06.602Z,1736376366.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.389686 target range: 95.300003 and range: 95.30 m. 2025-01-08T22:46:06.792Z,1736376366.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:06.792Z,1736376366.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264280 2025-01-08T22:46:06.000Z,1736376367.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:07.034Z,1736376367.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-08T22:46:07.045Z,1736376367.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:07.048Z,1736376367.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518857 2025-01-08T22:46:07.064Z,1736376367.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 47.330997 m, bearing: 82.591897 deg, approach rate: -0.155364 m/s, LOS rate: 0.573764 deg/s, cmd heading: 22.327369 deg, new cmd heading: 23.077837 deg. 2025-01-08T22:46:07.072Z,1736376367.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.402784 target range: 95.300003 and range: 95.30 m. 2025-01-08T22:46:07.296Z,1736376367.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:07.303Z,1736376367.303 [DAT](INFO): DAT read: 22:46:05.3937 LVL= 21472, 25185, 24562, 29283, AGC= 64, IDX= 433,-0.16, 3.050, 2.253, 0.941, 1.922, PHS= 1.216, 0.378,-0.984, RAW= 52.2, -6.4, CAL= 57.2, -11.9, ROT= 92.8, 11.9 2025-01-08T22:46:07.305Z,1736376367.305 [DAT](INFO): got valid direction response: 22:46:05.3937 LVL= 21472, 25185, 24562, 29283, AGC= 64, IDX= 433,-0.16, 3.050, 2.253, 0.941, 1.922, PHS= 1.216, 0.378,-0.984, RAW= 52.2, -6.4, CAL= 57.2, -11.9, ROT= 92.8, 11.9 2025-01-08T22:46:07.305Z,1736376367.305 [DAT](INFO): DAT read: Bearing 92.8, 11.9 (Local) 2025-01-08T22:46:07.306Z,1736376367.306 [DAT](INFO): Local bearing/azimuth received: Bearing 92.8, 11.9 (Local) 2025-01-08T22:46:07.312Z,1736376367.312 [DAT](INFO): DAT read: Range 10 to 50 : 95.2 m (Round-trip 127.0 ms) speed -0.1 m/s 2025-01-08T22:46:07.313Z,1736376367.313 [DAT](INFO): DAT read: user:2864> 2025-01-08T22:46:07.313Z,1736376367.313 [DAT](INFO): DAT read: Tx time:22:46:06.5125 2025-01-08T22:46:07.314Z,1736376367.314 [DAT](INFO): Ping request sent. 2025-01-08T22:46:07.314Z,1736376367.314 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:07.315Z,1736376367.315 [DAT](INFO): DAT read: TxSync time:22:46:06.5118 2025-01-08T22:46:07.316Z,1736376367.316 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:07.317Z,1736376367.317 [DAT](INFO): direction in FSK: [0.105466,0.665958,0.738496] 2025-01-08T22:46:07.317Z,1736376367.317 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:07.317Z,1736376367.317 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:07.352Z,1736376367.352 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:07.353Z,1736376367.353 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:07.439Z,1736376367.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:07.466Z,1736376367.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.199997 m, deltaT: 3.779940 s, deltaX: -0.100006 m, approachRate: -0.026457 m/s, rangeRepo size: 4 2025-01-08T22:46:07.473Z,1736376367.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.199997 m, bearing: 90.622087 deg, lat: 36.904711 deg, lon: -122.119777 deg, deltaT: 3.779940 s, deltaX: -0.100006 m, approachRate: -0.026457 m/s, posRepo size: 4 2025-01-08T22:46:07.474Z,1736376367.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.20 m. 2025-01-08T22:46:07.481Z,1736376367.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.199997 m, nav range: 45.453304 m, bearing: 89.708931 deg, approach rate: 0.000000 m/s, LOS rate: 0.573764 deg/s, cmd heading: 23.077836 deg, new cmd heading: 23.819947 deg. 2025-01-08T22:46:07.482Z,1736376367.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415736 target range: 95.199997 and range: 95.20 m. 2025-01-08T22:46:07.548Z,1736376367.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:07.800Z,1736376367.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:07.844Z,1736376367.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:07.861Z,1736376367.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.20 m. 2025-01-08T22:46:07.877Z,1736376367.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.199997 m, nav range: 45.407700 m, bearing: 89.973471 deg, approach rate: -0.115246 m/s, LOS rate: 0.669179 deg/s, cmd heading: 23.819947 deg, new cmd heading: 24.614312 deg. 2025-01-08T22:46:07.878Z,1736376367.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429601 target range: 95.199997 and range: 95.20 m. 2025-01-08T22:46:08.052Z,1736376368.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:08.274Z,1736376368.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:08.282Z,1736376368.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:08.285Z,1736376368.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.20 m. 2025-01-08T22:46:08.288Z,1736376368.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.199997 m, nav range: 45.358521 m, bearing: 90.258369 deg, approach rate: -0.116017 m/s, LOS rate: 0.672822 deg/s, cmd heading: 24.614311 deg, new cmd heading: 25.469864 deg. 2025-01-08T22:46:08.289Z,1736376368.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444533 target range: 95.199997 and range: 95.20 m. 2025-01-08T22:46:08.306Z,1736376368.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:08.307Z,1736376368.307 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:08.307Z,1736376368.307 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:08.308Z,1736376368.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:08.377Z,1736376368.377 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:46:08.556Z,1736376368.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:08.556Z,1736376368.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242523 2025-01-08T22:46:08.640Z,1736376368.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:08.653Z,1736376368.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.20 m. 2025-01-08T22:46:08.659Z,1736376368.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.199997 m, nav range: 45.313274 m, bearing: 90.499458 deg, approach rate: -0.122984 m/s, LOS rate: 0.655957 deg/s, cmd heading: 25.469864 deg, new cmd heading: 26.193814 deg. 2025-01-08T22:46:08.682Z,1736376368.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.457168 target range: 95.199997 and range: 95.20 m. 2025-01-08T22:46:08.809Z,1736376368.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:08.813Z,1736376368.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498010 2025-01-08T22:46:09.060Z,1736376369.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:09.060Z,1736376369.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746618 2025-01-08T22:46:09.077Z,1736376369.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:09.132Z,1736376369.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.20 m. 2025-01-08T22:46:09.149Z,1736376369.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.199997 m, nav range: 45.247669 m, bearing: 90.792971 deg, approach rate: -0.139466 m/s, LOS rate: 0.624863 deg/s, cmd heading: 26.193813 deg, new cmd heading: 27.075554 deg. 2025-01-08T22:46:09.156Z,1736376369.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472558 target range: 95.199997 and range: 95.20 m. 2025-01-08T22:46:09.312Z,1736376369.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:09.312Z,1736376369.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998584 2025-01-08T22:46:09.390Z,1736376369.390 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:46:09.466Z,1736376369.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:09.476Z,1736376369.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.20 m. 2025-01-08T22:46:09.478Z,1736376369.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.199997 m, nav range: 45.187809 m, bearing: 91.053722 deg, approach rate: -0.169996 m/s, LOS rate: 0.741482 deg/s, cmd heading: 27.075555 deg, new cmd heading: 27.858794 deg. 2025-01-08T22:46:09.479Z,1736376369.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486228 target range: 95.199997 and range: 95.20 m. 2025-01-08T22:46:09.564Z,1736376369.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:09.566Z,1736376369.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252113 2025-01-08T22:46:09.816Z,1736376369.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:09.816Z,1736376369.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502670 2025-01-08T22:46:09.870Z,1736376369.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:09.878Z,1736376369.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.20 m. 2025-01-08T22:46:09.884Z,1736376369.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.199997 m, nav range: 45.123764 m, bearing: 91.323730 deg, approach rate: -0.158957 m/s, LOS rate: 0.671097 deg/s, cmd heading: 27.858793 deg, new cmd heading: 28.669907 deg. 2025-01-08T22:46:09.885Z,1736376369.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500384 target range: 95.199997 and range: 95.20 m. 2025-01-08T22:46:10.069Z,1736376370.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:10.070Z,1736376370.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756144 2025-01-08T22:46:10.291Z,1736376370.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:10.314Z,1736376370.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:10.317Z,1736376370.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.20 m. 2025-01-08T22:46:10.320Z,1736376370.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:10.321Z,1736376370.321 [DAT](INFO): DAT read: Rx Time:22:46:09.0433 2025-01-08T22:46:10.321Z,1736376370.321 [DAT](INFO): Rx dataTimestamp_ set to:1736376370.320811 2025-01-08T22:46:10.322Z,1736376370.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007814 2025-01-08T22:46:10.324Z,1736376370.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.199997 m, nav range: 45.058765 m, bearing: 91.612767 deg, approach rate: -0.148210 m/s, LOS rate: 0.660012 deg/s, cmd heading: 28.669907 deg, new cmd heading: 29.538200 deg. 2025-01-08T22:46:10.325Z,1736376370.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515539 target range: 95.199997 and range: 95.20 m. 2025-01-08T22:46:10.572Z,1736376370.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:10.572Z,1736376370.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258592 2025-01-08T22:46:10.688Z,1736376370.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:10.718Z,1736376370.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.20 m. 2025-01-08T22:46:10.750Z,1736376370.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.199997 m, nav range: 44.995262 m, bearing: 91.885170 deg, approach rate: -0.158794 m/s, LOS rate: 0.682121 deg/s, cmd heading: 29.538198 deg, new cmd heading: 30.356502 deg. 2025-01-08T22:46:10.755Z,1736376370.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529821 target range: 95.199997 and range: 95.20 m. 2025-01-08T22:46:10.825Z,1736376370.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:10.836Z,1736376370.836 [DAT](INFO): DAT read: 22:46:09.0433 LVL= 16880, 32081, 22098, 32755, AGC= 57, IDX= 428,-0.14, 1.558, 0.585,-0.560, 0.278, PHS= 1.368, 0.354,-0.842, RAW= 57.3, -9.2, CAL= 65.7, -16.3, ROT= 84.3, 16.3 2025-01-08T22:46:10.837Z,1736376370.837 [DAT](INFO): got valid direction response: 22:46:09.0433 LVL= 16880, 32081, 22098, 32755, AGC= 57, IDX= 428,-0.14, 1.558, 0.585,-0.560, 0.278, PHS= 1.368, 0.354,-0.842, RAW= 57.3, -9.2, CAL= 65.7, -16.3, ROT= 84.3, 16.3 2025-01-08T22:46:10.838Z,1736376370.838 [DAT](INFO): DAT read: Bearing 84.3, 16.3 (Local) 2025-01-08T22:46:10.838Z,1736376370.838 [DAT](INFO): Local bearing/azimuth received: Bearing 84.3, 16.3 (Local) 2025-01-08T22:46:10.840Z,1736376370.840 [DAT](INFO): DAT read: Range 10 to 50 : 94.8 m (Round-trip 126.5 ms) speed 0.0 m/s 2025-01-08T22:46:10.840Z,1736376370.840 [DAT](INFO): DAT read: user:2865> 2025-01-08T22:46:10.841Z,1736376370.841 [DAT](INFO): DAT read: Tx time:22:46:10.1626 2025-01-08T22:46:10.841Z,1736376370.841 [DAT](INFO): Ping request sent. 2025-01-08T22:46:10.842Z,1736376370.842 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:10.842Z,1736376370.842 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:10.843Z,1736376370.843 [DAT](INFO): direction in FSK: [0.147348,0.595121,0.790012] 2025-01-08T22:46:10.843Z,1736376370.843 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:10.844Z,1736376370.844 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:10.847Z,1736376370.847 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:10.847Z,1736376370.847 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:11.076Z,1736376371.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:11.077Z,1736376371.077 [DAT](INFO): DAT read: TxSync time:22:46:10.1619 2025-01-08T22:46:11.168Z,1736376371.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:11.210Z,1736376371.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.800003 m, deltaT: 3.529654 s, deltaX: -0.399994 m, approachRate: -0.113324 m/s, rangeRepo size: 4 2025-01-08T22:46:11.216Z,1736376371.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.800003 m, bearing: 89.060227 deg, lat: 36.904711 deg, lon: -122.119788 deg, deltaT: 3.529654 s, deltaX: -0.399994 m, approachRate: -0.113324 m/s, posRepo size: 4 2025-01-08T22:46:11.217Z,1736376371.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-08T22:46:11.224Z,1736376371.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.951275 m, bearing: 92.272657 deg, approach rate: 0.000000 m/s, LOS rate: 0.682121 deg/s, cmd heading: 30.356503 deg, new cmd heading: 31.351328 deg. 2025-01-08T22:46:11.225Z,1736376371.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547184 target range: 94.800003 and range: 94.80 m. 2025-01-08T22:46:11.328Z,1736376371.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:11.509Z,1736376371.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:11.519Z,1736376371.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-08T22:46:11.522Z,1736376371.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.895023 m, bearing: 92.517434 deg, approach rate: -0.178049 m/s, LOS rate: 0.775763 deg/s, cmd heading: 31.351326 deg, new cmd heading: 32.086553 deg. 2025-01-08T22:46:11.523Z,1736376371.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560016 target range: 94.800003 and range: 94.80 m. 2025-01-08T22:46:11.581Z,1736376371.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:11.832Z,1736376371.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:11.922Z,1736376371.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:11.936Z,1736376371.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-08T22:46:11.938Z,1736376371.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.824741 m, bearing: 92.813785 deg, approach rate: -0.168783 m/s, LOS rate: 0.712831 deg/s, cmd heading: 32.086552 deg, new cmd heading: 32.976957 deg. 2025-01-08T22:46:11.939Z,1736376371.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575556 target range: 94.800003 and range: 94.80 m. 2025-01-08T22:46:12.085Z,1736376372.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:12.336Z,1736376372.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:12.365Z,1736376372.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:12.372Z,1736376372.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:12.374Z,1736376372.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-08T22:46:12.377Z,1736376372.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.761707 m, bearing: 93.131994 deg, approach rate: -0.143586 m/s, LOS rate: 0.725890 deg/s, cmd heading: 32.976956 deg, new cmd heading: 33.932864 deg. 2025-01-08T22:46:12.378Z,1736376372.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592240 target range: 94.800003 and range: 94.80 m. 2025-01-08T22:46:12.588Z,1736376372.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:12.588Z,1736376372.588 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:12.588Z,1736376372.588 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:12.589Z,1736376372.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:12.725Z,1736376372.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:12.736Z,1736376372.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-08T22:46:12.738Z,1736376372.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.705921 m, bearing: 93.391858 deg, approach rate: -0.154714 m/s, LOS rate: 0.721607 deg/s, cmd heading: 33.932865 deg, new cmd heading: 34.713399 deg. 2025-01-08T22:46:12.741Z,1736376372.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605863 target range: 94.800003 and range: 94.80 m. 2025-01-08T22:46:12.840Z,1736376372.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:12.841Z,1736376372.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999064 2025-01-08T22:46:13.092Z,1736376373.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:13.093Z,1736376373.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251042 2025-01-08T22:46:13.188Z,1736376373.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:13.196Z,1736376373.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-08T22:46:13.216Z,1736376373.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.639790 m, bearing: 93.721090 deg, approach rate: -0.143305 m/s, LOS rate: 0.714512 deg/s, cmd heading: 34.713398 deg, new cmd heading: 35.702489 deg. 2025-01-08T22:46:13.218Z,1736376373.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623126 target range: 94.800003 and range: 94.80 m. 2025-01-08T22:46:13.344Z,1736376373.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:13.344Z,1736376373.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502867 2025-01-08T22:46:13.554Z,1736376373.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:13.579Z,1736376373.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-08T22:46:13.583Z,1736376373.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.585632 m, bearing: 93.981336 deg, approach rate: -0.147760 m/s, LOS rate: 0.710923 deg/s, cmd heading: 35.702488 deg, new cmd heading: 36.484144 deg. 2025-01-08T22:46:13.585Z,1736376373.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636768 target range: 94.800003 and range: 94.80 m. 2025-01-08T22:46:13.596Z,1736376373.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:13.596Z,1736376373.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754915 2025-01-08T22:46:13.848Z,1736376373.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:13.849Z,1736376373.849 [DAT](INFO): DAT read: Rx Time:22:46:12.6934 2025-01-08T22:46:13.850Z,1736376373.850 [DAT](INFO): Rx dataTimestamp_ set to:1736376373.849351 2025-01-08T22:46:13.850Z,1736376373.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008604 2025-01-08T22:46:13.962Z,1736376373.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:13.973Z,1736376373.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-08T22:46:13.976Z,1736376373.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.523487 m, bearing: 94.270221 deg, approach rate: -0.151512 m/s, LOS rate: 0.705313 deg/s, cmd heading: 36.484145 deg, new cmd heading: 37.351967 deg. 2025-01-08T22:46:13.979Z,1736376373.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651915 target range: 94.800003 and range: 94.80 m. 2025-01-08T22:46:14.100Z,1736376374.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:14.101Z,1736376374.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258997 2025-01-08T22:46:14.354Z,1736376374.354 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:14.356Z,1736376374.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514138 2025-01-08T22:46:14.495Z,1736376374.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:14.504Z,1736376374.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:14.506Z,1736376374.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-08T22:46:14.508Z,1736376374.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.426735 m, bearing: 94.623794 deg, approach rate: -0.181713 m/s, LOS rate: 0.665531 deg/s, cmd heading: 37.351969 deg, new cmd heading: 38.414924 deg. 2025-01-08T22:46:14.509Z,1736376374.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670467 target range: 94.800003 and range: 94.80 m. 2025-01-08T22:46:14.605Z,1736376374.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:14.626Z,1736376374.626 [DAT](INFO): DAT read: 22:46:12.6934 LVL= 19360, 28769, 23234, 21971, AGC= 59, IDX= 445,-0.02, 0.951,-0.460,-1.163,-0.425, PHS= 1.464, 0.012,-0.742, RAW= 70.4, -7.6, CAL= 79.9, -15.1, ROT= 70.1, 15.1 2025-01-08T22:46:14.636Z,1736376374.636 [DAT](INFO): got valid direction response: 22:46:12.6934 LVL= 19360, 28769, 23234, 21971, AGC= 59, IDX= 445,-0.02, 0.951,-0.460,-1.163,-0.425, PHS= 1.464, 0.012,-0.742, RAW= 70.4, -7.6, CAL= 79.9, -15.1, ROT= 70.1, 15.1 2025-01-08T22:46:14.639Z,1736376374.639 [DAT](INFO): DAT read: Bearing 70.1, 15.1 (Local) 2025-01-08T22:46:14.645Z,1736376374.645 [DAT](INFO): Local bearing/azimuth received: Bearing 70.1, 15.1 (Local) 2025-01-08T22:46:14.653Z,1736376374.653 [DAT](INFO): DAT read: Range 10 to 50 : 94.9 m (Round-trip 126.6 ms) speed 0.0 m/s 2025-01-08T22:46:14.659Z,1736376374.659 [DAT](INFO): DAT read: user:2866> 2025-01-08T22:46:14.661Z,1736376374.661 [DAT](INFO): DAT read: Tx time:22:46:13.8126 2025-01-08T22:46:14.662Z,1736376374.662 [DAT](INFO): Ping request sent. 2025-01-08T22:46:14.662Z,1736376374.662 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:14.668Z,1736376374.668 [DAT](INFO): DAT read: TxSync time:22:46:13.8119 2025-01-08T22:46:14.669Z,1736376374.669 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:14.670Z,1736376374.670 [DAT](INFO): direction in FSK: [0.092907,0.417075,0.904111] 2025-01-08T22:46:14.671Z,1736376374.671 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:14.676Z,1736376374.676 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:14.685Z,1736376374.685 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:14.685Z,1736376374.685 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:14.856Z,1736376374.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:14.874Z,1736376374.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:14.910Z,1736376374.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.900002 m, deltaT: 3.779699 s, deltaX: 0.099998 m, approachRate: 0.026457 m/s, rangeRepo size: 4 2025-01-08T22:46:14.916Z,1736376374.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.900002 m, bearing: 90.098704 deg, lat: 36.904711 deg, lon: -122.119788 deg, deltaT: 3.779699 s, deltaX: 0.099998 m, approachRate: 0.026457 m/s, posRepo size: 4 2025-01-08T22:46:14.917Z,1736376374.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-01-08T22:46:14.924Z,1736376374.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.900002 m, nav range: 43.355801 m, bearing: 94.874966 deg, approach rate: 0.000000 m/s, LOS rate: 0.665531 deg/s, cmd heading: 38.414924 deg, new cmd heading: 39.220480 deg. 2025-01-08T22:46:14.925Z,1736376374.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684527 target range: 94.900002 and range: 94.90 m. 2025-01-08T22:46:15.109Z,1736376375.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:15.304Z,1736376375.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:15.314Z,1736376375.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-01-08T22:46:15.317Z,1736376375.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.900002 m, nav range: 43.269718 m, bearing: 95.149229 deg, approach rate: -0.212965 m/s, LOS rate: 0.679862 deg/s, cmd heading: 39.220480 deg, new cmd heading: 40.044844 deg. 2025-01-08T22:46:15.318Z,1736376375.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698914 target range: 94.900002 and range: 94.90 m. 2025-01-08T22:46:15.361Z,1736376375.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:15.612Z,1736376375.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:15.686Z,1736376375.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:15.694Z,1736376375.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-01-08T22:46:15.698Z,1736376375.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.900002 m, nav range: 43.190884 m, bearing: 95.391266 deg, approach rate: -0.206806 m/s, LOS rate: 0.636090 deg/s, cmd heading: 40.044846 deg, new cmd heading: 40.772241 deg. 2025-01-08T22:46:15.700Z,1736376375.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711610 target range: 94.900002 and range: 94.90 m. 2025-01-08T22:46:15.864Z,1736376375.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:16.116Z,1736376376.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:16.132Z,1736376376.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:16.141Z,1736376376.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-01-08T22:46:16.143Z,1736376376.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.900002 m, nav range: 43.086269 m, bearing: 95.658184 deg, approach rate: -0.234451 m/s, LOS rate: 0.599640 deg/s, cmd heading: 40.772241 deg, new cmd heading: 41.574884 deg. 2025-01-08T22:46:16.144Z,1736376376.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725619 target range: 94.900002 and range: 94.90 m. 2025-01-08T22:46:16.368Z,1736376376.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:16.473Z,1736376376.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:16.499Z,1736376376.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-01-08T22:46:16.505Z,1736376376.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.900002 m, nav range: 43.004589 m, bearing: 95.862065 deg, approach rate: -0.228136 m/s, LOS rate: 0.570527 deg/s, cmd heading: 41.574883 deg, new cmd heading: 42.187664 deg. 2025-01-08T22:46:16.506Z,1736376376.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.736314 target range: 94.900002 and range: 94.90 m. 2025-01-08T22:46:16.621Z,1736376376.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:16.872Z,1736376376.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:16.890Z,1736376376.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:16.905Z,1736376376.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:16.909Z,1736376376.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-01-08T22:46:16.916Z,1736376376.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.900002 m, nav range: 42.902824 m, bearing: 96.110014 deg, approach rate: -0.248070 m/s, LOS rate: 0.605852 deg/s, cmd heading: 42.187664 deg, new cmd heading: 42.933229 deg. 2025-01-08T22:46:16.918Z,1736376376.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749326 target range: 94.900002 and range: 94.90 m. 2025-01-08T22:46:17.124Z,1736376377.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:17.124Z,1736376377.124 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:17.124Z,1736376377.124 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:17.125Z,1736376377.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:17.319Z,1736376377.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:17.327Z,1736376377.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-01-08T22:46:17.330Z,1736376377.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.900002 m, nav range: 42.789413 m, bearing: 96.359498 deg, approach rate: -0.271206 m/s, LOS rate: 0.598186 deg/s, cmd heading: 42.933230 deg, new cmd heading: 43.683621 deg. 2025-01-08T22:46:17.332Z,1736376377.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762423 target range: 94.900002 and range: 94.90 m. 2025-01-08T22:46:17.377Z,1736376377.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:17.378Z,1736376377.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715466 2025-01-08T22:46:17.628Z,1736376377.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:17.628Z,1736376377.628 [DAT](INFO): DAT read: Rx Time:22:46:16.3424 2025-01-08T22:46:17.629Z,1736376377.629 [DAT](INFO): Rx dataTimestamp_ set to:1736376377.628669 2025-01-08T22:46:17.629Z,1736376377.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967368 2025-01-08T22:46:17.699Z,1736376377.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:17.708Z,1736376377.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-01-08T22:46:17.711Z,1736376377.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.900002 m, nav range: 42.687004 m, bearing: 96.580118 deg, approach rate: -0.268741 m/s, LOS rate: 0.580335 deg/s, cmd heading: 43.683622 deg, new cmd heading: 44.347039 deg. 2025-01-08T22:46:17.712Z,1736376377.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774002 target range: 94.900002 and range: 94.90 m. 2025-01-08T22:46:17.880Z,1736376377.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:17.881Z,1736376377.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219226 2025-01-08T22:46:18.132Z,1736376378.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:18.138Z,1736376378.138 [DAT](INFO): DAT read: 22:46:16.3424 LVL= 17456, 32753, 24386, 32755, AGC= 56, IDX= 435, 0.39, 0.259,-1.367,-1.522,-0.983, PHS= 1.329,-0.337,-0.542, RAW= 84.3, -5.1, CAL= 92.9, -12.6, ROT= 57.1, 12.6 2025-01-08T22:46:18.140Z,1736376378.140 [DAT](INFO): got valid direction response: 22:46:16.3424 LVL= 17456, 32753, 24386, 32755, AGC= 56, IDX= 435, 0.39, 0.259,-1.367,-1.522,-0.983, PHS= 1.329,-0.337,-0.542, RAW= 84.3, -5.1, CAL= 92.9, -12.6, ROT= 57.1, 12.6 2025-01-08T22:46:18.141Z,1736376378.141 [DAT](INFO): DAT read: Bearing 57.1, 12.6 (Local) 2025-01-08T22:46:18.141Z,1736376378.141 [DAT](INFO): Local bearing/azimuth received: Bearing 57.1, 12.6 (Local) 2025-01-08T22:46:18.142Z,1736376378.142 [DAT](INFO): DAT read: Range 10 to 50 : 94.2 m (Round-trip 125.6 ms) speed 0.4 m/s 2025-01-08T22:46:18.143Z,1736376378.143 [DAT](INFO): DAT read: user:2867> 2025-01-08T22:46:18.144Z,1736376378.144 [DAT](INFO): DAT read: Tx time:22:46:17.4626 2025-01-08T22:46:18.144Z,1736376378.144 [DAT](INFO): Ping request sent. 2025-01-08T22:46:18.144Z,1736376378.144 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:18.145Z,1736376378.145 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:18.146Z,1736376378.146 [DAT](INFO): direction in FSK: [0.021727,0.199550,0.979647] 2025-01-08T22:46:18.146Z,1736376378.146 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:18.146Z,1736376378.146 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:18.150Z,1736376378.150 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:18.150Z,1736376378.150 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:18.239Z,1736376378.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:18.303Z,1736376378.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.199997 m, deltaT: 3.526720 s, deltaX: -0.700005 m, approachRate: -0.198486 m/s, rangeRepo size: 4 2025-01-08T22:46:18.317Z,1736376378.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.199997 m, bearing: 339.433312 deg, lat: 36.904732 deg, lon: -122.119843 deg, deltaT: 3.526720 s, deltaX: -0.700005 m, approachRate: -0.198486 m/s, posRepo size: 4 2025-01-08T22:46:18.318Z,1736376378.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.20 m. 2025-01-08T22:46:18.325Z,1736376378.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.199997 m, nav range: 37.491142 m, bearing: 94.152966 deg, approach rate: 0.000000 m/s, LOS rate: 0.580335 deg/s, cmd heading: 44.347039 deg, new cmd heading: 45.377607 deg. 2025-01-08T22:46:18.326Z,1736376378.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791989 target range: 94.199997 and range: 94.20 m. 2025-01-08T22:46:18.384Z,1736376378.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:18.386Z,1736376378.386 [DAT](INFO): DAT read: TxSync time:22:46:17.4619 2025-01-08T22:46:18.622Z,1736376378.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:18.636Z,1736376378.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:18.640Z,1736376378.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.20 m. 2025-01-08T22:46:18.648Z,1736376378.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.199997 m, nav range: 37.369247 m, bearing: 94.391303 deg, approach rate: -0.358276 m/s, LOS rate: 0.702808 deg/s, cmd heading: 45.377608 deg, new cmd heading: 46.094912 deg. 2025-01-08T22:46:18.649Z,1736376378.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804508 target range: 94.199997 and range: 94.20 m. 2025-01-08T22:46:18.888Z,1736376378.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:18.000Z,1736376379.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:19.006Z,1736376379.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:19.009Z,1736376379.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.20 m. 2025-01-08T22:46:19.012Z,1736376379.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.199997 m, nav range: 37.247833 m, bearing: 94.623966 deg, approach rate: -0.329624 m/s, LOS rate: 0.633707 deg/s, cmd heading: 46.094911 deg, new cmd heading: 46.795138 deg. 2025-01-08T22:46:19.013Z,1736376379.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816729 target range: 94.199997 and range: 94.20 m. 2025-01-08T22:46:19.140Z,1736376379.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:19.140Z,1736376379.140 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:19.140Z,1736376379.140 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:19.141Z,1736376379.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:19.392Z,1736376379.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:19.393Z,1736376379.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248109 2025-01-08T22:46:19.472Z,1736376379.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:19.498Z,1736376379.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.20 m. 2025-01-08T22:46:19.505Z,1736376379.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.199997 m, nav range: 37.092873 m, bearing: 94.920604 deg, approach rate: -0.316980 m/s, LOS rate: 0.609321 deg/s, cmd heading: 46.795139 deg, new cmd heading: 47.688695 deg. 2025-01-08T22:46:19.506Z,1736376379.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832325 target range: 94.199997 and range: 94.20 m. 2025-01-08T22:46:19.644Z,1736376379.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:19.645Z,1736376379.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500624 2025-01-08T22:46:19.808Z,1736376379.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:19.817Z,1736376379.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.20 m. 2025-01-08T22:46:19.820Z,1736376379.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.199997 m, nav range: 36.979046 m, bearing: 95.127208 deg, approach rate: -0.355942 m/s, LOS rate: 0.648048 deg/s, cmd heading: 47.688695 deg, new cmd heading: 48.310388 deg. 2025-01-08T22:46:19.821Z,1736376379.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.843175 target range: 94.199997 and range: 94.20 m. 2025-01-08T22:46:19.896Z,1736376379.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:19.898Z,1736376379.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753138 2025-01-08T22:46:20.148Z,1736376380.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:20.149Z,1736376380.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004447 2025-01-08T22:46:20.261Z,1736376380.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:20.296Z,1736376380.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.20 m. 2025-01-08T22:46:20.307Z,1736376380.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.199997 m, nav range: 36.821182 m, bearing: 95.407515 deg, approach rate: -0.333211 m/s, LOS rate: 0.594193 deg/s, cmd heading: 48.310389 deg, new cmd heading: 49.154852 deg. 2025-01-08T22:46:20.312Z,1736376380.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.857914 target range: 94.199997 and range: 94.20 m. 2025-01-08T22:46:20.402Z,1736376380.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:20.402Z,1736376380.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257834 2025-01-08T22:46:20.622Z,1736376380.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:20.632Z,1736376380.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.20 m. 2025-01-08T22:46:20.634Z,1736376380.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.199997 m, nav range: 36.688278 m, bearing: 95.634293 deg, approach rate: -0.391336 m/s, LOS rate: 0.670165 deg/s, cmd heading: 49.154853 deg, new cmd heading: 49.837617 deg. 2025-01-08T22:46:20.637Z,1736376380.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869830 target range: 94.199997 and range: 94.20 m. 2025-01-08T22:46:20.654Z,1736376380.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:20.656Z,1736376380.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511118 2025-01-08T22:46:20.904Z,1736376380.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:20.904Z,1736376380.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759903 2025-01-08T22:46:21.032Z,1736376381.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:21.039Z,1736376381.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:21.042Z,1736376381.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.20 m. 2025-01-08T22:46:21.050Z,1736376381.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.199997 m, nav range: 36.538200 m, bearing: 95.886749 deg, approach rate: -0.365209 m/s, LOS rate: 0.616863 deg/s, cmd heading: 49.837616 deg, new cmd heading: 50.598047 deg. 2025-01-08T22:46:21.051Z,1736376381.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.883103 target range: 94.199997 and range: 94.20 m. 2025-01-08T22:46:21.157Z,1736376381.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:21.160Z,1736376381.160 [DAT](INFO): DAT read: Rx Time:22:46:19.9909 2025-01-08T22:46:21.162Z,1736376381.162 [DAT](INFO): Rx dataTimestamp_ set to:1736376381.160739 2025-01-08T22:46:21.164Z,1736376381.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019203 2025-01-08T22:46:21.408Z,1736376381.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:21.410Z,1736376381.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265222 2025-01-08T22:46:21.484Z,1736376381.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:21.492Z,1736376381.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.20 m. 2025-01-08T22:46:21.495Z,1736376381.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.199997 m, nav range: 36.372578 m, bearing: 96.174373 deg, approach rate: -0.367630 m/s, LOS rate: 0.641338 deg/s, cmd heading: 50.598048 deg, new cmd heading: 51.464780 deg. 2025-01-08T22:46:21.496Z,1736376381.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.898230 target range: 94.199997 and range: 94.20 m. 2025-01-08T22:46:21.662Z,1736376381.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:21.665Z,1736376381.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520248 2025-01-08T22:46:21.850Z,1736376381.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:21.858Z,1736376381.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.20 m. 2025-01-08T22:46:21.861Z,1736376381.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.199997 m, nav range: 36.238937 m, bearing: 96.409566 deg, approach rate: -0.364924 m/s, LOS rate: 0.644595 deg/s, cmd heading: 51.464779 deg, new cmd heading: 52.172922 deg. 2025-01-08T22:46:21.862Z,1736376381.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910589 target range: 94.199997 and range: 94.20 m. 2025-01-08T22:46:21.913Z,1736376381.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:21.923Z,1736376381.923 [DAT](INFO): DAT read: 22:46:19.9909 LVL= 18896, 30065, 23170, 30451, AGC= 56, IDX= 418, 0.12,-1.525,-3.135,-3.051,-2.511, PHS= 1.074,-0.577,-0.544, RAW= 91.0, 0.6, CAL= 98.8, -3.2, ROT= 51.2, 3.2 2025-01-08T22:46:21.924Z,1736376381.924 [DAT](INFO): got valid direction response: 22:46:19.9909 LVL= 18896, 30065, 23170, 30451, AGC= 56, IDX= 418, 0.12,-1.525,-3.135,-3.051,-2.511, PHS= 1.074,-0.577,-0.544, RAW= 91.0, 0.6, CAL= 98.8, -3.2, ROT= 51.2, 3.2 2025-01-08T22:46:21.925Z,1736376381.925 [DAT](INFO): DAT read: Bearing 51.2, 3.2 (Local) 2025-01-08T22:46:21.926Z,1736376381.926 [DAT](INFO): Local bearing/azimuth received: Bearing 51.2, 3.2 (Local) 2025-01-08T22:46:21.933Z,1736376381.933 [DAT](INFO): DAT read: Range 10 to 50 : 93.0 m (Round-trip 124.0 ms) speed 0.2 m/s 2025-01-08T22:46:21.934Z,1736376381.934 [DAT](INFO): DAT read: user:2868> 2025-01-08T22:46:21.935Z,1736376381.935 [DAT](INFO): DAT read: Tx time:22:46:21.1127 2025-01-08T22:46:21.940Z,1736376381.940 [DAT](INFO): Ping request sent. 2025-01-08T22:46:21.940Z,1736376381.940 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:21.940Z,1736376381.940 [DAT](INFO): DAT read: TxSync time:22:46:21.1120 2025-01-08T22:46:21.941Z,1736376381.941 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:21.942Z,1736376381.942 [DAT](INFO): direction in FSK: [-0.097806,0.090880,0.991047] 2025-01-08T22:46:21.942Z,1736376381.942 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:21.943Z,1736376381.943 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:21.964Z,1736376381.964 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:21.964Z,1736376381.964 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:22.174Z,1736376382.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:22.308Z,1736376382.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:22.342Z,1736376382.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.000000 m, deltaT: 3.780967 s, deltaX: -1.199997 m, approachRate: -0.317378 m/s, rangeRepo size: 4 2025-01-08T22:46:22.352Z,1736376382.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.000000 m, bearing: 284.436880 deg, lat: 36.904744 deg, lon: -122.120059 deg, deltaT: 3.780967 s, deltaX: -1.199997 m, approachRate: -0.317378 m/s, posRepo size: 4 2025-01-08T22:46:22.353Z,1736376382.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-08T22:46:22.360Z,1736376382.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 16.842953 m, bearing: 100.069473 deg, approach rate: 0.000000 m/s, LOS rate: 0.644595 deg/s, cmd heading: 52.172922 deg, new cmd heading: 53.106067 deg. 2025-01-08T22:46:22.363Z,1736376382.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.926876 target range: 93.000000 and range: 93.00 m. 2025-01-08T22:46:22.420Z,1736376382.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:22.672Z,1736376382.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:22.674Z,1736376382.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:22.709Z,1736376382.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-08T22:46:22.720Z,1736376382.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 16.713589 m, bearing: 100.595910 deg, approach rate: -0.351720 m/s, LOS rate: 1.442355 deg/s, cmd heading: 53.106066 deg, new cmd heading: 54.697169 deg. 2025-01-08T22:46:22.721Z,1736376382.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.954646 target range: 93.000000 and range: 93.00 m. 2025-01-08T22:46:22.924Z,1736376382.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:23.053Z,1736376383.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:23.060Z,1736376383.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:23.062Z,1736376383.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-08T22:46:23.066Z,1736376383.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 16.578775 m, bearing: 101.140833 deg, approach rate: -0.381362 m/s, LOS rate: 1.553997 deg/s, cmd heading: 54.697169 deg, new cmd heading: 56.344752 deg. 2025-01-08T22:46:23.067Z,1736376383.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983401 target range: 93.000000 and range: 93.00 m. 2025-01-08T22:46:23.178Z,1736376383.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:23.179Z,1736376383.179 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:23.180Z,1736376383.180 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:23.181Z,1736376383.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:23.428Z,1736376383.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:23.428Z,1736376383.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488483 2025-01-08T22:46:23.482Z,1736376383.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:23.491Z,1736376383.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-08T22:46:23.494Z,1736376383.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 16.426138 m, bearing: 101.774662 deg, approach rate: -0.356179 m/s, LOS rate: 1.492751 deg/s, cmd heading: 56.344751 deg, new cmd heading: 58.263153 deg. 2025-01-08T22:46:23.495Z,1736376383.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.016884 target range: 93.000000 and range: 93.00 m. 2025-01-08T22:46:23.684Z,1736376383.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:23.686Z,1736376383.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746224 2025-01-08T22:46:23.849Z,1736376383.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:23.858Z,1736376383.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-08T22:46:23.861Z,1736376383.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 16.294838 m, bearing: 102.321618 deg, approach rate: -0.358084 m/s, LOS rate: 1.503665 deg/s, cmd heading: 58.263153 deg, new cmd heading: 59.916758 deg. 2025-01-08T22:46:23.862Z,1736376383.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.045745 target range: 93.000000 and range: 93.00 m. 2025-01-08T22:46:23.932Z,1736376383.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:23.933Z,1736376383.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992829 2025-01-08T22:46:24.185Z,1736376384.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:24.187Z,1736376384.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246790 2025-01-08T22:46:24.276Z,1736376384.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:24.306Z,1736376384.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-08T22:46:24.313Z,1736376384.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 16.151949 m, bearing: 102.962428 deg, approach rate: -0.318430 m/s, LOS rate: 1.440655 deg/s, cmd heading: 59.916755 deg, new cmd heading: 61.855411 deg. 2025-01-08T22:46:24.314Z,1736376384.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079581 target range: 93.000000 and range: 93.00 m. 2025-01-08T22:46:24.436Z,1736376384.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:24.436Z,1736376384.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496640 2025-01-08T22:46:24.666Z,1736376384.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:24.688Z,1736376384.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:24.689Z,1736376384.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748813 2025-01-08T22:46:24.701Z,1736376384.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-08T22:46:24.716Z,1736376384.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 16.021183 m, bearing: 103.550973 deg, approach rate: -0.331552 m/s, LOS rate: 1.504388 deg/s, cmd heading: 61.855409 deg, new cmd heading: 63.634851 deg. 2025-01-08T22:46:24.720Z,1736376384.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.110638 target range: 93.000000 and range: 93.00 m. 2025-01-08T22:46:24.940Z,1736376384.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:24.941Z,1736376384.941 [DAT](INFO): DAT read: Rx Time:22:46:23.6396 2025-01-08T22:46:24.941Z,1736376384.941 [DAT](INFO): Rx dataTimestamp_ set to:1736376384.941002 2025-01-08T22:46:24.942Z,1736376384.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002051 2025-01-08T22:46:25.064Z,1736376385.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:25.071Z,1736376385.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:25.073Z,1736376385.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-08T22:46:25.076Z,1736376385.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 15.887035 m, bearing: 104.156712 deg, approach rate: -0.359913 m/s, LOS rate: 1.638868 deg/s, cmd heading: 63.634851 deg, new cmd heading: 65.466752 deg. 2025-01-08T22:46:25.077Z,1736376385.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.142610 target range: 93.000000 and range: 93.00 m. 2025-01-08T22:46:25.194Z,1736376385.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:25.197Z,1736376385.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256539 2025-01-08T22:46:25.444Z,1736376385.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:25.451Z,1736376385.451 [DAT](INFO): DAT read: 22:46:23.6396 LVL= 21744, 32177, 26162, 32755, AGC= 60, IDX= 421, 0.30,-1.808, 2.800, 3.100,-2.696, PHS= 0.976,-0.740,-0.490, RAW= 97.8, 3.2, CAL= 107.5, 1.2, ROT= 42.5, -1.2 2025-01-08T22:46:25.453Z,1736376385.453 [DAT](INFO): got valid direction response: 22:46:23.6396 LVL= 21744, 32177, 26162, 32755, AGC= 60, IDX= 421, 0.30,-1.808, 2.800, 3.100,-2.696, PHS= 0.976,-0.740,-0.490, RAW= 97.8, 3.2, CAL= 107.5, 1.2, ROT= 42.5, -1.2 2025-01-08T22:46:25.454Z,1736376385.454 [DAT](INFO): DAT read: Bearing 42.5, -1.2 (Local) 2025-01-08T22:46:25.454Z,1736376385.454 [DAT](INFO): Local bearing/azimuth received: Bearing 42.5, -1.2 (Local) 2025-01-08T22:46:25.456Z,1736376385.456 [DAT](INFO): DAT read: Range 10 to 50 : 92.0 m (Round-trip 122.7 ms) speed 0.3 m/s 2025-01-08T22:46:25.457Z,1736376385.457 [DAT](INFO): DAT read: user:2869> 2025-01-08T22:46:25.457Z,1736376385.457 [DAT](INFO): DAT read: Tx time:22:46:24.7627 2025-01-08T22:46:25.458Z,1736376385.458 [DAT](INFO): Ping request sent. 2025-01-08T22:46:25.458Z,1736376385.458 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:25.458Z,1736376385.458 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:25.459Z,1736376385.459 [DAT](INFO): direction in FSK: [-0.157896,-0.024318,0.987156] 2025-01-08T22:46:25.459Z,1736376385.459 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:25.460Z,1736376385.460 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:25.463Z,1736376385.463 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:25.463Z,1736376385.463 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:25.555Z,1736376385.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:25.596Z,1736376385.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.000000 m, deltaT: 3.530978 s, deltaX: -1.000000 m, approachRate: -0.283208 m/s, rangeRepo size: 4 2025-01-08T22:46:25.603Z,1736376385.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.000000 m, bearing: 293.067038 deg, lat: 36.904798 deg, lon: -122.120283 deg, deltaT: 3.530978 s, deltaX: -1.000000 m, approachRate: -0.283208 m/s, posRepo size: 4 2025-01-08T22:46:25.604Z,1736376385.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-01-08T22:46:25.607Z,1736376385.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.000000 m, nav range: 5.130079 m, bearing: 293.510451 deg, approach rate: 0.000000 m/s, LOS rate: 1.638868 deg/s, cmd heading: 65.466755 deg, new cmd heading: 68.008647 deg. 2025-01-08T22:46:25.612Z,1736376385.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186975 target range: 92.000000 and range: 92.00 m. 2025-01-08T22:46:25.697Z,1736376385.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:25.698Z,1736376385.698 [DAT](INFO): DAT read: TxSync time:22:46:24.7620 2025-01-08T22:46:25.921Z,1736376385.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:25.949Z,1736376385.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:25.954Z,1736376385.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-01-08T22:46:25.961Z,1736376385.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.000000 m, nav range: 5.238142 m, bearing: 291.628863 deg, approach rate: 0.297586 m/s, LOS rate: -5.073776 deg/s, cmd heading: 68.008644 deg, new cmd heading: 62.498374 deg. 2025-01-08T22:46:25.962Z,1736376385.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.090802 target range: 92.000000 and range: 92.00 m. 2025-01-08T22:46:26.201Z,1736376386.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:26.331Z,1736376386.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:26.343Z,1736376386.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-01-08T22:46:26.346Z,1736376386.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.000000 m, nav range: 5.360130 m, bearing: 289.729321 deg, approach rate: 0.313714 m/s, LOS rate: -4.772949 deg/s, cmd heading: 62.498376 deg, new cmd heading: 56.947892 deg. 2025-01-08T22:46:26.347Z,1736376386.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993928 target range: 92.000000 and range: 92.00 m. 2025-01-08T22:46:26.452Z,1736376386.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:26.701Z,1736376386.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:26.704Z,1736376386.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:26.711Z,1736376386.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-01-08T22:46:26.715Z,1736376386.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.000000 m, nav range: 5.481481 m, bearing: 288.138096 deg, approach rate: 0.329772 m/s, LOS rate: -4.227885 deg/s, cmd heading: 56.947891 deg, new cmd heading: 52.290779 deg. 2025-01-08T22:46:26.716Z,1736376386.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.912646 target range: 92.000000 and range: 92.00 m. 2025-01-08T22:46:26.956Z,1736376386.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:27.100Z,1736376387.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:27.107Z,1736376387.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:27.109Z,1736376387.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-01-08T22:46:27.112Z,1736376387.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.000000 m, nav range: 5.619594 m, bearing: 286.529240 deg, approach rate: 0.346456 m/s, LOS rate: -3.936105 deg/s, cmd heading: 52.290777 deg, new cmd heading: 47.594000 deg. 2025-01-08T22:46:27.113Z,1736376387.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830672 target range: 92.000000 and range: 92.00 m. 2025-01-08T22:46:27.209Z,1736376387.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:27.211Z,1736376387.211 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:27.212Z,1736376387.212 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:27.212Z,1736376387.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:27.461Z,1736376387.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:27.463Z,1736376387.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004630 2025-01-08T22:46:27.509Z,1736376387.509 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS447325210.9, 0.0,1493.3, 0 2025-01-08T22:46:27.518Z,1736376387.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:46:27.519Z,1736376387.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:27.533Z,1736376387.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-01-08T22:46:27.536Z,1736376387.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.000000 m, nav range: 5.768666 m, bearing: 284.929117 deg, approach rate: 0.351869 m/s, LOS rate: -3.678841 deg/s, cmd heading: 47.594001 deg, new cmd heading: 42.928628 deg. 2025-01-08T22:46:27.537Z,1736376387.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749246 target range: 92.000000 and range: 92.00 m. 2025-01-08T22:46:27.712Z,1736376387.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:27.712Z,1736376387.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254705 2025-01-08T22:46:27.917Z,1736376387.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:46:27.917Z,1736376387.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:27.926Z,1736376387.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-01-08T22:46:27.930Z,1736376387.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.000000 m, nav range: 5.920694 m, bearing: 283.537803 deg, approach rate: 0.386694 m/s, LOS rate: -3.447706 deg/s, cmd heading: 42.928627 deg, new cmd heading: 38.869068 deg. 2025-01-08T22:46:27.932Z,1736376387.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678393 target range: 92.000000 and range: 92.00 m. 2025-01-08T22:46:27.965Z,1736376387.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:27.966Z,1736376387.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508104 2025-01-08T22:46:28.217Z,1736376388.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:28.221Z,1736376388.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762911 2025-01-08T22:46:28.333Z,1736376388.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:28.342Z,1736376388.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-01-08T22:46:28.345Z,1736376388.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.000000 m, nav range: 6.089017 m, bearing: 282.263998 deg, approach rate: 0.405159 m/s, LOS rate: -2.981089 deg/s, cmd heading: 38.869070 deg, new cmd heading: 35.158793 deg. 2025-01-08T22:46:28.346Z,1736376388.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613637 target range: 92.000000 and range: 92.00 m. 2025-01-08T22:46:28.468Z,1736376388.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:28.470Z,1736376388.470 [DAT](INFO): DAT read: Rx Time:22:46:27.2876 2025-01-08T22:46:28.472Z,1736376388.472 [DAT](INFO): Rx dataTimestamp_ set to:1736376388.471434 2025-01-08T22:46:28.474Z,1736376388.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015721 2025-01-08T22:46:28.720Z,1736376388.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:28.720Z,1736376388.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262484 2025-01-08T22:46:28.726Z,1736376388.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:28.736Z,1736376388.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-01-08T22:46:28.739Z,1736376388.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.000000 m, nav range: 6.250543 m, bearing: 281.124911 deg, approach rate: 0.409274 m/s, LOS rate: -2.811441 deg/s, cmd heading: 35.158791 deg, new cmd heading: 31.833797 deg. 2025-01-08T22:46:28.740Z,1736376388.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555605 target range: 92.000000 and range: 92.00 m. 2025-01-08T22:46:28.973Z,1736376388.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:28.000Z,1736376389.000 [DAT](INFO): DAT read: 22:46:27.2876 LVL= 22688, 32753, 27970, 32755, AGC= 61, IDX= 417, 0.20,-1.918, 2.745,-2.983,-2.660, PHS= 0.830,-0.831,-0.326, RAW= 107.2, 4.5, CAL= 118.2, 2.0, ROT= 31.8, -2.0 2025-01-08T22:46:29.001Z,1736376389.001 [DAT](INFO): got valid direction response: 22:46:27.2876 LVL= 22688, 32753, 27970, 32755, AGC= 61, IDX= 417, 0.20,-1.918, 2.745,-2.983,-2.660, PHS= 0.830,-0.831,-0.326, RAW= 107.2, 4.5, CAL= 118.2, 2.0, ROT= 31.8, -2.0 2025-01-08T22:46:29.001Z,1736376389.001 [DAT](INFO): DAT read: Bearing 31.8, -2.0 (Local) 2025-01-08T22:46:29.002Z,1736376389.002 [DAT](INFO): Local bearing/azimuth received: Bearing 31.8, -2.0 (Local) 2025-01-08T22:46:29.003Z,1736376389.003 [DAT](INFO): DAT read: Range 10 to 50 : 90.6 m (Round-trip 120.8 ms) speed 0.6 m/s 2025-01-08T22:46:29.004Z,1736376389.004 [DAT](INFO): DAT read: user:2870> 2025-01-08T22:46:29.005Z,1736376389.005 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:29.005Z,1736376389.005 [DAT](INFO): direction in FSK: [-0.194792,-0.189459,0.962373] 2025-01-08T22:46:29.006Z,1736376389.006 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:29.013Z,1736376389.013 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:29.013Z,1736376389.013 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:29.013Z,1736376389.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:29.133Z,1736376389.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:29.159Z,1736376389.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.530598 s, deltaX: -1.400002 m, approachRate: -0.396534 m/s, rangeRepo size: 4 2025-01-08T22:46:29.166Z,1736376389.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.599998 m, bearing: 307.354277 deg, lat: 36.904806 deg, lon: -122.120420 deg, deltaT: 3.530598 s, deltaX: -1.400002 m, approachRate: -0.396534 m/s, posRepo size: 4 2025-01-08T22:46:29.167Z,1736376389.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:46:29.174Z,1736376389.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 18.603682 m, bearing: 276.046415 deg, approach rate: 0.000000 m/s, LOS rate: -2.811441 deg/s, cmd heading: 31.833797 deg, new cmd heading: 28.281106 deg. 2025-01-08T22:46:29.175Z,1736376389.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493598 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:46:29.226Z,1736376389.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:29.229Z,1736376389.229 [DAT](INFO): DAT read: Tx time:22:46:28.4127 2025-01-08T22:46:29.230Z,1736376389.230 [DAT](INFO): Ping request sent. 2025-01-08T22:46:29.230Z,1736376389.230 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:29.233Z,1736376389.233 [DAT](INFO): DAT read: TxSync time:22:46:28.4120 2025-01-08T22:46:29.234Z,1736376389.234 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:29.237Z,1736376389.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006614 2025-01-08T22:46:29.478Z,1736376389.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:29.480Z,1736376389.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249422 2025-01-08T22:46:29.554Z,1736376389.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:29.560Z,1736376389.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:29.562Z,1736376389.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:46:29.566Z,1736376389.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 18.802097 m, bearing: 275.757881 deg, approach rate: 0.490651 m/s, LOS rate: -0.705965 deg/s, cmd heading: 28.281105 deg, new cmd heading: 27.424707 deg. 2025-01-08T22:46:29.568Z,1736376389.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478651 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:46:29.730Z,1736376389.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:29.733Z,1736376389.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503542 2025-01-08T22:46:29.924Z,1736376389.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:29.934Z,1736376389.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:46:29.937Z,1736376389.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 18.978607 m, bearing: 275.519121 deg, approach rate: 0.475494 m/s, LOS rate: -0.637205 deg/s, cmd heading: 27.424707 deg, new cmd heading: 26.715125 deg. 2025-01-08T22:46:29.938Z,1736376389.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466267 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:46:29.980Z,1736376389.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:29.981Z,1736376389.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751336 2025-01-08T22:46:30.234Z,1736376390.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:30.236Z,1736376390.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005651 2025-01-08T22:46:30.361Z,1736376390.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:30.369Z,1736376390.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:46:30.372Z,1736376390.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 19.190577 m, bearing: 275.257842 deg, approach rate: 0.486998 m/s, LOS rate: -0.593654 deg/s, cmd heading: 26.715124 deg, new cmd heading: 25.939995 deg. 2025-01-08T22:46:30.373Z,1736376390.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452738 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:46:30.484Z,1736376390.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:30.485Z,1736376390.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254718 2025-01-08T22:46:30.736Z,1736376390.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:30.737Z,1736376390.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506760 2025-01-08T22:46:30.738Z,1736376390.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:30.765Z,1736376390.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:46:30.771Z,1736376390.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 19.375063 m, bearing: 275.042237 deg, approach rate: 0.487290 m/s, LOS rate: -0.564060 deg/s, cmd heading: 25.939995 deg, new cmd heading: 25.299367 deg. 2025-01-08T22:46:30.773Z,1736376390.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441557 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:46:30.988Z,1736376390.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:30.988Z,1736376390.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758420 2025-01-08T22:46:31.140Z,1736376391.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:31.149Z,1736376391.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:46:31.152Z,1736376391.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 19.571697 m, bearing: 274.820830 deg, approach rate: 0.489981 m/s, LOS rate: -0.546167 deg/s, cmd heading: 25.299367 deg, new cmd heading: 24.641849 deg. 2025-01-08T22:46:31.153Z,1736376391.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430081 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:46:31.240Z,1736376391.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:31.240Z,1736376391.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010604 2025-01-08T22:46:31.492Z,1736376391.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:31.493Z,1736376391.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262683 2025-01-08T22:46:31.596Z,1736376391.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:31.604Z,1736376391.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:31.606Z,1736376391.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:46:31.629Z,1736376391.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 19.804483 m, bearing: 274.561842 deg, approach rate: 0.509088 m/s, LOS rate: -0.559729 deg/s, cmd heading: 24.641849 deg, new cmd heading: 23.874069 deg. 2025-01-08T22:46:31.630Z,1736376391.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416681 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:46:31.744Z,1736376391.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:31.744Z,1736376391.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514589 2025-01-08T22:46:31.945Z,1736376391.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:31.955Z,1736376391.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:46:31.958Z,1736376391.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 19.982172 m, bearing: 274.366747 deg, approach rate: 0.509579 m/s, LOS rate: -0.554522 deg/s, cmd heading: 23.874069 deg, new cmd heading: 23.294008 deg. 2025-01-08T22:46:31.959Z,1736376391.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.406557 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:46:31.996Z,1736376391.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:31.998Z,1736376391.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767970 2025-01-08T22:46:32.249Z,1736376392.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:32.252Z,1736376392.252 [DAT](INFO): DAT read: Rx Time:22:46:30.9351 2025-01-08T22:46:32.254Z,1736376392.254 [DAT](INFO): Rx dataTimestamp_ set to:1736376392.252829 2025-01-08T22:46:32.256Z,1736376392.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025794 2025-01-08T22:46:32.386Z,1736376392.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:32.395Z,1736376392.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:46:32.398Z,1736376392.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 20.212776 m, bearing: 274.133511 deg, approach rate: 0.524144 m/s, LOS rate: -0.524076 deg/s, cmd heading: 23.294008 deg, new cmd heading: 22.602320 deg. 2025-01-08T22:46:32.399Z,1736376392.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.394485 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:46:32.500Z,1736376392.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:32.501Z,1736376392.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271162 2025-01-08T22:46:32.752Z,1736376392.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:32.762Z,1736376392.762 [DAT](INFO): DAT read: 22:46:30.9351 LVL= 23104, 32753, 29426, 32755, AGC= 62, IDX= 423, 0.37,-2.730, 1.893, 2.596, 2.947, PHS= 0.695,-1.007,-0.354, RAW= 112.4, 9.0, CAL= 121.8, 6.1, ROT= 28.2, -6.1 2025-01-08T22:46:32.763Z,1736376392.763 [DAT](INFO): got valid direction response: 22:46:30.9351 LVL= 23104, 32753, 29426, 32755, AGC= 62, IDX= 423, 0.37,-2.730, 1.893, 2.596, 2.947, PHS= 0.695,-1.007,-0.354, RAW= 112.4, 9.0, CAL= 121.8, 6.1, ROT= 28.2, -6.1 2025-01-08T22:46:32.766Z,1736376392.766 [DAT](INFO): DAT read: Bearing 28.2, -6.1 (Local) 2025-01-08T22:46:32.766Z,1736376392.766 [DAT](INFO): Local bearing/azimuth received: Bearing 28.2, -6.1 (Local) 2025-01-08T22:46:32.768Z,1736376392.768 [DAT](INFO): DAT read: Range 10 to 50 : 88.6 m (Round-trip 118.2 ms) speed 0.4 m/s 2025-01-08T22:46:32.768Z,1736376392.768 [DAT](INFO): DAT read: user:2871> 2025-01-08T22:46:32.769Z,1736376392.769 [DAT](INFO): DAT read: Tx time:22:46:32.0627 2025-01-08T22:46:32.769Z,1736376392.769 [DAT](INFO): Ping request sent. 2025-01-08T22:46:32.769Z,1736376392.769 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:32.770Z,1736376392.770 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:32.771Z,1736376392.770 [DAT](INFO): direction in FSK: [-0.284729,-0.269142,0.920050] 2025-01-08T22:46:32.771Z,1736376392.771 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:32.785Z,1736376392.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:32.791Z,1736376392.791 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:32.794Z,1736376392.794 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:32.795Z,1736376392.795 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:32.820Z,1736376392.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.599998 m, deltaT: 3.777549 s, deltaX: -2.000000 m, approachRate: -0.529444 m/s, rangeRepo size: 4 2025-01-08T22:46:32.822Z,1736376392.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 88.599998 m, bearing: 298.794252 deg, lat: 36.904877 deg, lon: -122.120514 deg, deltaT: 3.777549 s, deltaX: -2.000000 m, approachRate: -0.529444 m/s, posRepo size: 4 2025-01-08T22:46:32.832Z,1736376392.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:46:32.834Z,1736376392.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 30.233936 m, bearing: 287.862287 deg, approach rate: 0.000000 m/s, LOS rate: -0.524076 deg/s, cmd heading: 22.602320 deg, new cmd heading: 21.948272 deg. 2025-01-08T22:46:32.844Z,1736376392.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.383070 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:46:33.004Z,1736376393.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:33.005Z,1736376393.005 [DAT](INFO): DAT read: TxSync time:22:46:32.0620 2025-01-08T22:46:33.169Z,1736376393.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:33.178Z,1736376393.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:46:33.181Z,1736376393.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 30.410912 m, bearing: 287.638702 deg, approach rate: 0.482145 m/s, LOS rate: -0.605582 deg/s, cmd heading: 21.948272 deg, new cmd heading: 21.281450 deg. 2025-01-08T22:46:33.182Z,1736376393.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371431 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:46:33.258Z,1736376393.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:33.512Z,1736376393.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:33.608Z,1736376393.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:33.616Z,1736376393.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:33.618Z,1736376393.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:46:33.621Z,1736376393.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 30.614756 m, bearing: 287.375838 deg, approach rate: 0.463122 m/s, LOS rate: -0.593233 deg/s, cmd heading: 21.281450 deg, new cmd heading: 20.498161 deg. 2025-01-08T22:46:33.622Z,1736376393.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357760 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:46:33.764Z,1736376393.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:33.765Z,1736376393.765 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:33.765Z,1736376393.765 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:33.765Z,1736376393.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:33.965Z,1736376393.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:33.975Z,1736376393.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:46:33.978Z,1736376393.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 30.772665 m, bearing: 287.143813 deg, approach rate: 0.442267 m/s, LOS rate: -0.646510 deg/s, cmd heading: 20.498161 deg, new cmd heading: 19.805695 deg. 2025-01-08T22:46:33.979Z,1736376393.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.345675 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:46:34.016Z,1736376394.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:34.017Z,1736376394.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247666 2025-01-08T22:46:34.268Z,1736376394.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:34.269Z,1736376394.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499290 2025-01-08T22:46:34.398Z,1736376394.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:34.423Z,1736376394.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:46:34.430Z,1736376394.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 30.953949 m, bearing: 286.856383 deg, approach rate: 0.404868 m/s, LOS rate: -0.638166 deg/s, cmd heading: 19.805694 deg, new cmd heading: 18.948520 deg. 2025-01-08T22:46:34.431Z,1736376394.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.330714 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:46:34.520Z,1736376394.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:34.522Z,1736376394.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752155 2025-01-08T22:46:34.771Z,1736376394.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:34.772Z,1736376394.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:34.772Z,1736376394.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003061 2025-01-08T22:46:34.782Z,1736376394.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:46:34.809Z,1736376394.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 31.105999 m, bearing: 286.603104 deg, approach rate: 0.423000 m/s, LOS rate: -0.701170 deg/s, cmd heading: 18.948521 deg, new cmd heading: 18.192446 deg. 2025-01-08T22:46:34.810Z,1736376394.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.317518 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:46:35.024Z,1736376395.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:35.024Z,1736376395.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254984 2025-01-08T22:46:35.185Z,1736376395.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:35.194Z,1736376395.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:46:35.197Z,1736376395.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 31.271000 m, bearing: 286.314514 deg, approach rate: 0.400914 m/s, LOS rate: -0.697505 deg/s, cmd heading: 18.192446 deg, new cmd heading: 17.331311 deg. 2025-01-08T22:46:35.199Z,1736376395.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.302488 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:46:35.276Z,1736376395.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:35.277Z,1736376395.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507179 2025-01-08T22:46:35.528Z,1736376395.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:35.528Z,1736376395.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758917 2025-01-08T22:46:35.692Z,1736376395.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:35.700Z,1736376395.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:35.702Z,1736376395.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:46:35.705Z,1736376395.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 31.460888 m, bearing: 285.952889 deg, approach rate: 0.373581 m/s, LOS rate: -0.707151 deg/s, cmd heading: 17.331311 deg, new cmd heading: 16.253121 deg. 2025-01-08T22:46:35.706Z,1736376395.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.283670 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:46:35.780Z,1736376395.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:35.782Z,1736376395.782 [DAT](INFO): DAT read: Rx Time:22:46:34.5833 2025-01-08T22:46:35.782Z,1736376395.782 [DAT](INFO): Rx dataTimestamp_ set to:1736376395.782204 2025-01-08T22:46:35.785Z,1736376395.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013645 2025-01-08T22:46:36.032Z,1736376396.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:36.032Z,1736376396.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263112 2025-01-08T22:46:36.141Z,1736376396.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:36.150Z,1736376396.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:46:36.153Z,1736376396.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 31.619160 m, bearing: 285.618615 deg, approach rate: 0.353147 m/s, LOS rate: -0.742120 deg/s, cmd heading: 16.253122 deg, new cmd heading: 15.255424 deg. 2025-01-08T22:46:36.154Z,1736376396.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.266257 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:46:36.294Z,1736376396.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:36.301Z,1736376396.301 [DAT](INFO): DAT read: 22:46:34.5833 LVL= 16032, 27473, 24018, 30819, AGC= 58, IDX= 419,-0.12,-0.904,-3.126,-2.798,-2.252, PHS= 1.436,-0.827,-0.548, RAW= 96.5, -0.6, CAL= 105.2, -5.4, ROT= 44.8, 5.4 2025-01-08T22:46:36.302Z,1736376396.302 [DAT](INFO): got valid direction response: 22:46:34.5833 LVL= 16032, 27473, 24018, 30819, AGC= 58, IDX= 419,-0.12,-0.904,-3.126,-2.798,-2.252, PHS= 1.436,-0.827,-0.548, RAW= 96.5, -0.6, CAL= 105.2, -5.4, ROT= 44.8, 5.4 2025-01-08T22:46:36.303Z,1736376396.303 [DAT](INFO): DAT read: Bearing 44.8, 5.4 (Local) 2025-01-08T22:46:36.303Z,1736376396.303 [DAT](INFO): Local bearing/azimuth received: Bearing 44.8, 5.4 (Local) 2025-01-08T22:46:36.305Z,1736376396.305 [DAT](INFO): DAT read: Range 10 to 50 : 87.2 m (Round-trip 116.3 ms) speed 0.3 m/s 2025-01-08T22:46:36.306Z,1736376396.306 [DAT](INFO): DAT read: user:2872> 2025-01-08T22:46:36.306Z,1736376396.306 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:36.314Z,1736376396.314 [DAT](INFO): direction in FSK: [-0.083993,-0.006197,0.996447] 2025-01-08T22:46:36.316Z,1736376396.316 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:36.342Z,1736376396.342 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:36.342Z,1736376396.342 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:36.353Z,1736376396.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:36.544Z,1736376396.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:36.545Z,1736376396.545 [DAT](INFO): DAT read: Tx time:22:46:35.7128 2025-01-08T22:46:36.545Z,1736376396.545 [DAT](INFO): Ping request sent. 2025-01-08T22:46:36.545Z,1736376396.545 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:36.546Z,1736376396.546 [DAT](INFO): DAT read: TxSync time:22:46:35.7121 2025-01-08T22:46:36.546Z,1736376396.546 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:36.547Z,1736376396.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001541 2025-01-08T22:46:36.662Z,1736376396.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:36.710Z,1736376396.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.199997 m, deltaT: 3.542160 s, deltaX: -1.400002 m, approachRate: -0.395240 m/s, rangeRepo size: 4 2025-01-08T22:46:36.717Z,1736376396.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.199997 m, bearing: 34.869184 deg, lat: 36.904877 deg, lon: -122.120514 deg, deltaT: 3.542160 s, deltaX: -1.400002 m, approachRate: -0.395240 m/s, posRepo size: 4 2025-01-08T22:46:36.717Z,1736376396.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.20 m. 2025-01-08T22:46:36.721Z,1736376396.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.199997 m, nav range: 31.785225 m, bearing: 285.218357 deg, approach rate: 0.000000 m/s, LOS rate: -0.742120 deg/s, cmd heading: 15.255424 deg, new cmd heading: 14.010500 deg. 2025-01-08T22:46:36.722Z,1736376396.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.244529 target range: 87.199997 and range: 87.20 m. 2025-01-08T22:46:36.797Z,1736376396.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:36.798Z,1736376396.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253332 2025-01-08T22:46:37.026Z,1736376397.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:37.036Z,1736376397.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.20 m. 2025-01-08T22:46:37.038Z,1736376397.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.199997 m, nav range: 31.897604 m, bearing: 284.935286 deg, approach rate: 0.345088 m/s, LOS rate: -0.866175 deg/s, cmd heading: 14.010500 deg, new cmd heading: 13.164344 deg. 2025-01-08T22:46:37.039Z,1736376397.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.229761 target range: 87.199997 and range: 87.20 m. 2025-01-08T22:46:37.048Z,1736376397.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:37.049Z,1736376397.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503584 2025-01-08T22:46:37.300Z,1736376397.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:37.300Z,1736376397.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755307 2025-01-08T22:46:37.471Z,1736376397.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:37.483Z,1736376397.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.20 m. 2025-01-08T22:46:37.486Z,1736376397.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.199997 m, nav range: 32.030392 m, bearing: 284.591704 deg, approach rate: 0.296666 m/s, LOS rate: -0.764423 deg/s, cmd heading: 13.164344 deg, new cmd heading: 12.137986 deg. 2025-01-08T22:46:37.487Z,1736376397.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.211848 target range: 87.199997 and range: 87.20 m. 2025-01-08T22:46:37.553Z,1736376397.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:37.556Z,1736376397.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010024 2025-01-08T22:46:37.804Z,1736376397.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:37.804Z,1736376397.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259391 2025-01-08T22:46:37.839Z,1736376397.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:37.846Z,1736376397.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:37.852Z,1736376397.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.20 m. 2025-01-08T22:46:37.854Z,1736376397.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.199997 m, nav range: 32.131695 m, bearing: 284.299119 deg, approach rate: 0.274892 m/s, LOS rate: -0.791440 deg/s, cmd heading: 12.137986 deg, new cmd heading: 11.263070 deg. 2025-01-08T22:46:37.855Z,1736376397.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.196578 target range: 87.199997 and range: 87.20 m. 2025-01-08T22:46:38.056Z,1736376398.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:38.057Z,1736376398.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512233 2025-01-08T22:46:38.276Z,1736376398.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:38.308Z,1736376398.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:38.309Z,1736376398.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763483 2025-01-08T22:46:38.317Z,1736376398.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.20 m. 2025-01-08T22:46:38.352Z,1736376398.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.199997 m, nav range: 32.246613 m, bearing: 283.947760 deg, approach rate: 0.246632 m/s, LOS rate: -0.751381 deg/s, cmd heading: 11.263070 deg, new cmd heading: 10.212874 deg. 2025-01-08T22:46:38.365Z,1736376398.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178248 target range: 87.199997 and range: 87.20 m. 2025-01-08T22:46:38.560Z,1736376398.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:38.560Z,1736376398.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015260 2025-01-08T22:46:38.812Z,1736376398.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:38.813Z,1736376398.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268148 2025-01-08T22:46:38.883Z,1736376398.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:38.892Z,1736376398.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.20 m. 2025-01-08T22:46:38.895Z,1736376398.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.199997 m, nav range: 32.387093 m, bearing: 283.460422 deg, approach rate: 0.244348 m/s, LOS rate: -0.843976 deg/s, cmd heading: 10.212875 deg, new cmd heading: 8.757533 deg. 2025-01-08T22:46:38.896Z,1736376398.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.152848 target range: 87.199997 and range: 87.20 m. 2025-01-08T22:46:39.064Z,1736376399.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:39.065Z,1736376399.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520196 2025-01-08T22:46:39.248Z,1736376399.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:39.273Z,1736376399.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.20 m. 2025-01-08T22:46:39.280Z,1736376399.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.199997 m, nav range: 32.467411 m, bearing: 283.164109 deg, approach rate: 0.210822 m/s, LOS rate: -0.775843 deg/s, cmd heading: 8.757534 deg, new cmd heading: 7.870867 deg. 2025-01-08T22:46:39.282Z,1736376399.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.137373 target range: 87.199997 and range: 87.20 m. 2025-01-08T22:46:39.316Z,1736376399.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:39.317Z,1736376399.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771525 2025-01-08T22:46:39.516Z,1736376399.516 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:46:39.568Z,1736376399.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:39.568Z,1736376399.568 [DAT](INFO): DAT read: Rx Time:22:46:38.2317 2025-01-08T22:46:39.569Z,1736376399.569 [DAT](INFO): Rx dataTimestamp_ set to:1736376399.568628 2025-01-08T22:46:39.569Z,1736376399.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024416 2025-01-08T22:46:39.734Z,1736376399.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:39.743Z,1736376399.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.20 m. 2025-01-08T22:46:39.762Z,1736376399.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.199997 m, nav range: 32.563675 m, bearing: 282.779693 deg, approach rate: 0.204945 m/s, LOS rate: -0.815991 deg/s, cmd heading: 7.870868 deg, new cmd heading: 6.721191 deg. 2025-01-08T22:46:39.763Z,1736376399.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.117307 target range: 87.199997 and range: 87.20 m. 2025-01-08T22:46:39.821Z,1736376399.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:39.822Z,1736376399.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277163 2025-01-08T22:46:40.072Z,1736376400.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:40.078Z,1736376400.078 [DAT](INFO): DAT read: 22:46:38.2317 LVL= 13296, 23521, 16562, 24563, AGC= 59, IDX= 419, 0.45, 1.186,-0.454,-0.773, 0.284, PHS= 0.991,-0.691,-1.060, RAW= 80.3, 8.1, CAL= 85.2, 10.4, ROT= 64.8, -10.4 2025-01-08T22:46:40.079Z,1736376400.079 [DAT](INFO): got valid direction response: 22:46:38.2317 LVL= 13296, 23521, 16562, 24563, AGC= 59, IDX= 419, 0.45, 1.186,-0.454,-0.773, 0.284, PHS= 0.991,-0.691,-1.060, RAW= 80.3, 8.1, CAL= 85.2, 10.4, ROT= 64.8, -10.4 2025-01-08T22:46:40.081Z,1736376400.081 [DAT](INFO): DAT read: Bearing 64.8, -10.4 (Local) 2025-01-08T22:46:40.081Z,1736376400.081 [DAT](INFO): Local bearing/azimuth received: Bearing 64.8, -10.4 (Local) 2025-01-08T22:46:40.083Z,1736376400.083 [DAT](INFO): DAT read: Range 10 to 50 : 86.0 m (Round-trip 114.7 ms) speed 0.2 m/s 2025-01-08T22:46:40.089Z,1736376400.089 [DAT](INFO): DAT read: user:2873> 2025-01-08T22:46:40.090Z,1736376400.090 [DAT](INFO): DAT read: Tx time:22:46:39.3128 2025-01-08T22:46:40.090Z,1736376400.090 [DAT](INFO): Ping request sent. 2025-01-08T22:46:40.090Z,1736376400.090 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:40.090Z,1736376400.090 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:40.103Z,1736376400.103 [DAT](INFO): direction in FSK: [-0.218925,0.275742,0.935969] 2025-01-08T22:46:40.104Z,1736376400.104 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:40.104Z,1736376400.104 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:40.107Z,1736376400.107 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:40.107Z,1736376400.107 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:40.148Z,1736376400.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:40.188Z,1736376400.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.000000 m, deltaT: 3.777671 s, deltaX: -1.199997 m, approachRate: -0.317655 m/s, rangeRepo size: 4 2025-01-08T22:46:40.190Z,1736376400.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.000000 m, bearing: 134.316842 deg, lat: 36.904877 deg, lon: -122.120514 deg, deltaT: 3.777671 s, deltaX: -1.199997 m, approachRate: -0.317655 m/s, posRepo size: 4 2025-01-08T22:46:40.190Z,1736376400.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:40.202Z,1736376400.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.640888 m, bearing: 282.450029 deg, approach rate: 0.000000 m/s, LOS rate: -0.815991 deg/s, cmd heading: 6.721191 deg, new cmd heading: 5.654815 deg. 2025-01-08T22:46:40.202Z,1736376400.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098695 target range: 86.000000 and range: 86.00 m. 2025-01-08T22:46:40.324Z,1736376400.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:40.325Z,1736376400.325 [DAT](INFO): DAT read: TxSync time:22:46:39.3121 2025-01-08T22:46:40.520Z,1736376400.520 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:46:40.576Z,1736376400.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:40.593Z,1736376400.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:40.622Z,1736376400.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:40.633Z,1736376400.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:40.640Z,1736376400.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.719696 m, bearing: 282.100429 deg, approach rate: 0.173227 m/s, LOS rate: -0.766599 deg/s, cmd heading: 5.654815 deg, new cmd heading: 4.608663 deg. 2025-01-08T22:46:40.641Z,1736376400.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.080436 target range: 86.000000 and range: 86.00 m. 2025-01-08T22:46:40.828Z,1736376400.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:40.828Z,1736376400.828 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:40.828Z,1736376400.828 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:40.828Z,1736376400.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:40.952Z,1736376400.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:40.960Z,1736376400.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:40.964Z,1736376400.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.779156 m, bearing: 281.814958 deg, approach rate: 0.181818 m/s, LOS rate: -0.871338 deg/s, cmd heading: 4.608663 deg, new cmd heading: 3.753870 deg. 2025-01-08T22:46:40.966Z,1736376400.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.065517 target range: 86.000000 and range: 86.00 m. 2025-01-08T22:46:41.080Z,1736376401.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:41.082Z,1736376401.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992445 2025-01-08T22:46:41.332Z,1736376401.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:41.333Z,1736376401.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243050 2025-01-08T22:46:41.350Z,1736376401.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:41.358Z,1736376401.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:41.362Z,1736376401.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.840088 m, bearing: 281.497086 deg, approach rate: 0.153229 m/s, LOS rate: -0.797883 deg/s, cmd heading: 3.753871 deg, new cmd heading: 2.802116 deg. 2025-01-08T22:46:41.363Z,1736376401.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048906 target range: 86.000000 and range: 86.00 m. 2025-01-08T22:46:41.585Z,1736376401.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:41.587Z,1736376401.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496836 2025-01-08T22:46:41.793Z,1736376401.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:41.802Z,1736376401.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:41.805Z,1736376401.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.903278 m, bearing: 281.153721 deg, approach rate: 0.142282 m/s, LOS rate: -0.771642 deg/s, cmd heading: 2.802116 deg, new cmd heading: 1.774117 deg. 2025-01-08T22:46:41.806Z,1736376401.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.030964 target range: 86.000000 and range: 86.00 m. 2025-01-08T22:46:41.836Z,1736376401.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:41.836Z,1736376401.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746523 2025-01-08T22:46:42.088Z,1736376402.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:42.088Z,1736376402.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998469 2025-01-08T22:46:42.173Z,1736376402.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:42.182Z,1736376402.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:42.185Z,1736376402.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.953335 m, bearing: 280.857217 deg, approach rate: 0.131652 m/s, LOS rate: -0.778638 deg/s, cmd heading: 1.774117 deg, new cmd heading: 0.886029 deg. 2025-01-08T22:46:42.186Z,1736376402.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.015464 target range: 86.000000 and range: 86.00 m. 2025-01-08T22:46:42.340Z,1736376402.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:42.341Z,1736376402.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250628 2025-01-08T22:46:42.593Z,1736376402.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:42.594Z,1736376402.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504237 2025-01-08T22:46:42.692Z,1736376402.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:42.706Z,1736376402.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:42.709Z,1736376402.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:42.712Z,1736376402.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.010811 m, bearing: 280.457697 deg, approach rate: 0.109251 m/s, LOS rate: -0.758081 deg/s, cmd heading: 0.886029 deg, new cmd heading: 359.689740 deg. 2025-01-08T22:46:42.713Z,1736376402.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277770 target range: 86.000000 and range: 86.00 m. 2025-01-08T22:46:42.844Z,1736376402.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:42.846Z,1736376402.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755868 2025-01-08T22:46:43.033Z,1736376403.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:43.041Z,1736376403.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:43.044Z,1736376403.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.045158 m, bearing: 280.194289 deg, approach rate: 0.103274 m/s, LOS rate: -0.791172 deg/s, cmd heading: 359.689728 deg, new cmd heading: 358.900380 deg. 2025-01-08T22:46:43.045Z,1736376403.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263993 target range: 86.000000 and range: 86.00 m. 2025-01-08T22:46:43.096Z,1736376403.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:43.098Z,1736376403.098 [DAT](INFO): DAT read: Rx Time:22:46:41.8306 2025-01-08T22:46:43.098Z,1736376403.098 [DAT](INFO): Rx dataTimestamp_ set to:1736376403.098102 2025-01-08T22:46:43.100Z,1736376403.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009659 2025-01-08T22:46:43.348Z,1736376403.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:43.349Z,1736376403.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259290 2025-01-08T22:46:43.501Z,1736376403.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:43.513Z,1736376403.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:43.517Z,1736376403.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.087494 m, bearing: 279.831316 deg, approach rate: 0.089690 m/s, LOS rate: -0.767985 deg/s, cmd heading: 358.900377 deg, new cmd heading: 357.812988 deg. 2025-01-08T22:46:43.518Z,1736376403.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245015 target range: 86.000000 and range: 86.00 m. 2025-01-08T22:46:43.602Z,1736376403.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:43.606Z,1736376403.606 [DAT](INFO): DAT read: Range 10 to 50 : 85.2 m (Round-trip 113.6 ms) speed 0.0 m/s 2025-01-08T22:46:43.609Z,1736376403.609 [DAT](INFO): DAT read: user:2874> 2025-01-08T22:46:43.610Z,1736376403.610 [DAT](INFO): DAT read: Tx time:22:46:42.9128 2025-01-08T22:46:43.610Z,1736376403.610 [DAT](INFO): Ping request sent. 2025-01-08T22:46:43.610Z,1736376403.610 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:43.611Z,1736376403.611 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:46:43.611Z,1736376403.611 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:43.612Z,1736376403.612 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:43.852Z,1736376403.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:43.853Z,1736376403.853 [DAT](INFO): DAT read: TxSync time:22:46:42.9121 2025-01-08T22:46:43.885Z,1736376403.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:43.894Z,1736376403.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.199997 m, deltaT: 3.530281 s, deltaX: -0.800003 m, approachRate: -0.226612 m/s, rangeRepo size: 4 2025-01-08T22:46:43.894Z,1736376403.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:43.899Z,1736376403.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.116138 m, bearing: 279.543129 deg, approach rate: 0.075391 m/s, LOS rate: -0.757832 deg/s, cmd heading: 357.812983 deg, new cmd heading: 356.949238 deg. 2025-01-08T22:46:43.900Z,1736376403.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229939 target range: 86.000000 and range: 85.20 m. 2025-01-08T22:46:44.104Z,1736376404.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:44.248Z,1736376404.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:44.256Z,1736376404.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:44.280Z,1736376404.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.139732 m, bearing: 279.269481 deg, approach rate: 0.064942 m/s, LOS rate: -0.752678 deg/s, cmd heading: 356.949238 deg, new cmd heading: 356.128938 deg. 2025-01-08T22:46:44.282Z,1736376404.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.215622 target range: 86.000000 and range: 85.20 m. 2025-01-08T22:46:44.356Z,1736376404.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:44.608Z,1736376404.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:44.739Z,1736376404.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:44.746Z,1736376404.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:44.751Z,1736376404.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:44.754Z,1736376404.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.163002 m, bearing: 278.908081 deg, approach rate: 0.047044 m/s, LOS rate: -0.730121 deg/s, cmd heading: 356.128932 deg, new cmd heading: 355.045629 deg. 2025-01-08T22:46:44.771Z,1736376404.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196715 target range: 86.000000 and range: 85.20 m. 2025-01-08T22:46:44.861Z,1736376404.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:44.862Z,1736376404.862 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:44.862Z,1736376404.862 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:44.862Z,1736376404.862 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:45.112Z,1736376405.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:45.128Z,1736376405.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517455 2025-01-08T22:46:45.140Z,1736376405.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:45.157Z,1736376405.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:45.165Z,1736376405.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.177879 m, bearing: 278.612888 deg, approach rate: 0.036641 m/s, LOS rate: -0.726698 deg/s, cmd heading: 355.045637 deg, new cmd heading: 354.160528 deg. 2025-01-08T22:46:45.166Z,1736376405.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181267 target range: 86.000000 and range: 85.20 m. 2025-01-08T22:46:45.364Z,1736376405.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:45.365Z,1736376405.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755060 2025-01-08T22:46:45.616Z,1736376405.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:45.616Z,1736376405.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006170 2025-01-08T22:46:45.617Z,1736376405.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:45.626Z,1736376405.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:45.629Z,1736376405.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.185619 m, bearing: 278.267434 deg, approach rate: 0.016501 m/s, LOS rate: -0.736282 deg/s, cmd heading: 354.160526 deg, new cmd heading: 353.124524 deg. 2025-01-08T22:46:45.630Z,1736376405.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163186 target range: 86.000000 and range: 85.20 m. 2025-01-08T22:46:45.868Z,1736376405.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:45.868Z,1736376405.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258161 2025-01-08T22:46:45.996Z,1736376405.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:46.007Z,1736376406.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:46.009Z,1736376406.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.192703 m, bearing: 277.990395 deg, approach rate: 0.018623 m/s, LOS rate: -0.728139 deg/s, cmd heading: 353.124523 deg, new cmd heading: 352.293646 deg. 2025-01-08T22:46:46.010Z,1736376406.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.148684 target range: 86.000000 and range: 85.20 m. 2025-01-08T22:46:46.120Z,1736376406.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:46.120Z,1736376406.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510104 2025-01-08T22:46:46.372Z,1736376406.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:46.372Z,1736376406.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761937 2025-01-08T22:46:46.405Z,1736376406.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:46.415Z,1736376406.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:46.418Z,1736376406.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.180752 m, bearing: 277.693450 deg, approach rate: -0.029345 m/s, LOS rate: -0.729368 deg/s, cmd heading: 352.293644 deg, new cmd heading: 351.402563 deg. 2025-01-08T22:46:46.418Z,1736376406.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133132 target range: 86.000000 and range: 85.20 m. 2025-01-08T22:46:46.624Z,1736376406.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:46.625Z,1736376406.625 [DAT](INFO): DAT read: Rx Time:22:46:45.4303 2025-01-08T22:46:46.625Z,1736376406.625 [DAT](INFO): Rx dataTimestamp_ set to:1736376406.624966 2025-01-08T22:46:46.626Z,1736376406.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015466 2025-01-08T22:46:46.816Z,1736376406.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:46.823Z,1736376406.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:46.825Z,1736376406.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:46.844Z,1736376406.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.153328 m, bearing: 277.399195 deg, approach rate: -0.066665 m/s, LOS rate: -0.715892 deg/s, cmd heading: 351.402550 deg, new cmd heading: 350.519131 deg. 2025-01-08T22:46:46.845Z,1736376406.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.117713 target range: 86.000000 and range: 85.20 m. 2025-01-08T22:46:46.878Z,1736376406.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:46.881Z,1736376406.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270161 2025-01-08T22:46:47.128Z,1736376407.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:47.129Z,1736376407.129 [DAT](INFO): DAT read: Range 10 to 50 : 84.9 m (Round-trip 113.3 ms) speed -0.1 m/s 2025-01-08T22:46:47.131Z,1736376407.131 [DAT](INFO): DAT read: user:2875> 2025-01-08T22:46:47.132Z,1736376407.132 [DAT](INFO): DAT read: Tx time:22:46:46.5128 2025-01-08T22:46:47.133Z,1736376407.133 [DAT](INFO): Ping request sent. 2025-01-08T22:46:47.133Z,1736376407.133 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:47.133Z,1736376407.133 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:46:47.133Z,1736376407.133 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:47.134Z,1736376407.134 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:47.225Z,1736376407.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:47.265Z,1736376407.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.900002 m, deltaT: 3.525753 s, deltaX: -0.299995 m, approachRate: -0.085087 m/s, rangeRepo size: 4 2025-01-08T22:46:47.266Z,1736376407.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:47.273Z,1736376407.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.122250 m, bearing: 277.107315 deg, approach rate: -0.073035 m/s, LOS rate: -0.686565 deg/s, cmd heading: 350.519134 deg, new cmd heading: 349.642744 deg. 2025-01-08T22:46:47.274Z,1736376407.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.102417 target range: 86.000000 and range: 84.90 m. 2025-01-08T22:46:47.382Z,1736376407.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:47.383Z,1736376407.383 [DAT](INFO): DAT read: TxSync time:22:46:46.5121 2025-01-08T22:46:47.632Z,1736376407.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:47.634Z,1736376407.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:47.643Z,1736376407.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:47.664Z,1736376407.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.078579 m, bearing: 276.809978 deg, approach rate: -0.111460 m/s, LOS rate: -0.759888 deg/s, cmd heading: 349.642738 deg, new cmd heading: 348.749625 deg. 2025-01-08T22:46:47.669Z,1736376407.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.086829 target range: 86.000000 and range: 84.90 m. 2025-01-08T22:46:47.886Z,1736376407.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:47.994Z,1736376407.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:48.004Z,1736376408.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:48.006Z,1736376408.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 33.032608 m, bearing: 276.550982 deg, approach rate: -0.127373 m/s, LOS rate: -0.718603 deg/s, cmd heading: 348.749623 deg, new cmd heading: 347.971605 deg. 2025-01-08T22:46:48.008Z,1736376408.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.073250 target range: 86.000000 and range: 84.90 m. 2025-01-08T22:46:48.136Z,1736376408.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:48.388Z,1736376408.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:48.404Z,1736376408.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:48.412Z,1736376408.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:48.437Z,1736376408.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.976582 m, bearing: 276.257939 deg, approach rate: -0.137021 m/s, LOS rate: -0.717894 deg/s, cmd heading: 347.971610 deg, new cmd heading: 347.091059 deg. 2025-01-08T22:46:48.438Z,1736376408.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.057882 target range: 86.000000 and range: 84.90 m. 2025-01-08T22:46:48.640Z,1736376408.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:48.841Z,1736376408.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:48.849Z,1736376408.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:48.851Z,1736376408.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:48.854Z,1736376408.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.901897 m, bearing: 275.944371 deg, approach rate: -0.170270 m/s, LOS rate: -0.716511 deg/s, cmd heading: 347.091062 deg, new cmd heading: 346.148312 deg. 2025-01-08T22:46:48.855Z,1736376408.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041428 target range: 86.000000 and range: 84.90 m. 2025-01-08T22:46:48.894Z,1736376408.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:48.894Z,1736376408.894 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:48.894Z,1736376408.894 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:48.895Z,1736376408.895 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:49.144Z,1736376409.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:49.144Z,1736376409.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011431 2025-01-08T22:46:49.227Z,1736376409.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:49.237Z,1736376409.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:49.240Z,1736376409.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.833084 m, bearing: 275.669128 deg, approach rate: -0.178326 m/s, LOS rate: -0.714768 deg/s, cmd heading: 346.148304 deg, new cmd heading: 345.320907 deg. 2025-01-08T22:46:49.241Z,1736376409.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026987 target range: 86.000000 and range: 84.90 m. 2025-01-08T22:46:49.396Z,1736376409.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:49.396Z,1736376409.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263405 2025-01-08T22:46:49.648Z,1736376409.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:49.649Z,1736376409.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516434 2025-01-08T22:46:49.716Z,1736376409.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:49.740Z,1736376409.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:49.742Z,1736376409.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.730701 m, bearing: 275.312014 deg, approach rate: -0.205370 m/s, LOS rate: -0.718572 deg/s, cmd heading: 345.320895 deg, new cmd heading: 344.246337 deg. 2025-01-08T22:46:49.751Z,1736376409.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.008232 target range: 86.000000 and range: 84.90 m. 2025-01-08T22:46:49.900Z,1736376409.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:49.900Z,1736376409.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767398 2025-01-08T22:46:50.074Z,1736376410.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:50.084Z,1736376410.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:50.087Z,1736376410.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.654720 m, bearing: 275.042605 deg, approach rate: -0.218306 m/s, LOS rate: -0.775856 deg/s, cmd heading: 344.246343 deg, new cmd heading: 343.436291 deg. 2025-01-08T22:46:50.088Z,1736376410.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994094 target range: 86.000000 and range: 84.90 m. 2025-01-08T22:46:50.152Z,1736376410.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:50.153Z,1736376410.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019681 2025-01-08T22:46:50.404Z,1736376410.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:50.404Z,1736376410.404 [DAT](INFO): DAT read: Rx Time:22:46:49.0314 2025-01-08T22:46:50.405Z,1736376410.405 [DAT](INFO): Rx dataTimestamp_ set to:1736376410.404626 2025-01-08T22:46:50.405Z,1736376410.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272539 2025-01-08T22:46:50.457Z,1736376410.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:50.474Z,1736376410.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:50.482Z,1736376410.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.569256 m, bearing: 274.762868 deg, approach rate: -0.218898 m/s, LOS rate: -0.718361 deg/s, cmd heading: 343.436282 deg, new cmd heading: 342.594933 deg. 2025-01-08T22:46:50.483Z,1736376410.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979410 target range: 86.000000 and range: 84.90 m. 2025-01-08T22:46:50.656Z,1736376410.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:50.658Z,1736376410.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524287 2025-01-08T22:46:50.889Z,1736376410.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:50.896Z,1736376410.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:50.899Z,1736376410.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m. 2025-01-08T22:46:50.902Z,1736376410.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.000000 m, nav range: 32.463428 m, bearing: 274.435293 deg, approach rate: -0.249073 m/s, LOS rate: -0.773482 deg/s, cmd heading: 342.594939 deg, new cmd heading: 341.609114 deg. 2025-01-08T22:46:50.903Z,1736376410.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962204 target range: 86.000000 and range: 84.90 m. 2025-01-08T22:46:50.909Z,1736376410.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:50.920Z,1736376410.920 [DAT](INFO): DAT read: 22:46:49.0314 LVL= 18384, 17649, 19794, 23155, AGC= 60, IDX= 431,-0.19,-2.863, 3.025, 1.095, 2.522, PHS= 0.987, 0.550,-1.429, RAW= 39.8, -1.0, CAL= 39.7, -3.2, ROT= 110.3, 3.2 2025-01-08T22:46:50.921Z,1736376410.921 [DAT](INFO): got valid direction response: 22:46:49.0314 LVL= 18384, 17649, 19794, 23155, AGC= 60, IDX= 431,-0.19,-2.863, 3.025, 1.095, 2.522, PHS= 0.987, 0.550,-1.429, RAW= 39.8, -1.0, CAL= 39.7, -3.2, ROT= 110.3, 3.2 2025-01-08T22:46:50.922Z,1736376410.922 [DAT](INFO): DAT read: Bearing 110.3, 3.2 (Local) 2025-01-08T22:46:50.923Z,1736376410.923 [DAT](INFO): Local bearing/azimuth received: Bearing 110.3, 3.2 (Local) 2025-01-08T22:46:50.941Z,1736376410.941 [DAT](INFO): DAT read: Range 10 to 50 : 85.7 m (Round-trip 114.3 ms) speed -0.3 m/s 2025-01-08T22:46:50.942Z,1736376410.942 [DAT](INFO): DAT read: user:2876> 2025-01-08T22:46:50.942Z,1736376410.942 [DAT](INFO): DAT read: Tx time:22:46:50.1129 2025-01-08T22:46:50.943Z,1736376410.943 [DAT](INFO): Ping request sent. 2025-01-08T22:46:50.943Z,1736376410.943 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:50.944Z,1736376410.944 [DAT](INFO): DAT read: TxSync time:22:46:50.1122 2025-01-08T22:46:50.945Z,1736376410.945 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:50.946Z,1736376410.946 [DAT](INFO): direction in FSK: [0.030732,0.810329,0.585168] 2025-01-08T22:46:50.946Z,1736376410.946 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:50.946Z,1736376410.946 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:50.950Z,1736376410.950 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:50.951Z,1736376410.951 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:51.160Z,1736376411.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:51.264Z,1736376411.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:51.294Z,1736376411.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.699997 m, deltaT: 3.782262 s, deltaX: 0.799995 m, approachRate: 0.211512 m/s, rangeRepo size: 4 2025-01-08T22:46:51.302Z,1736376411.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.699997 m, bearing: 70.653986 deg, lat: 36.904959 deg, lon: -122.120156 deg, deltaT: 10.838296 s, deltaX: -0.300003 m, approachRate: -0.027680 m/s, posRepo size: 4 2025-01-08T22:46:51.307Z,1736376411.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T22:46:51.310Z,1736376411.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 11.437449 m, bearing: 357.847662 deg, approach rate: 0.000000 m/s, LOS rate: -0.773482 deg/s, cmd heading: 341.609125 deg, new cmd heading: 340.692656 deg. 2025-01-08T22:46:51.315Z,1736376411.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946208 target range: 85.699997 and range: 85.70 m. 2025-01-08T22:46:51.412Z,1736376411.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:51.665Z,1736376411.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:51.760Z,1736376411.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:51.769Z,1736376411.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T22:46:51.772Z,1736376411.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 11.207071 m, bearing: 358.363885 deg, approach rate: -0.484896 m/s, LOS rate: 1.108864 deg/s, cmd heading: 340.692650 deg, new cmd heading: 342.272734 deg. 2025-01-08T22:46:51.773Z,1736376411.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973786 target range: 85.699997 and range: 85.70 m. 2025-01-08T22:46:51.916Z,1736376411.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:52.142Z,1736376412.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:52.151Z,1736376412.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T22:46:52.154Z,1736376412.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 11.032089 m, bearing: 358.788560 deg, approach rate: -0.457908 m/s, LOS rate: 1.128939 deg/s, cmd heading: 342.272746 deg, new cmd heading: 343.566744 deg. 2025-01-08T22:46:52.156Z,1736376412.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996371 target range: 85.699997 and range: 85.70 m. 2025-01-08T22:46:52.168Z,1736376412.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:52.420Z,1736376412.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:52.542Z,1736376412.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:52.601Z,1736376412.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T22:46:52.618Z,1736376412.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 10.850115 m, bearing: 359.261795 deg, approach rate: -0.410615 m/s, LOS rate: 1.085726 deg/s, cmd heading: 343.566739 deg, new cmd heading: 345.009934 deg. 2025-01-08T22:46:52.625Z,1736376412.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021559 target range: 85.699997 and range: 85.70 m. 2025-01-08T22:46:52.673Z,1736376412.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:52.924Z,1736376412.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:52.962Z,1736376412.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:52.971Z,1736376412.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:52.973Z,1736376412.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T22:46:52.992Z,1736376412.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 10.655424 m, bearing: 359.790166 deg, approach rate: -0.514153 m/s, LOS rate: 1.420834 deg/s, cmd heading: 345.009930 deg, new cmd heading: 346.623555 deg. 2025-01-08T22:46:52.996Z,1736376412.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049722 target range: 85.699997 and range: 85.70 m. 2025-01-08T22:46:53.176Z,1736376413.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:53.176Z,1736376413.176 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:53.177Z,1736376413.177 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:53.177Z,1736376413.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:53.339Z,1736376413.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:53.348Z,1736376413.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T22:46:53.351Z,1736376413.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 10.483185 m, bearing: 0.292570 deg, approach rate: -0.460295 m/s, LOS rate: 1.364677 deg/s, cmd heading: 346.623549 deg, new cmd heading: 348.155142 deg. 2025-01-08T22:46:53.353Z,1736376413.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076454 target range: 85.699997 and range: 85.70 m. 2025-01-08T22:46:53.428Z,1736376413.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:53.430Z,1736376413.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487707 2025-01-08T22:46:53.680Z,1736376413.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:53.681Z,1736376413.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738613 2025-01-08T22:46:53.788Z,1736376413.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:53.796Z,1736376413.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T22:46:53.799Z,1736376413.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 10.275578 m, bearing: 0.876574 deg, approach rate: -0.462276 m/s, LOS rate: 1.326643 deg/s, cmd heading: 348.155151 deg, new cmd heading: 349.941949 deg. 2025-01-08T22:46:53.821Z,1736376413.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.107639 target range: 85.699997 and range: 85.70 m. 2025-01-08T22:46:53.936Z,1736376413.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:53.937Z,1736376413.937 [DAT](INFO): DAT read: Rx Time:22:46:52.6328 2025-01-08T22:46:53.938Z,1736376413.938 [DAT](INFO): Rx dataTimestamp_ set to:1736376413.937572 2025-01-08T22:46:53.938Z,1736376413.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995670 2025-01-08T22:46:54.159Z,1736376414.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:54.168Z,1736376414.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T22:46:54.171Z,1736376414.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 10.105948 m, bearing: 1.387897 deg, approach rate: -0.455906 m/s, LOS rate: 1.397313 deg/s, cmd heading: 349.941955 deg, new cmd heading: 351.501265 deg. 2025-01-08T22:46:54.184Z,1736376414.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:54.185Z,1736376414.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241862 2025-01-08T22:46:54.193Z,1736376414.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134854 target range: 85.699997 and range: 85.70 m. 2025-01-08T22:46:54.436Z,1736376414.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:54.443Z,1736376414.443 [DAT](INFO): DAT read: 22:46:52.6328 LVL= 19712, 18929, 25842, 28147, AGC= 62, IDX= 445,-0.07, 1.818, 2.328,-0.049, 1.396, PHS= 0.510, 0.979,-1.448, RAW= 19.5, -0.4, CAL= 19.1, -1.9, ROT= 130.9, 1.9 2025-01-08T22:46:54.446Z,1736376414.446 [DAT](INFO): got valid direction response: 22:46:52.6328 LVL= 19712, 18929, 25842, 28147, AGC= 62, IDX= 445,-0.07, 1.818, 2.328,-0.049, 1.396, PHS= 0.510, 0.979,-1.448, RAW= 19.5, -0.4, CAL= 19.1, -1.9, ROT= 130.9, 1.9 2025-01-08T22:46:54.449Z,1736376414.449 [DAT](INFO): DAT read: Bearing 130.9, 1.9 (Local) 2025-01-08T22:46:54.450Z,1736376414.450 [DAT](INFO): Local bearing/azimuth received: Bearing 130.9, 1.9 (Local) 2025-01-08T22:46:54.451Z,1736376414.451 [DAT](INFO): DAT read: Range 10 to 50 : 86.7 m (Round-trip 115.7 ms) speed -0.3 m/s 2025-01-08T22:46:54.452Z,1736376414.452 [DAT](INFO): DAT read: user:2877> 2025-01-08T22:46:54.453Z,1736376414.453 [DAT](INFO): DAT read: Tx time:22:46:53.7629 2025-01-08T22:46:54.453Z,1736376414.453 [DAT](INFO): Ping request sent. 2025-01-08T22:46:54.453Z,1736376414.453 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:54.453Z,1736376414.453 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:46:54.454Z,1736376414.454 [DAT](INFO): direction in FSK: [0.060175,0.956653,0.284945] 2025-01-08T22:46:54.455Z,1736376414.455 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:54.455Z,1736376414.455 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:54.458Z,1736376414.458 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:54.458Z,1736376414.458 [DAT](INFO): publishing direction and range info 2025-01-08T22:46:54.570Z,1736376414.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:54.671Z,1736376414.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.699997 m, deltaT: 3.526093 s, deltaX: 1.000000 m, approachRate: 0.283600 m/s, rangeRepo size: 4 2025-01-08T22:46:54.679Z,1736376414.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.699997 m, bearing: 67.169375 deg, lat: 36.904959 deg, lon: -122.119973 deg, deltaT: 3.526093 s, deltaX: 1.000000 m, approachRate: 0.283600 m/s, posRepo size: 4 2025-01-08T22:46:54.684Z,1736376414.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:54.686Z,1736376414.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 19.337532 m, bearing: 59.158501 deg, approach rate: 0.000000 m/s, LOS rate: 1.397313 deg/s, cmd heading: 351.501260 deg, new cmd heading: 353.601449 deg. 2025-01-08T22:46:54.688Z,1736376414.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:54.689Z,1736376414.689 [DAT](INFO): DAT read: TxSync time:22:46:53.7622 2025-01-08T22:46:54.692Z,1736376414.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171510 target range: 86.699997 and range: 86.70 m. 2025-01-08T22:46:54.940Z,1736376414.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:55.002Z,1736376415.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:55.009Z,1736376415.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:55.011Z,1736376415.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:55.014Z,1736376415.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 19.311138 m, bearing: 59.811358 deg, approach rate: -0.077357 m/s, LOS rate: 1.916006 deg/s, cmd heading: 353.601461 deg, new cmd heading: 355.561903 deg. 2025-01-08T22:46:55.036Z,1736376415.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205726 target range: 86.699997 and range: 86.70 m. 2025-01-08T22:46:55.196Z,1736376415.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:55.197Z,1736376415.197 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:55.197Z,1736376415.197 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:55.197Z,1736376415.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:55.362Z,1736376415.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:55.372Z,1736376415.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:55.375Z,1736376415.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 19.292789 m, bearing: 60.358120 deg, approach rate: -0.050762 m/s, LOS rate: 1.514034 deg/s, cmd heading: 355.561890 deg, new cmd heading: 357.203261 deg. 2025-01-08T22:46:55.376Z,1736376415.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234373 target range: 86.699997 and range: 86.70 m. 2025-01-08T22:46:55.444Z,1736376415.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:55.445Z,1736376415.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991741 2025-01-08T22:46:55.696Z,1736376415.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:55.696Z,1736376415.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243216 2025-01-08T22:46:55.832Z,1736376415.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:55.840Z,1736376415.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:55.843Z,1736376415.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 19.267954 m, bearing: 61.059498 deg, approach rate: -0.053034 m/s, LOS rate: 1.499614 deg/s, cmd heading: 357.203266 deg, new cmd heading: 359.309111 deg. 2025-01-08T22:46:55.844Z,1736376415.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271127 target range: 86.699997 and range: 86.70 m. 2025-01-08T22:46:55.948Z,1736376415.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:55.949Z,1736376415.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495576 2025-01-08T22:46:56.202Z,1736376416.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:56.203Z,1736376416.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749622 2025-01-08T22:46:56.267Z,1736376416.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:56.275Z,1736376416.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:56.278Z,1736376416.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 19.246164 m, bearing: 61.710773 deg, approach rate: -0.050100 m/s, LOS rate: 1.499123 deg/s, cmd heading: 359.309123 deg, new cmd heading: 1.264359 deg. 2025-01-08T22:46:56.279Z,1736376416.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022067 target range: 86.699997 and range: 86.70 m. 2025-01-08T22:46:56.452Z,1736376416.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:56.453Z,1736376416.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999371 2025-01-08T22:46:56.704Z,1736376416.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:56.704Z,1736376416.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251130 2025-01-08T22:46:56.728Z,1736376416.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:56.737Z,1736376416.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:56.740Z,1736376416.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 19.216913 m, bearing: 62.399198 deg, approach rate: -0.063298 m/s, LOS rate: 1.491942 deg/s, cmd heading: 1.264359 deg, new cmd heading: 3.331830 deg. 2025-01-08T22:46:56.741Z,1736376416.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058151 target range: 86.699997 and range: 86.70 m. 2025-01-08T22:46:56.956Z,1736376416.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:56.956Z,1736376416.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503198 2025-01-08T22:46:57.060Z,1736376417.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:57.069Z,1736376417.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:57.071Z,1736376417.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:57.073Z,1736376417.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 19.195711 m, bearing: 62.895397 deg, approach rate: -0.063646 m/s, LOS rate: 1.491158 deg/s, cmd heading: 3.331830 deg, new cmd heading: 4.821716 deg. 2025-01-08T22:46:57.074Z,1736376417.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084155 target range: 86.699997 and range: 86.70 m. 2025-01-08T22:46:57.209Z,1736376417.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:57.210Z,1736376417.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756339 2025-01-08T22:46:57.460Z,1736376417.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:57.460Z,1736376417.460 [DAT](INFO): DAT read: Rx Time:22:46:56.2843 2025-01-08T22:46:57.461Z,1736376417.461 [DAT](INFO): Rx dataTimestamp_ set to:1736376417.460472 2025-01-08T22:46:57.461Z,1736376417.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008060 2025-01-08T22:46:57.469Z,1736376417.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:57.477Z,1736376417.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:57.481Z,1736376417.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 19.168276 m, bearing: 63.505843 deg, approach rate: -0.067466 m/s, LOS rate: 1.503266 deg/s, cmd heading: 4.821716 deg, new cmd heading: 6.655014 deg. 2025-01-08T22:46:57.482Z,1736376417.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116152 target range: 86.699997 and range: 86.70 m. 2025-01-08T22:46:57.712Z,1736376417.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:57.713Z,1736376417.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259377 2025-01-08T22:46:57.897Z,1736376417.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:57.905Z,1736376417.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:57.927Z,1736376417.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 19.138760 m, bearing: 64.134828 deg, approach rate: -0.068919 m/s, LOS rate: 1.470876 deg/s, cmd heading: 6.655014 deg, new cmd heading: 8.544156 deg. 2025-01-08T22:46:57.928Z,1736376417.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.149124 target range: 86.699997 and range: 86.70 m. 2025-01-08T22:46:57.964Z,1736376417.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:57.966Z,1736376417.966 [DAT](INFO): DAT read: Range 10 to 50 : 87.9 m (Round-trip 117.2 ms) speed -0.4 m/s 2025-01-08T22:46:57.967Z,1736376417.967 [DAT](INFO): DAT read: user:2878> 2025-01-08T22:46:57.968Z,1736376417.968 [DAT](INFO): DAT read: Tx time:22:46:57.3629 2025-01-08T22:46:57.968Z,1736376417.968 [DAT](INFO): Ping request sent. 2025-01-08T22:46:57.968Z,1736376417.968 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:46:57.969Z,1736376417.969 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:46:57.969Z,1736376417.969 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:57.969Z,1736376417.969 [DAT](INFO): publishing transmit ping time 2025-01-08T22:46:58.216Z,1736376418.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:58.216Z,1736376418.216 [DAT](INFO): DAT read: TxSync time:22:46:57.3622 2025-01-08T22:46:58.359Z,1736376418.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:58.376Z,1736376418.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.900002 m, deltaT: 3.528492 s, deltaX: 1.200005 m, approachRate: 0.340090 m/s, rangeRepo size: 4 2025-01-08T22:46:58.377Z,1736376418.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:58.384Z,1736376418.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 19.105522 m, bearing: 64.789978 deg, approach rate: -0.071338 m/s, LOS rate: 1.408582 deg/s, cmd heading: 8.544156 deg, new cmd heading: 10.512207 deg. 2025-01-08T22:46:58.385Z,1736376418.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183473 target range: 86.699997 and range: 87.90 m. 2025-01-08T22:46:58.468Z,1736376418.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:58.720Z,1736376418.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:58.774Z,1736376418.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:58.811Z,1736376418.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:58.817Z,1736376418.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 19.069912 m, bearing: 65.432228 deg, approach rate: -0.081081 m/s, LOS rate: 1.465040 deg/s, cmd heading: 10.512208 deg, new cmd heading: 12.441787 deg. 2025-01-08T22:46:58.818Z,1736376418.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.217150 target range: 86.699997 and range: 87.90 m. 2025-01-08T22:46:58.972Z,1736376418.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:59.152Z,1736376419.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:59.158Z,1736376419.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:46:59.160Z,1736376419.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:59.163Z,1736376419.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 19.035368 m, bearing: 65.993738 deg, approach rate: -0.098724 m/s, LOS rate: 1.607631 deg/s, cmd heading: 12.441787 deg, new cmd heading: 14.128859 deg. 2025-01-08T22:46:59.165Z,1736376419.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246595 target range: 86.699997 and range: 87.90 m. 2025-01-08T22:46:59.224Z,1736376419.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:59.224Z,1736376419.224 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:46:59.225Z,1736376419.225 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:46:59.225Z,1736376419.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:46:59.476Z,1736376419.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:59.476Z,1736376419.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508130 2025-01-08T22:46:59.567Z,1736376419.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:46:59.575Z,1736376419.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:46:59.578Z,1736376419.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 18.993538 m, bearing: 66.609646 deg, approach rate: -0.100921 m/s, LOS rate: 1.489207 deg/s, cmd heading: 14.128858 deg, new cmd heading: 15.979972 deg. 2025-01-08T22:46:59.579Z,1736376419.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.278903 target range: 86.699997 and range: 87.90 m. 2025-01-08T22:46:59.736Z,1736376419.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:59.738Z,1736376419.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769274 2025-01-08T22:46:59.988Z,1736376419.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:46:59.989Z,1736376419.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020379 2025-01-08T22:47:00.002Z,1736376420.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:00.010Z,1736376420.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:47:00.013Z,1736376420.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 18.959486 m, bearing: 67.268847 deg, approach rate: -0.078248 m/s, LOS rate: 1.517475 deg/s, cmd heading: 15.979972 deg, new cmd heading: 17.960294 deg. 2025-01-08T22:47:00.015Z,1736376420.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.313466 target range: 86.699997 and range: 87.90 m. 2025-01-08T22:47:00.240Z,1736376420.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:00.240Z,1736376420.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272140 2025-01-08T22:47:00.429Z,1736376420.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:00.450Z,1736376420.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:47:00.457Z,1736376420.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 18.915918 m, bearing: 67.912140 deg, approach rate: -0.099055 m/s, LOS rate: 1.465923 deg/s, cmd heading: 17.960293 deg, new cmd heading: 19.893843 deg. 2025-01-08T22:47:00.458Z,1736376420.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.347213 target range: 86.699997 and range: 87.90 m. 2025-01-08T22:47:00.492Z,1736376420.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:00.492Z,1736376420.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524201 2025-01-08T22:47:00.744Z,1736376420.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:00.745Z,1736376420.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776460 2025-01-08T22:47:00.860Z,1736376420.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:00.869Z,1736376420.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:47:00.872Z,1736376420.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 18.876455 m, bearing: 68.582729 deg, approach rate: -0.094239 m/s, LOS rate: 1.604702 deg/s, cmd heading: 19.893843 deg, new cmd heading: 21.908937 deg. 2025-01-08T22:47:00.873Z,1736376420.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.382383 target range: 86.699997 and range: 87.90 m. 2025-01-08T22:47:00.996Z,1736376420.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:00.999Z,1736376420.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029886 2025-01-08T22:47:01.250Z,1736376421.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:01.250Z,1736376421.250 [DAT](INFO): DAT read: Rx Time:22:46:59.8861 2025-01-08T22:47:01.251Z,1736376421.251 [DAT](INFO): Rx dataTimestamp_ set to:1736376421.250438 2025-01-08T22:47:01.251Z,1736376421.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283066 2025-01-08T22:47:01.345Z,1736376421.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:01.360Z,1736376421.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:01.362Z,1736376421.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-01-08T22:47:01.369Z,1736376421.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.699997 m, nav range: 18.828285 m, bearing: 69.335162 deg, approach rate: -0.097718 m/s, LOS rate: 1.530256 deg/s, cmd heading: 21.908937 deg, new cmd heading: 24.170771 deg. 2025-01-08T22:47:01.370Z,1736376421.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421860 target range: 86.699997 and range: 87.90 m. 2025-01-08T22:47:01.500Z,1736376421.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:01.501Z,1736376421.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532636 2025-01-08T22:47:01.754Z,1736376421.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:01.770Z,1736376421.770 [DAT](INFO): DAT read: 22:46:59.8861 LVL= 21808, 19233, 19954, 26067, AGC= 59, IDX= 462, 0.49,-2.602,-2.948, 1.427, 2.537, PHS= 1.232, 0.846,-1.113, RAW= 38.8, -8.9, CAL= 42.0, -15.0, ROT= 108.0, 15.0 2025-01-08T22:47:01.772Z,1736376421.772 [DAT](INFO): got valid direction response: 22:46:59.8861 LVL= 21808, 19233, 19954, 26067, AGC= 59, IDX= 462, 0.49,-2.602,-2.948, 1.427, 2.537, PHS= 1.232, 0.846,-1.113, RAW= 38.8, -8.9, CAL= 42.0, -15.0, ROT= 108.0, 15.0 2025-01-08T22:47:01.773Z,1736376421.773 [DAT](INFO): DAT read: Bearing 108.0, 15.0 (Local) 2025-01-08T22:47:01.773Z,1736376421.773 [DAT](INFO): Local bearing/azimuth received: Bearing 108.0, 15.0 (Local) 2025-01-08T22:47:01.775Z,1736376421.775 [DAT](INFO): DAT read: Range 10 to 50 : 89.2 m (Round-trip 119.0 ms) speed 0.0 m/s 2025-01-08T22:47:01.784Z,1736376421.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:01.786Z,1736376421.786 [DAT](INFO): DAT read: user:2879> 2025-01-08T22:47:01.787Z,1736376421.787 [DAT](INFO): DAT read: Tx time:22:47:01.0129 2025-01-08T22:47:01.800Z,1736376421.800 [DAT](INFO): Ping request sent. 2025-01-08T22:47:01.800Z,1736376421.800 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:01.800Z,1736376421.800 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:01.801Z,1736376421.801 [DAT](INFO): direction in FSK: [0.178471,0.799249,0.573889] 2025-01-08T22:47:01.801Z,1736376421.801 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:01.801Z,1736376421.801 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:01.817Z,1736376421.817 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:01.817Z,1736376421.817 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:01.823Z,1736376421.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.199997 m, deltaT: 3.789546 s, deltaX: 1.299995 m, approachRate: 0.343048 m/s, rangeRepo size: 4 2025-01-08T22:47:01.831Z,1736376421.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.199997 m, bearing: 78.345022 deg, lat: 36.904998 deg, lon: -122.119584 deg, deltaT: 7.318038 s, deltaX: 2.500000 m, approachRate: 0.341622 m/s, posRepo size: 4 2025-01-08T22:47:01.838Z,1736376421.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.20 m. 2025-01-08T22:47:01.849Z,1736376421.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.199997 m, nav range: 53.295223 m, bearing: 78.344839 deg, approach rate: 0.000000 m/s, LOS rate: 1.530256 deg/s, cmd heading: 24.170771 deg, new cmd heading: 26.282765 deg. 2025-01-08T22:47:01.850Z,1736376421.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.458721 target range: 89.199997 and range: 89.20 m. 2025-01-08T22:47:02.008Z,1736376422.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:02.011Z,1736376422.011 [DAT](INFO): DAT read: TxSync time:22:47:01.0122 2025-01-08T22:47:02.260Z,1736376422.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:02.303Z,1736376422.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:02.324Z,1736376422.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.20 m. 2025-01-08T22:47:02.326Z,1736376422.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.199997 m, nav range: 53.272892 m, bearing: 78.635025 deg, approach rate: -0.044539 m/s, LOS rate: 0.579012 deg/s, cmd heading: 26.282766 deg, new cmd heading: 27.153620 deg. 2025-01-08T22:47:02.343Z,1736376422.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473920 target range: 89.199997 and range: 89.20 m. 2025-01-08T22:47:02.512Z,1736376422.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:02.674Z,1736376422.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:02.689Z,1736376422.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.20 m. 2025-01-08T22:47:02.692Z,1736376422.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.199997 m, nav range: 53.252762 m, bearing: 78.840477 deg, approach rate: -0.055033 m/s, LOS rate: 0.561892 deg/s, cmd heading: 27.153620 deg, new cmd heading: 27.770185 deg. 2025-01-08T22:47:02.693Z,1736376422.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484681 target range: 89.199997 and range: 89.20 m. 2025-01-08T22:47:02.765Z,1736376422.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:03.016Z,1736376423.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:03.088Z,1736376423.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:03.112Z,1736376423.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.20 m. 2025-01-08T22:47:03.115Z,1736376423.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.199997 m, nav range: 53.230015 m, bearing: 79.068824 deg, approach rate: -0.053799 m/s, LOS rate: 0.540288 deg/s, cmd heading: 27.770185 deg, new cmd heading: 28.455484 deg. 2025-01-08T22:47:03.116Z,1736376423.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496642 target range: 89.199997 and range: 89.20 m. 2025-01-08T22:47:03.268Z,1736376423.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:03.469Z,1736376423.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:03.494Z,1736376423.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:03.496Z,1736376423.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.20 m. 2025-01-08T22:47:03.500Z,1736376423.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.199997 m, nav range: 53.205517 m, bearing: 79.279313 deg, approach rate: -0.063732 m/s, LOS rate: 0.547846 deg/s, cmd heading: 28.455483 deg, new cmd heading: 29.087214 deg. 2025-01-08T22:47:03.501Z,1736376423.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507668 target range: 89.199997 and range: 89.20 m. 2025-01-08T22:47:03.520Z,1736376423.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:03.520Z,1736376423.520 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:03.520Z,1736376423.520 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:03.521Z,1736376423.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:03.773Z,1736376423.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:03.776Z,1736376423.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987743 2025-01-08T22:47:03.939Z,1736376423.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:03.975Z,1736376423.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.20 m. 2025-01-08T22:47:03.978Z,1736376423.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.199997 m, nav range: 53.171574 m, bearing: 79.532193 deg, approach rate: -0.071476 m/s, LOS rate: 0.532837 deg/s, cmd heading: 29.087214 deg, new cmd heading: 29.846290 deg. 2025-01-08T22:47:03.979Z,1736376423.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520916 target range: 89.199997 and range: 89.20 m. 2025-01-08T22:47:04.024Z,1736376424.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:04.024Z,1736376424.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237365 2025-01-08T22:47:04.277Z,1736376424.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:04.278Z,1736376424.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490890 2025-01-08T22:47:04.351Z,1736376424.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:04.372Z,1736376424.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.20 m. 2025-01-08T22:47:04.374Z,1736376424.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.199997 m, nav range: 53.137379 m, bearing: 79.754484 deg, approach rate: -0.086279 m/s, LOS rate: 0.561236 deg/s, cmd heading: 29.846291 deg, new cmd heading: 30.513561 deg. 2025-01-08T22:47:04.384Z,1736376424.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.532562 target range: 89.199997 and range: 89.20 m. 2025-01-08T22:47:04.528Z,1736376424.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:04.528Z,1736376424.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741196 2025-01-08T22:47:04.782Z,1736376424.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:04.784Z,1736376424.784 [DAT](INFO): DAT read: Rx Time:22:47:03.5375 2025-01-08T22:47:04.786Z,1736376424.786 [DAT](INFO): Rx dataTimestamp_ set to:1736376424.785054 2025-01-08T22:47:04.788Z,1736376424.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000513 2025-01-08T22:47:04.890Z,1736376424.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:04.912Z,1736376424.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.20 m. 2025-01-08T22:47:04.919Z,1736376424.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.199997 m, nav range: 53.090839 m, bearing: 80.047252 deg, approach rate: -0.085408 m/s, LOS rate: 0.537754 deg/s, cmd heading: 30.513563 deg, new cmd heading: 31.392566 deg. 2025-01-08T22:47:04.920Z,1736376424.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547904 target range: 89.199997 and range: 89.20 m. 2025-01-08T22:47:05.033Z,1736376425.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:05.033Z,1736376425.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246143 2025-01-08T22:47:05.273Z,1736376425.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:05.282Z,1736376425.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.20 m. 2025-01-08T22:47:05.284Z,1736376425.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:05.290Z,1736376425.290 [DAT](INFO): DAT read: 22:47:03.5375 LVL= 13904, 19041, 18322, 30883, AGC= 58, IDX= 461,-0.05, 2.967, 2.058, 0.541, 1.575, PHS= 1.481, 0.530,-1.037, RAW= 52.0, -8.9, CAL= 58.7, -15.5, ROT= 91.3, 15.5 2025-01-08T22:47:05.292Z,1736376425.292 [DAT](INFO): got valid direction response: 22:47:03.5375 LVL= 13904, 19041, 18322, 30883, AGC= 58, IDX= 461,-0.05, 2.967, 2.058, 0.541, 1.575, PHS= 1.481, 0.530,-1.037, RAW= 52.0, -8.9, CAL= 58.7, -15.5, ROT= 91.3, 15.5 2025-01-08T22:47:05.293Z,1736376425.293 [DAT](INFO): DAT read: Bearing 91.3, 15.5 (Local) 2025-01-08T22:47:05.293Z,1736376425.293 [DAT](INFO): Local bearing/azimuth received: Bearing 91.3, 15.5 (Local) 2025-01-08T22:47:05.294Z,1736376425.294 [DAT](INFO): DAT read: Range 10 to 50 : 90.3 m (Round-trip 120.4 ms) speed 0.0 m/s 2025-01-08T22:47:05.299Z,1736376425.299 [DAT](INFO): DAT read: user:2880> 2025-01-08T22:47:05.300Z,1736376425.300 [DAT](INFO): DAT read: Tx time:22:47:04.6630 2025-01-08T22:47:05.300Z,1736376425.300 [DAT](INFO): Ping request sent. 2025-01-08T22:47:05.300Z,1736376425.300 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:05.301Z,1736376425.301 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:05.301Z,1736376425.301 [DAT](INFO): direction in FSK: [0.151624,0.661540,0.734421] 2025-01-08T22:47:05.302Z,1736376425.302 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:05.302Z,1736376425.302 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:05.305Z,1736376425.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.199997 m, nav range: 53.053761 m, bearing: 80.254819 deg, approach rate: -0.100305 m/s, LOS rate: 0.561896 deg/s, cmd heading: 31.392567 deg, new cmd heading: 32.015678 deg. 2025-01-08T22:47:05.306Z,1736376425.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558779 target range: 89.199997 and range: 89.20 m. 2025-01-08T22:47:05.311Z,1736376425.311 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:05.311Z,1736376425.311 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:05.536Z,1736376425.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:05.537Z,1736376425.537 [DAT](INFO): DAT read: TxSync time:22:47:04.6623 2025-01-08T22:47:05.661Z,1736376425.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:05.694Z,1736376425.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.300003 m, deltaT: 3.529794 s, deltaX: 1.100006 m, approachRate: 0.311635 m/s, rangeRepo size: 4 2025-01-08T22:47:05.701Z,1736376425.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.300003 m, bearing: 95.518121 deg, lat: 36.904998 deg, lon: -122.119574 deg, deltaT: 3.529794 s, deltaX: 1.100006 m, approachRate: 0.311635 m/s, posRepo size: 4 2025-01-08T22:47:05.701Z,1736376425.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:05.708Z,1736376425.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 53.912468 m, bearing: 80.624433 deg, approach rate: 0.000000 m/s, LOS rate: 0.561896 deg/s, cmd heading: 32.015678 deg, new cmd heading: 32.709302 deg. 2025-01-08T22:47:05.709Z,1736376425.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570885 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:05.789Z,1736376425.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:06.040Z,1736376426.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:06.075Z,1736376426.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:06.120Z,1736376426.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:06.122Z,1736376426.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:06.125Z,1736376426.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 53.859097 m, bearing: 80.833120 deg, approach rate: -0.124618 m/s, LOS rate: 0.487749 deg/s, cmd heading: 32.709301 deg, new cmd heading: 33.335956 deg. 2025-01-08T22:47:06.126Z,1736376426.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581822 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:06.292Z,1736376426.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:06.292Z,1736376426.292 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:06.292Z,1736376426.292 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:06.293Z,1736376426.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:06.459Z,1736376426.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:06.469Z,1736376426.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:06.472Z,1736376426.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 53.810017 m, bearing: 81.027914 deg, approach rate: -0.141357 m/s, LOS rate: 0.561546 deg/s, cmd heading: 33.335957 deg, new cmd heading: 33.920852 deg. 2025-01-08T22:47:06.473Z,1736376426.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592031 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:06.544Z,1736376426.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:06.546Z,1736376426.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245068 2025-01-08T22:47:06.798Z,1736376426.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:06.801Z,1736376426.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500443 2025-01-08T22:47:06.903Z,1736376426.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:06.912Z,1736376426.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:06.916Z,1736376426.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 53.734104 m, bearing: 81.246707 deg, approach rate: -0.171702 m/s, LOS rate: 0.495573 deg/s, cmd heading: 33.920850 deg, new cmd heading: 34.578126 deg. 2025-01-08T22:47:06.917Z,1736376426.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603502 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:07.048Z,1736376427.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:07.049Z,1736376427.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748320 2025-01-08T22:47:07.263Z,1736376427.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:07.293Z,1736376427.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:07.300Z,1736376427.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:07.300Z,1736376427.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000240 2025-01-08T22:47:07.301Z,1736376427.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 53.668591 m, bearing: 81.423045 deg, approach rate: -0.171793 m/s, LOS rate: 0.462969 deg/s, cmd heading: 34.578126 deg, new cmd heading: 35.107772 deg. 2025-01-08T22:47:07.302Z,1736376427.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612746 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:07.552Z,1736376427.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:07.553Z,1736376427.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252432 2025-01-08T22:47:07.677Z,1736376427.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:07.689Z,1736376427.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:07.692Z,1736376427.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 53.589207 m, bearing: 81.623609 deg, approach rate: -0.200457 m/s, LOS rate: 0.507204 deg/s, cmd heading: 35.107773 deg, new cmd heading: 35.710332 deg. 2025-01-08T22:47:07.693Z,1736376427.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623263 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:07.806Z,1736376427.806 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:07.808Z,1736376427.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507342 2025-01-08T22:47:08.056Z,1736376428.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:08.057Z,1736376428.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756393 2025-01-08T22:47:08.084Z,1736376428.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:08.122Z,1736376428.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:08.129Z,1736376428.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 53.498444 m, bearing: 81.812146 deg, approach rate: -0.209441 m/s, LOS rate: 0.435798 deg/s, cmd heading: 35.710333 deg, new cmd heading: 36.276884 deg. 2025-01-08T22:47:08.130Z,1736376428.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633151 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:08.308Z,1736376428.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:08.308Z,1736376428.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008128 2025-01-08T22:47:08.464Z,1736376428.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:08.472Z,1736376428.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:08.474Z,1736376428.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:08.477Z,1736376428.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 53.410114 m, bearing: 81.986705 deg, approach rate: -0.251007 m/s, LOS rate: 0.496866 deg/s, cmd heading: 36.276883 deg, new cmd heading: 36.801410 deg. 2025-01-08T22:47:08.478Z,1736376428.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642306 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:08.561Z,1736376428.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:08.562Z,1736376428.562 [DAT](INFO): DAT read: Rx Time:22:47:07.1879 2025-01-08T22:47:08.563Z,1736376428.563 [DAT](INFO): Rx dataTimestamp_ set to:1736376428.562329 2025-01-08T22:47:08.564Z,1736376428.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263419 2025-01-08T22:47:08.813Z,1736376428.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:08.816Z,1736376428.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514651 2025-01-08T22:47:08.966Z,1736376428.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:08.975Z,1736376428.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:08.978Z,1736376428.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 53.294296 m, bearing: 82.224323 deg, approach rate: -0.231214 m/s, LOS rate: 0.475401 deg/s, cmd heading: 36.801411 deg, new cmd heading: 37.515776 deg. 2025-01-08T22:47:08.979Z,1736376428.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654774 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:09.064Z,1736376429.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:09.075Z,1736376429.075 [DAT](INFO): DAT read: 22:47:07.1879 LVL= 27024, 28785, 27442, 32755, AGC= 63, IDX= 449,-0.13,-2.218,-2.943, 2.047, 3.029, PHS= 1.124, 0.359,-0.985, RAW= 51.0, -5.4, CAL= 55.1, -10.4, ROT= 94.9, 10.4 2025-01-08T22:47:09.077Z,1736376429.077 [DAT](INFO): got valid direction response: 22:47:07.1879 LVL= 27024, 28785, 27442, 32755, AGC= 63, IDX= 449,-0.13,-2.218,-2.943, 2.047, 3.029, PHS= 1.124, 0.359,-0.985, RAW= 51.0, -5.4, CAL= 55.1, -10.4, ROT= 94.9, 10.4 2025-01-08T22:47:09.077Z,1736376429.077 [DAT](INFO): DAT read: Bearing 94.9, 10.4 (Local) 2025-01-08T22:47:09.078Z,1736376429.078 [DAT](INFO): Local bearing/azimuth received: Bearing 94.9, 10.4 (Local) 2025-01-08T22:47:09.079Z,1736376429.079 [DAT](INFO): DAT read: Range 10 to 50 : 90.6 m (Round-trip 120.8 ms) speed 0.1 m/s 2025-01-08T22:47:09.080Z,1736376429.080 [DAT](INFO): DAT read: user:2881> 2025-01-08T22:47:09.081Z,1736376429.081 [DAT](INFO): DAT read: Tx time:22:47:08.3130 2025-01-08T22:47:09.081Z,1736376429.081 [DAT](INFO): Ping request sent. 2025-01-08T22:47:09.081Z,1736376429.081 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:09.082Z,1736376429.082 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:09.082Z,1736376429.082 [DAT](INFO): direction in FSK: [0.090132,0.682201,0.725588] 2025-01-08T22:47:09.083Z,1736376429.083 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:09.083Z,1736376429.083 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:09.086Z,1736376429.086 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:09.086Z,1736376429.086 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:09.308Z,1736376429.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:09.316Z,1736376429.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:09.317Z,1736376429.317 [DAT](INFO): DAT read: TxSync time:22:47:08.3123 2025-01-08T22:47:09.348Z,1736376429.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.780758 s, deltaX: 0.299995 m, approachRate: 0.079348 m/s, rangeRepo size: 4 2025-01-08T22:47:09.350Z,1736376429.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.599998 m, bearing: 113.666074 deg, lat: 36.904968 deg, lon: -122.119584 deg, deltaT: 3.780758 s, deltaX: 0.299995 m, approachRate: 0.079348 m/s, posRepo size: 4 2025-01-08T22:47:09.359Z,1736376429.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:09.366Z,1736376429.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 51.962624 m, bearing: 85.853213 deg, approach rate: 0.000000 m/s, LOS rate: 0.475401 deg/s, cmd heading: 37.515777 deg, new cmd heading: 38.034945 deg. 2025-01-08T22:47:09.372Z,1736376429.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663835 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:09.568Z,1736376429.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:09.701Z,1736376429.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:09.710Z,1736376429.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:09.729Z,1736376429.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 51.871391 m, bearing: 86.044391 deg, approach rate: -0.245689 m/s, LOS rate: 0.515748 deg/s, cmd heading: 38.034943 deg, new cmd heading: 38.609465 deg. 2025-01-08T22:47:09.730Z,1736376429.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673862 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:09.822Z,1736376429.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:10.072Z,1736376430.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:10.142Z,1736376430.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:10.151Z,1736376430.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:10.154Z,1736376430.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 51.746830 m, bearing: 86.237495 deg, approach rate: -0.282664 m/s, LOS rate: 0.439260 deg/s, cmd heading: 38.609465 deg, new cmd heading: 39.190150 deg. 2025-01-08T22:47:10.155Z,1736376430.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683997 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:10.324Z,1736376430.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:10.523Z,1736376430.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:10.530Z,1736376430.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:10.533Z,1736376430.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:10.536Z,1736376430.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 51.639721 m, bearing: 86.405026 deg, approach rate: -0.280208 m/s, LOS rate: 0.439189 deg/s, cmd heading: 39.190150 deg, new cmd heading: 39.693774 deg. 2025-01-08T22:47:10.537Z,1736376430.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692787 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:10.576Z,1736376430.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:10.576Z,1736376430.576 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:10.576Z,1736376430.576 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:10.577Z,1736376430.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:10.641Z,1736376430.641 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:47:10.836Z,1736376430.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:10.838Z,1736376430.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756081 2025-01-08T22:47:10.933Z,1736376430.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:10.942Z,1736376430.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:10.961Z,1736376430.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 51.515282 m, bearing: 86.582436 deg, approach rate: -0.304433 m/s, LOS rate: 0.435069 deg/s, cmd heading: 39.693774 deg, new cmd heading: 40.227271 deg. 2025-01-08T22:47:10.962Z,1736376430.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702098 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:11.088Z,1736376431.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:11.088Z,1736376431.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007146 2025-01-08T22:47:11.316Z,1736376431.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:11.340Z,1736376431.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:11.340Z,1736376431.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258982 2025-01-08T22:47:11.342Z,1736376431.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:11.345Z,1736376431.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 51.397285 m, bearing: 86.746929 deg, approach rate: -0.294527 m/s, LOS rate: 0.411531 deg/s, cmd heading: 40.227270 deg, new cmd heading: 40.721872 deg. 2025-01-08T22:47:11.346Z,1736376431.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710731 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:11.592Z,1736376431.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:11.592Z,1736376431.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511089 2025-01-08T22:47:11.644Z,1736376431.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:47:11.725Z,1736376431.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:11.734Z,1736376431.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:11.737Z,1736376431.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 51.269379 m, bearing: 86.921480 deg, approach rate: -0.326360 m/s, LOS rate: 0.446485 deg/s, cmd heading: 40.721871 deg, new cmd heading: 41.246815 deg. 2025-01-08T22:47:11.738Z,1736376431.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719893 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:11.844Z,1736376431.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:11.845Z,1736376431.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763977 2025-01-08T22:47:12.096Z,1736376432.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:12.097Z,1736376432.097 [DAT](INFO): DAT read: Rx Time:22:47:10.8379 2025-01-08T22:47:12.097Z,1736376432.097 [DAT](INFO): Rx dataTimestamp_ set to:1736376432.096933 2025-01-08T22:47:12.098Z,1736376432.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016420 2025-01-08T22:47:12.212Z,1736376432.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:12.273Z,1736376432.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:12.280Z,1736376432.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 51.108448 m, bearing: 87.125949 deg, approach rate: -0.298532 m/s, LOS rate: 0.380491 deg/s, cmd heading: 41.246816 deg, new cmd heading: 41.862130 deg. 2025-01-08T22:47:12.282Z,1736376432.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.730632 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:12.349Z,1736376432.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:12.350Z,1736376432.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268087 2025-01-08T22:47:12.586Z,1736376432.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:12.593Z,1736376432.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:12.594Z,1736376432.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:12.600Z,1736376432.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:12.606Z,1736376432.606 [DAT](INFO): DAT read: 22:47:10.8379 LVL= 20848, 26785, 21042, 26035, AGC= 59, IDX= 449,-0.32, 1.600, 0.711,-0.468, 0.427, PHS= 1.261, 0.331,-0.898, RAW= 55.4, -7.5, CAL= 62.1, -13.6, ROT= 87.9, 13.6 2025-01-08T22:47:12.608Z,1736376432.608 [DAT](INFO): got valid direction response: 22:47:10.8379 LVL= 20848, 26785, 21042, 26035, AGC= 59, IDX= 449,-0.32, 1.600, 0.711,-0.468, 0.427, PHS= 1.261, 0.331,-0.898, RAW= 55.4, -7.5, CAL= 62.1, -13.6, ROT= 87.9, 13.6 2025-01-08T22:47:12.609Z,1736376432.609 [DAT](INFO): DAT read: Bearing 87.9, 13.6 (Local) 2025-01-08T22:47:12.609Z,1736376432.609 [DAT](INFO): Local bearing/azimuth received: Bearing 87.9, 13.6 (Local) 2025-01-08T22:47:12.610Z,1736376432.610 [DAT](INFO): DAT read: Range 10 to 50 : 90.6 m (Round-trip 120.8 ms) speed 0.0 m/s 2025-01-08T22:47:12.611Z,1736376432.611 [DAT](INFO): DAT read: user:2882> 2025-01-08T22:47:12.612Z,1736376432.612 [DAT](INFO): DAT read: Tx time:22:47:11.9630 2025-01-08T22:47:12.612Z,1736376432.612 [DAT](INFO): Ping request sent. 2025-01-08T22:47:12.612Z,1736376432.612 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:12.613Z,1736376432.613 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:12.614Z,1736376432.614 [DAT](INFO): direction in FSK: [0.118393,0.623400,0.772888] 2025-01-08T22:47:12.615Z,1736376432.615 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:12.629Z,1736376432.629 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:12.634Z,1736376432.634 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:12.634Z,1736376432.634 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:12.637Z,1736376432.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 50.982857 m, bearing: 87.282747 deg, approach rate: -0.391088 m/s, LOS rate: 0.489467 deg/s, cmd heading: 41.862130 deg, new cmd heading: 42.333671 deg. 2025-01-08T22:47:12.645Z,1736376432.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738862 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:12.854Z,1736376432.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:12.858Z,1736376432.858 [DAT](INFO): DAT read: TxSync time:22:47:11.9623 2025-01-08T22:47:13.041Z,1736376433.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:13.054Z,1736376433.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.535199 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:47:13.057Z,1736376433.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.599998 m, bearing: 113.438264 deg, lat: 36.904885 deg, lon: -122.119738 deg, deltaT: 3.535199 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:47:13.057Z,1736376433.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:13.076Z,1736376433.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 37.777725 m, bearing: 100.638048 deg, approach rate: 0.000000 m/s, LOS rate: 0.489467 deg/s, cmd heading: 42.333673 deg, new cmd heading: 43.008116 deg. 2025-01-08T22:47:13.077Z,1736376433.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.750633 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:13.104Z,1736376433.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:13.356Z,1736376433.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:13.401Z,1736376433.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:13.417Z,1736376433.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:13.424Z,1736376433.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 37.685928 m, bearing: 100.871314 deg, approach rate: -0.252515 m/s, LOS rate: 0.643232 deg/s, cmd heading: 43.008117 deg, new cmd heading: 43.709584 deg. 2025-01-08T22:47:13.425Z,1736376433.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762876 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:13.608Z,1736376433.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:13.800Z,1736376433.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:13.809Z,1736376433.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:13.812Z,1736376433.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 37.583111 m, bearing: 101.130209 deg, approach rate: -0.262515 m/s, LOS rate: 0.662817 deg/s, cmd heading: 43.709584 deg, new cmd heading: 44.488341 deg. 2025-01-08T22:47:13.813Z,1736376433.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.776468 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:13.862Z,1736376433.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:14.112Z,1736376434.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:14.242Z,1736376434.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:14.253Z,1736376434.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:14.256Z,1736376434.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 37.473053 m, bearing: 101.424577 deg, approach rate: -0.247795 m/s, LOS rate: 0.664713 deg/s, cmd heading: 44.488342 deg, new cmd heading: 45.373967 deg. 2025-01-08T22:47:14.257Z,1736376434.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791925 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:14.365Z,1736376434.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:14.605Z,1736376434.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:14.616Z,1736376434.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:14.632Z,1736376434.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:14.634Z,1736376434.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:14.641Z,1736376434.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 37.380329 m, bearing: 101.664734 deg, approach rate: -0.243524 m/s, LOS rate: 0.632295 deg/s, cmd heading: 45.373968 deg, new cmd heading: 46.096186 deg. 2025-01-08T22:47:14.642Z,1736376434.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804530 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:14.868Z,1736376434.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:14.868Z,1736376434.868 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:14.869Z,1736376434.869 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:14.869Z,1736376434.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:15.122Z,1736376435.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:15.124Z,1736376435.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512099 2025-01-08T22:47:15.125Z,1736376435.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:15.140Z,1736376435.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:15.145Z,1736376435.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 37.241409 m, bearing: 101.996460 deg, approach rate: -0.275133 m/s, LOS rate: 0.659434 deg/s, cmd heading: 46.096185 deg, new cmd heading: 47.094967 deg. 2025-01-08T22:47:15.146Z,1736376435.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821962 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:15.372Z,1736376435.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:15.372Z,1736376435.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760145 2025-01-08T22:47:15.494Z,1736376435.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:15.504Z,1736376435.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:15.506Z,1736376435.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 37.139469 m, bearing: 102.238193 deg, approach rate: -0.279743 m/s, LOS rate: 0.665181 deg/s, cmd heading: 47.094967 deg, new cmd heading: 47.822118 deg. 2025-01-08T22:47:15.507Z,1736376435.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834653 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:15.624Z,1736376435.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:15.625Z,1736376435.625 [DAT](INFO): DAT read: Rx Time:22:47:14.4875 2025-01-08T22:47:15.625Z,1736376435.625 [DAT](INFO): Rx dataTimestamp_ set to:1736376435.624795 2025-01-08T22:47:15.626Z,1736376435.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013254 2025-01-08T22:47:15.877Z,1736376435.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:15.877Z,1736376435.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265073 2025-01-08T22:47:15.978Z,1736376435.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:15.994Z,1736376435.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:16.001Z,1736376436.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 37.006950 m, bearing: 102.550599 deg, approach rate: -0.270213 m/s, LOS rate: 0.639291 deg/s, cmd heading: 47.822119 deg, new cmd heading: 48.762604 deg. 2025-01-08T22:47:16.004Z,1736376436.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.851068 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:16.128Z,1736376436.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:16.130Z,1736376436.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516926 2025-01-08T22:47:16.366Z,1736376436.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:16.379Z,1736376436.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T22:47:16.380Z,1736376436.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:16.388Z,1736376436.388 [DAT](INFO): DAT read: 22:47:14.4876 LVL= 15008, 30769, 20674, 31027, AGC= 59, IDX= 444, 0.13,-1.798,-2.992, 2.431,-2.980, PHS= 1.269, 0.035,-0.875, RAW= 65.0, -4.6, CAL= 71.9, -10.3, ROT= 78.1, 10.3 2025-01-08T22:47:16.389Z,1736376436.389 [DAT](INFO): got valid direction response: 22:47:14.4876 LVL= 15008, 30769, 20674, 31027, AGC= 59, IDX= 444, 0.13,-1.798,-2.992, 2.431,-2.980, PHS= 1.269, 0.035,-0.875, RAW= 65.0, -4.6, CAL= 71.9, -10.3, ROT= 78.1, 10.3 2025-01-08T22:47:16.390Z,1736376436.390 [DAT](INFO): DAT read: Bearing 78.1, 10.3 (Local) 2025-01-08T22:47:16.390Z,1736376436.390 [DAT](INFO): Local bearing/azimuth received: Bearing 78.1, 10.3 (Local) 2025-01-08T22:47:16.391Z,1736376436.391 [DAT](INFO): DAT read: Range 10 to 50 : 90.3 m (Round-trip 120.4 ms) speed 0.1 m/s 2025-01-08T22:47:16.392Z,1736376436.392 [DAT](INFO): DAT read: user:2883> 2025-01-08T22:47:16.393Z,1736376436.393 [DAT](INFO): DAT read: Tx time:22:47:15.6131 2025-01-08T22:47:16.393Z,1736376436.393 [DAT](INFO): Ping request sent. 2025-01-08T22:47:16.393Z,1736376436.393 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:16.394Z,1736376436.394 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:16.394Z,1736376436.394 [DAT](INFO): direction in FSK: [0.047690,0.501256,0.863984] 2025-01-08T22:47:16.395Z,1736376436.395 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:16.395Z,1736376436.395 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:16.398Z,1736376436.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 36.898918 m, bearing: 102.808954 deg, approach rate: -0.280565 m/s, LOS rate: 0.672921 deg/s, cmd heading: 48.762602 deg, new cmd heading: 49.539885 deg. 2025-01-08T22:47:16.416Z,1736376436.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864634 target range: 90.599998 and range: 90.60 m. 2025-01-08T22:47:16.441Z,1736376436.441 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:16.441Z,1736376436.441 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:16.632Z,1736376436.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:16.633Z,1736376436.633 [DAT](INFO): DAT read: TxSync time:22:47:15.6124 2025-01-08T22:47:16.745Z,1736376436.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:16.759Z,1736376436.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.300003 m, deltaT: 3.779942 s, deltaX: -0.299995 m, approachRate: -0.079365 m/s, rangeRepo size: 4 2025-01-08T22:47:16.761Z,1736376436.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.300003 m, bearing: 123.344195 deg, lat: 36.904821 deg, lon: -122.119745 deg, deltaT: 3.779942 s, deltaX: -0.299995 m, approachRate: -0.079365 m/s, posRepo size: 4 2025-01-08T22:47:16.762Z,1736376436.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:16.765Z,1736376436.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 38.499233 m, bearing: 113.691246 deg, approach rate: 0.000000 m/s, LOS rate: 0.672921 deg/s, cmd heading: 49.539885 deg, new cmd heading: 50.305878 deg. 2025-01-08T22:47:16.766Z,1736376436.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.878003 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:16.884Z,1736376436.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:17.136Z,1736376437.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:17.177Z,1736376437.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:17.196Z,1736376437.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:17.201Z,1736376437.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:17.204Z,1736376437.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 38.415371 m, bearing: 113.989939 deg, approach rate: -0.189362 m/s, LOS rate: 0.675920 deg/s, cmd heading: 50.305880 deg, new cmd heading: 51.203837 deg. 2025-01-08T22:47:17.205Z,1736376437.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.893676 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:17.392Z,1736376437.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:17.392Z,1736376437.392 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:17.392Z,1736376437.392 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:17.393Z,1736376437.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:17.555Z,1736376437.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:17.565Z,1736376437.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:17.568Z,1736376437.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 38.343128 m, bearing: 114.243355 deg, approach rate: -0.199043 m/s, LOS rate: 0.699525 deg/s, cmd heading: 51.203838 deg, new cmd heading: 51.965472 deg. 2025-01-08T22:47:17.569Z,1736376437.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.906969 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:17.645Z,1736376437.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:17.646Z,1736376437.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252338 2025-01-08T22:47:17.896Z,1736376437.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:17.897Z,1736376437.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503226 2025-01-08T22:47:18.044Z,1736376438.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:18.054Z,1736376438.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:18.069Z,1736376438.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 38.239483 m, bearing: 114.598922 deg, approach rate: -0.211520 m/s, LOS rate: 0.727605 deg/s, cmd heading: 51.965473 deg, new cmd heading: 53.034933 deg. 2025-01-08T22:47:18.070Z,1736376438.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.925634 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:18.149Z,1736376438.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:18.150Z,1736376438.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756565 2025-01-08T22:47:18.372Z,1736376438.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:18.386Z,1736376438.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:18.389Z,1736376438.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 38.170826 m, bearing: 114.831466 deg, approach rate: -0.206837 m/s, LOS rate: 0.701826 deg/s, cmd heading: 53.034933 deg, new cmd heading: 53.733784 deg. 2025-01-08T22:47:18.390Z,1736376438.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937831 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:18.400Z,1736376438.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:18.401Z,1736376438.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007287 2025-01-08T22:47:18.652Z,1736376438.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:18.653Z,1736376438.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259703 2025-01-08T22:47:18.773Z,1736376438.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:18.782Z,1736376438.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:18.785Z,1736376438.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 38.085426 m, bearing: 115.115223 deg, approach rate: -0.215451 m/s, LOS rate: 0.717479 deg/s, cmd heading: 53.733785 deg, new cmd heading: 54.586899 deg. 2025-01-08T22:47:18.786Z,1736376438.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952721 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:18.904Z,1736376438.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:18.905Z,1736376438.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511263 2025-01-08T22:47:19.156Z,1736376439.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:19.156Z,1736376439.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763124 2025-01-08T22:47:19.214Z,1736376439.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:19.242Z,1736376439.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:19.248Z,1736376439.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:19.260Z,1736376439.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 37.992325 m, bearing: 115.432450 deg, approach rate: -0.199892 m/s, LOS rate: 0.682764 deg/s, cmd heading: 54.586899 deg, new cmd heading: 55.540820 deg. 2025-01-08T22:47:19.261Z,1736376439.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.969370 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:19.408Z,1736376439.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:19.409Z,1736376439.409 [DAT](INFO): DAT read: Rx Time:22:47:18.1366 2025-01-08T22:47:19.409Z,1736376439.409 [DAT](INFO): Rx dataTimestamp_ set to:1736376439.408762 2025-01-08T22:47:19.410Z,1736376439.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016292 2025-01-08T22:47:19.575Z,1736376439.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:19.600Z,1736376439.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T22:47:19.605Z,1736376439.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 37.914757 m, bearing: 115.691510 deg, approach rate: -0.220205 m/s, LOS rate: 0.736937 deg/s, cmd heading: 55.540820 deg, new cmd heading: 56.319540 deg. 2025-01-08T22:47:19.606Z,1736376439.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982961 target range: 90.300003 and range: 90.30 m. 2025-01-08T22:47:19.661Z,1736376439.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:19.662Z,1736376439.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268721 2025-01-08T22:47:19.912Z,1736376439.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:19.919Z,1736376439.919 [DAT](INFO): DAT read: 22:47:18.1366 LVL= 15648, 31409, 22930, 32755, AGC= 58, IDX= 434,-0.07,-1.308,-2.769, 3.066,-2.447, PHS= 1.226,-0.275,-0.773, RAW= 76.2, -2.0, CAL= 82.9, -7.2, ROT= 67.1, 7.2 2025-01-08T22:47:19.920Z,1736376439.920 [DAT](INFO): got valid direction response: 22:47:18.1366 LVL= 15648, 31409, 22930, 32755, AGC= 58, IDX= 434,-0.07,-1.308,-2.769, 3.066,-2.447, PHS= 1.226,-0.275,-0.773, RAW= 76.2, -2.0, CAL= 82.9, -7.2, ROT= 67.1, 7.2 2025-01-08T22:47:19.921Z,1736376439.921 [DAT](INFO): DAT read: Bearing 67.1, 7.2 (Local) 2025-01-08T22:47:19.921Z,1736376439.921 [DAT](INFO): Local bearing/azimuth received: Bearing 67.1, 7.2 (Local) 2025-01-08T22:47:19.923Z,1736376439.923 [DAT](INFO): DAT read: Range 10 to 50 : 89.4 m (Round-trip 119.3 ms) speed 0.2 m/s 2025-01-08T22:47:19.924Z,1736376439.924 [DAT](INFO): DAT read: user:2884> 2025-01-08T22:47:19.925Z,1736376439.925 [DAT](INFO): DAT read: Tx time:22:47:19.2631 2025-01-08T22:47:19.925Z,1736376439.925 [DAT](INFO): Ping request sent. 2025-01-08T22:47:19.925Z,1736376439.925 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:19.925Z,1736376439.925 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:19.926Z,1736376439.926 [DAT](INFO): direction in FSK: [-0.023214,0.336159,0.941519] 2025-01-08T22:47:19.926Z,1736376439.926 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:19.927Z,1736376439.927 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:19.930Z,1736376439.930 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:19.930Z,1736376439.930 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:20.164Z,1736376440.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:20.165Z,1736376440.165 [DAT](INFO): DAT read: TxSync time:22:47:19.2624 2025-01-08T22:47:20.172Z,1736376440.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:20.203Z,1736376440.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.400002 m, deltaT: 3.531954 s, deltaX: -0.900002 m, approachRate: -0.254817 m/s, rangeRepo size: 4 2025-01-08T22:47:20.209Z,1736376440.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.400002 m, bearing: 146.844665 deg, lat: 36.904821 deg, lon: -122.119747 deg, deltaT: 3.531954 s, deltaX: -0.900002 m, approachRate: -0.254817 m/s, posRepo size: 4 2025-01-08T22:47:20.210Z,1736376440.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T22:47:20.219Z,1736376440.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 37.550926 m, bearing: 116.288825 deg, approach rate: 0.000000 m/s, LOS rate: 0.736937 deg/s, cmd heading: 56.319541 deg, new cmd heading: 57.649331 deg. 2025-01-08T22:47:20.226Z,1736376440.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006171 target range: 89.400002 and range: 89.40 m. 2025-01-08T22:47:20.416Z,1736376440.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:20.515Z,1736376440.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:20.536Z,1736376440.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T22:47:20.539Z,1736376440.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 37.473473 m, bearing: 116.530950 deg, approach rate: -0.231769 m/s, LOS rate: 0.726019 deg/s, cmd heading: 57.649331 deg, new cmd heading: 58.377165 deg. 2025-01-08T22:47:20.540Z,1736376440.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.018874 target range: 89.400002 and range: 89.40 m. 2025-01-08T22:47:20.668Z,1736376440.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:20.913Z,1736376440.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:20.920Z,1736376440.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:20.924Z,1736376440.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T22:47:20.927Z,1736376440.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 37.384106 m, bearing: 116.814219 deg, approach rate: -0.230270 m/s, LOS rate: 0.731636 deg/s, cmd heading: 58.377162 deg, new cmd heading: 59.228934 deg. 2025-01-08T22:47:20.928Z,1736376440.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.033740 target range: 89.400002 and range: 89.40 m. 2025-01-08T22:47:21.172Z,1736376441.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:21.366Z,1736376441.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:21.373Z,1736376441.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:21.376Z,1736376441.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T22:47:21.378Z,1736376441.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 37.281918 m, bearing: 117.133976 deg, approach rate: -0.226658 m/s, LOS rate: 0.711176 deg/s, cmd heading: 59.228935 deg, new cmd heading: 60.190739 deg. 2025-01-08T22:47:21.379Z,1736376441.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.050527 target range: 89.400002 and range: 89.40 m. 2025-01-08T22:47:21.425Z,1736376441.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:21.426Z,1736376441.426 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:21.426Z,1736376441.426 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:21.426Z,1736376441.426 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:21.676Z,1736376441.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:21.677Z,1736376441.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751865 2025-01-08T22:47:21.708Z,1736376441.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:21.734Z,1736376441.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T22:47:21.741Z,1736376441.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 37.198437 m, bearing: 117.371773 deg, approach rate: -0.232701 m/s, LOS rate: 0.664343 deg/s, cmd heading: 60.190742 deg, new cmd heading: 60.905697 deg. 2025-01-08T22:47:21.742Z,1736376441.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.063005 target range: 89.400002 and range: 89.40 m. 2025-01-08T22:47:21.928Z,1736376441.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:21.929Z,1736376441.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003527 2025-01-08T22:47:22.144Z,1736376442.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:22.153Z,1736376442.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T22:47:22.157Z,1736376442.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 37.089325 m, bearing: 117.677365 deg, approach rate: -0.260070 m/s, LOS rate: 0.730523 deg/s, cmd heading: 60.905698 deg, new cmd heading: 61.825088 deg. 2025-01-08T22:47:22.158Z,1736376442.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079051 target range: 89.400002 and range: 89.40 m. 2025-01-08T22:47:22.193Z,1736376442.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:22.194Z,1736376442.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268715 2025-01-08T22:47:22.444Z,1736376442.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:22.444Z,1736376442.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519339 2025-01-08T22:47:22.544Z,1736376442.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:22.552Z,1736376442.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T22:47:22.555Z,1736376442.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 36.990276 m, bearing: 117.958966 deg, approach rate: -0.248191 m/s, LOS rate: 0.707508 deg/s, cmd heading: 61.825090 deg, new cmd heading: 62.672089 deg. 2025-01-08T22:47:22.556Z,1736376442.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093834 target range: 89.400002 and range: 89.40 m. 2025-01-08T22:47:22.696Z,1736376442.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:22.696Z,1736376442.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771354 2025-01-08T22:47:22.933Z,1736376442.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:22.941Z,1736376442.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T22:47:22.944Z,1736376442.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 36.889595 m, bearing: 118.230349 deg, approach rate: -0.259033 m/s, LOS rate: 0.700118 deg/s, cmd heading: 62.672088 deg, new cmd heading: 63.488400 deg. 2025-01-08T22:47:22.945Z,1736376442.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108082 target range: 89.400002 and range: 89.40 m. 2025-01-08T22:47:22.948Z,1736376442.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:22.949Z,1736376442.949 [DAT](INFO): DAT read: Rx Time:22:47:21.7852 2025-01-08T22:47:22.949Z,1736376442.949 [DAT](INFO): Rx dataTimestamp_ set to:1736376442.949157 2025-01-08T22:47:22.950Z,1736376442.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024887 2025-01-08T22:47:23.202Z,1736376443.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:23.202Z,1736376443.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277345 2025-01-08T22:47:23.368Z,1736376443.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:23.380Z,1736376443.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:23.385Z,1736376443.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m. 2025-01-08T22:47:23.389Z,1736376443.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.400002 m, nav range: 36.770058 m, bearing: 118.538897 deg, approach rate: -0.269731 m/s, LOS rate: 0.698485 deg/s, cmd heading: 63.488398 deg, new cmd heading: 64.416964 deg. 2025-01-08T22:47:23.390Z,1736376443.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124288 target range: 89.400002 and range: 89.40 m. 2025-01-08T22:47:23.462Z,1736376443.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:23.466Z,1736376443.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540293 2025-01-08T22:47:23.712Z,1736376443.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:23.719Z,1736376443.719 [DAT](INFO): DAT read: 22:47:21.7852 LVL= 17440, 26593, 21810, 28275, AGC= 59, IDX= 420,-0.38,-2.205, 2.435, 2.286, 2.903, PHS= 1.262,-0.422,-0.620, RAW= 84.5, -2.5, CAL= 92.2, -8.3, ROT= 57.8, 8.3 2025-01-08T22:47:23.720Z,1736376443.720 [DAT](INFO): got valid direction response: 22:47:21.7852 LVL= 17440, 26593, 21810, 28275, AGC= 59, IDX= 420,-0.38,-2.205, 2.435, 2.286, 2.903, PHS= 1.262,-0.422,-0.620, RAW= 84.5, -2.5, CAL= 92.2, -8.3, ROT= 57.8, 8.3 2025-01-08T22:47:23.721Z,1736376443.721 [DAT](INFO): DAT read: Bearing 57.8, 8.3 (Local) 2025-01-08T22:47:23.722Z,1736376443.722 [DAT](INFO): Local bearing/azimuth received: Bearing 57.8, 8.3 (Local) 2025-01-08T22:47:23.723Z,1736376443.723 [DAT](INFO): DAT read: Range 10 to 50 : 88.4 m (Round-trip 117.9 ms) speed 0.3 m/s 2025-01-08T22:47:23.724Z,1736376443.724 [DAT](INFO): DAT read: user:2885> 2025-01-08T22:47:23.725Z,1736376443.725 [DAT](INFO): DAT read: Tx time:22:47:22.9131 2025-01-08T22:47:23.725Z,1736376443.725 [DAT](INFO): Ping request sent. 2025-01-08T22:47:23.725Z,1736376443.725 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:23.726Z,1736376443.726 [DAT](INFO): DAT read: TxSync time:22:47:22.9124 2025-01-08T22:47:23.726Z,1736376443.726 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:23.728Z,1736376443.728 [DAT](INFO): direction in FSK: [-0.028716,0.198750,0.979630] 2025-01-08T22:47:23.728Z,1736376443.728 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:23.728Z,1736376443.728 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:23.732Z,1736376443.732 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:23.733Z,1736376443.733 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:23.815Z,1736376443.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:23.858Z,1736376443.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.400002 m, deltaT: 3.800076 s, deltaX: -1.000000 m, approachRate: -0.263153 m/s, rangeRepo size: 4 2025-01-08T22:47:23.865Z,1736376443.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 88.400002 m, bearing: 285.831009 deg, lat: 36.904821 deg, lon: -122.119877 deg, deltaT: 3.800076 s, deltaX: -1.000000 m, approachRate: -0.263153 m/s, posRepo size: 4 2025-01-08T22:47:23.866Z,1736376443.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.40 m. 2025-01-08T22:47:23.877Z,1736376443.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.400002 m, nav range: 27.154856 m, bearing: 130.626483 deg, approach rate: 0.000000 m/s, LOS rate: 0.698485 deg/s, cmd heading: 64.416962 deg, new cmd heading: 65.407785 deg. 2025-01-08T22:47:23.878Z,1736376443.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141581 target range: 88.400002 and range: 88.40 m. 2025-01-08T22:47:23.964Z,1736376443.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:24.186Z,1736376444.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:24.216Z,1736376444.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:24.223Z,1736376444.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.40 m. 2025-01-08T22:47:24.226Z,1736376444.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.400002 m, nav range: 27.080826 m, bearing: 131.024283 deg, approach rate: -0.204492 m/s, LOS rate: 1.101832 deg/s, cmd heading: 65.407783 deg, new cmd heading: 66.604262 deg. 2025-01-08T22:47:24.231Z,1736376444.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.162464 target range: 88.400002 and range: 88.40 m. 2025-01-08T22:47:24.468Z,1736376444.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:24.537Z,1736376444.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:24.545Z,1736376444.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.40 m. 2025-01-08T22:47:24.549Z,1736376444.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.400002 m, nav range: 27.008373 m, bearing: 131.400388 deg, approach rate: -0.222138 m/s, LOS rate: 1.156215 deg/s, cmd heading: 66.604262 deg, new cmd heading: 67.735449 deg. 2025-01-08T22:47:24.550Z,1736376444.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.182207 target range: 88.400002 and range: 88.40 m. 2025-01-08T22:47:24.720Z,1736376444.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:24.960Z,1736376444.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:24.970Z,1736376444.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.40 m. 2025-01-08T22:47:24.972Z,1736376444.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:24.974Z,1736376444.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.400002 m, nav range: 26.922634 m, bearing: 131.856205 deg, approach rate: -0.201792 m/s, LOS rate: 1.076194 deg/s, cmd heading: 67.735450 deg, new cmd heading: 69.106977 deg. 2025-01-08T22:47:24.976Z,1736376444.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.206144 target range: 88.400002 and range: 88.40 m. 2025-01-08T22:47:25.224Z,1736376445.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:25.400Z,1736376445.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:25.407Z,1736376445.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:25.424Z,1736376445.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.40 m. 2025-01-08T22:47:25.429Z,1736376445.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.400002 m, nav range: 26.828226 m, bearing: 132.339467 deg, approach rate: -0.208366 m/s, LOS rate: 1.070337 deg/s, cmd heading: 69.106980 deg, new cmd heading: 70.561538 deg. 2025-01-08T22:47:25.430Z,1736376445.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231531 target range: 88.400002 and range: 88.40 m. 2025-01-08T22:47:25.476Z,1736376445.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:25.476Z,1736376445.476 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:25.476Z,1736376445.476 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:25.477Z,1736376445.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:25.728Z,1736376445.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:25.729Z,1736376445.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003863 2025-01-08T22:47:25.753Z,1736376445.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:25.762Z,1736376445.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.40 m. 2025-01-08T22:47:25.766Z,1736376445.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.400002 m, nav range: 26.744366 m, bearing: 132.722249 deg, approach rate: -0.247586 m/s, LOS rate: 1.133648 deg/s, cmd heading: 70.561537 deg, new cmd heading: 71.713322 deg. 2025-01-08T22:47:25.767Z,1736376445.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251634 target range: 88.400002 and range: 88.40 m. 2025-01-08T22:47:25.980Z,1736376445.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:25.981Z,1736376445.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255473 2025-01-08T22:47:26.185Z,1736376446.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:26.217Z,1736376446.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.40 m. 2025-01-08T22:47:26.225Z,1736376446.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.400002 m, nav range: 26.638323 m, bearing: 133.209643 deg, approach rate: -0.232892 m/s, LOS rate: 1.074666 deg/s, cmd heading: 71.713318 deg, new cmd heading: 73.180983 deg. 2025-01-08T22:47:26.225Z,1736376446.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277249 target range: 88.400002 and range: 88.40 m. 2025-01-08T22:47:26.232Z,1736376446.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:26.233Z,1736376446.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507252 2025-01-08T22:47:26.484Z,1736376446.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:26.484Z,1736376446.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758905 2025-01-08T22:47:26.565Z,1736376446.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:26.578Z,1736376446.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.40 m. 2025-01-08T22:47:26.581Z,1736376446.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.400002 m, nav range: 26.543539 m, bearing: 133.638297 deg, approach rate: -0.263034 m/s, LOS rate: 1.193792 deg/s, cmd heading: 73.180983 deg, new cmd heading: 74.471306 deg. 2025-01-08T22:47:26.582Z,1736376446.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299770 target range: 88.400002 and range: 88.40 m. 2025-01-08T22:47:26.736Z,1736376446.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:26.736Z,1736376446.736 [DAT](INFO): DAT read: Rx Time:22:47:25.4336 2025-01-08T22:47:26.737Z,1736376446.737 [DAT](INFO): Rx dataTimestamp_ set to:1736376446.736678 2025-01-08T22:47:26.737Z,1736376446.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012089 2025-01-08T22:47:26.980Z,1736376446.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:26.988Z,1736376446.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:26.989Z,1736376446.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263233 2025-01-08T22:47:26.992Z,1736376446.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.40 m. 2025-01-08T22:47:26.994Z,1736376446.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.400002 m, nav range: 26.437548 m, bearing: 134.107745 deg, approach rate: -0.256391 m/s, LOS rate: 1.140122 deg/s, cmd heading: 74.471308 deg, new cmd heading: 75.884993 deg. 2025-01-08T22:47:26.995Z,1736376446.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324443 target range: 88.400002 and range: 88.40 m. 2025-01-08T22:47:27.241Z,1736376447.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:27.248Z,1736376447.248 [DAT](INFO): DAT read: 22:47:25.4336 LVL= 15152, 30769, 23074, 32755, AGC= 60, IDX= 420, 0.25, 2.708, 1.144, 1.276, 1.806, PHS= 0.990,-0.615,-0.533, RAW= 92.6, 2.1, CAL= 100.7, -0.5, ROT= 49.3, 0.5 2025-01-08T22:47:27.249Z,1736376447.249 [DAT](INFO): got valid direction response: 22:47:25.4336 LVL= 15152, 30769, 23074, 32755, AGC= 60, IDX= 420, 0.25, 2.708, 1.144, 1.276, 1.806, PHS= 0.990,-0.615,-0.533, RAW= 92.6, 2.1, CAL= 100.7, -0.5, ROT= 49.3, 0.5 2025-01-08T22:47:27.250Z,1736376447.250 [DAT](INFO): DAT read: Bearing 49.3, 0.5 (Local) 2025-01-08T22:47:27.250Z,1736376447.250 [DAT](INFO): Local bearing/azimuth received: Bearing 49.3, 0.5 (Local) 2025-01-08T22:47:27.252Z,1736376447.252 [DAT](INFO): DAT read: Range 10 to 50 : 87.3 m (Round-trip 116.4 ms) speed 0.3 m/s 2025-01-08T22:47:27.253Z,1736376447.253 [DAT](INFO): DAT read: user:2886> 2025-01-08T22:47:27.253Z,1736376447.253 [DAT](INFO): DAT read: Tx time:22:47:26.5131 2025-01-08T22:47:27.254Z,1736376447.254 [DAT](INFO): Ping request sent. 2025-01-08T22:47:27.254Z,1736376447.254 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:27.254Z,1736376447.254 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:27.255Z,1736376447.255 [DAT](INFO): direction in FSK: [-0.128099,0.064545,0.989659] 2025-01-08T22:47:27.260Z,1736376447.260 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:27.260Z,1736376447.260 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:27.276Z,1736376447.276 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:47:27.281Z,1736376447.281 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:27.281Z,1736376447.281 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:27.448Z,1736376447.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:27.488Z,1736376447.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.300003 m, deltaT: 3.528864 s, deltaX: -1.099998 m, approachRate: -0.311715 m/s, rangeRepo size: 4 2025-01-08T22:47:27.490Z,1736376447.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.300003 m, bearing: 294.233297 deg, lat: 36.904891 deg, lon: -122.120061 deg, deltaT: 3.528864 s, deltaX: -1.099998 m, approachRate: -0.311715 m/s, posRepo size: 4 2025-01-08T22:47:27.496Z,1736376447.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:27.497Z,1736376447.497 [DAT](INFO): DAT read: TxSync time:22:47:26.5124 2025-01-08T22:47:27.498Z,1736376447.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:47:27.505Z,1736376447.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 10.922606 m, bearing: 167.819792 deg, approach rate: 0.000000 m/s, LOS rate: 1.140122 deg/s, cmd heading: 75.884993 deg, new cmd heading: 77.541005 deg. 2025-01-08T22:47:27.506Z,1736376447.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353346 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:47:27.744Z,1736376447.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:27.802Z,1736376447.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:27.809Z,1736376447.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:27.811Z,1736376447.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:47:27.814Z,1736376447.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 10.939232 m, bearing: 168.899924 deg, approach rate: 0.049586 m/s, LOS rate: 3.216476 deg/s, cmd heading: 77.541007 deg, new cmd heading: 80.772854 deg. 2025-01-08T22:47:27.816Z,1736376447.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.409752 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:47:27.996Z,1736376447.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:27.996Z,1736376447.996 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:27.996Z,1736376447.996 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:27.996Z,1736376447.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:28.234Z,1736376448.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:28.243Z,1736376448.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:47:28.246Z,1736376448.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 10.960670 m, bearing: 170.218738 deg, approach rate: 0.049569 m/s, LOS rate: 3.043068 deg/s, cmd heading: 80.772854 deg, new cmd heading: 84.714976 deg. 2025-01-08T22:47:28.248Z,1736376448.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:28.249Z,1736376448.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995465 2025-01-08T22:47:28.250Z,1736376448.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478555 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:47:28.500Z,1736376448.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:28.500Z,1736376448.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246772 2025-01-08T22:47:28.604Z,1736376448.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:28.612Z,1736376448.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:47:28.616Z,1736376448.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 10.979554 m, bearing: 171.344045 deg, approach rate: 0.051193 m/s, LOS rate: 3.045196 deg/s, cmd heading: 84.714973 deg, new cmd heading: 88.080994 deg. 2025-01-08T22:47:28.617Z,1736376448.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537303 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:47:28.752Z,1736376448.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:28.752Z,1736376448.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498720 2025-01-08T22:47:29.000Z,1736376449.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:29.004Z,1736376449.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:29.004Z,1736376449.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750727 2025-01-08T22:47:29.011Z,1736376449.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:47:29.013Z,1736376449.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 11.000762 m, bearing: 172.548257 deg, approach rate: 0.053223 m/s, LOS rate: 3.016010 deg/s, cmd heading: 88.080993 deg, new cmd heading: 91.681650 deg. 2025-01-08T22:47:29.015Z,1736376449.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.600147 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:47:29.256Z,1736376449.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:29.256Z,1736376449.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002658 2025-01-08T22:47:29.453Z,1736376449.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:29.461Z,1736376449.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:47:29.464Z,1736376449.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 11.024107 m, bearing: 173.920884 deg, approach rate: 0.051820 m/s, LOS rate: 3.040121 deg/s, cmd heading: 91.681650 deg, new cmd heading: 95.783398 deg. 2025-01-08T22:47:29.465Z,1736376449.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671736 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:47:29.508Z,1736376449.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:29.508Z,1736376449.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254732 2025-01-08T22:47:29.760Z,1736376449.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:29.761Z,1736376449.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506836 2025-01-08T22:47:29.822Z,1736376449.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:29.829Z,1736376449.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:29.832Z,1736376449.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:47:29.835Z,1736376449.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 11.043633 m, bearing: 175.038830 deg, approach rate: 0.052772 m/s, LOS rate: 3.015948 deg/s, cmd heading: 95.783397 deg, new cmd heading: 99.127288 deg. 2025-01-08T22:47:29.836Z,1736376449.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.730098 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:47:30.012Z,1736376450.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:30.012Z,1736376450.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758728 2025-01-08T22:47:30.251Z,1736376450.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:30.265Z,1736376450.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:30.266Z,1736376450.266 [DAT](INFO): DAT read: Rx Time:22:47:29.0319 2025-01-08T22:47:30.266Z,1736376450.266 [DAT](INFO): Rx dataTimestamp_ set to:1736376450.266116 2025-01-08T22:47:30.267Z,1736376450.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013215 2025-01-08T22:47:30.300Z,1736376450.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:47:30.302Z,1736376450.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 11.065194 m, bearing: 176.291795 deg, approach rate: 0.046429 m/s, LOS rate: 2.692570 deg/s, cmd heading: 99.127287 deg, new cmd heading: 102.873213 deg. 2025-01-08T22:47:30.308Z,1736376450.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.795476 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:47:30.518Z,1736376450.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:30.519Z,1736376450.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265306 2025-01-08T22:47:30.625Z,1736376450.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:30.656Z,1736376450.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:47:30.665Z,1736376450.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 11.083240 m, bearing: 177.383240 deg, approach rate: 0.050773 m/s, LOS rate: 3.065710 deg/s, cmd heading: 102.873215 deg, new cmd heading: 106.138483 deg. 2025-01-08T22:47:30.667Z,1736376450.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.852466 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:47:30.768Z,1736376450.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:30.777Z,1736376450.777 [DAT](INFO): DAT read: 22:47:29.0319 LVL= 17136, 32753, 30130, 32755, AGC= 60, IDX= 417,-0.04, 2.978, 1.421, 1.759, 2.189, PHS= 0.877,-0.721,-0.433, RAW= 99.7, 3.8, CAL= 109.9, 1.9, ROT= 40.1, -1.9 2025-01-08T22:47:30.778Z,1736376450.778 [DAT](INFO): got valid direction response: 22:47:29.0319 LVL= 17136, 32753, 30130, 32755, AGC= 60, IDX= 417,-0.04, 2.978, 1.421, 1.759, 2.189, PHS= 0.877,-0.721,-0.433, RAW= 99.7, 3.8, CAL= 109.9, 1.9, ROT= 40.1, -1.9 2025-01-08T22:47:30.780Z,1736376450.780 [DAT](INFO): DAT read: Bearing 40.1, -1.9 (Local) 2025-01-08T22:47:30.781Z,1736376450.781 [DAT](INFO): Local bearing/azimuth received: Bearing 40.1, -1.9 (Local) 2025-01-08T22:47:30.785Z,1736376450.785 [DAT](INFO): DAT read: Range 10 to 50 : 85.8 m (Round-trip 114.5 ms) speed 0.4 m/s 2025-01-08T22:47:30.786Z,1736376450.786 [DAT](INFO): DAT read: user:2887> 2025-01-08T22:47:30.788Z,1736376450.788 [DAT](INFO): DAT read: Tx time:22:47:30.1132 2025-01-08T22:47:30.788Z,1736376450.788 [DAT](INFO): Ping request sent. 2025-01-08T22:47:30.788Z,1736376450.788 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:30.789Z,1736376450.789 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:30.790Z,1736376450.790 [DAT](INFO): direction in FSK: [-0.172051,-0.058501,0.983349] 2025-01-08T22:47:30.791Z,1736376450.791 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:30.791Z,1736376450.791 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:30.797Z,1736376450.797 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:30.798Z,1736376450.798 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:31.020Z,1736376451.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:31.021Z,1736376451.021 [DAT](INFO): DAT read: TxSync time:22:47:30.1125 2025-01-08T22:47:31.033Z,1736376451.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:31.072Z,1736376451.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.800003 m, deltaT: 3.527347 s, deltaX: -1.500000 m, approachRate: -0.425249 m/s, rangeRepo size: 4 2025-01-08T22:47:31.074Z,1736376451.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.800003 m, bearing: 312.310633 deg, lat: 36.904994 deg, lon: -122.120170 deg, deltaT: 3.527347 s, deltaX: -1.500000 m, approachRate: -0.425249 m/s, posRepo size: 4 2025-01-08T22:47:31.075Z,1736376451.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T22:47:31.083Z,1736376451.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 9.412741 m, bearing: 272.036857 deg, approach rate: 0.000000 m/s, LOS rate: 3.065710 deg/s, cmd heading: 106.138483 deg, new cmd heading: 109.963231 deg. 2025-01-08T22:47:31.088Z,1736376451.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.919220 target range: 85.800003 and range: 85.80 m. 2025-01-08T22:47:31.272Z,1736376451.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:31.480Z,1736376451.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:31.490Z,1736376451.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T22:47:31.493Z,1736376451.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 9.658031 m, bearing: 271.881275 deg, approach rate: 0.580124 m/s, LOS rate: -0.358612 deg/s, cmd heading: 109.963232 deg, new cmd heading: 109.508350 deg. 2025-01-08T22:47:31.494Z,1736376451.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.911281 target range: 85.800003 and range: 85.80 m. 2025-01-08T22:47:31.524Z,1736376451.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:31.776Z,1736376451.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:31.836Z,1736376451.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:31.845Z,1736376451.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:31.847Z,1736376451.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T22:47:31.850Z,1736376451.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 9.853421 m, bearing: 271.796779 deg, approach rate: 0.547820 m/s, LOS rate: -0.232206 deg/s, cmd heading: 109.508348 deg, new cmd heading: 109.259889 deg. 2025-01-08T22:47:31.852Z,1736376451.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.906945 target range: 85.800003 and range: 85.80 m. 2025-01-08T22:47:32.028Z,1736376452.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:32.028Z,1736376452.028 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:32.029Z,1736376452.029 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:32.029Z,1736376452.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:32.280Z,1736376452.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:32.281Z,1736376452.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492713 2025-01-08T22:47:32.293Z,1736376452.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:32.302Z,1736376452.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T22:47:32.306Z,1736376452.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 10.098197 m, bearing: 271.746897 deg, approach rate: 0.537593 m/s, LOS rate: -0.106898 deg/s, cmd heading: 109.259886 deg, new cmd heading: 109.113868 deg. 2025-01-08T22:47:32.306Z,1736376452.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.904396 target range: 85.800003 and range: 85.80 m. 2025-01-08T22:47:32.533Z,1736376452.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:32.535Z,1736376452.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745936 2025-01-08T22:47:32.643Z,1736376452.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:32.658Z,1736376452.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T22:47:32.663Z,1736376452.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 10.286015 m, bearing: 271.737258 deg, approach rate: 0.527973 m/s, LOS rate: -0.026602 deg/s, cmd heading: 109.113870 deg, new cmd heading: 109.085480 deg. 2025-01-08T22:47:32.665Z,1736376452.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.903901 target range: 85.800003 and range: 85.80 m. 2025-01-08T22:47:32.784Z,1736376452.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:32.784Z,1736376452.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995993 2025-01-08T22:47:33.036Z,1736376453.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:33.037Z,1736376453.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248122 2025-01-08T22:47:33.094Z,1736376453.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:33.120Z,1736376453.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T22:47:33.123Z,1736376453.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 10.528093 m, bearing: 271.760307 deg, approach rate: 0.523513 m/s, LOS rate: 0.048698 deg/s, cmd heading: 109.085477 deg, new cmd heading: 109.153033 deg. 2025-01-08T22:47:33.125Z,1736376453.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.905080 target range: 85.800003 and range: 85.80 m. 2025-01-08T22:47:33.288Z,1736376453.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:33.288Z,1736376453.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500043 2025-01-08T22:47:33.532Z,1736376453.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:33.540Z,1736376453.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:33.542Z,1736376453.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753577 2025-01-08T22:47:33.548Z,1736376453.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T22:47:33.555Z,1736376453.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 10.762313 m, bearing: 271.874837 deg, approach rate: 0.549930 m/s, LOS rate: 0.263056 deg/s, cmd heading: 109.153035 deg, new cmd heading: 109.489144 deg. 2025-01-08T22:47:33.556Z,1736376453.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.910946 target range: 85.800003 and range: 85.80 m. 2025-01-08T22:47:33.792Z,1736376453.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:33.792Z,1736376453.792 [DAT](INFO): DAT read: Rx Time:22:47:32.6294 2025-01-08T22:47:33.793Z,1736376453.793 [DAT](INFO): Rx dataTimestamp_ set to:1736376453.792617 2025-01-08T22:47:33.793Z,1736376453.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005090 2025-01-08T22:47:33.938Z,1736376453.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:33.945Z,1736376453.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:33.947Z,1736376453.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T22:47:33.950Z,1736376453.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 10.978685 m, bearing: 272.008556 deg, approach rate: 0.540139 m/s, LOS rate: 0.327228 deg/s, cmd heading: 109.489141 deg, new cmd heading: 109.882385 deg. 2025-01-08T22:47:33.951Z,1736376453.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.917809 target range: 85.800003 and range: 85.80 m. 2025-01-08T22:47:34.044Z,1736376454.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:34.044Z,1736376454.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256124 2025-01-08T22:47:34.298Z,1736376454.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:34.301Z,1736376454.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512638 2025-01-08T22:47:34.394Z,1736376454.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:34.422Z,1736376454.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.80 m. 2025-01-08T22:47:34.429Z,1736376454.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.800003 m, nav range: 11.225496 m, bearing: 272.188264 deg, approach rate: 0.518904 m/s, LOS rate: 0.369518 deg/s, cmd heading: 109.882383 deg, new cmd heading: 110.409639 deg. 2025-01-08T22:47:34.430Z,1736376454.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.927012 target range: 85.800003 and range: 85.80 m. 2025-01-08T22:47:34.548Z,1736376454.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:34.555Z,1736376454.555 [DAT](INFO): DAT read: 22:47:32.6294 LVL= 28784, 32753, 32754, 32755, AGC= 65, IDX= 424, 0.05, 0.809,-0.611, 0.042, 0.295, PHS= 0.602,-0.859,-0.256, RAW= 114.3, 8.1, CAL= 123.7, 4.9, ROT= 26.3, -4.9 2025-01-08T22:47:34.556Z,1736376454.556 [DAT](INFO): got valid direction response: 22:47:32.6294 LVL= 28784, 32753, 32754, 32755, AGC= 65, IDX= 424, 0.05, 0.809,-0.611, 0.042, 0.295, PHS= 0.602,-0.859,-0.256, RAW= 114.3, 8.1, CAL= 123.7, 4.9, ROT= 26.3, -4.9 2025-01-08T22:47:34.558Z,1736376454.558 [DAT](INFO): DAT read: Bearing 26.3, -4.9 (Local) 2025-01-08T22:47:34.558Z,1736376454.558 [DAT](INFO): Local bearing/azimuth received: Bearing 26.3, -4.9 (Local) 2025-01-08T22:47:34.562Z,1736376454.562 [DAT](INFO): DAT read: Range 10 to 50 : 84.0 m (Round-trip 112.1 ms) speed 0.7 m/s 2025-01-08T22:47:34.572Z,1736376454.572 [DAT](INFO): DAT read: user:2888> 2025-01-08T22:47:34.573Z,1736376454.573 [DAT](INFO): DAT read: Tx time:22:47:33.7132 2025-01-08T22:47:34.573Z,1736376454.573 [DAT](INFO): Ping request sent. 2025-01-08T22:47:34.573Z,1736376454.573 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:34.574Z,1736376454.574 [DAT](INFO): DAT read: TxSync time:22:47:33.7125 2025-01-08T22:47:34.574Z,1736376454.574 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:34.575Z,1736376454.575 [DAT](INFO): direction in FSK: [-0.270384,-0.303093,0.913798] 2025-01-08T22:47:34.576Z,1736376454.576 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:34.576Z,1736376454.576 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:34.579Z,1736376454.579 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:34.579Z,1736376454.579 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:34.800Z,1736376454.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:34.807Z,1736376454.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:34.834Z,1736376454.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.000000 m, deltaT: 3.779752 s, deltaX: -1.800003 m, approachRate: -0.476223 m/s, rangeRepo size: 4 2025-01-08T22:47:34.841Z,1736376454.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.000000 m, bearing: 328.723962 deg, lat: 36.905068 deg, lon: -122.120312 deg, deltaT: 3.779752 s, deltaX: -1.800003 m, approachRate: -0.476223 m/s, posRepo size: 4 2025-01-08T22:47:34.841Z,1736376454.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:47:34.851Z,1736376454.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 25.617813 m, bearing: 289.915504 deg, approach rate: 0.000000 m/s, LOS rate: 0.369518 deg/s, cmd heading: 110.409639 deg, new cmd heading: 110.865253 deg. 2025-01-08T22:47:34.866Z,1736376454.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.934964 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:47:35.052Z,1736376455.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:35.164Z,1736376455.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:35.232Z,1736376455.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:47:35.260Z,1736376455.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 25.811153 m, bearing: 289.867911 deg, approach rate: 0.492162 m/s, LOS rate: -0.120244 deg/s, cmd heading: 110.865254 deg, new cmd heading: 110.723545 deg. 2025-01-08T22:47:35.261Z,1736376455.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.932490 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:47:35.305Z,1736376455.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:35.556Z,1736376455.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:35.618Z,1736376455.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:35.640Z,1736376455.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:47:35.643Z,1736376455.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 26.065212 m, bearing: 289.820502 deg, approach rate: 0.614197 m/s, LOS rate: -0.113497 deg/s, cmd heading: 110.723548 deg, new cmd heading: 110.582706 deg. 2025-01-08T22:47:35.650Z,1736376455.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.930032 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:47:35.808Z,1736376455.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:35.969Z,1736376455.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:35.996Z,1736376455.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:35.999Z,1736376455.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:47:36.002Z,1736376456.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 26.261522 m, bearing: 289.798131 deg, approach rate: 0.547331 m/s, LOS rate: -0.061906 deg/s, cmd heading: 110.582702 deg, new cmd heading: 110.516091 deg. 2025-01-08T22:47:36.003Z,1736376456.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.928870 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:47:36.060Z,1736376456.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:36.061Z,1736376456.061 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:36.061Z,1736376456.061 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:36.062Z,1736376456.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:36.312Z,1736376456.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:36.312Z,1736376456.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739283 2025-01-08T22:47:36.401Z,1736376456.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:36.410Z,1736376456.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:47:36.413Z,1736376456.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 26.513853 m, bearing: 289.780557 deg, approach rate: 0.613132 m/s, LOS rate: -0.042295 deg/s, cmd heading: 110.516094 deg, new cmd heading: 110.463875 deg. 2025-01-08T22:47:36.416Z,1736376456.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.927958 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:47:36.564Z,1736376456.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:36.565Z,1736376456.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991819 2025-01-08T22:47:36.776Z,1736376456.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:36.786Z,1736376456.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:47:36.789Z,1736376456.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 26.732885 m, bearing: 289.778282 deg, approach rate: 0.583148 m/s, LOS rate: -0.006008 deg/s, cmd heading: 110.463878 deg, new cmd heading: 110.457108 deg. 2025-01-08T22:47:36.790Z,1736376456.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.927840 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:47:36.816Z,1736376456.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:36.817Z,1736376456.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243717 2025-01-08T22:47:37.068Z,1736376457.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:37.068Z,1736376457.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495336 2025-01-08T22:47:37.189Z,1736376457.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:37.203Z,1736376457.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:47:37.206Z,1736376457.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 26.974016 m, bearing: 289.790315 deg, approach rate: 0.578282 m/s, LOS rate: 0.028599 deg/s, cmd heading: 110.457109 deg, new cmd heading: 110.492884 deg. 2025-01-08T22:47:37.228Z,1736376457.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.928465 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:47:37.320Z,1736376457.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:37.321Z,1736376457.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747864 2025-01-08T22:47:37.572Z,1736376457.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:37.572Z,1736376457.572 [DAT](INFO): DAT read: Rx Time:22:47:36.2269 2025-01-08T22:47:37.573Z,1736376457.573 [DAT](INFO): Rx dataTimestamp_ set to:1736376457.572591 2025-01-08T22:47:37.574Z,1736376457.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000347 2025-01-08T22:47:37.624Z,1736376457.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:37.646Z,1736376457.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:47:37.660Z,1736376457.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 27.228804 m, bearing: 289.802797 deg, approach rate: 0.575037 m/s, LOS rate: 0.027909 deg/s, cmd heading: 110.492885 deg, new cmd heading: 110.529983 deg. 2025-01-08T22:47:37.662Z,1736376457.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.929112 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:47:37.824Z,1736376457.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:37.824Z,1736376457.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251302 2025-01-08T22:47:38.005Z,1736376458.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:38.013Z,1736376458.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:38.019Z,1736376458.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.00 m. 2025-01-08T22:47:38.022Z,1736376458.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.000000 m, nav range: 27.451138 m, bearing: 289.813500 deg, approach rate: 0.596463 m/s, LOS rate: 0.028482 deg/s, cmd heading: 110.529980 deg, new cmd heading: 110.561830 deg. 2025-01-08T22:47:38.023Z,1736376458.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.929668 target range: 84.000000 and range: 84.00 m. 2025-01-08T22:47:38.076Z,1736376458.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:38.093Z,1736376458.093 [DAT](INFO): DAT read: 22:47:36.2269 LVL= 31600, 32753, 32498, 32755, AGC= 66, IDX= 414,-0.30,-2.518, 2.342,-2.985,-3.021, PHS= 0.591,-0.873, 0.034, RAW= 127.8, 3.9, CAL= 134.9, -2.5, ROT= 15.1, 2.5 2025-01-08T22:47:38.094Z,1736376458.094 [DAT](INFO): got valid direction response: 22:47:36.2269 LVL= 31600, 32753, 32498, 32755, AGC= 66, IDX= 414,-0.30,-2.518, 2.342,-2.985,-3.021, PHS= 0.591,-0.873, 0.034, RAW= 127.8, 3.9, CAL= 134.9, -2.5, ROT= 15.1, 2.5 2025-01-08T22:47:38.095Z,1736376458.095 [DAT](INFO): DAT read: Bearing 15.1, 2.5 (Local) 2025-01-08T22:47:38.095Z,1736376458.095 [DAT](INFO): Local bearing/azimuth received: Bearing 15.1, 2.5 (Local) 2025-01-08T22:47:38.097Z,1736376458.097 [DAT](INFO): DAT read: Range 10 to 50 : 82.1 m (Round-trip 109.5 ms) speed 0.4 m/s 2025-01-08T22:47:38.097Z,1736376458.097 [DAT](INFO): DAT read: user:2889> 2025-01-08T22:47:38.099Z,1736376458.099 [DAT](INFO): DAT read: Tx time:22:47:37.3132 2025-01-08T22:47:38.113Z,1736376458.113 [DAT](INFO): Ping request sent. 2025-01-08T22:47:38.113Z,1736376458.113 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:38.114Z,1736376458.114 [DAT](INFO): DAT read: TxSync time:22:47:37.3125 2025-01-08T22:47:38.116Z,1736376458.116 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:38.118Z,1736376458.118 [DAT](INFO): direction in FSK: [-0.200208,-0.533347,0.821862] 2025-01-08T22:47:38.119Z,1736376458.119 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:38.129Z,1736376458.129 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:38.142Z,1736376458.142 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:38.142Z,1736376458.142 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:38.328Z,1736376458.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:38.453Z,1736376458.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:47:38.455Z,1736376458.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:38.496Z,1736376458.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.099998 m, deltaT: 3.528868 s, deltaX: -1.900002 m, approachRate: -0.538417 m/s, rangeRepo size: 4 2025-01-08T22:47:38.498Z,1736376458.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.099998 m, bearing: 357.833761 deg, lat: 36.905204 deg, lon: -122.120312 deg, deltaT: 3.528868 s, deltaX: -1.900002 m, approachRate: -0.538417 m/s, posRepo size: 4 2025-01-08T22:47:38.499Z,1736376458.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:38.506Z,1736376458.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 35.764908 m, bearing: 313.228935 deg, approach rate: 0.000000 m/s, LOS rate: 0.028482 deg/s, cmd heading: 110.561829 deg, new cmd heading: 110.601872 deg. 2025-01-08T22:47:38.507Z,1736376458.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.930367 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:38.581Z,1736376458.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:38.816Z,1736376458.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:47:38.816Z,1736376458.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:38.825Z,1736376458.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:38.827Z,1736376458.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 35.970741 m, bearing: 313.126789 deg, approach rate: 0.610090 m/s, LOS rate: -0.301028 deg/s, cmd heading: 110.601875 deg, new cmd heading: 110.297194 deg. 2025-01-08T22:47:38.828Z,1736376458.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.925049 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:38.832Z,1736376458.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:39.084Z,1736376459.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:39.206Z,1736376459.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:47:39.206Z,1736376459.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:39.216Z,1736376459.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:39.218Z,1736376459.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 36.192852 m, bearing: 313.038196 deg, approach rate: 0.568601 m/s, LOS rate: -0.225403 deg/s, cmd heading: 110.297194 deg, new cmd heading: 110.033050 deg. 2025-01-08T22:47:39.220Z,1736376459.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.920439 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:39.338Z,1736376459.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:39.589Z,1736376459.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:39.682Z,1736376459.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:39.704Z,1736376459.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:39.706Z,1736376459.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 36.498543 m, bearing: 312.907986 deg, approach rate: 0.631740 m/s, LOS rate: -0.266839 deg/s, cmd heading: 110.033050 deg, new cmd heading: 109.645695 deg. 2025-01-08T22:47:39.712Z,1736376459.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.913678 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:39.840Z,1736376459.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:40.008Z,1736376460.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:40.017Z,1736376460.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:40.019Z,1736376460.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:40.022Z,1736376460.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 36.709927 m, bearing: 312.824649 deg, approach rate: 0.661393 m/s, LOS rate: -0.259248 deg/s, cmd heading: 109.645696 deg, new cmd heading: 109.397128 deg. 2025-01-08T22:47:40.022Z,1736376460.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.909340 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:40.093Z,1736376460.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:40.093Z,1736376460.093 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:40.093Z,1736376460.093 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:40.094Z,1736376460.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:40.346Z,1736376460.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:40.346Z,1736376460.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233470 2025-01-08T22:47:40.449Z,1736376460.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:40.458Z,1736376460.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:40.461Z,1736376460.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 37.004616 m, bearing: 312.724936 deg, approach rate: 0.670922 m/s, LOS rate: -0.225211 deg/s, cmd heading: 109.397125 deg, new cmd heading: 109.100370 deg. 2025-01-08T22:47:40.462Z,1736376460.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.904161 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:40.596Z,1736376460.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:40.597Z,1736376460.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483788 2025-01-08T22:47:40.820Z,1736376460.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:40.829Z,1736376460.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:40.832Z,1736376460.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 37.253529 m, bearing: 312.646264 deg, approach rate: 0.671449 m/s, LOS rate: -0.210800 deg/s, cmd heading: 109.100367 deg, new cmd heading: 108.865931 deg. 2025-01-08T22:47:40.833Z,1736376460.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.900069 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:40.848Z,1736376460.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:40.849Z,1736376460.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735977 2025-01-08T22:47:41.100Z,1736376461.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:41.100Z,1736376461.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987669 2025-01-08T22:47:41.223Z,1736376461.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:41.233Z,1736376461.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:41.236Z,1736376461.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 37.524410 m, bearing: 312.565763 deg, approach rate: 0.670434 m/s, LOS rate: -0.197803 deg/s, cmd heading: 108.865934 deg, new cmd heading: 108.626176 deg. 2025-01-08T22:47:41.237Z,1736376461.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.895884 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:41.352Z,1736376461.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:41.354Z,1736376461.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240919 2025-01-08T22:47:41.604Z,1736376461.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:41.604Z,1736376461.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491678 2025-01-08T22:47:41.690Z,1736376461.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:41.712Z,1736376461.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:41.739Z,1736376461.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 37.838955 m, bearing: 312.475446 deg, approach rate: 0.662542 m/s, LOS rate: -0.188658 deg/s, cmd heading: 108.626174 deg, new cmd heading: 108.357478 deg. 2025-01-08T22:47:41.740Z,1736376461.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.891195 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:41.772Z,1736376461.772 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:47:41.856Z,1736376461.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:41.857Z,1736376461.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743734 2025-01-08T22:47:42.024Z,1736376462.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:42.032Z,1736376462.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:42.034Z,1736376462.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:42.037Z,1736376462.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 38.064152 m, bearing: 312.412365 deg, approach rate: 0.689276 m/s, LOS rate: -0.191936 deg/s, cmd heading: 108.357475 deg, new cmd heading: 108.169350 deg. 2025-01-08T22:47:42.038Z,1736376462.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.887911 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:42.108Z,1736376462.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:42.110Z,1736376462.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.996723 2025-01-08T22:47:42.361Z,1736376462.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:42.364Z,1736376462.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.250828 2025-01-08T22:47:42.460Z,1736376462.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:42.470Z,1736376462.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:42.473Z,1736376462.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 38.356945 m, bearing: 312.332423 deg, approach rate: 0.672414 m/s, LOS rate: -0.182189 deg/s, cmd heading: 108.169351 deg, new cmd heading: 107.931358 deg. 2025-01-08T22:47:42.473Z,1736376462.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.883758 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:42.612Z,1736376462.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:42.612Z,1736376462.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.499643 2025-01-08T22:47:42.776Z,1736376462.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:47:42.852Z,1736376462.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:42.860Z,1736376462.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:42.863Z,1736376462.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 38.620216 m, bearing: 312.260318 deg, approach rate: 0.674297 m/s, LOS rate: -0.183417 deg/s, cmd heading: 107.931360 deg, new cmd heading: 107.716522 deg. 2025-01-08T22:47:42.865Z,1736376462.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:42.867Z,1736376462.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.753748 2025-01-08T22:47:42.868Z,1736376462.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.880008 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:43.116Z,1736376463.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:43.117Z,1736376463.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.004014 2025-01-08T22:47:43.241Z,1736376463.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:43.251Z,1736376463.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:43.254Z,1736376463.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 38.881638 m, bearing: 312.187709 deg, approach rate: 0.668658 m/s, LOS rate: -0.184470 deg/s, cmd heading: 107.716523 deg, new cmd heading: 107.500160 deg. 2025-01-08T22:47:43.255Z,1736376463.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.876232 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:43.368Z,1736376463.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:43.369Z,1736376463.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.256600 2025-01-08T22:47:43.621Z,1736376463.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:43.622Z,1736376463.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.509147 2025-01-08T22:47:43.699Z,1736376463.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:43.711Z,1736376463.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:43.718Z,1736376463.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 39.180737 m, bearing: 312.113558 deg, approach rate: 0.652506 m/s, LOS rate: -0.160532 deg/s, cmd heading: 107.500163 deg, new cmd heading: 107.279408 deg. 2025-01-08T22:47:43.736Z,1736376463.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.872379 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:43.872Z,1736376463.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:43.872Z,1736376463.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.759601 2025-01-08T22:47:44.057Z,1736376464.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:44.080Z,1736376464.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:44.085Z,1736376464.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:44.088Z,1736376464.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 39.414238 m, bearing: 312.056462 deg, approach rate: 0.621999 m/s, LOS rate: -0.151188 deg/s, cmd heading: 107.279404 deg, new cmd heading: 107.109134 deg. 2025-01-08T22:47:44.089Z,1736376464.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869407 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:44.124Z,1736376464.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:44.126Z,1736376464.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.012838 2025-01-08T22:47:44.377Z,1736376464.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:44.380Z,1736376464.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.266232 2025-01-08T22:47:44.489Z,1736376464.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:44.513Z,1736376464.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:44.521Z,1736376464.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 39.687778 m, bearing: 312.012779 deg, approach rate: 0.638327 m/s, LOS rate: -0.101237 deg/s, cmd heading: 107.109135 deg, new cmd heading: 106.978987 deg. 2025-01-08T22:47:44.522Z,1736376464.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.867136 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:44.628Z,1736376464.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:44.628Z,1736376464.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.515682 2025-01-08T22:47:44.881Z,1736376464.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:44.883Z,1736376464.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.770121 2025-01-08T22:47:44.960Z,1736376464.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:44.990Z,1736376464.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:44.992Z,1736376464.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 39.985096 m, bearing: 311.953561 deg, approach rate: 0.624331 m/s, LOS rate: -0.123424 deg/s, cmd heading: 106.978985 deg, new cmd heading: 106.802655 deg. 2025-01-08T22:47:44.993Z,1736376464.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.864058 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:45.132Z,1736376465.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:45.133Z,1736376465.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.019924 2025-01-08T22:47:45.385Z,1736376465.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:45.388Z,1736376465.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.274616 2025-01-08T22:47:45.439Z,1736376465.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:45.449Z,1736376465.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:45.468Z,1736376465.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 40.285755 m, bearing: 311.893551 deg, approach rate: 0.653782 m/s, LOS rate: -0.129519 deg/s, cmd heading: 106.802657 deg, new cmd heading: 106.623969 deg. 2025-01-08T22:47:45.469Z,1736376465.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.860939 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:45.636Z,1736376465.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:45.637Z,1736376465.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.524387 2025-01-08T22:47:45.878Z,1736376465.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:45.888Z,1736376465.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:45.889Z,1736376465.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.775777 2025-01-08T22:47:45.890Z,1736376465.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:45.893Z,1736376465.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 40.561050 m, bearing: 311.834879 deg, approach rate: 0.624989 m/s, LOS rate: -0.132294 deg/s, cmd heading: 106.623973 deg, new cmd heading: 106.449154 deg. 2025-01-08T22:47:45.894Z,1736376465.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.857888 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:46.140Z,1736376466.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:46.140Z,1736376466.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.027580 2025-01-08T22:47:46.283Z,1736376466.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:46.290Z,1736376466.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:46.293Z,1736376466.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:46.296Z,1736376466.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 40.814323 m, bearing: 311.777601 deg, approach rate: 0.628249 m/s, LOS rate: -0.141199 deg/s, cmd heading: 106.449154 deg, new cmd heading: 106.278385 deg. 2025-01-08T22:47:46.297Z,1736376466.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.854908 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:46.394Z,1736376466.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:46.397Z,1736376466.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.283634 2025-01-08T22:47:46.644Z,1736376466.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:46.645Z,1736376466.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.532595 2025-01-08T22:47:46.737Z,1736376466.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:46.750Z,1736376466.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:46.753Z,1736376466.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 41.091824 m, bearing: 311.719496 deg, approach rate: 0.606668 m/s, LOS rate: -0.126169 deg/s, cmd heading: 106.278386 deg, new cmd heading: 106.105250 deg. 2025-01-08T22:47:46.754Z,1736376466.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.851886 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:46.896Z,1736376466.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:46.896Z,1736376466.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.783670 2025-01-08T22:47:47.080Z,1736376467.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:47.091Z,1736376467.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:47.111Z,1736376467.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 41.301262 m, bearing: 311.673311 deg, approach rate: 0.617503 m/s, LOS rate: -0.135480 deg/s, cmd heading: 106.105247 deg, new cmd heading: 105.967395 deg. 2025-01-08T22:47:47.112Z,1736376467.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.849480 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:47.149Z,1736376467.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:47.151Z,1736376467.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.037540 2025-01-08T22:47:47.402Z,1736376467.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:47.405Z,1736376467.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.291994 2025-01-08T22:47:47.521Z,1736376467.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:47.531Z,1736376467.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:47.534Z,1736376467.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 41.571018 m, bearing: 311.618556 deg, approach rate: 0.612238 m/s, LOS rate: -0.123467 deg/s, cmd heading: 105.967393 deg, new cmd heading: 105.804192 deg. 2025-01-08T22:47:47.551Z,1736376467.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.846632 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:47.658Z,1736376467.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:47.659Z,1736376467.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.546165 2025-01-08T22:47:47.889Z,1736376467.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:47.899Z,1736376467.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:47.902Z,1736376467.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 41.796341 m, bearing: 311.570407 deg, approach rate: 0.611771 m/s, LOS rate: -0.130023 deg/s, cmd heading: 105.804193 deg, new cmd heading: 105.660526 deg. 2025-01-08T22:47:47.903Z,1736376467.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.844124 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:47.908Z,1736376467.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:47.908Z,1736376467.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.795677 2025-01-08T22:47:48.160Z,1736376468.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:48.161Z,1736376468.161 [DAT](INFO): Reached modem response timeout 2025-01-08T22:47:48.161Z,1736376468.161 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:47:48.161Z,1736376468.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:48.305Z,1736376468.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:48.312Z,1736376468.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:48.314Z,1736376468.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:48.318Z,1736376468.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 42.049515 m, bearing: 311.511491 deg, approach rate: 0.609927 m/s, LOS rate: -0.141081 deg/s, cmd heading: 105.660527 deg, new cmd heading: 105.484843 deg. 2025-01-08T22:47:48.319Z,1736376468.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.841058 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:48.414Z,1736376468.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:48.415Z,1736376468.415 [DAT](INFO): Reached modem response timeout 2025-01-08T22:47:48.416Z,1736376468.416 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:47:48.417Z,1736376468.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:48.664Z,1736376468.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:48.665Z,1736376468.665 [DAT](INFO): Reached modem response timeout 2025-01-08T22:47:48.665Z,1736376468.665 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:47:48.665Z,1736376468.665 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:48.767Z,1736376468.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:48.779Z,1736376468.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:48.783Z,1736376468.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 42.335323 m, bearing: 311.432356 deg, approach rate: 0.615882 m/s, LOS rate: -0.169375 deg/s, cmd heading: 105.484840 deg, new cmd heading: 105.249039 deg. 2025-01-08T22:47:48.785Z,1736376468.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.836942 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:48.917Z,1736376468.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:48.918Z,1736376468.918 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:47:48.918Z,1736376468.918 [DAT](INFO): response not received 2025-01-08T22:47:48.919Z,1736376468.919 [DAT](INFO): DAT read: user:2890> 2025-01-08T22:47:48.920Z,1736376468.920 [DAT](INFO): DAT read: Tx time:22:47:48.2633 2025-01-08T22:47:48.920Z,1736376468.920 [DAT](INFO): Ping request sent. 2025-01-08T22:47:48.920Z,1736376468.920 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:48.920Z,1736376468.920 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:48.921Z,1736376468.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-01-08T22:47:49.097Z,1736376469.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:49.106Z,1736376469.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:49.109Z,1736376469.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 42.539326 m, bearing: 311.374759 deg, approach rate: 0.621237 m/s, LOS rate: -0.174555 deg/s, cmd heading: 105.249042 deg, new cmd heading: 105.077081 deg. 2025-01-08T22:47:49.110Z,1736376469.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.833941 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:49.168Z,1736376469.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:49.169Z,1736376469.169 [DAT](INFO): DAT read: TxSync time:22:47:48.2625 2025-01-08T22:47:49.170Z,1736376469.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250251 2025-01-08T22:47:49.421Z,1736376469.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:49.425Z,1736376469.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504235 2025-01-08T22:47:49.528Z,1736376469.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:49.538Z,1736376469.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:49.557Z,1736376469.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 42.812828 m, bearing: 311.291455 deg, approach rate: 0.633097 m/s, LOS rate: -0.191598 deg/s, cmd heading: 105.077078 deg, new cmd heading: 104.828765 deg. 2025-01-08T22:47:49.558Z,1736376469.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.829607 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:49.672Z,1736376469.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:49.673Z,1736376469.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753375 2025-01-08T22:47:49.904Z,1736376469.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:49.912Z,1736376469.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:49.916Z,1736376469.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 43.050900 m, bearing: 311.219303 deg, approach rate: 0.636740 m/s, LOS rate: -0.191909 deg/s, cmd heading: 104.828767 deg, new cmd heading: 104.613509 deg. 2025-01-08T22:47:49.917Z,1736376469.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.825850 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:49.924Z,1736376469.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:49.924Z,1736376469.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004364 2025-01-08T22:47:50.176Z,1736376470.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:50.176Z,1736376470.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256323 2025-01-08T22:47:50.317Z,1736376470.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:50.324Z,1736376470.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:50.326Z,1736376470.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:50.328Z,1736376470.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 43.312912 m, bearing: 311.141021 deg, approach rate: 0.633485 m/s, LOS rate: -0.188124 deg/s, cmd heading: 104.613506 deg, new cmd heading: 104.380080 deg. 2025-01-08T22:47:50.329Z,1736376470.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.821776 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:50.430Z,1736376470.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:50.433Z,1736376470.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512520 2025-01-08T22:47:50.680Z,1736376470.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:50.681Z,1736376470.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761126 2025-01-08T22:47:50.766Z,1736376470.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:50.775Z,1736376470.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:50.778Z,1736376470.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 43.606518 m, bearing: 311.045750 deg, approach rate: 0.653493 m/s, LOS rate: -0.210620 deg/s, cmd heading: 104.380078 deg, new cmd heading: 104.096194 deg. 2025-01-08T22:47:50.779Z,1736376470.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.816821 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:50.932Z,1736376470.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:50.933Z,1736376470.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013486 2025-01-08T22:47:51.117Z,1736376471.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:51.146Z,1736376471.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:51.150Z,1736376471.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 43.835423 m, bearing: 310.971274 deg, approach rate: 0.616733 m/s, LOS rate: -0.199612 deg/s, cmd heading: 104.096195 deg, new cmd heading: 103.873934 deg. 2025-01-08T22:47:51.152Z,1736376471.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.812942 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:51.186Z,1736376471.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:51.187Z,1736376471.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266644 2025-01-08T22:47:51.438Z,1736376471.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:51.440Z,1736376471.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520085 2025-01-08T22:47:51.565Z,1736376471.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:51.579Z,1736376471.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:51.586Z,1736376471.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 44.135471 m, bearing: 310.862674 deg, approach rate: 0.693365 m/s, LOS rate: -0.249251 deg/s, cmd heading: 103.873934 deg, new cmd heading: 103.550353 deg. 2025-01-08T22:47:51.587Z,1736376471.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.807295 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:51.690Z,1736376471.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:51.691Z,1736376471.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770848 2025-01-08T22:47:51.927Z,1736376471.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:51.944Z,1736376471.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:51.945Z,1736376471.945 [DAT](INFO): DAT read: Rx Time:22:47:50.7641 2025-01-08T22:47:51.945Z,1736376471.945 [DAT](INFO): Rx dataTimestamp_ set to:1736376471.944696 2025-01-08T22:47:51.945Z,1736376471.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025538 2025-01-08T22:47:51.953Z,1736376471.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:51.960Z,1736376471.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 44.378941 m, bearing: 310.774640 deg, approach rate: 0.650792 m/s, LOS rate: -0.234026 deg/s, cmd heading: 103.550353 deg, new cmd heading: 103.287700 deg. 2025-01-08T22:47:51.961Z,1736376471.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.802710 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:52.196Z,1736376472.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:52.198Z,1736376472.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277517 2025-01-08T22:47:52.343Z,1736376472.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:52.351Z,1736376472.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:52.353Z,1736376472.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:47:52.356Z,1736376472.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 44.657990 m, bearing: 310.674277 deg, approach rate: 0.696664 m/s, LOS rate: -0.248997 deg/s, cmd heading: 103.287698 deg, new cmd heading: 102.988494 deg. 2025-01-08T22:47:52.357Z,1736376472.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.797488 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:47:52.477Z,1736376472.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:52.511Z,1736376472.511 [DAT](INFO): DAT read: 22:47:50.7641 LVL= 25040, 32753, 27314, 32755, AGC= 65, IDX= 282, 0.38,-0.440,-1.891,-1.008,-0.833, PHS= 0.481,-1.010,-0.178, RAW= 123.8, 10.9, CAL= 131.1, 6.5, ROT= 18.9, -6.5 2025-01-08T22:47:52.532Z,1736376472.532 [DAT](INFO): got valid direction response: 22:47:50.7641 LVL= 25040, 32753, 27314, 32755, AGC= 65, IDX= 282, 0.38,-0.440,-1.891,-1.008,-0.833, PHS= 0.481,-1.010,-0.178, RAW= 123.8, 10.9, CAL= 131.1, 6.5, ROT= 18.9, -6.5 2025-01-08T22:47:52.533Z,1736376472.533 [DAT](INFO): DAT read: Bearing 18.9, -6.5 (Local) 2025-01-08T22:47:52.534Z,1736376472.534 [DAT](INFO): Local bearing/azimuth received: Bearing 18.9, -6.5 (Local) 2025-01-08T22:47:52.539Z,1736376472.539 [DAT](INFO): DAT read: Range 10 to 50 : 72.4 m (Round-trip 96.6 ms) speed 0.5 m/s 2025-01-08T22:47:52.540Z,1736376472.540 [DAT](INFO): DAT read: user:2891> 2025-01-08T22:47:52.541Z,1736376472.541 [DAT](INFO): DAT read: Tx time:22:47:51.8633 2025-01-08T22:47:52.541Z,1736376472.541 [DAT](INFO): Ping request sent. 2025-01-08T22:47:52.541Z,1736376472.541 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:52.542Z,1736376472.542 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:52.542Z,1736376472.542 [DAT](INFO): direction in FSK: [-0.329163,-0.451258,0.829468] 2025-01-08T22:47:52.543Z,1736376472.543 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:52.549Z,1736376472.549 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:52.558Z,1736376472.558 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:52.558Z,1736376472.558 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:52.728Z,1736376472.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:52.729Z,1736376472.729 [DAT](INFO): DAT read: TxSync time:22:47:51.8625 2025-01-08T22:47:52.806Z,1736376472.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:52.846Z,1736376472.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.400002 m, deltaT: 14.401110 s, deltaX: -9.699997 m, approachRate: -0.673559 m/s, rangeRepo size: 4 2025-01-08T22:47:52.853Z,1736376472.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.400002 m, bearing: 344.603415 deg, lat: 36.905326 deg, lon: -122.120312 deg, deltaT: 14.401110 s, deltaX: -9.699997 m, approachRate: -0.673559 m/s, posRepo size: 4 2025-01-08T22:47:52.853Z,1736376472.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:52.860Z,1736376472.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 54.782692 m, bearing: 321.454344 deg, approach rate: 0.000000 m/s, LOS rate: -0.248997 deg/s, cmd heading: 102.988495 deg, new cmd heading: 102.621632 deg. 2025-01-08T22:47:52.861Z,1736376472.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.791085 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:47:52.981Z,1736376472.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:53.150Z,1736376473.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:53.158Z,1736376473.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:53.177Z,1736376473.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 54.979828 m, bearing: 321.353500 deg, approach rate: 0.628314 m/s, LOS rate: -0.320256 deg/s, cmd heading: 102.621632 deg, new cmd heading: 102.320190 deg. 2025-01-08T22:47:53.178Z,1736376473.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785824 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:47:53.232Z,1736376473.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:53.485Z,1736376473.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:53.587Z,1736376473.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:53.596Z,1736376473.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:53.600Z,1736376473.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 55.231770 m, bearing: 321.211050 deg, approach rate: 0.576477 m/s, LOS rate: -0.324458 deg/s, cmd heading: 102.320188 deg, new cmd heading: 101.894796 deg. 2025-01-08T22:47:53.601Z,1736376473.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.778400 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:47:53.736Z,1736376473.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:53.956Z,1736376473.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:53.982Z,1736376473.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:53.988Z,1736376473.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:53.991Z,1736376473.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 55.445354 m, bearing: 321.091332 deg, approach rate: 0.554203 m/s, LOS rate: -0.309444 deg/s, cmd heading: 101.894797 deg, new cmd heading: 101.537031 deg. 2025-01-08T22:47:54.008Z,1736376474.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.772156 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:47:54.240Z,1736376474.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:54.371Z,1736376474.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:54.385Z,1736376474.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:54.401Z,1736376474.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:54.486Z,1736376474.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 55.684155 m, bearing: 320.957001 deg, approach rate: 0.568377 m/s, LOS rate: -0.318355 deg/s, cmd heading: 101.537032 deg, new cmd heading: 101.135773 deg. 2025-01-08T22:47:54.494Z,1736376474.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:54.496Z,1736376474.496 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:54.496Z,1736376474.496 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:54.497Z,1736376474.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:54.507Z,1736376474.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.765152 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:47:54.744Z,1736376474.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:54.744Z,1736376474.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203004 2025-01-08T22:47:54.915Z,1736376474.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:54.927Z,1736376474.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:54.930Z,1736376474.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 55.990795 m, bearing: 320.784979 deg, approach rate: 0.582564 m/s, LOS rate: -0.325021 deg/s, cmd heading: 101.135772 deg, new cmd heading: 100.622547 deg. 2025-01-08T22:47:54.952Z,1736376474.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756195 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:47:54.996Z,1736376474.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:54.996Z,1736376474.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455109 2025-01-08T22:47:55.248Z,1736376475.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:55.249Z,1736376475.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707617 2025-01-08T22:47:55.302Z,1736376475.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:55.310Z,1736376475.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:55.325Z,1736376475.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 56.209244 m, bearing: 320.662282 deg, approach rate: 0.570244 m/s, LOS rate: -0.319046 deg/s, cmd heading: 100.622545 deg, new cmd heading: 100.255890 deg. 2025-01-08T22:47:55.326Z,1736376475.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749795 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:47:55.502Z,1736376475.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:55.507Z,1736376475.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964487 2025-01-08T22:47:55.715Z,1736376475.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:55.741Z,1736376475.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:55.743Z,1736376475.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 56.439354 m, bearing: 320.536177 deg, approach rate: 0.534782 m/s, LOS rate: -0.291876 deg/s, cmd heading: 100.255894 deg, new cmd heading: 99.879127 deg. 2025-01-08T22:47:55.744Z,1736376475.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.743220 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:47:55.752Z,1736376475.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:55.753Z,1736376475.753 [DAT](INFO): DAT read: Rx Time:22:47:54.3611 2025-01-08T22:47:55.753Z,1736376475.753 [DAT](INFO): Rx dataTimestamp_ set to:1736376475.752837 2025-01-08T22:47:55.754Z,1736376475.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212281 2025-01-08T22:47:56.005Z,1736376476.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:56.009Z,1736376476.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465365 2025-01-08T22:47:56.092Z,1736376476.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:56.101Z,1736376476.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:56.120Z,1736376476.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 56.648907 m, bearing: 320.420979 deg, approach rate: 0.580913 m/s, LOS rate: -0.318167 deg/s, cmd heading: 99.879127 deg, new cmd heading: 99.534814 deg. 2025-01-08T22:47:56.121Z,1736376476.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.737210 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:47:56.257Z,1736376476.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:56.260Z,1736376476.260 [DAT](INFO): DAT read: Range 10 to 50 : 70.2 m (Round-trip 93.6 ms) speed 0.6 m/s 2025-01-08T22:47:56.261Z,1736376476.261 [DAT](INFO): DAT read: user:2892> 2025-01-08T22:47:56.261Z,1736376476.261 [DAT](INFO): DAT read: Tx time:22:47:55.4634 2025-01-08T22:47:56.262Z,1736376476.262 [DAT](INFO): Ping request sent. 2025-01-08T22:47:56.262Z,1736376476.262 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:56.262Z,1736376476.262 [DAT](INFO): DAT read: TxSync time:22:47:55.4626 2025-01-08T22:47:56.263Z,1736376476.263 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:47:56.263Z,1736376476.263 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:56.264Z,1736376476.264 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:56.504Z,1736376476.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:56.509Z,1736376476.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:56.572Z,1736376476.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:56.582Z,1736376476.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.199997 m, deltaT: 3.779948 s, deltaX: -2.200005 m, approachRate: -0.582020 m/s, rangeRepo size: 4 2025-01-08T22:47:56.583Z,1736376476.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:56.590Z,1736376476.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 56.877964 m, bearing: 320.294285 deg, approach rate: 0.477820 m/s, LOS rate: -0.263221 deg/s, cmd heading: 99.534817 deg, new cmd heading: 99.156273 deg. 2025-01-08T22:47:56.590Z,1736376476.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.730603 target range: 72.400002 and range: 70.20 m. 2025-01-08T22:47:56.760Z,1736376476.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:56.760Z,1736376476.760 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:47:56.760Z,1736376476.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:47:56.761Z,1736376476.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:47:56.939Z,1736376476.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:56.977Z,1736376476.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:56.984Z,1736376476.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 57.134686 m, bearing: 320.154142 deg, approach rate: 0.647734 m/s, LOS rate: -0.352007 deg/s, cmd heading: 99.156274 deg, new cmd heading: 98.737740 deg. 2025-01-08T22:47:56.985Z,1736376476.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.723299 target range: 72.400002 and range: 70.20 m. 2025-01-08T22:47:57.012Z,1736376477.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:57.013Z,1736376477.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750761 2025-01-08T22:47:57.266Z,1736376477.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:57.267Z,1736376477.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004808 2025-01-08T22:47:57.358Z,1736376477.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:57.368Z,1736376477.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:57.371Z,1736376477.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 57.382458 m, bearing: 320.020246 deg, approach rate: 0.633598 m/s, LOS rate: -0.340916 deg/s, cmd heading: 98.737741 deg, new cmd heading: 98.337796 deg. 2025-01-08T22:47:57.372Z,1736376477.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.716318 target range: 72.400002 and range: 70.20 m. 2025-01-08T22:47:57.519Z,1736376477.519 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:57.521Z,1736376477.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258960 2025-01-08T22:47:57.732Z,1736376477.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:57.741Z,1736376477.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:57.744Z,1736376477.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 57.581314 m, bearing: 319.922119 deg, approach rate: 0.533788 m/s, LOS rate: -0.262493 deg/s, cmd heading: 98.337799 deg, new cmd heading: 98.044435 deg. 2025-01-08T22:47:57.745Z,1736376477.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.711198 target range: 72.400002 and range: 70.20 m. 2025-01-08T22:47:57.776Z,1736376477.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:57.777Z,1736376477.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514941 2025-01-08T22:47:58.028Z,1736376478.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:58.028Z,1736376478.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766609 2025-01-08T22:47:58.116Z,1736376478.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:58.149Z,1736376478.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:58.152Z,1736376478.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 57.785118 m, bearing: 319.819988 deg, approach rate: 0.498515 m/s, LOS rate: -0.248935 deg/s, cmd heading: 98.044435 deg, new cmd heading: 97.739128 deg. 2025-01-08T22:47:58.153Z,1736376478.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.705870 target range: 72.400002 and range: 70.20 m. 2025-01-08T22:47:58.280Z,1736376478.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:58.281Z,1736376478.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018600 2025-01-08T22:47:58.517Z,1736376478.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:58.530Z,1736376478.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:58.532Z,1736376478.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:58.533Z,1736376478.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271075 2025-01-08T22:47:58.535Z,1736376478.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 57.996784 m, bearing: 319.712132 deg, approach rate: 0.556451 m/s, LOS rate: -0.282508 deg/s, cmd heading: 97.739126 deg, new cmd heading: 97.416743 deg. 2025-01-08T22:47:58.572Z,1736376478.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.700243 target range: 72.400002 and range: 70.20 m. 2025-01-08T22:47:58.784Z,1736376478.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:58.784Z,1736376478.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522681 2025-01-08T22:47:58.971Z,1736376478.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:58.986Z,1736376478.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:47:58.989Z,1736376478.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:58.992Z,1736376478.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 58.229702 m, bearing: 319.600655 deg, approach rate: 0.507048 m/s, LOS rate: -0.241709 deg/s, cmd heading: 97.416741 deg, new cmd heading: 97.083650 deg. 2025-01-08T22:47:58.993Z,1736376478.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.694429 target range: 72.400002 and range: 70.20 m. 2025-01-08T22:47:59.037Z,1736376479.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:59.038Z,1736376479.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775739 2025-01-08T22:47:59.288Z,1736376479.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:59.288Z,1736376479.288 [DAT](INFO): DAT read: Rx Time:22:47:57.9579 2025-01-08T22:47:59.289Z,1736376479.289 [DAT](INFO): Rx dataTimestamp_ set to:1736376479.288568 2025-01-08T22:47:59.289Z,1736376479.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027617 2025-01-08T22:47:59.350Z,1736376479.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:59.372Z,1736376479.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:59.374Z,1736376479.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 58.422642 m, bearing: 319.504683 deg, approach rate: 0.510374 m/s, LOS rate: -0.253030 deg/s, cmd heading: 97.083653 deg, new cmd heading: 96.796692 deg. 2025-01-08T22:47:59.380Z,1736376479.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.689421 target range: 72.400002 and range: 70.20 m. 2025-01-08T22:47:59.542Z,1736376479.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:59.567Z,1736376479.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.304300 2025-01-08T22:47:59.758Z,1736376479.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:47:59.769Z,1736376479.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:47:59.772Z,1736376479.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 58.642971 m, bearing: 319.391892 deg, approach rate: 0.548836 m/s, LOS rate: -0.279905 deg/s, cmd heading: 96.796690 deg, new cmd heading: 96.459592 deg. 2025-01-08T22:47:59.773Z,1736376479.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.683537 target range: 72.400002 and range: 70.20 m. 2025-01-08T22:47:59.792Z,1736376479.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:47:59.799Z,1736376479.799 [DAT](INFO): DAT read: 22:47:57.9579 LVL= 18112, 32753, 28450, 32755, AGC= 65, IDX= 410, 0.14, 1.196,-0.248, 0.438, 0.692, PHS= 0.591,-0.893,-0.257, RAW= 115.3, 8.7, CAL= 124.4, 5.4, ROT= 25.6, -5.4 2025-01-08T22:47:59.800Z,1736376479.800 [DAT](INFO): got valid direction response: 22:47:57.9579 LVL= 18112, 32753, 28450, 32755, AGC= 65, IDX= 410, 0.14, 1.196,-0.248, 0.438, 0.692, PHS= 0.591,-0.893,-0.257, RAW= 115.3, 8.7, CAL= 124.4, 5.4, ROT= 25.6, -5.4 2025-01-08T22:47:59.801Z,1736376479.801 [DAT](INFO): DAT read: Bearing 25.6, -5.4 (Local) 2025-01-08T22:47:59.801Z,1736376479.801 [DAT](INFO): Local bearing/azimuth received: Bearing 25.6, -5.4 (Local) 2025-01-08T22:47:59.803Z,1736376479.803 [DAT](INFO): DAT read: Range 10 to 50 : 67.7 m (Round-trip 90.3 ms) speed 0.6 m/s 2025-01-08T22:47:59.807Z,1736376479.807 [DAT](INFO): DAT read: user:2893> 2025-01-08T22:47:59.808Z,1736376479.808 [DAT](INFO): DAT read: Tx time:22:47:59.0634 2025-01-08T22:47:59.808Z,1736376479.808 [DAT](INFO): Ping request sent. 2025-01-08T22:47:59.808Z,1736376479.808 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:47:59.808Z,1736376479.808 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:47:59.809Z,1736376479.809 [DAT](INFO): direction in FSK: [-0.282365,-0.319183,0.904650] 2025-01-08T22:47:59.810Z,1736376479.810 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:59.810Z,1736376479.810 [DAT](INFO): publishing direction and range info 2025-01-08T22:47:59.813Z,1736376479.813 [DAT](INFO): publishing transmit ping time 2025-01-08T22:47:59.813Z,1736376479.813 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:00.044Z,1736376480.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:00.045Z,1736376480.045 [DAT](INFO): DAT read: TxSync time:22:47:59.0626 2025-01-08T22:48:00.159Z,1736376480.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:00.186Z,1736376480.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.699997 m, deltaT: 3.533840 s, deltaX: -2.500000 m, approachRate: -0.707446 m/s, rangeRepo size: 4 2025-01-08T22:48:00.193Z,1736376480.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 67.699997 m, bearing: 332.230538 deg, lat: 36.905326 deg, lon: -122.120061 deg, deltaT: 7.313788 s, deltaX: -4.700005 m, approachRate: -0.642622 m/s, posRepo size: 4 2025-01-08T22:48:00.193Z,1736376480.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T22:48:00.200Z,1736376480.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 47.408779 m, bearing: 340.202855 deg, approach rate: 0.000000 m/s, LOS rate: -0.279905 deg/s, cmd heading: 96.459592 deg, new cmd heading: 96.109978 deg. 2025-01-08T22:48:00.201Z,1736376480.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677436 target range: 67.699997 and range: 67.70 m. 2025-01-08T22:48:00.296Z,1736376480.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:00.550Z,1736376480.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:00.721Z,1736376480.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:00.741Z,1736376480.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T22:48:00.744Z,1736376480.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 47.632343 m, bearing: 339.888562 deg, approach rate: 0.402067 m/s, LOS rate: -0.562581 deg/s, cmd heading: 96.109976 deg, new cmd heading: 95.171611 deg. 2025-01-08T22:48:00.745Z,1736376480.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.661058 target range: 67.699997 and range: 67.70 m. 2025-01-08T22:48:00.800Z,1736376480.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:01.052Z,1736376481.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:01.154Z,1736376481.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:01.161Z,1736376481.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:01.163Z,1736376481.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T22:48:01.167Z,1736376481.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 47.803516 m, bearing: 339.648309 deg, approach rate: 0.406040 m/s, LOS rate: -0.567862 deg/s, cmd heading: 95.171610 deg, new cmd heading: 94.453473 deg. 2025-01-08T22:48:01.184Z,1736376481.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648524 target range: 67.699997 and range: 67.70 m. 2025-01-08T22:48:01.305Z,1736376481.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:01.305Z,1736376481.305 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:01.306Z,1736376481.306 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:01.306Z,1736376481.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:01.556Z,1736376481.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:01.557Z,1736376481.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748291 2025-01-08T22:48:01.642Z,1736376481.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:01.674Z,1736376481.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T22:48:01.683Z,1736376481.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 47.995407 m, bearing: 339.377710 deg, approach rate: 0.375211 m/s, LOS rate: -0.526996 deg/s, cmd heading: 94.453470 deg, new cmd heading: 93.644974 deg. 2025-01-08T22:48:01.688Z,1736376481.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634413 target range: 67.699997 and range: 67.70 m. 2025-01-08T22:48:01.809Z,1736376481.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:01.810Z,1736376481.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001106 2025-01-08T22:48:02.020Z,1736376482.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:02.042Z,1736376482.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T22:48:02.049Z,1736376482.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 48.143044 m, bearing: 339.164505 deg, approach rate: 0.401589 m/s, LOS rate: -0.578162 deg/s, cmd heading: 93.644974 deg, new cmd heading: 93.007350 deg. 2025-01-08T22:48:02.050Z,1736376482.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623284 target range: 67.699997 and range: 67.70 m. 2025-01-08T22:48:02.060Z,1736376482.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:02.068Z,1736376482.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260238 2025-01-08T22:48:02.312Z,1736376482.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:02.312Z,1736376482.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504143 2025-01-08T22:48:02.388Z,1736376482.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:02.397Z,1736376482.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T22:48:02.401Z,1736376482.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 48.285957 m, bearing: 338.956677 deg, approach rate: 0.402321 m/s, LOS rate: -0.583330 deg/s, cmd heading: 93.007348 deg, new cmd heading: 92.385736 deg. 2025-01-08T22:48:02.402Z,1736376482.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.612435 target range: 67.699997 and range: 67.70 m. 2025-01-08T22:48:02.565Z,1736376482.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:02.565Z,1736376482.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757147 2025-01-08T22:48:02.808Z,1736376482.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:02.816Z,1736376482.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:02.817Z,1736376482.817 [DAT](INFO): DAT read: Rx Time:22:48:01.5547 2025-01-08T22:48:02.817Z,1736376482.817 [DAT](INFO): Rx dataTimestamp_ set to:1736376482.816933 2025-01-08T22:48:02.818Z,1736376482.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009521 2025-01-08T22:48:02.820Z,1736376482.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T22:48:02.823Z,1736376482.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 48.451332 m, bearing: 338.707532 deg, approach rate: 0.390651 m/s, LOS rate: -0.586526 deg/s, cmd heading: 92.385733 deg, new cmd heading: 91.640891 deg. 2025-01-08T22:48:02.824Z,1736376482.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.599435 target range: 67.699997 and range: 67.70 m. 2025-01-08T22:48:03.068Z,1736376483.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:03.069Z,1736376483.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261199 2025-01-08T22:48:03.189Z,1736376483.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:03.196Z,1736376483.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:03.199Z,1736376483.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T22:48:03.202Z,1736376483.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 48.601284 m, bearing: 338.481020 deg, approach rate: 0.396067 m/s, LOS rate: -0.596437 deg/s, cmd heading: 91.640894 deg, new cmd heading: 90.963489 deg. 2025-01-08T22:48:03.204Z,1736376483.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.587612 target range: 67.699997 and range: 67.70 m. 2025-01-08T22:48:03.321Z,1736376483.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:03.332Z,1736376483.332 [DAT](INFO): DAT read: 22:48:01.5547 LVL= 24336, 32753, 32498, 32755, AGC= 65, IDX= 407, 0.17, 2.655, 1.082, 1.795, 2.130, PHS= 0.613,-1.001,-0.338, RAW= 114.1, 10.3, CAL= 123.0, 7.3, ROT= 27.0, -7.3 2025-01-08T22:48:03.333Z,1736376483.333 [DAT](INFO): got valid direction response: 22:48:01.5547 LVL= 24336, 32753, 32498, 32755, AGC= 65, IDX= 407, 0.17, 2.655, 1.082, 1.795, 2.130, PHS= 0.613,-1.001,-0.338, RAW= 114.1, 10.3, CAL= 123.0, 7.3, ROT= 27.0, -7.3 2025-01-08T22:48:03.334Z,1736376483.334 [DAT](INFO): DAT read: Bearing 27.0, -7.3 (Local) 2025-01-08T22:48:03.334Z,1736376483.334 [DAT](INFO): Local bearing/azimuth received: Bearing 27.0, -7.3 (Local) 2025-01-08T22:48:03.336Z,1736376483.336 [DAT](INFO): DAT read: Range 10 to 50 : 65.4 m (Round-trip 87.2 ms) speed 0.6 m/s 2025-01-08T22:48:03.336Z,1736376483.336 [DAT](INFO): DAT read: user:2894> 2025-01-08T22:48:03.337Z,1736376483.337 [DAT](INFO): DAT read: Tx time:22:48:02.6634 2025-01-08T22:48:03.337Z,1736376483.337 [DAT](INFO): Ping request sent. 2025-01-08T22:48:03.337Z,1736376483.337 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:03.338Z,1736376483.338 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:48:03.339Z,1736376483.339 [DAT](INFO): direction in FSK: [-0.311252,-0.295784,0.903125] 2025-01-08T22:48:03.339Z,1736376483.339 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:03.346Z,1736376483.346 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:03.372Z,1736376483.372 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:03.373Z,1736376483.373 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:03.572Z,1736376483.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:03.572Z,1736376483.572 [DAT](INFO): DAT read: TxSync time:22:48:02.6626 2025-01-08T22:48:03.610Z,1736376483.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:03.701Z,1736376483.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.529644 s, deltaX: -2.299995 m, approachRate: -0.651622 m/s, rangeRepo size: 4 2025-01-08T22:48:03.703Z,1736376483.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.400002 m, bearing: 324.012879 deg, lat: 36.905326 deg, lon: -122.120061 deg, deltaT: 3.529644 s, deltaX: -2.299995 m, approachRate: -0.651622 m/s, posRepo size: 4 2025-01-08T22:48:03.708Z,1736376483.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m. 2025-01-08T22:48:03.713Z,1736376483.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.400002 m, nav range: 48.765598 m, bearing: 338.232015 deg, approach rate: 0.000000 m/s, LOS rate: -0.596437 deg/s, cmd heading: 90.963489 deg, new cmd heading: 90.066678 deg. 2025-01-08T22:48:03.715Z,1736376483.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.571960 target range: 65.400002 and range: 65.40 m. 2025-01-08T22:48:03.824Z,1736376483.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:04.020Z,1736376484.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:04.033Z,1736376484.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m. 2025-01-08T22:48:04.036Z,1736376484.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.400002 m, nav range: 48.930099 m, bearing: 337.982382 deg, approach rate: 0.494467 m/s, LOS rate: -0.747834 deg/s, cmd heading: 90.066679 deg, new cmd heading: 89.320344 deg. 2025-01-08T22:48:04.037Z,1736376484.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558934 target range: 65.400002 and range: 65.40 m. 2025-01-08T22:48:04.077Z,1736376484.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:04.328Z,1736376484.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:04.420Z,1736376484.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:04.429Z,1736376484.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m. 2025-01-08T22:48:04.433Z,1736376484.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.400002 m, nav range: 49.091190 m, bearing: 337.740882 deg, approach rate: 0.406898 m/s, LOS rate: -0.607999 deg/s, cmd heading: 89.320344 deg, new cmd heading: 88.598261 deg. 2025-01-08T22:48:04.434Z,1736376484.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546331 target range: 65.400002 and range: 65.40 m. 2025-01-08T22:48:04.584Z,1736376484.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:04.821Z,1736376484.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:04.829Z,1736376484.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m. 2025-01-08T22:48:04.833Z,1736376484.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.400002 m, nav range: 49.256073 m, bearing: 337.480559 deg, approach rate: 0.411619 m/s, LOS rate: -0.647702 deg/s, cmd heading: 88.598263 deg, new cmd heading: 87.819959 deg. 2025-01-08T22:48:04.834Z,1736376484.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.532747 target range: 65.400002 and range: 65.40 m. 2025-01-08T22:48:04.836Z,1736376484.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:05.089Z,1736376485.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:05.222Z,1736376485.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:05.228Z,1736376485.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:05.231Z,1736376485.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m. 2025-01-08T22:48:05.234Z,1736376485.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.400002 m, nav range: 49.420353 m, bearing: 337.219799 deg, approach rate: 0.409595 m/s, LOS rate: -0.647983 deg/s, cmd heading: 87.819956 deg, new cmd heading: 87.040327 deg. 2025-01-08T22:48:05.236Z,1736376485.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519140 target range: 65.400002 and range: 65.40 m. 2025-01-08T22:48:05.340Z,1736376485.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:05.340Z,1736376485.340 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:05.340Z,1736376485.340 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:05.341Z,1736376485.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:05.592Z,1736376485.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:05.592Z,1736376485.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255105 2025-01-08T22:48:05.628Z,1736376485.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:05.705Z,1736376485.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m. 2025-01-08T22:48:05.712Z,1736376485.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.400002 m, nav range: 49.584965 m, bearing: 336.956650 deg, approach rate: 0.346869 m/s, LOS rate: -0.552664 deg/s, cmd heading: 87.040324 deg, new cmd heading: 86.253549 deg. 2025-01-08T22:48:05.713Z,1736376485.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.505408 target range: 65.400002 and range: 65.40 m. 2025-01-08T22:48:05.844Z,1736376485.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:05.845Z,1736376485.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507222 2025-01-08T22:48:06.066Z,1736376486.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:06.075Z,1736376486.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m. 2025-01-08T22:48:06.078Z,1736376486.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.400002 m, nav range: 49.768047 m, bearing: 336.663947 deg, approach rate: 0.495013 m/s, LOS rate: -0.788486 deg/s, cmd heading: 86.253548 deg, new cmd heading: 85.378742 deg. 2025-01-08T22:48:06.079Z,1736376486.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.490140 target range: 65.400002 and range: 65.40 m. 2025-01-08T22:48:06.097Z,1736376486.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:06.098Z,1736376486.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760225 2025-01-08T22:48:06.349Z,1736376486.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:06.349Z,1736376486.349 [DAT](INFO): DAT read: Rx Time:22:48:05.1519 2025-01-08T22:48:06.350Z,1736376486.350 [DAT](INFO): Rx dataTimestamp_ set to:1736376486.349570 2025-01-08T22:48:06.350Z,1736376486.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012982 2025-01-08T22:48:06.446Z,1736376486.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:06.456Z,1736376486.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m. 2025-01-08T22:48:06.459Z,1736376486.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.400002 m, nav range: 49.918488 m, bearing: 336.416962 deg, approach rate: 0.394266 m/s, LOS rate: -0.645331 deg/s, cmd heading: 85.378744 deg, new cmd heading: 84.640068 deg. 2025-01-08T22:48:06.460Z,1736376486.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477248 target range: 65.400002 and range: 65.40 m. 2025-01-08T22:48:06.600Z,1736376486.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:06.600Z,1736376486.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262924 2025-01-08T22:48:06.853Z,1736376486.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:06.862Z,1736376486.862 [DAT](INFO): DAT read: 22:48:05.1519 LVL= 24304, 32753, 32754, 32755, AGC= 65, IDX= 413,-0.38,-2.594, 2.062, 2.778,-3.122, PHS= 0.616,-1.053,-0.387, RAW= 113.4, 11.3, CAL= 122.1, 8.4, ROT= 27.9, -8.4 2025-01-08T22:48:06.865Z,1736376486.865 [DAT](INFO): got valid direction response: 22:48:05.1519 LVL= 24304, 32753, 32754, 32755, AGC= 65, IDX= 413,-0.38,-2.594, 2.062, 2.778,-3.122, PHS= 0.616,-1.053,-0.387, RAW= 113.4, 11.3, CAL= 122.1, 8.4, ROT= 27.9, -8.4 2025-01-08T22:48:06.866Z,1736376486.866 [DAT](INFO): DAT read: Bearing 27.9, -8.4 (Local) 2025-01-08T22:48:06.866Z,1736376486.866 [DAT](INFO): Local bearing/azimuth received: Bearing 27.9, -8.4 (Local) 2025-01-08T22:48:06.873Z,1736376486.873 [DAT](INFO): DAT read: Range 10 to 50 : 63.2 m (Round-trip 84.3 ms) speed 0.4 m/s 2025-01-08T22:48:06.873Z,1736376486.873 [DAT](INFO): DAT read: user:2895> 2025-01-08T22:48:06.874Z,1736376486.874 [DAT](INFO): DAT read: Tx time:22:48:06.2650 2025-01-08T22:48:06.874Z,1736376486.874 [DAT](INFO): Ping request sent. 2025-01-08T22:48:06.875Z,1736376486.875 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:06.875Z,1736376486.875 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:48:06.878Z,1736376486.878 [DAT](INFO): direction in FSK: [-0.328016,-0.280619,0.902030] 2025-01-08T22:48:06.878Z,1736376486.878 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:06.878Z,1736376486.878 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:06.889Z,1736376486.889 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:06.890Z,1736376486.890 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:06.954Z,1736376486.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:06.989Z,1736376486.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.200001 m, deltaT: 3.532336 s, deltaX: -2.200001 m, approachRate: -0.622818 m/s, rangeRepo size: 4 2025-01-08T22:48:06.991Z,1736376486.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.200001 m, bearing: 314.892692 deg, lat: 36.905178 deg, lon: -122.120061 deg, deltaT: 3.532336 s, deltaX: -2.200001 m, approachRate: -0.622818 m/s, posRepo size: 4 2025-01-08T22:48:06.996Z,1736376486.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m. 2025-01-08T22:48:07.010Z,1736376487.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.200001 m, nav range: 35.686363 m, bearing: 325.258666 deg, approach rate: 0.000000 m/s, LOS rate: -0.645331 deg/s, cmd heading: 84.640066 deg, new cmd heading: 83.610714 deg. 2025-01-08T22:48:07.011Z,1736376487.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.459282 target range: 63.200001 and range: 63.20 m. 2025-01-08T22:48:07.104Z,1736376487.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:07.106Z,1736376487.106 [DAT](INFO): DAT read: TxSync time:22:48:06.2642 2025-01-08T22:48:07.342Z,1736376487.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:07.356Z,1736376487.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:07.366Z,1736376487.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:07.373Z,1736376487.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m. 2025-01-08T22:48:07.380Z,1736376487.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.200001 m, nav range: 35.876999 m, bearing: 324.935984 deg, approach rate: 0.494958 m/s, LOS rate: -0.833340 deg/s, cmd heading: 83.610716 deg, new cmd heading: 82.647911 deg. 2025-01-08T22:48:07.382Z,1736376487.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442478 target range: 63.200001 and range: 63.20 m. 2025-01-08T22:48:07.608Z,1736376487.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:07.608Z,1736376487.608 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:07.608Z,1736376487.608 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:07.609Z,1736376487.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:07.765Z,1736376487.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:07.773Z,1736376487.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m. 2025-01-08T22:48:07.776Z,1736376487.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.200001 m, nav range: 36.082935 m, bearing: 324.594392 deg, approach rate: 0.514886 m/s, LOS rate: -0.849177 deg/s, cmd heading: 82.647912 deg, new cmd heading: 81.629096 deg. 2025-01-08T22:48:07.777Z,1736376487.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424696 target range: 63.200001 and range: 63.20 m. 2025-01-08T22:48:07.861Z,1736376487.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:07.862Z,1736376487.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987305 2025-01-08T22:48:08.112Z,1736376488.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:08.112Z,1736376488.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237647 2025-01-08T22:48:08.149Z,1736376488.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:08.161Z,1736376488.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m. 2025-01-08T22:48:08.168Z,1736376488.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.200001 m, nav range: 36.268627 m, bearing: 324.284018 deg, approach rate: 0.478590 m/s, LOS rate: -0.795835 deg/s, cmd heading: 81.629093 deg, new cmd heading: 80.702827 deg. 2025-01-08T22:48:08.169Z,1736376488.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408530 target range: 63.200001 and range: 63.20 m. 2025-01-08T22:48:08.364Z,1736376488.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:08.365Z,1736376488.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490495 2025-01-08T22:48:08.532Z,1736376488.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:08.542Z,1736376488.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m. 2025-01-08T22:48:08.545Z,1736376488.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.200001 m, nav range: 36.452946 m, bearing: 323.973211 deg, approach rate: 0.484187 m/s, LOS rate: -0.812330 deg/s, cmd heading: 80.702824 deg, new cmd heading: 79.775202 deg. 2025-01-08T22:48:08.546Z,1736376488.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392340 target range: 63.200001 and range: 63.20 m. 2025-01-08T22:48:08.616Z,1736376488.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:08.617Z,1736376488.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742691 2025-01-08T22:48:08.868Z,1736376488.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:08.868Z,1736376488.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993829 2025-01-08T22:48:08.959Z,1736376488.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:08.969Z,1736376488.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m. 2025-01-08T22:48:08.972Z,1736376488.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.200001 m, nav range: 36.646969 m, bearing: 323.632190 deg, approach rate: 0.454346 m/s, LOS rate: -0.794341 deg/s, cmd heading: 79.775202 deg, new cmd heading: 78.757668 deg. 2025-01-08T22:48:08.973Z,1736376488.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374581 target range: 63.200001 and range: 63.20 m. 2025-01-08T22:48:09.120Z,1736376489.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:09.120Z,1736376489.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245823 2025-01-08T22:48:09.344Z,1736376489.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:09.353Z,1736376489.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m. 2025-01-08T22:48:09.356Z,1736376489.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.200001 m, nav range: 36.820377 m, bearing: 323.323239 deg, approach rate: 0.451325 m/s, LOS rate: -0.800306 deg/s, cmd heading: 78.757668 deg, new cmd heading: 77.835264 deg. 2025-01-08T22:48:09.357Z,1736376489.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358482 target range: 63.200001 and range: 63.20 m. 2025-01-08T22:48:09.372Z,1736376489.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:09.372Z,1736376489.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497815 2025-01-08T22:48:09.624Z,1736376489.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:09.624Z,1736376489.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749838 2025-01-08T22:48:09.794Z,1736376489.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:09.803Z,1736376489.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:09.821Z,1736376489.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m. 2025-01-08T22:48:09.824Z,1736376489.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.200001 m, nav range: 37.012741 m, bearing: 322.976248 deg, approach rate: 0.411246 m/s, LOS rate: -0.737956 deg/s, cmd heading: 77.835265 deg, new cmd heading: 76.799823 deg. 2025-01-08T22:48:09.825Z,1736376489.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.340410 target range: 63.200001 and range: 63.20 m. 2025-01-08T22:48:09.877Z,1736376489.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:09.879Z,1736376489.879 [DAT](INFO): DAT read: Rx Time:22:48:08.7506 2025-01-08T22:48:09.879Z,1736376489.879 [DAT](INFO): Rx dataTimestamp_ set to:1736376489.878702 2025-01-08T22:48:09.881Z,1736376489.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005481 2025-01-08T22:48:10.129Z,1736376490.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:10.136Z,1736376490.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261358 2025-01-08T22:48:10.178Z,1736376490.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:10.205Z,1736376490.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m. 2025-01-08T22:48:10.212Z,1736376490.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.200001 m, nav range: 37.174538 m, bearing: 322.680062 deg, approach rate: 0.420786 m/s, LOS rate: -0.766940 deg/s, cmd heading: 76.799822 deg, new cmd heading: 75.915203 deg. 2025-01-08T22:48:10.213Z,1736376490.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324970 target range: 63.200001 and range: 63.20 m. 2025-01-08T22:48:10.382Z,1736376490.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:10.383Z,1736376490.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508831 2025-01-08T22:48:10.549Z,1736376490.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:10.557Z,1736376490.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m. 2025-01-08T22:48:10.560Z,1736376490.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.200001 m, nav range: 37.329205 m, bearing: 322.392389 deg, approach rate: 0.439648 m/s, LOS rate: -0.814332 deg/s, cmd heading: 75.915203 deg, new cmd heading: 75.055828 deg. 2025-01-08T22:48:10.561Z,1736376490.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.309971 target range: 63.200001 and range: 63.20 m. 2025-01-08T22:48:10.633Z,1736376490.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:10.643Z,1736376490.643 [DAT](INFO): DAT read: 22:48:08.7506 LVL= 14432, 31665, 26450, 32755, AGC= 61, IDX= 415,-0.50,-1.993, 2.546,-3.010,-2.671, PHS= 0.766,-1.019,-0.342, RAW= 112.1, 7.7, CAL= 122.0, 4.7, ROT= 28.0, -4.7 2025-01-08T22:48:10.644Z,1736376490.644 [DAT](INFO): got valid direction response: 22:48:08.7506 LVL= 14432, 31665, 26450, 32755, AGC= 61, IDX= 415,-0.50,-1.993, 2.546,-3.010,-2.671, PHS= 0.766,-1.019,-0.342, RAW= 112.1, 7.7, CAL= 122.0, 4.7, ROT= 28.0, -4.7 2025-01-08T22:48:10.646Z,1736376490.646 [DAT](INFO): DAT read: Bearing 28.0, -4.7 (Local) 2025-01-08T22:48:10.646Z,1736376490.646 [DAT](INFO): Local bearing/azimuth received: Bearing 28.0, -4.7 (Local) 2025-01-08T22:48:10.649Z,1736376490.649 [DAT](INFO): DAT read: Range 10 to 50 : 61.0 m (Round-trip 81.4 ms) speed 0.5 m/s 2025-01-08T22:48:10.650Z,1736376490.650 [DAT](INFO): DAT read: user:2896> 2025-01-08T22:48:10.652Z,1736376490.652 [DAT](INFO): DAT read: Tx time:22:48:09.8635 2025-01-08T22:48:10.653Z,1736376490.653 [DAT](INFO): Ping request sent. 2025-01-08T22:48:10.653Z,1736376490.653 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:10.654Z,1736376490.654 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:48:10.669Z,1736376490.669 [DAT](INFO): direction in FSK: [-0.260041,-0.267045,0.927936] 2025-01-08T22:48:10.669Z,1736376490.669 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:10.670Z,1736376490.670 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:10.675Z,1736376490.675 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:10.684Z,1736376490.684 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:10.885Z,1736376490.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:10.887Z,1736376490.887 [DAT](INFO): DAT read: TxSync time:22:48:09.8627 2025-01-08T22:48:11.021Z,1736376491.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:11.051Z,1736376491.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.000000 m, deltaT: 3.779511 s, deltaX: -2.200001 m, approachRate: -0.582086 m/s, rangeRepo size: 4 2025-01-08T22:48:11.053Z,1736376491.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.000000 m, bearing: 308.768165 deg, lat: 36.905146 deg, lon: -122.120061 deg, deltaT: 3.779511 s, deltaX: -2.200001 m, approachRate: -0.582086 m/s, posRepo size: 4 2025-01-08T22:48:11.054Z,1736376491.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.00 m. 2025-01-08T22:48:11.061Z,1736376491.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.000000 m, nav range: 34.754921 m, bearing: 318.414575 deg, approach rate: 0.000000 m/s, LOS rate: -0.814332 deg/s, cmd heading: 75.055829 deg, new cmd heading: 73.860841 deg. 2025-01-08T22:48:11.062Z,1736376491.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.289115 target range: 61.000000 and range: 61.00 m. 2025-01-08T22:48:11.136Z,1736376491.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:11.374Z,1736376491.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:11.385Z,1736376491.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.00 m. 2025-01-08T22:48:11.388Z,1736376491.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:11.389Z,1736376491.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.000000 m, nav range: 34.896675 m, bearing: 318.149871 deg, approach rate: 0.420768 m/s, LOS rate: -0.782523 deg/s, cmd heading: 73.860839 deg, new cmd heading: 73.070007 deg. 2025-01-08T22:48:11.390Z,1736376491.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275312 target range: 61.000000 and range: 61.00 m. 2025-01-08T22:48:11.640Z,1736376491.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:11.824Z,1736376491.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:11.832Z,1736376491.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:11.834Z,1736376491.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.00 m. 2025-01-08T22:48:11.837Z,1736376491.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.000000 m, nav range: 35.071087 m, bearing: 317.821802 deg, approach rate: 0.386871 m/s, LOS rate: -0.724082 deg/s, cmd heading: 73.070006 deg, new cmd heading: 72.090794 deg. 2025-01-08T22:48:11.838Z,1736376491.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258222 target range: 61.000000 and range: 61.00 m. 2025-01-08T22:48:11.892Z,1736376491.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:11.893Z,1736376491.893 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:11.893Z,1736376491.893 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:11.894Z,1736376491.894 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:12.144Z,1736376492.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:12.144Z,1736376492.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491685 2025-01-08T22:48:12.209Z,1736376492.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:12.218Z,1736376492.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.00 m. 2025-01-08T22:48:12.221Z,1736376492.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.000000 m, nav range: 35.218235 m, bearing: 317.540895 deg, approach rate: 0.383553 m/s, LOS rate: -0.729144 deg/s, cmd heading: 72.090796 deg, new cmd heading: 71.251658 deg. 2025-01-08T22:48:12.222Z,1736376492.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.243576 target range: 61.000000 and range: 61.00 m. 2025-01-08T22:48:12.396Z,1736376492.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:12.396Z,1736376492.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743701 2025-01-08T22:48:12.589Z,1736376492.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:12.599Z,1736376492.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.00 m. 2025-01-08T22:48:12.607Z,1736376492.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.000000 m, nav range: 35.361256 m, bearing: 317.260141 deg, approach rate: 0.375592 m/s, LOS rate: -0.734313 deg/s, cmd heading: 71.251659 deg, new cmd heading: 70.412869 deg. 2025-01-08T22:48:12.608Z,1736376492.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228936 target range: 61.000000 and range: 61.00 m. 2025-01-08T22:48:12.648Z,1736376492.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:12.649Z,1736376492.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996744 2025-01-08T22:48:12.900Z,1736376492.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:12.900Z,1736376492.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247769 2025-01-08T22:48:12.904Z,1736376492.904 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:48:13.038Z,1736376493.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:13.049Z,1736376493.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.00 m. 2025-01-08T22:48:13.053Z,1736376493.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.000000 m, nav range: 35.527729 m, bearing: 316.950626 deg, approach rate: 0.369465 m/s, LOS rate: -0.683705 deg/s, cmd heading: 70.412871 deg, new cmd heading: 69.488760 deg. 2025-01-08T22:48:13.053Z,1736376493.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212808 target range: 61.000000 and range: 61.00 m. 2025-01-08T22:48:13.153Z,1736376493.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:13.155Z,1736376493.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501754 2025-01-08T22:48:13.404Z,1736376493.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:13.404Z,1736376493.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751658 2025-01-08T22:48:13.410Z,1736376493.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:13.419Z,1736376493.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.00 m. 2025-01-08T22:48:13.422Z,1736376493.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.000000 m, nav range: 35.660175 m, bearing: 316.688085 deg, approach rate: 0.358093 m/s, LOS rate: -0.707188 deg/s, cmd heading: 69.488760 deg, new cmd heading: 68.704115 deg. 2025-01-08T22:48:13.423Z,1736376493.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.199113 target range: 61.000000 and range: 61.00 m. 2025-01-08T22:48:13.656Z,1736376493.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:13.657Z,1736376493.657 [DAT](INFO): DAT read: Rx Time:22:48:12.3464 2025-01-08T22:48:13.658Z,1736376493.658 [DAT](INFO): Rx dataTimestamp_ set to:1736376493.657670 2025-01-08T22:48:13.659Z,1736376493.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006208 2025-01-08T22:48:13.855Z,1736376493.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:13.862Z,1736376493.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:13.865Z,1736376493.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.00 m. 2025-01-08T22:48:13.868Z,1736376493.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.000000 m, nav range: 35.816116 m, bearing: 316.381735 deg, approach rate: 0.350499 m/s, LOS rate: -0.685562 deg/s, cmd heading: 68.704115 deg, new cmd heading: 67.789148 deg. 2025-01-08T22:48:13.869Z,1736376493.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183144 target range: 61.000000 and range: 61.00 m. 2025-01-08T22:48:13.908Z,1736376493.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:13.909Z,1736376493.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256083 2025-01-08T22:48:13.910Z,1736376493.910 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:48:14.160Z,1736376494.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:14.168Z,1736376494.168 [DAT](INFO): DAT read: 22:48:12.3464 LVL= 14240, 25201, 19874, 30995, AGC= 54, IDX= 419, 0.32, 1.790,-0.214, 0.194, 0.680, PHS= 1.198,-0.847,-0.489, RAW= 99.4, 1.5, CAL= 109.5, -1.5, ROT= 40.5, 1.5 2025-01-08T22:48:14.171Z,1736376494.171 [DAT](INFO): got valid direction response: 22:48:12.3464 LVL= 14240, 25201, 19874, 30995, AGC= 54, IDX= 419, 0.32, 1.790,-0.214, 0.194, 0.680, PHS= 1.198,-0.847,-0.489, RAW= 99.4, 1.5, CAL= 109.5, -1.5, ROT= 40.5, 1.5 2025-01-08T22:48:14.173Z,1736376494.173 [DAT](INFO): DAT read: Bearing 40.5, 1.5 (Local) 2025-01-08T22:48:14.173Z,1736376494.173 [DAT](INFO): Local bearing/azimuth received: Bearing 40.5, 1.5 (Local) 2025-01-08T22:48:14.175Z,1736376494.175 [DAT](INFO): DAT read: Range 10 to 50 : 59.1 m (Round-trip 78.8 ms) speed 0.4 m/s 2025-01-08T22:48:14.181Z,1736376494.181 [DAT](INFO): DAT read: user:2897> 2025-01-08T22:48:14.182Z,1736376494.182 [DAT](INFO): DAT read: Tx time:22:48:13.4635 2025-01-08T22:48:14.182Z,1736376494.182 [DAT](INFO): Ping request sent. 2025-01-08T22:48:14.182Z,1736376494.182 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:14.182Z,1736376494.182 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:48:14.183Z,1736376494.183 [DAT](INFO): direction in FSK: [-0.127520,-0.055842,0.990263] 2025-01-08T22:48:14.184Z,1736376494.184 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:14.184Z,1736376494.184 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:14.187Z,1736376494.187 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:14.215Z,1736376494.215 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:14.273Z,1736376494.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:14.318Z,1736376494.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.099998 m, deltaT: 3.526659 s, deltaX: -1.900002 m, approachRate: -0.538754 m/s, rangeRepo size: 4 2025-01-08T22:48:14.325Z,1736376494.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.099998 m, bearing: 280.092628 deg, lat: 36.905101 deg, lon: -122.120047 deg, deltaT: 3.526659 s, deltaX: -1.900002 m, approachRate: -0.538754 m/s, posRepo size: 4 2025-01-08T22:48:14.352Z,1736376494.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m. 2025-01-08T22:48:14.352Z,1736376494.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:48:14.355Z,1736376494.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.099998 m, nav range: 31.606901 m, bearing: 311.459861 deg, approach rate: 0.000000 m/s, LOS rate: -0.685562 deg/s, cmd heading: 67.789149 deg, new cmd heading: 66.856906 deg. 2025-01-08T22:48:14.360Z,1736376494.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166873 target range: 59.099998 and range: 59.10 m. 2025-01-08T22:48:14.392Z,1736376494.392 [DockingStepper](INFO): Changing to mode: 2 2025-01-08T22:48:14.392Z,1736376494.392 [DockingStepper](INFO): Armed mode. 2025-01-08T22:48:14.413Z,1736376494.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:14.414Z,1736376494.414 [DAT](INFO): DAT read: TxSync time:22:48:13.4627 2025-01-08T22:48:14.455Z,1736376494.455 [DockingStepper](INFO): Commanding negative:54303 2025-01-08T22:48:14.637Z,1736376494.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:14.665Z,1736376494.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:14.663Z,1736376494.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m. 2025-01-08T22:48:14.672Z,1736376494.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:48:14.682Z,1736376494.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.099998 m, nav range: 31.742748 m, bearing: 311.190100 deg, approach rate: 0.393412 m/s, LOS rate: -0.777877 deg/s, cmd heading: 66.856904 deg, new cmd heading: 66.051142 deg. 2025-01-08T22:48:14.683Z,1736376494.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.152810 target range: 59.099998 and range: 59.10 m. 2025-01-08T22:48:14.916Z,1736376494.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:15.043Z,1736376495.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:15.060Z,1736376495.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m. 2025-01-08T22:48:15.061Z,1736376495.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:48:15.068Z,1736376495.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.099998 m, nav range: 31.884151 m, bearing: 310.908078 deg, approach rate: 0.355453 m/s, LOS rate: -0.705788 deg/s, cmd heading: 66.051139 deg, new cmd heading: 65.208889 deg. 2025-01-08T22:48:15.069Z,1736376495.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138110 target range: 59.099998 and range: 59.10 m. 2025-01-08T22:48:15.168Z,1736376495.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:15.417Z,1736376495.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:15.420Z,1736376495.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:15.427Z,1736376495.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m. 2025-01-08T22:48:15.427Z,1736376495.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:48:15.430Z,1736376495.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.099998 m, nav range: 32.023617 m, bearing: 310.624532 deg, approach rate: 0.380754 m/s, LOS rate: -0.770734 deg/s, cmd heading: 65.208888 deg, new cmd heading: 64.362020 deg. 2025-01-08T22:48:15.433Z,1736376495.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123329 target range: 59.099998 and range: 59.10 m. 2025-01-08T22:48:15.672Z,1736376495.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:15.879Z,1736376495.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:15.918Z,1736376495.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:15.924Z,1736376495.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:15.925Z,1736376495.925 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:15.925Z,1736376495.925 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:15.925Z,1736376495.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:15.933Z,1736376495.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m. 2025-01-08T22:48:15.933Z,1736376495.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:48:15.944Z,1736376495.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.099998 m, nav range: 32.187412 m, bearing: 310.285925 deg, approach rate: 0.323692 m/s, LOS rate: -0.665747 deg/s, cmd heading: 64.362020 deg, new cmd heading: 63.351477 deg. 2025-01-08T22:48:15.945Z,1736376495.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.105692 target range: 59.099998 and range: 59.10 m. 2025-01-08T22:48:16.176Z,1736376496.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:16.177Z,1736376496.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994643 2025-01-08T22:48:16.242Z,1736376496.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:16.275Z,1736376496.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m. 2025-01-08T22:48:16.280Z,1736376496.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:48:16.290Z,1736376496.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.099998 m, nav range: 32.314518 m, bearing: 310.018617 deg, approach rate: 0.372058 m/s, LOS rate: -0.779369 deg/s, cmd heading: 63.351480 deg, new cmd heading: 62.552766 deg. 2025-01-08T22:48:16.291Z,1736376496.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.091752 target range: 59.099998 and range: 59.10 m. 2025-01-08T22:48:16.428Z,1736376496.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:16.429Z,1736376496.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246683 2025-01-08T22:48:16.643Z,1736376496.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:16.681Z,1736376496.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:16.682Z,1736376496.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499999 2025-01-08T22:48:16.689Z,1736376496.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m. 2025-01-08T22:48:16.689Z,1736376496.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:48:16.699Z,1736376496.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.099998 m, nav range: 32.453297 m, bearing: 309.721853 deg, approach rate: 0.335039 m/s, LOS rate: -0.713380 deg/s, cmd heading: 62.552764 deg, new cmd heading: 61.666355 deg. 2025-01-08T22:48:16.704Z,1736376496.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.076281 target range: 59.099998 and range: 59.10 m. 2025-01-08T22:48:16.934Z,1736376496.934 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:16.934Z,1736376496.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752312 2025-01-08T22:48:17.070Z,1736376497.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:17.078Z,1736376497.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m. 2025-01-08T22:48:17.079Z,1736376497.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:48:17.084Z,1736376497.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.099998 m, nav range: 32.601051 m, bearing: 309.397566 deg, approach rate: 0.379180 m/s, LOS rate: -0.828436 deg/s, cmd heading: 61.666356 deg, new cmd heading: 60.698001 deg. 2025-01-08T22:48:17.085Z,1736376497.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.059380 target range: 59.099998 and range: 59.10 m. 2025-01-08T22:48:17.185Z,1736376497.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:17.187Z,1736376497.187 [DAT](INFO): DAT read: Rx Time:22:48:15.9441 2025-01-08T22:48:17.188Z,1736376497.188 [DAT](INFO): Rx dataTimestamp_ set to:1736376497.186928 2025-01-08T22:48:17.188Z,1736376497.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006327 2025-01-08T22:48:17.436Z,1736376497.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:17.437Z,1736376497.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254408 2025-01-08T22:48:17.445Z,1736376497.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:17.455Z,1736376497.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.10 m. 2025-01-08T22:48:17.455Z,1736376497.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m. 2025-01-08T22:48:17.458Z,1736376497.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.099998 m, nav range: 32.729294 m, bearing: 309.111404 deg, approach rate: 0.340767 m/s, LOS rate: -0.757410 deg/s, cmd heading: 60.697999 deg, new cmd heading: 59.842943 deg. 2025-01-08T22:48:17.483Z,1736376497.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044456 target range: 59.099998 and range: 59.10 m. 2025-01-08T22:48:17.688Z,1736376497.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:17.694Z,1736376497.694 [DAT](INFO): DAT read: 22:48:15.9441 LVL= 12736, 23345, 15346, 22451, AGC= 56, IDX= 411, 0.20, 0.998,-0.961,-0.860,-0.162, PHS= 1.247,-0.752,-0.701, RAW= 91.3, 2.1, CAL= 98.9, -0.5, ROT= 51.1, 0.5 2025-01-08T22:48:17.698Z,1736376497.698 [DAT](INFO): got valid direction response: 22:48:15.9441 LVL= 12736, 23345, 15346, 22451, AGC= 56, IDX= 411, 0.20, 0.998,-0.961,-0.860,-0.162, PHS= 1.247,-0.752,-0.701, RAW= 91.3, 2.1, CAL= 98.9, -0.5, ROT= 51.1, 0.5 2025-01-08T22:48:17.702Z,1736376497.702 [DAT](INFO): DAT read: Bearing 51.1, 0.5 (Local) 2025-01-08T22:48:17.704Z,1736376497.704 [DAT](INFO): Local bearing/azimuth received: Bearing 51.1, 0.5 (Local) 2025-01-08T22:48:17.705Z,1736376497.705 [DAT](INFO): DAT read: Range 10 to 50 : 57.3 m (Round-trip 76.4 ms) speed 0.3 m/s 2025-01-08T22:48:17.706Z,1736376497.706 [DAT](INFO): DAT read: user:2898> 2025-01-08T22:48:17.708Z,1736376497.708 [DAT](INFO): DAT read: Tx time:22:48:17.0635 2025-01-08T22:48:17.708Z,1736376497.708 [DAT](INFO): Ping request sent. 2025-01-08T22:48:17.708Z,1736376497.708 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:17.709Z,1736376497.709 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:48:17.710Z,1736376497.710 [DAT](INFO): direction in FSK: [-0.127308,0.087472,0.987999] 2025-01-08T22:48:17.710Z,1736376497.710 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:17.710Z,1736376497.710 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:17.715Z,1736376497.715 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:17.716Z,1736376497.716 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:17.940Z,1736376497.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:17.941Z,1736376497.941 [DAT](INFO): DAT read: TxSync time:22:48:17.0627 2025-01-08T22:48:17.972Z,1736376497.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:18.001Z,1736376498.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.299999 m, deltaT: 3.528047 s, deltaX: -1.799999 m, approachRate: -0.510197 m/s, rangeRepo size: 4 2025-01-08T22:48:18.008Z,1736376498.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 57.299999 m, bearing: 220.329595 deg, lat: 36.905048 deg, lon: -122.120014 deg, deltaT: 3.528047 s, deltaX: -1.799999 m, approachRate: -0.510197 m/s, posRepo size: 4 2025-01-08T22:48:18.008Z,1736376498.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m. 2025-01-08T22:48:18.009Z,1736376498.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-01-08T22:48:18.020Z,1736376498.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.299999 m, nav range: 27.031038 m, bearing: 302.903125 deg, approach rate: 0.000000 m/s, LOS rate: -0.757410 deg/s, cmd heading: 59.842941 deg, new cmd heading: 58.602008 deg. 2025-01-08T22:48:18.021Z,1736376498.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022798 target range: 57.299999 and range: 57.30 m. 2025-01-08T22:48:18.193Z,1736376498.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:18.309Z,1736376498.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:18.324Z,1736376498.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:18.326Z,1736376498.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m. 2025-01-08T22:48:18.327Z,1736376498.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-01-08T22:48:18.335Z,1736376498.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.299999 m, nav range: 27.157110 m, bearing: 302.608929 deg, approach rate: 0.387146 m/s, LOS rate: -0.899230 deg/s, cmd heading: 58.602005 deg, new cmd heading: 57.723587 deg. 2025-01-08T22:48:18.344Z,1736376498.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.007467 target range: 57.299999 and range: 57.30 m. 2025-01-08T22:48:18.444Z,1736376498.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:18.445Z,1736376498.445 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:18.445Z,1736376498.445 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:18.445Z,1736376498.445 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:18.696Z,1736376498.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:18.697Z,1736376498.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988137 2025-01-08T22:48:18.701Z,1736376498.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:18.733Z,1736376498.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m. 2025-01-08T22:48:18.734Z,1736376498.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-01-08T22:48:18.746Z,1736376498.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.299999 m, nav range: 27.301743 m, bearing: 302.267432 deg, approach rate: 0.356358 m/s, LOS rate: -0.836951 deg/s, cmd heading: 57.723588 deg, new cmd heading: 56.704636 deg. 2025-01-08T22:48:18.747Z,1736376498.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989683 target range: 57.299999 and range: 57.30 m. 2025-01-08T22:48:18.949Z,1736376498.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:18.949Z,1736376498.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240840 2025-01-08T22:48:19.121Z,1736376499.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:19.130Z,1736376499.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m. 2025-01-08T22:48:19.130Z,1736376499.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-01-08T22:48:19.135Z,1736376499.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.299999 m, nav range: 27.451981 m, bearing: 301.903867 deg, approach rate: 0.377999 m/s, LOS rate: -0.909716 deg/s, cmd heading: 56.704637 deg, new cmd heading: 55.620050 deg. 2025-01-08T22:48:19.136Z,1736376499.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970753 target range: 57.299999 and range: 57.30 m. 2025-01-08T22:48:19.202Z,1736376499.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:19.204Z,1736376499.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495058 2025-01-08T22:48:19.452Z,1736376499.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:19.452Z,1736376499.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744058 2025-01-08T22:48:19.521Z,1736376499.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:19.529Z,1736376499.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m. 2025-01-08T22:48:19.529Z,1736376499.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-01-08T22:48:19.534Z,1736376499.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.299999 m, nav range: 27.593212 m, bearing: 301.557156 deg, approach rate: 0.353718 m/s, LOS rate: -0.863899 deg/s, cmd heading: 55.620051 deg, new cmd heading: 54.585359 deg. 2025-01-08T22:48:19.535Z,1736376499.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952694 target range: 57.299999 and range: 57.30 m. 2025-01-08T22:48:19.704Z,1736376499.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:19.704Z,1736376499.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995937 2025-01-08T22:48:19.956Z,1736376499.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:19.957Z,1736376499.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248350 2025-01-08T22:48:19.966Z,1736376499.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:19.975Z,1736376499.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m. 2025-01-08T22:48:19.976Z,1736376499.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-01-08T22:48:19.978Z,1736376499.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.299999 m, nav range: 27.752445 m, bearing: 301.162909 deg, approach rate: 0.357350 m/s, LOS rate: -0.879683 deg/s, cmd heading: 54.585359 deg, new cmd heading: 53.409580 deg. 2025-01-08T22:48:19.979Z,1736376499.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.932173 target range: 57.299999 and range: 57.30 m. 2025-01-08T22:48:20.208Z,1736376500.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:20.208Z,1736376500.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500017 2025-01-08T22:48:20.313Z,1736376500.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:20.321Z,1736376500.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m. 2025-01-08T22:48:20.322Z,1736376500.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-01-08T22:48:20.322Z,1736376500.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.30 m. 2025-01-08T22:48:20.322Z,1736376500.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-01-08T22:48:20.329Z,1736376500.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.299999 m, nav range: 27.873262 m, bearing: 300.852689 deg, approach rate: 0.348425 m/s, LOS rate: -0.890764 deg/s, cmd heading: 53.409579 deg, new cmd heading: 52.483037 deg. 2025-01-08T22:48:20.332Z,1736376500.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.916002 target range: 57.299999 and range: 57.30 m. 2025-01-08T22:48:20.460Z,1736376500.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:20.460Z,1736376500.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752044 2025-01-08T22:48:20.712Z,1736376500.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:20.713Z,1736376500.713 [DAT](INFO): DAT read: Rx Time:22:48:19.5427 2025-01-08T22:48:20.713Z,1736376500.713 [DAT](INFO): Rx dataTimestamp_ set to:1736376500.712961 2025-01-08T22:48:20.714Z,1736376500.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005390 2025-01-08T22:48:20.744Z,1736376500.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:20.766Z,1736376500.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:20.773Z,1736376500.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m. 2025-01-08T22:48:20.780Z,1736376500.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.299999 m, nav range: 28.022470 m, bearing: 300.466449 deg, approach rate: 0.330684 m/s, LOS rate: -0.851443 deg/s, cmd heading: 52.483037 deg, new cmd heading: 51.330651 deg. 2025-01-08T22:48:20.782Z,1736376500.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.895889 target range: 57.299999 and range: 57.30 m. 2025-01-08T22:48:20.965Z,1736376500.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:20.967Z,1736376500.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258324 2025-01-08T22:48:21.118Z,1736376501.118 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814492620,35.0, +11.0, 0., 0 2025-01-08T22:48:21.144Z,1736376501.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:48:21.144Z,1736376501.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:21.154Z,1736376501.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m. 2025-01-08T22:48:21.157Z,1736376501.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.299999 m, nav range: 28.160152 m, bearing: 300.108858 deg, approach rate: 0.360681 m/s, LOS rate: -0.932184 deg/s, cmd heading: 51.330651 deg, new cmd heading: 50.263252 deg. 2025-01-08T22:48:21.158Z,1736376501.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.877259 target range: 57.299999 and range: 57.30 m. 2025-01-08T22:48:21.217Z,1736376501.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:21.220Z,1736376501.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511167 2025-01-08T22:48:21.468Z,1736376501.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:21.476Z,1736376501.476 [DAT](INFO): DAT read: 22:48:19.5427 LVL= 12000, 24961, 18242, 25427, AGC= 56, IDX= 429,-0.26, 0.477,-1.126,-1.398,-0.442, PHS= 1.007,-0.637,-0.959, RAW= 81.2, 6.5, CAL= 86.3, 7.1, ROT= 63.7, -7.1 2025-01-08T22:48:21.477Z,1736376501.477 [DAT](INFO): got valid direction response: 22:48:19.5427 LVL= 12000, 24961, 18242, 25427, AGC= 56, IDX= 429,-0.26, 0.477,-1.126,-1.398,-0.442, PHS= 1.007,-0.637,-0.959, RAW= 81.2, 6.5, CAL= 86.3, 7.1, ROT= 63.7, -7.1 2025-01-08T22:48:21.478Z,1736376501.478 [DAT](INFO): DAT read: Bearing 63.7, -7.1 (Local) 2025-01-08T22:48:21.478Z,1736376501.478 [DAT](INFO): Local bearing/azimuth received: Bearing 63.7, -7.1 (Local) 2025-01-08T22:48:21.480Z,1736376501.480 [DAT](INFO): DAT read: Range 10 to 50 : 56.2 m (Round-trip 75.0 ms) speed 0.1 m/s 2025-01-08T22:48:21.481Z,1736376501.481 [DAT](INFO): DAT read: user:2899> 2025-01-08T22:48:21.482Z,1736376501.482 [DAT](INFO): DAT read: Tx time:22:48:20.6635 2025-01-08T22:48:21.482Z,1736376501.482 [DAT](INFO): Ping request sent. 2025-01-08T22:48:21.482Z,1736376501.482 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:21.483Z,1736376501.483 [DAT](INFO): DAT read: TxSync time:22:48:20.6627 2025-01-08T22:48:21.484Z,1736376501.484 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:48:21.485Z,1736376501.485 [DAT](INFO): direction in FSK: [-0.191805,0.260204,0.946311] 2025-01-08T22:48:21.485Z,1736376501.485 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:21.485Z,1736376501.485 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:21.488Z,1736376501.488 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:21.489Z,1736376501.489 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:21.560Z,1736376501.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:48:21.560Z,1736376501.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:21.617Z,1736376501.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.200001 m, deltaT: 3.780020 s, deltaX: -1.099998 m, approachRate: -0.291003 m/s, rangeRepo size: 4 2025-01-08T22:48:21.640Z,1736376501.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 56.200001 m, bearing: 189.082794 deg, lat: 36.904927 deg, lon: -122.119881 deg, deltaT: 3.780020 s, deltaX: -1.099998 m, approachRate: -0.291003 m/s, posRepo size: 4 2025-01-08T22:48:21.640Z,1736376501.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m. 2025-01-08T22:48:21.652Z,1736376501.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.200001 m, nav range: 12.800391 m, bearing: 272.635836 deg, approach rate: 0.000000 m/s, LOS rate: -0.932184 deg/s, cmd heading: 50.263253 deg, new cmd heading: 48.971207 deg. 2025-01-08T22:48:21.654Z,1736376501.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.854709 target range: 56.200001 and range: 56.20 m. 2025-01-08T22:48:21.720Z,1736376501.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:21.972Z,1736376501.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:22.020Z,1736376502.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:22.029Z,1736376502.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m. 2025-01-08T22:48:22.032Z,1736376502.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.200001 m, nav range: 13.036258 m, bearing: 272.121745 deg, approach rate: 0.572192 m/s, LOS rate: -1.224557 deg/s, cmd heading: 48.971206 deg, new cmd heading: 47.457213 deg. 2025-01-08T22:48:22.033Z,1736376502.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828285 target range: 56.200001 and range: 56.20 m. 2025-01-08T22:48:22.225Z,1736376502.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:22.375Z,1736376502.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:22.385Z,1736376502.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m. 2025-01-08T22:48:22.387Z,1736376502.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.200001 m, nav range: 13.218812 m, bearing: 271.729696 deg, approach rate: 0.512881 m/s, LOS rate: -1.086231 deg/s, cmd heading: 47.457213 deg, new cmd heading: 46.297475 deg. 2025-01-08T22:48:22.388Z,1736376502.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808043 target range: 56.200001 and range: 56.20 m. 2025-01-08T22:48:22.476Z,1736376502.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:22.728Z,1736376502.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:22.763Z,1736376502.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:22.771Z,1736376502.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:22.789Z,1736376502.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m. 2025-01-08T22:48:22.796Z,1736376502.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.200001 m, nav range: 13.417847 m, bearing: 271.307060 deg, approach rate: 0.492056 m/s, LOS rate: -1.029338 deg/s, cmd heading: 46.297474 deg, new cmd heading: 45.048583 deg. 2025-01-08T22:48:22.797Z,1736376502.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786246 target range: 56.200001 and range: 56.20 m. 2025-01-08T22:48:22.980Z,1736376502.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:22.980Z,1736376502.980 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:22.980Z,1736376502.980 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:22.980Z,1736376502.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:23.187Z,1736376503.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:23.212Z,1736376503.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m. 2025-01-08T22:48:23.214Z,1736376503.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.200001 m, nav range: 13.635371 m, bearing: 270.839463 deg, approach rate: 0.515085 m/s, LOS rate: -1.089567 deg/s, cmd heading: 45.048584 deg, new cmd heading: 43.668453 deg. 2025-01-08T22:48:23.220Z,1736376503.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762158 target range: 56.200001 and range: 56.20 m. 2025-01-08T22:48:23.233Z,1736376503.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:23.234Z,1736376503.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751193 2025-01-08T22:48:23.484Z,1736376503.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:23.484Z,1736376503.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002009 2025-01-08T22:48:23.578Z,1736376503.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:23.587Z,1736376503.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m. 2025-01-08T22:48:23.590Z,1736376503.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.200001 m, nav range: 13.835329 m, bearing: 270.408271 deg, approach rate: 0.532337 m/s, LOS rate: -1.131336 deg/s, cmd heading: 43.668452 deg, new cmd heading: 42.393795 deg. 2025-01-08T22:48:23.591Z,1736376503.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739911 target range: 56.200001 and range: 56.20 m. 2025-01-08T22:48:23.736Z,1736376503.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:23.737Z,1736376503.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254198 2025-01-08T22:48:23.988Z,1736376503.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:23.988Z,1736376503.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505956 2025-01-08T22:48:24.012Z,1736376504.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:24.021Z,1736376504.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m. 2025-01-08T22:48:24.044Z,1736376504.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.200001 m, nav range: 14.060831 m, bearing: 269.913865 deg, approach rate: 0.519416 m/s, LOS rate: -1.120525 deg/s, cmd heading: 42.393796 deg, new cmd heading: 40.934700 deg. 2025-01-08T22:48:24.045Z,1736376504.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714445 target range: 56.200001 and range: 56.20 m. 2025-01-08T22:48:24.241Z,1736376504.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:24.242Z,1736376504.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759442 2025-01-08T22:48:24.401Z,1736376504.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:24.416Z,1736376504.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m. 2025-01-08T22:48:24.424Z,1736376504.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.200001 m, nav range: 14.262370 m, bearing: 269.469164 deg, approach rate: 0.511392 m/s, LOS rate: -1.112443 deg/s, cmd heading: 40.934700 deg, new cmd heading: 39.619693 deg. 2025-01-08T22:48:24.425Z,1736376504.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691494 target range: 56.200001 and range: 56.20 m. 2025-01-08T22:48:24.494Z,1736376504.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:24.495Z,1736376504.495 [DAT](INFO): DAT read: Rx Time:22:48:23.1416 2025-01-08T22:48:24.496Z,1736376504.496 [DAT](INFO): Rx dataTimestamp_ set to:1736376504.495295 2025-01-08T22:48:24.496Z,1736376504.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013640 2025-01-08T22:48:24.749Z,1736376504.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:24.749Z,1736376504.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266926 2025-01-08T22:48:24.819Z,1736376504.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:24.858Z,1736376504.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:24.865Z,1736376504.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m. 2025-01-08T22:48:24.872Z,1736376504.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.200001 m, nav range: 14.478765 m, bearing: 269.007445 deg, approach rate: 0.481441 m/s, LOS rate: -1.011884 deg/s, cmd heading: 39.619694 deg, new cmd heading: 38.255511 deg. 2025-01-08T22:48:24.873Z,1736376504.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667685 target range: 56.200001 and range: 56.20 m. 2025-01-08T22:48:24.000Z,1736376505.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:25.006Z,1736376505.006 [DAT](INFO): DAT read: 22:48:23.1416 LVL= 8688, 21121, 14066, 22051, AGC= 54, IDX= 432,-0.27,-0.631,-2.099,-2.797,-1.654, PHS= 1.112,-0.398,-1.146, RAW= 71.0, 4.4, CAL= 73.7, 3.5, ROT= 76.3, -3.5 2025-01-08T22:48:25.008Z,1736376505.008 [DAT](INFO): got valid direction response: 22:48:23.1416 LVL= 8688, 21121, 14066, 22051, AGC= 54, IDX= 432,-0.27,-0.631,-2.099,-2.797,-1.654, PHS= 1.112,-0.398,-1.146, RAW= 71.0, 4.4, CAL= 73.7, 3.5, ROT= 76.3, -3.5 2025-01-08T22:48:25.010Z,1736376505.010 [DAT](INFO): DAT read: Bearing 76.3, -3.5 (Local) 2025-01-08T22:48:25.010Z,1736376505.010 [DAT](INFO): Local bearing/azimuth received: Bearing 76.3, -3.5 (Local) 2025-01-08T22:48:25.013Z,1736376505.013 [DAT](INFO): DAT read: Range 10 to 50 : 55.3 m (Round-trip 73.8 ms) speed 0.2 m/s 2025-01-08T22:48:25.014Z,1736376505.014 [DAT](INFO): DAT read: user:2900> 2025-01-08T22:48:25.017Z,1736376505.017 [DAT](INFO): DAT read: Tx time:22:48:24.2636 2025-01-08T22:48:25.018Z,1736376505.018 [DAT](INFO): Ping request sent. 2025-01-08T22:48:25.018Z,1736376505.018 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:25.018Z,1736376505.018 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:48:25.019Z,1736376505.019 [DAT](INFO): direction in FSK: [-0.132925,0.420734,0.897393] 2025-01-08T22:48:25.020Z,1736376505.020 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:25.020Z,1736376505.020 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:25.023Z,1736376505.023 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:25.023Z,1736376505.023 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:25.254Z,1736376505.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:25.255Z,1736376505.255 [DAT](INFO): DAT read: TxSync time:22:48:24.2628 2025-01-08T22:48:25.275Z,1736376505.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:25.313Z,1736376505.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 55.299999 m, deltaT: 3.532010 s, deltaX: -0.900002 m, approachRate: -0.254813 m/s, rangeRepo size: 4 2025-01-08T22:48:25.321Z,1736376505.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.299999 m, bearing: 161.281012 deg, lat: 36.904859 deg, lon: -122.119818 deg, deltaT: 3.532010 s, deltaX: -0.900002 m, approachRate: -0.254813 m/s, posRepo size: 4 2025-01-08T22:48:25.323Z,1736376505.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:25.330Z,1736376505.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 12.060961 m, bearing: 229.187336 deg, approach rate: 0.000000 m/s, LOS rate: -1.011884 deg/s, cmd heading: 38.255510 deg, new cmd heading: 36.896815 deg. 2025-01-08T22:48:25.335Z,1736376505.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643971 target range: 55.299999 and range: 55.30 m. 2025-01-08T22:48:25.509Z,1736376505.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:25.610Z,1736376505.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:25.620Z,1736376505.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:25.623Z,1736376505.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 12.254269 m, bearing: 229.334915 deg, approach rate: 0.629998 m/s, LOS rate: 0.473378 deg/s, cmd heading: 36.896815 deg, new cmd heading: 37.332559 deg. 2025-01-08T22:48:25.624Z,1736376505.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651576 target range: 55.299999 and range: 55.30 m. 2025-01-08T22:48:25.760Z,1736376505.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:26.012Z,1736376506.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:26.062Z,1736376506.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:26.072Z,1736376506.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:26.075Z,1736376506.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 12.506102 m, bearing: 229.539239 deg, approach rate: 0.555717 m/s, LOS rate: 0.441798 deg/s, cmd heading: 37.332561 deg, new cmd heading: 37.933165 deg. 2025-01-08T22:48:26.077Z,1736376506.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662059 target range: 55.299999 and range: 55.30 m. 2025-01-08T22:48:26.264Z,1736376506.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:26.423Z,1736376506.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:26.432Z,1736376506.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:26.434Z,1736376506.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 12.708369 m, bearing: 229.660510 deg, approach rate: 0.563183 m/s, LOS rate: 0.332288 deg/s, cmd heading: 37.933163 deg, new cmd heading: 38.291183 deg. 2025-01-08T22:48:26.436Z,1736376506.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668307 target range: 55.299999 and range: 55.30 m. 2025-01-08T22:48:26.516Z,1736376506.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:26.768Z,1736376506.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:26.819Z,1736376506.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:26.827Z,1736376506.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:26.830Z,1736376506.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 12.930702 m, bearing: 229.764822 deg, approach rate: 0.561792 m/s, LOS rate: 0.259043 deg/s, cmd heading: 38.291185 deg, new cmd heading: 38.598736 deg. 2025-01-08T22:48:26.832Z,1736376506.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673675 target range: 55.299999 and range: 55.30 m. 2025-01-08T22:48:27.022Z,1736376507.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:27.245Z,1736376507.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:27.253Z,1736376507.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:27.256Z,1736376507.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:27.258Z,1736376507.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 13.165465 m, bearing: 229.873157 deg, approach rate: 0.548568 m/s, LOS rate: 0.248630 deg/s, cmd heading: 38.598738 deg, new cmd heading: 38.917943 deg. 2025-01-08T22:48:27.259Z,1736376507.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679246 target range: 55.299999 and range: 55.30 m. 2025-01-08T22:48:27.272Z,1736376507.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:27.272Z,1736376507.272 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:27.272Z,1736376507.272 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:27.273Z,1736376507.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:27.524Z,1736376507.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:27.525Z,1736376507.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507460 2025-01-08T22:48:27.628Z,1736376507.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:27.637Z,1736376507.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:27.640Z,1736376507.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 13.376875 m, bearing: 229.924375 deg, approach rate: 0.553078 m/s, LOS rate: 0.131877 deg/s, cmd heading: 38.917943 deg, new cmd heading: 39.069170 deg. 2025-01-08T22:48:27.641Z,1736376507.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681886 target range: 55.299999 and range: 55.30 m. 2025-01-08T22:48:27.776Z,1736376507.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:27.777Z,1736376507.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758971 2025-01-08T22:48:28.028Z,1736376508.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:28.029Z,1736376508.029 [DAT](INFO): DAT read: Rx Time:22:48:26.7404 2025-01-08T22:48:28.030Z,1736376508.030 [DAT](INFO): Rx dataTimestamp_ set to:1736376508.029333 2025-01-08T22:48:28.030Z,1736376508.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012492 2025-01-08T22:48:28.105Z,1736376508.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:28.118Z,1736376508.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:28.125Z,1736376508.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 13.626760 m, bearing: 229.963750 deg, approach rate: 0.519571 m/s, LOS rate: 0.080367 deg/s, cmd heading: 39.069170 deg, new cmd heading: 39.185127 deg. 2025-01-08T22:48:28.126Z,1736376508.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683909 target range: 55.299999 and range: 55.30 m. 2025-01-08T22:48:28.280Z,1736376508.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:28.280Z,1736376508.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262709 2025-01-08T22:48:28.439Z,1736376508.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:28.471Z,1736376508.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:28.474Z,1736376508.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 13.802065 m, bearing: 229.977519 deg, approach rate: 0.497500 m/s, LOS rate: 0.038579 deg/s, cmd heading: 39.185127 deg, new cmd heading: 39.225909 deg. 2025-01-08T22:48:28.478Z,1736376508.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684621 target range: 55.299999 and range: 55.30 m. 2025-01-08T22:48:28.533Z,1736376508.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:28.537Z,1736376508.537 [DAT](INFO): DAT read: Range 10 to 50 : 54.4 m (Round-trip 72.6 ms) speed 0.0 m/s 2025-01-08T22:48:28.540Z,1736376508.540 [DAT](INFO): DAT read: user:2901> 2025-01-08T22:48:28.542Z,1736376508.542 [DAT](INFO): DAT read: Tx time:22:48:27.8136 2025-01-08T22:48:28.542Z,1736376508.542 [DAT](INFO): Ping request sent. 2025-01-08T22:48:28.542Z,1736376508.542 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:28.543Z,1736376508.543 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:48:28.543Z,1736376508.543 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:28.544Z,1736376508.544 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:28.784Z,1736376508.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:28.785Z,1736376508.785 [DAT](INFO): DAT read: TxSync time:22:48:27.8128 2025-01-08T22:48:28.852Z,1736376508.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:28.873Z,1736376508.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.400002 m, deltaT: 3.532973 s, deltaX: -0.899998 m, approachRate: -0.254742 m/s, rangeRepo size: 4 2025-01-08T22:48:28.879Z,1736376508.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:28.890Z,1736376508.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 14.019154 m, bearing: 229.978662 deg, approach rate: 0.547351 m/s, LOS rate: 0.002838 deg/s, cmd heading: 39.225910 deg, new cmd heading: 39.229287 deg. 2025-01-08T22:48:28.896Z,1736376508.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684680 target range: 55.299999 and range: 54.40 m. 2025-01-08T22:48:29.038Z,1736376509.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:29.272Z,1736376509.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:29.279Z,1736376509.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:29.282Z,1736376509.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:29.288Z,1736376509.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:29.288Z,1736376509.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:29.288Z,1736376509.288 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:29.289Z,1736376509.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:29.305Z,1736376509.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 14.226387 m, bearing: 229.946114 deg, approach rate: 0.501209 m/s, LOS rate: -0.077574 deg/s, cmd heading: 39.229287 deg, new cmd heading: 39.133064 deg. 2025-01-08T22:48:29.306Z,1736376509.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683001 target range: 55.299999 and range: 54.40 m. 2025-01-08T22:48:29.540Z,1736376509.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:29.540Z,1736376509.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997941 2025-01-08T22:48:29.645Z,1736376509.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:29.685Z,1736376509.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:29.699Z,1736376509.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 14.410469 m, bearing: 229.897058 deg, approach rate: 0.455233 m/s, LOS rate: -0.119765 deg/s, cmd heading: 39.133063 deg, new cmd heading: 38.987776 deg. 2025-01-08T22:48:29.700Z,1736376509.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680465 target range: 55.299999 and range: 54.40 m. 2025-01-08T22:48:29.793Z,1736376509.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:29.793Z,1736376509.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251040 2025-01-08T22:48:30.045Z,1736376510.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:30.048Z,1736376510.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505304 2025-01-08T22:48:30.122Z,1736376510.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:30.146Z,1736376510.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:30.149Z,1736376510.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 14.626081 m, bearing: 229.827295 deg, approach rate: 0.468358 m/s, LOS rate: -0.149307 deg/s, cmd heading: 38.987775 deg, new cmd heading: 38.781572 deg. 2025-01-08T22:48:30.150Z,1736376510.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676866 target range: 55.299999 and range: 54.40 m. 2025-01-08T22:48:30.296Z,1736376510.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:30.297Z,1736376510.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754077 2025-01-08T22:48:30.446Z,1736376510.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:30.480Z,1736376510.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:30.492Z,1736376510.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 14.772361 m, bearing: 229.776116 deg, approach rate: 0.437128 m/s, LOS rate: -0.151422 deg/s, cmd heading: 38.781572 deg, new cmd heading: 38.629557 deg. 2025-01-08T22:48:30.493Z,1736376510.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674213 target range: 55.299999 and range: 54.40 m. 2025-01-08T22:48:30.549Z,1736376510.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:30.550Z,1736376510.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007502 2025-01-08T22:48:30.800Z,1736376510.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:30.800Z,1736376510.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258011 2025-01-08T22:48:30.852Z,1736376510.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:30.861Z,1736376510.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:30.865Z,1736376510.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 14.955445 m, bearing: 229.709214 deg, approach rate: 0.480638 m/s, LOS rate: -0.173482 deg/s, cmd heading: 38.629559 deg, new cmd heading: 38.431311 deg. 2025-01-08T22:48:30.866Z,1736376510.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670753 target range: 55.299999 and range: 54.40 m. 2025-01-08T22:48:31.054Z,1736376511.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:31.056Z,1736376511.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513344 2025-01-08T22:48:31.287Z,1736376511.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:31.294Z,1736376511.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:31.296Z,1736376511.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:31.304Z,1736376511.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:31.304Z,1736376511.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762066 2025-01-08T22:48:31.306Z,1736376511.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 15.145866 m, bearing: 229.580354 deg, approach rate: 0.437997 m/s, LOS rate: -0.292672 deg/s, cmd heading: 38.431309 deg, new cmd heading: 38.049594 deg. 2025-01-08T22:48:31.307Z,1736376511.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664091 target range: 55.299999 and range: 54.40 m. 2025-01-08T22:48:31.556Z,1736376511.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:31.556Z,1736376511.556 [DAT](INFO): DAT read: Rx Time:22:48:30.2898 2025-01-08T22:48:31.557Z,1736376511.557 [DAT](INFO): Rx dataTimestamp_ set to:1736376511.556620 2025-01-08T22:48:31.557Z,1736376511.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015019 2025-01-08T22:48:31.680Z,1736376511.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:31.689Z,1736376511.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:31.720Z,1736376511.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 15.317881 m, bearing: 229.464422 deg, approach rate: 0.437353 m/s, LOS rate: -0.291452 deg/s, cmd heading: 38.049594 deg, new cmd heading: 37.705707 deg. 2025-01-08T22:48:31.721Z,1736376511.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658089 target range: 55.299999 and range: 54.40 m. 2025-01-08T22:48:31.808Z,1736376511.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:31.808Z,1736376511.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265979 2025-01-08T22:48:32.062Z,1736376512.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:32.068Z,1736376512.068 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (Round-trip 72.0 ms) speed 0.0 m/s 2025-01-08T22:48:32.070Z,1736376512.070 [DAT](INFO): DAT read: user:2902> 2025-01-08T22:48:32.074Z,1736376512.074 [DAT](INFO): DAT read: Tx time:22:48:31.3636 2025-01-08T22:48:32.075Z,1736376512.075 [DAT](INFO): Ping request sent. 2025-01-08T22:48:32.076Z,1736376512.076 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:32.077Z,1736376512.077 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:48:32.077Z,1736376512.077 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:32.084Z,1736376512.084 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:32.191Z,1736376512.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:32.201Z,1736376512.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.529779 s, deltaX: -0.400002 m, approachRate: -0.113322 m/s, rangeRepo size: 4 2025-01-08T22:48:32.202Z,1736376512.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:32.221Z,1736376512.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 15.534973 m, bearing: 229.271161 deg, approach rate: 0.424824 m/s, LOS rate: -0.372902 deg/s, cmd heading: 37.705708 deg, new cmd heading: 37.134048 deg. 2025-01-08T22:48:32.222Z,1736376512.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648111 target range: 55.299999 and range: 54.00 m. 2025-01-08T22:48:32.312Z,1736376512.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:32.314Z,1736376512.314 [DAT](INFO): DAT read: TxSync time:22:48:31.3628 2025-01-08T22:48:32.524Z,1736376512.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:32.558Z,1736376512.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:32.564Z,1736376512.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:32.579Z,1736376512.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 15.676901 m, bearing: 229.148392 deg, approach rate: 0.396109 m/s, LOS rate: -0.339537 deg/s, cmd heading: 37.134048 deg, new cmd heading: 36.769079 deg. 2025-01-08T22:48:32.580Z,1736376512.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.641742 target range: 55.299999 and range: 54.00 m. 2025-01-08T22:48:32.816Z,1736376512.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:32.924Z,1736376512.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:32.935Z,1736376512.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:32.938Z,1736376512.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 15.846817 m, bearing: 229.004264 deg, approach rate: 0.451259 m/s, LOS rate: -0.378666 deg/s, cmd heading: 36.769080 deg, new cmd heading: 36.341342 deg. 2025-01-08T22:48:32.939Z,1736376512.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634276 target range: 55.299999 and range: 54.00 m. 2025-01-08T22:48:33.070Z,1736376513.070 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:33.320Z,1736376513.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:33.358Z,1736376513.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:33.366Z,1736376513.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:33.368Z,1736376513.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:33.373Z,1736376513.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 16.024555 m, bearing: 228.827953 deg, approach rate: 0.410088 m/s, LOS rate: -0.402282 deg/s, cmd heading: 36.341343 deg, new cmd heading: 35.818293 deg. 2025-01-08T22:48:33.378Z,1736376513.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.625147 target range: 55.299999 and range: 54.00 m. 2025-01-08T22:48:33.573Z,1736376513.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:33.573Z,1736376513.573 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:33.573Z,1736376513.573 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:33.574Z,1736376513.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:33.743Z,1736376513.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:33.753Z,1736376513.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:33.756Z,1736376513.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 16.181988 m, bearing: 228.674256 deg, approach rate: 0.409647 m/s, LOS rate: -0.396037 deg/s, cmd heading: 35.818294 deg, new cmd heading: 35.361698 deg. 2025-01-08T22:48:33.757Z,1736376513.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.617178 target range: 55.299999 and range: 54.00 m. 2025-01-08T22:48:33.826Z,1736376513.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:33.827Z,1736376513.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751952 2025-01-08T22:48:34.078Z,1736376514.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:34.080Z,1736376514.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004646 2025-01-08T22:48:34.191Z,1736376514.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:34.201Z,1736376514.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:34.205Z,1736376514.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 16.368799 m, bearing: 228.494006 deg, approach rate: 0.416684 m/s, LOS rate: -0.397458 deg/s, cmd heading: 35.361699 deg, new cmd heading: 34.827139 deg. 2025-01-08T22:48:34.206Z,1736376514.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607848 target range: 55.299999 and range: 54.00 m. 2025-01-08T22:48:34.333Z,1736376514.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:34.334Z,1736376514.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258760 2025-01-08T22:48:34.558Z,1736376514.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:34.567Z,1736376514.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:34.570Z,1736376514.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 16.522161 m, bearing: 228.347653 deg, approach rate: 0.419542 m/s, LOS rate: -0.396651 deg/s, cmd heading: 34.827138 deg, new cmd heading: 34.392163 deg. 2025-01-08T22:48:34.571Z,1736376514.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600257 target range: 55.299999 and range: 54.00 m. 2025-01-08T22:48:34.584Z,1736376514.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:34.587Z,1736376514.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511199 2025-01-08T22:48:34.836Z,1736376514.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:34.837Z,1736376514.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761814 2025-01-08T22:48:34.960Z,1736376514.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:34.970Z,1736376514.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:34.973Z,1736376514.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 16.689642 m, bearing: 228.189593 deg, approach rate: 0.415681 m/s, LOS rate: -0.388362 deg/s, cmd heading: 34.392164 deg, new cmd heading: 33.922755 deg. 2025-01-08T22:48:34.974Z,1736376514.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592064 target range: 55.299999 and range: 54.00 m. 2025-01-08T22:48:35.090Z,1736376515.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:35.094Z,1736376515.094 [DAT](INFO): DAT read: Rx Time:22:48:33.8401 2025-01-08T22:48:35.096Z,1736376515.096 [DAT](INFO): Rx dataTimestamp_ set to:1736376515.094269 2025-01-08T22:48:35.099Z,1736376515.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023007 2025-01-08T22:48:35.340Z,1736376515.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:35.340Z,1736376515.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265463 2025-01-08T22:48:35.387Z,1736376515.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:35.406Z,1736376515.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:35.412Z,1736376515.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.30 m. 2025-01-08T22:48:35.422Z,1736376515.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.299999 m, nav range: 16.876629 m, bearing: 228.027886 deg, approach rate: 0.422500 m/s, LOS rate: -0.361331 deg/s, cmd heading: 33.922756 deg, new cmd heading: 33.443021 deg. 2025-01-08T22:48:35.433Z,1736376515.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583691 target range: 55.299999 and range: 54.00 m. 2025-01-08T22:48:35.593Z,1736376515.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:35.611Z,1736376515.611 [DAT](INFO): DAT read: 22:48:33.8401 LVL= 9456, 15665, 13586, 18467, AGC= 56, IDX= 449,-0.35,-0.519,-1.746,-2.971,-1.791, PHS= 1.360, 0.092,-1.183, RAW= 59.9, -2.5, CAL= 64.1, -6.7, ROT= 85.9, 6.7 2025-01-08T22:48:35.621Z,1736376515.621 [DAT](INFO): got valid direction response: 22:48:33.8401 LVL= 9456, 15665, 13586, 18467, AGC= 56, IDX= 449,-0.35,-0.519,-1.746,-2.971,-1.791, PHS= 1.360, 0.092,-1.183, RAW= 59.9, -2.5, CAL= 64.1, -6.7, ROT= 85.9, 6.7 2025-01-08T22:48:35.622Z,1736376515.622 [DAT](INFO): DAT read: Bearing 85.9, 6.7 (Local) 2025-01-08T22:48:35.622Z,1736376515.622 [DAT](INFO): Local bearing/azimuth received: Bearing 85.9, 6.7 (Local) 2025-01-08T22:48:35.630Z,1736376515.630 [DAT](INFO): DAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed -0.1 m/s 2025-01-08T22:48:35.636Z,1736376515.636 [DAT](INFO): DAT read: user:2903> 2025-01-08T22:48:35.637Z,1736376515.637 [DAT](INFO): DAT read: Tx time:22:48:34.9637 2025-01-08T22:48:35.638Z,1736376515.638 [DAT](INFO): Ping request sent. 2025-01-08T22:48:35.638Z,1736376515.638 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:35.645Z,1736376515.645 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:48:35.657Z,1736376515.657 [DAT](INFO): direction in FSK: [0.017046,0.575154,0.817868] 2025-01-08T22:48:35.657Z,1736376515.657 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:35.658Z,1736376515.658 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:35.688Z,1736376515.688 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:35.688Z,1736376515.688 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:35.776Z,1736376515.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:35.810Z,1736376515.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 3.530550 s, deltaX: 0.099998 m, approachRate: 0.028324 m/s, rangeRepo size: 4 2025-01-08T22:48:35.817Z,1736376515.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.099998 m, bearing: 123.488952 deg, lat: 36.904834 deg, lon: -122.119767 deg, deltaT: 10.593302 s, deltaX: -1.200001 m, approachRate: -0.113279 m/s, posRepo size: 4 2025-01-08T22:48:35.818Z,1736376515.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.10 m. 2025-01-08T22:48:35.818Z,1736376515.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:35.837Z,1736376515.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 16.384890 m, bearing: 209.467213 deg, approach rate: 0.000000 m/s, LOS rate: -0.361331 deg/s, cmd heading: 33.443021 deg, new cmd heading: 33.012229 deg. 2025-01-08T22:48:35.840Z,1736376515.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.576172 target range: 54.099998 and range: 54.10 m. 2025-01-08T22:48:35.844Z,1736376515.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:35.845Z,1736376515.845 [DAT](INFO): DAT read: TxSync time:22:48:34.9629 2025-01-08T22:48:36.099Z,1736376516.099 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:36.216Z,1736376516.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:36.237Z,1736376516.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.10 m. 2025-01-08T22:48:36.237Z,1736376516.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:36.244Z,1736376516.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 16.590170 m, bearing: 209.558531 deg, approach rate: 0.480549 m/s, LOS rate: 0.211124 deg/s, cmd heading: 33.012230 deg, new cmd heading: 33.282791 deg. 2025-01-08T22:48:36.245Z,1736376516.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580894 target range: 54.099998 and range: 54.10 m. 2025-01-08T22:48:36.348Z,1736376516.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:36.576Z,1736376516.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:36.588Z,1736376516.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.10 m. 2025-01-08T22:48:36.588Z,1736376516.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:36.591Z,1736376516.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 16.758286 m, bearing: 209.629036 deg, approach rate: 0.478809 m/s, LOS rate: 0.198792 deg/s, cmd heading: 33.282791 deg, new cmd heading: 33.492185 deg. 2025-01-08T22:48:36.600Z,1736376516.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:36.610Z,1736376516.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584549 target range: 54.099998 and range: 54.10 m. 2025-01-08T22:48:36.852Z,1736376516.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:36.981Z,1736376516.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:36.990Z,1736376516.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:36.993Z,1736376516.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 16.947947 m, bearing: 209.703192 deg, approach rate: 0.471581 m/s, LOS rate: 0.182320 deg/s, cmd heading: 33.492184 deg, new cmd heading: 33.712160 deg. 2025-01-08T22:48:36.994Z,1736376516.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588388 target range: 54.099998 and range: 54.10 m. 2025-01-08T22:48:37.104Z,1736376517.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:37.356Z,1736376517.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:37.412Z,1736376517.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:37.420Z,1736376517.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:37.422Z,1736376517.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.10 m. 2025-01-08T22:48:37.422Z,1736376517.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:37.441Z,1736376517.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 17.158123 m, bearing: 209.824046 deg, approach rate: 0.486843 m/s, LOS rate: 0.276511 deg/s, cmd heading: 33.712161 deg, new cmd heading: 34.070276 deg. 2025-01-08T22:48:37.442Z,1736376517.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594639 target range: 54.099998 and range: 54.10 m. 2025-01-08T22:48:37.608Z,1736376517.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:37.608Z,1736376517.608 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:37.608Z,1736376517.608 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:37.608Z,1736376517.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:37.784Z,1736376517.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:37.793Z,1736376517.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.10 m. 2025-01-08T22:48:37.793Z,1736376517.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:37.796Z,1736376517.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 17.339827 m, bearing: 209.923090 deg, approach rate: 0.489972 m/s, LOS rate: 0.264278 deg/s, cmd heading: 34.070278 deg, new cmd heading: 34.364294 deg. 2025-01-08T22:48:37.797Z,1736376517.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599770 target range: 54.099998 and range: 54.10 m. 2025-01-08T22:48:37.861Z,1736376517.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:37.862Z,1736376517.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224236 2025-01-08T22:48:38.114Z,1736376518.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:38.116Z,1736376518.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477824 2025-01-08T22:48:38.249Z,1736376518.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:38.257Z,1736376518.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.10 m. 2025-01-08T22:48:38.257Z,1736376518.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:38.261Z,1736376518.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 17.577909 m, bearing: 210.106422 deg, approach rate: 0.512579 m/s, LOS rate: 0.389358 deg/s, cmd heading: 34.364294 deg, new cmd heading: 34.906824 deg. 2025-01-08T22:48:38.262Z,1736376518.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.609239 target range: 54.099998 and range: 54.10 m. 2025-01-08T22:48:38.364Z,1736376518.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:38.366Z,1736376518.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727878 2025-01-08T22:48:38.602Z,1736376518.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:38.614Z,1736376518.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.10 m. 2025-01-08T22:48:38.616Z,1736376518.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:38.617Z,1736376518.617 [DAT](INFO): DAT read: Rx Time:22:48:37.4404 2025-01-08T22:48:38.618Z,1736376518.618 [DAT](INFO): Rx dataTimestamp_ set to:1736376518.617333 2025-01-08T22:48:38.618Z,1736376518.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980295 2025-01-08T22:48:38.619Z,1736376518.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:38.622Z,1736376518.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 17.759621 m, bearing: 210.240161 deg, approach rate: 0.508501 m/s, LOS rate: 0.370426 deg/s, cmd heading: 34.906826 deg, new cmd heading: 35.303931 deg. 2025-01-08T22:48:38.623Z,1736376518.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616170 target range: 54.099998 and range: 54.10 m. 2025-01-08T22:48:38.868Z,1736376518.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:38.869Z,1736376518.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230563 2025-01-08T22:48:38.996Z,1736376518.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:39.005Z,1736376519.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:39.021Z,1736376519.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 17.961300 m, bearing: 210.385906 deg, approach rate: 0.515918 m/s, LOS rate: 0.368646 deg/s, cmd heading: 35.303930 deg, new cmd heading: 35.736247 deg. 2025-01-08T22:48:39.028Z,1736376519.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623715 target range: 54.099998 and range: 54.10 m. 2025-01-08T22:48:39.122Z,1736376519.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:39.126Z,1736376519.126 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (Round-trip 72.5 ms) speed 0.0 m/s 2025-01-08T22:48:39.128Z,1736376519.128 [DAT](INFO): DAT read: user:2904> 2025-01-08T22:48:39.129Z,1736376519.129 [DAT](INFO): DAT read: Tx time:22:48:38.5137 2025-01-08T22:48:39.130Z,1736376519.130 [DAT](INFO): Ping request sent. 2025-01-08T22:48:39.130Z,1736376519.130 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:39.130Z,1736376519.130 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:48:39.132Z,1736376519.132 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:39.132Z,1736376519.132 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:39.372Z,1736376519.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:39.373Z,1736376519.373 [DAT](INFO): DAT read: TxSync time:22:48:38.5129 2025-01-08T22:48:39.451Z,1736376519.451 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-01-08T22:48:39.451Z,1736376519.451 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-01-08T22:48:39.451Z,1736376519.451 [RDI_Pathfinder](ERROR): Communications Fault 2025-01-08T22:48:39.466Z,1736376519.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:48:39.466Z,1736376519.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:39.498Z,1736376519.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:39.506Z,1736376519.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 3.529357 s, deltaX: 0.200001 m, approachRate: 0.056668 m/s, rangeRepo size: 4 2025-01-08T22:48:39.507Z,1736376519.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:39.514Z,1736376519.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 18.202888 m, bearing: 210.556135 deg, approach rate: 0.482954 m/s, LOS rate: 0.335784 deg/s, cmd heading: 35.736246 deg, new cmd heading: 36.240142 deg. 2025-01-08T22:48:39.515Z,1736376519.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.632510 target range: 54.099998 and range: 54.30 m. 2025-01-08T22:48:39.624Z,1736376519.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:39.625Z,1736376519.625 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:39.626Z,1736376519.626 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:39.626Z,1736376519.626 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:39.787Z,1736376519.787 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-01-08T22:48:39.806Z,1736376519.806 [RDI_Pathfinder](INFO): Powering down 2025-01-08T22:48:39.814Z,1736376519.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:48:39.814Z,1736376519.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:39.823Z,1736376519.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:39.826Z,1736376519.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 18.381556 m, bearing: 210.681568 deg, approach rate: 0.562453 m/s, LOS rate: 0.391029 deg/s, cmd heading: 36.240140 deg, new cmd heading: 36.612774 deg. 2025-01-08T22:48:39.851Z,1736376519.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639013 target range: 54.099998 and range: 54.30 m. 2025-01-08T22:48:39.876Z,1736376519.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:39.876Z,1736376519.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746374 2025-01-08T22:48:40.128Z,1736376520.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:40.128Z,1736376520.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998343 2025-01-08T22:48:40.234Z,1736376520.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:48:40.234Z,1736376520.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:40.243Z,1736376520.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:40.246Z,1736376520.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 18.597275 m, bearing: 210.830825 deg, approach rate: 0.514090 m/s, LOS rate: 0.351575 deg/s, cmd heading: 36.612775 deg, new cmd heading: 37.055344 deg. 2025-01-08T22:48:40.247Z,1736376520.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.646738 target range: 54.099998 and range: 54.30 m. 2025-01-08T22:48:40.381Z,1736376520.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:40.382Z,1736376520.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252201 2025-01-08T22:48:40.632Z,1736376520.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:40.632Z,1736376520.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502323 2025-01-08T22:48:40.685Z,1736376520.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T22:48:40.686Z,1736376520.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:40.696Z,1736376520.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:40.700Z,1736376520.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 18.828117 m, bearing: 210.986665 deg, approach rate: 0.510096 m/s, LOS rate: 0.340139 deg/s, cmd heading: 37.055344 deg, new cmd heading: 37.517120 deg. 2025-01-08T22:48:40.701Z,1736376520.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654797 target range: 54.099998 and range: 54.30 m. 2025-01-08T22:48:40.884Z,1736376520.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:40.884Z,1736376520.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754426 2025-01-08T22:48:40.959Z,1736376520.959 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-01-08T22:48:40.959Z,1736376520.959 [RDI_Pathfinder] No Fault, FailCount= 1 2025-01-08T22:48:41.030Z,1736376521.030 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-08T22:48:41.038Z,1736376521.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T22:48:41.038Z,1736376521.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:41.063Z,1736376521.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:41.067Z,1736376521.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 19.010265 m, bearing: 211.107997 deg, approach rate: 0.495874 m/s, LOS rate: 0.327146 deg/s, cmd heading: 37.517119 deg, new cmd heading: 37.877623 deg. 2025-01-08T22:48:41.072Z,1736376521.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661089 target range: 54.099998 and range: 54.30 m. 2025-01-08T22:48:41.136Z,1736376521.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:41.137Z,1736376521.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007103 2025-01-08T22:48:41.388Z,1736376521.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:41.389Z,1736376521.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258583 2025-01-08T22:48:41.460Z,1736376521.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T22:48:41.460Z,1736376521.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:41.477Z,1736376521.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:41.484Z,1736376521.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 19.224575 m, bearing: 211.248671 deg, approach rate: 0.517564 m/s, LOS rate: 0.335945 deg/s, cmd heading: 37.877623 deg, new cmd heading: 38.294935 deg. 2025-01-08T22:48:41.485Z,1736376521.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668373 target range: 54.099998 and range: 54.30 m. 2025-01-08T22:48:41.643Z,1736376521.643 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:41.644Z,1736376521.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513408 2025-01-08T22:48:41.842Z,1736376521.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s. 2025-01-08T22:48:41.843Z,1736376521.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:41.866Z,1736376521.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:41.869Z,1736376521.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:41.876Z,1736376521.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 19.423346 m, bearing: 211.377256 deg, approach rate: 0.507053 m/s, LOS rate: 0.324657 deg/s, cmd heading: 38.294934 deg, new cmd heading: 38.676736 deg. 2025-01-08T22:48:41.877Z,1736376521.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675036 target range: 54.099998 and range: 54.30 m. 2025-01-08T22:48:41.892Z,1736376521.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:41.893Z,1736376521.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762500 2025-01-08T22:48:42.144Z,1736376522.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:42.145Z,1736376522.145 [DAT](INFO): DAT read: Rx Time:22:48:40.9906 2025-01-08T22:48:42.145Z,1736376522.145 [DAT](INFO): Rx dataTimestamp_ set to:1736376522.144799 2025-01-08T22:48:42.146Z,1736376522.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015547 2025-01-08T22:48:42.256Z,1736376522.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s. 2025-01-08T22:48:42.256Z,1736376522.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:42.266Z,1736376522.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:42.269Z,1736376522.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 19.635773 m, bearing: 211.513731 deg, approach rate: 0.534888 m/s, LOS rate: 0.339924 deg/s, cmd heading: 38.676735 deg, new cmd heading: 39.081724 deg. 2025-01-08T22:48:42.270Z,1736376522.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682105 target range: 54.099998 and range: 54.30 m. 2025-01-08T22:48:42.397Z,1736376522.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:42.398Z,1736376522.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267821 2025-01-08T22:48:42.653Z,1736376522.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:42.662Z,1736376522.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531172 2025-01-08T22:48:42.765Z,1736376522.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.8 s old, using for 20.0 s. 2025-01-08T22:48:42.765Z,1736376522.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:42.775Z,1736376522.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T22:48:42.783Z,1736376522.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.099998 m, nav range: 19.896269 m, bearing: 211.679979 deg, approach rate: 0.511969 m/s, LOS rate: 0.322458 deg/s, cmd heading: 39.081724 deg, new cmd heading: 39.573924 deg. 2025-01-08T22:48:42.788Z,1736376522.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690695 target range: 54.099998 and range: 54.30 m. 2025-01-08T22:48:42.900Z,1736376522.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:42.923Z,1736376522.923 [DAT](INFO): DAT read: 22:48:40.9906 LVL= 10528, 15137, 13570, 18851, AGC= 55, IDX= 437,-0.32, 2.909, 1.899, 0.470, 1.698, PHS= 1.299, 0.248,-1.231, RAW= 54.4, -2.9, CAL= 57.7, -6.9, ROT= 92.3, 6.9 2025-01-08T22:48:42.924Z,1736376522.924 [DAT](INFO): got valid direction response: 22:48:40.9906 LVL= 10528, 15137, 13570, 18851, AGC= 55, IDX= 437,-0.32, 2.909, 1.899, 0.470, 1.698, PHS= 1.299, 0.248,-1.231, RAW= 54.4, -2.9, CAL= 57.7, -6.9, ROT= 92.3, 6.9 2025-01-08T22:48:42.925Z,1736376522.925 [DAT](INFO): DAT read: Bearing 92.3, 6.9 (Local) 2025-01-08T22:48:42.925Z,1736376522.925 [DAT](INFO): Local bearing/azimuth received: Bearing 92.3, 6.9 (Local) 2025-01-08T22:48:42.927Z,1736376522.927 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (Round-trip 72.7 ms) speed 0.0 m/s 2025-01-08T22:48:42.944Z,1736376522.944 [DAT](INFO): DAT read: user:2905> 2025-01-08T22:48:42.945Z,1736376522.945 [DAT](INFO): DAT read: Tx time:22:48:42.1137 2025-01-08T22:48:42.945Z,1736376522.945 [DAT](INFO): Ping request sent. 2025-01-08T22:48:42.945Z,1736376522.945 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:42.946Z,1736376522.946 [DAT](INFO): DAT read: TxSync time:22:48:42.1129 2025-01-08T22:48:42.946Z,1736376522.946 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:48:42.971Z,1736376522.971 [DAT](INFO): direction in FSK: [0.036201,0.645648,0.762777] 2025-01-08T22:48:42.971Z,1736376522.971 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:42.972Z,1736376522.972 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:42.975Z,1736376522.975 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:42.975Z,1736376522.975 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:43.121Z,1736376523.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s. 2025-01-08T22:48:43.121Z,1736376523.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:43.152Z,1736376523.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:43.166Z,1736376523.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 3.778020 s, deltaX: 0.200001 m, approachRate: 0.052938 m/s, rangeRepo size: 4 2025-01-08T22:48:43.176Z,1736376523.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.500000 m, bearing: 124.769096 deg, lat: 36.904834 deg, lon: -122.119632 deg, deltaT: 7.307377 s, deltaX: 0.400002 m, approachRate: 0.054739 m/s, posRepo size: 4 2025-01-08T22:48:43.177Z,1736376523.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:43.184Z,1736376523.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 17.123386 m, bearing: 175.307255 deg, approach rate: 0.000000 m/s, LOS rate: 0.322458 deg/s, cmd heading: 39.573925 deg, new cmd heading: 39.948892 deg. 2025-01-08T22:48:43.185Z,1736376523.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697240 target range: 54.500000 and range: 54.50 m. 2025-01-08T22:48:43.404Z,1736376523.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:43.582Z,1736376523.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s. 2025-01-08T22:48:43.582Z,1736376523.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:43.591Z,1736376523.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:43.594Z,1736376523.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 17.281359 m, bearing: 175.918323 deg, approach rate: 0.368796 m/s, LOS rate: 1.413507 deg/s, cmd heading: 39.948892 deg, new cmd heading: 41.764694 deg. 2025-01-08T22:48:43.595Z,1736376523.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.728931 target range: 54.500000 and range: 54.50 m. 2025-01-08T22:48:43.657Z,1736376523.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:43.908Z,1736376523.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:43.992Z,1736376523.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.0 s old, using for 20.0 s. 2025-01-08T22:48:43.992Z,1736376523.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:43.000Z,1736376524.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:44.002Z,1736376524.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:44.005Z,1736376524.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 17.422024 m, bearing: 176.453976 deg, approach rate: 0.342151 m/s, LOS rate: 1.292373 deg/s, cmd heading: 41.764694 deg, new cmd heading: 43.358245 deg. 2025-01-08T22:48:44.006Z,1736376524.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756744 target range: 54.500000 and range: 54.50 m. 2025-01-08T22:48:44.037Z,1736376524.037 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:48:44.160Z,1736376524.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:44.160Z,1736376524.160 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:44.160Z,1736376524.160 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:44.160Z,1736376524.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:44.389Z,1736376524.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.4 s old, using for 20.0 s. 2025-01-08T22:48:44.389Z,1736376524.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:44.412Z,1736376524.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:44.412Z,1736376524.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467411 2025-01-08T22:48:44.416Z,1736376524.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:44.423Z,1736376524.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 17.558966 m, bearing: 176.969392 deg, approach rate: 0.330359 m/s, LOS rate: 1.233680 deg/s, cmd heading: 43.358246 deg, new cmd heading: 44.892050 deg. 2025-01-08T22:48:44.424Z,1736376524.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783514 target range: 54.500000 and range: 54.50 m. 2025-01-08T22:48:44.664Z,1736376524.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:44.666Z,1736376524.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720972 2025-01-08T22:48:44.792Z,1736376524.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.8 s old, using for 20.0 s. 2025-01-08T22:48:44.792Z,1736376524.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:44.801Z,1736376524.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:44.804Z,1736376524.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 17.698210 m, bearing: 177.486428 deg, approach rate: 0.361848 m/s, LOS rate: 1.333010 deg/s, cmd heading: 44.892050 deg, new cmd heading: 46.430564 deg. 2025-01-08T22:48:44.805Z,1736376524.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810366 target range: 54.500000 and range: 54.50 m. 2025-01-08T22:48:44.917Z,1736376524.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:44.917Z,1736376524.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972346 2025-01-08T22:48:45.040Z,1736376525.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:48:45.168Z,1736376525.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:45.168Z,1736376525.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223296 2025-01-08T22:48:45.220Z,1736376525.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.2 s old, using for 20.0 s. 2025-01-08T22:48:45.220Z,1736376525.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:45.229Z,1736376525.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:45.233Z,1736376525.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 17.847897 m, bearing: 178.027564 deg, approach rate: 0.349861 m/s, LOS rate: 1.254161 deg/s, cmd heading: 46.430564 deg, new cmd heading: 48.039908 deg. 2025-01-08T22:48:45.234Z,1736376525.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838455 target range: 54.500000 and range: 54.50 m. 2025-01-08T22:48:45.420Z,1736376525.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:45.421Z,1736376525.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475541 2025-01-08T22:48:45.623Z,1736376525.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s. 2025-01-08T22:48:45.623Z,1736376525.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:45.672Z,1736376525.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:45.673Z,1736376525.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728213 2025-01-08T22:48:45.678Z,1736376525.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:45.689Z,1736376525.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 17.988270 m, bearing: 178.532637 deg, approach rate: 0.312652 m/s, LOS rate: 1.116151 deg/s, cmd heading: 48.039907 deg, new cmd heading: 49.542937 deg. 2025-01-08T22:48:45.690Z,1736376525.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864687 target range: 54.500000 and range: 54.50 m. 2025-01-08T22:48:45.924Z,1736376525.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:45.925Z,1736376525.925 [DAT](INFO): DAT read: Rx Time:22:48:44.5908 2025-01-08T22:48:45.925Z,1736376525.925 [DAT](INFO): Rx dataTimestamp_ set to:1736376525.924889 2025-01-08T22:48:45.926Z,1736376525.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980736 2025-01-08T22:48:46.013Z,1736376526.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.0 s old, using for 20.0 s. 2025-01-08T22:48:46.013Z,1736376526.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:46.021Z,1736376526.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:46.023Z,1736376526.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:46.026Z,1736376526.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 18.124601 m, bearing: 179.017397 deg, approach rate: 0.395436 m/s, LOS rate: 1.395476 deg/s, cmd heading: 49.542938 deg, new cmd heading: 50.985958 deg. 2025-01-08T22:48:46.027Z,1736376526.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.889873 target range: 54.500000 and range: 54.50 m. 2025-01-08T22:48:46.176Z,1736376526.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:46.176Z,1736376526.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231387 2025-01-08T22:48:46.406Z,1736376526.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.4 s old, using for 20.0 s. 2025-01-08T22:48:46.406Z,1736376526.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:46.416Z,1736376526.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:46.419Z,1736376526.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 18.261992 m, bearing: 179.501126 deg, approach rate: 0.349208 m/s, LOS rate: 1.220244 deg/s, cmd heading: 50.985959 deg, new cmd heading: 52.425908 deg. 2025-01-08T22:48:46.420Z,1736376526.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.915005 target range: 54.500000 and range: 54.50 m. 2025-01-08T22:48:46.428Z,1736376526.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:46.430Z,1736376526.430 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (Round-trip 72.9 ms) speed 0.0 m/s 2025-01-08T22:48:46.430Z,1736376526.430 [DAT](INFO): DAT read: user:2906> 2025-01-08T22:48:46.433Z,1736376526.433 [DAT](INFO): DAT read: Tx time:22:48:45.6637 2025-01-08T22:48:46.434Z,1736376526.434 [DAT](INFO): Ping request sent. 2025-01-08T22:48:46.434Z,1736376526.434 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:46.434Z,1736376526.434 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:48:46.434Z,1736376526.434 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:46.435Z,1736376526.435 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:46.680Z,1736376526.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:46.682Z,1736376526.682 [DAT](INFO): DAT read: TxSync time:22:48:45.6629 2025-01-08T22:48:46.850Z,1736376526.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.9 s old, using for 20.0 s. 2025-01-08T22:48:46.850Z,1736376526.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:46.860Z,1736376526.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 3.527409 s, deltaX: 0.099998 m, approachRate: 0.028349 m/s, rangeRepo size: 4 2025-01-08T22:48:46.860Z,1736376526.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:46.863Z,1736376526.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 18.416941 m, bearing: 180.044272 deg, approach rate: 0.350221 m/s, LOS rate: 1.217291 deg/s, cmd heading: 52.425909 deg, new cmd heading: 54.041186 deg. 2025-01-08T22:48:46.865Z,1736376526.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.943197 target range: 54.500000 and range: 54.60 m. 2025-01-08T22:48:46.936Z,1736376526.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:47.188Z,1736376527.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:47.234Z,1736376527.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.2 s old, using for 20.0 s. 2025-01-08T22:48:47.234Z,1736376527.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:47.244Z,1736376527.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:47.246Z,1736376527.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 18.550259 m, bearing: 180.512598 deg, approach rate: 0.346442 m/s, LOS rate: 1.208240 deg/s, cmd heading: 54.041188 deg, new cmd heading: 55.435776 deg. 2025-01-08T22:48:47.249Z,1736376527.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.967537 target range: 54.500000 and range: 54.60 m. 2025-01-08T22:48:47.443Z,1736376527.443 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:47.617Z,1736376527.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.6 s old, using for 20.0 s. 2025-01-08T22:48:47.618Z,1736376527.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:47.627Z,1736376527.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:47.649Z,1736376527.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 18.681581 m, bearing: 180.979847 deg, approach rate: 0.342576 m/s, LOS rate: 1.210312 deg/s, cmd heading: 55.435776 deg, new cmd heading: 56.827382 deg. 2025-01-08T22:48:47.650Z,1736376527.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991825 target range: 54.500000 and range: 54.60 m. 2025-01-08T22:48:47.693Z,1736376527.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:47.944Z,1736376527.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:48.025Z,1736376528.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.0 s old, using for 20.0 s. 2025-01-08T22:48:48.025Z,1736376528.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:48.039Z,1736376528.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:48.045Z,1736376528.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:48.055Z,1736376528.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 18.820208 m, bearing: 181.475848 deg, approach rate: 0.331276 m/s, LOS rate: 1.176550 deg/s, cmd heading: 56.827382 deg, new cmd heading: 58.304077 deg. 2025-01-08T22:48:48.057Z,1736376528.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017598 target range: 54.500000 and range: 54.60 m. 2025-01-08T22:48:48.196Z,1736376528.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:48.196Z,1736376528.196 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:48.196Z,1736376528.196 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:48.197Z,1736376528.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:48.434Z,1736376528.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.4 s old, using for 20.0 s. 2025-01-08T22:48:48.434Z,1736376528.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:48.443Z,1736376528.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:48.446Z,1736376528.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 18.958124 m, bearing: 181.972321 deg, approach rate: 0.346736 m/s, LOS rate: 1.239086 deg/s, cmd heading: 58.304079 deg, new cmd heading: 59.782317 deg. 2025-01-08T22:48:48.447Z,1736376528.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.043398 target range: 54.500000 and range: 54.60 m. 2025-01-08T22:48:48.449Z,1736376528.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:48.449Z,1736376528.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015508 2025-01-08T22:48:48.701Z,1736376528.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:48.703Z,1736376528.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268582 2025-01-08T22:48:48.835Z,1736376528.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s. 2025-01-08T22:48:48.836Z,1736376528.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:48.844Z,1736376528.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:48.847Z,1736376528.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 19.092321 m, bearing: 182.458196 deg, approach rate: 0.334561 m/s, LOS rate: 1.202787 deg/s, cmd heading: 59.782317 deg, new cmd heading: 61.229373 deg. 2025-01-08T22:48:48.865Z,1736376528.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068654 target range: 54.500000 and range: 54.60 m. 2025-01-08T22:48:48.952Z,1736376528.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:48.953Z,1736376528.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519395 2025-01-08T22:48:49.204Z,1736376529.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:49.204Z,1736376529.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770555 2025-01-08T22:48:49.237Z,1736376529.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.2 s old, using for 20.0 s. 2025-01-08T22:48:49.238Z,1736376529.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:49.270Z,1736376529.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:49.277Z,1736376529.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 19.225250 m, bearing: 182.945615 deg, approach rate: 0.311843 m/s, LOS rate: 1.135533 deg/s, cmd heading: 61.229374 deg, new cmd heading: 62.681192 deg. 2025-01-08T22:48:49.278Z,1736376529.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093993 target range: 54.500000 and range: 54.60 m. 2025-01-08T22:48:49.458Z,1736376529.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:49.460Z,1736376529.460 [DAT](INFO): DAT read: Rx Time:22:48:48.1411 2025-01-08T22:48:49.460Z,1736376529.460 [DAT](INFO): Rx dataTimestamp_ set to:1736376529.459851 2025-01-08T22:48:49.461Z,1736376529.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026739 2025-01-08T22:48:49.645Z,1736376529.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.6 s old, using for 20.0 s. 2025-01-08T22:48:49.645Z,1736376529.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:49.665Z,1736376529.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:48:49.670Z,1736376529.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.500000 m, nav range: 19.358318 m, bearing: 183.439132 deg, approach rate: 0.337533 m/s, LOS rate: 1.243208 deg/s, cmd heading: 62.681192 deg, new cmd heading: 64.151225 deg. 2025-01-08T22:48:49.691Z,1736376529.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119650 target range: 54.500000 and range: 54.60 m. 2025-01-08T22:48:49.708Z,1736376529.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:49.709Z,1736376529.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274777 2025-01-08T22:48:49.960Z,1736376529.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:49.967Z,1736376529.967 [DAT](INFO): DAT read: 22:48:48.1411 LVL= 16448, 25713, 22850, 30707, AGC= 57, IDX= 442,-0.31, 0.805,-0.057,-1.461,-0.336, PHS= 1.229, 0.326,-1.127, RAW= 52.3, -4.2, CAL= 55.9, -8.7, ROT= 94.1, 8.7 2025-01-08T22:48:49.968Z,1736376529.968 [DAT](INFO): got valid direction response: 22:48:48.1411 LVL= 16448, 25713, 22850, 30707, AGC= 57, IDX= 442,-0.31, 0.805,-0.057,-1.461,-0.336, PHS= 1.229, 0.326,-1.127, RAW= 52.3, -4.2, CAL= 55.9, -8.7, ROT= 94.1, 8.7 2025-01-08T22:48:49.969Z,1736376529.969 [DAT](INFO): DAT read: Bearing 94.1, 8.7 (Local) 2025-01-08T22:48:49.969Z,1736376529.969 [DAT](INFO): Local bearing/azimuth received: Bearing 94.1, 8.7 (Local) 2025-01-08T22:48:49.971Z,1736376529.971 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (Round-trip 73.1 ms) speed 0.0 m/s 2025-01-08T22:48:49.972Z,1736376529.972 [DAT](INFO): DAT read: user:2907> 2025-01-08T22:48:49.973Z,1736376529.973 [DAT](INFO): DAT read: Tx time:22:48:49.2638 2025-01-08T22:48:49.973Z,1736376529.973 [DAT](INFO): Ping request sent. 2025-01-08T22:48:49.973Z,1736376529.973 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:49.973Z,1736376529.973 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:48:49.974Z,1736376529.974 [DAT](INFO): direction in FSK: [0.064569,0.669012,0.740441] 2025-01-08T22:48:49.975Z,1736376529.975 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:49.975Z,1736376529.975 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:49.979Z,1736376529.979 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:49.979Z,1736376529.979 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:50.068Z,1736376530.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.1 s old, using for 20.0 s. 2025-01-08T22:48:50.068Z,1736376530.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:50.122Z,1736376530.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 3.531880 s, deltaX: 0.200001 m, approachRate: 0.056627 m/s, rangeRepo size: 4 2025-01-08T22:48:50.128Z,1736376530.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.799999 m, bearing: 136.346199 deg, lat: 36.904834 deg, lon: -122.119433 deg, deltaT: 7.059289 s, deltaX: 0.299999 m, approachRate: 0.042497 m/s, posRepo size: 4 2025-01-08T22:48:50.129Z,1736376530.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m. 2025-01-08T22:48:50.153Z,1736376530.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.799999 m, nav range: 25.374096 m, bearing: 140.031807 deg, approach rate: 0.000000 m/s, LOS rate: 1.243208 deg/s, cmd heading: 64.151227 deg, new cmd heading: 65.852658 deg. 2025-01-08T22:48:50.153Z,1736376530.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149346 target range: 54.799999 and range: 54.80 m. 2025-01-08T22:48:50.212Z,1736376530.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:50.213Z,1736376530.213 [DAT](INFO): DAT read: TxSync time:22:48:49.2630 2025-01-08T22:48:50.465Z,1736376530.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:50.492Z,1736376530.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.5 s old, using for 20.0 s. 2025-01-08T22:48:50.492Z,1736376530.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:50.507Z,1736376530.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:50.509Z,1736376530.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m. 2025-01-08T22:48:50.517Z,1736376530.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.799999 m, nav range: 25.353148 m, bearing: 140.535346 deg, approach rate: -0.053928 m/s, LOS rate: 1.297325 deg/s, cmd heading: 65.852661 deg, new cmd heading: 67.364156 deg. 2025-01-08T22:48:50.518Z,1736376530.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.175726 target range: 54.799999 and range: 54.80 m. 2025-01-08T22:48:50.716Z,1736376530.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:50.716Z,1736376530.716 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:50.716Z,1736376530.716 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:50.717Z,1736376530.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:50.862Z,1736376530.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.9 s old, using for 20.0 s. 2025-01-08T22:48:50.862Z,1736376530.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:50.886Z,1736376530.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m. 2025-01-08T22:48:50.889Z,1736376530.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.799999 m, nav range: 25.328199 m, bearing: 140.968129 deg, approach rate: -0.066160 m/s, LOS rate: 1.148818 deg/s, cmd heading: 67.364155 deg, new cmd heading: 68.663548 deg. 2025-01-08T22:48:50.890Z,1736376530.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198405 target range: 54.799999 and range: 54.80 m. 2025-01-08T22:48:50.968Z,1736376530.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:50.969Z,1736376530.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995304 2025-01-08T22:48:51.221Z,1736376531.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:51.222Z,1736376531.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248688 2025-01-08T22:48:51.336Z,1736376531.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.3 s old, using for 20.0 s. 2025-01-08T22:48:51.336Z,1736376531.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:51.361Z,1736376531.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m. 2025-01-08T22:48:51.368Z,1736376531.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.799999 m, nav range: 25.292015 m, bearing: 141.520174 deg, approach rate: -0.076291 m/s, LOS rate: 1.165581 deg/s, cmd heading: 68.663550 deg, new cmd heading: 70.321564 deg. 2025-01-08T22:48:51.372Z,1736376531.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227343 target range: 54.799999 and range: 54.80 m. 2025-01-08T22:48:51.473Z,1736376531.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:51.474Z,1736376531.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500740 2025-01-08T22:48:51.695Z,1736376531.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.7 s old, using for 20.0 s. 2025-01-08T22:48:51.696Z,1736376531.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:51.704Z,1736376531.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m. 2025-01-08T22:48:51.707Z,1736376531.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.799999 m, nav range: 25.261303 m, bearing: 141.939563 deg, approach rate: -0.089432 m/s, LOS rate: 1.222708 deg/s, cmd heading: 70.321565 deg, new cmd heading: 71.581047 deg. 2025-01-08T22:48:51.708Z,1736376531.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249325 target range: 54.799999 and range: 54.80 m. 2025-01-08T22:48:51.724Z,1736376531.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:51.724Z,1736376531.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751060 2025-01-08T22:48:51.976Z,1736376531.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:51.976Z,1736376531.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003167 2025-01-08T22:48:52.104Z,1736376532.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.1 s old, using for 20.0 s. 2025-01-08T22:48:52.104Z,1736376532.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:52.133Z,1736376532.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m. 2025-01-08T22:48:52.141Z,1736376532.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.799999 m, nav range: 25.222807 m, bearing: 142.414089 deg, approach rate: -0.089809 m/s, LOS rate: 1.108715 deg/s, cmd heading: 71.581045 deg, new cmd heading: 73.006486 deg. 2025-01-08T22:48:52.142Z,1736376532.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274204 target range: 54.799999 and range: 54.80 m. 2025-01-08T22:48:52.228Z,1736376532.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:52.229Z,1736376532.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255406 2025-01-08T22:48:52.480Z,1736376532.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:52.480Z,1736376532.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507108 2025-01-08T22:48:52.517Z,1736376532.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.5 s old, using for 20.0 s. 2025-01-08T22:48:52.517Z,1736376532.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:52.536Z,1736376532.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:52.538Z,1736376532.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m. 2025-01-08T22:48:52.545Z,1736376532.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.799999 m, nav range: 25.180626 m, bearing: 142.890200 deg, approach rate: -0.104036 m/s, LOS rate: 1.176247 deg/s, cmd heading: 73.006485 deg, new cmd heading: 74.436898 deg. 2025-01-08T22:48:52.552Z,1736376532.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299169 target range: 54.799999 and range: 54.80 m. 2025-01-08T22:48:52.732Z,1736376532.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:52.732Z,1736376532.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759062 2025-01-08T22:48:52.913Z,1736376532.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.9 s old, using for 20.0 s. 2025-01-08T22:48:52.914Z,1736376532.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:52.923Z,1736376532.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m. 2025-01-08T22:48:52.925Z,1736376532.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.799999 m, nav range: 25.136160 m, bearing: 143.351990 deg, approach rate: -0.115724 m/s, LOS rate: 1.203933 deg/s, cmd heading: 74.436897 deg, new cmd heading: 75.824431 deg. 2025-01-08T22:48:52.926Z,1736376532.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323386 target range: 54.799999 and range: 54.80 m. 2025-01-08T22:48:52.985Z,1736376532.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:52.986Z,1736376532.986 [DAT](INFO): DAT read: Rx Time:22:48:51.7412 2025-01-08T22:48:52.988Z,1736376532.988 [DAT](INFO): Rx dataTimestamp_ set to:1736376532.986677 2025-01-08T22:48:52.989Z,1736376532.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015202 2025-01-08T22:48:53.236Z,1736376533.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:53.236Z,1736376533.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263225 2025-01-08T22:48:53.370Z,1736376533.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.4 s old, using for 20.0 s. 2025-01-08T22:48:53.370Z,1736376533.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:53.379Z,1736376533.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.80 m. 2025-01-08T22:48:53.384Z,1736376533.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.799999 m, nav range: 25.081163 m, bearing: 143.878926 deg, approach rate: -0.120483 m/s, LOS rate: 1.156899 deg/s, cmd heading: 75.824430 deg, new cmd heading: 77.408278 deg. 2025-01-08T22:48:53.385Z,1736376533.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351029 target range: 54.799999 and range: 54.80 m. 2025-01-08T22:48:53.488Z,1736376533.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:53.495Z,1736376533.495 [DAT](INFO): DAT read: 22:48:51.7412 LVL= 25648, 30193, 29314, 32755, AGC= 61, IDX= 442,-0.09,-2.547, 2.940, 1.699, 2.661, PHS= 1.164, 0.326,-0.965, RAW= 53.0, -5.7, CAL= 57.8, -11.0, ROT= 92.2, 11.0 2025-01-08T22:48:53.496Z,1736376533.496 [DAT](INFO): got valid direction response: 22:48:51.7412 LVL= 25648, 30193, 29314, 32755, AGC= 61, IDX= 442,-0.09,-2.547, 2.940, 1.699, 2.661, PHS= 1.164, 0.326,-0.965, RAW= 53.0, -5.7, CAL= 57.8, -11.0, ROT= 92.2, 11.0 2025-01-08T22:48:53.497Z,1736376533.497 [DAT](INFO): DAT read: Bearing 92.2, 11.0 (Local) 2025-01-08T22:48:53.498Z,1736376533.498 [DAT](INFO): Local bearing/azimuth received: Bearing 92.2, 11.0 (Local) 2025-01-08T22:48:53.501Z,1736376533.501 [DAT](INFO): DAT read: Range 10 to 50 : 54.9 m (Round-trip 73.2 ms) speed 0.0 m/s 2025-01-08T22:48:53.502Z,1736376533.502 [DAT](INFO): DAT read: user:2908> 2025-01-08T22:48:53.502Z,1736376533.502 [DAT](INFO): DAT read: Tx time:22:48:52.8638 2025-01-08T22:48:53.503Z,1736376533.503 [DAT](INFO): Ping request sent. 2025-01-08T22:48:53.503Z,1736376533.503 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:53.503Z,1736376533.503 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:48:53.505Z,1736376533.505 [DAT](INFO): direction in FSK: [0.091013,0.657668,0.747790] 2025-01-08T22:48:53.505Z,1736376533.505 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:53.505Z,1736376533.505 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:53.521Z,1736376533.521 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:53.521Z,1736376533.521 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:53.740Z,1736376533.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:53.741Z,1736376533.741 [DAT](INFO): DAT read: TxSync time:22:48:52.8630 2025-01-08T22:48:53.888Z,1736376533.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.9 s old, using for 20.0 s. 2025-01-08T22:48:53.888Z,1736376533.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:53.916Z,1736376533.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 3.528334 s, deltaX: 0.100002 m, approachRate: 0.028343 m/s, rangeRepo size: 4 2025-01-08T22:48:53.919Z,1736376533.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.900002 m, bearing: 150.871786 deg, lat: 36.904838 deg, lon: -122.119433 deg, deltaT: 3.528334 s, deltaX: 0.100002 m, approachRate: 0.028343 m/s, posRepo size: 4 2025-01-08T22:48:53.941Z,1736376533.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T22:48:53.944Z,1736376533.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 24.678955 m, bearing: 143.924400 deg, approach rate: 0.000000 m/s, LOS rate: 1.156899 deg/s, cmd heading: 77.408276 deg, new cmd heading: 79.268443 deg. 2025-01-08T22:48:53.945Z,1736376533.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.383495 target range: 54.900002 and range: 54.90 m. 2025-01-08T22:48:53.993Z,1736376533.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:54.244Z,1736376534.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:54.293Z,1736376534.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.3 s old, using for 20.0 s. 2025-01-08T22:48:54.294Z,1736376534.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:54.350Z,1736376534.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T22:48:54.357Z,1736376534.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 24.615124 m, bearing: 144.388652 deg, approach rate: -0.146804 m/s, LOS rate: 1.070482 deg/s, cmd heading: 79.268443 deg, new cmd heading: 80.664519 deg. 2025-01-08T22:48:54.358Z,1736376534.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.407861 target range: 54.900002 and range: 54.90 m. 2025-01-08T22:48:54.496Z,1736376534.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:54.710Z,1736376534.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:54.718Z,1736376534.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:54.720Z,1736376534.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.90 m. 2025-01-08T22:48:54.721Z,1736376534.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T22:48:54.724Z,1736376534.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 24.522541 m, bearing: 144.932592 deg, approach rate: -0.249945 m/s, LOS rate: 1.473990 deg/s, cmd heading: 80.664520 deg, new cmd heading: 82.302030 deg. 2025-01-08T22:48:54.725Z,1736376534.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436441 target range: 54.900002 and range: 54.90 m. 2025-01-08T22:48:54.748Z,1736376534.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:54.748Z,1736376534.748 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:54.748Z,1736376534.748 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:54.749Z,1736376534.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:54.000Z,1736376535.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:55.000Z,1736376535.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497704 2025-01-08T22:48:55.085Z,1736376535.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:55.094Z,1736376535.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.90 m. 2025-01-08T22:48:55.094Z,1736376535.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T22:48:55.097Z,1736376535.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 24.435438 m, bearing: 145.415698 deg, approach rate: -0.233347 m/s, LOS rate: 1.298832 deg/s, cmd heading: 82.302031 deg, new cmd heading: 83.756187 deg. 2025-01-08T22:48:55.099Z,1736376535.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.461821 target range: 54.900002 and range: 54.90 m. 2025-01-08T22:48:55.252Z,1736376535.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:55.253Z,1736376535.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749948 2025-01-08T22:48:55.504Z,1736376535.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:55.504Z,1736376535.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001794 2025-01-08T22:48:55.524Z,1736376535.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:55.533Z,1736376535.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.90 m. 2025-01-08T22:48:55.533Z,1736376535.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T22:48:55.536Z,1736376535.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 24.321520 m, bearing: 146.000024 deg, approach rate: -0.259455 m/s, LOS rate: 1.337042 deg/s, cmd heading: 83.756185 deg, new cmd heading: 85.516788 deg. 2025-01-08T22:48:55.537Z,1736376535.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.492550 target range: 54.900002 and range: 54.90 m. 2025-01-08T22:48:55.756Z,1736376535.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:55.756Z,1736376535.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253838 2025-01-08T22:48:55.894Z,1736376535.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:55.905Z,1736376535.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.90 m. 2025-01-08T22:48:55.905Z,1736376535.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T22:48:55.929Z,1736376535.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 24.215046 m, bearing: 146.482339 deg, approach rate: -0.286236 m/s, LOS rate: 1.302301 deg/s, cmd heading: 85.516789 deg, new cmd heading: 86.969768 deg. 2025-01-08T22:48:55.936Z,1736376535.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.517909 target range: 54.900002 and range: 54.90 m. 2025-01-08T22:48:56.009Z,1736376536.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:56.010Z,1736376536.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507054 2025-01-08T22:48:56.260Z,1736376536.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:56.260Z,1736376536.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757666 2025-01-08T22:48:56.341Z,1736376536.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:56.385Z,1736376536.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T22:48:56.392Z,1736376536.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 24.080652 m, bearing: 147.063496 deg, approach rate: -0.279737 m/s, LOS rate: 1.216392 deg/s, cmd heading: 86.969769 deg, new cmd heading: 88.722392 deg. 2025-01-08T22:48:56.393Z,1736376536.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548498 target range: 54.900002 and range: 54.90 m. 2025-01-08T22:48:56.512Z,1736376536.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:56.512Z,1736376536.512 [DAT](INFO): DAT read: Rx Time:22:48:55.3405 2025-01-08T22:48:56.513Z,1736376536.513 [DAT](INFO): Rx dataTimestamp_ set to:1736376536.512672 2025-01-08T22:48:56.513Z,1736376536.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010848 2025-01-08T22:48:56.742Z,1736376536.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:56.750Z,1736376536.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:56.753Z,1736376536.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.90 m. 2025-01-08T22:48:56.753Z,1736376536.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T22:48:56.764Z,1736376536.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:56.766Z,1736376536.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262847 2025-01-08T22:48:56.784Z,1736376536.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 23.958885 m, bearing: 147.568087 deg, approach rate: -0.330962 m/s, LOS rate: 1.378431 deg/s, cmd heading: 88.722395 deg, new cmd heading: 90.243487 deg. 2025-01-08T22:48:56.785Z,1736376536.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.575046 target range: 54.900002 and range: 54.90 m. 2025-01-08T22:48:57.017Z,1736376537.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:57.020Z,1736376537.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516899 2025-01-08T22:48:57.120Z,1736376537.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:57.128Z,1736376537.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.90 m. 2025-01-08T22:48:57.129Z,1736376537.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T22:48:57.133Z,1736376537.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 23.840025 m, bearing: 148.039660 deg, approach rate: -0.316764 m/s, LOS rate: 1.262998 deg/s, cmd heading: 90.243485 deg, new cmd heading: 91.664949 deg. 2025-01-08T22:48:57.134Z,1736376537.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.599855 target range: 54.900002 and range: 54.90 m. 2025-01-08T22:48:57.268Z,1736376537.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:57.275Z,1736376537.275 [DAT](INFO): DAT read: 22:48:55.3405 LVL= 18528, 28593, 17458, 22835, AGC= 53, IDX= 434, 0.28,-2.371, 2.696, 1.769, 2.437, PHS= 1.563, 0.306,-0.671, RAW= 64.1, -12.3, CAL= 75.6, -20.9, ROT= 74.4, 20.9 2025-01-08T22:48:57.276Z,1736376537.276 [DAT](INFO): got valid direction response: 22:48:55.3405 LVL= 18528, 28593, 17458, 22835, AGC= 53, IDX= 434, 0.28,-2.371, 2.696, 1.769, 2.437, PHS= 1.563, 0.306,-0.671, RAW= 64.1, -12.3, CAL= 75.6, -20.9, ROT= 74.4, 20.9 2025-01-08T22:48:57.277Z,1736376537.277 [DAT](INFO): DAT read: Bearing 74.4, 20.9 (Local) 2025-01-08T22:48:57.277Z,1736376537.277 [DAT](INFO): Local bearing/azimuth received: Bearing 74.4, 20.9 (Local) 2025-01-08T22:48:57.279Z,1736376537.279 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (Round-trip 72.5 ms) speed 0.3 m/s 2025-01-08T22:48:57.280Z,1736376537.280 [DAT](INFO): DAT read: user:2909> 2025-01-08T22:48:57.282Z,1736376537.282 [DAT](INFO): DAT read: Tx time:22:48:56.4638 2025-01-08T22:48:57.282Z,1736376537.282 [DAT](INFO): Ping request sent. 2025-01-08T22:48:57.282Z,1736376537.282 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:48:57.283Z,1736376537.283 [DAT](INFO): DAT read: TxSync time:22:48:56.4630 2025-01-08T22:48:57.328Z,1736376537.328 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:48:57.329Z,1736376537.329 [DAT](INFO): direction in FSK: [0.191206,0.494498,0.847887] 2025-01-08T22:48:57.329Z,1736376537.329 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:57.329Z,1736376537.329 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:57.382Z,1736376537.382 [DAT](INFO): publishing transmit ping time 2025-01-08T22:48:57.383Z,1736376537.383 [DAT](INFO): publishing direction and range info 2025-01-08T22:48:57.520Z,1736376537.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:57.636Z,1736376537.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:57.657Z,1736376537.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 3.779719 s, deltaX: -0.600002 m, approachRate: -0.158743 m/s, rangeRepo size: 4 2025-01-08T22:48:57.661Z,1736376537.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.299999 m, bearing: 138.113807 deg, lat: 36.904839 deg, lon: -122.119433 deg, deltaT: 3.779719 s, deltaX: -0.600002 m, approachRate: -0.158743 m/s, posRepo size: 4 2025-01-08T22:48:57.662Z,1736376537.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.30 m. 2025-01-08T22:48:57.662Z,1736376537.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T22:48:57.667Z,1736376537.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.299999 m, nav range: 23.568842 m, bearing: 148.483930 deg, approach rate: 0.000000 m/s, LOS rate: 1.262998 deg/s, cmd heading: 91.664950 deg, new cmd heading: 93.659800 deg. 2025-01-08T22:48:57.669Z,1736376537.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634672 target range: 54.299999 and range: 54.30 m. 2025-01-08T22:48:57.772Z,1736376537.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:57.993Z,1736376537.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:58.002Z,1736376538.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.30 m. 2025-01-08T22:48:58.003Z,1736376538.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T22:48:58.005Z,1736376538.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.299999 m, nav range: 23.452627 m, bearing: 148.900871 deg, approach rate: -0.334651 m/s, LOS rate: 1.206556 deg/s, cmd heading: 93.659802 deg, new cmd heading: 94.916610 deg. 2025-01-08T22:48:58.006Z,1736376538.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656607 target range: 54.299999 and range: 54.30 m. 2025-01-08T22:48:58.025Z,1736376538.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:58.276Z,1736376538.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:58.528Z,1736376538.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:58.546Z,1736376538.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:58.556Z,1736376538.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.30 m. 2025-01-08T22:48:58.556Z,1736376538.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T22:48:58.559Z,1736376538.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.299999 m, nav range: 23.277700 m, bearing: 149.491908 deg, approach rate: -0.315899 m/s, LOS rate: 1.075351 deg/s, cmd heading: 94.916612 deg, new cmd heading: 96.702437 deg. 2025-01-08T22:48:58.560Z,1736376538.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.687776 target range: 54.299999 and range: 54.30 m. 2025-01-08T22:48:58.780Z,1736376538.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:58.852Z,1736376538.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:58.859Z,1736376538.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:48:58.861Z,1736376538.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.30 m. 2025-01-08T22:48:58.861Z,1736376538.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T22:48:58.865Z,1736376538.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.299999 m, nav range: 23.177948 m, bearing: 149.815524 deg, approach rate: -0.326869 m/s, LOS rate: 1.064980 deg/s, cmd heading: 96.702440 deg, new cmd heading: 97.677365 deg. 2025-01-08T22:48:58.868Z,1736376538.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.704792 target range: 54.299999 and range: 54.30 m. 2025-01-08T22:48:59.032Z,1736376539.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:59.033Z,1736376539.033 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:48:59.033Z,1736376539.033 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:48:59.033Z,1736376539.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:48:59.262Z,1736376539.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:59.272Z,1736376539.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T22:48:59.274Z,1736376539.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.299999 m, nav range: 23.041052 m, bearing: 150.244584 deg, approach rate: -0.333856 m/s, LOS rate: 1.052579 deg/s, cmd heading: 97.677367 deg, new cmd heading: 98.971964 deg. 2025-01-08T22:48:59.276Z,1736376539.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.727387 target range: 54.299999 and range: 54.30 m. 2025-01-08T22:48:59.284Z,1736376539.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:59.285Z,1736376539.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002423 2025-01-08T22:48:59.536Z,1736376539.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:59.537Z,1736376539.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254530 2025-01-08T22:48:59.692Z,1736376539.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:48:59.726Z,1736376539.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.30 m. 2025-01-08T22:48:59.726Z,1736376539.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T22:48:59.734Z,1736376539.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.299999 m, nav range: 22.909519 m, bearing: 150.638257 deg, approach rate: -0.289256 m/s, LOS rate: 0.870698 deg/s, cmd heading: 98.971961 deg, new cmd heading: 100.159580 deg. 2025-01-08T22:48:59.735Z,1736376539.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.748114 target range: 54.299999 and range: 54.30 m. 2025-01-08T22:48:59.788Z,1736376539.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:48:59.789Z,1736376539.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506448 2025-01-08T22:49:00.040Z,1736376540.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:00.040Z,1736376540.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758337 2025-01-08T22:49:00.077Z,1736376540.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:00.090Z,1736376540.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 54.30 m. 2025-01-08T22:49:00.090Z,1736376540.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T22:49:00.102Z,1736376540.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.299999 m, nav range: 22.789185 m, bearing: 150.986599 deg, approach rate: -0.330548 m/s, LOS rate: 0.961911 deg/s, cmd heading: 100.159581 deg, new cmd heading: 101.210003 deg. 2025-01-08T22:49:00.103Z,1736376540.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.766448 target range: 54.299999 and range: 54.30 m. 2025-01-08T22:49:00.292Z,1736376540.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:00.293Z,1736376540.293 [DAT](INFO): DAT read: Rx Time:22:48:58.9390 2025-01-08T22:49:00.293Z,1736376540.293 [DAT](INFO): Rx dataTimestamp_ set to:1736376540.292721 2025-01-08T22:49:00.294Z,1736376540.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011461 2025-01-08T22:49:00.526Z,1736376540.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:00.542Z,1736376540.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 54.30 m. 2025-01-08T22:49:00.543Z,1736376540.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T22:49:00.544Z,1736376540.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:00.545Z,1736376540.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262472 2025-01-08T22:49:00.550Z,1736376540.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.299999 m, nav range: 22.658548 m, bearing: 151.349352 deg, approach rate: -0.288835 m/s, LOS rate: 0.806660 deg/s, cmd heading: 101.210003 deg, new cmd heading: 102.304393 deg. 2025-01-08T22:49:00.564Z,1736376540.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785548 target range: 54.299999 and range: 54.30 m. 2025-01-08T22:49:00.796Z,1736376540.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:00.803Z,1736376540.803 [DAT](INFO): DAT read: 22:48:58.9390 LVL= 13920, 28609, 18242, 29491, AGC= 52, IDX= 420,-0.15, 1.731, 0.212, 0.050, 0.618, PHS= 1.200,-0.359,-0.571, RAW= 83.7, -3.3, CAL= 91.8, -9.5, ROT= 58.2, 9.5 2025-01-08T22:49:00.804Z,1736376540.804 [DAT](INFO): got valid direction response: 22:48:58.9390 LVL= 13920, 28609, 18242, 29491, AGC= 52, IDX= 420,-0.15, 1.731, 0.212, 0.050, 0.618, PHS= 1.200,-0.359,-0.571, RAW= 83.7, -3.3, CAL= 91.8, -9.5, ROT= 58.2, 9.5 2025-01-08T22:49:00.805Z,1736376540.805 [DAT](INFO): DAT read: Bearing 58.2, 9.5 (Local) 2025-01-08T22:49:00.805Z,1736376540.805 [DAT](INFO): Local bearing/azimuth received: Bearing 58.2, 9.5 (Local) 2025-01-08T22:49:00.807Z,1736376540.807 [DAT](INFO): DAT read: Range 10 to 50 : 53.2 m (Round-trip 71.0 ms) speed 0.3 m/s 2025-01-08T22:49:00.808Z,1736376540.808 [DAT](INFO): DAT read: user:2910> 2025-01-08T22:49:00.809Z,1736376540.809 [DAT](INFO): DAT read: Tx time:22:49:00.0638 2025-01-08T22:49:00.809Z,1736376540.809 [DAT](INFO): Ping request sent. 2025-01-08T22:49:00.809Z,1736376540.809 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:00.810Z,1736376540.810 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:49:00.811Z,1736376540.811 [DAT](INFO): direction in FSK: [-0.012624,0.211260,0.977348] 2025-01-08T22:49:00.811Z,1736376540.811 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:00.812Z,1736376540.812 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:00.816Z,1736376540.816 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:00.816Z,1736376540.816 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:00.918Z,1736376540.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:00.969Z,1736376540.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.200001 m, deltaT: 3.527939 s, deltaX: -1.099998 m, approachRate: -0.311796 m/s, rangeRepo size: 4 2025-01-08T22:49:00.971Z,1736376540.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.200001 m, bearing: 329.267606 deg, lat: 36.904849 deg, lon: -122.119462 deg, deltaT: 3.527939 s, deltaX: -1.099998 m, approachRate: -0.311796 m/s, posRepo size: 4 2025-01-08T22:49:00.984Z,1736376540.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 53.20 m. 2025-01-08T22:49:00.984Z,1736376540.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:49:00.987Z,1736376540.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.200001 m, nav range: 20.370209 m, bearing: 156.375833 deg, approach rate: 0.000000 m/s, LOS rate: 0.806660 deg/s, cmd heading: 102.304390 deg, new cmd heading: 103.334920 deg. 2025-01-08T22:49:00.992Z,1736376540.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.803535 target range: 53.200001 and range: 53.20 m. 2025-01-08T22:49:01.049Z,1736376541.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:01.050Z,1736376541.050 [DAT](INFO): DAT read: TxSync time:22:49:00.0630 2025-01-08T22:49:01.301Z,1736376541.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:01.319Z,1736376541.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:01.340Z,1736376541.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:01.342Z,1736376541.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:49:01.350Z,1736376541.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.200001 m, nav range: 20.260267 m, bearing: 156.749259 deg, approach rate: -0.293726 m/s, LOS rate: 1.003073 deg/s, cmd heading: 103.334922 deg, new cmd heading: 104.461125 deg. 2025-01-08T22:49:01.356Z,1736376541.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.823191 target range: 53.200001 and range: 53.20 m. 2025-01-08T22:49:01.553Z,1736376541.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:01.554Z,1736376541.554 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:49:01.554Z,1736376541.554 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:49:01.554Z,1736376541.554 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:49:01.724Z,1736376541.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:01.733Z,1736376541.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 53.20 m. 2025-01-08T22:49:01.734Z,1736376541.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:49:01.753Z,1736376541.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.200001 m, nav range: 20.149771 m, bearing: 157.102085 deg, approach rate: -0.282585 m/s, LOS rate: 0.907265 deg/s, cmd heading: 104.461125 deg, new cmd heading: 105.525279 deg. 2025-01-08T22:49:01.754Z,1736376541.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.841764 target range: 53.200001 and range: 53.20 m. 2025-01-08T22:49:01.804Z,1736376541.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:01.804Z,1736376541.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995079 2025-01-08T22:49:02.056Z,1736376542.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:02.056Z,1736376542.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247070 2025-01-08T22:49:02.186Z,1736376542.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:02.211Z,1736376542.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 53.20 m. 2025-01-08T22:49:02.211Z,1736376542.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:49:02.215Z,1736376542.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.200001 m, nav range: 20.019409 m, bearing: 157.487249 deg, approach rate: -0.273107 m/s, LOS rate: 0.812164 deg/s, cmd heading: 105.525282 deg, new cmd heading: 106.688128 deg. 2025-01-08T22:49:02.220Z,1736376542.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.862059 target range: 53.200001 and range: 53.20 m. 2025-01-08T22:49:02.308Z,1736376542.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:02.310Z,1736376542.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500093 2025-01-08T22:49:02.560Z,1736376542.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:02.560Z,1736376542.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751008 2025-01-08T22:49:02.623Z,1736376542.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:02.633Z,1736376542.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 53.20 m. 2025-01-08T22:49:02.633Z,1736376542.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:49:02.636Z,1736376542.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.200001 m, nav range: 19.898819 m, bearing: 157.845775 deg, approach rate: -0.285892 m/s, LOS rate: 0.855127 deg/s, cmd heading: 106.688129 deg, new cmd heading: 107.770088 deg. 2025-01-08T22:49:02.637Z,1736376542.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.880943 target range: 53.200001 and range: 53.20 m. 2025-01-08T22:49:02.813Z,1736376542.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:02.814Z,1736376542.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004566 2025-01-08T22:49:03.064Z,1736376543.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:03.065Z,1736376543.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255784 2025-01-08T22:49:03.069Z,1736376543.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:03.078Z,1736376543.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 53.20 m. 2025-01-08T22:49:03.078Z,1736376543.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:49:03.082Z,1736376543.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.200001 m, nav range: 19.773998 m, bearing: 158.209892 deg, approach rate: -0.280278 m/s, LOS rate: 0.822761 deg/s, cmd heading: 107.770085 deg, new cmd heading: 108.869191 deg. 2025-01-08T22:49:03.083Z,1736376543.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.900126 target range: 53.200001 and range: 53.20 m. 2025-01-08T22:49:03.316Z,1736376543.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:03.317Z,1736376543.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507338 2025-01-08T22:49:03.530Z,1736376543.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:03.538Z,1736376543.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:03.541Z,1736376543.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 53.20 m. 2025-01-08T22:49:03.541Z,1736376543.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:49:03.544Z,1736376543.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.200001 m, nav range: 19.632317 m, bearing: 158.642150 deg, approach rate: -0.306156 m/s, LOS rate: 0.940786 deg/s, cmd heading: 108.869192 deg, new cmd heading: 110.175086 deg. 2025-01-08T22:49:03.545Z,1736376543.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.922918 target range: 53.200001 and range: 53.20 m. 2025-01-08T22:49:03.568Z,1736376543.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:03.569Z,1736376543.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759142 2025-01-08T22:49:03.820Z,1736376543.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:03.820Z,1736376543.820 [DAT](INFO): DAT read: Rx Time:22:49:02.5372 2025-01-08T22:49:03.821Z,1736376543.821 [DAT](INFO): Rx dataTimestamp_ set to:1736376543.820628 2025-01-08T22:49:03.821Z,1736376543.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012088 2025-01-08T22:49:03.917Z,1736376543.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:03.933Z,1736376543.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 53.20 m. 2025-01-08T22:49:03.934Z,1736376543.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:49:03.941Z,1736376543.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.200001 m, nav range: 19.512026 m, bearing: 159.002427 deg, approach rate: -0.306387 m/s, LOS rate: 0.923296 deg/s, cmd heading: 110.175084 deg, new cmd heading: 111.262441 deg. 2025-01-08T22:49:03.942Z,1736376543.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.941896 target range: 53.200001 and range: 53.20 m. 2025-01-08T22:49:04.072Z,1736376544.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:04.073Z,1736376544.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263294 2025-01-08T22:49:04.266Z,1736376544.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:04.293Z,1736376544.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:49:04.296Z,1736376544.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.200001 m, nav range: 19.401548 m, bearing: 159.325709 deg, approach rate: -0.307290 m/s, LOS rate: 0.904315 deg/s, cmd heading: 111.262443 deg, new cmd heading: 112.237712 deg. 2025-01-08T22:49:04.297Z,1736376544.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.958918 target range: 53.200001 and range: 53.20 m. 2025-01-08T22:49:04.324Z,1736376544.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:04.333Z,1736376544.333 [DAT](INFO): DAT read: 22:49:02.5373 LVL= 18784, 30033, 21970, 32755, AGC= 55, IDX= 417, 0.00, 1.854, 0.271, 0.636, 1.075, PHS= 0.867,-0.757,-0.442, RAW= 100.5, 4.5, CAL= 110.7, 2.7, ROT= 39.3, -2.7 2025-01-08T22:49:04.335Z,1736376544.335 [DAT](INFO): got valid direction response: 22:49:02.5373 LVL= 18784, 30033, 21970, 32755, AGC= 55, IDX= 417, 0.00, 1.854, 0.271, 0.636, 1.075, PHS= 0.867,-0.757,-0.442, RAW= 100.5, 4.5, CAL= 110.7, 2.7, ROT= 39.3, -2.7 2025-01-08T22:49:04.336Z,1736376544.336 [DAT](INFO): DAT read: Bearing 39.3, -2.7 (Local) 2025-01-08T22:49:04.337Z,1736376544.337 [DAT](INFO): Local bearing/azimuth received: Bearing 39.3, -2.7 (Local) 2025-01-08T22:49:04.340Z,1736376544.340 [DAT](INFO): DAT read: Range 10 to 50 : 51.9 m (Round-trip 69.2 ms) speed 0.4 m/s 2025-01-08T22:49:04.341Z,1736376544.341 [DAT](INFO): DAT read: user:2911> 2025-01-08T22:49:04.342Z,1736376544.342 [DAT](INFO): DAT read: Tx time:22:49:03.6139 2025-01-08T22:49:04.342Z,1736376544.342 [DAT](INFO): Ping request sent. 2025-01-08T22:49:04.343Z,1736376544.343 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:04.344Z,1736376544.344 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:49:04.346Z,1736376544.346 [DAT](INFO): direction in FSK: [-0.186425,-0.071793,0.979843] 2025-01-08T22:49:04.346Z,1736376544.346 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:04.347Z,1736376544.347 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:04.356Z,1736376544.356 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:04.356Z,1736376544.356 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:04.576Z,1736376544.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:04.577Z,1736376544.577 [DAT](INFO): DAT read: TxSync time:22:49:03.6131 2025-01-08T22:49:04.709Z,1736376544.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:04.752Z,1736376544.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.900002 m, deltaT: 3.528078 s, deltaX: -1.299999 m, approachRate: -0.368472 m/s, rangeRepo size: 4 2025-01-08T22:49:04.754Z,1736376544.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.900002 m, bearing: 342.117699 deg, lat: 36.904921 deg, lon: -122.119472 deg, deltaT: 3.528078 s, deltaX: -1.299999 m, approachRate: -0.368472 m/s, posRepo size: 4 2025-01-08T22:49:04.754Z,1736376544.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 51.90 m. 2025-01-08T22:49:04.755Z,1736376544.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m. 2025-01-08T22:49:04.762Z,1736376544.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.900002 m, nav range: 11.595993 m, bearing: 150.147049 deg, approach rate: 0.000000 m/s, LOS rate: 0.904315 deg/s, cmd heading: 112.237712 deg, new cmd heading: 113.469085 deg. 2025-01-08T22:49:04.768Z,1736376544.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.980409 target range: 51.900002 and range: 51.90 m. 2025-01-08T22:49:04.828Z,1736376544.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:05.071Z,1736376545.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:05.081Z,1736376545.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:05.091Z,1736376545.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m. 2025-01-08T22:49:05.094Z,1736376545.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.900002 m, nav range: 11.448530 m, bearing: 150.633436 deg, approach rate: -0.429015 m/s, LOS rate: 1.433260 deg/s, cmd heading: 113.469086 deg, new cmd heading: 114.946695 deg. 2025-01-08T22:49:05.094Z,1736376545.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.006198 target range: 51.900002 and range: 51.90 m. 2025-01-08T22:49:05.332Z,1736376545.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:05.531Z,1736376545.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:05.546Z,1736376545.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:05.552Z,1736376545.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m. 2025-01-08T22:49:05.555Z,1736376545.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.900002 m, nav range: 11.259876 m, bearing: 151.250483 deg, approach rate: -0.408609 m/s, LOS rate: 1.358839 deg/s, cmd heading: 114.946702 deg, new cmd heading: 116.828145 deg. 2025-01-08T22:49:05.556Z,1736376545.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.039036 target range: 51.900002 and range: 51.90 m. 2025-01-08T22:49:05.584Z,1736376545.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:05.585Z,1736376545.585 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:49:05.585Z,1736376545.585 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:49:05.585Z,1736376545.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:49:05.836Z,1736376545.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:05.837Z,1736376545.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493872 2025-01-08T22:49:05.912Z,1736376545.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:05.925Z,1736376545.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m. 2025-01-08T22:49:05.928Z,1736376545.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.900002 m, nav range: 11.090049 m, bearing: 151.851290 deg, approach rate: -0.455866 m/s, LOS rate: 1.637409 deg/s, cmd heading: 116.828145 deg, new cmd heading: 118.657515 deg. 2025-01-08T22:49:05.929Z,1736376545.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070964 target range: 51.900002 and range: 51.90 m. 2025-01-08T22:49:06.088Z,1736376546.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:06.090Z,1736376546.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746972 2025-01-08T22:49:06.285Z,1736376546.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:06.293Z,1736376546.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m. 2025-01-08T22:49:06.296Z,1736376546.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.900002 m, nav range: 10.922379 m, bearing: 152.444538 deg, approach rate: -0.455262 m/s, LOS rate: 1.635506 deg/s, cmd heading: 118.657516 deg, new cmd heading: 120.463949 deg. 2025-01-08T22:49:06.297Z,1736376546.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102493 target range: 51.900002 and range: 51.90 m. 2025-01-08T22:49:06.340Z,1736376546.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:06.341Z,1736376546.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998661 2025-01-08T22:49:06.592Z,1736376546.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:06.592Z,1736376546.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249794 2025-01-08T22:49:06.711Z,1736376546.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:06.740Z,1736376546.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m. 2025-01-08T22:49:06.743Z,1736376546.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.900002 m, nav range: 10.707466 m, bearing: 153.237449 deg, approach rate: -0.481026 m/s, LOS rate: 1.810282 deg/s, cmd heading: 120.463951 deg, new cmd heading: 122.888900 deg. 2025-01-08T22:49:06.744Z,1736376546.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.144816 target range: 51.900002 and range: 51.90 m. 2025-01-08T22:49:06.844Z,1736376546.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:06.845Z,1736376546.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501994 2025-01-08T22:49:07.096Z,1736376547.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:07.096Z,1736376547.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753585 2025-01-08T22:49:07.130Z,1736376547.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:07.140Z,1736376547.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m. 2025-01-08T22:49:07.143Z,1736376547.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.900002 m, nav range: 10.497815 m, bearing: 154.050239 deg, approach rate: -0.524061 m/s, LOS rate: 2.072223 deg/s, cmd heading: 122.888900 deg, new cmd heading: 125.374325 deg. 2025-01-08T22:49:07.144Z,1736376547.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.188195 target range: 51.900002 and range: 51.90 m. 2025-01-08T22:49:07.348Z,1736376547.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:07.349Z,1736376547.349 [DAT](INFO): DAT read: Rx Time:22:49:06.0852 2025-01-08T22:49:07.350Z,1736376547.350 [DAT](INFO): Rx dataTimestamp_ set to:1736376547.349432 2025-01-08T22:49:07.350Z,1736376547.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007627 2025-01-08T22:49:07.562Z,1736376547.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:07.578Z,1736376547.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:07.584Z,1736376547.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m. 2025-01-08T22:49:07.587Z,1736376547.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.900002 m, nav range: 10.278159 m, bearing: 154.872058 deg, approach rate: -0.494427 m/s, LOS rate: 1.889311 deg/s, cmd heading: 125.374324 deg, new cmd heading: 127.890764 deg. 2025-01-08T22:49:07.596Z,1736376547.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232115 target range: 51.900002 and range: 51.90 m. 2025-01-08T22:49:07.600Z,1736376547.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:07.601Z,1736376547.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257892 2025-01-08T22:49:07.852Z,1736376547.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:07.858Z,1736376547.858 [DAT](INFO): DAT read: 22:49:06.0852 LVL= 24176, 32753, 29170, 32755, AGC= 62, IDX= 428, 0.14,-2.788, 1.837, 2.486, 2.841, PHS= 0.742,-0.957,-0.358, RAW= 110.4, 7.7, CAL= 120.4, 5.0, ROT= 29.6, -5.0 2025-01-08T22:49:07.859Z,1736376547.859 [DAT](INFO): got valid direction response: 22:49:06.0852 LVL= 24176, 32753, 29170, 32755, AGC= 62, IDX= 428, 0.14,-2.788, 1.837, 2.486, 2.841, PHS= 0.742,-0.957,-0.358, RAW= 110.4, 7.7, CAL= 120.4, 5.0, ROT= 29.6, -5.0 2025-01-08T22:49:07.860Z,1736376547.860 [DAT](INFO): DAT read: Bearing 29.6, -5.0 (Local) 2025-01-08T22:49:07.860Z,1736376547.860 [DAT](INFO): Local bearing/azimuth received: Bearing 29.6, -5.0 (Local) 2025-01-08T22:49:07.862Z,1736376547.862 [DAT](INFO): DAT read: Range 10 to 50 : 50.3 m (Round-trip 67.1 ms) speed 0.4 m/s 2025-01-08T22:49:07.863Z,1736376547.863 [DAT](INFO): DAT read: user:2912> 2025-01-08T22:49:07.864Z,1736376547.864 [DAT](INFO): DAT read: Tx time:22:49:07.1639 2025-01-08T22:49:07.864Z,1736376547.864 [DAT](INFO): Ping request sent. 2025-01-08T22:49:07.864Z,1736376547.864 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:07.865Z,1736376547.865 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:49:07.866Z,1736376547.866 [DAT](INFO): direction in FSK: [-0.259194,-0.237444,0.936183] 2025-01-08T22:49:07.866Z,1736376547.866 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:07.866Z,1736376547.866 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:07.870Z,1736376547.870 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:07.870Z,1736376547.870 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:08.064Z,1736376548.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:08.097Z,1736376548.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.299999 m, deltaT: 3.527835 s, deltaX: -1.600002 m, approachRate: -0.453537 m/s, rangeRepo size: 4 2025-01-08T22:49:08.104Z,1736376548.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:08.105Z,1736376548.105 [DAT](INFO): DAT read: TxSync time:22:49:07.1631 2025-01-08T22:49:08.107Z,1736376548.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.299999 m, bearing: 355.129651 deg, lat: 36.905046 deg, lon: -122.119542 deg, deltaT: 3.527835 s, deltaX: -1.600002 m, approachRate: -0.453537 m/s, posRepo size: 4 2025-01-08T22:49:08.108Z,1736376548.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:49:08.110Z,1736376548.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 5.221380 m, bearing: 335.407022 deg, approach rate: 0.000000 m/s, LOS rate: 1.889311 deg/s, cmd heading: 127.890757 deg, new cmd heading: 130.761230 deg. 2025-01-08T22:49:08.120Z,1736376548.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282214 target range: 50.299999 and range: 50.30 m. 2025-01-08T22:49:08.312Z,1736376548.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:08.330Z,1736376548.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:49:08.337Z,1736376548.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 5.360703 m, bearing: 334.443575 deg, approach rate: 0.583764 m/s, LOS rate: -3.931749 deg/s, cmd heading: 130.761226 deg, new cmd heading: 127.948399 deg. 2025-01-08T22:49:08.344Z,1736376548.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233121 target range: 50.299999 and range: 50.30 m. 2025-01-08T22:49:08.356Z,1736376548.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:08.608Z,1736376548.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:08.725Z,1736376548.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:08.758Z,1736376548.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:49:08.766Z,1736376548.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 5.604508 m, bearing: 332.935666 deg, approach rate: 0.569156 m/s, LOS rate: -3.366645 deg/s, cmd heading: 127.948404 deg, new cmd heading: 123.630160 deg. 2025-01-08T22:49:08.771Z,1736376548.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.157753 target range: 50.299999 and range: 50.30 m. 2025-01-08T22:49:08.861Z,1736376548.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:09.113Z,1736376549.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:09.116Z,1736376549.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:09.125Z,1736376549.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:49:09.128Z,1736376549.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 5.841670 m, bearing: 331.684006 deg, approach rate: 0.646924 m/s, LOS rate: -3.275384 deg/s, cmd heading: 123.630153 deg, new cmd heading: 120.032641 deg. 2025-01-08T22:49:09.129Z,1736376549.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094965 target range: 50.299999 and range: 50.30 m. 2025-01-08T22:49:09.365Z,1736376549.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:09.550Z,1736376549.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:09.598Z,1736376549.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:09.605Z,1736376549.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:49:09.616Z,1736376549.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:09.616Z,1736376549.616 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:49:09.616Z,1736376549.616 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:49:09.617Z,1736376549.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:49:09.624Z,1736376549.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 6.112082 m, bearing: 330.473366 deg, approach rate: 0.563340 m/s, LOS rate: -2.410316 deg/s, cmd heading: 120.032638 deg, new cmd heading: 116.565896 deg. 2025-01-08T22:49:09.625Z,1736376549.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.034459 target range: 50.299999 and range: 50.30 m. 2025-01-08T22:49:09.868Z,1736376549.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:09.868Z,1736376549.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004385 2025-01-08T22:49:09.957Z,1736376549.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:09.966Z,1736376549.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:49:09.969Z,1736376549.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 6.379849 m, bearing: 329.402806 deg, approach rate: 0.741180 m/s, LOS rate: -2.838778 deg/s, cmd heading: 116.565894 deg, new cmd heading: 113.492141 deg. 2025-01-08T22:49:09.970Z,1736376549.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.980812 target range: 50.299999 and range: 50.30 m. 2025-01-08T22:49:10.120Z,1736376550.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:10.121Z,1736376550.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256796 2025-01-08T22:49:10.324Z,1736376550.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:10.333Z,1736376550.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:49:10.336Z,1736376550.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 6.627951 m, bearing: 328.616149 deg, approach rate: 0.675387 m/s, LOS rate: -2.061230 deg/s, cmd heading: 113.492144 deg, new cmd heading: 111.221774 deg. 2025-01-08T22:49:10.337Z,1736376550.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.941186 target range: 50.299999 and range: 50.30 m. 2025-01-08T22:49:10.372Z,1736376550.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:10.373Z,1736376550.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508629 2025-01-08T22:49:10.624Z,1736376550.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:10.626Z,1736376550.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761607 2025-01-08T22:49:10.761Z,1736376550.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:10.776Z,1736376550.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:49:10.778Z,1736376550.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 6.925843 m, bearing: 327.883199 deg, approach rate: 0.673709 m/s, LOS rate: -1.586290 deg/s, cmd heading: 111.221776 deg, new cmd heading: 109.118506 deg. 2025-01-08T22:49:10.780Z,1736376550.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.904477 target range: 50.299999 and range: 50.30 m. 2025-01-08T22:49:10.876Z,1736376550.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:10.877Z,1736376550.877 [DAT](INFO): DAT read: Rx Time:22:49:09.6329 2025-01-08T22:49:10.877Z,1736376550.877 [DAT](INFO): Rx dataTimestamp_ set to:1736376550.876747 2025-01-08T22:49:10.878Z,1736376550.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013639 2025-01-08T22:49:11.128Z,1736376551.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:11.128Z,1736376551.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264386 2025-01-08T22:49:11.137Z,1736376551.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:11.161Z,1736376551.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:49:11.173Z,1736376551.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 7.187100 m, bearing: 327.350088 deg, approach rate: 0.676732 m/s, LOS rate: -1.330697 deg/s, cmd heading: 109.118508 deg, new cmd heading: 107.577705 deg. 2025-01-08T22:49:11.180Z,1736376551.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.877585 target range: 50.299999 and range: 50.30 m. 2025-01-08T22:49:11.380Z,1736376551.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:11.387Z,1736376551.387 [DAT](INFO): DAT read: 22:49:09.6329 LVL= 22416, 32753, 31986, 32755, AGC= 59, IDX= 419, 0.13,-0.664,-2.210,-1.549,-1.185, PHS= 0.608,-0.978,-0.367, RAW= 112.4, 10.7, CAL= 121.5, 7.9, ROT= 28.5, -7.9 2025-01-08T22:49:11.391Z,1736376551.391 [DAT](INFO): got valid direction response: 22:49:09.6329 LVL= 22416, 32753, 31986, 32755, AGC= 59, IDX= 419, 0.13,-0.664,-2.210,-1.549,-1.185, PHS= 0.608,-0.978,-0.367, RAW= 112.4, 10.7, CAL= 121.5, 7.9, ROT= 28.5, -7.9 2025-01-08T22:49:11.392Z,1736376551.392 [DAT](INFO): DAT read: Bearing 28.5, -7.9 (Local) 2025-01-08T22:49:11.392Z,1736376551.392 [DAT](INFO): Local bearing/azimuth received: Bearing 28.5, -7.9 (Local) 2025-01-08T22:49:11.394Z,1736376551.394 [DAT](INFO): DAT read: Range 10 to 50 : 48.6 m (Round-trip 64.8 ms) speed 0.7 m/s 2025-01-08T22:49:11.395Z,1736376551.395 [DAT](INFO): DAT read: user:2913> 2025-01-08T22:49:11.436Z,1736376551.436 [DAT](INFO): DAT read: Tx time:22:49:10.7139 2025-01-08T22:49:11.436Z,1736376551.436 [DAT](INFO): Ping request sent. 2025-01-08T22:49:11.436Z,1736376551.436 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:11.437Z,1736376551.437 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:49:11.437Z,1736376551.437 [DAT](INFO): direction in FSK: [-0.315007,-0.267177,0.910707] 2025-01-08T22:49:11.438Z,1736376551.438 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:11.438Z,1736376551.438 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:11.445Z,1736376551.445 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:11.445Z,1736376551.445 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:11.570Z,1736376551.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:11.632Z,1736376551.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:11.633Z,1736376551.633 [DAT](INFO): DAT read: TxSync time:22:49:10.7131 2025-01-08T22:49:11.637Z,1736376551.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 3.528043 s, deltaX: -1.700001 m, approachRate: -0.481854 m/s, rangeRepo size: 4 2025-01-08T22:49:11.644Z,1736376551.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.599998 m, bearing: 5.300085 deg, lat: 36.905169 deg, lon: -122.119542 deg, deltaT: 3.528043 s, deltaX: -1.700001 m, approachRate: -0.481854 m/s, posRepo size: 4 2025-01-08T22:49:11.648Z,1736376551.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T22:49:11.653Z,1736376551.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 20.295319 m, bearing: 348.358638 deg, approach rate: 0.000000 m/s, LOS rate: -1.330697 deg/s, cmd heading: 107.577706 deg, new cmd heading: 105.681357 deg. 2025-01-08T22:49:11.654Z,1736376551.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.844488 target range: 48.599998 and range: 48.60 m. 2025-01-08T22:49:11.884Z,1736376551.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:11.984Z,1736376551.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:11.991Z,1736376551.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:11.994Z,1736376551.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T22:49:11.996Z,1736376551.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 20.544167 m, bearing: 347.913873 deg, approach rate: 0.697442 m/s, LOS rate: -1.231424 deg/s, cmd heading: 105.681359 deg, new cmd heading: 104.363471 deg. 2025-01-08T22:49:11.998Z,1736376551.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.821486 target range: 48.599998 and range: 48.60 m. 2025-01-08T22:49:12.137Z,1736376552.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:12.138Z,1736376552.138 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:49:12.139Z,1736376552.139 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:49:12.139Z,1736376552.139 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:49:12.388Z,1736376552.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:12.388Z,1736376552.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.952233 2025-01-08T22:49:12.391Z,1736376552.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:12.400Z,1736376552.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T22:49:12.403Z,1736376552.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 20.788811 m, bearing: 347.489039 deg, approach rate: 0.601119 m/s, LOS rate: -1.031573 deg/s, cmd heading: 104.363474 deg, new cmd heading: 103.104185 deg. 2025-01-08T22:49:12.404Z,1736376552.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.799507 target range: 48.599998 and range: 48.60 m. 2025-01-08T22:49:12.640Z,1736376552.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:12.640Z,1736376552.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.204170 2025-01-08T22:49:12.784Z,1736376552.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:12.809Z,1736376552.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T22:49:12.816Z,1736376552.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 21.020153 m, bearing: 347.120537 deg, approach rate: 0.566062 m/s, LOS rate: -0.891744 deg/s, cmd heading: 103.104185 deg, new cmd heading: 102.010985 deg. 2025-01-08T22:49:12.817Z,1736376552.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780428 target range: 48.599998 and range: 48.60 m. 2025-01-08T22:49:12.892Z,1736376552.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:12.893Z,1736376552.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.456367 2025-01-08T22:49:13.144Z,1736376553.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:13.144Z,1736376553.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.708226 2025-01-08T22:49:13.180Z,1736376553.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:13.202Z,1736376553.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T22:49:13.205Z,1736376553.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 21.263933 m, bearing: 346.811261 deg, approach rate: 0.625414 m/s, LOS rate: -0.784342 deg/s, cmd heading: 102.010986 deg, new cmd heading: 101.093879 deg. 2025-01-08T22:49:13.206Z,1736376553.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.764421 target range: 48.599998 and range: 48.60 m. 2025-01-08T22:49:13.396Z,1736376553.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:13.396Z,1736376553.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960188 2025-01-08T22:49:13.557Z,1736376553.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:13.570Z,1736376553.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T22:49:13.574Z,1736376553.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 21.497667 m, bearing: 346.529912 deg, approach rate: 0.629312 m/s, LOS rate: -0.749272 deg/s, cmd heading: 101.093876 deg, new cmd heading: 100.259069 deg. 2025-01-08T22:49:13.575Z,1736376553.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749851 target range: 48.599998 and range: 48.60 m. 2025-01-08T22:49:13.649Z,1736376553.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:13.650Z,1736376553.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213338 2025-01-08T22:49:13.900Z,1736376553.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:13.900Z,1736376553.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464078 2025-01-08T22:49:13.989Z,1736376553.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:14.028Z,1736376554.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:14.030Z,1736376554.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T22:49:14.038Z,1736376554.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 21.759829 m, bearing: 346.231672 deg, approach rate: 0.570033 m/s, LOS rate: -0.640667 deg/s, cmd heading: 100.259070 deg, new cmd heading: 99.375202 deg. 2025-01-08T22:49:14.039Z,1736376554.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.734424 target range: 48.599998 and range: 48.60 m. 2025-01-08T22:49:14.157Z,1736376554.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:14.158Z,1736376554.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721298 2025-01-08T22:49:14.360Z,1736376554.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:14.369Z,1736376554.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T22:49:14.372Z,1736376554.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 21.985985 m, bearing: 345.978493 deg, approach rate: 0.667454 m/s, LOS rate: -0.739518 deg/s, cmd heading: 99.375202 deg, new cmd heading: 98.623523 deg. 2025-01-08T22:49:14.373Z,1736376554.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.721305 target range: 48.599998 and range: 48.60 m. 2025-01-08T22:49:14.408Z,1736376554.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:14.408Z,1736376554.408 [DAT](INFO): DAT read: Rx Time:22:49:13.1799 2025-01-08T22:49:14.409Z,1736376554.409 [DAT](INFO): Rx dataTimestamp_ set to:1736376554.408622 2025-01-08T22:49:14.409Z,1736376554.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973182 2025-01-08T22:49:14.660Z,1736376554.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:14.661Z,1736376554.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224893 2025-01-08T22:49:14.789Z,1736376554.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:14.799Z,1736376554.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T22:49:14.802Z,1736376554.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 22.242386 m, bearing: 345.725749 deg, approach rate: 0.597066 m/s, LOS rate: -0.581763 deg/s, cmd heading: 98.623526 deg, new cmd heading: 97.874080 deg. 2025-01-08T22:49:14.803Z,1736376554.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.708225 target range: 48.599998 and range: 48.60 m. 2025-01-08T22:49:14.912Z,1736376554.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:14.921Z,1736376554.921 [DAT](INFO): DAT read: 22:49:13.1799 LVL= 19520, 30705, 26482, 32755, AGC= 57, IDX= 404, 0.05,-0.202,-1.735,-1.146,-0.737, PHS= 0.624,-0.951,-0.412, RAW= 109.7, 10.7, CAL= 118.9, 8.3, ROT= 31.1, -8.3 2025-01-08T22:49:14.923Z,1736376554.923 [DAT](INFO): got valid direction response: 22:49:13.1799 LVL= 19520, 30705, 26482, 32755, AGC= 57, IDX= 404, 0.05,-0.202,-1.735,-1.146,-0.737, PHS= 0.624,-0.951,-0.412, RAW= 109.7, 10.7, CAL= 118.9, 8.3, ROT= 31.1, -8.3 2025-01-08T22:49:14.924Z,1736376554.924 [DAT](INFO): DAT read: Bearing 31.1, -8.3 (Local) 2025-01-08T22:49:14.925Z,1736376554.925 [DAT](INFO): Local bearing/azimuth received: Bearing 31.1, -8.3 (Local) 2025-01-08T22:49:14.927Z,1736376554.927 [DAT](INFO): DAT read: Range 10 to 50 : 46.4 m (Round-trip 61.9 ms) speed 0.6 m/s 2025-01-08T22:49:14.940Z,1736376554.940 [DAT](INFO): DAT read: user:2914> 2025-01-08T22:49:14.941Z,1736376554.941 [DAT](INFO): DAT read: Tx time:22:49:14.2639 2025-01-08T22:49:14.941Z,1736376554.941 [DAT](INFO): Ping request sent. 2025-01-08T22:49:14.941Z,1736376554.941 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:14.941Z,1736376554.941 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:49:14.942Z,1736376554.942 [DAT](INFO): direction in FSK: [-0.312375,-0.220250,0.924073] 2025-01-08T22:49:14.943Z,1736376554.943 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:14.943Z,1736376554.943 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:14.976Z,1736376554.976 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:14.976Z,1736376554.976 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:15.164Z,1736376555.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:15.164Z,1736376555.164 [DAT](INFO): DAT read: TxSync time:22:49:14.2631 2025-01-08T22:49:15.172Z,1736376555.172 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:49:15.199Z,1736376555.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:15.241Z,1736376555.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.400002 m, deltaT: 3.532206 s, deltaX: -2.199997 m, approachRate: -0.622839 m/s, rangeRepo size: 4 2025-01-08T22:49:15.248Z,1736376555.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.400002 m, bearing: 0.580880 deg, lat: 36.905169 deg, lon: -122.119542 deg, deltaT: 3.532206 s, deltaX: -2.199997 m, approachRate: -0.622839 m/s, posRepo size: 4 2025-01-08T22:49:15.248Z,1736376555.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.40 m. 2025-01-08T22:49:15.251Z,1736376555.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.400002 m, nav range: 22.483898 m, bearing: 345.486212 deg, approach rate: 0.000000 m/s, LOS rate: -0.581763 deg/s, cmd heading: 97.874077 deg, new cmd heading: 97.102482 deg. 2025-01-08T22:49:15.256Z,1736376555.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.694758 target range: 46.400002 and range: 46.40 m. 2025-01-08T22:49:15.416Z,1736376555.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:15.577Z,1736376555.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:15.586Z,1736376555.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.40 m. 2025-01-08T22:49:15.592Z,1736376555.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.400002 m, nav range: 22.710506 m, bearing: 345.259514 deg, approach rate: 0.656214 m/s, LOS rate: -0.649924 deg/s, cmd heading: 97.102484 deg, new cmd heading: 96.429206 deg. 2025-01-08T22:49:15.613Z,1736376555.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.683007 target range: 46.400002 and range: 46.40 m. 2025-01-08T22:49:15.670Z,1736376555.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:15.920Z,1736376555.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:16.010Z,1736376556.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:16.020Z,1736376556.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.40 m. 2025-01-08T22:49:16.023Z,1736376556.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.400002 m, nav range: 22.952696 m, bearing: 345.023009 deg, approach rate: 0.557791 m/s, LOS rate: -0.538949 deg/s, cmd heading: 96.429205 deg, new cmd heading: 95.727214 deg. 2025-01-08T22:49:16.024Z,1736376556.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670755 target range: 46.400002 and range: 46.40 m. 2025-01-08T22:49:16.172Z,1736376556.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:16.177Z,1736376556.177 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:49:16.424Z,1736376556.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:16.447Z,1736376556.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:16.455Z,1736376556.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:16.457Z,1736376556.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.40 m. 2025-01-08T22:49:16.476Z,1736376556.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.400002 m, nav range: 23.194988 m, bearing: 344.777598 deg, approach rate: 0.555000 m/s, LOS rate: -0.556270 deg/s, cmd heading: 95.727212 deg, new cmd heading: 94.998710 deg. 2025-01-08T22:49:16.477Z,1736376556.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658040 target range: 46.400002 and range: 46.40 m. 2025-01-08T22:49:16.678Z,1736376556.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:16.679Z,1736376556.679 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:49:16.679Z,1736376556.679 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:49:16.680Z,1736376556.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:49:16.874Z,1736376556.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:16.884Z,1736376556.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.40 m. 2025-01-08T22:49:16.887Z,1736376556.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.400002 m, nav range: 23.419588 m, bearing: 344.555100 deg, approach rate: 0.525296 m/s, LOS rate: -0.515389 deg/s, cmd heading: 94.998711 deg, new cmd heading: 94.337649 deg. 2025-01-08T22:49:16.888Z,1736376556.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646503 target range: 46.400002 and range: 46.40 m. 2025-01-08T22:49:16.928Z,1736376556.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:16.929Z,1736376556.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987498 2025-01-08T22:49:17.180Z,1736376557.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:17.181Z,1736376557.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239530 2025-01-08T22:49:17.318Z,1736376557.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:17.354Z,1736376557.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.40 m. 2025-01-08T22:49:17.358Z,1736376557.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.400002 m, nav range: 23.651930 m, bearing: 344.329730 deg, approach rate: 0.495000 m/s, LOS rate: -0.475428 deg/s, cmd heading: 94.337651 deg, new cmd heading: 93.668216 deg. 2025-01-08T22:49:17.359Z,1736376557.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634819 target range: 46.400002 and range: 46.40 m. 2025-01-08T22:49:17.432Z,1736376557.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:17.433Z,1736376557.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491898 2025-01-08T22:49:17.686Z,1736376557.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:17.688Z,1736376557.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746542 2025-01-08T22:49:17.754Z,1736376557.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:17.788Z,1736376557.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.40 m. 2025-01-08T22:49:17.791Z,1736376557.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.400002 m, nav range: 23.865705 m, bearing: 344.098148 deg, approach rate: 0.497496 m/s, LOS rate: -0.534107 deg/s, cmd heading: 93.668217 deg, new cmd heading: 92.979728 deg. 2025-01-08T22:49:17.796Z,1736376557.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.622802 target range: 46.400002 and range: 46.40 m. 2025-01-08T22:49:17.936Z,1736376557.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:17.937Z,1736376557.937 [DAT](INFO): DAT read: Rx Time:22:49:16.7268 2025-01-08T22:49:17.937Z,1736376557.937 [DAT](INFO): Rx dataTimestamp_ set to:1736376557.936703 2025-01-08T22:49:17.937Z,1736376557.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996397 2025-01-08T22:49:18.113Z,1736376558.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:18.122Z,1736376558.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.40 m. 2025-01-08T22:49:18.125Z,1736376558.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.400002 m, nav range: 24.039278 m, bearing: 343.902455 deg, approach rate: 0.512421 m/s, LOS rate: -0.573553 deg/s, cmd heading: 92.979727 deg, new cmd heading: 92.396909 deg. 2025-01-08T22:49:18.126Z,1736376558.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.612630 target range: 46.400002 and range: 46.40 m. 2025-01-08T22:49:18.188Z,1736376558.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:18.189Z,1736376558.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247398 2025-01-08T22:49:18.440Z,1736376558.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:18.446Z,1736376558.446 [DAT](INFO): DAT read: 22:49:16.7268 LVL= 14880, 24305, 20818, 28659, AGC= 62, IDX= 405, 0.14, 2.736, 0.657, 1.501, 1.703, PHS= 1.120,-0.999,-0.205, RAW= 111.8, 0.9, CAL= 121.3, -4.5, ROT= 28.7, 4.5 2025-01-08T22:49:18.448Z,1736376558.448 [DAT](INFO): got valid direction response: 22:49:16.7268 LVL= 14880, 24305, 20818, 28659, AGC= 62, IDX= 405, 0.14, 2.736, 0.657, 1.501, 1.703, PHS= 1.120,-0.999,-0.205, RAW= 111.8, 0.9, CAL= 121.3, -4.5, ROT= 28.7, 4.5 2025-01-08T22:49:18.449Z,1736376558.449 [DAT](INFO): DAT read: Bearing 28.7, 4.5 (Local) 2025-01-08T22:49:18.449Z,1736376558.449 [DAT](INFO): Local bearing/azimuth received: Bearing 28.7, 4.5 (Local) 2025-01-08T22:49:18.451Z,1736376558.451 [DAT](INFO): DAT read: Range 10 to 50 : 43.9 m (Round-trip 58.6 ms) speed 0.4 m/s 2025-01-08T22:49:18.452Z,1736376558.452 [DAT](INFO): DAT read: user:2915> 2025-01-08T22:49:18.452Z,1736376558.452 [DAT](INFO): DAT read: Tx time:22:49:17.8140 2025-01-08T22:49:18.453Z,1736376558.453 [DAT](INFO): Ping request sent. 2025-01-08T22:49:18.453Z,1736376558.453 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:18.453Z,1736376558.453 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:49:18.454Z,1736376558.454 [DAT](INFO): direction in FSK: [-0.131507,-0.273274,0.952905] 2025-01-08T22:49:18.454Z,1736376558.454 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:18.454Z,1736376558.454 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:18.458Z,1736376558.458 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:18.458Z,1736376558.458 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:18.590Z,1736376558.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:18.627Z,1736376558.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.900002 m, deltaT: 3.528033 s, deltaX: -2.500000 m, approachRate: -0.708610 m/s, rangeRepo size: 4 2025-01-08T22:49:18.634Z,1736376558.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.900002 m, bearing: 24.131732 deg, lat: 36.905169 deg, lon: -122.119477 deg, deltaT: 3.528033 s, deltaX: -2.500000 m, approachRate: -0.708610 m/s, posRepo size: 4 2025-01-08T22:49:18.634Z,1736376558.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.90 m. 2025-01-08T22:49:18.666Z,1736376558.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.900002 m, nav range: 23.306864 m, bearing: 357.498959 deg, approach rate: 0.000000 m/s, LOS rate: -0.573553 deg/s, cmd heading: 92.396907 deg, new cmd heading: 91.529810 deg. 2025-01-08T22:49:18.693Z,1736376558.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:18.696Z,1736376558.696 [DAT](INFO): DAT read: TxSync time:22:49:17.8132 2025-01-08T22:49:18.700Z,1736376558.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.597497 target range: 43.900002 and range: 43.90 m. 2025-01-08T22:49:18.944Z,1736376558.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:19.130Z,1736376559.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:19.138Z,1736376559.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:19.156Z,1736376559.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.90 m. 2025-01-08T22:49:19.163Z,1736376559.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.900002 m, nav range: 23.508999 m, bearing: 357.027642 deg, approach rate: 0.381236 m/s, LOS rate: -0.881272 deg/s, cmd heading: 91.529808 deg, new cmd heading: 90.128310 deg. 2025-01-08T22:49:19.164Z,1736376559.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.573036 target range: 43.900002 and range: 43.90 m. 2025-01-08T22:49:19.196Z,1736376559.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:19.196Z,1736376559.196 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:49:19.196Z,1736376559.196 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:49:19.196Z,1736376559.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:49:19.449Z,1736376559.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:19.449Z,1736376559.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996567 2025-01-08T22:49:19.510Z,1736376559.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:19.519Z,1736376559.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.90 m. 2025-01-08T22:49:19.537Z,1736376559.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.900002 m, nav range: 23.648703 m, bearing: 356.693713 deg, approach rate: 0.385408 m/s, LOS rate: -0.915778 deg/s, cmd heading: 90.128308 deg, new cmd heading: 89.132546 deg. 2025-01-08T22:49:19.538Z,1736376559.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555656 target range: 43.900002 and range: 43.90 m. 2025-01-08T22:49:19.701Z,1736376559.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:19.704Z,1736376559.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250285 2025-01-08T22:49:19.952Z,1736376559.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:19.952Z,1736376559.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499699 2025-01-08T22:49:20.001Z,1736376560.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:20.022Z,1736376560.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.90 m. 2025-01-08T22:49:20.025Z,1736376560.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.900002 m, nav range: 23.819479 m, bearing: 356.243721 deg, approach rate: 0.339423 m/s, LOS rate: -0.887951 deg/s, cmd heading: 89.132548 deg, new cmd heading: 87.792510 deg. 2025-01-08T22:49:20.026Z,1736376560.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.532268 target range: 43.900002 and range: 43.90 m. 2025-01-08T22:49:20.204Z,1736376560.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:20.204Z,1736376560.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751620 2025-01-08T22:49:20.385Z,1736376560.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:20.393Z,1736376560.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.90 m. 2025-01-08T22:49:20.396Z,1736376560.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.900002 m, nav range: 23.949657 m, bearing: 355.888619 deg, approach rate: 0.350405 m/s, LOS rate: -0.950635 deg/s, cmd heading: 87.792513 deg, new cmd heading: 86.733125 deg. 2025-01-08T22:49:20.398Z,1736376560.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.513779 target range: 43.900002 and range: 43.90 m. 2025-01-08T22:49:20.456Z,1736376560.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:20.457Z,1736376560.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003880 2025-01-08T22:49:20.710Z,1736376560.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:20.713Z,1736376560.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259727 2025-01-08T22:49:20.829Z,1736376560.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:20.838Z,1736376560.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.90 m. 2025-01-08T22:49:20.841Z,1736376560.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.900002 m, nav range: 24.099428 m, bearing: 355.463366 deg, approach rate: 0.336791 m/s, LOS rate: -0.950320 deg/s, cmd heading: 86.733123 deg, new cmd heading: 85.465511 deg. 2025-01-08T22:49:20.842Z,1736376560.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491655 target range: 43.900002 and range: 43.90 m. 2025-01-08T22:49:20.960Z,1736376560.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:20.961Z,1736376560.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507856 2025-01-08T22:49:21.172Z,1736376561.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:21.178Z,1736376561.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:21.182Z,1736376561.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.90 m. 2025-01-08T22:49:21.201Z,1736376561.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.900002 m, nav range: 24.212490 m, bearing: 355.131458 deg, approach rate: 0.329876 m/s, LOS rate: -0.963867 deg/s, cmd heading: 85.465508 deg, new cmd heading: 84.474536 deg. 2025-01-08T22:49:21.202Z,1736376561.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474359 target range: 43.900002 and range: 43.90 m. 2025-01-08T22:49:21.212Z,1736376561.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:21.212Z,1736376561.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759686 2025-01-08T22:49:21.464Z,1736376561.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:21.466Z,1736376561.466 [DAT](INFO): DAT read: Rx Time:22:49:20.2743 2025-01-08T22:49:21.466Z,1736376561.466 [DAT](INFO): Rx dataTimestamp_ set to:1736376561.465695 2025-01-08T22:49:21.466Z,1736376561.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013723 2025-01-08T22:49:21.592Z,1736376561.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:21.621Z,1736376561.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.90 m. 2025-01-08T22:49:21.624Z,1736376561.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.900002 m, nav range: 24.351927 m, bearing: 354.729546 deg, approach rate: 0.316640 m/s, LOS rate: -0.907450 deg/s, cmd heading: 84.474537 deg, new cmd heading: 83.275889 deg. 2025-01-08T22:49:21.625Z,1736376561.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.453438 target range: 43.900002 and range: 43.90 m. 2025-01-08T22:49:21.718Z,1736376561.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:21.720Z,1736376561.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267104 2025-01-08T22:49:21.969Z,1736376561.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:21.987Z,1736376561.987 [DAT](INFO): DAT read: 22:49:20.2743 LVL= 12272, 23441, 18594, 25555, AGC= 58, IDX= 411, 0.24,-0.959,-3.053,-2.523,-2.015, PHS= 1.145,-0.991,-0.511, RAW= 102.4, 3.7, CAL= 112.9, 1.5, ROT= 37.1, -1.5 2025-01-08T22:49:21.988Z,1736376561.988 [DAT](INFO): got valid direction response: 22:49:20.2743 LVL= 12272, 23441, 18594, 25555, AGC= 58, IDX= 411, 0.24,-0.959,-3.053,-2.523,-2.015, PHS= 1.145,-0.991,-0.511, RAW= 102.4, 3.7, CAL= 112.9, 1.5, ROT= 37.1, -1.5 2025-01-08T22:49:21.989Z,1736376561.989 [DAT](INFO): DAT read: Bearing 37.1, -1.5 (Local) 2025-01-08T22:49:21.990Z,1736376561.990 [DAT](INFO): Local bearing/azimuth received: Bearing 37.1, -1.5 (Local) 2025-01-08T22:49:21.992Z,1736376561.992 [DAT](INFO): DAT read: Range 10 to 50 : 42.0 m (Round-trip 56.1 ms) speed 0.4 m/s 2025-01-08T22:49:21.992Z,1736376561.992 [DAT](INFO): DAT read: user:2916> 2025-01-08T22:49:21.993Z,1736376561.993 [DAT](INFO): DAT read: Tx time:22:49:21.3640 2025-01-08T22:49:21.993Z,1736376561.993 [DAT](INFO): Ping request sent. 2025-01-08T22:49:21.993Z,1736376561.993 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:21.994Z,1736376561.994 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:49:21.995Z,1736376561.995 [DAT](INFO): direction in FSK: [-0.174207,-0.104875,0.979108] 2025-01-08T22:49:21.995Z,1736376561.995 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:21.995Z,1736376561.995 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:21.999Z,1736376561.999 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:22.039Z,1736376562.039 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:22.149Z,1736376562.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:22.183Z,1736376562.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 42.000000 m, deltaT: 3.529248 s, deltaX: -1.900002 m, approachRate: -0.538359 m/s, rangeRepo size: 4 2025-01-08T22:49:22.189Z,1736376562.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.000000 m, bearing: 0.535037 deg, lat: 36.905138 deg, lon: -122.119467 deg, deltaT: 3.529248 s, deltaX: -1.900002 m, approachRate: -0.538359 m/s, posRepo size: 4 2025-01-08T22:49:22.190Z,1736376562.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.00 m. 2025-01-08T22:49:22.197Z,1736376562.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.000000 m, nav range: 21.060183 m, bearing: 355.575712 deg, approach rate: 0.000000 m/s, LOS rate: -0.907450 deg/s, cmd heading: 83.275886 deg, new cmd heading: 81.749320 deg. 2025-01-08T22:49:22.205Z,1736376562.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426795 target range: 42.000000 and range: 42.00 m. 2025-01-08T22:49:22.220Z,1736376562.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:22.222Z,1736376562.222 [DAT](INFO): DAT read: TxSync time:22:49:21.3632 2025-01-08T22:49:22.472Z,1736376562.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:22.653Z,1736376562.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:22.669Z,1736376562.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.00 m. 2025-01-08T22:49:22.675Z,1736376562.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.000000 m, nav range: 21.209208 m, bearing: 354.932053 deg, approach rate: 0.306078 m/s, LOS rate: -1.312678 deg/s, cmd heading: 81.749318 deg, new cmd heading: 79.832664 deg. 2025-01-08T22:49:22.677Z,1736376562.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393343 target range: 42.000000 and range: 42.00 m. 2025-01-08T22:49:22.726Z,1736376562.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:22.976Z,1736376562.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:23.202Z,1736376563.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:23.210Z,1736376563.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:23.212Z,1736376563.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.00 m. 2025-01-08T22:49:23.216Z,1736376563.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.000000 m, nav range: 21.371754 m, bearing: 354.197183 deg, approach rate: 0.299369 m/s, LOS rate: -1.343115 deg/s, cmd heading: 79.832665 deg, new cmd heading: 77.645945 deg. 2025-01-08T22:49:23.217Z,1736376563.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355177 target range: 42.000000 and range: 42.00 m. 2025-01-08T22:49:23.228Z,1736376563.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:23.228Z,1736376563.228 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:49:23.228Z,1736376563.228 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:49:23.228Z,1736376563.228 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:49:23.480Z,1736376563.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:23.480Z,1736376563.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486926 2025-01-08T22:49:23.605Z,1736376563.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:23.634Z,1736376563.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.00 m. 2025-01-08T22:49:23.641Z,1736376563.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.000000 m, nav range: 21.488535 m, bearing: 353.657498 deg, approach rate: 0.276785 m/s, LOS rate: -1.272144 deg/s, cmd heading: 77.645946 deg, new cmd heading: 76.036137 deg. 2025-01-08T22:49:23.642Z,1736376563.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.327081 target range: 42.000000 and range: 42.00 m. 2025-01-08T22:49:23.734Z,1736376563.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:23.736Z,1736376563.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742313 2025-01-08T22:49:23.984Z,1736376563.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:23.984Z,1736376563.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991021 2025-01-08T22:49:24.056Z,1736376564.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:24.073Z,1736376564.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.00 m. 2025-01-08T22:49:24.080Z,1736376564.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.000000 m, nav range: 21.626186 m, bearing: 353.038825 deg, approach rate: 0.313378 m/s, LOS rate: -1.399483 deg/s, cmd heading: 76.036138 deg, new cmd heading: 74.192607 deg. 2025-01-08T22:49:24.082Z,1736376564.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294905 target range: 42.000000 and range: 42.00 m. 2025-01-08T22:49:24.236Z,1736376564.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:24.236Z,1736376564.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242985 2025-01-08T22:49:24.428Z,1736376564.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:24.438Z,1736376564.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.00 m. 2025-01-08T22:49:24.441Z,1736376564.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.000000 m, nav range: 21.741917 m, bearing: 352.533110 deg, approach rate: 0.317342 m/s, LOS rate: -1.379314 deg/s, cmd heading: 74.192609 deg, new cmd heading: 72.683908 deg. 2025-01-08T22:49:24.442Z,1736376564.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268574 target range: 42.000000 and range: 42.00 m. 2025-01-08T22:49:24.488Z,1736376564.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:24.490Z,1736376564.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495948 2025-01-08T22:49:24.741Z,1736376564.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:24.744Z,1736376564.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749695 2025-01-08T22:49:24.852Z,1736376564.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:24.861Z,1736376564.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.00 m. 2025-01-08T22:49:24.865Z,1736376564.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.000000 m, nav range: 21.868767 m, bearing: 351.934021 deg, approach rate: 0.299476 m/s, LOS rate: -1.406140 deg/s, cmd heading: 72.683909 deg, new cmd heading: 70.897679 deg. 2025-01-08T22:49:24.866Z,1736376564.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.237398 target range: 42.000000 and range: 42.00 m. 2025-01-08T22:49:24.992Z,1736376564.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:24.993Z,1736376564.993 [DAT](INFO): DAT read: Rx Time:22:49:23.8223 2025-01-08T22:49:24.993Z,1736376564.993 [DAT](INFO): Rx dataTimestamp_ set to:1736376564.992893 2025-01-08T22:49:24.994Z,1736376564.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000294 2025-01-08T22:49:25.221Z,1736376565.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:25.244Z,1736376565.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:25.244Z,1736376565.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250865 2025-01-08T22:49:25.245Z,1736376565.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:25.249Z,1736376565.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.00 m. 2025-01-08T22:49:25.256Z,1736376565.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.000000 m, nav range: 21.976128 m, bearing: 351.411322 deg, approach rate: 0.278216 m/s, LOS rate: -1.347895 deg/s, cmd heading: 70.897678 deg, new cmd heading: 69.337646 deg. 2025-01-08T22:49:25.257Z,1736376565.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210170 target range: 42.000000 and range: 42.00 m. 2025-01-08T22:49:25.500Z,1736376565.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:25.503Z,1736376565.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508920 2025-01-08T22:49:25.626Z,1736376565.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:25.635Z,1736376565.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.00 m. 2025-01-08T22:49:25.638Z,1736376565.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.000000 m, nav range: 22.090628 m, bearing: 350.834802 deg, approach rate: 0.295464 m/s, LOS rate: -1.479957 deg/s, cmd heading: 69.337649 deg, new cmd heading: 67.617601 deg. 2025-01-08T22:49:25.639Z,1736376565.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.180150 target range: 42.000000 and range: 42.00 m. 2025-01-08T22:49:25.749Z,1736376565.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:25.756Z,1736376565.756 [DAT](INFO): DAT read: 22:49:23.8223 LVL= 13296, 23281, 18802, 24531, AGC= 54, IDX= 423,-0.34,-2.841, 1.426, 1.475, 2.320, PHS= 1.210,-0.847,-0.849, RAW= 90.0, 4.8, CAL= 97.3, 3.6, ROT= 52.7, -3.6 2025-01-08T22:49:25.757Z,1736376565.757 [DAT](INFO): got valid direction response: 22:49:23.8223 LVL= 13296, 23281, 18802, 24531, AGC= 54, IDX= 423,-0.34,-2.841, 1.426, 1.475, 2.320, PHS= 1.210,-0.847,-0.849, RAW= 90.0, 4.8, CAL= 97.3, 3.6, ROT= 52.7, -3.6 2025-01-08T22:49:25.759Z,1736376565.759 [DAT](INFO): DAT read: Bearing 52.7, -3.6 (Local) 2025-01-08T22:49:25.760Z,1736376565.760 [DAT](INFO): Local bearing/azimuth received: Bearing 52.7, -3.6 (Local) 2025-01-08T22:49:25.766Z,1736376565.766 [DAT](INFO): DAT read: Range 10 to 50 : 40.5 m (Round-trip 54.1 ms) speed 0.4 m/s 2025-01-08T22:49:25.772Z,1736376565.772 [DAT](INFO): DAT read: user:2917> 2025-01-08T22:49:25.775Z,1736376565.775 [DAT](INFO): DAT read: Tx time:22:49:24.9140 2025-01-08T22:49:25.784Z,1736376565.784 [DAT](INFO): Ping request sent. 2025-01-08T22:49:25.785Z,1736376565.785 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:25.787Z,1736376565.787 [DAT](INFO): DAT read: TxSync time:22:49:24.9132 2025-01-08T22:49:25.800Z,1736376565.800 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:49:25.808Z,1736376565.808 [DAT](INFO): direction in FSK: [-0.175169,0.112677,0.978069] 2025-01-08T22:49:25.808Z,1736376565.808 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:25.809Z,1736376565.809 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:25.840Z,1736376565.840 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:25.840Z,1736376565.840 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:25.000Z,1736376566.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:26.072Z,1736376566.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:26.087Z,1736376566.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.500000 m, deltaT: 3.779412 s, deltaX: -1.500000 m, approachRate: -0.396887 m/s, rangeRepo size: 4 2025-01-08T22:49:26.089Z,1736376566.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.500000 m, bearing: 198.186636 deg, lat: 36.905056 deg, lon: -122.119448 deg, deltaT: 3.779412 s, deltaX: -1.500000 m, approachRate: -0.396887 m/s, posRepo size: 4 2025-01-08T22:49:26.090Z,1736376566.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:26.093Z,1736376566.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 13.017165 m, bearing: 350.703485 deg, approach rate: 0.000000 m/s, LOS rate: -1.479957 deg/s, cmd heading: 67.617602 deg, new cmd heading: 65.613415 deg. 2025-01-08T22:49:26.094Z,1736376566.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145170 target range: 40.500000 and range: 40.50 m. 2025-01-08T22:49:26.252Z,1736376566.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:26.504Z,1736376566.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:26.510Z,1736376566.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:26.521Z,1736376566.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:26.524Z,1736376566.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 13.140739 m, bearing: 349.633282 deg, approach rate: 0.284208 m/s, LOS rate: -2.438069 deg/s, cmd heading: 65.613413 deg, new cmd heading: 62.436441 deg. 2025-01-08T22:49:26.525Z,1736376566.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089721 target range: 40.500000 and range: 40.50 m. 2025-01-08T22:49:26.757Z,1736376566.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:26.941Z,1736376566.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:26.950Z,1736376566.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:26.958Z,1736376566.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 13.260191 m, bearing: 348.635619 deg, approach rate: 0.278590 m/s, LOS rate: -2.305716 deg/s, cmd heading: 62.436439 deg, new cmd heading: 59.473204 deg. 2025-01-08T22:49:26.960Z,1736376566.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.038003 target range: 40.500000 and range: 40.50 m. 2025-01-08T22:49:27.009Z,1736376567.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:27.260Z,1736376567.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:27.393Z,1736376567.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:27.416Z,1736376567.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:27.418Z,1736376567.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:27.432Z,1736376567.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 13.378052 m, bearing: 347.581028 deg, approach rate: 0.251943 m/s, LOS rate: -2.234337 deg/s, cmd heading: 59.473203 deg, new cmd heading: 56.340605 deg. 2025-01-08T22:49:27.434Z,1736376567.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983329 target range: 40.500000 and range: 40.50 m. 2025-01-08T22:49:27.512Z,1736376567.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:27.512Z,1736376567.512 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:49:27.512Z,1736376567.512 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:49:27.513Z,1736376567.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:49:27.766Z,1736376567.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:27.769Z,1736376567.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984128 2025-01-08T22:49:27.913Z,1736376567.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:27.946Z,1736376567.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:27.953Z,1736376567.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 13.510183 m, bearing: 346.454489 deg, approach rate: 0.250188 m/s, LOS rate: -2.112072 deg/s, cmd heading: 56.340605 deg, new cmd heading: 52.998056 deg. 2025-01-08T22:49:27.954Z,1736376567.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.924991 target range: 40.500000 and range: 40.50 m. 2025-01-08T22:49:28.016Z,1736376568.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:28.017Z,1736376568.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232329 2025-01-08T22:49:28.261Z,1736376568.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:28.268Z,1736376568.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:28.269Z,1736376568.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484227 2025-01-08T22:49:28.273Z,1736376568.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:28.276Z,1736376568.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 13.597354 m, bearing: 345.700789 deg, approach rate: 0.266268 m/s, LOS rate: -2.287402 deg/s, cmd heading: 52.998057 deg, new cmd heading: 50.752666 deg. 2025-01-08T22:49:28.277Z,1736376568.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.885801 target range: 40.500000 and range: 40.50 m. 2025-01-08T22:49:28.523Z,1736376568.523 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:28.524Z,1736376568.524 [DAT](INFO): DAT read: Rx Time:22:49:27.3703 2025-01-08T22:49:28.525Z,1736376568.525 [DAT](INFO): Rx dataTimestamp_ set to:1736376568.524247 2025-01-08T22:49:28.525Z,1736376568.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740605 2025-01-08T22:49:28.685Z,1736376568.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:28.717Z,1736376568.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:28.721Z,1736376568.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 13.700895 m, bearing: 344.786845 deg, approach rate: 0.233097 m/s, LOS rate: -2.041879 deg/s, cmd heading: 50.752667 deg, new cmd heading: 48.033714 deg. 2025-01-08T22:49:28.721Z,1736376568.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838346 target range: 40.500000 and range: 40.50 m. 2025-01-08T22:49:28.777Z,1736376568.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:28.778Z,1736376568.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993408 2025-01-08T22:49:29.029Z,1736376569.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:29.032Z,1736376569.032 [DAT](INFO): DAT read: Range 10 to 50 : 39.0 m (Round-trip 52.1 ms) speed 0.3 m/s 2025-01-08T22:49:29.033Z,1736376569.033 [DAT](INFO): DAT read: user:2918> 2025-01-08T22:49:29.033Z,1736376569.033 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:49:29.034Z,1736376569.034 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:49:29.034Z,1736376569.034 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:49:29.034Z,1736376569.034 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:49:29.154Z,1736376569.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:29.178Z,1736376569.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.000000 m, deltaT: 3.280966 s, deltaX: -1.500000 m, approachRate: -0.457182 m/s, rangeRepo size: 4 2025-01-08T22:49:29.179Z,1736376569.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:29.186Z,1736376569.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 13.802007 m, bearing: 343.836280 deg, approach rate: 0.219952 m/s, LOS rate: -2.052565 deg/s, cmd heading: 48.033715 deg, new cmd heading: 45.205340 deg. 2025-01-08T22:49:29.187Z,1736376569.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788982 target range: 40.500000 and range: 39.00 m. 2025-01-08T22:49:29.280Z,1736376569.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:29.281Z,1736376569.281 [DAT](INFO): DAT read: Tx time:22:49:28.4640 2025-01-08T22:49:29.282Z,1736376569.282 [DAT](INFO): Ping request sent. 2025-01-08T22:49:29.282Z,1736376569.282 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:29.282Z,1736376569.282 [DAT](INFO): DAT read: TxSync time:22:49:28.4632 2025-01-08T22:49:29.283Z,1736376569.283 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:29.284Z,1736376569.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002016 2025-01-08T22:49:29.532Z,1736376569.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:29.533Z,1736376569.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251230 2025-01-08T22:49:29.535Z,1736376569.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:29.541Z,1736376569.541 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-01-08T22:49:29.542Z,1736376569.542 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-01-08T22:49:29.542Z,1736376569.542 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-01-08T22:49:29.544Z,1736376569.544 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.000000 m (mode 2.000000 count ). 2025-01-08T22:49:29.544Z,1736376569.544 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-01-08T22:49:29.544Z,1736376569.544 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-01-08T22:49:29.545Z,1736376569.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:29.547Z,1736376569.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:29.550Z,1736376569.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 13.882210 m, bearing: 343.066596 deg, approach rate: 0.217037 m/s, LOS rate: -2.070743 deg/s, cmd heading: 45.205341 deg, new cmd heading: 42.910925 deg. 2025-01-08T22:49:29.552Z,1736376569.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748937 target range: 40.500000 and range: 39.00 m. 2025-01-08T22:49:29.785Z,1736376569.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:29.786Z,1736376569.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504477 2025-01-08T22:49:29.973Z,1736376569.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:29.980Z,1736376569.980 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-01-08T22:49:29.980Z,1736376569.980 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-01-08T22:49:29.985Z,1736376569.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:29.988Z,1736376569.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 13.970792 m, bearing: 342.238377 deg, approach rate: 0.202299 m/s, LOS rate: -1.879384 deg/s, cmd heading: 42.910926 deg, new cmd heading: 40.443636 deg. 2025-01-08T22:49:29.989Z,1736376569.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705875 target range: 40.500000 and range: 39.00 m. 2025-01-08T22:49:30.036Z,1736376570.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:30.037Z,1736376570.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755866 2025-01-08T22:49:30.288Z,1736376570.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:30.288Z,1736376570.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006886 2025-01-08T22:49:30.384Z,1736376570.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:30.390Z,1736376570.390 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-01-08T22:49:30.390Z,1736376570.390 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-01-08T22:49:30.410Z,1736376570.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:30.424Z,1736376570.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.051681 m, bearing: 341.463154 deg, approach rate: 0.190438 m/s, LOS rate: -1.814557 deg/s, cmd heading: 40.443637 deg, new cmd heading: 38.132680 deg. 2025-01-08T22:49:30.425Z,1736376570.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665541 target range: 40.500000 and range: 39.00 m. 2025-01-08T22:49:30.541Z,1736376570.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:30.542Z,1736376570.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260275 2025-01-08T22:49:30.792Z,1736376570.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:30.793Z,1736376570.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511217 2025-01-08T22:49:30.807Z,1736376570.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:30.813Z,1736376570.813 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-01-08T22:49:30.814Z,1736376570.814 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-01-08T22:49:30.814Z,1736376570.814 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-01-08T22:49:30.814Z,1736376570.814 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-01-08T22:49:30.817Z,1736376570.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:30.889Z,1736376570.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.133046 m, bearing: 340.665968 deg, approach rate: 0.199670 m/s, LOS rate: -1.944958 deg/s, cmd heading: 38.132680 deg, new cmd heading: 35.756332 deg. 2025-01-08T22:49:30.890Z,1736376570.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624066 target range: 40.500000 and range: 39.00 m. 2025-01-08T22:49:31.044Z,1736376571.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:31.045Z,1736376571.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763158 2025-01-08T22:49:31.298Z,1736376571.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:31.299Z,1736376571.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017819 2025-01-08T22:49:31.346Z,1736376571.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:31.377Z,1736376571.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:31.380Z,1736376571.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.207951 m, bearing: 339.711894 deg, approach rate: 0.133724 m/s, LOS rate: -1.694220 deg/s, cmd heading: 35.756331 deg, new cmd heading: 32.911669 deg. 2025-01-08T22:49:31.381Z,1736376571.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574417 target range: 40.500000 and range: 39.00 m. 2025-01-08T22:49:31.548Z,1736376571.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:31.549Z,1736376571.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267900 2025-01-08T22:49:31.712Z,1736376571.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:31.720Z,1736376571.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:31.722Z,1736376571.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:31.741Z,1736376571.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.256883 m, bearing: 339.065172 deg, approach rate: 0.141972 m/s, LOS rate: -1.869919 deg/s, cmd heading: 32.911669 deg, new cmd heading: 30.978938 deg. 2025-01-08T22:49:31.742Z,1736376571.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540684 target range: 40.500000 and range: 39.00 m. 2025-01-08T22:49:31.800Z,1736376571.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:31.802Z,1736376571.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520102 2025-01-08T22:49:32.052Z,1736376572.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:32.054Z,1736376572.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771919 2025-01-08T22:49:32.168Z,1736376572.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:32.177Z,1736376572.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:32.180Z,1736376572.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.305244 m, bearing: 338.284355 deg, approach rate: 0.106170 m/s, LOS rate: -1.708309 deg/s, cmd heading: 30.978938 deg, new cmd heading: 28.645768 deg. 2025-01-08T22:49:32.182Z,1736376572.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.499963 target range: 40.500000 and range: 39.00 m. 2025-01-08T22:49:32.304Z,1736376572.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:32.305Z,1736376572.305 [DAT](INFO): DAT read: Rx Time:22:49:30.9190 2025-01-08T22:49:32.305Z,1736376572.305 [DAT](INFO): Rx dataTimestamp_ set to:1736376572.304879 2025-01-08T22:49:32.306Z,1736376572.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024197 2025-01-08T22:49:32.521Z,1736376572.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:32.529Z,1736376572.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:32.534Z,1736376572.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.340578 m, bearing: 337.681228 deg, approach rate: 0.100404 m/s, LOS rate: -1.709583 deg/s, cmd heading: 28.645767 deg, new cmd heading: 26.841475 deg. 2025-01-08T22:49:32.535Z,1736376572.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468472 target range: 40.500000 and range: 39.00 m. 2025-01-08T22:49:32.556Z,1736376572.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:32.557Z,1736376572.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275045 2025-01-08T22:49:32.810Z,1736376572.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:32.813Z,1736376572.813 [DAT](INFO): DAT read: Range 10 to 50 : 38.0 m (Round-trip 50.7 ms) speed 0.1 m/s 2025-01-08T22:49:32.814Z,1736376572.814 [DAT](INFO): DAT read: user:2919> 2025-01-08T22:49:32.815Z,1736376572.815 [DAT](INFO): DAT read: Tx time:22:49:32.0141 2025-01-08T22:49:32.816Z,1736376572.816 [DAT](INFO): Ping request sent. 2025-01-08T22:49:32.816Z,1736376572.816 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:32.817Z,1736376572.817 [DAT](INFO): DAT read: TxSync time:22:49:32.0133 2025-01-08T22:49:32.817Z,1736376572.817 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:49:32.817Z,1736376572.817 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:32.818Z,1736376572.818 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:33.006Z,1736376573.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:33.017Z,1736376573.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.000000 m, deltaT: 3.780197 s, deltaX: -1.000000 m, approachRate: -0.264536 m/s, rangeRepo size: 4 2025-01-08T22:49:33.018Z,1736376573.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:33.021Z,1736376573.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.378505 m, bearing: 336.880335 deg, approach rate: 0.077839 m/s, LOS rate: -1.639319 deg/s, cmd heading: 26.841475 deg, new cmd heading: 24.446607 deg. 2025-01-08T22:49:33.022Z,1736376573.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426674 target range: 40.500000 and range: 38.00 m. 2025-01-08T22:49:33.061Z,1736376573.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:33.312Z,1736376573.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:33.345Z,1736376573.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:33.362Z,1736376573.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:33.369Z,1736376573.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.400231 m, bearing: 336.317501 deg, approach rate: 0.062867 m/s, LOS rate: -1.626106 deg/s, cmd heading: 24.446606 deg, new cmd heading: 22.761166 deg. 2025-01-08T22:49:33.370Z,1736376573.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.397257 target range: 40.500000 and range: 38.00 m. 2025-01-08T22:49:33.565Z,1736376573.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:33.742Z,1736376573.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:33.750Z,1736376573.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:33.752Z,1736376573.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:33.755Z,1736376573.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.423168 m, bearing: 335.658862 deg, approach rate: 0.058773 m/s, LOS rate: -1.684971 deg/s, cmd heading: 22.761165 deg, new cmd heading: 20.789213 deg. 2025-01-08T22:49:33.756Z,1736376573.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.362840 target range: 40.500000 and range: 38.00 m. 2025-01-08T22:49:33.816Z,1736376573.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:33.817Z,1736376573.817 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:49:33.817Z,1736376573.817 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:49:33.817Z,1736376573.817 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-01-08T22:49:34.068Z,1736376574.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:34.069Z,1736376574.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252572 2025-01-08T22:49:34.172Z,1736376574.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:34.190Z,1736376574.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:34.197Z,1736376574.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.439879 m, bearing: 334.974687 deg, approach rate: 0.038175 m/s, LOS rate: -1.561086 deg/s, cmd heading: 20.789212 deg, new cmd heading: 18.739986 deg. 2025-01-08T22:49:34.199Z,1736376574.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.327074 target range: 40.500000 and range: 38.00 m. 2025-01-08T22:49:34.320Z,1736376574.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:34.321Z,1736376574.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505054 2025-01-08T22:49:34.546Z,1736376574.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:34.556Z,1736376574.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:34.559Z,1736376574.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.451819 m, bearing: 334.380874 deg, approach rate: 0.032578 m/s, LOS rate: -1.618850 deg/s, cmd heading: 18.739985 deg, new cmd heading: 16.960622 deg. 2025-01-08T22:49:34.560Z,1736376574.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.296019 target range: 40.500000 and range: 38.00 m. 2025-01-08T22:49:34.572Z,1736376574.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:34.572Z,1736376574.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756516 2025-01-08T22:49:34.824Z,1736376574.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:34.825Z,1736376574.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008601 2025-01-08T22:49:35.013Z,1736376575.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:35.024Z,1736376575.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:35.026Z,1736376575.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.458465 m, bearing: 333.663612 deg, approach rate: 0.014231 m/s, LOS rate: -1.535312 deg/s, cmd heading: 16.960622 deg, new cmd heading: 14.810889 deg. 2025-01-08T22:49:35.028Z,1736376575.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.258499 target range: 40.500000 and range: 38.00 m. 2025-01-08T22:49:35.077Z,1736376575.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:35.078Z,1736376575.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261696 2025-01-08T22:49:35.328Z,1736376575.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:35.328Z,1736376575.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512521 2025-01-08T22:49:35.356Z,1736376575.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:35.366Z,1736376575.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:35.369Z,1736376575.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.457615 m, bearing: 333.137970 deg, approach rate: -0.002478 m/s, LOS rate: -1.533259 deg/s, cmd heading: 14.810890 deg, new cmd heading: 13.234291 deg. 2025-01-08T22:49:35.370Z,1736376575.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230982 target range: 40.500000 and range: 38.00 m. 2025-01-08T22:49:35.581Z,1736376575.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:35.582Z,1736376575.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766263 2025-01-08T22:49:35.752Z,1736376575.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:35.777Z,1736376575.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:35.779Z,1736376575.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:35.783Z,1736376575.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.454217 m, bearing: 332.532719 deg, approach rate: -0.008237 m/s, LOS rate: -1.467507 deg/s, cmd heading: 13.234291 deg, new cmd heading: 11.418753 deg. 2025-01-08T22:49:35.784Z,1736376575.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.199295 target range: 40.500000 and range: 38.00 m. 2025-01-08T22:49:35.832Z,1736376575.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:35.833Z,1736376575.833 [DAT](INFO): DAT read: Rx Time:22:49:34.4688 2025-01-08T22:49:35.834Z,1736376575.834 [DAT](INFO): Rx dataTimestamp_ set to:1736376575.833374 2025-01-08T22:49:35.834Z,1736376575.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018259 2025-01-08T22:49:36.084Z,1736376576.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:36.085Z,1736376576.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268614 2025-01-08T22:49:36.217Z,1736376576.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:36.226Z,1736376576.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:36.245Z,1736376576.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.442637 m, bearing: 331.813721 deg, approach rate: -0.025892 m/s, LOS rate: -1.608925 deg/s, cmd heading: 11.418753 deg, new cmd heading: 9.261104 deg. 2025-01-08T22:49:36.246Z,1736376576.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.161637 target range: 40.500000 and range: 38.00 m. 2025-01-08T22:49:36.337Z,1736376576.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:36.340Z,1736376576.340 [DAT](INFO): DAT read: Range 10 to 50 : 37.8 m (Round-trip 50.5 ms) speed -0.1 m/s 2025-01-08T22:49:36.341Z,1736376576.341 [DAT](INFO): DAT read: user:2920> 2025-01-08T22:49:36.342Z,1736376576.342 [DAT](INFO): DAT read: Tx time:22:49:35.5641 2025-01-08T22:49:36.343Z,1736376576.343 [DAT](INFO): Ping request sent. 2025-01-08T22:49:36.343Z,1736376576.343 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:36.344Z,1736376576.344 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:49:36.345Z,1736376576.345 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:36.346Z,1736376576.346 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:36.348Z,1736376576.348 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.004364 2025-01-08T22:49:36.588Z,1736376576.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:36.588Z,1736376576.588 [DAT](INFO): DAT read: TxSync time:22:49:35.5633 2025-01-08T22:49:36.589Z,1736376576.589 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.246480 2025-01-08T22:49:36.630Z,1736376576.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:36.640Z,1736376576.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.799999 m, deltaT: 3.527094 s, deltaX: -0.200001 m, approachRate: -0.056704 m/s, rangeRepo size: 4 2025-01-08T22:49:36.640Z,1736376576.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:36.664Z,1736376576.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.430186 m, bearing: 331.181327 deg, approach rate: -0.030156 m/s, LOS rate: -1.532926 deg/s, cmd heading: 9.261104 deg, new cmd heading: 7.363018 deg. 2025-01-08T22:49:36.666Z,1736376576.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128509 target range: 40.500000 and range: 37.80 m. 2025-01-08T22:49:36.840Z,1736376576.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:36.841Z,1736376576.841 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.498244 2025-01-08T22:49:37.092Z,1736376577.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:37.093Z,1736376577.093 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.749837 2025-01-08T22:49:37.093Z,1736376577.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:37.110Z,1736376577.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:37.125Z,1736376577.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.414127 m, bearing: 330.481945 deg, approach rate: -0.034087 m/s, LOS rate: -1.486134 deg/s, cmd heading: 7.363018 deg, new cmd heading: 5.263529 deg. 2025-01-08T22:49:37.126Z,1736376577.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091866 target range: 40.500000 and range: 37.80 m. 2025-01-08T22:49:37.346Z,1736376577.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:37.346Z,1736376577.346 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.003606 2025-01-08T22:49:37.470Z,1736376577.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:37.479Z,1736376577.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:37.482Z,1736376577.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.398538 m, bearing: 329.876989 deg, approach rate: -0.042262 m/s, LOS rate: -1.641701 deg/s, cmd heading: 5.263529 deg, new cmd heading: 3.447336 deg. 2025-01-08T22:49:37.483Z,1736376577.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060167 target range: 40.500000 and range: 37.80 m. 2025-01-08T22:49:37.596Z,1736376577.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:37.597Z,1736376577.597 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.254171 2025-01-08T22:49:37.849Z,1736376577.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:37.849Z,1736376577.849 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.506644 2025-01-08T22:49:37.869Z,1736376577.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:37.877Z,1736376577.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:37.879Z,1736376577.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:37.882Z,1736376577.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.380965 m, bearing: 329.260301 deg, approach rate: -0.043968 m/s, LOS rate: -1.544883 deg/s, cmd heading: 3.447336 deg, new cmd heading: 1.595692 deg. 2025-01-08T22:49:37.884Z,1736376577.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.027850 target range: 40.500000 and range: 37.80 m. 2025-01-08T22:49:38.100Z,1736376578.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:38.100Z,1736376578.100 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.757758 2025-01-08T22:49:38.306Z,1736376578.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:38.316Z,1736376578.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:38.319Z,1736376578.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.368956 m, bearing: 328.572714 deg, approach rate: -0.027445 m/s, LOS rate: -1.572568 deg/s, cmd heading: 1.595692 deg, new cmd heading: 359.532151 deg. 2025-01-08T22:49:38.320Z,1736376578.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275020 target range: 40.500000 and range: 37.80 m. 2025-01-08T22:49:38.352Z,1736376578.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:38.353Z,1736376578.353 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.010746 2025-01-08T22:49:38.604Z,1736376578.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:38.604Z,1736376578.604 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.261772 2025-01-08T22:49:38.694Z,1736376578.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:38.704Z,1736376578.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:38.707Z,1736376578.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.352078 m, bearing: 327.964185 deg, approach rate: -0.043570 m/s, LOS rate: -1.572809 deg/s, cmd heading: 359.532142 deg, new cmd heading: 357.705060 deg. 2025-01-08T22:49:38.708Z,1736376578.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.243131 target range: 40.500000 and range: 37.80 m. 2025-01-08T22:49:38.856Z,1736376578.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:38.856Z,1736376578.856 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.513679 2025-01-08T22:49:39.101Z,1736376579.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:39.108Z,1736376579.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:39.109Z,1736376579.109 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.765998 2025-01-08T22:49:39.112Z,1736376579.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:39.116Z,1736376579.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.336297 m, bearing: 327.288379 deg, approach rate: -0.038633 m/s, LOS rate: -1.656170 deg/s, cmd heading: 357.705066 deg, new cmd heading: 355.676313 deg. 2025-01-08T22:49:39.117Z,1736376579.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207723 target range: 40.500000 and range: 37.80 m. 2025-01-08T22:49:39.360Z,1736376579.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:39.361Z,1736376579.361 [DAT](INFO): DAT read: Rx Time:22:49:38.0193 2025-01-08T22:49:39.362Z,1736376579.362 [DAT](INFO): Rx dataTimestamp_ set to:1736376579.361631 2025-01-08T22:49:39.363Z,1736376579.363 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.020184 2025-01-08T22:49:39.502Z,1736376579.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:39.510Z,1736376579.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m. 2025-01-08T22:49:39.513Z,1736376579.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.500000 m, nav range: 14.322715 m, bearing: 326.621870 deg, approach rate: -0.034093 m/s, LOS rate: -1.674543 deg/s, cmd heading: 355.676309 deg, new cmd heading: 353.675744 deg. 2025-01-08T22:49:39.514Z,1736376579.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172806 target range: 40.500000 and range: 37.80 m. 2025-01-08T22:49:39.612Z,1736376579.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:39.612Z,1736376579.612 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.269787 2025-01-08T22:49:39.864Z,1736376579.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:39.871Z,1736376579.871 [DAT](INFO): DAT read: 22:49:38.0193 LVL= 14032, 16881, 13938, 20691, AGC= 50, IDX= 422, 0.28, 2.182, 2.359, 0.180, 1.639, PHS= 0.631, 0.767,-1.462, RAW= 26.9, 0.6, CAL= 26.2, -0.5, ROT= 123.8, 0.5 2025-01-08T22:49:39.876Z,1736376579.876 [DAT](INFO): got valid direction response: 22:49:38.0193 LVL= 14032, 16881, 13938, 20691, AGC= 50, IDX= 422, 0.28, 2.182, 2.359, 0.180, 1.639, PHS= 0.631, 0.767,-1.462, RAW= 26.9, 0.6, CAL= 26.2, -0.5, ROT= 123.8, 0.5 2025-01-08T22:49:39.877Z,1736376579.877 [DAT](INFO): DAT read: Bearing 123.8, 0.5 (Local) 2025-01-08T22:49:39.877Z,1736376579.877 [DAT](INFO): Local bearing/azimuth received: Bearing 123.8, 0.5 (Local) 2025-01-08T22:49:39.887Z,1736376579.887 [DAT](INFO): DAT read: Range 10 to 50 : 38.2 m (Round-trip 51.0 ms) speed -0.1 m/s 2025-01-08T22:49:39.888Z,1736376579.888 [DAT](INFO): DAT read: user:2921> 2025-01-08T22:49:39.889Z,1736376579.889 [DAT](INFO): DAT read: Tx time:22:49:39.1141 2025-01-08T22:49:39.889Z,1736376579.889 [DAT](INFO): Ping request sent. 2025-01-08T22:49:39.889Z,1736376579.889 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:39.889Z,1736376579.889 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-01-08T22:49:39.890Z,1736376579.890 [DAT](INFO): direction in FSK: [0.027588,0.916454,0.399188] 2025-01-08T22:49:39.890Z,1736376579.890 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:39.891Z,1736376579.891 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:39.914Z,1736376579.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:39.917Z,1736376579.917 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:39.917Z,1736376579.917 [DAT](INFO): publishing direction and range info 2025-01-08T22:49:39.961Z,1736376579.961 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.071797 2025-01-08T22:49:40.052Z,1736376580.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.200001 m, deltaT: 3.526923 s, deltaX: 0.400002 m, approachRate: 0.113414 m/s, rangeRepo size: 4 2025-01-08T22:49:40.054Z,1736376580.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.200001 m, bearing: 127.871300 deg, lat: 36.905001 deg, lon: -122.119437 deg, deltaT: 14.115180 s, deltaX: -2.299999 m, approachRate: -0.162945 m/s, posRepo size: 4 2025-01-08T22:49:40.055Z,1736376580.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 38.20 m. 2025-01-08T22:49:40.060Z,1736376580.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:40.062Z,1736376580.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.053678 m, bearing: 308.834772 deg, approach rate: 0.000000 m/s, LOS rate: -1.674543 deg/s, cmd heading: 353.675747 deg, new cmd heading: 350.981382 deg. 2025-01-08T22:49:40.068Z,1736376580.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.125781 target range: 38.200001 and range: 38.20 m. 2025-01-08T22:49:40.116Z,1736376580.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:40.117Z,1736376580.117 [DAT](INFO): DAT read: TxSync time:22:49:39.1133 2025-01-08T22:49:40.118Z,1736376580.118 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.228697 2025-01-08T22:49:40.368Z,1736376580.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:40.368Z,1736376580.368 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.479348 2025-01-08T22:49:40.446Z,1736376580.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:40.462Z,1736376580.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:40.468Z,1736376580.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 38.20 m. 2025-01-08T22:49:40.468Z,1736376580.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:40.471Z,1736376580.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.102494 m, bearing: 307.369310 deg, approach rate: 0.117233 m/s, LOS rate: -3.500055 deg/s, cmd heading: 350.981374 deg, new cmd heading: 346.617500 deg. 2025-01-08T22:49:40.476Z,1736376580.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049617 target range: 38.200001 and range: 38.20 m. 2025-01-08T22:49:40.623Z,1736376580.623 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:40.624Z,1736376580.624 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.734975 2025-01-08T22:49:40.789Z,1736376580.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:40.798Z,1736376580.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 38.20 m. 2025-01-08T22:49:40.800Z,1736376580.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:40.802Z,1736376580.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.133663 m, bearing: 306.429613 deg, approach rate: 0.093288 m/s, LOS rate: -2.802782 deg/s, cmd heading: 346.617511 deg, new cmd heading: 343.810413 deg. 2025-01-08T22:49:40.824Z,1736376580.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.000624 target range: 38.200001 and range: 38.20 m. 2025-01-08T22:49:40.876Z,1736376580.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:40.877Z,1736376580.877 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.988359 2025-01-08T22:49:41.128Z,1736376581.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:41.128Z,1736376581.128 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.239155 2025-01-08T22:49:41.229Z,1736376581.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:41.239Z,1736376581.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 38.20 m. 2025-01-08T22:49:41.239Z,1736376581.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:41.242Z,1736376581.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.183178 m, bearing: 305.165335 deg, approach rate: 0.112204 m/s, LOS rate: -2.849272 deg/s, cmd heading: 343.810413 deg, new cmd heading: 340.043773 deg. 2025-01-08T22:49:41.244Z,1736376581.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934884 target range: 38.200001 and range: 38.20 m. 2025-01-08T22:49:41.380Z,1736376581.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:41.381Z,1736376581.381 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.491710 2025-01-08T22:49:41.608Z,1736376581.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:41.616Z,1736376581.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 38.20 m. 2025-01-08T22:49:41.616Z,1736376581.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:41.620Z,1736376581.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.224913 m, bearing: 304.079959 deg, approach rate: 0.110657 m/s, LOS rate: -2.864631 deg/s, cmd heading: 340.043782 deg, new cmd heading: 336.806028 deg. 2025-01-08T22:49:41.621Z,1736376581.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878374 target range: 38.200001 and range: 38.20 m. 2025-01-08T22:49:41.632Z,1736376581.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:41.632Z,1736376581.632 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.743358 2025-01-08T22:49:41.884Z,1736376581.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:41.884Z,1736376581.884 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.995344 2025-01-08T22:49:42.050Z,1736376582.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:42.086Z,1736376582.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:42.093Z,1736376582.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.272756 m, bearing: 302.818459 deg, approach rate: 0.101900 m/s, LOS rate: -2.672783 deg/s, cmd heading: 336.806026 deg, new cmd heading: 333.046759 deg. 2025-01-08T22:49:42.094Z,1736376582.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812763 target range: 38.200001 and range: 38.20 m. 2025-01-08T22:49:42.136Z,1736376582.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:42.137Z,1736376582.137 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.248211 2025-01-08T22:49:42.388Z,1736376582.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:42.388Z,1736376582.388 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.499314 2025-01-08T22:49:42.445Z,1736376582.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:42.477Z,1736376582.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:42.479Z,1736376582.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 38.20 m. 2025-01-08T22:49:42.483Z,1736376582.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:42.486Z,1736376582.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.327162 m, bearing: 301.663589 deg, approach rate: 0.138392 m/s, LOS rate: -2.920294 deg/s, cmd heading: 333.046772 deg, new cmd heading: 329.606747 deg. 2025-01-08T22:49:42.487Z,1736376582.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752723 target range: 38.200001 and range: 38.20 m. 2025-01-08T22:49:42.640Z,1736376582.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:42.640Z,1736376582.640 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.751330 2025-01-08T22:49:42.827Z,1736376582.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:42.853Z,1736376582.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 38.20 m. 2025-01-08T22:49:42.854Z,1736376582.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:42.856Z,1736376582.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.383192 m, bearing: 300.562679 deg, approach rate: 0.149622 m/s, LOS rate: -2.922103 deg/s, cmd heading: 329.606734 deg, new cmd heading: 326.327511 deg. 2025-01-08T22:49:42.857Z,1736376582.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695489 target range: 38.200001 and range: 38.20 m. 2025-01-08T22:49:42.892Z,1736376582.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:42.894Z,1736376582.894 [DAT](INFO): DAT read: Rx Time:22:49:41.5701 2025-01-08T22:49:42.894Z,1736376582.894 [DAT](INFO): Rx dataTimestamp_ set to:1736376582.893777 2025-01-08T22:49:42.895Z,1736376582.895 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.005768 2025-01-08T22:49:43.144Z,1736376583.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:43.144Z,1736376583.144 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.255342 2025-01-08T22:49:43.256Z,1736376583.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:43.270Z,1736376583.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 38.20 m. 2025-01-08T22:49:43.270Z,1736376583.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:43.273Z,1736376583.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.445111 m, bearing: 299.319895 deg, approach rate: 0.148733 m/s, LOS rate: -2.965419 deg/s, cmd heading: 326.327505 deg, new cmd heading: 322.629032 deg. 2025-01-08T22:49:43.274Z,1736376583.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630939 target range: 38.200001 and range: 38.20 m. 2025-01-08T22:49:43.396Z,1736376583.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:43.399Z,1736376583.399 [DAT](INFO): DAT read: Range 10 to 50 : 38.7 m (Round-trip 51.7 ms) speed -0.2 m/s 2025-01-08T22:49:43.401Z,1736376583.401 [DAT](INFO): DAT read: user:2922> 2025-01-08T22:49:43.402Z,1736376583.402 [DAT](INFO): DAT read: Tx time:22:49:42.6642 2025-01-08T22:49:43.402Z,1736376583.402 [DAT](INFO): Ping request sent. 2025-01-08T22:49:43.402Z,1736376583.402 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:43.402Z,1736376583.402 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-01-08T22:49:43.402Z,1736376583.402 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:43.403Z,1736376583.403 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:43.404Z,1736376583.404 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.001974 2025-01-08T22:49:43.615Z,1736376583.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:43.648Z,1736376583.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:43.649Z,1736376583.649 [DAT](INFO): DAT read: TxSync time:22:49:42.6634 2025-01-08T22:49:43.651Z,1736376583.651 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.248513 2025-01-08T22:49:43.654Z,1736376583.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.700001 m, deltaT: 3.532452 s, deltaX: 0.500000 m, approachRate: 0.141545 m/s, rangeRepo size: 4 2025-01-08T22:49:43.655Z,1736376583.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 38.70 m. 2025-01-08T22:49:43.660Z,1736376583.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:43.670Z,1736376583.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.496315 m, bearing: 298.285270 deg, approach rate: 0.133586 m/s, LOS rate: -2.684549 deg/s, cmd heading: 322.629040 deg, new cmd heading: 319.545051 deg. 2025-01-08T22:49:43.676Z,1736376583.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577113 target range: 38.200001 and range: 38.70 m. 2025-01-08T22:49:43.900Z,1736376583.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:43.901Z,1736376583.901 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.498718 2025-01-08T22:49:44.026Z,1736376584.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:44.100Z,1736376584.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:44.103Z,1736376584.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.554567 m, bearing: 297.104988 deg, approach rate: 0.130223 m/s, LOS rate: -2.622256 deg/s, cmd heading: 319.545045 deg, new cmd heading: 316.030450 deg. 2025-01-08T22:49:44.116Z,1736376584.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515772 target range: 38.200001 and range: 38.70 m. 2025-01-08T22:49:44.153Z,1736376584.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:44.154Z,1736376584.154 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.751693 2025-01-08T22:49:44.404Z,1736376584.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:44.405Z,1736376584.405 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.002573 2025-01-08T22:49:44.476Z,1736376584.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:44.484Z,1736376584.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:44.486Z,1736376584.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 38.70 m. 2025-01-08T22:49:44.486Z,1736376584.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:44.489Z,1736376584.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.615073 m, bearing: 295.831906 deg, approach rate: 0.156738 m/s, LOS rate: -3.276853 deg/s, cmd heading: 316.030449 deg, new cmd heading: 312.241083 deg. 2025-01-08T22:49:44.490Z,1736376584.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449635 target range: 38.200001 and range: 38.70 m. 2025-01-08T22:49:44.656Z,1736376584.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:44.658Z,1736376584.658 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.255388 2025-01-08T22:49:44.834Z,1736376584.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:44.843Z,1736376584.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 38.70 m. 2025-01-08T22:49:44.844Z,1736376584.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:44.846Z,1736376584.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.662763 m, bearing: 294.826188 deg, approach rate: 0.133700 m/s, LOS rate: -2.805532 deg/s, cmd heading: 312.241087 deg, new cmd heading: 309.241722 deg. 2025-01-08T22:49:44.848Z,1736376584.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397286 target range: 38.200001 and range: 38.70 m. 2025-01-08T22:49:44.908Z,1736376584.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:44.909Z,1736376584.909 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.506508 2025-01-08T22:49:45.160Z,1736376585.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:45.160Z,1736376585.160 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.758316 2025-01-08T22:49:45.252Z,1736376585.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:45.261Z,1736376585.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 38.70 m. 2025-01-08T22:49:45.261Z,1736376585.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:45.265Z,1736376585.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.707007 m, bearing: 293.701666 deg, approach rate: 0.105840 m/s, LOS rate: -2.677593 deg/s, cmd heading: 309.241732 deg, new cmd heading: 305.887595 deg. 2025-01-08T22:49:45.266Z,1736376585.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.338746 target range: 38.200001 and range: 38.70 m. 2025-01-08T22:49:45.412Z,1736376585.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:45.412Z,1736376585.412 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.010379 2025-01-08T22:49:45.652Z,1736376585.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:45.664Z,1736376585.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:45.666Z,1736376585.666 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.263822 2025-01-08T22:49:45.675Z,1736376585.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 38.70 m. 2025-01-08T22:49:45.676Z,1736376585.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:45.681Z,1736376585.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.748845 m, bearing: 292.628858 deg, approach rate: 0.101114 m/s, LOS rate: -2.581500 deg/s, cmd heading: 305.887590 deg, new cmd heading: 302.686499 deg. 2025-01-08T22:49:45.682Z,1736376585.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282876 target range: 38.200001 and range: 38.70 m. 2025-01-08T22:49:45.916Z,1736376585.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:45.916Z,1736376585.916 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.514446 2025-01-08T22:49:46.042Z,1736376586.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:46.054Z,1736376586.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:46.057Z,1736376586.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.788647 m, bearing: 291.589084 deg, approach rate: 0.104853 m/s, LOS rate: -2.727871 deg/s, cmd heading: 302.686499 deg, new cmd heading: 299.583071 deg. 2025-01-08T22:49:46.077Z,1736376586.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.228711 target range: 38.200001 and range: 38.70 m. 2025-01-08T22:49:46.169Z,1736376586.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:46.170Z,1736376586.170 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.767630 2025-01-08T22:49:46.297Z,1736376586.297 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:49:46.420Z,1736376586.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:46.420Z,1736376586.420 [DAT](INFO): DAT read: Rx Time:22:49:45.1211 2025-01-08T22:49:46.421Z,1736376586.421 [DAT](INFO): Rx dataTimestamp_ set to:1736376586.420544 2025-01-08T22:49:46.421Z,1736376586.421 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.019312 2025-01-08T22:49:46.537Z,1736376586.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:46.544Z,1736376586.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:46.546Z,1736376586.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 38.70 m. 2025-01-08T22:49:46.546Z,1736376586.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:46.550Z,1736376586.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.813622 m, bearing: 290.340968 deg, approach rate: 0.050829 m/s, LOS rate: -2.533435 deg/s, cmd heading: 299.583080 deg, new cmd heading: 295.853832 deg. 2025-01-08T22:49:46.551Z,1736376586.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163623 target range: 38.200001 and range: 38.70 m. 2025-01-08T22:49:46.674Z,1736376586.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:46.677Z,1736376586.677 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.274928 2025-01-08T22:49:46.857Z,1736376586.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:46.866Z,1736376586.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 38.70 m. 2025-01-08T22:49:46.866Z,1736376586.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:46.869Z,1736376586.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.828912 m, bearing: 289.536068 deg, approach rate: 0.047726 m/s, LOS rate: -2.508526 deg/s, cmd heading: 295.853824 deg, new cmd heading: 293.444381 deg. 2025-01-08T22:49:46.870Z,1736376586.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.121571 target range: 38.200001 and range: 38.70 m. 2025-01-08T22:49:46.924Z,1736376586.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:46.927Z,1736376586.927 [DAT](INFO): DAT read: Range 10 to 50 : 39.6 m (Round-trip 52.8 ms) speed -0.4 m/s 2025-01-08T22:49:46.928Z,1736376586.928 [DAT](INFO): DAT read: user:2923> 2025-01-08T22:49:46.929Z,1736376586.929 [DAT](INFO): DAT read: Tx time:22:49:46.2142 2025-01-08T22:49:46.929Z,1736376586.929 [DAT](INFO): Ping request sent. 2025-01-08T22:49:46.929Z,1736376586.929 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:46.930Z,1736376586.930 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-01-08T22:49:46.930Z,1736376586.930 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:46.931Z,1736376586.931 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:46.932Z,1736376586.932 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.002739 2025-01-08T22:49:47.176Z,1736376587.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:47.176Z,1736376587.176 [DAT](INFO): DAT read: TxSync time:22:49:46.2134 2025-01-08T22:49:47.177Z,1736376587.177 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.247691 2025-01-08T22:49:47.277Z,1736376587.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:47.287Z,1736376587.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.599998 m, deltaT: 3.528344 s, deltaX: 0.899998 m, approachRate: 0.255077 m/s, rangeRepo size: 4 2025-01-08T22:49:47.288Z,1736376587.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 39.60 m. 2025-01-08T22:49:47.288Z,1736376587.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:47.291Z,1736376587.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.820524 m, bearing: 288.528869 deg, approach rate: -0.019958 m/s, LOS rate: -2.398561 deg/s, cmd heading: 293.444379 deg, new cmd heading: 290.423161 deg. 2025-01-08T22:49:47.292Z,1736376587.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.068841 target range: 38.200001 and range: 39.60 m. 2025-01-08T22:49:47.300Z,1736376587.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:49:47.428Z,1736376587.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:47.429Z,1736376587.429 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.499027 2025-01-08T22:49:47.680Z,1736376587.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:47.682Z,1736376587.682 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.752029 2025-01-08T22:49:47.694Z,1736376587.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:47.706Z,1736376587.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 39.60 m. 2025-01-08T22:49:47.706Z,1736376587.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:47.709Z,1736376587.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.811421 m, bearing: 287.529748 deg, approach rate: -0.021686 m/s, LOS rate: -2.382387 deg/s, cmd heading: 290.423168 deg, new cmd heading: 287.425913 deg. 2025-01-08T22:49:47.710Z,1736376587.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.016529 target range: 38.200001 and range: 39.60 m. 2025-01-08T22:49:47.932Z,1736376587.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:47.933Z,1736376587.933 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.003284 2025-01-08T22:49:48.063Z,1736376588.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:48.079Z,1736376588.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:48.082Z,1736376588.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.801995 m, bearing: 286.642656 deg, approach rate: -0.025299 m/s, LOS rate: -2.383088 deg/s, cmd heading: 287.425917 deg, new cmd heading: 284.764104 deg. 2025-01-08T22:49:48.084Z,1736376588.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.970071 target range: 38.200001 and range: 39.60 m. 2025-01-08T22:49:48.184Z,1736376588.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:48.185Z,1736376588.185 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.255106 2025-01-08T22:49:48.436Z,1736376588.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:48.436Z,1736376588.436 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.506956 2025-01-08T22:49:48.553Z,1736376588.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:48.559Z,1736376588.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:48.561Z,1736376588.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 39.60 m. 2025-01-08T22:49:48.562Z,1736376588.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:48.565Z,1736376588.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.752597 m, bearing: 285.516249 deg, approach rate: -0.102318 m/s, LOS rate: -2.344771 deg/s, cmd heading: 284.764110 deg, new cmd heading: 281.371962 deg. 2025-01-08T22:49:48.566Z,1736376588.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.910867 target range: 38.200001 and range: 39.60 m. 2025-01-08T22:49:48.688Z,1736376588.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:48.689Z,1736376588.689 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.759128 2025-01-08T22:49:48.928Z,1736376588.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:48.937Z,1736376588.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 39.60 m. 2025-01-08T22:49:48.938Z,1736376588.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:48.940Z,1736376588.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:48.940Z,1736376588.940 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.010954 2025-01-08T22:49:48.942Z,1736376588.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.713305 m, bearing: 284.651456 deg, approach rate: -0.104494 m/s, LOS rate: -2.309039 deg/s, cmd heading: 281.371965 deg, new cmd heading: 278.768982 deg. 2025-01-08T22:49:48.944Z,1736376588.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865437 target range: 38.200001 and range: 39.60 m. 2025-01-08T22:49:49.192Z,1736376589.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:49.193Z,1736376589.193 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.262978 2025-01-08T22:49:49.420Z,1736376589.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:49.430Z,1736376589.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 39.60 m. 2025-01-08T22:49:49.430Z,1736376589.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:49.434Z,1736376589.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.629908 m, bearing: 283.572906 deg, approach rate: -0.169362 m/s, LOS rate: -2.209147 deg/s, cmd heading: 278.768980 deg, new cmd heading: 275.509024 deg. 2025-01-08T22:49:49.434Z,1736376589.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808539 target range: 38.200001 and range: 39.60 m. 2025-01-08T22:49:49.444Z,1736376589.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:49.444Z,1736376589.444 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.514915 2025-01-08T22:49:49.696Z,1736376589.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:49.696Z,1736376589.696 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.766759 2025-01-08T22:49:49.856Z,1736376589.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:49.865Z,1736376589.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 39.60 m. 2025-01-08T22:49:49.866Z,1736376589.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:49.869Z,1736376589.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.554642 m, bearing: 282.613105 deg, approach rate: -0.173168 m/s, LOS rate: -2.225552 deg/s, cmd heading: 275.509013 deg, new cmd heading: 272.609542 deg. 2025-01-08T22:49:49.870Z,1736376589.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.757934 target range: 38.200001 and range: 39.60 m. 2025-01-08T22:49:49.950Z,1736376589.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:49.950Z,1736376589.950 [DAT](INFO): DAT read: Rx Time:22:49:48.6728 2025-01-08T22:49:49.951Z,1736376589.951 [DAT](INFO): Rx dataTimestamp_ set to:1736376589.950610 2025-01-08T22:49:49.952Z,1736376589.952 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.022005 2025-01-08T22:49:50.204Z,1736376590.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:50.204Z,1736376590.204 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.274955 2025-01-08T22:49:50.283Z,1736376590.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:50.293Z,1736376590.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 39.60 m. 2025-01-08T22:49:50.293Z,1736376590.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:50.296Z,1736376590.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.461280 m, bearing: 281.648825 deg, approach rate: -0.218004 m/s, LOS rate: -2.273745 deg/s, cmd heading: 272.609543 deg, new cmd heading: 269.690822 deg. 2025-01-08T22:49:50.297Z,1736376590.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706993 target range: 38.200001 and range: 39.60 m. 2025-01-08T22:49:50.456Z,1736376590.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:50.457Z,1736376590.457 [DAT](INFO): DAT read: Range 10 to 50 : 40.8 m (Round-trip 54.4 ms) speed -0.6 m/s 2025-01-08T22:49:50.458Z,1736376590.458 [DAT](INFO): DAT read: user:2924> 2025-01-08T22:49:50.459Z,1736376590.459 [DAT](INFO): DAT read: Tx time:22:49:49.7642 2025-01-08T22:49:50.459Z,1736376590.459 [DAT](INFO): Ping request sent. 2025-01-08T22:49:50.459Z,1736376590.459 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:49:50.460Z,1736376590.460 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-01-08T22:49:50.460Z,1736376590.460 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:50.460Z,1736376590.460 [DAT](INFO): publishing transmit ping time 2025-01-08T22:49:50.461Z,1736376590.461 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.001860 2025-01-08T22:49:50.652Z,1736376590.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:50.664Z,1736376590.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:50.673Z,1736376590.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.799999 m, deltaT: 3.531086 s, deltaX: 1.200001 m, approachRate: 0.339839 m/s, rangeRepo size: 4 2025-01-08T22:49:50.674Z,1736376590.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:50.679Z,1736376590.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.379412 m, bearing: 280.811439 deg, approach rate: -0.218442 m/s, LOS rate: -2.253745 deg/s, cmd heading: 269.690812 deg, new cmd heading: 267.158466 deg. 2025-01-08T22:49:50.696Z,1736376590.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662795 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:50.708Z,1736376590.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:50.709Z,1736376590.709 [DAT](INFO): DAT read: TxSync time:22:49:49.7634 2025-01-08T22:49:50.709Z,1736376590.709 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.250146 2025-01-08T22:49:50.962Z,1736376590.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:50.962Z,1736376590.962 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.503083 2025-01-08T22:49:51.057Z,1736376591.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:51.076Z,1736376591.076 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-01-08T22:49:51.076Z,1736376591.076 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-01-08T22:49:51.076Z,1736376591.076 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-01-08T22:49:51.078Z,1736376591.078 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 40.799999 m (mode 2.000000 count ). 2025-01-08T22:49:51.078Z,1736376591.078 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-01-08T22:49:51.078Z,1736376591.078 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-01-08T22:49:51.084Z,1736376591.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:51.091Z,1736376591.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.284198 m, bearing: 279.900915 deg, approach rate: -0.228418 m/s, LOS rate: -2.206659 deg/s, cmd heading: 267.158478 deg, new cmd heading: 264.401137 deg. 2025-01-08T22:49:51.092Z,1736376591.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614670 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:51.217Z,1736376591.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:51.219Z,1736376591.219 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.759359 2025-01-08T22:49:51.468Z,1736376591.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:51.469Z,1736376591.469 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.009303 2025-01-08T22:49:51.483Z,1736376591.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:51.489Z,1736376591.489 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-01-08T22:49:51.489Z,1736376591.489 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-01-08T22:49:51.492Z,1736376591.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:51.494Z,1736376591.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.176510 m, bearing: 278.907441 deg, approach rate: -0.264540 m/s, LOS rate: -2.469021 deg/s, cmd heading: 264.401131 deg, new cmd heading: 261.388665 deg. 2025-01-08T22:49:51.496Z,1736376591.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562093 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:51.720Z,1736376591.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:51.721Z,1736376591.721 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.261616 2025-01-08T22:49:51.858Z,1736376591.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:51.873Z,1736376591.873 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-01-08T22:49:51.873Z,1736376591.873 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-01-08T22:49:51.876Z,1736376591.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:51.879Z,1736376591.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 9.080744 m, bearing: 278.026052 deg, approach rate: -0.249033 m/s, LOS rate: -2.316070 deg/s, cmd heading: 261.388662 deg, new cmd heading: 258.718648 deg. 2025-01-08T22:49:51.896Z,1736376591.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515492 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:51.974Z,1736376591.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:51.974Z,1736376591.974 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.514939 2025-01-08T22:49:52.224Z,1736376592.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:52.224Z,1736376592.224 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.765089 2025-01-08T22:49:52.291Z,1736376592.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:52.297Z,1736376592.297 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-01-08T22:49:52.297Z,1736376592.297 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-01-08T22:49:52.298Z,1736376592.298 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-01-08T22:49:52.298Z,1736376592.298 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-01-08T22:49:52.301Z,1736376592.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:52.304Z,1736376592.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.980158 m, bearing: 276.978155 deg, approach rate: -0.236736 m/s, LOS rate: -2.493781 deg/s, cmd heading: 258.718659 deg, new cmd heading: 255.543189 deg. 2025-01-08T22:49:52.305Z,1736376592.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460070 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:52.476Z,1736376592.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:52.476Z,1736376592.476 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.017205 2025-01-08T22:49:52.682Z,1736376592.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:52.690Z,1736376592.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:52.692Z,1736376592.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:52.695Z,1736376592.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.888280 m, bearing: 276.023996 deg, approach rate: -0.234873 m/s, LOS rate: -2.464276 deg/s, cmd heading: 255.543195 deg, new cmd heading: 252.653713 deg. 2025-01-08T22:49:52.696Z,1736376592.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409639 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:52.728Z,1736376592.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:52.729Z,1736376592.729 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.269884 2025-01-08T22:49:52.980Z,1736376592.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:52.980Z,1736376592.980 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.521151 2025-01-08T22:49:53.074Z,1736376593.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:53.085Z,1736376593.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:53.088Z,1736376593.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.795125 m, bearing: 275.064177 deg, approach rate: -0.236892 m/s, LOS rate: -2.466546 deg/s, cmd heading: 252.653724 deg, new cmd heading: 249.746403 deg. 2025-01-08T22:49:53.089Z,1736376593.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358897 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:53.232Z,1736376593.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:53.233Z,1736376593.233 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.773608 2025-01-08T22:49:53.485Z,1736376593.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:53.486Z,1736376593.486 [DAT](INFO): DAT read: Rx Time:22:49:52.2250 2025-01-08T22:49:53.486Z,1736376593.486 [DAT](INFO): Rx dataTimestamp_ set to:1736376593.485787 2025-01-08T22:49:53.488Z,1736376593.488 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.028634 2025-01-08T22:49:53.541Z,1736376593.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:53.561Z,1736376593.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:53.568Z,1736376593.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.701584 m, bearing: 273.832783 deg, approach rate: -0.196533 m/s, LOS rate: -2.614805 deg/s, cmd heading: 249.746413 deg, new cmd heading: 246.018080 deg. 2025-01-08T22:49:53.569Z,1736376593.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293826 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:53.736Z,1736376593.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:53.736Z,1736376593.736 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.277101 2025-01-08T22:49:53.905Z,1736376593.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:53.918Z,1736376593.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:53.921Z,1736376593.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.627835 m, bearing: 272.865324 deg, approach rate: -0.206769 m/s, LOS rate: -2.735516 deg/s, cmd heading: 246.018086 deg, new cmd heading: 243.093583 deg. 2025-01-08T22:49:53.922Z,1736376593.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.242784 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:53.988Z,1736376593.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:53.989Z,1736376593.989 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:49:53.989Z,1736376593.989 [DAT](INFO): Received a bad header 2025-01-08T22:49:54.004Z,1736376594.004 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.544431 2025-01-08T22:49:54.242Z,1736376594.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:54.245Z,1736376594.245 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.784709 2025-01-08T22:49:54.326Z,1736376594.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:54.336Z,1736376594.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:54.339Z,1736376594.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.575276 m, bearing: 271.706017 deg, approach rate: -0.125718 m/s, LOS rate: -2.789810 deg/s, cmd heading: 243.093591 deg, new cmd heading: 239.598931 deg. 2025-01-08T22:49:54.340Z,1736376594.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.181790 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:54.492Z,1736376594.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:54.492Z,1736376594.492 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.033152 2025-01-08T22:49:54.704Z,1736376594.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:54.710Z,1736376594.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:54.712Z,1736376594.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:54.716Z,1736376594.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.525915 m, bearing: 270.706023 deg, approach rate: -0.131092 m/s, LOS rate: -2.670985 deg/s, cmd heading: 239.598938 deg, new cmd heading: 236.584524 deg. 2025-01-08T22:49:54.717Z,1736376594.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129179 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:54.753Z,1736376594.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:54.754Z,1736376594.754 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.294620 2025-01-08T22:49:55.004Z,1736376595.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:55.004Z,1736376595.004 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.545139 2025-01-08T22:49:55.103Z,1736376595.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:55.111Z,1736376595.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:55.114Z,1736376595.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.473377 m, bearing: 269.564134 deg, approach rate: -0.131840 m/s, LOS rate: -2.883066 deg/s, cmd heading: 236.584530 deg, new cmd heading: 233.141999 deg. 2025-01-08T22:49:55.116Z,1736376595.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.069096 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:55.256Z,1736376595.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:55.257Z,1736376595.257 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.797422 2025-01-08T22:49:55.508Z,1736376595.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:55.508Z,1736376595.508 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=5.049128 2025-01-08T22:49:55.517Z,1736376595.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:55.546Z,1736376595.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:55.553Z,1736376595.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.440792 m, bearing: 268.395437 deg, approach rate: -0.074970 m/s, LOS rate: -2.699067 deg/s, cmd heading: 233.142005 deg, new cmd heading: 229.627038 deg. 2025-01-08T22:49:55.554Z,1736376595.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.007748 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:55.760Z,1736376595.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:55.761Z,1736376595.761 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=5.301503 2025-01-08T22:49:55.909Z,1736376595.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:55.917Z,1736376595.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:55.920Z,1736376595.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.409704 m, bearing: 267.286056 deg, approach rate: -0.083706 m/s, LOS rate: -2.997927 deg/s, cmd heading: 229.627026 deg, new cmd heading: 226.290566 deg. 2025-01-08T22:49:55.921Z,1736376595.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.949515 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:56.012Z,1736376596.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:56.013Z,1736376596.013 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=5.554104 2025-01-08T22:49:56.265Z,1736376596.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:56.268Z,1736376596.268 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=5.808321 2025-01-08T22:49:56.338Z,1736376596.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:56.348Z,1736376596.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:56.351Z,1736376596.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.400397 m, bearing: 266.071701 deg, approach rate: -0.021627 m/s, LOS rate: -2.824797 deg/s, cmd heading: 226.290560 deg, new cmd heading: 222.648646 deg. 2025-01-08T22:49:56.352Z,1736376596.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.885952 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:56.516Z,1736376596.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:56.517Z,1736376596.517 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=6.057267 2025-01-08T22:49:56.706Z,1736376596.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:56.732Z,1736376596.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:56.734Z,1736376596.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:56.737Z,1736376596.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.392172 m, bearing: 265.031044 deg, approach rate: -0.021269 m/s, LOS rate: -2.693403 deg/s, cmd heading: 222.648649 deg, new cmd heading: 219.526882 deg. 2025-01-08T22:49:56.738Z,1736376596.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.831467 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:56.768Z,1736376596.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:56.770Z,1736376596.770 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=6.310373 2025-01-08T22:49:57.020Z,1736376597.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:57.020Z,1736376597.020 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=6.561074 2025-01-08T22:49:57.120Z,1736376597.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:57.129Z,1736376597.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:57.132Z,1736376597.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.382686 m, bearing: 263.857404 deg, approach rate: -0.024045 m/s, LOS rate: -2.977969 deg/s, cmd heading: 219.526883 deg, new cmd heading: 216.006661 deg. 2025-01-08T22:49:57.133Z,1736376597.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.770027 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:57.274Z,1736376597.274 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:57.276Z,1736376597.276 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=6.816394 2025-01-08T22:49:57.524Z,1736376597.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:57.524Z,1736376597.524 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=7.065152 2025-01-08T22:49:57.546Z,1736376597.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:57.555Z,1736376597.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:57.558Z,1736376597.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.383487 m, bearing: 262.638078 deg, approach rate: 0.001879 m/s, LOS rate: -2.860227 deg/s, cmd heading: 216.006659 deg, new cmd heading: 212.354261 deg. 2025-01-08T22:49:57.559Z,1736376597.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.706281 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:57.776Z,1736376597.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:57.777Z,1736376597.777 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=7.317595 2025-01-08T22:49:57.916Z,1736376597.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:57.941Z,1736376597.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:57.944Z,1736376597.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.384019 m, bearing: 261.574665 deg, approach rate: 0.001378 m/s, LOS rate: -2.754202 deg/s, cmd heading: 212.354256 deg, new cmd heading: 209.167692 deg. 2025-01-08T22:49:57.945Z,1736376597.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.650665 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:58.028Z,1736376598.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:58.030Z,1736376598.030 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=7.570698 2025-01-08T22:49:58.281Z,1736376598.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:58.284Z,1736376598.284 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=7.824399 2025-01-08T22:49:58.386Z,1736376598.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:58.394Z,1736376598.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:58.400Z,1736376598.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.374419 m, bearing: 260.279113 deg, approach rate: -0.021166 m/s, LOS rate: -2.859595 deg/s, cmd heading: 209.167686 deg, new cmd heading: 205.282870 deg. 2025-01-08T22:49:58.401Z,1736376598.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582862 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:58.534Z,1736376598.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:58.534Z,1736376598.534 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=8.074957 2025-01-08T22:49:58.738Z,1736376598.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:58.757Z,1736376598.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:49:58.760Z,1736376598.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:58.762Z,1736376598.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.370035 m, bearing: 259.306186 deg, approach rate: -0.012022 m/s, LOS rate: -2.669337 deg/s, cmd heading: 205.282865 deg, new cmd heading: 202.365221 deg. 2025-01-08T22:49:58.763Z,1736376598.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531940 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:58.784Z,1736376598.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:58.784Z,1736376598.784 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=8.325054 2025-01-08T22:49:59.036Z,1736376599.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:59.037Z,1736376599.037 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=8.577269 2025-01-08T22:49:59.142Z,1736376599.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:59.152Z,1736376599.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:59.155Z,1736376599.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.361108 m, bearing: 258.187882 deg, approach rate: -0.022703 m/s, LOS rate: -2.846777 deg/s, cmd heading: 202.365227 deg, new cmd heading: 199.010785 deg. 2025-01-08T22:49:59.156Z,1736376599.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.473393 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:59.290Z,1736376599.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:59.292Z,1736376599.292 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=8.832500 2025-01-08T22:49:59.540Z,1736376599.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:59.540Z,1736376599.540 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=9.081169 2025-01-08T22:49:59.557Z,1736376599.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:59.585Z,1736376599.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:59.593Z,1736376599.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.340402 m, bearing: 257.048330 deg, approach rate: -0.047825 m/s, LOS rate: -2.638364 deg/s, cmd heading: 199.010785 deg, new cmd heading: 195.587944 deg. 2025-01-08T22:49:59.594Z,1736376599.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.413654 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:49:59.792Z,1736376599.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:49:59.793Z,1736376599.793 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=9.333282 2025-01-08T22:49:59.941Z,1736376599.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:49:59.949Z,1736376599.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:49:59.952Z,1736376599.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.321002 m, bearing: 255.991362 deg, approach rate: -0.053332 m/s, LOS rate: -2.912354 deg/s, cmd heading: 195.587945 deg, new cmd heading: 192.413082 deg. 2025-01-08T22:49:59.953Z,1736376599.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.358242 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:50:00.044Z,1736376600.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:00.045Z,1736376600.045 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=9.585204 2025-01-08T22:50:00.297Z,1736376600.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:00.300Z,1736376600.300 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=9.840399 2025-01-08T22:50:00.405Z,1736376600.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:00.413Z,1736376600.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:00.417Z,1736376600.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.261971 m, bearing: 254.653215 deg, approach rate: -0.127178 m/s, LOS rate: -2.903247 deg/s, cmd heading: 192.413082 deg, new cmd heading: 188.377013 deg. 2025-01-08T22:50:00.418Z,1736376600.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.287799 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:50:00.548Z,1736376600.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:00.549Z,1736376600.549 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=10.090099 2025-01-08T22:50:00.771Z,1736376600.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:00.778Z,1736376600.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:50:00.780Z,1736376600.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:00.783Z,1736376600.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.218310 m, bearing: 253.576492 deg, approach rate: -0.119050 m/s, LOS rate: -2.951369 deg/s, cmd heading: 188.377013 deg, new cmd heading: 185.133346 deg. 2025-01-08T22:50:00.784Z,1736376600.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.231186 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:50:00.802Z,1736376600.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:00.802Z,1736376600.802 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=10.343042 2025-01-08T22:50:01.052Z,1736376601.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:01.052Z,1736376601.052 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=10.593169 2025-01-08T22:50:01.156Z,1736376601.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:01.164Z,1736376601.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:01.188Z,1736376601.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.168480 m, bearing: 252.451465 deg, approach rate: -0.129742 m/s, LOS rate: -2.946875 deg/s, cmd heading: 185.133343 deg, new cmd heading: 181.741856 deg. 2025-01-08T22:50:01.189Z,1736376601.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.171994 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:50:01.305Z,1736376601.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:01.308Z,1736376601.308 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:50:01.309Z,1736376601.309 [DAT](INFO): response not received 2025-01-08T22:50:01.313Z,1736376601.313 [DAT](INFO): DAT read: user:2926> 2025-01-08T22:50:01.317Z,1736376601.317 [DAT](INFO): DAT read: Tx time:22:50:00.7143 2025-01-08T22:50:01.318Z,1736376601.318 [DAT](INFO): Ping request sent. 2025-01-08T22:50:01.318Z,1736376601.318 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:50:01.319Z,1736376601.319 [DAT](INFO): publishing transmit ping time 2025-01-08T22:50:01.322Z,1736376601.322 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.002896 2025-01-08T22:50:01.557Z,1736376601.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:01.558Z,1736376601.558 [DAT](INFO): DAT read: TxSync time:22:50:00.7135 2025-01-08T22:50:01.559Z,1736376601.559 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.240531 2025-01-08T22:50:01.650Z,1736376601.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:01.683Z,1736376601.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:01.697Z,1736376601.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.074963 m, bearing: 250.943059 deg, approach rate: -0.180364 m/s, LOS rate: -2.942564 deg/s, cmd heading: 181.741854 deg, new cmd heading: 177.174456 deg. 2025-01-08T22:50:01.698Z,1736376601.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.092278 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:50:01.812Z,1736376601.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:01.813Z,1736376601.813 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.495157 2025-01-08T22:50:02.017Z,1736376602.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:02.026Z,1736376602.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:02.029Z,1736376602.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 8.001616 m, bearing: 249.820007 deg, approach rate: -0.213658 m/s, LOS rate: -3.301242 deg/s, cmd heading: 177.174451 deg, new cmd heading: 173.778613 deg. 2025-01-08T22:50:02.030Z,1736376602.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.033009 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:50:02.064Z,1736376602.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:02.065Z,1736376602.065 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.747092 2025-01-08T22:50:02.317Z,1736376602.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:02.320Z,1736376602.320 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.001013 2025-01-08T22:50:02.470Z,1736376602.470 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +5.85, , +0.03, 800 2025-01-08T22:50:02.488Z,1736376602.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:50:02.489Z,1736376602.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:02.524Z,1736376602.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:02.526Z,1736376602.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 7.907481 m, bearing: 248.377133 deg, approach rate: -0.195575 m/s, LOS rate: -3.033072 deg/s, cmd heading: 173.778618 deg, new cmd heading: 169.407429 deg. 2025-01-08T22:50:02.532Z,1736376602.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.956717 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:50:02.568Z,1736376602.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:02.569Z,1736376602.569 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.250295 2025-01-08T22:50:02.820Z,1736376602.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:02.820Z,1736376602.820 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.502203 2025-01-08T22:50:02.861Z,1736376602.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:50:02.861Z,1736376602.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:02.873Z,1736376602.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:50:02.893Z,1736376602.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:02.900Z,1736376602.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 7.831968 m, bearing: 247.208198 deg, approach rate: -0.195833 m/s, LOS rate: -3.060487 deg/s, cmd heading: 169.407433 deg, new cmd heading: 165.871557 deg. 2025-01-08T22:50:02.901Z,1736376602.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.895005 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:50:03.072Z,1736376603.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:03.073Z,1736376603.073 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.754450 2025-01-08T22:50:03.261Z,1736376603.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:50:03.261Z,1736376603.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:03.275Z,1736376603.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:03.278Z,1736376603.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 7.751043 m, bearing: 245.952122 deg, approach rate: -0.211875 m/s, LOS rate: -3.322692 deg/s, cmd heading: 165.871554 deg, new cmd heading: 162.069876 deg. 2025-01-08T22:50:03.278Z,1736376603.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.828653 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:50:03.328Z,1736376603.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:03.330Z,1736376603.330 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.011414 2025-01-08T22:50:03.580Z,1736376603.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:03.581Z,1736376603.581 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.262346 2025-01-08T22:50:03.710Z,1736376603.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:03.720Z,1736376603.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:03.723Z,1736376603.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 7.588682 m, bearing: 244.347236 deg, approach rate: -0.364424 m/s, LOS rate: -3.678808 deg/s, cmd heading: 162.069871 deg, new cmd heading: 157.164864 deg. 2025-01-08T22:50:03.724Z,1736376603.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.743044 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:50:03.833Z,1736376603.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:03.834Z,1736376603.834 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.515530 2025-01-08T22:50:04.084Z,1736376604.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:04.087Z,1736376604.087 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.767918 2025-01-08T22:50:04.095Z,1736376604.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:04.124Z,1736376604.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:04.133Z,1736376604.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 7.450396 m, bearing: 242.945214 deg, approach rate: -0.342172 m/s, LOS rate: -3.533168 deg/s, cmd heading: 157.164866 deg, new cmd heading: 152.889115 deg. 2025-01-08T22:50:04.134Z,1736376604.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668418 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:50:04.337Z,1736376604.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:04.340Z,1736376604.340 [DAT](INFO): DAT read: Rx Time:22:50:03.1812 2025-01-08T22:50:04.342Z,1736376604.342 [DAT](INFO): Rx dataTimestamp_ set to:1736376604.340887 2025-01-08T22:50:04.348Z,1736376604.348 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.029360 2025-01-08T22:50:04.571Z,1736376604.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:04.580Z,1736376604.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:04.585Z,1736376604.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 7.259897 m, bearing: 241.089718 deg, approach rate: -0.417665 m/s, LOS rate: -4.174151 deg/s, cmd heading: 152.889113 deg, new cmd heading: 147.196366 deg. 2025-01-08T22:50:04.586Z,1736376604.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569061 target range: 38.200001 and range: 40.80 m. 2025-01-08T22:50:04.588Z,1736376604.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:04.589Z,1736376604.589 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.270366 2025-01-08T22:50:04.841Z,1736376604.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:04.842Z,1736376604.842 [DAT](INFO): DAT read: Range 10 to 50 : 47.0 m (Round-trip 62.7 ms) speed -0.4 m/s 2025-01-08T22:50:04.847Z,1736376604.847 [DAT](INFO): DAT read: user:2927> 2025-01-08T22:50:04.849Z,1736376604.849 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-08T22:50:04.850Z,1736376604.850 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.531397 2025-01-08T22:50:04.959Z,1736376604.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:04.966Z,1736376604.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:50:04.969Z,1736376604.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 14.385062 s, deltaX: 6.200001 m, approachRate: 0.431003 m/s, rangeRepo size: 4 2025-01-08T22:50:04.969Z,1736376604.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:04.972Z,1736376604.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 7.105861 m, bearing: 239.535884 deg, approach rate: -0.397489 m/s, LOS rate: -4.096085 deg/s, cmd heading: 147.196369 deg, new cmd heading: 142.445319 deg. 2025-01-08T22:50:04.973Z,1736376604.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.486140 target range: 38.200001 and range: 47.00 m. 2025-01-08T22:50:05.097Z,1736376605.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:05.100Z,1736376605.100 [DAT](INFO): DAT read: Tx time:22:50:04.2643 2025-01-08T22:50:05.100Z,1736376605.100 [DAT](INFO): Ping request sent. 2025-01-08T22:50:05.100Z,1736376605.100 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:50:05.102Z,1736376605.102 [DAT](INFO): DAT read: TxSync time:22:50:04.2635 2025-01-08T22:50:05.105Z,1736376605.105 [DAT](INFO): publishing transmit ping time 2025-01-08T22:50:05.106Z,1736376605.106 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.005749 2025-01-08T22:50:05.350Z,1736376605.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:05.352Z,1736376605.352 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.251570 2025-01-08T22:50:05.456Z,1736376605.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:05.465Z,1736376605.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:05.469Z,1736376605.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 6.908163 m, bearing: 237.430825 deg, approach rate: -0.398241 m/s, LOS rate: -4.360782 deg/s, cmd heading: 142.445316 deg, new cmd heading: 135.978474 deg. 2025-01-08T22:50:05.469Z,1736376605.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373272 target range: 38.200001 and range: 47.00 m. 2025-01-08T22:50:05.600Z,1736376605.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:05.600Z,1736376605.600 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.500267 2025-01-08T22:50:05.852Z,1736376605.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:05.853Z,1736376605.853 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.752856 2025-01-08T22:50:05.932Z,1736376605.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:05.943Z,1736376605.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:05.946Z,1736376605.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 6.722193 m, bearing: 235.341457 deg, approach rate: -0.388416 m/s, LOS rate: -4.483575 deg/s, cmd heading: 135.978480 deg, new cmd heading: 129.565311 deg. 2025-01-08T22:50:05.947Z,1736376605.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.261341 target range: 38.200001 and range: 47.00 m. 2025-01-08T22:50:06.104Z,1736376606.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:06.105Z,1736376606.105 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.005165 2025-01-08T22:50:06.317Z,1736376606.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:06.326Z,1736376606.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:06.351Z,1736376606.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 6.572330 m, bearing: 233.590606 deg, approach rate: -0.391419 m/s, LOS rate: -4.676508 deg/s, cmd heading: 129.565314 deg, new cmd heading: 124.209485 deg. 2025-01-08T22:50:06.356Z,1736376606.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:06.356Z,1736376606.356 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.256450 2025-01-08T22:50:06.357Z,1736376606.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.167865 target range: 38.200001 and range: 47.00 m. 2025-01-08T22:50:06.608Z,1736376606.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:06.608Z,1736376606.608 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.508443 2025-01-08T22:50:06.746Z,1736376606.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:06.776Z,1736376606.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:06.778Z,1736376606.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 6.418946 m, bearing: 231.568582 deg, approach rate: -0.357303 m/s, LOS rate: -4.821790 deg/s, cmd heading: 124.209490 deg, new cmd heading: 118.023897 deg. 2025-01-08T22:50:06.784Z,1736376606.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059906 target range: 38.200001 and range: 47.00 m. 2025-01-08T22:50:06.860Z,1736376606.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:06.860Z,1736376606.860 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.760477 2025-01-08T22:50:07.112Z,1736376607.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:07.113Z,1736376607.113 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.012709 2025-01-08T22:50:07.158Z,1736376607.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:07.165Z,1736376607.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:50:07.168Z,1736376607.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:07.170Z,1736376607.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 6.274310 m, bearing: 229.563830 deg, approach rate: -0.350988 m/s, LOS rate: -4.976065 deg/s, cmd heading: 118.023893 deg, new cmd heading: 111.895728 deg. 2025-01-08T22:50:07.172Z,1736376607.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.952949 target range: 38.200001 and range: 47.00 m. 2025-01-08T22:50:07.364Z,1736376607.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:07.429Z,1736376607.429 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.328918 2025-01-08T22:50:07.533Z,1736376607.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:07.541Z,1736376607.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:07.565Z,1736376607.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 6.144756 m, bearing: 227.683449 deg, approach rate: -0.346338 m/s, LOS rate: -5.131919 deg/s, cmd heading: 111.895731 deg, new cmd heading: 106.155964 deg. 2025-01-08T22:50:07.566Z,1736376607.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.852771 target range: 38.200001 and range: 47.00 m. 2025-01-08T22:50:07.617Z,1736376607.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:07.617Z,1736376607.617 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.517147 2025-01-08T22:50:07.868Z,1736376607.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:07.868Z,1736376607.868 [DAT](INFO): DAT read: Rx Time:22:50:06.7332 2025-01-08T22:50:07.869Z,1736376607.869 [DAT](INFO): Rx dataTimestamp_ set to:1736376607.868549 2025-01-08T22:50:07.869Z,1736376607.869 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.769347 2025-01-08T22:50:07.942Z,1736376607.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:07.962Z,1736376607.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:07.967Z,1736376607.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 6.006541 m, bearing: 225.570821 deg, approach rate: -0.328377 m/s, LOS rate: -5.133596 deg/s, cmd heading: 106.155961 deg, new cmd heading: 99.701154 deg. 2025-01-08T22:50:07.972Z,1736376607.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.740113 target range: 38.200001 and range: 47.00 m. 2025-01-08T22:50:08.121Z,1736376608.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:08.125Z,1736376608.125 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.024275 2025-01-08T22:50:08.341Z,1736376608.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:08.350Z,1736376608.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:08.353Z,1736376608.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.200001 m, nav range: 5.875661 m, bearing: 223.442396 deg, approach rate: -0.337834 m/s, LOS rate: -5.615073 deg/s, cmd heading: 99.701152 deg, new cmd heading: 93.203150 deg. 2025-01-08T22:50:08.354Z,1736376608.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626702 target range: 38.200001 and range: 47.00 m. 2025-01-08T22:50:08.374Z,1736376608.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:08.376Z,1736376608.376 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.275743 2025-01-08T22:50:08.624Z,1736376608.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:08.626Z,1736376608.626 [DAT](INFO): DAT read: Range 10 to 50 : 48.5 m (Round-trip 64.7 ms) speed -0.4 m/s 2025-01-08T22:50:08.626Z,1736376608.626 [DAT](INFO): DAT read: user:2928> 2025-01-08T22:50:08.627Z,1736376608.627 [DAT](INFO): DAT read: Tx time:22:50:07.8143 2025-01-08T22:50:08.628Z,1736376608.628 [DAT](INFO): Ping request sent. 2025-01-08T22:50:08.628Z,1736376608.628 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:50:08.628Z,1736376608.628 [DAT](INFO): DAT read: TxSync time:22:50:07.8135 2025-01-08T22:50:08.629Z,1736376608.629 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-01-08T22:50:08.629Z,1736376608.629 [DAT](INFO): publishing transmit ping time 2025-01-08T22:50:08.630Z,1736376608.630 [DAT](INFO): publishing transmit ping time 2025-01-08T22:50:08.630Z,1736376608.630 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.002640 2025-01-08T22:50:08.751Z,1736376608.751 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250109,35.0, +10.9, 93.3, 0 2025-01-08T22:50:08.775Z,1736376608.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:50:08.776Z,1736376608.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:08.801Z,1736376608.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.500000 m, deltaT: 3.783154 s, deltaX: 1.500000 m, approachRate: 0.396495 m/s, rangeRepo size: 4 2025-01-08T22:50:08.801Z,1736376608.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:08.802Z,1736376608.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 48.50 m. Rolling out. 2025-01-08T22:50:08.802Z,1736376608.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-01-08T22:50:08.830Z,1736376608.830 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T22:50:08.830Z,1736376608.830 [DockingStepper](INFO): Standby mode. 2025-01-08T22:50:08.876Z,1736376608.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:08.877Z,1736376608.877 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.248715 2025-01-08T22:50:08.892Z,1736376608.892 [DockingStepper](INFO): Commanding positive:54389 2025-01-08T22:50:09.129Z,1736376609.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:09.130Z,1736376609.130 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.502214 2025-01-08T22:50:09.180Z,1736376609.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:50:09.180Z,1736376609.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:09.204Z,1736376609.204 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-01-08T22:50:09.204Z,1736376609.204 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T22:50:09.204Z,1736376609.204 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-01-08T22:50:09.205Z,1736376609.205 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 48.500000 m (mode 5.000000 count ). 2025-01-08T22:50:09.205Z,1736376609.205 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-01-08T22:50:09.205Z,1736376609.205 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-01-08T22:50:09.209Z,1736376609.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:50:09.215Z,1736376609.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:09.217Z,1736376609.217 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-01-08T22:50:09.217Z,1736376609.217 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T22:50:09.217Z,1736376609.217 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-01-08T22:50:09.218Z,1736376609.218 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-01-08T22:50:09.380Z,1736376609.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:09.380Z,1736376609.380 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.752581 2025-01-08T22:50:09.577Z,1736376609.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:09.588Z,1736376609.588 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-01-08T22:50:09.588Z,1736376609.588 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-01-08T22:50:09.591Z,1736376609.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:09.632Z,1736376609.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:09.633Z,1736376609.633 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.005156 2025-01-08T22:50:09.884Z,1736376609.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:09.884Z,1736376609.884 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.256626 2025-01-08T22:50:09.952Z,1736376609.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:09.958Z,1736376609.958 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-01-08T22:50:09.958Z,1736376609.958 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-01-08T22:50:09.961Z,1736376609.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:10.137Z,1736376610.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:10.138Z,1736376610.138 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.509698 2025-01-08T22:50:10.356Z,1736376610.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:10.362Z,1736376610.362 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-01-08T22:50:10.362Z,1736376610.362 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T22:50:10.362Z,1736376610.362 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-01-08T22:50:10.362Z,1736376610.362 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T22:50:10.365Z,1736376610.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:10.388Z,1736376610.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:10.390Z,1736376610.390 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.761684 2025-01-08T22:50:10.640Z,1736376610.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:10.640Z,1736376610.640 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.012621 2025-01-08T22:50:10.795Z,1736376610.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:10.804Z,1736376610.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:10.892Z,1736376610.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:10.892Z,1736376610.892 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.264552 2025-01-08T22:50:11.144Z,1736376611.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:11.144Z,1736376611.144 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.516652 2025-01-08T22:50:11.171Z,1736376611.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:11.201Z,1736376611.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:11.396Z,1736376611.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:11.396Z,1736376611.396 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.768623 2025-01-08T22:50:11.616Z,1736376611.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:11.629Z,1736376611.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:11.649Z,1736376611.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:11.650Z,1736376611.650 [DAT](INFO): DAT read: Rx Time:22:50:10.2848 2025-01-08T22:50:11.651Z,1736376611.651 [DAT](INFO): Rx dataTimestamp_ set to:1736376611.650273 2025-01-08T22:50:11.652Z,1736376611.652 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.023767 2025-01-08T22:50:11.900Z,1736376611.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:11.901Z,1736376611.901 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.273036 2025-01-08T22:50:12.067Z,1736376612.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:12.076Z,1736376612.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:12.153Z,1736376612.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:12.157Z,1736376612.157 [DAT](INFO): DAT read: Range 10 to 50 : 49.7 m (Round-trip 66.3 ms) speed -0.2 m/s 2025-01-08T22:50:12.158Z,1736376612.158 [DAT](INFO): DAT read: user:2929> 2025-01-08T22:50:12.159Z,1736376612.159 [DAT](INFO): DAT read: Tx time:22:50:11.3644 2025-01-08T22:50:12.161Z,1736376612.161 [DAT](INFO): Ping request sent. 2025-01-08T22:50:12.161Z,1736376612.161 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:50:12.162Z,1736376612.162 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-01-08T22:50:12.162Z,1736376612.162 [DAT](INFO): publishing transmit ping time 2025-01-08T22:50:12.164Z,1736376612.164 [DAT](INFO): publishing transmit ping time 2025-01-08T22:50:12.165Z,1736376612.165 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.004504 2025-01-08T22:50:12.404Z,1736376612.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:12.405Z,1736376612.405 [DAT](INFO): DAT read: TxSync time:22:50:11.3636 2025-01-08T22:50:12.405Z,1736376612.405 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.244788 2025-01-08T22:50:12.576Z,1736376612.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:12.606Z,1736376612.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.700001 m, deltaT: 3.529614 s, deltaX: 1.200001 m, approachRate: 0.339981 m/s, rangeRepo size: 4 2025-01-08T22:50:12.606Z,1736376612.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:12.657Z,1736376612.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:12.658Z,1736376612.658 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.497166 2025-01-08T22:50:12.908Z,1736376612.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:12.908Z,1736376612.908 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.747882 2025-01-08T22:50:13.013Z,1736376613.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:13.024Z,1736376613.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:13.160Z,1736376613.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:13.161Z,1736376613.161 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.000416 2025-01-08T22:50:13.412Z,1736376613.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:13.413Z,1736376613.413 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.252023 2025-01-08T22:50:13.424Z,1736376613.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:13.451Z,1736376613.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:13.664Z,1736376613.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:13.666Z,1736376613.666 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.504871 2025-01-08T22:50:13.916Z,1736376613.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:13.917Z,1736376613.917 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.756187 2025-01-08T22:50:13.939Z,1736376613.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:13.949Z,1736376613.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:14.168Z,1736376614.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:14.170Z,1736376614.170 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.009287 2025-01-08T22:50:14.380Z,1736376614.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:14.389Z,1736376614.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:14.420Z,1736376614.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:14.421Z,1736376614.421 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.260637 2025-01-08T22:50:14.672Z,1736376614.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:14.673Z,1736376614.673 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.512404 2025-01-08T22:50:14.777Z,1736376614.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:14.786Z,1736376614.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:14.924Z,1736376614.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:14.924Z,1736376614.924 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.763895 2025-01-08T22:50:15.174Z,1736376615.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:15.176Z,1736376615.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:15.177Z,1736376615.177 [DAT](INFO): DAT read: Rx Time:22:50:13.8360 2025-01-08T22:50:15.177Z,1736376615.177 [DAT](INFO): Rx dataTimestamp_ set to:1736376615.176792 2025-01-08T22:50:15.178Z,1736376615.178 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.017108 2025-01-08T22:50:15.190Z,1736376615.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:15.429Z,1736376615.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:15.430Z,1736376615.430 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.269120 2025-01-08T22:50:15.612Z,1736376615.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:15.622Z,1736376615.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:15.681Z,1736376615.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:15.689Z,1736376615.689 [DAT](INFO): DAT read: Range 10 to 50 : 50.5 m (Round-trip 67.4 ms) speed -0.2 m/s 2025-01-08T22:50:15.690Z,1736376615.690 [DAT](INFO): DAT read: user:2930> 2025-01-08T22:50:15.691Z,1736376615.691 [DAT](INFO): DAT read: Tx time:22:50:14.9144 2025-01-08T22:50:15.691Z,1736376615.691 [DAT](INFO): Ping request sent. 2025-01-08T22:50:15.691Z,1736376615.691 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:50:15.691Z,1736376615.691 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-01-08T22:50:15.692Z,1736376615.692 [DAT](INFO): publishing transmit ping time 2025-01-08T22:50:15.692Z,1736376615.692 [DAT](INFO): publishing transmit ping time 2025-01-08T22:50:15.693Z,1736376615.693 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.002094 2025-01-08T22:50:15.932Z,1736376615.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:15.933Z,1736376615.933 [DAT](INFO): DAT read: TxSync time:22:50:14.9136 2025-01-08T22:50:15.934Z,1736376615.934 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.242834 2025-01-08T22:50:15.997Z,1736376615.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:16.008Z,1736376616.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.500000 m, deltaT: 3.527611 s, deltaX: 0.799999 m, approachRate: 0.226782 m/s, rangeRepo size: 4 2025-01-08T22:50:16.008Z,1736376616.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:16.185Z,1736376616.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:16.186Z,1736376616.186 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.495071 2025-01-08T22:50:16.413Z,1736376616.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:16.423Z,1736376616.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:16.436Z,1736376616.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:16.437Z,1736376616.437 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.745768 2025-01-08T22:50:16.690Z,1736376616.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:16.690Z,1736376616.690 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.999351 2025-01-08T22:50:16.840Z,1736376616.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:16.850Z,1736376616.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:16.940Z,1736376616.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:16.940Z,1736376616.940 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.249323 2025-01-08T22:50:17.193Z,1736376617.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:17.194Z,1736376617.194 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.503300 2025-01-08T22:50:17.247Z,1736376617.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:17.261Z,1736376617.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:17.445Z,1736376617.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:17.446Z,1736376617.446 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.755020 2025-01-08T22:50:17.472Z,1736376617.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:50:17.696Z,1736376617.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:17.697Z,1736376617.697 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.005565 2025-01-08T22:50:17.702Z,1736376617.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:17.746Z,1736376617.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:17.948Z,1736376617.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:17.950Z,1736376617.950 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.258399 2025-01-08T22:50:18.157Z,1736376618.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:18.174Z,1736376618.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:18.201Z,1736376618.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:18.203Z,1736376618.203 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.511860 2025-01-08T22:50:18.452Z,1736376618.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:18.452Z,1736376618.452 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.761444 2025-01-08T22:50:18.476Z,1736376618.476 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:50:18.655Z,1736376618.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:18.687Z,1736376618.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:18.704Z,1736376618.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:18.705Z,1736376618.705 [DAT](INFO): DAT read: Rx Time:22:50:17.3870 2025-01-08T22:50:18.705Z,1736376618.705 [DAT](INFO): Rx dataTimestamp_ set to:1736376618.704900 2025-01-08T22:50:18.706Z,1736376618.706 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.014719 2025-01-08T22:50:18.956Z,1736376618.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:18.956Z,1736376618.956 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.265414 2025-01-08T22:50:19.096Z,1736376619.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:19.108Z,1736376619.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:19.208Z,1736376619.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:19.209Z,1736376619.209 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:50:19.209Z,1736376619.209 [DAT](INFO): Received a bad header 2025-01-08T22:50:19.224Z,1736376619.224 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.533022 2025-01-08T22:50:19.460Z,1736376619.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:19.460Z,1736376619.460 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.769509 2025-01-08T22:50:19.548Z,1736376619.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:19.611Z,1736376619.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:19.712Z,1736376619.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:19.712Z,1736376619.712 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=4.021417 2025-01-08T22:50:19.964Z,1736376619.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:19.965Z,1736376619.965 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=4.273630 2025-01-08T22:50:20.022Z,1736376620.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:20.056Z,1736376620.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:20.216Z,1736376620.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:20.217Z,1736376620.217 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=4.526103 2025-01-08T22:50:20.417Z,1736376620.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:20.425Z,1736376620.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:20.468Z,1736376620.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:20.469Z,1736376620.469 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=4.778357 2025-01-08T22:50:20.720Z,1736376620.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:20.721Z,1736376620.721 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.029582 2025-01-08T22:50:20.855Z,1736376620.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:20.878Z,1736376620.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:20.972Z,1736376620.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:20.972Z,1736376620.972 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.281405 2025-01-08T22:50:21.224Z,1736376621.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:21.224Z,1736376621.224 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.533471 2025-01-08T22:50:21.260Z,1736376621.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:21.288Z,1736376621.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:21.476Z,1736376621.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:21.477Z,1736376621.477 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.786296 2025-01-08T22:50:21.721Z,1736376621.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:21.728Z,1736376621.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:21.729Z,1736376621.729 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.037667 2025-01-08T22:50:21.732Z,1736376621.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:21.980Z,1736376621.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:21.980Z,1736376621.980 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.289435 2025-01-08T22:50:22.073Z,1736376622.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:22.082Z,1736376622.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:22.232Z,1736376622.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:22.232Z,1736376622.232 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.541461 2025-01-08T22:50:22.475Z,1736376622.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:22.492Z,1736376622.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:22.493Z,1736376622.493 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802196 2025-01-08T22:50:22.502Z,1736376622.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:22.744Z,1736376622.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:22.744Z,1736376622.744 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=7.053424 2025-01-08T22:50:22.897Z,1736376622.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:22.926Z,1736376622.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:22.996Z,1736376622.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:22.996Z,1736376622.996 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=7.305499 2025-01-08T22:50:23.248Z,1736376623.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:23.248Z,1736376623.248 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=7.557365 2025-01-08T22:50:23.329Z,1736376623.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:23.341Z,1736376623.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:23.500Z,1736376623.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:23.501Z,1736376623.501 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=7.810167 2025-01-08T22:50:23.750Z,1736376623.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:23.752Z,1736376623.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:23.753Z,1736376623.753 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=8.061560 2025-01-08T22:50:23.761Z,1736376623.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:24.004Z,1736376624.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:24.004Z,1736376624.004 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=8.313361 2025-01-08T22:50:24.167Z,1736376624.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:24.176Z,1736376624.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:24.256Z,1736376624.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:24.257Z,1736376624.257 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=8.565769 2025-01-08T22:50:24.508Z,1736376624.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:24.508Z,1736376624.508 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=8.817352 2025-01-08T22:50:24.576Z,1736376624.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:24.589Z,1736376624.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:24.760Z,1736376624.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:24.762Z,1736376624.762 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=9.070758 2025-01-08T22:50:25.008Z,1736376625.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:25.012Z,1736376625.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:25.013Z,1736376625.013 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=9.321642 2025-01-08T22:50:25.019Z,1736376625.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:25.264Z,1736376625.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:25.265Z,1736376625.265 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=9.573979 2025-01-08T22:50:25.381Z,1736376625.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:25.389Z,1736376625.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:25.516Z,1736376625.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:25.516Z,1736376625.516 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=9.825481 2025-01-08T22:50:25.769Z,1736376625.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:25.769Z,1736376625.769 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=10.078394 2025-01-08T22:50:25.823Z,1736376625.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:25.849Z,1736376625.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:26.020Z,1736376626.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:26.020Z,1736376626.020 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=10.329330 2025-01-08T22:50:26.244Z,1736376626.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:26.272Z,1736376626.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:26.273Z,1736376626.273 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=10.581748 2025-01-08T22:50:26.280Z,1736376626.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:26.524Z,1736376626.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:26.525Z,1736376626.525 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:50:26.525Z,1736376626.525 [DAT](INFO): response not received 2025-01-08T22:50:26.525Z,1736376626.525 [DAT](INFO): DAT read: user:2932> 2025-01-08T22:50:26.526Z,1736376626.526 [DAT](INFO): DAT read: Tx time:22:50:25.8645 2025-01-08T22:50:26.526Z,1736376626.526 [DAT](INFO): Ping request sent. 2025-01-08T22:50:26.526Z,1736376626.526 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:50:26.526Z,1736376626.526 [DAT](INFO): publishing transmit ping time 2025-01-08T22:50:26.527Z,1736376626.527 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.000719 2025-01-08T22:50:26.737Z,1736376626.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:26.750Z,1736376626.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:26.777Z,1736376626.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:26.778Z,1736376626.778 [DAT](INFO): DAT read: TxSync time:22:50:25.8637 2025-01-08T22:50:26.779Z,1736376626.779 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.252526 2025-01-08T22:50:27.028Z,1736376627.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:27.029Z,1736376627.029 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.502165 2025-01-08T22:50:27.142Z,1736376627.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:27.183Z,1736376627.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:27.280Z,1736376627.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:27.280Z,1736376627.280 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.754064 2025-01-08T22:50:27.532Z,1736376627.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:27.533Z,1736376627.533 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.006591 2025-01-08T22:50:27.595Z,1736376627.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:27.609Z,1736376627.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:27.784Z,1736376627.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:27.784Z,1736376627.784 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.257993 2025-01-08T22:50:28.009Z,1736376628.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:28.019Z,1736376628.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:28.036Z,1736376628.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:28.036Z,1736376628.036 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.510111 2025-01-08T22:50:28.288Z,1736376628.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:28.289Z,1736376628.289 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.762220 2025-01-08T22:50:28.393Z,1736376628.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:28.422Z,1736376628.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:28.540Z,1736376628.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:28.541Z,1736376628.541 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.014261 2025-01-08T22:50:28.792Z,1736376628.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:28.792Z,1736376628.792 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.266144 2025-01-08T22:50:28.809Z,1736376628.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:28.842Z,1736376628.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:29.044Z,1736376629.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:29.046Z,1736376629.046 [DAT](INFO): DAT read: Rx Time:22:50:28.0650 2025-01-08T22:50:29.046Z,1736376629.046 [DAT](INFO): Rx dataTimestamp_ set to:1736376629.045743 2025-01-08T22:50:29.049Z,1736376629.049 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.1 2025-01-08T22:50:29.049Z,1736376629.049 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-01-08T22:50:29.050Z,1736376629.050 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.524013 2025-01-08T22:50:29.242Z,1736376629.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:29.253Z,1736376629.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 13.364486 s, deltaX: 3.099998 m, approachRate: 0.231958 m/s, rangeRepo size: 4 2025-01-08T22:50:29.254Z,1736376629.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:29.296Z,1736376629.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:29.297Z,1736376629.297 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.770464 2025-01-08T22:50:29.548Z,1736376629.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:29.550Z,1736376629.550 [DAT](INFO): DAT read: Rx Time:22:50:28.5649 2025-01-08T22:50:29.551Z,1736376629.551 [DAT](INFO): Rx dataTimestamp_ set to:1736376629.550291 2025-01-08T22:50:29.554Z,1736376629.554 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed -0.1 2025-01-08T22:50:29.556Z,1736376629.556 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-01-08T22:50:29.558Z,1736376629.558 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.031301 2025-01-08T22:50:29.684Z,1736376629.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:29.749Z,1736376629.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.504548 s, deltaX: -0.199997 m, approachRate: -0.396388 m/s, rangeRepo size: 4 2025-01-08T22:50:29.751Z,1736376629.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:29.800Z,1736376629.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:29.801Z,1736376629.801 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.274185 2025-01-08T22:50:30.052Z,1736376630.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:30.053Z,1736376630.053 [DAT](INFO): DAT read: Rx Time:22:50:29.0649 2025-01-08T22:50:30.053Z,1736376630.053 [DAT](INFO): Rx dataTimestamp_ set to:1736376630.052890 2025-01-08T22:50:30.054Z,1736376630.054 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed 0.0 2025-01-08T22:50:30.055Z,1736376630.055 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-01-08T22:50:30.056Z,1736376630.056 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.529902 2025-01-08T22:50:30.208Z,1736376630.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:30.218Z,1736376630.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.502599 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:30.218Z,1736376630.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:30.304Z,1736376630.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:30.304Z,1736376630.304 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.778130 2025-01-08T22:50:30.556Z,1736376630.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:30.557Z,1736376630.557 [DAT](INFO): DAT read: Rx Time:22:50:29.5650 2025-01-08T22:50:30.557Z,1736376630.557 [DAT](INFO): Rx dataTimestamp_ set to:1736376630.556690 2025-01-08T22:50:30.558Z,1736376630.558 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T22:50:30.559Z,1736376630.559 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-01-08T22:50:30.560Z,1736376630.560 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=4.033421 2025-01-08T22:50:30.626Z,1736376630.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:30.664Z,1736376630.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.503800 s, deltaX: 0.199997 m, approachRate: 0.396977 m/s, rangeRepo size: 4 2025-01-08T22:50:30.665Z,1736376630.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:30.808Z,1736376630.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:30.810Z,1736376630.810 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=4.282855 2025-01-08T22:50:31.036Z,1736376631.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:31.060Z,1736376631.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:31.061Z,1736376631.061 [DAT](INFO): DAT read: Rx Time:22:50:30.0649 2025-01-08T22:50:31.061Z,1736376631.061 [DAT](INFO): Rx dataTimestamp_ set to:1736376631.060894 2025-01-08T22:50:31.062Z,1736376631.062 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed 0.0 2025-01-08T22:50:31.063Z,1736376631.063 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-01-08T22:50:31.064Z,1736376631.064 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=4.537752 2025-01-08T22:50:31.085Z,1736376631.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.504204 s, deltaX: -0.199997 m, approachRate: -0.396659 m/s, rangeRepo size: 4 2025-01-08T22:50:31.086Z,1736376631.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:31.312Z,1736376631.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:31.312Z,1736376631.312 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=4.786027 2025-01-08T22:50:31.402Z,1736376631.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:31.410Z,1736376631.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:31.564Z,1736376631.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:31.565Z,1736376631.565 [DAT](INFO): DAT read: Rx Time:22:50:30.5651 2025-01-08T22:50:31.566Z,1736376631.566 [DAT](INFO): Rx dataTimestamp_ set to:1736376631.565680 2025-01-08T22:50:31.567Z,1736376631.567 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.1 2025-01-08T22:50:31.568Z,1736376631.568 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-01-08T22:50:31.569Z,1736376631.569 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=5.042422 2025-01-08T22:50:31.817Z,1736376631.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:31.818Z,1736376631.818 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=5.291804 2025-01-08T22:50:31.864Z,1736376631.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:31.880Z,1736376631.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.504786 s, deltaX: 0.299999 m, approachRate: 0.594310 m/s, rangeRepo size: 4 2025-01-08T22:50:31.881Z,1736376631.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:32.068Z,1736376632.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:32.069Z,1736376632.069 [DAT](INFO): DAT read: Rx Time:22:50:31.0650 2025-01-08T22:50:32.069Z,1736376632.069 [DAT](INFO): Rx dataTimestamp_ set to:1736376632.068688 2025-01-08T22:50:32.070Z,1736376632.070 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed -0.1 2025-01-08T22:50:32.071Z,1736376632.071 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-01-08T22:50:32.072Z,1736376632.072 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=5.545446 2025-01-08T22:50:32.225Z,1736376632.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:32.235Z,1736376632.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.503008 s, deltaX: -0.100002 m, approachRate: -0.198809 m/s, rangeRepo size: 4 2025-01-08T22:50:32.236Z,1736376632.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:32.321Z,1736376632.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:32.322Z,1736376632.322 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=5.795181 2025-01-08T22:50:32.572Z,1736376632.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:32.573Z,1736376632.573 [DAT](INFO): DAT read: Rx Time:22:50:31.5651 2025-01-08T22:50:32.573Z,1736376632.573 [DAT](INFO): Rx dataTimestamp_ set to:1736376632.572790 2025-01-08T22:50:32.574Z,1736376632.574 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:50:32.575Z,1736376632.575 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-01-08T22:50:32.576Z,1736376632.576 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=6.049558 2025-01-08T22:50:32.665Z,1736376632.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:32.709Z,1736376632.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.504102 s, deltaX: 0.100002 m, approachRate: 0.198377 m/s, rangeRepo size: 4 2025-01-08T22:50:32.710Z,1736376632.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:32.824Z,1736376632.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:32.824Z,1736376632.824 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=6.298074 2025-01-08T22:50:33.076Z,1736376633.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:33.077Z,1736376633.077 [DAT](INFO): DAT read: Rx Time:22:50:32.0651 2025-01-08T22:50:33.077Z,1736376633.077 [DAT](INFO): Rx dataTimestamp_ set to:1736376633.076723 2025-01-08T22:50:33.078Z,1736376633.078 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:50:33.079Z,1736376633.079 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-01-08T22:50:33.080Z,1736376633.080 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=6.553472 2025-01-08T22:50:33.117Z,1736376633.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:33.148Z,1736376633.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.503933 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:33.149Z,1736376633.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:33.328Z,1736376633.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:33.328Z,1736376633.328 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=6.802069 2025-01-08T22:50:33.460Z,1736376633.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:33.475Z,1736376633.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:33.581Z,1736376633.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:33.582Z,1736376633.582 [DAT](INFO): DAT read: Rx Time:22:50:32.5651 2025-01-08T22:50:33.583Z,1736376633.583 [DAT](INFO): Rx dataTimestamp_ set to:1736376633.582483 2025-01-08T22:50:33.584Z,1736376633.584 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed -0.1 2025-01-08T22:50:33.585Z,1736376633.585 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-01-08T22:50:33.586Z,1736376633.586 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=7.059247 2025-01-08T22:50:33.832Z,1736376633.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:33.833Z,1736376633.833 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=7.306665 2025-01-08T22:50:33.898Z,1736376633.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:33.921Z,1736376633.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.505760 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:33.921Z,1736376633.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:34.085Z,1736376634.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:34.087Z,1736376634.087 [DAT](INFO): DAT read: Rx Time:22:50:33.0652 2025-01-08T22:50:34.087Z,1736376634.087 [DAT](INFO): Rx dataTimestamp_ set to:1736376634.087148 2025-01-08T22:50:34.090Z,1736376634.090 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T22:50:34.091Z,1736376634.091 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-01-08T22:50:34.093Z,1736376634.093 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=7.566595 2025-01-08T22:50:34.268Z,1736376634.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:34.278Z,1736376634.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504665 s, deltaX: 0.200001 m, approachRate: 0.396304 m/s, rangeRepo size: 4 2025-01-08T22:50:34.278Z,1736376634.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:34.336Z,1736376634.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:34.337Z,1736376634.337 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=7.810767 2025-01-08T22:50:34.589Z,1736376634.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:34.589Z,1736376634.589 [DAT](INFO): DAT read: Rx Time:22:50:33.5653 2025-01-08T22:50:34.590Z,1736376634.590 [DAT](INFO): Rx dataTimestamp_ set to:1736376634.589643 2025-01-08T22:50:34.591Z,1736376634.591 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed -0.1 2025-01-08T22:50:34.592Z,1736376634.592 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-01-08T22:50:34.593Z,1736376634.593 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=8.066400 2025-01-08T22:50:34.692Z,1736376634.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:34.711Z,1736376634.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.502495 s, deltaX: 0.099998 m, approachRate: 0.199004 m/s, rangeRepo size: 4 2025-01-08T22:50:34.716Z,1736376634.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:34.842Z,1736376634.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:34.848Z,1736376634.848 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=8.320732 2025-01-08T22:50:35.092Z,1736376635.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:35.093Z,1736376635.093 [DAT](INFO): DAT read: Rx Time:22:50:34.0653 2025-01-08T22:50:35.093Z,1736376635.093 [DAT](INFO): Rx dataTimestamp_ set to:1736376635.092773 2025-01-08T22:50:35.094Z,1736376635.094 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed -0.1 2025-01-08T22:50:35.095Z,1736376635.095 [DAT](ERROR): #Rx 22: Read range message, but no direction. 2025-01-08T22:50:35.096Z,1736376635.096 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=8.569510 2025-01-08T22:50:35.142Z,1736376635.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:35.173Z,1736376635.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.503130 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:35.174Z,1736376635.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:35.344Z,1736376635.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:35.345Z,1736376635.345 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=8.818293 2025-01-08T22:50:35.470Z,1736376635.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:35.496Z,1736376635.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:35.597Z,1736376635.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:35.599Z,1736376635.599 [DAT](INFO): DAT read: Rx Time:22:50:34.5654 2025-01-08T22:50:35.600Z,1736376635.600 [DAT](INFO): Rx dataTimestamp_ set to:1736376635.599135 2025-01-08T22:50:35.602Z,1736376635.602 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed -0.2 2025-01-08T22:50:35.605Z,1736376635.605 [DAT](ERROR): #Rx 23: Read range message, but no direction. 2025-01-08T22:50:35.607Z,1736376635.607 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.080552 2025-01-08T22:50:35.849Z,1736376635.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:35.849Z,1736376635.849 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.323002 2025-01-08T22:50:35.909Z,1736376635.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:35.932Z,1736376635.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.506362 s, deltaX: 0.200001 m, approachRate: 0.394976 m/s, rangeRepo size: 4 2025-01-08T22:50:35.933Z,1736376635.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:36.100Z,1736376636.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:36.101Z,1736376636.101 [DAT](INFO): DAT read: Rx Time:22:50:35.0654 2025-01-08T22:50:36.101Z,1736376636.101 [DAT](INFO): Rx dataTimestamp_ set to:1736376636.101086 2025-01-08T22:50:36.103Z,1736376636.103 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 2025-01-08T22:50:36.103Z,1736376636.103 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-01-08T22:50:36.104Z,1736376636.104 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=9.577820 2025-01-08T22:50:36.296Z,1736376636.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:36.307Z,1736376636.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.501951 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:36.307Z,1736376636.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:36.352Z,1736376636.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:36.353Z,1736376636.353 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=9.826263 2025-01-08T22:50:36.604Z,1736376636.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:36.605Z,1736376636.605 [DAT](INFO): DAT read: Rx Time:22:50:35.5655 2025-01-08T22:50:36.605Z,1736376636.605 [DAT](INFO): Rx dataTimestamp_ set to:1736376636.605110 2025-01-08T22:50:36.607Z,1736376636.607 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed -0.2 2025-01-08T22:50:36.608Z,1736376636.608 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-01-08T22:50:36.610Z,1736376636.610 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=10.082922 2025-01-08T22:50:36.750Z,1736376636.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:36.783Z,1736376636.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.504024 s, deltaX: 0.099998 m, approachRate: 0.198400 m/s, rangeRepo size: 4 2025-01-08T22:50:36.796Z,1736376636.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:36.857Z,1736376636.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:36.860Z,1736376636.860 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=10.332902 2025-01-08T22:50:37.108Z,1736376637.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:37.109Z,1736376637.109 [DAT](INFO): DAT read: Rx Time:22:50:36.0655 2025-01-08T22:50:37.109Z,1736376637.109 [DAT](INFO): Rx dataTimestamp_ set to:1736376637.108878 2025-01-08T22:50:37.110Z,1736376637.110 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed -0.2 2025-01-08T22:50:37.111Z,1736376637.111 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-01-08T22:50:37.112Z,1736376637.112 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.585620 2025-01-08T22:50:37.207Z,1736376637.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:37.239Z,1736376637.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.503768 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:37.240Z,1736376637.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:37.360Z,1736376637.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:37.361Z,1736376637.361 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.834157 2025-01-08T22:50:37.554Z,1736376637.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:37.587Z,1736376637.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:37.612Z,1736376637.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:37.613Z,1736376637.613 [DAT](INFO): DAT read: Rx Time:22:50:36.5656 2025-01-08T22:50:37.613Z,1736376637.613 [DAT](INFO): Rx dataTimestamp_ set to:1736376637.612895 2025-01-08T22:50:37.614Z,1736376637.614 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed -0.3 2025-01-08T22:50:37.615Z,1736376637.615 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-01-08T22:50:37.617Z,1736376637.617 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.090349 2025-01-08T22:50:37.873Z,1736376637.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:37.876Z,1736376637.876 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.349355 2025-01-08T22:50:37.968Z,1736376637.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:37.977Z,1736376637.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504017 s, deltaX: 0.200001 m, approachRate: 0.396814 m/s, rangeRepo size: 4 2025-01-08T22:50:37.978Z,1736376637.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:38.125Z,1736376638.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:38.126Z,1736376638.126 [DAT](INFO): DAT read: Rx Time:22:50:37.0655 2025-01-08T22:50:38.127Z,1736376638.127 [DAT](INFO): Rx dataTimestamp_ set to:1736376638.126226 2025-01-08T22:50:38.128Z,1736376638.128 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed -0.1 2025-01-08T22:50:38.129Z,1736376638.129 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-01-08T22:50:38.129Z,1736376638.129 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.603030 2025-01-08T22:50:38.345Z,1736376638.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:38.355Z,1736376638.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.513331 s, deltaX: -0.200001 m, approachRate: -0.389614 m/s, rangeRepo size: 4 2025-01-08T22:50:38.356Z,1736376638.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:38.376Z,1736376638.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:38.376Z,1736376638.376 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.849995 2025-01-08T22:50:38.628Z,1736376638.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:38.629Z,1736376638.629 [DAT](INFO): DAT read: Rx Time:22:50:37.5657 2025-01-08T22:50:38.629Z,1736376638.629 [DAT](INFO): Rx dataTimestamp_ set to:1736376638.628861 2025-01-08T22:50:38.630Z,1736376638.630 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed -0.1 2025-01-08T22:50:38.631Z,1736376638.631 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-01-08T22:50:38.632Z,1736376638.632 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.105608 2025-01-08T22:50:38.751Z,1736376638.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:38.780Z,1736376638.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.502635 s, deltaX: 0.299999 m, approachRate: 0.596853 m/s, rangeRepo size: 4 2025-01-08T22:50:38.780Z,1736376638.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:38.882Z,1736376638.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:38.887Z,1736376638.887 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.359884 2025-01-08T22:50:39.132Z,1736376639.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:39.133Z,1736376639.133 [DAT](INFO): DAT read: Rx Time:22:50:38.0656 2025-01-08T22:50:39.133Z,1736376639.133 [DAT](INFO): Rx dataTimestamp_ set to:1736376639.133011 2025-01-08T22:50:39.134Z,1736376639.134 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:50:39.135Z,1736376639.135 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-01-08T22:50:39.136Z,1736376639.136 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.609738 2025-01-08T22:50:39.237Z,1736376639.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:39.251Z,1736376639.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504150 s, deltaX: -0.099998 m, approachRate: -0.198351 m/s, rangeRepo size: 4 2025-01-08T22:50:39.256Z,1736376639.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:39.384Z,1736376639.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:39.385Z,1736376639.385 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.858146 2025-01-08T22:50:39.599Z,1736376639.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:39.611Z,1736376639.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:39.636Z,1736376639.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:39.637Z,1736376639.637 [DAT](INFO): DAT read: Rx Time:22:50:38.5658 2025-01-08T22:50:39.637Z,1736376639.637 [DAT](INFO): Rx dataTimestamp_ set to:1736376639.636873 2025-01-08T22:50:39.638Z,1736376639.638 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed -0.2 2025-01-08T22:50:39.639Z,1736376639.639 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-01-08T22:50:39.640Z,1736376639.640 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=13.113627 2025-01-08T22:50:39.889Z,1736376639.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:39.895Z,1736376639.895 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=13.367735 2025-01-08T22:50:39.994Z,1736376639.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:40.005Z,1736376640.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.503862 s, deltaX: 0.299999 m, approachRate: 0.595400 m/s, rangeRepo size: 4 2025-01-08T22:50:40.005Z,1736376640.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:40.140Z,1736376640.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:40.141Z,1736376640.141 [DAT](INFO): DAT read: Rx Time:22:50:39.0657 2025-01-08T22:50:40.141Z,1736376640.141 [DAT](INFO): Rx dataTimestamp_ set to:1736376640.140820 2025-01-08T22:50:40.142Z,1736376640.142 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed -0.2 2025-01-08T22:50:40.143Z,1736376640.143 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-01-08T22:50:40.144Z,1736376640.144 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=13.617575 2025-01-08T22:50:40.363Z,1736376640.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:40.378Z,1736376640.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.503947 s, deltaX: -0.200001 m, approachRate: -0.396869 m/s, rangeRepo size: 4 2025-01-08T22:50:40.379Z,1736376640.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:40.400Z,1736376640.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:40.401Z,1736376640.401 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=13.874707 2025-01-08T22:50:40.652Z,1736376640.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:40.653Z,1736376640.653 [DAT](INFO): DAT read: Rx Time:22:50:39.5658 2025-01-08T22:50:40.654Z,1736376640.654 [DAT](INFO): Rx dataTimestamp_ set to:1736376640.653554 2025-01-08T22:50:40.656Z,1736376640.656 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 2025-01-08T22:50:40.657Z,1736376640.657 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-01-08T22:50:40.658Z,1736376640.658 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.131679 2025-01-08T22:50:40.777Z,1736376640.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:40.787Z,1736376640.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.512734 s, deltaX: 0.200001 m, approachRate: 0.390067 m/s, rangeRepo size: 4 2025-01-08T22:50:40.788Z,1736376640.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:40.906Z,1736376640.906 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:40.909Z,1736376640.909 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.381785 2025-01-08T22:50:41.157Z,1736376641.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:41.161Z,1736376641.161 [DAT](INFO): DAT read: Rx Time:22:50:40.0657 2025-01-08T22:50:41.162Z,1736376641.162 [DAT](INFO): Rx dataTimestamp_ set to:1736376641.161742 2025-01-08T22:50:41.169Z,1736376641.169 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 2025-01-08T22:50:41.169Z,1736376641.169 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-01-08T22:50:41.170Z,1736376641.170 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=14.643982 2025-01-08T22:50:41.259Z,1736376641.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:41.281Z,1736376641.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.508188 s, deltaX: -0.200001 m, approachRate: -0.393557 m/s, rangeRepo size: 4 2025-01-08T22:50:41.283Z,1736376641.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:41.408Z,1736376641.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:41.409Z,1736376641.409 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=14.882286 2025-01-08T22:50:41.626Z,1736376641.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:41.652Z,1736376641.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:41.661Z,1736376641.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:41.663Z,1736376641.663 [DAT](INFO): DAT read: Rx Time:22:50:40.5658 2025-01-08T22:50:41.663Z,1736376641.663 [DAT](INFO): Rx dataTimestamp_ set to:1736376641.663052 2025-01-08T22:50:41.665Z,1736376641.665 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 2025-01-08T22:50:41.667Z,1736376641.667 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-01-08T22:50:41.669Z,1736376641.669 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.142711 2025-01-08T22:50:41.913Z,1736376641.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:41.916Z,1736376641.916 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.388937 2025-01-08T22:50:42.044Z,1736376642.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:42.073Z,1736376642.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.501310 s, deltaX: 0.200001 m, approachRate: 0.398956 m/s, rangeRepo size: 4 2025-01-08T22:50:42.074Z,1736376642.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:42.164Z,1736376642.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:42.165Z,1736376642.165 [DAT](INFO): DAT read: Rx Time:22:50:41.0657 2025-01-08T22:50:42.166Z,1736376642.166 [DAT](INFO): Rx dataTimestamp_ set to:1736376642.165280 2025-01-08T22:50:42.167Z,1736376642.167 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 2025-01-08T22:50:42.168Z,1736376642.168 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-01-08T22:50:42.168Z,1736376642.168 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=15.642037 2025-01-08T22:50:42.416Z,1736376642.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:42.417Z,1736376642.417 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=15.890368 2025-01-08T22:50:42.446Z,1736376642.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:42.456Z,1736376642.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.502228 s, deltaX: -0.200001 m, approachRate: -0.398227 m/s, rangeRepo size: 4 2025-01-08T22:50:42.457Z,1736376642.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:42.668Z,1736376642.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:42.669Z,1736376642.669 [DAT](INFO): DAT read: Rx Time:22:50:41.5658 2025-01-08T22:50:42.670Z,1736376642.670 [DAT](INFO): Rx dataTimestamp_ set to:1736376642.669747 2025-01-08T22:50:42.672Z,1736376642.672 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 2025-01-08T22:50:42.673Z,1736376642.673 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-01-08T22:50:42.675Z,1736376642.675 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.148212 2025-01-08T22:50:42.817Z,1736376642.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:42.826Z,1736376642.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.504467 s, deltaX: 0.200001 m, approachRate: 0.396460 m/s, rangeRepo size: 4 2025-01-08T22:50:42.827Z,1736376642.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:42.921Z,1736376642.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:42.924Z,1736376642.924 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.396940 2025-01-08T22:50:43.172Z,1736376643.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:43.173Z,1736376643.173 [DAT](INFO): DAT read: Rx Time:22:50:42.0658 2025-01-08T22:50:43.173Z,1736376643.173 [DAT](INFO): Rx dataTimestamp_ set to:1736376643.172801 2025-01-08T22:50:43.174Z,1736376643.174 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.1 2025-01-08T22:50:43.175Z,1736376643.175 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-01-08T22:50:43.176Z,1736376643.176 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=16.649544 2025-01-08T22:50:43.291Z,1736376643.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:43.307Z,1736376643.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.503054 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:43.312Z,1736376643.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:43.424Z,1736376643.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:43.424Z,1736376643.424 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=16.898029 2025-01-08T22:50:43.625Z,1736376643.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:43.661Z,1736376643.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:43.676Z,1736376643.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:43.678Z,1736376643.678 [DAT](INFO): DAT read: Rx Time:22:50:42.5658 2025-01-08T22:50:43.678Z,1736376643.678 [DAT](INFO): Rx dataTimestamp_ set to:1736376643.677788 2025-01-08T22:50:43.680Z,1736376643.680 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 2025-01-08T22:50:43.681Z,1736376643.681 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-01-08T22:50:43.682Z,1736376643.682 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.155546 2025-01-08T22:50:43.930Z,1736376643.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:43.933Z,1736376643.933 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.406357 2025-01-08T22:50:44.103Z,1736376644.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:44.133Z,1736376644.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.504987 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:44.133Z,1736376644.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:44.180Z,1736376644.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:44.182Z,1736376644.182 [DAT](INFO): DAT read: Rx Time:22:50:43.0657 2025-01-08T22:50:44.182Z,1736376644.182 [DAT](INFO): Rx dataTimestamp_ set to:1736376644.182007 2025-01-08T22:50:44.184Z,1736376644.184 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 2025-01-08T22:50:44.184Z,1736376644.184 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-01-08T22:50:44.185Z,1736376644.185 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=17.658993 2025-01-08T22:50:44.432Z,1736376644.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:44.433Z,1736376644.433 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=17.906792 2025-01-08T22:50:44.490Z,1736376644.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:44.500Z,1736376644.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.504219 s, deltaX: -0.200001 m, approachRate: -0.396655 m/s, rangeRepo size: 4 2025-01-08T22:50:44.500Z,1736376644.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:44.685Z,1736376644.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:44.686Z,1736376644.686 [DAT](INFO): DAT read: Rx Time:22:50:43.5657 2025-01-08T22:50:44.688Z,1736376644.688 [DAT](INFO): Rx dataTimestamp_ set to:1736376644.687107 2025-01-08T22:50:44.690Z,1736376644.690 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 2025-01-08T22:50:44.691Z,1736376644.691 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-01-08T22:50:44.695Z,1736376644.695 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.169094 2025-01-08T22:50:44.884Z,1736376644.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:44.894Z,1736376644.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.505100 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:44.894Z,1736376644.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:44.938Z,1736376644.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:44.941Z,1736376644.941 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.413574 2025-01-08T22:50:45.188Z,1736376645.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:45.189Z,1736376645.188 [DAT](INFO): DAT read: Rx Time:22:50:44.0656 2025-01-08T22:50:45.189Z,1736376645.189 [DAT](INFO): Rx dataTimestamp_ set to:1736376645.188682 2025-01-08T22:50:45.190Z,1736376645.190 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.1 2025-01-08T22:50:45.191Z,1736376645.191 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-01-08T22:50:45.192Z,1736376645.192 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.665449 2025-01-08T22:50:45.344Z,1736376645.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:45.364Z,1736376645.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.501575 s, deltaX: -0.099998 m, approachRate: -0.199369 m/s, rangeRepo size: 4 2025-01-08T22:50:45.365Z,1736376645.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:45.440Z,1736376645.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:45.442Z,1736376645.442 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.914860 2025-01-08T22:50:45.692Z,1736376645.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:45.693Z,1736376645.693 [DAT](INFO): DAT read: Rx Time:22:50:44.5657 2025-01-08T22:50:45.693Z,1736376645.693 [DAT](INFO): Rx dataTimestamp_ set to:1736376645.692692 2025-01-08T22:50:45.694Z,1736376645.694 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 2025-01-08T22:50:45.695Z,1736376645.695 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-01-08T22:50:45.696Z,1736376645.696 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.169470 2025-01-08T22:50:45.788Z,1736376645.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:45.801Z,1736376645.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.504010 s, deltaX: 0.099998 m, approachRate: 0.198406 m/s, rangeRepo size: 4 2025-01-08T22:50:45.801Z,1736376645.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:45.946Z,1736376645.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:45.949Z,1736376645.949 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.421274 2025-01-08T22:50:46.196Z,1736376646.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:46.197Z,1736376646.197 [DAT](INFO): DAT read: Rx Time:22:50:45.0656 2025-01-08T22:50:46.197Z,1736376646.197 [DAT](INFO): Rx dataTimestamp_ set to:1736376646.196975 2025-01-08T22:50:46.199Z,1736376646.199 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:50:46.200Z,1736376646.200 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-01-08T22:50:46.201Z,1736376646.201 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.674435 2025-01-08T22:50:46.206Z,1736376646.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:46.217Z,1736376646.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504283 s, deltaX: -0.099998 m, approachRate: -0.198298 m/s, rangeRepo size: 4 2025-01-08T22:50:46.217Z,1736376646.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:46.448Z,1736376646.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:46.449Z,1736376646.449 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.922895 2025-01-08T22:50:46.632Z,1736376646.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:46.641Z,1736376646.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:46.700Z,1736376646.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:46.701Z,1736376646.701 [DAT](INFO): DAT read: Rx Time:22:50:45.5657 2025-01-08T22:50:46.702Z,1736376646.702 [DAT](INFO): Rx dataTimestamp_ set to:1736376646.701378 2025-01-08T22:50:46.703Z,1736376646.703 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 2025-01-08T22:50:46.704Z,1736376646.704 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-01-08T22:50:46.704Z,1736376646.704 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.178114 2025-01-08T22:50:46.952Z,1736376646.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:46.953Z,1736376646.953 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.426136 2025-01-08T22:50:47.092Z,1736376647.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:47.106Z,1736376647.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.504403 s, deltaX: 0.099998 m, approachRate: 0.198251 m/s, rangeRepo size: 4 2025-01-08T22:50:47.107Z,1736376647.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:47.205Z,1736376647.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:47.206Z,1736376647.206 [DAT](INFO): DAT read: Rx Time:22:50:46.0656 2025-01-08T22:50:47.207Z,1736376647.207 [DAT](INFO): Rx dataTimestamp_ set to:1736376647.206625 2025-01-08T22:50:47.209Z,1736376647.209 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:50:47.210Z,1736376647.210 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-01-08T22:50:47.219Z,1736376647.219 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.684776 2025-01-08T22:50:47.444Z,1736376647.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:47.454Z,1736376647.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.505247 s, deltaX: -0.099998 m, approachRate: -0.197920 m/s, rangeRepo size: 4 2025-01-08T22:50:47.454Z,1736376647.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:47.456Z,1736376647.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:47.457Z,1736376647.457 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.930122 2025-01-08T22:50:47.708Z,1736376647.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:47.709Z,1736376647.709 [DAT](INFO): DAT read: Rx Time:22:50:46.5657 2025-01-08T22:50:47.709Z,1736376647.709 [DAT](INFO): Rx dataTimestamp_ set to:1736376647.708882 2025-01-08T22:50:47.710Z,1736376647.710 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 2025-01-08T22:50:47.711Z,1736376647.711 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-01-08T22:50:47.712Z,1736376647.712 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.185625 2025-01-08T22:50:47.840Z,1736376647.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:47.850Z,1736376647.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.502257 s, deltaX: 0.099998 m, approachRate: 0.199098 m/s, rangeRepo size: 4 2025-01-08T22:50:47.850Z,1736376647.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:47.962Z,1736376647.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:47.964Z,1736376647.964 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.437237 2025-01-08T22:50:48.212Z,1736376648.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:48.213Z,1736376648.213 [DAT](INFO): DAT read: Rx Time:22:50:47.0656 2025-01-08T22:50:48.213Z,1736376648.213 [DAT](INFO): Rx dataTimestamp_ set to:1736376648.212691 2025-01-08T22:50:48.214Z,1736376648.214 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:50:48.216Z,1736376648.216 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-01-08T22:50:48.216Z,1736376648.216 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.690094 2025-01-08T22:50:48.337Z,1736376648.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:48.346Z,1736376648.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.503809 s, deltaX: -0.099998 m, approachRate: -0.198485 m/s, rangeRepo size: 4 2025-01-08T22:50:48.346Z,1736376648.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:48.464Z,1736376648.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:48.465Z,1736376648.465 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.938419 2025-01-08T22:50:48.596Z,1736376648.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:50:48.694Z,1736376648.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:48.708Z,1736376648.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:48.717Z,1736376648.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:48.719Z,1736376648.719 [DAT](INFO): DAT read: Rx Time:22:50:47.5656 2025-01-08T22:50:48.720Z,1736376648.720 [DAT](INFO): Rx dataTimestamp_ set to:1736376648.718873 2025-01-08T22:50:48.721Z,1736376648.721 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:50:48.722Z,1736376648.722 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-01-08T22:50:48.724Z,1736376648.724 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.196577 2025-01-08T22:50:48.969Z,1736376648.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:48.970Z,1736376648.970 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.443211 2025-01-08T22:50:49.110Z,1736376649.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:49.141Z,1736376649.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.506182 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:49.141Z,1736376649.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:49.220Z,1736376649.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:49.221Z,1736376649.221 [DAT](INFO): DAT read: Rx Time:22:50:48.0655 2025-01-08T22:50:49.221Z,1736376649.221 [DAT](INFO): Rx dataTimestamp_ set to:1736376649.220853 2025-01-08T22:50:49.222Z,1736376649.222 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 2025-01-08T22:50:49.223Z,1736376649.223 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-01-08T22:50:49.224Z,1736376649.224 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.697577 2025-01-08T22:50:49.472Z,1736376649.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:49.473Z,1736376649.473 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.946196 2025-01-08T22:50:49.479Z,1736376649.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:49.490Z,1736376649.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.501980 s, deltaX: -0.200001 m, approachRate: -0.398424 m/s, rangeRepo size: 4 2025-01-08T22:50:49.490Z,1736376649.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:49.600Z,1736376649.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:50:49.725Z,1736376649.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:49.726Z,1736376649.726 [DAT](INFO): DAT read: Rx Time:22:50:48.5656 2025-01-08T22:50:49.727Z,1736376649.727 [DAT](INFO): Rx dataTimestamp_ set to:1736376649.726539 2025-01-08T22:50:49.728Z,1736376649.728 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed -0.1 2025-01-08T22:50:49.729Z,1736376649.729 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-01-08T22:50:49.730Z,1736376649.730 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.203592 2025-01-08T22:50:49.903Z,1736376649.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:49.912Z,1736376649.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.505686 s, deltaX: 0.200001 m, approachRate: 0.395504 m/s, rangeRepo size: 4 2025-01-08T22:50:49.913Z,1736376649.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:49.976Z,1736376649.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:49.977Z,1736376649.977 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.450459 2025-01-08T22:50:50.228Z,1736376650.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:50.229Z,1736376650.229 [DAT](INFO): DAT read: Rx Time:22:50:49.0655 2025-01-08T22:50:50.229Z,1736376650.229 [DAT](INFO): Rx dataTimestamp_ set to:1736376650.228724 2025-01-08T22:50:50.230Z,1736376650.230 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 2025-01-08T22:50:50.231Z,1736376650.231 [DAT](ERROR): #Rx 52: Read range message, but no direction. 2025-01-08T22:50:50.233Z,1736376650.233 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.706488 2025-01-08T22:50:50.362Z,1736376650.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:50.384Z,1736376650.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.502185 s, deltaX: -0.200001 m, approachRate: -0.398261 m/s, rangeRepo size: 4 2025-01-08T22:50:50.384Z,1736376650.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:50.481Z,1736376650.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:50.483Z,1736376650.483 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.956137 2025-01-08T22:50:50.705Z,1736376650.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:50.713Z,1736376650.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:50.733Z,1736376650.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:50.734Z,1736376650.734 [DAT](INFO): DAT read: Rx Time:22:50:49.5657 2025-01-08T22:50:50.736Z,1736376650.736 [DAT](INFO): Rx dataTimestamp_ set to:1736376650.735085 2025-01-08T22:50:50.738Z,1736376650.738 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed -0.1 2025-01-08T22:50:50.742Z,1736376650.742 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-01-08T22:50:50.760Z,1736376650.760 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.233990 2025-01-08T22:50:50.985Z,1736376650.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:50.986Z,1736376650.986 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.459724 2025-01-08T22:50:51.153Z,1736376651.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:51.163Z,1736376651.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.506361 s, deltaX: 0.299999 m, approachRate: 0.592461 m/s, rangeRepo size: 4 2025-01-08T22:50:51.179Z,1736376651.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:51.236Z,1736376651.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:51.237Z,1736376651.237 [DAT](INFO): DAT read: Rx Time:22:50:50.0656 2025-01-08T22:50:51.237Z,1736376651.237 [DAT](INFO): Rx dataTimestamp_ set to:1736376651.236906 2025-01-08T22:50:51.238Z,1736376651.238 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed -0.1 2025-01-08T22:50:51.239Z,1736376651.239 [DAT](ERROR): #Rx 54: Read range message, but no direction. 2025-01-08T22:50:51.240Z,1736376651.240 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.713690 2025-01-08T22:50:51.488Z,1736376651.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:51.488Z,1736376651.488 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.962082 2025-01-08T22:50:51.577Z,1736376651.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:51.587Z,1736376651.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.501821 s, deltaX: -0.099998 m, approachRate: -0.199271 m/s, rangeRepo size: 4 2025-01-08T22:50:51.603Z,1736376651.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:51.740Z,1736376651.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:51.741Z,1736376651.741 [DAT](INFO): DAT read: Rx Time:22:50:50.5658 2025-01-08T22:50:51.742Z,1736376651.742 [DAT](INFO): Rx dataTimestamp_ set to:1736376651.741630 2025-01-08T22:50:51.744Z,1736376651.744 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed -0.1 2025-01-08T22:50:51.745Z,1736376651.745 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-01-08T22:50:51.747Z,1736376651.747 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.220182 2025-01-08T22:50:51.979Z,1736376651.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:51.989Z,1736376651.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.504724 s, deltaX: 0.299999 m, approachRate: 0.594383 m/s, rangeRepo size: 4 2025-01-08T22:50:51.990Z,1736376651.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:51.992Z,1736376651.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:51.993Z,1736376651.993 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.466551 2025-01-08T22:50:52.244Z,1736376652.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:52.245Z,1736376652.245 [DAT](INFO): DAT read: Rx Time:22:50:51.0658 2025-01-08T22:50:52.245Z,1736376652.245 [DAT](INFO): Rx dataTimestamp_ set to:1736376652.244796 2025-01-08T22:50:52.246Z,1736376652.246 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed -0.1 2025-01-08T22:50:52.247Z,1736376652.247 [DAT](ERROR): #Rx 56: Read range message, but no direction. 2025-01-08T22:50:52.249Z,1736376652.249 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.722980 2025-01-08T22:50:52.456Z,1736376652.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:52.466Z,1736376652.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.503166 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:52.466Z,1736376652.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:52.496Z,1736376652.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:52.496Z,1736376652.496 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.969904 2025-01-08T22:50:52.748Z,1736376652.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:52.749Z,1736376652.749 [DAT](INFO): DAT read: Rx Time:22:50:51.5658 2025-01-08T22:50:52.749Z,1736376652.749 [DAT](INFO): Rx dataTimestamp_ set to:1736376652.748726 2025-01-08T22:50:52.750Z,1736376652.750 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 2025-01-08T22:50:52.751Z,1736376652.751 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-01-08T22:50:52.752Z,1736376652.752 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.225485 2025-01-08T22:50:52.824Z,1736376652.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:52.850Z,1736376652.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.503930 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:52.851Z,1736376652.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:53.003Z,1736376653.003 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:53.004Z,1736376653.004 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.477203 2025-01-08T22:50:53.216Z,1736376653.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:53.225Z,1736376653.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:53.252Z,1736376653.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:53.253Z,1736376653.253 [DAT](INFO): DAT read: Rx Time:22:50:52.0658 2025-01-08T22:50:53.255Z,1736376653.255 [DAT](INFO): Rx dataTimestamp_ set to:1736376653.253962 2025-01-08T22:50:53.257Z,1736376653.257 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 2025-01-08T22:50:53.258Z,1736376653.258 [DAT](ERROR): #Rx 58: Read range message, but no direction. 2025-01-08T22:50:53.269Z,1736376653.269 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.742811 2025-01-08T22:50:53.504Z,1736376653.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:53.505Z,1736376653.505 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.978149 2025-01-08T22:50:53.626Z,1736376653.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:53.638Z,1736376653.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.505236 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:53.638Z,1736376653.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:53.756Z,1736376653.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:53.757Z,1736376653.757 [DAT](INFO): DAT read: Rx Time:22:50:52.5659 2025-01-08T22:50:53.757Z,1736376653.757 [DAT](INFO): Rx dataTimestamp_ set to:1736376653.756782 2025-01-08T22:50:53.758Z,1736376653.758 [DAT](INFO): DAT read: Range 10 to 50 : 54.9 m (trip time 36.6 ms) speed -0.2 2025-01-08T22:50:53.759Z,1736376653.759 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-01-08T22:50:53.760Z,1736376653.760 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.233568 2025-01-08T22:50:54.008Z,1736376654.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:54.008Z,1736376654.008 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.482067 2025-01-08T22:50:54.077Z,1736376654.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:54.140Z,1736376654.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 0.502820 s, deltaX: 0.100002 m, approachRate: 0.198883 m/s, rangeRepo size: 4 2025-01-08T22:50:54.141Z,1736376654.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:54.260Z,1736376654.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:54.261Z,1736376654.261 [DAT](INFO): DAT read: Rx Time:22:50:53.0658 2025-01-08T22:50:54.261Z,1736376654.261 [DAT](INFO): Rx dataTimestamp_ set to:1736376654.261216 2025-01-08T22:50:54.273Z,1736376654.273 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed -0.1 2025-01-08T22:50:54.274Z,1736376654.274 [DAT](ERROR): #Rx 60: Read range message, but no direction. 2025-01-08T22:50:54.275Z,1736376654.275 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.748470 2025-01-08T22:50:54.450Z,1736376654.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:54.481Z,1736376654.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.504434 s, deltaX: -0.100002 m, approachRate: -0.198247 m/s, rangeRepo size: 4 2025-01-08T22:50:54.482Z,1736376654.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:54.512Z,1736376654.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:54.513Z,1736376654.513 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.986221 2025-01-08T22:50:54.764Z,1736376654.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:54.764Z,1736376654.764 [DAT](INFO): DAT read: Rx Time:22:50:53.5659 2025-01-08T22:50:54.765Z,1736376654.765 [DAT](INFO): Rx dataTimestamp_ set to:1736376654.764676 2025-01-08T22:50:54.766Z,1736376654.766 [DAT](INFO): DAT read: Range 10 to 50 : 54.9 m (trip time 36.6 ms) speed -0.1 2025-01-08T22:50:54.767Z,1736376654.767 [DAT](ERROR): #Rx 61: Read range message, but no direction. 2025-01-08T22:50:54.768Z,1736376654.768 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.241453 2025-01-08T22:50:54.910Z,1736376654.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:54.926Z,1736376654.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 0.503460 s, deltaX: 0.100002 m, approachRate: 0.198630 m/s, rangeRepo size: 4 2025-01-08T22:50:54.926Z,1736376654.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:55.016Z,1736376655.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:55.017Z,1736376655.017 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.490278 2025-01-08T22:50:55.268Z,1736376655.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:55.269Z,1736376655.269 [DAT](INFO): DAT read: Rx Time:22:50:54.0658 2025-01-08T22:50:55.269Z,1736376655.269 [DAT](INFO): Rx dataTimestamp_ set to:1736376655.268826 2025-01-08T22:50:55.270Z,1736376655.270 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 2025-01-08T22:50:55.271Z,1736376655.271 [DAT](ERROR): #Rx 62: Read range message, but no direction. 2025-01-08T22:50:55.272Z,1736376655.272 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.745571 2025-01-08T22:50:55.380Z,1736376655.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:55.403Z,1736376655.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.504150 s, deltaX: -0.100002 m, approachRate: -0.198358 m/s, rangeRepo size: 4 2025-01-08T22:50:55.404Z,1736376655.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:55.529Z,1736376655.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:55.533Z,1736376655.533 [DAT](INFO): DAT read: Rx Time:22:50:54.5659 2025-01-08T22:50:55.534Z,1736376655.534 [DAT](INFO): Rx dataTimestamp_ set to:1736376655.533023 2025-01-08T22:50:55.535Z,1736376655.535 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.009090 2025-01-08T22:50:55.713Z,1736376655.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:55.722Z,1736376655.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:55.780Z,1736376655.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:55.781Z,1736376655.781 [DAT](INFO): DAT read: Range 10 to 50 : 54.9 m (trip time 36.6 ms) speed 0.0 2025-01-08T22:50:55.782Z,1736376655.782 [DAT](ERROR): #Rx 63: Read range message, but no direction. 2025-01-08T22:50:55.783Z,1736376655.783 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.256332 2025-01-08T22:50:56.034Z,1736376656.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:56.036Z,1736376656.036 [DAT](INFO): DAT read: Rx Time:22:50:55.0658 2025-01-08T22:50:56.036Z,1736376656.036 [DAT](INFO): Rx dataTimestamp_ set to:1736376656.035852 2025-01-08T22:50:56.037Z,1736376656.037 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 2025-01-08T22:50:56.038Z,1736376656.038 [DAT](ERROR): #Rx 64: Read range message, but no direction. 2025-01-08T22:50:56.039Z,1736376656.039 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.512484 2025-01-08T22:50:56.196Z,1736376656.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:56.223Z,1736376656.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.767026 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:56.227Z,1736376656.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:56.284Z,1736376656.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:56.285Z,1736376656.285 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.758324 2025-01-08T22:50:56.536Z,1736376656.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:56.537Z,1736376656.537 [DAT](INFO): DAT read: Rx Time:22:50:55.5658 2025-01-08T22:50:56.537Z,1736376656.537 [DAT](INFO): Rx dataTimestamp_ set to:1736376656.537060 2025-01-08T22:50:56.539Z,1736376656.539 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 2025-01-08T22:50:56.539Z,1736376656.539 [DAT](ERROR): #Rx 65: Read range message, but no direction. 2025-01-08T22:50:56.540Z,1736376656.540 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.013828 2025-01-08T22:50:56.614Z,1736376656.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:56.659Z,1736376656.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.501208 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:56.664Z,1736376656.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:56.788Z,1736376656.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:56.788Z,1736376656.788 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.262083 2025-01-08T22:50:57.040Z,1736376657.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:57.041Z,1736376657.041 [DAT](INFO): DAT read: Rx Time:22:50:56.0657 2025-01-08T22:50:57.041Z,1736376657.041 [DAT](INFO): Rx dataTimestamp_ set to:1736376657.041119 2025-01-08T22:50:57.043Z,1736376657.043 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 2025-01-08T22:50:57.043Z,1736376657.043 [DAT](ERROR): #Rx 66: Read range message, but no direction. 2025-01-08T22:50:57.044Z,1736376657.044 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.517843 2025-01-08T22:50:57.124Z,1736376657.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:57.188Z,1736376657.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.504059 s, deltaX: -0.200001 m, approachRate: -0.396780 m/s, rangeRepo size: 4 2025-01-08T22:50:57.189Z,1736376657.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:57.292Z,1736376657.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:57.292Z,1736376657.292 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.766024 2025-01-08T22:50:57.544Z,1736376657.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:57.545Z,1736376657.545 [DAT](INFO): DAT read: Rx Time:22:50:56.5658 2025-01-08T22:50:57.545Z,1736376657.545 [DAT](INFO): Rx dataTimestamp_ set to:1736376657.544940 2025-01-08T22:50:57.546Z,1736376657.546 [DAT](INFO): DAT read: Range 10 to 50 : 54.8 m (trip time 36.5 ms) speed 0.0 2025-01-08T22:50:57.547Z,1736376657.547 [DAT](ERROR): #Rx 67: Read range message, but no direction. 2025-01-08T22:50:57.549Z,1736376657.549 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.022816 2025-01-08T22:50:57.656Z,1736376657.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:57.671Z,1736376657.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.503821 s, deltaX: 0.200001 m, approachRate: 0.396968 m/s, rangeRepo size: 4 2025-01-08T22:50:57.672Z,1736376657.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:57.801Z,1736376657.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:57.801Z,1736376657.801 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.274923 2025-01-08T22:50:57.998Z,1736376657.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:58.007Z,1736376658.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:58.052Z,1736376658.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:58.053Z,1736376658.053 [DAT](INFO): DAT read: Rx Time:22:50:57.0656 2025-01-08T22:50:58.053Z,1736376658.053 [DAT](INFO): Rx dataTimestamp_ set to:1736376658.053059 2025-01-08T22:50:58.055Z,1736376658.055 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:50:58.056Z,1736376658.056 [DAT](ERROR): #Rx 68: Read range message, but no direction. 2025-01-08T22:50:58.058Z,1736376658.058 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=31.531199 2025-01-08T22:50:58.304Z,1736376658.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:58.304Z,1736376658.304 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=31.778027 2025-01-08T22:50:58.441Z,1736376658.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:58.451Z,1736376658.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.508119 s, deltaX: -0.299999 m, approachRate: -0.590411 m/s, rangeRepo size: 4 2025-01-08T22:50:58.452Z,1736376658.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:58.556Z,1736376658.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:58.557Z,1736376658.557 [DAT](INFO): DAT read: Rx Time:22:50:57.565e 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 2025-01-08T22:50:58.558Z,1736376658.558 [DAT](INFO): Rx dataTimestamp_ set to:1736376658.557680 2025-01-08T22:50:58.559Z,1736376658.559 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.032162 2025-01-08T22:50:58.808Z,1736376658.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:58.809Z,1736376658.809 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.282116 2025-01-08T22:50:58.817Z,1736376658.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:58.825Z,1736376658.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:59.060Z,1736376659.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:59.061Z,1736376659.061 [DAT](INFO): DAT read: Rx Time:22:50:58.0656 2025-01-08T22:50:59.061Z,1736376659.061 [DAT](INFO): Rx dataTimestamp_ set to:1736376659.060956 2025-01-08T22:50:59.062Z,1736376659.062 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:50:59.063Z,1736376659.063 [DAT](ERROR): #Rx 69: Read range message, but no direction. 2025-01-08T22:50:59.064Z,1736376659.064 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.537697 2025-01-08T22:50:59.252Z,1736376659.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:59.261Z,1736376659.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 1.007897 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:50:59.262Z,1736376659.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:59.312Z,1736376659.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:59.316Z,1736376659.316 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.788048 2025-01-08T22:50:59.564Z,1736376659.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:59.565Z,1736376659.565 [DAT](INFO): DAT read: Rx Time:22:50:58.5657 2025-01-08T22:50:59.566Z,1736376659.566 [DAT](INFO): Rx dataTimestamp_ set to:1736376659.565453 2025-01-08T22:50:59.567Z,1736376659.567 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (trip time 36.4 ms) speed 0.0 2025-01-08T22:50:59.568Z,1736376659.568 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-01-08T22:50:59.569Z,1736376659.569 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.042229 2025-01-08T22:50:59.695Z,1736376659.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:50:59.706Z,1736376659.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 0.504497 s, deltaX: 0.099998 m, approachRate: 0.198214 m/s, rangeRepo size: 4 2025-01-08T22:50:59.707Z,1736376659.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:50:59.816Z,1736376659.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:50:59.817Z,1736376659.817 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.290874 2025-01-08T22:51:00.068Z,1736376660.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:00.069Z,1736376660.069 [DAT](INFO): DAT read: Rx Time:22:50:59.0656 2025-01-08T22:51:00.069Z,1736376660.069 [DAT](INFO): Rx dataTimestamp_ set to:1736376660.068714 2025-01-08T22:51:00.070Z,1736376660.070 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:51:00.071Z,1736376660.071 [DAT](ERROR): #Rx 71: Read range message, but no direction. 2025-01-08T22:51:00.072Z,1736376660.072 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.545460 2025-01-08T22:51:00.152Z,1736376660.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:00.222Z,1736376660.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.503261 s, deltaX: -0.099998 m, approachRate: -0.198701 m/s, rangeRepo size: 4 2025-01-08T22:51:00.222Z,1736376660.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:51:00.320Z,1736376660.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:00.320Z,1736376660.320 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.794102 2025-01-08T22:51:00.572Z,1736376660.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:00.573Z,1736376660.573 [DAT](INFO): DAT read: Rx Time:22:50:59.5656 2025-01-08T22:51:00.573Z,1736376660.573 [DAT](INFO): Rx dataTimestamp_ set to:1736376660.572731 2025-01-08T22:51:00.574Z,1736376660.574 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:51:00.575Z,1736376660.575 [DAT](ERROR): #Rx 72: Read range message, but no direction. 2025-01-08T22:51:00.576Z,1736376660.576 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.049461 2025-01-08T22:51:00.676Z,1736376660.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:00.694Z,1736376660.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504017 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:51:00.695Z,1736376660.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:51:00.824Z,1736376660.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:00.825Z,1736376660.825 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.298431 2025-01-08T22:51:01.004Z,1736376661.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:01.017Z,1736376661.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:51:01.077Z,1736376661.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:01.078Z,1736376661.078 [DAT](INFO): DAT read: Rx Time:22:51:00.0655 2025-01-08T22:51:01.078Z,1736376661.078 [DAT](INFO): Rx dataTimestamp_ set to:1736376661.077771 2025-01-08T22:51:01.079Z,1736376661.079 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 2025-01-08T22:51:01.080Z,1736376661.080 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-01-08T22:51:01.081Z,1736376661.081 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.554535 2025-01-08T22:51:01.328Z,1736376661.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:01.328Z,1736376661.328 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.801983 2025-01-08T22:51:01.446Z,1736376661.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:01.456Z,1736376661.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.505040 s, deltaX: -0.200001 m, approachRate: -0.396010 m/s, rangeRepo size: 4 2025-01-08T22:51:01.456Z,1736376661.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:51:01.580Z,1736376661.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:01.581Z,1736376661.581 [DAT](INFO): DAT read: Rx Time:22:51:00.5656 2025-01-08T22:51:01.582Z,1736376661.582 [DAT](INFO): Rx dataTimestamp_ set to:1736376661.581341 2025-01-08T22:51:01.584Z,1736376661.584 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:51:01.585Z,1736376661.585 [DAT](ERROR): #Rx 74: Read range message, but no direction. 2025-01-08T22:51:01.585Z,1736376661.585 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.059055 2025-01-08T22:51:01.813Z,1736376661.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:01.823Z,1736376661.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.503570 s, deltaX: 0.200001 m, approachRate: 0.397166 m/s, rangeRepo size: 4 2025-01-08T22:51:01.824Z,1736376661.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:51:01.832Z,1736376661.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:01.833Z,1736376661.833 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.306534 2025-01-08T22:51:02.084Z,1736376662.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:02.085Z,1736376662.085 [DAT](INFO): DAT read: Rx Time:22:51:01.0654 2025-01-08T22:51:02.085Z,1736376662.085 [DAT](INFO): Rx dataTimestamp_ set to:1736376662.084859 2025-01-08T22:51:02.086Z,1736376662.086 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 2025-01-08T22:51:02.087Z,1736376662.087 [DAT](ERROR): #Rx 75: Read range message, but no direction. 2025-01-08T22:51:02.088Z,1736376662.088 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.561592 2025-01-08T22:51:02.297Z,1736376662.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:02.312Z,1736376662.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.503518 s, deltaX: -0.299999 m, approachRate: -0.595806 m/s, rangeRepo size: 4 2025-01-08T22:51:02.313Z,1736376662.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:51:02.336Z,1736376662.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:02.337Z,1736376662.337 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.810181 2025-01-08T22:51:02.588Z,1736376662.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:02.589Z,1736376662.589 [DAT](INFO): DAT read: Rx Time:22:51:01.5655 2025-01-08T22:51:02.589Z,1736376662.589 [DAT](INFO): Rx dataTimestamp_ set to:1736376662.588700 2025-01-08T22:51:02.590Z,1736376662.590 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 2025-01-08T22:51:02.591Z,1736376662.591 [DAT](ERROR): #Rx 76: Read range message, but no direction. 2025-01-08T22:51:02.592Z,1736376662.592 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.065472 2025-01-08T22:51:02.725Z,1736376662.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:02.735Z,1736376662.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.503841 s, deltaX: 0.099998 m, approachRate: 0.198472 m/s, rangeRepo size: 4 2025-01-08T22:51:02.736Z,1736376662.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.20 m. 2025-01-08T22:51:02.840Z,1736376662.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:02.841Z,1736376662.841 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.314957 2025-01-08T22:51:03.092Z,1736376663.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:03.093Z,1736376663.093 [DAT](INFO): DAT read: Rx Time:22:51:02.0654 2025-01-08T22:51:03.093Z,1736376663.093 [DAT](INFO): Rx dataTimestamp_ set to:1736376663.093212 2025-01-08T22:51:03.095Z,1736376663.095 [DAT](INFO): DAT read: Bearing 143.6, 7.9 (Local) 2025-01-08T22:51:03.095Z,1736376663.095 [DAT](INFO): Local bearing/azimuth received: Bearing 143.6, 7.9 (Local) 2025-01-08T22:51:03.097Z,1736376663.097 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 2025-01-08T22:51:03.107Z,1736376663.107 [DAT](INFO): DAT read: 22:51:02.0654 LVL= 11728, 18337, 14418, 21651, AGC= 53, IDX= 504,-0.11, 1.266, 2.326,-0.159, 1.008, PHS= 0.346, 1.365,-1.170, RAW= 6.5, -4.9, CAL= 6.4, -7.9, ROT= 143.6, 7.9 2025-01-08T22:51:03.116Z,1736376663.116 [DAT](INFO): got valid direction response: 22:51:02.0654 LVL= 11728, 18337, 14418, 21651, AGC= 53, IDX= 504,-0.11, 1.266, 2.326,-0.159, 1.008, PHS= 0.346, 1.365,-1.170, RAW= 6.5, -4.9, CAL= 6.4, -7.9, ROT= 143.6, 7.9 2025-01-08T22:51:03.117Z,1736376663.117 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-01-08T22:51:03.118Z,1736376663.118 [DAT](INFO): direction in FSK: [0.169826,0.982744,0.073299] 2025-01-08T22:51:03.118Z,1736376663.118 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:03.121Z,1736376663.121 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.594990 2025-01-08T22:51:03.178Z,1736376663.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:03.274Z,1736376663.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.504512 s, deltaX: -0.099998 m, approachRate: -0.198208 m/s, rangeRepo size: 4 2025-01-08T22:51:03.280Z,1736376663.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.200001 m, bearing: 102.196528 deg, lat: 36.904971 deg, lon: -122.119411 deg, deltaT: 83.229278 s, deltaX: 16.000000 m, approachRate: 0.192240 m/s, posRepo size: 4 2025-01-08T22:51:03.281Z,1736376663.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T22:51:03.344Z,1736376663.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:03.345Z,1736376663.345 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.818172 2025-01-08T22:51:03.596Z,1736376663.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:03.597Z,1736376663.597 [DAT](INFO): DAT read: Rx Time:22:51:02.5654 2025-01-08T22:51:03.598Z,1736376663.598 [DAT](INFO): Rx dataTimestamp_ set to:1736376663.597395 2025-01-08T22:51:03.600Z,1736376663.600 [DAT](INFO): DAT read: Bearing 142.3, 7.7 (Local) 2025-01-08T22:51:03.600Z,1736376663.600 [DAT](INFO): Local bearing/azimuth received: Bearing 142.3, 7.7 (Local) 2025-01-08T22:51:03.602Z,1736376663.602 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed -0.1 2025-01-08T22:51:03.611Z,1736376663.611 [DAT](INFO): DAT read: 22:51:02.5654 LVL= 13376, 19345, 15714, 23219, AGC= 54, IDX= 504,-0.29, 2.825,-2.448, 1.335, 2.535, PHS= 0.378, 1.348,-1.203, RAW= 7.9, -4.7, CAL= 7.7, -7.7, ROT= 142.3, 7.7 2025-01-08T22:51:03.612Z,1736376663.612 [DAT](INFO): got valid direction response: 22:51:02.5654 LVL= 13376, 19345, 15714, 23219, AGC= 54, IDX= 504,-0.29, 2.825,-2.448, 1.335, 2.535, PHS= 0.378, 1.348,-1.203, RAW= 7.9, -4.7, CAL= 7.7, -7.7, ROT= 142.3, 7.7 2025-01-08T22:51:03.613Z,1736376663.613 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-01-08T22:51:03.614Z,1736376663.614 [DAT](INFO): direction in FSK: [0.163422,0.981771,0.097049] 2025-01-08T22:51:03.614Z,1736376663.614 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:03.623Z,1736376663.623 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.096176 2025-01-08T22:51:03.709Z,1736376663.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:03.756Z,1736376663.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.504183 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:51:03.758Z,1736376663.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.200001 m, bearing: 102.344103 deg, lat: 36.904970 deg, lon: -122.119050 deg, deltaT: 0.504183 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:51:03.759Z,1736376663.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T22:51:03.849Z,1736376663.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:03.849Z,1736376663.849 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.322971 2025-01-08T22:51:04.101Z,1736376664.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:04.103Z,1736376664.103 [DAT](INFO): DAT read: Rx Time:22:51:03.0654 2025-01-08T22:51:04.104Z,1736376664.104 [DAT](INFO): Rx dataTimestamp_ set to:1736376664.103164 2025-01-08T22:51:04.106Z,1736376664.106 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 2025-01-08T22:51:04.107Z,1736376664.107 [DAT](ERROR): #Rx 79: Read range message, but no direction. 2025-01-08T22:51:04.109Z,1736376664.109 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.581799 2025-01-08T22:51:04.187Z,1736376664.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:04.231Z,1736376664.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.505769 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:51:04.233Z,1736376664.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T22:51:04.352Z,1736376664.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:04.353Z,1736376664.353 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.826385 2025-01-08T22:51:04.604Z,1736376664.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:04.605Z,1736376664.605 [DAT](INFO): DAT read: Rx Time:22:51:03.5655 2025-01-08T22:51:04.605Z,1736376664.605 [DAT](INFO): Rx dataTimestamp_ set to:1736376664.604842 2025-01-08T22:51:04.606Z,1736376664.606 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 2025-01-08T22:51:04.607Z,1736376664.607 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-01-08T22:51:04.608Z,1736376664.608 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.081581 2025-01-08T22:51:04.735Z,1736376664.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:04.744Z,1736376664.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.501678 s, deltaX: 0.099998 m, approachRate: 0.199328 m/s, rangeRepo size: 4 2025-01-08T22:51:04.745Z,1736376664.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T22:51:04.857Z,1736376664.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:04.858Z,1736376664.858 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.331604 2025-01-08T22:51:05.061Z,1736376665.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:05.090Z,1736376665.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T22:51:05.109Z,1736376665.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:05.111Z,1736376665.111 [DAT](INFO): DAT read: Rx Time:22:51:04.0654 2025-01-08T22:51:05.112Z,1736376665.112 [DAT](INFO): Rx dataTimestamp_ set to:1736376665.111777 2025-01-08T22:51:05.115Z,1736376665.115 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 2025-01-08T22:51:05.116Z,1736376665.116 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-01-08T22:51:05.118Z,1736376665.118 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.591537 2025-01-08T22:51:05.360Z,1736376665.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:05.360Z,1736376665.360 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.833969 2025-01-08T22:51:05.480Z,1736376665.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:05.490Z,1736376665.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.506935 s, deltaX: -0.099998 m, approachRate: -0.197261 m/s, rangeRepo size: 4 2025-01-08T22:51:05.491Z,1736376665.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T22:51:05.612Z,1736376665.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:05.613Z,1736376665.613 [DAT](INFO): DAT read: Rx Time:22:51:04.5656 2025-01-08T22:51:05.613Z,1736376665.613 [DAT](INFO): Rx dataTimestamp_ set to:1736376665.612810 2025-01-08T22:51:05.614Z,1736376665.614 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:51:05.622Z,1736376665.622 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-01-08T22:51:05.624Z,1736376665.624 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.097713 2025-01-08T22:51:05.864Z,1736376665.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:05.865Z,1736376665.865 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.338226 2025-01-08T22:51:05.870Z,1736376665.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:05.884Z,1736376665.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.501033 s, deltaX: 0.299999 m, approachRate: 0.598761 m/s, rangeRepo size: 4 2025-01-08T22:51:05.885Z,1736376665.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T22:51:06.116Z,1736376666.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:06.117Z,1736376666.117 [DAT](INFO): DAT read: Rx Time:22:51:05.0655 2025-01-08T22:51:06.117Z,1736376666.117 [DAT](INFO): Rx dataTimestamp_ set to:1736376666.116719 2025-01-08T22:51:06.118Z,1736376666.118 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 2025-01-08T22:51:06.119Z,1736376666.119 [DAT](ERROR): #Rx 83: Read range message, but no direction. 2025-01-08T22:51:06.120Z,1736376666.120 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.593460 2025-01-08T22:51:06.348Z,1736376666.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:06.360Z,1736376666.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.503909 s, deltaX: -0.200001 m, approachRate: -0.396899 m/s, rangeRepo size: 4 2025-01-08T22:51:06.361Z,1736376666.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T22:51:06.368Z,1736376666.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:06.369Z,1736376666.369 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.842182 2025-01-08T22:51:06.620Z,1736376666.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:06.621Z,1736376666.621 [DAT](INFO): DAT read: Rx Time:22:51:05.5656 2025-01-08T22:51:06.621Z,1736376666.621 [DAT](INFO): Rx dataTimestamp_ set to:1736376666.621227 2025-01-08T22:51:06.623Z,1736376666.623 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:51:06.623Z,1736376666.623 [DAT](ERROR): #Rx 84: Read range message, but no direction. 2025-01-08T22:51:06.624Z,1736376666.624 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.098019 2025-01-08T22:51:06.749Z,1736376666.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:06.758Z,1736376666.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504508 s, deltaX: 0.200001 m, approachRate: 0.396427 m/s, rangeRepo size: 4 2025-01-08T22:51:06.759Z,1736376666.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T22:51:06.872Z,1736376666.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:06.872Z,1736376666.872 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.346031 2025-01-08T22:51:07.124Z,1736376667.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:07.126Z,1736376667.126 [DAT](INFO): DAT read: Rx Time:22:51:06.0656 2025-01-08T22:51:07.126Z,1736376667.126 [DAT](INFO): Rx dataTimestamp_ set to:1736376667.126095 2025-01-08T22:51:07.128Z,1736376667.128 [DAT](INFO): DAT read: Bearing 137.1, 7.3 (Local) 2025-01-08T22:51:07.128Z,1736376667.128 [DAT](INFO): Local bearing/azimuth received: Bearing 137.1, 7.3 (Local) 2025-01-08T22:51:07.130Z,1736376667.130 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:51:07.135Z,1736376667.135 [DAT](INFO): DAT read: 22:51:06.0656 LVL= 17616, 17569, 19026, 22979, AGC= 57, IDX= 505,-0.48,-2.615,-1.827, 1.994,-3.026, PHS= 0.499, 1.246,-1.267, RAW= 13.2, -4.3, CAL= 12.9, -7.3, ROT= 137.1, 7.3 2025-01-08T22:51:07.136Z,1736376667.136 [DAT](INFO): got valid direction response: 22:51:06.0656 LVL= 17616, 17569, 19026, 22979, AGC= 57, IDX= 505,-0.48,-2.615,-1.827, 1.994,-3.026, PHS= 0.499, 1.246,-1.267, RAW= 13.2, -4.3, CAL= 12.9, -7.3, ROT= 137.1, 7.3 2025-01-08T22:51:07.136Z,1736376667.136 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-01-08T22:51:07.137Z,1736376667.137 [DAT](INFO): direction in FSK: [0.145931,0.971759,0.185440] 2025-01-08T22:51:07.137Z,1736376667.137 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:07.162Z,1736376667.162 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.635990 2025-01-08T22:51:07.226Z,1736376667.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:07.332Z,1736376667.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504868 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:51:07.334Z,1736376667.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.500000 m, bearing: 104.521906 deg, lat: 36.904954 deg, lon: -122.118922 deg, deltaT: 3.528700 s, deltaX: 0.299999 m, approachRate: 0.085017 m/s, posRepo size: 4 2025-01-08T22:51:07.335Z,1736376667.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:51:07.378Z,1736376667.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:07.385Z,1736376667.385 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.852551 2025-01-08T22:51:07.628Z,1736376667.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:07.629Z,1736376667.629 [DAT](INFO): DAT read: Rx Time:22:51:06.5656 2025-01-08T22:51:07.629Z,1736376667.629 [DAT](INFO): Rx dataTimestamp_ set to:1736376667.628827 2025-01-08T22:51:07.630Z,1736376667.630 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:51:07.631Z,1736376667.631 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-01-08T22:51:07.633Z,1736376667.633 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.106274 2025-01-08T22:51:07.689Z,1736376667.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:07.716Z,1736376667.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.502732 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:51:07.716Z,1736376667.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:51:07.880Z,1736376667.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:07.880Z,1736376667.880 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.353962 2025-01-08T22:51:08.123Z,1736376668.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:08.132Z,1736376668.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:08.134Z,1736376668.134 [DAT](INFO): DAT read: Rx Time:22:51:07.0655 2025-01-08T22:51:08.135Z,1736376668.135 [DAT](INFO): Rx dataTimestamp_ set to:1736376668.134406 2025-01-08T22:51:08.136Z,1736376668.136 [DAT](INFO): DAT read: Bearing 136.1, 7.1 (Local) 2025-01-08T22:51:08.136Z,1736376668.136 [DAT](INFO): Local bearing/azimuth received: Bearing 136.1, 7.1 (Local) 2025-01-08T22:51:08.139Z,1736376668.139 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed -0.1 2025-01-08T22:51:08.144Z,1736376668.144 [DAT](INFO): DAT read: 22:51:07.0655 LVL= 14192, 17729, 16530, 23619, AGC= 56, IDX= 504,-0.24,-2.623,-1.878, 1.957,-3.051, PHS= 0.517, 1.220,-1.278, RAW= 14.1, -4.2, CAL= 13.9, -7.1, ROT= 136.1, 7.1 2025-01-08T22:51:08.145Z,1736376668.145 [DAT](INFO): got valid direction response: 22:51:07.0655 LVL= 14192, 17729, 16530, 23619, AGC= 56, IDX= 504,-0.24,-2.623,-1.878, 1.957,-3.051, PHS= 0.517, 1.220,-1.278, RAW= 14.1, -4.2, CAL= 13.9, -7.1, ROT= 136.1, 7.1 2025-01-08T22:51:08.145Z,1736376668.145 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-01-08T22:51:08.146Z,1736376668.146 [DAT](INFO): direction in FSK: [0.141024,0.969255,0.201634] 2025-01-08T22:51:08.146Z,1736376668.146 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:08.188Z,1736376668.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.505579 s, deltaX: -0.200001 m, approachRate: -0.395588 m/s, rangeRepo size: 4 2025-01-08T22:51:08.190Z,1736376668.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.299999 m, bearing: 105.644770 deg, lat: 36.904954 deg, lon: -122.118922 deg, deltaT: 1.008311 s, deltaX: -0.200001 m, approachRate: -0.198352 m/s, posRepo size: 4 2025-01-08T22:51:08.190Z,1736376668.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T22:51:08.191Z,1736376668.191 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.632748 2025-01-08T22:51:08.384Z,1736376668.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:08.385Z,1736376668.385 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.858562 2025-01-08T22:51:08.636Z,1736376668.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:08.637Z,1736376668.637 [DAT](INFO): DAT read: Rx Time:22:51:07.5656 2025-01-08T22:51:08.638Z,1736376668.638 [DAT](INFO): Rx dataTimestamp_ set to:1736376668.637326 2025-01-08T22:51:08.639Z,1736376668.639 [DAT](INFO): DAT read: Bearing 136.0, 7.4 (Local) 2025-01-08T22:51:08.639Z,1736376668.639 [DAT](INFO): Local bearing/azimuth received: Bearing 136.0, 7.4 (Local) 2025-01-08T22:51:08.641Z,1736376668.641 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:51:08.705Z,1736376668.705 [DAT](INFO): DAT read: 22:51:07.5656 LVL= 15840, 16449, 19042, 22195, AGC= 57, IDX= 505,-0.29, 0.081, 0.824,-1.633,-0.360, PHS= 0.529, 1.230,-1.277, RAW= 14.3, -4.4, CAL= 14.0, -7.4, ROT= 136.0, 7.4 2025-01-08T22:51:08.706Z,1736376668.706 [DAT](INFO): got valid direction response: 22:51:07.5656 LVL= 15840, 16449, 19042, 22195, AGC= 57, IDX= 505,-0.29, 0.081, 0.824,-1.633,-0.360, PHS= 0.529, 1.230,-1.277, RAW= 14.3, -4.4, CAL= 14.0, -7.4, ROT= 136.0, 7.4 2025-01-08T22:51:08.707Z,1736376668.707 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-01-08T22:51:08.747Z,1736376668.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:08.752Z,1736376668.752 [DAT](INFO): direction in FSK: [0.144334,0.968346,0.203650] 2025-01-08T22:51:08.752Z,1736376668.752 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:08.772Z,1736376668.772 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.245277 2025-01-08T22:51:08.808Z,1736376668.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.502920 s, deltaX: 0.200001 m, approachRate: 0.397679 m/s, rangeRepo size: 4 2025-01-08T22:51:08.810Z,1736376668.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.500000 m, bearing: 105.419359 deg, lat: 36.904954 deg, lon: -122.118922 deg, deltaT: 0.502920 s, deltaX: 0.200001 m, approachRate: 0.397679 m/s, posRepo size: 4 2025-01-08T22:51:08.811Z,1736376668.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:51:08.888Z,1736376668.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:08.889Z,1736376668.889 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.362156 2025-01-08T22:51:09.004Z,1736376669.004 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:51:09.140Z,1736376669.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:09.141Z,1736376669.141 [DAT](INFO): DAT read: Rx Time:22:51:08.0655 2025-01-08T22:51:09.142Z,1736376669.142 [DAT](INFO): Rx dataTimestamp_ set to:1736376669.141800 2025-01-08T22:51:09.145Z,1736376669.145 [DAT](INFO): DAT read: Bearing 135.2, 7.3 (Local) 2025-01-08T22:51:09.146Z,1736376669.146 [DAT](INFO): Local bearing/azimuth received: Bearing 135.2, 7.3 (Local) 2025-01-08T22:51:09.148Z,1736376669.148 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 2025-01-08T22:51:09.154Z,1736376669.154 [DAT](INFO): DAT read: 22:51:08.0655 LVL= 12768, 15601, 13810, 19875, AGC= 56, IDX= 504,-0.35,-0.130, 0.568,-1.835,-0.577, PHS= 0.534, 1.191,-1.261, RAW= 15.0, -4.3, CAL= 14.8, -7.3, ROT= 135.2, 7.3 2025-01-08T22:51:09.160Z,1736376669.160 [DAT](INFO): got valid direction response: 22:51:08.0655 LVL= 12768, 15601, 13810, 19875, AGC= 56, IDX= 504,-0.35,-0.130, 0.568,-1.835,-0.577, PHS= 0.534, 1.191,-1.261, RAW= 15.0, -4.3, CAL= 14.8, -7.3, ROT= 135.2, 7.3 2025-01-08T22:51:09.160Z,1736376669.160 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-01-08T22:51:09.161Z,1736376669.161 [DAT](INFO): direction in FSK: [0.141433,0.966215,0.215467] 2025-01-08T22:51:09.161Z,1736376669.161 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:09.165Z,1736376669.165 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.638817 2025-01-08T22:51:09.252Z,1736376669.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:09.286Z,1736376669.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.504474 s, deltaX: -0.200001 m, approachRate: -0.396454 m/s, rangeRepo size: 4 2025-01-08T22:51:09.299Z,1736376669.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.299999 m, bearing: 106.597301 deg, lat: 36.904947 deg, lon: -122.118928 deg, deltaT: 0.504474 s, deltaX: -0.200001 m, approachRate: -0.396454 m/s, posRepo size: 4 2025-01-08T22:51:09.306Z,1736376669.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T22:51:09.392Z,1736376669.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:09.393Z,1736376669.393 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.866341 2025-01-08T22:51:09.644Z,1736376669.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:09.646Z,1736376669.646 [DAT](INFO): DAT read: Rx Time:22:51:08.5656 2025-01-08T22:51:09.646Z,1736376669.646 [DAT](INFO): Rx dataTimestamp_ set to:1736376669.646195 2025-01-08T22:51:09.649Z,1736376669.649 [DAT](INFO): DAT read: Bearing 135.1, 7.9 (Local) 2025-01-08T22:51:09.649Z,1736376669.649 [DAT](INFO): Local bearing/azimuth received: Bearing 135.1, 7.9 (Local) 2025-01-08T22:51:09.652Z,1736376669.652 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed 0.0 2025-01-08T22:51:09.659Z,1736376669.659 [DAT](INFO): DAT read: 22:51:08.5656 LVL= 13808, 15953, 14578, 21923, AGC= 53, IDX= 505,-0.20,-0.595, 0.082,-2.255,-1.046, PHS= 0.539, 1.175,-1.212, RAW= 15.1, -4.7, CAL= 14.9, -7.9, ROT= 135.1, 7.9 2025-01-08T22:51:09.661Z,1736376669.661 [DAT](INFO): got valid direction response: 22:51:08.5656 LVL= 13808, 15953, 14578, 21923, AGC= 53, IDX= 505,-0.20,-0.595, 0.082,-2.255,-1.046, PHS= 0.539, 1.175,-1.212, RAW= 15.1, -4.7, CAL= 14.9, -7.9, ROT= 135.1, 7.9 2025-01-08T22:51:09.661Z,1736376669.661 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-01-08T22:51:09.663Z,1736376669.663 [DAT](INFO): direction in FSK: [0.149987,0.964497,0.217371] 2025-01-08T22:51:09.663Z,1736376669.663 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:09.688Z,1736376669.688 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.161564 2025-01-08T22:51:09.820Z,1736376669.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:09.846Z,1736376669.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504395 s, deltaX: 0.200001 m, approachRate: 0.396516 m/s, rangeRepo size: 4 2025-01-08T22:51:09.853Z,1736376669.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.500000 m, bearing: 106.048038 deg, lat: 36.904946 deg, lon: -122.118930 deg, deltaT: 0.504395 s, deltaX: 0.200001 m, approachRate: 0.396516 m/s, posRepo size: 4 2025-01-08T22:51:09.853Z,1736376669.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m. 2025-01-08T22:51:09.896Z,1736376669.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:09.897Z,1736376669.897 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.370720 2025-01-08T22:51:10.148Z,1736376670.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:10.149Z,1736376670.149 [DAT](INFO): DAT read: Rx Time:22:51:09.0655 2025-01-08T22:51:10.149Z,1736376670.149 [DAT](INFO): Rx dataTimestamp_ set to:1736376670.149104 2025-01-08T22:51:10.151Z,1736376670.151 [DAT](INFO): DAT read: Bearing 133.5, 7.3 (Local) 2025-01-08T22:51:10.151Z,1736376670.151 [DAT](INFO): Local bearing/azimuth received: Bearing 133.5, 7.3 (Local) 2025-01-08T22:51:10.153Z,1736376670.153 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 2025-01-08T22:51:10.162Z,1736376670.162 [DAT](INFO): DAT read: 22:51:09.0655 LVL= 14304, 16849, 15602, 21011, AGC= 55, IDX= 504,-0.36,-1.329,-0.703,-3.098,-1.821, PHS= 0.579, 1.164,-1.280, RAW= 16.8, -4.2, CAL= 16.5, -7.3, ROT= 133.5, 7.3 2025-01-08T22:51:10.168Z,1736376670.168 [DAT](INFO): got valid direction response: 22:51:09.0655 LVL= 14304, 16849, 15602, 21011, AGC= 55, IDX= 504,-0.36,-1.329,-0.703,-3.098,-1.821, PHS= 0.579, 1.164,-1.280, RAW= 16.8, -4.2, CAL= 16.5, -7.3, ROT= 133.5, 7.3 2025-01-08T22:51:10.168Z,1736376670.168 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-01-08T22:51:10.170Z,1736376670.170 [DAT](INFO): direction in FSK: [0.137484,0.959975,0.244019] 2025-01-08T22:51:10.174Z,1736376670.174 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:10.181Z,1736376670.181 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.655029 2025-01-08T22:51:10.274Z,1736376670.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:10.382Z,1736376670.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.502909 s, deltaX: -0.200001 m, approachRate: -0.397688 m/s, rangeRepo size: 4 2025-01-08T22:51:10.388Z,1736376670.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.299999 m, bearing: 107.314643 deg, lat: 36.904943 deg, lon: -122.118931 deg, deltaT: 0.502909 s, deltaX: -0.200001 m, approachRate: -0.397688 m/s, posRepo size: 4 2025-01-08T22:51:10.389Z,1736376670.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T22:51:10.400Z,1736376670.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:10.401Z,1736376670.401 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.874233 2025-01-08T22:51:10.652Z,1736376670.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:10.654Z,1736376670.654 [DAT](INFO): DAT read: Rx Time:22:51:09.5655 2025-01-08T22:51:10.655Z,1736376670.655 [DAT](INFO): Rx dataTimestamp_ set to:1736376670.654321 2025-01-08T22:51:10.657Z,1736376670.657 [DAT](INFO): DAT read: Bearing 132.0, 7.2 (Local) 2025-01-08T22:51:10.657Z,1736376670.657 [DAT](INFO): Local bearing/azimuth received: Bearing 132.0, 7.2 (Local) 2025-01-08T22:51:10.661Z,1736376670.661 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed 0.0 2025-01-08T22:51:10.675Z,1736376670.675 [DAT](INFO): DAT read: 22:51:09.5655 LVL= 14576, 16545, 14834, 19635, AGC= 55, IDX= 504, 0.22,-2.595,-2.032, 1.872,-3.122, PHS= 0.615, 1.137,-1.292, RAW= 18.2, -4.2, CAL= 18.0, -7.2, ROT= 132.0, 7.2 2025-01-08T22:51:10.677Z,1736376670.677 [DAT](INFO): got valid direction response: 22:51:09.5655 LVL= 14576, 16545, 14834, 19635, AGC= 55, IDX= 504, 0.22,-2.595,-2.032, 1.872,-3.122, PHS= 0.615, 1.137,-1.292, RAW= 18.2, -4.2, CAL= 18.0, -7.2, ROT= 132.0, 7.2 2025-01-08T22:51:10.678Z,1736376670.678 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-01-08T22:51:10.679Z,1736376670.679 [DAT](INFO): direction in FSK: [0.133976,0.954108,0.267822] 2025-01-08T22:51:10.679Z,1736376670.679 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:10.684Z,1736376670.684 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.157757 2025-01-08T22:51:10.860Z,1736376670.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:10.886Z,1736376670.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.505217 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:51:10.893Z,1736376670.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.299999 m, bearing: 108.062174 deg, lat: 36.904939 deg, lon: -122.118935 deg, deltaT: 0.505217 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:51:10.893Z,1736376670.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T22:51:10.904Z,1736376670.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:10.905Z,1736376670.905 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.378120 2025-01-08T22:51:11.158Z,1736376671.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:11.161Z,1736376671.161 [DAT](INFO): DAT read: Rx Time:22:51:10.0654 2025-01-08T22:51:11.161Z,1736376671.161 [DAT](INFO): Rx dataTimestamp_ set to:1736376671.161051 2025-01-08T22:51:11.163Z,1736376671.163 [DAT](INFO): DAT read: Bearing 131.1, 7.5 (Local) 2025-01-08T22:51:11.163Z,1736376671.163 [DAT](INFO): Local bearing/azimuth received: Bearing 131.1, 7.5 (Local) 2025-01-08T22:51:11.165Z,1736376671.165 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 2025-01-08T22:51:11.170Z,1736376671.170 [DAT](INFO): DAT read: 22:51:10.0654 LVL= 13712, 16673, 16546, 20627, AGC= 50, IDX= 503, 0.09, 1.229, 1.756,-0.622, 0.673, PHS= 0.645, 1.130,-1.297, RAW= 19.1, -4.3, CAL= 18.9, -7.5, ROT= 131.1, 7.5 2025-01-08T22:51:11.171Z,1736376671.171 [DAT](INFO): got valid direction response: 22:51:10.0654 LVL= 13712, 16673, 16546, 20627, AGC= 50, IDX= 503, 0.09, 1.229, 1.756,-0.622, 0.673, PHS= 0.645, 1.130,-1.297, RAW= 19.1, -4.3, CAL= 18.9, -7.5, ROT= 131.1, 7.5 2025-01-08T22:51:11.176Z,1736376671.176 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-01-08T22:51:11.178Z,1736376671.178 [DAT](INFO): direction in FSK: [0.134905,0.949791,0.282309] 2025-01-08T22:51:11.195Z,1736376671.195 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:11.199Z,1736376671.199 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.672188 2025-01-08T22:51:11.259Z,1736376671.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:11.372Z,1736376671.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.506730 s, deltaX: -0.099998 m, approachRate: -0.197341 m/s, rangeRepo size: 4 2025-01-08T22:51:11.392Z,1736376671.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.200001 m, bearing: 108.221233 deg, lat: 36.904935 deg, lon: -122.118942 deg, deltaT: 0.506730 s, deltaX: -0.099998 m, approachRate: -0.197341 m/s, posRepo size: 4 2025-01-08T22:51:11.392Z,1736376671.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T22:51:11.408Z,1736376671.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:11.408Z,1736376671.408 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.882076 2025-01-08T22:51:11.661Z,1736376671.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:11.663Z,1736376671.663 [DAT](INFO): DAT read: Rx Time:22:51:10.5654 2025-01-08T22:51:11.663Z,1736376671.663 [DAT](INFO): Rx dataTimestamp_ set to:1736376671.662754 2025-01-08T22:51:11.665Z,1736376671.665 [DAT](INFO): DAT read: Bearing 131.3, 7.4 (Local) 2025-01-08T22:51:11.666Z,1736376671.666 [DAT](INFO): Local bearing/azimuth received: Bearing 131.3, 7.4 (Local) 2025-01-08T22:51:11.669Z,1736376671.669 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 2025-01-08T22:51:11.679Z,1736376671.679 [DAT](INFO): DAT read: 22:51:10.5654 LVL= 13920, 17089, 15186, 21187, AGC= 53, IDX= 503,-0.10,-0.063, 0.466,-1.878,-0.604, PHS= 0.629, 1.117,-1.277, RAW= 18.9, -4.3, CAL= 18.7, -7.4, ROT= 131.3, 7.4 2025-01-08T22:51:11.681Z,1736376671.681 [DAT](INFO): got valid direction response: 22:51:10.5654 LVL= 13920, 17089, 15186, 21187, AGC= 53, IDX= 503,-0.10,-0.063, 0.466,-1.878,-0.604, PHS= 0.629, 1.117,-1.277, RAW= 18.9, -4.3, CAL= 18.7, -7.4, ROT= 131.3, 7.4 2025-01-08T22:51:11.682Z,1736376671.682 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-01-08T22:51:11.683Z,1736376671.683 [DAT](INFO): direction in FSK: [0.135058,0.950894,0.278495] 2025-01-08T22:51:11.684Z,1736376671.684 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:11.688Z,1736376671.688 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.161381 2025-01-08T22:51:11.847Z,1736376671.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:11.862Z,1736376671.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.501703 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:51:11.864Z,1736376671.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.200001 m, bearing: 108.257221 deg, lat: 36.904930 deg, lon: -122.118949 deg, deltaT: 0.501703 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:51:11.865Z,1736376671.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T22:51:11.912Z,1736376671.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:11.913Z,1736376671.913 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.386238 2025-01-08T22:51:12.164Z,1736376672.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:12.165Z,1736376672.165 [DAT](INFO): DAT read: Rx Time:22:51:11.0653 2025-01-08T22:51:12.165Z,1736376672.165 [DAT](INFO): Rx dataTimestamp_ set to:1736376672.165081 2025-01-08T22:51:12.167Z,1736376672.167 [DAT](INFO): DAT read: Bearing 130.9, 7.7 (Local) 2025-01-08T22:51:12.167Z,1736376672.167 [DAT](INFO): Local bearing/azimuth received: Bearing 130.9, 7.7 (Local) 2025-01-08T22:51:12.174Z,1736376672.174 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 2025-01-08T22:51:12.179Z,1736376672.179 [DAT](INFO): DAT read: 22:51:11.0653 LVL= 13808, 16561, 13762, 18931, AGC= 51, IDX= 502,-0.34,-2.000,-1.494, 2.469,-2.554, PHS= 0.642, 1.107,-1.263, RAW= 19.3, -4.5, CAL= 19.1, -7.7, ROT= 130.9, 7.7 2025-01-08T22:51:12.180Z,1736376672.180 [DAT](INFO): got valid direction response: 22:51:11.0653 LVL= 13808, 16561, 13762, 18931, AGC= 51, IDX= 502,-0.34,-2.000,-1.494, 2.469,-2.554, PHS= 0.642, 1.107,-1.263, RAW= 19.3, -4.5, CAL= 19.1, -7.7, ROT= 130.9, 7.7 2025-01-08T22:51:12.180Z,1736376672.180 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-01-08T22:51:12.181Z,1736376672.181 [DAT](INFO): direction in FSK: [0.137675,0.948330,0.285861] 2025-01-08T22:51:12.182Z,1736376672.182 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:12.185Z,1736376672.185 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.658615 2025-01-08T22:51:12.337Z,1736376672.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:12.417Z,1736376672.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:12.418Z,1736376672.418 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.891563 2025-01-08T22:51:12.473Z,1736376672.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.502327 s, deltaX: -0.200001 m, approachRate: -0.398149 m/s, rangeRepo size: 4 2025-01-08T22:51:12.475Z,1736376672.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.000000 m, bearing: 108.728982 deg, lat: 36.904930 deg, lon: -122.118952 deg, deltaT: 0.502327 s, deltaX: -0.200001 m, approachRate: -0.398149 m/s, posRepo size: 4 2025-01-08T22:51:12.480Z,1736376672.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T22:51:12.668Z,1736376672.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:12.670Z,1736376672.670 [DAT](INFO): DAT read: Rx Time:22:51:11.5653 2025-01-08T22:51:12.676Z,1736376672.676 [DAT](INFO): Rx dataTimestamp_ set to:1736376672.670712 2025-01-08T22:51:12.679Z,1736376672.679 [DAT](INFO): DAT read: Bearing 129.3, 7.4 (Local) 2025-01-08T22:51:12.679Z,1736376672.679 [DAT](INFO): Local bearing/azimuth received: Bearing 129.3, 7.4 (Local) 2025-01-08T22:51:12.689Z,1736376672.689 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 2025-01-08T22:51:12.703Z,1736376672.703 [DAT](INFO): DAT read: 22:51:11.5653 LVL= 13984, 16945, 14434, 18835, AGC= 51, IDX= 502, 0.08, 1.956, 2.400, 0.066, 1.362, PHS= 0.682, 1.085,-1.299, RAW= 20.9, -4.3, CAL= 20.7, -7.4, ROT= 129.3, 7.4 2025-01-08T22:51:12.709Z,1736376672.709 [DAT](INFO): got valid direction response: 22:51:11.5653 LVL= 13984, 16945, 14434, 18835, AGC= 51, IDX= 502, 0.08, 1.956, 2.400, 0.066, 1.362, PHS= 0.682, 1.085,-1.299, RAW= 20.9, -4.3, CAL= 20.7, -7.4, ROT= 129.3, 7.4 2025-01-08T22:51:12.710Z,1736376672.710 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-01-08T22:51:12.711Z,1736376672.711 [DAT](INFO): direction in FSK: [0.130203,0.941475,0.310922] 2025-01-08T22:51:12.711Z,1736376672.711 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:12.729Z,1736376672.729 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.202515 2025-01-08T22:51:12.918Z,1736376672.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:12.920Z,1736376672.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:12.921Z,1736376672.921 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.394764 2025-01-08T22:51:12.953Z,1736376672.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.505631 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:51:12.960Z,1736376672.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.000000 m, bearing: 109.530305 deg, lat: 36.904929 deg, lon: -122.118954 deg, deltaT: 0.505631 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:51:12.961Z,1736376672.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T22:51:13.174Z,1736376673.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:13.177Z,1736376673.177 [DAT](INFO): DAT read: Rx Time:22:51:12.0653 2025-01-08T22:51:13.178Z,1736376673.178 [DAT](INFO): Rx dataTimestamp_ set to:1736376673.177326 2025-01-08T22:51:13.180Z,1736376673.180 [DAT](INFO): DAT read: Bearing 129.4, 7.5 (Local) 2025-01-08T22:51:13.181Z,1736376673.181 [DAT](INFO): Local bearing/azimuth received: Bearing 129.4, 7.5 (Local) 2025-01-08T22:51:13.184Z,1736376673.184 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 2025-01-08T22:51:13.204Z,1736376673.204 [DAT](INFO): DAT read: 22:51:12.0653 LVL= 14384, 15057, 14866, 22243, AGC= 51, IDX= 501,-0.12,-1.111,-0.661,-3.003,-1.707, PHS= 0.684, 1.093,-1.299, RAW= 20.8, -4.4, CAL= 20.6, -7.5, ROT= 129.4, 7.5 2025-01-08T22:51:13.205Z,1736376673.205 [DAT](INFO): got valid direction response: 22:51:12.0653 LVL= 14384, 15057, 14866, 22243, AGC= 51, IDX= 501,-0.12,-1.111,-0.661,-3.003,-1.707, PHS= 0.684, 1.093,-1.299, RAW= 20.8, -4.4, CAL= 20.6, -7.5, ROT= 129.4, 7.5 2025-01-08T22:51:13.205Z,1736376673.205 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-01-08T22:51:13.207Z,1736376673.207 [DAT](INFO): direction in FSK: [0.131900,0.941807,0.309196] 2025-01-08T22:51:13.212Z,1736376673.212 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:13.221Z,1736376673.221 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.695030 2025-01-08T22:51:13.428Z,1736376673.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:13.429Z,1736376673.429 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.902153 2025-01-08T22:51:13.464Z,1736376673.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:13.500Z,1736376673.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.506614 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:51:13.502Z,1736376673.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.000000 m, bearing: 109.689048 deg, lat: 36.904927 deg, lon: -122.118957 deg, deltaT: 0.506614 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:51:13.502Z,1736376673.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T22:51:13.681Z,1736376673.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:13.683Z,1736376673.683 [DAT](INFO): DAT read: Rx Time:22:51:12.5654 2025-01-08T22:51:13.683Z,1736376673.683 [DAT](INFO): Rx dataTimestamp_ set to:1736376673.683214 2025-01-08T22:51:13.685Z,1736376673.685 [DAT](INFO): DAT read: Bearing 129.3, 8.1 (Local) 2025-01-08T22:51:13.685Z,1736376673.685 [DAT](INFO): Local bearing/azimuth received: Bearing 129.3, 8.1 (Local) 2025-01-08T22:51:13.688Z,1736376673.688 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 2025-01-08T22:51:13.692Z,1736376673.692 [DAT](INFO): DAT read: 22:51:12.5654 LVL= 14560, 16529, 15010, 21923, AGC= 50, IDX= 502,-0.23,-1.052,-0.610,-2.913,-1.653, PHS= 0.689, 1.090,-1.263, RAW= 20.8, -4.8, CAL= 20.7, -8.1, ROT= 129.3, 8.1 2025-01-08T22:51:13.693Z,1736376673.693 [DAT](INFO): got valid direction response: 22:51:12.5654 LVL= 14560, 16529, 15010, 21923, AGC= 50, IDX= 502,-0.23,-1.052,-0.610,-2.913,-1.653, PHS= 0.689, 1.090,-1.263, RAW= 20.8, -4.8, CAL= 20.7, -8.1, ROT= 129.3, 8.1 2025-01-08T22:51:13.694Z,1736376673.694 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-01-08T22:51:13.695Z,1736376673.695 [DAT](INFO): direction in FSK: [0.139632,0.940432,0.309984] 2025-01-08T22:51:13.695Z,1736376673.695 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:13.704Z,1736376673.704 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.177711 2025-01-08T22:51:13.845Z,1736376673.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:13.876Z,1736376673.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.505888 s, deltaX: 0.200001 m, approachRate: 0.395346 m/s, rangeRepo size: 4 2025-01-08T22:51:13.878Z,1736376673.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.200001 m, bearing: 109.179621 deg, lat: 36.904924 deg, lon: -122.118963 deg, deltaT: 0.505888 s, deltaX: 0.200001 m, approachRate: 0.395346 m/s, posRepo size: 4 2025-01-08T22:51:13.878Z,1736376673.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T22:51:13.933Z,1736376673.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:13.933Z,1736376673.933 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.406982 2025-01-08T22:51:14.184Z,1736376674.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:14.185Z,1736376674.185 [DAT](INFO): DAT read: Rx Time:22:51:13.0653 2025-01-08T22:51:14.185Z,1736376674.185 [DAT](INFO): Rx dataTimestamp_ set to:1736376674.185182 2025-01-08T22:51:14.187Z,1736376674.187 [DAT](INFO): DAT read: Bearing 129.6, 9.0 (Local) 2025-01-08T22:51:14.188Z,1736376674.188 [DAT](INFO): Local bearing/azimuth received: Bearing 129.6, 9.0 (Local) 2025-01-08T22:51:14.191Z,1736376674.191 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.1 2025-01-08T22:51:14.201Z,1736376674.201 [DAT](INFO): DAT read: 22:51:13.0653 LVL= 14576, 16321, 14898, 21107, AGC= 49, IDX= 501,-0.31, 2.673, 3.123, 0.841, 2.064, PHS= 0.697, 1.106,-1.226, RAW= 20.6, -5.4, CAL= 20.4, -9.0, ROT= 129.6, 9.0 2025-01-08T22:51:14.203Z,1736376674.203 [DAT](INFO): got valid direction response: 22:51:13.0653 LVL= 14576, 16321, 14898, 21107, AGC= 49, IDX= 501,-0.31, 2.673, 3.123, 0.841, 2.064, PHS= 0.697, 1.106,-1.226, RAW= 20.6, -5.4, CAL= 20.4, -9.0, ROT= 129.6, 9.0 2025-01-08T22:51:14.205Z,1736376674.205 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-01-08T22:51:14.207Z,1736376674.207 [DAT](INFO): direction in FSK: [0.151643,0.939944,0.305792] 2025-01-08T22:51:14.207Z,1736376674.207 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:14.211Z,1736376674.211 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.684376 2025-01-08T22:51:14.296Z,1736376674.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:14.398Z,1736376674.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.501968 s, deltaX: -0.200001 m, approachRate: -0.398433 m/s, rangeRepo size: 4 2025-01-08T22:51:14.419Z,1736376674.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.000000 m, bearing: 108.880361 deg, lat: 36.904924 deg, lon: -122.118963 deg, deltaT: 0.501968 s, deltaX: -0.200001 m, approachRate: -0.398433 m/s, posRepo size: 4 2025-01-08T22:51:14.420Z,1736376674.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T22:51:14.436Z,1736376674.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:14.437Z,1736376674.437 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.910149 2025-01-08T22:51:14.689Z,1736376674.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:14.692Z,1736376674.692 [DAT](INFO): DAT read: Rx Time:22:51:13.5652 2025-01-08T22:51:14.693Z,1736376674.693 [DAT](INFO): Rx dataTimestamp_ set to:1736376674.691941 2025-01-08T22:51:14.695Z,1736376674.695 [DAT](INFO): DAT read: Bearing 128.2, 8.8 (Local) 2025-01-08T22:51:14.697Z,1736376674.697 [DAT](INFO): Local bearing/azimuth received: Bearing 128.2, 8.8 (Local) 2025-01-08T22:51:14.701Z,1736376674.701 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T22:51:14.712Z,1736376674.712 [DAT](INFO): DAT read: 22:51:13.5652 LVL= 14544, 15921, 15010, 22003, AGC= 50, IDX= 500, 0.20,-0.050, 0.345,-1.922,-0.684, PHS= 0.723, 1.076,-1.241, RAW= 21.9, -5.2, CAL= 21.8, -8.8, ROT= 128.2, 8.8 2025-01-08T22:51:14.713Z,1736376674.713 [DAT](INFO): got valid direction response: 22:51:13.5652 LVL= 14544, 15921, 15010, 22003, AGC= 50, IDX= 500, 0.20,-0.050, 0.345,-1.922,-0.684, PHS= 0.723, 1.076,-1.241, RAW= 21.9, -5.2, CAL= 21.8, -8.8, ROT= 128.2, 8.8 2025-01-08T22:51:14.714Z,1736376674.714 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-01-08T22:51:14.715Z,1736376674.715 [DAT](INFO): direction in FSK: [0.145516,0.933898,0.326588] 2025-01-08T22:51:14.716Z,1736376674.716 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:14.720Z,1736376674.720 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.192703 2025-01-08T22:51:14.870Z,1736376674.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:14.895Z,1736376674.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.506759 s, deltaX: -0.099998 m, approachRate: -0.197329 m/s, rangeRepo size: 4 2025-01-08T22:51:14.905Z,1736376674.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.900002 m, bearing: 109.316587 deg, lat: 36.904924 deg, lon: -122.118967 deg, deltaT: 0.506759 s, deltaX: -0.099998 m, approachRate: -0.197329 m/s, posRepo size: 4 2025-01-08T22:51:14.906Z,1736376674.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T22:51:14.940Z,1736376674.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:14.941Z,1736376674.941 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.414295 2025-01-08T22:51:15.192Z,1736376675.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:15.193Z,1736376675.193 [DAT](INFO): DAT read: Rx Time:22:51:14.0651 2025-01-08T22:51:15.194Z,1736376675.194 [DAT](INFO): Rx dataTimestamp_ set to:1736376675.193229 2025-01-08T22:51:15.195Z,1736376675.195 [DAT](INFO): DAT read: Bearing 127.2, 7.7 (Local) 2025-01-08T22:51:15.195Z,1736376675.195 [DAT](INFO): Local bearing/azimuth received: Bearing 127.2, 7.7 (Local) 2025-01-08T22:51:15.197Z,1736376675.197 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:51:15.202Z,1736376675.202 [DAT](INFO): DAT read: 22:51:14.0651 LVL= 14944, 16177, 15026, 20643, AGC= 50, IDX= 499,-0.00,-1.860,-1.501, 2.477,-2.507, PHS= 0.735, 1.052,-1.302, RAW= 22.9, -4.4, CAL= 22.8, -7.7, ROT= 127.2, 7.7 2025-01-08T22:51:15.203Z,1736376675.203 [DAT](INFO): got valid direction response: 22:51:14.0651 LVL= 14944, 16177, 15026, 20643, AGC= 50, IDX= 499,-0.00,-1.860,-1.501, 2.477,-2.507, PHS= 0.735, 1.052,-1.302, RAW= 22.9, -4.4, CAL= 22.8, -7.7, ROT= 127.2, 7.7 2025-01-08T22:51:15.203Z,1736376675.203 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-01-08T22:51:15.204Z,1736376675.204 [DAT](INFO): direction in FSK: [0.129095,0.930855,0.341823] 2025-01-08T22:51:15.205Z,1736376675.205 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:15.208Z,1736376675.208 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.681904 2025-01-08T22:51:15.303Z,1736376675.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:15.373Z,1736376675.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.501288 s, deltaX: -0.200001 m, approachRate: -0.398974 m/s, rangeRepo size: 4 2025-01-08T22:51:15.382Z,1736376675.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 110.281935 deg, lat: 36.904924 deg, lon: -122.118967 deg, deltaT: 0.501288 s, deltaX: -0.200001 m, approachRate: -0.398974 m/s, posRepo size: 4 2025-01-08T22:51:15.388Z,1736376675.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:15.446Z,1736376675.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:15.449Z,1736376675.449 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.922482 2025-01-08T22:51:15.696Z,1736376675.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:15.697Z,1736376675.697 [DAT](INFO): DAT read: Rx Time:22:51:14.5652 2025-01-08T22:51:15.697Z,1736376675.697 [DAT](INFO): Rx dataTimestamp_ set to:1736376675.697232 2025-01-08T22:51:15.700Z,1736376675.700 [DAT](INFO): DAT read: Bearing 126.9, 7.5 (Local) 2025-01-08T22:51:15.700Z,1736376675.700 [DAT](INFO): Local bearing/azimuth received: Bearing 126.9, 7.5 (Local) 2025-01-08T22:51:15.702Z,1736376675.702 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T22:51:15.707Z,1736376675.707 [DAT](INFO): DAT read: 22:51:14.5652 LVL= 16240, 15041, 14482, 19235, AGC= 52, IDX= 500,-0.14,-1.508,-1.162, 2.813,-2.160, PHS= 0.740, 1.045,-1.313, RAW= 23.2, -4.3, CAL= 23.1, -7.5, ROT= 126.9, 7.5 2025-01-08T22:51:15.708Z,1736376675.708 [DAT](INFO): got valid direction response: 22:51:14.5652 LVL= 16240, 15041, 14482, 19235, AGC= 52, IDX= 500,-0.14,-1.508,-1.162, 2.813,-2.160, PHS= 0.740, 1.045,-1.313, RAW= 23.2, -4.3, CAL= 23.1, -7.5, ROT= 126.9, 7.5 2025-01-08T22:51:15.709Z,1736376675.709 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-01-08T22:51:15.710Z,1736376675.710 [DAT](INFO): direction in FSK: [0.126004,0.929589,0.346392] 2025-01-08T22:51:15.710Z,1736376675.710 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:15.713Z,1736376675.713 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.186844 2025-01-08T22:51:15.902Z,1736376675.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:15.931Z,1736376675.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504003 s, deltaX: 0.200001 m, approachRate: 0.396825 m/s, rangeRepo size: 4 2025-01-08T22:51:15.941Z,1736376675.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.900002 m, bearing: 110.553943 deg, lat: 36.904924 deg, lon: -122.118971 deg, deltaT: 0.504003 s, deltaX: 0.200001 m, approachRate: 0.396825 m/s, posRepo size: 4 2025-01-08T22:51:15.942Z,1736376675.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T22:51:15.948Z,1736376675.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:15.949Z,1736376675.949 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.422916 2025-01-08T22:51:16.201Z,1736376676.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:16.204Z,1736376676.204 [DAT](INFO): DAT read: Rx Time:22:51:15.0651 2025-01-08T22:51:16.204Z,1736376676.204 [DAT](INFO): Rx dataTimestamp_ set to:1736376676.204084 2025-01-08T22:51:16.206Z,1736376676.206 [DAT](INFO): DAT read: Bearing 126.8, 8.3 (Local) 2025-01-08T22:51:16.206Z,1736376676.206 [DAT](INFO): Local bearing/azimuth received: Bearing 126.8, 8.3 (Local) 2025-01-08T22:51:16.208Z,1736376676.208 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:51:16.213Z,1736376676.213 [DAT](INFO): DAT read: 22:51:15.0651 LVL= 13808, 15297, 14098, 19827, AGC= 53, IDX= 499,-0.45,-1.279,-0.944, 3.092,-1.934, PHS= 0.742, 1.037,-1.260, RAW= 23.2, -4.8, CAL= 23.2, -8.3, ROT= 126.8, 8.3 2025-01-08T22:51:16.214Z,1736376676.214 [DAT](INFO): got valid direction response: 22:51:15.0651 LVL= 13808, 15297, 14098, 19827, AGC= 53, IDX= 499,-0.45,-1.279,-0.944, 3.092,-1.934, PHS= 0.742, 1.037,-1.260, RAW= 23.2, -4.8, CAL= 23.2, -8.3, ROT= 126.8, 8.3 2025-01-08T22:51:16.214Z,1736376676.214 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-01-08T22:51:16.216Z,1736376676.216 [DAT](INFO): direction in FSK: [0.136040,0.927756,0.347508] 2025-01-08T22:51:16.216Z,1736376676.216 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:16.219Z,1736376676.219 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.692692 2025-01-08T22:51:16.438Z,1736376676.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:16.452Z,1736376676.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:16.453Z,1736376676.453 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.926365 2025-01-08T22:51:16.481Z,1736376676.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.506852 s, deltaX: -0.200001 m, approachRate: -0.394594 m/s, rangeRepo size: 4 2025-01-08T22:51:16.488Z,1736376676.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 109.977717 deg, lat: 36.904920 deg, lon: -122.118981 deg, deltaT: 0.506852 s, deltaX: -0.200001 m, approachRate: -0.394594 m/s, posRepo size: 4 2025-01-08T22:51:16.489Z,1736376676.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:16.704Z,1736376676.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:16.706Z,1736376676.706 [DAT](INFO): DAT read: Rx Time:22:51:15.5652 2025-01-08T22:51:16.707Z,1736376676.707 [DAT](INFO): Rx dataTimestamp_ set to:1736376676.706550 2025-01-08T22:51:16.709Z,1736376676.709 [DAT](INFO): DAT read: Bearing 126.4, 8.2 (Local) 2025-01-08T22:51:16.710Z,1736376676.710 [DAT](INFO): Local bearing/azimuth received: Bearing 126.4, 8.2 (Local) 2025-01-08T22:51:16.713Z,1736376676.713 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T22:51:16.723Z,1736376676.723 [DAT](INFO): DAT read: 22:51:15.5652 LVL= 14528, 14929, 14626, 20675, AGC= 54, IDX= 499, 0.46,-1.030,-0.709,-2.958,-1.693, PHS= 0.751, 1.031,-1.268, RAW= 23.6, -4.8, CAL= 23.6, -8.2, ROT= 126.4, 8.2 2025-01-08T22:51:16.743Z,1736376676.743 [DAT](INFO): got valid direction response: 22:51:15.5652 LVL= 14528, 14929, 14626, 20675, AGC= 54, IDX= 499, 0.46,-1.030,-0.709,-2.958,-1.693, PHS= 0.751, 1.031,-1.268, RAW= 23.6, -4.8, CAL= 23.6, -8.2, ROT= 126.4, 8.2 2025-01-08T22:51:16.744Z,1736376676.744 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-01-08T22:51:16.745Z,1736376676.745 [DAT](INFO): direction in FSK: [0.134121,0.925875,0.353224] 2025-01-08T22:51:16.745Z,1736376676.745 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:16.753Z,1736376676.753 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.226212 2025-01-08T22:51:16.912Z,1736376676.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:16.934Z,1736376676.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.502466 s, deltaX: 0.200001 m, approachRate: 0.398038 m/s, rangeRepo size: 4 2025-01-08T22:51:16.939Z,1736376676.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.900002 m, bearing: 110.026244 deg, lat: 36.904920 deg, lon: -122.118983 deg, deltaT: 0.502466 s, deltaX: 0.200001 m, approachRate: 0.398038 m/s, posRepo size: 4 2025-01-08T22:51:16.940Z,1736376676.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T22:51:16.956Z,1736376676.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:16.957Z,1736376676.957 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.430447 2025-01-08T22:51:17.209Z,1736376677.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:17.211Z,1736376677.211 [DAT](INFO): DAT read: Rx Time:22:51:16.0650 2025-01-08T22:51:17.211Z,1736376677.211 [DAT](INFO): Rx dataTimestamp_ set to:1736376677.211082 2025-01-08T22:51:17.213Z,1736376677.213 [DAT](INFO): DAT read: Bearing 125.9, 8.8 (Local) 2025-01-08T22:51:17.213Z,1736376677.213 [DAT](INFO): Local bearing/azimuth received: Bearing 125.9, 8.8 (Local) 2025-01-08T22:51:17.216Z,1736376677.216 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T22:51:17.223Z,1736376677.223 [DAT](INFO): DAT read: 22:51:16.0650 LVL= 14800, 16529, 13906, 19299, AGC= 55, IDX= 498, 0.12, 0.036, 0.333,-1.874,-0.640, PHS= 0.764, 1.021,-1.237, RAW= 24.0, -5.2, CAL= 24.1, -8.8, ROT= 125.9, 8.8 2025-01-08T22:51:17.244Z,1736376677.244 [DAT](INFO): got valid direction response: 22:51:16.0650 LVL= 14800, 16529, 13906, 19299, AGC= 55, IDX= 498, 0.12, 0.036, 0.333,-1.874,-0.640, PHS= 0.764, 1.021,-1.237, RAW= 24.0, -5.2, CAL= 24.1, -8.8, ROT= 125.9, 8.8 2025-01-08T22:51:17.245Z,1736376677.245 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-01-08T22:51:17.245Z,1736376677.245 [DAT](INFO): direction in FSK: [0.140412,0.922222,0.360266] 2025-01-08T22:51:17.246Z,1736376677.246 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:17.303Z,1736376677.303 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.752525 2025-01-08T22:51:17.373Z,1736376677.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:17.406Z,1736376677.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.504532 s, deltaX: -0.300003 m, approachRate: -0.594616 m/s, rangeRepo size: 4 2025-01-08T22:51:17.414Z,1736376677.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.599998 m, bearing: 109.510512 deg, lat: 36.904920 deg, lon: -122.118984 deg, deltaT: 0.504532 s, deltaX: -0.300003 m, approachRate: -0.594616 m/s, posRepo size: 4 2025-01-08T22:51:17.461Z,1736376677.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:17.468Z,1736376677.468 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.940289 2025-01-08T22:51:17.470Z,1736376677.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T22:51:17.712Z,1736376677.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:17.714Z,1736376677.714 [DAT](INFO): DAT read: Rx Time:22:51:16.5651 2025-01-08T22:51:17.715Z,1736376677.715 [DAT](INFO): Rx dataTimestamp_ set to:1736376677.714177 2025-01-08T22:51:17.717Z,1736376677.717 [DAT](INFO): DAT read: Bearing 125.1, 7.8 (Local) 2025-01-08T22:51:17.717Z,1736376677.717 [DAT](INFO): Local bearing/azimuth received: Bearing 125.1, 7.8 (Local) 2025-01-08T22:51:17.720Z,1736376677.720 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:51:17.725Z,1736376677.725 [DAT](INFO): DAT read: 22:51:16.5651 LVL= 14144, 16225, 18882, 19811, AGC= 56, IDX= 499, 0.05, 0.713, 0.979,-1.277, 0.020, PHS= 0.781, 1.006,-1.300, RAW= 24.9, -4.5, CAL= 24.9, -7.8, ROT= 125.1, 7.8 2025-01-08T22:51:17.726Z,1736376677.726 [DAT](INFO): got valid direction response: 22:51:16.5651 LVL= 14144, 16225, 18882, 19811, AGC= 56, IDX= 499, 0.05, 0.713, 0.979,-1.277, 0.020, PHS= 0.781, 1.006,-1.300, RAW= 24.9, -4.5, CAL= 24.9, -7.8, ROT= 125.1, 7.8 2025-01-08T22:51:17.726Z,1736376677.726 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-01-08T22:51:17.727Z,1736376677.727 [DAT](INFO): direction in FSK: [0.125715,0.919014,0.373644] 2025-01-08T22:51:17.728Z,1736376677.728 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:17.731Z,1736376677.731 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.204479 2025-01-08T22:51:17.909Z,1736376677.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:51:17.909Z,1736376677.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:17.933Z,1736376677.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.503095 s, deltaX: 0.100002 m, approachRate: 0.198774 m/s, rangeRepo size: 4 2025-01-08T22:51:17.943Z,1736376677.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 110.417603 deg, lat: 36.904920 deg, lon: -122.118985 deg, deltaT: 0.503095 s, deltaX: 0.100002 m, approachRate: 0.198774 m/s, posRepo size: 4 2025-01-08T22:51:17.944Z,1736376677.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:17.964Z,1736376677.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:17.965Z,1736376677.965 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.438168 2025-01-08T22:51:18.217Z,1736376678.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:18.219Z,1736376678.219 [DAT](INFO): DAT read: Rx Time:22:51:17.0650 2025-01-08T22:51:18.221Z,1736376678.221 [DAT](INFO): Rx dataTimestamp_ set to:1736376678.220003 2025-01-08T22:51:18.223Z,1736376678.223 [DAT](INFO): DAT read: Bearing 124.3, 8.1 (Local) 2025-01-08T22:51:18.224Z,1736376678.224 [DAT](INFO): Local bearing/azimuth received: Bearing 124.3, 8.1 (Local) 2025-01-08T22:51:18.228Z,1736376678.228 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T22:51:18.233Z,1736376678.233 [DAT](INFO): DAT read: 22:51:17.0650 LVL= 16880, 16689, 19282, 20979, AGC= 57, IDX= 498, 0.20,-2.795,-2.561, 1.489, 2.777, PHS= 0.800, 0.993,-1.290, RAW= 25.6, -4.6, CAL= 25.7, -8.1, ROT= 124.3, 8.1 2025-01-08T22:51:18.236Z,1736376678.236 [DAT](INFO): got valid direction response: 22:51:17.0650 LVL= 16880, 16689, 19282, 20979, AGC= 57, IDX= 498, 0.20,-2.795,-2.561, 1.489, 2.777, PHS= 0.800, 0.993,-1.290, RAW= 25.6, -4.6, CAL= 25.7, -8.1, ROT= 124.3, 8.1 2025-01-08T22:51:18.237Z,1736376678.237 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-01-08T22:51:18.238Z,1736376678.238 [DAT](INFO): direction in FSK: [0.127354,0.914279,0.384546] 2025-01-08T22:51:18.238Z,1736376678.238 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:18.274Z,1736376678.274 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.747974 2025-01-08T22:51:18.363Z,1736376678.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T22:51:18.363Z,1736376678.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:18.405Z,1736376678.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.505826 s, deltaX: -0.100002 m, approachRate: -0.197701 m/s, rangeRepo size: 4 2025-01-08T22:51:18.407Z,1736376678.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.599998 m, bearing: 110.194864 deg, lat: 36.904920 deg, lon: -122.118989 deg, deltaT: 0.505826 s, deltaX: -0.100002 m, approachRate: -0.197701 m/s, posRepo size: 4 2025-01-08T22:51:18.412Z,1736376678.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T22:51:18.470Z,1736376678.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:18.482Z,1736376678.482 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.955124 2025-01-08T22:51:18.720Z,1736376678.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:18.721Z,1736376678.721 [DAT](INFO): DAT read: Rx Time:22:51:17.5651 2025-01-08T22:51:18.721Z,1736376678.721 [DAT](INFO): Rx dataTimestamp_ set to:1736376678.721193 2025-01-08T22:51:18.723Z,1736376678.723 [DAT](INFO): DAT read: Bearing 124.2, 8.1 (Local) 2025-01-08T22:51:18.723Z,1736376678.723 [DAT](INFO): Local bearing/azimuth received: Bearing 124.2, 8.1 (Local) 2025-01-08T22:51:18.725Z,1736376678.725 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:51:18.730Z,1736376678.730 [DAT](INFO): DAT read: 22:51:17.5651 LVL= 17616, 15825, 17650, 22499, AGC= 58, IDX= 498, 0.46, 1.691, 1.922,-0.330, 0.971, PHS= 0.808, 0.998,-1.304, RAW= 25.7, -4.6, CAL= 25.8, -8.1, ROT= 124.2, 8.1 2025-01-08T22:51:18.731Z,1736376678.731 [DAT](INFO): got valid direction response: 22:51:17.5651 LVL= 17616, 15825, 17650, 22499, AGC= 58, IDX= 498, 0.46, 1.691, 1.922,-0.330, 0.971, PHS= 0.808, 0.998,-1.304, RAW= 25.7, -4.6, CAL= 25.8, -8.1, ROT= 124.2, 8.1 2025-01-08T22:51:18.732Z,1736376678.732 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-01-08T22:51:18.733Z,1736376678.733 [DAT](INFO): direction in FSK: [0.126190,0.913758,0.386163] 2025-01-08T22:51:18.733Z,1736376678.733 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:18.737Z,1736376678.737 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.210171 2025-01-08T22:51:18.840Z,1736376678.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:18.858Z,1736376678.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.501190 s, deltaX: 0.100002 m, approachRate: 0.199530 m/s, rangeRepo size: 4 2025-01-08T22:51:18.868Z,1736376678.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 110.245741 deg, lat: 36.904920 deg, lon: -122.118996 deg, deltaT: 0.501190 s, deltaX: 0.100002 m, approachRate: 0.199530 m/s, posRepo size: 4 2025-01-08T22:51:18.869Z,1736376678.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:18.973Z,1736376678.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:18.974Z,1736376678.974 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.447353 2025-01-08T22:51:19.205Z,1736376679.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:19.216Z,1736376679.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:51:19.218Z,1736376679.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:19.224Z,1736376679.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:19.225Z,1736376679.225 [DAT](INFO): DAT read: Rx Time:22:51:18.0650 2025-01-08T22:51:19.225Z,1736376679.225 [DAT](INFO): Rx dataTimestamp_ set to:1736376679.225167 2025-01-08T22:51:19.227Z,1736376679.227 [DAT](INFO): DAT read: Bearing 124.1, 8.3 (Local) 2025-01-08T22:51:19.227Z,1736376679.227 [DAT](INFO): Local bearing/azimuth received: Bearing 124.1, 8.3 (Local) 2025-01-08T22:51:19.229Z,1736376679.229 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T22:51:19.237Z,1736376679.237 [DAT](INFO): DAT read: 22:51:18.0650 LVL= 17392, 15073, 17346, 22707, AGC= 57, IDX= 498,-0.30,-1.104,-0.877,-3.108,-1.824, PHS= 0.808, 0.994,-1.286, RAW= 25.8, -4.8, CAL= 25.9, -8.3, ROT= 124.1, 8.3 2025-01-08T22:51:19.240Z,1736376679.240 [DAT](INFO): got valid direction response: 22:51:18.0650 LVL= 17392, 15073, 17346, 22707, AGC= 57, IDX= 498,-0.30,-1.104,-0.877,-3.108,-1.824, PHS= 0.808, 0.994,-1.286, RAW= 25.8, -4.8, CAL= 25.9, -8.3, ROT= 124.1, 8.3 2025-01-08T22:51:19.240Z,1736376679.240 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-01-08T22:51:19.242Z,1736376679.242 [DAT](INFO): direction in FSK: [0.129232,0.912965,0.387033] 2025-01-08T22:51:19.243Z,1736376679.243 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:19.247Z,1736376679.247 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.720352 2025-01-08T22:51:19.478Z,1736376679.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:19.497Z,1736376679.497 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.970108 2025-01-08T22:51:19.670Z,1736376679.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:19.707Z,1736376679.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.503974 s, deltaX: -0.100002 m, approachRate: -0.198427 m/s, rangeRepo size: 4 2025-01-08T22:51:19.709Z,1736376679.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.599998 m, bearing: 110.027382 deg, lat: 36.904921 deg, lon: -122.119000 deg, deltaT: 0.503974 s, deltaX: -0.100002 m, approachRate: -0.198427 m/s, posRepo size: 4 2025-01-08T22:51:19.710Z,1736376679.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T22:51:19.728Z,1736376679.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:19.729Z,1736376679.729 [DAT](INFO): DAT read: Rx Time:22:51:18.5651 2025-01-08T22:51:19.729Z,1736376679.729 [DAT](INFO): Rx dataTimestamp_ set to:1736376679.729187 2025-01-08T22:51:19.731Z,1736376679.731 [DAT](INFO): DAT read: Bearing 123.8, 8.7 (Local) 2025-01-08T22:51:19.732Z,1736376679.732 [DAT](INFO): Local bearing/azimuth received: Bearing 123.8, 8.7 (Local) 2025-01-08T22:51:19.734Z,1736376679.734 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:51:19.739Z,1736376679.739 [DAT](INFO): DAT read: 22:51:18.5651 LVL= 15200, 14577, 15602, 20739, AGC= 56, IDX= 499,-0.10, 0.482, 0.695,-1.522,-0.251, PHS= 0.821, 0.994,-1.274, RAW= 26.1, -5.0, CAL= 26.2, -8.7, ROT= 123.8, 8.7 2025-01-08T22:51:19.740Z,1736376679.740 [DAT](INFO): got valid direction response: 22:51:18.5651 LVL= 15200, 14577, 15602, 20739, AGC= 56, IDX= 499,-0.10, 0.482, 0.695,-1.522,-0.251, PHS= 0.821, 0.994,-1.274, RAW= 26.1, -5.0, CAL= 26.2, -8.7, ROT= 123.8, 8.7 2025-01-08T22:51:19.740Z,1736376679.740 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-01-08T22:51:19.741Z,1736376679.741 [DAT](INFO): direction in FSK: [0.133149,0.910506,0.391471] 2025-01-08T22:51:19.741Z,1736376679.741 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:19.744Z,1736376679.744 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:51:19.746Z,1736376679.746 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.219585 2025-01-08T22:51:19.980Z,1736376679.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:19.981Z,1736376679.981 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.454319 2025-01-08T22:51:20.111Z,1736376680.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:20.126Z,1736376680.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.504020 s, deltaX: 0.100002 m, approachRate: 0.198409 m/s, rangeRepo size: 4 2025-01-08T22:51:20.149Z,1736376680.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 109.940570 deg, lat: 36.904921 deg, lon: -122.119001 deg, deltaT: 0.504020 s, deltaX: 0.100002 m, approachRate: 0.198409 m/s, posRepo size: 4 2025-01-08T22:51:20.149Z,1736376680.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:20.234Z,1736376680.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:20.238Z,1736376680.238 [DAT](INFO): DAT read: Rx Time:22:51:19.0650 2025-01-08T22:51:20.238Z,1736376680.238 [DAT](INFO): Rx dataTimestamp_ set to:1736376680.237944 2025-01-08T22:51:20.240Z,1736376680.240 [DAT](INFO): DAT read: Bearing 122.8, 8.7 (Local) 2025-01-08T22:51:20.240Z,1736376680.240 [DAT](INFO): Local bearing/azimuth received: Bearing 122.8, 8.7 (Local) 2025-01-08T22:51:20.242Z,1736376680.242 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T22:51:20.264Z,1736376680.264 [DAT](INFO): DAT read: 22:51:19.0650 LVL= 16560, 16081, 17842, 21491, AGC= 57, IDX= 498, 0.13, 0.189, 0.362,-1.837,-0.565, PHS= 0.842, 0.974,-1.275, RAW= 27.0, -5.0, CAL= 27.2, -8.7, ROT= 122.8, 8.7 2025-01-08T22:51:20.265Z,1736376680.265 [DAT](INFO): got valid direction response: 22:51:19.0650 LVL= 16560, 16081, 17842, 21491, AGC= 57, IDX= 498, 0.13, 0.189, 0.362,-1.837,-0.565, PHS= 0.842, 0.974,-1.275, RAW= 27.0, -5.0, CAL= 27.2, -8.7, ROT= 122.8, 8.7 2025-01-08T22:51:20.265Z,1736376680.265 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-01-08T22:51:20.271Z,1736376680.271 [DAT](INFO): direction in FSK: [0.131292,0.904572,0.405601] 2025-01-08T22:51:20.272Z,1736376680.272 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:20.280Z,1736376680.280 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.748627 2025-01-08T22:51:20.486Z,1736376680.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:20.504Z,1736376680.504 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.976673 2025-01-08T22:51:20.657Z,1736376680.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:20.694Z,1736376680.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.508757 s, deltaX: -0.100002 m, approachRate: -0.196562 m/s, rangeRepo size: 4 2025-01-08T22:51:20.701Z,1736376680.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.599998 m, bearing: 109.919239 deg, lat: 36.904921 deg, lon: -122.119003 deg, deltaT: 0.508757 s, deltaX: -0.100002 m, approachRate: -0.196562 m/s, posRepo size: 4 2025-01-08T22:51:20.701Z,1736376680.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T22:51:20.736Z,1736376680.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:20.737Z,1736376680.737 [DAT](INFO): DAT read: Rx Time:22:51:19.5652 2025-01-08T22:51:20.738Z,1736376680.738 [DAT](INFO): Rx dataTimestamp_ set to:1736376680.737305 2025-01-08T22:51:20.740Z,1736376680.740 [DAT](INFO): DAT read: Bearing 122.2, 8.4 (Local) 2025-01-08T22:51:20.740Z,1736376680.740 [DAT](INFO): Local bearing/azimuth received: Bearing 122.2, 8.4 (Local) 2025-01-08T22:51:20.744Z,1736376680.744 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T22:51:20.749Z,1736376680.749 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:51:20.753Z,1736376680.753 [DAT](INFO): DAT read: 22:51:19.5652 LVL= 19712, 17601, 20610, 24211, AGC= 58, IDX= 499, 0.38, 1.480, 1.627,-0.586, 0.711, PHS= 0.857, 0.964,-1.300, RAW= 27.6, -4.8, CAL= 27.8, -8.4, ROT= 122.2, 8.4 2025-01-08T22:51:20.754Z,1736376680.754 [DAT](INFO): got valid direction response: 22:51:19.5652 LVL= 19712, 17601, 20610, 24211, AGC= 58, IDX= 499, 0.38, 1.480, 1.627,-0.586, 0.711, PHS= 0.857, 0.964,-1.300, RAW= 27.6, -4.8, CAL= 27.8, -8.4, ROT= 122.2, 8.4 2025-01-08T22:51:20.754Z,1736376680.754 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-01-08T22:51:20.768Z,1736376680.768 [DAT](INFO): direction in FSK: [0.125635,0.901334,0.414504] 2025-01-08T22:51:20.768Z,1736376680.768 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:20.780Z,1736376680.780 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.253155 2025-01-08T22:51:20.988Z,1736376680.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:20.989Z,1736376680.989 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.462173 2025-01-08T22:51:21.109Z,1736376681.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:21.123Z,1736376681.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.499361 s, deltaX: 0.300003 m, approachRate: 0.600774 m/s, rangeRepo size: 4 2025-01-08T22:51:21.125Z,1736376681.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.900002 m, bearing: 110.388745 deg, lat: 36.904921 deg, lon: -122.119004 deg, deltaT: 0.499361 s, deltaX: 0.300003 m, approachRate: 0.600774 m/s, posRepo size: 4 2025-01-08T22:51:21.126Z,1736376681.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T22:51:21.240Z,1736376681.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:21.241Z,1736376681.241 [DAT](INFO): DAT read: Rx Time:22:51:20.0651 2025-01-08T22:51:21.242Z,1736376681.242 [DAT](INFO): Rx dataTimestamp_ set to:1736376681.241400 2025-01-08T22:51:21.243Z,1736376681.243 [DAT](INFO): DAT read: Bearing 122.0, 8.8 (Local) 2025-01-08T22:51:21.243Z,1736376681.243 [DAT](INFO): Local bearing/azimuth received: Bearing 122.0, 8.8 (Local) 2025-01-08T22:51:21.245Z,1736376681.245 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:51:21.250Z,1736376681.250 [DAT](INFO): DAT read: 22:51:20.0651 LVL= 16672, 17393, 17570, 20979, AGC= 58, IDX= 499,-0.37,-0.504,-0.364,-2.576,-1.288, PHS= 0.872, 0.971,-1.291, RAW= 27.8, -5.0, CAL= 28.0, -8.8, ROT= 122.0, 8.8 2025-01-08T22:51:21.253Z,1736376681.253 [DAT](INFO): got valid direction response: 22:51:20.0651 LVL= 16672, 17393, 17570, 20979, AGC= 58, IDX= 499,-0.37,-0.504,-0.364,-2.576,-1.288, PHS= 0.872, 0.971,-1.291, RAW= 27.8, -5.0, CAL= 28.0, -8.8, ROT= 122.0, 8.8 2025-01-08T22:51:21.255Z,1736376681.255 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-01-08T22:51:21.263Z,1736376681.263 [DAT](INFO): direction in FSK: [0.130387,0.899346,0.417344] 2025-01-08T22:51:21.264Z,1736376681.264 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:21.281Z,1736376681.281 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.753593 2025-01-08T22:51:21.493Z,1736376681.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:21.510Z,1736376681.510 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.982719 2025-01-08T22:51:21.634Z,1736376681.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:21.678Z,1736376681.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.504095 s, deltaX: -0.200001 m, approachRate: -0.396752 m/s, rangeRepo size: 4 2025-01-08T22:51:21.684Z,1736376681.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 110.132139 deg, lat: 36.904921 deg, lon: -122.119010 deg, deltaT: 0.504095 s, deltaX: -0.200001 m, approachRate: -0.396752 m/s, posRepo size: 4 2025-01-08T22:51:21.685Z,1736376681.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:21.744Z,1736376681.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:21.745Z,1736376681.745 [DAT](INFO): DAT read: Rx Time:22:51:20.5652 2025-01-08T22:51:21.746Z,1736376681.746 [DAT](INFO): Rx dataTimestamp_ set to:1736376681.745505 2025-01-08T22:51:21.747Z,1736376681.747 [DAT](INFO): DAT read: Bearing 121.2, 8.2 (Local) 2025-01-08T22:51:21.748Z,1736376681.748 [DAT](INFO): Local bearing/azimuth received: Bearing 121.2, 8.2 (Local) 2025-01-08T22:51:21.750Z,1736376681.750 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T22:51:21.757Z,1736376681.757 [DAT](INFO): DAT read: 22:51:20.5652 LVL= 17520, 16081, 17394, 22147, AGC= 57, IDX= 500,-0.24, 1.432, 1.535,-0.661, 0.643, PHS= 0.877, 0.939,-1.307, RAW= 28.6, -4.6, CAL= 28.8, -8.2, ROT= 121.2, 8.2 2025-01-08T22:51:21.758Z,1736376681.758 [DAT](INFO): got valid direction response: 22:51:20.5652 LVL= 17520, 16081, 17394, 22147, AGC= 57, IDX= 500,-0.24, 1.432, 1.535,-0.661, 0.643, PHS= 0.877, 0.939,-1.307, RAW= 28.6, -4.6, CAL= 28.8, -8.2, ROT= 121.2, 8.2 2025-01-08T22:51:21.758Z,1736376681.758 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-01-08T22:51:21.759Z,1736376681.759 [DAT](INFO): direction in FSK: [0.121443,0.894810,0.429613] 2025-01-08T22:51:21.759Z,1736376681.759 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:21.763Z,1736376681.763 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.236118 2025-01-08T22:51:21.996Z,1736376681.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:21.996Z,1736376681.996 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.469940 2025-01-08T22:51:22.096Z,1736376682.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:22.126Z,1736376682.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504105 s, deltaX: 0.200001 m, approachRate: 0.396744 m/s, rangeRepo size: 4 2025-01-08T22:51:22.133Z,1736376682.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.900002 m, bearing: 110.772423 deg, lat: 36.904921 deg, lon: -122.119012 deg, deltaT: 0.504105 s, deltaX: 0.200001 m, approachRate: 0.396744 m/s, posRepo size: 4 2025-01-08T22:51:22.134Z,1736376682.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T22:51:22.248Z,1736376682.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:22.249Z,1736376682.249 [DAT](INFO): DAT read: Rx Time:22:51:21.0651 2025-01-08T22:51:22.249Z,1736376682.249 [DAT](INFO): Rx dataTimestamp_ set to:1736376682.249160 2025-01-08T22:51:22.251Z,1736376682.251 [DAT](INFO): DAT read: Bearing 121.2, 9.2 (Local) 2025-01-08T22:51:22.251Z,1736376682.251 [DAT](INFO): Local bearing/azimuth received: Bearing 121.2, 9.2 (Local) 2025-01-08T22:51:22.253Z,1736376682.253 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:51:22.258Z,1736376682.258 [DAT](INFO): DAT read: 22:51:21.0651 LVL= 14864, 14817, 14786, 21027, AGC= 56, IDX= 499,-0.26, 2.222, 2.327, 0.156, 1.423, PHS= 0.888, 0.952,-1.269, RAW= 28.5, -5.3, CAL= 28.8, -9.2, ROT= 121.2, 9.2 2025-01-08T22:51:22.259Z,1736376682.259 [DAT](INFO): got valid direction response: 22:51:21.0651 LVL= 14864, 14817, 14786, 21027, AGC= 56, IDX= 499,-0.26, 2.222, 2.327, 0.156, 1.423, PHS= 0.888, 0.952,-1.269, RAW= 28.5, -5.3, CAL= 28.8, -9.2, ROT= 121.2, 9.2 2025-01-08T22:51:22.259Z,1736376682.259 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-01-08T22:51:22.260Z,1736376682.260 [DAT](INFO): direction in FSK: [0.133064,0.893483,0.428931] 2025-01-08T22:51:22.261Z,1736376682.261 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:22.264Z,1736376682.264 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.737831 2025-01-08T22:51:22.501Z,1736376682.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:22.504Z,1736376682.504 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.977402 2025-01-08T22:51:22.653Z,1736376682.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:22.678Z,1736376682.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.503655 s, deltaX: -0.200001 m, approachRate: -0.397099 m/s, rangeRepo size: 4 2025-01-08T22:51:22.681Z,1736376682.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 110.391036 deg, lat: 36.904921 deg, lon: -122.119014 deg, deltaT: 0.503655 s, deltaX: -0.200001 m, approachRate: -0.397099 m/s, posRepo size: 4 2025-01-08T22:51:22.682Z,1736376682.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:22.753Z,1736376682.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:22.755Z,1736376682.755 [DAT](INFO): DAT read: Rx Time:22:51:21.5651 2025-01-08T22:51:22.756Z,1736376682.756 [DAT](INFO): Rx dataTimestamp_ set to:1736376682.754870 2025-01-08T22:51:22.758Z,1736376682.758 [DAT](INFO): DAT read: Bearing 120.8, 9.1 (Local) 2025-01-08T22:51:22.758Z,1736376682.758 [DAT](INFO): Local bearing/azimuth received: Bearing 120.8, 9.1 (Local) 2025-01-08T22:51:22.763Z,1736376682.763 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:51:22.770Z,1736376682.770 [DAT](INFO): DAT read: 22:51:21.5651 LVL= 13600, 14481, 12210, 17491, AGC= 55, IDX= 499,-0.30, 3.002, 3.091, 0.942, 2.201, PHS= 0.889, 0.937,-1.262, RAW= 28.9, -5.2, CAL= 29.2, -9.1, ROT= 120.8, 9.1 2025-01-08T22:51:22.777Z,1736376682.777 [DAT](INFO): got valid direction response: 22:51:21.5651 LVL= 13600, 14481, 12210, 17491, AGC= 55, IDX= 499,-0.30, 3.002, 3.091, 0.942, 2.201, PHS= 0.889, 0.937,-1.262, RAW= 28.9, -5.2, CAL= 29.2, -9.1, ROT= 120.8, 9.1 2025-01-08T22:51:22.777Z,1736376682.777 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-01-08T22:51:22.778Z,1736376682.778 [DAT](INFO): direction in FSK: [0.131785,0.891118,0.434213] 2025-01-08T22:51:22.778Z,1736376682.778 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:22.801Z,1736376682.801 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.274929 2025-01-08T22:51:23.000Z,1736376683.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:23.004Z,1736376683.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:23.005Z,1736376683.005 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.478153 2025-01-08T22:51:23.026Z,1736376683.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.505710 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:51:23.034Z,1736376683.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 110.396470 deg, lat: 36.904921 deg, lon: -122.119019 deg, deltaT: 0.505710 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:51:23.037Z,1736376683.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:23.256Z,1736376683.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:23.257Z,1736376683.257 [DAT](INFO): DAT read: Rx Time:22:51:22.0651 2025-01-08T22:51:23.257Z,1736376683.257 [DAT](INFO): Rx dataTimestamp_ set to:1736376683.257194 2025-01-08T22:51:23.259Z,1736376683.259 [DAT](INFO): DAT read: Bearing 121.0, 9.6 (Local) 2025-01-08T22:51:23.259Z,1736376683.259 [DAT](INFO): Local bearing/azimuth received: Bearing 121.0, 9.6 (Local) 2025-01-08T22:51:23.261Z,1736376683.261 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:51:23.266Z,1736376683.266 [DAT](INFO): DAT read: 22:51:22.0651 LVL= 13968, 14801, 12786, 17651, AGC= 54, IDX= 498,-0.27, 1.956, 2.054,-0.062, 1.163, PHS= 0.881, 0.938,-1.229, RAW= 28.7, -5.6, CAL= 29.0, -9.6, ROT= 121.0, 9.6 2025-01-08T22:51:23.267Z,1736376683.267 [DAT](INFO): got valid direction response: 22:51:22.0651 LVL= 13968, 14801, 12786, 17651, AGC= 54, IDX= 498,-0.27, 1.956, 2.054,-0.062, 1.163, PHS= 0.881, 0.938,-1.229, RAW= 28.7, -5.6, CAL= 29.0, -9.6, ROT= 121.0, 9.6 2025-01-08T22:51:23.267Z,1736376683.267 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-01-08T22:51:23.268Z,1736376683.268 [DAT](INFO): direction in FSK: [0.138362,0.891713,0.430934] 2025-01-08T22:51:23.268Z,1736376683.268 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:23.272Z,1736376683.272 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.745487 2025-01-08T22:51:23.407Z,1736376683.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:23.468Z,1736376683.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.502324 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:51:23.470Z,1736376683.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 110.205627 deg, lat: 36.904921 deg, lon: -122.119020 deg, deltaT: 0.502324 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:51:23.470Z,1736376683.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:23.509Z,1736376683.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:23.512Z,1736376683.512 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.985306 2025-01-08T22:51:23.760Z,1736376683.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:23.761Z,1736376683.761 [DAT](INFO): DAT read: Rx Time:22:51:22.5652 2025-01-08T22:51:23.761Z,1736376683.761 [DAT](INFO): Rx dataTimestamp_ set to:1736376683.761195 2025-01-08T22:51:23.763Z,1736376683.763 [DAT](INFO): DAT read: Bearing 120.3, 9.7 (Local) 2025-01-08T22:51:23.764Z,1736376683.764 [DAT](INFO): Local bearing/azimuth received: Bearing 120.3, 9.7 (Local) 2025-01-08T22:51:23.767Z,1736376683.767 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T22:51:23.772Z,1736376683.772 [DAT](INFO): DAT read: 22:51:22.5652 LVL= 14720, 15793, 13586, 19187, AGC= 54, IDX= 499,-0.26, 2.428, 2.501, 0.398, 1.621, PHS= 0.895, 0.927,-1.226, RAW= 29.3, -5.6, CAL= 29.7, -9.7, ROT= 120.3, 9.7 2025-01-08T22:51:23.773Z,1736376683.773 [DAT](INFO): got valid direction response: 22:51:22.5652 LVL= 14720, 15793, 13586, 19187, AGC= 54, IDX= 499,-0.26, 2.428, 2.501, 0.398, 1.621, PHS= 0.895, 0.927,-1.226, RAW= 29.3, -5.6, CAL= 29.7, -9.7, ROT= 120.3, 9.7 2025-01-08T22:51:23.773Z,1736376683.773 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-01-08T22:51:23.774Z,1736376683.774 [DAT](INFO): direction in FSK: [0.138306,0.887505,0.439552] 2025-01-08T22:51:23.775Z,1736376683.775 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:23.778Z,1736376683.778 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.251766 2025-01-08T22:51:23.953Z,1736376683.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:23.979Z,1736376683.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504001 s, deltaX: 0.200001 m, approachRate: 0.396826 m/s, rangeRepo size: 4 2025-01-08T22:51:23.985Z,1736376683.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.900002 m, bearing: 110.546382 deg, lat: 36.904921 deg, lon: -122.119020 deg, deltaT: 0.504001 s, deltaX: 0.200001 m, approachRate: 0.396826 m/s, posRepo size: 4 2025-01-08T22:51:23.986Z,1736376683.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T22:51:24.012Z,1736376684.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:24.013Z,1736376684.013 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.486214 2025-01-08T22:51:24.264Z,1736376684.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:24.265Z,1736376684.265 [DAT](INFO): DAT read: Rx Time:22:51:23.0651 2025-01-08T22:51:24.266Z,1736376684.266 [DAT](INFO): Rx dataTimestamp_ set to:1736376684.265726 2025-01-08T22:51:24.268Z,1736376684.268 [DAT](INFO): DAT read: Bearing 119.3, 9.4 (Local) 2025-01-08T22:51:24.268Z,1736376684.268 [DAT](INFO): Local bearing/azimuth received: Bearing 119.3, 9.4 (Local) 2025-01-08T22:51:24.271Z,1736376684.271 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:51:24.278Z,1736376684.278 [DAT](INFO): DAT read: 22:51:23.0651 LVL= 14992, 12657, 16610, 20691, AGC= 53, IDX= 498,-0.42, 1.203, 1.234,-0.907, 0.358, PHS= 0.933, 0.923,-1.268, RAW= 30.2, -5.4, CAL= 30.7, -9.4, ROT= 119.3, 9.4 2025-01-08T22:51:24.280Z,1736376684.280 [DAT](INFO): got valid direction response: 22:51:23.0651 LVL= 14992, 12657, 16610, 20691, AGC= 53, IDX= 498,-0.42, 1.203, 1.234,-0.907, 0.358, PHS= 0.933, 0.923,-1.268, RAW= 30.2, -5.4, CAL= 30.7, -9.4, ROT= 119.3, 9.4 2025-01-08T22:51:24.281Z,1736376684.281 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-01-08T22:51:24.281Z,1736376684.281 [DAT](INFO): direction in FSK: [0.132227,0.881248,0.453781] 2025-01-08T22:51:24.282Z,1736376684.282 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:24.285Z,1736376684.285 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.759102 2025-01-08T22:51:24.296Z,1736376684.296 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:51:24.468Z,1736376684.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:24.502Z,1736376684.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.504531 s, deltaX: -0.200001 m, approachRate: -0.396409 m/s, rangeRepo size: 4 2025-01-08T22:51:24.518Z,1736376684.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:24.522Z,1736376684.522 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.994675 2025-01-08T22:51:24.535Z,1736376684.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 110.984616 deg, lat: 36.904921 deg, lon: -122.119022 deg, deltaT: 0.504531 s, deltaX: -0.200001 m, approachRate: -0.396409 m/s, posRepo size: 4 2025-01-08T22:51:24.542Z,1736376684.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:24.768Z,1736376684.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:24.769Z,1736376684.769 [DAT](INFO): DAT read: Rx Time:22:51:23.5651 2025-01-08T22:51:24.770Z,1736376684.770 [DAT](INFO): Rx dataTimestamp_ set to:1736376684.769264 2025-01-08T22:51:24.771Z,1736376684.771 [DAT](INFO): DAT read: Bearing 118.6, 9.5 (Local) 2025-01-08T22:51:24.771Z,1736376684.771 [DAT](INFO): Local bearing/azimuth received: Bearing 118.6, 9.5 (Local) 2025-01-08T22:51:24.773Z,1736376684.773 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T22:51:24.778Z,1736376684.778 [DAT](INFO): DAT read: 22:51:23.5651 LVL= 14608, 14321, 12850, 17699, AGC= 54, IDX= 498, 0.15,-0.494,-0.491,-2.591,-1.342, PHS= 0.936, 0.898,-1.252, RAW= 30.9, -5.4, CAL= 31.4, -9.5, ROT= 118.6, 9.5 2025-01-08T22:51:24.779Z,1736376684.779 [DAT](INFO): got valid direction response: 22:51:23.5651 LVL= 14608, 14321, 12850, 17699, AGC= 54, IDX= 498, 0.15,-0.494,-0.491,-2.591,-1.342, PHS= 0.936, 0.898,-1.252, RAW= 30.9, -5.4, CAL= 31.4, -9.5, ROT= 118.6, 9.5 2025-01-08T22:51:24.780Z,1736376684.780 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-01-08T22:51:24.780Z,1736376684.780 [DAT](INFO): direction in FSK: [0.131110,0.876501,0.463202] 2025-01-08T22:51:24.781Z,1736376684.781 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:24.785Z,1736376684.785 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:51:24.785Z,1736376684.785 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:51:24.785Z,1736376684.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:25.020Z,1736376685.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:25.022Z,1736376685.022 [DAT](INFO): Reached modem response timeout 2025-01-08T22:51:25.022Z,1736376685.022 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:25.023Z,1736376685.023 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:25.136Z,1736376685.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:25.151Z,1736376685.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.503538 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:51:25.162Z,1736376685.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 111.400703 deg, lat: 36.904920 deg, lon: -122.119022 deg, deltaT: 0.503538 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T22:51:25.162Z,1736376685.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:25.272Z,1736376685.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:25.273Z,1736376685.273 [DAT](INFO): DAT read: Rx Time:22:51:24.060 2025-01-08T22:51:25.274Z,1736376685.274 [DAT](INFO): Rx dataTimestamp_ set to:1736376685.273261 2025-01-08T22:51:25.275Z,1736376685.275 [DAT](INFO): DAT read: ering 117.3, 8.5 (Local) 2025-01-08T22:51:25.275Z,1736376685.275 [DAT](INFO): Local bearing/azimuth received: ering 117.3, 8.5 (Local) 2025-01-08T22:51:25.277Z,1736376685.277 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T22:51:25.283Z,1736376685.283 [DAT](INFO): DAT read: 22:51:24.0650 LVL= 15248, 12881, 15970, 19523, AGC= 53, IDX= 497,-0.03, 3.123, 3.066, 0.933, 2.244, PHS= 0.967, 0.869,-1.314, RAW= 32.2, -4.7, CAL= 32.7, -8.5, ROT= 117.3, 8.5 2025-01-08T22:51:25.284Z,1736376685.284 [DAT](INFO): got valid direction response: 22:51:24.0650 LVL= 15248, 12881, 15970, 19523, AGC= 53, IDX= 497,-0.03, 3.123, 3.066, 0.933, 2.244, PHS= 0.967, 0.869,-1.314, RAW= 32.2, -4.7, CAL= 32.7, -8.5, ROT= 117.3, 8.5 2025-01-08T22:51:25.285Z,1736376685.285 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:51:25.286Z,1736376685.286 [DAT](INFO): direction in FSK: [0.115630,0.868514,0.481988] 2025-01-08T22:51:25.286Z,1736376685.286 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:25.289Z,1736376685.289 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:25.289Z,1736376685.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:25.477Z,1736376685.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:25.503Z,1736376685.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.503997 s, deltaX: -0.100002 m, approachRate: -0.198418 m/s, rangeRepo size: 4 2025-01-08T22:51:25.509Z,1736376685.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.599998 m, bearing: 112.458225 deg, lat: 36.904919 deg, lon: -122.119030 deg, deltaT: 0.503997 s, deltaX: -0.100002 m, approachRate: -0.198418 m/s, posRepo size: 4 2025-01-08T22:51:25.509Z,1736376685.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T22:51:25.525Z,1736376685.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:25.528Z,1736376685.528 [DAT](INFO): DAT read: Rx Time:22:51:24.5651 2025-01-08T22:51:25.530Z,1736376685.530 [DAT](INFO): Rx dataTimestamp_ set to:1736376685.528626 2025-01-08T22:51:25.534Z,1736376685.534 [DAT](INFO): Reached modem response timeout 2025-01-08T22:51:25.535Z,1736376685.535 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:25.536Z,1736376685.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:25.776Z,1736376685.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:25.777Z,1736376685.777 [DAT](INFO): DAT read: Bearing 117.5, 9.2 (Local) 2025-01-08T22:51:25.777Z,1736376685.777 [DAT](INFO): Local bearing/azimuth received: Bearing 117.5, 9.2 (Local) 2025-01-08T22:51:25.779Z,1736376685.779 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m ti tme 35.8 ms) speed 0.0 2025-01-08T22:51:25.786Z,1736376685.786 [DAT](INFO): DAT read: 22:51:24.5651 LVL= 12272, 11601, 13586, 14163, AGC= 53, IDX= 2,-0.25, 3.018, 2.971, 0.834, 2.127, PHS= 0.979, 0.891,-1.295, RAW= 31.9, -5.2, CAL= 32.5, -9.2, ROT= 117.5, 9.2 2025-01-08T22:51:25.788Z,1736376685.788 [DAT](INFO): got valid direction response: 22:51:24.5651 LVL= 12272, 11601, 13586, 14163, AGC= 53, IDX= 2,-0.25, 3.018, 2.971, 0.834, 2.127, PHS= 0.979, 0.891,-1.295, RAW= 31.9, -5.2, CAL= 32.5, -9.2, ROT= 117.5, 9.2 2025-01-08T22:51:25.789Z,1736376685.789 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:51:25.790Z,1736376685.790 [DAT](INFO): direction in FSK: [0.124966,0.868901,0.478952] 2025-01-08T22:51:25.790Z,1736376685.790 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:25.793Z,1736376685.793 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:25.793Z,1736376685.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:25.961Z,1736376685.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:26.011Z,1736376686.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.502552 s, deltaX: 0.100002 m, approachRate: 0.198989 m/s, rangeRepo size: 4 2025-01-08T22:51:26.013Z,1736376686.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 112.035361 deg, lat: 36.904917 deg, lon: -122.119035 deg, deltaT: 0.502552 s, deltaX: 0.100002 m, approachRate: 0.198989 m/s, posRepo size: 4 2025-01-08T22:51:26.014Z,1736376686.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T22:51:26.030Z,1736376686.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:26.032Z,1736376686.032 [DAT](INFO): DAT read: Rx Time:22:51:25.0650 2025-01-08T22:51:26.034Z,1736376686.034 [DAT](INFO): Rx dataTimestamp_ set to:1736376686.032738 2025-01-08T22:51:26.046Z,1736376686.046 [DAT](INFO): DAT read: Bearing 117.1, 9.4 (Local) 2025-01-08T22:51:26.047Z,1736376686.047 [DAT](INFO): Local bearing/azimuth received: Bearing 117.1, 9.4 (Local) 2025-01-08T22:51:26.058Z,1736376686.058 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T22:51:26.109Z,1736376686.109 [DAT](INFO): DAT read: 22:51:25.0650 LVL= 13200, 12913, 14930, 18803, AGC= 52, IDX= 496, 0.30,-1.442,-1.499, 2.696,-2.324, PHS= 0.969, 0.871,-1.266, RAW= 32.2, -5.3, CAL= 32.9, -9.4, ROT= 117.1, 9.4 2025-01-08T22:51:26.110Z,1736376686.110 [DAT](INFO): got valid direction response: 22:51:25.0650 LVL= 13200, 12913, 14930, 18803, AGC= 52, IDX= 496, 0.30,-1.442,-1.499, 2.696,-2.324, PHS= 0.969, 0.871,-1.266, RAW= 32.2, -5.3, CAL= 32.9, -9.4, ROT= 117.1, 9.4 2025-01-08T22:51:26.110Z,1736376686.110 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:51:26.127Z,1736376686.127 [DAT](INFO): direction in FSK: [0.126152,0.866588,0.482815] 2025-01-08T22:51:26.128Z,1736376686.128 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:26.131Z,1736376686.131 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:26.143Z,1736376686.143 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:26.280Z,1736376686.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:26.280Z,1736376686.280 [DAT](INFO): Reached modem response timeout 2025-01-08T22:51:26.280Z,1736376686.280 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:26.281Z,1736376686.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:26.503Z,1736376686.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:26.534Z,1736376686.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:26.538Z,1736376686.538 [DAT](INFO): DAT read: Rx Time:22:51:25.5649 2025-01-08T22:51:26.541Z,1736376686.541 [DAT](INFO): Rx dataTimestamp_ set to:1736376686.538105 2025-01-08T22:51:26.545Z,1736376686.545 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed 0.0 2025-01-08T22:51:26.553Z,1736376686.553 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:51:26.555Z,1736376686.555 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:26.556Z,1736376686.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:26.527Z,1736376686.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.256925 s, deltaX: -0.100002 m, approachRate: -0.389228 m/s, rangeRepo size: 4 2025-01-08T22:51:26.584Z,1736376686.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.599998 m, bearing: 112.121063 deg, lat: 36.904915 deg, lon: -122.119042 deg, deltaT: 0.256925 s, deltaX: -0.100002 m, approachRate: -0.389228 m/s, posRepo size: 4 2025-01-08T22:51:26.586Z,1736376686.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T22:51:26.784Z,1736376686.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:26.785Z,1736376686.785 [DAT](INFO): Reached modem response timeout 2025-01-08T22:51:26.785Z,1736376686.785 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:26.785Z,1736376686.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:27.010Z,1736376687.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:27.037Z,1736376687.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:27.040Z,1736376687.040 [DAT](INFO): DAT read: Rx Time:22:51:26.0648 2025-01-08T22:51:27.042Z,1736376687.042 [DAT](INFO): Rx dataTimestamp_ set to:1736376687.040566 2025-01-08T22:51:27.047Z,1736376687.047 [DAT](INFO): DAT read: Bearing 116.4, 9.5 (Local) 2025-01-08T22:51:27.049Z,1736376687.049 [DAT](INFO): Local bearing/azimuth received: Bearing 116.4, 9.5 (Local) 2025-01-08T22:51:27.053Z,1736376687.053 [DAT](INFO): DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 2025-01-08T22:51:27.068Z,1736376687.068 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:51:27.070Z,1736376687.070 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:27.071Z,1736376687.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:27.102Z,1736376687.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 1.007828 s, deltaX: -0.299999 m, approachRate: -0.297669 m/s, rangeRepo size: 4 2025-01-08T22:51:27.103Z,1736376687.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T22:51:27.288Z,1736376687.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:27.292Z,1736376687.292 [DAT](INFO): DAT read: 22:51:26.0648 LVL= 13376, 12065, 11170, 15731, AGC= 50, IDX= 511,-0.20, 1.485, 1.398,-0.695, 0.577, PHS= 0.996, 0.868,-1.276, RAW= 32.9 5.4, CAL= 33.6, -9.5, ROT= 116.4, 9.5 2025-01-08T22:51:27.293Z,1736376687.293 [DAT](INFO): unknown deviceResponse_: 22:51:26.0648 LVL= 13376, 12065, 11170, 15731, AGC= 50, IDX= 511,-0.20, 1.485, 1.398,-0.695, 0.577, PHS= 0.996, 0.868,-1.276, RAW= 32.9 5.4, CAL= 33.6, -9.5, ROT= 116.4, 9.5 2025-01-08T22:51:27.293Z,1736376687.293 [DAT](INFO): Reached modem response timeout 2025-01-08T22:51:27.294Z,1736376687.294 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:27.294Z,1736376687.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:27.472Z,1736376687.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:27.480Z,1736376687.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T22:51:27.542Z,1736376687.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:27.567Z,1736376687.567 [DAT](INFO): DAT read: Rx Time:22:51:26.5649 2025-01-08T22:51:27.569Z,1736376687.569 [DAT](INFO): Rx dataTimestamp_ set to:1736376687.567809 2025-01-08T22:51:27.591Z,1736376687.591 [DAT](INFO): DAT read: Bearing 115.7, 9.7 (Local) 2025-01-08T22:51:27.593Z,1736376687.593 [DAT](INFO): Local bearing/azimuth received: Bearing 115.7, 9.7 (Local) 2025-01-08T22:51:27.609Z,1736376687.609 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed 0.0 2025-01-08T22:51:27.633Z,1736376687.633 [DAT](INFO): DAT read: 22:51:26.5649 LVL= 13872, 13105, 13522, 16435, AGC= 51, IDX= 511, 0.36,-1.403,-1.516, 2.700,-2.323, PHS= 1.008, 0.853,-1.264, RAW= 33.5, -5.5, CAL= 34.3, -9.7, ROT= 115.7, 9.7 2025-01-08T22:51:27.634Z,1736376687.634 [DAT](INFO): got valid direction response: 22:51:26.5649 LVL= 13872, 13105, 13522, 16435, AGC= 51, IDX= 511, 0.36,-1.403,-1.516, 2.700,-2.323, PHS= 1.008, 0.853,-1.264, RAW= 33.5, -5.5, CAL= 34.3, -9.7, ROT= 115.7, 9.7 2025-01-08T22:51:27.635Z,1736376687.635 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:51:27.640Z,1736376687.640 [DAT](INFO): direction in FSK: [0.126910,0.856010,0.501139] 2025-01-08T22:51:27.640Z,1736376687.640 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:27.648Z,1736376687.648 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:27.649Z,1736376687.649 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:27.792Z,1736376687.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:27.792Z,1736376687.792 [DAT](INFO): Reached modem response timeout 2025-01-08T22:51:27.792Z,1736376687.792 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:27.793Z,1736376687.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:27.853Z,1736376687.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:27.889Z,1736376687.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.527243 s, deltaX: 0.100002 m, approachRate: 0.189670 m/s, rangeRepo size: 4 2025-01-08T22:51:27.891Z,1736376687.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.400002 m, bearing: 112.366776 deg, lat: 36.904915 deg, lon: -122.119044 deg, deltaT: 1.535071 s, deltaX: -0.199997 m, approachRate: -0.130285 m/s, posRepo size: 4 2025-01-08T22:51:27.896Z,1736376687.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m. 2025-01-08T22:51:28.045Z,1736376688.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:28.049Z,1736376688.049 [DAT](INFO): DAT read: Rx Time:22:51:27.0647 2025-01-08T22:51:28.053Z,1736376688.053 [DAT](INFO): Rx dataTimestamp_ set to:1736376688.049950 2025-01-08T22:51:28.057Z,1736376688.057 [DAT](INFO): DAT read: Bearing 115.5, 9.6 (Local) 2025-01-08T22:51:28.058Z,1736376688.058 [DAT](INFO): Local bearing/azimuth received: Bearing 115.5, 9.6 (Local) 2025-01-08T22:51:28.066Z,1736376688.066 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 2025-01-08T22:51:28.068Z,1736376688.068 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:51:28.070Z,1736376688.070 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:28.088Z,1736376688.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:28.296Z,1736376688.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:28.302Z,1736376688.302 [DAT](INFO): DAT read: 22:51:27.0647 LVL= 15056, 14113, 13394, 18355, AGC= 51, IDX= 510, 0.17,-2.940,-3.061, 1.159, 2.423, PHS= 1.008, 0.847,-1.267, RAW= 33.6, -5.4, CAL= 34.5, -9.6, ROT= 115.5, 9.6 2025-01-08T22:51:28.303Z,1736376688.303 [DAT](INFO): got valid direction response: 22:51:27.0647 LVL= 15056, 14113, 13394, 18355, AGC= 51, IDX= 510, 0.17,-2.940,-3.061, 1.159, 2.423, PHS= 1.008, 0.847,-1.267, RAW= 33.6, -5.4, CAL= 34.5, -9.6, ROT= 115.5, 9.6 2025-01-08T22:51:28.303Z,1736376688.303 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T22:51:28.304Z,1736376688.304 [DAT](INFO): direction in FSK: [0.125107,0.855157,0.503045] 2025-01-08T22:51:28.307Z,1736376688.307 [DAT](INFO): Reached modem response timeout 2025-01-08T22:51:28.327Z,1736376688.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:28.331Z,1736376688.331 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:28.332Z,1736376688.332 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:28.368Z,1736376688.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.482141 s, deltaX: -0.300003 m, approachRate: -0.622231 m/s, rangeRepo size: 4 2025-01-08T22:51:28.370Z,1736376688.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.099998 m, bearing: 112.550878 deg, lat: 36.904915 deg, lon: -122.119046 deg, deltaT: 0.482141 s, deltaX: -0.300003 m, approachRate: -0.622231 m/s, posRepo size: 4 2025-01-08T22:51:28.370Z,1736376688.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:28.548Z,1736376688.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:28.549Z,1736376688.549 [DAT](INFO): DAT read: Rx Time:22:51:27.5649 2025-01-08T22:51:28.550Z,1736376688.550 [DAT](INFO): Rx dataTimestamp_ set to:1736376688.549572 2025-01-08T22:51:28.551Z,1736376688.551 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed 0.0 2025-01-08T22:51:28.552Z,1736376688.552 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:51:28.552Z,1736376688.552 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:28.553Z,1736376688.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:28.800Z,1736376688.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:28.800Z,1736376688.800 [DAT](INFO): Reached modem response timeout 2025-01-08T22:51:28.800Z,1736376688.800 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:28.801Z,1736376688.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:28.847Z,1736376688.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:28.875Z,1736376688.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.499622 s, deltaX: 0.300003 m, approachRate: 0.600460 m/s, rangeRepo size: 4 2025-01-08T22:51:28.876Z,1736376688.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:29.052Z,1736376689.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:29.053Z,1736376689.053 [DAT](INFO): DAT read: user:2933> 2025-01-08T22:51:29.053Z,1736376689.053 [DAT](INFO): Reached modem response timeout 2025-01-08T22:51:29.054Z,1736376689.054 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:51:29.055Z,1736376689.055 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:51:29.204Z,1736376689.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:29.212Z,1736376689.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:29.304Z,1736376689.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:29.306Z,1736376689.306 [DAT](INFO): DAT read: Tx time:22:51:28.4651 2025-01-08T22:51:29.306Z,1736376689.306 [DAT](INFO): Ping request sent. 2025-01-08T22:51:29.306Z,1736376689.306 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:51:29.308Z,1736376689.308 [DAT](INFO): DAT read: TxSync time:22:51:28.4643 2025-01-08T22:51:29.308Z,1736376689.308 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:29.309Z,1736376689.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002794 2025-01-08T22:51:29.556Z,1736376689.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:29.556Z,1736376689.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250241 2025-01-08T22:51:29.716Z,1736376689.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:29.724Z,1736376689.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:29.808Z,1736376689.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:29.809Z,1736376689.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502463 2025-01-08T22:51:30.060Z,1736376690.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:30.060Z,1736376690.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754278 2025-01-08T22:51:30.136Z,1736376690.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:30.153Z,1736376690.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:30.315Z,1736376690.315 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:30.316Z,1736376690.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009880 2025-01-08T22:51:30.564Z,1736376690.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:30.565Z,1736376690.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258366 2025-01-08T22:51:30.569Z,1736376690.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:30.586Z,1736376690.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:30.816Z,1736376690.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:30.817Z,1736376690.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510764 2025-01-08T22:51:31.059Z,1736376691.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:31.068Z,1736376691.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:31.069Z,1736376691.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762590 2025-01-08T22:51:31.070Z,1736376691.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:31.320Z,1736376691.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:31.322Z,1736376691.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015675 2025-01-08T22:51:31.479Z,1736376691.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:31.487Z,1736376691.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:31.572Z,1736376691.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:31.574Z,1736376691.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267476 2025-01-08T22:51:31.824Z,1736376691.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:31.824Z,1736376691.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518379 2025-01-08T22:51:31.902Z,1736376691.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:31.910Z,1736376691.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:32.079Z,1736376692.079 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:32.083Z,1736376692.083 [DAT](INFO): DAT read: Rx Time:22:51:30.9404 2025-01-08T22:51:32.086Z,1736376692.086 [DAT](INFO): Rx dataTimestamp_ set to:1736376692.082918 2025-01-08T22:51:32.087Z,1736376692.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780771 2025-01-08T22:51:32.306Z,1736376692.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:32.314Z,1736376692.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:32.328Z,1736376692.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:32.328Z,1736376692.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022359 2025-01-08T22:51:32.581Z,1736376692.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:32.582Z,1736376692.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275671 2025-01-08T22:51:32.767Z,1736376692.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:32.776Z,1736376692.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:32.833Z,1736376692.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:32.839Z,1736376692.839 [DAT](INFO): DAT read: 22:51:30.9404 LVL= 16592, 13361, 13618, 19635, AGC= 54, IDX= 485, 0.12, 0.356, 0.185,-1.816,-0.589, PHS= 1.033, 0.821,-1.230, RAW= 34.9, -5.8, CAL= 36.0, -10.3, ROT= 114.0, 10.3 2025-01-08T22:51:32.840Z,1736376692.840 [DAT](INFO): got valid direction response: 22:51:30.9404 LVL= 16592, 13361, 13618, 19635, AGC= 54, IDX= 485, 0.12, 0.356, 0.185,-1.816,-0.589, PHS= 1.033, 0.821,-1.230, RAW= 34.9, -5.8, CAL= 36.0, -10.3, ROT= 114.0, 10.3 2025-01-08T22:51:32.842Z,1736376692.842 [DAT](INFO): DAT read: Range 10 to 50 : 53.3 m (Round-trip 71.1 ms) speed 0.0 m/s 2025-01-08T22:51:32.843Z,1736376692.843 [DAT](INFO): DAT read: user:2934> 2025-01-08T22:51:32.844Z,1736376692.844 [DAT](INFO): DAT read: Tx time:22:51:32.0651 2025-01-08T22:51:32.844Z,1736376692.844 [DAT](INFO): Ping request sent. 2025-01-08T22:51:32.844Z,1736376692.844 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:51:32.845Z,1736376692.845 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:51:32.846Z,1736376692.846 [DAT](INFO): direction in FSK: [0.130263,0.843892,0.520459] 2025-01-08T22:51:32.846Z,1736376692.846 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:32.846Z,1736376692.846 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:32.850Z,1736376692.850 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:32.850Z,1736376692.850 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:33.084Z,1736376693.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:33.085Z,1736376693.085 [DAT](INFO): DAT read: TxSync time:22:51:32.0643 2025-01-08T22:51:33.171Z,1736376693.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:33.209Z,1736376693.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 4.283394 s, deltaX: -0.100002 m, approachRate: -0.023347 m/s, rangeRepo size: 4 2025-01-08T22:51:33.211Z,1736376693.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.299999 m, bearing: 111.738022 deg, lat: 36.904915 deg, lon: -122.119054 deg, deltaT: 4.783016 s, deltaX: 0.200001 m, approachRate: 0.041815 m/s, posRepo size: 4 2025-01-08T22:51:33.212Z,1736376693.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T22:51:33.336Z,1736376693.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:33.588Z,1736376693.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:33.593Z,1736376693.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:33.632Z,1736376693.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T22:51:33.840Z,1736376693.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:34.036Z,1736376694.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:34.044Z,1736376694.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T22:51:34.094Z,1736376694.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:34.344Z,1736376694.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:34.424Z,1736376694.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:34.457Z,1736376694.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T22:51:34.596Z,1736376694.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:34.848Z,1736376694.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:34.888Z,1736376694.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:34.897Z,1736376694.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T22:51:35.100Z,1736376695.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:35.305Z,1736376695.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:35.313Z,1736376695.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T22:51:35.352Z,1736376695.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:35.604Z,1736376695.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:35.777Z,1736376695.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:35.786Z,1736376695.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T22:51:35.856Z,1736376695.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:35.856Z,1736376695.856 [DAT](INFO): DAT read: Rx Time:22:51:34.5404 2025-01-08T22:51:35.857Z,1736376695.857 [DAT](INFO): Rx dataTimestamp_ set to:1736376695.856578 2025-01-08T22:51:36.108Z,1736376696.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:36.175Z,1736376696.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:36.185Z,1736376696.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T22:51:36.361Z,1736376696.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:36.369Z,1736376696.369 [DAT](INFO): DAT read: 22:51:34.5404 LVL= 15584, 13953, 14530, 20211, AGC= 55, IDX= 435, 0.39, 2.187, 1.928,-0.044, 1.198, PHS= 1.077, 0.777,-1.245, RAW= 36.8, -5.6, CAL= 38.1, -10.0, ROT= 111.9, 10.0 2025-01-08T22:51:36.370Z,1736376696.370 [DAT](INFO): got valid direction response: 22:51:34.5404 LVL= 15584, 13953, 14530, 20211, AGC= 55, IDX= 435, 0.39, 2.187, 1.928,-0.044, 1.198, PHS= 1.077, 0.777,-1.245, RAW= 36.8, -5.6, CAL= 38.1, -10.0, ROT= 111.9, 10.0 2025-01-08T22:51:36.376Z,1736376696.376 [DAT](INFO): DAT read: Bearing 111.9, 10.0 (Local) 2025-01-08T22:51:36.376Z,1736376696.376 [DAT](INFO): Local bearing/azimuth received: Bearing 111.9, 10.0 (Local) 2025-01-08T22:51:36.378Z,1736376696.378 [DAT](INFO): DAT read: Range 10 to 50 : 53.2 m (Round-trip 71.0 ms) speed 0.0 m/s 2025-01-08T22:51:36.378Z,1736376696.378 [DAT](INFO): DAT read: user:2935> 2025-01-08T22:51:36.381Z,1736376696.381 [DAT](INFO): DAT read: Tx time:22:51:35.6652 2025-01-08T22:51:36.383Z,1736376696.383 [DAT](INFO): Ping request sent. 2025-01-08T22:51:36.384Z,1736376696.384 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:51:36.384Z,1736376696.384 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-01-08T22:51:36.385Z,1736376696.385 [DAT](INFO): direction in FSK: [0.122606,0.827719,0.547584] 2025-01-08T22:51:36.385Z,1736376696.385 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:36.385Z,1736376696.385 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:36.398Z,1736376696.398 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:36.398Z,1736376696.398 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:36.613Z,1736376696.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:36.614Z,1736376696.614 [DAT](INFO): DAT read: TxSync time:22:51:35.6644 2025-01-08T22:51:36.648Z,1736376696.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:36.757Z,1736376696.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.200001 m, deltaT: 3.528139 s, deltaX: -0.099998 m, approachRate: -0.028343 m/s, rangeRepo size: 4 2025-01-08T22:51:36.761Z,1736376696.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.200001 m, bearing: 112.810217 deg, lat: 36.904915 deg, lon: -122.119058 deg, deltaT: 3.528139 s, deltaX: -0.099998 m, approachRate: -0.028343 m/s, posRepo size: 4 2025-01-08T22:51:36.762Z,1736376696.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:51:36.864Z,1736376696.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:37.117Z,1736376697.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:37.181Z,1736376697.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:37.191Z,1736376697.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:51:37.368Z,1736376697.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:37.593Z,1736376697.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:37.608Z,1736376697.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:51:37.620Z,1736376697.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:37.872Z,1736376697.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:38.022Z,1736376698.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:38.031Z,1736376698.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:51:38.124Z,1736376698.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:38.378Z,1736376698.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:38.426Z,1736376698.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:38.436Z,1736376698.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:51:38.632Z,1736376698.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:38.845Z,1736376698.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:38.855Z,1736376698.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:51:38.884Z,1736376698.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:39.136Z,1736376699.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:39.224Z,1736376699.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:39.233Z,1736376699.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:51:39.389Z,1736376699.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:39.390Z,1736376699.390 [DAT](INFO): DAT read: Rx Time:22:51:38.1402 2025-01-08T22:51:39.390Z,1736376699.390 [DAT](INFO): Rx dataTimestamp_ set to:1736376699.389767 2025-01-08T22:51:39.640Z,1736376699.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:39.684Z,1736376699.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:39.710Z,1736376699.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.20 m. 2025-01-08T22:51:39.892Z,1736376699.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:39.899Z,1736376699.899 [DAT](INFO): DAT read: 22:51:38.1402 LVL= 18464, 18289, 18418, 24531, AGC= 54, IDX= 434,-0.47, 1.311, 0.994,-0.949, 0.282, PHS= 1.117, 0.759,-1.234, RAW= 38.1, -5.9, CAL= 39.7, -10.5, ROT= 110.3, 10.5 2025-01-08T22:51:39.900Z,1736376699.900 [DAT](INFO): got valid direction response: 22:51:38.1402 LVL= 18464, 18289, 18418, 24531, AGC= 54, IDX= 434,-0.47, 1.311, 0.994,-0.949, 0.282, PHS= 1.117, 0.759,-1.234, RAW= 38.1, -5.9, CAL= 39.7, -10.5, ROT= 110.3, 10.5 2025-01-08T22:51:39.901Z,1736376699.901 [DAT](INFO): DAT read: Bearing 110.3, 10.5 (Local) 2025-01-08T22:51:39.901Z,1736376699.901 [DAT](INFO): Local bearing/azimuth received: Bearing 110.3, 10.5 (Local) 2025-01-08T22:51:39.903Z,1736376699.903 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (Round-trip 70.8 ms) speed 0.0 m/s 2025-01-08T22:51:39.904Z,1736376699.904 [DAT](INFO): DAT read: user:2936> 2025-01-08T22:51:39.904Z,1736376699.904 [DAT](INFO): DAT read: Tx time:22:51:39.2652 2025-01-08T22:51:39.905Z,1736376699.905 [DAT](INFO): Ping request sent. 2025-01-08T22:51:39.905Z,1736376699.905 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:51:39.905Z,1736376699.905 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-01-08T22:51:39.906Z,1736376699.906 [DAT](INFO): direction in FSK: [0.125158,0.815305,0.565343] 2025-01-08T22:51:39.906Z,1736376699.906 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:39.906Z,1736376699.906 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:39.909Z,1736376699.909 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:39.910Z,1736376699.910 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:40.144Z,1736376700.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:40.144Z,1736376700.144 [DAT](INFO): DAT read: TxSync time:22:51:39.2644 2025-01-08T22:51:40.219Z,1736376700.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:40.235Z,1736376700.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 3.530708 s, deltaX: -0.100002 m, approachRate: -0.028324 m/s, rangeRepo size: 4 2025-01-08T22:51:40.237Z,1736376700.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.099998 m, bearing: 113.329030 deg, lat: 36.904915 deg, lon: -122.119065 deg, deltaT: 3.530708 s, deltaX: -0.100002 m, approachRate: -0.028324 m/s, posRepo size: 4 2025-01-08T22:51:40.238Z,1736376700.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:40.396Z,1736376700.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:40.648Z,1736376700.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:40.733Z,1736376700.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:40.811Z,1736376700.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:40.900Z,1736376700.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:41.154Z,1736376701.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:41.246Z,1736376701.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:41.256Z,1736376701.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:41.404Z,1736376701.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:41.656Z,1736376701.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:41.666Z,1736376701.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:41.699Z,1736376701.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:41.908Z,1736376701.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:42.087Z,1736376702.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:42.096Z,1736376702.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:42.162Z,1736376702.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:42.412Z,1736376702.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:42.517Z,1736376702.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:42.526Z,1736376702.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:42.664Z,1736376702.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:42.916Z,1736376702.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:42.917Z,1736376702.917 [DAT](INFO): DAT read: Rx Time:22:51:41.7397 2025-01-08T22:51:42.917Z,1736376702.917 [DAT](INFO): Rx dataTimestamp_ set to:1736376702.917093 2025-01-08T22:51:42.985Z,1736376702.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:43.008Z,1736376703.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:43.168Z,1736376703.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:43.421Z,1736376703.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:43.452Z,1736376703.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:43.464Z,1736376703.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T22:51:43.672Z,1736376703.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:43.682Z,1736376703.682 [DAT](INFO): DAT read: 22:51:41.7397 LVL= 17520, 16593, 16354, 23251, AGC= 53, IDX= 429, 0.05,-1.179,-1.490, 2.876,-2.187, PHS= 1.097, 0.744,-1.223, RAW= 38.1, -5.8, CAL= 39.7, -10.3, ROT= 110.3, 10.3 2025-01-08T22:51:43.683Z,1736376703.683 [DAT](INFO): got valid direction response: 22:51:41.7397 LVL= 17520, 16593, 16354, 23251, AGC= 53, IDX= 429, 0.05,-1.179,-1.490, 2.876,-2.187, PHS= 1.097, 0.744,-1.223, RAW= 38.1, -5.8, CAL= 39.7, -10.3, ROT= 110.3, 10.3 2025-01-08T22:51:43.684Z,1736376703.684 [DAT](INFO): DAT read: Bearing 110.3, 10.3 (Local) 2025-01-08T22:51:43.684Z,1736376703.684 [DAT](INFO): Local bearing/azimuth received: Bearing 110.3, 10.3 (Local) 2025-01-08T22:51:43.686Z,1736376703.686 [DAT](INFO): DAT read: Range 10 to 50 : 52.8 m (Round-trip 70.4 ms) speed 0.0 m/s 2025-01-08T22:51:43.686Z,1736376703.686 [DAT](INFO): DAT read: user:2937> 2025-01-08T22:51:43.705Z,1736376703.705 [DAT](INFO): DAT read: Tx time:22:51:42.8652 2025-01-08T22:51:43.706Z,1736376703.706 [DAT](INFO): Ping request sent. 2025-01-08T22:51:43.707Z,1736376703.707 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:51:43.720Z,1736376703.720 [DAT](INFO): DAT read: TxSync time:22:51:42.8644 2025-01-08T22:51:43.721Z,1736376703.721 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-01-08T22:51:43.722Z,1736376703.722 [DAT](INFO): direction in FSK: [0.122524,0.815770,0.565250] 2025-01-08T22:51:43.723Z,1736376703.723 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:43.723Z,1736376703.723 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:43.746Z,1736376703.746 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:43.746Z,1736376703.746 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:43.924Z,1736376703.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:43.950Z,1736376703.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:43.982Z,1736376703.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 3.780549 s, deltaX: -0.299999 m, approachRate: -0.079353 m/s, rangeRepo size: 4 2025-01-08T22:51:43.996Z,1736376703.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 113.885643 deg, lat: 36.904911 deg, lon: -122.119084 deg, deltaT: 3.780549 s, deltaX: -0.299999 m, approachRate: -0.079353 m/s, posRepo size: 4 2025-01-08T22:51:43.997Z,1736376703.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T22:51:44.176Z,1736376704.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:44.384Z,1736376704.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:44.393Z,1736376704.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T22:51:44.429Z,1736376704.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:44.680Z,1736376704.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:44.794Z,1736376704.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:44.816Z,1736376704.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T22:51:44.932Z,1736376704.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:45.184Z,1736376705.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:45.276Z,1736376705.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:45.286Z,1736376705.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T22:51:45.438Z,1736376705.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:45.688Z,1736376705.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:45.695Z,1736376705.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:45.726Z,1736376705.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T22:51:45.940Z,1736376705.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:46.143Z,1736376706.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:46.153Z,1736376706.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T22:51:46.192Z,1736376706.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:46.444Z,1736376706.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:46.531Z,1736376706.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:46.541Z,1736376706.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T22:51:46.696Z,1736376706.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:46.696Z,1736376706.696 [DAT](INFO): DAT read: Rx Time:22:51:45.3394 2025-01-08T22:51:46.697Z,1736376706.697 [DAT](INFO): Rx dataTimestamp_ set to:1736376706.696655 2025-01-08T22:51:46.948Z,1736376706.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:46.981Z,1736376706.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:46.996Z,1736376706.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T22:51:47.200Z,1736376707.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:47.206Z,1736376707.206 [DAT](INFO): DAT read: 22:51:45.3394 LVL= 17248, 15169, 16642, 21571, AGC= 53, IDX= 441, 0.04, 2.113, 1.762,-0.176, 1.078, PHS= 1.123, 0.731,-1.257, RAW= 38.8, -5.5, CAL= 40.4, -9.9, ROT= 109.6, 9.9 2025-01-08T22:51:47.208Z,1736376707.208 [DAT](INFO): got valid direction response: 22:51:45.3394 LVL= 17248, 15169, 16642, 21571, AGC= 53, IDX= 441, 0.04, 2.113, 1.762,-0.176, 1.078, PHS= 1.123, 0.731,-1.257, RAW= 38.8, -5.5, CAL= 40.4, -9.9, ROT= 109.6, 9.9 2025-01-08T22:51:47.209Z,1736376707.209 [DAT](INFO): DAT read: Bearing 109.6, 9.9 (Local) 2025-01-08T22:51:47.209Z,1736376707.209 [DAT](INFO): Local bearing/azimuth received: Bearing 109.6, 9.9 (Local) 2025-01-08T22:51:47.212Z,1736376707.212 [DAT](INFO): DAT read: Range 10 to 50 : 52.5 m (Round-trip 70.0 ms) speed 0.0 m/s 2025-01-08T22:51:47.214Z,1736376707.214 [DAT](INFO): DAT read: user:2938> 2025-01-08T22:51:47.214Z,1736376707.214 [DAT](INFO): DAT read: Tx time:22:51:46.4653 2025-01-08T22:51:47.215Z,1736376707.215 [DAT](INFO): Ping request sent. 2025-01-08T22:51:47.215Z,1736376707.215 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:51:47.217Z,1736376707.217 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-01-08T22:51:47.217Z,1736376707.217 [DAT](INFO): direction in FSK: [0.115392,0.810033,0.574918] 2025-01-08T22:51:47.218Z,1736376707.218 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:47.218Z,1736376707.218 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:47.247Z,1736376707.247 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:47.247Z,1736376707.247 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:47.452Z,1736376707.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:47.453Z,1736376707.453 [DAT](INFO): DAT read: TxSync time:22:51:46.4645 2025-01-08T22:51:47.510Z,1736376707.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:47.534Z,1736376707.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.500000 m, deltaT: 3.527580 s, deltaX: -0.299999 m, approachRate: -0.085044 m/s, rangeRepo size: 4 2025-01-08T22:51:47.541Z,1736376707.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.500000 m, bearing: 115.627134 deg, lat: 36.904909 deg, lon: -122.119097 deg, deltaT: 3.527580 s, deltaX: -0.299999 m, approachRate: -0.085044 m/s, posRepo size: 4 2025-01-08T22:51:47.542Z,1736376707.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T22:51:47.704Z,1736376707.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:47.956Z,1736376707.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:47.991Z,1736376707.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:48.001Z,1736376708.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T22:51:48.208Z,1736376708.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:48.399Z,1736376708.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:48.408Z,1736376708.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T22:51:48.460Z,1736376708.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:48.712Z,1736376708.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:48.804Z,1736376708.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:48.817Z,1736376708.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T22:51:48.964Z,1736376708.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:49.216Z,1736376709.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:49.244Z,1736376709.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:49.276Z,1736376709.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T22:51:49.468Z,1736376709.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:49.690Z,1736376709.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:49.701Z,1736376709.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T22:51:49.720Z,1736376709.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:49.972Z,1736376709.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:50.108Z,1736376710.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:50.117Z,1736376710.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T22:51:50.224Z,1736376710.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:50.225Z,1736376710.225 [DAT](INFO): DAT read: Rx Time:22:51:48.9390 2025-01-08T22:51:50.226Z,1736376710.226 [DAT](INFO): Rx dataTimestamp_ set to:1736376710.225740 2025-01-08T22:51:50.473Z,1736376710.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:50.476Z,1736376710.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:50.484Z,1736376710.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T22:51:50.731Z,1736376710.731 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:50.742Z,1736376710.742 [DAT](INFO): DAT read: 22:51:48.9390 LVL= 16992, 15345, 14322, 20979, AGC= 53, IDX= 436, 0.26, 0.072,-0.257,-2.139,-0.952, PHS= 1.112, 0.742,-1.189, RAW= 38.6, -6.3, CAL= 40.5, -11.1, ROT= 109.5, 11.1 2025-01-08T22:51:50.745Z,1736376710.745 [DAT](INFO): got valid direction response: 22:51:48.9390 LVL= 16992, 15345, 14322, 20979, AGC= 53, IDX= 436, 0.26, 0.072,-0.257,-2.139,-0.952, PHS= 1.112, 0.742,-1.189, RAW= 38.6, -6.3, CAL= 40.5, -11.1, ROT= 109.5, 11.1 2025-01-08T22:51:50.746Z,1736376710.746 [DAT](INFO): DAT read: Bearing 109.5, 11.1 (Local) 2025-01-08T22:51:50.747Z,1736376710.747 [DAT](INFO): Local bearing/azimuth received: Bearing 109.5, 11.1 (Local) 2025-01-08T22:51:50.748Z,1736376710.748 [DAT](INFO): DAT read: Range 10 to 50 : 52.2 m (Round-trip 69.6 ms) speed 0.0 m/s 2025-01-08T22:51:50.749Z,1736376710.749 [DAT](INFO): DAT read: user:2939> 2025-01-08T22:51:50.750Z,1736376710.750 [DAT](INFO): DAT read: Tx time:22:51:50.0653 2025-01-08T22:51:50.750Z,1736376710.750 [DAT](INFO): Ping request sent. 2025-01-08T22:51:50.750Z,1736376710.750 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:51:50.750Z,1736376710.750 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-01-08T22:51:50.752Z,1736376710.752 [DAT](INFO): direction in FSK: [0.130815,0.809830,0.571894] 2025-01-08T22:51:50.752Z,1736376710.752 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:50.752Z,1736376710.752 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:50.755Z,1736376710.755 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:50.755Z,1736376710.755 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:50.896Z,1736376710.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:51:50.960Z,1736376710.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:50.984Z,1736376710.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:50.985Z,1736376710.985 [DAT](INFO): DAT read: TxSync time:22:51:50.0645 2025-01-08T22:51:51.002Z,1736376711.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 3.531341 s, deltaX: -0.299999 m, approachRate: -0.084953 m/s, rangeRepo size: 4 2025-01-08T22:51:51.004Z,1736376711.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.200001 m, bearing: 115.324842 deg, lat: 36.904904 deg, lon: -122.119100 deg, deltaT: 3.531341 s, deltaX: -0.299999 m, approachRate: -0.084953 m/s, posRepo size: 4 2025-01-08T22:51:51.005Z,1736376711.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m. 2025-01-08T22:51:51.236Z,1736376711.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:51.405Z,1736376711.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:51.413Z,1736376711.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m. 2025-01-08T22:51:51.488Z,1736376711.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:51.740Z,1736376711.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:51.845Z,1736376711.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:51.869Z,1736376711.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m. 2025-01-08T22:51:51.897Z,1736376711.897 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:51:51.992Z,1736376711.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:52.244Z,1736376712.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:52.329Z,1736376712.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:52.339Z,1736376712.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m. 2025-01-08T22:51:52.496Z,1736376712.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:52.735Z,1736376712.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:52.745Z,1736376712.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m. 2025-01-08T22:51:52.748Z,1736376712.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:52.000Z,1736376713.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:53.159Z,1736376713.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:53.169Z,1736376713.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m. 2025-01-08T22:51:53.252Z,1736376713.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:53.504Z,1736376713.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:53.544Z,1736376713.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:53.569Z,1736376713.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m. 2025-01-08T22:51:53.756Z,1736376713.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:53.757Z,1736376713.757 [DAT](INFO): DAT read: Rx Time:22:51:52.5388 2025-01-08T22:51:53.758Z,1736376713.758 [DAT](INFO): Rx dataTimestamp_ set to:1736376713.757283 2025-01-08T22:51:54.009Z,1736376714.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:54.022Z,1736376714.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:54.039Z,1736376714.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m. 2025-01-08T22:51:54.260Z,1736376714.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:54.269Z,1736376714.269 [DAT](INFO): DAT read: 22:51:52.5388 LVL= 15984, 17233, 20050, 22915, AGC= 59, IDX= 435, 0.12, 0.457,-0.001,-1.886,-0.690, PHS= 1.236, 0.736,-1.199, RAW= 41.2, -7.0, CAL= 44.0, -12.3, ROT= 106.0, 12.3 2025-01-08T22:51:54.270Z,1736376714.270 [DAT](INFO): got valid direction response: 22:51:52.5388 LVL= 15984, 17233, 20050, 22915, AGC= 59, IDX= 435, 0.12, 0.457,-0.001,-1.886,-0.690, PHS= 1.236, 0.736,-1.199, RAW= 41.2, -7.0, CAL= 44.0, -12.3, ROT= 106.0, 12.3 2025-01-08T22:51:54.276Z,1736376714.276 [DAT](INFO): DAT read: Bearing 106.0, 12.3 (Local) 2025-01-08T22:51:54.276Z,1736376714.276 [DAT](INFO): Local bearing/azimuth received: Bearing 106.0, 12.3 (Local) 2025-01-08T22:51:54.278Z,1736376714.278 [DAT](INFO): DAT read: Range 10 to 50 : 52.0 m (Round-trip 69.4 ms) speed 0.0 m/s 2025-01-08T22:51:54.278Z,1736376714.278 [DAT](INFO): DAT read: user:2940> 2025-01-08T22:51:54.279Z,1736376714.279 [DAT](INFO): DAT read: Tx time:22:51:53.6653 2025-01-08T22:51:54.280Z,1736376714.280 [DAT](INFO): Ping request sent. 2025-01-08T22:51:54.280Z,1736376714.280 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:51:54.280Z,1736376714.280 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-01-08T22:51:54.281Z,1736376714.281 [DAT](INFO): direction in FSK: [0.138769,0.783185,0.606107] 2025-01-08T22:51:54.281Z,1736376714.281 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:54.282Z,1736376714.282 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:54.285Z,1736376714.285 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:54.285Z,1736376714.285 [DAT](INFO): publishing direction and range info 2025-01-08T22:51:54.507Z,1736376714.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:54.512Z,1736376714.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:54.512Z,1736376714.512 [DAT](INFO): DAT read: TxSync time:22:51:53.6645 2025-01-08T22:51:54.553Z,1736376714.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.000000 m, deltaT: 3.528910 s, deltaX: -0.200001 m, approachRate: -0.056675 m/s, rangeRepo size: 4 2025-01-08T22:51:54.559Z,1736376714.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.000000 m, bearing: 114.076850 deg, lat: 36.904903 deg, lon: -122.119113 deg, deltaT: 3.528910 s, deltaX: -0.200001 m, approachRate: -0.056675 m/s, posRepo size: 4 2025-01-08T22:51:54.560Z,1736376714.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:54.764Z,1736376714.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:55.012Z,1736376715.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:55.018Z,1736376715.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:55.039Z,1736376715.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:55.268Z,1736376715.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:55.389Z,1736376715.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:55.397Z,1736376715.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:55.520Z,1736376715.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:55.753Z,1736376715.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:55.772Z,1736376715.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:55.789Z,1736376715.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:56.031Z,1736376716.031 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:56.201Z,1736376716.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:56.210Z,1736376716.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:56.280Z,1736376716.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:56.532Z,1736376716.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:56.591Z,1736376716.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:56.617Z,1736376716.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:56.784Z,1736376716.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:57.037Z,1736376717.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:57.054Z,1736376717.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:57.071Z,1736376717.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:57.288Z,1736376717.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:57.289Z,1736376717.289 [DAT](INFO): DAT read: Rx Time:22:51:56.1389 2025-01-08T22:51:57.289Z,1736376717.289 [DAT](INFO): Rx dataTimestamp_ set to:1736376717.288722 2025-01-08T22:51:57.509Z,1736376717.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:57.518Z,1736376717.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:57.540Z,1736376717.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:57.794Z,1736376717.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:57.952Z,1736376717.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:57.984Z,1736376717.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:58.045Z,1736376718.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:58.051Z,1736376718.051 [DAT](INFO): DAT read: Range 10 to 50 : 52.1 m (Round-trip 69.5 ms) speed 0.1 m/s 2025-01-08T22:51:58.054Z,1736376718.054 [DAT](INFO): DAT read: user:2941> 2025-01-08T22:51:58.056Z,1736376718.056 [DAT](INFO): DAT read: Tx time:22:51:57.2153 2025-01-08T22:51:58.058Z,1736376718.058 [DAT](INFO): Ping request sent. 2025-01-08T22:51:58.058Z,1736376718.058 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:51:58.064Z,1736376718.064 [DAT](INFO): DAT read: TxSync time:22:51:57.2145 2025-01-08T22:51:58.066Z,1736376718.066 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-01-08T22:51:58.067Z,1736376718.067 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:58.077Z,1736376718.077 [DAT](INFO): publishing transmit ping time 2025-01-08T22:51:58.296Z,1736376718.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:58.469Z,1736376718.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:58.479Z,1736376718.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.099998 m, deltaT: 3.785655 s, deltaX: 0.099998 m, approachRate: 0.026415 m/s, rangeRepo size: 4 2025-01-08T22:51:58.480Z,1736376718.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:58.548Z,1736376718.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:58.800Z,1736376718.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:58.885Z,1736376718.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:58.893Z,1736376718.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:59.054Z,1736376719.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:59.304Z,1736376719.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:59.306Z,1736376719.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:59.321Z,1736376719.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:59.556Z,1736376719.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:51:59.688Z,1736376719.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:51:59.697Z,1736376719.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:51:59.811Z,1736376719.811 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:00.065Z,1736376720.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:00.167Z,1736376720.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:00.200Z,1736376720.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:52:00.316Z,1736376720.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:00.568Z,1736376720.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:00.572Z,1736376720.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:00.581Z,1736376720.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:52:00.820Z,1736376720.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:00.820Z,1736376720.820 [DAT](INFO): DAT read: Rx Time:22:51:59.6884 2025-01-08T22:52:00.821Z,1736376720.821 [DAT](INFO): Rx dataTimestamp_ set to:1736376720.820677 2025-01-08T22:52:00.997Z,1736376720.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:01.031Z,1736376721.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:52:01.074Z,1736376721.074 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:01.324Z,1736376721.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:01.469Z,1736376721.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:01.497Z,1736376721.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.00 m. 2025-01-08T22:52:01.576Z,1736376721.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:01.584Z,1736376721.584 [DAT](INFO): DAT read: 22:51:59.6884 LVL= 14832, 14545, 14114, 20163, AGC= 52, IDX= 430, 0.20,-2.033,-2.606, 1.909, 3.075, PHS= 1.263, 0.649,-1.169, RAW= 44.0, -6.8, CAL= 47.4, -12.1, ROT= 102.6, 12.1 2025-01-08T22:52:01.585Z,1736376721.585 [DAT](INFO): got valid direction response: 22:51:59.6884 LVL= 14832, 14545, 14114, 20163, AGC= 52, IDX= 430, 0.20,-2.033,-2.606, 1.909, 3.075, PHS= 1.263, 0.649,-1.169, RAW= 44.0, -6.8, CAL= 47.4, -12.1, ROT= 102.6, 12.1 2025-01-08T22:52:01.586Z,1736376721.586 [DAT](INFO): DAT read: Bearing 102.6, 12.1 (Local) 2025-01-08T22:52:01.586Z,1736376721.586 [DAT](INFO): Local bearing/azimuth received: Bearing 102.6, 12.1 (Local) 2025-01-08T22:52:01.588Z,1736376721.588 [DAT](INFO): DAT read: Range 10 to 50 : 51.6 m (Round-trip 68.9 ms) speed 0.0 m/s 2025-01-08T22:52:01.589Z,1736376721.589 [DAT](INFO): DAT read: user:2942> 2025-01-08T22:52:01.590Z,1736376721.590 [DAT](INFO): DAT read: Tx time:22:52:00.8154 2025-01-08T22:52:01.590Z,1736376721.590 [DAT](INFO): Ping request sent. 2025-01-08T22:52:01.590Z,1736376721.590 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:52:01.591Z,1736376721.591 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-01-08T22:52:01.591Z,1736376721.591 [DAT](INFO): direction in FSK: [0.130077,0.755241,0.642410] 2025-01-08T22:52:01.592Z,1736376721.592 [DAT](INFO): publishing transmit ping time 2025-01-08T22:52:01.592Z,1736376721.592 [DAT](INFO): publishing direction and range info 2025-01-08T22:52:01.595Z,1736376721.595 [DAT](INFO): publishing transmit ping time 2025-01-08T22:52:01.597Z,1736376721.597 [DAT](INFO): publishing direction and range info 2025-01-08T22:52:01.828Z,1736376721.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:01.829Z,1736376721.829 [DAT](INFO): DAT read: TxSync time:22:52:00.8146 2025-01-08T22:52:01.893Z,1736376721.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:01.926Z,1736376721.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.599998 m, deltaT: 3.530682 s, deltaX: -0.500000 m, approachRate: -0.141616 m/s, rangeRepo size: 4 2025-01-08T22:52:01.932Z,1736376721.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.599998 m, bearing: 118.341609 deg, lat: 36.904894 deg, lon: -122.119117 deg, deltaT: 7.316337 s, deltaX: -0.400002 m, approachRate: -0.054672 m/s, posRepo size: 4 2025-01-08T22:52:01.933Z,1736376721.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T22:52:02.081Z,1736376722.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:02.333Z,1736376722.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:02.344Z,1736376722.344 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814530740,35.0, +10.9, 0.0,14 2025-01-08T22:52:02.353Z,1736376722.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:52:02.353Z,1736376722.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:02.378Z,1736376722.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T22:52:02.584Z,1736376722.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:02.789Z,1736376722.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:52:02.790Z,1736376722.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:02.799Z,1736376722.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T22:52:02.836Z,1736376722.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:03.089Z,1736376723.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:03.224Z,1736376723.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:03.233Z,1736376723.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T22:52:03.341Z,1736376723.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:03.584Z,1736376723.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:03.592Z,1736376723.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:03.594Z,1736376723.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T22:52:03.844Z,1736376723.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:03.997Z,1736376723.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:04.009Z,1736376724.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T22:52:04.097Z,1736376724.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:04.348Z,1736376724.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:04.464Z,1736376724.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:04.474Z,1736376724.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T22:52:04.600Z,1736376724.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:04.601Z,1736376724.601 [DAT](INFO): DAT read: Rx Time:22:52:03.2880 2025-01-08T22:52:04.601Z,1736376724.601 [DAT](INFO): Rx dataTimestamp_ set to:1736376724.600850 2025-01-08T22:52:04.852Z,1736376724.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:04.869Z,1736376724.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:04.886Z,1736376724.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T22:52:05.105Z,1736376725.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:05.149Z,1736376725.149 [DAT](INFO): DAT read: 22:52:03.2880 LVL= 16624, 20337, 15858, 21971, AGC= 52, IDX= 442, 0.06, 0.693, 0.067,-1.634,-0.500, PHS= 1.280, 0.614,-1.138, RAW= 45.5, -7.0, CAL= 49.2, -12.5, ROT= 100.8, 12.5 2025-01-08T22:52:05.154Z,1736376725.154 [DAT](INFO): got valid direction response: 22:52:03.2880 LVL= 16624, 20337, 15858, 21971, AGC= 52, IDX= 442, 0.06, 0.693, 0.067,-1.634,-0.500, PHS= 1.280, 0.614,-1.138, RAW= 45.5, -7.0, CAL= 49.2, -12.5, ROT= 100.8, 12.5 2025-01-08T22:52:05.158Z,1736376725.158 [DAT](INFO): DAT read: Bearing 100.8, 12.5 (Local) 2025-01-08T22:52:05.160Z,1736376725.160 [DAT](INFO): Local bearing/azimuth received: Bearing 100.8, 12.5 (Local) 2025-01-08T22:52:05.208Z,1736376725.208 [DAT](INFO): DAT read: Range 10 to 50 : 51.3 m (Round-trip 68.5 ms) speed 0.0 m/s 2025-01-08T22:52:05.209Z,1736376725.209 [DAT](INFO): DAT read: user:2943> 2025-01-08T22:52:05.210Z,1736376725.210 [DAT](INFO): DAT read: Tx time:22:52:04.3654 2025-01-08T22:52:05.210Z,1736376725.210 [DAT](INFO): Ping request sent. 2025-01-08T22:52:05.210Z,1736376725.210 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:52:05.211Z,1736376725.211 [DAT](INFO): DAT read: TxSync time:22:52:04.3646 2025-01-08T22:52:05.219Z,1736376725.219 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-01-08T22:52:05.220Z,1736376725.220 [DAT](INFO): direction in FSK: [0.130948,0.739872,0.659880] 2025-01-08T22:52:05.220Z,1736376725.220 [DAT](INFO): publishing transmit ping time 2025-01-08T22:52:05.221Z,1736376725.221 [DAT](INFO): publishing direction and range info 2025-01-08T22:52:05.252Z,1736376725.252 [DAT](INFO): publishing transmit ping time 2025-01-08T22:52:05.252Z,1736376725.252 [DAT](INFO): publishing direction and range info 2025-01-08T22:52:05.326Z,1736376725.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:05.356Z,1736376725.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:05.364Z,1736376725.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 3.528997 s, deltaX: -0.299999 m, approachRate: -0.085010 m/s, rangeRepo size: 4 2025-01-08T22:52:05.372Z,1736376725.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.299999 m, bearing: 119.015454 deg, lat: 36.904892 deg, lon: -122.119135 deg, deltaT: 3.528997 s, deltaX: -0.299999 m, approachRate: -0.085010 m/s, posRepo size: 4 2025-01-08T22:52:05.372Z,1736376725.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:05.608Z,1736376725.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:05.768Z,1736376725.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:05.777Z,1736376725.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:05.860Z,1736376725.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:06.113Z,1736376726.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:06.239Z,1736376726.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:06.250Z,1736376726.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:06.364Z,1736376726.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:06.616Z,1736376726.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:06.643Z,1736376726.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:06.658Z,1736376726.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:06.868Z,1736376726.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:07.076Z,1736376727.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:07.085Z,1736376727.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:07.120Z,1736376727.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:07.372Z,1736376727.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:07.511Z,1736376727.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:07.521Z,1736376727.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:07.625Z,1736376727.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:07.859Z,1736376727.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:07.869Z,1736376727.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:07.876Z,1736376727.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:08.129Z,1736376728.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:08.130Z,1736376728.130 [DAT](INFO): DAT read: Rx Time:22:52:06.8379 2025-01-08T22:52:08.131Z,1736376728.131 [DAT](INFO): Rx dataTimestamp_ set to:1736376728.130320 2025-01-08T22:52:08.282Z,1736376728.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:08.311Z,1736376728.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:08.380Z,1736376728.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:08.632Z,1736376728.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:08.634Z,1736376728.634 [DAT](INFO): DAT read: Range 10 to 50 : 51.3 m (Round-trip 68.4 ms) speed 0.0 m/s 2025-01-08T22:52:08.635Z,1736376728.635 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-01-08T22:52:08.698Z,1736376728.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:08.725Z,1736376728.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 3.527204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T22:52:08.725Z,1736376728.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:08.886Z,1736376728.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:09.116Z,1736376729.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:09.136Z,1736376729.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:09.147Z,1736376729.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:09.388Z,1736376729.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:09.563Z,1736376729.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:09.581Z,1736376729.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:09.640Z,1736376729.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:09.892Z,1736376729.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:09.928Z,1736376729.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:09.940Z,1736376729.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:10.144Z,1736376730.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:10.354Z,1736376730.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:10.368Z,1736376730.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:10.396Z,1736376730.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:10.648Z,1736376730.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:10.769Z,1736376730.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:10.778Z,1736376730.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:10.900Z,1736376730.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:11.155Z,1736376731.155 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:11.167Z,1736376731.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:11.254Z,1736376731.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:11.404Z,1736376731.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:11.656Z,1736376731.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:11.690Z,1736376731.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:11.722Z,1736376731.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:11.910Z,1736376731.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:12.160Z,1736376732.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:12.182Z,1736376732.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:12.268Z,1736376732.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:12.412Z,1736376732.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:12.664Z,1736376732.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:12.725Z,1736376732.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:12.739Z,1736376732.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:12.916Z,1736376732.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:13.139Z,1736376733.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:13.164Z,1736376733.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:13.169Z,1736376733.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:13.420Z,1736376733.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:13.574Z,1736376733.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:13.583Z,1736376733.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:13.672Z,1736376733.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:13.924Z,1736376733.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:13.978Z,1736376733.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:13.988Z,1736376733.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:14.177Z,1736376734.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:14.397Z,1736376734.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:14.406Z,1736376734.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:14.428Z,1736376734.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:14.680Z,1736376734.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:14.780Z,1736376734.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:14.805Z,1736376734.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:14.932Z,1736376734.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:15.185Z,1736376735.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:15.223Z,1736376735.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:15.234Z,1736376735.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:15.436Z,1736376735.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:15.673Z,1736376735.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:15.688Z,1736376735.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:15.704Z,1736376735.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:15.942Z,1736376735.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:16.104Z,1736376736.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:16.112Z,1736376736.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:16.192Z,1736376736.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:16.444Z,1736376736.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:16.536Z,1736376736.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:16.547Z,1736376736.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:16.696Z,1736376736.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:16.948Z,1736376736.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:16.967Z,1736376736.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:16.976Z,1736376736.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:17.200Z,1736376737.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:17.398Z,1736376737.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:17.428Z,1736376737.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:17.452Z,1736376737.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:17.704Z,1736376737.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:17.801Z,1736376737.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:17.810Z,1736376737.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:17.957Z,1736376737.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:18.198Z,1736376738.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:18.206Z,1736376738.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:18.208Z,1736376738.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:18.460Z,1736376738.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:18.623Z,1736376738.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:18.633Z,1736376738.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:18.712Z,1736376738.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:18.965Z,1736376738.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:19.034Z,1736376739.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:19.044Z,1736376739.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:19.216Z,1736376739.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:19.468Z,1736376739.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:19.471Z,1736376739.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:19.478Z,1736376739.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:52:19.481Z,1736376739.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:19.720Z,1736376739.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:19.721Z,1736376739.721 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:52:19.721Z,1736376739.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:52:19.872Z,1736376739.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:19.880Z,1736376739.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:19.972Z,1736376739.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:19.973Z,1736376739.973 [DAT](INFO): DAT read: user:2944> 2025-01-08T22:52:19.973Z,1736376739.973 [DAT](INFO): DAT read: Tx time:22:52:19.1655 2025-01-08T22:52:19.974Z,1736376739.974 [DAT](INFO): Ping request sent. 2025-01-08T22:52:19.974Z,1736376739.974 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:52:19.974Z,1736376739.974 [DAT](INFO): DAT read: TxSync time:22:52:19.1647 2025-01-08T22:52:19.975Z,1736376739.975 [DAT](INFO): publishing transmit ping time 2025-01-08T22:52:19.975Z,1736376739.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001614 2025-01-08T22:52:20.227Z,1736376740.227 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:20.230Z,1736376740.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255306 2025-01-08T22:52:20.304Z,1736376740.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:20.312Z,1736376740.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:20.480Z,1736376740.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:20.481Z,1736376740.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507082 2025-01-08T22:52:20.725Z,1736376740.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:20.733Z,1736376740.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:20.733Z,1736376740.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759505 2025-01-08T22:52:20.737Z,1736376740.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:20.741Z,1736376740.741 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T22:42:20.6Z 2025-01-08T22:52:20.741Z,1736376740.741 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T22:52:20.741Z,1736376740.741 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:52:20.741Z,1736376740.741 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T22:52:20.742Z,1736376740.742 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:52:20.742Z,1736376740.742 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T22:52:20.984Z,1736376740.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:20.985Z,1736376740.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010993 2025-01-08T22:52:21.137Z,1736376741.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:21.145Z,1736376741.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:21.150Z,1736376741.150 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T22:52:21.150Z,1736376741.150 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T22:52:21.150Z,1736376741.150 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T22:52:21.150Z,1736376741.150 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T22:52:21.150Z,1736376741.150 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T22:52:21.236Z,1736376741.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:21.238Z,1736376741.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263683 2025-01-08T22:52:21.488Z,1736376741.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:21.489Z,1736376741.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514841 2025-01-08T22:52:21.714Z,1736376741.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:21.724Z,1736376741.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:21.741Z,1736376741.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:21.742Z,1736376741.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767814 2025-01-08T22:52:21.992Z,1736376741.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:21.992Z,1736376741.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018578 2025-01-08T22:52:22.016Z,1736376742.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:52:22.101Z,1736376742.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:22.110Z,1736376742.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:22.244Z,1736376742.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:22.244Z,1736376742.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270679 2025-01-08T22:52:22.501Z,1736376742.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:22.501Z,1736376742.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527580 2025-01-08T22:52:22.569Z,1736376742.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:52:22.569Z,1736376742.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:22.578Z,1736376742.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:22.748Z,1736376742.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:22.749Z,1736376742.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775121 2025-01-08T22:52:22.966Z,1736376742.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:52:22.966Z,1736376742.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:22.975Z,1736376742.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:22.000Z,1736376743.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:23.001Z,1736376743.001 [DAT](INFO): DAT read: Rx Time:22:52:21.6368 2025-01-08T22:52:23.002Z,1736376743.002 [DAT](INFO): Rx dataTimestamp_ set to:1736376743.001355 2025-01-08T22:52:23.003Z,1736376743.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028749 2025-01-08T22:52:23.020Z,1736376743.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:52:23.252Z,1736376743.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:23.252Z,1736376743.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278623 2025-01-08T22:52:23.446Z,1736376743.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:52:23.446Z,1736376743.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:23.456Z,1736376743.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T22:52:23.505Z,1736376743.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:23.514Z,1736376743.514 [DAT](INFO): DAT read: 22:52:21.6368 LVL= 12832, 21681, 18914, 24915, AGC= 58, IDX= 428, 0.33,-1.873,-2.859, 1.974, 3.099, PHS= 1.399, 0.372,-1.128, RAW= 53.8, -5.9, CAL= 58.9, -11.3, ROT= 91.1, 11.3 2025-01-08T22:52:23.516Z,1736376743.516 [DAT](INFO): got valid direction response: 22:52:21.6368 LVL= 12832, 21681, 18914, 24915, AGC= 58, IDX= 428, 0.33,-1.873,-2.859, 1.974, 3.099, PHS= 1.399, 0.372,-1.128, RAW= 53.8, -5.9, CAL= 58.9, -11.3, ROT= 91.1, 11.3 2025-01-08T22:52:23.517Z,1736376743.517 [DAT](INFO): DAT read: Bearing 91.1, 11.3 (Local) 2025-01-08T22:52:23.518Z,1736376743.518 [DAT](INFO): Local bearing/azimuth received: Bearing 91.1, 11.3 (Local) 2025-01-08T22:52:23.519Z,1736376743.519 [DAT](INFO): DAT read: Range 10 to 50 : 50.3 m (Round-trip 67.1 ms) speed 0.0 m/s 2025-01-08T22:52:23.520Z,1736376743.520 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:52:23.521Z,1736376743.521 [DAT](INFO): direction in FSK: [0.092849,0.647031,0.756789] 2025-01-08T22:52:23.521Z,1736376743.521 [DAT](INFO): publishing direction and range info 2025-01-08T22:52:23.756Z,1736376743.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:23.873Z,1736376743.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:23.888Z,1736376743.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.299999 m, deltaT: 14.872469 s, deltaX: -1.000000 m, approachRate: -0.067238 m/s, rangeRepo size: 4 2025-01-08T22:52:23.890Z,1736376743.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.299999 m, bearing: 130.725764 deg, lat: 36.904885 deg, lon: -122.119168 deg, deltaT: 18.399673 s, deltaX: -1.000000 m, approachRate: -0.054349 m/s, posRepo size: 4 2025-01-08T22:52:23.891Z,1736376743.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:24.008Z,1736376744.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:24.260Z,1736376744.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:24.309Z,1736376744.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:24.317Z,1736376744.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:24.512Z,1736376744.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:24.727Z,1736376744.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:24.736Z,1736376744.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:24.764Z,1736376744.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:25.016Z,1736376745.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:25.104Z,1736376745.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:25.121Z,1736376745.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:25.268Z,1736376745.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:25.520Z,1736376745.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:25.553Z,1736376745.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:25.562Z,1736376745.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:25.773Z,1736376745.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:25.930Z,1736376745.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:25.940Z,1736376745.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:26.024Z,1736376746.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:26.278Z,1736376746.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:26.347Z,1736376746.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:26.356Z,1736376746.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:26.528Z,1736376746.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:26.762Z,1736376746.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:26.774Z,1736376746.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:26.780Z,1736376746.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:27.032Z,1736376747.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:27.140Z,1736376747.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:27.150Z,1736376747.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:27.285Z,1736376747.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:27.536Z,1736376747.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:27.553Z,1736376747.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:27.561Z,1736376747.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:27.788Z,1736376747.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:27.976Z,1736376747.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:28.015Z,1736376748.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:28.040Z,1736376748.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:28.292Z,1736376748.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:28.425Z,1736376748.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:28.434Z,1736376748.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:28.545Z,1736376748.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:28.796Z,1736376748.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:28.858Z,1736376748.858 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, +128 +18,A 2025-01-08T22:52:28.867Z,1736376748.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:52:28.867Z,1736376748.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:28.876Z,1736376748.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:29.048Z,1736376749.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:29.266Z,1736376749.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:52:29.266Z,1736376749.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:29.276Z,1736376749.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:29.300Z,1736376749.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:29.552Z,1736376749.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:29.727Z,1736376749.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:29.744Z,1736376749.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:29.804Z,1736376749.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:30.056Z,1736376750.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:30.131Z,1736376750.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:30.153Z,1736376750.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:30.308Z,1736376750.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:30.560Z,1736376750.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:30.633Z,1736376750.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:30.642Z,1736376750.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:30.812Z,1736376750.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:31.036Z,1736376751.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:31.045Z,1736376751.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:31.064Z,1736376751.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:31.316Z,1736376751.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:31.434Z,1736376751.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:31.480Z,1736376751.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:31.568Z,1736376751.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:31.820Z,1736376751.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:31.938Z,1736376751.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:31.947Z,1736376751.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:32.074Z,1736376752.074 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:32.326Z,1736376752.326 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:32.345Z,1736376752.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:32.354Z,1736376752.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:32.582Z,1736376752.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:32.779Z,1736376752.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:32.789Z,1736376752.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:32.828Z,1736376752.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:33.080Z,1736376753.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:33.189Z,1736376753.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:33.197Z,1736376753.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:33.334Z,1736376753.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:33.590Z,1736376753.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:33.675Z,1736376753.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:33.700Z,1736376753.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:33.836Z,1736376753.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:34.083Z,1736376754.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:34.088Z,1736376754.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:34.093Z,1736376754.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:34.340Z,1736376754.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:34.489Z,1736376754.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:34.497Z,1736376754.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:34.594Z,1736376754.594 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:34.844Z,1736376754.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:34.916Z,1736376754.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:34.925Z,1736376754.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:35.096Z,1736376755.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:35.325Z,1736376755.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:35.335Z,1736376755.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:35.348Z,1736376755.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:35.602Z,1736376755.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:35.730Z,1736376755.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:35.763Z,1736376755.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:35.852Z,1736376755.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:36.107Z,1736376756.107 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:36.184Z,1736376756.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:36.193Z,1736376756.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:36.356Z,1736376756.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:36.571Z,1736376756.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:36.610Z,1736376756.610 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:36.656Z,1736376756.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:36.860Z,1736376756.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:37.083Z,1736376757.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:37.092Z,1736376757.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:37.129Z,1736376757.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:37.380Z,1736376757.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:37.470Z,1736376757.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:37.518Z,1736376757.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:37.634Z,1736376757.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:37.884Z,1736376757.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:37.931Z,1736376757.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:37.956Z,1736376757.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:38.138Z,1736376758.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:38.345Z,1736376758.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:38.355Z,1736376758.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:38.390Z,1736376758.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:38.642Z,1736376758.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:38.800Z,1736376758.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:38.809Z,1736376758.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:38.892Z,1736376758.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:39.144Z,1736376759.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:39.212Z,1736376759.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:39.221Z,1736376759.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:39.396Z,1736376759.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:39.650Z,1736376759.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:39.750Z,1736376759.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:39.759Z,1736376759.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:39.900Z,1736376759.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:40.146Z,1736376760.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:40.152Z,1736376760.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:40.158Z,1736376760.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:40.404Z,1736376760.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:40.547Z,1736376760.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:40.571Z,1736376760.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:40.658Z,1736376760.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:40.908Z,1736376760.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:40.976Z,1736376760.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:40.985Z,1736376760.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:41.160Z,1736376761.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:41.412Z,1736376761.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:41.419Z,1736376761.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:41.428Z,1736376761.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:41.666Z,1736376761.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:41.822Z,1736376761.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:41.833Z,1736376761.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:41.916Z,1736376761.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:42.168Z,1736376762.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:42.220Z,1736376762.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:42.228Z,1736376762.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:42.420Z,1736376762.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:42.615Z,1736376762.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:42.663Z,1736376762.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:42.674Z,1736376762.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:42.924Z,1736376762.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:43.145Z,1736376763.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:43.154Z,1736376763.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:43.176Z,1736376763.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:43.428Z,1736376763.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:43.560Z,1736376763.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:43.569Z,1736376763.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:43.682Z,1736376763.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:43.932Z,1736376763.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:43.988Z,1736376763.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:44.013Z,1736376764.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:44.184Z,1736376764.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:44.431Z,1736376764.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:44.436Z,1736376764.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:44.441Z,1736376764.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:44.688Z,1736376764.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:44.850Z,1736376764.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:44.859Z,1736376764.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:44.940Z,1736376764.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:45.192Z,1736376765.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:45.230Z,1736376765.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:45.242Z,1736376765.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:45.444Z,1736376765.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:45.658Z,1736376765.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:45.696Z,1736376765.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:45.719Z,1736376765.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:45.948Z,1736376765.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:46.175Z,1736376766.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:46.185Z,1736376766.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:46.200Z,1736376766.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:46.452Z,1736376766.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:46.562Z,1736376766.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:46.572Z,1736376766.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:46.705Z,1736376766.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:46.956Z,1736376766.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:46.991Z,1736376766.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:47.000Z,1736376767.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:47.208Z,1736376767.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:47.374Z,1736376767.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:47.405Z,1736376767.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:47.460Z,1736376767.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:47.713Z,1736376767.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:47.873Z,1736376767.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:47.896Z,1736376767.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:47.964Z,1736376767.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:48.216Z,1736376768.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:48.302Z,1736376768.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:48.320Z,1736376768.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:48.468Z,1736376768.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:48.713Z,1736376768.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:48.720Z,1736376768.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:48.723Z,1736376768.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:48.972Z,1736376768.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:49.134Z,1736376769.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:52:49.135Z,1736376769.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:49.144Z,1736376769.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:49.224Z,1736376769.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:49.478Z,1736376769.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:49.530Z,1736376769.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:52:49.530Z,1736376769.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:49.556Z,1736376769.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:49.688Z,1736376769.688 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:52:49.728Z,1736376769.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:49.980Z,1736376769.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:49.998Z,1736376769.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:50.023Z,1736376770.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:50.233Z,1736376770.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:50.375Z,1736376770.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:50.400Z,1736376770.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:50.484Z,1736376770.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:50.736Z,1736376770.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:50.856Z,1736376770.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:50.874Z,1736376770.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:50.988Z,1736376770.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:51.205Z,1736376771.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:51.229Z,1736376771.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:51.240Z,1736376771.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:51.492Z,1736376771.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:51.589Z,1736376771.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:51.598Z,1736376771.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:51.744Z,1736376771.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:51.996Z,1736376771.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:52.026Z,1736376772.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:52.035Z,1736376772.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:52.248Z,1736376772.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:52.424Z,1736376772.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:52.433Z,1736376772.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:52.500Z,1736376772.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:52.752Z,1736376772.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:52.935Z,1736376772.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:52.944Z,1736376772.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:53.004Z,1736376773.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:53.145Z,1736376773.145 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:52:53.256Z,1736376773.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:53.348Z,1736376773.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:53.357Z,1736376773.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:53.508Z,1736376773.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:53.751Z,1736376773.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:53.760Z,1736376773.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:53.764Z,1736376773.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:54.012Z,1736376774.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:54.148Z,1736376774.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:52:54.181Z,1736376774.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:54.191Z,1736376774.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:54.264Z,1736376774.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:54.516Z,1736376774.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:54.608Z,1736376774.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:54.617Z,1736376774.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:54.768Z,1736376774.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:55.020Z,1736376775.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:55.082Z,1736376775.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:55.110Z,1736376775.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:55.272Z,1736376775.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:55.443Z,1736376775.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:55.452Z,1736376775.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:55.524Z,1736376775.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:55.776Z,1736376775.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:55.914Z,1736376775.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:55.937Z,1736376775.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:56.028Z,1736376776.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:56.280Z,1736376776.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:56.371Z,1736376776.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:56.380Z,1736376776.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:56.533Z,1736376776.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:56.766Z,1736376776.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:56.784Z,1736376776.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:56.796Z,1736376776.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:57.036Z,1736376777.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:57.202Z,1736376777.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:57.210Z,1736376777.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:57.289Z,1736376777.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:57.540Z,1736376777.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:57.582Z,1736376777.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:57.591Z,1736376777.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:57.792Z,1736376777.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:58.012Z,1736376778.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:58.044Z,1736376778.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:58.047Z,1736376778.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:58.296Z,1736376778.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:58.428Z,1736376778.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:58.437Z,1736376778.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:58.548Z,1736376778.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:58.800Z,1736376778.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:58.867Z,1736376778.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:58.878Z,1736376778.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:59.052Z,1736376779.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:59.306Z,1736376779.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:59.312Z,1736376779.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:59.323Z,1736376779.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:59.557Z,1736376779.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:52:59.760Z,1736376779.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:52:59.770Z,1736376779.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:52:59.808Z,1736376779.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:00.060Z,1736376780.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:00.162Z,1736376780.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:00.173Z,1736376780.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:00.312Z,1736376780.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:00.552Z,1736376780.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:00.561Z,1736376780.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:00.564Z,1736376780.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:00.818Z,1736376780.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:01.018Z,1736376781.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:01.041Z,1736376781.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:01.072Z,1736376781.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:01.324Z,1736376781.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:01.452Z,1736376781.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:01.468Z,1736376781.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:01.576Z,1736376781.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:01.829Z,1736376781.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:01.900Z,1736376781.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:01.928Z,1736376781.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:02.080Z,1736376782.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:02.332Z,1736376782.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:02.370Z,1736376782.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:02.395Z,1736376782.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:02.584Z,1736376782.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:02.802Z,1736376782.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:02.811Z,1736376782.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:02.836Z,1736376782.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:03.088Z,1736376783.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:03.221Z,1736376783.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:03.229Z,1736376783.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:03.340Z,1736376783.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:03.592Z,1736376783.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:03.619Z,1736376783.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:03.644Z,1736376783.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:03.846Z,1736376783.846 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:04.097Z,1736376784.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:04.138Z,1736376784.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:04.164Z,1736376784.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:04.348Z,1736376784.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:04.554Z,1736376784.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:04.562Z,1736376784.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:04.601Z,1736376784.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:04.852Z,1736376784.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:04.956Z,1736376784.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:04.965Z,1736376784.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:05.105Z,1736376785.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:05.356Z,1736376785.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:05.386Z,1736376785.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:05.395Z,1736376785.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:05.608Z,1736376785.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:05.797Z,1736376785.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:05.806Z,1736376785.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:05.860Z,1736376785.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:06.112Z,1736376786.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:06.258Z,1736376786.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:06.267Z,1736376786.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:06.364Z,1736376786.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:06.616Z,1736376786.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:06.675Z,1736376786.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:06.686Z,1736376786.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:06.868Z,1736376786.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:07.124Z,1736376787.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:07.149Z,1736376787.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:07.157Z,1736376787.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:07.376Z,1736376787.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:07.517Z,1736376787.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:07.567Z,1736376787.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:07.628Z,1736376787.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:07.880Z,1736376787.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:07.925Z,1736376787.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:07.935Z,1736376787.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:08.132Z,1736376788.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:08.312Z,1736376788.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:08.342Z,1736376788.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:08.386Z,1736376788.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:08.636Z,1736376788.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:08.725Z,1736376788.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:08.746Z,1736376788.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:08.888Z,1736376788.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:09.140Z,1736376789.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:09.198Z,1736376789.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:09.240Z,1736376789.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:09.392Z,1736376789.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:09.633Z,1736376789.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:09.642Z,1736376789.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:09.644Z,1736376789.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:09.896Z,1736376789.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:10.050Z,1736376790.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:10.061Z,1736376790.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:10.149Z,1736376790.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:10.400Z,1736376790.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:10.472Z,1736376790.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:10.484Z,1736376790.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:10.652Z,1736376790.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:10.844Z,1736376790.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:10.870Z,1736376790.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:10.904Z,1736376790.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:11.158Z,1736376791.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:11.284Z,1736376791.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:11.293Z,1736376791.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:11.408Z,1736376791.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:11.661Z,1736376791.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:11.705Z,1736376791.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:11.714Z,1736376791.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:11.912Z,1736376791.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:12.164Z,1736376792.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:12.225Z,1736376792.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:12.234Z,1736376792.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:12.417Z,1736376792.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:12.630Z,1736376792.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:12.640Z,1736376792.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:12.668Z,1736376792.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:12.920Z,1736376792.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:13.047Z,1736376793.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:13.057Z,1736376793.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:13.174Z,1736376793.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:13.424Z,1736376793.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:13.489Z,1736376793.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:13.498Z,1736376793.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:13.676Z,1736376793.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:13.849Z,1736376793.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:13.858Z,1736376793.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:13.928Z,1736376793.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:14.181Z,1736376794.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:14.356Z,1736376794.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:14.385Z,1736376794.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:14.432Z,1736376794.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:14.670Z,1736376794.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:14.684Z,1736376794.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:14.709Z,1736376794.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:14.937Z,1736376794.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:15.057Z,1736376795.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:15.066Z,1736376795.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:15.190Z,1736376795.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:15.440Z,1736376795.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:15.501Z,1736376795.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:15.509Z,1736376795.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:15.692Z,1736376795.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:15.865Z,1736376795.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:15.878Z,1736376795.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:15.944Z,1736376795.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:16.197Z,1736376796.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:16.305Z,1736376796.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:16.340Z,1736376796.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:16.448Z,1736376796.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:16.691Z,1736376796.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:16.700Z,1736376796.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:16.702Z,1736376796.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:16.952Z,1736376796.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:17.091Z,1736376797.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:17.107Z,1736376797.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:17.206Z,1736376797.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:17.456Z,1736376797.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:17.512Z,1736376797.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:17.557Z,1736376797.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:17.708Z,1736376797.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:17.900Z,1736376797.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:17.908Z,1736376797.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:17.960Z,1736376797.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:18.213Z,1736376798.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:18.332Z,1736376798.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:18.340Z,1736376798.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:18.464Z,1736376798.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:18.694Z,1736376798.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:18.703Z,1736376798.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:18.725Z,1736376798.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:18.976Z,1736376798.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:19.111Z,1736376799.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:19.120Z,1736376799.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:19.229Z,1736376799.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:19.480Z,1736376799.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:19.529Z,1736376799.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:19.537Z,1736376799.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:53:19.539Z,1736376799.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:19.732Z,1736376799.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:19.733Z,1736376799.733 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:53:19.733Z,1736376799.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:53:19.926Z,1736376799.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:19.936Z,1736376799.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:19.984Z,1736376799.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:19.985Z,1736376799.985 [DAT](INFO): DAT read: user:2945> 2025-01-08T22:53:19.985Z,1736376799.985 [DAT](INFO): DAT read: Tx time:22:53:19.2160 2025-01-08T22:53:19.986Z,1736376799.986 [DAT](INFO): Ping request sent. 2025-01-08T22:53:19.986Z,1736376799.986 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:53:19.986Z,1736376799.986 [DAT](INFO): publishing transmit ping time 2025-01-08T22:53:19.986Z,1736376799.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-01-08T22:53:20.237Z,1736376800.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:20.240Z,1736376800.240 [DAT](INFO): DAT read: TxSync time:22:53:19.2152 2025-01-08T22:53:20.243Z,1736376800.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256702 2025-01-08T22:53:20.369Z,1736376800.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:20.396Z,1736376800.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:20.488Z,1736376800.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:20.488Z,1736376800.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502562 2025-01-08T22:53:20.711Z,1736376800.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:20.720Z,1736376800.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:20.740Z,1736376800.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:20.741Z,1736376800.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755099 2025-01-08T22:53:20.992Z,1736376800.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:20.992Z,1736376800.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006600 2025-01-08T22:53:21.123Z,1736376801.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:21.131Z,1736376801.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:21.245Z,1736376801.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:21.248Z,1736376801.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262125 2025-01-08T22:53:21.496Z,1736376801.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:21.496Z,1736376801.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510730 2025-01-08T22:53:21.556Z,1736376801.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:21.564Z,1736376801.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:21.748Z,1736376801.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:21.749Z,1736376801.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763028 2025-01-08T22:53:21.925Z,1736376801.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:21.934Z,1736376801.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:22.001Z,1736376802.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:22.002Z,1736376802.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015756 2025-01-08T22:53:22.253Z,1736376802.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:22.256Z,1736376802.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269324 2025-01-08T22:53:22.367Z,1736376802.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:22.403Z,1736376802.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:22.504Z,1736376802.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:22.505Z,1736376802.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519357 2025-01-08T22:53:22.728Z,1736376802.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:22.753Z,1736376802.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:22.756Z,1736376802.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:22.757Z,1736376802.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770985 2025-01-08T22:53:23.008Z,1736376803.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:23.008Z,1736376803.008 [DAT](INFO): DAT read: Rx Time:22:53:21.6817 2025-01-08T22:53:23.009Z,1736376803.009 [DAT](INFO): Rx dataTimestamp_ set to:1736376803.008615 2025-01-08T22:53:23.009Z,1736376803.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023676 2025-01-08T22:53:23.155Z,1736376803.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:23.164Z,1736376803.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T22:53:23.267Z,1736376803.267 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:23.269Z,1736376803.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282903 2025-01-08T22:53:23.520Z,1736376803.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:23.529Z,1736376803.529 [DAT](INFO): DAT read: 22:53:21.6818 LVL= 11152, 19553, 18114, 27475, AGC= 56, IDX= 387, 0.04, 1.256, 0.503,-0.812, 0.263, PHS= 1.082, 0.287,-1.078, RAW= 51.3, -3.1, CAL= 54.0, -7.0, ROT= 96.0, 7.0 2025-01-08T22:53:23.530Z,1736376803.530 [DAT](INFO): got valid direction response: 22:53:21.6818 LVL= 11152, 19553, 18114, 27475, AGC= 56, IDX= 387, 0.04, 1.256, 0.503,-0.812, 0.263, PHS= 1.082, 0.287,-1.078, RAW= 51.3, -3.1, CAL= 54.0, -7.0, ROT= 96.0, 7.0 2025-01-08T22:53:23.531Z,1736376803.531 [DAT](INFO): DAT read: Bearing 96.0, 7.0 (Local) 2025-01-08T22:53:23.532Z,1736376803.532 [DAT](INFO): Local bearing/azimuth received: Bearing 96.0, 7.0 (Local) 2025-01-08T22:53:23.534Z,1736376803.534 [DAT](INFO): DAT read: Range 10 to 50 : 46.2 m (Round-trip 61.6 ms) speed 0.0 m/s 2025-01-08T22:53:23.534Z,1736376803.534 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:53:23.540Z,1736376803.540 [DAT](INFO): direction in FSK: [0.046352,0.682843,0.729093] 2025-01-08T22:53:23.540Z,1736376803.540 [DAT](INFO): publishing direction and range info 2025-01-08T22:53:23.646Z,1736376803.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:23.693Z,1736376803.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 60.014794 s, deltaX: -4.099998 m, approachRate: -0.068316 m/s, rangeRepo size: 4 2025-01-08T22:53:23.695Z,1736376803.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.200001 m, bearing: 149.181166 deg, lat: 36.904883 deg, lon: -122.119186 deg, deltaT: 60.014794 s, deltaX: -4.099998 m, approachRate: -0.068316 m/s, posRepo size: 4 2025-01-08T22:53:23.703Z,1736376803.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:23.773Z,1736376803.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:23.963Z,1736376803.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:23.972Z,1736376803.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:24.024Z,1736376804.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:24.268Z,1736376804.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:53:24.278Z,1736376804.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:24.425Z,1736376804.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:24.448Z,1736376804.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:24.529Z,1736376804.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:24.763Z,1736376804.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:24.780Z,1736376804.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:24.792Z,1736376804.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:25.033Z,1736376805.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:25.169Z,1736376805.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:25.178Z,1736376805.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:25.273Z,1736376805.273 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:53:25.287Z,1736376805.287 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:25.536Z,1736376805.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:25.619Z,1736376805.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:25.628Z,1736376805.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:25.788Z,1736376805.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:26.013Z,1736376806.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:26.022Z,1736376806.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:26.040Z,1736376806.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:26.292Z,1736376806.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:26.443Z,1736376806.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:26.484Z,1736376806.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:26.545Z,1736376806.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:26.800Z,1736376806.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:26.845Z,1736376806.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:26.855Z,1736376806.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:27.052Z,1736376807.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:27.250Z,1736376807.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:27.260Z,1736376807.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:27.304Z,1736376807.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:27.556Z,1736376807.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:27.696Z,1736376807.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:27.705Z,1736376807.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:27.809Z,1736376807.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:28.063Z,1736376808.063 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:28.065Z,1736376808.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:28.074Z,1736376808.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:28.317Z,1736376808.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:28.504Z,1736376808.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:28.537Z,1736376808.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:28.568Z,1736376808.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:28.820Z,1736376808.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:28.963Z,1736376808.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:28.972Z,1736376808.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:29.072Z,1736376809.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:29.324Z,1736376809.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:29.476Z,1736376809.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:29.485Z,1736376809.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:29.576Z,1736376809.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:29.828Z,1736376809.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:29.887Z,1736376809.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:29.901Z,1736376809.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:30.080Z,1736376810.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:30.308Z,1736376810.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:30.317Z,1736376810.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:30.334Z,1736376810.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:30.584Z,1736376810.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:30.718Z,1736376810.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:30.747Z,1736376810.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:30.836Z,1736376810.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:31.088Z,1736376811.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:31.100Z,1736376811.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:31.108Z,1736376811.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:31.340Z,1736376811.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:31.532Z,1736376811.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:31.545Z,1736376811.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:31.593Z,1736376811.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:31.844Z,1736376811.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:31.952Z,1736376811.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:31.961Z,1736376811.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:32.096Z,1736376812.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:32.350Z,1736376812.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:32.356Z,1736376812.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:32.364Z,1736376812.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:32.604Z,1736376812.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:32.784Z,1736376812.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:32.792Z,1736376812.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:32.858Z,1736376812.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:33.108Z,1736376813.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:33.169Z,1736376813.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:33.196Z,1736376813.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:33.360Z,1736376813.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:33.612Z,1736376813.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:33.630Z,1736376813.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:33.662Z,1736376813.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:33.864Z,1736376813.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:34.070Z,1736376814.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:34.079Z,1736376814.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:34.116Z,1736376814.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:34.368Z,1736376814.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:34.520Z,1736376814.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:34.563Z,1736376814.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:34.622Z,1736376814.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:34.872Z,1736376814.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:34.976Z,1736376814.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:34.986Z,1736376814.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:35.124Z,1736376815.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:35.376Z,1736376815.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:35.383Z,1736376815.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:35.392Z,1736376815.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:35.628Z,1736376815.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:35.805Z,1736376815.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:35.814Z,1736376815.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:35.880Z,1736376815.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:36.132Z,1736376816.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:36.188Z,1736376816.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:36.196Z,1736376816.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:36.384Z,1736376816.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:36.609Z,1736376816.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:36.637Z,1736376816.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:36.642Z,1736376816.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:36.888Z,1736376816.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:36.999Z,1736376816.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:37.009Z,1736376817.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:37.140Z,1736376817.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:37.392Z,1736376817.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:37.397Z,1736376817.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:37.422Z,1736376817.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:37.646Z,1736376817.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:37.818Z,1736376817.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:37.856Z,1736376817.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:37.896Z,1736376817.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:38.148Z,1736376818.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:38.214Z,1736376818.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:38.223Z,1736376818.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:38.400Z,1736376818.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:38.636Z,1736376818.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:38.646Z,1736376818.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:38.653Z,1736376818.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:38.904Z,1736376818.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:39.068Z,1736376819.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:39.098Z,1736376819.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:39.157Z,1736376819.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:39.408Z,1736376819.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:39.464Z,1736376819.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:39.473Z,1736376819.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:39.660Z,1736376819.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:39.899Z,1736376819.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:39.908Z,1736376819.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:39.912Z,1736376819.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:40.164Z,1736376820.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:40.306Z,1736376820.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:40.315Z,1736376820.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:40.416Z,1736376820.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:40.668Z,1736376820.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:40.770Z,1736376820.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:40.779Z,1736376820.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:40.920Z,1736376820.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:41.124Z,1736376821.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:41.133Z,1736376821.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:41.172Z,1736376821.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:41.424Z,1736376821.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:41.520Z,1736376821.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:41.594Z,1736376821.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:41.676Z,1736376821.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:41.928Z,1736376821.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:41.968Z,1736376821.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:41.977Z,1736376821.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:42.180Z,1736376822.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:42.325Z,1736376822.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:42.339Z,1736376822.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:42.433Z,1736376822.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:42.684Z,1736376822.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:42.756Z,1736376822.756 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 88.35, 78.84, :WI,-32768,-32768,-32768,-3276S,-32768,-32768,-32768,V 2025-01-08T22:53:42.764Z,1736376822.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:53:42.764Z,1736376822.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:42.776Z,1736376822.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:42.936Z,1736376822.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:43.138Z,1736376823.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:53:43.138Z,1736376823.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:43.147Z,1736376823.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:43.188Z,1736376823.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:43.440Z,1736376823.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:43.561Z,1736376823.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:53:43.562Z,1736376823.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:43.641Z,1736376823.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:43.692Z,1736376823.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:43.944Z,1736376823.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:43.978Z,1736376823.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:43.993Z,1736376823.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:44.196Z,1736376824.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:44.381Z,1736376824.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:44.398Z,1736376824.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:44.448Z,1736376824.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:44.701Z,1736376824.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:44.809Z,1736376824.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:44.818Z,1736376824.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:44.952Z,1736376824.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:45.177Z,1736376825.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:45.186Z,1736376825.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:45.206Z,1736376825.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:45.456Z,1736376825.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:45.595Z,1736376825.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:45.626Z,1736376825.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:45.708Z,1736376825.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:45.960Z,1736376825.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:46.022Z,1736376826.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:46.031Z,1736376826.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:46.212Z,1736376826.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:46.391Z,1736376826.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:46.401Z,1736376826.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:46.464Z,1736376826.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:46.717Z,1736376826.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:46.827Z,1736376826.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:46.852Z,1736376826.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:46.969Z,1736376826.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:47.200Z,1736376827.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:47.220Z,1736376827.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:47.237Z,1736376827.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:47.472Z,1736376827.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:47.605Z,1736376827.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:47.618Z,1736376827.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:47.724Z,1736376827.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:47.976Z,1736376827.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:48.033Z,1736376828.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:48.058Z,1736376828.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:48.228Z,1736376828.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:48.416Z,1736376828.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:48.425Z,1736376828.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:48.480Z,1736376828.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:48.733Z,1736376828.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:48.856Z,1736376828.856 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD +0.00, +0.00, +0.00, 20.00,298.41 2025-01-08T22:53:48.863Z,1736376828.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:53:48.863Z,1736376828.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:48.902Z,1736376828.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:48.984Z,1736376828.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:49.236Z,1736376829.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:49.301Z,1736376829.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:53:49.302Z,1736376829.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:49.310Z,1736376829.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:49.488Z,1736376829.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:49.642Z,1736376829.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:53:49.643Z,1736376829.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:49.710Z,1736376829.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:49.740Z,1736376829.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:49.992Z,1736376829.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:50.071Z,1736376830.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:50.104Z,1736376830.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:50.244Z,1736376830.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:50.453Z,1736376830.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:50.461Z,1736376830.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:50.496Z,1736376830.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:50.748Z,1736376830.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:50.909Z,1736376830.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:50.938Z,1736376830.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:51.001Z,1736376831.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:51.252Z,1736376831.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:51.326Z,1736376831.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:51.336Z,1736376831.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:51.504Z,1736376831.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:51.761Z,1736376831.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:51.806Z,1736376831.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:51.833Z,1736376831.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:52.012Z,1736376832.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:52.139Z,1736376832.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:52.148Z,1736376832.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:52.264Z,1736376832.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:52.518Z,1736376832.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:52.628Z,1736376832.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:52.646Z,1736376832.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:52.772Z,1736376832.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:52.972Z,1736376832.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:52.980Z,1736376832.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:53.024Z,1736376833.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:53.276Z,1736376833.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:53.354Z,1736376833.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:53.363Z,1736376833.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:53.528Z,1736376833.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:53.781Z,1736376833.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:53.859Z,1736376833.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:53.867Z,1736376833.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:54.032Z,1736376834.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:54.177Z,1736376834.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:54.186Z,1736376834.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:54.285Z,1736376834.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:54.536Z,1736376834.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:54.561Z,1736376834.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:54.594Z,1736376834.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:54.790Z,1736376834.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:55.004Z,1736376835.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:55.012Z,1736376835.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:55.040Z,1736376835.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:55.292Z,1736376835.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:55.380Z,1736376835.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:55.390Z,1736376835.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:55.392Z,1736376835.392 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:53:55.544Z,1736376835.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:55.798Z,1736376835.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:55.858Z,1736376835.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:55.868Z,1736376835.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:56.048Z,1736376836.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:56.179Z,1736376836.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:56.206Z,1736376836.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:56.300Z,1736376836.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:56.396Z,1736376836.396 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:53:56.552Z,1736376836.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:56.584Z,1736376836.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:56.593Z,1736376836.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:56.805Z,1736376836.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:57.012Z,1736376837.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:57.037Z,1736376837.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:57.056Z,1736376837.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:57.308Z,1736376837.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:57.401Z,1736376837.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:57.409Z,1736376837.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:57.560Z,1736376837.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:57.813Z,1736376837.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:57.851Z,1736376837.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:57.879Z,1736376837.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:58.064Z,1736376838.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:58.214Z,1736376838.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:58.253Z,1736376838.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:58.317Z,1736376838.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:58.568Z,1736376838.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:58.611Z,1736376838.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:58.621Z,1736376838.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:58.821Z,1736376838.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:59.055Z,1736376839.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:59.072Z,1736376839.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:59.082Z,1736376839.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:59.324Z,1736376839.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:59.409Z,1736376839.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:59.418Z,1736376839.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:53:59.576Z,1736376839.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:59.830Z,1736376839.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:53:59.879Z,1736376839.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:53:59.904Z,1736376839.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:00.081Z,1736376840.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:00.236Z,1736376840.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:00.245Z,1736376840.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:00.333Z,1736376840.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:00.584Z,1736376840.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:00.621Z,1736376840.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:00.630Z,1736376840.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:00.837Z,1736376840.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:01.050Z,1736376841.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:01.083Z,1736376841.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:01.088Z,1736376841.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:01.340Z,1736376841.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:01.478Z,1736376841.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:01.489Z,1736376841.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:01.592Z,1736376841.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:01.846Z,1736376841.846 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:01.865Z,1736376841.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:01.920Z,1736376841.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:02.096Z,1736376842.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:02.268Z,1736376842.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:02.277Z,1736376842.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:02.349Z,1736376842.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:02.600Z,1736376842.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:02.654Z,1736376842.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:02.668Z,1736376842.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:02.856Z,1736376842.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:03.104Z,1736376843.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:03.112Z,1736376843.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:03.136Z,1736376843.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:03.356Z,1736376843.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:03.445Z,1736376843.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:03.476Z,1736376843.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:03.608Z,1736376843.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:03.858Z,1736376843.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:03.860Z,1736376843.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:03.940Z,1736376843.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:04.112Z,1736376844.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:04.274Z,1736376844.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:04.284Z,1736376844.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:04.364Z,1736376844.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:04.616Z,1736376844.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:04.682Z,1736376844.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:04.692Z,1736376844.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:04.868Z,1736376844.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:05.104Z,1736376845.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:05.113Z,1736376845.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:05.120Z,1736376845.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:05.372Z,1736376845.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:05.463Z,1736376845.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:05.473Z,1736376845.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:05.624Z,1736376845.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:05.873Z,1736376845.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:05.876Z,1736376845.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:05.889Z,1736376845.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:06.129Z,1736376846.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:06.297Z,1736376846.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:06.308Z,1736376846.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:06.383Z,1736376846.383 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:06.636Z,1736376846.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:06.698Z,1736376846.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:06.715Z,1736376846.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:06.888Z,1736376846.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:07.131Z,1736376847.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:07.140Z,1736376847.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:07.144Z,1736376847.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:07.392Z,1736376847.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:07.508Z,1736376847.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:07.517Z,1736376847.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:07.644Z,1736376847.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:07.896Z,1736376847.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:07.904Z,1736376847.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:07.915Z,1736376847.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:08.148Z,1736376848.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:08.330Z,1736376848.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:08.339Z,1736376848.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:08.401Z,1736376848.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:08.652Z,1736376848.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:08.705Z,1736376848.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:08.713Z,1736376848.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:08.904Z,1736376848.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:09.157Z,1736376849.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:09.186Z,1736376849.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:09.211Z,1736376849.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:09.408Z,1736376849.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:09.536Z,1736376849.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:09.545Z,1736376849.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:09.661Z,1736376849.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:09.912Z,1736376849.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:09.916Z,1736376849.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:09.925Z,1736376849.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:10.164Z,1736376850.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:10.338Z,1736376850.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:10.346Z,1736376850.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:10.418Z,1736376850.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:10.668Z,1736376850.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:10.721Z,1736376850.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:10.754Z,1736376850.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:10.920Z,1736376850.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:11.166Z,1736376851.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:11.172Z,1736376851.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:11.190Z,1736376851.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:11.424Z,1736376851.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:11.528Z,1736376851.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:11.545Z,1736376851.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:11.676Z,1736376851.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:11.928Z,1736376851.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:11.956Z,1736376851.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:11.965Z,1736376851.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:12.180Z,1736376852.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:12.369Z,1736376852.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:12.397Z,1736376852.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:12.433Z,1736376852.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:12.684Z,1736376852.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:12.747Z,1736376852.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:12.757Z,1736376852.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:12.936Z,1736376852.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:13.188Z,1736376853.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:13.235Z,1736376853.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:13.245Z,1736376853.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:13.440Z,1736376853.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:13.588Z,1736376853.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:13.597Z,1736376853.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:13.693Z,1736376853.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:13.944Z,1736376853.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:14.001Z,1736376854.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:14.020Z,1736376854.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:14.196Z,1736376854.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:14.448Z,1736376854.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:14.501Z,1736376854.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:14.525Z,1736376854.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:14.700Z,1736376854.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:14.937Z,1736376854.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:14.952Z,1736376854.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:14.967Z,1736376854.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:15.206Z,1736376855.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:15.385Z,1736376855.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:15.410Z,1736376855.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:15.456Z,1736376855.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:15.708Z,1736376855.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:15.802Z,1736376855.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:15.810Z,1736376855.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:15.960Z,1736376855.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:16.212Z,1736376856.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:16.256Z,1736376856.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:16.265Z,1736376856.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:16.464Z,1736376856.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:16.627Z,1736376856.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:16.636Z,1736376856.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:16.716Z,1736376856.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:16.968Z,1736376856.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:17.044Z,1736376857.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:17.085Z,1736376857.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:17.220Z,1736376857.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:17.472Z,1736376857.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:17.547Z,1736376857.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:17.557Z,1736376857.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:17.725Z,1736376857.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:17.943Z,1736376857.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:17.969Z,1736376857.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:17.976Z,1736376857.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:18.228Z,1736376858.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:18.393Z,1736376858.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:18.401Z,1736376858.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:18.480Z,1736376858.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:18.732Z,1736376858.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:18.758Z,1736376858.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:18.768Z,1736376858.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:18.984Z,1736376858.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:19.203Z,1736376859.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:19.228Z,1736376859.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:19.236Z,1736376859.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:19.488Z,1736376859.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:19.629Z,1736376859.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:19.665Z,1736376859.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:54:19.674Z,1736376859.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:19.740Z,1736376859.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:19.741Z,1736376859.741 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:54:19.741Z,1736376859.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:54:19.992Z,1736376859.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:19.992Z,1736376859.992 [DAT](INFO): DAT read: user:2946> 2025-01-08T22:54:19.993Z,1736376859.993 [DAT](INFO): DAT read: Tx time:22:54:19.2166 2025-01-08T22:54:19.993Z,1736376859.993 [DAT](INFO): Ping request sent. 2025-01-08T22:54:19.994Z,1736376859.994 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:54:19.994Z,1736376859.994 [DAT](INFO): publishing transmit ping time 2025-01-08T22:54:19.994Z,1736376859.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-01-08T22:54:20.081Z,1736376860.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:20.090Z,1736376860.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:20.244Z,1736376860.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:20.245Z,1736376860.245 [DAT](INFO): DAT read: TxSync time:22:54:19.2158 2025-01-08T22:54:20.246Z,1736376860.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252570 2025-01-08T22:54:20.496Z,1736376860.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:20.497Z,1736376860.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502889 2025-01-08T22:54:20.509Z,1736376860.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:20.518Z,1736376860.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:20.748Z,1736376860.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:20.748Z,1736376860.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754795 2025-01-08T22:54:20.907Z,1736376860.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:20.916Z,1736376860.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:20.000Z,1736376861.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:21.000Z,1736376861.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006821 2025-01-08T22:54:21.252Z,1736376861.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:21.252Z,1736376861.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258815 2025-01-08T22:54:21.342Z,1736376861.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:21.353Z,1736376861.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:21.504Z,1736376861.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:21.504Z,1736376861.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510683 2025-01-08T22:54:21.749Z,1736376861.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:21.756Z,1736376861.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:21.756Z,1736376861.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762842 2025-01-08T22:54:21.761Z,1736376861.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:22.008Z,1736376862.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:22.009Z,1736376862.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015404 2025-01-08T22:54:22.221Z,1736376862.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:22.229Z,1736376862.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:22.261Z,1736376862.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:22.262Z,1736376862.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267556 2025-01-08T22:54:22.512Z,1736376862.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:22.512Z,1736376862.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518741 2025-01-08T22:54:22.638Z,1736376862.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:22.650Z,1736376862.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:22.764Z,1736376862.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:22.765Z,1736376862.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771182 2025-01-08T22:54:22.975Z,1736376862.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:22.989Z,1736376862.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:23.017Z,1736376863.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:23.018Z,1736376863.018 [DAT](INFO): DAT read: Rx Time:22:54:21.6785 2025-01-08T22:54:23.018Z,1736376863.018 [DAT](INFO): Rx dataTimestamp_ set to:1736376863.017724 2025-01-08T22:54:23.019Z,1736376863.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024924 2025-01-08T22:54:23.270Z,1736376863.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:23.272Z,1736376863.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278146 2025-01-08T22:54:23.433Z,1736376863.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:23.471Z,1736376863.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m. 2025-01-08T22:54:23.520Z,1736376863.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:23.527Z,1736376863.527 [DAT](INFO): DAT read: 22:54:21.6785 LVL= 9920, 15857, 15762, 22387, AGC= 52, IDX= 396,-0.14, 0.313,-0.679,-1.956,-0.823, PHS= 1.224, 0.191,-1.136, RAW= 55.9, -2.8, CAL= 59.4, -6.8, ROT= 90.6, 6.8 2025-01-08T22:54:23.528Z,1736376863.528 [DAT](INFO): got valid direction response: 22:54:21.6785 LVL= 9920, 15857, 15762, 22387, AGC= 52, IDX= 396,-0.14, 0.313,-0.679,-1.956,-0.823, PHS= 1.224, 0.191,-1.136, RAW= 55.9, -2.8, CAL= 59.4, -6.8, ROT= 90.6, 6.8 2025-01-08T22:54:23.529Z,1736376863.529 [DAT](INFO): DAT read: Bearing 90.6, 6.8 (Local) 2025-01-08T22:54:23.530Z,1736376863.530 [DAT](INFO): Local bearing/azimuth received: Bearing 90.6, 6.8 (Local) 2025-01-08T22:54:23.531Z,1736376863.531 [DAT](INFO): DAT read: Range 10 to 50 : 43.3 m (Round-trip 57.8 ms) speed 0.0 m/s 2025-01-08T22:54:23.532Z,1736376863.532 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:54:23.534Z,1736376863.534 [DAT](INFO): direction in FSK: [0.030448,0.627431,0.778077] 2025-01-08T22:54:23.534Z,1736376863.534 [DAT](INFO): publishing direction and range info 2025-01-08T22:54:23.774Z,1736376863.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:23.847Z,1736376863.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:23.882Z,1736376863.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.299999 m, deltaT: 60.000419 s, deltaX: -2.900002 m, approachRate: -0.048333 m/s, rangeRepo size: 4 2025-01-08T22:54:23.891Z,1736376863.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.299999 m, bearing: 125.417653 deg, lat: 36.904857 deg, lon: -122.119296 deg, deltaT: 60.000419 s, deltaX: -2.900002 m, approachRate: -0.048333 m/s, posRepo size: 4 2025-01-08T22:54:23.896Z,1736376863.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:24.024Z,1736376864.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:24.276Z,1736376864.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:24.326Z,1736376864.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:24.338Z,1736376864.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:24.530Z,1736376864.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:24.738Z,1736376864.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:24.750Z,1736376864.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:24.780Z,1736376864.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:25.032Z,1736376865.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:25.158Z,1736376865.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:25.198Z,1736376865.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:25.284Z,1736376865.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:25.537Z,1736376865.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:25.634Z,1736376865.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:25.644Z,1736376865.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:25.788Z,1736376865.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:26.040Z,1736376866.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:26.045Z,1736376866.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:26.054Z,1736376866.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:26.292Z,1736376866.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:26.501Z,1736376866.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:26.520Z,1736376866.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:26.524Z,1736376866.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:54:26.545Z,1736376866.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:26.796Z,1736376866.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:26.859Z,1736376866.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:26.870Z,1736376866.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:27.048Z,1736376867.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:27.300Z,1736376867.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:27.307Z,1736376867.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:27.333Z,1736376867.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:27.529Z,1736376867.529 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:54:27.556Z,1736376867.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:27.718Z,1736376867.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:27.747Z,1736376867.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:27.804Z,1736376867.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:28.056Z,1736376868.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:28.161Z,1736376868.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:28.171Z,1736376868.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:28.308Z,1736376868.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:28.560Z,1736376868.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:28.595Z,1736376868.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:28.604Z,1736376868.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:28.812Z,1736376868.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:28.996Z,1736376868.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:29.005Z,1736376869.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:29.064Z,1736376869.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:29.316Z,1736376869.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:29.430Z,1736376869.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:29.464Z,1736376869.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:29.568Z,1736376869.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:29.820Z,1736376869.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:29.867Z,1736376869.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:29.876Z,1736376869.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:30.072Z,1736376870.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:30.325Z,1736376870.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:30.334Z,1736376870.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:30.354Z,1736376870.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:30.577Z,1736376870.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:30.788Z,1736376870.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:30.796Z,1736376870.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:30.828Z,1736376870.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:31.080Z,1736376871.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:31.185Z,1736376871.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:31.197Z,1736376871.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:31.332Z,1736376871.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:31.584Z,1736376871.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:31.618Z,1736376871.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:31.651Z,1736376871.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:31.836Z,1736376871.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:32.070Z,1736376872.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:32.089Z,1736376872.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:32.093Z,1736376872.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:32.341Z,1736376872.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:32.494Z,1736376872.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:32.503Z,1736376872.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:32.593Z,1736376872.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:32.844Z,1736376872.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:32.866Z,1736376872.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:32.902Z,1736376872.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:33.096Z,1736376873.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:33.280Z,1736376873.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:33.294Z,1736376873.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:33.350Z,1736376873.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:33.600Z,1736376873.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:33.710Z,1736376873.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:33.720Z,1736376873.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:33.852Z,1736376873.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:34.104Z,1736376874.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:34.136Z,1736376874.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:34.154Z,1736376874.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:34.357Z,1736376874.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:34.557Z,1736376874.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:34.596Z,1736376874.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:34.608Z,1736376874.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:34.860Z,1736376874.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:34.966Z,1736376874.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:34.975Z,1736376874.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:35.112Z,1736376875.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:35.366Z,1736376875.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:35.440Z,1736376875.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:35.476Z,1736376875.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:35.617Z,1736376875.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:35.836Z,1736376875.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:35.845Z,1736376875.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:35.868Z,1736376875.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:36.120Z,1736376876.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:36.252Z,1736376876.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:36.260Z,1736376876.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:36.372Z,1736376876.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:36.624Z,1736376876.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:36.694Z,1736376876.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:54:36.694Z,1736376876.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:36.702Z,1736376876.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:36.877Z,1736376876.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:37.085Z,1736376877.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:54:37.086Z,1736376877.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:37.095Z,1736376877.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:37.128Z,1736376877.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:37.381Z,1736376877.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:37.514Z,1736376877.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:37.523Z,1736376877.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:37.632Z,1736376877.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:37.884Z,1736376877.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:37.906Z,1736376877.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:37.938Z,1736376877.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:38.136Z,1736376878.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:38.353Z,1736376878.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:38.365Z,1736376878.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:38.390Z,1736376878.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:38.571Z,1736376878.571 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:54:38.641Z,1736376878.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:38.874Z,1736376878.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:38.884Z,1736376878.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:38.892Z,1736376878.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:39.144Z,1736376879.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:39.297Z,1736376879.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:39.314Z,1736376879.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:39.398Z,1736376879.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:39.648Z,1736376879.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:39.725Z,1736376879.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:39.738Z,1736376879.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:39.901Z,1736376879.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:40.132Z,1736376880.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:40.145Z,1736376880.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:40.152Z,1736376880.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:40.404Z,1736376880.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:40.558Z,1736376880.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:40.568Z,1736376880.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:40.656Z,1736376880.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:40.908Z,1736376880.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:40.938Z,1736376880.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:40.947Z,1736376880.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:41.160Z,1736376881.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:41.354Z,1736376881.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:41.363Z,1736376881.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:41.413Z,1736376881.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:41.664Z,1736376881.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:41.800Z,1736376881.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:41.809Z,1736376881.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:41.916Z,1736376881.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:42.168Z,1736376882.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:42.174Z,1736376882.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:42.184Z,1736376882.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:42.420Z,1736376882.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:42.638Z,1736376882.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:42.650Z,1736376882.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:42.672Z,1736376882.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:42.924Z,1736376882.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:43.059Z,1736376883.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:43.068Z,1736376883.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:43.176Z,1736376883.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:43.430Z,1736376883.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:43.578Z,1736376883.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:43.588Z,1736376883.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:43.680Z,1736376883.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:43.893Z,1736376883.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:43.908Z,1736376883.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:43.932Z,1736376883.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:44.184Z,1736376884.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:44.281Z,1736376884.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:44.290Z,1736376884.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:44.436Z,1736376884.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:44.688Z,1736376884.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:44.749Z,1736376884.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:44.765Z,1736376884.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:44.940Z,1736376884.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:45.157Z,1736376885.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:45.165Z,1736376885.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:45.192Z,1736376885.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:45.444Z,1736376885.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:45.609Z,1736376885.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:45.646Z,1736376885.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:45.696Z,1736376885.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:45.948Z,1736376885.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:46.071Z,1736376886.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:46.079Z,1736376886.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:46.200Z,1736376886.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:46.452Z,1736376886.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:46.496Z,1736376886.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:46.557Z,1736376886.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:46.704Z,1736376886.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:46.956Z,1736376886.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:46.987Z,1736376886.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:47.017Z,1736376887.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:47.208Z,1736376887.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:47.426Z,1736376887.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:47.438Z,1736376887.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:47.460Z,1736376887.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:47.712Z,1736376887.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:47.862Z,1736376887.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:47.881Z,1736376887.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:47.964Z,1736376887.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:48.216Z,1736376888.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:48.323Z,1736376888.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:48.332Z,1736376888.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:48.468Z,1736376888.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:48.720Z,1736376888.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:48.762Z,1736376888.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:48.772Z,1736376888.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:48.972Z,1736376888.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:49.159Z,1736376889.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:49.172Z,1736376889.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:49.224Z,1736376889.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:49.476Z,1736376889.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:49.635Z,1736376889.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:49.645Z,1736376889.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:49.728Z,1736376889.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:49.983Z,1736376889.983 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:50.037Z,1736376890.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:50.050Z,1736376890.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:50.241Z,1736376890.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:50.434Z,1736376890.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:50.442Z,1736376890.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:50.488Z,1736376890.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:50.740Z,1736376890.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:50.882Z,1736376890.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:50.891Z,1736376890.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:50.992Z,1736376890.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:51.244Z,1736376891.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:51.279Z,1736376891.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:51.296Z,1736376891.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:51.496Z,1736376891.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:51.690Z,1736376891.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:51.700Z,1736376891.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:51.748Z,1736376891.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:52.000Z,1736376892.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:52.095Z,1736376892.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:52.104Z,1736376892.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:52.254Z,1736376892.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:52.504Z,1736376892.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:52.508Z,1736376892.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:52.518Z,1736376892.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:52.756Z,1736376892.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:52.927Z,1736376892.927 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, , 20.00,362.37 2025-01-08T22:54:52.954Z,1736376892.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:54:52.955Z,1736376892.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:52.978Z,1736376892.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:53.009Z,1736376893.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:53.260Z,1736376893.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:53.397Z,1736376893.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:54:53.397Z,1736376893.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:53.426Z,1736376893.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:53.516Z,1736376893.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:53.764Z,1736376893.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:53.836Z,1736376893.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:53.848Z,1736376893.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:54.017Z,1736376894.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:54.268Z,1736376894.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:54.274Z,1736376894.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:54.357Z,1736376894.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:54.520Z,1736376894.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:54.616Z,1736376894.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:54.690Z,1736376894.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:54.772Z,1736376894.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:55.024Z,1736376895.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:55.045Z,1736376895.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:55.062Z,1736376895.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:55.276Z,1736376895.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:55.408Z,1736376895.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:55.417Z,1736376895.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:55.528Z,1736376895.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:55.780Z,1736376895.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:55.847Z,1736376895.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:55.875Z,1736376895.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:56.032Z,1736376896.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:56.215Z,1736376896.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:56.241Z,1736376896.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:56.284Z,1736376896.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:56.537Z,1736376896.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:56.620Z,1736376896.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:56.629Z,1736376896.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:56.789Z,1736376896.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:57.040Z,1736376897.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:57.051Z,1736376897.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:57.080Z,1736376897.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:57.292Z,1736376897.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:57.500Z,1736376897.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:57.508Z,1736376897.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:57.544Z,1736376897.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:57.669Z,1736376897.669 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:54:57.796Z,1736376897.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:57.929Z,1736376897.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:57.937Z,1736376897.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:58.048Z,1736376898.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:58.300Z,1736376898.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:58.370Z,1736376898.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:58.378Z,1736376898.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:58.552Z,1736376898.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:58.673Z,1736376898.673 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:54:58.804Z,1736376898.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:58.805Z,1736376898.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:58.814Z,1736376898.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:59.057Z,1736376899.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:59.224Z,1736376899.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:59.233Z,1736376899.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:59.308Z,1736376899.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:59.560Z,1736376899.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:54:59.636Z,1736376899.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:54:59.646Z,1736376899.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:54:59.812Z,1736376899.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:00.064Z,1736376900.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:00.129Z,1736376900.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:00.138Z,1736376900.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:00.316Z,1736376900.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:00.529Z,1736376900.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:00.539Z,1736376900.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:00.568Z,1736376900.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:00.820Z,1736376900.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:00.961Z,1736376900.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:00.970Z,1736376900.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:01.073Z,1736376901.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:01.324Z,1736376901.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:01.373Z,1736376901.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:01.382Z,1736376901.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:01.576Z,1736376901.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:01.828Z,1736376901.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:01.857Z,1736376901.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:01.866Z,1736376901.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:02.083Z,1736376902.083 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:02.256Z,1736376902.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:02.264Z,1736376902.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:02.336Z,1736376902.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:02.588Z,1736376902.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:02.697Z,1736376902.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:02.720Z,1736376902.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:02.840Z,1736376902.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:03.092Z,1736376903.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:03.169Z,1736376903.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:03.201Z,1736376903.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:03.344Z,1736376903.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:03.586Z,1736376903.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:03.596Z,1736376903.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:03.616Z,1736376903.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:03.850Z,1736376903.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:04.044Z,1736376904.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:04.053Z,1736376904.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:04.100Z,1736376904.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:04.352Z,1736376904.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:04.409Z,1736376904.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:04.432Z,1736376904.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:04.604Z,1736376904.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:04.856Z,1736376904.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:04.898Z,1736376904.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:04.908Z,1736376904.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:05.108Z,1736376905.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:05.217Z,1736376905.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:05.244Z,1736376905.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:05.360Z,1736376905.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:05.605Z,1736376905.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:05.614Z,1736376905.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:05.621Z,1736376905.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:05.864Z,1736376905.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:06.045Z,1736376906.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:06.053Z,1736376906.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:06.116Z,1736376906.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:06.368Z,1736376906.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:06.417Z,1736376906.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:06.448Z,1736376906.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:06.620Z,1736376906.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:06.872Z,1736376906.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:06.906Z,1736376906.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:06.914Z,1736376906.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:07.125Z,1736376907.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:07.223Z,1736376907.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:07.240Z,1736376907.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:07.376Z,1736376907.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:07.628Z,1736376907.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:07.660Z,1736376907.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:07.698Z,1736376907.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:07.880Z,1736376907.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:08.053Z,1736376908.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:08.061Z,1736376908.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:08.133Z,1736376908.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:08.384Z,1736376908.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:08.446Z,1736376908.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:08.463Z,1736376908.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:08.636Z,1736376908.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:08.890Z,1736376908.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:08.946Z,1736376908.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:08.956Z,1736376908.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:08.957Z,1736376908.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 43.30 m and bearing: 85.338950 deg. Not drifting fast enough. 2025-01-08T22:55:09.140Z,1736376909.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:09.316Z,1736376909.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:09.324Z,1736376909.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:09.326Z,1736376909.326 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-01-08T22:55:09.326Z,1736376909.326 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T22:55:09.326Z,1736376909.326 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-01-08T22:55:09.326Z,1736376909.326 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-01-08T22:55:09.392Z,1736376909.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:09.644Z,1736376909.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:09.702Z,1736376909.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:09.726Z,1736376909.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:09.898Z,1736376909.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:10.148Z,1736376910.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:10.208Z,1736376910.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:10.216Z,1736376910.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:10.405Z,1736376910.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:10.607Z,1736376910.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:10.630Z,1736376910.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:10.652Z,1736376910.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:10.905Z,1736376910.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:11.039Z,1736376911.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:11.047Z,1736376911.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:11.156Z,1736376911.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:11.408Z,1736376911.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:11.417Z,1736376911.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:11.426Z,1736376911.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:11.661Z,1736376911.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:11.851Z,1736376911.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:11.914Z,1736376911.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:11.936Z,1736376911.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:12.164Z,1736376912.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:12.362Z,1736376912.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:12.376Z,1736376912.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:12.416Z,1736376912.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:12.669Z,1736376912.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:12.739Z,1736376912.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:12.747Z,1736376912.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:12.932Z,1736376912.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:13.161Z,1736376913.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:13.169Z,1736376913.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:13.184Z,1736376913.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:13.436Z,1736376913.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:13.551Z,1736376913.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:13.559Z,1736376913.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:13.688Z,1736376913.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:13.943Z,1736376913.943 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:14.031Z,1736376914.031 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-01-08T22:55:14.031Z,1736376914.031 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-01-08T22:55:14.031Z,1736376914.031 [RDI_Pathfinder](ERROR): Communications Fault 2025-01-08T22:55:14.045Z,1736376914.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:55:14.045Z,1736376914.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:14.056Z,1736376914.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:14.175Z,1736376914.175 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:55:14.193Z,1736376914.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:14.385Z,1736376914.385 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-01-08T22:55:14.404Z,1736376914.404 [RDI_Pathfinder](INFO): Powering down 2025-01-08T22:55:14.428Z,1736376914.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:55:14.428Z,1736376914.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:14.445Z,1736376914.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:14.448Z,1736376914.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:14.696Z,1736376914.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:14.816Z,1736376914.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T22:55:14.817Z,1736376914.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:14.845Z,1736376914.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:14.949Z,1736376914.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:15.200Z,1736376915.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:15.218Z,1736376915.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T22:55:15.218Z,1736376915.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:15.227Z,1736376915.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:15.453Z,1736376915.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:15.484Z,1736376915.484 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-01-08T22:55:15.484Z,1736376915.484 [RDI_Pathfinder] No Fault, FailCount= 1 2025-01-08T22:55:15.618Z,1736376915.618 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-08T22:55:15.626Z,1736376915.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T22:55:15.626Z,1736376915.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:15.635Z,1736376915.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:15.704Z,1736376915.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:15.956Z,1736376915.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:16.066Z,1736376916.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T22:55:16.066Z,1736376916.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:16.097Z,1736376916.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:16.209Z,1736376916.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:16.459Z,1736376916.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T22:55:16.459Z,1736376916.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:16.460Z,1736376916.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:16.470Z,1736376916.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:16.712Z,1736376916.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:16.964Z,1736376916.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:17.026Z,1736376917.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.5 s old, using for 20.0 s. 2025-01-08T22:55:17.026Z,1736376917.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:17.036Z,1736376917.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:17.216Z,1736376917.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:17.438Z,1736376917.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.9 s old, using for 20.0 s. 2025-01-08T22:55:17.438Z,1736376917.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:17.449Z,1736376917.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:17.468Z,1736376917.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:17.720Z,1736376917.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:17.877Z,1736376917.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.3 s old, using for 20.0 s. 2025-01-08T22:55:17.877Z,1736376917.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:17.887Z,1736376917.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:17.973Z,1736376917.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:18.224Z,1736376918.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:18.283Z,1736376918.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.7 s old, using for 20.0 s. 2025-01-08T22:55:18.283Z,1736376918.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:18.291Z,1736376918.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:18.476Z,1736376918.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:18.694Z,1736376918.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.1 s old, using for 20.0 s. 2025-01-08T22:55:18.694Z,1736376918.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:18.703Z,1736376918.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:18.728Z,1736376918.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:18.980Z,1736376918.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:19.084Z,1736376919.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.5 s old, using for 20.0 s. 2025-01-08T22:55:19.084Z,1736376919.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:19.093Z,1736376919.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:19.232Z,1736376919.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:19.276Z,1736376919.276 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:55:19.486Z,1736376919.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:19.497Z,1736376919.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.9 s old, using for 20.0 s. 2025-01-08T22:55:19.497Z,1736376919.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:19.506Z,1736376919.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:19.740Z,1736376919.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:19.922Z,1736376919.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.4 s old, using for 20.0 s. 2025-01-08T22:55:19.922Z,1736376919.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:19.929Z,1736376919.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:55:19.931Z,1736376919.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:19.992Z,1736376919.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:19.992Z,1736376919.992 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:55:19.993Z,1736376919.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:55:20.244Z,1736376920.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:20.244Z,1736376920.244 [DAT](INFO): DAT read: user:2947> 2025-01-08T22:55:20.245Z,1736376920.245 [DAT](INFO): DAT read: Tx time:22:55:19.4671 2025-01-08T22:55:20.245Z,1736376920.245 [DAT](INFO): Ping request sent. 2025-01-08T22:55:20.246Z,1736376920.246 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:55:20.246Z,1736376920.246 [DAT](INFO): publishing transmit ping time 2025-01-08T22:55:20.246Z,1736376920.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729 2025-01-08T22:55:20.366Z,1736376920.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s. 2025-01-08T22:55:20.366Z,1736376920.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:20.388Z,1736376920.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:20.496Z,1736376920.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:20.497Z,1736376920.497 [DAT](INFO): DAT read: TxSync time:22:55:19.4664 2025-01-08T22:55:20.497Z,1736376920.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251637 2025-01-08T22:55:20.749Z,1736376920.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:20.750Z,1736376920.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504273 2025-01-08T22:55:20.828Z,1736376920.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s. 2025-01-08T22:55:20.828Z,1736376920.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:20.846Z,1736376920.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:21.000Z,1736376921.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:21.001Z,1736376921.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755175 2025-01-08T22:55:21.252Z,1736376921.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:21.253Z,1736376921.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006883 2025-01-08T22:55:21.285Z,1736376921.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s. 2025-01-08T22:55:21.285Z,1736376921.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:21.294Z,1736376921.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:21.504Z,1736376921.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:21.504Z,1736376921.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258819 2025-01-08T22:55:21.686Z,1736376921.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s. 2025-01-08T22:55:21.686Z,1736376921.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:21.705Z,1736376921.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:21.756Z,1736376921.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:21.757Z,1736376921.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511207 2025-01-08T22:55:22.008Z,1736376922.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:22.008Z,1736376922.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762685 2025-01-08T22:55:22.076Z,1736376922.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s. 2025-01-08T22:55:22.076Z,1736376922.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:22.103Z,1736376922.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:22.261Z,1736376922.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:22.262Z,1736376922.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016518 2025-01-08T22:55:22.483Z,1736376922.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s. 2025-01-08T22:55:22.483Z,1736376922.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:22.492Z,1736376922.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:22.512Z,1736376922.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:22.513Z,1736376922.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266901 2025-01-08T22:55:22.764Z,1736376922.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:22.764Z,1736376922.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518745 2025-01-08T22:55:22.953Z,1736376922.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.4 s old, using for 20.0 s. 2025-01-08T22:55:22.953Z,1736376922.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:22.986Z,1736376922.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:23.017Z,1736376923.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:23.018Z,1736376923.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772081 2025-01-08T22:55:23.268Z,1736376923.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:23.269Z,1736376923.269 [DAT](INFO): DAT read: Rx Time:22:55:21.9251 2025-01-08T22:55:23.269Z,1736376923.269 [DAT](INFO): Rx dataTimestamp_ set to:1736376923.269049 2025-01-08T22:55:23.270Z,1736376923.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024239 2025-01-08T22:55:23.350Z,1736376923.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s. 2025-01-08T22:55:23.350Z,1736376923.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:23.367Z,1736376923.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:23.521Z,1736376923.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:23.522Z,1736376923.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276383 2025-01-08T22:55:23.741Z,1736376923.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.2 s old, using for 20.0 s. 2025-01-08T22:55:23.741Z,1736376923.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:23.754Z,1736376923.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.30 m. 2025-01-08T22:55:23.773Z,1736376923.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:23.789Z,1736376923.789 [DAT](INFO): DAT read: 22:55:21.9251 LVL= 15680, 25969, 15490, 22739, AGC= 49, IDX= 404,-0.36, 2.204, 0.652, 0.269, 0.971, PHS= 1.321,-0.272,-0.705, RAW= 78.3, -3.8, CAL= 86.3, -9.9, ROT= 63.7, 9.9 2025-01-08T22:55:23.790Z,1736376923.790 [DAT](INFO): got valid direction response: 22:55:21.9251 LVL= 15680, 25969, 15490, 22739, AGC= 49, IDX= 404,-0.36, 2.204, 0.652, 0.269, 0.971, PHS= 1.321,-0.272,-0.705, RAW= 78.3, -3.8, CAL= 86.3, -9.9, ROT= 63.7, 9.9 2025-01-08T22:55:23.791Z,1736376923.791 [DAT](INFO): DAT read: Bearing 63.7, 9.9 (Local) 2025-01-08T22:55:23.795Z,1736376923.795 [DAT](INFO): Local bearing/azimuth received: Bearing 63.7, 9.9 (Local) 2025-01-08T22:55:23.797Z,1736376923.797 [DAT](INFO): DAT read: Range 10 to 50 : 40.4 m (Round-trip 53.9 ms) speed 0.2 m/s 2025-01-08T22:55:23.797Z,1736376923.797 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:55:23.798Z,1736376923.798 [DAT](INFO): direction in FSK: [0.006293,0.299711,0.954009] 2025-01-08T22:55:23.798Z,1736376923.798 [DAT](INFO): publishing direction and range info 2025-01-08T22:55:24.024Z,1736376924.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:24.153Z,1736376924.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.6 s old, using for 20.0 s. 2025-01-08T22:55:24.153Z,1736376924.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:24.173Z,1736376924.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.400002 m, deltaT: 60.253668 s, deltaX: -2.899998 m, approachRate: -0.048130 m/s, rangeRepo size: 4 2025-01-08T22:55:24.175Z,1736376924.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.400002 m, bearing: 183.379649 deg, lat: 36.904780 deg, lon: -122.119394 deg, deltaT: 60.253668 s, deltaX: -2.899998 m, approachRate: -0.048130 m/s, posRepo size: 4 2025-01-08T22:55:24.176Z,1736376924.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:24.276Z,1736376924.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:24.529Z,1736376924.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:24.573Z,1736376924.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.0 s old, using for 20.0 s. 2025-01-08T22:55:24.573Z,1736376924.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:24.582Z,1736376924.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:24.780Z,1736376924.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:24.971Z,1736376924.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.4 s old, using for 20.0 s. 2025-01-08T22:55:24.972Z,1736376924.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:24.980Z,1736376924.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:25.033Z,1736376925.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:25.284Z,1736376925.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:25.392Z,1736376925.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.8 s old, using for 20.0 s. 2025-01-08T22:55:25.392Z,1736376925.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:25.443Z,1736376925.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:25.536Z,1736376925.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:25.788Z,1736376925.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:25.791Z,1736376925.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.2 s old, using for 20.0 s. 2025-01-08T22:55:25.792Z,1736376925.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:25.803Z,1736376925.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:26.040Z,1736376926.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:26.164Z,1736376926.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.6 s old, using for 20.0 s. 2025-01-08T22:55:26.165Z,1736376926.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:26.174Z,1736376926.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:26.292Z,1736376926.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:26.544Z,1736376926.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:26.593Z,1736376926.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.0 s old, using for 20.0 s. 2025-01-08T22:55:26.594Z,1736376926.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:26.610Z,1736376926.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:26.796Z,1736376926.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:26.981Z,1736376926.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.4 s old, using for 20.0 s. 2025-01-08T22:55:26.981Z,1736376926.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:26.991Z,1736376926.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:27.048Z,1736376927.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:27.300Z,1736376927.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:27.381Z,1736376927.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.8 s old, using for 20.0 s. 2025-01-08T22:55:27.381Z,1736376927.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:27.411Z,1736376927.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:27.552Z,1736376927.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:27.779Z,1736376927.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.2 s old, using for 20.0 s. 2025-01-08T22:55:27.780Z,1736376927.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:27.789Z,1736376927.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:27.804Z,1736376927.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:28.056Z,1736376928.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:28.200Z,1736376928.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.6 s old, using for 20.0 s. 2025-01-08T22:55:28.200Z,1736376928.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:28.208Z,1736376928.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:28.308Z,1736376928.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:28.561Z,1736376928.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:28.626Z,1736376928.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.1 s old, using for 20.0 s. 2025-01-08T22:55:28.626Z,1736376928.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:28.636Z,1736376928.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:28.792Z,1736376928.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:55:28.812Z,1736376928.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:29.030Z,1736376929.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:29.040Z,1736376929.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:29.064Z,1736376929.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:29.317Z,1736376929.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:29.398Z,1736376929.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:29.407Z,1736376929.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:29.568Z,1736376929.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:29.796Z,1736376929.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:55:29.803Z,1736376929.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:29.811Z,1736376929.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:29.820Z,1736376929.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:30.072Z,1736376930.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:30.229Z,1736376930.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:30.238Z,1736376930.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:30.324Z,1736376930.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:30.576Z,1736376930.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:30.611Z,1736376930.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:30.649Z,1736376930.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:30.828Z,1736376930.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:31.050Z,1736376931.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:31.059Z,1736376931.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:31.081Z,1736376931.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:31.332Z,1736376931.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:31.421Z,1736376931.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:31.429Z,1736376931.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:31.584Z,1736376931.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:31.829Z,1736376931.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:31.836Z,1736376931.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:31.840Z,1736376931.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:32.088Z,1736376932.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:32.255Z,1736376932.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:32.264Z,1736376932.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:32.340Z,1736376932.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:32.592Z,1736376932.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:32.690Z,1736376932.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:32.698Z,1736376932.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:32.844Z,1736376932.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:33.068Z,1736376933.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:33.076Z,1736376933.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:33.096Z,1736376933.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:33.348Z,1736376933.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:33.436Z,1736376933.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:33.445Z,1736376933.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:33.600Z,1736376933.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:33.839Z,1736376933.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:33.847Z,1736376933.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:33.852Z,1736376933.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:34.105Z,1736376934.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:34.268Z,1736376934.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:34.277Z,1736376934.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:34.356Z,1736376934.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:34.608Z,1736376934.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:34.672Z,1736376934.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:34.690Z,1736376934.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:34.860Z,1736376934.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:35.094Z,1736376935.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:35.104Z,1736376935.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:35.112Z,1736376935.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:35.364Z,1736376935.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:35.458Z,1736376935.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:35.467Z,1736376935.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:35.616Z,1736376935.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:35.868Z,1736376935.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:35.876Z,1736376935.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:35.885Z,1736376935.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:36.120Z,1736376936.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:36.297Z,1736376936.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:36.306Z,1736376936.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:36.374Z,1736376936.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:36.625Z,1736376936.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:36.704Z,1736376936.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:36.721Z,1736376936.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:36.876Z,1736376936.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:37.098Z,1736376937.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:37.107Z,1736376937.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:37.128Z,1736376937.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:37.380Z,1736376937.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:37.475Z,1736376937.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:37.517Z,1736376937.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:37.632Z,1736376937.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:37.880Z,1736376937.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:37.884Z,1736376937.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:37.891Z,1736376937.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:38.136Z,1736376938.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:38.319Z,1736376938.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:38.348Z,1736376938.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:38.388Z,1736376938.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:38.640Z,1736376938.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:38.738Z,1736376938.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:38.754Z,1736376938.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:38.892Z,1736376938.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:39.123Z,1736376939.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:39.132Z,1736376939.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:39.144Z,1736376939.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:39.396Z,1736376939.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:39.527Z,1736376939.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:39.537Z,1736376939.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:39.648Z,1736376939.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:39.898Z,1736376939.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:39.900Z,1736376939.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:39.909Z,1736376939.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:40.152Z,1736376940.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:40.322Z,1736376940.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:40.331Z,1736376940.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:40.404Z,1736376940.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:40.659Z,1736376940.659 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:40.703Z,1736376940.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:40.733Z,1736376940.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:40.908Z,1736376940.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:41.160Z,1736376941.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:41.203Z,1736376941.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:41.224Z,1736376941.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:41.412Z,1736376941.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:41.621Z,1736376941.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:41.630Z,1736376941.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:41.664Z,1736376941.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:41.916Z,1736376941.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:42.040Z,1736376942.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:42.110Z,1736376942.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:42.168Z,1736376942.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:42.420Z,1736376942.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:42.459Z,1736376942.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:42.469Z,1736376942.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:42.673Z,1736376942.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:42.834Z,1736376942.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:42.843Z,1736376942.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:42.924Z,1736376942.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:43.176Z,1736376943.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:43.281Z,1736376943.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:43.290Z,1736376943.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:43.428Z,1736376943.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:43.646Z,1736376943.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:43.662Z,1736376943.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:43.681Z,1736376943.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:43.932Z,1736376943.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:44.040Z,1736376944.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:44.064Z,1736376944.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:44.184Z,1736376944.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:44.436Z,1736376944.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:44.488Z,1736376944.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:44.497Z,1736376944.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:44.690Z,1736376944.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:44.860Z,1736376944.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:44.872Z,1736376944.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:44.940Z,1736376944.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:45.192Z,1736376945.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:45.288Z,1736376945.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:45.296Z,1736376945.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:45.444Z,1736376945.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:45.665Z,1736376945.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:45.691Z,1736376945.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:45.696Z,1736376945.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:45.948Z,1736376945.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:46.059Z,1736376946.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:46.068Z,1736376946.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:46.200Z,1736376946.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:46.452Z,1736376946.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:46.508Z,1736376946.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:46.545Z,1736376946.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:46.704Z,1736376946.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:46.877Z,1736376946.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:46.885Z,1736376946.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:46.957Z,1736376946.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:47.208Z,1736376947.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:47.300Z,1736376947.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:47.308Z,1736376947.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:47.460Z,1736376947.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:47.709Z,1736376947.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:47.712Z,1736376947.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:47.720Z,1736376947.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:47.964Z,1736376947.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:48.095Z,1736376948.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:48.104Z,1736376948.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:48.216Z,1736376948.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:48.468Z,1736376948.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:48.506Z,1736376948.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:48.552Z,1736376948.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:48.720Z,1736376948.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:48.893Z,1736376948.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:48.901Z,1736376948.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:48.972Z,1736376948.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:49.225Z,1736376949.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:49.364Z,1736376949.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:49.373Z,1736376949.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:49.476Z,1736376949.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:49.700Z,1736376949.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:49.709Z,1736376949.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:49.728Z,1736376949.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:49.822Z,1736376949.822 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:55:49.985Z,1736376949.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:50.101Z,1736376950.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:50.110Z,1736376950.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:50.236Z,1736376950.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:50.488Z,1736376950.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:50.537Z,1736376950.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:50.545Z,1736376950.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:50.740Z,1736376950.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:50.925Z,1736376950.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:50.934Z,1736376950.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:50.993Z,1736376950.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:51.246Z,1736376951.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:51.345Z,1736376951.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:51.361Z,1736376951.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:51.496Z,1736376951.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:51.723Z,1736376951.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:51.731Z,1736376951.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:51.750Z,1736376951.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:51.000Z,1736376952.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:52.124Z,1736376952.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:52.162Z,1736376952.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:52.254Z,1736376952.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:52.504Z,1736376952.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:52.565Z,1736376952.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:52.593Z,1736376952.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:52.756Z,1736376952.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:52.940Z,1736376952.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:52.948Z,1736376952.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:53.008Z,1736376953.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:53.262Z,1736376953.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:53.358Z,1736376953.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:53.368Z,1736376953.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:53.512Z,1736376953.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:53.737Z,1736376953.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:53.745Z,1736376953.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:53.765Z,1736376953.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:54.016Z,1736376954.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:54.156Z,1736376954.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:54.185Z,1736376954.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:54.269Z,1736376954.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:54.520Z,1736376954.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:54.587Z,1736376954.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:54.621Z,1736376954.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:54.772Z,1736376954.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:54.976Z,1736376954.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:54.989Z,1736376954.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:55.025Z,1736376955.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:55.277Z,1736376955.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:55.393Z,1736376955.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:55.402Z,1736376955.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:55.529Z,1736376955.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:55.763Z,1736376955.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:55.772Z,1736376955.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:55.780Z,1736376955.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:56.032Z,1736376956.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:56.169Z,1736376956.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:56.177Z,1736376956.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:56.285Z,1736376956.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:56.536Z,1736376956.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:56.612Z,1736376956.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:56.622Z,1736376956.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:56.788Z,1736376956.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:56.975Z,1736376956.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:56.987Z,1736376956.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:57.040Z,1736376957.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:57.293Z,1736376957.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:57.412Z,1736376957.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:57.421Z,1736376957.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:57.544Z,1736376957.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:57.796Z,1736376957.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:57.824Z,1736376957.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:57.833Z,1736376957.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:58.048Z,1736376958.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:58.180Z,1736376958.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:58.190Z,1736376958.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:58.302Z,1736376958.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:58.552Z,1736376958.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:58.626Z,1736376958.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:58.650Z,1736376958.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:58.804Z,1736376958.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:58.990Z,1736376958.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:58.998Z,1736376958.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:59.056Z,1736376959.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:59.308Z,1736376959.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:59.435Z,1736376959.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:59.443Z,1736376959.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:59.560Z,1736376959.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:59.801Z,1736376959.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:55:59.809Z,1736376959.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:55:59.812Z,1736376959.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:55:59.928Z,1736376959.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:56:00.065Z,1736376960.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:00.201Z,1736376960.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:00.209Z,1736376960.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:00.318Z,1736376960.318 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:00.568Z,1736376960.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:00.638Z,1736376960.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:00.665Z,1736376960.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:00.820Z,1736376960.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:00.932Z,1736376960.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:56:01.011Z,1736376961.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:01.039Z,1736376961.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:01.072Z,1736376961.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:01.325Z,1736376961.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:01.458Z,1736376961.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:01.469Z,1736376961.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:01.576Z,1736376961.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:01.817Z,1736376961.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:01.826Z,1736376961.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:01.828Z,1736376961.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:02.080Z,1736376962.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:02.229Z,1736376962.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:02.238Z,1736376962.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:02.332Z,1736376962.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:02.584Z,1736376962.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:02.694Z,1736376962.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:02.711Z,1736376962.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:02.836Z,1736376962.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:03.033Z,1736376963.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:03.041Z,1736376963.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:03.089Z,1736376963.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:03.340Z,1736376963.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:03.494Z,1736376963.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:03.503Z,1736376963.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:03.593Z,1736376963.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:03.844Z,1736376963.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:03.857Z,1736376963.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:03.866Z,1736376963.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:04.096Z,1736376964.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:04.248Z,1736376964.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:04.274Z,1736376964.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:04.348Z,1736376964.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:04.600Z,1736376964.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:04.708Z,1736376964.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:04.718Z,1736376964.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:04.852Z,1736376964.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:05.053Z,1736376965.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:05.063Z,1736376965.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:05.104Z,1736376965.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:05.356Z,1736376965.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:05.506Z,1736376965.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:05.535Z,1736376965.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:05.610Z,1736376965.610 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:05.857Z,1736376965.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:05.860Z,1736376965.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:05.867Z,1736376965.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:06.112Z,1736376966.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:06.270Z,1736376966.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:06.278Z,1736376966.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:06.364Z,1736376966.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:06.616Z,1736376966.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:06.723Z,1736376966.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:06.732Z,1736376966.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:06.868Z,1736376966.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:07.068Z,1736376967.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:07.097Z,1736376967.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:07.120Z,1736376967.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:07.372Z,1736376967.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:07.534Z,1736376967.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:07.543Z,1736376967.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:07.624Z,1736376967.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:07.876Z,1736376967.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:07.878Z,1736376967.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:07.887Z,1736376967.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:08.128Z,1736376968.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:08.298Z,1736376968.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:08.307Z,1736376968.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:08.380Z,1736376968.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:08.632Z,1736376968.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:08.724Z,1736376968.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:08.733Z,1736376968.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:08.884Z,1736376968.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:09.105Z,1736376969.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:09.129Z,1736376969.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:09.136Z,1736376969.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:09.388Z,1736376969.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:09.569Z,1736376969.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:09.578Z,1736376969.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:09.640Z,1736376969.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:09.892Z,1736376969.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:09.909Z,1736376969.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:09.918Z,1736376969.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:10.144Z,1736376970.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:10.307Z,1736376970.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:10.344Z,1736376970.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:10.396Z,1736376970.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:10.648Z,1736376970.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:10.750Z,1736376970.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:10.772Z,1736376970.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:10.900Z,1736376970.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:11.109Z,1736376971.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:11.118Z,1736376971.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:11.152Z,1736376971.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:11.405Z,1736376971.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:11.596Z,1736376971.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:11.605Z,1736376971.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:11.657Z,1736376971.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:11.908Z,1736376971.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:12.032Z,1736376972.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:12.058Z,1736376972.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:12.160Z,1736376972.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:12.412Z,1736376972.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:12.427Z,1736376972.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:12.437Z,1736376972.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:12.664Z,1736376972.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:12.886Z,1736376972.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:12.895Z,1736376972.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:12.916Z,1736376972.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:13.169Z,1736376973.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:13.253Z,1736376973.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:13.267Z,1736376973.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:13.420Z,1736376973.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:13.672Z,1736376973.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:13.717Z,1736376973.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:13.726Z,1736376973.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:13.924Z,1736376973.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:14.072Z,1736376974.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:14.081Z,1736376974.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:14.176Z,1736376974.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:14.428Z,1736376974.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:14.461Z,1736376974.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:14.470Z,1736376974.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:14.680Z,1736376974.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:14.912Z,1736376974.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:14.922Z,1736376974.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:14.932Z,1736376974.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:15.184Z,1736376975.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:15.336Z,1736376975.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:15.348Z,1736376975.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:15.436Z,1736376975.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:15.688Z,1736376975.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:15.819Z,1736376975.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:15.828Z,1736376975.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:15.940Z,1736376975.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:16.192Z,1736376976.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:16.314Z,1736376976.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:16.326Z,1736376976.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:16.444Z,1736376976.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:16.696Z,1736376976.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:16.705Z,1736376976.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:16.714Z,1736376976.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:16.948Z,1736376976.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:17.065Z,1736376977.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:17.075Z,1736376977.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:17.200Z,1736376977.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:17.453Z,1736376977.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:17.470Z,1736376977.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:17.479Z,1736376977.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:17.705Z,1736376977.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:17.893Z,1736376977.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:17.902Z,1736376977.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:17.956Z,1736376977.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:18.208Z,1736376978.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:18.275Z,1736376978.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:18.299Z,1736376978.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:18.460Z,1736376978.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:18.712Z,1736376978.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:18.725Z,1736376978.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:18.735Z,1736376978.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:18.964Z,1736376978.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:19.079Z,1736376979.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:19.089Z,1736376979.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:19.217Z,1736376979.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:19.469Z,1736376979.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:19.511Z,1736376979.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:19.522Z,1736376979.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:19.720Z,1736376979.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:19.911Z,1736376979.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:19.921Z,1736376979.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:19.973Z,1736376979.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:20.224Z,1736376980.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:20.289Z,1736376980.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:20.296Z,1736376980.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:56:20.298Z,1736376980.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:20.477Z,1736376980.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:20.479Z,1736376980.479 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:56:20.480Z,1736376980.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:56:20.728Z,1736376980.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:20.728Z,1736376980.728 [DAT](INFO): DAT read: user:2948> 2025-01-08T22:56:20.729Z,1736376980.729 [DAT](INFO): DAT read: Tx time:22:56:19.9677 2025-01-08T22:56:20.730Z,1736376980.730 [DAT](INFO): Ping request sent. 2025-01-08T22:56:20.730Z,1736376980.730 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:56:20.730Z,1736376980.730 [DAT](INFO): publishing transmit ping time 2025-01-08T22:56:20.730Z,1736376980.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729 2025-01-08T22:56:20.732Z,1736376980.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:20.776Z,1736376980.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:20.980Z,1736376980.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:20.981Z,1736376980.981 [DAT](INFO): DAT read: TxSync time:22:56:19.9669 2025-01-08T22:56:20.982Z,1736376980.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251845 2025-01-08T22:56:21.110Z,1736376981.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:21.120Z,1736376981.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:21.232Z,1736376981.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:21.233Z,1736376981.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503305 2025-01-08T22:56:21.485Z,1736376981.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:21.486Z,1736376981.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756667 2025-01-08T22:56:21.538Z,1736376981.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:21.551Z,1736376981.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:21.736Z,1736376981.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:21.736Z,1736376981.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006604 2025-01-08T22:56:21.934Z,1736376981.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:21.943Z,1736376981.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:21.988Z,1736376981.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:21.989Z,1736376981.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259261 2025-01-08T22:56:22.240Z,1736376982.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:22.241Z,1736376982.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510864 2025-01-08T22:56:22.309Z,1736376982.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:22.330Z,1736376982.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:22.492Z,1736376982.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:22.492Z,1736376982.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762782 2025-01-08T22:56:22.744Z,1736376982.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:22.745Z,1736376982.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015287 2025-01-08T22:56:22.811Z,1736376982.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:22.834Z,1736376982.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:22.996Z,1736376982.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:22.996Z,1736376982.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266765 2025-01-08T22:56:23.125Z,1736376983.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:23.134Z,1736376983.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:23.248Z,1736376983.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:23.248Z,1736376983.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518644 2025-01-08T22:56:23.500Z,1736376983.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:23.502Z,1736376983.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772223 2025-01-08T22:56:23.540Z,1736376983.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:23.553Z,1736376983.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:23.752Z,1736376983.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:23.754Z,1736376983.754 [DAT](INFO): DAT read: Rx Time:22:56:22.4488 2025-01-08T22:56:23.755Z,1736376983.755 [DAT](INFO): Rx dataTimestamp_ set to:1736376983.754910 2025-01-08T22:56:23.756Z,1736376983.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026615 2025-01-08T22:56:23.955Z,1736376983.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:23.964Z,1736376983.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:24.004Z,1736376984.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:24.006Z,1736376984.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275608 2025-01-08T22:56:24.256Z,1736376984.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:24.257Z,1736376984.257 [DAT](INFO): DAT read: Range 10 to 50 : 57.6 m (Round-trip 76.9 ms) speed -0.4 m/s 2025-01-08T22:56:24.258Z,1736376984.258 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:56:24.348Z,1736376984.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:24.379Z,1736376984.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.599998 m, deltaT: 60.481877 s, deltaX: 17.199997 m, approachRate: 0.284383 m/s, rangeRepo size: 4 2025-01-08T22:56:24.383Z,1736376984.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:24.508Z,1736376984.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:24.760Z,1736376984.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:24.814Z,1736376984.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:24.824Z,1736376984.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:25.012Z,1736376985.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:25.161Z,1736376985.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:25.172Z,1736376985.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:25.264Z,1736376985.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:25.516Z,1736376985.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:25.557Z,1736376985.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:25.590Z,1736376985.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:25.772Z,1736376985.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:26.018Z,1736376986.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:26.020Z,1736376986.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:26.030Z,1736376986.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:26.272Z,1736376986.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:26.369Z,1736376986.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:26.377Z,1736376986.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:26.531Z,1736376986.531 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:26.784Z,1736376986.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:26.813Z,1736376986.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:26.822Z,1736376986.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:27.036Z,1736376987.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:27.172Z,1736376987.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:27.180Z,1736376987.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:27.288Z,1736376987.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:27.541Z,1736376987.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:27.593Z,1736376987.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:27.626Z,1736376987.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:27.793Z,1736376987.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:28.012Z,1736376988.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:28.022Z,1736376988.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:28.044Z,1736376988.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:28.296Z,1736376988.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:28.384Z,1736376988.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:28.393Z,1736376988.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:28.548Z,1736376988.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:28.801Z,1736376988.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:28.852Z,1736376988.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:28.861Z,1736376988.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:29.052Z,1736376989.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:29.203Z,1736376989.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:29.211Z,1736376989.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:29.304Z,1736376989.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:29.556Z,1736376989.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:29.605Z,1736376989.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:29.653Z,1736376989.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:29.810Z,1736376989.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:30.041Z,1736376990.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:30.060Z,1736376990.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:30.064Z,1736376990.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:30.312Z,1736376990.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:30.412Z,1736376990.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:30.421Z,1736376990.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:30.564Z,1736376990.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:30.825Z,1736376990.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:30.892Z,1736376990.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:30.902Z,1736376990.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:31.052Z,1736376991.052 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:56:31.076Z,1736376991.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:31.252Z,1736376991.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:31.263Z,1736376991.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:31.328Z,1736376991.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:31.580Z,1736376991.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:31.686Z,1736376991.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:31.695Z,1736376991.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:31.834Z,1736376991.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:32.057Z,1736376992.057 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:56:32.084Z,1736376992.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:32.097Z,1736376992.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:32.110Z,1736376992.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:32.336Z,1736376992.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:32.460Z,1736376992.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:32.469Z,1736376992.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:32.589Z,1736376992.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:32.842Z,1736376992.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:32.929Z,1736376992.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:32.939Z,1736376992.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:33.092Z,1736376993.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:33.265Z,1736376993.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:33.290Z,1736376993.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:33.345Z,1736376993.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:33.596Z,1736376993.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:33.685Z,1736376993.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:33.717Z,1736376993.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:33.849Z,1736376993.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:34.101Z,1736376994.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:34.145Z,1736376994.145 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00 +0.00, +0.00, 20.00, 69.02 2025-01-08T22:56:34.153Z,1736376994.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:56:34.153Z,1736376994.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:34.190Z,1736376994.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:34.352Z,1736376994.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:34.529Z,1736376994.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:56:34.529Z,1736376994.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:34.539Z,1736376994.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:34.604Z,1736376994.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:34.857Z,1736376994.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:34.986Z,1736376994.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:34.995Z,1736376994.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:35.108Z,1736376995.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:35.352Z,1736376995.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:35.360Z,1736376995.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:35.362Z,1736376995.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:35.612Z,1736376995.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:35.765Z,1736376995.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:35.774Z,1736376995.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:35.871Z,1736376995.871 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:36.120Z,1736376996.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:36.229Z,1736376996.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:36.238Z,1736376996.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:36.372Z,1736376996.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:36.569Z,1736376996.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:36.601Z,1736376996.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:36.624Z,1736376996.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:36.877Z,1736376996.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:36.993Z,1736376996.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:37.021Z,1736376997.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:37.128Z,1736376997.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:37.380Z,1736376997.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:37.382Z,1736376997.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:37.392Z,1736376997.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:37.632Z,1736376997.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:37.809Z,1736376997.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:37.819Z,1736376997.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:37.886Z,1736376997.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:38.136Z,1736376998.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:38.208Z,1736376998.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:38.234Z,1736376998.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:38.388Z,1736376998.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:38.593Z,1736376998.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:38.603Z,1736376998.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:38.640Z,1736376998.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:38.893Z,1736376998.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:39.023Z,1736376999.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:39.034Z,1736376999.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:39.144Z,1736376999.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:39.396Z,1736376999.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:39.401Z,1736376999.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:39.410Z,1736376999.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:39.648Z,1736376999.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:39.819Z,1736376999.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:39.840Z,1736376999.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:39.900Z,1736376999.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:40.152Z,1736377000.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:40.237Z,1736377000.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:40.246Z,1736377000.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:40.404Z,1736377000.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:40.608Z,1736377000.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:40.618Z,1736377000.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:40.657Z,1736377000.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:40.908Z,1736377000.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:41.027Z,1736377001.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:41.038Z,1736377001.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:41.160Z,1736377001.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:41.412Z,1736377001.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:41.423Z,1736377001.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:41.431Z,1736377001.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:41.664Z,1736377001.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:41.846Z,1736377001.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:41.855Z,1736377001.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:41.916Z,1736377001.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:42.168Z,1736377002.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:42.269Z,1736377002.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:42.277Z,1736377002.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:42.420Z,1736377002.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:42.628Z,1736377002.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:42.638Z,1736377002.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:42.673Z,1736377002.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:42.926Z,1736377002.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:43.060Z,1736377003.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:43.069Z,1736377003.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:43.176Z,1736377003.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:43.428Z,1736377003.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:43.434Z,1736377003.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:43.442Z,1736377003.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:43.681Z,1736377003.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:43.849Z,1736377003.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:43.857Z,1736377003.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:43.932Z,1736377003.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:44.184Z,1736377004.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:44.277Z,1736377004.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:44.292Z,1736377004.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:44.436Z,1736377004.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:44.645Z,1736377004.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:44.661Z,1736377004.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:44.688Z,1736377004.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:44.940Z,1736377004.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:45.089Z,1736377005.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:45.121Z,1736377005.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:45.192Z,1736377005.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:45.444Z,1736377005.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:45.457Z,1736377005.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:45.486Z,1736377005.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:45.696Z,1736377005.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:45.881Z,1736377005.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:45.906Z,1736377005.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:45.948Z,1736377005.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:46.200Z,1736377006.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:46.325Z,1736377006.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:46.335Z,1736377006.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:46.453Z,1736377006.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:46.688Z,1736377006.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:46.697Z,1736377006.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:46.704Z,1736377006.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:46.956Z,1736377006.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:47.125Z,1736377007.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:47.136Z,1736377007.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:47.208Z,1736377007.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:47.460Z,1736377007.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:47.478Z,1736377007.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:47.489Z,1736377007.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:47.713Z,1736377007.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:47.893Z,1736377007.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:47.905Z,1736377007.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:47.964Z,1736377007.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:48.216Z,1736377008.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:48.309Z,1736377008.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:48.319Z,1736377008.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:48.468Z,1736377008.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:48.693Z,1736377008.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:48.703Z,1736377008.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:48.720Z,1736377008.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:48.972Z,1736377008.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:49.170Z,1736377009.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:49.207Z,1736377009.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:49.224Z,1736377009.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:49.476Z,1736377009.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:49.554Z,1736377009.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:49.564Z,1736377009.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:49.728Z,1736377009.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:49.980Z,1736377009.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:49.988Z,1736377009.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:49.996Z,1736377009.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:50.232Z,1736377010.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:50.412Z,1736377010.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:50.422Z,1736377010.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:50.484Z,1736377010.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:50.736Z,1736377010.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:50.788Z,1736377010.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:50.829Z,1736377010.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:50.989Z,1736377010.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:51.230Z,1736377011.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:51.240Z,1736377011.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:51.247Z,1736377011.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:51.492Z,1736377011.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:51.598Z,1736377011.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:51.607Z,1736377011.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:51.744Z,1736377011.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:51.997Z,1736377011.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:52.014Z,1736377012.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:52.031Z,1736377012.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:52.248Z,1736377012.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:52.448Z,1736377012.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:52.466Z,1736377012.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:52.501Z,1736377012.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:52.752Z,1736377012.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:52.821Z,1736377012.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:52.835Z,1736377012.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:53.004Z,1736377013.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:53.241Z,1736377013.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:53.253Z,1736377013.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:53.256Z,1736377013.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:53.508Z,1736377013.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:53.617Z,1736377013.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:53.626Z,1736377013.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:53.762Z,1736377013.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:54.012Z,1736377014.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:54.078Z,1736377014.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:54.087Z,1736377014.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:54.264Z,1736377014.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:54.524Z,1736377014.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:54.537Z,1736377014.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:54.545Z,1736377014.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:54.776Z,1736377014.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:54.932Z,1736377014.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:54.969Z,1736377014.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:55.028Z,1736377015.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:55.280Z,1736377015.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:55.388Z,1736377015.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:55.397Z,1736377015.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:55.532Z,1736377015.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:55.749Z,1736377015.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:55.758Z,1736377015.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:55.784Z,1736377015.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:56.036Z,1736377016.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:56.188Z,1736377016.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:56.228Z,1736377016.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:56.288Z,1736377016.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:56.540Z,1736377016.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:56.592Z,1736377016.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:56.609Z,1736377016.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:56.792Z,1736377016.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:56.963Z,1736377016.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:56.982Z,1736377016.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:57.045Z,1736377017.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:57.296Z,1736377017.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:57.442Z,1736377017.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:57.507Z,1736377017.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:57.548Z,1736377017.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:57.801Z,1736377017.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:57.902Z,1736377017.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:57.911Z,1736377017.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:58.052Z,1736377018.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:58.304Z,1736377018.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:58.314Z,1736377018.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:58.328Z,1736377018.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:58.556Z,1736377018.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:58.724Z,1736377018.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:58.732Z,1736377018.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:58.808Z,1736377018.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:59.060Z,1736377019.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:59.100Z,1736377019.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:59.108Z,1736377019.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:59.312Z,1736377019.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:59.510Z,1736377019.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:59.520Z,1736377019.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:56:59.564Z,1736377019.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:59.817Z,1736377019.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:56:59.925Z,1736377019.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:56:59.942Z,1736377019.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:00.068Z,1736377020.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:00.320Z,1736377020.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:00.322Z,1736377020.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:00.356Z,1736377020.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:00.573Z,1736377020.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:00.701Z,1736377020.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:00.709Z,1736377020.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:00.824Z,1736377020.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:01.077Z,1736377021.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:01.101Z,1736377021.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:01.130Z,1736377021.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:01.328Z,1736377021.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:01.538Z,1736377021.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:01.547Z,1736377021.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:01.580Z,1736377021.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:01.832Z,1736377021.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:01.910Z,1736377021.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:01.920Z,1736377021.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:02.085Z,1736377022.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:02.180Z,1736377022.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:57:02.340Z,1736377022.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:02.348Z,1736377022.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:02.378Z,1736377022.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:02.592Z,1736377022.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:02.746Z,1736377022.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:02.755Z,1736377022.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:02.844Z,1736377022.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:03.096Z,1736377023.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:03.115Z,1736377023.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:03.128Z,1736377023.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:03.184Z,1736377023.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:57:03.349Z,1736377023.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:03.541Z,1736377023.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:03.550Z,1736377023.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:03.601Z,1736377023.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:03.852Z,1736377023.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:03.932Z,1736377023.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:03.942Z,1736377023.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:04.104Z,1736377024.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:04.357Z,1736377024.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:04.466Z,1736377024.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:04.475Z,1736377024.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:04.608Z,1736377024.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:04.757Z,1736377024.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:04.781Z,1736377024.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:04.860Z,1736377024.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:05.112Z,1736377025.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:05.145Z,1736377025.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:05.158Z,1736377025.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:05.364Z,1736377025.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:05.616Z,1736377025.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:05.632Z,1736377025.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:05.641Z,1736377025.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:05.868Z,1736377025.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:05.992Z,1736377025.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:06.006Z,1736377026.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:06.121Z,1736377026.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:06.372Z,1736377026.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:06.444Z,1736377026.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:06.453Z,1736377026.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:06.624Z,1736377026.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:06.815Z,1736377026.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:06.824Z,1736377026.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:06.876Z,1736377026.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:07.128Z,1736377027.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:07.228Z,1736377027.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:07.236Z,1736377027.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:07.380Z,1736377027.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:07.639Z,1736377027.639 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:07.653Z,1736377027.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:07.668Z,1736377027.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:07.892Z,1736377027.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:08.028Z,1736377028.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:08.037Z,1736377028.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:08.144Z,1736377028.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:08.398Z,1736377028.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:08.462Z,1736377028.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:08.472Z,1736377028.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:08.649Z,1736377028.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:08.837Z,1736377028.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:08.877Z,1736377028.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:08.900Z,1736377028.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:09.152Z,1736377029.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:09.247Z,1736377029.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:09.257Z,1736377029.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:09.404Z,1736377029.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:09.657Z,1736377029.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:09.693Z,1736377029.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:09.702Z,1736377029.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:09.908Z,1736377029.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:10.046Z,1736377030.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:10.056Z,1736377030.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:10.160Z,1736377030.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:10.413Z,1736377030.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:10.494Z,1736377030.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:10.524Z,1736377030.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:10.664Z,1736377030.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:10.872Z,1736377030.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:10.880Z,1736377030.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:10.916Z,1736377030.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:11.168Z,1736377031.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:11.267Z,1736377031.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:11.275Z,1736377031.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:11.422Z,1736377031.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:11.672Z,1736377031.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:11.725Z,1736377031.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:11.743Z,1736377031.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:11.924Z,1736377031.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:12.080Z,1736377032.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:12.089Z,1736377032.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:12.176Z,1736377032.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:12.429Z,1736377032.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:12.513Z,1736377032.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:12.522Z,1736377032.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:12.680Z,1736377032.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:12.880Z,1736377032.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:12.889Z,1736377032.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:12.932Z,1736377032.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:13.184Z,1736377033.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:13.295Z,1736377033.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:13.304Z,1736377033.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:13.438Z,1736377033.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:13.688Z,1736377033.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:13.715Z,1736377033.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:13.725Z,1736377033.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:13.941Z,1736377033.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:14.093Z,1736377034.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:14.118Z,1736377034.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:14.193Z,1736377034.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:14.445Z,1736377034.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:14.546Z,1736377034.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:14.556Z,1736377034.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:14.696Z,1736377034.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:14.902Z,1736377034.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:14.910Z,1736377034.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:14.948Z,1736377034.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:15.201Z,1736377035.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:15.308Z,1736377035.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:15.316Z,1736377035.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:15.453Z,1736377035.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:15.704Z,1736377035.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:15.748Z,1736377035.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:15.758Z,1736377035.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:15.958Z,1736377035.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:16.112Z,1736377036.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:16.122Z,1736377036.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:16.209Z,1736377036.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:16.462Z,1736377036.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:16.569Z,1736377036.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:16.577Z,1736377036.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:16.712Z,1736377036.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:16.943Z,1736377036.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:16.952Z,1736377036.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:16.964Z,1736377036.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:17.216Z,1736377037.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:17.333Z,1736377037.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:17.364Z,1736377037.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:17.469Z,1736377037.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:17.720Z,1736377037.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:17.788Z,1736377037.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:17.796Z,1736377037.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:17.972Z,1736377037.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:18.136Z,1736377038.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:18.145Z,1736377038.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:18.224Z,1736377038.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:18.476Z,1736377038.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:18.584Z,1736377038.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:18.617Z,1736377038.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:18.728Z,1736377038.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:18.945Z,1736377038.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:18.974Z,1736377038.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:18.980Z,1736377038.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:19.232Z,1736377039.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:19.358Z,1736377039.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:19.366Z,1736377039.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:19.485Z,1736377039.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:19.736Z,1736377039.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:19.778Z,1736377039.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:19.787Z,1736377039.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:19.988Z,1736377039.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:20.161Z,1736377040.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:20.187Z,1736377040.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:20.240Z,1736377040.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:20.492Z,1736377040.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:20.630Z,1736377040.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:20.638Z,1736377040.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:20.640Z,1736377040.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:20.744Z,1736377040.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:20.744Z,1736377040.744 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:57:20.744Z,1736377040.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:57:20.963Z,1736377040.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:20.987Z,1736377040.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:20.998Z,1736377040.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:21.000Z,1736377041.000 [DAT](INFO): DAT read: user:2949> 2025-01-08T22:57:21.001Z,1736377041.001 [DAT](INFO): DAT read: Tx time:22:57:20.2184 2025-01-08T22:57:21.001Z,1736377041.001 [DAT](INFO): Ping request sent. 2025-01-08T22:57:21.001Z,1736377041.001 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:57:21.002Z,1736377041.002 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:21.002Z,1736377041.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738 2025-01-08T22:57:21.249Z,1736377041.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:21.252Z,1736377041.252 [DAT](INFO): DAT read: TxSync time:22:57:20.2176 2025-01-08T22:57:21.253Z,1736377041.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251359 2025-01-08T22:57:21.373Z,1736377041.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:21.405Z,1736377041.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:21.500Z,1736377041.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:21.501Z,1736377041.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499393 2025-01-08T22:57:21.752Z,1736377041.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:21.753Z,1736377041.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750980 2025-01-08T22:57:21.797Z,1736377041.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:21.834Z,1736377041.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:22.004Z,1736377042.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:22.005Z,1736377042.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003000 2025-01-08T22:57:22.191Z,1736377042.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:22.200Z,1736377042.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:22.257Z,1736377042.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:22.258Z,1736377042.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256253 2025-01-08T22:57:22.508Z,1736377042.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:22.508Z,1736377042.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506900 2025-01-08T22:57:22.680Z,1736377042.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:22.689Z,1736377042.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:22.760Z,1736377042.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:22.761Z,1736377042.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759349 2025-01-08T22:57:23.012Z,1736377043.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:23.012Z,1736377043.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010899 2025-01-08T22:57:23.040Z,1736377043.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:23.057Z,1736377043.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:23.264Z,1736377043.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:23.265Z,1736377043.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263618 2025-01-08T22:57:23.517Z,1736377043.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:23.520Z,1736377043.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517367 2025-01-08T22:57:23.583Z,1736377043.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:23.626Z,1736377043.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:23.768Z,1736377043.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:23.768Z,1736377043.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766939 2025-01-08T22:57:23.852Z,1736377043.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:23.861Z,1736377043.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:24.020Z,1736377044.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:24.021Z,1736377044.021 [DAT](INFO): DAT read: Rx Time:22:57:22.8370 2025-01-08T22:57:24.021Z,1736377044.021 [DAT](INFO): Rx dataTimestamp_ set to:1736377044.021120 2025-01-08T22:57:24.022Z,1736377044.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020404 2025-01-08T22:57:24.231Z,1736377044.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:24.241Z,1736377044.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m. 2025-01-08T22:57:24.272Z,1736377044.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:24.273Z,1736377044.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271007 2025-01-08T22:57:24.525Z,1736377044.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:24.540Z,1736377044.540 [DAT](INFO): DAT read: 22:57:22.8370 LVL= 23184, 16881, 14834, 31363, AGC= 67, IDX= 314, 0.07,-0.396, 1.592, 0.078,-0.506, PHS= 0.198, 2.144, 0.581, RAW= 319.3, -30.0, CAL= 318.9, -43.8, ROT= 191.1, 43.8 2025-01-08T22:57:24.543Z,1736377044.543 [DAT](INFO): got valid direction response: 22:57:22.8370 LVL= 23184, 16881, 14834, 31363, AGC= 67, IDX= 314, 0.07,-0.396, 1.592, 0.078,-0.506, PHS= 0.198, 2.144, 0.581, RAW= 319.3, -30.0, CAL= 318.9, -43.8, ROT= 191.1, 43.8 2025-01-08T22:57:24.546Z,1736377044.546 [DAT](INFO): DAT read: Bearing 191.1, 43.8 (Local) 2025-01-08T22:57:24.551Z,1736377044.551 [DAT](INFO): Local bearing/azimuth received: Bearing 191.1, 43.8 (Local) 2025-01-08T22:57:24.557Z,1736377044.557 [DAT](INFO): DAT read: Range 10 to 50 : 160.8 m (Round-trip 214.4 ms) speed -0.6 m/s 2025-01-08T22:57:24.558Z,1736377044.558 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:57:24.561Z,1736377044.561 [DAT](INFO): direction in FSK: [0.638287,0.549804,-0.538800] 2025-01-08T22:57:24.562Z,1736377044.562 [DAT](INFO): publishing direction and range info 2025-01-08T22:57:24.762Z,1736377044.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:24.776Z,1736377044.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:24.797Z,1736377044.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.800003 m, deltaT: 60.269611 s, deltaX: 103.200005 m, approachRate: 1.712306 m/s, rangeRepo size: 4 2025-01-08T22:57:24.799Z,1736377044.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 160.800003 m, bearing: 304.327091 deg, lat: 36.904780 deg, lon: -122.119402 deg, deltaT: 120.751488 s, deltaX: 120.400002 m, approachRate: 0.997089 m/s, posRepo size: 4 2025-01-08T22:57:24.805Z,1736377044.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.80 m. 2025-01-08T22:57:24.805Z,1736377044.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 160.80 m. Resuming terminal guidance. 2025-01-08T22:57:24.805Z,1736377044.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-01-08T22:57:25.028Z,1736377045.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:25.104Z,1736377045.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:25.120Z,1736377045.120 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-01-08T22:57:25.120Z,1736377045.120 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T22:57:25.121Z,1736377045.121 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-01-08T22:57:25.122Z,1736377045.122 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 160.800003 m (mode 1.000000 count ). 2025-01-08T22:57:25.122Z,1736377045.122 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-01-08T22:57:25.122Z,1736377045.122 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-01-08T22:57:25.280Z,1736377045.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:25.494Z,1736377045.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:25.500Z,1736377045.500 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-01-08T22:57:25.500Z,1736377045.500 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-01-08T22:57:25.501Z,1736377045.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:25.532Z,1736377045.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:25.533Z,1736377045.533 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:57:25.533Z,1736377045.533 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:57:25.533Z,1736377045.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:57:25.785Z,1736377045.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:25.786Z,1736377045.786 [DAT](INFO): DAT read: user:2950> 2025-01-08T22:57:25.788Z,1736377045.788 [DAT](INFO): DAT read: Tx time:22:57:25.0184 2025-01-08T22:57:25.788Z,1736377045.788 [DAT](INFO): Ping request sent. 2025-01-08T22:57:25.788Z,1736377045.788 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:57:25.789Z,1736377045.789 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:25.789Z,1736377045.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748 2025-01-08T22:57:25.915Z,1736377045.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:25.922Z,1736377045.922 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-01-08T22:57:25.922Z,1736377045.922 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-01-08T22:57:26.036Z,1736377046.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:26.037Z,1736377046.037 [DAT](INFO): DAT read: TxSync time:22:57:25.0176 2025-01-08T22:57:26.037Z,1736377046.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248853 2025-01-08T22:57:26.289Z,1736377046.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:26.289Z,1736377046.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500776 2025-01-08T22:57:26.340Z,1736377046.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:26.346Z,1736377046.346 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-01-08T22:57:26.346Z,1736377046.346 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T22:57:26.346Z,1736377046.346 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-01-08T22:57:26.346Z,1736377046.346 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T22:57:26.540Z,1736377046.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:26.540Z,1736377046.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751955 2025-01-08T22:57:26.753Z,1736377046.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:26.792Z,1736377046.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:26.792Z,1736377046.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003768 2025-01-08T22:57:27.044Z,1736377047.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:27.044Z,1736377047.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255850 2025-01-08T22:57:27.136Z,1736377047.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:27.296Z,1736377047.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:27.296Z,1736377047.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507946 2025-01-08T22:57:27.531Z,1736377047.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:27.542Z,1736377047.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:27.548Z,1736377047.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:27.549Z,1736377047.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760094 2025-01-08T22:57:27.800Z,1736377047.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:27.801Z,1736377047.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012974 2025-01-08T22:57:27.957Z,1736377047.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:28.052Z,1736377048.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:28.053Z,1736377048.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264430 2025-01-08T22:57:28.304Z,1736377048.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:28.304Z,1736377048.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515834 2025-01-08T22:57:28.352Z,1736377048.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:28.557Z,1736377048.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:28.559Z,1736377048.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770117 2025-01-08T22:57:28.776Z,1736377048.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:28.808Z,1736377048.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:28.809Z,1736377048.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020036 2025-01-08T22:57:29.060Z,1736377049.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:29.060Z,1736377049.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271896 2025-01-08T22:57:29.160Z,1736377049.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:29.312Z,1736377049.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:29.314Z,1736377049.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525027 2025-01-08T22:57:29.555Z,1736377049.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:29.562Z,1736377049.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:29.564Z,1736377049.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:29.565Z,1736377049.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776074 2025-01-08T22:57:29.816Z,1736377049.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:29.817Z,1736377049.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028280 2025-01-08T22:57:29.997Z,1736377049.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:30.068Z,1736377050.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:30.069Z,1736377050.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280605 2025-01-08T22:57:30.320Z,1736377050.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:30.321Z,1736377050.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532038 2025-01-08T22:57:30.362Z,1736377050.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:30.572Z,1736377050.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:30.573Z,1736377050.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784030 2025-01-08T22:57:30.780Z,1736377050.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:30.824Z,1736377050.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:30.824Z,1736377050.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035985 2025-01-08T22:57:31.076Z,1736377051.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:31.077Z,1736377051.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288149 2025-01-08T22:57:31.176Z,1736377051.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:31.328Z,1736377051.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:31.328Z,1736377051.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539829 2025-01-08T22:57:31.578Z,1736377051.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:31.580Z,1736377051.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:31.581Z,1736377051.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792270 2025-01-08T22:57:31.601Z,1736377051.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:31.832Z,1736377051.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:31.834Z,1736377051.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045167 2025-01-08T22:57:32.079Z,1736377052.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:32.084Z,1736377052.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:32.085Z,1736377052.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296316 2025-01-08T22:57:32.336Z,1736377052.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:32.336Z,1736377052.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547883 2025-01-08T22:57:32.459Z,1736377052.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:32.590Z,1736377052.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:32.590Z,1736377052.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801827 2025-01-08T22:57:32.842Z,1736377052.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:32.842Z,1736377052.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053731 2025-01-08T22:57:32.927Z,1736377052.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:33.092Z,1736377053.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:33.093Z,1736377053.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304481 2025-01-08T22:57:33.304Z,1736377053.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:57:33.336Z,1736377053.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:33.344Z,1736377053.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:33.345Z,1736377053.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556268 2025-01-08T22:57:33.596Z,1736377053.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:33.597Z,1736377053.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808038 2025-01-08T22:57:33.804Z,1736377053.804 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BS, -53, +832, +1E +832, +1D, 92, +83.37, -1.77, 8.06, 0.00 2025-01-08T22:57:33.811Z,1736377053.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:57:33.811Z,1736377053.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:33.819Z,1736377053.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:33.848Z,1736377053.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:33.848Z,1736377053.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060014 2025-01-08T22:57:34.100Z,1736377054.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:34.101Z,1736377054.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312693 2025-01-08T22:57:34.134Z,1736377054.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:57:34.134Z,1736377054.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:34.308Z,1736377054.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:57:34.352Z,1736377054.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:34.352Z,1736377054.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563969 2025-01-08T22:57:34.539Z,1736377054.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:57:34.539Z,1736377054.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:34.606Z,1736377054.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:34.607Z,1736377054.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818409 2025-01-08T22:57:34.856Z,1736377054.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:34.856Z,1736377054.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067905 2025-01-08T22:57:34.989Z,1736377054.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:35.108Z,1736377055.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:35.108Z,1736377055.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319837 2025-01-08T22:57:35.360Z,1736377055.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:35.361Z,1736377055.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572137 2025-01-08T22:57:35.372Z,1736377055.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:35.612Z,1736377055.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:35.613Z,1736377055.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824783 2025-01-08T22:57:35.831Z,1736377055.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:35.840Z,1736377055.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:35.864Z,1736377055.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:35.864Z,1736377055.864 [DAT](INFO): Reached modem response timeout 2025-01-08T22:57:35.864Z,1736377055.864 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:57:35.865Z,1736377055.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:57:36.116Z,1736377056.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:36.116Z,1736377056.116 [DAT](INFO): Reached modem response timeout 2025-01-08T22:57:36.117Z,1736377056.117 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:57:36.117Z,1736377056.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:57:36.210Z,1736377056.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:36.368Z,1736377056.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:36.368Z,1736377056.368 [DAT](INFO): Reached modem response timeout 2025-01-08T22:57:36.368Z,1736377056.368 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:57:36.369Z,1736377056.369 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:57:36.606Z,1736377056.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:36.620Z,1736377056.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:36.621Z,1736377056.621 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:57:36.621Z,1736377056.621 [DAT](INFO): response not received 2025-01-08T22:57:36.622Z,1736377056.622 [DAT](INFO): DAT read: user:2951> 2025-01-08T22:57:36.622Z,1736377056.622 [DAT](INFO): DAT read: Tx time:22:57:35.9685 2025-01-08T22:57:36.623Z,1736377056.623 [DAT](INFO): Ping request sent. 2025-01-08T22:57:36.623Z,1736377056.623 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:57:36.623Z,1736377056.623 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:36.624Z,1736377056.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000850 2025-01-08T22:57:36.872Z,1736377056.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:36.873Z,1736377056.873 [DAT](INFO): DAT read: TxSync time:22:57:35.9677 2025-01-08T22:57:36.873Z,1736377056.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250433 2025-01-08T22:57:37.086Z,1736377057.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:37.124Z,1736377057.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:37.126Z,1736377057.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502281 2025-01-08T22:57:37.376Z,1736377057.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:37.376Z,1736377057.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753480 2025-01-08T22:57:37.501Z,1736377057.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:37.630Z,1736377057.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:37.631Z,1736377057.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007886 2025-01-08T22:57:37.884Z,1736377057.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:37.885Z,1736377057.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261877 2025-01-08T22:57:37.923Z,1736377057.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:37.930Z,1736377057.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:38.136Z,1736377058.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:38.137Z,1736377058.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514446 2025-01-08T22:57:38.338Z,1736377058.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:38.390Z,1736377058.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:38.391Z,1736377058.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768156 2025-01-08T22:57:38.640Z,1736377058.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:38.640Z,1736377058.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017606 2025-01-08T22:57:38.754Z,1736377058.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:38.892Z,1736377058.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:38.893Z,1736377058.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269989 2025-01-08T22:57:39.146Z,1736377059.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:39.148Z,1736377059.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525406 2025-01-08T22:57:39.324Z,1736377059.324 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250108135.0, +11.0, 0.0,1493.5RA, 0.00, 79.53, 79.53, 81.23, 78.17 2025-01-08T22:57:39.333Z,1736377059.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T22:57:39.333Z,1736377059.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:39.396Z,1736377059.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:39.397Z,1736377059.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773714 2025-01-08T22:57:39.648Z,1736377059.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:39.649Z,1736377059.649 [DAT](INFO): DAT read: Rx Time:22:57:38.5098 2025-01-08T22:57:39.650Z,1736377059.650 [DAT](INFO): Rx dataTimestamp_ set to:1736377059.649335 2025-01-08T22:57:39.651Z,1736377059.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027695 2025-01-08T22:57:39.771Z,1736377059.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T22:57:39.771Z,1736377059.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:39.901Z,1736377059.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:39.902Z,1736377059.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279041 2025-01-08T22:57:40.149Z,1736377060.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:40.152Z,1736377060.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:40.155Z,1736377060.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531663 2025-01-08T22:57:40.224Z,1736377060.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:40.404Z,1736377060.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:40.410Z,1736377060.410 [DAT](INFO): DAT read: 22:57:38.5098 LVL= 27104, 14945, 11586, 21747, AGC= 60, IDX= 121, 0.05, 2.728,-1.707,-1.034,-2.036, PHS=-1.432, 0.376, 0.999, RAW= 255.7, 0.5, CAL= 258.9, 1.4, ROT= 251.1, -1.4 2025-01-08T22:57:40.413Z,1736377060.413 [DAT](INFO): got valid direction response: 22:57:38.5098 LVL= 27104, 14945, 11586, 21747, AGC= 60, IDX= 121, 0.05, 2.728,-1.707,-1.034,-2.036, PHS=-1.432, 0.376, 0.999, RAW= 255.7, 0.5, CAL= 258.9, 1.4, ROT= 251.1, -1.4 2025-01-08T22:57:40.418Z,1736377060.418 [DAT](INFO): DAT read: Bearing 251.1, -1.4 (Local) 2025-01-08T22:57:40.418Z,1736377060.418 [DAT](INFO): Local bearing/azimuth received: Bearing 251.1, -1.4 (Local) 2025-01-08T22:57:40.444Z,1736377060.444 [DAT](INFO): DAT read: Range 10 to 50 : 102.9 m (Round-trip 137.2 ms) speed -0.4 m/s 2025-01-08T22:57:40.448Z,1736377060.448 [DAT](INFO): DAT read: user:2952> 2025-01-08T22:57:40.449Z,1736377060.449 [DAT](INFO): DAT read: Tx time:22:57:39.6185 2025-01-08T22:57:40.450Z,1736377060.450 [DAT](INFO): Ping request sent. 2025-01-08T22:57:40.451Z,1736377060.451 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:57:40.452Z,1736377060.452 [DAT](INFO): DAT read: TxSync time:22:57:39.6177 2025-01-08T22:57:40.452Z,1736377060.452 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:57:40.453Z,1736377060.453 [DAT](INFO): direction in FSK: [0.050142,-0.344677,-0.937381] 2025-01-08T22:57:40.454Z,1736377060.454 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:40.454Z,1736377060.454 [DAT](INFO): publishing direction and range info 2025-01-08T22:57:40.463Z,1736377060.463 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:40.463Z,1736377060.463 [DAT](INFO): publishing direction and range info 2025-01-08T22:57:40.562Z,1736377060.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:40.608Z,1736377060.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.900002 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-01-08T22:57:40.616Z,1736377060.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.900002 m, bearing: 115.381778 deg, lat: 36.904771 deg, lon: -122.119635 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-01-08T22:57:40.617Z,1736377060.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:40.650Z,1736377060.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 74.666046 m, bearing: 85.227315 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 85.338950 deg, new cmd heading: 85.227315 deg. 2025-01-08T22:57:40.657Z,1736377060.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:40.651Z,1736377060.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487497 target range: 102.900002 and range: 102.90 m. 2025-01-08T22:57:40.920Z,1736377060.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:41.006Z,1736377061.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:41.022Z,1736377061.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:41.038Z,1736377061.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 74.811180 m, bearing: 85.015294 deg, approach rate: 0.350306 m/s, LOS rate: -0.510756 deg/s, cmd heading: 85.227312 deg, new cmd heading: 85.015294 deg. 2025-01-08T22:57:41.039Z,1736377061.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.483797 target range: 102.900002 and range: 102.90 m. 2025-01-08T22:57:41.175Z,1736377061.175 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:41.424Z,1736377061.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:41.457Z,1736377061.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:41.466Z,1736377061.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:41.486Z,1736377061.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 74.951141 m, bearing: 84.796584 deg, approach rate: 0.315317 m/s, LOS rate: -0.491808 deg/s, cmd heading: 85.015296 deg, new cmd heading: 84.796584 deg. 2025-01-08T22:57:41.487Z,1736377061.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.479980 target range: 102.900002 and range: 102.90 m. 2025-01-08T22:57:41.676Z,1736377061.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:41.921Z,1736377061.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:41.928Z,1736377061.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:41.931Z,1736377061.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:41.934Z,1736377061.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.088959 m, bearing: 84.570917 deg, approach rate: 0.296610 m/s, LOS rate: -0.484787 deg/s, cmd heading: 84.796587 deg, new cmd heading: 84.570917 deg. 2025-01-08T22:57:41.935Z,1736377061.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476041 target range: 102.900002 and range: 102.90 m. 2025-01-08T22:57:42.180Z,1736377062.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:42.349Z,1736377062.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:42.357Z,1736377062.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:42.359Z,1736377062.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:42.361Z,1736377062.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.198524 m, bearing: 84.357287 deg, approach rate: 0.256069 m/s, LOS rate: -0.498553 deg/s, cmd heading: 84.570917 deg, new cmd heading: 84.357287 deg. 2025-01-08T22:57:42.362Z,1736377062.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.472312 target range: 102.900002 and range: 102.90 m. 2025-01-08T22:57:42.432Z,1736377062.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:42.432Z,1736377062.432 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:57:42.433Z,1736377062.433 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:57:42.433Z,1736377062.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:57:42.684Z,1736377062.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:42.685Z,1736377062.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234909 2025-01-08T22:57:42.785Z,1736377062.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:42.804Z,1736377062.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:42.806Z,1736377062.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.302490 m, bearing: 84.137746 deg, approach rate: 0.233972 m/s, LOS rate: -0.493387 deg/s, cmd heading: 84.357290 deg, new cmd heading: 84.137746 deg. 2025-01-08T22:57:42.807Z,1736377062.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468481 target range: 102.900002 and range: 102.90 m. 2025-01-08T22:57:42.936Z,1736377062.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:42.937Z,1736377062.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486818 2025-01-08T22:57:43.180Z,1736377063.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:43.188Z,1736377063.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:43.189Z,1736377063.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738437 2025-01-08T22:57:43.191Z,1736377063.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:43.193Z,1736377063.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.391037 m, bearing: 83.938760 deg, approach rate: 0.228451 m/s, LOS rate: -0.512779 deg/s, cmd heading: 84.137747 deg, new cmd heading: 83.938760 deg. 2025-01-08T22:57:43.194Z,1736377063.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.465008 target range: 102.900002 and range: 102.90 m. 2025-01-08T22:57:43.440Z,1736377063.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:43.441Z,1736377063.441 [DAT](INFO): DAT read: Rx Time:22:57:42.1615 2025-01-08T22:57:43.442Z,1736377063.442 [DAT](INFO): Rx dataTimestamp_ set to:1736377063.441330 2025-01-08T22:57:43.442Z,1736377063.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992027 2025-01-08T22:57:43.578Z,1736377063.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:43.588Z,1736377063.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:43.590Z,1736377063.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.481354 m, bearing: 83.738325 deg, approach rate: 0.227601 m/s, LOS rate: -0.504496 deg/s, cmd heading: 83.938763 deg, new cmd heading: 83.738325 deg. 2025-01-08T22:57:43.591Z,1736377063.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.461509 target range: 102.900002 and range: 102.90 m. 2025-01-08T22:57:43.692Z,1736377063.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:43.693Z,1736377063.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242606 2025-01-08T22:57:43.944Z,1736377063.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:43.946Z,1736377063.946 [DAT](INFO): DAT read: Range 10 to 50 : 104.1 m (Round-trip 138.8 ms) speed 0.0 m/s 2025-01-08T22:57:43.946Z,1736377063.946 [DAT](INFO): DAT read: user:2953> 2025-01-08T22:57:43.947Z,1736377063.947 [DAT](INFO): DAT read: Tx time:22:57:43.2686 2025-01-08T22:57:43.947Z,1736377063.947 [DAT](INFO): Ping request sent. 2025-01-08T22:57:43.948Z,1736377063.948 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:57:43.948Z,1736377063.948 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:57:43.948Z,1736377063.948 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:43.949Z,1736377063.949 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:44.058Z,1736377064.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:44.082Z,1736377064.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.099998 m, deltaT: 3.540187 s, deltaX: 1.199997 m, approachRate: 0.338964 m/s, rangeRepo size: 2 2025-01-08T22:57:44.082Z,1736377064.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:44.089Z,1736377064.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.595657 m, bearing: 83.501255 deg, approach rate: 0.231456 m/s, LOS rate: -0.479322 deg/s, cmd heading: 83.738324 deg, new cmd heading: 83.501255 deg. 2025-01-08T22:57:44.090Z,1736377064.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457372 target range: 102.900002 and range: 104.10 m. 2025-01-08T22:57:44.197Z,1736377064.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:44.198Z,1736377064.198 [DAT](INFO): DAT read: TxSync time:22:57:43.2678 2025-01-08T22:57:44.385Z,1736377064.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:44.392Z,1736377064.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:44.394Z,1736377064.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:44.397Z,1736377064.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.655548 m, bearing: 83.334740 deg, approach rate: 0.191296 m/s, LOS rate: -0.531441 deg/s, cmd heading: 83.501255 deg, new cmd heading: 83.334740 deg. 2025-01-08T22:57:44.398Z,1736377064.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.454466 target range: 102.900002 and range: 104.10 m. 2025-01-08T22:57:44.449Z,1736377064.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:44.450Z,1736377064.450 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:57:44.451Z,1736377064.451 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:57:44.451Z,1736377064.451 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:57:44.701Z,1736377064.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:44.702Z,1736377064.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754008 2025-01-08T22:57:44.804Z,1736377064.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:44.827Z,1736377064.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:44.830Z,1736377064.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.724953 m, bearing: 83.120506 deg, approach rate: 0.161953 m/s, LOS rate: -0.499445 deg/s, cmd heading: 83.334742 deg, new cmd heading: 83.120506 deg. 2025-01-08T22:57:44.831Z,1736377064.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.450727 target range: 102.900002 and range: 104.10 m. 2025-01-08T22:57:44.953Z,1736377064.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:44.953Z,1736377064.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005773 2025-01-08T22:57:45.204Z,1736377065.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:45.205Z,1736377065.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256899 2025-01-08T22:57:45.211Z,1736377065.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:45.222Z,1736377065.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:45.224Z,1736377065.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.784981 m, bearing: 82.911879 deg, approach rate: 0.150570 m/s, LOS rate: -0.522890 deg/s, cmd heading: 83.120506 deg, new cmd heading: 82.911879 deg. 2025-01-08T22:57:45.225Z,1736377065.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447085 target range: 102.900002 and range: 104.10 m. 2025-01-08T22:57:45.456Z,1736377065.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:45.457Z,1736377065.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509582 2025-01-08T22:57:45.609Z,1736377065.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:45.618Z,1736377065.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:45.622Z,1736377065.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.844650 m, bearing: 82.708163 deg, approach rate: 0.150379 m/s, LOS rate: -0.513002 deg/s, cmd heading: 82.911878 deg, new cmd heading: 82.708163 deg. 2025-01-08T22:57:45.622Z,1736377065.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.443530 target range: 102.900002 and range: 104.10 m. 2025-01-08T22:57:45.709Z,1736377065.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:45.710Z,1736377065.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762302 2025-01-08T22:57:45.960Z,1736377065.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:45.960Z,1736377065.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012771 2025-01-08T22:57:46.021Z,1736377066.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:46.030Z,1736377066.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:46.034Z,1736377066.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.894913 m, bearing: 82.494675 deg, approach rate: 0.122098 m/s, LOS rate: -0.518266 deg/s, cmd heading: 82.708161 deg, new cmd heading: 82.494675 deg. 2025-01-08T22:57:46.048Z,1736377066.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439804 target range: 102.900002 and range: 104.10 m. 2025-01-08T22:57:46.212Z,1736377066.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:46.213Z,1736377066.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265027 2025-01-08T22:57:46.393Z,1736377066.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:46.399Z,1736377066.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:46.403Z,1736377066.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:46.406Z,1736377066.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.933685 m, bearing: 82.302040 deg, approach rate: 0.104004 m/s, LOS rate: -0.516461 deg/s, cmd heading: 82.494676 deg, new cmd heading: 82.302040 deg. 2025-01-08T22:57:46.427Z,1736377066.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436442 target range: 102.900002 and range: 104.10 m. 2025-01-08T22:57:46.467Z,1736377066.467 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:46.468Z,1736377066.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520320 2025-01-08T22:57:46.716Z,1736377066.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:46.718Z,1736377066.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770274 2025-01-08T22:57:46.821Z,1736377066.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:46.831Z,1736377066.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:46.833Z,1736377066.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 75.979439 m, bearing: 82.080260 deg, approach rate: 0.106929 m/s, LOS rate: -0.518000 deg/s, cmd heading: 82.302038 deg, new cmd heading: 82.080260 deg. 2025-01-08T22:57:46.834Z,1736377066.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432571 target range: 102.900002 and range: 104.10 m. 2025-01-08T22:57:46.970Z,1736377066.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:46.971Z,1736377066.971 [DAT](INFO): DAT read: Rx Time:22:57:45.8121 2025-01-08T22:57:46.972Z,1736377066.972 [DAT](INFO): Rx dataTimestamp_ set to:1736377066.971651 2025-01-08T22:57:46.972Z,1736377066.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024871 2025-01-08T22:57:47.220Z,1736377067.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:47.220Z,1736377067.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272890 2025-01-08T22:57:47.240Z,1736377067.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:47.273Z,1736377067.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:47.280Z,1736377067.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.012627 m, bearing: 81.861072 deg, approach rate: 0.074971 m/s, LOS rate: -0.494929 deg/s, cmd heading: 82.080262 deg, new cmd heading: 81.861072 deg. 2025-01-08T22:57:47.281Z,1736377067.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428745 target range: 102.900002 and range: 104.10 m. 2025-01-08T22:57:47.473Z,1736377067.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:47.476Z,1736377067.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527061 2025-01-08T22:57:47.608Z,1736377067.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:47.616Z,1736377067.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:47.620Z,1736377067.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.035118 m, bearing: 81.668623 deg, approach rate: 0.065630 m/s, LOS rate: -0.561399 deg/s, cmd heading: 81.861074 deg, new cmd heading: 81.668623 deg. 2025-01-08T22:57:47.621Z,1736377067.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425386 target range: 102.900002 and range: 104.10 m. 2025-01-08T22:57:47.724Z,1736377067.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:47.727Z,1736377067.727 [DAT](INFO): DAT read: Range 10 to 50 : 104.4 m (Round-trip 139.3 ms) speed -0.1 m/s 2025-01-08T22:57:47.728Z,1736377067.728 [DAT](INFO): DAT read: user:2954> 2025-01-08T22:57:47.730Z,1736377067.730 [DAT](INFO): DAT read: Tx time:22:57:46.9186 2025-01-08T22:57:47.730Z,1736377067.730 [DAT](INFO): Ping request sent. 2025-01-08T22:57:47.730Z,1736377067.730 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:57:47.731Z,1736377067.731 [DAT](INFO): DAT read: TxSync time:22:57:46.9178 2025-01-08T22:57:47.732Z,1736377067.732 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:57:47.732Z,1736377067.732 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:47.734Z,1736377067.734 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:47.976Z,1736377067.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:48.041Z,1736377068.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:48.051Z,1736377068.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.400002 m, deltaT: 3.780429 s, deltaX: 0.300003 m, approachRate: 0.079357 m/s, rangeRepo size: 3 2025-01-08T22:57:48.052Z,1736377068.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:48.054Z,1736377068.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.061172 m, bearing: 81.441915 deg, approach rate: 0.060140 m/s, LOS rate: -0.523121 deg/s, cmd heading: 81.668627 deg, new cmd heading: 81.441915 deg. 2025-01-08T22:57:48.055Z,1736377068.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421430 target range: 102.900002 and range: 104.40 m. 2025-01-08T22:57:48.228Z,1736377068.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:48.411Z,1736377068.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:48.419Z,1736377068.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:48.421Z,1736377068.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:48.424Z,1736377068.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.076797 m, bearing: 81.247909 deg, approach rate: 0.042036 m/s, LOS rate: -0.521830 deg/s, cmd heading: 81.441912 deg, new cmd heading: 81.247909 deg. 2025-01-08T22:57:48.424Z,1736377068.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.418043 target range: 102.900002 and range: 104.40 m. 2025-01-08T22:57:48.481Z,1736377068.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:48.482Z,1736377068.482 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:57:48.482Z,1736377068.482 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:57:48.482Z,1736377068.482 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:57:48.732Z,1736377068.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:48.732Z,1736377068.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001922 2025-01-08T22:57:48.819Z,1736377068.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:48.828Z,1736377068.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:48.830Z,1736377068.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.086800 m, bearing: 81.033688 deg, approach rate: 0.024608 m/s, LOS rate: -0.526966 deg/s, cmd heading: 81.247907 deg, new cmd heading: 81.033688 deg. 2025-01-08T22:57:48.831Z,1736377068.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414305 target range: 102.900002 and range: 104.40 m. 2025-01-08T22:57:48.986Z,1736377068.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:48.988Z,1736377068.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256624 2025-01-08T22:57:49.236Z,1736377069.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:49.237Z,1736377069.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506161 2025-01-08T22:57:49.242Z,1736377069.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:49.252Z,1736377069.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:49.254Z,1736377069.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.090591 m, bearing: 80.811513 deg, approach rate: 0.008930 m/s, LOS rate: -0.523238 deg/s, cmd heading: 81.033685 deg, new cmd heading: 80.811513 deg. 2025-01-08T22:57:49.287Z,1736377069.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.410427 target range: 102.900002 and range: 104.40 m. 2025-01-08T22:57:49.488Z,1736377069.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:49.489Z,1736377069.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758808 2025-01-08T22:57:49.631Z,1736377069.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:49.642Z,1736377069.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:49.646Z,1736377069.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.086807 m, bearing: 80.607412 deg, approach rate: -0.009705 m/s, LOS rate: -0.523492 deg/s, cmd heading: 80.811513 deg, new cmd heading: 80.607412 deg. 2025-01-08T22:57:49.648Z,1736377069.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406865 target range: 102.900002 and range: 104.40 m. 2025-01-08T22:57:49.740Z,1736377069.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:49.742Z,1736377069.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011226 2025-01-08T22:57:49.995Z,1736377069.995 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:49.997Z,1736377069.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266562 2025-01-08T22:57:50.057Z,1736377070.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:50.084Z,1736377070.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:50.087Z,1736377070.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.086617 m, bearing: 80.384057 deg, approach rate: -0.000436 m/s, LOS rate: -0.510522 deg/s, cmd heading: 80.607413 deg, new cmd heading: 80.384057 deg. 2025-01-08T22:57:50.092Z,1736377070.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402966 target range: 102.900002 and range: 104.40 m. 2025-01-08T22:57:50.244Z,1736377070.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:50.244Z,1736377070.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514111 2025-01-08T22:57:50.436Z,1736377070.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:50.443Z,1736377070.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:50.445Z,1736377070.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:50.448Z,1736377070.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.079491 m, bearing: 80.185503 deg, approach rate: -0.019468 m/s, LOS rate: -0.542510 deg/s, cmd heading: 80.384059 deg, new cmd heading: 80.185503 deg. 2025-01-08T22:57:50.449Z,1736377070.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399501 target range: 102.900002 and range: 104.40 m. 2025-01-08T22:57:50.497Z,1736377070.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:50.498Z,1736377070.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767658 2025-01-08T22:57:50.748Z,1736377070.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:50.748Z,1736377070.748 [DAT](INFO): DAT read: Rx Time:22:57:49.4615 2025-01-08T22:57:50.749Z,1736377070.749 [DAT](INFO): Rx dataTimestamp_ set to:1736377070.748665 2025-01-08T22:57:50.750Z,1736377070.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019105 2025-01-08T22:57:50.853Z,1736377070.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:50.878Z,1736377070.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.90 m. 2025-01-08T22:57:50.892Z,1736377070.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 102.900002 m, nav range: 76.064240 m, bearing: 79.967449 deg, approach rate: -0.035313 m/s, LOS rate: -0.504987 deg/s, cmd heading: 80.185506 deg, new cmd heading: 79.967449 deg. 2025-01-08T22:57:50.893Z,1736377070.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.395695 target range: 102.900002 and range: 104.40 m. 2025-01-08T22:57:51.005Z,1736377071.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:51.007Z,1736377071.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276298 2025-01-08T22:57:51.256Z,1736377071.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:51.262Z,1736377071.262 [DAT](INFO): DAT read: 22:57:49.4615 LVL= 19536, 21905, 11986, 23971, AGC= 57, IDX= 425, 0.07,-0.544,-0.050, 1.734, 0.398, PHS=-0.855,-0.401, 1.333, RAW= 221.3, -0.8, CAL= 220.8, -6.4, ROT= 289.2, 6.4 2025-01-08T22:57:51.272Z,1736377071.272 [DAT](INFO): got valid direction response: 22:57:49.4615 LVL= 19536, 21905, 11986, 23971, AGC= 57, IDX= 425, 0.07,-0.544,-0.050, 1.734, 0.398, PHS=-0.855,-0.401, 1.333, RAW= 221.3, -0.8, CAL= 220.8, -6.4, ROT= 289.2, 6.4 2025-01-08T22:57:51.273Z,1736377071.273 [DAT](INFO): DAT read: Bearing 289.2, 6.4 (Local) 2025-01-08T22:57:51.273Z,1736377071.273 [DAT](INFO): Local bearing/azimuth received: Bearing 289.2, 6.4 (Local) 2025-01-08T22:57:51.275Z,1736377071.275 [DAT](INFO): DAT read: Range 10 to 50 : 104.0 m (Round-trip 138.7 ms) speed 0.1 m/s 2025-01-08T22:57:51.280Z,1736377071.280 [DAT](INFO): DAT read: user:2955> 2025-01-08T22:57:51.281Z,1736377071.281 [DAT](INFO): DAT read: Tx time:22:57:50.5686 2025-01-08T22:57:51.281Z,1736377071.281 [DAT](INFO): Ping request sent. 2025-01-08T22:57:51.281Z,1736377071.281 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:57:51.282Z,1736377071.282 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:57:51.283Z,1736377071.283 [DAT](INFO): direction in FSK: [0.005197,-0.797121,-0.603797] 2025-01-08T22:57:51.291Z,1736377071.291 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:51.292Z,1736377071.292 [DAT](INFO): publishing direction and range info 2025-01-08T22:57:51.295Z,1736377071.295 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:51.295Z,1736377071.295 [DAT](INFO): publishing direction and range info 2025-01-08T22:57:51.347Z,1736377071.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:51.421Z,1736377071.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.000000 m, deltaT: 3.531668 s, deltaX: -0.400002 m, approachRate: -0.113261 m/s, rangeRepo size: 4 2025-01-08T22:57:51.427Z,1736377071.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 104.000000 m, bearing: 73.076064 deg, lat: 36.904780 deg, lon: -122.119635 deg, deltaT: 10.852284 s, deltaX: 1.099998 m, approachRate: 0.101361 m/s, posRepo size: 2 2025-01-08T22:57:51.428Z,1736377071.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:57:51.430Z,1736377071.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 76.256676 m, bearing: 78.915938 deg, approach rate: 0.000000 m/s, LOS rate: -0.504987 deg/s, cmd heading: 79.967452 deg, new cmd heading: 79.144878 deg. 2025-01-08T22:57:51.436Z,1736377071.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381339 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:57:51.508Z,1736377071.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:51.509Z,1736377071.509 [DAT](INFO): DAT read: TxSync time:22:57:50.5678 2025-01-08T22:57:51.729Z,1736377071.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:51.755Z,1736377071.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:57:51.758Z,1736377071.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 76.240723 m, bearing: 78.716177 deg, approach rate: -0.050044 m/s, LOS rate: -0.626768 deg/s, cmd heading: 79.144878 deg, new cmd heading: 78.545492 deg. 2025-01-08T22:57:51.759Z,1736377071.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370877 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:57:51.760Z,1736377071.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:52.014Z,1736377072.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:52.129Z,1736377072.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:52.154Z,1736377072.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:57:52.161Z,1736377072.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 76.228783 m, bearing: 78.507464 deg, approach rate: -0.028790 m/s, LOS rate: -0.503332 deg/s, cmd heading: 78.545488 deg, new cmd heading: 77.919279 deg. 2025-01-08T22:57:52.162Z,1736377072.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359948 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:57:52.264Z,1736377072.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:52.516Z,1736377072.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:52.521Z,1736377072.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:52.528Z,1736377072.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:52.530Z,1736377072.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:57:52.534Z,1736377072.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 76.210999 m, bearing: 78.303468 deg, approach rate: -0.047223 m/s, LOS rate: -0.541807 deg/s, cmd heading: 77.919276 deg, new cmd heading: 77.307168 deg. 2025-01-08T22:57:52.536Z,1736377072.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349265 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:57:52.769Z,1736377072.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:52.770Z,1736377072.770 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:57:52.770Z,1736377072.770 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:57:52.770Z,1736377072.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:57:52.930Z,1736377072.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:52.954Z,1736377072.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:57:52.959Z,1736377072.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 76.185951 m, bearing: 78.091487 deg, approach rate: -0.059387 m/s, LOS rate: -0.502770 deg/s, cmd heading: 77.307168 deg, new cmd heading: 76.671044 deg. 2025-01-08T22:57:52.960Z,1736377072.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338162 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:57:53.022Z,1736377073.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:53.025Z,1736377073.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743134 2025-01-08T22:57:53.272Z,1736377073.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:53.272Z,1736377073.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990982 2025-01-08T22:57:53.373Z,1736377073.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:53.382Z,1736377073.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:57:53.402Z,1736377073.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 76.157738 m, bearing: 77.863614 deg, approach rate: -0.065629 m/s, LOS rate: -0.530263 deg/s, cmd heading: 76.671045 deg, new cmd heading: 75.987209 deg. 2025-01-08T22:57:53.403Z,1736377073.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326227 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:57:53.524Z,1736377073.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:53.524Z,1736377073.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242992 2025-01-08T22:57:53.736Z,1736377073.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:53.745Z,1736377073.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:57:53.748Z,1736377073.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 76.128143 m, bearing: 77.677487 deg, approach rate: -0.081564 m/s, LOS rate: -0.513173 deg/s, cmd heading: 75.987207 deg, new cmd heading: 75.428627 deg. 2025-01-08T22:57:53.749Z,1736377073.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316478 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:57:53.776Z,1736377073.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:53.777Z,1736377073.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495164 2025-01-08T22:57:54.030Z,1736377074.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:54.033Z,1736377074.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750660 2025-01-08T22:57:54.177Z,1736377074.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:54.186Z,1736377074.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:57:54.189Z,1736377074.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 76.097137 m, bearing: 77.463526 deg, approach rate: -0.070331 m/s, LOS rate: -0.485531 deg/s, cmd heading: 75.428627 deg, new cmd heading: 74.786509 deg. 2025-01-08T22:57:54.190Z,1736377074.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.305271 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:57:54.280Z,1736377074.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:54.282Z,1736377074.282 [DAT](INFO): DAT read: Rx Time:22:57:53.1109 2025-01-08T22:57:54.282Z,1736377074.282 [DAT](INFO): Rx dataTimestamp_ set to:1736377074.281840 2025-01-08T22:57:54.283Z,1736377074.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001258 2025-01-08T22:57:54.532Z,1736377074.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:54.532Z,1736377074.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250958 2025-01-08T22:57:54.543Z,1736377074.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:54.555Z,1736377074.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:54.557Z,1736377074.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:57:54.560Z,1736377074.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 76.065186 m, bearing: 77.286248 deg, approach rate: -0.085989 m/s, LOS rate: -0.477289 deg/s, cmd heading: 74.786507 deg, new cmd heading: 74.254468 deg. 2025-01-08T22:57:54.561Z,1736377074.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295985 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:57:54.786Z,1736377074.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:54.788Z,1736377074.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505640 2025-01-08T22:57:54.960Z,1736377074.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:54.968Z,1736377074.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.00 m. 2025-01-08T22:57:54.971Z,1736377074.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.000000 m, nav range: 76.021690 m, bearing: 77.084905 deg, approach rate: -0.105846 m/s, LOS rate: -0.490250 deg/s, cmd heading: 74.254470 deg, new cmd heading: 73.650120 deg. 2025-01-08T22:57:54.972Z,1736377074.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285437 target range: 104.000000 and range: 104.00 m. 2025-01-08T22:57:55.037Z,1736377075.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:55.067Z,1736377075.067 [DAT](INFO): DAT read: 22:57:53.1109 LVL= 20752, 23329, 11090, 27219, AGC= 60, IDX= 435,-0.45, 0.253, 0.055, 2.035, 0.865, PHS=-0.525,-0.763, 1.167, RAW= 203.5, 1.3, CAL= 203.4, -5.8, ROT= 306.6, 5.8 2025-01-08T22:57:55.077Z,1736377075.077 [DAT](INFO): got valid direction response: 22:57:53.1109 LVL= 20752, 23329, 11090, 27219, AGC= 60, IDX= 435,-0.45, 0.253, 0.055, 2.035, 0.865, PHS=-0.525,-0.763, 1.167, RAW= 203.5, 1.3, CAL= 203.4, -5.8, ROT= 306.6, 5.8 2025-01-08T22:57:55.085Z,1736377075.085 [DAT](INFO): DAT read: Bearing 306.6, 5.8 (Local) 2025-01-08T22:57:55.087Z,1736377075.087 [DAT](INFO): Local bearing/azimuth received: Bearing 306.6, 5.8 (Local) 2025-01-08T22:57:55.111Z,1736377075.111 [DAT](INFO): DAT read: Range 10 to 50 : 103.5 m (Round-trip 138.1 ms) speed 0.0 m/s 2025-01-08T22:57:55.116Z,1736377075.116 [DAT](INFO): DAT read: user:2956> 2025-01-08T22:57:55.117Z,1736377075.117 [DAT](INFO): DAT read: Tx time:22:57:54.2186 2025-01-08T22:57:55.117Z,1736377075.117 [DAT](INFO): Ping request sent. 2025-01-08T22:57:55.117Z,1736377075.117 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:57:55.118Z,1736377075.118 [DAT](INFO): DAT read: TxSync time:22:57:54.2178 2025-01-08T22:57:55.119Z,1736377075.119 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:57:55.132Z,1736377075.132 [DAT](INFO): direction in FSK: [-0.070527,-0.934345,-0.349322] 2025-01-08T22:57:55.132Z,1736377075.132 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:55.132Z,1736377075.132 [DAT](INFO): publishing direction and range info 2025-01-08T22:57:55.154Z,1736377075.154 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:55.155Z,1736377075.155 [DAT](INFO): publishing direction and range info 2025-01-08T22:57:55.288Z,1736377075.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:55.420Z,1736377075.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:55.446Z,1736377075.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.500000 m, deltaT: 3.781903 s, deltaX: -0.500000 m, approachRate: -0.132209 m/s, rangeRepo size: 4 2025-01-08T22:57:55.453Z,1736377075.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.500000 m, bearing: 48.584772 deg, lat: 36.904863 deg, lon: -122.119655 deg, deltaT: 3.781903 s, deltaX: -0.500000 m, approachRate: -0.132209 m/s, posRepo size: 3 2025-01-08T22:57:55.454Z,1736377075.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T22:57:55.461Z,1736377075.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 76.878761 m, bearing: 69.915347 deg, approach rate: 0.000000 m/s, LOS rate: -0.490250 deg/s, cmd heading: 73.650121 deg, new cmd heading: 72.947802 deg. 2025-01-08T22:57:55.462Z,1736377075.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273179 target range: 103.500000 and range: 103.50 m. 2025-01-08T22:57:55.540Z,1736377075.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:55.763Z,1736377075.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:55.792Z,1736377075.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:55.793Z,1736377075.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T22:57:55.796Z,1736377075.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 76.855499 m, bearing: 69.753089 deg, approach rate: -0.067345 m/s, LOS rate: -0.469891 deg/s, cmd heading: 72.947800 deg, new cmd heading: 72.460891 deg. 2025-01-08T22:57:55.797Z,1736377075.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264681 target range: 103.500000 and range: 103.50 m. 2025-01-08T22:57:56.045Z,1736377076.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:56.191Z,1736377076.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:56.225Z,1736377076.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T22:57:56.234Z,1736377076.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 76.821327 m, bearing: 69.558970 deg, approach rate: -0.078984 m/s, LOS rate: -0.448877 deg/s, cmd heading: 72.460890 deg, new cmd heading: 71.878295 deg. 2025-01-08T22:57:56.241Z,1736377076.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254513 target range: 103.500000 and range: 103.50 m. 2025-01-08T22:57:56.296Z,1736377076.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:56.548Z,1736377076.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:56.561Z,1736377076.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:56.585Z,1736377076.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:56.587Z,1736377076.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T22:57:56.594Z,1736377076.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 76.785248 m, bearing: 69.391493 deg, approach rate: -0.099396 m/s, LOS rate: -0.461604 deg/s, cmd heading: 71.878295 deg, new cmd heading: 71.375639 deg. 2025-01-08T22:57:56.595Z,1736377076.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.245740 target range: 103.500000 and range: 103.50 m. 2025-01-08T22:57:56.800Z,1736377076.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:56.801Z,1736377076.801 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:57:56.801Z,1736377076.801 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:57:56.802Z,1736377076.802 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:57:56.962Z,1736377076.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:56.992Z,1736377076.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T22:57:56.999Z,1736377076.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 76.739166 m, bearing: 69.210913 deg, approach rate: -0.113610 m/s, LOS rate: -0.445470 deg/s, cmd heading: 71.375641 deg, new cmd heading: 70.833595 deg. 2025-01-08T22:57:57.000Z,1736377077.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236279 target range: 103.500000 and range: 103.50 m. 2025-01-08T22:57:57.056Z,1736377077.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:57.058Z,1736377077.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940279 2025-01-08T22:57:57.310Z,1736377077.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:57.313Z,1736377077.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195418 2025-01-08T22:57:57.411Z,1736377077.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:57.420Z,1736377077.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T22:57:57.439Z,1736377077.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 76.679008 m, bearing: 69.017987 deg, approach rate: -0.140588 m/s, LOS rate: -0.451220 deg/s, cmd heading: 70.833597 deg, new cmd heading: 70.254386 deg. 2025-01-08T22:57:57.440Z,1736377077.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226170 target range: 103.500000 and range: 103.50 m. 2025-01-08T22:57:57.560Z,1736377077.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:57.560Z,1736377077.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443004 2025-01-08T22:57:57.805Z,1736377077.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:57.812Z,1736377077.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:57.813Z,1736377077.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.695223 2025-01-08T22:57:57.816Z,1736377077.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T22:57:57.820Z,1736377077.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 76.620010 m, bearing: 68.849461 deg, approach rate: -0.149434 m/s, LOS rate: -0.427181 deg/s, cmd heading: 70.254383 deg, new cmd heading: 69.748430 deg. 2025-01-08T22:57:57.821Z,1736377077.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217340 target range: 103.500000 and range: 103.50 m. 2025-01-08T22:57:58.066Z,1736377078.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:58.069Z,1736377078.069 [DAT](INFO): DAT read: Rx Time:22:57:56.7597 2025-01-08T22:57:58.070Z,1736377078.070 [DAT](INFO): Rx dataTimestamp_ set to:1736377078.069399 2025-01-08T22:57:58.072Z,1736377078.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954644 2025-01-08T22:57:58.212Z,1736377078.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:58.222Z,1736377078.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T22:57:58.225Z,1736377078.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 76.551765 m, bearing: 68.678185 deg, approach rate: -0.167794 m/s, LOS rate: -0.421493 deg/s, cmd heading: 69.748430 deg, new cmd heading: 69.234158 deg. 2025-01-08T22:57:58.226Z,1736377078.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208364 target range: 103.500000 and range: 103.50 m. 2025-01-08T22:57:58.317Z,1736377078.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:58.318Z,1736377078.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.200453 2025-01-08T22:57:58.568Z,1736377078.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:58.574Z,1736377078.574 [DAT](INFO): DAT read: 22:57:56.7597 LVL= 25920, 27537, 16178, 32755, AGC= 63, IDX= 422,-0.08, 2.970, 2.164,-2.044,-2.956, PHS=-0.268,-1.116, 0.910, RAW= 185.4, 5.4, CAL= 185.4, -3.3, ROT= 324.6, 3.3 2025-01-08T22:57:58.576Z,1736377078.576 [DAT](INFO): got valid direction response: 22:57:56.7597 LVL= 25920, 27537, 16178, 32755, AGC= 63, IDX= 422,-0.08, 2.970, 2.164,-2.044,-2.956, PHS=-0.268,-1.116, 0.910, RAW= 185.4, 5.4, CAL= 185.4, -3.3, ROT= 324.6, 3.3 2025-01-08T22:57:58.577Z,1736377078.577 [DAT](INFO): DAT read: Bearing 324.6, 3.3 (Local) 2025-01-08T22:57:58.577Z,1736377078.577 [DAT](INFO): Local bearing/azimuth received: Bearing 324.6, 3.3 (Local) 2025-01-08T22:57:58.578Z,1736377078.578 [DAT](INFO): DAT read: Range 10 to 50 : 102.6 m (Round-trip 136.9 ms) speed 0.3 m/s 2025-01-08T22:57:58.579Z,1736377078.579 [DAT](INFO): DAT read: user:2957> 2025-01-08T22:57:58.580Z,1736377078.580 [DAT](INFO): DAT read: Tx time:22:57:57.8687 2025-01-08T22:57:58.580Z,1736377078.580 [DAT](INFO): Ping request sent. 2025-01-08T22:57:58.580Z,1736377078.580 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:57:58.581Z,1736377078.581 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:57:58.582Z,1736377078.582 [DAT](INFO): direction in FSK: [-0.180735,-0.981971,-0.055393] 2025-01-08T22:57:58.582Z,1736377078.582 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:58.582Z,1736377078.582 [DAT](INFO): publishing direction and range info 2025-01-08T22:57:58.609Z,1736377078.609 [DAT](INFO): publishing transmit ping time 2025-01-08T22:57:58.610Z,1736377078.610 [DAT](INFO): publishing direction and range info 2025-01-08T22:57:58.672Z,1736377078.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:58.711Z,1736377078.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.599998 m, deltaT: 3.530112 s, deltaX: -0.900002 m, approachRate: -0.254950 m/s, rangeRepo size: 4 2025-01-08T22:57:58.714Z,1736377078.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.599998 m, bearing: 27.986654 deg, lat: 36.905198 deg, lon: -122.119915 deg, deltaT: 3.530112 s, deltaX: -0.900002 m, approachRate: -0.254950 m/s, posRepo size: 4 2025-01-08T22:57:58.714Z,1736377078.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m. 2025-01-08T22:57:58.725Z,1736377078.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.599998 m, nav range: 81.053879 m, bearing: 36.303030 deg, approach rate: 0.000000 m/s, LOS rate: -0.421493 deg/s, cmd heading: 69.234158 deg, new cmd heading: 68.621396 deg. 2025-01-08T22:57:58.726Z,1736377078.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.197669 target range: 102.599998 and range: 102.60 m. 2025-01-08T22:57:58.822Z,1736377078.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:58.822Z,1736377078.822 [DAT](INFO): DAT read: TxSync time:22:57:57.8679 2025-01-08T22:57:59.027Z,1736377079.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:59.038Z,1736377079.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:57:59.044Z,1736377079.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m. 2025-01-08T22:57:59.047Z,1736377079.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.599998 m, nav range: 81.094048 m, bearing: 36.154854 deg, approach rate: 0.119020 m/s, LOS rate: -0.438829 deg/s, cmd heading: 68.621394 deg, new cmd heading: 68.177095 deg. 2025-01-08T22:57:59.053Z,1736377079.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.189915 target range: 102.599998 and range: 102.60 m. 2025-01-08T22:57:59.072Z,1736377079.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:59.072Z,1736377079.072 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:57:59.072Z,1736377079.072 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:57:59.073Z,1736377079.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:57:59.324Z,1736377079.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:59.324Z,1736377079.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743912 2025-01-08T22:57:59.422Z,1736377079.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:59.446Z,1736377079.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m. 2025-01-08T22:57:59.449Z,1736377079.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.599998 m, nav range: 81.132423 m, bearing: 35.991986 deg, approach rate: 0.095511 m/s, LOS rate: -0.405158 deg/s, cmd heading: 68.177097 deg, new cmd heading: 67.688738 deg. 2025-01-08T22:57:59.451Z,1736377079.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.181391 target range: 102.599998 and range: 102.60 m. 2025-01-08T22:57:59.576Z,1736377079.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:59.576Z,1736377079.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995940 2025-01-08T22:57:59.824Z,1736377079.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:57:59.828Z,1736377079.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:57:59.829Z,1736377079.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248152 2025-01-08T22:57:59.836Z,1736377079.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m. 2025-01-08T22:57:59.838Z,1736377079.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.599998 m, nav range: 81.165543 m, bearing: 35.826965 deg, approach rate: 0.084999 m/s, LOS rate: -0.423346 deg/s, cmd heading: 67.688739 deg, new cmd heading: 67.193891 deg. 2025-01-08T22:57:59.840Z,1736377079.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.172755 target range: 102.599998 and range: 102.60 m. 2025-01-08T22:57:59.956Z,1736377079.956 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:58:00.080Z,1736377080.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:00.082Z,1736377080.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500752 2025-01-08T22:58:00.270Z,1736377080.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:58:00.270Z,1736377080.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:00.279Z,1736377080.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m. 2025-01-08T22:58:00.281Z,1736377080.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.599998 m, nav range: 81.202950 m, bearing: 35.644669 deg, approach rate: 0.084413 m/s, LOS rate: -0.411183 deg/s, cmd heading: 67.193892 deg, new cmd heading: 66.647274 deg. 2025-01-08T22:58:00.282Z,1736377080.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163214 target range: 102.599998 and range: 102.60 m. 2025-01-08T22:58:00.332Z,1736377080.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:00.334Z,1736377080.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753246 2025-01-08T22:58:00.584Z,1736377080.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:00.585Z,1736377080.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004664 2025-01-08T22:58:00.661Z,1736377080.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:58:00.661Z,1736377080.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:00.676Z,1736377080.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m. 2025-01-08T22:58:00.681Z,1736377080.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.599998 m, nav range: 81.236450 m, bearing: 35.484840 deg, approach rate: 0.084273 m/s, LOS rate: -0.401897 deg/s, cmd heading: 66.647272 deg, new cmd heading: 66.167992 deg. 2025-01-08T22:58:00.682Z,1736377080.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.154849 target range: 102.599998 and range: 102.60 m. 2025-01-08T22:58:00.836Z,1736377080.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:00.836Z,1736377080.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256017 2025-01-08T22:58:01.046Z,1736377081.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T22:58:01.046Z,1736377081.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:01.057Z,1736377081.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:01.059Z,1736377081.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m. 2025-01-08T22:58:01.062Z,1736377081.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.599998 m, nav range: 81.250000 m, bearing: 35.325710 deg, approach rate: 0.035417 m/s, LOS rate: -0.415869 deg/s, cmd heading: 66.167990 deg, new cmd heading: 65.690692 deg. 2025-01-08T22:58:01.062Z,1736377081.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146519 target range: 102.599998 and range: 102.60 m. 2025-01-08T22:58:01.089Z,1736377081.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:01.092Z,1736377081.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511332 2025-01-08T22:58:01.340Z,1736377081.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:01.340Z,1736377081.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759935 2025-01-08T22:58:01.463Z,1736377081.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:01.473Z,1736377081.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m. 2025-01-08T22:58:01.492Z,1736377081.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.599998 m, nav range: 81.250992 m, bearing: 35.145106 deg, approach rate: 0.002396 m/s, LOS rate: -0.436261 deg/s, cmd heading: 65.690690 deg, new cmd heading: 65.148902 deg. 2025-01-08T22:58:01.493Z,1736377081.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137063 target range: 102.599998 and range: 102.60 m. 2025-01-08T22:58:01.593Z,1736377081.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:01.594Z,1736377081.594 [DAT](INFO): DAT read: Rx Time:22:58:00.4075 2025-01-08T22:58:01.594Z,1736377081.594 [DAT](INFO): Rx dataTimestamp_ set to:1736377081.593881 2025-01-08T22:58:01.595Z,1736377081.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014258 2025-01-08T22:58:01.844Z,1736377081.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:01.845Z,1736377081.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264266 2025-01-08T22:58:01.889Z,1736377081.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:01.907Z,1736377081.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m. 2025-01-08T22:58:01.914Z,1736377081.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.599998 m, nav range: 81.244957 m, bearing: 34.960880 deg, approach rate: -0.013899 m/s, LOS rate: -0.424334 deg/s, cmd heading: 65.148899 deg, new cmd heading: 64.596200 deg. 2025-01-08T22:58:01.920Z,1736377081.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.127416 target range: 102.599998 and range: 102.60 m. 2025-01-08T22:58:02.098Z,1736377082.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:02.184Z,1736377082.184 [DAT](INFO): DAT read: 22:58:00.4075 LVL= 26896, 31681, 19618, 32755, AGC= 66, IDX= 415,-0.17,-1.643,-2.496,-0.584,-1.531, PHS=-0.024,-0.918, 0.944, RAW= 181.3, -0.0, CAL= 181.7, -7.8, ROT= 328.3, 7.8 2025-01-08T22:58:02.185Z,1736377082.185 [DAT](INFO): got valid direction response: 22:58:00.4075 LVL= 26896, 31681, 19618, 32755, AGC= 66, IDX= 415,-0.17,-1.643,-2.496,-0.584,-1.531, PHS=-0.024,-0.918, 0.944, RAW= 181.3, -0.0, CAL= 181.7, -7.8, ROT= 328.3, 7.8 2025-01-08T22:58:02.186Z,1736377082.186 [DAT](INFO): DAT read: Bearing 328.3, 7.8 (Local) 2025-01-08T22:58:02.186Z,1736377082.186 [DAT](INFO): Local bearing/azimuth received: Bearing 328.3, 7.8 (Local) 2025-01-08T22:58:02.196Z,1736377082.196 [DAT](INFO): DAT read: Range 10 to 50 : 100.9 m (Round-trip 134.6 ms) speed 0.4 m/s 2025-01-08T22:58:02.197Z,1736377082.197 [DAT](INFO): DAT read: user:2958> 2025-01-08T22:58:02.198Z,1736377082.198 [DAT](INFO): DAT read: Tx time:22:58:01.5203 2025-01-08T22:58:02.198Z,1736377082.198 [DAT](INFO): Ping request sent. 2025-01-08T22:58:02.198Z,1736377082.198 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:02.198Z,1736377082.198 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:02.204Z,1736377082.204 [DAT](INFO): direction in FSK: [-0.085020,-0.996158,0.021002] 2025-01-08T22:58:02.204Z,1736377082.204 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:02.204Z,1736377082.204 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:02.211Z,1736377082.211 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:02.212Z,1736377082.212 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:02.335Z,1736377082.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:02.348Z,1736377082.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:02.349Z,1736377082.349 [DAT](INFO): DAT read: TxSync time:22:58:01.5195 2025-01-08T22:58:02.361Z,1736377082.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 100.900002 m, deltaT: 3.530708 s, deltaX: -1.699997 m, approachRate: -0.481489 m/s, rangeRepo size: 4 2025-01-08T22:58:02.368Z,1736377082.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 100.900002 m, bearing: 18.407238 deg, lat: 36.905198 deg, lon: -122.119915 deg, deltaT: 3.530708 s, deltaX: -1.699997 m, approachRate: -0.481489 m/s, posRepo size: 4 2025-01-08T22:58:02.368Z,1736377082.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:02.371Z,1736377082.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 81.237389 m, bearing: 34.763649 deg, approach rate: 0.000000 m/s, LOS rate: -0.424334 deg/s, cmd heading: 64.596200 deg, new cmd heading: 64.018628 deg. 2025-01-08T22:58:02.376Z,1736377082.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117336 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:02.601Z,1736377082.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:02.694Z,1736377082.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:02.704Z,1736377082.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:02.706Z,1736377082.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 81.225143 m, bearing: 34.601945 deg, approach rate: -0.035723 m/s, LOS rate: -0.471819 deg/s, cmd heading: 64.018625 deg, new cmd heading: 63.533451 deg. 2025-01-08T22:58:02.708Z,1736377082.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108868 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:02.852Z,1736377082.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:03.065Z,1736377083.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:03.080Z,1736377083.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:03.082Z,1736377083.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:03.087Z,1736377083.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 81.206558 m, bearing: 34.436766 deg, approach rate: -0.049102 m/s, LOS rate: -0.436500 deg/s, cmd heading: 63.533450 deg, new cmd heading: 63.037813 deg. 2025-01-08T22:58:03.090Z,1736377083.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100217 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:03.121Z,1736377083.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:03.122Z,1736377083.122 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:03.123Z,1736377083.123 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:03.124Z,1736377083.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:03.130Z,1736377083.130 [CTD_Seabird](ERROR): Failed to parse device response: 66.31,0,9060.80 2025-01-08T22:58:03.372Z,1736377083.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:03.372Z,1736377083.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.174206 2025-01-08T22:58:03.485Z,1736377083.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:03.494Z,1736377083.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:03.497Z,1736377083.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 81.179886 m, bearing: 34.250390 deg, approach rate: -0.064695 m/s, LOS rate: -0.452212 deg/s, cmd heading: 63.037810 deg, new cmd heading: 62.478518 deg. 2025-01-08T22:58:03.498Z,1736377083.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.090456 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:03.627Z,1736377083.627 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:03.629Z,1736377083.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.430347 2025-01-08T22:58:03.872Z,1736377083.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:03.876Z,1736377083.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:03.876Z,1736377083.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678263 2025-01-08T22:58:03.882Z,1736377083.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:03.886Z,1736377083.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 81.149300 m, bearing: 34.079400 deg, approach rate: -0.078867 m/s, LOS rate: -0.441063 deg/s, cmd heading: 62.478520 deg, new cmd heading: 61.965372 deg. 2025-01-08T22:58:03.886Z,1736377083.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.081500 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:04.128Z,1736377084.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:04.129Z,1736377084.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.930838 2025-01-08T22:58:04.304Z,1736377084.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:04.320Z,1736377084.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:04.324Z,1736377084.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 81.120171 m, bearing: 33.888924 deg, approach rate: -0.066440 m/s, LOS rate: -0.434606 deg/s, cmd heading: 61.965375 deg, new cmd heading: 61.393762 deg. 2025-01-08T22:58:04.325Z,1736377084.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071523 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:04.380Z,1736377084.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:04.382Z,1736377084.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183247 2025-01-08T22:58:04.439Z,1736377084.439 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:58:04.632Z,1736377084.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:04.633Z,1736377084.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434372 2025-01-08T22:58:04.697Z,1736377084.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:04.707Z,1736377084.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:04.721Z,1736377084.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 81.086884 m, bearing: 33.715881 deg, approach rate: -0.086191 m/s, LOS rate: -0.448250 deg/s, cmd heading: 61.393763 deg, new cmd heading: 60.874435 deg. 2025-01-08T22:58:04.722Z,1736377084.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062459 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:04.884Z,1736377084.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:04.885Z,1736377084.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.686994 2025-01-08T22:58:05.074Z,1736377085.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:05.081Z,1736377085.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:05.083Z,1736377085.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:05.086Z,1736377085.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 81.048317 m, bearing: 33.550935 deg, approach rate: -0.102570 m/s, LOS rate: -0.438889 deg/s, cmd heading: 60.874437 deg, new cmd heading: 60.379377 deg. 2025-01-08T22:58:05.087Z,1736377085.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.053819 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:05.137Z,1736377085.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:05.138Z,1736377085.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939650 2025-01-08T22:58:05.388Z,1736377085.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:05.388Z,1736377085.388 [DAT](INFO): DAT read: Rx Time:22:58:04.0568 2025-01-08T22:58:05.389Z,1736377085.389 [DAT](INFO): Rx dataTimestamp_ set to:1736377085.388664 2025-01-08T22:58:05.389Z,1736377085.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191290 2025-01-08T22:58:05.440Z,1736377085.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:58:05.501Z,1736377085.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:05.526Z,1736377085.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:05.529Z,1736377085.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 81.006706 m, bearing: 33.368624 deg, approach rate: -0.093823 m/s, LOS rate: -0.411281 deg/s, cmd heading: 60.379378 deg, new cmd heading: 59.832179 deg. 2025-01-08T22:58:05.530Z,1736377085.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044268 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:05.640Z,1736377085.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:05.641Z,1736377085.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.442324 2025-01-08T22:58:05.885Z,1736377085.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:05.892Z,1736377085.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:05.898Z,1736377085.898 [DAT](INFO): DAT read: 22:58:04.0568 LVL= 23184, 32673, 18130, 32755, AGC= 67, IDX= 424,-0.30,-0.199,-1.238, 0.284,-0.309, PHS= 0.197,-0.882, 0.590, RAW= 164.9, 1.5, CAL= 166.2, -7.2, ROT= 343.8, 7.2 2025-01-08T22:58:05.901Z,1736377085.901 [DAT](INFO): got valid direction response: 22:58:04.0568 LVL= 23184, 32673, 18130, 32755, AGC= 67, IDX= 424,-0.30,-0.199,-1.238, 0.284,-0.309, PHS= 0.197,-0.882, 0.590, RAW= 164.9, 1.5, CAL= 166.2, -7.2, ROT= 343.8, 7.2 2025-01-08T22:58:05.902Z,1736377085.902 [DAT](INFO): DAT read: $Error in header 2025-01-08T22:58:05.902Z,1736377085.902 [DAT](INFO): Received a bad header 2025-01-08T22:58:05.905Z,1736377085.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:05.908Z,1736377085.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 80.962730 m, bearing: 33.205362 deg, approach rate: -0.116003 m/s, LOS rate: -0.430898 deg/s, cmd heading: 59.832177 deg, new cmd heading: 59.342139 deg. 2025-01-08T22:58:05.909Z,1736377085.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035716 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:05.916Z,1736377085.916 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T22:58:05.917Z,1736377085.917 [DAT](INFO): direction in FSK: [-0.136252,-0.943640,0.301627] 2025-01-08T22:58:05.920Z,1736377085.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:05.920Z,1736377085.920 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:05.921Z,1736377085.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:06.144Z,1736377086.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:06.145Z,1736377086.145 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:06.145Z,1736377086.145 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:06.145Z,1736377086.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:06.316Z,1736377086.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:06.326Z,1736377086.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:06.328Z,1736377086.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 80.912788 m, bearing: 33.029697 deg, approach rate: -0.118781 m/s, LOS rate: -0.418056 deg/s, cmd heading: 59.342138 deg, new cmd heading: 58.814833 deg. 2025-01-08T22:58:06.329Z,1736377086.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.026513 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:06.397Z,1736377086.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:06.398Z,1736377086.398 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:06.398Z,1736377086.398 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:06.398Z,1736377086.398 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:06.648Z,1736377086.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:06.649Z,1736377086.649 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:06.649Z,1736377086.649 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:06.649Z,1736377086.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:06.723Z,1736377086.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:06.744Z,1736377086.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:06.746Z,1736377086.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 80.858864 m, bearing: 32.864914 deg, approach rate: -0.130327 m/s, LOS rate: -0.398520 deg/s, cmd heading: 58.814834 deg, new cmd heading: 58.320169 deg. 2025-01-08T22:58:06.752Z,1736377086.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017879 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:06.900Z,1736377086.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:06.902Z,1736377086.902 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:06.902Z,1736377086.902 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:06.902Z,1736377086.902 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:07.100Z,1736377087.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:07.107Z,1736377087.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:07.109Z,1736377087.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:07.112Z,1736377087.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 80.802696 m, bearing: 32.712784 deg, approach rate: -0.151924 m/s, LOS rate: -0.411771 deg/s, cmd heading: 58.320171 deg, new cmd heading: 57.863474 deg. 2025-01-08T22:58:07.113Z,1736377087.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009908 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:07.153Z,1736377087.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:07.154Z,1736377087.154 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:07.154Z,1736377087.154 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:07.155Z,1736377087.155 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:07.404Z,1736377087.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:07.404Z,1736377087.404 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:07.404Z,1736377087.404 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:07.404Z,1736377087.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:07.545Z,1736377087.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:07.577Z,1736377087.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:07.585Z,1736377087.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 80.731964 m, bearing: 32.542930 deg, approach rate: -0.151146 m/s, LOS rate: -0.363276 deg/s, cmd heading: 57.863478 deg, new cmd heading: 57.353483 deg. 2025-01-08T22:58:07.586Z,1736377087.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.001007 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:07.657Z,1736377087.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:07.658Z,1736377087.658 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:07.658Z,1736377087.658 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:07.658Z,1736377087.658 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:07.904Z,1736377087.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:07.908Z,1736377087.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:07.908Z,1736377087.908 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:07.908Z,1736377087.908 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:07.908Z,1736377087.908 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:07.914Z,1736377087.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:07.918Z,1736377087.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 80.669228 m, bearing: 32.406593 deg, approach rate: -0.186210 m/s, LOS rate: -0.404980 deg/s, cmd heading: 57.353481 deg, new cmd heading: 56.944159 deg. 2025-01-08T22:58:07.919Z,1736377087.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993863 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:08.162Z,1736377088.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:08.162Z,1736377088.162 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:08.163Z,1736377088.163 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:08.163Z,1736377088.163 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:08.335Z,1736377088.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:08.344Z,1736377088.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:08.347Z,1736377088.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 80.583504 m, bearing: 32.251870 deg, approach rate: -0.199347 m/s, LOS rate: -0.360183 deg/s, cmd heading: 56.944158 deg, new cmd heading: 56.479507 deg. 2025-01-08T22:58:08.348Z,1736377088.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985753 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:08.413Z,1736377088.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:08.413Z,1736377088.413 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:08.414Z,1736377088.414 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:08.414Z,1736377088.414 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:08.664Z,1736377088.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:08.665Z,1736377088.665 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:08.665Z,1736377088.665 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:08.665Z,1736377088.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:08.740Z,1736377088.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:08.764Z,1736377088.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:08.772Z,1736377088.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 80.496933 m, bearing: 32.108056 deg, approach rate: -0.205979 m/s, LOS rate: -0.342547 deg/s, cmd heading: 56.479507 deg, new cmd heading: 56.047608 deg. 2025-01-08T22:58:08.773Z,1736377088.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.978215 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:08.916Z,1736377088.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:08.916Z,1736377088.916 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:08.917Z,1736377088.917 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:08.917Z,1736377088.917 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:09.118Z,1736377089.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:09.125Z,1736377089.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:09.127Z,1736377089.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:09.145Z,1736377089.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 80.410660 m, bearing: 31.975330 deg, approach rate: -0.238145 m/s, LOS rate: -0.366765 deg/s, cmd heading: 56.047607 deg, new cmd heading: 55.649008 deg. 2025-01-08T22:58:09.146Z,1736377089.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971258 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:09.169Z,1736377089.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:09.171Z,1736377089.171 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:09.171Z,1736377089.171 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:09.171Z,1736377089.171 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:09.420Z,1736377089.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:09.421Z,1736377089.421 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:09.421Z,1736377089.421 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:09.421Z,1736377089.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:09.550Z,1736377089.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:09.580Z,1736377089.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:09.588Z,1736377089.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 80.302742 m, bearing: 31.833418 deg, approach rate: -0.240497 m/s, LOS rate: -0.316676 deg/s, cmd heading: 55.649007 deg, new cmd heading: 55.222709 deg. 2025-01-08T22:58:09.589Z,1736377089.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.963818 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:09.674Z,1736377089.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:09.675Z,1736377089.675 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:09.675Z,1736377089.675 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:09.675Z,1736377089.675 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:09.924Z,1736377089.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:09.924Z,1736377089.924 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:09.924Z,1736377089.924 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:09.924Z,1736377089.924 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:09.960Z,1736377089.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:09.977Z,1736377089.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:09.982Z,1736377089.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 80.194641 m, bearing: 31.700251 deg, approach rate: -0.269117 m/s, LOS rate: -0.331966 deg/s, cmd heading: 55.222708 deg, new cmd heading: 54.822674 deg. 2025-01-08T22:58:09.983Z,1736377089.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956836 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:10.176Z,1736377090.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:10.176Z,1736377090.176 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:10.176Z,1736377090.176 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:10.176Z,1736377090.176 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:10.358Z,1736377090.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:10.368Z,1736377090.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:10.371Z,1736377090.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 80.082024 m, bearing: 31.577224 deg, approach rate: -0.287747 m/s, LOS rate: -0.314785 deg/s, cmd heading: 54.822674 deg, new cmd heading: 54.453080 deg. 2025-01-08T22:58:10.372Z,1736377090.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.950386 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:10.428Z,1736377090.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:10.429Z,1736377090.429 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:10.429Z,1736377090.429 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:10.429Z,1736377090.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:10.682Z,1736377090.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:10.682Z,1736377090.682 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:10.683Z,1736377090.683 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:10.683Z,1736377090.683 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:10.760Z,1736377090.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:10.785Z,1736377090.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:10.792Z,1736377090.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 79.957901 m, bearing: 31.458116 deg, approach rate: -0.297786 m/s, LOS rate: -0.286199 deg/s, cmd heading: 54.453079 deg, new cmd heading: 54.095204 deg. 2025-01-08T22:58:10.793Z,1736377090.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.944139 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:10.936Z,1736377090.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:10.936Z,1736377090.936 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:10.936Z,1736377090.936 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:10.937Z,1736377090.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:11.144Z,1736377091.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:11.152Z,1736377091.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:11.154Z,1736377091.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:11.182Z,1736377091.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 79.834450 m, bearing: 31.346491 deg, approach rate: -0.335145 m/s, LOS rate: -0.303508 deg/s, cmd heading: 54.095204 deg, new cmd heading: 53.759814 deg. 2025-01-08T22:58:11.183Z,1736377091.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.938286 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:11.188Z,1736377091.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:11.188Z,1736377091.188 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:11.189Z,1736377091.189 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:11.189Z,1736377091.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:11.440Z,1736377091.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:11.440Z,1736377091.440 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:11.440Z,1736377091.440 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:11.440Z,1736377091.440 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:11.573Z,1736377091.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:11.582Z,1736377091.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:11.585Z,1736377091.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 79.686089 m, bearing: 31.228679 deg, approach rate: -0.346668 m/s, LOS rate: -0.275796 deg/s, cmd heading: 53.759814 deg, new cmd heading: 53.405727 deg. 2025-01-08T22:58:11.586Z,1736377091.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.932106 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:11.692Z,1736377091.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:11.693Z,1736377091.693 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:11.693Z,1736377091.693 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:11.693Z,1736377091.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:11.944Z,1736377091.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:11.944Z,1736377091.944 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:11.944Z,1736377091.944 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:11.945Z,1736377091.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:11.949Z,1736377091.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:11.988Z,1736377091.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:11.990Z,1736377091.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 79.551689 m, bearing: 31.128030 deg, approach rate: -0.334700 m/s, LOS rate: -0.251075 deg/s, cmd heading: 53.405727 deg, new cmd heading: 53.103271 deg. 2025-01-08T22:58:11.996Z,1736377091.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.926827 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:12.196Z,1736377092.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:12.196Z,1736377092.196 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:12.196Z,1736377092.196 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:12.196Z,1736377092.196 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T22:58:12.379Z,1736377092.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:12.388Z,1736377092.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:12.390Z,1736377092.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 79.392242 m, bearing: 31.016973 deg, approach rate: -0.394351 m/s, LOS rate: -0.275223 deg/s, cmd heading: 53.103269 deg, new cmd heading: 52.769433 deg. 2025-01-08T22:58:12.392Z,1736377092.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.921000 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:12.448Z,1736377092.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:12.450Z,1736377092.450 [DAT](INFO): Reached modem response timeout 2025-01-08T22:58:12.450Z,1736377092.450 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:58:12.451Z,1736377092.451 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:12.700Z,1736377092.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:12.702Z,1736377092.702 [DAT](INFO): Reached modem response timeout 2025-01-08T22:58:12.703Z,1736377092.703 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:58:12.704Z,1736377092.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:12.756Z,1736377092.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:12.815Z,1736377092.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:12.818Z,1736377092.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 79.248108 m, bearing: 30.922340 deg, approach rate: -0.337213 m/s, LOS rate: -0.221801 deg/s, cmd heading: 52.769434 deg, new cmd heading: 52.485024 deg. 2025-01-08T22:58:12.824Z,1736377092.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.916036 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:12.952Z,1736377092.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:12.953Z,1736377092.953 [DAT](INFO): Reached modem response timeout 2025-01-08T22:58:12.953Z,1736377092.953 [DAT](DEBUG): Acoustic response timeout 2025-01-08T22:58:12.953Z,1736377092.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:13.177Z,1736377093.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:13.188Z,1736377093.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:13.190Z,1736377093.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:13.204Z,1736377093.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:13.205Z,1736377093.205 [DAT](INFO): DAT read: Response Not Received 2025-01-08T22:58:13.205Z,1736377093.205 [DAT](INFO): response not received 2025-01-08T22:58:13.205Z,1736377093.205 [DAT](INFO): DAT read: user:2960> 2025-01-08T22:58:13.206Z,1736377093.206 [DAT](INFO): DAT read: Tx time:22:58:12.4704 2025-01-08T22:58:13.206Z,1736377093.206 [DAT](INFO): Ping request sent. 2025-01-08T22:58:13.206Z,1736377093.206 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:13.207Z,1736377093.207 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:13.207Z,1736377093.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000826 2025-01-08T22:58:13.216Z,1736377093.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 79.082878 m, bearing: 30.819968 deg, approach rate: -0.440936 m/s, LOS rate: -0.273763 deg/s, cmd heading: 52.485025 deg, new cmd heading: 52.177270 deg. 2025-01-08T22:58:13.217Z,1736377093.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910665 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:13.456Z,1736377093.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:13.457Z,1736377093.457 [DAT](INFO): DAT read: TxSync time:22:58:12.4696 2025-01-08T22:58:13.457Z,1736377093.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250811 2025-01-08T22:58:13.582Z,1736377093.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:13.616Z,1736377093.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:13.624Z,1736377093.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 78.918678 m, bearing: 30.727848 deg, approach rate: -0.389221 m/s, LOS rate: -0.218818 deg/s, cmd heading: 52.177270 deg, new cmd heading: 51.900335 deg. 2025-01-08T22:58:13.625Z,1736377093.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.905832 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:13.708Z,1736377093.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:13.709Z,1736377093.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502300 2025-01-08T22:58:13.960Z,1736377093.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:13.960Z,1736377093.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754002 2025-01-08T22:58:13.965Z,1736377093.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:13.996Z,1736377093.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:13.998Z,1736377093.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 78.760124 m, bearing: 30.643169 deg, approach rate: -0.413316 m/s, LOS rate: -0.221183 deg/s, cmd heading: 51.900336 deg, new cmd heading: 51.645791 deg. 2025-01-08T22:58:14.008Z,1736377094.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.901389 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:14.212Z,1736377094.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:14.212Z,1736377094.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005917 2025-01-08T22:58:14.407Z,1736377094.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:14.416Z,1736377094.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:14.435Z,1736377094.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 78.581177 m, bearing: 30.551032 deg, approach rate: -0.425716 m/s, LOS rate: -0.219693 deg/s, cmd heading: 51.645792 deg, new cmd heading: 51.368753 deg. 2025-01-08T22:58:14.436Z,1736377094.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896554 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:14.466Z,1736377094.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:14.467Z,1736377094.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260124 2025-01-08T22:58:14.716Z,1736377094.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:14.717Z,1736377094.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510822 2025-01-08T22:58:14.776Z,1736377094.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:14.805Z,1736377094.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:14.814Z,1736377094.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 78.428596 m, bearing: 30.476760 deg, approach rate: -0.391602 m/s, LOS rate: -0.190992 deg/s, cmd heading: 51.368753 deg, new cmd heading: 51.145505 deg. 2025-01-08T22:58:14.816Z,1736377094.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.892657 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:14.968Z,1736377094.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:14.969Z,1736377094.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762072 2025-01-08T22:58:15.175Z,1736377095.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:15.188Z,1736377095.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:15.190Z,1736377095.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:15.193Z,1736377095.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 78.261253 m, bearing: 30.399753 deg, approach rate: -0.434430 m/s, LOS rate: -0.200342 deg/s, cmd heading: 51.145505 deg, new cmd heading: 50.913990 deg. 2025-01-08T22:58:15.194Z,1736377095.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.888617 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:15.220Z,1736377095.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:15.220Z,1736377095.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013995 2025-01-08T22:58:15.472Z,1736377095.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:15.472Z,1736377095.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265969 2025-01-08T22:58:15.604Z,1736377095.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:15.615Z,1736377095.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:15.618Z,1736377095.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 78.083427 m, bearing: 30.323221 deg, approach rate: -0.418846 m/s, LOS rate: -0.180670 deg/s, cmd heading: 50.913989 deg, new cmd heading: 50.683874 deg. 2025-01-08T22:58:15.620Z,1736377095.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.884600 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:15.724Z,1736377095.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:15.725Z,1736377095.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518139 2025-01-08T22:58:15.976Z,1736377095.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:15.976Z,1736377095.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769834 2025-01-08T22:58:15.993Z,1736377095.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:16.002Z,1736377096.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:16.005Z,1736377096.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 77.920036 m, bearing: 30.256038 deg, approach rate: -0.421514 m/s, LOS rate: -0.173683 deg/s, cmd heading: 50.683873 deg, new cmd heading: 50.481900 deg. 2025-01-08T22:58:16.006Z,1736377096.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.881075 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:16.230Z,1736377096.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:16.231Z,1736377096.231 [DAT](INFO): DAT read: Rx Time:22:58:14.9994 2025-01-08T22:58:16.232Z,1736377096.232 [DAT](INFO): Rx dataTimestamp_ set to:1736377096.231652 2025-01-08T22:58:16.232Z,1736377096.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025998 2025-01-08T22:58:16.435Z,1736377096.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:16.444Z,1736377096.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.90 m. 2025-01-08T22:58:16.446Z,1736377096.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.900002 m, nav range: 77.738274 m, bearing: 30.184980 deg, approach rate: -0.411857 m/s, LOS rate: -0.161386 deg/s, cmd heading: 50.481901 deg, new cmd heading: 50.268231 deg. 2025-01-08T22:58:16.448Z,1736377096.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.877346 target range: 100.900002 and range: 100.90 m. 2025-01-08T22:58:16.480Z,1736377096.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:16.481Z,1736377096.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274055 2025-01-08T22:58:16.732Z,1736377096.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:16.739Z,1736377096.739 [DAT](INFO): DAT read: 22:58:14.9994 LVL= 27168, 32753, 32338, 32755, AGC= 61, IDX= 363, 0.01,-1.261,-2.825,-2.131,-1.770, PHS= 0.598,-1.008,-0.364, RAW= 113.5, 11.1, CAL= 122.3, 8.1, ROT= 27.7, -8.1 2025-01-08T22:58:16.740Z,1736377096.740 [DAT](INFO): got valid direction response: 22:58:14.9994 LVL= 27168, 32753, 32338, 32755, AGC= 61, IDX= 363, 0.01,-1.261,-2.825,-2.131,-1.770, PHS= 0.598,-1.008,-0.364, RAW= 113.5, 11.1, CAL= 122.3, 8.1, ROT= 27.7, -8.1 2025-01-08T22:58:16.741Z,1736377096.741 [DAT](INFO): DAT read: Bearing 27.7, -8.1 (Local) 2025-01-08T22:58:16.742Z,1736377096.742 [DAT](INFO): Local bearing/azimuth received: Bearing 27.7, -8.1 (Local) 2025-01-08T22:58:16.743Z,1736377096.743 [DAT](INFO): DAT read: Range 10 to 50 : 93.6 m (Round-trip 124.9 ms) speed 0.3 m/s 2025-01-08T22:58:16.744Z,1736377096.744 [DAT](INFO): DAT read: user:2961> 2025-01-08T22:58:16.745Z,1736377096.745 [DAT](INFO): DAT read: Tx time:22:58:16.1188 2025-01-08T22:58:16.745Z,1736377096.745 [DAT](INFO): Ping request sent. 2025-01-08T22:58:16.745Z,1736377096.745 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:16.745Z,1736377096.745 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:16.746Z,1736377096.746 [DAT](INFO): direction in FSK: [-0.323453,-0.283384,0.902813] 2025-01-08T22:58:16.747Z,1736377096.747 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:16.747Z,1736377096.747 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:16.751Z,1736377096.751 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:16.751Z,1736377096.751 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:16.865Z,1736377096.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:16.904Z,1736377096.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.599998 m, deltaT: 14.633029 s, deltaX: -7.300003 m, approachRate: -0.498872 m/s, rangeRepo size: 4 2025-01-08T22:58:16.907Z,1736377096.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.599998 m, bearing: 275.716191 deg, lat: 36.905198 deg, lon: -122.119915 deg, deltaT: 14.633029 s, deltaX: -7.300003 m, approachRate: -0.498872 m/s, posRepo size: 4 2025-01-08T22:58:16.911Z,1736377096.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T22:58:16.920Z,1736377096.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 77.561768 m, bearing: 30.115612 deg, approach rate: 0.000000 m/s, LOS rate: -0.161386 deg/s, cmd heading: 50.268232 deg, new cmd heading: 50.047694 deg. 2025-01-08T22:58:16.921Z,1736377096.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873497 target range: 93.599998 and range: 93.60 m. 2025-01-08T22:58:16.984Z,1736377096.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:16.985Z,1736377096.985 [DAT](INFO): DAT read: TxSync time:22:58:16.1180 2025-01-08T22:58:17.231Z,1736377097.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:17.236Z,1736377097.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:17.241Z,1736377097.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:17.243Z,1736377097.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T22:58:17.248Z,1736377097.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 77.408730 m, bearing: 30.060045 deg, approach rate: -0.445771 m/s, LOS rate: -0.162177 deg/s, cmd heading: 50.047692 deg, new cmd heading: 49.880661 deg. 2025-01-08T22:58:17.249Z,1736377097.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.870582 target range: 93.599998 and range: 93.60 m. 2025-01-08T22:58:17.488Z,1736377097.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:17.488Z,1736377097.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:17.488Z,1736377097.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:17.488Z,1736377097.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:17.661Z,1736377097.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:17.696Z,1736377097.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T22:58:17.699Z,1736377097.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 77.233612 m, bearing: 29.998064 deg, approach rate: -0.386098 m/s, LOS rate: -0.136965 deg/s, cmd heading: 49.880660 deg, new cmd heading: 49.694297 deg. 2025-01-08T22:58:17.704Z,1736377097.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867329 target range: 93.599998 and range: 93.60 m. 2025-01-08T22:58:17.740Z,1736377097.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:17.740Z,1736377097.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995222 2025-01-08T22:58:17.992Z,1736377097.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:17.992Z,1736377097.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247205 2025-01-08T22:58:18.050Z,1736377098.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:18.059Z,1736377098.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T22:58:18.062Z,1736377098.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 77.074532 m, bearing: 29.942898 deg, approach rate: -0.438598 m/s, LOS rate: -0.152411 deg/s, cmd heading: 49.694298 deg, new cmd heading: 49.528459 deg. 2025-01-08T22:58:18.063Z,1736377098.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864435 target range: 93.599998 and range: 93.60 m. 2025-01-08T22:58:18.244Z,1736377098.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:18.245Z,1736377098.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499480 2025-01-08T22:58:18.473Z,1736377098.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:18.481Z,1736377098.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T22:58:18.485Z,1736377098.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 76.904991 m, bearing: 29.883347 deg, approach rate: -0.401194 m/s, LOS rate: -0.141230 deg/s, cmd heading: 49.528458 deg, new cmd heading: 49.349412 deg. 2025-01-08T22:58:18.486Z,1736377098.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.861310 target range: 93.599998 and range: 93.60 m. 2025-01-08T22:58:18.496Z,1736377098.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:18.497Z,1736377098.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751496 2025-01-08T22:58:18.748Z,1736377098.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:18.748Z,1736377098.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003177 2025-01-08T22:58:18.909Z,1736377098.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:18.918Z,1736377098.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T22:58:18.921Z,1736377098.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 76.729858 m, bearing: 29.822869 deg, approach rate: -0.401118 m/s, LOS rate: -0.138834 deg/s, cmd heading: 49.349411 deg, new cmd heading: 49.167561 deg. 2025-01-08T22:58:18.922Z,1736377098.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858136 target range: 93.599998 and range: 93.60 m. 2025-01-08T22:58:19.001Z,1736377099.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:19.002Z,1736377099.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256566 2025-01-08T22:58:19.252Z,1736377099.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:19.253Z,1736377099.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507512 2025-01-08T22:58:19.331Z,1736377099.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:19.346Z,1736377099.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:19.348Z,1736377099.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T22:58:19.355Z,1736377099.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 76.559929 m, bearing: 29.764955 deg, approach rate: -0.394925 m/s, LOS rate: -0.134893 deg/s, cmd heading: 49.167561 deg, new cmd heading: 48.993435 deg. 2025-01-08T22:58:19.357Z,1736377099.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.855097 target range: 93.599998 and range: 93.60 m. 2025-01-08T22:58:19.504Z,1736377099.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:19.505Z,1736377099.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759504 2025-01-08T22:58:19.756Z,1736377099.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:19.756Z,1736377099.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011102 2025-01-08T22:58:19.880Z,1736377099.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:19.904Z,1736377099.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T22:58:19.913Z,1736377099.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 76.333298 m, bearing: 29.689160 deg, approach rate: -0.411351 m/s, LOS rate: -0.137983 deg/s, cmd heading: 48.993435 deg, new cmd heading: 48.765375 deg. 2025-01-08T22:58:19.921Z,1736377099.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.851116 target range: 93.599998 and range: 93.60 m. 2025-01-08T22:58:20.008Z,1736377100.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:20.009Z,1736377100.009 [DAT](INFO): DAT read: Rx Time:22:58:18.6459 2025-01-08T22:58:20.009Z,1736377100.009 [DAT](INFO): Rx dataTimestamp_ set to:1736377100.008893 2025-01-08T22:58:20.010Z,1736377100.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264472 2025-01-08T22:58:20.261Z,1736377100.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:20.261Z,1736377100.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516019 2025-01-08T22:58:20.409Z,1736377100.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:20.454Z,1736377100.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m. 2025-01-08T22:58:20.475Z,1736377100.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.599998 m, nav range: 76.115479 m, bearing: 29.616348 deg, approach rate: -0.392554 m/s, LOS rate: -0.131597 deg/s, cmd heading: 48.765375 deg, new cmd heading: 48.546316 deg. 2025-01-08T22:58:20.476Z,1736377100.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847293 target range: 93.599998 and range: 93.60 m. 2025-01-08T22:58:20.512Z,1736377100.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:20.519Z,1736377100.519 [DAT](INFO): DAT read: 22:58:18.6459 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 423,-0.00, 1.254,-0.376, 0.205, 0.621, PHS= 0.721,-0.950,-0.419, RAW= 108.1, 8.8, CAL= 117.9, 6.6, ROT= 32.1, -6.6 2025-01-08T22:58:20.520Z,1736377100.520 [DAT](INFO): got valid direction response: 22:58:18.6459 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 423,-0.00, 1.254,-0.376, 0.205, 0.621, PHS= 0.721,-0.950,-0.419, RAW= 108.1, 8.8, CAL= 117.9, 6.6, ROT= 32.1, -6.6 2025-01-08T22:58:20.521Z,1736377100.521 [DAT](INFO): DAT read: Bearing 32.1, -6.6 (Local) 2025-01-08T22:58:20.522Z,1736377100.522 [DAT](INFO): Local bearing/azimuth received: Bearing 32.1, -6.6 (Local) 2025-01-08T22:58:20.524Z,1736377100.524 [DAT](INFO): DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.9 ms) speed 0.4 m/s 2025-01-08T22:58:20.525Z,1736377100.525 [DAT](INFO): DAT read: user:2962> 2025-01-08T22:58:20.525Z,1736377100.525 [DAT](INFO): DAT read: Tx time:22:58:19.7689 2025-01-08T22:58:20.526Z,1736377100.526 [DAT](INFO): Ping request sent. 2025-01-08T22:58:20.526Z,1736377100.526 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:20.526Z,1736377100.526 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:20.527Z,1736377100.527 [DAT](INFO): direction in FSK: [-0.276533,-0.197316,0.940530] 2025-01-08T22:58:20.528Z,1736377100.528 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:20.528Z,1736377100.528 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:20.539Z,1736377100.539 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:20.540Z,1736377100.540 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:20.769Z,1736377100.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:20.770Z,1736377100.770 [DAT](INFO): DAT read: TxSync time:22:58:19.7681 2025-01-08T22:58:20.852Z,1736377100.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:20.868Z,1736377100.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.780110 s, deltaX: -1.500000 m, approachRate: -0.396814 m/s, rangeRepo size: 4 2025-01-08T22:58:20.870Z,1736377100.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.099998 m, bearing: 265.830794 deg, lat: 36.905198 deg, lon: -122.120078 deg, deltaT: 3.780110 s, deltaX: -1.500000 m, approachRate: -0.396814 m/s, posRepo size: 4 2025-01-08T22:58:20.871Z,1736377100.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T22:58:20.873Z,1736377100.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 69.935272 m, bearing: 19.187241 deg, approach rate: 0.000000 m/s, LOS rate: -0.131597 deg/s, cmd heading: 48.546317 deg, new cmd heading: 48.383743 deg. 2025-01-08T22:58:20.874Z,1736377100.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.844456 target range: 92.099998 and range: 92.10 m. 2025-01-08T22:58:21.020Z,1736377101.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:21.230Z,1736377101.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:21.239Z,1736377101.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T22:58:21.242Z,1736377101.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 69.790932 m, bearing: 19.102625 deg, approach rate: -0.386581 m/s, LOS rate: -0.227092 deg/s, cmd heading: 48.383742 deg, new cmd heading: 48.129370 deg. 2025-01-08T22:58:21.243Z,1736377101.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840016 target range: 92.099998 and range: 92.10 m. 2025-01-08T22:58:21.272Z,1736377101.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:21.524Z,1736377101.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:21.604Z,1736377101.604 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010814592674,35.0, +10.9,493.3, 0 2025-01-08T22:58:21.611Z,1736377101.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T22:58:21.611Z,1736377101.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:21.620Z,1736377101.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:21.622Z,1736377101.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T22:58:21.625Z,1736377101.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 69.646027 m, bearing: 19.016719 deg, approach rate: -0.378875 m/s, LOS rate: -0.225081 deg/s, cmd heading: 48.129372 deg, new cmd heading: 47.871120 deg. 2025-01-08T22:58:21.626Z,1736377101.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835509 target range: 92.099998 and range: 92.10 m. 2025-01-08T22:58:21.776Z,1736377101.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:21.776Z,1736377101.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:21.776Z,1736377101.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:21.777Z,1736377101.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:22.028Z,1736377102.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:22.028Z,1736377102.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502660 2025-01-08T22:58:22.045Z,1736377102.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T22:58:22.045Z,1736377102.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:22.076Z,1736377102.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T22:58:22.078Z,1736377102.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 69.481476 m, bearing: 18.917784 deg, approach rate: -0.362764 m/s, LOS rate: -0.218625 deg/s, cmd heading: 47.871119 deg, new cmd heading: 47.573615 deg. 2025-01-08T22:58:22.085Z,1736377102.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830316 target range: 92.099998 and range: 92.10 m. 2025-01-08T22:58:22.280Z,1736377102.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:22.280Z,1736377102.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754738 2025-01-08T22:58:22.522Z,1736377102.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:22.532Z,1736377102.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:22.532Z,1736377102.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006767 2025-01-08T22:58:22.555Z,1736377102.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T22:58:22.558Z,1736377102.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 69.278938 m, bearing: 18.794332 deg, approach rate: -0.425836 m/s, LOS rate: -0.260318 deg/s, cmd heading: 47.573613 deg, new cmd heading: 47.202179 deg. 2025-01-08T22:58:22.559Z,1736377102.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823833 target range: 92.099998 and range: 92.10 m. 2025-01-08T22:58:22.784Z,1736377102.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:22.785Z,1736377102.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259443 2025-01-08T22:58:22.987Z,1736377102.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:22.996Z,1736377102.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T22:58:22.999Z,1736377102.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 69.082169 m, bearing: 18.673772 deg, approach rate: -0.442051 m/s, LOS rate: -0.271614 deg/s, cmd heading: 47.202181 deg, new cmd heading: 46.839476 deg. 2025-01-08T22:58:23.001Z,1736377103.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817503 target range: 92.099998 and range: 92.10 m. 2025-01-08T22:58:23.036Z,1736377103.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:23.037Z,1736377103.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511054 2025-01-08T22:58:23.289Z,1736377103.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:23.290Z,1736377103.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764053 2025-01-08T22:58:23.383Z,1736377103.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:23.417Z,1736377103.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T22:58:23.426Z,1736377103.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 68.914818 m, bearing: 18.570693 deg, approach rate: -0.399409 m/s, LOS rate: -0.246612 deg/s, cmd heading: 46.839477 deg, new cmd heading: 46.529491 deg. 2025-01-08T22:58:23.429Z,1736377103.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812093 target range: 92.099998 and range: 92.10 m. 2025-01-08T22:58:23.540Z,1736377103.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:23.541Z,1736377103.541 [DAT](INFO): DAT read: Rx Time:22:58:22.2937 2025-01-08T22:58:23.541Z,1736377103.541 [DAT](INFO): Rx dataTimestamp_ set to:1736377103.540711 2025-01-08T22:58:23.541Z,1736377103.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015852 2025-01-08T22:58:23.792Z,1736377103.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:23.792Z,1736377103.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266775 2025-01-08T22:58:23.810Z,1736377103.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:23.818Z,1736377103.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:23.821Z,1736377103.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T22:58:23.823Z,1736377103.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 68.723984 m, bearing: 18.449935 deg, approach rate: -0.470661 m/s, LOS rate: -0.298655 deg/s, cmd heading: 46.529492 deg, new cmd heading: 46.166219 deg. 2025-01-08T22:58:23.824Z,1736377103.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805753 target range: 92.099998 and range: 92.10 m. 2025-01-08T22:58:24.044Z,1736377104.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:24.051Z,1736377104.051 [DAT](INFO): DAT read: 22:58:22.2937 LVL= 22752, 32753, 32754, 32755, AGC= 61, IDX= 416,-0.10,-2.262, 2.410, 2.932,-2.992, PHS= 0.818,-0.835,-0.363, RAW= 106.1, 5.2, CAL= 116.7, 2.9, ROT= 33.3, -2.9 2025-01-08T22:58:24.052Z,1736377104.052 [DAT](INFO): got valid direction response: 22:58:22.2937 LVL= 22752, 32753, 32754, 32755, AGC= 61, IDX= 416,-0.10,-2.262, 2.410, 2.932,-2.992, PHS= 0.818,-0.835,-0.363, RAW= 106.1, 5.2, CAL= 116.7, 2.9, ROT= 33.3, -2.9 2025-01-08T22:58:24.053Z,1736377104.053 [DAT](INFO): DAT read: Bearing 33.3, -2.9 (Local) 2025-01-08T22:58:24.053Z,1736377104.053 [DAT](INFO): Local bearing/azimuth received: Bearing 33.3, -2.9 (Local) 2025-01-08T22:58:24.060Z,1736377104.060 [DAT](INFO): DAT read: Range 10 to 50 : 90.5 m (Round-trip 120.7 ms) speed 0.4 m/s 2025-01-08T22:58:24.061Z,1736377104.061 [DAT](INFO): DAT read: user:2963> 2025-01-08T22:58:24.061Z,1736377104.061 [DAT](INFO): DAT read: Tx time:22:58:23.3689 2025-01-08T22:58:24.062Z,1736377104.062 [DAT](INFO): Ping request sent. 2025-01-08T22:58:24.062Z,1736377104.062 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:24.062Z,1736377104.062 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:24.063Z,1736377104.063 [DAT](INFO): direction in FSK: [-0.207043,-0.168158,0.963772] 2025-01-08T22:58:24.089Z,1736377104.089 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:24.089Z,1736377104.089 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:24.092Z,1736377104.092 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:24.092Z,1736377104.092 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:24.203Z,1736377104.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:24.236Z,1736377104.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.500000 m, deltaT: 3.531940 s, deltaX: -1.599998 m, approachRate: -0.453008 m/s, rangeRepo size: 4 2025-01-08T22:58:24.238Z,1736377104.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.500000 m, bearing: 266.567521 deg, lat: 36.904635 deg, lon: -122.120779 deg, deltaT: 3.531940 s, deltaX: -1.599998 m, approachRate: -0.453008 m/s, posRepo size: 4 2025-01-08T22:58:24.238Z,1736377104.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T22:58:24.245Z,1736377104.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 40.908401 m, bearing: 273.431176 deg, approach rate: 0.000000 m/s, LOS rate: -0.298655 deg/s, cmd heading: 46.166218 deg, new cmd heading: 45.802207 deg. 2025-01-08T22:58:24.246Z,1736377104.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.799399 target range: 90.500000 and range: 90.50 m. 2025-01-08T22:58:24.297Z,1736377104.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:24.298Z,1736377104.298 [DAT](INFO): DAT read: TxSync time:22:58:23.3681 2025-01-08T22:58:24.548Z,1736377104.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:24.632Z,1736377104.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:24.641Z,1736377104.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T22:58:24.645Z,1736377104.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 41.103897 m, bearing: 273.214812 deg, approach rate: 0.471567 m/s, LOS rate: -0.519423 deg/s, cmd heading: 45.802207 deg, new cmd heading: 45.156230 deg. 2025-01-08T22:58:24.648Z,1736377104.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788125 target range: 90.500000 and range: 90.50 m. 2025-01-08T22:58:24.801Z,1736377104.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:25.054Z,1736377105.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:25.088Z,1736377105.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:25.096Z,1736377105.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T22:58:25.099Z,1736377105.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 41.311615 m, bearing: 272.987142 deg, approach rate: 0.456427 m/s, LOS rate: -0.497750 deg/s, cmd heading: 45.156228 deg, new cmd heading: 44.476689 deg. 2025-01-08T22:58:25.101Z,1736377105.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.776265 target range: 90.500000 and range: 90.50 m. 2025-01-08T22:58:25.304Z,1736377105.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:25.557Z,1736377105.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:25.567Z,1736377105.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:25.596Z,1736377105.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T22:58:25.598Z,1736377105.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 41.530651 m, bearing: 272.750703 deg, approach rate: 0.449972 m/s, LOS rate: -0.483160 deg/s, cmd heading: 44.476689 deg, new cmd heading: 43.771151 deg. 2025-01-08T22:58:25.603Z,1736377105.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763951 target range: 90.500000 and range: 90.50 m. 2025-01-08T22:58:25.808Z,1736377105.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:26.047Z,1736377106.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:26.060Z,1736377106.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:26.075Z,1736377106.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:26.077Z,1736377106.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T22:58:26.080Z,1736377106.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 41.754044 m, bearing: 272.503370 deg, approach rate: 0.452367 m/s, LOS rate: -0.498167 deg/s, cmd heading: 43.771151 deg, new cmd heading: 43.033163 deg. 2025-01-08T22:58:26.081Z,1736377106.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751070 target range: 90.500000 and range: 90.50 m. 2025-01-08T22:58:26.312Z,1736377106.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:26.313Z,1736377106.313 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:26.313Z,1736377106.313 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:26.313Z,1736377106.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:26.401Z,1736377106.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:26.410Z,1736377106.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T22:58:26.413Z,1736377106.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 41.919224 m, bearing: 272.322560 deg, approach rate: 0.496805 m/s, LOS rate: -0.541669 deg/s, cmd heading: 43.033163 deg, new cmd heading: 42.492888 deg. 2025-01-08T22:58:26.414Z,1736377106.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741641 target range: 90.500000 and range: 90.50 m. 2025-01-08T22:58:26.565Z,1736377106.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:26.566Z,1736377106.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504177 2025-01-08T22:58:26.816Z,1736377106.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:26.817Z,1736377106.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755403 2025-01-08T22:58:26.836Z,1736377106.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:26.845Z,1736377106.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T22:58:26.848Z,1736377106.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 42.122047 m, bearing: 272.094986 deg, approach rate: 0.466211 m/s, LOS rate: -0.520583 deg/s, cmd heading: 42.492888 deg, new cmd heading: 41.813486 deg. 2025-01-08T22:58:26.849Z,1736377106.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.729783 target range: 90.500000 and range: 90.50 m. 2025-01-08T22:58:27.068Z,1736377107.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:27.069Z,1736377107.069 [DAT](INFO): DAT read: Rx Time:22:58:25.8913 2025-01-08T22:58:27.069Z,1736377107.069 [DAT](INFO): Rx dataTimestamp_ set to:1736377107.068894 2025-01-08T22:58:27.070Z,1736377107.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007946 2025-01-08T22:58:27.210Z,1736377107.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:27.239Z,1736377107.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T22:58:27.246Z,1736377107.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 42.296383 m, bearing: 271.900122 deg, approach rate: 0.442561 m/s, LOS rate: -0.492634 deg/s, cmd heading: 41.813486 deg, new cmd heading: 41.231325 deg. 2025-01-08T22:58:27.247Z,1736377107.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719622 target range: 90.500000 and range: 90.50 m. 2025-01-08T22:58:27.321Z,1736377107.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:27.322Z,1736377107.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259913 2025-01-08T22:58:27.573Z,1736377107.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:27.576Z,1736377107.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513120 2025-01-08T22:58:27.673Z,1736377107.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:27.707Z,1736377107.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T22:58:27.713Z,1736377107.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 42.503548 m, bearing: 271.654493 deg, approach rate: 0.442652 m/s, LOS rate: -0.522280 deg/s, cmd heading: 41.231325 deg, new cmd heading: 40.498071 deg. 2025-01-08T22:58:27.714Z,1736377107.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706825 target range: 90.500000 and range: 90.50 m. 2025-01-08T22:58:27.825Z,1736377107.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:27.832Z,1736377107.832 [DAT](INFO): DAT read: 22:58:25.8913 LVL= 20544, 32145, 26034, 32755, AGC= 60, IDX= 423,-0.03,-1.717, 2.938,-2.882,-2.469, PHS= 0.840,-0.828,-0.415, RAW= 103.8, 5.4, CAL= 114.1, 3.4, ROT= 35.9, -3.4 2025-01-08T22:58:27.833Z,1736377107.833 [DAT](INFO): got valid direction response: 22:58:25.8913 LVL= 20544, 32145, 26034, 32755, AGC= 60, IDX= 423,-0.03,-1.717, 2.938,-2.882,-2.469, PHS= 0.840,-0.828,-0.415, RAW= 103.8, 5.4, CAL= 114.1, 3.4, ROT= 35.9, -3.4 2025-01-08T22:58:27.835Z,1736377107.835 [DAT](INFO): DAT read: Bearing 35.9, -3.4 (Local) 2025-01-08T22:58:27.836Z,1736377107.836 [DAT](INFO): Local bearing/azimuth received: Bearing 35.9, -3.4 (Local) 2025-01-08T22:58:27.837Z,1736377107.837 [DAT](INFO): DAT read: Range 10 to 50 : 88.6 m (Round-trip 118.2 ms) speed 0.3 m/s 2025-01-08T22:58:27.838Z,1736377107.838 [DAT](INFO): DAT read: user:2964> 2025-01-08T22:58:27.839Z,1736377107.839 [DAT](INFO): DAT read: Tx time:22:58:27.0189 2025-01-08T22:58:27.840Z,1736377107.840 [DAT](INFO): Ping request sent. 2025-01-08T22:58:27.840Z,1736377107.840 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:27.841Z,1736377107.841 [DAT](INFO): DAT read: TxSync time:22:58:27.0181 2025-01-08T22:58:27.842Z,1736377107.842 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:27.842Z,1736377107.842 [DAT](INFO): direction in FSK: [-0.207913,-0.126958,0.969873] 2025-01-08T22:58:27.843Z,1736377107.843 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:27.846Z,1736377107.846 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:27.849Z,1736377107.849 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:27.849Z,1736377107.849 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:28.042Z,1736377108.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:28.076Z,1736377108.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:28.086Z,1736377108.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.599998 m, deltaT: 3.781048 s, deltaX: -1.900002 m, approachRate: -0.502507 m/s, rangeRepo size: 4 2025-01-08T22:58:28.092Z,1736377108.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 88.599998 m, bearing: 256.081126 deg, lat: 36.904591 deg, lon: -122.120779 deg, deltaT: 3.781048 s, deltaX: -1.900002 m, approachRate: -0.502507 m/s, posRepo size: 4 2025-01-08T22:58:28.098Z,1736377108.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:58:28.106Z,1736377108.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 42.824715 m, bearing: 264.893595 deg, approach rate: 0.000000 m/s, LOS rate: -0.522280 deg/s, cmd heading: 40.498070 deg, new cmd heading: 39.905987 deg. 2025-01-08T22:58:28.111Z,1736377108.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696491 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:58:28.328Z,1736377108.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:28.433Z,1736377108.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:28.440Z,1736377108.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:28.442Z,1736377108.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:58:28.445Z,1736377108.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 43.015320 m, bearing: 264.714592 deg, approach rate: 0.532860 m/s, LOS rate: -0.498206 deg/s, cmd heading: 39.905988 deg, new cmd heading: 39.371376 deg. 2025-01-08T22:58:28.446Z,1736377108.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687160 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:58:28.580Z,1736377108.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:28.580Z,1736377108.580 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:28.580Z,1736377108.580 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:28.581Z,1736377108.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:28.832Z,1736377108.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:28.832Z,1736377108.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991911 2025-01-08T22:58:28.864Z,1736377108.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:28.874Z,1736377108.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:58:28.877Z,1736377108.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 43.212585 m, bearing: 264.511517 deg, approach rate: 0.457173 m/s, LOS rate: -0.468489 deg/s, cmd heading: 39.371376 deg, new cmd heading: 38.764953 deg. 2025-01-08T22:58:28.878Z,1736377108.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676576 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:58:29.084Z,1736377109.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:29.085Z,1736377109.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244530 2025-01-08T22:58:29.236Z,1736377109.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:29.245Z,1736377109.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:58:29.268Z,1736377109.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 43.382217 m, bearing: 264.335549 deg, approach rate: 0.457029 m/s, LOS rate: -0.472246 deg/s, cmd heading: 38.764954 deg, new cmd heading: 38.239129 deg. 2025-01-08T22:58:29.269Z,1736377109.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667399 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:58:29.337Z,1736377109.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:29.338Z,1736377109.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497284 2025-01-08T22:58:29.589Z,1736377109.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:29.591Z,1736377109.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750426 2025-01-08T22:58:29.737Z,1736377109.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:29.766Z,1736377109.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:58:29.773Z,1736377109.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 43.597317 m, bearing: 264.094258 deg, approach rate: 0.412756 m/s, LOS rate: -0.460728 deg/s, cmd heading: 38.239128 deg, new cmd heading: 37.518869 deg. 2025-01-08T22:58:29.774Z,1736377109.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654828 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:58:29.840Z,1736377109.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:29.840Z,1736377109.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999978 2025-01-08T22:58:30.092Z,1736377110.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:30.092Z,1736377110.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251924 2025-01-08T22:58:30.132Z,1736377110.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:30.141Z,1736377110.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:58:30.144Z,1736377110.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 43.765549 m, bearing: 263.903020 deg, approach rate: 0.448120 m/s, LOS rate: -0.507443 deg/s, cmd heading: 37.518868 deg, new cmd heading: 36.947378 deg. 2025-01-08T22:58:30.145Z,1736377110.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644853 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:58:30.344Z,1736377110.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:30.345Z,1736377110.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504079 2025-01-08T22:58:30.598Z,1736377110.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:30.601Z,1736377110.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760550 2025-01-08T22:58:30.603Z,1736377110.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:30.614Z,1736377110.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:30.629Z,1736377110.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:58:30.642Z,1736377110.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 43.961506 m, bearing: 263.677720 deg, approach rate: 0.402373 m/s, LOS rate: -0.460560 deg/s, cmd heading: 36.947379 deg, new cmd heading: 36.274526 deg. 2025-01-08T22:58:30.643Z,1736377110.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633110 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:58:30.848Z,1736377110.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:30.848Z,1736377110.848 [DAT](INFO): DAT read: Rx Time:22:58:29.5396 2025-01-08T22:58:30.849Z,1736377110.849 [DAT](INFO): Rx dataTimestamp_ set to:1736377110.848659 2025-01-08T22:58:30.849Z,1736377110.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008956 2025-01-08T22:58:30.954Z,1736377110.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:30.993Z,1736377110.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:58:30.996Z,1736377110.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 44.100937 m, bearing: 263.500102 deg, approach rate: 0.382789 m/s, LOS rate: -0.486086 deg/s, cmd heading: 36.274527 deg, new cmd heading: 35.743372 deg. 2025-01-08T22:58:30.997Z,1736377110.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623839 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:58:31.101Z,1736377111.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:31.102Z,1736377111.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261572 2025-01-08T22:58:31.338Z,1736377111.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:31.347Z,1736377111.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.60 m. 2025-01-08T22:58:31.351Z,1736377111.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.599998 m, nav range: 44.248653 m, bearing: 263.309513 deg, approach rate: 0.416851 m/s, LOS rate: -0.536039 deg/s, cmd heading: 35.743370 deg, new cmd heading: 35.173532 deg. 2025-01-08T22:58:31.352Z,1736377111.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:31.359Z,1736377111.359 [DAT](INFO): DAT read: 22:58:29.5395 LVL= 16272, 32753, 25650, 32755, AGC= 59, IDX= 421, 0.16,-0.402,-2.075,-1.755,-1.233, PHS= 0.919,-0.796,-0.525, RAW= 98.4, 5.1, CAL= 108.1, 3.5, ROT= 41.9, -3.5 2025-01-08T22:58:31.360Z,1736377111.360 [DAT](INFO): got valid direction response: 22:58:29.5395 LVL= 16272, 32753, 25650, 32755, AGC= 59, IDX= 421, 0.16,-0.402,-2.075,-1.755,-1.233, PHS= 0.919,-0.796,-0.525, RAW= 98.4, 5.1, CAL= 108.1, 3.5, ROT= 41.9, -3.5 2025-01-08T22:58:31.361Z,1736377111.361 [DAT](INFO): DAT read: Bearing 41.9, -3.5 (Local) 2025-01-08T22:58:31.361Z,1736377111.361 [DAT](INFO): Local bearing/azimuth received: Bearing 41.9, -3.5 (Local) 2025-01-08T22:58:31.363Z,1736377111.363 [DAT](INFO): DAT read: Range 10 to 50 : 87.3 m (Round-trip 116.5 ms) speed 0.3 m/s 2025-01-08T22:58:31.364Z,1736377111.364 [DAT](INFO): DAT read: user:2965> 2025-01-08T22:58:31.365Z,1736377111.365 [DAT](INFO): DAT read: Tx time:22:58:30.6689 2025-01-08T22:58:31.365Z,1736377111.365 [DAT](INFO): Ping request sent. 2025-01-08T22:58:31.365Z,1736377111.365 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:31.365Z,1736377111.365 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:31.368Z,1736377111.368 [DAT](INFO): direction in FSK: [-0.194469,-0.034548,0.980300] 2025-01-08T22:58:31.368Z,1736377111.368 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:31.368Z,1736377111.368 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:31.385Z,1736377111.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613894 target range: 88.599998 and range: 88.60 m. 2025-01-08T22:58:31.389Z,1736377111.389 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:31.389Z,1736377111.389 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:31.607Z,1736377111.607 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:31.610Z,1736377111.610 [DAT](INFO): DAT read: TxSync time:22:58:30.6681 2025-01-08T22:58:31.811Z,1736377111.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:31.837Z,1736377111.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.300003 m, deltaT: 3.527683 s, deltaX: -1.299995 m, approachRate: -0.368513 m/s, rangeRepo size: 4 2025-01-08T22:58:31.844Z,1736377111.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.300003 m, bearing: 234.463227 deg, lat: 36.904576 deg, lon: -122.120779 deg, deltaT: 3.527683 s, deltaX: -1.299995 m, approachRate: -0.368513 m/s, posRepo size: 4 2025-01-08T22:58:31.844Z,1736377111.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:58:31.847Z,1736377111.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 44.640133 m, bearing: 260.994621 deg, approach rate: 0.000000 m/s, LOS rate: -0.536039 deg/s, cmd heading: 35.173531 deg, new cmd heading: 34.386118 deg. 2025-01-08T22:58:31.852Z,1736377111.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600151 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:58:31.856Z,1736377111.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:32.110Z,1736377112.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:32.144Z,1736377112.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:32.153Z,1736377112.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:58:32.156Z,1736377112.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 44.762203 m, bearing: 260.837978 deg, approach rate: 0.385274 m/s, LOS rate: -0.493043 deg/s, cmd heading: 34.386120 deg, new cmd heading: 33.917483 deg. 2025-01-08T22:58:32.157Z,1736377112.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591972 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:58:32.364Z,1736377112.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:32.590Z,1736377112.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:32.618Z,1736377112.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:32.635Z,1736377112.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:32.641Z,1736377112.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:58:32.649Z,1736377112.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 44.921818 m, bearing: 260.629848 deg, approach rate: 0.327302 m/s, LOS rate: -0.425268 deg/s, cmd heading: 33.917483 deg, new cmd heading: 33.295339 deg. 2025-01-08T22:58:32.651Z,1736377112.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581113 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:58:32.869Z,1736377112.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:32.869Z,1736377112.869 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:32.869Z,1736377112.869 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:32.869Z,1736377112.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:32.993Z,1736377112.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:33.002Z,1736377113.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:58:33.005Z,1736377113.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 45.063473 m, bearing: 260.441967 deg, approach rate: 0.392078 m/s, LOS rate: -0.518389 deg/s, cmd heading: 33.295338 deg, new cmd heading: 32.733486 deg. 2025-01-08T22:58:33.006Z,1736377113.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571307 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:58:33.124Z,1736377113.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:33.125Z,1736377113.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760252 2025-01-08T22:58:33.361Z,1736377113.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:33.371Z,1736377113.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:58:33.372Z,1736377113.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:33.372Z,1736377113.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007231 2025-01-08T22:58:33.377Z,1736377113.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 45.191368 m, bearing: 260.269390 deg, approach rate: 0.347265 m/s, LOS rate: -0.467258 deg/s, cmd heading: 32.733487 deg, new cmd heading: 32.217237 deg. 2025-01-08T22:58:33.380Z,1736377113.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562297 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:58:33.631Z,1736377113.631 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:33.634Z,1736377113.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267861 2025-01-08T22:58:33.812Z,1736377113.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:33.822Z,1736377113.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:58:33.825Z,1736377113.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 45.349522 m, bearing: 260.061923 deg, approach rate: 0.350715 m/s, LOS rate: -0.458465 deg/s, cmd heading: 32.217237 deg, new cmd heading: 31.597032 deg. 2025-01-08T22:58:33.826Z,1736377113.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.551472 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:58:33.880Z,1736377113.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:33.882Z,1736377113.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516273 2025-01-08T22:58:34.132Z,1736377114.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:34.132Z,1736377114.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767048 2025-01-08T22:58:34.172Z,1736377114.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:34.181Z,1736377114.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:58:34.185Z,1736377114.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 45.473171 m, bearing: 259.893577 deg, approach rate: 0.344326 m/s, LOS rate: -0.467519 deg/s, cmd heading: 31.597032 deg, new cmd heading: 31.093379 deg. 2025-01-08T22:58:34.186Z,1736377114.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542682 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:58:34.385Z,1736377114.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:34.386Z,1736377114.386 [DAT](INFO): DAT read: Rx Time:22:58:33.1877 2025-01-08T22:58:34.386Z,1736377114.386 [DAT](INFO): Rx dataTimestamp_ set to:1736377114.385952 2025-01-08T22:58:34.387Z,1736377114.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021529 2025-01-08T22:58:34.632Z,1736377114.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:34.638Z,1736377114.638 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:34.641Z,1736377114.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275030 2025-01-08T22:58:34.681Z,1736377114.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:34.683Z,1736377114.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T22:58:34.697Z,1736377114.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 45.627972 m, bearing: 259.680413 deg, approach rate: 0.308518 m/s, LOS rate: -0.423395 deg/s, cmd heading: 31.093378 deg, new cmd heading: 30.456083 deg. 2025-01-08T22:58:34.712Z,1736377114.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531559 target range: 87.300003 and range: 87.30 m. 2025-01-08T22:58:34.889Z,1736377114.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:34.902Z,1736377114.902 [DAT](INFO): DAT read: 22:58:33.1877 LVL= 13168, 25425, 19410, 27203, AGC= 59, IDX= 418, 0.18, 1.196,-0.564,-0.364, 0.202, PHS= 1.082,-0.719,-0.568, RAW= 94.3, 2.4, CAL= 103.0, 0.1, ROT= 47.0, -0.1 2025-01-08T22:58:34.903Z,1736377114.903 [DAT](INFO): got valid direction response: 22:58:33.1877 LVL= 13168, 25425, 19410, 27203, AGC= 59, IDX= 418, 0.18, 1.196,-0.564,-0.364, 0.202, PHS= 1.082,-0.719,-0.568, RAW= 94.3, 2.4, CAL= 103.0, 0.1, ROT= 47.0, -0.1 2025-01-08T22:58:34.904Z,1736377114.904 [DAT](INFO): DAT read: Bearing 47.0, -0.1 (Local) 2025-01-08T22:58:34.904Z,1736377114.904 [DAT](INFO): Local bearing/azimuth received: Bearing 47.0, -0.1 (Local) 2025-01-08T22:58:34.906Z,1736377114.906 [DAT](INFO): DAT read: Range 10 to 50 : 85.9 m (Round-trip 114.6 ms) speed 0.4 m/s 2025-01-08T22:58:34.907Z,1736377114.907 [DAT](INFO): DAT read: user:2966> 2025-01-08T22:58:34.928Z,1736377114.928 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:34.929Z,1736377114.929 [DAT](INFO): direction in FSK: [-0.137541,0.034669,0.989889] 2025-01-08T22:58:34.929Z,1736377114.929 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:34.937Z,1736377114.937 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:34.937Z,1736377114.937 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:34.938Z,1736377114.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:35.069Z,1736377115.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:35.104Z,1736377115.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.900002 m, deltaT: 3.537244 s, deltaX: -1.400002 m, approachRate: -0.395789 m/s, rangeRepo size: 4 2025-01-08T22:58:35.106Z,1736377115.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.900002 m, bearing: 219.171110 deg, lat: 36.904546 deg, lon: -122.120701 deg, deltaT: 3.537244 s, deltaX: -1.400002 m, approachRate: -0.395789 m/s, posRepo size: 4 2025-01-08T22:58:35.107Z,1736377115.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.90 m. 2025-01-08T22:58:35.121Z,1736377115.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.900002 m, nav range: 39.766041 m, bearing: 252.829155 deg, approach rate: 0.000000 m/s, LOS rate: -0.423395 deg/s, cmd heading: 30.456083 deg, new cmd heading: 29.928041 deg. 2025-01-08T22:58:35.122Z,1736377115.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.522343 target range: 85.900002 and range: 85.90 m. 2025-01-08T22:58:35.140Z,1736377115.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:35.141Z,1736377115.141 [DAT](INFO): DAT read: Tx time:22:58:34.3190 2025-01-08T22:58:35.141Z,1736377115.141 [DAT](INFO): Ping request sent. 2025-01-08T22:58:35.141Z,1736377115.141 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:35.142Z,1736377115.142 [DAT](INFO): DAT read: TxSync time:22:58:34.3182 2025-01-08T22:58:35.142Z,1736377115.142 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:35.143Z,1736377115.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001536 2025-01-08T22:58:35.392Z,1736377115.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:35.392Z,1736377115.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251144 2025-01-08T22:58:35.432Z,1736377115.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:35.449Z,1736377115.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.90 m. 2025-01-08T22:58:35.454Z,1736377115.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.900002 m, nav range: 39.906620 m, bearing: 252.661107 deg, approach rate: 0.400334 m/s, LOS rate: -0.476871 deg/s, cmd heading: 29.928041 deg, new cmd heading: 29.425687 deg. 2025-01-08T22:58:35.455Z,1736377115.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513575 target range: 85.900002 and range: 85.90 m. 2025-01-08T22:58:35.560Z,1736377115.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:58:35.646Z,1736377115.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:35.648Z,1736377115.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506623 2025-01-08T22:58:35.836Z,1736377115.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:35.844Z,1736377115.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.90 m. 2025-01-08T22:58:35.848Z,1736377115.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.900002 m, nav range: 40.071102 m, bearing: 252.481832 deg, approach rate: 0.416435 m/s, LOS rate: -0.452022 deg/s, cmd heading: 29.425688 deg, new cmd heading: 28.890088 deg. 2025-01-08T22:58:35.849Z,1736377115.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.504227 target range: 85.900002 and range: 85.90 m. 2025-01-08T22:58:35.896Z,1736377115.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:35.897Z,1736377115.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756082 2025-01-08T22:58:36.148Z,1736377116.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:36.148Z,1736377116.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007133 2025-01-08T22:58:36.231Z,1736377116.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:36.241Z,1736377116.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.90 m. 2025-01-08T22:58:36.243Z,1736377116.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.900002 m, nav range: 40.231758 m, bearing: 252.306718 deg, approach rate: 0.405528 m/s, LOS rate: -0.440259 deg/s, cmd heading: 28.890088 deg, new cmd heading: 28.366857 deg. 2025-01-08T22:58:36.244Z,1736377116.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495095 target range: 85.900002 and range: 85.90 m. 2025-01-08T22:58:36.400Z,1736377116.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:36.401Z,1736377116.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259854 2025-01-08T22:58:36.564Z,1736377116.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:58:36.654Z,1736377116.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:36.658Z,1736377116.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516407 2025-01-08T22:58:36.690Z,1736377116.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:36.709Z,1736377116.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:36.711Z,1736377116.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.90 m. 2025-01-08T22:58:36.721Z,1736377116.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.900002 m, nav range: 40.418198 m, bearing: 252.103531 deg, approach rate: 0.396461 m/s, LOS rate: -0.430080 deg/s, cmd heading: 28.366858 deg, new cmd heading: 27.760133 deg. 2025-01-08T22:58:36.722Z,1736377116.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484506 target range: 85.900002 and range: 85.90 m. 2025-01-08T22:58:36.904Z,1736377116.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:36.904Z,1736377116.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763253 2025-01-08T22:58:37.062Z,1736377117.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:37.071Z,1736377117.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.90 m. 2025-01-08T22:58:37.074Z,1736377117.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.900002 m, nav range: 40.575829 m, bearing: 251.938075 deg, approach rate: 0.437768 m/s, LOS rate: -0.457712 deg/s, cmd heading: 27.760133 deg, new cmd heading: 27.265708 deg. 2025-01-08T22:58:37.075Z,1736377117.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475876 target range: 85.900002 and range: 85.90 m. 2025-01-08T22:58:37.157Z,1736377117.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:37.158Z,1736377117.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016410 2025-01-08T22:58:37.408Z,1736377117.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:37.408Z,1736377117.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267213 2025-01-08T22:58:37.437Z,1736377117.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:37.445Z,1736377117.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.90 m. 2025-01-08T22:58:37.448Z,1736377117.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.900002 m, nav range: 40.733437 m, bearing: 251.768758 deg, approach rate: 0.420945 m/s, LOS rate: -0.450469 deg/s, cmd heading: 27.265707 deg, new cmd heading: 26.759733 deg. 2025-01-08T22:58:37.449Z,1736377117.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467045 target range: 85.900002 and range: 85.90 m. 2025-01-08T22:58:37.662Z,1736377117.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:37.664Z,1736377117.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522729 2025-01-08T22:58:37.861Z,1736377117.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:37.870Z,1736377117.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.90 m. 2025-01-08T22:58:37.873Z,1736377117.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.900002 m, nav range: 40.923489 m, bearing: 251.576437 deg, approach rate: 0.447163 m/s, LOS rate: -0.450398 deg/s, cmd heading: 26.759733 deg, new cmd heading: 26.185473 deg. 2025-01-08T22:58:37.874Z,1736377117.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.457023 target range: 85.900002 and range: 85.90 m. 2025-01-08T22:58:37.912Z,1736377117.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:37.912Z,1736377117.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771223 2025-01-08T22:58:38.164Z,1736377118.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:38.165Z,1736377118.165 [DAT](INFO): DAT read: Rx Time:22:58:36.8360 2025-01-08T22:58:38.165Z,1736377118.165 [DAT](INFO): Rx dataTimestamp_ set to:1736377118.164698 2025-01-08T22:58:38.165Z,1736377118.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024285 2025-01-08T22:58:38.252Z,1736377118.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:38.261Z,1736377118.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.90 m. 2025-01-08T22:58:38.264Z,1736377118.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.900002 m, nav range: 41.098934 m, bearing: 251.400879 deg, approach rate: 0.448602 m/s, LOS rate: -0.446974 deg/s, cmd heading: 26.185473 deg, new cmd heading: 25.661061 deg. 2025-01-08T22:58:38.265Z,1736377118.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447870 target range: 85.900002 and range: 85.90 m. 2025-01-08T22:58:38.416Z,1736377118.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:38.418Z,1736377118.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276234 2025-01-08T22:58:38.670Z,1736377118.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:38.724Z,1736377118.724 [DAT](INFO): DAT read: 22:58:36.8360 LVL= 13344, 24353, 18674, 28275, AGC= 54, IDX= 416, 0.04, 2.769, 1.014, 1.010, 1.638, PHS= 1.218,-0.578,-0.631, RAW= 88.5, -0.1, CAL= 95.9, -4.5, ROT= 54.1, 4.5 2025-01-08T22:58:38.725Z,1736377118.725 [DAT](INFO): got valid direction response: 22:58:36.8360 LVL= 13344, 24353, 18674, 28275, AGC= 54, IDX= 416, 0.04, 2.769, 1.014, 1.010, 1.638, PHS= 1.218,-0.578,-0.631, RAW= 88.5, -0.1, CAL= 95.9, -4.5, ROT= 54.1, 4.5 2025-01-08T22:58:38.726Z,1736377118.726 [DAT](INFO): DAT read: Bearing 54.1, 4.5 (Local) 2025-01-08T22:58:38.727Z,1736377118.727 [DAT](INFO): Local bearing/azimuth received: Bearing 54.1, 4.5 (Local) 2025-01-08T22:58:38.741Z,1736377118.741 [DAT](INFO): DAT read: Range 10 to 50 : 84.6 m (Round-trip 112.8 ms) speed 0.2 m/s 2025-01-08T22:58:38.741Z,1736377118.741 [DAT](INFO): DAT read: user:2967> 2025-01-08T22:58:38.742Z,1736377118.742 [DAT](INFO): DAT read: Tx time:22:58:37.9190 2025-01-08T22:58:38.742Z,1736377118.742 [DAT](INFO): Ping request sent. 2025-01-08T22:58:38.742Z,1736377118.742 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:38.757Z,1736377118.757 [DAT](INFO): DAT read: TxSync time:22:58:37.9182 2025-01-08T22:58:38.758Z,1736377118.758 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:38.759Z,1736377118.759 [DAT](INFO): direction in FSK: [-0.080863,0.132368,0.987897] 2025-01-08T22:58:38.771Z,1736377118.771 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:38.772Z,1736377118.772 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:38.775Z,1736377118.775 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:38.775Z,1736377118.775 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:38.906Z,1736377118.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:38.920Z,1736377118.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:38.938Z,1736377118.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.599998 m, deltaT: 3.780789 s, deltaX: -1.300003 m, approachRate: -0.343844 m/s, rangeRepo size: 4 2025-01-08T22:58:38.944Z,1736377118.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.599998 m, bearing: 179.098238 deg, lat: 36.904546 deg, lon: -122.120539 deg, deltaT: 3.780789 s, deltaX: -1.300003 m, approachRate: -0.343844 m/s, posRepo size: 4 2025-01-08T22:58:38.945Z,1736377118.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T22:58:38.951Z,1736377118.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 28.178520 m, bearing: 241.573101 deg, approach rate: 0.000000 m/s, LOS rate: -0.446974 deg/s, cmd heading: 25.661062 deg, new cmd heading: 24.755384 deg. 2025-01-08T22:58:38.959Z,1736377118.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432063 target range: 84.599998 and range: 84.60 m. 2025-01-08T22:58:39.172Z,1736377119.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:39.354Z,1736377119.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:39.361Z,1736377119.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:39.364Z,1736377119.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T22:58:39.367Z,1736377119.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 28.401661 m, bearing: 241.333416 deg, approach rate: 0.523185 m/s, LOS rate: -0.557561 deg/s, cmd heading: 24.755384 deg, new cmd heading: 24.042015 deg. 2025-01-08T22:58:39.368Z,1736377119.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419612 target range: 84.599998 and range: 84.60 m. 2025-01-08T22:58:39.424Z,1736377119.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:39.425Z,1736377119.425 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:39.425Z,1736377119.425 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:39.426Z,1736377119.426 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:39.676Z,1736377119.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:39.677Z,1736377119.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.934526 2025-01-08T22:58:39.798Z,1736377119.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:39.830Z,1736377119.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T22:58:39.835Z,1736377119.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 28.628244 m, bearing: 241.083202 deg, approach rate: 0.485301 m/s, LOS rate: -0.531668 deg/s, cmd heading: 24.042015 deg, new cmd heading: 23.297360 deg. 2025-01-08T22:58:39.844Z,1736377119.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.406616 target range: 84.599998 and range: 84.60 m. 2025-01-08T22:58:39.928Z,1736377119.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:39.928Z,1736377119.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.185900 2025-01-08T22:58:40.180Z,1736377120.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:40.181Z,1736377120.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438596 2025-01-08T22:58:40.289Z,1736377120.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:40.306Z,1736377120.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T22:58:40.313Z,1736377120.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 28.879223 m, bearing: 240.805191 deg, approach rate: 0.528001 m/s, LOS rate: -0.579787 deg/s, cmd heading: 23.297360 deg, new cmd heading: 22.470635 deg. 2025-01-08T22:58:40.314Z,1736377120.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.392187 target range: 84.599998 and range: 84.60 m. 2025-01-08T22:58:40.432Z,1736377120.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:40.435Z,1736377120.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.691741 2025-01-08T22:58:40.686Z,1736377120.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:40.688Z,1736377120.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945455 2025-01-08T22:58:40.800Z,1736377120.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:40.809Z,1736377120.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T22:58:40.816Z,1736377120.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 29.132919 m, bearing: 240.521114 deg, approach rate: 0.504458 m/s, LOS rate: -0.559945 deg/s, cmd heading: 22.470634 deg, new cmd heading: 21.625891 deg. 2025-01-08T22:58:40.818Z,1736377120.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.377443 target range: 84.599998 and range: 84.60 m. 2025-01-08T22:58:40.936Z,1736377120.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:40.936Z,1736377120.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.193895 2025-01-08T22:58:41.189Z,1736377121.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:41.189Z,1736377121.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446694 2025-01-08T22:58:41.239Z,1736377121.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:41.248Z,1736377121.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T22:58:41.252Z,1736377121.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 29.347492 m, bearing: 240.268002 deg, approach rate: 0.488042 m/s, LOS rate: -0.571487 deg/s, cmd heading: 21.625892 deg, new cmd heading: 20.872154 deg. 2025-01-08T22:58:41.253Z,1736377121.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.364288 target range: 84.599998 and range: 84.60 m. 2025-01-08T22:58:41.440Z,1736377121.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:41.440Z,1736377121.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.697919 2025-01-08T22:58:41.625Z,1736377121.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:41.632Z,1736377121.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:41.635Z,1736377121.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T22:58:41.638Z,1736377121.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 29.535631 m, bearing: 240.045031 deg, approach rate: 0.486731 m/s, LOS rate: -0.573170 deg/s, cmd heading: 20.872153 deg, new cmd heading: 20.207531 deg. 2025-01-08T22:58:41.639Z,1736377121.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.352688 target range: 84.599998 and range: 84.60 m. 2025-01-08T22:58:41.692Z,1736377121.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:41.693Z,1736377121.693 [DAT](INFO): DAT read: Rx Time:22:58:40.4348 2025-01-08T22:58:41.694Z,1736377121.694 [DAT](INFO): Rx dataTimestamp_ set to:1736377121.693468 2025-01-08T22:58:41.696Z,1736377121.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953356 2025-01-08T22:58:41.944Z,1736377121.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:41.944Z,1736377121.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.201833 2025-01-08T22:58:42.052Z,1736377122.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:42.060Z,1736377122.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T22:58:42.066Z,1736377122.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 29.737425 m, bearing: 239.781806 deg, approach rate: 0.474139 m/s, LOS rate: -0.614279 deg/s, cmd heading: 20.207531 deg, new cmd heading: 19.423269 deg. 2025-01-08T22:58:42.068Z,1736377122.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.339000 target range: 84.599998 and range: 84.60 m. 2025-01-08T22:58:42.196Z,1736377122.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:42.203Z,1736377122.203 [DAT](INFO): DAT read: 22:58:40.4348 LVL= 12016, 24353, 18738, 28467, AGC= 56, IDX= 436,-0.09, 1.682, 0.101,-0.164, 0.715, PHS= 1.055,-0.567,-0.883, RAW= 81.3, 4.4, CAL= 86.2, 3.1, ROT= 63.8, -3.1 2025-01-08T22:58:42.204Z,1736377122.204 [DAT](INFO): got valid direction response: 22:58:40.4348 LVL= 12016, 24353, 18738, 28467, AGC= 56, IDX= 436,-0.09, 1.682, 0.101,-0.164, 0.715, PHS= 1.055,-0.567,-0.883, RAW= 81.3, 4.4, CAL= 86.2, 3.1, ROT= 63.8, -3.1 2025-01-08T22:58:42.205Z,1736377122.205 [DAT](INFO): DAT read: Bearing 63.8, -3.1 (Local) 2025-01-08T22:58:42.205Z,1736377122.205 [DAT](INFO): Local bearing/azimuth received: Bearing 63.8, -3.1 (Local) 2025-01-08T22:58:42.207Z,1736377122.207 [DAT](INFO): DAT read: Range 10 to 50 : 83.7 m (Round-trip 111.7 ms) speed 0.1 m/s 2025-01-08T22:58:42.208Z,1736377122.208 [DAT](INFO): DAT read: user:2968> 2025-01-08T22:58:42.209Z,1736377122.209 [DAT](INFO): DAT read: Tx time:22:58:41.5190 2025-01-08T22:58:42.209Z,1736377122.209 [DAT](INFO): Ping request sent. 2025-01-08T22:58:42.209Z,1736377122.209 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:42.209Z,1736377122.209 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:42.210Z,1736377122.210 [DAT](INFO): direction in FSK: [-0.153485,0.258650,0.953700] 2025-01-08T22:58:42.211Z,1736377122.211 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:42.211Z,1736377122.211 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:42.220Z,1736377122.220 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:42.220Z,1736377122.220 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:42.445Z,1736377122.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:42.448Z,1736377122.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:42.448Z,1736377122.448 [DAT](INFO): DAT read: TxSync time:22:58:41.5182 2025-01-08T22:58:42.490Z,1736377122.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 3.525431 s, deltaX: -0.900002 m, approachRate: -0.255288 m/s, rangeRepo size: 4 2025-01-08T22:58:42.497Z,1736377122.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.699997 m, bearing: 152.371154 deg, lat: 36.904522 deg, lon: -122.120405 deg, deltaT: 3.525431 s, deltaX: -0.900002 m, approachRate: -0.255288 m/s, posRepo size: 4 2025-01-08T22:58:42.498Z,1736377122.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-01-08T22:58:42.505Z,1736377122.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.699997 m, nav range: 22.607946 m, bearing: 217.957445 deg, approach rate: 0.000000 m/s, LOS rate: -0.614279 deg/s, cmd heading: 19.423268 deg, new cmd heading: 18.632006 deg. 2025-01-08T22:58:42.506Z,1736377122.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.325190 target range: 83.699997 and range: 83.70 m. 2025-01-08T22:58:42.702Z,1736377122.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:42.901Z,1736377122.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:42.909Z,1736377122.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-01-08T22:58:42.912Z,1736377122.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.699997 m, nav range: 22.853834 m, bearing: 217.783993 deg, approach rate: 0.586367 m/s, LOS rate: -0.409179 deg/s, cmd heading: 18.632006 deg, new cmd heading: 18.117264 deg. 2025-01-08T22:58:42.913Z,1736377122.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.316206 target range: 83.699997 and range: 83.70 m. 2025-01-08T22:58:42.952Z,1736377122.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:43.204Z,1736377123.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:43.252Z,1736377123.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:43.266Z,1736377123.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-01-08T22:58:43.270Z,1736377123.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.699997 m, nav range: 23.043612 m, bearing: 217.647661 deg, approach rate: 0.531501 m/s, LOS rate: -0.378673 deg/s, cmd heading: 18.117265 deg, new cmd heading: 17.711645 deg. 2025-01-08T22:58:43.272Z,1736377123.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.309127 target range: 83.699997 and range: 83.70 m. 2025-01-08T22:58:43.456Z,1736377123.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:43.641Z,1736377123.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:43.674Z,1736377123.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:43.682Z,1736377123.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-01-08T22:58:43.689Z,1736377123.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.699997 m, nav range: 23.252806 m, bearing: 217.492908 deg, approach rate: 0.502856 m/s, LOS rate: -0.368644 deg/s, cmd heading: 17.711645 deg, new cmd heading: 17.251574 deg. 2025-01-08T22:58:43.690Z,1736377123.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.301097 target range: 83.699997 and range: 83.70 m. 2025-01-08T22:58:43.708Z,1736377123.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:43.708Z,1736377123.708 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:43.708Z,1736377123.708 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:43.709Z,1736377123.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:43.960Z,1736377123.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:43.960Z,1736377123.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751089 2025-01-08T22:58:44.110Z,1736377124.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:44.139Z,1736377124.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-01-08T22:58:44.145Z,1736377124.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.699997 m, nav range: 23.506533 m, bearing: 217.294521 deg, approach rate: 0.556046 m/s, LOS rate: -0.430075 deg/s, cmd heading: 17.251574 deg, new cmd heading: 16.662858 deg. 2025-01-08T22:58:44.146Z,1736377124.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.290822 target range: 83.699997 and range: 83.70 m. 2025-01-08T22:58:44.212Z,1736377124.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:44.212Z,1736377124.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003195 2025-01-08T22:58:44.464Z,1736377124.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:44.465Z,1736377124.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255271 2025-01-08T22:58:44.495Z,1736377124.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:44.532Z,1736377124.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-01-08T22:58:44.540Z,1736377124.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.699997 m, nav range: 23.714561 m, bearing: 217.127682 deg, approach rate: 0.528614 m/s, LOS rate: -0.420228 deg/s, cmd heading: 16.662858 deg, new cmd heading: 16.166746 deg. 2025-01-08T22:58:44.541Z,1736377124.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.282163 target range: 83.699997 and range: 83.70 m. 2025-01-08T22:58:44.717Z,1736377124.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:44.720Z,1736377124.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509320 2025-01-08T22:58:44.942Z,1736377124.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:44.953Z,1736377124.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-01-08T22:58:44.955Z,1736377124.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.699997 m, nav range: 23.946131 m, bearing: 216.909922 deg, approach rate: 0.550742 m/s, LOS rate: -0.512890 deg/s, cmd heading: 16.166745 deg, new cmd heading: 15.519812 deg. 2025-01-08T22:58:44.956Z,1736377124.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.270872 target range: 83.699997 and range: 83.70 m. 2025-01-08T22:58:44.969Z,1736377124.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:44.969Z,1736377124.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760162 2025-01-08T22:58:45.220Z,1736377125.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:45.221Z,1736377125.221 [DAT](INFO): DAT read: Rx Time:22:58:44.0340 2025-01-08T22:58:45.221Z,1736377125.221 [DAT](INFO): Rx dataTimestamp_ set to:1736377125.220874 2025-01-08T22:58:45.222Z,1736377125.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012436 2025-01-08T22:58:45.317Z,1736377125.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:45.340Z,1736377125.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-01-08T22:58:45.343Z,1736377125.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.699997 m, nav range: 24.139210 m, bearing: 216.726167 deg, approach rate: 0.497954 m/s, LOS rate: -0.470117 deg/s, cmd heading: 15.519812 deg, new cmd heading: 14.972972 deg. 2025-01-08T22:58:45.348Z,1736377125.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.261328 target range: 83.699997 and range: 83.70 m. 2025-01-08T22:58:45.472Z,1736377125.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:45.472Z,1736377125.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263118 2025-01-08T22:58:45.726Z,1736377125.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:45.767Z,1736377125.767 [DAT](INFO): DAT read: 22:58:44.0340 LVL= 11584, 25633, 18274, 26387, AGC= 58, IDX= 427, 0.05,-2.977, 1.992, 1.240, 2.416, PHS= 0.978,-0.376,-1.179, RAW= 68.4, 6.2, CAL= 69.9, 7.5, ROT= 80.1, -7.5 2025-01-08T22:58:45.768Z,1736377125.768 [DAT](INFO): got valid direction response: 22:58:44.0340 LVL= 11584, 25633, 18274, 26387, AGC= 58, IDX= 427, 0.05,-2.977, 1.992, 1.240, 2.416, PHS= 0.978,-0.376,-1.179, RAW= 68.4, 6.2, CAL= 69.9, 7.5, ROT= 80.1, -7.5 2025-01-08T22:58:45.769Z,1736377125.769 [DAT](INFO): DAT read: Bearing 80.1, -7.5 (Local) 2025-01-08T22:58:45.770Z,1736377125.770 [DAT](INFO): Local bearing/azimuth received: Bearing 80.1, -7.5 (Local) 2025-01-08T22:58:45.780Z,1736377125.780 [DAT](INFO): DAT read: Range 10 to 50 : 83.1 m (Round-trip 110.8 ms) speed 0.0 m/s 2025-01-08T22:58:45.791Z,1736377125.791 [DAT](INFO): DAT read: user:2969> 2025-01-08T22:58:45.794Z,1736377125.794 [DAT](INFO): DAT read: Tx time:22:58:45.1191 2025-01-08T22:58:45.800Z,1736377125.800 [DAT](INFO): Ping request sent. 2025-01-08T22:58:45.800Z,1736377125.800 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:45.802Z,1736377125.802 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:45.814Z,1736377125.814 [DAT](INFO): direction in FSK: [-0.160587,0.460374,0.873080] 2025-01-08T22:58:45.815Z,1736377125.815 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:45.832Z,1736377125.832 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:45.849Z,1736377125.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:45.880Z,1736377125.880 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:45.880Z,1736377125.880 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:45.906Z,1736377125.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.099998 m, deltaT: 3.530827 s, deltaX: -0.599998 m, approachRate: -0.169931 m/s, rangeRepo size: 4 2025-01-08T22:58:45.921Z,1736377125.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.099998 m, bearing: 127.976033 deg, lat: 36.904504 deg, lon: -122.120258 deg, deltaT: 3.530827 s, deltaX: -0.599998 m, approachRate: -0.169931 m/s, posRepo size: 4 2025-01-08T22:58:45.922Z,1736377125.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T22:58:45.935Z,1736377125.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 21.597248 m, bearing: 183.782655 deg, approach rate: 0.000000 m/s, LOS rate: -0.470117 deg/s, cmd heading: 14.972972 deg, new cmd heading: 14.175400 deg. 2025-01-08T22:58:45.940Z,1736377125.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.247407 target range: 83.099998 and range: 83.10 m. 2025-01-08T22:58:45.977Z,1736377125.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:45.978Z,1736377125.978 [DAT](INFO): DAT read: TxSync time:22:58:45.1183 2025-01-08T22:58:46.228Z,1736377126.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:46.294Z,1736377126.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:46.320Z,1736377126.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:46.322Z,1736377126.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T22:58:46.329Z,1736377126.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 21.839029 m, bearing: 183.889912 deg, approach rate: 0.581342 m/s, LOS rate: 0.255036 deg/s, cmd heading: 14.175400 deg, new cmd heading: 14.493606 deg. 2025-01-08T22:58:46.329Z,1736377126.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.252961 target range: 83.099998 and range: 83.10 m. 2025-01-08T22:58:46.480Z,1736377126.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:46.480Z,1736377126.480 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:46.480Z,1736377126.480 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:46.481Z,1736377126.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:46.623Z,1736377126.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:46.631Z,1736377126.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T22:58:46.636Z,1736377126.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 22.018038 m, bearing: 183.963834 deg, approach rate: 0.578950 m/s, LOS rate: 0.237135 deg/s, cmd heading: 14.493607 deg, new cmd heading: 14.713569 deg. 2025-01-08T22:58:46.637Z,1736377126.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.256800 target range: 83.099998 and range: 83.10 m. 2025-01-08T22:58:46.734Z,1736377126.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:46.736Z,1736377126.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.936124 2025-01-08T22:58:46.989Z,1736377126.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:46.990Z,1736377126.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.190319 2025-01-08T22:58:47.066Z,1736377127.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:47.092Z,1736377127.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T22:58:47.095Z,1736377127.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 22.257408 m, bearing: 184.051103 deg, approach rate: 0.518971 m/s, LOS rate: 0.187169 deg/s, cmd heading: 14.713570 deg, new cmd heading: 14.972558 deg. 2025-01-08T22:58:47.101Z,1736377127.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.261320 target range: 83.099998 and range: 83.10 m. 2025-01-08T22:58:47.240Z,1736377127.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:47.240Z,1736377127.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.440698 2025-01-08T22:58:47.432Z,1736377127.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:47.447Z,1736377127.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T22:58:47.451Z,1736377127.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 22.455681 m, bearing: 184.118213 deg, approach rate: 0.558453 m/s, LOS rate: 0.187352 deg/s, cmd heading: 14.972558 deg, new cmd heading: 15.172109 deg. 2025-01-08T22:58:47.452Z,1736377127.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.264803 target range: 83.099998 and range: 83.10 m. 2025-01-08T22:58:47.492Z,1736377127.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:47.494Z,1736377127.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693667 2025-01-08T22:58:47.744Z,1736377127.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:47.744Z,1736377127.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944835 2025-01-08T22:58:47.932Z,1736377127.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:47.940Z,1736377127.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T22:58:47.945Z,1736377127.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 22.720652 m, bearing: 184.216026 deg, approach rate: 0.537533 m/s, LOS rate: 0.196115 deg/s, cmd heading: 15.172109 deg, new cmd heading: 15.462125 deg. 2025-01-08T22:58:47.948Z,1736377127.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.269865 target range: 83.099998 and range: 83.10 m. 2025-01-08T22:58:47.996Z,1736377127.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:47.998Z,1736377127.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197563 2025-01-08T22:58:48.245Z,1736377128.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:48.248Z,1736377128.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:48.249Z,1736377128.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.448856 2025-01-08T22:58:48.280Z,1736377128.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T22:58:48.282Z,1736377128.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 22.886652 m, bearing: 184.276140 deg, approach rate: 0.494990 m/s, LOS rate: 0.177950 deg/s, cmd heading: 15.462126 deg, new cmd heading: 15.641158 deg. 2025-01-08T22:58:48.288Z,1736377128.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.272990 target range: 83.099998 and range: 83.10 m. 2025-01-08T22:58:48.500Z,1736377128.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:48.501Z,1736377128.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701407 2025-01-08T22:58:48.646Z,1736377128.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:48.658Z,1736377128.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:48.662Z,1736377128.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T22:58:48.666Z,1736377128.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 23.100224 m, bearing: 184.337019 deg, approach rate: 0.553432 m/s, LOS rate: 0.156300 deg/s, cmd heading: 15.641159 deg, new cmd heading: 15.822108 deg. 2025-01-08T22:58:48.668Z,1736377128.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.276148 target range: 83.099998 and range: 83.10 m. 2025-01-08T22:58:48.752Z,1736377128.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:48.753Z,1736377128.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953739 2025-01-08T22:58:49.004Z,1736377129.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:49.005Z,1736377129.005 [DAT](INFO): DAT read: Rx Time:22:58:47.6333 2025-01-08T22:58:49.005Z,1736377129.005 [DAT](INFO): Rx dataTimestamp_ set to:1736377129.004742 2025-01-08T22:58:49.006Z,1736377129.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205889 2025-01-08T22:58:49.090Z,1736377129.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:49.098Z,1736377129.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T22:58:49.103Z,1736377129.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 23.338606 m, bearing: 184.413590 deg, approach rate: 0.545414 m/s, LOS rate: 0.173403 deg/s, cmd heading: 15.822108 deg, new cmd heading: 16.049473 deg. 2025-01-08T22:58:49.104Z,1736377129.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.280116 target range: 83.099998 and range: 83.10 m. 2025-01-08T22:58:49.256Z,1736377129.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:49.257Z,1736377129.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457161 2025-01-08T22:58:49.460Z,1736377129.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:49.469Z,1736377129.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T22:58:49.472Z,1736377129.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 23.536999 m, bearing: 184.473966 deg, approach rate: 0.535625 m/s, LOS rate: 0.161629 deg/s, cmd heading: 16.049473 deg, new cmd heading: 16.229072 deg. 2025-01-08T22:58:49.473Z,1736377129.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.283251 target range: 83.099998 and range: 83.10 m. 2025-01-08T22:58:49.508Z,1736377129.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:49.522Z,1736377129.522 [DAT](INFO): DAT read: 22:58:47.6333 LVL= 11456, 20465, 14690, 21427, AGC= 57, IDX= 435,-0.11, 0.114,-0.933,-2.095,-0.842, PHS= 1.043,-0.045,-1.256, RAW= 58.2, 2.6, CAL= 58.8, 1.2, ROT= 91.2, -1.2 2025-01-08T22:58:49.524Z,1736377129.524 [DAT](INFO): got valid direction response: 22:58:47.6333 LVL= 11456, 20465, 14690, 21427, AGC= 57, IDX= 435,-0.11, 0.114,-0.933,-2.095,-0.842, PHS= 1.043,-0.045,-1.256, RAW= 58.2, 2.6, CAL= 58.8, 1.2, ROT= 91.2, -1.2 2025-01-08T22:58:49.526Z,1736377129.526 [DAT](INFO): DAT read: Bearing 91.2, -1.2 (Local) 2025-01-08T22:58:49.526Z,1736377129.526 [DAT](INFO): Local bearing/azimuth received: Bearing 91.2, -1.2 (Local) 2025-01-08T22:58:49.539Z,1736377129.539 [DAT](INFO): DAT read: Range 10 to 50 : 82.5 m (Round-trip 110.0 ms) speed 0.0 m/s 2025-01-08T22:58:49.540Z,1736377129.540 [DAT](INFO): DAT read: user:2970> 2025-01-08T22:58:49.540Z,1736377129.540 [DAT](INFO): DAT read: Tx time:22:58:48.7191 2025-01-08T22:58:49.541Z,1736377129.541 [DAT](INFO): Ping request sent. 2025-01-08T22:58:49.541Z,1736377129.541 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:49.541Z,1736377129.541 [DAT](INFO): DAT read: TxSync time:22:58:48.7183 2025-01-08T22:58:49.542Z,1736377129.542 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:49.543Z,1736377129.543 [DAT](INFO): direction in FSK: [-0.074349,0.602271,0.794822] 2025-01-08T22:58:49.576Z,1736377129.576 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:49.576Z,1736377129.576 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:49.588Z,1736377129.588 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:49.589Z,1736377129.589 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:49.760Z,1736377129.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:49.909Z,1736377129.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:49.937Z,1736377129.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.781933 s, deltaX: -0.599998 m, approachRate: -0.158649 m/s, rangeRepo size: 4 2025-01-08T22:58:49.944Z,1736377129.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 108.874461 deg, lat: 36.904522 deg, lon: -122.120133 deg, deltaT: 3.781933 s, deltaX: -0.599998 m, approachRate: -0.158649 m/s, posRepo size: 4 2025-01-08T22:58:49.946Z,1736377129.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T22:58:49.954Z,1736377129.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 23.678280 m, bearing: 156.949696 deg, approach rate: 0.000000 m/s, LOS rate: 0.161629 deg/s, cmd heading: 16.229072 deg, new cmd heading: 16.455954 deg. 2025-01-08T22:58:49.955Z,1736377129.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.287211 target range: 82.500000 and range: 82.50 m. 2025-01-08T22:58:50.012Z,1736377130.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:50.264Z,1736377130.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:50.289Z,1736377130.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:50.297Z,1736377130.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T22:58:50.301Z,1736377130.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 23.841824 m, bearing: 157.244319 deg, approach rate: 0.453632 m/s, LOS rate: 0.811605 deg/s, cmd heading: 16.455954 deg, new cmd heading: 17.333688 deg. 2025-01-08T22:58:50.302Z,1736377130.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.302530 target range: 82.500000 and range: 82.50 m. 2025-01-08T22:58:50.516Z,1736377130.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:50.677Z,1736377130.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:50.702Z,1736377130.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:50.709Z,1736377130.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T22:58:50.716Z,1736377130.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 24.009508 m, bearing: 157.542608 deg, approach rate: 0.407486 m/s, LOS rate: 0.719799 deg/s, cmd heading: 17.333688 deg, new cmd heading: 18.222230 deg. 2025-01-08T22:58:50.718Z,1736377130.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.318038 target range: 82.500000 and range: 82.50 m. 2025-01-08T22:58:50.768Z,1736377130.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:50.769Z,1736377130.769 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:50.769Z,1736377130.769 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:50.769Z,1736377130.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:51.020Z,1736377131.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:51.020Z,1736377131.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479587 2025-01-08T22:58:51.104Z,1736377131.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:51.113Z,1736377131.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T22:58:51.115Z,1736377131.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 24.192245 m, bearing: 157.880047 deg, approach rate: 0.452504 m/s, LOS rate: 0.829266 deg/s, cmd heading: 18.222231 deg, new cmd heading: 19.226791 deg. 2025-01-08T22:58:51.117Z,1736377131.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.335571 target range: 82.500000 and range: 82.50 m. 2025-01-08T22:58:51.272Z,1736377131.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:51.272Z,1736377131.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731572 2025-01-08T22:58:51.485Z,1736377131.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:51.504Z,1736377131.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T22:58:51.509Z,1736377131.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 24.354746 m, bearing: 158.178747 deg, approach rate: 0.415233 m/s, LOS rate: 0.758165 deg/s, cmd heading: 19.226791 deg, new cmd heading: 20.116837 deg. 2025-01-08T22:58:51.512Z,1736377131.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.351105 target range: 82.500000 and range: 82.50 m. 2025-01-08T22:58:51.524Z,1736377131.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:51.524Z,1736377131.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983551 2025-01-08T22:58:51.776Z,1736377131.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:51.777Z,1736377131.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235821 2025-01-08T22:58:51.937Z,1736377131.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:51.962Z,1736377131.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T22:58:51.965Z,1736377131.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 24.548111 m, bearing: 158.532500 deg, approach rate: 0.422041 m/s, LOS rate: 0.766020 deg/s, cmd heading: 20.116837 deg, new cmd heading: 21.169613 deg. 2025-01-08T22:58:51.966Z,1736377131.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.369479 target range: 82.500000 and range: 82.50 m. 2025-01-08T22:58:52.028Z,1736377132.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:52.029Z,1736377132.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488108 2025-01-08T22:58:52.280Z,1736377132.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:52.280Z,1736377132.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739473 2025-01-08T22:58:52.335Z,1736377132.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:52.344Z,1736377132.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T22:58:52.346Z,1736377132.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 24.717106 m, bearing: 158.843557 deg, approach rate: 0.443147 m/s, LOS rate: 0.810086 deg/s, cmd heading: 21.169613 deg, new cmd heading: 22.096316 deg. 2025-01-08T22:58:52.348Z,1736377132.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.385653 target range: 82.500000 and range: 82.50 m. 2025-01-08T22:58:52.532Z,1736377132.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:52.532Z,1736377132.532 [DAT](INFO): DAT read: Rx Time:22:58:51.2328 2025-01-08T22:58:52.533Z,1736377132.533 [DAT](INFO): Rx dataTimestamp_ set to:1736377132.532608 2025-01-08T22:58:52.534Z,1736377132.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993373 2025-01-08T22:58:52.696Z,1736377132.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:52.704Z,1736377132.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:52.706Z,1736377132.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T22:58:52.725Z,1736377132.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 24.869999 m, bearing: 159.126551 deg, approach rate: 0.421791 m/s, LOS rate: 0.775903 deg/s, cmd heading: 22.096316 deg, new cmd heading: 22.940014 deg. 2025-01-08T22:58:52.726Z,1736377132.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.400379 target range: 82.500000 and range: 82.50 m. 2025-01-08T22:58:52.785Z,1736377132.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:52.786Z,1736377132.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245066 2025-01-08T22:58:53.036Z,1736377133.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:53.050Z,1736377133.050 [DAT](INFO): DAT read: 22:58:51.2328 LVL= 12160, 22209, 16962, 25123, AGC= 58, IDX= 430,-0.19, 1.901, 1.138,-0.167, 0.954, PHS= 1.035, 0.231,-1.124, RAW= 51.6, -1.5, CAL= 53.4, -4.7, ROT= 96.6, 4.7 2025-01-08T22:58:53.061Z,1736377133.061 [DAT](INFO): got valid direction response: 22:58:51.2328 LVL= 12160, 22209, 16962, 25123, AGC= 58, IDX= 430,-0.19, 1.901, 1.138,-0.167, 0.954, PHS= 1.035, 0.231,-1.124, RAW= 51.6, -1.5, CAL= 53.4, -4.7, ROT= 96.6, 4.7 2025-01-08T22:58:53.062Z,1736377133.062 [DAT](INFO): DAT read: Bearing 96.6, 4.7 (Local) 2025-01-08T22:58:53.062Z,1736377133.062 [DAT](INFO): Local bearing/azimuth received: Bearing 96.6, 4.7 (Local) 2025-01-08T22:58:53.092Z,1736377133.092 [DAT](INFO): DAT read: Range 10 to 50 : 82.1 m (Round-trip 109.5 ms) speed 0.0 m/s 2025-01-08T22:58:53.093Z,1736377133.093 [DAT](INFO): DAT read: user:2971> 2025-01-08T22:58:53.094Z,1736377133.094 [DAT](INFO): DAT read: Tx time:22:58:52.3191 2025-01-08T22:58:53.094Z,1736377133.094 [DAT](INFO): Ping request sent. 2025-01-08T22:58:53.094Z,1736377133.094 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:53.094Z,1736377133.094 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:53.111Z,1736377133.111 [DAT](INFO): direction in FSK: [0.016248,0.681966,0.731203] 2025-01-08T22:58:53.112Z,1736377133.112 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:53.112Z,1736377133.112 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:53.124Z,1736377133.124 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:53.124Z,1736377133.124 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:53.180Z,1736377133.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:53.211Z,1736377133.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.099998 m, deltaT: 3.527968 s, deltaX: -0.400002 m, approachRate: -0.113380 m/s, rangeRepo size: 4 2025-01-08T22:58:53.218Z,1736377133.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.099998 m, bearing: 101.657882 deg, lat: 36.904557 deg, lon: -122.119917 deg, deltaT: 3.527968 s, deltaX: -0.400002 m, approachRate: -0.113380 m/s, posRepo size: 4 2025-01-08T22:58:53.219Z,1736377133.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:58:53.226Z,1736377133.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 34.080284 m, bearing: 124.918809 deg, approach rate: 0.000000 m/s, LOS rate: 0.775903 deg/s, cmd heading: 22.940015 deg, new cmd heading: 24.112930 deg. 2025-01-08T22:58:53.227Z,1736377133.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420850 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:58:53.288Z,1736377133.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:53.290Z,1736377133.290 [DAT](INFO): DAT read: TxSync time:22:58:52.3183 2025-01-08T22:58:53.528Z,1736377133.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:53.540Z,1736377133.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:53.545Z,1736377133.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:58:53.552Z,1736377133.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 34.131538 m, bearing: 125.220256 deg, approach rate: 0.152944 m/s, LOS rate: 0.898172 deg/s, cmd heading: 24.112929 deg, new cmd heading: 25.015833 deg. 2025-01-08T22:58:53.553Z,1736377133.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436609 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:58:53.792Z,1736377133.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:53.997Z,1736377133.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:54.006Z,1736377134.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:58:54.008Z,1736377134.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 34.209290 m, bearing: 125.611484 deg, approach rate: 0.168811 m/s, LOS rate: 0.847487 deg/s, cmd heading: 25.015833 deg, new cmd heading: 26.186678 deg. 2025-01-08T22:58:54.010Z,1736377134.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.457044 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:58:54.044Z,1736377134.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:54.296Z,1736377134.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:54.437Z,1736377134.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:54.446Z,1736377134.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:58:54.449Z,1736377134.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 34.281738 m, bearing: 125.978405 deg, approach rate: 0.164520 m/s, LOS rate: 0.831456 deg/s, cmd heading: 26.186679 deg, new cmd heading: 27.284972 deg. 2025-01-08T22:58:54.450Z,1736377134.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.476213 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:58:54.548Z,1736377134.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:54.723Z,1736377134.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:54.730Z,1736377134.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:54.732Z,1736377134.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:58:54.753Z,1736377134.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 34.327900 m, bearing: 126.216215 deg, approach rate: 0.161189 m/s, LOS rate: 0.829273 deg/s, cmd heading: 27.284972 deg, new cmd heading: 27.997404 deg. 2025-01-08T22:58:54.754Z,1736377134.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488647 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:58:54.801Z,1736377134.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:54.802Z,1736377134.802 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:54.802Z,1736377134.802 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:54.802Z,1736377134.802 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:55.052Z,1736377135.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:55.052Z,1736377135.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958470 2025-01-08T22:58:55.157Z,1736377135.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:55.165Z,1736377135.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:58:55.169Z,1736377135.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 34.402740 m, bearing: 126.572629 deg, approach rate: 0.172877 m/s, LOS rate: 0.821499 deg/s, cmd heading: 27.997403 deg, new cmd heading: 29.064190 deg. 2025-01-08T22:58:55.170Z,1736377135.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507266 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:58:55.314Z,1736377135.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:55.314Z,1736377135.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220540 2025-01-08T22:58:55.539Z,1736377135.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:55.548Z,1736377135.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:58:55.553Z,1736377135.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 34.467304 m, bearing: 126.886345 deg, approach rate: 0.169085 m/s, LOS rate: 0.820046 deg/s, cmd heading: 29.064190 deg, new cmd heading: 30.003487 deg. 2025-01-08T22:58:55.554Z,1736377135.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523660 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:58:55.568Z,1736377135.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:55.569Z,1736377135.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474835 2025-01-08T22:58:55.820Z,1736377135.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:55.820Z,1736377135.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726509 2025-01-08T22:58:55.994Z,1736377135.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:56.031Z,1736377136.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:58:56.034Z,1736377136.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 34.542339 m, bearing: 127.259772 deg, approach rate: 0.156361 m/s, LOS rate: 0.776463 deg/s, cmd heading: 30.003488 deg, new cmd heading: 31.121183 deg. 2025-01-08T22:58:56.035Z,1736377136.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543167 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:58:56.072Z,1736377136.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:56.073Z,1736377136.073 [DAT](INFO): DAT read: Rx Time:22:58:54.8328 2025-01-08T22:58:56.073Z,1736377136.073 [DAT](INFO): Rx dataTimestamp_ set to:1736377136.072782 2025-01-08T22:58:56.074Z,1736377136.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980081 2025-01-08T22:58:56.324Z,1736377136.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:56.325Z,1736377136.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230673 2025-01-08T22:58:56.462Z,1736377136.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:56.472Z,1736377136.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.10 m. 2025-01-08T22:58:56.474Z,1736377136.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.099998 m, nav range: 34.628796 m, bearing: 127.640309 deg, approach rate: 0.194600 m/s, LOS rate: 0.854385 deg/s, cmd heading: 31.121183 deg, new cmd heading: 32.259787 deg. 2025-01-08T22:58:56.498Z,1736377136.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563039 target range: 82.099998 and range: 82.10 m. 2025-01-08T22:58:56.576Z,1736377136.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:56.586Z,1736377136.586 [DAT](INFO): DAT read: 22:58:54.8328 LVL= 19888, 22593, 19778, 24819, AGC= 60, IDX= 444, 0.10,-1.919,-2.830, 2.345,-3.060, PHS= 1.229, 0.277,-0.881, RAW= 56.8, -6.9, CAL= 63.3, -12.9, ROT= 86.7, 12.9 2025-01-08T22:58:56.590Z,1736377136.590 [DAT](INFO): got valid direction response: 22:58:54.8328 LVL= 19888, 22593, 19778, 24819, AGC= 60, IDX= 444, 0.10,-1.919,-2.830, 2.345,-3.060, PHS= 1.229, 0.277,-0.881, RAW= 56.8, -6.9, CAL= 63.3, -12.9, ROT= 86.7, 12.9 2025-01-08T22:58:56.593Z,1736377136.593 [DAT](INFO): DAT read: Bearing 86.7, 12.9 (Local) 2025-01-08T22:58:56.593Z,1736377136.593 [DAT](INFO): Local bearing/azimuth received: Bearing 86.7, 12.9 (Local) 2025-01-08T22:58:56.594Z,1736377136.594 [DAT](INFO): DAT read: Range 10 to 50 : 82.0 m (Round-trip 109.4 ms) speed 0.1 m/s 2025-01-08T22:58:56.596Z,1736377136.596 [DAT](INFO): DAT read: user:2972> 2025-01-08T22:58:56.597Z,1736377136.597 [DAT](INFO): DAT read: Tx time:22:58:55.9192 2025-01-08T22:58:56.597Z,1736377136.597 [DAT](INFO): Ping request sent. 2025-01-08T22:58:56.597Z,1736377136.597 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:58:56.598Z,1736377136.598 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:58:56.598Z,1736377136.598 [DAT](INFO): direction in FSK: [0.105239,0.607807,0.787080] 2025-01-08T22:58:56.599Z,1736377136.599 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:56.599Z,1736377136.599 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:56.627Z,1736377136.627 [DAT](INFO): publishing transmit ping time 2025-01-08T22:58:56.628Z,1736377136.628 [DAT](INFO): publishing direction and range info 2025-01-08T22:58:56.828Z,1736377136.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:56.829Z,1736377136.829 [DAT](INFO): DAT read: TxSync time:22:58:55.9184 2025-01-08T22:58:56.858Z,1736377136.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:56.888Z,1736377136.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.000000 m, deltaT: 3.539353 s, deltaX: -0.099998 m, approachRate: -0.028253 m/s, rangeRepo size: 4 2025-01-08T22:58:56.890Z,1736377136.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.000000 m, bearing: 95.018494 deg, lat: 36.904589 deg, lon: -122.119825 deg, deltaT: 3.539353 s, deltaX: -0.099998 m, approachRate: -0.028253 m/s, posRepo size: 4 2025-01-08T22:58:56.891Z,1736377136.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:58:56.898Z,1736377136.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.000000 m, nav range: 39.711384 m, bearing: 116.637567 deg, approach rate: 0.000000 m/s, LOS rate: 0.854385 deg/s, cmd heading: 32.259786 deg, new cmd heading: 33.315587 deg. 2025-01-08T22:58:56.905Z,1736377136.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581467 target range: 82.000000 and range: 82.00 m. 2025-01-08T22:58:57.080Z,1736377137.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:57.332Z,1736377137.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:57.419Z,1736377137.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:57.426Z,1736377137.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:57.429Z,1736377137.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:58:57.432Z,1736377137.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.000000 m, nav range: 39.756283 m, bearing: 117.050724 deg, approach rate: 0.082320 m/s, LOS rate: 0.756636 deg/s, cmd heading: 33.315586 deg, new cmd heading: 34.553452 deg. 2025-01-08T22:58:57.433Z,1736377137.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603072 target range: 82.000000 and range: 82.00 m. 2025-01-08T22:58:57.584Z,1736377137.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:57.585Z,1736377137.585 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:58:57.585Z,1736377137.585 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:58:57.585Z,1736377137.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:58:57.779Z,1736377137.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:57.836Z,1736377137.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:57.837Z,1736377137.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239519 2025-01-08T22:58:57.838Z,1736377137.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:58:57.845Z,1736377137.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.000000 m, nav range: 39.783852 m, bearing: 117.316200 deg, approach rate: 0.068489 m/s, LOS rate: 0.659061 deg/s, cmd heading: 34.553452 deg, new cmd heading: 35.349277 deg. 2025-01-08T22:58:57.848Z,1736377137.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.616961 target range: 82.000000 and range: 82.00 m. 2025-01-08T22:58:58.088Z,1736377138.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:58.089Z,1736377138.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491277 2025-01-08T22:58:58.203Z,1736377138.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:58.213Z,1736377138.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:58:58.216Z,1736377138.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.000000 m, nav range: 39.825066 m, bearing: 117.627884 deg, approach rate: 0.107842 m/s, LOS rate: 0.814713 deg/s, cmd heading: 35.349279 deg, new cmd heading: 36.283273 deg. 2025-01-08T22:58:58.218Z,1736377138.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633263 target range: 82.000000 and range: 82.00 m. 2025-01-08T22:58:58.340Z,1736377138.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:58.341Z,1736377138.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744113 2025-01-08T22:58:58.588Z,1736377138.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:58.592Z,1736377138.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:58.592Z,1736377138.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995180 2025-01-08T22:58:58.623Z,1736377138.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:58:58.634Z,1736377138.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.000000 m, nav range: 39.860741 m, bearing: 117.911993 deg, approach rate: 0.087165 m/s, LOS rate: 0.693538 deg/s, cmd heading: 36.283273 deg, new cmd heading: 37.134772 deg. 2025-01-08T22:58:58.640Z,1736377138.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648124 target range: 82.000000 and range: 82.00 m. 2025-01-08T22:58:58.844Z,1736377138.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:58.845Z,1736377138.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247915 2025-01-08T22:58:59.066Z,1736377139.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:59.096Z,1736377139.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:59.098Z,1736377139.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500625 2025-01-08T22:58:59.102Z,1736377139.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:58:59.109Z,1736377139.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.000000 m, nav range: 39.897591 m, bearing: 118.258689 deg, approach rate: 0.076877 m/s, LOS rate: 0.722613 deg/s, cmd heading: 37.134772 deg, new cmd heading: 38.173780 deg. 2025-01-08T22:58:59.110Z,1736377139.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666258 target range: 82.000000 and range: 82.00 m. 2025-01-08T22:58:59.348Z,1736377139.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:59.348Z,1736377139.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751063 2025-01-08T22:58:59.444Z,1736377139.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:59.452Z,1736377139.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:58:59.454Z,1736377139.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:58:59.457Z,1736377139.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.000000 m, nav range: 39.924629 m, bearing: 118.533165 deg, approach rate: 0.076834 m/s, LOS rate: 0.779434 deg/s, cmd heading: 38.173780 deg, new cmd heading: 38.996591 deg. 2025-01-08T22:58:59.458Z,1736377139.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680619 target range: 82.000000 and range: 82.00 m. 2025-01-08T22:58:59.600Z,1736377139.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:59.601Z,1736377139.601 [DAT](INFO): DAT read: Rx Time:22:58:58.4322 2025-01-08T22:58:59.602Z,1736377139.602 [DAT](INFO): Rx dataTimestamp_ set to:1736377139.601442 2025-01-08T22:58:59.602Z,1736377139.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004977 2025-01-08T22:58:59.852Z,1736377139.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:58:59.853Z,1736377139.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255406 2025-01-08T22:58:59.861Z,1736377139.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:58:59.870Z,1736377139.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:58:59.873Z,1736377139.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.000000 m, nav range: 39.951973 m, bearing: 118.835960 deg, approach rate: 0.065661 m/s, LOS rate: 0.726604 deg/s, cmd heading: 38.996589 deg, new cmd heading: 39.904274 deg. 2025-01-08T22:58:59.874Z,1736377139.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696461 target range: 82.000000 and range: 82.00 m. 2025-01-08T22:59:00.106Z,1736377140.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:00.108Z,1736377140.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510359 2025-01-08T22:59:00.262Z,1736377140.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:00.292Z,1736377140.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m. 2025-01-08T22:59:00.295Z,1736377140.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.000000 m, nav range: 39.970325 m, bearing: 119.147755 deg, approach rate: 0.043492 m/s, LOS rate: 0.738559 deg/s, cmd heading: 39.904274 deg, new cmd heading: 40.839140 deg. 2025-01-08T22:59:00.301Z,1736377140.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712777 target range: 82.000000 and range: 82.00 m. 2025-01-08T22:59:00.356Z,1736377140.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:00.364Z,1736377140.364 [DAT](INFO): DAT read: 22:58:58.4322 LVL= 15664, 23793, 20466, 22243, AGC= 58, IDX= 438, 0.38,-2.768, 2.124, 1.326, 2.014, PHS= 1.589, 0.157,-0.690, RAW= 68.4, -10.6, CAL= 79.8, -19.4, ROT= 70.2, 19.4 2025-01-08T22:59:00.365Z,1736377140.365 [DAT](INFO): got valid direction response: 22:58:58.4322 LVL= 15664, 23793, 20466, 22243, AGC= 58, IDX= 438, 0.38,-2.768, 2.124, 1.326, 2.014, PHS= 1.589, 0.157,-0.690, RAW= 68.4, -10.6, CAL= 79.8, -19.4, ROT= 70.2, 19.4 2025-01-08T22:59:00.366Z,1736377140.366 [DAT](INFO): DAT read: Bearing 70.2, 19.4 (Local) 2025-01-08T22:59:00.366Z,1736377140.366 [DAT](INFO): Local bearing/azimuth received: Bearing 70.2, 19.4 (Local) 2025-01-08T22:59:00.369Z,1736377140.369 [DAT](INFO): DAT read: Range 10 to 50 : 81.6 m (Round-trip 108.8 ms) speed 0.0 m/s 2025-01-08T22:59:00.369Z,1736377140.369 [DAT](INFO): DAT read: user:2973> 2025-01-08T22:59:00.370Z,1736377140.370 [DAT](INFO): DAT read: Tx time:22:58:59.5192 2025-01-08T22:59:00.371Z,1736377140.371 [DAT](INFO): Ping request sent. 2025-01-08T22:59:00.371Z,1736377140.371 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:00.375Z,1736377140.375 [DAT](INFO): DAT read: TxSync time:22:58:59.5184 2025-01-08T22:59:00.380Z,1736377140.380 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:59:00.381Z,1736377140.381 [DAT](INFO): direction in FSK: [0.151932,0.438550,0.885771] 2025-01-08T22:59:00.381Z,1736377140.381 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:00.381Z,1736377140.381 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:00.386Z,1736377140.386 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:00.386Z,1736377140.386 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:00.609Z,1736377140.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:00.679Z,1736377140.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:00.711Z,1736377140.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.779834 s, deltaX: -0.400002 m, approachRate: -0.105825 m/s, rangeRepo size: 4 2025-01-08T22:59:00.718Z,1736377140.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.599998 m, bearing: 81.846482 deg, lat: 36.904649 deg, lon: -122.119825 deg, deltaT: 3.779834 s, deltaX: -0.400002 m, approachRate: -0.105825 m/s, posRepo size: 4 2025-01-08T22:59:00.719Z,1736377140.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:59:00.725Z,1736377140.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 37.170006 m, bearing: 110.515860 deg, approach rate: 0.000000 m/s, LOS rate: 0.738559 deg/s, cmd heading: 40.839139 deg, new cmd heading: 41.764378 deg. 2025-01-08T22:59:00.726Z,1736377140.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.728926 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:59:00.861Z,1736377140.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:01.112Z,1736377141.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:01.198Z,1736377141.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:01.208Z,1736377141.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:59:01.211Z,1736377141.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 37.129894 m, bearing: 110.943722 deg, approach rate: -0.080459 m/s, LOS rate: 0.859164 deg/s, cmd heading: 41.764377 deg, new cmd heading: 43.049122 deg. 2025-01-08T22:59:01.212Z,1736377141.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751349 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:59:01.364Z,1736377141.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:01.569Z,1736377141.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:01.592Z,1736377141.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:01.594Z,1736377141.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:59:01.601Z,1736377141.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 37.099300 m, bearing: 111.248375 deg, approach rate: -0.079411 m/s, LOS rate: 0.791425 deg/s, cmd heading: 43.049122 deg, new cmd heading: 43.963752 deg. 2025-01-08T22:59:01.602Z,1736377141.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767312 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:59:01.616Z,1736377141.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:01.617Z,1736377141.617 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:01.617Z,1736377141.617 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:01.617Z,1736377141.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:01.869Z,1736377141.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:01.870Z,1736377141.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499233 2025-01-08T22:59:02.120Z,1736377142.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:02.122Z,1736377142.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751291 2025-01-08T22:59:02.170Z,1736377142.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:02.184Z,1736377142.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:59:02.190Z,1736377142.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 37.035469 m, bearing: 111.751512 deg, approach rate: -0.108457 m/s, LOS rate: 0.856355 deg/s, cmd heading: 43.963752 deg, new cmd heading: 45.475395 deg. 2025-01-08T22:59:02.192Z,1736377142.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793695 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:59:02.372Z,1736377142.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:02.374Z,1736377142.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002906 2025-01-08T22:59:02.601Z,1736377142.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:02.609Z,1736377142.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:59:02.612Z,1736377142.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 36.978783 m, bearing: 112.109298 deg, approach rate: -0.132757 m/s, LOS rate: 0.839200 deg/s, cmd heading: 45.475396 deg, new cmd heading: 46.550267 deg. 2025-01-08T22:59:02.613Z,1736377142.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812455 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:59:02.624Z,1736377142.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:02.625Z,1736377142.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253864 2025-01-08T22:59:02.876Z,1736377142.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:02.876Z,1736377142.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505634 2025-01-08T22:59:03.076Z,1736377143.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:03.110Z,1736377143.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:59:03.117Z,1736377143.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 36.918530 m, bearing: 112.501244 deg, approach rate: -0.120226 m/s, LOS rate: 0.783337 deg/s, cmd heading: 46.550266 deg, new cmd heading: 47.727848 deg. 2025-01-08T22:59:03.118Z,1736377143.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833008 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:59:03.128Z,1736377143.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:03.129Z,1736377143.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757913 2025-01-08T22:59:03.380Z,1736377143.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:03.381Z,1736377143.381 [DAT](INFO): DAT read: Rx Time:22:59:02.0311 2025-01-08T22:59:03.381Z,1736377143.381 [DAT](INFO): Rx dataTimestamp_ set to:1736377143.381039 2025-01-08T22:59:03.382Z,1736377143.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011181 2025-01-08T22:59:03.479Z,1736377143.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:03.501Z,1736377143.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:59:03.505Z,1736377143.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 36.837322 m, bearing: 112.858932 deg, approach rate: -0.207709 m/s, LOS rate: 0.916891 deg/s, cmd heading: 47.727849 deg, new cmd heading: 48.803145 deg. 2025-01-08T22:59:03.506Z,1736377143.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.851776 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:59:03.632Z,1736377143.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:03.633Z,1736377143.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262350 2025-01-08T22:59:03.846Z,1736377143.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:03.854Z,1736377143.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:03.856Z,1736377143.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-08T22:59:03.859Z,1736377143.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 36.761238 m, bearing: 113.180355 deg, approach rate: -0.214555 m/s, LOS rate: 0.908273 deg/s, cmd heading: 48.803146 deg, new cmd heading: 49.769314 deg. 2025-01-08T22:59:03.876Z,1736377143.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.868638 target range: 81.599998 and range: 81.60 m. 2025-01-08T22:59:03.884Z,1736377143.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:03.906Z,1736377143.906 [DAT](INFO): DAT read: 22:59:02.0311 LVL= 14464, 31217, 19538, 31171, AGC= 56, IDX= 428, 0.08, 1.447,-0.169,-0.370, 0.197, PHS= 1.338,-0.319,-0.570, RAW= 83.0, -5.0, CAL= 91.7, -12.3, ROT= 58.3, 12.3 2025-01-08T22:59:03.926Z,1736377143.926 [DAT](INFO): got valid direction response: 22:59:02.0311 LVL= 14464, 31217, 19538, 31171, AGC= 56, IDX= 428, 0.08, 1.447,-0.169,-0.370, 0.197, PHS= 1.338,-0.319,-0.570, RAW= 83.0, -5.0, CAL= 91.7, -12.3, ROT= 58.3, 12.3 2025-01-08T22:59:03.927Z,1736377143.927 [DAT](INFO): DAT read: Bearing 58.3, 12.3 (Local) 2025-01-08T22:59:03.939Z,1736377143.939 [DAT](INFO): Local bearing/azimuth received: Bearing 58.3, 12.3 (Local) 2025-01-08T22:59:03.941Z,1736377143.941 [DAT](INFO): DAT read: Range 10 to 50 : 80.8 m (Round-trip 107.8 ms) speed 0.3 m/s 2025-01-08T22:59:03.942Z,1736377143.942 [DAT](INFO): DAT read: user:2974> 2025-01-08T22:59:03.943Z,1736377143.943 [DAT](INFO): DAT read: Tx time:22:59:03.1192 2025-01-08T22:59:03.943Z,1736377143.943 [DAT](INFO): Ping request sent. 2025-01-08T22:59:03.943Z,1736377143.943 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:03.959Z,1736377143.959 [DAT](INFO): DAT read: TxSync time:22:59:03.1184 2025-01-08T22:59:03.972Z,1736377143.972 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:59:03.973Z,1736377143.973 [DAT](INFO): direction in FSK: [0.022535,0.220006,0.975238] 2025-01-08T22:59:03.974Z,1736377143.974 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:03.974Z,1736377143.974 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:04.061Z,1736377144.061 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:04.062Z,1736377144.062 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:04.136Z,1736377144.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:04.331Z,1736377144.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:04.361Z,1736377144.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.800003 m, deltaT: 3.528646 s, deltaX: -0.799995 m, approachRate: -0.226715 m/s, rangeRepo size: 4 2025-01-08T22:59:04.368Z,1736377144.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.800003 m, bearing: 346.225349 deg, lat: 36.904721 deg, lon: -122.119825 deg, deltaT: 3.528646 s, deltaX: -0.799995 m, approachRate: -0.226715 m/s, posRepo size: 4 2025-01-08T22:59:04.368Z,1736377144.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:59:04.371Z,1736377144.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.800003 m, nav range: 34.226280 m, bearing: 101.171184 deg, approach rate: 0.000000 m/s, LOS rate: 0.908273 deg/s, cmd heading: 49.769314 deg, new cmd heading: 51.143496 deg. 2025-01-08T22:59:04.376Z,1736377144.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.892622 target range: 80.800003 and range: 80.80 m. 2025-01-08T22:59:04.388Z,1736377144.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:04.640Z,1736377144.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:04.684Z,1736377144.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:04.693Z,1736377144.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:59:04.701Z,1736377144.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.800003 m, nav range: 34.098797 m, bearing: 101.455537 deg, approach rate: -0.383138 m/s, LOS rate: 0.857784 deg/s, cmd heading: 51.143497 deg, new cmd heading: 51.999677 deg. 2025-01-08T22:59:04.702Z,1736377144.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.907566 target range: 80.800003 and range: 80.80 m. 2025-01-08T22:59:04.892Z,1736377144.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:05.144Z,1736377145.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:05.153Z,1736377145.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:05.161Z,1736377145.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:59:05.165Z,1736377145.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.800003 m, nav range: 33.915894 m, bearing: 101.817618 deg, approach rate: -0.390738 m/s, LOS rate: 0.777684 deg/s, cmd heading: 51.999678 deg, new cmd heading: 53.091640 deg. 2025-01-08T22:59:05.166Z,1736377145.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.926624 target range: 80.800003 and range: 80.80 m. 2025-01-08T22:59:05.396Z,1736377145.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:05.469Z,1736377145.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:05.491Z,1736377145.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:59:05.494Z,1736377145.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.800003 m, nav range: 33.790836 m, bearing: 102.056222 deg, approach rate: -0.379458 m/s, LOS rate: 0.726665 deg/s, cmd heading: 53.091641 deg, new cmd heading: 53.810060 deg. 2025-01-08T22:59:05.495Z,1736377145.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939163 target range: 80.800003 and range: 80.80 m. 2025-01-08T22:59:05.648Z,1736377145.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:05.855Z,1736377145.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:05.862Z,1736377145.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:05.864Z,1736377145.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:59:05.868Z,1736377145.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.800003 m, nav range: 33.635464 m, bearing: 102.344168 deg, approach rate: -0.416189 m/s, LOS rate: 0.774868 deg/s, cmd heading: 53.810061 deg, new cmd heading: 54.677820 deg. 2025-01-08T22:59:05.869Z,1736377145.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.954308 target range: 80.800003 and range: 80.80 m. 2025-01-08T22:59:05.900Z,1736377145.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:05.901Z,1736377145.901 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:05.901Z,1736377145.901 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:05.902Z,1736377145.902 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:06.153Z,1736377146.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:06.155Z,1736377146.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211612 2025-01-08T22:59:06.321Z,1736377146.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:06.350Z,1736377146.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:59:06.355Z,1736377146.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.800003 m, nav range: 33.438835 m, bearing: 102.691082 deg, approach rate: -0.404936 m/s, LOS rate: 0.718629 deg/s, cmd heading: 54.677819 deg, new cmd heading: 55.724557 deg. 2025-01-08T22:59:06.364Z,1736377146.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.972577 target range: 80.800003 and range: 80.80 m. 2025-01-08T22:59:06.404Z,1736377146.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:06.405Z,1736377146.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461641 2025-01-08T22:59:06.656Z,1736377146.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:06.657Z,1736377146.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714123 2025-01-08T22:59:06.688Z,1736377146.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:59:06.717Z,1736377146.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:06.739Z,1736377146.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:59:06.745Z,1736377146.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.800003 m, nav range: 33.269756 m, bearing: 102.982953 deg, approach rate: -0.438652 m/s, LOS rate: 0.761065 deg/s, cmd heading: 55.724556 deg, new cmd heading: 56.604547 deg. 2025-01-08T22:59:06.746Z,1736377146.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.987936 target range: 80.800003 and range: 80.80 m. 2025-01-08T22:59:06.909Z,1736377146.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:06.910Z,1736377146.910 [DAT](INFO): DAT read: Rx Time:22:59:05.6296 2025-01-08T22:59:06.910Z,1736377146.910 [DAT](INFO): Rx dataTimestamp_ set to:1736377146.909991 2025-01-08T22:59:06.911Z,1736377146.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967833 2025-01-08T22:59:07.161Z,1736377147.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:07.162Z,1736377147.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219421 2025-01-08T22:59:07.237Z,1736377147.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:07.245Z,1736377147.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.80 m. 2025-01-08T22:59:07.253Z,1736377147.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.800003 m, nav range: 33.053177 m, bearing: 103.330339 deg, approach rate: -0.424679 m/s, LOS rate: 0.685629 deg/s, cmd heading: 56.604547 deg, new cmd heading: 57.653410 deg. 2025-01-08T22:59:07.254Z,1736377147.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006242 target range: 80.800003 and range: 80.80 m. 2025-01-08T22:59:07.412Z,1736377147.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:07.426Z,1736377147.426 [DAT](INFO): DAT read: 22:59:05.6296 LVL= 18832, 29137, 21730, 31555, AGC= 57, IDX= 429, 0.35, 2.525, 0.949, 1.125, 1.633, PHS= 0.981,-0.637,-0.511, RAW= 94.0, 2.2, CAL= 102.6, -0.3, ROT= 47.4, 0.3 2025-01-08T22:59:07.427Z,1736377147.427 [DAT](INFO): got valid direction response: 22:59:05.6296 LVL= 18832, 29137, 21730, 31555, AGC= 57, IDX= 429, 0.35, 2.525, 0.949, 1.125, 1.633, PHS= 0.981,-0.637,-0.511, RAW= 94.0, 2.2, CAL= 102.6, -0.3, ROT= 47.4, 0.3 2025-01-08T22:59:07.428Z,1736377147.428 [DAT](INFO): DAT read: Bearing 47.4, 0.3 (Local) 2025-01-08T22:59:07.428Z,1736377147.428 [DAT](INFO): Local bearing/azimuth received: Bearing 47.4, 0.3 (Local) 2025-01-08T22:59:07.430Z,1736377147.430 [DAT](INFO): DAT read: Range 10 to 50 : 79.7 m (Round-trip 106.3 ms) speed 0.4 m/s 2025-01-08T22:59:07.431Z,1736377147.431 [DAT](INFO): DAT read: user:2975> 2025-01-08T22:59:07.432Z,1736377147.432 [DAT](INFO): DAT read: Tx time:22:59:06.7192 2025-01-08T22:59:07.432Z,1736377147.432 [DAT](INFO): Ping request sent. 2025-01-08T22:59:07.432Z,1736377147.432 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:07.433Z,1736377147.433 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:59:07.434Z,1736377147.434 [DAT](INFO): direction in FSK: [-0.132699,0.040028,0.990348] 2025-01-08T22:59:07.435Z,1736377147.435 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:07.435Z,1736377147.435 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:07.438Z,1736377147.438 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:07.438Z,1736377147.438 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:07.620Z,1736377147.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:07.657Z,1736377147.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.699997 m, deltaT: 3.527810 s, deltaX: -1.100006 m, approachRate: -0.311810 m/s, rangeRepo size: 4 2025-01-08T22:59:07.664Z,1736377147.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:07.665Z,1736377147.665 [DAT](INFO): DAT read: TxSync time:22:59:06.7184 2025-01-08T22:59:07.673Z,1736377147.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.699997 m, bearing: 295.086867 deg, lat: 36.904792 deg, lon: -122.119993 deg, deltaT: 3.527810 s, deltaX: -1.100006 m, approachRate: -0.311810 m/s, posRepo size: 4 2025-01-08T22:59:07.674Z,1736377147.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:07.682Z,1736377147.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 17.098581 m, bearing: 89.604151 deg, approach rate: 0.000000 m/s, LOS rate: 0.685629 deg/s, cmd heading: 57.653408 deg, new cmd heading: 58.479504 deg. 2025-01-08T22:59:07.683Z,1736377147.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.020660 target range: 79.699997 and range: 79.70 m. 2025-01-08T22:59:07.692Z,1736377147.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:59:07.916Z,1736377147.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:08.013Z,1736377148.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:08.022Z,1736377148.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:08.024Z,1736377148.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:08.026Z,1736377148.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 16.897638 m, bearing: 89.954971 deg, approach rate: -0.533394 m/s, LOS rate: 0.942305 deg/s, cmd heading: 58.479506 deg, new cmd heading: 59.544353 deg. 2025-01-08T22:59:08.028Z,1736377148.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.039245 target range: 79.699997 and range: 79.70 m. 2025-01-08T22:59:08.173Z,1736377148.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:08.174Z,1736377148.174 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:08.174Z,1736377148.174 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:08.176Z,1736377148.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:08.424Z,1736377148.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:08.426Z,1736377148.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993097 2025-01-08T22:59:08.477Z,1736377148.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:08.486Z,1736377148.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:08.489Z,1736377148.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 16.688831 m, bearing: 90.368121 deg, approach rate: -0.451334 m/s, LOS rate: 0.904184 deg/s, cmd heading: 59.544353 deg, new cmd heading: 60.799099 deg. 2025-01-08T22:59:08.490Z,1736377148.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.061144 target range: 79.699997 and range: 79.70 m. 2025-01-08T22:59:08.678Z,1736377148.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:08.679Z,1736377148.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246225 2025-01-08T22:59:08.928Z,1736377148.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:08.928Z,1736377148.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495895 2025-01-08T22:59:08.937Z,1736377148.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:08.970Z,1736377148.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:08.981Z,1736377148.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 16.479342 m, bearing: 90.766885 deg, approach rate: -0.433109 m/s, LOS rate: 0.834896 deg/s, cmd heading: 60.799100 deg, new cmd heading: 62.010410 deg. 2025-01-08T22:59:08.982Z,1736377148.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.082286 target range: 79.699997 and range: 79.70 m. 2025-01-08T22:59:09.180Z,1736377149.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:09.181Z,1736377149.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748192 2025-01-08T22:59:09.378Z,1736377149.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:09.388Z,1736377149.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:09.390Z,1736377149.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 16.293993 m, bearing: 91.160403 deg, approach rate: -0.444027 m/s, LOS rate: 0.953440 deg/s, cmd heading: 62.010406 deg, new cmd heading: 63.204206 deg. 2025-01-08T22:59:09.391Z,1736377149.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.103122 target range: 79.699997 and range: 79.70 m. 2025-01-08T22:59:09.432Z,1736377149.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:09.433Z,1736377149.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000101 2025-01-08T22:59:09.685Z,1736377149.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:09.685Z,1736377149.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252654 2025-01-08T22:59:09.817Z,1736377149.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:09.825Z,1736377149.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:09.828Z,1736377149.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 16.110580 m, bearing: 91.560420 deg, approach rate: -0.418785 m/s, LOS rate: 0.923749 deg/s, cmd heading: 63.204207 deg, new cmd heading: 64.417730 deg. 2025-01-08T22:59:09.829Z,1736377149.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124301 target range: 79.699997 and range: 79.70 m. 2025-01-08T22:59:09.938Z,1736377149.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:09.943Z,1736377149.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510108 2025-01-08T22:59:10.189Z,1736377150.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:10.192Z,1736377150.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758830 2025-01-08T22:59:10.288Z,1736377150.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:10.295Z,1736377150.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:10.297Z,1736377150.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:10.300Z,1736377150.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 15.931710 m, bearing: 92.006473 deg, approach rate: -0.379307 m/s, LOS rate: 0.956496 deg/s, cmd heading: 64.417727 deg, new cmd heading: 65.770643 deg. 2025-01-08T22:59:10.301Z,1736377150.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147914 target range: 79.699997 and range: 79.70 m. 2025-01-08T22:59:10.440Z,1736377150.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:10.440Z,1736377150.440 [DAT](INFO): DAT read: Rx Time:22:59:09.2282 2025-01-08T22:59:10.441Z,1736377150.441 [DAT](INFO): Rx dataTimestamp_ set to:1736377150.440618 2025-01-08T22:59:10.441Z,1736377150.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008923 2025-01-08T22:59:10.692Z,1736377150.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:10.693Z,1736377150.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260014 2025-01-08T22:59:10.722Z,1736377150.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:10.739Z,1736377150.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:10.742Z,1736377150.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 15.762495 m, bearing: 92.394899 deg, approach rate: -0.382809 m/s, LOS rate: 0.888147 deg/s, cmd heading: 65.770644 deg, new cmd heading: 66.948257 deg. 2025-01-08T22:59:10.743Z,1736377150.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.168468 target range: 79.699997 and range: 79.70 m. 2025-01-08T22:59:10.944Z,1736377150.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:10.951Z,1736377150.951 [DAT](INFO): DAT read: 22:59:09.2282 LVL= 15856, 31777, 20946, 32755, AGC= 59, IDX= 429, 0.48, 1.889, 0.190, 0.635, 1.091, PHS= 0.886,-0.854,-0.459, RAW= 102.5, 5.4, CAL= 112.7, 3.5, ROT= 37.3, -3.5 2025-01-08T22:59:10.956Z,1736377150.956 [DAT](INFO): got valid direction response: 22:59:09.2282 LVL= 15856, 31777, 20946, 32755, AGC= 59, IDX= 429, 0.48, 1.889, 0.190, 0.635, 1.091, PHS= 0.886,-0.854,-0.459, RAW= 102.5, 5.4, CAL= 112.7, 3.5, ROT= 37.3, -3.5 2025-01-08T22:59:10.957Z,1736377150.957 [DAT](INFO): DAT read: Bearing 37.3, -3.5 (Local) 2025-01-08T22:59:10.957Z,1736377150.957 [DAT](INFO): Local bearing/azimuth received: Bearing 37.3, -3.5 (Local) 2025-01-08T22:59:10.959Z,1736377150.959 [DAT](INFO): DAT read: Range 10 to 50 : 78.5 m (Round-trip 104.7 ms) speed 0.4 m/s 2025-01-08T22:59:10.960Z,1736377150.960 [DAT](INFO): DAT read: user:2976> 2025-01-08T22:59:10.960Z,1736377150.960 [DAT](INFO): DAT read: Tx time:22:59:10.3193 2025-01-08T22:59:10.961Z,1736377150.961 [DAT](INFO): Ping request sent. 2025-01-08T22:59:10.961Z,1736377150.961 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:10.961Z,1736377150.961 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:59:10.962Z,1736377150.962 [DAT](INFO): direction in FSK: [-0.207164,-0.105057,0.972649] 2025-01-08T22:59:10.962Z,1736377150.962 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:10.962Z,1736377150.962 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:10.966Z,1736377150.966 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:10.966Z,1736377150.966 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:11.113Z,1736377151.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:11.198Z,1736377151.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:11.201Z,1736377151.201 [DAT](INFO): DAT read: TxSync time:22:59:10.3185 2025-01-08T22:59:11.205Z,1736377151.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.500000 m, deltaT: 3.531456 s, deltaX: -1.199997 m, approachRate: -0.339802 m/s, rangeRepo size: 4 2025-01-08T22:59:11.215Z,1736377151.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.500000 m, bearing: 304.098667 deg, lat: 36.904817 deg, lon: -122.120214 deg, deltaT: 3.531456 s, deltaX: -1.199997 m, approachRate: -0.339802 m/s, posRepo size: 4 2025-01-08T22:59:11.216Z,1736377151.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T22:59:11.227Z,1736377151.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 4.558656 m, bearing: 296.324067 deg, approach rate: 0.000000 m/s, LOS rate: 0.888147 deg/s, cmd heading: 66.948257 deg, new cmd heading: 68.188252 deg. 2025-01-08T22:59:11.232Z,1736377151.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190109 target range: 78.500000 and range: 78.50 m. 2025-01-08T22:59:11.448Z,1736377151.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:11.555Z,1736377151.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:11.568Z,1736377151.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T22:59:11.570Z,1736377151.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 4.676607 m, bearing: 294.359529 deg, approach rate: 0.325704 m/s, LOS rate: -5.286932 deg/s, cmd heading: 68.188251 deg, new cmd heading: 62.463533 deg. 2025-01-08T22:59:11.571Z,1736377151.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.090194 target range: 78.500000 and range: 78.50 m. 2025-01-08T22:59:11.700Z,1736377151.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:11.916Z,1736377151.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:11.925Z,1736377151.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T22:59:11.929Z,1736377151.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 4.780671 m, bearing: 292.869180 deg, approach rate: 0.289866 m/s, LOS rate: -4.060463 deg/s, cmd heading: 62.463535 deg, new cmd heading: 58.098769 deg. 2025-01-08T22:59:11.930Z,1736377151.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.014015 target range: 78.500000 and range: 78.50 m. 2025-01-08T22:59:11.952Z,1736377151.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:12.206Z,1736377152.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:12.361Z,1736377152.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:12.369Z,1736377152.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:12.371Z,1736377152.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T22:59:12.374Z,1736377152.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 4.924938 m, bearing: 291.131794 deg, approach rate: 0.323792 m/s, LOS rate: -3.784579 deg/s, cmd heading: 58.098771 deg, new cmd heading: 53.053151 deg. 2025-01-08T22:59:12.375Z,1736377152.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.925952 target range: 78.500000 and range: 78.50 m. 2025-01-08T22:59:12.456Z,1736377152.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:12.457Z,1736377152.457 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:12.457Z,1736377152.457 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:12.458Z,1736377152.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:12.708Z,1736377152.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:12.708Z,1736377152.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747633 2025-01-08T22:59:12.724Z,1736377152.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:12.732Z,1736377152.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T22:59:12.760Z,1736377152.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 5.047662 m, bearing: 289.808750 deg, approach rate: 0.339629 m/s, LOS rate: -3.572064 deg/s, cmd heading: 53.053153 deg, new cmd heading: 49.186747 deg. 2025-01-08T22:59:12.761Z,1736377152.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858471 target range: 78.500000 and range: 78.50 m. 2025-01-08T22:59:12.960Z,1736377152.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:12.960Z,1736377152.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999583 2025-01-08T22:59:13.132Z,1736377153.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:13.141Z,1736377153.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T22:59:13.149Z,1736377153.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 5.190545 m, bearing: 288.424332 deg, approach rate: 0.349391 m/s, LOS rate: -3.291815 deg/s, cmd heading: 49.186747 deg, new cmd heading: 45.154882 deg. 2025-01-08T22:59:13.150Z,1736377153.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788101 target range: 78.500000 and range: 78.50 m. 2025-01-08T22:59:13.214Z,1736377153.214 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:13.216Z,1736377153.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254571 2025-01-08T22:59:13.464Z,1736377153.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:13.464Z,1736377153.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503557 2025-01-08T22:59:13.559Z,1736377153.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:13.584Z,1736377153.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T22:59:13.587Z,1736377153.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 5.348310 m, bearing: 286.962707 deg, approach rate: 0.356204 m/s, LOS rate: -3.202371 deg/s, cmd heading: 45.154883 deg, new cmd heading: 40.907613 deg. 2025-01-08T22:59:13.596Z,1736377153.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713973 target range: 78.500000 and range: 78.50 m. 2025-01-08T22:59:13.716Z,1736377153.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:13.717Z,1736377153.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755983 2025-01-08T22:59:13.934Z,1736377153.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:13.943Z,1736377153.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T22:59:13.946Z,1736377153.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 5.491226 m, bearing: 285.773155 deg, approach rate: 0.398303 m/s, LOS rate: -3.228727 deg/s, cmd heading: 40.907611 deg, new cmd heading: 37.436337 deg. 2025-01-08T22:59:13.947Z,1736377153.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653387 target range: 78.500000 and range: 78.50 m. 2025-01-08T22:59:13.969Z,1736377153.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:13.970Z,1736377153.970 [DAT](INFO): DAT read: Rx Time:22:59:12.8259 2025-01-08T22:59:13.971Z,1736377153.971 [DAT](INFO): Rx dataTimestamp_ set to:1736377153.970342 2025-01-08T22:59:13.971Z,1736377153.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010507 2025-01-08T22:59:14.221Z,1736377154.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:14.224Z,1736377154.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262251 2025-01-08T22:59:14.367Z,1736377154.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:14.373Z,1736377154.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:14.376Z,1736377154.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T22:59:14.401Z,1736377154.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 5.676481 m, bearing: 284.465751 deg, approach rate: 0.428550 m/s, LOS rate: -2.925467 deg/s, cmd heading: 37.436335 deg, new cmd heading: 33.647986 deg. 2025-01-08T22:59:14.402Z,1736377154.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587268 target range: 78.500000 and range: 78.50 m. 2025-01-08T22:59:14.473Z,1736377154.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:14.476Z,1736377154.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514117 2025-01-08T22:59:14.724Z,1736377154.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:14.731Z,1736377154.731 [DAT](INFO): DAT read: 22:59:12.8259 LVL= 24304, 32753, 28962, 32755, AGC= 63, IDX= 423,-0.49, 1.210,-0.377, 0.240, 0.624, PHS= 0.673,-0.955,-0.387, RAW= 110.1, 9.4, CAL= 119.7, 6.9, ROT= 30.3, -6.9 2025-01-08T22:59:14.732Z,1736377154.732 [DAT](INFO): got valid direction response: 22:59:12.8259 LVL= 24304, 32753, 28962, 32755, AGC= 63, IDX= 423,-0.49, 1.210,-0.377, 0.240, 0.624, PHS= 0.673,-0.955,-0.387, RAW= 110.1, 9.4, CAL= 119.7, 6.9, ROT= 30.3, -6.9 2025-01-08T22:59:14.733Z,1736377154.733 [DAT](INFO): DAT read: Bearing 30.3, -6.9 (Local) 2025-01-08T22:59:14.734Z,1736377154.734 [DAT](INFO): Local bearing/azimuth received: Bearing 30.3, -6.9 (Local) 2025-01-08T22:59:14.736Z,1736377154.736 [DAT](INFO): DAT read: Range 10 to 50 : 76.8 m (Round-trip 102.5 ms) speed 0.5 m/s 2025-01-08T22:59:14.737Z,1736377154.737 [DAT](INFO): DAT read: user:2977> 2025-01-08T22:59:14.738Z,1736377154.738 [DAT](INFO): DAT read: Tx time:22:59:13.9193 2025-01-08T22:59:14.738Z,1736377154.738 [DAT](INFO): Ping request sent. 2025-01-08T22:59:14.738Z,1736377154.738 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:14.738Z,1736377154.738 [DAT](INFO): DAT read: TxSync time:22:59:13.9185 2025-01-08T22:59:14.740Z,1736377154.740 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:59:14.741Z,1736377154.741 [DAT](INFO): direction in FSK: [-0.289418,-0.230170,0.929117] 2025-01-08T22:59:14.741Z,1736377154.741 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:14.742Z,1736377154.742 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:14.745Z,1736377154.745 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:14.745Z,1736377154.745 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:14.823Z,1736377154.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:14.861Z,1736377154.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.800003 m, deltaT: 3.780082 s, deltaX: -1.699997 m, approachRate: -0.449725 m/s, rangeRepo size: 4 2025-01-08T22:59:14.884Z,1736377154.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 310.711037 deg, lat: 36.904863 deg, lon: -122.120377 deg, deltaT: 3.780082 s, deltaX: -1.699997 m, approachRate: -0.449725 m/s, posRepo size: 4 2025-01-08T22:59:14.885Z,1736377154.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T22:59:14.896Z,1736377154.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 21.202396 m, bearing: 287.690236 deg, approach rate: 0.000000 m/s, LOS rate: -2.925467 deg/s, cmd heading: 33.647984 deg, new cmd heading: 29.399096 deg. 2025-01-08T22:59:14.897Z,1736377154.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513111 target range: 76.800003 and range: 76.80 m. 2025-01-08T22:59:14.977Z,1736377154.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:15.155Z,1736377155.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:15.164Z,1736377155.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T22:59:15.170Z,1736377155.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 21.342699 m, bearing: 287.418528 deg, approach rate: 0.463056 m/s, LOS rate: -0.890849 deg/s, cmd heading: 29.399094 deg, new cmd heading: 28.589385 deg. 2025-01-08T22:59:15.173Z,1736377155.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.498979 target range: 76.800003 and range: 76.80 m. 2025-01-08T22:59:15.229Z,1736377155.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:15.480Z,1736377155.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:15.568Z,1736377155.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:15.576Z,1736377155.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T22:59:15.579Z,1736377155.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 21.539057 m, bearing: 287.066356 deg, approach rate: 0.475449 m/s, LOS rate: -0.844951 deg/s, cmd heading: 28.589386 deg, new cmd heading: 27.542623 deg. 2025-01-08T22:59:15.580Z,1736377155.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.480709 target range: 76.800003 and range: 76.80 m. 2025-01-08T22:59:15.732Z,1736377155.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:15.953Z,1736377155.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:15.981Z,1736377155.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T22:59:15.984Z,1736377155.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:15.985Z,1736377155.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 21.723776 m, bearing: 286.745513 deg, approach rate: 0.456839 m/s, LOS rate: -0.786743 deg/s, cmd heading: 27.542623 deg, new cmd heading: 26.588372 deg. 2025-01-08T22:59:15.986Z,1736377155.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464055 target range: 76.800003 and range: 76.80 m. 2025-01-08T22:59:16.238Z,1736377156.238 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:16.435Z,1736377156.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:16.458Z,1736377156.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:16.464Z,1736377156.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T22:59:16.467Z,1736377156.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 21.971571 m, bearing: 286.328747 deg, approach rate: 0.512633 m/s, LOS rate: -0.852465 deg/s, cmd heading: 26.588373 deg, new cmd heading: 25.352378 deg. 2025-01-08T22:59:16.469Z,1736377156.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442482 target range: 76.800003 and range: 76.80 m. 2025-01-08T22:59:16.488Z,1736377156.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:16.488Z,1736377156.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:16.488Z,1736377156.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:16.489Z,1736377156.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:16.740Z,1736377156.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:16.740Z,1736377156.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002377 2025-01-08T22:59:16.780Z,1736377156.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:16.794Z,1736377156.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T22:59:16.802Z,1736377156.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 22.152277 m, bearing: 286.026667 deg, approach rate: 0.547826 m/s, LOS rate: -0.908308 deg/s, cmd heading: 25.352378 deg, new cmd heading: 24.453609 deg. 2025-01-08T22:59:16.803Z,1736377156.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426796 target range: 76.800003 and range: 76.80 m. 2025-01-08T22:59:16.992Z,1736377156.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:16.992Z,1736377156.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254445 2025-01-08T22:59:17.165Z,1736377157.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:17.174Z,1736377157.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T22:59:17.177Z,1736377157.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 22.350328 m, bearing: 285.694877 deg, approach rate: 0.520398 m/s, LOS rate: -0.864077 deg/s, cmd heading: 24.453609 deg, new cmd heading: 23.467163 deg. 2025-01-08T22:59:17.178Z,1736377157.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.409579 target range: 76.800003 and range: 76.80 m. 2025-01-08T22:59:17.246Z,1736377157.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:17.248Z,1736377157.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509719 2025-01-08T22:59:17.496Z,1736377157.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:17.496Z,1736377157.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758459 2025-01-08T22:59:17.591Z,1736377157.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:17.600Z,1736377157.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T22:59:17.603Z,1736377157.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 22.582458 m, bearing: 285.317086 deg, approach rate: 0.546364 m/s, LOS rate: -0.880059 deg/s, cmd heading: 23.467162 deg, new cmd heading: 22.345592 deg. 2025-01-08T22:59:17.605Z,1736377157.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.390004 target range: 76.800003 and range: 76.80 m. 2025-01-08T22:59:17.748Z,1736377157.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:17.748Z,1736377157.748 [DAT](INFO): DAT read: Rx Time:22:59:16.4234 2025-01-08T22:59:17.749Z,1736377157.749 [DAT](INFO): Rx dataTimestamp_ set to:1736377157.748668 2025-01-08T22:59:17.749Z,1736377157.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011572 2025-01-08T22:59:17.989Z,1736377157.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:17.997Z,1736377157.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T22:59:18.001Z,1736377158.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:18.002Z,1736377158.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264193 2025-01-08T22:59:18.004Z,1736377158.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 22.800102 m, bearing: 284.971247 deg, approach rate: 0.546764 m/s, LOS rate: -0.860518 deg/s, cmd heading: 22.345592 deg, new cmd heading: 21.318094 deg. 2025-01-08T22:59:18.005Z,1736377158.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.372071 target range: 76.800003 and range: 76.80 m. 2025-01-08T22:59:18.253Z,1736377158.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:18.291Z,1736377158.291 [DAT](INFO): DAT read: 22:59:16.4234 LVL= 10912, 26609, 22818, 30003, AGC= 58, IDX= 412,-0.25,-2.517, 1.879, 2.663, 3.004, PHS= 0.849,-1.079,-0.344, RAW= 112.2, 6.9, CAL= 122.3, 3.8, ROT= 27.7, -3.8 2025-01-08T22:59:18.296Z,1736377158.296 [DAT](INFO): got valid direction response: 22:59:16.4234 LVL= 10912, 26609, 22818, 30003, AGC= 58, IDX= 412,-0.25,-2.517, 1.879, 2.663, 3.004, PHS= 0.849,-1.079,-0.344, RAW= 112.2, 6.9, CAL= 122.3, 3.8, ROT= 27.7, -3.8 2025-01-08T22:59:18.298Z,1736377158.298 [DAT](INFO): DAT read: Bearing 27.7, -3.8 (Local) 2025-01-08T22:59:18.323Z,1736377158.323 [DAT](INFO): Local bearing/azimuth received: Bearing 27.7, -3.8 (Local) 2025-01-08T22:59:18.325Z,1736377158.325 [DAT](INFO): DAT read: Range 10 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.3 m/s 2025-01-08T22:59:18.326Z,1736377158.326 [DAT](INFO): DAT read: user:2978> 2025-01-08T22:59:18.327Z,1736377158.327 [DAT](INFO): DAT read: Tx time:22:59:17.5193 2025-01-08T22:59:18.327Z,1736377158.327 [DAT](INFO): Ping request sent. 2025-01-08T22:59:18.330Z,1736377158.330 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:18.330Z,1736377158.330 [DAT](INFO): DAT read: TxSync time:22:59:17.5185 2025-01-08T22:59:18.331Z,1736377158.331 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:59:18.364Z,1736377158.364 [DAT](INFO): direction in FSK: [-0.245093,-0.270808,0.930910] 2025-01-08T22:59:18.364Z,1736377158.364 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:18.364Z,1736377158.364 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:18.396Z,1736377158.396 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:18.396Z,1736377158.396 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:18.452Z,1736377158.452 [CTD_Seabird](ERROR): Failed to parse device response: 6.0619,3.69367,9067.07 2025-01-08T22:59:18.490Z,1736377158.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:18.504Z,1736377158.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:18.526Z,1736377158.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 3.531305 s, deltaX: -1.800003 m, approachRate: -0.509727 m/s, rangeRepo size: 4 2025-01-08T22:59:18.528Z,1736377158.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 75.000000 m, bearing: 311.592313 deg, lat: 36.904941 deg, lon: -122.120377 deg, deltaT: 3.531305 s, deltaX: -1.800003 m, approachRate: -0.509727 m/s, posRepo size: 4 2025-01-08T22:59:18.529Z,1736377158.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T22:59:18.536Z,1736377158.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 26.599689 m, bearing: 302.925062 deg, approach rate: 0.000000 m/s, LOS rate: -0.860518 deg/s, cmd heading: 21.318094 deg, new cmd heading: 19.955494 deg. 2025-01-08T22:59:18.537Z,1736377158.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.348289 target range: 75.000000 and range: 75.00 m. 2025-01-08T22:59:18.758Z,1736377158.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:18.846Z,1736377158.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:18.861Z,1736377158.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:18.868Z,1736377158.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T22:59:18.870Z,1736377158.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 26.730362 m, bearing: 302.523668 deg, approach rate: 0.386814 m/s, LOS rate: -1.182379 deg/s, cmd heading: 19.955494 deg, new cmd heading: 18.757385 deg. 2025-01-08T22:59:18.876Z,1736377158.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.327378 target range: 75.000000 and range: 75.00 m. 2025-01-08T22:59:19.008Z,1736377159.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:19.008Z,1736377159.008 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:19.008Z,1736377159.008 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:19.009Z,1736377159.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:19.262Z,1736377159.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:19.264Z,1736377159.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.936505 2025-01-08T22:59:19.393Z,1736377159.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:19.418Z,1736377159.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T22:59:19.425Z,1736377159.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 26.918531 m, bearing: 301.923550 deg, approach rate: 0.338971 m/s, LOS rate: -1.073484 deg/s, cmd heading: 18.757385 deg, new cmd heading: 16.970228 deg. 2025-01-08T22:59:19.426Z,1736377159.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.296186 target range: 75.000000 and range: 75.00 m. 2025-01-08T22:59:19.512Z,1736377159.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:19.513Z,1736377159.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.185710 2025-01-08T22:59:19.764Z,1736377159.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:19.764Z,1736377159.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.437314 2025-01-08T22:59:19.888Z,1736377159.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:19.896Z,1736377159.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T22:59:19.919Z,1736377159.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 27.075508 m, bearing: 301.369616 deg, approach rate: 0.328236 m/s, LOS rate: -1.151533 deg/s, cmd heading: 16.970228 deg, new cmd heading: 15.318544 deg. 2025-01-08T22:59:19.920Z,1736377159.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.267359 target range: 75.000000 and range: 75.00 m. 2025-01-08T22:59:20.016Z,1736377160.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:20.017Z,1736377160.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.690456 2025-01-08T22:59:20.268Z,1736377160.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:20.269Z,1736377160.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942078 2025-01-08T22:59:20.396Z,1736377160.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:20.428Z,1736377160.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T22:59:20.430Z,1736377160.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 27.220201 m, bearing: 300.836193 deg, approach rate: 0.274848 m/s, LOS rate: -1.007849 deg/s, cmd heading: 15.318545 deg, new cmd heading: 13.727215 deg. 2025-01-08T22:59:20.439Z,1736377160.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.239585 target range: 75.000000 and range: 75.00 m. 2025-01-08T22:59:20.520Z,1736377160.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:20.521Z,1736377160.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.193744 2025-01-08T22:59:20.774Z,1736377160.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:20.778Z,1736377160.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450846 2025-01-08T22:59:20.872Z,1736377160.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:20.879Z,1736377160.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:20.881Z,1736377160.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T22:59:20.885Z,1736377160.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 27.350641 m, bearing: 300.333752 deg, approach rate: 0.284623 m/s, LOS rate: -1.091098 deg/s, cmd heading: 13.727214 deg, new cmd heading: 12.227442 deg. 2025-01-08T22:59:20.886Z,1736377160.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.213409 target range: 75.000000 and range: 75.00 m. 2025-01-08T22:59:21.024Z,1736377161.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:21.024Z,1736377161.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.697350 2025-01-08T22:59:21.272Z,1736377161.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:21.277Z,1736377161.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:21.278Z,1736377161.278 [DAT](INFO): DAT read: Rx Time:22:59:20.0217 2025-01-08T22:59:21.279Z,1736377161.279 [DAT](INFO): Rx dataTimestamp_ set to:1736377161.278481 2025-01-08T22:59:21.280Z,1736377161.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.952502 2025-01-08T22:59:21.322Z,1736377161.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T22:59:21.352Z,1736377161.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 27.456102 m, bearing: 299.908784 deg, approach rate: 0.239842 m/s, LOS rate: -0.962750 deg/s, cmd heading: 12.227442 deg, new cmd heading: 10.957655 deg. 2025-01-08T22:59:21.353Z,1736377161.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.191247 target range: 75.000000 and range: 75.00 m. 2025-01-08T22:59:21.528Z,1736377161.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:21.528Z,1736377161.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.201394 2025-01-08T22:59:21.744Z,1736377161.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:21.754Z,1736377161.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T22:59:21.757Z,1736377161.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 27.559258 m, bearing: 299.439240 deg, approach rate: 0.238020 m/s, LOS rate: -1.079360 deg/s, cmd heading: 10.957655 deg, new cmd heading: 9.554590 deg. 2025-01-08T22:59:21.758Z,1736377161.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.166759 target range: 75.000000 and range: 75.00 m. 2025-01-08T22:59:21.781Z,1736377161.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:21.788Z,1736377161.788 [DAT](INFO): DAT read: 22:59:20.0217 LVL= 14640, 22801, 22002, 26451, AGC= 60, IDX= 426,-0.11,-2.867, 1.261, 1.499, 2.197, PHS= 1.307,-0.889,-0.701, RAW= 94.4, 2.7, CAL= 103.1, 0.5, ROT= 46.9, -0.5 2025-01-08T22:59:21.790Z,1736377161.790 [DAT](INFO): got valid direction response: 22:59:20.0217 LVL= 14640, 22801, 22002, 26451, AGC= 60, IDX= 426,-0.11,-2.867, 1.261, 1.499, 2.197, PHS= 1.307,-0.889,-0.701, RAW= 94.4, 2.7, CAL= 103.1, 0.5, ROT= 46.9, -0.5 2025-01-08T22:59:21.792Z,1736377161.792 [DAT](INFO): DAT read: Bearing 46.9, -0.5 (Local) 2025-01-08T22:59:21.792Z,1736377161.792 [DAT](INFO): Local bearing/azimuth received: Bearing 46.9, -0.5 (Local) 2025-01-08T22:59:21.794Z,1736377161.794 [DAT](INFO): DAT read: Range 10 to 50 : 73.6 m (Round-trip 98.2 ms) speed 0.2 m/s 2025-01-08T22:59:21.800Z,1736377161.800 [DAT](INFO): DAT read: user:2979> 2025-01-08T22:59:21.801Z,1736377161.801 [DAT](INFO): DAT read: Tx time:22:59:21.1194 2025-01-08T22:59:21.802Z,1736377161.802 [DAT](INFO): Ping request sent. 2025-01-08T22:59:21.802Z,1736377161.802 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:21.802Z,1736377161.802 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:59:21.808Z,1736377161.808 [DAT](INFO): direction in FSK: [-0.143726,0.033323,0.989056] 2025-01-08T22:59:21.808Z,1736377161.808 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:21.809Z,1736377161.809 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:21.818Z,1736377161.818 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:21.818Z,1736377161.818 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:22.032Z,1736377162.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:22.033Z,1736377162.033 [DAT](INFO): DAT read: TxSync time:22:59:21.1186 2025-01-08T22:59:22.076Z,1736377162.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:22.111Z,1736377162.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.599998 m, deltaT: 3.525563 s, deltaX: -1.400002 m, approachRate: -0.397100 m/s, rangeRepo size: 4 2025-01-08T22:59:22.113Z,1736377162.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.599998 m, bearing: 73.847016 deg, lat: 36.904941 deg, lon: -122.120377 deg, deltaT: 3.525563 s, deltaX: -1.400002 m, approachRate: -0.397100 m/s, posRepo size: 4 2025-01-08T22:59:22.114Z,1736377162.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T22:59:22.121Z,1736377162.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 27.628141 m, bearing: 299.105790 deg, approach rate: 0.000000 m/s, LOS rate: -1.079360 deg/s, cmd heading: 9.554590 deg, new cmd heading: 8.414872 deg. 2025-01-08T22:59:22.128Z,1736377162.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146867 target range: 73.599998 and range: 73.60 m. 2025-01-08T22:59:22.284Z,1736377162.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:22.349Z,1736377162.349 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T22:59:22.501Z,1736377162.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:22.536Z,1736377162.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:22.539Z,1736377162.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T22:59:22.552Z,1736377162.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 27.702995 m, bearing: 298.711990 deg, approach rate: 0.173200 m/s, LOS rate: -0.908720 deg/s, cmd heading: 8.414872 deg, new cmd heading: 7.236838 deg. 2025-01-08T22:59:22.553Z,1736377162.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.126307 target range: 73.599998 and range: 73.60 m. 2025-01-08T22:59:22.788Z,1736377162.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:22.890Z,1736377162.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:22.897Z,1736377162.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:22.899Z,1736377162.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T22:59:22.903Z,1736377162.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 27.767391 m, bearing: 298.349300 deg, approach rate: 0.178646 m/s, LOS rate: -1.003829 deg/s, cmd heading: 7.236838 deg, new cmd heading: 6.151429 deg. 2025-01-08T22:59:22.904Z,1736377162.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107363 target range: 73.599998 and range: 73.60 m. 2025-01-08T22:59:23.040Z,1736377163.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:23.040Z,1736377163.040 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:23.040Z,1736377163.040 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:23.041Z,1736377163.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:23.278Z,1736377163.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:23.287Z,1736377163.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T22:59:23.290Z,1736377163.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 27.827999 m, bearing: 297.985871 deg, approach rate: 0.156244 m/s, LOS rate: -0.934852 deg/s, cmd heading: 6.151429 deg, new cmd heading: 5.063656 deg. 2025-01-08T22:59:23.291Z,1736377163.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.088377 target range: 73.599998 and range: 73.60 m. 2025-01-08T22:59:23.292Z,1736377163.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:23.292Z,1736377163.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490858 2025-01-08T22:59:23.544Z,1736377163.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:23.544Z,1736377163.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742835 2025-01-08T22:59:23.729Z,1736377163.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:23.739Z,1736377163.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T22:59:23.742Z,1736377163.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 27.892231 m, bearing: 297.594087 deg, approach rate: 0.142002 m/s, LOS rate: -0.864142 deg/s, cmd heading: 5.063656 deg, new cmd heading: 3.891183 deg. 2025-01-08T22:59:23.743Z,1736377163.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.067914 target range: 73.599998 and range: 73.60 m. 2025-01-08T22:59:23.797Z,1736377163.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:23.798Z,1736377163.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996223 2025-01-08T22:59:24.048Z,1736377164.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:24.048Z,1736377164.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246725 2025-01-08T22:59:24.171Z,1736377164.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:24.179Z,1736377164.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T22:59:24.182Z,1736377164.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 27.937492 m, bearing: 297.203177 deg, approach rate: 0.102861 m/s, LOS rate: -0.886937 deg/s, cmd heading: 3.891183 deg, new cmd heading: 2.720526 deg. 2025-01-08T22:59:24.183Z,1736377164.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047482 target range: 73.599998 and range: 73.60 m. 2025-01-08T22:59:24.300Z,1736377164.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:24.302Z,1736377164.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500271 2025-01-08T22:59:24.553Z,1736377164.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:24.555Z,1736377164.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752732 2025-01-08T22:59:24.648Z,1736377164.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:24.664Z,1736377164.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T22:59:24.669Z,1736377164.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 27.973501 m, bearing: 296.800956 deg, approach rate: 0.074305 m/s, LOS rate: -0.828917 deg/s, cmd heading: 2.720526 deg, new cmd heading: 1.515601 deg. 2025-01-08T22:59:24.671Z,1736377164.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026452 target range: 73.599998 and range: 73.60 m. 2025-01-08T22:59:24.804Z,1736377164.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:24.804Z,1736377164.804 [DAT](INFO): DAT read: Rx Time:22:59:23.6202 2025-01-08T22:59:24.805Z,1736377164.805 [DAT](INFO): Rx dataTimestamp_ set to:1736377164.804675 2025-01-08T22:59:24.805Z,1736377164.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003883 2025-01-08T22:59:25.056Z,1736377165.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:25.058Z,1736377165.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255803 2025-01-08T22:59:25.099Z,1736377165.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:25.128Z,1736377165.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:25.130Z,1736377165.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T22:59:25.137Z,1736377165.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 28.002527 m, bearing: 296.420374 deg, approach rate: 0.062321 m/s, LOS rate: -0.816280 deg/s, cmd heading: 1.515601 deg, new cmd heading: 0.375198 deg. 2025-01-08T22:59:25.138Z,1736377165.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006548 target range: 73.599998 and range: 73.60 m. 2025-01-08T22:59:25.310Z,1736377165.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:25.348Z,1736377165.348 [DAT](INFO): DAT read: 22:59:23.6202 LVL= 9888, 21073, 15426, 22899, AGC= 55, IDX= 426, 0.14,-1.811, 2.823, 2.353,-2.813, PHS= 1.090,-0.600,-1.120, RAW= 77.0, 6.4, CAL= 80.9, 7.3, ROT= 69.1, -7.3 2025-01-08T22:59:25.373Z,1736377165.373 [DAT](INFO): got valid direction response: 22:59:23.6202 LVL= 9888, 21073, 15426, 22899, AGC= 55, IDX= 426, 0.14,-1.811, 2.823, 2.353,-2.813, PHS= 1.090,-0.600,-1.120, RAW= 77.0, 6.4, CAL= 80.9, 7.3, ROT= 69.1, -7.3 2025-01-08T22:59:25.382Z,1736377165.382 [DAT](INFO): DAT read: Bearing 69.1, -7.3 (Local) 2025-01-08T22:59:25.389Z,1736377165.389 [DAT](INFO): Local bearing/azimuth received: Bearing 69.1, -7.3 (Local) 2025-01-08T22:59:25.413Z,1736377165.413 [DAT](INFO): DAT read: Range 10 to 50 : 72.4 m (Round-trip 96.6 ms) speed 0.3 m/s 2025-01-08T22:59:25.415Z,1736377165.415 [DAT](INFO): DAT read: user:2980> 2025-01-08T22:59:25.424Z,1736377165.424 [DAT](INFO): DAT read: Tx time:22:59:24.7194 2025-01-08T22:59:25.424Z,1736377165.424 [DAT](INFO): Ping request sent. 2025-01-08T22:59:25.424Z,1736377165.424 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:25.424Z,1736377165.424 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:59:25.425Z,1736377165.425 [DAT](INFO): direction in FSK: [-0.180961,0.328260,0.927091] 2025-01-08T22:59:25.426Z,1736377165.426 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:25.426Z,1736377165.426 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:25.437Z,1736377165.437 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:25.437Z,1736377165.437 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:25.561Z,1736377165.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:25.564Z,1736377165.564 [DAT](INFO): DAT read: TxSync time:22:59:24.7186 2025-01-08T22:59:25.604Z,1736377165.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:25.631Z,1736377165.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.400002 m, deltaT: 3.529902 s, deltaX: -1.199997 m, approachRate: -0.339952 m/s, rangeRepo size: 4 2025-01-08T22:59:25.641Z,1736377165.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.400002 m, bearing: 116.651222 deg, lat: 36.904941 deg, lon: -122.120311 deg, deltaT: 3.529902 s, deltaX: -1.199997 m, approachRate: -0.339952 m/s, posRepo size: 4 2025-01-08T22:59:25.642Z,1736377165.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:25.656Z,1736377165.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.889801 m, bearing: 302.490455 deg, approach rate: 0.000000 m/s, LOS rate: -0.816280 deg/s, cmd heading: 0.375198 deg, new cmd heading: 359.150375 deg. 2025-01-08T22:59:25.658Z,1736377165.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268356 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:59:25.813Z,1736377165.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:26.049Z,1736377166.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:26.058Z,1736377166.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:26.061Z,1736377166.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.885736 m, bearing: 302.051364 deg, approach rate: -0.009485 m/s, LOS rate: -1.024870 deg/s, cmd heading: 359.150362 deg, new cmd heading: 357.833103 deg. 2025-01-08T22:59:26.062Z,1736377166.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245366 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:59:26.064Z,1736377166.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:26.316Z,1736377166.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:26.534Z,1736377166.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:26.557Z,1736377166.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:26.564Z,1736377166.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.876226 m, bearing: 301.563562 deg, approach rate: -0.019061 m/s, LOS rate: -0.978107 deg/s, cmd heading: 357.833092 deg, new cmd heading: 356.369413 deg. 2025-01-08T22:59:26.565Z,1736377166.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219820 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:59:26.568Z,1736377166.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:26.820Z,1736377166.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:26.869Z,1736377166.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:26.878Z,1736377166.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:26.881Z,1736377166.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.866236 m, bearing: 301.227560 deg, approach rate: -0.031161 m/s, LOS rate: -1.048435 deg/s, cmd heading: 356.369409 deg, new cmd heading: 355.361072 deg. 2025-01-08T22:59:26.882Z,1736377166.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202221 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:59:27.072Z,1736377167.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:27.268Z,1736377167.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:27.276Z,1736377167.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:27.278Z,1736377167.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:27.280Z,1736377167.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.850101 m, bearing: 300.829944 deg, approach rate: -0.040368 m/s, LOS rate: -0.995542 deg/s, cmd heading: 355.361082 deg, new cmd heading: 354.167575 deg. 2025-01-08T22:59:27.281Z,1736377167.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181390 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:59:27.327Z,1736377167.327 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:27.328Z,1736377167.328 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:27.328Z,1736377167.328 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:27.329Z,1736377167.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:27.581Z,1736377167.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:27.583Z,1736377167.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.158431 2025-01-08T22:59:27.714Z,1736377167.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:27.723Z,1736377167.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:27.726Z,1736377167.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.824074 m, bearing: 300.382534 deg, approach rate: -0.058431 m/s, LOS rate: -1.005557 deg/s, cmd heading: 354.167575 deg, new cmd heading: 352.824073 deg. 2025-01-08T22:59:27.727Z,1736377167.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157942 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:59:27.832Z,1736377167.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:27.833Z,1736377167.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.408361 2025-01-08T22:59:28.076Z,1736377168.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:28.084Z,1736377168.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:28.085Z,1736377168.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.660791 2025-01-08T22:59:28.086Z,1736377168.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:28.089Z,1736377168.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.799561 m, bearing: 300.021959 deg, approach rate: -0.067458 m/s, LOS rate: -0.993331 deg/s, cmd heading: 352.824077 deg, new cmd heading: 351.741326 deg. 2025-01-08T22:59:28.096Z,1736377168.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139044 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:59:28.336Z,1736377168.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:28.336Z,1736377168.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.912341 2025-01-08T22:59:28.544Z,1736377168.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:28.580Z,1736377168.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:28.588Z,1736377168.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:28.589Z,1736377168.589 [DAT](INFO): DAT read: Rx Time:22:59:27.2190 2025-01-08T22:59:28.589Z,1736377168.589 [DAT](INFO): Rx dataTimestamp_ set to:1736377168.588785 2025-01-08T22:59:28.590Z,1736377168.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.165438 2025-01-08T22:59:28.590Z,1736377168.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.766428 m, bearing: 299.542241 deg, approach rate: -0.070186 m/s, LOS rate: -1.017672 deg/s, cmd heading: 351.741328 deg, new cmd heading: 350.300400 deg. 2025-01-08T22:59:28.597Z,1736377168.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113895 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:59:28.840Z,1736377168.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:28.840Z,1736377168.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.416180 2025-01-08T22:59:28.928Z,1736377168.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:28.938Z,1736377168.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:28.962Z,1736377168.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.740519 m, bearing: 299.148829 deg, approach rate: -0.068331 m/s, LOS rate: -1.038718 deg/s, cmd heading: 350.300404 deg, new cmd heading: 349.118998 deg. 2025-01-08T22:59:28.963Z,1736377168.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.093276 target range: 72.400002 and range: 72.40 m. 2025-01-08T22:59:29.092Z,1736377169.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:29.094Z,1736377169.094 [DAT](INFO): DAT read: Range 10 to 50 : 71.6 m (Round-trip 95.5 ms) speed 0.0 m/s 2025-01-08T22:59:29.094Z,1736377169.094 [DAT](INFO): DAT read: user:2981> 2025-01-08T22:59:29.095Z,1736377169.095 [DAT](INFO): DAT read: Tx time:22:59:28.3194 2025-01-08T22:59:29.096Z,1736377169.096 [DAT](INFO): Ping request sent. 2025-01-08T22:59:29.096Z,1736377169.096 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:29.096Z,1736377169.096 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:59:29.096Z,1736377169.096 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:29.097Z,1736377169.097 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:29.294Z,1736377169.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:29.301Z,1736377169.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:29.304Z,1736377169.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.599998 m, deltaT: 3.781391 s, deltaX: -0.800003 m, approachRate: -0.211563 m/s, rangeRepo size: 4 2025-01-08T22:59:29.305Z,1736377169.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:29.307Z,1736377169.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.699984 m, bearing: 298.781976 deg, approach rate: -0.110970 m/s, LOS rate: -1.006092 deg/s, cmd heading: 349.119000 deg, new cmd heading: 348.016620 deg. 2025-01-08T22:59:29.308Z,1736377169.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074036 target range: 72.400002 and range: 71.60 m. 2025-01-08T22:59:29.344Z,1736377169.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:29.345Z,1736377169.345 [DAT](INFO): DAT read: TxSync time:22:59:28.3186 2025-01-08T22:59:29.345Z,1736377169.345 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:29.345Z,1736377169.345 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:29.345Z,1736377169.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:29.597Z,1736377169.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:29.599Z,1736377169.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502991 2025-01-08T22:59:29.724Z,1736377169.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:29.733Z,1736377169.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:29.737Z,1736377169.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.644136 m, bearing: 298.327640 deg, approach rate: -0.129889 m/s, LOS rate: -1.059286 deg/s, cmd heading: 348.016607 deg, new cmd heading: 346.650511 deg. 2025-01-08T22:59:29.738Z,1736377169.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050193 target range: 72.400002 and range: 71.60 m. 2025-01-08T22:59:29.857Z,1736377169.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:29.858Z,1736377169.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762376 2025-01-08T22:59:30.108Z,1736377170.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:30.109Z,1736377170.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013451 2025-01-08T22:59:30.167Z,1736377170.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:30.201Z,1736377170.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:30.205Z,1736377170.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.583696 m, bearing: 297.862523 deg, approach rate: -0.129055 m/s, LOS rate: -0.995788 deg/s, cmd heading: 346.650515 deg, new cmd heading: 345.251723 deg. 2025-01-08T22:59:30.206Z,1736377170.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025779 target range: 72.400002 and range: 71.60 m. 2025-01-08T22:59:30.360Z,1736377170.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:30.361Z,1736377170.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264893 2025-01-08T22:59:30.614Z,1736377170.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:30.616Z,1736377170.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519876 2025-01-08T22:59:30.623Z,1736377170.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:30.632Z,1736377170.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:30.634Z,1736377170.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.511814 m, bearing: 297.375491 deg, approach rate: -0.166941 m/s, LOS rate: -1.134689 deg/s, cmd heading: 345.251719 deg, new cmd heading: 343.786295 deg. 2025-01-08T22:59:30.636Z,1736377170.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.000203 target range: 72.400002 and range: 71.60 m. 2025-01-08T22:59:30.864Z,1736377170.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:30.864Z,1736377170.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768620 2025-01-08T22:59:31.081Z,1736377171.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:31.098Z,1736377171.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:31.105Z,1736377171.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.430992 m, bearing: 296.894182 deg, approach rate: -0.173487 m/s, LOS rate: -1.036857 deg/s, cmd heading: 343.786288 deg, new cmd heading: 342.337484 deg. 2025-01-08T22:59:31.106Z,1736377171.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974916 target range: 72.400002 and range: 71.60 m. 2025-01-08T22:59:31.116Z,1736377171.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:31.116Z,1736377171.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020745 2025-01-08T22:59:31.368Z,1736377171.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:31.369Z,1736377171.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273417 2025-01-08T22:59:31.542Z,1736377171.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:31.549Z,1736377171.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:31.552Z,1736377171.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:31.575Z,1736377171.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.340899 m, bearing: 296.407319 deg, approach rate: -0.198684 m/s, LOS rate: -1.078000 deg/s, cmd heading: 342.337496 deg, new cmd heading: 340.871355 deg. 2025-01-08T22:59:31.576Z,1736377171.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949327 target range: 72.400002 and range: 71.60 m. 2025-01-08T22:59:31.622Z,1736377171.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:31.623Z,1736377171.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527408 2025-01-08T22:59:31.876Z,1736377171.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:31.876Z,1736377171.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780796 2025-01-08T22:59:31.875Z,1736377171.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:31.886Z,1736377171.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:31.889Z,1736377171.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.272694 m, bearing: 296.056911 deg, approach rate: -0.203895 m/s, LOS rate: -1.050732 deg/s, cmd heading: 340.871355 deg, new cmd heading: 339.817036 deg. 2025-01-08T22:59:31.890Z,1736377171.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930926 target range: 72.400002 and range: 71.60 m. 2025-01-08T22:59:32.128Z,1736377172.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:32.129Z,1736377172.129 [DAT](INFO): DAT read: Rx Time:22:59:30.8193 2025-01-08T22:59:32.130Z,1736377172.130 [DAT](INFO): Rx dataTimestamp_ set to:1736377172.129304 2025-01-08T22:59:32.130Z,1736377172.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034426 2025-01-08T22:59:32.280Z,1736377172.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:32.289Z,1736377172.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:32.292Z,1736377172.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.186268 m, bearing: 295.634123 deg, approach rate: -0.214299 m/s, LOS rate: -1.052408 deg/s, cmd heading: 339.817047 deg, new cmd heading: 338.543964 deg. 2025-01-08T22:59:32.293Z,1736377172.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908707 target range: 72.400002 and range: 71.60 m. 2025-01-08T22:59:32.380Z,1736377172.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:32.381Z,1736377172.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284893 2025-01-08T22:59:32.632Z,1736377172.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:32.634Z,1736377172.634 [DAT](INFO): DAT read: Range 10 to 50 : 71.7 m (Round-trip 95.7 ms) speed -0.2 m/s 2025-01-08T22:59:32.634Z,1736377172.634 [DAT](INFO): DAT read: user:2982> 2025-01-08T22:59:32.635Z,1736377172.635 [DAT](INFO): DAT read: Tx time:22:59:31.9195 2025-01-08T22:59:32.636Z,1736377172.636 [DAT](INFO): Ping request sent. 2025-01-08T22:59:32.636Z,1736377172.636 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:32.636Z,1736377172.636 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:59:32.636Z,1736377172.636 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:32.637Z,1736377172.637 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:32.760Z,1736377172.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:32.777Z,1736377172.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 3.540034 s, deltaX: 0.099998 m, approachRate: 0.028248 m/s, rangeRepo size: 4 2025-01-08T22:59:32.778Z,1736377172.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:32.785Z,1736377172.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 22.069511 m, bearing: 295.125935 deg, approach rate: -0.239417 m/s, LOS rate: -1.047575 deg/s, cmd heading: 338.543954 deg, new cmd heading: 337.011710 deg. 2025-01-08T22:59:32.786Z,1736377172.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881964 target range: 72.400002 and range: 71.70 m. 2025-01-08T22:59:32.884Z,1736377172.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:32.886Z,1736377172.886 [DAT](INFO): DAT read: TxSync time:22:59:31.9187 2025-01-08T22:59:33.095Z,1736377173.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:33.105Z,1736377173.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:33.108Z,1736377173.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 21.985094 m, bearing: 294.773469 deg, approach rate: -0.256837 m/s, LOS rate: -1.076481 deg/s, cmd heading: 337.011697 deg, new cmd heading: 335.950365 deg. 2025-01-08T22:59:33.109Z,1736377173.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863440 target range: 72.400002 and range: 71.70 m. 2025-01-08T22:59:33.136Z,1736377173.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:33.388Z,1736377173.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:33.563Z,1736377173.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:33.594Z,1736377173.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:33.602Z,1736377173.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:33.610Z,1736377173.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 21.859306 m, bearing: 294.279916 deg, approach rate: -0.253804 m/s, LOS rate: -1.001568 deg/s, cmd heading: 335.950368 deg, new cmd heading: 334.461544 deg. 2025-01-08T22:59:33.611Z,1736377173.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837455 target range: 72.400002 and range: 71.70 m. 2025-01-08T22:59:33.644Z,1736377173.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:33.645Z,1736377173.645 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:33.645Z,1736377173.645 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:33.646Z,1736377173.646 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:33.896Z,1736377173.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:33.896Z,1736377173.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260762 2025-01-08T22:59:33.905Z,1736377173.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:33.913Z,1736377173.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:33.916Z,1736377173.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 21.764685 m, bearing: 293.921826 deg, approach rate: -0.303111 m/s, LOS rate: -1.152087 deg/s, cmd heading: 334.461550 deg, new cmd heading: 333.382743 deg. 2025-01-08T22:59:33.918Z,1736377173.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818626 target range: 72.400002 and range: 71.70 m. 2025-01-08T22:59:34.148Z,1736377174.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:34.148Z,1736377174.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512675 2025-01-08T22:59:34.305Z,1736377174.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:34.330Z,1736377174.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:34.337Z,1736377174.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 21.650402 m, bearing: 293.505493 deg, approach rate: -0.274292 m/s, LOS rate: -1.004513 deg/s, cmd heading: 333.382736 deg, new cmd heading: 332.127357 deg. 2025-01-08T22:59:34.338Z,1736377174.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796716 target range: 72.400002 and range: 71.70 m. 2025-01-08T22:59:34.400Z,1736377174.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:34.401Z,1736377174.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765472 2025-01-08T22:59:34.652Z,1736377174.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:34.654Z,1736377174.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018097 2025-01-08T22:59:34.766Z,1736377174.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:34.777Z,1736377174.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:34.780Z,1736377174.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 21.518595 m, bearing: 293.039288 deg, approach rate: -0.294451 m/s, LOS rate: -1.047847 deg/s, cmd heading: 332.127347 deg, new cmd heading: 330.720461 deg. 2025-01-08T22:59:34.781Z,1736377174.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772161 target range: 72.400002 and range: 71.70 m. 2025-01-08T22:59:34.904Z,1736377174.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:34.905Z,1736377174.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269179 2025-01-08T22:59:35.111Z,1736377175.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:35.121Z,1736377175.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:35.124Z,1736377175.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 21.417082 m, bearing: 292.693649 deg, approach rate: -0.294994 m/s, LOS rate: -1.009172 deg/s, cmd heading: 330.720464 deg, new cmd heading: 329.678753 deg. 2025-01-08T22:59:35.125Z,1736377175.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753980 target range: 72.400002 and range: 71.70 m. 2025-01-08T22:59:35.156Z,1736377175.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:35.158Z,1736377175.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521664 2025-01-08T22:59:35.408Z,1736377175.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:35.408Z,1736377175.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772655 2025-01-08T22:59:35.660Z,1736377175.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:35.662Z,1736377175.662 [DAT](INFO): DAT read: Rx Time:22:59:34.4205 2025-01-08T22:59:35.662Z,1736377175.662 [DAT](INFO): Rx dataTimestamp_ set to:1736377175.661864 2025-01-08T22:59:35.663Z,1736377175.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027372 2025-01-08T22:59:35.678Z,1736377175.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:35.707Z,1736377175.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:35.709Z,1736377175.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:35.720Z,1736377175.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 21.250170 m, bearing: 292.144485 deg, approach rate: -0.283852 m/s, LOS rate: -0.941234 deg/s, cmd heading: 329.678751 deg, new cmd heading: 328.018808 deg. 2025-01-08T22:59:35.721Z,1736377175.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725008 target range: 72.400002 and range: 71.70 m. 2025-01-08T22:59:35.912Z,1736377175.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:35.912Z,1736377175.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276684 2025-01-08T22:59:36.048Z,1736377176.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:36.057Z,1736377176.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.40 m. 2025-01-08T22:59:36.060Z,1736377176.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.400002 m, nav range: 21.134922 m, bearing: 291.797292 deg, approach rate: -0.331369 m/s, LOS rate: -1.003711 deg/s, cmd heading: 328.018797 deg, new cmd heading: 326.971662 deg. 2025-01-08T22:59:36.061Z,1736377176.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706732 target range: 72.400002 and range: 71.70 m. 2025-01-08T22:59:36.165Z,1736377176.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:36.173Z,1736377176.173 [DAT](INFO): DAT read: 22:59:34.4205 LVL= 15728, 16865, 15810, 20755, AGC= 56, IDX= 444,-0.34,-0.509,-0.326,-2.498,-1.104, PHS= 0.684, 0.826,-1.397, RAW= 26.7, -1.1, CAL= 26.3, -2.9, ROT= 123.7, 2.9 2025-01-08T22:59:36.174Z,1736377176.174 [DAT](INFO): got valid direction response: 22:59:34.4205 LVL= 15728, 16865, 15810, 20755, AGC= 56, IDX= 444,-0.34,-0.509,-0.326,-2.498,-1.104, PHS= 0.684, 0.826,-1.397, RAW= 26.7, -1.1, CAL= 26.3, -2.9, ROT= 123.7, 2.9 2025-01-08T22:59:36.176Z,1736377176.176 [DAT](INFO): DAT read: Bearing 123.7, 2.9 (Local) 2025-01-08T22:59:36.176Z,1736377176.176 [DAT](INFO): Local bearing/azimuth received: Bearing 123.7, 2.9 (Local) 2025-01-08T22:59:36.177Z,1736377176.177 [DAT](INFO): DAT read: Range 10 to 50 : 72.6 m (Round-trip 96.8 ms) speed -0.2 m/s 2025-01-08T22:59:36.178Z,1736377176.178 [DAT](INFO): DAT read: user:2983> 2025-01-08T22:59:36.179Z,1736377176.179 [DAT](INFO): DAT read: Tx time:22:59:35.5195 2025-01-08T22:59:36.180Z,1736377176.180 [DAT](INFO): Ping request sent. 2025-01-08T22:59:36.180Z,1736377176.180 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:36.180Z,1736377176.180 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:59:36.181Z,1736377176.181 [DAT](INFO): direction in FSK: [0.058852,0.915187,0.398710] 2025-01-08T22:59:36.181Z,1736377176.181 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:36.181Z,1736377176.181 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:36.185Z,1736377176.185 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:36.185Z,1736377176.185 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:36.416Z,1736377176.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:36.417Z,1736377176.417 [DAT](INFO): DAT read: TxSync time:22:59:35.5187 2025-01-08T22:59:36.449Z,1736377176.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:36.464Z,1736377176.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.599998 m, deltaT: 3.532818 s, deltaX: 0.900002 m, approachRate: 0.254755 m/s, rangeRepo size: 4 2025-01-08T22:59:36.466Z,1736377176.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 66.296975 deg, lat: 36.904942 deg, lon: -122.120062 deg, deltaT: 10.854243 s, deltaX: 0.199997 m, approachRate: 0.018426 m/s, posRepo size: 4 2025-01-08T22:59:36.468Z,1736377176.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:36.470Z,1736377176.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 8.233818 m, bearing: 18.448666 deg, approach rate: 0.000000 m/s, LOS rate: -1.003711 deg/s, cmd heading: 326.971674 deg, new cmd heading: 325.750742 deg. 2025-01-08T22:59:36.487Z,1736377176.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685423 target range: 72.599998 and range: 72.60 m. 2025-01-08T22:59:36.668Z,1736377176.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:36.874Z,1736377176.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:36.882Z,1736377176.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:36.886Z,1736377176.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 8.086006 m, bearing: 19.359964 deg, approach rate: -0.352467 m/s, LOS rate: 2.212677 deg/s, cmd heading: 325.750737 deg, new cmd heading: 328.532301 deg. 2025-01-08T22:59:36.887Z,1736377176.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733970 target range: 72.599998 and range: 72.60 m. 2025-01-08T22:59:36.920Z,1736377176.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:37.174Z,1736377177.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:37.248Z,1736377177.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:37.257Z,1736377177.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:37.260Z,1736377177.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 7.960468 m, bearing: 20.212495 deg, approach rate: -0.334711 m/s, LOS rate: 2.308789 deg/s, cmd heading: 328.532290 deg, new cmd heading: 331.128344 deg. 2025-01-08T22:59:37.261Z,1736377177.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779280 target range: 72.599998 and range: 72.60 m. 2025-01-08T22:59:37.424Z,1736377177.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:37.676Z,1736377177.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:37.702Z,1736377177.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:37.712Z,1736377177.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:37.714Z,1736377177.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:37.717Z,1736377177.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 7.813501 m, bearing: 21.248454 deg, approach rate: -0.321551 m/s, LOS rate: 2.309088 deg/s, cmd heading: 331.128336 deg, new cmd heading: 334.291280 deg. 2025-01-08T22:59:37.718Z,1736377177.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834484 target range: 72.599998 and range: 72.60 m. 2025-01-08T22:59:37.812Z,1736377177.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T22:59:37.928Z,1736377177.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:37.928Z,1736377177.928 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:37.928Z,1736377177.928 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:37.928Z,1736377177.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:38.048Z,1736377178.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:38.057Z,1736377178.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:38.060Z,1736377178.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 7.707790 m, bearing: 22.100456 deg, approach rate: -0.308122 m/s, LOS rate: 2.517360 deg/s, cmd heading: 334.291287 deg, new cmd heading: 336.880491 deg. 2025-01-08T22:59:38.061Z,1736377178.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879674 target range: 72.599998 and range: 72.60 m. 2025-01-08T22:59:38.180Z,1736377178.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:38.181Z,1736377178.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000977 2025-01-08T22:59:38.432Z,1736377178.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:38.432Z,1736377178.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252778 2025-01-08T22:59:38.476Z,1736377178.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:38.494Z,1736377178.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:38.497Z,1736377178.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 7.583048 m, bearing: 23.206904 deg, approach rate: -0.285943 m/s, LOS rate: 2.577832 deg/s, cmd heading: 336.880503 deg, new cmd heading: 340.250349 deg. 2025-01-08T22:59:38.498Z,1736377178.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938489 target range: 72.599998 and range: 72.60 m. 2025-01-08T22:59:38.684Z,1736377178.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:38.687Z,1736377178.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506674 2025-01-08T22:59:38.816Z,1736377178.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T22:59:38.904Z,1736377178.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:38.926Z,1736377178.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:38.933Z,1736377178.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 7.466979 m, bearing: 24.291728 deg, approach rate: -0.268626 m/s, LOS rate: 2.549553 deg/s, cmd heading: 340.250354 deg, new cmd heading: 343.551560 deg. 2025-01-08T22:59:38.934Z,1736377178.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996106 target range: 72.599998 and range: 72.60 m. 2025-01-08T22:59:38.936Z,1736377178.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:38.937Z,1736377178.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756957 2025-01-08T22:59:39.188Z,1736377179.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:39.188Z,1736377179.188 [DAT](INFO): DAT read: Rx Time:22:59:38.0215 2025-01-08T22:59:39.189Z,1736377179.189 [DAT](INFO): Rx dataTimestamp_ set to:1736377179.188641 2025-01-08T22:59:39.189Z,1736377179.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009814 2025-01-08T22:59:39.272Z,1736377179.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:39.281Z,1736377179.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:39.284Z,1736377179.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 7.372246 m, bearing: 25.266991 deg, approach rate: -0.266933 m/s, LOS rate: 2.783217 deg/s, cmd heading: 343.551548 deg, new cmd heading: 346.512152 deg. 2025-01-08T22:59:39.286Z,1736377179.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.047778 target range: 72.599998 and range: 72.60 m. 2025-01-08T22:59:39.440Z,1736377179.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:39.441Z,1736377179.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261063 2025-01-08T22:59:39.693Z,1736377179.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:39.696Z,1736377179.696 [DAT](INFO): DAT read: Range 10 to 50 : 73.4 m (Round-trip 97.9 ms) speed -0.3 m/s 2025-01-08T22:59:39.697Z,1736377179.697 [DAT](INFO): DAT read: user:2984> 2025-01-08T22:59:39.697Z,1736377179.697 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:59:39.698Z,1736377179.698 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:39.698Z,1736377179.698 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:39.698Z,1736377179.698 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:39.784Z,1736377179.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:39.811Z,1736377179.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:39.826Z,1736377179.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.400002 m, deltaT: 3.528404 s, deltaX: 0.800003 m, approachRate: 0.226732 m/s, rangeRepo size: 4 2025-01-08T22:59:39.833Z,1736377179.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:39.838Z,1736377179.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 7.259443 m, bearing: 26.694911 deg, approach rate: -0.209383 m/s, LOS rate: 2.691383 deg/s, cmd heading: 346.512162 deg, new cmd heading: 350.853709 deg. 2025-01-08T22:59:39.839Z,1736377179.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.123552 target range: 72.599998 and range: 73.40 m. 2025-01-08T22:59:39.944Z,1736377179.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:39.945Z,1736377179.945 [DAT](INFO): DAT read: Tx time:22:59:39.1195 2025-01-08T22:59:39.945Z,1736377179.945 [DAT](INFO): Ping request sent. 2025-01-08T22:59:39.945Z,1736377179.945 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:39.946Z,1736377179.946 [DAT](INFO): DAT read: TxSync time:22:59:39.1187 2025-01-08T22:59:39.946Z,1736377179.946 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:39.947Z,1736377179.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001548 2025-01-08T22:59:40.094Z,1736377180.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:40.105Z,1736377180.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:40.107Z,1736377180.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 7.195582 m, bearing: 27.589380 deg, approach rate: -0.223949 m/s, LOS rate: 3.164459 deg/s, cmd heading: 350.853704 deg, new cmd heading: 353.558805 deg. 2025-01-08T22:59:40.108Z,1736377180.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170765 target range: 72.599998 and range: 73.40 m. 2025-01-08T22:59:40.196Z,1736377180.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:40.197Z,1736377180.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251827 2025-01-08T22:59:40.448Z,1736377180.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:40.448Z,1736377180.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503170 2025-01-08T22:59:40.490Z,1736377180.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:40.500Z,1736377180.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:40.504Z,1736377180.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 7.119311 m, bearing: 28.767458 deg, approach rate: -0.192941 m/s, LOS rate: 3.011867 deg/s, cmd heading: 353.558814 deg, new cmd heading: 357.126043 deg. 2025-01-08T22:59:40.505Z,1736377180.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.233025 target range: 72.599998 and range: 73.40 m. 2025-01-08T22:59:40.700Z,1736377180.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:40.702Z,1736377180.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756743 2025-01-08T22:59:40.903Z,1736377180.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:40.912Z,1736377180.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:40.915Z,1736377180.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 7.047844 m, bearing: 30.052136 deg, approach rate: -0.173252 m/s, LOS rate: 3.145664 deg/s, cmd heading: 357.126030 deg, new cmd heading: 1.012845 deg. 2025-01-08T22:59:40.916Z,1736377180.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017677 target range: 72.599998 and range: 73.40 m. 2025-01-08T22:59:40.952Z,1736377180.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:40.953Z,1736377180.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007948 2025-01-08T22:59:41.204Z,1736377181.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:41.204Z,1736377181.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259237 2025-01-08T22:59:41.281Z,1736377181.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:41.291Z,1736377181.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:41.294Z,1736377181.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.987268 m, bearing: 31.256506 deg, approach rate: -0.160029 m/s, LOS rate: 3.209010 deg/s, cmd heading: 1.012845 deg, new cmd heading: 4.652110 deg. 2025-01-08T22:59:41.294Z,1736377181.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081195 target range: 72.599998 and range: 73.40 m. 2025-01-08T22:59:41.456Z,1736377181.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:41.456Z,1736377181.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511205 2025-01-08T22:59:41.708Z,1736377181.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:41.709Z,1736377181.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763507 2025-01-08T22:59:41.744Z,1736377181.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:41.752Z,1736377181.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:41.754Z,1736377181.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.920243 m, bearing: 32.872956 deg, approach rate: -0.145371 m/s, LOS rate: 3.539406 deg/s, cmd heading: 4.652110 deg, new cmd heading: 9.535915 deg. 2025-01-08T22:59:41.780Z,1736377181.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.166433 target range: 72.599998 and range: 73.40 m. 2025-01-08T22:59:41.960Z,1736377181.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:41.960Z,1736377181.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015214 2025-01-08T22:59:42.096Z,1736377182.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:42.103Z,1736377182.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:42.105Z,1736377182.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:42.108Z,1736377182.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.873354 m, bearing: 34.126133 deg, approach rate: -0.132655 m/s, LOS rate: 3.569307 deg/s, cmd heading: 9.535915 deg, new cmd heading: 13.315299 deg. 2025-01-08T22:59:42.109Z,1736377182.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.232396 target range: 72.599998 and range: 73.40 m. 2025-01-08T22:59:42.212Z,1736377182.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:42.213Z,1736377182.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268035 2025-01-08T22:59:42.464Z,1736377182.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:42.464Z,1736377182.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519161 2025-01-08T22:59:42.508Z,1736377182.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:42.518Z,1736377182.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:42.521Z,1736377182.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.821915 m, bearing: 35.615211 deg, approach rate: -0.124986 m/s, LOS rate: 3.645020 deg/s, cmd heading: 13.315299 deg, new cmd heading: 17.806490 deg. 2025-01-08T22:59:42.521Z,1736377182.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.310782 target range: 72.599998 and range: 73.40 m. 2025-01-08T22:59:42.716Z,1736377182.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:42.717Z,1736377182.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771338 2025-01-08T22:59:42.934Z,1736377182.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:42.944Z,1736377182.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:42.946Z,1736377182.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.777372 m, bearing: 37.295618 deg, approach rate: -0.104477 m/s, LOS rate: 3.966763 deg/s, cmd heading: 17.806489 deg, new cmd heading: 22.866918 deg. 2025-01-08T22:59:42.947Z,1736377182.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.399103 target range: 72.599998 and range: 73.40 m. 2025-01-08T22:59:42.981Z,1736377182.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:42.982Z,1736377182.982 [DAT](INFO): DAT read: Rx Time:22:59:41.6233 2025-01-08T22:59:42.983Z,1736377182.983 [DAT](INFO): Rx dataTimestamp_ set to:1736377182.982708 2025-01-08T22:59:42.985Z,1736377182.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039033 2025-01-08T22:59:43.232Z,1736377183.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:43.233Z,1736377183.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287625 2025-01-08T22:59:43.312Z,1736377183.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:43.324Z,1736377183.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:43.327Z,1736377183.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.740642 m, bearing: 38.807946 deg, approach rate: -0.096360 m/s, LOS rate: 3.988707 deg/s, cmd heading: 22.866918 deg, new cmd heading: 27.418494 deg. 2025-01-08T22:59:43.328Z,1736377183.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478543 target range: 72.599998 and range: 73.40 m. 2025-01-08T22:59:43.486Z,1736377183.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:43.490Z,1736377183.490 [DAT](INFO): DAT read: Range 10 to 50 : 74.7 m (Round-trip 99.7 ms) speed -0.6 m/s 2025-01-08T22:59:43.491Z,1736377183.491 [DAT](INFO): DAT read: user:2985> 2025-01-08T22:59:43.492Z,1736377183.492 [DAT](INFO): DAT read: Tx time:22:59:42.7195 2025-01-08T22:59:43.492Z,1736377183.492 [DAT](INFO): Ping request sent. 2025-01-08T22:59:43.492Z,1736377183.492 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:43.492Z,1736377183.492 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:59:43.493Z,1736377183.493 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:43.493Z,1736377183.493 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:43.736Z,1736377183.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:43.737Z,1736377183.737 [DAT](INFO): DAT read: TxSync time:22:59:42.7187 2025-01-08T22:59:43.775Z,1736377183.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:43.792Z,1736377183.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.699997 m, deltaT: 3.793206 s, deltaX: 1.299995 m, approachRate: 0.342717 m/s, rangeRepo size: 4 2025-01-08T22:59:43.793Z,1736377183.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:43.800Z,1736377183.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.700230 m, bearing: 40.819356 deg, approach rate: -0.087271 m/s, LOS rate: 4.368972 deg/s, cmd heading: 27.418493 deg, new cmd heading: 33.465323 deg. 2025-01-08T22:59:43.801Z,1736377183.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584080 target range: 72.599998 and range: 74.70 m. 2025-01-08T22:59:43.988Z,1736377183.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:44.110Z,1736377184.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:44.118Z,1736377184.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:44.121Z,1736377184.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:44.143Z,1736377184.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.672568 m, bearing: 42.324966 deg, approach rate: -0.083069 m/s, LOS rate: 4.539681 deg/s, cmd heading: 33.465325 deg, new cmd heading: 37.990922 deg. 2025-01-08T22:59:44.144Z,1736377184.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663067 target range: 72.599998 and range: 74.70 m. 2025-01-08T22:59:44.240Z,1736377184.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:44.241Z,1736377184.241 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:44.241Z,1736377184.241 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:44.241Z,1736377184.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:44.492Z,1736377184.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:44.494Z,1736377184.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001746 2025-01-08T22:59:44.530Z,1736377184.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:44.569Z,1736377184.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:44.576Z,1736377184.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.639740 m, bearing: 44.200180 deg, approach rate: -0.073207 m/s, LOS rate: 4.201647 deg/s, cmd heading: 37.990923 deg, new cmd heading: 43.625138 deg. 2025-01-08T22:59:44.577Z,1736377184.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761402 target range: 72.599998 and range: 74.70 m. 2025-01-08T22:59:44.744Z,1736377184.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:44.745Z,1736377184.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252521 2025-01-08T22:59:44.957Z,1736377184.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:44.966Z,1736377184.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:44.970Z,1736377184.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.620395 m, bearing: 46.243366 deg, approach rate: -0.048708 m/s, LOS rate: 5.158405 deg/s, cmd heading: 43.625139 deg, new cmd heading: 49.747892 deg. 2025-01-08T22:59:44.971Z,1736377184.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.868264 target range: 72.599998 and range: 74.70 m. 2025-01-08T22:59:45.013Z,1736377185.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:45.014Z,1736377185.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521791 2025-01-08T22:59:45.264Z,1736377185.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:45.264Z,1736377185.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772236 2025-01-08T22:59:45.320Z,1736377185.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:45.328Z,1736377185.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:45.331Z,1736377185.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.599752 m, bearing: 47.986402 deg, approach rate: -0.057000 m/s, LOS rate: 4.827278 deg/s, cmd heading: 49.747891 deg, new cmd heading: 54.977971 deg. 2025-01-08T22:59:45.332Z,1736377185.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959547 target range: 72.599998 and range: 74.70 m. 2025-01-08T22:59:45.516Z,1736377185.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:45.517Z,1736377185.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024516 2025-01-08T22:59:45.757Z,1736377185.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:45.768Z,1736377185.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:45.768Z,1736377185.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276211 2025-01-08T22:59:45.794Z,1736377185.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:45.803Z,1736377185.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.577760 m, bearing: 50.226091 deg, approach rate: -0.047368 m/s, LOS rate: 4.838703 deg/s, cmd heading: 54.977972 deg, new cmd heading: 61.686956 deg. 2025-01-08T22:59:45.808Z,1736377185.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.076640 target range: 72.599998 and range: 74.70 m. 2025-01-08T22:59:46.023Z,1736377186.023 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:46.024Z,1736377186.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531827 2025-01-08T22:59:46.137Z,1736377186.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:46.144Z,1736377186.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:46.146Z,1736377186.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:46.149Z,1736377186.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.560343 m, bearing: 52.183660 deg, approach rate: -0.049237 m/s, LOS rate: 5.547564 deg/s, cmd heading: 61.686956 deg, new cmd heading: 67.553521 deg. 2025-01-08T22:59:46.151Z,1736377186.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179031 target range: 72.599998 and range: 74.70 m. 2025-01-08T22:59:46.272Z,1736377186.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:46.272Z,1736377186.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780206 2025-01-08T22:59:46.524Z,1736377186.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:46.524Z,1736377186.524 [DAT](INFO): DAT read: Rx Time:22:59:45.2257 2025-01-08T22:59:46.525Z,1736377186.525 [DAT](INFO): Rx dataTimestamp_ set to:1736377186.524644 2025-01-08T22:59:46.525Z,1736377186.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033328 2025-01-08T22:59:46.535Z,1736377186.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:46.544Z,1736377186.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:46.547Z,1736377186.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.543573 m, bearing: 54.242382 deg, approach rate: -0.042162 m/s, LOS rate: 5.188173 deg/s, cmd heading: 67.553522 deg, new cmd heading: 73.720261 deg. 2025-01-08T22:59:46.548Z,1736377186.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286661 target range: 72.599998 and range: 74.70 m. 2025-01-08T22:59:46.777Z,1736377186.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:46.778Z,1736377186.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286046 2025-01-08T22:59:46.991Z,1736377186.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:47.004Z,1736377187.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m. 2025-01-08T22:59:47.007Z,1736377187.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.599998 m, nav range: 6.537838 m, bearing: 56.517747 deg, approach rate: -0.012467 m/s, LOS rate: 4.948441 deg/s, cmd heading: 73.720260 deg, new cmd heading: 80.518466 deg. 2025-01-08T22:59:47.012Z,1736377187.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405312 target range: 72.599998 and range: 74.70 m. 2025-01-08T22:59:47.028Z,1736377187.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:47.036Z,1736377187.036 [DAT](INFO): DAT read: 22:59:45.2258 LVL= 13008, 19825, 14594, 20371, AGC= 57, IDX= 451,-0.33,-2.721,-1.492, 2.294,-2.938, PHS= 0.305, 1.493,-1.054, RAW= 2.2, -6.8, CAL= 2.3, -10.2, ROT= 147.7, 10.2 2025-01-08T22:59:47.040Z,1736377187.040 [DAT](INFO): got valid direction response: 22:59:45.2258 LVL= 13008, 19825, 14594, 20371, AGC= 57, IDX= 451,-0.33,-2.721,-1.492, 2.294,-2.938, PHS= 0.305, 1.493,-1.054, RAW= 2.2, -6.8, CAL= 2.3, -10.2, ROT= 147.7, 10.2 2025-01-08T22:59:47.042Z,1736377187.042 [DAT](INFO): DAT read: Bearing 147.7, 10.2 (Local) 2025-01-08T22:59:47.042Z,1736377187.042 [DAT](INFO): Local bearing/azimuth received: Bearing 147.7, 10.2 (Local) 2025-01-08T22:59:47.048Z,1736377187.048 [DAT](INFO): DAT read: Range 10 to 50 : 76.5 m (Round-trip 102.1 ms) speed -0.4 m/s 2025-01-08T22:59:47.049Z,1736377187.049 [DAT](INFO): DAT read: user:2986> 2025-01-08T22:59:47.050Z,1736377187.050 [DAT](INFO): DAT read: Tx time:22:59:46.3196 2025-01-08T22:59:47.051Z,1736377187.051 [DAT](INFO): Ping request sent. 2025-01-08T22:59:47.051Z,1736377187.051 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:47.060Z,1736377187.060 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:59:47.060Z,1736377187.060 [DAT](INFO): direction in FSK: [0.211421,0.977389,0.003313] 2025-01-08T22:59:47.061Z,1736377187.061 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:47.061Z,1736377187.061 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:47.070Z,1736377187.070 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:47.070Z,1736377187.070 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:47.280Z,1736377187.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:47.281Z,1736377187.281 [DAT](INFO): DAT read: TxSync time:22:59:46.3188 2025-01-08T22:59:47.379Z,1736377187.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:47.406Z,1736377187.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.500000 m, deltaT: 3.541635 s, deltaX: 1.800003 m, approachRate: 0.508241 m/s, rangeRepo size: 4 2025-01-08T22:59:47.413Z,1736377187.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.500000 m, bearing: 60.288275 deg, lat: 36.904942 deg, lon: -122.119859 deg, deltaT: 10.863245 s, deltaX: 3.900002 m, approachRate: 0.359009 m/s, posRepo size: 4 2025-01-08T22:59:47.413Z,1736377187.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T22:59:47.421Z,1736377187.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 23.825851 m, bearing: 81.786218 deg, approach rate: 0.000000 m/s, LOS rate: 4.948441 deg/s, cmd heading: 80.518464 deg, new cmd heading: 86.459877 deg. 2025-01-08T22:59:47.421Z,1736377187.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509009 target range: 76.500000 and range: 76.50 m. 2025-01-08T22:59:47.535Z,1736377187.535 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:47.788Z,1736377187.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:47.804Z,1736377187.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:47.822Z,1736377187.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T22:59:47.859Z,1736377187.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 23.911076 m, bearing: 82.308574 deg, approach rate: 0.205534 m/s, LOS rate: 1.255249 deg/s, cmd heading: 86.459874 deg, new cmd heading: 88.020948 deg. 2025-01-08T22:59:47.873Z,1736377187.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536255 target range: 76.500000 and range: 76.50 m. 2025-01-08T22:59:48.040Z,1736377188.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:48.292Z,1736377188.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:48.318Z,1736377188.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:48.337Z,1736377188.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:48.339Z,1736377188.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T22:59:48.345Z,1736377188.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 24.013025 m, bearing: 83.008514 deg, approach rate: 0.196767 m/s, LOS rate: 1.345147 deg/s, cmd heading: 88.020948 deg, new cmd heading: 90.110876 deg. 2025-01-08T22:59:48.346Z,1736377188.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.572731 target range: 76.500000 and range: 76.50 m. 2025-01-08T22:59:48.544Z,1736377188.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:48.544Z,1736377188.544 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:48.544Z,1736377188.544 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:48.544Z,1736377188.544 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:48.789Z,1736377188.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:48.796Z,1736377188.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:48.797Z,1736377188.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745752 2025-01-08T22:59:48.799Z,1736377188.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T22:59:48.802Z,1736377188.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 24.099588 m, bearing: 83.627501 deg, approach rate: 0.187902 m/s, LOS rate: 1.338779 deg/s, cmd heading: 90.110877 deg, new cmd heading: 91.960488 deg. 2025-01-08T22:59:48.803Z,1736377188.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.605013 target range: 76.500000 and range: 76.50 m. 2025-01-08T22:59:49.048Z,1736377189.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:49.048Z,1736377189.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997623 2025-01-08T22:59:49.264Z,1736377189.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:49.281Z,1736377189.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T22:59:49.288Z,1736377189.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 24.172365 m, bearing: 84.225005 deg, approach rate: 0.151202 m/s, LOS rate: 1.237624 deg/s, cmd heading: 91.960485 deg, new cmd heading: 93.746989 deg. 2025-01-08T22:59:49.289Z,1736377189.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636194 target range: 76.500000 and range: 76.50 m. 2025-01-08T22:59:49.300Z,1736377189.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:49.301Z,1736377189.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250346 2025-01-08T22:59:49.552Z,1736377189.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:49.553Z,1736377189.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501781 2025-01-08T22:59:49.630Z,1736377189.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:49.639Z,1736377189.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T22:59:49.642Z,1736377189.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 24.225952 m, bearing: 84.687688 deg, approach rate: 0.149620 m/s, LOS rate: 1.288982 deg/s, cmd heading: 93.746990 deg, new cmd heading: 95.131683 deg. 2025-01-08T22:59:49.643Z,1736377189.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660361 target range: 76.500000 and range: 76.50 m. 2025-01-08T22:59:49.805Z,1736377189.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:49.806Z,1736377189.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754930 2025-01-08T22:59:50.056Z,1736377190.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:50.056Z,1736377190.056 [DAT](INFO): DAT read: Rx Time:22:59:48.8279 2025-01-08T22:59:50.057Z,1736377190.057 [DAT](INFO): Rx dataTimestamp_ set to:1736377190.056665 2025-01-08T22:59:50.057Z,1736377190.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006703 2025-01-08T22:59:50.085Z,1736377190.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:50.093Z,1736377190.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T22:59:50.096Z,1736377190.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 24.273211 m, bearing: 85.219660 deg, approach rate: 0.103987 m/s, LOS rate: 1.168249 deg/s, cmd heading: 95.131681 deg, new cmd heading: 96.724058 deg. 2025-01-08T22:59:50.097Z,1736377190.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.688153 target range: 76.500000 and range: 76.50 m. 2025-01-08T22:59:50.308Z,1736377190.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:50.309Z,1736377190.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258603 2025-01-08T22:59:50.554Z,1736377190.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:50.560Z,1736377190.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:50.566Z,1736377190.566 [DAT](INFO): DAT read: 22:59:48.8279 LVL= 19008, 16209, 17186, 23619, AGC= 59, IDX= 439,-0.10,-2.250,-1.961, 2.041,-2.956, PHS= 0.794, 1.042,-1.289, RAW= 24.4, -5.0, CAL= 24.5, -8.6, ROT= 125.5, 8.6 2025-01-08T22:59:50.569Z,1736377190.569 [DAT](INFO): got valid direction response: 22:59:48.8279 LVL= 19008, 16209, 17186, 23619, AGC= 59, IDX= 439,-0.10,-2.250,-1.961, 2.041,-2.956, PHS= 0.794, 1.042,-1.289, RAW= 24.4, -5.0, CAL= 24.5, -8.6, ROT= 125.5, 8.6 2025-01-08T22:59:50.570Z,1736377190.570 [DAT](INFO): DAT read: Bearing 125.5, 8.6 (Local) 2025-01-08T22:59:50.570Z,1736377190.570 [DAT](INFO): Local bearing/azimuth received: Bearing 125.5, 8.6 (Local) 2025-01-08T22:59:50.588Z,1736377190.588 [DAT](INFO): DAT read: Range 10 to 50 : 78.0 m (Round-trip 104.1 ms) speed -0.3 m/s 2025-01-08T22:59:50.590Z,1736377190.590 [DAT](INFO): DAT read: user:2987> 2025-01-08T22:59:50.597Z,1736377190.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:50.599Z,1736377190.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T22:59:50.600Z,1736377190.600 [DAT](INFO): DAT read: Tx time:22:59:49.9196 2025-01-08T22:59:50.601Z,1736377190.601 [DAT](INFO): Ping request sent. 2025-01-08T22:59:50.601Z,1736377190.601 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:50.601Z,1736377190.601 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:59:50.602Z,1736377190.602 [DAT](INFO): direction in FSK: [0.136161,0.920406,0.366486] 2025-01-08T22:59:50.602Z,1736377190.602 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:50.603Z,1736377190.603 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:50.609Z,1736377190.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 24.313152 m, bearing: 85.775292 deg, approach rate: 0.079013 m/s, LOS rate: 1.097334 deg/s, cmd heading: 96.724057 deg, new cmd heading: 98.387720 deg. 2025-01-08T22:59:50.610Z,1736377190.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.717190 target range: 76.500000 and range: 76.50 m. 2025-01-08T22:59:50.614Z,1736377190.614 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:50.614Z,1736377190.614 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:50.812Z,1736377190.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:50.813Z,1736377190.813 [DAT](INFO): DAT read: TxSync time:22:59:49.9188 2025-01-08T22:59:51.004Z,1736377191.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:51.021Z,1736377191.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.000000 m, deltaT: 3.531714 s, deltaX: 1.500000 m, approachRate: 0.424723 m/s, rangeRepo size: 4 2025-01-08T22:59:51.028Z,1736377191.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.000000 m, bearing: 77.629081 deg, lat: 36.905046 deg, lon: -122.119457 deg, deltaT: 3.531714 s, deltaX: 1.500000 m, approachRate: 0.424723 m/s, posRepo size: 4 2025-01-08T22:59:51.028Z,1736377191.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:51.031Z,1736377191.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 61.413082 m, bearing: 77.628869 deg, approach rate: 0.000000 m/s, LOS rate: 1.097334 deg/s, cmd heading: 98.387721 deg, new cmd heading: 99.776736 deg. 2025-01-08T22:59:51.036Z,1736377191.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.741433 target range: 78.000000 and range: 78.00 m. 2025-01-08T22:59:51.064Z,1736377191.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:51.316Z,1736377191.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:51.346Z,1736377191.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:51.371Z,1736377191.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:51.386Z,1736377191.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 61.394775 m, bearing: 77.783233 deg, approach rate: -0.052312 m/s, LOS rate: 0.441235 deg/s, cmd heading: 99.776735 deg, new cmd heading: 100.239957 deg. 2025-01-08T22:59:51.393Z,1736377191.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749517 target range: 78.000000 and range: 78.00 m. 2025-01-08T22:59:51.568Z,1736377191.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:51.777Z,1736377191.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:51.816Z,1736377191.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:51.822Z,1736377191.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:51.825Z,1736377191.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 61.362453 m, bearing: 77.973450 deg, approach rate: -0.073325 m/s, LOS rate: 0.431748 deg/s, cmd heading: 100.239959 deg, new cmd heading: 100.810890 deg. 2025-01-08T22:59:51.825Z,1736377191.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.759482 target range: 78.000000 and range: 78.00 m. 2025-01-08T22:59:52.076Z,1736377192.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:52.281Z,1736377192.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:52.291Z,1736377192.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:52.294Z,1736377192.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 61.286690 m, bearing: 78.187365 deg, approach rate: -0.158077 m/s, LOS rate: 0.446871 deg/s, cmd heading: 100.810887 deg, new cmd heading: 101.453397 deg. 2025-01-08T22:59:52.296Z,1736377192.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.770696 target range: 78.000000 and range: 78.00 m. 2025-01-08T22:59:52.328Z,1736377192.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:52.580Z,1736377192.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:52.653Z,1736377192.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:52.686Z,1736377192.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:52.692Z,1736377192.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:52.695Z,1736377192.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 61.227272 m, bearing: 78.342597 deg, approach rate: -0.148026 m/s, LOS rate: 0.387103 deg/s, cmd heading: 101.453396 deg, new cmd heading: 101.919535 deg. 2025-01-08T22:59:52.696Z,1736377192.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.778831 target range: 78.000000 and range: 78.00 m. 2025-01-08T22:59:52.838Z,1736377192.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:52.838Z,1736377192.838 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:52.838Z,1736377192.838 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:52.839Z,1736377192.839 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:53.092Z,1736377193.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:53.094Z,1736377193.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492391 2025-01-08T22:59:53.166Z,1736377193.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:53.176Z,1736377193.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:53.178Z,1736377193.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 61.110523 m, bearing: 78.548569 deg, approach rate: -0.241340 m/s, LOS rate: 0.426591 deg/s, cmd heading: 101.919536 deg, new cmd heading: 102.538605 deg. 2025-01-08T22:59:53.180Z,1736377193.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.789636 target range: 78.000000 and range: 78.00 m. 2025-01-08T22:59:53.347Z,1736377193.347 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:53.348Z,1736377193.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747150 2025-01-08T22:59:53.581Z,1736377193.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:53.595Z,1736377193.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:53.598Z,1736377193.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 61.011635 m, bearing: 78.713465 deg, approach rate: -0.235892 m/s, LOS rate: 0.393988 deg/s, cmd heading: 102.538604 deg, new cmd heading: 103.034083 deg. 2025-01-08T22:59:53.599Z,1736377193.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.798284 target range: 78.000000 and range: 78.00 m. 2025-01-08T22:59:53.600Z,1736377193.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:53.602Z,1736377193.602 [DAT](INFO): DAT read: Rx Time:22:59:52.4291 2025-01-08T22:59:53.602Z,1736377193.602 [DAT](INFO): Rx dataTimestamp_ set to:1736377193.601922 2025-01-08T22:59:53.603Z,1736377193.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001733 2025-01-08T22:59:53.852Z,1736377193.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:53.853Z,1736377193.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251976 2025-01-08T22:59:54.016Z,1736377194.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:54.025Z,1736377194.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:54.031Z,1736377194.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 60.897911 m, bearing: 78.891146 deg, approach rate: -0.264584 m/s, LOS rate: 0.414155 deg/s, cmd heading: 103.034080 deg, new cmd heading: 103.568102 deg. 2025-01-08T22:59:54.033Z,1736377194.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.807604 target range: 78.000000 and range: 78.00 m. 2025-01-08T22:59:54.104Z,1736377194.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:54.106Z,1736377194.106 [DAT](INFO): DAT read: Range 10 to 50 : 79.0 m (Round-trip 105.4 ms) speed -0.2 m/s 2025-01-08T22:59:54.106Z,1736377194.106 [DAT](INFO): DAT read: user:2988> 2025-01-08T22:59:54.107Z,1736377194.107 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T22:59:54.108Z,1736377194.108 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:54.108Z,1736377194.108 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:54.108Z,1736377194.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:54.356Z,1736377194.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:54.356Z,1736377194.356 [DAT](INFO): DAT read: Tx time:22:59:53.5196 2025-01-08T22:59:54.357Z,1736377194.357 [DAT](INFO): Ping request sent. 2025-01-08T22:59:54.357Z,1736377194.357 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:54.357Z,1736377194.357 [DAT](INFO): DAT read: TxSync time:22:59:53.5188 2025-01-08T22:59:54.358Z,1736377194.358 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:54.358Z,1736377194.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001538 2025-01-08T22:59:54.408Z,1736377194.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:54.428Z,1736377194.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.000000 m, deltaT: 3.544236 s, deltaX: 1.000000 m, approachRate: 0.282148 m/s, rangeRepo size: 4 2025-01-08T22:59:54.429Z,1736377194.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:54.436Z,1736377194.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 60.786625 m, bearing: 79.046561 deg, approach rate: -0.279637 m/s, LOS rate: 0.391236 deg/s, cmd heading: 103.568105 deg, new cmd heading: 104.035191 deg. 2025-01-08T22:59:54.437Z,1736377194.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.815757 target range: 78.000000 and range: 79.00 m. 2025-01-08T22:59:54.608Z,1736377194.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:54.608Z,1736377194.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251505 2025-01-08T22:59:54.794Z,1736377194.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:54.861Z,1736377194.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:54.862Z,1736377194.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504837 2025-01-08T22:59:54.869Z,1736377194.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:54.871Z,1736377194.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:54.878Z,1736377194.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 60.673546 m, bearing: 79.197041 deg, approach rate: -0.252411 m/s, LOS rate: 0.336523 deg/s, cmd heading: 104.035194 deg, new cmd heading: 104.487467 deg. 2025-01-08T22:59:54.879Z,1736377194.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.823650 target range: 78.000000 and range: 79.00 m. 2025-01-08T22:59:55.112Z,1736377195.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:55.113Z,1736377195.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756321 2025-01-08T22:59:55.220Z,1736377195.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:55.229Z,1736377195.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:55.231Z,1736377195.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 60.548466 m, bearing: 79.364217 deg, approach rate: -0.349680 m/s, LOS rate: 0.468331 deg/s, cmd heading: 104.487469 deg, new cmd heading: 104.990020 deg. 2025-01-08T22:59:55.232Z,1736377195.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.832422 target range: 78.000000 and range: 79.00 m. 2025-01-08T22:59:55.364Z,1736377195.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:55.364Z,1736377195.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007578 2025-01-08T22:59:55.605Z,1736377195.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:55.614Z,1736377195.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:55.616Z,1736377195.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:55.617Z,1736377195.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259662 2025-01-08T22:59:55.620Z,1736377195.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 60.431465 m, bearing: 79.512264 deg, approach rate: -0.303685 m/s, LOS rate: 0.385011 deg/s, cmd heading: 104.990021 deg, new cmd heading: 105.435011 deg. 2025-01-08T22:59:55.621Z,1736377195.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.840188 target range: 78.000000 and range: 79.00 m. 2025-01-08T22:59:55.868Z,1736377195.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:55.869Z,1736377195.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511826 2025-01-08T22:59:56.038Z,1736377196.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:56.046Z,1736377196.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:56.049Z,1736377196.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 60.305077 m, bearing: 79.684817 deg, approach rate: -0.292354 m/s, LOS rate: 0.399974 deg/s, cmd heading: 105.435014 deg, new cmd heading: 105.953743 deg. 2025-01-08T22:59:56.050Z,1736377196.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.849242 target range: 78.000000 and range: 79.00 m. 2025-01-08T22:59:56.121Z,1736377196.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:56.122Z,1736377196.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765278 2025-01-08T22:59:56.372Z,1736377196.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:56.372Z,1736377196.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015616 2025-01-08T22:59:56.400Z,1736377196.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:56.409Z,1736377196.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:56.412Z,1736377196.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 60.195415 m, bearing: 79.827093 deg, approach rate: -0.301959 m/s, LOS rate: 0.392480 deg/s, cmd heading: 105.953740 deg, new cmd heading: 106.381338 deg. 2025-01-08T22:59:56.413Z,1736377196.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.856705 target range: 78.000000 and range: 79.00 m. 2025-01-08T22:59:56.624Z,1736377196.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:56.625Z,1736377196.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267781 2025-01-08T22:59:56.838Z,1736377196.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:56.877Z,1736377196.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:56.880Z,1736377196.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522829 2025-01-08T22:59:56.896Z,1736377196.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:56.898Z,1736377196.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:56.918Z,1736377196.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 60.063385 m, bearing: 79.999729 deg, approach rate: -0.270095 m/s, LOS rate: 0.353938 deg/s, cmd heading: 106.381337 deg, new cmd heading: 106.900369 deg. 2025-01-08T22:59:56.925Z,1736377196.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.865763 target range: 78.000000 and range: 79.00 m. 2025-01-08T22:59:57.128Z,1736377197.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:57.128Z,1736377197.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771585 2025-01-08T22:59:57.230Z,1736377197.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:57.264Z,1736377197.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:57.266Z,1736377197.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 59.957218 m, bearing: 80.156527 deg, approach rate: -0.290353 m/s, LOS rate: 0.429582 deg/s, cmd heading: 106.900370 deg, new cmd heading: 107.371585 deg. 2025-01-08T22:59:57.274Z,1736377197.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.873988 target range: 78.000000 and range: 79.00 m. 2025-01-08T22:59:57.381Z,1736377197.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:57.382Z,1736377197.382 [DAT](INFO): DAT read: Rx Time:22:59:56.0300 2025-01-08T22:59:57.383Z,1736377197.383 [DAT](INFO): Rx dataTimestamp_ set to:1736377197.382311 2025-01-08T22:59:57.383Z,1736377197.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026248 2025-01-08T22:59:57.618Z,1736377197.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:57.627Z,1736377197.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.00 m. 2025-01-08T22:59:57.630Z,1736377197.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.000000 m, nav range: 59.848862 m, bearing: 80.309164 deg, approach rate: -0.298356 m/s, LOS rate: 0.421040 deg/s, cmd heading: 107.371585 deg, new cmd heading: 107.830313 deg. 2025-01-08T22:59:57.631Z,1736377197.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.881994 target range: 78.000000 and range: 79.00 m. 2025-01-08T22:59:57.632Z,1736377197.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:57.633Z,1736377197.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275876 2025-01-08T22:59:57.886Z,1736377197.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:57.897Z,1736377197.897 [DAT](INFO): DAT read: 22:59:56.0300 LVL= 10512, 16369, 17810, 26051, AGC= 57, IDX= 429, 0.32,-2.973, 2.485, 1.061, 2.124, PHS= 1.274, 0.408,-1.066, RAW= 51.5, -6.1, CAL= 56.1, -11.4, ROT= 93.9, 11.4 2025-01-08T22:59:57.898Z,1736377197.898 [DAT](INFO): got valid direction response: 22:59:56.0300 LVL= 10512, 16369, 17810, 26051, AGC= 57, IDX= 429, 0.32,-2.973, 2.485, 1.061, 2.124, PHS= 1.274, 0.408,-1.066, RAW= 51.5, -6.1, CAL= 56.1, -11.4, ROT= 93.9, 11.4 2025-01-08T22:59:57.899Z,1736377197.899 [DAT](INFO): DAT read: Bearing 93.9, 11.4 (Local) 2025-01-08T22:59:57.906Z,1736377197.906 [DAT](INFO): Local bearing/azimuth received: Bearing 93.9, 11.4 (Local) 2025-01-08T22:59:57.958Z,1736377197.958 [DAT](INFO): DAT read: Range 10 to 50 : 79.7 m (Round-trip 106.3 ms) speed 0.0 m/s 2025-01-08T22:59:57.958Z,1736377197.958 [DAT](INFO): DAT read: user:2989> 2025-01-08T22:59:57.968Z,1736377197.968 [DAT](INFO): DAT read: Tx time:22:59:57.1196 2025-01-08T22:59:57.968Z,1736377197.968 [DAT](INFO): Ping request sent. 2025-01-08T22:59:57.968Z,1736377197.968 [DAT](INFO): transmitted an acoustic signal 2025-01-08T22:59:57.969Z,1736377197.969 [DAT](INFO): DAT read: TxSync time:22:59:57.1188 2025-01-08T22:59:57.969Z,1736377197.969 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T22:59:57.970Z,1736377197.970 [DAT](INFO): direction in FSK: [0.100762,0.675113,0.730801] 2025-01-08T22:59:57.970Z,1736377197.970 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:57.971Z,1736377197.971 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:57.978Z,1736377197.978 [DAT](INFO): publishing transmit ping time 2025-01-08T22:59:57.978Z,1736377197.978 [DAT](INFO): publishing direction and range info 2025-01-08T22:59:58.116Z,1736377198.116 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768-32768,V 2025-01-08T22:59:58.136Z,1736377198.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:58.138Z,1736377198.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T22:59:58.138Z,1736377198.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:58.180Z,1736377198.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.699997 m, deltaT: 3.781979 s, deltaX: 0.699997 m, approachRate: 0.185087 m/s, rangeRepo size: 4 2025-01-08T22:59:58.182Z,1736377198.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.699997 m, bearing: 98.452367 deg, lat: 36.905046 deg, lon: -122.119457 deg, deltaT: 7.326215 s, deltaX: 1.699997 m, approachRate: 0.232043 m/s, posRepo size: 4 2025-01-08T22:59:58.182Z,1736377198.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:58.190Z,1736377198.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 59.704288 m, bearing: 80.514623 deg, approach rate: 0.000000 m/s, LOS rate: 0.421040 deg/s, cmd heading: 107.830314 deg, new cmd heading: 108.521899 deg. 2025-01-08T22:59:58.191Z,1736377198.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.894064 target range: 79.699997 and range: 79.70 m. 2025-01-08T22:59:58.388Z,1736377198.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:58.480Z,1736377198.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T22:59:58.480Z,1736377198.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:58.503Z,1736377198.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:58.510Z,1736377198.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 59.603741 m, bearing: 80.643855 deg, approach rate: -0.306522 m/s, LOS rate: 0.394631 deg/s, cmd heading: 108.521898 deg, new cmd heading: 108.910242 deg. 2025-01-08T22:59:58.511Z,1736377198.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.900842 target range: 79.699997 and range: 79.70 m. 2025-01-08T22:59:58.642Z,1736377198.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:58.897Z,1736377198.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:58.997Z,1736377198.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:59.012Z,1736377199.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T22:59:59.014Z,1736377199.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:59.017Z,1736377199.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 59.508038 m, bearing: 80.852071 deg, approach rate: -0.187080 m/s, LOS rate: 0.407673 deg/s, cmd heading: 108.910242 deg, new cmd heading: 109.535868 deg. 2025-01-08T22:59:59.020Z,1736377199.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.911762 target range: 79.699997 and range: 79.70 m. 2025-01-08T22:59:59.148Z,1736377199.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:59.148Z,1736377199.148 [DAT](INFO): ****** received valid address query ****** 2025-01-08T22:59:59.148Z,1736377199.148 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T22:59:59.148Z,1736377199.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T22:59:59.400Z,1736377199.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:59.401Z,1736377199.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.433383 2025-01-08T22:59:59.450Z,1736377199.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:59.459Z,1736377199.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:59.462Z,1736377199.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 59.410992 m, bearing: 81.025902 deg, approach rate: -0.218230 m/s, LOS rate: 0.391538 deg/s, cmd heading: 109.535867 deg, new cmd heading: 110.058198 deg. 2025-01-08T22:59:59.463Z,1736377199.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.920878 target range: 79.699997 and range: 79.70 m. 2025-01-08T22:59:59.652Z,1736377199.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:59.653Z,1736377199.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.684988 2025-01-08T22:59:59.906Z,1736377199.906 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T22:59:59.909Z,1736377199.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940139 2025-01-08T22:59:59.975Z,1736377199.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T22:59:59.983Z,1736377199.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T22:59:59.986Z,1736377199.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 59.309223 m, bearing: 81.215742 deg, approach rate: -0.194164 m/s, LOS rate: 0.362816 deg/s, cmd heading: 110.058199 deg, new cmd heading: 110.628676 deg. 2025-01-08T22:59:59.987Z,1736377199.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.930835 target range: 79.699997 and range: 79.70 m. 2025-01-08T23:00:00.157Z,1736377200.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:00.157Z,1736377200.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.189338 2025-01-08T23:00:00.284Z,1736377200.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:00.303Z,1736377200.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T23:00:00.308Z,1736377200.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 59.249516 m, bearing: 81.321989 deg, approach rate: -0.186847 m/s, LOS rate: 0.332820 deg/s, cmd heading: 110.628676 deg, new cmd heading: 110.947734 deg. 2025-01-08T23:00:00.310Z,1736377200.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.936403 target range: 79.699997 and range: 79.70 m. 2025-01-08T23:00:00.408Z,1736377200.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:00.409Z,1736377200.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440574 2025-01-08T23:00:00.660Z,1736377200.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:00.661Z,1736377200.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.693042 2025-01-08T23:00:00.713Z,1736377200.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:00.726Z,1736377200.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T23:00:00.734Z,1736377200.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 59.157166 m, bearing: 81.478309 deg, approach rate: -0.217857 m/s, LOS rate: 0.369340 deg/s, cmd heading: 110.947735 deg, new cmd heading: 111.417417 deg. 2025-01-08T23:00:00.740Z,1736377200.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.944601 target range: 79.699997 and range: 79.70 m. 2025-01-08T23:00:00.915Z,1736377200.915 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:00.918Z,1736377200.918 [DAT](INFO): DAT read: Rx Time:22:59:59.6306 2025-01-08T23:00:00.920Z,1736377200.920 [DAT](INFO): Rx dataTimestamp_ set to:1736377200.918815 2025-01-08T23:00:00.922Z,1736377200.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953289 2025-01-08T23:00:01.117Z,1736377201.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:01.125Z,1736377201.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:01.127Z,1736377201.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-08T23:00:01.130Z,1736377201.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 59.076115 m, bearing: 81.622903 deg, approach rate: -0.202290 m/s, LOS rate: 0.361379 deg/s, cmd heading: 111.417420 deg, new cmd heading: 111.851790 deg. 2025-01-08T23:00:01.131Z,1736377201.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.952182 target range: 79.699997 and range: 79.70 m. 2025-01-08T23:00:01.168Z,1736377201.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:01.169Z,1736377201.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.201070 2025-01-08T23:00:01.421Z,1736377201.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:01.434Z,1736377201.434 [DAT](INFO): DAT read: 22:59:59.6306 LVL= 16880, 27745, 21810, 28915, AGC= 58, IDX= 449, 0.25,-0.612,-1.472,-2.680,-1.796, PHS= 1.272, 0.371,-0.887, RAW= 54.5, -8.1, CAL= 61.4, -14.5, ROT= 88.6, 14.5 2025-01-08T23:00:01.448Z,1736377201.448 [DAT](INFO): got valid direction response: 22:59:59.6306 LVL= 16880, 27745, 21810, 28915, AGC= 58, IDX= 449, 0.25,-0.612,-1.472,-2.680,-1.796, PHS= 1.272, 0.371,-0.887, RAW= 54.5, -8.1, CAL= 61.4, -14.5, ROT= 88.6, 14.5 2025-01-08T23:00:01.449Z,1736377201.449 [DAT](INFO): DAT read: Bearing 88.6, 14.5 (Local) 2025-01-08T23:00:01.449Z,1736377201.449 [DAT](INFO): Local bearing/azimuth received: Bearing 88.6, 14.5 (Local) 2025-01-08T23:00:01.451Z,1736377201.451 [DAT](INFO): DAT read: Range 10 to 50 : 80.1 m (Round-trip 106.8 ms) speed 0.0 m/s 2025-01-08T23:00:01.452Z,1736377201.452 [DAT](INFO): DAT read: user:2990> 2025-01-08T23:00:01.453Z,1736377201.453 [DAT](INFO): DAT read: Tx time:23:00:00.7197 2025-01-08T23:00:01.453Z,1736377201.453 [DAT](INFO): Ping request sent. 2025-01-08T23:00:01.453Z,1736377201.453 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:01.453Z,1736377201.453 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:01.454Z,1736377201.454 [DAT](INFO): direction in FSK: [0.132042,0.632618,0.763124] 2025-01-08T23:00:01.454Z,1736377201.454 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:01.455Z,1736377201.455 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:01.474Z,1736377201.474 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:01.474Z,1736377201.474 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:01.534Z,1736377201.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:01.578Z,1736377201.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.099998 m, deltaT: 3.534725 s, deltaX: 0.400002 m, approachRate: 0.113163 m/s, rangeRepo size: 4 2025-01-08T23:00:01.585Z,1736377201.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.099998 m, bearing: 102.703088 deg, lat: 36.905046 deg, lon: -122.119457 deg, deltaT: 3.534725 s, deltaX: 0.400002 m, approachRate: 0.113163 m/s, posRepo size: 4 2025-01-08T23:00:01.586Z,1736377201.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:00:01.593Z,1736377201.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 58.993088 m, bearing: 81.772144 deg, approach rate: 0.000000 m/s, LOS rate: 0.361379 deg/s, cmd heading: 111.851793 deg, new cmd heading: 112.339830 deg. 2025-01-08T23:00:01.594Z,1736377201.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.960700 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:00:01.673Z,1736377201.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:01.674Z,1736377201.674 [DAT](INFO): DAT read: TxSync time:23:00:00.7189 2025-01-08T23:00:01.925Z,1736377201.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:02.058Z,1736377202.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:02.073Z,1736377202.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:00:02.092Z,1736377202.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 58.863884 m, bearing: 81.946744 deg, approach rate: -0.260525 m/s, LOS rate: 0.352832 deg/s, cmd heading: 112.339830 deg, new cmd heading: 112.864763 deg. 2025-01-08T23:00:02.093Z,1736377202.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.969862 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:00:02.177Z,1736377202.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:02.412Z,1736377202.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:02.428Z,1736377202.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:02.444Z,1736377202.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:00:02.456Z,1736377202.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 58.776848 m, bearing: 82.065217 deg, approach rate: -0.234425 m/s, LOS rate: 0.319569 deg/s, cmd heading: 112.864764 deg, new cmd heading: 113.220704 deg. 2025-01-08T23:00:02.457Z,1736377202.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.976074 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:00:02.680Z,1736377202.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:02.796Z,1736377202.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:02.806Z,1736377202.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:00:02.809Z,1736377202.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 58.675793 m, bearing: 82.189230 deg, approach rate: -0.279744 m/s, LOS rate: 0.343888 deg/s, cmd heading: 113.220706 deg, new cmd heading: 113.593380 deg. 2025-01-08T23:00:02.810Z,1736377202.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.982579 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:00:02.933Z,1736377202.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:03.185Z,1736377203.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:03.245Z,1736377203.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:03.253Z,1736377203.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:03.255Z,1736377203.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:00:03.278Z,1736377203.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 58.534073 m, bearing: 82.319160 deg, approach rate: -0.315595 m/s, LOS rate: 0.290041 deg/s, cmd heading: 113.593382 deg, new cmd heading: 113.984109 deg. 2025-01-08T23:00:03.279Z,1736377203.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.989398 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:00:03.436Z,1736377203.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:03.436Z,1736377203.436 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:03.436Z,1736377203.436 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:03.436Z,1736377203.436 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:03.600Z,1736377203.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:03.609Z,1736377203.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:00:03.613Z,1736377203.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 58.419018 m, bearing: 82.419456 deg, approach rate: -0.324702 m/s, LOS rate: 0.283606 deg/s, cmd heading: 113.984109 deg, new cmd heading: 114.285586 deg. 2025-01-08T23:00:03.616Z,1736377203.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.994660 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:00:03.690Z,1736377203.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:03.692Z,1736377203.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239029 2025-01-08T23:00:03.941Z,1736377203.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:03.944Z,1736377203.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490001 2025-01-08T23:00:04.046Z,1736377204.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:04.056Z,1736377204.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:00:04.058Z,1736377204.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 58.245174 m, bearing: 82.533248 deg, approach rate: -0.389830 m/s, LOS rate: 0.255931 deg/s, cmd heading: 114.285587 deg, new cmd heading: 114.627978 deg. 2025-01-08T23:00:04.060Z,1736377204.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.000636 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:00:04.192Z,1736377204.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:04.192Z,1736377204.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739302 2025-01-08T23:00:04.428Z,1736377204.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:04.440Z,1736377204.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:00:04.442Z,1736377204.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 58.094109 m, bearing: 82.627215 deg, approach rate: -0.392566 m/s, LOS rate: 0.244824 deg/s, cmd heading: 114.627978 deg, new cmd heading: 114.910612 deg. 2025-01-08T23:00:04.444Z,1736377204.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:04.445Z,1736377204.445 [DAT](INFO): DAT read: Rx Time:23:00:03.2298 2025-01-08T23:00:04.445Z,1736377204.445 [DAT](INFO): Rx dataTimestamp_ set to:1736377204.444736 2025-01-08T23:00:04.445Z,1736377204.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992450 2025-01-08T23:00:04.446Z,1736377204.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.005569 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:00:04.696Z,1736377204.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:04.696Z,1736377204.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243372 2025-01-08T23:00:04.832Z,1736377204.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:04.858Z,1736377204.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:00:04.865Z,1736377204.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 57.929375 m, bearing: 82.718944 deg, approach rate: -0.394288 m/s, LOS rate: 0.220176 deg/s, cmd heading: 114.910611 deg, new cmd heading: 115.186577 deg. 2025-01-08T23:00:04.866Z,1736377204.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.010385 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:00:04.950Z,1736377204.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:05.010Z,1736377205.010 [DAT](INFO): DAT read: 23:00:03.2298 LVL= 15168, 23793, 14578, 20051, AGC= 55, IDX= 425, 0.28, 0.672,-0.806,-1.420,-0.705, PHS= 1.465,-0.054,-0.718, RAW= 72.7, -7.2, CAL= 82.2, -14.8, ROT= 67.8, 14.8 2025-01-08T23:00:05.043Z,1736377205.043 [DAT](INFO): got valid direction response: 23:00:03.2298 LVL= 15168, 23793, 14578, 20051, AGC= 55, IDX= 425, 0.28, 0.672,-0.806,-1.420,-0.705, PHS= 1.465,-0.054,-0.718, RAW= 72.7, -7.2, CAL= 82.2, -14.8, ROT= 67.8, 14.8 2025-01-08T23:00:05.053Z,1736377205.053 [DAT](INFO): DAT read: Bearing 67.8, 14.8 (Local) 2025-01-08T23:00:05.053Z,1736377205.053 [DAT](INFO): Local bearing/azimuth received: Bearing 67.8, 14.8 (Local) 2025-01-08T23:00:05.060Z,1736377205.060 [DAT](INFO): DAT read: Range 10 to 50 : 79.5 m (Round-trip 106.0 ms) speed 0.2 m/s 2025-01-08T23:00:05.061Z,1736377205.061 [DAT](INFO): DAT read: user:2991> 2025-01-08T23:00:05.062Z,1736377205.062 [DAT](INFO): DAT read: Tx time:23:00:04.3197 2025-01-08T23:00:05.062Z,1736377205.062 [DAT](INFO): Ping request sent. 2025-01-08T23:00:05.063Z,1736377205.063 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:05.068Z,1736377205.068 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:05.069Z,1736377205.069 [DAT](INFO): direction in FSK: [0.080992,0.381655,0.920749] 2025-01-08T23:00:05.070Z,1736377205.070 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:05.070Z,1736377205.070 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:05.078Z,1736377205.078 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:05.078Z,1736377205.078 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:05.200Z,1736377205.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:05.201Z,1736377205.201 [DAT](INFO): DAT read: TxSync time:23:00:04.3189 2025-01-08T23:00:05.326Z,1736377205.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:05.354Z,1736377205.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.500000 m, deltaT: 3.529744 s, deltaX: -0.599998 m, approachRate: -0.169984 m/s, rangeRepo size: 4 2025-01-08T23:00:05.360Z,1736377205.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.500000 m, bearing: 96.156384 deg, lat: 36.904969 deg, lon: -122.119715 deg, deltaT: 3.529744 s, deltaX: -0.599998 m, approachRate: -0.169984 m/s, posRepo size: 4 2025-01-08T23:00:05.361Z,1736377205.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m. 2025-01-08T23:00:05.372Z,1736377205.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.500000 m, nav range: 34.395901 m, bearing: 92.287533 deg, approach rate: 0.000000 m/s, LOS rate: 0.220176 deg/s, cmd heading: 115.186578 deg, new cmd heading: 115.513750 deg. 2025-01-08T23:00:05.373Z,1736377205.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.016095 target range: 79.500000 and range: 79.50 m. 2025-01-08T23:00:05.457Z,1736377205.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:05.677Z,1736377205.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:05.702Z,1736377205.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:05.708Z,1736377205.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:05.708Z,1736377205.708 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:05.708Z,1736377205.708 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:05.709Z,1736377205.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:05.717Z,1736377205.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m. 2025-01-08T23:00:05.736Z,1736377205.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.500000 m, nav range: 34.238930 m, bearing: 92.442697 deg, approach rate: -0.431739 m/s, LOS rate: 0.428725 deg/s, cmd heading: 115.513744 deg, new cmd heading: 115.981358 deg. 2025-01-08T23:00:05.737Z,1736377205.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.024256 target range: 79.500000 and range: 79.50 m. 2025-01-08T23:00:05.962Z,1736377205.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:05.965Z,1736377205.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.902527 2025-01-08T23:00:06.106Z,1736377206.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:06.114Z,1736377206.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m. 2025-01-08T23:00:06.118Z,1736377206.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.500000 m, nav range: 34.022751 m, bearing: 92.628802 deg, approach rate: -0.543820 m/s, LOS rate: 0.471139 deg/s, cmd heading: 115.981352 deg, new cmd heading: 116.543195 deg. 2025-01-08T23:00:06.121Z,1736377206.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.034062 target range: 79.500000 and range: 79.50 m. 2025-01-08T23:00:06.212Z,1736377206.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:06.213Z,1736377206.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.150348 2025-01-08T23:00:06.464Z,1736377206.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:06.464Z,1736377206.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.402063 2025-01-08T23:00:06.478Z,1736377206.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:06.489Z,1736377206.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m. 2025-01-08T23:00:06.504Z,1736377206.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.500000 m, nav range: 33.830456 m, bearing: 92.774715 deg, approach rate: -0.513488 m/s, LOS rate: 0.391848 deg/s, cmd heading: 116.543190 deg, new cmd heading: 116.983409 deg. 2025-01-08T23:00:06.505Z,1736377206.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.041746 target range: 79.500000 and range: 79.50 m. 2025-01-08T23:00:06.718Z,1736377206.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:06.718Z,1736377206.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.656123 2025-01-08T23:00:06.876Z,1736377206.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:06.888Z,1736377206.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m. 2025-01-08T23:00:06.890Z,1736377206.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.500000 m, nav range: 33.622501 m, bearing: 92.923047 deg, approach rate: -0.520736 m/s, LOS rate: 0.373733 deg/s, cmd heading: 116.983409 deg, new cmd heading: 117.431148 deg. 2025-01-08T23:00:06.892Z,1736377206.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049560 target range: 79.500000 and range: 79.50 m. 2025-01-08T23:00:06.969Z,1736377206.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:06.970Z,1736377206.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.907574 2025-01-08T23:00:07.220Z,1736377207.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:07.220Z,1736377207.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.158051 2025-01-08T23:00:07.313Z,1736377207.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:07.322Z,1736377207.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m. 2025-01-08T23:00:07.325Z,1736377207.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.500000 m, nav range: 33.379711 m, bearing: 93.073976 deg, approach rate: -0.559726 m/s, LOS rate: 0.350481 deg/s, cmd heading: 117.431142 deg, new cmd heading: 117.887212 deg. 2025-01-08T23:00:07.325Z,1736377207.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057520 target range: 79.500000 and range: 79.50 m. 2025-01-08T23:00:07.472Z,1736377207.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:07.472Z,1736377207.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.410086 2025-01-08T23:00:07.712Z,1736377207.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:07.723Z,1736377207.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:07.724Z,1736377207.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:07.725Z,1736377207.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.662198 2025-01-08T23:00:07.729Z,1736377207.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m. 2025-01-08T23:00:07.736Z,1736377207.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.500000 m, nav range: 33.155491 m, bearing: 93.202742 deg, approach rate: -0.550347 m/s, LOS rate: 0.318194 deg/s, cmd heading: 117.887207 deg, new cmd heading: 118.276113 deg. 2025-01-08T23:00:07.737Z,1736377207.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064308 target range: 79.500000 and range: 79.50 m. 2025-01-08T23:00:07.977Z,1736377207.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:07.980Z,1736377207.980 [DAT](INFO): DAT read: Rx Time:23:00:06.8286 2025-01-08T23:00:07.982Z,1736377207.982 [DAT](INFO): Rx dataTimestamp_ set to:1736377207.980661 2025-01-08T23:00:07.984Z,1736377207.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.920735 2025-01-08T23:00:08.129Z,1736377208.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:08.137Z,1736377208.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m. 2025-01-08T23:00:08.140Z,1736377208.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.500000 m, nav range: 32.916264 m, bearing: 93.350022 deg, approach rate: -0.585903 m/s, LOS rate: 0.363330 deg/s, cmd heading: 118.276118 deg, new cmd heading: 118.721158 deg. 2025-01-08T23:00:08.141Z,1736377208.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072075 target range: 79.500000 and range: 79.50 m. 2025-01-08T23:00:08.229Z,1736377208.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:08.231Z,1736377208.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.168045 2025-01-08T23:00:08.481Z,1736377208.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:08.484Z,1736377208.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.420733 2025-01-08T23:00:08.561Z,1736377208.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:08.571Z,1736377208.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.50 m. 2025-01-08T23:00:08.586Z,1736377208.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.500000 m, nav range: 32.663139 m, bearing: 93.479951 deg, approach rate: -0.584055 m/s, LOS rate: 0.302119 deg/s, cmd heading: 118.721160 deg, new cmd heading: 119.113961 deg. 2025-01-08T23:00:08.592Z,1736377208.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.078931 target range: 79.500000 and range: 79.50 m. 2025-01-08T23:00:08.732Z,1736377208.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:08.739Z,1736377208.739 [DAT](INFO): DAT read: 23:00:06.8286 LVL= 15232, 29617, 21778, 31059, AGC= 56, IDX= 429,-0.18,-2.529, 2.199, 2.290, 2.859, PHS= 0.984,-0.613,-0.572, RAW= 91.3, 2.6, CAL= 98.9, 0.3, ROT= 51.1, -0.3 2025-01-08T23:00:08.740Z,1736377208.740 [DAT](INFO): got valid direction response: 23:00:06.8286 LVL= 15232, 29617, 21778, 31059, AGC= 56, IDX= 429,-0.18,-2.529, 2.199, 2.290, 2.859, PHS= 0.984,-0.613,-0.572, RAW= 91.3, 2.6, CAL= 98.9, 0.3, ROT= 51.1, -0.3 2025-01-08T23:00:08.741Z,1736377208.741 [DAT](INFO): DAT read: Bearing 51.1, -0.3 (Local) 2025-01-08T23:00:08.742Z,1736377208.742 [DAT](INFO): Local bearing/azimuth received: Bearing 51.1, -0.3 (Local) 2025-01-08T23:00:08.744Z,1736377208.744 [DAT](INFO): DAT read: Range 10 to 50 : 78.5 m (Round-trip 104.7 ms) speed 0.2 m/s 2025-01-08T23:00:08.744Z,1736377208.744 [DAT](INFO): DAT read: user:2992> 2025-01-08T23:00:08.747Z,1736377208.747 [DAT](INFO): DAT read: Tx time:23:00:07.9197 2025-01-08T23:00:08.751Z,1736377208.751 [DAT](INFO): Ping request sent. 2025-01-08T23:00:08.751Z,1736377208.751 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:08.752Z,1736377208.752 [DAT](INFO): DAT read: TxSync time:23:00:07.9189 2025-01-08T23:00:08.753Z,1736377208.753 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:08.754Z,1736377208.754 [DAT](INFO): direction in FSK: [-0.136161,0.087758,0.986792] 2025-01-08T23:00:08.754Z,1736377208.754 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:08.754Z,1736377208.754 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:08.758Z,1736377208.758 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:08.758Z,1736377208.758 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:08.906Z,1736377208.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:08.938Z,1736377208.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.500000 m, deltaT: 3.781146 s, deltaX: -1.000000 m, approachRate: -0.264470 m/s, rangeRepo size: 4 2025-01-08T23:00:08.944Z,1736377208.944 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:00:08.945Z,1736377208.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.500000 m, bearing: 307.754898 deg, lat: 36.904969 deg, lon: -122.119744 deg, deltaT: 3.781146 s, deltaX: -1.000000 m, approachRate: -0.264470 m/s, posRepo size: 4 2025-01-08T23:00:08.946Z,1736377208.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T23:00:08.953Z,1736377208.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 29.859207 m, bearing: 93.886211 deg, approach rate: 0.000000 m/s, LOS rate: 0.302119 deg/s, cmd heading: 119.113964 deg, new cmd heading: 119.445769 deg. 2025-01-08T23:00:08.954Z,1736377208.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.084722 target range: 78.500000 and range: 78.50 m. 2025-01-08T23:00:08.986Z,1736377208.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:09.236Z,1736377209.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:09.408Z,1736377209.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:09.429Z,1736377209.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T23:00:09.437Z,1736377209.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 29.569410 m, bearing: 94.024709 deg, approach rate: -0.588944 m/s, LOS rate: 0.284223 deg/s, cmd heading: 119.445774 deg, new cmd heading: 119.865333 deg. 2025-01-08T23:00:09.438Z,1736377209.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092045 target range: 78.500000 and range: 78.50 m. 2025-01-08T23:00:09.488Z,1736377209.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:09.740Z,1736377209.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:09.780Z,1736377209.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:09.788Z,1736377209.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:09.790Z,1736377209.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T23:00:09.793Z,1736377209.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 29.353481 m, bearing: 94.117216 deg, approach rate: -0.598400 m/s, LOS rate: 0.258248 deg/s, cmd heading: 119.865339 deg, new cmd heading: 120.144898 deg. 2025-01-08T23:00:09.794Z,1736377209.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096924 target range: 78.500000 and range: 78.50 m. 2025-01-08T23:00:09.948Z,1736377209.948 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:00:09.992Z,1736377209.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:09.992Z,1736377209.992 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:09.992Z,1736377209.992 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:09.993Z,1736377209.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:10.219Z,1736377210.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:10.228Z,1736377210.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T23:00:10.230Z,1736377210.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 29.109360 m, bearing: 94.222518 deg, approach rate: -0.557476 m/s, LOS rate: 0.242485 deg/s, cmd heading: 120.144899 deg, new cmd heading: 120.463452 deg. 2025-01-08T23:00:10.240Z,1736377210.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102484 target range: 78.500000 and range: 78.50 m. 2025-01-08T23:00:10.244Z,1736377210.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:10.245Z,1736377210.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493002 2025-01-08T23:00:10.496Z,1736377210.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:10.497Z,1736377210.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745595 2025-01-08T23:00:10.580Z,1736377210.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:10.589Z,1736377210.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T23:00:10.592Z,1736377210.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 28.907797 m, bearing: 94.298796 deg, approach rate: -0.557296 m/s, LOS rate: 0.212369 deg/s, cmd heading: 120.463445 deg, new cmd heading: 120.693873 deg. 2025-01-08T23:00:10.593Z,1736377210.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106505 target range: 78.500000 and range: 78.50 m. 2025-01-08T23:00:10.748Z,1736377210.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:10.749Z,1736377210.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997156 2025-01-08T23:00:10.978Z,1736377210.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:10.988Z,1736377210.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T23:00:10.990Z,1736377210.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 28.684324 m, bearing: 94.370717 deg, approach rate: -0.561455 m/s, LOS rate: 0.182105 deg/s, cmd heading: 120.693869 deg, new cmd heading: 120.911314 deg. 2025-01-08T23:00:10.992Z,1736377210.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.110301 target range: 78.500000 and range: 78.50 m. 2025-01-08T23:00:10.000Z,1736377211.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:11.001Z,1736377211.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249683 2025-01-08T23:00:11.252Z,1736377211.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:11.254Z,1736377211.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501846 2025-01-08T23:00:11.415Z,1736377211.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:11.426Z,1736377211.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T23:00:11.429Z,1736377211.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 28.446495 m, bearing: 94.435327 deg, approach rate: -0.541795 m/s, LOS rate: 0.148417 deg/s, cmd heading: 120.911314 deg, new cmd heading: 121.106763 deg. 2025-01-08T23:00:11.430Z,1736377211.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.113712 target range: 78.500000 and range: 78.50 m. 2025-01-08T23:00:11.504Z,1736377211.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:11.505Z,1736377211.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753098 2025-01-08T23:00:11.756Z,1736377211.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:11.756Z,1736377211.756 [DAT](INFO): DAT read: Rx Time:23:00:10.4272 2025-01-08T23:00:11.757Z,1736377211.757 [DAT](INFO): Rx dataTimestamp_ set to:1736377211.756597 2025-01-08T23:00:11.757Z,1736377211.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005901 2025-01-08T23:00:11.801Z,1736377211.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:11.813Z,1736377211.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:11.818Z,1736377211.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T23:00:11.821Z,1736377211.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 28.235609 m, bearing: 94.481577 deg, approach rate: -0.539093 m/s, LOS rate: 0.119112 deg/s, cmd heading: 121.106767 deg, new cmd heading: 121.246552 deg. 2025-01-08T23:00:11.822Z,1736377211.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.116152 target range: 78.500000 and range: 78.50 m. 2025-01-08T23:00:12.008Z,1736377212.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:12.008Z,1736377212.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256947 2025-01-08T23:00:12.209Z,1736377212.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:12.218Z,1736377212.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.50 m. 2025-01-08T23:00:12.240Z,1736377212.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.500000 m, nav range: 28.021904 m, bearing: 94.531992 deg, approach rate: -0.534898 m/s, LOS rate: 0.127150 deg/s, cmd heading: 121.246554 deg, new cmd heading: 121.398953 deg. 2025-01-08T23:00:12.244Z,1736377212.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118811 target range: 78.500000 and range: 78.50 m. 2025-01-08T23:00:12.260Z,1736377212.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:12.266Z,1736377212.266 [DAT](INFO): DAT read: 23:00:10.4272 LVL= 19440, 32753, 25714, 32755, AGC= 60, IDX= 430, 0.28,-0.603,-2.292,-1.742,-1.350, PHS= 0.834,-0.896,-0.395, RAW= 106.3, 6.0, CAL= 116.8, 3.7, ROT= 33.2, -3.7 2025-01-08T23:00:12.268Z,1736377212.268 [DAT](INFO): got valid direction response: 23:00:10.4272 LVL= 19440, 32753, 25714, 32755, AGC= 60, IDX= 430, 0.28,-0.603,-2.292,-1.742,-1.350, PHS= 0.834,-0.896,-0.395, RAW= 106.3, 6.0, CAL= 116.8, 3.7, ROT= 33.2, -3.7 2025-01-08T23:00:12.269Z,1736377212.269 [DAT](INFO): DAT read: Bearing 33.2, -3.7 (Local) 2025-01-08T23:00:12.269Z,1736377212.269 [DAT](INFO): Local bearing/azimuth received: Bearing 33.2, -3.7 (Local) 2025-01-08T23:00:12.273Z,1736377212.273 [DAT](INFO): DAT read: Range 10 to 50 : 77.4 m (Round-trip 103.3 ms) speed 0.4 m/s 2025-01-08T23:00:12.275Z,1736377212.275 [DAT](INFO): DAT read: user:2993> 2025-01-08T23:00:12.280Z,1736377212.280 [DAT](INFO): DAT read: Tx time:23:00:11.5198 2025-01-08T23:00:12.280Z,1736377212.280 [DAT](INFO): Ping request sent. 2025-01-08T23:00:12.281Z,1736377212.281 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:12.281Z,1736377212.281 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:12.282Z,1736377212.282 [DAT](INFO): direction in FSK: [-0.221958,-0.171394,0.959874] 2025-01-08T23:00:12.282Z,1736377212.282 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:12.282Z,1736377212.282 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:12.292Z,1736377212.292 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:12.292Z,1736377212.292 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:12.512Z,1736377212.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:12.513Z,1736377212.513 [DAT](INFO): DAT read: TxSync time:23:00:11.5190 2025-01-08T23:00:12.608Z,1736377212.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:12.623Z,1736377212.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.400002 m, deltaT: 3.528191 s, deltaX: -1.099998 m, approachRate: -0.311774 m/s, rangeRepo size: 4 2025-01-08T23:00:12.625Z,1736377212.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 77.400002 m, bearing: 327.439712 deg, lat: 36.904969 deg, lon: -122.119958 deg, deltaT: 3.528191 s, deltaX: -1.099998 m, approachRate: -0.311774 m/s, posRepo size: 4 2025-01-08T23:00:12.625Z,1736377212.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-01-08T23:00:12.628Z,1736377212.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.400002 m, nav range: 8.968369 m, bearing: 104.306271 deg, approach rate: 0.000000 m/s, LOS rate: 0.127150 deg/s, cmd heading: 121.398949 deg, new cmd heading: 121.553366 deg. 2025-01-08T23:00:12.629Z,1736377212.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.121506 target range: 77.400002 and range: 77.40 m. 2025-01-08T23:00:12.764Z,1736377212.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:12.999Z,1736377212.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:13.009Z,1736377213.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-01-08T23:00:13.016Z,1736377213.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:13.028Z,1736377213.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.400002 m, nav range: 8.767117 m, bearing: 104.612551 deg, approach rate: -0.519344 m/s, LOS rate: 0.808509 deg/s, cmd heading: 121.553366 deg, new cmd heading: 122.493208 deg. 2025-01-08T23:00:13.029Z,1736377213.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.137910 target range: 77.400002 and range: 77.40 m. 2025-01-08T23:00:13.268Z,1736377213.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:13.442Z,1736377213.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:13.451Z,1736377213.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-01-08T23:00:13.454Z,1736377213.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.400002 m, nav range: 8.543912 m, bearing: 104.956751 deg, approach rate: -0.506458 m/s, LOS rate: 0.801399 deg/s, cmd heading: 122.493214 deg, new cmd heading: 123.552664 deg. 2025-01-08T23:00:13.455Z,1736377213.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156401 target range: 77.400002 and range: 77.40 m. 2025-01-08T23:00:13.520Z,1736377213.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:13.772Z,1736377213.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:13.806Z,1736377213.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:13.856Z,1736377213.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:13.858Z,1736377213.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-01-08T23:00:13.873Z,1736377213.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.400002 m, nav range: 8.358322 m, bearing: 105.179478 deg, approach rate: -0.454829 m/s, LOS rate: 0.557962 deg/s, cmd heading: 123.552658 deg, new cmd heading: 124.235643 deg. 2025-01-08T23:00:13.874Z,1736377213.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168321 target range: 77.400002 and range: 77.40 m. 2025-01-08T23:00:14.024Z,1736377214.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:14.024Z,1736377214.024 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:14.024Z,1736377214.024 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:14.024Z,1736377214.024 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:14.247Z,1736377214.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:14.256Z,1736377214.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-01-08T23:00:14.258Z,1736377214.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.400002 m, nav range: 8.136706 m, bearing: 105.443828 deg, approach rate: -0.557499 m/s, LOS rate: 0.683110 deg/s, cmd heading: 124.235636 deg, new cmd heading: 125.050227 deg. 2025-01-08T23:00:14.259Z,1736377214.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.182538 target range: 77.400002 and range: 77.40 m. 2025-01-08T23:00:14.278Z,1736377214.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:14.288Z,1736377214.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998433 2025-01-08T23:00:14.528Z,1736377214.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:14.528Z,1736377214.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247901 2025-01-08T23:00:14.617Z,1736377214.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:14.642Z,1736377214.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-01-08T23:00:14.646Z,1736377214.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.400002 m, nav range: 7.950490 m, bearing: 105.639503 deg, approach rate: -0.481763 m/s, LOS rate: 0.518088 deg/s, cmd heading: 125.050232 deg, new cmd heading: 125.650983 deg. 2025-01-08T23:00:14.649Z,1736377214.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.193023 target range: 77.400002 and range: 77.40 m. 2025-01-08T23:00:14.780Z,1736377214.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:14.780Z,1736377214.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499944 2025-01-08T23:00:15.032Z,1736377215.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:15.032Z,1736377215.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751923 2025-01-08T23:00:15.043Z,1736377215.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:15.054Z,1736377215.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-01-08T23:00:15.056Z,1736377215.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.400002 m, nav range: 7.735834 m, bearing: 105.876884 deg, approach rate: -0.521927 m/s, LOS rate: 0.593197 deg/s, cmd heading: 125.650988 deg, new cmd heading: 126.382850 deg. 2025-01-08T23:00:15.057Z,1736377215.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205797 target range: 77.400002 and range: 77.40 m. 2025-01-08T23:00:15.285Z,1736377215.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:15.286Z,1736377215.286 [DAT](INFO): DAT read: Rx Time:23:00:14.0250 2025-01-08T23:00:15.288Z,1736377215.288 [DAT](INFO): Rx dataTimestamp_ set to:1736377215.286744 2025-01-08T23:00:15.289Z,1736377215.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008163 2025-01-08T23:00:15.510Z,1736377215.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:15.520Z,1736377215.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-01-08T23:00:15.523Z,1736377215.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.400002 m, nav range: 7.500242 m, bearing: 105.957952 deg, approach rate: -0.504662 m/s, LOS rate: 0.179111 deg/s, cmd heading: 126.382856 deg, new cmd heading: 126.633698 deg. 2025-01-08T23:00:15.536Z,1736377215.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:15.537Z,1736377215.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255960 2025-01-08T23:00:15.544Z,1736377215.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210175 target range: 77.400002 and range: 77.40 m. 2025-01-08T23:00:15.788Z,1736377215.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:15.794Z,1736377215.794 [DAT](INFO): DAT read: 23:00:14.0250 LVL= 22800, 32753, 26514, 32755, AGC= 64, IDX= 422,-0.25,-2.797, 2.073, 2.746, 3.003, PHS= 0.571,-0.883,-0.260, RAW= 115.3, 9.1, CAL= 124.4, 5.8, ROT= 25.6, -5.8 2025-01-08T23:00:15.795Z,1736377215.795 [DAT](INFO): got valid direction response: 23:00:14.0250 LVL= 22800, 32753, 26514, 32755, AGC= 64, IDX= 422,-0.25,-2.797, 2.073, 2.746, 3.003, PHS= 0.571,-0.883,-0.260, RAW= 115.3, 9.1, CAL= 124.4, 5.8, ROT= 25.6, -5.8 2025-01-08T23:00:15.796Z,1736377215.796 [DAT](INFO): DAT read: Bearing 25.6, -5.8 (Local) 2025-01-08T23:00:15.797Z,1736377215.797 [DAT](INFO): Local bearing/azimuth received: Bearing 25.6, -5.8 (Local) 2025-01-08T23:00:15.798Z,1736377215.798 [DAT](INFO): DAT read: Range 10 to 50 : 75.7 m (Round-trip 101.0 ms) speed 0.8 m/s 2025-01-08T23:00:15.799Z,1736377215.799 [DAT](INFO): DAT read: user:2994> 2025-01-08T23:00:15.800Z,1736377215.800 [DAT](INFO): DAT read: Tx time:23:00:15.1198 2025-01-08T23:00:15.800Z,1736377215.800 [DAT](INFO): Ping request sent. 2025-01-08T23:00:15.800Z,1736377215.800 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:15.801Z,1736377215.801 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:15.802Z,1736377215.802 [DAT](INFO): direction in FSK: [-0.289355,-0.318179,0.902793] 2025-01-08T23:00:15.803Z,1736377215.803 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:15.803Z,1736377215.803 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:15.806Z,1736377215.806 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:15.806Z,1736377215.806 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:15.946Z,1736377215.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:15.980Z,1736377215.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.699997 m, deltaT: 3.527858 s, deltaX: -1.700005 m, approachRate: -0.481880 m/s, rangeRepo size: 4 2025-01-08T23:00:15.982Z,1736377215.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 75.699997 m, bearing: 340.983370 deg, lat: 36.905080 deg, lon: -122.120204 deg, deltaT: 3.527858 s, deltaX: -1.700005 m, approachRate: -0.481880 m/s, posRepo size: 4 2025-01-08T23:00:15.991Z,1736377215.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:00:15.994Z,1736377215.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 18.114517 m, bearing: 305.023061 deg, approach rate: 0.000000 m/s, LOS rate: 0.179111 deg/s, cmd heading: 126.633702 deg, new cmd heading: 126.878273 deg. 2025-01-08T23:00:15.995Z,1736377215.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214444 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:00:16.041Z,1736377216.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:16.042Z,1736377216.042 [DAT](INFO): DAT read: TxSync time:23:00:15.1190 2025-01-08T23:00:16.292Z,1736377216.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:16.346Z,1736377216.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:16.356Z,1736377216.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:16.360Z,1736377216.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:00:16.363Z,1736377216.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 18.310141 m, bearing: 304.828250 deg, approach rate: 0.508563 m/s, LOS rate: -0.501040 deg/s, cmd heading: 126.878277 deg, new cmd heading: 126.300108 deg. 2025-01-08T23:00:16.364Z,1736377216.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204353 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:00:16.546Z,1736377216.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:16.547Z,1736377216.547 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:16.547Z,1736377216.547 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:16.547Z,1736377216.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:16.706Z,1736377216.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:16.715Z,1736377216.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:00:16.719Z,1736377216.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 18.487597 m, bearing: 304.672626 deg, approach rate: 0.500128 m/s, LOS rate: -0.434387 deg/s, cmd heading: 126.300102 deg, new cmd heading: 125.837723 deg. 2025-01-08T23:00:16.720Z,1736377216.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196283 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:00:16.796Z,1736377216.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:16.797Z,1736377216.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996853 2025-01-08T23:00:17.048Z,1736377217.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:17.048Z,1736377217.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248330 2025-01-08T23:00:17.111Z,1736377217.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:17.120Z,1736377217.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:00:17.150Z,1736377217.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 18.688820 m, bearing: 304.521120 deg, approach rate: 0.496463 m/s, LOS rate: -0.369775 deg/s, cmd heading: 125.837725 deg, new cmd heading: 125.388109 deg. 2025-01-08T23:00:17.164Z,1736377217.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.188435 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:00:17.300Z,1736377217.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:17.301Z,1736377217.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501289 2025-01-08T23:00:17.529Z,1736377217.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:17.538Z,1736377217.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:00:17.541Z,1736377217.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 18.909443 m, bearing: 304.409712 deg, approach rate: 0.527900 m/s, LOS rate: -0.263461 deg/s, cmd heading: 125.388107 deg, new cmd heading: 125.057789 deg. 2025-01-08T23:00:17.542Z,1736377217.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.182670 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:00:17.568Z,1736377217.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:17.569Z,1736377217.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768644 2025-01-08T23:00:17.820Z,1736377217.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:17.820Z,1736377217.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020414 2025-01-08T23:00:17.922Z,1736377217.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:17.931Z,1736377217.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:00:17.934Z,1736377217.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 19.117996 m, bearing: 304.324150 deg, approach rate: 0.531088 m/s, LOS rate: -0.215510 deg/s, cmd heading: 125.057786 deg, new cmd heading: 124.803901 deg. 2025-01-08T23:00:17.936Z,1736377217.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.178239 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:00:18.072Z,1736377218.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:18.072Z,1736377218.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272304 2025-01-08T23:00:18.324Z,1736377218.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:18.324Z,1736377218.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524491 2025-01-08T23:00:18.417Z,1736377218.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:18.451Z,1736377218.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:18.458Z,1736377218.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:00:18.465Z,1736377218.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 19.381903 m, bearing: 304.253366 deg, approach rate: 0.500342 m/s, LOS rate: -0.132373 deg/s, cmd heading: 124.803894 deg, new cmd heading: 124.594434 deg. 2025-01-08T23:00:18.466Z,1736377218.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174583 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:00:18.576Z,1736377218.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:18.576Z,1736377218.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776327 2025-01-08T23:00:18.828Z,1736377218.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:18.829Z,1736377218.829 [DAT](INFO): DAT read: Rx Time:23:00:17.6220 2025-01-08T23:00:18.829Z,1736377218.829 [DAT](INFO): Rx dataTimestamp_ set to:1736377218.829020 2025-01-08T23:00:18.830Z,1736377218.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029813 2025-01-08T23:00:18.911Z,1736377218.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:18.921Z,1736377218.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:00:18.924Z,1736377218.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 19.645658 m, bearing: 304.206227 deg, approach rate: 0.569950 m/s, LOS rate: -0.100495 deg/s, cmd heading: 124.594439 deg, new cmd heading: 124.454922 deg. 2025-01-08T23:00:18.925Z,1736377218.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.172148 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:00:19.081Z,1736377219.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:19.082Z,1736377219.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281889 2025-01-08T23:00:19.333Z,1736377219.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:19.339Z,1736377219.339 [DAT](INFO): DAT read: 23:00:17.6220 LVL= 24896, 30289, 25522, 32755, AGC= 64, IDX= 409, 0.17,-1.546,-3.091,-2.083,-2.051, PHS= 0.593,-0.994,-0.035, RAW= 126.9, 6.3, CAL= 134.3, 1.0, ROT= 15.7, -1.0 2025-01-08T23:00:19.340Z,1736377219.340 [DAT](INFO): got valid direction response: 23:00:17.6220 LVL= 24896, 30289, 25522, 32755, AGC= 64, IDX= 409, 0.17,-1.546,-3.091,-2.083,-2.051, PHS= 0.593,-0.994,-0.035, RAW= 126.9, 6.3, CAL= 134.3, 1.0, ROT= 15.7, -1.0 2025-01-08T23:00:19.341Z,1736377219.341 [DAT](INFO): DAT read: Bearing 15.7, -1.0 (Local) 2025-01-08T23:00:19.342Z,1736377219.342 [DAT](INFO): Local bearing/azimuth received: Bearing 15.7, -1.0 (Local) 2025-01-08T23:00:19.343Z,1736377219.343 [DAT](INFO): DAT read: Range 10 to 50 : 73.5 m (Round-trip 98.1 ms) speed 0.5 m/s 2025-01-08T23:00:19.344Z,1736377219.344 [DAT](INFO): DAT read: user:2995> 2025-01-08T23:00:19.345Z,1736377219.345 [DAT](INFO): DAT read: Tx time:23:00:18.7198 2025-01-08T23:00:19.345Z,1736377219.345 [DAT](INFO): Ping request sent. 2025-01-08T23:00:19.345Z,1736377219.345 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:19.345Z,1736377219.345 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:19.346Z,1736377219.346 [DAT](INFO): direction in FSK: [-0.246061,-0.512031,0.822969] 2025-01-08T23:00:19.346Z,1736377219.346 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:19.347Z,1736377219.347 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:19.350Z,1736377219.350 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:19.350Z,1736377219.350 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:19.498Z,1736377219.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:19.554Z,1736377219.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 3.544826 s, deltaX: -2.199997 m, approachRate: -0.620622 m/s, rangeRepo size: 4 2025-01-08T23:00:19.560Z,1736377219.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.500000 m, bearing: 0.992186 deg, lat: 36.905264 deg, lon: -122.120204 deg, deltaT: 3.544826 s, deltaX: -2.199997 m, approachRate: -0.620622 m/s, posRepo size: 4 2025-01-08T23:00:19.561Z,1736377219.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:19.568Z,1736377219.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 35.647575 m, bearing: 332.364113 deg, approach rate: 0.000000 m/s, LOS rate: -0.100495 deg/s, cmd heading: 124.454926 deg, new cmd heading: 124.264431 deg. 2025-01-08T23:00:19.569Z,1736377219.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168823 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:19.585Z,1736377219.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:19.586Z,1736377219.586 [DAT](INFO): DAT read: TxSync time:23:00:18.7190 2025-01-08T23:00:19.836Z,1736377219.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:19.864Z,1736377219.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:19.881Z,1736377219.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:19.888Z,1736377219.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 35.832161 m, bearing: 332.212181 deg, approach rate: 0.562149 m/s, LOS rate: -0.460320 deg/s, cmd heading: 124.264432 deg, new cmd heading: 123.810993 deg. 2025-01-08T23:00:19.889Z,1736377219.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.160909 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:20.088Z,1736377220.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:20.283Z,1736377220.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:20.293Z,1736377220.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:20.296Z,1736377220.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 36.050327 m, bearing: 332.021750 deg, approach rate: 0.530208 m/s, LOS rate: -0.460002 deg/s, cmd heading: 123.810989 deg, new cmd heading: 123.243173 deg. 2025-01-08T23:00:20.297Z,1736377220.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150999 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:20.340Z,1736377220.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:20.593Z,1736377220.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:20.657Z,1736377220.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:20.685Z,1736377220.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:20.691Z,1736377220.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:20.694Z,1736377220.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 36.251690 m, bearing: 331.873174 deg, approach rate: 0.510813 m/s, LOS rate: -0.374811 deg/s, cmd heading: 123.243168 deg, new cmd heading: 122.799925 deg. 2025-01-08T23:00:20.695Z,1736377220.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.143263 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:20.844Z,1736377220.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:20.844Z,1736377220.844 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:20.844Z,1736377220.844 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:20.844Z,1736377220.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:21.060Z,1736377221.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:21.073Z,1736377221.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:21.080Z,1736377221.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 36.471539 m, bearing: 331.724262 deg, approach rate: 0.569995 m/s, LOS rate: -0.383752 deg/s, cmd heading: 122.799930 deg, new cmd heading: 122.355897 deg. 2025-01-08T23:00:21.081Z,1736377221.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.135513 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:21.096Z,1736377221.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:21.096Z,1736377221.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751445 2025-01-08T23:00:21.348Z,1736377221.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:21.348Z,1736377221.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003341 2025-01-08T23:00:21.480Z,1736377221.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:21.489Z,1736377221.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:21.492Z,1736377221.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 36.716526 m, bearing: 331.571331 deg, approach rate: 0.588738 m/s, LOS rate: -0.365060 deg/s, cmd heading: 122.355900 deg, new cmd heading: 121.900179 deg. 2025-01-08T23:00:21.493Z,1736377221.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.127559 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:21.600Z,1736377221.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:21.601Z,1736377221.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256009 2025-01-08T23:00:21.852Z,1736377221.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:21.853Z,1736377221.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507764 2025-01-08T23:00:21.859Z,1736377221.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:21.888Z,1736377221.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:21.890Z,1736377221.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 36.939240 m, bearing: 331.444351 deg, approach rate: 0.588962 m/s, LOS rate: -0.333772 deg/s, cmd heading: 121.900176 deg, new cmd heading: 121.521537 deg. 2025-01-08T23:00:21.896Z,1736377221.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.120951 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:22.104Z,1736377222.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:22.104Z,1736377222.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759439 2025-01-08T23:00:22.312Z,1736377222.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:22.321Z,1736377222.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:22.324Z,1736377222.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 37.208054 m, bearing: 331.279266 deg, approach rate: 0.592109 m/s, LOS rate: -0.360999 deg/s, cmd heading: 121.521537 deg, new cmd heading: 121.029875 deg. 2025-01-08T23:00:22.325Z,1736377222.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.112370 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:22.356Z,1736377222.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:22.357Z,1736377222.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011813 2025-01-08T23:00:22.608Z,1736377222.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:22.608Z,1736377222.608 [DAT](INFO): DAT read: Rx Time:23:00:21.2195 2025-01-08T23:00:22.609Z,1736377222.609 [DAT](INFO): Rx dataTimestamp_ set to:1736377222.608555 2025-01-08T23:00:22.609Z,1736377222.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264312 2025-01-08T23:00:22.701Z,1736377222.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:22.720Z,1736377222.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:22.722Z,1736377222.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:22.729Z,1736377222.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 37.442974 m, bearing: 331.155189 deg, approach rate: 0.585146 m/s, LOS rate: -0.307117 deg/s, cmd heading: 121.029873 deg, new cmd heading: 120.659981 deg. 2025-01-08T23:00:22.730Z,1736377222.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105914 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:22.860Z,1736377222.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:22.862Z,1736377222.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516630 2025-01-08T23:00:23.073Z,1736377223.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:23.081Z,1736377223.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:23.085Z,1736377223.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 37.669312 m, bearing: 331.043688 deg, approach rate: 0.631397 m/s, LOS rate: -0.309175 deg/s, cmd heading: 120.659977 deg, new cmd heading: 120.327490 deg. 2025-01-08T23:00:23.086Z,1736377223.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.100111 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:23.112Z,1736377223.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:23.121Z,1736377223.121 [DAT](INFO): DAT read: 23:00:21.2195 LVL= 23488, 28785, 17762, 31699, AGC= 67, IDX= 414, 0.02, 1.781, 0.346, 1.744, 1.427, PHS= 0.441,-1.034, 0.313, RAW= 145.5, 4.0, CAL= 148.3, -4.6, ROT= 1.7, 4.6 2025-01-08T23:00:23.123Z,1736377223.123 [DAT](INFO): got valid direction response: 23:00:21.2195 LVL= 23488, 28785, 17762, 31699, AGC= 67, IDX= 414, 0.02, 1.781, 0.346, 1.744, 1.427, PHS= 0.441,-1.034, 0.313, RAW= 145.5, 4.0, CAL= 148.3, -4.6, ROT= 1.7, 4.6 2025-01-08T23:00:23.124Z,1736377223.124 [DAT](INFO): DAT read: $Error in header 2025-01-08T23:00:23.125Z,1736377223.125 [DAT](INFO): Received a bad header 2025-01-08T23:00:23.140Z,1736377223.140 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T23:00:23.142Z,1736377223.142 [DAT](INFO): direction in FSK: [-0.200976,-0.770974,0.604325] 2025-01-08T23:00:23.146Z,1736377223.146 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:23.146Z,1736377223.146 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:23.146Z,1736377223.146 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:23.366Z,1736377223.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:23.366Z,1736377223.366 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:23.366Z,1736377223.366 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:23.366Z,1736377223.366 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:23.520Z,1736377223.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:23.546Z,1736377223.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:23.553Z,1736377223.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 37.952202 m, bearing: 330.903803 deg, approach rate: 0.608772 m/s, LOS rate: -0.298786 deg/s, cmd heading: 120.327484 deg, new cmd heading: 119.910962 deg. 2025-01-08T23:00:23.554Z,1736377223.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092841 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:23.621Z,1736377223.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:23.622Z,1736377223.622 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:23.622Z,1736377223.622 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:23.622Z,1736377223.622 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:23.872Z,1736377223.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:23.872Z,1736377223.872 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:23.872Z,1736377223.872 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:23.872Z,1736377223.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:23.878Z,1736377223.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:23.888Z,1736377223.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:23.890Z,1736377223.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 38.179764 m, bearing: 330.796697 deg, approach rate: 0.665931 m/s, LOS rate: -0.311564 deg/s, cmd heading: 119.910965 deg, new cmd heading: 119.591565 deg. 2025-01-08T23:00:23.892Z,1736377223.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.087267 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:24.124Z,1736377224.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:24.124Z,1736377224.124 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:24.124Z,1736377224.124 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:24.124Z,1736377224.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:24.369Z,1736377224.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:24.376Z,1736377224.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:24.377Z,1736377224.377 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:24.377Z,1736377224.377 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:24.377Z,1736377224.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:24.385Z,1736377224.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:24.388Z,1736377224.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 38.507740 m, bearing: 330.640002 deg, approach rate: 0.659132 m/s, LOS rate: -0.312226 deg/s, cmd heading: 119.591572 deg, new cmd heading: 119.125503 deg. 2025-01-08T23:00:24.389Z,1736377224.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.079132 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:24.628Z,1736377224.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:24.628Z,1736377224.628 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:24.628Z,1736377224.628 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:24.628Z,1736377224.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:24.697Z,1736377224.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:24.714Z,1736377224.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:24.725Z,1736377224.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 38.726974 m, bearing: 330.537735 deg, approach rate: 0.666743 m/s, LOS rate: -0.309256 deg/s, cmd heading: 119.125507 deg, new cmd heading: 118.820447 deg. 2025-01-08T23:00:24.726Z,1736377224.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073808 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:24.880Z,1736377224.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:24.880Z,1736377224.880 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:24.880Z,1736377224.880 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:24.880Z,1736377224.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:25.085Z,1736377225.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:25.092Z,1736377225.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:25.094Z,1736377225.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:25.097Z,1736377225.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 38.986572 m, bearing: 330.418553 deg, approach rate: 0.682423 m/s, LOS rate: -0.311216 deg/s, cmd heading: 118.820443 deg, new cmd heading: 118.465282 deg. 2025-01-08T23:00:25.117Z,1736377225.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067609 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:25.132Z,1736377225.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:25.132Z,1736377225.132 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:25.133Z,1736377225.133 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:25.133Z,1736377225.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:25.385Z,1736377225.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:25.385Z,1736377225.385 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:25.385Z,1736377225.385 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:25.385Z,1736377225.385 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:25.520Z,1736377225.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:25.529Z,1736377225.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:25.532Z,1736377225.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 39.284126 m, bearing: 330.275710 deg, approach rate: 0.684567 m/s, LOS rate: -0.326142 deg/s, cmd heading: 118.465287 deg, new cmd heading: 118.040012 deg. 2025-01-08T23:00:25.533Z,1736377225.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060187 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:25.636Z,1736377225.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:25.636Z,1736377225.636 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:25.636Z,1736377225.636 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:25.637Z,1736377225.637 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:25.888Z,1736377225.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:25.888Z,1736377225.888 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:25.888Z,1736377225.888 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:25.889Z,1736377225.889 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:25.895Z,1736377225.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:25.905Z,1736377225.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:25.927Z,1736377225.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 39.540535 m, bearing: 330.152541 deg, approach rate: 0.682512 m/s, LOS rate: -0.325726 deg/s, cmd heading: 118.040012 deg, new cmd heading: 117.672907 deg. 2025-01-08T23:00:25.928Z,1736377225.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053780 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:26.140Z,1736377226.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:26.140Z,1736377226.140 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:26.140Z,1736377226.140 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:26.140Z,1736377226.140 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:26.354Z,1736377226.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:26.363Z,1736377226.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:26.366Z,1736377226.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 39.851212 m, bearing: 329.998539 deg, approach rate: 0.677388 m/s, LOS rate: -0.333163 deg/s, cmd heading: 117.672903 deg, new cmd heading: 117.214508 deg. 2025-01-08T23:00:26.384Z,1736377226.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.045779 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:26.392Z,1736377226.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:26.392Z,1736377226.392 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:26.392Z,1736377226.392 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:26.392Z,1736377226.392 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:26.644Z,1736377226.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:26.645Z,1736377226.645 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:26.645Z,1736377226.645 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:26.645Z,1736377226.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:26.718Z,1736377226.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:26.745Z,1736377226.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:26.752Z,1736377226.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 40.096233 m, bearing: 329.874935 deg, approach rate: 0.641068 m/s, LOS rate: -0.321417 deg/s, cmd heading: 117.214502 deg, new cmd heading: 116.845962 deg. 2025-01-08T23:00:26.753Z,1736377226.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.039347 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:26.896Z,1736377226.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:26.896Z,1736377226.896 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:26.896Z,1736377226.896 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:26.896Z,1736377226.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:27.109Z,1736377227.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:27.116Z,1736377227.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:27.119Z,1736377227.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:27.122Z,1736377227.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 40.359539 m, bearing: 329.739641 deg, approach rate: 0.705287 m/s, LOS rate: -0.360033 deg/s, cmd heading: 116.845959 deg, new cmd heading: 116.442730 deg. 2025-01-08T23:00:27.122Z,1736377227.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.032309 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:27.148Z,1736377227.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:27.148Z,1736377227.148 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:27.148Z,1736377227.148 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:27.148Z,1736377227.148 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:27.400Z,1736377227.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:27.400Z,1736377227.400 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:27.400Z,1736377227.400 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:27.400Z,1736377227.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:27.547Z,1736377227.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:27.560Z,1736377227.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:27.563Z,1736377227.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 40.651672 m, bearing: 329.590962 deg, approach rate: 0.662000 m/s, LOS rate: -0.334499 deg/s, cmd heading: 116.442732 deg, new cmd heading: 115.999908 deg. 2025-01-08T23:00:27.564Z,1736377227.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.024580 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:27.652Z,1736377227.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:27.653Z,1736377227.653 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:27.653Z,1736377227.653 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:27.653Z,1736377227.653 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:27.904Z,1736377227.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:27.904Z,1736377227.904 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:27.904Z,1736377227.904 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:27.904Z,1736377227.904 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:27.925Z,1736377227.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:27.934Z,1736377227.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:27.937Z,1736377227.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 40.901794 m, bearing: 329.455442 deg, approach rate: 0.669282 m/s, LOS rate: -0.360408 deg/s, cmd heading: 115.999903 deg, new cmd heading: 115.595838 deg. 2025-01-08T23:00:27.938Z,1736377227.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.017528 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:28.158Z,1736377228.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:28.158Z,1736377228.158 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:28.159Z,1736377228.159 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:28.159Z,1736377228.159 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:28.394Z,1736377228.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:28.403Z,1736377228.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:28.406Z,1736377228.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 41.210052 m, bearing: 329.296233 deg, approach rate: 0.656918 m/s, LOS rate: -0.336748 deg/s, cmd heading: 115.595843 deg, new cmd heading: 115.121798 deg. 2025-01-08T23:00:28.408Z,1736377228.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:28.408Z,1736377228.408 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:28.408Z,1736377228.408 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:28.408Z,1736377228.408 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:28.409Z,1736377228.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.009254 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:28.660Z,1736377228.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:28.661Z,1736377228.661 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:28.661Z,1736377228.661 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:28.661Z,1736377228.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:28.776Z,1736377228.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:28.800Z,1736377228.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:28.808Z,1736377228.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 41.460407 m, bearing: 329.163535 deg, approach rate: 0.630289 m/s, LOS rate: -0.332059 deg/s, cmd heading: 115.121800 deg, new cmd heading: 114.726119 deg. 2025-01-08T23:00:28.809Z,1736377228.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.002348 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:28.912Z,1736377228.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:28.912Z,1736377228.912 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:28.912Z,1736377228.912 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:28.913Z,1736377228.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:29.164Z,1736377229.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:29.165Z,1736377229.165 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:29.165Z,1736377229.165 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:29.165Z,1736377229.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:00:29.230Z,1736377229.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:29.245Z,1736377229.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:29.247Z,1736377229.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:29.254Z,1736377229.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 41.756268 m, bearing: 329.002327 deg, approach rate: 0.662437 m/s, LOS rate: -0.358391 deg/s, cmd heading: 114.726114 deg, new cmd heading: 114.245927 deg. 2025-01-08T23:00:29.255Z,1736377229.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.993968 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:29.416Z,1736377229.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:29.416Z,1736377229.416 [DAT](INFO): Reached modem response timeout 2025-01-08T23:00:29.416Z,1736377229.416 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:00:29.417Z,1736377229.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:29.670Z,1736377229.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:29.671Z,1736377229.671 [DAT](INFO): Reached modem response timeout 2025-01-08T23:00:29.671Z,1736377229.671 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:00:29.672Z,1736377229.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:29.717Z,1736377229.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:29.738Z,1736377229.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:29.745Z,1736377229.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 42.063446 m, bearing: 328.839029 deg, approach rate: 0.625298 m/s, LOS rate: -0.329984 deg/s, cmd heading: 114.245924 deg, new cmd heading: 113.759621 deg. 2025-01-08T23:00:29.746Z,1736377229.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.985480 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:29.920Z,1736377229.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:29.920Z,1736377229.920 [DAT](INFO): Reached modem response timeout 2025-01-08T23:00:29.920Z,1736377229.920 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:00:29.921Z,1736377229.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:30.044Z,1736377230.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:30.053Z,1736377230.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:30.056Z,1736377230.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 42.270561 m, bearing: 328.725875 deg, approach rate: 0.656775 m/s, LOS rate: -0.357060 deg/s, cmd heading: 113.759621 deg, new cmd heading: 113.421827 deg. 2025-01-08T23:00:30.057Z,1736377230.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.979584 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:30.172Z,1736377230.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:30.172Z,1736377230.172 [DAT](INFO): Reached modem response timeout 2025-01-08T23:00:30.172Z,1736377230.172 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:00:30.173Z,1736377230.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:30.424Z,1736377230.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:30.425Z,1736377230.425 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:00:30.425Z,1736377230.425 [DAT](INFO): response not received 2025-01-08T23:00:30.425Z,1736377230.425 [DAT](INFO): DAT read: user:2997> 2025-01-08T23:00:30.426Z,1736377230.426 [DAT](INFO): DAT read: Tx time:23:00:29.6699 2025-01-08T23:00:30.426Z,1736377230.426 [DAT](INFO): Ping request sent. 2025-01-08T23:00:30.426Z,1736377230.426 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:30.427Z,1736377230.427 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:30.427Z,1736377230.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000836 2025-01-08T23:00:30.561Z,1736377230.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:30.585Z,1736377230.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:30.589Z,1736377230.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 42.580109 m, bearing: 328.571962 deg, approach rate: 0.581985 m/s, LOS rate: -0.287271 deg/s, cmd heading: 113.421828 deg, new cmd heading: 112.963455 deg. 2025-01-08T23:00:30.590Z,1736377230.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.971584 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:30.677Z,1736377230.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:30.678Z,1736377230.678 [DAT](INFO): DAT read: TxSync time:23:00:29.6691 2025-01-08T23:00:30.680Z,1736377230.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252564 2025-01-08T23:00:30.928Z,1736377230.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:30.928Z,1736377230.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501923 2025-01-08T23:00:31.007Z,1736377231.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:31.016Z,1736377231.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:31.020Z,1736377231.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 42.850357 m, bearing: 328.423126 deg, approach rate: 0.628263 m/s, LOS rate: -0.343826 deg/s, cmd heading: 112.963454 deg, new cmd heading: 112.519771 deg. 2025-01-08T23:00:31.021Z,1736377231.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.963840 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:31.180Z,1736377231.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:31.180Z,1736377231.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753983 2025-01-08T23:00:31.432Z,1736377231.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:31.432Z,1736377231.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005978 2025-01-08T23:00:31.447Z,1736377231.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:31.454Z,1736377231.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:31.456Z,1736377231.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:31.459Z,1736377231.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 43.102451 m, bearing: 328.299459 deg, approach rate: 0.571675 m/s, LOS rate: -0.278800 deg/s, cmd heading: 112.519771 deg, new cmd heading: 112.150945 deg. 2025-01-08T23:00:31.460Z,1736377231.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.957403 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:31.684Z,1736377231.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:31.687Z,1736377231.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259769 2025-01-08T23:00:31.822Z,1736377231.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:31.831Z,1736377231.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:31.834Z,1736377231.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 43.317093 m, bearing: 328.192199 deg, approach rate: 0.573630 m/s, LOS rate: -0.285230 deg/s, cmd heading: 112.150948 deg, new cmd heading: 111.830769 deg. 2025-01-08T23:00:31.835Z,1736377231.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.951815 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:31.936Z,1736377231.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:31.937Z,1736377231.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510107 2025-01-08T23:00:32.189Z,1736377232.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:32.190Z,1736377232.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763519 2025-01-08T23:00:32.239Z,1736377232.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:32.257Z,1736377232.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:32.264Z,1736377232.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 43.552052 m, bearing: 328.070887 deg, approach rate: 0.551426 m/s, LOS rate: -0.283174 deg/s, cmd heading: 111.830769 deg, new cmd heading: 111.468799 deg. 2025-01-08T23:00:32.264Z,1736377232.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.945498 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:32.440Z,1736377232.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:32.441Z,1736377232.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014610 2025-01-08T23:00:32.674Z,1736377232.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:32.685Z,1736377232.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:32.688Z,1736377232.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 43.795975 m, bearing: 327.948437 deg, approach rate: 0.569272 m/s, LOS rate: -0.284183 deg/s, cmd heading: 111.468797 deg, new cmd heading: 111.103499 deg. 2025-01-08T23:00:32.689Z,1736377232.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.939122 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:32.692Z,1736377232.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:32.693Z,1736377232.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266110 2025-01-08T23:00:32.946Z,1736377232.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:32.946Z,1736377232.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519765 2025-01-08T23:00:33.042Z,1736377233.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:33.053Z,1736377233.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:33.072Z,1736377233.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 44.000389 m, bearing: 327.843249 deg, approach rate: 0.555910 m/s, LOS rate: -0.284732 deg/s, cmd heading: 111.103498 deg, new cmd heading: 110.789403 deg. 2025-01-08T23:00:33.073Z,1736377233.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.933640 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:33.201Z,1736377233.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:33.202Z,1736377233.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775518 2025-01-08T23:00:33.452Z,1736377233.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:33.453Z,1736377233.453 [DAT](INFO): DAT read: Rx Time:23:00:32.1598 2025-01-08T23:00:33.453Z,1736377233.453 [DAT](INFO): Rx dataTimestamp_ set to:1736377233.452836 2025-01-08T23:00:33.454Z,1736377233.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027214 2025-01-08T23:00:33.477Z,1736377233.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:33.484Z,1736377233.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:33.486Z,1736377233.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:00:33.489Z,1736377233.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.500000 m, nav range: 44.228840 m, bearing: 327.736705 deg, approach rate: 0.527225 m/s, LOS rate: -0.244615 deg/s, cmd heading: 110.789404 deg, new cmd heading: 110.471427 deg. 2025-01-08T23:00:33.490Z,1736377233.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.928090 target range: 73.500000 and range: 73.50 m. 2025-01-08T23:00:33.704Z,1736377233.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:33.705Z,1736377233.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278547 2025-01-08T23:00:33.956Z,1736377233.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:33.963Z,1736377233.963 [DAT](INFO): DAT read: 23:00:32.1598 LVL= 23792, 31505, 21490, 31939, AGC= 70, IDX= 346, 0.11,-2.651, 2.139, 3.052, 3.110, PHS= 0.610,-0.924,-0.062, RAW= 124.1, 5.7, CAL= 132.4, 0.8, ROT= 17.6, -0.8 2025-01-08T23:00:33.969Z,1736377233.969 [DAT](INFO): got valid direction response: 23:00:32.1598 LVL= 23792, 31505, 21490, 31939, AGC= 70, IDX= 346, 0.11,-2.651, 2.139, 3.052, 3.110, PHS= 0.610,-0.924,-0.062, RAW= 124.1, 5.7, CAL= 132.4, 0.8, ROT= 17.6, -0.8 2025-01-08T23:00:33.970Z,1736377233.970 [DAT](INFO): DAT read: Bearing 17.6, -0.8 (Local) 2025-01-08T23:00:33.970Z,1736377233.970 [DAT](INFO): Local bearing/azimuth received: Bearing 17.6, -0.8 (Local) 2025-01-08T23:00:33.971Z,1736377233.971 [DAT](INFO): DAT read: Range 10 to 50 : 64.2 m (Round-trip 85.7 ms) speed 0.5 m/s 2025-01-08T23:00:33.972Z,1736377233.972 [DAT](INFO): DAT read: user:2998> 2025-01-08T23:00:33.973Z,1736377233.973 [DAT](INFO): DAT read: Tx time:23:00:33.2700 2025-01-08T23:00:33.973Z,1736377233.973 [DAT](INFO): Ping request sent. 2025-01-08T23:00:33.973Z,1736377233.973 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:33.974Z,1736377233.974 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:33.974Z,1736377233.974 [DAT](INFO): direction in FSK: [-0.232439,-0.470332,0.851328] 2025-01-08T23:00:33.975Z,1736377233.975 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:33.975Z,1736377233.975 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:33.990Z,1736377233.990 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:33.990Z,1736377233.990 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:34.005Z,1736377234.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:34.054Z,1736377234.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.199997 m, deltaT: 14.623579 s, deltaX: -9.300003 m, approachRate: -0.635959 m/s, rangeRepo size: 4 2025-01-08T23:00:34.062Z,1736377234.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.199997 m, bearing: 5.860867 deg, lat: 36.905264 deg, lon: -122.120204 deg, deltaT: 14.623579 s, deltaX: -9.300003 m, approachRate: -0.635959 m/s, posRepo size: 4 2025-01-08T23:00:34.077Z,1736377234.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.20 m. 2025-01-08T23:00:34.092Z,1736377234.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.199997 m, nav range: 44.506630 m, bearing: 327.608719 deg, approach rate: 0.000000 m/s, LOS rate: -0.244615 deg/s, cmd heading: 110.471425 deg, new cmd heading: 110.055551 deg. 2025-01-08T23:00:34.093Z,1736377234.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.920832 target range: 64.199997 and range: 64.20 m. 2025-01-08T23:00:34.208Z,1736377234.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:34.209Z,1736377234.209 [DAT](INFO): DAT read: TxSync time:23:00:33.2692 2025-01-08T23:00:34.460Z,1736377234.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:34.558Z,1736377234.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:34.569Z,1736377234.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.20 m. 2025-01-08T23:00:34.572Z,1736377234.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.199997 m, nav range: 44.808945 m, bearing: 327.465455 deg, approach rate: 0.585602 m/s, LOS rate: -0.275638 deg/s, cmd heading: 110.055548 deg, new cmd heading: 109.628665 deg. 2025-01-08T23:00:34.573Z,1736377234.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.913381 target range: 64.199997 and range: 64.20 m. 2025-01-08T23:00:34.712Z,1736377234.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:34.926Z,1736377234.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:34.936Z,1736377234.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.20 m. 2025-01-08T23:00:34.939Z,1736377234.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.199997 m, nav range: 45.007725 m, bearing: 327.363099 deg, approach rate: 0.541712 m/s, LOS rate: -0.277706 deg/s, cmd heading: 109.628668 deg, new cmd heading: 109.322960 deg. 2025-01-08T23:00:34.940Z,1736377234.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.908046 target range: 64.199997 and range: 64.20 m. 2025-01-08T23:00:34.964Z,1736377234.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:35.216Z,1736377235.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:35.324Z,1736377235.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:35.333Z,1736377235.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.20 m. 2025-01-08T23:00:35.337Z,1736377235.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.199997 m, nav range: 45.222237 m, bearing: 327.251963 deg, approach rate: 0.540753 m/s, LOS rate: -0.278829 deg/s, cmd heading: 109.322963 deg, new cmd heading: 108.991140 deg. 2025-01-08T23:00:35.337Z,1736377235.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.902254 target range: 64.199997 and range: 64.20 m. 2025-01-08T23:00:35.471Z,1736377235.471 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:35.724Z,1736377235.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:35.772Z,1736377235.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:35.782Z,1736377235.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:35.789Z,1736377235.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.20 m. 2025-01-08T23:00:35.795Z,1736377235.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.199997 m, nav range: 45.472656 m, bearing: 327.110353 deg, approach rate: 0.549362 m/s, LOS rate: -0.308949 deg/s, cmd heading: 108.991139 deg, new cmd heading: 108.568656 deg. 2025-01-08T23:00:35.796Z,1736377235.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.894881 target range: 64.199997 and range: 64.20 m. 2025-01-08T23:00:35.976Z,1736377235.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:35.976Z,1736377235.976 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:35.976Z,1736377235.976 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:35.976Z,1736377235.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:36.152Z,1736377236.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:36.161Z,1736377236.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.20 m. 2025-01-08T23:00:36.164Z,1736377236.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.199997 m, nav range: 45.685440 m, bearing: 326.991369 deg, approach rate: 0.571442 m/s, LOS rate: -0.318048 deg/s, cmd heading: 108.568657 deg, new cmd heading: 108.213374 deg. 2025-01-08T23:00:36.165Z,1736377236.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.888680 target range: 64.199997 and range: 64.20 m. 2025-01-08T23:00:36.230Z,1736377236.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:36.232Z,1736377236.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258720 2025-01-08T23:00:36.480Z,1736377236.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:36.480Z,1736377236.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507082 2025-01-08T23:00:36.558Z,1736377236.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:00:36.559Z,1736377236.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:36.568Z,1736377236.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.20 m. 2025-01-08T23:00:36.571Z,1736377236.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.199997 m, nav range: 45.912647 m, bearing: 326.865655 deg, approach rate: 0.558367 m/s, LOS rate: -0.307417 deg/s, cmd heading: 108.213371 deg, new cmd heading: 107.838099 deg. 2025-01-08T23:00:36.572Z,1736377236.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.882130 target range: 64.199997 and range: 64.20 m. 2025-01-08T23:00:36.732Z,1736377236.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:36.733Z,1736377236.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759741 2025-01-08T23:00:36.954Z,1736377236.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:00:36.954Z,1736377236.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:36.963Z,1736377236.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.20 m. 2025-01-08T23:00:36.966Z,1736377236.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.199997 m, nav range: 46.132263 m, bearing: 326.737957 deg, approach rate: 0.555986 m/s, LOS rate: -0.321744 deg/s, cmd heading: 107.838100 deg, new cmd heading: 107.456837 deg. 2025-01-08T23:00:36.967Z,1736377236.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.875476 target range: 64.199997 and range: 64.20 m. 2025-01-08T23:00:36.985Z,1736377236.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:36.986Z,1736377236.986 [DAT](INFO): DAT read: Rx Time:23:00:35.7565 2025-01-08T23:00:36.986Z,1736377236.986 [DAT](INFO): Rx dataTimestamp_ set to:1736377236.986036 2025-01-08T23:00:36.987Z,1736377236.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013539 2025-01-08T23:00:37.236Z,1736377237.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:37.236Z,1736377237.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263188 2025-01-08T23:00:37.345Z,1736377237.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:00:37.345Z,1736377237.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:37.354Z,1736377237.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.20 m. 2025-01-08T23:00:37.357Z,1736377237.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.199997 m, nav range: 46.348442 m, bearing: 326.611310 deg, approach rate: 0.552269 m/s, LOS rate: -0.322033 deg/s, cmd heading: 107.456839 deg, new cmd heading: 107.078677 deg. 2025-01-08T23:00:37.358Z,1736377237.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.868876 target range: 64.199997 and range: 64.20 m. 2025-01-08T23:00:37.490Z,1736377237.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:37.498Z,1736377237.498 [DAT](INFO): DAT read: 23:00:35.7565 LVL= 22256, 28241, 24690, 32755, AGC= 65, IDX= 409,-0.18, 1.705, 0.275, 1.122, 1.259, PHS= 0.534,-0.936,-0.140, RAW= 122.8, 8.5, CAL= 130.8, 4.1, ROT= 19.2, -4.1 2025-01-08T23:00:37.500Z,1736377237.500 [DAT](INFO): got valid direction response: 23:00:35.7565 LVL= 22256, 28241, 24690, 32755, AGC= 65, IDX= 409,-0.18, 1.705, 0.275, 1.122, 1.259, PHS= 0.534,-0.936,-0.140, RAW= 122.8, 8.5, CAL= 130.8, 4.1, ROT= 19.2, -4.1 2025-01-08T23:00:37.501Z,1736377237.501 [DAT](INFO): DAT read: Bearing 19.2, -4.1 (Local) 2025-01-08T23:00:37.501Z,1736377237.501 [DAT](INFO): Local bearing/azimuth received: Bearing 19.2, -4.1 (Local) 2025-01-08T23:00:37.503Z,1736377237.503 [DAT](INFO): DAT read: Range 10 to 50 : 61.8 m (Round-trip 82.4 ms) speed 0.6 m/s 2025-01-08T23:00:37.504Z,1736377237.504 [DAT](INFO): DAT read: user:2999> 2025-01-08T23:00:37.506Z,1736377237.506 [DAT](INFO): DAT read: Tx time:23:00:36.8700 2025-01-08T23:00:37.507Z,1736377237.507 [DAT](INFO): Ping request sent. 2025-01-08T23:00:37.507Z,1736377237.507 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:37.510Z,1736377237.510 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:37.513Z,1736377237.513 [DAT](INFO): direction in FSK: [-0.284986,-0.441413,0.850845] 2025-01-08T23:00:37.513Z,1736377237.513 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:37.514Z,1736377237.514 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:37.522Z,1736377237.522 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:37.522Z,1736377237.522 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:37.740Z,1736377237.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:37.740Z,1736377237.740 [DAT](INFO): DAT read: TxSync time:23:00:36.8692 2025-01-08T23:00:37.818Z,1736377237.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:37.853Z,1736377237.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 3.534011 s, deltaX: -2.399998 m, approachRate: -0.679114 m/s, rangeRepo size: 4 2025-01-08T23:00:37.855Z,1736377237.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.799999 m, bearing: 352.758172 deg, lat: 36.905264 deg, lon: -122.120007 deg, deltaT: 3.534011 s, deltaX: -2.399998 m, approachRate: -0.679114 m/s, posRepo size: 4 2025-01-08T23:00:37.860Z,1736377237.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-08T23:00:37.862Z,1736377237.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 39.735374 m, bearing: 347.915423 deg, approach rate: 0.000000 m/s, LOS rate: -0.322033 deg/s, cmd heading: 107.078679 deg, new cmd heading: 106.597701 deg. 2025-01-08T23:00:37.868Z,1736377237.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.860481 target range: 61.799999 and range: 61.80 m. 2025-01-08T23:00:37.992Z,1736377237.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:38.158Z,1736377238.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:38.165Z,1736377238.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:38.168Z,1736377238.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-08T23:00:38.170Z,1736377238.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 39.888996 m, bearing: 347.651198 deg, approach rate: 0.488210 m/s, LOS rate: -0.836470 deg/s, cmd heading: 106.597704 deg, new cmd heading: 105.808135 deg. 2025-01-08T23:00:38.172Z,1736377238.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.846700 target range: 61.799999 and range: 61.80 m. 2025-01-08T23:00:38.244Z,1736377238.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:38.245Z,1736377238.245 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:38.245Z,1736377238.245 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:38.246Z,1736377238.246 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:38.496Z,1736377238.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:38.497Z,1736377238.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990211 2025-01-08T23:00:38.598Z,1736377238.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:38.608Z,1736377238.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-08T23:00:38.611Z,1736377238.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 40.097382 m, bearing: 347.275355 deg, approach rate: 0.472413 m/s, LOS rate: -0.847607 deg/s, cmd heading: 105.808134 deg, new cmd heading: 104.686616 deg. 2025-01-08T23:00:38.612Z,1736377238.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.827126 target range: 61.799999 and range: 61.80 m. 2025-01-08T23:00:38.749Z,1736377238.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:38.749Z,1736377238.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242915 2025-01-08T23:00:38.984Z,1736377238.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:38.000Z,1736377239.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:39.001Z,1736377239.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494777 2025-01-08T23:00:39.027Z,1736377239.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-08T23:00:39.030Z,1736377239.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 40.278446 m, bearing: 346.952866 deg, approach rate: 0.458304 m/s, LOS rate: -0.812601 deg/s, cmd heading: 104.686617 deg, new cmd heading: 103.723592 deg. 2025-01-08T23:00:39.031Z,1736377239.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.810318 target range: 61.799999 and range: 61.80 m. 2025-01-08T23:00:39.252Z,1736377239.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:39.253Z,1736377239.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746311 2025-01-08T23:00:39.372Z,1736377239.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:39.402Z,1736377239.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-08T23:00:39.405Z,1736377239.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 40.465824 m, bearing: 346.622163 deg, approach rate: 0.470036 m/s, LOS rate: -0.825719 deg/s, cmd heading: 103.723594 deg, new cmd heading: 102.736183 deg. 2025-01-08T23:00:39.406Z,1736377239.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.793085 target range: 61.799999 and range: 61.80 m. 2025-01-08T23:00:39.507Z,1736377239.507 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:39.510Z,1736377239.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003216 2025-01-08T23:00:39.757Z,1736377239.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:39.759Z,1736377239.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251888 2025-01-08T23:00:39.843Z,1736377239.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:39.872Z,1736377239.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-08T23:00:39.875Z,1736377239.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 40.700283 m, bearing: 346.198196 deg, approach rate: 0.498479 m/s, LOS rate: -0.896187 deg/s, cmd heading: 102.736181 deg, new cmd heading: 101.471824 deg. 2025-01-08T23:00:39.885Z,1736377239.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.771017 target range: 61.799999 and range: 61.80 m. 2025-01-08T23:00:40.008Z,1736377240.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:40.009Z,1736377240.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502881 2025-01-08T23:00:40.072Z,1736377240.072 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:00:40.182Z,1736377240.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:40.190Z,1736377240.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:40.193Z,1736377240.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-08T23:00:40.195Z,1736377240.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 40.868690 m, bearing: 345.894054 deg, approach rate: 0.525274 m/s, LOS rate: -0.944726 deg/s, cmd heading: 101.471824 deg, new cmd heading: 100.563238 deg. 2025-01-08T23:00:40.196Z,1736377240.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755160 target range: 61.799999 and range: 61.80 m. 2025-01-08T23:00:40.260Z,1736377240.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:40.261Z,1736377240.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754180 2025-01-08T23:00:40.514Z,1736377240.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:40.516Z,1736377240.516 [DAT](INFO): DAT read: Rx Time:23:00:39.3534 2025-01-08T23:00:40.518Z,1736377240.518 [DAT](INFO): Rx dataTimestamp_ set to:1736377240.516771 2025-01-08T23:00:40.521Z,1736377240.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013848 2025-01-08T23:00:40.625Z,1736377240.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:40.634Z,1736377240.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-08T23:00:40.637Z,1736377240.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 41.090317 m, bearing: 345.500206 deg, approach rate: 0.502889 m/s, LOS rate: -0.888848 deg/s, cmd heading: 100.563238 deg, new cmd heading: 99.388242 deg. 2025-01-08T23:00:40.638Z,1736377240.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.734652 target range: 61.799999 and range: 61.80 m. 2025-01-08T23:00:40.764Z,1736377240.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:40.765Z,1736377240.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258483 2025-01-08T23:00:41.018Z,1736377241.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:41.020Z,1736377241.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513427 2025-01-08T23:00:41.074Z,1736377241.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:41.076Z,1736377241.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:00:41.091Z,1736377241.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-08T23:00:41.098Z,1736377241.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 41.317200 m, bearing: 345.104844 deg, approach rate: 0.496151 m/s, LOS rate: -0.859829 deg/s, cmd heading: 99.388241 deg, new cmd heading: 98.208844 deg. 2025-01-08T23:00:41.099Z,1736377241.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.714068 target range: 61.799999 and range: 61.80 m. 2025-01-08T23:00:41.268Z,1736377241.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:41.275Z,1736377241.275 [DAT](INFO): DAT read: 23:00:39.3534 LVL= 22992, 27121, 27170, 32755, AGC= 64, IDX= 408,-0.08, 2.086, 0.516, 1.466, 1.630, PHS= 0.545,-1.067,-0.167, RAW= 123.9, 9.9, CAL= 131.4, 5.3, ROT= 18.6, -5.3 2025-01-08T23:00:41.276Z,1736377241.276 [DAT](INFO): got valid direction response: 23:00:39.3534 LVL= 22992, 27121, 27170, 32755, AGC= 64, IDX= 408,-0.08, 2.086, 0.516, 1.466, 1.630, PHS= 0.545,-1.067,-0.167, RAW= 123.9, 9.9, CAL= 131.4, 5.3, ROT= 18.6, -5.3 2025-01-08T23:00:41.277Z,1736377241.277 [DAT](INFO): DAT read: Bearing 18.6, -5.3 (Local) 2025-01-08T23:00:41.277Z,1736377241.277 [DAT](INFO): Local bearing/azimuth received: Bearing 18.6, -5.3 (Local) 2025-01-08T23:00:41.279Z,1736377241.279 [DAT](INFO): DAT read: Range 10 to 50 : 59.4 m (Round-trip 79.2 ms) speed 0.5 m/s 2025-01-08T23:00:41.280Z,1736377241.280 [DAT](INFO): DAT read: user:3000> 2025-01-08T23:00:41.281Z,1736377241.281 [DAT](INFO): DAT read: Tx time:23:00:40.4700 2025-01-08T23:00:41.281Z,1736377241.281 [DAT](INFO): Ping request sent. 2025-01-08T23:00:41.281Z,1736377241.281 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:41.282Z,1736377241.282 [DAT](INFO): DAT read: TxSync time:23:00:40.4692 2025-01-08T23:00:41.282Z,1736377241.282 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:41.283Z,1736377241.283 [DAT](INFO): direction in FSK: [-0.309980,-0.454945,0.834828] 2025-01-08T23:00:41.284Z,1736377241.284 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:41.284Z,1736377241.284 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:41.287Z,1736377241.287 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:41.288Z,1736377241.288 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:41.521Z,1736377241.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:41.620Z,1736377241.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:41.656Z,1736377241.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 3.778046 s, deltaX: -2.399998 m, approachRate: -0.635248 m/s, rangeRepo size: 4 2025-01-08T23:00:41.664Z,1736377241.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.400002 m, bearing: 347.200860 deg, lat: 36.905232 deg, lon: -122.119972 deg, deltaT: 3.778046 s, deltaX: -2.399998 m, approachRate: -0.635248 m/s, posRepo size: 4 2025-01-08T23:00:41.665Z,1736377241.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:00:41.666Z,1736377241.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:00:41.675Z,1736377241.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 37.435223 m, bearing: 347.789458 deg, approach rate: 0.000000 m/s, LOS rate: -0.859829 deg/s, cmd heading: 98.208845 deg, new cmd heading: 96.808312 deg. 2025-01-08T23:00:41.683Z,1736377241.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.689624 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:00:41.708Z,1736377241.708 [DockingStepper](INFO): Changing to mode: 2 2025-01-08T23:00:41.708Z,1736377241.708 [DockingStepper](INFO): Armed mode. 2025-01-08T23:00:41.772Z,1736377241.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:41.775Z,1736377241.775 [DockingStepper](INFO): Commanding negative:54482 2025-01-08T23:00:41.966Z,1736377241.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:41.977Z,1736377241.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:00:41.978Z,1736377241.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:00:41.980Z,1736377241.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 37.590115 m, bearing: 347.433464 deg, approach rate: 0.451074 m/s, LOS rate: -1.032442 deg/s, cmd heading: 96.808315 deg, new cmd heading: 95.744862 deg. 2025-01-08T23:00:41.981Z,1736377241.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671063 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:00:42.025Z,1736377242.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:42.276Z,1736377242.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:42.364Z,1736377242.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:42.372Z,1736377242.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:42.374Z,1736377242.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:00:42.375Z,1736377242.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:00:42.405Z,1736377242.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 37.767338 m, bearing: 347.023936 deg, approach rate: 0.446108 m/s, LOS rate: -1.026021 deg/s, cmd heading: 95.744861 deg, new cmd heading: 94.522240 deg. 2025-01-08T23:00:42.406Z,1736377242.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.649724 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:00:42.530Z,1736377242.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:42.532Z,1736377242.532 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:42.532Z,1736377242.532 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:42.533Z,1736377242.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:42.780Z,1736377242.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:42.780Z,1736377242.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499353 2025-01-08T23:00:42.833Z,1736377242.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:42.851Z,1736377242.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:00:42.852Z,1736377242.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:00:42.855Z,1736377242.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 37.974705 m, bearing: 346.578937 deg, approach rate: 0.435679 m/s, LOS rate: -0.929831 deg/s, cmd heading: 94.522237 deg, new cmd heading: 93.194779 deg. 2025-01-08T23:00:42.862Z,1736377242.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626556 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:00:43.032Z,1736377243.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:43.033Z,1736377243.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751905 2025-01-08T23:00:43.188Z,1736377243.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:43.197Z,1736377243.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:00:43.197Z,1736377243.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:00:43.201Z,1736377243.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 38.129791 m, bearing: 346.240991 deg, approach rate: 0.447756 m/s, LOS rate: -0.971722 deg/s, cmd heading: 93.194776 deg, new cmd heading: 92.185172 deg. 2025-01-08T23:00:43.202Z,1736377243.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608935 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:00:43.285Z,1736377243.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:43.286Z,1736377243.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004882 2025-01-08T23:00:43.537Z,1736377243.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:43.539Z,1736377243.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257439 2025-01-08T23:00:43.626Z,1736377243.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:43.636Z,1736377243.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:00:43.636Z,1736377243.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:00:43.640Z,1736377243.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 38.310345 m, bearing: 345.857509 deg, approach rate: 0.411411 m/s, LOS rate: -0.869681 deg/s, cmd heading: 92.185171 deg, new cmd heading: 91.040309 deg. 2025-01-08T23:00:43.641Z,1736377243.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.588953 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:00:43.789Z,1736377243.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:43.790Z,1736377243.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509030 2025-01-08T23:00:43.989Z,1736377243.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:43.997Z,1736377243.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:00:43.997Z,1736377243.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:00:44.001Z,1736377244.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 38.457138 m, bearing: 345.538663 deg, approach rate: 0.406293 m/s, LOS rate: -0.879127 deg/s, cmd heading: 91.040309 deg, new cmd heading: 90.087513 deg. 2025-01-08T23:00:44.002Z,1736377244.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.572324 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:00:44.041Z,1736377244.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:44.042Z,1736377244.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760726 2025-01-08T23:00:44.292Z,1736377244.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:44.294Z,1736377244.294 [DAT](INFO): DAT read: Rx Time:23:00:42.9500 2025-01-08T23:00:44.295Z,1736377244.295 [DAT](INFO): Rx dataTimestamp_ set to:1736377244.294161 2025-01-08T23:00:44.296Z,1736377244.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014862 2025-01-08T23:00:44.384Z,1736377244.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:44.391Z,1736377244.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:44.393Z,1736377244.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:00:44.394Z,1736377244.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:00:44.397Z,1736377244.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 38.613678 m, bearing: 345.189487 deg, approach rate: 0.394816 m/s, LOS rate: -0.877096 deg/s, cmd heading: 90.087511 deg, new cmd heading: 89.044352 deg. 2025-01-08T23:00:44.398Z,1736377244.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554117 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:00:44.546Z,1736377244.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:44.548Z,1736377244.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266772 2025-01-08T23:00:44.796Z,1736377244.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:44.816Z,1736377244.816 [DAT](INFO): DAT read: 23:00:42.9500 LVL= 15600, 32753, 21714, 32755, AGC= 60, IDX= 406, 0.33,-2.120, 2.518,-2.991,-2.787, PHS= 0.754,-0.932,-0.208, RAW= 115.4, 5.3, CAL= 125.4, 1.7, ROT= 24.6, -1.7 2025-01-08T23:00:44.817Z,1736377244.817 [DAT](INFO): got valid direction response: 23:00:42.9500 LVL= 15600, 32753, 21714, 32755, AGC= 60, IDX= 406, 0.33,-2.120, 2.518,-2.991,-2.787, PHS= 0.754,-0.932,-0.208, RAW= 115.4, 5.3, CAL= 125.4, 1.7, ROT= 24.6, -1.7 2025-01-08T23:00:44.818Z,1736377244.818 [DAT](INFO): DAT read: Bearing 24.6, -1.7 (Local) 2025-01-08T23:00:44.818Z,1736377244.818 [DAT](INFO): Local bearing/azimuth received: Bearing 24.6, -1.7 (Local) 2025-01-08T23:00:44.836Z,1736377244.836 [DAT](INFO): DAT read: Range 10 to 50 : 56.9 m (Round-trip 75.9 ms) speed 0.6 m/s 2025-01-08T23:00:44.837Z,1736377244.837 [DAT](INFO): DAT read: user:3001> 2025-01-08T23:00:44.839Z,1736377244.839 [DAT](INFO): DAT read: Tx time:23:00:44.0700 2025-01-08T23:00:44.851Z,1736377244.851 [DAT](INFO): Ping request sent. 2025-01-08T23:00:44.852Z,1736377244.852 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:44.852Z,1736377244.852 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:44.853Z,1736377244.853 [DAT](INFO): direction in FSK: [-0.219094,-0.327393,0.919136] 2025-01-08T23:00:44.853Z,1736377244.853 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:44.853Z,1736377244.853 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:44.881Z,1736377244.881 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:44.881Z,1736377244.881 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:44.889Z,1736377244.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:44.938Z,1736377244.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.900002 m, deltaT: 3.528433 s, deltaX: -2.500000 m, approachRate: -0.708530 m/s, rangeRepo size: 4 2025-01-08T23:00:44.940Z,1736377244.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 56.900002 m, bearing: 334.457610 deg, lat: 36.905227 deg, lon: -122.119968 deg, deltaT: 3.528433 s, deltaX: -2.500000 m, approachRate: -0.708530 m/s, posRepo size: 4 2025-01-08T23:00:44.940Z,1736377244.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m. 2025-01-08T23:00:44.941Z,1736377244.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-01-08T23:00:44.948Z,1736377244.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.900002 m, nav range: 38.141827 m, bearing: 345.092721 deg, approach rate: 0.000000 m/s, LOS rate: -0.877096 deg/s, cmd heading: 89.044350 deg, new cmd heading: 87.614526 deg. 2025-01-08T23:00:44.949Z,1736377244.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.529162 target range: 56.900002 and range: 56.90 m. 2025-01-08T23:00:45.049Z,1736377245.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:45.050Z,1736377245.050 [DAT](INFO): DAT read: TxSync time:23:00:44.0692 2025-01-08T23:00:45.256Z,1736377245.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:45.274Z,1736377245.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m. 2025-01-08T23:00:45.274Z,1736377245.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-01-08T23:00:45.281Z,1736377245.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.900002 m, nav range: 38.270279 m, bearing: 344.804339 deg, approach rate: 0.381481 m/s, LOS rate: -0.853565 deg/s, cmd heading: 87.614525 deg, new cmd heading: 86.752353 deg. 2025-01-08T23:00:45.282Z,1736377245.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.514114 target range: 56.900002 and range: 56.90 m. 2025-01-08T23:00:45.300Z,1736377245.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:45.553Z,1736377245.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:45.681Z,1736377245.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:45.714Z,1736377245.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m. 2025-01-08T23:00:45.715Z,1736377245.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-01-08T23:00:45.719Z,1736377245.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.900002 m, nav range: 38.409920 m, bearing: 344.500309 deg, approach rate: 0.319036 m/s, LOS rate: -0.692087 deg/s, cmd heading: 86.752350 deg, new cmd heading: 85.843656 deg. 2025-01-08T23:00:45.720Z,1736377245.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498254 target range: 56.900002 and range: 56.90 m. 2025-01-08T23:00:45.805Z,1736377245.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:46.041Z,1736377246.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:46.050Z,1736377246.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m. 2025-01-08T23:00:46.050Z,1736377246.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-01-08T23:00:46.060Z,1736377246.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:46.070Z,1736377246.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.900002 m, nav range: 38.523659 m, bearing: 344.245357 deg, approach rate: 0.336140 m/s, LOS rate: -0.751250 deg/s, cmd heading: 85.843655 deg, new cmd heading: 85.081103 deg. 2025-01-08T23:00:46.076Z,1736377246.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.484945 target range: 56.900002 and range: 56.90 m. 2025-01-08T23:00:46.312Z,1736377246.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:46.460Z,1736377246.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:46.468Z,1736377246.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:46.470Z,1736377246.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m. 2025-01-08T23:00:46.471Z,1736377246.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-01-08T23:00:46.490Z,1736377246.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.900002 m, nav range: 38.656849 m, bearing: 343.950836 deg, approach rate: 0.316643 m/s, LOS rate: -0.697772 deg/s, cmd heading: 85.081105 deg, new cmd heading: 84.200659 deg. 2025-01-08T23:00:46.491Z,1736377246.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.469579 target range: 56.900002 and range: 56.90 m. 2025-01-08T23:00:46.566Z,1736377246.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:46.569Z,1736377246.569 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:46.569Z,1736377246.569 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:46.570Z,1736377246.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:46.816Z,1736377246.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:46.816Z,1736377246.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964769 2025-01-08T23:00:46.893Z,1736377246.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:46.921Z,1736377246.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m. 2025-01-08T23:00:46.921Z,1736377246.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-01-08T23:00:46.930Z,1736377246.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.900002 m, nav range: 38.777000 m, bearing: 343.672203 deg, approach rate: 0.266760 m/s, LOS rate: -0.616700 deg/s, cmd heading: 84.200660 deg, new cmd heading: 83.367414 deg. 2025-01-08T23:00:46.937Z,1736377246.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455036 target range: 56.900002 and range: 56.90 m. 2025-01-08T23:00:47.069Z,1736377247.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:47.069Z,1736377247.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217796 2025-01-08T23:00:47.253Z,1736377247.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:47.262Z,1736377247.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m. 2025-01-08T23:00:47.262Z,1736377247.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-01-08T23:00:47.265Z,1736377247.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.900002 m, nav range: 38.874458 m, bearing: 343.437638 deg, approach rate: 0.285700 m/s, LOS rate: -0.685906 deg/s, cmd heading: 83.367418 deg, new cmd heading: 82.665523 deg. 2025-01-08T23:00:47.266Z,1736377247.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442786 target range: 56.900002 and range: 56.90 m. 2025-01-08T23:00:47.320Z,1736377247.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:47.322Z,1736377247.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469536 2025-01-08T23:00:47.573Z,1736377247.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:47.577Z,1736377247.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724478 2025-01-08T23:00:47.715Z,1736377247.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:47.726Z,1736377247.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m. 2025-01-08T23:00:47.726Z,1736377247.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-01-08T23:00:47.727Z,1736377247.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.90 m. 2025-01-08T23:00:47.727Z,1736377247.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-01-08T23:00:47.730Z,1736377247.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.900002 m, nav range: 38.991043 m, bearing: 343.146393 deg, approach rate: 0.251251 m/s, LOS rate: -0.625780 deg/s, cmd heading: 82.665527 deg, new cmd heading: 81.794475 deg. 2025-01-08T23:00:47.731Z,1736377247.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.427583 target range: 56.900002 and range: 56.90 m. 2025-01-08T23:00:47.827Z,1736377247.827 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:47.828Z,1736377247.828 [DAT](INFO): DAT read: Rx Time:23:00:46.5468 2025-01-08T23:00:47.829Z,1736377247.829 [DAT](INFO): Rx dataTimestamp_ set to:1736377247.828268 2025-01-08T23:00:47.829Z,1736377247.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977465 2025-01-08T23:00:48.064Z,1736377248.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:48.074Z,1736377248.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.90 m. 2025-01-08T23:00:48.080Z,1736377248.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:48.080Z,1736377248.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228815 2025-01-08T23:00:48.097Z,1736377248.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.900002 m, nav range: 39.076809 m, bearing: 342.924316 deg, approach rate: 0.246451 m/s, LOS rate: -0.636744 deg/s, cmd heading: 81.794473 deg, new cmd heading: 81.129734 deg. 2025-01-08T23:00:48.098Z,1736377248.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.415981 target range: 56.900002 and range: 56.90 m. 2025-01-08T23:00:48.332Z,1736377248.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:48.339Z,1736377248.339 [DAT](INFO): DAT read: 23:00:46.5468 LVL= 18256, 24977, 24722, 32755, AGC= 64, IDX= 405,-0.21, 1.717,-0.129, 0.742, 0.980, PHS= 0.825,-1.062,-0.241, RAW= 115.7, 5.9, CAL= 125.6, 2.3, ROT= 24.4, -2.3 2025-01-08T23:00:48.340Z,1736377248.340 [DAT](INFO): got valid direction response: 23:00:46.5468 LVL= 18256, 24977, 24722, 32755, AGC= 64, IDX= 405,-0.21, 1.717,-0.129, 0.742, 0.980, PHS= 0.825,-1.062,-0.241, RAW= 115.7, 5.9, CAL= 125.6, 2.3, ROT= 24.4, -2.3 2025-01-08T23:00:48.341Z,1736377248.341 [DAT](INFO): DAT read: Bearing 24.4, -2.3 (Local) 2025-01-08T23:00:48.341Z,1736377248.341 [DAT](INFO): Local bearing/azimuth received: Bearing 24.4, -2.3 (Local) 2025-01-08T23:00:48.346Z,1736377248.346 [DAT](INFO): DAT read: Range 10 to 50 : 54.4 m (Round-trip 72.6 ms) speed 0.5 m/s 2025-01-08T23:00:48.347Z,1736377248.347 [DAT](INFO): DAT read: user:3002> 2025-01-08T23:00:48.348Z,1736377248.348 [DAT](INFO): DAT read: Tx time:23:00:47.6701 2025-01-08T23:00:48.348Z,1736377248.348 [DAT](INFO): Ping request sent. 2025-01-08T23:00:48.348Z,1736377248.348 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:48.348Z,1736377248.348 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:48.349Z,1736377248.349 [DAT](INFO): direction in FSK: [-0.230094,-0.332555,0.914584] 2025-01-08T23:00:48.349Z,1736377248.349 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:48.350Z,1736377248.350 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:48.360Z,1736377248.360 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:48.360Z,1736377248.360 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:48.501Z,1736377248.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:48.537Z,1736377248.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.400002 m, deltaT: 3.535081 s, deltaX: -2.500000 m, approachRate: -0.707197 m/s, rangeRepo size: 4 2025-01-08T23:00:48.539Z,1736377248.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.400002 m, bearing: 324.759444 deg, lat: 36.905216 deg, lon: -122.119968 deg, deltaT: 3.535081 s, deltaX: -2.500000 m, approachRate: -0.707197 m/s, posRepo size: 4 2025-01-08T23:00:48.541Z,1736377248.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.40 m. 2025-01-08T23:00:48.553Z,1736377248.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.400002 m, nav range: 38.086365 m, bearing: 342.131309 deg, approach rate: 0.000000 m/s, LOS rate: -0.636744 deg/s, cmd heading: 81.129731 deg, new cmd heading: 80.255494 deg. 2025-01-08T23:00:48.560Z,1736377248.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400723 target range: 54.400002 and range: 54.40 m. 2025-01-08T23:00:48.586Z,1736377248.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:48.589Z,1736377248.589 [DAT](INFO): DAT read: TxSync time:23:00:47.6693 2025-01-08T23:00:48.836Z,1736377248.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:49.077Z,1736377249.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:49.085Z,1736377249.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:49.087Z,1736377249.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.40 m. 2025-01-08T23:00:49.088Z,1736377249.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:49.088Z,1736377249.088 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:49.088Z,1736377249.088 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:49.089Z,1736377249.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:49.094Z,1736377249.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.400002 m, nav range: 38.212723 m, bearing: 341.748810 deg, approach rate: 0.227569 m/s, LOS rate: -0.686592 deg/s, cmd heading: 80.255495 deg, new cmd heading: 79.111951 deg. 2025-01-08T23:00:49.095Z,1736377249.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380764 target range: 54.400002 and range: 54.40 m. 2025-01-08T23:00:49.340Z,1736377249.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:49.341Z,1736377249.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992518 2025-01-08T23:00:49.450Z,1736377249.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:49.460Z,1736377249.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.40 m. 2025-01-08T23:00:49.463Z,1736377249.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.400002 m, nav range: 38.293102 m, bearing: 341.500637 deg, approach rate: 0.215684 m/s, LOS rate: -0.664529 deg/s, cmd heading: 79.111950 deg, new cmd heading: 78.369038 deg. 2025-01-08T23:00:49.464Z,1736377249.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367798 target range: 54.400002 and range: 54.40 m. 2025-01-08T23:00:49.592Z,1736377249.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:49.592Z,1736377249.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244325 2025-01-08T23:00:49.844Z,1736377249.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:49.844Z,1736377249.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496356 2025-01-08T23:00:49.910Z,1736377249.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:49.929Z,1736377249.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.40 m. 2025-01-08T23:00:49.936Z,1736377249.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.400002 m, nav range: 38.392891 m, bearing: 341.168974 deg, approach rate: 0.212382 m/s, LOS rate: -0.704046 deg/s, cmd heading: 78.369037 deg, new cmd heading: 77.376741 deg. 2025-01-08T23:00:49.939Z,1736377249.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350479 target range: 54.400002 and range: 54.40 m. 2025-01-08T23:00:50.096Z,1736377250.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:50.096Z,1736377250.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748373 2025-01-08T23:00:50.348Z,1736377250.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:50.348Z,1736377250.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000375 2025-01-08T23:00:50.361Z,1736377250.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:50.378Z,1736377250.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.40 m. 2025-01-08T23:00:50.386Z,1736377250.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.400002 m, nav range: 38.488823 m, bearing: 340.842679 deg, approach rate: 0.213749 m/s, LOS rate: -0.725214 deg/s, cmd heading: 77.376741 deg, new cmd heading: 76.400394 deg. 2025-01-08T23:00:50.392Z,1736377250.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.333438 target range: 54.400002 and range: 54.40 m. 2025-01-08T23:00:50.600Z,1736377250.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:50.603Z,1736377250.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254034 2025-01-08T23:00:50.797Z,1736377250.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:50.808Z,1736377250.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.40 m. 2025-01-08T23:00:50.812Z,1736377250.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.400002 m, nav range: 38.588783 m, bearing: 340.493281 deg, approach rate: 0.232262 m/s, LOS rate: -0.809735 deg/s, cmd heading: 76.400392 deg, new cmd heading: 75.355035 deg. 2025-01-08T23:00:50.813Z,1736377250.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315193 target range: 54.400002 and range: 54.40 m. 2025-01-08T23:00:50.854Z,1736377250.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:50.855Z,1736377250.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507374 2025-01-08T23:00:51.104Z,1736377251.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:51.104Z,1736377251.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756350 2025-01-08T23:00:51.168Z,1736377251.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:51.175Z,1736377251.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:51.177Z,1736377251.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.40 m. 2025-01-08T23:00:51.180Z,1736377251.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.400002 m, nav range: 38.669312 m, bearing: 340.194909 deg, approach rate: 0.218312 m/s, LOS rate: -0.807197 deg/s, cmd heading: 75.355032 deg, new cmd heading: 74.461857 deg. 2025-01-08T23:00:51.181Z,1736377251.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299605 target range: 54.400002 and range: 54.40 m. 2025-01-08T23:00:51.356Z,1736377251.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:51.357Z,1736377251.357 [DAT](INFO): DAT read: Rx Time:23:00:50.1442 2025-01-08T23:00:51.357Z,1736377251.357 [DAT](INFO): Rx dataTimestamp_ set to:1736377251.356852 2025-01-08T23:00:51.358Z,1736377251.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009593 2025-01-08T23:00:51.572Z,1736377251.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:51.581Z,1736377251.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.40 m. 2025-01-08T23:00:51.585Z,1736377251.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.400002 m, nav range: 38.756149 m, bearing: 339.868023 deg, approach rate: 0.215110 m/s, LOS rate: -0.807925 deg/s, cmd heading: 74.461855 deg, new cmd heading: 73.483496 deg. 2025-01-08T23:00:51.586Z,1736377251.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282529 target range: 54.400002 and range: 54.40 m. 2025-01-08T23:00:51.608Z,1736377251.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:51.609Z,1736377251.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260449 2025-01-08T23:00:51.860Z,1736377251.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:51.870Z,1736377251.870 [DAT](INFO): DAT read: 23:00:50.1442 LVL= 12688, 24881, 20690, 29811, AGC= 55, IDX= 409, 0.31, 0.976,-0.917,-0.269, 0.150, PHS= 0.914,-1.020,-0.422, RAW= 107.6, 6.2, CAL= 118.1, 3.8, ROT= 31.9, -3.8 2025-01-08T23:00:51.871Z,1736377251.871 [DAT](INFO): got valid direction response: 23:00:50.1442 LVL= 12688, 24881, 20690, 29811, AGC= 55, IDX= 409, 0.31, 0.976,-0.917,-0.269, 0.150, PHS= 0.914,-1.020,-0.422, RAW= 107.6, 6.2, CAL= 118.1, 3.8, ROT= 31.9, -3.8 2025-01-08T23:00:51.872Z,1736377251.872 [DAT](INFO): DAT read: Bearing 31.9, -3.8 (Local) 2025-01-08T23:00:51.872Z,1736377251.872 [DAT](INFO): Local bearing/azimuth received: Bearing 31.9, -3.8 (Local) 2025-01-08T23:00:51.874Z,1736377251.874 [DAT](INFO): DAT read: Range 10 to 50 : 52.5 m (Round-trip 70.0 ms) speed 0.4 m/s 2025-01-08T23:00:51.874Z,1736377251.874 [DAT](INFO): DAT read: user:3003> 2025-01-08T23:00:51.875Z,1736377251.875 [DAT](INFO): DAT read: Tx time:23:00:51.2701 2025-01-08T23:00:51.876Z,1736377251.876 [DAT](INFO): Ping request sent. 2025-01-08T23:00:51.876Z,1736377251.876 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:51.876Z,1736377251.876 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:51.877Z,1736377251.877 [DAT](INFO): direction in FSK: [-0.227745,-0.192439,0.954515] 2025-01-08T23:00:51.877Z,1736377251.877 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:51.877Z,1736377251.877 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:51.880Z,1736377251.880 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:51.881Z,1736377251.881 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:52.050Z,1736377252.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:52.108Z,1736377252.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.500000 m, deltaT: 3.528135 s, deltaX: -1.900002 m, approachRate: -0.538529 m/s, rangeRepo size: 4 2025-01-08T23:00:52.110Z,1736377252.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.500000 m, bearing: 306.874076 deg, lat: 36.905080 deg, lon: -122.119968 deg, deltaT: 3.528135 s, deltaX: -1.900002 m, approachRate: -0.538529 m/s, posRepo size: 4 2025-01-08T23:00:52.110Z,1736377252.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:00:52.112Z,1736377252.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:52.113Z,1736377252.113 [DAT](INFO): DAT read: TxSync time:23:00:51.2693 2025-01-08T23:00:52.119Z,1736377252.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 25.227297 m, bearing: 327.260505 deg, approach rate: 0.000000 m/s, LOS rate: -0.807925 deg/s, cmd heading: 73.483499 deg, new cmd heading: 72.218922 deg. 2025-01-08T23:00:52.124Z,1736377252.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260458 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:00:52.364Z,1736377252.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:52.409Z,1736377252.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:52.419Z,1736377252.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:00:52.422Z,1736377252.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 25.354816 m, bearing: 326.828858 deg, approach rate: 0.404021 m/s, LOS rate: -1.360700 deg/s, cmd heading: 72.218923 deg, new cmd heading: 70.930723 deg. 2025-01-08T23:00:52.423Z,1736377252.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.237975 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:00:52.617Z,1736377252.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:52.821Z,1736377252.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:52.830Z,1736377252.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:00:52.839Z,1736377252.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 25.512550 m, bearing: 326.288843 deg, approach rate: 0.383406 m/s, LOS rate: -1.304487 deg/s, cmd heading: 70.930722 deg, new cmd heading: 69.321140 deg. 2025-01-08T23:00:52.840Z,1736377252.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209882 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:00:52.868Z,1736377252.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:53.120Z,1736377253.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:53.195Z,1736377253.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:53.214Z,1736377253.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:53.220Z,1736377253.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:00:53.227Z,1736377253.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 25.655947 m, bearing: 325.801043 deg, approach rate: 0.367233 m/s, LOS rate: -1.242241 deg/s, cmd heading: 69.321140 deg, new cmd heading: 67.866250 deg. 2025-01-08T23:00:53.228Z,1736377253.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.184489 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:00:53.372Z,1736377253.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:53.372Z,1736377253.372 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:53.372Z,1736377253.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:53.373Z,1736377253.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:53.604Z,1736377253.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:53.612Z,1736377253.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:00:53.624Z,1736377253.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:53.625Z,1736377253.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748894 2025-01-08T23:00:53.635Z,1736377253.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 25.812761 m, bearing: 325.272033 deg, approach rate: 0.400078 m/s, LOS rate: -1.341435 deg/s, cmd heading: 67.866249 deg, new cmd heading: 66.289280 deg. 2025-01-08T23:00:53.636Z,1736377253.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.156966 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:00:53.876Z,1736377253.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:53.877Z,1736377253.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000863 2025-01-08T23:00:54.051Z,1736377254.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:54.069Z,1736377254.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:00:54.072Z,1736377254.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 25.988474 m, bearing: 324.679358 deg, approach rate: 0.385362 m/s, LOS rate: -1.291005 deg/s, cmd heading: 66.289281 deg, new cmd heading: 64.523869 deg. 2025-01-08T23:00:54.073Z,1736377254.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126154 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:00:54.128Z,1736377254.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:54.128Z,1736377254.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252843 2025-01-08T23:00:54.380Z,1736377254.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:54.380Z,1736377254.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504729 2025-01-08T23:00:54.422Z,1736377254.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:54.441Z,1736377254.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:00:54.447Z,1736377254.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 26.134167 m, bearing: 324.186715 deg, approach rate: 0.391283 m/s, LOS rate: -1.315686 deg/s, cmd heading: 64.523868 deg, new cmd heading: 63.054519 deg. 2025-01-08T23:00:54.450Z,1736377254.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100509 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:00:54.637Z,1736377254.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:54.637Z,1736377254.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761793 2025-01-08T23:00:54.878Z,1736377254.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:54.888Z,1736377254.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:54.889Z,1736377254.889 [DAT](INFO): DAT read: Rx Time:23:00:53.7419 2025-01-08T23:00:54.889Z,1736377254.889 [DAT](INFO): Rx dataTimestamp_ set to:1736377254.888763 2025-01-08T23:00:54.890Z,1736377254.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013930 2025-01-08T23:00:54.891Z,1736377254.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:00:54.914Z,1736377254.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 26.311321 m, bearing: 323.568936 deg, approach rate: 0.393451 m/s, LOS rate: -1.362793 deg/s, cmd heading: 63.054517 deg, new cmd heading: 61.214325 deg. 2025-01-08T23:00:54.915Z,1736377254.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068392 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:00:55.140Z,1736377255.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:55.141Z,1736377255.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265825 2025-01-08T23:00:55.215Z,1736377255.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:55.223Z,1736377255.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:55.225Z,1736377255.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:00:55.228Z,1736377255.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 26.441593 m, bearing: 323.112583 deg, approach rate: 0.389949 m/s, LOS rate: -1.359277 deg/s, cmd heading: 61.214327 deg, new cmd heading: 59.852286 deg. 2025-01-08T23:00:55.229Z,1736377255.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044619 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:00:55.394Z,1736377255.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:55.400Z,1736377255.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523478 2025-01-08T23:00:55.631Z,1736377255.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:55.640Z,1736377255.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:00:55.644Z,1736377255.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:55.656Z,1736377255.656 [DAT](INFO): DAT read: 23:00:53.7419 LVL= 15040, 26289, 24626, 32755, AGC= 58, IDX= 418, 0.05,-2.795, 1.531, 1.910, 2.495, PHS= 1.082,-0.917,-0.588, RAW= 98.8, 4.6, CAL= 108.6, 2.9, ROT= 41.4, -2.9 2025-01-08T23:00:55.657Z,1736377255.657 [DAT](INFO): got valid direction response: 23:00:53.7419 LVL= 15040, 26289, 24626, 32755, AGC= 58, IDX= 418, 0.05,-2.795, 1.531, 1.910, 2.495, PHS= 1.082,-0.917,-0.588, RAW= 98.8, 4.6, CAL= 108.6, 2.9, ROT= 41.4, -2.9 2025-01-08T23:00:55.659Z,1736377255.659 [DAT](INFO): DAT read: Bearing 41.4, -2.9 (Local) 2025-01-08T23:00:55.660Z,1736377255.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 26.600679 m, bearing: 322.551509 deg, approach rate: 0.382923 m/s, LOS rate: -1.342417 deg/s, cmd heading: 59.852285 deg, new cmd heading: 58.179631 deg. 2025-01-08T23:00:55.662Z,1736377255.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.015426 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:00:55.664Z,1736377255.664 [DAT](INFO): Local bearing/azimuth received: Bearing 41.4, -2.9 (Local) 2025-01-08T23:00:55.666Z,1736377255.666 [DAT](INFO): DAT read: Range 10 to 50 : 50.7 m (Round-trip 67.7 ms) speed 0.4 m/s 2025-01-08T23:00:55.688Z,1736377255.688 [DAT](INFO): DAT read: user:3004> 2025-01-08T23:00:55.689Z,1736377255.689 [DAT](INFO): DAT read: Tx time:23:00:54.8201 2025-01-08T23:00:55.689Z,1736377255.689 [DAT](INFO): Ping request sent. 2025-01-08T23:00:55.689Z,1736377255.689 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:55.690Z,1736377255.690 [DAT](INFO): DAT read: TxSync time:23:00:54.8193 2025-01-08T23:00:55.690Z,1736377255.690 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:55.691Z,1736377255.691 [DAT](INFO): direction in FSK: [-0.185987,-0.041688,0.981667] 2025-01-08T23:00:55.701Z,1736377255.701 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:55.702Z,1736377255.702 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:55.737Z,1736377255.737 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:55.738Z,1736377255.738 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:55.897Z,1736377255.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:56.092Z,1736377256.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:56.129Z,1736377256.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 3.784509 s, deltaX: -1.799999 m, approachRate: -0.475623 m/s, rangeRepo size: 4 2025-01-08T23:00:56.136Z,1736377256.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.700001 m, bearing: 273.293663 deg, lat: 36.905053 deg, lon: -122.119968 deg, deltaT: 3.784509 s, deltaX: -1.799999 m, approachRate: -0.475623 m/s, posRepo size: 4 2025-01-08T23:00:56.137Z,1736377256.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:00:56.144Z,1736377256.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.700001 m, nav range: 24.526020 m, bearing: 317.723615 deg, approach rate: 0.000000 m/s, LOS rate: -1.342417 deg/s, cmd heading: 58.179633 deg, new cmd heading: 56.214196 deg. 2025-01-08T23:00:56.145Z,1736377256.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.981123 target range: 50.700001 and range: 50.70 m. 2025-01-08T23:00:56.148Z,1736377256.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:56.400Z,1736377256.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:56.545Z,1736377256.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:56.554Z,1736377256.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:00:56.557Z,1736377256.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.700001 m, nav range: 24.710770 m, bearing: 317.115823 deg, approach rate: 0.434443 m/s, LOS rate: -1.418525 deg/s, cmd heading: 56.214195 deg, new cmd heading: 54.405087 deg. 2025-01-08T23:00:56.558Z,1736377256.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.949548 target range: 50.700001 and range: 50.70 m. 2025-01-08T23:00:56.653Z,1736377256.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:56.905Z,1736377256.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:56.973Z,1736377256.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:56.983Z,1736377256.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:00:57.011Z,1736377257.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.700001 m, nav range: 24.875666 m, bearing: 316.581288 deg, approach rate: 0.384180 m/s, LOS rate: -1.237102 deg/s, cmd heading: 54.405086 deg, new cmd heading: 52.812544 deg. 2025-01-08T23:00:57.020Z,1736377257.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.921753 target range: 50.700001 and range: 50.70 m. 2025-01-08T23:00:57.157Z,1736377257.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:57.346Z,1736377257.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:57.355Z,1736377257.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:57.357Z,1736377257.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:00:57.360Z,1736377257.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.700001 m, nav range: 25.016350 m, bearing: 316.113413 deg, approach rate: 0.376339 m/s, LOS rate: -1.244541 deg/s, cmd heading: 52.812546 deg, new cmd heading: 51.417108 deg. 2025-01-08T23:00:57.361Z,1736377257.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.897398 target range: 50.700001 and range: 50.70 m. 2025-01-08T23:00:57.409Z,1736377257.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:57.409Z,1736377257.409 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:00:57.409Z,1736377257.409 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:00:57.410Z,1736377257.410 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:00:57.660Z,1736377257.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:57.662Z,1736377257.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972406 2025-01-08T23:00:57.850Z,1736377257.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:57.869Z,1736377257.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:00:57.872Z,1736377257.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.700001 m, nav range: 25.180851 m, bearing: 315.538421 deg, approach rate: 0.321293 m/s, LOS rate: -1.115681 deg/s, cmd heading: 51.417107 deg, new cmd heading: 49.703938 deg. 2025-01-08T23:00:57.873Z,1736377257.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867497 target range: 50.700001 and range: 50.70 m. 2025-01-08T23:00:57.912Z,1736377257.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:57.913Z,1736377257.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224190 2025-01-08T23:00:58.164Z,1736377258.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:58.164Z,1736377258.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475431 2025-01-08T23:00:58.186Z,1736377258.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:58.195Z,1736377258.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:00:58.198Z,1736377258.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.700001 m, nav range: 25.287937 m, bearing: 315.152764 deg, approach rate: 0.328561 m/s, LOS rate: -1.178251 deg/s, cmd heading: 49.703939 deg, new cmd heading: 48.552030 deg. 2025-01-08T23:00:58.199Z,1736377258.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847393 target range: 50.700001 and range: 50.70 m. 2025-01-08T23:00:58.416Z,1736377258.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:58.417Z,1736377258.417 [DAT](INFO): DAT read: Rx Time:23:00:57.2900 2025-01-08T23:00:58.418Z,1736377258.418 [DAT](INFO): Rx dataTimestamp_ set to:1736377258.417111 2025-01-08T23:00:58.418Z,1736377258.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729297 2025-01-08T23:00:58.585Z,1736377258.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:58.593Z,1736377258.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:00:58.596Z,1736377258.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.700001 m, nav range: 25.411263 m, bearing: 314.693635 deg, approach rate: 0.309463 m/s, LOS rate: -1.146498 deg/s, cmd heading: 48.552031 deg, new cmd heading: 47.181606 deg. 2025-01-08T23:00:58.597Z,1736377258.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823474 target range: 50.700001 and range: 50.70 m. 2025-01-08T23:00:58.672Z,1736377258.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:58.674Z,1736377258.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984580 2025-01-08T23:00:58.924Z,1736377258.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:58.924Z,1736377258.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235270 2025-01-08T23:00:59.061Z,1736377259.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:59.095Z,1736377259.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:00:59.102Z,1736377259.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.700001 m, nav range: 25.536648 m, bearing: 314.198008 deg, approach rate: 0.250075 m/s, LOS rate: -0.983637 deg/s, cmd heading: 47.181605 deg, new cmd heading: 45.702373 deg. 2025-01-08T23:00:59.103Z,1736377259.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.797657 target range: 50.700001 and range: 50.70 m. 2025-01-08T23:00:59.176Z,1736377259.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:59.183Z,1736377259.183 [DAT](INFO): DAT read: 23:00:57.2900 LVL= 12992, 24481, 21570, 29731, AGC= 52, IDX= 413,-0.00, 1.967,-0.018,-0.014, 0.840, PHS= 1.215,-0.811,-0.857, RAW= 88.9, 4.5, CAL= 95.9, 3.1, ROT= 54.1, -3.1 2025-01-08T23:00:59.186Z,1736377259.186 [DAT](INFO): got valid direction response: 23:00:57.2900 LVL= 12992, 24481, 21570, 29731, AGC= 52, IDX= 413,-0.00, 1.967,-0.018,-0.014, 0.840, PHS= 1.215,-0.811,-0.857, RAW= 88.9, 4.5, CAL= 95.9, 3.1, ROT= 54.1, -3.1 2025-01-08T23:00:59.189Z,1736377259.189 [DAT](INFO): DAT read: Bearing 54.1, -3.1 (Local) 2025-01-08T23:00:59.189Z,1736377259.189 [DAT](INFO): Local bearing/azimuth received: Bearing 54.1, -3.1 (Local) 2025-01-08T23:00:59.203Z,1736377259.203 [DAT](INFO): DAT read: Range 10 to 50 : 49.2 m (Round-trip 65.7 ms) speed 0.4 m/s 2025-01-08T23:00:59.204Z,1736377259.204 [DAT](INFO): DAT read: user:3005> 2025-01-08T23:00:59.205Z,1736377259.205 [DAT](INFO): DAT read: Tx time:23:00:58.3702 2025-01-08T23:00:59.205Z,1736377259.205 [DAT](INFO): Ping request sent. 2025-01-08T23:00:59.205Z,1736377259.205 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:00:59.206Z,1736377259.206 [DAT](INFO): DAT read: TxSync time:23:00:58.3694 2025-01-08T23:00:59.206Z,1736377259.206 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:00:59.214Z,1736377259.214 [DAT](INFO): direction in FSK: [-0.167678,0.130687,0.977141] 2025-01-08T23:00:59.214Z,1736377259.214 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:59.215Z,1736377259.215 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:59.223Z,1736377259.223 [DAT](INFO): publishing transmit ping time 2025-01-08T23:00:59.228Z,1736377259.228 [DAT](INFO): publishing direction and range info 2025-01-08T23:00:59.428Z,1736377259.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:59.471Z,1736377259.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:59.486Z,1736377259.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 3.531973 s, deltaX: -1.500000 m, approachRate: -0.424692 m/s, rangeRepo size: 4 2025-01-08T23:00:59.490Z,1736377259.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.200001 m, bearing: 207.534995 deg, lat: 36.904980 deg, lon: -122.119966 deg, deltaT: 3.531973 s, deltaX: -1.500000 m, approachRate: -0.424692 m/s, posRepo size: 4 2025-01-08T23:00:59.491Z,1736377259.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m. 2025-01-08T23:00:59.493Z,1736377259.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.200001 m, nav range: 20.723360 m, bearing: 297.562492 deg, approach rate: 0.000000 m/s, LOS rate: -0.983637 deg/s, cmd heading: 45.702374 deg, new cmd heading: 44.550113 deg. 2025-01-08T23:00:59.494Z,1736377259.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.777546 target range: 49.200001 and range: 49.20 m. 2025-01-08T23:00:59.681Z,1736377259.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:59.926Z,1736377259.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:00:59.932Z,1736377259.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:00:59.949Z,1736377259.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:00:59.956Z,1736377259.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m. 2025-01-08T23:00:59.958Z,1736377259.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.200001 m, nav range: 20.863689 m, bearing: 297.135661 deg, approach rate: 0.301591 m/s, LOS rate: -0.911152 deg/s, cmd heading: 44.550114 deg, new cmd heading: 43.278453 deg. 2025-01-08T23:00:59.964Z,1736377259.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755351 target range: 49.200001 and range: 49.20 m. 2025-01-08T23:01:00.185Z,1736377260.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:00.185Z,1736377260.185 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:01:00.185Z,1736377260.185 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:01:00.185Z,1736377260.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:00.314Z,1736377260.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:00.323Z,1736377260.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m. 2025-01-08T23:01:00.326Z,1736377260.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.200001 m, nav range: 20.981085 m, bearing: 296.767967 deg, approach rate: 0.315234 m/s, LOS rate: -0.981813 deg/s, cmd heading: 43.278452 deg, new cmd heading: 42.181684 deg. 2025-01-08T23:01:00.327Z,1736377260.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.736209 target range: 49.200001 and range: 49.20 m. 2025-01-08T23:01:00.436Z,1736377260.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:00.437Z,1736377260.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231149 2025-01-08T23:01:00.688Z,1736377260.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:00.689Z,1736377260.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483502 2025-01-08T23:01:00.708Z,1736377260.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:00.717Z,1736377260.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m. 2025-01-08T23:01:00.742Z,1736377260.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.200001 m, nav range: 21.097755 m, bearing: 296.390465 deg, approach rate: 0.296328 m/s, LOS rate: -0.953497 deg/s, cmd heading: 42.181684 deg, new cmd heading: 41.055594 deg. 2025-01-08T23:01:00.748Z,1736377260.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716555 target range: 49.200001 and range: 49.20 m. 2025-01-08T23:01:00.940Z,1736377260.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:00.940Z,1736377260.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735129 2025-01-08T23:01:01.141Z,1736377261.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:01.157Z,1736377261.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m. 2025-01-08T23:01:01.176Z,1736377261.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.200001 m, nav range: 21.200760 m, bearing: 296.006690 deg, approach rate: 0.233833 m/s, LOS rate: -0.866977 deg/s, cmd heading: 41.055594 deg, new cmd heading: 39.910027 deg. 2025-01-08T23:01:01.179Z,1736377261.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696561 target range: 49.200001 and range: 49.20 m. 2025-01-08T23:01:01.194Z,1736377261.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:01.196Z,1736377261.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990408 2025-01-08T23:01:01.444Z,1736377261.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:01.445Z,1736377261.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239752 2025-01-08T23:01:01.527Z,1736377261.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:01.537Z,1736377261.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m. 2025-01-08T23:01:01.560Z,1736377261.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.200001 m, nav range: 21.289318 m, bearing: 295.661368 deg, approach rate: 0.233052 m/s, LOS rate: -0.904971 deg/s, cmd heading: 39.910028 deg, new cmd heading: 38.878489 deg. 2025-01-08T23:01:01.561Z,1736377261.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678558 target range: 49.200001 and range: 49.20 m. 2025-01-08T23:01:01.696Z,1736377261.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:01.697Z,1736377261.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491564 2025-01-08T23:01:01.948Z,1736377261.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:01.948Z,1736377261.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743085 2025-01-08T23:01:01.956Z,1736377261.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:01.968Z,1736377261.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:01.970Z,1736377261.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m. 2025-01-08T23:01:01.973Z,1736377261.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.200001 m, nav range: 21.370407 m, bearing: 295.285366 deg, approach rate: 0.187253 m/s, LOS rate: -0.864975 deg/s, cmd heading: 38.878489 deg, new cmd heading: 37.754914 deg. 2025-01-08T23:01:01.974Z,1736377261.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658948 target range: 49.200001 and range: 49.20 m. 2025-01-08T23:01:02.201Z,1736377262.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:02.204Z,1736377262.204 [DAT](INFO): DAT read: Rx Time:23:01:00.8382 2025-01-08T23:01:02.206Z,1736377262.206 [DAT](INFO): Rx dataTimestamp_ set to:1736377262.205057 2025-01-08T23:01:02.208Z,1736377262.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002387 2025-01-08T23:01:02.363Z,1736377262.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:02.373Z,1736377262.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.20 m. 2025-01-08T23:01:02.375Z,1736377262.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.200001 m, nav range: 21.445898 m, bearing: 294.941601 deg, approach rate: 0.187649 m/s, LOS rate: -0.851487 deg/s, cmd heading: 37.754912 deg, new cmd heading: 36.727365 deg. 2025-01-08T23:01:02.376Z,1736377262.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.641013 target range: 49.200001 and range: 49.20 m. 2025-01-08T23:01:02.452Z,1736377262.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:02.454Z,1736377262.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248269 2025-01-08T23:01:02.704Z,1736377262.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:02.721Z,1736377262.721 [DAT](INFO): DAT read: 23:01:00.8382 LVL= 9344, 20321, 15138, 22899, AGC= 55, IDX= 427,-0.14,-0.505,-2.119,-2.933,-1.652, PHS= 1.235,-0.420,-1.284, RAW= 70.3, 4.3, CAL= 72.7, 3.4, ROT= 77.3, -3.4 2025-01-08T23:01:02.722Z,1736377262.722 [DAT](INFO): got valid direction response: 23:01:00.8382 LVL= 9344, 20321, 15138, 22899, AGC= 55, IDX= 427,-0.14,-0.505,-2.119,-2.933,-1.652, PHS= 1.235,-0.420,-1.284, RAW= 70.3, 4.3, CAL= 72.7, 3.4, ROT= 77.3, -3.4 2025-01-08T23:01:02.728Z,1736377262.728 [DAT](INFO): DAT read: Bearing 77.3, -3.4 (Local) 2025-01-08T23:01:02.728Z,1736377262.728 [DAT](INFO): Local bearing/azimuth received: Bearing 77.3, -3.4 (Local) 2025-01-08T23:01:02.730Z,1736377262.730 [DAT](INFO): DAT read: Range 10 to 50 : 47.9 m (Round-trip 63.9 ms) speed 0.1 m/s 2025-01-08T23:01:02.731Z,1736377262.731 [DAT](INFO): DAT read: user:3006> 2025-01-08T23:01:02.740Z,1736377262.740 [DAT](INFO): DAT read: Tx time:23:01:01.9202 2025-01-08T23:01:02.740Z,1736377262.740 [DAT](INFO): Ping request sent. 2025-01-08T23:01:02.740Z,1736377262.740 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:02.741Z,1736377262.741 [DAT](INFO): DAT read: TxSync time:23:01:01.9194 2025-01-08T23:01:02.742Z,1736377262.742 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:01:02.742Z,1736377262.742 [DAT](INFO): direction in FSK: [-0.129460,0.432048,0.892510] 2025-01-08T23:01:02.743Z,1736377262.743 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:02.743Z,1736377262.743 [DAT](INFO): publishing direction and range info 2025-01-08T23:01:02.746Z,1736377262.746 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:02.746Z,1736377262.746 [DAT](INFO): publishing direction and range info 2025-01-08T23:01:02.865Z,1736377262.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:02.944Z,1736377262.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.900002 m, deltaT: 3.527490 s, deltaX: -1.299999 m, approachRate: -0.368534 m/s, rangeRepo size: 4 2025-01-08T23:01:02.946Z,1736377262.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.900002 m, bearing: 152.546615 deg, lat: 36.904896 deg, lon: -122.119900 deg, deltaT: 3.527490 s, deltaX: -1.299999 m, approachRate: -0.368534 m/s, posRepo size: 4 2025-01-08T23:01:02.947Z,1736377262.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:02.954Z,1736377262.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 13.698021 m, bearing: 268.022432 deg, approach rate: 0.000000 m/s, LOS rate: -0.851487 deg/s, cmd heading: 36.727365 deg, new cmd heading: 35.290508 deg. 2025-01-08T23:01:02.955Z,1736377262.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615936 target range: 47.900002 and range: 47.90 m. 2025-01-08T23:01:02.956Z,1736377262.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:03.209Z,1736377263.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:03.424Z,1736377263.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:03.432Z,1736377263.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:03.440Z,1736377263.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 13.856058 m, bearing: 267.460697 deg, approach rate: 0.317987 m/s, LOS rate: -1.117357 deg/s, cmd heading: 35.290508 deg, new cmd heading: 33.625021 deg. 2025-01-08T23:01:03.441Z,1736377263.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586867 target range: 47.900002 and range: 47.90 m. 2025-01-08T23:01:03.460Z,1736377263.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:03.712Z,1736377263.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:03.788Z,1736377263.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:03.841Z,1736377263.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:03.865Z,1736377263.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 13.957951 m, bearing: 267.091592 deg, approach rate: 0.252982 m/s, LOS rate: -0.909729 deg/s, cmd heading: 33.625021 deg, new cmd heading: 32.525933 deg. 2025-01-08T23:01:03.873Z,1736377263.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567685 target range: 47.900002 and range: 47.90 m. 2025-01-08T23:01:03.964Z,1736377263.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:04.217Z,1736377264.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:04.321Z,1736377264.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:04.328Z,1736377264.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:04.330Z,1736377264.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:04.332Z,1736377264.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 14.114784 m, bearing: 266.501816 deg, approach rate: 0.317077 m/s, LOS rate: -1.179105 deg/s, cmd heading: 32.525931 deg, new cmd heading: 30.776838 deg. 2025-01-08T23:01:04.333Z,1736377264.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537157 target range: 47.900002 and range: 47.90 m. 2025-01-08T23:01:04.469Z,1736377264.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:04.469Z,1736377264.469 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:01:04.469Z,1736377264.469 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:01:04.470Z,1736377264.470 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:04.693Z,1736377264.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:04.703Z,1736377264.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:04.706Z,1736377264.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 14.222654 m, bearing: 266.086955 deg, approach rate: 0.289866 m/s, LOS rate: -1.106340 deg/s, cmd heading: 30.776839 deg, new cmd heading: 29.541897 deg. 2025-01-08T23:01:04.707Z,1736377264.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515603 target range: 47.900002 and range: 47.90 m. 2025-01-08T23:01:04.720Z,1736377264.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:04.721Z,1736377264.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980108 2025-01-08T23:01:04.972Z,1736377264.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:04.972Z,1736377264.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231922 2025-01-08T23:01:05.122Z,1736377265.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:05.131Z,1736377265.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:05.133Z,1736377265.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 14.360728 m, bearing: 265.607471 deg, approach rate: 0.321953 m/s, LOS rate: -1.107270 deg/s, cmd heading: 29.541897 deg, new cmd heading: 28.117585 deg. 2025-01-08T23:01:05.137Z,1736377265.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490744 target range: 47.900002 and range: 47.90 m. 2025-01-08T23:01:05.225Z,1736377265.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:05.226Z,1736377265.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485306 2025-01-08T23:01:05.476Z,1736377265.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:05.476Z,1736377265.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735847 2025-01-08T23:01:05.496Z,1736377265.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:05.526Z,1736377265.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:05.533Z,1736377265.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 14.476517 m, bearing: 265.174795 deg, approach rate: 0.292746 m/s, LOS rate: -1.085169 deg/s, cmd heading: 28.117585 deg, new cmd heading: 26.830168 deg. 2025-01-08T23:01:05.540Z,1736377265.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468275 target range: 47.900002 and range: 47.90 m. 2025-01-08T23:01:05.728Z,1736377265.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:05.730Z,1736377265.730 [DAT](INFO): DAT read: Rx Time:23:01:04.3875 2025-01-08T23:01:05.731Z,1736377265.731 [DAT](INFO): Rx dataTimestamp_ set to:1736377265.730077 2025-01-08T23:01:05.733Z,1736377265.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992023 2025-01-08T23:01:05.964Z,1736377265.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:05.973Z,1736377265.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:05.976Z,1736377265.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 14.639440 m, bearing: 264.617889 deg, approach rate: 0.364480 m/s, LOS rate: -1.231988 deg/s, cmd heading: 26.830168 deg, new cmd heading: 25.178526 deg. 2025-01-08T23:01:05.977Z,1736377265.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439448 target range: 47.900002 and range: 47.90 m. 2025-01-08T23:01:05.983Z,1736377265.983 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:05.985Z,1736377265.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244199 2025-01-08T23:01:06.232Z,1736377266.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:06.235Z,1736377266.235 [DAT](INFO): DAT read: Range 10 to 50 : 47.4 m (Round-trip 63.2 ms) speed 0.0 m/s 2025-01-08T23:01:06.237Z,1736377266.237 [DAT](INFO): DAT read: user:3007> 2025-01-08T23:01:06.238Z,1736377266.238 [DAT](INFO): DAT read: Tx time:23:01:05.4702 2025-01-08T23:01:06.238Z,1736377266.238 [DAT](INFO): Ping request sent. 2025-01-08T23:01:06.238Z,1736377266.238 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:06.239Z,1736377266.239 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:01:06.239Z,1736377266.239 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:06.240Z,1736377266.240 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:06.429Z,1736377266.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:06.437Z,1736377266.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:06.440Z,1736377266.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.400002 m, deltaT: 3.528818 s, deltaX: -0.500000 m, approachRate: -0.141691 m/s, rangeRepo size: 4 2025-01-08T23:01:06.441Z,1736377266.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:06.444Z,1736377266.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 14.796949 m, bearing: 264.046607 deg, approach rate: 0.338063 m/s, LOS rate: -1.213067 deg/s, cmd heading: 25.178526 deg, new cmd heading: 23.483447 deg. 2025-01-08T23:01:06.445Z,1736377266.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.409863 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:06.485Z,1736377266.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:06.485Z,1736377266.485 [DAT](INFO): DAT read: TxSync time:23:01:05.4694 2025-01-08T23:01:06.486Z,1736377266.486 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:01:06.486Z,1736377266.486 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:01:06.486Z,1736377266.486 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:06.736Z,1736377266.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:06.737Z,1736377266.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498422 2025-01-08T23:01:06.828Z,1736377266.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:06.874Z,1736377266.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:06.909Z,1736377266.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 14.929588 m, bearing: 263.557835 deg, approach rate: 0.306248 m/s, LOS rate: -1.118477 deg/s, cmd heading: 23.483447 deg, new cmd heading: 22.030487 deg. 2025-01-08T23:01:06.912Z,1736377266.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.384505 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:06.988Z,1736377266.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:06.989Z,1736377266.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750641 2025-01-08T23:01:07.240Z,1736377267.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:07.240Z,1736377267.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002166 2025-01-08T23:01:07.331Z,1736377267.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:07.340Z,1736377267.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:07.343Z,1736377267.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 15.123294 m, bearing: 262.925280 deg, approach rate: 0.413570 m/s, LOS rate: -1.333209 deg/s, cmd heading: 22.030487 deg, new cmd heading: 20.157832 deg. 2025-01-08T23:01:07.344Z,1736377267.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.351821 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:07.492Z,1736377267.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:07.493Z,1736377267.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255206 2025-01-08T23:01:07.704Z,1736377267.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:07.713Z,1736377267.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:07.716Z,1736377267.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 15.265199 m, bearing: 262.455737 deg, approach rate: 0.381253 m/s, LOS rate: -1.249773 deg/s, cmd heading: 20.157833 deg, new cmd heading: 18.762590 deg. 2025-01-08T23:01:07.717Z,1736377267.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.327469 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:07.744Z,1736377267.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:07.744Z,1736377267.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506276 2025-01-08T23:01:07.999Z,1736377267.999 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:07.000Z,1736377268.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761588 2025-01-08T23:01:08.108Z,1736377268.108 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, 00, 3.07 2025-01-08T23:01:08.116Z,1736377268.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:01:08.117Z,1736377268.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:08.126Z,1736377268.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:08.141Z,1736377268.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 15.419965 m, bearing: 261.934888 deg, approach rate: 0.374311 m/s, LOS rate: -1.247044 deg/s, cmd heading: 18.762589 deg, new cmd heading: 17.216123 deg. 2025-01-08T23:01:08.142Z,1736377268.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.300478 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:08.256Z,1736377268.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:08.258Z,1736377268.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019763 2025-01-08T23:01:08.508Z,1736377268.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:08.508Z,1736377268.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270160 2025-01-08T23:01:08.538Z,1736377268.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:01:08.538Z,1736377268.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:08.545Z,1736377268.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:08.547Z,1736377268.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:08.565Z,1736377268.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 15.576767 m, bearing: 261.401420 deg, approach rate: 0.372816 m/s, LOS rate: -1.255597 deg/s, cmd heading: 17.216124 deg, new cmd heading: 15.632256 deg. 2025-01-08T23:01:08.566Z,1736377268.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.272834 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:08.760Z,1736377268.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:08.760Z,1736377268.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522167 2025-01-08T23:01:08.988Z,1736377268.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:08.999Z,1736377268.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:09.003Z,1736377269.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 15.766415 m, bearing: 260.844847 deg, approach rate: 0.419395 m/s, LOS rate: -1.216005 deg/s, cmd heading: 15.632256 deg, new cmd heading: 13.983104 deg. 2025-01-08T23:01:09.004Z,1736377269.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.244051 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:09.012Z,1736377269.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:09.013Z,1736377269.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774467 2025-01-08T23:01:09.264Z,1736377269.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:09.264Z,1736377269.264 [DAT](INFO): DAT read: Rx Time:23:01:07.9375 2025-01-08T23:01:09.265Z,1736377269.265 [DAT](INFO): Rx dataTimestamp_ set to:1736377269.264666 2025-01-08T23:01:09.265Z,1736377269.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027331 2025-01-08T23:01:09.324Z,1736377269.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:09.356Z,1736377269.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:09.358Z,1736377269.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 15.906472 m, bearing: 260.429107 deg, approach rate: 0.401855 m/s, LOS rate: -1.182333 deg/s, cmd heading: 13.983104 deg, new cmd heading: 12.747067 deg. 2025-01-08T23:01:09.360Z,1736377269.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.222478 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:09.516Z,1736377269.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:09.516Z,1736377269.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278210 2025-01-08T23:01:09.720Z,1736377269.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:09.729Z,1736377269.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:09.732Z,1736377269.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 16.070513 m, bearing: 259.937197 deg, approach rate: 0.429884 m/s, LOS rate: -1.275923 deg/s, cmd heading: 12.747068 deg, new cmd heading: 11.286734 deg. 2025-01-08T23:01:09.733Z,1736377269.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.196991 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:09.768Z,1736377269.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:09.770Z,1736377269.770 [DAT](INFO): DAT read: Range 10 to 50 : 47.4 m (Round-trip 63.2 ms) speed 0.0 m/s 2025-01-08T23:01:09.771Z,1736377269.771 [DAT](INFO): DAT read: user:3008> 2025-01-08T23:01:09.772Z,1736377269.772 [DAT](INFO): DAT read: Tx time:23:01:09.0202 2025-01-08T23:01:09.772Z,1736377269.772 [DAT](INFO): Ping request sent. 2025-01-08T23:01:09.772Z,1736377269.772 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:09.772Z,1736377269.772 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:01:09.772Z,1736377269.772 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:09.773Z,1736377269.773 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:10.020Z,1736377270.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:10.021Z,1736377270.021 [DAT](INFO): DAT read: TxSync time:23:01:09.0194 2025-01-08T23:01:10.159Z,1736377270.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:10.169Z,1736377270.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.400002 m, deltaT: 3.535715 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:01:10.170Z,1736377270.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:10.189Z,1736377270.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 16.254732 m, bearing: 259.406111 deg, approach rate: 0.420454 m/s, LOS rate: -1.198372 deg/s, cmd heading: 11.286734 deg, new cmd heading: 9.711952 deg. 2025-01-08T23:01:10.190Z,1736377270.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.169506 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:10.273Z,1736377270.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:10.524Z,1736377270.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:10.563Z,1736377270.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:10.596Z,1736377270.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:10.598Z,1736377270.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:10.602Z,1736377270.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 16.419380 m, bearing: 258.909440 deg, approach rate: 0.382121 m/s, LOS rate: -1.141119 deg/s, cmd heading: 9.711952 deg, new cmd heading: 8.237225 deg. 2025-01-08T23:01:10.603Z,1736377270.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.143767 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:10.776Z,1736377270.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:10.776Z,1736377270.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:01:10.776Z,1736377270.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:01:10.777Z,1736377270.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:11.016Z,1736377271.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:11.026Z,1736377271.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:11.028Z,1736377271.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:11.028Z,1736377271.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256490 2025-01-08T23:01:11.030Z,1736377271.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 16.592461 m, bearing: 258.358621 deg, approach rate: 0.404771 m/s, LOS rate: -1.274703 deg/s, cmd heading: 8.237225 deg, new cmd heading: 6.602476 deg. 2025-01-08T23:01:11.031Z,1736377271.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115235 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:11.196Z,1736377271.196 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:01:11.280Z,1736377271.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:11.281Z,1736377271.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508648 2025-01-08T23:01:11.378Z,1736377271.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:11.390Z,1736377271.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:11.397Z,1736377271.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 16.728792 m, bearing: 257.923550 deg, approach rate: 0.373752 m/s, LOS rate: -1.183013 deg/s, cmd heading: 6.602476 deg, new cmd heading: 5.308131 deg. 2025-01-08T23:01:11.398Z,1736377271.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092644 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:11.532Z,1736377271.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:11.532Z,1736377271.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760436 2025-01-08T23:01:11.753Z,1736377271.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:11.762Z,1736377271.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:11.765Z,1736377271.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 16.869156 m, bearing: 257.470931 deg, approach rate: 0.377692 m/s, LOS rate: -1.207766 deg/s, cmd heading: 5.308131 deg, new cmd heading: 3.961834 deg. 2025-01-08T23:01:11.766Z,1736377271.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069147 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:11.801Z,1736377271.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:11.802Z,1736377271.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029664 2025-01-08T23:01:12.052Z,1736377272.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:12.052Z,1736377272.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280523 2025-01-08T23:01:12.183Z,1736377272.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:12.193Z,1736377272.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:12.196Z,1736377272.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 17.013268 m, bearing: 256.936613 deg, approach rate: 0.334640 m/s, LOS rate: -1.230205 deg/s, cmd heading: 3.961834 deg, new cmd heading: 2.372890 deg. 2025-01-08T23:01:12.197Z,1736377272.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041415 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:12.200Z,1736377272.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:01:12.304Z,1736377272.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:12.305Z,1736377272.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532671 2025-01-08T23:01:12.556Z,1736377272.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:12.556Z,1736377272.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.784484 2025-01-08T23:01:12.561Z,1736377272.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:12.594Z,1736377272.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:12.602Z,1736377272.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 17.138666 m, bearing: 256.463340 deg, approach rate: 0.312794 m/s, LOS rate: -1.171878 deg/s, cmd heading: 2.372889 deg, new cmd heading: 0.963759 deg. 2025-01-08T23:01:12.607Z,1736377272.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.016821 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:12.808Z,1736377272.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:12.808Z,1736377272.808 [DAT](INFO): DAT read: Rx Time:23:01:11.4878 2025-01-08T23:01:12.809Z,1736377272.809 [DAT](INFO): Rx dataTimestamp_ set to:1736377272.808564 2025-01-08T23:01:12.809Z,1736377272.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037409 2025-01-08T23:01:13.057Z,1736377273.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:13.060Z,1736377273.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:13.061Z,1736377273.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288692 2025-01-08T23:01:13.078Z,1736377273.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:13.092Z,1736377273.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:13.095Z,1736377273.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 17.280085 m, bearing: 255.837925 deg, approach rate: 0.283640 m/s, LOS rate: -1.244091 deg/s, cmd heading: 0.963759 deg, new cmd heading: 359.103558 deg. 2025-01-08T23:01:13.102Z,1736377273.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267540 target range: 47.900002 and range: 47.40 m. 2025-01-08T23:01:13.312Z,1736377273.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:13.313Z,1736377273.313 [DAT](INFO): DAT read: Range 10 to 50 : 47.5 m (Round-trip 63.4 ms) speed -0.1 m/s 2025-01-08T23:01:13.314Z,1736377273.314 [DAT](INFO): DAT read: user:3009> 2025-01-08T23:01:13.315Z,1736377273.315 [DAT](INFO): DAT read: Tx time:23:01:12.5703 2025-01-08T23:01:13.315Z,1736377273.315 [DAT](INFO): Ping request sent. 2025-01-08T23:01:13.315Z,1736377273.315 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:13.316Z,1736377273.316 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:01:13.316Z,1736377273.316 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:13.316Z,1736377273.316 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:13.465Z,1736377273.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:13.476Z,1736377273.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.500000 m, deltaT: 3.543348 s, deltaX: 0.099998 m, approachRate: 0.028221 m/s, rangeRepo size: 4 2025-01-08T23:01:13.476Z,1736377273.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 47.50 m. 2025-01-08T23:01:13.477Z,1736377273.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:13.485Z,1736377273.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 17.390377 m, bearing: 255.312216 deg, approach rate: 0.288328 m/s, LOS rate: -1.365581 deg/s, cmd heading: 359.103561 deg, new cmd heading: 357.536850 deg. 2025-01-08T23:01:13.486Z,1736377273.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.240195 target range: 47.900002 and range: 47.50 m. 2025-01-08T23:01:13.565Z,1736377273.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:13.566Z,1736377273.566 [DAT](INFO): DAT read: TxSync time:23:01:12.5695 2025-01-08T23:01:13.816Z,1736377273.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:13.843Z,1736377273.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:13.853Z,1736377273.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:13.856Z,1736377273.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 17.489943 m, bearing: 254.823204 deg, approach rate: 0.263039 m/s, LOS rate: -1.284535 deg/s, cmd heading: 357.536853 deg, new cmd heading: 356.078501 deg. 2025-01-08T23:01:13.857Z,1736377273.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214742 target range: 47.900002 and range: 47.50 m. 2025-01-08T23:01:14.077Z,1736377274.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:14.268Z,1736377274.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:14.280Z,1736377274.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 47.50 m. 2025-01-08T23:01:14.280Z,1736377274.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:14.283Z,1736377274.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 17.580643 m, bearing: 254.248115 deg, approach rate: 0.212889 m/s, LOS rate: -1.342845 deg/s, cmd heading: 356.078498 deg, new cmd heading: 354.362674 deg. 2025-01-08T23:01:14.300Z,1736377274.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.184795 target range: 47.900002 and range: 47.50 m. 2025-01-08T23:01:14.324Z,1736377274.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:14.576Z,1736377274.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:14.641Z,1736377274.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:14.681Z,1736377274.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 47.50 m. 2025-01-08T23:01:14.682Z,1736377274.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:14.689Z,1736377274.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 17.658279 m, bearing: 253.737150 deg, approach rate: 0.193058 m/s, LOS rate: -1.265008 deg/s, cmd heading: 354.362672 deg, new cmd heading: 352.836899 deg. 2025-01-08T23:01:14.690Z,1736377274.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158165 target range: 47.900002 and range: 47.50 m. 2025-01-08T23:01:14.828Z,1736377274.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:15.080Z,1736377275.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:15.106Z,1736377275.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:15.120Z,1736377275.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:15.122Z,1736377275.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 47.50 m. 2025-01-08T23:01:15.122Z,1736377275.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:15.129Z,1736377275.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 17.721731 m, bearing: 253.083717 deg, approach rate: 0.144070 m/s, LOS rate: -1.478307 deg/s, cmd heading: 352.836890 deg, new cmd heading: 350.884409 deg. 2025-01-08T23:01:15.130Z,1736377275.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.124088 target range: 47.900002 and range: 47.50 m. 2025-01-08T23:01:15.332Z,1736377275.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:15.332Z,1736377275.332 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:01:15.332Z,1736377275.332 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:01:15.333Z,1736377275.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:15.464Z,1736377275.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:15.473Z,1736377275.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 47.50 m. 2025-01-08T23:01:15.473Z,1736377275.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:15.476Z,1736377275.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 17.767561 m, bearing: 252.580125 deg, approach rate: 0.130660 m/s, LOS rate: -1.432014 deg/s, cmd heading: 350.884412 deg, new cmd heading: 349.377897 deg. 2025-01-08T23:01:15.477Z,1736377275.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097795 target range: 47.900002 and range: 47.50 m. 2025-01-08T23:01:15.584Z,1736377275.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:15.585Z,1736377275.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270043 2025-01-08T23:01:15.836Z,1736377275.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:15.837Z,1736377275.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521445 2025-01-08T23:01:15.900Z,1736377275.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:15.914Z,1736377275.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:15.921Z,1736377275.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 17.814270 m, bearing: 251.958380 deg, approach rate: 0.105918 m/s, LOS rate: -1.406147 deg/s, cmd heading: 349.377891 deg, new cmd heading: 347.518237 deg. 2025-01-08T23:01:15.922Z,1736377275.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065338 target range: 47.900002 and range: 47.50 m. 2025-01-08T23:01:16.088Z,1736377276.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:16.089Z,1736377276.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773228 2025-01-08T23:01:16.294Z,1736377276.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:16.302Z,1736377276.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 47.50 m. 2025-01-08T23:01:16.303Z,1736377276.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:16.306Z,1736377276.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 17.835279 m, bearing: 251.374953 deg, approach rate: 0.054050 m/s, LOS rate: -1.499163 deg/s, cmd heading: 347.518249 deg, new cmd heading: 345.770603 deg. 2025-01-08T23:01:16.307Z,1736377276.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034835 target range: 47.900002 and range: 47.50 m. 2025-01-08T23:01:16.341Z,1736377276.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:16.343Z,1736377276.343 [DAT](INFO): DAT read: Rx Time:23:01:15.0386 2025-01-08T23:01:16.344Z,1736377276.344 [DAT](INFO): Rx dataTimestamp_ set to:1736377276.343683 2025-01-08T23:01:16.346Z,1736377276.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030274 2025-01-08T23:01:16.592Z,1736377276.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:16.592Z,1736377276.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277086 2025-01-08T23:01:16.723Z,1736377276.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:16.766Z,1736377276.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 47.50 m. 2025-01-08T23:01:16.767Z,1736377276.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.90 m. 2025-01-08T23:01:16.771Z,1736377276.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.900002 m, nav range: 17.855165 m, bearing: 250.739746 deg, approach rate: 0.043164 m/s, LOS rate: -1.377191 deg/s, cmd heading: 345.770595 deg, new cmd heading: 343.867833 deg. 2025-01-08T23:01:16.772Z,1736377276.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001626 target range: 47.900002 and range: 47.50 m. 2025-01-08T23:01:16.844Z,1736377276.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:16.855Z,1736377276.855 [DAT](INFO): DAT read: 23:01:15.0386 LVL= 13664, 20449, 20658, 28019, AGC= 56, IDX= 430, 0.14,-2.679,-1.897, 1.921,-2.857, PHS= 0.266, 1.007,-1.508, RAW= 13.3, 2.1, CAL= 13.0, 1.9, ROT= 137.0, -1.9 2025-01-08T23:01:16.857Z,1736377276.857 [DAT](INFO): got valid direction response: 23:01:15.0386 LVL= 13664, 20449, 20658, 28019, AGC= 56, IDX= 430, 0.14,-2.679,-1.897, 1.921,-2.857, PHS= 0.266, 1.007,-1.508, RAW= 13.3, 2.1, CAL= 13.0, 1.9, ROT= 137.0, -1.9 2025-01-08T23:01:16.858Z,1736377276.858 [DAT](INFO): DAT read: Bearing 137.0, -1.9 (Local) 2025-01-08T23:01:16.858Z,1736377276.858 [DAT](INFO): Local bearing/azimuth received: Bearing 137.0, -1.9 (Local) 2025-01-08T23:01:16.859Z,1736377276.859 [DAT](INFO): DAT read: Range 10 to 50 : 48.1 m (Round-trip 64.2 ms) speed -0.3 m/s 2025-01-08T23:01:16.860Z,1736377276.860 [DAT](INFO): DAT read: user:3010> 2025-01-08T23:01:16.861Z,1736377276.861 [DAT](INFO): DAT read: Tx time:23:01:16.1203 2025-01-08T23:01:16.861Z,1736377276.861 [DAT](INFO): Ping request sent. 2025-01-08T23:01:16.861Z,1736377276.861 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:16.862Z,1736377276.862 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:01:16.862Z,1736377276.862 [DAT](INFO): direction in FSK: [0.024697,0.983161,0.181066] 2025-01-08T23:01:16.863Z,1736377276.863 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:16.863Z,1736377276.863 [DAT](INFO): publishing direction and range info 2025-01-08T23:01:16.866Z,1736377276.866 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:16.867Z,1736377276.867 [DAT](INFO): publishing direction and range info 2025-01-08T23:01:17.096Z,1736377277.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:17.097Z,1736377277.097 [DAT](INFO): DAT read: TxSync time:23:01:16.1195 2025-01-08T23:01:17.173Z,1736377277.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:17.204Z,1736377277.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.099998 m, deltaT: 3.532688 s, deltaX: 0.599998 m, approachRate: 0.169842 m/s, rangeRepo size: 4 2025-01-08T23:01:17.206Z,1736377277.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.099998 m, bearing: 90.227833 deg, lat: 36.904896 deg, lon: -122.119813 deg, deltaT: 14.140569 s, deltaX: 0.199997 m, approachRate: 0.014143 m/s, posRepo size: 4 2025-01-08T23:01:17.207Z,1736377277.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 48.10 m. 2025-01-08T23:01:17.211Z,1736377277.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:17.214Z,1736377277.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 10.908674 m, bearing: 236.023280 deg, approach rate: 0.000000 m/s, LOS rate: -1.377191 deg/s, cmd heading: 343.867841 deg, new cmd heading: 342.067093 deg. 2025-01-08T23:01:17.220Z,1736377277.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970197 target range: 48.099998 and range: 48.10 m. 2025-01-08T23:01:17.348Z,1736377277.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:17.516Z,1736377277.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:17.524Z,1736377277.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:17.526Z,1736377277.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 48.10 m. 2025-01-08T23:01:17.526Z,1736377277.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:17.529Z,1736377277.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 10.950988 m, bearing: 235.194237 deg, approach rate: 0.129377 m/s, LOS rate: -2.524984 deg/s, cmd heading: 342.067102 deg, new cmd heading: 339.591211 deg. 2025-01-08T23:01:17.530Z,1736377277.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926985 target range: 48.099998 and range: 48.10 m. 2025-01-08T23:01:17.601Z,1736377277.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:17.602Z,1736377277.602 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:01:17.603Z,1736377277.603 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:01:17.603Z,1736377277.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:17.852Z,1736377277.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:17.853Z,1736377277.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991578 2025-01-08T23:01:17.960Z,1736377277.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:17.978Z,1736377277.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:17.982Z,1736377277.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.003878 m, bearing: 234.120339 deg, approach rate: 0.117110 m/s, LOS rate: -2.366280 deg/s, cmd heading: 339.591214 deg, new cmd heading: 336.388532 deg. 2025-01-08T23:01:17.983Z,1736377277.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871088 target range: 48.099998 and range: 48.10 m. 2025-01-08T23:01:18.104Z,1736377278.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:18.105Z,1736377278.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243241 2025-01-08T23:01:18.339Z,1736377278.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:18.347Z,1736377278.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 48.10 m. 2025-01-08T23:01:18.348Z,1736377278.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:18.350Z,1736377278.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.044394 m, bearing: 233.176903 deg, approach rate: 0.109646 m/s, LOS rate: -2.543631 deg/s, cmd heading: 336.388538 deg, new cmd heading: 333.571013 deg. 2025-01-08T23:01:18.352Z,1736377278.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821912 target range: 48.099998 and range: 48.10 m. 2025-01-08T23:01:18.356Z,1736377278.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:18.357Z,1736377278.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495229 2025-01-08T23:01:18.608Z,1736377278.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:18.611Z,1736377278.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748603 2025-01-08T23:01:18.715Z,1736377278.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:18.746Z,1736377278.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 48.10 m. 2025-01-08T23:01:18.746Z,1736377278.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:18.749Z,1736377278.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.082662 m, bearing: 232.241957 deg, approach rate: 0.096057 m/s, LOS rate: -2.338672 deg/s, cmd heading: 333.571003 deg, new cmd heading: 330.778190 deg. 2025-01-08T23:01:18.750Z,1736377278.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773169 target range: 48.099998 and range: 48.10 m. 2025-01-08T23:01:18.860Z,1736377278.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:18.860Z,1736377278.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999157 2025-01-08T23:01:19.112Z,1736377279.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:19.112Z,1736377279.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251076 2025-01-08T23:01:19.141Z,1736377279.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:19.174Z,1736377279.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 48.10 m. 2025-01-08T23:01:19.175Z,1736377279.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:19.182Z,1736377279.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.129522 m, bearing: 231.194890 deg, approach rate: 0.109288 m/s, LOS rate: -2.431541 deg/s, cmd heading: 330.778193 deg, new cmd heading: 327.653492 deg. 2025-01-08T23:01:19.183Z,1736377279.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718632 target range: 48.099998 and range: 48.10 m. 2025-01-08T23:01:19.364Z,1736377279.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:19.364Z,1736377279.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503003 2025-01-08T23:01:19.530Z,1736377279.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:19.566Z,1736377279.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:19.572Z,1736377279.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 48.10 m. 2025-01-08T23:01:19.573Z,1736377279.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:19.580Z,1736377279.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.170885 m, bearing: 230.243835 deg, approach rate: 0.103907 m/s, LOS rate: -2.380184 deg/s, cmd heading: 327.653491 deg, new cmd heading: 324.813352 deg. 2025-01-08T23:01:19.581Z,1736377279.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669063 target range: 48.099998 and range: 48.10 m. 2025-01-08T23:01:19.619Z,1736377279.619 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:19.621Z,1736377279.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759264 2025-01-08T23:01:19.872Z,1736377279.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:19.873Z,1736377279.873 [DAT](INFO): DAT read: Rx Time:23:01:18.5903 2025-01-08T23:01:19.873Z,1736377279.873 [DAT](INFO): Rx dataTimestamp_ set to:1736377279.872830 2025-01-08T23:01:19.874Z,1736377279.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012332 2025-01-08T23:01:19.965Z,1736377279.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:19.983Z,1736377279.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:19.990Z,1736377279.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.215670 m, bearing: 229.182264 deg, approach rate: 0.109167 m/s, LOS rate: -2.577216 deg/s, cmd heading: 324.813362 deg, new cmd heading: 321.644780 deg. 2025-01-08T23:01:19.991Z,1736377279.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613760 target range: 48.099998 and range: 48.10 m. 2025-01-08T23:01:20.124Z,1736377280.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:20.125Z,1736377280.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263233 2025-01-08T23:01:20.354Z,1736377280.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:20.363Z,1736377280.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 48.10 m. 2025-01-08T23:01:20.363Z,1736377280.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:20.378Z,1736377280.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:20.381Z,1736377280.381 [DAT](INFO): DAT read: Range 10 to 50 : 49.4 m (Round-trip 65.9 ms) speed -0.5 m/s 2025-01-08T23:01:20.382Z,1736377280.382 [DAT](INFO): DAT read: user:3011> 2025-01-08T23:01:20.384Z,1736377280.384 [DAT](INFO): DAT read: Tx time:23:01:19.6703 2025-01-08T23:01:20.385Z,1736377280.385 [DAT](INFO): Ping request sent. 2025-01-08T23:01:20.385Z,1736377280.385 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:20.385Z,1736377280.385 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:01:20.386Z,1736377280.386 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:20.386Z,1736377280.386 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:20.408Z,1736377280.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.267303 m, bearing: 228.269543 deg, approach rate: 0.135898 m/s, LOS rate: -2.391181 deg/s, cmd heading: 321.644782 deg, new cmd heading: 318.921334 deg. 2025-01-08T23:01:20.414Z,1736377280.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.566227 target range: 48.099998 and range: 48.10 m. 2025-01-08T23:01:20.628Z,1736377280.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:20.629Z,1736377280.629 [DAT](INFO): DAT read: TxSync time:23:01:19.6695 2025-01-08T23:01:20.739Z,1736377280.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:20.752Z,1736377280.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.400002 m, deltaT: 3.533728 s, deltaX: 1.300003 m, approachRate: 0.367884 m/s, rangeRepo size: 4 2025-01-08T23:01:20.752Z,1736377280.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 49.40 m. 2025-01-08T23:01:20.753Z,1736377280.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:20.756Z,1736377280.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.316817 m, bearing: 227.369867 deg, approach rate: 0.128809 m/s, LOS rate: -2.330096 deg/s, cmd heading: 318.921340 deg, new cmd heading: 316.236198 deg. 2025-01-08T23:01:20.757Z,1736377280.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519363 target range: 48.099998 and range: 49.40 m. 2025-01-08T23:01:20.880Z,1736377280.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:21.132Z,1736377281.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:21.176Z,1736377281.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:21.185Z,1736377281.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 49.40 m. 2025-01-08T23:01:21.185Z,1736377281.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:21.188Z,1736377281.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.383958 m, bearing: 226.429001 deg, approach rate: 0.153514 m/s, LOS rate: -2.138465 deg/s, cmd heading: 316.236201 deg, new cmd heading: 313.432617 deg. 2025-01-08T23:01:21.189Z,1736377281.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470431 target range: 48.099998 and range: 49.40 m. 2025-01-08T23:01:21.384Z,1736377281.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:21.557Z,1736377281.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:21.566Z,1736377281.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 49.40 m. 2025-01-08T23:01:21.566Z,1736377281.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:21.590Z,1736377281.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.441134 m, bearing: 225.607235 deg, approach rate: 0.149780 m/s, LOS rate: -2.141876 deg/s, cmd heading: 313.432627 deg, new cmd heading: 310.981230 deg. 2025-01-08T23:01:21.591Z,1736377281.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427646 target range: 48.099998 and range: 49.40 m. 2025-01-08T23:01:21.636Z,1736377281.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:21.888Z,1736377281.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:21.957Z,1736377281.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:21.963Z,1736377281.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:21.965Z,1736377281.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:21.969Z,1736377281.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.499395 m, bearing: 224.749912 deg, approach rate: 0.145889 m/s, LOS rate: -2.135833 deg/s, cmd heading: 310.981218 deg, new cmd heading: 308.424075 deg. 2025-01-08T23:01:21.970Z,1736377281.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383016 target range: 48.099998 and range: 49.40 m. 2025-01-08T23:01:22.142Z,1736377282.142 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:22.144Z,1736377282.144 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:01:22.144Z,1736377282.144 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:01:22.145Z,1736377282.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:22.376Z,1736377282.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:22.386Z,1736377282.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 49.40 m. 2025-01-08T23:01:22.387Z,1736377282.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:22.390Z,1736377282.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.575572 m, bearing: 223.912708 deg, approach rate: 0.181038 m/s, LOS rate: -1.976502 deg/s, cmd heading: 308.424077 deg, new cmd heading: 305.930658 deg. 2025-01-08T23:01:22.390Z,1736377282.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339497 target range: 48.099998 and range: 49.40 m. 2025-01-08T23:01:22.392Z,1736377282.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:22.392Z,1736377282.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007662 2025-01-08T23:01:22.644Z,1736377282.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:22.645Z,1736377282.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260581 2025-01-08T23:01:22.760Z,1736377282.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:22.790Z,1736377282.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 49.40 m. 2025-01-08T23:01:22.790Z,1736377282.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:22.793Z,1736377282.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.644217 m, bearing: 223.147154 deg, approach rate: 0.170046 m/s, LOS rate: -1.885189 deg/s, cmd heading: 305.930648 deg, new cmd heading: 303.648798 deg. 2025-01-08T23:01:22.794Z,1736377282.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299671 target range: 48.099998 and range: 49.40 m. 2025-01-08T23:01:22.896Z,1736377282.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:22.896Z,1736377282.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511701 2025-01-08T23:01:23.149Z,1736377283.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:23.152Z,1736377283.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766744 2025-01-08T23:01:23.216Z,1736377283.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:23.225Z,1736377283.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 49.40 m. 2025-01-08T23:01:23.225Z,1736377283.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:23.229Z,1736377283.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.735796 m, bearing: 222.316783 deg, approach rate: 0.210470 m/s, LOS rate: -1.893421 deg/s, cmd heading: 303.648791 deg, new cmd heading: 301.178737 deg. 2025-01-08T23:01:23.230Z,1736377283.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256561 target range: 48.099998 and range: 49.40 m. 2025-01-08T23:01:23.400Z,1736377283.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:23.401Z,1736377283.401 [DAT](INFO): DAT read: Rx Time:23:01:22.1425 2025-01-08T23:01:23.401Z,1736377283.401 [DAT](INFO): Rx dataTimestamp_ set to:1736377283.400824 2025-01-08T23:01:23.402Z,1736377283.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016837 2025-01-08T23:01:23.586Z,1736377283.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:23.594Z,1736377283.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 49.40 m. 2025-01-08T23:01:23.595Z,1736377283.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:23.598Z,1736377283.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.808982 m, bearing: 221.644606 deg, approach rate: 0.198142 m/s, LOS rate: -1.808518 deg/s, cmd heading: 301.178749 deg, new cmd heading: 299.175577 deg. 2025-01-08T23:01:23.599Z,1736377283.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.221599 target range: 48.099998 and range: 49.40 m. 2025-01-08T23:01:23.653Z,1736377283.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:23.654Z,1736377283.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269351 2025-01-08T23:01:23.904Z,1736377283.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:23.905Z,1736377283.905 [DAT](INFO): DAT read: Range 10 to 50 : 51.0 m (Round-trip 68.0 ms) speed -0.6 m/s 2025-01-08T23:01:23.906Z,1736377283.906 [DAT](INFO): DAT read: user:3012> 2025-01-08T23:01:23.907Z,1736377283.907 [DAT](INFO): DAT read: Tx time:23:01:23.2204 2025-01-08T23:01:23.907Z,1736377283.907 [DAT](INFO): Ping request sent. 2025-01-08T23:01:23.907Z,1736377283.907 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:23.908Z,1736377283.908 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:01:23.908Z,1736377283.908 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:23.908Z,1736377283.908 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:24.010Z,1736377284.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:24.032Z,1736377284.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:24.042Z,1736377284.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.000000 m, deltaT: 3.525575 s, deltaX: 1.599998 m, approachRate: 0.453826 m/s, rangeRepo size: 4 2025-01-08T23:01:24.042Z,1736377284.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 51.00 m. 2025-01-08T23:01:24.042Z,1736377284.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:24.050Z,1736377284.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.891445 m, bearing: 220.877576 deg, approach rate: 0.187299 m/s, LOS rate: -1.730030 deg/s, cmd heading: 299.175591 deg, new cmd heading: 296.891734 deg. 2025-01-08T23:01:24.056Z,1736377284.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181738 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:24.158Z,1736377284.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:24.161Z,1736377284.161 [DAT](INFO): DAT read: TxSync time:23:01:23.2196 2025-01-08T23:01:24.163Z,1736377284.163 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:01:24.165Z,1736377284.165 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:01:24.166Z,1736377284.166 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:24.408Z,1736377284.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:24.409Z,1736377284.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501344 2025-01-08T23:01:24.434Z,1736377284.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:24.442Z,1736377284.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:24.445Z,1736377284.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 11.985623 m, bearing: 220.175055 deg, approach rate: 0.231057 m/s, LOS rate: -1.709976 deg/s, cmd heading: 296.891740 deg, new cmd heading: 294.801719 deg. 2025-01-08T23:01:24.446Z,1736377284.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.145261 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:24.660Z,1736377284.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:24.661Z,1736377284.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753989 2025-01-08T23:01:24.777Z,1736377284.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:24.787Z,1736377284.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:24.790Z,1736377284.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.057965 m, bearing: 219.599314 deg, approach rate: 0.209820 m/s, LOS rate: -1.659830 deg/s, cmd heading: 294.801729 deg, new cmd heading: 293.085409 deg. 2025-01-08T23:01:24.791Z,1736377284.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.115305 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:24.912Z,1736377284.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:24.913Z,1736377284.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005496 2025-01-08T23:01:25.165Z,1736377285.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:25.168Z,1736377285.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259678 2025-01-08T23:01:25.240Z,1736377285.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:25.249Z,1736377285.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:25.254Z,1736377285.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.153505 m, bearing: 218.823869 deg, approach rate: 0.206908 m/s, LOS rate: -1.666101 deg/s, cmd heading: 293.085412 deg, new cmd heading: 290.778682 deg. 2025-01-08T23:01:25.256Z,1736377285.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075046 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:25.416Z,1736377285.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:25.416Z,1736377285.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509030 2025-01-08T23:01:25.589Z,1736377285.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:25.604Z,1736377285.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:25.612Z,1736377285.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.224511 m, bearing: 218.240843 deg, approach rate: 0.200518 m/s, LOS rate: -1.636853 deg/s, cmd heading: 290.778693 deg, new cmd heading: 289.040339 deg. 2025-01-08T23:01:25.614Z,1736377285.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.044705 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:25.669Z,1736377285.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:25.670Z,1736377285.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762434 2025-01-08T23:01:25.920Z,1736377285.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:25.920Z,1736377285.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013223 2025-01-08T23:01:26.027Z,1736377286.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:26.042Z,1736377286.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:26.044Z,1736377286.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:26.047Z,1736377286.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.315265 m, bearing: 217.519749 deg, approach rate: 0.205763 m/s, LOS rate: -1.622824 deg/s, cmd heading: 289.040328 deg, new cmd heading: 286.894049 deg. 2025-01-08T23:01:26.048Z,1736377286.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.007246 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:26.174Z,1736377286.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:26.177Z,1736377286.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269040 2025-01-08T23:01:26.414Z,1736377286.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:26.424Z,1736377286.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:26.425Z,1736377286.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517362 2025-01-08T23:01:26.448Z,1736377286.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:26.451Z,1736377286.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.384155 m, bearing: 216.842565 deg, approach rate: 0.170631 m/s, LOS rate: -1.667914 deg/s, cmd heading: 286.894036 deg, new cmd heading: 284.874667 deg. 2025-01-08T23:01:26.456Z,1736377286.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972001 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:26.676Z,1736377286.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:26.678Z,1736377286.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770434 2025-01-08T23:01:26.799Z,1736377286.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:26.826Z,1736377286.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:26.829Z,1736377286.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.451393 m, bearing: 216.170954 deg, approach rate: 0.177550 m/s, LOS rate: -1.763851 deg/s, cmd heading: 284.874677 deg, new cmd heading: 282.871587 deg. 2025-01-08T23:01:26.830Z,1736377286.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.937040 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:26.928Z,1736377286.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:26.928Z,1736377286.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021112 2025-01-08T23:01:27.181Z,1736377287.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:27.185Z,1736377287.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276538 2025-01-08T23:01:27.289Z,1736377287.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:27.304Z,1736377287.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:27.308Z,1736377287.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.525422 m, bearing: 215.231269 deg, approach rate: 0.154932 m/s, LOS rate: -1.954914 deg/s, cmd heading: 282.871574 deg, new cmd heading: 280.071537 deg. 2025-01-08T23:01:27.309Z,1736377287.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888170 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:27.432Z,1736377287.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:27.433Z,1736377287.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525398 2025-01-08T23:01:27.686Z,1736377287.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:27.688Z,1736377287.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779755 2025-01-08T23:01:27.743Z,1736377287.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:27.766Z,1736377287.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:27.770Z,1736377287.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.588578 m, bearing: 214.356806 deg, approach rate: 0.136715 m/s, LOS rate: -1.883390 deg/s, cmd heading: 280.071524 deg, new cmd heading: 277.463204 deg. 2025-01-08T23:01:27.771Z,1736377287.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842647 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:27.937Z,1736377287.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:27.938Z,1736377287.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030064 2025-01-08T23:01:28.147Z,1736377288.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:28.190Z,1736377288.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:28.192Z,1736377288.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284578 2025-01-08T23:01:28.195Z,1736377288.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:28.221Z,1736377288.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:28.244Z,1736377288.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.643544 m, bearing: 213.578972 deg, approach rate: 0.123707 m/s, LOS rate: -1.742942 deg/s, cmd heading: 277.463212 deg, new cmd heading: 275.141196 deg. 2025-01-08T23:01:28.245Z,1736377288.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802120 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:28.442Z,1736377288.442 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:28.444Z,1736377288.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536710 2025-01-08T23:01:28.583Z,1736377288.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:28.597Z,1736377288.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:28.600Z,1736377288.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.689041 m, bearing: 212.636082 deg, approach rate: 0.117762 m/s, LOS rate: -2.431666 deg/s, cmd heading: 275.141193 deg, new cmd heading: 272.325063 deg. 2025-01-08T23:01:28.601Z,1736377288.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.752969 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:28.692Z,1736377288.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:28.693Z,1736377288.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785254 2025-01-08T23:01:28.944Z,1736377288.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:28.944Z,1736377288.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037211 2025-01-08T23:01:28.957Z,1736377288.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:28.965Z,1736377288.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:28.969Z,1736377288.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.726732 m, bearing: 211.827894 deg, approach rate: 0.102309 m/s, LOS rate: -2.187178 deg/s, cmd heading: 272.325052 deg, new cmd heading: 269.909183 deg. 2025-01-08T23:01:28.970Z,1736377288.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710804 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:29.198Z,1736377289.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:29.202Z,1736377289.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293903 2025-01-08T23:01:29.356Z,1736377289.356 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815023450,35.0, +100,1493.3, 0 2025-01-08T23:01:29.363Z,1736377289.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:01:29.363Z,1736377289.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:29.373Z,1736377289.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:29.376Z,1736377289.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.766170 m, bearing: 210.952105 deg, approach rate: 0.096824 m/s, LOS rate: -2.143453 deg/s, cmd heading: 269.909186 deg, new cmd heading: 267.291859 deg. 2025-01-08T23:01:29.377Z,1736377289.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665123 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:29.449Z,1736377289.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:29.450Z,1736377289.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542460 2025-01-08T23:01:29.700Z,1736377289.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:29.701Z,1736377289.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793408 2025-01-08T23:01:29.774Z,1736377289.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:01:29.774Z,1736377289.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:29.782Z,1736377289.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:29.786Z,1736377289.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.803513 m, bearing: 210.089303 deg, approach rate: 0.091141 m/s, LOS rate: -2.099565 deg/s, cmd heading: 267.291858 deg, new cmd heading: 264.712843 deg. 2025-01-08T23:01:29.787Z,1736377289.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620111 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:29.952Z,1736377289.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:29.953Z,1736377289.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045845 2025-01-08T23:01:30.196Z,1736377290.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:01:30.196Z,1736377290.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:30.205Z,1736377290.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:30.208Z,1736377290.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300294 2025-01-08T23:01:30.230Z,1736377290.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:30.261Z,1736377290.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:30.274Z,1736377290.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.842496 m, bearing: 209.157787 deg, approach rate: 0.083209 m/s, LOS rate: -1.982185 deg/s, cmd heading: 264.712833 deg, new cmd heading: 261.929083 deg. 2025-01-08T23:01:30.275Z,1736377290.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571525 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:30.456Z,1736377290.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:30.456Z,1736377290.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549213 2025-01-08T23:01:30.613Z,1736377290.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:30.643Z,1736377290.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:30.654Z,1736377290.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.857194 m, bearing: 208.042924 deg, approach rate: 0.037859 m/s, LOS rate: -2.868199 deg/s, cmd heading: 261.929094 deg, new cmd heading: 258.592317 deg. 2025-01-08T23:01:30.665Z,1736377290.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513288 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:30.708Z,1736377290.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:30.709Z,1736377290.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801280 2025-01-08T23:01:30.960Z,1736377290.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:30.960Z,1736377290.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053114 2025-01-08T23:01:31.083Z,1736377291.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:31.092Z,1736377291.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:31.095Z,1736377291.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.872990 m, bearing: 206.788280 deg, approach rate: 0.034858 m/s, LOS rate: -2.765099 deg/s, cmd heading: 258.592328 deg, new cmd heading: 254.838694 deg. 2025-01-08T23:01:31.096Z,1736377291.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.447774 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:31.213Z,1736377291.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:31.216Z,1736377291.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308298 2025-01-08T23:01:31.464Z,1736377291.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:31.464Z,1736377291.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556981 2025-01-08T23:01:31.535Z,1736377291.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:31.546Z,1736377291.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:31.549Z,1736377291.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.878255 m, bearing: 205.490802 deg, approach rate: 0.011614 m/s, LOS rate: -2.860477 deg/s, cmd heading: 254.838702 deg, new cmd heading: 250.954153 deg. 2025-01-08T23:01:31.550Z,1736377291.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379976 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:31.716Z,1736377291.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:31.716Z,1736377291.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809206 2025-01-08T23:01:31.894Z,1736377291.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:31.903Z,1736377291.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:31.906Z,1736377291.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.881715 m, bearing: 204.462553 deg, approach rate: 0.009680 m/s, LOS rate: -2.875815 deg/s, cmd heading: 250.954155 deg, new cmd heading: 247.873377 deg. 2025-01-08T23:01:31.907Z,1736377291.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326207 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:31.970Z,1736377291.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:31.971Z,1736377291.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063297 2025-01-08T23:01:32.220Z,1736377292.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:32.220Z,1736377292.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313034 2025-01-08T23:01:32.346Z,1736377292.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:32.354Z,1736377292.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:32.356Z,1736377292.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:32.359Z,1736377292.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.882345 m, bearing: 203.121262 deg, approach rate: 0.001391 m/s, LOS rate: -2.959631 deg/s, cmd heading: 247.873384 deg, new cmd heading: 243.856667 deg. 2025-01-08T23:01:32.360Z,1736377292.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256102 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:32.472Z,1736377292.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:32.473Z,1736377292.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565571 2025-01-08T23:01:32.703Z,1736377292.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:32.714Z,1736377292.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:32.720Z,1736377292.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.882257 m, bearing: 202.062482 deg, approach rate: -0.000246 m/s, LOS rate: -2.969948 deg/s, cmd heading: 243.856659 deg, new cmd heading: 240.683726 deg. 2025-01-08T23:01:32.723Z,1736377292.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200724 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:32.725Z,1736377292.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:32.725Z,1736377292.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818064 2025-01-08T23:01:32.976Z,1736377292.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:32.977Z,1736377292.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069252 2025-01-08T23:01:33.102Z,1736377293.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:33.111Z,1736377293.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:33.114Z,1736377293.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.881309 m, bearing: 200.876203 deg, approach rate: -0.002381 m/s, LOS rate: -2.976851 deg/s, cmd heading: 240.683736 deg, new cmd heading: 237.129459 deg. 2025-01-08T23:01:33.115Z,1736377293.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138690 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:33.228Z,1736377293.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:33.229Z,1736377293.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321278 2025-01-08T23:01:33.480Z,1736377293.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:33.480Z,1736377293.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573131 2025-01-08T23:01:33.546Z,1736377293.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:33.574Z,1736377293.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:33.581Z,1736377293.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.878078 m, bearing: 199.564389 deg, approach rate: -0.006976 m/s, LOS rate: -2.832684 deg/s, cmd heading: 237.129469 deg, new cmd heading: 233.199558 deg. 2025-01-08T23:01:33.582Z,1736377293.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.070100 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:33.733Z,1736377293.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:33.735Z,1736377293.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826943 2025-01-08T23:01:33.925Z,1736377293.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:33.958Z,1736377293.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:33.965Z,1736377293.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.874868 m, bearing: 198.440248 deg, approach rate: -0.008366 m/s, LOS rate: -2.931061 deg/s, cmd heading: 233.199570 deg, new cmd heading: 229.830411 deg. 2025-01-08T23:01:33.966Z,1736377293.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.011297 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:33.985Z,1736377293.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:33.985Z,1736377293.985 [DAT](INFO): Reached modem response timeout 2025-01-08T23:01:33.986Z,1736377293.986 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:01:33.986Z,1736377293.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:34.236Z,1736377294.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:34.236Z,1736377294.236 [DAT](INFO): Reached modem response timeout 2025-01-08T23:01:34.236Z,1736377294.236 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:01:34.237Z,1736377294.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:34.380Z,1736377294.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:34.395Z,1736377294.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:34.404Z,1736377294.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:34.407Z,1736377294.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.870423 m, bearing: 197.171750 deg, approach rate: -0.009962 m/s, LOS rate: -2.843481 deg/s, cmd heading: 229.830401 deg, new cmd heading: 226.029490 deg. 2025-01-08T23:01:34.412Z,1736377294.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.944959 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:34.490Z,1736377294.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:34.490Z,1736377294.490 [DAT](INFO): Reached modem response timeout 2025-01-08T23:01:34.490Z,1736377294.490 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:01:34.491Z,1736377294.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:34.725Z,1736377294.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:34.734Z,1736377294.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:34.737Z,1736377294.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.866242 m, bearing: 196.210381 deg, approach rate: -0.012683 m/s, LOS rate: -2.917135 deg/s, cmd heading: 226.029497 deg, new cmd heading: 223.147021 deg. 2025-01-08T23:01:34.738Z,1736377294.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.894650 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:34.740Z,1736377294.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:34.741Z,1736377294.741 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:01:34.741Z,1736377294.741 [DAT](INFO): response not received 2025-01-08T23:01:34.741Z,1736377294.741 [DAT](INFO): DAT read: user:3013> 2025-01-08T23:01:34.742Z,1736377294.742 [DAT](ERROR): No response from remote modem. 2025-01-08T23:01:34.742Z,1736377294.742 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:01:34.742Z,1736377294.742 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:34.992Z,1736377294.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:34.993Z,1736377294.993 [DAT](INFO): DAT read: Tx time:23:01:34.1705 2025-01-08T23:01:34.993Z,1736377294.993 [DAT](INFO): Ping request sent. 2025-01-08T23:01:34.993Z,1736377294.993 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:34.994Z,1736377294.994 [DAT](INFO): DAT read: TxSync time:23:01:34.1697 2025-01-08T23:01:34.994Z,1736377294.994 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:34.995Z,1736377294.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001563 2025-01-08T23:01:35.125Z,1736377295.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:35.133Z,1736377295.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:35.138Z,1736377295.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.860193 m, bearing: 195.095670 deg, approach rate: -0.015136 m/s, LOS rate: -2.790284 deg/s, cmd heading: 223.147020 deg, new cmd heading: 219.805320 deg. 2025-01-08T23:01:35.139Z,1736377295.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.836327 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:35.245Z,1736377295.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:35.248Z,1736377295.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253846 2025-01-08T23:01:35.496Z,1736377295.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:35.496Z,1736377295.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503258 2025-01-08T23:01:35.558Z,1736377295.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:35.595Z,1736377295.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:35.602Z,1736377295.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.861565 m, bearing: 193.977141 deg, approach rate: 0.002973 m/s, LOS rate: -2.424442 deg/s, cmd heading: 219.805323 deg, new cmd heading: 216.454131 deg. 2025-01-08T23:01:35.603Z,1736377295.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777837 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:35.748Z,1736377295.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:35.749Z,1736377295.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755401 2025-01-08T23:01:35.927Z,1736377295.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:35.949Z,1736377295.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:35.953Z,1736377295.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.861427 m, bearing: 193.022185 deg, approach rate: -0.000387 m/s, LOS rate: -2.694245 deg/s, cmd heading: 216.454132 deg, new cmd heading: 213.591752 deg. 2025-01-08T23:01:35.954Z,1736377295.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.727879 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:36.001Z,1736377296.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:36.002Z,1736377296.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009141 2025-01-08T23:01:36.252Z,1736377296.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:36.253Z,1736377296.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259808 2025-01-08T23:01:36.404Z,1736377296.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:36.411Z,1736377296.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:36.413Z,1736377296.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:36.416Z,1736377296.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.860667 m, bearing: 191.909825 deg, approach rate: -0.001638 m/s, LOS rate: -2.396623 deg/s, cmd heading: 213.591750 deg, new cmd heading: 210.258446 deg. 2025-01-08T23:01:36.418Z,1736377296.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.669702 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:36.505Z,1736377296.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:36.506Z,1736377296.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512984 2025-01-08T23:01:36.742Z,1736377296.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:36.756Z,1736377296.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:36.757Z,1736377296.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763386 2025-01-08T23:01:36.757Z,1736377296.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:36.760Z,1736377296.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.859201 m, bearing: 191.122921 deg, approach rate: -0.004259 m/s, LOS rate: -2.286710 deg/s, cmd heading: 210.258440 deg, new cmd heading: 207.898868 deg. 2025-01-08T23:01:36.761Z,1736377296.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.628520 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:37.008Z,1736377297.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:37.009Z,1736377297.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015196 2025-01-08T23:01:37.150Z,1736377297.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:37.165Z,1736377297.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:37.169Z,1736377297.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.856180 m, bearing: 190.171808 deg, approach rate: -0.007516 m/s, LOS rate: -2.366411 deg/s, cmd heading: 207.898869 deg, new cmd heading: 205.047348 deg. 2025-01-08T23:01:37.170Z,1736377297.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578751 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:37.260Z,1736377297.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:37.261Z,1736377297.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267961 2025-01-08T23:01:37.512Z,1736377297.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:37.512Z,1736377297.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519251 2025-01-08T23:01:37.589Z,1736377297.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:37.610Z,1736377297.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:37.626Z,1736377297.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.857966 m, bearing: 189.233416 deg, approach rate: 0.003967 m/s, LOS rate: -2.083470 deg/s, cmd heading: 205.047347 deg, new cmd heading: 202.234949 deg. 2025-01-08T23:01:37.627Z,1736377297.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529666 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:37.766Z,1736377297.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:37.769Z,1736377297.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775180 2025-01-08T23:01:37.978Z,1736377297.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:37.988Z,1736377297.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:37.991Z,1736377297.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.854162 m, bearing: 188.399620 deg, approach rate: -0.010070 m/s, LOS rate: -2.207781 deg/s, cmd heading: 202.234948 deg, new cmd heading: 199.734496 deg. 2025-01-08T23:01:37.992Z,1736377297.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.486025 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:38.016Z,1736377298.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:38.017Z,1736377298.017 [DAT](INFO): DAT read: Rx Time:23:01:36.6520 2025-01-08T23:01:38.017Z,1736377298.017 [DAT](INFO): Rx dataTimestamp_ set to:1736377298.016749 2025-01-08T23:01:38.018Z,1736377298.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024948 2025-01-08T23:01:38.269Z,1736377298.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:38.269Z,1736377298.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276056 2025-01-08T23:01:38.461Z,1736377298.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:38.469Z,1736377298.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:38.471Z,1736377298.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:38.474Z,1736377298.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.856977 m, bearing: 187.445539 deg, approach rate: 0.005821 m/s, LOS rate: -1.972920 deg/s, cmd heading: 199.734498 deg, new cmd heading: 196.875390 deg. 2025-01-08T23:01:38.475Z,1736377298.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.436124 target range: 48.099998 and range: 51.00 m. 2025-01-08T23:01:38.520Z,1736377298.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:38.522Z,1736377298.522 [DAT](INFO): DAT read: Range 10 to 50 : 58.0 m (Round-trip 77.4 ms) speed -0.4 m/s 2025-01-08T23:01:38.523Z,1736377298.523 [DAT](INFO): DAT read: user:3014> 2025-01-08T23:01:38.524Z,1736377298.524 [DAT](INFO): DAT read: Tx time:23:01:37.7705 2025-01-08T23:01:38.524Z,1736377298.524 [DAT](INFO): Ping request sent. 2025-01-08T23:01:38.524Z,1736377298.524 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:38.524Z,1736377298.524 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:01:38.524Z,1736377298.524 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:38.525Z,1736377298.525 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:38.772Z,1736377298.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:38.772Z,1736377298.772 [DAT](INFO): DAT read: TxSync time:23:01:37.7697 2025-01-08T23:01:38.798Z,1736377298.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:38.825Z,1736377298.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.000000 m, deltaT: 14.616555 s, deltaX: 7.000000 m, approachRate: 0.478909 m/s, rangeRepo size: 4 2025-01-08T23:01:38.825Z,1736377298.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:38.836Z,1736377298.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.854209 m, bearing: 186.778708 deg, approach rate: -0.008237 m/s, LOS rate: -1.985158 deg/s, cmd heading: 196.875394 deg, new cmd heading: 194.875329 deg. 2025-01-08T23:01:38.837Z,1736377298.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.401216 target range: 48.099998 and range: 58.00 m. 2025-01-08T23:01:39.024Z,1736377299.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:39.201Z,1736377299.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:39.210Z,1736377299.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:39.213Z,1736377299.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.848392 m, bearing: 185.984195 deg, approach rate: -0.014426 m/s, LOS rate: -1.971368 deg/s, cmd heading: 194.875324 deg, new cmd heading: 192.492156 deg. 2025-01-08T23:01:39.214Z,1736377299.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.359622 target range: 48.099998 and range: 58.00 m. 2025-01-08T23:01:39.276Z,1736377299.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:39.530Z,1736377299.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:39.687Z,1736377299.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:39.708Z,1736377299.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:39.710Z,1736377299.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.848482 m, bearing: 185.018610 deg, approach rate: 0.000182 m/s, LOS rate: -1.957658 deg/s, cmd heading: 192.492161 deg, new cmd heading: 189.598028 deg. 2025-01-08T23:01:39.716Z,1736377299.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.309110 target range: 48.099998 and range: 58.00 m. 2025-01-08T23:01:39.782Z,1736377299.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:40.032Z,1736377300.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:40.076Z,1736377300.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:40.087Z,1736377300.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:40.090Z,1736377300.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.847348 m, bearing: 184.245237 deg, approach rate: -0.002956 m/s, LOS rate: -2.016234 deg/s, cmd heading: 189.598033 deg, new cmd heading: 187.279048 deg. 2025-01-08T23:01:40.091Z,1736377300.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.268636 target range: 48.099998 and range: 58.00 m. 2025-01-08T23:01:40.286Z,1736377300.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:40.516Z,1736377300.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:40.524Z,1736377300.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:40.526Z,1736377300.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:40.529Z,1736377300.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.842393 m, bearing: 183.319672 deg, approach rate: -0.011279 m/s, LOS rate: -2.107526 deg/s, cmd heading: 187.279047 deg, new cmd heading: 184.503573 deg. 2025-01-08T23:01:40.530Z,1736377300.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.220195 target range: 48.099998 and range: 58.00 m. 2025-01-08T23:01:40.536Z,1736377300.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:40.537Z,1736377300.537 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:01:40.537Z,1736377300.537 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:01:40.537Z,1736377300.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:40.789Z,1736377300.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:40.790Z,1736377300.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266217 2025-01-08T23:01:40.894Z,1736377300.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:40.904Z,1736377300.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:40.907Z,1736377300.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.836867 m, bearing: 182.520201 deg, approach rate: -0.014618 m/s, LOS rate: -2.115787 deg/s, cmd heading: 184.503572 deg, new cmd heading: 182.105607 deg. 2025-01-08T23:01:40.908Z,1736377300.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.178342 target range: 48.099998 and range: 58.00 m. 2025-01-08T23:01:41.041Z,1736377301.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:41.042Z,1736377301.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517978 2025-01-08T23:01:41.292Z,1736377301.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:41.292Z,1736377301.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768307 2025-01-08T23:01:41.303Z,1736377301.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:41.311Z,1736377301.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:41.314Z,1736377301.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.829430 m, bearing: 181.657707 deg, approach rate: -0.018275 m/s, LOS rate: -2.120350 deg/s, cmd heading: 182.105602 deg, new cmd heading: 179.518477 deg. 2025-01-08T23:01:41.316Z,1736377301.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.133188 target range: 48.099998 and range: 58.00 m. 2025-01-08T23:01:41.544Z,1736377301.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:41.546Z,1736377301.546 [DAT](INFO): DAT read: Rx Time:23:01:40.2542 2025-01-08T23:01:41.546Z,1736377301.546 [DAT](INFO): Rx dataTimestamp_ set to:1736377301.545737 2025-01-08T23:01:41.547Z,1736377301.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022911 2025-01-08T23:01:41.726Z,1736377301.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:41.768Z,1736377301.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:41.777Z,1736377301.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.099998 m, nav range: 12.828318 m, bearing: 180.673767 deg, approach rate: -0.002435 m/s, LOS rate: -2.154778 deg/s, cmd heading: 179.518477 deg, new cmd heading: 176.569153 deg. 2025-01-08T23:01:41.778Z,1736377301.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.081713 target range: 48.099998 and range: 58.00 m. 2025-01-08T23:01:41.796Z,1736377301.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:41.797Z,1736377301.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272574 2025-01-08T23:01:42.048Z,1736377302.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:42.050Z,1736377302.050 [DAT](INFO): DAT read: Range 10 to 50 : 59.7 m (Round-trip 79.6 ms) speed -0.4 m/s 2025-01-08T23:01:42.054Z,1736377302.054 [DAT](INFO): DAT read: user:3015> 2025-01-08T23:01:42.056Z,1736377302.056 [DAT](INFO): DAT read: Tx time:23:01:41.3706 2025-01-08T23:01:42.056Z,1736377302.056 [DAT](INFO): Ping request sent. 2025-01-08T23:01:42.057Z,1736377302.057 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:42.057Z,1736377302.057 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:01:42.057Z,1736377302.057 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:42.058Z,1736377302.058 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:42.131Z,1736377302.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:42.158Z,1736377302.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.700001 m, deltaT: 3.527473 s, deltaX: 1.700001 m, approachRate: 0.481932 m/s, rangeRepo size: 4 2025-01-08T23:01:42.158Z,1736377302.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:42.159Z,1736377302.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 59.70 m. Rolling out. 2025-01-08T23:01:42.164Z,1736377302.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-01-08T23:01:42.192Z,1736377302.192 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T23:01:42.192Z,1736377302.192 [DockingStepper](INFO): Standby mode. 2025-01-08T23:01:42.252Z,1736377302.252 [DockingStepper](INFO): Commanding positive:54396 2025-01-08T23:01:42.301Z,1736377302.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:42.302Z,1736377302.302 [DAT](INFO): DAT read: TxSync time:23:01:41.3698 2025-01-08T23:01:42.320Z,1736377302.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:01:42.538Z,1736377302.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:42.544Z,1736377302.544 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-01-08T23:01:42.544Z,1736377302.544 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T23:01:42.545Z,1736377302.545 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-01-08T23:01:42.546Z,1736377302.546 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 59.700001 m (mode 5.000000 count ). 2025-01-08T23:01:42.546Z,1736377302.546 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-01-08T23:01:42.546Z,1736377302.546 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-01-08T23:01:42.547Z,1736377302.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:01:42.549Z,1736377302.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:42.554Z,1736377302.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:42.555Z,1736377302.555 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:01:42.555Z,1736377302.555 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:01:42.555Z,1736377302.555 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:01:42.569Z,1736377302.569 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-01-08T23:01:42.569Z,1736377302.569 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T23:01:42.569Z,1736377302.569 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-01-08T23:01:42.569Z,1736377302.569 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-01-08T23:01:42.808Z,1736377302.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:42.808Z,1736377302.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751757 2025-01-08T23:01:42.977Z,1736377302.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:42.990Z,1736377302.990 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-01-08T23:01:42.990Z,1736377302.990 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-01-08T23:01:42.997Z,1736377302.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:43.060Z,1736377303.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:43.061Z,1736377303.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004628 2025-01-08T23:01:43.312Z,1736377303.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:43.313Z,1736377303.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255907 2025-01-08T23:01:43.324Z,1736377303.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:01:43.335Z,1736377303.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:43.341Z,1736377303.341 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-01-08T23:01:43.341Z,1736377303.341 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-01-08T23:01:43.344Z,1736377303.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:43.564Z,1736377303.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:43.564Z,1736377303.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507774 2025-01-08T23:01:43.756Z,1736377303.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:43.762Z,1736377303.762 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-01-08T23:01:43.762Z,1736377303.762 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T23:01:43.762Z,1736377303.762 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-01-08T23:01:43.762Z,1736377303.762 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T23:01:43.766Z,1736377303.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:43.816Z,1736377303.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:43.816Z,1736377303.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759841 2025-01-08T23:01:44.069Z,1736377304.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:44.070Z,1736377304.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013373 2025-01-08T23:01:44.150Z,1736377304.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:44.159Z,1736377304.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:44.320Z,1736377304.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:44.320Z,1736377304.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263799 2025-01-08T23:01:44.572Z,1736377304.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:44.572Z,1736377304.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515886 2025-01-08T23:01:44.575Z,1736377304.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:44.585Z,1736377304.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:44.824Z,1736377304.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:44.826Z,1736377304.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768544 2025-01-08T23:01:45.015Z,1736377305.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:45.041Z,1736377305.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m. 2025-01-08T23:01:45.076Z,1736377305.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:45.077Z,1736377305.077 [DAT](INFO): DAT read: Rx Time:23:01:43.8562 2025-01-08T23:01:45.077Z,1736377305.077 [DAT](INFO): Rx dataTimestamp_ set to:1736377305.076696 2025-01-08T23:01:45.077Z,1736377305.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020896 2025-01-08T23:01:45.328Z,1736377305.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:45.329Z,1736377305.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272114 2025-01-08T23:01:45.579Z,1736377305.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:45.580Z,1736377305.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:45.587Z,1736377305.587 [DAT](INFO): DAT read: 23:01:43.8562 LVL= 20848, 19409, 11730, 23283, AGC= 56, IDX= 463, 0.23, 1.576,-2.173,-2.766,-3.066, PHS=-1.553, 0.941, 0.297, RAW= 284.4, 2.8, CAL= 287.2, 3.5, ROT= 222.8, -3.5 2025-01-08T23:01:45.590Z,1736377305.590 [DAT](INFO): got valid direction response: 23:01:43.8562 LVL= 20848, 19409, 11730, 23283, AGC= 56, IDX= 463, 0.23, 1.576,-2.173,-2.766,-3.066, PHS=-1.553, 0.941, 0.297, RAW= 284.4, 2.8, CAL= 287.2, 3.5, ROT= 222.8, -3.5 2025-01-08T23:01:45.591Z,1736377305.591 [DAT](INFO): DAT read: Bearing 222.8, -3.5 (Local) 2025-01-08T23:01:45.591Z,1736377305.591 [DAT](INFO): Local bearing/azimuth received: Bearing 222.8, -3.5 (Local) 2025-01-08T23:01:45.593Z,1736377305.593 [DAT](INFO): DAT read: Range 10 to 50 : 61.2 m (Round-trip 81.6 ms) speed -0.2 m/s 2025-01-08T23:01:45.594Z,1736377305.594 [DAT](INFO): DAT read: user:3016> 2025-01-08T23:01:45.594Z,1736377305.594 [DAT](INFO): DAT read: Tx time:23:01:44.9705 2025-01-08T23:01:45.595Z,1736377305.595 [DAT](INFO): Ping request sent. 2025-01-08T23:01:45.595Z,1736377305.595 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:45.595Z,1736377305.595 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:01:45.632Z,1736377305.632 [DAT](INFO): direction in FSK: [0.050637,0.148242,-0.987654] 2025-01-08T23:01:45.632Z,1736377305.632 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:45.633Z,1736377305.633 [DAT](INFO): publishing direction and range info 2025-01-08T23:01:45.650Z,1736377305.650 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:45.650Z,1736377305.650 [DAT](INFO): publishing direction and range info 2025-01-08T23:01:45.671Z,1736377305.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.200001 m, deltaT: 3.532198 s, deltaX: 1.500000 m, approachRate: 0.424665 m/s, rangeRepo size: 4 2025-01-08T23:01:45.683Z,1736377305.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.200001 m, bearing: 337.124290 deg, lat: 36.904896 deg, lon: -122.119813 deg, deltaT: 28.735529 s, deltaX: 13.100002 m, approachRate: 0.455882 m/s, posRepo size: 4 2025-01-08T23:01:45.688Z,1736377305.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:45.832Z,1736377305.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:45.833Z,1736377305.833 [DAT](INFO): DAT read: TxSync time:23:01:44.9697 2025-01-08T23:01:46.065Z,1736377306.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:46.085Z,1736377306.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:46.107Z,1736377306.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:46.336Z,1736377306.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:46.557Z,1736377306.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:46.566Z,1736377306.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:46.588Z,1736377306.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:46.841Z,1736377306.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:46.920Z,1736377306.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:46.929Z,1736377306.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:47.092Z,1736377307.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:47.320Z,1736377307.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:47.329Z,1736377307.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:47.344Z,1736377307.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:47.596Z,1736377307.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:47.749Z,1736377307.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:47.779Z,1736377307.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:47.848Z,1736377307.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:48.100Z,1736377308.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:48.193Z,1736377308.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:48.205Z,1736377308.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:48.352Z,1736377308.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:48.604Z,1736377308.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:48.605Z,1736377308.605 [DAT](INFO): DAT read: Rx Time:23:01:47.4573 2025-01-08T23:01:48.605Z,1736377308.605 [DAT](INFO): Rx dataTimestamp_ set to:1736377308.604736 2025-01-08T23:01:48.692Z,1736377308.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:48.700Z,1736377308.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:48.856Z,1736377308.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:49.092Z,1736377309.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:49.102Z,1736377309.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:49.109Z,1736377309.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:49.360Z,1736377309.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:49.361Z,1736377309.361 [DAT](INFO): DAT read: Range 10 to 50 : 61.9 m (Round-trip 82.6 ms) speed 0.0 m/s 2025-01-08T23:01:49.362Z,1736377309.362 [DAT](INFO): DAT read: user:3017> 2025-01-08T23:01:49.364Z,1736377309.364 [DAT](INFO): DAT read: Tx time:23:01:48.5706 2025-01-08T23:01:49.365Z,1736377309.365 [DAT](INFO): Ping request sent. 2025-01-08T23:01:49.366Z,1736377309.366 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:49.367Z,1736377309.367 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-01-08T23:01:49.368Z,1736377309.368 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:49.369Z,1736377309.369 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:49.530Z,1736377309.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:49.560Z,1736377309.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.900002 m, deltaT: 3.779867 s, deltaX: 0.700001 m, approachRate: 0.185192 m/s, rangeRepo size: 4 2025-01-08T23:01:49.560Z,1736377309.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:49.613Z,1736377309.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:49.614Z,1736377309.614 [DAT](INFO): DAT read: TxSync time:23:01:48.5698 2025-01-08T23:01:49.864Z,1736377309.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:49.955Z,1736377309.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:49.967Z,1736377309.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:50.116Z,1736377310.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:50.368Z,1736377310.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:50.404Z,1736377310.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:50.413Z,1736377310.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:50.620Z,1736377310.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:50.821Z,1736377310.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:50.841Z,1736377310.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:50.875Z,1736377310.875 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:51.128Z,1736377311.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:51.286Z,1736377311.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:51.295Z,1736377311.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:51.381Z,1736377311.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:51.632Z,1736377311.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:51.720Z,1736377311.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:51.729Z,1736377311.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:51.884Z,1736377311.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:52.119Z,1736377312.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:52.128Z,1736377312.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:52.136Z,1736377312.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:52.388Z,1736377312.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:52.388Z,1736377312.388 [DAT](INFO): DAT read: Rx Time:23:01:51.0580 2025-01-08T23:01:52.389Z,1736377312.389 [DAT](INFO): Rx dataTimestamp_ set to:1736377312.388595 2025-01-08T23:01:52.519Z,1736377312.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:52.528Z,1736377312.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:52.640Z,1736377312.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:52.892Z,1736377312.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:52.894Z,1736377312.894 [DAT](INFO): DAT read: Range 10 to 50 : 62.4 m (Round-trip 83.3 ms) speed -0.2 m/s 2025-01-08T23:01:52.895Z,1736377312.895 [DAT](INFO): DAT read: user:3018> 2025-01-08T23:01:52.895Z,1736377312.895 [DAT](INFO): DAT read: Tx time:23:01:52.1721 2025-01-08T23:01:52.896Z,1736377312.896 [DAT](INFO): Ping request sent. 2025-01-08T23:01:52.896Z,1736377312.896 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:52.896Z,1736377312.896 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-01-08T23:01:52.896Z,1736377312.896 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:52.897Z,1736377312.897 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:53.120Z,1736377313.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:53.137Z,1736377313.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.532367 s, deltaX: 0.500000 m, approachRate: 0.141548 m/s, rangeRepo size: 4 2025-01-08T23:01:53.138Z,1736377313.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:53.144Z,1736377313.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:53.145Z,1736377313.145 [DAT](INFO): DAT read: TxSync time:23:01:52.1713 2025-01-08T23:01:53.396Z,1736377313.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:53.602Z,1736377313.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:53.624Z,1736377313.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:53.648Z,1736377313.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:53.900Z,1736377313.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:53.977Z,1736377313.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:53.994Z,1736377313.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:54.152Z,1736377314.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:54.340Z,1736377314.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:54.348Z,1736377314.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:54.404Z,1736377314.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:54.656Z,1736377314.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:54.764Z,1736377314.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:54.774Z,1736377314.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:54.908Z,1736377314.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:55.160Z,1736377315.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:55.165Z,1736377315.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:55.174Z,1736377315.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:55.412Z,1736377315.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:55.632Z,1736377315.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:55.652Z,1736377315.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:55.664Z,1736377315.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:55.916Z,1736377315.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:55.917Z,1736377315.917 [DAT](INFO): DAT read: Rx Time:23:01:54.6603 2025-01-08T23:01:55.918Z,1736377315.918 [DAT](INFO): Rx dataTimestamp_ set to:1736377315.917473 2025-01-08T23:01:56.081Z,1736377316.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:56.112Z,1736377316.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.20 m. 2025-01-08T23:01:56.168Z,1736377316.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:56.420Z,1736377316.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:56.426Z,1736377316.426 [DAT](INFO): DAT read: 23:01:54.6603 LVL= 20096, 15665, 13730, 26611, AGC= 56, IDX= 441,-0.11,-2.680,-0.909,-0.156,-1.106, PHS=-1.486, 0.244, 0.947, RAW= 253.7, 2.8, CAL= 258.3, 4.0, ROT= 251.7, -4.0 2025-01-08T23:01:56.427Z,1736377316.427 [DAT](INFO): got valid direction response: 23:01:54.6603 LVL= 20096, 15665, 13730, 26611, AGC= 56, IDX= 441,-0.11,-2.680,-0.909,-0.156,-1.106, PHS=-1.486, 0.244, 0.947, RAW= 253.7, 2.8, CAL= 258.3, 4.0, ROT= 251.7, -4.0 2025-01-08T23:01:56.428Z,1736377316.428 [DAT](INFO): DAT read: Bearing 251.7, -4.0 (Local) 2025-01-08T23:01:56.429Z,1736377316.429 [DAT](INFO): Local bearing/azimuth received: Bearing 251.7, -4.0 (Local) 2025-01-08T23:01:56.430Z,1736377316.430 [DAT](INFO): DAT read: Range 10 to 50 : 63.0 m (Round-trip 84.0 ms) speed 0.0 m/s 2025-01-08T23:01:56.431Z,1736377316.431 [DAT](INFO): DAT read: user:3019> 2025-01-08T23:01:56.432Z,1736377316.432 [DAT](INFO): DAT read: Tx time:23:01:55.7706 2025-01-08T23:01:56.432Z,1736377316.432 [DAT](INFO): Ping request sent. 2025-01-08T23:01:56.432Z,1736377316.432 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:56.433Z,1736377316.433 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-01-08T23:01:56.434Z,1736377316.434 [DAT](INFO): direction in FSK: [0.004466,-0.373968,-0.927431] 2025-01-08T23:01:56.435Z,1736377316.435 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:56.435Z,1736377316.435 [DAT](INFO): publishing direction and range info 2025-01-08T23:01:56.438Z,1736377316.438 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:56.438Z,1736377316.438 [DAT](INFO): publishing direction and range info 2025-01-08T23:01:56.625Z,1736377316.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:56.673Z,1736377316.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:56.674Z,1736377316.674 [DAT](INFO): DAT read: TxSync time:23:01:55.7698 2025-01-08T23:01:56.700Z,1736377316.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.000000 m, deltaT: 3.527665 s, deltaX: 0.599998 m, approachRate: 0.170084 m/s, rangeRepo size: 4 2025-01-08T23:01:56.707Z,1736377316.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.000000 m, bearing: 111.679832 deg, lat: 36.904949 deg, lon: -122.119688 deg, deltaT: 10.839899 s, deltaX: 1.799999 m, approachRate: 0.166053 m/s, posRepo size: 4 2025-01-08T23:01:56.708Z,1736377316.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.00 m. 2025-01-08T23:01:56.926Z,1736377316.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:57.119Z,1736377317.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:57.163Z,1736377317.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.00 m. 2025-01-08T23:01:57.176Z,1736377317.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:57.428Z,1736377317.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:57.582Z,1736377317.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:57.642Z,1736377317.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.00 m. 2025-01-08T23:01:57.681Z,1736377317.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:57.932Z,1736377317.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:58.094Z,1736377318.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:58.117Z,1736377318.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.00 m. 2025-01-08T23:01:58.184Z,1736377318.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:58.436Z,1736377318.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:58.511Z,1736377318.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:58.521Z,1736377318.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.00 m. 2025-01-08T23:01:58.689Z,1736377318.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:58.936Z,1736377318.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:58.940Z,1736377318.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:58.947Z,1736377318.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.00 m. 2025-01-08T23:01:59.192Z,1736377319.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:59.310Z,1736377319.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:59.319Z,1736377319.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.00 m. 2025-01-08T23:01:59.444Z,1736377319.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:59.445Z,1736377319.445 [DAT](INFO): DAT read: Rx Time:23:01:58.2590 2025-01-08T23:01:59.445Z,1736377319.445 [DAT](INFO): Rx dataTimestamp_ set to:1736377319.444799 2025-01-08T23:01:59.696Z,1736377319.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:59.764Z,1736377319.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:01:59.773Z,1736377319.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.00 m. 2025-01-08T23:01:59.949Z,1736377319.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:01:59.981Z,1736377319.981 [DAT](INFO): DAT read: 23:01:58.2590 LVL= 15024, 12273, 12098, 17651, AGC= 56, IDX= 443,-0.19,-2.610,-1.062, 0.062,-1.229, PHS=-1.293, 0.215, 1.288, RAW= 245.5, -1.9, CAL= 247.7, -3.8, ROT= 262.3, 3.8 2025-01-08T23:01:59.983Z,1736377319.983 [DAT](INFO): got valid direction response: 23:01:58.2590 LVL= 15024, 12273, 12098, 17651, AGC= 56, IDX= 443,-0.19,-2.610,-1.062, 0.062,-1.229, PHS=-1.293, 0.215, 1.288, RAW= 245.5, -1.9, CAL= 247.7, -3.8, ROT= 262.3, 3.8 2025-01-08T23:01:59.985Z,1736377319.985 [DAT](INFO): DAT read: Bearing 262.3, 3.8 (Local) 2025-01-08T23:01:59.986Z,1736377319.986 [DAT](INFO): Local bearing/azimuth received: Bearing 262.3, 3.8 (Local) 2025-01-08T23:01:59.994Z,1736377319.994 [DAT](INFO): DAT read: Range 10 to 50 : 63.1 m (Round-trip 84.2 ms) speed 0.0 m/s 2025-01-08T23:01:59.996Z,1736377319.996 [DAT](INFO): DAT read: user:3020> 2025-01-08T23:01:59.997Z,1736377319.997 [DAT](INFO): DAT read: Tx time:23:01:59.3722 2025-01-08T23:01:59.997Z,1736377319.997 [DAT](INFO): Ping request sent. 2025-01-08T23:01:59.997Z,1736377319.997 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:01:59.997Z,1736377319.997 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-01-08T23:01:59.998Z,1736377319.998 [DAT](INFO): direction in FSK: [0.075723,-0.500692,-0.862307] 2025-01-08T23:01:59.999Z,1736377319.999 [DAT](INFO): publishing transmit ping time 2025-01-08T23:01:59.999Z,1736377319.999 [DAT](INFO): publishing direction and range info 2025-01-08T23:02:00.002Z,1736377320.002 [DAT](INFO): publishing transmit ping time 2025-01-08T23:02:00.002Z,1736377320.002 [DAT](INFO): publishing direction and range info 2025-01-08T23:02:00.200Z,1736377320.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:00.201Z,1736377320.201 [DAT](INFO): DAT read: TxSync time:23:01:59.3714 2025-01-08T23:02:00.205Z,1736377320.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:00.236Z,1736377320.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.099998 m, deltaT: 3.530109 s, deltaX: 0.099998 m, approachRate: 0.028327 m/s, rangeRepo size: 4 2025-01-08T23:02:00.239Z,1736377320.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.099998 m, bearing: 127.585236 deg, lat: 36.904949 deg, lon: -122.119689 deg, deltaT: 3.530109 s, deltaX: 0.099998 m, approachRate: 0.028327 m/s, posRepo size: 4 2025-01-08T23:02:00.243Z,1736377320.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:00.453Z,1736377320.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:00.629Z,1736377320.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:00.644Z,1736377320.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:00.706Z,1736377320.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:00.956Z,1736377320.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:01.056Z,1736377321.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:01.065Z,1736377321.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:01.208Z,1736377321.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:01.438Z,1736377321.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:01.446Z,1736377321.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:01.460Z,1736377321.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:01.713Z,1736377321.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:01.895Z,1736377321.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:01.905Z,1736377321.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:01.964Z,1736377321.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:02.216Z,1736377322.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:02.295Z,1736377322.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:02.304Z,1736377322.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:02.468Z,1736377322.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:02.721Z,1736377322.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:02.781Z,1736377322.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:02.791Z,1736377322.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:02.974Z,1736377322.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:02.977Z,1736377322.977 [DAT](INFO): DAT read: Rx Time:23:02:01.8603 2025-01-08T23:02:02.979Z,1736377322.979 [DAT](INFO): Rx dataTimestamp_ set to:1736377322.978136 2025-01-08T23:02:03.097Z,1736377323.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:03.113Z,1736377323.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:03.224Z,1736377323.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:03.476Z,1736377323.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:03.511Z,1736377323.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:03.526Z,1736377323.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:03.731Z,1736377323.731 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:03.737Z,1736377323.737 [DAT](INFO): DAT read: Range 10 to 50 : 62.9 m (Round-trip 83.9 ms) speed 0.0 m/s 2025-01-08T23:02:03.740Z,1736377323.740 [DAT](INFO): DAT read: user:3021> 2025-01-08T23:02:03.743Z,1736377323.743 [DAT](INFO): DAT read: Tx time:23:02:02.9707 2025-01-08T23:02:03.747Z,1736377323.747 [DAT](INFO): Ping request sent. 2025-01-08T23:02:03.748Z,1736377323.748 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:02:03.749Z,1736377323.749 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-08T23:02:03.750Z,1736377323.750 [DAT](INFO): publishing transmit ping time 2025-01-08T23:02:03.776Z,1736377323.776 [DAT](INFO): publishing transmit ping time 2025-01-08T23:02:03.930Z,1736377323.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:03.942Z,1736377323.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.900002 m, deltaT: 3.781888 s, deltaX: -0.199997 m, approachRate: -0.052883 m/s, rangeRepo size: 4 2025-01-08T23:02:03.942Z,1736377323.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:03.981Z,1736377323.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:03.982Z,1736377323.982 [DAT](INFO): DAT read: TxSync time:23:02:02.9699 2025-01-08T23:02:04.232Z,1736377324.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:04.309Z,1736377324.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:04.319Z,1736377324.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:04.484Z,1736377324.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:04.737Z,1736377324.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:04.752Z,1736377324.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:04.800Z,1736377324.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:04.988Z,1736377324.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:05.164Z,1736377325.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:05.173Z,1736377325.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:05.241Z,1736377325.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:05.493Z,1736377325.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:05.529Z,1736377325.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:05.539Z,1736377325.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:05.745Z,1736377325.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:05.945Z,1736377325.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:05.958Z,1736377325.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:05.996Z,1736377325.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:06.248Z,1736377326.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:06.324Z,1736377326.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:06.348Z,1736377326.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:06.500Z,1736377326.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:06.736Z,1736377326.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:06.753Z,1736377326.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:06.756Z,1736377326.756 [DAT](INFO): DAT read: Rx Time:23:02:05.4591 2025-01-08T23:02:06.757Z,1736377326.757 [DAT](INFO): Rx dataTimestamp_ set to:1736377326.756320 2025-01-08T23:02:06.792Z,1736377326.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:07.004Z,1736377327.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:07.208Z,1736377327.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:07.217Z,1736377327.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:07.256Z,1736377327.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:07.257Z,1736377327.257 [DAT](INFO): DAT read: Range 10 to 50 : 63.2 m (Round-trip 84.3 ms) speed 0.0 m/s 2025-01-08T23:02:07.258Z,1736377327.258 [DAT](INFO): DAT read: user:3022> 2025-01-08T23:02:07.259Z,1736377327.259 [DAT](INFO): DAT read: Tx time:23:02:06.5722 2025-01-08T23:02:07.260Z,1736377327.260 [DAT](INFO): Ping request sent. 2025-01-08T23:02:07.260Z,1736377327.260 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:02:07.260Z,1736377327.260 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-01-08T23:02:07.260Z,1736377327.260 [DAT](INFO): publishing transmit ping time 2025-01-08T23:02:07.261Z,1736377327.261 [DAT](INFO): publishing transmit ping time 2025-01-08T23:02:07.508Z,1736377327.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:07.509Z,1736377327.509 [DAT](INFO): DAT read: TxSync time:23:02:06.5714 2025-01-08T23:02:07.573Z,1736377327.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:07.593Z,1736377327.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.200001 m, deltaT: 3.524094 s, deltaX: 0.299999 m, approachRate: 0.085128 m/s, rangeRepo size: 4 2025-01-08T23:02:07.594Z,1736377327.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:07.762Z,1736377327.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:08.012Z,1736377328.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:08.014Z,1736377328.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:08.053Z,1736377328.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:08.265Z,1736377328.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:08.359Z,1736377328.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:08.368Z,1736377328.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:08.516Z,1736377328.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:08.767Z,1736377328.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:08.769Z,1736377328.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:08.817Z,1736377328.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:09.020Z,1736377329.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:09.261Z,1736377329.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:09.281Z,1736377329.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:09.294Z,1736377329.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:09.532Z,1736377329.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:09.566Z,1736377329.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:09.575Z,1736377329.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:09.786Z,1736377329.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:10.036Z,1736377330.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:10.047Z,1736377330.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:10.069Z,1736377330.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:10.288Z,1736377330.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:10.288Z,1736377330.288 [DAT](INFO): DAT read: Rx Time:23:02:09.0607 2025-01-08T23:02:10.289Z,1736377330.289 [DAT](INFO): Rx dataTimestamp_ set to:1736377330.288627 2025-01-08T23:02:10.395Z,1736377330.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:10.404Z,1736377330.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:10.540Z,1736377330.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:10.792Z,1736377330.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:10.793Z,1736377330.793 [DAT](INFO): DAT read: Range 10 to 50 : 63.1 m (Round-trip 84.2 ms) speed 0.0 m/s 2025-01-08T23:02:10.794Z,1736377330.794 [DAT](INFO): DAT read: user:3023> 2025-01-08T23:02:10.795Z,1736377330.795 [DAT](INFO): DAT read: Tx time:23:02:10.1708 2025-01-08T23:02:10.795Z,1736377330.795 [DAT](INFO): Ping request sent. 2025-01-08T23:02:10.796Z,1736377330.796 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:02:10.796Z,1736377330.796 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-01-08T23:02:10.796Z,1736377330.796 [DAT](INFO): publishing transmit ping time 2025-01-08T23:02:10.812Z,1736377330.812 [DAT](INFO): publishing transmit ping time 2025-01-08T23:02:10.867Z,1736377330.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:10.893Z,1736377330.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.099998 m, deltaT: 3.535975 s, deltaX: -0.100002 m, approachRate: -0.028281 m/s, rangeRepo size: 4 2025-01-08T23:02:10.894Z,1736377330.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:11.044Z,1736377331.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:11.044Z,1736377331.044 [DAT](INFO): DAT read: TxSync time:23:02:10.1700 2025-01-08T23:02:11.230Z,1736377331.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:11.246Z,1736377331.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:11.296Z,1736377331.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:11.548Z,1736377331.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:11.615Z,1736377331.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:11.641Z,1736377331.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:11.800Z,1736377331.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:12.026Z,1736377332.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:12.035Z,1736377332.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:12.052Z,1736377332.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:12.305Z,1736377332.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:12.414Z,1736377332.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:12.423Z,1736377332.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:12.556Z,1736377332.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:12.808Z,1736377332.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:12.812Z,1736377332.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:12.890Z,1736377332.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:13.060Z,1736377333.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:13.242Z,1736377333.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:13.266Z,1736377333.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:13.312Z,1736377333.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:13.444Z,1736377333.444 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:02:13.564Z,1736377333.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:13.629Z,1736377333.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:13.639Z,1736377333.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:13.817Z,1736377333.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:13.819Z,1736377333.819 [DAT](INFO): DAT read: Rx Time:23:02:12.6587 2025-01-08T23:02:13.820Z,1736377333.820 [DAT](INFO): Rx dataTimestamp_ set to:1736377333.819869 2025-01-08T23:02:14.057Z,1736377334.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:14.065Z,1736377334.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:14.068Z,1736377334.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:14.321Z,1736377334.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:14.322Z,1736377334.322 [DAT](INFO): DAT read: Range 10 to 50 : 62.8 m (Round-trip 83.8 ms) speed 0.0 m/s 2025-01-08T23:02:14.323Z,1736377334.323 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-01-08T23:02:14.445Z,1736377334.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:14.448Z,1736377334.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:02:14.456Z,1736377334.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.799999 m, deltaT: 3.528985 s, deltaX: -0.299999 m, approachRate: -0.085010 m/s, rangeRepo size: 4 2025-01-08T23:02:14.456Z,1736377334.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:14.572Z,1736377334.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:14.824Z,1736377334.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:14.859Z,1736377334.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:14.915Z,1736377334.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:15.078Z,1736377335.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:15.328Z,1736377335.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:15.364Z,1736377335.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:15.396Z,1736377335.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:15.580Z,1736377335.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:15.745Z,1736377335.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:15.754Z,1736377335.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:15.832Z,1736377335.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:16.084Z,1736377336.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:16.169Z,1736377336.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:16.178Z,1736377336.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:16.337Z,1736377336.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:16.561Z,1736377336.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:16.588Z,1736377336.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:16.591Z,1736377336.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:16.840Z,1736377336.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:17.006Z,1736377337.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:17.015Z,1736377337.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:17.092Z,1736377337.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:17.345Z,1736377337.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:17.378Z,1736377337.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:17.388Z,1736377337.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:17.600Z,1736377337.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:17.783Z,1736377337.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:17.793Z,1736377337.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:17.852Z,1736377337.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:18.106Z,1736377338.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:18.224Z,1736377338.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:18.233Z,1736377338.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:18.356Z,1736377338.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:18.588Z,1736377338.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:18.598Z,1736377338.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:18.610Z,1736377338.610 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:18.860Z,1736377338.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:19.064Z,1736377339.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:19.098Z,1736377339.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:19.112Z,1736377339.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:19.364Z,1736377339.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:19.509Z,1736377339.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:19.517Z,1736377339.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:19.617Z,1736377339.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:19.869Z,1736377339.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:19.921Z,1736377339.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:19.978Z,1736377339.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:20.120Z,1736377340.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:20.337Z,1736377340.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:20.345Z,1736377340.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:20.372Z,1736377340.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:20.624Z,1736377340.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:20.725Z,1736377340.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:20.757Z,1736377340.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:20.876Z,1736377340.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:21.128Z,1736377341.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:21.177Z,1736377341.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:21.186Z,1736377341.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:21.191Z,1736377341.191 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T22:52:21.1Z 2025-01-08T23:02:21.191Z,1736377341.191 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T23:02:21.191Z,1736377341.191 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:02:21.191Z,1736377341.191 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T23:02:21.191Z,1736377341.191 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:02:21.191Z,1736377341.191 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T23:02:21.380Z,1736377341.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:21.545Z,1736377341.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:21.554Z,1736377341.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:21.557Z,1736377341.557 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T23:02:21.558Z,1736377341.558 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T23:02:21.558Z,1736377341.558 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T23:02:21.558Z,1736377341.558 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:02:21.558Z,1736377341.558 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T23:02:21.633Z,1736377341.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:21.884Z,1736377341.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:22.119Z,1736377342.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:22.128Z,1736377342.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:22.136Z,1736377342.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:22.388Z,1736377342.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:22.514Z,1736377342.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:22.523Z,1736377342.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:22.640Z,1736377342.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:22.892Z,1736377342.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:22.911Z,1736377342.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:22.937Z,1736377342.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:23.144Z,1736377343.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:23.372Z,1736377343.372 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,252831,35.0, +10.9, 0.0, 0 2025-01-08T23:02:23.381Z,1736377343.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:02:23.382Z,1736377343.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:23.390Z,1736377343.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:23.396Z,1736377343.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:23.648Z,1736377343.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:23.790Z,1736377343.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:02:23.790Z,1736377343.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:23.799Z,1736377343.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:23.900Z,1736377343.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:24.152Z,1736377344.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:24.213Z,1736377344.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:24.222Z,1736377344.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:24.404Z,1736377344.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:24.590Z,1736377344.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:24.602Z,1736377344.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:24.656Z,1736377344.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:24.908Z,1736377344.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:24.993Z,1736377344.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:25.007Z,1736377345.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:25.161Z,1736377345.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:25.412Z,1736377345.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:25.418Z,1736377345.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:25.426Z,1736377345.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:25.664Z,1736377345.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:25.805Z,1736377345.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:25.839Z,1736377345.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:25.916Z,1736377345.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:26.169Z,1736377346.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:26.225Z,1736377346.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:26.259Z,1736377346.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:26.420Z,1736377346.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:26.672Z,1736377346.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:26.699Z,1736377346.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:26.708Z,1736377346.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:26.925Z,1736377346.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:27.158Z,1736377347.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:02:27.158Z,1736377347.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:27.166Z,1736377347.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:27.176Z,1736377347.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:27.428Z,1736377347.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:27.542Z,1736377347.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:02:27.542Z,1736377347.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:27.551Z,1736377347.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:27.680Z,1736377347.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:27.932Z,1736377347.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:27.948Z,1736377347.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:02:27.948Z,1736377347.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:27.957Z,1736377347.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:28.184Z,1736377348.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:28.380Z,1736377348.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:28.389Z,1736377348.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:28.436Z,1736377348.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:28.688Z,1736377348.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:28.753Z,1736377348.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:28.780Z,1736377348.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:28.940Z,1736377348.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:29.192Z,1736377349.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:29.209Z,1736377349.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:29.218Z,1736377349.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:29.444Z,1736377349.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:29.570Z,1736377349.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:29.578Z,1736377349.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:29.700Z,1736377349.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:29.952Z,1736377349.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:29.980Z,1736377349.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:29.989Z,1736377349.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:30.204Z,1736377350.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:30.406Z,1736377350.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:30.414Z,1736377350.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:30.456Z,1736377350.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:30.708Z,1736377350.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:30.770Z,1736377350.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:30.794Z,1736377350.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:30.960Z,1736377350.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:31.212Z,1736377351.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:31.225Z,1736377351.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:31.233Z,1736377351.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:31.466Z,1736377351.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:31.604Z,1736377351.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:31.642Z,1736377351.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:31.716Z,1736377351.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:31.968Z,1736377351.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:32.049Z,1736377352.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:32.059Z,1736377352.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:32.221Z,1736377352.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:32.472Z,1736377352.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:32.482Z,1736377352.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:32.494Z,1736377352.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:32.726Z,1736377352.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:32.856Z,1736377352.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:32.864Z,1736377352.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:32.976Z,1736377352.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:33.228Z,1736377353.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:33.311Z,1736377353.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:33.328Z,1736377353.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:33.480Z,1736377353.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:33.732Z,1736377353.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:33.744Z,1736377353.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:33.769Z,1736377353.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:33.985Z,1736377353.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:34.235Z,1736377354.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:34.236Z,1736377354.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:34.269Z,1736377354.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:34.489Z,1736377354.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:34.686Z,1736377354.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:34.699Z,1736377354.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:34.741Z,1736377354.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:34.992Z,1736377354.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:35.135Z,1736377355.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:35.145Z,1736377355.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:35.244Z,1736377355.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:35.496Z,1736377355.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:35.569Z,1736377355.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:35.585Z,1736377355.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:35.749Z,1736377355.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:35.931Z,1736377355.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:35.943Z,1736377355.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:35.000Z,1736377356.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:36.252Z,1736377356.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:36.400Z,1736377356.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:36.409Z,1736377356.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:36.504Z,1736377356.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:36.756Z,1736377356.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:36.813Z,1736377356.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:36.824Z,1736377356.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:37.008Z,1736377357.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:37.262Z,1736377357.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:37.273Z,1736377357.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:37.290Z,1736377357.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:37.512Z,1736377357.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:37.723Z,1736377357.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:37.734Z,1736377357.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:37.764Z,1736377357.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:38.016Z,1736377358.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:38.135Z,1736377358.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:38.149Z,1736377358.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:38.268Z,1736377358.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:38.520Z,1736377358.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:38.592Z,1736377358.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:38.601Z,1736377358.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:38.772Z,1736377358.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:38.955Z,1736377358.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:38.964Z,1736377358.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:39.026Z,1736377359.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:39.281Z,1736377359.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:39.386Z,1736377359.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:39.396Z,1736377359.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:39.532Z,1736377359.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:39.750Z,1736377359.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:39.768Z,1736377359.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:39.784Z,1736377359.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:40.036Z,1736377360.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:40.154Z,1736377360.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:40.164Z,1736377360.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:40.290Z,1736377360.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:40.540Z,1736377360.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:40.598Z,1736377360.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:40.607Z,1736377360.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:40.792Z,1736377360.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:41.016Z,1736377361.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:41.025Z,1736377361.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:41.044Z,1736377361.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:41.303Z,1736377361.303 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:41.470Z,1736377361.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:41.479Z,1736377361.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:41.552Z,1736377361.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:41.804Z,1736377361.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:41.877Z,1736377361.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:41.886Z,1736377361.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:42.056Z,1736377362.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:42.309Z,1736377362.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:42.363Z,1736377362.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:42.372Z,1736377362.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:42.560Z,1736377362.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:42.712Z,1736377362.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:42.727Z,1736377362.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:02:42.731Z,1736377362.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:42.813Z,1736377362.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:42.813Z,1736377362.813 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:02:42.814Z,1736377362.814 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:02:43.064Z,1736377363.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:43.064Z,1736377363.064 [DAT](INFO): DAT read: user:3024> 2025-01-08T23:02:43.066Z,1736377363.066 [DAT](INFO): DAT read: Tx time:23:02:42.2726 2025-01-08T23:02:43.067Z,1736377363.067 [DAT](INFO): Ping request sent. 2025-01-08T23:02:43.067Z,1736377363.067 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:02:43.068Z,1736377363.068 [DAT](INFO): publishing transmit ping time 2025-01-08T23:02:43.070Z,1736377363.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002563 2025-01-08T23:02:43.112Z,1736377363.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:43.137Z,1736377363.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:43.317Z,1736377363.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:43.320Z,1736377363.320 [DAT](INFO): DAT read: TxSync time:23:02:42.2718 2025-01-08T23:02:43.322Z,1736377363.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255065 2025-01-08T23:02:43.517Z,1736377363.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:43.526Z,1736377363.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:43.570Z,1736377363.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:43.571Z,1736377363.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503625 2025-01-08T23:02:43.820Z,1736377363.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:43.822Z,1736377363.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754561 2025-01-08T23:02:43.910Z,1736377363.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:43.931Z,1736377363.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:44.072Z,1736377364.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:44.072Z,1736377364.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005408 2025-01-08T23:02:44.325Z,1736377364.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:44.342Z,1736377364.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260088 2025-01-08T23:02:44.411Z,1736377364.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:44.421Z,1736377364.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:44.577Z,1736377364.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:44.578Z,1736377364.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511181 2025-01-08T23:02:44.588Z,1736377364.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:02:44.795Z,1736377364.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:44.809Z,1736377364.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:44.828Z,1736377364.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:44.828Z,1736377364.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761433 2025-01-08T23:02:45.080Z,1736377365.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:45.080Z,1736377365.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013478 2025-01-08T23:02:45.231Z,1736377365.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:45.250Z,1736377365.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:45.334Z,1736377365.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:45.336Z,1736377365.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269079 2025-01-08T23:02:45.584Z,1736377365.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:45.585Z,1736377365.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518092 2025-01-08T23:02:45.596Z,1736377365.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:02:45.662Z,1736377365.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:45.688Z,1736377365.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:45.836Z,1736377365.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:45.837Z,1736377365.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769850 2025-01-08T23:02:46.027Z,1736377366.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:46.036Z,1736377366.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:46.088Z,1736377366.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:46.089Z,1736377366.089 [DAT](INFO): DAT read: Rx Time:23:02:44.7597 2025-01-08T23:02:46.089Z,1736377366.089 [DAT](INFO): Rx dataTimestamp_ set to:1736377366.088787 2025-01-08T23:02:46.090Z,1736377366.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022693 2025-01-08T23:02:46.341Z,1736377366.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:46.366Z,1736377366.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276014 2025-01-08T23:02:46.462Z,1736377366.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:46.492Z,1736377366.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:46.592Z,1736377366.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:46.593Z,1736377366.593 [DAT](INFO): DAT read: Range 10 to 50 : 62.2 m (Round-trip 83.0 ms) speed 0.0 m/s 2025-01-08T23:02:46.594Z,1736377366.594 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:02:46.844Z,1736377366.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:46.862Z,1736377366.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:46.874Z,1736377366.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.200001 m, deltaT: 32.271170 s, deltaX: -0.599998 m, approachRate: -0.018592 m/s, rangeRepo size: 4 2025-01-08T23:02:46.876Z,1736377366.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:47.096Z,1736377367.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:47.337Z,1736377367.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:47.350Z,1736377367.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:47.394Z,1736377367.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:47.600Z,1736377367.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:47.788Z,1736377367.788 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:02:47.798Z,1736377367.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:47.833Z,1736377367.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:47.853Z,1736377367.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:48.104Z,1736377368.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:48.249Z,1736377368.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:48.259Z,1736377368.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:48.358Z,1736377368.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:48.608Z,1736377368.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:48.714Z,1736377368.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:48.725Z,1736377368.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:48.861Z,1736377368.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:49.112Z,1736377369.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:49.121Z,1736377369.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:49.131Z,1736377369.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:49.364Z,1736377369.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:49.563Z,1736377369.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:49.573Z,1736377369.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:49.616Z,1736377369.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:49.868Z,1736377369.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:49.939Z,1736377369.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:49.963Z,1736377369.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:50.120Z,1736377370.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:50.330Z,1736377370.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:50.340Z,1736377370.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:50.373Z,1736377370.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:50.628Z,1736377370.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:50.764Z,1736377370.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:50.773Z,1736377370.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:50.824Z,1736377370.824 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:02:50.880Z,1736377370.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:51.132Z,1736377371.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:51.156Z,1736377371.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:51.165Z,1736377371.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:51.386Z,1736377371.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:51.589Z,1736377371.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:51.597Z,1736377371.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:51.636Z,1736377371.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:51.888Z,1736377371.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:51.966Z,1736377371.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:51.992Z,1736377371.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:52.141Z,1736377372.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:52.392Z,1736377372.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:52.462Z,1736377372.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:52.492Z,1736377372.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:52.644Z,1736377372.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:52.896Z,1736377372.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:52.954Z,1736377372.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:52.963Z,1736377372.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:53.149Z,1736377373.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:53.366Z,1736377373.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:53.376Z,1736377373.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:53.400Z,1736377373.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:53.652Z,1736377373.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:53.795Z,1736377373.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:53.805Z,1736377373.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:53.905Z,1736377373.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:54.156Z,1736377374.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:54.160Z,1736377374.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:54.169Z,1736377374.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:54.408Z,1736377374.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:54.591Z,1736377374.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:54.622Z,1736377374.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:54.661Z,1736377374.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:54.912Z,1736377374.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:55.013Z,1736377375.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:55.038Z,1736377375.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:55.164Z,1736377375.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:55.416Z,1736377375.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:55.428Z,1736377375.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:55.437Z,1736377375.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:55.669Z,1736377375.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:55.841Z,1736377375.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:55.849Z,1736377375.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:55.920Z,1736377375.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:56.172Z,1736377376.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:56.236Z,1736377376.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:56.248Z,1736377376.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:56.424Z,1736377376.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:56.677Z,1736377376.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:56.683Z,1736377376.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:56.720Z,1736377376.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:56.928Z,1736377376.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:57.153Z,1736377377.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:57.161Z,1736377377.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:57.180Z,1736377377.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:57.432Z,1736377377.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:57.603Z,1736377377.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:57.612Z,1736377377.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:57.686Z,1736377377.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:57.936Z,1736377377.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:57.979Z,1736377377.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:57.988Z,1736377377.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:58.188Z,1736377378.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:58.356Z,1736377378.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:58.388Z,1736377378.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:58.440Z,1736377378.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:58.692Z,1736377378.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:58.800Z,1736377378.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:58.810Z,1736377378.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:58.944Z,1736377378.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:59.170Z,1736377379.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:59.179Z,1736377379.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:59.196Z,1736377379.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:59.448Z,1736377379.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:59.649Z,1736377379.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:02:59.669Z,1736377379.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:02:59.700Z,1736377379.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:02:59.952Z,1736377379.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:00.078Z,1736377380.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:00.087Z,1736377380.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:00.204Z,1736377380.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:00.456Z,1736377380.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:00.498Z,1736377380.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:00.570Z,1736377380.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:00.708Z,1736377380.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:00.960Z,1736377380.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:01.019Z,1736377381.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:01.048Z,1736377381.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:01.212Z,1736377381.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:01.404Z,1736377381.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:01.412Z,1736377381.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:01.464Z,1736377381.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:01.716Z,1736377381.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:01.829Z,1736377381.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:01.839Z,1736377381.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:01.968Z,1736377381.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:02.208Z,1736377382.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:02.216Z,1736377382.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:02.220Z,1736377382.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:02.472Z,1736377382.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:02.672Z,1736377382.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:02.685Z,1736377382.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:02.724Z,1736377382.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:02.976Z,1736377382.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:03.088Z,1736377383.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:03.097Z,1736377383.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:03.228Z,1736377383.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:03.480Z,1736377383.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:03.505Z,1736377383.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:03.514Z,1736377383.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:03.732Z,1736377383.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:03.929Z,1736377383.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:03.938Z,1736377383.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:03.985Z,1736377383.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:04.236Z,1736377384.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:04.328Z,1736377384.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:04.337Z,1736377384.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:04.488Z,1736377384.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:04.740Z,1736377384.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:04.759Z,1736377384.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:04.768Z,1736377384.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:04.992Z,1736377384.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:05.131Z,1736377385.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:05.149Z,1736377385.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:05.244Z,1736377385.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:05.496Z,1736377385.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:05.594Z,1736377385.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:05.608Z,1736377385.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:05.748Z,1736377385.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:05.000Z,1736377386.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:06.076Z,1736377386.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:06.086Z,1736377386.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:06.252Z,1736377386.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:06.504Z,1736377386.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:06.522Z,1736377386.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:06.531Z,1736377386.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:06.756Z,1736377386.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:06.915Z,1736377386.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:06.925Z,1736377386.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:07.008Z,1736377387.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:07.260Z,1736377387.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:07.313Z,1736377387.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:07.322Z,1736377387.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:07.512Z,1736377387.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:07.748Z,1736377387.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:07.757Z,1736377387.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:07.764Z,1736377387.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:08.016Z,1736377388.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:08.161Z,1736377388.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:08.169Z,1736377388.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:08.268Z,1736377388.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:08.520Z,1736377388.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:08.580Z,1736377388.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:08.590Z,1736377388.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:08.772Z,1736377388.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:09.006Z,1736377389.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:09.024Z,1736377389.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:09.039Z,1736377389.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:09.276Z,1736377389.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:09.421Z,1736377389.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:09.429Z,1736377389.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:09.528Z,1736377389.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:09.781Z,1736377389.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:09.869Z,1736377389.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:09.877Z,1736377389.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:10.032Z,1736377390.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:10.254Z,1736377390.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:10.262Z,1736377390.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:10.284Z,1736377390.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:10.536Z,1736377390.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:10.672Z,1736377390.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:10.745Z,1736377390.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:10.788Z,1736377390.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:11.040Z,1736377391.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:11.174Z,1736377391.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:11.185Z,1736377391.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:11.293Z,1736377391.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:11.544Z,1736377391.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:11.563Z,1736377391.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:11.596Z,1736377391.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:11.796Z,1736377391.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:12.007Z,1736377392.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:12.015Z,1736377392.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:12.048Z,1736377392.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:12.301Z,1736377392.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:12.382Z,1736377392.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:12.393Z,1736377392.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:12.552Z,1736377392.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:12.804Z,1736377392.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:12.811Z,1736377392.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:12.841Z,1736377392.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:13.057Z,1736377393.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:13.222Z,1736377393.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:13.231Z,1736377393.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:13.308Z,1736377393.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:13.560Z,1736377393.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:13.642Z,1736377393.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:13.656Z,1736377393.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:13.812Z,1736377393.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:14.064Z,1736377394.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:14.127Z,1736377394.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:14.156Z,1736377394.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:14.316Z,1736377394.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:14.479Z,1736377394.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:14.488Z,1736377394.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:14.568Z,1736377394.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:14.820Z,1736377394.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:14.905Z,1736377394.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:14.914Z,1736377394.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:15.072Z,1736377395.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:15.297Z,1736377395.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:15.312Z,1736377395.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:15.324Z,1736377395.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:15.576Z,1736377395.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:15.698Z,1736377395.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:15.716Z,1736377395.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:03:15.723Z,1736377395.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:15.832Z,1736377395.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:16.084Z,1736377396.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:16.128Z,1736377396.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:16.137Z,1736377396.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:16.336Z,1736377396.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:16.579Z,1736377396.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:16.588Z,1736377396.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:16.589Z,1736377396.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:16.721Z,1736377396.721 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:03:16.840Z,1736377396.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:17.006Z,1736377397.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:17.014Z,1736377397.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:17.092Z,1736377397.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:17.344Z,1736377397.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:17.410Z,1736377397.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:17.426Z,1736377397.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:17.596Z,1736377397.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:17.849Z,1736377397.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:17.949Z,1736377397.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:17.966Z,1736377397.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:18.100Z,1736377398.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:18.353Z,1736377398.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:18.409Z,1736377398.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:18.417Z,1736377398.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:18.605Z,1736377398.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:18.858Z,1736377398.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:18.865Z,1736377398.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:18.882Z,1736377398.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:19.108Z,1736377399.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:19.308Z,1736377399.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:19.319Z,1736377399.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:19.360Z,1736377399.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:19.612Z,1736377399.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:19.721Z,1736377399.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:19.729Z,1736377399.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:19.865Z,1736377399.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:20.116Z,1736377400.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:20.160Z,1736377400.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:20.186Z,1736377400.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:20.368Z,1736377400.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:20.600Z,1736377400.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:20.609Z,1736377400.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:20.620Z,1736377400.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:20.874Z,1736377400.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:21.035Z,1736377401.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:21.044Z,1736377401.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:21.124Z,1736377401.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:21.376Z,1736377401.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:21.418Z,1736377401.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:21.445Z,1736377401.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:21.628Z,1736377401.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:21.846Z,1736377401.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:21.882Z,1736377401.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:21.919Z,1736377401.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:22.132Z,1736377402.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:22.354Z,1736377402.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:22.365Z,1736377402.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:22.384Z,1736377402.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:22.636Z,1736377402.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:22.732Z,1736377402.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:22.764Z,1736377402.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:22.889Z,1736377402.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:23.140Z,1736377403.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:23.154Z,1736377403.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:23.191Z,1736377403.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:23.392Z,1736377403.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:23.596Z,1736377403.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:23.609Z,1736377403.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:23.647Z,1736377403.647 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:23.901Z,1736377403.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:24.014Z,1736377404.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:24.023Z,1736377404.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:24.152Z,1736377404.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:24.404Z,1736377404.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:24.420Z,1736377404.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:24.437Z,1736377404.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:24.656Z,1736377404.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:24.860Z,1736377404.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:24.873Z,1736377404.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:24.909Z,1736377404.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:25.160Z,1736377405.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:25.298Z,1736377405.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:25.333Z,1736377405.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:25.412Z,1736377405.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:25.670Z,1736377405.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:25.729Z,1736377405.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:25.739Z,1736377405.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:25.917Z,1736377405.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:26.159Z,1736377406.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:26.169Z,1736377406.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:26.170Z,1736377406.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:26.420Z,1736377406.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:26.533Z,1736377406.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:26.546Z,1736377406.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:26.674Z,1736377406.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:26.926Z,1736377406.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:27.015Z,1736377407.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:27.038Z,1736377407.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:27.176Z,1736377407.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:27.428Z,1736377407.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:27.454Z,1736377407.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:27.466Z,1736377407.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:27.682Z,1736377407.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:27.877Z,1736377407.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:27.886Z,1736377407.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:27.932Z,1736377407.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:28.184Z,1736377408.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:28.304Z,1736377408.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:28.313Z,1736377408.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:28.436Z,1736377408.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:28.688Z,1736377408.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:28.723Z,1736377408.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:28.731Z,1736377408.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:28.941Z,1736377408.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:29.142Z,1736377409.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:29.157Z,1736377409.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:29.192Z,1736377409.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:29.444Z,1736377409.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:29.577Z,1736377409.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:29.606Z,1736377409.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:29.696Z,1736377409.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:29.948Z,1736377409.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:30.079Z,1736377410.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:30.098Z,1736377410.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:30.200Z,1736377410.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:30.452Z,1736377410.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:30.519Z,1736377410.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:30.553Z,1736377410.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:30.704Z,1736377410.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:30.936Z,1736377410.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:30.957Z,1736377410.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:30.973Z,1736377410.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:31.208Z,1736377411.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:31.430Z,1736377411.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:31.439Z,1736377411.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:31.460Z,1736377411.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:31.712Z,1736377411.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:31.817Z,1736377411.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:31.826Z,1736377411.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:31.964Z,1736377411.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:32.216Z,1736377412.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:32.264Z,1736377412.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:32.281Z,1736377412.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:32.468Z,1736377412.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:32.698Z,1736377412.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:32.720Z,1736377412.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:32.726Z,1736377412.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:32.972Z,1736377412.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:33.140Z,1736377413.140 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, 10,A 2025-01-08T23:03:33.149Z,1736377413.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:03:33.149Z,1736377413.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:33.158Z,1736377413.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:33.225Z,1736377413.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:33.476Z,1736377413.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:33.567Z,1736377413.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:03:33.567Z,1736377413.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:33.591Z,1736377413.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:33.728Z,1736377413.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:33.980Z,1736377413.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:34.008Z,1736377414.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T23:03:34.008Z,1736377414.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:34.021Z,1736377414.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:34.233Z,1736377414.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:34.420Z,1736377414.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:34.429Z,1736377414.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:34.484Z,1736377414.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:34.737Z,1736377414.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:34.797Z,1736377414.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:34.807Z,1736377414.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:34.988Z,1736377414.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:35.222Z,1736377415.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:35.231Z,1736377415.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:35.240Z,1736377415.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:35.494Z,1736377415.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:35.664Z,1736377415.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:35.677Z,1736377415.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:35.744Z,1736377415.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:35.996Z,1736377415.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:36.058Z,1736377416.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:36.121Z,1736377416.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:36.248Z,1736377416.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:36.500Z,1736377416.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:36.570Z,1736377416.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:36.579Z,1736377416.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:36.752Z,1736377416.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:36.977Z,1736377416.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:36.986Z,1736377416.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:37.004Z,1736377417.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:37.256Z,1736377417.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:37.399Z,1736377417.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:37.409Z,1736377417.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:37.508Z,1736377417.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:37.760Z,1736377417.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:37.820Z,1736377417.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:37.829Z,1736377417.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:38.014Z,1736377418.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:38.264Z,1736377418.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:38.277Z,1736377418.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:38.287Z,1736377418.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:38.516Z,1736377418.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:38.654Z,1736377418.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:38.689Z,1736377418.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:38.768Z,1736377418.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:39.020Z,1736377419.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:39.116Z,1736377419.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:39.166Z,1736377419.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:39.272Z,1736377419.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:39.525Z,1736377419.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:39.601Z,1736377419.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:39.624Z,1736377419.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:39.776Z,1736377419.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:40.024Z,1736377420.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:40.028Z,1736377420.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:40.033Z,1736377420.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:40.280Z,1736377420.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:40.450Z,1736377420.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:40.460Z,1736377420.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:40.532Z,1736377420.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:40.786Z,1736377420.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:40.857Z,1736377420.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:40.866Z,1736377420.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:41.041Z,1736377421.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:41.275Z,1736377421.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:41.283Z,1736377421.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:41.292Z,1736377421.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:41.544Z,1736377421.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:41.693Z,1736377421.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:41.701Z,1736377421.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:41.796Z,1736377421.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:42.048Z,1736377422.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:42.110Z,1736377422.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:42.119Z,1736377422.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:42.301Z,1736377422.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:42.548Z,1736377422.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:42.552Z,1736377422.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:42.559Z,1736377422.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:42.805Z,1736377422.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:42.930Z,1736377422.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:42.938Z,1736377422.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:03:42.940Z,1736377422.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:43.056Z,1736377423.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:43.056Z,1736377423.056 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:03:43.056Z,1736377423.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:03:43.313Z,1736377423.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:43.314Z,1736377423.314 [DAT](INFO): DAT read: user:3025> 2025-01-08T23:03:43.314Z,1736377423.314 [DAT](INFO): DAT read: Tx time:23:03:42.5232 2025-01-08T23:03:43.315Z,1736377423.315 [DAT](INFO): Ping request sent. 2025-01-08T23:03:43.315Z,1736377423.315 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:03:43.315Z,1736377423.315 [DAT](INFO): publishing transmit ping time 2025-01-08T23:03:43.316Z,1736377423.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000842 2025-01-08T23:03:43.359Z,1736377423.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:43.416Z,1736377423.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:43.564Z,1736377423.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:43.565Z,1736377423.565 [DAT](INFO): DAT read: TxSync time:23:03:42.5224 2025-01-08T23:03:43.565Z,1736377423.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250602 2025-01-08T23:03:43.813Z,1736377423.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:43.816Z,1736377423.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:43.816Z,1736377423.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501563 2025-01-08T23:03:43.843Z,1736377423.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:44.068Z,1736377424.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:44.070Z,1736377424.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754555 2025-01-08T23:03:44.320Z,1736377424.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:44.321Z,1736377424.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005639 2025-01-08T23:03:44.325Z,1736377424.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:44.334Z,1736377424.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:44.572Z,1736377424.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:44.572Z,1736377424.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257541 2025-01-08T23:03:44.702Z,1736377424.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:44.711Z,1736377424.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:44.824Z,1736377424.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:44.824Z,1736377424.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509471 2025-01-08T23:03:45.076Z,1736377425.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:45.076Z,1736377425.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761581 2025-01-08T23:03:45.126Z,1736377425.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:45.158Z,1736377425.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:45.328Z,1736377425.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:45.329Z,1736377425.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013653 2025-01-08T23:03:45.548Z,1736377425.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:45.573Z,1736377425.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:45.580Z,1736377425.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:45.581Z,1736377425.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265839 2025-01-08T23:03:45.832Z,1736377425.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:45.833Z,1736377425.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518018 2025-01-08T23:03:45.999Z,1736377425.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:46.008Z,1736377426.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:46.084Z,1736377426.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:46.085Z,1736377426.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769403 2025-01-08T23:03:46.336Z,1736377426.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:46.337Z,1736377426.337 [DAT](INFO): DAT read: Rx Time:23:03:45.0088 2025-01-08T23:03:46.337Z,1736377426.337 [DAT](INFO): Rx dataTimestamp_ set to:1736377426.336738 2025-01-08T23:03:46.338Z,1736377426.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022658 2025-01-08T23:03:46.458Z,1736377426.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:46.467Z,1736377426.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m. 2025-01-08T23:03:46.588Z,1736377426.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:46.588Z,1736377426.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273595 2025-01-08T23:03:46.840Z,1736377426.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:46.847Z,1736377426.847 [DAT](INFO): DAT read: 23:03:45.0088 LVL= 21776, 30705, 15042, 29811, AGC= 57, IDX= 431, 0.22, 0.399, 0.428, 2.346, 1.271, PHS=-0.784,-0.796, 1.072, RAW= 209.7, 5.5, CAL= 211.5, -1.1, ROT= 298.5, 1.1 2025-01-08T23:03:46.847Z,1736377426.847 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:03:46.849Z,1736377426.849 [DAT](INFO): got valid direction response: 23:03:45.0088 LVL= 21776, 30705, 15042, 29811, AGC= 57, IDX= 431, 0.22, 0.399, 0.428, 2.346, 1.271, PHS=-0.784,-0.796, 1.072, RAW= 209.7, 5.5, CAL= 211.5, -1.1, ROT= 298.5, 1.1 2025-01-08T23:03:46.850Z,1736377426.850 [DAT](INFO): DAT read: Bearing 298.5, 1.1 (Local) 2025-01-08T23:03:46.850Z,1736377426.850 [DAT](INFO): Local bearing/azimuth received: Bearing 298.5, 1.1 (Local) 2025-01-08T23:03:46.851Z,1736377426.851 [DAT](INFO): DAT read: Range 10 to 50 : 61.1 m (Round-trip 81.5 ms) speed 0.0 m/s 2025-01-08T23:03:46.852Z,1736377426.852 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:03:46.853Z,1736377426.853 [DAT](INFO): direction in FSK: [-0.135211,-0.884874,-0.445775] 2025-01-08T23:03:46.853Z,1736377426.853 [DAT](INFO): publishing direction and range info 2025-01-08T23:03:46.919Z,1736377426.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:46.965Z,1736377426.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.099998 m, deltaT: 60.248463 s, deltaX: -1.100002 m, approachRate: -0.018258 m/s, rangeRepo size: 4 2025-01-08T23:03:46.967Z,1736377426.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.099998 m, bearing: 68.307225 deg, lat: 36.904961 deg, lon: -122.119689 deg, deltaT: 106.890575 s, deltaX: -2.000000 m, approachRate: -0.018711 m/s, posRepo size: 4 2025-01-08T23:03:46.976Z,1736377426.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:47.092Z,1736377427.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:47.344Z,1736377427.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:47.430Z,1736377427.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:47.441Z,1736377427.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:47.596Z,1736377427.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:47.816Z,1736377427.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:47.824Z,1736377427.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:47.848Z,1736377427.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:47.852Z,1736377427.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:03:48.100Z,1736377428.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:48.223Z,1736377428.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:48.237Z,1736377428.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:48.353Z,1736377428.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:48.604Z,1736377428.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:48.718Z,1736377428.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:48.728Z,1736377428.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:48.857Z,1736377428.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:49.108Z,1736377429.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:49.117Z,1736377429.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:49.126Z,1736377429.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:49.360Z,1736377429.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:49.541Z,1736377429.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:49.550Z,1736377429.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:49.612Z,1736377429.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:49.866Z,1736377429.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:49.922Z,1736377429.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:49.934Z,1736377429.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:50.116Z,1736377430.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:50.368Z,1736377430.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:50.395Z,1736377430.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:50.436Z,1736377430.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:50.621Z,1736377430.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:50.832Z,1736377430.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:50.847Z,1736377430.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:50.872Z,1736377430.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:51.124Z,1736377431.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:51.259Z,1736377431.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:51.269Z,1736377431.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:51.376Z,1736377431.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:51.628Z,1736377431.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:51.736Z,1736377431.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:51.745Z,1736377431.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:51.881Z,1736377431.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:52.131Z,1736377432.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:52.140Z,1736377432.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:52.161Z,1736377432.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:52.392Z,1736377432.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:52.565Z,1736377432.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:52.576Z,1736377432.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:52.646Z,1736377432.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:52.896Z,1736377432.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:52.951Z,1736377432.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:52.977Z,1736377432.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:53.148Z,1736377433.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:53.400Z,1736377433.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:53.420Z,1736377433.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:53.429Z,1736377433.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:53.652Z,1736377433.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:53.845Z,1736377433.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:53.854Z,1736377433.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:53.904Z,1736377433.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:54.156Z,1736377434.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:54.267Z,1736377434.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:54.297Z,1736377434.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:54.408Z,1736377434.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:54.660Z,1736377434.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:54.720Z,1736377434.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:54.728Z,1736377434.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:54.913Z,1736377434.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:55.080Z,1736377435.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:55.089Z,1736377435.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:55.164Z,1736377435.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:55.416Z,1736377435.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:55.500Z,1736377435.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:55.510Z,1736377435.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:55.668Z,1736377435.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:55.899Z,1736377435.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:55.910Z,1736377435.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:55.920Z,1736377435.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:56.172Z,1736377436.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:56.291Z,1736377436.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:56.299Z,1736377436.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:56.436Z,1736377436.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:56.689Z,1736377436.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:56.749Z,1736377436.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:56.765Z,1736377436.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:56.940Z,1736377436.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:57.162Z,1736377437.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:57.178Z,1736377437.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:57.192Z,1736377437.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:57.445Z,1736377437.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:57.646Z,1736377437.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:57.662Z,1736377437.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:57.696Z,1736377437.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:57.948Z,1736377437.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:58.110Z,1736377438.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:58.127Z,1736377438.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:58.200Z,1736377438.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:58.454Z,1736377438.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:58.550Z,1736377438.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:58.560Z,1736377438.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:58.704Z,1736377438.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:58.940Z,1736377438.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:58.948Z,1736377438.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:58.956Z,1736377438.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:59.208Z,1736377439.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:59.336Z,1736377439.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:59.344Z,1736377439.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:59.461Z,1736377439.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:59.712Z,1736377439.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:03:59.780Z,1736377439.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:03:59.794Z,1736377439.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:03:59.965Z,1736377439.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:00.181Z,1736377440.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:00.216Z,1736377440.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:00.216Z,1736377440.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:00.470Z,1736377440.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:00.632Z,1736377440.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:00.641Z,1736377440.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:00.720Z,1736377440.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:00.972Z,1736377440.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:01.006Z,1736377441.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:01.020Z,1736377441.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:01.224Z,1736377441.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:01.392Z,1736377441.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:01.478Z,1736377441.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:01.500Z,1736377441.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:01.728Z,1736377441.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:01.932Z,1736377441.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:01.942Z,1736377441.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:01.980Z,1736377441.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:02.232Z,1736377442.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:02.321Z,1736377442.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:02.329Z,1736377442.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:02.486Z,1736377442.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:02.736Z,1736377442.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:02.751Z,1736377442.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:02.783Z,1736377442.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:02.988Z,1736377442.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:03.181Z,1736377443.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:03.191Z,1736377443.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:03.240Z,1736377443.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:03.493Z,1736377443.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:03.609Z,1736377443.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:03.618Z,1736377443.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:03.744Z,1736377443.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:03.997Z,1736377443.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:04.037Z,1736377444.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:04.056Z,1736377444.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:04.248Z,1736377444.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:04.438Z,1736377444.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:04.446Z,1736377444.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:04.502Z,1736377444.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:04.752Z,1736377444.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:04.861Z,1736377444.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:04.870Z,1736377444.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:05.004Z,1736377445.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:05.248Z,1736377445.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:05.256Z,1736377445.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:05.278Z,1736377445.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:05.517Z,1736377445.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:05.722Z,1736377445.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:05.751Z,1736377445.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:05.760Z,1736377445.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:06.012Z,1736377446.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:06.131Z,1736377446.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:06.159Z,1736377446.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:06.264Z,1736377446.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:06.518Z,1736377446.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:06.634Z,1736377446.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:06.643Z,1736377446.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:06.768Z,1736377446.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:06.970Z,1736377446.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:06.978Z,1736377446.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:07.020Z,1736377447.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:07.273Z,1736377447.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:07.373Z,1736377447.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:07.381Z,1736377447.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:07.526Z,1736377447.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:07.776Z,1736377447.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:07.830Z,1736377447.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:07.839Z,1736377447.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:08.028Z,1736377448.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:08.224Z,1736377448.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:08.254Z,1736377448.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:08.281Z,1736377448.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:08.532Z,1736377448.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:08.688Z,1736377448.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:08.698Z,1736377448.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:08.784Z,1736377448.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:09.036Z,1736377449.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:09.156Z,1736377449.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:09.164Z,1736377449.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:09.288Z,1736377449.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:09.540Z,1736377449.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:09.644Z,1736377449.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:09.678Z,1736377449.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:09.792Z,1736377449.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:10.044Z,1736377450.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:10.087Z,1736377450.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:10.096Z,1736377450.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:10.296Z,1736377450.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:10.476Z,1736377450.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:10.501Z,1736377450.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:10.548Z,1736377450.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:10.800Z,1736377450.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:10.916Z,1736377450.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:10.926Z,1736377450.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:11.052Z,1736377451.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:11.287Z,1736377451.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:11.299Z,1736377451.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:11.304Z,1736377451.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:11.557Z,1736377451.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:11.721Z,1736377451.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:11.729Z,1736377451.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:11.808Z,1736377451.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:12.060Z,1736377452.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:12.125Z,1736377452.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:12.133Z,1736377452.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:12.314Z,1736377452.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:12.529Z,1736377452.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:12.539Z,1736377452.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:12.564Z,1736377452.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:12.816Z,1736377452.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:12.968Z,1736377452.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:12.981Z,1736377452.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:13.068Z,1736377453.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:13.320Z,1736377453.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:13.417Z,1736377453.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:13.427Z,1736377453.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:13.572Z,1736377453.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:13.824Z,1736377453.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:13.844Z,1736377453.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:13.853Z,1736377453.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:14.076Z,1736377454.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:14.268Z,1736377454.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:14.294Z,1736377454.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:14.328Z,1736377454.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:14.580Z,1736377454.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:14.782Z,1736377454.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:14.792Z,1736377454.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:14.832Z,1736377454.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:15.084Z,1736377455.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:15.164Z,1736377455.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:15.173Z,1736377455.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:15.337Z,1736377455.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:15.585Z,1736377455.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:15.588Z,1736377455.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:15.595Z,1736377455.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:15.840Z,1736377455.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:16.011Z,1736377456.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:16.041Z,1736377456.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:16.092Z,1736377456.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:16.344Z,1736377456.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:16.446Z,1736377456.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:16.456Z,1736377456.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:16.596Z,1736377456.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:16.848Z,1736377456.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:16.859Z,1736377456.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:16.887Z,1736377456.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:17.105Z,1736377457.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:17.267Z,1736377457.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:17.276Z,1736377457.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:17.352Z,1736377457.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:17.604Z,1736377457.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:17.773Z,1736377457.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:17.781Z,1736377457.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:17.856Z,1736377457.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:17.976Z,1736377457.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:04:18.108Z,1736377458.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:18.153Z,1736377458.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:18.161Z,1736377458.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:18.275Z,1736377458.275 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:04:18.360Z,1736377458.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:18.509Z,1736377458.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:18.518Z,1736377458.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:18.613Z,1736377458.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:18.864Z,1736377458.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:18.939Z,1736377458.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:18.948Z,1736377458.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:18.980Z,1736377458.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:04:19.116Z,1736377459.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:19.326Z,1736377459.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:19.350Z,1736377459.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:19.369Z,1736377459.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:19.620Z,1736377459.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:19.814Z,1736377459.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:19.824Z,1736377459.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:19.872Z,1736377459.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:20.124Z,1736377460.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:20.194Z,1736377460.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:20.204Z,1736377460.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:20.377Z,1736377460.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:20.600Z,1736377460.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:20.610Z,1736377460.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:20.628Z,1736377460.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:20.880Z,1736377460.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:21.026Z,1736377461.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:21.036Z,1736377461.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:21.132Z,1736377461.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:21.384Z,1736377461.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:21.438Z,1736377461.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:21.449Z,1736377461.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:21.636Z,1736377461.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:21.865Z,1736377461.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:04:21.866Z,1736377461.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:21.875Z,1736377461.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:21.888Z,1736377461.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:22.140Z,1736377462.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:22.275Z,1736377462.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:04:22.275Z,1736377462.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:22.284Z,1736377462.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:22.392Z,1736377462.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:22.644Z,1736377462.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:22.690Z,1736377462.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T23:04:22.690Z,1736377462.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:22.699Z,1736377462.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:22.897Z,1736377462.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:23.148Z,1736377463.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:23.157Z,1736377463.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:23.174Z,1736377463.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:23.400Z,1736377463.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:23.588Z,1736377463.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:23.600Z,1736377463.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:23.653Z,1736377463.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:23.904Z,1736377463.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:23.986Z,1736377463.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:24.020Z,1736377464.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:24.156Z,1736377464.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:24.376Z,1736377464.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:24.385Z,1736377464.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:24.408Z,1736377464.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:24.660Z,1736377464.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:24.854Z,1736377464.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:24.875Z,1736377464.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:24.915Z,1736377464.915 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:25.164Z,1736377465.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:25.287Z,1736377465.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:25.296Z,1736377465.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:25.416Z,1736377465.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:25.669Z,1736377465.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:25.707Z,1736377465.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:25.716Z,1736377465.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:25.920Z,1736377465.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:26.123Z,1736377466.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:26.132Z,1736377466.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:26.172Z,1736377466.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:26.424Z,1736377466.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:26.520Z,1736377466.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:26.533Z,1736377466.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:26.676Z,1736377466.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:26.928Z,1736377466.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:26.940Z,1736377466.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:26.948Z,1736377466.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:27.180Z,1736377467.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:27.317Z,1736377467.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:27.326Z,1736377467.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:27.433Z,1736377467.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:27.684Z,1736377467.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:27.732Z,1736377467.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:27.741Z,1736377467.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:27.936Z,1736377467.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:28.170Z,1736377468.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:28.188Z,1736377468.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:28.208Z,1736377468.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:28.440Z,1736377468.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:28.625Z,1736377468.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:28.634Z,1736377468.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:28.692Z,1736377468.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:28.944Z,1736377468.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:29.045Z,1736377469.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:29.054Z,1736377469.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:29.196Z,1736377469.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:29.424Z,1736377469.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:29.448Z,1736377469.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:29.450Z,1736377469.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:29.700Z,1736377469.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:29.836Z,1736377469.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:29.890Z,1736377469.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:29.953Z,1736377469.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:30.204Z,1736377470.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:30.316Z,1736377470.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:30.345Z,1736377470.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:30.456Z,1736377470.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:30.708Z,1736377470.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:30.762Z,1736377470.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:30.771Z,1736377470.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:30.960Z,1736377470.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:31.194Z,1736377471.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:31.204Z,1736377471.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:31.212Z,1736377471.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:31.464Z,1736377471.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:31.568Z,1736377471.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:31.598Z,1736377471.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:31.716Z,1736377471.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:31.968Z,1736377471.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:31.990Z,1736377471.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:32.027Z,1736377472.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:32.220Z,1736377472.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:32.406Z,1736377472.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:32.438Z,1736377472.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:32.474Z,1736377472.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:32.724Z,1736377472.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:32.858Z,1736377472.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:32.866Z,1736377472.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:32.976Z,1736377472.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:33.228Z,1736377473.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:33.348Z,1736377473.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:33.357Z,1736377473.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:33.480Z,1736377473.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:33.740Z,1736377473.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:33.789Z,1736377473.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:33.797Z,1736377473.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:33.994Z,1736377473.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:34.222Z,1736377474.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:34.230Z,1736377474.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:34.244Z,1736377474.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:34.496Z,1736377474.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:34.629Z,1736377474.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:34.637Z,1736377474.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:34.748Z,1736377474.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:35.003Z,1736377475.003 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:35.065Z,1736377475.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:35.075Z,1736377475.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:35.254Z,1736377475.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:35.440Z,1736377475.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:35.465Z,1736377475.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:35.510Z,1736377475.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:35.760Z,1736377475.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:35.844Z,1736377475.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:35.852Z,1736377475.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:36.012Z,1736377476.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:36.264Z,1736377476.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:36.270Z,1736377476.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:36.278Z,1736377476.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:36.517Z,1736377476.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:36.692Z,1736377476.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:36.721Z,1736377476.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:36.768Z,1736377476.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:37.022Z,1736377477.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:37.109Z,1736377477.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:37.117Z,1736377477.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:37.272Z,1736377477.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:37.490Z,1736377477.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:37.518Z,1736377477.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:37.524Z,1736377477.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:37.777Z,1736377477.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:37.901Z,1736377477.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:37.910Z,1736377477.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:38.029Z,1736377478.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:38.280Z,1736377478.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:38.354Z,1736377478.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:38.362Z,1736377478.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:38.532Z,1736377478.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:38.712Z,1736377478.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:38.722Z,1736377478.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:38.785Z,1736377478.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:39.038Z,1736377479.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:39.143Z,1736377479.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:39.153Z,1736377479.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:39.288Z,1736377479.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:39.510Z,1736377479.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:39.523Z,1736377479.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:39.540Z,1736377479.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:39.792Z,1736377479.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:39.922Z,1736377479.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:39.930Z,1736377479.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:40.046Z,1736377480.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:40.296Z,1736377480.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:40.354Z,1736377480.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:40.362Z,1736377480.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:40.548Z,1736377480.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:40.731Z,1736377480.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:40.760Z,1736377480.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:40.800Z,1736377480.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:41.054Z,1736377481.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:41.179Z,1736377481.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:41.198Z,1736377481.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:41.304Z,1736377481.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:41.529Z,1736377481.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:41.538Z,1736377481.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:41.556Z,1736377481.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:41.808Z,1736377481.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:41.947Z,1736377481.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:41.956Z,1736377481.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:42.061Z,1736377482.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:42.312Z,1736377482.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:42.372Z,1736377482.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:42.390Z,1736377482.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:42.564Z,1736377482.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:42.747Z,1736377482.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:42.768Z,1736377482.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:42.817Z,1736377482.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:43.070Z,1736377483.070 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:43.197Z,1736377483.197 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +190, +94,A +190, +33, :BD, +1.13, +260.71, 6.75, 0.00 2025-01-08T23:04:43.219Z,1736377483.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:04:43.219Z,1736377483.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:43.227Z,1736377483.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:04:43.229Z,1736377483.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:43.320Z,1736377483.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:43.320Z,1736377483.320 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:04:43.321Z,1736377483.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:04:43.552Z,1736377483.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:04:43.552Z,1736377483.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:43.561Z,1736377483.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:43.572Z,1736377483.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:43.572Z,1736377483.572 [DAT](INFO): DAT read: user:3026> 2025-01-08T23:04:43.573Z,1736377483.573 [DAT](INFO): DAT read: Tx time:23:04:42.7722 2025-01-08T23:04:43.573Z,1736377483.573 [DAT](INFO): Ping request sent. 2025-01-08T23:04:43.573Z,1736377483.573 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:04:43.574Z,1736377483.574 [DAT](INFO): DAT read: TxSync time:23:04:42.7714 2025-01-08T23:04:43.574Z,1736377483.574 [DAT](INFO): publishing transmit ping time 2025-01-08T23:04:43.575Z,1736377483.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001520 2025-01-08T23:04:43.825Z,1736377483.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:43.827Z,1736377483.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252778 2025-01-08T23:04:43.953Z,1736377483.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:04:43.953Z,1736377483.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:43.961Z,1736377483.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:44.078Z,1736377484.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:44.080Z,1736377484.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506478 2025-01-08T23:04:44.328Z,1736377484.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:44.329Z,1736377484.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755175 2025-01-08T23:04:44.395Z,1736377484.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:44.417Z,1736377484.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:44.580Z,1736377484.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:44.580Z,1736377484.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006954 2025-01-08T23:04:44.758Z,1736377484.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:44.784Z,1736377484.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:44.832Z,1736377484.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:44.833Z,1736377484.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259802 2025-01-08T23:04:45.086Z,1736377485.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:45.088Z,1736377485.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514076 2025-01-08T23:04:45.208Z,1736377485.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:45.216Z,1736377485.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:45.336Z,1736377485.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:45.337Z,1736377485.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763308 2025-01-08T23:04:45.569Z,1736377485.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:45.578Z,1736377485.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:45.588Z,1736377485.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:45.589Z,1736377485.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015192 2025-01-08T23:04:45.840Z,1736377485.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:45.840Z,1736377485.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266894 2025-01-08T23:04:45.982Z,1736377485.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:45.991Z,1736377485.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:46.093Z,1736377486.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:46.099Z,1736377486.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524566 2025-01-08T23:04:46.344Z,1736377486.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:46.344Z,1736377486.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770857 2025-01-08T23:04:46.410Z,1736377486.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:46.420Z,1736377486.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:46.596Z,1736377486.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:46.596Z,1736377486.596 [DAT](INFO): DAT read: Rx Time:23:04:45.2582 2025-01-08T23:04:46.597Z,1736377486.597 [DAT](INFO): Rx dataTimestamp_ set to:1736377486.596628 2025-01-08T23:04:46.597Z,1736377486.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023953 2025-01-08T23:04:46.791Z,1736377486.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:46.808Z,1736377486.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:04:46.848Z,1736377486.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:46.849Z,1736377486.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275049 2025-01-08T23:04:47.100Z,1736377487.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:47.107Z,1736377487.107 [DAT](INFO): DAT read: 23:04:45.2582 LVL= 20464, 27377, 14882, 32739, AGC= 54, IDX= 450,-0.13,-1.014,-1.096, 0.848,-0.268, PHS=-0.658,-0.781, 1.113, RAW= 206.7, 3.6, CAL= 207.5, -3.5, ROT= 302.5, 3.5 2025-01-08T23:04:47.108Z,1736377487.108 [DAT](INFO): got valid direction response: 23:04:45.2582 LVL= 20464, 27377, 14882, 32739, AGC= 54, IDX= 450,-0.13,-1.014,-1.096, 0.848,-0.268, PHS=-0.658,-0.781, 1.113, RAW= 206.7, 3.6, CAL= 207.5, -3.5, ROT= 302.5, 3.5 2025-01-08T23:04:47.109Z,1736377487.109 [DAT](INFO): DAT read: Bearing 302.5, 3.5 (Local) 2025-01-08T23:04:47.109Z,1736377487.109 [DAT](INFO): Local bearing/azimuth received: Bearing 302.5, 3.5 (Local) 2025-01-08T23:04:47.110Z,1736377487.110 [DAT](INFO): DAT read: Range 10 to 50 : 61.3 m (Round-trip 81.8 ms) speed 0.0 m/s 2025-01-08T23:04:47.111Z,1736377487.111 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:04:47.112Z,1736377487.112 [DAT](INFO): direction in FSK: [-0.105962,-0.910422,-0.399881] 2025-01-08T23:04:47.113Z,1736377487.113 [DAT](INFO): publishing direction and range info 2025-01-08T23:04:47.312Z,1736377487.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:47.327Z,1736377487.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.299999 m, deltaT: 60.259822 s, deltaX: 0.200001 m, approachRate: 0.003319 m/s, rangeRepo size: 4 2025-01-08T23:04:47.329Z,1736377487.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.299999 m, bearing: 60.808534 deg, lat: 36.904949 deg, lon: -122.119688 deg, deltaT: 60.259822 s, deltaX: 0.200001 m, approachRate: 0.003319 m/s, posRepo size: 4 2025-01-08T23:04:47.330Z,1736377487.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:47.352Z,1736377487.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:47.597Z,1736377487.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:47.604Z,1736377487.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:47.607Z,1736377487.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:47.857Z,1736377487.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:47.995Z,1736377487.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:48.020Z,1736377488.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:48.108Z,1736377488.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:48.360Z,1736377488.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:48.427Z,1736377488.427 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815050, +10.9, 0.0,1493.1, 0 2025-01-08T23:04:48.434Z,1736377488.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:04:48.434Z,1736377488.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:48.444Z,1736377488.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:48.612Z,1736377488.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:48.812Z,1736377488.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:04:48.812Z,1736377488.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:48.821Z,1736377488.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:48.864Z,1736377488.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:49.116Z,1736377489.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:49.132Z,1736377489.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:04:49.284Z,1736377489.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:49.294Z,1736377489.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:49.368Z,1736377489.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:49.620Z,1736377489.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:49.682Z,1736377489.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:49.699Z,1736377489.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:49.872Z,1736377489.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:50.093Z,1736377490.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:50.101Z,1736377490.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:50.124Z,1736377490.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:50.136Z,1736377490.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:04:50.376Z,1736377490.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:50.541Z,1736377490.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:50.550Z,1736377490.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:50.628Z,1736377490.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:50.884Z,1736377490.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:50.924Z,1736377490.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:50.932Z,1736377490.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:51.136Z,1736377491.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:51.388Z,1736377491.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:51.402Z,1736377491.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:51.436Z,1736377491.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:51.640Z,1736377491.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:51.850Z,1736377491.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:51.859Z,1736377491.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:51.892Z,1736377491.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:52.144Z,1736377492.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:52.284Z,1736377492.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:52.294Z,1736377492.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:52.396Z,1736377492.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:52.649Z,1736377492.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:52.659Z,1736377492.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:52.691Z,1736377492.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:52.900Z,1736377492.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:53.058Z,1736377493.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:53.067Z,1736377493.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:53.153Z,1736377493.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:53.404Z,1736377493.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:53.479Z,1736377493.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:53.489Z,1736377493.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:53.656Z,1736377493.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:53.908Z,1736377493.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:53.961Z,1736377493.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:53.978Z,1736377493.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:54.160Z,1736377494.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:54.346Z,1736377494.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:54.358Z,1736377494.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:54.412Z,1736377494.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:54.667Z,1736377494.667 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:54.734Z,1736377494.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:54.743Z,1736377494.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:54.916Z,1736377494.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:55.141Z,1736377495.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:55.149Z,1736377495.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:55.168Z,1736377495.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:55.420Z,1736377495.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:55.568Z,1736377495.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:55.578Z,1736377495.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:55.672Z,1736377495.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:55.924Z,1736377495.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:56.008Z,1736377496.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:56.016Z,1736377496.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:56.176Z,1736377496.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:56.428Z,1736377496.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:56.447Z,1736377496.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:56.457Z,1736377496.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:56.680Z,1736377496.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:56.825Z,1736377496.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:56.854Z,1736377496.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:56.941Z,1736377496.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:57.188Z,1736377497.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:57.241Z,1736377497.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:57.319Z,1736377497.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:57.440Z,1736377497.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:57.692Z,1736377497.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:57.745Z,1736377497.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:57.755Z,1736377497.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:57.944Z,1736377497.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:58.163Z,1736377498.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:58.173Z,1736377498.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:58.196Z,1736377498.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:58.448Z,1736377498.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:58.584Z,1736377498.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:58.594Z,1736377498.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:58.700Z,1736377498.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:58.953Z,1736377498.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:58.964Z,1736377498.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:58.993Z,1736377498.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:59.205Z,1736377499.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:59.421Z,1736377499.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:59.429Z,1736377499.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:59.456Z,1736377499.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:59.708Z,1736377499.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:04:59.775Z,1736377499.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:04:59.784Z,1736377499.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:04:59.965Z,1736377499.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:00.196Z,1736377500.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:00.205Z,1736377500.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:00.212Z,1736377500.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:00.464Z,1736377500.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:00.622Z,1736377500.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:00.631Z,1736377500.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:00.716Z,1736377500.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:00.968Z,1736377500.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:01.036Z,1736377501.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:01.045Z,1736377501.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:01.220Z,1736377501.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:01.472Z,1736377501.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:01.495Z,1736377501.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:01.505Z,1736377501.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:01.724Z,1736377501.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:01.850Z,1736377501.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:01.859Z,1736377501.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:01.976Z,1736377501.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:02.228Z,1736377502.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:02.271Z,1736377502.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:02.279Z,1736377502.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:02.480Z,1736377502.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:02.696Z,1736377502.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:02.706Z,1736377502.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:02.732Z,1736377502.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:02.984Z,1736377502.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:03.062Z,1736377503.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:03.070Z,1736377503.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:03.236Z,1736377503.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:03.488Z,1736377503.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:03.494Z,1736377503.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:03.504Z,1736377503.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:03.740Z,1736377503.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:03.897Z,1736377503.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:03.906Z,1736377503.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:03.992Z,1736377503.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:04.244Z,1736377504.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:04.295Z,1736377504.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:04.321Z,1736377504.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:04.496Z,1736377504.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:04.748Z,1736377504.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:04.762Z,1736377504.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:04.771Z,1736377504.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:04.000Z,1736377505.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:05.134Z,1736377505.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:05.163Z,1736377505.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:05.252Z,1736377505.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:05.504Z,1736377505.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:05.555Z,1736377505.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:05.584Z,1736377505.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:05.756Z,1736377505.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:05.932Z,1736377505.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:05.942Z,1736377505.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:06.008Z,1736377506.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:06.260Z,1736377506.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:06.348Z,1736377506.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:06.362Z,1736377506.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:06.512Z,1736377506.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:06.764Z,1736377506.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:06.777Z,1736377506.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:06.787Z,1736377506.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:07.016Z,1736377507.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:07.148Z,1736377507.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:07.166Z,1736377507.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:07.268Z,1736377507.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:07.520Z,1736377507.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:07.580Z,1736377507.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:07.606Z,1736377507.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:07.772Z,1736377507.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:07.977Z,1736377507.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:07.986Z,1736377507.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:08.025Z,1736377508.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:08.276Z,1736377508.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:08.378Z,1736377508.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:08.388Z,1736377508.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:08.528Z,1736377508.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:08.780Z,1736377508.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:08.784Z,1736377508.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:08.795Z,1736377508.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:09.032Z,1736377509.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:09.189Z,1736377509.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:09.205Z,1736377509.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:09.284Z,1736377509.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:09.536Z,1736377509.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:09.610Z,1736377509.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:09.620Z,1736377509.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:09.789Z,1736377509.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:10.021Z,1736377510.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:10.030Z,1736377510.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:10.040Z,1736377510.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:10.293Z,1736377510.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:10.413Z,1736377510.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:10.422Z,1736377510.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:10.544Z,1736377510.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:10.796Z,1736377510.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:10.847Z,1736377510.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:10.857Z,1736377510.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:11.049Z,1736377511.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:11.249Z,1736377511.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:11.257Z,1736377511.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:11.300Z,1736377511.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:11.552Z,1736377511.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:11.721Z,1736377511.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:11.732Z,1736377511.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:11.804Z,1736377511.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:12.056Z,1736377512.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:12.104Z,1736377512.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:12.113Z,1736377512.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:12.308Z,1736377512.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:12.560Z,1736377512.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:12.580Z,1736377512.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:12.589Z,1736377512.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:12.813Z,1736377512.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:12.984Z,1736377512.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:12.994Z,1736377512.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:13.064Z,1736377513.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:13.316Z,1736377513.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:13.415Z,1736377513.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:13.424Z,1736377513.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:13.570Z,1736377513.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:13.820Z,1736377513.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:13.828Z,1736377513.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:13.837Z,1736377513.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:14.073Z,1736377514.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:14.245Z,1736377514.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:14.258Z,1736377514.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:14.325Z,1736377514.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:14.576Z,1736377514.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:14.694Z,1736377514.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:14.704Z,1736377514.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:14.828Z,1736377514.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:15.065Z,1736377515.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:15.074Z,1736377515.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:15.080Z,1736377515.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:15.332Z,1736377515.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:15.460Z,1736377515.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:15.468Z,1736377515.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:15.585Z,1736377515.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:15.836Z,1736377515.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:15.887Z,1736377515.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:15.917Z,1736377515.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:16.088Z,1736377516.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:16.272Z,1736377516.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:16.280Z,1736377516.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:16.340Z,1736377516.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:16.593Z,1736377516.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:16.707Z,1736377516.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:16.716Z,1736377516.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:16.844Z,1736377516.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:17.076Z,1736377517.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:17.096Z,1736377517.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:17.105Z,1736377517.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:17.348Z,1736377517.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:17.480Z,1736377517.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:17.489Z,1736377517.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:17.602Z,1736377517.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:17.852Z,1736377517.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:17.912Z,1736377517.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:17.932Z,1736377517.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:18.104Z,1736377518.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:18.293Z,1736377518.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:18.303Z,1736377518.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:18.357Z,1736377518.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:18.609Z,1736377518.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:18.724Z,1736377518.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:18.733Z,1736377518.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:18.860Z,1736377518.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:19.096Z,1736377519.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:19.105Z,1736377519.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:19.112Z,1736377519.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:19.364Z,1736377519.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:19.519Z,1736377519.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:19.531Z,1736377519.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:19.617Z,1736377519.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:19.868Z,1736377519.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:19.933Z,1736377519.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:19.942Z,1736377519.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:20.120Z,1736377520.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:20.264Z,1736377520.264 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:05:20.312Z,1736377520.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:20.322Z,1736377520.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:20.373Z,1736377520.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:20.626Z,1736377520.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:20.742Z,1736377520.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:20.750Z,1736377520.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:20.876Z,1736377520.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:21.128Z,1736377521.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:21.140Z,1736377521.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:21.149Z,1736377521.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:21.268Z,1736377521.268 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:05:21.380Z,1736377521.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:21.527Z,1736377521.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:21.553Z,1736377521.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:21.633Z,1736377521.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:21.884Z,1736377521.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:21.947Z,1736377521.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:21.973Z,1736377521.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:22.136Z,1736377522.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:22.329Z,1736377522.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:22.339Z,1736377522.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:22.388Z,1736377522.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:22.641Z,1736377522.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:22.759Z,1736377522.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:22.769Z,1736377522.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:22.893Z,1736377522.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:23.138Z,1736377523.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:23.144Z,1736377523.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:23.213Z,1736377523.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:23.396Z,1736377523.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:23.605Z,1736377523.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:23.614Z,1736377523.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:23.649Z,1736377523.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:23.900Z,1736377523.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:24.071Z,1736377524.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:24.080Z,1736377524.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:24.152Z,1736377524.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:24.404Z,1736377524.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:24.425Z,1736377524.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:24.433Z,1736377524.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:24.657Z,1736377524.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:24.850Z,1736377524.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:24.860Z,1736377524.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:24.910Z,1736377524.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:25.161Z,1736377525.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:25.232Z,1736377525.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:25.241Z,1736377525.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:25.412Z,1736377525.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:25.637Z,1736377525.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:25.648Z,1736377525.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:25.672Z,1736377525.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:25.926Z,1736377525.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:26.066Z,1736377526.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:26.077Z,1736377526.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:26.177Z,1736377526.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:26.428Z,1736377526.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:26.438Z,1736377526.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:26.467Z,1736377526.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:26.680Z,1736377526.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:26.863Z,1736377526.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:26.896Z,1736377526.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:26.932Z,1736377526.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:27.184Z,1736377527.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:27.248Z,1736377527.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:27.257Z,1736377527.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:27.436Z,1736377527.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:27.667Z,1736377527.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:27.688Z,1736377527.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:27.705Z,1736377527.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:27.940Z,1736377527.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:28.081Z,1736377528.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:28.110Z,1736377528.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:28.192Z,1736377528.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:28.444Z,1736377528.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:28.478Z,1736377528.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:28.487Z,1736377528.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:28.697Z,1736377528.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:28.894Z,1736377528.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:28.904Z,1736377528.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:28.948Z,1736377528.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:29.200Z,1736377529.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:29.272Z,1736377529.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:29.280Z,1736377529.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:29.453Z,1736377529.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:29.689Z,1736377529.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:29.697Z,1736377529.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:29.712Z,1736377529.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:29.964Z,1736377529.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:30.113Z,1736377530.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:30.130Z,1736377530.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:30.216Z,1736377530.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:30.468Z,1736377530.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:30.481Z,1736377530.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:30.490Z,1736377530.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:30.720Z,1736377530.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:30.907Z,1736377530.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:30.916Z,1736377530.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:30.973Z,1736377530.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:31.226Z,1736377531.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:31.284Z,1736377531.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:31.293Z,1736377531.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:31.476Z,1736377531.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:31.697Z,1736377531.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:31.706Z,1736377531.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:31.728Z,1736377531.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:31.980Z,1736377531.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:32.123Z,1736377532.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:32.147Z,1736377532.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:32.232Z,1736377532.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:32.484Z,1736377532.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:32.518Z,1736377532.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:32.526Z,1736377532.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:32.736Z,1736377532.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:32.935Z,1736377532.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:32.944Z,1736377532.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:32.990Z,1736377532.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:33.240Z,1736377533.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:33.310Z,1736377533.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:33.322Z,1736377533.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:33.493Z,1736377533.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:33.722Z,1736377533.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:33.730Z,1736377533.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:33.744Z,1736377533.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:33.996Z,1736377533.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:34.141Z,1736377534.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:34.149Z,1736377534.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:34.248Z,1736377534.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:34.500Z,1736377534.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:34.523Z,1736377534.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:34.532Z,1736377534.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:34.752Z,1736377534.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:34.954Z,1736377534.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:34.962Z,1736377534.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:35.004Z,1736377535.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:35.256Z,1736377535.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:35.343Z,1736377535.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:35.352Z,1736377535.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:35.508Z,1736377535.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:35.760Z,1736377535.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:35.776Z,1736377535.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:35.785Z,1736377535.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:36.013Z,1736377536.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:36.179Z,1736377536.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:36.188Z,1736377536.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:36.264Z,1736377536.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:36.516Z,1736377536.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:36.559Z,1736377536.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:36.568Z,1736377536.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:36.768Z,1736377536.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:36.990Z,1736377536.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:37.020Z,1736377537.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:37.029Z,1736377537.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:37.272Z,1736377537.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:37.371Z,1736377537.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:37.381Z,1736377537.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:37.524Z,1736377537.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:37.770Z,1736377537.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:37.784Z,1736377537.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:37.798Z,1736377537.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:38.039Z,1736377538.039 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:38.226Z,1736377538.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:38.236Z,1736377538.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:38.292Z,1736377538.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:38.544Z,1736377538.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:38.580Z,1736377538.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:38.589Z,1736377538.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:38.796Z,1736377538.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:39.005Z,1736377539.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:39.016Z,1736377539.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:39.048Z,1736377539.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:39.300Z,1736377539.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:39.380Z,1736377539.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:39.389Z,1736377539.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:39.552Z,1736377539.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:39.787Z,1736377539.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:39.800Z,1736377539.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:39.805Z,1736377539.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:40.056Z,1736377540.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:40.223Z,1736377540.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:40.264Z,1736377540.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:40.308Z,1736377540.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:40.560Z,1736377540.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:40.601Z,1736377540.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:40.618Z,1736377540.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:40.813Z,1736377540.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:41.028Z,1736377541.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:41.037Z,1736377541.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:41.064Z,1736377541.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:41.316Z,1736377541.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:41.404Z,1736377541.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:41.413Z,1736377541.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:41.568Z,1736377541.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:41.808Z,1736377541.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:41.816Z,1736377541.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:41.820Z,1736377541.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:42.072Z,1736377542.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:42.233Z,1736377542.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:42.243Z,1736377542.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:42.324Z,1736377542.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:42.576Z,1736377542.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:42.641Z,1736377542.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:42.654Z,1736377542.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:42.828Z,1736377542.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:43.080Z,1736377543.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:43.124Z,1736377543.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:43.132Z,1736377543.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:43.335Z,1736377543.335 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:43.580Z,1736377543.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:43.588Z,1736377543.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:43.590Z,1736377543.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:05:43.592Z,1736377543.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:43.840Z,1736377543.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:43.840Z,1736377543.840 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:05:43.840Z,1736377543.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:05:44.054Z,1736377544.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:44.063Z,1736377544.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:44.092Z,1736377544.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:44.093Z,1736377544.093 [DAT](INFO): DAT read: user:3027> 2025-01-08T23:05:44.094Z,1736377544.094 [DAT](INFO): DAT read: Tx time:23:05:43.3228 2025-01-08T23:05:44.095Z,1736377544.095 [DAT](INFO): Ping request sent. 2025-01-08T23:05:44.095Z,1736377544.095 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:05:44.095Z,1736377544.095 [DAT](INFO): publishing transmit ping time 2025-01-08T23:05:44.096Z,1736377544.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001221 2025-01-08T23:05:44.344Z,1736377544.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:44.345Z,1736377544.345 [DAT](INFO): DAT read: TxSync time:23:05:43.3220 2025-01-08T23:05:44.345Z,1736377544.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250308 2025-01-08T23:05:44.441Z,1736377544.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:44.466Z,1736377544.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:44.598Z,1736377544.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:44.599Z,1736377544.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504404 2025-01-08T23:05:44.849Z,1736377544.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:44.850Z,1736377544.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755118 2025-01-08T23:05:44.856Z,1736377544.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:44.898Z,1736377544.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:45.100Z,1736377545.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:45.101Z,1736377545.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006059 2025-01-08T23:05:45.329Z,1736377545.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:45.352Z,1736377545.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:45.353Z,1736377545.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258090 2025-01-08T23:05:45.362Z,1736377545.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:45.604Z,1736377545.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:45.605Z,1736377545.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509976 2025-01-08T23:05:45.772Z,1736377545.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:45.780Z,1736377545.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:45.856Z,1736377545.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:45.857Z,1736377545.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761509 2025-01-08T23:05:46.108Z,1736377546.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:46.108Z,1736377546.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013326 2025-01-08T23:05:46.248Z,1736377546.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:46.265Z,1736377546.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:46.360Z,1736377546.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:46.361Z,1736377546.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265551 2025-01-08T23:05:46.612Z,1736377546.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:46.613Z,1736377546.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517479 2025-01-08T23:05:46.638Z,1736377546.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:46.677Z,1736377546.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:46.864Z,1736377546.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:46.865Z,1736377546.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769864 2025-01-08T23:05:47.116Z,1736377547.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:47.116Z,1736377547.116 [DAT](INFO): DAT read: Rx Time:23:05:45.8100 2025-01-08T23:05:47.117Z,1736377547.117 [DAT](INFO): Rx dataTimestamp_ set to:1736377547.116617 2025-01-08T23:05:47.117Z,1736377547.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022392 2025-01-08T23:05:47.134Z,1736377547.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:47.163Z,1736377547.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:47.368Z,1736377547.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:47.370Z,1736377547.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274339 2025-01-08T23:05:47.548Z,1736377547.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:47.557Z,1736377547.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.30 m. 2025-01-08T23:05:47.620Z,1736377547.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:47.627Z,1736377547.627 [DAT](INFO): DAT read: 23:05:45.8100 LVL= 24032, 27793, 13618, 28595, AGC= 54, IDX= 447,-0.29,-0.922,-0.955, 0.951,-0.029, PHS=-0.805,-0.879, 0.976, RAW= 208.0, 7.8, CAL= 210.3, 1.8, ROT= 299.7, -1.8 2025-01-08T23:05:47.628Z,1736377547.628 [DAT](INFO): got valid direction response: 23:05:45.8100 LVL= 24032, 27793, 13618, 28595, AGC= 54, IDX= 447,-0.29,-0.922,-0.955, 0.951,-0.029, PHS=-0.805,-0.879, 0.976, RAW= 208.0, 7.8, CAL= 210.3, 1.8, ROT= 299.7, -1.8 2025-01-08T23:05:47.629Z,1736377547.629 [DAT](INFO): DAT read: Bearing 299.7, -1.8 (Local) 2025-01-08T23:05:47.629Z,1736377547.629 [DAT](INFO): Local bearing/azimuth received: Bearing 299.7, -1.8 (Local) 2025-01-08T23:05:47.630Z,1736377547.630 [DAT](INFO): DAT read: Range 10 to 50 : 62.3 m (Round-trip 83.1 ms) speed 0.0 m/s 2025-01-08T23:05:47.631Z,1736377547.631 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:05:47.632Z,1736377547.632 [DAT](INFO): direction in FSK: [-0.181230,-0.888838,-0.420859] 2025-01-08T23:05:47.632Z,1736377547.632 [DAT](INFO): publishing direction and range info 2025-01-08T23:05:47.872Z,1736377547.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:47.955Z,1736377547.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:47.989Z,1736377547.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.299999 m, deltaT: 60.520027 s, deltaX: 1.000000 m, approachRate: 0.016523 m/s, rangeRepo size: 4 2025-01-08T23:05:47.992Z,1736377547.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.299999 m, bearing: 45.311153 deg, lat: 36.904949 deg, lon: -122.119634 deg, deltaT: 60.520027 s, deltaX: 1.000000 m, approachRate: 0.016523 m/s, posRepo size: 4 2025-01-08T23:05:47.992Z,1736377547.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:48.125Z,1736377548.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:48.376Z,1736377548.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:48.393Z,1736377548.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:48.402Z,1736377548.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:48.630Z,1736377548.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:48.760Z,1736377548.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:48.770Z,1736377548.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:48.881Z,1736377548.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:49.132Z,1736377549.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:49.216Z,1736377549.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:49.225Z,1736377549.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:49.384Z,1736377549.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:49.616Z,1736377549.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:49.626Z,1736377549.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:49.636Z,1736377549.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:49.888Z,1736377549.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:50.014Z,1736377550.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:50.040Z,1736377550.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:50.140Z,1736377550.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:50.392Z,1736377550.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:50.480Z,1736377550.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:50.490Z,1736377550.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:50.646Z,1736377550.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:50.891Z,1736377550.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:50.896Z,1736377550.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:50.901Z,1736377550.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:51.148Z,1736377551.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:51.305Z,1736377551.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:51.314Z,1736377551.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:51.388Z,1736377551.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:05:51.400Z,1736377551.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:51.653Z,1736377551.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:51.691Z,1736377551.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:51.716Z,1736377551.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:51.905Z,1736377551.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:52.137Z,1736377552.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:52.156Z,1736377552.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:52.176Z,1736377552.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:52.392Z,1736377552.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:05:52.408Z,1736377552.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:52.514Z,1736377552.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:52.524Z,1736377552.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:52.660Z,1736377552.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:52.890Z,1736377552.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:52.898Z,1736377552.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:52.912Z,1736377552.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:53.164Z,1736377553.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:53.314Z,1736377553.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:53.382Z,1736377553.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:53.417Z,1736377553.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:53.668Z,1736377553.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:53.709Z,1736377553.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:53.717Z,1736377553.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:53.921Z,1736377553.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:54.149Z,1736377554.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:54.176Z,1736377554.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:54.212Z,1736377554.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:54.428Z,1736377554.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:54.587Z,1736377554.587 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 84.96, 76.13, 74.77 2025-01-08T23:05:54.594Z,1736377554.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:05:54.594Z,1736377554.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:54.604Z,1736377554.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:54.680Z,1736377554.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:54.932Z,1736377554.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:55.005Z,1736377555.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:05:55.005Z,1736377555.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:55.017Z,1736377555.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:55.184Z,1736377555.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:55.425Z,1736377555.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:55.434Z,1736377555.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:55.436Z,1736377555.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:55.688Z,1736377555.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:55.817Z,1736377555.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:55.849Z,1736377555.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:55.940Z,1736377555.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:56.193Z,1736377556.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:56.279Z,1736377556.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:56.289Z,1736377556.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:56.444Z,1736377556.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:56.682Z,1736377556.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:56.696Z,1736377556.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:56.704Z,1736377556.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:56.948Z,1736377556.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:57.058Z,1736377557.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:57.067Z,1736377557.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:57.201Z,1736377557.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:57.453Z,1736377557.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:57.493Z,1736377557.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:57.501Z,1736377557.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:57.704Z,1736377557.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:57.892Z,1736377557.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:57.901Z,1736377557.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:57.961Z,1736377557.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:58.214Z,1736377558.214 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:58.275Z,1736377558.275 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for beam range. Device response is::RA 0.00, 83.60, 67.63, 75.45, 74.77 2025-01-08T23:05:58.298Z,1736377558.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:05:58.298Z,1736377558.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:58.308Z,1736377558.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:58.464Z,1736377558.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:58.712Z,1736377558.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:05:58.712Z,1736377558.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:58.716Z,1736377558.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:58.723Z,1736377558.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:58.968Z,1736377558.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:59.136Z,1736377559.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:05:59.136Z,1736377559.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:59.145Z,1736377559.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:59.222Z,1736377559.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:59.472Z,1736377559.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:59.628Z,1736377559.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:05:59.637Z,1736377559.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:05:59.724Z,1736377559.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:05:59.976Z,1736377559.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:00.066Z,1736377560.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:00.078Z,1736377560.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:00.230Z,1736377560.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:00.475Z,1736377560.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:00.480Z,1736377560.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:00.512Z,1736377560.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:00.732Z,1736377560.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:00.857Z,1736377560.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:00.865Z,1736377560.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:00.984Z,1736377560.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:01.237Z,1736377561.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:01.326Z,1736377561.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:01.337Z,1736377561.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:01.489Z,1736377561.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:01.706Z,1736377561.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:01.714Z,1736377561.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:01.740Z,1736377561.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:01.992Z,1736377561.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:02.114Z,1736377562.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:02.123Z,1736377562.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:02.245Z,1736377562.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:02.496Z,1736377562.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:02.546Z,1736377562.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:02.555Z,1736377562.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:02.749Z,1736377562.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:02.974Z,1736377562.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:02.998Z,1736377562.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:02.000Z,1736377563.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:03.254Z,1736377563.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:03.397Z,1736377563.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:03.406Z,1736377563.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:03.505Z,1736377563.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:03.756Z,1736377563.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:03.794Z,1736377563.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:03.803Z,1736377563.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:04.008Z,1736377564.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:04.187Z,1736377564.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:04.224Z,1736377564.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:04.261Z,1736377564.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:04.512Z,1736377564.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:04.658Z,1736377564.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:04.700Z,1736377564.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:04.764Z,1736377564.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:05.016Z,1736377565.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:05.131Z,1736377565.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:05.150Z,1736377565.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:05.270Z,1736377565.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:05.520Z,1736377565.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:05.589Z,1736377565.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:05.597Z,1736377565.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:05.774Z,1736377565.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:05.993Z,1736377565.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:06.002Z,1736377566.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:06.024Z,1736377566.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:06.277Z,1736377566.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:06.422Z,1736377566.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:06.431Z,1736377566.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:06.528Z,1736377566.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:06.780Z,1736377566.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:06.846Z,1736377566.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:06.889Z,1736377566.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:07.032Z,1736377567.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:07.286Z,1736377567.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:07.355Z,1736377567.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:07.376Z,1736377567.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:07.539Z,1736377567.539 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:07.721Z,1736377567.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:07.730Z,1736377567.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:07.788Z,1736377567.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:08.040Z,1736377568.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:08.098Z,1736377568.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:08.122Z,1736377568.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:08.292Z,1736377568.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:08.544Z,1736377568.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:08.562Z,1736377568.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:08.571Z,1736377568.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:08.796Z,1736377568.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:08.945Z,1736377568.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:08.955Z,1736377568.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:09.049Z,1736377569.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:09.301Z,1736377569.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:09.420Z,1736377569.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:09.428Z,1736377569.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:09.552Z,1736377569.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:09.804Z,1736377569.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:09.818Z,1736377569.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:09.828Z,1736377569.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:10.056Z,1736377570.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:10.236Z,1736377570.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:10.249Z,1736377570.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:10.309Z,1736377570.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:10.560Z,1736377570.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:10.672Z,1736377570.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:10.685Z,1736377570.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:10.812Z,1736377570.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:11.064Z,1736377571.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:11.096Z,1736377571.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:11.114Z,1736377571.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:11.317Z,1736377571.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:11.523Z,1736377571.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:11.558Z,1736377571.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:11.568Z,1736377571.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:11.820Z,1736377571.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:11.958Z,1736377571.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:11.967Z,1736377571.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:12.072Z,1736377572.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:12.324Z,1736377572.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:12.393Z,1736377572.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:12.449Z,1736377572.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:12.576Z,1736377572.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:12.828Z,1736377572.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:12.901Z,1736377572.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:12.910Z,1736377572.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:13.080Z,1736377573.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:13.332Z,1736377573.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:13.411Z,1736377573.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:13.462Z,1736377573.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:13.584Z,1736377573.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:13.839Z,1736377573.839 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:13.882Z,1736377573.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:13.916Z,1736377573.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:14.092Z,1736377574.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:14.319Z,1736377574.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:14.328Z,1736377574.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:14.344Z,1736377574.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:14.596Z,1736377574.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:14.740Z,1736377574.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:14.749Z,1736377574.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:14.852Z,1736377574.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:15.104Z,1736377575.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:15.124Z,1736377575.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:15.133Z,1736377575.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:15.358Z,1736377575.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:15.543Z,1736377575.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:15.552Z,1736377575.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:15.608Z,1736377575.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:15.860Z,1736377575.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:15.947Z,1736377575.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:15.956Z,1736377575.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:16.112Z,1736377576.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:16.354Z,1736377576.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:16.368Z,1736377576.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:16.369Z,1736377576.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:16.620Z,1736377576.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:16.778Z,1736377576.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:16.788Z,1736377576.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:16.872Z,1736377576.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:17.124Z,1736377577.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:17.184Z,1736377577.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:17.194Z,1736377577.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:17.376Z,1736377577.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:17.601Z,1736377577.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:17.610Z,1736377577.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:17.630Z,1736377577.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:17.880Z,1736377577.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:17.988Z,1736377577.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:17.996Z,1736377577.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:18.132Z,1736377578.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:18.384Z,1736377578.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:18.447Z,1736377578.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:18.458Z,1736377578.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:18.636Z,1736377578.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:18.888Z,1736377578.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:18.928Z,1736377578.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:18.937Z,1736377578.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:19.140Z,1736377579.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:19.350Z,1736377579.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:19.362Z,1736377579.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:19.393Z,1736377579.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:19.644Z,1736377579.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:19.772Z,1736377579.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:19.804Z,1736377579.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:19.896Z,1736377579.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:20.154Z,1736377580.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:20.187Z,1736377580.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:20.196Z,1736377580.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:20.400Z,1736377580.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:20.653Z,1736377580.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:20.654Z,1736377580.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:20.670Z,1736377580.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:20.905Z,1736377580.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:21.070Z,1736377581.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:21.079Z,1736377581.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:21.156Z,1736377581.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:21.408Z,1736377581.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:21.500Z,1736377581.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:21.571Z,1736377581.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:21.660Z,1736377581.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:21.912Z,1736377581.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:21.962Z,1736377581.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:21.971Z,1736377581.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:22.164Z,1736377582.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:22.412Z,1736377582.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:22.416Z,1736377582.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:22.421Z,1736377582.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:22.516Z,1736377582.516 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:06:22.669Z,1736377582.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:22.836Z,1736377582.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:22.844Z,1736377582.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:22.920Z,1736377582.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:23.172Z,1736377583.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:23.260Z,1736377583.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:23.268Z,1736377583.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:23.424Z,1736377583.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:23.520Z,1736377583.520 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:06:23.676Z,1736377583.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:23.726Z,1736377583.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:23.734Z,1736377583.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:23.928Z,1736377583.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:24.134Z,1736377584.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:24.143Z,1736377584.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:24.180Z,1736377584.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:24.432Z,1736377584.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:24.547Z,1736377584.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:24.602Z,1736377584.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:24.684Z,1736377584.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:24.937Z,1736377584.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:24.965Z,1736377584.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:24.975Z,1736377584.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:25.188Z,1736377585.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:25.332Z,1736377585.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:25.361Z,1736377585.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:25.440Z,1736377585.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:25.694Z,1736377585.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:25.783Z,1736377585.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:25.792Z,1736377585.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:25.944Z,1736377585.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:26.164Z,1736377586.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:26.189Z,1736377586.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:26.196Z,1736377586.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:26.448Z,1736377586.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:26.576Z,1736377586.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:26.593Z,1736377586.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:26.700Z,1736377586.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:26.952Z,1736377586.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:27.048Z,1736377587.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:27.057Z,1736377587.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:27.206Z,1736377587.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:27.450Z,1736377587.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:27.456Z,1736377587.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:27.460Z,1736377587.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:27.708Z,1736377587.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:27.888Z,1736377587.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:27.897Z,1736377587.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:27.960Z,1736377587.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:28.212Z,1736377588.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:28.283Z,1736377588.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:28.299Z,1736377588.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:28.466Z,1736377588.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:28.720Z,1736377588.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:28.728Z,1736377588.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:28.737Z,1736377588.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:28.972Z,1736377588.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:29.122Z,1736377589.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:29.130Z,1736377589.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:29.224Z,1736377589.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:29.476Z,1736377589.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:29.519Z,1736377589.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:29.550Z,1736377589.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:29.728Z,1736377589.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:29.956Z,1736377589.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:29.969Z,1736377589.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:29.980Z,1736377589.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:30.232Z,1736377590.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:30.341Z,1736377590.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:30.350Z,1736377590.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:30.484Z,1736377590.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:30.736Z,1736377590.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:30.775Z,1736377590.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:30.784Z,1736377590.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:30.988Z,1736377590.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:31.177Z,1736377591.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:31.187Z,1736377591.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:31.240Z,1736377591.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:31.492Z,1736377591.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:31.594Z,1736377591.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:31.602Z,1736377591.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:31.744Z,1736377591.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:31.996Z,1736377591.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:32.004Z,1736377592.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:32.017Z,1736377592.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:32.248Z,1736377592.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:32.435Z,1736377592.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:32.464Z,1736377592.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:32.500Z,1736377592.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:32.752Z,1736377592.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:32.879Z,1736377592.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:32.888Z,1736377592.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:33.004Z,1736377593.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:33.256Z,1736377593.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:33.266Z,1736377593.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:33.304Z,1736377593.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:33.508Z,1736377593.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:33.760Z,1736377593.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:33.775Z,1736377593.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:33.786Z,1736377593.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:34.013Z,1736377594.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:34.245Z,1736377594.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:34.264Z,1736377594.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:34.282Z,1736377594.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:34.516Z,1736377594.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:34.721Z,1736377594.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:34.770Z,1736377594.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:34.779Z,1736377594.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:35.020Z,1736377595.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:35.217Z,1736377595.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:35.226Z,1736377595.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:35.272Z,1736377595.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:35.524Z,1736377595.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:35.608Z,1736377595.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:35.625Z,1736377595.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:35.776Z,1736377595.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:36.024Z,1736377596.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:36.028Z,1736377596.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:36.053Z,1736377596.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:36.280Z,1736377596.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:36.433Z,1736377596.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:36.442Z,1736377596.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:36.532Z,1736377596.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:36.786Z,1736377596.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:36.855Z,1736377596.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:36.888Z,1736377596.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:37.036Z,1736377597.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:37.241Z,1736377597.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:37.250Z,1736377597.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:37.288Z,1736377597.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:37.540Z,1736377597.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:37.642Z,1736377597.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:37.673Z,1736377597.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:37.794Z,1736377597.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:38.044Z,1736377598.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:38.092Z,1736377598.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:38.101Z,1736377598.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:38.296Z,1736377598.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:38.510Z,1736377598.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:38.519Z,1736377598.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:38.552Z,1736377598.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:38.807Z,1736377598.807 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:38.927Z,1736377598.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:38.936Z,1736377598.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:39.056Z,1736377599.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:39.308Z,1736377599.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:39.313Z,1736377599.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:39.322Z,1736377599.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:39.560Z,1736377599.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:39.731Z,1736377599.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:39.760Z,1736377599.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:39.814Z,1736377599.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:40.064Z,1736377600.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:40.236Z,1736377600.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:40.245Z,1736377600.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:40.316Z,1736377600.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:40.568Z,1736377600.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:40.614Z,1736377600.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:40.624Z,1736377600.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:40.822Z,1736377600.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:41.035Z,1736377601.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:41.044Z,1736377601.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:41.072Z,1736377601.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:41.324Z,1736377601.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:41.430Z,1736377601.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:41.440Z,1736377601.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:41.576Z,1736377601.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:41.829Z,1736377601.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:41.918Z,1736377601.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:41.927Z,1736377601.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:42.082Z,1736377602.082 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:42.243Z,1736377602.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:42.280Z,1736377602.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:42.281Z,1736377602.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 62.30 m and bearing: 45.146650 deg. Not drifting fast enough. 2025-01-08T23:06:42.336Z,1736377602.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:42.588Z,1736377602.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:42.644Z,1736377602.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:42.658Z,1736377602.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:42.661Z,1736377602.661 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-01-08T23:06:42.662Z,1736377602.662 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T23:06:42.662Z,1736377602.662 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-01-08T23:06:42.662Z,1736377602.662 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-01-08T23:06:42.842Z,1736377602.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:43.066Z,1736377603.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:43.075Z,1736377603.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:43.092Z,1736377603.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:43.344Z,1736377603.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:43.444Z,1736377603.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:43.458Z,1736377603.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:43.596Z,1736377603.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:43.850Z,1736377603.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:43.951Z,1736377603.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:43.959Z,1736377603.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:06:43.961Z,1736377603.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:44.100Z,1736377604.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:44.101Z,1736377604.101 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:06:44.102Z,1736377604.102 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:06:44.261Z,1736377604.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:44.270Z,1736377604.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:44.352Z,1736377604.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:44.353Z,1736377604.353 [DAT](INFO): DAT read: user:3028> 2025-01-08T23:06:44.354Z,1736377604.354 [DAT](INFO): DAT read: Tx time:23:06:43.5734 2025-01-08T23:06:44.354Z,1736377604.354 [DAT](INFO): Ping request sent. 2025-01-08T23:06:44.355Z,1736377604.355 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:06:44.355Z,1736377604.355 [DAT](INFO): publishing transmit ping time 2025-01-08T23:06:44.361Z,1736377604.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006188 2025-01-08T23:06:44.604Z,1736377604.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:44.605Z,1736377604.605 [DAT](INFO): DAT read: TxSync time:23:06:43.5726 2025-01-08T23:06:44.605Z,1736377604.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250907 2025-01-08T23:06:44.695Z,1736377604.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:44.717Z,1736377604.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:44.860Z,1736377604.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:44.862Z,1736377604.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507233 2025-01-08T23:06:45.084Z,1736377605.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:45.093Z,1736377605.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:45.108Z,1736377605.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:45.108Z,1736377605.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753814 2025-01-08T23:06:45.360Z,1736377605.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:45.360Z,1736377605.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005733 2025-01-08T23:06:45.463Z,1736377605.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:45.472Z,1736377605.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:45.612Z,1736377605.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:45.614Z,1736377605.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258983 2025-01-08T23:06:45.865Z,1736377605.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:45.868Z,1736377605.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512429 2025-01-08T23:06:45.940Z,1736377605.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:45.958Z,1736377605.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:46.116Z,1736377606.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:46.116Z,1736377606.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761916 2025-01-08T23:06:46.306Z,1736377606.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:46.314Z,1736377606.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:46.372Z,1736377606.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:46.374Z,1736377606.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019465 2025-01-08T23:06:46.624Z,1736377606.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:46.625Z,1736377606.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270104 2025-01-08T23:06:46.698Z,1736377606.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:46.728Z,1736377606.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:46.876Z,1736377606.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:46.876Z,1736377606.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521758 2025-01-08T23:06:47.106Z,1736377607.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:47.115Z,1736377607.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:47.137Z,1736377607.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:47.138Z,1736377607.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783037 2025-01-08T23:06:47.389Z,1736377607.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:47.391Z,1736377607.391 [DAT](INFO): DAT read: Rx Time:23:06:46.0651 2025-01-08T23:06:47.392Z,1736377607.392 [DAT](INFO): Rx dataTimestamp_ set to:1736377607.391170 2025-01-08T23:06:47.393Z,1736377607.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038008 2025-01-08T23:06:47.513Z,1736377607.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:47.523Z,1736377607.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:47.640Z,1736377607.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:47.640Z,1736377607.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285725 2025-01-08T23:06:47.893Z,1736377607.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:47.898Z,1736377607.898 [DAT](INFO): DAT read: Range 10 to 50 : 65.6 m (Round-trip 87.5 ms) speed 0.0 m/s 2025-01-08T23:06:47.901Z,1736377607.901 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:06:48.021Z,1736377608.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:48.043Z,1736377608.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.599998 m, deltaT: 60.273388 s, deltaX: 3.299999 m, approachRate: 0.054751 m/s, rangeRepo size: 4 2025-01-08T23:06:48.045Z,1736377608.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:48.144Z,1736377608.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:48.398Z,1736377608.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:48.489Z,1736377608.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:48.497Z,1736377608.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:48.649Z,1736377608.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:48.901Z,1736377608.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:48.908Z,1736377608.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:48.953Z,1736377608.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:49.152Z,1736377609.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:49.328Z,1736377609.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:49.337Z,1736377609.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:49.406Z,1736377609.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:49.664Z,1736377609.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:49.721Z,1736377609.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:49.734Z,1736377609.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:49.917Z,1736377609.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:50.115Z,1736377610.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:50.124Z,1736377610.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:50.169Z,1736377610.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:50.420Z,1736377610.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:50.515Z,1736377610.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:50.525Z,1736377610.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:50.673Z,1736377610.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:50.925Z,1736377610.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:50.938Z,1736377610.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:51.005Z,1736377611.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:51.176Z,1736377611.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:51.374Z,1736377611.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:51.383Z,1736377611.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:51.428Z,1736377611.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:51.680Z,1736377611.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:51.849Z,1736377611.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:51.858Z,1736377611.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:51.932Z,1736377611.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:52.184Z,1736377612.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:52.269Z,1736377612.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:52.301Z,1736377612.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:52.436Z,1736377612.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:52.688Z,1736377612.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:52.737Z,1736377612.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:52.762Z,1736377612.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:52.940Z,1736377612.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:53.192Z,1736377613.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:53.296Z,1736377613.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:53.305Z,1736377613.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:53.444Z,1736377613.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:53.640Z,1736377613.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:53.644Z,1736377613.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:06:53.655Z,1736377613.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:53.696Z,1736377613.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:53.948Z,1736377613.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:54.092Z,1736377614.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:54.128Z,1736377614.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:54.201Z,1736377614.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:54.453Z,1736377614.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:54.456Z,1736377614.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:54.484Z,1736377614.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:54.648Z,1736377614.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:06:54.704Z,1736377614.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:54.847Z,1736377614.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:54.857Z,1736377614.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:54.956Z,1736377614.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:55.208Z,1736377615.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:55.315Z,1736377615.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:55.327Z,1736377615.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:55.461Z,1736377615.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:55.697Z,1736377615.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:55.706Z,1736377615.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:55.712Z,1736377615.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:55.964Z,1736377615.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:56.167Z,1736377616.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:56.197Z,1736377616.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:56.216Z,1736377616.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:56.468Z,1736377616.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:56.629Z,1736377616.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:56.638Z,1736377616.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:56.721Z,1736377616.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:56.972Z,1736377616.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:57.118Z,1736377617.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:57.138Z,1736377617.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:57.225Z,1736377617.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:57.470Z,1736377617.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:57.476Z,1736377617.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:57.480Z,1736377617.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:57.728Z,1736377617.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:57.841Z,1736377617.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:57.850Z,1736377617.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:57.980Z,1736377617.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:58.232Z,1736377618.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:58.309Z,1736377618.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:58.318Z,1736377618.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:58.484Z,1736377618.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:58.739Z,1736377618.739 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:58.773Z,1736377618.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:58.809Z,1736377618.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:58.992Z,1736377618.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:59.188Z,1736377619.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:59.196Z,1736377619.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:59.246Z,1736377619.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:59.496Z,1736377619.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:59.608Z,1736377619.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:06:59.617Z,1736377619.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:06:59.749Z,1736377619.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:06:59.000Z,1736377620.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:00.004Z,1736377620.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:00.012Z,1736377620.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:00.253Z,1736377620.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:00.447Z,1736377620.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:00.464Z,1736377620.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:00.504Z,1736377620.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:00.756Z,1736377620.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:00.825Z,1736377620.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:00.834Z,1736377620.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:01.009Z,1736377621.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:01.260Z,1736377621.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:01.287Z,1736377621.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:01.298Z,1736377621.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:01.512Z,1736377621.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:01.664Z,1736377621.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:01.693Z,1736377621.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:01.764Z,1736377621.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:02.016Z,1736377622.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:02.091Z,1736377622.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:02.172Z,1736377622.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:02.268Z,1736377622.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:02.520Z,1736377622.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:02.540Z,1736377622.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:02.549Z,1736377622.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:02.772Z,1736377622.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:02.900Z,1736377622.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:02.910Z,1736377622.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:03.024Z,1736377623.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:03.277Z,1736377623.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:03.339Z,1736377623.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:03.347Z,1736377623.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:03.528Z,1736377623.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:03.729Z,1736377623.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:03.737Z,1736377623.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:03.780Z,1736377623.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:04.032Z,1736377624.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:04.116Z,1736377624.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:04.166Z,1736377624.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:04.284Z,1736377624.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:04.536Z,1736377624.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:04.537Z,1736377624.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:04.545Z,1736377624.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:04.788Z,1736377624.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:04.918Z,1736377624.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:04.949Z,1736377624.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:05.041Z,1736377625.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:05.292Z,1736377625.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:05.334Z,1736377625.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:05.367Z,1736377625.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:05.544Z,1736377625.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:05.722Z,1736377625.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:05.731Z,1736377625.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:05.796Z,1736377625.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:06.048Z,1736377626.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:06.142Z,1736377626.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:06.151Z,1736377626.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:06.300Z,1736377626.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:06.556Z,1736377626.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:06.566Z,1736377626.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:06.584Z,1736377626.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:06.808Z,1736377626.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:06.940Z,1736377626.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:06.948Z,1736377626.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:07.060Z,1736377627.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:07.312Z,1736377627.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:07.375Z,1736377627.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:07.384Z,1736377627.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:07.564Z,1736377627.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:07.744Z,1736377627.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:07.769Z,1736377627.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:07.817Z,1736377627.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:08.068Z,1736377628.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:08.145Z,1736377628.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:08.154Z,1736377628.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:08.322Z,1736377628.322 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:08.561Z,1736377628.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:07:08.561Z,1736377628.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:08.572Z,1736377628.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:08.598Z,1736377628.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:08.824Z,1736377628.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:08.958Z,1736377628.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:07:08.958Z,1736377628.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:08.967Z,1736377628.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:09.076Z,1736377629.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:09.328Z,1736377629.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:09.394Z,1736377629.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:09.423Z,1736377629.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:09.580Z,1736377629.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:09.783Z,1736377629.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:09.792Z,1736377629.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:09.832Z,1736377629.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:10.084Z,1736377630.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:10.165Z,1736377630.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:10.174Z,1736377630.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:10.337Z,1736377630.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:10.588Z,1736377630.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:10.599Z,1736377630.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:10.608Z,1736377630.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:10.840Z,1736377630.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:10.977Z,1736377630.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:11.001Z,1736377631.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:11.092Z,1736377631.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:11.344Z,1736377631.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:11.411Z,1736377631.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:11.422Z,1736377631.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:11.596Z,1736377631.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:11.781Z,1736377631.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:11.791Z,1736377631.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:11.848Z,1736377631.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:12.100Z,1736377632.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:12.193Z,1736377632.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:12.201Z,1736377632.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:12.354Z,1736377632.354 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:12.604Z,1736377632.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:12.699Z,1736377632.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:12.708Z,1736377632.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:12.856Z,1736377632.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:13.025Z,1736377633.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:13.034Z,1736377633.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:13.108Z,1736377633.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:13.361Z,1736377633.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:13.450Z,1736377633.450 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250100,35.0, +10.9, .1, 0 2025-01-08T23:07:13.470Z,1736377633.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:07:13.470Z,1736377633.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:13.507Z,1736377633.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:13.612Z,1736377633.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:13.852Z,1736377633.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:07:13.852Z,1736377633.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:13.863Z,1736377633.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:13.864Z,1736377633.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:14.116Z,1736377634.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:14.368Z,1736377634.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:14.380Z,1736377634.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:14.389Z,1736377634.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:14.621Z,1736377634.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:14.662Z,1736377634.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:14.701Z,1736377634.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:14.872Z,1736377634.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:15.066Z,1736377635.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:15.082Z,1736377635.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:15.125Z,1736377635.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:15.376Z,1736377635.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:15.498Z,1736377635.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:15.507Z,1736377635.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:15.628Z,1736377635.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:15.880Z,1736377635.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:15.896Z,1736377635.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:15.905Z,1736377635.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:16.132Z,1736377636.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:16.265Z,1736377636.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:16.274Z,1736377636.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:16.384Z,1736377636.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:16.637Z,1736377636.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:16.753Z,1736377636.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:16.790Z,1736377636.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:16.888Z,1736377636.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:17.112Z,1736377637.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:17.122Z,1736377637.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:17.157Z,1736377637.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:17.408Z,1736377637.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:17.568Z,1736377637.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:17.577Z,1736377637.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:17.661Z,1736377637.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:17.912Z,1736377637.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:17.912Z,1736377637.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:17.922Z,1736377637.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:18.164Z,1736377638.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:18.324Z,1736377638.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:18.342Z,1736377638.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:18.416Z,1736377638.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:18.668Z,1736377638.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:18.750Z,1736377638.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:18.760Z,1736377638.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:18.920Z,1736377638.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:19.124Z,1736377639.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:19.149Z,1736377639.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:19.172Z,1736377639.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:19.425Z,1736377639.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:19.583Z,1736377639.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:19.592Z,1736377639.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:19.678Z,1736377639.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:19.928Z,1736377639.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:19.939Z,1736377639.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:19.948Z,1736377639.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:20.181Z,1736377640.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:20.339Z,1736377640.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:20.353Z,1736377640.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:20.438Z,1736377640.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:20.688Z,1736377640.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:20.787Z,1736377640.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:20.795Z,1736377640.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:20.940Z,1736377640.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:21.146Z,1736377641.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:21.156Z,1736377641.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:21.192Z,1736377641.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:21.446Z,1736377641.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:21.592Z,1736377641.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:21.621Z,1736377641.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:21.697Z,1736377641.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:21.948Z,1736377641.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:21.958Z,1736377641.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:21.982Z,1736377641.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:22.200Z,1736377642.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:22.360Z,1736377642.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:22.370Z,1736377642.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:22.454Z,1736377642.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:22.704Z,1736377642.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:22.790Z,1736377642.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:22.798Z,1736377642.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:22.956Z,1736377642.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:23.176Z,1736377643.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:23.185Z,1736377643.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:23.208Z,1736377643.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:23.462Z,1736377643.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:23.626Z,1736377643.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:23.634Z,1736377643.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:23.713Z,1736377643.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:23.964Z,1736377643.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:23.988Z,1736377643.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:23.997Z,1736377643.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:24.216Z,1736377644.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:24.394Z,1736377644.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:24.404Z,1736377644.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:24.470Z,1736377644.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:24.721Z,1736377644.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:24.776Z,1736377644.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:07:24.823Z,1736377644.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:24.831Z,1736377644.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:24.972Z,1736377644.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:25.196Z,1736377645.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:25.205Z,1736377645.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:25.224Z,1736377645.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:25.477Z,1736377645.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:25.630Z,1736377645.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:25.639Z,1736377645.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:25.728Z,1736377645.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:25.780Z,1736377645.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:07:25.985Z,1736377645.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:26.000Z,1736377646.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:26.023Z,1736377646.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:26.237Z,1736377646.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:26.416Z,1736377646.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:26.446Z,1736377646.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:26.490Z,1736377646.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:26.740Z,1736377646.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:26.862Z,1736377646.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:26.880Z,1736377646.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:26.992Z,1736377646.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:27.226Z,1736377647.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:27.234Z,1736377647.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:27.244Z,1736377647.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:27.498Z,1736377647.498 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:27.683Z,1736377647.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:27.715Z,1736377647.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:27.748Z,1736377647.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:27.000Z,1736377648.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:28.032Z,1736377648.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:28.040Z,1736377648.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:28.252Z,1736377648.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:28.473Z,1736377648.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:28.505Z,1736377648.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:28.562Z,1736377648.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:28.756Z,1736377648.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:28.887Z,1736377648.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:28.915Z,1736377648.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:29.008Z,1736377649.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:29.260Z,1736377649.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:29.276Z,1736377649.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:29.285Z,1736377649.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:29.512Z,1736377649.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:29.726Z,1736377649.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:29.743Z,1736377649.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:29.764Z,1736377649.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:30.016Z,1736377650.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:30.072Z,1736377650.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:30.081Z,1736377650.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:30.268Z,1736377650.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:30.463Z,1736377650.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:30.495Z,1736377650.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:30.522Z,1736377650.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:30.772Z,1736377650.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:30.883Z,1736377650.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:30.892Z,1736377650.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:31.024Z,1736377651.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:31.276Z,1736377651.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:31.297Z,1736377651.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:31.306Z,1736377651.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:31.530Z,1736377651.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:31.753Z,1736377651.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:31.761Z,1736377651.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:31.780Z,1736377651.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:32.032Z,1736377652.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:32.164Z,1736377652.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:32.173Z,1736377652.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:32.284Z,1736377652.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:32.536Z,1736377652.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:32.707Z,1736377652.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:32.715Z,1736377652.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:32.789Z,1736377652.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:32.961Z,1736377652.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:32.970Z,1736377652.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:33.042Z,1736377653.042 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:33.292Z,1736377653.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:33.377Z,1736377653.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:33.387Z,1736377653.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:33.544Z,1736377653.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:33.796Z,1736377653.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:33.805Z,1736377653.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:33.814Z,1736377653.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:34.048Z,1736377654.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:34.179Z,1736377654.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:34.189Z,1736377654.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:34.300Z,1736377654.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:34.552Z,1736377654.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:34.698Z,1736377654.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:34.712Z,1736377654.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:34.804Z,1736377654.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:35.005Z,1736377655.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:35.013Z,1736377655.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:35.056Z,1736377655.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:35.308Z,1736377655.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:35.386Z,1736377655.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:35.395Z,1736377655.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:35.560Z,1736377655.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:35.812Z,1736377655.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:35.872Z,1736377655.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:35.881Z,1736377655.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:36.064Z,1736377656.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:36.266Z,1736377656.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:36.275Z,1736377656.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:36.317Z,1736377656.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:36.568Z,1736377656.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:36.737Z,1736377656.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:36.751Z,1736377656.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:36.820Z,1736377656.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:37.061Z,1736377657.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:37.070Z,1736377657.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:37.072Z,1736377657.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:37.324Z,1736377657.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:37.469Z,1736377657.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:37.478Z,1736377657.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:37.576Z,1736377657.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:37.828Z,1736377657.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:37.891Z,1736377657.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:37.900Z,1736377657.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:38.083Z,1736377658.083 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:38.313Z,1736377658.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:38.327Z,1736377658.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:38.336Z,1736377658.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:38.588Z,1736377658.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:38.805Z,1736377658.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:38.813Z,1736377658.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:38.841Z,1736377658.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:39.092Z,1736377659.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:39.144Z,1736377659.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:39.153Z,1736377659.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:39.345Z,1736377659.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:39.529Z,1736377659.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:39.538Z,1736377659.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:39.596Z,1736377659.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:39.685Z,1736377659.685 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:07:39.849Z,1736377659.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:39.955Z,1736377659.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:39.964Z,1736377659.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:40.100Z,1736377660.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:40.332Z,1736377660.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:40.352Z,1736377660.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:40.366Z,1736377660.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:40.604Z,1736377660.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:40.797Z,1736377660.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:40.826Z,1736377660.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:40.858Z,1736377660.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:41.108Z,1736377661.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:41.155Z,1736377661.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:41.164Z,1736377661.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:41.360Z,1736377661.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:41.550Z,1736377661.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:41.561Z,1736377661.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:41.612Z,1736377661.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:41.864Z,1736377661.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:41.974Z,1736377661.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:41.982Z,1736377661.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:42.116Z,1736377662.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:42.351Z,1736377662.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:42.361Z,1736377662.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:42.368Z,1736377662.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:42.621Z,1736377662.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:42.834Z,1736377662.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:42.847Z,1736377662.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:42.872Z,1736377662.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:43.124Z,1736377663.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:43.174Z,1736377663.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:43.206Z,1736377663.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:43.376Z,1736377663.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:43.573Z,1736377663.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:43.582Z,1736377663.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:43.628Z,1736377663.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:43.881Z,1736377663.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:43.998Z,1736377663.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:44.006Z,1736377664.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:07:44.008Z,1736377664.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:44.132Z,1736377664.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:44.132Z,1736377664.132 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:07:44.132Z,1736377664.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:07:44.384Z,1736377664.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:44.385Z,1736377664.385 [DAT](INFO): DAT read: user:3029> 2025-01-08T23:07:44.387Z,1736377664.387 [DAT](INFO): DAT read: Tx time:23:07:43.6240 2025-01-08T23:07:44.387Z,1736377664.387 [DAT](INFO): Ping request sent. 2025-01-08T23:07:44.387Z,1736377664.387 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:07:44.388Z,1736377664.388 [DAT](INFO): publishing transmit ping time 2025-01-08T23:07:44.388Z,1736377664.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001291 2025-01-08T23:07:44.455Z,1736377664.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:44.479Z,1736377664.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:44.638Z,1736377664.638 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:44.639Z,1736377664.639 [DAT](INFO): DAT read: TxSync time:23:07:43.6232 2025-01-08T23:07:44.640Z,1736377664.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253069 2025-01-08T23:07:44.873Z,1736377664.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:44.888Z,1736377664.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:44.892Z,1736377664.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504966 2025-01-08T23:07:44.896Z,1736377664.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:45.140Z,1736377665.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:45.141Z,1736377665.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753556 2025-01-08T23:07:45.297Z,1736377665.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:45.310Z,1736377665.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:45.392Z,1736377665.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:45.394Z,1736377665.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006712 2025-01-08T23:07:45.644Z,1736377665.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:45.645Z,1736377665.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257777 2025-01-08T23:07:45.716Z,1736377665.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:45.725Z,1736377665.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:45.896Z,1736377665.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:45.896Z,1736377665.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509442 2025-01-08T23:07:46.149Z,1736377666.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:46.150Z,1736377666.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762616 2025-01-08T23:07:46.161Z,1736377666.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:46.169Z,1736377666.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:46.400Z,1736377666.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:46.400Z,1736377666.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013438 2025-01-08T23:07:46.512Z,1736377666.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:46.521Z,1736377666.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:46.653Z,1736377666.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:46.654Z,1736377666.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266751 2025-01-08T23:07:46.904Z,1736377666.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:46.905Z,1736377666.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517797 2025-01-08T23:07:46.955Z,1736377666.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:46.966Z,1736377666.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:47.156Z,1736377667.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:47.156Z,1736377667.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769478 2025-01-08T23:07:47.311Z,1736377667.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:47.323Z,1736377667.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:47.408Z,1736377667.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:47.409Z,1736377667.409 [DAT](INFO): DAT read: Rx Time:23:07:46.1570 2025-01-08T23:07:47.409Z,1736377667.409 [DAT](INFO): Rx dataTimestamp_ set to:1736377667.408712 2025-01-08T23:07:47.409Z,1736377667.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022562 2025-01-08T23:07:47.660Z,1736377667.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:47.662Z,1736377667.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275028 2025-01-08T23:07:47.734Z,1736377667.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:47.744Z,1736377667.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:47.913Z,1736377667.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:47.914Z,1736377667.914 [DAT](INFO): DAT read: $Error in header 2025-01-08T23:07:47.914Z,1736377667.914 [DAT](INFO): Received a bad header 2025-01-08T23:07:47.928Z,1736377667.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540698 2025-01-08T23:07:48.164Z,1736377668.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:48.164Z,1736377668.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777483 2025-01-08T23:07:48.177Z,1736377668.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:48.190Z,1736377668.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:48.417Z,1736377668.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:48.418Z,1736377668.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030461 2025-01-08T23:07:48.642Z,1736377668.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:48.668Z,1736377668.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:48.670Z,1736377668.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283146 2025-01-08T23:07:48.680Z,1736377668.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:48.920Z,1736377668.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:48.920Z,1736377668.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533404 2025-01-08T23:07:49.100Z,1736377669.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:49.110Z,1736377669.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:49.173Z,1736377669.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:49.174Z,1736377669.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786879 2025-01-08T23:07:49.424Z,1736377669.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:49.424Z,1736377669.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037545 2025-01-08T23:07:49.476Z,1736377669.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:49.496Z,1736377669.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:49.676Z,1736377669.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:49.678Z,1736377669.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290162 2025-01-08T23:07:49.928Z,1736377669.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:49.929Z,1736377669.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541553 2025-01-08T23:07:49.948Z,1736377669.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:49.961Z,1736377669.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:50.180Z,1736377670.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:50.180Z,1736377670.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793470 2025-01-08T23:07:50.298Z,1736377670.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:50.307Z,1736377670.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:50.432Z,1736377670.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:50.433Z,1736377670.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046127 2025-01-08T23:07:50.684Z,1736377670.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:50.685Z,1736377670.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297699 2025-01-08T23:07:50.696Z,1736377670.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:50.723Z,1736377670.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:50.937Z,1736377670.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:50.938Z,1736377670.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551115 2025-01-08T23:07:51.112Z,1736377671.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:51.122Z,1736377671.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:51.188Z,1736377671.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:51.189Z,1736377671.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802298 2025-01-08T23:07:51.441Z,1736377671.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:51.441Z,1736377671.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054398 2025-01-08T23:07:51.512Z,1736377671.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:51.522Z,1736377671.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:51.694Z,1736377671.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:51.695Z,1736377671.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308533 2025-01-08T23:07:51.944Z,1736377671.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:51.944Z,1736377671.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557435 2025-01-08T23:07:51.992Z,1736377671.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:52.009Z,1736377672.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:52.196Z,1736377672.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:52.196Z,1736377672.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809341 2025-01-08T23:07:52.306Z,1736377672.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:52.315Z,1736377672.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:52.448Z,1736377672.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:52.448Z,1736377672.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061482 2025-01-08T23:07:52.700Z,1736377672.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:52.700Z,1736377672.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313378 2025-01-08T23:07:52.715Z,1736377672.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:52.724Z,1736377672.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:52.956Z,1736377672.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:52.956Z,1736377672.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569524 2025-01-08T23:07:53.139Z,1736377673.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:53.147Z,1736377673.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:53.209Z,1736377673.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:53.210Z,1736377673.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822753 2025-01-08T23:07:53.460Z,1736377673.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:53.461Z,1736377673.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073593 2025-01-08T23:07:53.533Z,1736377673.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:53.543Z,1736377673.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:53.714Z,1736377673.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:53.717Z,1736377673.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329695 2025-01-08T23:07:53.964Z,1736377673.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:53.965Z,1736377673.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577661 2025-01-08T23:07:53.980Z,1736377673.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:54.018Z,1736377674.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:54.216Z,1736377674.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:54.216Z,1736377674.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829430 2025-01-08T23:07:54.326Z,1736377674.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:54.334Z,1736377674.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:54.468Z,1736377674.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:54.468Z,1736377674.468 [DAT](INFO): Reached modem response timeout 2025-01-08T23:07:54.720Z,1736377674.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:54.750Z,1736377674.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:54.761Z,1736377674.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:54.972Z,1736377674.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:55.205Z,1736377675.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:55.213Z,1736377675.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:55.224Z,1736377675.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:55.225Z,1736377675.225 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:07:55.225Z,1736377675.225 [DAT](INFO): response not received 2025-01-08T23:07:55.225Z,1736377675.225 [DAT](ERROR): No response from remote modem. 2025-01-08T23:07:55.476Z,1736377675.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:55.538Z,1736377675.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:55.547Z,1736377675.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:55.728Z,1736377675.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:55.909Z,1736377675.909 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:07:55.980Z,1736377675.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:56.015Z,1736377676.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:56.045Z,1736377676.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:56.232Z,1736377676.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:56.343Z,1736377676.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:56.374Z,1736377676.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:56.484Z,1736377676.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:56.736Z,1736377676.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:56.751Z,1736377676.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:56.761Z,1736377676.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:56.913Z,1736377676.913 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:07:56.989Z,1736377676.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:57.197Z,1736377677.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:57.206Z,1736377677.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:57.240Z,1736377677.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:57.493Z,1736377677.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:57.561Z,1736377677.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:57.571Z,1736377677.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:57.744Z,1736377677.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:57.997Z,1736377677.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:58.081Z,1736377678.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:58.090Z,1736377678.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:58.248Z,1736377678.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:58.387Z,1736377678.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:58.395Z,1736377678.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:58.500Z,1736377678.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:58.752Z,1736377678.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:58.784Z,1736377678.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:58.805Z,1736377678.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:59.006Z,1736377679.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:59.232Z,1736377679.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:59.246Z,1736377679.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:59.260Z,1736377679.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:59.512Z,1736377679.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:07:59.604Z,1736377679.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:07:59.612Z,1736377679.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:07:59.764Z,1736377679.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:00.017Z,1736377680.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:00.098Z,1736377680.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:00.110Z,1736377680.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:00.268Z,1736377680.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:00.419Z,1736377680.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:00.450Z,1736377680.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:00.521Z,1736377680.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:00.772Z,1736377680.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:00.830Z,1736377680.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:00.839Z,1736377680.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:01.025Z,1736377681.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:01.250Z,1736377681.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:01.260Z,1736377681.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:01.276Z,1736377681.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:01.528Z,1736377681.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:01.618Z,1736377681.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:01.649Z,1736377681.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:01.780Z,1736377681.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:02.034Z,1736377682.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:02.145Z,1736377682.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:02.154Z,1736377682.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:02.284Z,1736377682.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:02.504Z,1736377682.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:02.514Z,1736377682.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:02.536Z,1736377682.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:02.788Z,1736377682.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:02.901Z,1736377682.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:02.910Z,1736377682.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:03.042Z,1736377683.042 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:03.292Z,1736377683.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:03.350Z,1736377683.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:03.359Z,1736377683.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:03.544Z,1736377683.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:03.712Z,1736377683.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:03.722Z,1736377683.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:03.796Z,1736377683.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:04.049Z,1736377684.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:04.175Z,1736377684.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:04.210Z,1736377684.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:04.300Z,1736377684.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:04.552Z,1736377684.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:04.559Z,1736377684.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:04.580Z,1736377684.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:04.805Z,1736377684.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:04.946Z,1736377684.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:04.956Z,1736377684.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:05.058Z,1736377685.058 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:05.308Z,1736377685.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:05.377Z,1736377685.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:05.386Z,1736377685.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:05.560Z,1736377685.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:05.741Z,1736377685.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:05.750Z,1736377685.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:05.813Z,1736377685.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:06.065Z,1736377686.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:06.167Z,1736377686.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:06.176Z,1736377686.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:06.316Z,1736377686.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:06.557Z,1736377686.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:06.565Z,1736377686.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:06.568Z,1736377686.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:06.820Z,1736377686.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:06.954Z,1736377686.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:06.982Z,1736377686.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:07.073Z,1736377687.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:07.325Z,1736377687.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:07.376Z,1736377687.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:07.404Z,1736377687.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:07.576Z,1736377687.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:07.765Z,1736377687.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:07.775Z,1736377687.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:07.828Z,1736377687.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:08.080Z,1736377688.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:08.197Z,1736377688.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:08.205Z,1736377688.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:08.333Z,1736377688.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:08.572Z,1736377688.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:08.581Z,1736377688.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:08.584Z,1736377688.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:08.836Z,1736377688.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:08.976Z,1736377688.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:09.007Z,1736377689.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:09.090Z,1736377689.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:09.340Z,1736377689.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:09.413Z,1736377689.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:09.422Z,1736377689.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:09.592Z,1736377689.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:09.788Z,1736377689.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:09.797Z,1736377689.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:09.845Z,1736377689.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:10.097Z,1736377690.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:10.224Z,1736377690.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:10.249Z,1736377690.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:10.349Z,1736377690.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:10.593Z,1736377690.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:10.600Z,1736377690.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:10.602Z,1736377690.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:10.853Z,1736377690.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:10.996Z,1736377690.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:11.006Z,1736377691.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:11.105Z,1736377691.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:11.356Z,1736377691.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:11.439Z,1736377691.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:11.447Z,1736377691.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:11.608Z,1736377691.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:11.800Z,1736377691.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:11.810Z,1736377691.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:11.860Z,1736377691.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:12.112Z,1736377692.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:12.257Z,1736377692.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:12.271Z,1736377692.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:12.365Z,1736377692.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:12.616Z,1736377692.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:12.617Z,1736377692.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:12.626Z,1736377692.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:12.868Z,1736377692.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:13.024Z,1736377693.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:13.040Z,1736377693.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:13.121Z,1736377693.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:13.373Z,1736377693.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:13.465Z,1736377693.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:13.474Z,1736377693.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:13.624Z,1736377693.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:13.825Z,1736377693.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:13.833Z,1736377693.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:13.876Z,1736377693.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:14.128Z,1736377694.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:14.299Z,1736377694.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:14.307Z,1736377694.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:14.380Z,1736377694.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:14.634Z,1736377694.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:14.661Z,1736377694.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:14.681Z,1736377694.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:14.884Z,1736377694.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:15.039Z,1736377695.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:15.047Z,1736377695.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:15.136Z,1736377695.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:15.388Z,1736377695.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:15.495Z,1736377695.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:15.504Z,1736377695.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:15.640Z,1736377695.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:15.844Z,1736377695.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:15.853Z,1736377695.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:15.892Z,1736377695.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:16.144Z,1736377696.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:16.324Z,1736377696.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:16.332Z,1736377696.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:16.396Z,1736377696.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:16.648Z,1736377696.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:16.683Z,1736377696.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:16.692Z,1736377696.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:16.900Z,1736377696.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:17.057Z,1736377697.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:17.065Z,1736377697.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:17.153Z,1736377697.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:17.404Z,1736377697.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:17.521Z,1736377697.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:17.530Z,1736377697.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:17.656Z,1736377697.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:17.871Z,1736377697.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:17.879Z,1736377697.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:17.908Z,1736377697.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:18.160Z,1736377698.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:18.357Z,1736377698.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:08:18.357Z,1736377698.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:18.366Z,1736377698.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:18.414Z,1736377698.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:18.664Z,1736377698.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:18.711Z,1736377698.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:08:18.711Z,1736377698.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:18.721Z,1736377698.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:18.916Z,1736377698.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:19.102Z,1736377699.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:08:19.103Z,1736377699.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:19.112Z,1736377699.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:19.168Z,1736377699.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:19.421Z,1736377699.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:19.525Z,1736377699.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:19.558Z,1736377699.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:19.672Z,1736377699.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:19.911Z,1736377699.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:19.920Z,1736377699.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:19.924Z,1736377699.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:20.176Z,1736377700.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:20.365Z,1736377700.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:20.397Z,1736377700.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:20.428Z,1736377700.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:20.680Z,1736377700.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:20.712Z,1736377700.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:20.721Z,1736377700.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:20.932Z,1736377700.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:21.137Z,1736377701.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:21.146Z,1736377701.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:21.185Z,1736377701.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:21.436Z,1736377701.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:21.554Z,1736377701.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:21.564Z,1736377701.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:21.688Z,1736377701.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:21.924Z,1736377701.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:21.932Z,1736377701.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:21.940Z,1736377701.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:22.192Z,1736377702.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:22.397Z,1736377702.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:22.410Z,1736377702.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:22.444Z,1736377702.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:22.696Z,1736377702.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:22.736Z,1736377702.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:22.765Z,1736377702.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:22.948Z,1736377702.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:23.140Z,1736377703.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:23.149Z,1736377703.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:23.200Z,1736377703.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:23.452Z,1736377703.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:23.557Z,1736377703.557 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250102,350, 0.0,1493.5, 0 2025-01-08T23:08:23.568Z,1736377703.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:08:23.568Z,1736377703.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:23.577Z,1736377703.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:23.704Z,1736377703.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:23.945Z,1736377703.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:08:23.945Z,1736377703.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:23.954Z,1736377703.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:23.956Z,1736377703.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:24.208Z,1736377704.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:24.423Z,1736377704.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:24.452Z,1736377704.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:24.460Z,1736377704.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:24.712Z,1736377704.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:24.763Z,1736377704.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:24.781Z,1736377704.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:24.964Z,1736377704.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:25.160Z,1736377705.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:25.185Z,1736377705.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:25.216Z,1736377705.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:25.468Z,1736377705.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:25.603Z,1736377705.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:25.650Z,1736377705.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:25.721Z,1736377705.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:25.970Z,1736377705.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:25.972Z,1736377705.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:25.980Z,1736377705.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:26.224Z,1736377706.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:26.437Z,1736377706.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:26.446Z,1736377706.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:26.494Z,1736377706.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:26.744Z,1736377706.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:26.817Z,1736377706.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:26.827Z,1736377706.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:26.996Z,1736377706.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:27.032Z,1736377707.032 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:08:27.210Z,1736377707.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:27.234Z,1736377707.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:27.248Z,1736377707.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:27.500Z,1736377707.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:27.667Z,1736377707.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:27.694Z,1736377707.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:27.752Z,1736377707.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:28.004Z,1736377708.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:28.018Z,1736377708.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:28.029Z,1736377708.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:28.036Z,1736377708.036 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:08:28.256Z,1736377708.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:28.504Z,1736377708.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:28.508Z,1736377708.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:28.515Z,1736377708.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:28.760Z,1736377708.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:28.846Z,1736377708.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:28.855Z,1736377708.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:29.013Z,1736377709.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:29.229Z,1736377709.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:29.244Z,1736377709.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:29.264Z,1736377709.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:29.516Z,1736377709.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:29.686Z,1736377709.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:29.716Z,1736377709.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:29.768Z,1736377709.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:30.020Z,1736377710.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:30.134Z,1736377710.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:30.165Z,1736377710.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:30.273Z,1736377710.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:30.524Z,1736377710.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:30.568Z,1736377710.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:30.576Z,1736377710.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:30.776Z,1736377710.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:30.954Z,1736377710.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:30.962Z,1736377710.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:31.029Z,1736377711.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:31.280Z,1736377711.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:31.354Z,1736377711.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:31.363Z,1736377711.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:31.532Z,1736377711.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:31.784Z,1736377711.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:31.805Z,1736377711.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:31.813Z,1736377711.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:32.039Z,1736377712.039 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:32.162Z,1736377712.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:32.172Z,1736377712.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:32.292Z,1736377712.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:32.544Z,1736377712.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:32.599Z,1736377712.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:32.608Z,1736377712.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:32.796Z,1736377712.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:32.967Z,1736377712.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:32.976Z,1736377712.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:33.048Z,1736377713.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:33.300Z,1736377713.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:33.376Z,1736377713.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:33.385Z,1736377713.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:33.552Z,1736377713.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:33.804Z,1736377713.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:33.815Z,1736377713.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:33.824Z,1736377713.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:34.056Z,1736377714.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:34.188Z,1736377714.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:34.237Z,1736377714.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:34.308Z,1736377714.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:34.560Z,1736377714.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:34.756Z,1736377714.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:34.769Z,1736377714.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:34.812Z,1736377714.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:35.064Z,1736377715.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:35.142Z,1736377715.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:35.166Z,1736377715.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:35.316Z,1736377715.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:35.568Z,1736377715.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:35.595Z,1736377715.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:35.605Z,1736377715.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:35.820Z,1736377715.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:35.965Z,1736377715.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:36.001Z,1736377716.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:36.072Z,1736377716.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:36.324Z,1736377716.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:36.329Z,1736377716.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:36.341Z,1736377716.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:36.576Z,1736377716.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:36.780Z,1736377716.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:36.793Z,1736377716.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:36.829Z,1736377716.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:37.080Z,1736377717.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:37.148Z,1736377717.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:37.157Z,1736377717.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:37.332Z,1736377717.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:37.584Z,1736377717.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:37.626Z,1736377717.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:37.634Z,1736377717.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:37.837Z,1736377717.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:37.946Z,1736377717.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:37.956Z,1736377717.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:38.088Z,1736377718.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:38.340Z,1736377718.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:38.373Z,1736377718.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:38.397Z,1736377718.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:38.594Z,1736377718.594 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:38.782Z,1736377718.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:38.809Z,1736377718.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:38.844Z,1736377718.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:39.096Z,1736377719.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:39.179Z,1736377719.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:39.188Z,1736377719.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:39.348Z,1736377719.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:39.602Z,1736377719.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:39.653Z,1736377719.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:39.684Z,1736377719.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:39.852Z,1736377719.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:39.966Z,1736377719.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:39.975Z,1736377719.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:40.104Z,1736377720.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:40.356Z,1736377720.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:40.385Z,1736377720.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:40.394Z,1736377720.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:40.609Z,1736377720.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:40.807Z,1736377720.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:40.815Z,1736377720.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:40.861Z,1736377720.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:41.112Z,1736377721.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:41.245Z,1736377721.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:41.274Z,1736377721.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:41.364Z,1736377721.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:41.618Z,1736377721.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:41.700Z,1736377721.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:41.710Z,1736377721.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:41.870Z,1736377721.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:42.117Z,1736377722.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:42.120Z,1736377722.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:42.130Z,1736377722.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:42.372Z,1736377722.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:42.568Z,1736377722.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:42.582Z,1736377722.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:42.625Z,1736377722.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:42.876Z,1736377722.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:42.972Z,1736377722.972 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00 -37, +765, +9,A 2025-01-08T23:08:42.992Z,1736377722.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:08:42.992Z,1736377722.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:43.001Z,1736377723.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:43.128Z,1736377723.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:43.368Z,1736377723.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:08:43.368Z,1736377723.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:43.378Z,1736377723.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:43.380Z,1736377723.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:43.633Z,1736377723.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:43.787Z,1736377723.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:43.796Z,1736377723.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:43.884Z,1736377723.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:44.136Z,1736377724.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:44.163Z,1736377724.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:44.174Z,1736377724.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:08:44.176Z,1736377724.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:44.391Z,1736377724.391 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:44.392Z,1736377724.392 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:08:44.392Z,1736377724.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:08:44.573Z,1736377724.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:44.581Z,1736377724.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:44.642Z,1736377724.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:44.645Z,1736377724.645 [DAT](INFO): DAT read: 2025-01-08T23:08:44.650Z,1736377724.650 [DAT](INFO): DAT read: Tx time:23:08:43.8747 2025-01-08T23:08:44.651Z,1736377724.651 [DAT](INFO): Ping request sent. 2025-01-08T23:08:44.652Z,1736377724.652 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:08:44.652Z,1736377724.652 [DAT](INFO): publishing transmit ping time 2025-01-08T23:08:44.655Z,1736377724.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003215 2025-01-08T23:08:44.893Z,1736377724.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:44.894Z,1736377724.894 [DAT](INFO): DAT read: TxSync time:23:08:43.8739 2025-01-08T23:08:44.896Z,1736377724.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244908 2025-01-08T23:08:45.014Z,1736377725.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:45.029Z,1736377725.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:45.144Z,1736377725.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:45.145Z,1736377725.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494136 2025-01-08T23:08:45.377Z,1736377725.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:45.387Z,1736377725.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:45.396Z,1736377725.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:45.397Z,1736377725.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745432 2025-01-08T23:08:45.649Z,1736377725.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:45.652Z,1736377725.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000416 2025-01-08T23:08:45.809Z,1736377725.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:45.823Z,1736377725.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:45.901Z,1736377725.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:45.903Z,1736377725.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251689 2025-01-08T23:08:46.152Z,1736377726.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:46.153Z,1736377726.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502091 2025-01-08T23:08:46.183Z,1736377726.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:46.195Z,1736377726.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:46.406Z,1736377726.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:46.410Z,1736377726.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757715 2025-01-08T23:08:46.590Z,1736377726.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:46.599Z,1736377726.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:46.659Z,1736377726.659 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:46.662Z,1736377726.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010439 2025-01-08T23:08:46.908Z,1736377726.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:46.908Z,1736377726.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257307 2025-01-08T23:08:47.034Z,1736377727.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:47.068Z,1736377727.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:47.160Z,1736377727.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:47.161Z,1736377727.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509929 2025-01-08T23:08:47.406Z,1736377727.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:47.412Z,1736377727.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:47.413Z,1736377727.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761535 2025-01-08T23:08:47.428Z,1736377727.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:47.671Z,1736377727.671 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:47.674Z,1736377727.674 [DAT](INFO): DAT read: Rx Time:23:08:46.5386 2025-01-08T23:08:47.684Z,1736377727.684 [DAT](INFO): Rx dataTimestamp_ set to:1736377727.674557 2025-01-08T23:08:47.685Z,1736377727.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033930 2025-01-08T23:08:47.827Z,1736377727.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:47.858Z,1736377727.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:47.920Z,1736377727.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:47.922Z,1736377727.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270113 2025-01-08T23:08:48.174Z,1736377728.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:48.176Z,1736377728.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523837 2025-01-08T23:08:48.267Z,1736377728.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:48.277Z,1736377728.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m. 2025-01-08T23:08:48.424Z,1736377728.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:48.430Z,1736377728.430 [DAT](INFO): DAT read: 23:08:46.5386 LVL= 18704, 13729, 13698, 21635, AGC= 64, IDX= 225,-0.48,-0.248, 1.937, 0.314,-0.239, PHS= 0.079, 2.223, 0.550, RAW= 317.9, -27.3, CAL= 317.8, -41.1, ROT= 192.2, 41.1 2025-01-08T23:08:48.431Z,1736377728.431 [DAT](INFO): got valid direction response: 23:08:46.5386 LVL= 18704, 13729, 13698, 21635, AGC= 64, IDX= 225,-0.48,-0.248, 1.937, 0.314,-0.239, PHS= 0.079, 2.223, 0.550, RAW= 317.9, -27.3, CAL= 317.8, -41.1, ROT= 192.2, 41.1 2025-01-08T23:08:48.433Z,1736377728.433 [DAT](INFO): DAT read: Range 10 to 50 : 194.8 m (Round-trip 259.8 ms) speed -0.5 m/s 2025-01-08T23:08:48.434Z,1736377728.434 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:08:48.434Z,1736377728.434 [DAT](INFO): direction in FSK: [0.600106,0.555802,-0.575289] 2025-01-08T23:08:48.435Z,1736377728.435 [DAT](INFO): publishing direction and range info 2025-01-08T23:08:48.613Z,1736377728.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:48.646Z,1736377728.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 194.800003 m, deltaT: 120.530120 s, deltaX: 129.200012 m, approachRate: 1.071931 m/s, rangeRepo size: 4 2025-01-08T23:08:48.655Z,1736377728.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 194.800003 m, bearing: 267.620210 deg, lat: 36.904949 deg, lon: -122.119634 deg, deltaT: 180.803508 s, deltaX: 132.500000 m, approachRate: 0.732840 m/s, posRepo size: 4 2025-01-08T23:08:48.660Z,1736377728.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.80 m. 2025-01-08T23:08:48.660Z,1736377728.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 194.80 m. Resuming terminal guidance. 2025-01-08T23:08:48.660Z,1736377728.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-01-08T23:08:48.677Z,1736377728.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:48.928Z,1736377728.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:49.048Z,1736377729.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:49.056Z,1736377729.056 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-01-08T23:08:49.056Z,1736377729.056 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T23:08:49.056Z,1736377729.056 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-01-08T23:08:49.058Z,1736377729.058 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 194.800003 m (mode 1.000000 count ). 2025-01-08T23:08:49.058Z,1736377729.058 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-01-08T23:08:49.058Z,1736377729.058 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-01-08T23:08:49.180Z,1736377729.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:49.417Z,1736377729.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:49.425Z,1736377729.425 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-01-08T23:08:49.425Z,1736377729.425 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-01-08T23:08:49.426Z,1736377729.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:08:49.432Z,1736377729.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:49.432Z,1736377729.432 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:08:49.432Z,1736377729.432 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:08:49.433Z,1736377729.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:08:49.686Z,1736377729.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:49.690Z,1736377729.690 [DAT](INFO): DAT read: user:3031> 2025-01-08T23:08:49.693Z,1736377729.693 [DAT](INFO): DAT read: Tx time:23:08:48.8747 2025-01-08T23:08:49.694Z,1736377729.694 [DAT](INFO): Ping request sent. 2025-01-08T23:08:49.695Z,1736377729.695 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:08:49.697Z,1736377729.697 [DAT](INFO): DAT read: TxSync time:23:08:48.8739 2025-01-08T23:08:49.698Z,1736377729.698 [DAT](INFO): publishing transmit ping time 2025-01-08T23:08:49.702Z,1736377729.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.007390 2025-01-08T23:08:49.856Z,1736377729.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:49.862Z,1736377729.862 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-01-08T23:08:49.862Z,1736377729.862 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-01-08T23:08:49.936Z,1736377729.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:49.938Z,1736377729.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243258 2025-01-08T23:08:50.188Z,1736377730.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:50.188Z,1736377730.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494233 2025-01-08T23:08:50.226Z,1736377730.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:50.232Z,1736377730.232 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-01-08T23:08:50.232Z,1736377730.232 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T23:08:50.232Z,1736377730.232 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-01-08T23:08:50.232Z,1736377730.232 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T23:08:50.441Z,1736377730.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:50.442Z,1736377730.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748158 2025-01-08T23:08:50.637Z,1736377730.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:50.693Z,1736377730.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:50.694Z,1736377730.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999657 2025-01-08T23:08:50.946Z,1736377730.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:50.949Z,1736377730.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254571 2025-01-08T23:08:51.073Z,1736377731.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:51.196Z,1736377731.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:51.197Z,1736377731.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503032 2025-01-08T23:08:51.440Z,1736377731.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:51.448Z,1736377731.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:51.449Z,1736377731.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754368 2025-01-08T23:08:51.474Z,1736377731.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:08:51.701Z,1736377731.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:51.702Z,1736377731.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007480 2025-01-08T23:08:51.889Z,1736377731.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:51.953Z,1736377731.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:51.955Z,1736377731.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259996 2025-01-08T23:08:52.204Z,1736377732.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:52.205Z,1736377732.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510734 2025-01-08T23:08:52.257Z,1736377732.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:52.456Z,1736377732.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:52.456Z,1736377732.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762254 2025-01-08T23:08:52.669Z,1736377732.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:52.708Z,1736377732.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:52.709Z,1736377732.709 [DAT](INFO): DAT read: Rx Time:23:08:51.5422 2025-01-08T23:08:52.709Z,1736377732.709 [DAT](INFO): Rx dataTimestamp_ set to:1736377732.709059 2025-01-08T23:08:52.710Z,1736377732.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015690 2025-01-08T23:08:52.960Z,1736377732.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:52.960Z,1736377732.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266232 2025-01-08T23:08:53.076Z,1736377733.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:53.213Z,1736377733.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:53.216Z,1736377733.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521291 2025-01-08T23:08:53.464Z,1736377733.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:53.471Z,1736377733.471 [DAT](INFO): DAT read: 23:08:51.5422 LVL= 25744, 18417, 16178, 27811, AGC= 57, IDX= 469, 0.37, 0.367, 2.592, 0.940, 0.495, PHS=-0.040, 2.144, 0.442, RAW= 317.9, -24.4, CAL= 319.0, -36.7, ROT= 191.0, 36.7 2025-01-08T23:08:53.472Z,1736377733.472 [DAT](INFO): got valid direction response: 23:08:51.5422 LVL= 25744, 18417, 16178, 27811, AGC= 57, IDX= 469, 0.37, 0.367, 2.592, 0.940, 0.495, PHS=-0.040, 2.144, 0.442, RAW= 317.9, -24.4, CAL= 319.0, -36.7, ROT= 191.0, 36.7 2025-01-08T23:08:53.473Z,1736377733.473 [DAT](INFO): DAT read: Bearing 191.0, 36.7 (Local) 2025-01-08T23:08:53.473Z,1736377733.473 [DAT](INFO): Local bearing/azimuth received: Bearing 191.0, 36.7 (Local) 2025-01-08T23:08:53.475Z,1736377733.475 [DAT](INFO): DAT read: Range 10 to 50 : 197.5 m (Round-trip 263.4 ms) speed -0.8 m/s 2025-01-08T23:08:53.476Z,1736377733.476 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:08:53.476Z,1736377733.476 [DAT](INFO): direction in FSK: [0.556483,0.576255,-0.598545] 2025-01-08T23:08:53.477Z,1736377733.477 [DAT](INFO): publishing direction and range info 2025-01-08T23:08:53.480Z,1736377733.480 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:08:53.480Z,1736377733.480 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:08:53.480Z,1736377733.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:08:53.492Z,1736377733.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:53.552Z,1736377733.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 197.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-01-08T23:08:53.560Z,1736377733.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 197.500000 m, bearing: 262.930865 deg, lat: 36.904949 deg, lon: -122.119634 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-01-08T23:08:53.561Z,1736377733.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:53.570Z,1736377733.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 148.514282 m, bearing: 40.067009 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 45.146650 deg, new cmd heading: 40.067009 deg. 2025-01-08T23:08:53.575Z,1736377733.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699301 target range: 197.500000 and range: 197.50 m. 2025-01-08T23:08:53.718Z,1736377733.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:53.721Z,1736377733.721 [DAT](INFO): DAT read: user:3032> 2025-01-08T23:08:53.721Z,1736377733.721 [DAT](INFO): DAT read: Tx time:23:08:52.9247 2025-01-08T23:08:53.722Z,1736377733.722 [DAT](INFO): Ping request sent. 2025-01-08T23:08:53.722Z,1736377733.722 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:08:53.722Z,1736377733.722 [DAT](INFO): DAT read: TxSync time:23:08:52.9239 2025-01-08T23:08:53.723Z,1736377733.723 [DAT](INFO): publishing transmit ping time 2025-01-08T23:08:53.724Z,1736377733.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001688 2025-01-08T23:08:53.952Z,1736377733.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:53.958Z,1736377733.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:08:53.965Z,1736377733.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:53.968Z,1736377733.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:53.968Z,1736377733.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246598 2025-01-08T23:08:53.988Z,1736377733.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 148.852249 m, bearing: 40.038394 deg, approach rate: 0.801310 m/s, LOS rate: -0.067693 deg/s, cmd heading: 40.067010 deg, new cmd heading: 40.038394 deg. 2025-01-08T23:08:53.990Z,1736377733.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698802 target range: 197.500000 and range: 197.50 m. 2025-01-08T23:08:54.221Z,1736377734.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:54.222Z,1736377734.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500516 2025-01-08T23:08:54.296Z,1736377734.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:54.306Z,1736377734.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:54.308Z,1736377734.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 149.115295 m, bearing: 40.012952 deg, approach rate: 0.771462 m/s, LOS rate: -0.074484 deg/s, cmd heading: 40.038395 deg, new cmd heading: 40.012952 deg. 2025-01-08T23:08:54.309Z,1736377734.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698358 target range: 197.500000 and range: 197.50 m. 2025-01-08T23:08:54.472Z,1736377734.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:54.472Z,1736377734.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750546 2025-01-08T23:08:54.688Z,1736377734.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:54.717Z,1736377734.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:54.721Z,1736377734.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 149.405289 m, bearing: 39.981656 deg, approach rate: 0.705624 m/s, LOS rate: -0.076003 deg/s, cmd heading: 40.012952 deg, new cmd heading: 39.981656 deg. 2025-01-08T23:08:54.721Z,1736377734.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697812 target range: 197.500000 and range: 197.50 m. 2025-01-08T23:08:54.724Z,1736377734.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:54.725Z,1736377734.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002787 2025-01-08T23:08:54.976Z,1736377734.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:54.976Z,1736377734.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254458 2025-01-08T23:08:55.135Z,1736377735.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:55.156Z,1736377735.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:55.159Z,1736377735.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 149.724869 m, bearing: 39.948364 deg, approach rate: 0.726584 m/s, LOS rate: -0.075530 deg/s, cmd heading: 39.981656 deg, new cmd heading: 39.948364 deg. 2025-01-08T23:08:55.165Z,1736377735.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697230 target range: 197.500000 and range: 197.50 m. 2025-01-08T23:08:55.229Z,1736377735.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:55.230Z,1736377735.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507894 2025-01-08T23:08:55.480Z,1736377735.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:55.480Z,1736377735.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758438 2025-01-08T23:08:55.524Z,1736377735.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:55.556Z,1736377735.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:55.563Z,1736377735.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 150.001541 m, bearing: 39.916289 deg, approach rate: 0.691821 m/s, LOS rate: -0.080055 deg/s, cmd heading: 39.948363 deg, new cmd heading: 39.916289 deg. 2025-01-08T23:08:55.564Z,1736377735.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696671 target range: 197.500000 and range: 197.50 m. 2025-01-08T23:08:55.732Z,1736377735.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:55.733Z,1736377735.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011118 2025-01-08T23:08:55.930Z,1736377735.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:55.941Z,1736377735.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:55.944Z,1736377735.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 150.291229 m, bearing: 39.885385 deg, approach rate: 0.753419 m/s, LOS rate: -0.080219 deg/s, cmd heading: 39.916288 deg, new cmd heading: 39.885385 deg. 2025-01-08T23:08:55.945Z,1736377735.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696131 target range: 197.500000 and range: 197.50 m. 2025-01-08T23:08:55.984Z,1736377735.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:55.985Z,1736377735.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262641 2025-01-08T23:08:56.237Z,1736377736.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:56.238Z,1736377736.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515697 2025-01-08T23:08:56.299Z,1736377736.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:56.324Z,1736377736.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:08:56.326Z,1736377736.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:56.333Z,1736377736.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 150.551941 m, bearing: 39.854284 deg, approach rate: 0.677150 m/s, LOS rate: -0.080639 deg/s, cmd heading: 39.885385 deg, new cmd heading: 39.854284 deg. 2025-01-08T23:08:56.334Z,1736377736.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695588 target range: 197.500000 and range: 197.50 m. 2025-01-08T23:08:56.488Z,1736377736.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:56.489Z,1736377736.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766622 2025-01-08T23:08:56.707Z,1736377736.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:56.720Z,1736377736.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:56.723Z,1736377736.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 150.837769 m, bearing: 39.816362 deg, approach rate: 0.725171 m/s, LOS rate: -0.096030 deg/s, cmd heading: 39.854284 deg, new cmd heading: 39.816362 deg. 2025-01-08T23:08:56.724Z,1736377736.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694927 target range: 197.500000 and range: 197.50 m. 2025-01-08T23:08:56.742Z,1736377736.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:56.743Z,1736377736.743 [DAT](INFO): DAT read: Rx Time:23:08:55.5958 2025-01-08T23:08:56.744Z,1736377736.744 [DAT](INFO): Rx dataTimestamp_ set to:1736377736.743673 2025-01-08T23:08:56.744Z,1736377736.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022602 2025-01-08T23:08:56.992Z,1736377736.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:56.992Z,1736377736.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270469 2025-01-08T23:08:57.140Z,1736377737.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:57.168Z,1736377737.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:57.176Z,1736377737.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 151.128815 m, bearing: 39.778781 deg, approach rate: 0.649178 m/s, LOS rate: -0.083663 deg/s, cmd heading: 39.816362 deg, new cmd heading: 39.778781 deg. 2025-01-08T23:08:57.177Z,1736377737.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694271 target range: 197.500000 and range: 197.50 m. 2025-01-08T23:08:57.244Z,1736377737.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:57.245Z,1736377737.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522730 2025-01-08T23:08:57.496Z,1736377737.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:57.497Z,1736377737.497 [DAT](INFO): DAT read: Range 10 to 50 : 200.1 m (Round-trip 266.9 ms) speed -0.1 m/s 2025-01-08T23:08:57.498Z,1736377737.498 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:08:57.499Z,1736377737.499 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:08:57.499Z,1736377737.499 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:08:57.499Z,1736377737.499 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:08:57.575Z,1736377737.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:57.597Z,1736377737.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 200.100006 m, deltaT: 4.032147 s, deltaX: 2.600006 m, approachRate: 0.644819 m/s, rangeRepo size: 2 2025-01-08T23:08:57.598Z,1736377737.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:57.605Z,1736377737.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 151.421585 m, bearing: 39.741131 deg, approach rate: 0.684009 m/s, LOS rate: -0.087794 deg/s, cmd heading: 39.778783 deg, new cmd heading: 39.741131 deg. 2025-01-08T23:08:57.606Z,1736377737.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693614 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:08:57.748Z,1736377737.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:57.748Z,1736377737.748 [DAT](INFO): DAT read: user:3033> 2025-01-08T23:08:57.749Z,1736377737.749 [DAT](INFO): DAT read: Tx time:23:08:56.9748 2025-01-08T23:08:57.749Z,1736377737.749 [DAT](INFO): Ping request sent. 2025-01-08T23:08:57.749Z,1736377737.749 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:08:57.750Z,1736377737.750 [DAT](INFO): publishing transmit ping time 2025-01-08T23:08:57.750Z,1736377737.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723 2025-01-08T23:08:58.002Z,1736377738.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:58.004Z,1736377738.004 [DAT](INFO): DAT read: TxSync time:23:08:56.9740 2025-01-08T23:08:58.004Z,1736377738.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255058 2025-01-08T23:08:58.118Z,1736377738.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:58.129Z,1736377738.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:58.135Z,1736377738.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 151.777969 m, bearing: 39.689329 deg, approach rate: 0.669515 m/s, LOS rate: -0.097088 deg/s, cmd heading: 39.741131 deg, new cmd heading: 39.689329 deg. 2025-01-08T23:08:58.136Z,1736377738.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692709 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:08:58.160Z,1736377738.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:08:58.252Z,1736377738.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:58.253Z,1736377738.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503759 2025-01-08T23:08:58.504Z,1736377738.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:58.505Z,1736377738.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755346 2025-01-08T23:08:58.585Z,1736377738.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:58.593Z,1736377738.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:08:58.595Z,1736377738.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:58.617Z,1736377738.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 152.081268 m, bearing: 39.641488 deg, approach rate: 0.650725 m/s, LOS rate: -0.102438 deg/s, cmd heading: 39.689328 deg, new cmd heading: 39.641488 deg. 2025-01-08T23:08:58.618Z,1736377738.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691875 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:08:58.756Z,1736377738.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:58.757Z,1736377738.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007758 2025-01-08T23:08:58.981Z,1736377738.981 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815100416,35.0, +11.0, 3.5, 0 2025-01-08T23:08:58.990Z,1736377738.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:08:58.990Z,1736377738.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:58.998Z,1736377738.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:59.001Z,1736377739.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 152.340714 m, bearing: 39.597634 deg, approach rate: 0.642749 m/s, LOS rate: -0.108459 deg/s, cmd heading: 39.641489 deg, new cmd heading: 39.597634 deg. 2025-01-08T23:08:59.002Z,1736377739.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691109 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:08:59.008Z,1736377739.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:59.009Z,1736377739.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259145 2025-01-08T23:08:59.165Z,1736377739.165 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:08:59.260Z,1736377739.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:59.261Z,1736377739.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511806 2025-01-08T23:08:59.449Z,1736377739.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:08:59.449Z,1736377739.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:59.469Z,1736377739.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:59.472Z,1736377739.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 152.631210 m, bearing: 39.544770 deg, approach rate: 0.618364 m/s, LOS rate: -0.112315 deg/s, cmd heading: 39.597632 deg, new cmd heading: 39.544770 deg. 2025-01-08T23:08:59.473Z,1736377739.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690186 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:08:59.512Z,1736377739.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:59.512Z,1736377739.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763082 2025-01-08T23:08:59.764Z,1736377739.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:08:59.764Z,1736377739.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015006 2025-01-08T23:08:59.952Z,1736377739.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:08:59.986Z,1736377739.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:08:59.993Z,1736377739.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 152.947769 m, bearing: 39.491903 deg, approach rate: 0.611884 m/s, LOS rate: -0.101976 deg/s, cmd heading: 39.544770 deg, new cmd heading: 39.491903 deg. 2025-01-08T23:08:59.994Z,1736377739.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689264 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:00.016Z,1736377740.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:00.016Z,1736377740.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267032 2025-01-08T23:09:00.268Z,1736377740.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:00.268Z,1736377740.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518954 2025-01-08T23:09:00.315Z,1736377740.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:00.325Z,1736377740.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:00.328Z,1736377740.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 153.173447 m, bearing: 39.451110 deg, approach rate: 0.664655 m/s, LOS rate: -0.119965 deg/s, cmd heading: 39.491901 deg, new cmd heading: 39.451110 deg. 2025-01-08T23:09:00.329Z,1736377740.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688552 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:00.520Z,1736377740.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:00.521Z,1736377740.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772030 2025-01-08T23:09:00.730Z,1736377740.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:00.739Z,1736377740.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:00.741Z,1736377740.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:00.744Z,1736377740.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 153.430847 m, bearing: 39.404747 deg, approach rate: 0.618543 m/s, LOS rate: -0.111224 deg/s, cmd heading: 39.451111 deg, new cmd heading: 39.404747 deg. 2025-01-08T23:09:00.745Z,1736377740.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687743 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:00.772Z,1736377740.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:00.772Z,1736377740.772 [DAT](INFO): DAT read: Rx Time:23:08:59.6141 2025-01-08T23:09:00.773Z,1736377740.773 [DAT](INFO): Rx dataTimestamp_ set to:1736377740.772580 2025-01-08T23:09:00.773Z,1736377740.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023978 2025-01-08T23:09:01.024Z,1736377741.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:01.025Z,1736377741.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275133 2025-01-08T23:09:01.146Z,1736377741.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:01.166Z,1736377741.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:01.177Z,1736377741.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 153.681427 m, bearing: 39.351674 deg, approach rate: 0.589745 m/s, LOS rate: -0.124705 deg/s, cmd heading: 39.404748 deg, new cmd heading: 39.351674 deg. 2025-01-08T23:09:01.178Z,1736377741.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686816 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:01.278Z,1736377741.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:01.281Z,1736377741.281 [DAT](INFO): DAT read: Range 10 to 50 : 176.4 m (Round-trip 235.2 ms) speed -0.2 m/s 2025-01-08T23:09:01.282Z,1736377741.282 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:09:01.282Z,1736377741.282 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:01.282Z,1736377741.282 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:01.283Z,1736377741.283 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:01.528Z,1736377741.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:01.528Z,1736377741.528 [DAT](INFO): DAT read: user:3034> 2025-01-08T23:09:01.529Z,1736377741.529 [DAT](INFO): DAT read: Tx time:23:09:00.7248 2025-01-08T23:09:01.530Z,1736377741.530 [DAT](INFO): Ping request sent. 2025-01-08T23:09:01.530Z,1736377741.530 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:01.530Z,1736377741.530 [DAT](INFO): DAT read: TxSync time:23:09:00.7240 2025-01-08T23:09:01.531Z,1736377741.531 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:01.531Z,1736377741.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001637 2025-01-08T23:09:01.636Z,1736377741.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:01.662Z,1736377741.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 176.399994 m, deltaT: 3.782139 s, deltaX: -23.700012 m, approachRate: -6.266299 m/s, rangeRepo size: 2 2025-01-08T23:09:01.668Z,1736377741.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:01.677Z,1736377741.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 153.969223 m, bearing: 39.286552 deg, approach rate: 0.581785 m/s, LOS rate: -0.131399 deg/s, cmd heading: 39.351674 deg, new cmd heading: 39.286552 deg. 2025-01-08T23:09:01.678Z,1736377741.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685680 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:01.780Z,1736377741.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:01.781Z,1736377741.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251090 2025-01-08T23:09:02.032Z,1736377742.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:02.033Z,1736377742.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502832 2025-01-08T23:09:02.151Z,1736377742.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:02.189Z,1736377742.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:02.196Z,1736377742.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 154.271713 m, bearing: 39.211092 deg, approach rate: 0.572425 m/s, LOS rate: -0.142520 deg/s, cmd heading: 39.286551 deg, new cmd heading: 39.211092 deg. 2025-01-08T23:09:02.197Z,1736377742.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684363 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:02.285Z,1736377742.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:02.286Z,1736377742.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755627 2025-01-08T23:09:02.533Z,1736377742.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:02.537Z,1736377742.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:02.538Z,1736377742.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008455 2025-01-08T23:09:02.576Z,1736377742.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:02.584Z,1736377742.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 154.489105 m, bearing: 39.152981 deg, approach rate: 0.561401 m/s, LOS rate: -0.149857 deg/s, cmd heading: 39.211091 deg, new cmd heading: 39.152981 deg. 2025-01-08T23:09:02.584Z,1736377742.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683348 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:02.790Z,1736377742.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:02.791Z,1736377742.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261131 2025-01-08T23:09:03.040Z,1736377743.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:03.040Z,1736377743.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510793 2025-01-08T23:09:03.043Z,1736377743.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:03.050Z,1736377743.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:03.053Z,1736377743.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:03.057Z,1736377743.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 154.772247 m, bearing: 39.070328 deg, approach rate: 0.594708 m/s, LOS rate: -0.173284 deg/s, cmd heading: 39.152980 deg, new cmd heading: 39.070328 deg. 2025-01-08T23:09:03.057Z,1736377743.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681906 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:03.293Z,1736377743.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:03.296Z,1736377743.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766326 2025-01-08T23:09:03.416Z,1736377743.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:03.426Z,1736377743.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:03.428Z,1736377743.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 154.974014 m, bearing: 39.007767 deg, approach rate: 0.541020 m/s, LOS rate: -0.167534 deg/s, cmd heading: 39.070328 deg, new cmd heading: 39.007767 deg. 2025-01-08T23:09:03.429Z,1736377743.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680814 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:03.544Z,1736377743.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:03.545Z,1736377743.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015140 2025-01-08T23:09:03.796Z,1736377743.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:03.796Z,1736377743.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266752 2025-01-08T23:09:03.813Z,1736377743.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:03.834Z,1736377743.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:03.841Z,1736377743.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 155.183487 m, bearing: 38.938933 deg, approach rate: 0.512316 m/s, LOS rate: -0.168124 deg/s, cmd heading: 39.007767 deg, new cmd heading: 38.938933 deg. 2025-01-08T23:09:03.842Z,1736377743.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679613 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:04.049Z,1736377744.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:04.050Z,1736377744.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520176 2025-01-08T23:09:04.301Z,1736377744.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:04.302Z,1736377744.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772303 2025-01-08T23:09:04.326Z,1736377744.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:04.342Z,1736377744.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:04.349Z,1736377744.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 155.447922 m, bearing: 38.844216 deg, approach rate: 0.520642 m/s, LOS rate: -0.186169 deg/s, cmd heading: 38.938932 deg, new cmd heading: 38.844216 deg. 2025-01-08T23:09:04.350Z,1736377744.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677959 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:04.552Z,1736377744.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:04.553Z,1736377744.553 [DAT](INFO): DAT read: Rx Time:23:09:03.3332 2025-01-08T23:09:04.554Z,1736377744.554 [DAT](INFO): Rx dataTimestamp_ set to:1736377744.553277 2025-01-08T23:09:04.554Z,1736377744.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024411 2025-01-08T23:09:04.650Z,1736377744.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:04.665Z,1736377744.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:04.670Z,1736377744.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 155.610580 m, bearing: 38.782530 deg, approach rate: 0.504284 m/s, LOS rate: -0.191041 deg/s, cmd heading: 38.844215 deg, new cmd heading: 38.782530 deg. 2025-01-08T23:09:04.672Z,1736377744.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676883 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:04.804Z,1736377744.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:04.805Z,1736377744.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274855 2025-01-08T23:09:05.056Z,1736377745.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:05.062Z,1736377745.062 [DAT](INFO): DAT read: 23:09:03.3332 LVL= 15600, 13409, 9202, 17139, AGC= 62, IDX= 104,-0.03, 1.359,-2.939,-2.417, 2.914, PHS=-1.467, 0.476, 0.949, RAW= 259.4, 0.4, CAL= 262.1, 1.1, ROT= 247.9, -1.1 2025-01-08T23:09:05.064Z,1736377745.064 [DAT](INFO): got valid direction response: 23:09:03.3332 LVL= 15600, 13409, 9202, 17139, AGC= 62, IDX= 104,-0.03, 1.359,-2.939,-2.417, 2.914, PHS=-1.467, 0.476, 0.949, RAW= 259.4, 0.4, CAL= 262.1, 1.1, ROT= 247.9, -1.1 2025-01-08T23:09:05.065Z,1736377745.065 [DAT](INFO): DAT read: Bearing 247.9, -1.1 (Local) 2025-01-08T23:09:05.065Z,1736377745.065 [DAT](INFO): Local bearing/azimuth received: Bearing 247.9, -1.1 (Local) 2025-01-08T23:09:05.066Z,1736377745.066 [DAT](INFO): DAT read: Range 10 to 50 : 153.1 m (Round-trip 204.2 ms) speed -0.3 m/s 2025-01-08T23:09:05.067Z,1736377745.067 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:05.068Z,1736377745.068 [DAT](INFO): direction in FSK: [0.059554,-0.286315,-0.956283] 2025-01-08T23:09:05.068Z,1736377745.068 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:05.082Z,1736377745.082 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:05.082Z,1736377745.082 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:05.083Z,1736377745.083 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:05.191Z,1736377745.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:05.229Z,1736377745.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 153.100006 m, deltaT: 7.560049 s, deltaX: -47.000000 m, approachRate: -6.216891 m/s, rangeRepo size: 2 2025-01-08T23:09:05.229Z,1736377745.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:05.236Z,1736377745.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 155.875427 m, bearing: 38.678292 deg, approach rate: 0.470162 m/s, LOS rate: -0.184732 deg/s, cmd heading: 38.782531 deg, new cmd heading: 38.678292 deg. 2025-01-08T23:09:05.237Z,1736377745.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.675064 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:05.309Z,1736377745.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:05.310Z,1736377745.310 [DAT](INFO): DAT read: user:3035> 2025-01-08T23:09:05.311Z,1736377745.311 [DAT](INFO): DAT read: Tx time:23:09:04.5748 2025-01-08T23:09:05.312Z,1736377745.312 [DAT](INFO): Ping request sent. 2025-01-08T23:09:05.312Z,1736377745.312 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:05.312Z,1736377745.312 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:05.314Z,1736377745.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001730 2025-01-08T23:09:05.523Z,1736377745.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:05.530Z,1736377745.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:05.532Z,1736377745.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:05.535Z,1736377745.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 156.032898 m, bearing: 38.612698 deg, approach rate: 0.517594 m/s, LOS rate: -0.215385 deg/s, cmd heading: 38.678292 deg, new cmd heading: 38.612698 deg. 2025-01-08T23:09:05.537Z,1736377745.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673919 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:05.560Z,1736377745.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:05.560Z,1736377745.560 [DAT](INFO): DAT read: TxSync time:23:09:04.5740 2025-01-08T23:09:05.561Z,1736377745.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249484 2025-01-08T23:09:05.812Z,1736377745.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:05.812Z,1736377745.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500754 2025-01-08T23:09:05.921Z,1736377745.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:05.000Z,1736377746.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:06.002Z,1736377746.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 156.215622 m, bearing: 38.532202 deg, approach rate: 0.394580 m/s, LOS rate: -0.173622 deg/s, cmd heading: 38.612699 deg, new cmd heading: 38.532202 deg. 2025-01-08T23:09:06.008Z,1736377746.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672514 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:06.064Z,1736377746.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:06.065Z,1736377746.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752907 2025-01-08T23:09:06.316Z,1736377746.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:06.316Z,1736377746.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004685 2025-01-08T23:09:06.423Z,1736377746.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:09:06.423Z,1736377746.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:06.432Z,1736377746.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:06.434Z,1736377746.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 156.429138 m, bearing: 38.426045 deg, approach rate: 0.489124 m/s, LOS rate: -0.242853 deg/s, cmd heading: 38.532201 deg, new cmd heading: 38.426045 deg. 2025-01-08T23:09:06.436Z,1736377746.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670661 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:06.575Z,1736377746.575 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:06.575Z,1736377746.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263739 2025-01-08T23:09:06.813Z,1736377746.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:09:06.813Z,1736377746.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:06.822Z,1736377746.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:06.825Z,1736377746.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 156.588730 m, bearing: 38.342001 deg, approach rate: 0.409212 m/s, LOS rate: -0.215280 deg/s, cmd heading: 38.426047 deg, new cmd heading: 38.342001 deg. 2025-01-08T23:09:06.825Z,1736377746.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669194 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:06.828Z,1736377746.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:06.829Z,1736377746.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516955 2025-01-08T23:09:07.080Z,1736377747.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:07.081Z,1736377747.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769159 2025-01-08T23:09:07.290Z,1736377747.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:07.301Z,1736377747.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:07.304Z,1736377747.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 156.774307 m, bearing: 38.241139 deg, approach rate: 0.387028 m/s, LOS rate: -0.210102 deg/s, cmd heading: 38.342001 deg, new cmd heading: 38.241139 deg. 2025-01-08T23:09:07.305Z,1736377747.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667434 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:07.332Z,1736377747.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:07.335Z,1736377747.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022642 2025-01-08T23:09:07.587Z,1736377747.587 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:07.588Z,1736377747.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276156 2025-01-08T23:09:07.716Z,1736377747.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:07.724Z,1736377747.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:07.726Z,1736377747.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:07.729Z,1736377747.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 156.933914 m, bearing: 38.149098 deg, approach rate: 0.376335 m/s, LOS rate: -0.216800 deg/s, cmd heading: 38.241140 deg, new cmd heading: 38.149098 deg. 2025-01-08T23:09:07.730Z,1736377747.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665827 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:07.840Z,1736377747.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:07.841Z,1736377747.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529270 2025-01-08T23:09:08.092Z,1736377748.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:08.092Z,1736377748.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780695 2025-01-08T23:09:08.168Z,1736377748.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:08.178Z,1736377748.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:08.181Z,1736377748.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.091324 m, bearing: 38.055507 deg, approach rate: 0.347843 m/s, LOS rate: -0.206610 deg/s, cmd heading: 38.149100 deg, new cmd heading: 38.055507 deg. 2025-01-08T23:09:08.182Z,1736377748.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664194 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:08.344Z,1736377748.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:08.344Z,1736377748.344 [DAT](INFO): DAT read: Rx Time:23:09:07.1850 2025-01-08T23:09:08.345Z,1736377748.345 [DAT](INFO): Rx dataTimestamp_ set to:1736377748.344673 2025-01-08T23:09:08.345Z,1736377748.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033803 2025-01-08T23:09:08.532Z,1736377748.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:08.541Z,1736377748.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:08.544Z,1736377748.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.205841 m, bearing: 37.977776 deg, approach rate: 0.315309 m/s, LOS rate: -0.213867 deg/s, cmd heading: 38.055505 deg, new cmd heading: 37.977776 deg. 2025-01-08T23:09:08.545Z,1736377748.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662837 target range: 197.500000 and range: 200.10 m. 2025-01-08T23:09:08.597Z,1736377748.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:08.598Z,1736377748.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285965 2025-01-08T23:09:08.848Z,1736377748.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:08.849Z,1736377748.849 [DAT](INFO): DAT read: Range 10 to 50 : 154.5 m (Round-trip 206.0 ms) speed -0.4 m/s 2025-01-08T23:09:08.850Z,1736377748.850 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:09:08.851Z,1736377748.851 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:08.851Z,1736377748.851 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:08.851Z,1736377748.851 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:08.935Z,1736377748.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:08.949Z,1736377748.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.500000 m, deltaT: 11.351916 s, deltaX: -45.600006 m, approachRate: -4.016943 m/s, rangeRepo size: 3 2025-01-08T23:09:08.950Z,1736377748.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:08.953Z,1736377748.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.326035 m, bearing: 37.890353 deg, approach rate: 0.295253 m/s, LOS rate: -0.214590 deg/s, cmd heading: 37.977774 deg, new cmd heading: 37.890353 deg. 2025-01-08T23:09:08.954Z,1736377748.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661311 target range: 197.500000 and range: 154.50 m. 2025-01-08T23:09:09.102Z,1736377749.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:09.106Z,1736377749.106 [DAT](INFO): DAT read: user:3036> 2025-01-08T23:09:09.106Z,1736377749.106 [DAT](INFO): DAT read: Tx time:23:09:08.3249 2025-01-08T23:09:09.107Z,1736377749.107 [DAT](INFO): Ping request sent. 2025-01-08T23:09:09.107Z,1736377749.107 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:09.107Z,1736377749.107 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:09.108Z,1736377749.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000984 2025-01-08T23:09:09.352Z,1736377749.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:09.353Z,1736377749.353 [DAT](INFO): DAT read: TxSync time:23:09:08.3241 2025-01-08T23:09:09.354Z,1736377749.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247614 2025-01-08T23:09:09.370Z,1736377749.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:09.414Z,1736377749.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:09.421Z,1736377749.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.440369 m, bearing: 37.797053 deg, approach rate: 0.245806 m/s, LOS rate: -0.200439 deg/s, cmd heading: 37.890351 deg, new cmd heading: 37.797053 deg. 2025-01-08T23:09:09.422Z,1736377749.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659683 target range: 197.500000 and range: 154.50 m. 2025-01-08T23:09:09.604Z,1736377749.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:09.606Z,1736377749.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498697 2025-01-08T23:09:09.739Z,1736377749.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:09.746Z,1736377749.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:09.748Z,1736377749.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:09.751Z,1736377749.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.531357 m, bearing: 37.717243 deg, approach rate: 0.271977 m/s, LOS rate: -0.238425 deg/s, cmd heading: 37.797055 deg, new cmd heading: 37.717243 deg. 2025-01-08T23:09:09.752Z,1736377749.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658290 target range: 197.500000 and range: 154.50 m. 2025-01-08T23:09:09.856Z,1736377749.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:09.857Z,1736377749.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749810 2025-01-08T23:09:10.108Z,1736377750.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:10.108Z,1736377750.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001579 2025-01-08T23:09:10.170Z,1736377750.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:10.179Z,1736377750.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:10.198Z,1736377750.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.623596 m, bearing: 37.626781 deg, approach rate: 0.214121 m/s, LOS rate: -0.209872 deg/s, cmd heading: 37.717244 deg, new cmd heading: 37.626781 deg. 2025-01-08T23:09:10.198Z,1736377750.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656711 target range: 197.500000 and range: 154.50 m. 2025-01-08T23:09:10.360Z,1736377750.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:10.360Z,1736377750.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253680 2025-01-08T23:09:10.542Z,1736377750.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:10.566Z,1736377750.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:10.570Z,1736377750.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.697632 m, bearing: 37.548321 deg, approach rate: 0.191216 m/s, LOS rate: -0.202549 deg/s, cmd heading: 37.626781 deg, new cmd heading: 37.548321 deg. 2025-01-08T23:09:10.573Z,1736377750.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655342 target range: 197.500000 and range: 154.50 m. 2025-01-08T23:09:10.612Z,1736377750.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:10.614Z,1736377750.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506803 2025-01-08T23:09:10.864Z,1736377750.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:10.864Z,1736377750.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757575 2025-01-08T23:09:10.945Z,1736377750.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:10.960Z,1736377750.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:10.963Z,1736377750.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.772064 m, bearing: 37.462243 deg, approach rate: 0.188806 m/s, LOS rate: -0.218243 deg/s, cmd heading: 37.548320 deg, new cmd heading: 37.462243 deg. 2025-01-08T23:09:10.964Z,1736377750.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653839 target range: 197.500000 and range: 154.50 m. 2025-01-08T23:09:11.116Z,1736377751.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:11.117Z,1736377751.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010010 2025-01-08T23:09:11.368Z,1736377751.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:11.368Z,1736377751.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261703 2025-01-08T23:09:11.404Z,1736377751.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:11.416Z,1736377751.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:11.437Z,1736377751.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.853546 m, bearing: 37.367600 deg, approach rate: 0.179413 m/s, LOS rate: -0.208283 deg/s, cmd heading: 37.462242 deg, new cmd heading: 37.367600 deg. 2025-01-08T23:09:11.438Z,1736377751.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.652188 target range: 197.500000 and range: 154.50 m. 2025-01-08T23:09:11.621Z,1736377751.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:11.622Z,1736377751.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515166 2025-01-08T23:09:11.753Z,1736377751.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:11.760Z,1736377751.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:11.762Z,1736377751.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:11.780Z,1736377751.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.904861 m, bearing: 37.294866 deg, approach rate: 0.147747 m/s, LOS rate: -0.209348 deg/s, cmd heading: 37.367600 deg, new cmd heading: 37.294866 deg. 2025-01-08T23:09:11.781Z,1736377751.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650918 target range: 197.500000 and range: 154.50 m. 2025-01-08T23:09:11.874Z,1736377751.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:11.875Z,1736377751.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768034 2025-01-08T23:09:12.124Z,1736377752.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:12.124Z,1736377752.124 [DAT](INFO): DAT read: Rx Time:23:09:10.9355 2025-01-08T23:09:12.125Z,1736377752.125 [DAT](INFO): Rx dataTimestamp_ set to:1736377752.124652 2025-01-08T23:09:12.125Z,1736377752.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018735 2025-01-08T23:09:12.205Z,1736377752.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:12.223Z,1736377752.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:12.230Z,1736377752.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.960419 m, bearing: 37.202196 deg, approach rate: 0.120513 m/s, LOS rate: -0.200947 deg/s, cmd heading: 37.294865 deg, new cmd heading: 37.202196 deg. 2025-01-08T23:09:12.230Z,1736377752.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649301 target range: 197.500000 and range: 154.50 m. 2025-01-08T23:09:12.378Z,1736377752.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:12.379Z,1736377752.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272680 2025-01-08T23:09:12.572Z,1736377752.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:12.585Z,1736377752.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:12.594Z,1736377752.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 157.999557 m, bearing: 37.126856 deg, approach rate: 0.108689 m/s, LOS rate: -0.209168 deg/s, cmd heading: 37.202196 deg, new cmd heading: 37.126856 deg. 2025-01-08T23:09:12.597Z,1736377752.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647986 target range: 197.500000 and range: 154.50 m. 2025-01-08T23:09:12.628Z,1736377752.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:12.629Z,1736377752.629 [DAT](INFO): DAT read: Range 10 to 50 : 154.8 m (Round-trip 206.5 ms) speed 0.0 m/s 2025-01-08T23:09:12.630Z,1736377752.630 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:09:12.631Z,1736377752.631 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:12.631Z,1736377752.631 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:12.631Z,1736377752.631 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:12.880Z,1736377752.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:12.880Z,1736377752.880 [DAT](INFO): DAT read: user:3037> 2025-01-08T23:09:12.881Z,1736377752.881 [DAT](INFO): DAT read: Tx time:23:09:12.0749 2025-01-08T23:09:12.882Z,1736377752.882 [DAT](INFO): Ping request sent. 2025-01-08T23:09:12.882Z,1736377752.882 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:12.882Z,1736377752.882 [DAT](INFO): DAT read: TxSync time:23:09:12.0741 2025-01-08T23:09:12.883Z,1736377752.883 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:12.884Z,1736377752.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002520 2025-01-08T23:09:12.991Z,1736377752.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:13.020Z,1736377753.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.800003 m, deltaT: 3.780116 s, deltaX: 0.300003 m, approachRate: 0.079363 m/s, rangeRepo size: 4 2025-01-08T23:09:13.021Z,1736377753.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:13.030Z,1736377753.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.037567 m, bearing: 37.040500 deg, approach rate: 0.087983 m/s, LOS rate: -0.199846 deg/s, cmd heading: 37.126856 deg, new cmd heading: 37.040500 deg. 2025-01-08T23:09:13.037Z,1736377753.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.646479 target range: 197.500000 and range: 154.80 m. 2025-01-08T23:09:13.133Z,1736377753.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:13.134Z,1736377753.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252101 2025-01-08T23:09:13.384Z,1736377753.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:13.384Z,1736377753.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502763 2025-01-08T23:09:13.481Z,1736377753.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:13.490Z,1736377753.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:13.493Z,1736377753.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.077789 m, bearing: 36.941332 deg, approach rate: 0.084576 m/s, LOS rate: -0.208470 deg/s, cmd heading: 37.040498 deg, new cmd heading: 36.941332 deg. 2025-01-08T23:09:13.494Z,1736377753.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644748 target range: 197.500000 and range: 154.80 m. 2025-01-08T23:09:13.637Z,1736377753.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:13.637Z,1736377753.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755484 2025-01-08T23:09:13.805Z,1736377753.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:13.813Z,1736377753.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:13.815Z,1736377753.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:13.817Z,1736377753.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.095718 m, bearing: 36.870610 deg, approach rate: 0.055317 m/s, LOS rate: -0.218175 deg/s, cmd heading: 36.941331 deg, new cmd heading: 36.870610 deg. 2025-01-08T23:09:13.818Z,1736377753.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643514 target range: 197.500000 and range: 154.80 m. 2025-01-08T23:09:13.888Z,1736377753.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:13.889Z,1736377753.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006822 2025-01-08T23:09:14.140Z,1736377754.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:14.140Z,1736377754.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258760 2025-01-08T23:09:14.245Z,1736377754.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:14.254Z,1736377754.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:14.273Z,1736377754.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.117447 m, bearing: 36.779734 deg, approach rate: 0.049465 m/s, LOS rate: -0.206854 deg/s, cmd heading: 36.870611 deg, new cmd heading: 36.779734 deg. 2025-01-08T23:09:14.274Z,1736377754.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.641927 target range: 197.500000 and range: 154.80 m. 2025-01-08T23:09:14.392Z,1736377754.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:14.392Z,1736377754.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510624 2025-01-08T23:09:14.613Z,1736377754.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:14.623Z,1736377754.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:14.641Z,1736377754.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.129913 m, bearing: 36.703322 deg, approach rate: 0.033810 m/s, LOS rate: -0.207216 deg/s, cmd heading: 36.779735 deg, new cmd heading: 36.703322 deg. 2025-01-08T23:09:14.642Z,1736377754.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640594 target range: 197.500000 and range: 154.80 m. 2025-01-08T23:09:14.644Z,1736377754.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:14.645Z,1736377754.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763489 2025-01-08T23:09:14.896Z,1736377754.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:14.896Z,1736377754.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014727 2025-01-08T23:09:15.037Z,1736377755.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:15.054Z,1736377755.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:15.066Z,1736377755.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.136978 m, bearing: 36.615315 deg, approach rate: 0.016363 m/s, LOS rate: -0.203827 deg/s, cmd heading: 36.703323 deg, new cmd heading: 36.615315 deg. 2025-01-08T23:09:15.067Z,1736377755.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639058 target range: 197.500000 and range: 154.80 m. 2025-01-08T23:09:15.148Z,1736377755.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:15.149Z,1736377755.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266785 2025-01-08T23:09:15.400Z,1736377755.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:15.400Z,1736377755.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518704 2025-01-08T23:09:15.471Z,1736377755.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:15.510Z,1736377755.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:15.517Z,1736377755.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.146011 m, bearing: 36.525877 deg, approach rate: 0.019825 m/s, LOS rate: -0.196275 deg/s, cmd heading: 36.615316 deg, new cmd heading: 36.525877 deg. 2025-01-08T23:09:15.518Z,1736377755.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637497 target range: 197.500000 and range: 154.80 m. 2025-01-08T23:09:15.653Z,1736377755.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:15.654Z,1736377755.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772310 2025-01-08T23:09:15.840Z,1736377755.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:15.848Z,1736377755.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:15.850Z,1736377755.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:15.853Z,1736377755.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.141296 m, bearing: 36.449659 deg, approach rate: -0.013884 m/s, LOS rate: -0.224446 deg/s, cmd heading: 36.525878 deg, new cmd heading: 36.449659 deg. 2025-01-08T23:09:15.854Z,1736377755.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636167 target range: 197.500000 and range: 154.80 m. 2025-01-08T23:09:15.904Z,1736377755.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:15.906Z,1736377755.906 [DAT](INFO): DAT read: Rx Time:23:09:14.6851 2025-01-08T23:09:15.906Z,1736377755.906 [DAT](INFO): Rx dataTimestamp_ set to:1736377755.905730 2025-01-08T23:09:15.907Z,1736377755.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025204 2025-01-08T23:09:16.156Z,1736377756.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:16.156Z,1736377756.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274585 2025-01-08T23:09:16.254Z,1736377756.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:16.264Z,1736377756.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.50 m. 2025-01-08T23:09:16.266Z,1736377756.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 197.500000 m, nav range: 158.138596 m, bearing: 36.362387 deg, approach rate: -0.006519 m/s, LOS rate: -0.210671 deg/s, cmd heading: 36.449660 deg, new cmd heading: 36.362387 deg. 2025-01-08T23:09:16.267Z,1736377756.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634643 target range: 197.500000 and range: 154.80 m. 2025-01-08T23:09:16.408Z,1736377756.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:16.415Z,1736377756.415 [DAT](INFO): DAT read: 23:09:14.6851 LVL= 21280, 24353, 11954, 25939, AGC= 61, IDX= 443,-0.18,-2.829,-2.360,-0.551,-1.940, PHS=-0.801,-0.372, 1.387, RAW= 220.7, -2.2, CAL= 219.4, -8.4, ROT= 290.6, 8.4 2025-01-08T23:09:16.416Z,1736377756.416 [DAT](INFO): got valid direction response: 23:09:14.6851 LVL= 21280, 24353, 11954, 25939, AGC= 61, IDX= 443,-0.18,-2.829,-2.360,-0.551,-1.940, PHS=-0.801,-0.372, 1.387, RAW= 220.7, -2.2, CAL= 219.4, -8.4, ROT= 290.6, 8.4 2025-01-08T23:09:16.417Z,1736377756.417 [DAT](INFO): DAT read: Bearing 290.6, 8.4 (Local) 2025-01-08T23:09:16.417Z,1736377756.417 [DAT](INFO): Local bearing/azimuth received: Bearing 290.6, 8.4 (Local) 2025-01-08T23:09:16.418Z,1736377756.418 [DAT](INFO): DAT read: Range 10 to 50 : 154.5 m (Round-trip 206.1 ms) speed 0.0 m/s 2025-01-08T23:09:16.419Z,1736377756.419 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:16.420Z,1736377756.420 [DAT](INFO): direction in FSK: [0.029388,-0.804722,-0.592924] 2025-01-08T23:09:16.421Z,1736377756.421 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:16.424Z,1736377756.424 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:16.424Z,1736377756.424 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:16.424Z,1736377756.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:16.648Z,1736377756.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:16.660Z,1736377756.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:16.661Z,1736377756.661 [DAT](INFO): DAT read: user:3038> 2025-01-08T23:09:16.662Z,1736377756.662 [DAT](INFO): DAT read: Tx time:23:09:15.8749 2025-01-08T23:09:16.663Z,1736377756.663 [DAT](INFO): Ping request sent. 2025-01-08T23:09:16.663Z,1736377756.663 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:16.663Z,1736377756.663 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:16.664Z,1736377756.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001223 2025-01-08T23:09:16.690Z,1736377756.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.500000 m, deltaT: 3.780562 s, deltaX: -0.300003 m, approachRate: -0.079354 m/s, rangeRepo size: 4 2025-01-08T23:09:16.701Z,1736377756.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 154.500000 m, bearing: 29.593496 deg, lat: 36.903935 deg, lon: -122.120257 deg, deltaT: 22.944741 s, deltaX: -43.000000 m, approachRate: -1.874068 m/s, posRepo size: 2 2025-01-08T23:09:16.701Z,1736377756.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m. 2025-01-08T23:09:16.733Z,1736377756.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.500000 m, nav range: 40.912552 m, bearing: 68.792914 deg, approach rate: 0.000000 m/s, LOS rate: -0.210671 deg/s, cmd heading: 36.362387 deg, new cmd heading: 36.093238 deg. 2025-01-08T23:09:16.734Z,1736377756.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.629946 target range: 154.500000 and range: 154.50 m. 2025-01-08T23:09:16.912Z,1736377756.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:16.912Z,1736377756.912 [DAT](INFO): DAT read: TxSync time:23:09:15.8741 2025-01-08T23:09:16.913Z,1736377756.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250082 2025-01-08T23:09:17.044Z,1736377757.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:17.054Z,1736377757.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m. 2025-01-08T23:09:17.056Z,1736377757.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.500000 m, nav range: 40.771870 m, bearing: 68.523828 deg, approach rate: -0.387511 m/s, LOS rate: -0.743756 deg/s, cmd heading: 36.093236 deg, new cmd heading: 35.283248 deg. 2025-01-08T23:09:17.057Z,1736377757.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615809 target range: 154.500000 and range: 154.50 m. 2025-01-08T23:09:17.166Z,1736377757.166 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:17.169Z,1736377757.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505225 2025-01-08T23:09:17.416Z,1736377757.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:17.416Z,1736377757.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753192 2025-01-08T23:09:17.492Z,1736377757.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:17.528Z,1736377757.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m. 2025-01-08T23:09:17.530Z,1736377757.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.500000 m, nav range: 40.622223 m, bearing: 68.226087 deg, approach rate: -0.318380 m/s, LOS rate: -0.635789 deg/s, cmd heading: 35.283248 deg, new cmd heading: 34.386810 deg. 2025-01-08T23:09:17.535Z,1736377757.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.600163 target range: 154.500000 and range: 154.50 m. 2025-01-08T23:09:17.668Z,1736377757.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:17.669Z,1736377757.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005633 2025-01-08T23:09:17.852Z,1736377757.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:17.859Z,1736377757.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:17.861Z,1736377757.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m. 2025-01-08T23:09:17.864Z,1736377757.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.500000 m, nav range: 40.498280 m, bearing: 67.989907 deg, approach rate: -0.366073 m/s, LOS rate: -0.699702 deg/s, cmd heading: 34.386809 deg, new cmd heading: 33.676141 deg. 2025-01-08T23:09:17.865Z,1736377757.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587760 target range: 154.500000 and range: 154.50 m. 2025-01-08T23:09:17.921Z,1736377757.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:17.922Z,1736377757.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258696 2025-01-08T23:09:18.174Z,1736377758.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:18.175Z,1736377758.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511491 2025-01-08T23:09:18.274Z,1736377758.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:18.283Z,1736377758.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m. 2025-01-08T23:09:18.286Z,1736377758.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.500000 m, nav range: 40.350277 m, bearing: 67.708450 deg, approach rate: -0.351229 m/s, LOS rate: -0.670380 deg/s, cmd heading: 33.676142 deg, new cmd heading: 32.828740 deg. 2025-01-08T23:09:18.288Z,1736377758.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572970 target range: 154.500000 and range: 154.50 m. 2025-01-08T23:09:18.424Z,1736377758.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:18.424Z,1736377758.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761152 2025-01-08T23:09:18.672Z,1736377758.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:18.684Z,1736377758.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:18.685Z,1736377758.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021479 2025-01-08T23:09:18.697Z,1736377758.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m. 2025-01-08T23:09:18.704Z,1736377758.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.500000 m, nav range: 40.206314 m, bearing: 67.449194 deg, approach rate: -0.347221 m/s, LOS rate: -0.627534 deg/s, cmd heading: 32.828741 deg, new cmd heading: 32.048236 deg. 2025-01-08T23:09:18.705Z,1736377758.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559347 target range: 154.500000 and range: 154.50 m. 2025-01-08T23:09:18.937Z,1736377758.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:18.938Z,1736377758.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274583 2025-01-08T23:09:19.058Z,1736377759.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:19.066Z,1736377759.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m. 2025-01-08T23:09:19.070Z,1736377759.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.500000 m, nav range: 40.061188 m, bearing: 67.200635 deg, approach rate: -0.393194 m/s, LOS rate: -0.675864 deg/s, cmd heading: 32.048238 deg, new cmd heading: 31.299904 deg. 2025-01-08T23:09:19.071Z,1736377759.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546286 target range: 154.500000 and range: 154.50 m. 2025-01-08T23:09:19.190Z,1736377759.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:19.196Z,1736377759.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531522 2025-01-08T23:09:19.380Z,1736377759.380 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:09:19.440Z,1736377759.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:19.442Z,1736377759.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778773 2025-01-08T23:09:19.536Z,1736377759.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:19.567Z,1736377759.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m. 2025-01-08T23:09:19.571Z,1736377759.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.500000 m, nav range: 39.881989 m, bearing: 66.897611 deg, approach rate: -0.373616 m/s, LOS rate: -0.634616 deg/s, cmd heading: 31.299905 deg, new cmd heading: 30.386831 deg. 2025-01-08T23:09:19.576Z,1736377759.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530350 target range: 154.500000 and range: 154.50 m. 2025-01-08T23:09:19.692Z,1736377759.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:19.692Z,1736377759.692 [DAT](INFO): DAT read: Rx Time:23:09:18.4847 2025-01-08T23:09:19.693Z,1736377759.693 [DAT](INFO): Rx dataTimestamp_ set to:1736377759.692618 2025-01-08T23:09:19.693Z,1736377759.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030291 2025-01-08T23:09:19.868Z,1736377759.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:19.876Z,1736377759.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:19.878Z,1736377759.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m. 2025-01-08T23:09:19.880Z,1736377759.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.500000 m, nav range: 39.754326 m, bearing: 66.691962 deg, approach rate: -0.385014 m/s, LOS rate: -0.622202 deg/s, cmd heading: 30.386832 deg, new cmd heading: 29.767929 deg. 2025-01-08T23:09:19.881Z,1736377759.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519548 target range: 154.500000 and range: 154.50 m. 2025-01-08T23:09:19.944Z,1736377759.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:19.945Z,1736377759.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281533 2025-01-08T23:09:20.198Z,1736377760.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:20.209Z,1736377760.209 [DAT](INFO): DAT read: 23:09:18.4848 LVL= 21552, 22865, 11106, 25843, AGC= 59, IDX= 439,-0.28, 0.538, 0.259, 2.226, 1.105, PHS=-0.479,-0.799, 1.118, RAW= 201.1, 1.8, CAL= 200.9, -5.6, ROT= 309.1, 5.6 2025-01-08T23:09:20.210Z,1736377760.210 [DAT](INFO): got valid direction response: 23:09:18.4848 LVL= 21552, 22865, 11106, 25843, AGC= 59, IDX= 439,-0.28, 0.538, 0.259, 2.226, 1.105, PHS=-0.479,-0.799, 1.118, RAW= 201.1, 1.8, CAL= 200.9, -5.6, ROT= 309.1, 5.6 2025-01-08T23:09:20.211Z,1736377760.211 [DAT](INFO): DAT read: Bearing 309.1, 5.6 (Local) 2025-01-08T23:09:20.212Z,1736377760.212 [DAT](INFO): Local bearing/azimuth received: Bearing 309.1, 5.6 (Local) 2025-01-08T23:09:20.213Z,1736377760.213 [DAT](INFO): DAT read: Range 10 to 50 : 154.2 m (Round-trip 205.7 ms) speed 0.0 m/s 2025-01-08T23:09:20.214Z,1736377760.214 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:20.215Z,1736377760.215 [DAT](INFO): direction in FSK: [-0.084273,-0.946704,-0.310886] 2025-01-08T23:09:20.215Z,1736377760.215 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:20.228Z,1736377760.228 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:20.228Z,1736377760.228 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:20.228Z,1736377760.228 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:20.320Z,1736377760.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:09:20.320Z,1736377760.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:20.364Z,1736377760.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 3.790196 s, deltaX: -0.300003 m, approachRate: -0.079152 m/s, rangeRepo size: 4 2025-01-08T23:09:20.366Z,1736377760.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 154.199997 m, bearing: 8.122554 deg, lat: 36.903935 deg, lon: -122.120434 deg, deltaT: 3.790196 s, deltaX: -0.300003 m, approachRate: -0.079152 m/s, posRepo size: 3 2025-01-08T23:09:20.367Z,1736377760.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:09:20.374Z,1736377760.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 25.962330 m, bearing: 52.403596 deg, approach rate: 0.000000 m/s, LOS rate: -0.622202 deg/s, cmd heading: 29.767928 deg, new cmd heading: 28.892075 deg. 2025-01-08T23:09:20.375Z,1736377760.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.504262 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:09:20.388Z,1736377760.388 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:09:20.448Z,1736377760.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:20.449Z,1736377760.449 [DAT](INFO): DAT read: user:3039> 2025-01-08T23:09:20.451Z,1736377760.451 [DAT](INFO): DAT read: Tx time:23:09:19.6750 2025-01-08T23:09:20.451Z,1736377760.451 [DAT](INFO): Ping request sent. 2025-01-08T23:09:20.451Z,1736377760.451 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:20.452Z,1736377760.452 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:20.453Z,1736377760.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001774 2025-01-08T23:09:20.693Z,1736377760.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:09:20.693Z,1736377760.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:20.700Z,1736377760.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:20.701Z,1736377760.701 [DAT](INFO): DAT read: TxSync time:23:09:19.6742 2025-01-08T23:09:20.701Z,1736377760.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250343 2025-01-08T23:09:20.717Z,1736377760.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:09:20.724Z,1736377760.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 25.850775 m, bearing: 51.987959 deg, approach rate: -0.301608 m/s, LOS rate: -1.128582 deg/s, cmd heading: 28.892076 deg, new cmd heading: 27.639996 deg. 2025-01-08T23:09:20.725Z,1736377760.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.482409 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:09:20.953Z,1736377760.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:20.954Z,1736377760.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502919 2025-01-08T23:09:21.084Z,1736377761.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:09:21.084Z,1736377761.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:21.094Z,1736377761.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:09:21.097Z,1736377761.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 25.730944 m, bearing: 51.559894 deg, approach rate: -0.317248 m/s, LOS rate: -1.138551 deg/s, cmd heading: 27.639996 deg, new cmd heading: 26.350050 deg. 2025-01-08T23:09:21.098Z,1736377761.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.459895 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:09:21.206Z,1736377761.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:21.208Z,1736377761.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756362 2025-01-08T23:09:21.456Z,1736377761.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:21.456Z,1736377761.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005305 2025-01-08T23:09:21.535Z,1736377761.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:21.543Z,1736377761.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:09:21.548Z,1736377761.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 25.599363 m, bearing: 51.076839 deg, approach rate: -0.293297 m/s, LOS rate: -1.082268 deg/s, cmd heading: 26.350050 deg, new cmd heading: 24.893766 deg. 2025-01-08T23:09:21.550Z,1736377761.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434478 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:09:21.708Z,1736377761.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:21.708Z,1736377761.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257452 2025-01-08T23:09:21.884Z,1736377761.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:21.912Z,1736377761.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:21.914Z,1736377761.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:09:21.917Z,1736377761.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 25.493956 m, bearing: 50.706520 deg, approach rate: -0.284327 m/s, LOS rate: -1.003022 deg/s, cmd heading: 24.893767 deg, new cmd heading: 23.778366 deg. 2025-01-08T23:09:21.918Z,1736377761.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415011 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:09:21.961Z,1736377761.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:21.962Z,1736377761.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510972 2025-01-08T23:09:22.213Z,1736377762.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:22.217Z,1736377762.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765345 2025-01-08T23:09:22.313Z,1736377762.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:22.324Z,1736377762.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:09:22.326Z,1736377762.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 25.360397 m, bearing: 50.277232 deg, approach rate: -0.326241 m/s, LOS rate: -1.054129 deg/s, cmd heading: 23.778366 deg, new cmd heading: 22.483953 deg. 2025-01-08T23:09:22.327Z,1736377762.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.392419 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:09:22.464Z,1736377762.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:22.465Z,1736377762.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013885 2025-01-08T23:09:22.698Z,1736377762.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:22.708Z,1736377762.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:09:22.710Z,1736377762.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 25.236616 m, bearing: 49.897739 deg, approach rate: -0.322244 m/s, LOS rate: -0.992789 deg/s, cmd heading: 22.483953 deg, new cmd heading: 21.340049 deg. 2025-01-08T23:09:22.711Z,1736377762.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.372454 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:09:22.716Z,1736377762.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:22.716Z,1736377762.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265496 2025-01-08T23:09:22.971Z,1736377762.971 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:22.971Z,1736377762.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520395 2025-01-08T23:09:23.100Z,1736377763.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:23.109Z,1736377763.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:09:23.112Z,1736377763.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 25.103161 m, bearing: 49.507586 deg, approach rate: -0.332269 m/s, LOS rate: -0.976537 deg/s, cmd heading: 21.340048 deg, new cmd heading: 20.163542 deg. 2025-01-08T23:09:23.113Z,1736377763.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.351920 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:09:23.230Z,1736377763.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:23.232Z,1736377763.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780773 2025-01-08T23:09:23.480Z,1736377763.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:23.480Z,1736377763.480 [DAT](INFO): DAT read: Rx Time:23:09:22.2836 2025-01-08T23:09:23.481Z,1736377763.481 [DAT](INFO): Rx dataTimestamp_ set to:1736377763.480656 2025-01-08T23:09:23.481Z,1736377763.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030489 2025-01-08T23:09:23.566Z,1736377763.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:23.637Z,1736377763.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:09:23.648Z,1736377763.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 24.945683 m, bearing: 49.064069 deg, approach rate: -0.298804 m/s, LOS rate: -0.846848 deg/s, cmd heading: 20.163541 deg, new cmd heading: 18.824848 deg. 2025-01-08T23:09:23.650Z,1736377763.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328556 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:09:23.732Z,1736377763.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:23.733Z,1736377763.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282367 2025-01-08T23:09:23.985Z,1736377763.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:23.997Z,1736377763.997 [DAT](INFO): DAT read: 23:09:22.2836 LVL= 29680, 29681, 14626, 30195, AGC= 60, IDX= 427,-0.13, 1.870, 0.961, 3.120, 2.151, PHS=-0.193,-1.143, 0.966, RAW= 183.3, 4.1, CAL= 183.3, -4.5, ROT= 326.7, 4.5 2025-01-08T23:09:23.998Z,1736377763.998 [DAT](INFO): got valid direction response: 23:09:22.2836 LVL= 29680, 29681, 14626, 30195, AGC= 60, IDX= 427,-0.13, 1.870, 0.961, 3.120, 2.151, PHS=-0.193,-1.143, 0.966, RAW= 183.3, 4.1, CAL= 183.3, -4.5, ROT= 326.7, 4.5 2025-01-08T23:09:24.000Z,1736377764.000 [DAT](INFO): DAT read: Bearing 326.7, 4.5 (Local) 2025-01-08T23:09:24.001Z,1736377764.001 [DAT](INFO): Local bearing/azimuth received: Bearing 326.7, 4.5 (Local) 2025-01-08T23:09:24.002Z,1736377764.002 [DAT](INFO): DAT read: Range 10 to 50 : 153.3 m (Round-trip 204.5 ms) speed 0.4 m/s 2025-01-08T23:09:24.008Z,1736377764.008 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:24.008Z,1736377764.008 [DAT](INFO): direction in FSK: [-0.159385,-0.987053,-0.017986] 2025-01-08T23:09:24.009Z,1736377764.009 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:24.012Z,1736377764.012 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:24.012Z,1736377764.012 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:24.012Z,1736377764.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:24.080Z,1736377764.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:24.117Z,1736377764.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 153.300003 m, deltaT: 3.787373 s, deltaX: -0.899994 m, approachRate: -0.237630 m/s, rangeRepo size: 4 2025-01-08T23:09:24.124Z,1736377764.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 153.300003 m, bearing: 345.755685 deg, lat: 36.904762 deg, lon: -122.120434 deg, deltaT: 3.787373 s, deltaX: -0.899994 m, approachRate: -0.237630 m/s, posRepo size: 4 2025-01-08T23:09:24.124Z,1736377764.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:24.127Z,1736377764.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.915131 m, bearing: 9.727354 deg, approach rate: 0.000000 m/s, LOS rate: -0.846848 deg/s, cmd heading: 18.824848 deg, new cmd heading: 17.604094 deg. 2025-01-08T23:09:24.132Z,1736377764.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307249 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:24.237Z,1736377764.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:24.240Z,1736377764.240 [DAT](INFO): DAT read: user:3040> 2025-01-08T23:09:24.243Z,1736377764.243 [DAT](INFO): DAT read: Tx time:23:09:23.4750 2025-01-08T23:09:24.244Z,1736377764.244 [DAT](INFO): Ping request sent. 2025-01-08T23:09:24.245Z,1736377764.245 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:24.245Z,1736377764.245 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:24.248Z,1736377764.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002954 2025-01-08T23:09:24.488Z,1736377764.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:24.489Z,1736377764.489 [DAT](INFO): DAT read: TxSync time:23:09:23.4742 2025-01-08T23:09:24.489Z,1736377764.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245330 2025-01-08T23:09:24.501Z,1736377764.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:24.516Z,1736377764.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:24.518Z,1736377764.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:24.533Z,1736377764.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.893272 m, bearing: 9.610493 deg, approach rate: -0.054418 m/s, LOS rate: -0.290996 deg/s, cmd heading: 17.604094 deg, new cmd heading: 17.253445 deg. 2025-01-08T23:09:24.534Z,1736377764.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.301129 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:24.742Z,1736377764.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:24.744Z,1736377764.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500192 2025-01-08T23:09:24.830Z,1736377764.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:24.856Z,1736377764.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:24.858Z,1736377764.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.865799 m, bearing: 9.520090 deg, approach rate: -0.085577 m/s, LOS rate: -0.281667 deg/s, cmd heading: 17.253445 deg, new cmd heading: 16.982169 deg. 2025-01-08T23:09:24.859Z,1736377764.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.296395 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:24.992Z,1736377764.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:24.993Z,1736377764.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748536 2025-01-08T23:09:25.245Z,1736377765.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:25.248Z,1736377765.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003070 2025-01-08T23:09:25.307Z,1736377765.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:25.324Z,1736377765.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:25.327Z,1736377765.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.819695 m, bearing: 9.390391 deg, approach rate: -0.095084 m/s, LOS rate: -0.267598 deg/s, cmd heading: 16.982169 deg, new cmd heading: 16.592917 deg. 2025-01-08T23:09:25.332Z,1736377765.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.289601 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:25.496Z,1736377765.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:25.496Z,1736377765.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252329 2025-01-08T23:09:25.701Z,1736377765.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:25.710Z,1736377765.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:25.729Z,1736377765.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.774406 m, bearing: 9.283412 deg, approach rate: -0.117386 m/s, LOS rate: -0.277401 deg/s, cmd heading: 16.592917 deg, new cmd heading: 16.271851 deg. 2025-01-08T23:09:25.730Z,1736377765.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.283997 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:25.748Z,1736377765.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:25.748Z,1736377765.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504391 2025-01-08T23:09:25.000Z,1736377766.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:26.000Z,1736377766.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756294 2025-01-08T23:09:26.051Z,1736377766.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:26.080Z,1736377766.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:26.082Z,1736377766.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.723763 m, bearing: 9.190676 deg, approach rate: -0.139397 m/s, LOS rate: -0.255371 deg/s, cmd heading: 16.271850 deg, new cmd heading: 15.993517 deg. 2025-01-08T23:09:26.088Z,1736377766.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279140 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:26.254Z,1736377766.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:26.257Z,1736377766.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012273 2025-01-08T23:09:26.481Z,1736377766.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:26.492Z,1736377766.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:26.494Z,1736377766.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.645874 m, bearing: 9.077476 deg, approach rate: -0.186304 m/s, LOS rate: -0.270960 deg/s, cmd heading: 15.993516 deg, new cmd heading: 15.653678 deg. 2025-01-08T23:09:26.498Z,1736377766.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273208 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:26.504Z,1736377766.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:26.504Z,1736377766.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260396 2025-01-08T23:09:26.756Z,1736377766.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:26.758Z,1736377766.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513799 2025-01-08T23:09:26.846Z,1736377766.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:26.854Z,1736377766.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:26.856Z,1736377766.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:26.859Z,1736377766.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.574173 m, bearing: 8.982487 deg, approach rate: -0.196482 m/s, LOS rate: -0.260468 deg/s, cmd heading: 15.653679 deg, new cmd heading: 15.368527 deg. 2025-01-08T23:09:26.860Z,1736377766.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.268231 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:27.008Z,1736377767.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:27.008Z,1736377767.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764320 2025-01-08T23:09:27.262Z,1736377767.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:27.265Z,1736377767.265 [DAT](INFO): DAT read: Rx Time:23:09:26.1146 2025-01-08T23:09:27.267Z,1736377767.267 [DAT](INFO): Rx dataTimestamp_ set to:1736377767.265436 2025-01-08T23:09:27.268Z,1736377767.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023955 2025-01-08T23:09:27.296Z,1736377767.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:27.342Z,1736377767.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:27.345Z,1736377767.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.480186 m, bearing: 8.868405 deg, approach rate: -0.193520 m/s, LOS rate: -0.235098 deg/s, cmd heading: 15.368527 deg, new cmd heading: 15.025991 deg. 2025-01-08T23:09:27.346Z,1736377767.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262253 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:27.512Z,1736377767.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:27.512Z,1736377767.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268230 2025-01-08T23:09:27.724Z,1736377767.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:27.733Z,1736377767.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:27.736Z,1736377767.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.368042 m, bearing: 8.760510 deg, approach rate: -0.286948 m/s, LOS rate: -0.276358 deg/s, cmd heading: 15.025991 deg, new cmd heading: 14.701977 deg. 2025-01-08T23:09:27.737Z,1736377767.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.256598 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:27.764Z,1736377767.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:27.765Z,1736377767.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520438 2025-01-08T23:09:28.016Z,1736377768.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:28.027Z,1736377768.027 [DAT](INFO): DAT read: 23:09:26.1146 LVL= 26096, 31377, 18866, 32755, AGC= 64, IDX= 248, 0.21, 0.460,-0.397, 1.382, 0.494, PHS= 0.054,-0.844, 0.885, RAW= 178.7, -1.3, CAL= 179.5, -8.9, ROT= 330.5, 8.9 2025-01-08T23:09:28.028Z,1736377768.028 [DAT](INFO): got valid direction response: 23:09:26.1146 LVL= 26096, 31377, 18866, 32755, AGC= 64, IDX= 248, 0.21, 0.460,-0.397, 1.382, 0.494, PHS= 0.054,-0.844, 0.885, RAW= 178.7, -1.3, CAL= 179.5, -8.9, ROT= 330.5, 8.9 2025-01-08T23:09:28.029Z,1736377768.029 [DAT](INFO): DAT read: Bearing 330.5, 8.9 (Local) 2025-01-08T23:09:28.029Z,1736377768.029 [DAT](INFO): Local bearing/azimuth received: Bearing 330.5, 8.9 (Local) 2025-01-08T23:09:28.031Z,1736377768.031 [DAT](INFO): DAT read: Range 10 to 50 : 176.6 m (Round-trip 235.5 ms) speed 0.3 m/s 2025-01-08T23:09:28.038Z,1736377768.038 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:28.039Z,1736377768.039 [DAT](INFO): direction in FSK: [-0.065063,-0.995587,0.067631] 2025-01-08T23:09:28.039Z,1736377768.039 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:28.042Z,1736377768.042 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:28.042Z,1736377768.042 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:28.043Z,1736377768.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:28.100Z,1736377768.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:28.137Z,1736377768.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 176.600006 m, deltaT: 4.029653 s, deltaX: 23.300003 m, approachRate: 5.782136 m/s, rangeRepo size: 4 2025-01-08T23:09:28.138Z,1736377768.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:28.145Z,1736377768.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.265541 m, bearing: 8.668470 deg, approach rate: -0.254219 m/s, LOS rate: -0.228488 deg/s, cmd heading: 14.701977 deg, new cmd heading: 14.425601 deg. 2025-01-08T23:09:28.146Z,1736377768.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.251774 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:28.270Z,1736377768.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:28.274Z,1736377768.274 [DAT](INFO): DAT read: user:3041> 2025-01-08T23:09:28.278Z,1736377768.278 [DAT](INFO): DAT read: Tx time:23:09:27.5250 2025-01-08T23:09:28.279Z,1736377768.279 [DAT](INFO): Ping request sent. 2025-01-08T23:09:28.279Z,1736377768.279 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:28.282Z,1736377768.282 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:28.285Z,1736377768.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005363 2025-01-08T23:09:28.520Z,1736377768.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:28.521Z,1736377768.521 [DAT](INFO): DAT read: TxSync time:23:09:27.5242 2025-01-08T23:09:28.522Z,1736377768.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243114 2025-01-08T23:09:28.530Z,1736377768.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:28.568Z,1736377768.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:28.570Z,1736377768.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.137527 m, bearing: 8.565543 deg, approach rate: -0.298619 m/s, LOS rate: -0.240382 deg/s, cmd heading: 14.425602 deg, new cmd heading: 14.116461 deg. 2025-01-08T23:09:28.571Z,1736377768.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246379 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:28.773Z,1736377768.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:28.773Z,1736377768.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494566 2025-01-08T23:09:28.870Z,1736377768.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:28.877Z,1736377768.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:28.879Z,1736377768.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:28.882Z,1736377768.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 109.032089 m, bearing: 8.485453 deg, approach rate: -0.335206 m/s, LOS rate: -0.254864 deg/s, cmd heading: 14.116461 deg, new cmd heading: 13.875962 deg. 2025-01-08T23:09:28.883Z,1736377768.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.242181 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:29.024Z,1736377769.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:29.024Z,1736377769.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745715 2025-01-08T23:09:29.276Z,1736377769.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:29.277Z,1736377769.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997938 2025-01-08T23:09:29.277Z,1736377769.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:29.284Z,1736377769.284 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:09:29.298Z,1736377769.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:29.334Z,1736377769.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 108.900620 m, bearing: 8.391244 deg, approach rate: -0.315115 m/s, LOS rate: -0.226078 deg/s, cmd heading: 13.875961 deg, new cmd heading: 13.592996 deg. 2025-01-08T23:09:29.342Z,1736377769.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.237243 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:29.528Z,1736377769.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:29.528Z,1736377769.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249726 2025-01-08T23:09:29.711Z,1736377769.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:29.742Z,1736377769.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:29.749Z,1736377769.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 108.751381 m, bearing: 8.291491 deg, approach rate: -0.336200 m/s, LOS rate: -0.225029 deg/s, cmd heading: 13.592996 deg, new cmd heading: 13.293329 deg. 2025-01-08T23:09:29.750Z,1736377769.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.232012 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:29.780Z,1736377769.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:29.781Z,1736377769.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501983 2025-01-08T23:09:30.032Z,1736377770.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:30.033Z,1736377770.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753920 2025-01-08T23:09:30.081Z,1736377770.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:30.107Z,1736377770.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:30.113Z,1736377770.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 108.619026 m, bearing: 8.208476 deg, approach rate: -0.361246 m/s, LOS rate: -0.226855 deg/s, cmd heading: 13.293328 deg, new cmd heading: 13.043982 deg. 2025-01-08T23:09:30.114Z,1736377770.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227660 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:30.284Z,1736377770.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:30.289Z,1736377770.289 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:09:30.291Z,1736377770.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007887 2025-01-08T23:09:30.507Z,1736377770.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:30.516Z,1736377770.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:30.518Z,1736377770.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 108.465889 m, bearing: 8.114787 deg, approach rate: -0.374353 m/s, LOS rate: -0.229351 deg/s, cmd heading: 13.043981 deg, new cmd heading: 12.762520 deg. 2025-01-08T23:09:30.520Z,1736377770.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.222748 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:30.536Z,1736377770.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:30.538Z,1736377770.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258873 2025-01-08T23:09:30.788Z,1736377770.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:30.789Z,1736377770.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509912 2025-01-08T23:09:30.889Z,1736377770.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:30.896Z,1736377770.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:30.898Z,1736377770.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:30.901Z,1736377770.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 108.323532 m, bearing: 8.032889 deg, approach rate: -0.372662 m/s, LOS rate: -0.214676 deg/s, cmd heading: 12.762520 deg, new cmd heading: 12.516503 deg. 2025-01-08T23:09:30.901Z,1736377770.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.218454 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:31.041Z,1736377771.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:31.042Z,1736377771.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763639 2025-01-08T23:09:31.293Z,1736377771.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:31.293Z,1736377771.293 [DAT](INFO): DAT read: Rx Time:23:09:30.1286 2025-01-08T23:09:31.294Z,1736377771.294 [DAT](INFO): Rx dataTimestamp_ set to:1736377771.293456 2025-01-08T23:09:31.294Z,1736377771.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015640 2025-01-08T23:09:31.306Z,1736377771.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:31.317Z,1736377771.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:31.345Z,1736377771.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 108.163132 m, bearing: 7.946063 deg, approach rate: -0.384032 m/s, LOS rate: -0.208187 deg/s, cmd heading: 12.516503 deg, new cmd heading: 12.255641 deg. 2025-01-08T23:09:31.354Z,1736377771.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.213901 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:31.544Z,1736377771.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:31.544Z,1736377771.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265749 2025-01-08T23:09:31.745Z,1736377771.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:31.753Z,1736377771.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.30 m. 2025-01-08T23:09:31.773Z,1736377771.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.300003 m, nav range: 107.990334 m, bearing: 7.854982 deg, approach rate: -0.394951 m/s, LOS rate: -0.208510 deg/s, cmd heading: 12.255642 deg, new cmd heading: 11.981964 deg. 2025-01-08T23:09:31.777Z,1736377771.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.209125 target range: 153.300003 and range: 153.30 m. 2025-01-08T23:09:31.797Z,1736377771.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:31.800Z,1736377771.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520444 2025-01-08T23:09:32.048Z,1736377772.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:32.055Z,1736377772.055 [DAT](INFO): DAT read: 23:09:30.1286 LVL= 23264, 25649, 19234, 30291, AGC= 62, IDX= 70, 0.14,-3.094, 1.887,-2.862, 2.808, PHS= 0.470,-0.874, 0.610, RAW= 154.9, -2.9, CAL= 158.5, -11.3, ROT= 351.5, 11.3 2025-01-08T23:09:32.057Z,1736377772.057 [DAT](INFO): got valid direction response: 23:09:30.1286 LVL= 23264, 25649, 19234, 30291, AGC= 62, IDX= 70, 0.14,-3.094, 1.887,-2.862, 2.808, PHS= 0.470,-0.874, 0.610, RAW= 154.9, -2.9, CAL= 158.5, -11.3, ROT= 351.5, 11.3 2025-01-08T23:09:32.058Z,1736377772.058 [DAT](INFO): DAT read: Bearing 351.5, 11.3 (Local) 2025-01-08T23:09:32.059Z,1736377772.059 [DAT](INFO): Local bearing/azimuth received: Bearing 351.5, 11.3 (Local) 2025-01-08T23:09:32.061Z,1736377772.061 [DAT](INFO): DAT read: Range 10 to 50 : 149.5 m (Round-trip 199.4 ms) speed 0.4 m/s 2025-01-08T23:09:32.062Z,1736377772.062 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:32.064Z,1736377772.064 [DAT](INFO): direction in FSK: [-0.060681,-0.878323,0.474201] 2025-01-08T23:09:32.064Z,1736377772.064 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:32.097Z,1736377772.097 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:32.097Z,1736377772.097 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:32.097Z,1736377772.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:32.142Z,1736377772.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:32.206Z,1736377772.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 149.500000 m, deltaT: 8.061691 s, deltaX: -3.800003 m, approachRate: -0.471366 m/s, rangeRepo size: 4 2025-01-08T23:09:32.213Z,1736377772.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 149.500000 m, bearing: 311.988372 deg, lat: 36.905089 deg, lon: -122.121067 deg, deltaT: 8.061691 s, deltaX: -3.800003 m, approachRate: -0.471366 m/s, posRepo size: 4 2025-01-08T23:09:32.213Z,1736377772.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.50 m. 2025-01-08T23:09:32.224Z,1736377772.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.500000 m, nav range: 149.110580 m, bearing: 343.773262 deg, approach rate: 0.000000 m/s, LOS rate: -0.208510 deg/s, cmd heading: 11.981964 deg, new cmd heading: 11.698760 deg. 2025-01-08T23:09:32.225Z,1736377772.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.204182 target range: 149.500000 and range: 149.50 m. 2025-01-08T23:09:32.301Z,1736377772.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:32.303Z,1736377772.303 [DAT](INFO): DAT read: user:3042> 2025-01-08T23:09:32.304Z,1736377772.304 [DAT](INFO): DAT read: Tx time:23:09:31.5750 2025-01-08T23:09:32.305Z,1736377772.305 [DAT](INFO): Ping request sent. 2025-01-08T23:09:32.305Z,1736377772.305 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:32.305Z,1736377772.305 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:32.305Z,1736377772.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-01-08T23:09:32.552Z,1736377772.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:32.553Z,1736377772.553 [DAT](INFO): DAT read: TxSync time:23:09:31.5743 2025-01-08T23:09:32.554Z,1736377772.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249417 2025-01-08T23:09:32.580Z,1736377772.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:32.596Z,1736377772.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.50 m. 2025-01-08T23:09:32.604Z,1736377772.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.500000 m, nav range: 149.020401 m, bearing: 343.689647 deg, approach rate: -0.230783 m/s, LOS rate: -0.214113 deg/s, cmd heading: 11.698760 deg, new cmd heading: 11.447765 deg. 2025-01-08T23:09:32.605Z,1736377772.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.199801 target range: 149.500000 and range: 149.50 m. 2025-01-08T23:09:32.804Z,1736377772.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:32.805Z,1736377772.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500637 2025-01-08T23:09:32.926Z,1736377772.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:32.933Z,1736377772.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:32.935Z,1736377772.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.50 m. 2025-01-08T23:09:32.938Z,1736377772.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.500000 m, nav range: 148.944183 m, bearing: 343.624246 deg, approach rate: -0.225276 m/s, LOS rate: -0.193404 deg/s, cmd heading: 11.447765 deg, new cmd heading: 11.251463 deg. 2025-01-08T23:09:32.940Z,1736377772.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.196375 target range: 149.500000 and range: 149.50 m. 2025-01-08T23:09:33.056Z,1736377773.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:33.057Z,1736377773.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752025 2025-01-08T23:09:33.308Z,1736377773.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:33.309Z,1736377773.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004015 2025-01-08T23:09:33.342Z,1736377773.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:33.434Z,1736377773.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.50 m. 2025-01-08T23:09:33.441Z,1736377773.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.500000 m, nav range: 148.846512 m, bearing: 343.547139 deg, approach rate: -0.195674 m/s, LOS rate: -0.154576 deg/s, cmd heading: 11.251463 deg, new cmd heading: 11.019992 deg. 2025-01-08T23:09:33.442Z,1736377773.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192335 target range: 149.500000 and range: 149.50 m. 2025-01-08T23:09:33.560Z,1736377773.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:33.560Z,1736377773.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255714 2025-01-08T23:09:33.760Z,1736377773.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:09:33.760Z,1736377773.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:33.774Z,1736377773.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.50 m. 2025-01-08T23:09:33.776Z,1736377773.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.500000 m, nav range: 148.741379 m, bearing: 343.470276 deg, approach rate: -0.309554 m/s, LOS rate: -0.226475 deg/s, cmd heading: 11.019992 deg, new cmd heading: 10.789243 deg. 2025-01-08T23:09:33.777Z,1736377773.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.188308 target range: 149.500000 and range: 149.50 m. 2025-01-08T23:09:33.812Z,1736377773.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:33.813Z,1736377773.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508057 2025-01-08T23:09:34.064Z,1736377774.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:34.064Z,1736377774.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759700 2025-01-08T23:09:34.143Z,1736377774.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:09:34.143Z,1736377774.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:34.152Z,1736377774.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.50 m. 2025-01-08T23:09:34.156Z,1736377774.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.500000 m, nav range: 148.639496 m, bearing: 343.401343 deg, approach rate: -0.269208 m/s, LOS rate: -0.182269 deg/s, cmd heading: 10.789243 deg, new cmd heading: 10.582302 deg. 2025-01-08T23:09:34.157Z,1736377774.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.184696 target range: 149.500000 and range: 149.50 m. 2025-01-08T23:09:34.316Z,1736377774.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:34.316Z,1736377774.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011818 2025-01-08T23:09:34.568Z,1736377774.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:34.568Z,1736377774.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263832 2025-01-08T23:09:34.579Z,1736377774.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:34.589Z,1736377774.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.50 m. 2025-01-08T23:09:34.592Z,1736377774.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.500000 m, nav range: 148.541992 m, bearing: 343.326683 deg, approach rate: -0.223138 m/s, LOS rate: -0.170971 deg/s, cmd heading: 10.582302 deg, new cmd heading: 10.358177 deg. 2025-01-08T23:09:34.593Z,1736377774.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.180784 target range: 149.500000 and range: 149.50 m. 2025-01-08T23:09:34.821Z,1736377774.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:34.823Z,1736377774.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517755 2025-01-08T23:09:34.948Z,1736377774.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:34.956Z,1736377774.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:34.958Z,1736377774.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.50 m. 2025-01-08T23:09:34.960Z,1736377774.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.500000 m, nav range: 148.450119 m, bearing: 343.265768 deg, approach rate: -0.249278 m/s, LOS rate: -0.165382 deg/s, cmd heading: 10.358177 deg, new cmd heading: 10.175319 deg. 2025-01-08T23:09:34.961Z,1736377774.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.177593 target range: 149.500000 and range: 149.50 m. 2025-01-08T23:09:35.072Z,1736377775.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:35.073Z,1736377775.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768028 2025-01-08T23:09:35.324Z,1736377775.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:35.325Z,1736377775.325 [DAT](INFO): DAT read: Rx Time:23:09:34.1762 2025-01-08T23:09:35.325Z,1736377775.325 [DAT](INFO): Rx dataTimestamp_ set to:1736377775.324712 2025-01-08T23:09:35.325Z,1736377775.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020873 2025-01-08T23:09:35.427Z,1736377775.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:35.459Z,1736377775.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.50 m. 2025-01-08T23:09:35.462Z,1736377775.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.500000 m, nav range: 148.330826 m, bearing: 343.186385 deg, approach rate: -0.238061 m/s, LOS rate: -0.158544 deg/s, cmd heading: 10.175320 deg, new cmd heading: 9.936980 deg. 2025-01-08T23:09:35.463Z,1736377775.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.173433 target range: 149.500000 and range: 149.50 m. 2025-01-08T23:09:35.576Z,1736377775.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:35.576Z,1736377775.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271784 2025-01-08T23:09:35.790Z,1736377775.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:35.802Z,1736377775.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.50 m. 2025-01-08T23:09:35.806Z,1736377775.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.500000 m, nav range: 148.237625 m, bearing: 343.131088 deg, approach rate: -0.271175 m/s, LOS rate: -0.160993 deg/s, cmd heading: 9.936980 deg, new cmd heading: 9.770985 deg. 2025-01-08T23:09:35.807Z,1736377775.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.170536 target range: 149.500000 and range: 149.50 m. 2025-01-08T23:09:35.830Z,1736377775.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:35.833Z,1736377775.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527929 2025-01-08T23:09:36.080Z,1736377776.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:36.087Z,1736377776.087 [DAT](INFO): DAT read: 23:09:34.1762 LVL= 21168, 31217, 27474, 32755, AGC= 65, IDX= 414, 0.00,-0.574,-2.235,-1.107,-1.180, PHS= 0.694,-1.008, 0.070, RAW= 128.8, 3.3, CAL= 135.4, -3.6, ROT= 14.6, 3.6 2025-01-08T23:09:36.089Z,1736377776.089 [DAT](INFO): got valid direction response: 23:09:34.1762 LVL= 21168, 31217, 27474, 32755, AGC= 65, IDX= 414, 0.00,-0.574,-2.235,-1.107,-1.180, PHS= 0.694,-1.008, 0.070, RAW= 128.8, 3.3, CAL= 135.4, -3.6, ROT= 14.6, 3.6 2025-01-08T23:09:36.090Z,1736377776.090 [DAT](INFO): DAT read: Bearing 14.6, 3.6 (Local) 2025-01-08T23:09:36.091Z,1736377776.091 [DAT](INFO): Local bearing/azimuth received: Bearing 14.6, 3.6 (Local) 2025-01-08T23:09:36.098Z,1736377776.098 [DAT](INFO): DAT read: Range 10 to 50 : 147.7 m (Round-trip 197.0 ms) speed 0.6 m/s 2025-01-08T23:09:36.098Z,1736377776.098 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:36.105Z,1736377776.105 [DAT](INFO): direction in FSK: [-0.188836,-0.548383,0.814627] 2025-01-08T23:09:36.106Z,1736377776.106 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:36.113Z,1736377776.113 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:36.114Z,1736377776.114 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:36.114Z,1736377776.114 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:36.184Z,1736377776.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:36.229Z,1736377776.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 147.699997 m, deltaT: 4.032101 s, deltaX: -1.800003 m, approachRate: -0.446418 m/s, rangeRepo size: 4 2025-01-08T23:09:36.235Z,1736377776.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 147.699997 m, bearing: 278.526741 deg, lat: 36.905089 deg, lon: -122.121573 deg, deltaT: 4.032101 s, deltaX: -1.800003 m, approachRate: -0.446418 m/s, posRepo size: 4 2025-01-08T23:09:36.237Z,1736377776.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.70 m. 2025-01-08T23:09:36.244Z,1736377776.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.699997 m, nav range: 166.914780 m, bearing: 328.105459 deg, approach rate: 0.000000 m/s, LOS rate: -0.160993 deg/s, cmd heading: 9.770985 deg, new cmd heading: 9.565253 deg. 2025-01-08T23:09:36.245Z,1736377776.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.166945 target range: 147.699997 and range: 147.70 m. 2025-01-08T23:09:36.332Z,1736377776.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:36.333Z,1736377776.333 [DAT](INFO): DAT read: user:3043> 2025-01-08T23:09:36.333Z,1736377776.333 [DAT](INFO): DAT read: Tx time:23:09:35.5750 2025-01-08T23:09:36.334Z,1736377776.334 [DAT](INFO): Ping request sent. 2025-01-08T23:09:36.334Z,1736377776.334 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:36.334Z,1736377776.334 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:36.337Z,1736377776.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002726 2025-01-08T23:09:36.584Z,1736377776.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:36.585Z,1736377776.585 [DAT](INFO): DAT read: TxSync time:23:09:35.5743 2025-01-08T23:09:36.585Z,1736377776.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251737 2025-01-08T23:09:36.621Z,1736377776.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:36.646Z,1736377776.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.70 m. 2025-01-08T23:09:36.654Z,1736377776.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.699997 m, nav range: 166.837051 m, bearing: 328.043737 deg, approach rate: -0.186453 m/s, LOS rate: -0.148127 deg/s, cmd heading: 9.565253 deg, new cmd heading: 9.380001 deg. 2025-01-08T23:09:36.661Z,1736377776.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.163712 target range: 147.699997 and range: 147.70 m. 2025-01-08T23:09:36.836Z,1736377776.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:36.836Z,1736377776.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502634 2025-01-08T23:09:36.963Z,1736377776.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:36.971Z,1736377776.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:36.973Z,1736377776.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.70 m. 2025-01-08T23:09:36.976Z,1736377776.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.699997 m, nav range: 166.772369 m, bearing: 327.996085 deg, approach rate: -0.197343 m/s, LOS rate: -0.145439 deg/s, cmd heading: 9.380001 deg, new cmd heading: 9.236992 deg. 2025-01-08T23:09:36.977Z,1736377776.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.161216 target range: 147.699997 and range: 147.70 m. 2025-01-08T23:09:37.089Z,1736377777.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:37.090Z,1736377777.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756269 2025-01-08T23:09:37.340Z,1736377777.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:37.340Z,1736377777.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006529 2025-01-08T23:09:37.378Z,1736377777.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:37.392Z,1736377777.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.70 m. 2025-01-08T23:09:37.395Z,1736377777.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.699997 m, nav range: 166.688934 m, bearing: 327.938868 deg, approach rate: -0.199885 m/s, LOS rate: -0.137144 deg/s, cmd heading: 9.236992 deg, new cmd heading: 9.065255 deg. 2025-01-08T23:09:37.396Z,1736377777.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158219 target range: 147.699997 and range: 147.70 m. 2025-01-08T23:09:37.592Z,1736377777.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:37.592Z,1736377777.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258660 2025-01-08T23:09:37.828Z,1736377777.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:37.841Z,1736377777.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.70 m. 2025-01-08T23:09:37.844Z,1736377777.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:37.844Z,1736377777.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510749 2025-01-08T23:09:37.846Z,1736377777.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.699997 m, nav range: 166.589615 m, bearing: 327.881784 deg, approach rate: -0.220241 m/s, LOS rate: -0.126658 deg/s, cmd heading: 9.065255 deg, new cmd heading: 8.893903 deg. 2025-01-08T23:09:37.847Z,1736377777.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.155228 target range: 147.699997 and range: 147.70 m. 2025-01-08T23:09:38.096Z,1736377778.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:38.096Z,1736377778.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762636 2025-01-08T23:09:38.182Z,1736377778.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:38.192Z,1736377778.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.70 m. 2025-01-08T23:09:38.195Z,1736377778.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.699997 m, nav range: 166.507416 m, bearing: 327.837787 deg, approach rate: -0.234419 m/s, LOS rate: -0.125537 deg/s, cmd heading: 8.893904 deg, new cmd heading: 8.761846 deg. 2025-01-08T23:09:38.196Z,1736377778.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.152923 target range: 147.699997 and range: 147.70 m. 2025-01-08T23:09:38.348Z,1736377778.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:38.349Z,1736377778.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015435 2025-01-08T23:09:38.600Z,1736377778.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:38.600Z,1736377778.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266602 2025-01-08T23:09:38.607Z,1736377778.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:38.616Z,1736377778.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.70 m. 2025-01-08T23:09:38.618Z,1736377778.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.699997 m, nav range: 166.393661 m, bearing: 327.790372 deg, approach rate: -0.268625 m/s, LOS rate: -0.112043 deg/s, cmd heading: 8.761845 deg, new cmd heading: 8.619506 deg. 2025-01-08T23:09:38.621Z,1736377778.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.150439 target range: 147.699997 and range: 147.70 m. 2025-01-08T23:09:38.852Z,1736377778.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:38.853Z,1736377778.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518974 2025-01-08T23:09:38.988Z,1736377778.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:38.995Z,1736377778.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:39.009Z,1736377779.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.70 m. 2025-01-08T23:09:39.021Z,1736377779.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.699997 m, nav range: 166.287735 m, bearing: 327.748946 deg, approach rate: -0.268936 m/s, LOS rate: -0.105245 deg/s, cmd heading: 8.619506 deg, new cmd heading: 8.495146 deg. 2025-01-08T23:09:39.022Z,1736377779.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.148268 target range: 147.699997 and range: 147.70 m. 2025-01-08T23:09:39.105Z,1736377779.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:39.105Z,1736377779.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771601 2025-01-08T23:09:39.356Z,1736377779.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:39.357Z,1736377779.357 [DAT](INFO): DAT read: Rx Time:23:09:38.1741 2025-01-08T23:09:39.357Z,1736377779.357 [DAT](INFO): Rx dataTimestamp_ set to:1736377779.356721 2025-01-08T23:09:39.358Z,1736377779.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023811 2025-01-08T23:09:39.396Z,1736377779.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:39.456Z,1736377779.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.70 m. 2025-01-08T23:09:39.480Z,1736377779.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.699997 m, nav range: 166.170822 m, bearing: 327.705786 deg, approach rate: -0.265398 m/s, LOS rate: -0.098043 deg/s, cmd heading: 8.495146 deg, new cmd heading: 8.365577 deg. 2025-01-08T23:09:39.488Z,1736377779.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146007 target range: 147.699997 and range: 147.70 m. 2025-01-08T23:09:39.608Z,1736377779.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:39.608Z,1736377779.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274771 2025-01-08T23:09:39.861Z,1736377779.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:39.864Z,1736377779.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529392 2025-01-08T23:09:39.932Z,1736377779.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:39.954Z,1736377779.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.70 m. 2025-01-08T23:09:39.965Z,1736377779.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.699997 m, nav range: 166.004883 m, bearing: 327.652805 deg, approach rate: -0.330048 m/s, LOS rate: -0.105483 deg/s, cmd heading: 8.365576 deg, new cmd heading: 8.206474 deg. 2025-01-08T23:09:39.966Z,1736377779.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.143230 target range: 147.699997 and range: 147.70 m. 2025-01-08T23:09:40.112Z,1736377780.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:40.118Z,1736377780.118 [DAT](INFO): DAT read: 23:09:38.1741 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 422, 0.24, 3.098, 1.227, 2.087, 2.390, PHS= 0.795,-1.116,-0.306, RAW= 115.0, 7.6, CAL= 124.5, 4.2, ROT= 25.5, -4.2 2025-01-08T23:09:40.120Z,1736377780.120 [DAT](INFO): got valid direction response: 23:09:38.1741 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 422, 0.24, 3.098, 1.227, 2.087, 2.390, PHS= 0.795,-1.116,-0.306, RAW= 115.0, 7.6, CAL= 124.5, 4.2, ROT= 25.5, -4.2 2025-01-08T23:09:40.122Z,1736377780.122 [DAT](INFO): DAT read: Bearing 25.5, -4.2 (Local) 2025-01-08T23:09:40.122Z,1736377780.122 [DAT](INFO): Local bearing/azimuth received: Bearing 25.5, -4.2 (Local) 2025-01-08T23:09:40.123Z,1736377780.123 [DAT](INFO): DAT read: Range 10 to 50 : 146.1 m (Round-trip 194.9 ms) speed 0.8 m/s 2025-01-08T23:09:40.124Z,1736377780.124 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:40.125Z,1736377780.125 [DAT](INFO): direction in FSK: [-0.261476,-0.316515,0.911838] 2025-01-08T23:09:40.125Z,1736377780.125 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:40.153Z,1736377780.153 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:40.154Z,1736377780.154 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:40.154Z,1736377780.154 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:40.294Z,1736377780.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:40.332Z,1736377780.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 146.100006 m, deltaT: 4.031970 s, deltaX: -1.599991 m, approachRate: -0.396826 m/s, rangeRepo size: 4 2025-01-08T23:09:40.334Z,1736377780.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 146.100006 m, bearing: 243.259284 deg, lat: 36.904605 deg, lon: -122.121573 deg, deltaT: 4.031970 s, deltaX: -1.599991 m, approachRate: -0.396826 m/s, posRepo size: 4 2025-01-08T23:09:40.335Z,1736377780.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T23:09:40.342Z,1736377780.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 123.859413 m, bearing: 314.170074 deg, approach rate: 0.000000 m/s, LOS rate: -0.105483 deg/s, cmd heading: 8.206474 deg, new cmd heading: 8.087972 deg. 2025-01-08T23:09:40.347Z,1736377780.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.141162 target range: 146.100006 and range: 146.10 m. 2025-01-08T23:09:40.364Z,1736377780.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:40.365Z,1736377780.365 [DAT](INFO): DAT read: user:3044> 2025-01-08T23:09:40.366Z,1736377780.366 [DAT](INFO): DAT read: Tx time:23:09:39.6250 2025-01-08T23:09:40.366Z,1736377780.366 [DAT](INFO): Ping request sent. 2025-01-08T23:09:40.366Z,1736377780.366 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:40.366Z,1736377780.366 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:40.367Z,1736377780.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000713 2025-01-08T23:09:40.616Z,1736377780.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:40.617Z,1736377780.617 [DAT](INFO): DAT read: TxSync time:23:09:39.6243 2025-01-08T23:09:40.618Z,1736377780.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251551 2025-01-08T23:09:40.723Z,1736377780.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:40.742Z,1736377780.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T23:09:40.746Z,1736377780.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 123.728455 m, bearing: 314.102524 deg, approach rate: -0.315580 m/s, LOS rate: -0.162953 deg/s, cmd heading: 8.087972 deg, new cmd heading: 7.885108 deg. 2025-01-08T23:09:40.747Z,1736377780.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.137621 target range: 146.100006 and range: 146.10 m. 2025-01-08T23:09:40.868Z,1736377780.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:40.869Z,1736377780.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503013 2025-01-08T23:09:41.096Z,1736377781.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:41.104Z,1736377781.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:41.106Z,1736377781.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T23:09:41.109Z,1736377781.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 123.612343 m, bearing: 314.044737 deg, approach rate: -0.319065 m/s, LOS rate: -0.158942 deg/s, cmd heading: 7.885108 deg, new cmd heading: 7.711585 deg. 2025-01-08T23:09:41.110Z,1736377781.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.134593 target range: 146.100006 and range: 146.10 m. 2025-01-08T23:09:41.121Z,1736377781.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:41.121Z,1736377781.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755245 2025-01-08T23:09:41.372Z,1736377781.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:41.372Z,1736377781.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006412 2025-01-08T23:09:41.539Z,1736377781.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:41.548Z,1736377781.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T23:09:41.551Z,1736377781.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 123.474533 m, bearing: 313.975932 deg, approach rate: -0.311868 m/s, LOS rate: -0.155881 deg/s, cmd heading: 7.711586 deg, new cmd heading: 7.504942 deg. 2025-01-08T23:09:41.552Z,1736377781.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.130986 target range: 146.100006 and range: 146.10 m. 2025-01-08T23:09:41.624Z,1736377781.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:41.624Z,1736377781.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258451 2025-01-08T23:09:41.877Z,1736377781.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:41.878Z,1736377781.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511886 2025-01-08T23:09:41.909Z,1736377781.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:41.918Z,1736377781.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T23:09:41.946Z,1736377781.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 123.346786 m, bearing: 313.920493 deg, approach rate: -0.345572 m/s, LOS rate: -0.150125 deg/s, cmd heading: 7.504942 deg, new cmd heading: 7.338453 deg. 2025-01-08T23:09:41.952Z,1736377781.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128080 target range: 146.100006 and range: 146.10 m. 2025-01-08T23:09:42.128Z,1736377782.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:42.128Z,1736377782.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762383 2025-01-08T23:09:42.284Z,1736377782.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:42.332Z,1736377782.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T23:09:42.335Z,1736377782.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 123.215988 m, bearing: 313.865015 deg, approach rate: -0.319977 m/s, LOS rate: -0.135863 deg/s, cmd heading: 7.338453 deg, new cmd heading: 7.171842 deg. 2025-01-08T23:09:42.344Z,1736377782.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125172 target range: 146.100006 and range: 146.10 m. 2025-01-08T23:09:42.380Z,1736377782.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:42.380Z,1736377782.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014381 2025-01-08T23:09:42.632Z,1736377782.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:42.633Z,1736377782.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266668 2025-01-08T23:09:42.726Z,1736377782.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:42.735Z,1736377782.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T23:09:42.738Z,1736377782.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 123.044907 m, bearing: 313.793544 deg, approach rate: -0.418865 m/s, LOS rate: -0.175227 deg/s, cmd heading: 7.171842 deg, new cmd heading: 6.957133 deg. 2025-01-08T23:09:42.740Z,1736377782.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.121425 target range: 146.100006 and range: 146.10 m. 2025-01-08T23:09:42.884Z,1736377782.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:42.885Z,1736377782.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518559 2025-01-08T23:09:43.088Z,1736377783.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:43.111Z,1736377783.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:43.113Z,1736377783.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T23:09:43.120Z,1736377783.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 122.903809 m, bearing: 313.735470 deg, approach rate: -0.372998 m/s, LOS rate: -0.153698 deg/s, cmd heading: 6.957133 deg, new cmd heading: 6.782710 deg. 2025-01-08T23:09:43.121Z,1736377783.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118381 target range: 146.100006 and range: 146.10 m. 2025-01-08T23:09:43.138Z,1736377783.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:43.139Z,1736377783.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772801 2025-01-08T23:09:43.393Z,1736377783.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:43.394Z,1736377783.394 [DAT](INFO): DAT read: Rx Time:23:09:42.2215 2025-01-08T23:09:43.395Z,1736377783.395 [DAT](INFO): Rx dataTimestamp_ set to:1736377783.394394 2025-01-08T23:09:43.395Z,1736377783.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029302 2025-01-08T23:09:43.512Z,1736377783.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:43.569Z,1736377783.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T23:09:43.576Z,1736377783.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 122.738449 m, bearing: 313.668014 deg, approach rate: -0.362744 m/s, LOS rate: -0.148175 deg/s, cmd heading: 6.782710 deg, new cmd heading: 6.580071 deg. 2025-01-08T23:09:43.577Z,1736377783.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114844 target range: 146.100006 and range: 146.10 m. 2025-01-08T23:09:43.644Z,1736377783.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:43.646Z,1736377783.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279546 2025-01-08T23:09:43.897Z,1736377783.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:43.900Z,1736377783.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532911 2025-01-08T23:09:43.990Z,1736377783.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:44.014Z,1736377784.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.10 m. 2025-01-08T23:09:44.025Z,1736377784.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.100006 m, nav range: 122.551323 m, bearing: 313.582322 deg, approach rate: -0.420306 m/s, LOS rate: -0.192767 deg/s, cmd heading: 6.580071 deg, new cmd heading: 6.322605 deg. 2025-01-08T23:09:44.026Z,1736377784.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110350 target range: 146.100006 and range: 146.10 m. 2025-01-08T23:09:44.148Z,1736377784.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:44.154Z,1736377784.154 [DAT](INFO): DAT read: 23:09:42.2215 LVL= 18784, 32753, 27378, 32755, AGC= 65, IDX= 413, 0.19,-1.269,-2.986,-2.358,-1.978, PHS= 0.797,-0.961,-0.383, RAW= 108.8, 7.1, CAL= 119.1, 4.6, ROT= 30.9, -4.6 2025-01-08T23:09:44.156Z,1736377784.156 [DAT](INFO): got valid direction response: 23:09:42.2215 LVL= 18784, 32753, 27378, 32755, AGC= 65, IDX= 413, 0.19,-1.269,-2.986,-2.358,-1.978, PHS= 0.797,-0.961,-0.383, RAW= 108.8, 7.1, CAL= 119.1, 4.6, ROT= 30.9, -4.6 2025-01-08T23:09:44.157Z,1736377784.157 [DAT](INFO): DAT read: Bearing 30.9, -4.6 (Local) 2025-01-08T23:09:44.157Z,1736377784.157 [DAT](INFO): Local bearing/azimuth received: Bearing 30.9, -4.6 (Local) 2025-01-08T23:09:44.158Z,1736377784.158 [DAT](INFO): DAT read: Range 10 to 50 : 144.1 m (Round-trip 192.2 ms) speed 0.4 m/s 2025-01-08T23:09:44.159Z,1736377784.159 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:44.160Z,1736377784.160 [DAT](INFO): direction in FSK: [-0.245841,-0.212418,0.945749] 2025-01-08T23:09:44.160Z,1736377784.160 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:44.163Z,1736377784.163 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:44.164Z,1736377784.164 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:44.164Z,1736377784.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:44.354Z,1736377784.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:44.387Z,1736377784.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 144.100006 m, deltaT: 4.035908 s, deltaX: -2.000000 m, approachRate: -0.495551 m/s, rangeRepo size: 4 2025-01-08T23:09:44.393Z,1736377784.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 144.100006 m, bearing: 227.232856 deg, lat: 36.903934 deg, lon: -122.121573 deg, deltaT: 4.035908 s, deltaX: -2.000000 m, approachRate: -0.495551 m/s, posRepo size: 4 2025-01-08T23:09:44.394Z,1736377784.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T23:09:44.400Z,1736377784.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:44.401Z,1736377784.401 [DAT](INFO): DAT read: user:3045> 2025-01-08T23:09:44.401Z,1736377784.401 [DAT](INFO): DAT read: Tx time:23:09:43.6251 2025-01-08T23:09:44.402Z,1736377784.402 [DAT](INFO): Ping request sent. 2025-01-08T23:09:44.402Z,1736377784.402 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:44.402Z,1736377784.402 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:44.403Z,1736377784.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001177 2025-01-08T23:09:44.406Z,1736377784.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 89.284019 m, bearing: 276.162773 deg, approach rate: 0.000000 m/s, LOS rate: -0.192767 deg/s, cmd heading: 6.322605 deg, new cmd heading: 6.107904 deg. 2025-01-08T23:09:44.407Z,1736377784.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106603 target range: 144.100006 and range: 144.10 m. 2025-01-08T23:09:44.653Z,1736377784.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:44.654Z,1736377784.654 [DAT](INFO): DAT read: TxSync time:23:09:43.6244 2025-01-08T23:09:44.655Z,1736377784.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253259 2025-01-08T23:09:44.746Z,1736377784.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:44.784Z,1736377784.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T23:09:44.792Z,1736377784.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 89.261131 m, bearing: 276.020871 deg, approach rate: -0.057368 m/s, LOS rate: -0.355759 deg/s, cmd heading: 6.107904 deg, new cmd heading: 5.682099 deg. 2025-01-08T23:09:44.793Z,1736377784.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.099171 target range: 144.100006 and range: 144.10 m. 2025-01-08T23:09:44.904Z,1736377784.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:44.906Z,1736377784.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503996 2025-01-08T23:09:45.114Z,1736377785.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:45.122Z,1736377785.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:45.124Z,1736377785.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T23:09:45.127Z,1736377785.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 89.240288 m, bearing: 275.887084 deg, approach rate: -0.061357 m/s, LOS rate: -0.393921 deg/s, cmd heading: 5.682099 deg, new cmd heading: 5.280650 deg. 2025-01-08T23:09:45.128Z,1736377785.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092165 target range: 144.100006 and range: 144.10 m. 2025-01-08T23:09:45.156Z,1736377785.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:45.157Z,1736377785.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754778 2025-01-08T23:09:45.408Z,1736377785.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:45.408Z,1736377785.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006554 2025-01-08T23:09:45.531Z,1736377785.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:45.590Z,1736377785.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T23:09:45.598Z,1736377785.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 89.218666 m, bearing: 275.736444 deg, approach rate: -0.047067 m/s, LOS rate: -0.327999 deg/s, cmd heading: 5.280650 deg, new cmd heading: 4.828631 deg. 2025-01-08T23:09:45.599Z,1736377785.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084276 target range: 144.100006 and range: 144.10 m. 2025-01-08T23:09:45.660Z,1736377785.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:45.661Z,1736377785.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259553 2025-01-08T23:09:45.912Z,1736377785.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:45.913Z,1736377785.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510819 2025-01-08T23:09:46.061Z,1736377786.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:46.071Z,1736377786.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T23:09:46.074Z,1736377786.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 89.213417 m, bearing: 275.533772 deg, approach rate: -0.010772 m/s, LOS rate: -0.415934 deg/s, cmd heading: 4.828631 deg, new cmd heading: 4.220602 deg. 2025-01-08T23:09:46.075Z,1736377786.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073663 target range: 144.100006 and range: 144.10 m. 2025-01-08T23:09:46.169Z,1736377786.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:46.171Z,1736377786.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768324 2025-01-08T23:09:46.421Z,1736377786.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:46.422Z,1736377786.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019904 2025-01-08T23:09:46.431Z,1736377786.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:46.464Z,1736377786.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T23:09:46.466Z,1736377786.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 89.211090 m, bearing: 275.393007 deg, approach rate: -0.005986 m/s, LOS rate: -0.362145 deg/s, cmd heading: 4.220601 deg, new cmd heading: 3.798305 deg. 2025-01-08T23:09:46.472Z,1736377786.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.066293 target range: 144.100006 and range: 144.10 m. 2025-01-08T23:09:46.672Z,1736377786.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:46.674Z,1736377786.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271868 2025-01-08T23:09:46.904Z,1736377786.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:46.925Z,1736377786.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:46.926Z,1736377786.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524053 2025-01-08T23:09:46.940Z,1736377786.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T23:09:46.942Z,1736377786.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 89.222069 m, bearing: 275.211940 deg, approach rate: 0.023084 m/s, LOS rate: -0.380661 deg/s, cmd heading: 3.798305 deg, new cmd heading: 3.255188 deg. 2025-01-08T23:09:46.948Z,1736377786.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056814 target range: 144.100006 and range: 144.10 m. 2025-01-08T23:09:47.176Z,1736377787.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:47.177Z,1736377787.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775391 2025-01-08T23:09:47.293Z,1736377787.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:47.314Z,1736377787.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:47.318Z,1736377787.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T23:09:47.323Z,1736377787.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 89.231812 m, bearing: 275.062363 deg, approach rate: 0.025548 m/s, LOS rate: -0.392195 deg/s, cmd heading: 3.255189 deg, new cmd heading: 2.806515 deg. 2025-01-08T23:09:47.324Z,1736377787.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048983 target range: 144.100006 and range: 144.10 m. 2025-01-08T23:09:47.428Z,1736377787.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:47.429Z,1736377787.429 [DAT](INFO): DAT read: Rx Time:23:09:46.2191 2025-01-08T23:09:47.429Z,1736377787.429 [DAT](INFO): Rx dataTimestamp_ set to:1736377787.428760 2025-01-08T23:09:47.430Z,1736377787.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027764 2025-01-08T23:09:47.680Z,1736377787.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:47.681Z,1736377787.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279398 2025-01-08T23:09:47.711Z,1736377787.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:47.744Z,1736377787.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.10 m. 2025-01-08T23:09:47.746Z,1736377787.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.100006 m, nav range: 89.259712 m, bearing: 274.900961 deg, approach rate: 0.069233 m/s, LOS rate: -0.400377 deg/s, cmd heading: 2.806514 deg, new cmd heading: 2.322473 deg. 2025-01-08T23:09:47.752Z,1736377787.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040535 target range: 144.100006 and range: 144.10 m. 2025-01-08T23:09:47.932Z,1736377787.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:47.942Z,1736377787.942 [DAT](INFO): DAT read: 23:09:46.2191 LVL= 22752, 32753, 29538, 32755, AGC= 62, IDX= 420, 0.12, 1.184,-0.495, 0.020, 0.403, PHS= 0.869,-0.851,-0.386, RAW= 105.2, 4.8, CAL= 115.8, 2.5, ROT= 34.2, -2.5 2025-01-08T23:09:47.945Z,1736377787.945 [DAT](INFO): got valid direction response: 23:09:46.2191 LVL= 22752, 32753, 29538, 32755, AGC= 62, IDX= 420, 0.12, 1.184,-0.495, 0.020, 0.403, PHS= 0.869,-0.851,-0.386, RAW= 105.2, 4.8, CAL= 115.8, 2.5, ROT= 34.2, -2.5 2025-01-08T23:09:47.948Z,1736377787.948 [DAT](INFO): DAT read: Bearing 34.2, -2.5 (Local) 2025-01-08T23:09:47.948Z,1736377787.948 [DAT](INFO): Local bearing/azimuth received: Bearing 34.2, -2.5 (Local) 2025-01-08T23:09:47.951Z,1736377787.951 [DAT](INFO): DAT read: Range 10 to 50 : 142.3 m (Round-trip 189.8 ms) speed 0.4 m/s 2025-01-08T23:09:47.953Z,1736377787.953 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:47.955Z,1736377787.955 [DAT](INFO): direction in FSK: [-0.198720,-0.152219,0.968163] 2025-01-08T23:09:47.955Z,1736377787.955 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:47.962Z,1736377787.962 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:47.962Z,1736377787.962 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:47.963Z,1736377787.963 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:48.088Z,1736377788.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:48.123Z,1736377788.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 142.300003 m, deltaT: 3.784480 s, deltaX: -1.800003 m, approachRate: -0.475628 m/s, rangeRepo size: 4 2025-01-08T23:09:48.129Z,1736377788.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 142.300003 m, bearing: 225.116133 deg, lat: 36.903562 deg, lon: -122.121237 deg, deltaT: 3.784480 s, deltaX: -1.800003 m, approachRate: -0.475628 m/s, posRepo size: 4 2025-01-08T23:09:48.130Z,1736377788.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.30 m. 2025-01-08T23:09:48.133Z,1736377788.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.300003 m, nav range: 68.040977 m, bearing: 240.150990 deg, approach rate: 0.000000 m/s, LOS rate: -0.400377 deg/s, cmd heading: 2.322473 deg, new cmd heading: 1.838862 deg. 2025-01-08T23:09:48.133Z,1736377788.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032094 target range: 142.300003 and range: 142.30 m. 2025-01-08T23:09:48.184Z,1736377788.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:48.185Z,1736377788.185 [DAT](INFO): DAT read: user:3046> 2025-01-08T23:09:48.187Z,1736377788.187 [DAT](INFO): DAT read: Tx time:23:09:47.4251 2025-01-08T23:09:48.187Z,1736377788.187 [DAT](INFO): Ping request sent. 2025-01-08T23:09:48.187Z,1736377788.187 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:48.188Z,1736377788.188 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:48.189Z,1736377788.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001178 2025-01-08T23:09:48.436Z,1736377788.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:48.437Z,1736377788.437 [DAT](INFO): DAT read: TxSync time:23:09:47.4244 2025-01-08T23:09:48.438Z,1736377788.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250642 2025-01-08T23:09:48.489Z,1736377788.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:48.514Z,1736377788.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.30 m. 2025-01-08T23:09:48.521Z,1736377788.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.300003 m, nav range: 68.199944 m, bearing: 239.997833 deg, approach rate: 0.405830 m/s, LOS rate: -0.390090 deg/s, cmd heading: 1.838862 deg, new cmd heading: 1.380470 deg. 2025-01-08T23:09:48.522Z,1736377788.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024094 target range: 142.300003 and range: 142.30 m. 2025-01-08T23:09:48.688Z,1736377788.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:48.689Z,1736377788.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501487 2025-01-08T23:09:48.940Z,1736377788.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:48.943Z,1736377788.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754729 2025-01-08T23:09:49.030Z,1736377789.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:49.038Z,1736377789.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.30 m. 2025-01-08T23:09:49.041Z,1736377789.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.300003 m, nav range: 68.414734 m, bearing: 239.801310 deg, approach rate: 0.409510 m/s, LOS rate: -0.373505 deg/s, cmd heading: 1.380470 deg, new cmd heading: 0.792775 deg. 2025-01-08T23:09:49.042Z,1736377789.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013837 target range: 142.300003 and range: 142.30 m. 2025-01-08T23:09:49.192Z,1736377789.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:49.192Z,1736377789.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005032 2025-01-08T23:09:49.409Z,1736377789.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:49.416Z,1736377789.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:49.418Z,1736377789.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.30 m. 2025-01-08T23:09:49.421Z,1736377789.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.300003 m, nav range: 68.565109 m, bearing: 239.664052 deg, approach rate: 0.395900 m/s, LOS rate: -0.360573 deg/s, cmd heading: 0.792775 deg, new cmd heading: 0.381910 deg. 2025-01-08T23:09:49.422Z,1736377789.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006666 target range: 142.300003 and range: 142.30 m. 2025-01-08T23:09:49.444Z,1736377789.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:49.444Z,1736377789.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256888 2025-01-08T23:09:49.696Z,1736377789.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:49.696Z,1736377789.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508950 2025-01-08T23:09:49.851Z,1736377789.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:49.861Z,1736377789.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.30 m. 2025-01-08T23:09:49.884Z,1736377789.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.300003 m, nav range: 68.738663 m, bearing: 239.511340 deg, approach rate: 0.391890 m/s, LOS rate: -0.343956 deg/s, cmd heading: 0.381910 deg, new cmd heading: 359.924944 deg. 2025-01-08T23:09:49.885Z,1736377789.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281875 target range: 142.300003 and range: 142.30 m. 2025-01-08T23:09:49.948Z,1736377789.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:49.948Z,1736377789.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761031 2025-01-08T23:09:50.201Z,1736377790.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:50.204Z,1736377790.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015581 2025-01-08T23:09:50.279Z,1736377790.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:50.300Z,1736377790.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.30 m. 2025-01-08T23:09:50.308Z,1736377790.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.300003 m, nav range: 68.906471 m, bearing: 239.363235 deg, approach rate: 0.381882 m/s, LOS rate: -0.336222 deg/s, cmd heading: 359.924933 deg, new cmd heading: 359.481708 deg. 2025-01-08T23:09:50.309Z,1736377790.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274139 target range: 142.300003 and range: 142.30 m. 2025-01-08T23:09:50.453Z,1736377790.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:50.454Z,1736377790.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266232 2025-01-08T23:09:50.704Z,1736377790.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:50.704Z,1736377790.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517034 2025-01-08T23:09:50.754Z,1736377790.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:50.763Z,1736377790.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.30 m. 2025-01-08T23:09:50.766Z,1736377790.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.300003 m, nav range: 69.077332 m, bearing: 239.195457 deg, approach rate: 0.369444 m/s, LOS rate: -0.361882 deg/s, cmd heading: 359.481708 deg, new cmd heading: 358.979632 deg. 2025-01-08T23:09:50.767Z,1736377790.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265377 target range: 142.300003 and range: 142.30 m. 2025-01-08T23:09:50.956Z,1736377790.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:50.957Z,1736377790.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769583 2025-01-08T23:09:51.097Z,1736377791.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:51.106Z,1736377791.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.30 m. 2025-01-08T23:09:51.129Z,1736377791.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.300003 m, nav range: 69.198593 m, bearing: 239.073774 deg, approach rate: 0.353477 m/s, LOS rate: -0.354083 deg/s, cmd heading: 358.979634 deg, new cmd heading: 358.615230 deg. 2025-01-08T23:09:51.130Z,1736377791.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.259017 target range: 142.300003 and range: 142.30 m. 2025-01-08T23:09:51.208Z,1736377791.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:51.209Z,1736377791.209 [DAT](INFO): DAT read: Rx Time:23:09:50.0172 2025-01-08T23:09:51.209Z,1736377791.209 [DAT](INFO): Rx dataTimestamp_ set to:1736377791.208837 2025-01-08T23:09:51.210Z,1736377791.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022227 2025-01-08T23:09:51.460Z,1736377791.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:51.460Z,1736377791.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272875 2025-01-08T23:09:51.520Z,1736377791.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:51.537Z,1736377791.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:51.539Z,1736377791.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.30 m. 2025-01-08T23:09:51.546Z,1736377791.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.300003 m, nav range: 69.347519 m, bearing: 238.922785 deg, approach rate: 0.344202 m/s, LOS rate: -0.348221 deg/s, cmd heading: 358.615230 deg, new cmd heading: 358.163245 deg. 2025-01-08T23:09:51.547Z,1736377791.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.251128 target range: 142.300003 and range: 142.30 m. 2025-01-08T23:09:51.713Z,1736377791.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:51.741Z,1736377791.741 [DAT](INFO): DAT read: 23:09:50.0172 LVL= 21040, 32753, 28802, 32755, AGC= 58, IDX= 416, 0.04, 1.141,-0.534,-0.160, 0.322, PHS= 0.907,-0.809,-0.485, RAW= 100.2, 4.9, CAL= 110.3, 3.2, ROT= 39.7, -3.2 2025-01-08T23:09:51.742Z,1736377791.742 [DAT](INFO): got valid direction response: 23:09:50.0172 LVL= 21040, 32753, 28802, 32755, AGC= 58, IDX= 416, 0.04, 1.141,-0.534,-0.160, 0.322, PHS= 0.907,-0.809,-0.485, RAW= 100.2, 4.9, CAL= 110.3, 3.2, ROT= 39.7, -3.2 2025-01-08T23:09:51.743Z,1736377791.743 [DAT](INFO): DAT read: Bearing 39.7, -3.2 (Local) 2025-01-08T23:09:51.743Z,1736377791.743 [DAT](INFO): Local bearing/azimuth received: Bearing 39.7, -3.2 (Local) 2025-01-08T23:09:51.754Z,1736377791.754 [DAT](INFO): DAT read: Range 10 to 50 : 140.8 m (Round-trip 187.8 ms) speed 0.0 m/s 2025-01-08T23:09:51.755Z,1736377791.755 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:51.768Z,1736377791.768 [DAT](INFO): direction in FSK: [-0.194521,-0.065941,0.978679] 2025-01-08T23:09:51.768Z,1736377791.768 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:51.789Z,1736377791.789 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:51.789Z,1736377791.789 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:51.789Z,1736377791.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:51.911Z,1736377791.911 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +7, +529A 2025-01-08T23:09:51.919Z,1736377791.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:09:51.919Z,1736377791.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:51.937Z,1736377791.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 140.800003 m, deltaT: 3.782515 s, deltaX: -1.500000 m, approachRate: -0.396562 m/s, rangeRepo size: 4 2025-01-08T23:09:51.939Z,1736377791.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 140.800003 m, bearing: 202.953523 deg, lat: 36.903477 deg, lon: -122.121076 deg, deltaT: 3.782515 s, deltaX: -1.500000 m, approachRate: -0.396562 m/s, posRepo size: 4 2025-01-08T23:09:51.940Z,1736377791.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.80 m. 2025-01-08T23:09:51.942Z,1736377791.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.800003 m, nav range: 64.112885 m, bearing: 224.764558 deg, approach rate: 0.000000 m/s, LOS rate: -0.348221 deg/s, cmd heading: 358.163236 deg, new cmd heading: 357.748773 deg. 2025-01-08T23:09:51.960Z,1736377791.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.243894 target range: 140.800003 and range: 140.80 m. 2025-01-08T23:09:51.964Z,1736377791.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:51.964Z,1736377791.964 [DAT](INFO): DAT read: user:3047> 2025-01-08T23:09:51.965Z,1736377791.965 [DAT](INFO): DAT read: Tx time:23:09:51.2752 2025-01-08T23:09:51.965Z,1736377791.965 [DAT](INFO): Ping request sent. 2025-01-08T23:09:51.966Z,1736377791.966 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:51.966Z,1736377791.966 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:51.966Z,1736377791.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723 2025-01-08T23:09:52.216Z,1736377792.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:52.216Z,1736377792.216 [DAT](INFO): DAT read: TxSync time:23:09:51.2745 2025-01-08T23:09:52.217Z,1736377792.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251649 2025-01-08T23:09:52.309Z,1736377792.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:09:52.309Z,1736377792.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:52.318Z,1736377792.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.80 m. 2025-01-08T23:09:52.321Z,1736377792.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.800003 m, nav range: 64.284973 m, bearing: 224.646266 deg, approach rate: 0.450079 m/s, LOS rate: -0.308551 deg/s, cmd heading: 357.748780 deg, new cmd heading: 357.394859 deg. 2025-01-08T23:09:52.322Z,1736377792.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.237717 target range: 140.800003 and range: 140.80 m. 2025-01-08T23:09:52.469Z,1736377792.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:52.470Z,1736377792.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504456 2025-01-08T23:09:52.720Z,1736377792.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:52.722Z,1736377792.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755681 2025-01-08T23:09:52.794Z,1736377792.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:52.804Z,1736377792.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.80 m. 2025-01-08T23:09:52.806Z,1736377792.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.800003 m, nav range: 64.442719 m, bearing: 224.470594 deg, approach rate: 0.325139 m/s, LOS rate: -0.361203 deg/s, cmd heading: 357.394867 deg, new cmd heading: 356.869154 deg. 2025-01-08T23:09:52.808Z,1736377792.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.228542 target range: 140.800003 and range: 140.80 m. 2025-01-08T23:09:52.972Z,1736377792.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:52.972Z,1736377792.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006793 2025-01-08T23:09:53.171Z,1736377793.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:53.196Z,1736377793.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.80 m. 2025-01-08T23:09:53.198Z,1736377793.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.800003 m, nav range: 64.563187 m, bearing: 224.333491 deg, approach rate: 0.306547 m/s, LOS rate: -0.348225 deg/s, cmd heading: 356.869161 deg, new cmd heading: 356.458628 deg. 2025-01-08T23:09:53.204Z,1736377793.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.221377 target range: 140.800003 and range: 140.80 m. 2025-01-08T23:09:53.224Z,1736377793.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:53.225Z,1736377793.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990 2025-01-08T23:09:53.476Z,1736377793.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:53.477Z,1736377793.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511646 2025-01-08T23:09:53.696Z,1736377793.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:53.724Z,1736377793.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:53.726Z,1736377793.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.80 m. 2025-01-08T23:09:53.728Z,1736377793.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:53.729Z,1736377793.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763028 2025-01-08T23:09:53.733Z,1736377793.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.800003 m, nav range: 64.718399 m, bearing: 224.153216 deg, approach rate: 0.292738 m/s, LOS rate: -0.339191 deg/s, cmd heading: 356.458639 deg, new cmd heading: 355.919128 deg. 2025-01-08T23:09:53.734Z,1736377793.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211961 target range: 140.800003 and range: 140.80 m. 2025-01-08T23:09:53.980Z,1736377793.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:53.981Z,1736377793.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014998 2025-01-08T23:09:54.184Z,1736377794.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:54.194Z,1736377794.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.80 m. 2025-01-08T23:09:54.221Z,1736377794.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.800003 m, nav range: 64.845329 m, bearing: 223.935572 deg, approach rate: 0.271343 m/s, LOS rate: -0.464353 deg/s, cmd heading: 355.919136 deg, new cmd heading: 355.267513 deg. 2025-01-08T23:09:54.222Z,1736377794.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200588 target range: 140.800003 and range: 140.80 m. 2025-01-08T23:09:54.232Z,1736377794.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:54.232Z,1736377794.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266801 2025-01-08T23:09:54.484Z,1736377794.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:54.485Z,1736377794.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519196 2025-01-08T23:09:54.670Z,1736377794.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:54.736Z,1736377794.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:54.738Z,1736377794.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771935 2025-01-08T23:09:54.746Z,1736377794.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.80 m. 2025-01-08T23:09:54.772Z,1736377794.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.800003 m, nav range: 64.961479 m, bearing: 223.733321 deg, approach rate: 0.210462 m/s, LOS rate: -0.365822 deg/s, cmd heading: 355.267509 deg, new cmd heading: 354.661862 deg. 2025-01-08T23:09:54.773Z,1736377794.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.190017 target range: 140.800003 and range: 140.80 m. 2025-01-08T23:09:54.988Z,1736377794.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:54.989Z,1736377794.989 [DAT](INFO): DAT read: Rx Time:23:09:53.8662 2025-01-08T23:09:54.989Z,1736377794.989 [DAT](INFO): Rx dataTimestamp_ set to:1736377794.988684 2025-01-08T23:09:54.989Z,1736377794.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023926 2025-01-08T23:09:55.095Z,1736377795.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:55.103Z,1736377795.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.80 m. 2025-01-08T23:09:55.106Z,1736377795.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.800003 m, nav range: 65.051384 m, bearing: 223.530996 deg, approach rate: 0.251474 m/s, LOS rate: -0.565141 deg/s, cmd heading: 354.661862 deg, new cmd heading: 354.055752 deg. 2025-01-08T23:09:55.107Z,1736377795.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179439 target range: 140.800003 and range: 140.80 m. 2025-01-08T23:09:55.240Z,1736377795.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:55.241Z,1736377795.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274993 2025-01-08T23:09:55.448Z,1736377795.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:55.457Z,1736377795.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.80 m. 2025-01-08T23:09:55.460Z,1736377795.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.800003 m, nav range: 65.124786 m, bearing: 223.363390 deg, approach rate: 0.207464 m/s, LOS rate: -0.473186 deg/s, cmd heading: 354.055751 deg, new cmd heading: 353.553513 deg. 2025-01-08T23:09:55.461Z,1736377795.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170673 target range: 140.800003 and range: 140.80 m. 2025-01-08T23:09:55.494Z,1736377795.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:55.496Z,1736377795.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530290 2025-01-08T23:09:55.745Z,1736377795.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:55.751Z,1736377795.751 [DAT](INFO): DAT read: 23:09:53.8662 LVL= 16768, 28881, 24306, 32307, AGC= 62, IDX= 437, 0.09,-1.307,-2.983,-2.773,-2.204, PHS= 0.985,-0.732,-0.573, RAW= 94.8, 3.9, CAL= 103.6, 2.2, ROT= 46.4, -2.2 2025-01-08T23:09:55.752Z,1736377795.752 [DAT](INFO): got valid direction response: 23:09:53.8662 LVL= 16768, 28881, 24306, 32307, AGC= 62, IDX= 437, 0.09,-1.307,-2.983,-2.773,-2.204, PHS= 0.985,-0.732,-0.573, RAW= 94.8, 3.9, CAL= 103.6, 2.2, ROT= 46.4, -2.2 2025-01-08T23:09:55.754Z,1736377795.754 [DAT](INFO): DAT read: Bearing 46.4, -2.2 (Local) 2025-01-08T23:09:55.754Z,1736377795.754 [DAT](INFO): Local bearing/azimuth received: Bearing 46.4, -2.2 (Local) 2025-01-08T23:09:55.756Z,1736377795.756 [DAT](INFO): DAT read: Range 10 to 50 : 140.1 m (Round-trip 186.8 ms) speed 0.0 m/s 2025-01-08T23:09:55.756Z,1736377795.756 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:55.757Z,1736377795.757 [DAT](INFO): direction in FSK: [-0.167377,0.027935,0.985497] 2025-01-08T23:09:55.757Z,1736377795.757 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:55.761Z,1736377795.761 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:55.761Z,1736377795.761 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:55.761Z,1736377795.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:55.934Z,1736377795.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:55.959Z,1736377795.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 140.100006 m, deltaT: 4.030014 s, deltaX: -0.699997 m, approachRate: -0.173696 m/s, rangeRepo size: 4 2025-01-08T23:09:55.965Z,1736377795.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 140.100006 m, bearing: 181.365073 deg, lat: 36.903477 deg, lon: -122.121064 deg, deltaT: 4.030014 s, deltaX: -0.699997 m, approachRate: -0.173696 m/s, posRepo size: 4 2025-01-08T23:09:55.966Z,1736377795.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T23:09:55.973Z,1736377795.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 64.465973 m, bearing: 222.405274 deg, approach rate: 0.000000 m/s, LOS rate: -0.473186 deg/s, cmd heading: 353.553514 deg, new cmd heading: 352.842169 deg. 2025-01-08T23:09:55.974Z,1736377795.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158257 target range: 140.100006 and range: 140.10 m. 2025-01-08T23:09:55.996Z,1736377795.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:55.996Z,1736377795.996 [DAT](INFO): DAT read: user:3048> 2025-01-08T23:09:55.997Z,1736377795.997 [DAT](INFO): DAT read: Tx time:23:09:55.2252 2025-01-08T23:09:55.997Z,1736377795.997 [DAT](INFO): Ping request sent. 2025-01-08T23:09:55.997Z,1736377795.997 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:55.998Z,1736377795.998 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:55.998Z,1736377795.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720 2025-01-08T23:09:56.248Z,1736377796.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:56.249Z,1736377796.249 [DAT](INFO): DAT read: TxSync time:23:09:55.2245 2025-01-08T23:09:56.249Z,1736377796.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251795 2025-01-08T23:09:56.292Z,1736377796.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:56.307Z,1736377796.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:56.309Z,1736377796.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T23:09:56.316Z,1736377796.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 64.530380 m, bearing: 222.222578 deg, approach rate: 0.183538 m/s, LOS rate: -0.520096 deg/s, cmd heading: 352.842163 deg, new cmd heading: 352.294640 deg. 2025-01-08T23:09:56.317Z,1736377796.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.148701 target range: 140.100006 and range: 140.10 m. 2025-01-08T23:09:56.500Z,1736377796.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:56.500Z,1736377796.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502958 2025-01-08T23:09:56.686Z,1736377796.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:56.752Z,1736377796.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:56.753Z,1736377796.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755273 2025-01-08T23:09:56.754Z,1736377796.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T23:09:56.761Z,1736377796.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 64.600800 m, bearing: 222.022284 deg, approach rate: 0.160675 m/s, LOS rate: -0.456507 deg/s, cmd heading: 352.294628 deg, new cmd heading: 351.694425 deg. 2025-01-08T23:09:56.762Z,1736377796.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.138226 target range: 140.100006 and range: 140.10 m. 2025-01-08T23:09:57.004Z,1736377797.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:57.005Z,1736377797.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007467 2025-01-08T23:09:57.098Z,1736377797.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:57.107Z,1736377797.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T23:09:57.109Z,1736377797.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 64.684593 m, bearing: 221.800664 deg, approach rate: 0.233253 m/s, LOS rate: -0.616114 deg/s, cmd heading: 351.694418 deg, new cmd heading: 351.030449 deg. 2025-01-08T23:09:57.110Z,1736377797.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.126637 target range: 140.100006 and range: 140.10 m. 2025-01-08T23:09:57.258Z,1736377797.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:57.260Z,1736377797.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262598 2025-01-08T23:09:57.467Z,1736377797.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:57.477Z,1736377797.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T23:09:57.480Z,1736377797.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 64.759171 m, bearing: 221.602923 deg, approach rate: 0.201321 m/s, LOS rate: -0.533186 deg/s, cmd heading: 351.030442 deg, new cmd heading: 350.437924 deg. 2025-01-08T23:09:57.481Z,1736377797.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116296 target range: 140.100006 and range: 140.10 m. 2025-01-08T23:09:57.508Z,1736377797.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:57.509Z,1736377797.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511065 2025-01-08T23:09:57.761Z,1736377797.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:57.764Z,1736377797.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766611 2025-01-08T23:09:57.898Z,1736377797.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:57.907Z,1736377797.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T23:09:57.910Z,1736377797.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 64.860451 m, bearing: 221.377568 deg, approach rate: 0.235532 m/s, LOS rate: -0.523254 deg/s, cmd heading: 350.437936 deg, new cmd heading: 349.762959 deg. 2025-01-08T23:09:57.911Z,1736377797.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.104515 target range: 140.100006 and range: 140.10 m. 2025-01-08T23:09:58.012Z,1736377798.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:58.013Z,1736377798.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015816 2025-01-08T23:09:58.264Z,1736377798.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:58.264Z,1736377798.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266769 2025-01-08T23:09:58.289Z,1736377798.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:58.306Z,1736377798.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T23:09:58.313Z,1736377798.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 64.951401 m, bearing: 221.172605 deg, approach rate: 0.228127 m/s, LOS rate: -0.513379 deg/s, cmd heading: 349.762950 deg, new cmd heading: 349.148948 deg. 2025-01-08T23:09:58.314Z,1736377798.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.093799 target range: 140.100006 and range: 140.10 m. 2025-01-08T23:09:58.516Z,1736377798.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:58.516Z,1736377798.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518975 2025-01-08T23:09:58.694Z,1736377798.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:58.701Z,1736377798.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:09:58.704Z,1736377798.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T23:09:58.745Z,1736377798.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 65.044075 m, bearing: 220.960123 deg, approach rate: 0.233167 m/s, LOS rate: -0.533838 deg/s, cmd heading: 349.148943 deg, new cmd heading: 348.512433 deg. 2025-01-08T23:09:58.765Z,1736377798.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082689 target range: 140.100006 and range: 140.10 m. 2025-01-08T23:09:58.770Z,1736377798.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:58.772Z,1736377798.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774405 2025-01-08T23:09:59.020Z,1736377799.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:59.021Z,1736377799.021 [DAT](INFO): DAT read: Rx Time:23:09:57.8146 2025-01-08T23:09:59.022Z,1736377799.022 [DAT](INFO): Rx dataTimestamp_ set to:1736377799.021509 2025-01-08T23:09:59.023Z,1736377799.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025289 2025-01-08T23:09:59.133Z,1736377799.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:59.142Z,1736377799.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m. 2025-01-08T23:09:59.145Z,1736377799.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.100006 m, nav range: 65.168907 m, bearing: 220.746096 deg, approach rate: 0.284537 m/s, LOS rate: -0.486908 deg/s, cmd heading: 348.512424 deg, new cmd heading: 347.871602 deg. 2025-01-08T23:09:59.146Z,1736377799.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071505 target range: 140.100006 and range: 140.10 m. 2025-01-08T23:09:59.272Z,1736377799.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:59.273Z,1736377799.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275380 2025-01-08T23:09:59.524Z,1736377799.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:59.530Z,1736377799.530 [DAT](INFO): DAT read: 23:09:57.8146 LVL= 13008, 25537, 16738, 28083, AGC= 59, IDX= 421, 0.02, 1.845, 0.181, 0.225, 0.810, PHS= 1.122,-0.583,-0.589, RAW= 89.8, 0.6, CAL= 97.3, -3.3, ROT= 52.7, 3.3 2025-01-08T23:09:59.531Z,1736377799.531 [DAT](INFO): got valid direction response: 23:09:57.8146 LVL= 13008, 25537, 16738, 28083, AGC= 59, IDX= 421, 0.02, 1.845, 0.181, 0.225, 0.810, PHS= 1.122,-0.583,-0.589, RAW= 89.8, 0.6, CAL= 97.3, -3.3, ROT= 52.7, 3.3 2025-01-08T23:09:59.532Z,1736377799.532 [DAT](INFO): DAT read: Bearing 52.7, 3.3 (Local) 2025-01-08T23:09:59.533Z,1736377799.533 [DAT](INFO): Local bearing/azimuth received: Bearing 52.7, 3.3 (Local) 2025-01-08T23:09:59.534Z,1736377799.534 [DAT](INFO): DAT read: Range 10 to 50 : 138.9 m (Round-trip 185.2 ms) speed 0.4 m/s 2025-01-08T23:09:59.535Z,1736377799.535 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:09:59.536Z,1736377799.536 [DAT](INFO): direction in FSK: [-0.096111,0.111215,0.989138] 2025-01-08T23:09:59.536Z,1736377799.536 [DAT](INFO): publishing direction and range info 2025-01-08T23:09:59.544Z,1736377799.544 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:09:59.544Z,1736377799.544 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:09:59.544Z,1736377799.544 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:09:59.547Z,1736377799.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:09:59.595Z,1736377799.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 138.899994 m, deltaT: 3.779160 s, deltaX: -1.200012 m, approachRate: -0.317534 m/s, rangeRepo size: 4 2025-01-08T23:09:59.602Z,1736377799.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 138.899994 m, bearing: 162.601547 deg, lat: 36.903477 deg, lon: -122.120804 deg, deltaT: 3.779160 s, deltaX: -1.200012 m, approachRate: -0.317534 m/s, posRepo size: 4 2025-01-08T23:09:59.602Z,1736377799.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T23:09:59.606Z,1736377799.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 53.244129 m, bearing: 201.301208 deg, approach rate: 0.000000 m/s, LOS rate: -0.486908 deg/s, cmd heading: 347.871588 deg, new cmd heading: 347.211153 deg. 2025-01-08T23:09:59.611Z,1736377799.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059978 target range: 138.899994 and range: 138.90 m. 2025-01-08T23:09:59.777Z,1736377799.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:09:59.779Z,1736377799.779 [DAT](INFO): DAT read: user:3049> 2025-01-08T23:09:59.782Z,1736377799.782 [DAT](INFO): DAT read: Tx time:23:09:59.0252 2025-01-08T23:09:59.784Z,1736377799.784 [DAT](INFO): Ping request sent. 2025-01-08T23:09:59.784Z,1736377799.784 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:09:59.785Z,1736377799.785 [DAT](INFO): publishing transmit ping time 2025-01-08T23:09:59.787Z,1736377799.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003026 2025-01-08T23:10:00.028Z,1736377800.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:00.028Z,1736377800.028 [DAT](INFO): DAT read: TxSync time:23:09:59.0245 2025-01-08T23:10:00.029Z,1736377800.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245491 2025-01-08T23:10:00.157Z,1736377800.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:00.186Z,1736377800.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T23:10:00.200Z,1736377800.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 53.538914 m, bearing: 201.054534 deg, approach rate: 0.497583 m/s, LOS rate: -0.414081 deg/s, cmd heading: 347.211164 deg, new cmd heading: 346.475259 deg. 2025-01-08T23:10:00.202Z,1736377800.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.047134 target range: 138.899994 and range: 138.90 m. 2025-01-08T23:10:00.280Z,1736377800.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:00.281Z,1736377800.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496795 2025-01-08T23:10:00.408Z,1736377800.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:10:00.509Z,1736377800.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:00.517Z,1736377800.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T23:10:00.521Z,1736377800.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 53.707542 m, bearing: 200.912510 deg, approach rate: 0.509655 m/s, LOS rate: -0.427897 deg/s, cmd heading: 346.475252 deg, new cmd heading: 346.050527 deg. 2025-01-08T23:10:00.522Z,1736377800.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039721 target range: 138.899994 and range: 138.90 m. 2025-01-08T23:10:00.532Z,1736377800.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:00.532Z,1736377800.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748728 2025-01-08T23:10:00.786Z,1736377800.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:00.789Z,1736377800.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004680 2025-01-08T23:10:00.932Z,1736377800.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:00.940Z,1736377800.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:00.942Z,1736377800.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T23:10:00.945Z,1736377800.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 53.924702 m, bearing: 200.776798 deg, approach rate: 0.511950 m/s, LOS rate: -0.318651 deg/s, cmd heading: 346.050523 deg, new cmd heading: 345.645033 deg. 2025-01-08T23:10:00.946Z,1736377800.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032644 target range: 138.899994 and range: 138.90 m. 2025-01-08T23:10:01.037Z,1736377801.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:01.038Z,1736377801.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254434 2025-01-08T23:10:01.288Z,1736377801.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:01.288Z,1736377801.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504707 2025-01-08T23:10:01.328Z,1736377801.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:01.337Z,1736377801.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T23:10:01.340Z,1736377801.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 54.128059 m, bearing: 200.649317 deg, approach rate: 0.515327 m/s, LOS rate: -0.321834 deg/s, cmd heading: 345.645029 deg, new cmd heading: 345.264029 deg. 2025-01-08T23:10:01.341Z,1736377801.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025994 target range: 138.899994 and range: 138.90 m. 2025-01-08T23:10:01.413Z,1736377801.413 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:10:01.540Z,1736377801.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:01.541Z,1736377801.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756847 2025-01-08T23:10:01.715Z,1736377801.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:01.724Z,1736377801.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T23:10:01.727Z,1736377801.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 54.327160 m, bearing: 200.524315 deg, approach rate: 0.513053 m/s, LOS rate: -0.320934 deg/s, cmd heading: 345.264041 deg, new cmd heading: 344.890412 deg. 2025-01-08T23:10:01.728Z,1736377801.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019473 target range: 138.899994 and range: 138.90 m. 2025-01-08T23:10:01.793Z,1736377801.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:01.796Z,1736377801.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011698 2025-01-08T23:10:02.044Z,1736377802.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:02.044Z,1736377802.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260592 2025-01-08T23:10:02.149Z,1736377802.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:02.167Z,1736377802.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T23:10:02.170Z,1736377802.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 54.562893 m, bearing: 200.417786 deg, approach rate: 0.532717 m/s, LOS rate: -0.239697 deg/s, cmd heading: 344.890402 deg, new cmd heading: 344.572199 deg. 2025-01-08T23:10:02.196Z,1736377802.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.013919 target range: 138.899994 and range: 138.90 m. 2025-01-08T23:10:02.296Z,1736377802.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:02.296Z,1736377802.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512614 2025-01-08T23:10:02.548Z,1736377802.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:02.548Z,1736377802.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764561 2025-01-08T23:10:02.657Z,1736377802.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:02.690Z,1736377802.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T23:10:02.697Z,1736377802.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 54.838039 m, bearing: 200.292743 deg, approach rate: 0.525440 m/s, LOS rate: -0.237592 deg/s, cmd heading: 344.572197 deg, new cmd heading: 344.198957 deg. 2025-01-08T23:10:02.698Z,1736377802.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007405 target range: 138.899994 and range: 138.90 m. 2025-01-08T23:10:02.802Z,1736377802.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:02.805Z,1736377802.805 [DAT](INFO): DAT read: Rx Time:23:10:01.6126 2025-01-08T23:10:02.806Z,1736377802.806 [DAT](INFO): Rx dataTimestamp_ set to:1736377802.805344 2025-01-08T23:10:02.819Z,1736377802.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034009 2025-01-08T23:10:03.052Z,1736377803.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:03.053Z,1736377803.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269390 2025-01-08T23:10:03.075Z,1736377803.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:03.082Z,1736377803.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:03.084Z,1736377803.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.90 m. 2025-01-08T23:10:03.087Z,1736377803.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.899994 m, nav range: 55.074200 m, bearing: 200.215078 deg, approach rate: 0.600045 m/s, LOS rate: -0.196488 deg/s, cmd heading: 344.198968 deg, new cmd heading: 343.966974 deg. 2025-01-08T23:10:03.088Z,1736377803.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.003356 target range: 138.899994 and range: 138.90 m. 2025-01-08T23:10:03.306Z,1736377803.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:03.330Z,1736377803.330 [DAT](INFO): DAT read: 23:10:01.6127 LVL= 12352, 24465, 18338, 25539, AGC= 55, IDX= 417,-0.40, 2.141, 0.467, 0.288, 1.044, PHS= 1.185,-0.530,-0.759, RAW= 83.8, 1.1, CAL= 89.9, -2.6, ROT= 60.1, 2.6 2025-01-08T23:10:03.335Z,1736377803.335 [DAT](INFO): got valid direction response: 23:10:01.6127 LVL= 12352, 24465, 18338, 25539, AGC= 55, IDX= 417,-0.40, 2.141, 0.467, 0.288, 1.044, PHS= 1.185,-0.530,-0.759, RAW= 83.8, 1.1, CAL= 89.9, -2.6, ROT= 60.1, 2.6 2025-01-08T23:10:03.337Z,1736377803.337 [DAT](INFO): DAT read: Bearing 60.1, 2.6 (Local) 2025-01-08T23:10:03.337Z,1736377803.337 [DAT](INFO): Local bearing/azimuth received: Bearing 60.1, 2.6 (Local) 2025-01-08T23:10:03.338Z,1736377803.338 [DAT](INFO): DAT read: Range 10 to 50 : 137.4 m (Round-trip 183.3 ms) speed 0.2 m/s 2025-01-08T23:10:03.339Z,1736377803.339 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:10:03.340Z,1736377803.340 [DAT](INFO): direction in FSK: [-0.096374,0.213994,0.972069] 2025-01-08T23:10:03.340Z,1736377803.340 [DAT](INFO): publishing direction and range info 2025-01-08T23:10:03.344Z,1736377803.344 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:03.344Z,1736377803.344 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:03.344Z,1736377803.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:03.529Z,1736377803.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:03.556Z,1736377803.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:03.556Z,1736377803.556 [DAT](INFO): DAT read: user:3050> 2025-01-08T23:10:03.557Z,1736377803.557 [DAT](INFO): DAT read: Tx time:23:10:02.8253 2025-01-08T23:10:03.558Z,1736377803.558 [DAT](INFO): Ping request sent. 2025-01-08T23:10:03.558Z,1736377803.558 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:03.558Z,1736377803.558 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:03.558Z,1736377803.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000718 2025-01-08T23:10:03.560Z,1736377803.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.399994 m, deltaT: 3.785383 s, deltaX: -1.500000 m, approachRate: -0.396261 m/s, rangeRepo size: 4 2025-01-08T23:10:03.562Z,1736377803.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.399994 m, bearing: 130.570582 deg, lat: 36.903504 deg, lon: -122.120587 deg, deltaT: 3.785383 s, deltaX: -1.500000 m, approachRate: -0.396261 m/s, posRepo size: 4 2025-01-08T23:10:03.563Z,1736377803.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T23:10:03.577Z,1736377803.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 48.942158 m, bearing: 179.674734 deg, approach rate: 0.000000 m/s, LOS rate: -0.196488 deg/s, cmd heading: 343.966961 deg, new cmd heading: 343.689089 deg. 2025-01-08T23:10:03.577Z,1736377803.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.998506 target range: 137.399994 and range: 137.40 m. 2025-01-08T23:10:03.810Z,1736377803.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:03.814Z,1736377803.814 [DAT](INFO): DAT read: TxSync time:23:10:02.8246 2025-01-08T23:10:03.817Z,1736377803.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.259193 2025-01-08T23:10:04.032Z,1736377804.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:04.042Z,1736377804.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T23:10:04.045Z,1736377804.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 49.233154 m, bearing: 179.686648 deg, approach rate: 0.597496 m/s, LOS rate: 0.024318 deg/s, cmd heading: 343.689081 deg, new cmd heading: 343.724611 deg. 2025-01-08T23:10:04.046Z,1736377804.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999126 target range: 137.399994 and range: 137.40 m. 2025-01-08T23:10:04.060Z,1736377804.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:04.060Z,1736377804.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502764 2025-01-08T23:10:04.313Z,1736377804.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:04.315Z,1736377804.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756814 2025-01-08T23:10:04.398Z,1736377804.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:04.409Z,1736377804.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T23:10:04.412Z,1736377804.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 49.444538 m, bearing: 179.692943 deg, approach rate: 0.579358 m/s, LOS rate: 0.017181 deg/s, cmd heading: 343.724598 deg, new cmd heading: 343.743404 deg. 2025-01-08T23:10:04.413Z,1736377804.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999454 target range: 137.399994 and range: 137.40 m. 2025-01-08T23:10:04.564Z,1736377804.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:04.565Z,1736377804.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006972 2025-01-08T23:10:04.790Z,1736377804.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:04.818Z,1736377804.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:04.821Z,1736377804.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262793 2025-01-08T23:10:04.873Z,1736377804.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T23:10:04.881Z,1736377804.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 49.671261 m, bearing: 179.697427 deg, approach rate: 0.493670 m/s, LOS rate: 0.009719 deg/s, cmd heading: 343.743395 deg, new cmd heading: 343.756785 deg. 2025-01-08T23:10:04.888Z,1736377804.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999688 target range: 137.399994 and range: 137.40 m. 2025-01-08T23:10:05.068Z,1736377805.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:05.068Z,1736377805.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510603 2025-01-08T23:10:05.251Z,1736377805.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:05.262Z,1736377805.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:05.264Z,1736377805.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T23:10:05.267Z,1736377805.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 49.933666 m, bearing: 179.687712 deg, approach rate: 0.659860 m/s, LOS rate: -0.024303 deg/s, cmd heading: 343.756782 deg, new cmd heading: 343.727789 deg. 2025-01-08T23:10:05.268Z,1736377805.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999182 target range: 137.399994 and range: 137.40 m. 2025-01-08T23:10:05.321Z,1736377805.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:05.324Z,1736377805.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766364 2025-01-08T23:10:05.572Z,1736377805.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:05.572Z,1736377805.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014822 2025-01-08T23:10:05.594Z,1736377805.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:05.619Z,1736377805.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T23:10:05.626Z,1736377805.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 50.128872 m, bearing: 179.679540 deg, approach rate: 0.550613 m/s, LOS rate: -0.022961 deg/s, cmd heading: 343.727795 deg, new cmd heading: 343.703374 deg. 2025-01-08T23:10:05.627Z,1736377805.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.998755 target range: 137.399994 and range: 137.40 m. 2025-01-08T23:10:05.824Z,1736377805.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:05.827Z,1736377805.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268305 2025-01-08T23:10:06.057Z,1736377806.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:06.066Z,1736377806.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T23:10:06.069Z,1736377806.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 50.388493 m, bearing: 179.631379 deg, approach rate: 0.580682 m/s, LOS rate: -0.107163 deg/s, cmd heading: 343.703370 deg, new cmd heading: 343.559633 deg. 2025-01-08T23:10:06.071Z,1736377806.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996247 target range: 137.399994 and range: 137.40 m. 2025-01-08T23:10:06.076Z,1736377806.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:06.076Z,1736377806.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518784 2025-01-08T23:10:06.328Z,1736377806.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:06.328Z,1736377806.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770740 2025-01-08T23:10:06.399Z,1736377806.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:06.409Z,1736377806.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T23:10:06.412Z,1736377806.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 50.579781 m, bearing: 179.595211 deg, approach rate: 0.557888 m/s, LOS rate: -0.105084 deg/s, cmd heading: 343.559635 deg, new cmd heading: 343.451542 deg. 2025-01-08T23:10:06.413Z,1736377806.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994360 target range: 137.399994 and range: 137.40 m. 2025-01-08T23:10:06.580Z,1736377806.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:06.580Z,1736377806.580 [DAT](INFO): DAT read: Rx Time:23:10:05.4117 2025-01-08T23:10:06.581Z,1736377806.581 [DAT](INFO): Rx dataTimestamp_ set to:1736377806.580586 2025-01-08T23:10:06.581Z,1736377806.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023749 2025-01-08T23:10:06.813Z,1736377806.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:06.834Z,1736377806.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:06.837Z,1736377806.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278924 2025-01-08T23:10:06.901Z,1736377806.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T23:10:06.908Z,1736377806.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 50.811363 m, bearing: 179.550824 deg, approach rate: 0.470505 m/s, LOS rate: -0.089770 deg/s, cmd heading: 343.451554 deg, new cmd heading: 343.319001 deg. 2025-01-08T23:10:06.909Z,1736377806.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.992047 target range: 137.399994 and range: 137.40 m. 2025-01-08T23:10:07.085Z,1736377807.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:07.090Z,1736377807.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532017 2025-01-08T23:10:07.279Z,1736377807.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:07.300Z,1736377807.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:07.302Z,1736377807.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m. 2025-01-08T23:10:07.309Z,1736377807.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.399994 m, nav range: 51.068569 m, bearing: 179.457146 deg, approach rate: 0.641029 m/s, LOS rate: -0.232296 deg/s, cmd heading: 343.318994 deg, new cmd heading: 343.039377 deg. 2025-01-08T23:10:07.310Z,1736377807.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987166 target range: 137.399994 and range: 137.40 m. 2025-01-08T23:10:07.336Z,1736377807.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:07.342Z,1736377807.342 [DAT](INFO): DAT read: 23:10:05.4117 LVL= 11984, 23729, 16482, 23507, AGC= 57, IDX= 438,-0.09, 1.589, 0.192,-0.275, 0.701, PHS= 0.976,-0.462,-0.979, RAW= 75.2, 5.4, CAL= 78.7, 5.3, ROT= 71.3, -5.3 2025-01-08T23:10:07.343Z,1736377807.343 [DAT](INFO): got valid direction response: 23:10:05.4117 LVL= 11984, 23729, 16482, 23507, AGC= 57, IDX= 438,-0.09, 1.589, 0.192,-0.275, 0.701, PHS= 0.976,-0.462,-0.979, RAW= 75.2, 5.4, CAL= 78.7, 5.3, ROT= 71.3, -5.3 2025-01-08T23:10:07.344Z,1736377807.344 [DAT](INFO): DAT read: Bearing 71.3, -5.3 (Local) 2025-01-08T23:10:07.344Z,1736377807.344 [DAT](INFO): Local bearing/azimuth received: Bearing 71.3, -5.3 (Local) 2025-01-08T23:10:07.347Z,1736377807.347 [DAT](INFO): DAT read: Range 10 to 50 : 136.6 m (Round-trip 182.2 ms) speed 0.0 m/s 2025-01-08T23:10:07.349Z,1736377807.349 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:10:07.360Z,1736377807.360 [DAT](INFO): direction in FSK: [-0.159090,0.356199,0.920768] 2025-01-08T23:10:07.360Z,1736377807.360 [DAT](INFO): publishing direction and range info 2025-01-08T23:10:07.372Z,1736377807.372 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:07.372Z,1736377807.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:07.372Z,1736377807.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:07.588Z,1736377807.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:07.589Z,1736377807.589 [DAT](INFO): DAT read: user:3051> 2025-01-08T23:10:07.590Z,1736377807.590 [DAT](INFO): DAT read: Tx time:23:10:06.8253 2025-01-08T23:10:07.590Z,1736377807.590 [DAT](INFO): Ping request sent. 2025-01-08T23:10:07.591Z,1736377807.591 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:07.591Z,1736377807.591 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:07.591Z,1736377807.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000855 2025-01-08T23:10:07.714Z,1736377807.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:07.729Z,1736377807.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.600006 m, deltaT: 4.026612 s, deltaX: -0.799988 m, approachRate: -0.198675 m/s, rangeRepo size: 4 2025-01-08T23:10:07.731Z,1736377807.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.600006 m, bearing: 110.228493 deg, lat: 36.903645 deg, lon: -122.120477 deg, deltaT: 4.026612 s, deltaX: -0.799988 m, approachRate: -0.198675 m/s, posRepo size: 4 2025-01-08T23:10:07.732Z,1736377807.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:07.735Z,1736377807.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 37.079910 m, bearing: 163.909481 deg, approach rate: 0.000000 m/s, LOS rate: -0.232296 deg/s, cmd heading: 343.039366 deg, new cmd heading: 342.742358 deg. 2025-01-08T23:10:07.736Z,1736377807.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981983 target range: 136.600006 and range: 136.60 m. 2025-01-08T23:10:07.842Z,1736377807.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:07.843Z,1736377807.843 [DAT](INFO): DAT read: TxSync time:23:10:06.8246 2025-01-08T23:10:07.844Z,1736377807.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253380 2025-01-08T23:10:08.105Z,1736377808.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:08.106Z,1736377808.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.514880 2025-01-08T23:10:08.113Z,1736377808.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:08.126Z,1736377808.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:08.133Z,1736377808.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 37.314663 m, bearing: 163.840971 deg, approach rate: 0.590654 m/s, LOS rate: -0.171292 deg/s, cmd heading: 342.742362 deg, new cmd heading: 342.538126 deg. 2025-01-08T23:10:08.134Z,1736377808.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978418 target range: 136.600006 and range: 136.60 m. 2025-01-08T23:10:08.356Z,1736377808.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:08.357Z,1736377808.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766453 2025-01-08T23:10:08.465Z,1736377808.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:08.474Z,1736377808.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:08.477Z,1736377808.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 37.521667 m, bearing: 163.779014 deg, approach rate: 0.593883 m/s, LOS rate: -0.176770 deg/s, cmd heading: 342.538140 deg, new cmd heading: 342.353295 deg. 2025-01-08T23:10:08.478Z,1736377808.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975192 target range: 136.600006 and range: 136.60 m. 2025-01-08T23:10:08.608Z,1736377808.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:08.608Z,1736377808.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.017818 2025-01-08T23:10:08.862Z,1736377808.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:08.864Z,1736377808.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.272947 2025-01-08T23:10:08.965Z,1736377808.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:08.974Z,1736377808.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:08.977Z,1736377808.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 37.828072 m, bearing: 163.630108 deg, approach rate: 0.612949 m/s, LOS rate: -0.295468 deg/s, cmd heading: 342.353287 deg, new cmd heading: 341.910197 deg. 2025-01-08T23:10:08.978Z,1736377808.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967459 target range: 136.600006 and range: 136.60 m. 2025-01-08T23:10:09.112Z,1736377809.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:09.113Z,1736377809.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521938 2025-01-08T23:10:09.299Z,1736377809.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:09.305Z,1736377809.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:09.308Z,1736377809.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:09.311Z,1736377809.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 38.032562 m, bearing: 163.531585 deg, approach rate: 0.613649 m/s, LOS rate: -0.294066 deg/s, cmd heading: 341.910199 deg, new cmd heading: 341.616220 deg. 2025-01-08T23:10:09.312Z,1736377809.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962328 target range: 136.600006 and range: 136.60 m. 2025-01-08T23:10:09.365Z,1736377809.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:09.366Z,1736377809.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775424 2025-01-08T23:10:09.616Z,1736377809.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:09.616Z,1736377809.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025718 2025-01-08T23:10:09.701Z,1736377809.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:09.710Z,1736377809.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:09.713Z,1736377809.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 38.279030 m, bearing: 163.412774 deg, approach rate: 0.611748 m/s, LOS rate: -0.292997 deg/s, cmd heading: 341.616228 deg, new cmd heading: 341.262094 deg. 2025-01-08T23:10:09.714Z,1736377809.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956147 target range: 136.600006 and range: 136.60 m. 2025-01-08T23:10:09.869Z,1736377809.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:09.872Z,1736377809.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281670 2025-01-08T23:10:10.116Z,1736377810.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:10.124Z,1736377810.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:10.125Z,1736377810.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534420 2025-01-08T23:10:10.148Z,1736377810.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:10.151Z,1736377810.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 38.541779 m, bearing: 163.260723 deg, approach rate: 0.599886 m/s, LOS rate: -0.344782 deg/s, cmd heading: 341.262096 deg, new cmd heading: 340.809064 deg. 2025-01-08T23:10:10.156Z,1736377810.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.948240 target range: 136.600006 and range: 136.60 m. 2025-01-08T23:10:10.378Z,1736377810.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:10.379Z,1736377810.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787975 2025-01-08T23:10:10.608Z,1736377810.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:10.616Z,1736377810.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:10.618Z,1736377810.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 38.852779 m, bearing: 163.079177 deg, approach rate: 0.665183 m/s, LOS rate: -0.385191 deg/s, cmd heading: 340.809064 deg, new cmd heading: 340.268800 deg. 2025-01-08T23:10:10.628Z,1736377810.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:10.628Z,1736377810.628 [DAT](INFO): DAT read: Rx Time:23:10:09.4118 2025-01-08T23:10:10.629Z,1736377810.629 [DAT](INFO): Rx dataTimestamp_ set to:1736377810.628528 2025-01-08T23:10:10.629Z,1736377810.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038695 2025-01-08T23:10:10.640Z,1736377810.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938811 target range: 136.600006 and range: 136.60 m. 2025-01-08T23:10:10.880Z,1736377810.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:10.880Z,1736377810.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289792 2025-01-08T23:10:11.030Z,1736377811.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:11.040Z,1736377811.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:11.042Z,1736377811.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 39.129246 m, bearing: 162.904407 deg, approach rate: 0.652714 m/s, LOS rate: -0.409701 deg/s, cmd heading: 340.268796 deg, new cmd heading: 339.748206 deg. 2025-01-08T23:10:11.043Z,1736377811.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929725 target range: 136.600006 and range: 136.60 m. 2025-01-08T23:10:11.132Z,1736377811.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:11.139Z,1736377811.139 [DAT](INFO): DAT read: 23:10:09.4118 LVL= 18064, 26737, 22690, 28003, AGC= 61, , 0.12,-0.990,-2.232,-2.954,-1.896, PHS= 0.994,-0.289,-1.061, RAW= 68.2, 4.0, CAL= 70.2, 3.0, ROT= 79.8, -3.0 2025-01-08T23:10:11.140Z,1736377811.140 [DAT](INFO): unknown deviceResponse_: 23:10:09.4118 LVL= 18064, 26737, 22690, 28003, AGC= 61, , 0.12,-0.990,-2.232,-2.954,-1.896, PHS= 0.994,-0.289,-1.061, RAW= 68.2, 4.0, CAL= 70.2, 3.0, ROT= 79.8, -3.0 2025-01-08T23:10:11.142Z,1736377811.142 [DAT](INFO): DAT read: Bearing 79.8, -3.0 (Local) 2025-01-08T23:10:11.142Z,1736377811.142 [DAT](INFO): Local bearing/azimuth received: Bearing 79.8, -3.0 (Local) 2025-01-08T23:10:11.146Z,1736377811.146 [DAT](INFO): DAT read: Range 10 to 50 : 136.7 m (Round-trip 182.3 ms) speed 0.1 m/s 2025-01-08T23:10:11.147Z,1736377811.147 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:10:11.148Z,1736377811.148 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:11.148Z,1736377811.148 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:11.149Z,1736377811.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:11.384Z,1736377811.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:11.385Z,1736377811.385 [DAT](INFO): DAT read: user:3052> 2025-01-08T23:10:11.386Z,1736377811.386 [DAT](INFO): DAT read: Tx time:23:10:10.6253 2025-01-08T23:10:11.386Z,1736377811.386 [DAT](INFO): Ping request sent. 2025-01-08T23:10:11.386Z,1736377811.386 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:11.386Z,1736377811.386 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:11.388Z,1736377811.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001662 2025-01-08T23:10:11.527Z,1736377811.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:11.545Z,1736377811.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:11.548Z,1736377811.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.699997 m, deltaT: 3.796214 s, deltaX: 0.099991 m, approachRate: 0.026340 m/s, rangeRepo size: 4 2025-01-08T23:10:11.548Z,1736377811.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:11.551Z,1736377811.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 39.452900 m, bearing: 162.696420 deg, approach rate: 0.637681 m/s, LOS rate: -0.406424 deg/s, cmd heading: 339.748199 deg, new cmd heading: 339.129383 deg. 2025-01-08T23:10:11.560Z,1736377811.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918924 target range: 136.600006 and range: 136.70 m. 2025-01-08T23:10:11.636Z,1736377811.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:11.638Z,1736377811.638 [DAT](INFO): DAT read: TxSync time:23:10:10.6246 2025-01-08T23:10:11.639Z,1736377811.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252652 2025-01-08T23:10:11.888Z,1736377811.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:11.889Z,1736377811.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502931 2025-01-08T23:10:12.044Z,1736377812.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:12.054Z,1736377812.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:12.057Z,1736377812.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 39.777855 m, bearing: 162.485476 deg, approach rate: 0.642309 m/s, LOS rate: -0.413547 deg/s, cmd heading: 339.129383 deg, new cmd heading: 338.501746 deg. 2025-01-08T23:10:12.058Z,1736377812.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907970 target range: 136.600006 and range: 136.70 m. 2025-01-08T23:10:12.140Z,1736377812.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:12.141Z,1736377812.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755380 2025-01-08T23:10:12.392Z,1736377812.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:12.392Z,1736377812.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006427 2025-01-08T23:10:12.444Z,1736377812.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:12.453Z,1736377812.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:12.457Z,1736377812.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 40.029144 m, bearing: 162.324933 deg, approach rate: 0.628917 m/s, LOS rate: -0.399278 deg/s, cmd heading: 338.501744 deg, new cmd heading: 338.023150 deg. 2025-01-08T23:10:12.458Z,1736377812.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.899617 target range: 136.600006 and range: 136.70 m. 2025-01-08T23:10:12.644Z,1736377812.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:12.645Z,1736377812.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258772 2025-01-08T23:10:12.816Z,1736377812.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:12.825Z,1736377812.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:12.828Z,1736377812.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 40.261581 m, bearing: 162.172525 deg, approach rate: 0.624328 m/s, LOS rate: -0.407005 deg/s, cmd heading: 338.023139 deg, new cmd heading: 337.568564 deg. 2025-01-08T23:10:12.829Z,1736377812.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891683 target range: 136.600006 and range: 136.70 m. 2025-01-08T23:10:12.897Z,1736377812.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:12.900Z,1736377812.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512429 2025-01-08T23:10:13.148Z,1736377813.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:13.148Z,1736377813.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762313 2025-01-08T23:10:13.259Z,1736377813.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:13.268Z,1736377813.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:13.274Z,1736377813.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 40.545940 m, bearing: 162.010749 deg, approach rate: 0.642554 m/s, LOS rate: -0.362993 deg/s, cmd heading: 337.568576 deg, new cmd heading: 337.086665 deg. 2025-01-08T23:10:13.275Z,1736377813.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883272 target range: 136.600006 and range: 136.70 m. 2025-01-08T23:10:13.400Z,1736377813.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:13.400Z,1736377813.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014374 2025-01-08T23:10:13.624Z,1736377813.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:13.631Z,1736377813.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:13.650Z,1736377813.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:13.653Z,1736377813.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:13.654Z,1736377813.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267951 2025-01-08T23:10:13.662Z,1736377813.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 40.780010 m, bearing: 161.876142 deg, approach rate: 0.611581 m/s, LOS rate: -0.349684 deg/s, cmd heading: 337.086665 deg, new cmd heading: 336.685169 deg. 2025-01-08T23:10:13.668Z,1736377813.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876265 target range: 136.600006 and range: 136.70 m. 2025-01-08T23:10:13.904Z,1736377813.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:13.905Z,1736377813.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519100 2025-01-08T23:10:14.085Z,1736377814.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:14.094Z,1736377814.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:14.097Z,1736377814.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 41.060352 m, bearing: 161.746783 deg, approach rate: 0.631333 m/s, LOS rate: -0.289330 deg/s, cmd heading: 336.685159 deg, new cmd heading: 336.299736 deg. 2025-01-08T23:10:14.098Z,1736377814.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869538 target range: 136.600006 and range: 136.70 m. 2025-01-08T23:10:14.156Z,1736377814.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:14.158Z,1736377814.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771443 2025-01-08T23:10:14.409Z,1736377814.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:14.411Z,1736377814.411 [DAT](INFO): DAT read: Rx Time:23:10:13.2114 2025-01-08T23:10:14.412Z,1736377814.412 [DAT](INFO): Rx dataTimestamp_ set to:1736377814.411321 2025-01-08T23:10:14.412Z,1736377814.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026101 2025-01-08T23:10:14.441Z,1736377814.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:14.449Z,1736377814.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:14.477Z,1736377814.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 41.276253 m, bearing: 161.643900 deg, approach rate: 0.608030 m/s, LOS rate: -0.288227 deg/s, cmd heading: 336.299745 deg, new cmd heading: 335.992716 deg. 2025-01-08T23:10:14.478Z,1736377814.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864179 target range: 136.600006 and range: 136.70 m. 2025-01-08T23:10:14.660Z,1736377814.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:14.661Z,1736377814.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275172 2025-01-08T23:10:14.844Z,1736377814.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:14.854Z,1736377814.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.60 m. 2025-01-08T23:10:14.857Z,1736377814.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.600006 m, nav range: 41.520710 m, bearing: 161.526892 deg, approach rate: 0.605467 m/s, LOS rate: -0.288096 deg/s, cmd heading: 335.992715 deg, new cmd heading: 335.643762 deg. 2025-01-08T23:10:14.858Z,1736377814.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858089 target range: 136.600006 and range: 136.70 m. 2025-01-08T23:10:14.914Z,1736377814.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:14.928Z,1736377814.928 [DAT](INFO): DAT read: 23:10:13.2114 LVL= 11376, 20657, 14098, 21491, AGC= 58, IDX= 434, 0.09,-0.846,-1.913,-2.901,-1.776, PHS= 1.018,-0.091,-1.128, RAW= 61.1, 2.2, CAL= 62.3, 0.1, ROT= 87.7, -0.1 2025-01-08T23:10:14.940Z,1736377814.940 [DAT](INFO): got valid direction response: 23:10:13.2114 LVL= 11376, 20657, 14098, 21491, AGC= 58, IDX= 434, 0.09,-0.846,-1.913,-2.901,-1.776, PHS= 1.018,-0.091,-1.128, RAW= 61.1, 2.2, CAL= 62.3, 0.1, ROT= 87.7, -0.1 2025-01-08T23:10:14.943Z,1736377814.943 [DAT](INFO): DAT read: Bearing 87.7, -0.1 (Local) 2025-01-08T23:10:14.948Z,1736377814.948 [DAT](INFO): Local bearing/azimuth received: Bearing 87.7, -0.1 (Local) 2025-01-08T23:10:14.957Z,1736377814.957 [DAT](INFO): DAT read: Range 10 to 50 : 136.3 m (Round-trip 181.8 ms) speed 0.0 m/s 2025-01-08T23:10:14.966Z,1736377814.966 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:10:14.981Z,1736377814.981 [DAT](INFO): direction in FSK: [-0.072218,0.563372,0.823041] 2025-01-08T23:10:14.982Z,1736377814.982 [DAT](INFO): publishing direction and range info 2025-01-08T23:10:15.023Z,1736377815.023 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:15.023Z,1736377815.023 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:15.028Z,1736377815.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:15.164Z,1736377815.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:15.164Z,1736377815.164 [DAT](INFO): DAT read: user:3053> 2025-01-08T23:10:15.165Z,1736377815.165 [DAT](INFO): DAT read: Tx time:23:10:14.4754 2025-01-08T23:10:15.165Z,1736377815.165 [DAT](INFO): Ping request sent. 2025-01-08T23:10:15.165Z,1736377815.165 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:15.166Z,1736377815.166 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:15.166Z,1736377815.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723 2025-01-08T23:10:15.336Z,1736377815.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:15.362Z,1736377815.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.300003 m, deltaT: 3.781947 s, deltaX: -0.399994 m, approachRate: -0.105764 m/s, rangeRepo size: 4 2025-01-08T23:10:15.368Z,1736377815.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.300003 m, bearing: 76.398756 deg, lat: 36.903740 deg, lon: -122.120292 deg, deltaT: 7.578161 s, deltaX: -0.300003 m, approachRate: -0.039588 m/s, posRepo size: 4 2025-01-08T23:10:15.369Z,1736377815.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:10:15.384Z,1736377815.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 41.627712 m, bearing: 134.261522 deg, approach rate: 0.000000 m/s, LOS rate: -0.288096 deg/s, cmd heading: 335.643774 deg, new cmd heading: 335.204678 deg. 2025-01-08T23:10:15.385Z,1736377815.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850425 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:10:15.417Z,1736377815.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:15.418Z,1736377815.418 [DAT](INFO): DAT read: TxSync time:23:10:14.4747 2025-01-08T23:10:15.419Z,1736377815.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253728 2025-01-08T23:10:15.668Z,1736377815.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:15.669Z,1736377815.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503651 2025-01-08T23:10:15.795Z,1736377815.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:15.802Z,1736377815.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:15.810Z,1736377815.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:10:15.814Z,1736377815.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 41.900238 m, bearing: 134.350003 deg, approach rate: 0.610532 m/s, LOS rate: 0.196933 deg/s, cmd heading: 335.204675 deg, new cmd heading: 335.468391 deg. 2025-01-08T23:10:15.814Z,1736377815.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855028 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:10:15.921Z,1736377815.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:15.922Z,1736377815.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756323 2025-01-08T23:10:16.176Z,1736377816.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:16.177Z,1736377816.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011238 2025-01-08T23:10:16.258Z,1736377816.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:16.275Z,1736377816.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:10:16.282Z,1736377816.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 42.152977 m, bearing: 134.469336 deg, approach rate: 0.540847 m/s, LOS rate: 0.253834 deg/s, cmd heading: 335.468402 deg, new cmd heading: 335.824249 deg. 2025-01-08T23:10:16.283Z,1736377816.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861239 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:10:16.428Z,1736377816.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:16.429Z,1736377816.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263308 2025-01-08T23:10:16.680Z,1736377816.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:16.681Z,1736377816.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515707 2025-01-08T23:10:16.725Z,1736377816.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:16.738Z,1736377816.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:10:16.741Z,1736377816.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 42.409836 m, bearing: 134.583953 deg, approach rate: 0.554461 m/s, LOS rate: 0.245915 deg/s, cmd heading: 335.824255 deg, new cmd heading: 336.166018 deg. 2025-01-08T23:10:16.742Z,1736377816.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867204 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:10:16.932Z,1736377816.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:16.932Z,1736377816.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766911 2025-01-08T23:10:17.127Z,1736377817.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:17.156Z,1736377817.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:10:17.159Z,1736377817.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 42.612965 m, bearing: 134.706649 deg, approach rate: 0.486738 m/s, LOS rate: 0.292603 deg/s, cmd heading: 336.166010 deg, new cmd heading: 336.532339 deg. 2025-01-08T23:10:17.160Z,1736377817.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873597 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:10:17.184Z,1736377817.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:17.184Z,1736377817.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018929 2025-01-08T23:10:17.436Z,1736377817.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:17.436Z,1736377817.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270839 2025-01-08T23:10:17.532Z,1736377817.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:17.541Z,1736377817.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:10:17.544Z,1736377817.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 42.818485 m, bearing: 134.828735 deg, approach rate: 0.532571 m/s, LOS rate: 0.314848 deg/s, cmd heading: 336.532327 deg, new cmd heading: 336.896824 deg. 2025-01-08T23:10:17.545Z,1736377817.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879959 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:10:17.688Z,1736377817.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:17.689Z,1736377817.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523135 2025-01-08T23:10:17.916Z,1736377817.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:17.923Z,1736377817.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:17.925Z,1736377817.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:10:17.928Z,1736377817.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 43.013611 m, bearing: 134.942578 deg, approach rate: 0.508046 m/s, LOS rate: 0.295065 deg/s, cmd heading: 336.896813 deg, new cmd heading: 337.236787 deg. 2025-01-08T23:10:17.929Z,1736377817.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885892 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:10:17.940Z,1736377817.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:17.941Z,1736377817.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775005 2025-01-08T23:10:18.192Z,1736377818.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:18.192Z,1736377818.192 [DAT](INFO): DAT read: Rx Time:23:10:17.0606 2025-01-08T23:10:18.193Z,1736377818.193 [DAT](INFO): Rx dataTimestamp_ set to:1736377818.192569 2025-01-08T23:10:18.193Z,1736377818.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027867 2025-01-08T23:10:18.344Z,1736377818.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:18.354Z,1736377818.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:10:18.357Z,1736377818.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 43.228069 m, bearing: 135.075511 deg, approach rate: 0.501572 m/s, LOS rate: 0.309358 deg/s, cmd heading: 337.236793 deg, new cmd heading: 337.633606 deg. 2025-01-08T23:10:18.358Z,1736377818.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892818 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:10:18.444Z,1736377818.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:18.445Z,1736377818.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279046 2025-01-08T23:10:18.696Z,1736377818.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:18.696Z,1736377818.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530737 2025-01-08T23:10:18.830Z,1736377818.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:18.839Z,1736377818.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:10:18.842Z,1736377818.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 43.471725 m, bearing: 135.224329 deg, approach rate: 0.501224 m/s, LOS rate: 0.304418 deg/s, cmd heading: 337.633599 deg, new cmd heading: 338.077543 deg. 2025-01-08T23:10:18.843Z,1736377818.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900566 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:10:18.953Z,1736377818.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:18.959Z,1736377818.959 [DAT](INFO): DAT read: 23:10:17.0606 LVL= 12720, 24897, 21362, 28371, AGC= 55, IDX= 426,-0.00,-2.001,-2.893, 2.113,-2.949, PHS= 1.035, 0.103,-1.224, RAW= 54.2, 0.9, CAL= 55.0, -1.3, ROT= 95.0, 1.3 2025-01-08T23:10:18.960Z,1736377818.960 [DAT](INFO): got valid direction response: 23:10:17.0606 LVL= 12720, 24897, 21362, 28371, AGC= 55, IDX= 426,-0.00,-2.001,-2.893, 2.113,-2.949, PHS= 1.035, 0.103,-1.224, RAW= 54.2, 0.9, CAL= 55.0, -1.3, ROT= 95.0, 1.3 2025-01-08T23:10:18.962Z,1736377818.962 [DAT](INFO): DAT read: Bearing 95.0, 1.3 (Local) 2025-01-08T23:10:18.962Z,1736377818.962 [DAT](INFO): Local bearing/azimuth received: Bearing 95.0, 1.3 (Local) 2025-01-08T23:10:18.976Z,1736377818.976 [DAT](INFO): DAT read: Range 10 to 50 : 135.7 m (Round-trip 181.0 ms) speed 0.0 m/s 2025-01-08T23:10:18.977Z,1736377818.977 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:10:18.978Z,1736377818.978 [DAT](INFO): direction in FSK: [-0.033883,0.652549,0.756989] 2025-01-08T23:10:18.978Z,1736377818.978 [DAT](INFO): publishing direction and range info 2025-01-08T23:10:18.992Z,1736377818.992 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:18.992Z,1736377818.992 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:18.993Z,1736377818.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:19.217Z,1736377819.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:19.218Z,1736377819.218 [DAT](INFO): DAT read: user:3054> 2025-01-08T23:10:19.219Z,1736377819.219 [DAT](INFO): DAT read: Tx time:23:10:18.4754 2025-01-08T23:10:19.219Z,1736377819.219 [DAT](INFO): Ping request sent. 2025-01-08T23:10:19.219Z,1736377819.219 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:19.221Z,1736377819.221 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:19.222Z,1736377819.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002977 2025-01-08T23:10:19.309Z,1736377819.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:19.323Z,1736377819.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.699997 m, deltaT: 4.039119 s, deltaX: -0.600006 m, approachRate: -0.148549 m/s, rangeRepo size: 4 2025-01-08T23:10:19.325Z,1736377819.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 135.699997 m, bearing: 67.507933 deg, lat: 36.903820 deg, lon: -122.120100 deg, deltaT: 4.039119 s, deltaX: -0.600006 m, approachRate: -0.148549 m/s, posRepo size: 4 2025-01-08T23:10:19.326Z,1736377819.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.70 m. 2025-01-08T23:10:19.329Z,1736377819.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.699997 m, nav range: 52.653099 m, bearing: 114.952622 deg, approach rate: 0.000000 m/s, LOS rate: 0.304418 deg/s, cmd heading: 338.077534 deg, new cmd heading: 338.518708 deg. 2025-01-08T23:10:19.330Z,1736377819.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908266 target range: 135.699997 and range: 135.70 m. 2025-01-08T23:10:19.468Z,1736377819.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:19.469Z,1736377819.469 [DAT](INFO): DAT read: TxSync time:23:10:18.4747 2025-01-08T23:10:19.469Z,1736377819.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250341 2025-01-08T23:10:19.723Z,1736377819.723 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:19.724Z,1736377819.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504814 2025-01-08T23:10:19.800Z,1736377819.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:19.813Z,1736377819.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.70 m. 2025-01-08T23:10:19.821Z,1736377819.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.699997 m, nav range: 52.837372 m, bearing: 115.170507 deg, approach rate: 0.374931 m/s, LOS rate: 0.441774 deg/s, cmd heading: 338.518710 deg, new cmd heading: 339.170056 deg. 2025-01-08T23:10:19.822Z,1736377819.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919634 target range: 135.699997 and range: 135.70 m. 2025-01-08T23:10:19.976Z,1736377819.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:19.977Z,1736377819.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757622 2025-01-08T23:10:20.194Z,1736377820.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:20.201Z,1736377820.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:20.204Z,1736377820.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.70 m. 2025-01-08T23:10:20.207Z,1736377820.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.699997 m, nav range: 52.986641 m, bearing: 115.339972 deg, approach rate: 0.383437 m/s, LOS rate: 0.434089 deg/s, cmd heading: 339.170064 deg, new cmd heading: 339.677013 deg. 2025-01-08T23:10:20.208Z,1736377820.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928482 target range: 135.699997 and range: 135.70 m. 2025-01-08T23:10:20.228Z,1736377820.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:20.228Z,1736377820.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009450 2025-01-08T23:10:20.480Z,1736377820.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:20.480Z,1736377820.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261372 2025-01-08T23:10:20.576Z,1736377820.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:20.607Z,1736377820.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.70 m. 2025-01-08T23:10:20.610Z,1736377820.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.699997 m, nav range: 53.131001 m, bearing: 115.503757 deg, approach rate: 0.375815 m/s, LOS rate: 0.425225 deg/s, cmd heading: 339.677001 deg, new cmd heading: 340.167006 deg. 2025-01-08T23:10:20.612Z,1736377820.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937034 target range: 135.699997 and range: 135.70 m. 2025-01-08T23:10:20.732Z,1736377820.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:20.733Z,1736377820.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513587 2025-01-08T23:10:20.977Z,1736377820.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:20.984Z,1736377820.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:20.984Z,1736377820.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765481 2025-01-08T23:10:20.993Z,1736377820.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.70 m. 2025-01-08T23:10:20.996Z,1736377820.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.699997 m, nav range: 53.282528 m, bearing: 115.676616 deg, approach rate: 0.373025 m/s, LOS rate: 0.424328 deg/s, cmd heading: 340.166998 deg, new cmd heading: 340.684086 deg. 2025-01-08T23:10:20.997Z,1736377820.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946059 target range: 135.699997 and range: 135.70 m. 2025-01-08T23:10:21.236Z,1736377821.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:21.237Z,1736377821.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018089 2025-01-08T23:10:21.418Z,1736377821.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:21.427Z,1736377821.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.70 m. 2025-01-08T23:10:21.430Z,1736377821.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.699997 m, nav range: 53.466919 m, bearing: 115.855508 deg, approach rate: 0.425257 m/s, LOS rate: 0.411152 deg/s, cmd heading: 340.684098 deg, new cmd heading: 341.218909 deg. 2025-01-08T23:10:21.430Z,1736377821.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955393 target range: 135.699997 and range: 135.70 m. 2025-01-08T23:10:21.489Z,1736377821.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:21.491Z,1736377821.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271215 2025-01-08T23:10:21.740Z,1736377821.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:21.740Z,1736377821.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521435 2025-01-08T23:10:21.802Z,1736377821.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:21.835Z,1736377821.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.70 m. 2025-01-08T23:10:21.839Z,1736377821.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.699997 m, nav range: 53.626915 m, bearing: 116.015201 deg, approach rate: 0.412032 m/s, LOS rate: 0.410022 deg/s, cmd heading: 341.218902 deg, new cmd heading: 341.696538 deg. 2025-01-08T23:10:21.848Z,1736377821.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963730 target range: 135.699997 and range: 135.70 m. 2025-01-08T23:10:21.992Z,1736377821.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:21.993Z,1736377821.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773784 2025-01-08T23:10:22.214Z,1736377822.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:22.223Z,1736377822.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:22.225Z,1736377822.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.70 m. 2025-01-08T23:10:22.228Z,1736377822.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.699997 m, nav range: 53.807533 m, bearing: 116.183073 deg, approach rate: 0.440033 m/s, LOS rate: 0.407607 deg/s, cmd heading: 341.696551 deg, new cmd heading: 342.198464 deg. 2025-01-08T23:10:22.229Z,1736377822.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972490 target range: 135.699997 and range: 135.70 m. 2025-01-08T23:10:22.244Z,1736377822.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:22.245Z,1736377822.245 [DAT](INFO): DAT read: Rx Time:23:10:21.0603 2025-01-08T23:10:22.245Z,1736377822.245 [DAT](INFO): Rx dataTimestamp_ set to:1736377822.244747 2025-01-08T23:10:22.246Z,1736377822.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026579 2025-01-08T23:10:22.497Z,1736377822.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:22.499Z,1736377822.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279195 2025-01-08T23:10:22.595Z,1736377822.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:22.632Z,1736377822.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.70 m. 2025-01-08T23:10:22.635Z,1736377822.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.699997 m, nav range: 53.973621 m, bearing: 116.338291 deg, approach rate: 0.408264 m/s, LOS rate: 0.380371 deg/s, cmd heading: 342.198461 deg, new cmd heading: 342.662672 deg. 2025-01-08T23:10:22.644Z,1736377822.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980592 target range: 135.699997 and range: 135.70 m. 2025-01-08T23:10:22.749Z,1736377822.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:22.775Z,1736377822.775 [DAT](INFO): DAT read: 23:10:21.0603 LVL= 10160, 23729, 17890, 24195, AGC= 58, IDX= 439, 0.05,-1.683,-2.459, 2.520,-2.671, PHS= 1.076, 0.259,-1.095, RAW= 51.9, -2.6, CAL= 54.4, -6.2, ROT= 95.6, 6.2 2025-01-08T23:10:22.780Z,1736377822.780 [DAT](INFO): got valid direction response: 23:10:21.0603 LVL= 10160, 23729, 17890, 24195, AGC= 58, IDX= 439, 0.05,-1.683,-2.459, 2.520,-2.671, PHS= 1.076, 0.259,-1.095, RAW= 51.9, -2.6, CAL= 54.4, -6.2, ROT= 95.6, 6.2 2025-01-08T23:10:22.781Z,1736377822.781 [DAT](INFO): DAT read: Bearing 95.6, 6.2 (Local) 2025-01-08T23:10:22.781Z,1736377822.781 [DAT](INFO): Local bearing/azimuth received: Bearing 95.6, 6.2 (Local) 2025-01-08T23:10:22.788Z,1736377822.788 [DAT](INFO): DAT read: Range 10 to 50 : 135.5 m (Round-trip 180.7 ms) speed -0.1 m/s 2025-01-08T23:10:22.789Z,1736377822.789 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:10:22.790Z,1736377822.790 [DAT](INFO): direction in FSK: [0.034971,0.677381,0.734801] 2025-01-08T23:10:22.791Z,1736377822.791 [DAT](INFO): publishing direction and range info 2025-01-08T23:10:22.808Z,1736377822.808 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:22.808Z,1736377822.808 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:22.808Z,1736377822.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:22.000Z,1736377823.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:23.000Z,1736377823.000 [DAT](INFO): DAT read: user:3055> 2025-01-08T23:10:23.001Z,1736377823.001 [DAT](INFO): DAT read: Tx time:23:10:22.2754 2025-01-08T23:10:23.002Z,1736377823.002 [DAT](INFO): Ping request sent. 2025-01-08T23:10:23.002Z,1736377823.002 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:23.002Z,1736377823.002 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:23.003Z,1736377823.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715 2025-01-08T23:10:23.012Z,1736377823.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:23.026Z,1736377823.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.500000 m, deltaT: 3.796650 s, deltaX: -0.199997 m, approachRate: -0.052677 m/s, rangeRepo size: 4 2025-01-08T23:10:23.029Z,1736377823.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 135.500000 m, bearing: 63.036463 deg, lat: 36.904145 deg, lon: -122.119899 deg, deltaT: 3.796650 s, deltaX: -0.199997 m, approachRate: -0.052677 m/s, posRepo size: 4 2025-01-08T23:10:23.029Z,1736377823.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m. 2025-01-08T23:10:23.053Z,1736377823.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.500000 m, nav range: 67.460213 m, bearing: 79.796997 deg, approach rate: 0.000000 m/s, LOS rate: 0.380371 deg/s, cmd heading: 342.662668 deg, new cmd heading: 343.111592 deg. 2025-01-08T23:10:23.054Z,1736377823.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.988427 target range: 135.500000 and range: 135.50 m. 2025-01-08T23:10:23.252Z,1736377823.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:23.253Z,1736377823.253 [DAT](INFO): DAT read: TxSync time:23:10:22.2747 2025-01-08T23:10:23.254Z,1736377823.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252541 2025-01-08T23:10:23.480Z,1736377823.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:23.488Z,1736377823.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m. 2025-01-08T23:10:23.491Z,1736377823.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.500000 m, nav range: 67.541779 m, bearing: 80.026617 deg, approach rate: 0.176338 m/s, LOS rate: 0.495817 deg/s, cmd heading: 343.111602 deg, new cmd heading: 343.799596 deg. 2025-01-08T23:10:23.492Z,1736377823.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.000435 target range: 135.500000 and range: 135.50 m. 2025-01-08T23:10:23.504Z,1736377823.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:23.506Z,1736377823.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504288 2025-01-08T23:10:23.756Z,1736377823.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:23.757Z,1736377823.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755581 2025-01-08T23:10:23.804Z,1736377823.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:23.833Z,1736377823.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m. 2025-01-08T23:10:23.839Z,1736377823.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.500000 m, nav range: 67.597694 m, bearing: 80.185858 deg, approach rate: 0.162397 m/s, LOS rate: 0.462104 deg/s, cmd heading: 343.799594 deg, new cmd heading: 344.276910 deg. 2025-01-08T23:10:23.840Z,1736377823.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.008766 target range: 135.500000 and range: 135.50 m. 2025-01-08T23:10:24.008Z,1736377824.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:24.009Z,1736377824.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006922 2025-01-08T23:10:24.242Z,1736377824.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:24.250Z,1736377824.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:24.252Z,1736377824.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m. 2025-01-08T23:10:24.256Z,1736377824.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.500000 m, nav range: 67.694992 m, bearing: 80.399762 deg, approach rate: 0.231912 m/s, LOS rate: 0.509111 deg/s, cmd heading: 344.276915 deg, new cmd heading: 344.917675 deg. 2025-01-08T23:10:24.257Z,1736377824.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019949 target range: 135.500000 and range: 135.50 m. 2025-01-08T23:10:24.260Z,1736377824.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:24.260Z,1736377824.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258836 2025-01-08T23:10:24.512Z,1736377824.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:24.513Z,1736377824.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511593 2025-01-08T23:10:24.611Z,1736377824.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:24.661Z,1736377824.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m. 2025-01-08T23:10:24.678Z,1736377824.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.500000 m, nav range: 67.776024 m, bearing: 80.579647 deg, approach rate: 0.200942 m/s, LOS rate: 0.445544 deg/s, cmd heading: 344.917668 deg, new cmd heading: 345.456661 deg. 2025-01-08T23:10:24.680Z,1736377824.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.029356 target range: 135.500000 and range: 135.50 m. 2025-01-08T23:10:24.764Z,1736377824.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:24.765Z,1736377824.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763575 2025-01-08T23:10:25.011Z,1736377825.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:25.016Z,1736377825.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:25.016Z,1736377825.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014810 2025-01-08T23:10:25.022Z,1736377825.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m. 2025-01-08T23:10:25.025Z,1736377825.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.500000 m, nav range: 67.863670 m, bearing: 80.774890 deg, approach rate: 0.238721 m/s, LOS rate: 0.531092 deg/s, cmd heading: 345.456652 deg, new cmd heading: 346.041605 deg. 2025-01-08T23:10:25.026Z,1736377825.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039566 target range: 135.500000 and range: 135.50 m. 2025-01-08T23:10:25.268Z,1736377825.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:25.269Z,1736377825.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267254 2025-01-08T23:10:25.465Z,1736377825.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:25.475Z,1736377825.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m. 2025-01-08T23:10:25.480Z,1736377825.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.500000 m, nav range: 67.985435 m, bearing: 81.003420 deg, approach rate: 0.269220 m/s, LOS rate: 0.504368 deg/s, cmd heading: 346.041617 deg, new cmd heading: 346.725944 deg. 2025-01-08T23:10:25.481Z,1736377825.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051509 target range: 135.500000 and range: 135.50 m. 2025-01-08T23:10:25.520Z,1736377825.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:25.520Z,1736377825.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518830 2025-01-08T23:10:25.772Z,1736377825.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:25.773Z,1736377825.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771051 2025-01-08T23:10:25.858Z,1736377825.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:25.866Z,1736377825.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m. 2025-01-08T23:10:25.870Z,1736377825.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.500000 m, nav range: 68.090752 m, bearing: 81.200916 deg, approach rate: 0.269005 m/s, LOS rate: 0.503675 deg/s, cmd heading: 346.725947 deg, new cmd heading: 347.317495 deg. 2025-01-08T23:10:25.871Z,1736377825.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.061834 target range: 135.500000 and range: 135.50 m. 2025-01-08T23:10:26.024Z,1736377826.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:26.025Z,1736377826.025 [DAT](INFO): DAT read: Rx Time:23:10:24.8608 2025-01-08T23:10:26.026Z,1736377826.026 [DAT](INFO): Rx dataTimestamp_ set to:1736377826.025385 2025-01-08T23:10:26.026Z,1736377826.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024561 2025-01-08T23:10:26.276Z,1736377826.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:26.276Z,1736377826.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274764 2025-01-08T23:10:26.382Z,1736377826.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:26.405Z,1736377826.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:26.407Z,1736377826.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m. 2025-01-08T23:10:26.409Z,1736377826.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.500000 m, nav range: 68.236649 m, bearing: 81.460683 deg, approach rate: 0.270033 m/s, LOS rate: 0.479761 deg/s, cmd heading: 347.317496 deg, new cmd heading: 348.095082 deg. 2025-01-08T23:10:26.410Z,1736377826.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075405 target range: 135.500000 and range: 135.50 m. 2025-01-08T23:10:26.529Z,1736377826.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:26.541Z,1736377826.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538983 2025-01-08T23:10:26.743Z,1736377826.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:26.766Z,1736377826.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.50 m. 2025-01-08T23:10:26.770Z,1736377826.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.500000 m, nav range: 68.336601 m, bearing: 81.638957 deg, approach rate: 0.277956 m/s, LOS rate: 0.495032 deg/s, cmd heading: 348.095072 deg, new cmd heading: 348.629096 deg. 2025-01-08T23:10:26.771Z,1736377826.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.084725 target range: 135.500000 and range: 135.50 m. 2025-01-08T23:10:26.780Z,1736377826.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:26.787Z,1736377826.787 [DAT](INFO): DAT read: 23:10:24.8608 LVL= 22768, 28721, 25650, 32755, AGC= 62, IDX= 428,-0.30,-1.641,-2.424, 2.668,-2.616, PHS= 1.062, 0.238,-1.002, RAW= 53.4, -3.4, CAL= 56.7, -7.5, ROT= 93.3, 7.5 2025-01-08T23:10:26.788Z,1736377826.788 [DAT](INFO): got valid direction response: 23:10:24.8608 LVL= 22768, 28721, 25650, 32755, AGC= 62, IDX= 428,-0.30,-1.641,-2.424, 2.668,-2.616, PHS= 1.062, 0.238,-1.002, RAW= 53.4, -3.4, CAL= 56.7, -7.5, ROT= 93.3, 7.5 2025-01-08T23:10:26.789Z,1736377826.789 [DAT](INFO): DAT read: Bearing 93.3, 7.5 (Local) 2025-01-08T23:10:26.789Z,1736377826.789 [DAT](INFO): Local bearing/azimuth received: Bearing 93.3, 7.5 (Local) 2025-01-08T23:10:26.791Z,1736377826.791 [DAT](INFO): DAT read: Range 10 to 50 : 135.9 m (Round-trip 181.2 ms) speed 0.0 m/s 2025-01-08T23:10:26.791Z,1736377826.791 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:10:26.792Z,1736377826.792 [DAT](INFO): direction in FSK: [0.046633,0.657984,0.751587] 2025-01-08T23:10:26.792Z,1736377826.792 [DAT](INFO): publishing direction and range info 2025-01-08T23:10:26.812Z,1736377826.812 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:26.812Z,1736377826.812 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:26.812Z,1736377826.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:27.032Z,1736377827.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:27.032Z,1736377827.032 [DAT](INFO): DAT read: user:3056> 2025-01-08T23:10:27.033Z,1736377827.033 [DAT](INFO): DAT read: Tx time:23:10:26.2754 2025-01-08T23:10:27.034Z,1736377827.034 [DAT](INFO): Ping request sent. 2025-01-08T23:10:27.034Z,1736377827.034 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:27.034Z,1736377827.034 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:27.034Z,1736377827.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000716 2025-01-08T23:10:27.222Z,1736377827.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:27.258Z,1736377827.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.899994 m, deltaT: 4.030067 s, deltaX: 0.399994 m, approachRate: 0.099252 m/s, rangeRepo size: 4 2025-01-08T23:10:27.265Z,1736377827.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 135.899994 m, bearing: 64.822089 deg, lat: 36.904291 deg, lon: -122.119899 deg, deltaT: 4.030067 s, deltaX: 0.399994 m, approachRate: 0.099252 m/s, posRepo size: 4 2025-01-08T23:10:27.266Z,1736377827.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m. 2025-01-08T23:10:27.273Z,1736377827.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.899994 m, nav range: 72.577164 m, bearing: 69.058342 deg, approach rate: 0.000000 m/s, LOS rate: 0.495032 deg/s, cmd heading: 348.629084 deg, new cmd heading: 349.349524 deg. 2025-01-08T23:10:27.274Z,1736377827.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097300 target range: 135.899994 and range: 135.90 m. 2025-01-08T23:10:27.284Z,1736377827.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:27.285Z,1736377827.285 [DAT](INFO): DAT read: TxSync time:23:10:26.2747 2025-01-08T23:10:27.285Z,1736377827.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251635 2025-01-08T23:10:27.536Z,1736377827.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:27.537Z,1736377827.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502826 2025-01-08T23:10:27.574Z,1736377827.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:27.609Z,1736377827.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m. 2025-01-08T23:10:27.616Z,1736377827.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.899994 m, nav range: 72.625862 m, bearing: 69.235318 deg, approach rate: 0.136177 m/s, LOS rate: 0.494550 deg/s, cmd heading: 349.349532 deg, new cmd heading: 349.880088 deg. 2025-01-08T23:10:27.617Z,1736377827.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.106560 target range: 135.899994 and range: 135.90 m. 2025-01-08T23:10:27.788Z,1736377827.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:27.789Z,1736377827.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754894 2025-01-08T23:10:27.972Z,1736377827.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:27.981Z,1736377827.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m. 2025-01-08T23:10:27.984Z,1736377827.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.899994 m, nav range: 72.681992 m, bearing: 69.435957 deg, approach rate: 0.150995 m/s, LOS rate: 0.539324 deg/s, cmd heading: 349.880101 deg, new cmd heading: 350.481528 deg. 2025-01-08T23:10:27.984Z,1736377827.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.117057 target range: 135.899994 and range: 135.90 m. 2025-01-08T23:10:28.040Z,1736377828.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:28.041Z,1736377828.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007007 2025-01-08T23:10:28.292Z,1736377828.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:28.292Z,1736377828.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258781 2025-01-08T23:10:28.392Z,1736377828.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:28.417Z,1736377828.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:28.440Z,1736377828.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m. 2025-01-08T23:10:28.452Z,1736377828.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.899994 m, nav range: 72.731735 m, bearing: 69.641713 deg, approach rate: 0.113462 m/s, LOS rate: 0.468996 deg/s, cmd heading: 350.481540 deg, new cmd heading: 351.098363 deg. 2025-01-08T23:10:28.454Z,1736377828.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.127822 target range: 135.899994 and range: 135.90 m. 2025-01-08T23:10:28.544Z,1736377828.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:28.545Z,1736377828.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510921 2025-01-08T23:10:28.772Z,1736377828.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:28.781Z,1736377828.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m. 2025-01-08T23:10:28.784Z,1736377828.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.899994 m, nav range: 72.776047 m, bearing: 69.831909 deg, approach rate: 0.122521 m/s, LOS rate: 0.525568 deg/s, cmd heading: 351.098361 deg, new cmd heading: 351.668581 deg. 2025-01-08T23:10:28.785Z,1736377828.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137774 target range: 135.899994 and range: 135.90 m. 2025-01-08T23:10:28.796Z,1736377828.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:28.797Z,1736377828.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763184 2025-01-08T23:10:29.048Z,1736377829.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:29.048Z,1736377829.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014706 2025-01-08T23:10:29.237Z,1736377829.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:29.250Z,1736377829.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m. 2025-01-08T23:10:29.257Z,1736377829.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.899994 m, nav range: 72.827255 m, bearing: 70.062100 deg, approach rate: 0.109102 m/s, LOS rate: 0.490088 deg/s, cmd heading: 351.668573 deg, new cmd heading: 352.358625 deg. 2025-01-08T23:10:29.258Z,1736377829.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.149818 target range: 135.899994 and range: 135.90 m. 2025-01-08T23:10:29.300Z,1736377829.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:29.300Z,1736377829.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266713 2025-01-08T23:10:29.552Z,1736377829.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:29.552Z,1736377829.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518792 2025-01-08T23:10:29.626Z,1736377829.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:29.635Z,1736377829.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m. 2025-01-08T23:10:29.652Z,1736377829.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.899994 m, nav range: 72.857536 m, bearing: 70.251499 deg, approach rate: 0.078714 m/s, LOS rate: 0.492129 deg/s, cmd heading: 352.358613 deg, new cmd heading: 352.926556 deg. 2025-01-08T23:10:29.654Z,1736377829.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159730 target range: 135.899994 and range: 135.90 m. 2025-01-08T23:10:29.804Z,1736377829.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:29.805Z,1736377829.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771105 2025-01-08T23:10:29.994Z,1736377829.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:30.003Z,1736377830.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m. 2025-01-08T23:10:30.006Z,1736377830.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.899994 m, nav range: 72.884499 m, bearing: 70.430470 deg, approach rate: 0.073341 m/s, LOS rate: 0.486641 deg/s, cmd heading: 352.926557 deg, new cmd heading: 353.463253 deg. 2025-01-08T23:10:30.007Z,1736377830.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169097 target range: 135.899994 and range: 135.90 m. 2025-01-08T23:10:30.056Z,1736377830.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:30.058Z,1736377830.058 [DAT](INFO): DAT read: Rx Time:23:10:28.8606 2025-01-08T23:10:30.058Z,1736377830.058 [DAT](INFO): Rx dataTimestamp_ set to:1736377830.058089 2025-01-08T23:10:30.059Z,1736377830.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025773 2025-01-08T23:10:30.308Z,1736377830.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:30.309Z,1736377830.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275154 2025-01-08T23:10:30.450Z,1736377830.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:30.477Z,1736377830.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:30.480Z,1736377830.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m. 2025-01-08T23:10:30.482Z,1736377830.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.899994 m, nav range: 72.861610 m, bearing: 70.643659 deg, approach rate: -0.047995 m/s, LOS rate: 0.447182 deg/s, cmd heading: 353.463246 deg, new cmd heading: 354.102987 deg. 2025-01-08T23:10:30.484Z,1736377830.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180263 target range: 135.899994 and range: 135.90 m. 2025-01-08T23:10:30.561Z,1736377830.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:30.580Z,1736377830.580 [DAT](INFO): DAT read: 23:10:28.8606 LVL= 16208, 24721, 17490, 24179, AGC= 58, IDX= 440, 0.15,-1.027,-2.165,-3.095,-2.308, PHS= 1.369, 0.189,-0.790, RAW= 63.1, -8.3, CAL= 72.0, -15.4, ROT= 78.0, 15.4 2025-01-08T23:10:30.582Z,1736377830.582 [DAT](INFO): got valid direction response: 23:10:28.8606 LVL= 16208, 24721, 17490, 24179, AGC= 58, IDX= 440, 0.15,-1.027,-2.165,-3.095,-2.308, PHS= 1.369, 0.189,-0.790, RAW= 63.1, -8.3, CAL= 72.0, -15.4, ROT= 78.0, 15.4 2025-01-08T23:10:30.583Z,1736377830.583 [DAT](INFO): DAT read: Bearing 78.0, 15.4 (Local) 2025-01-08T23:10:30.583Z,1736377830.583 [DAT](INFO): Local bearing/azimuth received: Bearing 78.0, 15.4 (Local) 2025-01-08T23:10:30.585Z,1736377830.585 [DAT](INFO): DAT read: Range 10 to 50 : 135.6 m (Round-trip 180.9 ms) speed 0.0 m/s 2025-01-08T23:10:30.585Z,1736377830.585 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:10:30.586Z,1736377830.586 [DAT](INFO): direction in FSK: [0.118314,0.520529,0.845607] 2025-01-08T23:10:30.587Z,1736377830.587 [DAT](INFO): publishing direction and range info 2025-01-08T23:10:30.591Z,1736377830.591 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:30.591Z,1736377830.591 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:30.591Z,1736377830.591 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:30.813Z,1736377830.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:30.814Z,1736377830.814 [DAT](INFO): DAT read: user:3057> 2025-01-08T23:10:30.816Z,1736377830.816 [DAT](INFO): DAT read: Tx time:23:10:30.0755 2025-01-08T23:10:30.817Z,1736377830.817 [DAT](INFO): Ping request sent. 2025-01-08T23:10:30.817Z,1736377830.817 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:30.817Z,1736377830.817 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:30.818Z,1736377830.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000905 2025-01-08T23:10:30.878Z,1736377830.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:30.917Z,1736377830.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.600006 m, deltaT: 3.782150 s, deltaX: -0.299988 m, approachRate: -0.079317 m/s, rangeRepo size: 4 2025-01-08T23:10:30.925Z,1736377830.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 135.600006 m, bearing: 53.945932 deg, lat: 36.904325 deg, lon: -122.119899 deg, deltaT: 3.782150 s, deltaX: -0.299988 m, approachRate: -0.079317 m/s, posRepo size: 4 2025-01-08T23:10:30.925Z,1736377830.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-01-08T23:10:30.932Z,1736377830.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.600006 m, nav range: 74.158669 m, bearing: 68.096315 deg, approach rate: 0.000000 m/s, LOS rate: 0.447182 deg/s, cmd heading: 354.102989 deg, new cmd heading: 354.689633 deg. 2025-01-08T23:10:30.933Z,1736377830.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.190502 target range: 135.600006 and range: 135.60 m. 2025-01-08T23:10:31.064Z,1736377831.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:31.064Z,1736377831.064 [DAT](INFO): DAT read: TxSync time:23:10:30.0748 2025-01-08T23:10:31.065Z,1736377831.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248344 2025-01-08T23:10:31.316Z,1736377831.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:31.316Z,1736377831.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499459 2025-01-08T23:10:31.381Z,1736377831.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:31.398Z,1736377831.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-01-08T23:10:31.405Z,1736377831.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.600006 m, nav range: 74.150642 m, bearing: 68.316949 deg, approach rate: -0.016674 m/s, LOS rate: 0.458406 deg/s, cmd heading: 354.689620 deg, new cmd heading: 355.351562 deg. 2025-01-08T23:10:31.406Z,1736377831.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202055 target range: 135.600006 and range: 135.60 m. 2025-01-08T23:10:31.532Z,1736377831.532 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:10:31.568Z,1736377831.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:31.568Z,1736377831.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751412 2025-01-08T23:10:31.737Z,1736377831.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:31.750Z,1736377831.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-01-08T23:10:31.761Z,1736377831.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.600006 m, nav range: 74.141701 m, bearing: 68.473074 deg, approach rate: -0.025509 m/s, LOS rate: 0.445448 deg/s, cmd heading: 355.351575 deg, new cmd heading: 355.819995 deg. 2025-01-08T23:10:31.765Z,1736377831.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210230 target range: 135.600006 and range: 135.60 m. 2025-01-08T23:10:31.821Z,1736377831.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:31.822Z,1736377831.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005389 2025-01-08T23:10:32.072Z,1736377832.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:32.072Z,1736377832.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255528 2025-01-08T23:10:32.144Z,1736377832.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:32.161Z,1736377832.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-01-08T23:10:32.168Z,1736377832.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.600006 m, nav range: 74.129890 m, bearing: 68.651677 deg, approach rate: -0.028617 m/s, LOS rate: 0.432826 deg/s, cmd heading: 355.819989 deg, new cmd heading: 356.355867 deg. 2025-01-08T23:10:32.170Z,1736377832.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219583 target range: 135.600006 and range: 135.60 m. 2025-01-08T23:10:32.324Z,1736377832.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:32.324Z,1736377832.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507564 2025-01-08T23:10:32.535Z,1736377832.535 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:10:32.574Z,1736377832.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:32.576Z,1736377832.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:32.577Z,1736377832.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760057 2025-01-08T23:10:32.583Z,1736377832.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:32.585Z,1736377832.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-01-08T23:10:32.589Z,1736377832.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.600006 m, nav range: 74.100212 m, bearing: 68.837579 deg, approach rate: -0.070048 m/s, LOS rate: 0.438950 deg/s, cmd heading: 356.355858 deg, new cmd heading: 356.913768 deg. 2025-01-08T23:10:32.590Z,1736377832.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229321 target range: 135.600006 and range: 135.60 m. 2025-01-08T23:10:32.828Z,1736377832.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:32.828Z,1736377832.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011530 2025-01-08T23:10:32.951Z,1736377832.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:32.960Z,1736377832.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-01-08T23:10:32.963Z,1736377832.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.600006 m, nav range: 74.072525 m, bearing: 69.000758 deg, approach rate: -0.073717 m/s, LOS rate: 0.434628 deg/s, cmd heading: 356.913775 deg, new cmd heading: 357.403484 deg. 2025-01-08T23:10:32.964Z,1736377832.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.237867 target range: 135.600006 and range: 135.60 m. 2025-01-08T23:10:33.080Z,1736377833.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:33.082Z,1736377833.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264362 2025-01-08T23:10:33.332Z,1736377833.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:33.334Z,1736377833.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516310 2025-01-08T23:10:33.437Z,1736377833.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:33.446Z,1736377833.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-01-08T23:10:33.449Z,1736377833.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.600006 m, nav range: 74.023491 m, bearing: 69.207876 deg, approach rate: -0.100956 m/s, LOS rate: 0.426716 deg/s, cmd heading: 357.403473 deg, new cmd heading: 358.025213 deg. 2025-01-08T23:10:33.450Z,1736377833.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.248719 target range: 135.600006 and range: 135.60 m. 2025-01-08T23:10:33.588Z,1736377833.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:33.588Z,1736377833.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771541 2025-01-08T23:10:33.782Z,1736377833.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:33.816Z,1736377833.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-01-08T23:10:33.823Z,1736377833.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.600006 m, nav range: 73.984848 m, bearing: 69.354126 deg, approach rate: -0.104371 m/s, LOS rate: 0.395215 deg/s, cmd heading: 358.025211 deg, new cmd heading: 358.464182 deg. 2025-01-08T23:10:33.824Z,1736377833.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.256380 target range: 135.600006 and range: 135.60 m. 2025-01-08T23:10:33.840Z,1736377833.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:33.841Z,1736377833.841 [DAT](INFO): DAT read: Rx Time:23:10:32.6598 2025-01-08T23:10:33.841Z,1736377833.841 [DAT](INFO): Rx dataTimestamp_ set to:1736377833.840820 2025-01-08T23:10:33.842Z,1736377833.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024736 2025-01-08T23:10:34.092Z,1736377834.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:34.092Z,1736377834.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275537 2025-01-08T23:10:34.181Z,1736377834.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:34.211Z,1736377834.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-01-08T23:10:34.238Z,1736377834.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.600006 m, nav range: 73.938423 m, bearing: 69.523430 deg, approach rate: -0.118341 m/s, LOS rate: 0.431840 deg/s, cmd heading: 358.464174 deg, new cmd heading: 358.972390 deg. 2025-01-08T23:10:34.239Z,1736377834.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265250 target range: 135.600006 and range: 135.60 m. 2025-01-08T23:10:34.346Z,1736377834.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:34.356Z,1736377834.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538467 2025-01-08T23:10:34.596Z,1736377834.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:34.602Z,1736377834.602 [DAT](INFO): DAT read: 23:10:32.6598 LVL= 15984, 24561, 17970, 25875, AGC= 57, IDX= 433,-0.27,-2.001, 2.817, 2.226, 3.012, PHS= 1.358,-0.148,-0.789, RAW= 73.1, -4.5, CAL= 81.1, -10.7, ROT= 68.9, 10.7 2025-01-08T23:10:34.604Z,1736377834.604 [DAT](INFO): got valid direction response: 23:10:32.6598 LVL= 15984, 24561, 17970, 25875, AGC= 57, IDX= 433,-0.27,-2.001, 2.817, 2.226, 3.012, PHS= 1.358,-0.148,-0.789, RAW= 73.1, -4.5, CAL= 81.1, -10.7, ROT= 68.9, 10.7 2025-01-08T23:10:34.605Z,1736377834.605 [DAT](INFO): DAT read: Bearing 68.9, 10.7 (Local) 2025-01-08T23:10:34.605Z,1736377834.605 [DAT](INFO): Local bearing/azimuth received: Bearing 68.9, 10.7 (Local) 2025-01-08T23:10:34.607Z,1736377834.607 [DAT](INFO): DAT read: Range 10 to 50 : 135.0 m (Round-trip 180.1 ms) speed 0.1 m/s 2025-01-08T23:10:34.607Z,1736377834.607 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:10:34.608Z,1736377834.608 [DAT](INFO): direction in FSK: [0.028747,0.380924,0.924159] 2025-01-08T23:10:34.609Z,1736377834.609 [DAT](INFO): publishing direction and range info 2025-01-08T23:10:34.630Z,1736377834.630 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:34.630Z,1736377834.630 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:34.630Z,1736377834.630 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:34.815Z,1736377834.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:34.829Z,1736377834.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.000000 m, deltaT: 4.033672 s, deltaX: -0.600006 m, approachRate: -0.148749 m/s, rangeRepo size: 4 2025-01-08T23:10:34.848Z,1736377834.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:34.849Z,1736377834.849 [DAT](INFO): DAT read: user:3058> 2025-01-08T23:10:34.849Z,1736377834.849 [DAT](INFO): DAT read: Tx time:23:10:34.1255 2025-01-08T23:10:34.850Z,1736377834.850 [DAT](INFO): Ping request sent. 2025-01-08T23:10:34.850Z,1736377834.850 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:34.850Z,1736377834.850 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:34.851Z,1736377834.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000711 2025-01-08T23:10:34.856Z,1736377834.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 135.000000 m, bearing: 61.973905 deg, lat: 36.904325 deg, lon: -122.119950 deg, deltaT: 4.033672 s, deltaX: -0.600006 m, approachRate: -0.148749 m/s, posRepo size: 4 2025-01-08T23:10:34.857Z,1736377834.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:34.863Z,1736377834.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 69.558334 m, bearing: 68.481067 deg, approach rate: 0.000000 m/s, LOS rate: 0.431840 deg/s, cmd heading: 358.972394 deg, new cmd heading: 359.775575 deg. 2025-01-08T23:10:34.864Z,1736377834.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279268 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:35.100Z,1736377835.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:35.101Z,1736377835.101 [DAT](INFO): DAT read: TxSync time:23:10:34.1248 2025-01-08T23:10:35.101Z,1736377835.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251613 2025-01-08T23:10:35.174Z,1736377835.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:35.181Z,1736377835.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:35.183Z,1736377835.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:35.187Z,1736377835.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 69.503311 m, bearing: 68.640081 deg, approach rate: -0.155185 m/s, LOS rate: 0.448829 deg/s, cmd heading: 359.775570 deg, new cmd heading: 0.252978 deg. 2025-01-08T23:10:35.188Z,1736377835.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004415 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:35.352Z,1736377835.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:35.353Z,1736377835.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502849 2025-01-08T23:10:35.592Z,1736377835.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:35.601Z,1736377835.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:35.604Z,1736377835.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:35.605Z,1736377835.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754936 2025-01-08T23:10:35.606Z,1736377835.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 69.436340 m, bearing: 68.822438 deg, approach rate: -0.160343 m/s, LOS rate: 0.437024 deg/s, cmd heading: 0.252978 deg, new cmd heading: 0.800559 deg. 2025-01-08T23:10:35.608Z,1736377835.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013972 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:35.856Z,1736377835.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:35.857Z,1736377835.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007300 2025-01-08T23:10:35.954Z,1736377835.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:35.963Z,1736377835.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:35.967Z,1736377835.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 69.376167 m, bearing: 68.980076 deg, approach rate: -0.166363 m/s, LOS rate: 0.436205 deg/s, cmd heading: 0.800559 deg, new cmd heading: 1.273872 deg. 2025-01-08T23:10:35.968Z,1736377835.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022233 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:36.108Z,1736377836.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:36.108Z,1736377836.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258526 2025-01-08T23:10:36.360Z,1736377836.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:36.361Z,1736377836.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511010 2025-01-08T23:10:36.423Z,1736377836.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:36.431Z,1736377836.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:36.434Z,1736377836.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 69.294189 m, bearing: 69.188335 deg, approach rate: -0.175041 m/s, LOS rate: 0.445207 deg/s, cmd heading: 1.273872 deg, new cmd heading: 1.899363 deg. 2025-01-08T23:10:36.435Z,1736377836.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.033150 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:36.612Z,1736377836.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:36.612Z,1736377836.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762485 2025-01-08T23:10:36.771Z,1736377836.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:36.788Z,1736377836.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:36.791Z,1736377836.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 69.230507 m, bearing: 69.342645 deg, approach rate: -0.178158 m/s, LOS rate: 0.432095 deg/s, cmd heading: 1.899364 deg, new cmd heading: 2.362709 deg. 2025-01-08T23:10:36.792Z,1736377836.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041237 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:36.864Z,1736377836.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:36.864Z,1736377836.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014554 2025-01-08T23:10:37.116Z,1736377837.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:37.117Z,1736377837.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266757 2025-01-08T23:10:37.174Z,1736377837.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:37.184Z,1736377837.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:37.186Z,1736377837.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:37.189Z,1736377837.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 69.155418 m, bearing: 69.521291 deg, approach rate: -0.189041 m/s, LOS rate: 0.450240 deg/s, cmd heading: 2.362709 deg, new cmd heading: 2.899210 deg. 2025-01-08T23:10:37.190Z,1736377837.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050601 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:37.368Z,1736377837.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:37.368Z,1736377837.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518551 2025-01-08T23:10:37.612Z,1736377837.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:37.628Z,1736377837.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:37.629Z,1736377837.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778783 2025-01-08T23:10:37.632Z,1736377837.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:37.634Z,1736377837.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 69.080963 m, bearing: 69.720293 deg, approach rate: -0.166829 m/s, LOS rate: 0.446376 deg/s, cmd heading: 2.899210 deg, new cmd heading: 3.496839 deg. 2025-01-08T23:10:37.640Z,1736377837.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061031 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:37.880Z,1736377837.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:37.880Z,1736377837.880 [DAT](INFO): DAT read: Rx Time:23:10:36.7088 2025-01-08T23:10:37.881Z,1736377837.881 [DAT](INFO): Rx dataTimestamp_ set to:1736377837.880550 2025-01-08T23:10:37.881Z,1736377837.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031492 2025-01-08T23:10:37.976Z,1736377837.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:37.991Z,1736377837.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:37.993Z,1736377837.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 69.017471 m, bearing: 69.886625 deg, approach rate: -0.177030 m/s, LOS rate: 0.464195 deg/s, cmd heading: 3.496839 deg, new cmd heading: 3.996279 deg. 2025-01-08T23:10:37.994Z,1736377837.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069748 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:38.132Z,1736377838.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:38.132Z,1736377838.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282510 2025-01-08T23:10:38.385Z,1736377838.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:38.411Z,1736377838.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.550904 2025-01-08T23:10:38.485Z,1736377838.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:38.495Z,1736377838.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:38.498Z,1736377838.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.937309 m, bearing: 70.125824 deg, approach rate: -0.159031 m/s, LOS rate: 0.475092 deg/s, cmd heading: 3.996279 deg, new cmd heading: 4.714673 deg. 2025-01-08T23:10:38.499Z,1736377838.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.082287 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:38.636Z,1736377838.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:38.642Z,1736377838.642 [DAT](INFO): DAT read: 23:10:36.7088 LVL= 18656, 29521, 22706, 31123, AGC= 59, IDX= 439, 0.35, 1.298,-0.336,-0.515, 0.097, PHS= 1.289,-0.386,-0.615, RAW= 83.7, -3.2, CAL= 91.7, -9.5, ROT= 58.3, 9.5 2025-01-08T23:10:38.644Z,1736377838.644 [DAT](INFO): got valid direction response: 23:10:36.7088 LVL= 18656, 29521, 22706, 31123, AGC= 59, IDX= 439, 0.35, 1.298,-0.336,-0.515, 0.097, PHS= 1.289,-0.386,-0.615, RAW= 83.7, -3.2, CAL= 91.7, -9.5, ROT= 58.3, 9.5 2025-01-08T23:10:38.645Z,1736377838.645 [DAT](INFO): DAT read: Bearing 58.3, 9.5 (Local) 2025-01-08T23:10:38.645Z,1736377838.645 [DAT](INFO): Local bearing/azimuth received: Bearing 58.3, 9.5 (Local) 2025-01-08T23:10:38.646Z,1736377838.646 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T23:10:38.648Z,1736377838.648 [DAT](INFO): direction in FSK: [-0.013042,0.211816,0.977223] 2025-01-08T23:10:38.662Z,1736377838.662 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:38.662Z,1736377838.662 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:38.662Z,1736377838.662 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:38.823Z,1736377838.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:38.839Z,1736377838.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:38.846Z,1736377838.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.881470 m, bearing: 70.284343 deg, approach rate: -0.162216 m/s, LOS rate: 0.460877 deg/s, cmd heading: 4.714673 deg, new cmd heading: 5.190604 deg. 2025-01-08T23:10:38.850Z,1736377838.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.090593 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:38.891Z,1736377838.891 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:38.892Z,1736377838.892 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:38.892Z,1736377838.892 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:38.892Z,1736377838.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:39.140Z,1736377839.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:39.140Z,1736377839.140 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:39.140Z,1736377839.140 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:39.140Z,1736377839.140 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:39.180Z,1736377839.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:39.216Z,1736377839.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:39.218Z,1736377839.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:39.225Z,1736377839.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.821503 m, bearing: 70.451788 deg, approach rate: -0.158222 m/s, LOS rate: 0.442183 deg/s, cmd heading: 5.190604 deg, new cmd heading: 5.693361 deg. 2025-01-08T23:10:39.226Z,1736377839.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.099368 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:39.392Z,1736377839.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:39.392Z,1736377839.392 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:39.392Z,1736377839.392 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:39.393Z,1736377839.393 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:39.623Z,1736377839.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:39.632Z,1736377839.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:39.634Z,1736377839.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.746162 m, bearing: 70.665204 deg, approach rate: -0.182271 m/s, LOS rate: 0.516884 deg/s, cmd heading: 5.693361 deg, new cmd heading: 6.334282 deg. 2025-01-08T23:10:39.635Z,1736377839.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110554 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:39.648Z,1736377839.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:39.649Z,1736377839.649 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:39.650Z,1736377839.650 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:39.650Z,1736377839.650 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:39.901Z,1736377839.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:39.902Z,1736377839.902 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:39.902Z,1736377839.902 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:39.902Z,1736377839.902 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:39.993Z,1736377839.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:40.001Z,1736377840.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:40.028Z,1736377840.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.682312 m, bearing: 70.843186 deg, approach rate: -0.172690 m/s, LOS rate: 0.481820 deg/s, cmd heading: 6.334282 deg, new cmd heading: 6.868709 deg. 2025-01-08T23:10:40.029Z,1736377840.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119882 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:40.152Z,1736377840.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:40.152Z,1736377840.152 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:40.152Z,1736377840.152 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:40.152Z,1736377840.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:40.405Z,1736377840.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:40.405Z,1736377840.405 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:40.406Z,1736377840.406 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:40.406Z,1736377840.406 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:40.470Z,1736377840.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:40.479Z,1736377840.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:40.482Z,1736377840.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.616936 m, bearing: 71.061464 deg, approach rate: -0.136719 m/s, LOS rate: 0.456910 deg/s, cmd heading: 6.868709 deg, new cmd heading: 7.524136 deg. 2025-01-08T23:10:40.483Z,1736377840.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.131321 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:40.656Z,1736377840.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:40.657Z,1736377840.657 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:40.657Z,1736377840.657 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:40.657Z,1736377840.657 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:40.809Z,1736377840.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:40.833Z,1736377840.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:40.836Z,1736377840.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.569435 m, bearing: 71.216568 deg, approach rate: -0.134297 m/s, LOS rate: 0.438827 deg/s, cmd heading: 7.524136 deg, new cmd heading: 7.989761 deg. 2025-01-08T23:10:40.837Z,1736377840.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.139448 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:40.908Z,1736377840.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:40.908Z,1736377840.908 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:40.908Z,1736377840.908 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:40.909Z,1736377840.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:41.160Z,1736377841.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:41.160Z,1736377841.160 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:41.160Z,1736377841.160 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:41.160Z,1736377841.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:41.235Z,1736377841.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:41.243Z,1736377841.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:41.245Z,1736377841.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:41.248Z,1736377841.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.510323 m, bearing: 71.412239 deg, approach rate: -0.143465 m/s, LOS rate: 0.475298 deg/s, cmd heading: 7.989761 deg, new cmd heading: 8.577259 deg. 2025-01-08T23:10:41.249Z,1736377841.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.149701 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:41.412Z,1736377841.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:41.412Z,1736377841.412 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:41.412Z,1736377841.412 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:41.412Z,1736377841.412 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:41.651Z,1736377841.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:41.664Z,1736377841.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:41.665Z,1736377841.665 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:41.665Z,1736377841.665 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:41.665Z,1736377841.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:41.670Z,1736377841.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:41.675Z,1736377841.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.463646 m, bearing: 71.591809 deg, approach rate: -0.109899 m/s, LOS rate: 0.423080 deg/s, cmd heading: 8.577258 deg, new cmd heading: 9.116317 deg. 2025-01-08T23:10:41.677Z,1736377841.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.159110 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:41.916Z,1736377841.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:41.916Z,1736377841.916 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:41.916Z,1736377841.916 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:41.916Z,1736377841.916 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:42.020Z,1736377842.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:42.030Z,1736377842.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:42.033Z,1736377842.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.417984 m, bearing: 71.750215 deg, approach rate: -0.126776 m/s, LOS rate: 0.440094 deg/s, cmd heading: 9.116317 deg, new cmd heading: 9.591843 deg. 2025-01-08T23:10:42.033Z,1736377842.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167409 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:42.168Z,1736377842.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:42.168Z,1736377842.168 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:42.168Z,1736377842.168 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:42.168Z,1736377842.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:42.422Z,1736377842.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:42.425Z,1736377842.425 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:42.426Z,1736377842.426 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:42.438Z,1736377842.438 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:42.510Z,1736377842.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:42.520Z,1736377842.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:42.522Z,1736377842.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.358307 m, bearing: 71.965126 deg, approach rate: -0.121963 m/s, LOS rate: 0.439598 deg/s, cmd heading: 9.591843 deg, new cmd heading: 10.237108 deg. 2025-01-08T23:10:42.524Z,1736377842.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178671 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:42.673Z,1736377842.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:42.674Z,1736377842.674 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:42.674Z,1736377842.674 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:42.674Z,1736377842.674 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:42.821Z,1736377842.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:42.829Z,1736377842.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:42.834Z,1736377842.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.318245 m, bearing: 72.100526 deg, approach rate: -0.129250 m/s, LOS rate: 0.437092 deg/s, cmd heading: 10.237108 deg, new cmd heading: 10.643539 deg. 2025-01-08T23:10:42.835Z,1736377842.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.185765 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:42.924Z,1736377842.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:42.924Z,1736377842.924 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:42.924Z,1736377842.924 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:42.925Z,1736377842.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:43.176Z,1736377843.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:43.176Z,1736377843.176 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:43.176Z,1736377843.176 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:43.177Z,1736377843.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:43.292Z,1736377843.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:43.308Z,1736377843.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:43.310Z,1736377843.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:43.328Z,1736377843.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.258095 m, bearing: 72.306581 deg, approach rate: -0.125143 m/s, LOS rate: 0.429075 deg/s, cmd heading: 10.643539 deg, new cmd heading: 11.262224 deg. 2025-01-08T23:10:43.329Z,1736377843.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.196563 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:43.430Z,1736377843.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:43.433Z,1736377843.433 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:43.433Z,1736377843.433 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:43.433Z,1736377843.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:43.680Z,1736377843.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:43.681Z,1736377843.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:43.681Z,1736377843.681 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:43.681Z,1736377843.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:43.756Z,1736377843.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:10:43.756Z,1736377843.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:43.766Z,1736377843.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:43.770Z,1736377843.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.195343 m, bearing: 72.508342 deg, approach rate: -0.137430 m/s, LOS rate: 0.442274 deg/s, cmd heading: 11.262225 deg, new cmd heading: 11.868040 deg. 2025-01-08T23:10:43.772Z,1736377843.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.207136 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:43.934Z,1736377843.934 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:43.935Z,1736377843.935 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:43.935Z,1736377843.935 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:43.935Z,1736377843.935 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:44.122Z,1736377844.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:10:44.122Z,1736377844.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:44.131Z,1736377844.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:44.134Z,1736377844.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.144363 m, bearing: 72.667909 deg, approach rate: -0.139897 m/s, LOS rate: 0.438209 deg/s, cmd heading: 11.868039 deg, new cmd heading: 12.347088 deg. 2025-01-08T23:10:44.134Z,1736377844.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.215497 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:44.184Z,1736377844.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:44.185Z,1736377844.185 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:44.185Z,1736377844.185 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:44.185Z,1736377844.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:44.438Z,1736377844.438 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:44.439Z,1736377844.439 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:44.440Z,1736377844.440 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:44.440Z,1736377844.440 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:44.557Z,1736377844.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:44.566Z,1736377844.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:44.568Z,1736377844.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.077110 m, bearing: 72.890128 deg, approach rate: -0.154664 m/s, LOS rate: 0.511547 deg/s, cmd heading: 12.347087 deg, new cmd heading: 13.014373 deg. 2025-01-08T23:10:44.570Z,1736377844.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227144 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:44.688Z,1736377844.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:44.689Z,1736377844.689 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:44.689Z,1736377844.689 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:44.689Z,1736377844.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:10:44.934Z,1736377844.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:44.940Z,1736377844.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:44.940Z,1736377844.940 [DAT](INFO): Reached modem response timeout 2025-01-08T23:10:44.940Z,1736377844.940 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:10:44.941Z,1736377844.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:44.946Z,1736377844.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:44.952Z,1736377844.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 68.017525 m, bearing: 73.082407 deg, approach rate: -0.156677 m/s, LOS rate: 0.506026 deg/s, cmd heading: 13.014373 deg, new cmd heading: 13.591692 deg. 2025-01-08T23:10:44.954Z,1736377844.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.237220 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:45.193Z,1736377845.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:45.194Z,1736377845.194 [DAT](INFO): DAT read: Range 10 to 503059> 2025-01-08T23:10:45.194Z,1736377845.194 [DAT](INFO): unknown deviceResponse_: Range 10 to 503059> 2025-01-08T23:10:45.195Z,1736377845.195 [DAT](INFO): DAT read: Tx time:23:10:44.4256 2025-01-08T23:10:45.195Z,1736377845.195 [DAT](INFO): Ping request sent. 2025-01-08T23:10:45.196Z,1736377845.196 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:45.196Z,1736377845.196 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:45.196Z,1736377845.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732 2025-01-08T23:10:45.328Z,1736377845.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:45.359Z,1736377845.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:45.361Z,1736377845.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:45.368Z,1736377845.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 67.953522 m, bearing: 73.283730 deg, approach rate: -0.153985 m/s, LOS rate: 0.484818 deg/s, cmd heading: 13.591692 deg, new cmd heading: 14.196206 deg. 2025-01-08T23:10:45.370Z,1736377845.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.247771 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:45.445Z,1736377845.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:45.448Z,1736377845.448 [DAT](INFO): DAT read: TxSync time:23:10:44.4249 2025-01-08T23:10:45.451Z,1736377845.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254301 2025-01-08T23:10:45.696Z,1736377845.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:45.697Z,1736377845.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501823 2025-01-08T23:10:45.786Z,1736377845.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:45.796Z,1736377845.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:45.798Z,1736377845.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 67.876976 m, bearing: 73.503095 deg, approach rate: -0.176450 m/s, LOS rate: 0.506242 deg/s, cmd heading: 14.196207 deg, new cmd heading: 14.855014 deg. 2025-01-08T23:10:45.800Z,1736377845.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.259269 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:45.948Z,1736377845.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:45.948Z,1736377845.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752845 2025-01-08T23:10:46.135Z,1736377846.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:46.145Z,1736377846.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:46.163Z,1736377846.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 67.815536 m, bearing: 73.670173 deg, approach rate: -0.175916 m/s, LOS rate: 0.478816 deg/s, cmd heading: 14.855014 deg, new cmd heading: 15.356688 deg. 2025-01-08T23:10:46.164Z,1736377846.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.268025 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:46.204Z,1736377846.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:46.205Z,1736377846.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009087 2025-01-08T23:10:46.454Z,1736377846.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:46.456Z,1736377846.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259826 2025-01-08T23:10:46.568Z,1736377846.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:46.577Z,1736377846.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:46.580Z,1736377846.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 67.748444 m, bearing: 73.858897 deg, approach rate: -0.154994 m/s, LOS rate: 0.436410 deg/s, cmd heading: 15.356688 deg, new cmd heading: 15.923403 deg. 2025-01-08T23:10:46.581Z,1736377846.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.277916 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:46.704Z,1736377846.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:46.705Z,1736377846.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509428 2025-01-08T23:10:46.956Z,1736377846.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:46.959Z,1736377846.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762467 2025-01-08T23:10:47.006Z,1736377847.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:47.037Z,1736377847.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:47.044Z,1736377847.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 67.679062 m, bearing: 74.050003 deg, approach rate: -0.151102 m/s, LOS rate: 0.416623 deg/s, cmd heading: 15.923403 deg, new cmd heading: 16.497286 deg. 2025-01-08T23:10:47.045Z,1736377847.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.287932 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:47.208Z,1736377847.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:47.208Z,1736377847.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012879 2025-01-08T23:10:47.399Z,1736377847.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:47.409Z,1736377847.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:47.413Z,1736377847.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:47.444Z,1736377847.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 67.613647 m, bearing: 74.220342 deg, approach rate: -0.173610 m/s, LOS rate: 0.452518 deg/s, cmd heading: 16.497287 deg, new cmd heading: 17.008785 deg. 2025-01-08T23:10:47.453Z,1736377847.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.296859 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:47.462Z,1736377847.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:47.464Z,1736377847.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268233 2025-01-08T23:10:47.712Z,1736377847.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:47.713Z,1736377847.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517375 2025-01-08T23:10:47.915Z,1736377847.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:47.932Z,1736377847.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:47.935Z,1736377847.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 67.515831 m, bearing: 74.442457 deg, approach rate: -0.188974 m/s, LOS rate: 0.429728 deg/s, cmd heading: 17.008785 deg, new cmd heading: 17.676062 deg. 2025-01-08T23:10:47.956Z,1736377847.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.308505 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:47.964Z,1736377847.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:47.965Z,1736377847.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768967 2025-01-08T23:10:48.216Z,1736377848.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:48.216Z,1736377848.216 [DAT](INFO): DAT read: Rx Time:23:10:47.0057 2025-01-08T23:10:48.217Z,1736377848.217 [DAT](INFO): Rx dataTimestamp_ set to:1736377848.216528 2025-01-08T23:10:48.217Z,1736377848.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021774 2025-01-08T23:10:48.309Z,1736377848.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:48.323Z,1736377848.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:10:48.326Z,1736377848.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 67.439476 m, bearing: 74.612107 deg, approach rate: -0.194830 m/s, LOS rate: 0.433375 deg/s, cmd heading: 17.676062 deg, new cmd heading: 18.185575 deg. 2025-01-08T23:10:48.327Z,1736377848.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.317398 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:10:48.470Z,1736377848.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:48.472Z,1736377848.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276403 2025-01-08T23:10:48.720Z,1736377848.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:48.727Z,1736377848.727 [DAT](INFO): DAT read: 23:10:47.0057 LVL= 14992, 32753, 26226, 32755, AGC= 60, IDX= 405, 0.45,-2.505, 2.224, 2.469, 2.953, PHS= 0.913,-0.681,-0.486, RAW= 96.4, 3.4, CAL= 105.7, 1.5, ROT= 44.3, -1.5 2025-01-08T23:10:48.728Z,1736377848.728 [DAT](INFO): got valid direction response: 23:10:47.0057 LVL= 14992, 32753, 26226, 32755, AGC= 60, IDX= 405, 0.45,-2.505, 2.224, 2.469, 2.953, PHS= 0.913,-0.681,-0.486, RAW= 96.4, 3.4, CAL= 105.7, 1.5, ROT= 44.3, -1.5 2025-01-08T23:10:48.729Z,1736377848.729 [DAT](INFO): DAT read: Bearing 44.3, -1.5 (Local) 2025-01-08T23:10:48.729Z,1736377848.729 [DAT](INFO): Local bearing/azimuth received: Bearing 44.3, -1.5 (Local) 2025-01-08T23:10:48.731Z,1736377848.731 [DAT](INFO): DAT read: Range 10 to 50 : 131.8 m (Round-trip 175.8 ms) speed 0.2 m/s 2025-01-08T23:10:48.731Z,1736377848.731 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:10:48.732Z,1736377848.732 [DAT](INFO): direction in FSK: [-0.159948,-0.001109,0.987125] 2025-01-08T23:10:48.733Z,1736377848.733 [DAT](INFO): publishing direction and range info 2025-01-08T23:10:48.737Z,1736377848.737 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:48.737Z,1736377848.737 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:48.737Z,1736377848.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:48.791Z,1736377848.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:48.845Z,1736377848.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.800003 m, deltaT: 14.124721 s, deltaX: -3.199997 m, approachRate: -0.226553 m/s, rangeRepo size: 4 2025-01-08T23:10:48.847Z,1736377848.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.800003 m, bearing: 240.593692 deg, lat: 36.904325 deg, lon: -122.120239 deg, deltaT: 14.124721 s, deltaX: -3.199997 m, approachRate: -0.226553 m/s, posRepo size: 4 2025-01-08T23:10:48.854Z,1736377848.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.80 m. 2025-01-08T23:10:48.871Z,1736377848.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.800003 m, nav range: 43.066772 m, bearing: 65.834716 deg, approach rate: 0.000000 m/s, LOS rate: 0.433375 deg/s, cmd heading: 18.185575 deg, new cmd heading: 18.862938 deg. 2025-01-08T23:10:48.873Z,1736377848.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329220 target range: 131.800003 and range: 131.80 m. 2025-01-08T23:10:48.972Z,1736377848.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:48.973Z,1736377848.973 [DAT](INFO): DAT read: user:3060> 2025-01-08T23:10:48.974Z,1736377848.974 [DAT](INFO): DAT read: Tx time:23:10:48.2257 2025-01-08T23:10:48.974Z,1736377848.974 [DAT](INFO): Ping request sent. 2025-01-08T23:10:48.975Z,1736377848.975 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:48.975Z,1736377848.975 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:48.976Z,1736377848.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001215 2025-01-08T23:10:49.158Z,1736377849.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:49.175Z,1736377849.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.80 m. 2025-01-08T23:10:49.182Z,1736377849.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.800003 m, nav range: 42.956894 m, bearing: 66.063559 deg, approach rate: -0.332204 m/s, LOS rate: 0.693646 deg/s, cmd heading: 18.862939 deg, new cmd heading: 19.551188 deg. 2025-01-08T23:10:49.183Z,1736377849.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.341233 target range: 131.800003 and range: 131.80 m. 2025-01-08T23:10:49.224Z,1736377849.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:49.225Z,1736377849.225 [DAT](INFO): DAT read: TxSync time:23:10:48.2250 2025-01-08T23:10:49.225Z,1736377849.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813 2025-01-08T23:10:49.478Z,1736377849.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:49.480Z,1736377849.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505147 2025-01-08T23:10:49.583Z,1736377849.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:49.591Z,1736377849.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:49.593Z,1736377849.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.80 m. 2025-01-08T23:10:49.596Z,1736377849.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.800003 m, nav range: 42.816483 m, bearing: 66.328013 deg, approach rate: -0.335473 m/s, LOS rate: 0.633908 deg/s, cmd heading: 19.551188 deg, new cmd heading: 20.347099 deg. 2025-01-08T23:10:49.597Z,1736377849.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.355124 target range: 131.800003 and range: 131.80 m. 2025-01-08T23:10:49.728Z,1736377849.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:49.729Z,1736377849.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753986 2025-01-08T23:10:49.950Z,1736377849.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:49.980Z,1736377849.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:49.983Z,1736377849.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007836 2025-01-08T23:10:49.993Z,1736377849.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.80 m. 2025-01-08T23:10:50.003Z,1736377850.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.800003 m, nav range: 42.694138 m, bearing: 66.556133 deg, approach rate: -0.306141 m/s, LOS rate: 0.572453 deg/s, cmd heading: 20.347099 deg, new cmd heading: 21.033385 deg. 2025-01-08T23:10:50.010Z,1736377850.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.367102 target range: 131.800003 and range: 131.80 m. 2025-01-08T23:10:50.232Z,1736377850.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:50.232Z,1736377850.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257817 2025-01-08T23:10:50.363Z,1736377850.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:50.378Z,1736377850.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.80 m. 2025-01-08T23:10:50.381Z,1736377850.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.800003 m, nav range: 42.555141 m, bearing: 66.811900 deg, approach rate: -0.360760 m/s, LOS rate: 0.666003 deg/s, cmd heading: 21.033385 deg, new cmd heading: 21.803145 deg. 2025-01-08T23:10:50.382Z,1736377850.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.380537 target range: 131.800003 and range: 131.80 m. 2025-01-08T23:10:50.485Z,1736377850.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:50.487Z,1736377850.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511932 2025-01-08T23:10:50.737Z,1736377850.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:50.738Z,1736377850.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763751 2025-01-08T23:10:50.849Z,1736377850.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:50.860Z,1736377850.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.80 m. 2025-01-08T23:10:50.863Z,1736377850.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.800003 m, nav range: 42.374733 m, bearing: 67.116110 deg, approach rate: -0.374434 m/s, LOS rate: 0.634064 deg/s, cmd heading: 21.803145 deg, new cmd heading: 22.719576 deg. 2025-01-08T23:10:50.864Z,1736377850.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.396531 target range: 131.800003 and range: 131.80 m. 2025-01-08T23:10:50.989Z,1736377850.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:50.992Z,1736377850.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016361 2025-01-08T23:10:51.225Z,1736377851.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:51.234Z,1736377851.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.80 m. 2025-01-08T23:10:51.237Z,1736377851.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.800003 m, nav range: 42.235783 m, bearing: 67.353593 deg, approach rate: -0.371841 m/s, LOS rate: 0.637611 deg/s, cmd heading: 22.719576 deg, new cmd heading: 23.434330 deg. 2025-01-08T23:10:51.238Z,1736377851.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.409006 target range: 131.800003 and range: 131.80 m. 2025-01-08T23:10:51.240Z,1736377851.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:51.240Z,1736377851.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265920 2025-01-08T23:10:51.493Z,1736377851.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:51.495Z,1736377851.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520163 2025-01-08T23:10:51.641Z,1736377851.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:51.651Z,1736377851.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:51.655Z,1736377851.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.80 m. 2025-01-08T23:10:51.660Z,1736377851.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.800003 m, nav range: 42.065201 m, bearing: 67.611396 deg, approach rate: -0.405346 m/s, LOS rate: 0.615088 deg/s, cmd heading: 23.434331 deg, new cmd heading: 24.210826 deg. 2025-01-08T23:10:51.661Z,1736377851.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422559 target range: 131.800003 and range: 131.80 m. 2025-01-08T23:10:51.744Z,1736377851.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:51.745Z,1736377851.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770187 2025-01-08T23:10:51.997Z,1736377851.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:51.998Z,1736377851.998 [DAT](INFO): DAT read: Rx Time:23:10:50.8041 2025-01-08T23:10:51.999Z,1736377851.999 [DAT](INFO): Rx dataTimestamp_ set to:1736377851.998519 2025-01-08T23:10:51.999Z,1736377851.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024850 2025-01-08T23:10:52.049Z,1736377852.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:52.076Z,1736377852.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.80 m. 2025-01-08T23:10:52.078Z,1736377852.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.800003 m, nav range: 41.896141 m, bearing: 67.864121 deg, approach rate: -0.406445 m/s, LOS rate: 0.610040 deg/s, cmd heading: 24.210826 deg, new cmd heading: 24.972015 deg. 2025-01-08T23:10:52.083Z,1736377852.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435844 target range: 131.800003 and range: 131.80 m. 2025-01-08T23:10:52.248Z,1736377852.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:52.249Z,1736377852.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274214 2025-01-08T23:10:52.420Z,1736377852.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:52.453Z,1736377852.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.80 m. 2025-01-08T23:10:52.463Z,1736377852.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.800003 m, nav range: 41.741596 m, bearing: 68.092691 deg, approach rate: -0.405592 m/s, LOS rate: 0.602083 deg/s, cmd heading: 24.972015 deg, new cmd heading: 25.660227 deg. 2025-01-08T23:10:52.467Z,1736377852.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447855 target range: 131.800003 and range: 131.80 m. 2025-01-08T23:10:52.502Z,1736377852.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:52.550Z,1736377852.550 [DAT](INFO): DAT read: 23:10:50.8041 LVL= 14720, 32753, 26722, 32755, AGC= 59, IDX= 420,-0.20, 2.300, 0.665, 1.046, 1.493, PHS= 0.895,-0.781,-0.450, RAW= 100.7, 4.4, CAL= 111.0, 2.5, ROT= 39.0, -2.5 2025-01-08T23:10:52.563Z,1736377852.563 [DAT](INFO): got valid direction response: 23:10:50.8041 LVL= 14720, 32753, 26722, 32755, AGC= 59, IDX= 420,-0.20, 2.300, 0.665, 1.046, 1.493, PHS= 0.895,-0.781,-0.450, RAW= 100.7, 4.4, CAL= 111.0, 2.5, ROT= 39.0, -2.5 2025-01-08T23:10:52.575Z,1736377852.575 [DAT](INFO): DAT read: Bearing 39.0, -2.5 (Local) 2025-01-08T23:10:52.588Z,1736377852.588 [DAT](INFO): Local bearing/azimuth received: Bearing 39.0, -2.5 (Local) 2025-01-08T23:10:52.589Z,1736377852.589 [DAT](INFO): DAT read: Range 10 to 50 : 130.6 m (Round-trip 174.2 ms) speed 0.4 m/s 2025-01-08T23:10:52.590Z,1736377852.590 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:10:52.591Z,1736377852.591 [DAT](INFO): direction in FSK: [-0.185186,-0.075538,0.979796] 2025-01-08T23:10:52.611Z,1736377852.611 [DAT](INFO): publishing direction and range info 2025-01-08T23:10:52.615Z,1736377852.615 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:52.615Z,1736377852.615 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:52.615Z,1736377852.615 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:52.752Z,1736377852.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:52.753Z,1736377852.753 [DAT](INFO): DAT read: user:3061> 2025-01-08T23:10:52.754Z,1736377852.754 [DAT](INFO): DAT read: Tx time:23:10:52.0757 2025-01-08T23:10:52.754Z,1736377852.754 [DAT](INFO): Ping request sent. 2025-01-08T23:10:52.755Z,1736377852.755 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:52.755Z,1736377852.755 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:52.755Z,1736377852.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000844 2025-01-08T23:10:52.920Z,1736377852.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:52.951Z,1736377852.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.600006 m, deltaT: 3.782150 s, deltaX: -1.199997 m, approachRate: -0.317279 m/s, rangeRepo size: 4 2025-01-08T23:10:52.953Z,1736377852.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 130.600006 m, bearing: 250.477654 deg, lat: 36.904196 deg, lon: -122.120441 deg, deltaT: 3.782150 s, deltaX: -1.199997 m, approachRate: -0.317279 m/s, posRepo size: 4 2025-01-08T23:10:52.954Z,1736377852.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:10:52.961Z,1736377852.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 20.667358 m, bearing: 87.276337 deg, approach rate: 0.000000 m/s, LOS rate: 0.602083 deg/s, cmd heading: 25.660227 deg, new cmd heading: 26.554136 deg. 2025-01-08T23:10:52.962Z,1736377852.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.463457 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:10:53.005Z,1736377853.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:53.008Z,1736377853.008 [DAT](INFO): DAT read: TxSync time:23:10:52.0750 2025-01-08T23:10:53.010Z,1736377853.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255496 2025-01-08T23:10:53.256Z,1736377853.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:53.256Z,1736377853.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501818 2025-01-08T23:10:53.285Z,1736377853.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:53.308Z,1736377853.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:10:53.311Z,1736377853.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 20.566420 m, bearing: 87.872239 deg, approach rate: -0.283604 m/s, LOS rate: 1.682475 deg/s, cmd heading: 26.554136 deg, new cmd heading: 28.349997 deg. 2025-01-08T23:10:53.316Z,1736377853.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.494801 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:10:53.508Z,1736377853.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:53.508Z,1736377853.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753837 2025-01-08T23:10:53.732Z,1736377853.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:53.746Z,1736377853.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:53.748Z,1736377853.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:10:53.751Z,1736377853.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 20.453039 m, bearing: 88.605843 deg, approach rate: -0.254413 m/s, LOS rate: 1.655206 deg/s, cmd heading: 28.349998 deg, new cmd heading: 30.561851 deg. 2025-01-08T23:10:53.752Z,1736377853.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.533405 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:10:53.760Z,1736377853.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:53.760Z,1736377853.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005900 2025-01-08T23:10:54.012Z,1736377854.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:54.012Z,1736377854.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257851 2025-01-08T23:10:54.088Z,1736377854.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:54.105Z,1736377854.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:10:54.124Z,1736377854.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 20.360970 m, bearing: 89.188281 deg, approach rate: -0.258011 m/s, LOS rate: 1.639543 deg/s, cmd heading: 30.561852 deg, new cmd heading: 32.316486 deg. 2025-01-08T23:10:54.125Z,1736377854.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564029 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:10:54.265Z,1736377854.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:54.266Z,1736377854.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511252 2025-01-08T23:10:54.496Z,1736377854.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:54.514Z,1736377854.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:10:54.517Z,1736377854.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:54.518Z,1736377854.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763072 2025-01-08T23:10:54.522Z,1736377854.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 20.255217 m, bearing: 89.859335 deg, approach rate: -0.259235 m/s, LOS rate: 1.653521 deg/s, cmd heading: 32.316487 deg, new cmd heading: 34.339273 deg. 2025-01-08T23:10:54.524Z,1736377854.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599333 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:10:54.769Z,1736377854.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:54.771Z,1736377854.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016185 2025-01-08T23:10:54.925Z,1736377854.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:54.934Z,1736377854.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:10:54.938Z,1736377854.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 20.149755 m, bearing: 90.554925 deg, approach rate: -0.250182 m/s, LOS rate: 1.658720 deg/s, cmd heading: 34.339275 deg, new cmd heading: 36.435979 deg. 2025-01-08T23:10:54.940Z,1736377854.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635928 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:10:55.021Z,1736377855.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:55.022Z,1736377855.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267154 2025-01-08T23:10:55.272Z,1736377855.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:55.273Z,1736377855.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518201 2025-01-08T23:10:55.298Z,1736377855.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:55.307Z,1736377855.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:10:55.310Z,1736377855.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 20.054024 m, bearing: 91.155475 deg, approach rate: -0.256781 m/s, LOS rate: 1.618514 deg/s, cmd heading: 36.435979 deg, new cmd heading: 38.245595 deg. 2025-01-08T23:10:55.311Z,1736377855.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667512 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:10:55.524Z,1736377855.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:55.526Z,1736377855.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771386 2025-01-08T23:10:55.720Z,1736377855.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:55.729Z,1736377855.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:10:55.732Z,1736377855.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 19.953268 m, bearing: 91.832732 deg, approach rate: -0.238760 m/s, LOS rate: 1.612956 deg/s, cmd heading: 38.245596 deg, new cmd heading: 40.286716 deg. 2025-01-08T23:10:55.733Z,1736377855.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703136 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:10:55.776Z,1736377855.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:55.777Z,1736377855.777 [DAT](INFO): DAT read: Rx Time:23:10:54.6516 2025-01-08T23:10:55.777Z,1736377855.777 [DAT](INFO): Rx dataTimestamp_ set to:1736377855.776726 2025-01-08T23:10:55.778Z,1736377855.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022971 2025-01-08T23:10:56.028Z,1736377856.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:56.028Z,1736377856.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273775 2025-01-08T23:10:56.102Z,1736377856.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:56.119Z,1736377856.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:56.125Z,1736377856.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:10:56.133Z,1736377856.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 19.859911 m, bearing: 92.448935 deg, approach rate: -0.235828 m/s, LOS rate: 1.563866 deg/s, cmd heading: 40.286717 deg, new cmd heading: 42.143329 deg. 2025-01-08T23:10:56.135Z,1736377856.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.735540 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:10:56.280Z,1736377856.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:56.280Z,1736377856.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525854 2025-01-08T23:10:56.532Z,1736377856.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:56.539Z,1736377856.539 [DAT](INFO): DAT read: 23:10:54.6516 LVL= 23008, 32753, 29170, 32755, AGC= 62, IDX= 412,-0.34,-0.654,-2.223,-1.653,-1.330, PHS= 0.764,-0.847,-0.326, RAW= 108.5, 5.8, CAL= 119.2, 3.3, ROT= 30.8, -3.3 2025-01-08T23:10:56.540Z,1736377856.540 [DAT](INFO): got valid direction response: 23:10:54.6516 LVL= 23008, 32753, 29170, 32755, AGC= 62, IDX= 412,-0.34,-0.654,-2.223,-1.653,-1.330, PHS= 0.764,-0.847,-0.326, RAW= 108.5, 5.8, CAL= 119.2, 3.3, ROT= 30.8, -3.3 2025-01-08T23:10:56.541Z,1736377856.541 [DAT](INFO): DAT read: Bearing 30.8, -3.3 (Local) 2025-01-08T23:10:56.542Z,1736377856.542 [DAT](INFO): Local bearing/azimuth received: Bearing 30.8, -3.3 (Local) 2025-01-08T23:10:56.543Z,1736377856.543 [DAT](INFO): DAT read: Range 10 to 50 : 128.7 m (Round-trip 171.7 ms) speed 0.1 m/s 2025-01-08T23:10:56.552Z,1736377856.552 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:10:56.553Z,1736377856.553 [DAT](INFO): direction in FSK: [-0.221050,-0.208714,0.952668] 2025-01-08T23:10:56.554Z,1736377856.554 [DAT](INFO): publishing direction and range info 2025-01-08T23:10:56.564Z,1736377856.564 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:10:56.564Z,1736377856.564 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:10:56.564Z,1736377856.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:10:56.764Z,1736377856.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:56.784Z,1736377856.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:56.785Z,1736377856.785 [DAT](INFO): DAT read: user:3062> 2025-01-08T23:10:56.786Z,1736377856.786 [DAT](INFO): DAT read: Tx time:23:10:56.0257 2025-01-08T23:10:56.786Z,1736377856.786 [DAT](INFO): Ping request sent. 2025-01-08T23:10:56.786Z,1736377856.786 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:10:56.786Z,1736377856.786 [DAT](INFO): publishing transmit ping time 2025-01-08T23:10:56.787Z,1736377856.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001347 2025-01-08T23:10:56.814Z,1736377856.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.699997 m, deltaT: 4.029885 s, deltaX: -1.900009 m, approachRate: -0.471480 m/s, rangeRepo size: 4 2025-01-08T23:10:56.828Z,1736377856.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.699997 m, bearing: 267.668426 deg, lat: 36.904183 deg, lon: -122.121058 deg, deltaT: 4.029885 s, deltaX: -1.900009 m, approachRate: -0.471480 m/s, posRepo size: 4 2025-01-08T23:10:56.828Z,1736377856.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T23:10:56.831Z,1736377856.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 35.274124 m, bearing: 265.582501 deg, approach rate: 0.000000 m/s, LOS rate: 1.563866 deg/s, cmd heading: 42.143329 deg, new cmd heading: 45.368409 deg. 2025-01-08T23:10:56.836Z,1736377856.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791828 target range: 128.699997 and range: 128.70 m. 2025-01-08T23:10:57.036Z,1736377857.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:57.038Z,1736377857.038 [DAT](INFO): DAT read: TxSync time:23:10:56.0250 2025-01-08T23:10:57.039Z,1736377857.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252783 2025-01-08T23:10:57.151Z,1736377857.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:57.161Z,1736377857.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T23:10:57.164Z,1736377857.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 35.382881 m, bearing: 265.272957 deg, approach rate: 0.312864 m/s, LOS rate: -0.887729 deg/s, cmd heading: 45.368408 deg, new cmd heading: 44.442717 deg. 2025-01-08T23:10:57.165Z,1736377857.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775672 target range: 128.699997 and range: 128.70 m. 2025-01-08T23:10:57.288Z,1736377857.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:57.288Z,1736377857.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502459 2025-01-08T23:10:57.540Z,1736377857.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:57.541Z,1736377857.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754527 2025-01-08T23:10:57.542Z,1736377857.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:57.551Z,1736377857.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T23:10:57.555Z,1736377857.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 35.503098 m, bearing: 264.968840 deg, approach rate: 0.308055 m/s, LOS rate: -0.776658 deg/s, cmd heading: 44.442716 deg, new cmd heading: 43.533536 deg. 2025-01-08T23:10:57.556Z,1736377857.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759804 target range: 128.699997 and range: 128.70 m. 2025-01-08T23:10:57.792Z,1736377857.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:57.792Z,1736377857.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006457 2025-01-08T23:10:57.974Z,1736377857.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:57.982Z,1736377857.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T23:10:57.985Z,1736377857.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 35.638790 m, bearing: 264.643909 deg, approach rate: 0.314711 m/s, LOS rate: -0.750737 deg/s, cmd heading: 43.533536 deg, new cmd heading: 42.562552 deg. 2025-01-08T23:10:57.987Z,1736377857.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742857 target range: 128.699997 and range: 128.70 m. 2025-01-08T23:10:58.046Z,1736377858.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:58.047Z,1736377858.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260898 2025-01-08T23:10:58.296Z,1736377858.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:58.296Z,1736377858.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510388 2025-01-08T23:10:58.352Z,1736377858.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:58.360Z,1736377858.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:10:58.362Z,1736377858.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T23:10:58.365Z,1736377858.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 35.763939 m, bearing: 264.365857 deg, approach rate: 0.329465 m/s, LOS rate: -0.729433 deg/s, cmd heading: 42.562553 deg, new cmd heading: 41.731377 deg. 2025-01-08T23:10:58.366Z,1736377858.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.728350 target range: 128.699997 and range: 128.70 m. 2025-01-08T23:10:58.548Z,1736377858.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:58.549Z,1736377858.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762555 2025-01-08T23:10:58.785Z,1736377858.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:58.800Z,1736377858.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:58.800Z,1736377858.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014376 2025-01-08T23:10:58.812Z,1736377858.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T23:10:58.814Z,1736377858.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 35.893539 m, bearing: 264.058807 deg, approach rate: 0.299248 m/s, LOS rate: -0.706415 deg/s, cmd heading: 41.731377 deg, new cmd heading: 40.813635 deg. 2025-01-08T23:10:58.817Z,1736377858.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712332 target range: 128.699997 and range: 128.70 m. 2025-01-08T23:10:59.052Z,1736377859.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:59.053Z,1736377859.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266675 2025-01-08T23:10:59.159Z,1736377859.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:59.184Z,1736377859.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T23:10:59.188Z,1736377859.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 36.014610 m, bearing: 263.806177 deg, approach rate: 0.311851 m/s, LOS rate: -0.648529 deg/s, cmd heading: 40.813635 deg, new cmd heading: 40.058338 deg. 2025-01-08T23:10:59.189Z,1736377859.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699150 target range: 128.699997 and range: 128.70 m. 2025-01-08T23:10:59.304Z,1736377859.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:59.305Z,1736377859.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519013 2025-01-08T23:10:59.556Z,1736377859.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:59.556Z,1736377859.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770431 2025-01-08T23:10:59.563Z,1736377859.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:10:59.573Z,1736377859.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T23:10:59.576Z,1736377859.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 36.151726 m, bearing: 263.539292 deg, approach rate: 0.351679 m/s, LOS rate: -0.681918 deg/s, cmd heading: 40.058339 deg, new cmd heading: 39.260776 deg. 2025-01-08T23:10:59.577Z,1736377859.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685230 target range: 128.699997 and range: 128.70 m. 2025-01-08T23:10:59.808Z,1736377859.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:10:59.809Z,1736377859.809 [DAT](INFO): DAT read: Rx Time:23:10:58.5999 2025-01-08T23:10:59.809Z,1736377859.809 [DAT](INFO): Rx dataTimestamp_ set to:1736377859.808805 2025-01-08T23:10:59.810Z,1736377859.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023651 2025-01-08T23:10:59.997Z,1736377859.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:00.006Z,1736377860.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.70 m. 2025-01-08T23:11:00.010Z,1736377860.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.699997 m, nav range: 36.291351 m, bearing: 263.269319 deg, approach rate: 0.322290 m/s, LOS rate: -0.620764 deg/s, cmd heading: 39.260774 deg, new cmd heading: 38.454028 deg. 2025-01-08T23:11:00.011Z,1736377860.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.671149 target range: 128.699997 and range: 128.70 m. 2025-01-08T23:11:00.060Z,1736377860.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:00.061Z,1736377860.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274532 2025-01-08T23:11:00.312Z,1736377860.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:00.318Z,1736377860.318 [DAT](INFO): DAT read: 23:10:58.5999 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 423, 0.21, 2.927, 1.441, 2.283, 2.378, PHS= 0.637,-0.890,-0.098, RAW= 121.2, 5.4, CAL= 130.4, 0.9, ROT= 19.6, -0.9 2025-01-08T23:11:00.319Z,1736377860.319 [DAT](INFO): got valid direction response: 23:10:58.5999 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 423, 0.21, 2.927, 1.441, 2.283, 2.378, PHS= 0.637,-0.890,-0.098, RAW= 121.2, 5.4, CAL= 130.4, 0.9, ROT= 19.6, -0.9 2025-01-08T23:11:00.320Z,1736377860.320 [DAT](INFO): DAT read: Bearing 19.6, -0.9 (Local) 2025-01-08T23:11:00.321Z,1736377860.321 [DAT](INFO): Local bearing/azimuth received: Bearing 19.6, -0.9 (Local) 2025-01-08T23:11:00.322Z,1736377860.322 [DAT](INFO): DAT read: Range 10 to 50 : 127.4 m (Round-trip 169.9 ms) speed 0.6 m/s 2025-01-08T23:11:00.323Z,1736377860.323 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:11:00.324Z,1736377860.324 [DAT](INFO): direction in FSK: [-0.224335,-0.425241,0.876837] 2025-01-08T23:11:00.324Z,1736377860.324 [DAT](INFO): publishing direction and range info 2025-01-08T23:11:00.361Z,1736377860.361 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:00.361Z,1736377860.361 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:00.361Z,1736377860.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:00.394Z,1736377860.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:00.444Z,1736377860.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.400002 m, deltaT: 3.779290 s, deltaX: -1.299995 m, approachRate: -0.343979 m/s, rangeRepo size: 4 2025-01-08T23:11:00.446Z,1736377860.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.400002 m, bearing: 289.689267 deg, lat: 36.904183 deg, lon: -122.121179 deg, deltaT: 3.779290 s, deltaX: -1.299995 m, approachRate: -0.343979 m/s, posRepo size: 4 2025-01-08T23:11:00.446Z,1736377860.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:11:00.454Z,1736377860.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 47.091118 m, bearing: 264.617917 deg, approach rate: 0.000000 m/s, LOS rate: -0.620764 deg/s, cmd heading: 38.454030 deg, new cmd heading: 37.656596 deg. 2025-01-08T23:11:00.462Z,1736377860.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657232 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:11:00.564Z,1736377860.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:00.565Z,1736377860.565 [DAT](INFO): DAT read: user:3063> 2025-01-08T23:11:00.566Z,1736377860.566 [DAT](INFO): DAT read: Tx time:23:10:59.8258 2025-01-08T23:11:00.566Z,1736377860.566 [DAT](INFO): Ping request sent. 2025-01-08T23:11:00.566Z,1736377860.566 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:00.566Z,1736377860.566 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:00.567Z,1736377860.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000713 2025-01-08T23:11:00.816Z,1736377860.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:00.817Z,1736377860.817 [DAT](INFO): DAT read: TxSync time:23:10:59.8250 2025-01-08T23:11:00.818Z,1736377860.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251450 2025-01-08T23:11:00.844Z,1736377860.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:00.860Z,1736377860.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:00.862Z,1736377860.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:11:00.870Z,1736377860.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 47.250046 m, bearing: 264.421763 deg, approach rate: 0.371647 m/s, LOS rate: -0.457157 deg/s, cmd heading: 37.656595 deg, new cmd heading: 37.070132 deg. 2025-01-08T23:11:00.876Z,1736377860.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.646996 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:11:01.068Z,1736377861.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:01.068Z,1736377861.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502282 2025-01-08T23:11:01.174Z,1736377861.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:01.182Z,1736377861.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:11:01.185Z,1736377861.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 47.368587 m, bearing: 264.281527 deg, approach rate: 0.370338 m/s, LOS rate: -0.437016 deg/s, cmd heading: 37.070131 deg, new cmd heading: 36.650484 deg. 2025-01-08T23:11:01.186Z,1736377861.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639672 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:11:01.320Z,1736377861.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:01.321Z,1736377861.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755122 2025-01-08T23:11:01.572Z,1736377861.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:01.573Z,1736377861.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006434 2025-01-08T23:11:01.579Z,1736377861.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:01.589Z,1736377861.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:11:01.594Z,1736377861.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 47.517185 m, bearing: 264.113552 deg, approach rate: 0.365708 m/s, LOS rate: -0.412103 deg/s, cmd heading: 36.650484 deg, new cmd heading: 36.148150 deg. 2025-01-08T23:11:01.597Z,1736377861.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630904 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:11:01.824Z,1736377861.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:01.824Z,1736377861.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258196 2025-01-08T23:11:02.014Z,1736377862.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:02.024Z,1736377862.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:11:02.027Z,1736377862.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 47.681709 m, bearing: 263.935556 deg, approach rate: 0.377601 m/s, LOS rate: -0.407109 deg/s, cmd heading: 36.148151 deg, new cmd heading: 35.616023 deg. 2025-01-08T23:11:02.029Z,1736377862.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621617 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:11:02.076Z,1736377862.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:02.077Z,1736377862.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510682 2025-01-08T23:11:02.328Z,1736377862.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:02.328Z,1736377862.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762230 2025-01-08T23:11:02.413Z,1736377862.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:02.434Z,1736377862.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:11:02.441Z,1736377862.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 47.833225 m, bearing: 263.775367 deg, approach rate: 0.370169 m/s, LOS rate: -0.390120 deg/s, cmd heading: 35.616025 deg, new cmd heading: 35.136989 deg. 2025-01-08T23:11:02.442Z,1736377862.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613256 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:11:02.580Z,1736377862.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:02.581Z,1736377862.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015197 2025-01-08T23:11:02.657Z,1736377862.657 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:11:02.832Z,1736377862.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:02.833Z,1736377862.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266864 2025-01-08T23:11:02.839Z,1736377862.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:02.847Z,1736377862.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:11:02.850Z,1736377862.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 48.009060 m, bearing: 263.604321 deg, approach rate: 0.425285 m/s, LOS rate: -0.412186 deg/s, cmd heading: 35.136990 deg, new cmd heading: 34.625748 deg. 2025-01-08T23:11:02.851Z,1736377862.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604333 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:11:03.084Z,1736377863.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:03.085Z,1736377863.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518420 2025-01-08T23:11:03.206Z,1736377863.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:03.213Z,1736377863.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:03.215Z,1736377863.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:11:03.218Z,1736377863.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 48.160465 m, bearing: 263.457542 deg, approach rate: 0.411752 m/s, LOS rate: -0.397916 deg/s, cmd heading: 34.625746 deg, new cmd heading: 34.186801 deg. 2025-01-08T23:11:03.219Z,1736377863.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596672 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:11:03.337Z,1736377863.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:03.338Z,1736377863.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771363 2025-01-08T23:11:03.588Z,1736377863.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:03.589Z,1736377863.589 [DAT](INFO): DAT read: Rx Time:23:11:02.3973 2025-01-08T23:11:03.589Z,1736377863.589 [DAT](INFO): Rx dataTimestamp_ set to:1736377863.588980 2025-01-08T23:11:03.590Z,1736377863.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023665 2025-01-08T23:11:03.599Z,1736377863.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:03.609Z,1736377863.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:11:03.612Z,1736377863.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 48.321724 m, bearing: 263.300729 deg, approach rate: 0.409172 m/s, LOS rate: -0.396563 deg/s, cmd heading: 34.186801 deg, new cmd heading: 33.717943 deg. 2025-01-08T23:11:03.613Z,1736377863.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588489 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:11:03.660Z,1736377863.660 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:11:03.840Z,1736377863.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:03.840Z,1736377863.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274295 2025-01-08T23:11:04.025Z,1736377864.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:04.033Z,1736377864.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:11:04.037Z,1736377864.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 48.513332 m, bearing: 263.126379 deg, approach rate: 0.451577 m/s, LOS rate: -0.409278 deg/s, cmd heading: 33.717943 deg, new cmd heading: 33.196974 deg. 2025-01-08T23:11:04.038Z,1736377864.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579396 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:11:04.093Z,1736377864.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:04.107Z,1736377864.107 [DAT](INFO): DAT read: 23:11:02.3973 LVL= 31136, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.14, 2.664, 1.269, 2.117, 2.178, PHS= 0.574,-0.862,-0.064, RAW= 123.7, 5.7, CAL= 132.1, 0.9, ROT= 17.9, -0.9 2025-01-08T23:11:04.116Z,1736377864.116 [DAT](INFO): got valid direction response: 23:11:02.3973 LVL= 31136, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.14, 2.664, 1.269, 2.117, 2.178, PHS= 0.574,-0.862,-0.064, RAW= 123.7, 5.7, CAL= 132.1, 0.9, ROT= 17.9, -0.9 2025-01-08T23:11:04.117Z,1736377864.117 [DAT](INFO): DAT read: Bearing 17.9, -0.9 (Local) 2025-01-08T23:11:04.117Z,1736377864.117 [DAT](INFO): Local bearing/azimuth received: Bearing 17.9, -0.9 (Local) 2025-01-08T23:11:04.119Z,1736377864.119 [DAT](INFO): DAT read: Range 10 to 50 : 125.4 m (Round-trip 167.3 ms) speed 0.6 m/s 2025-01-08T23:11:04.128Z,1736377864.128 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:11:04.128Z,1736377864.128 [DAT](INFO): direction in FSK: [-0.232279,-0.463818,0.854938] 2025-01-08T23:11:04.129Z,1736377864.129 [DAT](INFO): publishing direction and range info 2025-01-08T23:11:04.138Z,1736377864.138 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:04.138Z,1736377864.138 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:04.139Z,1736377864.139 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:04.344Z,1736377864.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:04.345Z,1736377864.345 [DAT](INFO): DAT read: user:3064> 2025-01-08T23:11:04.345Z,1736377864.345 [DAT](INFO): DAT read: Tx time:23:11:03.6258 2025-01-08T23:11:04.346Z,1736377864.346 [DAT](INFO): Ping request sent. 2025-01-08T23:11:04.346Z,1736377864.346 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:04.346Z,1736377864.346 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:04.347Z,1736377864.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719 2025-01-08T23:11:04.412Z,1736377864.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:04.448Z,1736377864.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.400002 m, deltaT: 3.781887 s, deltaX: -2.000000 m, approachRate: -0.528837 m/s, rangeRepo size: 4 2025-01-08T23:11:04.450Z,1736377864.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.400002 m, bearing: 292.790352 deg, lat: 36.904183 deg, lon: -122.121389 deg, deltaT: 3.781887 s, deltaX: -2.000000 m, approachRate: -0.528837 m/s, posRepo size: 4 2025-01-08T23:11:04.451Z,1736377864.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T23:11:04.462Z,1736377864.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 67.241020 m, bearing: 264.913491 deg, approach rate: 0.000000 m/s, LOS rate: -0.409278 deg/s, cmd heading: 33.196973 deg, new cmd heading: 32.693933 deg. 2025-01-08T23:11:04.462Z,1736377864.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570617 target range: 125.400002 and range: 125.40 m. 2025-01-08T23:11:04.597Z,1736377864.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:04.598Z,1736377864.598 [DAT](INFO): DAT read: TxSync time:23:11:03.6250 2025-01-08T23:11:04.599Z,1736377864.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253183 2025-01-08T23:11:04.840Z,1736377864.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:04.848Z,1736377864.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:04.849Z,1736377864.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502800 2025-01-08T23:11:04.859Z,1736377864.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T23:11:04.865Z,1736377864.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 67.438774 m, bearing: 264.779621 deg, approach rate: 0.475949 m/s, LOS rate: -0.321249 deg/s, cmd heading: 32.693933 deg, new cmd heading: 32.293509 deg. 2025-01-08T23:11:04.866Z,1736377864.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563628 target range: 125.400002 and range: 125.40 m. 2025-01-08T23:11:05.100Z,1736377865.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:05.100Z,1736377865.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754607 2025-01-08T23:11:05.234Z,1736377865.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:05.241Z,1736377865.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:05.243Z,1736377865.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T23:11:05.246Z,1736377865.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 67.612587 m, bearing: 264.659812 deg, approach rate: 0.452041 m/s, LOS rate: -0.310790 deg/s, cmd heading: 32.293510 deg, new cmd heading: 31.935012 deg. 2025-01-08T23:11:05.247Z,1736377865.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557371 target range: 125.400002 and range: 125.40 m. 2025-01-08T23:11:05.352Z,1736377865.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:05.353Z,1736377865.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006759 2025-01-08T23:11:05.604Z,1736377865.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:05.605Z,1736377865.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259306 2025-01-08T23:11:05.630Z,1736377865.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:05.641Z,1736377865.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T23:11:05.644Z,1736377865.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 67.801445 m, bearing: 264.530557 deg, approach rate: 0.475195 m/s, LOS rate: -0.324319 deg/s, cmd heading: 31.935011 deg, new cmd heading: 31.548332 deg. 2025-01-08T23:11:05.645Z,1736377865.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550622 target range: 125.400002 and range: 125.40 m. 2025-01-08T23:11:05.858Z,1736377865.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:05.865Z,1736377865.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518804 2025-01-08T23:11:06.054Z,1736377866.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:06.063Z,1736377866.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T23:11:06.066Z,1736377866.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 68.006371 m, bearing: 264.393846 deg, approach rate: 0.485122 m/s, LOS rate: -0.322662 deg/s, cmd heading: 31.548333 deg, new cmd heading: 31.139442 deg. 2025-01-08T23:11:06.067Z,1736377866.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543486 target range: 125.400002 and range: 125.40 m. 2025-01-08T23:11:06.108Z,1736377866.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:06.109Z,1736377866.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762884 2025-01-08T23:11:06.360Z,1736377866.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:06.360Z,1736377866.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014486 2025-01-08T23:11:06.440Z,1736377866.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:06.449Z,1736377866.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T23:11:06.452Z,1736377866.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 68.188774 m, bearing: 264.268484 deg, approach rate: 0.472552 m/s, LOS rate: -0.323905 deg/s, cmd heading: 31.139444 deg, new cmd heading: 30.764370 deg. 2025-01-08T23:11:06.454Z,1736377866.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536940 target range: 125.400002 and range: 125.40 m. 2025-01-08T23:11:06.612Z,1736377866.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:06.612Z,1736377866.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266470 2025-01-08T23:11:06.864Z,1736377866.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:06.864Z,1736377866.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518636 2025-01-08T23:11:06.869Z,1736377866.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:06.891Z,1736377866.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T23:11:06.894Z,1736377866.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 68.405464 m, bearing: 264.127320 deg, approach rate: 0.495543 m/s, LOS rate: -0.321802 deg/s, cmd heading: 30.764371 deg, new cmd heading: 30.342227 deg. 2025-01-08T23:11:06.904Z,1736377866.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529572 target range: 125.400002 and range: 125.40 m. 2025-01-08T23:11:07.116Z,1736377867.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:07.119Z,1736377867.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772095 2025-01-08T23:11:07.231Z,1736377867.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:07.259Z,1736377867.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:07.265Z,1736377867.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T23:11:07.272Z,1736377867.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 68.584221 m, bearing: 264.007377 deg, approach rate: 0.471698 m/s, LOS rate: -0.315676 deg/s, cmd heading: 30.342227 deg, new cmd heading: 29.983342 deg. 2025-01-08T23:11:07.273Z,1736377867.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523308 target range: 125.400002 and range: 125.40 m. 2025-01-08T23:11:07.368Z,1736377867.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:07.370Z,1736377867.370 [DAT](INFO): DAT read: Rx Time:23:11:06.1942 2025-01-08T23:11:07.370Z,1736377867.370 [DAT](INFO): Rx dataTimestamp_ set to:1736377867.370147 2025-01-08T23:11:07.371Z,1736377867.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025518 2025-01-08T23:11:07.621Z,1736377867.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:07.622Z,1736377867.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276088 2025-01-08T23:11:07.640Z,1736377867.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:07.654Z,1736377867.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T23:11:07.660Z,1736377867.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 68.784134 m, bearing: 263.869910 deg, approach rate: 0.514252 m/s, LOS rate: -0.352588 deg/s, cmd heading: 29.983342 deg, new cmd heading: 29.572148 deg. 2025-01-08T23:11:07.661Z,1736377867.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516131 target range: 125.400002 and range: 125.40 m. 2025-01-08T23:11:07.873Z,1736377867.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:07.876Z,1736377867.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529664 2025-01-08T23:11:08.083Z,1736377868.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:08.093Z,1736377868.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.40 m. 2025-01-08T23:11:08.108Z,1736377868.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.400002 m, nav range: 68.995483 m, bearing: 263.724083 deg, approach rate: 0.481545 m/s, LOS rate: -0.331238 deg/s, cmd heading: 29.572148 deg, new cmd heading: 29.136016 deg. 2025-01-08T23:11:08.109Z,1736377868.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.508519 target range: 125.400002 and range: 125.40 m. 2025-01-08T23:11:08.124Z,1736377868.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:08.130Z,1736377868.130 [DAT](INFO): DAT read: 23:11:06.1942 LVL= 20512, 32753, 32754, 32755, AGC= 61, IDX= 412,-0.24,-1.931, 2.631,-2.902,-2.599, PHS= 0.756,-1.007,-0.306, RAW= 113.3, 7.3, CAL= 123.1, 4.1, ROT= 26.9, -4.1 2025-01-08T23:11:08.131Z,1736377868.131 [DAT](INFO): got valid direction response: 23:11:06.1942 LVL= 20512, 32753, 32754, 32755, AGC= 61, IDX= 412,-0.24,-1.931, 2.631,-2.902,-2.599, PHS= 0.756,-1.007,-0.306, RAW= 113.3, 7.3, CAL= 123.1, 4.1, ROT= 26.9, -4.1 2025-01-08T23:11:08.132Z,1736377868.132 [DAT](INFO): DAT read: Bearing 26.9, -4.1 (Local) 2025-01-08T23:11:08.133Z,1736377868.133 [DAT](INFO): Local bearing/azimuth received: Bearing 26.9, -4.1 (Local) 2025-01-08T23:11:08.134Z,1736377868.134 [DAT](INFO): DAT read: Range 10 to 50 : 123.1 m (Round-trip 164.2 ms) speed 0.4 m/s 2025-01-08T23:11:08.135Z,1736377868.135 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:11:08.136Z,1736377868.136 [DAT](INFO): direction in FSK: [-0.254240,-0.288118,0.923228] 2025-01-08T23:11:08.136Z,1736377868.136 [DAT](INFO): publishing direction and range info 2025-01-08T23:11:08.151Z,1736377868.151 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:08.163Z,1736377868.163 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:08.164Z,1736377868.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:08.377Z,1736377868.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:08.378Z,1736377868.378 [DAT](INFO): DAT read: user:3065> 2025-01-08T23:11:08.380Z,1736377868.380 [DAT](INFO): DAT read: Tx time:23:11:07.6258 2025-01-08T23:11:08.381Z,1736377868.381 [DAT](INFO): Ping request sent. 2025-01-08T23:11:08.381Z,1736377868.381 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:08.381Z,1736377868.381 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:08.382Z,1736377868.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000895 2025-01-08T23:11:08.491Z,1736377868.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:08.527Z,1736377868.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.099998 m, deltaT: 4.030278 s, deltaX: -2.300003 m, approachRate: -0.570681 m/s, rangeRepo size: 4 2025-01-08T23:11:08.533Z,1736377868.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.099998 m, bearing: 277.133554 deg, lat: 36.904300 deg, lon: -122.121389 deg, deltaT: 4.030278 s, deltaX: -2.300003 m, approachRate: -0.570681 m/s, posRepo size: 4 2025-01-08T23:11:08.536Z,1736377868.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T23:11:08.539Z,1736377868.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 68.961037 m, bearing: 274.423290 deg, approach rate: 0.000000 m/s, LOS rate: -0.331238 deg/s, cmd heading: 29.136016 deg, new cmd heading: 28.705496 deg. 2025-01-08T23:11:08.540Z,1736377868.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501005 target range: 123.099998 and range: 123.10 m. 2025-01-08T23:11:08.629Z,1736377868.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:08.630Z,1736377868.630 [DAT](INFO): DAT read: TxSyn3:11:07.6250 2025-01-08T23:11:08.631Z,1736377868.631 [DAT](INFO): unknown deviceResponse_: TxSyn3:11:07.6250 2025-01-08T23:11:08.632Z,1736377868.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250352 2025-01-08T23:11:08.873Z,1736377868.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:08.880Z,1736377868.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:08.881Z,1736377868.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500021 2025-01-08T23:11:08.883Z,1736377868.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T23:11:08.886Z,1736377868.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 69.104156 m, bearing: 274.269617 deg, approach rate: 0.401058 m/s, LOS rate: -0.429738 deg/s, cmd heading: 28.705496 deg, new cmd heading: 28.245442 deg. 2025-01-08T23:11:08.908Z,1736377868.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.492976 target range: 123.099998 and range: 123.10 m. 2025-01-08T23:11:09.133Z,1736377869.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:09.134Z,1736377869.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753246 2025-01-08T23:11:09.275Z,1736377869.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:09.306Z,1736377869.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:09.315Z,1736377869.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T23:11:09.336Z,1736377869.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 69.253113 m, bearing: 274.107646 deg, approach rate: 0.344853 m/s, LOS rate: -0.374176 deg/s, cmd heading: 28.245441 deg, new cmd heading: 27.760586 deg. 2025-01-08T23:11:09.337Z,1736377869.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484514 target range: 123.099998 and range: 123.10 m. 2025-01-08T23:11:09.385Z,1736377869.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:09.386Z,1736377869.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005321 2025-01-08T23:11:09.636Z,1736377869.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:09.637Z,1736377869.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256481 2025-01-08T23:11:09.665Z,1736377869.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:09.680Z,1736377869.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T23:11:09.683Z,1736377869.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 69.396927 m, bearing: 273.949860 deg, approach rate: 0.394967 m/s, LOS rate: -0.432439 deg/s, cmd heading: 27.760587 deg, new cmd heading: 27.288222 deg. 2025-01-08T23:11:09.705Z,1736377869.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.476269 target range: 123.099998 and range: 123.10 m. 2025-01-08T23:11:09.888Z,1736377869.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:09.889Z,1736377869.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507886 2025-01-08T23:11:10.081Z,1736377870.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:10.090Z,1736377870.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T23:11:10.093Z,1736377870.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 69.530006 m, bearing: 273.782008 deg, approach rate: 0.323648 m/s, LOS rate: -0.407432 deg/s, cmd heading: 27.288221 deg, new cmd heading: 26.785643 deg. 2025-01-08T23:11:10.094Z,1736377870.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467498 target range: 123.099998 and range: 123.10 m. 2025-01-08T23:11:10.140Z,1736377870.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:10.141Z,1736377870.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759925 2025-01-08T23:11:10.392Z,1736377870.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:10.392Z,1736377870.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011651 2025-01-08T23:11:10.468Z,1736377870.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:10.477Z,1736377870.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T23:11:10.480Z,1736377870.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 69.653297 m, bearing: 273.625787 deg, approach rate: 0.318564 m/s, LOS rate: -0.402935 deg/s, cmd heading: 26.785642 deg, new cmd heading: 26.317819 deg. 2025-01-08T23:11:10.481Z,1736377870.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.459333 target range: 123.099998 and range: 123.10 m. 2025-01-08T23:11:10.644Z,1736377870.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:10.645Z,1736377870.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264729 2025-01-08T23:11:10.896Z,1736377870.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:10.897Z,1736377870.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515928 2025-01-08T23:11:10.897Z,1736377870.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:10.906Z,1736377870.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T23:11:10.909Z,1736377870.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 69.775459 m, bearing: 273.457859 deg, approach rate: 0.284855 m/s, LOS rate: -0.390886 deg/s, cmd heading: 26.317820 deg, new cmd heading: 25.814932 deg. 2025-01-08T23:11:10.910Z,1736377870.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450556 target range: 123.099998 and range: 123.10 m. 2025-01-08T23:11:11.149Z,1736377871.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:11.150Z,1736377871.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769422 2025-01-08T23:11:11.268Z,1736377871.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:11.277Z,1736377871.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T23:11:11.280Z,1736377871.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 69.881142 m, bearing: 273.310930 deg, approach rate: 0.285037 m/s, LOS rate: -0.395683 deg/s, cmd heading: 25.814932 deg, new cmd heading: 25.374822 deg. 2025-01-08T23:11:11.281Z,1736377871.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442874 target range: 123.099998 and range: 123.10 m. 2025-01-08T23:11:11.400Z,1736377871.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:11.402Z,1736377871.402 [DAT](INFO): DAT read: Rx Time:23:11:10.1914 2025-01-08T23:11:11.402Z,1736377871.402 [DAT](INFO): Rx dataTimestamp_ set to:1736377871.402042 2025-01-08T23:11:11.403Z,1736377871.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022142 2025-01-08T23:11:11.653Z,1736377871.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:11.654Z,1736377871.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273269 2025-01-08T23:11:11.701Z,1736377871.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:11.721Z,1736377871.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:11.724Z,1736377871.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.10 m. 2025-01-08T23:11:11.726Z,1736377871.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.099998 m, nav range: 70.002167 m, bearing: 273.140222 deg, approach rate: 0.271089 m/s, LOS rate: -0.381716 deg/s, cmd heading: 25.374822 deg, new cmd heading: 24.863595 deg. 2025-01-08T23:11:11.732Z,1736377871.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433952 target range: 123.099998 and range: 123.10 m. 2025-01-08T23:11:11.905Z,1736377871.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:11.912Z,1736377871.912 [DAT](INFO): DAT read: 23:11:10.1914 LVL= 19488, 32753, 31074, 32755, AGC= 65, IDX= 417,-0.33, 1.536,-0.412, 0.426, 0.693, PHS= 0.931,-1.058,-0.270, RAW= 113.2, 4.6, CAL= 123.7, 1.3, ROT= 26.3, -1.3 2025-01-08T23:11:11.913Z,1736377871.913 [DAT](INFO): got valid direction response: 23:11:10.1914 LVL= 19488, 32753, 31074, 32755, AGC= 65, IDX= 417,-0.33, 1.536,-0.412, 0.426, 0.693, PHS= 0.931,-1.058,-0.270, RAW= 113.2, 4.6, CAL= 123.7, 1.3, ROT= 26.3, -1.3 2025-01-08T23:11:11.914Z,1736377871.914 [DAT](INFO): DAT read: Bearing 26.3, -1.3 (Local) 2025-01-08T23:11:11.914Z,1736377871.914 [DAT](INFO): Local bearing/azimuth received: Bearing 26.3, -1.3 (Local) 2025-01-08T23:11:11.916Z,1736377871.916 [DAT](INFO): DAT read: Range 10 to 50 : 120.9 m (Round-trip 161.3 ms) speed 0.4 m/s 2025-01-08T23:11:11.917Z,1736377871.917 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:11:11.918Z,1736377871.918 [DAT](INFO): direction in FSK: [-0.203882,-0.291622,0.934553] 2025-01-08T23:11:11.931Z,1736377871.931 [DAT](INFO): publishing direction and range info 2025-01-08T23:11:11.941Z,1736377871.941 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:11.941Z,1736377871.941 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:11.942Z,1736377871.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:12.156Z,1736377872.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:12.156Z,1736377872.156 [DAT](INFO): DAT read: user:3066> 2025-01-08T23:11:12.157Z,1736377872.157 [DAT](INFO): DAT read: Tx time:23:11:11.4259 2025-01-08T23:11:12.157Z,1736377872.157 [DAT](INFO): Ping request sent. 2025-01-08T23:11:12.157Z,1736377872.157 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:12.158Z,1736377872.158 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:12.158Z,1736377872.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725 2025-01-08T23:11:12.180Z,1736377872.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:12.194Z,1736377872.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.900002 m, deltaT: 3.781362 s, deltaX: -2.199997 m, approachRate: -0.581800 m/s, rangeRepo size: 4 2025-01-08T23:11:12.234Z,1736377872.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.900002 m, bearing: 286.444051 deg, lat: 36.904378 deg, lon: -122.121389 deg, deltaT: 3.781362 s, deltaX: -2.199997 m, approachRate: -0.581800 m/s, posRepo size: 4 2025-01-08T23:11:12.234Z,1736377872.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m. 2025-01-08T23:11:12.241Z,1736377872.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.900002 m, nav range: 71.086563 m, bearing: 279.941284 deg, approach rate: 0.000000 m/s, LOS rate: -0.381716 deg/s, cmd heading: 24.863594 deg, new cmd heading: 24.324761 deg. 2025-01-08T23:11:12.242Z,1736377872.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424547 target range: 120.900002 and range: 120.90 m. 2025-01-08T23:11:12.412Z,1736377872.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:12.413Z,1736377872.413 [DAT](INFO): DAT read: TxSync time:23:11:11.4251 2025-01-08T23:11:12.414Z,1736377872.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256743 2025-01-08T23:11:12.660Z,1736377872.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:12.661Z,1736377872.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503750 2025-01-08T23:11:12.668Z,1736377872.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:12.693Z,1736377872.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m. 2025-01-08T23:11:12.708Z,1736377872.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.900002 m, nav range: 71.164864 m, bearing: 279.748924 deg, approach rate: 0.156919 m/s, LOS rate: -0.385078 deg/s, cmd heading: 24.324761 deg, new cmd heading: 23.748335 deg. 2025-01-08T23:11:12.709Z,1736377872.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414487 target range: 120.900002 and range: 120.90 m. 2025-01-08T23:11:12.913Z,1736377872.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:12.914Z,1736377872.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756088 2025-01-08T23:11:13.089Z,1736377873.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:13.098Z,1736377873.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m. 2025-01-08T23:11:13.100Z,1736377873.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.900002 m, nav range: 71.210640 m, bearing: 279.576658 deg, approach rate: 0.113078 m/s, LOS rate: -0.425264 deg/s, cmd heading: 23.748336 deg, new cmd heading: 23.231884 deg. 2025-01-08T23:11:13.101Z,1736377873.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.405473 target range: 120.900002 and range: 120.90 m. 2025-01-08T23:11:13.164Z,1736377873.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:13.166Z,1736377873.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008032 2025-01-08T23:11:13.417Z,1736377873.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:13.418Z,1736377873.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260714 2025-01-08T23:11:13.524Z,1736377873.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:13.532Z,1736377873.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m. 2025-01-08T23:11:13.535Z,1736377873.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.900002 m, nav range: 71.257668 m, bearing: 279.402371 deg, approach rate: 0.108243 m/s, LOS rate: -0.400890 deg/s, cmd heading: 23.231884 deg, new cmd heading: 22.709384 deg. 2025-01-08T23:11:13.538Z,1736377873.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.396354 target range: 120.900002 and range: 120.90 m. 2025-01-08T23:11:13.670Z,1736377873.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:13.672Z,1736377873.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513968 2025-01-08T23:11:13.920Z,1736377873.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:13.921Z,1736377873.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763783 2025-01-08T23:11:13.927Z,1736377873.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:13.934Z,1736377873.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:13.936Z,1736377873.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m. 2025-01-08T23:11:13.943Z,1736377873.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.900002 m, nav range: 71.284073 m, bearing: 279.241330 deg, approach rate: 0.065451 m/s, LOS rate: -0.399024 deg/s, cmd heading: 22.709383 deg, new cmd heading: 22.226452 deg. 2025-01-08T23:11:13.944Z,1736377873.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.387925 target range: 120.900002 and range: 120.90 m. 2025-01-08T23:11:14.172Z,1736377874.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:14.172Z,1736377874.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014848 2025-01-08T23:11:14.298Z,1736377874.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:14.309Z,1736377874.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m. 2025-01-08T23:11:14.314Z,1736377874.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.900002 m, nav range: 71.306885 m, bearing: 279.092729 deg, approach rate: 0.061031 m/s, LOS rate: -0.397436 deg/s, cmd heading: 22.226452 deg, new cmd heading: 21.780803 deg. 2025-01-08T23:11:14.316Z,1736377874.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.380147 target range: 120.900002 and range: 120.90 m. 2025-01-08T23:11:14.424Z,1736377874.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:14.426Z,1736377874.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268200 2025-01-08T23:11:14.677Z,1736377874.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:14.678Z,1736377874.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520017 2025-01-08T23:11:14.682Z,1736377874.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:14.691Z,1736377874.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m. 2025-01-08T23:11:14.694Z,1736377874.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.900002 m, nav range: 71.328735 m, bearing: 278.939306 deg, approach rate: 0.057239 m/s, LOS rate: -0.401780 deg/s, cmd heading: 21.780802 deg, new cmd heading: 21.320684 deg. 2025-01-08T23:11:14.695Z,1736377874.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.372116 target range: 120.900002 and range: 120.90 m. 2025-01-08T23:11:14.928Z,1736377874.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:14.929Z,1736377874.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771427 2025-01-08T23:11:15.112Z,1736377875.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:15.125Z,1736377875.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m. 2025-01-08T23:11:15.132Z,1736377875.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.900002 m, nav range: 71.351936 m, bearing: 278.763351 deg, approach rate: 0.053461 m/s, LOS rate: -0.405315 deg/s, cmd heading: 21.320685 deg, new cmd heading: 20.793007 deg. 2025-01-08T23:11:15.133Z,1736377875.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.362906 target range: 120.900002 and range: 120.90 m. 2025-01-08T23:11:15.180Z,1736377875.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:15.181Z,1736377875.181 [DAT](INFO): DAT read: Rx Time:23:11:13.9895 2025-01-08T23:11:15.182Z,1736377875.182 [DAT](INFO): Rx dataTimestamp_ set to:1736377875.181316 2025-01-08T23:11:15.183Z,1736377875.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025088 2025-01-08T23:11:15.432Z,1736377875.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:15.432Z,1736377875.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274826 2025-01-08T23:11:15.549Z,1736377875.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:15.562Z,1736377875.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m. 2025-01-08T23:11:15.564Z,1736377875.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.900002 m, nav range: 71.374084 m, bearing: 278.580397 deg, approach rate: 0.050728 m/s, LOS rate: -0.418904 deg/s, cmd heading: 20.793007 deg, new cmd heading: 20.244333 deg. 2025-01-08T23:11:15.565Z,1736377875.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.353330 target range: 120.900002 and range: 120.90 m. 2025-01-08T23:11:15.686Z,1736377875.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:15.714Z,1736377875.714 [DAT](INFO): DAT read: 23:11:13.9895 LVL= 14864, 31425, 22930, 32755, AGC= 64, IDX= 429, 0.16,-2.819, 1.481, 2.280, 2.643, PHS= 0.909,-1.115,-0.366, RAW= 111.5, 6.5, CAL= 121.7, 3.5, ROT= 28.3, -3.5 2025-01-08T23:11:15.725Z,1736377875.725 [DAT](INFO): got valid direction response: 23:11:13.9895 LVL= 14864, 31425, 22930, 32755, AGC= 64, IDX= 429, 0.16,-2.819, 1.481, 2.280, 2.643, PHS= 0.909,-1.115,-0.366, RAW= 111.5, 6.5, CAL= 121.7, 3.5, ROT= 28.3, -3.5 2025-01-08T23:11:15.726Z,1736377875.726 [DAT](INFO): DAT read: Bearing 28.3, -3.5 (Local) 2025-01-08T23:11:15.726Z,1736377875.726 [DAT](INFO): Local bearing/azimuth received: Bearing 28.3, -3.5 (Local) 2025-01-08T23:11:15.732Z,1736377875.732 [DAT](INFO): DAT read: Range 10 to 50 : 119.5 m (Round-trip 159.4 ms) speed 0.4 m/s 2025-01-08T23:11:15.732Z,1736377875.732 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:11:15.733Z,1736377875.733 [DAT](INFO): direction in FSK: [-0.237666,-0.259101,0.936153] 2025-01-08T23:11:15.733Z,1736377875.733 [DAT](INFO): publishing direction and range info 2025-01-08T23:11:15.741Z,1736377875.741 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:15.741Z,1736377875.741 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:15.741Z,1736377875.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:15.936Z,1736377875.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:15.938Z,1736377875.938 [DAT](INFO): DAT read: user:3067> 2025-01-08T23:11:15.939Z,1736377875.939 [DAT](INFO): DAT read: Tx time:23:11:15.2259 2025-01-08T23:11:15.940Z,1736377875.940 [DAT](INFO): Ping request sent. 2025-01-08T23:11:15.940Z,1736377875.940 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:15.941Z,1736377875.941 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:15.942Z,1736377875.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002233 2025-01-08T23:11:16.049Z,1736377876.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:16.082Z,1736377876.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.500000 m, deltaT: 3.782403 s, deltaX: -1.400002 m, approachRate: -0.370135 m/s, rangeRepo size: 4 2025-01-08T23:11:16.089Z,1736377876.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 119.500000 m, bearing: 275.302505 deg, lat: 36.904378 deg, lon: -122.121093 deg, deltaT: 3.782403 s, deltaX: -1.400002 m, approachRate: -0.370135 m/s, posRepo size: 4 2025-01-08T23:11:16.090Z,1736377876.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m. 2025-01-08T23:11:16.096Z,1736377876.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.500000 m, nav range: 45.578533 m, bearing: 283.183406 deg, approach rate: 0.000000 m/s, LOS rate: -0.418904 deg/s, cmd heading: 20.244334 deg, new cmd heading: 19.591314 deg. 2025-01-08T23:11:16.097Z,1736377876.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.341933 target range: 119.500000 and range: 119.50 m. 2025-01-08T23:11:16.188Z,1736377876.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:16.189Z,1736377876.189 [DAT](INFO): DAT read: TxSync time:23:11:15.2251 2025-01-08T23:11:16.190Z,1736377876.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249959 2025-01-08T23:11:16.442Z,1736377876.442 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:16.444Z,1736377876.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503883 2025-01-08T23:11:16.512Z,1736377876.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:16.530Z,1736377876.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:16.536Z,1736377876.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m. 2025-01-08T23:11:16.544Z,1736377876.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.500000 m, nav range: 45.576736 m, bearing: 282.888402 deg, approach rate: -0.003952 m/s, LOS rate: -0.648862 deg/s, cmd heading: 19.591313 deg, new cmd heading: 18.706339 deg. 2025-01-08T23:11:16.548Z,1736377876.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326487 target range: 119.500000 and range: 119.50 m. 2025-01-08T23:11:16.692Z,1736377876.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:16.693Z,1736377876.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753072 2025-01-08T23:11:16.945Z,1736377876.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:16.946Z,1736377876.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005645 2025-01-08T23:11:17.001Z,1736377877.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:17.010Z,1736377877.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m. 2025-01-08T23:11:17.013Z,1736377877.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.500000 m, nav range: 45.587383 m, bearing: 282.558134 deg, approach rate: 0.022447 m/s, LOS rate: -0.696159 deg/s, cmd heading: 18.706339 deg, new cmd heading: 17.715870 deg. 2025-01-08T23:11:17.014Z,1736377877.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.309200 target range: 119.500000 and range: 119.50 m. 2025-01-08T23:11:17.198Z,1736377877.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:17.200Z,1736377877.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260067 2025-01-08T23:11:17.300Z,1736377877.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:17.309Z,1736377877.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m. 2025-01-08T23:11:17.312Z,1736377877.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.500000 m, nav range: 45.593384 m, bearing: 282.342130 deg, approach rate: 0.020068 m/s, LOS rate: -0.722290 deg/s, cmd heading: 17.715870 deg, new cmd heading: 17.067973 deg. 2025-01-08T23:11:17.313Z,1736377877.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.297892 target range: 119.500000 and range: 119.50 m. 2025-01-08T23:11:17.448Z,1736377877.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:17.448Z,1736377877.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508518 2025-01-08T23:11:17.700Z,1736377877.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:17.700Z,1736377877.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760543 2025-01-08T23:11:17.706Z,1736377877.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:17.735Z,1736377877.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m. 2025-01-08T23:11:17.738Z,1736377877.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.500000 m, nav range: 45.600182 m, bearing: 282.065127 deg, approach rate: 0.015981 m/s, LOS rate: -0.651117 deg/s, cmd heading: 17.067973 deg, new cmd heading: 16.237150 deg. 2025-01-08T23:11:17.747Z,1736377877.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.283392 target range: 119.500000 and range: 119.50 m. 2025-01-08T23:11:17.952Z,1736377877.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:17.953Z,1736377877.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012687 2025-01-08T23:11:18.135Z,1736377878.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:18.144Z,1736377878.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m. 2025-01-08T23:11:18.147Z,1736377878.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.500000 m, nav range: 45.624538 m, bearing: 281.771154 deg, approach rate: 0.059471 m/s, LOS rate: -0.717400 deg/s, cmd heading: 16.237149 deg, new cmd heading: 15.355774 deg. 2025-01-08T23:11:18.148Z,1736377878.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.268009 target range: 119.500000 and range: 119.50 m. 2025-01-08T23:11:18.205Z,1736377878.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:18.206Z,1736377878.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265800 2025-01-08T23:11:18.456Z,1736377878.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:18.456Z,1736377878.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516457 2025-01-08T23:11:18.537Z,1736377878.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:18.544Z,1736377878.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:18.547Z,1736377878.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m. 2025-01-08T23:11:18.555Z,1736377878.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.500000 m, nav range: 45.646255 m, bearing: 281.494626 deg, approach rate: 0.054043 m/s, LOS rate: -0.687807 deg/s, cmd heading: 15.355775 deg, new cmd heading: 14.526648 deg. 2025-01-08T23:11:18.557Z,1736377878.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253538 target range: 119.500000 and range: 119.50 m. 2025-01-08T23:11:18.708Z,1736377878.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:18.708Z,1736377878.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768419 2025-01-08T23:11:18.962Z,1736377878.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:18.965Z,1736377878.965 [DAT](INFO): DAT read: Rx Time:23:11:17.7872 2025-01-08T23:11:18.966Z,1736377878.966 [DAT](INFO): Rx dataTimestamp_ set to:1736377878.965481 2025-01-08T23:11:18.969Z,1736377878.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028102 2025-01-08T23:11:18.980Z,1736377878.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:18.997Z,1736377878.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m. 2025-01-08T23:11:19.005Z,1736377879.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.500000 m, nav range: 45.668823 m, bearing: 281.190928 deg, approach rate: 0.050067 m/s, LOS rate: -0.673428 deg/s, cmd heading: 14.526648 deg, new cmd heading: 13.616085 deg. 2025-01-08T23:11:19.006Z,1736377879.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.237646 target range: 119.500000 and range: 119.50 m. 2025-01-08T23:11:19.213Z,1736377879.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:19.214Z,1736377879.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273675 2025-01-08T23:11:19.379Z,1736377879.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:19.389Z,1736377879.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m. 2025-01-08T23:11:19.394Z,1736377879.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.500000 m, nav range: 45.712269 m, bearing: 280.911774 deg, approach rate: 0.110825 m/s, LOS rate: -0.711412 deg/s, cmd heading: 13.616085 deg, new cmd heading: 12.779480 deg. 2025-01-08T23:11:19.395Z,1736377879.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.223044 target range: 119.500000 and range: 119.50 m. 2025-01-08T23:11:19.466Z,1736377879.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:19.468Z,1736377879.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527963 2025-01-08T23:11:19.716Z,1736377879.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:19.722Z,1736377879.722 [DAT](INFO): DAT read: 23:11:17.7872 LVL= 14752, 25889, 21138, 29427, AGC= 58, IDX= 420, 0.39, 0.238,-1.746,-1.147,-0.743, PHS= 1.070,-0.955,-0.407, RAW= 105.2, 3.3, CAL= 116.2, 0.8, ROT= 33.8, -0.8 2025-01-08T23:11:19.724Z,1736377879.724 [DAT](INFO): got valid direction response: 23:11:17.7872 LVL= 14752, 25889, 21138, 29427, AGC= 58, IDX= 420, 0.39, 0.238,-1.746,-1.147,-0.743, PHS= 1.070,-0.955,-0.407, RAW= 105.2, 3.3, CAL= 116.2, 0.8, ROT= 33.8, -0.8 2025-01-08T23:11:19.725Z,1736377879.725 [DAT](INFO): DAT read: Bearing 33.8, -0.8 (Local) 2025-01-08T23:11:19.726Z,1736377879.726 [DAT](INFO): Local bearing/azimuth received: Bearing 33.8, -0.8 (Local) 2025-01-08T23:11:19.727Z,1736377879.727 [DAT](INFO): DAT read: Range 10 to 50 : 117.8 m (Round-trip 157.1 ms) speed 0.4 m/s 2025-01-08T23:11:19.728Z,1736377879.728 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:11:19.729Z,1736377879.729 [DAT](INFO): direction in FSK: [-0.169012,-0.154668,0.973403] 2025-01-08T23:11:19.729Z,1736377879.729 [DAT](INFO): publishing direction and range info 2025-01-08T23:11:19.733Z,1736377879.733 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:19.733Z,1736377879.733 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:19.733Z,1736377879.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:19.747Z,1736377879.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:19.812Z,1736377879.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 117.800003 m, deltaT: 4.027990 s, deltaX: -1.699997 m, approachRate: -0.422046 m/s, rangeRepo size: 4 2025-01-08T23:11:19.814Z,1736377879.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 117.800003 m, bearing: 274.574728 deg, lat: 36.904320 deg, lon: -122.121069 deg, deltaT: 4.027990 s, deltaX: -1.699997 m, approachRate: -0.422046 m/s, posRepo size: 4 2025-01-08T23:11:19.821Z,1736377879.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m. 2025-01-08T23:11:19.829Z,1736377879.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.800003 m, nav range: 42.831837 m, bearing: 272.735779 deg, approach rate: 0.000000 m/s, LOS rate: -0.711412 deg/s, cmd heading: 12.779480 deg, new cmd heading: 11.920286 deg. 2025-01-08T23:11:19.830Z,1736377879.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.208048 target range: 117.800003 and range: 117.80 m. 2025-01-08T23:11:19.970Z,1736377879.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:19.972Z,1736377879.972 [DAT](INFO): DAT read: user:3068> 2025-01-08T23:11:19.975Z,1736377879.975 [DAT](INFO): DAT read: Tx time:23:11:19.2259 2025-01-08T23:11:19.975Z,1736377879.975 [DAT](INFO): Ping request sent. 2025-01-08T23:11:19.975Z,1736377879.975 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:19.976Z,1736377879.976 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:19.976Z,1736377879.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001308 2025-01-08T23:11:20.194Z,1736377880.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:20.211Z,1736377880.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m. 2025-01-08T23:11:20.218Z,1736377880.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.800003 m, nav range: 42.927250 m, bearing: 272.415387 deg, approach rate: 0.227464 m/s, LOS rate: -0.762108 deg/s, cmd heading: 11.920286 deg, new cmd heading: 10.961341 deg. 2025-01-08T23:11:20.219Z,1736377880.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.191311 target range: 117.800003 and range: 117.80 m. 2025-01-08T23:11:20.221Z,1736377880.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:20.221Z,1736377880.221 [DAT](INFO): DAT read: TxSync time:23:11:19.2251 2025-01-08T23:11:20.222Z,1736377880.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247218 2025-01-08T23:11:20.473Z,1736377880.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:20.475Z,1736377880.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499674 2025-01-08T23:11:20.556Z,1736377880.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:20.563Z,1736377880.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:20.565Z,1736377880.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m. 2025-01-08T23:11:20.569Z,1736377880.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.800003 m, nav range: 43.004143 m, bearing: 272.155215 deg, approach rate: 0.216991 m/s, LOS rate: -0.732887 deg/s, cmd heading: 10.961341 deg, new cmd heading: 10.182273 deg. 2025-01-08T23:11:20.570Z,1736377880.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.177714 target range: 117.800003 and range: 117.80 m. 2025-01-08T23:11:20.724Z,1736377880.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:20.724Z,1736377880.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749468 2025-01-08T23:11:20.978Z,1736377880.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:20.980Z,1736377880.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004685 2025-01-08T23:11:21.008Z,1736377881.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:21.025Z,1736377881.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m. 2025-01-08T23:11:21.032Z,1736377881.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.800003 m, nav range: 43.098885 m, bearing: 271.831423 deg, approach rate: 0.206148 m/s, LOS rate: -0.702985 deg/s, cmd heading: 10.182274 deg, new cmd heading: 9.213130 deg. 2025-01-08T23:11:21.033Z,1736377881.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.160799 target range: 117.800003 and range: 117.80 m. 2025-01-08T23:11:21.228Z,1736377881.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:21.228Z,1736377881.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253471 2025-01-08T23:11:21.370Z,1736377881.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:21.398Z,1736377881.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m. 2025-01-08T23:11:21.405Z,1736377881.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.800003 m, nav range: 43.186188 m, bearing: 271.565446 deg, approach rate: 0.233687 m/s, LOS rate: -0.710509 deg/s, cmd heading: 9.213130 deg, new cmd heading: 8.416864 deg. 2025-01-08T23:11:21.406Z,1736377881.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146902 target range: 117.800003 and range: 117.80 m. 2025-01-08T23:11:21.481Z,1736377881.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:21.482Z,1736377881.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506658 2025-01-08T23:11:21.732Z,1736377881.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:21.732Z,1736377881.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757499 2025-01-08T23:11:21.751Z,1736377881.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:21.761Z,1736377881.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m. 2025-01-08T23:11:21.763Z,1736377881.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.800003 m, nav range: 43.277794 m, bearing: 271.284343 deg, approach rate: 0.252875 m/s, LOS rate: -0.774326 deg/s, cmd heading: 8.416864 deg, new cmd heading: 7.575405 deg. 2025-01-08T23:11:21.764Z,1736377881.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.132216 target range: 117.800003 and range: 117.80 m. 2025-01-08T23:11:21.991Z,1736377881.991 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:21.994Z,1736377881.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018376 2025-01-08T23:11:22.211Z,1736377882.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:22.221Z,1736377882.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m. 2025-01-08T23:11:22.224Z,1736377882.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.800003 m, nav range: 43.390785 m, bearing: 270.954869 deg, approach rate: 0.245764 m/s, LOS rate: -0.714760 deg/s, cmd heading: 7.575405 deg, new cmd heading: 6.589659 deg. 2025-01-08T23:11:22.225Z,1736377882.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115011 target range: 117.800003 and range: 117.80 m. 2025-01-08T23:11:22.236Z,1736377882.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:22.237Z,1736377882.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261959 2025-01-08T23:11:22.488Z,1736377882.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:22.488Z,1736377882.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513377 2025-01-08T23:11:22.593Z,1736377882.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:22.600Z,1736377882.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:22.602Z,1736377882.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m. 2025-01-08T23:11:22.605Z,1736377882.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.800003 m, nav range: 43.483303 m, bearing: 270.681346 deg, approach rate: 0.242481 m/s, LOS rate: -0.715351 deg/s, cmd heading: 6.589659 deg, new cmd heading: 5.770895 deg. 2025-01-08T23:11:22.606Z,1736377882.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100721 target range: 117.800003 and range: 117.80 m. 2025-01-08T23:11:22.740Z,1736377882.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:22.740Z,1736377882.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765521 2025-01-08T23:11:22.993Z,1736377882.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:22.996Z,1736377882.996 [DAT](INFO): DAT read: Rx Time:23:11:21.7845 2025-01-08T23:11:22.997Z,1736377882.997 [DAT](INFO): Rx dataTimestamp_ set to:1736377882.996511 2025-01-08T23:11:23.001Z,1736377883.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024180 2025-01-08T23:11:23.110Z,1736377883.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:23.119Z,1736377883.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m. 2025-01-08T23:11:23.124Z,1736377883.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.800003 m, nav range: 43.593727 m, bearing: 270.311985 deg, approach rate: 0.213604 m/s, LOS rate: -0.712674 deg/s, cmd heading: 5.770895 deg, new cmd heading: 4.665764 deg. 2025-01-08T23:11:23.125Z,1736377883.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081433 target range: 117.800003 and range: 117.80 m. 2025-01-08T23:11:23.244Z,1736377883.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:23.245Z,1736377883.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269698 2025-01-08T23:11:23.498Z,1736377883.498 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:23.508Z,1736377883.508 [DAT](INFO): DAT read: 23:11:21.7845 LVL= 13088, 26657, 23938, 32755, AGC= 57, IDX= 412, 0.19,-1.499, 2.721, 3.072,-2.638, PHS= 1.228,-0.876,-0.576, RAW= 97.6, 2.3, CAL= 107.3, 0.1, ROT= 42.7, -0.1 2025-01-08T23:11:23.509Z,1736377883.509 [DAT](INFO): got valid direction response: 23:11:21.7845 LVL= 13088, 26657, 23938, 32755, AGC= 57, IDX= 412, 0.19,-1.499, 2.721, 3.072,-2.638, PHS= 1.228,-0.876,-0.576, RAW= 97.6, 2.3, CAL= 107.3, 0.1, ROT= 42.7, -0.1 2025-01-08T23:11:23.510Z,1736377883.510 [DAT](INFO): DAT read: Bearing 42.7, -0.1 (Local) 2025-01-08T23:11:23.510Z,1736377883.510 [DAT](INFO): Local bearing/azimuth received: Bearing 42.7, -0.1 (Local) 2025-01-08T23:11:23.536Z,1736377883.536 [DAT](INFO): DAT read: Range 10 to 50 : 115.9 m (Round-trip 154.6 ms) speed 0.2 m/s 2025-01-08T23:11:23.537Z,1736377883.537 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:11:23.539Z,1736377883.539 [DAT](INFO): direction in FSK: [-0.140554,-0.022202,0.989824] 2025-01-08T23:11:23.556Z,1736377883.556 [DAT](INFO): publishing direction and range info 2025-01-08T23:11:23.559Z,1736377883.559 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:23.559Z,1736377883.559 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:23.559Z,1736377883.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:23.609Z,1736377883.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:23.666Z,1736377883.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.900002 m, deltaT: 3.782360 s, deltaX: -1.900002 m, approachRate: -0.502332 m/s, rangeRepo size: 4 2025-01-08T23:11:23.674Z,1736377883.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.900002 m, bearing: 244.798775 deg, lat: 36.904318 deg, lon: -122.121045 deg, deltaT: 3.782360 s, deltaX: -1.900002 m, approachRate: -0.502332 m/s, posRepo size: 4 2025-01-08T23:11:23.675Z,1736377883.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:11:23.682Z,1736377883.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.574780 m, bearing: 269.593247 deg, approach rate: 0.000000 m/s, LOS rate: -0.712674 deg/s, cmd heading: 4.665764 deg, new cmd heading: 3.498991 deg. 2025-01-08T23:11:23.696Z,1736377883.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061069 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:11:23.748Z,1736377883.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:23.748Z,1736377883.748 [DAT](INFO): DAT read: user:3069> 2025-01-08T23:11:23.749Z,1736377883.749 [DAT](INFO): DAT read: Tx time:23:11:23.0257 2025-01-08T23:11:23.749Z,1736377883.749 [DAT](INFO): Ping request sent. 2025-01-08T23:11:23.750Z,1736377883.750 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:23.750Z,1736377883.750 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:23.750Z,1736377883.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000714 2025-01-08T23:11:24.002Z,1736377884.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:24.006Z,1736377884.006 [DAT](INFO): DAT read: TxSync time:23:11:23.0250 2025-01-08T23:11:24.009Z,1736377884.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.259306 2025-01-08T23:11:24.113Z,1736377884.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:24.122Z,1736377884.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:11:24.125Z,1736377884.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.659092 m, bearing: 269.219717 deg, approach rate: 0.184298 m/s, LOS rate: -0.814839 deg/s, cmd heading: 3.498991 deg, new cmd heading: 2.380819 deg. 2025-01-08T23:11:24.126Z,1736377884.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041553 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:11:24.252Z,1736377884.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:24.253Z,1736377884.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503116 2025-01-08T23:11:24.451Z,1736377884.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:24.461Z,1736377884.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:11:24.464Z,1736377884.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.713963 m, bearing: 268.968844 deg, approach rate: 0.162049 m/s, LOS rate: -0.739926 deg/s, cmd heading: 2.380820 deg, new cmd heading: 1.629237 deg. 2025-01-08T23:11:24.465Z,1736377884.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028436 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:11:24.504Z,1736377884.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:24.505Z,1736377884.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755713 2025-01-08T23:11:24.756Z,1736377884.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:24.756Z,1736377884.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006767 2025-01-08T23:11:24.854Z,1736377884.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:24.861Z,1736377884.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:24.863Z,1736377884.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:11:24.866Z,1736377884.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.777134 m, bearing: 268.669361 deg, approach rate: 0.157042 m/s, LOS rate: -0.743377 deg/s, cmd heading: 1.629237 deg, new cmd heading: 0.732224 deg. 2025-01-08T23:11:24.867Z,1736377884.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012780 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:11:25.009Z,1736377885.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:25.012Z,1736377885.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261886 2025-01-08T23:11:25.260Z,1736377885.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:25.260Z,1736377885.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510814 2025-01-08T23:11:25.290Z,1736377885.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:25.315Z,1736377885.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:11:25.318Z,1736377885.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.819176 m, bearing: 268.341577 deg, approach rate: 0.093054 m/s, LOS rate: -0.724772 deg/s, cmd heading: 0.732224 deg, new cmd heading: 359.749960 deg. 2025-01-08T23:11:25.319Z,1736377885.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.278821 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:11:25.512Z,1736377885.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:25.512Z,1736377885.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762675 2025-01-08T23:11:25.690Z,1736377885.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:25.699Z,1736377885.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:11:25.701Z,1736377885.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.855404 m, bearing: 268.040660 deg, approach rate: 0.094417 m/s, LOS rate: -0.783564 deg/s, cmd heading: 359.749970 deg, new cmd heading: 358.848080 deg. 2025-01-08T23:11:25.702Z,1736377885.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263081 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:11:25.764Z,1736377885.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:25.765Z,1736377885.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015011 2025-01-08T23:11:26.017Z,1736377886.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:26.020Z,1736377886.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270025 2025-01-08T23:11:26.159Z,1736377886.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:26.182Z,1736377886.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:11:26.185Z,1736377886.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.878361 m, bearing: 267.681619 deg, approach rate: 0.047461 m/s, LOS rate: -0.741870 deg/s, cmd heading: 358.848085 deg, new cmd heading: 357.771687 deg. 2025-01-08T23:11:26.187Z,1736377886.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244294 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:11:26.268Z,1736377886.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:26.270Z,1736377886.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519677 2025-01-08T23:11:26.505Z,1736377886.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:26.520Z,1736377886.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:26.521Z,1736377886.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771044 2025-01-08T23:11:26.522Z,1736377886.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:11:26.525Z,1736377886.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.896412 m, bearing: 267.416125 deg, approach rate: 0.053083 m/s, LOS rate: -0.780401 deg/s, cmd heading: 357.771674 deg, new cmd heading: 356.975588 deg. 2025-01-08T23:11:26.526Z,1736377886.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.230399 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:11:26.772Z,1736377886.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:26.773Z,1736377886.773 [DAT](INFO): DAT read: Rx Time:23:11:25.5835 2025-01-08T23:11:26.773Z,1736377886.773 [DAT](INFO): Rx dataTimestamp_ set to:1736377886.773033 2025-01-08T23:11:26.774Z,1736377886.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024208 2025-01-08T23:11:26.891Z,1736377886.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:26.898Z,1736377886.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:26.901Z,1736377886.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:11:26.904Z,1736377886.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 41.902214 m, bearing: 267.119583 deg, approach rate: 0.015334 m/s, LOS rate: -0.783616 deg/s, cmd heading: 356.975575 deg, new cmd heading: 356.086148 deg. 2025-01-08T23:11:26.905Z,1736377886.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214876 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:11:27.024Z,1736377887.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:27.025Z,1736377887.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274899 2025-01-08T23:11:27.277Z,1736377887.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:27.291Z,1736377887.291 [DAT](INFO): DAT read: 23:11:25.5835 LVL= 16240, 29137, 25330, 29539, AGC= 59, IDX= 431, 0.09, 2.747, 0.827, 0.788, 1.615, PHS= 1.220,-0.741,-0.830, RAW= 87.8, 3.5, CAL= 94.4, 1.5, ROT= 55.6, -1.5 2025-01-08T23:11:27.299Z,1736377887.299 [DAT](INFO): got valid direction response: 23:11:25.5835 LVL= 16240, 29137, 25330, 29539, AGC= 59, IDX= 431, 0.09, 2.747, 0.827, 0.788, 1.615, PHS= 1.220,-0.741,-0.830, RAW= 87.8, 3.5, CAL= 94.4, 1.5, ROT= 55.6, -1.5 2025-01-08T23:11:27.300Z,1736377887.300 [DAT](INFO): DAT read: Bearing 55.6, -1.5 (Local) 2025-01-08T23:11:27.300Z,1736377887.300 [DAT](INFO): Local bearing/azimuth received: Bearing 55.6, -1.5 (Local) 2025-01-08T23:11:27.302Z,1736377887.302 [DAT](INFO): DAT read: Range 10 to 50 : 115.0 m (Round-trip 153.4 ms) speed 0.2 m/s 2025-01-08T23:11:27.302Z,1736377887.302 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:11:27.305Z,1736377887.305 [DAT](INFO): direction in FSK: [-0.148381,0.148529,0.977713] 2025-01-08T23:11:27.305Z,1736377887.305 [DAT](INFO): publishing direction and range info 2025-01-08T23:11:27.337Z,1736377887.337 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:27.337Z,1736377887.337 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:27.337Z,1736377887.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:27.435Z,1736377887.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:27.473Z,1736377887.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.000000 m, deltaT: 3.779746 s, deltaX: -0.900002 m, approachRate: -0.238112 m/s, rangeRepo size: 4 2025-01-08T23:11:27.479Z,1736377887.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.000000 m, bearing: 113.774104 deg, lat: 36.904318 deg, lon: -122.120875 deg, deltaT: 3.779746 s, deltaX: -0.900002 m, approachRate: -0.238112 m/s, posRepo size: 4 2025-01-08T23:11:27.480Z,1736377887.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:27.483Z,1736377887.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.818720 m, bearing: 264.836693 deg, approach rate: 0.000000 m/s, LOS rate: -0.783616 deg/s, cmd heading: 356.086148 deg, new cmd heading: 354.742038 deg. 2025-01-08T23:11:27.488Z,1736377887.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.191417 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:27.528Z,1736377887.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:27.528Z,1736377887.528 [DAT](INFO): DAT read: user:3070> 2025-01-08T23:11:27.530Z,1736377887.530 [DAT](INFO): DAT read: Tx time:23:11:26.8260 2025-01-08T23:11:27.530Z,1736377887.530 [DAT](INFO): Ping request sent. 2025-01-08T23:11:27.530Z,1736377887.530 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:27.531Z,1736377887.531 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:27.536Z,1736377887.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004998 2025-01-08T23:11:27.732Z,1736377887.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:27.749Z,1736377887.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:27.757Z,1736377887.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.818239 m, bearing: 264.475037 deg, approach rate: -0.001739 m/s, LOS rate: -1.308833 deg/s, cmd heading: 354.742048 deg, new cmd heading: 353.657200 deg. 2025-01-08T23:11:27.758Z,1736377887.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172482 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:27.780Z,1736377887.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:27.781Z,1736377887.781 [DAT](INFO): DAT read: TxSync time:23:11:26.8252 2025-01-08T23:11:27.781Z,1736377887.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251396 2025-01-08T23:11:28.033Z,1736377888.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:28.037Z,1736377888.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506569 2025-01-08T23:11:28.160Z,1736377888.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:28.169Z,1736377888.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:28.173Z,1736377888.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.809757 m, bearing: 263.950720 deg, approach rate: -0.020207 m/s, LOS rate: -1.249482 deg/s, cmd heading: 353.657196 deg, new cmd heading: 352.084162 deg. 2025-01-08T23:11:28.174Z,1736377888.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145028 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:28.284Z,1736377888.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:28.285Z,1736377888.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754625 2025-01-08T23:11:28.510Z,1736377888.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:28.518Z,1736377888.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:28.522Z,1736377888.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.804491 m, bearing: 263.521576 deg, approach rate: -0.015067 m/s, LOS rate: -1.228041 deg/s, cmd heading: 352.084176 deg, new cmd heading: 350.796722 deg. 2025-01-08T23:11:28.523Z,1736377888.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.122558 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:28.536Z,1736377888.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:28.538Z,1736377888.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007226 2025-01-08T23:11:28.788Z,1736377888.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:28.788Z,1736377888.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258475 2025-01-08T23:11:28.897Z,1736377888.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:28.904Z,1736377888.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:28.906Z,1736377888.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:28.915Z,1736377888.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.782434 m, bearing: 263.049156 deg, approach rate: -0.056875 m/s, LOS rate: -1.219179 deg/s, cmd heading: 350.796713 deg, new cmd heading: 349.378591 deg. 2025-01-08T23:11:28.916Z,1736377888.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097807 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:29.041Z,1736377889.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:29.043Z,1736377889.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512538 2025-01-08T23:11:29.292Z,1736377889.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:29.292Z,1736377889.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762304 2025-01-08T23:11:29.325Z,1736377889.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:29.358Z,1736377889.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:29.365Z,1736377889.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.750883 m, bearing: 262.516959 deg, approach rate: -0.069860 m/s, LOS rate: -1.179751 deg/s, cmd heading: 349.378601 deg, new cmd heading: 347.780566 deg. 2025-01-08T23:11:29.366Z,1736377889.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.069916 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:29.544Z,1736377889.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:29.544Z,1736377889.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014370 2025-01-08T23:11:29.712Z,1736377889.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:29.727Z,1736377889.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:29.733Z,1736377889.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.720448 m, bearing: 262.031941 deg, approach rate: -0.082361 m/s, LOS rate: -1.313972 deg/s, cmd heading: 347.780556 deg, new cmd heading: 346.324174 deg. 2025-01-08T23:11:29.736Z,1736377889.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044497 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:29.797Z,1736377889.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:29.798Z,1736377889.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267702 2025-01-08T23:11:30.048Z,1736377890.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:30.048Z,1736377890.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518366 2025-01-08T23:11:30.168Z,1736377890.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:30.178Z,1736377890.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:30.181Z,1736377890.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.693977 m, bearing: 261.471826 deg, approach rate: -0.058671 m/s, LOS rate: -1.242711 deg/s, cmd heading: 346.324168 deg, new cmd heading: 344.642667 deg. 2025-01-08T23:11:30.182Z,1736377890.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015149 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:30.300Z,1736377890.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:30.301Z,1736377890.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770849 2025-01-08T23:11:30.504Z,1736377890.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:30.513Z,1736377890.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:30.516Z,1736377890.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.672335 m, bearing: 261.058660 deg, approach rate: -0.064749 m/s, LOS rate: -1.237070 deg/s, cmd heading: 344.642658 deg, new cmd heading: 343.402357 deg. 2025-01-08T23:11:30.517Z,1736377890.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993502 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:30.552Z,1736377890.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:30.553Z,1736377890.553 [DAT](INFO): DAT read: Rx Time:23:11:29.3827 2025-01-08T23:11:30.554Z,1736377890.554 [DAT](INFO): Rx dataTimestamp_ set to:1736377890.553141 2025-01-08T23:11:30.554Z,1736377890.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024327 2025-01-08T23:11:30.805Z,1736377890.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:30.806Z,1736377890.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275862 2025-01-08T23:11:30.916Z,1736377890.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:30.923Z,1736377890.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:30.925Z,1736377890.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:30.929Z,1736377890.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.643162 m, bearing: 260.553472 deg, approach rate: -0.070680 m/s, LOS rate: -1.225292 deg/s, cmd heading: 343.402350 deg, new cmd heading: 341.885501 deg. 2025-01-08T23:11:30.930Z,1736377890.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967028 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:31.059Z,1736377891.059 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:31.062Z,1736377891.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531966 2025-01-08T23:11:31.312Z,1736377891.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:31.318Z,1736377891.318 [DAT](INFO): DAT read: 23:11:29.3827 LVL= 13072, 26049, 18722, 26611, AGC= 60, IDX= 438,-0.25,-0.127,-1.566,-2.138,-0.983, PHS= 0.944,-0.536,-1.157, RAW= 73.3, 8.1, CAL= 75.9, 11.3, ROT= 74.1, -11.3 2025-01-08T23:11:31.321Z,1736377891.321 [DAT](INFO): got valid direction response: 23:11:29.3827 LVL= 13072, 26049, 18722, 26611, AGC= 60, IDX= 438,-0.25,-0.127,-1.566,-2.138,-0.983, PHS= 0.944,-0.536,-1.157, RAW= 73.3, 8.1, CAL= 75.9, 11.3, ROT= 74.1, -11.3 2025-01-08T23:11:31.322Z,1736377891.322 [DAT](INFO): DAT read: Bearing 74.1, -11.3 (Local) 2025-01-08T23:11:31.322Z,1736377891.322 [DAT](INFO): Local bearing/azimuth received: Bearing 74.1, -11.3 (Local) 2025-01-08T23:11:31.325Z,1736377891.325 [DAT](INFO): DAT read: Range 10 to 50 : 114.3 m (Round-trip 152.5 ms) speed 0.0 m/s 2025-01-08T23:11:31.326Z,1736377891.326 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:11:31.327Z,1736377891.327 [DAT](INFO): direction in FSK: [-0.205113,0.386338,0.899262] 2025-01-08T23:11:31.327Z,1736377891.327 [DAT](INFO): publishing direction and range info 2025-01-08T23:11:31.330Z,1736377891.330 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:31.330Z,1736377891.330 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:31.330Z,1736377891.330 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:31.411Z,1736377891.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:31.454Z,1736377891.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.300003 m, deltaT: 4.034090 s, deltaX: -0.699997 m, approachRate: -0.173520 m/s, rangeRepo size: 4 2025-01-08T23:11:31.460Z,1736377891.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.300003 m, bearing: 98.367827 deg, lat: 36.904300 deg, lon: -122.120656 deg, deltaT: 4.034090 s, deltaX: -0.699997 m, approachRate: -0.173520 m/s, posRepo size: 4 2025-01-08T23:11:31.461Z,1736377891.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:31.468Z,1736377891.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 9.466790 m, bearing: 225.131140 deg, approach rate: 0.000000 m/s, LOS rate: -1.225292 deg/s, cmd heading: 341.885501 deg, new cmd heading: 339.948744 deg. 2025-01-08T23:11:31.469Z,1736377891.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933225 target range: 114.300003 and range: 114.30 m. 2025-01-08T23:11:31.565Z,1736377891.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:31.565Z,1736377891.565 [DAT](INFO): DAT read: user:3071> 2025-01-08T23:11:31.567Z,1736377891.567 [DAT](INFO): DAT read: Tx time:23:11:30.8260 2025-01-08T23:11:31.567Z,1736377891.567 [DAT](INFO): Ping request sent. 2025-01-08T23:11:31.567Z,1736377891.567 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:31.568Z,1736377891.568 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:31.569Z,1736377891.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001137 2025-01-08T23:11:31.798Z,1736377891.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:31.815Z,1736377891.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:31.816Z,1736377891.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:31.817Z,1736377891.817 [DAT](INFO): DAT read: TxSync time:23:11:30.8252 2025-01-08T23:11:31.817Z,1736377891.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249936 2025-01-08T23:11:31.822Z,1736377891.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 9.574749 m, bearing: 223.970238 deg, approach rate: 0.298044 m/s, LOS rate: -3.168574 deg/s, cmd heading: 339.948733 deg, new cmd heading: 336.509668 deg. 2025-01-08T23:11:31.828Z,1736377891.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873202 target range: 114.300003 and range: 114.30 m. 2025-01-08T23:11:32.071Z,1736377892.071 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:32.072Z,1736377892.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504942 2025-01-08T23:11:32.237Z,1736377892.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:32.245Z,1736377892.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:32.249Z,1736377892.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 9.702536 m, bearing: 222.765532 deg, approach rate: 0.296560 m/s, LOS rate: -2.758791 deg/s, cmd heading: 336.509678 deg, new cmd heading: 332.948017 deg. 2025-01-08T23:11:32.250Z,1736377892.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811039 target range: 114.300003 and range: 114.30 m. 2025-01-08T23:11:32.320Z,1736377892.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:32.321Z,1736377892.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753664 2025-01-08T23:11:32.568Z,1736377892.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:32.572Z,1736377892.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:32.573Z,1736377892.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005257 2025-01-08T23:11:32.580Z,1736377892.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:32.582Z,1736377892.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 9.801948 m, bearing: 221.786748 deg, approach rate: 0.297316 m/s, LOS rate: -2.897464 deg/s, cmd heading: 332.948008 deg, new cmd heading: 330.044065 deg. 2025-01-08T23:11:32.584Z,1736377892.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760355 target range: 114.300003 and range: 114.30 m. 2025-01-08T23:11:32.825Z,1736377892.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:32.826Z,1736377892.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258599 2025-01-08T23:11:32.964Z,1736377892.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:32.989Z,1736377892.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:32.991Z,1736377892.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:33.002Z,1736377893.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 9.915385 m, bearing: 220.671273 deg, approach rate: 0.276122 m/s, LOS rate: -2.683974 deg/s, cmd heading: 330.044057 deg, new cmd heading: 326.739795 deg. 2025-01-08T23:11:33.002Z,1736377893.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702685 target range: 114.300003 and range: 114.30 m. 2025-01-08T23:11:33.076Z,1736377893.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:33.077Z,1736377893.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509552 2025-01-08T23:11:33.328Z,1736377893.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:33.328Z,1736377893.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760962 2025-01-08T23:11:33.399Z,1736377893.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:33.409Z,1736377893.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:33.427Z,1736377893.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 10.048523 m, bearing: 219.552254 deg, approach rate: 0.318639 m/s, LOS rate: -2.642502 deg/s, cmd heading: 326.739803 deg, new cmd heading: 323.431119 deg. 2025-01-08T23:11:33.429Z,1736377893.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644938 target range: 114.300003 and range: 114.30 m. 2025-01-08T23:11:33.580Z,1736377893.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:33.580Z,1736377893.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012977 2025-01-08T23:11:33.780Z,1736377893.780 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:11:33.792Z,1736377893.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:33.809Z,1736377893.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:33.813Z,1736377893.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 10.172352 m, bearing: 218.564202 deg, approach rate: 0.309657 m/s, LOS rate: -2.440607 deg/s, cmd heading: 323.431123 deg, new cmd heading: 320.505737 deg. 2025-01-08T23:11:33.814Z,1736377893.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593880 target range: 114.300003 and range: 114.30 m. 2025-01-08T23:11:33.832Z,1736377893.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:33.832Z,1736377893.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264885 2025-01-08T23:11:34.084Z,1736377894.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:34.085Z,1736377894.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517168 2025-01-08T23:11:34.240Z,1736377894.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:34.249Z,1736377894.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:34.256Z,1736377894.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 10.304831 m, bearing: 217.445046 deg, approach rate: 0.300750 m/s, LOS rate: -2.507861 deg/s, cmd heading: 320.505725 deg, new cmd heading: 317.195321 deg. 2025-01-08T23:11:34.257Z,1736377894.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536103 target range: 114.300003 and range: 114.30 m. 2025-01-08T23:11:34.336Z,1736377894.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:34.337Z,1736377894.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769347 2025-01-08T23:11:34.584Z,1736377894.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:34.588Z,1736377894.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:34.589Z,1736377894.589 [DAT](INFO): DAT read: Rx Time:23:11:33.3818 2025-01-08T23:11:34.589Z,1736377894.589 [DAT](INFO): Rx dataTimestamp_ set to:1736377894.588687 2025-01-08T23:11:34.589Z,1736377894.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022048 2025-01-08T23:11:34.596Z,1736377894.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:34.599Z,1736377894.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 10.405278 m, bearing: 216.591242 deg, approach rate: 0.289265 m/s, LOS rate: -2.434925 deg/s, cmd heading: 317.195324 deg, new cmd heading: 314.660389 deg. 2025-01-08T23:11:34.600Z,1736377894.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.491860 target range: 114.300003 and range: 114.30 m. 2025-01-08T23:11:34.785Z,1736377894.785 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:11:34.840Z,1736377894.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:34.841Z,1736377894.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273082 2025-01-08T23:11:34.979Z,1736377894.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:34.988Z,1736377894.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:34.991Z,1736377894.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 10.518665 m, bearing: 215.614963 deg, approach rate: 0.289155 m/s, LOS rate: -2.462708 deg/s, cmd heading: 314.660395 deg, new cmd heading: 311.765733 deg. 2025-01-08T23:11:35.008Z,1736377895.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441339 target range: 114.300003 and range: 114.30 m. 2025-01-08T23:11:35.092Z,1736377895.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:35.096Z,1736377895.096 [DAT](INFO): DAT read: Range 10 to 50 : 113.7 m (Round-trip 151.6 ms) speed 0.0 m/s 2025-01-08T23:11:35.098Z,1736377895.098 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:11:35.101Z,1736377895.101 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:35.101Z,1736377895.101 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:35.101Z,1736377895.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:35.344Z,1736377895.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:35.344Z,1736377895.344 [DAT](INFO): DAT read: user:3072> 2025-01-08T23:11:35.345Z,1736377895.345 [DAT](INFO): DAT read: Tx time:23:11:34.5761 2025-01-08T23:11:35.345Z,1736377895.345 [DAT](INFO): Ping request sent. 2025-01-08T23:11:35.345Z,1736377895.345 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:35.346Z,1736377895.346 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:35.346Z,1736377895.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727 2025-01-08T23:11:35.455Z,1736377895.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:35.462Z,1736377895.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:35.465Z,1736377895.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.699997 m, deltaT: 3.780781 s, deltaX: -0.600006 m, approachRate: -0.158699 m/s, rangeRepo size: 4 2025-01-08T23:11:35.466Z,1736377895.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:35.469Z,1736377895.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 10.647912 m, bearing: 214.482072 deg, approach rate: 0.271282 m/s, LOS rate: -2.348857 deg/s, cmd heading: 311.765733 deg, new cmd heading: 308.412369 deg. 2025-01-08T23:11:35.472Z,1736377895.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382811 target range: 114.300003 and range: 113.70 m. 2025-01-08T23:11:35.596Z,1736377895.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:35.597Z,1736377895.597 [DAT](INFO): DAT read: TxSync time:23:11:34.5753 2025-01-08T23:11:35.598Z,1736377895.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252050 2025-01-08T23:11:35.792Z,1736377895.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:35.806Z,1736377895.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:35.809Z,1736377895.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 10.737862 m, bearing: 213.682798 deg, approach rate: 0.263732 m/s, LOS rate: -2.323759 deg/s, cmd heading: 308.412356 deg, new cmd heading: 306.036061 deg. 2025-01-08T23:11:35.810Z,1736377895.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.341337 target range: 114.300003 and range: 113.70 m. 2025-01-08T23:11:35.848Z,1736377895.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:35.851Z,1736377895.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504691 2025-01-08T23:11:36.100Z,1736377896.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:36.100Z,1736377896.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754816 2025-01-08T23:11:36.277Z,1736377896.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:36.287Z,1736377896.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:36.290Z,1736377896.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 10.874717 m, bearing: 212.514877 deg, approach rate: 0.284857 m/s, LOS rate: -2.400212 deg/s, cmd heading: 306.036051 deg, new cmd heading: 302.580815 deg. 2025-01-08T23:11:36.291Z,1736377896.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281032 target range: 114.300003 and range: 113.70 m. 2025-01-08T23:11:36.352Z,1736377896.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:36.353Z,1736377896.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007680 2025-01-08T23:11:36.593Z,1736377896.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:36.601Z,1736377896.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:36.604Z,1736377896.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:36.605Z,1736377896.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259751 2025-01-08T23:11:36.607Z,1736377896.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 10.957631 m, bearing: 211.747035 deg, approach rate: 0.263220 m/s, LOS rate: -2.419076 deg/s, cmd heading: 302.580823 deg, new cmd heading: 300.296008 deg. 2025-01-08T23:11:36.624Z,1736377896.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241154 target range: 114.300003 and range: 113.70 m. 2025-01-08T23:11:36.858Z,1736377896.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:36.860Z,1736377896.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513974 2025-01-08T23:11:37.049Z,1736377897.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:37.059Z,1736377897.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:37.062Z,1736377897.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 11.075518 m, bearing: 210.639804 deg, approach rate: 0.257435 m/s, LOS rate: -2.392036 deg/s, cmd heading: 300.296015 deg, new cmd heading: 297.013477 deg. 2025-01-08T23:11:37.063Z,1736377897.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.183863 target range: 114.300003 and range: 113.70 m. 2025-01-08T23:11:37.108Z,1736377897.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:37.108Z,1736377897.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762902 2025-01-08T23:11:37.360Z,1736377897.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:37.362Z,1736377897.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015915 2025-01-08T23:11:37.469Z,1736377897.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:37.476Z,1736377897.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:37.478Z,1736377897.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:37.481Z,1736377897.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 11.175985 m, bearing: 209.604019 deg, approach rate: 0.239661 m/s, LOS rate: -2.448468 deg/s, cmd heading: 297.013481 deg, new cmd heading: 293.937188 deg. 2025-01-08T23:11:37.482Z,1736377897.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130172 target range: 114.300003 and range: 113.70 m. 2025-01-08T23:11:37.612Z,1736377897.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:37.612Z,1736377897.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266806 2025-01-08T23:11:37.865Z,1736377897.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:37.868Z,1736377897.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521413 2025-01-08T23:11:37.902Z,1736377897.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:37.935Z,1736377897.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:37.942Z,1736377897.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 11.278218 m, bearing: 208.540591 deg, approach rate: 0.223989 m/s, LOS rate: -2.308679 deg/s, cmd heading: 293.937191 deg, new cmd heading: 290.779210 deg. 2025-01-08T23:11:37.943Z,1736377897.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075055 target range: 114.300003 and range: 113.70 m. 2025-01-08T23:11:38.116Z,1736377898.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:38.117Z,1736377898.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771038 2025-01-08T23:11:38.368Z,1736377898.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:38.369Z,1736377898.369 [DAT](INFO): DAT read: Rx Time:23:11:37.1323 2025-01-08T23:11:38.369Z,1736377898.369 [DAT](INFO): Rx dataTimestamp_ set to:1736377898.368689 2025-01-08T23:11:38.370Z,1736377898.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024138 2025-01-08T23:11:38.418Z,1736377898.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:38.447Z,1736377898.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:38.469Z,1736377898.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 11.384879 m, bearing: 207.249960 deg, approach rate: 0.210359 m/s, LOS rate: -2.521348 deg/s, cmd heading: 290.779212 deg, new cmd heading: 286.949629 deg. 2025-01-08T23:11:38.471Z,1736377898.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.008216 target range: 114.300003 and range: 113.70 m. 2025-01-08T23:11:38.621Z,1736377898.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:38.621Z,1736377898.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275909 2025-01-08T23:11:38.762Z,1736377898.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:38.804Z,1736377898.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:38.809Z,1736377898.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 11.454751 m, bearing: 206.394185 deg, approach rate: 0.195409 m/s, LOS rate: -2.378633 deg/s, cmd heading: 286.949634 deg, new cmd heading: 284.399750 deg. 2025-01-08T23:11:38.810Z,1736377898.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.963712 target range: 114.300003 and range: 113.70 m. 2025-01-08T23:11:38.873Z,1736377898.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:38.876Z,1736377898.876 [DAT](INFO): DAT read: Range 10 to 50 : 114.0 m (Round-trip 152.0 ms) speed -0.3 m/s 2025-01-08T23:11:38.877Z,1736377898.877 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:11:38.878Z,1736377898.878 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:38.878Z,1736377898.878 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:38.879Z,1736377898.879 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:39.125Z,1736377899.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:39.127Z,1736377899.127 [DAT](INFO): DAT read: user:3073> 2025-01-08T23:11:39.128Z,1736377899.128 [DAT](INFO): DAT read: Tx time:23:11:38.3261 2025-01-08T23:11:39.128Z,1736377899.128 [DAT](INFO): Ping request sent. 2025-01-08T23:11:39.128Z,1736377899.128 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:39.129Z,1736377899.129 [DAT](INFO): DAT read: TxSync time:23:11:38.3253 2025-01-08T23:11:39.129Z,1736377899.129 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:39.130Z,1736377899.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001530 2025-01-08T23:11:39.281Z,1736377899.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:39.299Z,1736377899.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.000000 m, deltaT: 3.780350 s, deltaX: 0.300003 m, approachRate: 0.079359 m/s, rangeRepo size: 4 2025-01-08T23:11:39.304Z,1736377899.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:39.306Z,1736377899.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 11.558297 m, bearing: 205.111266 deg, approach rate: 0.207720 m/s, LOS rate: -2.550353 deg/s, cmd heading: 284.399761 deg, new cmd heading: 280.591419 deg. 2025-01-08T23:11:39.312Z,1736377899.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.897244 target range: 114.300003 and range: 114.00 m. 2025-01-08T23:11:39.377Z,1736377899.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:39.379Z,1736377899.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250101 2025-01-08T23:11:39.628Z,1736377899.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:39.630Z,1736377899.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501553 2025-01-08T23:11:39.680Z,1736377899.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:39.695Z,1736377899.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:39.697Z,1736377899.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:39.705Z,1736377899.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 11.633572 m, bearing: 204.130759 deg, approach rate: 0.188400 m/s, LOS rate: -2.438060 deg/s, cmd heading: 280.591411 deg, new cmd heading: 277.671597 deg. 2025-01-08T23:11:39.706Z,1736377899.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.846283 target range: 114.300003 and range: 114.00 m. 2025-01-08T23:11:39.882Z,1736377899.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:39.884Z,1736377899.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755893 2025-01-08T23:11:40.132Z,1736377900.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:40.132Z,1736377900.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004432 2025-01-08T23:11:40.141Z,1736377900.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:40.181Z,1736377900.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:40.184Z,1736377900.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 11.722761 m, bearing: 202.953319 deg, approach rate: 0.184519 m/s, LOS rate: -2.417234 deg/s, cmd heading: 277.671587 deg, new cmd heading: 274.170753 deg. 2025-01-08T23:11:40.185Z,1736377900.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785182 target range: 114.300003 and range: 114.00 m. 2025-01-08T23:11:40.384Z,1736377900.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:40.385Z,1736377900.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256560 2025-01-08T23:11:40.636Z,1736377900.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:40.637Z,1736377900.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509339 2025-01-08T23:11:40.725Z,1736377900.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:40.735Z,1736377900.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:40.768Z,1736377900.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 11.811508 m, bearing: 201.466243 deg, approach rate: 0.160456 m/s, LOS rate: -2.668148 deg/s, cmd heading: 274.170760 deg, new cmd heading: 269.752329 deg. 2025-01-08T23:11:40.769Z,1736377900.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708066 target range: 114.300003 and range: 114.00 m. 2025-01-08T23:11:40.889Z,1736377900.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:40.889Z,1736377900.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761195 2025-01-08T23:11:41.140Z,1736377901.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:41.141Z,1736377901.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012510 2025-01-08T23:11:41.151Z,1736377901.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:41.180Z,1736377901.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:41.183Z,1736377901.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 11.875681 m, bearing: 200.390652 deg, approach rate: 0.143823 m/s, LOS rate: -2.397434 deg/s, cmd heading: 269.752338 deg, new cmd heading: 266.546539 deg. 2025-01-08T23:11:41.188Z,1736377901.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652115 target range: 114.300003 and range: 114.00 m. 2025-01-08T23:11:41.392Z,1736377901.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:41.393Z,1736377901.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265003 2025-01-08T23:11:41.597Z,1736377901.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:41.607Z,1736377901.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:41.609Z,1736377901.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 11.938261 m, bearing: 199.238197 deg, approach rate: 0.146740 m/s, LOS rate: -2.687966 deg/s, cmd heading: 266.546548 deg, new cmd heading: 263.111659 deg. 2025-01-08T23:11:41.610Z,1736377901.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592165 target range: 114.300003 and range: 114.00 m. 2025-01-08T23:11:41.645Z,1736377901.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:41.646Z,1736377901.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518410 2025-01-08T23:11:41.896Z,1736377901.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:41.897Z,1736377901.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769021 2025-01-08T23:11:41.972Z,1736377901.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:41.978Z,1736377901.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:41.981Z,1736377901.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:41.983Z,1736377901.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 11.989541 m, bearing: 198.274010 deg, approach rate: 0.137106 m/s, LOS rate: -2.566784 deg/s, cmd heading: 263.111646 deg, new cmd heading: 260.234012 deg. 2025-01-08T23:11:41.984Z,1736377901.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541940 target range: 114.300003 and range: 114.00 m. 2025-01-08T23:11:42.148Z,1736377902.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:42.148Z,1736377902.148 [DAT](INFO): DAT read: Rx Time:23:11:40.8836 2025-01-08T23:11:42.149Z,1736377902.149 [DAT](INFO): Rx dataTimestamp_ set to:1736377902.148541 2025-01-08T23:11:42.149Z,1736377902.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021300 2025-01-08T23:11:42.400Z,1736377902.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:42.400Z,1736377902.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272356 2025-01-08T23:11:42.513Z,1736377902.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:42.522Z,1736377902.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.30 m. 2025-01-08T23:11:42.525Z,1736377902.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.300003 m, nav range: 12.066703 m, bearing: 196.872392 deg, approach rate: 0.142499 m/s, LOS rate: -2.571633 deg/s, cmd heading: 260.234005 deg, new cmd heading: 256.063835 deg. 2025-01-08T23:11:42.526Z,1736377902.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469157 target range: 114.300003 and range: 114.00 m. 2025-01-08T23:11:42.653Z,1736377902.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:42.662Z,1736377902.662 [DAT](INFO): DAT read: 23:11:40.8836 LVL= 16752, 18145, 17906, 22339, AGC= 59, IDX= 447, 0.03, 1.669, 1.788,-0.422, 1.013, PHS= 0.744, 0.823,-1.438, RAW= 28.2, -1.2, CAL= 27.8, -3.1, ROT= 122.2, 3.1 2025-01-08T23:11:42.665Z,1736377902.665 [DAT](INFO): got valid direction response: 23:11:40.8836 LVL= 16752, 18145, 17906, 22339, AGC= 59, IDX= 447, 0.03, 1.669, 1.788,-0.422, 1.013, PHS= 0.744, 0.823,-1.438, RAW= 28.2, -1.2, CAL= 27.8, -3.1, ROT= 122.2, 3.1 2025-01-08T23:11:42.666Z,1736377902.666 [DAT](INFO): DAT read: Bearing 122.2, 3.1 (Local) 2025-01-08T23:11:42.667Z,1736377902.667 [DAT](INFO): Local bearing/azimuth received: Bearing 122.2, 3.1 (Local) 2025-01-08T23:11:42.671Z,1736377902.671 [DAT](INFO): DAT read: Range 10 to 50 : 115.0 m (Round-trip 153.4 ms) speed -0.4 m/s 2025-01-08T23:11:42.679Z,1736377902.679 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:11:42.681Z,1736377902.681 [DAT](INFO): direction in FSK: [0.057944,0.904932,0.421593] 2025-01-08T23:11:42.681Z,1736377902.681 [DAT](INFO): publishing direction and range info 2025-01-08T23:11:42.698Z,1736377902.698 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:42.698Z,1736377902.698 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:42.698Z,1736377902.698 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:42.886Z,1736377902.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:42.904Z,1736377902.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:42.904Z,1736377902.904 [DAT](INFO): DAT read: user:3074> 2025-01-08T23:11:42.905Z,1736377902.905 [DAT](INFO): DAT read: Tx time:23:11:42.1761 2025-01-08T23:11:42.905Z,1736377902.905 [DAT](INFO): Ping request sent. 2025-01-08T23:11:42.906Z,1736377902.906 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:42.906Z,1736377902.906 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:42.906Z,1736377902.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000712 2025-01-08T23:11:42.908Z,1736377902.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.000000 m, deltaT: 3.780676 s, deltaX: 1.000000 m, approachRate: 0.264503 m/s, rangeRepo size: 4 2025-01-08T23:11:42.910Z,1736377902.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.000000 m, bearing: 33.768043 deg, lat: 36.904300 deg, lon: -122.120402 deg, deltaT: 11.341807 s, deltaX: 0.699997 m, approachRate: 0.061718 m/s, posRepo size: 4 2025-01-08T23:11:42.911Z,1736377902.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:42.915Z,1736377902.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 22.524229 m, bearing: 121.146896 deg, approach rate: 0.000000 m/s, LOS rate: -2.571633 deg/s, cmd heading: 256.063847 deg, new cmd heading: 253.123228 deg. 2025-01-08T23:11:42.932Z,1736377902.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.417834 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:43.156Z,1736377903.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:43.157Z,1736377903.157 [DAT](INFO): DAT read: TxSync time:23:11:42.1753 2025-01-08T23:11:43.158Z,1736377903.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252341 2025-01-08T23:11:43.408Z,1736377903.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:43.409Z,1736377903.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503061 2025-01-08T23:11:43.414Z,1736377903.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:43.424Z,1736377903.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:43.426Z,1736377903.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 22.826010 m, bearing: 121.121784 deg, approach rate: 0.580633 m/s, LOS rate: -0.047677 deg/s, cmd heading: 253.123232 deg, new cmd heading: 253.048892 deg. 2025-01-08T23:11:43.428Z,1736377903.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.416536 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:43.660Z,1736377903.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:43.661Z,1736377903.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755665 2025-01-08T23:11:43.891Z,1736377903.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:43.900Z,1736377903.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:43.902Z,1736377903.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 23.099014 m, bearing: 121.099632 deg, approach rate: 0.573291 m/s, LOS rate: -0.045968 deg/s, cmd heading: 253.048892 deg, new cmd heading: 252.983221 deg. 2025-01-08T23:11:43.903Z,1736377903.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.415390 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:43.912Z,1736377903.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:43.913Z,1736377903.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007124 2025-01-08T23:11:44.164Z,1736377904.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:44.164Z,1736377904.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258860 2025-01-08T23:11:44.385Z,1736377904.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:44.394Z,1736377904.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:44.396Z,1736377904.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:44.399Z,1736377904.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 23.383104 m, bearing: 121.008510 deg, approach rate: 0.572010 m/s, LOS rate: -0.181244 deg/s, cmd heading: 252.983213 deg, new cmd heading: 252.713170 deg. 2025-01-08T23:11:44.416Z,1736377904.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:44.416Z,1736377904.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510913 2025-01-08T23:11:44.418Z,1736377904.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410677 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:44.668Z,1736377904.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:44.669Z,1736377904.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763822 2025-01-08T23:11:44.732Z,1736377904.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:44.745Z,1736377904.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:44.752Z,1736377904.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 23.581892 m, bearing: 120.935203 deg, approach rate: 0.569206 m/s, LOS rate: -0.208137 deg/s, cmd heading: 252.713174 deg, new cmd heading: 252.495108 deg. 2025-01-08T23:11:44.755Z,1736377904.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406871 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:44.920Z,1736377904.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:44.920Z,1736377904.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014802 2025-01-08T23:11:45.120Z,1736377905.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:45.129Z,1736377905.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:45.132Z,1736377905.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 23.803322 m, bearing: 120.842017 deg, approach rate: 0.577196 m/s, LOS rate: -0.240646 deg/s, cmd heading: 252.495100 deg, new cmd heading: 252.218146 deg. 2025-01-08T23:11:45.133Z,1736377905.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402037 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:45.172Z,1736377905.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:45.173Z,1736377905.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266978 2025-01-08T23:11:45.424Z,1736377905.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:45.425Z,1736377905.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519135 2025-01-08T23:11:45.546Z,1736377905.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:45.556Z,1736377905.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:45.558Z,1736377905.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 24.041473 m, bearing: 120.735227 deg, approach rate: 0.557833 m/s, LOS rate: -0.247660 deg/s, cmd heading: 252.218150 deg, new cmd heading: 251.900957 deg. 2025-01-08T23:11:45.580Z,1736377905.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396501 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:45.677Z,1736377905.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:45.678Z,1736377905.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772135 2025-01-08T23:11:45.928Z,1736377905.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:45.928Z,1736377905.928 [DAT](INFO): DAT read: Rx Time:23:11:44.7355 2025-01-08T23:11:45.929Z,1736377905.929 [DAT](INFO): Rx dataTimestamp_ set to:1736377905.928636 2025-01-08T23:11:45.929Z,1736377905.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023884 2025-01-08T23:11:45.946Z,1736377905.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:45.974Z,1736377905.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:45.980Z,1736377905.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 24.263983 m, bearing: 120.624316 deg, approach rate: 0.532817 m/s, LOS rate: -0.263151 deg/s, cmd heading: 251.900956 deg, new cmd heading: 251.571277 deg. 2025-01-08T23:11:45.981Z,1736377905.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.390747 target range: 115.000000 and range: 115.00 m. 2025-01-08T23:11:46.180Z,1736377906.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:46.180Z,1736377906.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274798 2025-01-08T23:11:46.432Z,1736377906.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:46.433Z,1736377906.433 [DAT](INFO): DAT read: Range 10 to 50 : 116.4 m (Round-trip 155.2 ms) speed -0.5 m/s 2025-01-08T23:11:46.434Z,1736377906.434 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:11:46.435Z,1736377906.435 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:46.435Z,1736377906.435 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:46.435Z,1736377906.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:46.453Z,1736377906.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:46.473Z,1736377906.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:46.484Z,1736377906.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.400002 m, deltaT: 3.777998 s, deltaX: 1.400002 m, approachRate: 0.370567 m/s, rangeRepo size: 4 2025-01-08T23:11:46.485Z,1736377906.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:46.493Z,1736377906.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 24.545340 m, bearing: 120.470247 deg, approach rate: 0.561235 m/s, LOS rate: -0.303805 deg/s, cmd heading: 251.571276 deg, new cmd heading: 251.114378 deg. 2025-01-08T23:11:46.494Z,1736377906.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382773 target range: 115.000000 and range: 116.40 m. 2025-01-08T23:11:46.684Z,1736377906.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:46.684Z,1736377906.684 [DAT](INFO): DAT read: user:3075> 2025-01-08T23:11:46.685Z,1736377906.685 [DAT](INFO): DAT read: Tx time:23:11:45.9261 2025-01-08T23:11:46.685Z,1736377906.685 [DAT](INFO): Ping request sent. 2025-01-08T23:11:46.685Z,1736377906.685 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:46.686Z,1736377906.686 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:46.704Z,1736377906.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001106 2025-01-08T23:11:46.829Z,1736377906.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:46.869Z,1736377906.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:46.880Z,1736377906.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 24.753250 m, bearing: 120.346463 deg, approach rate: 0.527536 m/s, LOS rate: -0.311442 deg/s, cmd heading: 251.114391 deg, new cmd heading: 250.746163 deg. 2025-01-08T23:11:46.881Z,1736377906.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.376346 target range: 115.000000 and range: 116.40 m. 2025-01-08T23:11:46.936Z,1736377906.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:46.937Z,1736377906.937 [DAT](INFO): DAT read: TxSync time:23:11:45.9253 2025-01-08T23:11:46.937Z,1736377906.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251823 2025-01-08T23:11:47.188Z,1736377907.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:47.189Z,1736377907.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503032 2025-01-08T23:11:47.197Z,1736377907.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:47.206Z,1736377907.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:47.231Z,1736377907.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 24.955540 m, bearing: 120.215090 deg, approach rate: 0.600499 m/s, LOS rate: -0.386821 deg/s, cmd heading: 250.746162 deg, new cmd heading: 250.355244 deg. 2025-01-08T23:11:47.232Z,1736377907.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.369524 target range: 115.000000 and range: 116.40 m. 2025-01-08T23:11:47.440Z,1736377907.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:47.441Z,1736377907.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755499 2025-01-08T23:11:47.635Z,1736377907.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:47.645Z,1736377907.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:47.650Z,1736377907.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 25.188107 m, bearing: 120.056498 deg, approach rate: 0.530277 m/s, LOS rate: -0.358267 deg/s, cmd heading: 250.355256 deg, new cmd heading: 249.883885 deg. 2025-01-08T23:11:47.652Z,1736377907.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361297 target range: 115.000000 and range: 116.40 m. 2025-01-08T23:11:47.692Z,1736377907.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:47.693Z,1736377907.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007355 2025-01-08T23:11:47.944Z,1736377907.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:47.944Z,1736377907.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258947 2025-01-08T23:11:48.010Z,1736377908.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:48.018Z,1736377908.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:48.046Z,1736377908.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 25.386299 m, bearing: 119.911152 deg, approach rate: 0.530054 m/s, LOS rate: -0.385685 deg/s, cmd heading: 249.883891 deg, new cmd heading: 249.451265 deg. 2025-01-08T23:11:48.052Z,1736377908.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353746 target range: 115.000000 and range: 116.40 m. 2025-01-08T23:11:48.196Z,1736377908.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:48.196Z,1736377908.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510816 2025-01-08T23:11:48.443Z,1736377908.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:48.448Z,1736377908.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:48.448Z,1736377908.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762924 2025-01-08T23:11:48.492Z,1736377908.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:48.494Z,1736377908.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:48.501Z,1736377908.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 25.613682 m, bearing: 119.734999 deg, approach rate: 0.478127 m/s, LOS rate: -0.367114 deg/s, cmd heading: 249.451267 deg, new cmd heading: 248.927517 deg. 2025-01-08T23:11:48.502Z,1736377908.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344605 target range: 115.000000 and range: 116.40 m. 2025-01-08T23:11:48.700Z,1736377908.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:48.700Z,1736377908.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014832 2025-01-08T23:11:48.816Z,1736377908.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:48.825Z,1736377908.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:48.828Z,1736377908.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 25.808144 m, bearing: 119.575658 deg, approach rate: 0.587232 m/s, LOS rate: -0.477549 deg/s, cmd heading: 248.927528 deg, new cmd heading: 248.453118 deg. 2025-01-08T23:11:48.829Z,1736377908.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336325 target range: 115.000000 and range: 116.40 m. 2025-01-08T23:11:48.952Z,1736377908.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:48.952Z,1736377908.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266929 2025-01-08T23:11:49.204Z,1736377909.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:49.205Z,1736377909.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519550 2025-01-08T23:11:49.224Z,1736377909.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:49.232Z,1736377909.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:49.235Z,1736377909.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.019619 m, bearing: 119.392473 deg, approach rate: 0.519562 m/s, LOS rate: -0.446399 deg/s, cmd heading: 248.453131 deg, new cmd heading: 247.908059 deg. 2025-01-08T23:11:49.236Z,1736377909.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326812 target range: 115.000000 and range: 116.40 m. 2025-01-08T23:11:49.456Z,1736377909.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:49.457Z,1736377909.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771204 2025-01-08T23:11:49.682Z,1736377909.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:49.692Z,1736377909.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:49.694Z,1736377909.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.262386 m, bearing: 119.196721 deg, approach rate: 0.528348 m/s, LOS rate: -0.422087 deg/s, cmd heading: 247.908054 deg, new cmd heading: 247.326248 deg. 2025-01-08T23:11:49.708Z,1736377909.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:49.709Z,1736377909.709 [DAT](INFO): DAT read: Rx Time:23:11:48.4880 2025-01-08T23:11:49.709Z,1736377909.709 [DAT](INFO): Rx dataTimestamp_ set to:1736377909.708723 2025-01-08T23:11:49.709Z,1736377909.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023983 2025-01-08T23:11:49.716Z,1736377909.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316658 target range: 115.000000 and range: 116.40 m. 2025-01-08T23:11:49.963Z,1736377909.963 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:49.965Z,1736377909.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279654 2025-01-08T23:11:50.041Z,1736377910.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:50.049Z,1736377910.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:50.070Z,1736377910.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.449493 m, bearing: 119.024844 deg, approach rate: 0.522995 m/s, LOS rate: -0.477025 deg/s, cmd heading: 247.326259 deg, new cmd heading: 246.814290 deg. 2025-01-08T23:11:50.078Z,1736377910.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307722 target range: 115.000000 and range: 116.40 m. 2025-01-08T23:11:50.212Z,1736377910.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:50.214Z,1736377910.214 [DAT](INFO): DAT read: Range 10 to 50 : 118.2 m (Round-trip 157.7 ms) speed -0.6 m/s 2025-01-08T23:11:50.214Z,1736377910.214 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:11:50.215Z,1736377910.215 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:11:50.215Z,1736377910.215 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:11:50.215Z,1736377910.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:11:50.464Z,1736377910.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:50.465Z,1736377910.465 [DAT](INFO): DAT read: user:3076> 2025-01-08T23:11:50.465Z,1736377910.465 [DAT](INFO): DAT read: Tx time:23:11:49.6762 2025-01-08T23:11:50.466Z,1736377910.466 [DAT](INFO): Ping request sent. 2025-01-08T23:11:50.466Z,1736377910.466 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:11:50.466Z,1736377910.466 [DAT](INFO): publishing transmit ping time 2025-01-08T23:11:50.466Z,1736377910.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000712 2025-01-08T23:11:50.467Z,1736377910.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:50.494Z,1736377910.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.199997 m, deltaT: 3.780544 s, deltaX: 1.799995 m, approachRate: 0.476121 m/s, rangeRepo size: 4 2025-01-08T23:11:50.495Z,1736377910.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:50.502Z,1736377910.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.671465 m, bearing: 118.822069 deg, approach rate: 0.499583 m/s, LOS rate: -0.452578 deg/s, cmd heading: 246.814295 deg, new cmd heading: 246.211058 deg. 2025-01-08T23:11:50.503Z,1736377910.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297194 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:50.716Z,1736377910.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:50.717Z,1736377910.717 [DAT](INFO): DAT read: TxSync time:23:11:49.6754 2025-01-08T23:11:50.718Z,1736377910.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252595 2025-01-08T23:11:50.829Z,1736377910.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:50.857Z,1736377910.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:50.859Z,1736377910.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:50.865Z,1736377910.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 26.862137 m, bearing: 118.638099 deg, approach rate: 0.522435 m/s, LOS rate: -0.500492 deg/s, cmd heading: 246.211053 deg, new cmd heading: 245.663078 deg. 2025-01-08T23:11:50.866Z,1736377910.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287630 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:50.968Z,1736377910.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:50.969Z,1736377910.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503609 2025-01-08T23:11:51.220Z,1736377911.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:51.221Z,1736377911.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755632 2025-01-08T23:11:51.235Z,1736377911.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:51.245Z,1736377911.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:51.248Z,1736377911.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 27.071184 m, bearing: 118.424502 deg, approach rate: 0.540429 m/s, LOS rate: -0.547927 deg/s, cmd heading: 245.663080 deg, new cmd heading: 245.027265 deg. 2025-01-08T23:11:51.249Z,1736377911.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276533 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:51.472Z,1736377911.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:51.473Z,1736377911.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007266 2025-01-08T23:11:51.642Z,1736377911.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:51.657Z,1736377911.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:51.662Z,1736377911.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 27.278515 m, bearing: 118.201139 deg, approach rate: 0.503790 m/s, LOS rate: -0.538621 deg/s, cmd heading: 245.027272 deg, new cmd heading: 244.362306 deg. 2025-01-08T23:11:51.681Z,1736377911.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264927 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:51.725Z,1736377911.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:51.726Z,1736377911.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260552 2025-01-08T23:11:51.976Z,1736377911.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:51.976Z,1736377911.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510571 2025-01-08T23:11:52.057Z,1736377912.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:52.069Z,1736377912.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:52.074Z,1736377912.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 27.487394 m, bearing: 117.964896 deg, approach rate: 0.506640 m/s, LOS rate: -0.568655 deg/s, cmd heading: 244.362312 deg, new cmd heading: 243.659005 deg. 2025-01-08T23:11:52.075Z,1736377912.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252652 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:52.228Z,1736377912.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:52.228Z,1736377912.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762706 2025-01-08T23:11:52.484Z,1736377912.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:52.485Z,1736377912.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019311 2025-01-08T23:11:52.526Z,1736377912.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:11:52.526Z,1736377912.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:52.561Z,1736377912.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:52.568Z,1736377912.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 27.720396 m, bearing: 117.690452 deg, approach rate: 0.473821 m/s, LOS rate: -0.553403 deg/s, cmd heading: 243.658994 deg, new cmd heading: 242.842641 deg. 2025-01-08T23:11:52.573Z,1736377912.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.238404 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:52.736Z,1736377912.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:52.737Z,1736377912.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270962 2025-01-08T23:11:52.845Z,1736377912.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:11:52.846Z,1736377912.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:52.874Z,1736377912.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:52.881Z,1736377912.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:52.888Z,1736377912.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 27.877472 m, bearing: 117.497040 deg, approach rate: 0.491157 m/s, LOS rate: -0.601365 deg/s, cmd heading: 242.842649 deg, new cmd heading: 242.265705 deg. 2025-01-08T23:11:52.889Z,1736377912.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228334 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:52.988Z,1736377912.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:52.989Z,1736377912.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523520 2025-01-08T23:11:53.240Z,1736377913.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:53.241Z,1736377913.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774804 2025-01-08T23:11:53.251Z,1736377913.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:11:53.251Z,1736377913.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:53.261Z,1736377913.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:53.264Z,1736377913.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 28.074036 m, bearing: 117.244100 deg, approach rate: 0.517167 m/s, LOS rate: -0.660834 deg/s, cmd heading: 242.265717 deg, new cmd heading: 241.512255 deg. 2025-01-08T23:11:53.265Z,1736377913.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215184 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:53.492Z,1736377913.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:53.493Z,1736377913.493 [DAT](INFO): DAT read: Rx Time:23:11:52.2409 2025-01-08T23:11:53.493Z,1736377913.493 [DAT](INFO): Rx dataTimestamp_ set to:1736377913.492699 2025-01-08T23:11:53.493Z,1736377913.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027742 2025-01-08T23:11:53.692Z,1736377913.692 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BS, -69, +627, -2E +627, -26,A 2025-01-08T23:11:53.704Z,1736377913.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T23:11:53.705Z,1736377913.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:53.713Z,1736377913.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:53.716Z,1736377913.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 28.294060 m, bearing: 116.965947 deg, approach rate: 0.486284 m/s, LOS rate: -0.609974 deg/s, cmd heading: 241.512265 deg, new cmd heading: 240.684357 deg. 2025-01-08T23:11:53.717Z,1736377913.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200735 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:53.744Z,1736377913.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:53.745Z,1736377913.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278882 2025-01-08T23:11:53.996Z,1736377913.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:53.997Z,1736377913.997 [DAT](INFO): DAT read: $Error in header 2025-01-08T23:11:53.997Z,1736377913.997 [DAT](INFO): Received a bad header 2025-01-08T23:11:54.012Z,1736377914.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545810 2025-01-08T23:11:54.072Z,1736377914.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T23:11:54.073Z,1736377914.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:54.085Z,1736377914.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:54.092Z,1736377914.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 28.467587 m, bearing: 116.722796 deg, approach rate: 0.466963 m/s, LOS rate: -0.650333 deg/s, cmd heading: 240.684364 deg, new cmd heading: 239.959398 deg. 2025-01-08T23:11:54.094Z,1736377914.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.188082 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:54.248Z,1736377914.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:54.248Z,1736377914.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782565 2025-01-08T23:11:54.500Z,1736377914.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:54.500Z,1736377914.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034682 2025-01-08T23:11:54.574Z,1736377914.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:54.583Z,1736377914.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:54.586Z,1736377914.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 28.739609 m, bearing: 116.390132 deg, approach rate: 0.546159 m/s, LOS rate: -0.661589 deg/s, cmd heading: 239.959408 deg, new cmd heading: 238.970965 deg. 2025-01-08T23:11:54.604Z,1736377914.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170830 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:54.752Z,1736377914.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:54.752Z,1736377914.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286613 2025-01-08T23:11:54.928Z,1736377914.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:54.934Z,1736377914.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:54.938Z,1736377914.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:54.940Z,1736377914.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 28.921272 m, bearing: 116.128600 deg, approach rate: 0.512906 m/s, LOS rate: -0.733764 deg/s, cmd heading: 238.970970 deg, new cmd heading: 238.191354 deg. 2025-01-08T23:11:54.941Z,1736377914.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157223 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:55.004Z,1736377915.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:55.005Z,1736377915.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538845 2025-01-08T23:11:55.256Z,1736377915.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:55.256Z,1736377915.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790669 2025-01-08T23:11:55.336Z,1736377915.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:55.356Z,1736377915.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:55.359Z,1736377915.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 29.127214 m, bearing: 115.819208 deg, approach rate: 0.491140 m/s, LOS rate: -0.732630 deg/s, cmd heading: 238.191345 deg, new cmd heading: 237.269816 deg. 2025-01-08T23:11:55.360Z,1736377915.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141140 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:55.509Z,1736377915.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:55.512Z,1736377915.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.045547 2025-01-08T23:11:55.758Z,1736377915.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:55.760Z,1736377915.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:55.760Z,1736377915.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294698 2025-01-08T23:11:55.768Z,1736377915.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:55.772Z,1736377915.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 29.338348 m, bearing: 115.504570 deg, approach rate: 0.512688 m/s, LOS rate: -0.758521 deg/s, cmd heading: 237.269816 deg, new cmd heading: 236.332782 deg. 2025-01-08T23:11:55.773Z,1736377915.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124785 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:56.012Z,1736377916.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:56.013Z,1736377916.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546893 2025-01-08T23:11:56.151Z,1736377916.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:56.176Z,1736377916.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:56.184Z,1736377916.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 29.535782 m, bearing: 115.215572 deg, approach rate: 0.504938 m/s, LOS rate: -0.734170 deg/s, cmd heading: 236.332769 deg, new cmd heading: 235.471641 deg. 2025-01-08T23:11:56.185Z,1736377916.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109756 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:56.264Z,1736377916.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:56.265Z,1736377916.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799583 2025-01-08T23:11:56.516Z,1736377916.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:56.516Z,1736377916.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050549 2025-01-08T23:11:56.599Z,1736377916.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:56.624Z,1736377916.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:56.627Z,1736377916.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 29.756971 m, bearing: 114.885434 deg, approach rate: 0.476629 m/s, LOS rate: -0.706104 deg/s, cmd heading: 235.471646 deg, new cmd heading: 234.488695 deg. 2025-01-08T23:11:56.628Z,1736377916.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092600 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:56.768Z,1736377916.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:56.768Z,1736377916.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302696 2025-01-08T23:11:56.952Z,1736377916.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:56.960Z,1736377916.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:56.962Z,1736377916.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:56.965Z,1736377916.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 29.920326 m, bearing: 114.600359 deg, approach rate: 0.481850 m/s, LOS rate: -0.836297 deg/s, cmd heading: 234.488700 deg, new cmd heading: 233.638208 deg. 2025-01-08T23:11:56.966Z,1736377916.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077756 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:57.020Z,1736377917.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:57.021Z,1736377917.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555542 2025-01-08T23:11:57.272Z,1736377917.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:57.272Z,1736377917.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806639 2025-01-08T23:11:57.354Z,1736377917.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:57.362Z,1736377917.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:57.365Z,1736377917.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 30.101986 m, bearing: 114.270113 deg, approach rate: 0.454181 m/s, LOS rate: -0.820683 deg/s, cmd heading: 233.638205 deg, new cmd heading: 232.653551 deg. 2025-01-08T23:11:57.366Z,1736377917.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.060570 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:57.526Z,1736377917.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:57.528Z,1736377917.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061794 2025-01-08T23:11:57.776Z,1736377917.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:57.777Z,1736377917.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310983 2025-01-08T23:11:57.790Z,1736377917.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:57.798Z,1736377917.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:57.802Z,1736377917.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 30.287952 m, bearing: 113.902384 deg, approach rate: 0.426702 m/s, LOS rate: -0.838573 deg/s, cmd heading: 232.653537 deg, new cmd heading: 231.557263 deg. 2025-01-08T23:11:57.803Z,1736377917.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.041437 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:58.028Z,1736377918.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:58.028Z,1736377918.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562655 2025-01-08T23:11:58.158Z,1736377918.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:58.186Z,1736377918.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:58.188Z,1736377918.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 30.441257 m, bearing: 113.586900 deg, approach rate: 0.395693 m/s, LOS rate: -0.810185 deg/s, cmd heading: 231.557264 deg, new cmd heading: 230.615670 deg. 2025-01-08T23:11:58.189Z,1736377918.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.025003 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:58.280Z,1736377918.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:58.282Z,1736377918.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815775 2025-01-08T23:11:58.534Z,1736377918.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:58.536Z,1736377918.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069824 2025-01-08T23:11:58.581Z,1736377918.581 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815130380,35.0, +10.9, 0.0,1493.1, , 0.00, 90.05, 95.49, 84.27 2025-01-08T23:11:58.589Z,1736377918.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:11:58.589Z,1736377918.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:58.618Z,1736377918.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:58.625Z,1736377918.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 30.616014 m, bearing: 113.212892 deg, approach rate: 0.403946 m/s, LOS rate: -0.859568 deg/s, cmd heading: 230.615682 deg, new cmd heading: 229.500211 deg. 2025-01-08T23:11:58.626Z,1736377918.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.005534 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:58.785Z,1736377918.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:58.787Z,1736377918.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320668 2025-01-08T23:11:59.003Z,1736377919.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:11:59.004Z,1736377919.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:59.012Z,1736377919.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:11:59.014Z,1736377919.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:59.017Z,1736377919.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 30.785070 m, bearing: 112.857697 deg, approach rate: 0.427658 m/s, LOS rate: -0.893591 deg/s, cmd heading: 229.500203 deg, new cmd heading: 228.440598 deg. 2025-01-08T23:11:59.018Z,1736377919.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.987041 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:59.037Z,1736377919.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:59.039Z,1736377919.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572940 2025-01-08T23:11:59.288Z,1736377919.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:59.289Z,1736377919.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823197 2025-01-08T23:11:59.378Z,1736377919.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:11:59.379Z,1736377919.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:59.409Z,1736377919.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:59.416Z,1736377919.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 30.939631 m, bearing: 112.538464 deg, approach rate: 0.390569 m/s, LOS rate: -0.802659 deg/s, cmd heading: 228.440595 deg, new cmd heading: 227.487771 deg. 2025-01-08T23:11:59.417Z,1736377919.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.970411 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:11:59.542Z,1736377919.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:59.544Z,1736377919.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077904 2025-01-08T23:11:59.792Z,1736377919.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:11:59.792Z,1736377919.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326654 2025-01-08T23:11:59.803Z,1736377919.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:11:59.813Z,1736377919.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:11:59.816Z,1736377919.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 31.090149 m, bearing: 112.147424 deg, approach rate: 0.372977 m/s, LOS rate: -0.964277 deg/s, cmd heading: 227.487769 deg, new cmd heading: 226.320500 deg. 2025-01-08T23:11:59.817Z,1736377919.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.950038 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:00.044Z,1736377920.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:00.045Z,1736377920.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579177 2025-01-08T23:12:00.184Z,1736377920.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:00.193Z,1736377920.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:00.196Z,1736377920.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 31.221338 m, bearing: 111.791884 deg, approach rate: 0.345002 m/s, LOS rate: -0.931065 deg/s, cmd heading: 226.320504 deg, new cmd heading: 225.258494 deg. 2025-01-08T23:12:00.200Z,1736377920.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.931502 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:00.296Z,1736377920.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:00.297Z,1736377920.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830765 2025-01-08T23:12:00.550Z,1736377920.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:00.552Z,1736377920.552 [DAT](INFO): Reached modem response timeout 2025-01-08T23:12:00.553Z,1736377920.553 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:12:00.554Z,1736377920.554 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:00.642Z,1736377920.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:00.658Z,1736377920.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:00.683Z,1736377920.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 31.371092 m, bearing: 111.359856 deg, approach rate: 0.321956 m/s, LOS rate: -0.924377 deg/s, cmd heading: 225.258491 deg, new cmd heading: 223.968823 deg. 2025-01-08T23:12:00.684Z,1736377920.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.908993 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:00.803Z,1736377920.803 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:00.804Z,1736377920.804 [DAT](INFO): DAT read: 2025-01-08T23:12:00.805Z,1736377920.805 [DAT](INFO): Reached modem response timeout 2025-01-08T23:12:00.805Z,1736377920.805 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:12:00.806Z,1736377920.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:00.993Z,1736377920.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:01.002Z,1736377921.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:01.006Z,1736377921.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 31.481922 m, bearing: 111.025784 deg, approach rate: 0.322205 m/s, LOS rate: -0.967783 deg/s, cmd heading: 223.968829 deg, new cmd heading: 222.970250 deg. 2025-01-08T23:12:01.008Z,1736377921.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.891565 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:01.054Z,1736377921.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:01.054Z,1736377921.054 [DAT](INFO): Reached modem response timeout 2025-01-08T23:12:01.055Z,1736377921.055 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:12:01.056Z,1736377921.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:01.305Z,1736377921.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:01.306Z,1736377921.306 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:12:01.306Z,1736377921.306 [DAT](INFO): response not received 2025-01-08T23:12:01.306Z,1736377921.306 [DAT](INFO): DAT read: user:3078> 2025-01-08T23:12:01.307Z,1736377921.307 [DAT](INFO): DAT read: Tx time:23:12:00.6263 2025-01-08T23:12:01.307Z,1736377921.307 [DAT](INFO): Ping request sent. 2025-01-08T23:12:01.307Z,1736377921.307 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:01.308Z,1736377921.308 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:01.308Z,1736377921.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-01-08T23:12:01.433Z,1736377921.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:01.448Z,1736377921.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:01.454Z,1736377921.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:01.457Z,1736377921.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 31.615839 m, bearing: 110.603497 deg, approach rate: 0.297000 m/s, LOS rate: -0.932573 deg/s, cmd heading: 222.970255 deg, new cmd heading: 221.708973 deg. 2025-01-08T23:12:01.458Z,1736377921.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.869552 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:01.558Z,1736377921.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:01.561Z,1736377921.561 [DAT](INFO): DAT read: TxSync time:23:12:00.6255 2025-01-08T23:12:01.564Z,1736377921.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256593 2025-01-08T23:12:01.808Z,1736377921.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:01.808Z,1736377921.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501099 2025-01-08T23:12:01.834Z,1736377921.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:01.872Z,1736377921.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:01.879Z,1736377921.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 31.749094 m, bearing: 110.211887 deg, approach rate: 0.317776 m/s, LOS rate: -0.929953 deg/s, cmd heading: 221.708979 deg, new cmd heading: 220.539253 deg. 2025-01-08T23:12:01.880Z,1736377921.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.849136 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:02.060Z,1736377922.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:02.061Z,1736377922.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753418 2025-01-08T23:12:02.214Z,1736377922.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:02.241Z,1736377922.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:02.248Z,1736377922.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 31.863832 m, bearing: 109.831003 deg, approach rate: 0.311391 m/s, LOS rate: -1.029959 deg/s, cmd heading: 220.539254 deg, new cmd heading: 219.400874 deg. 2025-01-08T23:12:02.249Z,1736377922.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829268 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:02.312Z,1736377922.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:02.313Z,1736377922.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005173 2025-01-08T23:12:02.566Z,1736377922.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:02.568Z,1736377922.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260633 2025-01-08T23:12:02.682Z,1736377922.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:02.712Z,1736377922.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:02.715Z,1736377922.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 32.015274 m, bearing: 109.353316 deg, approach rate: 0.321373 m/s, LOS rate: -1.008890 deg/s, cmd heading: 219.400880 deg, new cmd heading: 217.974908 deg. 2025-01-08T23:12:02.724Z,1736377922.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.804380 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:02.816Z,1736377922.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:02.816Z,1736377922.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508941 2025-01-08T23:12:03.017Z,1736377923.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:03.026Z,1736377923.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:03.029Z,1736377923.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 32.119278 m, bearing: 109.009363 deg, approach rate: 0.331364 m/s, LOS rate: -1.092303 deg/s, cmd heading: 217.974914 deg, new cmd heading: 216.946515 deg. 2025-01-08T23:12:03.030Z,1736377923.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786431 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:03.068Z,1736377923.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:03.069Z,1736377923.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761822 2025-01-08T23:12:03.320Z,1736377923.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:03.322Z,1736377923.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014102 2025-01-08T23:12:03.412Z,1736377923.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:03.422Z,1736377923.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:03.425Z,1736377923.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 32.237465 m, bearing: 108.599530 deg, approach rate: 0.298742 m/s, LOS rate: -1.032130 deg/s, cmd heading: 216.946520 deg, new cmd heading: 215.721726 deg. 2025-01-08T23:12:03.426Z,1736377923.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765054 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:03.575Z,1736377923.575 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:03.578Z,1736377923.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269533 2025-01-08T23:12:03.824Z,1736377923.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:03.825Z,1736377923.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517213 2025-01-08T23:12:03.850Z,1736377923.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:03.858Z,1736377923.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:03.860Z,1736377923.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:03.863Z,1736377923.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 32.373825 m, bearing: 108.137867 deg, approach rate: 0.311006 m/s, LOS rate: -1.048500 deg/s, cmd heading: 215.721730 deg, new cmd heading: 214.342856 deg. 2025-01-08T23:12:03.865Z,1736377923.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740988 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:04.076Z,1736377924.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:04.077Z,1736377924.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769311 2025-01-08T23:12:04.235Z,1736377924.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:04.248Z,1736377924.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:04.251Z,1736377924.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 32.489059 m, bearing: 107.728738 deg, approach rate: 0.296850 m/s, LOS rate: -1.050193 deg/s, cmd heading: 214.342852 deg, new cmd heading: 213.120014 deg. 2025-01-08T23:12:04.252Z,1736377924.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.719646 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:04.328Z,1736377924.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:04.329Z,1736377924.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021423 2025-01-08T23:12:04.582Z,1736377924.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:04.584Z,1736377924.584 [DAT](INFO): DAT read: Rx Time:23:12:03.2383 2025-01-08T23:12:04.586Z,1736377924.586 [DAT](INFO): Rx dataTimestamp_ set to:1736377924.585185 2025-01-08T23:12:04.588Z,1736377924.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280760 2025-01-08T23:12:04.734Z,1736377924.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:04.757Z,1736377924.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:04.764Z,1736377924.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 32.649387 m, bearing: 107.199598 deg, approach rate: 0.314993 m/s, LOS rate: -1.034471 deg/s, cmd heading: 213.120016 deg, new cmd heading: 211.540813 deg. 2025-01-08T23:12:04.765Z,1736377924.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.692084 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:04.833Z,1736377924.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:04.834Z,1736377924.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526313 2025-01-08T23:12:04.905Z,1736377924.905 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:12:05.046Z,1736377925.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:05.069Z,1736377925.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:05.077Z,1736377925.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 32.745792 m, bearing: 106.865556 deg, approach rate: 0.308846 m/s, LOS rate: -1.066990 deg/s, cmd heading: 211.540808 deg, new cmd heading: 210.541739 deg. 2025-01-08T23:12:05.078Z,1736377925.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.674647 target range: 115.000000 and range: 118.20 m. 2025-01-08T23:12:05.084Z,1736377925.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:05.086Z,1736377925.086 [DAT](INFO): DAT read: Range 10 to 50 : 155.8 m (Round-trip 207.8 ms) speed -0.1 m/s 2025-01-08T23:12:05.089Z,1736377925.089 [DAT](INFO): DAT read: user:3079> 2025-01-08T23:12:05.090Z,1736377925.089 [DAT](INFO): DAT read: Tx time:23:12:04.3264 2025-01-08T23:12:05.090Z,1736377925.090 [DAT](INFO): Ping request sent. 2025-01-08T23:12:05.090Z,1736377925.090 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:05.090Z,1736377925.090 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:12:05.090Z,1736377925.090 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:05.091Z,1736377925.091 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:05.336Z,1736377925.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:05.337Z,1736377925.337 [DAT](INFO): DAT read: TxSync time:23:12:04.3256 2025-01-08T23:12:05.457Z,1736377925.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:05.466Z,1736377925.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 155.800003 m, deltaT: 14.871691 s, deltaX: 37.600006 m, approachRate: 2.528294 m/s, rangeRepo size: 4 2025-01-08T23:12:05.467Z,1736377925.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:05.471Z,1736377925.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 32.866821 m, bearing: 106.422305 deg, approach rate: 0.305337 m/s, LOS rate: -1.114123 deg/s, cmd heading: 210.541742 deg, new cmd heading: 209.217137 deg. 2025-01-08T23:12:05.473Z,1736377925.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.651528 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:05.588Z,1736377925.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:05.840Z,1736377925.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:05.891Z,1736377925.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:05.898Z,1736377925.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:05.901Z,1736377925.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:05.905Z,1736377925.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 32.995289 m, bearing: 105.958631 deg, approach rate: 0.295295 m/s, LOS rate: -1.061640 deg/s, cmd heading: 209.217136 deg, new cmd heading: 207.831814 deg. 2025-01-08T23:12:05.906Z,1736377925.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627349 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:05.908Z,1736377925.908 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:12:06.092Z,1736377926.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:06.092Z,1736377926.092 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:06.092Z,1736377926.092 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:06.093Z,1736377926.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:06.264Z,1736377926.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:06.291Z,1736377926.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:06.294Z,1736377926.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 33.100903 m, bearing: 105.556927 deg, approach rate: 0.283007 m/s, LOS rate: -1.072980 deg/s, cmd heading: 207.831810 deg, new cmd heading: 206.630729 deg. 2025-01-08T23:12:06.295Z,1736377926.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606387 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:06.345Z,1736377926.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:06.347Z,1736377926.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256361 2025-01-08T23:12:06.599Z,1736377926.599 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:06.602Z,1736377926.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512021 2025-01-08T23:12:06.800Z,1736377926.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:06.810Z,1736377926.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:06.812Z,1736377926.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 33.249256 m, bearing: 104.976520 deg, approach rate: 0.277008 m/s, LOS rate: -1.078890 deg/s, cmd heading: 206.630735 deg, new cmd heading: 204.897843 deg. 2025-01-08T23:12:06.813Z,1736377926.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576142 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:06.848Z,1736377926.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:06.850Z,1736377926.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759235 2025-01-08T23:12:07.100Z,1736377927.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:07.100Z,1736377927.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010449 2025-01-08T23:12:07.187Z,1736377927.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:07.195Z,1736377927.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:07.198Z,1736377927.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 33.351898 m, bearing: 104.556386 deg, approach rate: 0.266106 m/s, LOS rate: -1.085863 deg/s, cmd heading: 204.897848 deg, new cmd heading: 203.641535 deg. 2025-01-08T23:12:07.199Z,1736377927.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554215 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:07.354Z,1736377927.354 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:07.356Z,1736377927.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266026 2025-01-08T23:12:07.604Z,1736377927.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:07.605Z,1736377927.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514922 2025-01-08T23:12:07.614Z,1736377927.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:07.624Z,1736377927.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:07.634Z,1736377927.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 33.460407 m, bearing: 104.090346 deg, approach rate: 0.253009 m/s, LOS rate: -1.083120 deg/s, cmd heading: 203.641530 deg, new cmd heading: 202.248235 deg. 2025-01-08T23:12:07.639Z,1736377927.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529898 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:07.856Z,1736377927.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:07.857Z,1736377927.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767049 2025-01-08T23:12:08.049Z,1736377928.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:08.057Z,1736377928.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:08.059Z,1736377928.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:08.062Z,1736377928.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 33.562885 m, bearing: 103.619404 deg, approach rate: 0.235704 m/s, LOS rate: -1.079869 deg/s, cmd heading: 202.248240 deg, new cmd heading: 200.840026 deg. 2025-01-08T23:12:08.063Z,1736377928.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.505320 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:08.110Z,1736377928.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:08.111Z,1736377928.111 [DAT](INFO): DAT read: Rx Time:23:12:06.9031 2025-01-08T23:12:08.112Z,1736377928.112 [DAT](INFO): Rx dataTimestamp_ set to:1736377928.111736 2025-01-08T23:12:08.113Z,1736377928.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022666 2025-01-08T23:12:08.360Z,1736377928.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:08.360Z,1736377928.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270491 2025-01-08T23:12:08.412Z,1736377928.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:08.433Z,1736377928.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:08.440Z,1736377928.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 33.644405 m, bearing: 103.225136 deg, approach rate: 0.217739 m/s, LOS rate: -1.050525 deg/s, cmd heading: 200.840032 deg, new cmd heading: 199.660272 deg. 2025-01-08T23:12:08.441Z,1736377928.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.484729 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:08.613Z,1736377928.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:08.615Z,1736377928.615 [DAT](INFO): DAT read: Range 10 to 50 : 129.3 m (Round-trip 172.5 ms) speed -0.3 m/s 2025-01-08T23:12:08.615Z,1736377928.615 [DAT](INFO): DAT read: user:3080> 2025-01-08T23:12:08.616Z,1736377928.616 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:12:08.617Z,1736377928.617 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:08.617Z,1736377928.617 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:08.617Z,1736377928.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:08.850Z,1736377928.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:08.860Z,1736377928.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 129.300003 m, deltaT: 3.529230 s, deltaX: -26.500000 m, approachRate: -7.508720 m/s, rangeRepo size: 4 2025-01-08T23:12:08.861Z,1736377928.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:08.864Z,1736377928.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:08.865Z,1736377928.865 [DAT](INFO): DAT read: Tx time:23:12:08.0264 2025-01-08T23:12:08.865Z,1736377928.865 [DAT](INFO): Ping request sent. 2025-01-08T23:12:08.865Z,1736377928.865 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:08.866Z,1736377928.866 [DAT](INFO): DAT read: TxSync time:23:12:08.0256 2025-01-08T23:12:08.866Z,1736377928.866 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:08.867Z,1736377928.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001543 2025-01-08T23:12:08.868Z,1736377928.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 33.740341 m, bearing: 102.763019 deg, approach rate: 0.225197 m/s, LOS rate: -1.081664 deg/s, cmd heading: 199.660267 deg, new cmd heading: 198.278140 deg. 2025-01-08T23:12:08.869Z,1736377928.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.460606 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:09.116Z,1736377929.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:09.117Z,1736377929.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251504 2025-01-08T23:12:09.225Z,1736377929.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:09.238Z,1736377929.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:09.244Z,1736377929.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 33.812817 m, bearing: 102.362075 deg, approach rate: 0.191623 m/s, LOS rate: -1.057805 deg/s, cmd heading: 198.278138 deg, new cmd heading: 197.078070 deg. 2025-01-08T23:12:09.245Z,1736377929.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.439661 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:09.368Z,1736377929.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:09.368Z,1736377929.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503277 2025-01-08T23:12:09.625Z,1736377929.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:09.626Z,1736377929.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760790 2025-01-08T23:12:09.635Z,1736377929.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:09.652Z,1736377929.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:09.715Z,1736377929.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 33.888260 m, bearing: 101.923491 deg, approach rate: 0.181976 m/s, LOS rate: -1.055538 deg/s, cmd heading: 197.078073 deg, new cmd heading: 195.765491 deg. 2025-01-08T23:12:09.732Z,1736377929.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.416752 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:09.878Z,1736377929.878 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:09.882Z,1736377929.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016773 2025-01-08T23:12:10.046Z,1736377930.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:10.057Z,1736377930.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:10.060Z,1736377930.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 33.951000 m, bearing: 101.488743 deg, approach rate: 0.155025 m/s, LOS rate: -1.072219 deg/s, cmd heading: 195.765489 deg, new cmd heading: 194.463892 deg. 2025-01-08T23:12:10.062Z,1736377930.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.394035 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:10.128Z,1736377930.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:10.129Z,1736377930.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264351 2025-01-08T23:12:10.380Z,1736377930.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:10.381Z,1736377930.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515575 2025-01-08T23:12:10.458Z,1736377930.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:10.465Z,1736377930.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:10.468Z,1736377930.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:10.472Z,1736377930.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 34.010109 m, bearing: 101.053312 deg, approach rate: 0.143978 m/s, LOS rate: -1.058780 deg/s, cmd heading: 194.463887 deg, new cmd heading: 193.160101 deg. 2025-01-08T23:12:10.473Z,1736377930.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.371280 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:10.632Z,1736377930.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:10.632Z,1736377930.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767428 2025-01-08T23:12:10.865Z,1736377930.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:10.885Z,1736377930.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:10.886Z,1736377930.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020870 2025-01-08T23:12:10.910Z,1736377930.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:10.920Z,1736377930.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 34.060020 m, bearing: 100.621291 deg, approach rate: 0.112808 m/s, LOS rate: -0.974999 deg/s, cmd heading: 193.160099 deg, new cmd heading: 191.866169 deg. 2025-01-08T23:12:10.922Z,1736377930.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.348696 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:11.137Z,1736377931.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:11.138Z,1736377931.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273148 2025-01-08T23:12:11.248Z,1736377931.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:11.256Z,1736377931.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:11.259Z,1736377931.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 34.097843 m, bearing: 100.211838 deg, approach rate: 0.109131 m/s, LOS rate: -1.180081 deg/s, cmd heading: 191.866175 deg, new cmd heading: 190.639377 deg. 2025-01-08T23:12:11.260Z,1736377931.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.327285 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:11.389Z,1736377931.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:11.389Z,1736377931.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524290 2025-01-08T23:12:11.640Z,1736377931.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:11.640Z,1736377931.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775421 2025-01-08T23:12:11.657Z,1736377931.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:11.720Z,1736377931.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:11.761Z,1736377931.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 34.133778 m, bearing: 99.776034 deg, approach rate: 0.085823 m/s, LOS rate: -1.039740 deg/s, cmd heading: 190.639377 deg, new cmd heading: 189.333579 deg. 2025-01-08T23:12:11.762Z,1736377931.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.304494 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:11.892Z,1736377931.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:11.893Z,1736377931.893 [DAT](INFO): DAT read: Rx Time:23:12:10.6053 2025-01-08T23:12:11.893Z,1736377931.893 [DAT](INFO): Rx dataTimestamp_ set to:1736377931.892682 2025-01-08T23:12:11.893Z,1736377931.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028438 2025-01-08T23:12:12.069Z,1736377932.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:12.080Z,1736377932.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.00 m. 2025-01-08T23:12:12.082Z,1736377932.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.000000 m, nav range: 34.158756 m, bearing: 99.320768 deg, approach rate: 0.061789 m/s, LOS rate: -1.125347 deg/s, cmd heading: 189.333581 deg, new cmd heading: 187.969055 deg. 2025-01-08T23:12:12.083Z,1736377932.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.280679 target range: 115.000000 and range: 155.80 m. 2025-01-08T23:12:12.144Z,1736377932.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:12.146Z,1736377932.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280597 2025-01-08T23:12:12.396Z,1736377932.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:12.406Z,1736377932.406 [DAT](INFO): DAT read: 23:12:10.6053 LVL= 23312, 21425, 14514, 29139, AGC= 59, IDX= 442,-0.21, 3.129,-0.686,-1.067,-1.588, PHS=-1.479, 0.949, 0.517, RAW= 279.6, 0.1, CAL= 281.6, -0.9, ROT= 228.4, 0.9 2025-01-08T23:12:12.408Z,1736377932.408 [DAT](INFO): got valid direction response: 23:12:10.6053 LVL= 23312, 21425, 14514, 29139, AGC= 59, IDX= 442,-0.21, 3.129,-0.686,-1.067,-1.588, PHS=-1.479, 0.949, 0.517, RAW= 279.6, 0.1, CAL= 281.6, -0.9, ROT= 228.4, 0.9 2025-01-08T23:12:12.409Z,1736377932.409 [DAT](INFO): DAT read: Bearing 228.4, 0.9 (Local) 2025-01-08T23:12:12.409Z,1736377932.409 [DAT](INFO): Local bearing/azimuth received: Bearing 228.4, 0.9 (Local) 2025-01-08T23:12:12.410Z,1736377932.410 [DAT](INFO): DAT read: Range 10 to 50 : 131.1 m (Round-trip 174.8 ms) speed 0.0 m/s 2025-01-08T23:12:12.411Z,1736377932.411 [DAT](INFO): DAT read: user:3081> 2025-01-08T23:12:12.412Z,1736377932.412 [DAT](INFO): DAT read: Tx time:23:12:11.7264 2025-01-08T23:12:12.412Z,1736377932.412 [DAT](INFO): Ping request sent. 2025-01-08T23:12:12.412Z,1736377932.412 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:12.413Z,1736377932.413 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:12:12.414Z,1736377932.414 [DAT](INFO): direction in FSK: [0.097198,0.060513,-0.993424] 2025-01-08T23:12:12.414Z,1736377932.414 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:12.414Z,1736377932.414 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:12.417Z,1736377932.417 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:12.418Z,1736377932.418 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:12.491Z,1736377932.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:12.515Z,1736377932.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.100006 m, deltaT: 7.311976 s, deltaX: -24.699997 m, approachRate: -3.378019 m/s, rangeRepo size: 4 2025-01-08T23:12:12.526Z,1736377932.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.100006 m, bearing: 259.047007 deg, lat: 36.904300 deg, lon: -122.120402 deg, deltaT: 29.742209 s, deltaX: 16.100006 m, approachRate: 0.541318 m/s, posRepo size: 4 2025-01-08T23:12:12.532Z,1736377932.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:12.534Z,1736377932.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.179478 m, bearing: 98.864576 deg, approach rate: 0.000000 m/s, LOS rate: -1.125347 deg/s, cmd heading: 187.969060 deg, new cmd heading: 186.501195 deg. 2025-01-08T23:12:12.545Z,1736377932.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.255060 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:12:12.649Z,1736377932.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:12.650Z,1736377932.650 [DAT](INFO): DAT read: TxSync time:23:12:11.7256 2025-01-08T23:12:12.900Z,1736377932.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:12.929Z,1736377932.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:12.955Z,1736377932.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:12.961Z,1736377932.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:12.965Z,1736377932.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.185596 m, bearing: 98.370148 deg, approach rate: 0.013693 m/s, LOS rate: -1.106223 deg/s, cmd heading: 186.501198 deg, new cmd heading: 185.018529 deg. 2025-01-08T23:12:12.966Z,1736377932.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.229182 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:12:13.152Z,1736377933.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:13.152Z,1736377933.152 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:13.152Z,1736377933.152 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:13.152Z,1736377933.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:13.257Z,1736377933.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:13.266Z,1736377933.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:13.269Z,1736377933.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.186642 m, bearing: 98.006407 deg, approach rate: 0.003428 m/s, LOS rate: -1.192866 deg/s, cmd heading: 185.018527 deg, new cmd heading: 183.927477 deg. 2025-01-08T23:12:13.271Z,1736377933.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.210140 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:12:13.404Z,1736377933.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:13.406Z,1736377933.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992701 2025-01-08T23:12:13.656Z,1736377933.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:13.657Z,1736377933.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244566 2025-01-08T23:12:13.672Z,1736377933.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:13.712Z,1736377933.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:13.721Z,1736377933.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.182652 m, bearing: 97.547178 deg, approach rate: -0.008949 m/s, LOS rate: -1.030072 deg/s, cmd heading: 183.927473 deg, new cmd heading: 182.549906 deg. 2025-01-08T23:12:13.729Z,1736377933.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.186097 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:12:13.908Z,1736377933.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:13.908Z,1736377933.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495960 2025-01-08T23:12:14.088Z,1736377934.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:14.097Z,1736377934.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:14.100Z,1736377934.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.173054 m, bearing: 97.079686 deg, approach rate: -0.024934 m/s, LOS rate: -1.214801 deg/s, cmd heading: 182.549906 deg, new cmd heading: 181.147331 deg. 2025-01-08T23:12:14.101Z,1736377934.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.161617 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:12:14.161Z,1736377934.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:14.162Z,1736377934.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749458 2025-01-08T23:12:14.412Z,1736377934.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:14.413Z,1736377934.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000604 2025-01-08T23:12:14.490Z,1736377934.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:14.512Z,1736377934.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:14.514Z,1736377934.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.159718 m, bearing: 96.628230 deg, approach rate: -0.032130 m/s, LOS rate: -1.088077 deg/s, cmd heading: 181.147327 deg, new cmd heading: 179.792695 deg. 2025-01-08T23:12:14.516Z,1736377934.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.137975 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:12:14.664Z,1736377934.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:14.665Z,1736377934.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252620 2025-01-08T23:12:14.873Z,1736377934.873 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS +0.00, +0.00, +0.00, 20.00,1009.88 2025-01-08T23:12:14.881Z,1736377934.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:12:14.881Z,1736377934.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:14.892Z,1736377934.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:14.895Z,1736377934.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.143429 m, bearing: 96.190383 deg, approach rate: -0.042810 m/s, LOS rate: -1.151278 deg/s, cmd heading: 179.792695 deg, new cmd heading: 178.478773 deg. 2025-01-08T23:12:14.897Z,1736377934.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.115042 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:12:14.916Z,1736377934.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:14.916Z,1736377934.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503822 2025-01-08T23:12:15.168Z,1736377935.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:15.168Z,1736377935.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755892 2025-01-08T23:12:15.288Z,1736377935.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:12:15.289Z,1736377935.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:15.296Z,1736377935.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:15.298Z,1736377935.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:15.301Z,1736377935.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.122696 m, bearing: 95.734088 deg, approach rate: -0.051133 m/s, LOS rate: -1.126029 deg/s, cmd heading: 178.478772 deg, new cmd heading: 177.109329 deg. 2025-01-08T23:12:15.302Z,1736377935.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.091141 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:12:15.420Z,1736377935.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:15.420Z,1736377935.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007970 2025-01-08T23:12:15.672Z,1736377935.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:15.673Z,1736377935.673 [DAT](INFO): DAT read: Rx Time:23:12:14.3071 2025-01-08T23:12:15.674Z,1736377935.674 [DAT](INFO): Rx dataTimestamp_ set to:1736377935.673614 2025-01-08T23:12:15.675Z,1736377935.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262308 2025-01-08T23:12:15.740Z,1736377935.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:12:15.740Z,1736377935.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:15.793Z,1736377935.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:15.816Z,1736377935.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.096188 m, bearing: 95.231943 deg, approach rate: -0.054245 m/s, LOS rate: -1.028342 deg/s, cmd heading: 177.109332 deg, new cmd heading: 175.602093 deg. 2025-01-08T23:12:15.817Z,1736377935.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.064835 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:12:15.924Z,1736377935.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:15.925Z,1736377935.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512243 2025-01-08T23:12:16.142Z,1736377936.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:16.151Z,1736377936.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:16.155Z,1736377936.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.091137 m, bearing: 94.759247 deg, approach rate: -0.013864 m/s, LOS rate: -1.297677 deg/s, cmd heading: 175.602087 deg, new cmd heading: 174.184095 deg. 2025-01-08T23:12:16.156Z,1736377936.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.040086 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:12:16.176Z,1736377936.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:16.177Z,1736377936.177 [DAT](INFO): DAT read: Range 10 to 50 : 132.3 m (Round-trip 176.4 ms) speed -0.4 m/s 2025-01-08T23:12:16.178Z,1736377936.178 [DAT](INFO): DAT read: user:3082> 2025-01-08T23:12:16.179Z,1736377936.179 [DAT](INFO): DAT read: Tx time:23:12:15.4265 2025-01-08T23:12:16.187Z,1736377936.187 [DAT](INFO): Ping request sent. 2025-01-08T23:12:16.188Z,1736377936.188 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:16.188Z,1736377936.188 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:12:16.188Z,1736377936.188 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:16.189Z,1736377936.189 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:16.428Z,1736377936.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:16.429Z,1736377936.429 [DAT](INFO): DAT read: TxSync time:23:12:15.4257 2025-01-08T23:12:16.512Z,1736377936.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:16.522Z,1736377936.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.300003 m, deltaT: 3.779760 s, deltaX: 1.199997 m, approachRate: 0.317480 m/s, rangeRepo size: 4 2025-01-08T23:12:16.522Z,1736377936.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:16.525Z,1736377936.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.077507 m, bearing: 94.329300 deg, approach rate: -0.036866 m/s, LOS rate: -1.163354 deg/s, cmd heading: 174.184099 deg, new cmd heading: 172.893971 deg. 2025-01-08T23:12:16.526Z,1736377936.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.017569 target range: 131.100006 and range: 132.30 m. 2025-01-08T23:12:16.680Z,1736377936.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:16.924Z,1736377936.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:16.932Z,1736377936.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:16.933Z,1736377936.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:16.937Z,1736377936.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.079678 m, bearing: 93.841033 deg, approach rate: 0.005258 m/s, LOS rate: -1.182689 deg/s, cmd heading: 172.893972 deg, new cmd heading: 171.429602 deg. 2025-01-08T23:12:16.938Z,1736377936.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.992011 target range: 131.100006 and range: 132.30 m. 2025-01-08T23:12:17.184Z,1736377937.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:17.319Z,1736377937.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:17.343Z,1736377937.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:17.345Z,1736377937.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:17.350Z,1736377937.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.084099 m, bearing: 93.371351 deg, approach rate: 0.010744 m/s, LOS rate: -1.141208 deg/s, cmd heading: 171.429607 deg, new cmd heading: 170.021042 deg. 2025-01-08T23:12:17.351Z,1736377937.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.967427 target range: 131.100006 and range: 132.30 m. 2025-01-08T23:12:17.437Z,1736377937.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:17.437Z,1736377937.437 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:17.438Z,1736377937.438 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:17.438Z,1736377937.438 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:17.689Z,1736377937.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:17.689Z,1736377937.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501845 2025-01-08T23:12:17.725Z,1736377937.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:17.733Z,1736377937.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:17.737Z,1736377937.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.080036 m, bearing: 92.889861 deg, approach rate: -0.010456 m/s, LOS rate: -1.239285 deg/s, cmd heading: 170.021044 deg, new cmd heading: 168.576725 deg. 2025-01-08T23:12:17.738Z,1736377937.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.942219 target range: 131.100006 and range: 132.30 m. 2025-01-08T23:12:17.940Z,1736377937.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:17.940Z,1736377937.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752792 2025-01-08T23:12:18.136Z,1736377938.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:18.145Z,1736377938.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:18.148Z,1736377938.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.090492 m, bearing: 92.404202 deg, approach rate: 0.025397 m/s, LOS rate: -1.179231 deg/s, cmd heading: 168.576719 deg, new cmd heading: 167.120521 deg. 2025-01-08T23:12:18.149Z,1736377938.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.916803 target range: 131.100006 and range: 132.30 m. 2025-01-08T23:12:18.194Z,1736377938.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:18.196Z,1736377938.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008665 2025-01-08T23:12:18.444Z,1736377938.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:18.444Z,1736377938.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256867 2025-01-08T23:12:18.529Z,1736377938.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:18.547Z,1736377938.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:18.550Z,1736377938.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.096260 m, bearing: 91.939704 deg, approach rate: 0.014355 m/s, LOS rate: -1.155877 deg/s, cmd heading: 167.120522 deg, new cmd heading: 165.727554 deg. 2025-01-08T23:12:18.551Z,1736377938.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.892492 target range: 131.100006 and range: 132.30 m. 2025-01-08T23:12:18.696Z,1736377938.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:18.697Z,1736377938.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509138 2025-01-08T23:12:18.948Z,1736377938.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:18.949Z,1736377938.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761064 2025-01-08T23:12:18.956Z,1736377938.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:18.996Z,1736377938.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:19.003Z,1736377939.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.122158 m, bearing: 91.443024 deg, approach rate: 0.057627 m/s, LOS rate: -1.104345 deg/s, cmd heading: 165.727560 deg, new cmd heading: 164.239004 deg. 2025-01-08T23:12:19.005Z,1736377939.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866511 target range: 131.100006 and range: 132.30 m. 2025-01-08T23:12:19.200Z,1736377939.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:19.200Z,1736377939.200 [DAT](INFO): DAT read: Rx Time:23:12:18.0088 2025-01-08T23:12:19.201Z,1736377939.201 [DAT](INFO): Rx dataTimestamp_ set to:1736377939.200596 2025-01-08T23:12:19.201Z,1736377939.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013871 2025-01-08T23:12:19.324Z,1736377939.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:19.357Z,1736377939.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:19.360Z,1736377939.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.133949 m, bearing: 91.010069 deg, approach rate: 0.032832 m/s, LOS rate: -1.205124 deg/s, cmd heading: 164.239002 deg, new cmd heading: 162.940818 deg. 2025-01-08T23:12:19.361Z,1736377939.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.843854 target range: 131.100006 and range: 132.30 m. 2025-01-08T23:12:19.452Z,1736377939.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:19.454Z,1736377939.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265700 2025-01-08T23:12:19.704Z,1736377939.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:19.706Z,1736377939.706 [DAT](INFO): DAT read: Range 10 to 50 : 133.6 m (Round-trip 178.2 ms) speed -0.5 m/s 2025-01-08T23:12:19.707Z,1736377939.707 [DAT](INFO): DAT read: user:3083> 2025-01-08T23:12:19.707Z,1736377939.707 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:12:19.708Z,1736377939.708 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:19.708Z,1736377939.708 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:19.708Z,1736377939.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:19.773Z,1736377939.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:19.794Z,1736377939.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:19.801Z,1736377939.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.600006 m, deltaT: 3.528872 s, deltaX: 1.300003 m, approachRate: 0.368391 m/s, rangeRepo size: 4 2025-01-08T23:12:19.801Z,1736377939.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:19.829Z,1736377939.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.142864 m, bearing: 90.484791 deg, approach rate: 0.020055 m/s, LOS rate: -1.181334 deg/s, cmd heading: 162.940815 deg, new cmd heading: 161.365812 deg. 2025-01-08T23:12:19.839Z,1736377939.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816365 target range: 131.100006 and range: 133.60 m. 2025-01-08T23:12:19.956Z,1736377939.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:19.957Z,1736377939.957 [DAT](INFO): DAT read: Tx time:23:12:19.1265 2025-01-08T23:12:19.957Z,1736377939.957 [DAT](INFO): Ping request sent. 2025-01-08T23:12:19.957Z,1736377939.957 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:19.958Z,1736377939.958 [DAT](INFO): DAT read: TxSync time:23:12:19.1257 2025-01-08T23:12:19.958Z,1736377939.958 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:19.959Z,1736377939.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001548 2025-01-08T23:12:20.176Z,1736377940.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:20.208Z,1736377940.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:20.209Z,1736377940.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251301 2025-01-08T23:12:20.211Z,1736377940.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:20.226Z,1736377940.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.154198 m, bearing: 90.015457 deg, approach rate: 0.027609 m/s, LOS rate: -1.142928 deg/s, cmd heading: 161.365815 deg, new cmd heading: 159.958579 deg. 2025-01-08T23:12:20.237Z,1736377940.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791804 target range: 131.100006 and range: 133.60 m. 2025-01-08T23:12:20.460Z,1736377940.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:20.462Z,1736377940.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504787 2025-01-08T23:12:20.553Z,1736377940.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:20.580Z,1736377940.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:20.583Z,1736377940.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.159828 m, bearing: 89.575809 deg, approach rate: 0.015229 m/s, LOS rate: -1.188943 deg/s, cmd heading: 159.958577 deg, new cmd heading: 158.640096 deg. 2025-01-08T23:12:20.588Z,1736377940.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.768792 target range: 131.100006 and range: 133.60 m. 2025-01-08T23:12:20.712Z,1736377940.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:20.713Z,1736377940.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755756 2025-01-08T23:12:20.964Z,1736377940.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:20.964Z,1736377940.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007236 2025-01-08T23:12:20.997Z,1736377940.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:21.007Z,1736377941.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:21.010Z,1736377941.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.119186 m, bearing: 89.079201 deg, approach rate: -0.095301 m/s, LOS rate: -1.165875 deg/s, cmd heading: 158.640091 deg, new cmd heading: 157.148848 deg. 2025-01-08T23:12:21.011Z,1736377941.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.742765 target range: 131.100006 and range: 133.60 m. 2025-01-08T23:12:21.216Z,1736377941.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:21.217Z,1736377941.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259476 2025-01-08T23:12:21.377Z,1736377941.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:21.388Z,1736377941.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:21.390Z,1736377941.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.079021 m, bearing: 88.655070 deg, approach rate: -0.105590 m/s, LOS rate: -1.116302 deg/s, cmd heading: 157.148842 deg, new cmd heading: 155.875172 deg. 2025-01-08T23:12:21.392Z,1736377941.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.720535 target range: 131.100006 and range: 133.60 m. 2025-01-08T23:12:21.469Z,1736377941.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:21.470Z,1736377941.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512209 2025-01-08T23:12:21.722Z,1736377941.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:21.723Z,1736377941.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765731 2025-01-08T23:12:21.778Z,1736377941.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:21.787Z,1736377941.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:21.790Z,1736377941.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.030972 m, bearing: 88.208306 deg, approach rate: -0.120347 m/s, LOS rate: -1.120546 deg/s, cmd heading: 155.875176 deg, new cmd heading: 154.533250 deg. 2025-01-08T23:12:21.792Z,1736377941.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697114 target range: 131.100006 and range: 133.60 m. 2025-01-08T23:12:21.796Z,1736377941.796 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T23:02:21.6Z 2025-01-08T23:12:21.796Z,1736377941.796 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T23:12:21.796Z,1736377941.796 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:12:21.796Z,1736377941.796 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T23:12:21.797Z,1736377941.797 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:12:21.797Z,1736377941.797 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T23:12:21.972Z,1736377941.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:21.973Z,1736377941.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015388 2025-01-08T23:12:22.193Z,1736377942.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:22.200Z,1736377942.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:22.202Z,1736377942.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:22.205Z,1736377942.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 34.016644 m, bearing: 87.745292 deg, approach rate: -0.034474 m/s, LOS rate: -1.114510 deg/s, cmd heading: 154.533249 deg, new cmd heading: 153.143909 deg. 2025-01-08T23:12:22.206Z,1736377942.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672865 target range: 131.100006 and range: 133.60 m. 2025-01-08T23:12:22.210Z,1736377942.210 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T23:12:22.210Z,1736377942.210 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T23:12:22.210Z,1736377942.210 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T23:12:22.211Z,1736377942.211 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:12:22.211Z,1736377942.211 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T23:12:22.224Z,1736377942.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:22.224Z,1736377942.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267266 2025-01-08T23:12:22.477Z,1736377942.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:22.478Z,1736377942.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520954 2025-01-08T23:12:22.728Z,1736377942.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:22.729Z,1736377942.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771365 2025-01-08T23:12:22.796Z,1736377942.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:22.805Z,1736377942.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:22.808Z,1736377942.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 33.989647 m, bearing: 87.072803 deg, approach rate: -0.044749 m/s, LOS rate: -1.115564 deg/s, cmd heading: 153.143906 deg, new cmd heading: 151.125718 deg. 2025-01-08T23:12:22.809Z,1736377942.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.637641 target range: 131.100006 and range: 133.60 m. 2025-01-08T23:12:22.980Z,1736377942.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:22.980Z,1736377942.980 [DAT](INFO): DAT read: Rx Time:23:12:21.7097 2025-01-08T23:12:22.981Z,1736377942.981 [DAT](INFO): Rx dataTimestamp_ set to:1736377942.980550 2025-01-08T23:12:22.981Z,1736377942.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024157 2025-01-08T23:12:23.226Z,1736377943.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:23.232Z,1736377943.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:23.233Z,1736377943.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275441 2025-01-08T23:12:23.237Z,1736377943.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:23.240Z,1736377943.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 33.960579 m, bearing: 86.594460 deg, approach rate: -0.067404 m/s, LOS rate: -1.110142 deg/s, cmd heading: 151.125722 deg, new cmd heading: 149.689783 deg. 2025-01-08T23:12:23.241Z,1736377943.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.612580 target range: 131.100006 and range: 133.60 m. 2025-01-08T23:12:23.484Z,1736377943.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:23.486Z,1736377943.486 [DAT](INFO): DAT read: Range 10 to 50 : 134.3 m (Round-trip 179.1 ms) speed 0.1 m/s 2025-01-08T23:12:23.487Z,1736377943.487 [DAT](INFO): DAT read: user:3084> 2025-01-08T23:12:23.488Z,1736377943.488 [DAT](INFO): DAT read: Tx time:23:12:22.8265 2025-01-08T23:12:23.488Z,1736377943.488 [DAT](INFO): Ping request sent. 2025-01-08T23:12:23.488Z,1736377943.488 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:23.489Z,1736377943.489 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:12:23.489Z,1736377943.489 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:23.489Z,1736377943.489 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:23.630Z,1736377943.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:23.659Z,1736377943.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 134.300003 m, deltaT: 3.780075 s, deltaX: 0.699997 m, approachRate: 0.185181 m/s, rangeRepo size: 4 2025-01-08T23:12:23.664Z,1736377943.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:23.673Z,1736377943.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 33.923103 m, bearing: 86.146148 deg, approach rate: -0.089038 m/s, LOS rate: -1.066313 deg/s, cmd heading: 149.689784 deg, new cmd heading: 148.343624 deg. 2025-01-08T23:12:23.674Z,1736377943.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.589085 target range: 131.100006 and range: 134.30 m. 2025-01-08T23:12:23.737Z,1736377943.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:23.738Z,1736377943.738 [DAT](INFO): DAT read: TxSync time:23:12:22.8257 2025-01-08T23:12:23.988Z,1736377943.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:24.043Z,1736377944.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:24.061Z,1736377944.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:24.072Z,1736377944.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 33.874352 m, bearing: 85.705841 deg, approach rate: -0.120710 m/s, LOS rate: -1.091760 deg/s, cmd heading: 148.343622 deg, new cmd heading: 147.021047 deg. 2025-01-08T23:12:24.073Z,1736377944.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566001 target range: 131.100006 and range: 134.30 m. 2025-01-08T23:12:24.240Z,1736377944.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:24.401Z,1736377944.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:24.409Z,1736377944.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:24.411Z,1736377944.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:24.414Z,1736377944.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 33.820114 m, bearing: 85.292626 deg, approach rate: -0.155170 m/s, LOS rate: -1.184067 deg/s, cmd heading: 147.021051 deg, new cmd heading: 145.779624 deg. 2025-01-08T23:12:24.414Z,1736377944.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544334 target range: 131.100006 and range: 134.30 m. 2025-01-08T23:12:24.493Z,1736377944.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:24.493Z,1736377944.493 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:24.494Z,1736377944.494 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:24.494Z,1736377944.494 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:24.744Z,1736377944.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:24.745Z,1736377944.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256475 2025-01-08T23:12:24.827Z,1736377944.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:24.835Z,1736377944.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:24.839Z,1736377944.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 33.755829 m, bearing: 84.822695 deg, approach rate: -0.151535 m/s, LOS rate: -1.109829 deg/s, cmd heading: 145.779623 deg, new cmd heading: 144.367448 deg. 2025-01-08T23:12:24.840Z,1736377944.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519687 target range: 131.100006 and range: 134.30 m. 2025-01-08T23:12:24.996Z,1736377944.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:24.998Z,1736377944.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509240 2025-01-08T23:12:25.248Z,1736377945.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:25.248Z,1736377945.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760194 2025-01-08T23:12:25.255Z,1736377945.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:25.264Z,1736377945.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:25.266Z,1736377945.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 33.676086 m, bearing: 84.347730 deg, approach rate: -0.186126 m/s, LOS rate: -1.111225 deg/s, cmd heading: 144.367441 deg, new cmd heading: 142.939484 deg. 2025-01-08T23:12:25.267Z,1736377945.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.494765 target range: 131.100006 and range: 134.30 m. 2025-01-08T23:12:25.500Z,1736377945.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:25.501Z,1736377945.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012333 2025-01-08T23:12:25.617Z,1736377945.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:25.629Z,1736377945.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:25.648Z,1736377945.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 33.600674 m, bearing: 83.947904 deg, approach rate: -0.206551 m/s, LOS rate: -1.097549 deg/s, cmd heading: 142.939481 deg, new cmd heading: 141.737495 deg. 2025-01-08T23:12:25.655Z,1736377945.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473786 target range: 131.100006 and range: 134.30 m. 2025-01-08T23:12:25.752Z,1736377945.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:25.753Z,1736377945.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264260 2025-01-08T23:12:26.005Z,1736377946.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:26.005Z,1736377946.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517029 2025-01-08T23:12:26.049Z,1736377946.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:26.090Z,1736377946.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:26.096Z,1736377946.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 33.479252 m, bearing: 83.465359 deg, approach rate: -0.263423 m/s, LOS rate: -1.050660 deg/s, cmd heading: 141.737490 deg, new cmd heading: 140.284934 deg. 2025-01-08T23:12:26.097Z,1736377946.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448434 target range: 131.100006 and range: 134.30 m. 2025-01-08T23:12:26.256Z,1736377946.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:26.256Z,1736377946.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768047 2025-01-08T23:12:26.434Z,1736377946.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:26.443Z,1736377946.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:26.445Z,1736377946.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:26.448Z,1736377946.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 33.367592 m, bearing: 83.035935 deg, approach rate: -0.314088 m/s, LOS rate: -1.211957 deg/s, cmd heading: 140.284928 deg, new cmd heading: 138.992576 deg. 2025-01-08T23:12:26.449Z,1736377946.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425878 target range: 131.100006 and range: 134.30 m. 2025-01-08T23:12:26.508Z,1736377946.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:26.510Z,1736377946.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021234 2025-01-08T23:12:26.760Z,1736377946.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:26.761Z,1736377946.761 [DAT](INFO): DAT read: Rx Time:23:12:25.4096 2025-01-08T23:12:26.761Z,1736377946.761 [DAT](INFO): Rx dataTimestamp_ set to:1736377946.760681 2025-01-08T23:12:26.761Z,1736377946.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273212 2025-01-08T23:12:26.841Z,1736377946.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:26.855Z,1736377946.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:26.858Z,1736377946.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 33.245956 m, bearing: 82.583966 deg, approach rate: -0.296492 m/s, LOS rate: -1.105717 deg/s, cmd heading: 138.992574 deg, new cmd heading: 137.631975 deg. 2025-01-08T23:12:26.859Z,1736377946.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402131 target range: 131.100006 and range: 134.30 m. 2025-01-08T23:12:27.012Z,1736377947.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:27.013Z,1736377947.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525035 2025-01-08T23:12:27.264Z,1736377947.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:27.266Z,1736377947.266 [DAT](INFO): DAT read: Range 10 to 50 : 134.2 m (Round-trip 179.0 ms) speed 0.0 m/s 2025-01-08T23:12:27.266Z,1736377947.266 [DAT](INFO): DAT read: user:3085> 2025-01-08T23:12:27.267Z,1736377947.267 [DAT](INFO): DAT read: Tx time:23:12:26.5266 2025-01-08T23:12:27.267Z,1736377947.267 [DAT](INFO): Ping request sent. 2025-01-08T23:12:27.268Z,1736377947.268 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:27.268Z,1736377947.268 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:12:27.268Z,1736377947.268 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:27.269Z,1736377947.269 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:27.274Z,1736377947.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:27.322Z,1736377947.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 134.199997 m, deltaT: 3.779302 s, deltaX: -0.100006 m, approachRate: -0.026462 m/s, rangeRepo size: 4 2025-01-08T23:12:27.322Z,1736377947.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:27.330Z,1736377947.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 33.101234 m, bearing: 82.096062 deg, approach rate: -0.311256 m/s, LOS rate: -1.053919 deg/s, cmd heading: 137.631973 deg, new cmd heading: 136.162202 deg. 2025-01-08T23:12:27.343Z,1736377947.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376479 target range: 131.100006 and range: 134.20 m. 2025-01-08T23:12:27.516Z,1736377947.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:27.516Z,1736377947.516 [DAT](INFO): DAT read: TxSync time:23:12:26.5258 2025-01-08T23:12:27.649Z,1736377947.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:27.665Z,1736377947.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:27.670Z,1736377947.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 32.972630 m, bearing: 81.674787 deg, approach rate: -0.373351 m/s, LOS rate: -1.227755 deg/s, cmd heading: 136.162198 deg, new cmd heading: 134.893664 deg. 2025-01-08T23:12:27.671Z,1736377947.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.354339 target range: 131.100006 and range: 134.20 m. 2025-01-08T23:12:27.769Z,1736377947.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:28.021Z,1736377948.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:28.065Z,1736377948.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:28.099Z,1736377948.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:28.102Z,1736377948.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 32.822636 m, bearing: 81.192570 deg, approach rate: -0.348616 m/s, LOS rate: -1.125880 deg/s, cmd heading: 134.893668 deg, new cmd heading: 133.440733 deg. 2025-01-08T23:12:28.103Z,1736377948.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328980 target range: 131.100006 and range: 134.20 m. 2025-01-08T23:12:28.272Z,1736377948.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:28.452Z,1736377948.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:28.460Z,1736377948.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:28.462Z,1736377948.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:28.465Z,1736377948.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 32.674370 m, bearing: 80.752866 deg, approach rate: -0.403737 m/s, LOS rate: -1.202761 deg/s, cmd heading: 133.440736 deg, new cmd heading: 132.115888 deg. 2025-01-08T23:12:28.466Z,1736377948.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305857 target range: 131.100006 and range: 134.20 m. 2025-01-08T23:12:28.525Z,1736377948.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:28.526Z,1736377948.526 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:28.526Z,1736377948.526 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:28.526Z,1736377948.526 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:28.776Z,1736377948.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:28.776Z,1736377948.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508877 2025-01-08T23:12:28.861Z,1736377948.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:28.869Z,1736377948.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:28.873Z,1736377948.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 32.513725 m, bearing: 80.290913 deg, approach rate: -0.394820 m/s, LOS rate: -1.140951 deg/s, cmd heading: 132.115885 deg, new cmd heading: 130.723468 deg. 2025-01-08T23:12:28.874Z,1736377948.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281555 target range: 131.100006 and range: 134.20 m. 2025-01-08T23:12:29.028Z,1736377949.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:29.028Z,1736377949.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760829 2025-01-08T23:12:29.280Z,1736377949.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:29.281Z,1736377949.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013051 2025-01-08T23:12:29.392Z,1736377949.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:29.400Z,1736377949.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:29.403Z,1736377949.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 32.302582 m, bearing: 79.681215 deg, approach rate: -0.397544 m/s, LOS rate: -1.155430 deg/s, cmd heading: 130.723469 deg, new cmd heading: 128.883086 deg. 2025-01-08T23:12:29.405Z,1736377949.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249434 target range: 131.100006 and range: 134.20 m. 2025-01-08T23:12:29.532Z,1736377949.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:29.533Z,1736377949.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265099 2025-01-08T23:12:29.672Z,1736377949.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:29.688Z,1736377949.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:29.691Z,1736377949.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 32.188332 m, bearing: 79.360177 deg, approach rate: -0.397890 m/s, LOS rate: -1.122016 deg/s, cmd heading: 128.883088 deg, new cmd heading: 127.916652 deg. 2025-01-08T23:12:29.692Z,1736377949.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232567 target range: 131.100006 and range: 134.20 m. 2025-01-08T23:12:29.784Z,1736377949.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:29.784Z,1736377949.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516925 2025-01-08T23:12:30.036Z,1736377950.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:30.037Z,1736377950.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769034 2025-01-08T23:12:30.109Z,1736377950.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:30.117Z,1736377950.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:30.121Z,1736377950.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 32.030228 m, bearing: 78.852863 deg, approach rate: -0.367566 m/s, LOS rate: -1.185230 deg/s, cmd heading: 127.916657 deg, new cmd heading: 126.387586 deg. 2025-01-08T23:12:30.122Z,1736377950.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205879 target range: 131.100006 and range: 134.20 m. 2025-01-08T23:12:30.288Z,1736377950.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:30.289Z,1736377950.289 [DAT](INFO): DAT read: Rx Time:23:12:29.1089 2025-01-08T23:12:30.289Z,1736377950.289 [DAT](INFO): Rx dataTimestamp_ set to:1736377950.288853 2025-01-08T23:12:30.290Z,1736377950.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022082 2025-01-08T23:12:30.463Z,1736377950.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:30.469Z,1736377950.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:30.473Z,1736377950.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:30.476Z,1736377950.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 31.893919 m, bearing: 78.449273 deg, approach rate: -0.383653 m/s, LOS rate: -1.140785 deg/s, cmd heading: 126.387583 deg, new cmd heading: 125.171830 deg. 2025-01-08T23:12:30.477Z,1736377950.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.184661 target range: 131.100006 and range: 134.20 m. 2025-01-08T23:12:30.540Z,1736377950.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:30.541Z,1736377950.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272972 2025-01-08T23:12:30.793Z,1736377950.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:30.796Z,1736377950.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527254 2025-01-08T23:12:30.884Z,1736377950.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:30.894Z,1736377950.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:12:30.897Z,1736377950.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 31.733427 m, bearing: 77.963390 deg, approach rate: -0.380844 m/s, LOS rate: -1.158808 deg/s, cmd heading: 125.171836 deg, new cmd heading: 123.707152 deg. 2025-01-08T23:12:30.898Z,1736377950.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.159097 target range: 131.100006 and range: 134.20 m. 2025-01-08T23:12:31.044Z,1736377951.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:31.051Z,1736377951.051 [DAT](INFO): DAT read: 23:12:29.1089 LVL= 17904, 21873, 10082, 23507, AGC= 59, IDX= 429, 0.23, 1.744, 2.201,-2.268, 2.706, PHS=-0.873,-0.458, 1.306, RAW= 220.3, 0.2, CAL= 220.4, -5.1, ROT= 289.6, 5.1 2025-01-08T23:12:31.052Z,1736377951.052 [DAT](INFO): got valid direction response: 23:12:29.1089 LVL= 17904, 21873, 10082, 23507, AGC= 59, IDX= 429, 0.23, 1.744, 2.201,-2.268, 2.706, PHS=-0.873,-0.458, 1.306, RAW= 220.3, 0.2, CAL= 220.4, -5.1, ROT= 289.6, 5.1 2025-01-08T23:12:31.054Z,1736377951.054 [DAT](INFO): DAT read: Bearing 289.6, 5.1 (Local) 2025-01-08T23:12:31.055Z,1736377951.055 [DAT](INFO): Local bearing/azimuth received: Bearing 289.6, 5.1 (Local) 2025-01-08T23:12:31.057Z,1736377951.057 [DAT](INFO): DAT read: Range 10 to 50 : 133.6 m (Round-trip 178.2 ms) speed 0.1 m/s 2025-01-08T23:12:31.058Z,1736377951.058 [DAT](INFO): DAT read: user:3086> 2025-01-08T23:12:31.058Z,1736377951.058 [DAT](INFO): DAT read: Tx time:23:12:30.2266 2025-01-08T23:12:31.059Z,1736377951.059 [DAT](INFO): Ping request sent. 2025-01-08T23:12:31.059Z,1736377951.059 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:31.060Z,1736377951.060 [DAT](INFO): DAT read: TxSync time:23:12:30.2258 2025-01-08T23:12:31.061Z,1736377951.061 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:12:31.062Z,1736377951.062 [DAT](INFO): direction in FSK: [-0.016055,-0.805893,-0.591844] 2025-01-08T23:12:31.062Z,1736377951.062 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:31.062Z,1736377951.062 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:31.066Z,1736377951.066 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:31.066Z,1736377951.066 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:31.296Z,1736377951.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:31.336Z,1736377951.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:31.352Z,1736377951.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.600006 m, deltaT: 3.780044 s, deltaX: -0.599991 m, approachRate: -0.158726 m/s, rangeRepo size: 4 2025-01-08T23:12:31.357Z,1736377951.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.600006 m, bearing: 44.235096 deg, lat: 36.904322 deg, lon: -122.120070 deg, deltaT: 18.648053 s, deltaX: 2.500000 m, approachRate: 0.134062 m/s, posRepo size: 4 2025-01-08T23:12:31.358Z,1736377951.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m. 2025-01-08T23:12:31.360Z,1736377951.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.600006 m, nav range: 61.061810 m, bearing: 81.178839 deg, approach rate: 0.000000 m/s, LOS rate: -1.158808 deg/s, cmd heading: 123.707157 deg, new cmd heading: 122.117685 deg. 2025-01-08T23:12:31.361Z,1736377951.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.131356 target range: 133.600006 and range: 133.60 m. 2025-01-08T23:12:31.548Z,1736377951.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:31.688Z,1736377951.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:31.701Z,1736377951.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m. 2025-01-08T23:12:31.728Z,1736377951.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.600006 m, nav range: 60.922199 m, bearing: 80.983306 deg, approach rate: -0.399474 m/s, LOS rate: -0.560771 deg/s, cmd heading: 122.117690 deg, new cmd heading: 121.529768 deg. 2025-01-08T23:12:31.729Z,1736377951.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.121094 target range: 133.600006 and range: 133.60 m. 2025-01-08T23:12:31.800Z,1736377951.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:32.053Z,1736377952.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:32.108Z,1736377952.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:32.132Z,1736377952.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m. 2025-01-08T23:12:32.135Z,1736377952.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.600006 m, nav range: 60.772537 m, bearing: 80.758143 deg, approach rate: -0.347017 m/s, LOS rate: -0.523365 deg/s, cmd heading: 121.529761 deg, new cmd heading: 120.852640 deg. 2025-01-08T23:12:32.140Z,1736377952.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109277 target range: 133.600006 and range: 133.60 m. 2025-01-08T23:12:32.304Z,1736377952.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:32.534Z,1736377952.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:32.556Z,1736377952.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:32.562Z,1736377952.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:32.573Z,1736377952.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m. 2025-01-08T23:12:32.580Z,1736377952.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.600006 m, nav range: 60.615463 m, bearing: 80.531513 deg, approach rate: -0.356447 m/s, LOS rate: -0.515621 deg/s, cmd heading: 120.852643 deg, new cmd heading: 120.171026 deg. 2025-01-08T23:12:32.581Z,1736377952.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.097380 target range: 133.600006 and range: 133.60 m. 2025-01-08T23:12:32.808Z,1736377952.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:32.808Z,1736377952.808 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:32.808Z,1736377952.808 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:32.808Z,1736377952.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:32.896Z,1736377952.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:32.905Z,1736377952.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m. 2025-01-08T23:12:32.909Z,1736377952.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.600006 m, nav range: 60.477913 m, bearing: 80.342238 deg, approach rate: -0.415010 m/s, LOS rate: -0.572368 deg/s, cmd heading: 120.171031 deg, new cmd heading: 119.601935 deg. 2025-01-08T23:12:32.910Z,1736377952.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.087448 target range: 133.600006 and range: 133.60 m. 2025-01-08T23:12:33.060Z,1736377953.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:33.060Z,1736377953.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001620 2025-01-08T23:12:33.312Z,1736377953.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:33.313Z,1736377953.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253666 2025-01-08T23:12:33.382Z,1736377953.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:33.392Z,1736377953.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m. 2025-01-08T23:12:33.395Z,1736377953.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.600006 m, nav range: 60.325851 m, bearing: 80.092157 deg, approach rate: -0.311793 m/s, LOS rate: -0.514068 deg/s, cmd heading: 119.601940 deg, new cmd heading: 118.849851 deg. 2025-01-08T23:12:33.396Z,1736377953.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074321 target range: 133.600006 and range: 133.60 m. 2025-01-08T23:12:33.564Z,1736377953.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:33.565Z,1736377953.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506036 2025-01-08T23:12:33.776Z,1736377953.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:33.810Z,1736377953.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m. 2025-01-08T23:12:33.814Z,1736377953.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.600006 m, nav range: 60.198315 m, bearing: 79.891492 deg, approach rate: -0.304902 m/s, LOS rate: -0.480745 deg/s, cmd heading: 118.849854 deg, new cmd heading: 118.246607 deg. 2025-01-08T23:12:33.816Z,1736377953.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:33.816Z,1736377953.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757626 2025-01-08T23:12:33.823Z,1736377953.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063793 target range: 133.600006 and range: 133.60 m. 2025-01-08T23:12:34.069Z,1736377954.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:34.072Z,1736377954.072 [DAT](INFO): DAT read: Rx Time:23:12:32.8085 2025-01-08T23:12:34.074Z,1736377954.074 [DAT](INFO): Rx dataTimestamp_ set to:1736377954.072582 2025-01-08T23:12:34.076Z,1736377954.076 [RudderServo](FAULT): Invalid EZ Servo response:"8\r" 2025-01-08T23:12:34.077Z,1736377954.077 [RudderServo] Communications Fault, FailCount= 1 2025-01-08T23:12:34.077Z,1736377954.077 [RudderServo](ERROR): Communications Fault 2025-01-08T23:12:34.077Z,1736377954.077 [RudderServo](ERROR): Rudder reporting null position 2025-01-08T23:12:34.080Z,1736377954.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016070 2025-01-08T23:12:34.127Z,1736377954.127 [CBIT](ERROR): Communications Fault in component: RudderServo 2025-01-08T23:12:34.207Z,1736377954.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:12:34.207Z,1736377954.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:34.224Z,1736377954.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m. 2025-01-08T23:12:34.226Z,1736377954.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.600006 m, nav range: 60.054356 m, bearing: 79.674602 deg, approach rate: -0.355340 m/s, LOS rate: -0.536639 deg/s, cmd heading: 118.246612 deg, new cmd heading: 117.594414 deg. 2025-01-08T23:12:34.232Z,1736377954.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052410 target range: 133.600006 and range: 133.60 m. 2025-01-08T23:12:34.313Z,1736377954.313 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2025-01-08T23:12:34.313Z,1736377954.313 [RudderServo](INFO): Powering down 2025-01-08T23:12:34.320Z,1736377954.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:34.321Z,1736377954.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262267 2025-01-08T23:12:34.572Z,1736377954.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:34.578Z,1736377954.578 [DAT](INFO): DAT read: 23:12:32.8085 LVL= 26768, 28993, 13922, 31651, AGC= 57, IDX= 441,-0.44,-1.370,-1.452, 0.505,-0.712, PHS=-0.570,-0.693, 1.215, RAW= 206.7, 0.5, CAL= 206.4, -6.4, ROT= 303.6, 6.4 2025-01-08T23:12:34.579Z,1736377954.579 [DAT](INFO): got valid direction response: 23:12:32.8085 LVL= 26768, 28993, 13922, 31651, AGC= 57, IDX= 441,-0.44,-1.370,-1.452, 0.505,-0.712, PHS=-0.570,-0.693, 1.215, RAW= 206.7, 0.5, CAL= 206.4, -6.4, ROT= 303.6, 6.4 2025-01-08T23:12:34.580Z,1736377954.580 [DAT](INFO): DAT read: Bearing 303.6, 6.4 (Local) 2025-01-08T23:12:34.581Z,1736377954.581 [DAT](INFO): Local bearing/azimuth received: Bearing 303.6, 6.4 (Local) 2025-01-08T23:12:34.582Z,1736377954.582 [DAT](INFO): DAT read: Range 10 to 50 : 133.3 m (Round-trip 177.8 ms) speed 0.2 m/s 2025-01-08T23:12:34.583Z,1736377954.583 [DAT](INFO): DAT read: user:3087> 2025-01-08T23:12:34.584Z,1736377954.584 [DAT](INFO): DAT read: Tx time:23:12:33.9266 2025-01-08T23:12:34.584Z,1736377954.584 [DAT](INFO): Ping request sent. 2025-01-08T23:12:34.584Z,1736377954.584 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:34.584Z,1736377954.584 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:12:34.585Z,1736377954.585 [DAT](INFO): direction in FSK: [-0.048927,-0.916213,-0.397693] 2025-01-08T23:12:34.585Z,1736377954.585 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:34.586Z,1736377954.586 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:34.591Z,1736377954.591 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:34.591Z,1736377954.591 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:34.606Z,1736377954.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:12:34.606Z,1736377954.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:34.638Z,1736377954.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.300003 m, deltaT: 3.527751 s, deltaX: -0.300003 m, approachRate: -0.085041 m/s, rangeRepo size: 4 2025-01-08T23:12:34.645Z,1736377954.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.300003 m, bearing: 30.772132 deg, lat: 36.904915 deg, lon: -122.120042 deg, deltaT: 3.527751 s, deltaX: -0.300003 m, approachRate: -0.085041 m/s, posRepo size: 4 2025-01-08T23:12:34.646Z,1736377954.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m. 2025-01-08T23:12:34.659Z,1736377954.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.300003 m, nav range: 98.389160 m, bearing: 38.585164 deg, approach rate: 0.000000 m/s, LOS rate: -0.536639 deg/s, cmd heading: 117.594411 deg, new cmd heading: 116.915128 deg. 2025-01-08T23:12:34.669Z,1736377954.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.040554 target range: 133.300003 and range: 133.30 m. 2025-01-08T23:12:34.824Z,1736377954.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:34.825Z,1736377954.825 [DAT](INFO): DAT read: TxSync time:23:12:33.9258 2025-01-08T23:12:34.981Z,1736377954.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:12:34.981Z,1736377954.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:34.996Z,1736377954.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:35.005Z,1736377955.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m. 2025-01-08T23:12:35.012Z,1736377955.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.300003 m, nav range: 98.415436 m, bearing: 38.449359 deg, approach rate: 0.071407 m/s, LOS rate: -0.368967 deg/s, cmd heading: 116.915121 deg, new cmd heading: 116.507821 deg. 2025-01-08T23:12:35.013Z,1736377955.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.033445 target range: 133.300003 and range: 133.30 m. 2025-01-08T23:12:35.078Z,1736377955.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:35.080Z,1736377955.080 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:35.080Z,1736377955.080 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:35.081Z,1736377955.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:35.173Z,1736377955.173 [RudderServo](DEBUG): Initializing EZServoServo. 2025-01-08T23:12:35.296Z,1736377955.296 [RudderServo](DEBUG): Initializing RudderServo. 2025-01-08T23:12:35.328Z,1736377955.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:35.329Z,1736377955.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744771 2025-01-08T23:12:35.330Z,1736377955.330 [CBIT](INFO): Clearing failed state for component RudderServo 2025-01-08T23:12:35.330Z,1736377955.330 [RudderServo] No Fault, FailCount= 1 2025-01-08T23:12:35.436Z,1736377955.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:35.457Z,1736377955.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m. 2025-01-08T23:12:35.464Z,1736377955.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.300003 m, nav range: 98.461639 m, bearing: 38.304575 deg, approach rate: 0.102200 m/s, LOS rate: -0.320105 deg/s, cmd heading: 116.507823 deg, new cmd heading: 116.073684 deg. 2025-01-08T23:12:35.465Z,1736377955.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.025868 target range: 133.300003 and range: 133.30 m. 2025-01-08T23:12:35.580Z,1736377955.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:35.581Z,1736377955.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997417 2025-01-08T23:12:35.784Z,1736377955.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:35.803Z,1736377955.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m. 2025-01-08T23:12:35.806Z,1736377955.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.300003 m, nav range: 98.492569 m, bearing: 38.196354 deg, approach rate: 0.090541 m/s, LOS rate: -0.316700 deg/s, cmd heading: 116.073683 deg, new cmd heading: 115.749125 deg. 2025-01-08T23:12:35.807Z,1736377955.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.020203 target range: 133.300003 and range: 133.30 m. 2025-01-08T23:12:35.832Z,1736377955.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:35.832Z,1736377955.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248469 2025-01-08T23:12:36.036Z,1736377956.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:12:36.086Z,1736377956.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:36.089Z,1736377956.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503962 2025-01-08T23:12:36.208Z,1736377956.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:36.217Z,1736377956.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m. 2025-01-08T23:12:36.219Z,1736377956.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.300003 m, nav range: 98.529472 m, bearing: 38.062592 deg, approach rate: 0.088385 m/s, LOS rate: -0.320245 deg/s, cmd heading: 115.749126 deg, new cmd heading: 115.347996 deg. 2025-01-08T23:12:36.221Z,1736377956.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.013202 target range: 133.300003 and range: 133.30 m. 2025-01-08T23:12:36.336Z,1736377956.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:36.338Z,1736377956.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753020 2025-01-08T23:12:36.588Z,1736377956.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:36.589Z,1736377956.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005178 2025-01-08T23:12:36.593Z,1736377956.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:36.601Z,1736377956.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m. 2025-01-08T23:12:36.624Z,1736377956.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.300003 m, nav range: 98.553780 m, bearing: 37.942956 deg, approach rate: 0.063158 m/s, LOS rate: -0.310772 deg/s, cmd heading: 115.347989 deg, new cmd heading: 114.989176 deg. 2025-01-08T23:12:36.625Z,1736377956.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.006940 target range: 133.300003 and range: 133.30 m. 2025-01-08T23:12:36.841Z,1736377956.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:36.844Z,1736377956.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259114 2025-01-08T23:12:36.999Z,1736377956.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:37.006Z,1736377957.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:37.009Z,1736377957.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m. 2025-01-08T23:12:37.012Z,1736377957.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.300003 m, nav range: 98.574860 m, bearing: 37.816348 deg, approach rate: 0.051755 m/s, LOS rate: -0.310776 deg/s, cmd heading: 114.989172 deg, new cmd heading: 114.609434 deg. 2025-01-08T23:12:37.013Z,1736377957.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.000312 target range: 133.300003 and range: 133.30 m. 2025-01-08T23:12:37.040Z,1736377957.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:12:37.094Z,1736377957.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:37.097Z,1736377957.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512535 2025-01-08T23:12:37.344Z,1736377957.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:37.344Z,1736377957.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760386 2025-01-08T23:12:37.446Z,1736377957.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:37.464Z,1736377957.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m. 2025-01-08T23:12:37.467Z,1736377957.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.300003 m, nav range: 98.593216 m, bearing: 37.676554 deg, approach rate: 0.040302 m/s, LOS rate: -0.306863 deg/s, cmd heading: 114.609440 deg, new cmd heading: 114.190144 deg. 2025-01-08T23:12:37.472Z,1736377957.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.992994 target range: 133.300003 and range: 133.30 m. 2025-01-08T23:12:37.596Z,1736377957.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:37.596Z,1736377957.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012505 2025-01-08T23:12:37.824Z,1736377957.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:37.840Z,1736377957.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m. 2025-01-08T23:12:37.849Z,1736377957.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:37.851Z,1736377957.851 [DAT](INFO): DAT read: Rx Time:23:12:36.5076 2025-01-08T23:12:37.852Z,1736377957.852 [DAT](INFO): Rx dataTimestamp_ set to:1736377957.851363 2025-01-08T23:12:37.853Z,1736377957.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268922 2025-01-08T23:12:37.843Z,1736377957.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.300003 m, nav range: 98.600601 m, bearing: 37.558269 deg, approach rate: 0.019637 m/s, LOS rate: -0.314487 deg/s, cmd heading: 114.190142 deg, new cmd heading: 113.835317 deg. 2025-01-08T23:12:37.860Z,1736377957.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.986801 target range: 133.300003 and range: 133.30 m. 2025-01-08T23:12:38.101Z,1736377958.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:38.104Z,1736377958.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518856 2025-01-08T23:12:38.257Z,1736377958.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:38.301Z,1736377958.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.30 m. 2025-01-08T23:12:38.309Z,1736377958.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.300003 m, nav range: 98.595779 m, bearing: 37.419891 deg, approach rate: -0.010457 m/s, LOS rate: -0.300121 deg/s, cmd heading: 113.835320 deg, new cmd heading: 113.420176 deg. 2025-01-08T23:12:38.310Z,1736377958.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.979555 target range: 133.300003 and range: 133.30 m. 2025-01-08T23:12:38.352Z,1736377958.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:38.361Z,1736377958.361 [DAT](INFO): DAT read: 23:12:36.5077 LVL= 25456, 25649, 15538, 31347, AGC= 61, IDX= 431,-0.38,-0.998,-1.513, 0.496,-0.476, PHS=-0.435,-0.991, 0.969, RAW= 194.0, 5.3, CAL= 194.3, -3.0, ROT= 315.7, 3.0 2025-01-08T23:12:38.362Z,1736377958.362 [DAT](INFO): got valid direction response: 23:12:36.5077 LVL= 25456, 25649, 15538, 31347, AGC= 61, IDX= 431,-0.38,-0.998,-1.513, 0.496,-0.476, PHS=-0.435,-0.991, 0.969, RAW= 194.0, 5.3, CAL= 194.3, -3.0, ROT= 315.7, 3.0 2025-01-08T23:12:38.365Z,1736377958.365 [DAT](INFO): DAT read: Bearing 315.7, 3.0 (Local) 2025-01-08T23:12:38.365Z,1736377958.365 [DAT](INFO): Local bearing/azimuth received: Bearing 315.7, 3.0 (Local) 2025-01-08T23:12:38.377Z,1736377958.377 [DAT](INFO): DAT read: Range 10 to 50 : 132.6 m (Round-trip 176.8 ms) speed 0.3 m/s 2025-01-08T23:12:38.378Z,1736377958.378 [DAT](INFO): DAT read: user:3088> 2025-01-08T23:12:38.393Z,1736377958.393 [DAT](INFO): DAT read: Tx time:23:12:37.6267 2025-01-08T23:12:38.394Z,1736377958.394 [DAT](INFO): Ping request sent. 2025-01-08T23:12:38.394Z,1736377958.394 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:38.395Z,1736377958.395 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:12:38.415Z,1736377958.415 [DAT](INFO): direction in FSK: [-0.161967,-0.966263,-0.200257] 2025-01-08T23:12:38.415Z,1736377958.415 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:38.429Z,1736377958.429 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:38.436Z,1736377958.436 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:38.437Z,1736377958.437 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:38.604Z,1736377958.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:38.605Z,1736377958.605 [DAT](INFO): DAT read: TxSync time:23:12:37.6259 2025-01-08T23:12:38.624Z,1736377958.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:38.670Z,1736377958.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.600006 m, deltaT: 3.780500 s, deltaX: -0.699997 m, approachRate: -0.185160 m/s, rangeRepo size: 4 2025-01-08T23:12:38.678Z,1736377958.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 132.600006 m, bearing: 12.236521 deg, lat: 36.905150 deg, lon: -122.120042 deg, deltaT: 3.780500 s, deltaX: -0.699997 m, approachRate: -0.185160 m/s, posRepo size: 4 2025-01-08T23:12:38.679Z,1736377958.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.60 m. 2025-01-08T23:12:38.686Z,1736377958.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.600006 m, nav range: 120.430573 m, bearing: 29.743004 deg, approach rate: 0.000000 m/s, LOS rate: -0.300121 deg/s, cmd heading: 113.420175 deg, new cmd heading: 113.090043 deg. 2025-01-08T23:12:38.697Z,1736377958.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.973794 target range: 132.600006 and range: 132.60 m. 2025-01-08T23:12:38.856Z,1736377958.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:39.012Z,1736377959.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:39.019Z,1736377959.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:39.022Z,1736377959.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.60 m. 2025-01-08T23:12:39.025Z,1736377959.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.600006 m, nav range: 120.447487 m, bearing: 29.641951 deg, approach rate: 0.047806 m/s, LOS rate: -0.285570 deg/s, cmd heading: 113.090044 deg, new cmd heading: 112.786931 deg. 2025-01-08T23:12:39.026Z,1736377959.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.968503 target range: 132.600006 and range: 132.60 m. 2025-01-08T23:12:39.109Z,1736377959.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:39.110Z,1736377959.110 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:39.111Z,1736377959.111 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:39.112Z,1736377959.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:39.360Z,1736377959.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:39.360Z,1736377959.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966324 2025-01-08T23:12:39.470Z,1736377959.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:39.485Z,1736377959.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.60 m. 2025-01-08T23:12:39.488Z,1736377959.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.600006 m, nav range: 120.454079 m, bearing: 29.514956 deg, approach rate: 0.014262 m/s, LOS rate: -0.274741 deg/s, cmd heading: 112.786934 deg, new cmd heading: 112.405977 deg. 2025-01-08T23:12:39.489Z,1736377959.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.961854 target range: 132.600006 and range: 132.60 m. 2025-01-08T23:12:39.612Z,1736377959.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:39.613Z,1736377959.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219213 2025-01-08T23:12:39.822Z,1736377959.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:39.863Z,1736377959.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.60 m. 2025-01-08T23:12:39.864Z,1736377959.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:39.864Z,1736377959.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470402 2025-01-08T23:12:39.869Z,1736377959.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.600006 m, nav range: 120.452530 m, bearing: 29.417154 deg, approach rate: -0.004092 m/s, LOS rate: -0.258413 deg/s, cmd heading: 112.405980 deg, new cmd heading: 112.112572 deg. 2025-01-08T23:12:39.870Z,1736377959.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.956733 target range: 132.600006 and range: 132.60 m. 2025-01-08T23:12:40.117Z,1736377960.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:40.119Z,1736377960.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724742 2025-01-08T23:12:40.251Z,1736377960.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:40.285Z,1736377960.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.60 m. 2025-01-08T23:12:40.292Z,1736377960.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.600006 m, nav range: 120.432152 m, bearing: 29.290355 deg, approach rate: -0.048260 m/s, LOS rate: -0.300337 deg/s, cmd heading: 112.112569 deg, new cmd heading: 111.732115 deg. 2025-01-08T23:12:40.293Z,1736377960.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.950093 target range: 132.600006 and range: 132.60 m. 2025-01-08T23:12:40.368Z,1736377960.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:40.369Z,1736377960.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974485 2025-01-08T23:12:40.621Z,1736377960.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:40.622Z,1736377960.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227792 2025-01-08T23:12:40.644Z,1736377960.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:40.661Z,1736377960.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.60 m. 2025-01-08T23:12:40.671Z,1736377960.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.600006 m, nav range: 120.409882 m, bearing: 29.174362 deg, approach rate: -0.059314 m/s, LOS rate: -0.308993 deg/s, cmd heading: 111.732114 deg, new cmd heading: 111.384074 deg. 2025-01-08T23:12:40.673Z,1736377960.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.944019 target range: 132.600006 and range: 132.60 m. 2025-01-08T23:12:40.872Z,1736377960.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:40.873Z,1736377960.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478958 2025-01-08T23:12:41.031Z,1736377961.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:41.039Z,1736377961.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:41.042Z,1736377961.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.60 m. 2025-01-08T23:12:41.044Z,1736377961.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.600006 m, nav range: 120.385811 m, bearing: 29.060223 deg, approach rate: -0.063143 m/s, LOS rate: -0.299470 deg/s, cmd heading: 111.384075 deg, new cmd heading: 111.041596 deg. 2025-01-08T23:12:41.045Z,1736377961.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.938041 target range: 132.600006 and range: 132.60 m. 2025-01-08T23:12:41.126Z,1736377961.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:41.129Z,1736377961.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734257 2025-01-08T23:12:41.376Z,1736377961.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:41.377Z,1736377961.377 [DAT](INFO): DAT read: Rx Time:23:12:40.2052 2025-01-08T23:12:41.377Z,1736377961.377 [DAT](INFO): Rx dataTimestamp_ set to:1736377961.376887 2025-01-08T23:12:41.378Z,1736377961.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983603 2025-01-08T23:12:41.490Z,1736377961.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:41.499Z,1736377961.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.60 m. 2025-01-08T23:12:41.501Z,1736377961.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.600006 m, nav range: 120.345818 m, bearing: 28.913707 deg, approach rate: -0.087517 m/s, LOS rate: -0.320727 deg/s, cmd heading: 111.041596 deg, new cmd heading: 110.601910 deg. 2025-01-08T23:12:41.502Z,1736377961.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.930367 target range: 132.600006 and range: 132.60 m. 2025-01-08T23:12:41.628Z,1736377961.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:41.629Z,1736377961.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235382 2025-01-08T23:12:41.846Z,1736377961.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:41.882Z,1736377961.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:41.885Z,1736377961.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490713 2025-01-08T23:12:41.936Z,1736377961.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.60 m. 2025-01-08T23:12:41.944Z,1736377961.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.600006 m, nav range: 120.314789 m, bearing: 28.799980 deg, approach rate: -0.070928 m/s, LOS rate: -0.260034 deg/s, cmd heading: 110.601909 deg, new cmd heading: 110.260644 deg. 2025-01-08T23:12:41.945Z,1736377961.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.924411 target range: 132.600006 and range: 132.60 m. 2025-01-08T23:12:42.132Z,1736377962.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:42.200Z,1736377962.200 [DAT](INFO): DAT read: 23:12:40.2052 LVL= 32752, 31121, 15650, 32755, AGC= 61, IDX= 422,-0.03,-2.116,-2.956,-0.867,-1.776, PHS=-0.252,-1.133, 0.906, RAW= 184.5, 5.5, CAL= 184.4, -3.4, ROT= 325.6, 3.4 2025-01-08T23:12:42.207Z,1736377962.207 [DAT](INFO): got valid direction response: 23:12:40.2052 LVL= 32752, 31121, 15650, 32755, AGC= 61, IDX= 422,-0.03,-2.116,-2.956,-0.867,-1.776, PHS=-0.252,-1.133, 0.906, RAW= 184.5, 5.5, CAL= 184.4, -3.4, ROT= 325.6, 3.4 2025-01-08T23:12:42.208Z,1736377962.208 [DAT](INFO): DAT read: Bearing 325.6, 3.4 (Local) 2025-01-08T23:12:42.209Z,1736377962.209 [DAT](INFO): Local bearing/azimuth received: Bearing 325.6, 3.4 (Local) 2025-01-08T23:12:42.210Z,1736377962.210 [DAT](INFO): DAT read: Range 10 to 50 : 130.8 m (Round-trip 174.4 ms) speed 0.1 m/s 2025-01-08T23:12:42.215Z,1736377962.215 [DAT](INFO): DAT read: user:3089> 2025-01-08T23:12:42.216Z,1736377962.216 [DAT](INFO): DAT read: Tx time:23:12:41.3267 2025-01-08T23:12:42.217Z,1736377962.217 [DAT](INFO): Ping request sent. 2025-01-08T23:12:42.217Z,1736377962.217 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:42.217Z,1736377962.217 [DAT](INFO): DAT read: TxSync time:23:12:41.3259 2025-01-08T23:12:42.218Z,1736377962.218 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:12:42.219Z,1736377962.219 [DAT](INFO): direction in FSK: [-0.182837,-0.982316,-0.040318] 2025-01-08T23:12:42.219Z,1736377962.219 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:42.227Z,1736377962.227 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:42.230Z,1736377962.230 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:42.231Z,1736377962.231 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:42.384Z,1736377962.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:42.429Z,1736377962.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:42.458Z,1736377962.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.800003 m, deltaT: 3.780426 s, deltaX: -1.800003 m, approachRate: -0.476138 m/s, rangeRepo size: 4 2025-01-08T23:12:42.464Z,1736377962.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 130.800003 m, bearing: 5.690173 deg, lat: 36.905150 deg, lon: -122.120406 deg, deltaT: 3.780426 s, deltaX: -1.800003 m, approachRate: -0.476138 m/s, posRepo size: 4 2025-01-08T23:12:42.465Z,1736377962.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m. 2025-01-08T23:12:42.475Z,1736377962.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.800003 m, nav range: 108.547249 m, bearing: 13.438074 deg, approach rate: 0.000000 m/s, LOS rate: -0.260034 deg/s, cmd heading: 110.260645 deg, new cmd heading: 109.854318 deg. 2025-01-08T23:12:42.476Z,1736377962.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.917320 target range: 130.800003 and range: 130.80 m. 2025-01-08T23:12:42.636Z,1736377962.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:42.790Z,1736377962.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:42.836Z,1736377962.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m. 2025-01-08T23:12:42.860Z,1736377962.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.800003 m, nav range: 108.581001 m, bearing: 13.307281 deg, approach rate: 0.089005 m/s, LOS rate: -0.344791 deg/s, cmd heading: 109.854317 deg, new cmd heading: 109.462068 deg. 2025-01-08T23:12:42.861Z,1736377962.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.910473 target range: 130.800003 and range: 130.80 m. 2025-01-08T23:12:42.888Z,1736377962.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:43.141Z,1736377963.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:43.253Z,1736377963.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:43.261Z,1736377963.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:43.263Z,1736377963.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m. 2025-01-08T23:12:43.266Z,1736377963.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.800003 m, nav range: 108.627556 m, bearing: 13.122389 deg, approach rate: 0.109090 m/s, LOS rate: -0.433067 deg/s, cmd heading: 109.462066 deg, new cmd heading: 108.907645 deg. 2025-01-08T23:12:43.267Z,1736377963.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.900797 target range: 130.800003 and range: 130.80 m. 2025-01-08T23:12:43.397Z,1736377963.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:43.397Z,1736377963.397 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:43.397Z,1736377963.397 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:43.398Z,1736377963.398 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:43.602Z,1736377963.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:43.611Z,1736377963.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m. 2025-01-08T23:12:43.614Z,1736377963.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.800003 m, nav range: 108.664787 m, bearing: 12.983264 deg, approach rate: 0.106892 m/s, LOS rate: -0.399293 deg/s, cmd heading: 108.907646 deg, new cmd heading: 108.490422 deg. 2025-01-08T23:12:43.615Z,1736377963.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.893515 target range: 130.800003 and range: 130.80 m. 2025-01-08T23:12:43.649Z,1736377963.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:43.650Z,1736377963.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.433332 2025-01-08T23:12:43.900Z,1736377963.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:43.902Z,1736377963.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.684836 2025-01-08T23:12:44.008Z,1736377964.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:44.016Z,1736377964.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m. 2025-01-08T23:12:44.019Z,1736377964.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.800003 m, nav range: 108.709679 m, bearing: 12.822159 deg, approach rate: 0.110883 m/s, LOS rate: -0.397767 deg/s, cmd heading: 108.490424 deg, new cmd heading: 108.007322 deg. 2025-01-08T23:12:44.020Z,1736377964.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.885083 target range: 130.800003 and range: 130.80 m. 2025-01-08T23:12:44.153Z,1736377964.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:44.154Z,1736377964.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.937343 2025-01-08T23:12:44.404Z,1736377964.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:44.405Z,1736377964.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.188214 2025-01-08T23:12:44.478Z,1736377964.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:44.486Z,1736377964.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m. 2025-01-08T23:12:44.490Z,1736377964.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.800003 m, nav range: 108.763321 m, bearing: 12.629909 deg, approach rate: 0.114104 m/s, LOS rate: -0.408737 deg/s, cmd heading: 108.007325 deg, new cmd heading: 107.430880 deg. 2025-01-08T23:12:44.491Z,1736377964.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.875023 target range: 130.800003 and range: 130.80 m. 2025-01-08T23:12:44.656Z,1736377964.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:44.657Z,1736377964.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440543 2025-01-08T23:12:44.879Z,1736377964.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:44.888Z,1736377964.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m. 2025-01-08T23:12:44.890Z,1736377964.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.800003 m, nav range: 108.811234 m, bearing: 12.466310 deg, approach rate: 0.119395 m/s, LOS rate: -0.407499 deg/s, cmd heading: 107.430877 deg, new cmd heading: 106.940308 deg. 2025-01-08T23:12:44.892Z,1736377964.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.866460 target range: 130.800003 and range: 130.80 m. 2025-01-08T23:12:44.909Z,1736377964.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:44.911Z,1736377964.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.693925 2025-01-08T23:12:45.160Z,1736377965.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:45.160Z,1736377965.160 [DAT](INFO): DAT read: Rx Time:23:12:43.9027 2025-01-08T23:12:45.161Z,1736377965.161 [DAT](INFO): Rx dataTimestamp_ set to:1736377965.160659 2025-01-08T23:12:45.161Z,1736377965.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.944745 2025-01-08T23:12:45.313Z,1736377965.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:45.320Z,1736377965.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:45.322Z,1736377965.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m. 2025-01-08T23:12:45.326Z,1736377965.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.800003 m, nav range: 108.866714 m, bearing: 12.286985 deg, approach rate: 0.127530 m/s, LOS rate: -0.411990 deg/s, cmd heading: 106.940306 deg, new cmd heading: 106.402624 deg. 2025-01-08T23:12:45.326Z,1736377965.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.857076 target range: 130.800003 and range: 130.80 m. 2025-01-08T23:12:45.412Z,1736377965.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:45.414Z,1736377965.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196902 2025-01-08T23:12:45.664Z,1736377965.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:45.682Z,1736377965.682 [DAT](INFO): DAT read: 23:12:43.9027 LVL= 32752, 32753, 16530, 32755, AGC= 64, IDX= 412, 0.17,-0.030,-0.775, 1.316, 0.400, PHS=-0.343,-1.128, 0.912, RAW= 187.6, 6.3, CAL= 187.6, -2.5, ROT= 322.4, 2.5 2025-01-08T23:12:45.683Z,1736377965.683 [DAT](INFO): got valid direction response: 23:12:43.9027 LVL= 32752, 32753, 16530, 32755, AGC= 64, IDX= 412, 0.17,-0.030,-0.775, 1.316, 0.400, PHS=-0.343,-1.128, 0.912, RAW= 187.6, 6.3, CAL= 187.6, -2.5, ROT= 322.4, 2.5 2025-01-08T23:12:45.684Z,1736377965.684 [DAT](INFO): DAT read: Bearing 322.4, 2.5 (Local) 2025-01-08T23:12:45.684Z,1736377965.684 [DAT](INFO): Local bearing/azimuth received: Bearing 322.4, 2.5 (Local) 2025-01-08T23:12:45.686Z,1736377965.686 [DAT](INFO): DAT read: Range 10 to 50 : 128.8 m (Round-trip 171.8 ms) speed 0.4 m/s 2025-01-08T23:12:45.686Z,1736377965.686 [DAT](INFO): DAT read: user:3090> 2025-01-08T23:12:45.688Z,1736377965.688 [DAT](INFO): DAT read: Tx time:23:12:45.0267 2025-01-08T23:12:45.688Z,1736377965.688 [DAT](INFO): Ping request sent. 2025-01-08T23:12:45.688Z,1736377965.688 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:45.689Z,1736377965.689 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:12:45.689Z,1736377965.689 [DAT](INFO): direction in FSK: [-0.193357,-0.976646,-0.093677] 2025-01-08T23:12:45.690Z,1736377965.690 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:45.690Z,1736377965.690 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:45.693Z,1736377965.693 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:45.693Z,1736377965.693 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:45.758Z,1736377965.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:45.818Z,1736377965.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.800003 m, deltaT: 3.531417 s, deltaX: -2.000000 m, approachRate: -0.566345 m/s, rangeRepo size: 4 2025-01-08T23:12:45.832Z,1736377965.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.800003 m, bearing: 8.358960 deg, lat: 36.905296 deg, lon: -122.120406 deg, deltaT: 3.531417 s, deltaX: -2.000000 m, approachRate: -0.566345 m/s, posRepo size: 4 2025-01-08T23:12:45.833Z,1736377965.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-01-08T23:12:45.845Z,1736377965.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.800003 m, nav range: 124.782486 m, bearing: 10.546262 deg, approach rate: 0.000000 m/s, LOS rate: -0.411990 deg/s, cmd heading: 106.402627 deg, new cmd heading: 105.803639 deg. 2025-01-08T23:12:45.846Z,1736377965.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.846622 target range: 128.800003 and range: 128.80 m. 2025-01-08T23:12:45.916Z,1736377965.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:45.917Z,1736377965.917 [DAT](INFO): DAT read: TxSync time:23:12:45.0259 2025-01-08T23:12:46.168Z,1736377966.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:46.323Z,1736377966.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:46.332Z,1736377966.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-01-08T23:12:46.335Z,1736377966.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.800003 m, nav range: 124.873161 m, bearing: 10.348077 deg, approach rate: 0.172779 m/s, LOS rate: -0.377360 deg/s, cmd heading: 105.803640 deg, new cmd heading: 105.209539 deg. 2025-01-08T23:12:46.340Z,1736377966.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.836253 target range: 128.800003 and range: 128.80 m. 2025-01-08T23:12:46.421Z,1736377966.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:46.672Z,1736377966.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:46.699Z,1736377966.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:46.728Z,1736377966.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-01-08T23:12:46.731Z,1736377966.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.800003 m, nav range: 124.934341 m, bearing: 10.216635 deg, approach rate: 0.154383 m/s, LOS rate: -0.331520 deg/s, cmd heading: 105.209536 deg, new cmd heading: 104.815410 deg. 2025-01-08T23:12:46.736Z,1736377966.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.829374 target range: 128.800003 and range: 128.80 m. 2025-01-08T23:12:46.924Z,1736377966.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:47.152Z,1736377967.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:47.176Z,1736377967.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:47.186Z,1736377967.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-01-08T23:12:47.193Z,1736377967.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.800003 m, nav range: 125.009132 m, bearing: 10.058261 deg, approach rate: 0.163446 m/s, LOS rate: -0.345899 deg/s, cmd heading: 104.815414 deg, new cmd heading: 104.340587 deg. 2025-01-08T23:12:47.194Z,1736377967.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.821087 target range: 128.800003 and range: 128.80 m. 2025-01-08T23:12:47.429Z,1736377967.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:47.583Z,1736377967.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:47.591Z,1736377967.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:47.593Z,1736377967.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-01-08T23:12:47.597Z,1736377967.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.800003 m, nav range: 125.087296 m, bearing: 9.917379 deg, approach rate: 0.191875 m/s, LOS rate: -0.345620 deg/s, cmd heading: 104.340586 deg, new cmd heading: 103.918212 deg. 2025-01-08T23:12:47.598Z,1736377967.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813715 target range: 128.800003 and range: 128.80 m. 2025-01-08T23:12:47.682Z,1736377967.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:47.683Z,1736377967.683 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:47.683Z,1736377967.683 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:47.684Z,1736377967.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:47.932Z,1736377967.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:47.932Z,1736377967.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244086 2025-01-08T23:12:47.992Z,1736377967.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:48.004Z,1736377968.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-01-08T23:12:48.012Z,1736377968.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.800003 m, nav range: 125.161072 m, bearing: 9.783663 deg, approach rate: 0.179386 m/s, LOS rate: -0.324937 deg/s, cmd heading: 103.918214 deg, new cmd heading: 103.517309 deg. 2025-01-08T23:12:48.014Z,1736377968.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.806718 target range: 128.800003 and range: 128.80 m. 2025-01-08T23:12:48.184Z,1736377968.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:48.185Z,1736377968.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496227 2025-01-08T23:12:48.385Z,1736377968.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:48.395Z,1736377968.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-01-08T23:12:48.398Z,1736377968.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.800003 m, nav range: 125.230087 m, bearing: 9.664601 deg, approach rate: 0.176888 m/s, LOS rate: -0.304988 deg/s, cmd heading: 103.517309 deg, new cmd heading: 103.160326 deg. 2025-01-08T23:12:48.399Z,1736377968.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.800487 target range: 128.800003 and range: 128.80 m. 2025-01-08T23:12:48.436Z,1736377968.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:48.438Z,1736377968.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749609 2025-01-08T23:12:48.688Z,1736377968.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:48.689Z,1736377968.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000244 2025-01-08T23:12:48.776Z,1736377968.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:48.785Z,1736377968.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-01-08T23:12:48.789Z,1736377968.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.800003 m, nav range: 125.297554 m, bearing: 9.545867 deg, approach rate: 0.172872 m/s, LOS rate: -0.304072 deg/s, cmd heading: 103.160329 deg, new cmd heading: 102.804322 deg. 2025-01-08T23:12:48.789Z,1736377968.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.794274 target range: 128.800003 and range: 128.80 m. 2025-01-08T23:12:48.941Z,1736377968.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:48.943Z,1736377968.943 [DAT](INFO): DAT read: Rx Time:23:12:47.6009 2025-01-08T23:12:48.943Z,1736377968.943 [DAT](INFO): Rx dataTimestamp_ set to:1736377968.943082 2025-01-08T23:12:48.944Z,1736377968.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255625 2025-01-08T23:12:49.179Z,1736377969.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:49.188Z,1736377969.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-01-08T23:12:49.192Z,1736377969.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:49.193Z,1736377969.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504334 2025-01-08T23:12:49.193Z,1736377969.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.800003 m, nav range: 125.364929 m, bearing: 9.423454 deg, approach rate: 0.166932 m/s, LOS rate: -0.303133 deg/s, cmd heading: 102.804319 deg, new cmd heading: 102.437283 deg. 2025-01-08T23:12:49.194Z,1736377969.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.787868 target range: 128.800003 and range: 128.80 m. 2025-01-08T23:12:49.444Z,1736377969.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:49.450Z,1736377969.450 [DAT](INFO): DAT read: 23:12:47.6010 LVL= 29744, 31089, 17650, 32755, AGC= 65, IDX= 426, 0.04,-0.768,-1.546, 0.554,-0.395, PHS=-0.285,-1.105, 0.946, RAW= 186.6, 5.0, CAL= 186.6, -3.6, ROT= 323.4, 3.6 2025-01-08T23:12:49.452Z,1736377969.452 [DAT](INFO): got valid direction response: 23:12:47.6010 LVL= 29744, 31089, 17650, 32755, AGC= 65, IDX= 426, 0.04,-0.768,-1.546, 0.554,-0.395, PHS=-0.285,-1.105, 0.946, RAW= 186.6, 5.0, CAL= 186.6, -3.6, ROT= 323.4, 3.6 2025-01-08T23:12:49.453Z,1736377969.453 [DAT](INFO): DAT read: Bearing 323.4, 3.6 (Local) 2025-01-08T23:12:49.453Z,1736377969.453 [DAT](INFO): Local bearing/azimuth received: Bearing 323.4, 3.6 (Local) 2025-01-08T23:12:49.459Z,1736377969.459 [DAT](INFO): DAT read: Range 10 to 50 : 127.5 m (Round-trip 170.1 ms) speed 0.1 m/s 2025-01-08T23:12:49.469Z,1736377969.469 [DAT](INFO): DAT read: user:3091> 2025-01-08T23:12:49.479Z,1736377969.479 [DAT](INFO): DAT read: Tx time:23:12:48.7268 2025-01-08T23:12:49.480Z,1736377969.480 [DAT](INFO): Ping request sent. 2025-01-08T23:12:49.480Z,1736377969.480 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:49.480Z,1736377969.480 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:12:49.481Z,1736377969.481 [DAT](INFO): direction in FSK: [-0.170862,-0.982377,-0.075777] 2025-01-08T23:12:49.481Z,1736377969.481 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:49.482Z,1736377969.482 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:49.501Z,1736377969.501 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:49.502Z,1736377969.502 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:49.684Z,1736377969.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:49.696Z,1736377969.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:49.697Z,1736377969.697 [DAT](INFO): DAT read: TxSync time:23:12:48.7260 2025-01-08T23:12:49.711Z,1736377969.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.500000 m, deltaT: 3.780003 s, deltaX: -1.300003 m, approachRate: -0.343916 m/s, rangeRepo size: 4 2025-01-08T23:12:49.717Z,1736377969.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.500000 m, bearing: 7.309980 deg, lat: 36.905301 deg, lon: -122.120454 deg, deltaT: 3.780003 s, deltaX: -1.300003 m, approachRate: -0.343916 m/s, posRepo size: 4 2025-01-08T23:12:49.718Z,1736377969.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.50 m. 2025-01-08T23:12:49.725Z,1736377969.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.500000 m, nav range: 125.443367 m, bearing: 7.309872 deg, approach rate: 0.000000 m/s, LOS rate: -0.303133 deg/s, cmd heading: 102.437285 deg, new cmd heading: 101.963122 deg. 2025-01-08T23:12:49.725Z,1736377969.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.779592 target range: 127.500000 and range: 127.50 m. 2025-01-08T23:12:49.949Z,1736377969.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:50.005Z,1736377970.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:50.023Z,1736377970.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:50.029Z,1736377970.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.50 m. 2025-01-08T23:12:50.036Z,1736377970.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.500000 m, nav range: 125.500977 m, bearing: 7.222054 deg, approach rate: 0.180635 m/s, LOS rate: -0.275228 deg/s, cmd heading: 101.963120 deg, new cmd heading: 101.699788 deg. 2025-01-08T23:12:50.037Z,1736377970.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.774996 target range: 127.500000 and range: 127.50 m. 2025-01-08T23:12:50.200Z,1736377970.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:50.200Z,1736377970.200 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:50.200Z,1736377970.200 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:50.201Z,1736377970.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:50.425Z,1736377970.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:50.435Z,1736377970.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.50 m. 2025-01-08T23:12:50.439Z,1736377970.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.500000 m, nav range: 125.571533 m, bearing: 7.118378 deg, approach rate: 0.173775 m/s, LOS rate: -0.255201 deg/s, cmd heading: 101.699789 deg, new cmd heading: 101.388939 deg. 2025-01-08T23:12:50.440Z,1736377970.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.769571 target range: 127.500000 and range: 127.50 m. 2025-01-08T23:12:50.452Z,1736377970.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:50.453Z,1736377970.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972770 2025-01-08T23:12:50.705Z,1736377970.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:50.706Z,1736377970.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225876 2025-01-08T23:12:50.801Z,1736377970.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:50.810Z,1736377970.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.50 m. 2025-01-08T23:12:50.813Z,1736377970.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.500000 m, nav range: 125.633255 m, bearing: 7.025416 deg, approach rate: 0.164583 m/s, LOS rate: -0.247766 deg/s, cmd heading: 101.388940 deg, new cmd heading: 101.110191 deg. 2025-01-08T23:12:50.814Z,1736377970.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.764706 target range: 127.500000 and range: 127.50 m. 2025-01-08T23:12:50.957Z,1736377970.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:50.959Z,1736377970.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478359 2025-01-08T23:12:51.208Z,1736377971.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:51.209Z,1736377971.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728798 2025-01-08T23:12:51.210Z,1736377971.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:51.218Z,1736377971.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.50 m. 2025-01-08T23:12:51.249Z,1736377971.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.500000 m, nav range: 125.698479 m, bearing: 6.923947 deg, approach rate: 0.159824 m/s, LOS rate: -0.248509 deg/s, cmd heading: 101.110193 deg, new cmd heading: 100.805949 deg. 2025-01-08T23:12:51.250Z,1736377971.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.759396 target range: 127.500000 and range: 127.50 m. 2025-01-08T23:12:51.460Z,1736377971.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:51.460Z,1736377971.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980432 2025-01-08T23:12:51.631Z,1736377971.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:51.640Z,1736377971.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.50 m. 2025-01-08T23:12:51.643Z,1736377971.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.500000 m, nav range: 125.760796 m, bearing: 6.829157 deg, approach rate: 0.147575 m/s, LOS rate: -0.224364 deg/s, cmd heading: 100.805949 deg, new cmd heading: 100.521722 deg. 2025-01-08T23:12:51.645Z,1736377971.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754435 target range: 127.500000 and range: 127.50 m. 2025-01-08T23:12:51.713Z,1736377971.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:51.714Z,1736377971.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233358 2025-01-08T23:12:51.964Z,1736377971.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:51.965Z,1736377971.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484671 2025-01-08T23:12:52.014Z,1736377972.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:52.030Z,1736377972.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:52.036Z,1736377972.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.50 m. 2025-01-08T23:12:52.039Z,1736377972.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.500000 m, nav range: 125.815460 m, bearing: 6.742502 deg, approach rate: 0.138046 m/s, LOS rate: -0.218739 deg/s, cmd heading: 100.521725 deg, new cmd heading: 100.261873 deg. 2025-01-08T23:12:52.044Z,1736377972.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749900 target range: 127.500000 and range: 127.50 m. 2025-01-08T23:12:52.216Z,1736377972.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:52.217Z,1736377972.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736624 2025-01-08T23:12:52.416Z,1736377972.416 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815135761,35.0, +11.0, 05, 0 2025-01-08T23:12:52.428Z,1736377972.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:12:52.428Z,1736377972.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:52.440Z,1736377972.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.50 m. 2025-01-08T23:12:52.442Z,1736377972.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.500000 m, nav range: 125.872345 m, bearing: 6.648948 deg, approach rate: 0.141099 m/s, LOS rate: -0.231949 deg/s, cmd heading: 100.261870 deg, new cmd heading: 99.981337 deg. 2025-01-08T23:12:52.444Z,1736377972.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.745004 target range: 127.500000 and range: 127.50 m. 2025-01-08T23:12:52.468Z,1736377972.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:52.469Z,1736377972.469 [DAT](INFO): DAT read: Rx Time:23:12:51.2992 2025-01-08T23:12:52.469Z,1736377972.469 [DAT](INFO): Rx dataTimestamp_ set to:1736377972.468730 2025-01-08T23:12:52.469Z,1736377972.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989580 2025-01-08T23:12:52.720Z,1736377972.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:52.721Z,1736377972.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241193 2025-01-08T23:12:52.827Z,1736377972.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:12:52.828Z,1736377972.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:52.838Z,1736377972.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.50 m. 2025-01-08T23:12:52.840Z,1736377972.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.500000 m, nav range: 125.925377 m, bearing: 6.558141 deg, approach rate: 0.133458 m/s, LOS rate: -0.228425 deg/s, cmd heading: 99.981340 deg, new cmd heading: 99.709037 deg. 2025-01-08T23:12:52.841Z,1736377972.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.740251 target range: 127.500000 and range: 127.50 m. 2025-01-08T23:12:52.973Z,1736377972.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:52.976Z,1736377972.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495684 2025-01-08T23:12:53.225Z,1736377973.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:53.233Z,1736377973.233 [DAT](INFO): DAT read: 23:12:51.2992 LVL= 32752, 32753, 20370, 32755, AGC= 65, IDX= 423, 0.10,-1.213,-2.080,-0.071,-0.984, PHS=-0.141,-1.049, 0.909, RAW= 182.4, 3.4, CAL= 182.5, -5.1, ROT= 327.5, 5.1 2025-01-08T23:12:53.234Z,1736377973.234 [DAT](INFO): got valid direction response: 23:12:51.2992 LVL= 32752, 32753, 20370, 32755, AGC= 65, IDX= 423, 0.10,-1.213,-2.080,-0.071,-0.984, PHS=-0.141,-1.049, 0.909, RAW= 182.4, 3.4, CAL= 182.5, -5.1, ROT= 327.5, 5.1 2025-01-08T23:12:53.235Z,1736377973.235 [DAT](INFO): DAT read: Bearing 327.5, 5.1 (Local) 2025-01-08T23:12:53.236Z,1736377973.236 [DAT](INFO): Local bearing/azimuth received: Bearing 327.5, 5.1 (Local) 2025-01-08T23:12:53.238Z,1736377973.238 [DAT](INFO): DAT read: Range 10 to 50 : 126.1 m (Round-trip 168.2 ms) speed 0.6 m/s 2025-01-08T23:12:53.239Z,1736377973.239 [DAT](INFO): DAT read: user:3092> 2025-01-08T23:12:53.242Z,1736377973.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:12:53.242Z,1736377973.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:53.256Z,1736377973.256 [DAT](INFO): DAT read: Tx time:23:12:52.4268 2025-01-08T23:12:53.256Z,1736377973.256 [DAT](INFO): Ping request sent. 2025-01-08T23:12:53.257Z,1736377973.257 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:53.257Z,1736377973.257 [DAT](INFO): DAT read: TxSync time:23:12:52.4260 2025-01-08T23:12:53.258Z,1736377973.258 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:12:53.259Z,1736377973.259 [DAT](INFO): direction in FSK: [-0.147013,-0.989133,-0.002005] 2025-01-08T23:12:53.259Z,1736377973.259 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:53.272Z,1736377973.272 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:53.293Z,1736377973.293 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:53.294Z,1736377973.294 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:53.363Z,1736377973.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.099998 m, deltaT: 3.781037 s, deltaX: -1.400002 m, approachRate: -0.370269 m/s, rangeRepo size: 4 2025-01-08T23:12:53.373Z,1736377973.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.099998 m, bearing: 2.493020 deg, lat: 36.905305 deg, lon: -122.120460 deg, deltaT: 3.781037 s, deltaX: -1.400002 m, approachRate: -0.370269 m/s, posRepo size: 4 2025-01-08T23:12:53.374Z,1736377973.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:12:53.381Z,1736377973.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 126.259117 m, bearing: 6.204698 deg, approach rate: 0.000000 m/s, LOS rate: -0.228425 deg/s, cmd heading: 99.709034 deg, new cmd heading: 99.348955 deg. 2025-01-08T23:12:53.385Z,1736377973.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.733966 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:12:53.476Z,1736377973.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:53.728Z,1736377973.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:53.785Z,1736377973.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:53.820Z,1736377973.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:12:53.823Z,1736377973.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 126.321426 m, bearing: 6.084564 deg, approach rate: 0.138774 m/s, LOS rate: -0.267430 deg/s, cmd heading: 99.348954 deg, new cmd heading: 98.988733 deg. 2025-01-08T23:12:53.824Z,1736377973.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.727679 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:12:53.980Z,1736377973.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:54.132Z,1736377974.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:54.140Z,1736377974.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:54.142Z,1736377974.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:12:54.165Z,1736377974.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 126.360138 m, bearing: 6.007625 deg, approach rate: 0.117039 m/s, LOS rate: -0.232543 deg/s, cmd heading: 98.988730 deg, new cmd heading: 98.757984 deg. 2025-01-08T23:12:54.166Z,1736377974.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.723652 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:12:54.233Z,1736377974.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:54.234Z,1736377974.234 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:54.234Z,1736377974.234 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:54.234Z,1736377974.234 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:54.484Z,1736377974.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:54.484Z,1736377974.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227863 2025-01-08T23:12:54.556Z,1736377974.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:54.566Z,1736377974.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:12:54.569Z,1736377974.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 126.403137 m, bearing: 5.905774 deg, approach rate: 0.101403 m/s, LOS rate: -0.240107 deg/s, cmd heading: 98.757985 deg, new cmd heading: 98.452540 deg. 2025-01-08T23:12:54.570Z,1736377974.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.718321 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:12:54.736Z,1736377974.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:54.737Z,1736377974.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480317 2025-01-08T23:12:54.949Z,1736377974.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:54.973Z,1736377974.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:12:54.980Z,1736377974.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 126.441650 m, bearing: 5.810954 deg, approach rate: 0.094568 m/s, LOS rate: -0.232757 deg/s, cmd heading: 98.452539 deg, new cmd heading: 98.168168 deg. 2025-01-08T23:12:54.981Z,1736377974.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.713358 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:12:54.988Z,1736377974.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:54.989Z,1736377974.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732149 2025-01-08T23:12:55.240Z,1736377975.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:55.242Z,1736377975.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984660 2025-01-08T23:12:55.429Z,1736377975.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:55.441Z,1736377975.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:12:55.444Z,1736377975.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 126.489349 m, bearing: 5.682515 deg, approach rate: 0.102046 m/s, LOS rate: -0.274676 deg/s, cmd heading: 98.168171 deg, new cmd heading: 97.783005 deg. 2025-01-08T23:12:55.444Z,1736377975.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.706635 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:12:55.492Z,1736377975.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:55.493Z,1736377975.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236686 2025-01-08T23:12:55.744Z,1736377975.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:55.744Z,1736377975.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487866 2025-01-08T23:12:55.746Z,1736377975.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:55.783Z,1736377975.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:12:55.786Z,1736377975.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 126.520309 m, bearing: 5.597696 deg, approach rate: 0.091486 m/s, LOS rate: -0.250574 deg/s, cmd heading: 97.783003 deg, new cmd heading: 97.528611 deg. 2025-01-08T23:12:55.792Z,1736377975.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.702195 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:12:55.996Z,1736377975.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:55.996Z,1736377975.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739767 2025-01-08T23:12:56.146Z,1736377976.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:56.162Z,1736377976.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:56.164Z,1736377976.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:12:56.166Z,1736377976.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 126.558723 m, bearing: 5.490543 deg, approach rate: 0.099861 m/s, LOS rate: -0.278471 deg/s, cmd heading: 97.528613 deg, new cmd heading: 97.207255 deg. 2025-01-08T23:12:56.168Z,1736377976.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.696587 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:12:56.249Z,1736377976.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:56.250Z,1736377976.250 [DAT](INFO): DAT read: Rx Time:23:12:54.9965 2025-01-08T23:12:56.250Z,1736377976.250 [DAT](INFO): Rx dataTimestamp_ set to:1736377976.249833 2025-01-08T23:12:56.251Z,1736377976.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994045 2025-01-08T23:12:56.500Z,1736377976.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:56.501Z,1736377976.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244033 2025-01-08T23:12:56.576Z,1736377976.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:56.605Z,1736377976.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:12:56.612Z,1736377976.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 126.606628 m, bearing: 5.361241 deg, approach rate: 0.108481 m/s, LOS rate: -0.292695 deg/s, cmd heading: 97.207252 deg, new cmd heading: 96.819500 deg. 2025-01-08T23:12:56.613Z,1736377976.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.689819 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:12:56.753Z,1736377976.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:56.760Z,1736377976.760 [DAT](INFO): DAT read: 23:12:54.9965 LVL= 32752, 32753, 18930, 32755, AGC= 62, IDX= 413,-0.42,-1.530,-2.445,-0.422,-1.302, PHS=-0.141,-1.096, 0.876, RAW= 181.0, 4.3, CAL= 181.0, -4.5, ROT= 329.0, 4.5 2025-01-08T23:12:56.761Z,1736377976.761 [DAT](INFO): got valid direction response: 23:12:54.9965 LVL= 32752, 32753, 18930, 32755, AGC= 62, IDX= 413,-0.42,-1.530,-2.445,-0.422,-1.302, PHS=-0.141,-1.096, 0.876, RAW= 181.0, 4.3, CAL= 181.0, -4.5, ROT= 329.0, 4.5 2025-01-08T23:12:56.762Z,1736377976.762 [DAT](INFO): DAT read: Bearing 329.0, 4.5 (Local) 2025-01-08T23:12:56.762Z,1736377976.762 [DAT](INFO): Local bearing/azimuth received: Bearing 329.0, 4.5 (Local) 2025-01-08T23:12:56.782Z,1736377976.782 [DAT](INFO): DAT read: Range 10 to 50 : 124.2 m (Round-trip 165.6 ms) speed 0.3 m/s 2025-01-08T23:12:56.783Z,1736377976.783 [DAT](INFO): DAT read: user:3093> 2025-01-08T23:12:56.784Z,1736377976.784 [DAT](INFO): DAT read: Tx time:23:12:56.0768 2025-01-08T23:12:56.784Z,1736377976.784 [DAT](INFO): Ping request sent. 2025-01-08T23:12:56.784Z,1736377976.784 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:12:56.785Z,1736377976.785 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:12:56.786Z,1736377976.786 [DAT](INFO): direction in FSK: [-0.166571,-0.985823,0.020159] 2025-01-08T23:12:56.786Z,1736377976.786 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:56.786Z,1736377976.786 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:56.790Z,1736377976.790 [DAT](INFO): publishing transmit ping time 2025-01-08T23:12:56.790Z,1736377976.790 [DAT](INFO): publishing direction and range info 2025-01-08T23:12:57.004Z,1736377977.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:57.004Z,1736377977.004 [DAT](INFO): DAT read: TxSync time:23:12:56.0760 2025-01-08T23:12:57.034Z,1736377977.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:57.083Z,1736377977.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.199997 m, deltaT: 3.527853 s, deltaX: -1.900002 m, approachRate: -0.538572 m/s, rangeRepo size: 4 2025-01-08T23:12:57.086Z,1736377977.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 124.199997 m, bearing: 358.050323 deg, lat: 36.905301 deg, lon: -122.120552 deg, deltaT: 3.527853 s, deltaX: -1.900002 m, approachRate: -0.538572 m/s, posRepo size: 4 2025-01-08T23:12:57.086Z,1736377977.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:12:57.093Z,1736377977.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 125.834656 m, bearing: 1.525422 deg, approach rate: 0.000000 m/s, LOS rate: -0.292695 deg/s, cmd heading: 96.819502 deg, new cmd heading: 96.403999 deg. 2025-01-08T23:12:57.094Z,1736377977.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.682567 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:12:57.256Z,1736377977.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:57.488Z,1736377977.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:57.508Z,1736377977.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:57.514Z,1736377977.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:12:57.522Z,1736377977.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 125.908844 m, bearing: 1.373875 deg, approach rate: 0.170359 m/s, LOS rate: -0.347794 deg/s, cmd heading: 96.404002 deg, new cmd heading: 95.949637 deg. 2025-01-08T23:12:57.523Z,1736377977.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.674637 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:12:57.761Z,1736377977.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:57.945Z,1736377977.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:57.955Z,1736377977.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:12:57.958Z,1736377977.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 125.983833 m, bearing: 1.221448 deg, approach rate: 0.170496 m/s, LOS rate: -0.346351 deg/s, cmd heading: 95.949637 deg, new cmd heading: 95.492639 deg. 2025-01-08T23:12:57.959Z,1736377977.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666661 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:12:58.012Z,1736377978.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:58.264Z,1736377978.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:58.342Z,1736377978.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:58.349Z,1736377978.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:12:58.351Z,1736377978.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:12:58.354Z,1736377978.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.049751 m, bearing: 1.089122 deg, approach rate: 0.166130 m/s, LOS rate: -0.333321 deg/s, cmd heading: 95.492636 deg, new cmd heading: 95.095871 deg. 2025-01-08T23:12:58.356Z,1736377978.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.659736 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:12:58.516Z,1736377978.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:58.516Z,1736377978.516 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:12:58.516Z,1736377978.516 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:12:58.517Z,1736377978.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:12:58.768Z,1736377978.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:58.768Z,1736377978.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983973 2025-01-08T23:12:58.773Z,1736377978.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:58.802Z,1736377978.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:12:58.809Z,1736377978.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.127060 m, bearing: 0.935660 deg, approach rate: 0.171375 m/s, LOS rate: -0.339978 deg/s, cmd heading: 95.095870 deg, new cmd heading: 94.635779 deg. 2025-01-08T23:12:58.810Z,1736377978.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.651706 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:12:59.020Z,1736377979.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:59.021Z,1736377979.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236335 2025-01-08T23:12:59.154Z,1736377979.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:59.162Z,1736377979.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:12:59.168Z,1736377979.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.194305 m, bearing: 0.800339 deg, approach rate: 0.186713 m/s, LOS rate: -0.375531 deg/s, cmd heading: 94.635782 deg, new cmd heading: 94.230042 deg. 2025-01-08T23:12:59.170Z,1736377979.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644624 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:12:59.272Z,1736377979.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:59.272Z,1736377979.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487923 2025-01-08T23:12:59.524Z,1736377979.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:59.525Z,1736377979.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740649 2025-01-08T23:12:59.591Z,1736377979.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:59.600Z,1736377979.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:12:59.602Z,1736377979.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.279671 m, bearing: 0.641288 deg, approach rate: 0.195124 m/s, LOS rate: -0.363307 deg/s, cmd heading: 94.230041 deg, new cmd heading: 93.753221 deg. 2025-01-08T23:12:59.604Z,1736377979.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636302 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:12:59.776Z,1736377979.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:12:59.777Z,1736377979.777 [DAT](INFO): DAT read: Rx Time:23:12:58.6438 2025-01-08T23:12:59.777Z,1736377979.777 [DAT](INFO): Rx dataTimestamp_ set to:1736377979.776853 2025-01-08T23:12:59.778Z,1736377979.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993625 2025-01-08T23:12:59.968Z,1736377979.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:12:59.978Z,1736377979.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:12:59.997Z,1736377979.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.354103 m, bearing: 0.504235 deg, approach rate: 0.196707 m/s, LOS rate: -0.361983 deg/s, cmd heading: 93.753219 deg, new cmd heading: 93.342311 deg. 2025-01-08T23:12:59.998Z,1736377979.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629131 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:13:00.028Z,1736377980.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:00.028Z,1736377980.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243984 2025-01-08T23:13:00.280Z,1736377980.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:00.281Z,1736377980.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496081 2025-01-08T23:13:00.482Z,1736377980.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:00.490Z,1736377980.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:00.492Z,1736377980.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:13:00.495Z,1736377980.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.456627 m, bearing: 0.317857 deg, approach rate: 0.199208 m/s, LOS rate: -0.361847 deg/s, cmd heading: 93.342308 deg, new cmd heading: 92.783645 deg. 2025-01-08T23:13:00.496Z,1736377980.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.619380 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:13:00.532Z,1736377980.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:00.543Z,1736377980.543 [DAT](INFO): DAT read: 23:12:58.6438 LVL= 32752, 32753, 21522, 32755, AGC= 63, IDX= 416, 0.07, 1.449, .575, 1.699, PHS=-0.163,-1.114, 0.873, RAW= 181.4, 4.7, CAL= 181.4, -4.1, ROT= 328.6, 4.1 2025-01-08T23:13:00.544Z,1736377980.544 [DAT](INFO): unknown deviceResponse_: 23:12:58.6438 LVL= 32752, 32753, 21522, 32755, AGC= 63, IDX= 416, 0.07, 1.449, .575, 1.699, PHS=-0.163,-1.114, 0.873, RAW= 181.4, 4.7, CAL= 181.4, -4.1, ROT= 328.6, 4.1 2025-01-08T23:13:00.546Z,1736377980.546 [DAT](INFO): DAT read: Bearing 328.6, 4.1 (Local) 2025-01-08T23:13:00.546Z,1736377980.546 [DAT](INFO): Local bearing/azimuth received: Bearing 328.6, 4.1 (Local) 2025-01-08T23:13:00.549Z,1736377980.549 [DAT](INFO): DAT read: Range 10 to 50 : 122.1 m (Round-trip 162.8 ms) speed 0.4 m/s 2025-01-08T23:13:00.550Z,1736377980.550 [DAT](INFO): DAT read: user:3094> 2025-01-08T23:13:00.552Z,1736377980.552 [DAT](INFO): DAT read: Tx time:23:12:59.7268 2025-01-08T23:13:00.552Z,1736377980.552 [DAT](INFO): Ping request sent. 2025-01-08T23:13:00.552Z,1736377980.552 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:13:00.553Z,1736377980.553 [DAT](INFO): DAT read: TxSync time:23:12:59.7260 2025-01-08T23:13:00.554Z,1736377980.554 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:13:00.555Z,1736377980.555 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:00.564Z,1736377980.564 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:00.784Z,1736377980.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:00.806Z,1736377980.806 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for beam range. Device response is::RA, 0.00, I, +106, +826, +24, +11,A 2025-01-08T23:13:00.831Z,1736377980.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.3 s old, using for 20.0 s. 2025-01-08T23:13:00.831Z,1736377980.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:00.865Z,1736377980.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 3.779342 s, deltaX: -2.099998 m, approachRate: -0.555652 m/s, rangeRepo size: 4 2025-01-08T23:13:00.866Z,1736377980.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:13:00.873Z,1736377980.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.524605 m, bearing: 0.191410 deg, approach rate: 0.182666 m/s, LOS rate: -0.339596 deg/s, cmd heading: 92.783646 deg, new cmd heading: 92.404516 deg. 2025-01-08T23:13:00.874Z,1736377980.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.612763 target range: 124.199997 and range: 122.10 m. 2025-01-08T23:13:01.036Z,1736377981.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:01.216Z,1736377981.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.7 s old, using for 20.0 s. 2025-01-08T23:13:01.216Z,1736377981.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:01.224Z,1736377981.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:13:01.227Z,1736377981.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.598412 m, bearing: 0.051379 deg, approach rate: 0.205117 m/s, LOS rate: -0.388934 deg/s, cmd heading: 92.404516 deg, new cmd heading: 91.984675 deg. 2025-01-08T23:13:01.228Z,1736377981.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.605435 target range: 124.199997 and range: 122.10 m. 2025-01-08T23:13:01.288Z,1736377981.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:01.540Z,1736377981.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:01.633Z,1736377981.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:01.642Z,1736377981.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:13:01.662Z,1736377981.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.671143 m, bearing: 359.907154 deg, approach rate: 0.174176 m/s, LOS rate: -0.345192 deg/s, cmd heading: 91.984678 deg, new cmd heading: 91.552259 deg. 2025-01-08T23:13:01.669Z,1736377981.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.597888 target range: 124.199997 and range: 122.10 m. 2025-01-08T23:13:01.792Z,1736377981.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:02.014Z,1736377982.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:02.034Z,1736377982.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:13:02.038Z,1736377982.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.736206 m, bearing: 359.775468 deg, approach rate: 0.165925 m/s, LOS rate: -0.335652 deg/s, cmd heading: 91.552259 deg, new cmd heading: 91.157412 deg. 2025-01-08T23:13:02.039Z,1736377982.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.590997 target range: 124.199997 and range: 122.10 m. 2025-01-08T23:13:02.044Z,1736377982.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:02.296Z,1736377982.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:02.434Z,1736377982.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:02.475Z,1736377982.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:13:02.512Z,1736377982.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.805954 m, bearing: 359.629721 deg, approach rate: 0.158952 m/s, LOS rate: -0.331967 deg/s, cmd heading: 91.157412 deg, new cmd heading: 90.720421 deg. 2025-01-08T23:13:02.513Z,1736377982.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.583370 target range: 124.199997 and range: 122.10 m. 2025-01-08T23:13:02.548Z,1736377982.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:02.800Z,1736377982.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:02.859Z,1736377982.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:02.866Z,1736377982.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:02.868Z,1736377982.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:13:02.892Z,1736377982.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.869354 m, bearing: 359.494606 deg, approach rate: 0.160566 m/s, LOS rate: -0.342017 deg/s, cmd heading: 90.720424 deg, new cmd heading: 90.315288 deg. 2025-01-08T23:13:02.893Z,1736377982.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.576299 target range: 124.199997 and range: 122.10 m. 2025-01-08T23:13:03.052Z,1736377983.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:03.052Z,1736377983.052 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:03.052Z,1736377983.052 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:03.052Z,1736377983.052 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:03.233Z,1736377983.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:03.262Z,1736377983.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:13:03.269Z,1736377983.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.923698 m, bearing: 359.375200 deg, approach rate: 0.137896 m/s, LOS rate: -0.302857 deg/s, cmd heading: 90.315291 deg, new cmd heading: 89.957231 deg. 2025-01-08T23:13:03.274Z,1736377983.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.570050 target range: 124.199997 and range: 122.10 m. 2025-01-08T23:13:03.304Z,1736377983.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:03.305Z,1736377983.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753349 2025-01-08T23:13:03.557Z,1736377983.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:03.561Z,1736377983.561 [DAT](INFO): DAT read: Rx Time:23:13:02.2916 2025-01-08T23:13:03.562Z,1736377983.562 [DAT](INFO): Rx dataTimestamp_ set to:1736377983.561284 2025-01-08T23:13:03.562Z,1736377983.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010014 2025-01-08T23:13:03.656Z,1736377983.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:03.685Z,1736377983.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:13:03.690Z,1736377983.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 126.975609 m, bearing: 359.252778 deg, approach rate: 0.122629 m/s, LOS rate: -0.289083 deg/s, cmd heading: 89.957232 deg, new cmd heading: 89.590120 deg. 2025-01-08T23:13:03.696Z,1736377983.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563643 target range: 124.199997 and range: 122.10 m. 2025-01-08T23:13:03.808Z,1736377983.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:03.809Z,1736377983.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256500 2025-01-08T23:13:04.052Z,1736377984.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:04.060Z,1736377984.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:04.067Z,1736377984.067 [DAT](INFO): DAT read: 23:13:02.2916 LVL= 30320, 32753, 17586, 32755, AGC= 62, IDX= 424, 0.21, 0.109,-0.853, 1.324, 0.274, PHS=-0.077,-1.079, 1.048, RAW= 181.9, 1.2, CAL= 182.2, -6.8, ROT= 327.8, 6.8 2025-01-08T23:13:04.068Z,1736377984.068 [DAT](INFO): got valid direction response: 23:13:02.2916 LVL= 30320, 32753, 17586, 32755, AGC= 62, IDX= 424, 0.21, 0.109,-0.853, 1.324, 0.274, PHS=-0.077,-1.079, 1.048, RAW= 181.9, 1.2, CAL= 182.2, -6.8, ROT= 327.8, 6.8 2025-01-08T23:13:04.069Z,1736377984.069 [DAT](INFO): DAT read: Bearing 327.8, 6.8 (Local) 2025-01-08T23:13:04.069Z,1736377984.069 [DAT](INFO): Local bearing/azimuth received: Bearing 327.8, 6.8 (Local) 2025-01-08T23:13:04.072Z,1736377984.072 [DAT](INFO): DAT read: Range 10 to 50 : 120.3 m (Round-trip 160.5 ms) speed 0.3 m/s 2025-01-08T23:13:04.072Z,1736377984.072 [DAT](INFO): DAT read: user:3095> 2025-01-08T23:13:04.073Z,1736377984.073 [DAT](INFO): DAT read: Tx time:23:13:03.3769 2025-01-08T23:13:04.073Z,1736377984.073 [DAT](INFO): Ping request sent. 2025-01-08T23:13:04.074Z,1736377984.074 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:13:04.074Z,1736377984.074 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:13:04.075Z,1736377984.075 [DAT](INFO): direction in FSK: [-0.107042,-0.994213,0.009116] 2025-01-08T23:13:04.078Z,1736377984.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:13:04.081Z,1736377984.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 127.024956 m, bearing: 359.137750 deg, approach rate: 0.125724 m/s, LOS rate: -0.292950 deg/s, cmd heading: 89.590123 deg, new cmd heading: 89.245177 deg. 2025-01-08T23:13:04.082Z,1736377984.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.557622 target range: 124.199997 and range: 122.10 m. 2025-01-08T23:13:04.075Z,1736377984.075 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:04.083Z,1736377984.083 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:04.087Z,1736377984.087 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:04.123Z,1736377984.123 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:04.312Z,1736377984.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:04.313Z,1736377984.313 [DAT](INFO): DAT read: TxSync time:23:13:03.3761 2025-01-08T23:13:04.446Z,1736377984.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:04.546Z,1736377984.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.300003 m, deltaT: 3.527876 s, deltaX: -1.799995 m, approachRate: -0.510221 m/s, rangeRepo size: 4 2025-01-08T23:13:04.552Z,1736377984.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.300003 m, bearing: 356.097639 deg, lat: 36.905301 deg, lon: -122.120570 deg, deltaT: 7.307218 s, deltaX: -3.899994 m, approachRate: -0.533718 m/s, posRepo size: 4 2025-01-08T23:13:04.553Z,1736377984.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T23:13:04.561Z,1736377984.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 127.106216 m, bearing: 358.312349 deg, approach rate: 0.000000 m/s, LOS rate: -0.292950 deg/s, cmd heading: 89.245178 deg, new cmd heading: 88.834501 deg. 2025-01-08T23:13:04.562Z,1736377984.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550454 target range: 120.300003 and range: 120.30 m. 2025-01-08T23:13:04.564Z,1736377984.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:04.816Z,1736377984.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:04.886Z,1736377984.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:04.902Z,1736377984.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:04.908Z,1736377984.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T23:13:04.911Z,1736377984.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 127.150520 m, bearing: 358.199310 deg, approach rate: 0.121929 m/s, LOS rate: -0.310986 deg/s, cmd heading: 88.834499 deg, new cmd heading: 88.495504 deg. 2025-01-08T23:13:04.916Z,1736377984.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544538 target range: 120.300003 and range: 120.30 m. 2025-01-08T23:13:05.068Z,1736377985.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:05.068Z,1736377985.068 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:05.068Z,1736377985.068 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:05.069Z,1736377985.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:05.275Z,1736377985.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:05.284Z,1736377985.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T23:13:05.286Z,1736377985.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 127.186531 m, bearing: 358.103144 deg, approach rate: 0.096016 m/s, LOS rate: -0.256334 deg/s, cmd heading: 88.495503 deg, new cmd heading: 88.207090 deg. 2025-01-08T23:13:05.287Z,1736377985.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539504 target range: 120.300003 and range: 120.30 m. 2025-01-08T23:13:05.321Z,1736377985.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:05.322Z,1736377985.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248129 2025-01-08T23:13:05.572Z,1736377985.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:05.573Z,1736377985.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499399 2025-01-08T23:13:05.698Z,1736377985.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:05.729Z,1736377985.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T23:13:05.736Z,1736377985.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 127.224449 m, bearing: 357.997592 deg, approach rate: 0.085124 m/s, LOS rate: -0.236889 deg/s, cmd heading: 88.207092 deg, new cmd heading: 87.890532 deg. 2025-01-08T23:13:05.738Z,1736377985.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533979 target range: 120.300003 and range: 120.30 m. 2025-01-08T23:13:05.826Z,1736377985.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:05.826Z,1736377985.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752897 2025-01-08T23:13:06.064Z,1736377986.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:06.074Z,1736377986.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T23:13:06.076Z,1736377986.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:06.076Z,1736377986.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002897 2025-01-08T23:13:06.079Z,1736377986.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 127.251877 m, bearing: 357.909223 deg, approach rate: 0.079401 m/s, LOS rate: -0.255764 deg/s, cmd heading: 87.890533 deg, new cmd heading: 87.625486 deg. 2025-01-08T23:13:06.080Z,1736377986.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.529353 target range: 120.300003 and range: 120.30 m. 2025-01-08T23:13:06.329Z,1736377986.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:06.332Z,1736377986.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257818 2025-01-08T23:13:06.505Z,1736377986.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:06.575Z,1736377986.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T23:13:06.580Z,1736377986.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:06.581Z,1736377986.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507118 2025-01-08T23:13:06.588Z,1736377986.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 127.281982 m, bearing: 357.804118 deg, approach rate: 0.060175 m/s, LOS rate: -0.210035 deg/s, cmd heading: 87.625487 deg, new cmd heading: 87.310250 deg. 2025-01-08T23:13:06.589Z,1736377986.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.523851 target range: 120.300003 and range: 120.30 m. 2025-01-08T23:13:06.833Z,1736377986.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:06.833Z,1736377986.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759707 2025-01-08T23:13:06.908Z,1736377986.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:06.915Z,1736377986.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:06.917Z,1736377986.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T23:13:06.922Z,1736377986.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 127.304993 m, bearing: 357.712882 deg, approach rate: 0.067143 m/s, LOS rate: -0.266174 deg/s, cmd heading: 87.310247 deg, new cmd heading: 87.036592 deg. 2025-01-08T23:13:06.923Z,1736377986.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519075 target range: 120.300003 and range: 120.30 m. 2025-01-08T23:13:07.084Z,1736377987.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:07.085Z,1736377987.085 [DAT](INFO): DAT read: Rx Time:23:13:05.9395 2025-01-08T23:13:07.085Z,1736377987.085 [DAT](INFO): Rx dataTimestamp_ set to:1736377987.084839 2025-01-08T23:13:07.086Z,1736377987.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012065 2025-01-08T23:13:07.166Z,1736377987.166 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:13:07.281Z,1736377987.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:07.307Z,1736377987.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T23:13:07.313Z,1736377987.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 127.324280 m, bearing: 357.629663 deg, approach rate: 0.049537 m/s, LOS rate: -0.213709 deg/s, cmd heading: 87.036588 deg, new cmd heading: 86.786970 deg. 2025-01-08T23:13:07.314Z,1736377987.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.514718 target range: 120.300003 and range: 120.30 m. 2025-01-08T23:13:07.336Z,1736377987.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:07.337Z,1736377987.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263724 2025-01-08T23:13:07.588Z,1736377987.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:07.590Z,1736377987.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516022 2025-01-08T23:13:07.735Z,1736377987.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:07.761Z,1736377987.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-01-08T23:13:07.768Z,1736377987.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.300003 m, nav range: 127.350517 m, bearing: 357.529559 deg, approach rate: 0.057773 m/s, LOS rate: -0.220378 deg/s, cmd heading: 86.786972 deg, new cmd heading: 86.486725 deg. 2025-01-08T23:13:07.772Z,1736377987.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509478 target range: 120.300003 and range: 120.30 m. 2025-01-08T23:13:07.840Z,1736377987.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:07.848Z,1736377987.848 [DAT](INFO): DAT read: 23:13:05.9395 LVL= 26048, 23873, 14882, 32755, AGC= 67, IDX= 420,-0.24,-2.103,-2.956,-0.977,-1.954, PHS=-0.061,-0.954, 0.975, RAW= 182.4, 0.5, CAL= 182.7, -7.4, ROT= 327.3, 7.4 2025-01-08T23:13:07.849Z,1736377987.849 [DAT](INFO): got valid direction response: 23:13:05.9395 LVL= 26048, 23873, 14882, 32755, AGC= 67, IDX= 420,-0.24,-2.103,-2.956,-0.977,-1.954, PHS=-0.061,-0.954, 0.975, RAW= 182.4, 0.5, CAL= 182.7, -7.4, ROT= 327.3, 7.4 2025-01-08T23:13:07.850Z,1736377987.850 [DAT](INFO): DAT read: Bearing 327.3, 7.4 (Local) 2025-01-08T23:13:07.850Z,1736377987.850 [DAT](INFO): Local bearing/azimuth received: Bearing 327.3, 7.4 (Local) 2025-01-08T23:13:07.860Z,1736377987.860 [DAT](INFO): DAT read: Range 10 to 50 : 118.8 m (Round-trip 158.4 ms) speed 0.4 m/s 2025-01-08T23:13:07.861Z,1736377987.861 [DAT](INFO): DAT read: user:3096> 2025-01-08T23:13:07.862Z,1736377987.862 [DAT](INFO): DAT read: Tx time:23:13:07.0269 2025-01-08T23:13:07.862Z,1736377987.862 [DAT](INFO): Ping request sent. 2025-01-08T23:13:07.862Z,1736377987.862 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:13:07.863Z,1736377987.863 [DAT](INFO): DAT read: TxSync time:23:13:07.0261 2025-01-08T23:13:07.869Z,1736377987.869 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:13:07.871Z,1736377987.871 [DAT](INFO): direction in FSK: [-0.092857,-0.995679,0.000714] 2025-01-08T23:13:07.875Z,1736377987.875 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:07.876Z,1736377987.876 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:07.879Z,1736377987.879 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:07.884Z,1736377987.884 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:08.092Z,1736377988.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:08.093Z,1736377988.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:08.124Z,1736377988.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.800003 m, deltaT: 3.780358 s, deltaX: -1.500000 m, approachRate: -0.396788 m/s, rangeRepo size: 4 2025-01-08T23:13:08.126Z,1736377988.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.800003 m, bearing: 351.449021 deg, lat: 36.905281 deg, lon: -122.120620 deg, deltaT: 3.780358 s, deltaX: -1.500000 m, approachRate: -0.396788 m/s, posRepo size: 4 2025-01-08T23:13:08.127Z,1736377988.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.80 m. 2025-01-08T23:13:08.138Z,1736377988.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.800003 m, nav range: 125.398094 m, bearing: 355.382997 deg, approach rate: 0.000000 m/s, LOS rate: -0.220378 deg/s, cmd heading: 86.486724 deg, new cmd heading: 86.249791 deg. 2025-01-08T23:13:08.144Z,1736377988.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.505343 target range: 118.800003 and range: 118.80 m. 2025-01-08T23:13:08.168Z,1736377988.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:13:08.344Z,1736377988.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:08.486Z,1736377988.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:08.496Z,1736377988.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.80 m. 2025-01-08T23:13:08.499Z,1736377988.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.800003 m, nav range: 125.424240 m, bearing: 355.295192 deg, approach rate: 0.069336 m/s, LOS rate: -0.232797 deg/s, cmd heading: 86.249792 deg, new cmd heading: 85.986436 deg. 2025-01-08T23:13:08.500Z,1736377988.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.500746 target range: 118.800003 and range: 118.80 m. 2025-01-08T23:13:08.596Z,1736377988.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:08.848Z,1736377988.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:08.900Z,1736377988.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:13:08.901Z,1736377988.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:08.924Z,1736377988.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:08.926Z,1736377988.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.80 m. 2025-01-08T23:13:08.933Z,1736377988.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.800003 m, nav range: 125.450615 m, bearing: 355.202688 deg, approach rate: 0.061404 m/s, LOS rate: -0.215317 deg/s, cmd heading: 85.986433 deg, new cmd heading: 85.708981 deg. 2025-01-08T23:13:08.934Z,1736377988.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.495904 target range: 118.800003 and range: 118.80 m. 2025-01-08T23:13:09.100Z,1736377989.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:09.100Z,1736377989.100 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:09.100Z,1736377989.100 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:09.101Z,1736377989.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:09.295Z,1736377989.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:13:09.295Z,1736377989.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:09.303Z,1736377989.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.80 m. 2025-01-08T23:13:09.308Z,1736377989.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.800003 m, nav range: 125.475250 m, bearing: 355.114519 deg, approach rate: 0.065286 m/s, LOS rate: -0.233610 deg/s, cmd heading: 85.708984 deg, new cmd heading: 85.444530 deg. 2025-01-08T23:13:09.310Z,1736377989.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491288 target range: 118.800003 and range: 118.80 m. 2025-01-08T23:13:09.352Z,1736377989.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:09.354Z,1736377989.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491969 2025-01-08T23:13:09.604Z,1736377989.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:09.605Z,1736377989.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743068 2025-01-08T23:13:09.730Z,1736377989.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:09.740Z,1736377989.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.80 m. 2025-01-08T23:13:09.742Z,1736377989.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.800003 m, nav range: 125.509521 m, bearing: 355.002427 deg, approach rate: 0.078478 m/s, LOS rate: -0.256611 deg/s, cmd heading: 85.444533 deg, new cmd heading: 85.108353 deg. 2025-01-08T23:13:09.744Z,1736377989.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.485421 target range: 118.800003 and range: 118.80 m. 2025-01-08T23:13:09.857Z,1736377989.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:09.858Z,1736377989.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995837 2025-01-08T23:13:10.100Z,1736377990.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:10.108Z,1736377990.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:10.109Z,1736377990.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246574 2025-01-08T23:13:10.122Z,1736377990.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.80 m. 2025-01-08T23:13:10.129Z,1736377990.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.800003 m, nav range: 125.537651 m, bearing: 354.907276 deg, approach rate: 0.073685 m/s, LOS rate: -0.249190 deg/s, cmd heading: 85.108351 deg, new cmd heading: 84.822963 deg. 2025-01-08T23:13:10.130Z,1736377990.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.480440 target range: 118.800003 and range: 118.80 m. 2025-01-08T23:13:10.361Z,1736377990.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:10.362Z,1736377990.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499939 2025-01-08T23:13:10.506Z,1736377990.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:10.514Z,1736377990.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.80 m. 2025-01-08T23:13:10.517Z,1736377990.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.800003 m, nav range: 125.567741 m, bearing: 354.802818 deg, approach rate: 0.076670 m/s, LOS rate: -0.266094 deg/s, cmd heading: 84.822965 deg, new cmd heading: 84.509670 deg. 2025-01-08T23:13:10.518Z,1736377990.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474972 target range: 118.800003 and range: 118.80 m. 2025-01-08T23:13:10.614Z,1736377990.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:10.628Z,1736377990.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765576 2025-01-08T23:13:10.864Z,1736377990.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:10.864Z,1736377990.864 [DAT](INFO): DAT read: Rx Time:23:13:09.5867 2025-01-08T23:13:10.865Z,1736377990.865 [DAT](INFO): Rx dataTimestamp_ set to:1736377990.864551 2025-01-08T23:13:10.865Z,1736377990.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003397 2025-01-08T23:13:10.966Z,1736377990.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:11.005Z,1736377991.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:11.011Z,1736377991.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.80 m. 2025-01-08T23:13:11.014Z,1736377991.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.800003 m, nav range: 125.607849 m, bearing: 354.671416 deg, approach rate: 0.081316 m/s, LOS rate: -0.266324 deg/s, cmd heading: 84.509671 deg, new cmd heading: 84.115598 deg. 2025-01-08T23:13:11.019Z,1736377991.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468094 target range: 118.800003 and range: 118.80 m. 2025-01-08T23:13:11.116Z,1736377991.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:11.117Z,1736377991.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254607 2025-01-08T23:13:11.352Z,1736377991.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:11.360Z,1736377991.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.80 m. 2025-01-08T23:13:11.362Z,1736377991.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.800003 m, nav range: 125.641945 m, bearing: 354.561421 deg, approach rate: 0.096699 m/s, LOS rate: -0.311873 deg/s, cmd heading: 84.115596 deg, new cmd heading: 83.785704 deg. 2025-01-08T23:13:11.366Z,1736377991.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.462336 target range: 118.800003 and range: 118.80 m. 2025-01-08T23:13:11.368Z,1736377991.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:11.384Z,1736377991.384 [DAT](INFO): DAT read: 23:13:09.5867 LVL= 32752, 31345, 17010, 32755, AGC= 63, IDX= 406,-0.03, 0.242,-0.667, 1.324, 0.356, PHS=-0.026,-0.976, 0.965, RAW= 180.7, 0.4, CAL= 181.1, -7.5, ROT= 328.9, 7.5 2025-01-08T23:13:11.385Z,1736377991.385 [DAT](INFO): got valid direction response: 23:13:09.5867 LVL= 32752, 31345, 17010, 32755, AGC= 63, IDX= 406,-0.03, 0.242,-0.667, 1.324, 0.356, PHS=-0.026,-0.976, 0.965, RAW= 180.7, 0.4, CAL= 181.1, -7.5, ROT= 328.9, 7.5 2025-01-08T23:13:11.386Z,1736377991.386 [DAT](INFO): DAT read: Bearing 328.9, 7.5 (Local) 2025-01-08T23:13:11.386Z,1736377991.386 [DAT](INFO): Local bearing/azimuth received: Bearing 328.9, 7.5 (Local) 2025-01-08T23:13:11.396Z,1736377991.396 [DAT](INFO): DAT read: Range 10 to 50 : 116.7 m (Round-trip 155.6 ms) speed 0.2 m/s 2025-01-08T23:13:11.398Z,1736377991.398 [DAT](INFO): DAT read: user:3097> 2025-01-08T23:13:11.408Z,1736377991.408 [DAT](INFO): DAT read: Tx time:23:13:10.6769 2025-01-08T23:13:11.409Z,1736377991.409 [DAT](INFO): Ping request sent. 2025-01-08T23:13:11.409Z,1736377991.409 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:13:11.410Z,1736377991.410 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:13:11.421Z,1736377991.421 [DAT](INFO): direction in FSK: [-0.094953,-0.994997,0.031051] 2025-01-08T23:13:11.421Z,1736377991.421 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:11.422Z,1736377991.422 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:11.426Z,1736377991.426 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:11.426Z,1736377991.426 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:11.625Z,1736377991.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:11.626Z,1736377991.626 [DAT](INFO): DAT read: TxSync time:23:13:10.6761 2025-01-08T23:13:11.774Z,1736377991.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:11.798Z,1736377991.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.699997 m, deltaT: 3.527972 s, deltaX: -2.100006 m, approachRate: -0.595245 m/s, rangeRepo size: 4 2025-01-08T23:13:11.805Z,1736377991.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.699997 m, bearing: 348.855788 deg, lat: 36.905236 deg, lon: -122.120637 deg, deltaT: 3.527972 s, deltaX: -2.100006 m, approachRate: -0.595245 m/s, posRepo size: 4 2025-01-08T23:13:11.805Z,1736377991.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:13:11.812Z,1736377991.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 120.864975 m, bearing: 353.465137 deg, approach rate: 0.000000 m/s, LOS rate: -0.311873 deg/s, cmd heading: 83.785705 deg, new cmd heading: 83.376624 deg. 2025-01-08T23:13:11.813Z,1736377991.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455197 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:13:11.877Z,1736377991.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:12.129Z,1736377992.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:12.143Z,1736377992.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:12.152Z,1736377992.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:13:12.156Z,1736377992.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 120.907272 m, bearing: 353.343462 deg, approach rate: 0.119416 m/s, LOS rate: -0.343399 deg/s, cmd heading: 83.376625 deg, new cmd heading: 83.011733 deg. 2025-01-08T23:13:12.157Z,1736377992.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448828 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:13:12.380Z,1736377992.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:12.528Z,1736377992.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:12.537Z,1736377992.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:13:12.540Z,1736377992.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 120.951538 m, bearing: 353.216524 deg, approach rate: 0.114906 m/s, LOS rate: -0.329387 deg/s, cmd heading: 83.011735 deg, new cmd heading: 82.631066 deg. 2025-01-08T23:13:12.541Z,1736377992.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442184 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:13:12.634Z,1736377992.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:12.884Z,1736377992.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:12.975Z,1736377992.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:13.005Z,1736377993.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:13:13.008Z,1736377993.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 121.008675 m, bearing: 353.057230 deg, approach rate: 0.122013 m/s, LOS rate: -0.340005 deg/s, cmd heading: 82.631069 deg, new cmd heading: 82.153423 deg. 2025-01-08T23:13:13.009Z,1736377993.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433848 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:13:13.136Z,1736377993.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:13.388Z,1736377993.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:13.466Z,1736377993.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:13.473Z,1736377993.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:13.476Z,1736377993.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:13:13.478Z,1736377993.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 121.070511 m, bearing: 352.882163 deg, approach rate: 0.131401 m/s, LOS rate: -0.371826 deg/s, cmd heading: 82.153427 deg, new cmd heading: 81.628508 deg. 2025-01-08T23:13:13.479Z,1736377993.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424686 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:13:13.642Z,1736377993.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:13.644Z,1736377993.644 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:13.645Z,1736377993.645 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:13.645Z,1736377993.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:13.872Z,1736377993.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:13.881Z,1736377993.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:13:13.884Z,1736377993.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 121.121681 m, bearing: 352.730681 deg, approach rate: 0.126216 m/s, LOS rate: -0.373483 deg/s, cmd heading: 81.628506 deg, new cmd heading: 81.174264 deg. 2025-01-08T23:13:13.885Z,1736377993.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.416758 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:13:13.892Z,1736377993.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:13.892Z,1736377993.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483800 2025-01-08T23:13:14.144Z,1736377994.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:14.144Z,1736377994.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735703 2025-01-08T23:13:14.288Z,1736377994.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:14.297Z,1736377994.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:13:14.299Z,1736377994.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 121.174515 m, bearing: 352.575674 deg, approach rate: 0.127083 m/s, LOS rate: -0.372683 deg/s, cmd heading: 81.174264 deg, new cmd heading: 80.709457 deg. 2025-01-08T23:13:14.300Z,1736377994.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408646 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:13:14.397Z,1736377994.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:14.398Z,1736377994.398 [DAT](INFO): DAT read: Rx Time:23:13:13.2339 2025-01-08T23:13:14.399Z,1736377994.399 [DAT](INFO): Rx dataTimestamp_ set to:1736377994.398021 2025-01-08T23:13:14.400Z,1736377994.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991209 2025-01-08T23:13:14.650Z,1736377994.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:14.653Z,1736377994.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243898 2025-01-08T23:13:14.739Z,1736377994.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:14.748Z,1736377994.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:13:14.750Z,1736377994.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 121.232368 m, bearing: 352.405812 deg, approach rate: 0.128360 m/s, LOS rate: -0.376695 deg/s, cmd heading: 80.709456 deg, new cmd heading: 80.200126 deg. 2025-01-08T23:13:14.752Z,1736377994.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399756 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:13:14.901Z,1736377994.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:14.904Z,1736377994.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494260 2025-01-08T23:13:15.089Z,1736377995.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:15.110Z,1736377995.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:13:15.123Z,1736377995.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 121.277145 m, bearing: 352.273997 deg, approach rate: 0.123454 m/s, LOS rate: -0.363290 deg/s, cmd heading: 80.200122 deg, new cmd heading: 79.804831 deg. 2025-01-08T23:13:15.124Z,1736377995.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392857 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:13:15.152Z,1736377995.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:15.160Z,1736377995.160 [DAT](INFO): DAT read: 23:13:13.2339 LVL= 30992, 32753, 17362, 32755, AGC= 63, IDX= 409, 0.12, 1.649, 0.775, 2.687, 1.759, PHS=-0.021,-0.937, 0.925, RAW= 180.5, 0.4, CAL= 180.9, -7.5, ROT= 329.1, 7.5 2025-01-08T23:13:15.161Z,1736377995.161 [DAT](INFO): got valid direction response: 23:13:13.2339 LVL= 30992, 32753, 17362, 32755, AGC= 63, IDX= 409, 0.12, 1.649, 0.775, 2.687, 1.759, PHS=-0.021,-0.937, 0.925, RAW= 180.5, 0.4, CAL= 180.9, -7.5, ROT= 329.1, 7.5 2025-01-08T23:13:15.162Z,1736377995.162 [DAT](INFO): DAT read: Bearing 329.1, 7.5 (Local) 2025-01-08T23:13:15.162Z,1736377995.162 [DAT](INFO): Local bearing/azimuth received: Bearing 329.1, 7.5 (Local) 2025-01-08T23:13:15.164Z,1736377995.164 [DAT](INFO): DAT read: Range 10 to 50 : 114.6 m (Round-trip 152.8 ms) speed 0.4 m/s 2025-01-08T23:13:15.165Z,1736377995.165 [DAT](INFO): DAT read: user:3098> 2025-01-08T23:13:15.166Z,1736377995.166 [DAT](INFO): DAT read: Tx time:23:13:14.3270 2025-01-08T23:13:15.166Z,1736377995.166 [DAT](INFO): Ping request sent. 2025-01-08T23:13:15.166Z,1736377995.166 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:13:15.167Z,1736377995.167 [DAT](INFO): DAT read: TxSync time:23:13:14.3262 2025-01-08T23:13:15.167Z,1736377995.167 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:13:15.168Z,1736377995.168 [DAT](INFO): direction in FSK: [-0.094622,-0.994934,0.033961] 2025-01-08T23:13:15.168Z,1736377995.168 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:15.169Z,1736377995.169 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:15.189Z,1736377995.189 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:15.189Z,1736377995.189 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:15.404Z,1736377995.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:15.517Z,1736377995.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:15.552Z,1736377995.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.599998 m, deltaT: 3.783469 s, deltaX: -2.099998 m, approachRate: -0.555046 m/s, rangeRepo size: 4 2025-01-08T23:13:15.555Z,1736377995.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.599998 m, bearing: 347.645503 deg, lat: 36.905211 deg, lon: -122.120704 deg, deltaT: 3.783469 s, deltaX: -2.099998 m, approachRate: -0.555046 m/s, posRepo size: 4 2025-01-08T23:13:15.557Z,1736377995.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:13:15.568Z,1736377995.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 119.540771 m, bearing: 349.090158 deg, approach rate: 0.000000 m/s, LOS rate: -0.363290 deg/s, cmd heading: 79.804832 deg, new cmd heading: 79.328443 deg. 2025-01-08T23:13:15.569Z,1736377995.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384542 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:13:15.658Z,1736377995.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:15.908Z,1736377995.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:15.941Z,1736377995.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:15.948Z,1736377995.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:15.950Z,1736377995.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:13:15.953Z,1736377995.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 119.608696 m, bearing: 348.940234 deg, approach rate: 0.168560 m/s, LOS rate: -0.371838 deg/s, cmd heading: 79.328440 deg, new cmd heading: 78.878931 deg. 2025-01-08T23:13:15.955Z,1736377995.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376697 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:13:16.160Z,1736377996.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:16.160Z,1736377996.160 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:16.160Z,1736377996.160 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:16.161Z,1736377996.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:16.317Z,1736377996.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:16.340Z,1736377996.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:13:16.342Z,1736377996.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 119.669624 m, bearing: 348.807396 deg, approach rate: 0.156534 m/s, LOS rate: -0.341107 deg/s, cmd heading: 78.878931 deg, new cmd heading: 78.480627 deg. 2025-01-08T23:13:16.344Z,1736377996.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369745 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:13:16.414Z,1736377996.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:16.415Z,1736377996.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248388 2025-01-08T23:13:16.670Z,1736377996.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:16.673Z,1736377996.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505904 2025-01-08T23:13:16.774Z,1736377996.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:16.782Z,1736377996.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:13:16.785Z,1736377996.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 119.736275 m, bearing: 348.653849 deg, approach rate: 0.150419 m/s, LOS rate: -0.346336 deg/s, cmd heading: 78.480629 deg, new cmd heading: 78.020256 deg. 2025-01-08T23:13:16.786Z,1736377996.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361710 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:13:16.920Z,1736377996.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:16.921Z,1736377996.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754998 2025-01-08T23:13:17.116Z,1736377997.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:17.126Z,1736377997.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:13:17.129Z,1736377997.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 119.785202 m, bearing: 348.538742 deg, approach rate: 0.142541 m/s, LOS rate: -0.335208 deg/s, cmd heading: 78.020254 deg, new cmd heading: 77.675077 deg. 2025-01-08T23:13:17.129Z,1736377997.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355686 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:13:17.172Z,1736377997.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:17.173Z,1736377997.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006598 2025-01-08T23:13:17.424Z,1736377997.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:17.425Z,1736377997.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258658 2025-01-08T23:13:17.523Z,1736377997.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:17.531Z,1736377997.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:13:17.534Z,1736377997.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 119.841675 m, bearing: 348.401649 deg, approach rate: 0.139289 m/s, LOS rate: -0.337977 deg/s, cmd heading: 77.675076 deg, new cmd heading: 77.264000 deg. 2025-01-08T23:13:17.535Z,1736377997.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348511 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:13:17.678Z,1736377997.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:17.681Z,1736377997.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514279 2025-01-08T23:13:17.928Z,1736377997.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:17.929Z,1736377997.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762381 2025-01-08T23:13:17.942Z,1736377997.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:17.949Z,1736377997.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:17.950Z,1736377997.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:13:17.954Z,1736377997.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 119.891724 m, bearing: 348.276022 deg, approach rate: 0.119336 m/s, LOS rate: -0.299420 deg/s, cmd heading: 77.264001 deg, new cmd heading: 76.887282 deg. 2025-01-08T23:13:17.956Z,1736377997.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341936 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:13:18.180Z,1736377998.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:18.180Z,1736377998.180 [DAT](INFO): DAT read: Rx Time:23:13:16.8814 2025-01-08T23:13:18.181Z,1736377998.181 [DAT](INFO): Rx dataTimestamp_ set to:1736377998.180525 2025-01-08T23:13:18.181Z,1736377998.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015219 2025-01-08T23:13:18.324Z,1736377998.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:18.333Z,1736377998.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:13:18.356Z,1736377998.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 119.935402 m, bearing: 348.161135 deg, approach rate: 0.114065 m/s, LOS rate: -0.299915 deg/s, cmd heading: 76.887282 deg, new cmd heading: 76.542751 deg. 2025-01-08T23:13:18.357Z,1736377998.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335923 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:13:18.432Z,1736377998.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:18.432Z,1736377998.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266175 2025-01-08T23:13:18.686Z,1736377998.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:18.751Z,1736377998.751 [DAT](INFO): DAT read: 23:13:16.8814 LVL= 27056, 32049, 18066, 32755, AGC= 66, IDX= 415, 0.27,-2.201,-3.117,-1.313,-2.127, PHS= 0.014,-0.943, 0.811, RAW= 177.0, 1.6, CAL= 177.4, -6.7, ROT= 332.6, 6.7 2025-01-08T23:13:18.752Z,1736377998.752 [DAT](INFO): got valid direction response: 23:13:16.8814 LVL= 27056, 32049, 18066, 32755, AGC= 66, IDX= 415, 0.27,-2.201,-3.117,-1.313,-2.127, PHS= 0.014,-0.943, 0.811, RAW= 177.0, 1.6, CAL= 177.4, -6.7, ROT= 332.6, 6.7 2025-01-08T23:13:18.753Z,1736377998.753 [DAT](INFO): DAT read: Bearing 332.6, 6.7 (Local) 2025-01-08T23:13:18.754Z,1736377998.754 [DAT](INFO): Local bearing/azimuth received: Bearing 332.6, 6.7 (Local) 2025-01-08T23:13:18.773Z,1736377998.773 [DAT](INFO): DAT read: Range 10 to 50 : 112.6 m (Round-trip 150.2 ms) speed 0.5 m/s 2025-01-08T23:13:18.774Z,1736377998.774 [DAT](INFO): DAT read: user:3099> 2025-01-08T23:13:18.775Z,1736377998.775 [DAT](INFO): DAT read: Tx time:23:13:17.9770 2025-01-08T23:13:18.775Z,1736377998.775 [DAT](INFO): Ping request sent. 2025-01-08T23:13:18.775Z,1736377998.775 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:13:18.780Z,1736377998.780 [DAT](INFO): DAT read: TxSync time:23:13:17.9762 2025-01-08T23:13:18.780Z,1736377998.780 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:13:18.781Z,1736377998.781 [DAT](INFO): direction in FSK: [-0.122111,-0.988063,0.093916] 2025-01-08T23:13:18.782Z,1736377998.782 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:18.782Z,1736377998.782 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:18.797Z,1736377998.797 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:18.797Z,1736377998.797 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:18.919Z,1736377998.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:18.936Z,1736377998.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:18.969Z,1736377998.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.599998 m, deltaT: 3.534194 s, deltaX: -2.000000 m, approachRate: -0.565900 m/s, rangeRepo size: 4 2025-01-08T23:13:18.990Z,1736377998.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 112.599998 m, bearing: 342.917778 deg, lat: 36.905183 deg, lon: -122.120725 deg, deltaT: 3.534194 s, deltaX: -2.000000 m, approachRate: -0.565900 m/s, posRepo size: 4 2025-01-08T23:13:18.991Z,1736377998.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:18.998Z,1736377998.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.385033 m, bearing: 346.806915 deg, approach rate: 0.000000 m/s, LOS rate: -0.299915 deg/s, cmd heading: 76.542754 deg, new cmd heading: 75.971554 deg. 2025-01-08T23:13:18.999Z,1736377998.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325954 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:19.188Z,1736377999.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:19.289Z,1736377999.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:19.298Z,1736377999.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:19.301Z,1736377999.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.420425 m, bearing: 346.707458 deg, approach rate: 0.107309 m/s, LOS rate: -0.301458 deg/s, cmd heading: 75.971552 deg, new cmd heading: 75.673274 deg. 2025-01-08T23:13:19.302Z,1736377999.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320748 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:19.440Z,1736377999.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:19.694Z,1736377999.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:19.756Z,1736377999.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:19.784Z,1736377999.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:19.786Z,1736377999.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.463432 m, bearing: 346.581931 deg, approach rate: 0.088634 m/s, LOS rate: -0.258609 deg/s, cmd heading: 75.673271 deg, new cmd heading: 75.296832 deg. 2025-01-08T23:13:19.789Z,1736377999.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.314178 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:19.944Z,1736377999.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:20.118Z,1736378000.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:20.126Z,1736378000.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:20.129Z,1736378000.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:20.132Z,1736378000.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.491112 m, bearing: 346.496607 deg, approach rate: 0.080174 m/s, LOS rate: -0.247082 deg/s, cmd heading: 75.296832 deg, new cmd heading: 75.040924 deg. 2025-01-08T23:13:20.133Z,1736378000.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.309711 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:20.196Z,1736378000.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:20.196Z,1736378000.196 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:20.196Z,1736378000.196 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:20.197Z,1736378000.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:20.449Z,1736378000.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:20.450Z,1736378000.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.674579 2025-01-08T23:13:20.512Z,1736378000.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:20.526Z,1736378000.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:20.534Z,1736378000.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.517128 m, bearing: 346.403198 deg, approach rate: 0.065458 m/s, LOS rate: -0.234968 deg/s, cmd heading: 75.040925 deg, new cmd heading: 74.760762 deg. 2025-01-08T23:13:20.535Z,1736378000.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304821 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:20.700Z,1736378000.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:20.701Z,1736378000.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.925681 2025-01-08T23:13:20.941Z,1736378000.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:20.952Z,1736378000.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:20.952Z,1736378000.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.177373 2025-01-08T23:13:20.971Z,1736378000.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:20.978Z,1736378000.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.542351 m, bearing: 346.307910 deg, approach rate: 0.056806 m/s, LOS rate: -0.214559 deg/s, cmd heading: 74.760764 deg, new cmd heading: 74.474964 deg. 2025-01-08T23:13:20.984Z,1736378000.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299833 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:21.204Z,1736378001.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:21.206Z,1736378001.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430556 2025-01-08T23:13:21.305Z,1736378001.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:21.314Z,1736378001.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:21.317Z,1736378001.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.559380 m, bearing: 346.227067 deg, approach rate: 0.049522 m/s, LOS rate: -0.235068 deg/s, cmd heading: 74.474962 deg, new cmd heading: 74.232471 deg. 2025-01-08T23:13:21.321Z,1736378001.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295601 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:21.457Z,1736378001.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:21.459Z,1736378001.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683441 2025-01-08T23:13:21.710Z,1736378001.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:21.713Z,1736378001.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.936935 2025-01-08T23:13:21.717Z,1736378001.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:21.782Z,1736378001.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:21.789Z,1736378001.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.576271 m, bearing: 346.137480 deg, approach rate: 0.036090 m/s, LOS rate: -0.191380 deg/s, cmd heading: 74.232470 deg, new cmd heading: 73.963749 deg. 2025-01-08T23:13:21.790Z,1736378001.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.290911 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:21.960Z,1736378001.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:21.960Z,1736378001.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.185399 2025-01-08T23:13:22.149Z,1736378002.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:22.157Z,1736378002.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:22.159Z,1736378002.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:22.162Z,1736378002.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.593262 m, bearing: 346.041323 deg, approach rate: 0.045047 m/s, LOS rate: -0.254906 deg/s, cmd heading: 73.963750 deg, new cmd heading: 73.675322 deg. 2025-01-08T23:13:22.163Z,1736378002.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285877 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:22.213Z,1736378002.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:22.214Z,1736378002.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.438495 2025-01-08T23:13:22.464Z,1736378002.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:22.464Z,1736378002.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.689430 2025-01-08T23:13:22.534Z,1736378002.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:22.575Z,1736378002.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:22.581Z,1736378002.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.603256 m, bearing: 345.957447 deg, approach rate: 0.024056 m/s, LOS rate: -0.201867 deg/s, cmd heading: 73.675324 deg, new cmd heading: 73.423721 deg. 2025-01-08T23:13:22.582Z,1736378002.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.281486 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:22.717Z,1736378002.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:22.722Z,1736378002.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.944072 2025-01-08T23:13:22.947Z,1736378002.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:22.957Z,1736378002.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:22.960Z,1736378002.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.614655 m, bearing: 345.857406 deg, approach rate: 0.029804 m/s, LOS rate: -0.261555 deg/s, cmd heading: 73.423721 deg, new cmd heading: 73.123629 deg. 2025-01-08T23:13:22.961Z,1736378002.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276248 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:22.968Z,1736378002.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:22.969Z,1736378002.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.193654 2025-01-08T23:13:23.220Z,1736378003.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:23.221Z,1736378003.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.446184 2025-01-08T23:13:23.322Z,1736378003.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:23.331Z,1736378003.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:23.334Z,1736378003.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.624245 m, bearing: 345.766328 deg, approach rate: 0.025660 m/s, LOS rate: -0.243676 deg/s, cmd heading: 73.123630 deg, new cmd heading: 72.850421 deg. 2025-01-08T23:13:23.335Z,1736378003.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.271480 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:23.472Z,1736378003.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:23.472Z,1736378003.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.697445 2025-01-08T23:13:23.724Z,1736378003.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:23.724Z,1736378003.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.949498 2025-01-08T23:13:23.760Z,1736378003.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:23.813Z,1736378003.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:23.828Z,1736378003.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.634476 m, bearing: 345.661297 deg, approach rate: 0.021198 m/s, LOS rate: -0.217598 deg/s, cmd heading: 72.850422 deg, new cmd heading: 72.535359 deg. 2025-01-08T23:13:23.829Z,1736378003.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265981 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:23.976Z,1736378003.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:23.976Z,1736378003.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.201426 2025-01-08T23:13:24.157Z,1736378004.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:24.164Z,1736378004.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:24.166Z,1736378004.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:24.169Z,1736378004.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.644653 m, bearing: 345.553322 deg, approach rate: 0.028852 m/s, LOS rate: -0.306068 deg/s, cmd heading: 72.535359 deg, new cmd heading: 72.211467 deg. 2025-01-08T23:13:24.170Z,1736378004.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260328 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:24.228Z,1736378004.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:24.229Z,1736378004.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.454320 2025-01-08T23:13:24.481Z,1736378004.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:24.482Z,1736378004.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.706963 2025-01-08T23:13:24.554Z,1736378004.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:24.562Z,1736378004.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:24.565Z,1736378004.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.654427 m, bearing: 345.446409 deg, approach rate: 0.024668 m/s, LOS rate: -0.269830 deg/s, cmd heading: 72.211465 deg, new cmd heading: 71.890756 deg. 2025-01-08T23:13:24.566Z,1736378004.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254730 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:24.732Z,1736378004.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:24.732Z,1736378004.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.957417 2025-01-08T23:13:24.961Z,1736378004.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:24.969Z,1736378004.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:24.973Z,1736378004.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.669472 m, bearing: 345.322916 deg, approach rate: 0.036955 m/s, LOS rate: -0.303295 deg/s, cmd heading: 71.890753 deg, new cmd heading: 71.520327 deg. 2025-01-08T23:13:24.974Z,1736378004.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248265 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:24.984Z,1736378004.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:24.984Z,1736378004.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.209480 2025-01-08T23:13:25.236Z,1736378005.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:25.236Z,1736378005.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.461368 2025-01-08T23:13:25.338Z,1736378005.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:25.346Z,1736378005.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:25.349Z,1736378005.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.683510 m, bearing: 345.208490 deg, approach rate: 0.037236 m/s, LOS rate: -0.303478 deg/s, cmd heading: 71.520325 deg, new cmd heading: 71.177091 deg. 2025-01-08T23:13:25.350Z,1736378005.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.242275 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:25.489Z,1736378005.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:25.490Z,1736378005.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.715098 2025-01-08T23:13:25.740Z,1736378005.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:25.740Z,1736378005.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.965254 2025-01-08T23:13:25.755Z,1736378005.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:25.763Z,1736378005.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:25.787Z,1736378005.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.699440 m, bearing: 345.082005 deg, approach rate: 0.038238 m/s, LOS rate: -0.303570 deg/s, cmd heading: 71.177094 deg, new cmd heading: 70.797695 deg. 2025-01-08T23:13:25.801Z,1736378005.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.235653 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:25.992Z,1736378005.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:25.993Z,1736378005.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.217551 2025-01-08T23:13:26.167Z,1736378006.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:26.175Z,1736378006.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:26.177Z,1736378006.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:26.180Z,1736378006.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.717026 m, bearing: 344.941825 deg, approach rate: 0.042483 m/s, LOS rate: -0.338586 deg/s, cmd heading: 70.797697 deg, new cmd heading: 70.377229 deg. 2025-01-08T23:13:26.181Z,1736378006.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228314 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:26.244Z,1736378006.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:26.245Z,1736378006.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.469872 2025-01-08T23:13:26.496Z,1736378006.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:26.496Z,1736378006.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.721382 2025-01-08T23:13:26.573Z,1736378006.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:26.685Z,1736378006.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:26.717Z,1736378006.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.734825 m, bearing: 344.803749 deg, approach rate: 0.035028 m/s, LOS rate: -0.271682 deg/s, cmd heading: 70.377231 deg, new cmd heading: 69.963071 deg. 2025-01-08T23:13:26.718Z,1736378006.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221086 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:26.748Z,1736378006.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:26.748Z,1736378006.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.973347 2025-01-08T23:13:26.000Z,1736378007.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:27.000Z,1736378007.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.225447 2025-01-08T23:13:27.156Z,1736378007.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:27.165Z,1736378007.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:27.168Z,1736378007.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.766869 m, bearing: 344.591379 deg, approach rate: 0.066826 m/s, LOS rate: -0.442773 deg/s, cmd heading: 69.963069 deg, new cmd heading: 69.326161 deg. 2025-01-08T23:13:27.169Z,1736378007.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209970 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:27.253Z,1736378007.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:27.254Z,1736378007.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.479094 2025-01-08T23:13:27.504Z,1736378007.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:27.505Z,1736378007.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.730517 2025-01-08T23:13:27.551Z,1736378007.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:27.560Z,1736378007.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:27.562Z,1736378007.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.789391 m, bearing: 344.447444 deg, approach rate: 0.057013 m/s, LOS rate: -0.364290 deg/s, cmd heading: 69.326161 deg, new cmd heading: 68.894448 deg. 2025-01-08T23:13:27.564Z,1736378007.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.202435 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:27.756Z,1736378007.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:27.757Z,1736378007.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.981535 2025-01-08T23:13:27.968Z,1736378007.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:27.977Z,1736378007.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:27.980Z,1736378007.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.816338 m, bearing: 344.286822 deg, approach rate: 0.064517 m/s, LOS rate: -0.384475 deg/s, cmd heading: 68.894445 deg, new cmd heading: 68.412701 deg. 2025-01-08T23:13:27.981Z,1736378007.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194027 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:28.008Z,1736378008.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:28.009Z,1736378008.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.233537 2025-01-08T23:13:28.260Z,1736378008.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:28.260Z,1736378008.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.485390 2025-01-08T23:13:28.347Z,1736378008.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:28.355Z,1736378008.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:28.357Z,1736378008.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:28.360Z,1736378008.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.841087 m, bearing: 344.140543 deg, approach rate: 0.065114 m/s, LOS rate: -0.384762 deg/s, cmd heading: 68.412705 deg, new cmd heading: 67.973969 deg. 2025-01-08T23:13:28.361Z,1736378008.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186370 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:28.513Z,1736378008.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:28.514Z,1736378008.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.738751 2025-01-08T23:13:28.757Z,1736378008.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:28.764Z,1736378008.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:28.764Z,1736378008.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.989471 2025-01-08T23:13:28.790Z,1736378008.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:28.797Z,1736378008.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.868103 m, bearing: 343.982454 deg, approach rate: 0.062397 m/s, LOS rate: -0.365050 deg/s, cmd heading: 67.973967 deg, new cmd heading: 67.499819 deg. 2025-01-08T23:13:28.798Z,1736378008.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.178094 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:29.016Z,1736378009.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:29.017Z,1736378009.017 [DAT](INFO): Reached modem response timeout 2025-01-08T23:13:29.018Z,1736378009.018 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:13:29.019Z,1736378009.019 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:29.180Z,1736378009.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:29.206Z,1736378009.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:29.225Z,1736378009.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.895981 m, bearing: 343.822145 deg, approach rate: 0.067133 m/s, LOS rate: -0.385953 deg/s, cmd heading: 67.499816 deg, new cmd heading: 67.019014 deg. 2025-01-08T23:13:29.226Z,1736378009.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169702 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:29.268Z,1736378009.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:29.268Z,1736378009.268 [DAT](INFO): Reached modem response timeout 2025-01-08T23:13:29.269Z,1736378009.269 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:13:29.269Z,1736378009.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:29.522Z,1736378009.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:29.522Z,1736378009.522 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:13:29.523Z,1736378009.523 [DAT](INFO): response not received 2025-01-08T23:13:29.523Z,1736378009.523 [DAT](INFO): DAT read: user:3100> 2025-01-08T23:13:29.524Z,1736378009.524 [DAT](INFO): DAT read: Tx time:23:13:28.9271 2025-01-08T23:13:29.524Z,1736378009.524 [DAT](INFO): Ping request sent. 2025-01-08T23:13:29.524Z,1736378009.524 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:13:29.524Z,1736378009.524 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:29.525Z,1736378009.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723 2025-01-08T23:13:29.691Z,1736378009.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:29.708Z,1736378009.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:29.710Z,1736378009.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.927223 m, bearing: 343.629716 deg, approach rate: 0.062765 m/s, LOS rate: -0.386481 deg/s, cmd heading: 67.019011 deg, new cmd heading: 66.441900 deg. 2025-01-08T23:13:29.718Z,1736378009.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159630 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:29.772Z,1736378009.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:29.773Z,1736378009.773 [DAT](INFO): DAT read: TxSync time:23:13:28.9263 2025-01-08T23:13:29.774Z,1736378009.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249370 2025-01-08T23:13:30.024Z,1736378010.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:30.025Z,1736378010.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500172 2025-01-08T23:13:30.072Z,1736378010.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:30.081Z,1736378010.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:30.084Z,1736378010.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.953606 m, bearing: 343.488157 deg, approach rate: 0.069908 m/s, LOS rate: -0.375017 deg/s, cmd heading: 66.441901 deg, new cmd heading: 66.017326 deg. 2025-01-08T23:13:30.085Z,1736378010.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.152220 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:30.276Z,1736378010.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:30.276Z,1736378010.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751959 2025-01-08T23:13:30.431Z,1736378010.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:30.439Z,1736378010.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:30.441Z,1736378010.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:30.444Z,1736378010.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.977448 m, bearing: 343.355931 deg, approach rate: 0.066210 m/s, LOS rate: -0.367122 deg/s, cmd heading: 66.017323 deg, new cmd heading: 65.620733 deg. 2025-01-08T23:13:30.445Z,1736378010.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145298 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:30.528Z,1736378010.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:30.529Z,1736378010.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004294 2025-01-08T23:13:30.780Z,1736378010.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:30.780Z,1736378010.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256092 2025-01-08T23:13:30.843Z,1736378010.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:30.851Z,1736378010.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:30.855Z,1736378010.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.004028 m, bearing: 343.204845 deg, approach rate: 0.064794 m/s, LOS rate: -0.368205 deg/s, cmd heading: 65.620735 deg, new cmd heading: 65.167590 deg. 2025-01-08T23:13:30.859Z,1736378010.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137389 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:31.032Z,1736378011.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:31.032Z,1736378011.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508125 2025-01-08T23:13:31.257Z,1736378011.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:31.267Z,1736378011.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:31.284Z,1736378011.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:31.285Z,1736378011.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760885 2025-01-08T23:13:31.302Z,1736378011.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.028694 m, bearing: 343.062914 deg, approach rate: 0.059385 m/s, LOS rate: -0.341638 deg/s, cmd heading: 65.167586 deg, new cmd heading: 64.741890 deg. 2025-01-08T23:13:31.305Z,1736378011.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129959 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:31.536Z,1736378011.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:31.538Z,1736378011.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013461 2025-01-08T23:13:31.652Z,1736378011.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:31.697Z,1736378011.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:31.700Z,1736378011.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.049927 m, bearing: 342.928486 deg, approach rate: 0.049589 m/s, LOS rate: -0.313903 deg/s, cmd heading: 64.741888 deg, new cmd heading: 64.338684 deg. 2025-01-08T23:13:31.701Z,1736378011.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122922 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:31.788Z,1736378011.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:31.789Z,1736378011.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265127 2025-01-08T23:13:32.040Z,1736378012.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:32.040Z,1736378012.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516094 2025-01-08T23:13:32.107Z,1736378012.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:32.117Z,1736378012.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:32.120Z,1736378012.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.066330 m, bearing: 342.784466 deg, approach rate: 0.038877 m/s, LOS rate: -0.341294 deg/s, cmd heading: 64.338681 deg, new cmd heading: 63.906688 deg. 2025-01-08T23:13:32.121Z,1736378012.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.115382 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:32.292Z,1736378012.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:32.292Z,1736378012.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768075 2025-01-08T23:13:32.452Z,1736378012.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:32.460Z,1736378012.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:32.462Z,1736378012.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:32.465Z,1736378012.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.076942 m, bearing: 342.675335 deg, approach rate: 0.030729 m/s, LOS rate: -0.315969 deg/s, cmd heading: 63.906685 deg, new cmd heading: 63.579327 deg. 2025-01-08T23:13:32.466Z,1736378012.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109669 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:32.544Z,1736378012.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:32.546Z,1736378012.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021150 2025-01-08T23:13:32.796Z,1736378012.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:32.796Z,1736378012.796 [DAT](INFO): DAT read: Rx Time:23:13:31.4706 2025-01-08T23:13:32.797Z,1736378012.797 [DAT](INFO): Rx dataTimestamp_ set to:1736378012.796609 2025-01-08T23:13:32.797Z,1736378012.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273077 2025-01-08T23:13:32.866Z,1736378012.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:32.883Z,1736378012.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:32.905Z,1736378012.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.087173 m, bearing: 342.544466 deg, approach rate: 0.024315 m/s, LOS rate: -0.310999 deg/s, cmd heading: 63.579328 deg, new cmd heading: 63.186760 deg. 2025-01-08T23:13:32.914Z,1736378012.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.102817 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:33.049Z,1736378013.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:33.050Z,1736378013.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525027 2025-01-08T23:13:33.280Z,1736378013.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:33.289Z,1736378013.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:33.300Z,1736378013.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:33.307Z,1736378013.307 [DAT](INFO): DAT read: 23:13:31.4706 LVL= 24928, 32753, 18130, 32755, AGC= 63, IDX= 303,-0.10, 1.188, 0.136, 1.748, 1.107, PHS= 0.169,-0.924, 0.638, RAW= 167.0, 1.7, CAL= 168.1, -6.9, ROT= 341.9, 6.9 2025-01-08T23:13:33.308Z,1736378013.308 [DAT](INFO): got valid direction response: 23:13:31.4706 LVL= 24928, 32753, 18130, 32755, AGC= 63, IDX= 303,-0.10, 1.188, 0.136, 1.748, 1.107, PHS= 0.169,-0.924, 0.638, RAW= 167.0, 1.7, CAL= 168.1, -6.9, ROT= 341.9, 6.9 2025-01-08T23:13:33.309Z,1736378013.309 [DAT](INFO): DAT read: $Error in header 2025-01-08T23:13:33.309Z,1736378013.309 [DAT](INFO): Received a bad header 2025-01-08T23:13:33.316Z,1736378013.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.093048 m, bearing: 342.427748 deg, approach rate: 0.014445 m/s, LOS rate: -0.286972 deg/s, cmd heading: 63.186763 deg, new cmd heading: 62.836630 deg. 2025-01-08T23:13:33.317Z,1736378013.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.096706 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:33.324Z,1736378013.324 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T23:13:33.325Z,1736378013.325 [DAT](INFO): direction in FSK: [-0.138529,-0.953989,0.265921] 2025-01-08T23:13:33.328Z,1736378013.328 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:33.328Z,1736378013.328 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:33.328Z,1736378013.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:33.552Z,1736378013.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:33.553Z,1736378013.553 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:33.554Z,1736378013.554 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:33.554Z,1736378013.554 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:33.684Z,1736378013.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:33.697Z,1736378013.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:33.700Z,1736378013.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.099258 m, bearing: 342.313824 deg, approach rate: 0.015247 m/s, LOS rate: -0.279677 deg/s, cmd heading: 62.836627 deg, new cmd heading: 62.494877 deg. 2025-01-08T23:13:33.701Z,1736378013.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.090741 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:33.804Z,1736378013.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:33.805Z,1736378013.805 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:33.805Z,1736378013.805 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:33.805Z,1736378013.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:34.056Z,1736378014.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:34.056Z,1736378014.056 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:34.056Z,1736378014.056 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:34.056Z,1736378014.056 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:34.131Z,1736378014.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:34.156Z,1736378014.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:34.159Z,1736378014.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.101631 m, bearing: 342.202058 deg, approach rate: 0.005221 m/s, LOS rate: -0.245942 deg/s, cmd heading: 62.494879 deg, new cmd heading: 62.159593 deg. 2025-01-08T23:13:34.184Z,1736378014.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.084890 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:34.308Z,1736378014.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:34.309Z,1736378014.309 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:34.309Z,1736378014.309 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:34.309Z,1736378014.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:34.494Z,1736378014.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:34.501Z,1736378014.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:34.503Z,1736378014.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:34.526Z,1736378014.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.097961 m, bearing: 342.111272 deg, approach rate: -0.010441 m/s, LOS rate: -0.258307 deg/s, cmd heading: 62.159591 deg, new cmd heading: 61.887226 deg. 2025-01-08T23:13:34.527Z,1736378014.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.080136 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:34.560Z,1736378014.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:34.560Z,1736378014.560 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:34.561Z,1736378014.561 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:34.561Z,1736378014.561 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:34.813Z,1736378014.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:34.813Z,1736378014.813 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:34.813Z,1736378014.813 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:34.813Z,1736378014.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:34.892Z,1736378014.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:34.937Z,1736378014.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:34.961Z,1736378014.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.092094 m, bearing: 342.011616 deg, approach rate: -0.013693 m/s, LOS rate: -0.232603 deg/s, cmd heading: 61.887224 deg, new cmd heading: 61.588244 deg. 2025-01-08T23:13:34.968Z,1736378014.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074918 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:35.065Z,1736378015.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:35.066Z,1736378015.066 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:35.066Z,1736378015.066 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:35.066Z,1736378015.066 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:35.316Z,1736378015.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:35.316Z,1736378015.316 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:35.316Z,1736378015.316 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:35.316Z,1736378015.316 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:35.319Z,1736378015.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:35.346Z,1736378015.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:35.352Z,1736378015.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.077759 m, bearing: 341.913106 deg, approach rate: -0.034594 m/s, LOS rate: -0.237747 deg/s, cmd heading: 61.588246 deg, new cmd heading: 61.292685 deg. 2025-01-08T23:13:35.354Z,1736378015.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.069759 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:35.568Z,1736378015.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:35.568Z,1736378015.568 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:35.568Z,1736378015.568 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:35.568Z,1736378015.568 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:35.703Z,1736378015.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:35.737Z,1736378015.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:35.744Z,1736378015.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.063118 m, bearing: 341.824480 deg, approach rate: -0.037409 m/s, LOS rate: -0.226476 deg/s, cmd heading: 61.292683 deg, new cmd heading: 61.026773 deg. 2025-01-08T23:13:35.745Z,1736378015.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065118 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:35.821Z,1736378015.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:35.823Z,1736378015.823 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:35.824Z,1736378015.824 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:35.824Z,1736378015.824 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:36.072Z,1736378016.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:36.072Z,1736378016.072 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:36.072Z,1736378016.072 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:36.072Z,1736378016.072 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:36.259Z,1736378016.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:36.267Z,1736378016.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:36.271Z,1736378016.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.040253 m, bearing: 341.700662 deg, approach rate: -0.043115 m/s, LOS rate: -0.233519 deg/s, cmd heading: 61.026770 deg, new cmd heading: 60.655249 deg. 2025-01-08T23:13:36.272Z,1736378016.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.058634 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:36.325Z,1736378016.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:36.326Z,1736378016.326 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:36.326Z,1736378016.326 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:36.326Z,1736378016.326 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:36.576Z,1736378016.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:36.576Z,1736378016.576 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:36.576Z,1736378016.576 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:36.576Z,1736378016.576 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:36.665Z,1736378016.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:36.684Z,1736378016.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:36.686Z,1736378016.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:36.693Z,1736378016.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 118.020035 m, bearing: 341.610392 deg, approach rate: -0.048262 m/s, LOS rate: -0.215520 deg/s, cmd heading: 60.655249 deg, new cmd heading: 60.384396 deg. 2025-01-08T23:13:36.694Z,1736378016.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.053907 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:36.828Z,1736378016.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:36.828Z,1736378016.828 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:36.828Z,1736378016.828 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:36.828Z,1736378016.828 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:37.080Z,1736378017.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:37.080Z,1736378017.080 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:37.080Z,1736378017.080 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:37.080Z,1736378017.080 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:37.202Z,1736378017.202 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +8 +537.77, -9.09, 6.72, 0.00 2025-01-08T23:13:37.210Z,1736378017.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:13:37.210Z,1736378017.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:37.221Z,1736378017.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:37.224Z,1736378017.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.991158 m, bearing: 341.489335 deg, approach rate: -0.054164 m/s, LOS rate: -0.227119 deg/s, cmd heading: 60.384398 deg, new cmd heading: 60.021143 deg. 2025-01-08T23:13:37.225Z,1736378017.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.047567 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:37.332Z,1736378017.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:37.332Z,1736378017.332 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:37.332Z,1736378017.332 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:37.332Z,1736378017.332 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:37.585Z,1736378017.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:37.586Z,1736378017.586 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:37.586Z,1736378017.586 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:37.586Z,1736378017.586 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:37.680Z,1736378017.680 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:13:37.705Z,1736378017.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T23:13:37.705Z,1736378017.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:37.714Z,1736378017.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:37.716Z,1736378017.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.962029 m, bearing: 341.379545 deg, approach rate: -0.058937 m/s, LOS rate: -0.222195 deg/s, cmd heading: 60.021141 deg, new cmd heading: 59.691694 deg. 2025-01-08T23:13:37.717Z,1736378017.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.041817 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:37.836Z,1736378017.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:37.836Z,1736378017.836 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:37.836Z,1736378017.836 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:37.836Z,1736378017.836 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:38.088Z,1736378018.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:38.089Z,1736378018.089 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:38.089Z,1736378018.089 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:38.089Z,1736378018.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:38.118Z,1736378018.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:38.157Z,1736378018.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:38.164Z,1736378018.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.932381 m, bearing: 341.279384 deg, approach rate: -0.066869 m/s, LOS rate: -0.225965 deg/s, cmd heading: 59.691694 deg, new cmd heading: 59.391137 deg. 2025-01-08T23:13:38.165Z,1736378018.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.036571 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:38.288Z,1736378018.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:13:38.340Z,1736378018.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:38.340Z,1736378018.340 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:38.340Z,1736378018.340 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:38.341Z,1736378018.341 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:38.506Z,1736378018.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:38.515Z,1736378018.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:38.518Z,1736378018.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.903946 m, bearing: 341.185295 deg, approach rate: -0.079513 m/s, LOS rate: -0.263167 deg/s, cmd heading: 59.391138 deg, new cmd heading: 59.108806 deg. 2025-01-08T23:13:38.519Z,1736378018.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.031643 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:38.592Z,1736378018.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:38.592Z,1736378018.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:38.592Z,1736378018.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:38.592Z,1736378018.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:38.844Z,1736378018.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:38.844Z,1736378018.844 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:38.844Z,1736378018.844 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:38.845Z,1736378018.845 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:38.916Z,1736378018.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:38.924Z,1736378018.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:38.926Z,1736378018.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:38.928Z,1736378018.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.873413 m, bearing: 341.086034 deg, approach rate: -0.074274 m/s, LOS rate: -0.241524 deg/s, cmd heading: 59.108805 deg, new cmd heading: 58.810949 deg. 2025-01-08T23:13:38.929Z,1736378018.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.026445 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:39.096Z,1736378019.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:39.096Z,1736378019.096 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:39.096Z,1736378019.096 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:39.096Z,1736378019.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:39.292Z,1736378019.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:13:39.330Z,1736378019.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:39.340Z,1736378019.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:39.343Z,1736378019.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.840126 m, bearing: 340.976343 deg, approach rate: -0.080295 m/s, LOS rate: -0.264673 deg/s, cmd heading: 58.810948 deg, new cmd heading: 58.481785 deg. 2025-01-08T23:13:39.348Z,1736378019.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:39.348Z,1736378019.348 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:39.348Z,1736378019.348 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:39.348Z,1736378019.348 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:13:39.364Z,1736378019.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.020700 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:39.600Z,1736378019.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:39.600Z,1736378019.600 [DAT](INFO): Reached modem response timeout 2025-01-08T23:13:39.600Z,1736378019.600 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:13:39.601Z,1736378019.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:39.702Z,1736378019.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:39.714Z,1736378019.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:39.733Z,1736378019.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.809982 m, bearing: 340.878008 deg, approach rate: -0.080605 m/s, LOS rate: -0.263016 deg/s, cmd heading: 58.481787 deg, new cmd heading: 58.186709 deg. 2025-01-08T23:13:39.734Z,1736378019.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.015550 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:39.852Z,1736378019.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:39.852Z,1736378019.852 [DAT](INFO): Reached modem response timeout 2025-01-08T23:13:39.853Z,1736378019.853 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:13:39.853Z,1736378019.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:40.104Z,1736378020.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:40.105Z,1736378020.105 [DAT](INFO): Reached modem response timeout 2025-01-08T23:13:40.105Z,1736378020.105 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:13:40.105Z,1736378020.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:40.166Z,1736378020.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:40.184Z,1736378020.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:40.192Z,1736378020.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.776070 m, bearing: 340.745830 deg, approach rate: -0.072145 m/s, LOS rate: -0.281272 deg/s, cmd heading: 58.186709 deg, new cmd heading: 57.790069 deg. 2025-01-08T23:13:40.193Z,1736378020.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008627 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:40.356Z,1736378020.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:40.356Z,1736378020.356 [DAT](INFO): Reached modem response timeout 2025-01-08T23:13:40.356Z,1736378020.356 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:13:40.356Z,1736378020.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:40.521Z,1736378020.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:40.530Z,1736378020.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:40.533Z,1736378020.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.750168 m, bearing: 340.644847 deg, approach rate: -0.074908 m/s, LOS rate: -0.292108 deg/s, cmd heading: 57.790067 deg, new cmd heading: 57.487052 deg. 2025-01-08T23:13:40.534Z,1736378020.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003338 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:40.608Z,1736378020.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:40.609Z,1736378020.609 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:13:40.609Z,1736378020.609 [DAT](INFO): response not received 2025-01-08T23:13:40.609Z,1736378020.609 [DAT](INFO): DAT read: user:3102> 2025-01-08T23:13:40.610Z,1736378020.610 [DAT](INFO): DAT read: Tx time:23:13:39.8772 2025-01-08T23:13:40.610Z,1736378020.610 [DAT](INFO): Ping request sent. 2025-01-08T23:13:40.610Z,1736378020.610 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:13:40.611Z,1736378020.611 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:40.611Z,1736378020.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000845 2025-01-08T23:13:40.860Z,1736378020.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:40.860Z,1736378020.860 [DAT](INFO): DAT read: TxSync time:23:13:39.8764 2025-01-08T23:13:40.861Z,1736378020.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250772 2025-01-08T23:13:40.932Z,1736378020.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:40.947Z,1736378020.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:40.949Z,1736378020.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:40.956Z,1736378020.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.720062 m, bearing: 340.527836 deg, approach rate: -0.071811 m/s, LOS rate: -0.279178 deg/s, cmd heading: 57.487052 deg, new cmd heading: 57.135933 deg. 2025-01-08T23:13:40.957Z,1736378020.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997210 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:41.112Z,1736378021.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:41.113Z,1736378021.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502228 2025-01-08T23:13:41.339Z,1736378021.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:41.364Z,1736378021.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:41.364Z,1736378021.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753822 2025-01-08T23:13:41.365Z,1736378021.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:41.372Z,1736378021.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.693619 m, bearing: 340.399456 deg, approach rate: -0.066398 m/s, LOS rate: -0.322424 deg/s, cmd heading: 57.135933 deg, new cmd heading: 56.750712 deg. 2025-01-08T23:13:41.373Z,1736378021.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990487 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:41.616Z,1736378021.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:41.617Z,1736378021.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006038 2025-01-08T23:13:41.740Z,1736378021.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:41.750Z,1736378021.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:41.753Z,1736378021.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.668076 m, bearing: 340.272613 deg, approach rate: -0.063380 m/s, LOS rate: -0.314800 deg/s, cmd heading: 56.750713 deg, new cmd heading: 56.370110 deg. 2025-01-08T23:13:41.754Z,1736378021.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983844 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:41.868Z,1736378021.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:41.868Z,1736378021.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258009 2025-01-08T23:13:42.120Z,1736378022.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:42.121Z,1736378022.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510546 2025-01-08T23:13:42.166Z,1736378022.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:42.176Z,1736378022.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:42.179Z,1736378022.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.638237 m, bearing: 340.132823 deg, approach rate: -0.070145 m/s, LOS rate: -0.328702 deg/s, cmd heading: 56.370111 deg, new cmd heading: 55.950644 deg. 2025-01-08T23:13:42.180Z,1736378022.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.976523 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:42.372Z,1736378022.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:42.372Z,1736378022.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761938 2025-01-08T23:13:42.532Z,1736378022.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:42.558Z,1736378022.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:42.573Z,1736378022.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.612106 m, bearing: 340.012875 deg, approach rate: -0.068483 m/s, LOS rate: -0.314431 deg/s, cmd heading: 55.950642 deg, new cmd heading: 55.590721 deg. 2025-01-08T23:13:42.575Z,1736378022.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970241 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:42.624Z,1736378022.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:42.625Z,1736378022.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014098 2025-01-08T23:13:42.876Z,1736378022.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:42.878Z,1736378022.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267518 2025-01-08T23:13:42.962Z,1736378022.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:42.984Z,1736378022.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:42.986Z,1736378022.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:42.993Z,1736378022.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.580971 m, bearing: 339.871592 deg, approach rate: -0.072705 m/s, LOS rate: -0.329998 deg/s, cmd heading: 55.590722 deg, new cmd heading: 55.166771 deg. 2025-01-08T23:13:42.994Z,1736378022.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.962842 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:43.128Z,1736378023.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:43.129Z,1736378023.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518782 2025-01-08T23:13:43.380Z,1736378023.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:43.380Z,1736378023.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769789 2025-01-08T23:13:43.416Z,1736378023.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:43.431Z,1736378023.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:43.439Z,1736378023.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.552193 m, bearing: 339.722112 deg, approach rate: -0.064665 m/s, LOS rate: -0.335965 deg/s, cmd heading: 55.166772 deg, new cmd heading: 54.718232 deg. 2025-01-08T23:13:43.444Z,1736378023.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.955013 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:43.632Z,1736378023.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:43.633Z,1736378023.633 [DAT](INFO): DAT read: Rx Time:23:13:42.4120 2025-01-08T23:13:43.633Z,1736378023.633 [DAT](INFO): Rx dataTimestamp_ set to:1736378023.632737 2025-01-08T23:13:43.634Z,1736378023.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023065 2025-01-08T23:13:43.768Z,1736378023.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:43.797Z,1736378023.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.60 m. 2025-01-08T23:13:43.804Z,1736378023.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.599998 m, nav range: 117.528809 m, bearing: 339.603324 deg, approach rate: -0.063787 m/s, LOS rate: -0.324094 deg/s, cmd heading: 54.718233 deg, new cmd heading: 54.361803 deg. 2025-01-08T23:13:43.805Z,1736378023.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.948792 target range: 112.599998 and range: 112.60 m. 2025-01-08T23:13:43.884Z,1736378023.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:43.884Z,1736378023.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273945 2025-01-08T23:13:44.136Z,1736378024.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:44.147Z,1736378024.147 [DAT](INFO): DAT read: 23:13:42.4120 LVL= 25632, 30897, 18546, 32755, AGC= 66, IDX= 358, 0.10, 1.312,-0.047, 1.591, 1.119, PHS= 0.281,-1.119, 0.469, RAW= 156.2, 5.0, CAL= 157.2, -4.2, ROT= 352.8, 4.2 2025-01-08T23:13:44.148Z,1736378024.148 [DAT](INFO): got valid direction response: 23:13:42.4120 LVL= 25632, 30897, 18546, 32755, AGC= 66, IDX= 358, 0.10, 1.312,-0.047, 1.591, 1.119, PHS= 0.281,-1.119, 0.469, RAW= 156.2, 5.0, CAL= 157.2, -4.2, ROT= 352.8, 4.2 2025-01-08T23:13:44.149Z,1736378024.149 [DAT](INFO): DAT read: Bearing 352.8, 4.2 (Local) 2025-01-08T23:13:44.149Z,1736378024.149 [DAT](INFO): Local bearing/azimuth received: Bearing 352.8, 4.2 (Local) 2025-01-08T23:13:44.151Z,1736378024.151 [DAT](INFO): DAT read: Range 10 to 50 : 97.9 m (Round-trip 130.6 ms) speed 0.4 m/s 2025-01-08T23:13:44.152Z,1736378024.152 [DAT](INFO): DAT read: user:3103> 2025-01-08T23:13:44.153Z,1736378024.153 [DAT](INFO): DAT read: Tx time:23:13:43.5272 2025-01-08T23:13:44.153Z,1736378024.153 [DAT](INFO): Ping request sent. 2025-01-08T23:13:44.153Z,1736378024.153 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:13:44.154Z,1736378024.154 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:13:44.155Z,1736378024.155 [DAT](INFO): direction in FSK: [-0.212063,-0.873248,0.438711] 2025-01-08T23:13:44.156Z,1736378024.156 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:44.156Z,1736378024.156 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:44.159Z,1736378024.159 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:44.168Z,1736378024.168 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:44.362Z,1736378024.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:44.388Z,1736378024.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:44.389Z,1736378024.389 [DAT](INFO): DAT read: TxSync time:23:13:43.5264 2025-01-08T23:13:44.416Z,1736378024.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.900002 m, deltaT: 25.449638 s, deltaX: -14.699997 m, approachRate: -0.577611 m/s, rangeRepo size: 4 2025-01-08T23:13:44.418Z,1736378024.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.900002 m, bearing: 314.970789 deg, lat: 36.905160 deg, lon: -122.120735 deg, deltaT: 25.449638 s, deltaX: -14.699997 m, approachRate: -0.577611 m/s, posRepo size: 4 2025-01-08T23:13:44.419Z,1736378024.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.90 m. 2025-01-08T23:13:44.426Z,1736378024.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.900002 m, nav range: 115.443535 m, bearing: 338.541684 deg, approach rate: 0.000000 m/s, LOS rate: -0.324094 deg/s, cmd heading: 54.361803 deg, new cmd heading: 53.769176 deg. 2025-01-08T23:13:44.427Z,1736378024.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.938449 target range: 97.900002 and range: 97.90 m. 2025-01-08T23:13:44.640Z,1736378024.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:44.719Z,1736378024.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:44.729Z,1736378024.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.90 m. 2025-01-08T23:13:44.732Z,1736378024.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.900002 m, nav range: 115.419846 m, bearing: 338.422260 deg, approach rate: -0.073607 m/s, LOS rate: -0.371151 deg/s, cmd heading: 53.769175 deg, new cmd heading: 53.410834 deg. 2025-01-08T23:13:44.733Z,1736378024.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.932195 target range: 97.900002 and range: 97.90 m. 2025-01-08T23:13:44.892Z,1736378024.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:45.144Z,1736378025.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:45.185Z,1736378025.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:45.193Z,1736378025.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:45.195Z,1736378025.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.90 m. 2025-01-08T23:13:45.198Z,1736378025.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.900002 m, nav range: 115.390137 m, bearing: 338.268310 deg, approach rate: -0.063716 m/s, LOS rate: -0.330258 deg/s, cmd heading: 53.410833 deg, new cmd heading: 52.948874 deg. 2025-01-08T23:13:45.199Z,1736378025.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.924132 target range: 97.900002 and range: 97.90 m. 2025-01-08T23:13:45.398Z,1736378025.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:45.400Z,1736378025.400 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:45.401Z,1736378025.401 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:45.401Z,1736378025.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:45.524Z,1736378025.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:45.532Z,1736378025.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.90 m. 2025-01-08T23:13:45.535Z,1736378025.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.900002 m, nav range: 115.368553 m, bearing: 338.156512 deg, approach rate: -0.063971 m/s, LOS rate: -0.331419 deg/s, cmd heading: 52.948873 deg, new cmd heading: 52.613421 deg. 2025-01-08T23:13:45.536Z,1736378025.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.918277 target range: 97.900002 and range: 97.90 m. 2025-01-08T23:13:45.649Z,1736378025.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:45.650Z,1736378025.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496845 2025-01-08T23:13:45.900Z,1736378025.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:45.900Z,1736378025.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747393 2025-01-08T23:13:45.920Z,1736378025.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:45.933Z,1736378025.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.90 m. 2025-01-08T23:13:45.937Z,1736378025.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.900002 m, nav range: 115.342438 m, bearing: 338.025744 deg, approach rate: -0.065212 m/s, LOS rate: -0.326612 deg/s, cmd heading: 52.613422 deg, new cmd heading: 52.221036 deg. 2025-01-08T23:13:45.940Z,1736378025.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.911429 target range: 97.900002 and range: 97.90 m. 2025-01-08T23:13:46.153Z,1736378026.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:46.155Z,1736378026.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001511 2025-01-08T23:13:46.405Z,1736378026.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:46.405Z,1736378026.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252138 2025-01-08T23:13:46.444Z,1736378026.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:46.462Z,1736378026.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.90 m. 2025-01-08T23:13:46.469Z,1736378026.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.900002 m, nav range: 115.305885 m, bearing: 337.860098 deg, approach rate: -0.069093 m/s, LOS rate: -0.313210 deg/s, cmd heading: 52.221038 deg, new cmd heading: 51.723956 deg. 2025-01-08T23:13:46.470Z,1736378026.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902753 target range: 97.900002 and range: 97.90 m. 2025-01-08T23:13:46.656Z,1736378026.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:46.657Z,1736378026.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504190 2025-01-08T23:13:46.796Z,1736378026.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:46.805Z,1736378026.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.90 m. 2025-01-08T23:13:46.808Z,1736378026.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.900002 m, nav range: 115.279976 m, bearing: 337.749058 deg, approach rate: -0.075410 m/s, LOS rate: -0.323256 deg/s, cmd heading: 51.723957 deg, new cmd heading: 51.390766 deg. 2025-01-08T23:13:46.809Z,1736378026.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896938 target range: 97.900002 and range: 97.90 m. 2025-01-08T23:13:46.909Z,1736378026.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:46.910Z,1736378026.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756818 2025-01-08T23:13:47.161Z,1736378027.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:47.165Z,1736378027.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010995 2025-01-08T23:13:47.236Z,1736378027.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:47.245Z,1736378027.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:47.247Z,1736378027.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.90 m. 2025-01-08T23:13:47.250Z,1736378027.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.900002 m, nav range: 115.244362 m, bearing: 337.617037 deg, approach rate: -0.080710 m/s, LOS rate: -0.299286 deg/s, cmd heading: 51.390767 deg, new cmd heading: 50.994587 deg. 2025-01-08T23:13:47.251Z,1736378027.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.890023 target range: 97.900002 and range: 97.90 m. 2025-01-08T23:13:47.412Z,1736378027.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:47.413Z,1736378027.413 [DAT](INFO): DAT read: Rx Time:23:13:46.0595 2025-01-08T23:13:47.413Z,1736378027.413 [DAT](INFO): Rx dataTimestamp_ set to:1736378027.412720 2025-01-08T23:13:47.414Z,1736378027.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260451 2025-01-08T23:13:47.616Z,1736378027.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:47.626Z,1736378027.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.90 m. 2025-01-08T23:13:47.629Z,1736378027.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.900002 m, nav range: 115.212067 m, bearing: 337.503339 deg, approach rate: -0.085133 m/s, LOS rate: -0.299801 deg/s, cmd heading: 50.994588 deg, new cmd heading: 50.653404 deg. 2025-01-08T23:13:47.630Z,1736378027.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.884069 target range: 97.900002 and range: 97.90 m. 2025-01-08T23:13:47.664Z,1736378027.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:47.665Z,1736378027.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512013 2025-01-08T23:13:47.916Z,1736378027.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:47.926Z,1736378027.926 [DAT](INFO): DAT read: 23:13:46.0595 LVL= 21216, 30097, 19106, 32755, AGC= 66, IDX= 411, 0.36,-2.241, 2.705,-2.133,-2.565, PHS= 0.413,-0.966, 0.430, RAW= 150.6, 1.8, CAL= 153.2, -7.1, ROT= 356.8, 7.1 2025-01-08T23:13:47.927Z,1736378027.927 [DAT](INFO): got valid direction response: 23:13:46.0595 LVL= 21216, 30097, 19106, 32755, AGC= 66, IDX= 411, 0.36,-2.241, 2.705,-2.133,-2.565, PHS= 0.413,-0.966, 0.430, RAW= 150.6, 1.8, CAL= 153.2, -7.1, ROT= 356.8, 7.1 2025-01-08T23:13:47.928Z,1736378027.928 [DAT](INFO): DAT read: Bearing 356.8, 7.1 (Local) 2025-01-08T23:13:47.928Z,1736378027.928 [DAT](INFO): Local bearing/azimuth received: Bearing 356.8, 7.1 (Local) 2025-01-08T23:13:47.930Z,1736378027.930 [DAT](INFO): DAT read: Range 10 to 50 : 96.0 m (Round-trip 128.1 d 0.4 m/s 2025-01-08T23:13:47.930Z,1736378027.930 [DAT](INFO): DAT read: user:3104> 2025-01-08T23:13:47.931Z,1736378027.931 [DAT](INFO): DAT read: Tx time:23:13:47.1773 2025-01-08T23:13:47.932Z,1736378027.932 [DAT](INFO): Ping request sent. 2025-01-08T23:13:47.932Z,1736378027.932 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:13:47.932Z,1736378027.932 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:13:47.933Z,1736378027.933 [DAT](INFO): direction in FSK: [-0.155837,-0.831027,0.533956] 2025-01-08T23:13:47.933Z,1736378027.933 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:47.933Z,1736378027.933 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:47.937Z,1736378027.937 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:47.937Z,1736378027.937 [DAT](INFO): publishing direction and range info 2025-01-08T23:13:48.044Z,1736378028.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:48.085Z,1736378028.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 96.000000 m, deltaT: 3.780463 s, deltaX: -1.900002 m, approachRate: -0.502584 m/s, rangeRepo size: 4 2025-01-08T23:13:48.092Z,1736378028.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 96.000000 m, bearing: 314.571230 deg, lat: 36.905123 deg, lon: -122.120796 deg, deltaT: 3.780463 s, deltaX: -1.900002 m, approachRate: -0.502584 m/s, posRepo size: 4 2025-01-08T23:13:48.093Z,1736378028.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:48.114Z,1736378028.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.579903 m, bearing: 334.070718 deg, approach rate: 0.000000 m/s, LOS rate: -0.299801 deg/s, cmd heading: 50.653403 deg, new cmd heading: 50.240798 deg. 2025-01-08T23:13:48.122Z,1736378028.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876867 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:48.168Z,1736378028.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:48.169Z,1736378028.169 [DAT](INFO): DAT read: TxSync time:23:13:47.1765 2025-01-08T23:13:48.421Z,1736378028.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:48.515Z,1736378028.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:48.539Z,1736378028.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:48.577Z,1736378028.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.549744 m, bearing: 333.935144 deg, approach rate: -0.066437 m/s, LOS rate: -0.298735 deg/s, cmd heading: 50.240799 deg, new cmd heading: 49.833974 deg. 2025-01-08T23:13:48.578Z,1736378028.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869767 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:48.673Z,1736378028.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:48.873Z,1736378028.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:48.882Z,1736378028.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:48.885Z,1736378028.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.527138 m, bearing: 333.831570 deg, approach rate: -0.065805 m/s, LOS rate: -0.301558 deg/s, cmd heading: 49.833975 deg, new cmd heading: 49.523197 deg. 2025-01-08T23:13:48.886Z,1736378028.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864343 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:48.925Z,1736378028.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:49.177Z,1736378029.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:49.290Z,1736378029.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:49.328Z,1736378029.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:49.333Z,1736378029.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:49.339Z,1736378029.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.495079 m, bearing: 333.714620 deg, approach rate: -0.071407 m/s, LOS rate: -0.260565 deg/s, cmd heading: 49.523198 deg, new cmd heading: 49.172254 deg. 2025-01-08T23:13:49.343Z,1736378029.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858218 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:49.429Z,1736378029.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:49.429Z,1736378029.429 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:13:49.429Z,1736378029.429 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:13:49.430Z,1736378029.430 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:49.680Z,1736378029.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:49.681Z,1736378029.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749581 2025-01-08T23:13:49.700Z,1736378029.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:49.710Z,1736378029.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:49.713Z,1736378029.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.462456 m, bearing: 333.599422 deg, approach rate: -0.086227 m/s, LOS rate: -0.304568 deg/s, cmd heading: 49.172253 deg, new cmd heading: 48.826563 deg. 2025-01-08T23:13:49.714Z,1736378029.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.852184 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:49.932Z,1736378029.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:49.932Z,1736378029.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000696 2025-01-08T23:13:50.077Z,1736378030.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:50.086Z,1736378030.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:50.089Z,1736378030.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.431046 m, bearing: 333.493674 deg, approach rate: -0.083487 m/s, LOS rate: -0.281150 deg/s, cmd heading: 48.826564 deg, new cmd heading: 48.509235 deg. 2025-01-08T23:13:50.090Z,1736378030.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.846646 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:50.187Z,1736378030.187 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:50.190Z,1736378030.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257608 2025-01-08T23:13:50.436Z,1736378030.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:50.436Z,1736378030.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504631 2025-01-08T23:13:50.523Z,1736378030.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:50.538Z,1736378030.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:50.541Z,1736378030.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.395317 m, bearing: 333.369706 deg, approach rate: -0.079184 m/s, LOS rate: -0.274833 deg/s, cmd heading: 48.509236 deg, new cmd heading: 48.137222 deg. 2025-01-08T23:13:50.542Z,1736378030.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840153 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:50.688Z,1736378030.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:50.689Z,1736378030.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757129 2025-01-08T23:13:50.880Z,1736378030.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:50.912Z,1736378030.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:50.919Z,1736378030.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.363533 m, bearing: 333.270809 deg, approach rate: -0.084676 m/s, LOS rate: -0.263546 deg/s, cmd heading: 48.137223 deg, new cmd heading: 47.840452 deg. 2025-01-08T23:13:50.920Z,1736378030.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834973 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:50.940Z,1736378030.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:50.940Z,1736378030.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008728 2025-01-08T23:13:51.193Z,1736378031.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:51.196Z,1736378031.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263208 2025-01-08T23:13:51.298Z,1736378031.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:51.333Z,1736378031.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:51.335Z,1736378031.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:51.342Z,1736378031.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.323776 m, bearing: 333.157434 deg, approach rate: -0.094138 m/s, LOS rate: -0.268549 deg/s, cmd heading: 47.840452 deg, new cmd heading: 47.500211 deg. 2025-01-08T23:13:51.348Z,1736378031.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829035 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:51.448Z,1736378031.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:51.449Z,1736378031.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517241 2025-01-08T23:13:51.693Z,1736378031.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:51.700Z,1736378031.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:51.701Z,1736378031.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768989 2025-01-08T23:13:51.704Z,1736378031.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:51.707Z,1736378031.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.284760 m, bearing: 333.050561 deg, approach rate: -0.105909 m/s, LOS rate: -0.290201 deg/s, cmd heading: 47.500212 deg, new cmd heading: 47.179485 deg. 2025-01-08T23:13:51.708Z,1736378031.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823437 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:51.952Z,1736378031.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:51.952Z,1736378031.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020750 2025-01-08T23:13:52.098Z,1736378032.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:52.130Z,1736378032.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:52.133Z,1736378032.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.243378 m, bearing: 332.940910 deg, approach rate: -0.096907 m/s, LOS rate: -0.256869 deg/s, cmd heading: 47.179484 deg, new cmd heading: 46.850417 deg. 2025-01-08T23:13:52.134Z,1736378032.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817694 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:52.206Z,1736378032.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:52.209Z,1736378032.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276386 2025-01-08T23:13:52.456Z,1736378032.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:52.456Z,1736378032.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524563 2025-01-08T23:13:52.532Z,1736378032.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:52.542Z,1736378032.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:52.557Z,1736378032.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.193314 m, bearing: 332.818783 deg, approach rate: -0.121509 m/s, LOS rate: -0.296541 deg/s, cmd heading: 46.850416 deg, new cmd heading: 46.483877 deg. 2025-01-08T23:13:52.558Z,1736378032.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.811297 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:52.708Z,1736378032.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:52.710Z,1736378032.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778023 2025-01-08T23:13:52.900Z,1736378032.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:52.934Z,1736378032.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:52.941Z,1736378032.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.149658 m, bearing: 332.715328 deg, approach rate: -0.111369 m/s, LOS rate: -0.264026 deg/s, cmd heading: 46.483877 deg, new cmd heading: 46.173394 deg. 2025-01-08T23:13:52.942Z,1736378032.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805878 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:52.960Z,1736378032.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:52.960Z,1736378032.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028726 2025-01-08T23:13:53.213Z,1736378033.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:53.217Z,1736378033.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.285102 2025-01-08T23:13:53.328Z,1736378033.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:53.338Z,1736378033.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:53.341Z,1736378033.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:53.343Z,1736378033.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.094353 m, bearing: 332.591973 deg, approach rate: -0.136104 m/s, LOS rate: -0.303718 deg/s, cmd heading: 46.173394 deg, new cmd heading: 45.803154 deg. 2025-01-08T23:13:53.344Z,1736378033.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.799416 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:53.464Z,1736378033.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:53.465Z,1736378033.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532766 2025-01-08T23:13:53.712Z,1736378033.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:53.728Z,1736378033.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:53.728Z,1736378033.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796618 2025-01-08T23:13:53.748Z,1736378033.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:53.755Z,1736378033.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 113.042587 m, bearing: 332.481581 deg, approach rate: -0.126880 m/s, LOS rate: -0.270701 deg/s, cmd heading: 45.803153 deg, new cmd heading: 45.471829 deg. 2025-01-08T23:13:53.756Z,1736378033.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793633 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:53.980Z,1736378033.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:53.980Z,1736378033.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048586 2025-01-08T23:13:54.230Z,1736378034.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:54.233Z,1736378034.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:54.236Z,1736378034.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303851 2025-01-08T23:13:54.266Z,1736378034.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:54.273Z,1736378034.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.971535 m, bearing: 332.332245 deg, approach rate: -0.137277 m/s, LOS rate: -0.288705 deg/s, cmd heading: 45.471827 deg, new cmd heading: 45.023546 deg. 2025-01-08T23:13:54.274Z,1736378034.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785809 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:54.484Z,1736378034.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:54.485Z,1736378034.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553506 2025-01-08T23:13:54.736Z,1736378034.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:54.737Z,1736378034.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804805 2025-01-08T23:13:54.745Z,1736378034.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:54.755Z,1736378034.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:54.757Z,1736378034.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.896378 m, bearing: 332.179795 deg, approach rate: -0.153866 m/s, LOS rate: -0.312309 deg/s, cmd heading: 45.023545 deg, new cmd heading: 44.565903 deg. 2025-01-08T23:13:54.758Z,1736378034.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.777822 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:54.989Z,1736378034.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:54.990Z,1736378034.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057636 2025-01-08T23:13:55.176Z,1736378035.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:55.188Z,1736378035.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:55.190Z,1736378035.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.831856 m, bearing: 332.052580 deg, approach rate: -0.149322 m/s, LOS rate: -0.294582 deg/s, cmd heading: 44.565902 deg, new cmd heading: 44.184044 deg. 2025-01-08T23:13:55.191Z,1736378035.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771157 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:55.242Z,1736378035.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:55.244Z,1736378035.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311579 2025-01-08T23:13:55.492Z,1736378035.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:55.493Z,1736378035.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560967 2025-01-08T23:13:55.612Z,1736378035.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:55.621Z,1736378035.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:55.623Z,1736378035.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:55.626Z,1736378035.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.769997 m, bearing: 331.922735 deg, approach rate: -0.141804 m/s, LOS rate: -0.297815 deg/s, cmd heading: 44.184043 deg, new cmd heading: 43.794300 deg. 2025-01-08T23:13:55.627Z,1736378035.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764355 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:55.744Z,1736378035.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:55.746Z,1736378035.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813858 2025-01-08T23:13:55.980Z,1736378035.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:55.994Z,1736378035.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:55.996Z,1736378035.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:55.996Z,1736378035.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064732 2025-01-08T23:13:55.998Z,1736378035.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.716614 m, bearing: 331.813324 deg, approach rate: -0.143978 m/s, LOS rate: -0.295230 deg/s, cmd heading: 43.794299 deg, new cmd heading: 43.465914 deg. 2025-01-08T23:13:56.015Z,1736378036.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758623 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:56.249Z,1736378036.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:56.251Z,1736378036.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319077 2025-01-08T23:13:56.417Z,1736378036.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:56.427Z,1736378036.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:56.430Z,1736378036.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.648750 m, bearing: 331.682193 deg, approach rate: -0.156718 m/s, LOS rate: -0.303005 deg/s, cmd heading: 43.465913 deg, new cmd heading: 43.072290 deg. 2025-01-08T23:13:56.431Z,1736378036.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751753 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:56.500Z,1736378036.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:56.502Z,1736378036.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569691 2025-01-08T23:13:56.752Z,1736378036.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:56.752Z,1736378036.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820531 2025-01-08T23:13:56.799Z,1736378036.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:56.808Z,1736378036.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:56.812Z,1736378036.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.589233 m, bearing: 331.567770 deg, approach rate: -0.155907 m/s, LOS rate: -0.299894 deg/s, cmd heading: 43.072290 deg, new cmd heading: 42.728843 deg. 2025-01-08T23:13:56.813Z,1736378036.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745759 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:57.006Z,1736378037.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:57.008Z,1736378037.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075904 2025-01-08T23:13:57.203Z,1736378037.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:57.212Z,1736378037.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:57.215Z,1736378037.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.525337 m, bearing: 331.446569 deg, approach rate: -0.158334 m/s, LOS rate: -0.300506 deg/s, cmd heading: 42.728844 deg, new cmd heading: 42.365039 deg. 2025-01-08T23:13:57.217Z,1736378037.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739409 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:57.258Z,1736378037.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:57.261Z,1736378037.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328148 2025-01-08T23:13:57.508Z,1736378037.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:57.509Z,1736378037.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577137 2025-01-08T23:13:57.618Z,1736378037.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:57.626Z,1736378037.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:57.629Z,1736378037.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:57.636Z,1736378037.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.462036 m, bearing: 331.323874 deg, approach rate: -0.151893 m/s, LOS rate: -0.294577 deg/s, cmd heading: 42.365037 deg, new cmd heading: 41.996750 deg. 2025-01-08T23:13:57.638Z,1736378037.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732982 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:57.760Z,1736378037.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:57.762Z,1736378037.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829757 2025-01-08T23:13:57.000Z,1736378038.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:58.012Z,1736378038.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:58.012Z,1736378038.012 [DAT](INFO): Reached modem response timeout 2025-01-08T23:13:58.012Z,1736378038.012 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:13:58.013Z,1736378038.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:58.033Z,1736378038.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:58.036Z,1736378038.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.402962 m, bearing: 331.211262 deg, approach rate: -0.145961 m/s, LOS rate: -0.278385 deg/s, cmd heading: 41.996750 deg, new cmd heading: 41.658743 deg. 2025-01-08T23:13:58.037Z,1736378038.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.727082 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:58.265Z,1736378038.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:58.266Z,1736378038.266 [DAT](INFO): Reached modem response timeout 2025-01-08T23:13:58.271Z,1736378038.271 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:13:58.272Z,1736378038.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:58.434Z,1736378038.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:58.444Z,1736378038.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:58.446Z,1736378038.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.334106 m, bearing: 331.087163 deg, approach rate: -0.167922 m/s, LOS rate: -0.302835 deg/s, cmd heading: 41.658741 deg, new cmd heading: 41.286220 deg. 2025-01-08T23:13:58.448Z,1736378038.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.720580 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:58.516Z,1736378038.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:58.516Z,1736378038.516 [DAT](INFO): Reached modem response timeout 2025-01-08T23:13:58.516Z,1736378038.516 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:13:58.517Z,1736378038.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:13:58.768Z,1736378038.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:58.769Z,1736378038.769 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:13:58.769Z,1736378038.769 [DAT](INFO): response not received 2025-01-08T23:13:58.769Z,1736378038.769 [DAT](INFO): DAT read: user:3105> 2025-01-08T23:13:58.770Z,1736378038.770 [DAT](INFO): DAT read: Tx time:23:13:58.1274 2025-01-08T23:13:58.771Z,1736378038.771 [DAT](INFO): Ping request sent. 2025-01-08T23:13:58.771Z,1736378038.771 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:13:58.771Z,1736378038.771 [DAT](INFO): publishing transmit ping time 2025-01-08T23:13:58.772Z,1736378038.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000870 2025-01-08T23:13:58.878Z,1736378038.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:58.899Z,1736378038.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:58.907Z,1736378038.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.264397 m, bearing: 330.960383 deg, approach rate: -0.153094 m/s, LOS rate: -0.278601 deg/s, cmd heading: 41.286219 deg, new cmd heading: 40.905649 deg. 2025-01-08T23:13:58.912Z,1736378038.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713938 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:59.023Z,1736378039.023 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:59.024Z,1736378039.024 [DAT](INFO): DAT read: TxSync time:23:13:58.1266 2025-01-08T23:13:59.024Z,1736378039.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253214 2025-01-08T23:13:59.229Z,1736378039.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:59.240Z,1736378039.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:59.243Z,1736378039.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.209633 m, bearing: 330.859962 deg, approach rate: -0.160401 m/s, LOS rate: -0.294271 deg/s, cmd heading: 40.905648 deg, new cmd heading: 40.604241 deg. 2025-01-08T23:13:59.244Z,1736378039.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708678 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:59.276Z,1736378039.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:59.283Z,1736378039.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.511224 2025-01-08T23:13:59.528Z,1736378039.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:59.528Z,1736378039.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757254 2025-01-08T23:13:59.663Z,1736378039.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:13:59.682Z,1736378039.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:13:59.689Z,1736378039.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:13:59.696Z,1736378039.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.136421 m, bearing: 330.739364 deg, approach rate: -0.163296 m/s, LOS rate: -0.269166 deg/s, cmd heading: 40.604242 deg, new cmd heading: 40.242215 deg. 2025-01-08T23:13:59.697Z,1736378039.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702359 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:13:59.780Z,1736378039.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:13:59.782Z,1736378039.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010384 2025-01-08T23:14:00.030Z,1736378040.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:00.032Z,1736378040.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:00.033Z,1736378040.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261468 2025-01-08T23:14:00.044Z,1736378040.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:14:00.046Z,1736378040.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 112.071518 m, bearing: 330.635328 deg, approach rate: -0.182755 m/s, LOS rate: -0.293113 deg/s, cmd heading: 40.242214 deg, new cmd heading: 39.929931 deg. 2025-01-08T23:14:00.050Z,1736378040.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696909 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:14:00.286Z,1736378040.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:00.288Z,1736378040.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516728 2025-01-08T23:14:00.459Z,1736378040.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:00.468Z,1736378040.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:14:00.472Z,1736378040.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 111.997589 m, bearing: 330.516781 deg, approach rate: -0.174259 m/s, LOS rate: -0.279615 deg/s, cmd heading: 39.929931 deg, new cmd heading: 39.574059 deg. 2025-01-08T23:14:00.473Z,1736378040.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690698 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:14:00.536Z,1736378040.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:00.537Z,1736378040.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765375 2025-01-08T23:14:00.789Z,1736378040.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:00.792Z,1736378040.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020362 2025-01-08T23:14:00.844Z,1736378040.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:00.859Z,1736378040.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:14:00.866Z,1736378040.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 111.929672 m, bearing: 330.410295 deg, approach rate: -0.173790 m/s, LOS rate: -0.272647 deg/s, cmd heading: 39.574058 deg, new cmd heading: 39.254410 deg. 2025-01-08T23:14:00.867Z,1736378040.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685119 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:14:01.040Z,1736378041.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:01.040Z,1736378041.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269305 2025-01-08T23:14:01.232Z,1736378041.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:01.260Z,1736378041.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:14:01.262Z,1736378041.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 111.860039 m, bearing: 330.303513 deg, approach rate: -0.179120 m/s, LOS rate: -0.274848 deg/s, cmd heading: 39.254412 deg, new cmd heading: 38.933871 deg. 2025-01-08T23:14:01.268Z,1736378041.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679524 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:14:01.293Z,1736378041.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:01.293Z,1736378041.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522318 2025-01-08T23:14:01.544Z,1736378041.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:01.544Z,1736378041.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773344 2025-01-08T23:14:01.693Z,1736378041.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:01.700Z,1736378041.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:01.702Z,1736378041.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:14:01.705Z,1736378041.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 111.781601 m, bearing: 330.175397 deg, approach rate: -0.172765 m/s, LOS rate: -0.282383 deg/s, cmd heading: 38.933871 deg, new cmd heading: 38.549259 deg. 2025-01-08T23:14:01.706Z,1736378041.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672812 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:14:01.796Z,1736378041.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:01.797Z,1736378041.797 [DAT](INFO): DAT read: Rx Time:23:14:00.6483 2025-01-08T23:14:01.797Z,1736378041.797 [DAT](INFO): Rx dataTimestamp_ set to:1736378041.797025 2025-01-08T23:14:01.798Z,1736378041.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026706 2025-01-08T23:14:02.048Z,1736378042.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:02.048Z,1736378042.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277214 2025-01-08T23:14:02.080Z,1736378042.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:02.101Z,1736378042.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:14:02.108Z,1736378042.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 111.712929 m, bearing: 330.068046 deg, approach rate: -0.171962 m/s, LOS rate: -0.268983 deg/s, cmd heading: 38.549260 deg, new cmd heading: 38.227012 deg. 2025-01-08T23:14:02.112Z,1736378042.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.667187 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:14:02.301Z,1736378042.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:02.303Z,1736378042.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531550 2025-01-08T23:14:02.466Z,1736378042.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:02.476Z,1736378042.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m. 2025-01-08T23:14:02.478Z,1736378042.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.000000 m, nav range: 111.644714 m, bearing: 329.959519 deg, approach rate: -0.182119 m/s, LOS rate: -0.289923 deg/s, cmd heading: 38.227012 deg, new cmd heading: 37.901234 deg. 2025-01-08T23:14:02.480Z,1736378042.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661501 target range: 96.000000 and range: 96.00 m. 2025-01-08T23:14:02.553Z,1736378042.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:02.565Z,1736378042.565 [DAT](INFO): DAT read: 23:14:00.6483 LVL= 25776, 32753, 26866, 32755, AGC= 67, IDX= 296, 0.02, 2.167, 0.669, 1.633, 1.619, PHS= 0.635,-0.903, 0.011, RAW= 126.2, 3.9, CAL= 133.7, -2.2, ROT= 16.3, 2.2 2025-01-08T23:14:02.567Z,1736378042.567 [DAT](INFO): got valid direction response: 23:14:00.6483 LVL= 25776, 32753, 26866, 32755, AGC= 67, IDX= 296, 0.02, 2.167, 0.669, 1.633, 1.619, PHS= 0.635,-0.903, 0.011, RAW= 126.2, 3.9, CAL= 133.7, -2.2, ROT= 16.3, 2.2 2025-01-08T23:14:02.569Z,1736378042.569 [DAT](INFO): DAT read: Bearing 16.3, 2.2 (Local) 2025-01-08T23:14:02.569Z,1736378042.569 [DAT](INFO): Local bearing/azimuth received: Bearing 16.3, 2.2 (Local) 2025-01-08T23:14:02.572Z,1736378042.572 [DAT](INFO): DAT read: Range 10 to 50 : 87.5 m (Round-trip 116.7 ms) speed 0.4 m/s 2025-01-08T23:14:02.574Z,1736378042.574 [DAT](INFO): DAT read: user:3106> 2025-01-08T23:14:02.575Z,1736378042.575 [DAT](INFO): DAT read: Tx time:23:14:01.7274 2025-01-08T23:14:02.575Z,1736378042.575 [DAT](INFO): Ping request sent. 2025-01-08T23:14:02.575Z,1736378042.575 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:02.576Z,1736378042.576 [DAT](INFO): DAT read: TxSync time:23:14:01.7266 2025-01-08T23:14:02.576Z,1736378042.576 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:14:02.577Z,1736378042.577 [DAT](INFO): direction in FSK: [-0.198819,-0.507977,0.838111] 2025-01-08T23:14:02.578Z,1736378042.578 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:02.578Z,1736378042.578 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:02.588Z,1736378042.588 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:02.588Z,1736378042.588 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:02.804Z,1736378042.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:02.889Z,1736378042.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:02.903Z,1736378042.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.500000 m, deltaT: 14.637019 s, deltaX: -8.500000 m, approachRate: -0.580719 m/s, rangeRepo size: 4 2025-01-08T23:14:02.906Z,1736378042.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.500000 m, bearing: 294.392495 deg, lat: 36.904773 deg, lon: -122.120796 deg, deltaT: 14.637019 s, deltaX: -8.500000 m, approachRate: -0.580719 m/s, posRepo size: 4 2025-01-08T23:14:02.907Z,1736378042.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.50 m. 2025-01-08T23:14:02.910Z,1736378042.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.500000 m, nav range: 80.340218 m, bearing: 315.757031 deg, approach rate: 0.000000 m/s, LOS rate: -0.289923 deg/s, cmd heading: 37.901235 deg, new cmd heading: 37.530084 deg. 2025-01-08T23:14:02.911Z,1736378042.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655024 target range: 87.500000 and range: 87.50 m. 2025-01-08T23:14:03.056Z,1736378043.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:03.256Z,1736378043.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:03.266Z,1736378043.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.50 m. 2025-01-08T23:14:03.281Z,1736378043.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.500000 m, nav range: 80.325249 m, bearing: 315.606407 deg, approach rate: -0.041237 m/s, LOS rate: -0.415025 deg/s, cmd heading: 37.530083 deg, new cmd heading: 37.078136 deg. 2025-01-08T23:14:03.282Z,1736378043.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647136 target range: 87.500000 and range: 87.50 m. 2025-01-08T23:14:03.308Z,1736378043.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:03.560Z,1736378043.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:03.695Z,1736378043.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:03.702Z,1736378043.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:03.705Z,1736378043.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.50 m. 2025-01-08T23:14:03.708Z,1736378043.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.500000 m, nav range: 80.315804 m, bearing: 315.419487 deg, approach rate: -0.021470 m/s, LOS rate: -0.424934 deg/s, cmd heading: 37.078136 deg, new cmd heading: 36.517331 deg. 2025-01-08T23:14:03.709Z,1736378043.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637348 target range: 87.500000 and range: 87.50 m. 2025-01-08T23:14:03.812Z,1736378043.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:03.813Z,1736378043.813 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:03.813Z,1736378043.813 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:03.814Z,1736378043.814 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:04.057Z,1736378044.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:04.064Z,1736378044.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:04.064Z,1736378044.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489310 2025-01-08T23:14:04.085Z,1736378044.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.50 m. 2025-01-08T23:14:04.089Z,1736378044.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.500000 m, nav range: 80.307472 m, bearing: 315.265188 deg, approach rate: -0.021911 m/s, LOS rate: -0.405837 deg/s, cmd heading: 36.517330 deg, new cmd heading: 36.054396 deg. 2025-01-08T23:14:04.090Z,1736378044.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.629268 target range: 87.500000 and range: 87.50 m. 2025-01-08T23:14:04.316Z,1736378044.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:04.316Z,1736378044.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741245 2025-01-08T23:14:04.502Z,1736378044.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:04.512Z,1736378044.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.50 m. 2025-01-08T23:14:04.514Z,1736378044.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.500000 m, nav range: 80.305298 m, bearing: 315.071350 deg, approach rate: -0.005097 m/s, LOS rate: -0.454433 deg/s, cmd heading: 36.054397 deg, new cmd heading: 35.472888 deg. 2025-01-08T23:14:04.519Z,1736378044.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.619119 target range: 87.500000 and range: 87.50 m. 2025-01-08T23:14:04.568Z,1736378044.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:04.569Z,1736378044.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993713 2025-01-08T23:14:04.820Z,1736378044.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:04.821Z,1736378044.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245990 2025-01-08T23:14:04.879Z,1736378044.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:04.894Z,1736378044.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.50 m. 2025-01-08T23:14:04.897Z,1736378044.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.500000 m, nav range: 80.304176 m, bearing: 314.907666 deg, approach rate: -0.002935 m/s, LOS rate: -0.428362 deg/s, cmd heading: 35.472888 deg, new cmd heading: 34.981840 deg. 2025-01-08T23:14:04.898Z,1736378044.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.610548 target range: 87.500000 and range: 87.50 m. 2025-01-08T23:14:05.072Z,1736378045.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:05.072Z,1736378045.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497339 2025-01-08T23:14:05.287Z,1736378045.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:05.308Z,1736378045.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.50 m. 2025-01-08T23:14:05.313Z,1736378045.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.500000 m, nav range: 80.299355 m, bearing: 314.730132 deg, approach rate: -0.011675 m/s, LOS rate: -0.429899 deg/s, cmd heading: 34.981838 deg, new cmd heading: 34.449221 deg. 2025-01-08T23:14:05.314Z,1736378045.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601252 target range: 87.500000 and range: 87.50 m. 2025-01-08T23:14:05.324Z,1736378045.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:05.325Z,1736378045.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749812 2025-01-08T23:14:05.576Z,1736378045.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:05.576Z,1736378045.576 [DAT](INFO): DAT read: Rx Time:23:14:04.2454 2025-01-08T23:14:05.577Z,1736378045.577 [DAT](INFO): Rx dataTimestamp_ set to:1736378045.576631 2025-01-08T23:14:05.577Z,1736378045.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002333 2025-01-08T23:14:05.740Z,1736378045.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:05.746Z,1736378045.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:05.749Z,1736378045.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.50 m. 2025-01-08T23:14:05.751Z,1736378045.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.500000 m, nav range: 80.299690 m, bearing: 314.529867 deg, approach rate: 0.000760 m/s, LOS rate: -0.453524 deg/s, cmd heading: 34.449220 deg, new cmd heading: 33.848450 deg. 2025-01-08T23:14:05.752Z,1736378045.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590767 target range: 87.500000 and range: 87.50 m. 2025-01-08T23:14:05.828Z,1736378045.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:05.829Z,1736378045.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254214 2025-01-08T23:14:06.080Z,1736378046.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:06.086Z,1736378046.086 [DAT](INFO): DAT read: 23:14:04.2455 LVL= 20240, 30673, 22002, 32755, AGC= 64, IDX= 410,-0.11,-2.936, 1.870, 2.774, 2.855, PHS= 0.580,-0.938,-0.084, RAW= 124.1, 6.8, CAL= 132.2, 1.9, ROT= 17.8, -1.9 2025-01-08T23:14:06.088Z,1736378046.088 [DAT](INFO): got valid direction response: 23:14:04.2455 LVL= 20240, 30673, 22002, 32755, AGC= 64, IDX= 410,-0.11,-2.936, 1.870, 2.774, 2.855, PHS= 0.580,-0.938,-0.084, RAW= 124.1, 6.8, CAL= 132.2, 1.9, ROT= 17.8, -1.9 2025-01-08T23:14:06.089Z,1736378046.089 [DAT](INFO): DAT read: Bearing 17.8, -1.9 (Local) 2025-01-08T23:14:06.089Z,1736378046.089 [DAT](INFO): Local bearing/azimuth received: Bearing 17.8, -1.9 (Local) 2025-01-08T23:14:06.090Z,1736378046.090 [DAT](INFO): DAT read: Range 10 to 50 : 85.3 m (Round-trip 113.8 ms) speed 0.7 m/s 2025-01-08T23:14:06.091Z,1736378046.091 [DAT](INFO): DAT read: user:3107> 2025-01-08T23:14:06.092Z,1736378046.092 [DAT](INFO): DAT read: Tx time:23:14:05.3275 2025-01-08T23:14:06.092Z,1736378046.092 [DAT](INFO): Ping request sent. 2025-01-08T23:14:06.093Z,1736378046.093 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:06.093Z,1736378046.093 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:14:06.094Z,1736378046.094 [DAT](INFO): direction in FSK: [-0.252451,-0.468321,0.846725] 2025-01-08T23:14:06.094Z,1736378046.094 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:06.094Z,1736378046.094 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:06.097Z,1736378046.097 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:06.098Z,1736378046.098 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:06.175Z,1736378046.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:06.213Z,1736378046.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.300003 m, deltaT: 3.526482 s, deltaX: -2.199997 m, approachRate: -0.623850 m/s, rangeRepo size: 4 2025-01-08T23:14:06.221Z,1736378046.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.300003 m, bearing: 286.331260 deg, lat: 36.904735 deg, lon: -122.120796 deg, deltaT: 3.526482 s, deltaX: -2.199997 m, approachRate: -0.623850 m/s, posRepo size: 4 2025-01-08T23:14:06.229Z,1736378046.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:14:06.246Z,1736378046.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 77.398323 m, bearing: 312.097958 deg, approach rate: 0.000000 m/s, LOS rate: -0.453524 deg/s, cmd heading: 33.848450 deg, new cmd heading: 33.226645 deg. 2025-01-08T23:14:06.252Z,1736378046.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579914 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:14:06.332Z,1736378046.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:06.333Z,1736378046.333 [DAT](INFO): DAT read: TxSync time:23:14:05.3267 2025-01-08T23:14:06.584Z,1736378046.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:06.618Z,1736378046.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:06.635Z,1736378046.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:14:06.657Z,1736378046.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 77.405846 m, bearing: 311.881289 deg, approach rate: 0.017523 m/s, LOS rate: -0.504658 deg/s, cmd heading: 33.226644 deg, new cmd heading: 32.576731 deg. 2025-01-08T23:14:06.663Z,1736378046.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568571 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:14:06.836Z,1736378046.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:06.948Z,1736378046.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:06.957Z,1736378046.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:14:06.981Z,1736378046.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 77.410843 m, bearing: 311.724503 deg, approach rate: 0.015494 m/s, LOS rate: -0.486079 deg/s, cmd heading: 32.576731 deg, new cmd heading: 32.106413 deg. 2025-01-08T23:14:06.982Z,1736378046.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560363 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:14:07.088Z,1736378047.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:07.341Z,1736378047.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:07.362Z,1736378047.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:07.382Z,1736378047.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:14:07.388Z,1736378047.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 77.416763 m, bearing: 311.527175 deg, approach rate: 0.014047 m/s, LOS rate: -0.468167 deg/s, cmd heading: 32.106414 deg, new cmd heading: 31.514498 deg. 2025-01-08T23:14:07.390Z,1736378047.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550032 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:14:07.592Z,1736378047.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:07.773Z,1736378047.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:07.800Z,1736378047.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:07.802Z,1736378047.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:14:07.809Z,1736378047.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 77.417595 m, bearing: 311.333665 deg, approach rate: 0.001963 m/s, LOS rate: -0.456870 deg/s, cmd heading: 31.514500 deg, new cmd heading: 30.933997 deg. 2025-01-08T23:14:07.810Z,1736378047.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.539900 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:14:07.844Z,1736378047.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:07.844Z,1736378047.844 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:07.845Z,1736378047.845 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:07.845Z,1736378047.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:08.096Z,1736378048.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:08.096Z,1736378048.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003665 2025-01-08T23:14:08.160Z,1736378048.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:08.169Z,1736378048.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:14:08.173Z,1736378048.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 77.417381 m, bearing: 311.151399 deg, approach rate: -0.000583 m/s, LOS rate: -0.497385 deg/s, cmd heading: 30.933995 deg, new cmd heading: 30.387213 deg. 2025-01-08T23:14:08.174Z,1736378048.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530357 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:14:08.348Z,1736378048.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:08.350Z,1736378048.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257158 2025-01-08T23:14:08.600Z,1736378048.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:08.601Z,1736378048.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507922 2025-01-08T23:14:08.635Z,1736378048.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:08.665Z,1736378048.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:14:08.674Z,1736378048.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 77.406570 m, bearing: 310.930014 deg, approach rate: -0.021800 m/s, LOS rate: -0.446489 deg/s, cmd heading: 30.387215 deg, new cmd heading: 29.722998 deg. 2025-01-08T23:14:08.680Z,1736378048.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.518764 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:14:08.852Z,1736378048.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:08.852Z,1736378048.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759664 2025-01-08T23:14:08.984Z,1736378048.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:08.993Z,1736378048.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:14:08.996Z,1736378048.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 77.397484 m, bearing: 310.766838 deg, approach rate: -0.027659 m/s, LOS rate: -0.496765 deg/s, cmd heading: 29.722999 deg, new cmd heading: 29.233424 deg. 2025-01-08T23:14:08.997Z,1736378048.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510220 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:14:09.105Z,1736378049.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:09.106Z,1736378049.106 [DAT](INFO): DAT read: Rx Time:23:14:07.8423 2025-01-08T23:14:09.107Z,1736378049.107 [DAT](INFO): Rx dataTimestamp_ set to:1736378049.105984 2025-01-08T23:14:09.108Z,1736378049.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014798 2025-01-08T23:14:09.356Z,1736378049.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:09.356Z,1736378049.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263711 2025-01-08T23:14:09.401Z,1736378049.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:09.424Z,1736378049.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:14:09.425Z,1736378049.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:14:09.448Z,1736378049.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 77.384804 m, bearing: 310.572428 deg, approach rate: -0.029366 m/s, LOS rate: -0.450305 deg/s, cmd heading: 29.233425 deg, new cmd heading: 28.650122 deg. 2025-01-08T23:14:09.456Z,1736378049.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500039 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:14:09.608Z,1736378049.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:09.614Z,1736378049.614 [DAT](INFO): DAT read: 23:14:07.8423 LVL= 21456, 32753, 25474, 32755, AGC= 66, IDX= 411, 0.00, 0.738,-0.812, 0.041, 0.254, PHS= 0.572,-1.020,-0.216, RAW= 120.3, 9.6, CAL= 128.6, 5.6, ROT= 21.4, -5.6 2025-01-08T23:14:09.615Z,1736378049.615 [DAT](INFO): got valid direction response: 23:14:07.8423 LVL= 21456, 32753, 25474, 32755, AGC= 66, IDX= 411, 0.00, 0.738,-0.812, 0.041, 0.254, PHS= 0.572,-1.020,-0.216, RAW= 120.3, 9.6, CAL= 128.6, 5.6, ROT= 21.4, -5.6 2025-01-08T23:14:09.616Z,1736378049.616 [DAT](INFO): DAT read: Bearing 21.4, -5.6 (Local) 2025-01-08T23:14:09.617Z,1736378049.617 [DAT](INFO): Local bearing/azimuth received: Bearing 21.4, -5.6 (Local) 2025-01-08T23:14:09.618Z,1736378049.618 [DAT](INFO): DAT read: Range 10 to 50 : 83.0 m (Round-trip 110.7 ms) speed 0.3 m/s 2025-01-08T23:14:09.619Z,1736378049.619 [DAT](INFO): DAT read: user:3108> 2025-01-08T23:14:09.621Z,1736378049.621 [DAT](INFO): DAT read: Tx time:23:14:08.9275 2025-01-08T23:14:09.621Z,1736378049.621 [DAT](INFO): Ping request sent. 2025-01-08T23:14:09.621Z,1736378049.621 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:09.622Z,1736378049.622 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:14:09.625Z,1736378049.625 [DAT](INFO): direction in FSK: [-0.303887,-0.399678,0.864818] 2025-01-08T23:14:09.626Z,1736378049.626 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:09.626Z,1736378049.626 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:09.633Z,1736378049.633 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:09.634Z,1736378049.634 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:09.860Z,1736378049.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:09.860Z,1736378049.860 [DAT](INFO): DAT read: TxSync time:23:14:08.9267 2025-01-08T23:14:09.950Z,1736378049.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:09.989Z,1736378049.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.000000 m, deltaT: 3.528019 s, deltaX: -2.300003 m, approachRate: -0.651925 m/s, rangeRepo size: 4 2025-01-08T23:14:09.995Z,1736378049.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.000000 m, bearing: 274.554209 deg, lat: 36.904449 deg, lon: -122.120698 deg, deltaT: 3.528019 s, deltaX: -2.300003 m, approachRate: -0.651925 m/s, posRepo size: 4 2025-01-08T23:14:10.008Z,1736378050.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m. 2025-01-08T23:14:10.010Z,1736378050.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.000000 m, nav range: 53.508774 m, bearing: 289.924368 deg, approach rate: 0.000000 m/s, LOS rate: -0.450305 deg/s, cmd heading: 28.650123 deg, new cmd heading: 27.889285 deg. 2025-01-08T23:14:10.015Z,1736378050.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486760 target range: 83.000000 and range: 83.00 m. 2025-01-08T23:14:10.112Z,1736378050.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:10.306Z,1736378050.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:10.313Z,1736378050.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:10.315Z,1736378050.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m. 2025-01-08T23:14:10.318Z,1736378050.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.000000 m, nav range: 53.561981 m, bearing: 289.701886 deg, approach rate: 0.162992 m/s, LOS rate: -0.680857 deg/s, cmd heading: 27.889285 deg, new cmd heading: 27.222536 deg. 2025-01-08T23:14:10.335Z,1736378050.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475123 target range: 83.000000 and range: 83.00 m. 2025-01-08T23:14:10.366Z,1736378050.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:10.367Z,1736378050.367 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:10.367Z,1736378050.367 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:10.367Z,1736378050.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:10.429Z,1736378050.429 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:14:10.616Z,1736378050.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:10.616Z,1736378050.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994963 2025-01-08T23:14:10.718Z,1736378050.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:10.752Z,1736378050.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m. 2025-01-08T23:14:10.763Z,1736378050.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.000000 m, nav range: 53.603226 m, bearing: 289.446063 deg, approach rate: 0.095377 m/s, LOS rate: -0.591129 deg/s, cmd heading: 27.222535 deg, new cmd heading: 26.455703 deg. 2025-01-08T23:14:10.769Z,1736378050.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461739 target range: 83.000000 and range: 83.00 m. 2025-01-08T23:14:10.868Z,1736378050.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:10.869Z,1736378050.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247159 2025-01-08T23:14:11.099Z,1736378051.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:11.120Z,1736378051.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:11.121Z,1736378051.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499878 2025-01-08T23:14:11.127Z,1736378051.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m. 2025-01-08T23:14:11.130Z,1736378051.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.000000 m, nav range: 53.639931 m, bearing: 289.209331 deg, approach rate: 0.097077 m/s, LOS rate: -0.625674 deg/s, cmd heading: 26.455703 deg, new cmd heading: 25.746033 deg. 2025-01-08T23:14:11.131Z,1736378051.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449353 target range: 83.000000 and range: 83.00 m. 2025-01-08T23:14:11.373Z,1736378051.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:11.373Z,1736378051.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752138 2025-01-08T23:14:11.565Z,1736378051.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:11.575Z,1736378051.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m. 2025-01-08T23:14:11.578Z,1736378051.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.000000 m, nav range: 53.667076 m, bearing: 288.925831 deg, approach rate: 0.060347 m/s, LOS rate: -0.629932 deg/s, cmd heading: 25.746033 deg, new cmd heading: 24.896029 deg. 2025-01-08T23:14:11.580Z,1736378051.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434518 target range: 83.000000 and range: 83.00 m. 2025-01-08T23:14:11.624Z,1736378051.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:11.625Z,1736378051.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003384 2025-01-08T23:14:11.876Z,1736378051.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:11.876Z,1736378051.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255133 2025-01-08T23:14:11.933Z,1736378051.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:11.960Z,1736378051.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m. 2025-01-08T23:14:11.972Z,1736378051.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.000000 m, nav range: 53.686897 m, bearing: 288.701773 deg, approach rate: 0.051448 m/s, LOS rate: -0.581351 deg/s, cmd heading: 24.896029 deg, new cmd heading: 24.224136 deg. 2025-01-08T23:14:11.973Z,1736378051.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422791 target range: 83.000000 and range: 83.00 m. 2025-01-08T23:14:12.128Z,1736378052.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:12.128Z,1736378052.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506955 2025-01-08T23:14:12.327Z,1736378052.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:12.334Z,1736378052.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:12.336Z,1736378052.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m. 2025-01-08T23:14:12.339Z,1736378052.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.000000 m, nav range: 53.706211 m, bearing: 288.462237 deg, approach rate: 0.051402 m/s, LOS rate: -0.637268 deg/s, cmd heading: 24.224135 deg, new cmd heading: 23.505824 deg. 2025-01-08T23:14:12.340Z,1736378052.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.410254 target range: 83.000000 and range: 83.00 m. 2025-01-08T23:14:12.380Z,1736378052.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:12.382Z,1736378052.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760182 2025-01-08T23:14:12.635Z,1736378052.635 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:12.636Z,1736378052.636 [DAT](INFO): DAT read: Rx Time:23:14:11.4399 2025-01-08T23:14:12.636Z,1736378052.636 [DAT](INFO): Rx dataTimestamp_ set to:1736378052.636125 2025-01-08T23:14:12.637Z,1736378052.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015581 2025-01-08T23:14:12.745Z,1736378052.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:12.755Z,1736378052.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m. 2025-01-08T23:14:12.757Z,1736378052.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.000000 m, nav range: 53.714161 m, bearing: 288.209086 deg, approach rate: 0.019036 m/s, LOS rate: -0.606074 deg/s, cmd heading: 23.505825 deg, new cmd heading: 22.746530 deg. 2025-01-08T23:14:12.758Z,1736378052.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.397002 target range: 83.000000 and range: 83.00 m. 2025-01-08T23:14:12.884Z,1736378052.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:12.884Z,1736378052.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262975 2025-01-08T23:14:13.138Z,1736378053.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:13.157Z,1736378053.157 [DAT](INFO): DAT read: 23:14:11.4399 LVL= 23696, 31825, 28722, 32755, AGC= 65, IDX= 417, 0.23, 2.673, 0.996, 1.796, 2.040, PHS= 0.721,-0.998,-0.248, RAW= 115.8, 7.1, CAL= 125.4, 3.6, ROT= 24.6, -3.6 2025-01-08T23:14:13.158Z,1736378053.158 [DAT](INFO): got valid direction response: 23:14:11.4399 LVL= 23696, 31825, 28722, 32755, AGC= 65, IDX= 417, 0.23, 2.673, 0.996, 1.796, 2.040, PHS= 0.721,-0.998,-0.248, RAW= 115.8, 7.1, CAL= 125.4, 3.6, ROT= 24.6, -3.6 2025-01-08T23:14:13.159Z,1736378053.159 [DAT](INFO): DAT read: Bearing 24.6, -3.6 (Local) 2025-01-08T23:14:13.159Z,1736378053.159 [DAT](INFO): Local bearing/azimuth received: Bearing 24.6, -3.6 (Local) 2025-01-08T23:14:13.169Z,1736378053.169 [DAT](INFO): DAT read: Range 10 to 50 : 81.2 m (Round-trip 108.3 ms) speed 0.5 m/s 2025-01-08T23:14:13.169Z,1736378053.169 [DAT](INFO): DAT read: user:3109> 2025-01-08T23:14:13.171Z,1736378053.171 [DAT](INFO): DAT read: Tx time:23:14:12.5275 2025-01-08T23:14:13.184Z,1736378053.184 [DAT](INFO): Ping request sent. 2025-01-08T23:14:13.184Z,1736378053.184 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:13.184Z,1736378053.184 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:14:13.185Z,1736378053.185 [DAT](INFO): direction in FSK: [-0.252673,-0.331371,0.909038] 2025-01-08T23:14:13.185Z,1736378053.185 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:13.185Z,1736378053.185 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:13.211Z,1736378053.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:13.213Z,1736378053.213 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:13.213Z,1736378053.213 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:13.284Z,1736378053.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.199997 m, deltaT: 3.530775 s, deltaX: -1.800003 m, approachRate: -0.509804 m/s, rangeRepo size: 4 2025-01-08T23:14:13.286Z,1736378053.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.199997 m, bearing: 270.689290 deg, lat: 36.904392 deg, lon: -122.120679 deg, deltaT: 3.530775 s, deltaX: -1.800003 m, approachRate: -0.509804 m/s, posRepo size: 4 2025-01-08T23:14:13.287Z,1736378053.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T23:14:13.293Z,1736378053.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.199997 m, nav range: 50.495392 m, bearing: 281.740103 deg, approach rate: 0.000000 m/s, LOS rate: -0.606074 deg/s, cmd heading: 22.746529 deg, new cmd heading: 21.820915 deg. 2025-01-08T23:14:13.294Z,1736378053.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.380847 target range: 81.199997 and range: 81.20 m. 2025-01-08T23:14:13.393Z,1736378053.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:13.393Z,1736378053.393 [DAT](INFO): DAT read: TxSync time:23:14:12.5267 2025-01-08T23:14:13.644Z,1736378053.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:13.724Z,1736378053.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:13.741Z,1736378053.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T23:14:13.748Z,1736378053.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.199997 m, nav range: 50.527306 m, bearing: 281.417927 deg, approach rate: 0.066713 m/s, LOS rate: -0.673047 deg/s, cmd heading: 21.820914 deg, new cmd heading: 20.855096 deg. 2025-01-08T23:14:13.749Z,1736378053.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.363990 target range: 81.199997 and range: 81.20 m. 2025-01-08T23:14:13.896Z,1736378053.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:14.022Z,1736378054.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:14.030Z,1736378054.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T23:14:14.033Z,1736378054.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.199997 m, nav range: 50.544434 m, bearing: 281.231251 deg, approach rate: 0.059222 m/s, LOS rate: -0.645232 deg/s, cmd heading: 20.855096 deg, new cmd heading: 20.295276 deg. 2025-01-08T23:14:14.034Z,1736378054.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.354219 target range: 81.199997 and range: 81.20 m. 2025-01-08T23:14:14.148Z,1736378054.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:14.400Z,1736378054.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:14.435Z,1736378054.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:14.442Z,1736378054.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:14.445Z,1736378054.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T23:14:14.450Z,1736378054.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.199997 m, nav range: 50.565750 m, bearing: 280.971876 deg, approach rate: 0.051470 m/s, LOS rate: -0.626007 deg/s, cmd heading: 20.295277 deg, new cmd heading: 19.517529 deg. 2025-01-08T23:14:14.453Z,1736378054.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.340645 target range: 81.199997 and range: 81.20 m. 2025-01-08T23:14:14.653Z,1736378054.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:14.653Z,1736378054.653 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:14.654Z,1736378054.654 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:14.654Z,1736378054.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:14.846Z,1736378054.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:14.856Z,1736378054.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T23:14:14.858Z,1736378054.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.199997 m, nav range: 50.586929 m, bearing: 280.710662 deg, approach rate: 0.051565 m/s, LOS rate: -0.635713 deg/s, cmd heading: 19.517529 deg, new cmd heading: 18.734265 deg. 2025-01-08T23:14:14.860Z,1736378054.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326975 target range: 81.199997 and range: 81.20 m. 2025-01-08T23:14:14.904Z,1736378054.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:14.905Z,1736378054.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721603 2025-01-08T23:14:15.156Z,1736378055.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:15.157Z,1736378055.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973048 2025-01-08T23:14:15.251Z,1736378055.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:15.260Z,1736378055.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T23:14:15.266Z,1736378055.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.199997 m, nav range: 50.605759 m, bearing: 280.453147 deg, approach rate: 0.046486 m/s, LOS rate: -0.635522 deg/s, cmd heading: 18.734266 deg, new cmd heading: 17.962058 deg. 2025-01-08T23:14:15.269Z,1736378055.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.313497 target range: 81.199997 and range: 81.20 m. 2025-01-08T23:14:15.409Z,1736378055.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:15.411Z,1736378055.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227078 2025-01-08T23:14:15.660Z,1736378055.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:15.661Z,1736378055.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477626 2025-01-08T23:14:15.698Z,1736378055.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:15.711Z,1736378055.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T23:14:15.718Z,1736378055.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.199997 m, nav range: 50.639847 m, bearing: 280.161933 deg, approach rate: 0.075699 m/s, LOS rate: -0.646254 deg/s, cmd heading: 17.962059 deg, new cmd heading: 17.089076 deg. 2025-01-08T23:14:15.719Z,1736378055.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.298261 target range: 81.199997 and range: 81.20 m. 2025-01-08T23:14:15.912Z,1736378055.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:15.912Z,1736378055.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728753 2025-01-08T23:14:16.032Z,1736378056.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:16.041Z,1736378056.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T23:14:16.046Z,1736378056.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.199997 m, nav range: 50.663799 m, bearing: 279.944686 deg, approach rate: 0.072458 m/s, LOS rate: -0.656872 deg/s, cmd heading: 17.089077 deg, new cmd heading: 16.437675 deg. 2025-01-08T23:14:16.047Z,1736378056.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.286892 target range: 81.199997 and range: 81.20 m. 2025-01-08T23:14:16.164Z,1736378056.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:16.165Z,1736378056.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981354 2025-01-08T23:14:16.420Z,1736378056.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:16.421Z,1736378056.421 [DAT](INFO): DAT read: Rx Time:23:14:15.0375 2025-01-08T23:14:16.422Z,1736378056.422 [DAT](INFO): Rx dataTimestamp_ set to:1736378056.421363 2025-01-08T23:14:16.424Z,1736378056.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239971 2025-01-08T23:14:16.486Z,1736378056.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:16.510Z,1736378056.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:16.518Z,1736378056.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T23:14:16.541Z,1736378056.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.199997 m, nav range: 50.694370 m, bearing: 279.649250 deg, approach rate: 0.064322 m/s, LOS rate: -0.621230 deg/s, cmd heading: 16.437675 deg, new cmd heading: 15.551977 deg. 2025-01-08T23:14:16.557Z,1736378056.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.271433 target range: 81.199997 and range: 81.20 m. 2025-01-08T23:14:16.672Z,1736378056.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:16.673Z,1736378056.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489410 2025-01-08T23:14:16.866Z,1736378056.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:16.875Z,1736378056.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.20 m. 2025-01-08T23:14:16.878Z,1736378056.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.199997 m, nav range: 50.739548 m, bearing: 279.401000 deg, approach rate: 0.126053 m/s, LOS rate: -0.692042 deg/s, cmd heading: 15.551977 deg, new cmd heading: 14.807933 deg. 2025-01-08T23:14:16.879Z,1736378056.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.258447 target range: 81.199997 and range: 81.20 m. 2025-01-08T23:14:16.925Z,1736378056.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:16.935Z,1736378056.935 [DAT](INFO): DAT read: 23:14:15.0375 LVL= 26080, 32753, 28866, 32755, AGC= 62, IDX= 425,-0.15, 3.047, 1.260, 2.024, 2.360, PHS= 0.776,-1.053,-0.339, RAW= 112.8, 7.8, CAL= 122.6, 4.7, ROT= 27.4, -4.7 2025-01-08T23:14:16.937Z,1736378056.937 [DAT](INFO): got valid direction response: 23:14:15.0375 LVL= 26080, 32753, 28866, 32755, AGC= 62, IDX= 425,-0.15, 3.047, 1.260, 2.024, 2.360, PHS= 0.776,-1.053,-0.339, RAW= 112.8, 7.8, CAL= 122.6, 4.7, ROT= 27.4, -4.7 2025-01-08T23:14:16.939Z,1736378056.939 [DAT](INFO): DAT read: Bearing 27.4, -4.7 (Local) 2025-01-08T23:14:16.939Z,1736378056.939 [DAT](INFO): Local bearing/azimuth received: Bearing 27.4, -4.7 (Local) 2025-01-08T23:14:16.941Z,1736378056.941 [DAT](INFO): DAT read: Range 10 to 50 : 79.3 m (Round-trip 105.8 ms) speed 0.4 m/s 2025-01-08T23:14:16.941Z,1736378056.941 [DAT](INFO): DAT read: user:3110> 2025-01-08T23:14:16.942Z,1736378056.942 [DAT](INFO): DAT read: Tx time:23:14:16.1275 2025-01-08T23:14:16.942Z,1736378056.942 [DAT](INFO): Ping request sent. 2025-01-08T23:14:16.942Z,1736378056.942 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:16.943Z,1736378056.943 [DAT](INFO): DAT read: TxSync time:23:14:16.1268 2025-01-08T23:14:16.944Z,1736378056.944 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:14:16.945Z,1736378056.945 [DAT](INFO): direction in FSK: [-0.262478,-0.279140,0.923681] 2025-01-08T23:14:16.945Z,1736378056.945 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:16.945Z,1736378056.945 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:16.955Z,1736378056.955 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:16.964Z,1736378056.964 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:17.176Z,1736378057.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:17.256Z,1736378057.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:17.288Z,1736378057.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.300003 m, deltaT: 3.786280 s, deltaX: -1.899994 m, approachRate: -0.501810 m/s, rangeRepo size: 4 2025-01-08T23:14:17.290Z,1736378057.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.300003 m, bearing: 259.984807 deg, lat: 36.904316 deg, lon: -122.120618 deg, deltaT: 3.786280 s, deltaX: -1.899994 m, approachRate: -0.501810 m/s, posRepo size: 4 2025-01-08T23:14:17.291Z,1736378057.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T23:14:17.298Z,1736378057.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 44.711430 m, bearing: 269.410333 deg, approach rate: 0.000000 m/s, LOS rate: -0.692042 deg/s, cmd heading: 14.807934 deg, new cmd heading: 13.988123 deg. 2025-01-08T23:14:17.299Z,1736378057.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.244139 target range: 79.300003 and range: 79.30 m. 2025-01-08T23:14:17.428Z,1736378057.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:17.680Z,1736378057.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:17.713Z,1736378057.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:17.723Z,1736378057.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T23:14:17.726Z,1736378057.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 44.830715 m, bearing: 269.091070 deg, approach rate: 0.263279 m/s, LOS rate: -0.702776 deg/s, cmd heading: 13.988123 deg, new cmd heading: 13.032977 deg. 2025-01-08T23:14:17.727Z,1736378057.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227468 target range: 79.300003 and range: 79.30 m. 2025-01-08T23:14:17.932Z,1736378057.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:18.063Z,1736378058.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:18.093Z,1736378058.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T23:14:18.096Z,1736378058.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 44.918873 m, bearing: 268.844959 deg, approach rate: 0.237981 m/s, LOS rate: -0.663068 deg/s, cmd heading: 13.032977 deg, new cmd heading: 12.296136 deg. 2025-01-08T23:14:18.097Z,1736378058.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.214608 target range: 79.300003 and range: 79.30 m. 2025-01-08T23:14:18.184Z,1736378058.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:18.436Z,1736378058.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:18.473Z,1736378058.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:18.486Z,1736378058.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T23:14:18.490Z,1736378058.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 45.020596 m, bearing: 268.556262 deg, approach rate: 0.259132 m/s, LOS rate: -0.733772 deg/s, cmd heading: 12.296136 deg, new cmd heading: 11.432071 deg. 2025-01-08T23:14:18.507Z,1736378058.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.199527 target range: 79.300003 and range: 79.30 m. 2025-01-08T23:14:18.688Z,1736378058.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:18.876Z,1736378058.876 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V 2025-01-08T23:14:18.901Z,1736378058.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:14:18.902Z,1736378058.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:18.910Z,1736378058.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:18.912Z,1736378058.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T23:14:18.915Z,1736378058.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 45.124626 m, bearing: 268.254935 deg, approach rate: 0.244104 m/s, LOS rate: -0.705419 deg/s, cmd heading: 11.432071 deg, new cmd heading: 10.530251 deg. 2025-01-08T23:14:18.916Z,1736378058.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183788 target range: 79.300003 and range: 79.30 m. 2025-01-08T23:14:18.940Z,1736378058.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:18.940Z,1736378058.940 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:18.940Z,1736378058.940 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:18.941Z,1736378058.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:19.192Z,1736378059.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:19.192Z,1736378059.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249951 2025-01-08T23:14:19.292Z,1736378059.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:14:19.292Z,1736378059.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:19.301Z,1736378059.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T23:14:19.316Z,1736378059.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 45.217995 m, bearing: 267.979791 deg, approach rate: 0.240032 m/s, LOS rate: -0.705876 deg/s, cmd heading: 10.530251 deg, new cmd heading: 9.706584 deg. 2025-01-08T23:14:19.317Z,1736378059.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.169412 target range: 79.300003 and range: 79.30 m. 2025-01-08T23:14:19.444Z,1736378059.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:19.445Z,1736378059.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502372 2025-01-08T23:14:19.696Z,1736378059.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:19.696Z,1736378059.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753980 2025-01-08T23:14:19.729Z,1736378059.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:19.742Z,1736378059.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T23:14:19.745Z,1736378059.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 45.350323 m, bearing: 267.677841 deg, approach rate: 0.300144 m/s, LOS rate: -0.682874 deg/s, cmd heading: 9.706584 deg, new cmd heading: 8.803458 deg. 2025-01-08T23:14:19.746Z,1736378059.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.153649 target range: 79.300003 and range: 79.30 m. 2025-01-08T23:14:19.948Z,1736378059.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:19.949Z,1736378059.949 [DAT](INFO): DAT read: Rx Time:23:14:18.6347 2025-01-08T23:14:19.949Z,1736378059.949 [DAT](INFO): Rx dataTimestamp_ set to:1736378059.948687 2025-01-08T23:14:19.949Z,1736378059.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007021 2025-01-08T23:14:20.093Z,1736378060.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:20.102Z,1736378060.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.30 m. 2025-01-08T23:14:20.106Z,1736378060.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.300003 m, nav range: 45.459900 m, bearing: 267.426058 deg, approach rate: 0.304373 m/s, LOS rate: -0.697692 deg/s, cmd heading: 8.803458 deg, new cmd heading: 8.049975 deg. 2025-01-08T23:14:20.107Z,1736378060.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.140499 target range: 79.300003 and range: 79.30 m. 2025-01-08T23:14:20.200Z,1736378060.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:20.200Z,1736378060.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257935 2025-01-08T23:14:20.452Z,1736378060.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:20.462Z,1736378060.462 [DAT](INFO): DAT read: 23:14:18.6347 LVL= 16368, 27937, 26530, 32755, AGC= 62, IDX= 411, 0.14,-1.058,-2.897,-2.130,-1.737, PHS= 0.768,-1.113,-0.395, RAW= 112.2, 9.0, CAL= 121.7, 6.2, ROT= 28.3, -6.2 2025-01-08T23:14:20.463Z,1736378060.463 [DAT](INFO): got valid direction response: 23:14:18.6347 LVL= 16368, 27937, 26530, 32755, AGC= 62, IDX= 411, 0.14,-1.058,-2.897,-2.130,-1.737, PHS= 0.768,-1.113,-0.395, RAW= 112.2, 9.0, CAL= 121.7, 6.2, ROT= 28.3, -6.2 2025-01-08T23:14:20.464Z,1736378060.464 [DAT](INFO): DAT read: Bearing 28.3, -6.2 (Local) 2025-01-08T23:14:20.464Z,1736378060.464 [DAT](INFO): Local bearing/azimuth received: Bearing 28.3, -6.2 (Local) 2025-01-08T23:14:20.466Z,1736378060.466 [DAT](INFO): DAT read: Range 10 to 50 : 77.2 m (Round-trip 103.0 ms) speed 0.4 m/s 2025-01-08T23:14:20.466Z,1736378060.466 [DAT](INFO): DAT read: user:3111> 2025-01-08T23:14:20.476Z,1736378060.476 [DAT](INFO): DAT read: Tx time:23:14:19.7276 2025-01-08T23:14:20.476Z,1736378060.476 [DAT](INFO): Ping request sent. 2025-01-08T23:14:20.476Z,1736378060.476 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:20.477Z,1736378060.477 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:14:20.477Z,1736378060.477 [DAT](INFO): direction in FSK: [-0.285422,-0.266896,0.920490] 2025-01-08T23:14:20.478Z,1736378060.478 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:20.478Z,1736378060.478 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:20.486Z,1736378060.486 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:20.486Z,1736378060.486 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:20.541Z,1736378060.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:20.698Z,1736378060.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.199997 m, deltaT: 3.527201 s, deltaX: -2.100006 m, approachRate: -0.595375 m/s, rangeRepo size: 4 2025-01-08T23:14:20.704Z,1736378060.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:20.705Z,1736378060.705 [DAT](INFO): DAT read: TxSync time:23:14:19.7268 2025-01-08T23:14:20.707Z,1736378060.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 77.199997 m, bearing: 251.406675 deg, lat: 36.904304 deg, lon: -122.120513 deg, deltaT: 3.527201 s, deltaX: -2.100006 m, approachRate: -0.595375 m/s, posRepo size: 4 2025-01-08T23:14:20.715Z,1736378060.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T23:14:20.718Z,1736378060.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 36.341515 m, bearing: 264.285511 deg, approach rate: 0.000000 m/s, LOS rate: -0.697692 deg/s, cmd heading: 8.049975 deg, new cmd heading: 6.805137 deg. 2025-01-08T23:14:20.719Z,1736378060.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118772 target range: 77.199997 and range: 77.20 m. 2025-01-08T23:14:20.956Z,1736378060.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:21.078Z,1736378061.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:21.094Z,1736378061.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:21.100Z,1736378061.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T23:14:21.102Z,1736378061.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 36.507801 m, bearing: 263.835212 deg, approach rate: 0.412546 m/s, LOS rate: -1.112062 deg/s, cmd heading: 6.805137 deg, new cmd heading: 5.460655 deg. 2025-01-08T23:14:21.108Z,1736378061.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095306 target range: 77.199997 and range: 77.20 m. 2025-01-08T23:14:21.208Z,1736378061.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:21.208Z,1736378061.208 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:21.209Z,1736378061.209 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:21.209Z,1736378061.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:21.405Z,1736378061.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:21.414Z,1736378061.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T23:14:21.417Z,1736378061.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 36.608871 m, bearing: 263.561326 deg, approach rate: 0.321947 m/s, LOS rate: -0.870018 deg/s, cmd heading: 5.460655 deg, new cmd heading: 4.641323 deg. 2025-01-08T23:14:21.418Z,1736378061.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081006 target range: 77.199997 and range: 77.20 m. 2025-01-08T23:14:21.461Z,1736378061.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:21.463Z,1736378061.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986345 2025-01-08T23:14:21.714Z,1736378061.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:21.715Z,1736378061.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238258 2025-01-08T23:14:21.832Z,1736378061.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:21.841Z,1736378061.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T23:14:21.845Z,1736378061.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 36.726357 m, bearing: 263.201408 deg, approach rate: 0.274750 m/s, LOS rate: -0.839004 deg/s, cmd heading: 4.641323 deg, new cmd heading: 3.565157 deg. 2025-01-08T23:14:21.846Z,1736378061.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062224 target range: 77.199997 and range: 77.20 m. 2025-01-08T23:14:21.964Z,1736378061.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:21.964Z,1736378061.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488028 2025-01-08T23:14:22.216Z,1736378062.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:22.217Z,1736378062.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740387 2025-01-08T23:14:22.217Z,1736378062.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:22.226Z,1736378062.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T23:14:22.229Z,1736378062.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 36.831192 m, bearing: 262.877188 deg, approach rate: 0.272416 m/s, LOS rate: -0.840085 deg/s, cmd heading: 3.565157 deg, new cmd heading: 2.595365 deg. 2025-01-08T23:14:22.230Z,1736378062.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045298 target range: 77.199997 and range: 77.20 m. 2025-01-08T23:14:22.469Z,1736378062.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:22.470Z,1736378062.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993457 2025-01-08T23:14:22.685Z,1736378062.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:22.699Z,1736378062.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T23:14:22.706Z,1736378062.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 36.957554 m, bearing: 262.480166 deg, approach rate: 0.267599 m/s, LOS rate: -0.837900 deg/s, cmd heading: 2.595365 deg, new cmd heading: 1.408550 deg. 2025-01-08T23:14:22.712Z,1736378062.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024584 target range: 77.199997 and range: 77.20 m. 2025-01-08T23:14:22.720Z,1736378062.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:22.722Z,1736378062.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245391 2025-01-08T23:14:22.972Z,1736378062.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:22.972Z,1736378062.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496190 2025-01-08T23:14:23.043Z,1736378063.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:23.052Z,1736378063.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T23:14:23.055Z,1736378063.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 37.032936 m, bearing: 262.178979 deg, approach rate: 0.213696 m/s, LOS rate: -0.852074 deg/s, cmd heading: 1.408550 deg, new cmd heading: 0.506904 deg. 2025-01-08T23:14:23.056Z,1736378063.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008847 target range: 77.199997 and range: 77.20 m. 2025-01-08T23:14:23.224Z,1736378063.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:23.224Z,1736378063.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748002 2025-01-08T23:14:23.425Z,1736378063.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:23.434Z,1736378063.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:23.436Z,1736378063.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T23:14:23.439Z,1736378063.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 37.111168 m, bearing: 261.856763 deg, approach rate: 0.203251 m/s, LOS rate: -0.835367 deg/s, cmd heading: 0.506904 deg, new cmd heading: 359.542392 deg. 2025-01-08T23:14:23.440Z,1736378063.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275198 target range: 77.199997 and range: 77.20 m. 2025-01-08T23:14:23.480Z,1736378063.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:23.481Z,1736378063.481 [DAT](INFO): DAT read: Rx Time:23:14:22.2328 2025-01-08T23:14:23.481Z,1736378063.481 [DAT](INFO): Rx dataTimestamp_ set to:1736378063.480839 2025-01-08T23:14:23.482Z,1736378063.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005342 2025-01-08T23:14:23.732Z,1736378063.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:23.732Z,1736378063.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256124 2025-01-08T23:14:23.889Z,1736378063.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:23.952Z,1736378063.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.20 m. 2025-01-08T23:14:23.955Z,1736378063.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.199997 m, nav range: 37.178303 m, bearing: 261.464144 deg, approach rate: 0.131037 m/s, LOS rate: -0.764945 deg/s, cmd heading: 359.542387 deg, new cmd heading: 358.366830 deg. 2025-01-08T23:14:23.956Z,1736378063.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.254681 target range: 77.199997 and range: 77.20 m. 2025-01-08T23:14:23.986Z,1736378063.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:23.994Z,1736378063.994 [DAT](INFO): DAT read: 23:14:22.2328 LVL= 15712, 20209, 20674, 25043, AGC= 59, IDX= 423,-0.40,-3.069, 1.133, 1.697, 2.119, PHS= 1.183,-0.939,-0.426, RAW= 103.4, 1.9, CAL= 114.1, -1.0, ROT= 35.9, 1.0 2025-01-08T23:14:23.995Z,1736378063.995 [DAT](INFO): got valid direction response: 23:14:22.2328 LVL= 15712, 20209, 20674, 25043, AGC= 59, IDX= 423,-0.40,-3.069, 1.133, 1.697, 2.119, PHS= 1.183,-0.939,-0.426, RAW= 103.4, 1.9, CAL= 114.1, -1.0, ROT= 35.9, 1.0 2025-01-08T23:14:23.997Z,1736378063.997 [DAT](INFO): DAT read: Bearing 35.9, 1.0 (Local) 2025-01-08T23:14:23.997Z,1736378063.997 [DAT](INFO): Local bearing/azimuth received: Bearing 35.9, 1.0 (Local) 2025-01-08T23:14:24.005Z,1736378064.005 [DAT](INFO): DAT read: Range 10 to 50 : 75.7 m (Round-trip 101.0 ms) speed 0.3 m/s 2025-01-08T23:14:24.006Z,1736378064.006 [DAT](INFO): DAT read: user:3112> 2025-01-08T23:14:24.006Z,1736378064.006 [DAT](INFO): DAT read: Tx time:23:14:23.3276 2025-01-08T23:14:24.007Z,1736378064.007 [DAT](INFO): Ping request sent. 2025-01-08T23:14:24.007Z,1736378064.007 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:24.007Z,1736378064.007 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:14:24.013Z,1736378064.013 [DAT](INFO): direction in FSK: [-0.141311,-0.125221,0.982014] 2025-01-08T23:14:24.014Z,1736378064.014 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:24.014Z,1736378064.014 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:24.035Z,1736378064.035 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:24.035Z,1736378064.035 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:24.238Z,1736378064.238 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:24.238Z,1736378064.238 [DAT](INFO): DAT read: TxSync time:23:14:23.3268 2025-01-08T23:14:24.349Z,1736378064.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:24.381Z,1736378064.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.699997 m, deltaT: 3.533952 s, deltaX: -1.500000 m, approachRate: -0.424454 m/s, rangeRepo size: 4 2025-01-08T23:14:24.383Z,1736378064.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 75.699997 m, bearing: 258.509974 deg, lat: 36.904304 deg, lon: -122.120447 deg, deltaT: 3.533952 s, deltaX: -1.500000 m, approachRate: -0.424454 m/s, posRepo size: 4 2025-01-08T23:14:24.388Z,1736378064.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:14:24.390Z,1736378064.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 31.436506 m, bearing: 259.406200 deg, approach rate: 0.000000 m/s, LOS rate: -0.764945 deg/s, cmd heading: 358.366830 deg, new cmd heading: 357.399146 deg. 2025-01-08T23:14:24.396Z,1736378064.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.237792 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:14:24.488Z,1736378064.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:24.740Z,1736378064.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:24.808Z,1736378064.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:24.836Z,1736378064.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:14:24.844Z,1736378064.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 31.483717 m, bearing: 258.935748 deg, approach rate: 0.101267 m/s, LOS rate: -1.007596 deg/s, cmd heading: 357.399156 deg, new cmd heading: 355.990216 deg. 2025-01-08T23:14:24.845Z,1736378064.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.213202 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:14:24.992Z,1736378064.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:25.200Z,1736378065.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:25.209Z,1736378065.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:14:25.212Z,1736378065.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 31.525780 m, bearing: 258.534469 deg, approach rate: 0.112809 m/s, LOS rate: -1.074752 deg/s, cmd heading: 355.990225 deg, new cmd heading: 354.788179 deg. 2025-01-08T23:14:25.213Z,1736378065.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.192222 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:14:25.248Z,1736378065.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:25.500Z,1736378065.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:25.588Z,1736378065.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:25.611Z,1736378065.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:25.614Z,1736378065.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:14:25.625Z,1736378065.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 31.561586 m, bearing: 258.134900 deg, approach rate: 0.088417 m/s, LOS rate: -0.985520 deg/s, cmd heading: 354.788166 deg, new cmd heading: 353.591002 deg. 2025-01-08T23:14:25.626Z,1736378065.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171327 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:14:25.753Z,1736378065.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:25.753Z,1736378065.753 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:25.753Z,1736378065.753 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:25.754Z,1736378065.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:26.004Z,1736378066.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:26.005Z,1736378066.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998577 2025-01-08T23:14:26.061Z,1736378066.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:26.090Z,1736378066.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:14:26.097Z,1736378066.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 31.586882 m, bearing: 257.645322 deg, approach rate: 0.053175 m/s, LOS rate: -1.028341 deg/s, cmd heading: 353.590998 deg, new cmd heading: 352.123778 deg. 2025-01-08T23:14:26.098Z,1736378066.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145720 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:14:26.256Z,1736378066.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:26.257Z,1736378066.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249852 2025-01-08T23:14:26.418Z,1736378066.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:26.428Z,1736378066.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:14:26.430Z,1736378066.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 31.603668 m, bearing: 257.275782 deg, approach rate: 0.049738 m/s, LOS rate: -1.094348 deg/s, cmd heading: 352.123791 deg, new cmd heading: 351.015908 deg. 2025-01-08T23:14:26.432Z,1736378066.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.126383 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:14:26.508Z,1736378066.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:26.509Z,1736378066.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501924 2025-01-08T23:14:26.760Z,1736378066.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:26.760Z,1736378066.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753833 2025-01-08T23:14:26.866Z,1736378066.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:26.876Z,1736378066.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:14:26.879Z,1736378066.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 31.614336 m, bearing: 256.807463 deg, approach rate: 0.023769 m/s, LOS rate: -1.043099 deg/s, cmd heading: 351.015907 deg, new cmd heading: 349.611718 deg. 2025-01-08T23:14:26.880Z,1736378066.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.101876 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:14:27.012Z,1736378067.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:27.013Z,1736378067.013 [DAT](INFO): DAT read: Rx Time:23:14:25.8309 2025-01-08T23:14:27.013Z,1736378067.013 [DAT](INFO): Rx dataTimestamp_ set to:1736378067.012857 2025-01-08T23:14:27.014Z,1736378067.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007014 2025-01-08T23:14:27.221Z,1736378067.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:27.230Z,1736378067.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:14:27.233Z,1736378067.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 31.620266 m, bearing: 256.437010 deg, approach rate: 0.016781 m/s, LOS rate: -1.048129 deg/s, cmd heading: 349.611729 deg, new cmd heading: 348.500727 deg. 2025-01-08T23:14:27.234Z,1736378067.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082485 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:14:27.264Z,1736378067.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:27.265Z,1736378067.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258220 2025-01-08T23:14:27.518Z,1736378067.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:27.542Z,1736378067.542 [DAT](INFO): DAT read: 23:14:25.8309 LVL= 13536, 24561, 20018, 26819, AGC= 58, IDX= 420,-0.20,-2.417, 1.751, 1.948, 2.617, PHS= 1.338,-0.818,-0.672, RAW= 93.5, 1.5, CAL= 101.8, -1.5, ROT= 48.2, 1.5 2025-01-08T23:14:27.552Z,1736378067.552 [DAT](INFO): got valid direction response: 23:14:25.8309 LVL= 13536, 24561, 20018, 26819, AGC= 58, IDX= 420,-0.20,-2.417, 1.751, 1.948, 2.617, PHS= 1.338,-0.818,-0.672, RAW= 93.5, 1.5, CAL= 101.8, -1.5, ROT= 48.2, 1.5 2025-01-08T23:14:27.553Z,1736378067.553 [DAT](INFO): DAT read: Bearing 48.2, 1.5 (Local) 2025-01-08T23:14:27.553Z,1736378067.553 [DAT](INFO): Local bearing/azimuth received: Bearing 48.2, 1.5 (Local) 2025-01-08T23:14:27.560Z,1736378067.560 [DAT](INFO): DAT read: Range 10 to 50 : 74.4 m (Round-trip 99.2 ms) speed 0.3 m/s 2025-01-08T23:14:27.563Z,1736378067.563 [DAT](INFO): DAT read: user:3113> 2025-01-08T23:14:27.570Z,1736378067.570 [DAT](INFO): DAT read: Tx time:23:14:26.9276 2025-01-08T23:14:27.570Z,1736378067.570 [DAT](INFO): Ping request sent. 2025-01-08T23:14:27.570Z,1736378067.570 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:27.571Z,1736378067.571 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:14:27.573Z,1736378067.573 [DAT](INFO): direction in FSK: [-0.118681,0.048775,0.991734] 2025-01-08T23:14:27.574Z,1736378067.574 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:27.574Z,1736378067.574 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:27.582Z,1736378067.582 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:27.582Z,1736378067.582 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:27.768Z,1736378067.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:27.769Z,1736378067.769 [DAT](INFO): DAT read: TxSync time:23:14:26.9268 2025-01-08T23:14:27.863Z,1736378067.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:27.898Z,1736378067.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.400002 m, deltaT: 3.532443 s, deltaX: -1.299995 m, approachRate: -0.368016 m/s, rangeRepo size: 4 2025-01-08T23:14:27.905Z,1736378067.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.400002 m, bearing: 116.370272 deg, lat: 36.904304 deg, lon: -122.120413 deg, deltaT: 3.532443 s, deltaX: -1.299995 m, approachRate: -0.368016 m/s, posRepo size: 4 2025-01-08T23:14:27.906Z,1736378067.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m. 2025-01-08T23:14:27.913Z,1736378067.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.400002 m, nav range: 28.709969 m, bearing: 254.274370 deg, approach rate: 0.000000 m/s, LOS rate: -1.048129 deg/s, cmd heading: 348.500731 deg, new cmd heading: 346.401207 deg. 2025-01-08T23:14:27.914Z,1736378067.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045842 target range: 74.400002 and range: 74.40 m. 2025-01-08T23:14:28.020Z,1736378068.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:28.273Z,1736378068.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:28.361Z,1736378068.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:28.367Z,1736378068.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:28.369Z,1736378068.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m. 2025-01-08T23:14:28.373Z,1736378068.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.400002 m, nav range: 28.718819 m, bearing: 253.690691 deg, approach rate: 0.018765 m/s, LOS rate: -1.237201 deg/s, cmd heading: 346.401213 deg, new cmd heading: 344.651290 deg. 2025-01-08T23:14:28.374Z,1736378068.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015300 target range: 74.400002 and range: 74.40 m. 2025-01-08T23:14:28.524Z,1736378068.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:28.525Z,1736378068.525 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:28.525Z,1736378068.525 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:28.525Z,1736378068.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:28.776Z,1736378068.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:28.777Z,1736378068.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206282 2025-01-08T23:14:28.842Z,1736378068.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:28.859Z,1736378068.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m. 2025-01-08T23:14:28.865Z,1736378068.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.400002 m, nav range: 28.728752 m, bearing: 253.126652 deg, approach rate: 0.020299 m/s, LOS rate: -1.152185 deg/s, cmd heading: 344.651291 deg, new cmd heading: 342.960278 deg. 2025-01-08T23:14:28.866Z,1736378068.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.985786 target range: 74.400002 and range: 74.40 m. 2025-01-08T23:14:29.028Z,1736378069.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:29.028Z,1736378069.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457966 2025-01-08T23:14:29.176Z,1736378069.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:29.185Z,1736378069.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m. 2025-01-08T23:14:29.188Z,1736378069.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.400002 m, nav range: 28.733831 m, bearing: 252.734603 deg, approach rate: 0.015574 m/s, LOS rate: -1.201905 deg/s, cmd heading: 342.960273 deg, new cmd heading: 341.784506 deg. 2025-01-08T23:14:29.189Z,1736378069.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965265 target range: 74.400002 and range: 74.40 m. 2025-01-08T23:14:29.280Z,1736378069.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:29.280Z,1736378069.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710022 2025-01-08T23:14:29.532Z,1736378069.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:29.532Z,1736378069.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961872 2025-01-08T23:14:29.616Z,1736378069.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:29.625Z,1736378069.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m. 2025-01-08T23:14:29.633Z,1736378069.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.400002 m, nav range: 28.737331 m, bearing: 252.219738 deg, approach rate: 0.007958 m/s, LOS rate: -1.170510 deg/s, cmd heading: 341.784497 deg, new cmd heading: 340.240485 deg. 2025-01-08T23:14:29.634Z,1736378069.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938317 target range: 74.400002 and range: 74.40 m. 2025-01-08T23:14:29.785Z,1736378069.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:29.788Z,1736378069.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216886 2025-01-08T23:14:30.018Z,1736378070.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:30.028Z,1736378070.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m. 2025-01-08T23:14:30.030Z,1736378070.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.400002 m, nav range: 28.745125 m, bearing: 251.752345 deg, approach rate: 0.019349 m/s, LOS rate: -1.160080 deg/s, cmd heading: 340.240491 deg, new cmd heading: 338.838989 deg. 2025-01-08T23:14:30.032Z,1736378070.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913856 target range: 74.400002 and range: 74.40 m. 2025-01-08T23:14:30.036Z,1736378070.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:30.036Z,1736378070.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465996 2025-01-08T23:14:30.288Z,1736378070.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:30.289Z,1736378070.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718424 2025-01-08T23:14:30.398Z,1736378070.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:30.420Z,1736378070.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:30.422Z,1736378070.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m. 2025-01-08T23:14:30.425Z,1736378070.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.400002 m, nav range: 28.749542 m, bearing: 251.310724 deg, approach rate: 0.011182 m/s, LOS rate: -1.117722 deg/s, cmd heading: 338.838991 deg, new cmd heading: 337.514579 deg. 2025-01-08T23:14:30.426Z,1736378070.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890741 target range: 74.400002 and range: 74.40 m. 2025-01-08T23:14:30.540Z,1736378070.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:30.541Z,1736378070.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970053 2025-01-08T23:14:30.794Z,1736378070.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:30.796Z,1736378070.796 [DAT](INFO): DAT read: Rx Time:23:14:29.4295 2025-01-08T23:14:30.796Z,1736378070.796 [DAT](INFO): Rx dataTimestamp_ set to:1736378070.795913 2025-01-08T23:14:30.797Z,1736378070.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226268 2025-01-08T23:14:30.875Z,1736378070.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:30.884Z,1736378070.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m. 2025-01-08T23:14:30.886Z,1736378070.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.400002 m, nav range: 28.775152 m, bearing: 250.748679 deg, approach rate: 0.055559 m/s, LOS rate: -1.218210 deg/s, cmd heading: 337.514590 deg, new cmd heading: 335.830470 deg. 2025-01-08T23:14:30.904Z,1736378070.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861348 target range: 74.400002 and range: 74.40 m. 2025-01-08T23:14:31.044Z,1736378071.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:31.045Z,1736378071.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474179 2025-01-08T23:14:31.208Z,1736378071.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:31.241Z,1736378071.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.40 m. 2025-01-08T23:14:31.244Z,1736378071.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.400002 m, nav range: 28.781239 m, bearing: 250.354383 deg, approach rate: 0.017033 m/s, LOS rate: -1.103226 deg/s, cmd heading: 335.830484 deg, new cmd heading: 334.648022 deg. 2025-01-08T23:14:31.245Z,1736378071.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840710 target range: 74.400002 and range: 74.40 m. 2025-01-08T23:14:31.296Z,1736378071.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:31.306Z,1736378071.306 [DAT](INFO): DAT read: 23:14:29.4295 LVL= 12464, 20881, 15906, 22163, AGC= 54, IDX= 421,-0.04,-0.043,-1.634,-2.033,-0.917, PHS= 0.963,-0.669,-1.118, RAW= 78.2, 8.7, CAL= 82.4, 12.1, ROT= 67.6, -12.1 2025-01-08T23:14:31.308Z,1736378071.308 [DAT](INFO): got valid direction response: 23:14:29.4295 LVL= 12464, 20881, 15906, 22163, AGC= 54, IDX= 421,-0.04,-0.043,-1.634,-2.033,-0.917, PHS= 0.963,-0.669,-1.118, RAW= 78.2, 8.7, CAL= 82.4, 12.1, ROT= 67.6, -12.1 2025-01-08T23:14:31.309Z,1736378071.309 [DAT](INFO): DAT read: Bearing 67.6, -12.1 (Local) 2025-01-08T23:14:31.309Z,1736378071.309 [DAT](INFO): Local bearing/azimuth received: Bearing 67.6, -12.1 (Local) 2025-01-08T23:14:31.311Z,1736378071.311 [DAT](INFO): DAT read: Range 10 to 50 : 73.2 m (Round-trip 97.7 ms) speed 0.1 m/s 2025-01-08T23:14:31.312Z,1736378071.312 [DAT](INFO): DAT read: user:3114> 2025-01-08T23:14:31.312Z,1736378071.312 [DAT](INFO): DAT read: Tx time:23:14:30.5277 2025-01-08T23:14:31.313Z,1736378071.313 [DAT](INFO): Ping request sent. 2025-01-08T23:14:31.313Z,1736378071.313 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:31.313Z,1736378071.313 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:14:31.314Z,1736378071.314 [DAT](INFO): direction in FSK: [-0.226862,0.309720,0.923367] 2025-01-08T23:14:31.314Z,1736378071.314 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:31.314Z,1736378071.314 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:31.318Z,1736378071.318 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:31.318Z,1736378071.318 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:31.548Z,1736378071.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:31.549Z,1736378071.549 [DAT](INFO): DAT read: TxSync time:23:14:30.5269 2025-01-08T23:14:31.613Z,1736378071.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:31.662Z,1736378071.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.199997 m, deltaT: 3.778313 s, deltaX: -1.200005 m, approachRate: -0.317603 m/s, rangeRepo size: 4 2025-01-08T23:14:31.670Z,1736378071.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.199997 m, bearing: 101.477362 deg, lat: 36.904336 deg, lon: -122.120221 deg, deltaT: 3.778313 s, deltaX: -1.200005 m, approachRate: -0.317603 m/s, posRepo size: 4 2025-01-08T23:14:31.671Z,1736378071.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:31.684Z,1736378071.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 11.804818 m, bearing: 237.600004 deg, approach rate: 0.000000 m/s, LOS rate: -1.103226 deg/s, cmd heading: 334.648014 deg, new cmd heading: 333.258752 deg. 2025-01-08T23:14:31.685Z,1736378071.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816463 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:14:31.802Z,1736378071.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:32.052Z,1736378072.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:32.053Z,1736378072.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:32.063Z,1736378072.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:32.066Z,1736378072.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 11.880375 m, bearing: 236.414023 deg, approach rate: 0.187804 m/s, LOS rate: -2.928912 deg/s, cmd heading: 333.258754 deg, new cmd heading: 329.728167 deg. 2025-01-08T23:14:32.067Z,1736378072.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754842 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:14:32.304Z,1736378072.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:32.416Z,1736378072.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:32.424Z,1736378072.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:32.426Z,1736378072.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:32.445Z,1736378072.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 11.937130 m, bearing: 235.435523 deg, approach rate: 0.156367 m/s, LOS rate: -2.682942 deg/s, cmd heading: 329.728174 deg, new cmd heading: 326.809300 deg. 2025-01-08T23:14:32.446Z,1736378072.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703898 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:14:32.560Z,1736378072.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:32.561Z,1736378072.561 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:32.561Z,1736378072.561 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:32.561Z,1736378072.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:32.813Z,1736378072.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:32.816Z,1736378072.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503044 2025-01-08T23:14:32.883Z,1736378072.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:32.893Z,1736378072.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:32.912Z,1736378072.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.024228 m, bearing: 234.223309 deg, approach rate: 0.186613 m/s, LOS rate: -2.578237 deg/s, cmd heading: 326.809307 deg, new cmd heading: 323.204043 deg. 2025-01-08T23:14:32.913Z,1736378072.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640975 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:14:33.064Z,1736378073.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:33.064Z,1736378073.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751628 2025-01-08T23:14:33.219Z,1736378073.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:33.229Z,1736378073.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:33.249Z,1736378073.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.081427 m, bearing: 233.348404 deg, approach rate: 0.169764 m/s, LOS rate: -2.584304 deg/s, cmd heading: 323.204032 deg, new cmd heading: 320.593652 deg. 2025-01-08T23:14:33.249Z,1736378073.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595415 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:14:33.318Z,1736378073.318 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:33.319Z,1736378073.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006792 2025-01-08T23:14:33.568Z,1736378073.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:33.568Z,1736378073.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255745 2025-01-08T23:14:33.656Z,1736378073.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:33.686Z,1736378073.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:33.693Z,1736378073.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.153943 m, bearing: 232.215323 deg, approach rate: 0.158877 m/s, LOS rate: -2.467513 deg/s, cmd heading: 320.593643 deg, new cmd heading: 317.218810 deg. 2025-01-08T23:14:33.694Z,1736378073.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536513 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:14:33.822Z,1736378073.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:33.825Z,1736378073.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511312 2025-01-08T23:14:34.059Z,1736378074.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:34.068Z,1736378074.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:34.073Z,1736378074.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:34.074Z,1736378074.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761424 2025-01-08T23:14:34.075Z,1736378074.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.223034 m, bearing: 231.220935 deg, approach rate: 0.181043 m/s, LOS rate: -2.590795 deg/s, cmd heading: 317.218820 deg, new cmd heading: 314.255313 deg. 2025-01-08T23:14:34.092Z,1736378074.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484790 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:14:34.324Z,1736378074.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:34.325Z,1736378074.325 [DAT](INFO): DAT read: Rx Time:23:14:33.0289 2025-01-08T23:14:34.325Z,1736378074.325 [DAT](INFO): Rx dataTimestamp_ set to:1736378074.324754 2025-01-08T23:14:34.326Z,1736378074.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012898 2025-01-08T23:14:34.437Z,1736378074.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:34.474Z,1736378074.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:34.481Z,1736378074.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:34.488Z,1736378074.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.285718 m, bearing: 230.291758 deg, approach rate: 0.151682 m/s, LOS rate: -2.236832 deg/s, cmd heading: 314.255310 deg, new cmd heading: 311.484286 deg. 2025-01-08T23:14:34.489Z,1736378074.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.436426 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:14:34.576Z,1736378074.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:34.577Z,1736378074.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263840 2025-01-08T23:14:34.829Z,1736378074.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:34.835Z,1736378074.835 [DAT](INFO): DAT read: Range 10 to 50 : 72.7 m (Round-trip 97.0 ms) speed 0.0 m/s 2025-01-08T23:14:34.838Z,1736378074.838 [DAT](INFO): DAT read: user:3115> 2025-01-08T23:14:34.841Z,1736378074.841 [DAT](INFO): DAT read: Tx time:23:14:34.1277 2025-01-08T23:14:34.842Z,1736378074.842 [DAT](INFO): Ping request sent. 2025-01-08T23:14:34.842Z,1736378074.842 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:34.844Z,1736378074.844 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:14:34.844Z,1736378074.844 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:34.846Z,1736378074.846 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:34.972Z,1736378074.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:34.981Z,1736378074.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.699997 m, deltaT: 3.533613 s, deltaX: -0.500000 m, approachRate: -0.141498 m/s, rangeRepo size: 4 2025-01-08T23:14:34.982Z,1736378074.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:34.993Z,1736378074.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.379442 m, bearing: 229.006326 deg, approach rate: 0.187560 m/s, LOS rate: -2.552698 deg/s, cmd heading: 311.484275 deg, new cmd heading: 307.663170 deg. 2025-01-08T23:14:34.994Z,1736378074.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.369735 target range: 73.199997 and range: 72.70 m. 2025-01-08T23:14:35.080Z,1736378075.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:35.081Z,1736378075.081 [DAT](INFO): DAT read: TxSync time:23:14:34.1269 2025-01-08T23:14:35.273Z,1736378075.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:35.282Z,1736378075.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:35.285Z,1736378075.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.430476 m, bearing: 228.284302 deg, approach rate: 0.169303 m/s, LOS rate: -2.385393 deg/s, cmd heading: 307.663166 deg, new cmd heading: 305.507062 deg. 2025-01-08T23:14:35.286Z,1736378075.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.332104 target range: 73.199997 and range: 72.70 m. 2025-01-08T23:14:35.332Z,1736378075.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:35.585Z,1736378075.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:35.681Z,1736378075.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:35.708Z,1736378075.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:35.712Z,1736378075.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.496312 m, bearing: 227.310225 deg, approach rate: 0.160794 m/s, LOS rate: -2.366376 deg/s, cmd heading: 305.507067 deg, new cmd heading: 302.602861 deg. 2025-01-08T23:14:35.713Z,1736378075.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281416 target range: 73.199997 and range: 72.70 m. 2025-01-08T23:14:35.838Z,1736378075.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:36.088Z,1736378076.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:36.099Z,1736378076.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:36.108Z,1736378076.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:36.112Z,1736378076.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.560230 m, bearing: 226.348639 deg, approach rate: 0.153241 m/s, LOS rate: -2.293519 deg/s, cmd heading: 302.602870 deg, new cmd heading: 299.735325 deg. 2025-01-08T23:14:36.113Z,1736378076.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231369 target range: 73.199997 and range: 72.70 m. 2025-01-08T23:14:36.340Z,1736378076.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:36.493Z,1736378076.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:36.500Z,1736378076.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:36.502Z,1736378076.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:36.506Z,1736378076.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.623659 m, bearing: 225.451775 deg, approach rate: 0.161280 m/s, LOS rate: -2.268904 deg/s, cmd heading: 299.735339 deg, new cmd heading: 297.060320 deg. 2025-01-08T23:14:36.506Z,1736378076.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.184680 target range: 73.199997 and range: 72.70 m. 2025-01-08T23:14:36.592Z,1736378076.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:36.593Z,1736378076.593 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:36.594Z,1736378076.594 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:36.594Z,1736378076.594 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:36.849Z,1736378076.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:36.852Z,1736378076.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009091 2025-01-08T23:14:36.938Z,1736378076.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:36.947Z,1736378076.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:36.950Z,1736378076.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.678109 m, bearing: 224.462893 deg, approach rate: 0.122317 m/s, LOS rate: -2.211777 deg/s, cmd heading: 297.060309 deg, new cmd heading: 294.109164 deg. 2025-01-08T23:14:36.951Z,1736378076.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.133173 target range: 73.199997 and range: 72.70 m. 2025-01-08T23:14:37.100Z,1736378077.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:37.101Z,1736378077.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258712 2025-01-08T23:14:37.284Z,1736378077.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:37.294Z,1736378077.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:37.317Z,1736378077.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.718562 m, bearing: 223.695480 deg, approach rate: 0.116644 m/s, LOS rate: -2.205698 deg/s, cmd heading: 294.109175 deg, new cmd heading: 291.815553 deg. 2025-01-08T23:14:37.318Z,1736378077.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093142 target range: 73.199997 and range: 72.70 m. 2025-01-08T23:14:37.352Z,1736378077.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:37.353Z,1736378077.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510790 2025-01-08T23:14:37.604Z,1736378077.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:37.605Z,1736378077.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763254 2025-01-08T23:14:37.696Z,1736378077.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:37.705Z,1736378077.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:37.708Z,1736378077.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.764083 m, bearing: 222.785547 deg, approach rate: 0.110755 m/s, LOS rate: -2.205934 deg/s, cmd heading: 291.815543 deg, new cmd heading: 289.097634 deg. 2025-01-08T23:14:37.709Z,1736378077.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.045706 target range: 73.199997 and range: 72.70 m. 2025-01-08T23:14:37.865Z,1736378077.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:37.868Z,1736378077.868 [DAT](INFO): DAT read: Rx Time:23:14:36.6291 2025-01-08T23:14:37.870Z,1736378077.870 [DAT](INFO): Rx dataTimestamp_ set to:1736378077.868653 2025-01-08T23:14:37.872Z,1736378077.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029260 2025-01-08T23:14:38.116Z,1736378078.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:38.116Z,1736378078.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274634 2025-01-08T23:14:38.130Z,1736378078.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:38.159Z,1736378078.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:38.166Z,1736378078.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.801397 m, bearing: 221.852952 deg, approach rate: 0.082219 m/s, LOS rate: -2.048813 deg/s, cmd heading: 289.097647 deg, new cmd heading: 286.310341 deg. 2025-01-08T23:14:38.166Z,1736378078.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997058 target range: 73.199997 and range: 72.70 m. 2025-01-08T23:14:38.368Z,1736378078.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:38.369Z,1736378078.369 [DAT](INFO): DAT read: Range 10 to 50 : 72.9 m (Round-trip 97.3 ms) speed -0.1 m/s 2025-01-08T23:14:38.370Z,1736378078.370 [DAT](INFO): DAT read: user:3116> 2025-01-08T23:14:38.372Z,1736378078.372 [DAT](INFO): DAT read: Tx time:23:14:37.7277 2025-01-08T23:14:38.372Z,1736378078.372 [DAT](INFO): Ping request sent. 2025-01-08T23:14:38.372Z,1736378078.372 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:38.372Z,1736378078.372 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:14:38.373Z,1736378078.373 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:38.373Z,1736378078.373 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:38.506Z,1736378078.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:38.513Z,1736378078.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:38.516Z,1736378078.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 3.537368 s, deltaX: 0.200005 m, approachRate: 0.056541 m/s, rangeRepo size: 4 2025-01-08T23:14:38.517Z,1736378078.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:38.523Z,1736378078.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.836416 m, bearing: 221.050343 deg, approach rate: 0.098171 m/s, LOS rate: -2.243796 deg/s, cmd heading: 286.310328 deg, new cmd heading: 283.910552 deg. 2025-01-08T23:14:38.526Z,1736378078.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.955174 target range: 73.199997 and range: 72.90 m. 2025-01-08T23:14:38.621Z,1736378078.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:38.622Z,1736378078.622 [DAT](INFO): DAT read: TxSync time:23:14:37.7269 2025-01-08T23:14:38.622Z,1736378078.622 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:38.623Z,1736378078.623 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:38.623Z,1736378078.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:38.874Z,1736378078.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:38.876Z,1736378078.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503392 2025-01-08T23:14:38.995Z,1736378078.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:39.005Z,1736378079.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:39.024Z,1736378079.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.847367 m, bearing: 219.963883 deg, approach rate: 0.022430 m/s, LOS rate: -2.223287 deg/s, cmd heading: 283.910555 deg, new cmd heading: 280.657648 deg. 2025-01-08T23:14:39.025Z,1736378079.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898400 target range: 73.199997 and range: 72.90 m. 2025-01-08T23:14:39.124Z,1736378079.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:39.126Z,1736378079.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753071 2025-01-08T23:14:39.349Z,1736378079.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:39.374Z,1736378079.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:39.376Z,1736378079.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:39.377Z,1736378079.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004889 2025-01-08T23:14:39.380Z,1736378079.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.852809 m, bearing: 219.177842 deg, approach rate: 0.014706 m/s, LOS rate: -2.123313 deg/s, cmd heading: 280.657637 deg, new cmd heading: 278.301915 deg. 2025-01-08T23:14:39.381Z,1736378079.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857285 target range: 73.199997 and range: 72.90 m. 2025-01-08T23:14:39.628Z,1736378079.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:39.628Z,1736378079.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256228 2025-01-08T23:14:39.793Z,1736378079.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:39.802Z,1736378079.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:39.805Z,1736378079.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.856842 m, bearing: 218.188962 deg, approach rate: 0.009415 m/s, LOS rate: -2.307594 deg/s, cmd heading: 278.301904 deg, new cmd heading: 275.338988 deg. 2025-01-08T23:14:39.806Z,1736378079.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805572 target range: 73.199997 and range: 72.90 m. 2025-01-08T23:14:39.882Z,1736378079.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:39.885Z,1736378079.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512142 2025-01-08T23:14:40.132Z,1736378080.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:40.132Z,1736378080.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760150 2025-01-08T23:14:40.233Z,1736378080.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:40.243Z,1736378080.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:40.246Z,1736378080.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.844365 m, bearing: 217.179955 deg, approach rate: -0.028302 m/s, LOS rate: -2.290868 deg/s, cmd heading: 275.338996 deg, new cmd heading: 272.312007 deg. 2025-01-08T23:14:40.247Z,1736378080.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.752741 target range: 73.199997 and range: 72.90 m. 2025-01-08T23:14:40.384Z,1736378080.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:40.384Z,1736378080.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012202 2025-01-08T23:14:40.552Z,1736378080.552 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:14:40.593Z,1736378080.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:40.617Z,1736378080.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:40.619Z,1736378080.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:40.626Z,1736378080.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.827298 m, bearing: 216.355391 deg, approach rate: -0.045391 m/s, LOS rate: -2.195817 deg/s, cmd heading: 272.312020 deg, new cmd heading: 269.836666 deg. 2025-01-08T23:14:40.627Z,1736378080.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709538 target range: 73.199997 and range: 72.90 m. 2025-01-08T23:14:40.636Z,1736378080.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:40.636Z,1736378080.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264219 2025-01-08T23:14:40.890Z,1736378080.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:40.893Z,1736378080.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520353 2025-01-08T23:14:41.031Z,1736378081.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:41.060Z,1736378081.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:41.063Z,1736378081.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.796428 m, bearing: 215.260217 deg, approach rate: -0.069926 m/s, LOS rate: -2.486578 deg/s, cmd heading: 269.836677 deg, new cmd heading: 266.547047 deg. 2025-01-08T23:14:41.064Z,1736378081.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652123 target range: 73.199997 and range: 72.90 m. 2025-01-08T23:14:41.140Z,1736378081.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:41.141Z,1736378081.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768378 2025-01-08T23:14:41.392Z,1736378081.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:41.392Z,1736378081.392 [DAT](INFO): DAT read: Rx Time:23:14:40.2300 2025-01-08T23:14:41.393Z,1736378081.393 [DAT](INFO): Rx dataTimestamp_ set to:1736378081.392671 2025-01-08T23:14:41.393Z,1736378081.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021256 2025-01-08T23:14:41.467Z,1736378081.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:41.488Z,1736378081.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:41.496Z,1736378081.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.757602 m, bearing: 214.171064 deg, approach rate: -0.090673 m/s, LOS rate: -2.551149 deg/s, cmd heading: 266.547040 deg, new cmd heading: 263.273401 deg. 2025-01-08T23:14:41.497Z,1736378081.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594988 target range: 73.199997 and range: 72.90 m. 2025-01-08T23:14:41.556Z,1736378081.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:14:41.645Z,1736378081.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:41.646Z,1736378081.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273675 2025-01-08T23:14:41.857Z,1736378081.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:41.870Z,1736378081.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:14:41.874Z,1736378081.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 12.720997 m, bearing: 213.195033 deg, approach rate: -0.095819 m/s, LOS rate: -2.562142 deg/s, cmd heading: 263.273412 deg, new cmd heading: 260.339602 deg. 2025-01-08T23:14:41.875Z,1736378081.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543783 target range: 73.199997 and range: 72.90 m. 2025-01-08T23:14:41.898Z,1736378081.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:41.901Z,1736378081.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528166 2025-01-08T23:14:42.148Z,1736378082.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:42.159Z,1736378082.159 [DAT](INFO): DAT read: 23:14:40.2300 LVL= 14704, 15505, 16770, 20979, AGC= 59, IDX= 442,-0.42, 0.830, 0.942,-1.270, 0.249, PHS= 0.669, 0.741,-1.521, RAW= 28.4, 1.0, CAL= 27.6, 0.1, ROT= 122.4, -0.1 2025-01-08T23:14:42.165Z,1736378082.165 [DAT](INFO): got valid direction response: 23:14:40.2300 LVL= 14704, 15505, 16770, 20979, AGC= 59, IDX= 442,-0.42, 0.830, 0.942,-1.270, 0.249, PHS= 0.669, 0.741,-1.521, RAW= 28.4, 1.0, CAL= 27.6, 0.1, ROT= 122.4, -0.1 2025-01-08T23:14:42.166Z,1736378082.166 [DAT](INFO): DAT read: Bearing 122.4, -0.1 (Local) 2025-01-08T23:14:42.167Z,1736378082.167 [DAT](INFO): Local bearing/azimuth received: Bearing 122.4, -0.1 (Local) 2025-01-08T23:14:42.168Z,1736378082.168 [DAT](INFO): DAT read: Range 10 to 50 : 73.6 m (Round-trip 98.2 ms) speed -0.3 m/s 2025-01-08T23:14:42.169Z,1736378082.169 [DAT](INFO): DAT read: user:3117> 2025-01-08T23:14:42.170Z,1736378082.170 [DAT](INFO): DAT read: Tx time:23:14:41.3277 2025-01-08T23:14:42.170Z,1736378082.170 [DAT](INFO): Ping request sent. 2025-01-08T23:14:42.171Z,1736378082.171 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:42.176Z,1736378082.176 [DAT](INFO): DAT read: TxSync time:23:14:41.3269 2025-01-08T23:14:42.178Z,1736378082.178 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:14:42.179Z,1736378082.179 [DAT](INFO): direction in FSK: [0.016909,0.906646,0.421552] 2025-01-08T23:14:42.179Z,1736378082.179 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:42.196Z,1736378082.196 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:42.212Z,1736378082.212 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:42.212Z,1736378082.212 [DAT](INFO): publishing direction and range info 2025-01-08T23:14:42.400Z,1736378082.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:42.438Z,1736378082.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:42.473Z,1736378082.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.599998 m, deltaT: 3.780429 s, deltaX: 0.699997 m, approachRate: 0.185163 m/s, rangeRepo size: 4 2025-01-08T23:14:42.479Z,1736378082.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.599998 m, bearing: 30.295557 deg, lat: 36.904346 deg, lon: -122.120060 deg, deltaT: 10.851410 s, deltaX: 0.400002 m, approachRate: 0.036862 m/s, posRepo size: 4 2025-01-08T23:14:42.480Z,1736378082.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:42.483Z,1736378082.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 12.335818 m, bearing: 141.427325 deg, approach rate: 0.000000 m/s, LOS rate: -2.562142 deg/s, cmd heading: 260.339600 deg, new cmd heading: 255.721475 deg. 2025-01-08T23:14:42.488Z,1736378082.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463181 target range: 73.599998 and range: 73.60 m. 2025-01-08T23:14:42.654Z,1736378082.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:42.904Z,1736378082.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:42.904Z,1736378082.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:42.954Z,1736378082.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:42.976Z,1736378082.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:42.979Z,1736378082.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 12.574362 m, bearing: 140.691934 deg, approach rate: 0.479689 m/s, LOS rate: -1.450710 deg/s, cmd heading: 255.721463 deg, new cmd heading: 253.558229 deg. 2025-01-08T23:14:42.984Z,1736378082.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425426 target range: 73.599998 and range: 73.60 m. 2025-01-08T23:14:43.156Z,1736378083.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:43.157Z,1736378083.157 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:43.157Z,1736378083.157 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:43.158Z,1736378083.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:43.402Z,1736378083.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:43.408Z,1736378083.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:43.409Z,1736378083.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237961 2025-01-08T23:14:43.414Z,1736378083.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:43.436Z,1736378083.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 12.849929 m, bearing: 139.852414 deg, approach rate: 0.620315 m/s, LOS rate: -1.849208 deg/s, cmd heading: 253.558233 deg, new cmd heading: 251.095291 deg. 2025-01-08T23:14:43.438Z,1736378083.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382440 target range: 73.599998 and range: 73.60 m. 2025-01-08T23:14:43.662Z,1736378083.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:43.664Z,1736378083.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493712 2025-01-08T23:14:43.777Z,1736378083.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:43.785Z,1736378083.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:43.788Z,1736378083.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 13.054993 m, bearing: 139.218144 deg, approach rate: 0.552322 m/s, LOS rate: -1.681483 deg/s, cmd heading: 251.095294 deg, new cmd heading: 249.223078 deg. 2025-01-08T23:14:43.789Z,1736378083.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349763 target range: 73.599998 and range: 73.60 m. 2025-01-08T23:14:43.912Z,1736378083.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:43.912Z,1736378083.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741842 2025-01-08T23:14:44.164Z,1736378084.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:44.164Z,1736378084.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993716 2025-01-08T23:14:44.237Z,1736378084.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:44.247Z,1736378084.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:44.249Z,1736378084.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 13.320670 m, bearing: 138.444230 deg, approach rate: 0.576124 m/s, LOS rate: -1.644719 deg/s, cmd heading: 249.223084 deg, new cmd heading: 246.948913 deg. 2025-01-08T23:14:44.250Z,1736378084.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310071 target range: 73.599998 and range: 73.60 m. 2025-01-08T23:14:44.416Z,1736378084.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:44.416Z,1736378084.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245758 2025-01-08T23:14:44.584Z,1736378084.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:44.604Z,1736378084.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:44.629Z,1736378084.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 13.519260 m, bearing: 137.856167 deg, approach rate: 0.560211 m/s, LOS rate: -1.634492 deg/s, cmd heading: 246.948905 deg, new cmd heading: 245.211195 deg. 2025-01-08T23:14:44.630Z,1736378084.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279743 target range: 73.599998 and range: 73.60 m. 2025-01-08T23:14:44.668Z,1736378084.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:44.669Z,1736378084.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498865 2025-01-08T23:14:44.921Z,1736378084.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:44.923Z,1736378084.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752485 2025-01-08T23:14:45.056Z,1736378085.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:45.063Z,1736378085.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:45.065Z,1736378085.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:45.068Z,1736378085.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 13.794911 m, bearing: 137.092343 deg, approach rate: 0.593750 m/s, LOS rate: -1.612348 deg/s, cmd heading: 245.211195 deg, new cmd heading: 242.966726 deg. 2025-01-08T23:14:45.069Z,1736378085.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240569 target range: 73.599998 and range: 73.60 m. 2025-01-08T23:14:45.172Z,1736378085.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:45.173Z,1736378085.173 [DAT](INFO): DAT read: Rx Time:23:14:43.8317 2025-01-08T23:14:45.174Z,1736378085.174 [DAT](INFO): Rx dataTimestamp_ set to:1736378085.173962 2025-01-08T23:14:45.175Z,1736378085.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004405 2025-01-08T23:14:45.413Z,1736378085.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:45.424Z,1736378085.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:45.424Z,1736378085.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253673 2025-01-08T23:14:45.450Z,1736378085.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:45.453Z,1736378085.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 14.004368 m, bearing: 136.536244 deg, approach rate: 0.544875 m/s, LOS rate: -1.424964 deg/s, cmd heading: 242.966713 deg, new cmd heading: 241.323844 deg. 2025-01-08T23:14:45.454Z,1736378085.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211895 target range: 73.599998 and range: 73.60 m. 2025-01-08T23:14:45.678Z,1736378085.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:45.681Z,1736378085.681 [DAT](INFO): DAT read: Range 10 to 50 : 74.8 m (Round-trip 99.8 ms) speed -0.4 m/s 2025-01-08T23:14:45.682Z,1736378085.682 [DAT](INFO): DAT read: user:3118> 2025-01-08T23:14:45.686Z,1736378085.686 [DAT](INFO): DAT read: Tx time:23:14:44.9278 2025-01-08T23:14:45.686Z,1736378085.686 [DAT](INFO): Ping request sent. 2025-01-08T23:14:45.686Z,1736378085.686 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:45.687Z,1736378085.687 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:14:45.687Z,1736378085.687 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:45.708Z,1736378085.708 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:45.812Z,1736378085.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:45.821Z,1736378085.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.800003 m, deltaT: 3.530550 s, deltaX: 1.200005 m, approachRate: 0.339892 m/s, rangeRepo size: 4 2025-01-08T23:14:45.822Z,1736378085.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:45.825Z,1736378085.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 14.222663 m, bearing: 135.828756 deg, approach rate: 0.588167 m/s, LOS rate: -1.876926 deg/s, cmd heading: 241.323834 deg, new cmd heading: 239.234925 deg. 2025-01-08T23:14:45.826Z,1736378085.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175437 target range: 73.599998 and range: 74.80 m. 2025-01-08T23:14:45.928Z,1736378085.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:45.929Z,1736378085.929 [DAT](INFO): DAT read: TxSync time:23:14:44.9270 2025-01-08T23:14:46.181Z,1736378086.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:46.233Z,1736378086.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:46.263Z,1736378086.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:46.270Z,1736378086.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 14.454889 m, bearing: 135.140546 deg, approach rate: 0.525592 m/s, LOS rate: -1.532546 deg/s, cmd heading: 239.234916 deg, new cmd heading: 237.204356 deg. 2025-01-08T23:14:46.276Z,1736378086.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139997 target range: 73.599998 and range: 74.80 m. 2025-01-08T23:14:46.432Z,1736378086.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:46.609Z,1736378086.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:46.618Z,1736378086.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:46.622Z,1736378086.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 14.659788 m, bearing: 134.521234 deg, approach rate: 0.577107 m/s, LOS rate: -1.719907 deg/s, cmd heading: 237.204356 deg, new cmd heading: 235.373046 deg. 2025-01-08T23:14:46.623Z,1736378086.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108035 target range: 73.599998 and range: 74.80 m. 2025-01-08T23:14:46.688Z,1736378086.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:46.940Z,1736378086.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:47.086Z,1736378087.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:47.094Z,1736378087.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:47.096Z,1736378087.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:47.098Z,1736378087.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 14.902459 m, bearing: 133.858526 deg, approach rate: 0.507478 m/s, LOS rate: -1.363269 deg/s, cmd heading: 235.373045 deg, new cmd heading: 233.418100 deg. 2025-01-08T23:14:47.100Z,1736378087.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.073915 target range: 73.599998 and range: 74.80 m. 2025-01-08T23:14:47.192Z,1736378087.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:47.192Z,1736378087.192 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:47.192Z,1736378087.192 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:47.193Z,1736378087.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:47.415Z,1736378087.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:47.424Z,1736378087.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:47.427Z,1736378087.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 15.064774 m, bearing: 133.380411 deg, approach rate: 0.494013 m/s, LOS rate: -1.439473 deg/s, cmd heading: 233.418109 deg, new cmd heading: 231.999525 deg. 2025-01-08T23:14:47.428Z,1736378087.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.049156 target range: 73.599998 and range: 74.80 m. 2025-01-08T23:14:47.446Z,1736378087.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:47.455Z,1736378087.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760801 2025-01-08T23:14:47.696Z,1736378087.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:47.697Z,1736378087.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010292 2025-01-08T23:14:47.820Z,1736378087.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:47.832Z,1736378087.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:47.834Z,1736378087.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 15.262269 m, bearing: 132.786245 deg, approach rate: 0.485172 m/s, LOS rate: -1.440728 deg/s, cmd heading: 231.999533 deg, new cmd heading: 230.240685 deg. 2025-01-08T23:14:47.852Z,1736378087.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.018458 target range: 73.599998 and range: 74.80 m. 2025-01-08T23:14:47.948Z,1736378087.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:47.949Z,1736378087.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262963 2025-01-08T23:14:48.200Z,1736378088.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:48.200Z,1736378088.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514130 2025-01-08T23:14:48.258Z,1736378088.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:48.266Z,1736378088.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:48.269Z,1736378088.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 15.453609 m, bearing: 132.215575 deg, approach rate: 0.440175 m/s, LOS rate: -1.296545 deg/s, cmd heading: 230.240677 deg, new cmd heading: 228.550382 deg. 2025-01-08T23:14:48.270Z,1736378088.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.988957 target range: 73.599998 and range: 74.80 m. 2025-01-08T23:14:48.452Z,1736378088.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:48.452Z,1736378088.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766023 2025-01-08T23:14:48.643Z,1736378088.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:48.657Z,1736378088.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:48.685Z,1736378088.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 15.619493 m, bearing: 131.708998 deg, approach rate: 0.424829 m/s, LOS rate: -1.283540 deg/s, cmd heading: 228.550383 deg, new cmd heading: 227.047157 deg. 2025-01-08T23:14:48.686Z,1736378088.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.962720 target range: 73.599998 and range: 74.80 m. 2025-01-08T23:14:48.705Z,1736378088.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:48.706Z,1736378088.706 [DAT](INFO): DAT read: Rx Time:23:14:47.4339 2025-01-08T23:14:48.706Z,1736378088.706 [DAT](INFO): Rx dataTimestamp_ set to:1736378088.705736 2025-01-08T23:14:48.707Z,1736378088.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020255 2025-01-08T23:14:48.956Z,1736378088.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:48.958Z,1736378088.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270951 2025-01-08T23:14:49.142Z,1736378089.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:49.149Z,1736378089.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:49.151Z,1736378089.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:49.170Z,1736378089.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 15.814635 m, bearing: 131.104082 deg, approach rate: 0.394929 m/s, LOS rate: -1.209104 deg/s, cmd heading: 227.047154 deg, new cmd heading: 225.255415 deg. 2025-01-08T23:14:49.176Z,1736378089.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.931449 target range: 73.599998 and range: 74.80 m. 2025-01-08T23:14:49.208Z,1736378089.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:49.210Z,1736378089.210 [DAT](INFO): DAT read: Range 10 to 50 : 76.5 m (Round-trip 102.0 ms) speed -0.5 m/s 2025-01-08T23:14:49.210Z,1736378089.210 [DAT](INFO): DAT read: user:3119> 2025-01-08T23:14:49.211Z,1736378089.211 [DAT](INFO): DAT read: Tx time:23:14:48.5278 2025-01-08T23:14:49.212Z,1736378089.212 [DAT](INFO): Ping request sent. 2025-01-08T23:14:49.212Z,1736378089.212 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:14:49.212Z,1736378089.212 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:14:49.212Z,1736378089.212 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:49.213Z,1736378089.213 [DAT](INFO): publishing transmit ping time 2025-01-08T23:14:49.460Z,1736378089.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:49.461Z,1736378089.461 [DAT](INFO): DAT read: TxSync time:23:14:48.5270 2025-01-08T23:14:49.475Z,1736378089.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:49.506Z,1736378089.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.500000 m, deltaT: 3.529297 s, deltaX: 1.699997 m, approachRate: 0.481681 m/s, rangeRepo size: 4 2025-01-08T23:14:49.506Z,1736378089.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:49.510Z,1736378089.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 15.942628 m, bearing: 130.696570 deg, approach rate: 0.384960 m/s, LOS rate: -1.215810 deg/s, cmd heading: 225.255418 deg, new cmd heading: 224.042890 deg. 2025-01-08T23:14:49.511Z,1736378089.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.910286 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:49.712Z,1736378089.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:49.873Z,1736378089.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:49.902Z,1736378089.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:49.905Z,1736378089.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 16.092663 m, bearing: 130.199429 deg, approach rate: 0.358625 m/s, LOS rate: -1.177214 deg/s, cmd heading: 224.042895 deg, new cmd heading: 222.565722 deg. 2025-01-08T23:14:49.906Z,1736378089.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.884505 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:49.964Z,1736378089.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:50.216Z,1736378090.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:50.316Z,1736378090.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:50.325Z,1736378090.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:50.328Z,1736378090.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 16.235573 m, bearing: 129.679363 deg, approach rate: 0.337217 m/s, LOS rate: -1.216350 deg/s, cmd heading: 222.565717 deg, new cmd heading: 221.019650 deg. 2025-01-08T23:14:50.329Z,1736378090.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.857521 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:50.468Z,1736378090.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:50.686Z,1736378090.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:50.708Z,1736378090.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:50.711Z,1736378090.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 16.352949 m, bearing: 129.239010 deg, approach rate: 0.306780 m/s, LOS rate: -1.142652 deg/s, cmd heading: 221.019649 deg, new cmd heading: 219.708314 deg. 2025-01-08T23:14:50.712Z,1736378090.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.834634 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:50.720Z,1736378090.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:50.972Z,1736378090.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:51.136Z,1736378091.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:51.146Z,1736378091.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:51.148Z,1736378091.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 16.480797 m, bearing: 128.692574 deg, approach rate: 0.292223 m/s, LOS rate: -1.239291 deg/s, cmd heading: 219.708321 deg, new cmd heading: 218.082189 deg. 2025-01-08T23:14:51.149Z,1736378091.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.806252 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:51.224Z,1736378091.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:51.476Z,1736378091.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:51.506Z,1736378091.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:51.521Z,1736378091.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:51.525Z,1736378091.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:51.528Z,1736378091.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 16.583502 m, bearing: 128.240946 deg, approach rate: 0.270555 m/s, LOS rate: -1.182340 deg/s, cmd heading: 218.082189 deg, new cmd heading: 216.735960 deg. 2025-01-08T23:14:51.529Z,1736378091.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782756 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:51.730Z,1736378091.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:51.732Z,1736378091.732 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:14:51.732Z,1736378091.732 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:14:51.732Z,1736378091.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:51.892Z,1736378091.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:51.903Z,1736378091.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:51.906Z,1736378091.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 16.688490 m, bearing: 127.764318 deg, approach rate: 0.277920 m/s, LOS rate: -1.253758 deg/s, cmd heading: 216.735959 deg, new cmd heading: 215.315376 deg. 2025-01-08T23:14:51.907Z,1736378091.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.757962 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:51.981Z,1736378091.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:51.982Z,1736378091.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769780 2025-01-08T23:14:52.232Z,1736378092.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:52.232Z,1736378092.232 [DAT](INFO): DAT read: Rx Time:23:14:51.0368 2025-01-08T23:14:52.233Z,1736378092.233 [DAT](INFO): Rx dataTimestamp_ set to:1736378092.232607 2025-01-08T23:14:52.233Z,1736378092.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021643 2025-01-08T23:14:52.350Z,1736378092.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:52.380Z,1736378092.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:52.383Z,1736378092.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 16.809832 m, bearing: 127.192259 deg, approach rate: 0.254689 m/s, LOS rate: -1.192030 deg/s, cmd heading: 215.315375 deg, new cmd heading: 213.612117 deg. 2025-01-08T23:14:52.393Z,1736378092.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.728235 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:52.484Z,1736378092.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:52.485Z,1736378092.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273038 2025-01-08T23:14:52.723Z,1736378092.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:52.736Z,1736378092.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:52.737Z,1736378092.737 [DAT](INFO): DAT read: $Error in header 2025-01-08T23:14:52.737Z,1736378092.737 [DAT](INFO): Received a bad header 2025-01-08T23:14:52.748Z,1736378092.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:52.750Z,1736378092.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 16.902620 m, bearing: 126.713587 deg, approach rate: 0.263580 m/s, LOS rate: -1.352259 deg/s, cmd heading: 213.612117 deg, new cmd heading: 212.184297 deg. 2025-01-08T23:14:52.752Z,1736378092.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539973 2025-01-08T23:14:52.756Z,1736378092.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.703315 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:52.988Z,1736378092.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:52.990Z,1736378092.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778352 2025-01-08T23:14:53.161Z,1736378093.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:53.194Z,1736378093.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:53.201Z,1736378093.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 17.018789 m, bearing: 126.104476 deg, approach rate: 0.251196 m/s, LOS rate: -1.308087 deg/s, cmd heading: 212.184294 deg, new cmd heading: 210.370074 deg. 2025-01-08T23:14:53.202Z,1736378093.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.671650 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:53.240Z,1736378093.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:53.241Z,1736378093.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028867 2025-01-08T23:14:53.492Z,1736378093.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:53.492Z,1736378093.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280477 2025-01-08T23:14:53.533Z,1736378093.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:53.541Z,1736378093.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:53.543Z,1736378093.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:53.546Z,1736378093.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 17.118900 m, bearing: 125.593916 deg, approach rate: 0.286574 m/s, LOS rate: -1.452945 deg/s, cmd heading: 210.370072 deg, new cmd heading: 208.847729 deg. 2025-01-08T23:14:53.547Z,1736378093.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.645081 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:53.744Z,1736378093.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:53.745Z,1736378093.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533558 2025-01-08T23:14:53.916Z,1736378093.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:53.944Z,1736378093.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:53.948Z,1736378093.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 17.214546 m, bearing: 125.055847 deg, approach rate: 0.238458 m/s, LOS rate: -1.334005 deg/s, cmd heading: 208.847732 deg, new cmd heading: 207.242935 deg. 2025-01-08T23:14:53.949Z,1736378093.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.617072 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:53.997Z,1736378093.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:53.999Z,1736378093.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786477 2025-01-08T23:14:54.248Z,1736378094.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:54.248Z,1736378094.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036580 2025-01-08T23:14:54.356Z,1736378094.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:54.369Z,1736378094.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:54.373Z,1736378094.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 17.345629 m, bearing: 124.375074 deg, approach rate: 0.308300 m/s, LOS rate: -1.589010 deg/s, cmd heading: 207.242939 deg, new cmd heading: 205.216948 deg. 2025-01-08T23:14:54.374Z,1736378094.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581712 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:54.500Z,1736378094.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:54.501Z,1736378094.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288857 2025-01-08T23:14:54.715Z,1736378094.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:54.743Z,1736378094.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:54.753Z,1736378094.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:54.754Z,1736378094.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541961 2025-01-08T23:14:54.757Z,1736378094.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 17.444506 m, bearing: 123.808363 deg, approach rate: 0.265730 m/s, LOS rate: -1.514367 deg/s, cmd heading: 205.216954 deg, new cmd heading: 203.526974 deg. 2025-01-08T23:14:54.759Z,1736378094.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.552216 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:55.004Z,1736378095.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:55.006Z,1736378095.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794055 2025-01-08T23:14:55.195Z,1736378095.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:55.203Z,1736378095.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:55.208Z,1736378095.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 17.594049 m, bearing: 122.990770 deg, approach rate: 0.324038 m/s, LOS rate: -1.756481 deg/s, cmd heading: 203.526974 deg, new cmd heading: 201.096584 deg. 2025-01-08T23:14:55.209Z,1736378095.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.509798 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:55.256Z,1736378095.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:55.257Z,1736378095.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044794 2025-01-08T23:14:55.508Z,1736378095.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:55.509Z,1736378095.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296763 2025-01-08T23:14:55.527Z,1736378095.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:55.556Z,1736378095.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:55.559Z,1736378095.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 17.694710 m, bearing: 122.422086 deg, approach rate: 0.284994 m/s, LOS rate: -1.600901 deg/s, cmd heading: 201.096588 deg, new cmd heading: 199.400764 deg. 2025-01-08T23:14:55.560Z,1736378095.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.480200 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:55.761Z,1736378095.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:55.761Z,1736378095.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549522 2025-01-08T23:14:55.947Z,1736378095.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:55.956Z,1736378095.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:55.958Z,1736378095.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:55.961Z,1736378095.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 17.824329 m, bearing: 121.712965 deg, approach rate: 0.322358 m/s, LOS rate: -1.750683 deg/s, cmd heading: 199.400761 deg, new cmd heading: 197.289879 deg. 2025-01-08T23:14:55.962Z,1736378095.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.443358 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:56.012Z,1736378096.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:56.013Z,1736378096.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800844 2025-01-08T23:14:56.264Z,1736378096.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:56.264Z,1736378096.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052643 2025-01-08T23:14:56.357Z,1736378096.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:56.366Z,1736378096.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:56.378Z,1736378096.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 17.964085 m, bearing: 120.960096 deg, approach rate: 0.343003 m/s, LOS rate: -1.833348 deg/s, cmd heading: 197.289878 deg, new cmd heading: 195.050048 deg. 2025-01-08T23:14:56.380Z,1736378096.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.404266 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:56.516Z,1736378096.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:56.516Z,1736378096.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304649 2025-01-08T23:14:56.746Z,1736378096.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:56.756Z,1736378096.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:56.758Z,1736378096.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 18.089195 m, bearing: 120.264822 deg, approach rate: 0.321095 m/s, LOS rate: -1.772026 deg/s, cmd heading: 195.050054 deg, new cmd heading: 192.979609 deg. 2025-01-08T23:14:56.760Z,1736378096.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.368129 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:56.768Z,1736378096.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:56.768Z,1736378096.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556665 2025-01-08T23:14:57.020Z,1736378097.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:57.022Z,1736378097.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809548 2025-01-08T23:14:57.235Z,1736378097.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:57.246Z,1736378097.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:57.249Z,1736378097.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 18.279816 m, bearing: 119.306133 deg, approach rate: 0.388455 m/s, LOS rate: -1.933198 deg/s, cmd heading: 192.979605 deg, new cmd heading: 190.136000 deg. 2025-01-08T23:14:57.250Z,1736378097.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.318499 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:57.272Z,1736378097.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:57.272Z,1736378097.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060706 2025-01-08T23:14:57.524Z,1736378097.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:57.525Z,1736378097.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312868 2025-01-08T23:14:57.589Z,1736378097.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:57.603Z,1736378097.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:57.606Z,1736378097.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 18.412771 m, bearing: 118.619549 deg, approach rate: 0.373087 m/s, LOS rate: -1.912668 deg/s, cmd heading: 190.136006 deg, new cmd heading: 188.092043 deg. 2025-01-08T23:14:57.609Z,1736378097.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.282825 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:57.776Z,1736378097.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:57.776Z,1736378097.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564615 2025-01-08T23:14:58.028Z,1736378098.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:58.029Z,1736378098.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817306 2025-01-08T23:14:58.076Z,1736378098.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:58.082Z,1736378098.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:14:58.094Z,1736378098.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:58.104Z,1736378098.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 18.580204 m, bearing: 117.664388 deg, approach rate: 0.341277 m/s, LOS rate: -1.929263 deg/s, cmd heading: 188.092044 deg, new cmd heading: 185.254836 deg. 2025-01-08T23:14:58.112Z,1736378098.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.233307 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:58.280Z,1736378098.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:58.280Z,1736378098.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068606 2025-01-08T23:14:58.532Z,1736378098.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:58.533Z,1736378098.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320747 2025-01-08T23:14:58.595Z,1736378098.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:58.604Z,1736378098.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:58.609Z,1736378098.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 18.778635 m, bearing: 116.598234 deg, approach rate: 0.388984 m/s, LOS rate: -2.067777 deg/s, cmd heading: 185.254838 deg, new cmd heading: 182.093569 deg. 2025-01-08T23:14:58.610Z,1736378098.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.178132 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:58.784Z,1736378098.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:58.784Z,1736378098.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572551 2025-01-08T23:14:58.964Z,1736378098.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:58.973Z,1736378098.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:58.976Z,1736378098.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 18.915569 m, bearing: 115.842143 deg, approach rate: 0.369976 m/s, LOS rate: -2.027995 deg/s, cmd heading: 182.093567 deg, new cmd heading: 179.842939 deg. 2025-01-08T23:14:58.977Z,1736378098.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.138851 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:59.036Z,1736378099.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:59.038Z,1736378099.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826188 2025-01-08T23:14:59.292Z,1736378099.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:59.292Z,1736378099.292 [DAT](INFO): Reached modem response timeout 2025-01-08T23:14:59.292Z,1736378099.292 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:14:59.293Z,1736378099.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:59.401Z,1736378099.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:59.412Z,1736378099.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:59.414Z,1736378099.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 19.105343 m, bearing: 114.958758 deg, approach rate: 0.433364 m/s, LOS rate: -1.997168 deg/s, cmd heading: 179.842938 deg, new cmd heading: 177.221042 deg. 2025-01-08T23:14:59.415Z,1736378099.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.093091 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:59.545Z,1736378099.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:59.545Z,1736378099.545 [DAT](INFO): Reached modem response timeout 2025-01-08T23:14:59.546Z,1736378099.546 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:14:59.546Z,1736378099.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:14:59.773Z,1736378099.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:14:59.782Z,1736378099.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:14:59.785Z,1736378099.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 19.254232 m, bearing: 114.191217 deg, approach rate: 0.401475 m/s, LOS rate: -2.053582 deg/s, cmd heading: 177.221047 deg, new cmd heading: 174.937507 deg. 2025-01-08T23:14:59.786Z,1736378099.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.053236 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:14:59.796Z,1736378099.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:14:59.796Z,1736378099.796 [DAT](INFO): Reached modem response timeout 2025-01-08T23:14:59.796Z,1736378099.796 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:14:59.797Z,1736378099.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:00.048Z,1736378100.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:00.048Z,1736378100.048 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:15:00.049Z,1736378100.049 [DAT](INFO): response not received 2025-01-08T23:15:00.049Z,1736378100.049 [DAT](INFO): DAT read: user:3121> 2025-01-08T23:15:00.049Z,1736378100.049 [DAT](ERROR): No response from remote modem. 2025-01-08T23:15:00.050Z,1736378100.050 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:15:00.050Z,1736378100.050 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:00.230Z,1736378100.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:00.264Z,1736378100.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:00.265Z,1736378100.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:00.287Z,1736378100.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 19.440857 m, bearing: 113.269116 deg, approach rate: 0.386074 m/s, LOS rate: -1.889178 deg/s, cmd heading: 174.937510 deg, new cmd heading: 172.199965 deg. 2025-01-08T23:15:00.289Z,1736378100.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.005456 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:15:00.300Z,1736378100.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:00.301Z,1736378100.301 [DAT](INFO): DAT read: Tx time:23:14:59.4779 2025-01-08T23:15:00.301Z,1736378100.301 [DAT](INFO): Ping request sent. 2025-01-08T23:15:00.301Z,1736378100.301 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:00.302Z,1736378100.302 [DAT](INFO): DAT read: TxSync time:23:14:59.4771 2025-01-08T23:15:00.302Z,1736378100.302 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:00.303Z,1736378100.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001552 2025-01-08T23:15:00.552Z,1736378100.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:00.552Z,1736378100.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251269 2025-01-08T23:15:00.634Z,1736378100.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:00.645Z,1736378100.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:00.649Z,1736378100.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 19.603083 m, bearing: 112.444012 deg, approach rate: 0.428496 m/s, LOS rate: -2.161285 deg/s, cmd heading: 172.199970 deg, new cmd heading: 169.746728 deg. 2025-01-08T23:15:00.651Z,1736378100.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.962639 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:15:00.805Z,1736378100.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:00.806Z,1736378100.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504687 2025-01-08T23:15:00.981Z,1736378100.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:01.006Z,1736378101.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:01.013Z,1736378101.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 19.736835 m, bearing: 111.736556 deg, approach rate: 0.369087 m/s, LOS rate: -1.938926 deg/s, cmd heading: 169.746730 deg, new cmd heading: 167.639750 deg. 2025-01-08T23:15:01.014Z,1736378101.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.925866 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:15:01.056Z,1736378101.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:01.057Z,1736378101.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755599 2025-01-08T23:15:01.308Z,1736378101.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:01.308Z,1736378101.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007359 2025-01-08T23:15:01.417Z,1736378101.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:01.426Z,1736378101.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:01.429Z,1736378101.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 19.903162 m, bearing: 110.923997 deg, approach rate: 0.396349 m/s, LOS rate: -1.920047 deg/s, cmd heading: 167.639753 deg, new cmd heading: 165.223960 deg. 2025-01-08T23:15:01.430Z,1736378101.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883702 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:15:01.560Z,1736378101.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:01.561Z,1736378101.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259464 2025-01-08T23:15:01.788Z,1736378101.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:01.797Z,1736378101.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:01.801Z,1736378101.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.031029 m, bearing: 110.215071 deg, approach rate: 0.344638 m/s, LOS rate: -1.898518 deg/s, cmd heading: 165.223956 deg, new cmd heading: 163.111766 deg. 2025-01-08T23:15:01.802Z,1736378101.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846837 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:15:01.812Z,1736378101.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:01.812Z,1736378101.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511187 2025-01-08T23:15:02.064Z,1736378102.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:02.065Z,1736378102.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763514 2025-01-08T23:15:02.204Z,1736378102.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:02.237Z,1736378102.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:02.280Z,1736378102.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.168152 m, bearing: 109.419400 deg, approach rate: 0.313665 m/s, LOS rate: -1.807643 deg/s, cmd heading: 163.111761 deg, new cmd heading: 160.742403 deg. 2025-01-08T23:15:02.281Z,1736378102.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805484 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:15:02.316Z,1736378102.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:02.317Z,1736378102.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015520 2025-01-08T23:15:02.568Z,1736378102.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:02.568Z,1736378102.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267238 2025-01-08T23:15:02.644Z,1736378102.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:02.659Z,1736378102.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:02.684Z,1736378102.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:02.686Z,1736378102.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.295959 m, bearing: 108.598051 deg, approach rate: 0.298210 m/s, LOS rate: -1.904294 deg/s, cmd heading: 160.742410 deg, new cmd heading: 158.295454 deg. 2025-01-08T23:15:02.692Z,1736378102.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.762777 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:15:02.820Z,1736378102.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:02.821Z,1736378102.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519853 2025-01-08T23:15:03.009Z,1736378103.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:03.017Z,1736378103.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:03.021Z,1736378103.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.398020 m, bearing: 107.910280 deg, approach rate: 0.287891 m/s, LOS rate: -1.930309 deg/s, cmd heading: 158.295453 deg, new cmd heading: 156.243390 deg. 2025-01-08T23:15:03.022Z,1736378103.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.726962 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:15:03.073Z,1736378103.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:03.074Z,1736378103.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772824 2025-01-08T23:15:03.324Z,1736378103.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:03.324Z,1736378103.324 [DAT](INFO): DAT read: Rx Time:23:15:01.9959 2025-01-08T23:15:03.325Z,1736378103.325 [DAT](INFO): Rx dataTimestamp_ set to:1736378103.324656 2025-01-08T23:15:03.325Z,1736378103.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024409 2025-01-08T23:15:03.447Z,1736378103.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:03.461Z,1736378103.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:03.468Z,1736378103.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.484652 m, bearing: 107.151695 deg, approach rate: 0.195503 m/s, LOS rate: -1.704620 deg/s, cmd heading: 156.243391 deg, new cmd heading: 153.978508 deg. 2025-01-08T23:15:03.468Z,1736378103.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687432 target range: 73.599998 and range: 76.50 m. 2025-01-08T23:15:03.576Z,1736378103.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:03.577Z,1736378103.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276165 2025-01-08T23:15:03.820Z,1736378103.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:03.828Z,1736378103.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:03.830Z,1736378103.830 [DAT](INFO): DAT read: Range 10 to 50 : 85.4 m (Round-trip 113.9 ms) speed -0.7 m/s 2025-01-08T23:15:03.830Z,1736378103.830 [DAT](INFO): DAT read: user:3122> 2025-01-08T23:15:03.831Z,1736378103.831 [DAT](INFO): DAT read: Tx time:23:15:03.0779 2025-01-08T23:15:03.831Z,1736378103.831 [DAT](INFO): Ping request sent. 2025-01-08T23:15:03.832Z,1736378103.832 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:03.832Z,1736378103.832 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:15:03.832Z,1736378103.832 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:03.833Z,1736378103.833 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:03.838Z,1736378103.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.400002 m, deltaT: 14.619923 s, deltaX: 8.900002 m, approachRate: 0.608758 m/s, rangeRepo size: 4 2025-01-08T23:15:03.839Z,1736378103.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:03.842Z,1736378103.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.559750 m, bearing: 106.451815 deg, approach rate: 0.199744 m/s, LOS rate: -1.854675 deg/s, cmd heading: 153.978514 deg, new cmd heading: 151.887525 deg. 2025-01-08T23:15:03.842Z,1736378103.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.650937 target range: 73.599998 and range: 85.40 m. 2025-01-08T23:15:04.080Z,1736378104.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:04.081Z,1736378104.081 [DAT](INFO): DAT read: TxSync time:23:15:03.0771 2025-01-08T23:15:04.260Z,1736378104.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:04.318Z,1736378104.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:04.322Z,1736378104.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.648186 m, bearing: 105.667988 deg, approach rate: 0.183725 m/s, LOS rate: -1.621364 deg/s, cmd heading: 151.887520 deg, new cmd heading: 149.547486 deg. 2025-01-08T23:15:04.332Z,1736378104.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:04.332Z,1736378104.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.610096 target range: 73.599998 and range: 85.40 m. 2025-01-08T23:15:04.584Z,1736378104.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:04.678Z,1736378104.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:04.686Z,1736378104.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:04.690Z,1736378104.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:04.693Z,1736378104.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.690792 m, bearing: 104.953457 deg, approach rate: 0.114631 m/s, LOS rate: -1.918418 deg/s, cmd heading: 149.547484 deg, new cmd heading: 147.409352 deg. 2025-01-08T23:15:04.694Z,1736378104.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572778 target range: 73.599998 and range: 85.40 m. 2025-01-08T23:15:04.836Z,1736378104.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:04.836Z,1736378104.836 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:04.836Z,1736378104.836 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:04.837Z,1736378104.837 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:05.029Z,1736378105.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:05.039Z,1736378105.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:05.042Z,1736378105.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.721605 m, bearing: 104.353940 deg, approach rate: 0.088142 m/s, LOS rate: -1.712344 deg/s, cmd heading: 147.409348 deg, new cmd heading: 145.614090 deg. 2025-01-08T23:15:05.043Z,1736378105.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541445 target range: 73.599998 and range: 85.40 m. 2025-01-08T23:15:05.089Z,1736378105.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:05.089Z,1736378105.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257889 2025-01-08T23:15:05.341Z,1736378105.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:05.343Z,1736378105.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510977 2025-01-08T23:15:05.478Z,1736378105.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:05.486Z,1736378105.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:05.489Z,1736378105.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.733513 m, bearing: 103.588437 deg, approach rate: 0.026648 m/s, LOS rate: -1.712066 deg/s, cmd heading: 145.614087 deg, new cmd heading: 143.320194 deg. 2025-01-08T23:15:05.490Z,1736378105.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501409 target range: 73.599998 and range: 85.40 m. 2025-01-08T23:15:05.594Z,1736378105.594 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:05.594Z,1736378105.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762666 2025-01-08T23:15:05.833Z,1736378105.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:05.843Z,1736378105.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:05.844Z,1736378105.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:05.845Z,1736378105.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013210 2025-01-08T23:15:05.848Z,1736378105.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.732132 m, bearing: 102.981468 deg, approach rate: -0.003873 m/s, LOS rate: -1.702316 deg/s, cmd heading: 143.320195 deg, new cmd heading: 141.499813 deg. 2025-01-08T23:15:05.849Z,1736378105.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469638 target range: 73.599998 and range: 85.40 m. 2025-01-08T23:15:06.096Z,1736378106.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:06.096Z,1736378106.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264874 2025-01-08T23:15:06.259Z,1736378106.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:06.290Z,1736378106.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:06.322Z,1736378106.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.726187 m, bearing: 102.253983 deg, approach rate: -0.013331 m/s, LOS rate: -1.631648 deg/s, cmd heading: 141.499813 deg, new cmd heading: 139.317846 deg. 2025-01-08T23:15:06.331Z,1736378106.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431555 target range: 73.599998 and range: 85.40 m. 2025-01-08T23:15:06.348Z,1736378106.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:06.350Z,1736378106.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518406 2025-01-08T23:15:06.600Z,1736378106.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:06.600Z,1736378106.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768828 2025-01-08T23:15:06.702Z,1736378106.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:06.714Z,1736378106.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:06.726Z,1736378106.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:06.729Z,1736378106.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.707291 m, bearing: 101.496573 deg, approach rate: -0.043282 m/s, LOS rate: -1.736385 deg/s, cmd heading: 139.317841 deg, new cmd heading: 137.044796 deg. 2025-01-08T23:15:06.730Z,1736378106.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.391883 target range: 73.599998 and range: 85.40 m. 2025-01-08T23:15:06.852Z,1736378106.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:06.853Z,1736378106.853 [DAT](INFO): DAT read: Rx Time:23:15:05.5986 2025-01-08T23:15:06.853Z,1736378106.853 [DAT](INFO): Rx dataTimestamp_ set to:1736378106.852925 2025-01-08T23:15:06.854Z,1736378106.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022373 2025-01-08T23:15:07.051Z,1736378107.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:07.061Z,1736378107.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:07.081Z,1736378107.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.683413 m, bearing: 100.901749 deg, approach rate: -0.071134 m/s, LOS rate: -1.774009 deg/s, cmd heading: 137.044795 deg, new cmd heading: 135.258875 deg. 2025-01-08T23:15:07.081Z,1736378107.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.360713 target range: 73.599998 and range: 85.40 m. 2025-01-08T23:15:07.106Z,1736378107.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:07.107Z,1736378107.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275100 2025-01-08T23:15:07.360Z,1736378107.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:07.361Z,1736378107.361 [DAT](INFO): DAT read: Range 10 to 50 : 87.3 m (Round-trip 116.5 ms) speed -0.4 m/s 2025-01-08T23:15:07.362Z,1736378107.362 [DAT](INFO): DAT read: user:3123> 2025-01-08T23:15:07.363Z,1736378107.363 [DAT](INFO): DAT read: Tx time:23:15:06.6780 2025-01-08T23:15:07.363Z,1736378107.363 [DAT](INFO): Ping request sent. 2025-01-08T23:15:07.363Z,1736378107.363 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:07.364Z,1736378107.364 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:15:07.364Z,1736378107.364 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:07.364Z,1736378107.364 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:07.492Z,1736378107.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:07.507Z,1736378107.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.300003 m, deltaT: 3.531923 s, deltaX: 1.900002 m, approachRate: 0.537951 m/s, rangeRepo size: 4 2025-01-08T23:15:07.508Z,1736378107.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:07.510Z,1736378107.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.651278 m, bearing: 100.139851 deg, approach rate: -0.072179 m/s, LOS rate: -1.713935 deg/s, cmd heading: 135.258878 deg, new cmd heading: 132.970912 deg. 2025-01-08T23:15:07.511Z,1736378107.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320780 target range: 73.599998 and range: 87.30 m. 2025-01-08T23:15:07.613Z,1736378107.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:07.614Z,1736378107.614 [DAT](INFO): DAT read: TxSync time:23:15:06.6772 2025-01-08T23:15:07.860Z,1736378107.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:07.864Z,1736378107.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:07.870Z,1736378107.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:07.874Z,1736378107.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.621206 m, bearing: 99.502781 deg, approach rate: -0.082629 m/s, LOS rate: -1.753040 deg/s, cmd heading: 132.970915 deg, new cmd heading: 131.057669 deg. 2025-01-08T23:15:07.875Z,1736378107.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287388 target range: 73.599998 and range: 87.30 m. 2025-01-08T23:15:08.116Z,1736378108.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:08.257Z,1736378108.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:08.323Z,1736378108.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:08.366Z,1736378108.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.584833 m, bearing: 98.818352 deg, approach rate: -0.080562 m/s, LOS rate: -1.518564 deg/s, cmd heading: 131.057670 deg, new cmd heading: 129.001685 deg. 2025-01-08T23:15:08.369Z,1736378108.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:08.376Z,1736378108.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.251504 target range: 73.599998 and range: 87.30 m. 2025-01-08T23:15:08.621Z,1736378108.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:08.765Z,1736378108.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:08.773Z,1736378108.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:08.775Z,1736378108.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:08.777Z,1736378108.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.535774 m, bearing: 97.911848 deg, approach rate: -0.108265 m/s, LOS rate: -2.005207 deg/s, cmd heading: 129.001687 deg, new cmd heading: 126.277846 deg. 2025-01-08T23:15:08.778Z,1736378108.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203964 target range: 73.599998 and range: 87.30 m. 2025-01-08T23:15:08.873Z,1736378108.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:08.873Z,1736378108.873 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:08.874Z,1736378108.874 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:08.874Z,1736378108.874 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:09.103Z,1736378109.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:09.114Z,1736378109.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:09.117Z,1736378109.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.500326 m, bearing: 97.308296 deg, approach rate: -0.104434 m/s, LOS rate: -1.781175 deg/s, cmd heading: 126.277849 deg, new cmd heading: 124.464702 deg. 2025-01-08T23:15:09.118Z,1736378109.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.172319 target range: 73.599998 and range: 87.30 m. 2025-01-08T23:15:09.124Z,1736378109.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:09.124Z,1736378109.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761012 2025-01-08T23:15:09.376Z,1736378109.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:09.377Z,1736378109.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013283 2025-01-08T23:15:09.524Z,1736378109.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:09.532Z,1736378109.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:09.535Z,1736378109.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.481333 m, bearing: 96.539419 deg, approach rate: -0.045394 m/s, LOS rate: -1.839251 deg/s, cmd heading: 124.464707 deg, new cmd heading: 122.157256 deg. 2025-01-08T23:15:09.536Z,1736378109.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.132046 target range: 73.599998 and range: 87.30 m. 2025-01-08T23:15:09.628Z,1736378109.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:09.629Z,1736378109.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265611 2025-01-08T23:15:09.880Z,1736378109.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:09.881Z,1736378109.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517160 2025-01-08T23:15:09.924Z,1736378109.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:09.933Z,1736378109.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:09.936Z,1736378109.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.459270 m, bearing: 95.809136 deg, approach rate: -0.055075 m/s, LOS rate: -1.824955 deg/s, cmd heading: 122.157250 deg, new cmd heading: 119.965166 deg. 2025-01-08T23:15:09.937Z,1736378109.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093787 target range: 73.599998 and range: 87.30 m. 2025-01-08T23:15:10.132Z,1736378110.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:10.132Z,1736378110.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768914 2025-01-08T23:15:10.314Z,1736378110.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:10.385Z,1736378110.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:10.388Z,1736378110.388 [DAT](INFO): DAT read: Rx Time:23:15:09.2009 2025-01-08T23:15:10.390Z,1736378110.390 [DAT](INFO): Rx dataTimestamp_ set to:1736378110.388501 2025-01-08T23:15:10.394Z,1736378110.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030142 2025-01-08T23:15:10.397Z,1736378110.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:10.404Z,1736378110.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.433044 m, bearing: 95.096978 deg, approach rate: -0.056560 m/s, LOS rate: -1.537798 deg/s, cmd heading: 119.965169 deg, new cmd heading: 117.827001 deg. 2025-01-08T23:15:10.405Z,1736378110.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056469 target range: 73.599998 and range: 87.30 m. 2025-01-08T23:15:10.636Z,1736378110.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:10.637Z,1736378110.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273744 2025-01-08T23:15:10.743Z,1736378110.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:10.752Z,1736378110.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:10.764Z,1736378110.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.434460 m, bearing: 94.289535 deg, approach rate: 0.003983 m/s, LOS rate: -2.272281 deg/s, cmd heading: 117.827006 deg, new cmd heading: 115.406368 deg. 2025-01-08T23:15:10.765Z,1736378110.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.014221 target range: 73.599998 and range: 87.30 m. 2025-01-08T23:15:10.889Z,1736378110.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:10.891Z,1736378110.891 [DAT](INFO): DAT read: Range 10 to 50 : 89.1 m (Round-trip 118.8 ms) speed -0.6 m/s 2025-01-08T23:15:10.891Z,1736378110.891 [DAT](INFO): DAT read: user:3124> 2025-01-08T23:15:10.892Z,1736378110.892 [DAT](INFO): DAT read: Tx time:23:15:10.2780 2025-01-08T23:15:10.892Z,1736378110.892 [DAT](INFO): Ping request sent. 2025-01-08T23:15:10.892Z,1736378110.892 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:10.893Z,1736378110.893 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:15:10.893Z,1736378110.893 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:10.894Z,1736378110.894 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:11.140Z,1736378111.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:11.141Z,1736378111.141 [DAT](INFO): DAT read: TxSync time:23:15:10.2772 2025-01-08T23:15:11.143Z,1736378111.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:11.150Z,1736378111.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:11.152Z,1736378111.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.099998 m, deltaT: 3.529092 s, deltaX: 1.799995 m, approachRate: 0.510045 m/s, rangeRepo size: 4 2025-01-08T23:15:11.153Z,1736378111.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:11.157Z,1736378111.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.439428 m, bearing: 93.537754 deg, approach rate: 0.012428 m/s, LOS rate: -1.879973 deg/s, cmd heading: 115.406373 deg, new cmd heading: 113.152804 deg. 2025-01-08T23:15:11.158Z,1736378111.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.974889 target range: 73.599998 and range: 89.10 m. 2025-01-08T23:15:11.394Z,1736378111.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:11.396Z,1736378111.396 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:11.396Z,1736378111.396 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:11.396Z,1736378111.396 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:11.550Z,1736378111.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:11.559Z,1736378111.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:11.562Z,1736378111.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.458351 m, bearing: 92.767808 deg, approach rate: 0.046470 m/s, LOS rate: -1.888999 deg/s, cmd heading: 113.152807 deg, new cmd heading: 110.846423 deg. 2025-01-08T23:15:11.563Z,1736378111.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.934635 target range: 73.599998 and range: 89.10 m. 2025-01-08T23:15:11.645Z,1736378111.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:11.646Z,1736378111.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753195 2025-01-08T23:15:11.677Z,1736378111.677 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:15:11.896Z,1736378111.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:11.896Z,1736378111.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003763 2025-01-08T23:15:11.928Z,1736378111.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:11.937Z,1736378111.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:11.952Z,1736378111.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.471144 m, bearing: 92.052333 deg, approach rate: 0.033868 m/s, LOS rate: -1.892956 deg/s, cmd heading: 110.846423 deg, new cmd heading: 108.702396 deg. 2025-01-08T23:15:11.953Z,1736378111.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.897215 target range: 73.599998 and range: 89.10 m. 2025-01-08T23:15:12.148Z,1736378112.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:12.149Z,1736378112.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256734 2025-01-08T23:15:12.402Z,1736378112.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:12.404Z,1736378112.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511014 2025-01-08T23:15:12.492Z,1736378112.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:12.502Z,1736378112.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:12.505Z,1736378112.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.528460 m, bearing: 91.000483 deg, approach rate: 0.101382 m/s, LOS rate: -1.855253 deg/s, cmd heading: 108.702399 deg, new cmd heading: 105.558994 deg. 2025-01-08T23:15:12.506Z,1736378112.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.842352 target range: 73.599998 and range: 89.10 m. 2025-01-08T23:15:12.652Z,1736378112.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:12.655Z,1736378112.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761490 2025-01-08T23:15:12.680Z,1736378112.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:15:12.905Z,1736378112.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:12.905Z,1736378112.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012867 2025-01-08T23:15:12.909Z,1736378112.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:12.917Z,1736378112.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:12.920Z,1736378112.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.566633 m, bearing: 90.219677 deg, approach rate: 0.091923 m/s, LOS rate: -1.876645 deg/s, cmd heading: 105.558996 deg, new cmd heading: 103.222293 deg. 2025-01-08T23:15:12.922Z,1736378112.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.801569 target range: 73.599998 and range: 89.10 m. 2025-01-08T23:15:13.156Z,1736378113.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:13.156Z,1736378113.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263696 2025-01-08T23:15:13.324Z,1736378113.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:13.330Z,1736378113.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:13.334Z,1736378113.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:13.344Z,1736378113.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.598063 m, bearing: 89.474502 deg, approach rate: 0.075445 m/s, LOS rate: -1.785987 deg/s, cmd heading: 103.222293 deg, new cmd heading: 100.991369 deg. 2025-01-08T23:15:13.345Z,1736378113.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.762632 target range: 73.599998 and range: 89.10 m. 2025-01-08T23:15:13.410Z,1736378113.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:13.413Z,1736378113.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519383 2025-01-08T23:15:13.661Z,1736378113.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:13.662Z,1736378113.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769774 2025-01-08T23:15:13.758Z,1736378113.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:13.784Z,1736378113.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:13.786Z,1736378113.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.648279 m, bearing: 88.640816 deg, approach rate: 0.111820 m/s, LOS rate: -1.851834 deg/s, cmd heading: 100.991368 deg, new cmd heading: 98.498057 deg. 2025-01-08T23:15:13.788Z,1736378113.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.719115 target range: 73.599998 and range: 89.10 m. 2025-01-08T23:15:13.912Z,1736378113.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:13.912Z,1736378113.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019802 2025-01-08T23:15:14.114Z,1736378114.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:14.124Z,1736378114.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:14.126Z,1736378114.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.675964 m, bearing: 87.978955 deg, approach rate: 0.081341 m/s, LOS rate: -1.941945 deg/s, cmd heading: 98.498056 deg, new cmd heading: 96.515966 deg. 2025-01-08T23:15:14.128Z,1736378114.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.684521 target range: 73.599998 and range: 89.10 m. 2025-01-08T23:15:14.164Z,1736378114.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:14.165Z,1736378114.165 [DAT](INFO): DAT read: Rx Time:23:15:12.8030 2025-01-08T23:15:14.165Z,1736378114.165 [DAT](INFO): Rx dataTimestamp_ set to:1736378114.164707 2025-01-08T23:15:14.165Z,1736378114.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272972 2025-01-08T23:15:14.418Z,1736378114.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:14.420Z,1736378114.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527256 2025-01-08T23:15:14.580Z,1736378114.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:14.589Z,1736378114.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.60 m. 2025-01-08T23:15:14.591Z,1736378114.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.599998 m, nav range: 20.717659 m, bearing: 87.115504 deg, approach rate: 0.089617 m/s, LOS rate: -1.852065 deg/s, cmd heading: 96.515969 deg, new cmd heading: 93.932678 deg. 2025-01-08T23:15:14.592Z,1736378114.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639434 target range: 73.599998 and range: 89.10 m. 2025-01-08T23:15:14.669Z,1736378114.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:14.680Z,1736378114.680 [DAT](INFO): DAT read: 23:15:12.8030 LVL= 16624, 12913, 12850, 23459, AGC= 58, IDX= 450,-0.20,-1.559,-0.125, 1.036,-0.195, PHS=-1.276, 0.117, 1.228, RAW= 243.7, -0.6, CAL= 246.2, -0.5, ROT= 263.8, 0.5 2025-01-08T23:15:14.682Z,1736378114.682 [DAT](INFO): got valid direction response: 23:15:12.8030 LVL= 16624, 12913, 12850, 23459, AGC= 58, IDX= 450,-0.20,-1.559,-0.125, 1.036,-0.195, PHS=-1.276, 0.117, 1.228, RAW= 243.7, -0.6, CAL= 246.2, -0.5, ROT= 263.8, 0.5 2025-01-08T23:15:14.683Z,1736378114.683 [DAT](INFO): DAT read: Bearing 263.8, 0.5 (Local) 2025-01-08T23:15:14.683Z,1736378114.683 [DAT](INFO): Local bearing/azimuth received: Bearing 263.8, 0.5 (Local) 2025-01-08T23:15:14.685Z,1736378114.685 [DAT](INFO): DAT read: Range 10 to 50 : 90.6 m (Round-trip 120.8 ms) speed 0.0 m/s 2025-01-08T23:15:14.686Z,1736378114.686 [DAT](INFO): DAT read: user:3125> 2025-01-08T23:15:14.686Z,1736378114.686 [DAT](INFO): DAT read: Tx time:23:15:13.9280 2025-01-08T23:15:14.687Z,1736378114.687 [DAT](INFO): Ping request sent. 2025-01-08T23:15:14.687Z,1736378114.687 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:14.703Z,1736378114.703 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:15:14.705Z,1736378114.705 [DAT](INFO): direction in FSK: [0.048727,-0.526044,-0.849061] 2025-01-08T23:15:14.705Z,1736378114.705 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:14.706Z,1736378114.706 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:14.713Z,1736378114.713 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:14.713Z,1736378114.713 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:14.920Z,1736378114.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:14.921Z,1736378114.921 [DAT](INFO): DAT read: TxSync time:23:15:13.9272 2025-01-08T23:15:14.932Z,1736378114.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:14.970Z,1736378114.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.779745 s, deltaX: 1.500000 m, approachRate: 0.396852 m/s, rangeRepo size: 4 2025-01-08T23:15:14.977Z,1736378114.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.599998 m, bearing: 82.848063 deg, lat: 36.904357 deg, lon: -122.119820 deg, deltaT: 32.520530 s, deltaX: 17.000000 m, approachRate: 0.522747 m/s, posRepo size: 4 2025-01-08T23:15:14.978Z,1736378114.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:14.985Z,1736378114.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 42.080856 m, bearing: 86.579292 deg, approach rate: 0.000000 m/s, LOS rate: -1.852065 deg/s, cmd heading: 93.932675 deg, new cmd heading: 91.818286 deg. 2025-01-08T23:15:14.986Z,1736378114.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.602531 target range: 90.599998 and range: 90.60 m. 2025-01-08T23:15:15.172Z,1736378115.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:15.328Z,1736378115.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:15.335Z,1736378115.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:15.338Z,1736378115.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:15.341Z,1736378115.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 42.105682 m, bearing: 86.216297 deg, approach rate: 0.067483 m/s, LOS rate: -0.986123 deg/s, cmd heading: 91.818288 deg, new cmd heading: 90.730082 deg. 2025-01-08T23:15:15.342Z,1736378115.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.583539 target range: 90.599998 and range: 90.60 m. 2025-01-08T23:15:15.429Z,1736378115.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:15.431Z,1736378115.431 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:15.432Z,1736378115.432 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:15.433Z,1736378115.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:15.680Z,1736378115.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:15.681Z,1736378115.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994524 2025-01-08T23:15:15.770Z,1736378115.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:15.803Z,1736378115.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:15.810Z,1736378115.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 42.125553 m, bearing: 85.823145 deg, approach rate: 0.042694 m/s, LOS rate: -0.844318 deg/s, cmd heading: 90.730081 deg, new cmd heading: 89.551358 deg. 2025-01-08T23:15:15.810Z,1736378115.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562966 target range: 90.599998 and range: 90.60 m. 2025-01-08T23:15:15.932Z,1736378115.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:15.933Z,1736378115.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246557 2025-01-08T23:15:16.141Z,1736378116.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:16.149Z,1736378116.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:16.153Z,1736378116.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 42.129543 m, bearing: 85.492218 deg, approach rate: 0.011518 m/s, LOS rate: -0.955140 deg/s, cmd heading: 89.551355 deg, new cmd heading: 88.558772 deg. 2025-01-08T23:15:16.154Z,1736378116.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545642 target range: 90.599998 and range: 90.60 m. 2025-01-08T23:15:16.184Z,1736378116.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:16.185Z,1736378116.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498336 2025-01-08T23:15:16.437Z,1736378116.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:16.442Z,1736378116.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754102 2025-01-08T23:15:16.583Z,1736378116.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:16.593Z,1736378116.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:16.596Z,1736378116.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 42.115532 m, bearing: 85.100241 deg, approach rate: -0.031568 m/s, LOS rate: -0.883417 deg/s, cmd heading: 88.558771 deg, new cmd heading: 87.382625 deg. 2025-01-08T23:15:16.597Z,1736378116.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.525115 target range: 90.599998 and range: 90.60 m. 2025-01-08T23:15:16.689Z,1736378116.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:16.690Z,1736378116.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003239 2025-01-08T23:15:16.940Z,1736378116.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:16.940Z,1736378116.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253702 2025-01-08T23:15:16.944Z,1736378116.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:16.953Z,1736378116.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:16.974Z,1736378116.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 42.098263 m, bearing: 84.780251 deg, approach rate: -0.047958 m/s, LOS rate: -0.889009 deg/s, cmd heading: 87.382626 deg, new cmd heading: 86.422357 deg. 2025-01-08T23:15:16.979Z,1736378116.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.508355 target range: 90.599998 and range: 90.60 m. 2025-01-08T23:15:17.192Z,1736378117.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:17.193Z,1736378117.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505848 2025-01-08T23:15:17.352Z,1736378117.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:17.360Z,1736378117.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:17.368Z,1736378117.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:17.371Z,1736378117.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 42.072109 m, bearing: 84.419828 deg, approach rate: -0.063402 m/s, LOS rate: -0.874281 deg/s, cmd heading: 86.422356 deg, new cmd heading: 85.340549 deg. 2025-01-08T23:15:17.389Z,1736378117.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489474 target range: 90.599998 and range: 90.60 m. 2025-01-08T23:15:17.445Z,1736378117.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:17.448Z,1736378117.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760306 2025-01-08T23:15:17.696Z,1736378117.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:17.697Z,1736378117.697 [DAT](INFO): DAT read: Rx Time:23:15:16.4537 2025-01-08T23:15:17.697Z,1736378117.697 [DAT](INFO): Rx dataTimestamp_ set to:1736378117.697153 2025-01-08T23:15:17.698Z,1736378117.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011616 2025-01-08T23:15:17.808Z,1736378117.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:17.816Z,1736378117.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:17.819Z,1736378117.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 42.010910 m, bearing: 84.026721 deg, approach rate: -0.135784 m/s, LOS rate: -0.873460 deg/s, cmd heading: 85.340550 deg, new cmd heading: 84.159689 deg. 2025-01-08T23:15:17.820Z,1736378117.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468864 target range: 90.599998 and range: 90.60 m. 2025-01-08T23:15:17.948Z,1736378117.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:17.948Z,1736378117.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261570 2025-01-08T23:15:18.174Z,1736378118.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:18.195Z,1736378118.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:18.198Z,1736378118.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 41.963108 m, bearing: 83.709583 deg, approach rate: -0.126283 m/s, LOS rate: -0.838763 deg/s, cmd heading: 84.159685 deg, new cmd heading: 83.207280 deg. 2025-01-08T23:15:18.198Z,1736378118.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.452241 target range: 90.599998 and range: 90.60 m. 2025-01-08T23:15:18.200Z,1736378118.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:18.202Z,1736378118.202 [DAT](INFO): DAT read: Range 10 to 50 : 91.0 m (Round-trip 121.4 ms) speed 0.0 m/s 2025-01-08T23:15:18.202Z,1736378118.202 [DAT](INFO): DAT read: user:3126> 2025-01-08T23:15:18.203Z,1736378118.203 [DAT](INFO): DAT read: Tx time:23:15:17.5281 2025-01-08T23:15:18.204Z,1736378118.204 [DAT](INFO): Ping request sent. 2025-01-08T23:15:18.204Z,1736378118.204 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:18.205Z,1736378118.205 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:15:18.205Z,1736378118.205 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:18.206Z,1736378118.206 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:18.454Z,1736378118.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:18.457Z,1736378118.457 [DAT](INFO): DAT read: TxSync time:23:15:17.5273 2025-01-08T23:15:18.599Z,1736378118.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:18.631Z,1736378118.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 91.000000 m, deltaT: 3.531452 s, deltaX: 0.400002 m, approachRate: 0.113268 m/s, rangeRepo size: 4 2025-01-08T23:15:18.668Z,1736378118.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:18.685Z,1736378118.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 41.886238 m, bearing: 83.345922 deg, approach rate: -0.176553 m/s, LOS rate: -0.836775 deg/s, cmd heading: 83.207277 deg, new cmd heading: 82.114431 deg. 2025-01-08T23:15:18.686Z,1736378118.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433167 target range: 90.599998 and range: 91.00 m. 2025-01-08T23:15:18.705Z,1736378118.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:18.956Z,1736378118.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:18.992Z,1736378118.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:19.000Z,1736378119.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:19.003Z,1736378119.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 41.802532 m, bearing: 83.014651 deg, approach rate: -0.226208 m/s, LOS rate: -0.897020 deg/s, cmd heading: 82.114433 deg, new cmd heading: 81.118736 deg. 2025-01-08T23:15:19.005Z,1736378119.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.415789 target range: 90.599998 and range: 91.00 m. 2025-01-08T23:15:19.209Z,1736378119.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:19.382Z,1736378119.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:19.389Z,1736378119.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:19.391Z,1736378119.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:19.394Z,1736378119.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 41.714027 m, bearing: 82.687362 deg, approach rate: -0.226404 m/s, LOS rate: -0.839009 deg/s, cmd heading: 81.118735 deg, new cmd heading: 80.134885 deg. 2025-01-08T23:15:19.395Z,1736378119.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398618 target range: 90.599998 and range: 91.00 m. 2025-01-08T23:15:19.462Z,1736378119.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:19.465Z,1736378119.465 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:19.465Z,1736378119.465 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:19.466Z,1736378119.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:19.712Z,1736378119.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:19.712Z,1736378119.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508577 2025-01-08T23:15:19.812Z,1736378119.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:19.837Z,1736378119.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:19.844Z,1736378119.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 41.599957 m, bearing: 82.326738 deg, approach rate: -0.256089 m/s, LOS rate: -0.811816 deg/s, cmd heading: 80.134887 deg, new cmd heading: 79.050185 deg. 2025-01-08T23:15:19.845Z,1736378119.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379686 target range: 90.599998 and range: 91.00 m. 2025-01-08T23:15:19.964Z,1736378119.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:19.965Z,1736378119.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760746 2025-01-08T23:15:20.198Z,1736378120.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:20.208Z,1736378120.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:20.211Z,1736378120.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 41.491627 m, bearing: 82.004667 deg, approach rate: -0.291558 m/s, LOS rate: -0.869076 deg/s, cmd heading: 79.050185 deg, new cmd heading: 78.081549 deg. 2025-01-08T23:15:20.212Z,1736378120.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362780 target range: 90.599998 and range: 91.00 m. 2025-01-08T23:15:20.216Z,1736378120.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:20.217Z,1736378120.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012993 2025-01-08T23:15:20.468Z,1736378120.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:20.468Z,1736378120.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264566 2025-01-08T23:15:20.646Z,1736378120.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:20.661Z,1736378120.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:20.665Z,1736378120.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 41.356522 m, bearing: 81.630657 deg, approach rate: -0.298576 m/s, LOS rate: -0.829239 deg/s, cmd heading: 78.081548 deg, new cmd heading: 76.956006 deg. 2025-01-08T23:15:20.668Z,1736378120.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343136 target range: 90.599998 and range: 91.00 m. 2025-01-08T23:15:20.720Z,1736378120.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:20.721Z,1736378120.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516907 2025-01-08T23:15:20.973Z,1736378120.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:20.974Z,1736378120.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770008 2025-01-08T23:15:21.027Z,1736378121.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:21.035Z,1736378121.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:21.040Z,1736378121.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 41.242889 m, bearing: 81.310306 deg, approach rate: -0.303376 m/s, LOS rate: -0.857627 deg/s, cmd heading: 76.956008 deg, new cmd heading: 75.992403 deg. 2025-01-08T23:15:21.041Z,1736378121.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326318 target range: 90.599998 and range: 91.00 m. 2025-01-08T23:15:21.224Z,1736378121.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:21.225Z,1736378121.225 [DAT](INFO): DAT read: Rx Time:23:15:20.0538 2025-01-08T23:15:21.225Z,1736378121.225 [DAT](INFO): Rx dataTimestamp_ set to:1736378121.224801 2025-01-08T23:15:21.226Z,1736378121.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021799 2025-01-08T23:15:21.405Z,1736378121.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:21.432Z,1736378121.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:21.434Z,1736378121.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:21.439Z,1736378121.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 41.112408 m, bearing: 81.005722 deg, approach rate: -0.326816 m/s, LOS rate: -0.765307 deg/s, cmd heading: 75.992405 deg, new cmd heading: 75.075834 deg. 2025-01-08T23:15:21.452Z,1736378121.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.310320 target range: 90.599998 and range: 91.00 m. 2025-01-08T23:15:21.478Z,1736378121.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:21.500Z,1736378121.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.296149 2025-01-08T23:15:21.730Z,1736378121.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:21.733Z,1736378121.733 [DAT](INFO): DAT read: Range 10 to 50 : 91.1 m (Round-trip 121.5 ms) speed 0.0 m/s 2025-01-08T23:15:21.734Z,1736378121.734 [DAT](INFO): DAT read: user:3127> 2025-01-08T23:15:21.735Z,1736378121.735 [DAT](INFO): DAT read: Tx time:23:15:21.1281 2025-01-08T23:15:21.735Z,1736378121.735 [DAT](INFO): Ping request sent. 2025-01-08T23:15:21.735Z,1736378121.735 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:21.735Z,1736378121.735 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:15:21.736Z,1736378121.736 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:21.736Z,1736378121.736 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:21.902Z,1736378121.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:21.913Z,1736378121.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 91.099998 m, deltaT: 3.530477 s, deltaX: 0.099998 m, approachRate: 0.028324 m/s, rangeRepo size: 4 2025-01-08T23:15:21.913Z,1736378121.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:21.917Z,1736378121.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 40.938072 m, bearing: 80.601023 deg, approach rate: -0.364898 m/s, LOS rate: -0.850667 deg/s, cmd heading: 75.075834 deg, new cmd heading: 73.856761 deg. 2025-01-08T23:15:21.918Z,1736378121.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.289044 target range: 90.599998 and range: 91.10 m. 2025-01-08T23:15:21.981Z,1736378121.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:21.982Z,1736378121.982 [DAT](INFO): DAT read: TxSync time:23:15:21.1273 2025-01-08T23:15:22.231Z,1736378122.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:22.232Z,1736378122.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:22.242Z,1736378122.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:22.245Z,1736378122.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 40.813477 m, bearing: 80.340949 deg, approach rate: -0.377474 m/s, LOS rate: -0.790322 deg/s, cmd heading: 73.856762 deg, new cmd heading: 73.074209 deg. 2025-01-08T23:15:22.246Z,1736378122.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275385 target range: 90.599998 and range: 91.10 m. 2025-01-08T23:15:22.484Z,1736378122.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:22.659Z,1736378122.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:22.696Z,1736378122.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:22.699Z,1736378122.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 40.652664 m, bearing: 80.007099 deg, approach rate: -0.354337 m/s, LOS rate: -0.738517 deg/s, cmd heading: 73.074206 deg, new cmd heading: 72.068803 deg. 2025-01-08T23:15:22.706Z,1736378122.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257838 target range: 90.599998 and range: 91.10 m. 2025-01-08T23:15:22.736Z,1736378122.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:22.989Z,1736378122.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:23.042Z,1736378123.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:23.051Z,1736378123.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:23.056Z,1736378123.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 40.509201 m, bearing: 79.704541 deg, approach rate: -0.404100 m/s, LOS rate: -0.855244 deg/s, cmd heading: 72.068802 deg, new cmd heading: 71.157995 deg. 2025-01-08T23:15:23.057Z,1736378123.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.241941 target range: 90.599998 and range: 91.10 m. 2025-01-08T23:15:23.240Z,1736378123.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:23.426Z,1736378123.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:23.433Z,1736378123.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:23.435Z,1736378123.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:23.440Z,1736378123.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 40.354797 m, bearing: 79.411735 deg, approach rate: -0.402046 m/s, LOS rate: -0.765340 deg/s, cmd heading: 71.157997 deg, new cmd heading: 70.276291 deg. 2025-01-08T23:15:23.441Z,1736378123.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226553 target range: 90.599998 and range: 91.10 m. 2025-01-08T23:15:23.493Z,1736378123.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:23.494Z,1736378123.494 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:23.494Z,1736378123.494 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:23.495Z,1736378123.495 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:23.744Z,1736378123.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:23.744Z,1736378123.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009249 2025-01-08T23:15:23.864Z,1736378123.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:23.893Z,1736378123.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:23.904Z,1736378123.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 40.190582 m, bearing: 79.079625 deg, approach rate: -0.358509 m/s, LOS rate: -0.728011 deg/s, cmd heading: 70.276288 deg, new cmd heading: 69.275992 deg. 2025-01-08T23:15:23.905Z,1736378123.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209094 target range: 90.599998 and range: 91.10 m. 2025-01-08T23:15:23.996Z,1736378123.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:23.997Z,1736378123.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261870 2025-01-08T23:15:24.248Z,1736378124.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:24.248Z,1736378124.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513264 2025-01-08T23:15:24.333Z,1736378124.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:24.351Z,1736378124.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:24.354Z,1736378124.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 40.000935 m, bearing: 78.736598 deg, approach rate: -0.414424 m/s, LOS rate: -0.753143 deg/s, cmd heading: 69.275993 deg, new cmd heading: 68.242152 deg. 2025-01-08T23:15:24.356Z,1736378124.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.191050 target range: 90.599998 and range: 91.10 m. 2025-01-08T23:15:24.501Z,1736378124.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:24.502Z,1736378124.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766666 2025-01-08T23:15:24.735Z,1736378124.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:24.745Z,1736378124.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:24.748Z,1736378124.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 39.842106 m, bearing: 78.441115 deg, approach rate: -0.403005 m/s, LOS rate: -0.752732 deg/s, cmd heading: 68.242155 deg, new cmd heading: 67.352247 deg. 2025-01-08T23:15:24.749Z,1736378124.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.175519 target range: 90.599998 and range: 91.10 m. 2025-01-08T23:15:24.752Z,1736378124.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:24.753Z,1736378124.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017661 2025-01-08T23:15:25.004Z,1736378125.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:25.005Z,1736378125.005 [DAT](INFO): DAT read: Rx Time:23:15:23.6539 2025-01-08T23:15:25.006Z,1736378125.006 [DAT](INFO): Rx dataTimestamp_ set to:1736378125.005479 2025-01-08T23:15:25.006Z,1736378125.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271186 2025-01-08T23:15:25.116Z,1736378125.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:25.126Z,1736378125.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.60 m. 2025-01-08T23:15:25.131Z,1736378125.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.599998 m, nav range: 39.692574 m, bearing: 78.158913 deg, approach rate: -0.391961 m/s, LOS rate: -0.742504 deg/s, cmd heading: 67.352250 deg, new cmd heading: 66.502520 deg. 2025-01-08T23:15:25.132Z,1736378125.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160688 target range: 90.599998 and range: 91.10 m. 2025-01-08T23:15:25.258Z,1736378125.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:25.261Z,1736378125.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524877 2025-01-08T23:15:25.508Z,1736378125.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:25.514Z,1736378125.514 [DAT](INFO): DAT read: 23:15:23.6539 LVL= 18096, 26417, 13106, 24499, AGC= 56, IDX= 442, 0.06,-2.465,-2.250,-0.340,-1.680, PHS=-0.697,-0.524, 1.337, RAW= 214.4, -1.2, CAL= 213.5, -7.7, ROT= 296.5, 7.7 2025-01-08T23:15:25.516Z,1736378125.516 [DAT](INFO): got valid direction response: 23:15:23.6539 LVL= 18096, 26417, 13106, 24499, AGC= 56, IDX= 442, 0.06,-2.465,-2.250,-0.340,-1.680, PHS=-0.697,-0.524, 1.337, RAW= 214.4, -1.2, CAL= 213.5, -7.7, ROT= 296.5, 7.7 2025-01-08T23:15:25.517Z,1736378125.517 [DAT](INFO): DAT read: Bearing 296.5, 7.7 (Local) 2025-01-08T23:15:25.517Z,1736378125.517 [DAT](INFO): Local bearing/azimuth received: Bearing 296.5, 7.7 (Local) 2025-01-08T23:15:25.522Z,1736378125.522 [DAT](INFO): DAT read: Range 10 to 50 : 91.2 m (Round-trip 121.6 ms) speed 0.0 m/s 2025-01-08T23:15:25.530Z,1736378125.530 [DAT](INFO): DAT read: user:3128> 2025-01-08T23:15:25.531Z,1736378125.531 [DAT](INFO): DAT read: Tx time:23:15:24.7781 2025-01-08T23:15:25.532Z,1736378125.532 [DAT](INFO): Ping request sent. 2025-01-08T23:15:25.532Z,1736378125.532 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:25.532Z,1736378125.532 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:15:25.533Z,1736378125.533 [DAT](INFO): direction in FSK: [-0.001193,-0.860866,-0.508830] 2025-01-08T23:15:25.533Z,1736378125.533 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:25.533Z,1736378125.533 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:25.540Z,1736378125.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:25.583Z,1736378125.583 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:25.592Z,1736378125.592 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:25.636Z,1736378125.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 91.199997 m, deltaT: 3.777300 s, deltaX: 0.099998 m, approachRate: 0.026474 m/s, rangeRepo size: 4 2025-01-08T23:15:25.638Z,1736378125.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 91.199997 m, bearing: 32.522857 deg, lat: 36.904386 deg, lon: -122.119786 deg, deltaT: 10.839229 s, deltaX: 0.599998 m, approachRate: 0.055354 m/s, posRepo size: 4 2025-01-08T23:15:25.638Z,1736378125.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m. 2025-01-08T23:15:25.656Z,1736378125.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.199997 m, nav range: 43.277924 m, bearing: 74.494784 deg, approach rate: 0.000000 m/s, LOS rate: -0.742504 deg/s, cmd heading: 66.502519 deg, new cmd heading: 65.370485 deg. 2025-01-08T23:15:25.658Z,1736378125.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140930 target range: 91.199997 and range: 91.20 m. 2025-01-08T23:15:25.760Z,1736378125.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:25.761Z,1736378125.761 [DAT](INFO): DAT read: TxSync time:23:15:24.7773 2025-01-08T23:15:26.012Z,1736378126.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:26.014Z,1736378126.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:26.029Z,1736378126.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:26.031Z,1736378126.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m. 2025-01-08T23:15:26.038Z,1736378126.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.199997 m, nav range: 43.104111 m, bearing: 74.180179 deg, approach rate: -0.438867 m/s, LOS rate: -0.797558 deg/s, cmd heading: 65.370484 deg, new cmd heading: 64.422954 deg. 2025-01-08T23:15:26.044Z,1736378126.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124393 target range: 91.199997 and range: 91.20 m. 2025-01-08T23:15:26.264Z,1736378126.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:26.265Z,1736378126.265 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:26.265Z,1736378126.265 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:26.265Z,1736378126.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:26.369Z,1736378126.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:26.378Z,1736378126.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m. 2025-01-08T23:15:26.381Z,1736378126.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.199997 m, nav range: 42.970490 m, bearing: 73.948869 deg, approach rate: -0.384921 m/s, LOS rate: -0.668402 deg/s, cmd heading: 64.422952 deg, new cmd heading: 63.726901 deg. 2025-01-08T23:15:26.382Z,1736378126.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112244 target range: 91.199997 and range: 91.20 m. 2025-01-08T23:15:26.516Z,1736378126.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:26.516Z,1736378126.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984548 2025-01-08T23:15:26.768Z,1736378126.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:26.768Z,1736378126.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236625 2025-01-08T23:15:26.795Z,1736378126.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:26.825Z,1736378126.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m. 2025-01-08T23:15:26.832Z,1736378126.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.199997 m, nav range: 42.816208 m, bearing: 73.683796 deg, approach rate: -0.344797 m/s, LOS rate: -0.594532 deg/s, cmd heading: 63.726901 deg, new cmd heading: 62.928872 deg. 2025-01-08T23:15:26.833Z,1736378126.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.098316 target range: 91.199997 and range: 91.20 m. 2025-01-08T23:15:27.020Z,1736378127.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:27.021Z,1736378127.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488511 2025-01-08T23:15:27.165Z,1736378127.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:27.174Z,1736378127.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m. 2025-01-08T23:15:27.177Z,1736378127.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.199997 m, nav range: 42.678280 m, bearing: 73.457336 deg, approach rate: -0.395144 m/s, LOS rate: -0.650870 deg/s, cmd heading: 62.928869 deg, new cmd heading: 62.247327 deg. 2025-01-08T23:15:27.178Z,1736378127.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.086421 target range: 91.199997 and range: 91.20 m. 2025-01-08T23:15:27.273Z,1736378127.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:27.273Z,1736378127.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741659 2025-01-08T23:15:27.524Z,1736378127.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:27.524Z,1736378127.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992594 2025-01-08T23:15:27.695Z,1736378127.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:27.725Z,1736378127.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m. 2025-01-08T23:15:27.733Z,1736378127.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.199997 m, nav range: 42.496155 m, bearing: 73.134939 deg, approach rate: -0.330725 m/s, LOS rate: -0.587954 deg/s, cmd heading: 62.247325 deg, new cmd heading: 61.276085 deg. 2025-01-08T23:15:27.757Z,1736378127.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.069469 target range: 91.199997 and range: 91.20 m. 2025-01-08T23:15:27.776Z,1736378127.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:27.777Z,1736378127.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244751 2025-01-08T23:15:28.028Z,1736378128.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:28.029Z,1736378128.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496694 2025-01-08T23:15:28.065Z,1736378128.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:28.073Z,1736378128.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:28.074Z,1736378128.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m. 2025-01-08T23:15:28.077Z,1736378128.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.199997 m, nav range: 42.354641 m, bearing: 72.925413 deg, approach rate: -0.404995 m/s, LOS rate: -0.601638 deg/s, cmd heading: 61.276086 deg, new cmd heading: 60.645437 deg. 2025-01-08T23:15:28.078Z,1736378128.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.058463 target range: 91.199997 and range: 91.20 m. 2025-01-08T23:15:28.280Z,1736378128.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:28.281Z,1736378128.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748713 2025-01-08T23:15:28.452Z,1736378128.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:28.462Z,1736378128.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m. 2025-01-08T23:15:28.464Z,1736378128.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.199997 m, nav range: 42.202076 m, bearing: 72.710904 deg, approach rate: -0.394077 m/s, LOS rate: -0.556081 deg/s, cmd heading: 60.645434 deg, new cmd heading: 59.999609 deg. 2025-01-08T23:15:28.465Z,1736378128.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.047191 target range: 91.199997 and range: 91.20 m. 2025-01-08T23:15:28.533Z,1736378128.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:28.534Z,1736378128.534 [DAT](INFO): DAT read: Rx Time:23:15:27.3034 2025-01-08T23:15:28.534Z,1736378128.534 [DAT](INFO): Rx dataTimestamp_ set to:1736378128.533790 2025-01-08T23:15:28.535Z,1736378128.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002779 2025-01-08T23:15:28.784Z,1736378128.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:28.784Z,1736378128.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252558 2025-01-08T23:15:28.854Z,1736378128.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:28.864Z,1736378128.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.20 m. 2025-01-08T23:15:28.866Z,1736378128.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.199997 m, nav range: 42.039188 m, bearing: 72.493515 deg, approach rate: -0.405418 m/s, LOS rate: -0.543165 deg/s, cmd heading: 59.999612 deg, new cmd heading: 59.344948 deg. 2025-01-08T23:15:28.867Z,1736378128.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035765 target range: 91.199997 and range: 91.20 m. 2025-01-08T23:15:29.036Z,1736378129.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:29.044Z,1736378129.044 [DAT](INFO): DAT read: 23:15:27.3034 LVL= 21984, 25233, 11506, 28611, AGC= 57, IDX= 435, 0.38, 2.173, 1.748,-2.561, 2.686, PHS=-0.425,-0.891, 1.034, RAW= 196.6, 3.3, CAL= 196.7, -4.6, ROT= 313.3, 4.6 2025-01-08T23:15:29.045Z,1736378129.045 [DAT](INFO): got valid direction response: 23:15:27.3034 LVL= 21984, 25233, 11506, 28611, AGC= 57, IDX= 435, 0.38, 2.173, 1.748,-2.561, 2.686, PHS=-0.425,-0.891, 1.034, RAW= 196.6, 3.3, CAL= 196.7, -4.6, ROT= 313.3, 4.6 2025-01-08T23:15:29.046Z,1736378129.046 [DAT](INFO): DAT read: Bearing 313.3, 4.6 (Local) 2025-01-08T23:15:29.046Z,1736378129.046 [DAT](INFO): Local bearing/azimuth received: Bearing 313.3, 4.6 (Local) 2025-01-08T23:15:29.048Z,1736378129.048 [DAT](INFO): DAT read: Range 10 to 50 : 90.7 m (Round-trip 121.0 ms) speed 0.4 m/s 2025-01-08T23:15:29.048Z,1736378129.048 [DAT](INFO): DAT read: user:3129> 2025-01-08T23:15:29.049Z,1736378129.049 [DAT](INFO): DAT read: Tx time:23:15:28.4282 2025-01-08T23:15:29.049Z,1736378129.049 [DAT](INFO): Ping request sent. 2025-01-08T23:15:29.049Z,1736378129.049 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:29.050Z,1736378129.050 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:15:29.050Z,1736378129.050 [DAT](INFO): direction in FSK: [-0.120066,-0.963184,-0.240541] 2025-01-08T23:15:29.051Z,1736378129.051 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:29.063Z,1736378129.063 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:29.076Z,1736378129.076 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:29.076Z,1736378129.076 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:29.273Z,1736378129.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:29.288Z,1736378129.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:29.289Z,1736378129.289 [DAT](INFO): DAT read: TxSync time:23:15:28.4274 2025-01-08T23:15:29.322Z,1736378129.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.699997 m, deltaT: 3.527923 s, deltaX: -0.500000 m, approachRate: -0.141726 m/s, rangeRepo size: 4 2025-01-08T23:15:29.329Z,1736378129.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.699997 m, bearing: 7.302117 deg, lat: 36.904870 deg, lon: -122.119786 deg, deltaT: 3.527923 s, deltaX: -0.500000 m, approachRate: -0.141726 m/s, posRepo size: 4 2025-01-08T23:15:29.329Z,1736378129.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T23:15:29.336Z,1736378129.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 77.609329 m, bearing: 30.918047 deg, approach rate: 0.000000 m/s, LOS rate: -0.543165 deg/s, cmd heading: 59.344946 deg, new cmd heading: 58.599644 deg. 2025-01-08T23:15:29.337Z,1736378129.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022757 target range: 90.699997 and range: 90.70 m. 2025-01-08T23:15:29.540Z,1736378129.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:29.800Z,1736378129.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:29.819Z,1736378129.819 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BS, +107, +548, -1E -1D, +9.14, +605.15, -10.41, 8.98 2025-01-08T23:15:29.828Z,1736378129.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T23:15:29.828Z,1736378129.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:29.836Z,1736378129.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T23:15:29.840Z,1736378129.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 77.570099 m, bearing: 30.687639 deg, approach rate: -0.076084 m/s, LOS rate: -0.447084 deg/s, cmd heading: 58.599642 deg, new cmd heading: 57.908103 deg. 2025-01-08T23:15:29.841Z,1736378129.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.010687 target range: 90.699997 and range: 90.70 m. 2025-01-08T23:15:30.052Z,1736378130.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:30.161Z,1736378130.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:15:30.162Z,1736378130.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:30.172Z,1736378130.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:30.174Z,1736378130.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T23:15:30.177Z,1736378130.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 77.541351 m, bearing: 30.549169 deg, approach rate: -0.085192 m/s, LOS rate: -0.410499 deg/s, cmd heading: 57.908106 deg, new cmd heading: 57.492551 deg. 2025-01-08T23:15:30.178Z,1736378130.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003434 target range: 90.699997 and range: 90.70 m. 2025-01-08T23:15:30.304Z,1736378130.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:30.305Z,1736378130.305 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:30.305Z,1736378130.305 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:30.305Z,1736378130.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:30.556Z,1736378130.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:30.556Z,1736378130.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507123 2025-01-08T23:15:30.560Z,1736378130.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T23:15:30.560Z,1736378130.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:30.584Z,1736378130.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T23:15:30.586Z,1736378130.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 77.501244 m, bearing: 30.384743 deg, approach rate: -0.098637 m/s, LOS rate: -0.404582 deg/s, cmd heading: 57.492550 deg, new cmd heading: 56.999029 deg. 2025-01-08T23:15:30.592Z,1736378130.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994821 target range: 90.699997 and range: 90.70 m. 2025-01-08T23:15:30.808Z,1736378130.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:30.809Z,1736378130.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759368 2025-01-08T23:15:30.982Z,1736378130.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:31.018Z,1736378131.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T23:15:31.022Z,1736378131.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 77.451279 m, bearing: 30.211209 deg, approach rate: -0.115973 m/s, LOS rate: -0.403049 deg/s, cmd heading: 56.999028 deg, new cmd heading: 56.478104 deg. 2025-01-08T23:15:31.032Z,1736378131.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985729 target range: 90.699997 and range: 90.70 m. 2025-01-08T23:15:31.060Z,1736378131.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:31.061Z,1736378131.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011322 2025-01-08T23:15:31.312Z,1736378131.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:31.312Z,1736378131.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263054 2025-01-08T23:15:31.383Z,1736378131.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:31.395Z,1736378131.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T23:15:31.398Z,1736378131.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 77.397675 m, bearing: 30.047929 deg, approach rate: -0.139789 m/s, LOS rate: -0.426094 deg/s, cmd heading: 56.478103 deg, new cmd heading: 55.987938 deg. 2025-01-08T23:15:31.399Z,1736378131.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.977174 target range: 90.699997 and range: 90.70 m. 2025-01-08T23:15:31.564Z,1736378131.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:31.564Z,1736378131.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514972 2025-01-08T23:15:31.794Z,1736378131.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:31.816Z,1736378131.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:31.816Z,1736378131.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767133 2025-01-08T23:15:31.829Z,1736378131.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T23:15:31.836Z,1736378131.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 77.341942 m, bearing: 29.884490 deg, approach rate: -0.128371 m/s, LOS rate: -0.376724 deg/s, cmd heading: 55.987938 deg, new cmd heading: 55.497282 deg. 2025-01-08T23:15:31.837Z,1736378131.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.968610 target range: 90.699997 and range: 90.70 m. 2025-01-08T23:15:32.068Z,1736378132.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:32.068Z,1736378132.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019089 2025-01-08T23:15:32.175Z,1736378132.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:32.199Z,1736378132.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:32.201Z,1736378132.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T23:15:32.204Z,1736378132.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 77.284584 m, bearing: 29.733788 deg, approach rate: -0.154261 m/s, LOS rate: -0.405607 deg/s, cmd heading: 55.497281 deg, new cmd heading: 55.044849 deg. 2025-01-08T23:15:32.206Z,1736378132.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960714 target range: 90.699997 and range: 90.70 m. 2025-01-08T23:15:32.320Z,1736378132.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:32.321Z,1736378132.321 [DAT](INFO): DAT read: Rx Time:23:15:30.9514 2025-01-08T23:15:32.322Z,1736378132.322 [DAT](INFO): Rx dataTimestamp_ set to:1736378132.321378 2025-01-08T23:15:32.323Z,1736378132.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273197 2025-01-08T23:15:32.573Z,1736378132.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:32.574Z,1736378132.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524216 2025-01-08T23:15:32.626Z,1736378132.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:32.726Z,1736378132.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.70 m. 2025-01-08T23:15:32.733Z,1736378132.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.699997 m, nav range: 77.210037 m, bearing: 29.557077 deg, approach rate: -0.143784 m/s, LOS rate: -0.341165 deg/s, cmd heading: 55.044850 deg, new cmd heading: 54.514221 deg. 2025-01-08T23:15:32.734Z,1736378132.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.951453 target range: 90.699997 and range: 90.70 m. 2025-01-08T23:15:32.826Z,1736378132.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:32.840Z,1736378132.840 [DAT](INFO): DAT read: 23:15:30.9514 LVL= 31776, 32753, 19282, 32755, AGC= 63, IDX= 417,-0.43,-1.404,-2.306,-0.156,-1.187, PHS=-0.129,-1.072, 1.027, RAW= 183.4, 1.9, CAL= 183.5, -6.2, ROT= 326.5, 6.2 2025-01-08T23:15:32.841Z,1736378132.841 [DAT](INFO): got valid direction response: 23:15:30.9514 LVL= 31776, 32753, 19282, 32755, AGC= 63, IDX= 417,-0.43,-1.404,-2.306,-0.156,-1.187, PHS=-0.129,-1.072, 1.027, RAW= 183.4, 1.9, CAL= 183.5, -6.2, ROT= 326.5, 6.2 2025-01-08T23:15:32.842Z,1736378132.842 [DAT](INFO): DAT read: Bearing 326.5, 6.2 (Local) 2025-01-08T23:15:32.843Z,1736378132.843 [DAT](INFO): Local bearing/azimuth received: Bearing 326.5, 6.2 (Local) 2025-01-08T23:15:32.845Z,1736378132.845 [DAT](INFO): DAT read: Range 10 to 50 : 89.3 m (Round-trip 119.1 ms) speed 0.1 m/s 2025-01-08T23:15:32.846Z,1736378132.846 [DAT](INFO): DAT read: user:3130> 2025-01-08T23:15:32.847Z,1736378132.847 [DAT](INFO): DAT read: Tx time:23:15:32.0282 2025-01-08T23:15:32.847Z,1736378132.847 [DAT](INFO): Ping request sent. 2025-01-08T23:15:32.847Z,1736378132.847 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:32.848Z,1736378132.848 [DAT](INFO): DAT read: TxSync time:23:15:32.0274 2025-01-08T23:15:32.848Z,1736378132.848 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:15:32.849Z,1736378132.849 [DAT](INFO): direction in FSK: [-0.118789,-0.992780,-0.016661] 2025-01-08T23:15:32.849Z,1736378132.849 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:32.850Z,1736378132.850 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:32.874Z,1736378132.874 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:32.874Z,1736378132.874 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:33.076Z,1736378133.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:33.086Z,1736378133.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:33.116Z,1736378133.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.300003 m, deltaT: 3.791374 s, deltaX: -1.399994 m, approachRate: -0.369258 m/s, rangeRepo size: 4 2025-01-08T23:15:33.136Z,1736378133.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.300003 m, bearing: 351.380239 deg, lat: 36.904949 deg, lon: -122.119786 deg, deltaT: 3.791374 s, deltaX: -1.399994 m, approachRate: -0.369258 m/s, posRepo size: 4 2025-01-08T23:15:33.137Z,1736378133.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T23:15:33.144Z,1736378133.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 84.827179 m, bearing: 26.490243 deg, approach rate: 0.000000 m/s, LOS rate: -0.341165 deg/s, cmd heading: 54.514219 deg, new cmd heading: 54.110713 deg. 2025-01-08T23:15:33.145Z,1736378133.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.944410 target range: 89.300003 and range: 89.30 m. 2025-01-08T23:15:33.328Z,1736378133.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:33.459Z,1736378133.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:33.468Z,1736378133.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T23:15:33.472Z,1736378133.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 84.763092 m, bearing: 26.358615 deg, approach rate: -0.180757 m/s, LOS rate: -0.371537 deg/s, cmd heading: 54.110712 deg, new cmd heading: 53.715537 deg. 2025-01-08T23:15:33.473Z,1736378133.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937513 target range: 89.300003 and range: 89.30 m. 2025-01-08T23:15:33.580Z,1736378133.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:33.834Z,1736378133.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:33.874Z,1736378133.874 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, .00, +0.00 +0.00, 20.00,1208.80 2025-01-08T23:15:33.882Z,1736378133.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:15:33.882Z,1736378133.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:33.912Z,1736378133.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T23:15:33.914Z,1736378133.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 84.684029 m, bearing: 26.210493 deg, approach rate: -0.186778 m/s, LOS rate: -0.350248 deg/s, cmd heading: 53.715538 deg, new cmd heading: 53.270766 deg. 2025-01-08T23:15:33.920Z,1736378133.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.929750 target range: 89.300003 and range: 89.30 m. 2025-01-08T23:15:34.084Z,1736378134.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:34.284Z,1736378134.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:15:34.285Z,1736378134.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:34.292Z,1736378134.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:34.294Z,1736378134.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T23:15:34.298Z,1736378134.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 84.603539 m, bearing: 26.070753 deg, approach rate: -0.199733 m/s, LOS rate: -0.347089 deg/s, cmd heading: 53.270766 deg, new cmd heading: 52.851154 deg. 2025-01-08T23:15:34.299Z,1736378134.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.922427 target range: 89.300003 and range: 89.30 m. 2025-01-08T23:15:34.340Z,1736378134.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:34.341Z,1736378134.341 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:34.341Z,1736378134.341 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:34.341Z,1736378134.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:34.592Z,1736378134.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:34.593Z,1736378134.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745645 2025-01-08T23:15:34.686Z,1736378134.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:15:34.689Z,1736378134.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:34.761Z,1736378134.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T23:15:34.768Z,1736378134.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 84.516945 m, bearing: 25.932966 deg, approach rate: -0.185520 m/s, LOS rate: -0.295500 deg/s, cmd heading: 52.851153 deg, new cmd heading: 52.437378 deg. 2025-01-08T23:15:34.769Z,1736378134.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.915205 target range: 89.300003 and range: 89.30 m. 2025-01-08T23:15:34.845Z,1736378134.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:34.846Z,1736378134.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998610 2025-01-08T23:15:35.096Z,1736378135.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:35.096Z,1736378135.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249329 2025-01-08T23:15:35.104Z,1736378135.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:35.113Z,1736378135.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T23:15:35.136Z,1736378135.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 84.434593 m, bearing: 25.799219 deg, approach rate: -0.233835 m/s, LOS rate: -0.380140 deg/s, cmd heading: 52.437377 deg, new cmd heading: 52.035752 deg. 2025-01-08T23:15:35.138Z,1736378135.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.908195 target range: 89.300003 and range: 89.30 m. 2025-01-08T23:15:35.349Z,1736378135.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:35.351Z,1736378135.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503629 2025-01-08T23:15:35.472Z,1736378135.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:35.481Z,1736378135.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T23:15:35.484Z,1736378135.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 84.351311 m, bearing: 25.684691 deg, approach rate: -0.226590 m/s, LOS rate: -0.311910 deg/s, cmd heading: 52.035752 deg, new cmd heading: 51.691831 deg. 2025-01-08T23:15:35.485Z,1736378135.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902193 target range: 89.300003 and range: 89.30 m. 2025-01-08T23:15:35.601Z,1736378135.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:35.602Z,1736378135.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755069 2025-01-08T23:15:35.852Z,1736378135.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:35.852Z,1736378135.852 [DAT](INFO): DAT read: Rx Time:23:15:34.5495 2025-01-08T23:15:35.853Z,1736378135.853 [DAT](INFO): Rx dataTimestamp_ set to:1736378135.852675 2025-01-08T23:15:35.853Z,1736378135.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006437 2025-01-08T23:15:35.932Z,1736378135.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:15:35.932Z,1736378135.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:35.942Z,1736378135.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T23:15:35.945Z,1736378135.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 84.241112 m, bearing: 25.543727 deg, approach rate: -0.238753 m/s, LOS rate: -0.305805 deg/s, cmd heading: 51.691831 deg, new cmd heading: 51.268396 deg. 2025-01-08T23:15:35.946Z,1736378135.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.894802 target range: 89.300003 and range: 89.30 m. 2025-01-08T23:15:36.104Z,1736378136.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:36.105Z,1736378136.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258023 2025-01-08T23:15:36.286Z,1736378136.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:15:36.286Z,1736378136.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:36.294Z,1736378136.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:36.296Z,1736378136.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.30 m. 2025-01-08T23:15:36.298Z,1736378136.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.300003 m, nav range: 84.151436 m, bearing: 25.436933 deg, approach rate: -0.253599 m/s, LOS rate: -0.302330 deg/s, cmd heading: 51.268397 deg, new cmd heading: 50.947677 deg. 2025-01-08T23:15:36.300Z,1736378136.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.889205 target range: 89.300003 and range: 89.30 m. 2025-01-08T23:15:36.356Z,1736378136.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:36.366Z,1736378136.366 [DAT](INFO): DAT read: 23:15:34.5495 LVL= 24096, 32753, 16610, 32755, AGC= 63, IDX= 428,-0.22,-2.598, 2.851,-1.794,-2.577, PHS= 0.067,-0.809, 0.780, RAW= 176.6, -0.6, CAL= 177.4, -8.4, ROT= 332.6, 8.4 2025-01-08T23:15:36.368Z,1736378136.368 [DAT](INFO): got valid direction response: 23:15:34.5495 LVL= 24096, 32753, 16610, 32755, AGC= 63, IDX= 428,-0.22,-2.598, 2.851,-1.794,-2.577, PHS= 0.067,-0.809, 0.780, RAW= 176.6, -0.6, CAL= 177.4, -8.4, ROT= 332.6, 8.4 2025-01-08T23:15:36.370Z,1736378136.370 [DAT](INFO): DAT read: Bearing 332.6, 8.4 (Local) 2025-01-08T23:15:36.371Z,1736378136.371 [DAT](INFO): Local bearing/azimuth received: Bearing 332.6, 8.4 (Local) 2025-01-08T23:15:36.373Z,1736378136.373 [DAT](INFO): DAT read: Range 10 to 50 : 87.8 m (Round-trip 117.1 ms) speed 0.2 m/s 2025-01-08T23:15:36.375Z,1736378136.375 [DAT](INFO): DAT read: user:3131> 2025-01-08T23:15:36.377Z,1736378136.377 [DAT](INFO): DAT read: Tx time:23:15:35.6782 2025-01-08T23:15:36.378Z,1736378136.378 [DAT](INFO): Ping request sent. 2025-01-08T23:15:36.378Z,1736378136.378 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:36.378Z,1736378136.378 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:15:36.380Z,1736378136.380 [DAT](INFO): direction in FSK: [-0.082106,-0.991255,0.103307] 2025-01-08T23:15:36.380Z,1736378136.380 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:36.380Z,1736378136.380 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:36.408Z,1736378136.408 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:36.408Z,1736378136.408 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:36.608Z,1736378136.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:36.609Z,1736378136.609 [DAT](INFO): DAT read: TxSync time:23:15:35.6774 2025-01-08T23:15:36.693Z,1736378136.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:15:36.693Z,1736378136.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:36.745Z,1736378136.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.800003 m, deltaT: 3.529293 s, deltaX: -1.500000 m, approachRate: -0.425014 m/s, rangeRepo size: 4 2025-01-08T23:15:36.761Z,1736378136.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.800003 m, bearing: 336.906710 deg, lat: 36.904990 deg, lon: -122.120109 deg, deltaT: 3.529293 s, deltaX: -1.500000 m, approachRate: -0.425014 m/s, posRepo size: 4 2025-01-08T23:15:36.768Z,1736378136.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m. 2025-01-08T23:15:36.787Z,1736378136.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.800003 m, nav range: 80.821365 m, bearing: 5.096273 deg, approach rate: 0.000000 m/s, LOS rate: -0.302330 deg/s, cmd heading: 50.947675 deg, new cmd heading: 50.563556 deg. 2025-01-08T23:15:36.794Z,1736378136.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.882501 target range: 87.800003 and range: 87.80 m. 2025-01-08T23:15:36.861Z,1736378136.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:37.112Z,1736378137.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:37.140Z,1736378137.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:37.148Z,1736378137.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m. 2025-01-08T23:15:37.151Z,1736378137.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.800003 m, nav range: 80.770241 m, bearing: 4.952741 deg, approach rate: -0.119205 m/s, LOS rate: -0.334877 deg/s, cmd heading: 50.563556 deg, new cmd heading: 50.132698 deg. 2025-01-08T23:15:37.152Z,1736378137.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874981 target range: 87.800003 and range: 87.80 m. 2025-01-08T23:15:37.365Z,1736378137.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:37.506Z,1736378137.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:37.527Z,1736378137.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m. 2025-01-08T23:15:37.530Z,1736378137.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.800003 m, nav range: 80.728821 m, bearing: 4.835251 deg, approach rate: -0.109475 m/s, LOS rate: -0.310691 deg/s, cmd heading: 50.132697 deg, new cmd heading: 49.780049 deg. 2025-01-08T23:15:37.531Z,1736378137.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.868826 target range: 87.800003 and range: 87.80 m. 2025-01-08T23:15:37.617Z,1736378137.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:37.869Z,1736378137.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:37.936Z,1736378137.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:37.957Z,1736378137.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m. 2025-01-08T23:15:37.964Z,1736378137.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.800003 m, nav range: 80.658348 m, bearing: 4.707567 deg, approach rate: -0.163653 m/s, LOS rate: -0.296767 deg/s, cmd heading: 49.780048 deg, new cmd heading: 49.396668 deg. 2025-01-08T23:15:37.965Z,1736378137.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.862135 target range: 87.800003 and range: 87.80 m. 2025-01-08T23:15:38.120Z,1736378138.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:38.301Z,1736378138.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:38.308Z,1736378138.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:38.310Z,1736378138.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m. 2025-01-08T23:15:38.313Z,1736378138.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.800003 m, nav range: 80.588913 m, bearing: 4.601725 deg, approach rate: -0.196771 m/s, LOS rate: -0.300204 deg/s, cmd heading: 49.396669 deg, new cmd heading: 49.078872 deg. 2025-01-08T23:15:38.314Z,1736378138.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.856588 target range: 87.800003 and range: 87.80 m. 2025-01-08T23:15:38.373Z,1736378138.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:38.374Z,1736378138.374 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:38.374Z,1736378138.374 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:38.375Z,1736378138.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:38.624Z,1736378138.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:38.625Z,1736378138.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246887 2025-01-08T23:15:38.724Z,1736378138.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:38.742Z,1736378138.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m. 2025-01-08T23:15:38.785Z,1736378138.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.800003 m, nav range: 80.502914 m, bearing: 4.480800 deg, approach rate: -0.199007 m/s, LOS rate: -0.280127 deg/s, cmd heading: 49.078871 deg, new cmd heading: 48.715715 deg. 2025-01-08T23:15:38.793Z,1736378138.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.850250 target range: 87.800003 and range: 87.80 m. 2025-01-08T23:15:38.877Z,1736378138.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:38.878Z,1736378138.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499914 2025-01-08T23:15:39.128Z,1736378139.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:39.128Z,1736378139.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750791 2025-01-08T23:15:39.144Z,1736378139.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:39.169Z,1736378139.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m. 2025-01-08T23:15:39.177Z,1736378139.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.800003 m, nav range: 80.405411 m, bearing: 4.360905 deg, approach rate: -0.228728 m/s, LOS rate: -0.281596 deg/s, cmd heading: 48.715713 deg, new cmd heading: 48.355596 deg. 2025-01-08T23:15:39.178Z,1736378139.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.843964 target range: 87.800003 and range: 87.80 m. 2025-01-08T23:15:39.380Z,1736378139.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:39.380Z,1736378139.380 [DAT](INFO): DAT read: Rx Time:23:15:38.1977 2025-01-08T23:15:39.381Z,1736378139.381 [DAT](INFO): Rx dataTimestamp_ set to:1736378139.380660 2025-01-08T23:15:39.381Z,1736378139.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003802 2025-01-08T23:15:39.509Z,1736378139.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:39.518Z,1736378139.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.80 m. 2025-01-08T23:15:39.521Z,1736378139.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.800003 m, nav range: 80.316063 m, bearing: 4.258579 deg, approach rate: -0.255930 m/s, LOS rate: -0.293431 deg/s, cmd heading: 48.355595 deg, new cmd heading: 48.048278 deg. 2025-01-08T23:15:39.522Z,1736378139.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838601 target range: 87.800003 and range: 87.80 m. 2025-01-08T23:15:39.636Z,1736378139.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:39.638Z,1736378139.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260106 2025-01-08T23:15:39.890Z,1736378139.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:39.913Z,1736378139.913 [DAT](INFO): DAT read: 23:15:38.1977 LVL= 20656, 24737, 15938, 26611, AGC= 64, IDX= 425, 0.40, 2.738, 1.433, 2.935, 2.350, PHS= 0.476,-0.871, 0.582, RAW= 153.7, -2.7, CAL= 157.4, -11.2, ROT= 352.6, 11.2 2025-01-08T23:15:39.914Z,1736378139.914 [DAT](INFO): got valid direction response: 23:15:38.1977 LVL= 20656, 24737, 15938, 26611, AGC= 64, IDX= 425, 0.40, 2.738, 1.433, 2.935, 2.350, PHS= 0.476,-0.871, 0.582, RAW= 153.7, -2.7, CAL= 157.4, -11.2, ROT= 352.6, 11.2 2025-01-08T23:15:39.915Z,1736378139.915 [DAT](INFO): DAT read: Bearing 352.6, 11.2 (Local) 2025-01-08T23:15:39.915Z,1736378139.915 [DAT](INFO): Local bearing/azimuth received: Bearing 352.6, 11.2 (Local) 2025-01-08T23:15:39.921Z,1736378139.921 [DAT](INFO): DAT read: Range 10 to 50 : 86.5 m (Round-trip 115.4 ms) speed 0.4 m/s 2025-01-08T23:15:39.921Z,1736378139.921 [DAT](INFO): DAT read: user:3132> 2025-01-08T23:15:39.922Z,1736378139.922 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:15:39.936Z,1736378139.936 [DAT](INFO): direction in FSK: [-0.066224,-0.867945,0.492225] 2025-01-08T23:15:39.936Z,1736378139.936 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:39.969Z,1736378139.969 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:39.970Z,1736378139.970 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:39.970Z,1736378139.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:40.050Z,1736378140.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:40.085Z,1736378140.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.500000 m, deltaT: 3.533968 s, deltaX: -1.300003 m, approachRate: -0.367859 m/s, rangeRepo size: 4 2025-01-08T23:15:40.091Z,1736378140.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.500000 m, bearing: 320.635847 deg, lat: 36.904990 deg, lon: -122.120362 deg, deltaT: 3.533968 s, deltaX: -1.300003 m, approachRate: -0.367859 m/s, posRepo size: 4 2025-01-08T23:15:40.092Z,1736378140.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m. 2025-01-08T23:15:40.095Z,1736378140.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.500000 m, nav range: 81.703873 m, bearing: 348.188250 deg, approach rate: 0.000000 m/s, LOS rate: -0.293431 deg/s, cmd heading: 48.048277 deg, new cmd heading: 47.549487 deg. 2025-01-08T23:15:40.100Z,1736378140.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829895 target range: 86.500000 and range: 86.50 m. 2025-01-08T23:15:40.140Z,1736378140.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:40.141Z,1736378140.141 [DAT](INFO): DAT read: Tx time:23:15:39.3282 2025-01-08T23:15:40.141Z,1736378140.141 [DAT](INFO): Ping request sent. 2025-01-08T23:15:40.141Z,1736378140.141 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:40.142Z,1736378140.142 [DAT](INFO): DAT read: TxSync time:23:15:39.3274 2025-01-08T23:15:40.142Z,1736378140.142 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:40.143Z,1736378140.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001539 2025-01-08T23:15:40.387Z,1736378140.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:40.392Z,1736378140.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:40.393Z,1736378140.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251560 2025-01-08T23:15:40.396Z,1736378140.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:40.398Z,1736378140.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m. 2025-01-08T23:15:40.402Z,1736378140.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.500000 m, nav range: 81.660454 m, bearing: 348.076997 deg, approach rate: -0.138386 m/s, LOS rate: -0.354775 deg/s, cmd heading: 47.549489 deg, new cmd heading: 47.215557 deg. 2025-01-08T23:15:40.402Z,1736378140.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824067 target range: 86.500000 and range: 86.50 m. 2025-01-08T23:15:40.644Z,1736378140.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:40.645Z,1736378140.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503861 2025-01-08T23:15:40.769Z,1736378140.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:40.849Z,1736378140.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m. 2025-01-08T23:15:40.859Z,1736378140.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.500000 m, nav range: 81.595520 m, bearing: 347.954416 deg, approach rate: -0.144241 m/s, LOS rate: -0.272513 deg/s, cmd heading: 47.215558 deg, new cmd heading: 46.847526 deg. 2025-01-08T23:15:40.864Z,1736378140.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817644 target range: 86.500000 and range: 86.50 m. 2025-01-08T23:15:40.896Z,1736378140.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:40.897Z,1736378140.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755941 2025-01-08T23:15:41.148Z,1736378141.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:41.148Z,1736378141.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007299 2025-01-08T23:15:41.225Z,1736378141.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:41.234Z,1736378141.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m. 2025-01-08T23:15:41.236Z,1736378141.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.500000 m, nav range: 81.513977 m, bearing: 347.797781 deg, approach rate: -0.211659 m/s, LOS rate: -0.406979 deg/s, cmd heading: 46.847526 deg, new cmd heading: 46.377162 deg. 2025-01-08T23:15:41.238Z,1736378141.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809434 target range: 86.500000 and range: 86.50 m. 2025-01-08T23:15:41.400Z,1736378141.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:41.401Z,1736378141.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259403 2025-01-08T23:15:41.577Z,1736378141.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:41.585Z,1736378141.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m. 2025-01-08T23:15:41.588Z,1736378141.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.500000 m, nav range: 81.447411 m, bearing: 347.677892 deg, approach rate: -0.189484 m/s, LOS rate: -0.341547 deg/s, cmd heading: 46.377162 deg, new cmd heading: 46.017207 deg. 2025-01-08T23:15:41.589Z,1736378141.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.803152 target range: 86.500000 and range: 86.50 m. 2025-01-08T23:15:41.653Z,1736378141.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:41.655Z,1736378141.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513832 2025-01-08T23:15:41.904Z,1736378141.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:41.904Z,1736378141.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763225 2025-01-08T23:15:42.015Z,1736378142.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:42.041Z,1736378142.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m. 2025-01-08T23:15:42.044Z,1736378142.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.500000 m, nav range: 81.367233 m, bearing: 347.516437 deg, approach rate: -0.175818 m/s, LOS rate: -0.354397 deg/s, cmd heading: 46.017208 deg, new cmd heading: 45.532377 deg. 2025-01-08T23:15:42.045Z,1736378142.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794690 target range: 86.500000 and range: 86.50 m. 2025-01-08T23:15:42.156Z,1736378142.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:42.156Z,1736378142.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015317 2025-01-08T23:15:42.399Z,1736378142.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:42.407Z,1736378142.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:42.408Z,1736378142.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:42.409Z,1736378142.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267659 2025-01-08T23:15:42.411Z,1736378142.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m. 2025-01-08T23:15:42.414Z,1736378142.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.500000 m, nav range: 81.297371 m, bearing: 347.374418 deg, approach rate: -0.188921 m/s, LOS rate: -0.384375 deg/s, cmd heading: 45.532377 deg, new cmd heading: 45.105962 deg. 2025-01-08T23:15:42.414Z,1736378142.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787248 target range: 86.500000 and range: 86.50 m. 2025-01-08T23:15:42.660Z,1736378142.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:42.661Z,1736378142.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519955 2025-01-08T23:15:42.804Z,1736378142.804 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:15:42.813Z,1736378142.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:42.890Z,1736378142.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m. 2025-01-08T23:15:42.898Z,1736378142.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.500000 m, nav range: 81.208328 m, bearing: 347.225716 deg, approach rate: -0.186070 m/s, LOS rate: -0.311078 deg/s, cmd heading: 45.105961 deg, new cmd heading: 44.659377 deg. 2025-01-08T23:15:42.899Z,1736378142.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779453 target range: 86.500000 and range: 86.50 m. 2025-01-08T23:15:42.912Z,1736378142.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:42.913Z,1736378142.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771392 2025-01-08T23:15:43.164Z,1736378143.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:43.164Z,1736378143.164 [DAT](INFO): DAT read: Rx Time:23:15:41.8454 2025-01-08T23:15:43.165Z,1736378143.165 [DAT](INFO): Rx dataTimestamp_ set to:1736378143.164661 2025-01-08T23:15:43.165Z,1736378143.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024357 2025-01-08T23:15:43.380Z,1736378143.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:43.389Z,1736378143.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.50 m. 2025-01-08T23:15:43.393Z,1736378143.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.500000 m, nav range: 81.090065 m, bearing: 347.000206 deg, approach rate: -0.236492 m/s, LOS rate: -0.451611 deg/s, cmd heading: 44.659376 deg, new cmd heading: 43.981892 deg. 2025-01-08T23:15:43.394Z,1736378143.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767629 target range: 86.500000 and range: 86.50 m. 2025-01-08T23:15:43.418Z,1736378143.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:43.419Z,1736378143.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277456 2025-01-08T23:15:43.669Z,1736378143.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:43.679Z,1736378143.679 [DAT](INFO): DAT read: 23:15:41.8454 LVL= 29552, 31729, 25074, 32755, AGC= 64, IDX= 416, 0.34, 2.495, 0.754, 2.077, 1.756, PHS= 0.827,-0.955, 0.318, RAW= 133.9, -2.4, CAL= 139.4, -12.1, ROT= 10.6, 12.1 2025-01-08T23:15:43.682Z,1736378143.682 [DAT](INFO): got valid direction response: 23:15:41.8454 LVL= 29552, 31729, 25074, 32755, AGC= 64, IDX= 416, 0.34, 2.495, 0.754, 2.077, 1.756, PHS= 0.827,-0.955, 0.318, RAW= 133.9, -2.4, CAL= 139.4, -12.1, ROT= 10.6, 12.1 2025-01-08T23:15:43.683Z,1736378143.683 [DAT](INFO): DAT read: Bearing 10.6, 12.1 (Local) 2025-01-08T23:15:43.684Z,1736378143.684 [DAT](INFO): Local bearing/azimuth received: Bearing 10.6, 12.1 (Local) 2025-01-08T23:15:43.685Z,1736378143.685 [DAT](INFO): DAT read: Range 10 to 50 : 84.6 m (Round-trip 112.9 ms) speed 0.5 m/s 2025-01-08T23:15:43.686Z,1736378143.686 [DAT](INFO): DAT read: user:3133> 2025-01-08T23:15:43.687Z,1736378143.687 [DAT](INFO): DAT read: Tx time:23:15:42.9283 2025-01-08T23:15:43.687Z,1736378143.687 [DAT](INFO): Ping request sent. 2025-01-08T23:15:43.690Z,1736378143.690 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:43.691Z,1736378143.691 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:15:43.692Z,1736378143.692 [DAT](INFO): direction in FSK: [-0.078163,-0.633600,0.769702] 2025-01-08T23:15:43.692Z,1736378143.692 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:43.692Z,1736378143.692 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:43.744Z,1736378143.744 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:43.744Z,1736378143.744 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:43.813Z,1736378143.813 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:15:43.858Z,1736378143.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:43.920Z,1736378143.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:43.921Z,1736378143.921 [DAT](INFO): DAT read: TxSync time:23:15:42.9275 2025-01-08T23:15:43.926Z,1736378143.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.599998 m, deltaT: 3.778897 s, deltaX: -1.900002 m, approachRate: -0.502793 m/s, rangeRepo size: 4 2025-01-08T23:15:43.932Z,1736378143.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.599998 m, bearing: 301.535305 deg, lat: 36.904990 deg, lon: -122.120576 deg, deltaT: 3.778897 s, deltaX: -1.900002 m, approachRate: -0.502793 m/s, posRepo size: 4 2025-01-08T23:15:43.933Z,1736378143.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:43.940Z,1736378143.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 87.327820 m, bearing: 334.551030 deg, approach rate: 0.000000 m/s, LOS rate: -0.451611 deg/s, cmd heading: 43.981893 deg, new cmd heading: 43.256230 deg. 2025-01-08T23:15:43.947Z,1736378143.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754964 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:44.172Z,1736378144.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:44.235Z,1736378144.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:44.256Z,1736378144.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:44.258Z,1736378144.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 87.299118 m, bearing: 334.395344 deg, approach rate: -0.087893 m/s, LOS rate: -0.476913 deg/s, cmd heading: 43.256230 deg, new cmd heading: 42.789030 deg. 2025-01-08T23:15:44.264Z,1736378144.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746809 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:44.424Z,1736378144.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:44.564Z,1736378144.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:44.576Z,1736378144.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:44.578Z,1736378144.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:44.581Z,1736378144.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 87.270294 m, bearing: 334.262712 deg, approach rate: -0.088234 m/s, LOS rate: -0.406140 deg/s, cmd heading: 42.789031 deg, new cmd heading: 42.391012 deg. 2025-01-08T23:15:44.582Z,1736378144.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739863 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:44.677Z,1736378144.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:44.678Z,1736378144.678 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:44.678Z,1736378144.678 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:44.678Z,1736378144.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:44.928Z,1736378144.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:44.928Z,1736378144.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241265 2025-01-08T23:15:45.012Z,1736378145.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:45.030Z,1736378145.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:45.045Z,1736378145.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 87.238678 m, bearing: 334.080308 deg, approach rate: -0.069905 m/s, LOS rate: -0.403447 deg/s, cmd heading: 42.391012 deg, new cmd heading: 41.843621 deg. 2025-01-08T23:15:45.046Z,1736378145.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.730309 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:45.181Z,1736378145.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:45.182Z,1736378145.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494881 2025-01-08T23:15:45.370Z,1736378145.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:45.380Z,1736378145.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:45.383Z,1736378145.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 87.212860 m, bearing: 333.935135 deg, approach rate: -0.073882 m/s, LOS rate: -0.415562 deg/s, cmd heading: 41.843621 deg, new cmd heading: 41.407979 deg. 2025-01-08T23:15:45.384Z,1736378145.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722706 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:45.432Z,1736378145.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:45.433Z,1736378145.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745562 2025-01-08T23:15:45.684Z,1736378145.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:45.684Z,1736378145.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997320 2025-01-08T23:15:45.782Z,1736378145.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:45.812Z,1736378145.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:45.815Z,1736378145.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 87.182671 m, bearing: 333.768218 deg, approach rate: -0.069962 m/s, LOS rate: -0.386954 deg/s, cmd heading: 41.407977 deg, new cmd heading: 40.907067 deg. 2025-01-08T23:15:45.822Z,1736378145.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713963 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:45.936Z,1736378145.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:45.937Z,1736378145.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249835 2025-01-08T23:15:46.188Z,1736378146.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:46.189Z,1736378146.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502202 2025-01-08T23:15:46.365Z,1736378146.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:46.374Z,1736378146.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:46.382Z,1736378146.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 87.131935 m, bearing: 333.536265 deg, approach rate: -0.090126 m/s, LOS rate: -0.412278 deg/s, cmd heading: 40.907065 deg, new cmd heading: 40.210837 deg. 2025-01-08T23:15:46.383Z,1736378146.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701811 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:46.440Z,1736378146.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:46.440Z,1736378146.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753462 2025-01-08T23:15:46.692Z,1736378146.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:46.693Z,1736378146.693 [DAT](INFO): DAT read: Rx Time:23:15:45.4426 2025-01-08T23:15:46.693Z,1736378146.693 [DAT](INFO): Rx dataTimestamp_ set to:1736378146.692704 2025-01-08T23:15:46.693Z,1736378146.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006497 2025-01-08T23:15:46.788Z,1736378146.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:46.795Z,1736378146.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:46.797Z,1736378146.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:46.800Z,1736378146.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 87.095795 m, bearing: 333.368258 deg, approach rate: -0.085451 m/s, LOS rate: -0.397401 deg/s, cmd heading: 40.210837 deg, new cmd heading: 39.706622 deg. 2025-01-08T23:15:46.801Z,1736378146.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693011 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:46.945Z,1736378146.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:46.948Z,1736378146.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259823 2025-01-08T23:15:47.196Z,1736378147.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:47.202Z,1736378147.202 [DAT](INFO): DAT read: 23:15:45.4426 LVL= 30192, 29617, 29778, 32755, AGC= 66, IDX= 420, 0.37, 1.201,-0.569, 0.736, 0.486, PHS= 0.803,-1.008, 0.247, RAW= 132.5, -0.5, CAL= 138.2, -9.5, ROT= 11.8, 9.5 2025-01-08T23:15:47.204Z,1736378147.204 [DAT](INFO): got valid direction response: 23:15:45.4426 LVL= 30192, 29617, 29778, 32755, AGC= 66, IDX= 420, 0.37, 1.201,-0.569, 0.736, 0.486, PHS= 0.803,-1.008, 0.247, RAW= 132.5, -0.5, CAL= 138.2, -9.5, ROT= 11.8, 9.5 2025-01-08T23:15:47.205Z,1736378147.205 [DAT](INFO): DAT read: $Error in header 2025-01-08T23:15:47.205Z,1736378147.205 [DAT](INFO): Received a bad header 2025-01-08T23:15:47.219Z,1736378147.219 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T23:15:47.221Z,1736378147.221 [DAT](INFO): direction in FSK: [-0.115148,-0.612030,0.782407] 2025-01-08T23:15:47.225Z,1736378147.225 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:47.225Z,1736378147.225 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:47.225Z,1736378147.225 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:47.300Z,1736378147.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:47.322Z,1736378147.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:47.329Z,1736378147.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 87.040611 m, bearing: 333.178643 deg, approach rate: -0.105387 m/s, LOS rate: -0.362347 deg/s, cmd heading: 39.706622 deg, new cmd heading: 39.137436 deg. 2025-01-08T23:15:47.330Z,1736378147.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683077 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:47.448Z,1736378147.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:47.448Z,1736378147.448 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:47.448Z,1736378147.448 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:47.448Z,1736378147.448 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:47.640Z,1736378147.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:47.653Z,1736378147.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:47.658Z,1736378147.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 87.004242 m, bearing: 333.052934 deg, approach rate: -0.109734 m/s, LOS rate: -0.379449 deg/s, cmd heading: 39.137435 deg, new cmd heading: 38.760155 deg. 2025-01-08T23:15:47.677Z,1736378147.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676492 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:47.700Z,1736378147.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:47.700Z,1736378147.700 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:47.700Z,1736378147.700 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:47.700Z,1736378147.700 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:47.952Z,1736378147.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:47.952Z,1736378147.952 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:47.952Z,1736378147.952 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:47.952Z,1736378147.952 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:48.097Z,1736378148.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:48.107Z,1736378148.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:48.110Z,1736378148.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 86.938499 m, bearing: 332.897226 deg, approach rate: -0.144622 m/s, LOS rate: -0.342789 deg/s, cmd heading: 38.760156 deg, new cmd heading: 38.292688 deg. 2025-01-08T23:15:48.111Z,1736378148.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668333 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:48.205Z,1736378148.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:48.205Z,1736378148.205 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:48.205Z,1736378148.205 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:48.205Z,1736378148.205 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:48.448Z,1736378148.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:48.456Z,1736378148.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:48.456Z,1736378148.456 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:48.456Z,1736378148.456 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:48.457Z,1736378148.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:48.459Z,1736378148.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:48.462Z,1736378148.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 86.887505 m, bearing: 332.778019 deg, approach rate: -0.144869 m/s, LOS rate: -0.338848 deg/s, cmd heading: 38.292687 deg, new cmd heading: 37.934861 deg. 2025-01-08T23:15:48.463Z,1736378148.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.662088 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:48.709Z,1736378148.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:48.710Z,1736378148.710 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:48.710Z,1736378148.710 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:48.710Z,1736378148.710 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:48.857Z,1736378148.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:48.864Z,1736378148.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:48.866Z,1736378148.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:48.869Z,1736378148.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 86.827599 m, bearing: 332.639106 deg, approach rate: -0.147240 m/s, LOS rate: -0.341661 deg/s, cmd heading: 37.934860 deg, new cmd heading: 37.517843 deg. 2025-01-08T23:15:48.870Z,1736378148.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.654810 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:48.961Z,1736378148.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:48.963Z,1736378148.963 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:48.963Z,1736378148.963 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:48.963Z,1736378148.963 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:49.212Z,1736378149.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:49.212Z,1736378149.212 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:49.212Z,1736378149.212 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:49.212Z,1736378149.212 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:49.306Z,1736378149.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:49.344Z,1736378149.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:49.347Z,1736378149.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 86.742142 m, bearing: 332.503038 deg, approach rate: -0.178692 m/s, LOS rate: -0.284800 deg/s, cmd heading: 37.517843 deg, new cmd heading: 37.109245 deg. 2025-01-08T23:15:49.352Z,1736378149.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647678 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:49.464Z,1736378149.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:49.464Z,1736378149.464 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:49.464Z,1736378149.464 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:49.464Z,1736378149.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:49.718Z,1736378149.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:49.719Z,1736378149.719 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:49.719Z,1736378149.719 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:49.719Z,1736378149.719 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:49.765Z,1736378149.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:49.794Z,1736378149.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:49.801Z,1736378149.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 86.651039 m, bearing: 332.364959 deg, approach rate: -0.202439 m/s, LOS rate: -0.307149 deg/s, cmd heading: 37.109244 deg, new cmd heading: 36.694577 deg. 2025-01-08T23:15:49.802Z,1736378149.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640441 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:49.968Z,1736378149.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:49.968Z,1736378149.968 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:49.968Z,1736378149.968 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:49.968Z,1736378149.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:50.220Z,1736378150.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:50.220Z,1736378150.220 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:50.220Z,1736378150.220 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:50.220Z,1736378150.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:50.270Z,1736378150.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:50.280Z,1736378150.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:50.282Z,1736378150.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 86.534561 m, bearing: 332.233366 deg, approach rate: -0.239788 m/s, LOS rate: -0.271270 deg/s, cmd heading: 36.694577 deg, new cmd heading: 36.299272 deg. 2025-01-08T23:15:50.284Z,1736378150.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633542 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:50.472Z,1736378150.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:50.473Z,1736378150.473 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:50.473Z,1736378150.473 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:50.473Z,1736378150.473 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:50.616Z,1736378150.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:50.626Z,1736378150.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:50.629Z,1736378150.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 86.452309 m, bearing: 332.143871 deg, approach rate: -0.237661 m/s, LOS rate: -0.258832 deg/s, cmd heading: 36.299273 deg, new cmd heading: 36.030536 deg. 2025-01-08T23:15:50.630Z,1736378150.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628851 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:50.725Z,1736378150.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:50.726Z,1736378150.726 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:50.726Z,1736378150.726 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:50.726Z,1736378150.726 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:50.977Z,1736378150.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:50.979Z,1736378150.979 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:50.980Z,1736378150.980 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:50.980Z,1736378150.980 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:51.080Z,1736378151.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:51.086Z,1736378151.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:51.089Z,1736378151.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:51.091Z,1736378151.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 86.323753 m, bearing: 332.032942 deg, approach rate: -0.277852 m/s, LOS rate: -0.240113 deg/s, cmd heading: 36.030535 deg, new cmd heading: 35.697256 deg. 2025-01-08T23:15:51.092Z,1736378151.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623035 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:51.228Z,1736378151.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:51.228Z,1736378151.228 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:51.229Z,1736378151.229 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:51.229Z,1736378151.229 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:51.425Z,1736378151.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:51.460Z,1736378151.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:51.462Z,1736378151.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 86.226463 m, bearing: 331.950503 deg, approach rate: -0.262531 m/s, LOS rate: -0.222707 deg/s, cmd heading: 35.697256 deg, new cmd heading: 35.449663 deg. 2025-01-08T23:15:51.464Z,1736378151.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618713 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:51.484Z,1736378151.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:51.484Z,1736378151.484 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:51.484Z,1736378151.484 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:51.484Z,1736378151.484 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:51.736Z,1736378151.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:51.736Z,1736378151.736 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:51.736Z,1736378151.736 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:51.736Z,1736378151.736 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:51.878Z,1736378151.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:51.887Z,1736378151.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:51.890Z,1736378151.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 86.097610 m, bearing: 331.843291 deg, approach rate: -0.301362 m/s, LOS rate: -0.251123 deg/s, cmd heading: 35.449662 deg, new cmd heading: 35.127549 deg. 2025-01-08T23:15:51.892Z,1736378151.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613091 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:51.991Z,1736378151.991 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:51.993Z,1736378151.993 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:51.993Z,1736378151.993 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:51.993Z,1736378151.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:52.240Z,1736378152.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:52.240Z,1736378152.240 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:52.240Z,1736378152.240 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:52.240Z,1736378152.240 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:52.342Z,1736378152.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:52.351Z,1736378152.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:52.354Z,1736378152.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 85.948845 m, bearing: 331.739537 deg, approach rate: -0.320571 m/s, LOS rate: -0.223963 deg/s, cmd heading: 35.127550 deg, new cmd heading: 34.815753 deg. 2025-01-08T23:15:52.356Z,1736378152.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.607650 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:52.497Z,1736378152.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:52.497Z,1736378152.497 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:52.497Z,1736378152.497 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:52.497Z,1736378152.497 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:52.744Z,1736378152.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:52.745Z,1736378152.745 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:52.745Z,1736378152.745 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:52.745Z,1736378152.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:52.745Z,1736378152.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:52.796Z,1736378152.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:52.799Z,1736378152.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 85.819176 m, bearing: 331.650619 deg, approach rate: -0.291595 m/s, LOS rate: -0.200257 deg/s, cmd heading: 34.815752 deg, new cmd heading: 34.548597 deg. 2025-01-08T23:15:52.812Z,1736378152.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602987 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:52.998Z,1736378152.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:52.000Z,1736378153.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:53.000Z,1736378153.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:53.000Z,1736378153.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:53.188Z,1736378153.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:53.203Z,1736378153.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:53.206Z,1736378153.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:53.222Z,1736378153.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 85.679703 m, bearing: 331.548449 deg, approach rate: -0.339597 m/s, LOS rate: -0.249177 deg/s, cmd heading: 34.548596 deg, new cmd heading: 34.241587 deg. 2025-01-08T23:15:53.228Z,1736378153.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597628 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:53.248Z,1736378153.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:53.248Z,1736378153.248 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:53.248Z,1736378153.248 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:53.248Z,1736378153.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:53.500Z,1736378153.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:53.500Z,1736378153.500 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:53.500Z,1736378153.500 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:53.501Z,1736378153.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:15:53.577Z,1736378153.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:53.594Z,1736378153.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:53.601Z,1736378153.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 85.556686 m, bearing: 331.459685 deg, approach rate: -0.317479 m/s, LOS rate: -0.229410 deg/s, cmd heading: 34.241586 deg, new cmd heading: 33.974913 deg. 2025-01-08T23:15:53.602Z,1736378153.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592974 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:53.752Z,1736378153.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:53.752Z,1736378153.752 [DAT](INFO): Reached modem response timeout 2025-01-08T23:15:53.752Z,1736378153.752 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:15:53.753Z,1736378153.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:54.006Z,1736378154.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:54.008Z,1736378154.008 [DAT](INFO): Reached modem response timeout 2025-01-08T23:15:54.008Z,1736378154.008 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:15:54.009Z,1736378154.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:54.045Z,1736378154.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:54.061Z,1736378154.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:54.069Z,1736378154.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 85.409096 m, bearing: 331.352660 deg, approach rate: -0.315664 m/s, LOS rate: -0.229298 deg/s, cmd heading: 33.974915 deg, new cmd heading: 33.653290 deg. 2025-01-08T23:15:54.076Z,1736378154.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587361 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:54.256Z,1736378154.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:54.256Z,1736378154.256 [DAT](INFO): Reached modem response timeout 2025-01-08T23:15:54.256Z,1736378154.256 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:15:54.257Z,1736378154.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:15:54.508Z,1736378154.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:54.509Z,1736378154.509 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:15:54.509Z,1736378154.509 [DAT](INFO): response not received 2025-01-08T23:15:54.509Z,1736378154.509 [DAT](INFO): DAT read: user:3135> 2025-01-08T23:15:54.510Z,1736378154.510 [DAT](INFO): DAT read: Tx time:23:15:53.8784 2025-01-08T23:15:54.510Z,1736378154.510 [DAT](INFO): Ping request sent. 2025-01-08T23:15:54.510Z,1736378154.510 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:54.511Z,1736378154.511 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:54.511Z,1736378154.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000829 2025-01-08T23:15:54.603Z,1736378154.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:54.637Z,1736378154.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:54.645Z,1736378154.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 85.240082 m, bearing: 331.211649 deg, approach rate: -0.293784 m/s, LOS rate: -0.245594 deg/s, cmd heading: 33.653291 deg, new cmd heading: 33.229429 deg. 2025-01-08T23:15:54.647Z,1736378154.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579963 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:54.761Z,1736378154.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:54.762Z,1736378154.762 [DAT](INFO): DAT read: TxSync time:23:15:53.8776 2025-01-08T23:15:54.764Z,1736378154.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252844 2025-01-08T23:15:54.961Z,1736378154.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:55.014Z,1736378155.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:55.016Z,1736378155.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505181 2025-01-08T23:15:55.023Z,1736378155.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:55.059Z,1736378155.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 85.130836 m, bearing: 331.121184 deg, approach rate: -0.284262 m/s, LOS rate: -0.235698 deg/s, cmd heading: 33.229430 deg, new cmd heading: 32.957688 deg. 2025-01-08T23:15:55.060Z,1736378155.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575220 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:55.264Z,1736378155.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:55.264Z,1736378155.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753926 2025-01-08T23:15:55.392Z,1736378155.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:55.399Z,1736378155.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:55.401Z,1736378155.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:55.405Z,1736378155.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 85.017265 m, bearing: 330.995976 deg, approach rate: -0.298742 m/s, LOS rate: -0.329793 deg/s, cmd heading: 32.957688 deg, new cmd heading: 32.581566 deg. 2025-01-08T23:15:55.406Z,1736378155.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568656 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:55.517Z,1736378155.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:55.518Z,1736378155.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007369 2025-01-08T23:15:55.768Z,1736378155.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:55.768Z,1736378155.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257992 2025-01-08T23:15:55.769Z,1736378155.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:55.799Z,1736378155.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:55.806Z,1736378155.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 84.918289 m, bearing: 330.886933 deg, approach rate: -0.248842 m/s, LOS rate: -0.274470 deg/s, cmd heading: 32.581566 deg, new cmd heading: 32.254061 deg. 2025-01-08T23:15:55.812Z,1736378155.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562940 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:56.021Z,1736378156.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:56.024Z,1736378156.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512876 2025-01-08T23:15:56.214Z,1736378156.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:56.253Z,1736378156.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:56.262Z,1736378156.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 84.814880 m, bearing: 330.734219 deg, approach rate: -0.227806 m/s, LOS rate: -0.336833 deg/s, cmd heading: 32.254062 deg, new cmd heading: 31.795373 deg. 2025-01-08T23:15:56.272Z,1736378156.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:56.273Z,1736378156.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762590 2025-01-08T23:15:56.288Z,1736378156.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554934 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:56.524Z,1736378156.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:56.524Z,1736378156.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013850 2025-01-08T23:15:56.586Z,1736378156.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:56.596Z,1736378156.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:56.598Z,1736378156.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 84.728142 m, bearing: 330.606740 deg, approach rate: -0.253142 m/s, LOS rate: -0.372421 deg/s, cmd heading: 31.795374 deg, new cmd heading: 31.412552 deg. 2025-01-08T23:15:56.600Z,1736378156.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548252 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:56.776Z,1736378156.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:56.778Z,1736378156.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267125 2025-01-08T23:15:57.030Z,1736378157.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:57.032Z,1736378157.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520973 2025-01-08T23:15:57.156Z,1736378157.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:57.165Z,1736378157.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:57.176Z,1736378157.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 84.612297 m, bearing: 330.383837 deg, approach rate: -0.203504 m/s, LOS rate: -0.392110 deg/s, cmd heading: 31.412552 deg, new cmd heading: 30.742957 deg. 2025-01-08T23:15:57.183Z,1736378157.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536566 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:57.281Z,1736378157.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:57.282Z,1736378157.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771549 2025-01-08T23:15:57.510Z,1736378157.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:57.517Z,1736378157.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:57.519Z,1736378157.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:57.523Z,1736378157.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 84.540779 m, bearing: 330.245145 deg, approach rate: -0.201825 m/s, LOS rate: -0.391721 deg/s, cmd heading: 30.742958 deg, new cmd heading: 30.326540 deg. 2025-01-08T23:15:57.527Z,1736378157.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529298 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:57.532Z,1736378157.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:57.533Z,1736378157.533 [DAT](INFO): DAT read: Rx Time:23:15:56.3850 2025-01-08T23:15:57.533Z,1736378157.533 [DAT](INFO): Rx dataTimestamp_ set to:1736378157.532827 2025-01-08T23:15:57.534Z,1736378157.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023168 2025-01-08T23:15:57.785Z,1736378157.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:57.786Z,1736378157.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275552 2025-01-08T23:15:57.914Z,1736378157.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:57.953Z,1736378157.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:15:57.961Z,1736378157.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 84.459320 m, bearing: 330.086455 deg, approach rate: -0.187755 m/s, LOS rate: -0.366117 deg/s, cmd heading: 30.326539 deg, new cmd heading: 29.850019 deg. 2025-01-08T23:15:57.962Z,1736378157.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520981 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:15:58.097Z,1736378158.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:58.103Z,1736378158.103 [DAT](INFO): DAT read: 23:15:56.3851 LVL= 31520, 32753, 32754, 32755, AGC= 54, IDX= 357, 0.34, 1.100,-0.489, 0.501, 0.559, PHS= 0.629,-1.001,-0.062, RAW= 125.0, 6.2, CAL= 133.0, 1.1, ROT= 17.0, -1.1 2025-01-08T23:15:58.104Z,1736378158.104 [DAT](INFO): got valid direction response: 23:15:56.3851 LVL= 31520, 32753, 32754, 32755, AGC= 54, IDX= 357, 0.34, 1.100,-0.489, 0.501, 0.559, PHS= 0.629,-1.001,-0.062, RAW= 125.0, 6.2, CAL= 133.0, 1.1, ROT= 17.0, -1.1 2025-01-08T23:15:58.105Z,1736378158.105 [DAT](INFO): DAT read: Bearing 17.0, -1.1 (Local) 2025-01-08T23:15:58.106Z,1736378158.106 [DAT](INFO): Local bearing/azimuth received: Bearing 17.0, -1.1 (Local) 2025-01-08T23:15:58.107Z,1736378158.107 [DAT](INFO): DAT read: Range 10 to 50 : 76.8 m (Round-trip 102.5 ms) speed 0.4 m/s 2025-01-08T23:15:58.108Z,1736378158.108 [DAT](INFO): DAT read: user:3136> 2025-01-08T23:15:58.109Z,1736378158.109 [DAT](INFO): DAT read: Tx time:23:15:57.4785 2025-01-08T23:15:58.109Z,1736378158.109 [DAT](INFO): Ping request sent. 2025-01-08T23:15:58.109Z,1736378158.109 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:15:58.109Z,1736378158.109 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:15:58.110Z,1736378158.110 [DAT](INFO): direction in FSK: [-0.241968,-0.483797,0.841066] 2025-01-08T23:15:58.110Z,1736378158.110 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:58.111Z,1736378158.111 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:58.123Z,1736378158.123 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:15:58.133Z,1736378158.133 [DAT](INFO): publishing transmit ping time 2025-01-08T23:15:58.133Z,1736378158.133 [DAT](INFO): publishing direction and range info 2025-01-08T23:15:58.348Z,1736378158.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:58.349Z,1736378158.349 [DAT](INFO): DAT read: TxSync time:23:15:57.4777 2025-01-08T23:15:58.435Z,1736378158.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:58.476Z,1736378158.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.800003 m, deltaT: 14.427518 s, deltaX: -7.799995 m, approachRate: -0.540633 m/s, rangeRepo size: 4 2025-01-08T23:15:58.478Z,1736378158.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 266.020581 deg, lat: 36.904800 deg, lon: -122.120696 deg, deltaT: 14.427518 s, deltaX: -7.799995 m, approachRate: -0.540633 m/s, posRepo size: 4 2025-01-08T23:15:58.478Z,1736378158.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T23:15:58.481Z,1736378158.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 74.183189 m, bearing: 314.371138 deg, approach rate: 0.000000 m/s, LOS rate: -0.366117 deg/s, cmd heading: 29.850020 deg, new cmd heading: 29.281863 deg. 2025-01-08T23:15:58.482Z,1736378158.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.511065 target range: 76.800003 and range: 76.80 m. 2025-01-08T23:15:58.602Z,1736378158.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:58.800Z,1736378158.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:58.831Z,1736378158.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T23:15:58.834Z,1736378158.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 74.187340 m, bearing: 314.189547 deg, approach rate: 0.012032 m/s, LOS rate: -0.526424 deg/s, cmd heading: 29.281865 deg, new cmd heading: 28.737139 deg. 2025-01-08T23:15:58.835Z,1736378158.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501558 target range: 76.800003 and range: 76.80 m. 2025-01-08T23:15:58.856Z,1736378158.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:59.109Z,1736378159.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:59.293Z,1736378159.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:59.324Z,1736378159.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T23:15:59.327Z,1736378159.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 74.199951 m, bearing: 313.931888 deg, approach rate: 0.024769 m/s, LOS rate: -0.505949 deg/s, cmd heading: 28.737140 deg, new cmd heading: 27.964345 deg. 2025-01-08T23:15:59.332Z,1736378159.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488070 target range: 76.800003 and range: 76.80 m. 2025-01-08T23:15:59.360Z,1736378159.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:59.612Z,1736378159.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:59.613Z,1736378159.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:15:59.620Z,1736378159.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:15:59.623Z,1736378159.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T23:15:59.626Z,1736378159.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 74.209076 m, bearing: 313.765039 deg, approach rate: 0.030530 m/s, LOS rate: -0.558175 deg/s, cmd heading: 27.964345 deg, new cmd heading: 27.463872 deg. 2025-01-08T23:15:59.627Z,1736378159.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.479335 target range: 76.800003 and range: 76.80 m. 2025-01-08T23:15:59.865Z,1736378159.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:15:59.865Z,1736378159.865 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:15:59.866Z,1736378159.866 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:15:59.866Z,1736378159.866 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:00.023Z,1736378160.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:00.036Z,1736378160.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T23:16:00.040Z,1736378160.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 74.220802 m, bearing: 313.548803 deg, approach rate: 0.028394 m/s, LOS rate: -0.523495 deg/s, cmd heading: 27.463871 deg, new cmd heading: 26.815297 deg. 2025-01-08T23:16:00.041Z,1736378160.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468015 target range: 76.800003 and range: 76.80 m. 2025-01-08T23:16:00.117Z,1736378160.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:00.118Z,1736378160.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008615 2025-01-08T23:16:00.368Z,1736378160.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:00.368Z,1736378160.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259267 2025-01-08T23:16:00.451Z,1736378160.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:00.460Z,1736378160.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T23:16:00.463Z,1736378160.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 74.231758 m, bearing: 313.324520 deg, approach rate: 0.025826 m/s, LOS rate: -0.528612 deg/s, cmd heading: 26.815297 deg, new cmd heading: 26.142578 deg. 2025-01-08T23:16:00.464Z,1736378160.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456274 target range: 76.800003 and range: 76.80 m. 2025-01-08T23:16:00.620Z,1736378160.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:00.622Z,1736378160.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512452 2025-01-08T23:16:00.820Z,1736378160.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:00.829Z,1736378160.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T23:16:00.832Z,1736378160.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 74.240685 m, bearing: 313.130957 deg, approach rate: 0.024210 m/s, LOS rate: -0.524921 deg/s, cmd heading: 26.142578 deg, new cmd heading: 25.561979 deg. 2025-01-08T23:16:00.833Z,1736378160.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446141 target range: 76.800003 and range: 76.80 m. 2025-01-08T23:16:00.872Z,1736378160.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:00.873Z,1736378160.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763477 2025-01-08T23:16:01.126Z,1736378161.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:01.129Z,1736378161.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019409 2025-01-08T23:16:01.254Z,1736378161.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:01.264Z,1736378161.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T23:16:01.270Z,1736378161.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 74.230713 m, bearing: 312.909827 deg, approach rate: -0.022961 m/s, LOS rate: -0.509242 deg/s, cmd heading: 25.561980 deg, new cmd heading: 24.898533 deg. 2025-01-08T23:16:01.271Z,1736378161.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434561 target range: 76.800003 and range: 76.80 m. 2025-01-08T23:16:01.376Z,1736378161.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:01.377Z,1736378161.377 [DAT](INFO): DAT read: Rx Time:23:15:59.9826 2025-01-08T23:16:01.377Z,1736378161.377 [DAT](INFO): Rx dataTimestamp_ set to:1736378161.376699 2025-01-08T23:16:01.377Z,1736378161.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268433 2025-01-08T23:16:01.629Z,1736378161.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:01.630Z,1736378161.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520757 2025-01-08T23:16:01.753Z,1736378161.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:01.769Z,1736378161.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:01.776Z,1736378161.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.80 m. 2025-01-08T23:16:01.778Z,1736378161.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.800003 m, nav range: 74.217690 m, bearing: 312.655938 deg, approach rate: -0.025665 m/s, LOS rate: -0.500414 deg/s, cmd heading: 24.898533 deg, new cmd heading: 24.136779 deg. 2025-01-08T23:16:01.784Z,1736378161.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421266 target range: 76.800003 and range: 76.80 m. 2025-01-08T23:16:01.880Z,1736378161.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:01.889Z,1736378161.889 [DAT](INFO): DAT read: 23:15:59.9826 LVL= 24560, 32753, 26610, 32755, AGC= 62, IDX= 411,-0.04, 2.436, 0.965, 1.799, 1.908, PHS= 0.616,-0.896,-0.112, RAW= 121.2, 6.0, CAL= 130.3, 1.6, ROT= 19.7, -1.6 2025-01-08T23:16:01.890Z,1736378161.890 [DAT](INFO): got valid direction response: 23:15:59.9826 LVL= 24560, 32753, 26610, 32755, AGC= 62, IDX= 411,-0.04, 2.436, 0.965, 1.799, 1.908, PHS= 0.616,-0.896,-0.112, RAW= 121.2, 6.0, CAL= 130.3, 1.6, ROT= 19.7, -1.6 2025-01-08T23:16:01.891Z,1736378161.891 [DAT](INFO): DAT read: Bearing 19.7, -1.6 (Local) 2025-01-08T23:16:01.891Z,1736378161.891 [DAT](INFO): Local bearing/azimuth received: Bearing 19.7, -1.6 (Local) 2025-01-08T23:16:01.893Z,1736378161.893 [DAT](INFO): DAT read: Range 10 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.4 m/s 2025-01-08T23:16:01.893Z,1736378161.893 [DAT](INFO): DAT read: user:3137> 2025-01-08T23:16:01.894Z,1736378161.894 [DAT](INFO): DAT read: Tx time:23:16:01.0785 2025-01-08T23:16:01.894Z,1736378161.894 [DAT](INFO): Ping request sent. 2025-01-08T23:16:01.895Z,1736378161.895 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:01.905Z,1736378161.905 [DAT](INFO): DAT read: TxSync time:23:16:01.0777 2025-01-08T23:16:01.905Z,1736378161.905 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:16:01.906Z,1736378161.906 [DAT](INFO): direction in FSK: [-0.237186,-0.423520,0.874285] 2025-01-08T23:16:01.906Z,1736378161.906 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:01.907Z,1736378161.907 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:01.917Z,1736378161.917 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:01.918Z,1736378161.918 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:02.133Z,1736378162.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:02.196Z,1736378162.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:02.219Z,1736378162.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 3.783468 s, deltaX: -1.800003 m, approachRate: -0.475755 m/s, rangeRepo size: 4 2025-01-08T23:16:02.237Z,1736378162.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 75.000000 m, bearing: 262.734725 deg, lat: 36.904559 deg, lon: -122.120696 deg, deltaT: 3.783468 s, deltaX: -1.800003 m, approachRate: -0.475755 m/s, posRepo size: 4 2025-01-08T23:16:02.238Z,1736378162.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:16:02.245Z,1736378162.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 59.470329 m, bearing: 293.003535 deg, approach rate: 0.000000 m/s, LOS rate: -0.500414 deg/s, cmd heading: 24.136779 deg, new cmd heading: 23.465056 deg. 2025-01-08T23:16:02.246Z,1736378162.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.409542 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:16:02.384Z,1736378162.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:02.536Z,1736378162.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:02.547Z,1736378162.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:16:02.550Z,1736378162.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 59.512856 m, bearing: 292.802456 deg, approach rate: 0.129366 m/s, LOS rate: -0.611250 deg/s, cmd heading: 23.465055 deg, new cmd heading: 22.862274 deg. 2025-01-08T23:16:02.551Z,1736378162.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.399022 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:16:02.637Z,1736378162.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:02.889Z,1736378162.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:02.944Z,1736378162.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:02.956Z,1736378162.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:16:02.959Z,1736378162.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 59.562069 m, bearing: 292.561148 deg, approach rate: 0.120324 m/s, LOS rate: -0.589497 deg/s, cmd heading: 22.862274 deg, new cmd heading: 22.138989 deg. 2025-01-08T23:16:02.960Z,1736378162.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.386398 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:16:03.142Z,1736378163.142 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:03.392Z,1736378163.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:03.424Z,1736378163.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:03.433Z,1736378163.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:16:03.436Z,1736378163.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 59.587955 m, bearing: 292.293509 deg, approach rate: 0.054299 m/s, LOS rate: -0.561152 deg/s, cmd heading: 22.138989 deg, new cmd heading: 21.336475 deg. 2025-01-08T23:16:03.437Z,1736378163.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.372392 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:16:03.645Z,1736378163.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:03.851Z,1736378163.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:03.859Z,1736378163.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:03.862Z,1736378163.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:16:03.865Z,1736378163.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 59.607117 m, bearing: 292.055275 deg, approach rate: 0.044664 m/s, LOS rate: -0.555132 deg/s, cmd heading: 21.336474 deg, new cmd heading: 20.622044 deg. 2025-01-08T23:16:03.865Z,1736378163.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.359923 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:16:03.896Z,1736378163.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:03.896Z,1736378163.896 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:03.896Z,1736378163.896 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:03.897Z,1736378163.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:04.150Z,1736378164.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:04.152Z,1736378164.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257168 2025-01-08T23:16:04.286Z,1736378164.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:04.299Z,1736378164.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:16:04.301Z,1736378164.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 59.597939 m, bearing: 291.822140 deg, approach rate: -0.021012 m/s, LOS rate: -0.533811 deg/s, cmd heading: 20.622044 deg, new cmd heading: 19.922566 deg. 2025-01-08T23:16:04.302Z,1736378164.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.347714 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:16:04.400Z,1736378164.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:04.401Z,1736378164.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505977 2025-01-08T23:16:04.652Z,1736378164.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:04.653Z,1736378164.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758592 2025-01-08T23:16:04.670Z,1736378164.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:04.733Z,1736378164.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:16:04.740Z,1736378164.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 59.588417 m, bearing: 291.616243 deg, approach rate: -0.021903 m/s, LOS rate: -0.473713 deg/s, cmd heading: 19.922566 deg, new cmd heading: 19.304802 deg. 2025-01-08T23:16:04.741Z,1736378164.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.336932 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:16:04.904Z,1736378164.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:04.905Z,1736378164.905 [DAT](INFO): DAT read: Rx Time:23:16:03.5802 2025-01-08T23:16:04.906Z,1736378164.906 [DAT](INFO): Rx dataTimestamp_ set to:1736378164.905651 2025-01-08T23:16:04.906Z,1736378164.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011847 2025-01-08T23:16:05.089Z,1736378165.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:05.098Z,1736378165.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:16:05.100Z,1736378165.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 59.578896 m, bearing: 291.391293 deg, approach rate: -0.026125 m/s, LOS rate: -0.617315 deg/s, cmd heading: 19.304802 deg, new cmd heading: 18.629875 deg. 2025-01-08T23:16:05.101Z,1736378165.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.325153 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:16:05.158Z,1736378165.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:05.161Z,1736378165.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265326 2025-01-08T23:16:05.408Z,1736378165.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:05.414Z,1736378165.414 [DAT](INFO): DAT read: 23:16:03.5802 LVL= 21856, 32753, 27426, 32755, AGC= 65, IDX= 420, 0.07,-1.338,-2.850,-2.136,-1.863, PHS= 0.612,-0.941,-0.277, RAW= 115.2, 9.0, CAL= 124.3, 5.7, ROT= 25.7, -5.7 2025-01-08T23:16:05.415Z,1736378165.415 [DAT](INFO): got valid direction response: 23:16:03.5802 LVL= 21856, 32753, 27426, 32755, AGC= 65, IDX= 420, 0.07,-1.338,-2.850,-2.136,-1.863, PHS= 0.612,-0.941,-0.277, RAW= 115.2, 9.0, CAL= 124.3, 5.7, ROT= 25.7, -5.7 2025-01-08T23:16:05.416Z,1736378165.416 [DAT](INFO): DAT read: Bearing 25.7, -5.7 (Local) 2025-01-08T23:16:05.417Z,1736378165.417 [DAT](INFO): Local bearing/azimuth received: Bearing 25.7, -5.7 (Local) 2025-01-08T23:16:05.418Z,1736378165.418 [DAT](INFO): DAT read: Range 10 to 50 : 73.2 m (Round-trip 97.6 ms) speed 0.4 m/s 2025-01-08T23:16:05.419Z,1736378165.419 [DAT](INFO): DAT read: user:3138> 2025-01-08T23:16:05.420Z,1736378165.420 [DAT](INFO): DAT read: Tx time:23:16:04.6785 2025-01-08T23:16:05.421Z,1736378165.421 [DAT](INFO): Ping request sent. 2025-01-08T23:16:05.421Z,1736378165.421 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:05.422Z,1736378165.422 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:16:05.423Z,1736378165.423 [DAT](INFO): direction in FSK: [-0.287955,-0.317350,0.903532] 2025-01-08T23:16:05.423Z,1736378165.423 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:05.423Z,1736378165.423 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:05.426Z,1736378165.426 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:05.426Z,1736378165.426 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:05.560Z,1736378165.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:05.586Z,1736378165.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.199997 m, deltaT: 3.527475 s, deltaX: -1.800003 m, approachRate: -0.510281 m/s, rangeRepo size: 4 2025-01-08T23:16:05.593Z,1736378165.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.199997 m, bearing: 249.210528 deg, lat: 36.904300 deg, lon: -122.120696 deg, deltaT: 3.527475 s, deltaX: -1.800003 m, approachRate: -0.510281 m/s, posRepo size: 4 2025-01-08T23:16:05.594Z,1736378165.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:16:05.611Z,1736378165.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 55.995377 m, bearing: 262.553732 deg, approach rate: 0.000000 m/s, LOS rate: -0.617315 deg/s, cmd heading: 18.629875 deg, new cmd heading: 17.725938 deg. 2025-01-08T23:16:05.612Z,1736378165.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.309376 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:16:05.660Z,1736378165.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:05.661Z,1736378165.661 [DAT](INFO): DAT read: TxSync time:23:16:04.6777 2025-01-08T23:16:05.882Z,1736378165.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:05.897Z,1736378165.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:05.904Z,1736378165.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:16:05.907Z,1736378165.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 56.046940 m, bearing: 262.388024 deg, approach rate: 0.164449 m/s, LOS rate: -0.527999 deg/s, cmd heading: 17.725937 deg, new cmd heading: 17.229284 deg. 2025-01-08T23:16:05.914Z,1736378165.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:05.917Z,1736378165.917 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:05.917Z,1736378165.917 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:05.917Z,1736378165.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:05.924Z,1736378165.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.300708 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:16:06.166Z,1736378166.166 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:06.168Z,1736378166.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746525 2025-01-08T23:16:06.303Z,1736378166.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:06.341Z,1736378166.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:16:06.356Z,1736378166.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 56.097256 m, bearing: 262.167720 deg, approach rate: 0.113932 m/s, LOS rate: -0.498395 deg/s, cmd heading: 17.229284 deg, new cmd heading: 16.568994 deg. 2025-01-08T23:16:06.357Z,1736378166.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.289183 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:16:06.417Z,1736378166.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:06.418Z,1736378166.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996335 2025-01-08T23:16:06.668Z,1736378166.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:06.670Z,1736378166.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248290 2025-01-08T23:16:06.725Z,1736378166.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:06.736Z,1736378166.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:16:06.748Z,1736378166.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 56.145271 m, bearing: 261.947087 deg, approach rate: 0.121747 m/s, LOS rate: -0.558951 deg/s, cmd heading: 16.568994 deg, new cmd heading: 15.907692 deg. 2025-01-08T23:16:06.749Z,1736378166.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.277642 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:16:06.922Z,1736378166.922 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:06.922Z,1736378166.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500911 2025-01-08T23:16:07.174Z,1736378167.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:07.178Z,1736378167.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756245 2025-01-08T23:16:07.277Z,1736378167.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:07.286Z,1736378167.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:16:07.303Z,1736378167.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 56.193748 m, bearing: 261.657957 deg, approach rate: 0.088077 m/s, LOS rate: -0.524857 deg/s, cmd heading: 15.907693 deg, new cmd heading: 15.041121 deg. 2025-01-08T23:16:07.304Z,1736378167.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262517 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:16:07.424Z,1736378167.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:07.425Z,1736378167.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003663 2025-01-08T23:16:07.593Z,1736378167.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:07.601Z,1736378167.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:16:07.605Z,1736378167.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 56.219501 m, bearing: 261.492540 deg, approach rate: 0.081615 m/s, LOS rate: -0.523989 deg/s, cmd heading: 15.041122 deg, new cmd heading: 14.545110 deg. 2025-01-08T23:16:07.606Z,1736378167.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253860 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:16:07.677Z,1736378167.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:07.678Z,1736378167.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256598 2025-01-08T23:16:07.928Z,1736378167.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:07.928Z,1736378167.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506969 2025-01-08T23:16:07.992Z,1736378167.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:07.999Z,1736378167.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:08.001Z,1736378168.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:16:08.005Z,1736378168.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 56.249798 m, bearing: 261.283196 deg, approach rate: 0.075774 m/s, LOS rate: -0.523304 deg/s, cmd heading: 14.545110 deg, new cmd heading: 13.917445 deg. 2025-01-08T23:16:08.006Z,1736378168.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.242905 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:16:08.183Z,1736378168.183 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:08.186Z,1736378168.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763989 2025-01-08T23:16:08.429Z,1736378168.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:08.432Z,1736378168.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:08.433Z,1736378168.433 [DAT](INFO): DAT read: Rx Time:23:16:07.1778 2025-01-08T23:16:08.433Z,1736378168.433 [DAT](INFO): Rx dataTimestamp_ set to:1736378168.432736 2025-01-08T23:16:08.434Z,1736378168.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012196 2025-01-08T23:16:08.441Z,1736378168.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:16:08.444Z,1736378168.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 56.291008 m, bearing: 261.054864 deg, approach rate: 0.093643 m/s, LOS rate: -0.518466 deg/s, cmd heading: 13.917445 deg, new cmd heading: 13.232984 deg. 2025-01-08T23:16:08.445Z,1736378168.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230959 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:16:08.685Z,1736378168.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:08.685Z,1736378168.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263890 2025-01-08T23:16:08.799Z,1736378168.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:08.809Z,1736378168.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-08T23:16:08.812Z,1736378168.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 56.324371 m, bearing: 260.860684 deg, approach rate: 0.090747 m/s, LOS rate: -0.527848 deg/s, cmd heading: 13.232984 deg, new cmd heading: 12.650810 deg. 2025-01-08T23:16:08.813Z,1736378168.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.220798 target range: 73.199997 and range: 73.20 m. 2025-01-08T23:16:08.937Z,1736378168.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:08.946Z,1736378168.946 [DAT](INFO): DAT read: 23:16:07.1778 LVL= 14752, 32753, 28338, 32755, AGC= 58, IDX= 410, 0.04, 0.265,-1.461,-0.783,-0.387, PHS= 0.740,-1.027,-0.399, RAW= 110.5, 8.9, CAL= 120.2, 6.3, ROT= 29.8, -6.3 2025-01-08T23:16:08.948Z,1736378168.948 [DAT](INFO): got valid direction response: 23:16:07.1778 LVL= 14752, 32753, 28338, 32755, AGC= 58, IDX= 410, 0.04, 0.265,-1.461,-0.783,-0.387, PHS= 0.740,-1.027,-0.399, RAW= 110.5, 8.9, CAL= 120.2, 6.3, ROT= 29.8, -6.3 2025-01-08T23:16:08.949Z,1736378168.949 [DAT](INFO): DAT read: Bearing 29.8, -6.3 (Local) 2025-01-08T23:16:08.949Z,1736378168.949 [DAT](INFO): Local bearing/azimuth received: Bearing 29.8, -6.3 (Local) 2025-01-08T23:16:08.951Z,1736378168.951 [DAT](INFO): DAT read: Range 10 to 50 : 71.3 m (Round-trip 95.1 ms) speed 0.4 m/s 2025-01-08T23:16:08.952Z,1736378168.952 [DAT](INFO): DAT read: user:3139> 2025-01-08T23:16:08.953Z,1736378168.953 [DAT](INFO): DAT read: Tx time:23:16:08.2786 2025-01-08T23:16:08.953Z,1736378168.953 [DAT](INFO): Ping request sent. 2025-01-08T23:16:08.953Z,1736378168.953 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:08.953Z,1736378168.953 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:16:08.955Z,1736378168.955 [DAT](INFO): direction in FSK: [-0.280729,-0.238310,0.929731] 2025-01-08T23:16:08.960Z,1736378168.960 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:08.961Z,1736378168.961 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:08.965Z,1736378168.965 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:08.965Z,1736378168.965 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:09.188Z,1736378169.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:09.191Z,1736378169.191 [DAT](INFO): DAT read: TxSync time:23:16:08.2778 2025-01-08T23:16:09.309Z,1736378169.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:09.325Z,1736378169.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.300003 m, deltaT: 3.529091 s, deltaX: -1.899994 m, approachRate: -0.538381 m/s, rangeRepo size: 4 2025-01-08T23:16:09.345Z,1736378169.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.300003 m, bearing: 238.548989 deg, lat: 36.904299 deg, lon: -122.120580 deg, deltaT: 3.529091 s, deltaX: -1.899994 m, approachRate: -0.538381 m/s, posRepo size: 4 2025-01-08T23:16:09.346Z,1736378169.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-01-08T23:16:09.352Z,1736378169.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.300003 m, nav range: 46.320850 m, bearing: 258.316178 deg, approach rate: 0.000000 m/s, LOS rate: -0.527848 deg/s, cmd heading: 12.650810 deg, new cmd heading: 11.837610 deg. 2025-01-08T23:16:09.353Z,1736378169.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.206605 target range: 71.300003 and range: 71.30 m. 2025-01-08T23:16:09.442Z,1736378169.442 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:09.682Z,1736378169.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:09.692Z,1736378169.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:09.696Z,1736378169.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-01-08T23:16:09.699Z,1736378169.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.300003 m, nav range: 46.375019 m, bearing: 258.083566 deg, approach rate: 0.144883 m/s, LOS rate: -0.621430 deg/s, cmd heading: 11.837610 deg, new cmd heading: 11.140625 deg. 2025-01-08T23:16:09.700Z,1736378169.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.194441 target range: 71.300003 and range: 71.30 m. 2025-01-08T23:16:09.944Z,1736378169.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:10.066Z,1736378170.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:10.073Z,1736378170.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:10.076Z,1736378170.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-01-08T23:16:10.078Z,1736378170.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.300003 m, nav range: 46.428490 m, bearing: 257.843882 deg, approach rate: 0.141036 m/s, LOS rate: -0.631469 deg/s, cmd heading: 11.140625 deg, new cmd heading: 10.422440 deg. 2025-01-08T23:16:10.080Z,1736378170.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.181906 target range: 71.300003 and range: 71.30 m. 2025-01-08T23:16:10.198Z,1736378170.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:10.199Z,1736378170.199 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:10.200Z,1736378170.200 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:10.201Z,1736378170.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:10.449Z,1736378170.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:10.450Z,1736378170.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497476 2025-01-08T23:16:10.497Z,1736378170.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:10.507Z,1736378170.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-01-08T23:16:10.510Z,1736378170.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.300003 m, nav range: 46.508801 m, bearing: 257.583094 deg, approach rate: 0.186216 m/s, LOS rate: -0.603639 deg/s, cmd heading: 10.422440 deg, new cmd heading: 9.641479 deg. 2025-01-08T23:16:10.511Z,1736378170.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.168276 target range: 71.300003 and range: 71.30 m. 2025-01-08T23:16:10.700Z,1736378170.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:10.700Z,1736378170.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747312 2025-01-08T23:16:10.880Z,1736378170.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:10.889Z,1736378170.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-01-08T23:16:10.892Z,1736378170.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.300003 m, nav range: 46.580746 m, bearing: 257.352835 deg, approach rate: 0.188150 m/s, LOS rate: -0.601238 deg/s, cmd heading: 9.641480 deg, new cmd heading: 8.951806 deg. 2025-01-08T23:16:10.893Z,1736378170.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.156238 target range: 71.300003 and range: 71.30 m. 2025-01-08T23:16:10.952Z,1736378170.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:10.953Z,1736378170.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999702 2025-01-08T23:16:11.204Z,1736378171.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:11.205Z,1736378171.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252179 2025-01-08T23:16:11.353Z,1736378171.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:11.370Z,1736378171.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-01-08T23:16:11.376Z,1736378171.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.300003 m, nav range: 46.689053 m, bearing: 257.071559 deg, approach rate: 0.225183 m/s, LOS rate: -0.583449 deg/s, cmd heading: 8.951806 deg, new cmd heading: 8.109996 deg. 2025-01-08T23:16:11.377Z,1736378171.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.141546 target range: 71.300003 and range: 71.30 m. 2025-01-08T23:16:11.456Z,1736378171.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:11.458Z,1736378171.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504306 2025-01-08T23:16:11.708Z,1736378171.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:11.709Z,1736378171.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755745 2025-01-08T23:16:11.761Z,1736378171.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:11.769Z,1736378171.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-01-08T23:16:11.774Z,1736378171.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.300003 m, nav range: 46.781586 m, bearing: 256.829411 deg, approach rate: 0.231799 m/s, LOS rate: -0.605388 deg/s, cmd heading: 8.109997 deg, new cmd heading: 7.385032 deg. 2025-01-08T23:16:11.775Z,1736378171.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128893 target range: 71.300003 and range: 71.30 m. 2025-01-08T23:16:11.961Z,1736378171.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:11.962Z,1736378171.962 [DAT](INFO): DAT read: Rx Time:23:16:10.7759 2025-01-08T23:16:11.962Z,1736378171.962 [DAT](INFO): Rx dataTimestamp_ set to:1736378171.961748 2025-01-08T23:16:11.963Z,1736378171.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009546 2025-01-08T23:16:12.149Z,1736378172.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:12.157Z,1736378172.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:12.176Z,1736378172.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-01-08T23:16:12.178Z,1736378172.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.300003 m, nav range: 46.868786 m, bearing: 256.598596 deg, approach rate: 0.223475 m/s, LOS rate: -0.590426 deg/s, cmd heading: 7.385032 deg, new cmd heading: 6.693911 deg. 2025-01-08T23:16:12.180Z,1736378172.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116831 target range: 71.300003 and range: 71.30 m. 2025-01-08T23:16:12.214Z,1736378172.214 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:12.214Z,1736378172.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261194 2025-01-08T23:16:12.466Z,1736378172.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:12.498Z,1736378172.498 [DAT](INFO): DAT read: 23:16:10.7759 LVL= 12784, 31201, 22514, 32755, AGC= 53, IDX= 423,-0.28, 0.398,-1.347,-0.846,-0.381, PHS= 0.867,-0.919,-0.468, RAW= 104.0, 6.5, CAL= 114.2, 4.6, ROT= 35.8, -4.6 2025-01-08T23:16:12.503Z,1736378172.503 [DAT](INFO): got valid direction response: 23:16:10.7759 LVL= 12784, 31201, 22514, 32755, AGC= 53, IDX= 423,-0.28, 0.398,-1.347,-0.846,-0.381, PHS= 0.867,-0.919,-0.468, RAW= 104.0, 6.5, CAL= 114.2, 4.6, ROT= 35.8, -4.6 2025-01-08T23:16:12.505Z,1736378172.505 [DAT](INFO): DAT read: Bearing 35.8, -4.6 (Local) 2025-01-08T23:16:12.505Z,1736378172.505 [DAT](INFO): Local bearing/azimuth received: Bearing 35.8, -4.6 (Local) 2025-01-08T23:16:12.507Z,1736378172.507 [DAT](INFO): DAT read: Range 10 to 50 : 69.9 m (Round-trip 93.2 ms) speed 0.3 m/s 2025-01-08T23:16:12.512Z,1736378172.512 [DAT](INFO): DAT read: user:3140> 2025-01-08T23:16:12.513Z,1736378172.513 [DAT](INFO): DAT read: Tx time:23:16:11.8786 2025-01-08T23:16:12.513Z,1736378172.513 [DAT](INFO): Ping request sent. 2025-01-08T23:16:12.513Z,1736378172.513 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:12.513Z,1736378172.513 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:16:12.514Z,1736378172.514 [DAT](INFO): direction in FSK: [-0.229095,-0.130635,0.964598] 2025-01-08T23:16:12.514Z,1736378172.514 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:12.515Z,1736378172.515 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:12.526Z,1736378172.526 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:12.526Z,1736378172.526 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:12.686Z,1736378172.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:12.718Z,1736378172.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:12.720Z,1736378172.720 [DAT](INFO): DAT read: TxSync time:23:16:11.8778 2025-01-08T23:16:12.748Z,1736378172.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.900002 m, deltaT: 3.530642 s, deltaX: -1.400002 m, approachRate: -0.396529 m/s, rangeRepo size: 4 2025-01-08T23:16:12.750Z,1736378172.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.900002 m, bearing: 230.053711 deg, lat: 36.904279 deg, lon: -122.120459 deg, deltaT: 3.530642 s, deltaX: -1.400002 m, approachRate: -0.396529 m/s, posRepo size: 4 2025-01-08T23:16:12.756Z,1736378172.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m. 2025-01-08T23:16:12.758Z,1736378172.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.900002 m, nav range: 37.304131 m, bearing: 249.003914 deg, approach rate: 0.000000 m/s, LOS rate: -0.590426 deg/s, cmd heading: 6.693911 deg, new cmd heading: 5.652589 deg. 2025-01-08T23:16:12.764Z,1736378172.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098656 target range: 69.900002 and range: 69.90 m. 2025-01-08T23:16:12.973Z,1736378172.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:13.091Z,1736378173.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:13.109Z,1736378173.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m. 2025-01-08T23:16:13.116Z,1736378173.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.900002 m, nav range: 37.425121 m, bearing: 248.729869 deg, approach rate: 0.334846 m/s, LOS rate: -0.755974 deg/s, cmd heading: 5.652589 deg, new cmd heading: 4.833172 deg. 2025-01-08T23:16:13.117Z,1736378173.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084355 target range: 69.900002 and range: 69.90 m. 2025-01-08T23:16:13.231Z,1736378173.231 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:13.480Z,1736378173.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:13.485Z,1736378173.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:13.522Z,1736378173.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m. 2025-01-08T23:16:13.537Z,1736378173.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.900002 m, nav range: 37.558048 m, bearing: 248.461657 deg, approach rate: 0.321531 m/s, LOS rate: -0.646467 deg/s, cmd heading: 4.833172 deg, new cmd heading: 4.031439 deg. 2025-01-08T23:16:13.551Z,1736378173.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070362 target range: 69.900002 and range: 69.90 m. 2025-01-08T23:16:13.732Z,1736378173.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:13.840Z,1736378173.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:13.849Z,1736378173.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m. 2025-01-08T23:16:13.852Z,1736378173.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.900002 m, nav range: 37.676243 m, bearing: 248.221778 deg, approach rate: 0.361908 m/s, LOS rate: -0.732197 deg/s, cmd heading: 4.031439 deg, new cmd heading: 3.314099 deg. 2025-01-08T23:16:13.853Z,1736378173.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057842 target range: 69.900002 and range: 69.90 m. 2025-01-08T23:16:13.972Z,1736378173.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:16:13.984Z,1736378173.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:14.236Z,1736378174.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:14.354Z,1736378174.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:14.378Z,1736378174.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:14.384Z,1736378174.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m. 2025-01-08T23:16:14.386Z,1736378174.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.900002 m, nav range: 37.850994 m, bearing: 247.871740 deg, approach rate: 0.329262 m/s, LOS rate: -0.656484 deg/s, cmd heading: 3.314099 deg, new cmd heading: 2.268957 deg. 2025-01-08T23:16:14.392Z,1736378174.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039601 target range: 69.900002 and range: 69.90 m. 2025-01-08T23:16:14.488Z,1736378174.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:14.489Z,1736378174.489 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:14.490Z,1736378174.490 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:14.490Z,1736378174.490 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:14.740Z,1736378174.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:14.741Z,1736378174.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228058 2025-01-08T23:16:14.818Z,1736378174.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:14.834Z,1736378174.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m. 2025-01-08T23:16:14.857Z,1736378174.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.900002 m, nav range: 38.007614 m, bearing: 247.556225 deg, approach rate: 0.344740 m/s, LOS rate: -0.691623 deg/s, cmd heading: 2.268957 deg, new cmd heading: 1.326402 deg. 2025-01-08T23:16:14.858Z,1736378174.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023150 target range: 69.900002 and range: 69.90 m. 2025-01-08T23:16:14.976Z,1736378174.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:16:14.994Z,1736378174.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:14.995Z,1736378174.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482253 2025-01-08T23:16:15.222Z,1736378175.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:15.232Z,1736378175.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m. 2025-01-08T23:16:15.234Z,1736378175.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.900002 m, nav range: 38.142704 m, bearing: 247.281877 deg, approach rate: 0.339274 m/s, LOS rate: -0.686575 deg/s, cmd heading: 1.326402 deg, new cmd heading: 0.506330 deg. 2025-01-08T23:16:15.236Z,1736378175.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008837 target range: 69.900002 and range: 69.90 m. 2025-01-08T23:16:15.244Z,1736378175.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:15.244Z,1736378175.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731367 2025-01-08T23:16:15.496Z,1736378175.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:15.496Z,1736378175.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983288 2025-01-08T23:16:15.658Z,1736378175.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:15.689Z,1736378175.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m. 2025-01-08T23:16:15.705Z,1736378175.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.900002 m, nav range: 38.290554 m, bearing: 246.990163 deg, approach rate: 0.323519 m/s, LOS rate: -0.635849 deg/s, cmd heading: 0.506330 deg, new cmd heading: 359.634638 deg. 2025-01-08T23:16:15.706Z,1736378175.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276809 target range: 69.900002 and range: 69.90 m. 2025-01-08T23:16:15.748Z,1736378175.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:15.749Z,1736378175.749 [DAT](INFO): DAT read: Rx Time:23:16:14.3744 2025-01-08T23:16:15.749Z,1736378175.749 [DAT](INFO): Rx dataTimestamp_ set to:1736378175.748893 2025-01-08T23:16:15.750Z,1736378175.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236615 2025-01-08T23:16:15.000Z,1736378176.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:16.000Z,1736378176.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487217 2025-01-08T23:16:16.078Z,1736378176.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:16.102Z,1736378176.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.90 m. 2025-01-08T23:16:16.109Z,1736378176.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.900002 m, nav range: 38.431061 m, bearing: 246.709875 deg, approach rate: 0.340106 m/s, LOS rate: -0.675971 deg/s, cmd heading: 359.634650 deg, new cmd heading: 358.796925 deg. 2025-01-08T23:16:16.110Z,1736378176.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262187 target range: 69.900002 and range: 69.90 m. 2025-01-08T23:16:16.252Z,1736378176.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:16.259Z,1736378176.259 [DAT](INFO): DAT read: 23:16:14.3745 LVL= 14560, 26561, 21490, 29507, AGC= 53, IDX= 423, 0.16, 0.155,-1.789,-1.452,-0.936, PHS= 1.180,-0.806,-0.519, RAW= 97.7, 1.6, CAL= 107.2, -1.3, ROT= 42.8, 1.3 2025-01-08T23:16:16.260Z,1736378176.260 [DAT](INFO): got valid direction response: 23:16:14.3745 LVL= 14560, 26561, 21490, 29507, AGC= 53, IDX= 423, 0.16, 0.155,-1.789,-1.452,-0.936, PHS= 1.180,-0.806,-0.519, RAW= 97.7, 1.6, CAL= 107.2, -1.3, ROT= 42.8, 1.3 2025-01-08T23:16:16.261Z,1736378176.261 [DAT](INFO): DAT read: Bearing 42.8, 1.3 (Local) 2025-01-08T23:16:16.261Z,1736378176.261 [DAT](INFO): Local bearing/azimuth received: Bearing 42.8, 1.3 (Local) 2025-01-08T23:16:16.263Z,1736378176.263 [DAT](INFO): DAT read: Range 10 to 50 : 68.7 m (Round-trip 91.6 ms) speed 0.2 m/s 2025-01-08T23:16:16.264Z,1736378176.264 [DAT](INFO): DAT read: user:3141> 2025-01-08T23:16:16.265Z,1736378176.265 [DAT](INFO): DAT read: Tx time:23:16:15.4787 2025-01-08T23:16:16.265Z,1736378176.265 [DAT](INFO): Ping request sent. 2025-01-08T23:16:16.265Z,1736378176.265 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:16.266Z,1736378176.266 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:16:16.267Z,1736378176.267 [DAT](INFO): direction in FSK: [-0.126981,-0.024890,0.991593] 2025-01-08T23:16:16.267Z,1736378176.267 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:16.267Z,1736378176.267 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:16.278Z,1736378176.278 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:16.279Z,1736378176.279 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:16.504Z,1736378176.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:16.505Z,1736378176.505 [DAT](INFO): DAT read: TxSync time:23:16:15.4779 2025-01-08T23:16:16.515Z,1736378176.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:16.552Z,1736378176.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.699997 m, deltaT: 3.784258 s, deltaX: -1.200005 m, approachRate: -0.317104 m/s, rangeRepo size: 4 2025-01-08T23:16:16.561Z,1736378176.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.699997 m, bearing: 215.640104 deg, lat: 36.904279 deg, lon: -122.120350 deg, deltaT: 3.784258 s, deltaX: -1.200005 m, approachRate: -0.317104 m/s, posRepo size: 4 2025-01-08T23:16:16.562Z,1736378176.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:16:16.576Z,1736378176.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 29.971045 m, bearing: 239.003792 deg, approach rate: 0.000000 m/s, LOS rate: -0.675971 deg/s, cmd heading: 358.796913 deg, new cmd heading: 357.896545 deg. 2025-01-08T23:16:16.577Z,1736378176.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.246473 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:16:16.761Z,1736378176.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:16.848Z,1736378176.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:16.856Z,1736378176.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:16.858Z,1736378176.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:16:16.869Z,1736378176.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 30.090000 m, bearing: 238.734283 deg, approach rate: 0.381300 m/s, LOS rate: -0.860463 deg/s, cmd heading: 357.896558 deg, new cmd heading: 357.091285 deg. 2025-01-08T23:16:16.870Z,1736378176.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232419 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:16:17.012Z,1736378177.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:17.013Z,1736378177.013 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:17.013Z,1736378177.013 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:17.013Z,1736378177.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:17.260Z,1736378177.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:17.264Z,1736378177.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:17.265Z,1736378177.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998982 2025-01-08T23:16:17.270Z,1736378177.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:16:17.274Z,1736378177.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 30.235338 m, bearing: 238.400175 deg, approach rate: 0.352589 m/s, LOS rate: -0.806642 deg/s, cmd heading: 357.091278 deg, new cmd heading: 356.093879 deg. 2025-01-08T23:16:17.275Z,1736378177.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.215011 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:16:17.516Z,1736378177.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:17.516Z,1736378177.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250868 2025-01-08T23:16:17.689Z,1736378177.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:17.718Z,1736378177.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:16:17.727Z,1736378177.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 30.371889 m, bearing: 238.034441 deg, approach rate: 0.304958 m/s, LOS rate: -0.813115 deg/s, cmd heading: 356.093879 deg, new cmd heading: 355.001749 deg. 2025-01-08T23:16:17.732Z,1736378177.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195950 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:16:17.772Z,1736378177.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:17.772Z,1736378177.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506713 2025-01-08T23:16:18.024Z,1736378178.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:18.024Z,1736378178.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758917 2025-01-08T23:16:18.049Z,1736378178.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:18.059Z,1736378178.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:16:18.062Z,1736378178.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 30.484692 m, bearing: 237.727773 deg, approach rate: 0.330696 m/s, LOS rate: -0.895710 deg/s, cmd heading: 355.001760 deg, new cmd heading: 354.085241 deg. 2025-01-08T23:16:18.063Z,1736378178.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179953 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:16:18.277Z,1736378178.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:18.278Z,1736378178.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012364 2025-01-08T23:16:18.486Z,1736378178.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:18.514Z,1736378178.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:16:18.521Z,1736378178.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 30.604513 m, bearing: 237.343745 deg, approach rate: 0.263609 m/s, LOS rate: -0.841552 deg/s, cmd heading: 354.085230 deg, new cmd heading: 352.937819 deg. 2025-01-08T23:16:18.522Z,1736378178.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159927 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:16:18.529Z,1736378178.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:18.530Z,1736378178.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264386 2025-01-08T23:16:18.780Z,1736378178.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:18.780Z,1736378178.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514917 2025-01-08T23:16:18.863Z,1736378178.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:18.869Z,1736378178.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:18.872Z,1736378178.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:16:18.875Z,1736378178.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 30.706661 m, bearing: 237.011641 deg, approach rate: 0.284956 m/s, LOS rate: -0.923362 deg/s, cmd heading: 352.937813 deg, new cmd heading: 351.944920 deg. 2025-01-08T23:16:18.877Z,1736378178.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142598 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:16:19.032Z,1736378179.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:19.032Z,1736378179.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766784 2025-01-08T23:16:19.268Z,1736378179.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:19.277Z,1736378179.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:16:19.280Z,1736378179.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 30.814720 m, bearing: 236.654561 deg, approach rate: 0.267215 m/s, LOS rate: -0.879907 deg/s, cmd heading: 351.944922 deg, new cmd heading: 350.877568 deg. 2025-01-08T23:16:19.281Z,1736378179.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.123969 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:16:19.284Z,1736378179.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:19.285Z,1736378179.285 [DAT](INFO): DAT read: Rx Time:23:16:17.9731 2025-01-08T23:16:19.285Z,1736378179.285 [DAT](INFO): Rx dataTimestamp_ set to:1736378179.284742 2025-01-08T23:16:19.286Z,1736378179.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020028 2025-01-08T23:16:19.537Z,1736378179.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:19.538Z,1736378179.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272510 2025-01-08T23:16:19.761Z,1736378179.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:19.770Z,1736378179.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:16:19.773Z,1736378179.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 30.932409 m, bearing: 236.195179 deg, approach rate: 0.238734 m/s, LOS rate: -0.928306 deg/s, cmd heading: 350.877555 deg, new cmd heading: 349.504930 deg. 2025-01-08T23:16:19.774Z,1736378179.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.100012 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:16:19.788Z,1736378179.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:19.795Z,1736378179.795 [DAT](INFO): DAT read: 23:16:17.9731 LVL= 14528, 25137, 19122, 24819, AGC= 58, IDX= 425,-0.10, 1.172,-0.748,-0.723,-0.009, PHS= 1.269,-0.692,-0.718, RAW= 89.4, 1.4, CAL= 96.6, -1.8, ROT= 53.4, 1.8 2025-01-08T23:16:19.800Z,1736378179.800 [DAT](INFO): got valid direction response: 23:16:17.9731 LVL= 14528, 25137, 19122, 24819, AGC= 58, IDX= 425,-0.10, 1.172,-0.748,-0.723,-0.009, PHS= 1.269,-0.692,-0.718, RAW= 89.4, 1.4, CAL= 96.6, -1.8, ROT= 53.4, 1.8 2025-01-08T23:16:19.801Z,1736378179.801 [DAT](INFO): DAT read: Bearing 53.4, 1.8 (Local) 2025-01-08T23:16:19.801Z,1736378179.801 [DAT](INFO): Local bearing/azimuth received: Bearing 53.4, 1.8 (Local) 2025-01-08T23:16:19.803Z,1736378179.803 [DAT](INFO): DAT read: Range 10 to 50 : 67.7 m (Round-trip 90.3 ms) speed 0.2 m/s 2025-01-08T23:16:19.803Z,1736378179.803 [DAT](INFO): DAT read: user:3142> 2025-01-08T23:16:19.805Z,1736378179.805 [DAT](INFO): DAT read: Tx time:23:16:19.0787 2025-01-08T23:16:19.805Z,1736378179.805 [DAT](INFO): Ping request sent. 2025-01-08T23:16:19.805Z,1736378179.805 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:19.806Z,1736378179.806 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:16:19.806Z,1736378179.806 [DAT](INFO): direction in FSK: [-0.111523,0.120265,0.986458] 2025-01-08T23:16:19.807Z,1736378179.807 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:19.811Z,1736378179.811 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:19.814Z,1736378179.814 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:19.814Z,1736378179.814 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:20.040Z,1736378180.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:20.041Z,1736378180.041 [DAT](INFO): DAT read: TxSync time:23:16:19.0779 2025-01-08T23:16:20.072Z,1736378180.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:20.104Z,1736378180.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.699997 m, deltaT: 3.536529 s, deltaX: -1.000000 m, approachRate: -0.282763 m/s, rangeRepo size: 4 2025-01-08T23:16:20.107Z,1736378180.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 67.699997 m, bearing: 123.752321 deg, lat: 36.904279 deg, lon: -122.120246 deg, deltaT: 3.536529 s, deltaX: -1.000000 m, approachRate: -0.282763 m/s, posRepo size: 4 2025-01-08T23:16:20.112Z,1736378180.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T23:16:20.114Z,1736378180.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 23.933964 m, bearing: 223.434521 deg, approach rate: 0.000000 m/s, LOS rate: -0.928306 deg/s, cmd heading: 349.504933 deg, new cmd heading: 348.587809 deg. 2025-01-08T23:16:20.119Z,1736378180.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.084005 target range: 67.699997 and range: 67.70 m. 2025-01-08T23:16:20.292Z,1736378180.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:20.531Z,1736378180.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:20.539Z,1736378180.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T23:16:20.542Z,1736378180.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 24.069204 m, bearing: 222.905320 deg, approach rate: 0.307202 m/s, LOS rate: -1.195320 deg/s, cmd heading: 348.587802 deg, new cmd heading: 347.009541 deg. 2025-01-08T23:16:20.544Z,1736378180.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:20.543Z,1736378180.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056459 target range: 67.699997 and range: 67.70 m. 2025-01-08T23:16:20.796Z,1736378180.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:20.876Z,1736378180.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:20.883Z,1736378180.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:20.886Z,1736378180.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T23:16:20.889Z,1736378180.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 24.170006 m, bearing: 222.506432 deg, approach rate: 0.290795 m/s, LOS rate: -1.145914 deg/s, cmd heading: 347.009537 deg, new cmd heading: 345.818046 deg. 2025-01-08T23:16:20.890Z,1736378180.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035664 target range: 67.699997 and range: 67.70 m. 2025-01-08T23:16:21.048Z,1736378181.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:21.048Z,1736378181.048 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:21.048Z,1736378181.048 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:21.049Z,1736378181.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:21.283Z,1736378181.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:21.293Z,1736378181.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T23:16:21.295Z,1736378181.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 24.286407 m, bearing: 222.036343 deg, approach rate: 0.286153 m/s, LOS rate: -1.150081 deg/s, cmd heading: 345.818051 deg, new cmd heading: 344.414838 deg. 2025-01-08T23:16:21.296Z,1736378181.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.011173 target range: 67.699997 and range: 67.70 m. 2025-01-08T23:16:21.300Z,1736378181.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:21.301Z,1736378181.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495686 2025-01-08T23:16:21.552Z,1736378181.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:21.553Z,1736378181.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747363 2025-01-08T23:16:21.742Z,1736378181.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:21.767Z,1736378181.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T23:16:21.774Z,1736378181.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 24.411360 m, bearing: 221.475186 deg, approach rate: 0.263451 m/s, LOS rate: -1.177076 deg/s, cmd heading: 344.414830 deg, new cmd heading: 342.740481 deg. 2025-01-08T23:16:21.780Z,1736378181.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981950 target range: 67.699997 and range: 67.70 m. 2025-01-08T23:16:21.805Z,1736378181.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:21.805Z,1736378181.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000178 2025-01-08T23:16:22.056Z,1736378182.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:22.056Z,1736378182.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250976 2025-01-08T23:16:22.110Z,1736378182.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:22.118Z,1736378182.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T23:16:22.122Z,1736378182.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 24.509235 m, bearing: 221.026136 deg, approach rate: 0.278416 m/s, LOS rate: -1.272247 deg/s, cmd heading: 342.740477 deg, new cmd heading: 341.398966 deg. 2025-01-08T23:16:22.124Z,1736378182.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958536 target range: 67.699997 and range: 67.70 m. 2025-01-08T23:16:22.308Z,1736378182.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:22.308Z,1736378182.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503121 2025-01-08T23:16:22.531Z,1736378182.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:22.543Z,1736378182.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T23:16:22.550Z,1736378182.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 24.619495 m, bearing: 220.493678 deg, approach rate: 0.260543 m/s, LOS rate: -1.252540 deg/s, cmd heading: 341.398973 deg, new cmd heading: 339.809183 deg. 2025-01-08T23:16:22.551Z,1736378182.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930789 target range: 67.699997 and range: 67.70 m. 2025-01-08T23:16:22.560Z,1736378182.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:22.561Z,1736378182.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755670 2025-01-08T23:16:22.812Z,1736378182.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:22.812Z,1736378182.812 [DAT](INFO): DAT read: Rx Time:23:16:21.5720 2025-01-08T23:16:22.813Z,1736378182.813 [DAT](INFO): Rx dataTimestamp_ set to:1736378182.812612 2025-01-08T23:16:22.813Z,1736378182.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008105 2025-01-08T23:16:22.906Z,1736378182.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:22.913Z,1736378182.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:22.916Z,1736378182.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.70 m. 2025-01-08T23:16:22.918Z,1736378182.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.699997 m, nav range: 24.711681 m, bearing: 220.013657 deg, approach rate: 0.246787 m/s, LOS rate: -1.280237 deg/s, cmd heading: 339.809179 deg, new cmd heading: 338.374804 deg. 2025-01-08T23:16:22.919Z,1736378182.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905755 target range: 67.699997 and range: 67.70 m. 2025-01-08T23:16:23.064Z,1736378183.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:23.064Z,1736378183.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259055 2025-01-08T23:16:23.308Z,1736378183.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:23.316Z,1736378183.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:23.323Z,1736378183.323 [DAT](INFO): DAT read: 23:16:21.5720 LVL= 12064, 22257, 15714, 24419, AGC= 55, IDX= 430,-0.17, 2.433, 1.040, 0.462, 1.638, PHS= 0.883,-0.551,-1.179, RAW= 72.7, 9.3, CAL= 74.9, 13.9, ROT= 75.1, -13.9 2025-01-08T23:16:23.324Z,1736378183.324 [DAT](INFO): got valid direction response: 23:16:21.5720 LVL= 12064, 22257, 15714, 24419, AGC= 55, IDX= 430,-0.17, 2.433, 1.040, 0.462, 1.638, PHS= 0.883,-0.551,-1.179, RAW= 72.7, 9.3, CAL= 74.9, 13.9, ROT= 75.1, -13.9 2025-01-08T23:16:23.325Z,1736378183.325 [DAT](INFO): DAT read: Bearing 75.1, -13.9 (Local) 2025-01-08T23:16:23.326Z,1736378183.326 [DAT](INFO): Local bearing/azimuth received: Bearing 75.1, -13.9 (Local) 2025-01-08T23:16:23.328Z,1736378183.328 [DAT](INFO): DAT read: Range 10 to 50 : 66.9 m (Round-trip 89.2 ms) speed 0.0 m/s 2025-01-08T23:16:23.329Z,1736378183.329 [DAT](INFO): DAT read: user:3143> 2025-01-08T23:16:23.329Z,1736378183.329 [DAT](INFO): DAT read: Tx time:23:16:22.6787 2025-01-08T23:16:23.330Z,1736378183.330 [DAT](INFO): Ping request sent. 2025-01-08T23:16:23.330Z,1736378183.330 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:23.330Z,1736378183.330 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:16:23.331Z,1736378183.331 [DAT](INFO): direction in FSK: [-0.226345,0.394626,0.890527] 2025-01-08T23:16:23.331Z,1736378183.331 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:23.332Z,1736378183.332 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:23.335Z,1736378183.335 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:23.335Z,1736378183.335 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:23.380Z,1736378183.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.900002 m, deltaT: 3.527536 s, deltaX: -0.799995 m, approachRate: -0.226786 m/s, rangeRepo size: 4 2025-01-08T23:16:23.382Z,1736378183.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.900002 m, bearing: 101.576895 deg, lat: 36.904353 deg, lon: -122.120119 deg, deltaT: 3.527536 s, deltaX: -0.799995 m, approachRate: -0.226786 m/s, posRepo size: 4 2025-01-08T23:16:23.382Z,1736378183.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:23.397Z,1736378183.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 11.761582 m, bearing: 202.250725 deg, approach rate: 0.000000 m/s, LOS rate: -1.280237 deg/s, cmd heading: 338.374811 deg, new cmd heading: 336.627673 deg. 2025-01-08T23:16:23.398Z,1736378183.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875261 target range: 66.900002 and range: 66.90 m. 2025-01-08T23:16:23.568Z,1736378183.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:23.569Z,1736378183.569 [DAT](INFO): DAT read: TxSync time:23:16:22.6779 2025-01-08T23:16:23.820Z,1736378183.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:23.883Z,1736378183.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:23.912Z,1736378183.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:23.915Z,1736378183.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 11.990097 m, bearing: 200.989111 deg, approach rate: 0.421730 m/s, LOS rate: -2.283786 deg/s, cmd heading: 336.627676 deg, new cmd heading: 332.920451 deg. 2025-01-08T23:16:23.920Z,1736378183.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810558 target range: 66.900002 and range: 66.90 m. 2025-01-08T23:16:24.073Z,1736378184.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:24.172Z,1736378184.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:24.181Z,1736378184.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:24.184Z,1736378184.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 12.107205 m, bearing: 200.372511 deg, approach rate: 0.435525 m/s, LOS rate: -2.270907 deg/s, cmd heading: 332.920441 deg, new cmd heading: 331.089192 deg. 2025-01-08T23:16:24.185Z,1736378184.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778596 target range: 66.900002 and range: 66.90 m. 2025-01-08T23:16:24.324Z,1736378184.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:24.579Z,1736378184.579 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:24.604Z,1736378184.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:24.613Z,1736378184.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:24.616Z,1736378184.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 12.289904 m, bearing: 199.520559 deg, approach rate: 0.422974 m/s, LOS rate: -1.943007 deg/s, cmd heading: 331.089185 deg, new cmd heading: 328.573034 deg. 2025-01-08T23:16:24.617Z,1736378184.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734681 target range: 66.900002 and range: 66.90 m. 2025-01-08T23:16:24.832Z,1736378184.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:24.967Z,1736378184.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:24.976Z,1736378184.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:24.982Z,1736378184.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:24.988Z,1736378184.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 12.436533 m, bearing: 198.785109 deg, approach rate: 0.398846 m/s, LOS rate: -1.976854 deg/s, cmd heading: 328.573026 deg, new cmd heading: 326.393800 deg. 2025-01-08T23:16:24.991Z,1736378184.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696647 target range: 66.900002 and range: 66.90 m. 2025-01-08T23:16:25.084Z,1736378185.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:25.084Z,1736378185.084 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:25.084Z,1736378185.084 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:25.085Z,1736378185.085 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:25.336Z,1736378185.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:25.337Z,1736378185.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006705 2025-01-08T23:16:25.381Z,1736378185.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:25.399Z,1736378185.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:25.407Z,1736378185.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 12.602562 m, bearing: 197.951475 deg, approach rate: 0.396972 m/s, LOS rate: -1.966875 deg/s, cmd heading: 326.393813 deg, new cmd heading: 323.927472 deg. 2025-01-08T23:16:25.412Z,1736378185.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653601 target range: 66.900002 and range: 66.90 m. 2025-01-08T23:16:25.588Z,1736378185.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:25.591Z,1736378185.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260328 2025-01-08T23:16:25.798Z,1736378185.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:25.808Z,1736378185.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:25.811Z,1736378185.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 12.778138 m, bearing: 197.182843 deg, approach rate: 0.429083 m/s, LOS rate: -1.852563 deg/s, cmd heading: 323.927459 deg, new cmd heading: 321.654506 deg. 2025-01-08T23:16:25.812Z,1736378185.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613930 target range: 66.900002 and range: 66.90 m. 2025-01-08T23:16:25.840Z,1736378185.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:25.841Z,1736378185.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510644 2025-01-08T23:16:26.092Z,1736378186.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:26.092Z,1736378186.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762466 2025-01-08T23:16:26.180Z,1736378186.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:26.189Z,1736378186.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:26.192Z,1736378186.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 12.937018 m, bearing: 196.482990 deg, approach rate: 0.416855 m/s, LOS rate: -1.813612 deg/s, cmd heading: 321.654508 deg, new cmd heading: 319.581693 deg. 2025-01-08T23:16:26.193Z,1736378186.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577753 target range: 66.900002 and range: 66.90 m. 2025-01-08T23:16:26.344Z,1736378186.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:26.345Z,1736378186.345 [DAT](INFO): DAT read: Rx Time:23:16:25.1716 2025-01-08T23:16:26.345Z,1736378186.345 [DAT](INFO): Rx dataTimestamp_ set to:1736378186.345130 2025-01-08T23:16:26.346Z,1736378186.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016080 2025-01-08T23:16:26.596Z,1736378186.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:26.596Z,1736378186.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266542 2025-01-08T23:16:26.639Z,1736378186.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:26.650Z,1736378186.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:26.655Z,1736378186.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 13.124050 m, bearing: 195.743721 deg, approach rate: 0.406219 m/s, LOS rate: -1.582711 deg/s, cmd heading: 319.581683 deg, new cmd heading: 317.396602 deg. 2025-01-08T23:16:26.673Z,1736378186.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539616 target range: 66.900002 and range: 66.90 m. 2025-01-08T23:16:26.848Z,1736378186.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:26.849Z,1736378186.849 [DAT](INFO): DAT read: Range 10 to 50 : 66.5 m (Round-trip 88.7 ms) speed 0.0 m/s 2025-01-08T23:16:26.850Z,1736378186.850 [DAT](INFO): DAT read: user:3144> 2025-01-08T23:16:26.851Z,1736378186.851 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:16:26.851Z,1736378186.851 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:26.851Z,1736378186.851 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:26.852Z,1736378186.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:26.983Z,1736378186.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:27.007Z,1736378187.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:27.010Z,1736378187.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.500000 m, deltaT: 3.532008 s, deltaX: -0.400002 m, approachRate: -0.113250 m/s, rangeRepo size: 4 2025-01-08T23:16:27.010Z,1736378187.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:27.017Z,1736378187.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 13.259689 m, bearing: 195.173774 deg, approach rate: 0.377136 m/s, LOS rate: -1.568465 deg/s, cmd heading: 317.396596 deg, new cmd heading: 315.704765 deg. 2025-01-08T23:16:27.018Z,1736378187.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510087 target range: 66.900002 and range: 66.50 m. 2025-01-08T23:16:27.101Z,1736378187.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:27.102Z,1736378187.102 [DAT](INFO): DAT read: Tx time:23:16:26.2788 2025-01-08T23:16:27.103Z,1736378187.103 [DAT](INFO): Ping request sent. 2025-01-08T23:16:27.103Z,1736378187.103 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:27.104Z,1736378187.104 [DAT](INFO): DAT read: TxSync time:23:16:26.2780 2025-01-08T23:16:27.105Z,1736378187.105 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:27.106Z,1736378187.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003021 2025-01-08T23:16:27.352Z,1736378187.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:27.352Z,1736378187.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249583 2025-01-08T23:16:27.396Z,1736378187.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:27.410Z,1736378187.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:27.416Z,1736378187.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 13.420157 m, bearing: 194.486894 deg, approach rate: 0.400786 m/s, LOS rate: -1.694999 deg/s, cmd heading: 315.704758 deg, new cmd heading: 313.669663 deg. 2025-01-08T23:16:27.417Z,1736378187.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474568 target range: 66.900002 and range: 66.50 m. 2025-01-08T23:16:27.604Z,1736378187.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:27.605Z,1736378187.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501955 2025-01-08T23:16:27.816Z,1736378187.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:27.825Z,1736378187.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:27.828Z,1736378187.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 13.576136 m, bearing: 193.868048 deg, approach rate: 0.375391 m/s, LOS rate: -1.472229 deg/s, cmd heading: 313.669662 deg, new cmd heading: 311.835116 deg. 2025-01-08T23:16:27.829Z,1736378187.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442550 target range: 66.900002 and range: 66.50 m. 2025-01-08T23:16:27.856Z,1736378187.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:27.857Z,1736378187.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753804 2025-01-08T23:16:28.108Z,1736378188.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:28.108Z,1736378188.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005544 2025-01-08T23:16:28.203Z,1736378188.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:28.213Z,1736378188.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:28.215Z,1736378188.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 13.718505 m, bearing: 193.292772 deg, approach rate: 0.367319 m/s, LOS rate: -1.468811 deg/s, cmd heading: 311.835128 deg, new cmd heading: 310.127744 deg. 2025-01-08T23:16:28.216Z,1736378188.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412750 target range: 66.900002 and range: 66.50 m. 2025-01-08T23:16:28.363Z,1736378188.363 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:28.365Z,1736378188.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261920 2025-01-08T23:16:28.612Z,1736378188.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:28.612Z,1736378188.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509721 2025-01-08T23:16:28.619Z,1736378188.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:28.662Z,1736378188.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:28.675Z,1736378188.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 13.868336 m, bearing: 192.698705 deg, approach rate: 0.334028 m/s, LOS rate: -1.310064 deg/s, cmd heading: 310.127745 deg, new cmd heading: 308.365386 deg. 2025-01-08T23:16:28.680Z,1736378188.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.381991 target range: 66.900002 and range: 66.50 m. 2025-01-08T23:16:28.864Z,1736378188.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:28.864Z,1736378188.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761656 2025-01-08T23:16:29.000Z,1736378189.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:29.028Z,1736378189.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:29.030Z,1736378189.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:29.038Z,1736378189.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 14.003832 m, bearing: 192.150751 deg, approach rate: 0.367770 m/s, LOS rate: -1.472871 deg/s, cmd heading: 308.365392 deg, new cmd heading: 306.737898 deg. 2025-01-08T23:16:29.040Z,1736378189.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.353586 target range: 66.900002 and range: 66.50 m. 2025-01-08T23:16:29.116Z,1736378189.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:29.118Z,1736378189.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014382 2025-01-08T23:16:29.368Z,1736378189.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:29.368Z,1736378189.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265621 2025-01-08T23:16:29.412Z,1736378189.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:29.430Z,1736378189.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:29.438Z,1736378189.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 14.147864 m, bearing: 191.556641 deg, approach rate: 0.359368 m/s, LOS rate: -1.467215 deg/s, cmd heading: 306.737894 deg, new cmd heading: 304.974298 deg. 2025-01-08T23:16:29.443Z,1736378189.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322805 target range: 66.900002 and range: 66.50 m. 2025-01-08T23:16:29.620Z,1736378189.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:29.621Z,1736378189.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517998 2025-01-08T23:16:29.833Z,1736378189.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:29.843Z,1736378189.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:29.846Z,1736378189.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 14.281396 m, bearing: 190.954269 deg, approach rate: 0.324035 m/s, LOS rate: -1.448054 deg/s, cmd heading: 304.974285 deg, new cmd heading: 303.184681 deg. 2025-01-08T23:16:29.846Z,1736378189.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291571 target range: 66.900002 and range: 66.50 m. 2025-01-08T23:16:29.872Z,1736378189.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:29.873Z,1736378189.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770069 2025-01-08T23:16:30.124Z,1736378190.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:30.125Z,1736378190.125 [DAT](INFO): DAT read: Rx Time:23:16:28.7720 2025-01-08T23:16:30.125Z,1736378190.125 [DAT](INFO): Rx dataTimestamp_ set to:1736378190.124749 2025-01-08T23:16:30.126Z,1736378190.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022807 2025-01-08T23:16:30.216Z,1736378190.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:30.225Z,1736378190.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:30.228Z,1736378190.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 14.400366 m, bearing: 190.404523 deg, approach rate: 0.310838 m/s, LOS rate: -1.424457 deg/s, cmd heading: 303.184693 deg, new cmd heading: 301.549551 deg. 2025-01-08T23:16:30.229Z,1736378190.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.263032 target range: 66.900002 and range: 66.50 m. 2025-01-08T23:16:30.376Z,1736378190.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:30.376Z,1736378190.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273556 2025-01-08T23:16:30.628Z,1736378190.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:30.631Z,1736378190.631 [DAT](INFO): DAT read: Range 10 to 50 : 66.8 m (Round-trip 89.1 ms) speed -0.2 m/s 2025-01-08T23:16:30.633Z,1736378190.633 [DAT](INFO): DAT read: user:3145> 2025-01-08T23:16:30.634Z,1736378190.634 [DAT](INFO): DAT read: Tx time:23:16:29.8788 2025-01-08T23:16:30.635Z,1736378190.635 [DAT](INFO): Ping request sent. 2025-01-08T23:16:30.635Z,1736378190.635 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:30.644Z,1736378190.644 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:16:30.644Z,1736378190.644 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:30.645Z,1736378190.645 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:30.709Z,1736378190.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:30.741Z,1736378190.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.800003 m, deltaT: 3.780343 s, deltaX: 0.300003 m, approachRate: 0.079359 m/s, rangeRepo size: 4 2025-01-08T23:16:30.742Z,1736378190.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:30.768Z,1736378190.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 14.540139 m, bearing: 189.667930 deg, approach rate: 0.271358 m/s, LOS rate: -1.416248 deg/s, cmd heading: 301.549546 deg, new cmd heading: 299.362133 deg. 2025-01-08T23:16:30.769Z,1736378190.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.224855 target range: 66.900002 and range: 66.80 m. 2025-01-08T23:16:30.880Z,1736378190.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:30.881Z,1736378190.881 [DAT](INFO): DAT read: TxSync time:23:16:29.8780 2025-01-08T23:16:31.075Z,1736378191.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:31.082Z,1736378191.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:31.084Z,1736378191.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:31.086Z,1736378191.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 14.644347 m, bearing: 189.105420 deg, approach rate: 0.303381 m/s, LOS rate: -1.625958 deg/s, cmd heading: 299.362137 deg, new cmd heading: 297.687118 deg. 2025-01-08T23:16:31.112Z,1736378191.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195621 target range: 66.900002 and range: 66.80 m. 2025-01-08T23:16:31.132Z,1736378191.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:31.132Z,1736378191.132 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:31.132Z,1736378191.132 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:31.133Z,1736378191.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:31.384Z,1736378191.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:31.385Z,1736378191.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750145 2025-01-08T23:16:31.483Z,1736378191.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:31.516Z,1736378191.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:31.519Z,1736378191.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 14.755851 m, bearing: 188.483452 deg, approach rate: 0.257827 m/s, LOS rate: -1.427268 deg/s, cmd heading: 297.687129 deg, new cmd heading: 295.836005 deg. 2025-01-08T23:16:31.524Z,1736378191.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163312 target range: 66.900002 and range: 66.80 m. 2025-01-08T23:16:31.636Z,1736378191.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:31.637Z,1736378191.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001904 2025-01-08T23:16:31.889Z,1736378191.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:31.889Z,1736378191.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254570 2025-01-08T23:16:31.929Z,1736378191.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:31.940Z,1736378191.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:31.943Z,1736378191.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 14.873019 m, bearing: 187.726123 deg, approach rate: 0.276511 m/s, LOS rate: -1.773121 deg/s, cmd heading: 295.836011 deg, new cmd heading: 293.583151 deg. 2025-01-08T23:16:31.944Z,1736378191.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.123992 target range: 66.900002 and range: 66.80 m. 2025-01-08T23:16:32.140Z,1736378192.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:32.141Z,1736378192.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506119 2025-01-08T23:16:32.355Z,1736378192.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:32.369Z,1736378192.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:32.373Z,1736378192.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 14.976814 m, bearing: 186.996011 deg, approach rate: 0.241990 m/s, LOS rate: -1.690355 deg/s, cmd heading: 293.583141 deg, new cmd heading: 291.409089 deg. 2025-01-08T23:16:32.374Z,1736378192.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.086048 target range: 66.900002 and range: 66.80 m. 2025-01-08T23:16:32.392Z,1736378192.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:32.393Z,1736378192.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757750 2025-01-08T23:16:32.644Z,1736378192.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:32.645Z,1736378192.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010087 2025-01-08T23:16:32.806Z,1736378192.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:32.820Z,1736378192.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:32.827Z,1736378192.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 15.085698 m, bearing: 186.114538 deg, approach rate: 0.242560 m/s, LOS rate: -1.949406 deg/s, cmd heading: 291.409092 deg, new cmd heading: 288.785697 deg. 2025-01-08T23:16:32.844Z,1736378192.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.040261 target range: 66.900002 and range: 66.80 m. 2025-01-08T23:16:32.896Z,1736378192.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:32.897Z,1736378192.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262603 2025-01-08T23:16:33.150Z,1736378193.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:33.152Z,1736378193.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516831 2025-01-08T23:16:33.295Z,1736378193.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:33.308Z,1736378193.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:33.310Z,1736378193.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:33.317Z,1736378193.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 15.189956 m, bearing: 185.186183 deg, approach rate: 0.211854 m/s, LOS rate: -1.873410 deg/s, cmd heading: 288.785698 deg, new cmd heading: 286.022016 deg. 2025-01-08T23:16:33.318Z,1736378193.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.992026 target range: 66.900002 and range: 66.80 m. 2025-01-08T23:16:33.400Z,1736378193.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:33.401Z,1736378193.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765815 2025-01-08T23:16:33.652Z,1736378193.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:33.654Z,1736378193.654 [DAT](INFO): DAT read: Rx Time:23:16:32.3734 2025-01-08T23:16:33.655Z,1736378193.655 [DAT](INFO): Rx dataTimestamp_ set to:1736378193.654295 2025-01-08T23:16:33.656Z,1736378193.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021142 2025-01-08T23:16:33.789Z,1736378193.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:33.806Z,1736378193.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:33.810Z,1736378193.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 15.300856 m, bearing: 184.081816 deg, approach rate: 0.224000 m/s, LOS rate: -2.214336 deg/s, cmd heading: 286.022013 deg, new cmd heading: 282.736731 deg. 2025-01-08T23:16:33.811Z,1736378193.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.934687 target range: 66.900002 and range: 66.80 m. 2025-01-08T23:16:33.904Z,1736378193.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:33.905Z,1736378193.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270476 2025-01-08T23:16:34.119Z,1736378194.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:34.129Z,1736378194.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m. 2025-01-08T23:16:34.132Z,1736378194.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.900002 m, nav range: 15.370525 m, bearing: 183.368141 deg, approach rate: 0.215192 m/s, LOS rate: -2.194311 deg/s, cmd heading: 282.736719 deg, new cmd heading: 280.606437 deg. 2025-01-08T23:16:34.133Z,1736378194.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.897506 target range: 66.900002 and range: 66.80 m. 2025-01-08T23:16:34.156Z,1736378194.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:34.162Z,1736378194.162 [DAT](INFO): DAT read: 23:16:32.3735 LVL= 16080, 15601, 15090, 21475, AGC= 57, IDX= 443,-0.13,-1.335,-1.406, 2.780,-2.073, PHS= 0.826, 0.713,-1.433, RAW= 32.5, -1.0, CAL= 32.2, -2.9, ROT= 117.8, 2.9 2025-01-08T23:16:34.164Z,1736378194.164 [DAT](INFO): got valid direction response: 23:16:32.3735 LVL= 16080, 15601, 15090, 21475, AGC= 57, IDX= 443,-0.13,-1.335,-1.406, 2.780,-2.073, PHS= 0.826, 0.713,-1.433, RAW= 32.5, -1.0, CAL= 32.2, -2.9, ROT= 117.8, 2.9 2025-01-08T23:16:34.165Z,1736378194.165 [DAT](INFO): DAT read: Bearing 117.8, 2.9 (Local) 2025-01-08T23:16:34.165Z,1736378194.165 [DAT](INFO): Local bearing/azimuth received: Bearing 117.8, 2.9 (Local) 2025-01-08T23:16:34.166Z,1736378194.166 [DAT](INFO): DAT read: Range 10 to 50 : 67.8 m (Round-trip 90.5 ms) speed -0.3 m/s 2025-01-08T23:16:34.167Z,1736378194.167 [DAT](INFO): DAT read: user:3146> 2025-01-08T23:16:34.168Z,1736378194.168 [DAT](INFO): DAT read: Tx time:23:16:33.4789 2025-01-08T23:16:34.168Z,1736378194.168 [DAT](INFO): Ping request sent. 2025-01-08T23:16:34.168Z,1736378194.168 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:34.169Z,1736378194.169 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:16:34.170Z,1736378194.170 [DAT](INFO): direction in FSK: [0.045457,0.873422,0.484838] 2025-01-08T23:16:34.170Z,1736378194.170 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:34.170Z,1736378194.170 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:34.174Z,1736378194.174 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:34.174Z,1736378194.174 [DAT](INFO): publishing direction and range info 2025-01-08T23:16:34.408Z,1736378194.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:34.409Z,1736378194.409 [DAT](INFO): DAT read: TxSync time:23:16:33.4781 2025-01-08T23:16:34.529Z,1736378194.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:34.547Z,1736378194.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.800003 m, deltaT: 3.527660 s, deltaX: 1.000000 m, approachRate: 0.283474 m/s, rangeRepo size: 4 2025-01-08T23:16:34.549Z,1736378194.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 67.800003 m, bearing: 30.084157 deg, lat: 36.904394 deg, lon: -122.119985 deg, deltaT: 10.840011 s, deltaX: 0.900002 m, approachRate: 0.083026 m/s, posRepo size: 4 2025-01-08T23:16:34.550Z,1736378194.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:34.553Z,1736378194.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 15.572490 m, bearing: 134.009226 deg, approach rate: 0.000000 m/s, LOS rate: -2.194311 deg/s, cmd heading: 280.606438 deg, new cmd heading: 277.860234 deg. 2025-01-08T23:16:34.554Z,1736378194.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.849576 target range: 67.800003 and range: 67.80 m. 2025-01-08T23:16:34.660Z,1736378194.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:34.912Z,1736378194.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:34.961Z,1736378194.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:34.969Z,1736378194.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:34.973Z,1736378194.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 15.829626 m, bearing: 133.597236 deg, approach rate: 0.608091 m/s, LOS rate: -0.958465 deg/s, cmd heading: 277.860237 deg, new cmd heading: 276.644536 deg. 2025-01-08T23:16:34.973Z,1736378194.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828358 target range: 67.800003 and range: 67.80 m. 2025-01-08T23:16:35.164Z,1736378195.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:35.368Z,1736378195.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:35.376Z,1736378195.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:35.378Z,1736378195.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:35.381Z,1736378195.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 16.069857 m, bearing: 133.198878 deg, approach rate: 0.586942 m/s, LOS rate: -0.958729 deg/s, cmd heading: 276.644545 deg, new cmd heading: 275.467511 deg. 2025-01-08T23:16:35.382Z,1736378195.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807815 target range: 67.800003 and range: 67.80 m. 2025-01-08T23:16:35.416Z,1736378195.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:35.417Z,1736378195.417 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:35.417Z,1736378195.417 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:35.417Z,1736378195.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:35.669Z,1736378195.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:35.670Z,1736378195.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501186 2025-01-08T23:16:35.818Z,1736378195.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:35.827Z,1736378195.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:35.830Z,1736378195.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 16.342470 m, bearing: 132.779132 deg, approach rate: 0.608155 m/s, LOS rate: -0.920753 deg/s, cmd heading: 275.467512 deg, new cmd heading: 274.229486 deg. 2025-01-08T23:16:35.847Z,1736378195.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786208 target range: 67.800003 and range: 67.80 m. 2025-01-08T23:16:35.920Z,1736378195.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:35.921Z,1736378195.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752019 2025-01-08T23:16:36.172Z,1736378196.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:36.173Z,1736378196.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004322 2025-01-08T23:16:36.271Z,1736378196.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:36.310Z,1736378196.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:36.317Z,1736378196.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 16.613777 m, bearing: 132.348085 deg, approach rate: 0.561424 m/s, LOS rate: -0.877406 deg/s, cmd heading: 274.229500 deg, new cmd heading: 272.957694 deg. 2025-01-08T23:16:36.318Z,1736378196.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.764010 target range: 67.800003 and range: 67.80 m. 2025-01-08T23:16:36.424Z,1736378196.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:36.424Z,1736378196.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255995 2025-01-08T23:16:36.677Z,1736378196.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:36.678Z,1736378196.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508991 2025-01-08T23:16:36.760Z,1736378196.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:36.768Z,1736378196.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:36.772Z,1736378196.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 16.906204 m, bearing: 131.860260 deg, approach rate: 0.637823 m/s, LOS rate: -1.045594 deg/s, cmd heading: 272.957691 deg, new cmd heading: 271.519851 deg. 2025-01-08T23:16:36.775Z,1736378196.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738915 target range: 67.800003 and range: 67.80 m. 2025-01-08T23:16:36.928Z,1736378196.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:36.928Z,1736378196.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759932 2025-01-08T23:16:37.131Z,1736378197.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:37.141Z,1736378197.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:37.143Z,1736378197.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 17.125286 m, bearing: 131.482067 deg, approach rate: 0.588596 m/s, LOS rate: -1.003067 deg/s, cmd heading: 271.519854 deg, new cmd heading: 270.399939 deg. 2025-01-08T23:16:37.144Z,1736378197.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.719369 target range: 67.800003 and range: 67.80 m. 2025-01-08T23:16:37.180Z,1736378197.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:37.181Z,1736378197.181 [DAT](INFO): DAT read: Rx Time:23:16:35.9751 2025-01-08T23:16:37.181Z,1736378197.181 [DAT](INFO): Rx dataTimestamp_ set to:1736378197.180756 2025-01-08T23:16:37.182Z,1736378197.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013102 2025-01-08T23:16:37.433Z,1736378197.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:37.434Z,1736378197.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265521 2025-01-08T23:16:37.524Z,1736378197.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:37.531Z,1736378197.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:37.533Z,1736378197.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:37.548Z,1736378197.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 17.355516 m, bearing: 131.070578 deg, approach rate: 0.586286 m/s, LOS rate: -1.033954 deg/s, cmd heading: 270.399949 deg, new cmd heading: 269.182053 deg. 2025-01-08T23:16:37.549Z,1736378197.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698113 target range: 67.800003 and range: 67.80 m. 2025-01-08T23:16:37.685Z,1736378197.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:37.689Z,1736378197.689 [DAT](INFO): DAT read: Range 10 to 50 : 69.0 m (Round-trip 92.1 ms) speed -0.4 m/s 2025-01-08T23:16:37.690Z,1736378197.690 [DAT](INFO): DAT read: user:3147> 2025-01-08T23:16:37.691Z,1736378197.691 [DAT](INFO): DAT read: Tx time:23:16:37.0789 2025-01-08T23:16:37.692Z,1736378197.692 [DAT](INFO): Ping request sent. 2025-01-08T23:16:37.692Z,1736378197.692 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:37.693Z,1736378197.693 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:16:37.693Z,1736378197.693 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:37.694Z,1736378197.694 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:37.936Z,1736378197.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:37.937Z,1736378197.937 [DAT](INFO): DAT read: TxSync time:23:16:37.0781 2025-01-08T23:16:37.955Z,1736378197.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:37.964Z,1736378197.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.000000 m, deltaT: 3.529926 s, deltaX: 1.199997 m, approachRate: 0.339950 m/s, rangeRepo size: 4 2025-01-08T23:16:37.965Z,1736378197.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:37.992Z,1736378197.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 17.598951 m, bearing: 130.669427 deg, approach rate: 0.566001 m/s, LOS rate: -0.919791 deg/s, cmd heading: 269.182045 deg, new cmd heading: 267.995418 deg. 2025-01-08T23:16:37.993Z,1736378197.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677402 target range: 67.800003 and range: 69.00 m. 2025-01-08T23:16:38.189Z,1736378198.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:38.333Z,1736378198.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:38.342Z,1736378198.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:38.345Z,1736378198.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 17.810919 m, bearing: 130.304590 deg, approach rate: 0.559476 m/s, LOS rate: -0.951499 deg/s, cmd heading: 267.995422 deg, new cmd heading: 266.914073 deg. 2025-01-08T23:16:38.346Z,1736378198.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658529 target range: 67.800003 and range: 69.00 m. 2025-01-08T23:16:38.440Z,1736378198.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:38.692Z,1736378198.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:38.780Z,1736378198.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:38.788Z,1736378198.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:38.791Z,1736378198.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 18.043444 m, bearing: 129.905946 deg, approach rate: 0.521694 m/s, LOS rate: -0.882868 deg/s, cmd heading: 266.914067 deg, new cmd heading: 265.733722 deg. 2025-01-08T23:16:38.792Z,1736378198.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637928 target range: 67.800003 and range: 69.00 m. 2025-01-08T23:16:38.944Z,1736378198.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:39.140Z,1736378199.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:39.151Z,1736378199.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:39.155Z,1736378199.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 18.229097 m, bearing: 129.575386 deg, approach rate: 0.511106 m/s, LOS rate: -0.900762 deg/s, cmd heading: 265.733728 deg, new cmd heading: 264.752248 deg. 2025-01-08T23:16:39.156Z,1736378199.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620799 target range: 67.800003 and range: 69.00 m. 2025-01-08T23:16:39.196Z,1736378199.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:39.448Z,1736378199.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:39.545Z,1736378199.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:39.552Z,1736378199.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:39.555Z,1736378199.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:39.578Z,1736378199.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 18.435448 m, bearing: 129.196321 deg, approach rate: 0.512197 m/s, LOS rate: -0.930365 deg/s, cmd heading: 264.752257 deg, new cmd heading: 263.627945 deg. 2025-01-08T23:16:39.579Z,1736378199.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601176 target range: 67.800003 and range: 69.00 m. 2025-01-08T23:16:39.702Z,1736378199.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:39.704Z,1736378199.704 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:39.704Z,1736378199.704 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:39.705Z,1736378199.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:39.952Z,1736378199.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:39.952Z,1736378199.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260568 2025-01-08T23:16:39.997Z,1736378199.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:40.007Z,1736378200.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:40.010Z,1736378200.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 18.649736 m, bearing: 128.812379 deg, approach rate: 0.473358 m/s, LOS rate: -0.838367 deg/s, cmd heading: 263.627953 deg, new cmd heading: 262.489519 deg. 2025-01-08T23:16:40.011Z,1736378200.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581306 target range: 67.800003 and range: 69.00 m. 2025-01-08T23:16:40.205Z,1736378200.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:40.206Z,1736378200.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513720 2025-01-08T23:16:40.367Z,1736378200.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:40.376Z,1736378200.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:40.379Z,1736378200.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 18.822844 m, bearing: 128.492083 deg, approach rate: 0.468725 m/s, LOS rate: -0.859290 deg/s, cmd heading: 262.489525 deg, new cmd heading: 261.537566 deg. 2025-01-08T23:16:40.380Z,1736378200.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564692 target range: 67.800003 and range: 69.00 m. 2025-01-08T23:16:40.456Z,1736378200.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:40.457Z,1736378200.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764639 2025-01-08T23:16:40.709Z,1736378200.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:40.712Z,1736378200.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019458 2025-01-08T23:16:40.826Z,1736378200.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:40.842Z,1736378200.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:40.862Z,1736378200.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 19.017292 m, bearing: 128.115972 deg, approach rate: 0.418634 m/s, LOS rate: -0.801456 deg/s, cmd heading: 261.537560 deg, new cmd heading: 260.420913 deg. 2025-01-08T23:16:40.863Z,1736378200.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545202 target range: 67.800003 and range: 69.00 m. 2025-01-08T23:16:40.961Z,1736378200.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:40.962Z,1736378200.962 [DAT](INFO): DAT read: Rx Time:23:16:39.5772 2025-01-08T23:16:40.962Z,1736378200.962 [DAT](INFO): Rx dataTimestamp_ set to:1736378200.962087 2025-01-08T23:16:40.963Z,1736378200.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270984 2025-01-08T23:16:41.160Z,1736378201.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:41.168Z,1736378201.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:41.170Z,1736378201.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 19.154545 m, bearing: 127.824780 deg, approach rate: 0.419378 m/s, LOS rate: -0.883361 deg/s, cmd heading: 260.420906 deg, new cmd heading: 259.553661 deg. 2025-01-08T23:16:41.172Z,1736378201.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530066 target range: 67.800003 and range: 69.00 m. 2025-01-08T23:16:41.212Z,1736378201.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:41.213Z,1736378201.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520910 2025-01-08T23:16:41.464Z,1736378201.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:41.465Z,1736378201.465 [DAT](INFO): DAT read: Range 10 to 50 : 70.6 m (Round-trip 94.2 ms) speed -0.5 m/s 2025-01-08T23:16:41.466Z,1736378201.466 [DAT](INFO): DAT read: user:3148> 2025-01-08T23:16:41.467Z,1736378201.467 [DAT](INFO): DAT read: Tx time:23:16:40.6789 2025-01-08T23:16:41.467Z,1736378201.467 [DAT](INFO): Ping request sent. 2025-01-08T23:16:41.467Z,1736378201.467 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:41.468Z,1736378201.468 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:16:41.468Z,1736378201.468 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:41.468Z,1736378201.468 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:41.565Z,1736378201.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:41.573Z,1736378201.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:41.576Z,1736378201.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.599998 m, deltaT: 3.777934 s, deltaX: 1.599998 m, approachRate: 0.423512 m/s, rangeRepo size: 4 2025-01-08T23:16:41.577Z,1736378201.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:41.579Z,1736378201.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 19.318777 m, bearing: 127.463294 deg, approach rate: 0.403474 m/s, LOS rate: -0.880519 deg/s, cmd heading: 259.553663 deg, new cmd heading: 258.478557 deg. 2025-01-08T23:16:41.580Z,1736378201.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511302 target range: 67.800003 and range: 70.60 m. 2025-01-08T23:16:41.718Z,1736378201.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:41.721Z,1736378201.721 [DAT](INFO): DAT read: TxSync time:23:16:40.6781 2025-01-08T23:16:41.723Z,1736378201.723 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:41.723Z,1736378201.723 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:41.725Z,1736378201.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:41.969Z,1736378201.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:41.971Z,1736378201.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503182 2025-01-08T23:16:42.007Z,1736378202.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:42.044Z,1736378202.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:42.047Z,1736378202.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 19.494957 m, bearing: 127.074670 deg, approach rate: 0.375608 m/s, LOS rate: -0.821038 deg/s, cmd heading: 258.478564 deg, new cmd heading: 257.323393 deg. 2025-01-08T23:16:42.052Z,1736378202.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491140 target range: 67.800003 and range: 70.60 m. 2025-01-08T23:16:42.220Z,1736378202.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:42.220Z,1736378202.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753044 2025-01-08T23:16:42.376Z,1736378202.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:42.405Z,1736378202.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:42.412Z,1736378202.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 19.636555 m, bearing: 126.730165 deg, approach rate: 0.392879 m/s, LOS rate: -0.948967 deg/s, cmd heading: 257.323388 deg, new cmd heading: 256.297443 deg. 2025-01-08T23:16:42.413Z,1736378202.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473234 target range: 67.800003 and range: 70.60 m. 2025-01-08T23:16:42.472Z,1736378202.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:42.473Z,1736378202.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005495 2025-01-08T23:16:42.725Z,1736378202.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:42.728Z,1736378202.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259571 2025-01-08T23:16:42.901Z,1736378202.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:42.917Z,1736378202.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:42.926Z,1736378202.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 19.823740 m, bearing: 126.201328 deg, approach rate: 0.365020 m/s, LOS rate: -1.021503 deg/s, cmd heading: 256.297439 deg, new cmd heading: 254.726325 deg. 2025-01-08T23:16:42.930Z,1736378202.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445813 target range: 67.800003 and range: 70.60 m. 2025-01-08T23:16:42.976Z,1736378202.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:42.976Z,1736378202.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509097 2025-01-08T23:16:43.228Z,1736378203.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:43.228Z,1736378203.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760979 2025-01-08T23:16:43.284Z,1736378203.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:43.302Z,1736378203.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:43.309Z,1736378203.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 19.958004 m, bearing: 125.812287 deg, approach rate: 0.349307 m/s, LOS rate: -1.005329 deg/s, cmd heading: 254.726332 deg, new cmd heading: 253.567226 deg. 2025-01-08T23:16:43.310Z,1736378203.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425583 target range: 67.800003 and range: 70.60 m. 2025-01-08T23:16:43.481Z,1736378203.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:43.482Z,1736378203.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014682 2025-01-08T23:16:43.734Z,1736378203.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:43.736Z,1736378203.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267758 2025-01-08T23:16:43.830Z,1736378203.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:16:43.830Z,1736378203.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:43.845Z,1736378203.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:43.847Z,1736378203.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:43.858Z,1736378203.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 20.142082 m, bearing: 125.264989 deg, approach rate: 0.337542 m/s, LOS rate: -0.994388 deg/s, cmd heading: 253.567221 deg, new cmd heading: 251.940793 deg. 2025-01-08T23:16:43.859Z,1736378203.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397196 target range: 67.800003 and range: 70.60 m. 2025-01-08T23:16:43.984Z,1736378203.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:43.984Z,1736378203.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516950 2025-01-08T23:16:44.132Z,1736378204.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:16:44.132Z,1736378204.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:44.141Z,1736378204.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:44.144Z,1736378204.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 20.247646 m, bearing: 124.942042 deg, approach rate: 0.358442 m/s, LOS rate: -1.090839 deg/s, cmd heading: 251.940789 deg, new cmd heading: 250.977098 deg. 2025-01-08T23:16:44.145Z,1736378204.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380377 target range: 67.800003 and range: 70.60 m. 2025-01-08T23:16:44.237Z,1736378204.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:44.238Z,1736378204.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770588 2025-01-08T23:16:44.488Z,1736378204.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:44.489Z,1736378204.489 [DAT](INFO): DAT read: Rx Time:23:16:43.1802 2025-01-08T23:16:44.490Z,1736378204.490 [DAT](INFO): Rx dataTimestamp_ set to:1736378204.489389 2025-01-08T23:16:44.490Z,1736378204.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022846 2025-01-08T23:16:44.529Z,1736378204.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:16:44.529Z,1736378204.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:44.559Z,1736378204.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:44.565Z,1736378204.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 20.378868 m, bearing: 124.526128 deg, approach rate: 0.314564 m/s, LOS rate: -0.990599 deg/s, cmd heading: 250.977104 deg, new cmd heading: 249.737601 deg. 2025-01-08T23:16:44.566Z,1736378204.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358743 target range: 67.800003 and range: 70.60 m. 2025-01-08T23:16:44.742Z,1736378204.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:44.744Z,1736378204.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276371 2025-01-08T23:16:44.964Z,1736378204.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:44.973Z,1736378204.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:44.976Z,1736378204.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 20.545052 m, bearing: 123.994548 deg, approach rate: 0.401122 m/s, LOS rate: -1.272693 deg/s, cmd heading: 249.737589 deg, new cmd heading: 248.156171 deg. 2025-01-08T23:16:44.977Z,1736378204.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331142 target range: 67.800003 and range: 70.60 m. 2025-01-08T23:16:44.993Z,1736378204.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:44.995Z,1736378204.995 [DAT](INFO): DAT read: Range 10 to 50 : 72.9 m (Round-trip 97.2 ms) speed -0.7 m/s 2025-01-08T23:16:44.996Z,1736378204.996 [DAT](INFO): DAT read: user:3149> 2025-01-08T23:16:44.996Z,1736378204.996 [DAT](INFO): DAT read: Tx time:23:16:44.2789 2025-01-08T23:16:44.997Z,1736378204.997 [DAT](INFO): Ping request sent. 2025-01-08T23:16:44.997Z,1736378204.997 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:44.997Z,1736378204.997 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:16:44.997Z,1736378204.997 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:44.998Z,1736378204.998 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:45.096Z,1736378205.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:16:45.244Z,1736378205.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:45.245Z,1736378205.245 [DAT](INFO): DAT read: TxSync time:23:16:44.2781 2025-01-08T23:16:45.340Z,1736378205.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:45.350Z,1736378205.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 3.529431 s, deltaX: 2.300003 m, approachRate: 0.651664 m/s, rangeRepo size: 4 2025-01-08T23:16:45.350Z,1736378205.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:45.353Z,1736378205.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 20.685347 m, bearing: 123.531358 deg, approach rate: 0.373001 m/s, LOS rate: -1.223114 deg/s, cmd heading: 248.156181 deg, new cmd heading: 246.776317 deg. 2025-01-08T23:16:45.355Z,1736378205.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307059 target range: 67.800003 and range: 72.90 m. 2025-01-08T23:16:45.496Z,1736378205.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:45.749Z,1736378205.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:45.822Z,1736378205.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:45.844Z,1736378205.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:45.846Z,1736378205.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 20.860453 m, bearing: 122.933307 deg, approach rate: 0.354602 m/s, LOS rate: -1.200906 deg/s, cmd heading: 246.776319 deg, new cmd heading: 244.997832 deg. 2025-01-08T23:16:45.847Z,1736378205.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276019 target range: 67.800003 and range: 72.90 m. 2025-01-08T23:16:46.001Z,1736378206.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:46.100Z,1736378206.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:16:46.192Z,1736378206.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:46.200Z,1736378206.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:46.202Z,1736378206.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:46.206Z,1736378206.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 21.014929 m, bearing: 122.456005 deg, approach rate: 0.429639 m/s, LOS rate: -1.317729 deg/s, cmd heading: 244.997820 deg, new cmd heading: 243.576747 deg. 2025-01-08T23:16:46.207Z,1736378206.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251216 target range: 67.800003 and range: 72.90 m. 2025-01-08T23:16:46.252Z,1736378206.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:46.252Z,1736378206.252 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:46.253Z,1736378206.253 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:46.253Z,1736378206.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:46.504Z,1736378206.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:46.505Z,1736378206.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508096 2025-01-08T23:16:46.561Z,1736378206.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:46.584Z,1736378206.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:46.591Z,1736378206.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 21.159639 m, bearing: 121.963433 deg, approach rate: 0.378795 m/s, LOS rate: -1.280524 deg/s, cmd heading: 243.576758 deg, new cmd heading: 242.109487 deg. 2025-01-08T23:16:46.592Z,1736378206.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225608 target range: 67.800003 and range: 72.90 m. 2025-01-08T23:16:46.758Z,1736378206.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:46.766Z,1736378206.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769146 2025-01-08T23:16:47.001Z,1736378207.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:47.008Z,1736378207.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:47.008Z,1736378207.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011654 2025-01-08T23:16:47.021Z,1736378207.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:47.029Z,1736378207.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 21.352285 m, bearing: 121.340582 deg, approach rate: 0.441309 m/s, LOS rate: -1.413911 deg/s, cmd heading: 242.109497 deg, new cmd heading: 240.258484 deg. 2025-01-08T23:16:47.030Z,1736378207.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193302 target range: 67.800003 and range: 72.90 m. 2025-01-08T23:16:47.262Z,1736378207.262 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:47.266Z,1736378207.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269531 2025-01-08T23:16:47.361Z,1736378207.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:47.370Z,1736378207.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:47.391Z,1736378207.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 21.506115 m, bearing: 120.829445 deg, approach rate: 0.440565 m/s, LOS rate: -1.453399 deg/s, cmd heading: 240.258488 deg, new cmd heading: 238.736422 deg. 2025-01-08T23:16:47.396Z,1736378207.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166737 target range: 67.800003 and range: 72.90 m. 2025-01-08T23:16:47.512Z,1736378207.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:47.512Z,1736378207.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515603 2025-01-08T23:16:47.765Z,1736378207.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:47.766Z,1736378207.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769144 2025-01-08T23:16:47.857Z,1736378207.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:47.880Z,1736378207.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:47.883Z,1736378207.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 21.721121 m, bearing: 120.136177 deg, approach rate: 0.425556 m/s, LOS rate: -1.358553 deg/s, cmd heading: 238.736422 deg, new cmd heading: 236.678143 deg. 2025-01-08T23:16:47.900Z,1736378207.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130813 target range: 67.800003 and range: 72.90 m. 2025-01-08T23:16:48.016Z,1736378208.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:48.018Z,1736378208.018 [DAT](INFO): DAT read: Rx Time:23:16:46.7837 2025-01-08T23:16:48.018Z,1736378208.018 [DAT](INFO): Rx dataTimestamp_ set to:1736378208.017695 2025-01-08T23:16:48.018Z,1736378208.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021721 2025-01-08T23:16:48.224Z,1736378208.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:48.231Z,1736378208.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:48.237Z,1736378208.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:48.245Z,1736378208.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 21.888210 m, bearing: 119.595257 deg, approach rate: 0.462089 m/s, LOS rate: -1.484484 deg/s, cmd heading: 236.678131 deg, new cmd heading: 235.068204 deg. 2025-01-08T23:16:48.246Z,1736378208.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102714 target range: 67.800003 and range: 72.90 m. 2025-01-08T23:16:48.268Z,1736378208.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:48.269Z,1736378208.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271799 2025-01-08T23:16:48.520Z,1736378208.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:48.522Z,1736378208.522 [DAT](INFO): DAT read: Range 10 to 50 : 75.4 m (Round-trip 100.6 ms) speed -0.5 m/s 2025-01-08T23:16:48.523Z,1736378208.523 [DAT](INFO): DAT read: user:3150> 2025-01-08T23:16:48.524Z,1736378208.524 [DAT](INFO): DAT read: Tx time:23:16:47.8790 2025-01-08T23:16:48.524Z,1736378208.524 [DAT](INFO): Ping request sent. 2025-01-08T23:16:48.524Z,1736378208.524 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:48.525Z,1736378208.525 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:16:48.525Z,1736378208.525 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:48.525Z,1736378208.525 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:48.665Z,1736378208.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:48.708Z,1736378208.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.400002 m, deltaT: 3.526539 s, deltaX: 2.500000 m, approachRate: 0.708910 m/s, rangeRepo size: 4 2025-01-08T23:16:48.709Z,1736378208.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:48.724Z,1736378208.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 22.084057 m, bearing: 118.939858 deg, approach rate: 0.435575 m/s, LOS rate: -1.444688 deg/s, cmd heading: 235.068200 deg, new cmd heading: 233.120234 deg. 2025-01-08T23:16:48.737Z,1736378208.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.068716 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:48.774Z,1736378208.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:48.777Z,1736378208.777 [DAT](INFO): DAT read: TxSync time:23:16:47.8782 2025-01-08T23:16:49.024Z,1736378209.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:49.267Z,1736378209.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:49.276Z,1736378209.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:49.300Z,1736378209.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:49.307Z,1736378209.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 22.363094 m, bearing: 118.021510 deg, approach rate: 0.454541 m/s, LOS rate: -1.477224 deg/s, cmd heading: 233.120230 deg, new cmd heading: 230.401722 deg. 2025-01-08T23:16:49.308Z,1736378209.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.021269 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:49.528Z,1736378209.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:49.733Z,1736378209.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:49.742Z,1736378209.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:49.766Z,1736378209.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 22.582584 m, bearing: 117.327484 deg, approach rate: 0.496987 m/s, LOS rate: -1.556160 deg/s, cmd heading: 230.401733 deg, new cmd heading: 228.340830 deg. 2025-01-08T23:16:49.768Z,1736378209.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.985299 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:49.782Z,1736378209.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:50.032Z,1736378210.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:50.193Z,1736378210.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:50.201Z,1736378210.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:50.205Z,1736378210.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 22.812176 m, bearing: 116.684708 deg, approach rate: 0.500160 m/s, LOS rate: -1.386151 deg/s, cmd heading: 228.340833 deg, new cmd heading: 226.432660 deg. 2025-01-08T23:16:50.206Z,1736378210.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.951995 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:50.284Z,1736378210.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:50.536Z,1736378210.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:50.544Z,1736378210.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:50.551Z,1736378210.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:50.553Z,1736378210.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:50.557Z,1736378210.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 22.964369 m, bearing: 116.149640 deg, approach rate: 0.432248 m/s, LOS rate: -1.509568 deg/s, cmd heading: 226.432656 deg, new cmd heading: 224.838524 deg. 2025-01-08T23:16:50.558Z,1736378210.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.924173 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:50.789Z,1736378210.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:50.789Z,1736378210.789 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:16:50.790Z,1736378210.790 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:16:50.790Z,1736378210.790 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:50.994Z,1736378210.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:51.002Z,1736378211.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:51.008Z,1736378211.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 23.145760 m, bearing: 115.474164 deg, approach rate: 0.403819 m/s, LOS rate: -1.491952 deg/s, cmd heading: 224.838530 deg, new cmd heading: 222.828854 deg. 2025-01-08T23:16:51.010Z,1736378211.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.889097 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:51.040Z,1736378211.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:51.041Z,1736378211.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516288 2025-01-08T23:16:51.292Z,1736378211.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:51.292Z,1736378211.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768061 2025-01-08T23:16:51.359Z,1736378211.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:51.367Z,1736378211.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:51.370Z,1736378211.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 23.288467 m, bearing: 114.922966 deg, approach rate: 0.391327 m/s, LOS rate: -1.502184 deg/s, cmd heading: 222.828856 deg, new cmd heading: 221.185872 deg. 2025-01-08T23:16:51.372Z,1736378211.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.860422 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:51.544Z,1736378211.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:51.545Z,1736378211.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020092 2025-01-08T23:16:51.751Z,1736378211.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:51.761Z,1736378211.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:51.764Z,1736378211.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 23.437284 m, bearing: 114.325487 deg, approach rate: 0.377405 m/s, LOS rate: -1.505578 deg/s, cmd heading: 221.185868 deg, new cmd heading: 219.405417 deg. 2025-01-08T23:16:51.765Z,1736378211.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829347 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:51.796Z,1736378211.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:51.797Z,1736378211.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272309 2025-01-08T23:16:52.048Z,1736378212.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:52.050Z,1736378212.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525201 2025-01-08T23:16:52.192Z,1736378212.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:52.201Z,1736378212.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:52.204Z,1736378212.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 23.580286 m, bearing: 113.661100 deg, approach rate: 0.325475 m/s, LOS rate: -1.502956 deg/s, cmd heading: 219.405415 deg, new cmd heading: 217.425174 deg. 2025-01-08T23:16:52.206Z,1736378212.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794785 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:52.300Z,1736378212.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:52.301Z,1736378212.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776458 2025-01-08T23:16:52.552Z,1736378212.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:52.552Z,1736378212.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027787 2025-01-08T23:16:52.562Z,1736378212.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:52.585Z,1736378212.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:52.587Z,1736378212.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:52.594Z,1736378212.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 23.695606 m, bearing: 113.102171 deg, approach rate: 0.298869 m/s, LOS rate: -1.441470 deg/s, cmd heading: 217.425180 deg, new cmd heading: 215.757052 deg. 2025-01-08T23:16:52.595Z,1736378212.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765671 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:52.804Z,1736378212.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:52.805Z,1736378212.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280974 2025-01-08T23:16:52.993Z,1736378212.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:53.001Z,1736378213.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:53.024Z,1736378213.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 23.815060 m, bearing: 112.471188 deg, approach rate: 0.288238 m/s, LOS rate: -1.514878 deg/s, cmd heading: 215.757056 deg, new cmd heading: 213.874320 deg. 2025-01-08T23:16:53.025Z,1736378213.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732811 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:53.057Z,1736378213.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:53.059Z,1736378213.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534234 2025-01-08T23:16:53.308Z,1736378213.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:53.308Z,1736378213.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784006 2025-01-08T23:16:53.367Z,1736378213.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:53.376Z,1736378213.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:53.379Z,1736378213.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 23.914335 m, bearing: 111.921144 deg, approach rate: 0.265166 m/s, LOS rate: -1.463054 deg/s, cmd heading: 213.874315 deg, new cmd heading: 212.231507 deg. 2025-01-08T23:16:53.383Z,1736378213.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.704139 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:53.560Z,1736378213.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:53.560Z,1736378213.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035996 2025-01-08T23:16:53.789Z,1736378213.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:53.798Z,1736378213.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:53.801Z,1736378213.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.021629 m, bearing: 111.298387 deg, approach rate: 0.253964 m/s, LOS rate: -1.467447 deg/s, cmd heading: 212.231504 deg, new cmd heading: 210.372269 deg. 2025-01-08T23:16:53.802Z,1736378213.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.671689 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:53.812Z,1736378213.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:53.813Z,1736378213.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288201 2025-01-08T23:16:54.065Z,1736378214.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:54.069Z,1736378214.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544382 2025-01-08T23:16:54.217Z,1736378214.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:54.227Z,1736378214.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:54.246Z,1736378214.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.104473 m, bearing: 110.682228 deg, approach rate: 0.193204 m/s, LOS rate: -1.432005 deg/s, cmd heading: 210.372272 deg, new cmd heading: 208.530817 deg. 2025-01-08T23:16:54.247Z,1736378214.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.639549 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:54.317Z,1736378214.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:54.319Z,1736378214.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794084 2025-01-08T23:16:54.568Z,1736378214.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:54.568Z,1736378214.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043899 2025-01-08T23:16:54.582Z,1736378214.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:54.590Z,1736378214.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:54.593Z,1736378214.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:54.596Z,1736378214.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.170954 m, bearing: 110.155986 deg, approach rate: 0.181500 m/s, LOS rate: -1.432734 deg/s, cmd heading: 208.530812 deg, new cmd heading: 206.956846 deg. 2025-01-08T23:16:54.597Z,1736378214.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612078 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:54.822Z,1736378214.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:54.823Z,1736378214.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298343 2025-01-08T23:16:55.021Z,1736378215.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:55.029Z,1736378215.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:55.048Z,1736378215.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.244158 m, bearing: 109.516326 deg, approach rate: 0.167735 m/s, LOS rate: -1.461222 deg/s, cmd heading: 206.956849 deg, new cmd heading: 205.044413 deg. 2025-01-08T23:16:55.049Z,1736378215.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578700 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:55.074Z,1736378215.074 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:55.076Z,1736378215.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551097 2025-01-08T23:16:55.324Z,1736378215.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:55.324Z,1736378215.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799988 2025-01-08T23:16:55.390Z,1736378215.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:55.398Z,1736378215.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:55.401Z,1736378215.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.295002 m, bearing: 108.973432 deg, approach rate: 0.137829 m/s, LOS rate: -1.468583 deg/s, cmd heading: 205.044410 deg, new cmd heading: 203.419596 deg. 2025-01-08T23:16:55.402Z,1736378215.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550342 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:55.576Z,1736378215.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:55.577Z,1736378215.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052086 2025-01-08T23:16:55.796Z,1736378215.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:55.806Z,1736378215.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:55.809Z,1736378215.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.346352 m, bearing: 108.374309 deg, approach rate: 0.126074 m/s, LOS rate: -1.467837 deg/s, cmd heading: 203.419590 deg, new cmd heading: 201.626630 deg. 2025-01-08T23:16:55.810Z,1736378215.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.519048 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:55.832Z,1736378215.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:55.832Z,1736378215.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308031 2025-01-08T23:16:56.091Z,1736378216.091 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:56.093Z,1736378216.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567811 2025-01-08T23:16:56.240Z,1736378216.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:56.248Z,1736378216.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:56.251Z,1736378216.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.399109 m, bearing: 107.732032 deg, approach rate: 0.119138 m/s, LOS rate: -1.447238 deg/s, cmd heading: 201.626624 deg, new cmd heading: 199.704721 deg. 2025-01-08T23:16:56.252Z,1736378216.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.485505 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:56.344Z,1736378216.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:56.344Z,1736378216.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.820060 2025-01-08T23:16:56.596Z,1736378216.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:56.596Z,1736378216.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.072055 2025-01-08T23:16:56.609Z,1736378216.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:56.636Z,1736378216.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:56.643Z,1736378216.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:56.652Z,1736378216.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.439064 m, bearing: 107.196964 deg, approach rate: 0.102268 m/s, LOS rate: -1.367284 deg/s, cmd heading: 199.704718 deg, new cmd heading: 198.102579 deg. 2025-01-08T23:16:56.654Z,1736378216.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.457542 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:56.848Z,1736378216.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:56.849Z,1736378216.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324085 2025-01-08T23:16:57.038Z,1736378217.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:57.049Z,1736378217.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:57.052Z,1736378217.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.486137 m, bearing: 106.565574 deg, approach rate: 0.115376 m/s, LOS rate: -1.544521 deg/s, cmd heading: 198.102574 deg, new cmd heading: 196.212771 deg. 2025-01-08T23:16:57.053Z,1736378217.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.424559 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:57.100Z,1736378217.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:57.102Z,1736378217.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.577114 2025-01-08T23:16:57.352Z,1736378217.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:57.352Z,1736378217.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827974 2025-01-08T23:16:57.417Z,1736378217.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:57.427Z,1736378217.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:57.429Z,1736378217.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.523527 m, bearing: 106.004857 deg, approach rate: 0.098534 m/s, LOS rate: -1.475389 deg/s, cmd heading: 196.212770 deg, new cmd heading: 194.533690 deg. 2025-01-08T23:16:57.430Z,1736378217.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.395253 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:57.604Z,1736378217.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:57.605Z,1736378217.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.080690 2025-01-08T23:16:57.833Z,1736378217.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:57.843Z,1736378217.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:57.845Z,1736378217.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.559341 m, bearing: 105.390377 deg, approach rate: 0.086088 m/s, LOS rate: -1.474857 deg/s, cmd heading: 194.533691 deg, new cmd heading: 192.693609 deg. 2025-01-08T23:16:57.846Z,1736378217.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.363138 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:57.856Z,1736378217.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:57.856Z,1736378217.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.332052 2025-01-08T23:16:58.108Z,1736378218.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:58.108Z,1736378218.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583982 2025-01-08T23:16:58.248Z,1736378218.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:58.275Z,1736378218.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:58.282Z,1736378218.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.604687 m, bearing: 104.774686 deg, approach rate: 0.104936 m/s, LOS rate: -1.422155 deg/s, cmd heading: 192.693611 deg, new cmd heading: 190.850613 deg. 2025-01-08T23:16:58.283Z,1736378218.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.330971 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:58.360Z,1736378218.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:58.362Z,1736378218.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837070 2025-01-08T23:16:58.612Z,1736378218.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:58.612Z,1736378218.612 [DAT](INFO): Reached modem response timeout 2025-01-08T23:16:58.612Z,1736378218.612 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:16:58.613Z,1736378218.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:58.626Z,1736378218.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:58.634Z,1736378218.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:58.637Z,1736378218.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.641266 m, bearing: 104.212345 deg, approach rate: 0.101708 m/s, LOS rate: -1.561236 deg/s, cmd heading: 190.850607 deg, new cmd heading: 189.166601 deg. 2025-01-08T23:16:58.639Z,1736378218.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.301580 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:58.864Z,1736378218.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:58.864Z,1736378218.864 [DAT](INFO): Reached modem response timeout 2025-01-08T23:16:58.864Z,1736378218.864 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:16:58.865Z,1736378218.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:59.050Z,1736378219.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:59.058Z,1736378219.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:16:59.060Z,1736378219.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:59.063Z,1736378219.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.695740 m, bearing: 103.574527 deg, approach rate: 0.127990 m/s, LOS rate: -1.495261 deg/s, cmd heading: 189.166597 deg, new cmd heading: 187.258109 deg. 2025-01-08T23:16:59.080Z,1736378219.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.268270 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:59.116Z,1736378219.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:59.116Z,1736378219.116 [DAT](INFO): Reached modem response timeout 2025-01-08T23:16:59.116Z,1736378219.116 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:16:59.117Z,1736378219.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:59.368Z,1736378219.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:59.368Z,1736378219.368 [DAT](INFO): Reached modem response timeout 2025-01-08T23:16:59.368Z,1736378219.368 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:16:59.368Z,1736378219.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:16:59.453Z,1736378219.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:59.463Z,1736378219.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:59.465Z,1736378219.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.742546 m, bearing: 102.966964 deg, approach rate: 0.116231 m/s, LOS rate: -1.505838 deg/s, cmd heading: 187.258106 deg, new cmd heading: 185.439509 deg. 2025-01-08T23:16:59.466Z,1736378219.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.236530 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:59.620Z,1736378219.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:59.622Z,1736378219.622 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:16:59.622Z,1736378219.622 [DAT](INFO): response not received 2025-01-08T23:16:59.623Z,1736378219.623 [DAT](INFO): DAT read: user:3151> 2025-01-08T23:16:59.624Z,1736378219.624 [DAT](INFO): DAT read: Tx time:23:16:58.8291 2025-01-08T23:16:59.624Z,1736378219.624 [DAT](INFO): Ping request sent. 2025-01-08T23:16:59.624Z,1736378219.624 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:16:59.624Z,1736378219.624 [DAT](INFO): publishing transmit ping time 2025-01-08T23:16:59.625Z,1736378219.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-01-08T23:16:59.836Z,1736378219.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:16:59.862Z,1736378219.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:16:59.865Z,1736378219.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.781689 m, bearing: 102.390237 deg, approach rate: 0.098074 m/s, LOS rate: -1.442712 deg/s, cmd heading: 185.439513 deg, new cmd heading: 183.712617 deg. 2025-01-08T23:16:59.866Z,1736378219.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.206390 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:16:59.872Z,1736378219.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:16:59.873Z,1736378219.873 [DAT](INFO): DAT read: TxSync time:23:16:58.8283 2025-01-08T23:16:59.874Z,1736378219.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249909 2025-01-08T23:17:00.124Z,1736378220.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:00.125Z,1736378220.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501453 2025-01-08T23:17:00.286Z,1736378220.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:00.312Z,1736378220.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:17:00.314Z,1736378220.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.848436 m, bearing: 101.709572 deg, approach rate: 0.153905 m/s, LOS rate: -1.565205 deg/s, cmd heading: 183.712623 deg, new cmd heading: 181.677019 deg. 2025-01-08T23:17:00.320Z,1736378220.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.170862 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:17:00.378Z,1736378220.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:00.379Z,1736378220.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755123 2025-01-08T23:17:00.632Z,1736378220.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:00.632Z,1736378220.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008450 2025-01-08T23:17:00.647Z,1736378220.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:00.663Z,1736378220.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:17:00.668Z,1736378220.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.889910 m, bearing: 101.160552 deg, approach rate: 0.112991 m/s, LOS rate: -1.493245 deg/s, cmd heading: 181.677021 deg, new cmd heading: 180.033181 deg. 2025-01-08T23:17:00.669Z,1736378220.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.142172 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:17:00.884Z,1736378220.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:00.885Z,1736378220.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261001 2025-01-08T23:17:01.091Z,1736378221.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:01.105Z,1736378221.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:01.124Z,1736378221.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:17:01.131Z,1736378221.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 24.953474 m, bearing: 100.476596 deg, approach rate: 0.137635 m/s, LOS rate: -1.477158 deg/s, cmd heading: 180.033186 deg, new cmd heading: 177.987463 deg. 2025-01-08T23:17:01.132Z,1736378221.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.106467 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:17:01.136Z,1736378221.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:01.137Z,1736378221.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512540 2025-01-08T23:17:01.388Z,1736378221.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:01.390Z,1736378221.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765539 2025-01-08T23:17:01.457Z,1736378221.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:01.466Z,1736378221.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:17:01.470Z,1736378221.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 25.000366 m, bearing: 99.909502 deg, approach rate: 0.137114 m/s, LOS rate: -1.655067 deg/s, cmd heading: 177.987462 deg, new cmd heading: 176.289895 deg. 2025-01-08T23:17:01.471Z,1736378221.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.076839 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:17:01.640Z,1736378221.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:01.641Z,1736378221.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017030 2025-01-08T23:17:01.863Z,1736378221.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:01.872Z,1736378221.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:17:01.876Z,1736378221.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 25.046024 m, bearing: 99.281542 deg, approach rate: 0.112767 m/s, LOS rate: -1.548087 deg/s, cmd heading: 176.289901 deg, new cmd heading: 174.410170 deg. 2025-01-08T23:17:01.877Z,1736378221.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.044032 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:17:01.892Z,1736378221.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:01.893Z,1736378221.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268554 2025-01-08T23:17:02.147Z,1736378222.147 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:02.148Z,1736378222.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524054 2025-01-08T23:17:02.324Z,1736378222.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:02.341Z,1736378222.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:17:02.348Z,1736378222.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 25.113029 m, bearing: 98.572557 deg, approach rate: 0.142626 m/s, LOS rate: -1.505072 deg/s, cmd heading: 174.410165 deg, new cmd heading: 172.289907 deg. 2025-01-08T23:17:02.349Z,1736378222.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.007026 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:17:02.401Z,1736378222.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:02.402Z,1736378222.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778071 2025-01-08T23:17:02.652Z,1736378222.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:02.654Z,1736378222.654 [DAT](INFO): DAT read: Rx Time:23:17:01.3454 2025-01-08T23:17:02.654Z,1736378222.654 [DAT](INFO): Rx dataTimestamp_ set to:1736378222.653930 2025-01-08T23:17:02.656Z,1736378222.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031492 2025-01-08T23:17:02.676Z,1736378222.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:02.715Z,1736378222.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:17:02.723Z,1736378222.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 25.151871 m, bearing: 98.029226 deg, approach rate: 0.103885 m/s, LOS rate: -1.450930 deg/s, cmd heading: 172.289910 deg, new cmd heading: 170.662896 deg. 2025-01-08T23:17:02.728Z,1736378222.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.978629 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:17:02.904Z,1736378222.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:02.906Z,1736378222.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281136 2025-01-08T23:17:03.098Z,1736378223.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:03.125Z,1736378223.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:03.128Z,1736378223.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.80 m. 2025-01-08T23:17:03.131Z,1736378223.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.800003 m, nav range: 25.196457 m, bearing: 97.366190 deg, approach rate: 0.108139 m/s, LOS rate: -1.605248 deg/s, cmd heading: 170.662891 deg, new cmd heading: 168.678139 deg. 2025-01-08T23:17:03.132Z,1736378223.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.943989 target range: 67.800003 and range: 75.40 m. 2025-01-08T23:17:03.156Z,1736378223.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:03.163Z,1736378223.163 [DAT](INFO): DAT read: 23:17:01.3454 LVL= 16528, 16801, 12706, 22931, AGC= 58, IDX= 504, 0.23, 3.049,-0.964,-1.091,-1.782, PHS=-1.365, 0.865, 0.688, RAW= 274.1, -1.8, CAL= 276.7, -3.9, ROT= 233.3, 3.9 2025-01-08T23:17:03.170Z,1736378223.170 [DAT](INFO): got valid direction response: 23:17:01.3454 LVL= 16528, 16801, 12706, 22931, AGC= 58, IDX= 504, 0.23, 3.049,-0.964,-1.091,-1.782, PHS=-1.365, 0.865, 0.688, RAW= 274.1, -1.8, CAL= 276.7, -3.9, ROT= 233.3, 3.9 2025-01-08T23:17:03.171Z,1736378223.171 [DAT](INFO): DAT read: Bearing 233.3, 3.9 (Local) 2025-01-08T23:17:03.172Z,1736378223.172 [DAT](INFO): Local bearing/azimuth received: Bearing 233.3, 3.9 (Local) 2025-01-08T23:17:03.173Z,1736378223.173 [DAT](INFO): DAT read: Range 10 to 50 : 84.1 m (Round-trip 112.2 ms) speed -0.4 m/s 2025-01-08T23:17:03.174Z,1736378223.174 [DAT](INFO): DAT read: user:3152> 2025-01-08T23:17:03.175Z,1736378223.175 [DAT](INFO): DAT read: Tx time:23:17:02.4291 2025-01-08T23:17:03.175Z,1736378223.175 [DAT](INFO): Ping request sent. 2025-01-08T23:17:03.175Z,1736378223.175 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:03.187Z,1736378223.187 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:17:03.192Z,1736378223.192 [DAT](INFO): direction in FSK: [0.125307,-0.038238,-0.991381] 2025-01-08T23:17:03.192Z,1736378223.192 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:03.192Z,1736378223.192 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:03.199Z,1736378223.199 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:03.200Z,1736378223.200 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:03.408Z,1736378223.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:03.409Z,1736378223.409 [DAT](INFO): DAT read: TxSync time:23:17:02.4283 2025-01-08T23:17:03.479Z,1736378223.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:03.507Z,1736378223.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.099998 m, deltaT: 14.636421 s, deltaX: 8.699997 m, approachRate: 0.594407 m/s, rangeRepo size: 4 2025-01-08T23:17:03.513Z,1736378223.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.099998 m, bearing: 59.617083 deg, lat: 36.904399 deg, lon: -122.119985 deg, deltaT: 29.000251 s, deltaX: 16.299995 m, approachRate: 0.562064 m/s, posRepo size: 4 2025-01-08T23:17:03.514Z,1736378223.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m. 2025-01-08T23:17:03.525Z,1736378223.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.099998 m, nav range: 25.177185 m, bearing: 95.665829 deg, approach rate: 0.000000 m/s, LOS rate: -1.605248 deg/s, cmd heading: 168.678133 deg, new cmd heading: 166.855190 deg. 2025-01-08T23:17:03.526Z,1736378223.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.912173 target range: 84.099998 and range: 84.10 m. 2025-01-08T23:17:03.660Z,1736378223.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:03.912Z,1736378223.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:03.968Z,1736378223.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:03.994Z,1736378223.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m. 2025-01-08T23:17:04.001Z,1736378224.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.099998 m, nav range: 25.214937 m, bearing: 94.882925 deg, approach rate: 0.077331 m/s, LOS rate: -1.601229 deg/s, cmd heading: 166.855197 deg, new cmd heading: 164.511383 deg. 2025-01-08T23:17:04.002Z,1736378224.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.871265 target range: 84.099998 and range: 84.10 m. 2025-01-08T23:17:04.165Z,1736378224.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:04.416Z,1736378224.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:04.511Z,1736378224.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:04.519Z,1736378224.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m. 2025-01-08T23:17:04.523Z,1736378224.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.099998 m, nav range: 25.256598 m, bearing: 94.024276 deg, approach rate: 0.079371 m/s, LOS rate: -1.633136 deg/s, cmd heading: 164.511376 deg, new cmd heading: 161.941499 deg. 2025-01-08T23:17:04.524Z,1736378224.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.826412 target range: 84.099998 and range: 84.10 m. 2025-01-08T23:17:04.669Z,1736378224.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:04.920Z,1736378224.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:04.958Z,1736378224.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:04.994Z,1736378224.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m. 2025-01-08T23:17:05.001Z,1736378225.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.099998 m, nav range: 25.278835 m, bearing: 93.314106 deg, approach rate: 0.046857 m/s, LOS rate: -1.495026 deg/s, cmd heading: 161.941504 deg, new cmd heading: 159.813900 deg. 2025-01-08T23:17:05.002Z,1736378225.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.789279 target range: 84.099998 and range: 84.10 m. 2025-01-08T23:17:05.172Z,1736378225.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:05.425Z,1736378225.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:05.481Z,1736378225.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:05.504Z,1736378225.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:05.506Z,1736378225.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m. 2025-01-08T23:17:05.521Z,1736378225.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.099998 m, nav range: 25.295439 m, bearing: 92.490950 deg, approach rate: 0.032374 m/s, LOS rate: -1.603915 deg/s, cmd heading: 159.813900 deg, new cmd heading: 157.347663 deg. 2025-01-08T23:17:05.524Z,1736378225.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.746235 target range: 84.099998 and range: 84.10 m. 2025-01-08T23:17:05.676Z,1736378225.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:05.677Z,1736378225.677 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:05.677Z,1736378225.677 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:05.678Z,1736378225.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:05.860Z,1736378225.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:05.886Z,1736378225.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m. 2025-01-08T23:17:05.890Z,1736378225.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.099998 m, nav range: 25.303308 m, bearing: 91.892751 deg, approach rate: 0.020719 m/s, LOS rate: -1.574415 deg/s, cmd heading: 157.347669 deg, new cmd heading: 155.554248 deg. 2025-01-08T23:17:05.891Z,1736378225.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.714934 target range: 84.099998 and range: 84.10 m. 2025-01-08T23:17:05.928Z,1736378225.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:05.929Z,1736378225.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754166 2025-01-08T23:17:06.180Z,1736378226.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:06.181Z,1736378226.181 [DAT](INFO): DAT read: Rx Time:23:17:04.9470 2025-01-08T23:17:06.182Z,1736378226.182 [DAT](INFO): Rx dataTimestamp_ set to:1736378226.181277 2025-01-08T23:17:06.182Z,1736378226.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007090 2025-01-08T23:17:06.314Z,1736378226.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:06.322Z,1736378226.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m. 2025-01-08T23:17:06.325Z,1736378226.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.099998 m, nav range: 25.301680 m, bearing: 91.189702 deg, approach rate: -0.003734 m/s, LOS rate: -1.611780 deg/s, cmd heading: 155.554253 deg, new cmd heading: 153.445976 deg. 2025-01-08T23:17:06.326Z,1736378226.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678138 target range: 84.099998 and range: 84.10 m. 2025-01-08T23:17:06.432Z,1736378226.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:06.433Z,1736378226.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258362 2025-01-08T23:17:06.684Z,1736378226.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:06.691Z,1736378226.691 [DAT](INFO): DAT read: 23:17:04.9470 LVL= 18512, 15345, 13298, 25491, AGC= 53, IDX= 458,-0.45, 0.760, 2.411,-2.924, 2.234, PHS=-1.386, 0.223, 1.121, RAW= 249.3, 0.4, CAL= 252.5, 1.2, ROT= 257.5, -1.2 2025-01-08T23:17:06.693Z,1736378226.693 [DAT](INFO): got valid direction response: 23:17:04.9470 LVL= 18512, 15345, 13298, 25491, AGC= 53, IDX= 458,-0.45, 0.760, 2.411,-2.924, 2.234, PHS=-1.386, 0.223, 1.121, RAW= 249.3, 0.4, CAL= 252.5, 1.2, ROT= 257.5, -1.2 2025-01-08T23:17:06.693Z,1736378226.693 [DAT](INFO): DAT read: Bearing 257.5, -1.2 (Local) 2025-01-08T23:17:06.694Z,1736378226.694 [DAT](INFO): Local bearing/azimuth received: Bearing 257.5, -1.2 (Local) 2025-01-08T23:17:06.697Z,1736378226.697 [DAT](INFO): DAT read: Range 10 to 50 : 85.3 m (Round-trip 113.8 ms) speed -0.3 m/s 2025-01-08T23:17:06.701Z,1736378226.701 [DAT](INFO): DAT read: user:3153> 2025-01-08T23:17:06.702Z,1736378226.702 [DAT](INFO): DAT read: Tx time:23:17:06.0291 2025-01-08T23:17:06.702Z,1736378226.702 [DAT](INFO): Ping request sent. 2025-01-08T23:17:06.702Z,1736378226.702 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:06.702Z,1736378226.702 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:17:06.708Z,1736378226.708 [DAT](INFO): direction in FSK: [0.040538,-0.443887,-0.895165] 2025-01-08T23:17:06.708Z,1736378226.708 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:06.708Z,1736378226.708 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:06.723Z,1736378226.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:06.761Z,1736378226.761 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:06.761Z,1736378226.761 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:06.793Z,1736378226.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.300003 m, deltaT: 3.528020 s, deltaX: 1.200005 m, approachRate: 0.340135 m/s, rangeRepo size: 4 2025-01-08T23:17:06.803Z,1736378226.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.300003 m, bearing: 74.236003 deg, lat: 36.904429 deg, lon: -122.119872 deg, deltaT: 3.528020 s, deltaX: 1.200005 m, approachRate: 0.340135 m/s, posRepo size: 4 2025-01-08T23:17:06.804Z,1736378226.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:06.816Z,1736378226.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.527962 m, bearing: 84.950961 deg, approach rate: 0.000000 m/s, LOS rate: -1.611780 deg/s, cmd heading: 153.445978 deg, new cmd heading: 151.173159 deg. 2025-01-08T23:17:06.817Z,1736378226.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.638469 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:17:06.936Z,1736378226.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:06.937Z,1736378226.937 [DAT](INFO): DAT read: TxSync time:23:17:06.0283 2025-01-08T23:17:07.189Z,1736378227.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:07.228Z,1736378227.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:07.253Z,1736378227.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:07.260Z,1736378227.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.548260 m, bearing: 84.396001 deg, approach rate: 0.044088 m/s, LOS rate: -1.204674 deg/s, cmd heading: 151.173164 deg, new cmd heading: 149.509728 deg. 2025-01-08T23:17:07.261Z,1736378227.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609437 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:17:07.440Z,1736378227.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:07.540Z,1736378227.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:07.547Z,1736378227.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:07.549Z,1736378227.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:07.572Z,1736378227.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.544769 m, bearing: 84.053025 deg, approach rate: -0.011797 m/s, LOS rate: -1.159332 deg/s, cmd heading: 149.509726 deg, new cmd heading: 148.480816 deg. 2025-01-08T23:17:07.573Z,1736378227.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591479 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:17:07.692Z,1736378227.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:07.693Z,1736378227.693 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:07.693Z,1736378227.693 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:07.693Z,1736378227.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:07.944Z,1736378227.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:07.945Z,1736378227.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242439 2025-01-08T23:17:07.972Z,1736378227.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:07.980Z,1736378227.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:07.983Z,1736378227.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.542046 m, bearing: 83.579345 deg, approach rate: -0.006315 m/s, LOS rate: -1.098264 deg/s, cmd heading: 148.480813 deg, new cmd heading: 147.059971 deg. 2025-01-08T23:17:07.984Z,1736378227.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566681 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:17:08.196Z,1736378228.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:08.197Z,1736378228.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494872 2025-01-08T23:17:08.379Z,1736378228.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:08.388Z,1736378228.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:08.390Z,1736378228.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.525154 m, bearing: 83.138025 deg, approach rate: -0.041485 m/s, LOS rate: -1.084375 deg/s, cmd heading: 147.059970 deg, new cmd heading: 145.735627 deg. 2025-01-08T23:17:08.392Z,1736378228.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543566 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:17:08.448Z,1736378228.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:08.449Z,1736378228.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746652 2025-01-08T23:17:08.700Z,1736378228.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:08.700Z,1736378228.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998185 2025-01-08T23:17:08.790Z,1736378228.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:08.809Z,1736378228.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:08.816Z,1736378228.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.502453 m, bearing: 82.693594 deg, approach rate: -0.053921 m/s, LOS rate: -1.056287 deg/s, cmd heading: 145.735623 deg, new cmd heading: 144.401733 deg. 2025-01-08T23:17:08.817Z,1736378228.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520286 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:17:08.956Z,1736378228.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:08.957Z,1736378228.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254371 2025-01-08T23:17:09.197Z,1736378229.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:09.208Z,1736378229.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:09.208Z,1736378229.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506181 2025-01-08T23:17:09.279Z,1736378229.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:09.282Z,1736378229.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.484875 m, bearing: 82.258439 deg, approach rate: -0.037351 m/s, LOS rate: -0.925091 deg/s, cmd heading: 144.401728 deg, new cmd heading: 143.095856 deg. 2025-01-08T23:17:09.283Z,1736378229.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497494 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:17:09.462Z,1736378229.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:09.465Z,1736378229.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762394 2025-01-08T23:17:09.560Z,1736378229.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:09.566Z,1736378229.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:09.569Z,1736378229.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:09.573Z,1736378229.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.457798 m, bearing: 81.870936 deg, approach rate: -0.093537 m/s, LOS rate: -1.339644 deg/s, cmd heading: 143.095851 deg, new cmd heading: 141.932623 deg. 2025-01-08T23:17:09.574Z,1736378229.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477192 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:17:09.712Z,1736378229.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:09.712Z,1736378229.712 [DAT](INFO): DAT read: Rx Time:23:17:08.5481 2025-01-08T23:17:09.713Z,1736378229.713 [DAT](INFO): Rx dataTimestamp_ set to:1736378229.712619 2025-01-08T23:17:09.713Z,1736378229.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011247 2025-01-08T23:17:09.964Z,1736378229.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:09.964Z,1736378229.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262265 2025-01-08T23:17:09.974Z,1736378229.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:09.983Z,1736378229.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:09.986Z,1736378229.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.421192 m, bearing: 81.429416 deg, approach rate: -0.088368 m/s, LOS rate: -1.066944 deg/s, cmd heading: 141.932629 deg, new cmd heading: 140.606950 deg. 2025-01-08T23:17:09.987Z,1736378229.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454054 target range: 85.300003 and range: 85.30 m. 2025-01-08T23:17:10.217Z,1736378230.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:10.220Z,1736378230.220 [DAT](INFO): DAT read: Range 10 to 50 : 86.1 m (Round-trip 114.9 ms) speed -0.2 m/s 2025-01-08T23:17:10.221Z,1736378230.221 [DAT](INFO): DAT read: user:3154> 2025-01-08T23:17:10.222Z,1736378230.222 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:17:10.223Z,1736378230.223 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:10.223Z,1736378230.223 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:10.223Z,1736378230.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:10.400Z,1736378230.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:10.434Z,1736378230.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.099998 m, deltaT: 3.533208 s, deltaX: 0.799995 m, approachRate: 0.226422 m/s, rangeRepo size: 4 2025-01-08T23:17:10.440Z,1736378230.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:10.456Z,1736378230.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.382175 m, bearing: 80.986849 deg, approach rate: -0.086898 m/s, LOS rate: -0.986762 deg/s, cmd heading: 140.606944 deg, new cmd heading: 139.278032 deg. 2025-01-08T23:17:10.459Z,1736378230.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430860 target range: 85.300003 and range: 86.10 m. 2025-01-08T23:17:10.468Z,1736378230.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:10.469Z,1736378230.469 [DAT](INFO): DAT read: x time:23:17:09.6291 2025-01-08T23:17:10.469Z,1736378230.469 [DAT](INFO): unknown deviceResponse_: x time:23:17:09.6291 2025-01-08T23:17:10.470Z,1736378230.470 [DAT](INFO): DAT read: TxSync time:23:17:09.6284 2025-01-08T23:17:10.470Z,1736378230.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768086 2025-01-08T23:17:10.721Z,1736378230.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:10.722Z,1736378230.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019981 2025-01-08T23:17:10.793Z,1736378230.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:10.802Z,1736378230.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:10.806Z,1736378230.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.347767 m, bearing: 80.574177 deg, approach rate: -0.093002 m/s, LOS rate: -1.116479 deg/s, cmd heading: 139.278035 deg, new cmd heading: 138.039016 deg. 2025-01-08T23:17:10.807Z,1736378230.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.409235 target range: 85.300003 and range: 86.10 m. 2025-01-08T23:17:10.972Z,1736378230.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:10.973Z,1736378230.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270779 2025-01-08T23:17:11.208Z,1736378231.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:11.217Z,1736378231.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:11.225Z,1736378231.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:11.228Z,1736378231.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524553 2025-01-08T23:17:11.254Z,1736378231.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.309372 m, bearing: 80.147169 deg, approach rate: -0.092458 m/s, LOS rate: -1.029382 deg/s, cmd heading: 138.039011 deg, new cmd heading: 136.756820 deg. 2025-01-08T23:17:11.260Z,1736378231.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386857 target range: 85.300003 and range: 86.10 m. 2025-01-08T23:17:11.476Z,1736378231.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:11.476Z,1736378231.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774253 2025-01-08T23:17:11.580Z,1736378231.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:11.586Z,1736378231.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:11.609Z,1736378231.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:11.615Z,1736378231.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.271057 m, bearing: 79.765550 deg, approach rate: -0.097886 m/s, LOS rate: -0.976004 deg/s, cmd heading: 136.756821 deg, new cmd heading: 135.610882 deg. 2025-01-08T23:17:11.616Z,1736378231.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.366856 target range: 85.300003 and range: 86.10 m. 2025-01-08T23:17:11.728Z,1736378231.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:11.728Z,1736378231.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026315 2025-01-08T23:17:11.980Z,1736378231.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:11.980Z,1736378231.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278194 2025-01-08T23:17:11.991Z,1736378231.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:11.000Z,1736378232.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:12.002Z,1736378232.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.223057 m, bearing: 79.343924 deg, approach rate: -0.122819 m/s, LOS rate: -1.080281 deg/s, cmd heading: 135.610879 deg, new cmd heading: 134.344496 deg. 2025-01-08T23:17:12.004Z,1736378232.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.344754 target range: 85.300003 and range: 86.10 m. 2025-01-08T23:17:12.232Z,1736378232.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:12.233Z,1736378232.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530635 2025-01-08T23:17:12.436Z,1736378232.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:12.445Z,1736378232.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:12.448Z,1736378232.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.179653 m, bearing: 78.898237 deg, approach rate: -0.097317 m/s, LOS rate: -1.000513 deg/s, cmd heading: 134.344493 deg, new cmd heading: 133.006038 deg. 2025-01-08T23:17:12.449Z,1736378232.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321393 target range: 85.300003 and range: 86.10 m. 2025-01-08T23:17:12.484Z,1736378232.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:12.485Z,1736378232.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782710 2025-01-08T23:17:12.736Z,1736378232.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:12.737Z,1736378232.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034400 2025-01-08T23:17:12.812Z,1736378232.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:12.832Z,1736378232.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:12.835Z,1736378232.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.138115 m, bearing: 78.523425 deg, approach rate: -0.107347 m/s, LOS rate: -0.969759 deg/s, cmd heading: 133.006036 deg, new cmd heading: 131.880424 deg. 2025-01-08T23:17:12.840Z,1736378232.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301748 target range: 85.300003 and range: 86.10 m. 2025-01-08T23:17:12.988Z,1736378232.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:12.990Z,1736378232.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287471 2025-01-08T23:17:13.240Z,1736378233.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:13.241Z,1736378233.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538343 2025-01-08T23:17:13.286Z,1736378233.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:13.315Z,1736378233.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:13.321Z,1736378233.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.091827 m, bearing: 78.046587 deg, approach rate: -0.095972 m/s, LOS rate: -0.989964 deg/s, cmd heading: 131.880421 deg, new cmd heading: 130.448335 deg. 2025-01-08T23:17:13.322Z,1736378233.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276753 target range: 85.300003 and range: 86.10 m. 2025-01-08T23:17:13.493Z,1736378233.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:13.495Z,1736378233.495 [DAT](INFO): DAT read: Rx Time:23:17:12.1492 2025-01-08T23:17:13.496Z,1736378233.496 [DAT](INFO): Rx dataTimestamp_ set to:1736378233.495205 2025-01-08T23:17:13.497Z,1736378233.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794537 2025-01-08T23:17:13.648Z,1736378233.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:13.680Z,1736378233.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:13.682Z,1736378233.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:13.690Z,1736378233.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.051956 m, bearing: 77.685602 deg, approach rate: -0.108470 m/s, LOS rate: -0.983178 deg/s, cmd heading: 130.448335 deg, new cmd heading: 129.364284 deg. 2025-01-08T23:17:13.691Z,1736378233.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257833 target range: 85.300003 and range: 86.10 m. 2025-01-08T23:17:13.746Z,1736378233.746 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:13.747Z,1736378233.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044418 2025-01-08T23:17:13.996Z,1736378233.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:13.997Z,1736378233.997 [DAT](INFO): DAT read: Range 10 to 50 : 86.9 m (Round-trip 115.9 ms) speed -0.1 m/s 2025-01-08T23:17:13.998Z,1736378233.998 [DAT](INFO): DAT read: user:3155> 2025-01-08T23:17:13.999Z,1736378233.999 [DAT](INFO): DAT read: Tx time:23:17:13.2291 2025-01-08T23:17:13.999Z,1736378233.999 [DAT](INFO): Ping request sent. 2025-01-08T23:17:13.999Z,1736378233.999 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:13.000Z,1736378234.000 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:17:13.000Z,1736378234.000 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:14.000Z,1736378234.000 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:14.109Z,1736378234.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:14.128Z,1736378234.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.900002 m, deltaT: 3.778447 s, deltaX: 0.800003 m, approachRate: 0.211728 m/s, rangeRepo size: 4 2025-01-08T23:17:14.128Z,1736378234.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:14.131Z,1736378234.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 35.002960 m, bearing: 77.222351 deg, approach rate: -0.111297 m/s, LOS rate: -1.053764 deg/s, cmd heading: 129.364288 deg, new cmd heading: 127.972879 deg. 2025-01-08T23:17:14.136Z,1736378234.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233548 target range: 85.300003 and range: 86.90 m. 2025-01-08T23:17:14.248Z,1736378234.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:14.249Z,1736378234.249 [DAT](INFO): DAT read: TxSync time:23:17:13.2284 2025-01-08T23:17:14.501Z,1736378234.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:14.541Z,1736378234.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:14.550Z,1736378234.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:14.553Z,1736378234.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 34.957203 m, bearing: 76.805010 deg, approach rate: -0.107088 m/s, LOS rate: -0.977990 deg/s, cmd heading: 127.972883 deg, new cmd heading: 126.719433 deg. 2025-01-08T23:17:14.554Z,1736378234.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.211671 target range: 85.300003 and range: 86.90 m. 2025-01-08T23:17:14.752Z,1736378234.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:14.901Z,1736378234.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:14.911Z,1736378234.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:14.914Z,1736378234.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 34.914299 m, bearing: 76.458188 deg, approach rate: -0.118777 m/s, LOS rate: -0.961329 deg/s, cmd heading: 126.719434 deg, new cmd heading: 125.677810 deg. 2025-01-08T23:17:14.915Z,1736378234.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.193491 target range: 85.300003 and range: 86.90 m. 2025-01-08T23:17:15.005Z,1736378235.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:15.256Z,1736378235.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:15.345Z,1736378235.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:15.353Z,1736378235.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:15.376Z,1736378235.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 34.864853 m, bearing: 76.032147 deg, approach rate: -0.111838 m/s, LOS rate: -0.964984 deg/s, cmd heading: 125.677803 deg, new cmd heading: 124.398094 deg. 2025-01-08T23:17:15.377Z,1736378235.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.171156 target range: 85.300003 and range: 86.90 m. 2025-01-08T23:17:15.508Z,1736378235.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:15.714Z,1736378235.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:15.749Z,1736378235.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:15.757Z,1736378235.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:15.761Z,1736378235.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:15.762Z,1736378235.762 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:15.762Z,1736378235.762 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:15.763Z,1736378235.763 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:15.769Z,1736378235.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 34.818752 m, bearing: 75.678500 deg, approach rate: -0.114221 m/s, LOS rate: -0.877366 deg/s, cmd heading: 124.398099 deg, new cmd heading: 123.335880 deg. 2025-01-08T23:17:15.770Z,1736378235.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.152617 target range: 85.300003 and range: 86.90 m. 2025-01-08T23:17:16.012Z,1736378236.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:16.013Z,1736378236.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013180 2025-01-08T23:17:16.124Z,1736378236.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:16.157Z,1736378236.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:16.164Z,1736378236.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 34.761723 m, bearing: 75.286876 deg, approach rate: -0.142407 m/s, LOS rate: -0.979511 deg/s, cmd heading: 123.335881 deg, new cmd heading: 122.159256 deg. 2025-01-08T23:17:16.165Z,1736378236.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.132081 target range: 85.300003 and range: 86.90 m. 2025-01-08T23:17:16.222Z,1736378236.222 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:17:16.264Z,1736378236.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:16.264Z,1736378236.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265052 2025-01-08T23:17:16.516Z,1736378236.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:16.516Z,1736378236.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516980 2025-01-08T23:17:16.587Z,1736378236.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:16.597Z,1736378236.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:16.600Z,1736378236.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 34.702084 m, bearing: 74.832431 deg, approach rate: -0.135623 m/s, LOS rate: -1.035200 deg/s, cmd heading: 122.159258 deg, new cmd heading: 120.793854 deg. 2025-01-08T23:17:16.601Z,1736378236.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108250 target range: 85.300003 and range: 86.90 m. 2025-01-08T23:17:16.768Z,1736378236.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:16.768Z,1736378236.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769021 2025-01-08T23:17:16.935Z,1736378236.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:16.945Z,1736378236.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:16.948Z,1736378236.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 34.658672 m, bearing: 74.489643 deg, approach rate: -0.124757 m/s, LOS rate: -0.986345 deg/s, cmd heading: 120.793849 deg, new cmd heading: 119.764316 deg. 2025-01-08T23:17:16.949Z,1736378236.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.090282 target range: 85.300003 and range: 86.90 m. 2025-01-08T23:17:17.021Z,1736378237.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:17.022Z,1736378237.022 [DAT](INFO): DAT read: Rx Time:23:17:15.7494 2025-01-08T23:17:17.023Z,1736378237.023 [DAT](INFO): Rx dataTimestamp_ set to:1736378237.022671 2025-01-08T23:17:17.024Z,1736378237.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024739 2025-01-08T23:17:17.225Z,1736378237.225 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:17:17.272Z,1736378237.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:17.273Z,1736378237.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273253 2025-01-08T23:17:17.365Z,1736378237.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:17.403Z,1736378237.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.30 m. 2025-01-08T23:17:17.422Z,1736378237.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.300003 m, nav range: 34.582348 m, bearing: 74.079941 deg, approach rate: -0.168574 m/s, LOS rate: -0.906879 deg/s, cmd heading: 119.764321 deg, new cmd heading: 118.532702 deg. 2025-01-08T23:17:17.436Z,1736378237.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068786 target range: 85.300003 and range: 86.90 m. 2025-01-08T23:17:17.524Z,1736378237.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:17.535Z,1736378237.535 [DAT](INFO): DAT read: 23:17:15.7494 LVL= 18768, 23585, 13234, 22739, AGC= 60, IDX= 433, 0.29,-1.238,-0.694, 1.176,-0.165, PHS=-0.986,-0.482, 1.337, RAW= 221.9, 1.2, CAL= 222.6, -3.3, ROT= 287.4, 3.3 2025-01-08T23:17:17.537Z,1736378237.537 [DAT](INFO): got valid direction response: 23:17:15.7494 LVL= 18768, 23585, 13234, 22739, AGC= 60, IDX= 433, 0.29,-1.238,-0.694, 1.176,-0.165, PHS=-0.986,-0.482, 1.337, RAW= 221.9, 1.2, CAL= 222.6, -3.3, ROT= 287.4, 3.3 2025-01-08T23:17:17.538Z,1736378237.538 [DAT](INFO): DAT read: Bearing 287.4, 3.3 (Local) 2025-01-08T23:17:17.544Z,1736378237.544 [DAT](INFO): Local bearing/azimuth received: Bearing 287.4, 3.3 (Local) 2025-01-08T23:17:17.546Z,1736378237.546 [DAT](INFO): DAT read: Range 10 to 50 : 87.0 m (Round-trip 116.1 ms) speed 0.0 m/s 2025-01-08T23:17:17.552Z,1736378237.552 [DAT](INFO): DAT read: user:3156> 2025-01-08T23:17:17.554Z,1736378237.554 [DAT](INFO): DAT read: Tx time:23:17:16.8291 2025-01-08T23:17:17.554Z,1736378237.554 [DAT](INFO): Ping request sent. 2025-01-08T23:17:17.555Z,1736378237.555 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:17.564Z,1736378237.564 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:17:17.565Z,1736378237.565 [DAT](INFO): direction in FSK: [-0.031381,-0.789149,-0.613400] 2025-01-08T23:17:17.565Z,1736378237.565 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:17.565Z,1736378237.565 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:17.574Z,1736378237.574 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:17.574Z,1736378237.574 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:17.776Z,1736378237.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:17.777Z,1736378237.777 [DAT](INFO): DAT read: TxSync time:23:17:16.8284 2025-01-08T23:17:17.781Z,1736378237.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:17.821Z,1736378237.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.000000 m, deltaT: 3.528651 s, deltaX: 0.099998 m, approachRate: 0.028339 m/s, rangeRepo size: 4 2025-01-08T23:17:17.828Z,1736378237.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.000000 m, bearing: 34.514841 deg, lat: 36.904491 deg, lon: -122.119872 deg, deltaT: 10.840306 s, deltaX: 1.699997 m, approachRate: 0.156822 m/s, posRepo size: 4 2025-01-08T23:17:17.829Z,1736378237.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m. 2025-01-08T23:17:17.836Z,1736378237.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.000000 m, nav range: 37.039787 m, bearing: 63.443071 deg, approach rate: 0.000000 m/s, LOS rate: -0.906879 deg/s, cmd heading: 118.532701 deg, new cmd heading: 117.396386 deg. 2025-01-08T23:17:17.837Z,1736378237.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048954 target range: 87.000000 and range: 87.00 m. 2025-01-08T23:17:18.028Z,1736378238.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:18.168Z,1736378238.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:18.186Z,1736378238.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:18.193Z,1736378238.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m. 2025-01-08T23:17:18.207Z,1736378238.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.000000 m, nav range: 37.002121 m, bearing: 63.087314 deg, approach rate: -0.099724 m/s, LOS rate: -0.942845 deg/s, cmd heading: 117.396390 deg, new cmd heading: 116.328161 deg. 2025-01-08T23:17:18.208Z,1736378238.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.030309 target range: 87.000000 and range: 87.00 m. 2025-01-08T23:17:18.282Z,1736378238.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:18.289Z,1736378238.289 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:18.289Z,1736378238.289 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:18.289Z,1736378238.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:18.533Z,1736378238.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:18.535Z,1736378238.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980604 2025-01-08T23:17:18.723Z,1736378238.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:18.732Z,1736378238.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m. 2025-01-08T23:17:18.734Z,1736378238.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.000000 m, nav range: 36.925423 m, bearing: 62.574418 deg, approach rate: -0.142469 m/s, LOS rate: -0.954683 deg/s, cmd heading: 116.328162 deg, new cmd heading: 114.786673 deg. 2025-01-08T23:17:18.736Z,1736378238.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.003405 target range: 87.000000 and range: 87.00 m. 2025-01-08T23:17:18.784Z,1736378238.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:18.784Z,1736378238.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230274 2025-01-08T23:17:19.036Z,1736378239.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:19.038Z,1736378239.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483140 2025-01-08T23:17:19.113Z,1736378239.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:19.158Z,1736378239.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m. 2025-01-08T23:17:19.164Z,1736378239.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.000000 m, nav range: 36.867271 m, bearing: 62.214982 deg, approach rate: -0.136420 m/s, LOS rate: -0.844544 deg/s, cmd heading: 114.786670 deg, new cmd heading: 113.706795 deg. 2025-01-08T23:17:19.165Z,1736378239.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.984558 target range: 87.000000 and range: 87.00 m. 2025-01-08T23:17:19.290Z,1736378239.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:19.291Z,1736378239.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736635 2025-01-08T23:17:19.544Z,1736378239.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:19.544Z,1736378239.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990081 2025-01-08T23:17:19.615Z,1736378239.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:19.625Z,1736378239.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m. 2025-01-08T23:17:19.640Z,1736378239.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.000000 m, nav range: 36.781437 m, bearing: 61.738504 deg, approach rate: -0.183683 m/s, LOS rate: -1.022017 deg/s, cmd heading: 113.706797 deg, new cmd heading: 112.274342 deg. 2025-01-08T23:17:19.641Z,1736378239.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.959557 target range: 87.000000 and range: 87.00 m. 2025-01-08T23:17:19.796Z,1736378239.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:19.796Z,1736378239.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242184 2025-01-08T23:17:19.972Z,1736378239.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:19.981Z,1736378239.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m. 2025-01-08T23:17:19.988Z,1736378239.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.000000 m, nav range: 36.716522 m, bearing: 61.400256 deg, approach rate: -0.182469 m/s, LOS rate: -0.952456 deg/s, cmd heading: 112.274342 deg, new cmd heading: 111.257918 deg. 2025-01-08T23:17:19.989Z,1736378239.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.941817 target range: 87.000000 and range: 87.00 m. 2025-01-08T23:17:20.048Z,1736378240.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:20.049Z,1736378240.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494784 2025-01-08T23:17:20.301Z,1736378240.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:20.304Z,1736378240.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748720 2025-01-08T23:17:20.397Z,1736378240.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:20.404Z,1736378240.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:20.407Z,1736378240.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m. 2025-01-08T23:17:20.426Z,1736378240.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.000000 m, nav range: 36.620846 m, bearing: 61.004210 deg, approach rate: -0.224550 m/s, LOS rate: -0.931929 deg/s, cmd heading: 111.257914 deg, new cmd heading: 110.066854 deg. 2025-01-08T23:17:20.427Z,1736378240.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.921029 target range: 87.000000 and range: 87.00 m. 2025-01-08T23:17:20.552Z,1736378240.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:20.552Z,1736378240.552 [DAT](INFO): DAT read: Rx Time:23:17:19.3488 2025-01-08T23:17:20.553Z,1736378240.553 [DAT](INFO): Rx dataTimestamp_ set to:1736378240.552664 2025-01-08T23:17:20.553Z,1736378240.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999299 2025-01-08T23:17:20.776Z,1736378240.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:20.785Z,1736378240.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m. 2025-01-08T23:17:20.788Z,1736378240.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.000000 m, nav range: 36.531849 m, bearing: 60.651367 deg, approach rate: -0.235500 m/s, LOS rate: -0.935950 deg/s, cmd heading: 110.066852 deg, new cmd heading: 109.005871 deg. 2025-01-08T23:17:20.790Z,1736378240.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.902511 target range: 87.000000 and range: 87.00 m. 2025-01-08T23:17:20.804Z,1736378240.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:20.805Z,1736378240.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250942 2025-01-08T23:17:21.057Z,1736378241.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:21.065Z,1736378241.065 [DAT](INFO): DAT read: 23:17:19.3489 LVL= 22832, 30769, 14834, 30499, AGC= 57, IDX= 443,-0.29,-0.500,-0.475, 1.442, 0.302, PHS=-0.714,-0.731, 1.137, RAW= 209.6, 3.4, CAL= 210.5, -3.3, ROT= 299.5, 3.3 2025-01-08T23:17:21.066Z,1736378241.066 [DAT](INFO): got valid direction response: 23:17:19.3489 LVL= 22832, 30769, 14834, 30499, AGC= 57, IDX= 443,-0.29,-0.500,-0.475, 1.442, 0.302, PHS=-0.714,-0.731, 1.137, RAW= 209.6, 3.4, CAL= 210.5, -3.3, ROT= 299.5, 3.3 2025-01-08T23:17:21.067Z,1736378241.067 [DAT](INFO): DAT read: Bearing 299.5, 3.3 (Local) 2025-01-08T23:17:21.067Z,1736378241.067 [DAT](INFO): Local bearing/azimuth received: Bearing 299.5, 3.3 (Local) 2025-01-08T23:17:21.069Z,1736378241.069 [DAT](INFO): DAT read: Range 10 to 50 : 86.6 m (Round-trip 115.5 ms) speed 0.1 m/s 2025-01-08T23:17:21.069Z,1736378241.069 [DAT](INFO): DAT read: user:3157> 2025-01-08T23:17:21.070Z,1736378241.070 [DAT](INFO): DAT read: Tx time:23:17:20.4292 2025-01-08T23:17:21.070Z,1736378241.070 [DAT](INFO): Ping request sent. 2025-01-08T23:17:21.070Z,1736378241.070 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:21.071Z,1736378241.071 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:17:21.084Z,1736378241.084 [DAT](INFO): direction in FSK: [-0.095668,-0.891479,-0.442847] 2025-01-08T23:17:21.085Z,1736378241.085 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:21.085Z,1736378241.085 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:21.094Z,1736378241.094 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:21.095Z,1736378241.095 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:21.189Z,1736378241.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:21.235Z,1736378241.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.599998 m, deltaT: 3.533213 s, deltaX: -0.400002 m, approachRate: -0.113212 m/s, rangeRepo size: 4 2025-01-08T23:17:21.242Z,1736378241.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.599998 m, bearing: 18.445429 deg, lat: 36.904491 deg, lon: -122.119872 deg, deltaT: 3.533213 s, deltaX: -0.400002 m, approachRate: -0.113212 m/s, posRepo size: 4 2025-01-08T23:17:21.243Z,1736378241.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.60 m. 2025-01-08T23:17:21.265Z,1736378241.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.599998 m, nav range: 36.420914 m, bearing: 60.259245 deg, approach rate: 0.000000 m/s, LOS rate: -0.935950 deg/s, cmd heading: 109.005871 deg, new cmd heading: 107.744486 deg. 2025-01-08T23:17:21.273Z,1736378241.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.880496 target range: 86.599998 and range: 86.60 m. 2025-01-08T23:17:21.310Z,1736378241.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:21.314Z,1736378241.314 [DAT](INFO): DAT read: TxSync time:23:17:20.4285 2025-01-08T23:17:21.561Z,1736378241.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:21.651Z,1736378241.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:21.665Z,1736378241.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.60 m. 2025-01-08T23:17:21.671Z,1736378241.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.599998 m, nav range: 36.297722 m, bearing: 59.820356 deg, approach rate: -0.285937 m/s, LOS rate: -1.022139 deg/s, cmd heading: 107.744486 deg, new cmd heading: 106.423597 deg. 2025-01-08T23:17:21.682Z,1736378241.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.857442 target range: 86.599998 and range: 86.60 m. 2025-01-08T23:17:21.812Z,1736378241.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:21.988Z,1736378241.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:22.002Z,1736378242.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.60 m. 2025-01-08T23:17:22.006Z,1736378242.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.599998 m, nav range: 36.200989 m, bearing: 59.502264 deg, approach rate: -0.286898 m/s, LOS rate: -0.945937 deg/s, cmd heading: 106.423595 deg, new cmd heading: 105.466862 deg. 2025-01-08T23:17:22.007Z,1736378242.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.840744 target range: 86.599998 and range: 86.60 m. 2025-01-08T23:17:22.064Z,1736378242.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:22.318Z,1736378242.318 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:22.431Z,1736378242.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:22.439Z,1736378242.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:22.441Z,1736378242.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.60 m. 2025-01-08T23:17:22.444Z,1736378242.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.599998 m, nav range: 36.067944 m, bearing: 59.087439 deg, approach rate: -0.302938 m/s, LOS rate: -0.948014 deg/s, cmd heading: 105.466863 deg, new cmd heading: 104.218006 deg. 2025-01-08T23:17:22.445Z,1736378242.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.818947 target range: 86.599998 and range: 86.60 m. 2025-01-08T23:17:22.568Z,1736378242.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:22.568Z,1736378242.568 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:22.568Z,1736378242.568 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:22.569Z,1736378242.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:22.793Z,1736378242.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:22.803Z,1736378242.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.60 m. 2025-01-08T23:17:22.806Z,1736378242.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.599998 m, nav range: 35.957237 m, bearing: 58.749706 deg, approach rate: -0.306316 m/s, LOS rate: -0.937354 deg/s, cmd heading: 104.218004 deg, new cmd heading: 103.201798 deg. 2025-01-08T23:17:22.808Z,1736378242.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.801211 target range: 86.599998 and range: 86.60 m. 2025-01-08T23:17:22.820Z,1736378242.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:22.820Z,1736378242.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750085 2025-01-08T23:17:23.072Z,1736378243.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:23.073Z,1736378243.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002631 2025-01-08T23:17:23.210Z,1736378243.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:23.219Z,1736378243.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.60 m. 2025-01-08T23:17:23.223Z,1736378243.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.599998 m, nav range: 35.825523 m, bearing: 58.361200 deg, approach rate: -0.316496 m/s, LOS rate: -0.936968 deg/s, cmd heading: 103.201795 deg, new cmd heading: 102.032163 deg. 2025-01-08T23:17:23.224Z,1736378243.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780797 target range: 86.599998 and range: 86.60 m. 2025-01-08T23:17:23.327Z,1736378243.327 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:23.329Z,1736378243.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258352 2025-01-08T23:17:23.577Z,1736378243.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:23.577Z,1736378243.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507120 2025-01-08T23:17:23.666Z,1736378243.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:23.708Z,1736378243.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.60 m. 2025-01-08T23:17:23.710Z,1736378243.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.599998 m, nav range: 35.676304 m, bearing: 57.942664 deg, approach rate: -0.307949 m/s, LOS rate: -0.867350 deg/s, cmd heading: 102.032166 deg, new cmd heading: 100.771523 deg. 2025-01-08T23:17:23.715Z,1736378243.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.758795 target range: 86.599998 and range: 86.60 m. 2025-01-08T23:17:23.828Z,1736378243.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:23.830Z,1736378243.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758950 2025-01-08T23:17:24.045Z,1736378244.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:24.053Z,1736378244.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.60 m. 2025-01-08T23:17:24.058Z,1736378244.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.599998 m, nav range: 35.549290 m, bearing: 57.595478 deg, approach rate: -0.362841 m/s, LOS rate: -0.995342 deg/s, cmd heading: 100.771525 deg, new cmd heading: 99.726367 deg. 2025-01-08T23:17:24.058Z,1736378244.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.740553 target range: 86.599998 and range: 86.60 m. 2025-01-08T23:17:24.080Z,1736378244.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:24.081Z,1736378244.081 [DAT](INFO): DAT read: Rx Time:23:17:22.9477 2025-01-08T23:17:24.081Z,1736378244.081 [DAT](INFO): Rx dataTimestamp_ set to:1736378244.080717 2025-01-08T23:17:24.081Z,1736378244.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011178 2025-01-08T23:17:24.333Z,1736378244.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:24.336Z,1736378244.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264745 2025-01-08T23:17:24.474Z,1736378244.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:24.481Z,1736378244.481 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:24.499Z,1736378244.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.60 m. 2025-01-08T23:17:24.502Z,1736378244.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.599998 m, nav range: 35.405575 m, bearing: 57.211822 deg, approach rate: -0.334324 m/s, LOS rate: -0.896116 deg/s, cmd heading: 99.726369 deg, new cmd heading: 98.570894 deg. 2025-01-08T23:17:24.503Z,1736378244.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.720387 target range: 86.599998 and range: 86.60 m. 2025-01-08T23:17:24.584Z,1736378244.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:24.585Z,1736378244.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514324 2025-01-08T23:17:24.836Z,1736378244.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:24.844Z,1736378244.844 [DAT](INFO): DAT read: 23:17:22.9477 LVL= 21792, 21393, 11906, 26675, AGC= 58, IDX= 431, 0.02,-0.756,-1.167, 0.860,-0.141, PHS=-0.527,-0.979, 0.998, RAW= 197.4, 5.7, CAL= 197.9, -2.5, ROT= 312.1, 2.5 2025-01-08T23:17:24.845Z,1736378244.845 [DAT](INFO): got valid direction response: 23:17:22.9477 LVL= 21792, 21393, 11906, 26675, AGC= 58, IDX= 431, 0.02,-0.756,-1.167, 0.860,-0.141, PHS=-0.527,-0.979, 0.998, RAW= 197.4, 5.7, CAL= 197.9, -2.5, ROT= 312.1, 2.5 2025-01-08T23:17:24.846Z,1736378244.846 [DAT](INFO): DAT read: Bearing 312.1, 2.5 (Local) 2025-01-08T23:17:24.846Z,1736378244.846 [DAT](INFO): Local bearing/azimuth received: Bearing 312.1, 2.5 (Local) 2025-01-08T23:17:24.848Z,1736378244.848 [DAT](INFO): DAT read: Range 10 to 50 : 85.7 m (Round-trip 114.3 ms) speed 0.2 m/s 2025-01-08T23:17:24.849Z,1736378244.849 [DAT](INFO): DAT read: user:3158> 2025-01-08T23:17:24.849Z,1736378244.849 [DAT](INFO): DAT read: Tx time:23:17:24.0292 2025-01-08T23:17:24.850Z,1736378244.850 [DAT](INFO): Ping request sent. 2025-01-08T23:17:24.850Z,1736378244.850 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:24.850Z,1736378244.850 [DAT](INFO): DAT read: TxSync time:23:17:24.0285 2025-01-08T23:17:24.851Z,1736378244.851 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:17:24.859Z,1736378244.859 [DAT](INFO): direction in FSK: [-0.163591,-0.952845,-0.255587] 2025-01-08T23:17:24.860Z,1736378244.860 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:24.860Z,1736378244.860 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:24.863Z,1736378244.863 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:24.867Z,1736378244.867 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:24.928Z,1736378244.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:24.959Z,1736378244.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.699997 m, deltaT: 3.778165 s, deltaX: -0.900002 m, approachRate: -0.238211 m/s, rangeRepo size: 4 2025-01-08T23:17:24.965Z,1736378244.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.699997 m, bearing: 5.784470 deg, lat: 36.904847 deg, lon: -122.119872 deg, deltaT: 3.778165 s, deltaX: -0.900002 m, approachRate: -0.238211 m/s, posRepo size: 4 2025-01-08T23:17:24.966Z,1736378244.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:17:24.974Z,1736378244.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 65.826195 m, bearing: 26.620385 deg, approach rate: 0.000000 m/s, LOS rate: -0.896116 deg/s, cmd heading: 98.570893 deg, new cmd heading: 97.294897 deg. 2025-01-08T23:17:24.975Z,1736378244.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.698116 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:17:25.089Z,1736378245.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:25.282Z,1736378245.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:25.296Z,1736378245.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:17:25.299Z,1736378245.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 65.812019 m, bearing: 26.420758 deg, approach rate: -0.041899 m/s, LOS rate: -0.590166 deg/s, cmd heading: 97.294897 deg, new cmd heading: 96.695912 deg. 2025-01-08T23:17:25.300Z,1736378245.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.687662 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:17:25.342Z,1736378245.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:25.592Z,1736378245.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:25.726Z,1736378245.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:25.748Z,1736378245.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:17:25.750Z,1736378245.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 65.795166 m, bearing: 26.182170 deg, approach rate: -0.037335 m/s, LOS rate: -0.528676 deg/s, cmd heading: 96.695910 deg, new cmd heading: 95.980001 deg. 2025-01-08T23:17:25.756Z,1736378245.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.675167 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:17:25.844Z,1736378245.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:26.072Z,1736378246.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:26.096Z,1736378246.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:26.098Z,1736378246.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:17:26.101Z,1736378246.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 65.778976 m, bearing: 25.996519 deg, approach rate: -0.046222 m/s, LOS rate: -0.530168 deg/s, cmd heading: 95.980004 deg, new cmd heading: 95.422931 deg. 2025-01-08T23:17:26.102Z,1736378246.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665444 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:17:26.349Z,1736378246.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:26.499Z,1736378246.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:26.508Z,1736378246.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:26.510Z,1736378246.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:17:26.512Z,1736378246.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 65.769424 m, bearing: 25.784912 deg, approach rate: -0.023205 m/s, LOS rate: -0.514134 deg/s, cmd heading: 95.422934 deg, new cmd heading: 94.788050 deg. 2025-01-08T23:17:26.513Z,1736378246.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654364 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:17:26.600Z,1736378246.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:26.601Z,1736378246.601 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:26.601Z,1736378246.601 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:26.602Z,1736378246.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:26.852Z,1736378246.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:26.852Z,1736378246.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002671 2025-01-08T23:17:26.879Z,1736378246.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:26.888Z,1736378246.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:17:26.891Z,1736378246.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 65.757301 m, bearing: 25.596783 deg, approach rate: -0.032099 m/s, LOS rate: -0.498207 deg/s, cmd heading: 94.788047 deg, new cmd heading: 94.223576 deg. 2025-01-08T23:17:26.908Z,1736378246.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644512 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:17:27.105Z,1736378247.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:27.106Z,1736378247.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256055 2025-01-08T23:17:27.290Z,1736378247.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:27.325Z,1736378247.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:17:27.328Z,1736378247.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 65.740372 m, bearing: 25.393335 deg, approach rate: -0.038665 m/s, LOS rate: -0.464766 deg/s, cmd heading: 94.223573 deg, new cmd heading: 93.613094 deg. 2025-01-08T23:17:27.329Z,1736378247.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633857 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:17:27.358Z,1736378247.358 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:27.361Z,1736378247.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510332 2025-01-08T23:17:27.608Z,1736378247.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:27.609Z,1736378247.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759409 2025-01-08T23:17:27.820Z,1736378247.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:27.830Z,1736378247.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:17:27.832Z,1736378247.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 65.724930 m, bearing: 25.147846 deg, approach rate: -0.030612 m/s, LOS rate: -0.486765 deg/s, cmd heading: 93.613091 deg, new cmd heading: 92.876495 deg. 2025-01-08T23:17:27.833Z,1736378247.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621001 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:17:27.860Z,1736378247.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:27.860Z,1736378247.860 [DAT](INFO): DAT read: Rx Time:23:17:26.5464 2025-01-08T23:17:27.861Z,1736378247.861 [DAT](INFO): Rx dataTimestamp_ set to:1736378247.860668 2025-01-08T23:17:27.861Z,1736378247.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011747 2025-01-08T23:17:28.112Z,1736378248.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:28.112Z,1736378248.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262645 2025-01-08T23:17:28.260Z,1736378248.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:28.278Z,1736378248.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:17:28.285Z,1736378248.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 65.708580 m, bearing: 24.944188 deg, approach rate: -0.036481 m/s, LOS rate: -0.454531 deg/s, cmd heading: 92.876496 deg, new cmd heading: 92.265394 deg. 2025-01-08T23:17:28.286Z,1736378248.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.610335 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:17:28.364Z,1736378248.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:28.381Z,1736378248.381 [DAT](INFO): DAT read: 23:17:26.5464 LVL= 26352, 26929, 15698, 31507, AGC= 64, IDX= 433, 0.17,-0.331,-1.149, 0.991, 0.063, PHS=-0.306,-1.165, 0.925, RAW= 185.9, 6.1, CAL= 185.8, -2.8, ROT= 324.2, 2.8 2025-01-08T23:17:28.414Z,1736378248.414 [DAT](INFO): got valid direction response: 23:17:26.5464 LVL= 26352, 26929, 15698, 31507, AGC= 64, IDX= 433, 0.17,-0.331,-1.149, 0.991, 0.063, PHS=-0.306,-1.165, 0.925, RAW= 185.9, 6.1, CAL= 185.8, -2.8, ROT= 324.2, 2.8 2025-01-08T23:17:28.429Z,1736378248.429 [DAT](INFO): DAT read: Bearing 324.2, 2.8 (Local) 2025-01-08T23:17:28.430Z,1736378248.430 [DAT](INFO): Local bearing/azimuth received: Bearing 324.2, 2.8 (Local) 2025-01-08T23:17:28.439Z,1736378248.439 [DAT](INFO): DAT read: Range 10 to 50 : 84.7 m (Round-trip 113.0 ms) speed 0.4 m/s 2025-01-08T23:17:28.444Z,1736378248.444 [DAT](INFO): DAT read: user:3159> 2025-01-08T23:17:28.444Z,1736378248.444 [DAT](INFO): DAT read: Tx time:23:17:27.6292 2025-01-08T23:17:28.445Z,1736378248.445 [DAT](INFO): Ping request sent. 2025-01-08T23:17:28.445Z,1736378248.445 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:28.445Z,1736378248.445 [DAT](INFO): DAT read: TxSync time:23:17:27.6285 2025-01-08T23:17:28.446Z,1736378248.446 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:17:28.447Z,1736378248.447 [DAT](INFO): direction in FSK: [-0.191409,-0.979389,-0.064491] 2025-01-08T23:17:28.451Z,1736378248.451 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:28.452Z,1736378248.452 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:28.460Z,1736378248.460 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:28.460Z,1736378248.460 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:28.616Z,1736378248.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:28.674Z,1736378248.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:28.701Z,1736378248.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.699997 m, deltaT: 3.528165 s, deltaX: -1.000000 m, approachRate: -0.283433 m/s, rangeRepo size: 4 2025-01-08T23:17:28.708Z,1736378248.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.699997 m, bearing: 355.203123 deg, lat: 36.904982 deg, lon: -122.119955 deg, deltaT: 3.528165 s, deltaX: -1.000000 m, approachRate: -0.283433 m/s, posRepo size: 4 2025-01-08T23:17:28.709Z,1736378248.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:17:28.717Z,1736378248.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 77.386322 m, bearing: 15.089298 deg, approach rate: 0.000000 m/s, LOS rate: -0.454531 deg/s, cmd heading: 92.265392 deg, new cmd heading: 91.688936 deg. 2025-01-08T23:17:28.718Z,1736378248.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.600274 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:17:28.868Z,1736378248.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:29.018Z,1736378249.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:29.042Z,1736378249.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:29.045Z,1736378249.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:17:29.048Z,1736378249.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 77.403717 m, bearing: 14.965932 deg, approach rate: 0.050451 m/s, LOS rate: -0.357721 deg/s, cmd heading: 91.688938 deg, new cmd heading: 91.318927 deg. 2025-01-08T23:17:29.049Z,1736378249.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.593816 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:17:29.121Z,1736378249.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:29.122Z,1736378249.122 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:29.122Z,1736378249.122 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:29.122Z,1736378249.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:29.374Z,1736378249.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:29.376Z,1736378249.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.930925 2025-01-08T23:17:29.499Z,1736378249.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:29.513Z,1736378249.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:17:29.520Z,1736378249.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 77.431854 m, bearing: 14.810273 deg, approach rate: 0.060176 m/s, LOS rate: -0.332779 deg/s, cmd heading: 91.318926 deg, new cmd heading: 90.852131 deg. 2025-01-08T23:17:29.521Z,1736378249.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.585669 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:17:29.625Z,1736378249.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:29.626Z,1736378249.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.181000 2025-01-08T23:17:29.819Z,1736378249.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:29.830Z,1736378249.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:17:29.841Z,1736378249.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 77.447701 m, bearing: 14.699735 deg, approach rate: 0.049899 m/s, LOS rate: -0.348010 deg/s, cmd heading: 90.852130 deg, new cmd heading: 90.520588 deg. 2025-01-08T23:17:29.842Z,1736378249.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.579882 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:17:29.876Z,1736378249.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:29.877Z,1736378249.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.431823 2025-01-08T23:17:30.128Z,1736378250.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:30.128Z,1736378250.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.683396 2025-01-08T23:17:30.213Z,1736378250.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:30.222Z,1736378250.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:17:30.225Z,1736378250.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 77.463753 m, bearing: 14.568557 deg, approach rate: 0.041095 m/s, LOS rate: -0.335755 deg/s, cmd heading: 90.520586 deg, new cmd heading: 90.127141 deg. 2025-01-08T23:17:30.226Z,1736378250.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.573015 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:17:30.382Z,1736378250.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:30.384Z,1736378250.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.939487 2025-01-08T23:17:30.632Z,1736378250.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:30.633Z,1736378250.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.187605 2025-01-08T23:17:30.662Z,1736378250.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:30.706Z,1736378250.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:17:30.714Z,1736378250.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 77.484184 m, bearing: 14.420761 deg, approach rate: 0.042179 m/s, LOS rate: -0.305034 deg/s, cmd heading: 90.127140 deg, new cmd heading: 89.683878 deg. 2025-01-08T23:17:30.715Z,1736378250.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.565279 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:17:30.884Z,1736378250.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:30.884Z,1736378250.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.439548 2025-01-08T23:17:31.024Z,1736378251.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:31.035Z,1736378251.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:17:31.044Z,1736378251.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 77.496025 m, bearing: 14.301253 deg, approach rate: 0.035953 m/s, LOS rate: -0.362812 deg/s, cmd heading: 89.683881 deg, new cmd heading: 89.325416 deg. 2025-01-08T23:17:31.045Z,1736378251.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559023 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:17:31.138Z,1736378251.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:31.140Z,1736378251.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.695150 2025-01-08T23:17:31.388Z,1736378251.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:31.389Z,1736378251.389 [DAT](INFO): DAT read: Rx Time:23:17:30.1446 2025-01-08T23:17:31.390Z,1736378251.390 [DAT](INFO): Rx dataTimestamp_ set to:1736378251.389573 2025-01-08T23:17:31.390Z,1736378251.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945481 2025-01-08T23:17:31.558Z,1736378251.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:31.574Z,1736378251.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:31.581Z,1736378251.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:17:31.588Z,1736378251.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 77.509361 m, bearing: 14.121373 deg, approach rate: 0.024438 m/s, LOS rate: -0.329559 deg/s, cmd heading: 89.325419 deg, new cmd heading: 88.785888 deg. 2025-01-08T23:17:31.589Z,1736378251.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549606 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:17:31.640Z,1736378251.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:31.640Z,1736378251.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195481 2025-01-08T23:17:31.875Z,1736378251.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:31.884Z,1736378251.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:17:31.886Z,1736378251.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 77.515923 m, bearing: 14.014809 deg, approach rate: 0.021689 m/s, LOS rate: -0.352232 deg/s, cmd heading: 88.785889 deg, new cmd heading: 88.466228 deg. 2025-01-08T23:17:31.888Z,1736378251.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544027 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:17:31.892Z,1736378251.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:31.903Z,1736378251.903 [DAT](INFO): DAT read: 23:17:30.1446 LVL= 32752, 32753, 18674, 32755, AGC= 67, IDX= 416,-0.26,-0.780,-1.651, 0.555,-0.524, PHS=-0.169,-1.080, 1.076, RAW= 185.1, 1.9, CAL= 185.2, -6.2, ROT= 324.8, 6.2 2025-01-08T23:17:31.904Z,1736378251.904 [DAT](INFO): got valid direction response: 23:17:30.1446 LVL= 32752, 32753, 18674, 32755, AGC= 67, IDX= 416,-0.26,-0.780,-1.651, 0.555,-0.524, PHS=-0.169,-1.080, 1.076, RAW= 185.1, 1.9, CAL= 185.2, -6.2, ROT= 324.8, 6.2 2025-01-08T23:17:31.906Z,1736378251.906 [DAT](INFO): DAT read: Bearing 324.8, 6.2 (Local) 2025-01-08T23:17:31.906Z,1736378251.906 [DAT](INFO): Local bearing/azimuth received: Bearing 324.8, 6.2 (Local) 2025-01-08T23:17:31.920Z,1736378251.920 [DAT](INFO): DAT read: Range 10 to 50 : 83.4 m (Round-trip 111.2 ms) speed 0.3 m/s 2025-01-08T23:17:31.921Z,1736378251.921 [DAT](INFO): DAT read: user:3160> 2025-01-08T23:17:31.922Z,1736378251.922 [DAT](INFO): DAT read: Tx time:23:17:31.2292 2025-01-08T23:17:31.923Z,1736378251.923 [DAT](INFO): Ping request sent. 2025-01-08T23:17:31.923Z,1736378251.923 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:31.932Z,1736378251.932 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:17:31.932Z,1736378251.932 [DAT](INFO): direction in FSK: [-0.114561,-0.992315,-0.046761] 2025-01-08T23:17:31.933Z,1736378251.933 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:31.935Z,1736378251.935 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:31.944Z,1736378251.944 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:31.945Z,1736378251.945 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:32.149Z,1736378252.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:32.150Z,1736378252.150 [DAT](INFO): DAT read: TxSync time:23:17:31.2285 2025-01-08T23:17:32.245Z,1736378252.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:32.265Z,1736378252.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.400002 m, deltaT: 3.527960 s, deltaX: -1.299995 m, approachRate: -0.368484 m/s, rangeRepo size: 4 2025-01-08T23:17:32.267Z,1736378252.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.400002 m, bearing: 352.430363 deg, lat: 36.905045 deg, lon: -122.120110 deg, deltaT: 3.527960 s, deltaX: -1.299995 m, approachRate: -0.368484 m/s, posRepo size: 4 2025-01-08T23:17:32.268Z,1736378252.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.40 m. 2025-01-08T23:17:32.270Z,1736378252.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.400002 m, nav range: 82.399590 m, bearing: 3.331265 deg, approach rate: 0.000000 m/s, LOS rate: -0.352232 deg/s, cmd heading: 88.466229 deg, new cmd heading: 88.068962 deg. 2025-01-08T23:17:32.292Z,1736378252.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537093 target range: 83.400002 and range: 83.40 m. 2025-01-08T23:17:32.400Z,1736378252.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:32.652Z,1736378252.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:32.734Z,1736378252.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:32.768Z,1736378252.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.40 m. 2025-01-08T23:17:32.770Z,1736378252.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.400002 m, nav range: 82.443100 m, bearing: 3.164204 deg, approach rate: 0.089255 m/s, LOS rate: -0.342517 deg/s, cmd heading: 88.068965 deg, new cmd heading: 87.568060 deg. 2025-01-08T23:17:32.776Z,1736378252.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.528351 target range: 83.400002 and range: 83.40 m. 2025-01-08T23:17:32.904Z,1736378252.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:33.129Z,1736378253.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:33.140Z,1736378253.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.40 m. 2025-01-08T23:17:33.147Z,1736378253.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.400002 m, nav range: 82.478668 m, bearing: 3.029733 deg, approach rate: 0.090865 m/s, LOS rate: -0.343381 deg/s, cmd heading: 87.568059 deg, new cmd heading: 87.164827 deg. 2025-01-08T23:17:33.148Z,1736378253.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.521313 target range: 83.400002 and range: 83.40 m. 2025-01-08T23:17:33.156Z,1736378253.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:33.408Z,1736378253.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:33.547Z,1736378253.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:33.580Z,1736378253.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.40 m. 2025-01-08T23:17:33.583Z,1736378253.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.400002 m, nav range: 82.510666 m, bearing: 2.870536 deg, approach rate: 0.072333 m/s, LOS rate: -0.359735 deg/s, cmd heading: 87.164825 deg, new cmd heading: 86.687432 deg. 2025-01-08T23:17:33.589Z,1736378253.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.512981 target range: 83.400002 and range: 83.40 m. 2025-01-08T23:17:33.661Z,1736378253.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:33.912Z,1736378253.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:33.916Z,1736378253.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:33.924Z,1736378253.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:33.926Z,1736378253.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.40 m. 2025-01-08T23:17:33.929Z,1736378253.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.400002 m, nav range: 82.537666 m, bearing: 2.729502 deg, approach rate: 0.078097 m/s, LOS rate: -0.407801 deg/s, cmd heading: 86.687436 deg, new cmd heading: 86.264478 deg. 2025-01-08T23:17:33.930Z,1736378253.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.505599 target range: 83.400002 and range: 83.40 m. 2025-01-08T23:17:34.164Z,1736378254.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:34.164Z,1736378254.164 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:34.164Z,1736378254.164 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:34.164Z,1736378254.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:34.336Z,1736378254.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:34.345Z,1736378254.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.40 m. 2025-01-08T23:17:34.368Z,1736378254.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.400002 m, nav range: 82.567001 m, bearing: 2.569461 deg, approach rate: 0.069955 m/s, LOS rate: -0.381511 deg/s, cmd heading: 86.264476 deg, new cmd heading: 85.784537 deg. 2025-01-08T23:17:34.369Z,1736378254.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497223 target range: 83.400002 and range: 83.40 m. 2025-01-08T23:17:34.416Z,1736378254.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:34.417Z,1736378254.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493834 2025-01-08T23:17:34.668Z,1736378254.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:34.669Z,1736378254.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746135 2025-01-08T23:17:34.699Z,1736378254.699 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:17:34.771Z,1736378254.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:34.804Z,1736378254.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.40 m. 2025-01-08T23:17:34.812Z,1736378254.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.400002 m, nav range: 82.593529 m, bearing: 2.381080 deg, approach rate: 0.057844 m/s, LOS rate: -0.410638 deg/s, cmd heading: 85.784540 deg, new cmd heading: 85.219596 deg. 2025-01-08T23:17:34.814Z,1736378254.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487363 target range: 83.400002 and range: 83.40 m. 2025-01-08T23:17:34.920Z,1736378254.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:34.921Z,1736378254.921 [DAT](INFO): DAT read: Rx Time:23:17:33.7426 2025-01-08T23:17:34.923Z,1736378254.923 [DAT](INFO): Rx dataTimestamp_ set to:1736378254.921939 2025-01-08T23:17:34.924Z,1736378254.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001206 2025-01-08T23:17:35.156Z,1736378255.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:35.164Z,1736378255.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.40 m. 2025-01-08T23:17:35.167Z,1736378255.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.400002 m, nav range: 82.617737 m, bearing: 2.214521 deg, approach rate: 0.067194 m/s, LOS rate: -0.462176 deg/s, cmd heading: 85.219594 deg, new cmd heading: 84.720078 deg. 2025-01-08T23:17:35.168Z,1736378255.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478644 target range: 83.400002 and range: 83.40 m. 2025-01-08T23:17:35.172Z,1736378255.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:35.173Z,1736378255.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250106 2025-01-08T23:17:35.425Z,1736378255.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:35.448Z,1736378255.448 [DAT](INFO): DAT read: 23:17:33.7426 LVL= 32752, 32753, 24850, 32755, AGC= 64, IDX= 426,-0.02, 2.343, 1.476,-2.673, 2.537, PHS=-0.106,-1.014, 1.071, RAW= 184.3, 0.6, CAL= 184.4, -7.2, ROT= 325.6, 7.2 2025-01-08T23:17:35.451Z,1736378255.451 [DAT](INFO): got valid direction response: 23:17:33.7426 LVL= 32752, 32753, 24850, 32755, AGC= 64, IDX= 426,-0.02, 2.343, 1.476,-2.673, 2.537, PHS=-0.106,-1.014, 1.071, RAW= 184.3, 0.6, CAL= 184.4, -7.2, ROT= 325.6, 7.2 2025-01-08T23:17:35.452Z,1736378255.452 [DAT](INFO): DAT read: Bearing 325.6, 7.2 (Local) 2025-01-08T23:17:35.452Z,1736378255.452 [DAT](INFO): Local bearing/azimuth received: Bearing 325.6, 7.2 (Local) 2025-01-08T23:17:35.454Z,1736378255.454 [DAT](INFO): DAT read: Range 10 to 50 : 81.8 m (Round-trip 109.1 ms) speed 0.5 m/s 2025-01-08T23:17:35.454Z,1736378255.454 [DAT](INFO): DAT read: user:3161> 2025-01-08T23:17:35.481Z,1736378255.481 [DAT](INFO): DAT read: Tx time:23:17:34.8293 2025-01-08T23:17:35.483Z,1736378255.483 [DAT](INFO): Ping request sent. 2025-01-08T23:17:35.484Z,1736378255.484 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:35.485Z,1736378255.485 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:17:35.536Z,1736378255.536 [DAT](INFO): direction in FSK: [-0.091066,-0.995377,-0.030533] 2025-01-08T23:17:35.536Z,1736378255.536 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:35.536Z,1736378255.536 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:35.548Z,1736378255.548 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:35.548Z,1736378255.548 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:35.647Z,1736378255.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:35.677Z,1736378255.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:35.679Z,1736378255.679 [DAT](INFO): DAT read: TxSync time:23:17:34.8286 2025-01-08T23:17:35.701Z,1736378255.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.800003 m, deltaT: 3.533811 s, deltaX: -1.599998 m, approachRate: -0.452769 m/s, rangeRepo size: 4 2025-01-08T23:17:35.703Z,1736378255.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.800003 m, bearing: 351.497123 deg, lat: 36.905045 deg, lon: -122.120261 deg, deltaT: 3.533811 s, deltaX: -1.599998 m, approachRate: -0.452769 m/s, posRepo size: 4 2025-01-08T23:17:35.708Z,1736378255.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T23:17:35.710Z,1736378255.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.800003 m, nav range: 83.266945 m, bearing: 352.748332 deg, approach rate: 0.000000 m/s, LOS rate: -0.462176 deg/s, cmd heading: 84.720075 deg, new cmd heading: 83.977155 deg. 2025-01-08T23:17:35.716Z,1736378255.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.465678 target range: 81.800003 and range: 81.80 m. 2025-01-08T23:17:35.928Z,1736378255.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:35.994Z,1736378255.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:36.000Z,1736378256.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:36.002Z,1736378256.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T23:17:36.006Z,1736378256.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.800003 m, nav range: 83.323692 m, bearing: 352.589793 deg, approach rate: 0.187685 m/s, LOS rate: -0.523990 deg/s, cmd heading: 83.977155 deg, new cmd heading: 83.501874 deg. 2025-01-08T23:17:36.007Z,1736378256.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457383 target range: 81.800003 and range: 81.80 m. 2025-01-08T23:17:36.181Z,1736378256.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:36.182Z,1736378256.182 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:36.182Z,1736378256.182 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:36.182Z,1736378256.182 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:36.393Z,1736378256.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:36.402Z,1736378256.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T23:17:36.406Z,1736378256.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.800003 m, nav range: 83.389267 m, bearing: 352.407624 deg, approach rate: 0.164176 m/s, LOS rate: -0.455727 deg/s, cmd heading: 83.501877 deg, new cmd heading: 82.955817 deg. 2025-01-08T23:17:36.407Z,1736378256.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447852 target range: 81.800003 and range: 81.80 m. 2025-01-08T23:17:36.432Z,1736378256.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:36.433Z,1736378256.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.950340 2025-01-08T23:17:36.684Z,1736378256.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:36.684Z,1736378256.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.202012 2025-01-08T23:17:36.854Z,1736378256.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:36.862Z,1736378256.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T23:17:36.869Z,1736378256.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.800003 m, nav range: 83.466515 m, bearing: 352.181315 deg, approach rate: 0.167766 m/s, LOS rate: -0.491041 deg/s, cmd heading: 82.955817 deg, new cmd heading: 82.277551 deg. 2025-01-08T23:17:36.870Z,1736378256.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436014 target range: 81.800003 and range: 81.80 m. 2025-01-08T23:17:36.936Z,1736378256.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:36.937Z,1736378256.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454065 2025-01-08T23:17:37.189Z,1736378257.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:37.190Z,1736378257.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.707351 2025-01-08T23:17:37.343Z,1736378257.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:37.352Z,1736378257.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T23:17:37.356Z,1736378257.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.800003 m, nav range: 83.547462 m, bearing: 351.941208 deg, approach rate: 0.165295 m/s, LOS rate: -0.489819 deg/s, cmd heading: 82.277552 deg, new cmd heading: 81.557968 deg. 2025-01-08T23:17:37.357Z,1736378257.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423455 target range: 81.800003 and range: 81.80 m. 2025-01-08T23:17:37.440Z,1736378257.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:37.441Z,1736378257.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959050 2025-01-08T23:17:37.696Z,1736378257.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:37.696Z,1736378257.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213873 2025-01-08T23:17:37.771Z,1736378257.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:37.780Z,1736378257.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T23:17:37.783Z,1736378257.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.800003 m, nav range: 83.618675 m, bearing: 351.724014 deg, approach rate: 0.166444 m/s, LOS rate: -0.507209 deg/s, cmd heading: 81.557971 deg, new cmd heading: 80.906972 deg. 2025-01-08T23:17:37.784Z,1736378257.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412093 target range: 81.800003 and range: 81.80 m. 2025-01-08T23:17:37.948Z,1736378257.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:37.948Z,1736378257.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465934 2025-01-08T23:17:38.196Z,1736378258.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:38.200Z,1736378258.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:38.201Z,1736378258.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718303 2025-01-08T23:17:38.213Z,1736378258.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:38.219Z,1736378258.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T23:17:38.227Z,1736378258.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.800003 m, nav range: 83.685852 m, bearing: 351.508274 deg, approach rate: 0.154326 m/s, LOS rate: -0.495222 deg/s, cmd heading: 80.906972 deg, new cmd heading: 80.260301 deg. 2025-01-08T23:17:38.228Z,1736378258.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400807 target range: 81.800003 and range: 81.80 m. 2025-01-08T23:17:38.452Z,1736378258.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:38.453Z,1736378258.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970622 2025-01-08T23:17:38.632Z,1736378258.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:38.641Z,1736378258.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T23:17:38.646Z,1736378258.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.800003 m, nav range: 83.753700 m, bearing: 351.289936 deg, approach rate: 0.159343 m/s, LOS rate: -0.512356 deg/s, cmd heading: 80.260303 deg, new cmd heading: 79.605849 deg. 2025-01-08T23:17:38.647Z,1736378258.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389384 target range: 81.800003 and range: 81.80 m. 2025-01-08T23:17:38.704Z,1736378258.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:38.706Z,1736378258.706 [DAT](INFO): DAT read: Rx Time:23:17:37.3403 2025-01-08T23:17:38.706Z,1736378258.706 [DAT](INFO): Rx dataTimestamp_ set to:1736378258.705684 2025-01-08T23:17:38.706Z,1736378258.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224061 2025-01-08T23:17:38.956Z,1736378258.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:38.957Z,1736378258.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474144 2025-01-08T23:17:39.012Z,1736378259.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:39.058Z,1736378259.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.80 m. 2025-01-08T23:17:39.077Z,1736378259.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.800003 m, nav range: 83.809006 m, bearing: 351.109469 deg, approach rate: 0.132701 m/s, LOS rate: -0.432726 deg/s, cmd heading: 79.605848 deg, new cmd heading: 79.064823 deg. 2025-01-08T23:17:39.078Z,1736378259.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379941 target range: 81.800003 and range: 81.80 m. 2025-01-08T23:17:39.208Z,1736378259.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:39.214Z,1736378259.214 [DAT](INFO): DAT read: 23:17:37.3403 LVL= 26032, 24113, 14290, 29011, AGC= 64, IDX= 418,-0.05, 0.383,-0.455, 1.584, 0.548, PHS=-0.077,-0.956, 1.033, RAW= 183.8, 0.0, CAL= 184.1, -7.7, ROT= 325.9, 7.7 2025-01-08T23:17:39.215Z,1736378259.215 [DAT](INFO): got valid direction response: 23:17:37.3403 LVL= 26032, 24113, 14290, 29011, AGC= 64, IDX= 418,-0.05, 0.383,-0.455, 1.584, 0.548, PHS=-0.077,-0.956, 1.033, RAW= 183.8, 0.0, CAL= 184.1, -7.7, ROT= 325.9, 7.7 2025-01-08T23:17:39.216Z,1736378259.216 [DAT](INFO): DAT read: Bearing 325.9, 7.7 (Local) 2025-01-08T23:17:39.217Z,1736378259.217 [DAT](INFO): Local bearing/azimuth received: Bearing 325.9, 7.7 (Local) 2025-01-08T23:17:39.218Z,1736378259.218 [DAT](INFO): DAT read: Range 10 to 50 : 80.1 m (Round-trip 106.8 ms) speed 0.4 m/s 2025-01-08T23:17:39.219Z,1736378259.219 [DAT](INFO): DAT read: user:3162> 2025-01-08T23:17:39.221Z,1736378259.221 [DAT](INFO): DAT read: Tx time:23:17:38.4293 2025-01-08T23:17:39.222Z,1736378259.222 [DAT](INFO): Ping request sent. 2025-01-08T23:17:39.222Z,1736378259.222 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:39.224Z,1736378259.224 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:17:39.225Z,1736378259.225 [DAT](INFO): direction in FSK: [-0.081387,-0.996427,-0.022556] 2025-01-08T23:17:39.225Z,1736378259.225 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:39.226Z,1736378259.226 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:39.229Z,1736378259.229 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:39.229Z,1736378259.229 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:39.401Z,1736378259.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:39.462Z,1736378259.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:39.463Z,1736378259.463 [DAT](INFO): DAT read: TxSync time:23:17:38.4286 2025-01-08T23:17:39.469Z,1736378259.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.099998 m, deltaT: 3.781978 s, deltaX: -1.700005 m, approachRate: -0.449501 m/s, rangeRepo size: 4 2025-01-08T23:17:39.480Z,1736378259.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.099998 m, bearing: 348.267004 deg, lat: 36.905045 deg, lon: -122.120278 deg, deltaT: 3.781978 s, deltaX: -1.700005 m, approachRate: -0.449501 m/s, posRepo size: 4 2025-01-08T23:17:39.480Z,1736378259.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:39.483Z,1736378259.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.123627 m, bearing: 349.884139 deg, approach rate: 0.000000 m/s, LOS rate: -0.432726 deg/s, cmd heading: 79.064822 deg, new cmd heading: 78.531767 deg. 2025-01-08T23:17:39.489Z,1736378259.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370638 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:39.712Z,1736378259.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:39.847Z,1736378259.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:39.873Z,1736378259.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:39.876Z,1736378259.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.197250 m, bearing: 349.669613 deg, approach rate: 0.181826 m/s, LOS rate: -0.529343 deg/s, cmd heading: 78.531767 deg, new cmd heading: 77.888780 deg. 2025-01-08T23:17:39.877Z,1736378259.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359416 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:39.964Z,1736378259.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:40.216Z,1736378260.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:40.222Z,1736378260.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:40.229Z,1736378260.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:40.231Z,1736378260.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:40.234Z,1736378260.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.260262 m, bearing: 349.488953 deg, approach rate: 0.176162 m/s, LOS rate: -0.504697 deg/s, cmd heading: 77.888779 deg, new cmd heading: 77.347223 deg. 2025-01-08T23:17:40.235Z,1736378260.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349964 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:40.468Z,1736378260.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:40.468Z,1736378260.468 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:40.468Z,1736378260.468 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:40.469Z,1736378260.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:40.676Z,1736378260.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:40.687Z,1736378260.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:40.693Z,1736378260.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.326073 m, bearing: 349.285063 deg, approach rate: 0.144384 m/s, LOS rate: -0.446965 deg/s, cmd heading: 77.347221 deg, new cmd heading: 76.736052 deg. 2025-01-08T23:17:40.693Z,1736378260.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339297 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:40.720Z,1736378260.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:40.721Z,1736378260.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498474 2025-01-08T23:17:40.973Z,1736378260.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:40.975Z,1736378260.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752304 2025-01-08T23:17:41.026Z,1736378261.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:41.034Z,1736378261.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:41.042Z,1736378261.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.375145 m, bearing: 349.127930 deg, approach rate: 0.141194 m/s, LOS rate: -0.451852 deg/s, cmd heading: 76.736055 deg, new cmd heading: 76.264940 deg. 2025-01-08T23:17:41.043Z,1736378261.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331074 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:41.224Z,1736378261.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:41.224Z,1736378261.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002344 2025-01-08T23:17:41.426Z,1736378261.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:41.442Z,1736378261.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:41.445Z,1736378261.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.428688 m, bearing: 348.948144 deg, approach rate: 0.131406 m/s, LOS rate: -0.440951 deg/s, cmd heading: 76.264943 deg, new cmd heading: 75.725943 deg. 2025-01-08T23:17:41.446Z,1736378261.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321667 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:41.476Z,1736378261.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:41.484Z,1736378261.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261628 2025-01-08T23:17:41.728Z,1736378261.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:41.728Z,1736378261.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506271 2025-01-08T23:17:41.848Z,1736378261.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:41.873Z,1736378261.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:41.889Z,1736378261.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.475914 m, bearing: 348.774124 deg, approach rate: 0.109658 m/s, LOS rate: -0.403844 deg/s, cmd heading: 75.725945 deg, new cmd heading: 75.204195 deg. 2025-01-08T23:17:41.896Z,1736378261.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312561 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:41.980Z,1736378261.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:41.981Z,1736378261.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758728 2025-01-08T23:17:42.232Z,1736378262.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:42.233Z,1736378262.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010562 2025-01-08T23:17:42.252Z,1736378262.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:42.260Z,1736378262.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:42.262Z,1736378262.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:42.265Z,1736378262.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.518913 m, bearing: 348.607230 deg, approach rate: 0.110331 m/s, LOS rate: -0.428014 deg/s, cmd heading: 75.204194 deg, new cmd heading: 74.703778 deg. 2025-01-08T23:17:42.266Z,1736378262.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.303827 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:42.484Z,1736378262.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:42.485Z,1736378262.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262940 2025-01-08T23:17:42.701Z,1736378262.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:42.712Z,1736378262.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:42.715Z,1736378262.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.556999 m, bearing: 348.439563 deg, approach rate: 0.084642 m/s, LOS rate: -0.372452 deg/s, cmd heading: 74.703780 deg, new cmd heading: 74.201021 deg. 2025-01-08T23:17:42.716Z,1736378262.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295052 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:42.736Z,1736378262.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:42.736Z,1736378262.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514221 2025-01-08T23:17:42.988Z,1736378262.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:42.988Z,1736378262.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766302 2025-01-08T23:17:43.061Z,1736378263.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:43.069Z,1736378263.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:43.073Z,1736378263.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.585625 m, bearing: 348.305370 deg, approach rate: 0.080246 m/s, LOS rate: -0.376056 deg/s, cmd heading: 74.201024 deg, new cmd heading: 73.798588 deg. 2025-01-08T23:17:43.074Z,1736378263.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.288028 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:43.240Z,1736378263.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:43.241Z,1736378263.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018714 2025-01-08T23:17:43.441Z,1736378263.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:43.450Z,1736378263.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:43.453Z,1736378263.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.613884 m, bearing: 348.163008 deg, approach rate: 0.074106 m/s, LOS rate: -0.373197 deg/s, cmd heading: 73.798589 deg, new cmd heading: 73.371654 deg. 2025-01-08T23:17:43.454Z,1736378263.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.280577 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:43.492Z,1736378263.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:43.493Z,1736378263.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270529 2025-01-08T23:17:43.744Z,1736378263.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:43.744Z,1736378263.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.522337 2025-01-08T23:17:43.866Z,1736378263.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:43.891Z,1736378263.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:43.894Z,1736378263.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.639381 m, bearing: 348.017407 deg, approach rate: 0.057856 m/s, LOS rate: -0.330282 deg/s, cmd heading: 73.371654 deg, new cmd heading: 72.934990 deg. 2025-01-08T23:17:43.903Z,1736378263.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.272956 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:43.996Z,1736378263.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:43.996Z,1736378263.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774408 2025-01-08T23:17:44.248Z,1736378264.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:44.248Z,1736378264.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026392 2025-01-08T23:17:44.284Z,1736378264.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:44.293Z,1736378264.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:44.316Z,1736378264.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:44.318Z,1736378264.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.662643 m, bearing: 347.874197 deg, approach rate: 0.057526 m/s, LOS rate: -0.354056 deg/s, cmd heading: 72.934993 deg, new cmd heading: 72.505490 deg. 2025-01-08T23:17:44.324Z,1736378264.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265460 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:44.500Z,1736378264.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:44.501Z,1736378264.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278951 2025-01-08T23:17:44.752Z,1736378264.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:44.752Z,1736378264.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530360 2025-01-08T23:17:44.814Z,1736378264.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:44.826Z,1736378264.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:44.837Z,1736378264.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.684204 m, bearing: 347.704930 deg, approach rate: 0.040650 m/s, LOS rate: -0.319052 deg/s, cmd heading: 72.505491 deg, new cmd heading: 71.997835 deg. 2025-01-08T23:17:44.838Z,1736378264.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256599 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:45.006Z,1736378265.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:45.008Z,1736378265.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785426 2025-01-08T23:17:45.256Z,1736378265.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:45.257Z,1736378265.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035034 2025-01-08T23:17:45.291Z,1736378265.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:45.313Z,1736378265.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:45.316Z,1736378265.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.699516 m, bearing: 347.552348 deg, approach rate: 0.031438 m/s, LOS rate: -0.313211 deg/s, cmd heading: 71.997837 deg, new cmd heading: 71.540182 deg. 2025-01-08T23:17:45.317Z,1736378265.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248612 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:45.510Z,1736378265.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:45.510Z,1736378265.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288222 2025-01-08T23:17:45.716Z,1736378265.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:45.726Z,1736378265.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:45.745Z,1736378265.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.708969 m, bearing: 347.420503 deg, approach rate: 0.022885 m/s, LOS rate: -0.319154 deg/s, cmd heading: 71.540180 deg, new cmd heading: 71.144696 deg. 2025-01-08T23:17:45.746Z,1736378265.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.241709 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:45.760Z,1736378265.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:45.761Z,1736378265.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538433 2025-01-08T23:17:46.012Z,1736378266.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:46.012Z,1736378266.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.790300 2025-01-08T23:17:46.095Z,1736378266.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:46.103Z,1736378266.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:46.107Z,1736378266.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.716179 m, bearing: 347.302998 deg, approach rate: 0.019112 m/s, LOS rate: -0.311467 deg/s, cmd heading: 71.144698 deg, new cmd heading: 70.792220 deg. 2025-01-08T23:17:46.124Z,1736378266.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.235557 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:46.264Z,1736378266.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:46.264Z,1736378266.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.042308 2025-01-08T23:17:46.489Z,1736378266.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:46.497Z,1736378266.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:46.499Z,1736378266.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:46.502Z,1736378266.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.722321 m, bearing: 347.180924 deg, approach rate: 0.015504 m/s, LOS rate: -0.308140 deg/s, cmd heading: 70.792220 deg, new cmd heading: 70.426030 deg. 2025-01-08T23:17:46.503Z,1736378266.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229166 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:46.516Z,1736378266.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:46.517Z,1736378266.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.294664 2025-01-08T23:17:46.768Z,1736378266.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:46.768Z,1736378266.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.546252 2025-01-08T23:17:46.906Z,1736378266.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:46.930Z,1736378266.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:46.933Z,1736378266.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.726891 m, bearing: 347.046404 deg, approach rate: 0.010603 m/s, LOS rate: -0.312074 deg/s, cmd heading: 70.426033 deg, new cmd heading: 70.022500 deg. 2025-01-08T23:17:46.934Z,1736378266.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222123 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:47.020Z,1736378267.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:47.021Z,1736378267.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.799289 2025-01-08T23:17:47.272Z,1736378267.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:47.273Z,1736378267.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051319 2025-01-08T23:17:47.285Z,1736378267.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:47.330Z,1736378267.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:47.338Z,1736378267.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.729897 m, bearing: 346.924178 deg, approach rate: 0.007548 m/s, LOS rate: -0.306898 deg/s, cmd heading: 70.022498 deg, new cmd heading: 69.655837 deg. 2025-01-08T23:17:47.342Z,1736378267.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215724 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:47.344Z,1736378267.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:17:47.524Z,1736378267.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:47.524Z,1736378267.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.302220 2025-01-08T23:17:47.761Z,1736378267.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:47.770Z,1736378267.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:47.774Z,1736378267.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.732918 m, bearing: 346.766730 deg, approach rate: 0.006839 m/s, LOS rate: -0.356414 deg/s, cmd heading: 69.655840 deg, new cmd heading: 69.183525 deg. 2025-01-08T23:17:47.776Z,1736378267.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:47.777Z,1736378267.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.554713 2025-01-08T23:17:47.777Z,1736378267.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207480 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:48.029Z,1736378268.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:48.030Z,1736378268.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808032 2025-01-08T23:17:48.108Z,1736378268.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:48.137Z,1736378268.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:48.152Z,1736378268.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.734344 m, bearing: 346.652585 deg, approach rate: 0.003890 m/s, LOS rate: -0.311229 deg/s, cmd heading: 69.183526 deg, new cmd heading: 68.841101 deg. 2025-01-08T23:17:48.153Z,1736378268.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.201504 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:48.280Z,1736378268.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:48.280Z,1736378268.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.058279 2025-01-08T23:17:48.348Z,1736378268.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:17:48.503Z,1736378268.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:48.512Z,1736378268.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:48.514Z,1736378268.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:48.517Z,1736378268.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.734871 m, bearing: 346.521612 deg, approach rate: 0.001397 m/s, LOS rate: -0.347618 deg/s, cmd heading: 68.841101 deg, new cmd heading: 68.448191 deg. 2025-01-08T23:17:48.517Z,1736378268.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194646 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:48.532Z,1736378268.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:48.533Z,1736378268.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.310827 2025-01-08T23:17:48.784Z,1736378268.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:48.785Z,1736378268.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562415 2025-01-08T23:17:48.958Z,1736378268.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:48.975Z,1736378268.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:48.982Z,1736378268.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.735558 m, bearing: 346.358848 deg, approach rate: 0.001490 m/s, LOS rate: -0.353126 deg/s, cmd heading: 68.448188 deg, new cmd heading: 67.959912 deg. 2025-01-08T23:17:48.982Z,1736378268.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186124 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:49.036Z,1736378269.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:49.037Z,1736378269.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.814419 2025-01-08T23:17:49.289Z,1736378269.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:49.290Z,1736378269.290 [DAT](INFO): Reached modem response timeout 2025-01-08T23:17:49.290Z,1736378269.290 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:17:49.290Z,1736378269.290 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:49.315Z,1736378269.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:49.366Z,1736378269.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:49.373Z,1736378269.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.735382 m, bearing: 346.231247 deg, approach rate: -0.000449 m/s, LOS rate: -0.326339 deg/s, cmd heading: 67.959911 deg, new cmd heading: 67.577115 deg. 2025-01-08T23:17:49.374Z,1736378269.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179443 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:49.540Z,1736378269.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:49.540Z,1736378269.540 [DAT](INFO): Reached modem response timeout 2025-01-08T23:17:49.541Z,1736378269.541 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:17:49.541Z,1736378269.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:49.787Z,1736378269.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:49.792Z,1736378269.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:49.792Z,1736378269.792 [DAT](INFO): Reached modem response timeout 2025-01-08T23:17:49.792Z,1736378269.792 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:17:49.793Z,1736378269.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:49.832Z,1736378269.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:49.835Z,1736378269.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.741318 m, bearing: 346.047488 deg, approach rate: 0.012718 m/s, LOS rate: -0.393705 deg/s, cmd heading: 67.577113 deg, new cmd heading: 67.025891 deg. 2025-01-08T23:17:49.840Z,1736378269.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169822 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:50.044Z,1736378270.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:50.045Z,1736378270.045 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:17:50.045Z,1736378270.045 [DAT](INFO): response not received 2025-01-08T23:17:50.046Z,1736378270.046 [DAT](INFO): DAT read: user:3163> 2025-01-08T23:17:50.046Z,1736378270.046 [DAT](INFO): DAT read: Tx time:23:17:49.3794 2025-01-08T23:17:50.047Z,1736378270.047 [DAT](INFO): Ping request sent. 2025-01-08T23:17:50.047Z,1736378270.047 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:50.047Z,1736378270.047 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:50.048Z,1736378270.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000827 2025-01-08T23:17:50.157Z,1736378270.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:50.181Z,1736378270.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:50.191Z,1736378270.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.746590 m, bearing: 345.903081 deg, approach rate: 0.015117 m/s, LOS rate: -0.414052 deg/s, cmd heading: 67.025889 deg, new cmd heading: 66.592704 deg. 2025-01-08T23:17:50.192Z,1736378270.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.162262 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:50.296Z,1736378270.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:50.297Z,1736378270.297 [DAT](INFO): DAT read: TxSync time:23:17:49.3787 2025-01-08T23:17:50.297Z,1736378270.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250629 2025-01-08T23:17:50.520Z,1736378270.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:50.548Z,1736378270.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:50.548Z,1736378270.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501715 2025-01-08T23:17:50.549Z,1736378270.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:50.551Z,1736378270.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:50.554Z,1736378270.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.748421 m, bearing: 345.761797 deg, approach rate: 0.004947 m/s, LOS rate: -0.381736 deg/s, cmd heading: 66.592705 deg, new cmd heading: 66.168869 deg. 2025-01-08T23:17:50.556Z,1736378270.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.154865 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:50.800Z,1736378270.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:50.800Z,1736378270.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753594 2025-01-08T23:17:50.968Z,1736378270.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:50.988Z,1736378270.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:50.990Z,1736378270.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.749771 m, bearing: 345.574939 deg, approach rate: 0.003124 m/s, LOS rate: -0.432272 deg/s, cmd heading: 66.168871 deg, new cmd heading: 65.608325 deg. 2025-01-08T23:17:50.996Z,1736378270.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145081 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:51.052Z,1736378271.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:51.053Z,1736378271.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005823 2025-01-08T23:17:51.304Z,1736378271.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:51.306Z,1736378271.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258333 2025-01-08T23:17:51.346Z,1736378271.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:51.356Z,1736378271.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:51.359Z,1736378271.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.751160 m, bearing: 345.417090 deg, approach rate: 0.003722 m/s, LOS rate: -0.423143 deg/s, cmd heading: 65.608325 deg, new cmd heading: 65.134799 deg. 2025-01-08T23:17:51.360Z,1736378271.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136817 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:51.556Z,1736378271.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:51.557Z,1736378271.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510366 2025-01-08T23:17:51.797Z,1736378271.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:51.806Z,1736378271.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:51.816Z,1736378271.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:51.817Z,1736378271.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769922 2025-01-08T23:17:51.825Z,1736378271.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.759064 m, bearing: 345.214148 deg, approach rate: 0.017579 m/s, LOS rate: -0.451313 deg/s, cmd heading: 65.134801 deg, new cmd heading: 64.526056 deg. 2025-01-08T23:17:51.836Z,1736378271.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126192 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:52.070Z,1736378272.070 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:52.071Z,1736378272.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023913 2025-01-08T23:17:52.155Z,1736378272.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:52.180Z,1736378272.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:52.183Z,1736378272.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.764374 m, bearing: 345.056191 deg, approach rate: 0.014198 m/s, LOS rate: -0.422317 deg/s, cmd heading: 64.526054 deg, new cmd heading: 64.052224 deg. 2025-01-08T23:17:52.189Z,1736378272.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117922 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:52.320Z,1736378272.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:52.320Z,1736378272.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273592 2025-01-08T23:17:52.546Z,1736378272.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:52.561Z,1736378272.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:52.563Z,1736378272.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:52.570Z,1736378272.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.769394 m, bearing: 344.876729 deg, approach rate: 0.013112 m/s, LOS rate: -0.468720 deg/s, cmd heading: 64.052223 deg, new cmd heading: 63.513884 deg. 2025-01-08T23:17:52.584Z,1736378272.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:52.585Z,1736378272.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.537853 2025-01-08T23:17:52.599Z,1736378272.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108526 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:52.838Z,1736378272.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:52.839Z,1736378272.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.792679 2025-01-08T23:17:52.990Z,1736378272.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:52.999Z,1736378272.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:53.002Z,1736378273.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.772804 m, bearing: 344.665389 deg, approach rate: 0.007824 m/s, LOS rate: -0.484813 deg/s, cmd heading: 63.513881 deg, new cmd heading: 62.879914 deg. 2025-01-08T23:17:53.003Z,1736378273.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.097462 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:53.089Z,1736378273.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:53.091Z,1736378273.091 [DAT](INFO): DAT read: Rx Time:23:17:51.8806 2025-01-08T23:17:53.092Z,1736378273.092 [DAT](INFO): Rx dataTimestamp_ set to:1736378273.091482 2025-01-08T23:17:53.093Z,1736378273.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.046337 2025-01-08T23:17:53.340Z,1736378273.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:53.340Z,1736378273.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.293783 2025-01-08T23:17:53.466Z,1736378273.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:53.475Z,1736378273.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:17:53.478Z,1736378273.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 84.777740 m, bearing: 344.439114 deg, approach rate: 0.010366 m/s, LOS rate: -0.475148 deg/s, cmd heading: 62.879917 deg, new cmd heading: 62.201166 deg. 2025-01-08T23:17:53.479Z,1736378273.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.085615 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:17:53.593Z,1736378273.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:53.602Z,1736378273.602 [DAT](INFO): DAT read: 23:17:51.8806 LVL= 24560, 25649, 16962, 32755, AGC= 64, IDX= 302,-0.21, 3.037, 2.027,-2.610, 3.039, PHS= 0.086,-0.965, 0.632, RAW= 169.6, 3.6, CAL= 170.1, -5.3, ROT= 339.9, 5.3 2025-01-08T23:17:53.603Z,1736378273.603 [DAT](INFO): got valid direction response: 23:17:51.8806 LVL= 24560, 25649, 16962, 32755, AGC= 64, IDX= 302,-0.21, 3.037, 2.027,-2.610, 3.039, PHS= 0.086,-0.965, 0.632, RAW= 169.6, 3.6, CAL= 170.1, -5.3, ROT= 339.9, 5.3 2025-01-08T23:17:53.605Z,1736378273.605 [DAT](INFO): DAT read: Bearing 339.9, 5.3 (Local) 2025-01-08T23:17:53.606Z,1736378273.606 [DAT](INFO): Local bearing/azimuth received: Bearing 339.9, 5.3 (Local) 2025-01-08T23:17:53.608Z,1736378273.608 [DAT](INFO): DAT read: Range 10 to 50 : 72.7 m (Round-trip 97.0 ms) speed 0.4 m/s 2025-01-08T23:17:53.609Z,1736378273.609 [DAT](INFO): DAT read: user:3164> 2025-01-08T23:17:53.610Z,1736378273.610 [DAT](INFO): DAT read: Tx time:23:17:52.9794 2025-01-08T23:17:53.610Z,1736378273.610 [DAT](INFO): Ping request sent. 2025-01-08T23:17:53.610Z,1736378273.610 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:53.611Z,1736378273.611 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:17:53.612Z,1736378273.612 [DAT](INFO): direction in FSK: [-0.170250,-0.961085,0.217556] 2025-01-08T23:17:53.612Z,1736378273.612 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:53.612Z,1736378273.612 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:53.631Z,1736378273.631 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:53.632Z,1736378273.632 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:53.844Z,1736378273.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:53.845Z,1736378273.845 [DAT](INFO): DAT read: TxSync time:23:17:52.9787 2025-01-08T23:17:53.909Z,1736378273.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:53.944Z,1736378273.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.699997 m, deltaT: 14.385218 s, deltaX: -7.400002 m, approachRate: -0.514417 m/s, rangeRepo size: 4 2025-01-08T23:17:53.946Z,1736378273.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.699997 m, bearing: 324.419865 deg, lat: 36.905026 deg, lon: -122.120287 deg, deltaT: 14.385218 s, deltaX: -7.400002 m, approachRate: -0.514417 m/s, posRepo size: 4 2025-01-08T23:17:53.947Z,1736378273.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.70 m. 2025-01-08T23:17:53.953Z,1736378273.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.699997 m, nav range: 82.950287 m, bearing: 343.264444 deg, approach rate: 0.000000 m/s, LOS rate: -0.475148 deg/s, cmd heading: 62.201167 deg, new cmd heading: 61.541477 deg. 2025-01-08T23:17:53.959Z,1736378273.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074101 target range: 72.699997 and range: 72.70 m. 2025-01-08T23:17:54.097Z,1736378274.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:54.348Z,1736378274.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:54.355Z,1736378274.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:54.364Z,1736378274.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.70 m. 2025-01-08T23:17:54.366Z,1736378274.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.699997 m, nav range: 82.961517 m, bearing: 343.041811 deg, approach rate: 0.026387 m/s, LOS rate: -0.523016 deg/s, cmd heading: 61.541480 deg, new cmd heading: 60.873702 deg. 2025-01-08T23:17:54.368Z,1736378274.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062446 target range: 72.699997 and range: 72.70 m. 2025-01-08T23:17:54.600Z,1736378274.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:54.776Z,1736378274.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:54.830Z,1736378274.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:54.836Z,1736378274.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.70 m. 2025-01-08T23:17:54.841Z,1736378274.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.699997 m, nav range: 82.970901 m, bearing: 342.832530 deg, approach rate: 0.019865 m/s, LOS rate: -0.442969 deg/s, cmd heading: 60.873699 deg, new cmd heading: 60.245954 deg. 2025-01-08T23:17:54.842Z,1736378274.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.051490 target range: 72.699997 and range: 72.70 m. 2025-01-08T23:17:54.854Z,1736378274.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:54.856Z,1736378274.856 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:54.856Z,1736378274.856 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:54.856Z,1736378274.856 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:17:55.104Z,1736378275.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:55.105Z,1736378275.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494225 2025-01-08T23:17:55.197Z,1736378275.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:55.206Z,1736378275.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.70 m. 2025-01-08T23:17:55.209Z,1736378275.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.699997 m, nav range: 82.987938 m, bearing: 342.619446 deg, approach rate: 0.046041 m/s, LOS rate: -0.575740 deg/s, cmd heading: 60.245957 deg, new cmd heading: 59.606863 deg. 2025-01-08T23:17:55.214Z,1736378275.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.040336 target range: 72.699997 and range: 72.70 m. 2025-01-08T23:17:55.356Z,1736378275.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:55.357Z,1736378275.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746437 2025-01-08T23:17:55.572Z,1736378275.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:55.581Z,1736378275.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.70 m. 2025-01-08T23:17:55.584Z,1736378275.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.699997 m, nav range: 83.001579 m, bearing: 342.431010 deg, approach rate: 0.036383 m/s, LOS rate: -0.502491 deg/s, cmd heading: 59.606863 deg, new cmd heading: 59.041666 deg. 2025-01-08T23:17:55.585Z,1736378275.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030471 target range: 72.699997 and range: 72.70 m. 2025-01-08T23:17:55.608Z,1736378275.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:55.609Z,1736378275.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998278 2025-01-08T23:17:55.860Z,1736378275.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:55.861Z,1736378275.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250460 2025-01-08T23:17:55.998Z,1736378275.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:56.009Z,1736378276.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.70 m. 2025-01-08T23:17:56.012Z,1736378276.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.699997 m, nav range: 83.008659 m, bearing: 342.215712 deg, approach rate: 0.016551 m/s, LOS rate: -0.503245 deg/s, cmd heading: 59.041665 deg, new cmd heading: 58.395855 deg. 2025-01-08T23:17:56.013Z,1736378276.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.019200 target range: 72.699997 and range: 72.70 m. 2025-01-08T23:17:56.113Z,1736378276.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:56.114Z,1736378276.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503114 2025-01-08T23:17:56.364Z,1736378276.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:56.365Z,1736378276.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754626 2025-01-08T23:17:56.400Z,1736378276.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:56.410Z,1736378276.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.70 m. 2025-01-08T23:17:56.413Z,1736378276.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.699997 m, nav range: 83.013992 m, bearing: 342.012868 deg, approach rate: 0.013272 m/s, LOS rate: -0.504779 deg/s, cmd heading: 58.395857 deg, new cmd heading: 57.787388 deg. 2025-01-08T23:17:56.414Z,1736378276.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008580 target range: 72.699997 and range: 72.70 m. 2025-01-08T23:17:56.616Z,1736378276.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:56.617Z,1736378276.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006693 2025-01-08T23:17:56.791Z,1736378276.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:56.857Z,1736378276.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.70 m. 2025-01-08T23:17:56.864Z,1736378276.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.699997 m, nav range: 83.017952 m, bearing: 341.816564 deg, approach rate: 0.008863 m/s, LOS rate: -0.439372 deg/s, cmd heading: 57.787389 deg, new cmd heading: 57.198526 deg. 2025-01-08T23:17:56.865Z,1736378276.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.998303 target range: 72.699997 and range: 72.70 m. 2025-01-08T23:17:56.868Z,1736378276.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:56.869Z,1736378276.869 [DAT](INFO): DAT read: Rx Time:23:17:55.4781 2025-01-08T23:17:56.869Z,1736378276.869 [DAT](INFO): Rx dataTimestamp_ set to:1736378276.869007 2025-01-08T23:17:56.870Z,1736378276.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259523 2025-01-08T23:17:57.120Z,1736378277.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:57.120Z,1736378277.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510161 2025-01-08T23:17:57.270Z,1736378277.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:57.285Z,1736378277.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:57.291Z,1736378277.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.70 m. 2025-01-08T23:17:57.294Z,1736378277.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.699997 m, nav range: 83.022209 m, bearing: 341.587326 deg, approach rate: 0.009902 m/s, LOS rate: -0.533141 deg/s, cmd heading: 57.198528 deg, new cmd heading: 56.510885 deg. 2025-01-08T23:17:57.299Z,1736378277.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.986301 target range: 72.699997 and range: 72.70 m. 2025-01-08T23:17:57.374Z,1736378277.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:57.385Z,1736378277.385 [DAT](INFO): DAT read: 23:17:55.4781 LVL= 31760, 31025, 20658, 32755, AGC= 65, IDX= 419, 0.23, 1.562, 0.562, 2.106, 1.478, PHS= 0.172,-0.869, 0.626, RAW= 167.2, 1.1, CAL= 168.4, -7.4, ROT= 341.6, 7.4 2025-01-08T23:17:57.396Z,1736378277.396 [DAT](INFO): got valid direction response: 23:17:55.4781 LVL= 31760, 31025, 20658, 32755, AGC= 65, IDX= 419, 0.23, 1.562, 0.562, 2.106, 1.478, PHS= 0.172,-0.869, 0.626, RAW= 167.2, 1.1, CAL= 168.4, -7.4, ROT= 341.6, 7.4 2025-01-08T23:17:57.397Z,1736378277.397 [DAT](INFO): DAT read: Bearing 341.6, 7.4 (Local) 2025-01-08T23:17:57.397Z,1736378277.397 [DAT](INFO): Local bearing/azimuth received: Bearing 341.6, 7.4 (Local) 2025-01-08T23:17:57.399Z,1736378277.399 [DAT](INFO): DAT read: Range 10 to 50 : 70.8 m (Round-trip 94.4 ms) speed 0.5 m/s 2025-01-08T23:17:57.400Z,1736378277.400 [DAT](INFO): DAT read: user:3165> 2025-01-08T23:17:57.400Z,1736378277.400 [DAT](INFO): DAT read: Tx time:23:17:56.5795 2025-01-08T23:17:57.401Z,1736378277.401 [DAT](INFO): Ping request sent. 2025-01-08T23:17:57.401Z,1736378277.401 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:17:57.401Z,1736378277.401 [DAT](INFO): DAT read: TxSync time:23:17:56.5788 2025-01-08T23:17:57.402Z,1736378277.402 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:17:57.403Z,1736378277.403 [DAT](INFO): direction in FSK: [-0.126328,-0.956422,0.263244] 2025-01-08T23:17:57.403Z,1736378277.403 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:57.409Z,1736378277.409 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:57.413Z,1736378277.413 [DAT](INFO): publishing transmit ping time 2025-01-08T23:17:57.413Z,1736378277.413 [DAT](INFO): publishing direction and range info 2025-01-08T23:17:57.624Z,1736378277.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:57.637Z,1736378277.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:57.684Z,1736378277.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.800003 m, deltaT: 3.781263 s, deltaX: -1.899994 m, approachRate: -0.502476 m/s, rangeRepo size: 4 2025-01-08T23:17:57.686Z,1736378277.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.800003 m, bearing: 323.942094 deg, lat: 36.905002 deg, lon: -122.120294 deg, deltaT: 3.781263 s, deltaX: -1.899994 m, approachRate: -0.502476 m/s, posRepo size: 4 2025-01-08T23:17:57.687Z,1736378277.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.80 m. 2025-01-08T23:17:57.694Z,1736378277.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.800003 m, nav range: 80.773384 m, bearing: 340.419165 deg, approach rate: 0.000000 m/s, LOS rate: -0.533141 deg/s, cmd heading: 56.510885 deg, new cmd heading: 55.883743 deg. 2025-01-08T23:17:57.695Z,1736378277.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.975355 target range: 70.800003 and range: 70.80 m. 2025-01-08T23:17:57.876Z,1736378277.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:58.025Z,1736378278.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:58.053Z,1736378278.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.80 m. 2025-01-08T23:17:58.061Z,1736378278.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.800003 m, nav range: 80.770935 m, bearing: 340.237373 deg, approach rate: -0.006552 m/s, LOS rate: -0.486382 deg/s, cmd heading: 55.883744 deg, new cmd heading: 55.338369 deg. 2025-01-08T23:17:58.062Z,1736378278.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.965837 target range: 70.800003 and range: 70.80 m. 2025-01-08T23:17:58.129Z,1736378278.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:58.380Z,1736378278.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:58.412Z,1736378278.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:58.420Z,1736378278.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.80 m. 2025-01-08T23:17:58.424Z,1736378278.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.800003 m, nav range: 80.766899 m, bearing: 340.055741 deg, approach rate: -0.010991 m/s, LOS rate: -0.494677 deg/s, cmd heading: 55.338370 deg, new cmd heading: 54.793464 deg. 2025-01-08T23:17:58.425Z,1736378278.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956326 target range: 70.800003 and range: 70.80 m. 2025-01-08T23:17:58.632Z,1736378278.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:58.886Z,1736378278.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:58.893Z,1736378278.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:58.909Z,1736378278.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.80 m. 2025-01-08T23:17:58.916Z,1736378278.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.800003 m, nav range: 80.763016 m, bearing: 339.830284 deg, approach rate: -0.007939 m/s, LOS rate: -0.460954 deg/s, cmd heading: 54.793465 deg, new cmd heading: 54.117095 deg. 2025-01-08T23:17:58.917Z,1736378278.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.944521 target range: 70.800003 and range: 70.80 m. 2025-01-08T23:17:59.136Z,1736378279.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:59.261Z,1736378279.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:59.269Z,1736378279.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.80 m. 2025-01-08T23:17:59.272Z,1736378279.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.800003 m, nav range: 80.744446 m, bearing: 339.672779 deg, approach rate: -0.051584 m/s, LOS rate: -0.437622 deg/s, cmd heading: 54.117095 deg, new cmd heading: 53.644480 deg. 2025-01-08T23:17:59.273Z,1736378279.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.936273 target range: 70.800003 and range: 70.80 m. 2025-01-08T23:17:59.392Z,1736378279.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:59.626Z,1736378279.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:17:59.644Z,1736378279.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:59.661Z,1736378279.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:17:59.666Z,1736378279.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.80 m. 2025-01-08T23:17:59.679Z,1736378279.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.800003 m, nav range: 80.724022 m, bearing: 339.516782 deg, approach rate: -0.051495 m/s, LOS rate: -0.393415 deg/s, cmd heading: 53.644480 deg, new cmd heading: 53.176383 deg. 2025-01-08T23:17:59.681Z,1736378279.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928103 target range: 70.800003 and range: 70.80 m. 2025-01-08T23:17:59.896Z,1736378279.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:17:59.896Z,1736378279.896 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:17:59.896Z,1736378279.896 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:17:59.897Z,1736378279.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:00.058Z,1736378280.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:00.067Z,1736378280.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.80 m. 2025-01-08T23:18:00.070Z,1736378280.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.800003 m, nav range: 80.685867 m, bearing: 339.349817 deg, approach rate: -0.095190 m/s, LOS rate: -0.416748 deg/s, cmd heading: 53.176383 deg, new cmd heading: 52.675265 deg. 2025-01-08T23:18:00.071Z,1736378280.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.919357 target range: 70.800003 and range: 70.80 m. 2025-01-08T23:18:00.149Z,1736378280.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:00.150Z,1736378280.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749152 2025-01-08T23:18:00.400Z,1736378280.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:00.400Z,1736378280.400 [DAT](INFO): DAT read: Rx Time:23:17:59.0752 2025-01-08T23:18:00.401Z,1736378280.401 [DAT](INFO): Rx dataTimestamp_ set to:1736378280.400579 2025-01-08T23:18:00.401Z,1736378280.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000609 2025-01-08T23:18:00.465Z,1736378280.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:00.482Z,1736378280.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.80 m. 2025-01-08T23:18:00.489Z,1736378280.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.800003 m, nav range: 80.650597 m, bearing: 339.192558 deg, approach rate: -0.084991 m/s, LOS rate: -0.379110 deg/s, cmd heading: 52.675266 deg, new cmd heading: 52.203292 deg. 2025-01-08T23:18:00.490Z,1736378280.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.911119 target range: 70.800003 and range: 70.80 m. 2025-01-08T23:18:00.652Z,1736378280.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:00.654Z,1736378280.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253154 2025-01-08T23:18:00.906Z,1736378280.906 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:00.920Z,1736378280.920 [DAT](INFO): DAT read: 23:17:59.0752 LVL= 31920, 32241, 24306, 32755, AGC= 66, IDX= 406,-0.40, 3.130, 2.000,-2.768, 2.949, PHS= 0.268,-0.902, 0.563, RAW= 160.9, 1.1, CAL= 162.6, -7.6, ROT= 347.4, 7.6 2025-01-08T23:18:00.922Z,1736378280.922 [DAT](INFO): got valid direction response: 23:17:59.0752 LVL= 31920, 32241, 24306, 32755, AGC= 66, IDX= 406,-0.40, 3.130, 2.000,-2.768, 2.949, PHS= 0.268,-0.902, 0.563, RAW= 160.9, 1.1, CAL= 162.6, -7.6, ROT= 347.4, 7.6 2025-01-08T23:18:00.923Z,1736378280.923 [DAT](INFO): DAT read: Bearing 347.4, 7.6 (Local) 2025-01-08T23:18:00.956Z,1736378280.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:00.960Z,1736378280.960 [DAT](INFO): Local bearing/azimuth received: Bearing 347.4, 7.6 (Local) 2025-01-08T23:18:00.962Z,1736378280.962 [DAT](INFO): DAT read: Range 10 to 50 : 68.7 m (Round-trip 91.6 ms) speed 0.5 m/s 2025-01-08T23:18:00.962Z,1736378280.962 [DAT](INFO): DAT read: user:3166> 2025-01-08T23:18:00.976Z,1736378280.976 [DAT](INFO): DAT read: Tx time:23:18:00.1795 2025-01-08T23:18:00.976Z,1736378280.976 [DAT](INFO): Ping request sent. 2025-01-08T23:18:00.976Z,1736378280.976 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:00.977Z,1736378280.977 [DAT](INFO): DAT read: TxSync time:23:18:00.1788 2025-01-08T23:18:00.977Z,1736378280.977 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:18:00.978Z,1736378280.978 [DAT](INFO): direction in FSK: [-0.133196,-0.919830,0.369014] 2025-01-08T23:18:00.978Z,1736378280.978 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:00.979Z,1736378280.979 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:00.991Z,1736378280.991 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:00.991Z,1736378280.991 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:00.995Z,1736378280.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.80 m. 2025-01-08T23:18:00.998Z,1736378280.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.800003 m, nav range: 80.613327 m, bearing: 339.023260 deg, approach rate: -0.073750 m/s, LOS rate: -0.335164 deg/s, cmd heading: 52.203293 deg, new cmd heading: 51.695178 deg. 2025-01-08T23:18:01.003Z,1736378281.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.902251 target range: 70.800003 and range: 70.80 m. 2025-01-08T23:18:01.156Z,1736378281.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:01.322Z,1736378281.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:01.361Z,1736378281.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.699997 m, deltaT: 3.532308 s, deltaX: -2.100006 m, approachRate: -0.594514 m/s, rangeRepo size: 4 2025-01-08T23:18:01.363Z,1736378281.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.699997 m, bearing: 315.703181 deg, lat: 36.904838 deg, lon: -122.120449 deg, deltaT: 3.532308 s, deltaX: -2.100006 m, approachRate: -0.594514 m/s, posRepo size: 4 2025-01-08T23:18:01.364Z,1736378281.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:18:01.367Z,1736378281.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 71.158691 m, bearing: 323.014654 deg, approach rate: 0.000000 m/s, LOS rate: -0.335164 deg/s, cmd heading: 51.695178 deg, new cmd heading: 51.319831 deg. 2025-01-08T23:18:01.372Z,1736378281.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.895700 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:18:01.408Z,1736378281.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:01.660Z,1736378281.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:01.694Z,1736378281.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:01.701Z,1736378281.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:01.703Z,1736378281.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:18:01.706Z,1736378281.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 71.155266 m, bearing: 322.865042 deg, approach rate: -0.010012 m/s, LOS rate: -0.437277 deg/s, cmd heading: 51.319832 deg, new cmd heading: 50.870985 deg. 2025-01-08T23:18:01.716Z,1736378281.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.887866 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:18:01.913Z,1736378281.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:01.915Z,1736378281.915 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:01.915Z,1736378281.915 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:01.916Z,1736378281.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:02.112Z,1736378282.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:02.121Z,1736378282.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:18:02.124Z,1736378282.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 71.140259 m, bearing: 322.708147 deg, approach rate: -0.035902 m/s, LOS rate: -0.375431 deg/s, cmd heading: 50.870986 deg, new cmd heading: 50.400213 deg. 2025-01-08T23:18:02.125Z,1736378282.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.879650 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:18:02.164Z,1736378282.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:02.164Z,1736378282.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.188243 2025-01-08T23:18:02.416Z,1736378282.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:02.416Z,1736378282.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.440169 2025-01-08T23:18:02.498Z,1736378282.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:02.508Z,1736378282.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:18:02.510Z,1736378282.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 71.124435 m, bearing: 322.563355 deg, approach rate: -0.040860 m/s, LOS rate: -0.373976 deg/s, cmd heading: 50.400212 deg, new cmd heading: 49.965746 deg. 2025-01-08T23:18:02.512Z,1736378282.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872067 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:18:02.668Z,1736378282.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:02.669Z,1736378282.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.692692 2025-01-08T23:18:02.922Z,1736378282.922 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:02.925Z,1736378282.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948327 2025-01-08T23:18:02.990Z,1736378282.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:03.015Z,1736378283.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:18:03.023Z,1736378283.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 71.096390 m, bearing: 322.387673 deg, approach rate: -0.055338 m/s, LOS rate: -0.346783 deg/s, cmd heading: 49.965747 deg, new cmd heading: 49.438510 deg. 2025-01-08T23:18:03.028Z,1736378283.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.862865 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:18:03.173Z,1736378283.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:03.173Z,1736378283.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197211 2025-01-08T23:18:03.310Z,1736378283.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:03.323Z,1736378283.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:18:03.326Z,1736378283.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 71.074448 m, bearing: 322.273468 deg, approach rate: -0.071403 m/s, LOS rate: -0.371754 deg/s, cmd heading: 49.438511 deg, new cmd heading: 49.095794 deg. 2025-01-08T23:18:03.327Z,1736378283.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.856883 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:18:03.426Z,1736378283.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:03.426Z,1736378283.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450103 2025-01-08T23:18:03.680Z,1736378283.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:03.681Z,1736378283.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704967 2025-01-08T23:18:03.724Z,1736378283.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:03.731Z,1736378283.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:03.733Z,1736378283.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:18:03.736Z,1736378283.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 71.044304 m, bearing: 322.125929 deg, approach rate: -0.073266 m/s, LOS rate: -0.358754 deg/s, cmd heading: 49.095792 deg, new cmd heading: 48.652996 deg. 2025-01-08T23:18:03.737Z,1736378283.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.849155 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:18:03.934Z,1736378283.934 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:03.937Z,1736378283.937 [DAT](INFO): DAT read: Rx Time:23:18:02.6723 2025-01-08T23:18:03.939Z,1736378283.939 [DAT](INFO): Rx dataTimestamp_ set to:1736378283.937481 2025-01-08T23:18:03.941Z,1736378283.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964737 2025-01-08T23:18:04.147Z,1736378284.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:04.184Z,1736378284.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:04.184Z,1736378284.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208063 2025-01-08T23:18:04.206Z,1736378284.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m. 2025-01-08T23:18:04.213Z,1736378284.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.699997 m, nav range: 71.017120 m, bearing: 321.974875 deg, approach rate: -0.057634 m/s, LOS rate: -0.320382 deg/s, cmd heading: 48.652995 deg, new cmd heading: 48.199671 deg. 2025-01-08T23:18:04.214Z,1736378284.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841243 target range: 68.699997 and range: 68.70 m. 2025-01-08T23:18:04.436Z,1736378284.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:04.443Z,1736378284.443 [DAT](INFO): DAT read: 23:18:02.6723 LVL= 21488, 31505, 19282, 31715, AGC= 64, IDX= 408, 0.19, 0.412,-0.933, 0.555, 0.065, PHS= 0.435,-0.951, 0.487, RAW= 151.8, 0.4, CAL= 154.7, -8.4, ROT= 355.3, 8.4 2025-01-08T23:18:04.444Z,1736378284.444 [DAT](INFO): got valid direction response: 23:18:02.6723 LVL= 21488, 31505, 19282, 31715, AGC= 64, IDX= 408, 0.19, 0.412,-0.933, 0.555, 0.065, PHS= 0.435,-0.951, 0.487, RAW= 151.8, 0.4, CAL= 154.7, -8.4, ROT= 355.3, 8.4 2025-01-08T23:18:04.445Z,1736378284.445 [DAT](INFO): DAT read: Bearing 355.3, 8.4 (Local) 2025-01-08T23:18:04.445Z,1736378284.445 [DAT](INFO): Local bearing/azimuth received: Bearing 355.3, 8.4 (Local) 2025-01-08T23:18:04.447Z,1736378284.447 [DAT](INFO): DAT read: Range 10 to 50 : 66.4 m (Round-trip 88.6 ms) speed 0.4 m/s 2025-01-08T23:18:04.448Z,1736378284.448 [DAT](INFO): DAT read: user:3167> 2025-01-08T23:18:04.448Z,1736378284.448 [DAT](INFO): DAT read: Tx time:23:18:03.7795 2025-01-08T23:18:04.449Z,1736378284.449 [DAT](INFO): Ping request sent. 2025-01-08T23:18:04.449Z,1736378284.449 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:04.449Z,1736378284.449 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:18:04.450Z,1736378284.450 [DAT](INFO): direction in FSK: [-0.128329,-0.845802,0.517833] 2025-01-08T23:18:04.450Z,1736378284.450 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:04.450Z,1736378284.450 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:04.454Z,1736378284.454 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:04.454Z,1736378284.454 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:04.614Z,1736378284.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:04.661Z,1736378284.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.400002 m, deltaT: 3.529428 s, deltaX: -2.299995 m, approachRate: -0.651662 m/s, rangeRepo size: 4 2025-01-08T23:18:04.669Z,1736378284.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.400002 m, bearing: 311.034558 deg, lat: 36.904823 deg, lon: -122.120452 deg, deltaT: 3.529428 s, deltaX: -2.299995 m, approachRate: -0.651662 m/s, posRepo size: 4 2025-01-08T23:18:04.671Z,1736378284.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.40 m. 2025-01-08T23:18:04.683Z,1736378284.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.400002 m, nav range: 69.819969 m, bearing: 320.801832 deg, approach rate: 0.000000 m/s, LOS rate: -0.320382 deg/s, cmd heading: 48.199672 deg, new cmd heading: 47.762639 deg. 2025-01-08T23:18:04.689Z,1736378284.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:04.689Z,1736378284.689 [DAT](INFO): DAT read: TxSync time:23:18:03.7788 2025-01-08T23:18:04.691Z,1736378284.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833615 target range: 66.400002 and range: 66.40 m. 2025-01-08T23:18:04.941Z,1736378284.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:05.028Z,1736378285.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:05.037Z,1736378285.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.40 m. 2025-01-08T23:18:05.041Z,1736378285.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.400002 m, nav range: 69.805611 m, bearing: 320.641296 deg, approach rate: -0.038071 m/s, LOS rate: -0.425738 deg/s, cmd heading: 47.762639 deg, new cmd heading: 47.280945 deg. 2025-01-08T23:18:05.042Z,1736378285.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825208 target range: 66.400002 and range: 66.40 m. 2025-01-08T23:18:05.192Z,1736378285.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:05.372Z,1736378285.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:05.412Z,1736378285.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.40 m. 2025-01-08T23:18:05.414Z,1736378285.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.400002 m, nav range: 69.793533 m, bearing: 320.509028 deg, approach rate: -0.032595 m/s, LOS rate: -0.357034 deg/s, cmd heading: 47.280946 deg, new cmd heading: 46.884079 deg. 2025-01-08T23:18:05.420Z,1736378285.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818282 target range: 66.400002 and range: 66.40 m. 2025-01-08T23:18:05.444Z,1736378285.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:05.696Z,1736378285.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:05.767Z,1736378285.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:05.775Z,1736378285.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:05.777Z,1736378285.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.40 m. 2025-01-08T23:18:05.803Z,1736378285.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.400002 m, nav range: 69.779343 m, bearing: 320.356946 deg, approach rate: -0.038417 m/s, LOS rate: -0.411795 deg/s, cmd heading: 46.884078 deg, new cmd heading: 46.427752 deg. 2025-01-08T23:18:05.808Z,1736378285.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810317 target range: 66.400002 and range: 66.40 m. 2025-01-08T23:18:05.950Z,1736378285.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:05.952Z,1736378285.952 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:05.952Z,1736378285.952 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:05.953Z,1736378285.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:06.193Z,1736378286.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:06.200Z,1736378286.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:06.200Z,1736378286.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751677 2025-01-08T23:18:06.210Z,1736378286.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.40 m. 2025-01-08T23:18:06.213Z,1736378286.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.400002 m, nav range: 69.783325 m, bearing: 320.177560 deg, approach rate: 0.009189 m/s, LOS rate: -0.413871 deg/s, cmd heading: 46.427753 deg, new cmd heading: 45.889640 deg. 2025-01-08T23:18:06.214Z,1736378286.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.800925 target range: 66.400002 and range: 66.40 m. 2025-01-08T23:18:06.452Z,1736378286.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:06.452Z,1736378286.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003530 2025-01-08T23:18:06.581Z,1736378286.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:06.590Z,1736378286.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.40 m. 2025-01-08T23:18:06.613Z,1736378286.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.400002 m, nav range: 69.786041 m, bearing: 320.014263 deg, approach rate: 0.007153 m/s, LOS rate: -0.430040 deg/s, cmd heading: 45.889640 deg, new cmd heading: 45.399783 deg. 2025-01-08T23:18:06.614Z,1736378286.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792376 target range: 66.400002 and range: 66.40 m. 2025-01-08T23:18:06.705Z,1736378286.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:06.706Z,1736378286.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256927 2025-01-08T23:18:06.957Z,1736378286.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:06.960Z,1736378286.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510219 2025-01-08T23:18:07.051Z,1736378287.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:07.061Z,1736378287.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.40 m. 2025-01-08T23:18:07.064Z,1736378287.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.400002 m, nav range: 69.810577 m, bearing: 319.795478 deg, approach rate: 0.052089 m/s, LOS rate: -0.464301 deg/s, cmd heading: 45.399782 deg, new cmd heading: 44.743688 deg. 2025-01-08T23:18:07.065Z,1736378287.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780925 target range: 66.400002 and range: 66.40 m. 2025-01-08T23:18:07.208Z,1736378287.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:07.208Z,1736378287.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759575 2025-01-08T23:18:07.394Z,1736378287.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:07.402Z,1736378287.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.40 m. 2025-01-08T23:18:07.405Z,1736378287.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.400002 m, nav range: 69.828133 m, bearing: 319.635790 deg, approach rate: 0.051458 m/s, LOS rate: -0.467965 deg/s, cmd heading: 44.743688 deg, new cmd heading: 44.264755 deg. 2025-01-08T23:18:07.406Z,1736378287.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772566 target range: 66.400002 and range: 66.40 m. 2025-01-08T23:18:07.460Z,1736378287.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:07.461Z,1736378287.461 [DAT](INFO): DAT read: Rx Time:23:18:06.2699 2025-01-08T23:18:07.461Z,1736378287.461 [DAT](INFO): Rx dataTimestamp_ set to:1736378287.461139 2025-01-08T23:18:07.462Z,1736378287.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013148 2025-01-08T23:18:07.712Z,1736378287.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:07.712Z,1736378287.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263616 2025-01-08T23:18:07.796Z,1736378287.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:07.803Z,1736378287.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:07.806Z,1736378287.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.40 m. 2025-01-08T23:18:07.825Z,1736378287.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.400002 m, nav range: 69.848221 m, bearing: 319.448474 deg, approach rate: 0.049740 m/s, LOS rate: -0.463677 deg/s, cmd heading: 44.264755 deg, new cmd heading: 43.702990 deg. 2025-01-08T23:18:07.826Z,1736378287.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762761 target range: 66.400002 and range: 66.40 m. 2025-01-08T23:18:07.966Z,1736378287.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:08.010Z,1736378288.010 [DAT](INFO): DAT read: 23:18:06.2700 LVL= 21856, 27441, 19378, 30611, AGC= 61, IDX= 414, 0.31, 2.323, 0.789, 2.298, 1.848, PHS= 0.563,-1.012, 0.448, RAW= 146.2, 0.0, CAL= 149.9, -9.0, ROT= 0.1, 9.0 2025-01-08T23:18:08.011Z,1736378288.011 [DAT](INFO): got valid direction response: 23:18:06.2700 LVL= 21856, 27441, 19378, 30611, AGC= 61, IDX= 414, 0.31, 2.323, 0.789, 2.298, 1.848, PHS= 0.563,-1.012, 0.448, RAW= 146.2, 0.0, CAL= 149.9, -9.0, ROT= 0.1, 9.0 2025-01-08T23:18:08.012Z,1736378288.012 [DAT](INFO): DAT read: Bearing 0.1, 9.0 (Local) 2025-01-08T23:18:08.012Z,1736378288.012 [DAT](INFO): Local bearing/azimuth received: Bearing 0.1, 9.0 (Local) 2025-01-08T23:18:08.014Z,1736378288.014 [DAT](INFO): DAT read: Range 10 to 50 : 64.6 m (Round-trip 86.2 ms) speed 0.5 m/s 2025-01-08T23:18:08.014Z,1736378288.014 [DAT](INFO): DAT read: user:3168> 2025-01-08T23:18:08.017Z,1736378288.017 [DAT](INFO): DAT read: Tx time:23:18:07.3796 2025-01-08T23:18:08.018Z,1736378288.018 [DAT](INFO): Ping request sent. 2025-01-08T23:18:08.019Z,1736378288.019 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:08.021Z,1736378288.021 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:18:08.024Z,1736378288.024 [DAT](INFO): direction in FSK: [-0.123626,-0.788373,0.602649] 2025-01-08T23:18:08.024Z,1736378288.024 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:08.024Z,1736378288.024 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:08.028Z,1736378288.028 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:08.028Z,1736378288.028 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:08.216Z,1736378288.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:08.217Z,1736378288.217 [DAT](INFO): DAT read: TxSync time:23:18:07.3789 2025-01-08T23:18:08.299Z,1736378288.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:08.360Z,1736378288.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.599998 m, deltaT: 3.531294 s, deltaX: -1.800003 m, approachRate: -0.509729 m/s, rangeRepo size: 4 2025-01-08T23:18:08.362Z,1736378288.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.599998 m, bearing: 306.580474 deg, lat: 36.904744 deg, lon: -122.120452 deg, deltaT: 3.531294 s, deltaX: -1.800003 m, approachRate: -0.509729 m/s, posRepo size: 4 2025-01-08T23:18:08.371Z,1736378288.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m. 2025-01-08T23:18:08.384Z,1736378288.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.599998 m, nav range: 63.560684 m, bearing: 314.054661 deg, approach rate: 0.000000 m/s, LOS rate: -0.463677 deg/s, cmd heading: 43.702989 deg, new cmd heading: 42.932744 deg. 2025-01-08T23:18:08.388Z,1736378288.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749318 target range: 64.599998 and range: 64.60 m. 2025-01-08T23:18:08.469Z,1736378288.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:08.707Z,1736378288.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:08.720Z,1736378288.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:08.740Z,1736378288.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m. 2025-01-08T23:18:08.742Z,1736378288.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.599998 m, nav range: 63.623310 m, bearing: 313.826702 deg, approach rate: 0.164818 m/s, LOS rate: -0.599349 deg/s, cmd heading: 42.932745 deg, new cmd heading: 42.249574 deg. 2025-01-08T23:18:08.749Z,1736378288.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.737394 target range: 64.599998 and range: 64.60 m. 2025-01-08T23:18:08.974Z,1736378288.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:09.147Z,1736378289.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:09.173Z,1736378289.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m. 2025-01-08T23:18:09.180Z,1736378289.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.599998 m, nav range: 63.705620 m, bearing: 313.570099 deg, approach rate: 0.190127 m/s, LOS rate: -0.591960 deg/s, cmd heading: 42.249573 deg, new cmd heading: 41.480806 deg. 2025-01-08T23:18:09.181Z,1736378289.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.723977 target range: 64.599998 and range: 64.60 m. 2025-01-08T23:18:09.224Z,1736378289.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:09.476Z,1736378289.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:09.522Z,1736378289.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:09.530Z,1736378289.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m. 2025-01-08T23:18:09.533Z,1736378289.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.599998 m, nav range: 63.774281 m, bearing: 313.352175 deg, approach rate: 0.191899 m/s, LOS rate: -0.608414 deg/s, cmd heading: 41.480808 deg, new cmd heading: 40.827770 deg. 2025-01-08T23:18:09.534Z,1736378289.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712579 target range: 64.599998 and range: 64.60 m. 2025-01-08T23:18:09.728Z,1736378289.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:09.936Z,1736378289.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:09.945Z,1736378289.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:09.947Z,1736378289.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m. 2025-01-08T23:18:09.954Z,1736378289.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.599998 m, nav range: 63.850021 m, bearing: 313.110366 deg, approach rate: 0.181903 m/s, LOS rate: -0.580048 deg/s, cmd heading: 40.827770 deg, new cmd heading: 40.103245 deg. 2025-01-08T23:18:09.956Z,1736378289.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699934 target range: 64.599998 and range: 64.60 m. 2025-01-08T23:18:09.981Z,1736378289.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:09.983Z,1736378289.983 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:09.984Z,1736378289.984 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:09.984Z,1736378289.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:10.232Z,1736378290.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:10.232Z,1736378290.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214239 2025-01-08T23:18:10.349Z,1736378290.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:10.381Z,1736378290.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m. 2025-01-08T23:18:10.388Z,1736378290.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.599998 m, nav range: 63.933727 m, bearing: 312.861413 deg, approach rate: 0.192706 m/s, LOS rate: -0.572382 deg/s, cmd heading: 40.103244 deg, new cmd heading: 39.357406 deg. 2025-01-08T23:18:10.389Z,1736378290.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686916 target range: 64.599998 and range: 64.60 m. 2025-01-08T23:18:10.484Z,1736378290.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:10.484Z,1736378290.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466260 2025-01-08T23:18:10.736Z,1736378290.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:10.738Z,1736378290.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719007 2025-01-08T23:18:10.793Z,1736378290.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:10.810Z,1736378290.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m. 2025-01-08T23:18:10.817Z,1736378290.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.599998 m, nav range: 64.023178 m, bearing: 312.594393 deg, approach rate: 0.208760 m/s, LOS rate: -0.622298 deg/s, cmd heading: 39.357404 deg, new cmd heading: 38.557519 deg. 2025-01-08T23:18:10.818Z,1736378290.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672956 target range: 64.599998 and range: 64.60 m. 2025-01-08T23:18:10.988Z,1736378290.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:10.989Z,1736378290.989 [DAT](INFO): DAT read: Rx Time:23:18:09.8672 2025-01-08T23:18:10.989Z,1736378290.989 [DAT](INFO): Rx dataTimestamp_ set to:1736378290.989062 2025-01-08T23:18:10.990Z,1736378290.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971714 2025-01-08T23:18:11.209Z,1736378291.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:11.218Z,1736378291.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m. 2025-01-08T23:18:11.225Z,1736378291.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.599998 m, nav range: 64.102303 m, bearing: 312.340078 deg, approach rate: 0.193898 m/s, LOS rate: -0.622438 deg/s, cmd heading: 38.557518 deg, new cmd heading: 37.795562 deg. 2025-01-08T23:18:11.226Z,1736378291.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659657 target range: 64.599998 and range: 64.60 m. 2025-01-08T23:18:11.240Z,1736378291.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:11.241Z,1736378291.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222364 2025-01-08T23:18:11.493Z,1736378291.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:11.495Z,1736378291.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476249 2025-01-08T23:18:11.603Z,1736378291.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:11.612Z,1736378291.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.60 m. 2025-01-08T23:18:11.615Z,1736378291.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.599998 m, nav range: 64.176086 m, bearing: 312.099475 deg, approach rate: 0.187046 m/s, LOS rate: -0.609238 deg/s, cmd heading: 37.795562 deg, new cmd heading: 37.074623 deg. 2025-01-08T23:18:11.616Z,1736378291.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647074 target range: 64.599998 and range: 64.60 m. 2025-01-08T23:18:11.744Z,1736378291.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:11.750Z,1736378291.750 [DAT](INFO): DAT read: 23:18:09.8672 LVL= 20080, 32369, 17346, 32755, AGC= 64, IDX= 418, 0.37, 0.909,-0.569, 0.708, 0.373, PHS= 0.624,-0.895, 0.332, RAW= 139.6, -0.9, CAL= 144.3, -10.0, ROT= 5.7, 10.0 2025-01-08T23:18:11.752Z,1736378291.752 [DAT](INFO): got valid direction response: 23:18:09.8672 LVL= 20080, 32369, 17346, 32755, AGC= 64, IDX= 418, 0.37, 0.909,-0.569, 0.708, 0.373, PHS= 0.624,-0.895, 0.332, RAW= 139.6, -0.9, CAL= 144.3, -10.0, ROT= 5.7, 10.0 2025-01-08T23:18:11.753Z,1736378291.753 [DAT](INFO): DAT read: Bearing 5.7, 10.0 (Local) 2025-01-08T23:18:11.753Z,1736378291.753 [DAT](INFO): Local bearing/azimuth received: Bearing 5.7, 10.0 (Local) 2025-01-08T23:18:11.755Z,1736378291.755 [DAT](INFO): DAT read: Range 10 to 50 : 62.5 m (Round-trip 83.4 ms) speed 0.6 m/s 2025-01-08T23:18:11.756Z,1736378291.756 [DAT](INFO): DAT read: user:3169> 2025-01-08T23:18:11.757Z,1736378291.757 [DAT](INFO): DAT read: Tx time:23:18:10.9812 2025-01-08T23:18:11.757Z,1736378291.757 [DAT](INFO): Ping request sent. 2025-01-08T23:18:11.757Z,1736378291.757 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:11.757Z,1736378291.757 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:18:11.758Z,1736378291.758 [DAT](INFO): direction in FSK: [-0.108088,-0.708936,0.696941] 2025-01-08T23:18:11.759Z,1736378291.759 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:11.759Z,1736378291.759 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:11.762Z,1736378291.762 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:11.762Z,1736378291.762 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:11.996Z,1736378291.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:11.997Z,1736378291.997 [DAT](INFO): DAT read: TxSync time:23:18:10.9804 2025-01-08T23:18:12.021Z,1736378292.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:12.089Z,1736378292.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.500000 m, deltaT: 3.776584 s, deltaX: -2.099998 m, approachRate: -0.556058 m/s, rangeRepo size: 4 2025-01-08T23:18:12.096Z,1736378292.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.500000 m, bearing: 302.969859 deg, lat: 36.904681 deg, lon: -122.120449 deg, deltaT: 3.776584 s, deltaX: -2.099998 m, approachRate: -0.556058 m/s, posRepo size: 4 2025-01-08T23:18:12.097Z,1736378292.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.50 m. 2025-01-08T23:18:12.104Z,1736378292.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.500000 m, nav range: 59.626789 m, bearing: 306.984578 deg, approach rate: 0.000000 m/s, LOS rate: -0.609238 deg/s, cmd heading: 37.074622 deg, new cmd heading: 36.221113 deg. 2025-01-08T23:18:12.106Z,1736378292.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.632178 target range: 62.500000 and range: 62.50 m. 2025-01-08T23:18:12.248Z,1736378292.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:12.434Z,1736378292.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:12.442Z,1736378292.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:12.464Z,1736378292.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.50 m. 2025-01-08T23:18:12.474Z,1736378292.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.500000 m, nav range: 59.710182 m, bearing: 306.727038 deg, approach rate: 0.226681 m/s, LOS rate: -0.699069 deg/s, cmd heading: 36.221115 deg, new cmd heading: 35.449624 deg. 2025-01-08T23:18:12.480Z,1736378292.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618713 target range: 62.500000 and range: 62.50 m. 2025-01-08T23:18:12.501Z,1736378292.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:12.502Z,1736378292.502 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:12.503Z,1736378292.503 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:12.504Z,1736378292.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:12.752Z,1736378292.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:12.752Z,1736378292.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995189 2025-01-08T23:18:12.805Z,1736378292.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:12.814Z,1736378292.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.50 m. 2025-01-08T23:18:12.817Z,1736378292.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.500000 m, nav range: 59.782948 m, bearing: 306.496117 deg, approach rate: 0.198496 m/s, LOS rate: -0.629160 deg/s, cmd heading: 35.449624 deg, new cmd heading: 34.757740 deg. 2025-01-08T23:18:12.818Z,1736378292.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606637 target range: 62.500000 and range: 62.50 m. 2025-01-08T23:18:13.004Z,1736378293.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:13.005Z,1736378293.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247988 2025-01-08T23:18:13.234Z,1736378293.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:13.244Z,1736378293.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.50 m. 2025-01-08T23:18:13.247Z,1736378293.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.500000 m, nav range: 59.839817 m, bearing: 306.234681 deg, approach rate: 0.132106 m/s, LOS rate: -0.606727 deg/s, cmd heading: 34.757740 deg, new cmd heading: 33.974231 deg. 2025-01-08T23:18:13.248Z,1736378293.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592962 target range: 62.500000 and range: 62.50 m. 2025-01-08T23:18:13.257Z,1736378293.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:13.259Z,1736378293.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501683 2025-01-08T23:18:13.508Z,1736378293.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:13.510Z,1736378293.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752460 2025-01-08T23:18:13.620Z,1736378293.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:13.629Z,1736378293.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.50 m. 2025-01-08T23:18:13.632Z,1736378293.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.500000 m, nav range: 59.887997 m, bearing: 305.999500 deg, approach rate: 0.125088 m/s, LOS rate: -0.610105 deg/s, cmd heading: 33.974232 deg, new cmd heading: 33.269292 deg. 2025-01-08T23:18:13.633Z,1736378293.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580659 target range: 62.500000 and range: 62.50 m. 2025-01-08T23:18:13.760Z,1736378293.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:13.761Z,1736378293.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003344 2025-01-08T23:18:14.014Z,1736378294.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:14.015Z,1736378294.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258153 2025-01-08T23:18:14.044Z,1736378294.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:14.107Z,1736378294.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.50 m. 2025-01-08T23:18:14.110Z,1736378294.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.500000 m, nav range: 59.941940 m, bearing: 305.742283 deg, approach rate: 0.113861 m/s, LOS rate: -0.542426 deg/s, cmd heading: 33.269291 deg, new cmd heading: 32.498384 deg. 2025-01-08T23:18:14.115Z,1736378294.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567204 target range: 62.500000 and range: 62.50 m. 2025-01-08T23:18:14.264Z,1736378294.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:14.265Z,1736378294.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507424 2025-01-08T23:18:14.467Z,1736378294.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:14.477Z,1736378294.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:14.481Z,1736378294.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.50 m. 2025-01-08T23:18:14.485Z,1736378294.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.500000 m, nav range: 59.964592 m, bearing: 305.499478 deg, approach rate: 0.059954 m/s, LOS rate: -0.642409 deg/s, cmd heading: 32.498385 deg, new cmd heading: 31.770287 deg. 2025-01-08T23:18:14.485Z,1736378294.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554496 target range: 62.500000 and range: 62.50 m. 2025-01-08T23:18:14.516Z,1736378294.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:14.517Z,1736378294.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759397 2025-01-08T23:18:14.768Z,1736378294.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:14.768Z,1736378294.768 [DAT](INFO): DAT read: Rx Time:23:18:13.4661 2025-01-08T23:18:14.769Z,1736378294.769 [DAT](INFO): Rx dataTimestamp_ set to:1736378294.768552 2025-01-08T23:18:14.769Z,1736378294.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012196 2025-01-08T23:18:14.837Z,1736378294.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:14.846Z,1736378294.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.50 m. 2025-01-08T23:18:14.849Z,1736378294.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.500000 m, nav range: 59.982090 m, bearing: 305.287323 deg, approach rate: 0.047940 m/s, LOS rate: -0.581076 deg/s, cmd heading: 31.770287 deg, new cmd heading: 31.134034 deg. 2025-01-08T23:18:14.850Z,1736378294.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543391 target range: 62.500000 and range: 62.50 m. 2025-01-08T23:18:15.020Z,1736378295.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:15.020Z,1736378295.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263330 2025-01-08T23:18:15.253Z,1736378295.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:15.263Z,1736378295.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.50 m. 2025-01-08T23:18:15.266Z,1736378295.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.500000 m, nav range: 59.979862 m, bearing: 305.067132 deg, approach rate: -0.005345 m/s, LOS rate: -0.528263 deg/s, cmd heading: 31.134034 deg, new cmd heading: 30.473468 deg. 2025-01-08T23:18:15.267Z,1736378295.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531862 target range: 62.500000 and range: 62.50 m. 2025-01-08T23:18:15.272Z,1736378295.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:15.279Z,1736378295.279 [DAT](INFO): DAT read: 23:18:13.4661 LVL= 21776, 32753, 21362, 29363, AGC= 65, IDX= 407,-0.40, 1.386,-0.129, 0.921, 0.841, PHS= 0.632,-0.923, 0.077, RAW= 129.4, 3.2, CAL= 135.9, -3.9, ROT= 14.1, 3.9 2025-01-08T23:18:15.280Z,1736378295.280 [DAT](INFO): got valid direction response: 23:18:13.4661 LVL= 21776, 32753, 21362, 29363, AGC= 65, IDX= 407,-0.40, 1.386,-0.129, 0.921, 0.841, PHS= 0.632,-0.923, 0.077, RAW= 129.4, 3.2, CAL= 135.9, -3.9, ROT= 14.1, 3.9 2025-01-08T23:18:15.281Z,1736378295.281 [DAT](INFO): DAT read: Bearing 14.1, 3.9 (Local) 2025-01-08T23:18:15.281Z,1736378295.281 [DAT](INFO): Local bearing/azimuth received: Bearing 14.1, 3.9 (Local) 2025-01-08T23:18:15.283Z,1736378295.283 [DAT](INFO): DAT read: Range 10 to 50 : 60.5 m (Round-trip 80.7 ms) speed 0.6 m/s 2025-01-08T23:18:15.284Z,1736378295.284 [DAT](INFO): DAT read: user:3170> 2025-01-08T23:18:15.284Z,1736378295.284 [DAT](INFO): DAT read: Tx time:23:18:14.5796 2025-01-08T23:18:15.285Z,1736378295.285 [DAT](INFO): Ping request sent. 2025-01-08T23:18:15.285Z,1736378295.285 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:15.285Z,1736378295.285 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:18:15.286Z,1736378295.286 [DAT](INFO): direction in FSK: [-0.186372,-0.558169,0.808525] 2025-01-08T23:18:15.286Z,1736378295.286 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:15.286Z,1736378295.286 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:15.290Z,1736378295.290 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:15.291Z,1736378295.291 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:15.525Z,1736378295.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:15.526Z,1736378295.526 [DAT](INFO): DAT read: TxSync time:23:18:14.5789 2025-01-08T23:18:15.647Z,1736378295.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:15.698Z,1736378295.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.500000 m, deltaT: 3.528405 s, deltaX: -2.000000 m, approachRate: -0.566828 m/s, rangeRepo size: 4 2025-01-08T23:18:15.705Z,1736378295.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 60.500000 m, bearing: 287.596292 deg, lat: 36.904639 deg, lon: -122.120431 deg, deltaT: 3.528405 s, deltaX: -2.000000 m, approachRate: -0.566828 m/s, posRepo size: 4 2025-01-08T23:18:15.706Z,1736378295.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-01-08T23:18:15.713Z,1736378295.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.500000 m, nav range: 56.025932 m, bearing: 301.876978 deg, approach rate: 0.000000 m/s, LOS rate: -0.528263 deg/s, cmd heading: 30.473466 deg, new cmd heading: 29.784764 deg. 2025-01-08T23:18:15.714Z,1736378295.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519842 target range: 60.500000 and range: 60.50 m. 2025-01-08T23:18:15.777Z,1736378295.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:16.028Z,1736378296.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:16.045Z,1736378296.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:16.053Z,1736378296.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-01-08T23:18:16.059Z,1736378296.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.500000 m, nav range: 56.030525 m, bearing: 301.651532 deg, approach rate: 0.012903 m/s, LOS rate: -0.633306 deg/s, cmd heading: 29.784764 deg, new cmd heading: 29.108514 deg. 2025-01-08T23:18:16.063Z,1736378296.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.508039 target range: 60.500000 and range: 60.50 m. 2025-01-08T23:18:16.280Z,1736378296.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:16.473Z,1736378296.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:16.499Z,1736378296.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:16.501Z,1736378296.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-01-08T23:18:16.510Z,1736378296.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.500000 m, nav range: 56.016933 m, bearing: 301.419384 deg, approach rate: -0.030347 m/s, LOS rate: -0.518445 deg/s, cmd heading: 29.108514 deg, new cmd heading: 28.411938 deg. 2025-01-08T23:18:16.520Z,1736378296.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495882 target range: 60.500000 and range: 60.50 m. 2025-01-08T23:18:16.532Z,1736378296.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:16.534Z,1736378296.534 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:16.534Z,1736378296.534 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:16.535Z,1736378296.535 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:16.784Z,1736378296.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:16.784Z,1736378296.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499727 2025-01-08T23:18:16.845Z,1736378296.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:16.853Z,1736378296.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-01-08T23:18:16.870Z,1736378296.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.500000 m, nav range: 56.003456 m, bearing: 301.217231 deg, approach rate: -0.038311 m/s, LOS rate: -0.574779 deg/s, cmd heading: 28.411937 deg, new cmd heading: 27.805358 deg. 2025-01-08T23:18:16.876Z,1736378296.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.485295 target range: 60.500000 and range: 60.50 m. 2025-01-08T23:18:17.036Z,1736378297.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:17.036Z,1736378297.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751811 2025-01-08T23:18:17.288Z,1736378297.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:17.289Z,1736378297.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004545 2025-01-08T23:18:17.291Z,1736378297.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:17.300Z,1736378297.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-01-08T23:18:17.303Z,1736378297.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.500000 m, nav range: 55.977341 m, bearing: 300.984247 deg, approach rate: -0.058425 m/s, LOS rate: -0.521466 deg/s, cmd heading: 27.805357 deg, new cmd heading: 27.106115 deg. 2025-01-08T23:18:17.316Z,1736378297.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473091 target range: 60.500000 and range: 60.50 m. 2025-01-08T23:18:17.540Z,1736378297.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:17.540Z,1736378297.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255782 2025-01-08T23:18:17.659Z,1736378297.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:17.687Z,1736378297.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-01-08T23:18:17.694Z,1736378297.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.500000 m, nav range: 55.954731 m, bearing: 300.792524 deg, approach rate: -0.058466 m/s, LOS rate: -0.495975 deg/s, cmd heading: 27.106115 deg, new cmd heading: 26.530733 deg. 2025-01-08T23:18:17.695Z,1736378297.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.463049 target range: 60.500000 and range: 60.50 m. 2025-01-08T23:18:17.793Z,1736378297.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:17.794Z,1736378297.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508952 2025-01-08T23:18:18.044Z,1736378298.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:18.045Z,1736378298.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759839 2025-01-08T23:18:18.059Z,1736378298.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:18.068Z,1736378298.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-01-08T23:18:18.092Z,1736378298.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.500000 m, nav range: 55.928799 m, bearing: 300.584055 deg, approach rate: -0.068028 m/s, LOS rate: -0.547124 deg/s, cmd heading: 26.530733 deg, new cmd heading: 25.905061 deg. 2025-01-08T23:18:18.100Z,1736378298.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452129 target range: 60.500000 and range: 60.50 m. 2025-01-08T23:18:18.296Z,1736378298.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:18.296Z,1736378298.296 [DAT](INFO): DAT read: Rx Time:23:18:17.0614 2025-01-08T23:18:18.297Z,1736378298.297 [DAT](INFO): Rx dataTimestamp_ set to:1736378298.296619 2025-01-08T23:18:18.297Z,1736378298.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012753 2025-01-08T23:18:18.473Z,1736378298.473 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -75, -9,A 2025-01-08T23:18:18.481Z,1736378298.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:18:18.481Z,1736378298.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:18.484Z,1736378298.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:18:18.497Z,1736378298.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-01-08T23:18:18.521Z,1736378298.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.500000 m, nav range: 55.899609 m, bearing: 300.364541 deg, approach rate: -0.068355 m/s, LOS rate: -0.514309 deg/s, cmd heading: 25.905062 deg, new cmd heading: 25.246206 deg. 2025-01-08T23:18:18.522Z,1736378298.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440629 target range: 60.500000 and range: 60.50 m. 2025-01-08T23:18:18.548Z,1736378298.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:18.549Z,1736378298.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263833 2025-01-08T23:18:18.801Z,1736378298.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:18.808Z,1736378298.808 [DAT](INFO): DAT read: 23:18:17.0614 LVL= 21344, 32753, 25154, 32755, AGC= 63, IDX= 407, 0.28,-0.651,-2.226,-1.281,-1.143, PHS= 0.580,-1.036,-0.141, RAW= 123.6, 8.5, CAL= 131.4, 3.9, ROT= 18.6, -3.9 2025-01-08T23:18:18.809Z,1736378298.809 [DAT](INFO): got valid direction response: 23:18:17.0614 LVL= 21344, 32753, 25154, 32755, AGC= 63, IDX= 407, 0.28,-0.651,-2.226,-1.281,-1.143, PHS= 0.580,-1.036,-0.141, RAW= 123.6, 8.5, CAL= 131.4, 3.9, ROT= 18.6, -3.9 2025-01-08T23:18:18.810Z,1736378298.810 [DAT](INFO): DAT read: Bearing 18.6, -3.9 (Local) 2025-01-08T23:18:18.810Z,1736378298.810 [DAT](INFO): Local bearing/azimuth received: Bearing 18.6, -3.9 (Local) 2025-01-08T23:18:18.812Z,1736378298.812 [DAT](INFO): DAT read: Range 10 to 50 : 58.2 m (Round-trip 77.6 ms) speed 0.5 m/s 2025-01-08T23:18:18.812Z,1736378298.812 [DAT](INFO): DAT read: user:3171> 2025-01-08T23:18:18.813Z,1736378298.813 [DAT](INFO): DAT read: Tx time:23:18:18.1796 2025-01-08T23:18:18.813Z,1736378298.813 [DAT](INFO): Ping request sent. 2025-01-08T23:18:18.813Z,1736378298.813 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:18.814Z,1736378298.814 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:18:18.815Z,1736378298.815 [DAT](INFO): direction in FSK: [-0.285637,-0.454267,0.843832] 2025-01-08T23:18:18.815Z,1736378298.815 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:18.815Z,1736378298.815 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:18.818Z,1736378298.818 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:18.818Z,1736378298.818 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:18.966Z,1736378298.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:18:18.966Z,1736378298.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:18.994Z,1736378298.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.200001 m, deltaT: 3.528430 s, deltaX: -2.299999 m, approachRate: -0.651848 m/s, rangeRepo size: 4 2025-01-08T23:18:19.000Z,1736378299.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 58.200001 m, bearing: 270.639775 deg, lat: 36.904591 deg, lon: -122.120360 deg, deltaT: 3.528430 s, deltaX: -2.299999 m, approachRate: -0.651848 m/s, posRepo size: 4 2025-01-08T23:18:19.001Z,1736378299.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.20 m. 2025-01-08T23:18:19.001Z,1736378299.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-01-08T23:18:19.009Z,1736378299.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.200001 m, nav range: 47.752975 m, bearing: 298.269442 deg, approach rate: 0.000000 m/s, LOS rate: -0.514309 deg/s, cmd heading: 25.246206 deg, new cmd heading: 24.477252 deg. 2025-01-08T23:18:19.010Z,1736378299.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427209 target range: 58.200001 and range: 58.20 m. 2025-01-08T23:18:19.044Z,1736378299.044 [DockingStepper](INFO): Changing to mode: 2 2025-01-08T23:18:19.044Z,1736378299.044 [DockingStepper](INFO): Armed mode. 2025-01-08T23:18:19.052Z,1736378299.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:19.053Z,1736378299.053 [DAT](INFO): DAT read: TxSync time:23:18:18.1790 2025-01-08T23:18:19.107Z,1736378299.107 [DockingStepper](INFO): Commanding negative:54389 2025-01-08T23:18:19.304Z,1736378299.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:19.418Z,1736378299.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:19.433Z,1736378299.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:19.435Z,1736378299.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.20 m. 2025-01-08T23:18:19.442Z,1736378299.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-01-08T23:18:19.449Z,1736378299.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.200001 m, nav range: 47.731068 m, bearing: 298.000498 deg, approach rate: -0.049615 m/s, LOS rate: -0.609365 deg/s, cmd heading: 24.477252 deg, new cmd heading: 23.670106 deg. 2025-01-08T23:18:19.450Z,1736378299.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413121 target range: 58.200001 and range: 58.20 m. 2025-01-08T23:18:19.488Z,1736378299.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:18:19.557Z,1736378299.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:19.558Z,1736378299.558 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:19.559Z,1736378299.559 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:19.560Z,1736378299.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:19.731Z,1736378299.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:19.741Z,1736378299.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.20 m. 2025-01-08T23:18:19.742Z,1736378299.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-01-08T23:18:19.745Z,1736378299.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.200001 m, nav range: 47.714401 m, bearing: 297.814355 deg, approach rate: -0.054430 m/s, LOS rate: -0.608124 deg/s, cmd heading: 23.670106 deg, new cmd heading: 23.111501 deg. 2025-01-08T23:18:19.746Z,1736378299.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.403372 target range: 58.200001 and range: 58.20 m. 2025-01-08T23:18:19.809Z,1736378299.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:19.810Z,1736378299.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996123 2025-01-08T23:18:20.060Z,1736378300.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:20.060Z,1736378300.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246903 2025-01-08T23:18:20.227Z,1736378300.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:20.260Z,1736378300.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.20 m. 2025-01-08T23:18:20.261Z,1736378300.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-01-08T23:18:20.268Z,1736378300.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.200001 m, nav range: 47.698917 m, bearing: 297.514723 deg, approach rate: -0.029828 m/s, LOS rate: -0.577394 deg/s, cmd heading: 23.111501 deg, new cmd heading: 22.212391 deg. 2025-01-08T23:18:20.269Z,1736378300.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.387679 target range: 58.200001 and range: 58.20 m. 2025-01-08T23:18:20.312Z,1736378300.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:20.313Z,1736378300.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499229 2025-01-08T23:18:20.564Z,1736378300.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:20.565Z,1736378300.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750979 2025-01-08T23:18:20.599Z,1736378300.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:20.621Z,1736378300.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.20 m. 2025-01-08T23:18:20.622Z,1736378300.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-01-08T23:18:20.629Z,1736378300.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.200001 m, nav range: 47.685921 m, bearing: 297.290405 deg, approach rate: -0.035997 m/s, LOS rate: -0.621465 deg/s, cmd heading: 22.212390 deg, new cmd heading: 21.539284 deg. 2025-01-08T23:18:20.630Z,1736378300.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.375931 target range: 58.200001 and range: 58.20 m. 2025-01-08T23:18:20.816Z,1736378300.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:20.816Z,1736378300.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002814 2025-01-08T23:18:20.992Z,1736378300.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:21.001Z,1736378301.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.20 m. 2025-01-08T23:18:21.001Z,1736378301.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-01-08T23:18:21.004Z,1736378301.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.200001 m, nav range: 47.670162 m, bearing: 297.052406 deg, approach rate: -0.041553 m/s, LOS rate: -0.627779 deg/s, cmd heading: 21.539285 deg, new cmd heading: 20.825093 deg. 2025-01-08T23:18:21.006Z,1736378301.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.363466 target range: 58.200001 and range: 58.20 m. 2025-01-08T23:18:21.073Z,1736378301.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:21.073Z,1736378301.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259926 2025-01-08T23:18:21.324Z,1736378301.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:21.324Z,1736378301.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510950 2025-01-08T23:18:21.433Z,1736378301.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:21.441Z,1736378301.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:21.443Z,1736378301.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.20 m. 2025-01-08T23:18:21.444Z,1736378301.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-01-08T23:18:21.447Z,1736378301.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.200001 m, nav range: 47.662048 m, bearing: 296.781279 deg, approach rate: -0.018338 m/s, LOS rate: -0.612880 deg/s, cmd heading: 20.825093 deg, new cmd heading: 20.011631 deg. 2025-01-08T23:18:21.448Z,1736378301.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349269 target range: 58.200001 and range: 58.20 m. 2025-01-08T23:18:21.576Z,1736378301.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:21.576Z,1736378301.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762941 2025-01-08T23:18:21.791Z,1736378301.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:21.800Z,1736378301.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.20 m. 2025-01-08T23:18:21.800Z,1736378301.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-01-08T23:18:21.803Z,1736378301.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.200001 m, nav range: 47.653851 m, bearing: 296.561348 deg, approach rate: -0.023000 m/s, LOS rate: -0.617160 deg/s, cmd heading: 20.011631 deg, new cmd heading: 19.351754 deg. 2025-01-08T23:18:21.804Z,1736378301.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.337752 target range: 58.200001 and range: 58.20 m. 2025-01-08T23:18:21.828Z,1736378301.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:21.828Z,1736378301.828 [DAT](INFO): DAT read: Rx Time:23:18:20.6590 2025-01-08T23:18:21.829Z,1736378301.829 [DAT](INFO): Rx dataTimestamp_ set to:1736378301.828622 2025-01-08T23:18:21.829Z,1736378301.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015896 2025-01-08T23:18:22.080Z,1736378302.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:22.080Z,1736378302.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266889 2025-01-08T23:18:22.257Z,1736378302.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:22.270Z,1736378302.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.20 m. 2025-01-08T23:18:22.271Z,1736378302.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-01-08T23:18:22.275Z,1736378302.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.200001 m, nav range: 47.656704 m, bearing: 296.267954 deg, approach rate: 0.006057 m/s, LOS rate: -0.622773 deg/s, cmd heading: 19.351755 deg, new cmd heading: 18.471700 deg. 2025-01-08T23:18:22.276Z,1736378302.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.322392 target range: 58.200001 and range: 58.20 m. 2025-01-08T23:18:22.333Z,1736378302.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:22.336Z,1736378302.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521392 2025-01-08T23:18:22.584Z,1736378302.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:22.593Z,1736378302.593 [DAT](INFO): DAT read: 23:18:20.6590 LVL= 17504, 30945, 24178, 32755, AGC= 56, IDX= 414, 0.12,-2.015, 2.736,-2.767,-2.531, PHS= 0.604,-0.969,-0.239, RAW= 117.6, 8.9, CAL= 126.5, 5.2, ROT= 23.5, -5.2 2025-01-08T23:18:22.594Z,1736378302.594 [DAT](INFO): got valid direction response: 23:18:20.6590 LVL= 17504, 30945, 24178, 32755, AGC= 56, IDX= 414, 0.12,-2.015, 2.736,-2.767,-2.531, PHS= 0.604,-0.969,-0.239, RAW= 117.6, 8.9, CAL= 126.5, 5.2, ROT= 23.5, -5.2 2025-01-08T23:18:22.606Z,1736378302.606 [DAT](INFO): DAT read: Bearing 23.5, -5.2 (Local) 2025-01-08T23:18:22.606Z,1736378302.606 [DAT](INFO): Local bearing/azimuth received: Bearing 23.5, -5.2 (Local) 2025-01-08T23:18:22.610Z,1736378302.610 [DAT](INFO): DAT read: Range 10 to 50 : 56.3 m (Round-trip 75.1 ms) speed 0.4 m/s 2025-01-08T23:18:22.646Z,1736378302.646 [DAT](INFO): DAT read: user:3172> 2025-01-08T23:18:22.647Z,1736378302.647 [DAT](INFO): DAT read: Tx time:23:18:21.7797 2025-01-08T23:18:22.656Z,1736378302.656 [DAT](INFO): Ping request sent. 2025-01-08T23:18:22.656Z,1736378302.656 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:22.657Z,1736378302.657 [DAT](INFO): DAT read: TxSync time:23:18:21.7790 2025-01-08T23:18:22.658Z,1736378302.658 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:18:22.685Z,1736378302.685 [DAT](INFO): direction in FSK: [-0.287854,-0.357574,0.888415] 2025-01-08T23:18:22.685Z,1736378302.685 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:22.686Z,1736378302.686 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:22.701Z,1736378302.701 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:22.701Z,1736378302.701 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:22.710Z,1736378302.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:22.752Z,1736378302.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.299999 m, deltaT: 3.783905 s, deltaX: -1.900002 m, approachRate: -0.502127 m/s, rangeRepo size: 4 2025-01-08T23:18:22.761Z,1736378302.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 56.299999 m, bearing: 259.782366 deg, lat: 36.904474 deg, lon: -122.120293 deg, deltaT: 3.783905 s, deltaX: -1.900002 m, approachRate: -0.502127 m/s, posRepo size: 4 2025-01-08T23:18:22.762Z,1736378302.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m. 2025-01-08T23:18:22.762Z,1736378302.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m. 2025-01-08T23:18:22.765Z,1736378302.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.299999 m, nav range: 37.688107 m, bearing: 282.104069 deg, approach rate: 0.000000 m/s, LOS rate: -0.622773 deg/s, cmd heading: 18.471700 deg, new cmd heading: 17.572522 deg. 2025-01-08T23:18:22.766Z,1736378302.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.306698 target range: 56.299999 and range: 56.30 m. 2025-01-08T23:18:22.837Z,1736378302.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:23.054Z,1736378303.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:23.076Z,1736378303.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m. 2025-01-08T23:18:23.076Z,1736378303.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m. 2025-01-08T23:18:23.079Z,1736378303.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.299999 m, nav range: 37.731220 m, bearing: 281.838304 deg, approach rate: 0.134953 m/s, LOS rate: -0.830936 deg/s, cmd heading: 17.572523 deg, new cmd heading: 16.776192 deg. 2025-01-08T23:18:23.084Z,1736378303.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292800 target range: 56.299999 and range: 56.30 m. 2025-01-08T23:18:23.088Z,1736378303.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:23.340Z,1736378303.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:23.477Z,1736378303.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:23.484Z,1736378303.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:23.486Z,1736378303.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m. 2025-01-08T23:18:23.487Z,1736378303.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m. 2025-01-08T23:18:23.491Z,1736378303.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.299999 m, nav range: 37.788883 m, bearing: 281.514339 deg, approach rate: 0.138960 m/s, LOS rate: -0.779516 deg/s, cmd heading: 16.776191 deg, new cmd heading: 15.805878 deg. 2025-01-08T23:18:23.516Z,1736378303.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.275865 target range: 56.299999 and range: 56.30 m. 2025-01-08T23:18:23.592Z,1736378303.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:23.593Z,1736378303.593 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:23.593Z,1736378303.593 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:23.593Z,1736378303.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:23.844Z,1736378303.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:23.844Z,1736378303.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.188421 2025-01-08T23:18:23.853Z,1736378303.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:23.901Z,1736378303.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m. 2025-01-08T23:18:23.902Z,1736378303.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m. 2025-01-08T23:18:23.909Z,1736378303.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.299999 m, nav range: 37.838879 m, bearing: 281.227075 deg, approach rate: 0.120468 m/s, LOS rate: -0.691269 deg/s, cmd heading: 15.805877 deg, new cmd heading: 14.945291 deg. 2025-01-08T23:18:23.910Z,1736378303.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.260845 target range: 56.299999 and range: 56.30 m. 2025-01-08T23:18:24.096Z,1736378304.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:24.097Z,1736378304.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.440559 2025-01-08T23:18:24.325Z,1736378304.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:24.334Z,1736378304.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m. 2025-01-08T23:18:24.334Z,1736378304.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m. 2025-01-08T23:18:24.348Z,1736378304.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:24.348Z,1736378304.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.692444 2025-01-08T23:18:24.358Z,1736378304.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.299999 m, nav range: 37.906517 m, bearing: 280.863437 deg, approach rate: 0.156333 m/s, LOS rate: -0.838975 deg/s, cmd heading: 14.945291 deg, new cmd heading: 13.856462 deg. 2025-01-08T23:18:24.363Z,1736378304.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.241841 target range: 56.299999 and range: 56.30 m. 2025-01-08T23:18:24.600Z,1736378304.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:24.601Z,1736378304.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945112 2025-01-08T23:18:24.733Z,1736378304.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:24.742Z,1736378304.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m. 2025-01-08T23:18:24.743Z,1736378304.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m. 2025-01-08T23:18:24.746Z,1736378304.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.299999 m, nav range: 37.964016 m, bearing: 280.550144 deg, approach rate: 0.140782 m/s, LOS rate: -0.765909 deg/s, cmd heading: 13.856462 deg, new cmd heading: 12.918096 deg. 2025-01-08T23:18:24.747Z,1736378304.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225463 target range: 56.299999 and range: 56.30 m. 2025-01-08T23:18:24.854Z,1736378304.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:24.856Z,1736378304.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198909 2025-01-08T23:18:25.104Z,1736378305.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:25.105Z,1736378305.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.448465 2025-01-08T23:18:25.107Z,1736378305.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:25.137Z,1736378305.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m. 2025-01-08T23:18:25.137Z,1736378305.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m. 2025-01-08T23:18:25.138Z,1736378305.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.30 m. 2025-01-08T23:18:25.138Z,1736378305.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-01-08T23:18:25.142Z,1736378305.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.299999 m, nav range: 38.016094 m, bearing: 280.262698 deg, approach rate: 0.132026 m/s, LOS rate: -0.727715 deg/s, cmd heading: 12.918096 deg, new cmd heading: 12.057008 deg. 2025-01-08T23:18:25.143Z,1736378305.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.210434 target range: 56.299999 and range: 56.30 m. 2025-01-08T23:18:25.356Z,1736378305.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:25.357Z,1736378305.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.700548 2025-01-08T23:18:25.536Z,1736378305.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:25.545Z,1736378305.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:25.547Z,1736378305.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m. 2025-01-08T23:18:25.549Z,1736378305.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.299999 m, nav range: 38.078621 m, bearing: 279.928366 deg, approach rate: 0.152576 m/s, LOS rate: -0.814485 deg/s, cmd heading: 12.057009 deg, new cmd heading: 11.055766 deg. 2025-01-08T23:18:25.550Z,1736378305.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192960 target range: 56.299999 and range: 56.30 m. 2025-01-08T23:18:25.609Z,1736378305.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:25.611Z,1736378305.611 [DAT](INFO): DAT read: Rx Time:23:18:24.2571 2025-01-08T23:18:25.613Z,1736378305.613 [DAT](INFO): Rx dataTimestamp_ set to:1736378305.612685 2025-01-08T23:18:25.615Z,1736378305.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.958675 2025-01-08T23:18:25.860Z,1736378305.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:25.861Z,1736378305.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.204546 2025-01-08T23:18:25.965Z,1736378305.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:25.989Z,1736378305.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m. 2025-01-08T23:18:25.996Z,1736378305.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.299999 m, nav range: 38.138760 m, bearing: 279.594254 deg, approach rate: 0.136055 m/s, LOS rate: -0.754683 deg/s, cmd heading: 11.055766 deg, new cmd heading: 10.055120 deg. 2025-01-08T23:18:25.997Z,1736378305.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.175495 target range: 56.299999 and range: 56.30 m. 2025-01-08T23:18:26.112Z,1736378306.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:26.124Z,1736378306.124 [DAT](INFO): DAT read: 23:18:24.2571 LVL= 15312, 23217, 19346, 28883, AGC= 60, IDX= 424, 0.07,-0.974,-2.592,-1.753,-1.486, PHS= 0.599,-1.059,-0.271, RAW= 118.4, 10.2, CAL= 126.8, 6.5, ROT= 23.2, -6.5 2025-01-08T23:18:26.125Z,1736378306.125 [DAT](INFO): got valid direction response: 23:18:24.2571 LVL= 15312, 23217, 19346, 28883, AGC= 60, IDX= 424, 0.07,-0.974,-2.592,-1.753,-1.486, PHS= 0.599,-1.059,-0.271, RAW= 118.4, 10.2, CAL= 126.8, 6.5, ROT= 23.2, -6.5 2025-01-08T23:18:26.126Z,1736378306.126 [DAT](INFO): DAT read: Bearing 23.2, -6.5 (Local) 2025-01-08T23:18:26.127Z,1736378306.127 [DAT](INFO): Local bearing/azimuth received: Bearing 23.2, -6.5 (Local) 2025-01-08T23:18:26.129Z,1736378306.129 [DAT](INFO): DAT read: Range 10 to 50 : 54.9 m (Round-trip 73.2 ms) speed 0.4 m/s 2025-01-08T23:18:26.130Z,1736378306.130 [DAT](INFO): DAT read: user:3173> 2025-01-08T23:18:26.130Z,1736378306.130 [DAT](INFO): DAT read: Tx time:23:18:25.3797 2025-01-08T23:18:26.131Z,1736378306.131 [DAT](INFO): Ping request sent. 2025-01-08T23:18:26.131Z,1736378306.131 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:26.131Z,1736378306.131 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:18:26.132Z,1736378306.132 [DAT](INFO): direction in FSK: [-0.312208,-0.366276,0.876566] 2025-01-08T23:18:26.133Z,1736378306.133 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:26.133Z,1736378306.133 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:26.140Z,1736378306.140 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:26.141Z,1736378306.141 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:26.364Z,1736378306.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:26.365Z,1736378306.365 [DAT](INFO): DAT read: TxSync time:23:18:25.3790 2025-01-08T23:18:26.402Z,1736378306.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:26.434Z,1736378306.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 3.527659 s, deltaX: -1.399998 m, approachRate: -0.396863 m/s, rangeRepo size: 4 2025-01-08T23:18:26.441Z,1736378306.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.900002 m, bearing: 253.169287 deg, lat: 36.904390 deg, lon: -122.120250 deg, deltaT: 3.527659 s, deltaX: -1.399998 m, approachRate: -0.396863 m/s, posRepo size: 4 2025-01-08T23:18:26.442Z,1736378306.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T23:18:26.449Z,1736378306.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 34.004131 m, bearing: 264.695753 deg, approach rate: 0.000000 m/s, LOS rate: -0.754683 deg/s, cmd heading: 10.055120 deg, new cmd heading: 9.047646 deg. 2025-01-08T23:18:26.450Z,1736378306.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157911 target range: 54.900002 and range: 54.90 m. 2025-01-08T23:18:26.616Z,1736378306.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:26.736Z,1736378306.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:26.758Z,1736378306.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T23:18:26.761Z,1736378306.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 34.087330 m, bearing: 264.425996 deg, approach rate: 0.257375 m/s, LOS rate: -0.832455 deg/s, cmd heading: 9.047646 deg, new cmd heading: 8.240406 deg. 2025-01-08T23:18:26.762Z,1736378306.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.143822 target range: 54.900002 and range: 54.90 m. 2025-01-08T23:18:26.871Z,1736378306.871 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:27.124Z,1736378307.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:27.127Z,1736378307.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:27.135Z,1736378307.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T23:18:27.140Z,1736378307.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 34.184933 m, bearing: 264.108563 deg, approach rate: 0.257928 m/s, LOS rate: -0.836458 deg/s, cmd heading: 8.240406 deg, new cmd heading: 7.290918 deg. 2025-01-08T23:18:27.141Z,1736378307.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.127251 target range: 54.900002 and range: 54.90 m. 2025-01-08T23:18:27.376Z,1736378307.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:27.561Z,1736378307.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:27.568Z,1736378307.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:27.570Z,1736378307.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T23:18:27.593Z,1736378307.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 34.287411 m, bearing: 263.764408 deg, approach rate: 0.235881 m/s, LOS rate: -0.789793 deg/s, cmd heading: 7.290919 deg, new cmd heading: 6.261657 deg. 2025-01-08T23:18:27.594Z,1736378307.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109287 target range: 54.900002 and range: 54.90 m. 2025-01-08T23:18:27.630Z,1736378307.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:27.631Z,1736378307.631 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:27.631Z,1736378307.631 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:27.632Z,1736378307.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:27.880Z,1736378307.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:27.880Z,1736378307.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749495 2025-01-08T23:18:27.941Z,1736378307.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:27.973Z,1736378307.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T23:18:27.984Z,1736378307.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 34.374554 m, bearing: 263.463177 deg, approach rate: 0.215959 m/s, LOS rate: -0.744620 deg/s, cmd heading: 6.261657 deg, new cmd heading: 5.360333 deg. 2025-01-08T23:18:27.985Z,1736378307.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093555 target range: 54.900002 and range: 54.90 m. 2025-01-08T23:18:28.132Z,1736378308.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:28.133Z,1736378308.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001806 2025-01-08T23:18:28.384Z,1736378308.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:28.384Z,1736378308.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253508 2025-01-08T23:18:28.387Z,1736378308.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:28.424Z,1736378308.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T23:18:28.426Z,1736378308.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 34.465847 m, bearing: 263.097207 deg, approach rate: 0.204594 m/s, LOS rate: -0.817981 deg/s, cmd heading: 5.360333 deg, new cmd heading: 4.265472 deg. 2025-01-08T23:18:28.432Z,1736378308.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074447 target range: 54.900002 and range: 54.90 m. 2025-01-08T23:18:28.637Z,1736378308.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:28.638Z,1736378308.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507212 2025-01-08T23:18:28.740Z,1736378308.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:28.749Z,1736378308.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T23:18:28.752Z,1736378308.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 34.536758 m, bearing: 262.807427 deg, approach rate: 0.215035 m/s, LOS rate: -0.876935 deg/s, cmd heading: 4.265472 deg, new cmd heading: 3.397986 deg. 2025-01-08T23:18:28.753Z,1736378308.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059306 target range: 54.900002 and range: 54.90 m. 2025-01-08T23:18:28.889Z,1736378308.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:28.890Z,1736378308.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758922 2025-01-08T23:18:29.140Z,1736378309.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:29.141Z,1736378309.141 [DAT](INFO): DAT read: Rx Time:23:18:27.8548 2025-01-08T23:18:29.141Z,1736378309.141 [DAT](INFO): Rx dataTimestamp_ set to:1736378309.140729 2025-01-08T23:18:29.142Z,1736378309.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010667 2025-01-08T23:18:29.156Z,1736378309.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:29.185Z,1736378309.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T23:18:29.199Z,1736378309.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 34.618073 m, bearing: 262.466318 deg, approach rate: 0.186573 m/s, LOS rate: -0.780820 deg/s, cmd heading: 3.397986 deg, new cmd heading: 2.377177 deg. 2025-01-08T23:18:29.200Z,1736378309.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041490 target range: 54.900002 and range: 54.90 m. 2025-01-08T23:18:29.392Z,1736378309.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:29.392Z,1736378309.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261574 2025-01-08T23:18:29.609Z,1736378309.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:29.618Z,1736378309.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:29.621Z,1736378309.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-08T23:18:29.624Z,1736378309.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 34.693069 m, bearing: 262.087228 deg, approach rate: 0.171916 m/s, LOS rate: -0.867107 deg/s, cmd heading: 2.377177 deg, new cmd heading: 1.242522 deg. 2025-01-08T23:18:29.625Z,1736378309.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021686 target range: 54.900002 and range: 54.90 m. 2025-01-08T23:18:29.644Z,1736378309.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:29.653Z,1736378309.653 [DAT](INFO): DAT read: 23:18:27.8548 LVL= 17072, 29777, 25938, 32755, AGC= 61, IDX= 419,-0.16, 3.020, 1.218, 2.027, 2.304, PHS= 0.804,-1.039,-0.280, RAW= 114.2, 6.5, CAL= 124.1, 3.1, ROT= 25.9, -3.1 2025-01-08T23:18:29.655Z,1736378309.655 [DAT](INFO): got valid direction response: 23:18:27.8548 LVL= 17072, 29777, 25938, 32755, AGC= 61, IDX= 419,-0.16, 3.020, 1.218, 2.027, 2.304, PHS= 0.804,-1.039,-0.280, RAW= 114.2, 6.5, CAL= 124.1, 3.1, ROT= 25.9, -3.1 2025-01-08T23:18:29.656Z,1736378309.656 [DAT](INFO): DAT read: Bearing 25.9, -3.1 (Local) 2025-01-08T23:18:29.657Z,1736378309.657 [DAT](INFO): Local bearing/azimuth received: Bearing 25.9, -3.1 (Local) 2025-01-08T23:18:29.659Z,1736378309.659 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (Round-trip 70.9 ms) speed 0.4 m/s 2025-01-08T23:18:29.660Z,1736378309.660 [DAT](INFO): DAT read: user:3174> 2025-01-08T23:18:29.661Z,1736378309.661 [DAT](INFO): DAT read: Tx time:23:18:28.9797 2025-01-08T23:18:29.662Z,1736378309.662 [DAT](INFO): Ping request sent. 2025-01-08T23:18:29.662Z,1736378309.662 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:29.662Z,1736378309.662 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:18:29.664Z,1736378309.664 [DAT](INFO): direction in FSK: [-0.239735,-0.305557,0.921500] 2025-01-08T23:18:29.664Z,1736378309.664 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:29.665Z,1736378309.665 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:29.670Z,1736378309.670 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:29.671Z,1736378309.671 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:29.896Z,1736378309.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:29.897Z,1736378309.897 [DAT](INFO): DAT read: TxSync time:23:18:28.9790 2025-01-08T23:18:29.960Z,1736378309.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:29.993Z,1736378309.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 3.531525 s, deltaX: -1.800003 m, approachRate: -0.509696 m/s, rangeRepo size: 4 2025-01-08T23:18:29.999Z,1736378309.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.099998 m, bearing: 250.313328 deg, lat: 36.904374 deg, lon: -122.120173 deg, deltaT: 3.531525 s, deltaX: -1.800003 m, approachRate: -0.509696 m/s, posRepo size: 4 2025-01-08T23:18:30.000Z,1736378310.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:18:30.003Z,1736378310.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 28.352631 m, bearing: 256.238870 deg, approach rate: 0.000000 m/s, LOS rate: -0.867107 deg/s, cmd heading: 1.242522 deg, new cmd heading: 0.276987 deg. 2025-01-08T23:18:30.008Z,1736378310.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004834 target range: 53.099998 and range: 53.10 m. 2025-01-08T23:18:30.148Z,1736378310.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:30.400Z,1736378310.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:30.409Z,1736378310.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:30.427Z,1736378310.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:18:30.430Z,1736378310.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 28.442520 m, bearing: 255.790376 deg, approach rate: 0.208815 m/s, LOS rate: -1.038557 deg/s, cmd heading: 0.276987 deg, new cmd heading: 358.936014 deg. 2025-01-08T23:18:30.431Z,1736378310.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264615 target range: 53.099998 and range: 53.10 m. 2025-01-08T23:18:30.652Z,1736378310.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:30.768Z,1736378310.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:30.781Z,1736378310.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:18:30.784Z,1736378310.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 28.512695 m, bearing: 255.432437 deg, approach rate: 0.195757 m/s, LOS rate: -0.996025 deg/s, cmd heading: 358.936003 deg, new cmd heading: 357.864960 deg. 2025-01-08T23:18:30.785Z,1736378310.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245922 target range: 53.099998 and range: 53.10 m. 2025-01-08T23:18:30.904Z,1736378310.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:31.156Z,1736378311.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:31.170Z,1736378311.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:31.179Z,1736378311.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:18:31.182Z,1736378311.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 28.588871 m, bearing: 255.029968 deg, approach rate: 0.191680 m/s, LOS rate: -1.010022 deg/s, cmd heading: 357.864948 deg, new cmd heading: 356.660946 deg. 2025-01-08T23:18:31.184Z,1736378311.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.224908 target range: 53.099998 and range: 53.10 m. 2025-01-08T23:18:31.408Z,1736378311.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:31.613Z,1736378311.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:31.620Z,1736378311.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:31.623Z,1736378311.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:18:31.626Z,1736378311.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 28.672018 m, bearing: 254.595484 deg, approach rate: 0.187169 m/s, LOS rate: -0.975201 deg/s, cmd heading: 356.660949 deg, new cmd heading: 355.361513 deg. 2025-01-08T23:18:31.627Z,1736378311.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202229 target range: 53.099998 and range: 53.10 m. 2025-01-08T23:18:31.660Z,1736378311.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:31.661Z,1736378311.661 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:31.661Z,1736378311.661 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:31.661Z,1736378311.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:31.912Z,1736378311.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:31.912Z,1736378311.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250193 2025-01-08T23:18:31.979Z,1736378311.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:31.987Z,1736378311.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:18:31.991Z,1736378311.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 28.731821 m, bearing: 254.231041 deg, approach rate: 0.164312 m/s, LOS rate: -0.999238 deg/s, cmd heading: 355.361519 deg, new cmd heading: 354.270603 deg. 2025-01-08T23:18:32.008Z,1736378312.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183188 target range: 53.099998 and range: 53.10 m. 2025-01-08T23:18:32.164Z,1736378312.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:32.164Z,1736378312.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502094 2025-01-08T23:18:32.417Z,1736378312.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:32.418Z,1736378312.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756058 2025-01-08T23:18:32.452Z,1736378312.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:32.489Z,1736378312.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:18:32.496Z,1736378312.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 28.810495 m, bearing: 253.779489 deg, approach rate: 0.157025 m/s, LOS rate: -0.898775 deg/s, cmd heading: 354.270601 deg, new cmd heading: 352.919910 deg. 2025-01-08T23:18:32.497Z,1736378312.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159615 target range: 53.099998 and range: 53.10 m. 2025-01-08T23:18:32.668Z,1736378312.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:32.669Z,1736378312.669 [DAT](INFO): DAT read: Rx Time:23:18:31.4528 2025-01-08T23:18:32.670Z,1736378312.670 [DAT](INFO): Rx dataTimestamp_ set to:1736378312.669620 2025-01-08T23:18:32.671Z,1736378312.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008587 2025-01-08T23:18:32.804Z,1736378312.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:32.814Z,1736378312.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:18:32.817Z,1736378312.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 28.870659 m, bearing: 253.442517 deg, approach rate: 0.184798 m/s, LOS rate: -1.032878 deg/s, cmd heading: 352.919918 deg, new cmd heading: 351.911218 deg. 2025-01-08T23:18:32.818Z,1736378312.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142009 target range: 53.099998 and range: 53.10 m. 2025-01-08T23:18:32.921Z,1736378312.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:32.922Z,1736378312.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259504 2025-01-08T23:18:33.172Z,1736378313.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:33.179Z,1736378313.179 [DAT](INFO): DAT read: 23:18:31.4528 LVL= 14480, 25585, 19426, 30003, AGC= 56, IDX= 413, 0.13,-1.497, 2.808,-2.970,-2.482, PHS= 1.072,-0.947,-0.491, RAW= 102.4, 4.0, CAL= 112.9, 1.9, ROT= 37.1, -1.9 2025-01-08T23:18:33.180Z,1736378313.180 [DAT](INFO): got valid direction response: 23:18:31.4528 LVL= 14480, 25585, 19426, 30003, AGC= 56, IDX= 413, 0.13,-1.497, 2.808,-2.970,-2.482, PHS= 1.072,-0.947,-0.491, RAW= 102.4, 4.0, CAL= 112.9, 1.9, ROT= 37.1, -1.9 2025-01-08T23:18:33.181Z,1736378313.181 [DAT](INFO): DAT read: Bearing 37.1, -1.9 (Local) 2025-01-08T23:18:33.181Z,1736378313.181 [DAT](INFO): Local bearing/azimuth received: Bearing 37.1, -1.9 (Local) 2025-01-08T23:18:33.183Z,1736378313.183 [DAT](INFO): DAT read: Range 10 to 50 : 51.6 m (Round-trip 68.8 ms) speed 0.3 m/s 2025-01-08T23:18:33.184Z,1736378313.184 [DAT](INFO): DAT read: user:3175> 2025-01-08T23:18:33.185Z,1736378313.185 [DAT](INFO): DAT read: Tx time:23:18:32.5298 2025-01-08T23:18:33.185Z,1736378313.185 [DAT](INFO): Ping request sent. 2025-01-08T23:18:33.185Z,1736378313.185 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:33.185Z,1736378313.185 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:18:33.186Z,1736378313.186 [DAT](INFO): direction in FSK: [-0.180269,-0.105677,0.977924] 2025-01-08T23:18:33.186Z,1736378313.186 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:33.187Z,1736378313.187 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:33.190Z,1736378313.190 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:33.191Z,1736378313.191 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:33.246Z,1736378313.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:33.295Z,1736378313.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.599998 m, deltaT: 3.528506 s, deltaX: -1.500000 m, approachRate: -0.425109 m/s, rangeRepo size: 4 2025-01-08T23:18:33.306Z,1736378313.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.599998 m, bearing: 228.371077 deg, lat: 36.904374 deg, lon: -122.120159 deg, deltaT: 3.528506 s, deltaX: -1.500000 m, approachRate: -0.425109 m/s, posRepo size: 4 2025-01-08T23:18:33.307Z,1736378313.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T23:18:33.343Z,1736378313.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.599998 m, nav range: 27.768133 m, bearing: 252.279777 deg, approach rate: 0.000000 m/s, LOS rate: -1.032878 deg/s, cmd heading: 351.911208 deg, new cmd heading: 350.423417 deg. 2025-01-08T23:18:33.355Z,1736378313.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116043 target range: 51.599998 and range: 51.60 m. 2025-01-08T23:18:33.424Z,1736378313.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:33.425Z,1736378313.425 [DAT](INFO): DAT read: TxSync time:23:18:32.5291 2025-01-08T23:18:33.677Z,1736378313.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:33.753Z,1736378313.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:33.768Z,1736378313.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:33.770Z,1736378313.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T23:18:33.782Z,1736378313.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.599998 m, nav range: 27.849808 m, bearing: 251.789169 deg, approach rate: 0.171416 m/s, LOS rate: -1.026638 deg/s, cmd heading: 350.423429 deg, new cmd heading: 348.956260 deg. 2025-01-08T23:18:33.783Z,1736378313.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.090436 target range: 51.599998 and range: 51.60 m. 2025-01-08T23:18:33.930Z,1736378313.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:33.932Z,1736378313.932 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:33.932Z,1736378313.932 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:33.932Z,1736378313.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:34.082Z,1736378314.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:34.094Z,1736378314.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T23:18:34.098Z,1736378314.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.599998 m, nav range: 27.901266 m, bearing: 251.470284 deg, approach rate: 0.158814 m/s, LOS rate: -0.982344 deg/s, cmd heading: 348.956250 deg, new cmd heading: 348.001453 deg. 2025-01-08T23:18:34.098Z,1736378314.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.073771 target range: 51.599998 and range: 51.60 m. 2025-01-08T23:18:34.185Z,1736378314.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:34.186Z,1736378314.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000631 2025-01-08T23:18:34.436Z,1736378314.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:34.436Z,1736378314.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251357 2025-01-08T23:18:34.513Z,1736378314.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:34.524Z,1736378314.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T23:18:34.526Z,1736378314.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.599998 m, nav range: 27.965582 m, bearing: 251.066717 deg, approach rate: 0.149973 m/s, LOS rate: -0.938877 deg/s, cmd heading: 348.001444 deg, new cmd heading: 346.793716 deg. 2025-01-08T23:18:34.528Z,1736378314.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052692 target range: 51.599998 and range: 51.60 m. 2025-01-08T23:18:34.690Z,1736378314.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:34.694Z,1736378314.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508383 2025-01-08T23:18:34.901Z,1736378314.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:34.910Z,1736378314.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T23:18:34.913Z,1736378314.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.599998 m, nav range: 28.021076 m, bearing: 250.702515 deg, approach rate: 0.143335 m/s, LOS rate: -0.938818 deg/s, cmd heading: 346.793703 deg, new cmd heading: 345.703399 deg. 2025-01-08T23:18:34.914Z,1736378314.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.033662 target range: 51.599998 and range: 51.60 m. 2025-01-08T23:18:34.940Z,1736378314.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:34.940Z,1736378314.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755456 2025-01-08T23:18:35.192Z,1736378315.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:35.192Z,1736378315.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007443 2025-01-08T23:18:35.296Z,1736378315.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:35.305Z,1736378315.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T23:18:35.309Z,1736378315.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.599998 m, nav range: 28.075207 m, bearing: 250.331505 deg, approach rate: 0.137330 m/s, LOS rate: -0.939439 deg/s, cmd heading: 345.703386 deg, new cmd heading: 344.592649 deg. 2025-01-08T23:18:35.310Z,1736378315.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014277 target range: 51.599998 and range: 51.60 m. 2025-01-08T23:18:35.445Z,1736378315.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:35.446Z,1736378315.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260729 2025-01-08T23:18:35.696Z,1736378315.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:35.696Z,1736378315.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511400 2025-01-08T23:18:35.757Z,1736378315.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:35.766Z,1736378315.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T23:18:35.769Z,1736378315.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.599998 m, nav range: 28.132982 m, bearing: 249.916844 deg, approach rate: 0.125230 m/s, LOS rate: -0.896935 deg/s, cmd heading: 344.592661 deg, new cmd heading: 343.351439 deg. 2025-01-08T23:18:35.770Z,1736378315.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.992613 target range: 51.599998 and range: 51.60 m. 2025-01-08T23:18:35.948Z,1736378315.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:35.948Z,1736378315.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763381 2025-01-08T23:18:36.089Z,1736378316.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:36.104Z,1736378316.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:36.106Z,1736378316.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T23:18:36.129Z,1736378316.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.599998 m, nav range: 28.173120 m, bearing: 249.617661 deg, approach rate: 0.117871 m/s, LOS rate: -0.877333 deg/s, cmd heading: 343.351451 deg, new cmd heading: 342.455258 deg. 2025-01-08T23:18:36.130Z,1736378316.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976972 target range: 51.599998 and range: 51.60 m. 2025-01-08T23:18:36.200Z,1736378316.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:36.201Z,1736378316.201 [DAT](INFO): DAT read: Rx Time:23:18:35.0014 2025-01-08T23:18:36.201Z,1736378316.201 [DAT](INFO): Rx dataTimestamp_ set to:1736378316.201069 2025-01-08T23:18:36.202Z,1736378316.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016894 2025-01-08T23:18:36.452Z,1736378316.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:36.452Z,1736378316.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267443 2025-01-08T23:18:36.534Z,1736378316.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:36.564Z,1736378316.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m. 2025-01-08T23:18:36.567Z,1736378316.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.599998 m, nav range: 28.211653 m, bearing: 249.223962 deg, approach rate: 0.085060 m/s, LOS rate: -0.867894 deg/s, cmd heading: 342.455248 deg, new cmd heading: 341.275939 deg. 2025-01-08T23:18:36.576Z,1736378316.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956389 target range: 51.599998 and range: 51.60 m. 2025-01-08T23:18:36.706Z,1736378316.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:36.728Z,1736378316.728 [DAT](INFO): DAT read: 23:18:35.0014 LVL= 14976, 23921, 19426, 26403, AGC= 55, IDX= 431,-0.12, 1.373,-0.690,-0.540, 0.197, PHS= 1.263,-0.841,-0.740, RAW= 92.4, 3.1, CAL= 100.4, 1.1, ROT= 49.6, -1.1 2025-01-08T23:18:36.729Z,1736378316.729 [DAT](INFO): got valid direction response: 23:18:35.0014 LVL= 14976, 23921, 19426, 26403, AGC= 55, IDX= 431,-0.12, 1.373,-0.690,-0.540, 0.197, PHS= 1.263,-0.841,-0.740, RAW= 92.4, 3.1, CAL= 100.4, 1.1, ROT= 49.6, -1.1 2025-01-08T23:18:36.730Z,1736378316.730 [DAT](INFO): DAT read: Bearing 49.6, -1.1 (Local) 2025-01-08T23:18:36.730Z,1736378316.730 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, -1.1 (Local) 2025-01-08T23:18:36.734Z,1736378316.734 [DAT](INFO): DAT read: Range 10 to 50 : 50.5 m (Round-trip 67.4 ms) speed 0.1 m/s 2025-01-08T23:18:36.736Z,1736378316.736 [DAT](INFO): DAT read: user:3176> 2025-01-08T23:18:36.738Z,1736378316.738 [DAT](INFO): DAT read: Tx time:23:18:36.0798 2025-01-08T23:18:36.738Z,1736378316.738 [DAT](INFO): Ping request sent. 2025-01-08T23:18:36.738Z,1736378316.738 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:36.739Z,1736378316.739 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:18:36.741Z,1736378316.741 [DAT](INFO): direction in FSK: [-0.148414,0.068356,0.986560] 2025-01-08T23:18:36.741Z,1736378316.741 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:36.741Z,1736378316.741 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:36.745Z,1736378316.745 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:36.745Z,1736378316.745 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:36.958Z,1736378316.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:36.959Z,1736378316.959 [DAT](INFO): DAT read: TxSync time:23:18:36.0791 2025-01-08T23:18:37.038Z,1736378317.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:37.053Z,1736378317.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.500000 m, deltaT: 3.533644 s, deltaX: -1.099998 m, approachRate: -0.311293 m/s, rangeRepo size: 4 2025-01-08T23:18:37.055Z,1736378317.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.500000 m, bearing: 136.849006 deg, lat: 36.904374 deg, lon: -122.120075 deg, deltaT: 3.533644 s, deltaX: -1.099998 m, approachRate: -0.311293 m/s, posRepo size: 4 2025-01-08T23:18:37.056Z,1736378317.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.50 m. 2025-01-08T23:18:37.059Z,1736378317.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.500000 m, nav range: 21.478943 m, bearing: 241.564400 deg, approach rate: 0.000000 m/s, LOS rate: -0.867894 deg/s, cmd heading: 341.275948 deg, new cmd heading: 339.993982 deg. 2025-01-08T23:18:37.060Z,1736378317.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934014 target range: 50.500000 and range: 50.50 m. 2025-01-08T23:18:37.208Z,1736378317.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:37.460Z,1736378317.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:37.468Z,1736378317.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:37.490Z,1736378317.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.50 m. 2025-01-08T23:18:37.497Z,1736378317.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.500000 m, nav range: 21.535608 m, bearing: 241.084447 deg, approach rate: 0.129388 m/s, LOS rate: -1.093009 deg/s, cmd heading: 339.993976 deg, new cmd heading: 338.558224 deg. 2025-01-08T23:18:37.498Z,1736378317.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908956 target range: 50.500000 and range: 50.50 m. 2025-01-08T23:18:37.712Z,1736378317.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:37.964Z,1736378317.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:37.969Z,1736378317.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:37.998Z,1736378317.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.50 m. 2025-01-08T23:18:38.006Z,1736378318.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.500000 m, nav range: 21.583761 m, bearing: 240.495971 deg, approach rate: 0.094769 m/s, LOS rate: -1.155559 deg/s, cmd heading: 338.558216 deg, new cmd heading: 336.797313 deg. 2025-01-08T23:18:38.007Z,1736378318.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878222 target range: 50.500000 and range: 50.50 m. 2025-01-08T23:18:38.216Z,1736378318.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:38.356Z,1736378318.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:38.364Z,1736378318.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:38.366Z,1736378318.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.50 m. 2025-01-08T23:18:38.372Z,1736378318.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.500000 m, nav range: 21.619993 m, bearing: 240.044927 deg, approach rate: 0.098534 m/s, LOS rate: -1.224562 deg/s, cmd heading: 336.797311 deg, new cmd heading: 335.446710 deg. 2025-01-08T23:18:38.374Z,1736378318.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854650 target range: 50.500000 and range: 50.50 m. 2025-01-08T23:18:38.470Z,1736378318.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:38.470Z,1736378318.470 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:38.470Z,1736378318.470 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:38.471Z,1736378318.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:38.724Z,1736378318.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:38.724Z,1736378318.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986488 2025-01-08T23:18:38.763Z,1736378318.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:38.790Z,1736378318.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.50 m. 2025-01-08T23:18:38.797Z,1736378318.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.500000 m, nav range: 21.643097 m, bearing: 239.559714 deg, approach rate: 0.054501 m/s, LOS rate: -1.143360 deg/s, cmd heading: 335.446709 deg, new cmd heading: 333.992952 deg. 2025-01-08T23:18:38.798Z,1736378318.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829277 target range: 50.500000 and range: 50.50 m. 2025-01-08T23:18:38.976Z,1736378318.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:38.976Z,1736378318.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238424 2025-01-08T23:18:39.153Z,1736378319.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:39.185Z,1736378319.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.50 m. 2025-01-08T23:18:39.214Z,1736378319.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.500000 m, nav range: 21.663923 m, bearing: 239.093654 deg, approach rate: 0.052618 m/s, LOS rate: -1.176360 deg/s, cmd heading: 333.992945 deg, new cmd heading: 332.596401 deg. 2025-01-08T23:18:39.225Z,1736378319.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804902 target range: 50.500000 and range: 50.50 m. 2025-01-08T23:18:39.228Z,1736378319.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:39.230Z,1736378319.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491549 2025-01-08T23:18:39.481Z,1736378319.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:39.483Z,1736378319.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744717 2025-01-08T23:18:39.627Z,1736378319.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:39.636Z,1736378319.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.50 m. 2025-01-08T23:18:39.640Z,1736378319.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.500000 m, nav range: 21.677341 m, bearing: 238.488527 deg, approach rate: 0.029827 m/s, LOS rate: -1.344260 deg/s, cmd heading: 332.596389 deg, new cmd heading: 330.782773 deg. 2025-01-08T23:18:39.641Z,1736378319.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773249 target range: 50.500000 and range: 50.50 m. 2025-01-08T23:18:39.736Z,1736378319.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:39.737Z,1736378319.737 [DAT](INFO): DAT read: Rx Time:23:18:38.5506 2025-01-08T23:18:39.737Z,1736378319.737 [DAT](INFO): Rx dataTimestamp_ set to:1736378319.737195 2025-01-08T23:18:39.738Z,1736378319.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000205 2025-01-08T23:18:39.988Z,1736378319.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:39.989Z,1736378319.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251077 2025-01-08T23:18:40.010Z,1736378320.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:40.018Z,1736378320.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.50 m. 2025-01-08T23:18:40.022Z,1736378320.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.500000 m, nav range: 21.682613 m, bearing: 237.999298 deg, approach rate: 0.013762 m/s, LOS rate: -1.276788 deg/s, cmd heading: 330.782783 deg, new cmd heading: 329.315790 deg. 2025-01-08T23:18:40.023Z,1736378320.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747645 target range: 50.500000 and range: 50.50 m. 2025-01-08T23:18:40.242Z,1736378320.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:40.264Z,1736378320.264 [DAT](INFO): DAT read: 23:18:38.5506 LVL= 10448, 25361, 17058, 28019, AGC= 54, IDX= 439,-0.09,-1.940, 2.779, 2.385,-2.812, PHS= 0.960,-0.646,-1.089, RAW= 78.1, 8.4, CAL= 82.3, 11.3, ROT= 67.7, -11.3 2025-01-08T23:18:40.265Z,1736378320.265 [DAT](INFO): got valid direction response: 23:18:38.5506 LVL= 10448, 25361, 17058, 28019, AGC= 54, IDX= 439,-0.09,-1.940, 2.779, 2.385,-2.812, PHS= 0.960,-0.646,-1.089, RAW= 78.1, 8.4, CAL= 82.3, 11.3, ROT= 67.7, -11.3 2025-01-08T23:18:40.266Z,1736378320.266 [DAT](INFO): DAT read: Bearing 67.7, -11.3 (Local) 2025-01-08T23:18:40.267Z,1736378320.267 [DAT](INFO): Local bearing/azimuth received: Bearing 67.7, -11.3 (Local) 2025-01-08T23:18:40.268Z,1736378320.268 [DAT](INFO): DAT read: Range 10 to 50 : 49.9 m (Round-trip 66.6 ms) speed 0.0 m/s 2025-01-08T23:18:40.269Z,1736378320.269 [DAT](INFO): DAT read: user:3177> 2025-01-08T23:18:40.270Z,1736378320.270 [DAT](INFO): DAT read: Tx time:23:18:39.6298 2025-01-08T23:18:40.270Z,1736378320.270 [DAT](INFO): Ping request sent. 2025-01-08T23:18:40.270Z,1736378320.270 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:40.270Z,1736378320.270 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:18:40.308Z,1736378320.308 [DAT](INFO): direction in FSK: [-0.219809,0.310149,0.924928] 2025-01-08T23:18:40.308Z,1736378320.308 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:40.309Z,1736378320.309 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:40.320Z,1736378320.320 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:40.320Z,1736378320.320 [DAT](INFO): publishing direction and range info 2025-01-08T23:18:40.433Z,1736378320.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:40.492Z,1736378320.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:40.493Z,1736378320.493 [DAT](INFO): DAT read: TxSync time:23:18:39.6291 2025-01-08T23:18:40.516Z,1736378320.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.900002 m, deltaT: 3.536306 s, deltaX: -0.599998 m, approachRate: -0.169668 m/s, rangeRepo size: 4 2025-01-08T23:18:40.518Z,1736378320.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.900002 m, bearing: 99.524069 deg, lat: 36.904398 deg, lon: -122.119935 deg, deltaT: 3.536306 s, deltaX: -0.599998 m, approachRate: -0.169668 m/s, posRepo size: 4 2025-01-08T23:18:40.523Z,1736378320.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:40.526Z,1736378320.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 10.826516 m, bearing: 212.964635 deg, approach rate: 0.000000 m/s, LOS rate: -1.276788 deg/s, cmd heading: 329.315795 deg, new cmd heading: 327.443295 deg. 2025-01-08T23:18:40.531Z,1736378320.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714963 target range: 49.900002 and range: 49.90 m. 2025-01-08T23:18:40.744Z,1736378320.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:40.962Z,1736378320.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:40.979Z,1736378320.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:40.981Z,1736378320.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:40.996Z,1736378320.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:40.996Z,1736378320.996 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:40.996Z,1736378320.996 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:40.996Z,1736378320.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:41.000Z,1736378321.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 10.930739 m, bearing: 211.662820 deg, approach rate: 0.220059 m/s, LOS rate: -2.722230 deg/s, cmd heading: 327.443285 deg, new cmd heading: 323.581270 deg. 2025-01-08T23:18:41.001Z,1736378321.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.647559 target range: 49.900002 and range: 49.90 m. 2025-01-08T23:18:41.248Z,1736378321.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:41.248Z,1736378321.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978212 2025-01-08T23:18:41.334Z,1736378321.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:41.350Z,1736378321.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:41.353Z,1736378321.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 11.003467 m, bearing: 210.755158 deg, approach rate: 0.196849 m/s, LOS rate: -2.440412 deg/s, cmd heading: 323.581277 deg, new cmd heading: 320.878410 deg. 2025-01-08T23:18:41.354Z,1736378321.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600385 target range: 49.900002 and range: 49.90 m. 2025-01-08T23:18:41.502Z,1736378321.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:41.504Z,1736378321.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233466 2025-01-08T23:18:41.752Z,1736378321.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:41.752Z,1736378321.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482347 2025-01-08T23:18:41.794Z,1736378321.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:41.802Z,1736378321.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:41.807Z,1736378321.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 11.099631 m, bearing: 209.614750 deg, approach rate: 0.212810 m/s, LOS rate: -2.501662 deg/s, cmd heading: 320.878408 deg, new cmd heading: 317.490999 deg. 2025-01-08T23:18:41.826Z,1736378321.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541263 target range: 49.900002 and range: 49.90 m. 2025-01-08T23:18:42.004Z,1736378322.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:42.005Z,1736378322.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734305 2025-01-08T23:18:42.144Z,1736378322.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:42.154Z,1736378322.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:42.158Z,1736378322.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 11.168983 m, bearing: 208.746292 deg, approach rate: 0.197190 m/s, LOS rate: -2.453910 deg/s, cmd heading: 317.490989 deg, new cmd heading: 314.903651 deg. 2025-01-08T23:18:42.159Z,1736378322.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496106 target range: 49.900002 and range: 49.90 m. 2025-01-08T23:18:42.256Z,1736378322.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:42.257Z,1736378322.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987048 2025-01-08T23:18:42.510Z,1736378322.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:42.512Z,1736378322.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241854 2025-01-08T23:18:42.581Z,1736378322.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:42.622Z,1736378322.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:42.629Z,1736378322.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 11.260649 m, bearing: 207.659962 deg, approach rate: 0.196088 m/s, LOS rate: -2.304770 deg/s, cmd heading: 314.903659 deg, new cmd heading: 311.674814 deg. 2025-01-08T23:18:42.630Z,1736378322.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.439752 target range: 49.900002 and range: 49.90 m. 2025-01-08T23:18:42.760Z,1736378322.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:42.761Z,1736378322.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490942 2025-01-08T23:18:42.950Z,1736378322.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:42.958Z,1736378322.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:42.965Z,1736378322.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 11.336896 m, bearing: 206.747837 deg, approach rate: 0.226467 m/s, LOS rate: -2.690831 deg/s, cmd heading: 311.674810 deg, new cmd heading: 308.958990 deg. 2025-01-08T23:18:42.967Z,1736378322.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.392352 target range: 49.900002 and range: 49.90 m. 2025-01-08T23:18:43.012Z,1736378323.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:43.013Z,1736378323.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742985 2025-01-08T23:18:43.264Z,1736378323.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:43.265Z,1736378323.265 [DAT](INFO): DAT read: Rx Time:23:18:42.1002 2025-01-08T23:18:43.265Z,1736378323.265 [DAT](INFO): Rx dataTimestamp_ set to:1736378323.264690 2025-01-08T23:18:43.265Z,1736378323.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995365 2025-01-08T23:18:43.370Z,1736378323.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:43.378Z,1736378323.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:43.381Z,1736378323.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:43.384Z,1736378323.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 11.427129 m, bearing: 205.724740 deg, approach rate: 0.213658 m/s, LOS rate: -2.403290 deg/s, cmd heading: 308.958990 deg, new cmd heading: 305.916958 deg. 2025-01-08T23:18:43.385Z,1736378323.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339258 target range: 49.900002 and range: 49.90 m. 2025-01-08T23:18:43.518Z,1736378323.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:43.521Z,1736378323.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250485 2025-01-08T23:18:43.768Z,1736378323.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:43.769Z,1736378323.769 [DAT](INFO): DAT read: Range 10 to 50 : 49.6 m (Round-trip 66.2 ms) speed 0.0 m/s 2025-01-08T23:18:43.770Z,1736378323.770 [DAT](INFO): DAT read: user:3178> 2025-01-08T23:18:43.771Z,1736378323.771 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:18:43.771Z,1736378323.771 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:43.772Z,1736378323.772 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:43.773Z,1736378323.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:43.885Z,1736378323.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:43.903Z,1736378323.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.599998 m, deltaT: 3.525625 s, deltaX: -0.300003 m, approachRate: -0.085092 m/s, rangeRepo size: 4 2025-01-08T23:18:43.908Z,1736378323.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:43.918Z,1736378323.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 11.548451 m, bearing: 204.559468 deg, approach rate: 0.232711 m/s, LOS rate: -2.211498 deg/s, cmd heading: 305.916960 deg, new cmd heading: 302.462299 deg. 2025-01-08T23:18:43.919Z,1736378323.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278963 target range: 49.900002 and range: 49.60 m. 2025-01-08T23:18:44.021Z,1736378324.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:44.023Z,1736378324.023 [DAT](INFO): DAT read: Tx time:2:1:3.1799 2025-01-08T23:18:44.024Z,1736378324.024 [DAT](INFO): Ping request sent. 2025-01-08T23:18:44.024Z,1736378324.024 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:44.025Z,1736378324.025 [DAT](INFO): DAT read: TxSync time:23:18:43.1791 2025-01-08T23:18:44.027Z,1736378324.027 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:44.030Z,1736378324.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005789 2025-01-08T23:18:44.204Z,1736378324.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:44.213Z,1736378324.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:44.216Z,1736378324.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 11.622710 m, bearing: 203.841334 deg, approach rate: 0.238350 m/s, LOS rate: -2.290218 deg/s, cmd heading: 302.462305 deg, new cmd heading: 300.322720 deg. 2025-01-08T23:18:44.217Z,1736378324.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241620 target range: 49.900002 and range: 49.60 m. 2025-01-08T23:18:44.272Z,1736378324.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:44.273Z,1736378324.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249433 2025-01-08T23:18:44.525Z,1736378324.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:44.528Z,1736378324.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504277 2025-01-08T23:18:44.649Z,1736378324.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:44.664Z,1736378324.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:44.669Z,1736378324.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 11.731435 m, bearing: 202.907123 deg, approach rate: 0.241778 m/s, LOS rate: -2.058126 deg/s, cmd heading: 300.322707 deg, new cmd heading: 297.548340 deg. 2025-01-08T23:18:44.671Z,1736378324.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.193198 target range: 49.900002 and range: 49.60 m. 2025-01-08T23:18:44.776Z,1736378324.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:44.777Z,1736378324.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753623 2025-01-08T23:18:45.012Z,1736378325.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:45.028Z,1736378325.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:45.028Z,1736378325.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004512 2025-01-08T23:18:45.038Z,1736378325.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:45.047Z,1736378325.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 11.811882 m, bearing: 202.130272 deg, approach rate: 0.215159 m/s, LOS rate: -2.063498 deg/s, cmd heading: 297.548339 deg, new cmd heading: 295.234990 deg. 2025-01-08T23:18:45.052Z,1736378325.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152822 target range: 49.900002 and range: 49.60 m. 2025-01-08T23:18:45.280Z,1736378325.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:45.282Z,1736378325.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257438 2025-01-08T23:18:45.420Z,1736378325.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:45.428Z,1736378325.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:45.430Z,1736378325.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:45.433Z,1736378325.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 11.904945 m, bearing: 201.269039 deg, approach rate: 0.236533 m/s, LOS rate: -2.171751 deg/s, cmd heading: 295.234982 deg, new cmd heading: 292.673283 deg. 2025-01-08T23:18:45.434Z,1736378325.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.108112 target range: 49.900002 and range: 49.60 m. 2025-01-08T23:18:45.536Z,1736378325.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:45.538Z,1736378325.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513971 2025-01-08T23:18:45.784Z,1736378325.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:45.784Z,1736378325.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760575 2025-01-08T23:18:45.856Z,1736378325.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:45.865Z,1736378325.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:45.868Z,1736378325.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.003478 m, bearing: 200.440270 deg, approach rate: 0.226686 m/s, LOS rate: -1.890963 deg/s, cmd heading: 292.673278 deg, new cmd heading: 290.208987 deg. 2025-01-08T23:18:45.869Z,1736378325.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.065102 target range: 49.900002 and range: 49.60 m. 2025-01-08T23:18:46.036Z,1736378326.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:46.036Z,1736378326.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012566 2025-01-08T23:18:46.215Z,1736378326.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:46.225Z,1736378326.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:46.228Z,1736378326.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.083392 m, bearing: 199.760957 deg, approach rate: 0.222142 m/s, LOS rate: -1.875791 deg/s, cmd heading: 290.208973 deg, new cmd heading: 288.185401 deg. 2025-01-08T23:18:46.229Z,1736378326.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.029784 target range: 49.900002 and range: 49.60 m. 2025-01-08T23:18:46.288Z,1736378326.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:46.290Z,1736378326.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266146 2025-01-08T23:18:46.542Z,1736378326.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:46.544Z,1736378326.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520137 2025-01-08T23:18:46.658Z,1736378326.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:46.673Z,1736378326.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:46.696Z,1736378326.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.184613 m, bearing: 198.985871 deg, approach rate: 0.226166 m/s, LOS rate: -1.717395 deg/s, cmd heading: 288.185407 deg, new cmd heading: 285.880780 deg. 2025-01-08T23:18:46.697Z,1736378326.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989561 target range: 49.900002 and range: 49.60 m. 2025-01-08T23:18:46.792Z,1736378326.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:46.793Z,1736378326.793 [DAT](INFO): DAT read: Rx Time:23:18:45.6504 2025-01-08T23:18:46.793Z,1736378326.793 [DAT](INFO): Rx dataTimestamp_ set to:1736378326.792717 2025-01-08T23:18:46.794Z,1736378326.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770045 2025-01-08T23:18:47.030Z,1736378327.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:47.044Z,1736378327.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:47.045Z,1736378327.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020806 2025-01-08T23:18:47.045Z,1736378327.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:47.048Z,1736378327.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.265826 m, bearing: 198.326888 deg, approach rate: 0.219061 m/s, LOS rate: -1.765707 deg/s, cmd heading: 285.880792 deg, new cmd heading: 283.917742 deg. 2025-01-08T23:18:47.049Z,1736378327.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.955299 target range: 49.900002 and range: 49.60 m. 2025-01-08T23:18:47.296Z,1736378327.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:47.296Z,1736378327.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272696 2025-01-08T23:18:47.436Z,1736378327.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:47.457Z,1736378327.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:47.459Z,1736378327.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:47.466Z,1736378327.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.353034 m, bearing: 197.611083 deg, approach rate: 0.209886 m/s, LOS rate: -1.710545 deg/s, cmd heading: 283.917741 deg, new cmd heading: 281.786525 deg. 2025-01-08T23:18:47.467Z,1736378327.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.918103 target range: 49.900002 and range: 49.60 m. 2025-01-08T23:18:47.549Z,1736378327.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:47.556Z,1736378327.556 [DAT](INFO): DAT read: Range 10 to 50 : 49.8 m (Round-trip 66.4 ms) speed -0.2 m/s 2025-01-08T23:18:47.558Z,1736378327.558 [DAT](INFO): DAT read: user:3179> 2025-01-08T23:18:47.561Z,1736378327.561 [DAT](INFO): DAT read: Tx time:23:18:46.7299 2025-01-08T23:18:47.562Z,1736378327.562 [DAT](INFO): Ping request sent. 2025-01-08T23:18:47.562Z,1736378327.562 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:47.566Z,1736378327.566 [DAT](INFO): DAT read: TxSync time:23:18:46.7291 2025-01-08T23:18:47.568Z,1736378327.568 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:18:47.569Z,1736378327.569 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:47.571Z,1736378327.571 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:47.800Z,1736378327.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:47.871Z,1736378327.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:47.882Z,1736378327.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.799999 m, deltaT: 3.782049 s, deltaX: 0.200001 m, approachRate: 0.052882 m/s, rangeRepo size: 4 2025-01-08T23:18:47.882Z,1736378327.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:47.885Z,1736378327.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.444504 m, bearing: 196.903570 deg, approach rate: 0.216516 m/s, LOS rate: -1.662389 deg/s, cmd heading: 281.786530 deg, new cmd heading: 279.680596 deg. 2025-01-08T23:18:47.886Z,1736378327.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881347 target range: 49.900002 and range: 49.80 m. 2025-01-08T23:18:48.053Z,1736378328.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:48.256Z,1736378328.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:48.264Z,1736378328.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 49.80 m. 2025-01-08T23:18:48.265Z,1736378328.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:48.268Z,1736378328.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.523871 m, bearing: 196.278890 deg, approach rate: 0.207004 m/s, LOS rate: -1.618912 deg/s, cmd heading: 279.680592 deg, new cmd heading: 277.819120 deg. 2025-01-08T23:18:48.269Z,1736378328.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.848858 target range: 49.900002 and range: 49.80 m. 2025-01-08T23:18:48.304Z,1736378328.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:48.558Z,1736378328.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:48.688Z,1736378328.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:48.706Z,1736378328.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 49.80 m. 2025-01-08T23:18:48.706Z,1736378328.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:48.714Z,1736378328.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.603978 m, bearing: 195.583270 deg, approach rate: 0.181374 m/s, LOS rate: -1.564944 deg/s, cmd heading: 277.819119 deg, new cmd heading: 275.746476 deg. 2025-01-08T23:18:48.714Z,1736378328.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812684 target range: 49.900002 and range: 49.80 m. 2025-01-08T23:18:48.813Z,1736378328.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:49.057Z,1736378329.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:49.064Z,1736378329.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:49.071Z,1736378329.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 49.80 m. 2025-01-08T23:18:49.075Z,1736378329.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:49.078Z,1736378329.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.671053 m, bearing: 194.990312 deg, approach rate: 0.183933 m/s, LOS rate: -1.617378 deg/s, cmd heading: 275.746485 deg, new cmd heading: 273.977624 deg. 2025-01-08T23:18:49.083Z,1736378329.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781812 target range: 49.900002 and range: 49.80 m. 2025-01-08T23:18:49.316Z,1736378329.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:49.501Z,1736378329.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:49.508Z,1736378329.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:49.510Z,1736378329.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:49.513Z,1736378329.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.750156 m, bearing: 194.278130 deg, approach rate: 0.180056 m/s, LOS rate: -1.610974 deg/s, cmd heading: 273.977630 deg, new cmd heading: 271.855363 deg. 2025-01-08T23:18:49.514Z,1736378329.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744771 target range: 49.900002 and range: 49.80 m. 2025-01-08T23:18:49.570Z,1736378329.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:49.572Z,1736378329.572 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:49.572Z,1736378329.572 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:49.573Z,1736378329.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:49.612Z,1736378329.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:18:49.820Z,1736378329.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:49.820Z,1736378329.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258562 2025-01-08T23:18:49.936Z,1736378329.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:49.947Z,1736378329.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 49.80 m. 2025-01-08T23:18:49.947Z,1736378329.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:49.950Z,1736378329.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.822628 m, bearing: 193.536436 deg, approach rate: 0.166074 m/s, LOS rate: -1.689994 deg/s, cmd heading: 271.855353 deg, new cmd heading: 269.644009 deg. 2025-01-08T23:18:49.951Z,1736378329.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706176 target range: 49.900002 and range: 49.80 m. 2025-01-08T23:18:50.072Z,1736378330.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:50.072Z,1736378330.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510525 2025-01-08T23:18:50.327Z,1736378330.327 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:50.328Z,1736378330.328 [DAT](INFO): DAT read: Rx Time:23:18:49.2015 2025-01-08T23:18:50.328Z,1736378330.328 [DAT](INFO): Rx dataTimestamp_ set to:1736378330.327829 2025-01-08T23:18:50.329Z,1736378330.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766846 2025-01-08T23:18:50.410Z,1736378330.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:50.419Z,1736378330.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 49.80 m. 2025-01-08T23:18:50.419Z,1736378330.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:50.423Z,1736378330.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.903752 m, bearing: 192.740386 deg, approach rate: 0.171795 m/s, LOS rate: -1.675124 deg/s, cmd heading: 269.644011 deg, new cmd heading: 267.272306 deg. 2025-01-08T23:18:50.424Z,1736378330.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664782 target range: 49.900002 and range: 49.80 m. 2025-01-08T23:18:50.578Z,1736378330.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:50.581Z,1736378330.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018088 2025-01-08T23:18:50.617Z,1736378330.617 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:18:50.792Z,1736378330.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:50.801Z,1736378330.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 49.80 m. 2025-01-08T23:18:50.801Z,1736378330.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:50.805Z,1736378330.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 12.957509 m, bearing: 192.012213 deg, approach rate: 0.140734 m/s, LOS rate: -1.898376 deg/s, cmd heading: 267.272296 deg, new cmd heading: 265.097944 deg. 2025-01-08T23:18:50.806Z,1736378330.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626832 target range: 49.900002 and range: 49.80 m. 2025-01-08T23:18:50.828Z,1736378330.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:50.829Z,1736378330.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266796 2025-01-08T23:18:51.080Z,1736378331.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:51.082Z,1736378331.082 [DAT](INFO): DAT read: Range 10 to 50 : 50.5 m (Round-trip 67.4 ms) speed -0.2 m/s 2025-01-08T23:18:51.083Z,1736378331.083 [DAT](INFO): DAT read: user:3180> 2025-01-08T23:18:51.084Z,1736378331.084 [DAT](INFO): DAT read: Tx time:23:18:50.2799 2025-01-08T23:18:51.084Z,1736378331.084 [DAT](INFO): Ping request sent. 2025-01-08T23:18:51.084Z,1736378331.084 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:51.085Z,1736378331.085 [DAT](INFO): DAT read: TxSync time:23:18:50.2791 2025-01-08T23:18:51.085Z,1736378331.085 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:18:51.085Z,1736378331.085 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:51.086Z,1736378331.086 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:51.192Z,1736378331.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:51.210Z,1736378331.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.500000 m, deltaT: 3.530544 s, deltaX: 0.700001 m, approachRate: 0.198270 m/s, rangeRepo size: 4 2025-01-08T23:18:51.210Z,1736378331.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 50.50 m. 2025-01-08T23:18:51.211Z,1736378331.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:51.217Z,1736378331.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.012418 m, bearing: 191.250949 deg, approach rate: 0.134497 m/s, LOS rate: -1.856768 deg/s, cmd heading: 265.097947 deg, new cmd heading: 262.825052 deg. 2025-01-08T23:18:51.218Z,1736378331.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587162 target range: 49.900002 and range: 50.50 m. 2025-01-08T23:18:51.332Z,1736378331.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:51.568Z,1736378331.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:51.575Z,1736378331.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:51.585Z,1736378331.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:51.585Z,1736378331.585 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:51.585Z,1736378331.585 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:51.585Z,1736378331.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:51.593Z,1736378331.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:51.596Z,1736378331.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.062147 m, bearing: 190.539114 deg, approach rate: 0.129548 m/s, LOS rate: -1.847264 deg/s, cmd heading: 262.825051 deg, new cmd heading: 260.698705 deg. 2025-01-08T23:18:51.599Z,1736378331.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550051 target range: 49.900002 and range: 50.50 m. 2025-01-08T23:18:51.836Z,1736378331.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:51.836Z,1736378331.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752164 2025-01-08T23:18:52.012Z,1736378332.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:52.029Z,1736378332.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 50.50 m. 2025-01-08T23:18:52.029Z,1736378332.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:52.036Z,1736378332.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.115403 m, bearing: 189.588456 deg, approach rate: 0.122247 m/s, LOS rate: -2.173228 deg/s, cmd heading: 260.698704 deg, new cmd heading: 257.860766 deg. 2025-01-08T23:18:52.037Z,1736378332.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500519 target range: 49.900002 and range: 50.50 m. 2025-01-08T23:18:52.089Z,1736378332.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:52.090Z,1736378332.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005635 2025-01-08T23:18:52.340Z,1736378332.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:52.340Z,1736378332.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256053 2025-01-08T23:18:52.474Z,1736378332.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:52.502Z,1736378332.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 50.50 m. 2025-01-08T23:18:52.503Z,1736378332.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:52.510Z,1736378332.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.168939 m, bearing: 188.603388 deg, approach rate: 0.112987 m/s, LOS rate: -2.070439 deg/s, cmd heading: 257.860760 deg, new cmd heading: 254.920299 deg. 2025-01-08T23:18:52.511Z,1736378332.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449199 target range: 49.900002 and range: 50.50 m. 2025-01-08T23:18:52.593Z,1736378332.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:52.594Z,1736378332.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509559 2025-01-08T23:18:52.844Z,1736378332.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:52.844Z,1736378332.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760018 2025-01-08T23:18:52.916Z,1736378332.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:52.926Z,1736378332.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 50.50 m. 2025-01-08T23:18:52.927Z,1736378332.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:52.930Z,1736378332.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.216904 m, bearing: 187.545386 deg, approach rate: 0.113146 m/s, LOS rate: -2.486560 deg/s, cmd heading: 254.920309 deg, new cmd heading: 251.761207 deg. 2025-01-08T23:18:52.930Z,1736378332.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394062 target range: 49.900002 and range: 50.50 m. 2025-01-08T23:18:53.099Z,1736378333.099 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:53.100Z,1736378333.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015469 2025-01-08T23:18:53.337Z,1736378333.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:53.346Z,1736378333.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 50.50 m. 2025-01-08T23:18:53.347Z,1736378333.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:53.348Z,1736378333.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:53.349Z,1736378333.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264269 2025-01-08T23:18:53.352Z,1736378333.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.256197 m, bearing: 186.537885 deg, approach rate: 0.093537 m/s, LOS rate: -2.391113 deg/s, cmd heading: 251.761210 deg, new cmd heading: 248.750593 deg. 2025-01-08T23:18:53.353Z,1736378333.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341517 target range: 49.900002 and range: 50.50 m. 2025-01-08T23:18:53.600Z,1736378333.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:53.600Z,1736378333.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516065 2025-01-08T23:18:53.769Z,1736378333.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:53.777Z,1736378333.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:53.779Z,1736378333.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 50.50 m. 2025-01-08T23:18:53.779Z,1736378333.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:53.782Z,1736378333.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.303355 m, bearing: 185.419459 deg, approach rate: 0.109086 m/s, LOS rate: -2.577804 deg/s, cmd heading: 248.750599 deg, new cmd heading: 245.411215 deg. 2025-01-08T23:18:53.783Z,1736378333.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283234 target range: 49.900002 and range: 50.50 m. 2025-01-08T23:18:53.852Z,1736378333.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:53.853Z,1736378333.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768954 2025-01-08T23:18:54.104Z,1736378334.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:54.105Z,1736378334.105 [DAT](INFO): DAT read: Rx Time:23:18:52.7528 2025-01-08T23:18:54.106Z,1736378334.106 [DAT](INFO): Rx dataTimestamp_ set to:1736378334.105029 2025-01-08T23:18:54.107Z,1736378334.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022500 2025-01-08T23:18:54.142Z,1736378334.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:54.150Z,1736378334.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 50.50 m. 2025-01-08T23:18:54.150Z,1736378334.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:54.177Z,1736378334.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.337736 m, bearing: 184.451671 deg, approach rate: 0.092596 m/s, LOS rate: -2.599649 deg/s, cmd heading: 245.411210 deg, new cmd heading: 242.517931 deg. 2025-01-08T23:18:54.178Z,1736378334.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232737 target range: 49.900002 and range: 50.50 m. 2025-01-08T23:18:54.356Z,1736378334.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:54.357Z,1736378334.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272242 2025-01-08T23:18:54.548Z,1736378334.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:54.557Z,1736378334.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:54.560Z,1736378334.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.374014 m, bearing: 183.400878 deg, approach rate: 0.089138 m/s, LOS rate: -2.574756 deg/s, cmd heading: 242.517942 deg, new cmd heading: 239.377437 deg. 2025-01-08T23:18:54.561Z,1736378334.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177925 target range: 49.900002 and range: 50.50 m. 2025-01-08T23:18:54.609Z,1736378334.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:54.614Z,1736378334.614 [DAT](INFO): DAT read: Range 10 to 50 : 51.5 m (Round-trip 68.7 ms) speed -0.4 m/s 2025-01-08T23:18:54.615Z,1736378334.615 [DAT](INFO): DAT read: user:3181> 2025-01-08T23:18:54.617Z,1736378334.617 [DAT](INFO): DAT read: Tx time:23:18:53.8299 2025-01-08T23:18:54.617Z,1736378334.617 [DAT](INFO): Ping request sent. 2025-01-08T23:18:54.617Z,1736378334.617 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:54.618Z,1736378334.618 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:18:54.618Z,1736378334.618 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:54.619Z,1736378334.619 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:54.860Z,1736378334.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:54.861Z,1736378334.861 [DAT](INFO): DAT read: TxSync time:23:18:53.8291 2025-01-08T23:18:54.972Z,1736378334.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:54.982Z,1736378334.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 3.528687 s, deltaX: 1.000000 m, approachRate: 0.283392 m/s, rangeRepo size: 4 2025-01-08T23:18:54.982Z,1736378334.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 51.50 m. 2025-01-08T23:18:54.982Z,1736378334.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:54.985Z,1736378334.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.417765 m, bearing: 182.241353 deg, approach rate: 0.103194 m/s, LOS rate: -2.725837 deg/s, cmd heading: 239.377449 deg, new cmd heading: 235.914676 deg. 2025-01-08T23:18:54.986Z,1736378334.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117488 target range: 49.900002 and range: 51.50 m. 2025-01-08T23:18:55.112Z,1736378335.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:55.356Z,1736378335.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:55.364Z,1736378335.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:55.366Z,1736378335.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 51.50 m. 2025-01-08T23:18:55.366Z,1736378335.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:55.369Z,1736378335.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.455790 m, bearing: 181.195415 deg, approach rate: 0.098829 m/s, LOS rate: -2.710634 deg/s, cmd heading: 235.914679 deg, new cmd heading: 232.789010 deg. 2025-01-08T23:18:55.370Z,1736378335.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.062935 target range: 49.900002 and range: 51.50 m. 2025-01-08T23:18:55.616Z,1736378335.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:55.793Z,1736378335.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:55.800Z,1736378335.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:55.802Z,1736378335.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 51.50 m. 2025-01-08T23:18:55.803Z,1736378335.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:55.806Z,1736378335.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.511306 m, bearing: 179.978008 deg, approach rate: 0.127099 m/s, LOS rate: -2.775482 deg/s, cmd heading: 232.789021 deg, new cmd heading: 229.156953 deg. 2025-01-08T23:18:55.808Z,1736378335.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.999543 target range: 49.900002 and range: 51.50 m. 2025-01-08T23:18:55.868Z,1736378335.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:55.868Z,1736378335.868 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:55.869Z,1736378335.869 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:55.869Z,1736378335.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:18:56.121Z,1736378336.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:56.123Z,1736378336.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504925 2025-01-08T23:18:56.179Z,1736378336.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:56.187Z,1736378336.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 51.50 m. 2025-01-08T23:18:56.188Z,1736378336.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:56.191Z,1736378336.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.553660 m, bearing: 178.900859 deg, approach rate: 0.110129 m/s, LOS rate: -2.791861 deg/s, cmd heading: 229.156958 deg, new cmd heading: 225.939188 deg. 2025-01-08T23:18:56.194Z,1736378336.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.943383 target range: 49.900002 and range: 51.50 m. 2025-01-08T23:18:56.372Z,1736378336.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:56.373Z,1736378336.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755478 2025-01-08T23:18:56.572Z,1736378336.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:56.581Z,1736378336.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:56.584Z,1736378336.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.596109 m, bearing: 177.808097 deg, approach rate: 0.107866 m/s, LOS rate: -2.767950 deg/s, cmd heading: 225.939188 deg, new cmd heading: 222.674869 deg. 2025-01-08T23:18:56.585Z,1736378336.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.886410 target range: 49.900002 and range: 51.50 m. 2025-01-08T23:18:56.624Z,1736378336.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:56.625Z,1736378336.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007669 2025-01-08T23:18:56.876Z,1736378336.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:56.876Z,1736378336.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258909 2025-01-08T23:18:56.985Z,1736378336.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:57.012Z,1736378337.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 51.50 m. 2025-01-08T23:18:57.012Z,1736378337.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:57.015Z,1736378337.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.641935 m, bearing: 176.679104 deg, approach rate: 0.106412 m/s, LOS rate: -2.612638 deg/s, cmd heading: 222.674863 deg, new cmd heading: 219.303378 deg. 2025-01-08T23:18:57.020Z,1736378337.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.827566 target range: 49.900002 and range: 51.50 m. 2025-01-08T23:18:57.128Z,1736378337.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:57.129Z,1736378337.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511120 2025-01-08T23:18:57.378Z,1736378337.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:57.380Z,1736378337.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:57.380Z,1736378337.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763044 2025-01-08T23:18:57.389Z,1736378337.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 51.50 m. 2025-01-08T23:18:57.390Z,1736378337.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:57.393Z,1736378337.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.683352 m, bearing: 175.641143 deg, approach rate: 0.109506 m/s, LOS rate: -2.735948 deg/s, cmd heading: 219.303372 deg, new cmd heading: 216.202115 deg. 2025-01-08T23:18:57.394Z,1736378337.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773439 target range: 49.900002 and range: 51.50 m. 2025-01-08T23:18:57.632Z,1736378337.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:57.633Z,1736378337.633 [DAT](INFO): DAT read: Rx Time:23:18:56.3047 2025-01-08T23:18:57.633Z,1736378337.633 [DAT](INFO): Rx dataTimestamp_ set to:1736378337.632979 2025-01-08T23:18:57.634Z,1736378337.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016383 2025-01-08T23:18:57.800Z,1736378337.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:57.808Z,1736378337.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:57.810Z,1736378337.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 51.50 m. 2025-01-08T23:18:57.810Z,1736378337.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:57.813Z,1736378337.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.730947 m, bearing: 174.530248 deg, approach rate: 0.113203 m/s, LOS rate: -2.632895 deg/s, cmd heading: 216.202111 deg, new cmd heading: 212.884900 deg. 2025-01-08T23:18:57.814Z,1736378337.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.715542 target range: 49.900002 and range: 51.50 m. 2025-01-08T23:18:57.885Z,1736378337.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:57.886Z,1736378337.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268285 2025-01-08T23:18:58.136Z,1736378338.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:58.137Z,1736378338.137 [DAT](INFO): DAT read: Range 10 to 50 : 52.9 m (Round-trip 70.6 ms) speed -0.6 m/s 2025-01-08T23:18:58.138Z,1736378338.138 [DAT](INFO): DAT read: user:3182> 2025-01-08T23:18:58.139Z,1736378338.139 [DAT](INFO): DAT read: Tx time:23:18:57.3800 2025-01-08T23:18:58.139Z,1736378338.139 [DAT](INFO): Ping request sent. 2025-01-08T23:18:58.139Z,1736378338.139 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:18:58.140Z,1736378338.140 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:18:58.140Z,1736378338.140 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:58.140Z,1736378338.140 [DAT](INFO): publishing transmit ping time 2025-01-08T23:18:58.217Z,1736378338.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:58.236Z,1736378338.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.900002 m, deltaT: 3.526604 s, deltaX: 1.400002 m, approachRate: 0.396983 m/s, rangeRepo size: 4 2025-01-08T23:18:58.237Z,1736378338.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:58.249Z,1736378338.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.776020 m, bearing: 173.464587 deg, approach rate: 0.106986 m/s, LOS rate: -2.521015 deg/s, cmd heading: 212.884893 deg, new cmd heading: 209.701831 deg. 2025-01-08T23:18:58.256Z,1736378338.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.659987 target range: 49.900002 and range: 52.90 m. 2025-01-08T23:18:58.389Z,1736378338.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:58.391Z,1736378338.391 [DAT](INFO): DAT read: TxSync time:23:18:57.3792 2025-01-08T23:18:58.583Z,1736378338.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:58.613Z,1736378338.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:58.616Z,1736378338.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.814266 m, bearing: 172.529057 deg, approach rate: 0.100273 m/s, LOS rate: -2.445862 deg/s, cmd heading: 209.701834 deg, new cmd heading: 206.905362 deg. 2025-01-08T23:18:58.617Z,1736378338.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611180 target range: 49.900002 and range: 52.90 m. 2025-01-08T23:18:58.640Z,1736378338.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:58.892Z,1736378338.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:59.005Z,1736378339.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:59.014Z,1736378339.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:59.017Z,1736378339.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.855134 m, bearing: 171.501711 deg, approach rate: 0.101805 m/s, LOS rate: -2.551513 deg/s, cmd heading: 206.905363 deg, new cmd heading: 203.835520 deg. 2025-01-08T23:18:59.018Z,1736378339.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557601 target range: 49.900002 and range: 52.90 m. 2025-01-08T23:18:59.144Z,1736378339.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:59.389Z,1736378339.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:59.396Z,1736378339.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:59.399Z,1736378339.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:59.402Z,1736378339.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.891001 m, bearing: 170.566425 deg, approach rate: 0.093248 m/s, LOS rate: -2.425214 deg/s, cmd heading: 203.835521 deg, new cmd heading: 201.039255 deg. 2025-01-08T23:18:59.403Z,1736378339.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.508797 target range: 49.900002 and range: 52.90 m. 2025-01-08T23:18:59.648Z,1736378339.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:59.860Z,1736378339.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:18:59.867Z,1736378339.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:18:59.869Z,1736378339.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:18:59.889Z,1736378339.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.932693 m, bearing: 169.500042 deg, approach rate: 0.088641 m/s, LOS rate: -2.260316 deg/s, cmd heading: 201.039255 deg, new cmd heading: 197.853152 deg. 2025-01-08T23:18:59.890Z,1736378339.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.453189 target range: 49.900002 and range: 52.90 m. 2025-01-08T23:18:59.900Z,1736378339.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:18:59.901Z,1736378339.901 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:18:59.901Z,1736378339.901 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:18:59.901Z,1736378339.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:19:00.152Z,1736378340.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:00.152Z,1736378340.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013063 2025-01-08T23:19:00.231Z,1736378340.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:00.239Z,1736378340.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:00.242Z,1736378340.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.964828 m, bearing: 168.661899 deg, approach rate: 0.086791 m/s, LOS rate: -2.258397 deg/s, cmd heading: 197.853150 deg, new cmd heading: 195.346196 deg. 2025-01-08T23:19:00.251Z,1736378340.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.409434 target range: 49.900002 and range: 52.90 m. 2025-01-08T23:19:00.404Z,1736378340.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:00.405Z,1736378340.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265089 2025-01-08T23:19:00.601Z,1736378340.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:00.610Z,1736378340.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:00.614Z,1736378340.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 13.995479 m, bearing: 167.827857 deg, approach rate: 0.082565 m/s, LOS rate: -2.241649 deg/s, cmd heading: 195.346197 deg, new cmd heading: 192.851220 deg. 2025-01-08T23:19:00.615Z,1736378340.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.365889 target range: 49.900002 and range: 52.90 m. 2025-01-08T23:19:00.657Z,1736378340.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:00.658Z,1736378340.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518799 2025-01-08T23:19:00.909Z,1736378340.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:00.910Z,1736378340.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770657 2025-01-08T23:19:01.033Z,1736378341.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:01.042Z,1736378341.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:01.046Z,1736378341.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.021623 m, bearing: 166.903165 deg, approach rate: 0.060540 m/s, LOS rate: -2.137150 deg/s, cmd heading: 192.851224 deg, new cmd heading: 190.084592 deg. 2025-01-08T23:19:01.047Z,1736378341.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.317602 target range: 49.900002 and range: 52.90 m. 2025-01-08T23:19:01.160Z,1736378341.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:01.161Z,1736378341.161 [DAT](INFO): DAT read: Rx Time:23:18:59.8574 2025-01-08T23:19:01.164Z,1736378341.164 [DAT](INFO): Rx dataTimestamp_ set to:1736378341.162117 2025-01-08T23:19:01.166Z,1736378341.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026123 2025-01-08T23:19:01.412Z,1736378341.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:01.412Z,1736378341.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273039 2025-01-08T23:19:01.446Z,1736378341.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:01.454Z,1736378341.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:01.458Z,1736378341.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.045052 m, bearing: 166.019622 deg, approach rate: 0.056876 m/s, LOS rate: -2.141207 deg/s, cmd heading: 190.084588 deg, new cmd heading: 187.440365 deg. 2025-01-08T23:19:01.472Z,1736378341.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.271451 target range: 49.900002 and range: 52.90 m. 2025-01-08T23:19:01.664Z,1736378341.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:01.667Z,1736378341.667 [DAT](INFO): DAT read: Range 10 to 50 : 54.9 m (Round-trip 73.2 ms) speed -0.6 m/s 2025-01-08T23:19:01.668Z,1736378341.668 [DAT](INFO): DAT read: user:3183> 2025-01-08T23:19:01.669Z,1736378341.669 [DAT](INFO): DAT read: Tx time:23:19:00.9800 2025-01-08T23:19:01.670Z,1736378341.670 [DAT](INFO): Ping request sent. 2025-01-08T23:19:01.670Z,1736378341.670 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:01.670Z,1736378341.670 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:19:01.670Z,1736378341.670 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:01.672Z,1736378341.672 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:01.876Z,1736378341.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:01.883Z,1736378341.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:19:01.886Z,1736378341.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 3.528552 s, deltaX: 2.000000 m, approachRate: 0.566805 m/s, rangeRepo size: 4 2025-01-08T23:19:01.886Z,1736378341.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:01.890Z,1736378341.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.065256 m, bearing: 165.133309 deg, approach rate: 0.046908 m/s, LOS rate: -2.054695 deg/s, cmd heading: 187.440362 deg, new cmd heading: 184.787246 deg. 2025-01-08T23:19:01.892Z,1736378341.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.225146 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:01.916Z,1736378341.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:01.917Z,1736378341.917 [DAT](INFO): DAT read: TxSync time:23:19:00.9792 2025-01-08T23:19:01.917Z,1736378341.917 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:19:01.917Z,1736378341.917 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:19:01.917Z,1736378341.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:19:02.168Z,1736378342.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:02.168Z,1736378342.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498655 2025-01-08T23:19:02.222Z,1736378342.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:02.246Z,1736378342.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:02.254Z,1736378342.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.079860 m, bearing: 164.419279 deg, approach rate: 0.040547 m/s, LOS rate: -1.980390 deg/s, cmd heading: 184.787244 deg, new cmd heading: 182.648424 deg. 2025-01-08T23:19:02.255Z,1736378342.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.187816 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:02.420Z,1736378342.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:02.421Z,1736378342.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750845 2025-01-08T23:19:02.636Z,1736378342.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:02.647Z,1736378342.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:02.652Z,1736378342.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.094818 m, bearing: 163.567175 deg, approach rate: 0.037289 m/s, LOS rate: -2.121827 deg/s, cmd heading: 182.648425 deg, new cmd heading: 180.096607 deg. 2025-01-08T23:19:02.654Z,1736378342.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.143279 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:02.673Z,1736378342.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:02.674Z,1736378342.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003683 2025-01-08T23:19:02.924Z,1736378342.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:02.924Z,1736378342.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254743 2025-01-08T23:19:03.050Z,1736378343.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:03.080Z,1736378343.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:03.082Z,1736378343.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.105888 m, bearing: 162.723623 deg, approach rate: 0.026797 m/s, LOS rate: -2.040223 deg/s, cmd heading: 180.096611 deg, new cmd heading: 177.569674 deg. 2025-01-08T23:19:03.088Z,1736378343.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.099175 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:03.184Z,1736378343.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:03.185Z,1736378343.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515576 2025-01-08T23:19:03.429Z,1736378343.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:03.436Z,1736378343.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:03.436Z,1736378343.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766764 2025-01-08T23:19:03.444Z,1736378343.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:03.447Z,1736378343.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.114609 m, bearing: 161.951778 deg, approach rate: 0.022667 m/s, LOS rate: -2.004972 deg/s, cmd heading: 177.569673 deg, new cmd heading: 175.256896 deg. 2025-01-08T23:19:03.464Z,1736378343.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.058810 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:03.688Z,1736378343.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:03.689Z,1736378343.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019320 2025-01-08T23:19:03.920Z,1736378343.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:03.940Z,1736378343.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:03.941Z,1736378343.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271058 2025-01-08T23:19:03.952Z,1736378343.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:19:03.954Z,1736378343.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:03.962Z,1736378343.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.128251 m, bearing: 160.929710 deg, approach rate: 0.026751 m/s, LOS rate: -2.002117 deg/s, cmd heading: 175.256889 deg, new cmd heading: 172.196719 deg. 2025-01-08T23:19:03.963Z,1736378343.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.005400 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:04.192Z,1736378344.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:04.192Z,1736378344.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522710 2025-01-08T23:19:04.308Z,1736378344.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:04.316Z,1736378344.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:04.323Z,1736378344.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.133775 m, bearing: 160.122299 deg, approach rate: 0.015257 m/s, LOS rate: -2.229273 deg/s, cmd heading: 172.196719 deg, new cmd heading: 169.776954 deg. 2025-01-08T23:19:04.326Z,1736378344.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.963167 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:04.444Z,1736378344.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:04.445Z,1736378344.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775772 2025-01-08T23:19:04.677Z,1736378344.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:04.689Z,1736378344.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:04.692Z,1736378344.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.137470 m, bearing: 159.353311 deg, approach rate: 0.009957 m/s, LOS rate: -2.071237 deg/s, cmd heading: 169.776960 deg, new cmd heading: 167.471911 deg. 2025-01-08T23:19:04.693Z,1736378344.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.922936 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:04.696Z,1736378344.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:04.697Z,1736378344.697 [DAT](INFO): DAT read: Rx Time:23:19:03.4604 2025-01-08T23:19:04.697Z,1736378344.697 [DAT](INFO): Rx dataTimestamp_ set to:1736378344.696728 2025-01-08T23:19:04.698Z,1736378344.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027837 2025-01-08T23:19:04.948Z,1736378344.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:04.949Z,1736378344.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279228 2025-01-08T23:19:05.097Z,1736378345.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:05.109Z,1736378345.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:05.121Z,1736378345.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.139720 m, bearing: 158.455303 deg, approach rate: 0.005369 m/s, LOS rate: -2.142583 deg/s, cmd heading: 167.471908 deg, new cmd heading: 164.780406 deg. 2025-01-08T23:19:05.126Z,1736378345.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.875961 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:05.200Z,1736378345.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:05.201Z,1736378345.201 [DAT](INFO): DAT read: $Error in header 2025-01-08T23:19:05.201Z,1736378345.201 [DAT](INFO): Received a bad header 2025-01-08T23:19:05.216Z,1736378345.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.546020 2025-01-08T23:19:05.452Z,1736378345.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:05.452Z,1736378345.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782797 2025-01-08T23:19:05.502Z,1736378345.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:05.515Z,1736378345.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:05.518Z,1736378345.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.145180 m, bearing: 157.589647 deg, approach rate: 0.013358 m/s, LOS rate: -2.117086 deg/s, cmd heading: 164.780404 deg, new cmd heading: 162.186311 deg. 2025-01-08T23:19:05.519Z,1736378345.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.830685 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:05.704Z,1736378345.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:05.705Z,1736378345.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034916 2025-01-08T23:19:05.927Z,1736378345.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:05.936Z,1736378345.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:05.940Z,1736378345.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.151324 m, bearing: 156.611951 deg, approach rate: 0.014617 m/s, LOS rate: -2.324727 deg/s, cmd heading: 162.186312 deg, new cmd heading: 159.257192 deg. 2025-01-08T23:19:05.941Z,1736378345.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779562 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:05.956Z,1736378345.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:05.956Z,1736378345.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286654 2025-01-08T23:19:06.208Z,1736378346.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:06.208Z,1736378346.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538795 2025-01-08T23:19:06.361Z,1736378346.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:06.369Z,1736378346.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:19:06.371Z,1736378346.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:06.374Z,1736378346.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.150182 m, bearing: 155.614991 deg, approach rate: -0.002621 m/s, LOS rate: -2.287334 deg/s, cmd heading: 159.257199 deg, new cmd heading: 156.268942 deg. 2025-01-08T23:19:06.376Z,1736378346.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.727407 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:06.462Z,1736378346.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:06.462Z,1736378346.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792494 2025-01-08T23:19:06.712Z,1736378346.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:06.713Z,1736378346.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042923 2025-01-08T23:19:06.767Z,1736378346.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:06.800Z,1736378346.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:06.802Z,1736378346.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.147336 m, bearing: 154.678783 deg, approach rate: -0.006649 m/s, LOS rate: -2.187602 deg/s, cmd heading: 156.268936 deg, new cmd heading: 153.462119 deg. 2025-01-08T23:19:06.804Z,1736378346.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678419 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:06.964Z,1736378346.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:06.964Z,1736378346.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294716 2025-01-08T23:19:07.216Z,1736378347.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:07.217Z,1736378347.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547056 2025-01-08T23:19:07.319Z,1736378347.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:07.336Z,1736378347.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:07.340Z,1736378347.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.149902 m, bearing: 153.294395 deg, approach rate: 0.004782 m/s, LOS rate: -2.578720 deg/s, cmd heading: 153.462125 deg, new cmd heading: 149.317364 deg. 2025-01-08T23:19:07.359Z,1736378347.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606080 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:07.468Z,1736378347.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:07.468Z,1736378347.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798749 2025-01-08T23:19:07.720Z,1736378347.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:07.720Z,1736378347.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050655 2025-01-08T23:19:07.784Z,1736378347.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:07.793Z,1736378347.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:07.816Z,1736378347.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.151280 m, bearing: 152.128903 deg, approach rate: 0.003016 m/s, LOS rate: -2.550713 deg/s, cmd heading: 149.317361 deg, new cmd heading: 145.825794 deg. 2025-01-08T23:19:07.817Z,1736378347.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545140 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:07.973Z,1736378347.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:07.974Z,1736378347.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304364 2025-01-08T23:19:08.224Z,1736378348.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:08.224Z,1736378348.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554782 2025-01-08T23:19:08.225Z,1736378348.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:08.262Z,1736378348.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:08.284Z,1736378348.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.168829 m, bearing: 150.965170 deg, approach rate: 0.037376 m/s, LOS rate: -2.475350 deg/s, cmd heading: 145.825796 deg, new cmd heading: 142.343455 deg. 2025-01-08T23:19:08.285Z,1736378348.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.484362 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:08.476Z,1736378348.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:08.476Z,1736378348.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806732 2025-01-08T23:19:08.607Z,1736378348.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:08.615Z,1736378348.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:19:08.617Z,1736378348.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:08.620Z,1736378348.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.175955 m, bearing: 150.000480 deg, approach rate: 0.020094 m/s, LOS rate: -2.718798 deg/s, cmd heading: 142.343451 deg, new cmd heading: 139.453427 deg. 2025-01-08T23:19:08.622Z,1736378348.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433921 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:08.728Z,1736378348.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:08.728Z,1736378348.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058758 2025-01-08T23:19:08.980Z,1736378348.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:08.980Z,1736378348.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310556 2025-01-08T23:19:09.021Z,1736378349.021 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815201416,35.0, +11.0, 0.0,14 2025-01-08T23:19:09.030Z,1736378349.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:19:09.030Z,1736378349.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:09.061Z,1736378349.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:09.068Z,1736378349.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.189765 m, bearing: 148.847193 deg, approach rate: 0.031546 m/s, LOS rate: -2.631639 deg/s, cmd heading: 139.453420 deg, new cmd heading: 136.001342 deg. 2025-01-08T23:19:09.069Z,1736378349.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373671 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:09.232Z,1736378349.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:09.232Z,1736378349.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562714 2025-01-08T23:19:09.400Z,1736378349.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:19:09.400Z,1736378349.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:09.424Z,1736378349.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:09.432Z,1736378349.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.194022 m, bearing: 147.873517 deg, approach rate: 0.011516 m/s, LOS rate: -2.632848 deg/s, cmd heading: 136.001347 deg, new cmd heading: 133.083858 deg. 2025-01-08T23:19:09.439Z,1736378349.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322752 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:09.484Z,1736378349.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:09.484Z,1736378349.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814723 2025-01-08T23:19:09.736Z,1736378349.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:09.736Z,1736378349.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066622 2025-01-08T23:19:09.815Z,1736378349.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:19:09.815Z,1736378349.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:09.824Z,1736378349.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:09.827Z,1736378349.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.196944 m, bearing: 146.780307 deg, approach rate: 0.007311 m/s, LOS rate: -2.734367 deg/s, cmd heading: 133.083859 deg, new cmd heading: 129.808676 deg. 2025-01-08T23:19:09.828Z,1736378349.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.265589 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:09.990Z,1736378349.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:09.991Z,1736378349.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.321408 2025-01-08T23:19:10.242Z,1736378350.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:10.245Z,1736378350.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575126 2025-01-08T23:19:10.274Z,1736378350.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:10.318Z,1736378350.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:10.325Z,1736378350.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.225533 m, bearing: 145.443619 deg, approach rate: 0.057883 m/s, LOS rate: -2.700721 deg/s, cmd heading: 129.808674 deg, new cmd heading: 125.813520 deg. 2025-01-08T23:19:10.326Z,1736378350.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.195860 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:10.493Z,1736378350.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:10.495Z,1736378350.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824915 2025-01-08T23:19:10.744Z,1736378350.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:10.745Z,1736378350.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075021 2025-01-08T23:19:10.769Z,1736378350.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:10.777Z,1736378350.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:19:10.781Z,1736378350.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:10.789Z,1736378350.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.246610 m, bearing: 144.004184 deg, approach rate: 0.045732 m/s, LOS rate: -3.118236 deg/s, cmd heading: 125.813519 deg, new cmd heading: 121.510165 deg. 2025-01-08T23:19:10.792Z,1736378350.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.120753 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:10.996Z,1736378350.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:10.996Z,1736378350.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326602 2025-01-08T23:19:11.209Z,1736378351.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:11.217Z,1736378351.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:11.221Z,1736378351.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.279235 m, bearing: 142.700852 deg, approach rate: 0.074416 m/s, LOS rate: -2.965780 deg/s, cmd heading: 121.510172 deg, new cmd heading: 117.615455 deg. 2025-01-08T23:19:11.223Z,1736378351.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052777 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:11.248Z,1736378351.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:11.249Z,1736378351.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578876 2025-01-08T23:19:11.500Z,1736378351.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:11.502Z,1736378351.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832032 2025-01-08T23:19:11.583Z,1736378351.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:11.609Z,1736378351.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:11.616Z,1736378351.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.305546 m, bearing: 141.595096 deg, approach rate: 0.067219 m/s, LOS rate: -2.819613 deg/s, cmd heading: 117.615461 deg, new cmd heading: 114.308180 deg. 2025-01-08T23:19:11.617Z,1736378351.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.995054 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:11.752Z,1736378351.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:11.752Z,1736378351.752 [DAT](INFO): Reached modem response timeout 2025-01-08T23:19:11.752Z,1736378351.752 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:19:11.753Z,1736378351.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:19:12.004Z,1736378352.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:12.004Z,1736378352.004 [DAT](INFO): Reached modem response timeout 2025-01-08T23:19:12.004Z,1736378352.004 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:19:12.005Z,1736378352.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:19:12.017Z,1736378352.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:12.026Z,1736378352.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:12.029Z,1736378352.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.339834 m, bearing: 140.314822 deg, approach rate: 0.082189 m/s, LOS rate: -3.061212 deg/s, cmd heading: 114.308181 deg, new cmd heading: 110.482556 deg. 2025-01-08T23:19:12.030Z,1736378352.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.928284 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:12.256Z,1736378352.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:12.256Z,1736378352.256 [DAT](INFO): Reached modem response timeout 2025-01-08T23:19:12.257Z,1736378352.257 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:19:12.257Z,1736378352.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:19:12.390Z,1736378352.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:12.399Z,1736378352.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:12.402Z,1736378352.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.367721 m, bearing: 139.214498 deg, approach rate: 0.074824 m/s, LOS rate: -2.946448 deg/s, cmd heading: 110.482558 deg, new cmd heading: 107.191819 deg. 2025-01-08T23:19:12.403Z,1736378352.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870850 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:12.509Z,1736378352.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:12.510Z,1736378352.510 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:19:12.510Z,1736378352.510 [DAT](INFO): response not received 2025-01-08T23:19:12.511Z,1736378352.511 [DAT](INFO): DAT read: user:3185> 2025-01-08T23:19:12.512Z,1736378352.512 [DAT](ERROR): No response from remote modem. 2025-01-08T23:19:12.512Z,1736378352.512 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:19:12.513Z,1736378352.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:19:12.760Z,1736378352.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:12.760Z,1736378352.760 [DAT](INFO): DAT read: Tx time:23:19:11.9301 2025-01-08T23:19:12.761Z,1736378352.761 [DAT](INFO): Ping request sent. 2025-01-08T23:19:12.761Z,1736378352.761 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:12.761Z,1736378352.761 [DAT](INFO): DAT read: TxSync time:23:19:11.9293 2025-01-08T23:19:12.762Z,1736378352.762 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:12.762Z,1736378352.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001551 2025-01-08T23:19:12.824Z,1736378352.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:12.835Z,1736378352.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:19:12.849Z,1736378352.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:12.856Z,1736378352.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.398487 m, bearing: 137.937177 deg, approach rate: 0.068300 m/s, LOS rate: -2.829294 deg/s, cmd heading: 107.191821 deg, new cmd heading: 103.374022 deg. 2025-01-08T23:19:12.857Z,1736378352.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.804217 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:13.012Z,1736378353.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:13.013Z,1736378353.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251813 2025-01-08T23:19:13.220Z,1736378353.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:13.249Z,1736378353.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:13.257Z,1736378353.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.435138 m, bearing: 136.756294 deg, approach rate: 0.091577 m/s, LOS rate: -2.942906 deg/s, cmd heading: 103.374025 deg, new cmd heading: 99.845091 deg. 2025-01-08T23:19:13.258Z,1736378353.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.742626 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:13.264Z,1736378353.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:13.264Z,1736378353.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503566 2025-01-08T23:19:13.516Z,1736378353.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:13.518Z,1736378353.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756625 2025-01-08T23:19:13.613Z,1736378353.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:13.623Z,1736378353.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:13.626Z,1736378353.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.470462 m, bearing: 135.583910 deg, approach rate: 0.094833 m/s, LOS rate: -3.139546 deg/s, cmd heading: 99.845092 deg, new cmd heading: 96.341146 deg. 2025-01-08T23:19:13.627Z,1736378353.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681470 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:13.768Z,1736378353.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:13.768Z,1736378353.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007527 2025-01-08T23:19:14.020Z,1736378354.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:14.020Z,1736378354.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259504 2025-01-08T23:19:14.041Z,1736378354.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:14.050Z,1736378354.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:14.077Z,1736378354.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.509230 m, bearing: 134.359532 deg, approach rate: 0.090533 m/s, LOS rate: -2.851391 deg/s, cmd heading: 96.341143 deg, new cmd heading: 92.683079 deg. 2025-01-08T23:19:14.078Z,1736378354.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.617625 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:14.273Z,1736378354.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:14.273Z,1736378354.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512534 2025-01-08T23:19:14.436Z,1736378354.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:14.445Z,1736378354.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:14.449Z,1736378354.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.550858 m, bearing: 133.235773 deg, approach rate: 0.105527 m/s, LOS rate: -2.840341 deg/s, cmd heading: 92.683078 deg, new cmd heading: 89.325512 deg. 2025-01-08T23:19:14.450Z,1736378354.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559024 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:14.524Z,1736378354.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:14.526Z,1736378354.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764675 2025-01-08T23:19:14.776Z,1736378354.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:14.776Z,1736378354.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015517 2025-01-08T23:19:14.836Z,1736378354.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:14.852Z,1736378354.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:19:14.854Z,1736378354.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:14.858Z,1736378354.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.583368 m, bearing: 132.096900 deg, approach rate: 0.079432 m/s, LOS rate: -2.776268 deg/s, cmd heading: 89.325514 deg, new cmd heading: 85.920749 deg. 2025-01-08T23:19:14.859Z,1736378354.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499600 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:15.028Z,1736378355.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:15.028Z,1736378355.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267408 2025-01-08T23:19:15.261Z,1736378355.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:15.269Z,1736378355.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:15.273Z,1736378355.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.616817 m, bearing: 130.939700 deg, approach rate: 0.080482 m/s, LOS rate: -2.777853 deg/s, cmd heading: 85.920747 deg, new cmd heading: 82.461537 deg. 2025-01-08T23:19:15.274Z,1736378355.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439225 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:15.280Z,1736378355.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:15.281Z,1736378355.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519622 2025-01-08T23:19:15.532Z,1736378355.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:15.533Z,1736378355.533 [DAT](INFO): DAT read: Rx Time:23:19:14.4198 2025-01-08T23:19:15.533Z,1736378355.533 [DAT](INFO): Rx dataTimestamp_ set to:1736378355.533043 2025-01-08T23:19:15.534Z,1736378355.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772946 2025-01-08T23:19:15.632Z,1736378355.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:15.642Z,1736378355.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:15.646Z,1736378355.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.636720 m, bearing: 129.925925 deg, approach rate: 0.053467 m/s, LOS rate: -2.719527 deg/s, cmd heading: 82.461536 deg, new cmd heading: 79.427344 deg. 2025-01-08T23:19:15.648Z,1736378355.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.386269 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:15.784Z,1736378355.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:15.785Z,1736378355.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023752 2025-01-08T23:19:16.036Z,1736378356.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:16.036Z,1736378356.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275585 2025-01-08T23:19:16.078Z,1736378356.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:16.118Z,1736378356.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:16.133Z,1736378356.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.900002 m, nav range: 14.652719 m, bearing: 128.764256 deg, approach rate: 0.033607 m/s, LOS rate: -2.437387 deg/s, cmd heading: 79.427341 deg, new cmd heading: 75.950652 deg. 2025-01-08T23:19:16.134Z,1736378356.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325589 target range: 49.900002 and range: 54.90 m. 2025-01-08T23:19:16.288Z,1736378356.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:16.290Z,1736378356.290 [DAT](INFO): DAT read: Range 10 to 50 : 64.1 m (Round-trip 85.5 ms) speed -0.5 m/s 2025-01-08T23:19:16.291Z,1736378356.291 [DAT](INFO): DAT read: user:3186> 2025-01-08T23:19:16.292Z,1736378356.292 [DAT](INFO): DAT read: Tx time:23:19:15.5301 2025-01-08T23:19:16.292Z,1736378356.292 [DAT](INFO): Ping request sent. 2025-01-08T23:19:16.292Z,1736378356.292 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:16.292Z,1736378356.292 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:19:16.292Z,1736378356.292 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:16.293Z,1736378356.293 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:16.456Z,1736378356.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:16.465Z,1736378356.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.099998 m, deltaT: 14.623466 s, deltaX: 9.199997 m, approachRate: 0.629126 m/s, rangeRepo size: 4 2025-01-08T23:19:16.465Z,1736378356.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:16.466Z,1736378356.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 64.10 m. Rolling out. 2025-01-08T23:19:16.466Z,1736378356.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-01-08T23:19:16.528Z,1736378356.528 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T23:19:16.528Z,1736378356.528 [DockingStepper](INFO): Standby mode. 2025-01-08T23:19:16.540Z,1736378356.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:16.542Z,1736378356.542 [DAT](INFO): DAT read: TxSync time:23:19:15.5293 2025-01-08T23:19:16.583Z,1736378356.583 [DockingStepper](INFO): Commanding positive:54396 2025-01-08T23:19:16.792Z,1736378356.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:16.846Z,1736378356.846 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.80 m/s, pitch 20.00 deg, mass-position 21.81 mm. 2025-01-08T23:19:16.847Z,1736378356.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:16.853Z,1736378356.853 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-01-08T23:19:16.853Z,1736378356.853 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T23:19:16.854Z,1736378356.854 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-01-08T23:19:16.856Z,1736378356.856 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 64.099998 m (mode 5.000000 count ). 2025-01-08T23:19:16.856Z,1736378356.856 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-01-08T23:19:16.856Z,1736378356.856 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-01-08T23:19:16.857Z,1736378356.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:19:16.859Z,1736378356.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:16.861Z,1736378356.861 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-01-08T23:19:16.861Z,1736378356.861 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T23:19:16.862Z,1736378356.862 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-01-08T23:19:16.862Z,1736378356.862 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-01-08T23:19:17.044Z,1736378357.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:17.044Z,1736378357.044 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:19:17.044Z,1736378357.044 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:19:17.045Z,1736378357.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:19:17.273Z,1736378357.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:17.279Z,1736378357.279 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-01-08T23:19:17.279Z,1736378357.279 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-01-08T23:19:17.282Z,1736378357.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:17.296Z,1736378357.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:17.296Z,1736378357.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004385 2025-01-08T23:19:17.550Z,1736378357.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:17.552Z,1736378357.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259407 2025-01-08T23:19:17.686Z,1736378357.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:17.694Z,1736378357.694 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-01-08T23:19:17.694Z,1736378357.694 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-01-08T23:19:17.697Z,1736378357.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:17.800Z,1736378357.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:17.800Z,1736378357.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508298 2025-01-08T23:19:18.056Z,1736378358.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:18.058Z,1736378358.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765729 2025-01-08T23:19:18.145Z,1736378358.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:18.157Z,1736378358.157 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-01-08T23:19:18.157Z,1736378358.157 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T23:19:18.157Z,1736378358.157 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-01-08T23:19:18.157Z,1736378358.157 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T23:19:18.164Z,1736378358.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:18.304Z,1736378358.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:18.304Z,1736378358.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012362 2025-01-08T23:19:18.509Z,1736378358.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:18.517Z,1736378358.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:18.556Z,1736378358.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:18.556Z,1736378358.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264379 2025-01-08T23:19:18.808Z,1736378358.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:18.808Z,1736378358.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516381 2025-01-08T23:19:18.930Z,1736378358.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:18.942Z,1736378358.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:19.060Z,1736378359.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:19.062Z,1736378359.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769461 2025-01-08T23:19:19.312Z,1736378359.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:19.312Z,1736378359.312 [DAT](INFO): DAT read: Rx Time:23:19:18.0228 2025-01-08T23:19:19.313Z,1736378359.313 [DAT](INFO): Rx dataTimestamp_ set to:1736378359.312655 2025-01-08T23:19:19.313Z,1736378359.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021413 2025-01-08T23:19:19.391Z,1736378359.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:19.400Z,1736378359.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:19.564Z,1736378359.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:19.565Z,1736378359.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272543 2025-01-08T23:19:19.816Z,1736378359.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:19.820Z,1736378359.820 [DAT](INFO): DAT read: Range 10 to 50 : 66.3 m (Round-trip 88.4 ms) speed -0.4 m/s 2025-01-08T23:19:19.821Z,1736378359.821 [DAT](INFO): DAT read: user:3187> 2025-01-08T23:19:19.822Z,1736378359.822 [DAT](INFO): DAT read: Tx time:23:19:19.1302 2025-01-08T23:19:19.824Z,1736378359.824 [DAT](INFO): Ping request sent. 2025-01-08T23:19:19.824Z,1736378359.824 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:19.825Z,1736378359.825 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:19:19.825Z,1736378359.825 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:19.825Z,1736378359.825 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:19.944Z,1736378359.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:19.961Z,1736378359.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.529073 s, deltaX: 2.200005 m, approachRate: 0.623394 m/s, rangeRepo size: 4 2025-01-08T23:19:19.962Z,1736378359.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:20.070Z,1736378360.070 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:20.074Z,1736378360.074 [DAT](INFO): DAT read: TxSync time:23:19:19.1294 2025-01-08T23:19:20.320Z,1736378360.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:20.468Z,1736378360.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:20.478Z,1736378360.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:20.572Z,1736378360.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:20.764Z,1736378360.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:19:20.824Z,1736378360.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:20.841Z,1736378360.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:20.850Z,1736378360.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:21.078Z,1736378361.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:21.266Z,1736378361.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:21.276Z,1736378361.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:21.328Z,1736378361.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:21.582Z,1736378361.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:21.711Z,1736378361.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:21.719Z,1736378361.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:21.769Z,1736378361.769 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:19:21.832Z,1736378361.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:22.086Z,1736378362.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:22.191Z,1736378362.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:22.200Z,1736378362.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:22.336Z,1736378362.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:22.565Z,1736378362.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:22.574Z,1736378362.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:22.588Z,1736378362.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:22.840Z,1736378362.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:22.841Z,1736378362.841 [DAT](INFO): DAT read: Rx Time:23:19:21.6253 2025-01-08T23:19:22.842Z,1736378362.842 [DAT](INFO): Rx dataTimestamp_ set to:1736378362.841380 2025-01-08T23:19:22.993Z,1736378362.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:23.018Z,1736378363.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:23.094Z,1736378363.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:23.344Z,1736378363.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:23.345Z,1736378363.345 [DAT](INFO): DAT read: Range 10 to 50 : 68.2 m (Round-trip 91.0 ms) speed -0.3 m/s 2025-01-08T23:19:23.346Z,1736378363.346 [DAT](INFO): DAT read: user:3188> 2025-01-08T23:19:23.347Z,1736378363.347 [DAT](INFO): DAT read: Tx time:23:19:22.7302 2025-01-08T23:19:23.347Z,1736378363.347 [DAT](INFO): Ping request sent. 2025-01-08T23:19:23.347Z,1736378363.347 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:23.348Z,1736378363.348 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-01-08T23:19:23.348Z,1736378363.348 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:23.348Z,1736378363.348 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:23.487Z,1736378363.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:23.508Z,1736378363.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.199997 m, deltaT: 3.526975 s, deltaX: 1.899994 m, approachRate: 0.538704 m/s, rangeRepo size: 4 2025-01-08T23:19:23.509Z,1736378363.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:23.596Z,1736378363.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:23.597Z,1736378363.597 [DAT](INFO): DAT read: TxSync time:23:19:22.7294 2025-01-08T23:19:23.852Z,1736378363.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:23.929Z,1736378363.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:23.937Z,1736378363.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:24.102Z,1736378364.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:24.352Z,1736378364.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:24.370Z,1736378364.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:24.379Z,1736378364.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:24.604Z,1736378364.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:24.790Z,1736378364.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:24.819Z,1736378364.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:24.856Z,1736378364.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:25.111Z,1736378365.111 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:25.233Z,1736378365.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:25.247Z,1736378365.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:25.360Z,1736378365.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:25.612Z,1736378365.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:25.625Z,1736378365.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:25.665Z,1736378365.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:25.864Z,1736378365.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:26.012Z,1736378366.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:26.021Z,1736378366.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:26.118Z,1736378366.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:26.368Z,1736378366.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:26.444Z,1736378366.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:26.453Z,1736378366.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:26.623Z,1736378366.623 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:26.624Z,1736378366.624 [DAT](INFO): DAT read: Rx Time:23:19:25.2272 2025-01-08T23:19:26.625Z,1736378366.625 [DAT](INFO): Rx dataTimestamp_ set to:1736378366.624279 2025-01-08T23:19:26.842Z,1736378366.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:26.850Z,1736378366.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:26.877Z,1736378366.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:27.130Z,1736378367.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:27.136Z,1736378367.136 [DAT](INFO): DAT read: Range 10 to 50 : 69.6 m (Round-trip 92.8 ms) speed -0.3 m/s 2025-01-08T23:19:27.138Z,1736378367.138 [DAT](INFO): DAT read: user:3189> 2025-01-08T23:19:27.147Z,1736378367.147 [DAT](INFO): DAT read: Tx time:23:19:26.3302 2025-01-08T23:19:27.148Z,1736378367.148 [DAT](INFO): Ping request sent. 2025-01-08T23:19:27.148Z,1736378367.148 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:27.150Z,1736378367.150 [DAT](INFO): DAT read: TxSync time:23:19:26.3294 2025-01-08T23:19:27.157Z,1736378367.157 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-01-08T23:19:27.158Z,1736378367.158 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:27.177Z,1736378367.177 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:27.310Z,1736378367.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:27.332Z,1736378367.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.599998 m, deltaT: 3.786628 s, deltaX: 1.400002 m, approachRate: 0.369722 m/s, rangeRepo size: 4 2025-01-08T23:19:27.333Z,1736378367.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:27.380Z,1736378367.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:27.632Z,1736378367.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:27.734Z,1736378367.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:27.762Z,1736378367.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:27.884Z,1736378367.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:28.136Z,1736378368.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:28.253Z,1736378368.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:28.262Z,1736378368.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:28.388Z,1736378368.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:28.646Z,1736378368.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:28.679Z,1736378368.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:28.689Z,1736378368.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:28.908Z,1736378368.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:29.101Z,1736378369.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:29.131Z,1736378369.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:29.161Z,1736378369.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:29.412Z,1736378369.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:29.622Z,1736378369.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:29.648Z,1736378369.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:29.664Z,1736378369.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:29.916Z,1736378369.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:30.066Z,1736378370.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:30.076Z,1736378370.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:30.169Z,1736378370.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:30.173Z,1736378370.173 [DAT](INFO): DAT read: Rx Time:23:19:28.8287 2025-01-08T23:19:30.175Z,1736378370.175 [DAT](INFO): Rx dataTimestamp_ set to:1736378370.173539 2025-01-08T23:19:30.420Z,1736378370.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:30.491Z,1736378370.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:30.513Z,1736378370.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:30.673Z,1736378370.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:30.675Z,1736378370.675 [DAT](INFO): DAT read: Range 10 to 50 : 70.6 m (Round-trip 94.2 ms) speed -0.3 m/s 2025-01-08T23:19:30.676Z,1736378370.676 [DAT](INFO): DAT read: user:3190> 2025-01-08T23:19:30.677Z,1736378370.677 [DAT](INFO): DAT read: Tx time:23:19:29.9303 2025-01-08T23:19:30.678Z,1736378370.678 [DAT](INFO): Ping request sent. 2025-01-08T23:19:30.678Z,1736378370.678 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:30.678Z,1736378370.678 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-01-08T23:19:30.678Z,1736378370.678 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:30.680Z,1736378370.680 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:30.853Z,1736378370.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:30.883Z,1736378370.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.599998 m, deltaT: 3.542201 s, deltaX: 1.000000 m, approachRate: 0.282310 m/s, rangeRepo size: 4 2025-01-08T23:19:30.883Z,1736378370.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:30.924Z,1736378370.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:30.925Z,1736378370.925 [DAT](INFO): DAT read: TxSync time:23:19:29.9295 2025-01-08T23:19:31.177Z,1736378371.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:31.283Z,1736378371.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:31.313Z,1736378371.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:31.428Z,1736378371.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:31.680Z,1736378371.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:31.724Z,1736378371.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:31.732Z,1736378371.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:31.932Z,1736378371.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:32.132Z,1736378372.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:32.141Z,1736378372.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:32.185Z,1736378372.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:32.436Z,1736378372.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:32.570Z,1736378372.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:32.580Z,1736378372.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:32.688Z,1736378372.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:32.940Z,1736378372.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:32.985Z,1736378372.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:32.996Z,1736378372.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:33.194Z,1736378373.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:33.444Z,1736378373.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:33.511Z,1736378373.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:33.520Z,1736378373.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:33.696Z,1736378373.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:33.697Z,1736378373.697 [DAT](INFO): DAT read: Rx Time:23:19:32.4301 2025-01-08T23:19:33.697Z,1736378373.697 [DAT](INFO): Rx dataTimestamp_ set to:1736378373.696879 2025-01-08T23:19:33.933Z,1736378373.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:33.942Z,1736378373.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:33.956Z,1736378373.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:34.208Z,1736378374.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:34.211Z,1736378374.211 [DAT](INFO): DAT read: Range 10 to 50 : 71.7 m (Round-trip 95.7 ms) speed -0.3 m/s 2025-01-08T23:19:34.214Z,1736378374.214 [DAT](INFO): DAT read: user:3191> 2025-01-08T23:19:34.215Z,1736378374.215 [DAT](INFO): DAT read: Tx time:23:19:33.5303 2025-01-08T23:19:34.215Z,1736378374.215 [DAT](INFO): Ping request sent. 2025-01-08T23:19:34.216Z,1736378374.216 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:34.216Z,1736378374.216 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-01-08T23:19:34.216Z,1736378374.216 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:34.217Z,1736378374.217 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:34.404Z,1736378374.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:34.427Z,1736378374.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 3.535237 s, deltaX: 1.099998 m, approachRate: 0.311153 m/s, rangeRepo size: 4 2025-01-08T23:19:34.431Z,1736378374.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:34.460Z,1736378374.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:34.461Z,1736378374.461 [DAT](INFO): DAT read: TxSync time:23:19:33.5295 2025-01-08T23:19:34.716Z,1736378374.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:34.847Z,1736378374.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:34.856Z,1736378374.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:34.965Z,1736378374.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:35.216Z,1736378375.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:35.306Z,1736378375.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:35.315Z,1736378375.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:35.468Z,1736378375.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:35.720Z,1736378375.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:35.732Z,1736378375.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:35.749Z,1736378375.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:35.972Z,1736378375.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:36.172Z,1736378376.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:36.181Z,1736378376.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:36.224Z,1736378376.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:36.476Z,1736378376.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:36.594Z,1736378376.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:36.620Z,1736378376.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:36.728Z,1736378376.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:36.980Z,1736378376.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:37.006Z,1736378377.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:37.015Z,1736378377.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:37.233Z,1736378377.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:37.234Z,1736378377.234 [DAT](INFO): DAT read: Rx Time:23:19:36.0315 2025-01-08T23:19:37.234Z,1736378377.234 [DAT](INFO): Rx dataTimestamp_ set to:1736378377.233823 2025-01-08T23:19:37.429Z,1736378377.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:37.437Z,1736378377.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:37.484Z,1736378377.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:37.738Z,1736378377.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:37.741Z,1736378377.741 [DAT](INFO): DAT read: Range 10 to 50 : 72.7 m (Round-trip 97.0 ms) speed -0.2 m/s 2025-01-08T23:19:37.742Z,1736378377.742 [DAT](INFO): DAT read: user:3192> 2025-01-08T23:19:37.743Z,1736378377.743 [DAT](INFO): DAT read: Tx time:23:19:37.1303 2025-01-08T23:19:37.744Z,1736378377.744 [DAT](INFO): Ping request sent. 2025-01-08T23:19:37.744Z,1736378377.744 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:37.744Z,1736378377.744 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-08T23:19:37.744Z,1736378377.744 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:37.745Z,1736378377.745 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:37.883Z,1736378377.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:37.899Z,1736378377.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.699997 m, deltaT: 3.530777 s, deltaX: 1.000000 m, approachRate: 0.283224 m/s, rangeRepo size: 4 2025-01-08T23:19:37.904Z,1736378377.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:37.988Z,1736378377.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:37.989Z,1736378377.989 [DAT](INFO): DAT read: TxSync time:23:19:37.1295 2025-01-08T23:19:38.240Z,1736378378.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:38.391Z,1736378378.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:38.400Z,1736378378.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:38.492Z,1736378378.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:38.744Z,1736378378.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:38.802Z,1736378378.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:38.810Z,1736378378.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:38.998Z,1736378378.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:39.182Z,1736378379.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:39.192Z,1736378379.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:39.248Z,1736378379.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:39.500Z,1736378379.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:39.622Z,1736378379.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:39.654Z,1736378379.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:39.752Z,1736378379.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:40.004Z,1736378380.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:40.009Z,1736378380.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:40.017Z,1736378380.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:40.256Z,1736378380.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:40.435Z,1736378380.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:40.445Z,1736378380.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:40.508Z,1736378380.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:40.760Z,1736378380.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:40.802Z,1736378380.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:40.811Z,1736378380.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:41.012Z,1736378381.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:41.013Z,1736378381.013 [DAT](INFO): DAT read: Rx Time:23:19:39.6325 2025-01-08T23:19:41.014Z,1736378381.014 [DAT](INFO): Rx dataTimestamp_ set to:1736378381.013488 2025-01-08T23:19:41.204Z,1736378381.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:41.213Z,1736378381.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.90 m. 2025-01-08T23:19:41.264Z,1736378381.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:41.516Z,1736378381.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:41.523Z,1736378381.523 [DAT](INFO): DAT read: 23:19:39.6326 LVL= 16864, 12945, 11890, 22003, AGC= 58, IDX= 439, 0.26,-0.802, 1.099, 1.765, 0.851, PHS=-1.565, 0.295, 0.911, RAW= 256.2, 3.3, CAL= 260.9, 4.7, ROT= 249.1, -4.7 2025-01-08T23:19:41.525Z,1736378381.525 [DAT](INFO): got valid direction response: 23:19:39.6326 LVL= 16864, 12945, 11890, 22003, AGC= 58, IDX= 439, 0.26,-0.802, 1.099, 1.765, 0.851, PHS=-1.565, 0.295, 0.911, RAW= 256.2, 3.3, CAL= 260.9, 4.7, ROT= 249.1, -4.7 2025-01-08T23:19:41.528Z,1736378381.528 [DAT](INFO): DAT read: Bearing 249.1, -4.7 (Local) 2025-01-08T23:19:41.529Z,1736378381.529 [DAT](INFO): Local bearing/azimuth received: Bearing 249.1, -4.7 (Local) 2025-01-08T23:19:41.532Z,1736378381.532 [DAT](INFO): DAT read: Range 10 to 50 : 73.5 m (Round-trip 98.0 ms) speed -0.1 m/s 2025-01-08T23:19:41.532Z,1736378381.532 [DAT](INFO): DAT read: user:3193> 2025-01-08T23:19:41.533Z,1736378381.533 [DAT](INFO): DAT read: Tx time:23:19:40.7304 2025-01-08T23:19:41.533Z,1736378381.533 [DAT](INFO): Ping request sent. 2025-01-08T23:19:41.533Z,1736378381.533 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:41.534Z,1736378381.534 [DAT](INFO): DAT read: TxSync time:23:19:40.7296 2025-01-08T23:19:41.534Z,1736378381.534 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-01-08T23:19:41.536Z,1736378381.536 [DAT](INFO): direction in FSK: [-0.000413,-0.334288,-0.942471] 2025-01-08T23:19:41.536Z,1736378381.536 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:41.536Z,1736378381.536 [DAT](INFO): publishing direction and range info 2025-01-08T23:19:41.540Z,1736378381.540 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:41.540Z,1736378381.540 [DAT](INFO): publishing direction and range info 2025-01-08T23:19:41.699Z,1736378381.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:41.731Z,1736378381.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 3.777135 s, deltaX: 0.800003 m, approachRate: 0.211802 m/s, rangeRepo size: 4 2025-01-08T23:19:41.737Z,1736378381.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.500000 m, bearing: 36.035504 deg, lat: 36.904436 deg, lon: -122.119935 deg, deltaT: 61.273553 s, deltaX: 23.599998 m, approachRate: 0.385158 m/s, posRepo size: 4 2025-01-08T23:19:41.738Z,1736378381.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:19:41.770Z,1736378381.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:42.018Z,1736378382.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:42.020Z,1736378382.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:42.028Z,1736378382.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:19:42.272Z,1736378382.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:42.478Z,1736378382.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:42.488Z,1736378382.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:19:42.524Z,1736378382.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:42.776Z,1736378382.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:42.838Z,1736378382.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:42.851Z,1736378382.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:19:43.028Z,1736378383.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:43.232Z,1736378383.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:43.257Z,1736378383.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:19:43.280Z,1736378383.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:43.532Z,1736378383.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:43.733Z,1736378383.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:43.749Z,1736378383.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:19:43.786Z,1736378383.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:44.036Z,1736378384.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:44.056Z,1736378384.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:44.065Z,1736378384.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:19:44.288Z,1736378384.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:44.488Z,1736378384.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:44.497Z,1736378384.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:19:44.540Z,1736378384.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:44.541Z,1736378384.541 [DAT](INFO): DAT read: Rx Time:23:19:43.2333 2025-01-08T23:19:44.541Z,1736378384.541 [DAT](INFO): Rx dataTimestamp_ set to:1736378384.541127 2025-01-08T23:19:44.792Z,1736378384.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:44.861Z,1736378384.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:44.908Z,1736378384.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.50 m. 2025-01-08T23:19:45.044Z,1736378385.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:45.053Z,1736378385.053 [DAT](INFO): DAT read: 23:19:43.2333 LVL= 18720, 13761, 13250, 23283, AGC= 57, IDX= 431, 0.11,-1.010, 0.696, 1.605, 0.525, PHS=-1.448, 0.218, 1.077, RAW= 250.5, 1.4, CAL= 254.3, 2.4, ROT= 255.7, -2.4 2025-01-08T23:19:45.054Z,1736378385.054 [DAT](INFO): got valid direction response: 23:19:43.2333 LVL= 18720, 13761, 13250, 23283, AGC= 57, IDX= 431, 0.11,-1.010, 0.696, 1.605, 0.525, PHS=-1.448, 0.218, 1.077, RAW= 250.5, 1.4, CAL= 254.3, 2.4, ROT= 255.7, -2.4 2025-01-08T23:19:45.056Z,1736378385.056 [DAT](INFO): DAT read: Bearing 255.7, -2.4 (Local) 2025-01-08T23:19:45.057Z,1736378385.057 [DAT](INFO): Local bearing/azimuth received: Bearing 255.7, -2.4 (Local) 2025-01-08T23:19:45.058Z,1736378385.058 [DAT](INFO): DAT read: Range 10 to 50 : 74.0 m (Round-trip 98.7 ms) speed -0.2 m/s 2025-01-08T23:19:45.059Z,1736378385.059 [DAT](INFO): DAT read: user:3194> 2025-01-08T23:19:45.060Z,1736378385.060 [DAT](INFO): DAT read: Tx time:23:19:44.3304 2025-01-08T23:19:45.060Z,1736378385.060 [DAT](INFO): Ping request sent. 2025-01-08T23:19:45.060Z,1736378385.060 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:45.060Z,1736378385.060 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-01-08T23:19:45.061Z,1736378385.061 [DAT](INFO): direction in FSK: [0.023898,-0.425420,-0.904681] 2025-01-08T23:19:45.062Z,1736378385.062 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:45.062Z,1736378385.062 [DAT](INFO): publishing direction and range info 2025-01-08T23:19:45.065Z,1736378385.065 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:45.065Z,1736378385.065 [DAT](INFO): publishing direction and range info 2025-01-08T23:19:45.263Z,1736378385.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:45.277Z,1736378385.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.000000 m, deltaT: 3.527995 s, deltaX: 0.500000 m, approachRate: 0.141724 m/s, rangeRepo size: 4 2025-01-08T23:19:45.280Z,1736378385.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.000000 m, bearing: 46.600490 deg, lat: 36.904455 deg, lon: -122.119928 deg, deltaT: 3.527995 s, deltaX: 0.500000 m, approachRate: 0.141724 m/s, posRepo size: 4 2025-01-08T23:19:45.280Z,1736378385.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:45.313Z,1736378385.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:45.314Z,1736378385.314 [DAT](INFO): DAT read: TxSync time:23:19:44.3296 2025-01-08T23:19:45.564Z,1736378385.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:45.702Z,1736378385.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:45.712Z,1736378385.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:45.816Z,1736378385.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:46.069Z,1736378386.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:46.071Z,1736378386.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:46.081Z,1736378386.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:46.320Z,1736378386.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:46.543Z,1736378386.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:46.554Z,1736378386.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:46.572Z,1736378386.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:46.824Z,1736378386.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:46.955Z,1736378386.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:46.964Z,1736378386.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:47.076Z,1736378387.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:47.328Z,1736378387.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:47.369Z,1736378387.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:47.379Z,1736378387.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:47.580Z,1736378387.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:47.799Z,1736378387.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:47.808Z,1736378387.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:47.832Z,1736378387.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:48.084Z,1736378388.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:48.084Z,1736378388.084 [DAT](INFO): DAT read: Rx Time:23:19:46.8342 2025-01-08T23:19:48.085Z,1736378388.085 [DAT](INFO): Rx dataTimestamp_ set to:1736378388.084679 2025-01-08T23:19:48.206Z,1736378388.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:48.215Z,1736378388.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:48.337Z,1736378388.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:48.588Z,1736378388.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:48.590Z,1736378388.590 [DAT](INFO): DAT read: Range 10 to 50 : 74.7 m (Round-trip 99.7 ms) speed -0.2 m/s 2025-01-08T23:19:48.591Z,1736378388.591 [DAT](INFO): DAT read: user:3195> 2025-01-08T23:19:48.592Z,1736378388.592 [DAT](INFO): DAT read: Tx time:23:19:47.9304 2025-01-08T23:19:48.592Z,1736378388.592 [DAT](INFO): Ping request sent. 2025-01-08T23:19:48.592Z,1736378388.592 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:48.593Z,1736378388.593 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-01-08T23:19:48.593Z,1736378388.593 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:48.593Z,1736378388.593 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:48.718Z,1736378388.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:48.747Z,1736378388.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.699997 m, deltaT: 3.544009 s, deltaX: 0.699997 m, approachRate: 0.197516 m/s, rangeRepo size: 4 2025-01-08T23:19:48.748Z,1736378388.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:48.840Z,1736378388.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:48.842Z,1736378388.842 [DAT](INFO): DAT read: TxSync time:23:19:47.9296 2025-01-08T23:19:49.017Z,1736378389.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:49.025Z,1736378389.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:49.093Z,1736378389.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:49.344Z,1736378389.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:49.428Z,1736378389.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:49.436Z,1736378389.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:49.596Z,1736378389.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:49.848Z,1736378389.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:49.853Z,1736378389.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:49.862Z,1736378389.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:50.100Z,1736378390.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:50.223Z,1736378390.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:50.232Z,1736378390.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:50.352Z,1736378390.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:50.604Z,1736378390.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:50.681Z,1736378390.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:50.690Z,1736378390.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:50.856Z,1736378390.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:51.042Z,1736378391.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:51.050Z,1736378391.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:51.108Z,1736378391.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:51.360Z,1736378391.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:51.460Z,1736378391.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:51.470Z,1736378391.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:51.613Z,1736378391.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:51.614Z,1736378391.614 [DAT](INFO): DAT read: Rx Time:23:19:50.4352 2025-01-08T23:19:51.614Z,1736378391.614 [DAT](INFO): Rx dataTimestamp_ set to:1736378391.613838 2025-01-08T23:19:51.864Z,1736378391.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:51.881Z,1736378391.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:51.892Z,1736378391.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:19:51.892Z,1736378391.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:52.116Z,1736378392.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:52.117Z,1736378392.117 [DAT](INFO): DAT read: Range 10 to 50 : 75.4 m (Round-trip 100.6 ms) speed -0.1 m/s 2025-01-08T23:19:52.118Z,1736378392.118 [DAT](INFO): DAT read: user:3196> 2025-01-08T23:19:52.118Z,1736378392.118 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-01-08T23:19:52.251Z,1736378392.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:52.261Z,1736378392.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.400002 m, deltaT: 3.527988 s, deltaX: 0.700005 m, approachRate: 0.198415 m/s, rangeRepo size: 4 2025-01-08T23:19:52.262Z,1736378392.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:52.368Z,1736378392.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:52.369Z,1736378392.369 [DAT](INFO): DAT read: Tx time:23:19:51.5305 2025-01-08T23:19:52.370Z,1736378392.370 [DAT](INFO): Ping request sent. 2025-01-08T23:19:52.370Z,1736378392.370 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:52.370Z,1736378392.370 [DAT](INFO): DAT read: TxSync time:23:19:51.5297 2025-01-08T23:19:52.371Z,1736378392.371 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:52.620Z,1736378392.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:52.708Z,1736378392.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:52.717Z,1736378392.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:52.873Z,1736378392.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:52.897Z,1736378392.897 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:19:53.058Z,1736378393.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:53.086Z,1736378393.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:53.125Z,1736378393.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:53.376Z,1736378393.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:53.498Z,1736378393.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:53.563Z,1736378393.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:53.628Z,1736378393.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:53.880Z,1736378393.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:53.965Z,1736378393.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:53.975Z,1736378393.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:54.133Z,1736378394.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:54.287Z,1736378394.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:54.296Z,1736378394.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:54.384Z,1736378394.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:54.636Z,1736378394.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:54.726Z,1736378394.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:54.754Z,1736378394.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:54.888Z,1736378394.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:55.097Z,1736378395.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:55.126Z,1736378395.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:55.141Z,1736378395.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:55.392Z,1736378395.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:55.392Z,1736378395.392 [DAT](INFO): DAT read: Rx Time:23:19:54.0360 2025-01-08T23:19:55.393Z,1736378395.393 [DAT](INFO): Rx dataTimestamp_ set to:1736378395.392676 2025-01-08T23:19:55.505Z,1736378395.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:55.565Z,1736378395.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:55.644Z,1736378395.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:55.897Z,1736378395.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:55.902Z,1736378395.902 [DAT](INFO): DAT read: Range 10 to 50 : 76.0 m (Round-trip 101.4 ms) speed 0.0 m/s 2025-01-08T23:19:55.904Z,1736378395.904 [DAT](INFO): DAT read: user:3197> 2025-01-08T23:19:55.906Z,1736378395.906 [DAT](INFO): DAT read: Tx time:23:19:55.1304 2025-01-08T23:19:55.906Z,1736378395.906 [DAT](INFO): Ping request sent. 2025-01-08T23:19:55.907Z,1736378395.907 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:55.909Z,1736378395.909 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-01-08T23:19:55.909Z,1736378395.909 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:55.910Z,1736378395.910 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:56.032Z,1736378396.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:56.050Z,1736378396.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.000000 m, deltaT: 3.781955 s, deltaX: 0.599998 m, approachRate: 0.158648 m/s, rangeRepo size: 4 2025-01-08T23:19:56.050Z,1736378396.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:56.148Z,1736378396.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:56.149Z,1736378396.149 [DAT](INFO): DAT read: TxSync time:23:19:55.1297 2025-01-08T23:19:56.341Z,1736378396.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:56.349Z,1736378396.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:56.400Z,1736378396.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:56.652Z,1736378396.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:56.766Z,1736378396.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:56.776Z,1736378396.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:56.904Z,1736378396.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:57.156Z,1736378397.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:57.186Z,1736378397.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:57.198Z,1736378397.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:57.409Z,1736378397.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:57.660Z,1736378397.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:57.710Z,1736378397.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:57.727Z,1736378397.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:57.912Z,1736378397.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:58.127Z,1736378398.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:58.137Z,1736378398.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:58.165Z,1736378398.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:58.416Z,1736378398.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:58.552Z,1736378398.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:58.575Z,1736378398.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:58.668Z,1736378398.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:58.920Z,1736378398.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:58.920Z,1736378398.920 [DAT](INFO): DAT read: Rx Time:23:19:57.6368 2025-01-08T23:19:58.921Z,1736378398.921 [DAT](INFO): Rx dataTimestamp_ set to:1736378398.920552 2025-01-08T23:19:59.046Z,1736378399.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:59.056Z,1736378399.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:59.172Z,1736378399.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:59.424Z,1736378399.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:59.425Z,1736378399.425 [DAT](INFO): DAT read: Range 10 to 50 : 76.5 m (Round-trip 102.1 ms) speed -0.1 m/s 2025-01-08T23:19:59.426Z,1736378399.426 [DAT](INFO): DAT read: user:3198> 2025-01-08T23:19:59.427Z,1736378399.427 [DAT](INFO): DAT read: Tx time:23:19:58.7305 2025-01-08T23:19:59.427Z,1736378399.427 [DAT](INFO): Ping request sent. 2025-01-08T23:19:59.427Z,1736378399.427 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:19:59.428Z,1736378399.428 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-01-08T23:19:59.428Z,1736378399.428 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:59.432Z,1736378399.432 [DAT](INFO): publishing transmit ping time 2025-01-08T23:19:59.497Z,1736378399.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:19:59.532Z,1736378399.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.500000 m, deltaT: 3.526170 s, deltaX: 0.500000 m, approachRate: 0.141797 m/s, rangeRepo size: 4 2025-01-08T23:19:59.533Z,1736378399.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:19:59.677Z,1736378399.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:59.678Z,1736378399.678 [DAT](INFO): DAT read: TxSync time:23:19:58.7297 2025-01-08T23:19:59.928Z,1736378399.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:19:59.967Z,1736378399.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:00.002Z,1736378400.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:00.180Z,1736378400.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:00.381Z,1736378400.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:00.390Z,1736378400.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:00.433Z,1736378400.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:00.686Z,1736378400.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:00.804Z,1736378400.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:00.813Z,1736378400.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:00.937Z,1736378400.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:01.150Z,1736378401.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:01.165Z,1736378401.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:01.188Z,1736378401.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:01.440Z,1736378401.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:01.571Z,1736378401.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:01.580Z,1736378401.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:01.692Z,1736378401.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:01.944Z,1736378401.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:02.050Z,1736378402.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:02.071Z,1736378402.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:02.196Z,1736378402.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:02.448Z,1736378402.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:02.448Z,1736378402.448 [DAT](INFO): DAT read: Rx Time:23:20:01.2373 2025-01-08T23:20:02.449Z,1736378402.449 [DAT](INFO): Rx dataTimestamp_ set to:1736378402.448547 2025-01-08T23:20:02.510Z,1736378402.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:02.518Z,1736378402.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:02.701Z,1736378402.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:02.834Z,1736378402.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:02.863Z,1736378402.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:02.952Z,1736378402.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:02.953Z,1736378402.953 [DAT](INFO): DAT read: Range 10 to 50 : 76.9 m (Round-trip 102.6 ms) speed -0.1 m/s 2025-01-08T23:20:02.954Z,1736378402.954 [DAT](INFO): DAT read: user:3199> 2025-01-08T23:20:02.956Z,1736378402.956 [DAT](INFO): DAT read: Tx time:23:20:02.3305 2025-01-08T23:20:02.956Z,1736378402.956 [DAT](INFO): Ping request sent. 2025-01-08T23:20:02.956Z,1736378402.956 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:20:02.956Z,1736378402.956 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-01-08T23:20:02.957Z,1736378402.957 [DAT](INFO): publishing transmit ping time 2025-01-08T23:20:02.957Z,1736378402.957 [DAT](INFO): publishing transmit ping time 2025-01-08T23:20:03.204Z,1736378403.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:03.206Z,1736378403.206 [DAT](INFO): DAT read: TxSync time:23:20:02.3297 2025-01-08T23:20:03.259Z,1736378403.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:03.290Z,1736378403.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.900002 m, deltaT: 3.527915 s, deltaX: 0.400002 m, approachRate: 0.113382 m/s, rangeRepo size: 4 2025-01-08T23:20:03.296Z,1736378403.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:03.456Z,1736378403.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:03.710Z,1736378403.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:03.780Z,1736378403.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:03.815Z,1736378403.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:03.960Z,1736378403.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:04.114Z,1736378404.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:04.123Z,1736378404.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:04.212Z,1736378404.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:04.464Z,1736378404.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:04.527Z,1736378404.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:04.535Z,1736378404.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:04.717Z,1736378404.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:04.968Z,1736378404.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:04.975Z,1736378404.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:04.984Z,1736378404.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:05.220Z,1736378405.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:05.357Z,1736378405.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:05.369Z,1736378405.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:05.472Z,1736378405.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:05.726Z,1736378405.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:05.801Z,1736378405.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:05.822Z,1736378405.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:05.977Z,1736378405.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:06.182Z,1736378406.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:06.192Z,1736378406.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:06.228Z,1736378406.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:06.229Z,1736378406.229 [DAT](INFO): DAT read: Rx Time:23:20:04.8378 2025-01-08T23:20:06.229Z,1736378406.229 [DAT](INFO): Rx dataTimestamp_ set to:1736378406.228935 2025-01-08T23:20:06.480Z,1736378406.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:06.629Z,1736378406.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:06.663Z,1736378406.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:06.735Z,1736378406.735 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:06.741Z,1736378406.741 [DAT](INFO): DAT read: Range 10 to 50 : 77.4 m (Round-trip 103.2 ms) speed -0.1 m/s 2025-01-08T23:20:06.745Z,1736378406.745 [DAT](INFO): DAT read: user:3200> 2025-01-08T23:20:06.747Z,1736378406.747 [DAT](INFO): DAT read: Tx time:23:20:05.9305 2025-01-08T23:20:06.748Z,1736378406.748 [DAT](INFO): Ping request sent. 2025-01-08T23:20:06.749Z,1736378406.749 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:20:06.751Z,1736378406.751 [DAT](INFO): DAT read: TxSync time:23:20:05.9297 2025-01-08T23:20:06.771Z,1736378406.771 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-01-08T23:20:06.780Z,1736378406.780 [DAT](INFO): publishing transmit ping time 2025-01-08T23:20:06.780Z,1736378406.780 [DAT](INFO): publishing transmit ping time 2025-01-08T23:20:06.984Z,1736378406.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:07.130Z,1736378407.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:07.153Z,1736378407.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.400002 m, deltaT: 3.783233 s, deltaX: 0.500000 m, approachRate: 0.132162 m/s, rangeRepo size: 4 2025-01-08T23:20:07.153Z,1736378407.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:07.236Z,1736378407.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:07.489Z,1736378407.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:07.592Z,1736378407.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:07.601Z,1736378407.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:07.745Z,1736378407.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:07.996Z,1736378407.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:08.042Z,1736378408.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:08.051Z,1736378408.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:08.249Z,1736378408.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:08.387Z,1736378408.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:08.396Z,1736378408.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:08.500Z,1736378408.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:08.754Z,1736378408.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:08.851Z,1736378408.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:08.861Z,1736378408.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:09.007Z,1736378409.007 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:09.185Z,1736378409.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:09.208Z,1736378409.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:09.256Z,1736378409.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:09.508Z,1736378409.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:09.596Z,1736378409.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:09.604Z,1736378409.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:09.761Z,1736378409.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:09.764Z,1736378409.764 [DAT](INFO): DAT read: Rx Time:23:20:08.4388 2025-01-08T23:20:09.766Z,1736378409.766 [DAT](INFO): Rx dataTimestamp_ set to:1736378409.764693 2025-01-08T23:20:10.012Z,1736378410.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:10.054Z,1736378410.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:10.068Z,1736378410.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:10.264Z,1736378410.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:10.265Z,1736378410.265 [DAT](INFO): DAT read: Range 10 to 50 : 78.0 m (Round-trip 104.1 ms) speed 0.0 m/s 2025-01-08T23:20:10.266Z,1736378410.266 [DAT](INFO): DAT read: user:3201> 2025-01-08T23:20:10.267Z,1736378410.267 [DAT](INFO): DAT read: Tx time:23:20:09.5306 2025-01-08T23:20:10.274Z,1736378410.274 [DAT](INFO): Ping request sent. 2025-01-08T23:20:10.274Z,1736378410.274 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:20:10.274Z,1736378410.274 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-01-08T23:20:10.274Z,1736378410.274 [DAT](INFO): publishing transmit ping time 2025-01-08T23:20:10.275Z,1736378410.275 [DAT](INFO): publishing transmit ping time 2025-01-08T23:20:10.422Z,1736378410.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:10.432Z,1736378410.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.000000 m, deltaT: 3.528738 s, deltaX: 0.599998 m, approachRate: 0.170032 m/s, rangeRepo size: 4 2025-01-08T23:20:10.432Z,1736378410.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:10.516Z,1736378410.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:10.517Z,1736378410.517 [DAT](INFO): DAT read: TxSync time:23:20:09.5298 2025-01-08T23:20:10.769Z,1736378410.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:10.879Z,1736378410.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:10.908Z,1736378410.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:11.020Z,1736378411.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:11.273Z,1736378411.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:11.321Z,1736378411.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:11.330Z,1736378411.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:11.524Z,1736378411.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:11.736Z,1736378411.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:11.746Z,1736378411.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:11.777Z,1736378411.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:12.028Z,1736378412.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:12.161Z,1736378412.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:12.170Z,1736378412.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:12.280Z,1736378412.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:12.533Z,1736378412.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:12.571Z,1736378412.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:12.591Z,1736378412.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:12.785Z,1736378412.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:13.028Z,1736378413.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:13.036Z,1736378413.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:13.061Z,1736378413.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:13.288Z,1736378413.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:13.289Z,1736378413.289 [DAT](INFO): DAT read: Rx Time:23:20:12.0394 2025-01-08T23:20:13.290Z,1736378413.290 [DAT](INFO): Rx dataTimestamp_ set to:1736378413.289232 2025-01-08T23:20:13.414Z,1736378413.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:13.423Z,1736378413.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:13.540Z,1736378413.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:13.793Z,1736378413.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:13.794Z,1736378413.794 [DAT](INFO): DAT read: Range 10 to 50 : 78.4 m (Round-trip 104.6 ms) speed 0.0 m/s 2025-01-08T23:20:13.795Z,1736378413.795 [DAT](INFO): DAT read: user:3202> 2025-01-08T23:20:13.796Z,1736378413.796 [DAT](INFO): DAT read: Tx time:23:20:13.1306 2025-01-08T23:20:13.796Z,1736378413.796 [DAT](INFO): Ping request sent. 2025-01-08T23:20:13.796Z,1736378413.796 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:20:13.797Z,1736378413.797 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-01-08T23:20:13.798Z,1736378413.798 [DAT](INFO): publishing transmit ping time 2025-01-08T23:20:13.801Z,1736378413.801 [DAT](INFO): publishing transmit ping time 2025-01-08T23:20:14.025Z,1736378414.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:14.038Z,1736378414.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.400002 m, deltaT: 3.529112 s, deltaX: 0.400002 m, approachRate: 0.113343 m/s, rangeRepo size: 4 2025-01-08T23:20:14.044Z,1736378414.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:14.045Z,1736378414.045 [DAT](INFO): DAT read: TxSync time:23:20:13.1298 2025-01-08T23:20:14.046Z,1736378414.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:14.296Z,1736378414.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:14.333Z,1736378414.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:14.342Z,1736378414.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:14.550Z,1736378414.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:14.730Z,1736378414.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:14.759Z,1736378414.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:14.800Z,1736378414.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:15.052Z,1736378415.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:15.236Z,1736378415.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:15.272Z,1736378415.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:15.304Z,1736378415.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:15.547Z,1736378415.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:15.557Z,1736378415.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:15.562Z,1736378415.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:15.808Z,1736378415.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:15.948Z,1736378415.948 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,232768,-32768,-32768,-32768,V 2025-01-08T23:20:15.956Z,1736378415.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:20:15.957Z,1736378415.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:15.966Z,1736378415.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:16.060Z,1736378416.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:16.312Z,1736378416.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:16.365Z,1736378416.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:20:16.365Z,1736378416.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:16.375Z,1736378416.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:16.564Z,1736378416.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:16.775Z,1736378416.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:20:16.776Z,1736378416.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:16.798Z,1736378416.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:16.816Z,1736378416.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:16.817Z,1736378416.817 [DAT](INFO): DAT read: Rx Time:23:20:15.6398 2025-01-08T23:20:16.817Z,1736378416.817 [DAT](INFO): Rx dataTimestamp_ set to:1736378416.816695 2025-01-08T23:20:17.068Z,1736378417.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:17.183Z,1736378417.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:17.192Z,1736378417.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:20:17.194Z,1736378417.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:17.320Z,1736378417.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:17.321Z,1736378417.321 [DAT](INFO): DAT read: Range 10 to 50 : 78.7 m (Round-trip 105.0 ms) speed -0.1 m/s 2025-01-08T23:20:17.323Z,1736378417.323 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-01-08T23:20:17.324Z,1736378417.324 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:20:17.325Z,1736378417.325 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:20:17.326Z,1736378417.326 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:20:17.572Z,1736378417.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:17.572Z,1736378417.572 [DAT](INFO): DAT read: user:3203> 2025-01-08T23:20:17.573Z,1736378417.573 [DAT](INFO): DAT read: Tx time:23:20:16.7806 2025-01-08T23:20:17.573Z,1736378417.573 [DAT](INFO): Ping request sent. 2025-01-08T23:20:17.573Z,1736378417.573 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:20:17.574Z,1736378417.574 [DAT](INFO): publishing transmit ping time 2025-01-08T23:20:17.574Z,1736378417.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000714 2025-01-08T23:20:17.575Z,1736378417.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:17.593Z,1736378417.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.699997 m, deltaT: 3.527033 s, deltaX: 0.299995 m, approachRate: 0.085056 m/s, rangeRepo size: 4 2025-01-08T23:20:17.593Z,1736378417.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:17.824Z,1736378417.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:17.825Z,1736378417.825 [DAT](INFO): DAT read: TxSync time:23:20:16.7798 2025-01-08T23:20:17.826Z,1736378417.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252636 2025-01-08T23:20:18.008Z,1736378418.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:18.029Z,1736378418.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:18.077Z,1736378418.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:18.078Z,1736378418.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504204 2025-01-08T23:20:18.328Z,1736378418.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:18.328Z,1736378418.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754759 2025-01-08T23:20:18.399Z,1736378418.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:18.424Z,1736378418.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:18.580Z,1736378418.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:18.581Z,1736378418.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007467 2025-01-08T23:20:18.818Z,1736378418.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:18.832Z,1736378418.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:18.832Z,1736378418.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258803 2025-01-08T23:20:18.844Z,1736378418.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:19.084Z,1736378419.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:19.084Z,1736378419.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510767 2025-01-08T23:20:19.237Z,1736378419.237 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815210, +11.0, 0.0,1493.5, 0 2025-01-08T23:20:19.245Z,1736378419.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:20:19.245Z,1736378419.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:19.278Z,1736378419.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:19.336Z,1736378419.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:19.337Z,1736378419.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763096 2025-01-08T23:20:19.588Z,1736378419.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:19.589Z,1736378419.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015659 2025-01-08T23:20:19.645Z,1736378419.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:20:19.645Z,1736378419.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:19.685Z,1736378419.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:19.840Z,1736378419.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:19.840Z,1736378419.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266883 2025-01-08T23:20:20.092Z,1736378420.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:20.092Z,1736378420.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518941 2025-01-08T23:20:20.215Z,1736378420.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:20.232Z,1736378420.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:20.344Z,1736378420.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:20.344Z,1736378420.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770843 2025-01-08T23:20:20.596Z,1736378420.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:20.597Z,1736378420.597 [DAT](INFO): DAT read: Rx Time:23:20:19.2905 2025-01-08T23:20:20.597Z,1736378420.597 [DAT](INFO): Rx dataTimestamp_ set to:1736378420.596700 2025-01-08T23:20:20.597Z,1736378420.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023976 2025-01-08T23:20:20.638Z,1736378420.638 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file). 2025-01-08T23:20:20.685Z,1736378420.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:20.699Z,1736378420.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:20.848Z,1736378420.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:20.849Z,1736378420.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275034 2025-01-08T23:20:21.100Z,1736378421.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:21.101Z,1736378421.101 [DAT](INFO): DAT read: Range 10 to 50 : 79.2 m (Round-trip 105.6 ms) speed -0.2 m/s 2025-01-08T23:20:21.102Z,1736378421.102 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:20:21.188Z,1736378421.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:21.207Z,1736378421.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.779855 s, deltaX: 0.500000 m, approachRate: 0.132280 m/s, rangeRepo size: 4 2025-01-08T23:20:21.216Z,1736378421.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:21.352Z,1736378421.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:21.549Z,1736378421.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:21.557Z,1736378421.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:21.604Z,1736378421.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:21.856Z,1736378421.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:21.982Z,1736378421.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:21.998Z,1736378421.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:22.110Z,1736378422.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:22.347Z,1736378422.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:22.356Z,1736378422.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:22.360Z,1736378422.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:22.612Z,1736378422.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:22.748Z,1736378422.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:22.763Z,1736378422.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:22.864Z,1736378422.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:23.020Z,1736378423.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:20:23.116Z,1736378423.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:23.170Z,1736378423.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:23.181Z,1736378423.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:23.368Z,1736378423.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:23.587Z,1736378423.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:23.595Z,1736378423.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:23.622Z,1736378423.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:23.872Z,1736378423.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:24.024Z,1736378424.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:20:24.075Z,1736378424.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:24.104Z,1736378424.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:24.124Z,1736378424.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:24.376Z,1736378424.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:24.496Z,1736378424.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:24.526Z,1736378424.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:24.629Z,1736378424.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:24.880Z,1736378424.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:24.941Z,1736378424.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:24.949Z,1736378424.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:25.132Z,1736378425.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:25.350Z,1736378425.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:25.360Z,1736378425.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:25.384Z,1736378425.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:25.636Z,1736378425.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:25.734Z,1736378425.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:25.742Z,1736378425.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:25.888Z,1736378425.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:26.140Z,1736378426.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:26.169Z,1736378426.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:26.204Z,1736378426.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:26.392Z,1736378426.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:26.583Z,1736378426.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:26.592Z,1736378426.592 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:20:26.594Z,1736378426.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:26.645Z,1736378426.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:26.896Z,1736378426.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:26.981Z,1736378426.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:26.995Z,1736378426.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:27.148Z,1736378427.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:27.400Z,1736378427.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:27.409Z,1736378427.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:27.417Z,1736378427.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:27.652Z,1736378427.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:27.815Z,1736378427.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:27.832Z,1736378427.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:27.904Z,1736378427.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:28.156Z,1736378428.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:28.262Z,1736378428.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:28.270Z,1736378428.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:28.408Z,1736378428.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:28.660Z,1736378428.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:28.669Z,1736378428.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:28.695Z,1736378428.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:28.912Z,1736378428.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:29.054Z,1736378429.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:29.117Z,1736378429.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:29.164Z,1736378429.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:29.416Z,1736378429.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:29.467Z,1736378429.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:29.476Z,1736378429.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:29.668Z,1736378429.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:29.851Z,1736378429.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:29.875Z,1736378429.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:29.920Z,1736378429.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:30.172Z,1736378430.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:30.278Z,1736378430.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:30.286Z,1736378430.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:30.424Z,1736378430.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:30.676Z,1736378430.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:30.696Z,1736378430.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:30.705Z,1736378430.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:30.928Z,1736378430.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:31.176Z,1736378431.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:31.180Z,1736378431.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:31.186Z,1736378431.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:31.432Z,1736378431.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:31.604Z,1736378431.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:31.630Z,1736378431.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:31.684Z,1736378431.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:31.936Z,1736378431.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:32.040Z,1736378432.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:32.048Z,1736378432.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:32.188Z,1736378432.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:32.447Z,1736378432.447 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:32.467Z,1736378432.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:32.477Z,1736378432.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:32.702Z,1736378432.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:32.875Z,1736378432.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:32.886Z,1736378432.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:32.953Z,1736378432.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:33.204Z,1736378433.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:33.313Z,1736378433.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:33.323Z,1736378433.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:33.456Z,1736378433.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:33.708Z,1736378433.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:33.838Z,1736378433.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:33.863Z,1736378433.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:33.960Z,1736378433.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:34.212Z,1736378434.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:34.409Z,1736378434.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:34.427Z,1736378434.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:34.464Z,1736378434.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:34.716Z,1736378434.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:34.855Z,1736378434.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:34.868Z,1736378434.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:34.968Z,1736378434.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:35.220Z,1736378435.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:35.273Z,1736378435.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:35.286Z,1736378435.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:35.472Z,1736378435.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:35.640Z,1736378435.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:35.653Z,1736378435.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:35.724Z,1736378435.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:35.976Z,1736378435.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:36.044Z,1736378436.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:36.052Z,1736378436.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:36.228Z,1736378436.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:36.450Z,1736378436.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:36.479Z,1736378436.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:36.480Z,1736378436.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:36.733Z,1736378436.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:36.912Z,1736378436.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:36.930Z,1736378436.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:36.985Z,1736378436.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:37.236Z,1736378437.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:37.332Z,1736378437.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:37.342Z,1736378437.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:37.488Z,1736378437.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:37.705Z,1736378437.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:37.723Z,1736378437.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:37.740Z,1736378437.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:37.992Z,1736378437.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:38.108Z,1736378438.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:38.118Z,1736378438.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:38.245Z,1736378438.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:38.496Z,1736378438.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:38.547Z,1736378438.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:38.561Z,1736378438.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:38.748Z,1736378438.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:38.987Z,1736378438.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:38.000Z,1736378439.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:39.019Z,1736378439.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:39.253Z,1736378439.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:39.441Z,1736378439.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:39.454Z,1736378439.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:39.504Z,1736378439.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:39.756Z,1736378439.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:39.846Z,1736378439.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:39.855Z,1736378439.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:40.009Z,1736378440.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:40.260Z,1736378440.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:40.313Z,1736378440.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:40.322Z,1736378440.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:40.512Z,1736378440.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:40.708Z,1736378440.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:40.732Z,1736378440.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:40.764Z,1736378440.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:41.017Z,1736378441.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:41.120Z,1736378441.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:41.145Z,1736378441.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:41.269Z,1736378441.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:41.520Z,1736378441.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:41.542Z,1736378441.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:41.551Z,1736378441.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:41.772Z,1736378441.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:41.938Z,1736378441.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:41.957Z,1736378441.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:42.027Z,1736378442.027 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:42.285Z,1736378442.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:42.357Z,1736378442.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:42.366Z,1736378442.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:42.536Z,1736378442.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:42.733Z,1736378442.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:42.742Z,1736378442.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:42.788Z,1736378442.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:43.040Z,1736378443.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:43.140Z,1736378443.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:43.149Z,1736378443.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:43.293Z,1736378443.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:43.544Z,1736378443.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:43.579Z,1736378443.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:43.587Z,1736378443.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:43.796Z,1736378443.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:44.009Z,1736378444.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:44.038Z,1736378444.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:44.048Z,1736378444.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:44.301Z,1736378444.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:44.453Z,1736378444.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:44.463Z,1736378444.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:44.552Z,1736378444.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:44.804Z,1736378444.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:44.824Z,1736378444.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:44.833Z,1736378444.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:45.056Z,1736378445.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:45.227Z,1736378445.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:45.236Z,1736378445.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:45.310Z,1736378445.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:45.560Z,1736378445.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:45.679Z,1736378445.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:45.700Z,1736378445.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:45.812Z,1736378445.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:46.064Z,1736378446.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:46.128Z,1736378446.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:46.140Z,1736378446.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:46.317Z,1736378446.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:46.556Z,1736378446.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:46.564Z,1736378446.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:46.568Z,1736378446.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:46.820Z,1736378446.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:46.924Z,1736378446.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:46.933Z,1736378446.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:47.072Z,1736378447.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:47.325Z,1736378447.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:47.382Z,1736378447.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:47.403Z,1736378447.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:47.576Z,1736378447.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:47.828Z,1736378447.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:47.995Z,1736378447.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:48.004Z,1736378448.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:48.080Z,1736378448.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:48.333Z,1736378448.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:48.468Z,1736378448.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:48.482Z,1736378448.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:48.585Z,1736378448.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:48.836Z,1736378448.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:48.842Z,1736378448.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:48.851Z,1736378448.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:49.088Z,1736378449.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:49.275Z,1736378449.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:49.283Z,1736378449.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:49.343Z,1736378449.343 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:49.592Z,1736378449.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:49.718Z,1736378449.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:49.728Z,1736378449.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:49.844Z,1736378449.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:50.096Z,1736378450.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:50.139Z,1736378450.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:50.165Z,1736378450.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:50.349Z,1736378450.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:50.547Z,1736378450.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:50.557Z,1736378450.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:50.600Z,1736378450.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:50.852Z,1736378450.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:50.933Z,1736378450.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:50.951Z,1736378450.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:51.104Z,1736378451.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:51.329Z,1736378451.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:51.337Z,1736378451.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:51.357Z,1736378451.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:51.608Z,1736378451.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:51.765Z,1736378451.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:51.795Z,1736378451.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:51.860Z,1736378451.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:52.112Z,1736378452.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:52.195Z,1736378452.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:52.213Z,1736378452.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:52.364Z,1736378452.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:52.616Z,1736378452.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:52.640Z,1736378452.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:52.668Z,1736378452.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:52.869Z,1736378452.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:53.027Z,1736378453.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:53.036Z,1736378453.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:53.123Z,1736378453.123 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:53.376Z,1736378453.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:53.502Z,1736378453.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:53.514Z,1736378453.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:53.628Z,1736378453.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:53.880Z,1736378453.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:53.900Z,1736378453.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:53.950Z,1736378453.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:54.132Z,1736378454.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:54.145Z,1736378454.145 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:20:54.348Z,1736378454.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:54.357Z,1736378454.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:54.385Z,1736378454.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:54.636Z,1736378454.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:54.795Z,1736378454.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:54.819Z,1736378454.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:54.888Z,1736378454.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:55.141Z,1736378455.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:55.149Z,1736378455.149 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:20:55.200Z,1736378455.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:55.208Z,1736378455.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:55.393Z,1736378455.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:55.644Z,1736378455.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:55.655Z,1736378455.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:55.669Z,1736378455.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:55.896Z,1736378455.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:56.074Z,1736378456.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:56.084Z,1736378456.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:56.148Z,1736378456.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:56.400Z,1736378456.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:56.546Z,1736378456.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:56.554Z,1736378456.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:56.654Z,1736378456.654 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:56.904Z,1736378456.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:56.908Z,1736378456.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:56.916Z,1736378456.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:57.156Z,1736378457.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:57.304Z,1736378457.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:57.332Z,1736378457.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:57.408Z,1736378457.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:57.660Z,1736378457.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:57.754Z,1736378457.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:57.763Z,1736378457.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:57.914Z,1736378457.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:58.164Z,1736378458.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:58.165Z,1736378458.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:58.174Z,1736378458.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:58.416Z,1736378458.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:58.586Z,1736378458.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:58.596Z,1736378458.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:58.668Z,1736378458.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:58.920Z,1736378458.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:58.991Z,1736378458.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:58.000Z,1736378459.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:59.172Z,1736378459.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:59.380Z,1736378459.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:59.390Z,1736378459.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:59.424Z,1736378459.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:59.676Z,1736378459.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:20:59.804Z,1736378459.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:20:59.829Z,1736378459.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:20:59.928Z,1736378459.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:00.180Z,1736378460.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:00.260Z,1736378460.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:00.268Z,1736378460.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:00.433Z,1736378460.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:00.684Z,1736378460.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:00.724Z,1736378460.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:00.732Z,1736378460.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:00.936Z,1736378460.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:01.145Z,1736378461.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:01.159Z,1736378461.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:01.188Z,1736378461.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:01.440Z,1736378461.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:01.692Z,1736378461.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:01.802Z,1736378461.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:01.812Z,1736378461.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:01.946Z,1736378461.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:02.196Z,1736378462.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:02.242Z,1736378462.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:02.250Z,1736378462.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:02.449Z,1736378462.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:02.694Z,1736378462.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:02.700Z,1736378462.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:02.704Z,1736378462.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:02.952Z,1736378462.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:03.036Z,1736378463.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:03.066Z,1736378463.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:03.206Z,1736378463.206 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:03.449Z,1736378463.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:03.457Z,1736378463.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:03.476Z,1736378463.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:03.709Z,1736378463.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:03.898Z,1736378463.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:03.908Z,1736378463.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:03.960Z,1736378463.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:04.212Z,1736378464.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:04.337Z,1736378464.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:04.363Z,1736378464.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:04.464Z,1736378464.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:04.717Z,1736378464.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:04.784Z,1736378464.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:04.794Z,1736378464.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:04.968Z,1736378464.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:05.143Z,1736378465.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:05.152Z,1736378465.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:05.220Z,1736378465.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:05.472Z,1736378465.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:05.541Z,1736378465.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:05.571Z,1736378465.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:05.724Z,1736378465.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:05.978Z,1736378465.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:06.067Z,1736378466.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:06.076Z,1736378466.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:06.228Z,1736378466.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:06.475Z,1736378466.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:06.480Z,1736378466.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:06.485Z,1736378466.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:06.732Z,1736378466.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:06.903Z,1736378466.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:06.912Z,1736378466.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:06.985Z,1736378466.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:07.236Z,1736378467.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:07.322Z,1736378467.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:07.330Z,1736378467.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:07.488Z,1736378467.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:07.740Z,1736378467.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:07.758Z,1736378467.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:07.791Z,1736378467.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:07.992Z,1736378467.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:08.194Z,1736378468.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:08.202Z,1736378468.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:08.244Z,1736378468.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:08.496Z,1736378468.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:08.634Z,1736378468.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:08.686Z,1736378468.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:08.748Z,1736378468.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:08.000Z,1736378469.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:09.110Z,1736378469.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:09.118Z,1736378469.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:09.252Z,1736378469.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:09.504Z,1736378469.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:09.528Z,1736378469.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:09.536Z,1736378469.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:09.756Z,1736378469.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:09.950Z,1736378469.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:09.988Z,1736378469.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:10.008Z,1736378470.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:10.260Z,1736378470.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:10.402Z,1736378470.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:10.415Z,1736378470.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:10.513Z,1736378470.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:10.764Z,1736378470.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:10.856Z,1736378470.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:10.865Z,1736378470.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:11.022Z,1736378471.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:11.234Z,1736378471.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:11.244Z,1736378471.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:11.268Z,1736378471.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:11.521Z,1736378471.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:11.647Z,1736378471.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:11.666Z,1736378471.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:11.773Z,1736378471.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:12.024Z,1736378472.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:12.144Z,1736378472.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:12.152Z,1736378472.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:12.276Z,1736378472.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:12.528Z,1736378472.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:12.566Z,1736378472.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:12.575Z,1736378472.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:12.780Z,1736378472.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:12.990Z,1736378472.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:13.021Z,1736378473.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:13.032Z,1736378473.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:13.284Z,1736378473.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:13.374Z,1736378473.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:13.385Z,1736378473.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:13.536Z,1736378473.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:13.791Z,1736378473.791 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:13.825Z,1736378473.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:13.849Z,1736378473.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:14.044Z,1736378474.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:14.184Z,1736378474.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:14.194Z,1736378474.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:14.297Z,1736378474.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:14.548Z,1736378474.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:14.597Z,1736378474.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:14.607Z,1736378474.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:14.800Z,1736378474.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:15.044Z,1736378475.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:15.052Z,1736378475.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:15.062Z,1736378475.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:15.304Z,1736378475.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:15.529Z,1736378475.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:15.539Z,1736378475.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:15.556Z,1736378475.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:15.808Z,1736378475.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:16.060Z,1736378476.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:16.061Z,1736378476.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:16.091Z,1736378476.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:16.312Z,1736378476.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:16.564Z,1736378476.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:16.580Z,1736378476.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:16.596Z,1736378476.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:16.817Z,1736378476.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:16.969Z,1736378476.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:16.978Z,1736378476.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:17.068Z,1736378477.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:17.320Z,1736378477.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:17.345Z,1736378477.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:17.355Z,1736378477.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:21:17.358Z,1736378477.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:17.572Z,1736378477.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:17.572Z,1736378477.572 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:21:17.572Z,1736378477.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:21:17.730Z,1736378477.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:17.801Z,1736378477.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:17.826Z,1736378477.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:17.827Z,1736378477.827 [DAT](INFO): DAT read: user:3204> 2025-01-08T23:21:17.830Z,1736378477.830 [DAT](INFO): DAT read: Tx time:23:21:17.0313 2025-01-08T23:21:17.832Z,1736378477.832 [DAT](INFO): Ping request sent. 2025-01-08T23:21:17.832Z,1736378477.832 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:21:17.832Z,1736378477.832 [DAT](INFO): publishing transmit ping time 2025-01-08T23:21:17.834Z,1736378477.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002466 2025-01-08T23:21:18.076Z,1736378478.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:18.077Z,1736378478.077 [DAT](INFO): DAT read: TxSync time:23:21:17.0305 2025-01-08T23:21:18.078Z,1736378478.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245856 2025-01-08T23:21:18.321Z,1736378478.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:18.328Z,1736378478.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:18.329Z,1736378478.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496981 2025-01-08T23:21:18.333Z,1736378478.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:18.580Z,1736378478.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:18.581Z,1736378478.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749897 2025-01-08T23:21:18.697Z,1736378478.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:18.707Z,1736378478.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:18.832Z,1736378478.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:18.832Z,1736378478.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000919 2025-01-08T23:21:19.076Z,1736378479.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:19.084Z,1736378479.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:19.085Z,1736378479.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252950 2025-01-08T23:21:19.086Z,1736378479.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:19.336Z,1736378479.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:19.337Z,1736378479.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505251 2025-01-08T23:21:19.488Z,1736378479.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:19.496Z,1736378479.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:19.588Z,1736378479.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:19.589Z,1736378479.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756994 2025-01-08T23:21:19.842Z,1736378479.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:19.844Z,1736378479.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012158 2025-01-08T23:21:19.928Z,1736378479.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:19.953Z,1736378479.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:20.092Z,1736378480.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:20.093Z,1736378480.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261302 2025-01-08T23:21:20.288Z,1736378480.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:20.298Z,1736378480.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:20.344Z,1736378480.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:20.344Z,1736378480.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512914 2025-01-08T23:21:20.596Z,1736378480.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:20.596Z,1736378480.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764837 2025-01-08T23:21:20.710Z,1736378480.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:20.719Z,1736378480.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:20.850Z,1736378480.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:20.852Z,1736378480.852 [DAT](INFO): DAT read: Rx Time:23:21:19.5503 2025-01-08T23:21:20.854Z,1736378480.854 [DAT](INFO): Rx dataTimestamp_ set to:1736378480.852981 2025-01-08T23:21:20.856Z,1736378480.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024113 2025-01-08T23:21:21.100Z,1736378481.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:21.100Z,1736378481.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268827 2025-01-08T23:21:21.170Z,1736378481.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:21.180Z,1736378481.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:21:21.352Z,1736378481.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:21.361Z,1736378481.361 [DAT](INFO): DAT read: 23:21:19.5503 LVL= 29520, 27889, 13730, 32755, AGC= 59, IDX= 6,-0.41, 0.487, 0.659, 2.573, 1.458, PHS=-0.883,-0.752, 1.112, RAW= 213.4, 5.5, CAL= 215.5, -0.2, ROT= 294.5, 0.2 2025-01-08T23:21:21.362Z,1736378481.362 [DAT](INFO): got valid direction response: 23:21:19.5503 LVL= 29520, 27889, 13730, 32755, AGC= 59, IDX= 6,-0.41, 0.487, 0.659, 2.573, 1.458, PHS=-0.883,-0.752, 1.112, RAW= 213.4, 5.5, CAL= 215.5, -0.2, ROT= 294.5, 0.2 2025-01-08T23:21:21.364Z,1736378481.364 [DAT](INFO): DAT read: Bearing 294.5, 0.2 (Local) 2025-01-08T23:21:21.365Z,1736378481.365 [DAT](INFO): Local bearing/azimuth received: Bearing 294.5, 0.2 (Local) 2025-01-08T23:21:21.367Z,1736378481.367 [DAT](INFO): DAT read: Range 10 to 50 : 86.1 m (Round-trip 114.9 ms) speed -0.1 m/s 2025-01-08T23:21:21.368Z,1736378481.368 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:21:21.369Z,1736378481.369 [DAT](INFO): direction in FSK: [-0.126838,-0.857148,-0.499209] 2025-01-08T23:21:21.370Z,1736378481.370 [DAT](INFO): publishing direction and range info 2025-01-08T23:21:21.555Z,1736378481.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:21.569Z,1736378481.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.099998 m, deltaT: 60.252404 s, deltaX: 6.900002 m, approachRate: 0.114518 m/s, rangeRepo size: 4 2025-01-08T23:21:21.571Z,1736378481.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.099998 m, bearing: 14.510926 deg, lat: 36.904509 deg, lon: -122.119928 deg, deltaT: 96.308412 s, deltaX: 12.099998 m, approachRate: 0.125638 m/s, posRepo size: 4 2025-01-08T23:21:21.571Z,1736378481.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:21.604Z,1736378481.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:21.857Z,1736378481.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:21.985Z,1736378481.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:21.994Z,1736378481.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:22.108Z,1736378482.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:22.364Z,1736378482.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:22.435Z,1736378482.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:22.445Z,1736378482.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:22.612Z,1736378482.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:22.815Z,1736378482.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:22.866Z,1736378482.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:22.887Z,1736378482.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:23.116Z,1736378483.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:23.295Z,1736378483.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:23.329Z,1736378483.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:23.368Z,1736378483.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:23.620Z,1736378483.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:23.745Z,1736378483.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:23.753Z,1736378483.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:23.874Z,1736378483.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:24.124Z,1736378484.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:24.176Z,1736378484.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:24.190Z,1736378484.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:24.376Z,1736378484.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:24.599Z,1736378484.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:24.607Z,1736378484.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:24.629Z,1736378484.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:24.881Z,1736378484.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:25.086Z,1736378485.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:25.113Z,1736378485.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:25.132Z,1736378485.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:25.272Z,1736378485.272 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:21:25.384Z,1736378485.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:25.468Z,1736378485.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:25.478Z,1736378485.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:25.636Z,1736378485.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:25.873Z,1736378485.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:25.890Z,1736378485.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:25.948Z,1736378485.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:26.141Z,1736378486.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:26.276Z,1736378486.276 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:21:26.371Z,1736378486.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:26.381Z,1736378486.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:26.392Z,1736378486.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:26.644Z,1736378486.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:26.764Z,1736378486.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:26.806Z,1736378486.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:26.897Z,1736378486.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:27.148Z,1736378487.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:27.221Z,1736378487.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:27.238Z,1736378487.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:27.400Z,1736378487.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:27.652Z,1736378487.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:27.658Z,1736378487.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:27.689Z,1736378487.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:27.904Z,1736378487.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:28.121Z,1736378488.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:28.131Z,1736378488.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:28.156Z,1736378488.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:28.408Z,1736378488.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:28.501Z,1736378488.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:28.526Z,1736378488.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:28.660Z,1736378488.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:28.913Z,1736378488.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:28.918Z,1736378488.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:28.996Z,1736378488.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:29.165Z,1736378489.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:29.416Z,1736378489.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:29.546Z,1736378489.546 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 156, +18,A 2025-01-08T23:21:29.554Z,1736378489.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T23:21:29.554Z,1736378489.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:29.564Z,1736378489.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:29.668Z,1736378489.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:29.921Z,1736378489.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:30.110Z,1736378490.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:30.125Z,1736378490.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:30.173Z,1736378490.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:30.424Z,1736378490.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:30.428Z,1736378490.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:30.436Z,1736378490.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:30.676Z,1736378490.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:30.809Z,1736378490.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:30.820Z,1736378490.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:30.928Z,1736378490.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:31.180Z,1736378491.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:31.246Z,1736378491.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:31.255Z,1736378491.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:31.432Z,1736378491.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:31.684Z,1736378491.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:31.694Z,1736378491.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:31.706Z,1736378491.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:31.936Z,1736378491.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:32.156Z,1736378492.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:32.167Z,1736378492.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:32.188Z,1736378492.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:32.440Z,1736378492.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:32.569Z,1736378492.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:32.579Z,1736378492.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:32.692Z,1736378492.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:32.944Z,1736378492.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:32.962Z,1736378492.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:33.003Z,1736378493.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:33.196Z,1736378493.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:33.437Z,1736378493.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:33.446Z,1736378493.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:33.460Z,1736378493.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:33.712Z,1736378493.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:33.875Z,1736378493.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:33.885Z,1736378493.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:33.964Z,1736378493.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:34.216Z,1736378494.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:34.333Z,1736378494.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:34.342Z,1736378494.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:34.468Z,1736378494.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:34.720Z,1736378494.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:34.761Z,1736378494.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:34.793Z,1736378494.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:34.972Z,1736378494.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:35.201Z,1736378495.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:35.210Z,1736378495.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:35.224Z,1736378495.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:35.476Z,1736378495.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:35.560Z,1736378495.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:35.569Z,1736378495.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:35.728Z,1736378495.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:35.976Z,1736378495.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:35.980Z,1736378495.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:35.986Z,1736378495.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:36.233Z,1736378496.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:36.409Z,1736378496.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:36.426Z,1736378496.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:36.484Z,1736378496.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:36.736Z,1736378496.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:36.786Z,1736378496.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:36.796Z,1736378496.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:36.988Z,1736378496.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:37.211Z,1736378497.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:21:37.211Z,1736378497.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:37.220Z,1736378497.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:37.240Z,1736378497.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:37.493Z,1736378497.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:37.593Z,1736378497.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:21:37.593Z,1736378497.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:37.618Z,1736378497.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:37.744Z,1736378497.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:37.996Z,1736378497.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:38.005Z,1736378498.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:21:38.005Z,1736378498.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:38.034Z,1736378498.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:38.248Z,1736378498.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:38.500Z,1736378498.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:38.511Z,1736378498.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:38.529Z,1736378498.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:38.752Z,1736378498.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:38.984Z,1736378498.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:38.992Z,1736378498.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:39.005Z,1736378499.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:39.256Z,1736378499.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:39.371Z,1736378499.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:39.381Z,1736378499.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:39.508Z,1736378499.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:39.749Z,1736378499.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:39.758Z,1736378499.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:39.760Z,1736378499.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:40.012Z,1736378500.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:40.207Z,1736378500.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:40.216Z,1736378500.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:40.264Z,1736378500.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:40.516Z,1736378500.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:40.612Z,1736378500.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:40.621Z,1736378500.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:40.768Z,1736378500.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:41.010Z,1736378501.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:41.022Z,1736378501.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:41.046Z,1736378501.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:41.273Z,1736378501.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:41.450Z,1736378501.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:41.460Z,1736378501.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:41.524Z,1736378501.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:41.776Z,1736378501.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:41.864Z,1736378501.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:41.875Z,1736378501.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:42.028Z,1736378502.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:42.280Z,1736378502.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:42.281Z,1736378502.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:42.295Z,1736378502.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:42.532Z,1736378502.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:42.742Z,1736378502.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:42.750Z,1736378502.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:42.784Z,1736378502.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:43.037Z,1736378503.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:43.288Z,1736378503.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:43.329Z,1736378503.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:43.337Z,1736378503.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:43.540Z,1736378503.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:43.760Z,1736378503.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:43.769Z,1736378503.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:43.792Z,1736378503.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:44.044Z,1736378504.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:44.274Z,1736378504.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:44.283Z,1736378504.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:44.296Z,1736378504.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:44.548Z,1736378504.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:44.726Z,1736378504.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:44.735Z,1736378504.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:44.800Z,1736378504.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:45.054Z,1736378505.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:45.118Z,1736378505.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:45.141Z,1736378505.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:45.305Z,1736378505.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:45.556Z,1736378505.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:45.601Z,1736378505.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:45.610Z,1736378505.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:45.808Z,1736378505.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:46.052Z,1736378506.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:46.060Z,1736378506.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:46.065Z,1736378506.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:46.312Z,1736378506.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:46.495Z,1736378506.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:46.524Z,1736378506.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:46.564Z,1736378506.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:46.816Z,1736378506.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:46.898Z,1736378506.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:46.908Z,1736378506.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:47.068Z,1736378507.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:47.320Z,1736378507.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:47.321Z,1736378507.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:47.347Z,1736378507.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:47.574Z,1736378507.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:47.709Z,1736378507.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:47.718Z,1736378507.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:47.824Z,1736378507.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:48.076Z,1736378508.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:48.130Z,1736378508.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:48.145Z,1736378508.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:48.328Z,1736378508.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:48.564Z,1736378508.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:48.573Z,1736378508.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:48.580Z,1736378508.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:48.832Z,1736378508.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:49.019Z,1736378509.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:49.028Z,1736378509.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:49.084Z,1736378509.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:49.336Z,1736378509.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:49.436Z,1736378509.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:49.446Z,1736378509.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:49.588Z,1736378509.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:49.841Z,1736378509.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:49.852Z,1736378509.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:49.869Z,1736378509.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:50.093Z,1736378510.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:50.317Z,1736378510.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:50.326Z,1736378510.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:50.344Z,1736378510.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:50.596Z,1736378510.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:50.743Z,1736378510.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:50.752Z,1736378510.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:50.849Z,1736378510.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:51.101Z,1736378511.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:51.152Z,1736378511.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:51.165Z,1736378511.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:51.352Z,1736378511.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:51.555Z,1736378511.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:51.580Z,1736378511.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:51.604Z,1736378511.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:51.857Z,1736378511.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:51.929Z,1736378511.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:51.946Z,1736378511.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:52.109Z,1736378512.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:52.360Z,1736378512.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:52.412Z,1736378512.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:52.434Z,1736378512.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:52.612Z,1736378512.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:52.839Z,1736378512.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:52.848Z,1736378512.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:52.865Z,1736378512.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:53.116Z,1736378513.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:53.266Z,1736378513.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:53.329Z,1736378513.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:53.368Z,1736378513.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:53.621Z,1736378513.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:53.750Z,1736378513.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:53.760Z,1736378513.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:53.872Z,1736378513.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:54.124Z,1736378514.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:54.196Z,1736378514.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:54.272Z,1736378514.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:54.376Z,1736378514.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:54.628Z,1736378514.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:54.721Z,1736378514.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:54.731Z,1736378514.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:54.880Z,1736378514.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:55.132Z,1736378515.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:55.148Z,1736378515.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:55.177Z,1736378515.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:55.384Z,1736378515.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:55.554Z,1736378515.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:55.564Z,1736378515.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:55.637Z,1736378515.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:55.888Z,1736378515.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:56.011Z,1736378516.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:56.025Z,1736378516.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:56.140Z,1736378516.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:56.393Z,1736378516.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:56.399Z,1736378516.399 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:21:56.527Z,1736378516.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:56.545Z,1736378516.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:56.644Z,1736378516.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:56.896Z,1736378516.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:57.049Z,1736378517.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:57.058Z,1736378517.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:57.148Z,1736378517.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:57.400Z,1736378517.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:57.404Z,1736378517.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:21:57.532Z,1736378517.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:57.565Z,1736378517.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:57.652Z,1736378517.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:57.904Z,1736378517.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:57.918Z,1736378517.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:57.928Z,1736378517.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:58.156Z,1736378518.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:58.307Z,1736378518.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:58.316Z,1736378518.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:58.410Z,1736378518.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:58.660Z,1736378518.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:58.806Z,1736378518.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:58.815Z,1736378518.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:58.912Z,1736378518.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:59.164Z,1736378519.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:59.221Z,1736378519.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:59.245Z,1736378519.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:59.417Z,1736378519.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:59.644Z,1736378519.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:21:59.668Z,1736378519.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:21:59.670Z,1736378519.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:21:59.920Z,1736378519.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:00.068Z,1736378520.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:00.077Z,1736378520.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:00.172Z,1736378520.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:00.426Z,1736378520.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:00.510Z,1736378520.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:00.543Z,1736378520.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:00.676Z,1736378520.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:00.928Z,1736378520.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:00.948Z,1736378520.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:00.960Z,1736378520.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:01.181Z,1736378521.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:01.343Z,1736378521.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:01.384Z,1736378521.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:01.436Z,1736378521.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:01.688Z,1736378521.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:01.775Z,1736378521.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:01.804Z,1736378521.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:01.942Z,1736378521.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:02.155Z,1736378522.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:02.169Z,1736378522.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:02.192Z,1736378522.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:02.445Z,1736378522.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:02.579Z,1736378522.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:02.587Z,1736378522.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:02.696Z,1736378522.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:02.948Z,1736378522.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:02.992Z,1736378522.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:03.008Z,1736378523.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:03.200Z,1736378523.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:03.453Z,1736378523.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:03.489Z,1736378523.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:03.498Z,1736378523.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:03.704Z,1736378523.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:03.908Z,1736378523.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:03.943Z,1736378523.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:03.958Z,1736378523.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:04.208Z,1736378524.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:04.270Z,1736378524.270 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:22:04.303Z,1736378524.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:04.321Z,1736378524.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:04.462Z,1736378524.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:04.712Z,1736378524.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:04.735Z,1736378524.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:04.745Z,1736378524.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:04.964Z,1736378524.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:05.109Z,1736378525.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:05.134Z,1736378525.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:05.217Z,1736378525.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:05.470Z,1736378525.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:05.564Z,1736378525.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:05.573Z,1736378525.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:05.720Z,1736378525.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:05.955Z,1736378525.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:05.970Z,1736378525.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:05.972Z,1736378525.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:06.224Z,1736378526.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:06.327Z,1736378526.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:06.336Z,1736378526.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:06.476Z,1736378526.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:06.732Z,1736378526.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:06.775Z,1736378526.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:06.803Z,1736378526.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:06.984Z,1736378526.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:07.128Z,1736378527.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:07.137Z,1736378527.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:07.236Z,1736378527.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:07.489Z,1736378527.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:07.602Z,1736378527.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:07.611Z,1736378527.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:07.740Z,1736378527.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:07.994Z,1736378527.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:08.057Z,1736378528.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:08.065Z,1736378528.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:08.244Z,1736378528.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:08.463Z,1736378528.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:08.471Z,1736378528.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:08.496Z,1736378528.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:08.748Z,1736378528.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:08.874Z,1736378528.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:08.882Z,1736378528.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:09.000Z,1736378529.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:09.252Z,1736378529.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:09.359Z,1736378529.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:09.386Z,1736378529.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:09.505Z,1736378529.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:09.736Z,1736378529.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:09.754Z,1736378529.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:09.757Z,1736378529.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:10.008Z,1736378530.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:10.102Z,1736378530.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:10.112Z,1736378530.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:10.260Z,1736378530.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:10.512Z,1736378530.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:10.687Z,1736378530.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:10.697Z,1736378530.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:10.766Z,1736378530.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:10.962Z,1736378530.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:10.970Z,1736378530.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:11.018Z,1736378531.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:11.269Z,1736378531.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:11.354Z,1736378531.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:11.365Z,1736378531.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:11.522Z,1736378531.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:11.772Z,1736378531.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:11.794Z,1736378531.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:11.804Z,1736378531.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:12.024Z,1736378532.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:12.143Z,1736378532.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:12.152Z,1736378532.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:12.276Z,1736378532.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:12.528Z,1736378532.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:12.541Z,1736378532.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:12.607Z,1736378532.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:12.780Z,1736378532.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:12.981Z,1736378532.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:12.996Z,1736378532.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:13.032Z,1736378533.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:13.284Z,1736378533.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:13.352Z,1736378533.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:13.361Z,1736378533.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:13.536Z,1736378533.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:13.788Z,1736378533.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:13.787Z,1736378533.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:13.798Z,1736378533.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:14.041Z,1736378534.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:14.152Z,1736378534.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:14.162Z,1736378534.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:14.292Z,1736378534.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:14.544Z,1736378534.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:14.564Z,1736378534.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:14.578Z,1736378534.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:14.796Z,1736378534.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:14.990Z,1736378534.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:14.999Z,1736378534.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:15.048Z,1736378535.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:15.300Z,1736378535.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:15.379Z,1736378535.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:15.388Z,1736378535.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:15.552Z,1736378535.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:15.804Z,1736378535.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:15.816Z,1736378535.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:15.825Z,1736378535.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:16.056Z,1736378536.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:16.181Z,1736378536.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:16.190Z,1736378536.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:16.310Z,1736378536.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:16.561Z,1736378536.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:16.594Z,1736378536.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:16.602Z,1736378536.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:16.812Z,1736378536.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:17.009Z,1736378537.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:17.017Z,1736378537.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:17.064Z,1736378537.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:17.316Z,1736378537.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:17.388Z,1736378537.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:17.395Z,1736378537.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:22:17.413Z,1736378537.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:17.569Z,1736378537.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:17.570Z,1736378537.570 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:22:17.570Z,1736378537.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:22:17.820Z,1736378537.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:17.821Z,1736378537.821 [DAT](INFO): DAT read: user:3205> 2025-01-08T23:22:17.821Z,1736378537.821 [DAT](INFO): DAT read: Tx time:23:22:17.0319 2025-01-08T23:22:17.822Z,1736378537.822 [DAT](INFO): Ping request sent. 2025-01-08T23:22:17.822Z,1736378537.822 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:22:17.822Z,1736378537.822 [DAT](INFO): publishing transmit ping time 2025-01-08T23:22:17.825Z,1736378537.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002652 2025-01-08T23:22:17.838Z,1736378537.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:17.847Z,1736378537.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:18.072Z,1736378538.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:18.073Z,1736378538.073 [DAT](INFO): DAT read: TxSync time:23:22:17.0311 2025-01-08T23:22:18.075Z,1736378538.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252740 2025-01-08T23:22:18.201Z,1736378538.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:18.210Z,1736378538.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:18.325Z,1736378538.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:18.325Z,1736378538.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503551 2025-01-08T23:22:18.576Z,1736378538.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:18.576Z,1736378538.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754496 2025-01-08T23:22:18.622Z,1736378538.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:18.632Z,1736378538.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:18.828Z,1736378538.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:18.828Z,1736378538.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006626 2025-01-08T23:22:19.052Z,1736378539.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:19.062Z,1736378539.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:19.080Z,1736378539.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:19.080Z,1736378539.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258629 2025-01-08T23:22:19.332Z,1736378539.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:19.333Z,1736378539.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510783 2025-01-08T23:22:19.411Z,1736378539.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:19.420Z,1736378539.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:19.584Z,1736378539.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:19.584Z,1736378539.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762565 2025-01-08T23:22:19.836Z,1736378539.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:19.836Z,1736378539.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014610 2025-01-08T23:22:19.868Z,1736378539.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:19.885Z,1736378539.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:20.088Z,1736378540.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:20.089Z,1736378540.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267395 2025-01-08T23:22:20.314Z,1736378540.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:20.322Z,1736378540.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:20.340Z,1736378540.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:20.341Z,1736378540.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519130 2025-01-08T23:22:20.593Z,1736378540.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:20.594Z,1736378540.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772144 2025-01-08T23:22:20.768Z,1736378540.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:20.777Z,1736378540.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:20.844Z,1736378540.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:20.845Z,1736378540.845 [DAT](INFO): DAT read: Rx Time:23:22:19.5603 2025-01-08T23:22:20.846Z,1736378540.846 [DAT](INFO): Rx dataTimestamp_ set to:1736378540.845330 2025-01-08T23:22:20.847Z,1736378540.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024725 2025-01-08T23:22:21.096Z,1736378541.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:21.096Z,1736378541.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274690 2025-01-08T23:22:21.116Z,1736378541.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:21.150Z,1736378541.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.10 m. 2025-01-08T23:22:21.348Z,1736378541.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:21.357Z,1736378541.357 [DAT](INFO): DAT read: 23:22:19.5603 LVL= 17216, 13585, 9650, 18867, AGC= 59, IDX= 5, 0.08,-0.335,-0.586, 1.393, 0.333, PHS=-0.580,-0.872, 1.057, RAW= 201.9, 4.4, CAL= 202.5, -3.2, ROT= 307.5, 3.2 2025-01-08T23:22:21.359Z,1736378541.359 [DAT](INFO): got valid direction response: 23:22:19.5603 LVL= 17216, 13585, 9650, 18867, AGC= 59, IDX= 5, 0.08,-0.335,-0.586, 1.393, 0.333, PHS=-0.580,-0.872, 1.057, RAW= 201.9, 4.4, CAL= 202.5, -3.2, ROT= 307.5, 3.2 2025-01-08T23:22:21.360Z,1736378541.360 [DAT](INFO): DAT read: Bearing 307.5, 3.2 (Local) 2025-01-08T23:22:21.360Z,1736378541.360 [DAT](INFO): Local bearing/azimuth received: Bearing 307.5, 3.2 (Local) 2025-01-08T23:22:21.361Z,1736378541.361 [DAT](INFO): DAT read: Range 10 to 50 : 93.2 m (Round-trip 124.3 ms) speed 0.0 m/s 2025-01-08T23:22:21.362Z,1736378541.362 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:22:21.363Z,1736378541.363 [DAT](INFO): direction in FSK: [-0.131028,-0.935892,-0.327012] 2025-01-08T23:22:21.366Z,1736378541.366 [DAT](INFO): publishing direction and range info 2025-01-08T23:22:21.538Z,1736378541.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:21.552Z,1736378541.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.199997 m, deltaT: 59.996357 s, deltaX: 7.099998 m, approachRate: 0.118340 m/s, rangeRepo size: 4 2025-01-08T23:22:21.554Z,1736378541.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.199997 m, bearing: 3.874771 deg, lat: 36.904510 deg, lon: -122.119959 deg, deltaT: 59.996357 s, deltaX: 7.099998 m, approachRate: 0.118340 m/s, posRepo size: 4 2025-01-08T23:22:21.555Z,1736378541.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:21.601Z,1736378541.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:21.852Z,1736378541.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:21.978Z,1736378541.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:21.986Z,1736378541.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:22.104Z,1736378542.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:22.348Z,1736378542.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:22.357Z,1736378542.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:22.359Z,1736378542.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:22.364Z,1736378542.364 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T23:12:22.2Z 2025-01-08T23:22:22.364Z,1736378542.364 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T23:22:22.364Z,1736378542.364 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:22:22.364Z,1736378542.364 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T23:22:22.364Z,1736378542.364 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:22:22.364Z,1736378542.364 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T23:22:22.609Z,1736378542.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:22.862Z,1736378542.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:22.900Z,1736378542.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:22.932Z,1736378542.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:22.940Z,1736378542.940 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T23:22:22.941Z,1736378542.941 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T23:22:22.941Z,1736378542.941 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T23:22:22.941Z,1736378542.941 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:22:22.941Z,1736378542.941 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T23:22:23.113Z,1736378543.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:23.364Z,1736378543.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:23.616Z,1736378543.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:23.622Z,1736378543.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:23.687Z,1736378543.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:23.868Z,1736378543.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:24.120Z,1736378544.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:24.152Z,1736378544.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:24.162Z,1736378544.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:24.373Z,1736378544.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:24.584Z,1736378544.584 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:22:24.624Z,1736378544.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:24.637Z,1736378544.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:24.669Z,1736378544.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:24.876Z,1736378544.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:25.114Z,1736378545.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:25.124Z,1736378545.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:25.128Z,1736378545.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:25.380Z,1736378545.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:25.494Z,1736378545.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:25.519Z,1736378545.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:25.632Z,1736378545.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:25.884Z,1736378545.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:25.897Z,1736378545.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:25.907Z,1736378545.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:26.136Z,1736378546.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:26.319Z,1736378546.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:26.337Z,1736378546.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:26.388Z,1736378546.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:26.640Z,1736378546.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:26.719Z,1736378546.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:26.733Z,1736378546.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:26.892Z,1736378546.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:27.144Z,1736378547.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:27.161Z,1736378547.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:27.169Z,1736378547.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:27.396Z,1736378547.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:27.532Z,1736378547.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:27.536Z,1736378547.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:22:27.542Z,1736378547.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:27.648Z,1736378547.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:27.900Z,1736378547.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:27.979Z,1736378547.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:27.988Z,1736378547.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:28.152Z,1736378548.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:28.369Z,1736378548.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:28.404Z,1736378548.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:28.407Z,1736378548.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:28.540Z,1736378548.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:22:28.658Z,1736378548.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:28.802Z,1736378548.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:28.822Z,1736378548.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:28.908Z,1736378548.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:29.160Z,1736378549.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:29.204Z,1736378549.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:29.238Z,1736378549.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:29.412Z,1736378549.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:29.612Z,1736378549.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:29.621Z,1736378549.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:29.664Z,1736378549.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:29.916Z,1736378549.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:30.066Z,1736378550.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:30.076Z,1736378550.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:30.169Z,1736378550.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:30.420Z,1736378550.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:30.459Z,1736378550.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:30.492Z,1736378550.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:30.672Z,1736378550.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:30.881Z,1736378550.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:30.924Z,1736378550.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:30.925Z,1736378550.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:31.176Z,1736378551.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:31.278Z,1736378551.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:31.292Z,1736378551.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:31.428Z,1736378551.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:31.680Z,1736378551.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:31.698Z,1736378551.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:31.710Z,1736378551.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:31.932Z,1736378551.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:32.115Z,1736378552.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:32.130Z,1736378552.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:32.184Z,1736378552.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:32.436Z,1736378552.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:32.509Z,1736378552.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:32.518Z,1736378552.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:32.689Z,1736378552.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:32.940Z,1736378552.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:32.986Z,1736378552.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:32.996Z,1736378552.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:33.192Z,1736378553.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:33.308Z,1736378553.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:33.317Z,1736378553.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:33.444Z,1736378553.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:33.696Z,1736378553.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:33.717Z,1736378553.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:33.727Z,1736378553.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:33.948Z,1736378553.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:34.157Z,1736378554.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:34.167Z,1736378554.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:34.200Z,1736378554.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:34.452Z,1736378554.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:34.515Z,1736378554.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:34.524Z,1736378554.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:34.704Z,1736378554.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:34.957Z,1736378554.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:35.015Z,1736378555.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:35.024Z,1736378555.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:35.208Z,1736378555.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:35.339Z,1736378555.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:35.350Z,1736378555.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:35.460Z,1736378555.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:35.712Z,1736378555.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:35.779Z,1736378555.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:35.787Z,1736378555.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:35.965Z,1736378555.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:36.202Z,1736378556.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:36.213Z,1736378556.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:36.216Z,1736378556.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:36.468Z,1736378556.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:36.682Z,1736378556.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:36.692Z,1736378556.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:36.720Z,1736378556.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:36.974Z,1736378556.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:37.088Z,1736378557.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:37.097Z,1736378557.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:37.224Z,1736378557.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:37.452Z,1736378557.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:37.476Z,1736378557.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:37.476Z,1736378557.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:37.728Z,1736378557.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:37.981Z,1736378557.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:38.045Z,1736378558.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:38.053Z,1736378558.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:38.232Z,1736378558.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:38.461Z,1736378558.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:38.469Z,1736378558.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:38.484Z,1736378558.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:38.736Z,1736378558.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:38.874Z,1736378558.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:38.883Z,1736378558.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:38.989Z,1736378558.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:39.240Z,1736378559.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:39.285Z,1736378559.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:39.294Z,1736378559.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:39.492Z,1736378559.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:39.665Z,1736378559.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:39.680Z,1736378559.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:39.744Z,1736378559.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:39.997Z,1736378559.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:40.103Z,1736378560.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:22:40.116Z,1736378560.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:40.126Z,1736378560.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:40.248Z,1736378560.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:40.481Z,1736378560.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:22:40.481Z,1736378560.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:40.492Z,1736378560.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:40.500Z,1736378560.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:40.752Z,1736378560.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:40.868Z,1736378560.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:22:40.868Z,1736378560.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:40.878Z,1736378560.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:41.005Z,1736378561.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:41.257Z,1736378561.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:41.292Z,1736378561.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T23:22:41.292Z,1736378561.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:41.325Z,1736378561.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:41.508Z,1736378561.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:41.689Z,1736378561.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T23:22:41.690Z,1736378561.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:41.699Z,1736378561.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:41.760Z,1736378561.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:42.014Z,1736378562.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:42.116Z,1736378562.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:42.125Z,1736378562.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:42.265Z,1736378562.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:42.483Z,1736378562.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:42.492Z,1736378562.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:42.516Z,1736378562.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:42.768Z,1736378562.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:42.892Z,1736378562.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:42.901Z,1736378562.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:43.022Z,1736378563.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:43.272Z,1736378563.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:43.326Z,1736378563.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:43.361Z,1736378563.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:43.524Z,1736378563.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:43.700Z,1736378563.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:43.710Z,1736378563.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:43.777Z,1736378563.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:44.030Z,1736378564.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:44.143Z,1736378564.143 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,2501081523493+10.9, 0.0,1493.3, 0 2025-01-08T23:22:44.150Z,1736378564.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:22:44.151Z,1736378564.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:44.161Z,1736378564.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:44.280Z,1736378564.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:44.522Z,1736378564.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:22:44.523Z,1736378564.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:44.532Z,1736378564.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:44.534Z,1736378564.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:44.784Z,1736378564.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:44.935Z,1736378564.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:22:44.935Z,1736378564.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:44.949Z,1736378564.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:45.036Z,1736378565.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:45.288Z,1736378565.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:45.399Z,1736378565.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:45.420Z,1736378565.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:45.540Z,1736378565.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:45.732Z,1736378565.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:45.741Z,1736378565.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:45.792Z,1736378565.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:46.045Z,1736378566.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:46.187Z,1736378566.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:46.197Z,1736378566.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:46.296Z,1736378566.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:46.548Z,1736378566.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:46.554Z,1736378566.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:46.565Z,1736378566.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:46.800Z,1736378566.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:46.949Z,1736378566.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:46.971Z,1736378566.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:47.052Z,1736378567.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:47.304Z,1736378567.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:47.417Z,1736378567.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:47.438Z,1736378567.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:47.556Z,1736378567.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:47.776Z,1736378567.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:47.784Z,1736378567.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:47.808Z,1736378567.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:48.062Z,1736378568.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:48.197Z,1736378568.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:48.221Z,1736378568.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:48.312Z,1736378568.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:48.561Z,1736378568.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:48.564Z,1736378568.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:48.570Z,1736378568.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:48.816Z,1736378568.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:48.965Z,1736378568.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:48.975Z,1736378568.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:49.068Z,1736378569.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:49.320Z,1736378569.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:49.409Z,1736378569.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:49.434Z,1736378569.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:49.573Z,1736378569.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:49.774Z,1736378569.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:49.797Z,1736378569.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:49.824Z,1736378569.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:50.076Z,1736378570.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:50.315Z,1736378570.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:50.325Z,1736378570.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:50.328Z,1736378570.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:50.580Z,1736378570.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:50.604Z,1736378570.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:50.637Z,1736378570.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:50.832Z,1736378570.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:51.016Z,1736378571.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:51.026Z,1736378571.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:51.084Z,1736378571.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:51.336Z,1736378571.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:51.510Z,1736378571.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:51.544Z,1736378571.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:51.588Z,1736378571.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:51.813Z,1736378571.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:51.822Z,1736378571.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:51.840Z,1736378571.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:52.092Z,1736378572.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:52.278Z,1736378572.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:52.286Z,1736378572.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:52.344Z,1736378572.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:52.596Z,1736378572.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:52.631Z,1736378572.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:52.642Z,1736378572.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:52.850Z,1736378572.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:53.037Z,1736378573.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:53.048Z,1736378573.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:53.100Z,1736378573.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:53.352Z,1736378573.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:53.463Z,1736378573.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:53.471Z,1736378573.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:53.604Z,1736378573.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:53.830Z,1736378573.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:53.839Z,1736378573.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:53.858Z,1736378573.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:54.108Z,1736378574.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:54.360Z,1736378574.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:54.370Z,1736378574.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:22:54.370Z,1736378574.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:54.384Z,1736378574.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:54.612Z,1736378574.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:54.681Z,1736378574.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:22:54.681Z,1736378574.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:54.703Z,1736378574.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:54.864Z,1736378574.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:55.053Z,1736378575.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:22:55.053Z,1736378575.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:55.062Z,1736378575.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:55.116Z,1736378575.116 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:22:55.117Z,1736378575.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:55.368Z,1736378575.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:55.502Z,1736378575.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:55.511Z,1736378575.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:55.624Z,1736378575.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:55.862Z,1736378575.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:55.870Z,1736378575.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:55.876Z,1736378575.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:56.128Z,1736378576.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:56.333Z,1736378576.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:56.350Z,1736378576.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:56.381Z,1736378576.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:56.632Z,1736378576.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:56.694Z,1736378576.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:56.703Z,1736378576.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:56.887Z,1736378576.887 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:57.088Z,1736378577.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:57.112Z,1736378577.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:57.136Z,1736378577.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:57.388Z,1736378577.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:57.528Z,1736378577.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:57.545Z,1736378577.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:57.640Z,1736378577.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:57.892Z,1736378577.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:57.893Z,1736378577.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:57.902Z,1736378577.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:58.144Z,1736378578.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:58.346Z,1736378578.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:58.381Z,1736378578.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:58.396Z,1736378578.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:58.649Z,1736378578.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:58.668Z,1736378578.668 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:22:58.705Z,1736378578.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:58.731Z,1736378578.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:58.900Z,1736378578.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:59.097Z,1736378579.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:59.105Z,1736378579.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:59.152Z,1736378579.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:59.404Z,1736378579.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:59.521Z,1736378579.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:59.530Z,1736378579.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:22:59.656Z,1736378579.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:59.673Z,1736378579.673 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:22:59.904Z,1736378579.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:22:59.908Z,1736378579.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:22:59.937Z,1736378579.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:00.160Z,1736378580.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:00.394Z,1736378580.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:00.412Z,1736378580.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:00.420Z,1736378580.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:00.664Z,1736378580.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:00.716Z,1736378580.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:00.725Z,1736378580.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:00.916Z,1736378580.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:01.120Z,1736378581.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:01.130Z,1736378581.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:01.168Z,1736378581.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:01.420Z,1736378581.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:01.552Z,1736378581.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:01.561Z,1736378581.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:01.672Z,1736378581.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:01.922Z,1736378581.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:01.924Z,1736378581.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:01.939Z,1736378581.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:02.176Z,1736378582.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:02.428Z,1736378582.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:02.447Z,1736378582.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:02.455Z,1736378582.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:02.682Z,1736378582.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:02.751Z,1736378582.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:02.761Z,1736378582.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:02.932Z,1736378582.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:03.168Z,1736378583.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:03.178Z,1736378583.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:03.184Z,1736378583.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:03.436Z,1736378583.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:03.632Z,1736378583.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:03.641Z,1736378583.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:03.688Z,1736378583.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:03.940Z,1736378583.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:04.020Z,1736378584.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:04.072Z,1736378584.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:04.192Z,1736378584.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:04.445Z,1736378584.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:04.481Z,1736378584.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:04.490Z,1736378584.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:04.698Z,1736378584.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:04.897Z,1736378584.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:04.905Z,1736378584.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:04.948Z,1736378584.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:05.200Z,1736378585.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:05.208Z,1736378585.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:05.217Z,1736378585.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:05.452Z,1736378585.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:05.632Z,1736378585.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:05.642Z,1736378585.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:05.704Z,1736378585.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:05.956Z,1736378585.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:06.025Z,1736378586.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:06.034Z,1736378586.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:06.208Z,1736378586.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:06.460Z,1736378586.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:06.509Z,1736378586.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:06.547Z,1736378586.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:06.712Z,1736378586.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:06.924Z,1736378586.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:06.932Z,1736378586.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:06.964Z,1736378586.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:07.216Z,1736378587.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:07.347Z,1736378587.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:07.356Z,1736378587.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:07.468Z,1736378587.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:07.720Z,1736378587.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:07.849Z,1736378587.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:07.862Z,1736378587.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:07.972Z,1736378587.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:08.224Z,1736378588.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:08.243Z,1736378588.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:08.271Z,1736378588.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:08.476Z,1736378588.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:08.697Z,1736378588.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:08.710Z,1736378588.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:08.728Z,1736378588.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:08.980Z,1736378588.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:09.128Z,1736378589.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:09.137Z,1736378589.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:09.232Z,1736378589.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:09.485Z,1736378589.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:09.581Z,1736378589.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:09.591Z,1736378589.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:09.736Z,1736378589.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:09.962Z,1736378589.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:09.970Z,1736378589.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:09.988Z,1736378589.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:10.240Z,1736378590.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:10.414Z,1736378590.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:10.482Z,1736378590.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:10.492Z,1736378590.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:10.744Z,1736378590.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:10.819Z,1736378590.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:10.848Z,1736378590.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:10.996Z,1736378590.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:11.246Z,1736378591.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:11.248Z,1736378591.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:11.265Z,1736378591.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:11.501Z,1736378591.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:11.703Z,1736378591.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:11.713Z,1736378591.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:11.752Z,1736378591.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:12.004Z,1736378592.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:12.096Z,1736378592.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:12.105Z,1736378592.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:12.257Z,1736378592.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:12.509Z,1736378592.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:12.580Z,1736378592.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:12.589Z,1736378592.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:12.760Z,1736378592.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:12.992Z,1736378592.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:13.001Z,1736378593.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:13.012Z,1736378593.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:13.264Z,1736378593.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:13.412Z,1736378593.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:13.421Z,1736378593.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:13.518Z,1736378593.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:13.768Z,1736378593.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:13.837Z,1736378593.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:13.848Z,1736378593.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:14.020Z,1736378594.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:14.200Z,1736378594.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:14.210Z,1736378594.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:14.272Z,1736378594.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:14.526Z,1736378594.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:14.664Z,1736378594.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:14.678Z,1736378594.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:14.776Z,1736378594.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:15.028Z,1736378595.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:15.069Z,1736378595.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:15.078Z,1736378595.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:15.281Z,1736378595.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:15.462Z,1736378595.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:15.493Z,1736378595.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:15.534Z,1736378595.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:15.784Z,1736378595.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:16.005Z,1736378596.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:16.014Z,1736378596.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:16.036Z,1736378596.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:16.288Z,1736378596.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:16.367Z,1736378596.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:16.377Z,1736378596.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:16.542Z,1736378596.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:16.792Z,1736378596.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:16.800Z,1736378596.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:16.809Z,1736378596.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:17.044Z,1736378597.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:17.268Z,1736378597.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:17.277Z,1736378597.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:17.298Z,1736378597.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:17.554Z,1736378597.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:17.733Z,1736378597.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:17.748Z,1736378597.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:23:17.750Z,1736378597.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:17.805Z,1736378597.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:17.805Z,1736378597.805 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:23:17.806Z,1736378597.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:23:18.056Z,1736378598.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:18.057Z,1736378598.057 [DAT](INFO): DAT read: user:3206> 2025-01-08T23:23:18.058Z,1736378598.058 [DAT](INFO): DAT read: Tx time:23:23:17.2825 2025-01-08T23:23:18.058Z,1736378598.058 [DAT](INFO): Ping request sent. 2025-01-08T23:23:18.058Z,1736378598.058 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:23:18.058Z,1736378598.058 [DAT](INFO): publishing transmit ping time 2025-01-08T23:23:18.059Z,1736378598.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721 2025-01-08T23:23:18.254Z,1736378598.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:18.264Z,1736378598.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:18.308Z,1736378598.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:18.309Z,1736378598.309 [DAT](INFO): DAT read: TxSync time:23:23:17.2817 2025-01-08T23:23:18.309Z,1736378598.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251235 2025-01-08T23:23:18.562Z,1736378598.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:18.564Z,1736378598.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505356 2025-01-08T23:23:18.727Z,1736378598.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:18.745Z,1736378598.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:18.812Z,1736378598.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:18.812Z,1736378598.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754232 2025-01-08T23:23:19.064Z,1736378599.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:19.064Z,1736378599.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006331 2025-01-08T23:23:19.153Z,1736378599.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:19.162Z,1736378599.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:19.316Z,1736378599.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:19.316Z,1736378599.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258203 2025-01-08T23:23:19.569Z,1736378599.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:19.573Z,1736378599.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514299 2025-01-08T23:23:19.600Z,1736378599.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:19.645Z,1736378599.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:19.820Z,1736378599.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:19.821Z,1736378599.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762926 2025-01-08T23:23:20.073Z,1736378600.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:20.074Z,1736378600.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016072 2025-01-08T23:23:20.115Z,1736378600.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:20.127Z,1736378600.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:20.324Z,1736378600.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:20.325Z,1736378600.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266360 2025-01-08T23:23:20.572Z,1736378600.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:20.577Z,1736378600.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:20.580Z,1736378600.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521177 2025-01-08T23:23:20.656Z,1736378600.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:20.828Z,1736378600.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:20.828Z,1736378600.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770159 2025-01-08T23:23:21.004Z,1736378601.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:21.013Z,1736378601.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:21.080Z,1736378601.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:21.081Z,1736378601.081 [DAT](INFO): DAT read: Rx Time:23:23:19.8204 2025-01-08T23:23:21.082Z,1736378601.082 [DAT](INFO): Rx dataTimestamp_ set to:1736378601.081256 2025-01-08T23:23:21.082Z,1736378601.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024265 2025-01-08T23:23:21.332Z,1736378601.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:21.332Z,1736378601.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274275 2025-01-08T23:23:21.384Z,1736378601.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:21.394Z,1736378601.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.20 m. 2025-01-08T23:23:21.584Z,1736378601.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:21.594Z,1736378601.594 [DAT](INFO): DAT read: 23:23:19.8204 LVL= 26096, 18929, 11250, 25907, AGC= 60, IDX= 21, 0.01,-0.504,-0.663, 1.280, 0.295, PHS=-0.712,-0.912, 0.982, RAW= 204.5, 7.2, CAL= 206.2, -0.4, ROT= 303.8, 0.4 2025-01-08T23:23:21.598Z,1736378601.598 [DAT](INFO): got valid direction response: 23:23:19.8204 LVL= 26096, 18929, 11250, 25907, AGC= 60, IDX= 21, 0.01,-0.504,-0.663, 1.280, 0.295, PHS=-0.712,-0.912, 0.982, RAW= 204.5, 7.2, CAL= 206.2, -0.4, ROT= 303.8, 0.4 2025-01-08T23:23:21.601Z,1736378601.601 [DAT](INFO): DAT read: Bearing 303.8, 0.4 (Local) 2025-01-08T23:23:21.602Z,1736378601.602 [DAT](INFO): Local bearing/azimuth received: Bearing 303.8, 0.4 (Local) 2025-01-08T23:23:21.607Z,1736378601.607 [DAT](INFO): DAT read: Range 10 to 50 : 100.2 m (Round-trip 133.6 ms) speed -0.1 m/s 2025-01-08T23:23:21.610Z,1736378601.610 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:23:21.615Z,1736378601.615 [DAT](INFO): direction in FSK: [-0.176331,-0.912986,-0.367919] 2025-01-08T23:23:21.692Z,1736378601.692 [DAT](INFO): publishing direction and range info 2025-01-08T23:23:21.813Z,1736378601.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:21.828Z,1736378601.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 100.199997 m, deltaT: 60.235229 s, deltaX: 7.000000 m, approachRate: 0.116211 m/s, rangeRepo size: 4 2025-01-08T23:23:21.830Z,1736378601.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 100.199997 m, bearing: 356.637548 deg, lat: 36.904794 deg, lon: -122.119991 deg, deltaT: 60.235229 s, deltaX: 7.000000 m, approachRate: 0.116211 m/s, posRepo size: 4 2025-01-08T23:23:21.831Z,1736378601.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:21.844Z,1736378601.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:22.096Z,1736378602.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:22.238Z,1736378602.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:22.246Z,1736378602.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:22.348Z,1736378602.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:22.601Z,1736378602.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:22.755Z,1736378602.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:22.774Z,1736378602.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:22.853Z,1736378602.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:23.104Z,1736378603.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:23.181Z,1736378603.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:23.191Z,1736378603.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:23.356Z,1736378603.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:23.593Z,1736378603.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:23.605Z,1736378603.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:23.608Z,1736378603.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:23.860Z,1736378603.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:24.018Z,1736378604.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:24.028Z,1736378604.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:24.112Z,1736378604.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:24.364Z,1736378604.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:24.397Z,1736378604.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:24.406Z,1736378604.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:24.616Z,1736378604.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:24.834Z,1736378604.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:24.843Z,1736378604.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:24.868Z,1736378604.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:25.120Z,1736378605.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:25.251Z,1736378605.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:25.261Z,1736378605.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:25.372Z,1736378605.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:25.624Z,1736378605.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:25.767Z,1736378605.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:25.776Z,1736378605.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:25.876Z,1736378605.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:26.128Z,1736378606.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:26.170Z,1736378606.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:26.183Z,1736378606.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:26.380Z,1736378606.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:26.579Z,1736378606.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:26.588Z,1736378606.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:26.633Z,1736378606.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:26.884Z,1736378606.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:27.001Z,1736378607.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:27.010Z,1736378607.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:27.136Z,1736378607.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:27.380Z,1736378607.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:27.388Z,1736378607.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:27.392Z,1736378607.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:27.640Z,1736378607.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:27.808Z,1736378607.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:27.843Z,1736378607.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:27.892Z,1736378607.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:28.144Z,1736378608.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:28.212Z,1736378608.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:28.221Z,1736378608.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:28.396Z,1736378608.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:28.590Z,1736378608.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:28.616Z,1736378608.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:28.648Z,1736378608.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:28.900Z,1736378608.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:29.033Z,1736378609.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:29.043Z,1736378609.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:29.152Z,1736378609.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:29.404Z,1736378609.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:29.440Z,1736378609.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:29.454Z,1736378609.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:29.658Z,1736378609.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:29.792Z,1736378609.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:23:29.866Z,1736378609.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:29.884Z,1736378609.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:29.908Z,1736378609.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:30.160Z,1736378610.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:30.284Z,1736378610.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:30.293Z,1736378610.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:30.412Z,1736378610.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:30.664Z,1736378610.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:30.796Z,1736378610.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:23:30.855Z,1736378610.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:30.865Z,1736378610.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:30.916Z,1736378610.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:31.168Z,1736378611.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:31.279Z,1736378611.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:31.297Z,1736378611.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:31.421Z,1736378611.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:31.672Z,1736378611.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:31.852Z,1736378611.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:31.861Z,1736378611.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:31.924Z,1736378611.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:32.176Z,1736378612.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:32.272Z,1736378612.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:32.282Z,1736378612.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:32.428Z,1736378612.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:32.680Z,1736378612.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:32.694Z,1736378612.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:32.702Z,1736378612.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:32.932Z,1736378612.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:33.115Z,1736378613.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:33.128Z,1736378613.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:33.184Z,1736378613.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:33.436Z,1736378613.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:33.530Z,1736378613.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:33.544Z,1736378613.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:33.688Z,1736378613.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:33.942Z,1736378613.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:33.966Z,1736378613.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:33.977Z,1736378613.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:34.192Z,1736378614.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:34.362Z,1736378614.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:34.371Z,1736378614.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:34.444Z,1736378614.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:34.698Z,1736378614.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:34.894Z,1736378614.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:34.911Z,1736378614.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:34.948Z,1736378614.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:35.200Z,1736378615.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:35.307Z,1736378615.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:35.316Z,1736378615.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:35.452Z,1736378615.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:35.702Z,1736378615.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:35.704Z,1736378615.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:35.713Z,1736378615.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:35.956Z,1736378615.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:36.147Z,1736378616.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:36.160Z,1736378616.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:36.208Z,1736378616.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:36.460Z,1736378616.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:36.542Z,1736378616.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:36.570Z,1736378616.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:36.712Z,1736378616.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:36.964Z,1736378616.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:37.040Z,1736378617.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:37.051Z,1736378617.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:37.216Z,1736378617.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:37.465Z,1736378617.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:37.468Z,1736378617.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:37.477Z,1736378617.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:37.720Z,1736378617.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:37.972Z,1736378617.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:38.058Z,1736378618.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:38.067Z,1736378618.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:38.224Z,1736378618.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:38.476Z,1736378618.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:38.483Z,1736378618.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:38.502Z,1736378618.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:38.728Z,1736378618.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:38.954Z,1736378618.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:38.980Z,1736378618.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:38.984Z,1736378618.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:39.233Z,1736378619.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:39.335Z,1736378619.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:39.365Z,1736378619.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:39.484Z,1736378619.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:39.733Z,1736378619.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:39.736Z,1736378619.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:39.743Z,1736378619.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:39.988Z,1736378619.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:40.162Z,1736378620.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:40.170Z,1736378620.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:40.240Z,1736378620.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:40.492Z,1736378620.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:40.569Z,1736378620.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:40.579Z,1736378620.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:40.744Z,1736378620.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:40.997Z,1736378620.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:40.999Z,1736378620.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:41.008Z,1736378621.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:41.248Z,1736378621.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:41.424Z,1736378621.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:41.452Z,1736378621.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:41.500Z,1736378621.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:41.752Z,1736378621.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:41.847Z,1736378621.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:41.878Z,1736378621.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:42.004Z,1736378622.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:42.256Z,1736378622.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:42.356Z,1736378622.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:42.365Z,1736378622.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:42.508Z,1736378622.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:42.740Z,1736378622.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:42.760Z,1736378622.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:42.769Z,1736378622.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:43.012Z,1736378623.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:43.160Z,1736378623.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:43.190Z,1736378623.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:43.264Z,1736378623.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:43.516Z,1736378623.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:43.552Z,1736378623.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:43.562Z,1736378623.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:43.768Z,1736378623.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:44.020Z,1736378624.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:44.039Z,1736378624.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:44.072Z,1736378624.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:44.272Z,1736378624.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:44.524Z,1736378624.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:44.586Z,1736378624.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:44.610Z,1736378624.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:44.776Z,1736378624.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:44.987Z,1736378624.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:45.008Z,1736378625.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:45.029Z,1736378625.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:45.280Z,1736378625.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:45.432Z,1736378625.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:45.441Z,1736378625.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:45.532Z,1736378625.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:45.760Z,1736378625.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:45.777Z,1736378625.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:45.784Z,1736378625.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:46.036Z,1736378626.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:46.168Z,1736378626.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:46.178Z,1736378626.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:46.288Z,1736378626.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:46.541Z,1736378626.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:46.541Z,1736378626.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:46.550Z,1736378626.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:46.792Z,1736378626.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:46.928Z,1736378626.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:47.018Z,1736378627.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:47.045Z,1736378627.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:47.296Z,1736378627.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:47.378Z,1736378627.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:47.387Z,1736378627.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:47.548Z,1736378627.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:47.738Z,1736378627.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:47.748Z,1736378627.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:47.801Z,1736378627.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:48.052Z,1736378628.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:48.186Z,1736378628.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:48.217Z,1736378628.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:48.304Z,1736378628.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:48.540Z,1736378628.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:48.549Z,1736378628.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:48.557Z,1736378628.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:48.808Z,1736378628.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:48.948Z,1736378628.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:48.957Z,1736378628.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:49.060Z,1736378629.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:49.314Z,1736378629.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:49.429Z,1736378629.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:49.437Z,1736378629.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:49.564Z,1736378629.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:49.781Z,1736378629.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:49.791Z,1736378629.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:49.816Z,1736378629.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:50.069Z,1736378630.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:50.219Z,1736378630.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:50.228Z,1736378630.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:50.321Z,1736378630.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:50.572Z,1736378630.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:50.590Z,1736378630.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:50.620Z,1736378630.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:50.824Z,1736378630.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:51.001Z,1736378631.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:51.036Z,1736378631.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:51.078Z,1736378631.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:51.328Z,1736378631.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:51.421Z,1736378631.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:51.431Z,1736378631.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:51.580Z,1736378631.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:51.800Z,1736378631.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:51.825Z,1736378631.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:51.832Z,1736378631.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:52.085Z,1736378632.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:52.251Z,1736378632.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:52.261Z,1736378632.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:52.336Z,1736378632.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:52.588Z,1736378632.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:52.625Z,1736378632.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:52.633Z,1736378632.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:52.840Z,1736378632.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:53.019Z,1736378633.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:53.032Z,1736378633.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:53.094Z,1736378633.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:53.344Z,1736378633.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:53.494Z,1736378633.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:53.503Z,1736378633.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:53.596Z,1736378633.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:53.848Z,1736378633.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:53.881Z,1736378633.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:53.914Z,1736378633.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:54.101Z,1736378634.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:54.324Z,1736378634.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:54.332Z,1736378634.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:54.352Z,1736378634.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:54.604Z,1736378634.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:54.695Z,1736378634.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:54.704Z,1736378634.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:54.858Z,1736378634.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:55.113Z,1736378635.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:55.187Z,1736378635.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:55.209Z,1736378635.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:55.364Z,1736378635.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:55.501Z,1736378635.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:55.519Z,1736378635.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:55.618Z,1736378635.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:55.868Z,1736378635.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:55.897Z,1736378635.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:55.907Z,1736378635.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:56.121Z,1736378636.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:56.352Z,1736378636.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:56.364Z,1736378636.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:56.372Z,1736378636.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:56.624Z,1736378636.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:56.713Z,1736378636.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:56.722Z,1736378636.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:56.876Z,1736378636.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:57.145Z,1736378637.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:57.205Z,1736378637.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:57.222Z,1736378637.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:57.404Z,1736378637.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:57.593Z,1736378637.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:57.617Z,1736378637.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:57.657Z,1736378637.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:57.909Z,1736378637.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:57.942Z,1736378637.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:57.951Z,1736378637.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:58.161Z,1736378638.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:58.398Z,1736378638.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:58.413Z,1736378638.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:58.418Z,1736378638.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:58.665Z,1736378638.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:58.817Z,1736378638.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:58.826Z,1736378638.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:58.916Z,1736378638.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:59.170Z,1736378639.170 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:59.258Z,1736378639.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:23:59.258Z,1736378639.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:59.269Z,1736378639.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:59.420Z,1736378639.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:59.667Z,1736378639.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:23:59.667Z,1736378639.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:23:59.672Z,1736378639.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:23:59.683Z,1736378639.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:23:59.924Z,1736378639.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:00.049Z,1736378640.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:24:00.049Z,1736378640.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:00.059Z,1736378640.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:00.178Z,1736378640.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:00.428Z,1736378640.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:00.463Z,1736378640.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:00.472Z,1736378640.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:00.683Z,1736378640.683 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:00.840Z,1736378640.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:00.870Z,1736378640.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:00.916Z,1736378640.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:24:00.932Z,1736378640.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:01.186Z,1736378641.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:01.288Z,1736378641.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:01.299Z,1736378641.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:01.436Z,1736378641.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:01.666Z,1736378641.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:01.688Z,1736378641.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:01.698Z,1736378641.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:01.920Z,1736378641.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:24:01.941Z,1736378641.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:02.060Z,1736378642.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:02.069Z,1736378642.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:02.193Z,1736378642.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:02.444Z,1736378642.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:02.494Z,1736378642.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:02.503Z,1736378642.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:02.696Z,1736378642.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:02.862Z,1736378642.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:02.870Z,1736378642.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:02.948Z,1736378642.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:03.201Z,1736378643.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:03.329Z,1736378643.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:03.338Z,1736378643.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:03.452Z,1736378643.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:03.700Z,1736378643.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:03.704Z,1736378643.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:03.711Z,1736378643.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:03.956Z,1736378643.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:04.093Z,1736378644.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:04.122Z,1736378644.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:04.209Z,1736378644.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:04.460Z,1736378644.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:04.541Z,1736378644.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:04.566Z,1736378644.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:04.712Z,1736378644.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:04.880Z,1736378644.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:04.888Z,1736378644.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:04.964Z,1736378644.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:05.216Z,1736378645.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:05.326Z,1736378645.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:05.368Z,1736378645.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:05.468Z,1736378645.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:05.712Z,1736378645.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:05.720Z,1736378645.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:05.721Z,1736378645.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:05.972Z,1736378645.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:06.092Z,1736378646.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:06.101Z,1736378646.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:06.224Z,1736378646.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:06.476Z,1736378646.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:06.553Z,1736378646.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:06.564Z,1736378646.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:06.728Z,1736378646.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:06.908Z,1736378646.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:06.916Z,1736378646.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:06.980Z,1736378646.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:07.233Z,1736378647.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:07.355Z,1736378647.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:07.388Z,1736378647.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:07.484Z,1736378647.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:07.717Z,1736378647.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:07.736Z,1736378647.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:07.749Z,1736378647.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:07.988Z,1736378647.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:08.121Z,1736378648.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:08.130Z,1736378648.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:08.241Z,1736378648.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:08.492Z,1736378648.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:08.580Z,1736378648.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:08.598Z,1736378648.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:08.744Z,1736378648.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:08.938Z,1736378648.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:08.948Z,1736378648.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:08.997Z,1736378648.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:09.248Z,1736378649.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:09.393Z,1736378649.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:09.401Z,1736378649.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:09.501Z,1736378649.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:09.748Z,1736378649.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:09.752Z,1736378649.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:09.761Z,1736378649.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:10.004Z,1736378650.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:10.161Z,1736378650.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:10.170Z,1736378650.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:10.256Z,1736378650.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:10.509Z,1736378650.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:10.753Z,1736378650.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:10.760Z,1736378650.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:10.765Z,1736378650.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:11.013Z,1736378651.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:11.181Z,1736378651.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:11.190Z,1736378651.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:11.264Z,1736378651.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:11.516Z,1736378651.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:11.650Z,1736378651.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:11.665Z,1736378651.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:11.768Z,1736378651.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:12.020Z,1736378652.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:12.097Z,1736378652.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:12.106Z,1736378652.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:12.272Z,1736378652.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:12.484Z,1736378652.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:12.501Z,1736378652.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:12.524Z,1736378652.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:12.776Z,1736378652.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:12.851Z,1736378652.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:12.865Z,1736378652.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:13.028Z,1736378653.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:13.232Z,1736378653.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:13.261Z,1736378653.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:13.280Z,1736378653.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:13.532Z,1736378653.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:13.675Z,1736378653.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:13.686Z,1736378653.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:13.784Z,1736378653.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:14.028Z,1736378654.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:14.036Z,1736378654.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:14.038Z,1736378654.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:14.288Z,1736378654.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:14.478Z,1736378654.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:14.486Z,1736378654.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:14.540Z,1736378654.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:14.792Z,1736378654.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:14.855Z,1736378654.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:14.865Z,1736378654.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:15.044Z,1736378655.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:15.245Z,1736378655.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:15.253Z,1736378655.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:15.296Z,1736378655.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:15.548Z,1736378655.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:15.696Z,1736378655.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:15.734Z,1736378655.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:15.800Z,1736378655.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:16.052Z,1736378656.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:16.078Z,1736378656.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:16.087Z,1736378656.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:16.304Z,1736378656.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:16.520Z,1736378656.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:16.549Z,1736378656.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:16.550Z,1736378656.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 100.20 m and bearing: 14.204280 deg. Not drifting fast enough. 2025-01-08T23:24:16.556Z,1736378656.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:16.808Z,1736378656.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:16.968Z,1736378656.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:16.978Z,1736378656.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:16.980Z,1736378656.980 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-01-08T23:24:16.980Z,1736378656.980 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T23:24:16.980Z,1736378656.980 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-01-08T23:24:16.980Z,1736378656.980 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-01-08T23:24:17.060Z,1736378657.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:17.312Z,1736378657.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:17.365Z,1736378657.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:17.415Z,1736378657.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:17.564Z,1736378657.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:17.801Z,1736378657.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:17.809Z,1736378657.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:24:17.811Z,1736378657.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:17.816Z,1736378657.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:17.816Z,1736378657.816 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:24:17.817Z,1736378657.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:24:18.068Z,1736378658.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:18.069Z,1736378658.069 [DAT](INFO): DAT read: user:3207> 2025-01-08T23:24:18.071Z,1736378658.071 [DAT](INFO): DAT read: Tx time:23:24:17.2832 2025-01-08T23:24:18.072Z,1736378658.072 [DAT](INFO): Ping request sent. 2025-01-08T23:24:18.072Z,1736378658.072 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:24:18.072Z,1736378658.072 [DAT](INFO): publishing transmit ping time 2025-01-08T23:24:18.074Z,1736378658.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001697 2025-01-08T23:24:18.217Z,1736378658.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:18.227Z,1736378658.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:18.320Z,1736378658.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:18.320Z,1736378658.320 [DAT](INFO): DAT read: TxSync time:23:24:17.2824 2025-01-08T23:24:18.321Z,1736378658.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249440 2025-01-08T23:24:18.572Z,1736378658.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:18.572Z,1736378658.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500597 2025-01-08T23:24:18.658Z,1736378658.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:18.694Z,1736378658.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:18.824Z,1736378658.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:18.825Z,1736378658.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753453 2025-01-08T23:24:19.057Z,1736378659.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:19.065Z,1736378659.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:19.076Z,1736378659.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:19.077Z,1736378659.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004875 2025-01-08T23:24:19.329Z,1736378659.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:19.330Z,1736378659.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258181 2025-01-08T23:24:19.503Z,1736378659.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:19.529Z,1736378659.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:19.581Z,1736378659.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:19.583Z,1736378659.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510954 2025-01-08T23:24:19.832Z,1736378659.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:19.834Z,1736378659.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762034 2025-01-08T23:24:19.912Z,1736378659.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:19.920Z,1736378659.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:20.084Z,1736378660.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:20.085Z,1736378660.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012594 2025-01-08T23:24:20.265Z,1736378660.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:20.274Z,1736378660.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:20.336Z,1736378660.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:20.337Z,1736378660.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264908 2025-01-08T23:24:20.588Z,1736378660.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:20.588Z,1736378660.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516529 2025-01-08T23:24:20.709Z,1736378660.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:20.751Z,1736378660.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:20.841Z,1736378660.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:20.842Z,1736378660.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769770 2025-01-08T23:24:21.083Z,1736378661.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:21.100Z,1736378661.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:21.101Z,1736378661.101 [DAT](INFO): DAT read: Rx Time:23:24:19.8304 2025-01-08T23:24:21.101Z,1736378661.101 [DAT](INFO): Rx dataTimestamp_ set to:1736378661.100909 2025-01-08T23:24:21.102Z,1736378661.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029909 2025-01-08T23:24:21.117Z,1736378661.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:21.353Z,1736378661.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:21.354Z,1736378661.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281905 2025-01-08T23:24:21.541Z,1736378661.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:21.564Z,1736378661.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m. 2025-01-08T23:24:21.604Z,1736378661.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:21.617Z,1736378661.617 [DAT](INFO): DAT read: 23:24:19.8304 LVL= 23760, 21297, 13394, 16883, AGC= 62, IDX= 6, 0.30,-0.890,-0.746, 1.168, 0.060, PHS=-0.862,-0.759, 1.105, RAW= 212.7, 5.4, CAL= 214.7, -0.5, ROT= 295.3, 0.5 2025-01-08T23:24:21.624Z,1736378661.624 [DAT](INFO): got valid direction response: 23:24:19.8304 LVL= 23760, 21297, 13394, 16883, AGC= 62, IDX= 6, 0.30,-0.890,-0.746, 1.168, 0.060, PHS=-0.862,-0.759, 1.105, RAW= 212.7, 5.4, CAL= 214.7, -0.5, ROT= 295.3, 0.5 2025-01-08T23:24:21.626Z,1736378661.626 [DAT](INFO): DAT read: Bearing 295.3, 0.5 (Local) 2025-01-08T23:24:21.627Z,1736378661.627 [DAT](INFO): Local bearing/azimuth received: Bearing 295.3, 0.5 (Local) 2025-01-08T23:24:21.634Z,1736378661.634 [DAT](INFO): DAT read: Range 10 to 50 : 107.3 m (Round-trip 143.1 ms) speed -0.1 m/s 2025-01-08T23:24:21.635Z,1736378661.635 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:24:21.652Z,1736378661.652 [DAT](INFO): direction in FSK: [-0.127720,-0.862762,-0.489213] 2025-01-08T23:24:21.653Z,1736378661.653 [DAT](INFO): publishing direction and range info 2025-01-08T23:24:21.856Z,1736378661.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:21.908Z,1736378661.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:21.921Z,1736378661.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.300003 m, deltaT: 60.020405 s, deltaX: 7.100006 m, approachRate: 0.118293 m/s, rangeRepo size: 4 2025-01-08T23:24:21.925Z,1736378661.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 107.300003 m, bearing: 6.045856 deg, lat: 36.904796 deg, lon: -122.120106 deg, deltaT: 60.020405 s, deltaX: 7.100006 m, approachRate: 0.118293 m/s, posRepo size: 4 2025-01-08T23:24:21.925Z,1736378661.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:22.109Z,1736378662.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:22.290Z,1736378662.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:22.299Z,1736378662.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:22.360Z,1736378662.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:22.612Z,1736378662.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:22.734Z,1736378662.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:22.755Z,1736378662.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:22.864Z,1736378662.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:23.087Z,1736378663.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:23.096Z,1736378663.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:23.116Z,1736378663.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:23.368Z,1736378663.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:23.521Z,1736378663.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:23.571Z,1736378663.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:23.621Z,1736378663.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:23.872Z,1736378663.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:23.991Z,1736378663.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:23.999Z,1736378663.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:24.124Z,1736378664.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:24.350Z,1736378664.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:24.377Z,1736378664.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:24.388Z,1736378664.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:24.631Z,1736378664.631 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:24.768Z,1736378664.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:24.803Z,1736378664.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:24.890Z,1736378664.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:25.135Z,1736378665.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:25.141Z,1736378665.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:25.147Z,1736378665.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:25.392Z,1736378665.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:25.644Z,1736378665.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:25.705Z,1736378665.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:25.713Z,1736378665.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:25.896Z,1736378665.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:26.029Z,1736378666.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:26.064Z,1736378666.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:26.149Z,1736378666.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:26.401Z,1736378666.401 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:26.449Z,1736378666.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:26.478Z,1736378666.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:26.652Z,1736378666.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:26.892Z,1736378666.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:26.901Z,1736378666.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:26.904Z,1736378666.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:27.157Z,1736378667.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:27.229Z,1736378667.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:27.238Z,1736378667.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:27.408Z,1736378667.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:27.660Z,1736378667.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:27.702Z,1736378667.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:27.744Z,1736378667.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:27.912Z,1736378667.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:28.037Z,1736378668.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:28.047Z,1736378668.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:28.164Z,1736378668.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:28.416Z,1736378668.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:28.433Z,1736378668.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:28.460Z,1736378668.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:28.668Z,1736378668.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:28.900Z,1736378668.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:28.920Z,1736378668.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:28.929Z,1736378668.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:29.172Z,1736378669.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:29.247Z,1736378669.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:29.256Z,1736378669.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:29.425Z,1736378669.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:29.680Z,1736378669.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:29.714Z,1736378669.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:29.722Z,1736378669.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:29.932Z,1736378669.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:30.048Z,1736378670.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:30.077Z,1736378670.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:30.184Z,1736378670.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:30.436Z,1736378670.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:30.453Z,1736378670.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:30.462Z,1736378670.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:30.688Z,1736378670.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:30.905Z,1736378670.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:30.915Z,1736378670.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:30.953Z,1736378670.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:31.204Z,1736378671.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:31.283Z,1736378671.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:31.293Z,1736378671.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:31.457Z,1736378671.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:31.709Z,1736378671.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:31.748Z,1736378671.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:31.757Z,1736378671.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:31.962Z,1736378671.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:32.044Z,1736378672.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:24:32.114Z,1736378672.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:32.128Z,1736378672.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:32.212Z,1736378672.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:32.465Z,1736378672.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:32.533Z,1736378672.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:32.543Z,1736378672.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:32.718Z,1736378672.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:32.964Z,1736378672.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:32.968Z,1736378672.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:32.976Z,1736378672.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:33.048Z,1736378673.048 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:24:33.221Z,1736378673.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:33.325Z,1736378673.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:33.334Z,1736378673.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:33.472Z,1736378673.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:33.724Z,1736378673.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:33.757Z,1736378673.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:33.785Z,1736378673.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:33.976Z,1736378673.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:34.168Z,1736378674.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:34.177Z,1736378674.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:34.229Z,1736378674.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:34.480Z,1736378674.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:34.545Z,1736378674.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:34.569Z,1736378674.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:34.735Z,1736378674.735 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:34.984Z,1736378674.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:35.020Z,1736378675.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:35.053Z,1736378675.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:35.236Z,1736378675.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:35.409Z,1736378675.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:35.417Z,1736378675.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:35.488Z,1736378675.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:35.741Z,1736378675.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:35.872Z,1736378675.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:35.885Z,1736378675.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:35.992Z,1736378675.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:36.204Z,1736378676.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:36.214Z,1736378676.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:36.244Z,1736378676.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:36.496Z,1736378676.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:36.612Z,1736378676.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:36.621Z,1736378676.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:36.749Z,1736378676.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:36.000Z,1736378677.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:37.038Z,1736378677.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:37.065Z,1736378677.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:37.252Z,1736378677.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:37.496Z,1736378677.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:37.504Z,1736378677.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:37.505Z,1736378677.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:37.757Z,1736378677.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:38.005Z,1736378678.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:38.008Z,1736378678.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:38.022Z,1736378678.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:38.260Z,1736378678.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:38.445Z,1736378678.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:38.454Z,1736378678.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:38.512Z,1736378678.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:38.765Z,1736378678.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:38.963Z,1736378678.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:38.977Z,1736378678.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:39.017Z,1736378679.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:39.254Z,1736378679.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:39.268Z,1736378679.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:39.284Z,1736378679.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:39.520Z,1736378679.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:39.674Z,1736378679.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:39.698Z,1736378679.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:39.774Z,1736378679.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:40.025Z,1736378680.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:40.101Z,1736378680.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:40.110Z,1736378680.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:40.276Z,1736378680.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:40.456Z,1736378680.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:40.465Z,1736378680.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:40.528Z,1736378680.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:40.782Z,1736378680.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:40.895Z,1736378680.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:40.905Z,1736378680.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:41.033Z,1736378681.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:41.268Z,1736378681.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:41.285Z,1736378681.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:41.309Z,1736378681.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:41.536Z,1736378681.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:41.682Z,1736378681.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:41.712Z,1736378681.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:41.799Z,1736378681.799 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:42.040Z,1736378682.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:42.128Z,1736378682.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:42.137Z,1736378682.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:42.292Z,1736378682.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:42.489Z,1736378682.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:42.498Z,1736378682.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:42.545Z,1736378682.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:42.797Z,1736378682.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:42.926Z,1736378682.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:42.934Z,1736378682.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:43.048Z,1736378683.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:43.284Z,1736378683.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:43.293Z,1736378683.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:43.300Z,1736378683.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:43.552Z,1736378683.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:43.697Z,1736378683.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:43.705Z,1736378683.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:43.807Z,1736378683.807 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:44.056Z,1736378684.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:44.128Z,1736378684.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:44.188Z,1736378684.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:44.308Z,1736378684.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:44.506Z,1736378684.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:44.515Z,1736378684.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:44.562Z,1736378684.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:44.812Z,1736378684.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:44.961Z,1736378684.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:44.982Z,1736378684.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:45.064Z,1736378685.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:45.305Z,1736378685.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:45.315Z,1736378685.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:45.316Z,1736378685.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:45.568Z,1736378685.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:45.725Z,1736378685.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:45.734Z,1736378685.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:45.821Z,1736378685.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:46.072Z,1736378686.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:46.158Z,1736378686.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:46.179Z,1736378686.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:46.324Z,1736378686.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:46.516Z,1736378686.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:46.525Z,1736378686.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:46.576Z,1736378686.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:46.828Z,1736378686.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:47.017Z,1736378687.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:47.032Z,1736378687.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:47.080Z,1736378687.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:47.332Z,1736378687.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:47.380Z,1736378687.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:47.389Z,1736378687.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:47.584Z,1736378687.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:47.765Z,1736378687.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:47.774Z,1736378687.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:47.837Z,1736378687.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:48.088Z,1736378688.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:48.213Z,1736378688.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:48.222Z,1736378688.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:48.341Z,1736378688.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:48.581Z,1736378688.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:48.590Z,1736378688.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:48.592Z,1736378688.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:48.844Z,1736378688.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:49.018Z,1736378689.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:49.027Z,1736378689.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:49.097Z,1736378689.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:49.348Z,1736378689.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:49.388Z,1736378689.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:49.425Z,1736378689.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:49.600Z,1736378689.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:49.786Z,1736378689.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:49.796Z,1736378689.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:49.852Z,1736378689.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:50.104Z,1736378690.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:50.227Z,1736378690.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:50.236Z,1736378690.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:50.356Z,1736378690.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:50.593Z,1736378690.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:50.602Z,1736378690.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:50.608Z,1736378690.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:50.860Z,1736378690.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:51.106Z,1736378691.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:51.113Z,1736378691.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:51.134Z,1736378691.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:51.364Z,1736378691.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:51.477Z,1736378691.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:51.493Z,1736378691.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:51.616Z,1736378691.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:51.830Z,1736378691.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:51.839Z,1736378691.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:51.868Z,1736378691.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:52.120Z,1736378692.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:52.261Z,1736378692.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:52.270Z,1736378692.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:52.372Z,1736378692.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:52.624Z,1736378692.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:52.712Z,1736378692.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:52.721Z,1736378692.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:52.876Z,1736378692.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:53.100Z,1736378693.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:53.116Z,1736378693.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:53.129Z,1736378693.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:53.380Z,1736378693.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:53.469Z,1736378693.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:53.496Z,1736378693.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:53.632Z,1736378693.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:53.857Z,1736378693.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:53.866Z,1736378693.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:53.884Z,1736378693.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:54.136Z,1736378694.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:54.309Z,1736378694.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:54.317Z,1736378694.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:54.389Z,1736378694.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:54.641Z,1736378694.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:54.650Z,1736378694.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:54.687Z,1736378694.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:54.892Z,1736378694.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:55.082Z,1736378695.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:55.102Z,1736378695.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:55.145Z,1736378695.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:55.396Z,1736378695.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:55.453Z,1736378695.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:55.478Z,1736378695.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:55.648Z,1736378695.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:55.856Z,1736378695.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:55.865Z,1736378695.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:55.900Z,1736378695.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:56.152Z,1736378696.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:56.303Z,1736378696.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:56.326Z,1736378696.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:56.404Z,1736378696.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:56.656Z,1736378696.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:56.691Z,1736378696.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:56.700Z,1736378696.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:56.909Z,1736378696.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:57.118Z,1736378697.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:57.128Z,1736378697.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:57.160Z,1736378697.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:57.412Z,1736378697.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:57.487Z,1736378697.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:57.501Z,1736378697.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:57.665Z,1736378697.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:57.891Z,1736378697.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:57.905Z,1736378697.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:57.916Z,1736378697.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:58.168Z,1736378698.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:58.306Z,1736378698.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:58.349Z,1736378698.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:58.420Z,1736378698.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:58.672Z,1736378698.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:58.708Z,1736378698.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:58.717Z,1736378698.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:58.924Z,1736378698.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:59.135Z,1736378699.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:59.176Z,1736378699.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:59.188Z,1736378699.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:59.428Z,1736378699.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:59.548Z,1736378699.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:59.584Z,1736378699.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:59.680Z,1736378699.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:24:59.897Z,1736378699.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:24:59.912Z,1736378699.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:24:59.933Z,1736378699.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:00.184Z,1736378700.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:00.332Z,1736378700.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:00.341Z,1736378700.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:00.436Z,1736378700.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:00.688Z,1736378700.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:00.782Z,1736378700.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:00.792Z,1736378700.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:00.941Z,1736378700.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:01.192Z,1736378701.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:01.213Z,1736378701.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:01.221Z,1736378701.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:01.444Z,1736378701.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:01.596Z,1736378701.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:01.628Z,1736378701.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:01.696Z,1736378701.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:01.948Z,1736378701.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:02.004Z,1736378702.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:02.013Z,1736378702.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:02.200Z,1736378702.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:02.421Z,1736378702.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:02.430Z,1736378702.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:02.452Z,1736378702.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:02.707Z,1736378702.707 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:02.796Z,1736378702.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:02.805Z,1736378702.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:02.960Z,1736378702.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:03.168Z,1736378703.168 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:25:03.212Z,1736378703.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:03.246Z,1736378703.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:03.255Z,1736378703.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:03.464Z,1736378703.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:03.604Z,1736378703.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:03.614Z,1736378703.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:03.716Z,1736378703.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:03.968Z,1736378703.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:04.004Z,1736378704.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:04.032Z,1736378704.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:04.173Z,1736378704.173 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:25:04.220Z,1736378704.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:04.472Z,1736378704.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:04.514Z,1736378704.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:04.525Z,1736378704.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:04.724Z,1736378704.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:04.824Z,1736378704.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:04.833Z,1736378704.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:04.976Z,1736378704.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:05.228Z,1736378705.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:05.272Z,1736378705.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:05.282Z,1736378705.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:05.482Z,1736378705.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:05.645Z,1736378705.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:05.660Z,1736378705.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:05.732Z,1736378705.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:05.984Z,1736378705.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:06.236Z,1736378706.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:06.241Z,1736378706.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:06.277Z,1736378706.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:06.488Z,1736378706.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:06.628Z,1736378706.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:06.638Z,1736378706.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:06.740Z,1736378706.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:06.993Z,1736378706.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:07.078Z,1736378707.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:07.086Z,1736378707.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:07.244Z,1736378707.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:07.496Z,1736378707.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:07.502Z,1736378707.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:07.537Z,1736378707.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:07.748Z,1736378707.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:07.862Z,1736378707.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:07.871Z,1736378707.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:07.000Z,1736378708.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:08.252Z,1736378708.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:08.286Z,1736378708.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:08.312Z,1736378708.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:08.504Z,1736378708.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:08.679Z,1736378708.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:08.688Z,1736378708.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:08.756Z,1736378708.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:09.008Z,1736378709.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:09.081Z,1736378709.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:09.092Z,1736378709.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:09.260Z,1736378709.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:09.512Z,1736378709.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:09.539Z,1736378709.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:09.549Z,1736378709.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:09.764Z,1736378709.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:09.877Z,1736378709.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:09.905Z,1736378709.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:10.016Z,1736378710.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:10.268Z,1736378710.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:10.326Z,1736378710.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:10.335Z,1736378710.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:10.521Z,1736378710.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:10.697Z,1736378710.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:10.705Z,1736378710.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:10.773Z,1736378710.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:11.024Z,1736378711.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:11.099Z,1736378711.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:11.109Z,1736378711.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:11.278Z,1736378711.278 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:11.526Z,1736378711.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:11.528Z,1736378711.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:11.543Z,1736378711.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:11.780Z,1736378711.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:11.900Z,1736378711.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:11.910Z,1736378711.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:12.032Z,1736378712.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:12.284Z,1736378712.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:12.326Z,1736378712.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:12.364Z,1736378712.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:12.536Z,1736378712.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:12.729Z,1736378712.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:12.737Z,1736378712.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:12.788Z,1736378712.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:13.040Z,1736378713.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:13.128Z,1736378713.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:13.136Z,1736378713.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:13.294Z,1736378713.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:13.544Z,1736378713.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:13.552Z,1736378713.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:13.560Z,1736378713.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:13.796Z,1736378713.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:13.924Z,1736378713.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:13.933Z,1736378713.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:14.048Z,1736378714.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:14.302Z,1736378714.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:14.365Z,1736378714.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:14.375Z,1736378714.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:14.552Z,1736378714.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:14.732Z,1736378714.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:14.752Z,1736378714.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:14.804Z,1736378714.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:15.056Z,1736378715.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:15.154Z,1736378715.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:15.179Z,1736378715.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:15.310Z,1736378715.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:15.560Z,1736378715.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:15.564Z,1736378715.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:15.578Z,1736378715.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:15.812Z,1736378715.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:15.955Z,1736378715.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:15.965Z,1736378715.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:16.064Z,1736378716.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:16.317Z,1736378716.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:16.399Z,1736378716.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:16.409Z,1736378716.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:16.568Z,1736378716.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:16.820Z,1736378716.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:16.846Z,1736378716.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:16.858Z,1736378716.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:17.072Z,1736378717.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:17.237Z,1736378717.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:17.262Z,1736378717.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:17.326Z,1736378717.326 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:17.576Z,1736378717.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:17.802Z,1736378717.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:17.810Z,1736378717.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:25:17.813Z,1736378717.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:17.828Z,1736378717.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:17.829Z,1736378717.829 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:25:17.829Z,1736378717.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:25:18.080Z,1736378718.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:18.082Z,1736378718.082 [DAT](INFO): DAT read: user:3208> 2025-01-08T23:25:18.085Z,1736378718.085 [DAT](INFO): DAT read: Tx time:23:25:17.2837 2025-01-08T23:25:18.086Z,1736378718.086 [DAT](INFO): Ping request sent. 2025-01-08T23:25:18.086Z,1736378718.086 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:25:18.086Z,1736378718.086 [DAT](INFO): DAT read: TxSync time:23:25:17.2830 2025-01-08T23:25:18.087Z,1736378718.087 [DAT](INFO): publishing transmit ping time 2025-01-08T23:25:18.088Z,1736378718.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002031 2025-01-08T23:25:18.093Z,1736378718.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:18.102Z,1736378718.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:18.333Z,1736378718.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:18.336Z,1736378718.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249515 2025-01-08T23:25:18.533Z,1736378718.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:18.547Z,1736378718.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:18.584Z,1736378718.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:18.586Z,1736378718.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499439 2025-01-08T23:25:18.836Z,1736378718.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:18.836Z,1736378718.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750640 2025-01-08T23:25:18.921Z,1736378718.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:18.931Z,1736378718.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:19.088Z,1736378719.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:19.088Z,1736378719.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002642 2025-01-08T23:25:19.283Z,1736378719.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:19.298Z,1736378719.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:19.342Z,1736378719.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:19.346Z,1736378719.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259521 2025-01-08T23:25:19.592Z,1736378719.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:19.592Z,1736378719.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506592 2025-01-08T23:25:19.796Z,1736378719.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:19.804Z,1736378719.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:19.844Z,1736378719.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:19.846Z,1736378719.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759292 2025-01-08T23:25:20.096Z,1736378720.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:20.096Z,1736378720.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010491 2025-01-08T23:25:20.131Z,1736378720.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:20.151Z,1736378720.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:20.350Z,1736378720.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:20.353Z,1736378720.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266428 2025-01-08T23:25:20.542Z,1736378720.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:20.551Z,1736378720.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:20.601Z,1736378720.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:20.602Z,1736378720.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515768 2025-01-08T23:25:20.852Z,1736378720.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:20.852Z,1736378720.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766571 2025-01-08T23:25:20.932Z,1736378720.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:20.961Z,1736378720.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:21.104Z,1736378721.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:21.104Z,1736378721.104 [DAT](INFO): DAT read: Rx Time:23:25:19.9048 2025-01-08T23:25:21.105Z,1736378721.105 [DAT](INFO): Rx dataTimestamp_ set to:1736378721.104676 2025-01-08T23:25:21.105Z,1736378721.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019668 2025-01-08T23:25:21.310Z,1736378721.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:21.319Z,1736378721.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:21.357Z,1736378721.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:21.358Z,1736378721.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271843 2025-01-08T23:25:21.608Z,1736378721.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:21.611Z,1736378721.611 [DAT](INFO): DAT read: $Error in header 2025-01-08T23:25:21.612Z,1736378721.612 [DAT](INFO): Received a bad header 2025-01-08T23:25:21.624Z,1736378721.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537919 2025-01-08T23:25:21.745Z,1736378721.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:21.753Z,1736378721.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:21.860Z,1736378721.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:21.861Z,1736378721.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774706 2025-01-08T23:25:22.112Z,1736378722.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:22.112Z,1736378722.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026650 2025-01-08T23:25:22.117Z,1736378722.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:22.127Z,1736378722.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:22.365Z,1736378722.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:22.368Z,1736378722.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281089 2025-01-08T23:25:22.533Z,1736378722.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:22.543Z,1736378722.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:22.618Z,1736378722.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:22.620Z,1736378722.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532993 2025-01-08T23:25:22.868Z,1736378722.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:22.868Z,1736378722.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782542 2025-01-08T23:25:22.927Z,1736378722.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:22.936Z,1736378722.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:23.120Z,1736378723.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:23.120Z,1736378723.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034525 2025-01-08T23:25:23.319Z,1736378723.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:23.328Z,1736378723.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:23.374Z,1736378723.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:23.377Z,1736378723.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290199 2025-01-08T23:25:23.625Z,1736378723.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:23.627Z,1736378723.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540630 2025-01-08T23:25:23.786Z,1736378723.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:23.796Z,1736378723.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:23.876Z,1736378723.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:23.877Z,1736378723.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790897 2025-01-08T23:25:24.129Z,1736378724.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:24.131Z,1736378724.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044538 2025-01-08T23:25:24.152Z,1736378724.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:24.171Z,1736378724.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:24.380Z,1736378724.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:24.380Z,1736378724.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.294565 2025-01-08T23:25:24.570Z,1736378724.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:24.599Z,1736378724.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:24.632Z,1736378724.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:24.633Z,1736378724.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546637 2025-01-08T23:25:24.884Z,1736378724.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:24.884Z,1736378724.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.798572 2025-01-08T23:25:25.033Z,1736378725.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:25.042Z,1736378725.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:25.137Z,1736378725.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:25.138Z,1736378725.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051829 2025-01-08T23:25:25.388Z,1736378725.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:25.389Z,1736378725.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302773 2025-01-08T23:25:25.493Z,1736378725.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:25.509Z,1736378725.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:25.640Z,1736378725.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:25.640Z,1736378725.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554615 2025-01-08T23:25:25.892Z,1736378725.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:25.893Z,1736378725.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807472 2025-01-08T23:25:25.974Z,1736378725.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:25.982Z,1736378725.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:26.144Z,1736378726.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:26.146Z,1736378726.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059468 2025-01-08T23:25:26.342Z,1736378726.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:26.350Z,1736378726.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:26.398Z,1736378726.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:26.402Z,1736378726.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315155 2025-01-08T23:25:26.648Z,1736378726.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:26.649Z,1736378726.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563333 2025-01-08T23:25:26.784Z,1736378726.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:26.814Z,1736378726.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:26.900Z,1736378726.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:26.901Z,1736378726.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815276 2025-01-08T23:25:27.152Z,1736378727.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:27.152Z,1736378727.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066468 2025-01-08T23:25:27.182Z,1736378727.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:27.196Z,1736378727.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:27.404Z,1736378727.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:27.404Z,1736378727.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318580 2025-01-08T23:25:27.601Z,1736378727.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:27.611Z,1736378727.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:27.656Z,1736378727.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:27.658Z,1736378727.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571697 2025-01-08T23:25:27.908Z,1736378727.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:27.909Z,1736378727.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822846 2025-01-08T23:25:27.974Z,1736378727.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:27.987Z,1736378727.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:28.160Z,1736378728.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:28.160Z,1736378728.160 [DAT](INFO): Reached modem response timeout 2025-01-08T23:25:28.352Z,1736378728.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:28.408Z,1736378728.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:28.412Z,1736378728.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:28.668Z,1736378728.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:28.816Z,1736378728.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:28.824Z,1736378728.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:28.916Z,1736378728.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:28.917Z,1736378728.917 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:25:28.918Z,1736378728.918 [DAT](INFO): response not received 2025-01-08T23:25:28.918Z,1736378728.918 [DAT](ERROR): No response from remote modem. 2025-01-08T23:25:29.168Z,1736378729.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:29.231Z,1736378729.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:29.245Z,1736378729.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:29.420Z,1736378729.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:29.613Z,1736378729.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:29.622Z,1736378729.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:29.673Z,1736378729.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:29.924Z,1736378729.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:29.990Z,1736378729.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:29.000Z,1736378730.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:30.176Z,1736378730.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:30.385Z,1736378730.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:30.402Z,1736378730.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:30.428Z,1736378730.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:30.680Z,1736378730.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:30.817Z,1736378730.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:30.826Z,1736378730.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:30.932Z,1736378730.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:31.184Z,1736378731.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:31.268Z,1736378731.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:31.298Z,1736378731.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:31.436Z,1736378731.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:31.666Z,1736378731.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:31.687Z,1736378731.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:31.688Z,1736378731.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:31.940Z,1736378731.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:32.020Z,1736378732.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:32.040Z,1736378732.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:32.192Z,1736378732.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:32.408Z,1736378732.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:32.419Z,1736378732.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:32.444Z,1736378732.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:32.696Z,1736378732.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:32.948Z,1736378732.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:32.979Z,1736378732.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:32.988Z,1736378732.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:33.200Z,1736378733.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:33.284Z,1736378733.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:33.294Z,1736378733.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:33.452Z,1736378733.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:33.704Z,1736378733.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:33.720Z,1736378733.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:33.750Z,1736378733.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:33.958Z,1736378733.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:34.080Z,1736378734.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:34.089Z,1736378734.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:34.209Z,1736378734.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:34.294Z,1736378734.294 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:25:34.460Z,1736378734.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:34.509Z,1736378734.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:34.517Z,1736378734.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:34.712Z,1736378734.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:34.907Z,1736378734.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:34.948Z,1736378734.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:34.964Z,1736378734.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:35.216Z,1736378735.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:35.288Z,1736378735.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:35.296Z,1736378735.296 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:25:35.300Z,1736378735.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:35.469Z,1736378735.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:35.719Z,1736378735.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:35.720Z,1736378735.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:35.730Z,1736378735.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:35.972Z,1736378735.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:36.095Z,1736378736.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:36.104Z,1736378736.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:36.224Z,1736378736.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:36.476Z,1736378736.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:36.504Z,1736378736.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:36.513Z,1736378736.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:36.728Z,1736378736.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:36.926Z,1736378736.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:36.939Z,1736378736.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:36.981Z,1736378736.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:37.232Z,1736378737.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:37.305Z,1736378737.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:37.330Z,1736378737.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:37.484Z,1736378737.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:37.736Z,1736378737.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:37.750Z,1736378737.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:37.760Z,1736378737.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:37.994Z,1736378737.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:38.117Z,1736378738.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:38.126Z,1736378738.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:38.243Z,1736378738.243 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:38.492Z,1736378738.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:38.528Z,1736378738.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:38.537Z,1736378738.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:38.744Z,1736378738.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:38.967Z,1736378738.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:38.996Z,1736378738.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:38.998Z,1736378738.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:39.248Z,1736378739.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:39.325Z,1736378739.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:39.334Z,1736378739.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:39.500Z,1736378739.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:39.752Z,1736378739.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:39.777Z,1736378739.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:39.785Z,1736378739.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:40.004Z,1736378740.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:40.148Z,1736378740.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:40.156Z,1736378740.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:40.256Z,1736378740.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:40.508Z,1736378740.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:40.561Z,1736378740.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:40.570Z,1736378740.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:40.760Z,1736378740.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:40.986Z,1736378740.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:40.995Z,1736378740.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:41.012Z,1736378741.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:41.264Z,1736378741.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:41.364Z,1736378741.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:41.372Z,1736378741.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:41.516Z,1736378741.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:41.768Z,1736378741.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:41.783Z,1736378741.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:41.821Z,1736378741.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:42.021Z,1736378742.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:42.155Z,1736378742.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:42.182Z,1736378742.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:42.273Z,1736378742.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:42.524Z,1736378742.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:42.567Z,1736378742.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:42.577Z,1736378742.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:42.776Z,1736378742.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:43.001Z,1736378743.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:43.026Z,1736378743.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:43.028Z,1736378743.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:43.280Z,1736378743.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:43.381Z,1736378743.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:43.389Z,1736378743.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:43.532Z,1736378743.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:43.784Z,1736378743.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:43.820Z,1736378743.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:43.828Z,1736378743.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:44.036Z,1736378744.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:44.179Z,1736378744.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:44.187Z,1736378744.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:44.288Z,1736378744.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:44.548Z,1736378744.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:44.669Z,1736378744.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:44.712Z,1736378744.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:44.800Z,1736378744.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:45.060Z,1736378745.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:45.101Z,1736378745.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:45.133Z,1736378745.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:45.312Z,1736378745.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:45.465Z,1736378745.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:45.489Z,1736378745.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:45.565Z,1736378745.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:45.816Z,1736378745.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:45.912Z,1736378745.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:45.920Z,1736378745.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:46.068Z,1736378746.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:46.314Z,1736378746.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:46.320Z,1736378746.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:46.339Z,1736378746.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:46.572Z,1736378746.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:46.672Z,1736378746.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:46.717Z,1736378746.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:46.825Z,1736378746.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:47.077Z,1736378747.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:47.124Z,1736378747.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:47.134Z,1736378747.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:47.328Z,1736378747.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:47.483Z,1736378747.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:47.493Z,1736378747.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:47.580Z,1736378747.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:47.832Z,1736378747.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:47.922Z,1736378747.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:47.932Z,1736378747.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:48.084Z,1736378748.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:48.269Z,1736378748.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:48.278Z,1736378748.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:48.336Z,1736378748.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:48.588Z,1736378748.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:48.697Z,1736378748.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:48.705Z,1736378748.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:48.841Z,1736378748.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:49.092Z,1736378749.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:49.115Z,1736378749.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:49.127Z,1736378749.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:49.344Z,1736378749.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:49.486Z,1736378749.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:49.495Z,1736378749.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:49.596Z,1736378749.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:49.850Z,1736378749.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:49.916Z,1736378749.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:49.924Z,1736378749.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:50.100Z,1736378750.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:50.287Z,1736378750.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:50.296Z,1736378750.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:50.352Z,1736378750.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:50.604Z,1736378750.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:50.697Z,1736378750.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:50.705Z,1736378750.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:50.856Z,1736378750.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:51.109Z,1736378751.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:51.129Z,1736378751.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:51.176Z,1736378751.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:51.360Z,1736378751.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:51.509Z,1736378751.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:51.518Z,1736378751.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:51.612Z,1736378751.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:51.865Z,1736378751.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:51.935Z,1736378751.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:51.945Z,1736378751.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:52.117Z,1736378752.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:52.316Z,1736378752.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:52.327Z,1736378752.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:52.368Z,1736378752.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:52.620Z,1736378752.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:52.714Z,1736378752.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:52.722Z,1736378752.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:52.874Z,1736378752.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:53.125Z,1736378753.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:53.186Z,1736378753.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:53.210Z,1736378753.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:53.377Z,1736378753.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:53.596Z,1736378753.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:53.604Z,1736378753.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:53.628Z,1736378753.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:53.881Z,1736378753.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:53.977Z,1736378753.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:53.988Z,1736378753.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:54.132Z,1736378754.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:54.351Z,1736378754.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:54.377Z,1736378754.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:54.384Z,1736378754.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:54.636Z,1736378754.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:54.756Z,1736378754.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:54.765Z,1736378754.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:54.889Z,1736378754.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:55.140Z,1736378755.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:55.218Z,1736378755.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:55.227Z,1736378755.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:55.392Z,1736378755.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:55.570Z,1736378755.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:55.579Z,1736378755.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:55.648Z,1736378755.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:55.901Z,1736378755.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:56.006Z,1736378756.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:56.016Z,1736378756.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:56.152Z,1736378756.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:56.376Z,1736378756.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:56.385Z,1736378756.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:56.404Z,1736378756.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:56.678Z,1736378756.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:56.774Z,1736378756.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:56.783Z,1736378756.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:56.914Z,1736378756.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:57.164Z,1736378757.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:57.238Z,1736378757.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:57.258Z,1736378757.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:57.416Z,1736378757.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:57.586Z,1736378757.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:57.614Z,1736378757.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:57.668Z,1736378757.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:57.921Z,1736378757.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:58.048Z,1736378758.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:58.058Z,1736378758.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:58.172Z,1736378758.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:58.424Z,1736378758.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:58.470Z,1736378758.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:58.500Z,1736378758.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:58.678Z,1736378758.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:58.828Z,1736378758.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:58.845Z,1736378758.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:58.929Z,1736378758.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:59.180Z,1736378759.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:59.268Z,1736378759.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:59.278Z,1736378759.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:59.432Z,1736378759.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:59.626Z,1736378759.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:25:59.655Z,1736378759.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:25:59.684Z,1736378759.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:25:59.938Z,1736378759.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:00.141Z,1736378760.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:00.170Z,1736378760.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:00.188Z,1736378760.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:00.441Z,1736378760.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:00.453Z,1736378760.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:00.463Z,1736378760.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:00.692Z,1736378760.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:00.865Z,1736378760.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:00.874Z,1736378760.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:00.945Z,1736378760.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:01.196Z,1736378761.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:01.308Z,1736378761.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:01.321Z,1736378761.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:01.448Z,1736378761.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:01.658Z,1736378761.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:01.691Z,1736378761.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:01.700Z,1736378761.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:01.952Z,1736378761.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:02.081Z,1736378762.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:02.105Z,1736378762.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:02.204Z,1736378762.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:02.456Z,1736378762.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:02.466Z,1736378762.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:02.477Z,1736378762.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:02.708Z,1736378762.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:02.864Z,1736378762.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:02.893Z,1736378762.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:02.969Z,1736378762.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:03.220Z,1736378763.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:03.313Z,1736378763.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:03.330Z,1736378763.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:03.472Z,1736378763.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:03.686Z,1736378763.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:03.696Z,1736378763.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:03.724Z,1736378763.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:03.977Z,1736378763.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:04.109Z,1736378764.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:04.117Z,1736378764.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:04.228Z,1736378764.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:04.480Z,1736378764.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:04.486Z,1736378764.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:04.520Z,1736378764.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:04.733Z,1736378764.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:04.884Z,1736378764.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:04.893Z,1736378764.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:04.984Z,1736378764.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:05.236Z,1736378765.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:05.313Z,1736378765.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:05.322Z,1736378765.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:05.432Z,1736378765.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:26:05.488Z,1736378765.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:05.712Z,1736378765.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:05.721Z,1736378765.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:05.740Z,1736378765.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:05.992Z,1736378765.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:06.141Z,1736378766.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:06.150Z,1736378766.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:06.244Z,1736378766.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:06.436Z,1736378766.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:26:06.496Z,1736378766.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:06.510Z,1736378766.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:06.520Z,1736378766.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:06.748Z,1736378766.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:06.914Z,1736378766.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:06.922Z,1736378766.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:07.001Z,1736378767.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:07.252Z,1736378767.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:07.350Z,1736378767.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:07.363Z,1736378767.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:07.504Z,1736378767.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:07.718Z,1736378767.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:07.728Z,1736378767.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:07.756Z,1736378767.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:08.008Z,1736378768.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:08.179Z,1736378768.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:08.188Z,1736378768.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:08.263Z,1736378768.263 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:08.516Z,1736378768.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:08.544Z,1736378768.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:08.552Z,1736378768.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:08.768Z,1736378768.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:08.924Z,1736378768.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:08.932Z,1736378768.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:09.020Z,1736378769.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:09.272Z,1736378769.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:09.356Z,1736378769.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:09.364Z,1736378769.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:09.524Z,1736378769.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:09.749Z,1736378769.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:09.759Z,1736378769.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:09.777Z,1736378769.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:10.028Z,1736378770.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:10.188Z,1736378770.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:10.198Z,1736378770.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:10.280Z,1736378770.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:10.532Z,1736378770.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:10.556Z,1736378770.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:10.565Z,1736378770.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:10.784Z,1736378770.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:10.964Z,1736378770.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:10.973Z,1736378770.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:11.036Z,1736378771.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:11.288Z,1736378771.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:11.395Z,1736378771.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:11.406Z,1736378771.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:11.541Z,1736378771.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:11.753Z,1736378771.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:11.762Z,1736378771.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:11.793Z,1736378771.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:12.044Z,1736378772.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:12.296Z,1736378772.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:12.327Z,1736378772.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:12.336Z,1736378772.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:12.548Z,1736378772.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:12.618Z,1736378772.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:12.660Z,1736378772.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:12.800Z,1736378772.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:13.029Z,1736378773.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:13.037Z,1736378773.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:13.052Z,1736378773.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:13.304Z,1736378773.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:13.528Z,1736378773.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:13.542Z,1736378773.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:13.556Z,1736378773.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:13.808Z,1736378773.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:13.827Z,1736378773.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:13.864Z,1736378773.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:14.060Z,1736378774.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:14.312Z,1736378774.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:14.456Z,1736378774.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:14.464Z,1736378774.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:14.565Z,1736378774.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:14.784Z,1736378774.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:14.793Z,1736378774.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:14.816Z,1736378774.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:15.068Z,1736378775.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:15.254Z,1736378775.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:15.265Z,1736378775.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:15.320Z,1736378775.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:15.572Z,1736378775.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:15.704Z,1736378775.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:15.713Z,1736378775.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:15.825Z,1736378775.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:16.076Z,1736378776.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:16.104Z,1736378776.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:16.145Z,1736378776.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:16.328Z,1736378776.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:16.580Z,1736378776.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:16.651Z,1736378776.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:16.666Z,1736378776.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:16.832Z,1736378776.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:17.013Z,1736378777.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:17.024Z,1736378777.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:17.084Z,1736378777.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:17.336Z,1736378777.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:17.425Z,1736378777.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:17.434Z,1736378777.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:17.588Z,1736378777.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:17.805Z,1736378777.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:17.813Z,1736378777.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:17.815Z,1736378777.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:17.840Z,1736378777.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:17.841Z,1736378777.841 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:26:17.841Z,1736378777.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:26:18.092Z,1736378778.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:18.092Z,1736378778.092 [DAT](INFO): DAT read: 2025-01-08T23:26:18.093Z,1736378778.093 [DAT](INFO): DAT read: Tx time:23:26:17.3344 2025-01-08T23:26:18.093Z,1736378778.093 [DAT](INFO): Ping request sent. 2025-01-08T23:26:18.093Z,1736378778.093 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:26:18.093Z,1736378778.093 [DAT](INFO): publishing transmit ping time 2025-01-08T23:26:18.094Z,1736378778.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721 2025-01-08T23:26:18.274Z,1736378778.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:18.305Z,1736378778.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:18.346Z,1736378778.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:18.346Z,1736378778.346 [DAT](INFO): DAT read: TxSync time:23:26:17.3336 2025-01-08T23:26:18.348Z,1736378778.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254470 2025-01-08T23:26:18.597Z,1736378778.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:18.599Z,1736378778.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505436 2025-01-08T23:26:18.673Z,1736378778.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:18.706Z,1736378778.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:18.848Z,1736378778.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:18.849Z,1736378778.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755442 2025-01-08T23:26:19.032Z,1736378779.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:19.058Z,1736378779.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:19.100Z,1736378779.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:19.101Z,1736378779.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007355 2025-01-08T23:26:19.352Z,1736378779.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:19.353Z,1736378779.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259524 2025-01-08T23:26:19.449Z,1736378779.449 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V 2025-01-08T23:26:19.457Z,1736378779.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:26:19.457Z,1736378779.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:19.486Z,1736378779.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:19.604Z,1736378779.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:19.604Z,1736378779.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511139 2025-01-08T23:26:19.836Z,1736378779.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:26:19.836Z,1736378779.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:19.846Z,1736378779.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:19.856Z,1736378779.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:19.857Z,1736378779.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763980 2025-01-08T23:26:20.108Z,1736378780.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:20.108Z,1736378780.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015172 2025-01-08T23:26:20.308Z,1736378780.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T23:26:20.308Z,1736378780.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:20.325Z,1736378780.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:20.361Z,1736378780.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:20.361Z,1736378780.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267999 2025-01-08T23:26:20.612Z,1736378780.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:20.612Z,1736378780.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519294 2025-01-08T23:26:20.704Z,1736378780.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:20.713Z,1736378780.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:20.864Z,1736378780.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:20.864Z,1736378780.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771150 2025-01-08T23:26:21.037Z,1736378781.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:21.061Z,1736378781.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:21.116Z,1736378781.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:21.117Z,1736378781.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024069 2025-01-08T23:26:21.368Z,1736378781.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:21.368Z,1736378781.368 [DAT](INFO): DAT read: Rx Time:23:26:20.0392 2025-01-08T23:26:21.369Z,1736378781.369 [DAT](INFO): Rx dataTimestamp_ set to:1736378781.368614 2025-01-08T23:26:21.369Z,1736378781.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276229 2025-01-08T23:26:21.485Z,1736378781.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:21.495Z,1736378781.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:21.620Z,1736378781.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:21.621Z,1736378781.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527659 2025-01-08T23:26:21.849Z,1736378781.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:21.858Z,1736378781.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.30 m. 2025-01-08T23:26:21.874Z,1736378781.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:21.881Z,1736378781.881 [DAT](INFO): DAT read: 23:26:20.0392 LVL= 22288, 17121, 15186, 24019, AGC= 66, IDX= 258, 0.21,-3.078,-0.982,-2.498,-3.018, PHS= 0.028, 2.084, 0.517, RAW= 316.8, -26.6, CAL= 316.7, -40.3, ROT= 193.3, 40.3 2025-01-08T23:26:21.882Z,1736378781.882 [DAT](INFO): got valid direction response: 23:26:20.0392 LVL= 22288, 17121, 15186, 24019, AGC= 66, IDX= 258, 0.21,-3.078,-0.982,-2.498,-3.018, PHS= 0.028, 2.084, 0.517, RAW= 316.8, -26.6, CAL= 316.7, -40.3, ROT= 193.3, 40.3 2025-01-08T23:26:21.884Z,1736378781.884 [DAT](INFO): DAT read: Range 10 to 50 : 225.4 m (Round-trip 300.6 ms) speed -0.6 m/s 2025-01-08T23:26:21.884Z,1736378781.884 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:26:21.886Z,1736378781.886 [DAT](INFO): direction in FSK: [0.588982,0.548864,-0.593168] 2025-01-08T23:26:21.886Z,1736378781.886 [DAT](INFO): publishing direction and range info 2025-01-08T23:26:22.124Z,1736378782.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:22.266Z,1736378782.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:22.348Z,1736378782.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 225.399994 m, deltaT: 120.270588 s, deltaX: 118.099991 m, approachRate: 0.981952 m/s, rangeRepo size: 4 2025-01-08T23:26:22.350Z,1736378782.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 225.399994 m, bearing: 240.899764 deg, lat: 36.904796 deg, lon: -122.120130 deg, deltaT: 120.270588 s, deltaX: 118.099991 m, approachRate: 0.981952 m/s, posRepo size: 4 2025-01-08T23:26:22.350Z,1736378782.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.40 m. 2025-01-08T23:26:22.351Z,1736378782.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 225.40 m. Resuming terminal guidance. 2025-01-08T23:26:22.351Z,1736378782.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-01-08T23:26:22.376Z,1736378782.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:22.629Z,1736378782.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:22.708Z,1736378782.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:22.714Z,1736378782.714 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-01-08T23:26:22.714Z,1736378782.714 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T23:26:22.716Z,1736378782.716 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-01-08T23:26:22.726Z,1736378782.726 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 225.399994 m (mode 1.000000 count ). 2025-01-08T23:26:22.727Z,1736378782.727 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-01-08T23:26:22.728Z,1736378782.728 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-01-08T23:26:22.880Z,1736378782.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:23.067Z,1736378783.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:23.074Z,1736378783.074 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-01-08T23:26:23.074Z,1736378783.074 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-01-08T23:26:23.076Z,1736378783.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:23.132Z,1736378783.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:23.133Z,1736378783.133 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:26:23.133Z,1736378783.133 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:26:23.134Z,1736378783.134 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:26:23.384Z,1736378783.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:23.384Z,1736378783.384 [DAT](INFO): DAT read: user:3210> 2025-01-08T23:26:23.385Z,1736378783.385 [DAT](INFO): DAT read: Tx time:23:26:22.5844 2025-01-08T23:26:23.385Z,1736378783.385 [DAT](INFO): Ping request sent. 2025-01-08T23:26:23.385Z,1736378783.385 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:26:23.386Z,1736378783.386 [DAT](INFO): DAT read: TxSync time:23:26:22.5836 2025-01-08T23:26:23.386Z,1736378783.386 [DAT](INFO): publishing transmit ping time 2025-01-08T23:26:23.388Z,1736378783.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001516 2025-01-08T23:26:23.513Z,1736378783.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:23.521Z,1736378783.521 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-01-08T23:26:23.521Z,1736378783.521 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-01-08T23:26:23.636Z,1736378783.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:23.637Z,1736378783.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251198 2025-01-08T23:26:23.865Z,1736378783.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:23.871Z,1736378783.871 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-01-08T23:26:23.871Z,1736378783.871 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T23:26:23.871Z,1736378783.871 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-01-08T23:26:23.872Z,1736378783.872 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T23:26:23.888Z,1736378783.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:23.889Z,1736378783.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503017 2025-01-08T23:26:24.141Z,1736378784.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:24.141Z,1736378784.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755706 2025-01-08T23:26:24.325Z,1736378784.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:24.392Z,1736378784.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:24.392Z,1736378784.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006996 2025-01-08T23:26:24.645Z,1736378784.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:24.647Z,1736378784.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260870 2025-01-08T23:26:24.738Z,1736378784.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:24.896Z,1736378784.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:24.897Z,1736378784.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511288 2025-01-08T23:26:25.148Z,1736378785.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:25.149Z,1736378785.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763322 2025-01-08T23:26:25.151Z,1736378785.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:25.159Z,1736378785.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:25.400Z,1736378785.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:25.400Z,1736378785.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014872 2025-01-08T23:26:25.547Z,1736378785.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:25.652Z,1736378785.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:25.653Z,1736378785.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267650 2025-01-08T23:26:25.904Z,1736378785.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:25.904Z,1736378785.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518933 2025-01-08T23:26:25.964Z,1736378785.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:26.156Z,1736378786.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:26.157Z,1736378786.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770807 2025-01-08T23:26:26.300Z,1736378786.300 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file). 2025-01-08T23:26:26.312Z,1736378786.312 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6. 2025-01-08T23:26:26.315Z,1736378786.315 [BPC1](INFO): Received data from all battery sticks. 2025-01-08T23:26:26.399Z,1736378786.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:26.408Z,1736378786.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:26.409Z,1736378786.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023186 2025-01-08T23:26:26.660Z,1736378786.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:26.661Z,1736378786.661 [DAT](INFO): DAT read: Rx Time:23:26:25.2936 2025-01-08T23:26:26.662Z,1736378786.662 [DAT](INFO): Rx dataTimestamp_ set to:1736378786.661627 2025-01-08T23:26:26.663Z,1736378786.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277318 2025-01-08T23:26:26.766Z,1736378786.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:26.912Z,1736378786.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:26.913Z,1736378786.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527663 2025-01-08T23:26:27.104Z,1736378787.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:27.164Z,1736378787.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:27.172Z,1736378787.172 [DAT](INFO): DAT read: 23:26:25.2936 LVL= 20976, 19057, 14018, 26739, AGC= 64, IDX= 464,-0.48, 1.705,-2.323, 2.277, 1.854, PHS=-0.061, 2.153, 0.419, RAW= 318.1, -23.7, CAL= 319.5, -35.6, ROT= 190.5, 35.6 2025-01-08T23:26:27.174Z,1736378787.174 [DAT](INFO): got valid direction response: 23:26:25.2936 LVL= 20976, 19057, 14018, 26739, AGC= 64, IDX= 464,-0.48, 1.705,-2.323, 2.277, 1.854, PHS=-0.061, 2.153, 0.419, RAW= 318.1, -23.7, CAL= 319.5, -35.6, ROT= 190.5, 35.6 2025-01-08T23:26:27.175Z,1736378787.175 [DAT](INFO): DAT read: Bearing 190.5, 35.6 (Local) 2025-01-08T23:26:27.176Z,1736378787.176 [DAT](INFO): Local bearing/azimuth received: Bearing 190.5, 35.6 (Local) 2025-01-08T23:26:27.177Z,1736378787.177 [DAT](INFO): DAT read: Range 10 to 50 : 228.7 m (Round-trip 305.0 ms) speed -0.9 m/s 2025-01-08T23:26:27.178Z,1736378787.178 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:26:27.179Z,1736378787.179 [DAT](INFO): direction in FSK: [0.547109,0.583215,-0.600442] 2025-01-08T23:26:27.179Z,1736378787.179 [DAT](INFO): publishing direction and range info 2025-01-08T23:26:27.193Z,1736378787.193 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:26:27.193Z,1736378787.193 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:26:27.193Z,1736378787.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:26:27.416Z,1736378787.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:27.417Z,1736378787.417 [DAT](INFO): DAT read: user:3211> 2025-01-08T23:26:27.417Z,1736378787.417 [DAT](INFO): DAT read: Tx time:23:26:26.6844 2025-01-08T23:26:27.418Z,1736378787.418 [DAT](INFO): Ping request sent. 2025-01-08T23:26:27.418Z,1736378787.418 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:26:27.418Z,1736378787.418 [DAT](INFO): publishing transmit ping time 2025-01-08T23:26:27.419Z,1736378787.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720 2025-01-08T23:26:27.539Z,1736378787.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:27.581Z,1736378787.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 228.699997 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-01-08T23:26:27.588Z,1736378787.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 228.699997 m, bearing: 253.128969 deg, lat: 36.904796 deg, lon: -122.120260 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-01-08T23:26:27.589Z,1736378787.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m. 2025-01-08T23:26:27.596Z,1736378787.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 228.699997 m, nav range: 172.493057 m, bearing: 3.385457 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 14.204280 deg, new cmd heading: 3.385457 deg. 2025-01-08T23:26:27.597Z,1736378787.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059087 target range: 228.699997 and range: 228.70 m. 2025-01-08T23:26:27.668Z,1736378787.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:27.670Z,1736378787.670 [DAT](INFO): DAT read: TxSync time:23:26:26.6836 2025-01-08T23:26:27.671Z,1736378787.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252842 2025-01-08T23:26:27.904Z,1736378787.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:27.920Z,1736378787.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:27.920Z,1736378787.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502619 2025-01-08T23:26:27.932Z,1736378787.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:27.934Z,1736378787.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m. 2025-01-08T23:26:27.942Z,1736378787.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 228.699997 m, nav range: 172.776825 m, bearing: 3.414382 deg, approach rate: 0.786463 m/s, LOS rate: 0.080032 deg/s, cmd heading: 3.385457 deg, new cmd heading: 3.414382 deg. 2025-01-08T23:26:27.942Z,1736378787.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059592 target range: 228.699997 and range: 228.70 m. 2025-01-08T23:26:28.172Z,1736378788.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:28.172Z,1736378788.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754560 2025-01-08T23:26:28.316Z,1736378788.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:28.341Z,1736378788.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m. 2025-01-08T23:26:28.344Z,1736378788.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 228.699997 m, nav range: 173.091415 m, bearing: 3.449040 deg, approach rate: 0.773463 m/s, LOS rate: 0.085056 deg/s, cmd heading: 3.414382 deg, new cmd heading: 3.449040 deg. 2025-01-08T23:26:28.345Z,1736378788.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060197 target range: 228.699997 and range: 228.70 m. 2025-01-08T23:26:28.425Z,1736378788.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:28.426Z,1736378788.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008425 2025-01-08T23:26:28.676Z,1736378788.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:28.678Z,1736378788.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260102 2025-01-08T23:26:28.782Z,1736378788.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:28.795Z,1736378788.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m. 2025-01-08T23:26:28.798Z,1736378788.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 228.699997 m, nav range: 173.447311 m, bearing: 3.480075 deg, approach rate: 0.783094 m/s, LOS rate: 0.068148 deg/s, cmd heading: 3.449040 deg, new cmd heading: 3.480075 deg. 2025-01-08T23:26:28.798Z,1736378788.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060739 target range: 228.699997 and range: 228.70 m. 2025-01-08T23:26:28.928Z,1736378788.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:28.928Z,1736378788.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510604 2025-01-08T23:26:29.125Z,1736378789.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:29.133Z,1736378789.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m. 2025-01-08T23:26:29.136Z,1736378789.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 228.699997 m, nav range: 173.704117 m, bearing: 3.507896 deg, approach rate: 0.758993 m/s, LOS rate: 0.082103 deg/s, cmd heading: 3.480075 deg, new cmd heading: 3.507896 deg. 2025-01-08T23:26:29.137Z,1736378789.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061224 target range: 228.699997 and range: 228.70 m. 2025-01-08T23:26:29.181Z,1736378789.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:29.182Z,1736378789.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763814 2025-01-08T23:26:29.432Z,1736378789.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:29.432Z,1736378789.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014489 2025-01-08T23:26:29.567Z,1736378789.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:29.601Z,1736378789.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m. 2025-01-08T23:26:29.609Z,1736378789.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 228.699997 m, nav range: 174.027893 m, bearing: 3.538774 deg, approach rate: 0.691689 m/s, LOS rate: 0.065843 deg/s, cmd heading: 3.507896 deg, new cmd heading: 3.538774 deg. 2025-01-08T23:26:29.610Z,1736378789.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061763 target range: 228.699997 and range: 228.70 m. 2025-01-08T23:26:29.684Z,1736378789.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:29.686Z,1736378789.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267701 2025-01-08T23:26:29.928Z,1736378789.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:29.936Z,1736378789.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:29.936Z,1736378789.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518553 2025-01-08T23:26:29.955Z,1736378789.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:29.958Z,1736378789.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m. 2025-01-08T23:26:29.965Z,1736378789.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 228.699997 m, nav range: 174.288925 m, bearing: 3.569148 deg, approach rate: 0.731978 m/s, LOS rate: 0.085046 deg/s, cmd heading: 3.538774 deg, new cmd heading: 3.569148 deg. 2025-01-08T23:26:29.965Z,1736378789.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062293 target range: 228.699997 and range: 228.70 m. 2025-01-08T23:26:30.188Z,1736378790.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:30.189Z,1736378790.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770486 2025-01-08T23:26:30.337Z,1736378790.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:30.351Z,1736378790.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m. 2025-01-08T23:26:30.353Z,1736378790.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 228.699997 m, nav range: 174.580292 m, bearing: 3.606028 deg, approach rate: 0.741912 m/s, LOS rate: 0.093753 deg/s, cmd heading: 3.569148 deg, new cmd heading: 3.606028 deg. 2025-01-08T23:26:30.354Z,1736378790.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062937 target range: 228.699997 and range: 228.70 m. 2025-01-08T23:26:30.442Z,1736378790.442 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:30.444Z,1736378790.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025789 2025-01-08T23:26:30.692Z,1736378790.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:30.694Z,1736378790.694 [DAT](INFO): DAT read: Rx Time:23:26:29.3974 2025-01-08T23:26:30.695Z,1736378790.695 [DAT](INFO): Rx dataTimestamp_ set to:1736378790.694443 2025-01-08T23:26:30.696Z,1736378790.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277842 2025-01-08T23:26:30.812Z,1736378790.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:30.832Z,1736378790.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m. 2025-01-08T23:26:30.834Z,1736378790.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 228.699997 m, nav range: 174.901535 m, bearing: 3.651707 deg, approach rate: 0.667514 m/s, LOS rate: 0.094741 deg/s, cmd heading: 3.606028 deg, new cmd heading: 3.651707 deg. 2025-01-08T23:26:30.839Z,1736378790.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.063734 target range: 228.699997 and range: 228.70 m. 2025-01-08T23:26:30.944Z,1736378790.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:30.946Z,1736378790.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527698 2025-01-08T23:26:31.156Z,1736378791.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:31.166Z,1736378791.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m. 2025-01-08T23:26:31.168Z,1736378791.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 228.699997 m, nav range: 175.130875 m, bearing: 3.686840 deg, approach rate: 0.687133 m/s, LOS rate: 0.105128 deg/s, cmd heading: 3.651707 deg, new cmd heading: 3.686840 deg. 2025-01-08T23:26:31.169Z,1736378791.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064348 target range: 228.699997 and range: 228.70 m. 2025-01-08T23:26:31.209Z,1736378791.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:31.219Z,1736378791.219 [DAT](INFO): DAT read: 23:26:29.3974 LVL= 20720, 17649, 13602, 26947, AGC= 62, IDX= 470,-0.09,-2.182,-0.156,-1.880,-2.139, PHS= 0.045, 2.030, 0.256, RAW= 324.4, -23.6, CAL= 327.0, -35.0, ROT= 183.0, 35.0 2025-01-08T23:26:31.221Z,1736378791.221 [DAT](INFO): got valid direction response: 23:26:29.3974 LVL= 20720, 17649, 13602, 26947, AGC= 62, IDX= 470,-0.09,-2.182,-0.156,-1.880,-2.139, PHS= 0.045, 2.030, 0.256, RAW= 324.4, -23.6, CAL= 327.0, -35.0, ROT= 183.0, 35.0 2025-01-08T23:26:31.222Z,1736378791.222 [DAT](INFO): DAT read: Bearing 183.0, 35.0 (Local) 2025-01-08T23:26:31.238Z,1736378791.238 [DAT](INFO): Local bearing/azimuth received: Bearing 183.0, 35.0 (Local) 2025-01-08T23:26:31.273Z,1736378791.273 [DAT](INFO): DAT read: Range 10 to 50 : 231.5 m (Round-trip 308.7 ms) speed -0.9 m/s 2025-01-08T23:26:31.274Z,1736378791.274 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:26:31.275Z,1736378791.275 [DAT](INFO): direction in FSK: [0.542654,0.654683,-0.526229] 2025-01-08T23:26:31.279Z,1736378791.279 [DAT](INFO): publishing direction and range info 2025-01-08T23:26:31.283Z,1736378791.283 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:26:31.283Z,1736378791.283 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:26:31.283Z,1736378791.283 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:26:31.460Z,1736378791.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:31.461Z,1736378791.461 [DAT](INFO): DAT read: user:3212> 2025-01-08T23:26:31.461Z,1736378791.461 [DAT](INFO): DAT read: Tx time:23:26:30.7345 2025-01-08T23:26:31.462Z,1736378791.462 [DAT](INFO): Ping request sent. 2025-01-08T23:26:31.462Z,1736378791.462 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:26:31.462Z,1736378791.462 [DAT](INFO): publishing transmit ping time 2025-01-08T23:26:31.462Z,1736378791.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728 2025-01-08T23:26:31.589Z,1736378791.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:31.605Z,1736378791.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 231.500000 m, deltaT: 4.045541 s, deltaX: 2.800003 m, approachRate: 0.692121 m/s, rangeRepo size: 2 2025-01-08T23:26:31.624Z,1736378791.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 231.500000 m, bearing: 270.950827 deg, lat: 36.903255 deg, lon: -122.122243 deg, deltaT: 4.045541 s, deltaX: 2.800003 m, approachRate: 0.692121 m/s, posRepo size: 2 2025-01-08T23:26:31.625Z,1736378791.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:31.632Z,1736378791.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 164.971039 m, bearing: 271.282961 deg, approach rate: 0.000000 m/s, LOS rate: 0.105128 deg/s, cmd heading: 3.686840 deg, new cmd heading: 3.825005 deg. 2025-01-08T23:26:31.633Z,1736378791.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.066759 target range: 231.500000 and range: 231.50 m. 2025-01-08T23:26:31.713Z,1736378791.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:31.714Z,1736378791.714 [DAT](INFO): DAT read: TxSync time:23:26:30.7337 2025-01-08T23:26:31.715Z,1736378791.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253398 2025-01-08T23:26:31.949Z,1736378791.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:31.964Z,1736378791.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:31.965Z,1736378791.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502954 2025-01-08T23:26:31.966Z,1736378791.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:31.972Z,1736378791.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:31.980Z,1736378791.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 164.832031 m, bearing: 271.359230 deg, approach rate: -0.377928 m/s, LOS rate: 0.207533 deg/s, cmd heading: 3.825005 deg, new cmd heading: 4.054004 deg. 2025-01-08T23:26:31.981Z,1736378791.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070756 target range: 231.500000 and range: 231.50 m. 2025-01-08T23:26:32.216Z,1736378792.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:32.217Z,1736378792.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755133 2025-01-08T23:26:32.412Z,1736378792.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:32.469Z,1736378792.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:32.472Z,1736378792.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009882 2025-01-08T23:26:32.481Z,1736378792.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:32.488Z,1736378792.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 164.645462 m, bearing: 271.455503 deg, approach rate: -0.366236 m/s, LOS rate: 0.189197 deg/s, cmd heading: 4.054005 deg, new cmd heading: 4.343147 deg. 2025-01-08T23:26:32.489Z,1736378792.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075802 target range: 231.500000 and range: 231.50 m. 2025-01-08T23:26:32.722Z,1736378792.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:32.724Z,1736378792.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261848 2025-01-08T23:26:32.835Z,1736378792.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:32.844Z,1736378792.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:32.846Z,1736378792.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 164.455826 m, bearing: 271.541060 deg, approach rate: -0.523002 m/s, LOS rate: 0.236232 deg/s, cmd heading: 4.343147 deg, new cmd heading: 4.600113 deg. 2025-01-08T23:26:32.864Z,1736378792.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.080287 target range: 231.500000 and range: 231.50 m. 2025-01-08T23:26:32.972Z,1736378792.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:32.972Z,1736378792.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510642 2025-01-08T23:26:33.225Z,1736378793.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:33.226Z,1736378793.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763906 2025-01-08T23:26:33.287Z,1736378793.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:33.305Z,1736378793.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:33.317Z,1736378793.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 164.247177 m, bearing: 271.629289 deg, approach rate: -0.452464 m/s, LOS rate: 0.191572 deg/s, cmd heading: 4.600113 deg, new cmd heading: 4.865135 deg. 2025-01-08T23:26:33.318Z,1736378793.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084913 target range: 231.500000 and range: 231.50 m. 2025-01-08T23:26:33.477Z,1736378793.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:33.480Z,1736378793.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017367 2025-01-08T23:26:33.728Z,1736378793.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:33.728Z,1736378793.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266747 2025-01-08T23:26:33.731Z,1736378793.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:33.741Z,1736378793.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:33.744Z,1736378793.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 164.021622 m, bearing: 271.714014 deg, approach rate: -0.516612 m/s, LOS rate: 0.194321 deg/s, cmd heading: 4.865135 deg, new cmd heading: 5.119658 deg. 2025-01-08T23:26:33.745Z,1736378793.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089355 target range: 231.500000 and range: 231.50 m. 2025-01-08T23:26:33.980Z,1736378793.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:33.981Z,1736378793.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519159 2025-01-08T23:26:34.096Z,1736378794.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:34.102Z,1736378794.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:34.105Z,1736378794.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:34.108Z,1736378794.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 163.831741 m, bearing: 271.781261 deg, approach rate: -0.522795 m/s, LOS rate: 0.185364 deg/s, cmd heading: 5.119658 deg, new cmd heading: 5.321631 deg. 2025-01-08T23:26:34.109Z,1736378794.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092880 target range: 231.500000 and range: 231.50 m. 2025-01-08T23:26:34.233Z,1736378794.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:34.234Z,1736378794.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772148 2025-01-08T23:26:34.486Z,1736378794.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:34.488Z,1736378794.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025597 2025-01-08T23:26:34.566Z,1736378794.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:34.589Z,1736378794.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:34.597Z,1736378794.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 163.570297 m, bearing: 271.868241 deg, approach rate: -0.539861 m/s, LOS rate: 0.179894 deg/s, cmd heading: 5.321630 deg, new cmd heading: 5.582986 deg. 2025-01-08T23:26:34.598Z,1736378794.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097441 target range: 231.500000 and range: 231.50 m. 2025-01-08T23:26:34.736Z,1736378794.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:34.737Z,1736378794.737 [DAT](INFO): DAT read: Rx Time:23:26:33.4511 2025-01-08T23:26:34.737Z,1736378794.737 [DAT](INFO): Rx dataTimestamp_ set to:1736378794.736811 2025-01-08T23:26:34.738Z,1736378794.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275882 2025-01-08T23:26:34.883Z,1736378794.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:34.911Z,1736378794.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:34.913Z,1736378794.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 163.389542 m, bearing: 271.925089 deg, approach rate: -0.562074 m/s, LOS rate: 0.176968 deg/s, cmd heading: 5.582986 deg, new cmd heading: 5.753717 deg. 2025-01-08T23:26:34.914Z,1736378794.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100421 target range: 231.500000 and range: 231.50 m. 2025-01-08T23:26:34.989Z,1736378794.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:34.990Z,1736378794.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527846 2025-01-08T23:26:35.240Z,1736378795.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:35.242Z,1736378795.242 [DAT](INFO): DAT read: Range 10 to 50 : 234.3 m (Round-trip 312.5 ms) speed -0.1 m/s 2025-01-08T23:26:35.243Z,1736378795.243 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:26:35.243Z,1736378795.243 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:26:35.243Z,1736378795.243 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:26:35.244Z,1736378795.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:26:35.318Z,1736378795.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:35.337Z,1736378795.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 234.300003 m, deltaT: 4.030430 s, deltaX: 2.800003 m, approachRate: 0.694716 m/s, rangeRepo size: 3 2025-01-08T23:26:35.338Z,1736378795.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:35.342Z,1736378795.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 163.134598 m, bearing: 272.001053 deg, approach rate: -0.598413 m/s, LOS rate: 0.178584 deg/s, cmd heading: 5.753717 deg, new cmd heading: 5.981964 deg. 2025-01-08T23:26:35.343Z,1736378795.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104405 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:35.495Z,1736378795.495 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:35.497Z,1736378795.497 [DAT](INFO): DAT read: user:3213> 2025-01-08T23:26:35.500Z,1736378795.500 [DAT](INFO): DAT read: Tx time:23:26:34.7345 2025-01-08T23:26:35.502Z,1736378795.502 [DAT](INFO): Ping request sent. 2025-01-08T23:26:35.502Z,1736378795.502 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:26:35.502Z,1736378795.502 [DAT](INFO): publishing transmit ping time 2025-01-08T23:26:35.505Z,1736378795.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003233 2025-01-08T23:26:35.732Z,1736378795.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:35.744Z,1736378795.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:35.745Z,1736378795.745 [DAT](INFO): DAT read: TxSync time:23:26:34.7337 2025-01-08T23:26:35.745Z,1736378795.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243785 2025-01-08T23:26:35.768Z,1736378795.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:35.770Z,1736378795.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 162.884140 m, bearing: 272.073349 deg, approach rate: -0.580708 m/s, LOS rate: 0.167883 deg/s, cmd heading: 5.981964 deg, new cmd heading: 6.199185 deg. 2025-01-08T23:26:35.776Z,1736378795.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108196 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:35.997Z,1736378795.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:35.998Z,1736378795.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496553 2025-01-08T23:26:36.096Z,1736378796.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:36.103Z,1736378796.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:36.105Z,1736378796.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:36.109Z,1736378796.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 162.653168 m, bearing: 272.132789 deg, approach rate: -0.684872 m/s, LOS rate: 0.176498 deg/s, cmd heading: 6.199185 deg, new cmd heading: 6.377756 deg. 2025-01-08T23:26:36.110Z,1736378796.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111313 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:36.248Z,1736378796.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:36.249Z,1736378796.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747141 2025-01-08T23:26:36.501Z,1736378796.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:36.504Z,1736378796.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001548 2025-01-08T23:26:36.556Z,1736378796.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:26:36.602Z,1736378796.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:36.628Z,1736378796.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:36.630Z,1736378796.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 162.324966 m, bearing: 272.214687 deg, approach rate: -0.648199 m/s, LOS rate: 0.162077 deg/s, cmd heading: 6.377756 deg, new cmd heading: 6.623947 deg. 2025-01-08T23:26:36.636Z,1736378796.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115610 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:36.752Z,1736378796.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:36.752Z,1736378796.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250790 2025-01-08T23:26:37.004Z,1736378797.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:37.004Z,1736378797.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503001 2025-01-08T23:26:37.099Z,1736378797.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:37.120Z,1736378797.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:37.122Z,1736378797.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 161.990570 m, bearing: 272.288503 deg, approach rate: -0.675034 m/s, LOS rate: 0.149318 deg/s, cmd heading: 6.623946 deg, new cmd heading: 6.845851 deg. 2025-01-08T23:26:37.128Z,1736378797.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119483 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:37.256Z,1736378797.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:37.257Z,1736378797.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754869 2025-01-08T23:26:37.509Z,1736378797.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:37.512Z,1736378797.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010214 2025-01-08T23:26:37.560Z,1736378797.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:26:37.603Z,1736378797.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:37.625Z,1736378797.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:37.632Z,1736378797.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 161.653183 m, bearing: 272.364500 deg, approach rate: -0.651055 m/s, LOS rate: 0.146957 deg/s, cmd heading: 6.845851 deg, new cmd heading: 7.074315 deg. 2025-01-08T23:26:37.633Z,1736378797.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.123470 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:37.760Z,1736378797.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:37.761Z,1736378797.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259641 2025-01-08T23:26:37.932Z,1736378797.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:37.945Z,1736378797.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:37.948Z,1736378797.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 161.428848 m, bearing: 272.411975 deg, approach rate: -0.701024 m/s, LOS rate: 0.148560 deg/s, cmd heading: 7.074315 deg, new cmd heading: 7.216937 deg. 2025-01-08T23:26:37.949Z,1736378797.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125959 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:38.012Z,1736378798.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:38.013Z,1736378798.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511961 2025-01-08T23:26:38.264Z,1736378798.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:38.265Z,1736378798.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763077 2025-01-08T23:26:38.345Z,1736378798.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:38.352Z,1736378798.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:38.354Z,1736378798.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:38.358Z,1736378798.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 161.142792 m, bearing: 272.468753 deg, approach rate: -0.699738 m/s, LOS rate: 0.139135 deg/s, cmd heading: 7.216938 deg, new cmd heading: 7.387574 deg. 2025-01-08T23:26:38.380Z,1736378798.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128937 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:38.519Z,1736378798.519 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:38.525Z,1736378798.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023039 2025-01-08T23:26:38.760Z,1736378798.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:38.768Z,1736378798.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:38.769Z,1736378798.769 [DAT](INFO): DAT read: Rx Time:23:26:37.4538 2025-01-08T23:26:38.769Z,1736378798.769 [DAT](INFO): Rx dataTimestamp_ set to:1736378798.768794 2025-01-08T23:26:38.770Z,1736378798.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268101 2025-01-08T23:26:38.772Z,1736378798.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:38.792Z,1736378798.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 160.865173 m, bearing: 272.524391 deg, approach rate: -0.664929 m/s, LOS rate: 0.133491 deg/s, cmd heading: 7.387574 deg, new cmd heading: 7.554777 deg. 2025-01-08T23:26:38.793Z,1736378798.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.131856 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:39.021Z,1736378799.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:39.024Z,1736378799.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521186 2025-01-08T23:26:39.167Z,1736378799.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:39.177Z,1736378799.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:39.180Z,1736378799.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 160.592484 m, bearing: 272.579262 deg, approach rate: -0.672589 m/s, LOS rate: 0.135570 deg/s, cmd heading: 7.554777 deg, new cmd heading: 7.719671 deg. 2025-01-08T23:26:39.181Z,1736378799.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.134734 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:39.272Z,1736378799.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:39.273Z,1736378799.273 [DAT](INFO): DAT read: $Error in header 2025-01-08T23:26:39.273Z,1736378799.273 [DAT](INFO): Received a bad header 2025-01-08T23:26:39.288Z,1736378799.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786303 2025-01-08T23:26:39.525Z,1736378799.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:39.528Z,1736378799.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025455 2025-01-08T23:26:39.618Z,1736378799.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:39.629Z,1736378799.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:39.652Z,1736378799.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 160.296402 m, bearing: 272.636783 deg, approach rate: -0.655214 m/s, LOS rate: 0.127526 deg/s, cmd heading: 7.719670 deg, new cmd heading: 7.892551 deg. 2025-01-08T23:26:39.653Z,1736378799.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.137751 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:39.776Z,1736378799.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:39.777Z,1736378799.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275830 2025-01-08T23:26:39.945Z,1736378799.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:39.973Z,1736378799.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:39.977Z,1736378799.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 160.079269 m, bearing: 272.676093 deg, approach rate: -0.630831 m/s, LOS rate: 0.114361 deg/s, cmd heading: 7.892551 deg, new cmd heading: 8.010640 deg. 2025-01-08T23:26:39.978Z,1736378799.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.139812 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:40.028Z,1736378800.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:40.030Z,1736378800.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.528586 2025-01-08T23:26:40.280Z,1736378800.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:40.280Z,1736378800.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778877 2025-01-08T23:26:40.356Z,1736378800.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:40.364Z,1736378800.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:40.366Z,1736378800.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:40.369Z,1736378800.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 159.801529 m, bearing: 272.722798 deg, approach rate: -0.706724 m/s, LOS rate: 0.119050 deg/s, cmd heading: 8.010640 deg, new cmd heading: 8.150999 deg. 2025-01-08T23:26:40.370Z,1736378800.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.142262 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:40.534Z,1736378800.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:40.536Z,1736378800.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034343 2025-01-08T23:26:40.773Z,1736378800.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:40.782Z,1736378800.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:40.784Z,1736378800.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:40.785Z,1736378800.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.283179 2025-01-08T23:26:40.787Z,1736378800.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 159.539612 m, bearing: 272.766814 deg, approach rate: -0.629295 m/s, LOS rate: 0.105928 deg/s, cmd heading: 8.150998 deg, new cmd heading: 8.283262 deg. 2025-01-08T23:26:40.804Z,1736378800.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.144570 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:41.036Z,1736378801.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:41.036Z,1736378801.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.534978 2025-01-08T23:26:41.177Z,1736378801.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:41.201Z,1736378801.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:41.209Z,1736378801.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 159.285934 m, bearing: 272.809595 deg, approach rate: -0.605138 m/s, LOS rate: 0.102216 deg/s, cmd heading: 8.283262 deg, new cmd heading: 8.411810 deg. 2025-01-08T23:26:41.210Z,1736378801.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146814 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:41.289Z,1736378801.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:41.290Z,1736378801.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787924 2025-01-08T23:26:41.542Z,1736378801.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:41.550Z,1736378801.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048405 2025-01-08T23:26:41.646Z,1736378801.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:41.682Z,1736378801.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:41.688Z,1736378801.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 158.998367 m, bearing: 272.851045 deg, approach rate: -0.598746 m/s, LOS rate: 0.086459 deg/s, cmd heading: 8.411810 deg, new cmd heading: 8.536383 deg. 2025-01-08T23:26:41.689Z,1736378801.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.148988 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:41.792Z,1736378801.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:41.794Z,1736378801.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291609 2025-01-08T23:26:42.002Z,1736378802.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:42.013Z,1736378802.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:42.016Z,1736378802.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 158.778351 m, bearing: 272.880082 deg, approach rate: -0.663396 m/s, LOS rate: 0.087675 deg/s, cmd heading: 8.536383 deg, new cmd heading: 8.623616 deg. 2025-01-08T23:26:42.017Z,1736378802.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.150510 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:42.045Z,1736378802.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:42.047Z,1736378802.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.544878 2025-01-08T23:26:42.296Z,1736378802.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:42.297Z,1736378802.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795081 2025-01-08T23:26:42.393Z,1736378802.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:42.401Z,1736378802.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:42.403Z,1736378802.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:42.405Z,1736378802.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 158.532852 m, bearing: 272.909513 deg, approach rate: -0.630496 m/s, LOS rate: 0.075701 deg/s, cmd heading: 8.623616 deg, new cmd heading: 8.712044 deg. 2025-01-08T23:26:42.407Z,1736378802.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.152054 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:42.549Z,1736378802.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:42.550Z,1736378802.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048477 2025-01-08T23:26:42.800Z,1736378802.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:42.800Z,1736378802.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.298876 2025-01-08T23:26:42.821Z,1736378802.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:42.838Z,1736378802.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:42.845Z,1736378802.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 158.279388 m, bearing: 272.941110 deg, approach rate: -0.582223 m/s, LOS rate: 0.072696 deg/s, cmd heading: 8.712044 deg, new cmd heading: 8.806986 deg. 2025-01-08T23:26:42.846Z,1736378802.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.153711 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:43.053Z,1736378803.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:43.054Z,1736378803.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552579 2025-01-08T23:26:43.182Z,1736378803.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:43.192Z,1736378803.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:43.194Z,1736378803.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 158.061646 m, bearing: 272.963004 deg, approach rate: -0.616256 m/s, LOS rate: 0.062051 deg/s, cmd heading: 8.806986 deg, new cmd heading: 8.872760 deg. 2025-01-08T23:26:43.195Z,1736378803.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.154859 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:43.304Z,1736378803.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:43.304Z,1736378803.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802958 2025-01-08T23:26:43.556Z,1736378803.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:43.557Z,1736378803.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.054861 2025-01-08T23:26:43.687Z,1736378803.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:43.696Z,1736378803.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:43.711Z,1736378803.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 157.757111 m, bearing: 272.988288 deg, approach rate: -0.602831 m/s, LOS rate: 0.050146 deg/s, cmd heading: 8.872760 deg, new cmd heading: 8.948757 deg. 2025-01-08T23:26:43.712Z,1736378803.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.156185 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:43.808Z,1736378803.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:43.809Z,1736378803.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307272 2025-01-08T23:26:44.000Z,1736378804.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:44.009Z,1736378804.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:44.015Z,1736378804.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 157.566757 m, bearing: 273.001978 deg, approach rate: -0.609882 m/s, LOS rate: 0.043917 deg/s, cmd heading: 8.948757 deg, new cmd heading: 8.989878 deg. 2025-01-08T23:26:44.016Z,1736378804.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.156903 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:44.061Z,1736378804.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:44.062Z,1736378804.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560163 2025-01-08T23:26:44.312Z,1736378804.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:44.312Z,1736378804.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810919 2025-01-08T23:26:44.412Z,1736378804.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:44.422Z,1736378804.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:44.429Z,1736378804.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:44.436Z,1736378804.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 157.315659 m, bearing: 273.017258 deg, approach rate: -0.597685 m/s, LOS rate: 0.036427 deg/s, cmd heading: 8.989878 deg, new cmd heading: 9.035789 deg. 2025-01-08T23:26:44.437Z,1736378804.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157704 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:44.564Z,1736378804.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:44.564Z,1736378804.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.062952 2025-01-08T23:26:44.816Z,1736378804.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:44.816Z,1736378804.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314994 2025-01-08T23:26:44.826Z,1736378804.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:44.854Z,1736378804.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:44.861Z,1736378804.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 157.057297 m, bearing: 273.029196 deg, approach rate: -0.607350 m/s, LOS rate: 0.028110 deg/s, cmd heading: 9.035789 deg, new cmd heading: 9.071663 deg. 2025-01-08T23:26:44.862Z,1736378804.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158330 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:45.068Z,1736378805.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:45.068Z,1736378805.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.566795 2025-01-08T23:26:45.213Z,1736378805.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:45.221Z,1736378805.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:45.225Z,1736378805.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 156.814667 m, bearing: 273.037867 deg, approach rate: -0.660561 m/s, LOS rate: 0.023644 deg/s, cmd heading: 9.071663 deg, new cmd heading: 9.097717 deg. 2025-01-08T23:26:45.226Z,1736378805.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158785 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:45.323Z,1736378805.323 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:45.324Z,1736378805.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822381 2025-01-08T23:26:45.577Z,1736378805.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:45.577Z,1736378805.577 [DAT](INFO): Reached modem response timeout 2025-01-08T23:26:45.577Z,1736378805.577 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:26:45.578Z,1736378805.578 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:26:45.739Z,1736378805.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:45.757Z,1736378805.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:45.764Z,1736378805.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 156.485718 m, bearing: 273.045004 deg, approach rate: -0.614602 m/s, LOS rate: 0.013362 deg/s, cmd heading: 9.097716 deg, new cmd heading: 9.119172 deg. 2025-01-08T23:26:45.765Z,1736378805.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.159160 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:45.828Z,1736378805.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:45.829Z,1736378805.829 [DAT](INFO): DAT read: 2025-01-08T23:26:45.830Z,1736378805.830 [DAT](INFO): Reached modem response timeout 2025-01-08T23:26:45.830Z,1736378805.830 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:26:45.830Z,1736378805.830 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:26:46.055Z,1736378806.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:46.078Z,1736378806.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:46.080Z,1736378806.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:46.080Z,1736378806.080 [DAT](INFO): Reached modem response timeout 2025-01-08T23:26:46.080Z,1736378806.080 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:26:46.081Z,1736378806.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:26:46.085Z,1736378806.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 156.282471 m, bearing: 273.047320 deg, approach rate: -0.631938 m/s, LOS rate: 0.007211 deg/s, cmd heading: 9.119172 deg, new cmd heading: 9.126129 deg. 2025-01-08T23:26:46.086Z,1736378806.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.159281 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:46.332Z,1736378806.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:46.333Z,1736378806.333 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:26:46.333Z,1736378806.333 [DAT](INFO): response not received 2025-01-08T23:26:46.333Z,1736378806.333 [DAT](INFO): DAT read: user:3215> 2025-01-08T23:26:46.334Z,1736378806.334 [DAT](INFO): DAT read: Tx time:23:26:45.6846 2025-01-08T23:26:46.334Z,1736378806.334 [DAT](INFO): Ping request sent. 2025-01-08T23:26:46.334Z,1736378806.334 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:26:46.335Z,1736378806.335 [DAT](INFO): publishing transmit ping time 2025-01-08T23:26:46.335Z,1736378806.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000839 2025-01-08T23:26:46.459Z,1736378806.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:46.496Z,1736378806.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:46.498Z,1736378806.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:46.505Z,1736378806.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 156.026917 m, bearing: 273.047565 deg, approach rate: -0.608493 m/s, LOS rate: 0.000584 deg/s, cmd heading: 9.126129 deg, new cmd heading: 9.126865 deg. 2025-01-08T23:26:46.506Z,1736378806.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.159294 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:46.585Z,1736378806.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:46.586Z,1736378806.586 [DAT](INFO): DAT read: TxSync time:23:26:45.6838 2025-01-08T23:26:46.587Z,1736378806.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252849 2025-01-08T23:26:46.836Z,1736378806.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:46.836Z,1736378806.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501807 2025-01-08T23:26:46.893Z,1736378806.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:46.910Z,1736378806.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:46.924Z,1736378806.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 155.748611 m, bearing: 273.044301 deg, approach rate: -0.676501 m/s, LOS rate: -0.007949 deg/s, cmd heading: 9.126865 deg, new cmd heading: 9.117054 deg. 2025-01-08T23:26:46.925Z,1736378806.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.159123 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:47.089Z,1736378807.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:47.090Z,1736378807.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755087 2025-01-08T23:26:47.262Z,1736378807.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:47.278Z,1736378807.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:47.285Z,1736378807.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 155.512253 m, bearing: 273.039292 deg, approach rate: -0.641679 m/s, LOS rate: -0.013621 deg/s, cmd heading: 9.117054 deg, new cmd heading: 9.102003 deg. 2025-01-08T23:26:47.286Z,1736378807.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158860 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:47.341Z,1736378807.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:47.342Z,1736378807.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007420 2025-01-08T23:26:47.592Z,1736378807.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:47.596Z,1736378807.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260615 2025-01-08T23:26:47.794Z,1736378807.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:47.816Z,1736378807.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:47.818Z,1736378807.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 155.171432 m, bearing: 273.035109 deg, approach rate: -0.638946 m/s, LOS rate: -0.007859 deg/s, cmd heading: 9.102003 deg, new cmd heading: 9.089427 deg. 2025-01-08T23:26:47.824Z,1736378807.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158640 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:47.844Z,1736378807.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:47.844Z,1736378807.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510047 2025-01-08T23:26:48.096Z,1736378808.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:48.096Z,1736378808.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761978 2025-01-08T23:26:48.248Z,1736378808.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:48.260Z,1736378808.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:48.263Z,1736378808.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 154.883148 m, bearing: 273.022921 deg, approach rate: -0.642594 m/s, LOS rate: -0.027216 deg/s, cmd heading: 9.089427 deg, new cmd heading: 9.052797 deg. 2025-01-08T23:26:48.268Z,1736378808.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158001 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:48.348Z,1736378808.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:48.348Z,1736378808.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014023 2025-01-08T23:26:48.601Z,1736378808.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:48.602Z,1736378808.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267735 2025-01-08T23:26:48.728Z,1736378808.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:48.751Z,1736378808.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:48.758Z,1736378808.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:48.765Z,1736378808.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 154.581802 m, bearing: 273.006784 deg, approach rate: -0.605972 m/s, LOS rate: -0.032513 deg/s, cmd heading: 9.052797 deg, new cmd heading: 9.004292 deg. 2025-01-08T23:26:48.766Z,1736378808.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157155 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:48.852Z,1736378808.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:48.852Z,1736378808.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517964 2025-01-08T23:26:49.104Z,1736378809.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:49.104Z,1736378809.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770045 2025-01-08T23:26:49.122Z,1736378809.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:49.139Z,1736378809.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:49.146Z,1736378809.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 154.327072 m, bearing: 272.990952 deg, approach rate: -0.667476 m/s, LOS rate: -0.041554 deg/s, cmd heading: 9.004291 deg, new cmd heading: 8.956717 deg. 2025-01-08T23:26:49.147Z,1736378809.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.156324 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:49.356Z,1736378809.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:49.357Z,1736378809.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021966 2025-01-08T23:26:49.494Z,1736378809.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:49.515Z,1736378809.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:49.518Z,1736378809.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 154.091019 m, bearing: 272.973658 deg, approach rate: -0.634090 m/s, LOS rate: -0.046526 deg/s, cmd heading: 8.956716 deg, new cmd heading: 8.904755 deg. 2025-01-08T23:26:49.524Z,1736378809.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.155417 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:49.608Z,1736378809.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:49.609Z,1736378809.609 [DAT](INFO): DAT read: Rx Time:23:26:48.3562 2025-01-08T23:26:49.609Z,1736378809.609 [DAT](INFO): Rx dataTimestamp_ set to:1736378809.608973 2025-01-08T23:26:49.610Z,1736378809.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275354 2025-01-08T23:26:49.860Z,1736378809.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:49.862Z,1736378809.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527446 2025-01-08T23:26:49.967Z,1736378809.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:49.989Z,1736378809.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.50 m. 2025-01-08T23:26:49.999Z,1736378809.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.500000 m, nav range: 153.791763 m, bearing: 272.952896 deg, approach rate: -0.626242 m/s, LOS rate: -0.043532 deg/s, cmd heading: 8.904755 deg, new cmd heading: 8.842348 deg. 2025-01-08T23:26:50.016Z,1736378810.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.154328 target range: 231.500000 and range: 234.30 m. 2025-01-08T23:26:50.113Z,1736378810.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:50.123Z,1736378810.123 [DAT](INFO): DAT read: 23:26:48.3562 LVL= 20048, 28497, 27634, 32755, AGC= 64, IDX= 446, 0.27,-3.012, 2.412, 0.913, 1.996, PHS= 1.363, 0.463,-1.086, RAW= 51.3, -6.9, CAL= 56.5, -12.7, ROT= 93.5, 12.7 2025-01-08T23:26:50.125Z,1736378810.125 [DAT](INFO): got valid direction response: 23:26:48.3562 LVL= 20048, 28497, 27634, 32755, AGC= 64, IDX= 446, 0.27,-3.012, 2.412, 0.913, 1.996, PHS= 1.363, 0.463,-1.086, RAW= 51.3, -6.9, CAL= 56.5, -12.7, ROT= 93.5, 12.7 2025-01-08T23:26:50.136Z,1736378810.136 [DAT](INFO): DAT read: Range 10 to 50 : 200.4 m (Round-trip 267.3 ms) speed -0.3 m/s 2025-01-08T23:26:50.138Z,1736378810.138 [DAT](INFO): DAT read: user:3216> 2025-01-08T23:26:50.139Z,1736378810.139 [DAT](INFO): DAT read: Tx time:23:26:49.4347 2025-01-08T23:26:50.146Z,1736378810.146 [DAT](INFO): Ping request sent. 2025-01-08T23:26:50.147Z,1736378810.147 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:26:50.151Z,1736378810.151 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:26:50.152Z,1736378810.152 [DAT](INFO): direction in FSK: [0.117423,0.674838,0.728564] 2025-01-08T23:26:50.153Z,1736378810.153 [DAT](INFO): publishing transmit ping time 2025-01-08T23:26:50.153Z,1736378810.153 [DAT](INFO): publishing direction and range info 2025-01-08T23:26:50.161Z,1736378810.161 [DAT](INFO): publishing transmit ping time 2025-01-08T23:26:50.161Z,1736378810.161 [DAT](INFO): publishing direction and range info 2025-01-08T23:26:50.353Z,1736378810.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:50.364Z,1736378810.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:50.365Z,1736378810.365 [DAT](INFO): DAT read: TxSync time:23:26:49.4339 2025-01-08T23:26:50.393Z,1736378810.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 200.399994 m, deltaT: 14.872740 s, deltaX: -33.900009 m, approachRate: -2.279339 m/s, rangeRepo size: 4 2025-01-08T23:26:50.395Z,1736378810.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 200.399994 m, bearing: 16.315480 deg, lat: 36.903255 deg, lon: -122.122243 deg, deltaT: 18.903170 s, deltaX: -31.100006 m, approachRate: -1.645227 m/s, posRepo size: 3 2025-01-08T23:26:50.406Z,1736378810.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.40 m. 2025-01-08T23:26:50.417Z,1736378810.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.399994 m, nav range: 153.550262 m, bearing: 272.930865 deg, approach rate: 0.000000 m/s, LOS rate: -0.043532 deg/s, cmd heading: 8.842348 deg, new cmd heading: 8.790830 deg. 2025-01-08T23:26:50.418Z,1736378810.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.153429 target range: 200.399994 and range: 200.40 m. 2025-01-08T23:26:50.619Z,1736378810.619 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:50.828Z,1736378810.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:50.839Z,1736378810.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:50.845Z,1736378810.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.40 m. 2025-01-08T23:26:50.852Z,1736378810.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.399994 m, nav range: 153.265244 m, bearing: 272.903980 deg, approach rate: -0.617360 m/s, LOS rate: -0.058341 deg/s, cmd heading: 8.790830 deg, new cmd heading: 8.710026 deg. 2025-01-08T23:26:50.853Z,1736378810.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.152019 target range: 200.399994 and range: 200.40 m. 2025-01-08T23:26:50.869Z,1736378810.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:50.869Z,1736378810.869 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:26:50.869Z,1736378810.869 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:26:50.870Z,1736378810.870 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:26:51.120Z,1736378811.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:51.120Z,1736378811.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974464 2025-01-08T23:26:51.158Z,1736378811.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:51.175Z,1736378811.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.40 m. 2025-01-08T23:26:51.181Z,1736378811.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.399994 m, nav range: 153.069290 m, bearing: 272.883564 deg, approach rate: -0.594549 m/s, LOS rate: -0.062024 deg/s, cmd heading: 8.710026 deg, new cmd heading: 8.648700 deg. 2025-01-08T23:26:51.182Z,1736378811.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.150948 target range: 200.399994 and range: 200.40 m. 2025-01-08T23:26:51.372Z,1736378811.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:51.372Z,1736378811.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226527 2025-01-08T23:26:51.562Z,1736378811.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:51.578Z,1736378811.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.40 m. 2025-01-08T23:26:51.585Z,1736378811.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.399994 m, nav range: 152.830124 m, bearing: 272.855999 deg, approach rate: -0.592397 m/s, LOS rate: -0.068383 deg/s, cmd heading: 8.648701 deg, new cmd heading: 8.565876 deg. 2025-01-08T23:26:51.586Z,1736378811.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.149503 target range: 200.399994 and range: 200.40 m. 2025-01-08T23:26:51.625Z,1736378811.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:51.626Z,1736378811.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479682 2025-01-08T23:26:51.876Z,1736378811.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:51.876Z,1736378811.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730575 2025-01-08T23:26:51.998Z,1736378811.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:52.036Z,1736378812.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.40 m. 2025-01-08T23:26:52.039Z,1736378812.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.399994 m, nav range: 152.582504 m, bearing: 272.826776 deg, approach rate: -0.541052 m/s, LOS rate: -0.063956 deg/s, cmd heading: 8.565877 deg, new cmd heading: 8.478066 deg. 2025-01-08T23:26:52.044Z,1736378812.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.147970 target range: 200.399994 and range: 200.40 m. 2025-01-08T23:26:52.130Z,1736378812.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:52.132Z,1736378812.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985151 2025-01-08T23:26:52.365Z,1736378812.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:52.380Z,1736378812.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:52.380Z,1736378812.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234586 2025-01-08T23:26:52.389Z,1736378812.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.40 m. 2025-01-08T23:26:52.401Z,1736378812.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.399994 m, nav range: 152.376053 m, bearing: 272.799774 deg, approach rate: -0.584462 m/s, LOS rate: -0.076547 deg/s, cmd heading: 8.478066 deg, new cmd heading: 8.396949 deg. 2025-01-08T23:26:52.402Z,1736378812.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146554 target range: 200.399994 and range: 200.40 m. 2025-01-08T23:26:52.632Z,1736378812.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:52.632Z,1736378812.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486563 2025-01-08T23:26:52.858Z,1736378812.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:52.872Z,1736378812.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:52.880Z,1736378812.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.40 m. 2025-01-08T23:26:52.882Z,1736378812.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.399994 m, nav range: 152.106781 m, bearing: 272.760924 deg, approach rate: -0.554263 m/s, LOS rate: -0.080109 deg/s, cmd heading: 8.396949 deg, new cmd heading: 8.280193 deg. 2025-01-08T23:26:52.884Z,1736378812.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:52.885Z,1736378812.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739002 2025-01-08T23:26:52.887Z,1736378812.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.144517 target range: 200.399994 and range: 200.40 m. 2025-01-08T23:26:53.136Z,1736378813.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:53.136Z,1736378813.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990583 2025-01-08T23:26:53.174Z,1736378813.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:53.196Z,1736378813.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.40 m. 2025-01-08T23:26:53.199Z,1736378813.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.399994 m, nav range: 151.935349 m, bearing: 272.734031 deg, approach rate: -0.533916 m/s, LOS rate: -0.083851 deg/s, cmd heading: 8.280193 deg, new cmd heading: 8.199423 deg. 2025-01-08T23:26:53.204Z,1736378813.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.143107 target range: 200.399994 and range: 200.40 m. 2025-01-08T23:26:53.388Z,1736378813.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:53.388Z,1736378813.388 [DAT](INFO): DAT read: Rx Time:23:26:52.1073 2025-01-08T23:26:53.389Z,1736378813.389 [DAT](INFO): Rx dataTimestamp_ set to:1736378813.388664 2025-01-08T23:26:53.389Z,1736378813.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243596 2025-01-08T23:26:53.574Z,1736378813.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:53.597Z,1736378813.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.40 m. 2025-01-08T23:26:53.608Z,1736378813.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.399994 m, nav range: 151.721283 m, bearing: 272.697688 deg, approach rate: -0.534740 m/s, LOS rate: -0.090913 deg/s, cmd heading: 8.199424 deg, new cmd heading: 8.090242 deg. 2025-01-08T23:26:53.610Z,1736378813.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.141201 target range: 200.399994 and range: 200.40 m. 2025-01-08T23:26:53.640Z,1736378813.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:53.642Z,1736378813.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496109 2025-01-08T23:26:53.892Z,1736378813.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:53.900Z,1736378813.900 [DAT](INFO): DAT read: 23:26:52.1073 LVL= 21056, 28769, 28274, 32755, AGC= 64, IDX= 441, 0.09, 2.404, 1.716, 0.455, 1.366, PHS= 1.126, 0.397,-0.914, RAW= 50.6, -6.9, CAL= 55.6, -12.5, ROT= 94.4, 12.5 2025-01-08T23:26:53.902Z,1736378813.902 [DAT](INFO): got valid direction response: 23:26:52.1073 LVL= 21056, 28769, 28274, 32755, AGC= 64, IDX= 441, 0.09, 2.404, 1.716, 0.455, 1.366, PHS= 1.126, 0.397,-0.914, RAW= 50.6, -6.9, CAL= 55.6, -12.5, ROT= 94.4, 12.5 2025-01-08T23:26:53.904Z,1736378813.904 [DAT](INFO): DAT read: Bearing 94.4, 12.5 (Local) 2025-01-08T23:26:53.905Z,1736378813.905 [DAT](INFO): Local bearing/azimuth received: Bearing 94.4, 12.5 (Local) 2025-01-08T23:26:53.907Z,1736378813.907 [DAT](INFO): DAT read: Range 10 to 50 : 201.3 m (Round-trip 268.4 ms) speed -0.2 m/s 2025-01-08T23:26:53.909Z,1736378813.909 [DAT](INFO): DAT read: user:3217> 2025-01-08T23:26:53.910Z,1736378813.910 [DAT](INFO): DAT read: Tx time:23:26:53.2347 2025-01-08T23:26:53.910Z,1736378813.910 [DAT](INFO): Ping request sent. 2025-01-08T23:26:53.911Z,1736378813.911 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:26:53.911Z,1736378813.911 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:26:53.920Z,1736378813.920 [DAT](INFO): direction in FSK: [0.116991,0.682748,0.721227] 2025-01-08T23:26:53.920Z,1736378813.920 [DAT](INFO): publishing transmit ping time 2025-01-08T23:26:53.920Z,1736378813.920 [DAT](INFO): publishing direction and range info 2025-01-08T23:26:53.928Z,1736378813.928 [DAT](INFO): publishing transmit ping time 2025-01-08T23:26:53.928Z,1736378813.928 [DAT](INFO): publishing direction and range info 2025-01-08T23:26:54.048Z,1736378814.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:54.092Z,1736378814.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 201.300003 m, deltaT: 3.779339 s, deltaX: 0.900009 m, approachRate: 0.238139 m/s, rangeRepo size: 4 2025-01-08T23:26:54.094Z,1736378814.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 201.300003 m, bearing: 31.432359 deg, lat: 36.903255 deg, lon: -122.122243 deg, deltaT: 3.779339 s, deltaX: 0.900009 m, approachRate: 0.238139 m/s, posRepo size: 4 2025-01-08T23:26:54.103Z,1736378814.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m. 2025-01-08T23:26:54.106Z,1736378814.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.300003 m, nav range: 151.478317 m, bearing: 272.647483 deg, approach rate: 0.000000 m/s, LOS rate: -0.090913 deg/s, cmd heading: 8.090242 deg, new cmd heading: 7.958648 deg. 2025-01-08T23:26:54.107Z,1736378814.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.138905 target range: 201.300003 and range: 201.30 m. 2025-01-08T23:26:54.145Z,1736378814.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:54.146Z,1736378814.146 [DAT](INFO): DAT read: TxSync time:23:26:53.2339 2025-01-08T23:26:54.396Z,1736378814.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:54.488Z,1736378814.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:54.502Z,1736378814.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m. 2025-01-08T23:26:54.510Z,1736378814.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.300003 m, nav range: 151.259567 m, bearing: 272.596449 deg, approach rate: -0.516940 m/s, LOS rate: -0.120777 deg/s, cmd heading: 7.958648 deg, new cmd heading: 7.805324 deg. 2025-01-08T23:26:54.511Z,1736378814.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.136229 target range: 201.300003 and range: 201.30 m. 2025-01-08T23:26:54.649Z,1736378814.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:54.900Z,1736378814.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:54.914Z,1736378814.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:54.929Z,1736378814.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:54.931Z,1736378814.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m. 2025-01-08T23:26:54.938Z,1736378814.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.300003 m, nav range: 151.055481 m, bearing: 272.547310 deg, approach rate: -0.476315 m/s, LOS rate: -0.114840 deg/s, cmd heading: 7.805323 deg, new cmd heading: 7.657707 deg. 2025-01-08T23:26:54.939Z,1736378814.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.133652 target range: 201.300003 and range: 201.30 m. 2025-01-08T23:26:55.152Z,1736378815.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:55.153Z,1736378815.153 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:26:55.153Z,1736378815.153 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:26:55.153Z,1736378815.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:26:55.273Z,1736378815.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:55.296Z,1736378815.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m. 2025-01-08T23:26:55.298Z,1736378815.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.300003 m, nav range: 150.886002 m, bearing: 272.504132 deg, approach rate: -0.470012 m/s, LOS rate: -0.119878 deg/s, cmd heading: 7.657708 deg, new cmd heading: 7.528029 deg. 2025-01-08T23:26:55.303Z,1736378815.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.131389 target range: 201.300003 and range: 201.30 m. 2025-01-08T23:26:55.404Z,1736378815.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:55.405Z,1736378815.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494436 2025-01-08T23:26:55.656Z,1736378815.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:55.658Z,1736378815.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746930 2025-01-08T23:26:55.680Z,1736378815.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:55.698Z,1736378815.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m. 2025-01-08T23:26:55.705Z,1736378815.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.300003 m, nav range: 150.697815 m, bearing: 272.452946 deg, approach rate: -0.462319 m/s, LOS rate: -0.125906 deg/s, cmd heading: 7.528030 deg, new cmd heading: 7.374281 deg. 2025-01-08T23:26:55.707Z,1736378815.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128705 target range: 201.300003 and range: 201.30 m. 2025-01-08T23:26:55.909Z,1736378815.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:55.909Z,1736378815.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998738 2025-01-08T23:26:56.136Z,1736378816.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:56.156Z,1736378816.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m. 2025-01-08T23:26:56.161Z,1736378816.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:56.163Z,1736378816.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252112 2025-01-08T23:26:56.171Z,1736378816.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.300003 m, nav range: 150.499634 m, bearing: 272.394207 deg, approach rate: -0.436249 m/s, LOS rate: -0.129472 deg/s, cmd heading: 7.374280 deg, new cmd heading: 7.197830 deg. 2025-01-08T23:26:56.172Z,1736378816.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125626 target range: 201.300003 and range: 201.30 m. 2025-01-08T23:26:56.412Z,1736378816.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:56.413Z,1736378816.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502162 2025-01-08T23:26:56.470Z,1736378816.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:56.487Z,1736378816.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m. 2025-01-08T23:26:56.494Z,1736378816.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.300003 m, nav range: 150.357529 m, bearing: 272.349586 deg, approach rate: -0.425429 m/s, LOS rate: -0.133711 deg/s, cmd heading: 7.197830 deg, new cmd heading: 7.063841 deg. 2025-01-08T23:26:56.498Z,1736378816.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.123287 target range: 201.300003 and range: 201.30 m. 2025-01-08T23:26:56.665Z,1736378816.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:56.666Z,1736378816.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754966 2025-01-08T23:26:56.916Z,1736378816.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:56.917Z,1736378816.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005877 2025-01-08T23:26:56.932Z,1736378816.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:56.938Z,1736378816.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:56.945Z,1736378816.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m. 2025-01-08T23:26:56.952Z,1736378816.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.300003 m, nav range: 150.149567 m, bearing: 272.284709 deg, approach rate: -0.454056 m/s, LOS rate: -0.141846 deg/s, cmd heading: 7.063841 deg, new cmd heading: 6.868941 deg. 2025-01-08T23:26:56.953Z,1736378816.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119886 target range: 201.300003 and range: 201.30 m. 2025-01-08T23:26:57.168Z,1736378817.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:57.169Z,1736378817.169 [DAT](INFO): DAT read: Rx Time:23:26:55.9076 2025-01-08T23:26:57.169Z,1736378817.169 [DAT](INFO): Rx dataTimestamp_ set to:1736378817.168969 2025-01-08T23:26:57.170Z,1736378817.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259140 2025-01-08T23:26:57.304Z,1736378817.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:57.348Z,1736378817.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.30 m. 2025-01-08T23:26:57.350Z,1736378817.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.300003 m, nav range: 149.981796 m, bearing: 272.232189 deg, approach rate: -0.420818 m/s, LOS rate: -0.131882 deg/s, cmd heading: 6.868941 deg, new cmd heading: 6.711207 deg. 2025-01-08T23:26:57.355Z,1736378817.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.117133 target range: 201.300003 and range: 201.30 m. 2025-01-08T23:26:57.420Z,1736378817.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:57.422Z,1736378817.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510598 2025-01-08T23:26:57.672Z,1736378817.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:57.682Z,1736378817.682 [DAT](INFO): DAT read: 23:26:55.9076 LVL= 16704, 27345, 24402, 31347, AGC= 62, IDX= 427, 0.35,-0.193,-1.586,-2.369,-1.738, PHS= 1.633, 0.199,-0.634, RAW= 68.7, -12.0, CAL= 80.6, -20.9, ROT= 69.4, 20.9 2025-01-08T23:26:57.684Z,1736378817.684 [DAT](INFO): got valid direction response: 23:26:55.9076 LVL= 16704, 27345, 24402, 31347, AGC= 62, IDX= 427, 0.35,-0.193,-1.586,-2.369,-1.738, PHS= 1.633, 0.199,-0.634, RAW= 68.7, -12.0, CAL= 80.6, -20.9, ROT= 69.4, 20.9 2025-01-08T23:26:57.685Z,1736378817.685 [DAT](INFO): DAT read: Bearing 69.4, 20.9 (Local) 2025-01-08T23:26:57.685Z,1736378817.685 [DAT](INFO): Local bearing/azimuth received: Bearing 69.4, 20.9 (Local) 2025-01-08T23:26:57.686Z,1736378817.686 [DAT](INFO): DAT read: Range 10 to 50 : 201.5 m (Round-trip 268.7 ms) speed 0.0 m/s 2025-01-08T23:26:57.687Z,1736378817.687 [DAT](INFO): DAT read: user:3218> 2025-01-08T23:26:57.688Z,1736378817.688 [DAT](INFO): DAT read: Tx time:23:26:56.9847 2025-01-08T23:26:57.688Z,1736378817.688 [DAT](INFO): Ping request sent. 2025-01-08T23:26:57.688Z,1736378817.688 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:26:57.689Z,1736378817.689 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:26:57.690Z,1736378817.690 [DAT](INFO): direction in FSK: [0.178013,0.430712,0.884759] 2025-01-08T23:26:57.690Z,1736378817.690 [DAT](INFO): publishing transmit ping time 2025-01-08T23:26:57.693Z,1736378817.693 [DAT](INFO): publishing direction and range info 2025-01-08T23:26:57.696Z,1736378817.696 [DAT](INFO): publishing transmit ping time 2025-01-08T23:26:57.697Z,1736378817.697 [DAT](INFO): publishing direction and range info 2025-01-08T23:26:57.766Z,1736378817.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:57.872Z,1736378817.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 201.500000 m, deltaT: 3.780425 s, deltaX: 0.199997 m, approachRate: 0.052903 m/s, rangeRepo size: 4 2025-01-08T23:26:57.884Z,1736378817.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 201.500000 m, bearing: 15.166472 deg, lat: 36.903585 deg, lon: -122.120431 deg, deltaT: 3.780425 s, deltaX: 0.199997 m, approachRate: 0.052903 m/s, posRepo size: 4 2025-01-08T23:26:57.885Z,1736378817.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.50 m. 2025-01-08T23:26:57.888Z,1736378817.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.500000 m, nav range: 43.972141 m, bearing: 15.166397 deg, approach rate: 0.000000 m/s, LOS rate: -0.131882 deg/s, cmd heading: 6.711206 deg, new cmd heading: 6.505801 deg. 2025-01-08T23:26:57.889Z,1736378817.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113548 target range: 201.500000 and range: 201.50 m. 2025-01-08T23:26:57.925Z,1736378817.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:57.926Z,1736378817.926 [DAT](INFO): DAT read: TxSync time:23:26:56.9839 2025-01-08T23:26:58.176Z,1736378818.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:58.264Z,1736378818.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:58.282Z,1736378818.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.50 m. 2025-01-08T23:26:58.289Z,1736378818.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.500000 m, nav range: 43.823898 m, bearing: 15.481967 deg, approach rate: -0.353118 m/s, LOS rate: 0.754235 deg/s, cmd heading: 6.505801 deg, new cmd heading: 7.455622 deg. 2025-01-08T23:26:58.290Z,1736378818.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.130125 target range: 201.500000 and range: 201.50 m. 2025-01-08T23:26:58.428Z,1736378818.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:58.591Z,1736378818.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:58.608Z,1736378818.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.50 m. 2025-01-08T23:26:58.611Z,1736378818.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.500000 m, nav range: 43.724533 m, bearing: 15.684992 deg, approach rate: -0.305018 m/s, LOS rate: 0.624634 deg/s, cmd heading: 7.455622 deg, new cmd heading: 8.066057 deg. 2025-01-08T23:26:58.616Z,1736378818.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.140779 target range: 201.500000 and range: 201.50 m. 2025-01-08T23:26:58.680Z,1736378818.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:58.932Z,1736378818.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:59.048Z,1736378819.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:59.063Z,1736378819.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:26:59.065Z,1736378819.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.50 m. 2025-01-08T23:26:59.075Z,1736378819.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.500000 m, nav range: 43.579327 m, bearing: 15.961834 deg, approach rate: -0.317513 m/s, LOS rate: 0.607367 deg/s, cmd heading: 8.066056 deg, new cmd heading: 8.899289 deg. 2025-01-08T23:26:59.080Z,1736378819.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.155322 target range: 201.500000 and range: 201.50 m. 2025-01-08T23:26:59.184Z,1736378819.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:59.184Z,1736378819.184 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:26:59.184Z,1736378819.184 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:26:59.185Z,1736378819.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:26:59.427Z,1736378819.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:59.436Z,1736378819.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:59.437Z,1736378819.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748079 2025-01-08T23:26:59.462Z,1736378819.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.50 m. 2025-01-08T23:26:59.470Z,1736378819.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.500000 m, nav range: 43.456158 m, bearing: 16.187113 deg, approach rate: -0.310650 m/s, LOS rate: 0.569795 deg/s, cmd heading: 8.899289 deg, new cmd heading: 9.577008 deg. 2025-01-08T23:26:59.471Z,1736378819.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167150 target range: 201.500000 and range: 201.50 m. 2025-01-08T23:26:59.688Z,1736378819.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:59.689Z,1736378819.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000258 2025-01-08T23:26:59.795Z,1736378819.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:26:59.872Z,1736378819.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.50 m. 2025-01-08T23:26:59.880Z,1736378819.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.500000 m, nav range: 43.333092 m, bearing: 16.402908 deg, approach rate: -0.299762 m/s, LOS rate: 0.527122 deg/s, cmd heading: 9.577008 deg, new cmd heading: 10.226203 deg. 2025-01-08T23:26:59.881Z,1736378819.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178481 target range: 201.500000 and range: 201.50 m. 2025-01-08T23:26:59.941Z,1736378819.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:26:59.944Z,1736378819.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254479 2025-01-08T23:27:00.192Z,1736378820.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:00.192Z,1736378820.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503983 2025-01-08T23:27:00.260Z,1736378820.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:00.273Z,1736378820.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.50 m. 2025-01-08T23:27:00.282Z,1736378820.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.500000 m, nav range: 43.173904 m, bearing: 16.672689 deg, approach rate: -0.397962 m/s, LOS rate: 0.676928 deg/s, cmd heading: 10.226203 deg, new cmd heading: 11.038474 deg. 2025-01-08T23:27:00.291Z,1736378820.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192658 target range: 201.500000 and range: 201.50 m. 2025-01-08T23:27:00.444Z,1736378820.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:00.445Z,1736378820.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756241 2025-01-08T23:27:00.612Z,1736378820.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:00.636Z,1736378820.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.50 m. 2025-01-08T23:27:00.638Z,1736378820.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.500000 m, nav range: 43.047096 m, bearing: 16.878825 deg, approach rate: -0.350937 m/s, LOS rate: 0.572150 deg/s, cmd heading: 11.038474 deg, new cmd heading: 11.658675 deg. 2025-01-08T23:27:00.640Z,1736378820.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.203482 target range: 201.500000 and range: 201.50 m. 2025-01-08T23:27:00.696Z,1736378820.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:00.697Z,1736378820.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008120 2025-01-08T23:27:00.948Z,1736378820.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:00.949Z,1736378820.949 [DAT](INFO): DAT read: Rx Time:23:26:59.6572 2025-01-08T23:27:00.949Z,1736378820.949 [DAT](INFO): Rx dataTimestamp_ set to:1736378820.948847 2025-01-08T23:27:00.950Z,1736378820.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261211 2025-01-08T23:27:01.055Z,1736378821.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:01.070Z,1736378821.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:01.076Z,1736378821.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.50 m. 2025-01-08T23:27:01.079Z,1736378821.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.500000 m, nav range: 42.889618 m, bearing: 17.123503 deg, approach rate: -0.355871 m/s, LOS rate: 0.554954 deg/s, cmd heading: 11.658675 deg, new cmd heading: 12.395362 deg. 2025-01-08T23:27:01.092Z,1736378821.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216340 target range: 201.500000 and range: 201.50 m. 2025-01-08T23:27:01.200Z,1736378821.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:01.200Z,1736378821.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512040 2025-01-08T23:27:01.400Z,1736378821.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:01.409Z,1736378821.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.50 m. 2025-01-08T23:27:01.412Z,1736378821.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.500000 m, nav range: 42.763660 m, bearing: 17.311132 deg, approach rate: -0.378117 m/s, LOS rate: 0.564910 deg/s, cmd heading: 12.395362 deg, new cmd heading: 12.959888 deg. 2025-01-08T23:27:01.413Z,1736378821.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226193 target range: 201.500000 and range: 201.50 m. 2025-01-08T23:27:01.454Z,1736378821.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:01.463Z,1736378821.463 [DAT](INFO): DAT read: 23:26:59.6572 LVL= 19584, 32753, 29602, 32755, AGC= 62, IDX= 439, 0.20,-2.084, 2.720, 2.733,-3.065, PHS= 1.069,-0.451,-0.488, RAW= 88.8, -1.7, CAL= 96.6, -7.2, ROT= 53.4, 7.2 2025-01-08T23:27:01.464Z,1736378821.464 [DAT](INFO): got valid direction response: 23:26:59.6572 LVL= 19584, 32753, 29602, 32755, AGC= 62, IDX= 439, 0.20,-2.084, 2.720, 2.733,-3.065, PHS= 1.069,-0.451,-0.488, RAW= 88.8, -1.7, CAL= 96.6, -7.2, ROT= 53.4, 7.2 2025-01-08T23:27:01.465Z,1736378821.465 [DAT](INFO): DAT read: Bearing 53.4, 7.2 (Local) 2025-01-08T23:27:01.465Z,1736378821.465 [DAT](INFO): Local bearing/azimuth received: Bearing 53.4, 7.2 (Local) 2025-01-08T23:27:01.472Z,1736378821.472 [DAT](INFO): DAT read: Range 10 to 50 : 201.1 m (Round-trip 268.2 ms) speed 0.0 m/s 2025-01-08T23:27:01.473Z,1736378821.473 [DAT](INFO): DAT read: user:3219> 2025-01-08T23:27:01.475Z,1736378821.475 [DAT](INFO): DAT read: Tx time:23:27:00.7348 2025-01-08T23:27:01.480Z,1736378821.480 [DAT](INFO): Ping request sent. 2025-01-08T23:27:01.480Z,1736378821.480 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:01.481Z,1736378821.481 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:01.482Z,1736378821.482 [DAT](INFO): direction in FSK: [-0.050576,0.126449,0.990683] 2025-01-08T23:27:01.483Z,1736378821.483 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:01.488Z,1736378821.488 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:01.497Z,1736378821.497 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:01.497Z,1736378821.497 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:01.704Z,1736378821.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:01.705Z,1736378821.705 [DAT](INFO): DAT read: TxSync time:23:27:00.7340 2025-01-08T23:27:01.810Z,1736378821.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:01.858Z,1736378821.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 201.100006 m, deltaT: 3.781957 s, deltaX: -0.399994 m, approachRate: -0.105764 m/s, rangeRepo size: 4 2025-01-08T23:27:01.886Z,1736378821.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 201.100006 m, bearing: 213.443494 deg, lat: 36.903585 deg, lon: -122.120431 deg, deltaT: 3.781957 s, deltaX: -0.399994 m, approachRate: -0.105764 m/s, posRepo size: 4 2025-01-08T23:27:01.893Z,1736378821.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.10 m. 2025-01-08T23:27:01.902Z,1736378821.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.100006 m, nav range: 42.610615 m, bearing: 17.530520 deg, approach rate: 0.000000 m/s, LOS rate: 0.564910 deg/s, cmd heading: 12.959889 deg, new cmd heading: 13.705082 deg. 2025-01-08T23:27:01.903Z,1736378821.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.239199 target range: 201.100006 and range: 201.10 m. 2025-01-08T23:27:01.956Z,1736378821.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:02.208Z,1736378822.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:02.232Z,1736378822.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:02.241Z,1736378822.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.10 m. 2025-01-08T23:27:02.243Z,1736378822.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.100006 m, nav range: 42.447403 m, bearing: 17.740052 deg, approach rate: -0.417075 m/s, LOS rate: 0.537498 deg/s, cmd heading: 13.705082 deg, new cmd heading: 14.336066 deg. 2025-01-08T23:27:02.244Z,1736378822.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.250212 target range: 201.100006 and range: 201.10 m. 2025-01-08T23:27:02.462Z,1736378822.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:02.626Z,1736378822.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:02.635Z,1736378822.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.10 m. 2025-01-08T23:27:02.638Z,1736378822.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.100006 m, nav range: 42.292294 m, bearing: 17.932262 deg, approach rate: -0.393292 m/s, LOS rate: 0.489152 deg/s, cmd heading: 14.336065 deg, new cmd heading: 14.914790 deg. 2025-01-08T23:27:02.639Z,1736378822.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.260312 target range: 201.100006 and range: 201.10 m. 2025-01-08T23:27:02.712Z,1736378822.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:02.965Z,1736378822.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:03.054Z,1736378823.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:03.065Z,1736378823.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.10 m. 2025-01-08T23:27:03.084Z,1736378823.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.100006 m, nav range: 42.127190 m, bearing: 18.123157 deg, approach rate: -0.384351 m/s, LOS rate: 0.446131 deg/s, cmd heading: 14.914790 deg, new cmd heading: 15.489700 deg. 2025-01-08T23:27:03.085Z,1736378823.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.270346 target range: 201.100006 and range: 201.10 m. 2025-01-08T23:27:03.216Z,1736378823.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:03.434Z,1736378823.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:03.446Z,1736378823.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:03.448Z,1736378823.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.10 m. 2025-01-08T23:27:03.451Z,1736378823.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.100006 m, nav range: 41.977688 m, bearing: 18.288791 deg, approach rate: -0.389367 m/s, LOS rate: 0.432917 deg/s, cmd heading: 15.489699 deg, new cmd heading: 15.988357 deg. 2025-01-08T23:27:03.452Z,1736378823.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279049 target range: 201.100006 and range: 201.10 m. 2025-01-08T23:27:03.468Z,1736378823.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:03.468Z,1736378823.468 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:03.468Z,1736378823.468 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:03.469Z,1736378823.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:03.720Z,1736378823.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:03.721Z,1736378823.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240574 2025-01-08T23:27:03.838Z,1736378823.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:03.853Z,1736378823.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.10 m. 2025-01-08T23:27:03.856Z,1736378823.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.100006 m, nav range: 41.815697 m, bearing: 18.460506 deg, approach rate: -0.400100 m/s, LOS rate: 0.425758 deg/s, cmd heading: 15.988356 deg, new cmd heading: 16.505481 deg. 2025-01-08T23:27:03.858Z,1736378823.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.288075 target range: 201.100006 and range: 201.10 m. 2025-01-08T23:27:03.973Z,1736378823.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:03.975Z,1736378823.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494148 2025-01-08T23:27:04.224Z,1736378824.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:04.226Z,1736378824.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745518 2025-01-08T23:27:04.326Z,1736378824.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:04.334Z,1736378824.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.10 m. 2025-01-08T23:27:04.337Z,1736378824.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.100006 m, nav range: 41.618042 m, bearing: 18.655609 deg, approach rate: -0.411139 m/s, LOS rate: 0.407759 deg/s, cmd heading: 16.505482 deg, new cmd heading: 17.093550 deg. 2025-01-08T23:27:04.338Z,1736378824.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.298339 target range: 201.100006 and range: 201.10 m. 2025-01-08T23:27:04.476Z,1736378824.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:04.476Z,1736378824.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996361 2025-01-08T23:27:04.630Z,1736378824.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:04.677Z,1736378824.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.10 m. 2025-01-08T23:27:04.685Z,1736378824.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.100006 m, nav range: 41.490604 m, bearing: 18.769340 deg, approach rate: -0.372151 m/s, LOS rate: 0.333145 deg/s, cmd heading: 17.093551 deg, new cmd heading: 17.435789 deg. 2025-01-08T23:27:04.686Z,1736378824.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.304312 target range: 201.100006 and range: 201.10 m. 2025-01-08T23:27:04.728Z,1736378824.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:04.729Z,1736378824.729 [DAT](INFO): DAT read: Rx Time:23:27:03.4059 2025-01-08T23:27:04.729Z,1736378824.729 [DAT](INFO): Rx dataTimestamp_ set to:1736378824.728802 2025-01-08T23:27:04.730Z,1736378824.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249560 2025-01-08T23:27:04.980Z,1736378824.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:04.981Z,1736378824.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500587 2025-01-08T23:27:05.122Z,1736378825.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:05.143Z,1736378825.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.10 m. 2025-01-08T23:27:05.146Z,1736378825.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 201.100006 m, nav range: 41.277138 m, bearing: 18.932391 deg, approach rate: -0.461514 m/s, LOS rate: 0.354337 deg/s, cmd heading: 17.435789 deg, new cmd heading: 17.927459 deg. 2025-01-08T23:27:05.152Z,1736378825.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312893 target range: 201.100006 and range: 201.10 m. 2025-01-08T23:27:05.232Z,1736378825.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:05.239Z,1736378825.239 [DAT](INFO): DAT read: 23:27:03.4059 LVL= 24672, 32753, 32754, 32755, AGC= 63, IDX= 426, 0.02, 0.545,-1.123,-0.550,-0.232, PHS= 0.864,-0.845,-0.321, RAW= 107.4, 4.0, CAL= 118.5, 1.4, ROT= 31.5, -1.4 2025-01-08T23:27:05.246Z,1736378825.246 [DAT](INFO): got valid direction response: 23:27:03.4059 LVL= 24672, 32753, 32754, 32755, AGC= 63, IDX= 426, 0.02, 0.545,-1.123,-0.550,-0.232, PHS= 0.864,-0.845,-0.321, RAW= 107.4, 4.0, CAL= 118.5, 1.4, ROT= 31.5, -1.4 2025-01-08T23:27:05.253Z,1736378825.253 [DAT](INFO): DAT read: Bearing 31.5, -1.4 (Local) 2025-01-08T23:27:05.254Z,1736378825.254 [DAT](INFO): Local bearing/azimuth received: Bearing 31.5, -1.4 (Local) 2025-01-08T23:27:05.260Z,1736378825.260 [DAT](INFO): DAT read: Range 10 to 50 : 200.1 m (Round-trip 266.9 ms) speed 0.3 m/s 2025-01-08T23:27:05.261Z,1736378825.261 [DAT](INFO): DAT read: user:3220> 2025-01-08T23:27:05.263Z,1736378825.263 [DAT](INFO): DAT read: Tx time:23:27:04.4848 2025-01-08T23:27:05.271Z,1736378825.271 [DAT](INFO): Ping request sent. 2025-01-08T23:27:05.271Z,1736378825.271 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:05.272Z,1736378825.272 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:05.273Z,1736378825.273 [DAT](INFO): direction in FSK: [-0.186365,-0.192967,0.963344] 2025-01-08T23:27:05.273Z,1736378825.273 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:05.273Z,1736378825.273 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:05.288Z,1736378825.288 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:05.289Z,1736378825.289 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:05.484Z,1736378825.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:05.485Z,1736378825.485 [DAT](INFO): DAT read: TxSync time:23:27:04.4840 2025-01-08T23:27:05.487Z,1736378825.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:05.521Z,1736378825.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 200.100006 m, deltaT: 3.777680 s, deltaX: -1.000000 m, approachRate: -0.264713 m/s, rangeRepo size: 4 2025-01-08T23:27:05.528Z,1736378825.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 200.100006 m, bearing: 234.235638 deg, lat: 36.903585 deg, lon: -122.120431 deg, deltaT: 3.777680 s, deltaX: -1.000000 m, approachRate: -0.264713 m/s, posRepo size: 4 2025-01-08T23:27:05.528Z,1736378825.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.10 m. 2025-01-08T23:27:05.531Z,1736378825.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.100006 m, nav range: 41.119434 m, bearing: 19.054103 deg, approach rate: 0.000000 m/s, LOS rate: 0.354337 deg/s, cmd heading: 17.927459 deg, new cmd heading: 18.333156 deg. 2025-01-08T23:27:05.537Z,1736378825.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.319974 target range: 200.100006 and range: 200.10 m. 2025-01-08T23:27:05.736Z,1736378825.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:05.844Z,1736378825.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:05.850Z,1736378825.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:05.852Z,1736378825.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.10 m. 2025-01-08T23:27:05.855Z,1736378825.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.100006 m, nav range: 40.961292 m, bearing: 19.162874 deg, approach rate: -0.476646 m/s, LOS rate: 0.329106 deg/s, cmd heading: 18.333157 deg, new cmd heading: 18.660727 deg. 2025-01-08T23:27:05.856Z,1736378825.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.325691 target range: 200.100006 and range: 200.10 m. 2025-01-08T23:27:05.988Z,1736378825.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:05.988Z,1736378825.988 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:05.988Z,1736378825.988 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:05.989Z,1736378825.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:06.240Z,1736378826.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:06.241Z,1736378826.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969401 2025-01-08T23:27:06.300Z,1736378826.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:06.317Z,1736378826.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.10 m. 2025-01-08T23:27:06.325Z,1736378826.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.100006 m, nav range: 40.759060 m, bearing: 19.288781 deg, approach rate: -0.435295 m/s, LOS rate: 0.272352 deg/s, cmd heading: 18.660727 deg, new cmd heading: 19.040315 deg. 2025-01-08T23:27:06.336Z,1736378826.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.332316 target range: 200.100006 and range: 200.10 m. 2025-01-08T23:27:06.492Z,1736378826.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:06.493Z,1736378826.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221127 2025-01-08T23:27:06.661Z,1736378826.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:06.681Z,1736378826.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.10 m. 2025-01-08T23:27:06.704Z,1736378826.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.100006 m, nav range: 40.597744 m, bearing: 19.382569 deg, approach rate: -0.443786 m/s, LOS rate: 0.259040 deg/s, cmd heading: 19.040315 deg, new cmd heading: 19.322795 deg. 2025-01-08T23:27:06.705Z,1736378826.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.337246 target range: 200.100006 and range: 200.10 m. 2025-01-08T23:27:06.744Z,1736378826.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:06.745Z,1736378826.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473109 2025-01-08T23:27:06.996Z,1736378826.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:06.996Z,1736378826.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724935 2025-01-08T23:27:07.096Z,1736378827.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:07.105Z,1736378827.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.10 m. 2025-01-08T23:27:07.109Z,1736378827.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.100006 m, nav range: 40.396149 m, bearing: 19.478749 deg, approach rate: -0.474581 m/s, LOS rate: 0.227550 deg/s, cmd heading: 19.322795 deg, new cmd heading: 19.612772 deg. 2025-01-08T23:27:07.110Z,1736378827.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342307 target range: 200.100006 and range: 200.10 m. 2025-01-08T23:27:07.248Z,1736378827.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:07.248Z,1736378827.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976849 2025-01-08T23:27:07.481Z,1736378827.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:07.490Z,1736378827.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.10 m. 2025-01-08T23:27:07.493Z,1736378827.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.100006 m, nav range: 40.216778 m, bearing: 19.557765 deg, approach rate: -0.466712 m/s, LOS rate: 0.206512 deg/s, cmd heading: 19.612772 deg, new cmd heading: 19.850877 deg. 2025-01-08T23:27:07.494Z,1736378827.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.346463 target range: 200.100006 and range: 200.10 m. 2025-01-08T23:27:07.500Z,1736378827.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:07.501Z,1736378827.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229085 2025-01-08T23:27:07.680Z,1736378827.680 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:27:07.752Z,1736378827.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:07.752Z,1736378827.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480903 2025-01-08T23:27:07.876Z,1736378827.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:07.936Z,1736378827.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:07.960Z,1736378827.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.10 m. 2025-01-08T23:27:07.987Z,1736378827.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.100006 m, nav range: 40.031185 m, bearing: 19.633001 deg, approach rate: -0.403072 m/s, LOS rate: 0.164155 deg/s, cmd heading: 19.850876 deg, new cmd heading: 20.077627 deg. 2025-01-08T23:27:07.996Z,1736378827.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.350421 target range: 200.100006 and range: 200.10 m. 2025-01-08T23:27:08.004Z,1736378828.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:08.004Z,1736378828.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732959 2025-01-08T23:27:08.256Z,1736378828.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:08.257Z,1736378828.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985061 2025-01-08T23:27:08.313Z,1736378828.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:08.333Z,1736378828.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.10 m. 2025-01-08T23:27:08.341Z,1736378828.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.100006 m, nav range: 39.830143 m, bearing: 19.708298 deg, approach rate: -0.524790 m/s, LOS rate: 0.197545 deg/s, cmd heading: 20.077628 deg, new cmd heading: 20.304659 deg. 2025-01-08T23:27:08.342Z,1736378828.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.354383 target range: 200.100006 and range: 200.10 m. 2025-01-08T23:27:08.508Z,1736378828.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:08.509Z,1736378828.509 [DAT](INFO): DAT read: Rx Time:23:27:07.1543 2025-01-08T23:27:08.509Z,1736378828.509 [DAT](INFO): Rx dataTimestamp_ set to:1736378828.508964 2025-01-08T23:27:08.510Z,1736378828.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238320 2025-01-08T23:27:08.684Z,1736378828.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:27:08.695Z,1736378828.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:08.703Z,1736378828.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.10 m. 2025-01-08T23:27:08.706Z,1736378828.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.100006 m, nav range: 39.653248 m, bearing: 19.768600 deg, approach rate: -0.478125 m/s, LOS rate: 0.163714 deg/s, cmd heading: 20.304660 deg, new cmd heading: 20.486370 deg. 2025-01-08T23:27:08.711Z,1736378828.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357555 target range: 200.100006 and range: 200.10 m. 2025-01-08T23:27:08.761Z,1736378828.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:08.762Z,1736378828.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490262 2025-01-08T23:27:09.013Z,1736378829.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:09.038Z,1736378829.038 [DAT](INFO): DAT read: 23:27:07.1543 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 425,-0.06, 0.345,-1.068,-0.228,-0.061, PHS= 0.494,-0.960,-0.170, RAW= 122.8, 10.1, CAL= 130.5, 5.8, ROT= 19.5, -5.8 2025-01-08T23:27:09.040Z,1736378829.040 [DAT](INFO): got valid direction response: 23:27:07.1543 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 425,-0.06, 0.345,-1.068,-0.228,-0.061, PHS= 0.494,-0.960,-0.170, RAW= 122.8, 10.1, CAL= 130.5, 5.8, ROT= 19.5, -5.8 2025-01-08T23:27:09.042Z,1736378829.042 [DAT](INFO): DAT read: Bearing 19.5, -5.8 (Local) 2025-01-08T23:27:09.043Z,1736378829.043 [DAT](INFO): Local bearing/azimuth received: Bearing 19.5, -5.8 (Local) 2025-01-08T23:27:09.046Z,1736378829.046 [DAT](INFO): DAT read: Range 10 to 50 : 199.0 m (Round-trip 265.4 ms) speed 0.0 m/s 2025-01-08T23:27:09.048Z,1736378829.048 [DAT](INFO): DAT read: user:3221> 2025-01-08T23:27:09.049Z,1736378829.049 [DAT](INFO): DAT read: Tx time:23:27:08.2348 2025-01-08T23:27:09.050Z,1736378829.050 [DAT](INFO): Ping request sent. 2025-01-08T23:27:09.050Z,1736378829.050 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:09.052Z,1736378829.052 [DAT](INFO): DAT read: TxSync time:23:27:08.2340 2025-01-08T23:27:09.053Z,1736378829.053 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:09.091Z,1736378829.091 [DAT](INFO): direction in FSK: [-0.313729,-0.438708,0.842087] 2025-01-08T23:27:09.091Z,1736378829.091 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:09.092Z,1736378829.092 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:09.095Z,1736378829.095 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:09.095Z,1736378829.095 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:09.174Z,1736378829.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:09.211Z,1736378829.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 199.000000 m, deltaT: 3.781529 s, deltaX: -1.100006 m, approachRate: -0.290889 m/s, rangeRepo size: 4 2025-01-08T23:27:09.217Z,1736378829.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 199.000000 m, bearing: 249.697869 deg, lat: 36.902956 deg, lon: -122.120793 deg, deltaT: 3.781529 s, deltaX: -1.100006 m, approachRate: -0.290889 m/s, posRepo size: 4 2025-01-08T23:27:09.218Z,1736378829.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:09.232Z,1736378829.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 37.938736 m, bearing: 209.793881 deg, approach rate: 0.000000 m/s, LOS rate: 0.163714 deg/s, cmd heading: 20.486370 deg, new cmd heading: 20.735308 deg. 2025-01-08T23:27:09.233Z,1736378829.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.361899 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:09.265Z,1736378829.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:09.516Z,1736378829.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:09.572Z,1736378829.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:09.589Z,1736378829.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:09.597Z,1736378829.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 38.114517 m, bearing: 209.682930 deg, approach rate: 0.463794 m/s, LOS rate: -0.291391 deg/s, cmd heading: 20.735309 deg, new cmd heading: 20.403995 deg. 2025-01-08T23:27:09.598Z,1736378829.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.356117 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:09.768Z,1736378829.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:09.979Z,1736378829.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:10.020Z,1736378830.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:10.026Z,1736378830.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:10.033Z,1736378830.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:10.039Z,1736378830.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 38.295822 m, bearing: 209.578313 deg, approach rate: 0.408848 m/s, LOS rate: -0.234796 deg/s, cmd heading: 20.403995 deg, new cmd heading: 20.091634 deg. 2025-01-08T23:27:10.041Z,1736378830.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.350665 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:10.272Z,1736378830.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:10.272Z,1736378830.272 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:10.272Z,1736378830.272 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:10.272Z,1736378830.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:10.399Z,1736378830.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:10.421Z,1736378830.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:10.427Z,1736378830.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 38.480572 m, bearing: 209.474211 deg, approach rate: 0.475676 m/s, LOS rate: -0.266746 deg/s, cmd heading: 20.091635 deg, new cmd heading: 19.780830 deg. 2025-01-08T23:27:10.436Z,1736378830.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.345241 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:10.525Z,1736378830.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:10.526Z,1736378830.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475376 2025-01-08T23:27:10.769Z,1736378830.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:10.776Z,1736378830.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:10.776Z,1736378830.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726472 2025-01-08T23:27:10.781Z,1736378830.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:10.784Z,1736378830.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 38.645035 m, bearing: 209.388772 deg, approach rate: 0.456960 m/s, LOS rate: -0.236381 deg/s, cmd heading: 19.780831 deg, new cmd heading: 19.525607 deg. 2025-01-08T23:27:10.785Z,1736378830.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.340786 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:11.029Z,1736378831.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:11.031Z,1736378831.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980885 2025-01-08T23:27:11.176Z,1736378831.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:11.209Z,1736378831.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:11.216Z,1736378831.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 38.824753 m, bearing: 209.297061 deg, approach rate: 0.419932 m/s, LOS rate: -0.213302 deg/s, cmd heading: 19.525607 deg, new cmd heading: 19.251749 deg. 2025-01-08T23:27:11.217Z,1736378831.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.336006 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:11.282Z,1736378831.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:11.285Z,1736378831.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234551 2025-01-08T23:27:11.532Z,1736378831.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:11.532Z,1736378831.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482373 2025-01-08T23:27:11.593Z,1736378831.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:11.602Z,1736378831.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:11.605Z,1736378831.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 39.009167 m, bearing: 209.203882 deg, approach rate: 0.469293 m/s, LOS rate: -0.235998 deg/s, cmd heading: 19.251749 deg, new cmd heading: 18.973537 deg. 2025-01-08T23:27:11.606Z,1736378831.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.331151 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:11.786Z,1736378831.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:11.789Z,1736378831.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738673 2025-01-08T23:27:11.974Z,1736378831.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:11.996Z,1736378831.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:12.025Z,1736378832.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 39.178837 m, bearing: 209.128278 deg, approach rate: 0.432132 m/s, LOS rate: -0.191722 deg/s, cmd heading: 18.973538 deg, new cmd heading: 18.747709 deg. 2025-01-08T23:27:12.029Z,1736378832.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.327209 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:12.037Z,1736378832.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:12.040Z,1736378832.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989546 2025-01-08T23:27:12.288Z,1736378832.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:12.289Z,1736378832.289 [DAT](INFO): DAT read: Rx Time:23:27:10.9578 2025-01-08T23:27:12.289Z,1736378832.289 [DAT](INFO): Rx dataTimestamp_ set to:1736378832.288718 2025-01-08T23:27:12.290Z,1736378832.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239499 2025-01-08T23:27:12.421Z,1736378832.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:12.454Z,1736378832.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:12.460Z,1736378832.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:12.462Z,1736378832.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 39.377670 m, bearing: 209.030723 deg, approach rate: 0.427140 m/s, LOS rate: -0.208512 deg/s, cmd heading: 18.747708 deg, new cmd heading: 18.456523 deg. 2025-01-08T23:27:12.468Z,1736378832.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.322127 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:12.541Z,1736378832.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:12.544Z,1736378832.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492637 2025-01-08T23:27:12.788Z,1736378832.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:12.792Z,1736378832.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:12.799Z,1736378832.799 [DAT](INFO): DAT read: 23:27:10.9578 LVL= 19952, 32753, 23922, 31987, AGC= 59, IDX= 194,-0.44, 0.631,-1.053, 0.084,-0.116, PHS= 0.835,-0.890, 0.196, RAW= 128.5, -1.9, CAL= 134.4, -11.3, ROT= 15.6, 11.3 2025-01-08T23:27:12.800Z,1736378832.800 [DAT](INFO): got valid direction response: 23:27:10.9578 LVL= 19952, 32753, 23922, 31987, AGC= 59, IDX= 194,-0.44, 0.631,-1.053, 0.084,-0.116, PHS= 0.835,-0.890, 0.196, RAW= 128.5, -1.9, CAL= 134.4, -11.3, ROT= 15.6, 11.3 2025-01-08T23:27:12.801Z,1736378832.801 [DAT](INFO): DAT read: Bearing 15.6, 11.3 (Local) 2025-01-08T23:27:12.801Z,1736378832.801 [DAT](INFO): Local bearing/azimuth received: Bearing 15.6, 11.3 (Local) 2025-01-08T23:27:12.803Z,1736378832.803 [DAT](INFO): DAT read: Range 10 to 50 : 239.0 m (Round-trip 318.7 ms) speed 0.6 m/s 2025-01-08T23:27:12.803Z,1736378832.803 [DAT](INFO): DAT read: user:3222> 2025-01-08T23:27:12.804Z,1736378832.804 [DAT](INFO): DAT read: Tx time:23:27:12.0349 2025-01-08T23:27:12.804Z,1736378832.804 [DAT](INFO): Ping request sent. 2025-01-08T23:27:12.805Z,1736378832.805 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:12.805Z,1736378832.805 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:12.806Z,1736378832.806 [DAT](INFO): direction in FSK: [-0.087562,-0.553158,0.828462] 2025-01-08T23:27:12.806Z,1736378832.806 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:12.806Z,1736378832.806 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:12.811Z,1736378832.811 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:12.811Z,1736378832.811 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:12.845Z,1736378832.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 239.000000 m, deltaT: 3.778428 s, deltaX: 40.000000 m, approachRate: 10.586413 m/s, rangeRepo size: 4 2025-01-08T23:27:12.845Z,1736378832.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:12.852Z,1736378832.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 39.541599 m, bearing: 208.953870 deg, approach rate: 0.426519 m/s, LOS rate: -0.199131 deg/s, cmd heading: 18.456524 deg, new cmd heading: 18.226921 deg. 2025-01-08T23:27:12.853Z,1736378832.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.318120 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:13.046Z,1736378833.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:13.049Z,1736378833.049 [DAT](INFO): DAT read: TxSync time:23:27:12.0341 2025-01-08T23:27:13.249Z,1736378833.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:13.270Z,1736378833.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:13.277Z,1736378833.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 39.750538 m, bearing: 208.850510 deg, approach rate: 0.490826 m/s, LOS rate: -0.241531 deg/s, cmd heading: 18.226922 deg, new cmd heading: 17.918474 deg. 2025-01-08T23:27:13.278Z,1736378833.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312736 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:13.296Z,1736378833.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:13.548Z,1736378833.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:13.612Z,1736378833.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:13.621Z,1736378833.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:13.625Z,1736378833.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 39.915543 m, bearing: 208.771975 deg, approach rate: 0.469933 m/s, LOS rate: -0.222741 deg/s, cmd heading: 17.918474 deg, new cmd heading: 17.683845 deg. 2025-01-08T23:27:13.626Z,1736378833.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.308641 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:13.800Z,1736378833.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:13.987Z,1736378833.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:14.002Z,1736378834.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:14.029Z,1736378834.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 40.086243 m, bearing: 208.692453 deg, approach rate: 0.448536 m/s, LOS rate: -0.208064 deg/s, cmd heading: 17.683845 deg, new cmd heading: 17.446296 deg. 2025-01-08T23:27:14.038Z,1736378834.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.304495 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:14.053Z,1736378834.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:14.304Z,1736378834.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:14.424Z,1736378834.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:14.433Z,1736378834.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:14.436Z,1736378834.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 40.287521 m, bearing: 208.597990 deg, approach rate: 0.466956 m/s, LOS rate: -0.218056 deg/s, cmd heading: 17.446296 deg, new cmd heading: 17.164323 deg. 2025-01-08T23:27:14.437Z,1736378834.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.299574 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:14.556Z,1736378834.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:14.803Z,1736378834.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:14.808Z,1736378834.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:14.815Z,1736378834.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:14.817Z,1736378834.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:14.820Z,1736378834.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 40.461578 m, bearing: 208.515604 deg, approach rate: 0.452504 m/s, LOS rate: -0.213260 deg/s, cmd heading: 17.164323 deg, new cmd heading: 16.918232 deg. 2025-01-08T23:27:14.821Z,1736378834.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.295279 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:15.061Z,1736378835.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:15.063Z,1736378835.063 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:15.064Z,1736378835.064 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:15.064Z,1736378835.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:15.221Z,1736378835.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:15.230Z,1736378835.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:15.249Z,1736378835.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 40.665356 m, bearing: 208.425544 deg, approach rate: 0.493593 m/s, LOS rate: -0.217052 deg/s, cmd heading: 16.918232 deg, new cmd heading: 16.649407 deg. 2025-01-08T23:27:15.250Z,1736378835.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.290587 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:15.313Z,1736378835.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:15.314Z,1736378835.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509007 2025-01-08T23:27:15.564Z,1736378835.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:15.565Z,1736378835.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760045 2025-01-08T23:27:15.632Z,1736378835.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:15.642Z,1736378835.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:15.645Z,1736378835.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 40.865379 m, bearing: 208.334953 deg, approach rate: 0.487004 m/s, LOS rate: -0.219485 deg/s, cmd heading: 16.649407 deg, new cmd heading: 16.378967 deg. 2025-01-08T23:27:15.647Z,1736378835.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.285867 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:15.817Z,1736378835.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:15.818Z,1736378835.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013280 2025-01-08T23:27:16.007Z,1736378836.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:16.016Z,1736378836.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.00 m. 2025-01-08T23:27:16.019Z,1736378836.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.000000 m, nav range: 41.046940 m, bearing: 208.250758 deg, approach rate: 0.483710 m/s, LOS rate: -0.223318 deg/s, cmd heading: 16.378966 deg, new cmd heading: 16.127501 deg. 2025-01-08T23:27:16.020Z,1736378836.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.281478 target range: 199.000000 and range: 199.00 m. 2025-01-08T23:27:16.070Z,1736378836.070 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:16.073Z,1736378836.073 [DAT](INFO): DAT read: Rx Time:23:27:14.7267 2025-01-08T23:27:16.074Z,1736378836.074 [DAT](INFO): Rx dataTimestamp_ set to:1736378836.073354 2025-01-08T23:27:16.077Z,1736378836.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271716 2025-01-08T23:27:16.320Z,1736378836.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:16.320Z,1736378836.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515852 2025-01-08T23:27:16.553Z,1736378836.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:16.572Z,1736378836.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:16.580Z,1736378836.580 [DAT](INFO): DAT read: 23:27:14.7267 LVL= 19952, 26913, 21858, 32755, AGC= 66, IDX= 126, 0.28, 0.327,-1.419,-0.227,-0.386, PHS= 0.801,-0.985, 0.156, RAW= 129.1, 0.4, CAL= 135.3, -8.0, ROT= 14.7, 8.0 2025-01-08T23:27:16.581Z,1736378836.581 [DAT](INFO): got valid direction response: 23:27:14.7267 LVL= 19952, 26913, 21858, 32755, AGC= 66, IDX= 126, 0.28, 0.327,-1.419,-0.227,-0.386, PHS= 0.801,-0.985, 0.156, RAW= 129.1, 0.4, CAL= 135.3, -8.0, ROT= 14.7, 8.0 2025-01-08T23:27:16.582Z,1736378836.582 [DAT](INFO): DAT read: Bearing 14.7, 8.0 (Local) 2025-01-08T23:27:16.583Z,1736378836.583 [DAT](INFO): Local bearing/azimuth received: Bearing 14.7, 8.0 (Local) 2025-01-08T23:27:16.584Z,1736378836.584 [DAT](INFO): DAT read: Range 10 to 50 : 215.7 m (Round-trip 287.6 ms) speed 0.6 m/s 2025-01-08T23:27:16.585Z,1736378836.585 [DAT](INFO): DAT read: user:3223> 2025-01-08T23:27:16.586Z,1736378836.586 [DAT](INFO): DAT read: Tx time:23:27:15.8349 2025-01-08T23:27:16.586Z,1736378836.586 [DAT](INFO): Ping request sent. 2025-01-08T23:27:16.586Z,1736378836.586 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:16.586Z,1736378836.586 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:16.591Z,1736378836.591 [DAT](INFO): direction in FSK: [-0.131847,-0.559322,0.818398] 2025-01-08T23:27:16.592Z,1736378836.592 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:16.592Z,1736378836.592 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:16.595Z,1736378836.595 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:16.608Z,1736378836.608 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:16.681Z,1736378836.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 215.699997 m, deltaT: 7.558736 s, deltaX: 16.699997 m, approachRate: 2.209364 m/s, rangeRepo size: 4 2025-01-08T23:27:16.689Z,1736378836.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 215.699997 m, bearing: 275.277140 deg, lat: 36.902956 deg, lon: -122.122125 deg, deltaT: 7.558736 s, deltaX: 16.699997 m, approachRate: 2.209364 m/s, posRepo size: 4 2025-01-08T23:27:16.699Z,1736378836.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:16.702Z,1736378836.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 142.647461 m, bearing: 255.198485 deg, approach rate: 0.000000 m/s, LOS rate: -0.223318 deg/s, cmd heading: 16.127501 deg, new cmd heading: 15.691393 deg. 2025-01-08T23:27:16.703Z,1736378836.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273866 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:16.824Z,1736378836.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:16.825Z,1736378836.825 [DAT](INFO): DAT read: TxSync time:23:27:15.8341 2025-01-08T23:27:17.077Z,1736378837.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:17.216Z,1736378837.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:17.238Z,1736378837.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:17.245Z,1736378837.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:17.253Z,1736378837.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 142.826721 m, bearing: 255.071171 deg, approach rate: 0.310278 m/s, LOS rate: -0.220088 deg/s, cmd heading: 15.691393 deg, new cmd heading: 15.309937 deg. 2025-01-08T23:27:17.254Z,1736378837.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.267209 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:17.328Z,1736378837.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:17.328Z,1736378837.328 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:17.328Z,1736378837.328 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:17.329Z,1736378837.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:17.580Z,1736378837.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:17.580Z,1736378837.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994381 2025-01-08T23:27:17.656Z,1736378837.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:17.670Z,1736378837.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:17.675Z,1736378837.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 142.941360 m, bearing: 254.986046 deg, approach rate: 0.269985 m/s, LOS rate: -0.200315 deg/s, cmd heading: 15.309937 deg, new cmd heading: 15.054769 deg. 2025-01-08T23:27:17.677Z,1736378837.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262755 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:17.832Z,1736378837.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:17.833Z,1736378837.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246620 2025-01-08T23:27:18.064Z,1736378838.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:18.085Z,1736378838.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:18.088Z,1736378838.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500635 2025-01-08T23:27:18.146Z,1736378838.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:18.153Z,1736378838.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 143.048279 m, bearing: 254.906990 deg, approach rate: 0.224513 m/s, LOS rate: -0.165882 deg/s, cmd heading: 15.054770 deg, new cmd heading: 14.817780 deg. 2025-01-08T23:27:18.154Z,1736378838.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.258619 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:18.336Z,1736378838.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:18.336Z,1736378838.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750294 2025-01-08T23:27:18.476Z,1736378838.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:18.484Z,1736378838.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:18.486Z,1736378838.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 143.172089 m, bearing: 254.828667 deg, approach rate: 0.366155 m/s, LOS rate: -0.231434 deg/s, cmd heading: 14.817781 deg, new cmd heading: 14.583015 deg. 2025-01-08T23:27:18.488Z,1736378838.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.254522 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:18.588Z,1736378838.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:18.589Z,1736378838.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002526 2025-01-08T23:27:18.840Z,1736378838.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:18.841Z,1736378838.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254834 2025-01-08T23:27:18.846Z,1736378838.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:18.855Z,1736378838.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:18.859Z,1736378838.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 143.280075 m, bearing: 254.757732 deg, approach rate: 0.291318 m/s, LOS rate: -0.191219 deg/s, cmd heading: 14.583014 deg, new cmd heading: 14.370370 deg. 2025-01-08T23:27:18.860Z,1736378838.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.250810 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:19.092Z,1736378839.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:19.093Z,1736378839.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506767 2025-01-08T23:27:19.312Z,1736378839.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:19.319Z,1736378839.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:19.321Z,1736378839.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:19.325Z,1736378839.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 143.436539 m, bearing: 254.668061 deg, approach rate: 0.335438 m/s, LOS rate: -0.192031 deg/s, cmd heading: 14.370370 deg, new cmd heading: 14.101655 deg. 2025-01-08T23:27:19.326Z,1736378839.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246120 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:19.344Z,1736378839.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:19.345Z,1736378839.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758498 2025-01-08T23:27:19.596Z,1736378839.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:19.598Z,1736378839.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011962 2025-01-08T23:27:19.704Z,1736378839.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:19.721Z,1736378839.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:19.729Z,1736378839.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 143.567307 m, bearing: 254.592551 deg, approach rate: 0.327027 m/s, LOS rate: -0.188668 deg/s, cmd heading: 14.101655 deg, new cmd heading: 13.875330 deg. 2025-01-08T23:27:19.730Z,1736378839.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.242170 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:19.848Z,1736378839.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:19.849Z,1736378839.849 [DAT](INFO): DAT read: Rx Time:23:27:18.4969 2025-01-08T23:27:19.849Z,1736378839.849 [DAT](INFO): Rx dataTimestamp_ set to:1736378839.848710 2025-01-08T23:27:19.849Z,1736378839.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263504 2025-01-08T23:27:20.055Z,1736378840.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:20.095Z,1736378840.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:20.098Z,1736378840.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 143.683899 m, bearing: 254.524800 deg, approach rate: 0.311787 m/s, LOS rate: -0.181029 deg/s, cmd heading: 13.875330 deg, new cmd heading: 13.672243 deg. 2025-01-08T23:27:20.101Z,1736378840.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:20.104Z,1736378840.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517676 2025-01-08T23:27:20.108Z,1736378840.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238626 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:20.352Z,1736378840.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:20.360Z,1736378840.360 [DAT](INFO): DAT read: 23:27:18.4969 LVL= 21008, 24993, 22834, 32755, AGC= 66, IDX= 141,-0.22, 0.189,-1.525,-0.342,-0.429, PHS= 0.706,-1.049, 0.084, RAW= 129.6, 3.4, CAL= 136.0, -3.6, ROT= 14.0, 3.6 2025-01-08T23:27:20.361Z,1736378840.361 [DAT](INFO): got valid direction response: 23:27:18.4969 LVL= 21008, 24993, 22834, 32755, AGC= 66, IDX= 141,-0.22, 0.189,-1.525,-0.342,-0.429, PHS= 0.706,-1.049, 0.084, RAW= 129.6, 3.4, CAL= 136.0, -3.6, ROT= 14.0, 3.6 2025-01-08T23:27:20.362Z,1736378840.362 [DAT](INFO): DAT read: Bearing 14.0, 3.6 (Local) 2025-01-08T23:27:20.362Z,1736378840.362 [DAT](INFO): Local bearing/azimuth received: Bearing 14.0, 3.6 (Local) 2025-01-08T23:27:20.364Z,1736378840.364 [DAT](INFO): DAT read: Range 10 to 50 : 193.4 m (Round-trip 257.9 ms) speed 0.1 m/s 2025-01-08T23:27:20.364Z,1736378840.364 [DAT](INFO): DAT read: user:3224> 2025-01-08T23:27:20.365Z,1736378840.365 [DAT](INFO): DAT read: Tx time:23:27:19.5849 2025-01-08T23:27:20.365Z,1736378840.365 [DAT](INFO): Ping request sent. 2025-01-08T23:27:20.365Z,1736378840.365 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:20.366Z,1736378840.366 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:20.366Z,1736378840.366 [DAT](INFO): direction in FSK: [-0.190787,-0.560088,0.806165] 2025-01-08T23:27:20.367Z,1736378840.367 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:20.367Z,1736378840.367 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:20.370Z,1736378840.370 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:20.370Z,1736378840.370 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:20.573Z,1736378840.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:20.604Z,1736378840.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:20.604Z,1736378840.604 [DAT](INFO): DAT read: TxSync time:23:27:19.5841 2025-01-08T23:27:20.607Z,1736378840.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 193.399994 m, deltaT: 3.779247 s, deltaX: -22.300003 m, approachRate: -5.900647 m/s, rangeRepo size: 4 2025-01-08T23:27:20.612Z,1736378840.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:20.621Z,1736378840.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 143.867020 m, bearing: 254.431574 deg, approach rate: 0.363028 m/s, LOS rate: -0.184580 deg/s, cmd heading: 13.672243 deg, new cmd heading: 13.392925 deg. 2025-01-08T23:27:20.622Z,1736378840.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.233751 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:20.857Z,1736378840.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:20.913Z,1736378840.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:20.934Z,1736378840.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:20.943Z,1736378840.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 143.987076 m, bearing: 254.370442 deg, approach rate: 0.358125 m/s, LOS rate: -0.182206 deg/s, cmd heading: 13.392924 deg, new cmd heading: 13.209680 deg. 2025-01-08T23:27:20.948Z,1736378840.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230552 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:21.108Z,1736378841.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:21.339Z,1736378841.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:21.348Z,1736378841.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:21.350Z,1736378841.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:21.352Z,1736378841.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 144.145874 m, bearing: 254.293230 deg, approach rate: 0.382520 m/s, LOS rate: -0.185786 deg/s, cmd heading: 13.209680 deg, new cmd heading: 12.978301 deg. 2025-01-08T23:27:21.353Z,1736378841.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226514 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:21.360Z,1736378841.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:21.360Z,1736378841.360 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:21.360Z,1736378841.360 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:21.361Z,1736378841.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:21.612Z,1736378841.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:21.613Z,1736378841.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247199 2025-01-08T23:27:21.722Z,1736378841.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:21.752Z,1736378841.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:21.755Z,1736378841.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 144.287704 m, bearing: 254.223713 deg, approach rate: 0.352317 m/s, LOS rate: -0.172516 deg/s, cmd heading: 12.978301 deg, new cmd heading: 12.769955 deg. 2025-01-08T23:27:21.756Z,1736378841.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.222878 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:21.868Z,1736378841.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:21.869Z,1736378841.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503688 2025-01-08T23:27:22.117Z,1736378842.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:22.117Z,1736378842.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752125 2025-01-08T23:27:22.193Z,1736378842.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:22.217Z,1736378842.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:22.224Z,1736378842.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 144.459396 m, bearing: 254.139423 deg, approach rate: 0.369732 m/s, LOS rate: -0.181297 deg/s, cmd heading: 12.769956 deg, new cmd heading: 12.517391 deg. 2025-01-08T23:27:22.225Z,1736378842.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.218470 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:22.368Z,1736378842.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:22.368Z,1736378842.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002932 2025-01-08T23:27:22.578Z,1736378842.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:22.598Z,1736378842.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:22.618Z,1736378842.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 144.605591 m, bearing: 254.070552 deg, approach rate: 0.384094 m/s, LOS rate: -0.180761 deg/s, cmd heading: 12.517391 deg, new cmd heading: 12.310987 deg. 2025-01-08T23:27:22.618Z,1736378842.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.214867 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:22.620Z,1736378842.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:22.621Z,1736378842.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255575 2025-01-08T23:27:22.872Z,1736378842.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:22.873Z,1736378842.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507160 2025-01-08T23:27:22.928Z,1736378842.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:22.958Z,1736378842.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:22.965Z,1736378842.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 144.736649 m, bearing: 254.008466 deg, approach rate: 0.364362 m/s, LOS rate: -0.172453 deg/s, cmd heading: 12.310987 deg, new cmd heading: 12.124898 deg. 2025-01-08T23:27:22.966Z,1736378842.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.211619 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:23.126Z,1736378843.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:23.127Z,1736378843.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761520 2025-01-08T23:27:23.361Z,1736378843.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:23.368Z,1736378843.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:23.370Z,1736378843.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:23.374Z,1736378843.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 144.888123 m, bearing: 253.929877 deg, approach rate: 0.366386 m/s, LOS rate: -0.189894 deg/s, cmd heading: 12.124897 deg, new cmd heading: 11.889377 deg. 2025-01-08T23:27:23.376Z,1736378843.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.207509 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:23.381Z,1736378843.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:23.382Z,1736378843.382 [DAT](INFO): DAT read: Rx Time:23:27:22.2723 2025-01-08T23:27:23.383Z,1736378843.383 [DAT](INFO): Rx dataTimestamp_ set to:1736378843.382411 2025-01-08T23:27:23.383Z,1736378843.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017968 2025-01-08T23:27:23.632Z,1736378843.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:23.632Z,1736378843.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267049 2025-01-08T23:27:23.751Z,1736378843.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:23.761Z,1736378843.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.70 m. 2025-01-08T23:27:23.763Z,1736378843.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.699997 m, nav range: 145.024048 m, bearing: 253.859293 deg, approach rate: 0.348221 m/s, LOS rate: -0.180655 deg/s, cmd heading: 11.889377 deg, new cmd heading: 11.677826 deg. 2025-01-08T23:27:23.764Z,1736378843.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.203817 target range: 215.699997 and range: 215.70 m. 2025-01-08T23:27:23.884Z,1736378843.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:23.884Z,1736378843.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518992 2025-01-08T23:27:24.136Z,1736378844.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:24.147Z,1736378844.147 [DAT](INFO): DAT read: 23:27:22.2724 LVL= 21696, 32753, 25794, 31219, AGC= 67, IDX= 193, 0.19, 3.121, 1.310, 2.484, 2.449, PHS= 0.759,-1.092, 0.032, RAW= 127.0, 3.8, CAL= 134.3, -2.6, ROT= 15.7, 2.6 2025-01-08T23:27:24.148Z,1736378844.148 [DAT](INFO): got valid direction response: 23:27:22.2724 LVL= 21696, 32753, 25794, 31219, AGC= 67, IDX= 193, 0.19, 3.121, 1.310, 2.484, 2.449, PHS= 0.759,-1.092, 0.032, RAW= 127.0, 3.8, CAL= 134.3, -2.6, ROT= 15.7, 2.6 2025-01-08T23:27:24.149Z,1736378844.149 [DAT](INFO): DAT read: Bearing 15.7, 2.6 (Local) 2025-01-08T23:27:24.150Z,1736378844.150 [DAT](INFO): Local bearing/azimuth received: Bearing 15.7, 2.6 (Local) 2025-01-08T23:27:24.151Z,1736378844.151 [DAT](INFO): DAT read: Range 10 to 50 : 212.4 m (Round-trip 283.3 ms) speed 0.4 m/s 2025-01-08T23:27:24.152Z,1736378844.152 [DAT](INFO): DAT read: user:3225> 2025-01-08T23:27:24.153Z,1736378844.153 [DAT](INFO): DAT read: Tx time:23:27:23.3850 2025-01-08T23:27:24.153Z,1736378844.153 [DAT](INFO): Ping request sent. 2025-01-08T23:27:24.153Z,1736378844.153 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:24.153Z,1736378844.153 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:24.154Z,1736378844.154 [DAT](INFO): direction in FSK: [-0.197049,-0.521368,0.830269] 2025-01-08T23:27:24.154Z,1736378844.154 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:24.155Z,1736378844.155 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:24.177Z,1736378844.177 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:24.178Z,1736378844.178 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:24.247Z,1736378844.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:24.336Z,1736378844.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 212.399994 m, deltaT: 7.563403 s, deltaX: -3.300003 m, approachRate: -0.436312 m/s, rangeRepo size: 4 2025-01-08T23:27:24.338Z,1736378844.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 212.399994 m, bearing: 263.276311 deg, lat: 36.903235 deg, lon: -122.122125 deg, deltaT: 7.563403 s, deltaX: -3.300003 m, approachRate: -0.436312 m/s, posRepo size: 4 2025-01-08T23:27:24.338Z,1736378844.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.40 m. 2025-01-08T23:27:24.361Z,1736378844.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 212.399994 m, nav range: 139.731842 m, bearing: 266.107136 deg, approach rate: 0.000000 m/s, LOS rate: -0.180655 deg/s, cmd heading: 11.677826 deg, new cmd heading: 11.373310 deg. 2025-01-08T23:27:24.362Z,1736378844.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.198502 target range: 212.399994 and range: 212.40 m. 2025-01-08T23:27:24.388Z,1736378844.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:24.389Z,1736378844.389 [DAT](INFO): DAT read: TxSync time:23:27:23.3842 2025-01-08T23:27:24.640Z,1736378844.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:24.780Z,1736378844.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:24.793Z,1736378844.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.40 m. 2025-01-08T23:27:24.800Z,1736378844.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 212.399994 m, nav range: 139.840408 m, bearing: 265.993821 deg, approach rate: 0.230796 m/s, LOS rate: -0.240704 deg/s, cmd heading: 11.373310 deg, new cmd heading: 11.033632 deg. 2025-01-08T23:27:24.801Z,1736378844.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192573 target range: 212.399994 and range: 212.40 m. 2025-01-08T23:27:24.892Z,1736378844.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:25.112Z,1736378845.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:25.121Z,1736378845.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.40 m. 2025-01-08T23:27:25.125Z,1736378845.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 212.399994 m, nav range: 139.909225 m, bearing: 265.921527 deg, approach rate: 0.209860 m/s, LOS rate: -0.220355 deg/s, cmd heading: 11.033633 deg, new cmd heading: 10.816858 deg. 2025-01-08T23:27:25.126Z,1736378845.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.188790 target range: 212.399994 and range: 212.40 m. 2025-01-08T23:27:25.147Z,1736378845.147 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:25.396Z,1736378845.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:25.549Z,1736378845.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:25.556Z,1736378845.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:25.559Z,1736378845.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.40 m. 2025-01-08T23:27:25.562Z,1736378845.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 212.399994 m, nav range: 139.979828 m, bearing: 265.826577 deg, approach rate: 0.161230 m/s, LOS rate: -0.216721 deg/s, cmd heading: 10.816858 deg, new cmd heading: 10.532153 deg. 2025-01-08T23:27:25.563Z,1736378845.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183821 target range: 212.399994 and range: 212.40 m. 2025-01-08T23:27:25.650Z,1736378845.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:25.651Z,1736378845.651 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:25.652Z,1736378845.652 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:25.652Z,1736378845.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:25.900Z,1736378845.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:25.900Z,1736378845.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747394 2025-01-08T23:27:25.926Z,1736378845.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:25.954Z,1736378845.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.40 m. 2025-01-08T23:27:25.973Z,1736378845.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 212.399994 m, nav range: 140.039001 m, bearing: 265.744294 deg, approach rate: 0.150830 m/s, LOS rate: -0.209644 deg/s, cmd heading: 10.532153 deg, new cmd heading: 10.285412 deg. 2025-01-08T23:27:25.976Z,1736378845.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.179514 target range: 212.399994 and range: 212.40 m. 2025-01-08T23:27:26.152Z,1736378846.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:26.152Z,1736378846.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999224 2025-01-08T23:27:26.352Z,1736378846.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:26.369Z,1736378846.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.40 m. 2025-01-08T23:27:26.376Z,1736378846.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 212.399994 m, nav range: 140.084457 m, bearing: 265.650247 deg, approach rate: 0.108879 m/s, LOS rate: -0.225193 deg/s, cmd heading: 10.285412 deg, new cmd heading: 10.003365 deg. 2025-01-08T23:27:26.377Z,1736378846.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.174592 target range: 212.399994 and range: 212.40 m. 2025-01-08T23:27:26.404Z,1736378846.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:26.405Z,1736378846.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251675 2025-01-08T23:27:26.656Z,1736378846.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:26.657Z,1736378846.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503914 2025-01-08T23:27:26.728Z,1736378846.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:26.745Z,1736378846.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.40 m. 2025-01-08T23:27:26.748Z,1736378846.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 212.399994 m, nav range: 140.123657 m, bearing: 265.567001 deg, approach rate: 0.105219 m/s, LOS rate: -0.223384 deg/s, cmd heading: 10.003365 deg, new cmd heading: 9.753698 deg. 2025-01-08T23:27:26.749Z,1736378846.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.170234 target range: 212.399994 and range: 212.40 m. 2025-01-08T23:27:26.908Z,1736378846.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:26.909Z,1736378846.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756074 2025-01-08T23:27:27.125Z,1736378847.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:27.136Z,1736378847.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.40 m. 2025-01-08T23:27:27.139Z,1736378847.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 212.399994 m, nav range: 140.164047 m, bearing: 265.479130 deg, approach rate: 0.102267 m/s, LOS rate: -0.222424 deg/s, cmd heading: 9.753698 deg, new cmd heading: 9.490162 deg. 2025-01-08T23:27:27.141Z,1736378847.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.165635 target range: 212.399994 and range: 212.40 m. 2025-01-08T23:27:27.160Z,1736378847.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:27.161Z,1736378847.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007542 2025-01-08T23:27:27.412Z,1736378847.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:27.413Z,1736378847.413 [DAT](INFO): DAT read: Rx Time:23:27:26.0713 2025-01-08T23:27:27.413Z,1736378847.413 [DAT](INFO): Rx dataTimestamp_ set to:1736378847.412740 2025-01-08T23:27:27.414Z,1736378847.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260484 2025-01-08T23:27:27.579Z,1736378847.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:27.586Z,1736378847.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:27.588Z,1736378847.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.40 m. 2025-01-08T23:27:27.592Z,1736378847.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 212.399994 m, nav range: 140.187744 m, bearing: 265.378195 deg, approach rate: 0.052407 m/s, LOS rate: -0.223184 deg/s, cmd heading: 9.490162 deg, new cmd heading: 9.187412 deg. 2025-01-08T23:27:27.593Z,1736378847.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.160351 target range: 212.399994 and range: 212.40 m. 2025-01-08T23:27:27.665Z,1736378847.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:27.666Z,1736378847.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512619 2025-01-08T23:27:27.916Z,1736378847.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:27.922Z,1736378847.922 [DAT](INFO): DAT read: 23:27:26.0713 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 438, 0.29, 2.041, 0.346, 1.366, 1.422, PHS= 0.707,-1.029,-0.058, RAW= 123.9, 5.1, CAL= 132.4, 0.2, ROT= 17.6, -0.2 2025-01-08T23:27:27.924Z,1736378847.924 [DAT](INFO): got valid direction response: 23:27:26.0713 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 438, 0.29, 2.041, 0.346, 1.366, 1.422, PHS= 0.707,-1.029,-0.058, RAW= 123.9, 5.1, CAL= 132.4, 0.2, ROT= 17.6, -0.2 2025-01-08T23:27:27.925Z,1736378847.925 [DAT](INFO): DAT read: Bearing 17.6, -0.2 (Local) 2025-01-08T23:27:27.925Z,1736378847.925 [DAT](INFO): Local bearing/azimuth received: Bearing 17.6, -0.2 (Local) 2025-01-08T23:27:27.927Z,1736378847.927 [DAT](INFO): DAT read: Range 10 to 50 : 211.6 m (Round-trip 282.2 ms) speed 0.7 m/s 2025-01-08T23:27:27.928Z,1736378847.928 [DAT](INFO): DAT read: user:3226> 2025-01-08T23:27:27.928Z,1736378847.928 [DAT](INFO): DAT read: Tx time:23:27:27.1850 2025-01-08T23:27:27.929Z,1736378847.929 [DAT](INFO): Ping request sent. 2025-01-08T23:27:27.929Z,1736378847.929 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:27.929Z,1736378847.929 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:27.930Z,1736378847.930 [DAT](INFO): direction in FSK: [-0.220886,-0.469060,0.855098] 2025-01-08T23:27:27.930Z,1736378847.930 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:27.930Z,1736378847.930 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:27.933Z,1736378847.933 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:27.934Z,1736378847.934 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:28.004Z,1736378848.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:28.042Z,1736378848.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 211.600006 m, deltaT: 3.779767 s, deltaX: -0.799988 m, approachRate: -0.211650 m/s, rangeRepo size: 4 2025-01-08T23:27:28.048Z,1736378848.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 211.600006 m, bearing: 255.836573 deg, lat: 36.903235 deg, lon: -122.122088 deg, deltaT: 3.779767 s, deltaX: -0.799988 m, approachRate: -0.211650 m/s, posRepo size: 4 2025-01-08T23:27:28.049Z,1736378848.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-01-08T23:27:28.060Z,1736378848.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.600006 m, nav range: 136.898407 m, bearing: 265.169265 deg, approach rate: 0.000000 m/s, LOS rate: -0.223184 deg/s, cmd heading: 9.187412 deg, new cmd heading: 8.888064 deg. 2025-01-08T23:27:28.061Z,1736378848.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.155126 target range: 211.600006 and range: 211.60 m. 2025-01-08T23:27:28.168Z,1736378848.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:28.169Z,1736378848.169 [DAT](INFO): DAT read: TxSync time:23:27:27.1842 2025-01-08T23:27:28.410Z,1736378848.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:28.420Z,1736378848.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:28.432Z,1736378848.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-01-08T23:27:28.434Z,1736378848.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.600006 m, nav range: 136.901917 m, bearing: 265.074259 deg, approach rate: 0.008952 m/s, LOS rate: -0.242331 deg/s, cmd heading: 8.888065 deg, new cmd heading: 8.603057 deg. 2025-01-08T23:27:28.439Z,1736378848.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.150152 target range: 211.600006 and range: 211.60 m. 2025-01-08T23:27:28.672Z,1736378848.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:28.752Z,1736378848.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:28.766Z,1736378848.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-01-08T23:27:28.773Z,1736378848.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.600006 m, nav range: 136.904419 m, bearing: 264.994307 deg, approach rate: 0.007388 m/s, LOS rate: -0.236033 deg/s, cmd heading: 8.603057 deg, new cmd heading: 8.363208 deg. 2025-01-08T23:27:28.776Z,1736378848.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.145966 target range: 211.600006 and range: 211.60 m. 2025-01-08T23:27:28.924Z,1736378848.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:29.148Z,1736378849.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:29.163Z,1736378849.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-01-08T23:27:29.166Z,1736378849.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.600006 m, nav range: 136.906952 m, bearing: 264.901667 deg, approach rate: 0.006388 m/s, LOS rate: -0.233614 deg/s, cmd heading: 8.363208 deg, new cmd heading: 8.085294 deg. 2025-01-08T23:27:29.167Z,1736378849.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.141115 target range: 211.600006 and range: 211.60 m. 2025-01-08T23:27:29.176Z,1736378849.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:29.428Z,1736378849.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:29.575Z,1736378849.575 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,3268,V 2025-01-08T23:27:29.582Z,1736378849.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:27:29.582Z,1736378849.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:29.591Z,1736378849.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:29.593Z,1736378849.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-01-08T23:27:29.596Z,1736378849.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.600006 m, nav range: 136.910141 m, bearing: 264.800270 deg, approach rate: 0.007409 m/s, LOS rate: -0.235564 deg/s, cmd heading: 8.085294 deg, new cmd heading: 7.781113 deg. 2025-01-08T23:27:29.597Z,1736378849.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.135806 target range: 211.600006 and range: 211.60 m. 2025-01-08T23:27:29.681Z,1736378849.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:29.681Z,1736378849.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:29.682Z,1736378849.682 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:29.682Z,1736378849.682 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:29.932Z,1736378849.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:29.932Z,1736378849.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003662 2025-01-08T23:27:29.968Z,1736378849.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:27:29.969Z,1736378849.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:29.978Z,1736378849.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-01-08T23:27:29.981Z,1736378849.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.600006 m, nav range: 136.910431 m, bearing: 264.710005 deg, approach rate: 0.000753 m/s, LOS rate: -0.234567 deg/s, cmd heading: 7.781113 deg, new cmd heading: 7.510322 deg. 2025-01-08T23:27:29.982Z,1736378849.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.131080 target range: 211.600006 and range: 211.60 m. 2025-01-08T23:27:30.184Z,1736378850.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:30.184Z,1736378850.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255604 2025-01-08T23:27:30.382Z,1736378850.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:30.412Z,1736378850.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-01-08T23:27:30.415Z,1736378850.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.600006 m, nav range: 136.899200 m, bearing: 264.611766 deg, approach rate: -0.025862 m/s, LOS rate: -0.226252 deg/s, cmd heading: 7.510322 deg, new cmd heading: 7.215582 deg. 2025-01-08T23:27:30.420Z,1736378850.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125936 target range: 211.600006 and range: 211.60 m. 2025-01-08T23:27:30.436Z,1736378850.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:30.437Z,1736378850.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507930 2025-01-08T23:27:30.688Z,1736378850.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:30.688Z,1736378850.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759563 2025-01-08T23:27:30.782Z,1736378850.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:30.791Z,1736378850.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-01-08T23:27:30.793Z,1736378850.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.600006 m, nav range: 136.887527 m, bearing: 264.516960 deg, approach rate: -0.030838 m/s, LOS rate: -0.250478 deg/s, cmd heading: 7.215583 deg, new cmd heading: 6.931144 deg. 2025-01-08T23:27:30.794Z,1736378850.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120971 target range: 211.600006 and range: 211.60 m. 2025-01-08T23:27:30.940Z,1736378850.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:30.941Z,1736378850.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012401 2025-01-08T23:27:31.168Z,1736378851.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:31.177Z,1736378851.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-01-08T23:27:31.180Z,1736378851.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.600006 m, nav range: 136.875412 m, bearing: 264.425482 deg, approach rate: -0.031358 m/s, LOS rate: -0.236788 deg/s, cmd heading: 6.931144 deg, new cmd heading: 6.656688 deg. 2025-01-08T23:27:31.181Z,1736378851.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116181 target range: 211.600006 and range: 211.60 m. 2025-01-08T23:27:31.192Z,1736378851.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:31.193Z,1736378851.193 [DAT](INFO): DAT read: Rx Time:23:27:29.8675 2025-01-08T23:27:31.193Z,1736378851.193 [DAT](INFO): Rx dataTimestamp_ set to:1736378851.192696 2025-01-08T23:27:31.193Z,1736378851.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264727 2025-01-08T23:27:31.444Z,1736378851.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:31.445Z,1736378851.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515747 2025-01-08T23:27:31.655Z,1736378851.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:31.689Z,1736378851.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:31.696Z,1736378851.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:31.703Z,1736378851.703 [DAT](INFO): DAT read: 23:27:29.8675 LVL= 24880, 32753, 32754, 32755, AGC= 64, IDX= 400,-0.43,-2.636, 2.254, 3.020, 3.099, PHS= 0.636,-0.799,-0.082, RAW= 120.0, 4.0, CAL= 129.6, -0.6, ROT= 20.4, 0.6 2025-01-08T23:27:31.704Z,1736378851.704 [DAT](INFO): got valid direction response: 23:27:29.8675 LVL= 24880, 32753, 32754, 32755, AGC= 64, IDX= 400,-0.43,-2.636, 2.254, 3.020, 3.099, PHS= 0.636,-0.799,-0.082, RAW= 120.0, 4.0, CAL= 129.6, -0.6, ROT= 20.4, 0.6 2025-01-08T23:27:31.705Z,1736378851.705 [DAT](INFO): DAT read: Bearing 20.4, 0.6 (Local) 2025-01-08T23:27:31.705Z,1736378851.705 [DAT](INFO): Local bearing/azimuth received: Bearing 20.4, 0.6 (Local) 2025-01-08T23:27:31.707Z,1736378851.707 [DAT](INFO): DAT read: Range 10 to 50 : 208.8 m (Round-trip 278.4 ms) speed 0.4 m/s 2025-01-08T23:27:31.708Z,1736378851.708 [DAT](INFO): DAT read: user:3227> 2025-01-08T23:27:31.708Z,1736378851.708 [DAT](INFO): DAT read: Tx time:23:27:30.9850 2025-01-08T23:27:31.709Z,1736378851.709 [DAT](INFO): Ping request sent. 2025-01-08T23:27:31.709Z,1736378851.709 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:31.709Z,1736378851.709 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:31.710Z,1736378851.710 [DAT](INFO): direction in FSK: [-0.197396,-0.407535,0.891600] 2025-01-08T23:27:31.710Z,1736378851.710 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:31.710Z,1736378851.710 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:31.714Z,1736378851.714 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:31.714Z,1736378851.714 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:31.718Z,1736378851.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-01-08T23:27:31.723Z,1736378851.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.600006 m, nav range: 136.871628 m, bearing: 264.311759 deg, approach rate: -0.007359 m/s, LOS rate: -0.221151 deg/s, cmd heading: 6.656688 deg, new cmd heading: 6.315512 deg. 2025-01-08T23:27:31.728Z,1736378851.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110226 target range: 211.600006 and range: 211.60 m. 2025-01-08T23:27:31.951Z,1736378851.951 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:31.954Z,1736378851.954 [DAT](INFO): DAT read: TxSync time:23:27:30.9842 2025-01-08T23:27:32.046Z,1736378852.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:32.086Z,1736378852.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 208.800003 m, deltaT: 3.780332 s, deltaX: -2.800003 m, approachRate: -0.740677 m/s, rangeRepo size: 4 2025-01-08T23:27:32.101Z,1736378852.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 208.800003 m, bearing: 252.030329 deg, lat: 36.903177 deg, lon: -122.122018 deg, deltaT: 3.780332 s, deltaX: -2.800003 m, approachRate: -0.740677 m/s, posRepo size: 4 2025-01-08T23:27:32.101Z,1736378852.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.80 m. 2025-01-08T23:27:32.112Z,1736378852.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.800003 m, nav range: 131.532135 m, bearing: 261.104725 deg, approach rate: 0.000000 m/s, LOS rate: -0.221151 deg/s, cmd heading: 6.315512 deg, new cmd heading: 6.053759 deg. 2025-01-08T23:27:32.113Z,1736378852.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105658 target range: 208.800003 and range: 208.80 m. 2025-01-08T23:27:32.200Z,1736378852.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:32.452Z,1736378852.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:32.466Z,1736378852.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:32.477Z,1736378852.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.80 m. 2025-01-08T23:27:32.480Z,1736378852.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.800003 m, nav range: 131.555511 m, bearing: 261.001670 deg, approach rate: 0.059746 m/s, LOS rate: -0.263342 deg/s, cmd heading: 6.053759 deg, new cmd heading: 5.744652 deg. 2025-01-08T23:27:32.481Z,1736378852.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100263 target range: 208.800003 and range: 208.80 m. 2025-01-08T23:27:32.709Z,1736378852.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:32.838Z,1736378852.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:32.870Z,1736378852.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.80 m. 2025-01-08T23:27:32.886Z,1736378852.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.800003 m, nav range: 131.575531 m, bearing: 260.910711 deg, approach rate: 0.051031 m/s, LOS rate: -0.231826 deg/s, cmd heading: 5.744652 deg, new cmd heading: 5.471818 deg. 2025-01-08T23:27:32.896Z,1736378852.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095501 target range: 208.800003 and range: 208.80 m. 2025-01-08T23:27:32.956Z,1736378852.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:33.209Z,1736378853.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:33.244Z,1736378853.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:33.252Z,1736378853.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.80 m. 2025-01-08T23:27:33.255Z,1736378853.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.800003 m, nav range: 131.596878 m, bearing: 260.810943 deg, approach rate: 0.055723 m/s, LOS rate: -0.260387 deg/s, cmd heading: 5.471818 deg, new cmd heading: 5.172567 deg. 2025-01-08T23:27:33.256Z,1736378853.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.090278 target range: 208.800003 and range: 208.80 m. 2025-01-08T23:27:33.460Z,1736378853.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:33.696Z,1736378853.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:33.703Z,1736378853.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:33.705Z,1736378853.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.80 m. 2025-01-08T23:27:33.712Z,1736378853.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:33.712Z,1736378853.712 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:33.712Z,1736378853.712 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:33.713Z,1736378853.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:33.729Z,1736378853.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.800003 m, nav range: 131.642532 m, bearing: 260.701880 deg, approach rate: 0.100779 m/s, LOS rate: -0.240668 deg/s, cmd heading: 5.172567 deg, new cmd heading: 4.845493 deg. 2025-01-08T23:27:33.730Z,1736378853.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084570 target range: 208.800003 and range: 208.80 m. 2025-01-08T23:27:33.964Z,1736378853.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:33.965Z,1736378853.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256154 2025-01-08T23:27:34.049Z,1736378854.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:34.058Z,1736378854.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.80 m. 2025-01-08T23:27:34.061Z,1736378854.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.800003 m, nav range: 131.675613 m, bearing: 260.616829 deg, approach rate: 0.094085 m/s, LOS rate: -0.241830 deg/s, cmd heading: 4.845493 deg, new cmd heading: 4.590407 deg. 2025-01-08T23:27:34.062Z,1736378854.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.080118 target range: 208.800003 and range: 208.80 m. 2025-01-08T23:27:34.216Z,1736378854.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:34.216Z,1736378854.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507737 2025-01-08T23:27:34.468Z,1736378854.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:34.469Z,1736378854.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759843 2025-01-08T23:27:34.467Z,1736378854.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:34.499Z,1736378854.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.80 m. 2025-01-08T23:27:34.506Z,1736378854.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.800003 m, nav range: 131.737915 m, bearing: 260.516274 deg, approach rate: 0.141027 m/s, LOS rate: -0.227509 deg/s, cmd heading: 4.590407 deg, new cmd heading: 4.288888 deg. 2025-01-08T23:27:34.511Z,1736378854.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074855 target range: 208.800003 and range: 208.80 m. 2025-01-08T23:27:34.720Z,1736378854.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:34.721Z,1736378854.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012525 2025-01-08T23:27:34.854Z,1736378854.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:34.891Z,1736378854.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.80 m. 2025-01-08T23:27:34.894Z,1736378854.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.800003 m, nav range: 131.795258 m, bearing: 260.423300 deg, approach rate: 0.147734 m/s, LOS rate: -0.239431 deg/s, cmd heading: 4.288888 deg, new cmd heading: 4.010088 deg. 2025-01-08T23:27:34.895Z,1736378854.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069989 target range: 208.800003 and range: 208.80 m. 2025-01-08T23:27:34.972Z,1736378854.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:34.974Z,1736378854.974 [DAT](INFO): DAT read: Rx Time:23:27:33.6653 2025-01-08T23:27:34.976Z,1736378854.976 [DAT](INFO): Rx dataTimestamp_ set to:1736378854.974399 2025-01-08T23:27:34.977Z,1736378854.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268250 2025-01-08T23:27:35.224Z,1736378855.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:35.225Z,1736378855.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516410 2025-01-08T23:27:35.265Z,1736378855.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:35.273Z,1736378855.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.80 m. 2025-01-08T23:27:35.277Z,1736378855.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.800003 m, nav range: 131.855835 m, bearing: 260.324442 deg, approach rate: 0.156959 m/s, LOS rate: -0.256029 deg/s, cmd heading: 4.010088 deg, new cmd heading: 3.713652 deg. 2025-01-08T23:27:35.278Z,1736378855.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064815 target range: 208.800003 and range: 208.80 m. 2025-01-08T23:27:35.476Z,1736378855.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:35.482Z,1736378855.482 [DAT](INFO): DAT read: 23:27:33.6653 LVL= 26608, 27185, 25154, 31315, AGC= 65, IDX= 127, 0.31, 1.318,-0.333, 0.499, 0.632, PHS= 0.775,-0.918,-0.135, RAW= 117.5, 3.8, CAL= 127.6, -0.3, ROT= 22.4, 0.3 2025-01-08T23:27:35.483Z,1736378855.483 [DAT](INFO): got valid direction response: 23:27:33.6653 LVL= 26608, 27185, 25154, 31315, AGC= 65, IDX= 127, 0.31, 1.318,-0.333, 0.499, 0.632, PHS= 0.775,-0.918,-0.135, RAW= 117.5, 3.8, CAL= 127.6, -0.3, ROT= 22.4, 0.3 2025-01-08T23:27:35.484Z,1736378855.484 [DAT](INFO): DAT read: Bearing 22.4, 0.3 (Local) 2025-01-08T23:27:35.485Z,1736378855.485 [DAT](INFO): Local bearing/azimuth received: Bearing 22.4, 0.3 (Local) 2025-01-08T23:27:35.486Z,1736378855.486 [DAT](INFO): DAT read: Range 10 to 50 : 207.0 m (Round-trip 276.1 ms) speed 0.4 m/s 2025-01-08T23:27:35.487Z,1736378855.487 [DAT](INFO): DAT read: user:3228> 2025-01-08T23:27:35.488Z,1736378855.488 [DAT](INFO): DAT read: Tx time:23:27:34.7850 2025-01-08T23:27:35.488Z,1736378855.488 [DAT](INFO): Ping request sent. 2025-01-08T23:27:35.488Z,1736378855.488 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:35.489Z,1736378855.489 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:35.490Z,1736378855.490 [DAT](INFO): direction in FSK: [-0.192607,-0.366960,0.910079] 2025-01-08T23:27:35.490Z,1736378855.490 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:35.506Z,1736378855.506 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:35.542Z,1736378855.542 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:35.542Z,1736378855.542 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:35.682Z,1736378855.682 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815284066,35.0, +11.0, 0.0,1493.5, , 0.00, 79.87, 70.36, 73.07, 76.47 2025-01-08T23:27:35.714Z,1736378855.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:27:35.715Z,1736378855.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:35.728Z,1736378855.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:35.729Z,1736378855.729 [DAT](INFO): DAT read: TxSync time:23:27:34.7842 2025-01-08T23:27:35.757Z,1736378855.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 207.000000 m, deltaT: 3.779813 s, deltaX: -1.800003 m, approachRate: -0.476215 m/s, rangeRepo size: 4 2025-01-08T23:27:35.759Z,1736378855.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 207.000000 m, bearing: 248.022390 deg, lat: 36.903057 deg, lon: -122.121953 deg, deltaT: 3.779813 s, deltaX: -1.800003 m, approachRate: -0.476215 m/s, posRepo size: 4 2025-01-08T23:27:35.768Z,1736378855.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:35.770Z,1736378855.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 129.258224 m, bearing: 253.954271 deg, approach rate: 0.000000 m/s, LOS rate: -0.256029 deg/s, cmd heading: 3.713652 deg, new cmd heading: 3.342454 deg. 2025-01-08T23:27:35.776Z,1736378855.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058337 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:35.980Z,1736378855.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:36.076Z,1736378856.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:27:36.076Z,1736378856.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:36.082Z,1736378856.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:36.085Z,1736378856.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:36.087Z,1736378856.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 129.330185 m, bearing: 253.871646 deg, approach rate: 0.219193 m/s, LOS rate: -0.251537 deg/s, cmd heading: 3.342454 deg, new cmd heading: 3.094719 deg. 2025-01-08T23:27:36.088Z,1736378856.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.054013 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:36.232Z,1736378856.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:36.232Z,1736378856.232 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:36.232Z,1736378856.232 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:36.232Z,1736378856.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:36.484Z,1736378856.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:36.485Z,1736378856.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996476 2025-01-08T23:27:36.574Z,1736378856.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:36.588Z,1736378856.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:36.592Z,1736378856.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 129.480515 m, bearing: 253.753095 deg, approach rate: 0.298666 m/s, LOS rate: -0.235258 deg/s, cmd heading: 3.094719 deg, new cmd heading: 2.739483 deg. 2025-01-08T23:27:36.593Z,1736378856.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047813 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:36.736Z,1736378856.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:36.737Z,1736378856.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248044 2025-01-08T23:27:36.961Z,1736378856.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:36.969Z,1736378856.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:36.972Z,1736378856.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 129.594116 m, bearing: 253.663672 deg, approach rate: 0.298130 m/s, LOS rate: -0.234471 deg/s, cmd heading: 2.739483 deg, new cmd heading: 2.471451 deg. 2025-01-08T23:27:36.973Z,1736378856.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043135 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:36.988Z,1736378856.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:36.988Z,1736378856.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499704 2025-01-08T23:27:37.240Z,1736378857.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:37.243Z,1736378857.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753935 2025-01-08T23:27:37.441Z,1736378857.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:37.465Z,1736378857.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:37.475Z,1736378857.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 129.733627 m, bearing: 253.553889 deg, approach rate: 0.281443 m/s, LOS rate: -0.221231 deg/s, cmd heading: 2.471451 deg, new cmd heading: 2.142462 deg. 2025-01-08T23:27:37.476Z,1736378857.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037393 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:37.492Z,1736378857.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:37.493Z,1736378857.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004618 2025-01-08T23:27:37.744Z,1736378857.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:37.744Z,1736378857.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255795 2025-01-08T23:27:37.822Z,1736378857.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:37.864Z,1736378857.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:37.867Z,1736378857.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 129.854111 m, bearing: 253.465788 deg, approach rate: 0.301386 m/s, LOS rate: -0.220179 deg/s, cmd heading: 2.142462 deg, new cmd heading: 1.878405 deg. 2025-01-08T23:27:37.872Z,1736378857.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032784 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:37.996Z,1736378857.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:37.997Z,1736378857.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508189 2025-01-08T23:27:38.203Z,1736378858.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:38.210Z,1736378858.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:38.213Z,1736378858.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:38.216Z,1736378858.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 129.972244 m, bearing: 253.378827 deg, approach rate: 0.339065 m/s, LOS rate: -0.249367 deg/s, cmd heading: 1.878405 deg, new cmd heading: 1.617761 deg. 2025-01-08T23:27:38.217Z,1736378858.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028235 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:38.248Z,1736378858.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:38.249Z,1736378858.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760001 2025-01-08T23:27:38.500Z,1736378858.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:38.500Z,1736378858.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011816 2025-01-08T23:27:38.616Z,1736378858.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:38.652Z,1736378858.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:38.661Z,1736378858.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 130.099960 m, bearing: 253.282540 deg, approach rate: 0.293796 m/s, LOS rate: -0.221280 deg/s, cmd heading: 1.617761 deg, new cmd heading: 1.329186 deg. 2025-01-08T23:27:38.662Z,1736378858.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023199 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:38.752Z,1736378858.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:38.753Z,1736378858.753 [DAT](INFO): DAT read: Rx Time:23:27:37.4339 2025-01-08T23:27:38.753Z,1736378858.753 [DAT](INFO): Rx dataTimestamp_ set to:1736378858.752993 2025-01-08T23:27:38.754Z,1736378858.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265278 2025-01-08T23:27:38.806Z,1736378858.806 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:27:39.004Z,1736378859.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:39.005Z,1736378859.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516009 2025-01-08T23:27:39.013Z,1736378859.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:39.052Z,1736378859.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:39.054Z,1736378859.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 130.221970 m, bearing: 253.190104 deg, approach rate: 0.305032 m/s, LOS rate: -0.230880 deg/s, cmd heading: 1.329186 deg, new cmd heading: 1.052141 deg. 2025-01-08T23:27:39.060Z,1736378859.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018363 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:39.256Z,1736378859.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:39.264Z,1736378859.264 [DAT](INFO): DAT read: 23:27:37.4339 LVL= 22128, 31121, 28658, 32755, AGC= 68, IDX= 116,-0.28, 1.769, 0.205, 0.990, 1.201, PHS= 0.656,-0.950,-0.214, RAW= 117.2, 7.4, CAL= 126.5, 3.6, ROT= 23.5, -3.6 2025-01-08T23:27:39.265Z,1736378859.265 [DAT](INFO): got valid direction response: 23:27:37.4339 LVL= 22128, 31121, 28658, 32755, AGC= 68, IDX= 116,-0.28, 1.769, 0.205, 0.990, 1.201, PHS= 0.656,-0.950,-0.214, RAW= 117.2, 7.4, CAL= 126.5, 3.6, ROT= 23.5, -3.6 2025-01-08T23:27:39.266Z,1736378859.266 [DAT](INFO): DAT read: Bearing 23.5, -3.6 (Local) 2025-01-08T23:27:39.266Z,1736378859.266 [DAT](INFO): Local bearing/azimuth received: Bearing 23.5, -3.6 (Local) 2025-01-08T23:27:39.270Z,1736378859.270 [DAT](INFO): DAT read: Range 10 to 50 : 183.5 m (Round-trip 244.7 ms) speed 0.1 m/s 2025-01-08T23:27:39.274Z,1736378859.274 [DAT](INFO): DAT read: user:3229> 2025-01-08T23:27:39.276Z,1736378859.276 [DAT](INFO): DAT read: Tx time:23:27:38.5351 2025-01-08T23:27:39.276Z,1736378859.276 [DAT](INFO): Ping request sent. 2025-01-08T23:27:39.276Z,1736378859.276 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:39.277Z,1736378859.277 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:39.277Z,1736378859.277 [DAT](INFO): direction in FSK: [-0.258789,-0.354983,0.898340] 2025-01-08T23:27:39.278Z,1736378859.278 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:39.278Z,1736378859.278 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:39.321Z,1736378859.321 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:39.321Z,1736378859.321 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:39.509Z,1736378859.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:39.510Z,1736378859.510 [DAT](INFO): DAT read: TxSync time:23:27:38.5343 2025-01-08T23:27:39.533Z,1736378859.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:39.568Z,1736378859.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 183.500000 m, deltaT: 3.779938 s, deltaX: -23.500000 m, approachRate: -6.217033 m/s, rangeRepo size: 4 2025-01-08T23:27:39.569Z,1736378859.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:39.576Z,1736378859.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 130.381363 m, bearing: 253.069066 deg, approach rate: 0.309016 m/s, LOS rate: -0.234370 deg/s, cmd heading: 1.052140 deg, new cmd heading: 0.689475 deg. 2025-01-08T23:27:39.577Z,1736378859.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012034 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:39.760Z,1736378859.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:39.809Z,1736378859.809 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:27:39.886Z,1736378859.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:39.919Z,1736378859.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:39.940Z,1736378859.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 130.488113 m, bearing: 252.986775 deg, approach rate: 0.300189 m/s, LOS rate: -0.231218 deg/s, cmd heading: 0.689475 deg, new cmd heading: 0.442806 deg. 2025-01-08T23:27:39.941Z,1736378859.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007728 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:40.014Z,1736378860.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:40.261Z,1736378860.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:40.268Z,1736378860.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:40.269Z,1736378860.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:40.272Z,1736378860.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:40.276Z,1736378860.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 130.601440 m, bearing: 252.899035 deg, approach rate: 0.321640 m/s, LOS rate: -0.248804 deg/s, cmd heading: 0.442806 deg, new cmd heading: 0.179816 deg. 2025-01-08T23:27:40.277Z,1736378860.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003138 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:40.520Z,1736378860.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:40.520Z,1736378860.520 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:40.520Z,1736378860.520 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:40.521Z,1736378860.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:40.721Z,1736378860.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:27:40.721Z,1736378860.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:40.731Z,1736378860.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:40.733Z,1736378860.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 130.739578 m, bearing: 252.791764 deg, approach rate: 0.300701 m/s, LOS rate: -0.233262 deg/s, cmd heading: 0.179816 deg, new cmd heading: 359.858347 deg. 2025-01-08T23:27:40.734Z,1736378860.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280713 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:40.772Z,1736378860.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:40.773Z,1736378860.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496948 2025-01-08T23:27:41.024Z,1736378861.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:41.025Z,1736378861.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748754 2025-01-08T23:27:41.070Z,1736378861.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:27:41.070Z,1736378861.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:41.079Z,1736378861.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:41.082Z,1736378861.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 130.843643 m, bearing: 252.710150 deg, approach rate: 0.298614 m/s, LOS rate: -0.234006 deg/s, cmd heading: 359.858352 deg, new cmd heading: 359.613705 deg. 2025-01-08T23:27:41.083Z,1736378861.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276443 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:41.277Z,1736378861.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:41.278Z,1736378861.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001527 2025-01-08T23:27:41.536Z,1736378861.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:41.536Z,1736378861.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260071 2025-01-08T23:27:41.554Z,1736378861.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:41.575Z,1736378861.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:41.578Z,1736378861.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 130.914230 m, bearing: 252.585322 deg, approach rate: 0.142298 m/s, LOS rate: -0.251505 deg/s, cmd heading: 359.613695 deg, new cmd heading: 359.239421 deg. 2025-01-08T23:27:41.591Z,1736378861.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269911 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:41.788Z,1736378861.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:41.789Z,1736378861.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512859 2025-01-08T23:27:41.917Z,1736378861.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:41.930Z,1736378861.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:41.933Z,1736378861.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 130.965500 m, bearing: 252.492101 deg, approach rate: 0.144410 m/s, LOS rate: -0.262473 deg/s, cmd heading: 359.239427 deg, new cmd heading: 358.959874 deg. 2025-01-08T23:27:41.934Z,1736378861.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265032 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:42.041Z,1736378862.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:42.042Z,1736378862.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765287 2025-01-08T23:27:42.292Z,1736378862.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:42.293Z,1736378862.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016478 2025-01-08T23:27:42.316Z,1736378862.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:42.323Z,1736378862.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:42.326Z,1736378862.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:42.354Z,1736378862.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 131.020691 m, bearing: 252.388870 deg, approach rate: 0.139358 m/s, LOS rate: -0.260549 deg/s, cmd heading: 358.959881 deg, new cmd heading: 358.650322 deg. 2025-01-08T23:27:42.355Z,1736378862.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.259629 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:42.544Z,1736378862.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:42.544Z,1736378862.544 [DAT](INFO): DAT read: Rx Time:23:27:41.1817 2025-01-08T23:27:42.545Z,1736378862.545 [DAT](INFO): Rx dataTimestamp_ set to:1736378862.544588 2025-01-08T23:27:42.545Z,1736378862.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269083 2025-01-08T23:27:42.736Z,1736378862.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:42.745Z,1736378862.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.00 m. 2025-01-08T23:27:42.764Z,1736378862.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.000000 m, nav range: 131.054688 m, bearing: 252.277911 deg, approach rate: 0.081152 m/s, LOS rate: -0.264796 deg/s, cmd heading: 358.650310 deg, new cmd heading: 358.317525 deg. 2025-01-08T23:27:42.765Z,1736378862.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253820 target range: 207.000000 and range: 207.00 m. 2025-01-08T23:27:42.796Z,1736378862.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:42.796Z,1736378862.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520163 2025-01-08T23:27:43.048Z,1736378863.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:43.056Z,1736378863.056 [DAT](INFO): DAT read: 23:27:41.1817 LVL= 28896, 32753, 31970, 32755, AGC= 63, IDX= 414,-0.45,-1.792, 3.039,-2.550,-2.296, PHS= 0.592,-0.901,-0.256, RAW= 115.5, 8.8, CAL= 124.7, 5.4, ROT= 25.3, -5.4 2025-01-08T23:27:43.057Z,1736378863.057 [DAT](INFO): got valid direction response: 23:27:41.1817 LVL= 28896, 32753, 31970, 32755, AGC= 63, IDX= 414,-0.45,-1.792, 3.039,-2.550,-2.296, PHS= 0.592,-0.901,-0.256, RAW= 115.5, 8.8, CAL= 124.7, 5.4, ROT= 25.3, -5.4 2025-01-08T23:27:43.058Z,1736378863.058 [DAT](INFO): DAT read: Bearing 25.3, -5.4 (Local) 2025-01-08T23:27:43.058Z,1736378863.058 [DAT](INFO): Local bearing/azimuth received: Bearing 25.3, -5.4 (Local) 2025-01-08T23:27:43.070Z,1736378863.070 [DAT](INFO): DAT read: Range 10 to 50 : 181.8 m (Round-trip 242.4 ms) speed 0.4 m/s 2025-01-08T23:27:43.071Z,1736378863.071 [DAT](INFO): DAT read: user:3230> 2025-01-08T23:27:43.072Z,1736378863.072 [DAT](INFO): DAT read: Tx time:23:27:42.2851 2025-01-08T23:27:43.072Z,1736378863.072 [DAT](INFO): Ping request sent. 2025-01-08T23:27:43.073Z,1736378863.073 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:43.073Z,1736378863.073 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:43.075Z,1736378863.075 [DAT](INFO): direction in FSK: [-0.283355,-0.322866,0.903032] 2025-01-08T23:27:43.075Z,1736378863.075 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:43.087Z,1736378863.087 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:43.111Z,1736378863.111 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:43.112Z,1736378863.112 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:43.172Z,1736378863.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:43.215Z,1736378863.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 181.800003 m, deltaT: 7.572233 s, deltaX: -25.199997 m, approachRate: -3.327948 m/s, rangeRepo size: 4 2025-01-08T23:27:43.217Z,1736378863.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 181.800003 m, bearing: 231.652065 deg, lat: 36.903020 deg, lon: -122.121665 deg, deltaT: 7.572233 s, deltaX: -25.199997 m, approachRate: -3.327948 m/s, posRepo size: 4 2025-01-08T23:27:43.218Z,1736378863.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m. 2025-01-08T23:27:43.226Z,1736378863.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.800003 m, nav range: 108.594276 m, bearing: 245.971609 deg, approach rate: 0.000000 m/s, LOS rate: -0.264796 deg/s, cmd heading: 358.317516 deg, new cmd heading: 357.954384 deg. 2025-01-08T23:27:43.227Z,1736378863.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247483 target range: 181.800003 and range: 181.80 m. 2025-01-08T23:27:43.300Z,1736378863.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:43.301Z,1736378863.301 [DAT](INFO): DAT read: TxSync time:23:27:42.2843 2025-01-08T23:27:43.552Z,1736378863.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:43.571Z,1736378863.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:43.581Z,1736378863.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m. 2025-01-08T23:27:43.584Z,1736378863.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.800003 m, nav range: 108.630295 m, bearing: 245.840003 deg, approach rate: 0.095134 m/s, LOS rate: -0.347490 deg/s, cmd heading: 357.954396 deg, new cmd heading: 357.559716 deg. 2025-01-08T23:27:43.585Z,1736378863.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.240594 target range: 181.800003 and range: 181.80 m. 2025-01-08T23:27:43.804Z,1736378863.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:43.922Z,1736378863.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:43.930Z,1736378863.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m. 2025-01-08T23:27:43.956Z,1736378863.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.800003 m, nav range: 108.659737 m, bearing: 245.727792 deg, approach rate: 0.084249 m/s, LOS rate: -0.321011 deg/s, cmd heading: 357.559720 deg, new cmd heading: 357.223181 deg. 2025-01-08T23:27:43.958Z,1736378863.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234721 target range: 181.800003 and range: 181.80 m. 2025-01-08T23:27:44.057Z,1736378864.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:44.308Z,1736378864.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:44.347Z,1736378864.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:44.353Z,1736378864.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:44.356Z,1736378864.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m. 2025-01-08T23:27:44.380Z,1736378864.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.800003 m, nav range: 108.693710 m, bearing: 245.592019 deg, approach rate: 0.079917 m/s, LOS rate: -0.319280 deg/s, cmd heading: 357.223183 deg, new cmd heading: 356.815999 deg. 2025-01-08T23:27:44.381Z,1736378864.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.227614 target range: 181.800003 and range: 181.80 m. 2025-01-08T23:27:44.560Z,1736378864.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:44.560Z,1736378864.560 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:44.560Z,1736378864.560 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:44.561Z,1736378864.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:44.764Z,1736378864.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:44.773Z,1736378864.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m. 2025-01-08T23:27:44.777Z,1736378864.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.800003 m, nav range: 108.717255 m, bearing: 245.459362 deg, approach rate: 0.056410 m/s, LOS rate: -0.317765 deg/s, cmd heading: 356.815994 deg, new cmd heading: 356.418116 deg. 2025-01-08T23:27:44.778Z,1736378864.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220670 target range: 181.800003 and range: 181.80 m. 2025-01-08T23:27:44.813Z,1736378864.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:44.814Z,1736378864.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740820 2025-01-08T23:27:45.064Z,1736378865.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:45.064Z,1736378865.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991761 2025-01-08T23:27:45.158Z,1736378865.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:45.166Z,1736378865.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m. 2025-01-08T23:27:45.169Z,1736378865.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.800003 m, nav range: 108.737587 m, bearing: 245.334427 deg, approach rate: 0.051726 m/s, LOS rate: -0.317775 deg/s, cmd heading: 356.418122 deg, new cmd heading: 356.043395 deg. 2025-01-08T23:27:45.170Z,1736378865.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214129 target range: 181.800003 and range: 181.80 m. 2025-01-08T23:27:45.316Z,1736378865.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:45.317Z,1736378865.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244183 2025-01-08T23:27:45.568Z,1736378865.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:45.568Z,1736378865.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495786 2025-01-08T23:27:45.609Z,1736378865.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:45.625Z,1736378865.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m. 2025-01-08T23:27:45.649Z,1736378865.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.800003 m, nav range: 108.762062 m, bearing: 245.190707 deg, approach rate: 0.053522 m/s, LOS rate: -0.314217 deg/s, cmd heading: 356.043391 deg, new cmd heading: 355.612336 deg. 2025-01-08T23:27:45.650Z,1736378865.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.206606 target range: 181.800003 and range: 181.80 m. 2025-01-08T23:27:45.820Z,1736378865.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:45.820Z,1736378865.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747740 2025-01-08T23:27:45.941Z,1736378865.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:45.970Z,1736378865.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m. 2025-01-08T23:27:45.987Z,1736378865.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.800003 m, nav range: 108.779099 m, bearing: 245.084892 deg, approach rate: 0.049148 m/s, LOS rate: -0.305217 deg/s, cmd heading: 355.612324 deg, new cmd heading: 355.294930 deg. 2025-01-08T23:27:45.988Z,1736378865.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201066 target range: 181.800003 and range: 181.80 m. 2025-01-08T23:27:46.072Z,1736378866.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:46.073Z,1736378866.073 [DAT](INFO): DAT read: Rx Time:23:27:44.9291 2025-01-08T23:27:46.074Z,1736378866.074 [DAT](INFO): Rx dataTimestamp_ set to:1736378866.073711 2025-01-08T23:27:46.075Z,1736378866.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002229 2025-01-08T23:27:46.325Z,1736378866.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:46.326Z,1736378866.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253002 2025-01-08T23:27:46.349Z,1736378866.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:46.366Z,1736378866.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:46.373Z,1736378866.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m. 2025-01-08T23:27:46.380Z,1736378866.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.800003 m, nav range: 108.799034 m, bearing: 244.955362 deg, approach rate: 0.049487 m/s, LOS rate: -0.321479 deg/s, cmd heading: 355.294939 deg, new cmd heading: 354.906426 deg. 2025-01-08T23:27:46.381Z,1736378866.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194286 target range: 181.800003 and range: 181.80 m. 2025-01-08T23:27:46.576Z,1736378866.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:46.576Z,1736378866.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503795 2025-01-08T23:27:46.786Z,1736378866.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:46.796Z,1736378866.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.80 m. 2025-01-08T23:27:46.798Z,1736378866.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.800003 m, nav range: 108.829422 m, bearing: 244.821303 deg, approach rate: 0.071892 m/s, LOS rate: -0.317070 deg/s, cmd heading: 354.906437 deg, new cmd heading: 354.504381 deg. 2025-01-08T23:27:46.800Z,1736378866.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187269 target range: 181.800003 and range: 181.80 m. 2025-01-08T23:27:46.828Z,1736378866.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:46.844Z,1736378866.844 [DAT](INFO): DAT read: 23:27:44.9291 LVL= 28032, 32753, 32754, 32755, AGC= 67, IDX= 421, 0.47,-0.111,-1.573,-0.998,-0.562, PHS= 0.540,-0.964,-0.438, RAW= 110.1, 13.0, CAL= 118.7, 10.8, ROT= 31.3, -10.8 2025-01-08T23:27:46.846Z,1736378866.846 [DAT](INFO): got valid direction response: 23:27:44.9291 LVL= 28032, 32753, 32754, 32755, AGC= 67, IDX= 421, 0.47,-0.111,-1.573,-0.998,-0.562, PHS= 0.540,-0.964,-0.438, RAW= 110.1, 13.0, CAL= 118.7, 10.8, ROT= 31.3, -10.8 2025-01-08T23:27:46.848Z,1736378866.848 [DAT](INFO): DAT read: Bearing 31.3, -10.8 (Local) 2025-01-08T23:27:46.849Z,1736378866.849 [DAT](INFO): Local bearing/azimuth received: Bearing 31.3, -10.8 (Local) 2025-01-08T23:27:46.855Z,1736378866.855 [DAT](INFO): DAT read: Range 10 to 50 : 179.9 m (Round-trip 239.9 ms) speed 0.4 m/s 2025-01-08T23:27:46.857Z,1736378866.857 [DAT](INFO): DAT read: user:3231> 2025-01-08T23:27:46.858Z,1736378866.858 [DAT](INFO): DAT read: Tx time:23:27:46.0351 2025-01-08T23:27:46.858Z,1736378866.858 [DAT](INFO): Ping request sent. 2025-01-08T23:27:46.859Z,1736378866.859 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:46.863Z,1736378866.863 [DAT](INFO): DAT read: TxSync time:23:27:46.0343 2025-01-08T23:27:46.864Z,1736378866.864 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:46.865Z,1736378866.865 [DAT](INFO): direction in FSK: [-0.354264,-0.223302,0.908093] 2025-01-08T23:27:46.865Z,1736378866.865 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:46.865Z,1736378866.865 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:46.881Z,1736378866.881 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:46.881Z,1736378866.881 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:47.080Z,1736378867.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:47.155Z,1736378867.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:47.170Z,1736378867.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 179.899994 m, deltaT: 3.780674 s, deltaX: -1.900009 m, approachRate: -0.502558 m/s, rangeRepo size: 4 2025-01-08T23:27:47.172Z,1736378867.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 179.899994 m, bearing: 214.916730 deg, lat: 36.902951 deg, lon: -122.121494 deg, deltaT: 3.780674 s, deltaX: -1.900009 m, approachRate: -0.502558 m/s, posRepo size: 4 2025-01-08T23:27:47.173Z,1736378867.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T23:27:47.177Z,1736378867.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 99.293747 m, bearing: 236.932201 deg, approach rate: 0.000000 m/s, LOS rate: -0.317070 deg/s, cmd heading: 354.504385 deg, new cmd heading: 354.148774 deg. 2025-01-08T23:27:47.178Z,1736378867.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181062 target range: 179.899994 and range: 179.90 m. 2025-01-08T23:27:47.332Z,1736378867.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:47.590Z,1736378867.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:47.622Z,1736378867.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:47.652Z,1736378867.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T23:27:47.661Z,1736378867.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 99.371101 m, bearing: 236.784722 deg, approach rate: 0.165994 m/s, LOS rate: -0.316226 deg/s, cmd heading: 354.148778 deg, new cmd heading: 353.706697 deg. 2025-01-08T23:27:47.663Z,1736378867.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.173347 target range: 179.899994 and range: 179.90 m. 2025-01-08T23:27:47.844Z,1736378867.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:47.962Z,1736378867.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:47.986Z,1736378867.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T23:27:47.989Z,1736378867.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 99.426979 m, bearing: 236.677068 deg, approach rate: 0.159156 m/s, LOS rate: -0.306460 deg/s, cmd heading: 353.706701 deg, new cmd heading: 353.383922 deg. 2025-01-08T23:27:47.990Z,1736378867.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167713 target range: 179.899994 and range: 179.90 m. 2025-01-08T23:27:48.098Z,1736378868.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:48.348Z,1736378868.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:48.372Z,1736378868.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:48.400Z,1736378868.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:48.402Z,1736378868.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T23:27:48.416Z,1736378868.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 99.493111 m, bearing: 236.547384 deg, approach rate: 0.159001 m/s, LOS rate: -0.311592 deg/s, cmd heading: 353.383934 deg, new cmd heading: 352.995148 deg. 2025-01-08T23:27:48.417Z,1736378868.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160928 target range: 179.899994 and range: 179.90 m. 2025-01-08T23:27:48.600Z,1736378868.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:48.601Z,1736378868.601 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:48.601Z,1736378868.601 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:48.601Z,1736378868.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:48.788Z,1736378868.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:48.814Z,1736378868.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T23:27:48.821Z,1736378868.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 99.567329 m, bearing: 236.418049 deg, approach rate: 0.180411 m/s, LOS rate: -0.314154 deg/s, cmd heading: 352.995159 deg, new cmd heading: 352.607450 deg. 2025-01-08T23:27:48.822Z,1736378868.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154161 target range: 179.899994 and range: 179.90 m. 2025-01-08T23:27:48.852Z,1736378868.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:48.853Z,1736378868.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993932 2025-01-08T23:27:49.104Z,1736378869.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:49.104Z,1736378869.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245692 2025-01-08T23:27:49.182Z,1736378869.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:49.192Z,1736378869.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T23:27:49.195Z,1736378869.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 99.637398 m, bearing: 236.295392 deg, approach rate: 0.185919 m/s, LOS rate: -0.325228 deg/s, cmd heading: 352.607450 deg, new cmd heading: 352.239744 deg. 2025-01-08T23:27:49.196Z,1736378869.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147743 target range: 179.899994 and range: 179.90 m. 2025-01-08T23:27:49.356Z,1736378869.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:49.356Z,1736378869.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497743 2025-01-08T23:27:49.609Z,1736378869.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:49.612Z,1736378869.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752463 2025-01-08T23:27:49.705Z,1736378869.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:49.714Z,1736378869.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T23:27:49.718Z,1736378869.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 99.749001 m, bearing: 236.138389 deg, approach rate: 0.213011 m/s, LOS rate: -0.299330 deg/s, cmd heading: 352.239740 deg, new cmd heading: 351.769267 deg. 2025-01-08T23:27:49.719Z,1736378869.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139532 target range: 179.899994 and range: 179.90 m. 2025-01-08T23:27:49.860Z,1736378869.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:49.860Z,1736378869.860 [DAT](INFO): DAT read: Rx Time:23:27:48.6769 2025-01-08T23:27:49.861Z,1736378869.861 [DAT](INFO): Rx dataTimestamp_ set to:1736378869.860560 2025-01-08T23:27:49.861Z,1736378869.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002743 2025-01-08T23:27:49.992Z,1736378869.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:50.009Z,1736378870.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.90 m. 2025-01-08T23:27:50.016Z,1736378870.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.899994 m, nav range: 99.810211 m, bearing: 236.052039 deg, approach rate: 0.207483 m/s, LOS rate: -0.292517 deg/s, cmd heading: 351.769277 deg, new cmd heading: 351.510388 deg. 2025-01-08T23:27:50.017Z,1736378870.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.135014 target range: 179.899994 and range: 179.90 m. 2025-01-08T23:27:50.113Z,1736378870.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:50.115Z,1736378870.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256135 2025-01-08T23:27:50.365Z,1736378870.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:50.380Z,1736378870.380 [DAT](INFO): DAT read: 23:27:48.6769 LVL= 21552, 32753, 32754, 32755, AGC= 64, IDX= 413,-0.07,-1.303,-2.912,-2.257,-1.899, PHS= 0.684,-0.966,-0.361, RAW= 111.3, 8.9, CAL= 120.9, 6.2, ROT= 29.1, -6.2 2025-01-08T23:27:50.384Z,1736378870.384 [DAT](INFO): got valid direction response: 23:27:48.6769 LVL= 21552, 32753, 32754, 32755, AGC= 64, IDX= 413,-0.07,-1.303,-2.912,-2.257,-1.899, PHS= 0.684,-0.966,-0.361, RAW= 111.3, 8.9, CAL= 120.9, 6.2, ROT= 29.1, -6.2 2025-01-08T23:27:50.386Z,1736378870.386 [DAT](INFO): DAT read: Bearing 29.1, -6.2 (Local) 2025-01-08T23:27:50.425Z,1736378870.425 [DAT](INFO): Local bearing/azimuth received: Bearing 29.1, -6.2 (Local) 2025-01-08T23:27:50.431Z,1736378870.431 [DAT](INFO): DAT read: Range 10 to 50 : 178.1 m (Round-trip 237.5 ms) speed 0.3 m/s 2025-01-08T23:27:50.432Z,1736378870.432 [DAT](INFO): DAT read: user:3232> 2025-01-08T23:27:50.433Z,1736378870.433 [DAT](INFO): DAT read: Tx time:23:27:49.7852 2025-01-08T23:27:50.433Z,1736378870.433 [DAT](INFO): Ping request sent. 2025-01-08T23:27:50.433Z,1736378870.433 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:50.433Z,1736378870.433 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:50.434Z,1736378870.434 [DAT](INFO): direction in FSK: [-0.282454,-0.250576,0.925976] 2025-01-08T23:27:50.435Z,1736378870.435 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:50.435Z,1736378870.435 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:50.458Z,1736378870.458 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:50.458Z,1736378870.458 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:50.494Z,1736378870.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:50.526Z,1736378870.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 178.100006 m, deltaT: 3.536714 s, deltaX: -1.799988 m, approachRate: -0.508944 m/s, rangeRepo size: 4 2025-01-08T23:27:50.543Z,1736378870.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 178.100006 m, bearing: 222.097157 deg, lat: 36.902910 deg, lon: -122.121365 deg, deltaT: 3.536714 s, deltaX: -1.799988 m, approachRate: -0.508944 m/s, posRepo size: 4 2025-01-08T23:27:50.544Z,1736378870.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-01-08T23:27:50.547Z,1736378870.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.100006 m, nav range: 93.541672 m, bearing: 229.619569 deg, approach rate: 0.000000 m/s, LOS rate: -0.292517 deg/s, cmd heading: 351.510385 deg, new cmd heading: 351.058023 deg. 2025-01-08T23:27:50.555Z,1736378870.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.127119 target range: 178.100006 and range: 178.10 m. 2025-01-08T23:27:50.617Z,1736378870.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:50.621Z,1736378870.621 [DAT](INFO): DAT read: TxSync time:23:27:49.7844 2025-01-08T23:27:50.868Z,1736378870.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:50.970Z,1736378870.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:50.984Z,1736378870.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:50.986Z,1736378870.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-01-08T23:27:50.994Z,1736378870.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.100006 m, nav range: 93.678062 m, bearing: 229.477798 deg, approach rate: 0.295522 m/s, LOS rate: -0.306733 deg/s, cmd heading: 351.058036 deg, new cmd heading: 350.633349 deg. 2025-01-08T23:27:50.995Z,1736378870.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.119707 target range: 178.100006 and range: 178.10 m. 2025-01-08T23:27:51.120Z,1736378871.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:51.120Z,1736378871.120 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:51.120Z,1736378871.120 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:51.121Z,1736378871.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:51.308Z,1736378871.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:51.332Z,1736378871.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-01-08T23:27:51.339Z,1736378871.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.100006 m, nav range: 93.774635 m, bearing: 229.376694 deg, approach rate: 0.279128 m/s, LOS rate: -0.291923 deg/s, cmd heading: 350.633362 deg, new cmd heading: 350.330366 deg. 2025-01-08T23:27:51.341Z,1736378871.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.114419 target range: 178.100006 and range: 178.10 m. 2025-01-08T23:27:51.372Z,1736378871.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:51.372Z,1736378871.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.939281 2025-01-08T23:27:51.627Z,1736378871.627 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:51.629Z,1736378871.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.195763 2025-01-08T23:27:51.793Z,1736378871.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:51.801Z,1736378871.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-01-08T23:27:51.804Z,1736378871.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.100006 m, nav range: 93.916847 m, bearing: 229.230496 deg, approach rate: 0.303374 m/s, LOS rate: -0.311405 deg/s, cmd heading: 350.330375 deg, new cmd heading: 349.892453 deg. 2025-01-08T23:27:51.805Z,1736378871.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.106775 target range: 178.100006 and range: 178.10 m. 2025-01-08T23:27:51.876Z,1736378871.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:51.877Z,1736378871.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.443495 2025-01-08T23:27:52.128Z,1736378872.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:52.128Z,1736378872.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695155 2025-01-08T23:27:52.189Z,1736378872.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:52.209Z,1736378872.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-01-08T23:27:52.217Z,1736378872.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.100006 m, nav range: 94.030815 m, bearing: 229.110340 deg, approach rate: 0.280167 m/s, LOS rate: -0.295019 deg/s, cmd heading: 349.892450 deg, new cmd heading: 349.532427 deg. 2025-01-08T23:27:52.218Z,1736378872.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.100492 target range: 178.100006 and range: 178.10 m. 2025-01-08T23:27:52.381Z,1736378872.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:52.382Z,1736378872.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948794 2025-01-08T23:27:52.633Z,1736378872.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:52.636Z,1736378872.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202298 2025-01-08T23:27:52.712Z,1736378872.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:52.721Z,1736378872.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-01-08T23:27:52.725Z,1736378872.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.100006 m, nav range: 94.190643 m, bearing: 228.950792 deg, approach rate: 0.311294 m/s, LOS rate: -0.310221 deg/s, cmd heading: 349.532417 deg, new cmd heading: 349.054597 deg. 2025-01-08T23:27:52.726Z,1736378872.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.092152 target range: 178.100006 and range: 178.10 m. 2025-01-08T23:27:52.884Z,1736378872.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:52.884Z,1736378872.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.451187 2025-01-08T23:27:53.038Z,1736378873.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:53.049Z,1736378873.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:53.051Z,1736378873.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-01-08T23:27:53.056Z,1736378873.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.100006 m, nav range: 94.290329 m, bearing: 228.851920 deg, approach rate: 0.302736 m/s, LOS rate: -0.299949 deg/s, cmd heading: 349.054605 deg, new cmd heading: 348.758303 deg. 2025-01-08T23:27:53.057Z,1736378873.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.086981 target range: 178.100006 and range: 178.10 m. 2025-01-08T23:27:53.137Z,1736378873.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:53.138Z,1736378873.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704587 2025-01-08T23:27:53.388Z,1736378873.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:53.388Z,1736378873.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955309 2025-01-08T23:27:53.409Z,1736378873.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:53.417Z,1736378873.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-01-08T23:27:53.420Z,1736378873.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.100006 m, nav range: 94.402046 m, bearing: 228.738677 deg, approach rate: 0.304984 m/s, LOS rate: -0.308782 deg/s, cmd heading: 348.758311 deg, new cmd heading: 348.418990 deg. 2025-01-08T23:27:53.421Z,1736378873.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081059 target range: 178.100006 and range: 178.10 m. 2025-01-08T23:27:53.642Z,1736378873.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:53.644Z,1736378873.644 [DAT](INFO): DAT read: Rx Time:23:27:52.4249 2025-01-08T23:27:53.646Z,1736378873.646 [DAT](INFO): Rx dataTimestamp_ set to:1736378873.645060 2025-01-08T23:27:53.669Z,1736378873.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234857 2025-01-08T23:27:53.850Z,1736378873.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:53.860Z,1736378873.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-01-08T23:27:53.863Z,1736378873.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.100006 m, nav range: 94.530136 m, bearing: 228.602346 deg, approach rate: 0.289087 m/s, LOS rate: -0.307270 deg/s, cmd heading: 348.418987 deg, new cmd heading: 348.010554 deg. 2025-01-08T23:27:53.865Z,1736378873.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.073930 target range: 178.100006 and range: 178.10 m. 2025-01-08T23:27:53.892Z,1736378873.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:53.893Z,1736378873.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.460070 2025-01-08T23:27:54.145Z,1736378874.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:54.160Z,1736378874.160 [DAT](INFO): DAT read: 23:27:52.4249 LVL= 24944, 32753, 30626, 32755, AGC= 64, IDX= 424,-0.15,-0.041,-1.738,-1.138,-0.701, PHS= 0.748,-0.990,-0.441, RAW= 108.0, 8.9, CAL= 117.8, 6.7, ROT= 32.2, -6.7 2025-01-08T23:27:54.162Z,1736378874.162 [DAT](INFO): got valid direction response: 23:27:52.4249 LVL= 24944, 32753, 30626, 32755, AGC= 64, IDX= 424,-0.15,-0.041,-1.738,-1.138,-0.701, PHS= 0.748,-0.990,-0.441, RAW= 108.0, 8.9, CAL= 117.8, 6.7, ROT= 32.2, -6.7 2025-01-08T23:27:54.165Z,1736378874.165 [DAT](INFO): DAT read: Bearing 32.2, -6.7 (Local) 2025-01-08T23:27:54.165Z,1736378874.165 [DAT](INFO): Local bearing/azimuth received: Bearing 32.2, -6.7 (Local) 2025-01-08T23:27:54.168Z,1736378874.168 [DAT](INFO): DAT read: Range 10 to 50 : 176.6 m (Round-trip 235.5 ms) speed 0.3 m/s 2025-01-08T23:27:54.169Z,1736378874.169 [DAT](INFO): DAT read: user:3233> 2025-01-08T23:27:54.172Z,1736378874.172 [DAT](INFO): DAT read: Tx time:23:27:53.5352 2025-01-08T23:27:54.172Z,1736378874.172 [DAT](INFO): Ping request sent. 2025-01-08T23:27:54.172Z,1736378874.172 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:54.173Z,1736378874.173 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:54.173Z,1736378874.173 [DAT](INFO): direction in FSK: [-0.278448,-0.195051,0.940437] 2025-01-08T23:27:54.174Z,1736378874.174 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:54.174Z,1736378874.174 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:54.179Z,1736378874.179 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:54.183Z,1736378874.183 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:54.250Z,1736378874.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:54.345Z,1736378874.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 176.600006 m, deltaT: 3.779691 s, deltaX: -1.500000 m, approachRate: -0.396858 m/s, rangeRepo size: 4 2025-01-08T23:27:54.355Z,1736378874.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 176.600006 m, bearing: 213.891893 deg, lat: 36.902910 deg, lon: -122.121179 deg, deltaT: 3.779691 s, deltaX: -1.500000 m, approachRate: -0.396858 m/s, posRepo size: 4 2025-01-08T23:27:54.356Z,1736378874.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m. 2025-01-08T23:27:54.364Z,1736378874.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.600006 m, nav range: 83.012215 m, bearing: 220.905418 deg, approach rate: 0.000000 m/s, LOS rate: -0.307270 deg/s, cmd heading: 348.010542 deg, new cmd heading: 347.564133 deg. 2025-01-08T23:27:54.365Z,1736378874.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066138 target range: 176.600006 and range: 176.60 m. 2025-01-08T23:27:54.396Z,1736378874.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:54.397Z,1736378874.397 [DAT](INFO): DAT read: TxSync time:23:27:53.5344 2025-01-08T23:27:54.650Z,1736378874.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:54.765Z,1736378874.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:54.775Z,1736378874.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m. 2025-01-08T23:27:54.778Z,1736378874.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.600006 m, nav range: 83.193558 m, bearing: 220.736277 deg, approach rate: 0.421296 m/s, LOS rate: -0.392092 deg/s, cmd heading: 347.564121 deg, new cmd heading: 347.057816 deg. 2025-01-08T23:27:54.779Z,1736378874.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.057302 target range: 176.600006 and range: 176.60 m. 2025-01-08T23:27:54.900Z,1736378874.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:55.071Z,1736378875.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:55.082Z,1736378875.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:55.086Z,1736378875.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m. 2025-01-08T23:27:55.089Z,1736378875.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.600006 m, nav range: 83.300636 m, bearing: 220.635600 deg, approach rate: 0.344598 m/s, LOS rate: -0.323579 deg/s, cmd heading: 347.057812 deg, new cmd heading: 346.756173 deg. 2025-01-08T23:27:55.089Z,1736378875.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052037 target range: 176.600006 and range: 176.60 m. 2025-01-08T23:27:55.153Z,1736378875.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:55.154Z,1736378875.154 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:55.154Z,1736378875.154 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:55.154Z,1736378875.154 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:55.404Z,1736378875.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:55.404Z,1736378875.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232057 2025-01-08T23:27:55.519Z,1736378875.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:55.536Z,1736378875.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m. 2025-01-08T23:27:55.539Z,1736378875.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.600006 m, nav range: 83.455902 m, bearing: 220.487941 deg, approach rate: 0.344505 m/s, LOS rate: -0.327016 deg/s, cmd heading: 346.756164 deg, new cmd heading: 346.314022 deg. 2025-01-08T23:27:55.544Z,1736378875.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044320 target range: 176.600006 and range: 176.60 m. 2025-01-08T23:27:55.658Z,1736378875.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:55.661Z,1736378875.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488324 2025-01-08T23:27:55.904Z,1736378875.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:55.908Z,1736378875.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:55.909Z,1736378875.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736540 2025-01-08T23:27:55.915Z,1736378875.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m. 2025-01-08T23:27:55.918Z,1736378875.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.600006 m, nav range: 83.588158 m, bearing: 220.364478 deg, approach rate: 0.349538 m/s, LOS rate: -0.325785 deg/s, cmd heading: 346.314032 deg, new cmd heading: 345.944234 deg. 2025-01-08T23:27:55.919Z,1736378875.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.037866 target range: 176.600006 and range: 176.60 m. 2025-01-08T23:27:56.161Z,1736378876.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:56.163Z,1736378876.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990241 2025-01-08T23:27:56.292Z,1736378876.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:56.302Z,1736378876.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m. 2025-01-08T23:27:56.305Z,1736378876.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.600006 m, nav range: 83.720558 m, bearing: 220.239548 deg, approach rate: 0.341641 m/s, LOS rate: -0.321854 deg/s, cmd heading: 345.944246 deg, new cmd heading: 345.570054 deg. 2025-01-08T23:27:56.306Z,1736378876.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.031335 target range: 176.600006 and range: 176.60 m. 2025-01-08T23:27:56.412Z,1736378876.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:56.414Z,1736378876.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241255 2025-01-08T23:27:56.675Z,1736378876.675 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:56.678Z,1736378876.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504887 2025-01-08T23:27:56.775Z,1736378876.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:56.788Z,1736378876.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m. 2025-01-08T23:27:56.793Z,1736378876.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.600006 m, nav range: 83.877632 m, bearing: 220.084863 deg, approach rate: 0.323051 m/s, LOS rate: -0.317543 deg/s, cmd heading: 345.570061 deg, new cmd heading: 345.106884 deg. 2025-01-08T23:27:56.794Z,1736378876.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023252 target range: 176.600006 and range: 176.60 m. 2025-01-08T23:27:56.920Z,1736378876.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:56.920Z,1736378876.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748091 2025-01-08T23:27:57.093Z,1736378877.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:57.100Z,1736378877.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:57.102Z,1736378877.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m. 2025-01-08T23:27:57.125Z,1736378877.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.600006 m, nav range: 83.980865 m, bearing: 219.982699 deg, approach rate: 0.329146 m/s, LOS rate: -0.325336 deg/s, cmd heading: 345.106892 deg, new cmd heading: 344.800780 deg. 2025-01-08T23:27:57.126Z,1736378877.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.017909 target range: 176.600006 and range: 176.60 m. 2025-01-08T23:27:57.178Z,1736378877.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:57.181Z,1736378877.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008676 2025-01-08T23:27:57.428Z,1736378877.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:57.429Z,1736378877.429 [DAT](INFO): DAT read: Rx Time:23:27:56.1729 2025-01-08T23:27:57.429Z,1736378877.429 [DAT](INFO): Rx dataTimestamp_ set to:1736378877.428681 2025-01-08T23:27:57.429Z,1736378877.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257189 2025-01-08T23:27:57.520Z,1736378877.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:57.559Z,1736378877.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.60 m. 2025-01-08T23:27:57.562Z,1736378877.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.600006 m, nav range: 84.118362 m, bearing: 219.845861 deg, approach rate: 0.303955 m/s, LOS rate: -0.302004 deg/s, cmd heading: 344.800790 deg, new cmd heading: 344.390955 deg. 2025-01-08T23:27:57.563Z,1736378877.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.010756 target range: 176.600006 and range: 176.60 m. 2025-01-08T23:27:57.681Z,1736378877.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:57.684Z,1736378877.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510790 2025-01-08T23:27:57.932Z,1736378877.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:57.939Z,1736378877.939 [DAT](INFO): DAT read: 23:27:56.1729 LVL= 17104, 31217, 25698, 32755, AGC= 61, IDX= 420, 0.02,-0.716,-2.459,-1.964,-1.529, PHS= 0.901,-0.882,-0.438, RAW= 103.9, 5.3, CAL= 114.3, 3.2, ROT= 35.7, -3.2 2025-01-08T23:27:57.940Z,1736378877.940 [DAT](INFO): got valid direction response: 23:27:56.1729 LVL= 17104, 31217, 25698, 32755, AGC= 61, IDX= 420, 0.02,-0.716,-2.459,-1.964,-1.529, PHS= 0.901,-0.882,-0.438, RAW= 103.9, 5.3, CAL= 114.3, 3.2, ROT= 35.7, -3.2 2025-01-08T23:27:57.941Z,1736378877.941 [DAT](INFO): DAT read: Bearing 35.7, -3.2 (Local) 2025-01-08T23:27:57.942Z,1736378877.942 [DAT](INFO): Local bearing/azimuth received: Bearing 35.7, -3.2 (Local) 2025-01-08T23:27:57.943Z,1736378877.943 [DAT](INFO): DAT read: Range 10 to 50 : 175.1 m (Round-trip 233.5 ms) speed 0.3 m/s 2025-01-08T23:27:57.944Z,1736378877.944 [DAT](INFO): DAT read: user:3234> 2025-01-08T23:27:57.945Z,1736378877.945 [DAT](INFO): DAT read: Tx time:23:27:57.2869 2025-01-08T23:27:57.945Z,1736378877.945 [DAT](INFO): Ping request sent. 2025-01-08T23:27:57.945Z,1736378877.945 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:27:57.945Z,1736378877.945 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:27:57.946Z,1736378877.946 [DAT](INFO): direction in FSK: [-0.205303,-0.128670,0.970203] 2025-01-08T23:27:57.947Z,1736378877.947 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:57.947Z,1736378877.947 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:57.950Z,1736378877.950 [DAT](INFO): publishing transmit ping time 2025-01-08T23:27:57.951Z,1736378877.951 [DAT](INFO): publishing direction and range info 2025-01-08T23:27:57.970Z,1736378877.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:58.017Z,1736378878.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 175.100006 m, deltaT: 3.786944 s, deltaX: -1.500000 m, approachRate: -0.396098 m/s, rangeRepo size: 4 2025-01-08T23:27:58.024Z,1736378878.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 175.100006 m, bearing: 212.771325 deg, lat: 36.902910 deg, lon: -122.121123 deg, deltaT: 3.786944 s, deltaX: -1.500000 m, approachRate: -0.396098 m/s, posRepo size: 4 2025-01-08T23:27:58.025Z,1736378878.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.10 m. 2025-01-08T23:27:58.032Z,1736378878.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.100006 m, nav range: 81.168068 m, bearing: 216.989022 deg, approach rate: 0.000000 m/s, LOS rate: -0.302004 deg/s, cmd heading: 344.390951 deg, new cmd heading: 343.972154 deg. 2025-01-08T23:27:58.033Z,1736378878.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.003447 target range: 175.100006 and range: 175.10 m. 2025-01-08T23:27:58.184Z,1736378878.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:58.185Z,1736378878.185 [DAT](INFO): DAT read: TxSync time:23:27:57.2861 2025-01-08T23:27:58.351Z,1736378878.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:58.375Z,1736378878.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.10 m. 2025-01-08T23:27:58.382Z,1736378878.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.100006 m, nav range: 81.303719 m, bearing: 216.868617 deg, approach rate: 0.378636 m/s, LOS rate: -0.335521 deg/s, cmd heading: 343.972152 deg, new cmd heading: 343.611544 deg. 2025-01-08T23:27:58.383Z,1736378878.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.997153 target range: 175.100006 and range: 175.10 m. 2025-01-08T23:27:58.436Z,1736378878.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:58.714Z,1736378878.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:58.795Z,1736378878.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:58.803Z,1736378878.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.10 m. 2025-01-08T23:27:58.806Z,1736378878.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.100006 m, nav range: 81.452904 m, bearing: 216.723331 deg, approach rate: 0.348336 m/s, LOS rate: -0.338611 deg/s, cmd heading: 343.611545 deg, new cmd heading: 343.176493 deg. 2025-01-08T23:27:58.808Z,1736378878.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.989560 target range: 175.100006 and range: 175.10 m. 2025-01-08T23:27:58.964Z,1736378878.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:59.142Z,1736378879.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:59.169Z,1736378879.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:27:59.172Z,1736378879.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.10 m. 2025-01-08T23:27:59.174Z,1736378879.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.100006 m, nav range: 81.569839 m, bearing: 216.610183 deg, approach rate: 0.317529 m/s, LOS rate: -0.306803 deg/s, cmd heading: 343.176489 deg, new cmd heading: 342.837536 deg. 2025-01-08T23:27:59.175Z,1736378879.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.983644 target range: 175.100006 and range: 175.10 m. 2025-01-08T23:27:59.217Z,1736378879.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:59.219Z,1736378879.219 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:27:59.220Z,1736378879.220 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:27:59.220Z,1736378879.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:27:59.468Z,1736378879.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:59.469Z,1736378879.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.523403 2025-01-08T23:27:59.553Z,1736378879.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:59.562Z,1736378879.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.10 m. 2025-01-08T23:27:59.565Z,1736378879.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.100006 m, nav range: 81.707336 m, bearing: 216.475529 deg, approach rate: 0.352245 m/s, LOS rate: -0.344380 deg/s, cmd heading: 342.837548 deg, new cmd heading: 342.434273 deg. 2025-01-08T23:27:59.566Z,1736378879.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976605 target range: 175.100006 and range: 175.10 m. 2025-01-08T23:27:59.722Z,1736378879.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:59.727Z,1736378879.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.781184 2025-01-08T23:27:59.964Z,1736378879.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:27:59.972Z,1736378879.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:27:59.972Z,1736378879.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027339 2025-01-08T23:27:59.976Z,1736378879.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.10 m. 2025-01-08T23:27:59.978Z,1736378879.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.100006 m, nav range: 81.833710 m, bearing: 216.330847 deg, approach rate: 0.305233 m/s, LOS rate: -0.348915 deg/s, cmd heading: 342.434266 deg, new cmd heading: 342.000898 deg. 2025-01-08T23:27:59.980Z,1736378879.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969042 target range: 175.100006 and range: 175.10 m. 2025-01-08T23:28:00.224Z,1736378880.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:00.226Z,1736378880.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280696 2025-01-08T23:28:00.341Z,1736378880.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:00.354Z,1736378880.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.10 m. 2025-01-08T23:28:00.358Z,1736378880.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.100006 m, nav range: 81.946686 m, bearing: 216.200658 deg, approach rate: 0.298662 m/s, LOS rate: -0.343691 deg/s, cmd heading: 342.000904 deg, new cmd heading: 341.610882 deg. 2025-01-08T23:28:00.359Z,1736378880.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962234 target range: 175.100006 and range: 175.10 m. 2025-01-08T23:28:00.476Z,1736378880.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:00.476Z,1736378880.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531285 2025-01-08T23:28:00.730Z,1736378880.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:00.733Z,1736378880.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787337 2025-01-08T23:28:00.836Z,1736378880.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:00.846Z,1736378880.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.10 m. 2025-01-08T23:28:00.849Z,1736378880.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.100006 m, nav range: 82.094757 m, bearing: 216.014980 deg, approach rate: 0.301196 m/s, LOS rate: -0.377011 deg/s, cmd heading: 341.610873 deg, new cmd heading: 341.054863 deg. 2025-01-08T23:28:00.850Z,1736378880.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952530 target range: 175.100006 and range: 175.10 m. 2025-01-08T23:28:00.980Z,1736378880.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:00.981Z,1736378880.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035461 2025-01-08T23:28:01.146Z,1736378881.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:01.172Z,1736378881.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:01.175Z,1736378881.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.10 m. 2025-01-08T23:28:01.181Z,1736378881.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.100006 m, nav range: 82.183846 m, bearing: 215.899700 deg, approach rate: 0.271566 m/s, LOS rate: -0.351025 deg/s, cmd heading: 341.054868 deg, new cmd heading: 340.709407 deg. 2025-01-08T23:28:01.182Z,1736378881.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946501 target range: 175.100006 and range: 175.10 m. 2025-01-08T23:28:01.233Z,1736378881.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:01.234Z,1736378881.234 [DAT](INFO): DAT read: Rx Time:23:27:59.9229 2025-01-08T23:28:01.234Z,1736378881.234 [DAT](INFO): Rx dataTimestamp_ set to:1736378881.234094 2025-01-08T23:28:01.236Z,1736378881.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290255 2025-01-08T23:28:01.484Z,1736378881.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:01.484Z,1736378881.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539164 2025-01-08T23:28:01.561Z,1736378881.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:01.569Z,1736378881.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.10 m. 2025-01-08T23:28:01.578Z,1736378881.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.100006 m, nav range: 82.302299 m, bearing: 215.745162 deg, approach rate: 0.299614 m/s, LOS rate: -0.390320 deg/s, cmd heading: 340.709397 deg, new cmd heading: 340.246463 deg. 2025-01-08T23:28:01.589Z,1736378881.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938421 target range: 175.100006 and range: 175.10 m. 2025-01-08T23:28:01.739Z,1736378881.739 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:01.772Z,1736378881.772 [DAT](INFO): DAT read: 23:27:59.9229 LVL= 12144, 28369, 19426, 28259, AGC= 60, IDX= 419,-0.36,-3.090, 1.452, 1.806, 2.316, PHS= 0.965,-0.817,-0.513, RAW= 99.2, 4.5, CAL= 109.1, 2.7, ROT= 40.9, -2.7 2025-01-08T23:28:01.780Z,1736378881.780 [DAT](INFO): got valid direction response: 23:27:59.9229 LVL= 12144, 28369, 19426, 28259, AGC= 60, IDX= 419,-0.36,-3.090, 1.452, 1.806, 2.316, PHS= 0.965,-0.817,-0.513, RAW= 99.2, 4.5, CAL= 109.1, 2.7, ROT= 40.9, -2.7 2025-01-08T23:28:01.788Z,1736378881.788 [DAT](INFO): DAT read: Bearing 40.9, -2.7 (Local) 2025-01-08T23:28:01.789Z,1736378881.789 [DAT](INFO): Local bearing/azimuth received: Bearing 40.9, -2.7 (Local) 2025-01-08T23:28:01.804Z,1736378881.804 [DAT](INFO): DAT read: Range 10 to 50 : 173.9 m (Round-trip 231.9 ms) speed 0.2 m/s 2025-01-08T23:28:01.805Z,1736378881.805 [DAT](INFO): DAT read: user:3235> 2025-01-08T23:28:01.806Z,1736378881.806 [DAT](INFO): DAT read: Tx time:23:28:01.0369 2025-01-08T23:28:01.806Z,1736378881.806 [DAT](INFO): Ping request sent. 2025-01-08T23:28:01.806Z,1736378881.806 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:01.806Z,1736378881.806 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:01.812Z,1736378881.812 [DAT](INFO): direction in FSK: [-0.183916,-0.047922,0.981773] 2025-01-08T23:28:01.812Z,1736378881.812 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:01.812Z,1736378881.812 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:01.820Z,1736378881.820 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:01.820Z,1736378881.820 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:01.988Z,1736378881.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:01.989Z,1736378881.989 [DAT](INFO): DAT read: TxSync time:23:28:01.0361 2025-01-08T23:28:02.033Z,1736378882.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:02.082Z,1736378882.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 173.899994 m, deltaT: 3.807734 s, deltaX: -1.200012 m, approachRate: -0.315151 m/s, rangeRepo size: 4 2025-01-08T23:28:02.089Z,1736378882.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 173.899994 m, bearing: 201.006814 deg, lat: 36.902942 deg, lon: -122.121015 deg, deltaT: 3.807734 s, deltaX: -1.200012 m, approachRate: -0.315151 m/s, posRepo size: 4 2025-01-08T23:28:02.089Z,1736378882.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T23:28:02.097Z,1736378882.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 74.143707 m, bearing: 211.119331 deg, approach rate: 0.000000 m/s, LOS rate: -0.390320 deg/s, cmd heading: 340.246475 deg, new cmd heading: 339.646619 deg. 2025-01-08T23:28:02.098Z,1736378882.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927952 target range: 173.899994 and range: 173.90 m. 2025-01-08T23:28:02.240Z,1736378882.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:02.384Z,1736378882.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:02.393Z,1736378882.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T23:28:02.412Z,1736378882.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 74.255577 m, bearing: 210.974321 deg, approach rate: 0.359338 m/s, LOS rate: -0.465085 deg/s, cmd heading: 339.646620 deg, new cmd heading: 339.212254 deg. 2025-01-08T23:28:02.413Z,1736378882.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920371 target range: 173.899994 and range: 173.90 m. 2025-01-08T23:28:02.492Z,1736378882.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:02.745Z,1736378882.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:02.840Z,1736378882.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:02.850Z,1736378882.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T23:28:02.853Z,1736378882.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 74.390808 m, bearing: 210.772707 deg, approach rate: 0.295953 m/s, LOS rate: -0.440429 deg/s, cmd heading: 339.212247 deg, new cmd heading: 338.608528 deg. 2025-01-08T23:28:02.854Z,1736378882.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909834 target range: 173.899994 and range: 173.90 m. 2025-01-08T23:28:02.996Z,1736378882.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:03.197Z,1736378883.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:03.205Z,1736378883.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:03.208Z,1736378883.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T23:28:03.211Z,1736378883.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 74.495712 m, bearing: 210.615305 deg, approach rate: 0.293601 m/s, LOS rate: -0.439909 deg/s, cmd heading: 338.608541 deg, new cmd heading: 338.137010 deg. 2025-01-08T23:28:03.212Z,1736378883.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901604 target range: 173.899994 and range: 173.90 m. 2025-01-08T23:28:03.250Z,1736378883.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:03.250Z,1736378883.250 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:03.250Z,1736378883.250 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:03.251Z,1736378883.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:03.500Z,1736378883.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:03.500Z,1736378883.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694320 2025-01-08T23:28:03.588Z,1736378883.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:03.598Z,1736378883.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T23:28:03.601Z,1736378883.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 74.610092 m, bearing: 210.442297 deg, approach rate: 0.292623 m/s, LOS rate: -0.441934 deg/s, cmd heading: 338.137012 deg, new cmd heading: 337.618799 deg. 2025-01-08T23:28:03.602Z,1736378883.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892560 target range: 173.899994 and range: 173.90 m. 2025-01-08T23:28:03.753Z,1736378883.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:03.753Z,1736378883.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947279 2025-01-08T23:28:03.989Z,1736378883.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:03.999Z,1736378883.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T23:28:04.002Z,1736378884.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 74.716736 m, bearing: 210.256461 deg, approach rate: 0.265735 m/s, LOS rate: -0.462406 deg/s, cmd heading: 337.618792 deg, new cmd heading: 337.062096 deg. 2025-01-08T23:28:04.004Z,1736378884.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:04.005Z,1736378884.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198557 2025-01-08T23:28:04.005Z,1736378884.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882843 target range: 173.899994 and range: 173.90 m. 2025-01-08T23:28:04.256Z,1736378884.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:04.256Z,1736378884.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450255 2025-01-08T23:28:04.416Z,1736378884.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:04.438Z,1736378884.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T23:28:04.445Z,1736378884.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 74.828651 m, bearing: 210.058475 deg, approach rate: 0.255054 m/s, LOS rate: -0.450531 deg/s, cmd heading: 337.062104 deg, new cmd heading: 336.469057 deg. 2025-01-08T23:28:04.446Z,1736378884.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872493 target range: 173.899994 and range: 173.90 m. 2025-01-08T23:28:04.509Z,1736378884.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:04.510Z,1736378884.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704238 2025-01-08T23:28:04.761Z,1736378884.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:04.764Z,1736378884.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957455 2025-01-08T23:28:04.870Z,1736378884.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:04.880Z,1736378884.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T23:28:04.882Z,1736378884.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 74.945198 m, bearing: 209.850138 deg, approach rate: 0.263794 m/s, LOS rate: -0.470819 deg/s, cmd heading: 336.469052 deg, new cmd heading: 335.845039 deg. 2025-01-08T23:28:04.884Z,1736378884.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861602 target range: 173.899994 and range: 173.90 m. 2025-01-08T23:28:05.012Z,1736378885.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:05.012Z,1736378885.012 [DAT](INFO): DAT read: Rx Time:23:28:03.6715 2025-01-08T23:28:05.013Z,1736378885.013 [DAT](INFO): Rx dataTimestamp_ set to:1736378885.012663 2025-01-08T23:28:05.013Z,1736378885.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207457 2025-01-08T23:28:05.179Z,1736378885.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:05.208Z,1736378885.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.90 m. 2025-01-08T23:28:05.211Z,1736378885.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.899994 m, nav range: 75.023170 m, bearing: 209.708237 deg, approach rate: 0.253444 m/s, LOS rate: -0.460757 deg/s, cmd heading: 335.845046 deg, new cmd heading: 335.419795 deg. 2025-01-08T23:28:05.213Z,1736378885.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854180 target range: 173.899994 and range: 173.90 m. 2025-01-08T23:28:05.264Z,1736378885.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:05.264Z,1736378885.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458474 2025-01-08T23:28:05.516Z,1736378885.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:05.522Z,1736378885.522 [DAT](INFO): DAT read: 23:28:03.6715 LVL= 13264, 29073, 21362, 30451, AGC= 60, IDX= 421, 0.01, 1.909, 0.052, 0.286, 0.806, PHS= 1.191,-0.707,-0.523, RAW= 95.1, 0.4, CAL= 103.7, -3.5, ROT= 46.3, 3.5 2025-01-08T23:28:05.525Z,1736378885.525 [DAT](INFO): got valid direction response: 23:28:03.6715 LVL= 13264, 29073, 21362, 30451, AGC= 60, IDX= 421, 0.01, 1.909, 0.052, 0.286, 0.806, PHS= 1.191,-0.707,-0.523, RAW= 95.1, 0.4, CAL= 103.7, -3.5, ROT= 46.3, 3.5 2025-01-08T23:28:05.526Z,1736378885.526 [DAT](INFO): DAT read: Bearing 46.3, 3.5 (Local) 2025-01-08T23:28:05.526Z,1736378885.526 [DAT](INFO): Local bearing/azimuth received: Bearing 46.3, 3.5 (Local) 2025-01-08T23:28:05.528Z,1736378885.528 [DAT](INFO): DAT read: Range 10 to 50 : 172.8 m (Round-trip 230.5 ms) speed 0.1 m/s 2025-01-08T23:28:05.528Z,1736378885.528 [DAT](INFO): DAT read: user:3236> 2025-01-08T23:28:05.529Z,1736378885.529 [DAT](INFO): DAT read: Tx time:23:28:04.7853 2025-01-08T23:28:05.529Z,1736378885.529 [DAT](INFO): Ping request sent. 2025-01-08T23:28:05.529Z,1736378885.529 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:05.530Z,1736378885.530 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:05.531Z,1736378885.531 [DAT](INFO): direction in FSK: [-0.101269,0.020299,0.994652] 2025-01-08T23:28:05.531Z,1736378885.531 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:05.531Z,1736378885.531 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:05.534Z,1736378885.534 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:05.534Z,1736378885.534 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:05.627Z,1736378885.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:05.682Z,1736378885.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.800003 m, deltaT: 3.775938 s, deltaX: -1.099991 m, approachRate: -0.291316 m/s, rangeRepo size: 4 2025-01-08T23:28:05.689Z,1736378885.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 172.800003 m, bearing: 194.465914 deg, lat: 36.903102 deg, lon: -122.120888 deg, deltaT: 3.775938 s, deltaX: -1.099991 m, approachRate: -0.291316 m/s, posRepo size: 4 2025-01-08T23:28:05.689Z,1736378885.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:05.697Z,1736378885.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 54.150688 m, bearing: 208.424064 deg, approach rate: 0.000000 m/s, LOS rate: -0.460757 deg/s, cmd heading: 335.419798 deg, new cmd heading: 334.736791 deg. 2025-01-08T23:28:05.698Z,1736378885.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842259 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:05.768Z,1736378885.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:05.769Z,1736378885.769 [DAT](INFO): DAT read: TxSync time:23:28:04.7845 2025-01-08T23:28:06.020Z,1736378886.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:06.052Z,1736378886.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:06.060Z,1736378886.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:06.062Z,1736378886.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:06.065Z,1736378886.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 54.269085 m, bearing: 208.162808 deg, approach rate: 0.311033 m/s, LOS rate: -0.684830 deg/s, cmd heading: 334.736780 deg, new cmd heading: 333.954773 deg. 2025-01-08T23:28:06.066Z,1736378886.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828610 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:06.272Z,1736378886.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:06.273Z,1736378886.273 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:06.273Z,1736378886.273 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:06.273Z,1736378886.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:06.394Z,1736378886.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:06.406Z,1736378886.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:06.434Z,1736378886.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 54.360703 m, bearing: 207.952230 deg, approach rate: 0.266311 m/s, LOS rate: -0.611066 deg/s, cmd heading: 333.954778 deg, new cmd heading: 333.324137 deg. 2025-01-08T23:28:06.441Z,1736378886.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817604 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:06.525Z,1736378886.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:06.525Z,1736378886.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996003 2025-01-08T23:28:06.777Z,1736378886.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:06.778Z,1736378886.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248594 2025-01-08T23:28:06.867Z,1736378886.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:06.888Z,1736378886.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:06.896Z,1736378886.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 54.486076 m, bearing: 207.660233 deg, approach rate: 0.260158 m/s, LOS rate: -0.604514 deg/s, cmd heading: 333.324132 deg, new cmd heading: 332.450228 deg. 2025-01-08T23:28:06.897Z,1736378886.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802351 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:07.028Z,1736378887.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:07.029Z,1736378887.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499212 2025-01-08T23:28:07.256Z,1736378887.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:07.273Z,1736378887.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:07.280Z,1736378887.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:07.280Z,1736378887.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751009 2025-01-08T23:28:07.282Z,1736378887.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 54.597309 m, bearing: 207.430464 deg, approach rate: 0.289339 m/s, LOS rate: -0.596455 deg/s, cmd heading: 332.450223 deg, new cmd heading: 331.762356 deg. 2025-01-08T23:28:07.287Z,1736378887.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790346 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:07.532Z,1736378887.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:07.532Z,1736378887.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002957 2025-01-08T23:28:07.608Z,1736378887.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:07.616Z,1736378887.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:07.619Z,1736378887.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 54.697063 m, bearing: 207.222988 deg, approach rate: 0.290235 m/s, LOS rate: -0.602548 deg/s, cmd heading: 331.762369 deg, new cmd heading: 331.141102 deg. 2025-01-08T23:28:07.629Z,1736378887.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779502 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:07.784Z,1736378887.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:07.784Z,1736378887.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254997 2025-01-08T23:28:08.036Z,1736378888.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:08.036Z,1736378888.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506999 2025-01-08T23:28:08.049Z,1736378888.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:08.059Z,1736378888.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:08.102Z,1736378888.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 54.830212 m, bearing: 206.985107 deg, approach rate: 0.300901 m/s, LOS rate: -0.536279 deg/s, cmd heading: 331.141095 deg, new cmd heading: 330.429223 deg. 2025-01-08T23:28:08.103Z,1736378888.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767078 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:08.288Z,1736378888.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:08.289Z,1736378888.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759207 2025-01-08T23:28:08.412Z,1736378888.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:08.421Z,1736378888.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:08.443Z,1736378888.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:08.446Z,1736378888.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 54.936760 m, bearing: 206.789476 deg, approach rate: 0.292583 m/s, LOS rate: -0.536163 deg/s, cmd heading: 330.429225 deg, new cmd heading: 329.843490 deg. 2025-01-08T23:28:08.447Z,1736378888.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756855 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:08.540Z,1736378888.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:08.541Z,1736378888.541 [DAT](INFO): DAT read: Rx Time:23:28:07.4187 2025-01-08T23:28:08.542Z,1736378888.542 [DAT](INFO): Rx dataTimestamp_ set to:1736378888.541346 2025-01-08T23:28:08.542Z,1736378888.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012734 2025-01-08T23:28:08.792Z,1736378888.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:08.792Z,1736378888.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262822 2025-01-08T23:28:08.926Z,1736378888.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:08.935Z,1736378888.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:08.950Z,1736378888.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 55.100174 m, bearing: 206.531421 deg, approach rate: 0.319269 m/s, LOS rate: -0.502676 deg/s, cmd heading: 329.843495 deg, new cmd heading: 329.071677 deg. 2025-01-08T23:28:08.951Z,1736378888.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743384 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:09.044Z,1736378889.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:09.045Z,1736378889.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515211 2025-01-08T23:28:09.239Z,1736378889.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:09.249Z,1736378889.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:09.252Z,1736378889.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 55.198444 m, bearing: 206.374772 deg, approach rate: 0.312914 m/s, LOS rate: -0.497916 deg/s, cmd heading: 329.071684 deg, new cmd heading: 328.602585 deg. 2025-01-08T23:28:09.253Z,1736378889.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735197 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:09.296Z,1736378889.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:09.304Z,1736378889.304 [DAT](INFO): DAT read: 23:28:07.4188 LVL= 13200, 28097, 23122, 31139, AGC= 59, IDX= 424,-0.43, 2.726, 0.898, 0.895, 1.610, PHS= 1.204,-0.664,-0.718, RAW= 88.6, 1.9, CAL= 95.5, -1.1, ROT= 54.5, 1.1 2025-01-08T23:28:09.347Z,1736378889.347 [DAT](INFO): got valid direction response: 23:28:07.4188 LVL= 13200, 28097, 23122, 31139, AGC= 59, IDX= 424,-0.43, 2.726, 0.898, 0.895, 1.610, PHS= 1.204,-0.664,-0.718, RAW= 88.6, 1.9, CAL= 95.5, -1.1, ROT= 54.5, 1.1 2025-01-08T23:28:09.348Z,1736378889.348 [DAT](INFO): DAT read: Bearing 54.5, 1.1 (Local) 2025-01-08T23:28:09.349Z,1736378889.349 [DAT](INFO): Local bearing/azimuth received: Bearing 54.5, 1.1 (Local) 2025-01-08T23:28:09.350Z,1736378889.350 [DAT](INFO): DAT read: Range 10 to 50 : 171.9 m (Round-trip 229.2 ms) speed 0.2 m/s 2025-01-08T23:28:09.357Z,1736378889.357 [DAT](INFO): DAT read: user:3237> 2025-01-08T23:28:09.358Z,1736378889.358 [DAT](INFO): DAT read: Tx time:23:28:08.5354 2025-01-08T23:28:09.359Z,1736378889.359 [DAT](INFO): Ping request sent. 2025-01-08T23:28:09.359Z,1736378889.359 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:09.372Z,1736378889.372 [DAT](INFO): DAT read: TxSync time:23:28:08.5346 2025-01-08T23:28:09.372Z,1736378889.372 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:09.373Z,1736378889.373 [DAT](INFO): direction in FSK: [-0.118871,0.133724,0.983864] 2025-01-08T23:28:09.373Z,1736378889.373 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:09.374Z,1736378889.374 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:09.409Z,1736378889.409 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:09.409Z,1736378889.409 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:09.548Z,1736378889.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:09.655Z,1736378889.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:09.678Z,1736378889.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 171.899994 m, deltaT: 3.780195 s, deltaX: -0.900009 m, approachRate: -0.238085 m/s, rangeRepo size: 4 2025-01-08T23:28:09.682Z,1736378889.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.899994 m, bearing: 113.294546 deg, lat: 36.903201 deg, lon: -122.120734 deg, deltaT: 3.780195 s, deltaX: -0.900009 m, approachRate: -0.238085 m/s, posRepo size: 4 2025-01-08T23:28:09.682Z,1736378889.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.90 m. 2025-01-08T23:28:09.701Z,1736378889.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.899994 m, nav range: 40.103367 m, bearing: 195.377757 deg, approach rate: 0.000000 m/s, LOS rate: -0.497916 deg/s, cmd heading: 328.602587 deg, new cmd heading: 327.963579 deg. 2025-01-08T23:28:09.702Z,1736378889.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724044 target range: 171.899994 and range: 171.90 m. 2025-01-08T23:28:09.800Z,1736378889.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:09.929Z,1736378889.929 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:28:10.052Z,1736378890.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:10.073Z,1736378890.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:10.111Z,1736378890.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.90 m. 2025-01-08T23:28:10.118Z,1736378890.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.899994 m, nav range: 40.263100 m, bearing: 195.143178 deg, approach rate: 0.368038 m/s, LOS rate: -0.538344 deg/s, cmd heading: 327.963581 deg, new cmd heading: 327.262674 deg. 2025-01-08T23:28:10.119Z,1736378890.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711811 target range: 171.899994 and range: 171.90 m. 2025-01-08T23:28:10.304Z,1736378890.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:10.461Z,1736378890.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:10.469Z,1736378890.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:10.473Z,1736378890.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.90 m. 2025-01-08T23:28:10.477Z,1736378890.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.899994 m, nav range: 40.410866 m, bearing: 194.925201 deg, approach rate: 0.407334 m/s, LOS rate: -0.598680 deg/s, cmd heading: 327.262667 deg, new cmd heading: 326.611157 deg. 2025-01-08T23:28:10.478Z,1736378890.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700440 target range: 171.899994 and range: 171.90 m. 2025-01-08T23:28:10.556Z,1736378890.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:10.557Z,1736378890.557 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:10.557Z,1736378890.557 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:10.558Z,1736378890.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:10.809Z,1736378890.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:10.810Z,1736378890.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.451310 2025-01-08T23:28:10.930Z,1736378890.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:10.932Z,1736378890.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:28:10.940Z,1736378890.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.90 m. 2025-01-08T23:28:10.944Z,1736378890.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.899994 m, nav range: 40.588650 m, bearing: 194.661885 deg, approach rate: 0.381238 m/s, LOS rate: -0.562177 deg/s, cmd heading: 326.611149 deg, new cmd heading: 325.824714 deg. 2025-01-08T23:28:10.945Z,1736378890.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686714 target range: 171.899994 and range: 171.90 m. 2025-01-08T23:28:11.063Z,1736378891.063 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:11.065Z,1736378891.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706343 2025-01-08T23:28:11.295Z,1736378891.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:11.304Z,1736378891.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.90 m. 2025-01-08T23:28:11.306Z,1736378891.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.899994 m, nav range: 40.724270 m, bearing: 194.463355 deg, approach rate: 0.372511 m/s, LOS rate: -0.543489 deg/s, cmd heading: 325.824721 deg, new cmd heading: 325.231139 deg. 2025-01-08T23:28:11.308Z,1736378891.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676354 target range: 171.899994 and range: 171.90 m. 2025-01-08T23:28:11.325Z,1736378891.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:11.325Z,1736378891.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966643 2025-01-08T23:28:11.576Z,1736378891.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:11.577Z,1736378891.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217928 2025-01-08T23:28:11.722Z,1736378891.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:11.766Z,1736378891.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.90 m. 2025-01-08T23:28:11.777Z,1736378891.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.899994 m, nav range: 40.882076 m, bearing: 194.230911 deg, approach rate: 0.341403 m/s, LOS rate: -0.500935 deg/s, cmd heading: 325.231151 deg, new cmd heading: 324.536545 deg. 2025-01-08T23:28:11.787Z,1736378891.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664231 target range: 171.899994 and range: 171.90 m. 2025-01-08T23:28:11.828Z,1736378891.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:11.828Z,1736378891.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469875 2025-01-08T23:28:12.080Z,1736378892.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:12.081Z,1736378892.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722075 2025-01-08T23:28:12.148Z,1736378892.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:12.168Z,1736378892.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.90 m. 2025-01-08T23:28:12.170Z,1736378892.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.899994 m, nav range: 41.039688 m, bearing: 193.990711 deg, approach rate: 0.394528 m/s, LOS rate: -0.598949 deg/s, cmd heading: 324.536548 deg, new cmd heading: 323.818753 deg. 2025-01-08T23:28:12.172Z,1736378892.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651703 target range: 171.899994 and range: 171.90 m. 2025-01-08T23:28:12.332Z,1736378892.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:12.332Z,1736378892.332 [DAT](INFO): DAT read: Rx Time:23:28:11.1677 2025-01-08T23:28:12.333Z,1736378892.333 [DAT](INFO): Rx dataTimestamp_ set to:1736378892.332670 2025-01-08T23:28:12.333Z,1736378892.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974908 2025-01-08T23:28:12.514Z,1736378892.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:12.534Z,1736378892.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:12.540Z,1736378892.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.90 m. 2025-01-08T23:28:12.547Z,1736378892.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.899994 m, nav range: 41.174110 m, bearing: 193.783790 deg, approach rate: 0.359932 m/s, LOS rate: -0.552246 deg/s, cmd heading: 323.818749 deg, new cmd heading: 323.200038 deg. 2025-01-08T23:28:12.548Z,1736378892.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640905 target range: 171.899994 and range: 171.90 m. 2025-01-08T23:28:12.584Z,1736378892.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:12.585Z,1736378892.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226595 2025-01-08T23:28:12.838Z,1736378892.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:12.841Z,1736378892.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481295 2025-01-08T23:28:12.988Z,1736378892.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:12.998Z,1736378892.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.90 m. 2025-01-08T23:28:13.001Z,1736378893.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.899994 m, nav range: 41.348675 m, bearing: 193.495555 deg, approach rate: 0.380520 m/s, LOS rate: -0.625646 deg/s, cmd heading: 323.200044 deg, new cmd heading: 322.339059 deg. 2025-01-08T23:28:13.002Z,1736378893.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625878 target range: 171.899994 and range: 171.90 m. 2025-01-08T23:28:13.089Z,1736378893.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:13.096Z,1736378893.096 [DAT](INFO): DAT read: 23:28:11.1677 LVL= 11440, 28145, 21682, 31219, AGC= 57, IDX= 429,-0.15, 2.708, 1.229, 0.880, 1.837, PHS= 0.959,-0.561,-0.960, RAW= 78.6, 6.5, CAL= 83.0, 7.3, ROT= 67.0, -7.3 2025-01-08T23:28:13.098Z,1736378893.098 [DAT](INFO): got valid direction response: 23:28:11.1677 LVL= 11440, 28145, 21682, 31219, AGC= 57, IDX= 429,-0.15, 2.708, 1.229, 0.880, 1.837, PHS= 0.959,-0.561,-0.960, RAW= 78.6, 6.5, CAL= 83.0, 7.3, ROT= 67.0, -7.3 2025-01-08T23:28:13.099Z,1736378893.099 [DAT](INFO): DAT read: Bearing 67.0, -7.3 (Local) 2025-01-08T23:28:13.099Z,1736378893.099 [DAT](INFO): Local bearing/azimuth received: Bearing 67.0, -7.3 (Local) 2025-01-08T23:28:13.109Z,1736378893.109 [DAT](INFO): DAT read: Range 10 to 50 : 171.1 m (Round-trip 228.2 ms) speed 0.0 m/s 2025-01-08T23:28:13.110Z,1736378893.110 [DAT](INFO): DAT read: user:3238> 2025-01-08T23:28:13.116Z,1736378893.116 [DAT](INFO): DAT read: Tx time:23:28:12.2854 2025-01-08T23:28:13.117Z,1736378893.117 [DAT](INFO): Ping request sent. 2025-01-08T23:28:13.117Z,1736378893.117 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:13.118Z,1736378893.118 [DAT](INFO): DAT read: TxSync time:23:28:12.2846 2025-01-08T23:28:13.119Z,1736378893.119 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:13.125Z,1736378893.125 [DAT](INFO): direction in FSK: [-0.186184,0.302040,0.934937] 2025-01-08T23:28:13.126Z,1736378893.126 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:13.126Z,1736378893.126 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:13.130Z,1736378893.130 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:13.130Z,1736378893.130 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:13.340Z,1736378893.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:13.352Z,1736378893.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:13.386Z,1736378893.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 171.100006 m, deltaT: 3.792950 s, deltaX: -0.799988 m, approachRate: -0.210914 m/s, rangeRepo size: 4 2025-01-08T23:28:13.397Z,1736378893.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.100006 m, bearing: 86.938589 deg, lat: 36.903387 deg, lon: -122.120645 deg, deltaT: 3.792950 s, deltaX: -0.799988 m, approachRate: -0.210914 m/s, posRepo size: 4 2025-01-08T23:28:13.397Z,1736378893.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m. 2025-01-08T23:28:13.404Z,1736378893.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.100006 m, nav range: 19.741354 m, bearing: 184.715952 deg, approach rate: 0.000000 m/s, LOS rate: -0.625646 deg/s, cmd heading: 322.339057 deg, new cmd heading: 321.611158 deg. 2025-01-08T23:28:13.408Z,1736378893.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613173 target range: 171.100006 and range: 171.10 m. 2025-01-08T23:28:13.593Z,1736378893.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:13.739Z,1736378893.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:13.749Z,1736378893.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m. 2025-01-08T23:28:13.757Z,1736378893.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.100006 m, nav range: 19.905060 m, bearing: 184.286663 deg, approach rate: 0.450031 m/s, LOS rate: -1.170409 deg/s, cmd heading: 321.611150 deg, new cmd heading: 320.334097 deg. 2025-01-08T23:28:13.760Z,1736378893.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590885 target range: 171.100006 and range: 171.10 m. 2025-01-08T23:28:13.844Z,1736378893.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:14.096Z,1736378894.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:14.159Z,1736378894.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:14.192Z,1736378894.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m. 2025-01-08T23:28:14.194Z,1736378894.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.100006 m, nav range: 20.084742 m, bearing: 183.761168 deg, approach rate: 0.410375 m/s, LOS rate: -1.189423 deg/s, cmd heading: 320.334096 deg, new cmd heading: 318.772124 deg. 2025-01-08T23:28:14.200Z,1736378894.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.563623 target range: 171.100006 and range: 171.10 m. 2025-01-08T23:28:14.348Z,1736378894.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:14.555Z,1736378894.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:14.562Z,1736378894.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:14.581Z,1736378894.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m. 2025-01-08T23:28:14.589Z,1736378894.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.100006 m, nav range: 20.255957 m, bearing: 183.273494 deg, approach rate: 0.435458 m/s, LOS rate: -1.229822 deg/s, cmd heading: 318.772114 deg, new cmd heading: 317.321785 deg. 2025-01-08T23:28:14.595Z,1736378894.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538310 target range: 171.100006 and range: 171.10 m. 2025-01-08T23:28:14.600Z,1736378894.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:14.600Z,1736378894.600 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:14.600Z,1736378894.600 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:14.601Z,1736378894.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:14.852Z,1736378894.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:14.852Z,1736378894.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735661 2025-01-08T23:28:15.022Z,1736378895.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:15.032Z,1736378895.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m. 2025-01-08T23:28:15.035Z,1736378895.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.100006 m, nav range: 20.466068 m, bearing: 182.645402 deg, approach rate: 0.465181 m/s, LOS rate: -1.376273 deg/s, cmd heading: 317.321792 deg, new cmd heading: 315.457557 deg. 2025-01-08T23:28:15.062Z,1736378895.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505773 target range: 171.100006 and range: 171.10 m. 2025-01-08T23:28:15.104Z,1736378895.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:15.105Z,1736378895.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987872 2025-01-08T23:28:15.356Z,1736378895.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:15.357Z,1736378895.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239834 2025-01-08T23:28:15.376Z,1736378895.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:15.393Z,1736378895.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m. 2025-01-08T23:28:15.404Z,1736378895.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.100006 m, nav range: 20.617331 m, bearing: 182.205498 deg, approach rate: 0.418695 m/s, LOS rate: -1.208712 deg/s, cmd heading: 315.457560 deg, new cmd heading: 314.147770 deg. 2025-01-08T23:28:15.405Z,1736378895.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482913 target range: 171.100006 and range: 171.10 m. 2025-01-08T23:28:15.608Z,1736378895.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:15.609Z,1736378895.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492033 2025-01-08T23:28:15.756Z,1736378895.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:15.765Z,1736378895.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m. 2025-01-08T23:28:15.768Z,1736378895.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.100006 m, nav range: 20.787704 m, bearing: 181.652156 deg, approach rate: 0.457956 m/s, LOS rate: -1.475141 deg/s, cmd heading: 314.147775 deg, new cmd heading: 312.501834 deg. 2025-01-08T23:28:15.769Z,1736378895.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454186 target range: 171.100006 and range: 171.10 m. 2025-01-08T23:28:15.862Z,1736378895.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:15.863Z,1736378895.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745785 2025-01-08T23:28:16.112Z,1736378896.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:16.113Z,1736378896.113 [DAT](INFO): DAT read: Rx Time:23:28:14.9172 2025-01-08T23:28:16.113Z,1736378896.113 [DAT](INFO): Rx dataTimestamp_ set to:1736378896.112756 2025-01-08T23:28:16.114Z,1736378896.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996846 2025-01-08T23:28:16.200Z,1736378896.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:16.209Z,1736378896.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m. 2025-01-08T23:28:16.213Z,1736378896.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.100006 m, nav range: 20.975023 m, bearing: 180.992567 deg, approach rate: 0.422618 m/s, LOS rate: -1.474804 deg/s, cmd heading: 312.501836 deg, new cmd heading: 310.541551 deg. 2025-01-08T23:28:16.214Z,1736378896.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.419972 target range: 171.100006 and range: 171.10 m. 2025-01-08T23:28:16.364Z,1736378896.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:16.364Z,1736378896.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247623 2025-01-08T23:28:16.557Z,1736378896.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:16.618Z,1736378896.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:16.631Z,1736378896.631 [DAT](INFO): DAT read: 23:28:14.9172 LVL= 8688, 24161, 18610, 26291, AGC= 59, IDX= 440,-0.36,-3.028, 1.986, 0.982, 2.275, PHS= 1.069,-0.242,-1.296, RAW= 63.6, 4.6, CAL= 64.5, 4.6, ROT= 85.5, -4.6 2025-01-08T23:28:16.634Z,1736378896.634 [DAT](INFO): got valid direction response: 23:28:14.9172 LVL= 8688, 24161, 18610, 26291, AGC= 59, IDX= 440,-0.36,-3.028, 1.986, 0.982, 2.275, PHS= 1.069,-0.242,-1.296, RAW= 63.6, 4.6, CAL= 64.5, 4.6, ROT= 85.5, -4.6 2025-01-08T23:28:16.635Z,1736378896.635 [DAT](INFO): DAT read: Bearing 85.5, -4.6 (Local) 2025-01-08T23:28:16.636Z,1736378896.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:16.638Z,1736378896.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m. 2025-01-08T23:28:16.645Z,1736378896.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.100006 m, nav range: 21.124668 m, bearing: 180.460599 deg, approach rate: 0.348892 m/s, LOS rate: -1.231461 deg/s, cmd heading: 310.541545 deg, new cmd heading: 308.957373 deg. 2025-01-08T23:28:16.647Z,1736378896.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.392323 target range: 171.100006 and range: 171.10 m. 2025-01-08T23:28:16.648Z,1736378896.648 [DAT](INFO): Local bearing/azimuth received: Bearing 85.5, -4.6 (Local) 2025-01-08T23:28:16.650Z,1736378896.650 [DAT](INFO): DAT read: Range 10 to 50 : 170.7 m (Round-trip 227.7 ms) speed 0.1 m/s 2025-01-08T23:28:16.660Z,1736378896.660 [DAT](INFO): DAT read: user:3239> 2025-01-08T23:28:16.661Z,1736378896.661 [DAT](INFO): DAT read: Tx time:23:28:16.0354 2025-01-08T23:28:16.662Z,1736378896.662 [DAT](INFO): Ping request sent. 2025-01-08T23:28:16.662Z,1736378896.662 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:16.662Z,1736378896.662 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:16.668Z,1736378896.668 [DAT](INFO): direction in FSK: [-0.122328,0.529628,0.839363] 2025-01-08T23:28:16.669Z,1736378896.669 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:16.675Z,1736378896.675 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:16.688Z,1736378896.688 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:16.688Z,1736378896.688 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:16.868Z,1736378896.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:16.869Z,1736378896.869 [DAT](INFO): DAT read: TxSync time:23:28:16.0346 2025-01-08T23:28:17.018Z,1736378897.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:17.049Z,1736378897.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.699997 m, deltaT: 3.529078 s, deltaX: -0.400009 m, approachRate: -0.113347 m/s, rangeRepo size: 4 2025-01-08T23:28:17.056Z,1736378897.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 170.699997 m, bearing: 56.362715 deg, lat: 36.903481 deg, lon: -122.120419 deg, deltaT: 3.529078 s, deltaX: -0.400009 m, approachRate: -0.113347 m/s, posRepo size: 4 2025-01-08T23:28:17.057Z,1736378897.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:17.068Z,1736378897.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 22.896757 m, bearing: 118.203161 deg, approach rate: 0.000000 m/s, LOS rate: -1.231461 deg/s, cmd heading: 308.957378 deg, new cmd heading: 307.438342 deg. 2025-01-08T23:28:17.069Z,1736378897.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.365811 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:28:17.120Z,1736378897.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:17.372Z,1736378897.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:17.499Z,1736378897.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:17.508Z,1736378897.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:17.516Z,1736378897.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 23.237864 m, bearing: 118.304167 deg, approach rate: 0.744070 m/s, LOS rate: 0.217093 deg/s, cmd heading: 307.438344 deg, new cmd heading: 307.736909 deg. 2025-01-08T23:28:17.518Z,1736378897.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.371022 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:28:17.625Z,1736378897.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:17.876Z,1736378897.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:17.878Z,1736378897.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:17.887Z,1736378897.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:17.890Z,1736378897.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 23.507748 m, bearing: 118.367839 deg, approach rate: 0.711519 m/s, LOS rate: 0.165938 deg/s, cmd heading: 307.736905 deg, new cmd heading: 307.925729 deg. 2025-01-08T23:28:17.892Z,1736378897.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.374318 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:28:18.128Z,1736378898.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:18.317Z,1736378898.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:18.326Z,1736378898.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:18.345Z,1736378898.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 23.822340 m, bearing: 118.430153 deg, approach rate: 0.716179 m/s, LOS rate: 0.139986 deg/s, cmd heading: 307.925719 deg, new cmd heading: 308.110191 deg. 2025-01-08T23:28:18.346Z,1736378898.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.377537 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:28:18.380Z,1736378898.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:18.632Z,1736378898.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:18.705Z,1736378898.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:18.714Z,1736378898.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:18.716Z,1736378898.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:18.719Z,1736378898.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 24.101269 m, bearing: 118.470391 deg, approach rate: 0.714641 m/s, LOS rate: 0.101902 deg/s, cmd heading: 308.110189 deg, new cmd heading: 308.229507 deg. 2025-01-08T23:28:18.720Z,1736378898.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.379620 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:28:18.888Z,1736378898.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:18.889Z,1736378898.889 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:18.889Z,1736378898.889 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:18.890Z,1736378898.890 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:19.128Z,1736378899.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:19.136Z,1736378899.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:19.137Z,1736378899.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474699 2025-01-08T23:28:19.138Z,1736378899.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:19.142Z,1736378899.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 24.397688 m, bearing: 118.509571 deg, approach rate: 0.702101 m/s, LOS rate: 0.091673 deg/s, cmd heading: 308.229498 deg, new cmd heading: 308.345608 deg. 2025-01-08T23:28:19.163Z,1736378899.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.381646 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:28:19.388Z,1736378899.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:19.389Z,1736378899.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727266 2025-01-08T23:28:19.504Z,1736378899.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:19.533Z,1736378899.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:19.544Z,1736378899.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 24.661510 m, bearing: 118.530668 deg, approach rate: 0.669113 m/s, LOS rate: 0.052935 deg/s, cmd heading: 308.345612 deg, new cmd heading: 308.408226 deg. 2025-01-08T23:28:19.546Z,1736378899.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382739 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:28:19.644Z,1736378899.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:19.646Z,1736378899.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983736 2025-01-08T23:28:19.896Z,1736378899.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:19.897Z,1736378899.897 [DAT](INFO): DAT read: Rx Time:23:28:18.6670 2025-01-08T23:28:19.897Z,1736378899.897 [DAT](INFO): Rx dataTimestamp_ set to:1736378899.896782 2025-01-08T23:28:19.898Z,1736378899.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235778 2025-01-08T23:28:19.945Z,1736378899.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:19.953Z,1736378899.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:19.956Z,1736378899.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 24.970358 m, bearing: 118.541325 deg, approach rate: 0.734225 m/s, LOS rate: 0.025022 deg/s, cmd heading: 308.408231 deg, new cmd heading: 308.439806 deg. 2025-01-08T23:28:19.958Z,1736378899.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383290 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:28:20.149Z,1736378900.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:20.150Z,1736378900.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488017 2025-01-08T23:28:20.359Z,1736378900.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:20.368Z,1736378900.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:20.370Z,1736378900.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 25.244873 m, bearing: 118.559947 deg, approach rate: 0.663227 m/s, LOS rate: 0.044501 deg/s, cmd heading: 308.439814 deg, new cmd heading: 308.495071 deg. 2025-01-08T23:28:20.371Z,1736378900.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.384255 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:28:20.400Z,1736378900.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:20.402Z,1736378900.402 [DAT](INFO): DAT read: Range 10 to 50 : 170.6 m (Round-trip 227.5 ms) speed 0.0 m/s 2025-01-08T23:28:20.402Z,1736378900.402 [DAT](INFO): DAT read: user:3240> 2025-01-08T23:28:20.403Z,1736378900.403 [DAT](INFO): DAT read: Tx time:23:28:19.7855 2025-01-08T23:28:20.403Z,1736378900.403 [DAT](INFO): Ping request sent. 2025-01-08T23:28:20.403Z,1736378900.403 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:20.404Z,1736378900.404 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:28:20.404Z,1736378900.404 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:20.405Z,1736378900.405 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:20.652Z,1736378900.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:20.653Z,1736378900.653 [DAT](INFO): DAT read: TxSync time:23:28:19.7847 2025-01-08T23:28:20.722Z,1736378900.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:20.730Z,1736378900.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:20.732Z,1736378900.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.600006 m, deltaT: 3.781914 s, deltaX: -0.099991 m, approachRate: -0.026439 m/s, rangeRepo size: 4 2025-01-08T23:28:20.733Z,1736378900.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:20.752Z,1736378900.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 25.485558 m, bearing: 118.558539 deg, approach rate: 0.659994 m/s, LOS rate: -0.003825 deg/s, cmd heading: 308.495083 deg, new cmd heading: 308.490899 deg. 2025-01-08T23:28:20.753Z,1736378900.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.384182 target range: 170.699997 and range: 170.60 m. 2025-01-08T23:28:20.904Z,1736378900.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:20.904Z,1736378900.904 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:20.904Z,1736378900.904 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:20.904Z,1736378900.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:21.146Z,1736378901.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:21.156Z,1736378901.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:21.156Z,1736378901.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752932 2025-01-08T23:28:21.155Z,1736378901.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:21.161Z,1736378901.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 25.756361 m, bearing: 118.560346 deg, approach rate: 0.640097 m/s, LOS rate: 0.004227 deg/s, cmd heading: 308.490903 deg, new cmd heading: 308.496269 deg. 2025-01-08T23:28:21.162Z,1736378901.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.384275 target range: 170.699997 and range: 170.60 m. 2025-01-08T23:28:21.409Z,1736378901.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:21.410Z,1736378901.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006459 2025-01-08T23:28:21.533Z,1736378901.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:21.541Z,1736378901.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:21.544Z,1736378901.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 26.003080 m, bearing: 118.554669 deg, approach rate: 0.638172 m/s, LOS rate: -0.014545 deg/s, cmd heading: 308.496258 deg, new cmd heading: 308.479389 deg. 2025-01-08T23:28:21.545Z,1736378901.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383981 target range: 170.699997 and range: 170.60 m. 2025-01-08T23:28:21.661Z,1736378901.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:21.662Z,1736378901.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258188 2025-01-08T23:28:21.912Z,1736378901.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:21.912Z,1736378901.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508940 2025-01-08T23:28:21.940Z,1736378901.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:21.978Z,1736378901.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:21.981Z,1736378901.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 26.262047 m, bearing: 118.543462 deg, approach rate: 0.593335 m/s, LOS rate: -0.025425 deg/s, cmd heading: 308.479401 deg, new cmd heading: 308.446111 deg. 2025-01-08T23:28:21.982Z,1736378901.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383400 target range: 170.699997 and range: 170.60 m. 2025-01-08T23:28:22.164Z,1736378902.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:22.165Z,1736378902.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761117 2025-01-08T23:28:22.387Z,1736378902.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:22.413Z,1736378902.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:22.416Z,1736378902.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:22.417Z,1736378902.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013150 2025-01-08T23:28:22.418Z,1736378902.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 26.528193 m, bearing: 118.539260 deg, approach rate: 0.611984 m/s, LOS rate: -0.009564 deg/s, cmd heading: 308.446097 deg, new cmd heading: 308.433619 deg. 2025-01-08T23:28:22.419Z,1736378902.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383182 target range: 170.699997 and range: 170.60 m. 2025-01-08T23:28:22.669Z,1736378902.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:22.671Z,1736378902.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267399 2025-01-08T23:28:22.762Z,1736378902.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:22.781Z,1736378902.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:22.783Z,1736378902.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:22.790Z,1736378902.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 26.751209 m, bearing: 118.530968 deg, approach rate: 0.602917 m/s, LOS rate: -0.022231 deg/s, cmd heading: 308.433612 deg, new cmd heading: 308.408942 deg. 2025-01-08T23:28:22.796Z,1736378902.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382751 target range: 170.699997 and range: 170.60 m. 2025-01-08T23:28:22.920Z,1736378902.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:22.920Z,1736378902.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516873 2025-01-08T23:28:23.156Z,1736378903.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:28:23.157Z,1736378903.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:23.167Z,1736378903.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:23.170Z,1736378903.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 26.985441 m, bearing: 118.521445 deg, approach rate: 0.609608 m/s, LOS rate: -0.024568 deg/s, cmd heading: 308.408941 deg, new cmd heading: 308.380622 deg. 2025-01-08T23:28:23.171Z,1736378903.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382257 target range: 170.699997 and range: 170.60 m. 2025-01-08T23:28:23.172Z,1736378903.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:23.173Z,1736378903.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769043 2025-01-08T23:28:23.424Z,1736378903.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:23.425Z,1736378903.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021897 2025-01-08T23:28:23.554Z,1736378903.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:28:23.554Z,1736378903.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:23.565Z,1736378903.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:23.568Z,1736378903.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 27.221432 m, bearing: 118.512624 deg, approach rate: 0.593373 m/s, LOS rate: -0.021989 deg/s, cmd heading: 308.380609 deg, new cmd heading: 308.354374 deg. 2025-01-08T23:28:23.569Z,1736378903.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.381799 target range: 170.699997 and range: 170.60 m. 2025-01-08T23:28:23.676Z,1736378903.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:23.677Z,1736378903.677 [DAT](INFO): DAT read: Rx Time:23:28:22.4177 2025-01-08T23:28:23.678Z,1736378903.678 [DAT](INFO): Rx dataTimestamp_ set to:1736378903.677859 2025-01-08T23:28:23.679Z,1736378903.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275294 2025-01-08T23:28:23.928Z,1736378903.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:23.928Z,1736378903.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524933 2025-01-08T23:28:23.950Z,1736378903.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:28:23.950Z,1736378903.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:23.977Z,1736378903.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:28:23.984Z,1736378903.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 27.457115 m, bearing: 118.504782 deg, approach rate: 0.571835 m/s, LOS rate: -0.018862 deg/s, cmd heading: 308.354382 deg, new cmd heading: 308.331060 deg. 2025-01-08T23:28:23.985Z,1736378903.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.381392 target range: 170.699997 and range: 170.60 m. 2025-01-08T23:28:24.180Z,1736378904.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:24.186Z,1736378904.186 [DAT](INFO): DAT read: 23:28:22.4177 LVL= 12272, 17041, 18418, 23091, AGC= 56, IDX= 444,-0.09,-0.722,-1.881,-3.117,-1.914, PHS= 1.280, 0.080,-1.206, RAW= 58.8, -1.4, CAL= 62.1, -5.1, ROT= 87.9, 5.1 2025-01-08T23:28:24.188Z,1736378904.188 [DAT](INFO): got valid direction response: 23:28:22.4177 LVL= 12272, 17041, 18418, 23091, AGC= 56, IDX= 444,-0.09,-0.722,-1.881,-3.117,-1.914, PHS= 1.280, 0.080,-1.206, RAW= 58.8, -1.4, CAL= 62.1, -5.1, ROT= 87.9, 5.1 2025-01-08T23:28:24.189Z,1736378904.189 [DAT](INFO): DAT read: Bearing 87.9, 5.1 (Local) 2025-01-08T23:28:24.189Z,1736378904.189 [DAT](INFO): Local bearing/azimuth received: Bearing 87.9, 5.1 (Local) 2025-01-08T23:28:24.199Z,1736378904.199 [DAT](INFO): DAT read: Range 10 to 50 : 171.0 m (Round-trip 228.1 ms) speed -0.2 m/s 2025-01-08T23:28:24.200Z,1736378904.200 [DAT](INFO): DAT read: user:3241> 2025-01-08T23:28:24.201Z,1736378904.201 [DAT](INFO): DAT read: Tx time:23:28:23.5355 2025-01-08T23:28:24.201Z,1736378904.201 [DAT](INFO): Ping request sent. 2025-01-08T23:28:24.201Z,1736378904.201 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:24.202Z,1736378904.202 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:24.203Z,1736378904.203 [DAT](INFO): direction in FSK: [0.000085,0.590619,0.806951] 2025-01-08T23:28:24.203Z,1736378904.203 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:24.204Z,1736378904.204 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:24.208Z,1736378904.208 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:24.208Z,1736378904.208 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:24.432Z,1736378904.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:24.433Z,1736378904.433 [DAT](INFO): DAT read: TxSync time:23:28:23.5347 2025-01-08T23:28:24.489Z,1736378904.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:24.523Z,1736378904.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 171.000000 m, deltaT: 3.780092 s, deltaX: 0.399994 m, approachRate: 0.105816 m/s, rangeRepo size: 4 2025-01-08T23:28:24.529Z,1736378904.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.000000 m, bearing: 28.087958 deg, lat: 36.903588 deg, lon: -122.120227 deg, deltaT: 7.562006 s, deltaX: 0.300003 m, approachRate: 0.039672 m/s, posRepo size: 4 2025-01-08T23:28:24.530Z,1736378904.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.00 m. 2025-01-08T23:28:24.537Z,1736378904.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.000000 m, nav range: 41.446541 m, bearing: 91.951997 deg, approach rate: 0.000000 m/s, LOS rate: -0.018862 deg/s, cmd heading: 308.331050 deg, new cmd heading: 308.300192 deg. 2025-01-08T23:28:24.538Z,1736378904.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380854 target range: 171.000000 and range: 171.00 m. 2025-01-08T23:28:24.684Z,1736378904.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:24.841Z,1736378904.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:24.848Z,1736378904.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:24.850Z,1736378904.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.00 m. 2025-01-08T23:28:24.869Z,1736378904.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.000000 m, nav range: 41.623985 m, bearing: 92.075539 deg, approach rate: 0.541628 m/s, LOS rate: 0.375490 deg/s, cmd heading: 308.300204 deg, new cmd heading: 308.669246 deg. 2025-01-08T23:28:24.870Z,1736378904.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.387295 target range: 171.000000 and range: 171.00 m. 2025-01-08T23:28:24.936Z,1736378904.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:24.937Z,1736378904.937 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:24.937Z,1736378904.937 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:24.938Z,1736378904.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:25.188Z,1736378905.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:25.188Z,1736378905.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986988 2025-01-08T23:28:25.285Z,1736378905.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:25.294Z,1736378905.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.00 m. 2025-01-08T23:28:25.297Z,1736378905.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.000000 m, nav range: 41.853203 m, bearing: 92.224460 deg, approach rate: 0.515833 m/s, LOS rate: 0.333297 deg/s, cmd heading: 308.669253 deg, new cmd heading: 309.113560 deg. 2025-01-08T23:28:25.298Z,1736378905.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395050 target range: 171.000000 and range: 171.00 m. 2025-01-08T23:28:25.440Z,1736378905.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:25.441Z,1736378905.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239329 2025-01-08T23:28:25.649Z,1736378905.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:25.683Z,1736378905.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.00 m. 2025-01-08T23:28:25.686Z,1736378905.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.000000 m, nav range: 42.040306 m, bearing: 92.345861 deg, approach rate: 0.501659 m/s, LOS rate: 0.324051 deg/s, cmd heading: 309.113571 deg, new cmd heading: 309.476149 deg. 2025-01-08T23:28:25.692Z,1736378905.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:25.693Z,1736378905.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491694 2025-01-08T23:28:25.687Z,1736378905.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.401378 target range: 171.000000 and range: 171.00 m. 2025-01-08T23:28:25.944Z,1736378905.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:25.944Z,1736378905.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743081 2025-01-08T23:28:26.049Z,1736378906.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:26.070Z,1736378906.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.00 m. 2025-01-08T23:28:26.078Z,1736378906.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.000000 m, nav range: 42.246933 m, bearing: 92.479953 deg, approach rate: 0.513481 m/s, LOS rate: 0.331597 deg/s, cmd heading: 309.476145 deg, new cmd heading: 309.876446 deg. 2025-01-08T23:28:26.084Z,1736378906.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408364 target range: 171.000000 and range: 171.00 m. 2025-01-08T23:28:26.196Z,1736378906.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:26.197Z,1736378906.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995998 2025-01-08T23:28:26.448Z,1736378906.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:26.448Z,1736378906.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246834 2025-01-08T23:28:26.493Z,1736378906.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:26.502Z,1736378906.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.00 m. 2025-01-08T23:28:26.505Z,1736378906.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.000000 m, nav range: 42.489452 m, bearing: 92.634557 deg, approach rate: 0.560764 m/s, LOS rate: 0.355440 deg/s, cmd heading: 309.876448 deg, new cmd heading: 310.337601 deg. 2025-01-08T23:28:26.506Z,1736378906.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416413 target range: 171.000000 and range: 171.00 m. 2025-01-08T23:28:26.700Z,1736378906.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:26.700Z,1736378906.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499008 2025-01-08T23:28:26.876Z,1736378906.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:26.887Z,1736378906.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:26.889Z,1736378906.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.00 m. 2025-01-08T23:28:26.892Z,1736378906.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.000000 m, nav range: 42.698681 m, bearing: 92.766882 deg, approach rate: 0.540779 m/s, LOS rate: 0.340335 deg/s, cmd heading: 310.337595 deg, new cmd heading: 310.732618 deg. 2025-01-08T23:28:26.893Z,1736378906.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.423307 target range: 171.000000 and range: 171.00 m. 2025-01-08T23:28:26.953Z,1736378906.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:26.954Z,1736378906.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752177 2025-01-08T23:28:27.204Z,1736378907.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:27.204Z,1736378907.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002895 2025-01-08T23:28:27.305Z,1736378907.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:27.314Z,1736378907.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.00 m. 2025-01-08T23:28:27.317Z,1736378907.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.000000 m, nav range: 42.949196 m, bearing: 92.926947 deg, approach rate: 0.588785 m/s, LOS rate: 0.374006 deg/s, cmd heading: 310.732626 deg, new cmd heading: 311.210009 deg. 2025-01-08T23:28:27.318Z,1736378907.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.431639 target range: 171.000000 and range: 171.00 m. 2025-01-08T23:28:27.456Z,1736378907.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:27.456Z,1736378907.456 [DAT](INFO): DAT read: Rx Time:23:28:26.1686 2025-01-08T23:28:27.458Z,1736378907.458 [DAT](INFO): Rx dataTimestamp_ set to:1736378907.456624 2025-01-08T23:28:27.458Z,1736378907.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256807 2025-01-08T23:28:27.698Z,1736378907.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:27.707Z,1736378907.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.00 m. 2025-01-08T23:28:27.708Z,1736378907.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:27.708Z,1736378907.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507048 2025-01-08T23:28:27.711Z,1736378907.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.000000 m, nav range: 43.179287 m, bearing: 93.072513 deg, approach rate: 0.586328 m/s, LOS rate: 0.368960 deg/s, cmd heading: 311.210002 deg, new cmd heading: 311.644363 deg. 2025-01-08T23:28:27.712Z,1736378907.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.439220 target range: 171.000000 and range: 171.00 m. 2025-01-08T23:28:27.960Z,1736378907.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:27.976Z,1736378907.976 [DAT](INFO): DAT read: 23:28:26.1686 LVL= 17088, 20945, 22386, 32755, AGC= 58, IDX= 437, 0.30, 1.667, 0.601,-0.676, 0.452, PHS= 1.303, 0.196,-1.131, RAW= 57.0, -3.5, CAL= 61.3, -8.0, ROT= 88.7, 8.0 2025-01-08T23:28:27.977Z,1736378907.977 [DAT](INFO): got valid direction response: 23:28:26.1686 LVL= 17088, 20945, 22386, 32755, AGC= 58, IDX= 437, 0.30, 1.667, 0.601,-0.676, 0.452, PHS= 1.303, 0.196,-1.131, RAW= 57.0, -3.5, CAL= 61.3, -8.0, ROT= 88.7, 8.0 2025-01-08T23:28:27.978Z,1736378907.978 [DAT](INFO): DAT read: Bearing 88.7, 8.0 (Local) 2025-01-08T23:28:27.979Z,1736378907.979 [DAT](INFO): Local bearing/azimuth received: Bearing 88.7, 8.0 (Local) 2025-01-08T23:28:27.983Z,1736378907.983 [DAT](INFO): DAT read: Range 10 to 50 : 171.7 m (Round-trip 229.0 ms) speed 0.1 m/s 2025-01-08T23:28:27.999Z,1736378907.999 [DAT](INFO): DAT read: user:3242> 2025-01-08T23:28:28.012Z,1736378908.012 [DAT](INFO): DAT read: Tx time:23:28:27.2855 2025-01-08T23:28:28.012Z,1736378908.012 [DAT](INFO): Ping request sent. 2025-01-08T23:28:28.012Z,1736378908.012 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:28.013Z,1736378908.013 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:28.014Z,1736378908.014 [DAT](INFO): direction in FSK: [0.042505,0.611704,0.789944] 2025-01-08T23:28:28.014Z,1736378908.014 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:28.014Z,1736378908.014 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:28.029Z,1736378908.029 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:28.030Z,1736378908.030 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:28.098Z,1736378908.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:28.206Z,1736378908.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 171.699997 m, deltaT: 3.780293 s, deltaX: 0.699997 m, approachRate: 0.185170 m/s, rangeRepo size: 4 2025-01-08T23:28:28.212Z,1736378908.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:28.213Z,1736378908.213 [DAT](INFO): DAT read: TxSync time:23:28:27.2847 2025-01-08T23:28:28.215Z,1736378908.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.699997 m, bearing: 26.732135 deg, lat: 36.904018 deg, lon: -122.120227 deg, deltaT: 3.780293 s, deltaX: 0.699997 m, approachRate: 0.185170 m/s, posRepo size: 4 2025-01-08T23:28:28.220Z,1736378908.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:28:28.222Z,1736378908.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 62.800694 m, bearing: 43.645726 deg, approach rate: 0.000000 m/s, LOS rate: 0.368960 deg/s, cmd heading: 311.644374 deg, new cmd heading: 312.196104 deg. 2025-01-08T23:28:28.242Z,1736378908.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448850 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:28:28.464Z,1736378908.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:28.494Z,1736378908.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:28.523Z,1736378908.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:28:28.530Z,1736378908.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 62.875862 m, bearing: 43.884284 deg, approach rate: 0.236757 m/s, LOS rate: 0.750480 deg/s, cmd heading: 312.196117 deg, new cmd heading: 312.910896 deg. 2025-01-08T23:28:28.531Z,1736378908.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461325 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:28:28.716Z,1736378908.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:28.892Z,1736378908.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:28.900Z,1736378908.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:28.902Z,1736378908.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:28:28.904Z,1736378908.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 62.952656 m, bearing: 44.123949 deg, approach rate: 0.202738 m/s, LOS rate: 0.631949 deg/s, cmd heading: 312.910883 deg, new cmd heading: 313.628960 deg. 2025-01-08T23:28:28.905Z,1736378908.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473858 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:28:28.968Z,1736378908.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:28.969Z,1736378908.969 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:28.969Z,1736378908.969 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:28.969Z,1736378908.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:29.220Z,1736378909.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:29.220Z,1736378909.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207891 2025-01-08T23:28:29.314Z,1736378909.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:29.349Z,1736378909.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:28:29.352Z,1736378909.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 63.035591 m, bearing: 44.392513 deg, approach rate: 0.185413 m/s, LOS rate: 0.599618 deg/s, cmd heading: 313.628954 deg, new cmd heading: 314.433531 deg. 2025-01-08T23:28:29.353Z,1736378909.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487900 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:28:29.472Z,1736378909.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:29.473Z,1736378909.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460350 2025-01-08T23:28:29.690Z,1736378909.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:29.722Z,1736378909.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:28:29.724Z,1736378909.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:29.725Z,1736378909.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712538 2025-01-08T23:28:29.730Z,1736378909.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 63.108517 m, bearing: 44.632124 deg, approach rate: 0.195636 m/s, LOS rate: 0.642057 deg/s, cmd heading: 314.433523 deg, new cmd heading: 315.151487 deg. 2025-01-08T23:28:29.736Z,1736378909.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.500431 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:28:29.976Z,1736378909.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:29.977Z,1736378909.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964326 2025-01-08T23:28:30.107Z,1736378910.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:30.117Z,1736378910.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:28:30.120Z,1736378910.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 63.190514 m, bearing: 44.896657 deg, approach rate: 0.207405 m/s, LOS rate: 0.668246 deg/s, cmd heading: 315.151485 deg, new cmd heading: 315.944001 deg. 2025-01-08T23:28:30.121Z,1736378910.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514263 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:28:30.228Z,1736378910.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:30.229Z,1736378910.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216102 2025-01-08T23:28:30.480Z,1736378910.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:30.480Z,1736378910.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467937 2025-01-08T23:28:30.522Z,1736378910.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:30.532Z,1736378910.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:28:30.551Z,1736378910.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 63.267494 m, bearing: 45.165227 deg, approach rate: 0.185274 m/s, LOS rate: 0.645592 deg/s, cmd heading: 315.944006 deg, new cmd heading: 316.748678 deg. 2025-01-08T23:28:30.552Z,1736378910.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528307 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:28:30.733Z,1736378910.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:30.735Z,1736378910.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721901 2025-01-08T23:28:30.897Z,1736378910.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:30.904Z,1736378910.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:30.905Z,1736378910.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:28:30.909Z,1736378910.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 63.336517 m, bearing: 45.407115 deg, approach rate: 0.185021 m/s, LOS rate: 0.647691 deg/s, cmd heading: 316.748684 deg, new cmd heading: 317.473519 deg. 2025-01-08T23:28:30.910Z,1736378910.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540958 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:28:30.984Z,1736378910.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:30.985Z,1736378910.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972226 2025-01-08T23:28:31.236Z,1736378911.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:31.236Z,1736378911.236 [DAT](INFO): DAT read: Rx Time:23:28:29.9196 2025-01-08T23:28:31.237Z,1736378911.237 [DAT](INFO): Rx dataTimestamp_ set to:1736378911.236668 2025-01-08T23:28:31.237Z,1736378911.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225028 2025-01-08T23:28:31.349Z,1736378911.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:31.358Z,1736378911.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:28:31.362Z,1736378911.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 63.425858 m, bearing: 45.698737 deg, approach rate: 0.197812 m/s, LOS rate: 0.644779 deg/s, cmd heading: 317.473531 deg, new cmd heading: 318.347093 deg. 2025-01-08T23:28:31.366Z,1736378911.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.556205 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:28:31.488Z,1736378911.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:31.488Z,1736378911.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475970 2025-01-08T23:28:31.741Z,1736378911.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:31.794Z,1736378911.794 [DAT](INFO): DAT read: 23:28:29.9196 LVL= 20000, 24721, 28482, 32755, AGC= 55, IDX= 447, 0.34,-2.099,-3.063, 1.914, 3.017, PHS= 1.255, 0.250,-1.106, RAW= 55.1, -3.9, CAL= 59.2, -8.5, ROT= 90.8, 8.5 2025-01-08T23:28:31.809Z,1736378911.809 [DAT](INFO): got valid direction response: 23:28:29.9196 LVL= 20000, 24721, 28482, 32755, AGC= 55, IDX= 447, 0.34,-2.099,-3.063, 1.914, 3.017, PHS= 1.255, 0.250,-1.106, RAW= 55.1, -3.9, CAL= 59.2, -8.5, ROT= 90.8, 8.5 2025-01-08T23:28:31.810Z,1736378911.810 [DAT](INFO): DAT read: Bearing 90.8, 8.5 (Local) 2025-01-08T23:28:31.811Z,1736378911.811 [DAT](INFO): Local bearing/azimuth received: Bearing 90.8, 8.5 (Local) 2025-01-08T23:28:31.822Z,1736378911.822 [DAT](INFO): DAT read: Range 10 to 50 : 172.4 m (Round-trip 229.9 ms) speed 0.0 m/s 2025-01-08T23:28:31.823Z,1736378911.823 [DAT](INFO): DAT read: user:3243> 2025-01-08T23:28:31.840Z,1736378911.840 [DAT](INFO): DAT read: Tx time:23:28:31.0355 2025-01-08T23:28:31.840Z,1736378911.840 [DAT](INFO): Ping request sent. 2025-01-08T23:28:31.840Z,1736378911.840 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:31.841Z,1736378911.841 [DAT](INFO): DAT read: TxSync time:23:28:31.0347 2025-01-08T23:28:31.841Z,1736378911.841 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:31.842Z,1736378911.842 [DAT](INFO): direction in FSK: [0.053908,0.635440,0.770266] 2025-01-08T23:28:31.843Z,1736378911.843 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:31.843Z,1736378911.843 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:31.876Z,1736378911.876 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:31.876Z,1736378911.876 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:31.882Z,1736378911.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:31.928Z,1736378911.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.399994 m, deltaT: 3.780998 s, deltaX: 0.699997 m, approachRate: 0.185135 m/s, rangeRepo size: 4 2025-01-08T23:28:31.930Z,1736378911.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 172.399994 m, bearing: 29.975464 deg, lat: 36.904294 deg, lon: -122.120227 deg, deltaT: 3.780998 s, deltaX: 0.699997 m, approachRate: 0.185135 m/s, posRepo size: 4 2025-01-08T23:28:31.931Z,1736378911.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.40 m. 2025-01-08T23:28:31.933Z,1736378911.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.399994 m, nav range: 87.635101 m, bearing: 31.456610 deg, approach rate: 0.000000 m/s, LOS rate: 0.644779 deg/s, cmd heading: 318.347085 deg, new cmd heading: 319.433552 deg. 2025-01-08T23:28:31.934Z,1736378911.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575167 target range: 172.399994 and range: 172.40 m. 2025-01-08T23:28:31.992Z,1736378911.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:32.246Z,1736378912.246 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:32.377Z,1736378912.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:32.386Z,1736378912.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.40 m. 2025-01-08T23:28:32.389Z,1736378912.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.399994 m, nav range: 87.633324 m, bearing: 31.693375 deg, approach rate: -0.003807 m/s, LOS rate: 0.507069 deg/s, cmd heading: 319.433549 deg, new cmd heading: 320.143818 deg. 2025-01-08T23:28:32.390Z,1736378912.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587564 target range: 172.399994 and range: 172.40 m. 2025-01-08T23:28:32.498Z,1736378912.498 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:32.748Z,1736378912.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:32.784Z,1736378912.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:32.800Z,1736378912.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.40 m. 2025-01-08T23:28:32.803Z,1736378912.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.399994 m, nav range: 87.629776 m, bearing: 31.887625 deg, approach rate: -0.008566 m/s, LOS rate: 0.469031 deg/s, cmd heading: 320.143807 deg, new cmd heading: 320.726560 deg. 2025-01-08T23:28:32.816Z,1736378912.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.597734 target range: 172.399994 and range: 172.40 m. 2025-01-08T23:28:32.000Z,1736378913.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:33.168Z,1736378913.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:33.175Z,1736378913.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:33.177Z,1736378913.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.40 m. 2025-01-08T23:28:33.184Z,1736378913.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.399994 m, nav range: 87.624016 m, bearing: 32.070788 deg, approach rate: -0.015270 m/s, LOS rate: 0.485600 deg/s, cmd heading: 320.726559 deg, new cmd heading: 321.276068 deg. 2025-01-08T23:28:33.189Z,1736378913.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607325 target range: 172.399994 and range: 172.40 m. 2025-01-08T23:28:33.253Z,1736378913.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:33.254Z,1736378913.254 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:33.254Z,1736378913.254 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:33.254Z,1736378913.254 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:33.508Z,1736378913.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:33.509Z,1736378913.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.668588 2025-01-08T23:28:33.588Z,1736378913.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:33.614Z,1736378913.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.40 m. 2025-01-08T23:28:33.618Z,1736378913.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.399994 m, nav range: 87.611130 m, bearing: 32.262990 deg, approach rate: -0.029508 m/s, LOS rate: 0.440197 deg/s, cmd heading: 321.276061 deg, new cmd heading: 321.852732 deg. 2025-01-08T23:28:33.627Z,1736378913.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617390 target range: 172.399994 and range: 172.40 m. 2025-01-08T23:28:33.760Z,1736378913.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:33.760Z,1736378913.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.920063 2025-01-08T23:28:33.966Z,1736378913.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:33.975Z,1736378913.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.40 m. 2025-01-08T23:28:33.978Z,1736378913.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.399994 m, nav range: 87.597336 m, bearing: 32.434893 deg, approach rate: -0.038317 m/s, LOS rate: 0.477588 deg/s, cmd heading: 321.852720 deg, new cmd heading: 322.368496 deg. 2025-01-08T23:28:33.979Z,1736378913.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626392 target range: 172.399994 and range: 172.40 m. 2025-01-08T23:28:34.012Z,1736378914.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:34.014Z,1736378914.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.172786 2025-01-08T23:28:34.265Z,1736378914.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:34.268Z,1736378914.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.426883 2025-01-08T23:28:34.428Z,1736378914.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:34.453Z,1736378914.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.40 m. 2025-01-08T23:28:34.460Z,1736378914.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.399994 m, nav range: 87.575226 m, bearing: 32.635584 deg, approach rate: -0.046178 m/s, LOS rate: 0.419260 deg/s, cmd heading: 322.368509 deg, new cmd heading: 322.970710 deg. 2025-01-08T23:28:34.461Z,1736378914.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636902 target range: 172.399994 and range: 172.40 m. 2025-01-08T23:28:34.517Z,1736378914.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:34.518Z,1736378914.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.677357 2025-01-08T23:28:34.768Z,1736378914.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:34.769Z,1736378914.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.928678 2025-01-08T23:28:34.838Z,1736378914.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:34.851Z,1736378914.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.40 m. 2025-01-08T23:28:34.854Z,1736378914.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.399994 m, nav range: 87.556526 m, bearing: 32.813579 deg, approach rate: -0.046985 m/s, LOS rate: 0.447328 deg/s, cmd heading: 322.970713 deg, new cmd heading: 323.504794 deg. 2025-01-08T23:28:34.855Z,1736378914.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646224 target range: 172.399994 and range: 172.40 m. 2025-01-08T23:28:35.020Z,1736378915.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:35.020Z,1736378915.020 [DAT](INFO): DAT read: Rx Time:23:28:33.6700 2025-01-08T23:28:35.021Z,1736378915.021 [DAT](INFO): Rx dataTimestamp_ set to:1736378915.020658 2025-01-08T23:28:35.021Z,1736378915.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.181066 2025-01-08T23:28:35.183Z,1736378915.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:35.190Z,1736378915.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:35.212Z,1736378915.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.40 m. 2025-01-08T23:28:35.232Z,1736378915.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.399994 m, nav range: 87.533508 m, bearing: 32.963337 deg, approach rate: -0.066946 m/s, LOS rate: 0.435679 deg/s, cmd heading: 323.504807 deg, new cmd heading: 323.954191 deg. 2025-01-08T23:28:35.241Z,1736378915.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654067 target range: 172.399994 and range: 172.40 m. 2025-01-08T23:28:35.273Z,1736378915.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:35.276Z,1736378915.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.435127 2025-01-08T23:28:35.524Z,1736378915.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:35.531Z,1736378915.531 [DAT](INFO): DAT read: 23:28:33.6701 LVL= 24752, 31121, 32338, 32755, AGC= 56, IDX= 451, 0.35,-2.268,-3.064, 1.905, 2.979, PHS= 1.125, 0.287,-1.077, RAW= 52.1, -3.5, CAL= 55.3, -7.7, ROT= 94.7, 7.7 2025-01-08T23:28:35.533Z,1736378915.533 [DAT](INFO): got valid direction response: 23:28:33.6701 LVL= 24752, 31121, 32338, 32755, AGC= 56, IDX= 451, 0.35,-2.268,-3.064, 1.905, 2.979, PHS= 1.125, 0.287,-1.077, RAW= 52.1, -3.5, CAL= 55.3, -7.7, ROT= 94.7, 7.7 2025-01-08T23:28:35.533Z,1736378915.533 [DAT](INFO): DAT read: Bearing 94.7, 7.7 (Local) 2025-01-08T23:28:35.534Z,1736378915.534 [DAT](INFO): Local bearing/azimuth received: Bearing 94.7, 7.7 (Local) 2025-01-08T23:28:35.536Z,1736378915.536 [DAT](INFO): DAT read: Range 10 to 50 : 172.7 m (Round-trip 230.3 ms) speed -0.2 m/s 2025-01-08T23:28:35.537Z,1736378915.537 [DAT](INFO): DAT read: user:3244> 2025-01-08T23:28:35.537Z,1736378915.537 [DAT](INFO): DAT read: Tx time:23:28:34.7856 2025-01-08T23:28:35.538Z,1736378915.538 [DAT](INFO): Ping request sent. 2025-01-08T23:28:35.538Z,1736378915.538 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:35.538Z,1736378915.538 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:35.539Z,1736378915.539 [DAT](INFO): direction in FSK: [0.052269,0.672430,0.738313] 2025-01-08T23:28:35.539Z,1736378915.539 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:35.540Z,1736378915.540 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:35.544Z,1736378915.544 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:35.544Z,1736378915.544 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:35.747Z,1736378915.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:35.776Z,1736378915.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:35.777Z,1736378915.777 [DAT](INFO): DAT read: TxSync time:23:28:34.7848 2025-01-08T23:28:35.790Z,1736378915.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.699997 m, deltaT: 3.783556 s, deltaX: 0.300003 m, approachRate: 0.079291 m/s, rangeRepo size: 4 2025-01-08T23:28:35.796Z,1736378915.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 172.699997 m, bearing: 40.576773 deg, lat: 36.904294 deg, lon: -122.120227 deg, deltaT: 3.783556 s, deltaX: 0.300003 m, approachRate: 0.079291 m/s, posRepo size: 4 2025-01-08T23:28:35.800Z,1736378915.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.70 m. 2025-01-08T23:28:35.802Z,1736378915.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.699997 m, nav range: 87.492119 m, bearing: 33.187393 deg, approach rate: 0.000000 m/s, LOS rate: 0.435679 deg/s, cmd heading: 323.954178 deg, new cmd heading: 324.731388 deg. 2025-01-08T23:28:35.803Z,1736378915.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667632 target range: 172.699997 and range: 172.70 m. 2025-01-08T23:28:36.028Z,1736378916.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:36.081Z,1736378916.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:36.098Z,1736378916.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.70 m. 2025-01-08T23:28:36.105Z,1736378916.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.699997 m, nav range: 87.468224 m, bearing: 33.320291 deg, approach rate: -0.077363 m/s, LOS rate: 0.430389 deg/s, cmd heading: 324.731399 deg, new cmd heading: 325.130197 deg. 2025-01-08T23:28:36.106Z,1736378916.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674592 target range: 172.699997 and range: 172.70 m. 2025-01-08T23:28:36.282Z,1736378916.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:36.513Z,1736378916.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:36.521Z,1736378916.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.70 m. 2025-01-08T23:28:36.526Z,1736378916.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.699997 m, nav range: 87.434616 m, bearing: 33.482920 deg, approach rate: -0.079373 m/s, LOS rate: 0.384238 deg/s, cmd heading: 325.130200 deg, new cmd heading: 325.618262 deg. 2025-01-08T23:28:36.527Z,1736378916.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683111 target range: 172.699997 and range: 172.70 m. 2025-01-08T23:28:36.532Z,1736378916.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:36.784Z,1736378916.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:36.884Z,1736378916.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:36.914Z,1736378916.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.70 m. 2025-01-08T23:28:36.924Z,1736378916.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.699997 m, nav range: 87.399185 m, bearing: 33.622089 deg, approach rate: -0.090247 m/s, LOS rate: 0.354625 deg/s, cmd heading: 325.618258 deg, new cmd heading: 326.035928 deg. 2025-01-08T23:28:36.925Z,1736378916.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690401 target range: 172.699997 and range: 172.70 m. 2025-01-08T23:28:37.036Z,1736378917.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:37.290Z,1736378917.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:37.397Z,1736378917.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:37.404Z,1736378917.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:37.406Z,1736378917.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.70 m. 2025-01-08T23:28:37.409Z,1736378917.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.699997 m, nav range: 87.345909 m, bearing: 33.806655 deg, approach rate: -0.108359 m/s, LOS rate: 0.375617 deg/s, cmd heading: 326.035938 deg, new cmd heading: 326.589953 deg. 2025-01-08T23:28:37.410Z,1736378917.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700070 target range: 172.699997 and range: 172.70 m. 2025-01-08T23:28:37.540Z,1736378917.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:37.540Z,1736378917.540 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:37.540Z,1736378917.540 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:37.541Z,1736378917.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:37.776Z,1736378917.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:37.786Z,1736378917.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.70 m. 2025-01-08T23:28:37.789Z,1736378917.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.699997 m, nav range: 87.304543 m, bearing: 33.942793 deg, approach rate: -0.108742 m/s, LOS rate: 0.358042 deg/s, cmd heading: 326.589948 deg, new cmd heading: 326.998550 deg. 2025-01-08T23:28:37.790Z,1736378917.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707201 target range: 172.699997 and range: 172.70 m. 2025-01-08T23:28:37.792Z,1736378917.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:37.792Z,1736378917.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254668 2025-01-08T23:28:38.044Z,1736378918.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:38.044Z,1736378918.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506683 2025-01-08T23:28:38.180Z,1736378918.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:38.205Z,1736378918.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.70 m. 2025-01-08T23:28:38.212Z,1736378918.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.699997 m, nav range: 87.258530 m, bearing: 34.087834 deg, approach rate: -0.109852 m/s, LOS rate: 0.346455 deg/s, cmd heading: 326.998558 deg, new cmd heading: 327.433900 deg. 2025-01-08T23:28:38.213Z,1736378918.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714800 target range: 172.699997 and range: 172.70 m. 2025-01-08T23:28:38.298Z,1736378918.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:38.300Z,1736378918.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761918 2025-01-08T23:28:38.548Z,1736378918.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:38.548Z,1736378918.548 [DAT](INFO): DAT read: Rx Time:23:28:37.4206 2025-01-08T23:28:38.549Z,1736378918.549 [DAT](INFO): Rx dataTimestamp_ set to:1736378918.548610 2025-01-08T23:28:38.549Z,1736378918.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011622 2025-01-08T23:28:38.634Z,1736378918.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:38.644Z,1736378918.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.70 m. 2025-01-08T23:28:38.649Z,1736378918.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.699997 m, nav range: 87.202637 m, bearing: 34.249526 deg, approach rate: -0.127488 m/s, LOS rate: 0.369047 deg/s, cmd heading: 327.433914 deg, new cmd heading: 327.919290 deg. 2025-01-08T23:28:38.650Z,1736378918.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723271 target range: 172.699997 and range: 172.70 m. 2025-01-08T23:28:38.800Z,1736378918.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:38.800Z,1736378918.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262588 2025-01-08T23:28:38.987Z,1736378918.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:38.997Z,1736378918.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.70 m. 2025-01-08T23:28:38.000Z,1736378919.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.699997 m, nav range: 87.157822 m, bearing: 34.375110 deg, approach rate: -0.126764 m/s, LOS rate: 0.355410 deg/s, cmd heading: 327.919295 deg, new cmd heading: 328.296234 deg. 2025-01-08T23:28:39.001Z,1736378919.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729850 target range: 172.699997 and range: 172.70 m. 2025-01-08T23:28:39.052Z,1736378919.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:39.053Z,1736378919.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514751 2025-01-08T23:28:39.305Z,1736378919.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:39.384Z,1736378919.384 [DAT](INFO): DAT read: 23:28:37.4206 LVL= 17856, 24545, 23474, 29843, AGC= 63, IDX= 425,-0.48,-0.433,-1.163,-2.502,-1.462, PHS= 1.117, 0.346,-1.043, RAW= 50.6, -4.5, CAL= 54.0, -9.0, ROT= 96.0, 9.0 2025-01-08T23:28:39.385Z,1736378919.385 [DAT](INFO): got valid direction response: 23:28:37.4206 LVL= 17856, 24545, 23474, 29843, AGC= 63, IDX= 425,-0.48,-0.433,-1.163,-2.502,-1.462, PHS= 1.117, 0.346,-1.043, RAW= 50.6, -4.5, CAL= 54.0, -9.0, ROT= 96.0, 9.0 2025-01-08T23:28:39.386Z,1736378919.386 [DAT](INFO): DAT read: Bearing 96.0, 9.0 (Local) 2025-01-08T23:28:39.387Z,1736378919.387 [DAT](INFO): Local bearing/azimuth received: Bearing 96.0, 9.0 (Local) 2025-01-08T23:28:39.397Z,1736378919.397 [DAT](INFO): DAT read: Range 10 to 50 : 173.1 m (Round-trip 230.8 ms) speed -0.2 m/s 2025-01-08T23:28:39.398Z,1736378919.398 [DAT](INFO): DAT read: user:3245> 2025-01-08T23:28:39.398Z,1736378919.398 [DAT](INFO): DAT read: Tx time:23:28:38.5356 2025-01-08T23:28:39.399Z,1736378919.399 [DAT](INFO): Ping request sent. 2025-01-08T23:28:39.399Z,1736378919.399 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:39.404Z,1736378919.404 [DAT](INFO): DAT read: TxSync time:23:28:38.5348 2025-01-08T23:28:39.405Z,1736378919.405 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:39.405Z,1736378919.405 [DAT](INFO): direction in FSK: [0.073131,0.688684,0.721364] 2025-01-08T23:28:39.406Z,1736378919.406 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:39.408Z,1736378919.408 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:39.414Z,1736378919.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:39.422Z,1736378919.422 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:39.422Z,1736378919.422 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:39.469Z,1736378919.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 173.100006 m, deltaT: 3.781746 s, deltaX: 0.400009 m, approachRate: 0.105774 m/s, rangeRepo size: 4 2025-01-08T23:28:39.480Z,1736378919.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 173.100006 m, bearing: 46.046020 deg, lat: 36.904294 deg, lon: -122.120227 deg, deltaT: 3.781746 s, deltaX: 0.400009 m, approachRate: 0.105774 m/s, posRepo size: 4 2025-01-08T23:28:39.481Z,1736378919.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-01-08T23:28:39.488Z,1736378919.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.100006 m, nav range: 87.102135 m, bearing: 34.527038 deg, approach rate: 0.000000 m/s, LOS rate: 0.355410 deg/s, cmd heading: 328.296239 deg, new cmd heading: 328.799221 deg. 2025-01-08T23:28:39.489Z,1736378919.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738629 target range: 173.100006 and range: 173.10 m. 2025-01-08T23:28:39.557Z,1736378919.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:39.799Z,1736378919.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:39.809Z,1736378919.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:39.822Z,1736378919.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:39.832Z,1736378919.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-01-08T23:28:39.834Z,1736378919.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.100006 m, nav range: 87.050713 m, bearing: 34.663487 deg, approach rate: -0.143105 m/s, LOS rate: 0.379954 deg/s, cmd heading: 328.799214 deg, new cmd heading: 329.208794 deg. 2025-01-08T23:28:39.840Z,1736378919.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745778 target range: 173.100006 and range: 173.10 m. 2025-01-08T23:28:40.062Z,1736378920.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:40.062Z,1736378920.062 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:40.062Z,1736378920.062 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:40.062Z,1736378920.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:40.216Z,1736378920.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:40.225Z,1736378920.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-01-08T23:28:40.231Z,1736378920.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.100006 m, nav range: 86.995361 m, bearing: 34.812000 deg, approach rate: -0.139332 m/s, LOS rate: 0.374077 deg/s, cmd heading: 329.208807 deg, new cmd heading: 329.654619 deg. 2025-01-08T23:28:40.232Z,1736378920.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753559 target range: 173.100006 and range: 173.10 m. 2025-01-08T23:28:40.313Z,1736378920.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:40.316Z,1736378920.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.916103 2025-01-08T23:28:40.564Z,1736378920.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:40.564Z,1736378920.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.165581 2025-01-08T23:28:40.660Z,1736378920.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:28:40.660Z,1736378920.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:40.675Z,1736378920.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-01-08T23:28:40.680Z,1736378920.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.100006 m, nav range: 86.932587 m, bearing: 34.968717 deg, approach rate: -0.139757 m/s, LOS rate: 0.349156 deg/s, cmd heading: 329.654627 deg, new cmd heading: 330.125107 deg. 2025-01-08T23:28:40.682Z,1736378920.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761770 target range: 173.100006 and range: 173.10 m. 2025-01-08T23:28:40.816Z,1736378920.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:40.817Z,1736378920.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.418613 2025-01-08T23:28:41.029Z,1736378921.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:28:41.030Z,1736378921.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:41.038Z,1736378921.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-01-08T23:28:41.042Z,1736378921.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.100006 m, nav range: 86.878693 m, bearing: 35.099816 deg, approach rate: -0.148193 m/s, LOS rate: 0.360710 deg/s, cmd heading: 330.125118 deg, new cmd heading: 330.518654 deg. 2025-01-08T23:28:41.043Z,1736378921.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768639 target range: 173.100006 and range: 173.10 m. 2025-01-08T23:28:41.061Z,1736378921.061 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:28:41.068Z,1736378921.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:41.068Z,1736378921.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.669684 2025-01-08T23:28:41.321Z,1736378921.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:41.324Z,1736378921.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.924015 2025-01-08T23:28:41.432Z,1736378921.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:41.442Z,1736378921.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-01-08T23:28:41.461Z,1736378921.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.100006 m, nav range: 86.832253 m, bearing: 35.255836 deg, approach rate: -0.115358 m/s, LOS rate: 0.387760 deg/s, cmd heading: 330.518646 deg, new cmd heading: 330.986943 deg. 2025-01-08T23:28:41.462Z,1736378921.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776812 target range: 173.100006 and range: 173.10 m. 2025-01-08T23:28:41.572Z,1736378921.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:41.574Z,1736378921.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.175090 2025-01-08T23:28:41.823Z,1736378921.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:41.825Z,1736378921.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:41.825Z,1736378921.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.426591 2025-01-08T23:28:41.833Z,1736378921.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:41.835Z,1736378921.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-01-08T23:28:41.841Z,1736378921.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.100006 m, nav range: 86.786057 m, bearing: 35.407159 deg, approach rate: -0.117289 m/s, LOS rate: 0.384407 deg/s, cmd heading: 330.986951 deg, new cmd heading: 331.441153 deg. 2025-01-08T23:28:41.842Z,1736378921.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784739 target range: 173.100006 and range: 173.10 m. 2025-01-08T23:28:42.064Z,1736378922.064 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:28:42.076Z,1736378922.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:42.076Z,1736378922.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.677771 2025-01-08T23:28:42.219Z,1736378922.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:42.229Z,1736378922.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-01-08T23:28:42.232Z,1736378922.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.100006 m, nav range: 86.738060 m, bearing: 35.560361 deg, approach rate: -0.121756 m/s, LOS rate: 0.388852 deg/s, cmd heading: 331.441159 deg, new cmd heading: 331.901010 deg. 2025-01-08T23:28:42.233Z,1736378922.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792766 target range: 173.100006 and range: 173.10 m. 2025-01-08T23:28:42.328Z,1736378922.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:42.329Z,1736378922.329 [DAT](INFO): DAT read: Rx Time:23:28:41.1711 2025-01-08T23:28:42.329Z,1736378922.329 [DAT](INFO): Rx dataTimestamp_ set to:1736378922.328824 2025-01-08T23:28:42.330Z,1736378922.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.930922 2025-01-08T23:28:42.580Z,1736378922.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:42.581Z,1736378922.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.181885 2025-01-08T23:28:42.679Z,1736378922.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:42.698Z,1736378922.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-01-08T23:28:42.705Z,1736378922.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.100006 m, nav range: 86.691559 m, bearing: 35.748029 deg, approach rate: -0.099205 m/s, LOS rate: 0.400583 deg/s, cmd heading: 331.901022 deg, new cmd heading: 332.464307 deg. 2025-01-08T23:28:42.706Z,1736378922.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802597 target range: 173.100006 and range: 173.10 m. 2025-01-08T23:28:42.833Z,1736378922.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:42.836Z,1736378922.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.436151 2025-01-08T23:28:43.030Z,1736378923.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:43.048Z,1736378923.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-01-08T23:28:43.050Z,1736378923.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.100006 m, nav range: 86.654518 m, bearing: 35.893823 deg, approach rate: -0.106076 m/s, LOS rate: 0.417699 deg/s, cmd heading: 332.464294 deg, new cmd heading: 332.901853 deg. 2025-01-08T23:28:43.052Z,1736378923.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810234 target range: 173.100006 and range: 173.10 m. 2025-01-08T23:28:43.086Z,1736378923.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:43.097Z,1736378923.097 [DAT](INFO): DAT read: 23:28:41.1711 LVL= 18928, 30065, 26818, 32755, AGC= 58, IDX= 430, 0.00,-2.399, 3.128, 1.846, 2.846, PHS= 1.125, 0.328,-1.003, RAW= 51.8, -4.9, CAL= 55.6, -9.7, ROT= 94.4, 9.7 2025-01-08T23:28:43.098Z,1736378923.098 [DAT](INFO): got valid direction response: 23:28:41.1711 LVL= 18928, 30065, 26818, 32755, AGC= 58, IDX= 430, 0.00,-2.399, 3.128, 1.846, 2.846, PHS= 1.125, 0.328,-1.003, RAW= 51.8, -4.9, CAL= 55.6, -9.7, ROT= 94.4, 9.7 2025-01-08T23:28:43.100Z,1736378923.100 [DAT](INFO): DAT read: Bearing 94.4, 9.7 (Local) 2025-01-08T23:28:43.100Z,1736378923.100 [DAT](INFO): Local bearing/azimuth received: Bearing 94.4, 9.7 (Local) 2025-01-08T23:28:43.118Z,1736378923.118 [DAT](INFO): DAT read: Range 10 to 50 : 173.5 m (Round-trip 231.4 ms) speed 0.1 m/s 2025-01-08T23:28:43.125Z,1736378923.125 [DAT](INFO): DAT read: user:3246> 2025-01-08T23:28:43.125Z,1736378923.125 [DAT](INFO): DAT read: Tx time:23:28:42.2856 2025-01-08T23:28:43.126Z,1736378923.126 [DAT](INFO): Ping request sent. 2025-01-08T23:28:43.126Z,1736378923.126 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:43.126Z,1736378923.126 [DAT](INFO): DAT read: TxSync time:23:28:42.2848 2025-01-08T23:28:43.127Z,1736378923.127 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:43.137Z,1736378923.137 [DAT](INFO): direction in FSK: [0.078312,0.674408,0.734194] 2025-01-08T23:28:43.137Z,1736378923.137 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:43.138Z,1736378923.138 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:43.157Z,1736378923.157 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:43.158Z,1736378923.158 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:43.338Z,1736378923.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:43.497Z,1736378923.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:43.531Z,1736378923.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 173.500000 m, deltaT: 3.779069 s, deltaX: 0.399994 m, approachRate: 0.105845 m/s, rangeRepo size: 4 2025-01-08T23:28:43.534Z,1736378923.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 173.500000 m, bearing: 49.939950 deg, lat: 36.904218 deg, lon: -122.120142 deg, deltaT: 3.779069 s, deltaX: 0.399994 m, approachRate: 0.105845 m/s, posRepo size: 4 2025-01-08T23:28:43.534Z,1736378923.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.50 m. 2025-01-08T23:28:43.545Z,1736378923.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.500000 m, nav range: 84.966026 m, bearing: 43.598548 deg, approach rate: 0.000000 m/s, LOS rate: 0.417699 deg/s, cmd heading: 332.901863 deg, new cmd heading: 333.498193 deg. 2025-01-08T23:28:43.546Z,1736378923.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820642 target range: 173.500000 and range: 173.50 m. 2025-01-08T23:28:43.588Z,1736378923.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:43.828Z,1736378923.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:43.840Z,1736378923.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:43.847Z,1736378923.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:43.849Z,1736378923.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.50 m. 2025-01-08T23:28:43.860Z,1736378923.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.500000 m, nav range: 84.963509 m, bearing: 43.743003 deg, approach rate: -0.007708 m/s, LOS rate: 0.442292 deg/s, cmd heading: 333.498193 deg, new cmd heading: 333.931562 deg. 2025-01-08T23:28:43.861Z,1736378923.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828205 target range: 173.500000 and range: 173.50 m. 2025-01-08T23:28:44.092Z,1736378924.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:44.092Z,1736378924.092 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:44.092Z,1736378924.092 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:44.093Z,1736378924.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:44.286Z,1736378924.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:44.298Z,1736378924.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.50 m. 2025-01-08T23:28:44.300Z,1736378924.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.500000 m, nav range: 84.958084 m, bearing: 43.942186 deg, approach rate: -0.012097 m/s, LOS rate: 0.444226 deg/s, cmd heading: 333.931555 deg, new cmd heading: 334.529119 deg. 2025-01-08T23:28:44.301Z,1736378924.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838634 target range: 173.500000 and range: 173.50 m. 2025-01-08T23:28:44.346Z,1736378924.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:44.348Z,1736378924.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222328 2025-01-08T23:28:44.596Z,1736378924.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:44.596Z,1736378924.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470580 2025-01-08T23:28:44.637Z,1736378924.637 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250108152.0, +10.9, 0.0,1493.3, 0 2025-01-08T23:28:44.684Z,1736378924.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:28:44.684Z,1736378924.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:44.701Z,1736378924.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.50 m. 2025-01-08T23:28:44.704Z,1736378924.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.500000 m, nav range: 84.952049 m, bearing: 44.115618 deg, approach rate: -0.014957 m/s, LOS rate: 0.429873 deg/s, cmd heading: 334.529114 deg, new cmd heading: 335.049431 deg. 2025-01-08T23:28:44.705Z,1736378924.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847716 target range: 173.500000 and range: 173.50 m. 2025-01-08T23:28:44.848Z,1736378924.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:44.849Z,1736378924.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722950 2025-01-08T23:28:45.050Z,1736378925.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:28:45.050Z,1736378925.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:45.058Z,1736378925.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.50 m. 2025-01-08T23:28:45.061Z,1736378925.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.500000 m, nav range: 84.945129 m, bearing: 44.274931 deg, approach rate: -0.019374 m/s, LOS rate: 0.446087 deg/s, cmd heading: 335.049438 deg, new cmd heading: 335.527405 deg. 2025-01-08T23:28:45.062Z,1736378925.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856058 target range: 173.500000 and range: 173.50 m. 2025-01-08T23:28:45.100Z,1736378925.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:45.100Z,1736378925.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974700 2025-01-08T23:28:45.352Z,1736378925.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:45.352Z,1736378925.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226636 2025-01-08T23:28:45.484Z,1736378925.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:45.509Z,1736378925.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.50 m. 2025-01-08T23:28:45.516Z,1736378925.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.500000 m, nav range: 84.940971 m, bearing: 44.473431 deg, approach rate: -0.009227 m/s, LOS rate: 0.440499 deg/s, cmd heading: 335.527415 deg, new cmd heading: 336.122922 deg. 2025-01-08T23:28:45.517Z,1736378925.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866452 target range: 173.500000 and range: 173.50 m. 2025-01-08T23:28:45.604Z,1736378925.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:45.605Z,1736378925.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478766 2025-01-08T23:28:45.849Z,1736378925.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:45.856Z,1736378925.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:45.856Z,1736378925.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730737 2025-01-08T23:28:45.876Z,1736378925.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:45.878Z,1736378925.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.50 m. 2025-01-08T23:28:45.885Z,1736378925.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.500000 m, nav range: 84.936218 m, bearing: 44.640093 deg, approach rate: -0.012882 m/s, LOS rate: 0.451722 deg/s, cmd heading: 336.122925 deg, new cmd heading: 336.622925 deg. 2025-01-08T23:28:45.886Z,1736378925.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875178 target range: 173.500000 and range: 173.50 m. 2025-01-08T23:28:46.108Z,1736378926.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:46.109Z,1736378926.109 [DAT](INFO): DAT read: Rx Time:23:28:44.9213 2025-01-08T23:28:46.109Z,1736378926.109 [DAT](INFO): Rx dataTimestamp_ set to:1736378926.109027 2025-01-08T23:28:46.110Z,1736378926.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984102 2025-01-08T23:28:46.253Z,1736378926.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:46.262Z,1736378926.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.50 m. 2025-01-08T23:28:46.265Z,1736378926.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.500000 m, nav range: 84.929932 m, bearing: 44.824615 deg, approach rate: -0.016359 m/s, LOS rate: 0.480201 deg/s, cmd heading: 336.622923 deg, new cmd heading: 337.176512 deg. 2025-01-08T23:28:46.266Z,1736378926.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.884840 target range: 173.500000 and range: 173.50 m. 2025-01-08T23:28:46.360Z,1736378926.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:46.361Z,1736378926.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235509 2025-01-08T23:28:46.613Z,1736378926.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:46.648Z,1736378926.648 [DAT](INFO): DAT read: 23:28:44.9213 LVL= 14656, 24657, 18002, 25875, AGC= 61, IDX= 447,-0.41,-2.870, 2.427, 1.259, 2.215, PHS= 1.287, 0.259,-0.959, RAW= 57.2, -6.1, CAL= 63.3, -11.8, ROT= 86.7, 11.8 2025-01-08T23:28:46.650Z,1736378926.650 [DAT](INFO): got valid direction response: 23:28:44.9213 LVL= 14656, 24657, 18002, 25875, AGC= 61, IDX= 447,-0.41,-2.870, 2.427, 1.259, 2.215, PHS= 1.287, 0.259,-0.959, RAW= 57.2, -6.1, CAL= 63.3, -11.8, ROT= 86.7, 11.8 2025-01-08T23:28:46.655Z,1736378926.655 [DAT](INFO): DAT read: Bearing 86.7, 11.8 (Local) 2025-01-08T23:28:46.656Z,1736378926.656 [DAT](INFO): Local bearing/azimuth received: Bearing 86.7, 11.8 (Local) 2025-01-08T23:28:46.658Z,1736378926.658 [DAT](INFO): DAT read: Range 10 to 50 : 173.6 m (Round-trip 231.5 ms) speed 0.0 m/s 2025-01-08T23:28:46.664Z,1736378926.664 [DAT](INFO): DAT read: user:3247> 2025-01-08T23:28:46.665Z,1736378926.665 [DAT](INFO): DAT read: Tx time:23:28:46.0357 2025-01-08T23:28:46.666Z,1736378926.666 [DAT](INFO): Ping request sent. 2025-01-08T23:28:46.666Z,1736378926.666 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:46.666Z,1736378926.666 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:46.672Z,1736378926.672 [DAT](INFO): direction in FSK: [0.089562,0.604163,0.791811] 2025-01-08T23:28:46.673Z,1736378926.673 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:46.673Z,1736378926.673 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:46.682Z,1736378926.682 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:46.682Z,1736378926.682 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:46.792Z,1736378926.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:46.822Z,1736378926.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 173.600006 m, deltaT: 3.528228 s, deltaX: 0.100006 m, approachRate: 0.028345 m/s, rangeRepo size: 4 2025-01-08T23:28:46.828Z,1736378926.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 173.600006 m, bearing: 51.166265 deg, lat: 36.904214 deg, lon: -122.120142 deg, deltaT: 3.528228 s, deltaX: 0.100006 m, approachRate: 0.028345 m/s, posRepo size: 4 2025-01-08T23:28:46.829Z,1736378926.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.60 m. 2025-01-08T23:28:46.837Z,1736378926.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.600006 m, nav range: 84.575516 m, bearing: 45.298654 deg, approach rate: 0.000000 m/s, LOS rate: 0.480201 deg/s, cmd heading: 337.176523 deg, new cmd heading: 337.981327 deg. 2025-01-08T23:28:46.838Z,1736378926.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898887 target range: 173.600006 and range: 173.60 m. 2025-01-08T23:28:46.864Z,1736378926.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:46.865Z,1736378926.865 [DAT](INFO): DAT read: TxSync time:23:28:46.0349 2025-01-08T23:28:47.116Z,1736378927.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:47.151Z,1736378927.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:47.169Z,1736378927.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.60 m. 2025-01-08T23:28:47.191Z,1736378927.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.600006 m, nav range: 84.566467 m, bearing: 45.470176 deg, approach rate: -0.026013 m/s, LOS rate: 0.493160 deg/s, cmd heading: 337.981338 deg, new cmd heading: 338.495945 deg. 2025-01-08T23:28:47.192Z,1736378927.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907869 target range: 173.600006 and range: 173.60 m. 2025-01-08T23:28:47.368Z,1736378927.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:47.564Z,1736378927.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:47.593Z,1736378927.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.60 m. 2025-01-08T23:28:47.600Z,1736378927.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.600006 m, nav range: 84.552063 m, bearing: 45.660663 deg, approach rate: -0.033950 m/s, LOS rate: 0.449039 deg/s, cmd heading: 338.495952 deg, new cmd heading: 339.067491 deg. 2025-01-08T23:28:47.601Z,1736378927.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917844 target range: 173.600006 and range: 173.60 m. 2025-01-08T23:28:47.620Z,1736378927.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:47.872Z,1736378927.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:47.946Z,1736378927.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:47.954Z,1736378927.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:47.957Z,1736378927.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.60 m. 2025-01-08T23:28:47.960Z,1736378927.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.600006 m, nav range: 84.537613 m, bearing: 45.836284 deg, approach rate: -0.039721 m/s, LOS rate: 0.482842 deg/s, cmd heading: 339.067502 deg, new cmd heading: 339.594439 deg. 2025-01-08T23:28:47.961Z,1736378927.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927041 target range: 173.600006 and range: 173.60 m. 2025-01-08T23:28:48.125Z,1736378928.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:48.126Z,1736378928.126 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:48.126Z,1736378928.126 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:48.127Z,1736378928.127 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:48.351Z,1736378928.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:48.376Z,1736378928.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:48.376Z,1736378928.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710708 2025-01-08T23:28:48.392Z,1736378928.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.60 m. 2025-01-08T23:28:48.395Z,1736378928.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.600006 m, nav range: 84.520340 m, bearing: 46.022937 deg, approach rate: -0.039677 m/s, LOS rate: 0.428840 deg/s, cmd heading: 339.594437 deg, new cmd heading: 340.154493 deg. 2025-01-08T23:28:48.397Z,1736378928.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936816 target range: 173.600006 and range: 173.60 m. 2025-01-08T23:28:48.628Z,1736378928.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:48.629Z,1736378928.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962775 2025-01-08T23:28:48.784Z,1736378928.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:48.793Z,1736378928.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.60 m. 2025-01-08T23:28:48.796Z,1736378928.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.600006 m, nav range: 84.490807 m, bearing: 46.218009 deg, approach rate: -0.073671 m/s, LOS rate: 0.486778 deg/s, cmd heading: 340.154486 deg, new cmd heading: 340.739884 deg. 2025-01-08T23:28:48.797Z,1736378928.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947033 target range: 173.600006 and range: 173.60 m. 2025-01-08T23:28:48.887Z,1736378928.887 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:48.888Z,1736378928.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222188 2025-01-08T23:28:49.140Z,1736378929.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:49.142Z,1736378929.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475625 2025-01-08T23:28:49.182Z,1736378929.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:49.191Z,1736378929.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.60 m. 2025-01-08T23:28:49.194Z,1736378929.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.600006 m, nav range: 84.462044 m, bearing: 46.397684 deg, approach rate: -0.072373 m/s, LOS rate: 0.452250 deg/s, cmd heading: 340.739887 deg, new cmd heading: 341.279078 deg. 2025-01-08T23:28:49.195Z,1736378929.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956444 target range: 173.600006 and range: 173.60 m. 2025-01-08T23:28:49.392Z,1736378929.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:49.393Z,1736378929.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726786 2025-01-08T23:28:49.587Z,1736378929.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:49.616Z,1736378929.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.60 m. 2025-01-08T23:28:49.619Z,1736378929.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.600006 m, nav range: 84.422981 m, bearing: 46.570875 deg, approach rate: -0.091769 m/s, LOS rate: 0.407065 deg/s, cmd heading: 341.279090 deg, new cmd heading: 341.798888 deg. 2025-01-08T23:28:49.621Z,1736378929.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965516 target range: 173.600006 and range: 173.60 m. 2025-01-08T23:28:49.644Z,1736378929.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:49.645Z,1736378929.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979364 2025-01-08T23:28:49.896Z,1736378929.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:49.897Z,1736378929.897 [DAT](INFO): DAT read: Rx Time:23:28:48.6710 2025-01-08T23:28:49.898Z,1736378929.898 [DAT](INFO): Rx dataTimestamp_ set to:1736378929.897351 2025-01-08T23:28:49.899Z,1736378929.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232830 2025-01-08T23:28:49.966Z,1736378929.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:49.973Z,1736378929.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:49.976Z,1736378929.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.60 m. 2025-01-08T23:28:49.979Z,1736378929.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.600006 m, nav range: 84.384872 m, bearing: 46.733218 deg, approach rate: -0.105820 m/s, LOS rate: 0.450995 deg/s, cmd heading: 341.798895 deg, new cmd heading: 342.286131 deg. 2025-01-08T23:28:49.980Z,1736378929.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974020 target range: 173.600006 and range: 173.60 m. 2025-01-08T23:28:50.148Z,1736378930.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:50.148Z,1736378930.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482672 2025-01-08T23:28:50.400Z,1736378930.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:50.407Z,1736378930.407 [DAT](INFO): DAT read: 23:28:48.6710 LVL= 14992, 25825, 20066, 26707, AGC= 61, IDX= 443, 0.02,-1.331,-2.603, 2.796,-2.692, PHS= 1.449, 0.136,-0.799, RAW= 65.6, -8.1, CAL= 74.8, -15.4, ROT= 75.2, 15.4 2025-01-08T23:28:50.408Z,1736378930.408 [DAT](INFO): got valid direction response: 23:28:48.6710 LVL= 14992, 25825, 20066, 26707, AGC= 61, IDX= 443, 0.02,-1.331,-2.603, 2.796,-2.692, PHS= 1.449, 0.136,-0.799, RAW= 65.6, -8.1, CAL= 74.8, -15.4, ROT= 75.2, 15.4 2025-01-08T23:28:50.409Z,1736378930.409 [DAT](INFO): DAT read: Bearing 75.2, 15.4 (Local) 2025-01-08T23:28:50.410Z,1736378930.410 [DAT](INFO): Local bearing/azimuth received: Bearing 75.2, 15.4 (Local) 2025-01-08T23:28:50.412Z,1736378930.412 [DAT](INFO): DAT read: Range 10 to 50 : 173.4 m (Round-trip 231.2 ms) speed 0.0 m/s 2025-01-08T23:28:50.412Z,1736378930.412 [DAT](INFO): DAT read: user:3248> 2025-01-08T23:28:50.413Z,1736378930.413 [DAT](INFO): DAT read: Tx time:23:28:49.7857 2025-01-08T23:28:50.413Z,1736378930.413 [DAT](INFO): Ping request sent. 2025-01-08T23:28:50.413Z,1736378930.413 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:50.414Z,1736378930.414 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:50.415Z,1736378930.415 [DAT](INFO): direction in FSK: [0.110611,0.486292,0.866767] 2025-01-08T23:28:50.415Z,1736378930.415 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:50.415Z,1736378930.415 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:50.418Z,1736378930.418 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:50.419Z,1736378930.419 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:50.428Z,1736378930.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:50.529Z,1736378930.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 173.399994 m, deltaT: 3.785974 s, deltaX: -0.200012 m, approachRate: -0.052830 m/s, rangeRepo size: 4 2025-01-08T23:28:50.531Z,1736378930.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 173.399994 m, bearing: 47.893550 deg, lat: 36.904186 deg, lon: -122.120142 deg, deltaT: 3.785974 s, deltaX: -0.200012 m, approachRate: -0.052830 m/s, posRepo size: 4 2025-01-08T23:28:50.549Z,1736378930.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m. 2025-01-08T23:28:50.562Z,1736378930.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.399994 m, nav range: 82.238136 m, bearing: 48.518576 deg, approach rate: 0.000000 m/s, LOS rate: 0.450995 deg/s, cmd heading: 342.286133 deg, new cmd heading: 343.032520 deg. 2025-01-08T23:28:50.569Z,1736378930.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987047 target range: 173.399994 and range: 173.40 m. 2025-01-08T23:28:50.652Z,1736378930.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:50.654Z,1736378930.654 [DAT](INFO): DAT read: TxSync time:23:28:49.7849 2025-01-08T23:28:50.904Z,1736378930.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:50.928Z,1736378930.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:50.946Z,1736378930.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m. 2025-01-08T23:28:50.953Z,1736378930.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.399994 m, nav range: 82.179626 m, bearing: 48.730897 deg, approach rate: -0.139967 m/s, LOS rate: 0.508272 deg/s, cmd heading: 343.032509 deg, new cmd heading: 343.669897 deg. 2025-01-08T23:28:50.954Z,1736378930.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.998171 target range: 173.399994 and range: 173.40 m. 2025-01-08T23:28:51.156Z,1736378931.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:51.282Z,1736378931.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:51.292Z,1736378931.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m. 2025-01-08T23:28:51.294Z,1736378931.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.399994 m, nav range: 82.136894 m, bearing: 48.880775 deg, approach rate: -0.123888 m/s, LOS rate: 0.434748 deg/s, cmd heading: 343.669902 deg, new cmd heading: 344.119761 deg. 2025-01-08T23:28:51.296Z,1736378931.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.006023 target range: 173.399994 and range: 173.40 m. 2025-01-08T23:28:51.409Z,1736378931.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:51.660Z,1736378931.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:51.719Z,1736378931.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:51.729Z,1736378931.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m. 2025-01-08T23:28:51.732Z,1736378931.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.399994 m, nav range: 82.071396 m, bearing: 49.052081 deg, approach rate: -0.149580 m/s, LOS rate: 0.391526 deg/s, cmd heading: 344.119766 deg, new cmd heading: 344.634078 deg. 2025-01-08T23:28:51.733Z,1736378931.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014999 target range: 173.399994 and range: 173.40 m. 2025-01-08T23:28:51.912Z,1736378931.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:52.062Z,1736378932.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:52.071Z,1736378932.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:52.073Z,1736378932.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m. 2025-01-08T23:28:52.100Z,1736378932.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.399994 m, nav range: 82.018456 m, bearing: 49.186400 deg, approach rate: -0.153745 m/s, LOS rate: 0.390330 deg/s, cmd heading: 344.634079 deg, new cmd heading: 345.037289 deg. 2025-01-08T23:28:52.101Z,1736378932.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022037 target range: 173.399994 and range: 173.40 m. 2025-01-08T23:28:52.164Z,1736378932.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:52.164Z,1736378932.164 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:52.164Z,1736378932.164 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:52.165Z,1736378932.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:52.416Z,1736378932.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:52.416Z,1736378932.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003008 2025-01-08T23:28:52.532Z,1736378932.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:52.566Z,1736378932.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m. 2025-01-08T23:28:52.573Z,1736378932.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.399994 m, nav range: 81.944649 m, bearing: 49.367694 deg, approach rate: -0.149764 m/s, LOS rate: 0.368200 deg/s, cmd heading: 345.037279 deg, new cmd heading: 345.581633 deg. 2025-01-08T23:28:52.579Z,1736378932.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.031538 target range: 173.399994 and range: 173.40 m. 2025-01-08T23:28:52.670Z,1736378932.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:52.671Z,1736378932.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257574 2025-01-08T23:28:52.901Z,1736378932.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:52.920Z,1736378932.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:52.920Z,1736378932.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507059 2025-01-08T23:28:52.926Z,1736378932.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m. 2025-01-08T23:28:52.933Z,1736378932.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.399994 m, nav range: 81.872841 m, bearing: 49.508998 deg, approach rate: -0.200817 m/s, LOS rate: 0.395516 deg/s, cmd heading: 345.581645 deg, new cmd heading: 346.005921 deg. 2025-01-08T23:28:52.934Z,1736378932.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038942 target range: 173.399994 and range: 173.40 m. 2025-01-08T23:28:53.172Z,1736378933.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:53.173Z,1736378933.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759540 2025-01-08T23:28:53.369Z,1736378933.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:53.395Z,1736378933.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m. 2025-01-08T23:28:53.402Z,1736378933.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.399994 m, nav range: 81.781624 m, bearing: 49.684859 deg, approach rate: -0.193529 m/s, LOS rate: 0.373529 deg/s, cmd heading: 346.005909 deg, new cmd heading: 346.534065 deg. 2025-01-08T23:28:53.403Z,1736378933.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.048161 target range: 173.399994 and range: 173.40 m. 2025-01-08T23:28:53.425Z,1736378933.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:53.426Z,1736378933.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012311 2025-01-08T23:28:53.676Z,1736378933.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:53.678Z,1736378933.678 [DAT](INFO): DAT read: Rx Time:23:28:52.4203 2025-01-08T23:28:53.679Z,1736378933.679 [DAT](INFO): Rx dataTimestamp_ set to:1736378933.678376 2025-01-08T23:28:53.680Z,1736378933.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266357 2025-01-08T23:28:53.796Z,1736378933.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:53.821Z,1736378933.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m. 2025-01-08T23:28:53.828Z,1736378933.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.399994 m, nav range: 81.691887 m, bearing: 49.837285 deg, approach rate: -0.210689 m/s, LOS rate: 0.358266 deg/s, cmd heading: 346.534074 deg, new cmd heading: 346.991844 deg. 2025-01-08T23:28:53.829Z,1736378933.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056150 target range: 173.399994 and range: 173.40 m. 2025-01-08T23:28:53.929Z,1736378933.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:53.930Z,1736378933.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516612 2025-01-08T23:28:54.180Z,1736378934.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:54.191Z,1736378934.191 [DAT](INFO): DAT read: 23:28:52.4203 LVL= 16736, 24737, 19266, 28083, AGC= 60, IDX= 436,-0.38, 2.138, 0.610, 0.150, 0.865, PHS= 1.361,-0.208,-0.718, RAW= 76.4, -4.7, CAL= 84.7, -11.2, ROT= 65.3, 11.2 2025-01-08T23:28:54.200Z,1736378934.200 [DAT](INFO): got valid direction response: 23:28:52.4203 LVL= 16736, 24737, 19266, 28083, AGC= 60, IDX= 436,-0.38, 2.138, 0.610, 0.150, 0.865, PHS= 1.361,-0.208,-0.718, RAW= 76.4, -4.7, CAL= 84.7, -11.2, ROT= 65.3, 11.2 2025-01-08T23:28:54.201Z,1736378934.201 [DAT](INFO): DAT read: Bearing 65.3, 11.2 (Local) 2025-01-08T23:28:54.202Z,1736378934.202 [DAT](INFO): Local bearing/azimuth received: Bearing 65.3, 11.2 (Local) 2025-01-08T23:28:54.203Z,1736378934.203 [DAT](INFO): DAT read: Range 10 to 50 : 172.8 m (Round-trip 230.4 ms) speed 0.1 m/s 2025-01-08T23:28:54.204Z,1736378934.204 [DAT](INFO): DAT read: user:3249> 2025-01-08T23:28:54.205Z,1736378934.205 [DAT](INFO): DAT read: Tx time:23:28:53.5357 2025-01-08T23:28:54.205Z,1736378934.205 [DAT](INFO): Ping request sent. 2025-01-08T23:28:54.205Z,1736378934.205 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:54.205Z,1736378934.205 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:54.206Z,1736378934.206 [DAT](INFO): direction in FSK: [0.027053,0.328929,0.943967] 2025-01-08T23:28:54.206Z,1736378934.206 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:54.207Z,1736378934.207 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:54.246Z,1736378934.246 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:54.246Z,1736378934.246 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:54.290Z,1736378934.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:54.326Z,1736378934.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.800003 m, deltaT: 3.780339 s, deltaX: -0.599991 m, approachRate: -0.158714 m/s, rangeRepo size: 4 2025-01-08T23:28:54.380Z,1736378934.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 172.800003 m, bearing: 67.521135 deg, lat: 36.904107 deg, lon: -122.120153 deg, deltaT: 3.780339 s, deltaX: -0.599991 m, approachRate: -0.158714 m/s, posRepo size: 4 2025-01-08T23:28:54.381Z,1736378934.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:54.384Z,1736378934.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 75.471054 m, bearing: 54.642750 deg, approach rate: 0.000000 m/s, LOS rate: 0.358266 deg/s, cmd heading: 346.991833 deg, new cmd heading: 347.534533 deg. 2025-01-08T23:28:54.385Z,1736378934.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065622 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:54.432Z,1736378934.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:54.433Z,1736378934.433 [DAT](INFO): DAT read: TxSync time:23:28:53.5349 2025-01-08T23:28:54.684Z,1736378934.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:54.789Z,1736378934.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:54.813Z,1736378934.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:54.815Z,1736378934.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:54.822Z,1736378934.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 75.379692 m, bearing: 54.831746 deg, approach rate: -0.186861 m/s, LOS rate: 0.387016 deg/s, cmd heading: 347.534532 deg, new cmd heading: 348.102186 deg. 2025-01-08T23:28:54.823Z,1736378934.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075529 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:54.937Z,1736378934.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:54.937Z,1736378934.937 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:54.937Z,1736378934.937 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:54.938Z,1736378934.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:55.089Z,1736378935.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:55.097Z,1736378935.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:55.100Z,1736378935.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 75.324036 m, bearing: 54.945506 deg, approach rate: -0.197003 m/s, LOS rate: 0.402966 deg/s, cmd heading: 348.102176 deg, new cmd heading: 348.443705 deg. 2025-01-08T23:28:55.101Z,1736378935.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081490 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:55.188Z,1736378935.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:55.189Z,1736378935.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983528 2025-01-08T23:28:55.440Z,1736378935.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:55.441Z,1736378935.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235840 2025-01-08T23:28:55.512Z,1736378935.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:55.582Z,1736378935.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:55.589Z,1736378935.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 75.246155 m, bearing: 55.100558 deg, approach rate: -0.160709 m/s, LOS rate: 0.320285 deg/s, cmd heading: 348.443712 deg, new cmd heading: 348.909340 deg. 2025-01-08T23:28:55.590Z,1736378935.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.089617 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:55.692Z,1736378935.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:55.694Z,1736378935.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488124 2025-01-08T23:28:55.898Z,1736378935.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:55.908Z,1736378935.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:55.911Z,1736378935.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 75.172020 m, bearing: 55.255777 deg, approach rate: -0.227961 m/s, LOS rate: 0.477759 deg/s, cmd heading: 348.909340 deg, new cmd heading: 349.375444 deg. 2025-01-08T23:28:55.912Z,1736378935.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097752 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:55.944Z,1736378935.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:55.944Z,1736378935.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739375 2025-01-08T23:28:56.197Z,1736378936.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:56.199Z,1736378936.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993440 2025-01-08T23:28:56.287Z,1736378936.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:56.297Z,1736378936.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:56.300Z,1736378936.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 75.098419 m, bearing: 55.406629 deg, approach rate: -0.188835 m/s, LOS rate: 0.387414 deg/s, cmd heading: 349.375432 deg, new cmd heading: 349.828422 deg. 2025-01-08T23:28:56.301Z,1736378936.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.105658 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:56.448Z,1736378936.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:56.448Z,1736378936.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243366 2025-01-08T23:28:56.700Z,1736378936.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:56.700Z,1736378936.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495440 2025-01-08T23:28:56.732Z,1736378936.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:56.750Z,1736378936.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:56.757Z,1736378936.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 75.019463 m, bearing: 55.581534 deg, approach rate: -0.174208 m/s, LOS rate: 0.386313 deg/s, cmd heading: 349.828410 deg, new cmd heading: 350.353664 deg. 2025-01-08T23:28:56.759Z,1736378936.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.114825 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:56.952Z,1736378936.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:56.952Z,1736378936.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747398 2025-01-08T23:28:57.103Z,1736378937.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:57.112Z,1736378937.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:57.114Z,1736378937.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:57.117Z,1736378937.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 74.954224 m, bearing: 55.727514 deg, approach rate: -0.178977 m/s, LOS rate: 0.400831 deg/s, cmd heading: 350.353652 deg, new cmd heading: 350.791964 deg. 2025-01-08T23:28:57.118Z,1736378937.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.122475 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:57.204Z,1736378937.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:57.205Z,1736378937.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999977 2025-01-08T23:28:57.456Z,1736378937.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:57.456Z,1736378937.456 [DAT](INFO): DAT read: Rx Time:23:28:56.1695 2025-01-08T23:28:57.457Z,1736378937.457 [DAT](INFO): Rx dataTimestamp_ set to:1736378937.456604 2025-01-08T23:28:57.458Z,1736378937.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253219 2025-01-08T23:28:57.530Z,1736378937.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:57.574Z,1736378937.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m. 2025-01-08T23:28:57.598Z,1736378937.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.800003 m, nav range: 74.875931 m, bearing: 55.894504 deg, approach rate: -0.170954 m/s, LOS rate: 0.365007 deg/s, cmd heading: 350.791959 deg, new cmd heading: 351.293440 deg. 2025-01-08T23:28:57.606Z,1736378937.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.131227 target range: 172.800003 and range: 172.80 m. 2025-01-08T23:28:57.708Z,1736378937.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:57.710Z,1736378937.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504695 2025-01-08T23:28:57.962Z,1736378937.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:57.971Z,1736378937.971 [DAT](INFO): DAT read: 23:28:56.1695 LVL= 17360, 26769, 22130, 31731, AGC= 61, IDX= 427,-0.12,-0.158,-1.777,-1.910,-1.281, PHS= 1.212,-0.449,-0.632, RAW= 84.8, -1.5, CAL= 92.2, -6.8, ROT= 57.8, 6.8 2025-01-08T23:28:57.972Z,1736378937.972 [DAT](INFO): got valid direction response: 23:28:56.1695 LVL= 17360, 26769, 22130, 31731, AGC= 61, IDX= 427,-0.12,-0.158,-1.777,-1.910,-1.281, PHS= 1.212,-0.449,-0.632, RAW= 84.8, -1.5, CAL= 92.2, -6.8, ROT= 57.8, 6.8 2025-01-08T23:28:57.973Z,1736378937.973 [DAT](INFO): DAT read: Bearing 57.8, 6.8 (Local) 2025-01-08T23:28:57.973Z,1736378937.973 [DAT](INFO): Local bearing/azimuth received: Bearing 57.8, 6.8 (Local) 2025-01-08T23:28:57.976Z,1736378937.976 [DAT](INFO): DAT read: Range 10 to 50 : 172.1 m (Round-trip 229.5 ms) speed 0.0 m/s 2025-01-08T23:28:57.977Z,1736378937.977 [DAT](INFO): DAT read: user:3250> 2025-01-08T23:28:57.978Z,1736378937.978 [DAT](INFO): DAT read: Tx time:23:28:57.2858 2025-01-08T23:28:57.978Z,1736378937.978 [DAT](INFO): Ping request sent. 2025-01-08T23:28:57.978Z,1736378937.978 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:28:57.978Z,1736378937.978 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:28:57.984Z,1736378937.984 [DAT](INFO): direction in FSK: [-0.047878,0.194327,0.979768] 2025-01-08T23:28:57.984Z,1736378937.984 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:57.984Z,1736378937.984 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:57.993Z,1736378937.993 [DAT](INFO): publishing transmit ping time 2025-01-08T23:28:57.993Z,1736378937.993 [DAT](INFO): publishing direction and range info 2025-01-08T23:28:58.008Z,1736378938.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:58.065Z,1736378938.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.100006 m, deltaT: 3.782636 s, deltaX: -0.699997 m, approachRate: -0.185055 m/s, rangeRepo size: 4 2025-01-08T23:28:58.067Z,1736378938.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 172.100006 m, bearing: 178.218663 deg, lat: 36.904014 deg, lon: -122.120394 deg, deltaT: 3.782636 s, deltaX: -0.699997 m, approachRate: -0.185055 m/s, posRepo size: 4 2025-01-08T23:28:58.085Z,1736378938.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T23:28:58.109Z,1736378938.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 51.367630 m, bearing: 52.271459 deg, approach rate: 0.000000 m/s, LOS rate: 0.365007 deg/s, cmd heading: 351.293431 deg, new cmd heading: 351.831666 deg. 2025-01-08T23:28:58.110Z,1736378938.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140621 target range: 172.100006 and range: 172.10 m. 2025-01-08T23:28:58.213Z,1736378938.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:58.214Z,1736378938.214 [DAT](INFO): DAT read: TxSync time:23:28:57.2850 2025-01-08T23:28:58.396Z,1736378938.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:58.405Z,1736378938.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T23:28:58.408Z,1736378938.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 51.294331 m, bearing: 52.499161 deg, approach rate: -0.215094 m/s, LOS rate: 0.669137 deg/s, cmd heading: 351.831678 deg, new cmd heading: 352.515727 deg. 2025-01-08T23:28:58.409Z,1736378938.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152560 target range: 172.100006 and range: 172.10 m. 2025-01-08T23:28:58.465Z,1736378938.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:58.716Z,1736378938.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:58.829Z,1736378938.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:58.843Z,1736378938.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T23:28:58.850Z,1736378938.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 51.227036 m, bearing: 52.768960 deg, approach rate: -0.153651 m/s, LOS rate: 0.616824 deg/s, cmd heading: 352.515735 deg, new cmd heading: 353.326137 deg. 2025-01-08T23:28:58.851Z,1736378938.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166705 target range: 172.100006 and range: 172.10 m. 2025-01-08T23:28:58.968Z,1736378938.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:59.207Z,1736378939.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:59.218Z,1736378939.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:28:59.220Z,1736378939.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:59.220Z,1736378939.220 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:28:59.220Z,1736378939.220 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:28:59.221Z,1736378939.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:28:59.224Z,1736378939.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T23:28:59.226Z,1736378939.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 51.168049 m, bearing: 53.005269 deg, approach rate: -0.155472 m/s, LOS rate: 0.623560 deg/s, cmd heading: 353.326150 deg, new cmd heading: 354.035856 deg. 2025-01-08T23:28:59.249Z,1736378939.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179091 target range: 172.100006 and range: 172.10 m. 2025-01-08T23:28:59.472Z,1736378939.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:59.473Z,1736378939.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495265 2025-01-08T23:28:59.706Z,1736378939.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:28:59.715Z,1736378939.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T23:28:59.718Z,1736378939.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 51.103214 m, bearing: 53.338628 deg, approach rate: -0.131628 m/s, LOS rate: 0.677643 deg/s, cmd heading: 354.035862 deg, new cmd heading: 355.037101 deg. 2025-01-08T23:28:59.718Z,1736378939.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196567 target range: 172.100006 and range: 172.10 m. 2025-01-08T23:28:59.725Z,1736378939.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:59.725Z,1736378939.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747352 2025-01-08T23:28:59.976Z,1736378939.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:28:59.976Z,1736378939.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998540 2025-01-08T23:29:00.023Z,1736378940.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:00.044Z,1736378940.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T23:29:00.047Z,1736378940.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 51.061436 m, bearing: 53.550726 deg, approach rate: -0.126814 m/s, LOS rate: 0.644321 deg/s, cmd heading: 355.037113 deg, new cmd heading: 355.673898 deg. 2025-01-08T23:29:00.052Z,1736378940.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207681 target range: 172.100006 and range: 172.10 m. 2025-01-08T23:29:00.228Z,1736378940.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:00.230Z,1736378940.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252061 2025-01-08T23:29:00.412Z,1736378940.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:00.421Z,1736378940.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T23:29:00.423Z,1736378940.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 51.009460 m, bearing: 53.811388 deg, approach rate: -0.138066 m/s, LOS rate: 0.693120 deg/s, cmd heading: 355.673905 deg, new cmd heading: 356.456636 deg. 2025-01-08T23:29:00.425Z,1736378940.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.221342 target range: 172.100006 and range: 172.10 m. 2025-01-08T23:29:00.480Z,1736378940.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:00.482Z,1736378940.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503494 2025-01-08T23:29:00.732Z,1736378940.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:00.733Z,1736378940.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754723 2025-01-08T23:29:00.833Z,1736378940.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:00.858Z,1736378940.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T23:29:00.865Z,1736378940.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 50.963062 m, bearing: 54.106820 deg, approach rate: -0.106098 m/s, LOS rate: 0.676170 deg/s, cmd heading: 356.456644 deg, new cmd heading: 357.343674 deg. 2025-01-08T23:29:00.866Z,1736378940.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.236824 target range: 172.100006 and range: 172.10 m. 2025-01-08T23:29:00.984Z,1736378940.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:00.984Z,1736378940.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006435 2025-01-08T23:29:01.236Z,1736378941.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:01.237Z,1736378941.237 [DAT](INFO): DAT read: Rx Time:23:28:59.9189 2025-01-08T23:29:01.238Z,1736378941.238 [DAT](INFO): Rx dataTimestamp_ set to:1736378941.237343 2025-01-08T23:29:01.238Z,1736378941.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260238 2025-01-08T23:29:01.324Z,1736378941.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:01.331Z,1736378941.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:01.333Z,1736378941.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T23:29:01.341Z,1736378941.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 50.908325 m, bearing: 54.451813 deg, approach rate: -0.115246 m/s, LOS rate: 0.727140 deg/s, cmd heading: 357.343667 deg, new cmd heading: 358.379640 deg. 2025-01-08T23:29:01.344Z,1736378941.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.254905 target range: 172.100006 and range: 172.10 m. 2025-01-08T23:29:01.489Z,1736378941.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:01.489Z,1736378941.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511342 2025-01-08T23:29:01.720Z,1736378941.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:01.730Z,1736378941.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.10 m. 2025-01-08T23:29:01.733Z,1736378941.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 172.100006 m, nav range: 50.866737 m, bearing: 54.736311 deg, approach rate: -0.104850 m/s, LOS rate: 0.717853 deg/s, cmd heading: 358.379643 deg, new cmd heading: 359.233767 deg. 2025-01-08T23:29:01.734Z,1736378941.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269812 target range: 172.100006 and range: 172.10 m. 2025-01-08T23:29:01.752Z,1736378941.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:01.759Z,1736378941.759 [DAT](INFO): DAT read: 23:28:59.9189 LVL= 24560, 32753, 32690, 32755, AGC= 63, IDX= 437, 0.17, 1.655,-0.012,-0.065, 0.541, PHS= 1.202,-0.506,-0.609, RAW= 87.1, -1.0, CAL= 94.5, -6.0, ROT= 55.5, 6.0 2025-01-08T23:29:01.760Z,1736378941.760 [DAT](INFO): got valid direction response: 23:28:59.9189 LVL= 24560, 32753, 32690, 32755, AGC= 63, IDX= 437, 0.17, 1.655,-0.012,-0.065, 0.541, PHS= 1.202,-0.506,-0.609, RAW= 87.1, -1.0, CAL= 94.5, -6.0, ROT= 55.5, 6.0 2025-01-08T23:29:01.761Z,1736378941.761 [DAT](INFO): DAT read: Bearing 55.5, 6.0 (Local) 2025-01-08T23:29:01.761Z,1736378941.761 [DAT](INFO): Local bearing/azimuth received: Bearing 55.5, 6.0 (Local) 2025-01-08T23:29:01.763Z,1736378941.763 [DAT](INFO): DAT read: Range 10 to 50 : 171.7 m (Round-trip 229.0 ms) speed 0.0 m/s 2025-01-08T23:29:01.765Z,1736378941.765 [DAT](INFO): DAT read: user:3251> 2025-01-08T23:29:01.766Z,1736378941.766 [DAT](INFO): DAT read: Tx time:23:29:01.0358 2025-01-08T23:29:01.766Z,1736378941.766 [DAT](INFO): Ping request sent. 2025-01-08T23:29:01.767Z,1736378941.767 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:01.776Z,1736378941.776 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:01.777Z,1736378941.777 [DAT](INFO): direction in FSK: [-0.061327,0.156443,0.985781] 2025-01-08T23:29:01.777Z,1736378941.777 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:01.777Z,1736378941.777 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:01.780Z,1736378941.780 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:01.780Z,1736378941.780 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:02.004Z,1736378942.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:02.005Z,1736378942.005 [DAT](INFO): DAT read: TxSync time:23:29:01.0350 2025-01-08T23:29:02.162Z,1736378942.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:02.201Z,1736378942.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 171.699997 m, deltaT: 3.788984 s, deltaX: -0.400009 m, approachRate: -0.105572 m/s, rangeRepo size: 4 2025-01-08T23:29:02.203Z,1736378942.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.699997 m, bearing: 215.700658 deg, lat: 36.903783 deg, lon: -122.120637 deg, deltaT: 3.788984 s, deltaX: -0.400009 m, approachRate: -0.105572 m/s, posRepo size: 4 2025-01-08T23:29:02.207Z,1736378942.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:29:02.210Z,1736378942.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 20.385860 m, bearing: 80.384032 deg, approach rate: 0.000000 m/s, LOS rate: 0.717853 deg/s, cmd heading: 359.233772 deg, new cmd heading: 0.246567 deg. 2025-01-08T23:29:02.211Z,1736378942.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004303 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:29:02.258Z,1736378942.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:02.508Z,1736378942.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:02.568Z,1736378942.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:02.601Z,1736378942.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:29:02.604Z,1736378942.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 20.457542 m, bearing: 81.093245 deg, approach rate: 0.178650 m/s, LOS rate: 1.761307 deg/s, cmd heading: 0.246567 deg, new cmd heading: 2.365731 deg. 2025-01-08T23:29:02.605Z,1736378942.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041290 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:29:02.760Z,1736378942.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:03.012Z,1736378943.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:03.020Z,1736378943.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:03.049Z,1736378943.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:29:03.056Z,1736378943.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 20.541723 m, bearing: 81.891875 deg, approach rate: 0.187955 m/s, LOS rate: 1.775781 deg/s, cmd heading: 2.365731 deg, new cmd heading: 4.750348 deg. 2025-01-08T23:29:03.057Z,1736378943.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.082909 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:29:03.265Z,1736378943.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:03.384Z,1736378943.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:03.394Z,1736378943.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:03.416Z,1736378943.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:29:03.418Z,1736378943.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 20.605621 m, bearing: 82.535799 deg, approach rate: 0.184382 m/s, LOS rate: 1.852279 deg/s, cmd heading: 4.750348 deg, new cmd heading: 6.675362 deg. 2025-01-08T23:29:03.424Z,1736378943.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116507 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:29:03.516Z,1736378943.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:03.516Z,1736378943.516 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:03.516Z,1736378943.516 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:03.516Z,1736378943.516 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:03.768Z,1736378943.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:03.768Z,1736378943.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001863 2025-01-08T23:29:03.826Z,1736378943.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:03.851Z,1736378943.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:29:03.854Z,1736378943.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 20.682966 m, bearing: 83.300142 deg, approach rate: 0.176004 m/s, LOS rate: 1.732763 deg/s, cmd heading: 6.675362 deg, new cmd heading: 8.958540 deg. 2025-01-08T23:29:03.855Z,1736378943.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.156356 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:29:04.020Z,1736378944.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:04.020Z,1736378944.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253772 2025-01-08T23:29:04.181Z,1736378944.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:04.215Z,1736378944.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:29:04.218Z,1736378944.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 20.741859 m, bearing: 83.915588 deg, approach rate: 0.156611 m/s, LOS rate: 1.631936 deg/s, cmd heading: 8.958540 deg, new cmd heading: 10.798966 deg. 2025-01-08T23:29:04.219Z,1736378944.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.188478 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:29:04.272Z,1736378944.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:04.285Z,1736378944.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518428 2025-01-08T23:29:04.524Z,1736378944.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:04.525Z,1736378944.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758621 2025-01-08T23:29:04.602Z,1736378944.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:04.617Z,1736378944.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:29:04.621Z,1736378944.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 20.810665 m, bearing: 84.642314 deg, approach rate: 0.169367 m/s, LOS rate: 1.782894 deg/s, cmd heading: 10.798966 deg, new cmd heading: 12.970838 deg. 2025-01-08T23:29:04.622Z,1736378944.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226384 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:29:04.776Z,1736378944.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:04.777Z,1736378944.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010700 2025-01-08T23:29:05.028Z,1736378945.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:05.029Z,1736378945.029 [DAT](INFO): DAT read: Rx Time:23:29:03.6675 2025-01-08T23:29:05.029Z,1736378945.029 [DAT](INFO): Rx dataTimestamp_ set to:1736378945.029007 2025-01-08T23:29:05.030Z,1736378945.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263228 2025-01-08T23:29:05.038Z,1736378945.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:05.049Z,1736378945.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:29:05.052Z,1736378945.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 20.863897 m, bearing: 85.376528 deg, approach rate: 0.123374 m/s, LOS rate: 1.697268 deg/s, cmd heading: 12.970838 deg, new cmd heading: 15.166723 deg. 2025-01-08T23:29:05.053Z,1736378945.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.264709 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:29:05.280Z,1736378945.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:05.280Z,1736378945.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513809 2025-01-08T23:29:05.417Z,1736378945.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:05.424Z,1736378945.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:05.426Z,1736378945.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-01-08T23:29:05.429Z,1736378945.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.699997 m, nav range: 20.905296 m, bearing: 86.013261 deg, approach rate: 0.109657 m/s, LOS rate: 1.683190 deg/s, cmd heading: 15.166724 deg, new cmd heading: 17.072400 deg. 2025-01-08T23:29:05.430Z,1736378945.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.297970 target range: 171.699997 and range: 171.70 m. 2025-01-08T23:29:05.532Z,1736378945.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:05.542Z,1736378945.542 [DAT](INFO): DAT read: 23:29:03.6675 LVL= 16736, 32753, 22562, 32755, AGC= 63, IDX= 424,-0.45,-1.919, 2.820, 3.032,-2.776, PHS= 0.945,-0.640,-0.478, RAW= 95.3, 2.3, CAL= 104.3, 0.0, ROT= 45.7, -0.0 2025-01-08T23:29:05.544Z,1736378945.544 [DAT](INFO): got valid direction response: 23:29:03.6675 LVL= 16736, 32753, 22562, 32755, AGC= 63, IDX= 424,-0.45,-1.919, 2.820, 3.032,-2.776, PHS= 0.945,-0.640,-0.478, RAW= 95.3, 2.3, CAL= 104.3, 0.0, ROT= 45.7, -0.0 2025-01-08T23:29:05.544Z,1736378945.544 [DAT](INFO): DAT read: Bearing 45.7, -0.0 (Local) 2025-01-08T23:29:05.545Z,1736378945.545 [DAT](INFO): Local bearing/azimuth received: Bearing 45.7, -0.0 (Local) 2025-01-08T23:29:05.546Z,1736378945.546 [DAT](INFO): DAT read: Range 10 to 50 : 170.7 m (Round-trip 227.6 ms) speed 0.3 m/s 2025-01-08T23:29:05.560Z,1736378945.560 [DAT](INFO): DAT read: user:3252> 2025-01-08T23:29:05.560Z,1736378945.560 [DAT](INFO): DAT read: Tx time:23:29:04.7858 2025-01-08T23:29:05.561Z,1736378945.561 [DAT](INFO): Ping request sent. 2025-01-08T23:29:05.561Z,1736378945.561 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:05.561Z,1736378945.561 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:05.562Z,1736378945.562 [DAT](INFO): direction in FSK: [-0.137556,0.017189,0.990345] 2025-01-08T23:29:05.562Z,1736378945.562 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:05.562Z,1736378945.562 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:05.576Z,1736378945.576 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:05.576Z,1736378945.576 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:05.784Z,1736378945.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:05.784Z,1736378945.784 [DAT](INFO): DAT read: TxSync time:23:29:04.7850 2025-01-08T23:29:05.866Z,1736378945.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:05.898Z,1736378945.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.699997 m, deltaT: 3.780474 s, deltaX: -1.000000 m, approachRate: -0.264517 m/s, rangeRepo size: 4 2025-01-08T23:29:05.904Z,1736378945.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 170.699997 m, bearing: 236.426098 deg, lat: 36.903655 deg, lon: -122.120848 deg, deltaT: 3.780474 s, deltaX: -1.000000 m, approachRate: -0.264517 m/s, posRepo size: 4 2025-01-08T23:29:05.905Z,1736378945.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:29:05.912Z,1736378945.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 13.251606 m, bearing: 170.688227 deg, approach rate: 0.000000 m/s, LOS rate: 1.683190 deg/s, cmd heading: 17.072401 deg, new cmd heading: 19.448512 deg. 2025-01-08T23:29:05.913Z,1736378945.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.339441 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:29:06.037Z,1736378946.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:06.221Z,1736378946.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:06.231Z,1736378946.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:29:06.234Z,1736378946.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 13.465265 m, bearing: 170.704758 deg, approach rate: 0.640082 m/s, LOS rate: 0.048739 deg/s, cmd heading: 19.448513 deg, new cmd heading: 19.497320 deg. 2025-01-08T23:29:06.235Z,1736378946.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.340292 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:29:06.291Z,1736378946.291 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:06.544Z,1736378946.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:06.611Z,1736378946.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:06.620Z,1736378946.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:29:06.623Z,1736378946.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 13.702534 m, bearing: 170.746047 deg, approach rate: 0.611030 m/s, LOS rate: 0.104488 deg/s, cmd heading: 19.497320 deg, new cmd heading: 19.619040 deg. 2025-01-08T23:29:06.629Z,1736378946.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342417 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:29:06.796Z,1736378946.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:07.048Z,1736378947.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:07.075Z,1736378947.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:07.096Z,1736378947.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:29:07.100Z,1736378947.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 13.966586 m, bearing: 170.879229 deg, approach rate: 0.553418 m/s, LOS rate: 0.273855 deg/s, cmd heading: 19.619040 deg, new cmd heading: 20.011027 deg. 2025-01-08T23:29:07.101Z,1736378947.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349258 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:29:07.300Z,1736378947.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:07.416Z,1736378947.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:07.424Z,1736378947.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:29:07.426Z,1736378947.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 14.160756 m, bearing: 170.997949 deg, approach rate: 0.592913 m/s, LOS rate: 0.357548 deg/s, cmd heading: 20.011027 deg, new cmd heading: 20.362298 deg. 2025-01-08T23:29:07.428Z,1736378947.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.355389 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:29:07.552Z,1736378947.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:07.804Z,1736378947.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:07.858Z,1736378947.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:07.886Z,1736378947.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:07.893Z,1736378947.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:29:07.901Z,1736378947.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 14.397743 m, bearing: 171.286633 deg, approach rate: 0.504609 m/s, LOS rate: 0.604566 deg/s, cmd heading: 20.362298 deg, new cmd heading: 21.214030 deg. 2025-01-08T23:29:07.902Z,1736378947.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.370255 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:29:08.056Z,1736378948.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:08.056Z,1736378948.056 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:08.056Z,1736378948.056 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:08.057Z,1736378948.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:08.231Z,1736378948.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:08.240Z,1736378948.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:29:08.243Z,1736378948.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 14.596963 m, bearing: 171.545377 deg, approach rate: 0.575909 m/s, LOS rate: 0.737773 deg/s, cmd heading: 21.214030 deg, new cmd heading: 21.979620 deg. 2025-01-08T23:29:08.244Z,1736378948.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.383617 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:29:08.309Z,1736378948.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:08.310Z,1736378948.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748783 2025-01-08T23:29:08.560Z,1736378948.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:08.561Z,1736378948.561 [DAT](INFO): DAT read: Rx Time:23:29:07.4155 2025-01-08T23:29:08.561Z,1736378948.561 [DAT](INFO): Rx dataTimestamp_ set to:1736378948.560812 2025-01-08T23:29:08.562Z,1736378948.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000860 2025-01-08T23:29:08.680Z,1736378948.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:08.693Z,1736378948.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:29:08.695Z,1736378948.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 14.831833 m, bearing: 171.897187 deg, approach rate: 0.518319 m/s, LOS rate: 0.764085 deg/s, cmd heading: 21.979620 deg, new cmd heading: 23.018215 deg. 2025-01-08T23:29:08.696Z,1736378948.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.401744 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:29:08.812Z,1736378948.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:08.813Z,1736378948.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251752 2025-01-08T23:29:09.064Z,1736378949.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:09.065Z,1736378949.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503754 2025-01-08T23:29:09.099Z,1736378949.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:09.137Z,1736378949.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.70 m. 2025-01-08T23:29:09.144Z,1736378949.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.699997 m, nav range: 15.039877 m, bearing: 172.268947 deg, approach rate: 0.467739 m/s, LOS rate: 0.824248 deg/s, cmd heading: 23.018216 deg, new cmd heading: 24.117925 deg. 2025-01-08T23:29:09.145Z,1736378949.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420937 target range: 170.699997 and range: 170.70 m. 2025-01-08T23:29:09.316Z,1736378949.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:09.322Z,1736378949.322 [DAT](INFO): DAT read: 23:29:07.4156 LVL= 25888, 32753, 32578, 32755, AGC= 59, IDX= 418, 0.27, 2.979, 1.397, 1.998, 2.292, PHS= 0.776,-0.848,-0.297, RAW= 109.5, 5.2, CAL= 120.3, 2.5, ROT= 29.7, -2.5 2025-01-08T23:29:09.323Z,1736378949.323 [DAT](INFO): got valid direction response: 23:29:07.4156 LVL= 25888, 32753, 32578, 32755, AGC= 59, IDX= 418, 0.27, 2.979, 1.397, 1.998, 2.292, PHS= 0.776,-0.848,-0.297, RAW= 109.5, 5.2, CAL= 120.3, 2.5, ROT= 29.7, -2.5 2025-01-08T23:29:09.324Z,1736378949.324 [DAT](INFO): DAT read: Bearing 29.7, -2.5 (Local) 2025-01-08T23:29:09.325Z,1736378949.325 [DAT](INFO): Local bearing/azimuth received: Bearing 29.7, -2.5 (Local) 2025-01-08T23:29:09.326Z,1736378949.326 [DAT](INFO): DAT read: Range 10 to 50 : 169.1 m (Round-trip 225.5 ms) speed 0.4 m/s 2025-01-08T23:29:09.327Z,1736378949.327 [DAT](INFO): DAT read: user:3253> 2025-01-08T23:29:09.328Z,1736378949.328 [DAT](INFO): DAT read: Tx time:23:29:08.5359 2025-01-08T23:29:09.328Z,1736378949.328 [DAT](INFO): Ping request sent. 2025-01-08T23:29:09.328Z,1736378949.328 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:09.328Z,1736378949.328 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:09.329Z,1736378949.329 [DAT](INFO): direction in FSK: [-0.211133,-0.227237,0.950677] 2025-01-08T23:29:09.329Z,1736378949.329 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:09.330Z,1736378949.330 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:09.337Z,1736378949.337 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:09.337Z,1736378949.337 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:09.487Z,1736378949.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:09.529Z,1736378949.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 169.100006 m, deltaT: 3.783456 s, deltaX: -1.599991 m, approachRate: -0.422891 m/s, rangeRepo size: 4 2025-01-08T23:29:09.540Z,1736378949.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 169.100006 m, bearing: 257.001886 deg, lat: 36.903642 deg, lon: -122.120950 deg, deltaT: 3.783456 s, deltaX: -1.599991 m, approachRate: -0.422891 m/s, posRepo size: 4 2025-01-08T23:29:09.541Z,1736378949.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m. 2025-01-08T23:29:09.548Z,1736378949.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.100006 m, nav range: 18.044811 m, bearing: 203.448005 deg, approach rate: 0.000000 m/s, LOS rate: 0.824248 deg/s, cmd heading: 24.117926 deg, new cmd heading: 25.085735 deg. 2025-01-08T23:29:09.549Z,1736378949.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437829 target range: 169.100006 and range: 169.10 m. 2025-01-08T23:29:09.568Z,1736378949.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:09.569Z,1736378949.569 [DAT](INFO): DAT read: TxSync time:23:29:08.5351 2025-01-08T23:29:09.820Z,1736378949.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:09.987Z,1736378949.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:09.995Z,1736378949.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:09.997Z,1736378949.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m. 2025-01-08T23:29:10.000Z,1736378950.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.100006 m, nav range: 18.326298 m, bearing: 203.444867 deg, approach rate: 0.600603 m/s, LOS rate: -0.006592 deg/s, cmd heading: 25.085734 deg, new cmd heading: 25.076466 deg. 2025-01-08T23:29:10.001Z,1736378950.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437667 target range: 169.100006 and range: 169.10 m. 2025-01-08T23:29:10.073Z,1736378950.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:10.073Z,1736378950.073 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:10.074Z,1736378950.074 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:10.074Z,1736378950.074 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:10.324Z,1736378950.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:10.324Z,1736378950.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996306 2025-01-08T23:29:10.397Z,1736378950.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:10.414Z,1736378950.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m. 2025-01-08T23:29:10.421Z,1736378950.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.100006 m, nav range: 18.556551 m, bearing: 203.459613 deg, approach rate: 0.553168 m/s, LOS rate: 0.034986 deg/s, cmd heading: 25.076466 deg, new cmd heading: 25.120154 deg. 2025-01-08T23:29:10.421Z,1736378950.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438429 target range: 169.100006 and range: 169.10 m. 2025-01-08T23:29:10.576Z,1736378950.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:10.576Z,1736378950.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248338 2025-01-08T23:29:10.828Z,1736378950.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:10.828Z,1736378950.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500394 2025-01-08T23:29:10.903Z,1736378950.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:10.913Z,1736378950.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m. 2025-01-08T23:29:10.916Z,1736378950.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.100006 m, nav range: 18.840622 m, bearing: 203.536074 deg, approach rate: 0.569152 m/s, LOS rate: 0.150884 deg/s, cmd heading: 25.120153 deg, new cmd heading: 25.346077 deg. 2025-01-08T23:29:10.917Z,1736378950.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442373 target range: 169.100006 and range: 169.10 m. 2025-01-08T23:29:11.080Z,1736378951.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:11.080Z,1736378951.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752309 2025-01-08T23:29:11.256Z,1736378951.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:11.265Z,1736378951.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m. 2025-01-08T23:29:11.268Z,1736378951.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.100006 m, nav range: 19.038509 m, bearing: 203.603502 deg, approach rate: 0.561612 m/s, LOS rate: 0.189376 deg/s, cmd heading: 25.346077 deg, new cmd heading: 25.546260 deg. 2025-01-08T23:29:11.269Z,1736378951.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445866 target range: 169.100006 and range: 169.10 m. 2025-01-08T23:29:11.332Z,1736378951.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:11.333Z,1736378951.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004468 2025-01-08T23:29:11.584Z,1736378951.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:11.584Z,1736378951.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256251 2025-01-08T23:29:11.686Z,1736378951.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:11.696Z,1736378951.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m. 2025-01-08T23:29:11.699Z,1736378951.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.100006 m, nav range: 19.274988 m, bearing: 203.700219 deg, approach rate: 0.548481 m/s, LOS rate: 0.221570 deg/s, cmd heading: 25.546260 deg, new cmd heading: 25.832849 deg. 2025-01-08T23:29:11.701Z,1736378951.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450868 target range: 169.100006 and range: 169.10 m. 2025-01-08T23:29:11.840Z,1736378951.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:11.841Z,1736378951.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512953 2025-01-08T23:29:12.090Z,1736378952.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:12.092Z,1736378952.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:12.093Z,1736378952.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764625 2025-01-08T23:29:12.100Z,1736378952.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:12.102Z,1736378952.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m. 2025-01-08T23:29:12.109Z,1736378952.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.100006 m, nav range: 19.503561 m, bearing: 203.780384 deg, approach rate: 0.563698 m/s, LOS rate: 0.195381 deg/s, cmd heading: 25.832849 deg, new cmd heading: 26.070523 deg. 2025-01-08T23:29:12.110Z,1736378952.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455016 target range: 169.100006 and range: 169.10 m. 2025-01-08T23:29:12.209Z,1736378952.209 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:29:12.344Z,1736378952.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:12.345Z,1736378952.345 [DAT](INFO): DAT read: Rx Time:23:29:11.1636 2025-01-08T23:29:12.346Z,1736378952.346 [DAT](INFO): Rx dataTimestamp_ set to:1736378952.345355 2025-01-08T23:29:12.347Z,1736378952.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018496 2025-01-08T23:29:12.468Z,1736378952.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:12.476Z,1736378952.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m. 2025-01-08T23:29:12.478Z,1736378952.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.100006 m, nav range: 19.712505 m, bearing: 203.879470 deg, approach rate: 0.558449 m/s, LOS rate: 0.262022 deg/s, cmd heading: 26.070523 deg, new cmd heading: 26.364628 deg. 2025-01-08T23:29:12.480Z,1736378952.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460150 target range: 169.100006 and range: 169.10 m. 2025-01-08T23:29:12.597Z,1736378952.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:12.598Z,1736378952.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269789 2025-01-08T23:29:12.850Z,1736378952.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:12.865Z,1736378952.865 [DAT](INFO): DAT read: 23:29:11.1636 LVL= 24928, 32753, 26530, 32755, AGC= 63, IDX= 413,-0.24, 0.327,-1.050,-0.332,-0.165, PHS= 0.580,-0.838,-0.170, RAW= 118.1, 7.0, CAL= 127.4, 3.2, ROT= 22.6, -3.2 2025-01-08T23:29:12.867Z,1736378952.867 [DAT](INFO): got valid direction response: 23:29:11.1636 LVL= 24928, 32753, 26530, 32755, AGC= 63, IDX= 413,-0.24, 0.327,-1.050,-0.332,-0.165, PHS= 0.580,-0.838,-0.170, RAW= 118.1, 7.0, CAL= 127.4, 3.2, ROT= 22.6, -3.2 2025-01-08T23:29:12.868Z,1736378952.868 [DAT](INFO): DAT read: Bearing 22.6, -3.2 (Local) 2025-01-08T23:29:12.868Z,1736378952.868 [DAT](INFO): Local bearing/azimuth received: Bearing 22.6, -3.2 (Local) 2025-01-08T23:29:12.870Z,1736378952.870 [DAT](INFO): DAT read: Range 10 to 50 : 167.7 m (Round-trip 223.6 ms) speed 0.1 m/s 2025-01-08T23:29:12.871Z,1736378952.871 [DAT](INFO): DAT read: user:3254> 2025-01-08T23:29:12.871Z,1736378952.871 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:12.872Z,1736378952.872 [DAT](INFO): direction in FSK: [-0.253332,-0.369772,0.893919] 2025-01-08T23:29:12.873Z,1736378952.873 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:12.897Z,1736378952.897 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:12.897Z,1736378952.897 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:12.897Z,1736378952.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:13.041Z,1736378953.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:13.072Z,1736378953.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 167.699997 m, deltaT: 3.534720 s, deltaX: -1.400009 m, approachRate: -0.396074 m/s, rangeRepo size: 4 2025-01-08T23:29:13.080Z,1736378953.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 167.699997 m, bearing: 269.023873 deg, lat: 36.903642 deg, lon: -122.121305 deg, deltaT: 3.534720 s, deltaX: -1.400009 m, approachRate: -0.396074 m/s, posRepo size: 4 2025-01-08T23:29:13.080Z,1736378953.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:13.088Z,1736378953.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 43.673607 m, bearing: 245.226753 deg, approach rate: 0.000000 m/s, LOS rate: 0.262022 deg/s, cmd heading: 26.364628 deg, new cmd heading: 26.832562 deg. 2025-01-08T23:29:13.089Z,1736378953.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468317 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:13.100Z,1736378953.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:13.102Z,1736378953.102 [DAT](INFO): DAT read: Tx time:23:29:12.2859 2025-01-08T23:29:13.104Z,1736378953.104 [DAT](INFO): Ping request sent. 2025-01-08T23:29:13.104Z,1736378953.104 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:13.104Z,1736378953.104 [DAT](INFO): DAT read: TxSync time:23:29:12.2851 2025-01-08T23:29:13.105Z,1736378953.105 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:13.106Z,1736378953.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002704 2025-01-08T23:29:13.214Z,1736378953.214 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:29:13.352Z,1736378953.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:13.354Z,1736378953.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249696 2025-01-08T23:29:13.410Z,1736378953.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:13.418Z,1736378953.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:13.439Z,1736378953.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 43.849110 m, bearing: 245.083015 deg, approach rate: 0.506233 m/s, LOS rate: -0.412950 deg/s, cmd heading: 26.832562 deg, new cmd heading: 26.403080 deg. 2025-01-08T23:29:13.440Z,1736378953.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460821 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:13.604Z,1736378953.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:13.604Z,1736378953.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501391 2025-01-08T23:29:13.856Z,1736378953.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:13.856Z,1736378953.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753437 2025-01-08T23:29:13.884Z,1736378953.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:13.894Z,1736378953.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:13.897Z,1736378953.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 44.061134 m, bearing: 244.892109 deg, approach rate: 0.445257 m/s, LOS rate: -0.398975 deg/s, cmd heading: 26.403080 deg, new cmd heading: 25.833140 deg. 2025-01-08T23:29:13.898Z,1736378953.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450873 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:14.108Z,1736378954.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:14.109Z,1736378954.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006003 2025-01-08T23:29:14.282Z,1736378954.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:14.289Z,1736378954.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:14.292Z,1736378954.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:14.294Z,1736378954.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 44.240108 m, bearing: 244.735855 deg, approach rate: 0.450944 m/s, LOS rate: -0.392105 deg/s, cmd heading: 25.833140 deg, new cmd heading: 25.366285 deg. 2025-01-08T23:29:14.296Z,1736378954.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442725 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:14.360Z,1736378954.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:14.361Z,1736378954.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258107 2025-01-08T23:29:14.612Z,1736378954.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:14.612Z,1736378954.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509470 2025-01-08T23:29:14.623Z,1736378954.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:14.635Z,1736378954.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:14.638Z,1736378954.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 44.394333 m, bearing: 244.604092 deg, approach rate: 0.448152 m/s, LOS rate: -0.381553 deg/s, cmd heading: 25.366284 deg, new cmd heading: 24.972374 deg. 2025-01-08T23:29:14.639Z,1736378954.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435850 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:14.866Z,1736378954.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:14.868Z,1736378954.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764902 2025-01-08T23:29:15.061Z,1736378955.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:15.069Z,1736378955.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:15.072Z,1736378955.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 44.576401 m, bearing: 244.425577 deg, approach rate: 0.419355 m/s, LOS rate: -0.409490 deg/s, cmd heading: 24.972374 deg, new cmd heading: 24.439034 deg. 2025-01-08T23:29:15.073Z,1736378955.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426542 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:15.117Z,1736378955.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:15.118Z,1736378955.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014740 2025-01-08T23:29:15.369Z,1736378955.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:15.370Z,1736378955.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266933 2025-01-08T23:29:15.432Z,1736378955.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:15.457Z,1736378955.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:15.468Z,1736378955.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 44.731438 m, bearing: 244.275689 deg, approach rate: 0.400274 m/s, LOS rate: -0.385641 deg/s, cmd heading: 24.439033 deg, new cmd heading: 23.990935 deg. 2025-01-08T23:29:15.470Z,1736378955.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418721 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:15.620Z,1736378955.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:15.621Z,1736378955.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517941 2025-01-08T23:29:15.874Z,1736378955.874 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:15.876Z,1736378955.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772917 2025-01-08T23:29:15.946Z,1736378955.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:15.984Z,1736378955.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:15.995Z,1736378955.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 44.926067 m, bearing: 244.058165 deg, approach rate: 0.368813 m/s, LOS rate: -0.410408 deg/s, cmd heading: 23.990935 deg, new cmd heading: 23.341222 deg. 2025-01-08T23:29:15.996Z,1736378955.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.407381 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:16.124Z,1736378956.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:16.126Z,1736378956.126 [DAT](INFO): DAT read: Rx Time:23:29:14.9433 2025-01-08T23:29:16.126Z,1736378956.126 [DAT](INFO): Rx dataTimestamp_ set to:1736378956.125764 2025-01-08T23:29:16.127Z,1736378956.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023547 2025-01-08T23:29:16.338Z,1736378956.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:16.349Z,1736378956.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:16.350Z,1736378956.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:16.354Z,1736378956.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 45.074593 m, bearing: 243.892471 deg, approach rate: 0.405586 m/s, LOS rate: -0.450980 deg/s, cmd heading: 23.341222 deg, new cmd heading: 22.845789 deg. 2025-01-08T23:29:16.355Z,1736378956.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.398734 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:16.376Z,1736378956.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:16.377Z,1736378956.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274326 2025-01-08T23:29:16.416Z,1736378956.416 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:29:16.629Z,1736378956.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:16.658Z,1736378956.658 [DAT](INFO): DAT read: 23:29:14.9433 LVL= 25840, 32753, 32754, 32755, AGC= 63, IDX= 238, 0.08,-1.937,-2.942,-1.812,-2.976, PHS= 1.127, 0.081, 1.161, RAW= 151.6, -38.2, CAL= 154.2, -41.8, ROT= 355.8, 41.8 2025-01-08T23:29:16.672Z,1736378956.672 [DAT](INFO): got valid direction response: 23:29:14.9433 LVL= 25840, 32753, 32754, 32755, AGC= 63, IDX= 238, 0.08,-1.937,-2.942,-1.812,-2.976, PHS= 1.127, 0.081, 1.161, RAW= 151.6, -38.2, CAL= 154.2, -41.8, ROT= 355.8, 41.8 2025-01-08T23:29:16.674Z,1736378956.674 [DAT](INFO): DAT read: Bearing 355.8, 41.8 (Local) 2025-01-08T23:29:16.675Z,1736378956.675 [DAT](INFO): Local bearing/azimuth received: Bearing 355.8, 41.8 (Local) 2025-01-08T23:29:16.688Z,1736378956.688 [DAT](INFO): DAT read: Range 10 to 50 : 189.9 m (Round-trip 253.3 ms) speed 0.8 m/s 2025-01-08T23:29:16.688Z,1736378956.688 [DAT](INFO): DAT read: user:3255> 2025-01-08T23:29:16.689Z,1736378956.689 [DAT](INFO): DAT read: Tx time:23:29:16.0359 2025-01-08T23:29:16.689Z,1736378956.689 [DAT](INFO): Ping request sent. 2025-01-08T23:29:16.689Z,1736378956.689 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:16.690Z,1736378956.690 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:16.702Z,1736378956.702 [DAT](INFO): direction in FSK: [0.581874,-0.681410,0.443963] 2025-01-08T23:29:16.715Z,1736378956.715 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:16.716Z,1736378956.716 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:16.740Z,1736378956.740 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:16.741Z,1736378956.741 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:16.780Z,1736378956.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:16.813Z,1736378956.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 189.899994 m, deltaT: 3.779063 s, deltaX: 22.199997 m, approachRate: 5.874471 m/s, rangeRepo size: 4 2025-01-08T23:29:16.814Z,1736378956.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:16.829Z,1736378956.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 45.241253 m, bearing: 243.706475 deg, approach rate: 0.360638 m/s, LOS rate: -0.400995 deg/s, cmd heading: 22.845789 deg, new cmd heading: 22.289877 deg. 2025-01-08T23:29:16.830Z,1736378956.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.389032 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:16.881Z,1736378956.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:16.884Z,1736378956.884 [DAT](INFO): DAT read: TxSync time:23:29:16.0351 2025-01-08T23:29:17.132Z,1736378957.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:17.198Z,1736378957.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:17.207Z,1736378957.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:17.210Z,1736378957.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 45.387863 m, bearing: 243.520614 deg, approach rate: 0.372017 m/s, LOS rate: -0.470089 deg/s, cmd heading: 22.289877 deg, new cmd heading: 21.734113 deg. 2025-01-08T23:29:17.211Z,1736378957.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.379332 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:17.384Z,1736378957.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:17.565Z,1736378957.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:17.578Z,1736378957.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:17.581Z,1736378957.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 45.514725 m, bearing: 243.355740 deg, approach rate: 0.342011 m/s, LOS rate: -0.443252 deg/s, cmd heading: 21.734113 deg, new cmd heading: 21.240882 deg. 2025-01-08T23:29:17.582Z,1736378957.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.370723 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:17.636Z,1736378957.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:17.889Z,1736378957.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:17.993Z,1736378957.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:18.002Z,1736378958.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:18.005Z,1736378958.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 45.653645 m, bearing: 243.155305 deg, approach rate: 0.327729 m/s, LOS rate: -0.471411 deg/s, cmd heading: 21.240881 deg, new cmd heading: 20.641429 deg. 2025-01-08T23:29:18.006Z,1736378958.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.360261 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:18.140Z,1736378958.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:18.392Z,1736378958.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:18.422Z,1736378958.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:18.431Z,1736378958.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:18.433Z,1736378958.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:18.436Z,1736378958.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 45.791840 m, bearing: 242.954021 deg, approach rate: 0.319957 m/s, LOS rate: -0.464616 deg/s, cmd heading: 20.641429 deg, new cmd heading: 20.039424 deg. 2025-01-08T23:29:18.437Z,1736378958.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349754 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:18.645Z,1736378958.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:18.645Z,1736378958.645 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:18.646Z,1736378958.646 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:18.646Z,1736378958.646 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:18.814Z,1736378958.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:18.839Z,1736378958.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:18.844Z,1736378958.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 45.916790 m, bearing: 242.769286 deg, approach rate: 0.308324 m/s, LOS rate: -0.454605 deg/s, cmd heading: 20.039423 deg, new cmd heading: 19.486745 deg. 2025-01-08T23:29:18.845Z,1736378958.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.340108 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:18.898Z,1736378958.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:18.900Z,1736378958.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210208 2025-01-08T23:29:19.148Z,1736378959.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:19.148Z,1736378959.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458776 2025-01-08T23:29:19.321Z,1736378959.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:19.332Z,1736378959.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:19.334Z,1736378959.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 46.068287 m, bearing: 242.516157 deg, approach rate: 0.307190 m/s, LOS rate: -0.511581 deg/s, cmd heading: 19.486745 deg, new cmd heading: 18.729899 deg. 2025-01-08T23:29:19.336Z,1736378959.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326898 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:19.400Z,1736378959.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:19.401Z,1736378959.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711508 2025-01-08T23:29:19.653Z,1736378959.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:19.654Z,1736378959.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964487 2025-01-08T23:29:19.694Z,1736378959.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:19.703Z,1736378959.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:19.706Z,1736378959.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 46.180325 m, bearing: 242.330975 deg, approach rate: 0.302056 m/s, LOS rate: -0.498042 deg/s, cmd heading: 18.729900 deg, new cmd heading: 18.175721 deg. 2025-01-08T23:29:19.707Z,1736378959.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.317226 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:19.906Z,1736378959.906 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:19.908Z,1736378959.908 [DAT](INFO): DAT read: Rx Time:23:29:18.6907 2025-01-08T23:29:19.910Z,1736378959.910 [DAT](INFO): Rx dataTimestamp_ set to:1736378959.909007 2025-01-08T23:29:19.913Z,1736378959.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222657 2025-01-08T23:29:20.100Z,1736378960.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:20.110Z,1736378960.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m. 2025-01-08T23:29:20.113Z,1736378960.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.699997 m, nav range: 46.299473 m, bearing: 242.122673 deg, approach rate: 0.292631 m/s, LOS rate: -0.510277 deg/s, cmd heading: 18.175721 deg, new cmd heading: 17.552449 deg. 2025-01-08T23:29:20.114Z,1736378960.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.306348 target range: 167.699997 and range: 167.70 m. 2025-01-08T23:29:20.156Z,1736378960.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:20.157Z,1736378960.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467277 2025-01-08T23:29:20.409Z,1736378960.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:20.420Z,1736378960.420 [DAT](INFO): DAT read: 23:29:18.6907 LVL= 24528, 31969, 25250, 27923, AGC= 57, IDX= 96,-0.00,-2.602, 1.950, 2.790, 2.986, PHS= 0.783,-0.989,-0.199, RAW= 116.4, 5.3, CAL= 126.4, 1.6, ROT= 23.6, -1.6 2025-01-08T23:29:20.421Z,1736378960.421 [DAT](INFO): got valid direction response: 23:29:18.6907 LVL= 24528, 31969, 25250, 27923, AGC= 57, IDX= 96,-0.00,-2.602, 1.950, 2.790, 2.986, PHS= 0.783,-0.989,-0.199, RAW= 116.4, 5.3, CAL= 126.4, 1.6, ROT= 23.6, -1.6 2025-01-08T23:29:20.422Z,1736378960.422 [DAT](INFO): DAT read: Bearing 23.6, -1.6 (Local) 2025-01-08T23:29:20.423Z,1736378960.423 [DAT](INFO): Local bearing/azimuth received: Bearing 23.6, -1.6 (Local) 2025-01-08T23:29:20.426Z,1736378960.426 [DAT](INFO): DAT read: Range 10 to 50 : 187.8 m (Round-trip 250.5 ms) speed 0.6 m/s 2025-01-08T23:29:20.427Z,1736378960.427 [DAT](INFO): DAT read: user:3256> 2025-01-08T23:29:20.428Z,1736378960.428 [DAT](INFO): DAT read: Tx time:23:29:19.7860 2025-01-08T23:29:20.428Z,1736378960.428 [DAT](INFO): Ping request sent. 2025-01-08T23:29:20.428Z,1736378960.428 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:20.428Z,1736378960.428 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:20.429Z,1736378960.429 [DAT](INFO): direction in FSK: [-0.219996,-0.345610,0.912225] 2025-01-08T23:29:20.430Z,1736378960.430 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:20.430Z,1736378960.430 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:20.433Z,1736378960.433 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:20.433Z,1736378960.433 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:20.505Z,1736378960.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:20.535Z,1736378960.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 187.800003 m, deltaT: 7.558299 s, deltaX: 20.100006 m, approachRate: 2.659329 m/s, rangeRepo size: 4 2025-01-08T23:29:20.537Z,1736378960.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 187.800003 m, bearing: 270.596454 deg, lat: 36.903790 deg, lon: -122.121758 deg, deltaT: 7.558299 s, deltaX: 20.100006 m, approachRate: 2.659329 m/s, posRepo size: 4 2025-01-08T23:29:20.538Z,1736378960.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:20.556Z,1736378960.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 81.464966 m, bearing: 266.226795 deg, approach rate: 0.000000 m/s, LOS rate: -0.510277 deg/s, cmd heading: 17.552449 deg, new cmd heading: 16.908808 deg. 2025-01-08T23:29:20.557Z,1736378960.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.295114 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:20.662Z,1736378960.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:20.665Z,1736378960.665 [DAT](INFO): DAT read: TxSync time:23:29:19.7852 2025-01-08T23:29:20.914Z,1736378960.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:21.047Z,1736378961.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:21.060Z,1736378961.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:21.062Z,1736378961.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:21.065Z,1736378961.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 81.522408 m, bearing: 266.030741 deg, approach rate: 0.108062 m/s, LOS rate: -0.368565 deg/s, cmd heading: 16.908808 deg, new cmd heading: 16.321083 deg. 2025-01-08T23:29:21.066Z,1736378961.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.284857 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:21.164Z,1736378961.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:21.164Z,1736378961.164 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:21.165Z,1736378961.165 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:21.165Z,1736378961.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:21.415Z,1736378961.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:21.416Z,1736378961.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:21.416Z,1736378961.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988310 2025-01-08T23:29:21.426Z,1736378961.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:21.429Z,1736378961.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 81.559883 m, bearing: 265.897480 deg, approach rate: 0.102970 m/s, LOS rate: -0.365987 deg/s, cmd heading: 16.321084 deg, new cmd heading: 15.921489 deg. 2025-01-08T23:29:21.430Z,1736378961.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.277882 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:21.668Z,1736378961.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:21.670Z,1736378961.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241823 2025-01-08T23:29:21.803Z,1736378961.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:21.814Z,1736378961.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:21.817Z,1736378961.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 81.597603 m, bearing: 265.756670 deg, approach rate: 0.097273 m/s, LOS rate: -0.362956 deg/s, cmd heading: 15.921489 deg, new cmd heading: 15.499262 deg. 2025-01-08T23:29:21.818Z,1736378961.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.270513 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:21.921Z,1736378961.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:21.925Z,1736378961.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495946 2025-01-08T23:29:22.172Z,1736378962.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:22.172Z,1736378962.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744171 2025-01-08T23:29:22.260Z,1736378962.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:22.269Z,1736378962.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:22.272Z,1736378962.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 81.659401 m, bearing: 265.590213 deg, approach rate: 0.135752 m/s, LOS rate: -0.365379 deg/s, cmd heading: 15.499262 deg, new cmd heading: 15.000283 deg. 2025-01-08T23:29:22.273Z,1736378962.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.261804 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:22.424Z,1736378962.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:22.425Z,1736378962.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997267 2025-01-08T23:29:22.634Z,1736378962.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:22.643Z,1736378962.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:22.647Z,1736378962.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 81.710503 m, bearing: 265.454146 deg, approach rate: 0.136670 m/s, LOS rate: -0.363680 deg/s, cmd heading: 15.000282 deg, new cmd heading: 14.592342 deg. 2025-01-08T23:29:22.649Z,1736378962.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.254684 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:22.697Z,1736378962.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:22.698Z,1736378962.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270350 2025-01-08T23:29:22.950Z,1736378962.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:22.952Z,1736378962.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523640 2025-01-08T23:29:23.046Z,1736378963.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:23.060Z,1736378963.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:23.063Z,1736378963.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 81.783508 m, bearing: 265.300435 deg, approach rate: 0.177157 m/s, LOS rate: -0.372664 deg/s, cmd heading: 14.592342 deg, new cmd heading: 14.131633 deg. 2025-01-08T23:29:23.080Z,1736378963.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246644 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:23.200Z,1736378963.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:23.200Z,1736378963.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772235 2025-01-08T23:29:23.420Z,1736378963.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:23.443Z,1736378963.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:23.445Z,1736378963.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:23.452Z,1736378963.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:23.453Z,1736378963.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024456 2025-01-08T23:29:23.454Z,1736378963.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 81.848114 m, bearing: 265.160803 deg, approach rate: 0.165425 m/s, LOS rate: -0.357248 deg/s, cmd heading: 14.131633 deg, new cmd heading: 13.713076 deg. 2025-01-08T23:29:23.464Z,1736378963.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.239338 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:23.704Z,1736378963.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:23.706Z,1736378963.706 [DAT](INFO): DAT read: Rx Time:23:29:22.4066 2025-01-08T23:29:23.707Z,1736378963.707 [DAT](INFO): Rx dataTimestamp_ set to:1736378963.706625 2025-01-08T23:29:23.709Z,1736378963.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280605 2025-01-08T23:29:23.829Z,1736378963.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:23.837Z,1736378963.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:23.840Z,1736378963.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 81.917725 m, bearing: 265.007707 deg, approach rate: 0.177777 m/s, LOS rate: -0.390656 deg/s, cmd heading: 13.713077 deg, new cmd heading: 13.254189 deg. 2025-01-08T23:29:23.842Z,1736378963.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.231329 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:23.958Z,1736378963.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:23.961Z,1736378963.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532311 2025-01-08T23:29:24.208Z,1736378964.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:24.215Z,1736378964.215 [DAT](INFO): DAT read: 23:29:22.4066 LVL= 21600, 32545, 32754, 32755, AGC= 65, IDX= 82, 0.35, 1.187,-0.545, 0.172, 0.549, PHS= 0.726,-1.047,-0.380, RAW= 111.9, 9.1, CAL= 121.4, 6.3, ROT= 28.6, -6.3 2025-01-08T23:29:24.216Z,1736378964.216 [DAT](INFO): got valid direction response: 23:29:22.4066 LVL= 21600, 32545, 32754, 32755, AGC= 65, IDX= 82, 0.35, 1.187,-0.545, 0.172, 0.549, PHS= 0.726,-1.047,-0.380, RAW= 111.9, 9.1, CAL= 121.4, 6.3, ROT= 28.6, -6.3 2025-01-08T23:29:24.217Z,1736378964.217 [DAT](INFO): DAT read: Bearing 28.6, -6.3 (Local) 2025-01-08T23:29:24.217Z,1736378964.217 [DAT](INFO): Local bearing/azimuth received: Bearing 28.6, -6.3 (Local) 2025-01-08T23:29:24.218Z,1736378964.218 [DAT](INFO): DAT read: Range 10 to 50 : 162.3 m (Round-trip 216.5 ms) speed 0.5 m/s 2025-01-08T23:29:24.219Z,1736378964.219 [DAT](INFO): DAT read: user:3257> 2025-01-08T23:29:24.220Z,1736378964.220 [DAT](INFO): DAT read: Tx time:23:29:23.5360 2025-01-08T23:29:24.220Z,1736378964.220 [DAT](INFO): Ping request sent. 2025-01-08T23:29:24.220Z,1736378964.220 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:24.221Z,1736378964.221 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:24.222Z,1736378964.222 [DAT](INFO): direction in FSK: [-0.285722,-0.260755,0.922155] 2025-01-08T23:29:24.222Z,1736378964.222 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:24.222Z,1736378964.222 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:24.226Z,1736378964.226 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:24.227Z,1736378964.227 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:24.422Z,1736378964.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:24.452Z,1736378964.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 162.300003 m, deltaT: 3.799405 s, deltaX: -25.500000 m, approachRate: -6.711577 m/s, rangeRepo size: 4 2025-01-08T23:29:24.453Z,1736378964.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:24.460Z,1736378964.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:24.461Z,1736378964.461 [DAT](INFO): DAT read: TxSync time:23:29:23.5352 2025-01-08T23:29:24.464Z,1736378964.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 82.055275 m, bearing: 264.784523 deg, approach rate: 0.225418 m/s, LOS rate: -0.365141 deg/s, cmd heading: 13.254190 deg, new cmd heading: 12.585790 deg. 2025-01-08T23:29:24.465Z,1736378964.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.219663 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:24.712Z,1736378964.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:24.734Z,1736378964.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:24.767Z,1736378964.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:24.773Z,1736378964.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 82.127083 m, bearing: 264.667089 deg, approach rate: 0.227237 m/s, LOS rate: -0.371296 deg/s, cmd heading: 12.585790 deg, new cmd heading: 12.233801 deg. 2025-01-08T23:29:24.775Z,1736378964.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.213520 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:24.965Z,1736378964.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:25.156Z,1736378965.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:25.165Z,1736378965.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:25.181Z,1736378965.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 82.258217 m, bearing: 264.511758 deg, approach rate: 0.326048 m/s, LOS rate: -0.385595 deg/s, cmd heading: 12.233801 deg, new cmd heading: 11.768562 deg. 2025-01-08T23:29:25.182Z,1736378965.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.205400 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:25.216Z,1736378965.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:25.468Z,1736378965.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:25.550Z,1736378965.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:25.558Z,1736378965.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:25.561Z,1736378965.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:25.584Z,1736378965.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 82.380104 m, bearing: 264.366782 deg, approach rate: 0.308446 m/s, LOS rate: -0.366331 deg/s, cmd heading: 11.768562 deg, new cmd heading: 11.334287 deg. 2025-01-08T23:29:25.585Z,1736378965.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.197821 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:25.720Z,1736378965.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:25.721Z,1736378965.721 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:25.721Z,1736378965.721 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:25.721Z,1736378965.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:25.936Z,1736378965.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:25.964Z,1736378965.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:25.973Z,1736378965.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:25.976Z,1736378965.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755359 2025-01-08T23:29:26.006Z,1736378966.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 82.499672 m, bearing: 264.224984 deg, approach rate: 0.299940 m/s, LOS rate: -0.355190 deg/s, cmd heading: 11.334287 deg, new cmd heading: 10.909517 deg. 2025-01-08T23:29:26.014Z,1736378966.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.190407 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:26.225Z,1736378966.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:26.225Z,1736378966.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004950 2025-01-08T23:29:26.436Z,1736378966.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:26.476Z,1736378966.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:26.476Z,1736378966.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256073 2025-01-08T23:29:26.492Z,1736378966.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:26.495Z,1736378966.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 82.676796 m, bearing: 264.045529 deg, approach rate: 0.335428 m/s, LOS rate: -0.339114 deg/s, cmd heading: 10.909517 deg, new cmd heading: 10.372321 deg. 2025-01-08T23:29:26.509Z,1736378966.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.181031 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:26.728Z,1736378966.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:26.728Z,1736378966.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508065 2025-01-08T23:29:26.747Z,1736378966.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:26.788Z,1736378966.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:26.796Z,1736378966.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 82.786255 m, bearing: 263.933608 deg, approach rate: 0.364080 m/s, LOS rate: -0.371777 deg/s, cmd heading: 10.372321 deg, new cmd heading: 10.037006 deg. 2025-01-08T23:29:26.797Z,1736378966.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.175179 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:26.980Z,1736378966.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:26.980Z,1736378966.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760024 2025-01-08T23:29:27.187Z,1736378967.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:27.210Z,1736378967.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:27.217Z,1736378967.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 82.954948 m, bearing: 263.778588 deg, approach rate: 0.400068 m/s, LOS rate: -0.366892 deg/s, cmd heading: 10.037007 deg, new cmd heading: 9.572904 deg. 2025-01-08T23:29:27.218Z,1736378967.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167079 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:27.232Z,1736378967.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:27.233Z,1736378967.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012349 2025-01-08T23:29:27.484Z,1736378967.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:27.485Z,1736378967.485 [DAT](INFO): DAT read: Rx Time:23:29:26.1535 2025-01-08T23:29:27.486Z,1736378967.486 [DAT](INFO): Rx dataTimestamp_ set to:1736378967.485367 2025-01-08T23:29:27.487Z,1736378967.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266154 2025-01-08T23:29:27.554Z,1736378967.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:27.564Z,1736378967.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:27.569Z,1736378967.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:27.572Z,1736378967.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 83.095345 m, bearing: 263.649542 deg, approach rate: 0.390180 m/s, LOS rate: -0.358030 deg/s, cmd heading: 9.572904 deg, new cmd heading: 9.186426 deg. 2025-01-08T23:29:27.573Z,1736378967.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.160333 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:27.737Z,1736378967.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:27.739Z,1736378967.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517992 2025-01-08T23:29:27.967Z,1736378967.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:27.981Z,1736378967.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m. 2025-01-08T23:29:27.983Z,1736378967.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.800003 m, nav range: 83.253342 m, bearing: 263.504194 deg, approach rate: 0.384327 m/s, LOS rate: -0.352886 deg/s, cmd heading: 9.186426 deg, new cmd heading: 8.751219 deg. 2025-01-08T23:29:27.984Z,1736378967.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.152738 target range: 187.800003 and range: 187.80 m. 2025-01-08T23:29:27.988Z,1736378967.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:28.033Z,1736378968.033 [DAT](INFO): DAT read: 23:29:26.1535 LVL= 27120, 32753, 32754, 32755, AGC= 62, IDX= 405, 0.16,-1.962, 2.647,-2.903,-2.536, PHS= 0.662,-1.054,-0.371, RAW= 113.3, 10.2, CAL= 122.3, 7.3, ROT= 27.7, -7.3 2025-01-08T23:29:28.045Z,1736378968.045 [DAT](INFO): got valid direction response: 23:29:26.1535 LVL= 27120, 32753, 32754, 32755, AGC= 62, IDX= 405, 0.16,-1.962, 2.647,-2.903,-2.536, PHS= 0.662,-1.054,-0.371, RAW= 113.3, 10.2, CAL= 122.3, 7.3, ROT= 27.7, -7.3 2025-01-08T23:29:28.057Z,1736378968.057 [DAT](INFO): DAT read: Bearing 27.7, -7.3 (Local) 2025-01-08T23:29:28.058Z,1736378968.058 [DAT](INFO): Local bearing/azimuth received: Bearing 27.7, -7.3 (Local) 2025-01-08T23:29:28.081Z,1736378968.081 [DAT](INFO): DAT read: Range 10 to 50 : 159.9 m (Round-trip 213.3 ms) speed 0.4 m/s 2025-01-08T23:29:28.082Z,1736378968.082 [DAT](INFO): DAT read: user:3258> 2025-01-08T23:29:28.083Z,1736378968.083 [DAT](INFO): DAT read: Tx time:23:29:27.2360 2025-01-08T23:29:28.083Z,1736378968.083 [DAT](INFO): Ping request sent. 2025-01-08T23:29:28.084Z,1736378968.084 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:28.085Z,1736378968.085 [DAT](INFO): DAT read: TxSync time:23:29:27.2352 2025-01-08T23:29:28.085Z,1736378968.085 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:28.086Z,1736378968.086 [DAT](INFO): direction in FSK: [-0.308022,-0.282144,0.908580] 2025-01-08T23:29:28.086Z,1736378968.086 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:28.087Z,1736378968.087 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:28.128Z,1736378968.128 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:28.128Z,1736378968.128 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:28.240Z,1736378968.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:28.419Z,1736378968.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:28.446Z,1736378968.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.899994 m, deltaT: 7.579157 s, deltaX: -27.900009 m, approachRate: -3.681149 m/s, rangeRepo size: 4 2025-01-08T23:29:28.452Z,1736378968.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.899994 m, bearing: 244.715602 deg, lat: 36.903790 deg, lon: -122.121685 deg, deltaT: 7.579157 s, deltaX: -27.900009 m, approachRate: -3.681149 m/s, posRepo size: 4 2025-01-08T23:29:28.453Z,1736378968.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.90 m. 2025-01-08T23:29:28.460Z,1736378968.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.899994 m, nav range: 76.972359 m, bearing: 262.784826 deg, approach rate: 0.000000 m/s, LOS rate: -0.352886 deg/s, cmd heading: 8.751219 deg, new cmd heading: 8.259238 deg. 2025-01-08T23:29:28.461Z,1736378968.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.144151 target range: 159.899994 and range: 159.90 m. 2025-01-08T23:29:28.492Z,1736378968.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:28.744Z,1736378968.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:28.779Z,1736378968.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:28.797Z,1736378968.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.90 m. 2025-01-08T23:29:28.800Z,1736378968.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.899994 m, nav range: 77.108818 m, bearing: 262.645371 deg, approach rate: 0.390556 m/s, LOS rate: -0.398424 deg/s, cmd heading: 8.259238 deg, new cmd heading: 7.841620 deg. 2025-01-08T23:29:28.801Z,1736378968.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.136862 target range: 159.899994 and range: 159.90 m. 2025-01-08T23:29:28.996Z,1736378968.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:29.189Z,1736378969.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:29.198Z,1736378969.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.90 m. 2025-01-08T23:29:29.221Z,1736378969.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.899994 m, nav range: 77.240852 m, bearing: 262.485718 deg, approach rate: 0.327253 m/s, LOS rate: -0.395031 deg/s, cmd heading: 7.841620 deg, new cmd heading: 7.363491 deg. 2025-01-08T23:29:29.222Z,1736378969.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128517 target range: 159.899994 and range: 159.90 m. 2025-01-08T23:29:29.248Z,1736378969.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:29.500Z,1736378969.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:29.584Z,1736378969.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:29.590Z,1736378969.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:29.593Z,1736378969.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.90 m. 2025-01-08T23:29:29.596Z,1736378969.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.899994 m, nav range: 77.367325 m, bearing: 262.331702 deg, approach rate: 0.319891 m/s, LOS rate: -0.388921 deg/s, cmd heading: 7.363490 deg, new cmd heading: 6.902208 deg. 2025-01-08T23:29:29.597Z,1736378969.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120466 target range: 159.899994 and range: 159.90 m. 2025-01-08T23:29:29.752Z,1736378969.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:29.752Z,1736378969.752 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:29.752Z,1736378969.752 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:29.753Z,1736378969.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:29.977Z,1736378969.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:29.985Z,1736378969.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.90 m. 2025-01-08T23:29:29.989Z,1736378969.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.899994 m, nav range: 77.492546 m, bearing: 262.178029 deg, approach rate: 0.319475 m/s, LOS rate: -0.391429 deg/s, cmd heading: 6.902208 deg, new cmd heading: 6.441945 deg. 2025-01-08T23:29:29.990Z,1736378969.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112433 target range: 159.899994 and range: 159.90 m. 2025-01-08T23:29:30.005Z,1736378970.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:30.008Z,1736378970.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.924542 2025-01-08T23:29:30.256Z,1736378970.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:30.256Z,1736378970.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.173430 2025-01-08T23:29:30.398Z,1736378970.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:30.407Z,1736378970.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.90 m. 2025-01-08T23:29:30.410Z,1736378970.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.899994 m, nav range: 77.596062 m, bearing: 262.009664 deg, approach rate: 0.245848 m/s, LOS rate: -0.399330 deg/s, cmd heading: 6.441945 deg, new cmd heading: 5.937537 deg. 2025-01-08T23:29:30.411Z,1736378970.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103630 target range: 159.899994 and range: 159.90 m. 2025-01-08T23:29:30.509Z,1736378970.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:30.510Z,1736378970.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.426633 2025-01-08T23:29:30.761Z,1736378970.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:30.764Z,1736378970.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.680329 2025-01-08T23:29:30.788Z,1736378970.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:30.833Z,1736378970.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.90 m. 2025-01-08T23:29:30.840Z,1736378970.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.899994 m, nav range: 77.690582 m, bearing: 261.853292 deg, approach rate: 0.221814 m/s, LOS rate: -0.366515 deg/s, cmd heading: 5.937537 deg, new cmd heading: 5.469004 deg. 2025-01-08T23:29:30.841Z,1736378970.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095452 target range: 159.899994 and range: 159.90 m. 2025-01-08T23:29:31.012Z,1736378971.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:31.013Z,1736378971.013 [DAT](INFO): DAT read: Rx Time:23:29:29.8513 2025-01-08T23:29:31.013Z,1736378971.013 [DAT](INFO): Rx dataTimestamp_ set to:1736378971.012723 2025-01-08T23:29:31.014Z,1736378971.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.930489 2025-01-08T23:29:31.235Z,1736378971.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:31.246Z,1736378971.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.90 m. 2025-01-08T23:29:31.248Z,1736378971.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.899994 m, nav range: 77.753258 m, bearing: 261.672042 deg, approach rate: 0.151790 m/s, LOS rate: -0.438606 deg/s, cmd heading: 5.469004 deg, new cmd heading: 4.925709 deg. 2025-01-08T23:29:31.249Z,1736378971.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.085970 target range: 159.899994 and range: 159.90 m. 2025-01-08T23:29:31.264Z,1736378971.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:31.265Z,1736378971.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.181614 2025-01-08T23:29:31.517Z,1736378971.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:31.520Z,1736378971.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.436173 2025-01-08T23:29:31.600Z,1736378971.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:31.616Z,1736378971.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:31.618Z,1736378971.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.90 m. 2025-01-08T23:29:31.622Z,1736378971.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.899994 m, nav range: 77.800682 m, bearing: 261.523402 deg, approach rate: 0.127259 m/s, LOS rate: -0.398617 deg/s, cmd heading: 4.925709 deg, new cmd heading: 4.480071 deg. 2025-01-08T23:29:31.623Z,1736378971.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078192 target range: 159.899994 and range: 159.90 m. 2025-01-08T23:29:31.768Z,1736378971.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:31.775Z,1736378971.775 [DAT](INFO): DAT read: 23:29:29.8513 LVL= 22032, 32753, 31346, 32755, AGC= 64, IDX= 416,-0.24,-2.556, 1.980, 2.717, 3.090, PHS= 0.726,-1.063,-0.375, RAW= 112.4, 9.2, CAL= 121.8, 6.3, ROT= 28.2, -6.3 2025-01-08T23:29:31.776Z,1736378971.776 [DAT](INFO): got valid direction response: 23:29:29.8513 LVL= 22032, 32753, 31346, 32755, AGC= 64, IDX= 416,-0.24,-2.556, 1.980, 2.717, 3.090, PHS= 0.726,-1.063,-0.375, RAW= 112.4, 9.2, CAL= 121.8, 6.3, ROT= 28.2, -6.3 2025-01-08T23:29:31.778Z,1736378971.778 [DAT](INFO): DAT read: Bearing 28.2, -6.3 (Local) 2025-01-08T23:29:31.779Z,1736378971.779 [DAT](INFO): Local bearing/azimuth received: Bearing 28.2, -6.3 (Local) 2025-01-08T23:29:31.783Z,1736378971.783 [DAT](INFO): DAT read: Range 10 to 50 : 158.4 m (Round-trip 211.2 ms) speed 0.4 m/s 2025-01-08T23:29:31.784Z,1736378971.784 [DAT](INFO): DAT read: user:3259> 2025-01-08T23:29:31.784Z,1736378971.784 [DAT](INFO): DAT read: Tx time:23:29:30.9360 2025-01-08T23:29:31.785Z,1736378971.785 [DAT](INFO): Ping request sent. 2025-01-08T23:29:31.785Z,1736378971.785 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:31.785Z,1736378971.785 [DAT](INFO): DAT read: TxSync time:23:29:30.9352 2025-01-08T23:29:31.786Z,1736378971.786 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:31.787Z,1736378971.787 [DAT](INFO): direction in FSK: [-0.287586,-0.269809,0.918965] 2025-01-08T23:29:31.787Z,1736378971.787 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:31.787Z,1736378971.787 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:31.790Z,1736378971.790 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:31.790Z,1736378971.790 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:32.001Z,1736378972.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:32.020Z,1736378972.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:32.028Z,1736378972.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 158.399994 m, deltaT: 3.779899 s, deltaX: -1.500000 m, approachRate: -0.396836 m/s, rangeRepo size: 4 2025-01-08T23:29:32.030Z,1736378972.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 158.399994 m, bearing: 237.877617 deg, lat: 36.903665 deg, lon: -122.121537 deg, deltaT: 3.779899 s, deltaX: -1.500000 m, approachRate: -0.396836 m/s, posRepo size: 4 2025-01-08T23:29:32.031Z,1736378972.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T23:29:32.044Z,1736378972.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 68.739677 m, bearing: 248.081020 deg, approach rate: 0.000000 m/s, LOS rate: -0.398617 deg/s, cmd heading: 4.480070 deg, new cmd heading: 3.996047 deg. 2025-01-08T23:29:32.045Z,1736378972.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069744 target range: 158.399994 and range: 158.40 m. 2025-01-08T23:29:32.273Z,1736378972.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:32.432Z,1736378972.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:32.449Z,1736378972.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T23:29:32.457Z,1736378972.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 68.807785 m, bearing: 247.886823 deg, approach rate: 0.159814 m/s, LOS rate: -0.455231 deg/s, cmd heading: 3.996047 deg, new cmd heading: 3.414054 deg. 2025-01-08T23:29:32.459Z,1736378972.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059586 target range: 158.399994 and range: 158.40 m. 2025-01-08T23:29:32.525Z,1736378972.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:32.776Z,1736378972.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:32.817Z,1736378972.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:32.830Z,1736378972.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T23:29:32.833Z,1736378972.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 68.866943 m, bearing: 247.713257 deg, approach rate: 0.155233 m/s, LOS rate: -0.455049 deg/s, cmd heading: 3.414054 deg, new cmd heading: 2.893819 deg. 2025-01-08T23:29:32.834Z,1736378972.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050507 target range: 158.399994 and range: 158.40 m. 2025-01-08T23:29:33.028Z,1736378973.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:33.280Z,1736378973.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:33.316Z,1736378973.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:33.326Z,1736378973.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T23:29:33.329Z,1736378973.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 68.908035 m, bearing: 247.468571 deg, approach rate: 0.082959 m/s, LOS rate: -0.493695 deg/s, cmd heading: 2.893819 deg, new cmd heading: 2.160240 deg. 2025-01-08T23:29:33.330Z,1736378973.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037703 target range: 158.399994 and range: 158.40 m. 2025-01-08T23:29:33.532Z,1736378973.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:33.684Z,1736378973.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:33.692Z,1736378973.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:33.694Z,1736378973.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T23:29:33.697Z,1736378973.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 68.933815 m, bearing: 247.287939 deg, approach rate: 0.069957 m/s, LOS rate: -0.489988 deg/s, cmd heading: 2.160240 deg, new cmd heading: 1.618566 deg. 2025-01-08T23:29:33.698Z,1736378973.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028249 target range: 158.399994 and range: 158.40 m. 2025-01-08T23:29:33.784Z,1736378973.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:33.784Z,1736378973.784 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:33.784Z,1736378973.784 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:33.785Z,1736378973.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:34.036Z,1736378974.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:34.036Z,1736378974.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251637 2025-01-08T23:29:34.076Z,1736378974.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:34.153Z,1736378974.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T23:29:34.160Z,1736378974.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 68.959129 m, bearing: 247.095648 deg, approach rate: 0.055198 m/s, LOS rate: -0.419137 deg/s, cmd heading: 1.618566 deg, new cmd heading: 1.041923 deg. 2025-01-08T23:29:34.161Z,1736378974.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018185 target range: 158.399994 and range: 158.40 m. 2025-01-08T23:29:34.288Z,1736378974.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:34.288Z,1736378974.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503608 2025-01-08T23:29:34.497Z,1736378974.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:34.505Z,1736378974.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T23:29:34.531Z,1736378974.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 68.973511 m, bearing: 246.883567 deg, approach rate: 0.040769 m/s, LOS rate: -0.601086 deg/s, cmd heading: 1.041923 deg, new cmd heading: 0.405841 deg. 2025-01-08T23:29:34.538Z,1736378974.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007083 target range: 158.399994 and range: 158.40 m. 2025-01-08T23:29:34.541Z,1736378974.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:34.542Z,1736378974.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757347 2025-01-08T23:29:34.793Z,1736378974.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:34.794Z,1736378974.794 [DAT](INFO): DAT read: Rx Time:23:29:33.5500 2025-01-08T23:29:34.796Z,1736378974.796 [DAT](INFO): Rx dataTimestamp_ set to:1736378974.794873 2025-01-08T23:29:34.797Z,1736378974.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012130 2025-01-08T23:29:34.900Z,1736378974.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:34.909Z,1736378974.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-01-08T23:29:34.912Z,1736378974.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.399994 m, nav range: 68.985382 m, bearing: 246.680470 deg, approach rate: 0.029435 m/s, LOS rate: -0.503488 deg/s, cmd heading: 0.405841 deg, new cmd heading: 359.796679 deg. 2025-01-08T23:29:34.913Z,1736378974.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279637 target range: 158.399994 and range: 158.40 m. 2025-01-08T23:29:35.044Z,1736378975.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:35.044Z,1736378975.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259583 2025-01-08T23:29:35.296Z,1736378975.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:35.302Z,1736378975.302 [DAT](INFO): DAT read: 23:29:33.5500 LVL= 21856, 32753, 31698, 32755, AGC= 67, IDX= 432, 0.47, 1.117,-0.678,-0.122, 0.357, PHS= 0.849,-0.988,-0.482, RAW= 105.5, 7.6, CAL= 115.5, 5.6, ROT= 34.5, -5.6 2025-01-08T23:29:35.308Z,1736378975.308 [DAT](INFO): got valid direction response: 23:29:33.5500 LVL= 21856, 32753, 31698, 32755, AGC= 67, IDX= 432, 0.47, 1.117,-0.678,-0.122, 0.357, PHS= 0.849,-0.988,-0.482, RAW= 105.5, 7.6, CAL= 115.5, 5.6, ROT= 34.5, -5.6 2025-01-08T23:29:35.309Z,1736378975.309 [DAT](INFO): DAT read: Bearing 34.5, -5.6 (Local) 2025-01-08T23:29:35.310Z,1736378975.310 [DAT](INFO): Local bearing/azimuth received: Bearing 34.5, -5.6 (Local) 2025-01-08T23:29:35.312Z,1736378975.312 [DAT](INFO): DAT read: Range 10 to 50 : 157.2 m (Round-trip 209.7 ms) speed 0.5 m/s 2025-01-08T23:29:35.312Z,1736378975.312 [DAT](INFO): DAT read: user:3260> 2025-01-08T23:29:35.313Z,1736378975.313 [DAT](INFO): DAT read: Tx time:23:29:34.6361 2025-01-08T23:29:35.313Z,1736378975.313 [DAT](INFO): Ping request sent. 2025-01-08T23:29:35.313Z,1736378975.313 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:35.314Z,1736378975.314 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:35.315Z,1736378975.315 [DAT](INFO): direction in FSK: [-0.251172,-0.153547,0.955686] 2025-01-08T23:29:35.315Z,1736378975.315 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:35.323Z,1736378975.323 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:35.340Z,1736378975.340 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:35.341Z,1736378975.341 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:35.352Z,1736378975.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:35.383Z,1736378975.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 157.199997 m, deltaT: 3.528047 s, deltaX: -1.199997 m, approachRate: -0.340131 m/s, rangeRepo size: 4 2025-01-08T23:29:35.386Z,1736378975.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 157.199997 m, bearing: 221.957923 deg, lat: 36.903609 deg, lon: -122.121502 deg, deltaT: 3.528047 s, deltaX: -1.199997 m, approachRate: -0.340131 m/s, posRepo size: 4 2025-01-08T23:29:35.386Z,1736378975.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.20 m. 2025-01-08T23:29:35.397Z,1736378975.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.199997 m, nav range: 69.001991 m, bearing: 240.696505 deg, approach rate: 0.000000 m/s, LOS rate: -0.503488 deg/s, cmd heading: 359.796689 deg, new cmd heading: 359.087492 deg. 2025-01-08T23:29:35.398Z,1736378975.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267259 target range: 157.199997 and range: 157.20 m. 2025-01-08T23:29:35.548Z,1736378975.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:35.549Z,1736378975.549 [DAT](INFO): DAT read: TxSync time:23:29:34.6353 2025-01-08T23:29:35.728Z,1736378975.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:35.743Z,1736378975.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:35.749Z,1736378975.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.20 m. 2025-01-08T23:29:35.756Z,1736378975.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.199997 m, nav range: 69.032448 m, bearing: 240.506607 deg, approach rate: 0.082117 m/s, LOS rate: -0.511776 deg/s, cmd heading: 359.087497 deg, new cmd heading: 358.518072 deg. 2025-01-08T23:29:35.757Z,1736378975.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257321 target range: 157.199997 and range: 157.20 m. 2025-01-08T23:29:35.801Z,1736378975.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:35.802Z,1736378975.802 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:35.803Z,1736378975.803 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:35.803Z,1736378975.803 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:36.052Z,1736378976.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:36.052Z,1736378976.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.738920 2025-01-08T23:29:36.105Z,1736378976.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:36.185Z,1736378976.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.20 m. 2025-01-08T23:29:36.192Z,1736378976.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.199997 m, nav range: 69.061638 m, bearing: 240.315783 deg, approach rate: 0.066999 m/s, LOS rate: -0.437805 deg/s, cmd heading: 358.518078 deg, new cmd heading: 357.945869 deg. 2025-01-08T23:29:36.193Z,1736378976.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247334 target range: 157.199997 and range: 157.20 m. 2025-01-08T23:29:36.304Z,1736378976.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:36.305Z,1736378976.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991447 2025-01-08T23:29:36.517Z,1736378976.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:36.526Z,1736378976.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.20 m. 2025-01-08T23:29:36.530Z,1736378976.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.199997 m, nav range: 69.106979 m, bearing: 240.111352 deg, approach rate: 0.132742 m/s, LOS rate: -0.598098 deg/s, cmd heading: 357.945872 deg, new cmd heading: 357.333006 deg. 2025-01-08T23:29:36.531Z,1736378976.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.236638 target range: 157.199997 and range: 157.20 m. 2025-01-08T23:29:36.556Z,1736378976.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:36.556Z,1736378976.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243049 2025-01-08T23:29:36.809Z,1736378976.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:36.813Z,1736378976.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498722 2025-01-08T23:29:36.908Z,1736378976.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:36.916Z,1736378976.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.20 m. 2025-01-08T23:29:36.924Z,1736378976.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.199997 m, nav range: 69.149635 m, bearing: 239.917432 deg, approach rate: 0.109373 m/s, LOS rate: -0.496917 deg/s, cmd heading: 357.333012 deg, new cmd heading: 356.751632 deg. 2025-01-08T23:29:36.926Z,1736378976.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.226490 target range: 157.199997 and range: 157.20 m. 2025-01-08T23:29:37.060Z,1736378977.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:37.060Z,1736378977.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746997 2025-01-08T23:29:37.312Z,1736378977.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:37.312Z,1736378977.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999052 2025-01-08T23:29:37.347Z,1736378977.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:37.360Z,1736378977.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.20 m. 2025-01-08T23:29:37.362Z,1736378977.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.199997 m, nav range: 69.218811 m, bearing: 239.720724 deg, approach rate: 0.157595 m/s, LOS rate: -0.447689 deg/s, cmd heading: 356.751627 deg, new cmd heading: 356.162113 deg. 2025-01-08T23:29:37.369Z,1736378977.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216202 target range: 157.199997 and range: 157.20 m. 2025-01-08T23:29:37.564Z,1736378977.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:37.565Z,1736378977.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251163 2025-01-08T23:29:37.708Z,1736378977.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:37.717Z,1736378977.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.20 m. 2025-01-08T23:29:37.719Z,1736378977.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.199997 m, nav range: 69.277016 m, bearing: 239.552557 deg, approach rate: 0.161144 m/s, LOS rate: -0.465192 deg/s, cmd heading: 356.162127 deg, new cmd heading: 355.658064 deg. 2025-01-08T23:29:37.720Z,1736378977.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207404 target range: 157.199997 and range: 157.20 m. 2025-01-08T23:29:37.817Z,1736378977.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:37.818Z,1736378977.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504047 2025-01-08T23:29:38.068Z,1736378978.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:38.068Z,1736378978.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754896 2025-01-08T23:29:38.136Z,1736378978.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:38.152Z,1736378978.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:38.203Z,1736378978.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.20 m. 2025-01-08T23:29:38.217Z,1736378978.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.199997 m, nav range: 69.345345 m, bearing: 239.357661 deg, approach rate: 0.154414 m/s, LOS rate: -0.440004 deg/s, cmd heading: 355.658059 deg, new cmd heading: 355.073969 deg. 2025-01-08T23:29:38.218Z,1736378978.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.197210 target range: 157.199997 and range: 157.20 m. 2025-01-08T23:29:38.324Z,1736378978.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:38.325Z,1736378978.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011721 2025-01-08T23:29:38.538Z,1736378978.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:38.548Z,1736378978.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.20 m. 2025-01-08T23:29:38.576Z,1736378978.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:38.577Z,1736378978.577 [DAT](INFO): DAT read: Rx Time:23:29:37.2481 2025-01-08T23:29:38.578Z,1736378978.578 [DAT](INFO): Rx dataTimestamp_ set to:1736378978.577332 2025-01-08T23:29:38.578Z,1736378978.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264706 2025-01-08T23:29:38.578Z,1736378978.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.199997 m, nav range: 69.437904 m, bearing: 239.185445 deg, approach rate: 0.237786 m/s, LOS rate: -0.441833 deg/s, cmd heading: 355.073968 deg, new cmd heading: 354.558022 deg. 2025-01-08T23:29:38.596Z,1736378978.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.188205 target range: 157.199997 and range: 157.20 m. 2025-01-08T23:29:38.828Z,1736378978.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:38.828Z,1736378978.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514916 2025-01-08T23:29:38.978Z,1736378978.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:38.989Z,1736378978.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.20 m. 2025-01-08T23:29:38.993Z,1736378978.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.199997 m, nav range: 69.537857 m, bearing: 238.996829 deg, approach rate: 0.226982 m/s, LOS rate: -0.427709 deg/s, cmd heading: 354.558016 deg, new cmd heading: 353.993002 deg. 2025-01-08T23:29:38.994Z,1736378978.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178343 target range: 157.199997 and range: 157.20 m. 2025-01-08T23:29:39.080Z,1736378979.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:39.089Z,1736378979.089 [DAT](INFO): DAT read: 23:29:37.2481 LVL= 15840, 28785, 24306, 32755, AGC= 58, IDX= 429,-0.27,-0.428,-2.193,-1.835,-1.307, PHS= 0.967,-0.839,-0.531, RAW= 99.2, 4.9, CAL= 109.0, 3.2, ROT= 41.0, -3.2 2025-01-08T23:29:39.090Z,1736378979.090 [DAT](INFO): got valid direction response: 23:29:37.2481 LVL= 15840, 28785, 24306, 32755, AGC= 58, IDX= 429,-0.27,-0.428,-2.193,-1.835,-1.307, PHS= 0.967,-0.839,-0.531, RAW= 99.2, 4.9, CAL= 109.0, 3.2, ROT= 41.0, -3.2 2025-01-08T23:29:39.091Z,1736378979.091 [DAT](INFO): DAT read: Bearing 41.0, -3.2 (Local) 2025-01-08T23:29:39.092Z,1736378979.092 [DAT](INFO): Local bearing/azimuth received: Bearing 41.0, -3.2 (Local) 2025-01-08T23:29:39.094Z,1736378979.094 [DAT](INFO): DAT read: Range 10 to 50 : 155.9 m (Round-trip 207.9 ms) speed 0.1 m/s 2025-01-08T23:29:39.094Z,1736378979.094 [DAT](INFO): DAT read: user:3261> 2025-01-08T23:29:39.108Z,1736378979.108 [DAT](INFO): DAT read: Tx time:23:29:38.3361 2025-01-08T23:29:39.109Z,1736378979.109 [DAT](INFO): Ping request sent. 2025-01-08T23:29:39.109Z,1736378979.109 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:39.109Z,1736378979.109 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:39.110Z,1736378979.110 [DAT](INFO): direction in FSK: [-0.191396,-0.047411,0.980367] 2025-01-08T23:29:39.110Z,1736378979.110 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:39.110Z,1736378979.110 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:39.123Z,1736378979.123 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:39.124Z,1736378979.124 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:39.332Z,1736378979.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:39.333Z,1736378979.333 [DAT](INFO): DAT read: TxSync time:23:29:38.3353 2025-01-08T23:29:39.412Z,1736378979.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:39.449Z,1736378979.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 155.899994 m, deltaT: 3.785116 s, deltaX: -1.300003 m, approachRate: -0.343451 m/s, rangeRepo size: 4 2025-01-08T23:29:39.451Z,1736378979.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.899994 m, bearing: 203.594578 deg, lat: 36.903609 deg, lon: -122.121441 deg, deltaT: 3.785116 s, deltaX: -1.300003 m, approachRate: -0.343451 m/s, posRepo size: 4 2025-01-08T23:29:39.456Z,1736378979.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m. 2025-01-08T23:29:39.464Z,1736378979.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.899994 m, nav range: 65.091820 m, bearing: 236.359151 deg, approach rate: 0.000000 m/s, LOS rate: -0.427709 deg/s, cmd heading: 353.992995 deg, new cmd heading: 353.409460 deg. 2025-01-08T23:29:39.465Z,1736378979.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168159 target range: 155.899994 and range: 155.90 m. 2025-01-08T23:29:39.584Z,1736378979.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:39.751Z,1736378979.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:39.761Z,1736378979.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m. 2025-01-08T23:29:39.764Z,1736378979.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.899994 m, nav range: 65.202782 m, bearing: 236.224652 deg, approach rate: 0.349889 m/s, LOS rate: -0.423383 deg/s, cmd heading: 353.409451 deg, new cmd heading: 353.006649 deg. 2025-01-08T23:29:39.765Z,1736378979.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161129 target range: 155.899994 and range: 155.90 m. 2025-01-08T23:29:39.836Z,1736378979.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:40.088Z,1736378980.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:40.144Z,1736378980.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:40.182Z,1736378980.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:40.214Z,1736378980.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m. 2025-01-08T23:29:40.244Z,1736378980.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.899994 m, nav range: 65.328590 m, bearing: 236.067588 deg, approach rate: 0.278300 m/s, LOS rate: -0.346770 deg/s, cmd heading: 353.006661 deg, new cmd heading: 352.536387 deg. 2025-01-08T23:29:40.245Z,1736378980.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152921 target range: 155.899994 and range: 155.90 m. 2025-01-08T23:29:40.341Z,1736378980.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:40.342Z,1736378980.342 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:40.342Z,1736378980.342 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:40.343Z,1736378980.343 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:40.572Z,1736378980.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:40.581Z,1736378980.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m. 2025-01-08T23:29:40.584Z,1736378980.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.899994 m, nav range: 65.486977 m, bearing: 235.909449 deg, approach rate: 0.429740 m/s, LOS rate: -0.428032 deg/s, cmd heading: 352.536389 deg, new cmd heading: 352.063130 deg. 2025-01-08T23:29:40.585Z,1736378980.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144661 target range: 155.899994 and range: 155.90 m. 2025-01-08T23:29:40.593Z,1736378980.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:40.594Z,1736378980.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485490 2025-01-08T23:29:40.844Z,1736378980.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:40.845Z,1736378980.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736720 2025-01-08T23:29:40.972Z,1736378980.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:40.980Z,1736378980.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m. 2025-01-08T23:29:40.990Z,1736378980.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.899994 m, nav range: 65.635086 m, bearing: 235.762715 deg, approach rate: 0.370980 m/s, LOS rate: -0.366704 deg/s, cmd heading: 352.063139 deg, new cmd heading: 351.623940 deg. 2025-01-08T23:29:40.993Z,1736378980.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.136995 target range: 155.899994 and range: 155.90 m. 2025-01-08T23:29:41.096Z,1736378981.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:41.097Z,1736378981.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988683 2025-01-08T23:29:41.348Z,1736378981.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:41.348Z,1736378981.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239907 2025-01-08T23:29:41.413Z,1736378981.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:41.421Z,1736378981.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m. 2025-01-08T23:29:41.426Z,1736378981.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.899994 m, nav range: 65.811554 m, bearing: 235.606876 deg, approach rate: 0.400245 m/s, LOS rate: -0.352508 deg/s, cmd heading: 351.623930 deg, new cmd heading: 351.157678 deg. 2025-01-08T23:29:41.427Z,1736378981.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.128858 target range: 155.899994 and range: 155.90 m. 2025-01-08T23:29:41.600Z,1736378981.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:41.600Z,1736378981.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491962 2025-01-08T23:29:41.756Z,1736378981.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:41.789Z,1736378981.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m. 2025-01-08T23:29:41.793Z,1736378981.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.899994 m, nav range: 65.947960 m, bearing: 235.485335 deg, approach rate: 0.372741 m/s, LOS rate: -0.331435 deg/s, cmd heading: 351.157674 deg, new cmd heading: 350.793810 deg. 2025-01-08T23:29:41.794Z,1736378981.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.122507 target range: 155.899994 and range: 155.90 m. 2025-01-08T23:29:41.853Z,1736378981.853 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:41.853Z,1736378981.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744911 2025-01-08T23:29:42.104Z,1736378982.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:42.105Z,1736378982.105 [DAT](INFO): DAT read: Rx Time:23:29:40.9458 2025-01-08T23:29:42.105Z,1736378982.105 [DAT](INFO): Rx dataTimestamp_ set to:1736378982.104893 2025-01-08T23:29:42.106Z,1736378982.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997178 2025-01-08T23:29:42.223Z,1736378982.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:42.285Z,1736378982.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:42.295Z,1736378982.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m. 2025-01-08T23:29:42.298Z,1736378982.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.899994 m, nav range: 66.132423 m, bearing: 235.319512 deg, approach rate: 0.369183 m/s, LOS rate: -0.330949 deg/s, cmd heading: 350.793817 deg, new cmd heading: 350.297750 deg. 2025-01-08T23:29:42.299Z,1736378982.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113849 target range: 155.899994 and range: 155.90 m. 2025-01-08T23:29:42.356Z,1736378982.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:42.357Z,1736378982.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248051 2025-01-08T23:29:42.610Z,1736378982.610 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:42.613Z,1736378982.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503999 2025-01-08T23:29:42.656Z,1736378982.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:42.701Z,1736378982.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m. 2025-01-08T23:29:42.709Z,1736378982.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.899994 m, nav range: 66.310669 m, bearing: 235.168122 deg, approach rate: 0.430978 m/s, LOS rate: -0.365060 deg/s, cmd heading: 350.297754 deg, new cmd heading: 349.844814 deg. 2025-01-08T23:29:42.710Z,1736378982.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.105944 target range: 155.899994 and range: 155.90 m. 2025-01-08T23:29:42.860Z,1736378982.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:42.867Z,1736378982.867 [DAT](INFO): DAT read: 23:29:40.9458 LVL= 12736, 27377, 21778, 32563, AGC= 56, IDX= 422, 0.09,-2.466, 1.926, 2.138, 2.726, PHS= 1.179,-0.754,-0.591, RAW= 94.3, 1.8, CAL= 102.9, -0.9, ROT= 47.1, 0.9 2025-01-08T23:29:42.868Z,1736378982.868 [DAT](INFO): got valid direction response: 23:29:40.9458 LVL= 12736, 27377, 21778, 32563, AGC= 56, IDX= 422, 0.09,-2.466, 1.926, 2.138, 2.726, PHS= 1.179,-0.754,-0.591, RAW= 94.3, 1.8, CAL= 102.9, -0.9, ROT= 47.1, 0.9 2025-01-08T23:29:42.869Z,1736378982.869 [DAT](INFO): DAT read: Bearing 47.1, 0.9 (Local) 2025-01-08T23:29:42.869Z,1736378982.869 [DAT](INFO): Local bearing/azimuth received: Bearing 47.1, 0.9 (Local) 2025-01-08T23:29:42.871Z,1736378982.871 [DAT](INFO): DAT read: Range 10 to 50 : 154.2 m (Round-trip 205.6 ms) speed 0.3 m/s 2025-01-08T23:29:42.872Z,1736378982.872 [DAT](INFO): DAT read: user:3262> 2025-01-08T23:29:42.872Z,1736378982.872 [DAT](INFO): DAT read: Tx time:23:29:42.0361 2025-01-08T23:29:42.873Z,1736378982.873 [DAT](INFO): Ping request sent. 2025-01-08T23:29:42.873Z,1736378982.873 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:42.873Z,1736378982.873 [DAT](INFO): DAT read: TxSync time:23:29:42.0353 2025-01-08T23:29:42.874Z,1736378982.874 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:42.875Z,1736378982.875 [DAT](INFO): direction in FSK: [-0.126421,0.033633,0.991406] 2025-01-08T23:29:42.875Z,1736378982.875 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:42.876Z,1736378982.876 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:42.878Z,1736378982.878 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:42.879Z,1736378982.879 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:43.069Z,1736378983.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:43.109Z,1736378983.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 3.778991 s, deltaX: -1.699997 m, approachRate: -0.449855 m/s, rangeRepo size: 4 2025-01-08T23:29:43.112Z,1736378983.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:43.120Z,1736378983.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 154.199997 m, bearing: 176.240518 deg, lat: 36.903609 deg, lon: -122.121196 deg, deltaT: 3.778991 s, deltaX: -1.699997 m, approachRate: -0.449855 m/s, posRepo size: 4 2025-01-08T23:29:43.120Z,1736378983.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:29:43.127Z,1736378983.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 50.187088 m, bearing: 220.584579 deg, approach rate: 0.000000 m/s, LOS rate: -0.365060 deg/s, cmd heading: 349.844803 deg, new cmd heading: 349.408223 deg. 2025-01-08T23:29:43.128Z,1736378983.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.098324 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:29:43.336Z,1736378983.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:29:43.367Z,1736378983.367 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:43.477Z,1736378983.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:43.489Z,1736378983.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:29:43.497Z,1736378983.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 50.382069 m, bearing: 220.431037 deg, approach rate: 0.499727 m/s, LOS rate: -0.391997 deg/s, cmd heading: 349.408217 deg, new cmd heading: 348.949385 deg. 2025-01-08T23:29:43.498Z,1736378983.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.090316 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:29:43.620Z,1736378983.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:43.821Z,1736378983.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:43.831Z,1736378983.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:29:43.834Z,1736378983.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 50.545368 m, bearing: 220.301509 deg, approach rate: 0.478105 m/s, LOS rate: -0.378003 deg/s, cmd heading: 348.949392 deg, new cmd heading: 348.562070 deg. 2025-01-08T23:29:43.835Z,1736378983.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083556 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:29:43.872Z,1736378983.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:44.124Z,1736378984.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:44.226Z,1736378984.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:44.309Z,1736378984.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:44.312Z,1736378984.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:29:44.314Z,1736378984.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 50.739044 m, bearing: 220.147241 deg, approach rate: 0.403052 m/s, LOS rate: -0.319816 deg/s, cmd heading: 348.562066 deg, new cmd heading: 348.101038 deg. 2025-01-08T23:29:44.321Z,1736378984.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075509 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:29:44.340Z,1736378984.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:29:44.376Z,1736378984.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:44.377Z,1736378984.377 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:44.377Z,1736378984.377 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:44.377Z,1736378984.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:44.628Z,1736378984.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:44.629Z,1736378984.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755682 2025-01-08T23:29:44.709Z,1736378984.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:44.727Z,1736378984.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:29:44.734Z,1736378984.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 50.949314 m, bearing: 219.935405 deg, approach rate: 0.506532 m/s, LOS rate: -0.508197 deg/s, cmd heading: 348.101028 deg, new cmd heading: 347.468171 deg. 2025-01-08T23:29:44.734Z,1736378984.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.064464 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:29:44.880Z,1736378984.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:44.880Z,1736378984.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007502 2025-01-08T23:29:45.035Z,1736378985.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:45.043Z,1736378985.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:29:45.046Z,1736378985.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 51.091217 m, bearing: 219.791471 deg, approach rate: 0.448124 m/s, LOS rate: -0.453275 deg/s, cmd heading: 347.468170 deg, new cmd heading: 347.037576 deg. 2025-01-08T23:29:45.047Z,1736378985.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056948 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:29:45.133Z,1736378985.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:45.134Z,1736378985.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260936 2025-01-08T23:29:45.384Z,1736378985.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:45.384Z,1736378985.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511495 2025-01-08T23:29:45.478Z,1736378985.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:45.508Z,1736378985.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:29:45.511Z,1736378985.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 51.261417 m, bearing: 219.562492 deg, approach rate: 0.366798 m/s, LOS rate: -0.491833 deg/s, cmd heading: 347.037568 deg, new cmd heading: 346.352944 deg. 2025-01-08T23:29:45.512Z,1736378985.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044999 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:29:45.636Z,1736378985.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:45.636Z,1736378985.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763539 2025-01-08T23:29:45.860Z,1736378985.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:45.868Z,1736378985.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:29:45.871Z,1736378985.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 51.405533 m, bearing: 219.362923 deg, approach rate: 0.399205 m/s, LOS rate: -0.551263 deg/s, cmd heading: 346.352937 deg, new cmd heading: 345.755931 deg. 2025-01-08T23:29:45.879Z,1736378985.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034579 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:29:45.888Z,1736378985.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:45.889Z,1736378985.889 [DAT](INFO): DAT read: Rx Time:23:29:44.6445 2025-01-08T23:29:45.889Z,1736378985.889 [DAT](INFO): Rx dataTimestamp_ set to:1736378985.888971 2025-01-08T23:29:45.890Z,1736378985.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016907 2025-01-08T23:29:46.140Z,1736378986.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:46.141Z,1736378986.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267841 2025-01-08T23:29:46.260Z,1736378986.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:46.321Z,1736378986.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:46.350Z,1736378986.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m. 2025-01-08T23:29:46.363Z,1736378986.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.199997 m, nav range: 51.555195 m, bearing: 219.153536 deg, approach rate: 0.315703 m/s, LOS rate: -0.440405 deg/s, cmd heading: 345.755924 deg, new cmd heading: 345.129615 deg. 2025-01-08T23:29:46.364Z,1736378986.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023648 target range: 154.199997 and range: 154.20 m. 2025-01-08T23:29:46.392Z,1736378986.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:46.399Z,1736378986.399 [DAT](INFO): DAT read: 23:29:44.6446 LVL= 12928, 23441, 17762, 25139, AGC= 61, IDX= 424,-0.11, 1.273,-0.537,-0.588, 0.144, PHS= 1.218,-0.634,-0.735, RAW= 87.4, 1.6, CAL= 94.1, -1.7, ROT= 55.9, 1.7 2025-01-08T23:29:46.401Z,1736378986.401 [DAT](INFO): got valid direction response: 23:29:44.6446 LVL= 12928, 23441, 17762, 25139, AGC= 61, IDX= 424,-0.11, 1.273,-0.537,-0.588, 0.144, PHS= 1.218,-0.634,-0.735, RAW= 87.4, 1.6, CAL= 94.1, -1.7, ROT= 55.9, 1.7 2025-01-08T23:29:46.402Z,1736378986.402 [DAT](INFO): DAT read: Bearing 55.9, 1.7 (Local) 2025-01-08T23:29:46.402Z,1736378986.402 [DAT](INFO): Local bearing/azimuth received: Bearing 55.9, 1.7 (Local) 2025-01-08T23:29:46.404Z,1736378986.404 [DAT](INFO): DAT read: Range 10 to 50 : 153.1 m (Round-trip 204.2 ms) speed 0.0 m/s 2025-01-08T23:29:46.405Z,1736378986.405 [DAT](INFO): DAT read: user:3263> 2025-01-08T23:29:46.405Z,1736378986.405 [DAT](INFO): DAT read: Tx time:23:29:45.7362 2025-01-08T23:29:46.406Z,1736378986.406 [DAT](INFO): Ping request sent. 2025-01-08T23:29:46.406Z,1736378986.406 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:46.406Z,1736378986.406 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:46.407Z,1736378986.407 [DAT](INFO): direction in FSK: [-0.111224,0.154299,0.981744] 2025-01-08T23:29:46.408Z,1736378986.408 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:46.408Z,1736378986.408 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:46.411Z,1736378986.411 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:46.431Z,1736378986.431 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:46.645Z,1736378986.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:46.646Z,1736378986.646 [DAT](INFO): DAT read: TxSync time:23:29:45.7354 2025-01-08T23:29:46.798Z,1736378986.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:46.830Z,1736378986.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 153.100006 m, deltaT: 3.532433 s, deltaX: -1.099991 m, approachRate: -0.311398 m/s, rangeRepo size: 4 2025-01-08T23:29:46.853Z,1736378986.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 153.100006 m, bearing: 130.046039 deg, lat: 36.903644 deg, lon: -122.120990 deg, deltaT: 3.532433 s, deltaX: -1.099991 m, approachRate: -0.311398 m/s, posRepo size: 4 2025-01-08T23:29:46.853Z,1736378986.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.10 m. 2025-01-08T23:29:46.861Z,1736378986.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.100006 m, nav range: 38.972298 m, bearing: 201.196014 deg, approach rate: 0.000000 m/s, LOS rate: -0.440405 deg/s, cmd heading: 345.129623 deg, new cmd heading: 344.485790 deg. 2025-01-08T23:29:46.862Z,1736378986.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.012411 target range: 153.100006 and range: 153.10 m. 2025-01-08T23:29:46.896Z,1736378986.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:47.110Z,1736378987.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:47.132Z,1736378987.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.10 m. 2025-01-08T23:29:47.134Z,1736378987.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.100006 m, nav range: 39.117672 m, bearing: 201.007723 deg, approach rate: 0.488440 m/s, LOS rate: -0.630282 deg/s, cmd heading: 344.485782 deg, new cmd heading: 343.923027 deg. 2025-01-08T23:29:47.139Z,1736378987.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.002589 target range: 153.100006 and range: 153.10 m. 2025-01-08T23:29:47.148Z,1736378987.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:47.400Z,1736378987.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:47.522Z,1736378987.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:47.548Z,1736378987.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.10 m. 2025-01-08T23:29:47.550Z,1736378987.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.100006 m, nav range: 39.296452 m, bearing: 200.717736 deg, approach rate: 0.425906 m/s, LOS rate: -0.687689 deg/s, cmd heading: 343.923029 deg, new cmd heading: 343.057096 deg. 2025-01-08T23:29:47.551Z,1736378987.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987476 target range: 153.100006 and range: 153.10 m. 2025-01-08T23:29:47.652Z,1736378987.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:47.904Z,1736378987.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:47.906Z,1736378987.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:47.915Z,1736378987.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.10 m. 2025-01-08T23:29:47.918Z,1736378987.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.100006 m, nav range: 39.460690 m, bearing: 200.445887 deg, approach rate: 0.446276 m/s, LOS rate: -0.735603 deg/s, cmd heading: 343.057097 deg, new cmd heading: 342.245004 deg. 2025-01-08T23:29:47.919Z,1736378987.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973302 target range: 153.100006 and range: 153.10 m. 2025-01-08T23:29:48.156Z,1736378988.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:48.362Z,1736378988.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:48.378Z,1736378988.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:48.380Z,1736378988.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.10 m. 2025-01-08T23:29:48.383Z,1736378988.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.100006 m, nav range: 39.654945 m, bearing: 200.123274 deg, approach rate: 0.417563 m/s, LOS rate: -0.690073 deg/s, cmd heading: 342.245015 deg, new cmd heading: 341.282013 deg. 2025-01-08T23:29:48.392Z,1736378988.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956495 target range: 153.100006 and range: 153.10 m. 2025-01-08T23:29:48.408Z,1736378988.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:48.409Z,1736378988.409 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:48.409Z,1736378988.409 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:48.409Z,1736378988.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:48.660Z,1736378988.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:48.661Z,1736378988.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255815 2025-01-08T23:29:48.850Z,1736378988.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:48.861Z,1736378988.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.10 m. 2025-01-08T23:29:48.864Z,1736378988.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.100006 m, nav range: 39.853695 m, bearing: 199.748685 deg, approach rate: 0.413481 m/s, LOS rate: -0.775408 deg/s, cmd heading: 341.282013 deg, new cmd heading: 340.163999 deg. 2025-01-08T23:29:48.865Z,1736378988.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936982 target range: 153.100006 and range: 153.10 m. 2025-01-08T23:29:48.912Z,1736378988.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:48.913Z,1736378988.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507107 2025-01-08T23:29:49.164Z,1736378989.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:49.165Z,1736378989.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758878 2025-01-08T23:29:49.288Z,1736378989.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:49.298Z,1736378989.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.10 m. 2025-01-08T23:29:49.301Z,1736378989.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.100006 m, nav range: 40.030613 m, bearing: 199.412408 deg, approach rate: 0.404951 m/s, LOS rate: -0.766303 deg/s, cmd heading: 340.163993 deg, new cmd heading: 339.159730 deg. 2025-01-08T23:29:49.302Z,1736378989.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919454 target range: 153.100006 and range: 153.10 m. 2025-01-08T23:29:49.416Z,1736378989.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:49.416Z,1736378989.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010774 2025-01-08T23:29:49.670Z,1736378989.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:49.672Z,1736378989.672 [DAT](INFO): DAT read: Rx Time:23:29:48.3442 2025-01-08T23:29:49.673Z,1736378989.673 [DAT](INFO): Rx dataTimestamp_ set to:1736378989.672734 2025-01-08T23:29:49.674Z,1736378989.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268368 2025-01-08T23:29:49.750Z,1736378989.750 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +38.47, + -16.56, 8.02, 0.00 2025-01-08T23:29:49.759Z,1736378989.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:29:49.760Z,1736378989.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:49.769Z,1736378989.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.10 m. 2025-01-08T23:29:49.771Z,1736378989.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.100006 m, nav range: 40.215164 m, bearing: 199.048992 deg, approach rate: 0.392025 m/s, LOS rate: -0.768423 deg/s, cmd heading: 339.159737 deg, new cmd heading: 338.074629 deg. 2025-01-08T23:29:49.772Z,1736378989.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900516 target range: 153.100006 and range: 153.10 m. 2025-01-08T23:29:49.920Z,1736378989.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:49.920Z,1736378989.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514727 2025-01-08T23:29:50.120Z,1736378990.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:29:50.120Z,1736378990.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:50.129Z,1736378990.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.10 m. 2025-01-08T23:29:50.132Z,1736378990.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.100006 m, nav range: 40.356243 m, bearing: 198.767640 deg, approach rate: 0.391816 m/s, LOS rate: -0.778660 deg/s, cmd heading: 338.074638 deg, new cmd heading: 337.233597 deg. 2025-01-08T23:29:50.132Z,1736378990.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885837 target range: 153.100006 and range: 153.10 m. 2025-01-08T23:29:50.172Z,1736378990.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:50.180Z,1736378990.180 [DAT](INFO): DAT read: 23:29:48.3442 LVL= 14816, 25985, 22210, 28323, AGC= 60, IDX= 436,-0.26, 0.441,-1.011,-1.406,-0.443, PHS= 0.972,-0.521,-0.966, RAW= 77.3, 5.9, CAL= 81.3, 6.3, ROT= 68.7, -6.3 2025-01-08T23:29:50.181Z,1736378990.181 [DAT](INFO): got valid direction response: 23:29:48.3442 LVL= 14816, 25985, 22210, 28323, AGC= 60, IDX= 436,-0.26, 0.441,-1.011,-1.406,-0.443, PHS= 0.972,-0.521,-0.966, RAW= 77.3, 5.9, CAL= 81.3, 6.3, ROT= 68.7, -6.3 2025-01-08T23:29:50.182Z,1736378990.182 [DAT](INFO): DAT read: Bearing 68.7, -6.3 (Local) 2025-01-08T23:29:50.182Z,1736378990.182 [DAT](INFO): Local bearing/azimuth received: Bearing 68.7, -6.3 (Local) 2025-01-08T23:29:50.184Z,1736378990.184 [DAT](INFO): DAT read: Range 10 to 50 : 152.9 m (Round-trip 203.9 ms) speed 0.1 m/s 2025-01-08T23:29:50.185Z,1736378990.185 [DAT](INFO): DAT read: user:3264> 2025-01-08T23:29:50.185Z,1736378990.185 [DAT](INFO): DAT read: Tx time:23:29:49.4362 2025-01-08T23:29:50.186Z,1736378990.186 [DAT](INFO): Ping request sent. 2025-01-08T23:29:50.186Z,1736378990.186 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:50.186Z,1736378990.186 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:50.187Z,1736378990.187 [DAT](INFO): direction in FSK: [-0.173530,0.322711,0.930454] 2025-01-08T23:29:50.195Z,1736378990.195 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:50.200Z,1736378990.200 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:50.203Z,1736378990.203 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:50.208Z,1736378990.208 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:50.424Z,1736378990.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:50.426Z,1736378990.426 [DAT](INFO): DAT read: TxSync time:23:29:49.4354 2025-01-08T23:29:50.553Z,1736378990.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:50.584Z,1736378990.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.899994 m, deltaT: 3.779482 s, deltaX: -0.200012 m, approachRate: -0.052921 m/s, rangeRepo size: 4 2025-01-08T23:29:50.586Z,1736378990.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 152.899994 m, bearing: 106.943440 deg, lat: 36.903747 deg, lon: -122.120812 deg, deltaT: 3.779482 s, deltaX: -0.200012 m, approachRate: -0.052921 m/s, posRepo size: 4 2025-01-08T23:29:50.587Z,1736378990.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T23:29:50.594Z,1736378990.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 27.198092 m, bearing: 173.693984 deg, approach rate: 0.000000 m/s, LOS rate: -0.778660 deg/s, cmd heading: 337.233596 deg, new cmd heading: 336.182059 deg. 2025-01-08T23:29:50.608Z,1736378990.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867484 target range: 152.899994 and range: 152.90 m. 2025-01-08T23:29:50.677Z,1736378990.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:50.922Z,1736378990.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:50.928Z,1736378990.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:50.933Z,1736378990.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:50.935Z,1736378990.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T23:29:50.938Z,1736378990.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 27.401464 m, bearing: 173.423563 deg, approach rate: 0.571306 m/s, LOS rate: -0.754015 deg/s, cmd heading: 336.182048 deg, new cmd heading: 335.376860 deg. 2025-01-08T23:29:50.939Z,1736378990.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853430 target range: 152.899994 and range: 152.90 m. 2025-01-08T23:29:51.180Z,1736378991.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:51.180Z,1736378991.180 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:51.180Z,1736378991.180 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:51.181Z,1736378991.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:51.329Z,1736378991.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:51.346Z,1736378991.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T23:29:51.349Z,1736378991.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 27.624275 m, bearing: 173.124291 deg, approach rate: 0.545814 m/s, LOS rate: -0.727202 deg/s, cmd heading: 335.376850 deg, new cmd heading: 334.486353 deg. 2025-01-08T23:29:51.350Z,1736378991.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837888 target range: 152.899994 and range: 152.90 m. 2025-01-08T23:29:51.435Z,1736378991.435 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:51.436Z,1736378991.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250122 2025-01-08T23:29:51.684Z,1736378991.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:51.684Z,1736378991.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498748 2025-01-08T23:29:51.762Z,1736378991.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:51.779Z,1736378991.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T23:29:51.782Z,1736378991.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 27.855974 m, bearing: 172.836352 deg, approach rate: 0.531742 m/s, LOS rate: -0.655311 deg/s, cmd heading: 334.486357 deg, new cmd heading: 333.629793 deg. 2025-01-08T23:29:51.783Z,1736378991.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822938 target range: 152.899994 and range: 152.90 m. 2025-01-08T23:29:51.936Z,1736378991.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:51.937Z,1736378991.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751007 2025-01-08T23:29:52.131Z,1736378992.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:52.156Z,1736378992.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T23:29:52.159Z,1736378992.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 28.052116 m, bearing: 172.588871 deg, approach rate: 0.519491 m/s, LOS rate: -0.650879 deg/s, cmd heading: 333.629797 deg, new cmd heading: 332.892588 deg. 2025-01-08T23:29:52.160Z,1736378992.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810072 target range: 152.899994 and range: 152.90 m. 2025-01-08T23:29:52.188Z,1736378992.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:52.189Z,1736378992.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002838 2025-01-08T23:29:52.440Z,1736378992.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:52.442Z,1736378992.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255947 2025-01-08T23:29:52.565Z,1736378992.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:52.578Z,1736378992.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T23:29:52.585Z,1736378992.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 28.278360 m, bearing: 172.348725 deg, approach rate: 0.537575 m/s, LOS rate: -0.566041 deg/s, cmd heading: 332.892601 deg, new cmd heading: 332.177966 deg. 2025-01-08T23:29:52.587Z,1736378992.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797599 target range: 152.899994 and range: 152.90 m. 2025-01-08T23:29:52.693Z,1736378992.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:52.693Z,1736378992.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507629 2025-01-08T23:29:52.944Z,1736378992.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:52.945Z,1736378992.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759037 2025-01-08T23:29:52.961Z,1736378992.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:52.973Z,1736378992.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:52.984Z,1736378992.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T23:29:52.987Z,1736378992.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 28.483599 m, bearing: 172.127748 deg, approach rate: 0.504628 m/s, LOS rate: -0.539408 deg/s, cmd heading: 332.177972 deg, new cmd heading: 331.519850 deg. 2025-01-08T23:29:52.992Z,1736378992.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786113 target range: 152.899994 and range: 152.90 m. 2025-01-08T23:29:53.199Z,1736378993.199 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:53.202Z,1736378993.202 [DAT](INFO): DAT read: Rx Time:23:29:52.0437 2025-01-08T23:29:53.204Z,1736378993.204 [DAT](INFO): Rx dataTimestamp_ set to:1736378993.202774 2025-01-08T23:29:53.205Z,1736378993.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018652 2025-01-08T23:29:53.351Z,1736378993.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:53.361Z,1736378993.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T23:29:53.400Z,1736378993.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 28.684366 m, bearing: 171.909468 deg, approach rate: 0.532851 m/s, LOS rate: -0.575276 deg/s, cmd heading: 331.519842 deg, new cmd heading: 330.869613 deg. 2025-01-08T23:29:53.409Z,1736378993.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774764 target range: 152.899994 and range: 152.90 m. 2025-01-08T23:29:53.450Z,1736378993.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:53.451Z,1736378993.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265622 2025-01-08T23:29:53.702Z,1736378993.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:53.706Z,1736378993.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519155 2025-01-08T23:29:53.811Z,1736378993.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:53.820Z,1736378993.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m. 2025-01-08T23:29:53.823Z,1736378993.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.899994 m, nav range: 28.919409 m, bearing: 171.704057 deg, approach rate: 0.511670 m/s, LOS rate: -0.443527 deg/s, cmd heading: 330.869608 deg, new cmd heading: 330.258411 deg. 2025-01-08T23:29:53.825Z,1736378993.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764097 target range: 152.899994 and range: 152.90 m. 2025-01-08T23:29:53.952Z,1736378993.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:53.960Z,1736378993.960 [DAT](INFO): DAT read: 23:29:52.0437 LVL= 8944, 22865, 15954, 24419, AGC= 58, IDX= 431,-0.32,-0.119,-1.359,-2.267,-1.055, PHS= 1.024,-0.258,-1.215, RAW= 64.8, 4.7, CAL= 65.9, 4.6, ROT= 84.1, -4.6 2025-01-08T23:29:53.961Z,1736378993.961 [DAT](INFO): got valid direction response: 23:29:52.0437 LVL= 8944, 22865, 15954, 24419, AGC= 58, IDX= 431,-0.32,-0.119,-1.359,-2.267,-1.055, PHS= 1.024,-0.258,-1.215, RAW= 64.8, 4.7, CAL= 65.9, 4.6, ROT= 84.1, -4.6 2025-01-08T23:29:53.962Z,1736378993.962 [DAT](INFO): DAT read: Bearing 84.1, -4.6 (Local) 2025-01-08T23:29:53.962Z,1736378993.962 [DAT](INFO): Local bearing/azimuth received: Bearing 84.1, -4.6 (Local) 2025-01-08T23:29:53.964Z,1736378993.964 [DAT](INFO): DAT read: Range 10 to 50 : 152.5 m (Round-trip 203.4 ms) speed 0.0 m/s 2025-01-08T23:29:53.965Z,1736378993.965 [DAT](INFO): DAT read: user:3265> 2025-01-08T23:29:53.966Z,1736378993.966 [DAT](INFO): DAT read: Tx time:23:29:53.1362 2025-01-08T23:29:53.966Z,1736378993.966 [DAT](INFO): Ping request sent. 2025-01-08T23:29:53.966Z,1736378993.966 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:53.967Z,1736378993.967 [DAT](INFO): DAT read: TxSync time:23:29:53.1354 2025-01-08T23:29:53.967Z,1736378993.967 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:29:53.968Z,1736378993.968 [DAT](INFO): direction in FSK: [-0.125594,0.512629,0.849375] 2025-01-08T23:29:53.968Z,1736378993.968 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:53.969Z,1736378993.969 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:53.973Z,1736378993.973 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:53.974Z,1736378993.974 [DAT](INFO): publishing direction and range info 2025-01-08T23:29:54.162Z,1736378994.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:54.204Z,1736378994.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:54.222Z,1736378994.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.500000 m, deltaT: 3.779927 s, deltaX: -0.399994 m, approachRate: -0.105821 m/s, rangeRepo size: 4 2025-01-08T23:29:54.230Z,1736378994.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 152.500000 m, bearing: 82.980810 deg, lat: 36.903819 deg, lon: -122.120605 deg, deltaT: 3.779927 s, deltaX: -0.399994 m, approachRate: -0.105821 m/s, posRepo size: 4 2025-01-08T23:29:54.230Z,1736378994.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:54.237Z,1736378994.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 30.681231 m, bearing: 132.453730 deg, approach rate: 0.000000 m/s, LOS rate: -0.443527 deg/s, cmd heading: 330.258416 deg, new cmd heading: 329.732369 deg. 2025-01-08T23:29:54.238Z,1736378994.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754916 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:29:54.456Z,1736378994.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:54.603Z,1736378994.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:29:54.609Z,1736378994.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:54.621Z,1736378994.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:54.627Z,1736378994.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 30.918627 m, bearing: 132.571652 deg, approach rate: 0.586113 m/s, LOS rate: 0.288905 deg/s, cmd heading: 329.732382 deg, new cmd heading: 330.083427 deg. 2025-01-08T23:29:54.628Z,1736378994.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761043 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:29:54.709Z,1736378994.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:54.956Z,1736378994.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:29:54.956Z,1736378994.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:54.960Z,1736378994.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:54.984Z,1736378994.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:54.987Z,1736378994.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 31.109560 m, bearing: 132.657316 deg, approach rate: 0.524798 m/s, LOS rate: 0.234010 deg/s, cmd heading: 330.083426 deg, new cmd heading: 330.338839 deg. 2025-01-08T23:29:54.993Z,1736378994.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765501 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:29:55.212Z,1736378995.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:55.432Z,1736378995.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T23:29:55.433Z,1736378995.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:55.466Z,1736378995.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:55.489Z,1736378995.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:55.491Z,1736378995.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:55.498Z,1736378995.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 31.367052 m, bearing: 132.767249 deg, approach rate: 0.508541 m/s, LOS rate: 0.215333 deg/s, cmd heading: 330.338848 deg, new cmd heading: 330.665937 deg. 2025-01-08T23:29:55.499Z,1736378995.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771209 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:29:55.717Z,1736378995.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:55.717Z,1736378995.717 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:55.717Z,1736378995.717 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:55.718Z,1736378995.718 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:55.836Z,1736378995.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:55.848Z,1736378995.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:55.851Z,1736378995.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 31.570646 m, bearing: 132.906342 deg, approach rate: 0.569319 m/s, LOS rate: 0.386443 deg/s, cmd heading: 330.665932 deg, new cmd heading: 331.080512 deg. 2025-01-08T23:29:55.852Z,1736378995.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778445 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:29:55.969Z,1736378995.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:55.970Z,1736378995.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003415 2025-01-08T23:29:56.220Z,1736378996.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:56.220Z,1736378996.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254192 2025-01-08T23:29:56.297Z,1736378996.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:56.310Z,1736378996.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:56.317Z,1736378996.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 31.802057 m, bearing: 133.057982 deg, approach rate: 0.501506 m/s, LOS rate: 0.326237 deg/s, cmd heading: 331.080525 deg, new cmd heading: 331.532124 deg. 2025-01-08T23:29:56.318Z,1736378996.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786327 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:29:56.473Z,1736378996.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:56.477Z,1736378996.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510010 2025-01-08T23:29:56.718Z,1736378996.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:56.725Z,1736378996.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:56.725Z,1736378996.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759296 2025-01-08T23:29:56.729Z,1736378996.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:56.732Z,1736378996.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 32.010281 m, bearing: 133.208450 deg, approach rate: 0.496292 m/s, LOS rate: 0.356300 deg/s, cmd heading: 331.532137 deg, new cmd heading: 331.980594 deg. 2025-01-08T23:29:56.733Z,1736378996.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794155 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:29:56.976Z,1736378996.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:56.977Z,1736378996.977 [DAT](INFO): DAT read: Rx Time:23:29:55.7431 2025-01-08T23:29:56.977Z,1736378996.977 [DAT](INFO): Rx dataTimestamp_ set to:1736378996.976751 2025-01-08T23:29:56.978Z,1736378996.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011417 2025-01-08T23:29:57.123Z,1736378997.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:57.131Z,1736378997.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:57.134Z,1736378997.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 32.211388 m, bearing: 133.348420 deg, approach rate: 0.500524 m/s, LOS rate: 0.346190 deg/s, cmd heading: 331.980607 deg, new cmd heading: 332.397889 deg. 2025-01-08T23:29:57.135Z,1736378997.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801437 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:29:57.228Z,1736378997.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:57.229Z,1736378997.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262550 2025-01-08T23:29:57.482Z,1736378997.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:57.488Z,1736378997.488 [DAT](INFO): DAT read: Range 10 to 50 : 152.0 m (Round-trip 202.7 ms) speed 0.0 m/s 2025-01-08T23:29:57.490Z,1736378997.490 [DAT](INFO): DAT read: user:3266> 2025-01-08T23:29:57.513Z,1736378997.513 [DAT](INFO): DAT read: Tx time:23:29:56.8363 2025-01-08T23:29:57.513Z,1736378997.513 [DAT](INFO): Ping request sent. 2025-01-08T23:29:57.513Z,1736378997.513 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:29:57.513Z,1736378997.513 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:29:57.514Z,1736378997.514 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:57.514Z,1736378997.514 [DAT](INFO): publishing transmit ping time 2025-01-08T23:29:57.628Z,1736378997.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:57.643Z,1736378997.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:57.652Z,1736378997.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.000000 m, deltaT: 3.530253 s, deltaX: -0.500000 m, approachRate: -0.141633 m/s, rangeRepo size: 4 2025-01-08T23:29:57.654Z,1736378997.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:57.667Z,1736378997.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 32.465816 m, bearing: 133.524139 deg, approach rate: 0.490013 m/s, LOS rate: 0.335769 deg/s, cmd heading: 332.397877 deg, new cmd heading: 332.920886 deg. 2025-01-08T23:29:57.673Z,1736378997.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810565 target range: 152.500000 and range: 152.00 m. 2025-01-08T23:29:57.733Z,1736378997.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:57.734Z,1736378997.734 [DAT](INFO): DAT read: TxSync time:23:29:56.8355 2025-01-08T23:29:57.735Z,1736378997.735 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:29:57.735Z,1736378997.735 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:29:57.735Z,1736378997.735 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:29:57.971Z,1736378997.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:57.980Z,1736378997.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:57.983Z,1736378997.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 32.639175 m, bearing: 133.640235 deg, approach rate: 0.525397 m/s, LOS rate: 0.349983 deg/s, cmd heading: 332.920878 deg, new cmd heading: 333.267313 deg. 2025-01-08T23:29:57.984Z,1736378997.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:57.984Z,1736378997.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.471295 2025-01-08T23:29:57.986Z,1736378997.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816612 target range: 152.500000 and range: 152.00 m. 2025-01-08T23:29:58.237Z,1736378998.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:58.239Z,1736378998.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.725502 2025-01-08T23:29:58.377Z,1736378998.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:58.385Z,1736378998.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:58.388Z,1736378998.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 32.845119 m, bearing: 133.773936 deg, approach rate: 0.508430 m/s, LOS rate: 0.328008 deg/s, cmd heading: 333.267305 deg, new cmd heading: 333.665887 deg. 2025-01-08T23:29:58.389Z,1736378998.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823568 target range: 152.500000 and range: 152.00 m. 2025-01-08T23:29:58.490Z,1736378998.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:58.493Z,1736378998.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979038 2025-01-08T23:29:58.740Z,1736378998.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:58.740Z,1736378998.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227124 2025-01-08T23:29:58.806Z,1736378998.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:58.816Z,1736378998.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:58.819Z,1736378998.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 33.069637 m, bearing: 133.906749 deg, approach rate: 0.521064 m/s, LOS rate: 0.306141 deg/s, cmd heading: 333.665888 deg, new cmd heading: 334.061614 deg. 2025-01-08T23:29:58.820Z,1736378998.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830475 target range: 152.500000 and range: 152.00 m. 2025-01-08T23:29:58.992Z,1736378998.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:58.993Z,1736378998.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479919 2025-01-08T23:29:59.216Z,1736378999.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:59.224Z,1736378999.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:59.230Z,1736378999.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 33.284042 m, bearing: 134.031814 deg, approach rate: 0.525167 m/s, LOS rate: 0.304363 deg/s, cmd heading: 334.061602 deg, new cmd heading: 334.434375 deg. 2025-01-08T23:29:59.233Z,1736378999.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836981 target range: 152.500000 and range: 152.00 m. 2025-01-08T23:29:59.244Z,1736378999.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:59.244Z,1736378999.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731215 2025-01-08T23:29:59.498Z,1736378999.498 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:59.500Z,1736378999.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986498 2025-01-08T23:29:59.618Z,1736378999.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:59.629Z,1736378999.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:59.632Z,1736378999.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 33.507877 m, bearing: 134.134558 deg, approach rate: 0.552837 m/s, LOS rate: 0.252064 deg/s, cmd heading: 334.434366 deg, new cmd heading: 334.740534 deg. 2025-01-08T23:29:59.633Z,1736378999.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842324 target range: 152.500000 and range: 152.00 m. 2025-01-08T23:29:59.750Z,1736378999.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:29:59.750Z,1736378999.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237154 2025-01-08T23:29:59.978Z,1736378999.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:29:59.984Z,1736378999.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:29:59.986Z,1736378999.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:29:59.989Z,1736378999.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 33.708042 m, bearing: 134.228230 deg, approach rate: 0.560552 m/s, LOS rate: 0.260767 deg/s, cmd heading: 334.740522 deg, new cmd heading: 335.019868 deg. 2025-01-08T23:29:59.990Z,1736378999.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847200 target range: 152.500000 and range: 152.00 m. 2025-01-08T23:30:00.004Z,1736379000.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:00.004Z,1736379000.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491221 2025-01-08T23:30:00.256Z,1736379000.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:00.256Z,1736379000.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743181 2025-01-08T23:30:00.384Z,1736379000.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:00.401Z,1736379000.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:30:00.408Z,1736379000.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 33.934193 m, bearing: 134.334260 deg, approach rate: 0.545680 m/s, LOS rate: 0.254135 deg/s, cmd heading: 335.019877 deg, new cmd heading: 335.335844 deg. 2025-01-08T23:30:00.413Z,1736379000.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852715 target range: 152.500000 and range: 152.00 m. 2025-01-08T23:30:00.510Z,1736379000.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:00.512Z,1736379000.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998321 2025-01-08T23:30:00.760Z,1736379000.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:00.760Z,1736379000.760 [DAT](INFO): DAT read: Rx Time:23:29:59.4430 2025-01-08T23:30:00.761Z,1736379000.761 [DAT](INFO): Rx dataTimestamp_ set to:1736379000.760572 2025-01-08T23:30:00.761Z,1736379000.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248180 2025-01-08T23:30:00.805Z,1736379000.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:00.838Z,1736379000.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:30:00.845Z,1736379000.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 34.180309 m, bearing: 134.425225 deg, approach rate: 0.563017 m/s, LOS rate: 0.206593 deg/s, cmd heading: 335.335842 deg, new cmd heading: 335.606770 deg. 2025-01-08T23:30:00.846Z,1736379000.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857443 target range: 152.500000 and range: 152.00 m. 2025-01-08T23:30:01.012Z,1736379001.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:01.013Z,1736379001.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499322 2025-01-08T23:30:01.220Z,1736379001.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:01.233Z,1736379001.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:30:01.235Z,1736379001.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 34.423313 m, bearing: 134.513733 deg, approach rate: 0.615903 m/s, LOS rate: 0.222744 deg/s, cmd heading: 335.606782 deg, new cmd heading: 335.870430 deg. 2025-01-08T23:30:01.236Z,1736379001.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862045 target range: 152.500000 and range: 152.00 m. 2025-01-08T23:30:01.265Z,1736379001.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:01.277Z,1736379001.277 [DAT](INFO): DAT read: 23:29:59.4430 LVL= 10768, 17617, 17234, 22003, AGC= 59, IDX= 439, 0.28, 1.628, 0.731,-0.609, 0.542, PHS= 1.174, 0.236,-1.153, RAW= 53.6, -2.6, CAL= 56.5, -6.3, ROT= 93.5, 6.3 2025-01-08T23:30:01.279Z,1736379001.279 [DAT](INFO): got valid direction response: 23:29:59.4430 LVL= 10768, 17617, 17234, 22003, AGC= 59, IDX= 439, 0.28, 1.628, 0.731,-0.609, 0.542, PHS= 1.174, 0.236,-1.153, RAW= 53.6, -2.6, CAL= 56.5, -6.3, ROT= 93.5, 6.3 2025-01-08T23:30:01.281Z,1736379001.281 [DAT](INFO): DAT read: Bearing 93.5, 6.3 (Local) 2025-01-08T23:30:01.281Z,1736379001.281 [DAT](INFO): Local bearing/azimuth received: Bearing 93.5, 6.3 (Local) 2025-01-08T23:30:01.288Z,1736379001.288 [DAT](INFO): DAT read: Range 10 to 50 : 151.9 m (Round-trip 202.6 ms) speed 0.0 m/s 2025-01-08T23:30:01.290Z,1736379001.290 [DAT](INFO): DAT read: user:3267> 2025-01-08T23:30:01.291Z,1736379001.291 [DAT](INFO): DAT read: Tx time:23:30:00.5363 2025-01-08T23:30:01.291Z,1736379001.291 [DAT](INFO): Ping request sent. 2025-01-08T23:30:01.292Z,1736379001.292 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:01.292Z,1736379001.292 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:01.294Z,1736379001.294 [DAT](INFO): direction in FSK: [0.031539,0.656185,0.753941] 2025-01-08T23:30:01.294Z,1736379001.294 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:01.294Z,1736379001.294 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:01.313Z,1736379001.313 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:01.314Z,1736379001.314 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:01.517Z,1736379001.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:01.520Z,1736379001.520 [DAT](INFO): DAT read: TxSync time:23:30:00.5355 2025-01-08T23:30:01.683Z,1736379001.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:01.725Z,1736379001.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 151.899994 m, deltaT: 3.782685 s, deltaX: -0.100006 m, approachRate: -0.026438 m/s, rangeRepo size: 4 2025-01-08T23:30:01.732Z,1736379001.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 151.899994 m, bearing: 61.591644 deg, lat: 36.903851 deg, lon: -122.120276 deg, deltaT: 7.312938 s, deltaX: -0.600006 m, approachRate: -0.082047 m/s, posRepo size: 4 2025-01-08T23:30:01.732Z,1736379001.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T23:30:01.735Z,1736379001.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 57.913868 m, bearing: 111.089339 deg, approach rate: 0.000000 m/s, LOS rate: 0.222744 deg/s, cmd heading: 335.870427 deg, new cmd heading: 336.195822 deg. 2025-01-08T23:30:01.738Z,1736379001.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867724 target range: 151.899994 and range: 151.90 m. 2025-01-08T23:30:01.768Z,1736379001.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:02.005Z,1736379002.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:02.013Z,1736379002.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:02.015Z,1736379002.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T23:30:02.018Z,1736379002.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 58.089550 m, bearing: 111.197566 deg, approach rate: 0.593952 m/s, LOS rate: 0.364791 deg/s, cmd heading: 336.195817 deg, new cmd heading: 336.519513 deg. 2025-01-08T23:30:02.020Z,1736379002.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:02.020Z,1736379002.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:02.020Z,1736379002.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:02.021Z,1736379002.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:02.023Z,1736379002.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873374 target range: 151.899994 and range: 151.90 m. 2025-01-08T23:30:02.272Z,1736379002.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:02.272Z,1736379002.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981056 2025-01-08T23:30:02.418Z,1736379002.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:02.429Z,1736379002.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T23:30:02.432Z,1736379002.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 58.314045 m, bearing: 111.336926 deg, approach rate: 0.542095 m/s, LOS rate: 0.335220 deg/s, cmd heading: 336.519514 deg, new cmd heading: 336.935975 deg. 2025-01-08T23:30:02.433Z,1736379002.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.880642 target range: 151.899994 and range: 151.90 m. 2025-01-08T23:30:02.527Z,1736379002.527 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:02.529Z,1736379002.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237376 2025-01-08T23:30:02.780Z,1736379002.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:02.781Z,1736379002.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489329 2025-01-08T23:30:02.852Z,1736379002.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:02.862Z,1736379002.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T23:30:02.865Z,1736379002.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 58.560444 m, bearing: 111.475929 deg, approach rate: 0.569776 m/s, LOS rate: 0.320080 deg/s, cmd heading: 336.935964 deg, new cmd heading: 337.351211 deg. 2025-01-08T23:30:02.866Z,1736379002.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887889 target range: 151.899994 and range: 151.90 m. 2025-01-08T23:30:03.032Z,1736379003.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:03.032Z,1736379003.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741164 2025-01-08T23:30:03.225Z,1736379003.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:03.234Z,1736379003.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T23:30:03.237Z,1736379003.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 58.771942 m, bearing: 111.596118 deg, approach rate: 0.568637 m/s, LOS rate: 0.321977 deg/s, cmd heading: 337.351212 deg, new cmd heading: 337.710475 deg. 2025-01-08T23:30:03.238Z,1736379003.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894160 target range: 151.899994 and range: 151.90 m. 2025-01-08T23:30:03.285Z,1736379003.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:03.285Z,1736379003.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994072 2025-01-08T23:30:03.538Z,1736379003.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:03.541Z,1736379003.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248919 2025-01-08T23:30:03.654Z,1736379003.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:03.687Z,1736379003.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T23:30:03.694Z,1736379003.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 59.028141 m, bearing: 111.725720 deg, approach rate: 0.565627 m/s, LOS rate: 0.284889 deg/s, cmd heading: 337.710480 deg, new cmd heading: 338.097593 deg. 2025-01-08T23:30:03.699Z,1736379003.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900916 target range: 151.899994 and range: 151.90 m. 2025-01-08T23:30:03.789Z,1736379003.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:03.790Z,1736379003.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498415 2025-01-08T23:30:04.040Z,1736379004.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:04.042Z,1736379004.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750083 2025-01-08T23:30:04.049Z,1736379004.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:04.061Z,1736379004.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:04.063Z,1736379004.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T23:30:04.066Z,1736379004.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 59.264351 m, bearing: 111.844084 deg, approach rate: 0.627762 m/s, LOS rate: 0.313317 deg/s, cmd heading: 338.097588 deg, new cmd heading: 338.451262 deg. 2025-01-08T23:30:04.067Z,1736379004.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907089 target range: 151.899994 and range: 151.90 m. 2025-01-08T23:30:04.292Z,1736379004.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:04.294Z,1736379004.294 [DAT](INFO): DAT read: Rx Time:23:30:03.1438 2025-01-08T23:30:04.294Z,1736379004.294 [DAT](INFO): Rx dataTimestamp_ set to:1736379004.293891 2025-01-08T23:30:04.295Z,1736379004.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003439 2025-01-08T23:30:04.446Z,1736379004.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:04.477Z,1736379004.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T23:30:04.480Z,1736379004.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 59.501781 m, bearing: 111.964314 deg, approach rate: 0.573694 m/s, LOS rate: 0.289347 deg/s, cmd heading: 338.451255 deg, new cmd heading: 338.810501 deg. 2025-01-08T23:30:04.481Z,1736379004.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913359 target range: 151.899994 and range: 151.90 m. 2025-01-08T23:30:04.554Z,1736379004.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:04.557Z,1736379004.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265338 2025-01-08T23:30:04.805Z,1736379004.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:04.816Z,1736379004.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524116 2025-01-08T23:30:04.904Z,1736379004.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:04.913Z,1736379004.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-01-08T23:30:04.916Z,1736379004.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.899994 m, nav range: 59.784420 m, bearing: 112.104439 deg, approach rate: 0.648603 m/s, LOS rate: 0.320039 deg/s, cmd heading: 338.810496 deg, new cmd heading: 339.228873 deg. 2025-01-08T23:30:04.917Z,1736379004.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920661 target range: 151.899994 and range: 151.90 m. 2025-01-08T23:30:05.056Z,1736379005.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:05.075Z,1736379005.075 [DAT](INFO): DAT read: 23:30:03.1438 LVL= 16624, 25073, 21362, 28547, AGC= 59, IDX= 447,-0.35, 0.790, 0.114,-1.280,-0.121, PHS= 0.999, 0.282,-1.162, RAW= 49.0, -1.3, CAL= 50.2, -4.1, ROT= 99.8, 4.1 2025-01-08T23:30:05.076Z,1736379005.076 [DAT](INFO): got valid direction response: 23:30:03.1438 LVL= 16624, 25073, 21362, 28547, AGC= 59, IDX= 447,-0.35, 0.790, 0.114,-1.280,-0.121, PHS= 0.999, 0.282,-1.162, RAW= 49.0, -1.3, CAL= 50.2, -4.1, ROT= 99.8, 4.1 2025-01-08T23:30:05.077Z,1736379005.077 [DAT](INFO): DAT read: Bearing 99.8, 4.1 (Local) 2025-01-08T23:30:05.078Z,1736379005.078 [DAT](INFO): Local bearing/azimuth received: Bearing 99.8, 4.1 (Local) 2025-01-08T23:30:05.112Z,1736379005.112 [DAT](INFO): DAT read: Range 10 to 50 : 152.5 m (Round-trip 203.4 ms) speed -0.1 m/s 2025-01-08T23:30:05.112Z,1736379005.112 [DAT](INFO): DAT read: user:3268> 2025-01-08T23:30:05.113Z,1736379005.113 [DAT](INFO): DAT read: Tx time:23:30:04.2363 2025-01-08T23:30:05.114Z,1736379005.114 [DAT](INFO): Ping request sent. 2025-01-08T23:30:05.114Z,1736379005.114 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:05.114Z,1736379005.114 [DAT](INFO): DAT read: TxSync time:23:30:04.2355 2025-01-08T23:30:05.115Z,1736379005.115 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:05.123Z,1736379005.123 [DAT](INFO): direction in FSK: [0.016856,0.712866,0.701098] 2025-01-08T23:30:05.128Z,1736379005.128 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:05.128Z,1736379005.128 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:05.131Z,1736379005.131 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:05.147Z,1736379005.147 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:05.256Z,1736379005.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:05.289Z,1736379005.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.500000 m, deltaT: 3.791139 s, deltaX: 0.600006 m, approachRate: 0.158265 m/s, rangeRepo size: 4 2025-01-08T23:30:05.300Z,1736379005.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 152.500000 m, bearing: 67.522414 deg, lat: 36.904091 deg, lon: -122.120045 deg, deltaT: 3.791139 s, deltaX: 0.600006 m, approachRate: 0.158265 m/s, posRepo size: 4 2025-01-08T23:30:05.300Z,1736379005.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:30:05.303Z,1736379005.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 76.152893 m, bearing: 86.999887 deg, approach rate: 0.000000 m/s, LOS rate: 0.320039 deg/s, cmd heading: 339.228886 deg, new cmd heading: 339.589961 deg. 2025-01-08T23:30:05.308Z,1736379005.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:05.312Z,1736379005.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926963 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:30:05.560Z,1736379005.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:05.694Z,1736379005.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:05.703Z,1736379005.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:30:05.706Z,1736379005.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 76.342636 m, bearing: 87.180586 deg, approach rate: 0.457807 m/s, LOS rate: 0.434901 deg/s, cmd heading: 339.589957 deg, new cmd heading: 340.130689 deg. 2025-01-08T23:30:05.708Z,1736379005.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936400 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:30:05.812Z,1736379005.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:06.048Z,1736379006.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:06.057Z,1736379006.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:30:06.061Z,1736379006.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 76.496078 m, bearing: 87.326101 deg, approach rate: 0.433746 m/s, LOS rate: 0.410511 deg/s, cmd heading: 340.130689 deg, new cmd heading: 340.566349 deg. 2025-01-08T23:30:06.062Z,1736379006.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944004 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:30:06.064Z,1736379006.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:06.316Z,1736379006.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:06.449Z,1736379006.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:06.455Z,1736379006.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:06.458Z,1736379006.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:30:06.461Z,1736379006.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 76.669693 m, bearing: 87.490394 deg, approach rate: 0.433431 m/s, LOS rate: 0.409230 deg/s, cmd heading: 340.566346 deg, new cmd heading: 341.058096 deg. 2025-01-08T23:30:06.462Z,1736379006.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952587 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:30:06.571Z,1736379006.571 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:06.573Z,1736379006.573 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:06.573Z,1736379006.573 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:06.574Z,1736379006.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:06.820Z,1736379006.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:06.820Z,1736379006.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706700 2025-01-08T23:30:06.886Z,1736379006.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:06.896Z,1736379006.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:30:06.898Z,1736379006.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 76.839821 m, bearing: 87.669900 deg, approach rate: 0.388205 m/s, LOS rate: 0.408696 deg/s, cmd heading: 341.058092 deg, new cmd heading: 341.595400 deg. 2025-01-08T23:30:06.900Z,1736379006.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961965 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:30:07.073Z,1736379007.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:07.074Z,1736379007.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959916 2025-01-08T23:30:07.302Z,1736379007.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:07.316Z,1736379007.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:30:07.321Z,1736379007.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 77.000771 m, bearing: 87.840481 deg, approach rate: 0.384292 m/s, LOS rate: 0.406438 deg/s, cmd heading: 341.595410 deg, new cmd heading: 342.106070 deg. 2025-01-08T23:30:07.322Z,1736379007.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970877 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:30:07.324Z,1736379007.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:07.325Z,1736379007.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210962 2025-01-08T23:30:07.577Z,1736379007.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:07.578Z,1736379007.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464633 2025-01-08T23:30:07.728Z,1736379007.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:07.737Z,1736379007.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:30:07.740Z,1736379007.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 77.145073 m, bearing: 88.009186 deg, approach rate: 0.341761 m/s, LOS rate: 0.398806 deg/s, cmd heading: 342.106062 deg, new cmd heading: 342.611215 deg. 2025-01-08T23:30:07.743Z,1736379007.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979694 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:30:07.829Z,1736379007.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:07.829Z,1736379007.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715604 2025-01-08T23:30:08.080Z,1736379008.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:08.081Z,1736379008.081 [DAT](INFO): DAT read: Rx Time:23:30:06.8442 2025-01-08T23:30:08.082Z,1736379008.082 [DAT](INFO): Rx dataTimestamp_ set to:1736379008.081672 2025-01-08T23:30:08.083Z,1736379008.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969226 2025-01-08T23:30:08.166Z,1736379008.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:08.189Z,1736379008.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:30:08.196Z,1736379008.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 77.292366 m, bearing: 88.182608 deg, approach rate: 0.325881 m/s, LOS rate: 0.382959 deg/s, cmd heading: 342.611223 deg, new cmd heading: 343.130482 deg. 2025-01-08T23:30:08.197Z,1736379008.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.988757 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:30:08.333Z,1736379008.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:08.334Z,1736379008.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220623 2025-01-08T23:30:08.579Z,1736379008.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:08.584Z,1736379008.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:08.610Z,1736379008.610 [DAT](INFO): DAT read: 23:30:06.8442 LVL= 13632, 31841, 25122, 32755, AGC= 59, IDX= 433, 0.36,-0.585,-1.309,-2.599,-1.581, PHS= 1.084, 0.319,-1.020, RAW= 51.1, -4.2, CAL= 54.4, -8.6, ROT= 95.6, 8.6 2025-01-08T23:30:08.635Z,1736379008.635 [DAT](INFO): got valid direction response: 23:30:06.8442 LVL= 13632, 31841, 25122, 32755, AGC= 59, IDX= 433, 0.36,-0.585,-1.309,-2.599,-1.581, PHS= 1.084, 0.319,-1.020, RAW= 51.1, -4.2, CAL= 54.4, -8.6, ROT= 95.6, 8.6 2025-01-08T23:30:08.646Z,1736379008.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:08.639Z,1736379008.639 [DAT](INFO): DAT read: Bearing 95.6, 8.6 (Local) 2025-01-08T23:30:08.650Z,1736379008.650 [DAT](INFO): Local bearing/azimuth received: Bearing 95.6, 8.6 (Local) 2025-01-08T23:30:08.662Z,1736379008.662 [DAT](INFO): DAT read: Range 10 to 50 : 152.7 m (Round-trip 203.7 ms) speed 0.0 m/s 2025-01-08T23:30:08.663Z,1736379008.663 [DAT](INFO): DAT read: user:3269> 2025-01-08T23:30:08.669Z,1736379008.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m. 2025-01-08T23:30:08.673Z,1736379008.673 [DAT](INFO): DAT read: Tx time:23:30:07.9364 2025-01-08T23:30:08.674Z,1736379008.674 [DAT](INFO): Ping request sent. 2025-01-08T23:30:08.674Z,1736379008.674 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:08.685Z,1736379008.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.500000 m, nav range: 77.429527 m, bearing: 88.346062 deg, approach rate: 0.285526 m/s, LOS rate: 0.339656 deg/s, cmd heading: 343.130481 deg, new cmd heading: 343.619962 deg. 2025-01-08T23:30:08.686Z,1736379008.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.997300 target range: 152.500000 and range: 152.50 m. 2025-01-08T23:30:08.687Z,1736379008.687 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:08.688Z,1736379008.688 [DAT](INFO): direction in FSK: [0.067076,0.684218,0.726186] 2025-01-08T23:30:08.688Z,1736379008.688 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:08.689Z,1736379008.689 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:08.700Z,1736379008.700 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:08.701Z,1736379008.701 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:08.836Z,1736379008.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:08.837Z,1736379008.837 [DAT](INFO): DAT read: TxSync time:23:30:07.9356 2025-01-08T23:30:09.050Z,1736379009.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:09.066Z,1736379009.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.699997 m, deltaT: 3.528004 s, deltaX: 0.199997 m, approachRate: 0.056688 m/s, rangeRepo size: 4 2025-01-08T23:30:09.068Z,1736379009.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 152.699997 m, bearing: 66.599115 deg, lat: 36.904366 deg, lon: -122.120045 deg, deltaT: 3.528004 s, deltaX: 0.199997 m, approachRate: 0.056688 m/s, posRepo size: 4 2025-01-08T23:30:09.069Z,1736379009.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m. 2025-01-08T23:30:09.072Z,1736379009.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.699997 m, nav range: 84.082954 m, bearing: 67.243520 deg, approach rate: 0.000000 m/s, LOS rate: 0.339656 deg/s, cmd heading: 343.619960 deg, new cmd heading: 344.023394 deg. 2025-01-08T23:30:09.073Z,1736379009.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.004341 target range: 152.699997 and range: 152.70 m. 2025-01-08T23:30:09.088Z,1736379009.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:09.340Z,1736379009.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:09.379Z,1736379009.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:09.442Z,1736379009.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m. 2025-01-08T23:30:09.450Z,1736379009.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.699997 m, nav range: 84.102623 m, bearing: 67.379826 deg, approach rate: 0.052196 m/s, LOS rate: 0.361638 deg/s, cmd heading: 344.023405 deg, new cmd heading: 344.432221 deg. 2025-01-08T23:30:09.456Z,1736379009.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.011477 target range: 152.699997 and range: 152.70 m. 2025-01-08T23:30:09.592Z,1736379009.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:09.844Z,1736379009.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:09.940Z,1736379009.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:09.950Z,1736379009.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m. 2025-01-08T23:30:09.953Z,1736379009.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.699997 m, nav range: 84.106819 m, bearing: 67.594147 deg, approach rate: 0.008263 m/s, LOS rate: 0.422000 deg/s, cmd heading: 344.432233 deg, new cmd heading: 345.075134 deg. 2025-01-08T23:30:09.954Z,1736379009.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022697 target range: 152.699997 and range: 152.70 m. 2025-01-08T23:30:10.096Z,1736379010.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:10.321Z,1736379010.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:10.330Z,1736379010.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m. 2025-01-08T23:30:10.333Z,1736379010.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.699997 m, nav range: 84.107666 m, bearing: 67.739703 deg, approach rate: 0.002228 m/s, LOS rate: 0.383021 deg/s, cmd heading: 345.075145 deg, new cmd heading: 345.511801 deg. 2025-01-08T23:30:10.334Z,1736379010.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030319 target range: 152.699997 and range: 152.70 m. 2025-01-08T23:30:10.348Z,1736379010.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:10.600Z,1736379010.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:10.832Z,1736379010.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:10.838Z,1736379010.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:10.841Z,1736379010.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m. 2025-01-08T23:30:10.852Z,1736379010.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:10.852Z,1736379010.852 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:10.852Z,1736379010.852 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:10.852Z,1736379010.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:10.860Z,1736379010.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.699997 m, nav range: 84.088722 m, bearing: 67.924357 deg, approach rate: -0.037083 m/s, LOS rate: 0.361547 deg/s, cmd heading: 345.511813 deg, new cmd heading: 346.065880 deg. 2025-01-08T23:30:10.861Z,1736379010.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039989 target range: 152.699997 and range: 152.70 m. 2025-01-08T23:30:11.104Z,1736379011.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:11.105Z,1736379011.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430774 2025-01-08T23:30:11.223Z,1736379011.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:11.233Z,1736379011.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m. 2025-01-08T23:30:11.236Z,1736379011.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.699997 m, nav range: 84.072418 m, bearing: 68.065965 deg, approach rate: -0.041588 m/s, LOS rate: 0.361280 deg/s, cmd heading: 346.065878 deg, new cmd heading: 346.490777 deg. 2025-01-08T23:30:11.236Z,1736379011.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.047405 target range: 152.699997 and range: 152.70 m. 2025-01-08T23:30:11.320Z,1736379011.320 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:30:11.357Z,1736379011.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:11.358Z,1736379011.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683758 2025-01-08T23:30:11.608Z,1736379011.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:11.609Z,1736379011.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.934571 2025-01-08T23:30:11.617Z,1736379011.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:11.627Z,1736379011.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m. 2025-01-08T23:30:11.630Z,1736379011.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.699997 m, nav range: 84.054459 m, bearing: 68.208666 deg, approach rate: -0.045540 m/s, LOS rate: 0.361920 deg/s, cmd heading: 346.490770 deg, new cmd heading: 346.918955 deg. 2025-01-08T23:30:11.631Z,1736379011.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054878 target range: 152.699997 and range: 152.70 m. 2025-01-08T23:30:11.860Z,1736379011.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:11.860Z,1736379011.860 [DAT](INFO): DAT read: Rx Time:23:30:10.5437 2025-01-08T23:30:11.861Z,1736379011.861 [DAT](INFO): Rx dataTimestamp_ set to:1736379011.860601 2025-01-08T23:30:11.861Z,1736379011.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.187112 2025-01-08T23:30:12.045Z,1736379012.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:12.054Z,1736379012.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m. 2025-01-08T23:30:12.057Z,1736379012.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.699997 m, nav range: 84.023033 m, bearing: 68.356635 deg, approach rate: -0.073603 m/s, LOS rate: 0.346696 deg/s, cmd heading: 346.918968 deg, new cmd heading: 347.363032 deg. 2025-01-08T23:30:12.059Z,1736379012.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062629 target range: 152.699997 and range: 152.70 m. 2025-01-08T23:30:12.112Z,1736379012.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:12.114Z,1736379012.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.439210 2025-01-08T23:30:12.364Z,1736379012.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:12.370Z,1736379012.370 [DAT](INFO): DAT read: 23:30:10.5437 LVL= 15312, 23201, 19602, 24307, AGC= 59, IDX= 428, 0.20, 2.741, 1.816, 0.615, 1.571, PHS= 1.258, 0.292,-0.959, RAW= 55.8, -6.2, CAL= 61.6, -11.8, ROT= 88.4, 11.8 2025-01-08T23:30:12.377Z,1736379012.377 [DAT](INFO): got valid direction response: 23:30:10.5437 LVL= 15312, 23201, 19602, 24307, AGC= 59, IDX= 428, 0.20, 2.741, 1.816, 0.615, 1.571, PHS= 1.258, 0.292,-0.959, RAW= 55.8, -6.2, CAL= 61.6, -11.8, ROT= 88.4, 11.8 2025-01-08T23:30:12.378Z,1736379012.378 [DAT](INFO): DAT read: Bearing 88.4, 11.8 (Local) 2025-01-08T23:30:12.379Z,1736379012.379 [DAT](INFO): Local bearing/azimuth received: Bearing 88.4, 11.8 (Local) 2025-01-08T23:30:12.393Z,1736379012.393 [DAT](INFO): DAT read: Range 10 to 50 : 152.4 m (Round-trip 203.2 ms) speed 0.0 m/s 2025-01-08T23:30:12.428Z,1736379012.428 [DAT](INFO): DAT read: user:3270> 2025-01-08T23:30:12.429Z,1736379012.429 [DAT](INFO): DAT read: Tx time:23:30:11.6364 2025-01-08T23:30:12.429Z,1736379012.429 [DAT](INFO): Ping request sent. 2025-01-08T23:30:12.429Z,1736379012.429 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:12.429Z,1736379012.429 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:12.430Z,1736379012.430 [DAT](INFO): direction in FSK: [0.094500,0.622392,0.776980] 2025-01-08T23:30:12.431Z,1736379012.431 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:12.431Z,1736379012.431 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:12.457Z,1736379012.457 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:12.457Z,1736379012.457 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:12.499Z,1736379012.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:12.547Z,1736379012.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.399994 m, deltaT: 3.779885 s, deltaX: -0.300003 m, approachRate: -0.079368 m/s, rangeRepo size: 4 2025-01-08T23:30:12.553Z,1736379012.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 152.399994 m, bearing: 69.066194 deg, lat: 36.904366 deg, lon: -122.120045 deg, deltaT: 3.779885 s, deltaX: -0.300003 m, approachRate: -0.079368 m/s, posRepo size: 4 2025-01-08T23:30:12.554Z,1736379012.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:12.572Z,1736379012.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 83.988693 m, bearing: 68.512013 deg, approach rate: 0.000000 m/s, LOS rate: 0.346696 deg/s, cmd heading: 347.363040 deg, new cmd heading: 347.874765 deg. 2025-01-08T23:30:12.573Z,1736379012.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071560 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:12.617Z,1736379012.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:12.618Z,1736379012.618 [DAT](INFO): DAT read: TxSync time:23:30:11.6356 2025-01-08T23:30:12.868Z,1736379012.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:12.996Z,1736379012.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:13.026Z,1736379013.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:13.032Z,1736379013.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:13.039Z,1736379013.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 83.946999 m, bearing: 68.686148 deg, approach rate: -0.085787 m/s, LOS rate: 0.358461 deg/s, cmd heading: 347.874758 deg, new cmd heading: 348.397407 deg. 2025-01-08T23:30:13.040Z,1736379013.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.080682 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:13.120Z,1736379013.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:13.121Z,1736379013.121 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:13.121Z,1736379013.121 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:13.122Z,1736379013.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:13.372Z,1736379013.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:13.372Z,1736379013.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.943348 2025-01-08T23:30:13.396Z,1736379013.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:13.410Z,1736379013.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:13.424Z,1736379013.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 83.913414 m, bearing: 68.825320 deg, approach rate: -0.089173 m/s, LOS rate: 0.369670 deg/s, cmd heading: 348.397404 deg, new cmd heading: 348.815077 deg. 2025-01-08T23:30:13.427Z,1736379013.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087972 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:13.626Z,1736379013.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:13.627Z,1736379013.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197599 2025-01-08T23:30:13.873Z,1736379013.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:13.876Z,1736379013.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:13.877Z,1736379013.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447606 2025-01-08T23:30:13.886Z,1736379013.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:13.889Z,1736379013.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 83.886559 m, bearing: 68.996826 deg, approach rate: -0.056295 m/s, LOS rate: 0.359628 deg/s, cmd heading: 348.815083 deg, new cmd heading: 349.329753 deg. 2025-01-08T23:30:13.890Z,1736379013.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.096954 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:14.128Z,1736379014.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:14.128Z,1736379014.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699303 2025-01-08T23:30:14.249Z,1736379014.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:14.257Z,1736379014.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:14.265Z,1736379014.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 83.864273 m, bearing: 69.131527 deg, approach rate: -0.059998 m/s, LOS rate: 0.362742 deg/s, cmd heading: 349.329752 deg, new cmd heading: 349.733954 deg. 2025-01-08T23:30:14.266Z,1736379014.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.104009 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:14.380Z,1736379014.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:14.381Z,1736379014.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.951374 2025-01-08T23:30:14.469Z,1736379014.469 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:30:14.632Z,1736379014.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:14.632Z,1736379014.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203191 2025-01-08T23:30:14.645Z,1736379014.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:14.660Z,1736379014.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:14.695Z,1736379014.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 83.839989 m, bearing: 69.273763 deg, approach rate: -0.060271 m/s, LOS rate: 0.353115 deg/s, cmd heading: 349.733962 deg, new cmd heading: 350.160788 deg. 2025-01-08T23:30:14.720Z,1736379014.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.111459 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:14.884Z,1736379014.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:14.885Z,1736379014.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455446 2025-01-08T23:30:15.087Z,1736379015.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:15.094Z,1736379015.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:15.097Z,1736379015.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:15.119Z,1736379015.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 83.832123 m, bearing: 69.439109 deg, approach rate: -0.018021 m/s, LOS rate: 0.378853 deg/s, cmd heading: 350.160795 deg, new cmd heading: 350.656865 deg. 2025-01-08T23:30:15.120Z,1736379015.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.120117 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:15.137Z,1736379015.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:15.139Z,1736379015.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709365 2025-01-08T23:30:15.388Z,1736379015.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:15.388Z,1736379015.388 [DAT](INFO): DAT read: Rx Time:23:30:14.2433 2025-01-08T23:30:15.389Z,1736379015.389 [DAT](INFO): Rx dataTimestamp_ set to:1736379015.388564 2025-01-08T23:30:15.389Z,1736379015.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960249 2025-01-08T23:30:15.472Z,1736379015.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:30:15.485Z,1736379015.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:15.508Z,1736379015.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:15.511Z,1736379015.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 83.824272 m, bearing: 69.588373 deg, approach rate: -0.019081 m/s, LOS rate: 0.362815 deg/s, cmd heading: 350.656858 deg, new cmd heading: 351.104682 deg. 2025-01-08T23:30:15.516Z,1736379015.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.127933 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:15.640Z,1736379015.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:15.642Z,1736379015.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212087 2025-01-08T23:30:15.881Z,1736379015.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:15.890Z,1736379015.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:15.892Z,1736379015.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:15.894Z,1736379015.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.464844 2025-01-08T23:30:15.931Z,1736379015.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 83.838066 m, bearing: 69.749588 deg, approach rate: 0.036109 m/s, LOS rate: 0.421954 deg/s, cmd heading: 351.104672 deg, new cmd heading: 351.588226 deg. 2025-01-08T23:30:15.935Z,1736379015.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.136372 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:16.144Z,1736379016.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:16.151Z,1736379016.151 [DAT](INFO): DAT read: 23:30:14.2433 LVL= 13936, 25969, 20418, 25523, AGC= 57, IDX= 441,-0.06,-1.443,-2.457, 2.788,-2.568, PHS= 1.212, 0.158,-0.930, RAW= 59.5, -4.8, CAL= 65.2, -10.0, ROT= 84.8, 10.0 2025-01-08T23:30:16.152Z,1736379016.152 [DAT](INFO): got valid direction response: 23:30:14.2433 LVL= 13936, 25969, 20418, 25523, AGC= 57, IDX= 441,-0.06,-1.443,-2.457, 2.788,-2.568, PHS= 1.212, 0.158,-0.930, RAW= 59.5, -4.8, CAL= 65.2, -10.0, ROT= 84.8, 10.0 2025-01-08T23:30:16.153Z,1736379016.153 [DAT](INFO): DAT read: Bearing 84.8, 10.0 (Local) 2025-01-08T23:30:16.154Z,1736379016.154 [DAT](INFO): Local bearing/azimuth received: Bearing 84.8, 10.0 (Local) 2025-01-08T23:30:16.155Z,1736379016.155 [DAT](INFO): DAT read: Range 10 to 50 : 152.1 m (Round-trip 202.8 ms) speed -0.1 m/s 2025-01-08T23:30:16.156Z,1736379016.156 [DAT](INFO): DAT read: user:3271> 2025-01-08T23:30:16.157Z,1736379016.157 [DAT](INFO): DAT read: Tx time:23:30:15.3364 2025-01-08T23:30:16.157Z,1736379016.157 [DAT](INFO): Ping request sent. 2025-01-08T23:30:16.158Z,1736379016.158 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:16.159Z,1736379016.159 [DAT](INFO): DAT read: TxSync time:23:30:15.3356 2025-01-08T23:30:16.159Z,1736379016.159 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:16.160Z,1736379016.160 [DAT](INFO): direction in FSK: [0.061120,0.577067,0.814406] 2025-01-08T23:30:16.160Z,1736379016.160 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:16.161Z,1736379016.161 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:16.168Z,1736379016.168 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:16.169Z,1736379016.169 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:16.318Z,1736379016.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:16.359Z,1736379016.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.100006 m, deltaT: 3.779946 s, deltaX: -0.299988 m, approachRate: -0.079363 m/s, rangeRepo size: 4 2025-01-08T23:30:16.362Z,1736379016.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 152.100006 m, bearing: 73.305355 deg, lat: 36.904366 deg, lon: -122.120064 deg, deltaT: 3.779946 s, deltaX: -0.299988 m, approachRate: -0.079363 m/s, posRepo size: 4 2025-01-08T23:30:16.362Z,1736379016.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-01-08T23:30:16.369Z,1736379016.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.100006 m, nav range: 82.274895 m, bearing: 69.524779 deg, approach rate: 0.000000 m/s, LOS rate: 0.421954 deg/s, cmd heading: 351.588222 deg, new cmd heading: 352.175928 deg. 2025-01-08T23:30:16.370Z,1736379016.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146629 target range: 152.100006 and range: 152.10 m. 2025-01-08T23:30:16.396Z,1736379016.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:16.648Z,1736379016.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:16.709Z,1736379016.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:16.778Z,1736379016.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-01-08T23:30:16.786Z,1736379016.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.100006 m, nav range: 82.284142 m, bearing: 69.687274 deg, approach rate: 0.021912 m/s, LOS rate: 0.385026 deg/s, cmd heading: 352.175919 deg, new cmd heading: 352.663338 deg. 2025-01-08T23:30:16.786Z,1736379016.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.155137 target range: 152.100006 and range: 152.10 m. 2025-01-08T23:30:16.901Z,1736379016.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:17.089Z,1736379017.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:17.097Z,1736379017.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:17.099Z,1736379017.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-01-08T23:30:17.122Z,1736379017.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.100006 m, nav range: 82.312920 m, bearing: 69.851748 deg, approach rate: 0.089214 m/s, LOS rate: 0.509704 deg/s, cmd heading: 352.663349 deg, new cmd heading: 353.156585 deg. 2025-01-08T23:30:17.123Z,1736379017.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163745 target range: 152.100006 and range: 152.10 m. 2025-01-08T23:30:17.152Z,1736379017.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:17.152Z,1736379017.152 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:17.152Z,1736379017.152 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:17.153Z,1736379017.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:17.404Z,1736379017.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:17.406Z,1736379017.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248017 2025-01-08T23:30:17.491Z,1736379017.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:17.504Z,1736379017.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-01-08T23:30:17.506Z,1736379017.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.100006 m, nav range: 82.342728 m, bearing: 70.024098 deg, approach rate: 0.073691 m/s, LOS rate: 0.425928 deg/s, cmd heading: 353.156598 deg, new cmd heading: 353.673446 deg. 2025-01-08T23:30:17.507Z,1736379017.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172766 target range: 152.100006 and range: 152.10 m. 2025-01-08T23:30:17.657Z,1736379017.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:17.658Z,1736379017.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501035 2025-01-08T23:30:17.900Z,1736379017.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:17.909Z,1736379017.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:17.910Z,1736379017.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752368 2025-01-08T23:30:17.912Z,1736379017.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-01-08T23:30:17.915Z,1736379017.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.100006 m, nav range: 82.382095 m, bearing: 70.213958 deg, approach rate: 0.096298 m/s, LOS rate: 0.464195 deg/s, cmd heading: 353.673452 deg, new cmd heading: 354.242740 deg. 2025-01-08T23:30:17.916Z,1736379017.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182702 target range: 152.100006 and range: 152.10 m. 2025-01-08T23:30:18.160Z,1736379018.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:18.161Z,1736379018.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003952 2025-01-08T23:30:18.301Z,1736379018.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:18.310Z,1736379018.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-01-08T23:30:18.313Z,1736379018.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.100006 m, nav range: 82.421127 m, bearing: 70.397844 deg, approach rate: 0.098042 m/s, LOS rate: 0.461672 deg/s, cmd heading: 354.242734 deg, new cmd heading: 354.794111 deg. 2025-01-08T23:30:18.314Z,1736379018.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.192326 target range: 152.100006 and range: 152.10 m. 2025-01-08T23:30:18.412Z,1736379018.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:18.413Z,1736379018.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255354 2025-01-08T23:30:18.665Z,1736379018.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:18.666Z,1736379018.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507931 2025-01-08T23:30:18.732Z,1736379018.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:18.795Z,1736379018.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-01-08T23:30:18.816Z,1736379018.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.100006 m, nav range: 82.464073 m, bearing: 70.595514 deg, approach rate: 0.088899 m/s, LOS rate: 0.408967 deg/s, cmd heading: 354.794122 deg, new cmd heading: 355.386801 deg. 2025-01-08T23:30:18.817Z,1736379018.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202670 target range: 152.100006 and range: 152.10 m. 2025-01-08T23:30:18.916Z,1736379018.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:18.916Z,1736379018.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759209 2025-01-08T23:30:19.172Z,1736379019.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:19.173Z,1736379019.173 [DAT](INFO): DAT read: Rx Time:23:30:17.9438 2025-01-08T23:30:19.173Z,1736379019.173 [DAT](INFO): Rx dataTimestamp_ set to:1736379019.173102 2025-01-08T23:30:19.174Z,1736379019.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016638 2025-01-08T23:30:19.199Z,1736379019.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:19.214Z,1736379019.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:19.245Z,1736379019.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-01-08T23:30:19.256Z,1736379019.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.100006 m, nav range: 82.511856 m, bearing: 70.814275 deg, approach rate: 0.105900 m/s, LOS rate: 0.484553 deg/s, cmd heading: 355.386791 deg, new cmd heading: 356.042665 deg. 2025-01-08T23:30:19.257Z,1736379019.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214117 target range: 152.100006 and range: 152.10 m. 2025-01-08T23:30:19.424Z,1736379019.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:19.425Z,1736379019.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268050 2025-01-08T23:30:19.537Z,1736379019.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:19.546Z,1736379019.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-01-08T23:30:19.571Z,1736379019.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.100006 m, nav range: 82.545609 m, bearing: 70.973123 deg, approach rate: 0.112049 m/s, LOS rate: 0.527117 deg/s, cmd heading: 356.042653 deg, new cmd heading: 356.518990 deg. 2025-01-08T23:30:19.572Z,1736379019.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.222430 target range: 152.100006 and range: 152.10 m. 2025-01-08T23:30:19.677Z,1736379019.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:19.689Z,1736379019.689 [DAT](INFO): DAT read: 23:30:17.9438 LVL= 19632, 27425, 21714, 27987, AGC= 64, IDX= 428, 0.01, 1.411, 0.169,-0.674, 0.151, PHS= 1.348, 0.065,-0.829, RAW= 65.9, -6.2, CAL= 74.0, -12.7, ROT= 76.0, 12.7 2025-01-08T23:30:19.690Z,1736379019.690 [DAT](INFO): got valid direction response: 23:30:17.9438 LVL= 19632, 27425, 21714, 27987, AGC= 64, IDX= 428, 0.01, 1.411, 0.169,-0.674, 0.151, PHS= 1.348, 0.065,-0.829, RAW= 65.9, -6.2, CAL= 74.0, -12.7, ROT= 76.0, 12.7 2025-01-08T23:30:19.692Z,1736379019.692 [DAT](INFO): DAT read: Bearing 76.0, 12.7 (Local) 2025-01-08T23:30:19.692Z,1736379019.692 [DAT](INFO): Local bearing/azimuth received: Bearing 76.0, 12.7 (Local) 2025-01-08T23:30:19.694Z,1736379019.694 [DAT](INFO): DAT read: Range 10 to 50 : 152.4 m (Round-trip 203.2 ms) speed 0.0 m/s 2025-01-08T23:30:19.694Z,1736379019.694 [DAT](INFO): DAT read: user:3272> 2025-01-08T23:30:19.695Z,1736379019.695 [DAT](INFO): DAT read: Tx time:23:30:19.0365 2025-01-08T23:30:19.696Z,1736379019.696 [DAT](INFO): Ping request sent. 2025-01-08T23:30:19.696Z,1736379019.696 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:19.696Z,1736379019.696 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:19.697Z,1736379019.697 [DAT](INFO): direction in FSK: [0.075168,0.485394,0.871058] 2025-01-08T23:30:19.697Z,1736379019.697 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:19.697Z,1736379019.697 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:19.700Z,1736379019.700 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:19.701Z,1736379019.701 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:19.928Z,1736379019.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:19.929Z,1736379019.929 [DAT](INFO): DAT read: TxSync time:23:30:19.0357 2025-01-08T23:30:20.028Z,1736379020.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:20.054Z,1736379020.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.399994 m, deltaT: 3.533202 s, deltaX: 0.299988 m, approachRate: 0.084905 m/s, rangeRepo size: 4 2025-01-08T23:30:20.068Z,1736379020.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 152.399994 m, bearing: 69.612765 deg, lat: 36.904314 deg, lon: -122.120189 deg, deltaT: 3.533202 s, deltaX: 0.299988 m, approachRate: 0.084905 m/s, posRepo size: 4 2025-01-08T23:30:20.069Z,1736379020.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:20.076Z,1736379020.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 70.265656 m, bearing: 72.728156 deg, approach rate: 0.000000 m/s, LOS rate: 0.527117 deg/s, cmd heading: 356.518990 deg, new cmd heading: 357.322172 deg. 2025-01-08T23:30:20.077Z,1736379020.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.236448 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:20.181Z,1736379020.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:20.364Z,1736379020.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:20.372Z,1736379020.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:20.393Z,1736379020.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 70.300346 m, bearing: 72.909233 deg, approach rate: 0.109023 m/s, LOS rate: 0.568788 deg/s, cmd heading: 357.322166 deg, new cmd heading: 357.865113 deg. 2025-01-08T23:30:20.394Z,1736379020.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245924 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:20.432Z,1736379020.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:20.684Z,1736379020.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:20.768Z,1736379020.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:20.826Z,1736379020.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:20.842Z,1736379020.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 70.339958 m, bearing: 73.128262 deg, approach rate: 0.087542 m/s, LOS rate: 0.483780 deg/s, cmd heading: 357.865111 deg, new cmd heading: 358.521797 deg. 2025-01-08T23:30:20.849Z,1736379020.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257386 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:20.936Z,1736379020.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:21.188Z,1736379021.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:21.187Z,1736379021.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:21.233Z,1736379021.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:21.235Z,1736379021.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:21.248Z,1736379021.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 70.362938 m, bearing: 73.347388 deg, approach rate: 0.056024 m/s, LOS rate: 0.534045 deg/s, cmd heading: 358.521793 deg, new cmd heading: 359.178927 deg. 2025-01-08T23:30:21.249Z,1736379021.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268855 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:21.440Z,1736379021.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:21.440Z,1736379021.440 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:21.440Z,1736379021.440 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:21.440Z,1736379021.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:21.582Z,1736379021.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:21.591Z,1736379021.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:21.595Z,1736379021.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 70.383423 m, bearing: 73.554362 deg, approach rate: 0.057535 m/s, LOS rate: 0.581144 deg/s, cmd heading: 359.178939 deg, new cmd heading: 359.799656 deg. 2025-01-08T23:30:21.597Z,1736379021.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279689 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:21.694Z,1736379021.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:21.695Z,1736379021.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999203 2025-01-08T23:30:21.948Z,1736379021.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:21.949Z,1736379021.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252951 2025-01-08T23:30:22.020Z,1736379022.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:22.039Z,1736379022.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:22.046Z,1736379022.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 70.382553 m, bearing: 73.772386 deg, approach rate: -0.001942 m/s, LOS rate: 0.486728 deg/s, cmd heading: 359.799667 deg, new cmd heading: 0.453716 deg. 2025-01-08T23:30:22.047Z,1736379022.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007919 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:22.200Z,1736379022.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:22.200Z,1736379022.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504648 2025-01-08T23:30:22.392Z,1736379022.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:22.400Z,1736379022.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:22.402Z,1736379022.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 70.380219 m, bearing: 73.956915 deg, approach rate: -0.006461 m/s, LOS rate: 0.510666 deg/s, cmd heading: 0.453716 deg, new cmd heading: 1.007302 deg. 2025-01-08T23:30:22.404Z,1736379022.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017581 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:22.453Z,1736379022.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:22.454Z,1736379022.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758157 2025-01-08T23:30:22.704Z,1736379022.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:22.704Z,1736379022.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008713 2025-01-08T23:30:22.793Z,1736379022.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:22.810Z,1736379022.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:22.839Z,1736379022.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 70.375404 m, bearing: 74.157355 deg, approach rate: -0.011815 m/s, LOS rate: 0.491954 deg/s, cmd heading: 1.007302 deg, new cmd heading: 1.608641 deg. 2025-01-08T23:30:22.848Z,1736379022.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028076 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:22.957Z,1736379022.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:22.958Z,1736379022.958 [DAT](INFO): DAT read: Rx Time:23:30:21.6429 2025-01-08T23:30:22.959Z,1736379022.959 [DAT](INFO): Rx dataTimestamp_ set to:1736379022.958438 2025-01-08T23:30:22.960Z,1736379022.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263743 2025-01-08T23:30:23.209Z,1736379023.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:23.210Z,1736379023.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513866 2025-01-08T23:30:23.253Z,1736379023.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:23.261Z,1736379023.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:23.276Z,1736379023.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.40 m. 2025-01-08T23:30:23.279Z,1736379023.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.399994 m, nav range: 70.338562 m, bearing: 74.371699 deg, approach rate: -0.080786 m/s, LOS rate: 0.470248 deg/s, cmd heading: 1.608641 deg, new cmd heading: 2.251982 deg. 2025-01-08T23:30:23.284Z,1736379023.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039304 target range: 152.399994 and range: 152.40 m. 2025-01-08T23:30:23.460Z,1736379023.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:23.467Z,1736379023.467 [DAT](INFO): DAT read: 23:30:21.6429 LVL= 15696, 25441, 19442, 30611, AGC= 60, IDX= 436,-0.45,-2.747, 1.978, 1.559, 2.242, PHS= 1.382,-0.218,-0.687, RAW= 77.5, -5.1, CAL= 86.1, -12.0, ROT= 63.9, 12.0 2025-01-08T23:30:23.468Z,1736379023.468 [DAT](INFO): got valid direction response: 23:30:21.6429 LVL= 15696, 25441, 19442, 30611, AGC= 60, IDX= 436,-0.45,-2.747, 1.978, 1.559, 2.242, PHS= 1.382,-0.218,-0.687, RAW= 77.5, -5.1, CAL= 86.1, -12.0, ROT= 63.9, 12.0 2025-01-08T23:30:23.469Z,1736379023.469 [DAT](INFO): DAT read: Bearing 63.9, 12.0 (Local) 2025-01-08T23:30:23.469Z,1736379023.469 [DAT](INFO): Local bearing/azimuth received: Bearing 63.9, 12.0 (Local) 2025-01-08T23:30:23.471Z,1736379023.471 [DAT](INFO): DAT read: Range 10 to 50 : 151.7 m (Round-trip 202.3 ms) speed 0.3 m/s 2025-01-08T23:30:23.472Z,1736379023.472 [DAT](INFO): DAT read: user:3273> 2025-01-08T23:30:23.472Z,1736379023.472 [DAT](INFO): DAT read: Tx time:23:30:22.7365 2025-01-08T23:30:23.473Z,1736379023.473 [DAT](INFO): Ping request sent. 2025-01-08T23:30:23.473Z,1736379023.473 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:23.473Z,1736379023.473 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:23.475Z,1736379023.475 [DAT](INFO): direction in FSK: [0.033444,0.310272,0.950059] 2025-01-08T23:30:23.476Z,1736379023.476 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:23.476Z,1736379023.476 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:23.479Z,1736379023.479 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:23.480Z,1736379023.480 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:23.654Z,1736379023.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:23.706Z,1736379023.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 151.699997 m, deltaT: 3.783524 s, deltaX: -0.699997 m, approachRate: -0.185012 m/s, rangeRepo size: 4 2025-01-08T23:30:23.712Z,1736379023.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:23.713Z,1736379023.713 [DAT](INFO): DAT read: TxSync time:23:30:22.7357 2025-01-08T23:30:23.716Z,1736379023.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 151.699997 m, bearing: 73.051382 deg, lat: 36.904272 deg, lon: -122.120241 deg, deltaT: 3.783524 s, deltaX: -0.699997 m, approachRate: -0.185012 m/s, posRepo size: 4 2025-01-08T23:30:23.717Z,1736379023.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T23:30:23.724Z,1736379023.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 64.672569 m, bearing: 77.413694 deg, approach rate: 0.000000 m/s, LOS rate: 0.470248 deg/s, cmd heading: 2.251981 deg, new cmd heading: 2.875138 deg. 2025-01-08T23:30:23.725Z,1736379023.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050181 target range: 151.699997 and range: 151.70 m. 2025-01-08T23:30:23.964Z,1736379023.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:24.056Z,1736379024.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:24.065Z,1736379024.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T23:30:24.068Z,1736379024.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 64.618309 m, bearing: 77.602307 deg, approach rate: -0.150896 m/s, LOS rate: 0.524968 deg/s, cmd heading: 2.875138 deg, new cmd heading: 3.441435 deg. 2025-01-08T23:30:24.069Z,1736379024.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060064 target range: 151.699997 and range: 151.70 m. 2025-01-08T23:30:24.216Z,1736379024.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:24.460Z,1736379024.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:24.468Z,1736379024.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:24.494Z,1736379024.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T23:30:24.501Z,1736379024.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 64.561218 m, bearing: 77.791554 deg, approach rate: -0.134930 m/s, LOS rate: 0.447667 deg/s, cmd heading: 3.441435 deg, new cmd heading: 4.009659 deg. 2025-01-08T23:30:24.502Z,1736379024.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069982 target range: 151.699997 and range: 151.70 m. 2025-01-08T23:30:24.720Z,1736379024.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:24.896Z,1736379024.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:24.920Z,1736379024.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T23:30:24.922Z,1736379024.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 64.497612 m, bearing: 77.993334 deg, approach rate: -0.148770 m/s, LOS rate: 0.472411 deg/s, cmd heading: 4.009659 deg, new cmd heading: 4.615571 deg. 2025-01-08T23:30:24.927Z,1736379024.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.080557 target range: 151.699997 and range: 151.70 m. 2025-01-08T23:30:24.972Z,1736379024.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:25.224Z,1736379025.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:25.270Z,1736379025.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:25.279Z,1736379025.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:25.281Z,1736379025.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T23:30:25.288Z,1736379025.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 64.419701 m, bearing: 78.164939 deg, approach rate: -0.213192 m/s, LOS rate: 0.470135 deg/s, cmd heading: 4.615571 deg, new cmd heading: 5.130992 deg. 2025-01-08T23:30:25.291Z,1736379025.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089553 target range: 151.699997 and range: 151.70 m. 2025-01-08T23:30:25.476Z,1736379025.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:25.476Z,1736379025.476 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:25.477Z,1736379025.477 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:25.477Z,1736379025.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:25.734Z,1736379025.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:25.734Z,1736379025.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261628 2025-01-08T23:30:25.763Z,1736379025.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:25.784Z,1736379025.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T23:30:25.786Z,1736379025.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 64.315994 m, bearing: 78.387080 deg, approach rate: -0.206176 m/s, LOS rate: 0.442345 deg/s, cmd heading: 5.130992 deg, new cmd heading: 5.798460 deg. 2025-01-08T23:30:25.792Z,1736379025.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101202 target range: 151.699997 and range: 151.70 m. 2025-01-08T23:30:25.988Z,1736379025.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:25.988Z,1736379025.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515596 2025-01-08T23:30:26.140Z,1736379026.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:26.149Z,1736379026.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T23:30:26.172Z,1736379026.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 64.234276 m, bearing: 78.553732 deg, approach rate: -0.223897 m/s, LOS rate: 0.457182 deg/s, cmd heading: 5.798460 deg, new cmd heading: 6.299038 deg. 2025-01-08T23:30:26.173Z,1736379026.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109939 target range: 151.699997 and range: 151.70 m. 2025-01-08T23:30:26.240Z,1736379026.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:26.241Z,1736379026.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768498 2025-01-08T23:30:26.492Z,1736379026.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:26.493Z,1736379026.493 [DAT](INFO): DAT read: Rx Time:23:30:25.3412 2025-01-08T23:30:26.493Z,1736379026.493 [DAT](INFO): Rx dataTimestamp_ set to:1736379026.493067 2025-01-08T23:30:26.494Z,1736379026.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021059 2025-01-08T23:30:26.598Z,1736379026.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:26.608Z,1736379026.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T23:30:26.611Z,1736379026.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 64.132607 m, bearing: 78.756786 deg, approach rate: -0.221399 m/s, LOS rate: 0.442877 deg/s, cmd heading: 6.299038 deg, new cmd heading: 6.909141 deg. 2025-01-08T23:30:26.612Z,1736379026.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120587 target range: 151.699997 and range: 151.70 m. 2025-01-08T23:30:26.744Z,1736379026.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:26.746Z,1736379026.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272539 2025-01-08T23:30:26.997Z,1736379026.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:27.001Z,1736379027.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527377 2025-01-08T23:30:27.072Z,1736379027.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:27.090Z,1736379027.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.70 m. 2025-01-08T23:30:27.097Z,1736379027.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.699997 m, nav range: 64.028465 m, bearing: 78.962559 deg, approach rate: -0.216244 m/s, LOS rate: 0.427970 deg/s, cmd heading: 6.909141 deg, new cmd heading: 7.527438 deg. 2025-01-08T23:30:27.098Z,1736379027.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.131379 target range: 151.699997 and range: 151.70 m. 2025-01-08T23:30:27.248Z,1736379027.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:27.255Z,1736379027.255 [DAT](INFO): DAT read: 23:30:25.3412 LVL= 17328, 32753, 24114, 32755, AGC= 55, IDX= 418, 0.17, 1.460,-0.175,-0.314, 0.278, PHS= 1.271,-0.406,-0.595, RAW= 84.7, -3.1, CAL= 92.7, -9.2, ROT= 57.3, 9.2 2025-01-08T23:30:27.256Z,1736379027.256 [DAT](INFO): got valid direction response: 23:30:25.3412 LVL= 17328, 32753, 24114, 32755, AGC= 55, IDX= 418, 0.17, 1.460,-0.175,-0.314, 0.278, PHS= 1.271,-0.406,-0.595, RAW= 84.7, -3.1, CAL= 92.7, -9.2, ROT= 57.3, 9.2 2025-01-08T23:30:27.257Z,1736379027.257 [DAT](INFO): DAT read: Bearing 57.3, 9.2 (Local) 2025-01-08T23:30:27.258Z,1736379027.258 [DAT](INFO): Local bearing/azimuth received: Bearing 57.3, 9.2 (Local) 2025-01-08T23:30:27.261Z,1736379027.261 [DAT](INFO): DAT read: Range 10 to 50 : 150.3 m (Round-trip 200.5 ms) speed 0.2 m/s 2025-01-08T23:30:27.261Z,1736379027.261 [DAT](INFO): DAT read: user:3274> 2025-01-08T23:30:27.262Z,1736379027.262 [DAT](INFO): DAT read: Tx time:23:30:26.4365 2025-01-08T23:30:27.262Z,1736379027.262 [DAT](INFO): Ping request sent. 2025-01-08T23:30:27.263Z,1736379027.263 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:27.263Z,1736379027.263 [DAT](INFO): DAT read: TxSync time:23:30:26.4357 2025-01-08T23:30:27.264Z,1736379027.264 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:27.265Z,1736379027.265 [DAT](INFO): direction in FSK: [-0.017942,0.194471,0.980744] 2025-01-08T23:30:27.265Z,1736379027.265 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:27.265Z,1736379027.265 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:27.269Z,1736379027.269 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:27.269Z,1736379027.269 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:27.422Z,1736379027.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:27.452Z,1736379027.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 150.300003 m, deltaT: 3.787793 s, deltaX: -1.399994 m, approachRate: -0.369607 m/s, rangeRepo size: 4 2025-01-08T23:30:27.454Z,1736379027.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 150.300003 m, bearing: 234.164415 deg, lat: 36.904271 deg, lon: -122.120458 deg, deltaT: 3.787793 s, deltaX: -1.399994 m, approachRate: -0.369607 m/s, posRepo size: 4 2025-01-08T23:30:27.455Z,1736379027.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m. 2025-01-08T23:30:27.459Z,1736379027.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.300003 m, nav range: 45.134472 m, bearing: 74.720767 deg, approach rate: 0.000000 m/s, LOS rate: 0.427970 deg/s, cmd heading: 7.527438 deg, new cmd heading: 7.986779 deg. 2025-01-08T23:30:27.468Z,1736379027.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.139396 target range: 150.300003 and range: 150.30 m. 2025-01-08T23:30:27.500Z,1736379027.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:27.753Z,1736379027.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:27.816Z,1736379027.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:27.831Z,1736379027.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:27.834Z,1736379027.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m. 2025-01-08T23:30:27.840Z,1736379027.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.300003 m, nav range: 45.030876 m, bearing: 74.953679 deg, approach rate: -0.268281 m/s, LOS rate: 0.604555 deg/s, cmd heading: 7.986779 deg, new cmd heading: 8.687084 deg. 2025-01-08T23:30:27.842Z,1736379027.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.151618 target range: 150.300003 and range: 150.30 m. 2025-01-08T23:30:28.004Z,1736379028.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:28.004Z,1736379028.004 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:28.004Z,1736379028.004 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:28.005Z,1736379028.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:28.228Z,1736379028.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:28.236Z,1736379028.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m. 2025-01-08T23:30:28.239Z,1736379028.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.300003 m, nav range: 44.938679 m, bearing: 75.209508 deg, approach rate: -0.228953 m/s, LOS rate: 0.636601 deg/s, cmd heading: 8.687084 deg, new cmd heading: 9.456099 deg. 2025-01-08T23:30:28.242Z,1736379028.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.165040 target range: 150.300003 and range: 150.30 m. 2025-01-08T23:30:28.256Z,1736379028.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:28.256Z,1736379028.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993630 2025-01-08T23:30:28.509Z,1736379028.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:28.509Z,1736379028.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246848 2025-01-08T23:30:28.607Z,1736379028.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:28.615Z,1736379028.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m. 2025-01-08T23:30:28.618Z,1736379028.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.300003 m, nav range: 44.851143 m, bearing: 75.443723 deg, approach rate: -0.231212 m/s, LOS rate: 0.619847 deg/s, cmd heading: 9.456099 deg, new cmd heading: 10.160078 deg. 2025-01-08T23:30:28.619Z,1736379028.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.177327 target range: 150.300003 and range: 150.30 m. 2025-01-08T23:30:28.760Z,1736379028.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:28.761Z,1736379028.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497963 2025-01-08T23:30:29.012Z,1736379029.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:29.012Z,1736379029.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749680 2025-01-08T23:30:29.047Z,1736379029.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:29.056Z,1736379029.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m. 2025-01-08T23:30:29.060Z,1736379029.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.300003 m, nav range: 44.772083 m, bearing: 75.738084 deg, approach rate: -0.179510 m/s, LOS rate: 0.669543 deg/s, cmd heading: 10.160078 deg, new cmd heading: 11.044645 deg. 2025-01-08T23:30:29.061Z,1736379029.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192765 target range: 150.300003 and range: 150.30 m. 2025-01-08T23:30:29.267Z,1736379029.267 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:29.268Z,1736379029.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005708 2025-01-08T23:30:29.446Z,1736379029.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:29.454Z,1736379029.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m. 2025-01-08T23:30:29.457Z,1736379029.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.300003 m, nav range: 44.699913 m, bearing: 76.004875 deg, approach rate: -0.180829 m/s, LOS rate: 0.669546 deg/s, cmd heading: 11.044645 deg, new cmd heading: 11.846256 deg. 2025-01-08T23:30:29.479Z,1736379029.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.206756 target range: 150.300003 and range: 150.30 m. 2025-01-08T23:30:29.516Z,1736379029.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:29.516Z,1736379029.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253904 2025-01-08T23:30:29.768Z,1736379029.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:29.768Z,1736379029.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505765 2025-01-08T23:30:29.839Z,1736379029.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:29.846Z,1736379029.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:29.848Z,1736379029.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m. 2025-01-08T23:30:29.851Z,1736379029.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.300003 m, nav range: 44.628120 m, bearing: 76.267942 deg, approach rate: -0.182273 m/s, LOS rate: 0.668967 deg/s, cmd heading: 11.846256 deg, new cmd heading: 12.636674 deg. 2025-01-08T23:30:29.852Z,1736379029.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.220552 target range: 150.300003 and range: 150.30 m. 2025-01-08T23:30:30.020Z,1736379030.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:30.021Z,1736379030.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757923 2025-01-08T23:30:30.253Z,1736379030.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:30.262Z,1736379030.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m. 2025-01-08T23:30:30.265Z,1736379030.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.300003 m, nav range: 44.587986 m, bearing: 76.553658 deg, approach rate: -0.096969 m/s, LOS rate: 0.690936 deg/s, cmd heading: 12.636674 deg, new cmd heading: 13.494524 deg. 2025-01-08T23:30:30.266Z,1736379030.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.235524 target range: 150.300003 and range: 150.30 m. 2025-01-08T23:30:30.272Z,1736379030.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:30.273Z,1736379030.273 [DAT](INFO): DAT read: Rx Time:23:30:29.0404 2025-01-08T23:30:30.273Z,1736379030.273 [DAT](INFO): Rx dataTimestamp_ set to:1736379030.272778 2025-01-08T23:30:30.274Z,1736379030.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010997 2025-01-08T23:30:30.524Z,1736379030.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:30.525Z,1736379030.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262625 2025-01-08T23:30:30.625Z,1736379030.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:30.659Z,1736379030.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.30 m. 2025-01-08T23:30:30.669Z,1736379030.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.300003 m, nav range: 44.550022 m, bearing: 76.809294 deg, approach rate: -0.096709 m/s, LOS rate: 0.651759 deg/s, cmd heading: 13.494524 deg, new cmd heading: 14.262038 deg. 2025-01-08T23:30:30.671Z,1736379030.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.248920 target range: 150.300003 and range: 150.30 m. 2025-01-08T23:30:30.777Z,1736379030.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:30.787Z,1736379030.787 [DAT](INFO): DAT read: 23:30:29.0404 LVL= 14544, 28625, 20466, 29379, AGC= 61, IDX= 425, 0.29,-0.096,-1.724,-1.668,-1.116, PHS= 1.108,-0.561,-0.555, RAW= 90.2, 0.1, CAL= 97.8, -4.1, ROT= 52.2, 4.1 2025-01-08T23:30:30.790Z,1736379030.790 [DAT](INFO): got valid direction response: 23:30:29.0404 LVL= 14544, 28625, 20466, 29379, AGC= 61, IDX= 425, 0.29,-0.096,-1.724,-1.668,-1.116, PHS= 1.108,-0.561,-0.555, RAW= 90.2, 0.1, CAL= 97.8, -4.1, ROT= 52.2, 4.1 2025-01-08T23:30:30.791Z,1736379030.791 [DAT](INFO): DAT read: Bearing 52.2, 4.1 (Local) 2025-01-08T23:30:30.792Z,1736379030.792 [DAT](INFO): Local bearing/azimuth received: Bearing 52.2, 4.1 (Local) 2025-01-08T23:30:30.794Z,1736379030.794 [DAT](INFO): DAT read: Range 10 to 50 : 149.7 m (Round-trip 199.7 ms) speed 0.0 m/s 2025-01-08T23:30:30.819Z,1736379030.819 [DAT](INFO): DAT read: user:3275> 2025-01-08T23:30:30.820Z,1736379030.820 [DAT](INFO): DAT read: Tx time:23:30:30.1366 2025-01-08T23:30:30.820Z,1736379030.820 [DAT](INFO): Ping request sent. 2025-01-08T23:30:30.820Z,1736379030.820 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:30.821Z,1736379030.821 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:30.822Z,1736379030.822 [DAT](INFO): direction in FSK: [-0.087253,0.104643,0.990675] 2025-01-08T23:30:30.822Z,1736379030.822 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:30.822Z,1736379030.822 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:30.829Z,1736379030.829 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:30.830Z,1736379030.830 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:31.036Z,1736379031.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:31.036Z,1736379031.036 [DAT](INFO): DAT read: TxSync time:23:30:30.1358 2025-01-08T23:30:31.094Z,1736379031.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:31.132Z,1736379031.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 149.699997 m, deltaT: 3.528370 s, deltaX: -0.600006 m, approachRate: -0.170052 m/s, rangeRepo size: 4 2025-01-08T23:30:31.134Z,1736379031.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 149.699997 m, bearing: 243.245788 deg, lat: 36.904177 deg, lon: -122.120821 deg, deltaT: 3.528370 s, deltaX: -0.600006 m, approachRate: -0.170052 m/s, posRepo size: 4 2025-01-08T23:30:31.139Z,1736379031.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m. 2025-01-08T23:30:31.143Z,1736379031.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.699997 m, nav range: 11.164114 m, bearing: 92.408746 deg, approach rate: 0.000000 m/s, LOS rate: 0.651759 deg/s, cmd heading: 14.262038 deg, new cmd heading: 15.185895 deg. 2025-01-08T23:30:31.148Z,1736379031.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265044 target range: 149.699997 and range: 149.70 m. 2025-01-08T23:30:31.288Z,1736379031.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:31.432Z,1736379031.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:31.440Z,1736379031.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m. 2025-01-08T23:30:31.464Z,1736379031.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.699997 m, nav range: 11.196186 m, bearing: 93.365952 deg, approach rate: 0.102460 m/s, LOS rate: 3.049071 deg/s, cmd heading: 15.185894 deg, new cmd heading: 18.046775 deg. 2025-01-08T23:30:31.465Z,1736379031.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.314976 target range: 149.699997 and range: 149.70 m. 2025-01-08T23:30:31.540Z,1736379031.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:31.793Z,1736379031.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:31.876Z,1736379031.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:31.905Z,1736379031.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:31.908Z,1736379031.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m. 2025-01-08T23:30:31.911Z,1736379031.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.699997 m, nav range: 11.243145 m, bearing: 94.617406 deg, approach rate: 0.100577 m/s, LOS rate: 2.668962 deg/s, cmd heading: 18.046775 deg, new cmd heading: 21.779867 deg. 2025-01-08T23:30:31.912Z,1736379031.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.380130 target range: 149.699997 and range: 149.70 m. 2025-01-08T23:30:32.046Z,1736379032.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:32.047Z,1736379032.047 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:32.047Z,1736379032.047 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:32.048Z,1736379032.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:32.298Z,1736379032.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:32.303Z,1736379032.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482439 2025-01-08T23:30:32.381Z,1736379032.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:32.398Z,1736379032.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m. 2025-01-08T23:30:32.405Z,1736379032.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.699997 m, nav range: 11.322049 m, bearing: 96.025302 deg, approach rate: 0.160854 m/s, LOS rate: 2.849840 deg/s, cmd heading: 21.779868 deg, new cmd heading: 25.966233 deg. 2025-01-08T23:30:32.406Z,1736379032.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453196 target range: 149.699997 and range: 149.70 m. 2025-01-08T23:30:32.549Z,1736379032.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:32.549Z,1736379032.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728765 2025-01-08T23:30:32.741Z,1736379032.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:32.765Z,1736379032.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m. 2025-01-08T23:30:32.767Z,1736379032.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.699997 m, nav range: 11.380803 m, bearing: 97.021091 deg, approach rate: 0.160160 m/s, LOS rate: 2.700318 deg/s, cmd heading: 25.966233 deg, new cmd heading: 28.935367 deg. 2025-01-08T23:30:32.768Z,1736379032.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.505017 target range: 149.699997 and range: 149.70 m. 2025-01-08T23:30:32.800Z,1736379032.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:32.801Z,1736379032.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979914 2025-01-08T23:30:33.052Z,1736379033.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:33.053Z,1736379033.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232115 2025-01-08T23:30:33.160Z,1736379033.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:33.206Z,1736379033.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m. 2025-01-08T23:30:33.214Z,1736379033.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.699997 m, nav range: 11.455657 m, bearing: 98.156317 deg, approach rate: 0.169866 m/s, LOS rate: 2.559169 deg/s, cmd heading: 28.935366 deg, new cmd heading: 32.314643 deg. 2025-01-08T23:30:33.215Z,1736379033.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563997 target range: 149.699997 and range: 149.70 m. 2025-01-08T23:30:33.304Z,1736379033.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:33.305Z,1736379033.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484112 2025-01-08T23:30:33.553Z,1736379033.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:33.556Z,1736379033.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:33.556Z,1736379033.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735944 2025-01-08T23:30:33.581Z,1736379033.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m. 2025-01-08T23:30:33.592Z,1736379033.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.699997 m, nav range: 11.529793 m, bearing: 99.205837 deg, approach rate: 0.197177 m/s, LOS rate: 2.773278 deg/s, cmd heading: 32.314643 deg, new cmd heading: 35.439682 deg. 2025-01-08T23:30:33.593Z,1736379033.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618539 target range: 149.699997 and range: 149.70 m. 2025-01-08T23:30:33.810Z,1736379033.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:33.813Z,1736379033.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992002 2025-01-08T23:30:33.948Z,1736379033.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:33.954Z,1736379033.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:33.977Z,1736379033.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m. 2025-01-08T23:30:33.985Z,1736379033.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.699997 m, nav range: 11.601672 m, bearing: 100.258036 deg, approach rate: 0.181710 m/s, LOS rate: 2.643321 deg/s, cmd heading: 35.439683 deg, new cmd heading: 38.573418 deg. 2025-01-08T23:30:33.994Z,1736379033.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673233 target range: 149.699997 and range: 149.70 m. 2025-01-08T23:30:34.060Z,1736379034.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:34.061Z,1736379034.061 [DAT](INFO): DAT read: Rx Time:23:30:32.7400 2025-01-08T23:30:34.061Z,1736379034.061 [DAT](INFO): Rx dataTimestamp_ set to:1736379034.060897 2025-01-08T23:30:34.062Z,1736379034.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241191 2025-01-08T23:30:34.313Z,1736379034.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:34.315Z,1736379034.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493773 2025-01-08T23:30:34.479Z,1736379034.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:34.487Z,1736379034.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m. 2025-01-08T23:30:34.490Z,1736379034.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.699997 m, nav range: 11.688691 m, bearing: 101.672462 deg, approach rate: 0.170472 m/s, LOS rate: 2.749978 deg/s, cmd heading: 38.573418 deg, new cmd heading: 42.777120 deg. 2025-01-08T23:30:34.493Z,1736379034.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746602 target range: 149.699997 and range: 149.70 m. 2025-01-08T23:30:34.565Z,1736379034.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:34.572Z,1736379034.572 [DAT](INFO): DAT read: 23:30:32.7400 LVL= 19232, 32753, 26098, 32755, AGC= 63, IDX= 437, 0.30, 1.794, 0.158, 0.421, 0.921, PHS= 0.962,-0.716,-0.503, RAW= 96.7, 3.3, CAL= 106.1, 1.3, ROT= 43.9, -1.3 2025-01-08T23:30:34.573Z,1736379034.573 [DAT](INFO): got valid direction response: 23:30:32.7400 LVL= 19232, 32753, 26098, 32755, AGC= 63, IDX= 437, 0.30, 1.794, 0.158, 0.421, 0.921, PHS= 0.962,-0.716,-0.503, RAW= 96.7, 3.3, CAL= 106.1, 1.3, ROT= 43.9, -1.3 2025-01-08T23:30:34.573Z,1736379034.573 [DAT](INFO): DAT read: Bearing 43.9, -1.3 (Local) 2025-01-08T23:30:34.574Z,1736379034.574 [DAT](INFO): Local bearing/azimuth received: Bearing 43.9, -1.3 (Local) 2025-01-08T23:30:34.577Z,1736379034.577 [DAT](INFO): DAT read: Range 10 to 50 : 149.4 m (Round-trip 199.3 ms) speed 0.3 m/s 2025-01-08T23:30:34.578Z,1736379034.578 [DAT](INFO): DAT read: user:32time3.8366 2025-01-08T23:30:34.578Z,1736379034.578 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:34.579Z,1736379034.579 [DAT](INFO): direction in FSK: [-0.157952,-0.005731,0.987430] 2025-01-08T23:30:34.580Z,1736379034.580 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:34.583Z,1736379034.583 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:34.583Z,1736379034.583 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:34.583Z,1736379034.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:34.767Z,1736379034.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:34.800Z,1736379034.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 149.399994 m, deltaT: 3.788030 s, deltaX: -0.300003 m, approachRate: -0.079198 m/s, rangeRepo size: 4 2025-01-08T23:30:34.802Z,1736379034.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 149.399994 m, bearing: 256.505495 deg, lat: 36.904132 deg, lon: -122.121003 deg, deltaT: 3.788030 s, deltaX: -0.300003 m, approachRate: -0.079198 m/s, posRepo size: 4 2025-01-08T23:30:34.807Z,1736379034.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.40 m. 2025-01-08T23:30:34.816Z,1736379034.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:34.817Z,1736379034.817 [DAT](INFO): DAT read: TxSync time:23:30:33.8358 2025-01-08T23:30:34.818Z,1736379034.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.997277 2025-01-08T23:30:34.811Z,1736379034.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.399994 m, nav range: 8.958100 m, bearing: 211.965082 deg, approach rate: 0.000000 m/s, LOS rate: 2.749978 deg/s, cmd heading: 42.777120 deg, new cmd heading: 45.284685 deg. 2025-01-08T23:30:34.831Z,1736379034.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790367 target range: 149.399994 and range: 149.40 m. 2025-01-08T23:30:35.068Z,1736379035.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:35.069Z,1736379035.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.248006 2025-01-08T23:30:35.217Z,1736379035.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:35.242Z,1736379035.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.40 m. 2025-01-08T23:30:35.249Z,1736379035.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.399994 m, nav range: 9.168149 m, bearing: 211.144413 deg, approach rate: 0.473103 m/s, LOS rate: -1.806023 deg/s, cmd heading: 45.284684 deg, new cmd heading: 42.880575 deg. 2025-01-08T23:30:35.250Z,1736379035.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748407 target range: 149.399994 and range: 149.40 m. 2025-01-08T23:30:35.320Z,1736379035.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:35.321Z,1736379035.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.500820 2025-01-08T23:30:35.571Z,1736379035.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:35.572Z,1736379035.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:35.572Z,1736379035.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.751962 2025-01-08T23:30:35.583Z,1736379035.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.40 m. 2025-01-08T23:30:35.586Z,1736379035.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.399994 m, nav range: 9.336226 m, bearing: 210.550704 deg, approach rate: 0.483813 m/s, LOS rate: -1.678201 deg/s, cmd heading: 42.880576 deg, new cmd heading: 41.132088 deg. 2025-01-08T23:30:35.587Z,1736379035.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.717890 target range: 149.399994 and range: 149.40 m. 2025-01-08T23:30:35.824Z,1736379035.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:35.824Z,1736379035.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.003866 2025-01-08T23:30:35.967Z,1736379035.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:35.974Z,1736379035.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:35.000Z,1736379036.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.40 m. 2025-01-08T23:30:36.002Z,1736379036.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.399994 m, nav range: 9.528399 m, bearing: 209.941389 deg, approach rate: 0.461478 m/s, LOS rate: -1.433653 deg/s, cmd heading: 41.132089 deg, new cmd heading: 39.341629 deg. 2025-01-08T23:30:36.008Z,1736379036.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686641 target range: 149.399994 and range: 149.40 m. 2025-01-08T23:30:36.080Z,1736379036.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:36.082Z,1736379036.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.261279 2025-01-08T23:30:36.332Z,1736379036.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:36.333Z,1736379036.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.512683 2025-01-08T23:30:36.422Z,1736379036.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:36.432Z,1736379036.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.40 m. 2025-01-08T23:30:36.434Z,1736379036.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.399994 m, nav range: 9.762630 m, bearing: 209.512784 deg, approach rate: 0.542162 m/s, LOS rate: -0.968258 deg/s, cmd heading: 39.341630 deg, new cmd heading: 38.086879 deg. 2025-01-08T23:30:36.435Z,1736379036.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664741 target range: 149.399994 and range: 149.40 m. 2025-01-08T23:30:36.584Z,1736379036.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:36.585Z,1736379036.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.764840 2025-01-08T23:30:36.770Z,1736379036.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:36.778Z,1736379036.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.40 m. 2025-01-08T23:30:36.804Z,1736379036.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.399994 m, nav range: 9.943443 m, bearing: 209.227901 deg, approach rate: 0.521312 m/s, LOS rate: -0.806424 deg/s, cmd heading: 38.086880 deg, new cmd heading: 37.247835 deg. 2025-01-08T23:30:36.805Z,1736379036.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650097 target range: 149.399994 and range: 149.40 m. 2025-01-08T23:30:36.840Z,1736379036.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:36.840Z,1736379036.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.019688 2025-01-08T23:30:37.092Z,1736379037.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:37.093Z,1736379037.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.272484 2025-01-08T23:30:37.236Z,1736379037.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:37.245Z,1736379037.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.40 m. 2025-01-08T23:30:37.248Z,1736379037.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.399994 m, nav range: 10.189982 m, bearing: 208.977463 deg, approach rate: 0.527706 m/s, LOS rate: -0.523082 deg/s, cmd heading: 37.247836 deg, new cmd heading: 36.514740 deg. 2025-01-08T23:30:37.249Z,1736379037.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637302 target range: 149.399994 and range: 149.40 m. 2025-01-08T23:30:37.344Z,1736379037.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:37.346Z,1736379037.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.525092 2025-01-08T23:30:37.596Z,1736379037.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:37.597Z,1736379037.597 [DAT](INFO): DAT read: Rx Time:23:30:36.4379 2025-01-08T23:30:37.597Z,1736379037.597 [DAT](INFO): Rx dataTimestamp_ set to:1736379037.596682 2025-01-08T23:30:37.597Z,1736379037.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.776968 2025-01-08T23:30:37.611Z,1736379037.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:37.620Z,1736379037.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.40 m. 2025-01-08T23:30:37.623Z,1736379037.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.399994 m, nav range: 10.389898 m, bearing: 208.845806 deg, approach rate: 0.534312 m/s, LOS rate: -0.345107 deg/s, cmd heading: 36.514741 deg, new cmd heading: 36.127376 deg. 2025-01-08T23:30:37.625Z,1736379037.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630542 target range: 149.399994 and range: 149.40 m. 2025-01-08T23:30:37.848Z,1736379037.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:37.849Z,1736379037.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.028030 2025-01-08T23:30:38.029Z,1736379038.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:38.036Z,1736379038.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:38.038Z,1736379038.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.40 m. 2025-01-08T23:30:38.042Z,1736379038.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.399994 m, nav range: 10.613493 m, bearing: 208.737523 deg, approach rate: 0.534678 m/s, LOS rate: -0.253478 deg/s, cmd heading: 36.127377 deg, new cmd heading: 35.809378 deg. 2025-01-08T23:30:38.049Z,1736379038.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624992 target range: 149.399994 and range: 149.40 m. 2025-01-08T23:30:38.102Z,1736379038.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:38.106Z,1736379038.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.284368 2025-01-08T23:30:38.352Z,1736379038.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:38.373Z,1736379038.373 [DAT](INFO): DAT read: 23:30:36.4379 LVL= 24432, 32753, 32754, 32755, AGC= 62, IDX= 416,-0.05, 2.700, 1.142, 1.702, 2.030, PHS= 0.759,-0.840,-0.330, RAW= 108.2, 5.9, CAL= 118.9, 3.4, ROT= 31.1, -3.4 2025-01-08T23:30:38.376Z,1736379038.376 [DAT](INFO): got valid direction response: 23:30:36.4379 LVL= 24432, 32753, 32754, 32755, AGC= 62, IDX= 416,-0.05, 2.700, 1.142, 1.702, 2.030, PHS= 0.759,-0.840,-0.330, RAW= 108.2, 5.9, CAL= 118.9, 3.4, ROT= 31.1, -3.4 2025-01-08T23:30:38.377Z,1736379038.377 [DAT](INFO): DAT read: Bearing 31.1, -3.4 (Local) 2025-01-08T23:30:38.377Z,1736379038.377 [DAT](INFO): Local bearing/azimuth received: Bearing 31.1, -3.4 (Local) 2025-01-08T23:30:38.379Z,1736379038.379 [DAT](INFO): DAT read: Range 10 to 50 : 147.9 m (Round-trip 197.2 ms) speed 0.8 m/s 2025-01-08T23:30:38.409Z,1736379038.409 [DAT](INFO): DAT read: user:3277> 2025-01-08T23:30:38.410Z,1736379038.410 [DAT](INFO): DAT read: Tx time:23:30:37.5366 2025-01-08T23:30:38.411Z,1736379038.411 [DAT](INFO): Ping request sent. 2025-01-08T23:30:38.411Z,1736379038.411 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:38.412Z,1736379038.412 [DAT](INFO): DAT read: TxSync time:23:30:37.5358 2025-01-08T23:30:38.412Z,1736379038.412 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:38.413Z,1736379038.413 [DAT](INFO): direction in FSK: [-0.221956,-0.203704,0.953541] 2025-01-08T23:30:38.413Z,1736379038.413 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:38.414Z,1736379038.414 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:38.434Z,1736379038.434 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:38.434Z,1736379038.434 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:38.516Z,1736379038.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:38.538Z,1736379038.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 147.899994 m, deltaT: 3.787420 s, deltaX: -1.500000 m, approachRate: -0.396048 m/s, rangeRepo size: 4 2025-01-08T23:30:38.552Z,1736379038.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 147.899994 m, bearing: 271.571833 deg, lat: 36.904132 deg, lon: -122.121155 deg, deltaT: 3.787420 s, deltaX: -1.500000 m, approachRate: -0.396048 m/s, posRepo size: 4 2025-01-08T23:30:38.553Z,1736379038.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m. 2025-01-08T23:30:38.560Z,1736379038.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.899994 m, nav range: 21.025757 m, bearing: 242.999766 deg, approach rate: 0.000000 m/s, LOS rate: -0.253478 deg/s, cmd heading: 35.809377 deg, new cmd heading: 35.429349 deg. 2025-01-08T23:30:38.561Z,1736379038.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618359 target range: 147.899994 and range: 147.90 m. 2025-01-08T23:30:38.604Z,1736379038.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:38.847Z,1736379038.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:38.856Z,1736379038.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:38.872Z,1736379038.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m. 2025-01-08T23:30:38.885Z,1736379038.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.899994 m, nav range: 21.187660 m, bearing: 242.738336 deg, approach rate: 0.483304 m/s, LOS rate: -0.774439 deg/s, cmd heading: 35.429349 deg, new cmd heading: 34.651102 deg. 2025-01-08T23:30:38.886Z,1736379038.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604776 target range: 147.899994 and range: 147.90 m. 2025-01-08T23:30:39.110Z,1736379039.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:39.302Z,1736379039.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:39.312Z,1736379039.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m. 2025-01-08T23:30:39.314Z,1736379039.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.899994 m, nav range: 21.434254 m, bearing: 242.425164 deg, approach rate: 0.561565 m/s, LOS rate: -0.704975 deg/s, cmd heading: 34.651100 deg, new cmd heading: 33.722480 deg. 2025-01-08T23:30:39.316Z,1736379039.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588568 target range: 147.899994 and range: 147.90 m. 2025-01-08T23:30:39.360Z,1736379039.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:39.612Z,1736379039.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:39.633Z,1736379039.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:39.642Z,1736379039.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m. 2025-01-08T23:30:39.646Z,1736379039.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.899994 m, nav range: 21.617683 m, bearing: 242.228989 deg, approach rate: 0.556333 m/s, LOS rate: -0.589940 deg/s, cmd heading: 33.722481 deg, new cmd heading: 33.138970 deg. 2025-01-08T23:30:39.648Z,1736379039.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578384 target range: 147.899994 and range: 147.90 m. 2025-01-08T23:30:39.784Z,1736379039.784 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:30:39.864Z,1736379039.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:40.029Z,1736379040.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:40.037Z,1736379040.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m. 2025-01-08T23:30:40.040Z,1736379040.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.899994 m, nav range: 21.840218 m, bearing: 242.013014 deg, approach rate: 0.561917 m/s, LOS rate: -0.539796 deg/s, cmd heading: 33.138971 deg, new cmd heading: 32.497677 deg. 2025-01-08T23:30:40.042Z,1736379040.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567191 target range: 147.899994 and range: 147.90 m. 2025-01-08T23:30:40.118Z,1736379040.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:40.368Z,1736379040.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:40.462Z,1736379040.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:40.469Z,1736379040.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:40.471Z,1736379040.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m. 2025-01-08T23:30:40.475Z,1736379040.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.899994 m, nav range: 22.103077 m, bearing: 241.813368 deg, approach rate: 0.605855 m/s, LOS rate: -0.454685 deg/s, cmd heading: 32.497678 deg, new cmd heading: 31.905884 deg. 2025-01-08T23:30:40.476Z,1736379040.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556863 target range: 147.899994 and range: 147.90 m. 2025-01-08T23:30:40.621Z,1736379040.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:40.622Z,1736379040.622 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:40.622Z,1736379040.622 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:40.622Z,1736379040.622 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:40.851Z,1736379040.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:40.872Z,1736379040.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:40.873Z,1736379040.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461891 2025-01-08T23:30:40.881Z,1736379040.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m. 2025-01-08T23:30:40.888Z,1736379040.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.899994 m, nav range: 22.338987 m, bearing: 241.638355 deg, approach rate: 0.575780 m/s, LOS rate: -0.422637 deg/s, cmd heading: 31.905883 deg, new cmd heading: 31.386406 deg. 2025-01-08T23:30:40.889Z,1736379040.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547796 target range: 147.899994 and range: 147.90 m. 2025-01-08T23:30:41.126Z,1736379041.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:41.128Z,1736379041.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717165 2025-01-08T23:30:41.272Z,1736379041.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:41.286Z,1736379041.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m. 2025-01-08T23:30:41.288Z,1736379041.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.899994 m, nav range: 22.602037 m, bearing: 241.496798 deg, approach rate: 0.650014 m/s, LOS rate: -0.345726 deg/s, cmd heading: 31.386406 deg, new cmd heading: 30.966685 deg. 2025-01-08T23:30:41.289Z,1736379041.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540471 target range: 147.899994 and range: 147.90 m. 2025-01-08T23:30:41.378Z,1736379041.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:41.379Z,1736379041.379 [DAT](INFO): DAT read: Rx Time:23:30:40.1353 2025-01-08T23:30:41.380Z,1736379041.380 [DAT](INFO): Rx dataTimestamp_ set to:1736379041.379459 2025-01-08T23:30:41.380Z,1736379041.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969615 2025-01-08T23:30:41.628Z,1736379041.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:41.629Z,1736379041.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217870 2025-01-08T23:30:41.658Z,1736379041.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:41.700Z,1736379041.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.90 m. 2025-01-08T23:30:41.702Z,1736379041.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.899994 m, nav range: 22.843683 m, bearing: 241.382077 deg, approach rate: 0.589612 m/s, LOS rate: -0.276956 deg/s, cmd heading: 30.966684 deg, new cmd heading: 30.626167 deg. 2025-01-08T23:30:41.708Z,1736379041.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534527 target range: 147.899994 and range: 147.90 m. 2025-01-08T23:30:41.880Z,1736379041.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:41.902Z,1736379041.902 [DAT](INFO): DAT read: 23:30:40.1353 LVL= 26416, 32753, 32754, 32755, AGC= 59, IDX= 419, 0.36,-0.406,-1.789,-1.080,-0.890, PHS= 0.572,-0.852,-0.193, RAW= 117.6, 7.7, CAL= 126.7, 4.0, ROT= 23.3, -4.0 2025-01-08T23:30:41.903Z,1736379041.903 [DAT](INFO): got valid direction response: 23:30:40.1353 LVL= 26416, 32753, 32754, 32755, AGC= 59, IDX= 419, 0.36,-0.406,-1.789,-1.080,-0.890, PHS= 0.572,-0.852,-0.193, RAW= 117.6, 7.7, CAL= 126.7, 4.0, ROT= 23.3, -4.0 2025-01-08T23:30:41.904Z,1736379041.904 [DAT](INFO): DAT read: Bearing 23.3, -4.0 (Local) 2025-01-08T23:30:41.904Z,1736379041.904 [DAT](INFO): Local bearing/azimuth received: Bearing 23.3, -4.0 (Local) 2025-01-08T23:30:41.906Z,1736379041.906 [DAT](INFO): DAT read: Range 10 to 50 : 145.9 m (Round-trip 194.6 ms) speed 0.4 m/s 2025-01-08T23:30:41.906Z,1736379041.906 [DAT](INFO): DAT read: user:3278> 2025-01-08T23:30:41.907Z,1736379041.907 [DAT](INFO): DAT read: Tx time:23:30:41.2366 2025-01-08T23:30:41.908Z,1736379041.908 [DAT](INFO): Ping request sent. 2025-01-08T23:30:41.908Z,1736379041.908 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:41.908Z,1736379041.908 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:41.909Z,1736379041.909 [DAT](INFO): direction in FSK: [-0.265840,-0.359058,0.894654] 2025-01-08T23:30:41.909Z,1736379041.909 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:41.909Z,1736379041.909 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:41.913Z,1736379041.913 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:41.913Z,1736379041.913 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:42.081Z,1736379042.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:42.134Z,1736379042.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:42.137Z,1736379042.137 [DAT](INFO): DAT read: TxSync time:23:30:41.2358 2025-01-08T23:30:42.177Z,1736379042.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 145.899994 m, deltaT: 3.528478 s, deltaX: -2.000000 m, approachRate: -0.566817 m/s, rangeRepo size: 4 2025-01-08T23:30:42.183Z,1736379042.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 145.899994 m, bearing: 282.803991 deg, lat: 36.904132 deg, lon: -122.121458 deg, deltaT: 3.528478 s, deltaX: -2.000000 m, approachRate: -0.566817 m/s, posRepo size: 4 2025-01-08T23:30:42.184Z,1736379042.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m. 2025-01-08T23:30:42.186Z,1736379042.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.899994 m, nav range: 48.542557 m, bearing: 256.766581 deg, approach rate: 0.000000 m/s, LOS rate: -0.276956 deg/s, cmd heading: 30.626165 deg, new cmd heading: 30.226511 deg. 2025-01-08T23:30:42.192Z,1736379042.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.527552 target range: 145.899994 and range: 145.90 m. 2025-01-08T23:30:42.385Z,1736379042.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:42.537Z,1736379042.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:42.545Z,1736379042.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:42.547Z,1736379042.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m. 2025-01-08T23:30:42.550Z,1736379042.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.899994 m, nav range: 48.809551 m, bearing: 256.615396 deg, approach rate: 0.720141 m/s, LOS rate: -0.405547 deg/s, cmd heading: 30.226510 deg, new cmd heading: 29.775447 deg. 2025-01-08T23:30:42.551Z,1736379042.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519680 target range: 145.899994 and range: 145.90 m. 2025-01-08T23:30:42.637Z,1736379042.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:42.637Z,1736379042.637 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:42.638Z,1736379042.638 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:42.638Z,1736379042.638 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:42.888Z,1736379042.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:42.888Z,1736379042.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980665 2025-01-08T23:30:42.904Z,1736379042.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:42.916Z,1736379042.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m. 2025-01-08T23:30:42.918Z,1736379042.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.899994 m, nav range: 49.027359 m, bearing: 256.502092 deg, approach rate: 0.591380 m/s, LOS rate: -0.306269 deg/s, cmd heading: 29.775448 deg, new cmd heading: 29.437052 deg. 2025-01-08T23:30:42.920Z,1736379042.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513774 target range: 145.899994 and range: 145.90 m. 2025-01-08T23:30:43.141Z,1736379043.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:43.144Z,1736379043.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235902 2025-01-08T23:30:43.317Z,1736379043.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:43.326Z,1736379043.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m. 2025-01-08T23:30:43.330Z,1736379043.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.899994 m, nav range: 49.256817 m, bearing: 256.379601 deg, approach rate: 0.558392 m/s, LOS rate: -0.296697 deg/s, cmd heading: 29.437053 deg, new cmd heading: 29.071296 deg. 2025-01-08T23:30:43.333Z,1736379043.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507390 target range: 145.899994 and range: 145.90 m. 2025-01-08T23:30:43.392Z,1736379043.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:43.393Z,1736379043.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485160 2025-01-08T23:30:43.644Z,1736379043.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:43.645Z,1736379043.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737197 2025-01-08T23:30:43.702Z,1736379043.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:43.712Z,1736379043.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m. 2025-01-08T23:30:43.714Z,1736379043.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.899994 m, nav range: 49.470905 m, bearing: 256.266983 deg, approach rate: 0.555974 m/s, LOS rate: -0.291197 deg/s, cmd heading: 29.071297 deg, new cmd heading: 28.734908 deg. 2025-01-08T23:30:43.732Z,1736379043.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501519 target range: 145.899994 and range: 145.90 m. 2025-01-08T23:30:43.896Z,1736379043.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:43.896Z,1736379043.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988681 2025-01-08T23:30:44.096Z,1736379044.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:44.104Z,1736379044.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m. 2025-01-08T23:30:44.106Z,1736379044.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.899994 m, nav range: 49.689095 m, bearing: 256.152572 deg, approach rate: 0.555947 m/s, LOS rate: -0.290240 deg/s, cmd heading: 28.734906 deg, new cmd heading: 28.393185 deg. 2025-01-08T23:30:44.108Z,1736379044.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495555 target range: 145.899994 and range: 145.90 m. 2025-01-08T23:30:44.149Z,1736379044.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:44.152Z,1736379044.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243350 2025-01-08T23:30:44.400Z,1736379044.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:44.400Z,1736379044.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492578 2025-01-08T23:30:44.556Z,1736379044.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:44.564Z,1736379044.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:44.566Z,1736379044.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m. 2025-01-08T23:30:44.569Z,1736379044.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.899994 m, nav range: 49.920483 m, bearing: 256.011117 deg, approach rate: 0.500760 m/s, LOS rate: -0.304710 deg/s, cmd heading: 28.393185 deg, new cmd heading: 27.970797 deg. 2025-01-08T23:30:44.570Z,1736379044.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488183 target range: 145.899994 and range: 145.90 m. 2025-01-08T23:30:44.652Z,1736379044.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:44.654Z,1736379044.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745832 2025-01-08T23:30:44.904Z,1736379044.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:44.904Z,1736379044.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996478 2025-01-08T23:30:44.913Z,1736379044.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:44.942Z,1736379044.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m. 2025-01-08T23:30:44.959Z,1736379044.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.899994 m, nav range: 50.097443 m, bearing: 255.898753 deg, approach rate: 0.471058 m/s, LOS rate: -0.298050 deg/s, cmd heading: 27.970798 deg, new cmd heading: 27.634901 deg. 2025-01-08T23:30:44.960Z,1736379044.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.482320 target range: 145.899994 and range: 145.90 m. 2025-01-08T23:30:45.158Z,1736379045.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:45.161Z,1736379045.161 [DAT](INFO): DAT read: Rx Time:23:30:43.8330 2025-01-08T23:30:45.163Z,1736379045.163 [DAT](INFO): Rx dataTimestamp_ set to:1736379045.161733 2025-01-08T23:30:45.165Z,1736379045.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256749 2025-01-08T23:30:45.409Z,1736379045.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:45.409Z,1736379045.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501623 2025-01-08T23:30:45.429Z,1736379045.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:45.437Z,1736379045.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.90 m. 2025-01-08T23:30:45.442Z,1736379045.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.899994 m, nav range: 50.307220 m, bearing: 255.721754 deg, approach rate: 0.423082 m/s, LOS rate: -0.355486 deg/s, cmd heading: 27.634901 deg, new cmd heading: 27.106133 deg. 2025-01-08T23:30:45.443Z,1736379045.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473091 target range: 145.899994 and range: 145.90 m. 2025-01-08T23:30:45.592Z,1736379045.592 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:30:45.660Z,1736379045.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:45.670Z,1736379045.670 [DAT](INFO): DAT read: 23:30:43.8330 LVL= 16672, 27089, 19058, 29235, AGC= 66, IDX= 413,-0.45, 2.618, 1.021, 1.766, 2.034, PHS= 0.672,-0.966,-0.271, RAW= 115.0, 8.0, CAL= 124.4, 4.6, ROT= 25.6, -4.6 2025-01-08T23:30:45.672Z,1736379045.672 [DAT](INFO): got valid direction response: 23:30:43.8330 LVL= 16672, 27089, 19058, 29235, AGC= 66, IDX= 413,-0.45, 2.618, 1.021, 1.766, 2.034, PHS= 0.672,-0.966,-0.271, RAW= 115.0, 8.0, CAL= 124.4, 4.6, ROT= 25.6, -4.6 2025-01-08T23:30:45.673Z,1736379045.673 [DAT](INFO): DAT read: Bearing 25.6, -4.6 (Local) 2025-01-08T23:30:45.674Z,1736379045.674 [DAT](INFO): Local bearing/azimuth received: Bearing 25.6, -4.6 (Local) 2025-01-08T23:30:45.676Z,1736379045.676 [DAT](INFO): DAT read: Range 10 to 50 : 144.0 m (Round-trip 192.1 ms) speed 0.3 m/s 2025-01-08T23:30:45.677Z,1736379045.677 [DAT](INFO): DAT read: user:3279> 2025-01-08T23:30:45.678Z,1736379045.678 [DAT](INFO): DAT read: Tx time:23:30:44.9367 2025-01-08T23:30:45.680Z,1736379045.680 [DAT](INFO): Ping request sent. 2025-01-08T23:30:45.680Z,1736379045.680 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:45.680Z,1736379045.680 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:45.682Z,1736379045.682 [DAT](INFO): direction in FSK: [-0.268656,-0.316143,0.909878] 2025-01-08T23:30:45.682Z,1736379045.682 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:45.682Z,1736379045.682 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:45.685Z,1736379045.685 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:45.686Z,1736379045.686 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:45.810Z,1736379045.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:45.845Z,1736379045.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 144.000000 m, deltaT: 3.779575 s, deltaX: -1.899994 m, approachRate: -0.502700 m/s, rangeRepo size: 4 2025-01-08T23:30:45.847Z,1736379045.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 144.000000 m, bearing: 280.318349 deg, lat: 36.904237 deg, lon: -122.121570 deg, deltaT: 3.779575 s, deltaX: -1.899994 m, approachRate: -0.502700 m/s, posRepo size: 4 2025-01-08T23:30:45.851Z,1736379045.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:45.854Z,1736379045.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 58.803749 m, bearing: 269.206367 deg, approach rate: 0.000000 m/s, LOS rate: -0.355486 deg/s, cmd heading: 27.106133 deg, new cmd heading: 26.677923 deg. 2025-01-08T23:30:45.855Z,1736379045.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.465618 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:45.912Z,1736379045.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:45.913Z,1736379045.913 [DAT](INFO): DAT read: TxSync time:23:30:44.9359 2025-01-08T23:30:46.165Z,1736379046.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:46.312Z,1736379046.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:46.321Z,1736379046.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:46.325Z,1736379046.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 58.917282 m, bearing: 269.005665 deg, approach rate: 0.235666 m/s, LOS rate: -0.415805 deg/s, cmd heading: 26.677923 deg, new cmd heading: 26.076999 deg. 2025-01-08T23:30:46.327Z,1736379046.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455130 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:46.416Z,1736379046.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:46.596Z,1736379046.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:30:46.668Z,1736379046.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:46.693Z,1736379046.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:46.700Z,1736379046.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:46.702Z,1736379046.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:46.705Z,1736379046.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.000366 m, bearing: 268.852265 deg, approach rate: 0.217795 m/s, LOS rate: -0.401553 deg/s, cmd heading: 26.077000 deg, new cmd heading: 25.617459 deg. 2025-01-08T23:30:46.706Z,1736379046.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447109 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:46.920Z,1736379046.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:46.920Z,1736379046.920 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:46.920Z,1736379046.920 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:46.920Z,1736379046.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:47.106Z,1736379047.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:47.115Z,1736379047.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:47.118Z,1736379047.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.086857 m, bearing: 268.684777 deg, approach rate: 0.209448 m/s, LOS rate: -0.404998 deg/s, cmd heading: 25.617459 deg, new cmd heading: 25.115746 deg. 2025-01-08T23:30:47.119Z,1736379047.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438352 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:47.173Z,1736379047.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:47.176Z,1736379047.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495997 2025-01-08T23:30:47.424Z,1736379047.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:47.426Z,1736379047.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745472 2025-01-08T23:30:47.515Z,1736379047.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:47.524Z,1736379047.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:47.527Z,1736379047.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.148121 m, bearing: 268.516662 deg, approach rate: 0.150096 m/s, LOS rate: -0.411453 deg/s, cmd heading: 25.115746 deg, new cmd heading: 24.611935 deg. 2025-01-08T23:30:47.528Z,1736379047.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429559 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:47.677Z,1736379047.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:47.677Z,1736379047.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997659 2025-01-08T23:30:47.901Z,1736379047.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:47.911Z,1736379047.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:47.916Z,1736379047.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.202614 m, bearing: 268.356865 deg, approach rate: 0.140612 m/s, LOS rate: -0.411957 deg/s, cmd heading: 24.611934 deg, new cmd heading: 24.132996 deg. 2025-01-08T23:30:47.917Z,1736379047.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421200 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:47.928Z,1736379047.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:47.928Z,1736379047.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248744 2025-01-08T23:30:48.180Z,1736379048.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:48.181Z,1736379048.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501172 2025-01-08T23:30:48.354Z,1736379048.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:48.363Z,1736379048.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:48.366Z,1736379048.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.237495 m, bearing: 268.165825 deg, approach rate: 0.077126 m/s, LOS rate: -0.422154 deg/s, cmd heading: 24.132996 deg, new cmd heading: 23.560237 deg. 2025-01-08T23:30:48.367Z,1736379048.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411204 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:48.433Z,1736379048.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:48.435Z,1736379048.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754414 2025-01-08T23:30:48.684Z,1736379048.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:48.684Z,1736379048.684 [DAT](INFO): DAT read: Rx Time:23:30:47.5673 2025-01-08T23:30:48.685Z,1736379048.685 [DAT](INFO): Rx dataTimestamp_ set to:1736379048.684675 2025-01-08T23:30:48.685Z,1736379048.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005812 2025-01-08T23:30:48.737Z,1736379048.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:48.760Z,1736379048.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:48.762Z,1736379048.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:48.769Z,1736379048.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.264259 m, bearing: 268.003828 deg, approach rate: 0.067140 m/s, LOS rate: -0.406201 deg/s, cmd heading: 23.560237 deg, new cmd heading: 23.074476 deg. 2025-01-08T23:30:48.770Z,1736379048.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.402726 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:48.939Z,1736379048.939 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:48.941Z,1736379048.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261319 2025-01-08T23:30:49.152Z,1736379049.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:49.161Z,1736379049.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:49.164Z,1736379049.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.290638 m, bearing: 267.828338 deg, approach rate: 0.066014 m/s, LOS rate: -0.438975 deg/s, cmd heading: 23.074476 deg, new cmd heading: 22.548255 deg. 2025-01-08T23:30:49.165Z,1736379049.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393541 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:49.188Z,1736379049.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:49.188Z,1736379049.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508799 2025-01-08T23:30:49.440Z,1736379049.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:49.452Z,1736379049.452 [DAT](INFO): DAT read: 23:30:47.5673 LVL= 22928, 32753, 29890, 32755, AGC= 67, IDX= 284, 0.10,-0.594,-2.565,-1.774,-1.519, PHS= 1.013,-0.999,-0.258, RAW= 111.4, 2.8, CAL= 122.3, -0.7, ROT= 27.7, 0.7 2025-01-08T23:30:49.453Z,1736379049.453 [DAT](INFO): got valid direction response: 23:30:47.5673 LVL= 22928, 32753, 29890, 32755, AGC= 67, IDX= 284, 0.10,-0.594,-2.565,-1.774,-1.519, PHS= 1.013,-0.999,-0.258, RAW= 111.4, 2.8, CAL= 122.3, -0.7, ROT= 27.7, 0.7 2025-01-08T23:30:49.454Z,1736379049.454 [DAT](INFO): DAT read: Bearing 27.7, 0.7 (Local) 2025-01-08T23:30:49.454Z,1736379049.454 [DAT](INFO): Local bearing/azimuth received: Bearing 27.7, 0.7 (Local) 2025-01-08T23:30:49.456Z,1736379049.456 [DAT](INFO): DAT read: Range 10 to 50 : 169.8 m (Round-trip 226.5 ms) speed 0.4 m/s 2025-01-08T23:30:49.457Z,1736379049.457 [DAT](INFO): DAT read: user:3280> 2025-01-08T23:30:49.458Z,1736379049.458 [DAT](INFO): DAT read: Tx time:23:30:48.6867 2025-01-08T23:30:49.459Z,1736379049.459 [DAT](INFO): Ping request sent. 2025-01-08T23:30:49.459Z,1736379049.459 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:49.459Z,1736379049.459 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:49.460Z,1736379049.460 [DAT](INFO): direction in FSK: [-0.167333,-0.263390,0.950066] 2025-01-08T23:30:49.460Z,1736379049.460 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:49.460Z,1736379049.460 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:49.464Z,1736379049.464 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:49.464Z,1736379049.464 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:49.615Z,1736379049.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:49.684Z,1736379049.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 169.800003 m, deltaT: 3.779557 s, deltaX: 25.800003 m, approachRate: 6.826198 m/s, rangeRepo size: 4 2025-01-08T23:30:49.688Z,1736379049.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:49.690Z,1736379049.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.317894 m, bearing: 267.626046 deg, approach rate: 0.052705 m/s, LOS rate: -0.390989 deg/s, cmd heading: 22.548256 deg, new cmd heading: 21.941683 deg. 2025-01-08T23:30:49.692Z,1736379049.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:49.693Z,1736379049.693 [DAT](INFO): DAT read: TxSync time:23:30:48.6859 2025-01-08T23:30:49.694Z,1736379049.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.382955 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:49.945Z,1736379049.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:50.004Z,1736379050.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:50.036Z,1736379050.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:50.039Z,1736379050.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.336285 m, bearing: 267.455892 deg, approach rate: 0.051409 m/s, LOS rate: -0.475495 deg/s, cmd heading: 21.941684 deg, new cmd heading: 21.431395 deg. 2025-01-08T23:30:50.044Z,1736379050.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.374048 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:50.196Z,1736379050.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:50.448Z,1736379050.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:50.516Z,1736379050.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:50.525Z,1736379050.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:50.547Z,1736379050.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.366814 m, bearing: 267.223176 deg, approach rate: 0.062555 m/s, LOS rate: -0.476600 deg/s, cmd heading: 21.431395 deg, new cmd heading: 20.733642 deg. 2025-01-08T23:30:50.548Z,1736379050.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.361870 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:50.700Z,1736379050.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:50.867Z,1736379050.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:50.874Z,1736379050.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:50.878Z,1736379050.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:50.911Z,1736379050.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.386669 m, bearing: 267.063399 deg, approach rate: 0.056185 m/s, LOS rate: -0.451969 deg/s, cmd heading: 20.733642 deg, new cmd heading: 20.254484 deg. 2025-01-08T23:30:50.913Z,1736379050.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.353507 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:50.952Z,1736379050.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:50.952Z,1736379050.952 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:50.952Z,1736379050.952 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:50.953Z,1736379050.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:51.210Z,1736379051.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:51.211Z,1736379051.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752247 2025-01-08T23:30:51.355Z,1736379051.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:51.394Z,1736379051.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:51.397Z,1736379051.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.439594 m, bearing: 266.837977 deg, approach rate: 0.102525 m/s, LOS rate: -0.436293 deg/s, cmd heading: 20.254484 deg, new cmd heading: 19.578852 deg. 2025-01-08T23:30:51.398Z,1736379051.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.341715 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:51.465Z,1736379051.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:51.466Z,1736379051.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006993 2025-01-08T23:30:51.705Z,1736379051.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:51.715Z,1736379051.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:51.716Z,1736379051.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:51.717Z,1736379051.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258025 2025-01-08T23:30:51.719Z,1736379051.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.475197 m, bearing: 266.675797 deg, approach rate: 0.111007 m/s, LOS rate: -0.505367 deg/s, cmd heading: 19.578852 deg, new cmd heading: 19.092615 deg. 2025-01-08T23:30:51.720Z,1736379051.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.333229 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:51.968Z,1736379051.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:51.968Z,1736379051.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509692 2025-01-08T23:30:52.106Z,1736379052.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:52.115Z,1736379052.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:52.118Z,1736379052.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.515400 m, bearing: 266.489738 deg, approach rate: 0.100498 m/s, LOS rate: -0.464787 deg/s, cmd heading: 19.092614 deg, new cmd heading: 18.534834 deg. 2025-01-08T23:30:52.122Z,1736379052.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.323494 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:52.220Z,1736379052.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:52.221Z,1736379052.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762086 2025-01-08T23:30:52.472Z,1736379052.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:52.472Z,1736379052.472 [DAT](INFO): DAT read: Rx Time:23:30:51.2793 2025-01-08T23:30:52.473Z,1736379052.473 [DAT](INFO): Rx dataTimestamp_ set to:1736379052.472591 2025-01-08T23:30:52.473Z,1736379052.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014755 2025-01-08T23:30:52.561Z,1736379052.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:52.569Z,1736379052.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:52.572Z,1736379052.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.587921 m, bearing: 266.277336 deg, approach rate: 0.159469 m/s, LOS rate: -0.466489 deg/s, cmd heading: 18.534835 deg, new cmd heading: 17.898431 deg. 2025-01-08T23:30:52.573Z,1736379052.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312387 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:52.724Z,1736379052.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:52.726Z,1736379052.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267181 2025-01-08T23:30:52.905Z,1736379052.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:52.914Z,1736379052.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:52.916Z,1736379052.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m. 2025-01-08T23:30:52.918Z,1736379052.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.000000 m, nav range: 59.642735 m, bearing: 266.116143 deg, approach rate: 0.158365 m/s, LOS rate: -0.465286 deg/s, cmd heading: 17.898432 deg, new cmd heading: 17.415309 deg. 2025-01-08T23:30:52.920Z,1736379052.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.303954 target range: 144.000000 and range: 144.00 m. 2025-01-08T23:30:52.978Z,1736379052.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:52.994Z,1736379052.994 [DAT](INFO): DAT read: 23:30:51.2793 LVL= 16880, 32753, 26978, 32755, AGC= 64, IDX= 55,-0.02, 0.475,-1.438,-0.677,-0.302, PHS= 0.865,-1.089,-0.378, RAW= 111.1, 7.1, CAL= 121.2, 4.2, ROT= 28.8, -4.2 2025-01-08T23:30:53.000Z,1736379053.000 [DAT](INFO): got valid direction response: 23:30:51.2793 LVL= 16880, 32753, 26978, 32755, AGC= 64, IDX= 55,-0.02, 0.475,-1.438,-0.677,-0.302, PHS= 0.865,-1.089,-0.378, RAW= 111.1, 7.1, CAL= 121.2, 4.2, ROT= 28.8, -4.2 2025-01-08T23:30:53.001Z,1736379053.001 [DAT](INFO): DAT read: Bearing 28.8, -4.2 (Local) 2025-01-08T23:30:53.001Z,1736379053.001 [DAT](INFO): Local bearing/azimuth received: Bearing 28.8, -4.2 (Local) 2025-01-08T23:30:53.008Z,1736379053.008 [DAT](INFO): DAT read: Range 10 to 50 : 141.3 m (Round-trip 188.5 ms) speed 0.6 m/s 2025-01-08T23:30:53.009Z,1736379053.009 [DAT](INFO): DAT read: user:3281> 2025-01-08T23:30:53.010Z,1736379053.010 [DAT](INFO): DAT read: Tx time:23:30:52.3867 2025-01-08T23:30:53.010Z,1736379053.010 [DAT](INFO): Ping request sent. 2025-01-08T23:30:53.010Z,1736379053.010 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:53.011Z,1736379053.011 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:53.016Z,1736379053.016 [DAT](INFO): direction in FSK: [-0.247956,-0.251162,0.935647] 2025-01-08T23:30:53.016Z,1736379053.016 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:53.016Z,1736379053.016 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:53.024Z,1736379053.024 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:53.025Z,1736379053.025 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:53.228Z,1736379053.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:53.229Z,1736379053.229 [DAT](INFO): DAT read: TxSync time:23:30:52.3859 2025-01-08T23:30:53.398Z,1736379053.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:53.439Z,1736379053.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 141.300003 m, deltaT: 7.317928 s, deltaX: -2.699997 m, approachRate: -0.368956 m/s, rangeRepo size: 4 2025-01-08T23:30:53.452Z,1736379053.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 141.300003 m, bearing: 269.534958 deg, lat: 36.904341 deg, lon: -122.121570 deg, deltaT: 7.317928 s, deltaX: -2.699997 m, approachRate: -0.368956 m/s, posRepo size: 4 2025-01-08T23:30:53.452Z,1736379053.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.30 m. 2025-01-08T23:30:53.455Z,1736379053.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.300003 m, nav range: 60.045998 m, bearing: 276.913442 deg, approach rate: 0.000000 m/s, LOS rate: -0.465286 deg/s, cmd heading: 17.415309 deg, new cmd heading: 16.691126 deg. 2025-01-08T23:30:53.460Z,1736379053.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.291315 target range: 141.300003 and range: 141.30 m. 2025-01-08T23:30:53.480Z,1736379053.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:53.732Z,1736379053.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:53.738Z,1736379053.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:53.748Z,1736379053.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.30 m. 2025-01-08T23:30:53.751Z,1736379053.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.300003 m, nav range: 60.096031 m, bearing: 276.739919 deg, approach rate: 0.159435 m/s, LOS rate: -0.552479 deg/s, cmd heading: 16.691126 deg, new cmd heading: 16.171007 deg. 2025-01-08T23:30:53.752Z,1736379053.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.282237 target range: 141.300003 and range: 141.30 m. 2025-01-08T23:30:53.984Z,1736379053.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:54.142Z,1736379054.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:54.152Z,1736379054.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.30 m. 2025-01-08T23:30:54.173Z,1736379054.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.300003 m, nav range: 60.154762 m, bearing: 276.534141 deg, approach rate: 0.145827 m/s, LOS rate: -0.510439 deg/s, cmd heading: 16.171007 deg, new cmd heading: 15.554301 deg. 2025-01-08T23:30:54.174Z,1736379054.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.271474 target range: 141.300003 and range: 141.30 m. 2025-01-08T23:30:54.236Z,1736379054.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:54.488Z,1736379054.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:54.570Z,1736379054.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:54.580Z,1736379054.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.30 m. 2025-01-08T23:30:54.583Z,1736379054.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.300003 m, nav range: 60.251099 m, bearing: 276.310307 deg, approach rate: 0.224767 m/s, LOS rate: -0.521400 deg/s, cmd heading: 15.554301 deg, new cmd heading: 14.883906 deg. 2025-01-08T23:30:54.584Z,1736379054.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.259773 target range: 141.300003 and range: 141.30 m. 2025-01-08T23:30:54.740Z,1736379054.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:54.952Z,1736379054.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:54.960Z,1736379054.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:54.962Z,1736379054.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.30 m. 2025-01-08T23:30:54.965Z,1736379054.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.300003 m, nav range: 60.336914 m, bearing: 276.110693 deg, approach rate: 0.224251 m/s, LOS rate: -0.520886 deg/s, cmd heading: 14.883906 deg, new cmd heading: 14.285937 deg. 2025-01-08T23:30:54.966Z,1736379054.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.249337 target range: 141.300003 and range: 141.30 m. 2025-01-08T23:30:54.992Z,1736379054.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:54.993Z,1736379054.993 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:54.993Z,1736379054.993 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:54.993Z,1736379054.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:55.244Z,1736379055.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:55.244Z,1736379055.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233996 2025-01-08T23:30:55.397Z,1736379055.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:55.406Z,1736379055.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.30 m. 2025-01-08T23:30:55.409Z,1736379055.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.300003 m, nav range: 60.464745 m, bearing: 275.871599 deg, approach rate: 0.288233 m/s, LOS rate: -0.537968 deg/s, cmd heading: 14.285937 deg, new cmd heading: 13.570214 deg. 2025-01-08T23:30:55.410Z,1736379055.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.236845 target range: 141.300003 and range: 141.30 m. 2025-01-08T23:30:55.496Z,1736379055.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:55.497Z,1736379055.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486593 2025-01-08T23:30:55.749Z,1736379055.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:55.750Z,1736379055.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739431 2025-01-08T23:30:55.789Z,1736379055.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:55.798Z,1736379055.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.30 m. 2025-01-08T23:30:55.801Z,1736379055.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.300003 m, nav range: 60.577084 m, bearing: 275.661597 deg, approach rate: 0.286680 m/s, LOS rate: -0.534914 deg/s, cmd heading: 13.570214 deg, new cmd heading: 12.941402 deg. 2025-01-08T23:30:55.802Z,1736379055.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225870 target range: 141.300003 and range: 141.30 m. 2025-01-08T23:30:56.000Z,1736379056.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:56.001Z,1736379056.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990977 2025-01-08T23:30:56.158Z,1736379056.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:56.182Z,1736379056.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.30 m. 2025-01-08T23:30:56.190Z,1736379056.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.300003 m, nav range: 60.682766 m, bearing: 275.463788 deg, approach rate: 0.274832 m/s, LOS rate: -0.513516 deg/s, cmd heading: 12.941402 deg, new cmd heading: 12.349029 deg. 2025-01-08T23:30:56.195Z,1736379056.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.215531 target range: 141.300003 and range: 141.30 m. 2025-01-08T23:30:56.252Z,1736379056.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:56.253Z,1736379056.253 [DAT](INFO): DAT read: Rx Time:23:30:54.9767 2025-01-08T23:30:56.253Z,1736379056.253 [DAT](INFO): Rx dataTimestamp_ set to:1736379056.252730 2025-01-08T23:30:56.254Z,1736379056.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243033 2025-01-08T23:30:56.504Z,1736379056.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:56.505Z,1736379056.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494019 2025-01-08T23:30:56.616Z,1736379056.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:56.626Z,1736379056.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.30 m. 2025-01-08T23:30:56.639Z,1736379056.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.300003 m, nav range: 60.828617 m, bearing: 275.221288 deg, approach rate: 0.328241 m/s, LOS rate: -0.544439 deg/s, cmd heading: 12.349029 deg, new cmd heading: 11.623317 deg. 2025-01-08T23:30:56.646Z,1736379056.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.202865 target range: 141.300003 and range: 141.30 m. 2025-01-08T23:30:56.756Z,1736379056.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:56.763Z,1736379056.763 [DAT](INFO): DAT read: 23:30:54.9767 LVL= 12320, 24945, 22002, 30563, AGC= 59, IDX= 411,-0.29,-1.608, 2.806,-2.862,-2.398, PHS= 0.878,-1.032,-0.467, RAW= 106.7, 7.4, CAL= 116.8, 5.2, ROT= 33.2, -5.2 2025-01-08T23:30:56.765Z,1736379056.765 [DAT](INFO): got valid direction response: 23:30:54.9767 LVL= 12320, 24945, 22002, 30563, AGC= 59, IDX= 411,-0.29,-1.608, 2.806,-2.862,-2.398, PHS= 0.878,-1.032,-0.467, RAW= 106.7, 7.4, CAL= 116.8, 5.2, ROT= 33.2, -5.2 2025-01-08T23:30:56.765Z,1736379056.765 [DAT](INFO): DAT read: Bearing 33.2, -5.2 (Local) 2025-01-08T23:30:56.767Z,1736379056.767 [DAT](INFO): Local bearing/azimuth received: Bearing 33.2, -5.2 (Local) 2025-01-08T23:30:56.773Z,1736379056.773 [DAT](INFO): DAT read: Range 10 to 50 : 139.3 m (Round-trip 185.8 ms) speed 0.4 m/s 2025-01-08T23:30:56.773Z,1736379056.773 [DAT](INFO): DAT read: user:3282> 2025-01-08T23:30:56.775Z,1736379056.775 [DAT](INFO): DAT read: Tx time:23:30:56.0868 2025-01-08T23:30:56.775Z,1736379056.775 [DAT](INFO): Ping request sent. 2025-01-08T23:30:56.775Z,1736379056.775 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:30:56.776Z,1736379056.776 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:30:56.777Z,1736379056.777 [DAT](INFO): direction in FSK: [-0.248163,-0.175951,0.952605] 2025-01-08T23:30:56.777Z,1736379056.777 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:56.777Z,1736379056.777 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:56.785Z,1736379056.785 [DAT](INFO): publishing transmit ping time 2025-01-08T23:30:56.785Z,1736379056.785 [DAT](INFO): publishing direction and range info 2025-01-08T23:30:57.008Z,1736379057.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:57.009Z,1736379057.009 [DAT](INFO): DAT read: TxSync time:23:30:56.0860 2025-01-08T23:30:57.097Z,1736379057.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:57.110Z,1736379057.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 139.300003 m, deltaT: 3.777920 s, deltaX: -2.000000 m, approachRate: -0.529392 m/s, rangeRepo size: 4 2025-01-08T23:30:57.113Z,1736379057.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 139.300003 m, bearing: 255.186223 deg, lat: 36.904341 deg, lon: -122.121467 deg, deltaT: 3.777920 s, deltaX: -2.000000 m, approachRate: -0.529392 m/s, posRepo size: 4 2025-01-08T23:30:57.113Z,1736379057.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.30 m. 2025-01-08T23:30:57.134Z,1736379057.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.300003 m, nav range: 51.874969 m, bearing: 275.841598 deg, approach rate: 0.000000 m/s, LOS rate: -0.544439 deg/s, cmd heading: 11.623317 deg, new cmd heading: 10.834074 deg. 2025-01-08T23:30:57.137Z,1736379057.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.189090 target range: 139.300003 and range: 139.30 m. 2025-01-08T23:30:57.260Z,1736379057.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:57.512Z,1736379057.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:57.533Z,1736379057.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:57.540Z,1736379057.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:57.543Z,1736379057.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.30 m. 2025-01-08T23:30:57.546Z,1736379057.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.300003 m, nav range: 52.003395 m, bearing: 275.574348 deg, approach rate: 0.296442 m/s, LOS rate: -0.615361 deg/s, cmd heading: 10.834073 deg, new cmd heading: 10.034358 deg. 2025-01-08T23:30:57.547Z,1736379057.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.175133 target range: 139.300003 and range: 139.30 m. 2025-01-08T23:30:57.765Z,1736379057.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:57.765Z,1736379057.765 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:30:57.765Z,1736379057.765 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:30:57.766Z,1736379057.766 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:30:57.959Z,1736379057.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:57.982Z,1736379057.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.30 m. 2025-01-08T23:30:57.985Z,1736379057.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.300003 m, nav range: 52.127842 m, bearing: 275.313500 deg, approach rate: 0.283139 m/s, LOS rate: -0.592059 deg/s, cmd heading: 10.034358 deg, new cmd heading: 9.253732 deg. 2025-01-08T23:30:57.986Z,1736379057.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.161508 target range: 139.300003 and range: 139.30 m. 2025-01-08T23:30:58.017Z,1736379058.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:58.019Z,1736379058.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243136 2025-01-08T23:30:58.268Z,1736379058.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:58.268Z,1736379058.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492980 2025-01-08T23:30:58.442Z,1736379058.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:58.467Z,1736379058.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.30 m. 2025-01-08T23:30:58.470Z,1736379058.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.300003 m, nav range: 52.245674 m, bearing: 275.020963 deg, approach rate: 0.245224 m/s, LOS rate: -0.607431 deg/s, cmd heading: 9.253732 deg, new cmd heading: 8.378172 deg. 2025-01-08T23:30:58.471Z,1736379058.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146227 target range: 139.300003 and range: 139.30 m. 2025-01-08T23:30:58.520Z,1736379058.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:58.521Z,1736379058.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745095 2025-01-08T23:30:58.772Z,1736379058.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:58.772Z,1736379058.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996982 2025-01-08T23:30:58.774Z,1736379058.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:58.784Z,1736379058.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.30 m. 2025-01-08T23:30:58.786Z,1736379058.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.300003 m, nav range: 52.321922 m, bearing: 274.818596 deg, approach rate: 0.237934 m/s, LOS rate: -0.630567 deg/s, cmd heading: 8.378172 deg, new cmd heading: 7.771981 deg. 2025-01-08T23:30:58.787Z,1736379058.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.135647 target range: 139.300003 and range: 139.30 m. 2025-01-08T23:30:59.024Z,1736379059.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:59.025Z,1736379059.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249670 2025-01-08T23:30:59.189Z,1736379059.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:59.198Z,1736379059.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.30 m. 2025-01-08T23:30:59.201Z,1736379059.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.300003 m, nav range: 52.415718 m, bearing: 274.564758 deg, approach rate: 0.226478 m/s, LOS rate: -0.611815 deg/s, cmd heading: 7.771981 deg, new cmd heading: 7.011876 deg. 2025-01-08T23:30:59.202Z,1736379059.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.122380 target range: 139.300003 and range: 139.30 m. 2025-01-08T23:30:59.277Z,1736379059.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:59.279Z,1736379059.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502537 2025-01-08T23:30:59.528Z,1736379059.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:59.529Z,1736379059.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753065 2025-01-08T23:30:59.621Z,1736379059.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:59.636Z,1736379059.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:30:59.638Z,1736379059.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.30 m. 2025-01-08T23:30:59.646Z,1736379059.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.300003 m, nav range: 52.489346 m, bearing: 274.305211 deg, approach rate: 0.167122 m/s, LOS rate: -0.588300 deg/s, cmd heading: 7.011876 deg, new cmd heading: 6.234379 deg. 2025-01-08T23:30:59.668Z,1736379059.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108810 target range: 139.300003 and range: 139.30 m. 2025-01-08T23:30:59.781Z,1736379059.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:30:59.783Z,1736379059.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006965 2025-01-08T23:30:59.971Z,1736379059.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:30:59.994Z,1736379059.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.30 m. 2025-01-08T23:31:00.001Z,1736379060.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.300003 m, nav range: 52.547161 m, bearing: 274.094268 deg, approach rate: 0.162611 m/s, LOS rate: -0.592641 deg/s, cmd heading: 6.234379 deg, new cmd heading: 5.602273 deg. 2025-01-08T23:31:00.002Z,1736379060.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097778 target range: 139.300003 and range: 139.30 m. 2025-01-08T23:31:00.032Z,1736379060.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:00.033Z,1736379060.033 [DAT](INFO): DAT read: Rx Time:23:30:58.6744 2025-01-08T23:31:00.033Z,1736379060.033 [DAT](INFO): Rx dataTimestamp_ set to:1736379060.032896 2025-01-08T23:31:00.034Z,1736379060.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258211 2025-01-08T23:31:00.284Z,1736379060.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:00.286Z,1736379060.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510279 2025-01-08T23:31:00.475Z,1736379060.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:00.504Z,1736379060.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.30 m. 2025-01-08T23:31:00.507Z,1736379060.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.300003 m, nav range: 52.575573 m, bearing: 273.792500 deg, approach rate: 0.055683 m/s, LOS rate: -0.591103 deg/s, cmd heading: 5.602273 deg, new cmd heading: 4.697537 deg. 2025-01-08T23:31:00.512Z,1736379060.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081987 target range: 139.300003 and range: 139.30 m. 2025-01-08T23:31:00.536Z,1736379060.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:00.544Z,1736379060.544 [DAT](INFO): DAT read: 23:30:58.6744 LVL= 15824, 26593, 24146, 32323, AGC= 60, IDX= 419,-0.01, 1.262,-0.819,-0.428, 0.130, PHS= 1.220,-0.902,-0.561, RAW= 98.6, 2.5, CAL= 108.6, 0.3, ROT= 41.4, -0.3 2025-01-08T23:31:00.545Z,1736379060.545 [DAT](INFO): got valid direction response: 23:30:58.6744 LVL= 15824, 26593, 24146, 32323, AGC= 60, IDX= 419,-0.01, 1.262,-0.819,-0.428, 0.130, PHS= 1.220,-0.902,-0.561, RAW= 98.6, 2.5, CAL= 108.6, 0.3, ROT= 41.4, -0.3 2025-01-08T23:31:00.546Z,1736379060.546 [DAT](INFO): DAT read: Bearing 41.4, -0.3 (Local) 2025-01-08T23:31:00.546Z,1736379060.546 [DAT](INFO): Local bearing/azimuth received: Bearing 41.4, -0.3 (Local) 2025-01-08T23:31:00.548Z,1736379060.548 [DAT](INFO): DAT read: Range 10 to 50 : 137.5 m (Round-trip 183.4 ms) speed 0.0 m/s 2025-01-08T23:31:00.549Z,1736379060.549 [DAT](INFO): DAT read: user:3283> 2025-01-08T23:31:00.550Z,1736379060.550 [DAT](INFO): DAT read: Tx time:23:30:59.7883 2025-01-08T23:31:00.550Z,1736379060.550 [DAT](INFO): Ping request sent. 2025-01-08T23:31:00.550Z,1736379060.550 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:00.550Z,1736379060.550 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:00.552Z,1736379060.552 [DAT](INFO): direction in FSK: [-0.145689,-0.040131,0.988516] 2025-01-08T23:31:00.552Z,1736379060.552 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:00.552Z,1736379060.552 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:00.556Z,1736379060.556 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:00.556Z,1736379060.556 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:00.788Z,1736379060.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:00.789Z,1736379060.789 [DAT](INFO): DAT read: TxSync time:23:30:59.7875 2025-01-08T23:31:00.850Z,1736379060.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:00.893Z,1736379060.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.500000 m, deltaT: 3.779892 s, deltaX: -1.800003 m, approachRate: -0.476205 m/s, rangeRepo size: 4 2025-01-08T23:31:00.895Z,1736379060.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.500000 m, bearing: 237.036929 deg, lat: 36.904272 deg, lon: -122.121439 deg, deltaT: 3.779892 s, deltaX: -1.800003 m, approachRate: -0.476205 m/s, posRepo size: 4 2025-01-08T23:31:00.900Z,1736379060.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:00.902Z,1736379060.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 50.225082 m, bearing: 265.014375 deg, approach rate: 0.000000 m/s, LOS rate: -0.591103 deg/s, cmd heading: 4.697537 deg, new cmd heading: 4.009251 deg. 2025-01-08T23:31:00.908Z,1736379060.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069975 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:01.040Z,1736379061.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:01.237Z,1736379061.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:01.250Z,1736379061.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:01.253Z,1736379061.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 50.273987 m, bearing: 264.777012 deg, approach rate: 0.137010 m/s, LOS rate: -0.664346 deg/s, cmd heading: 4.009251 deg, new cmd heading: 3.297892 deg. 2025-01-08T23:31:01.253Z,1736379061.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057559 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:01.293Z,1736379061.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:01.544Z,1736379061.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:01.695Z,1736379061.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:01.701Z,1736379061.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:01.704Z,1736379061.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:01.706Z,1736379061.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 50.296783 m, bearing: 264.494815 deg, approach rate: 0.050175 m/s, LOS rate: -0.620824 deg/s, cmd heading: 3.297892 deg, new cmd heading: 2.451751 deg. 2025-01-08T23:31:01.708Z,1736379061.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.042791 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:01.796Z,1736379061.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:01.796Z,1736379061.796 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:01.797Z,1736379061.797 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:01.797Z,1736379061.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:02.048Z,1736379062.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:02.049Z,1736379062.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498508 2025-01-08T23:31:02.051Z,1736379062.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:02.081Z,1736379062.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:02.083Z,1736379062.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 50.308605 m, bearing: 264.274628 deg, approach rate: 0.031338 m/s, LOS rate: -0.583554 deg/s, cmd heading: 2.451751 deg, new cmd heading: 1.791377 deg. 2025-01-08T23:31:02.084Z,1736379062.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.031265 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:02.302Z,1736379062.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:02.304Z,1736379062.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753824 2025-01-08T23:31:02.535Z,1736379062.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:02.552Z,1736379062.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:02.552Z,1736379062.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002452 2025-01-08T23:31:02.554Z,1736379062.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:02.561Z,1736379062.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 50.292221 m, bearing: 263.967895 deg, approach rate: -0.034625 m/s, LOS rate: -0.648432 deg/s, cmd heading: 1.791377 deg, new cmd heading: 0.870960 deg. 2025-01-08T23:31:02.562Z,1736379062.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.015201 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:02.804Z,1736379062.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:02.806Z,1736379062.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255285 2025-01-08T23:31:02.878Z,1736379062.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:02.887Z,1736379062.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:02.890Z,1736379062.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 50.278229 m, bearing: 263.750861 deg, approach rate: -0.042034 m/s, LOS rate: -0.652161 deg/s, cmd heading: 0.870960 deg, new cmd heading: 0.219708 deg. 2025-01-08T23:31:02.890Z,1736379062.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003835 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:03.057Z,1736379063.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:03.058Z,1736379063.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507920 2025-01-08T23:31:03.280Z,1736379063.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:03.288Z,1736379063.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:03.291Z,1736379063.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 50.258907 m, bearing: 263.496388 deg, approach rate: -0.048108 m/s, LOS rate: -0.633845 deg/s, cmd heading: 0.219708 deg, new cmd heading: 359.456044 deg. 2025-01-08T23:31:03.292Z,1736379063.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273692 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:03.308Z,1736379063.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:03.308Z,1736379063.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758428 2025-01-08T23:31:03.560Z,1736379063.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:03.561Z,1736379063.561 [DAT](INFO): DAT read: Rx Time:23:31:02.3753 2025-01-08T23:31:03.561Z,1736379063.561 [DAT](INFO): Rx dataTimestamp_ set to:1736379063.560812 2025-01-08T23:31:03.562Z,1736379063.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011599 2025-01-08T23:31:03.721Z,1736379063.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:03.729Z,1736379063.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:03.731Z,1736379063.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:03.734Z,1736379063.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 50.231579 m, bearing: 263.209385 deg, approach rate: -0.061731 m/s, LOS rate: -0.648649 deg/s, cmd heading: 359.456054 deg, new cmd heading: 358.594643 deg. 2025-01-08T23:31:03.735Z,1736379063.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258657 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:03.812Z,1736379063.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:03.813Z,1736379063.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263274 2025-01-08T23:31:04.065Z,1736379064.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:04.083Z,1736379064.083 [DAT](INFO): DAT read: 23:31:02.3753 LVL= 14368, 24657, 20002, 25155, AGC= 62, IDX= 429, 0.32, 0.049,-1.881,-1.779,-1.114, PHS= 1.251,-0.719,-0.668, RAW= 91.3, 1.4, CAL= 99.1, -1.8, ROT= 50.9, 1.8 2025-01-08T23:31:04.084Z,1736379064.084 [DAT](INFO): got valid direction response: 23:31:02.3753 LVL= 14368, 24657, 20002, 25155, AGC= 62, IDX= 429, 0.32, 0.049,-1.881,-1.779,-1.114, PHS= 1.251,-0.719,-0.668, RAW= 91.3, 1.4, CAL= 99.1, -1.8, ROT= 50.9, 1.8 2025-01-08T23:31:04.085Z,1736379064.085 [DAT](INFO): DAT read: Bearing 50.9, 1.8 (Local) 2025-01-08T23:31:04.085Z,1736379064.085 [DAT](INFO): Local bearing/azimuth received: Bearing 50.9, 1.8 (Local) 2025-01-08T23:31:04.088Z,1736379064.088 [DAT](INFO): DAT read: Range 10 to 50 : 137.1 m (Round-trip 182.9 ms) speed 0.2 m/s 2025-01-08T23:31:04.090Z,1736379064.090 [DAT](INFO): DAT read: user:3284> 2025-01-08T23:31:04.092Z,1736379064.092 [DAT](INFO): DAT read: Tx time:23:31:03.4883 2025-01-08T23:31:04.093Z,1736379064.093 [DAT](INFO): Ping request sent. 2025-01-08T23:31:04.093Z,1736379064.093 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:04.093Z,1736379064.093 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:04.094Z,1736379064.094 [DAT](INFO): direction in FSK: [-0.114129,0.086490,0.989694] 2025-01-08T23:31:04.094Z,1736379064.094 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:04.095Z,1736379064.095 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:04.098Z,1736379064.098 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:04.098Z,1736379064.098 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:04.181Z,1736379064.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:04.262Z,1736379064.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.100006 m, deltaT: 3.529403 s, deltaX: -0.399994 m, approachRate: -0.113332 m/s, rangeRepo size: 4 2025-01-08T23:31:04.285Z,1736379064.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.100006 m, bearing: 113.766480 deg, lat: 36.904272 deg, lon: -122.121311 deg, deltaT: 3.529403 s, deltaX: -0.399994 m, approachRate: -0.113332 m/s, posRepo size: 4 2025-01-08T23:31:04.285Z,1736379064.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:04.317Z,1736379064.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:04.317Z,1736379064.317 [DAT](INFO): DAT read: TxSync time:23:31:03.4875 2025-01-08T23:31:04.327Z,1736379064.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 38.927845 m, bearing: 260.842913 deg, approach rate: 0.000000 m/s, LOS rate: -0.648649 deg/s, cmd heading: 358.594630 deg, new cmd heading: 357.605161 deg. 2025-01-08T23:31:04.328Z,1736379064.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241387 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:04.568Z,1736379064.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:04.727Z,1736379064.727 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 82.58, 80.88, 86.32, 2025-01-08T23:31:04.752Z,1736379064.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T23:31:04.752Z,1736379064.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:04.780Z,1736379064.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:04.786Z,1736379064.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 38.898403 m, bearing: 260.370161 deg, approach rate: -0.054672 m/s, LOS rate: -0.878527 deg/s, cmd heading: 357.605154 deg, new cmd heading: 356.186132 deg. 2025-01-08T23:31:04.793Z,1736379064.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216621 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:04.822Z,1736379064.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:05.072Z,1736379065.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:05.081Z,1736379065.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:31:05.081Z,1736379065.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:05.118Z,1736379065.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:05.122Z,1736379065.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 38.874691 m, bearing: 260.086903 deg, approach rate: -0.069679 m/s, LOS rate: -0.832869 deg/s, cmd heading: 356.186142 deg, new cmd heading: 355.335916 deg. 2025-01-08T23:31:05.123Z,1736379065.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201782 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:05.324Z,1736379065.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:05.566Z,1736379065.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:05.576Z,1736379065.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:05.580Z,1736379065.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:05.582Z,1736379065.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 38.857624 m, bearing: 259.677928 deg, approach rate: -0.037022 m/s, LOS rate: -0.887547 deg/s, cmd heading: 355.335920 deg, new cmd heading: 354.108654 deg. 2025-01-08T23:31:05.584Z,1736379065.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180362 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:05.828Z,1736379065.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:05.900Z,1736379065.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:05.935Z,1736379065.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:05.937Z,1736379065.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:05.942Z,1736379065.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 38.844116 m, bearing: 259.397558 deg, approach rate: -0.037716 m/s, LOS rate: -0.783099 deg/s, cmd heading: 354.108644 deg, new cmd heading: 353.267306 deg. 2025-01-08T23:31:05.943Z,1736379065.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165678 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:06.080Z,1736379066.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:06.080Z,1736379066.080 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:06.081Z,1736379066.081 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:06.081Z,1736379066.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:06.288Z,1736379066.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:06.318Z,1736379066.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:06.321Z,1736379066.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 38.827431 m, bearing: 259.070582 deg, approach rate: -0.043821 m/s, LOS rate: -0.859105 deg/s, cmd heading: 353.267301 deg, new cmd heading: 352.286051 deg. 2025-01-08T23:31:06.322Z,1736379066.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.148551 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:06.332Z,1736379066.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:06.332Z,1736379066.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239694 2025-01-08T23:31:06.584Z,1736379066.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:06.584Z,1736379066.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491702 2025-01-08T23:31:06.785Z,1736379066.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:06.830Z,1736379066.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:06.836Z,1736379066.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:06.836Z,1736379066.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743615 2025-01-08T23:31:06.842Z,1736379066.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 38.828800 m, bearing: 258.662912 deg, approach rate: 0.002676 m/s, LOS rate: -0.796432 deg/s, cmd heading: 352.286049 deg, new cmd heading: 351.063280 deg. 2025-01-08T23:31:06.844Z,1736379066.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.127210 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:07.088Z,1736379067.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:07.090Z,1736379067.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997388 2025-01-08T23:31:07.255Z,1736379067.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:07.264Z,1736379067.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:07.266Z,1736379067.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 38.828968 m, bearing: 258.278971 deg, approach rate: 0.000387 m/s, LOS rate: -0.885855 deg/s, cmd heading: 351.063281 deg, new cmd heading: 349.911627 deg. 2025-01-08T23:31:07.267Z,1736379067.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.107110 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:07.340Z,1736379067.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:07.341Z,1736379067.341 [DAT](INFO): DAT read: Rx Time:23:31:06.0744 2025-01-08T23:31:07.341Z,1736379067.341 [DAT](INFO): Rx dataTimestamp_ set to:1736379067.340861 2025-01-08T23:31:07.342Z,1736379067.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248922 2025-01-08T23:31:07.592Z,1736379067.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:07.593Z,1736379067.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500188 2025-01-08T23:31:07.700Z,1736379067.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:07.709Z,1736379067.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:07.737Z,1736379067.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 38.857052 m, bearing: 257.922380 deg, approach rate: 0.063005 m/s, LOS rate: -0.799414 deg/s, cmd heading: 349.911629 deg, new cmd heading: 348.842759 deg. 2025-01-08T23:31:07.747Z,1736379067.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088455 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:07.844Z,1736379067.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:07.850Z,1736379067.850 [DAT](INFO): DAT read: 23:31:06.0744 LVL= 18320, 28769, 22802, 25571, AGC= 61, IDX= 434,-0.11, 2.004, 0.401, 0.112, 1.098, PHS= 0.994,-0.649,-0.989, RAW= 80.8, 7.1, CAL= 85.8, 8.3, ROT= 64.2, -8.3 2025-01-08T23:31:07.852Z,1736379067.852 [DAT](INFO): got valid direction response: 23:31:06.0744 LVL= 18320, 28769, 22802, 25571, AGC= 61, IDX= 434,-0.11, 2.004, 0.401, 0.112, 1.098, PHS= 0.994,-0.649,-0.989, RAW= 80.8, 7.1, CAL= 85.8, 8.3, ROT= 64.2, -8.3 2025-01-08T23:31:07.853Z,1736379067.853 [DAT](INFO): DAT read: Bearing 64.2, -8.3 (Local) 2025-01-08T23:31:07.853Z,1736379067.853 [DAT](INFO): Local bearing/azimuth received: Bearing 64.2, -8.3 (Local) 2025-01-08T23:31:07.855Z,1736379067.855 [DAT](INFO): DAT read: Range 10 to 50 : 136.3 m (Round-trip 181.8 ms) speed 0.4 m/s 2025-01-08T23:31:07.855Z,1736379067.855 [DAT](INFO): DAT read: user:3285> 2025-01-08T23:31:07.856Z,1736379067.856 [DAT](INFO): DAT read: Tx time:23:31:07.1884 2025-01-08T23:31:07.857Z,1736379067.857 [DAT](INFO): Ping request sent. 2025-01-08T23:31:07.857Z,1736379067.857 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:07.857Z,1736379067.857 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:07.858Z,1736379067.858 [DAT](INFO): direction in FSK: [-0.201329,0.267585,0.942266] 2025-01-08T23:31:07.859Z,1736379067.859 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:07.859Z,1736379067.859 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:07.862Z,1736379067.862 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:07.862Z,1736379067.862 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:08.096Z,1736379068.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:08.098Z,1736379068.098 [DAT](INFO): DAT read: TxSync time:23:31:07.1876 2025-01-08T23:31:08.182Z,1736379068.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:08.197Z,1736379068.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.300003 m, deltaT: 3.778705 s, deltaX: -0.800003 m, approachRate: -0.211714 m/s, rangeRepo size: 4 2025-01-08T23:31:08.200Z,1736379068.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.300003 m, bearing: 113.301421 deg, lat: 36.904256 deg, lon: -122.120984 deg, deltaT: 3.778705 s, deltaX: -0.800003 m, approachRate: -0.211714 m/s, posRepo size: 4 2025-01-08T23:31:08.200Z,1736379068.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:31:08.203Z,1736379068.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 13.553419 m, bearing: 220.962221 deg, approach rate: 0.000000 m/s, LOS rate: -0.799414 deg/s, cmd heading: 348.842759 deg, new cmd heading: 347.673872 deg. 2025-01-08T23:31:08.204Z,1736379068.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.068054 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:31:08.348Z,1736379068.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:08.600Z,1736379068.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:08.604Z,1736379068.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:08.616Z,1736379068.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:08.618Z,1736379068.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:31:08.640Z,1736379068.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 13.724303 m, bearing: 220.320363 deg, approach rate: 0.406058 m/s, LOS rate: -1.506173 deg/s, cmd heading: 347.673868 deg, new cmd heading: 345.773005 deg. 2025-01-08T23:31:08.642Z,1736379068.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034877 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:31:08.852Z,1736379068.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:08.852Z,1736379068.852 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:08.852Z,1736379068.852 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:08.853Z,1736379068.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:08.972Z,1736379068.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:08.982Z,1736379068.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:31:08.985Z,1736379068.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 13.873652 m, bearing: 219.760201 deg, approach rate: 0.409270 m/s, LOS rate: -1.518501 deg/s, cmd heading: 345.772999 deg, new cmd heading: 344.111099 deg. 2025-01-08T23:31:08.986Z,1736379068.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.005872 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:31:09.110Z,1736379069.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:09.110Z,1736379069.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253658 2025-01-08T23:31:09.361Z,1736379069.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:09.363Z,1736379069.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505655 2025-01-08T23:31:09.391Z,1736379069.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:09.407Z,1736379069.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:31:09.410Z,1736379069.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 14.042727 m, bearing: 219.130160 deg, approach rate: 0.398364 m/s, LOS rate: -1.466553 deg/s, cmd heading: 344.111105 deg, new cmd heading: 342.244435 deg. 2025-01-08T23:31:09.411Z,1736379069.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973292 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:31:09.612Z,1736379069.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:09.613Z,1736379069.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755905 2025-01-08T23:31:09.810Z,1736379069.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:31:09.810Z,1736379069.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:09.819Z,1736379069.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:31:09.822Z,1736379069.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 14.213346 m, bearing: 218.515589 deg, approach rate: 0.414237 m/s, LOS rate: -1.474154 deg/s, cmd heading: 342.244441 deg, new cmd heading: 340.423509 deg. 2025-01-08T23:31:09.823Z,1736379069.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941511 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:31:09.864Z,1736379069.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:09.865Z,1736379069.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008388 2025-01-08T23:31:10.116Z,1736379070.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:10.116Z,1736379070.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259724 2025-01-08T23:31:10.176Z,1736379070.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:31:10.177Z,1736379070.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:10.187Z,1736379070.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:31:10.202Z,1736379070.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 14.360052 m, bearing: 217.972270 deg, approach rate: 0.399684 m/s, LOS rate: -1.465064 deg/s, cmd heading: 340.423513 deg, new cmd heading: 338.810658 deg. 2025-01-08T23:31:10.203Z,1736379070.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913362 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:31:10.369Z,1736379070.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:10.370Z,1736379070.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513573 2025-01-08T23:31:10.620Z,1736379070.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:10.621Z,1736379070.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764257 2025-01-08T23:31:10.647Z,1736379070.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:10.685Z,1736379070.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:10.689Z,1736379070.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:31:10.701Z,1736379070.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 14.560580 m, bearing: 217.324335 deg, approach rate: 0.400011 m/s, LOS rate: -1.274667 deg/s, cmd heading: 338.810660 deg, new cmd heading: 336.894380 deg. 2025-01-08T23:31:10.702Z,1736379070.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879916 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:31:10.872Z,1736379070.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:10.873Z,1736379070.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015980 2025-01-08T23:31:11.003Z,1736379071.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:11.013Z,1736379071.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:31:11.016Z,1736379071.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 14.713742 m, bearing: 216.845164 deg, approach rate: 0.470171 m/s, LOS rate: -1.455612 deg/s, cmd heading: 336.894382 deg, new cmd heading: 335.472142 deg. 2025-01-08T23:31:11.017Z,1736379071.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855093 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:31:11.124Z,1736379071.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:11.125Z,1736379071.125 [DAT](INFO): DAT read: Rx Time:23:31:09.7726 2025-01-08T23:31:11.126Z,1736379071.126 [DAT](INFO): Rx dataTimestamp_ set to:1736379071.125423 2025-01-08T23:31:11.126Z,1736379071.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269588 2025-01-08T23:31:11.377Z,1736379071.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:11.379Z,1736379071.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521602 2025-01-08T23:31:11.419Z,1736379071.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:11.499Z,1736379071.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m. 2025-01-08T23:31:11.502Z,1736379071.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.300003 m, nav range: 14.883001 m, bearing: 216.248617 deg, approach rate: 0.360989 m/s, LOS rate: -1.257800 deg/s, cmd heading: 335.472145 deg, new cmd heading: 333.703450 deg. 2025-01-08T23:31:11.509Z,1736379071.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824224 target range: 136.300003 and range: 136.30 m. 2025-01-08T23:31:11.628Z,1736379071.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:11.637Z,1736379071.637 [DAT](INFO): DAT read: 23:31:09.7726 LVL= 10992, 24369, 16882, 23763, AGC= 56, IDX= 416, 0.05,-1.651, 3.109, 2.186,-2.764, PHS= 1.201,-0.363,-1.336, RAW= 67.7, 4.5, CAL= 69.5, 4.1, ROT= 80.5, -4.1 2025-01-08T23:31:11.638Z,1736379071.638 [DAT](INFO): got valid direction response: 23:31:09.7726 LVL= 10992, 24369, 16882, 23763, AGC= 56, IDX= 416, 0.05,-1.651, 3.109, 2.186,-2.764, PHS= 1.201,-0.363,-1.336, RAW= 67.7, 4.5, CAL= 69.5, 4.1, ROT= 80.5, -4.1 2025-01-08T23:31:11.640Z,1736379071.640 [DAT](INFO): DAT read: Bearing 80.5, -4.1 (Local) 2025-01-08T23:31:11.640Z,1736379071.640 [DAT](INFO): Local bearing/azimuth received: Bearing 80.5, -4.1 (Local) 2025-01-08T23:31:11.642Z,1736379071.642 [DAT](INFO): DAT read: Range 10 to 50 : 135.0 m (Round-trip 180.0 ms) speed 0.0 m/s 2025-01-08T23:31:11.643Z,1736379071.643 [DAT](INFO): DAT read: user:3286> 2025-01-08T23:31:11.644Z,1736379071.644 [DAT](INFO): DAT read: Tx time:23:31:10.8869 2025-01-08T23:31:11.645Z,1736379071.645 [DAT](INFO): Ping request sent. 2025-01-08T23:31:11.645Z,1736379071.645 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:11.645Z,1736379071.645 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:11.647Z,1736379071.647 [DAT](INFO): direction in FSK: [-0.129119,0.471062,0.872599] 2025-01-08T23:31:11.647Z,1736379071.647 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:11.648Z,1736379071.648 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:11.654Z,1736379071.654 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:11.655Z,1736379071.655 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:11.880Z,1736379071.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:11.881Z,1736379071.881 [DAT](INFO): DAT read: TxSync time:23:31:10.8861 2025-01-08T23:31:11.882Z,1736379071.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:11.913Z,1736379071.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.000000 m, deltaT: 3.784486 s, deltaX: -1.300003 m, approachRate: -0.343508 m/s, rangeRepo size: 4 2025-01-08T23:31:11.915Z,1736379071.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 135.000000 m, bearing: 85.612875 deg, lat: 36.904256 deg, lon: -122.120778 deg, deltaT: 3.784486 s, deltaX: -1.300003 m, approachRate: -0.343508 m/s, posRepo size: 4 2025-01-08T23:31:11.920Z,1736379071.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:11.922Z,1736379071.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 15.524464 m, bearing: 142.128819 deg, approach rate: 0.000000 m/s, LOS rate: -1.257800 deg/s, cmd heading: 333.703454 deg, new cmd heading: 332.079877 deg. 2025-01-08T23:31:11.928Z,1736379071.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795887 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:12.132Z,1736379072.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:12.204Z,1736379072.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:12.213Z,1736379072.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:12.216Z,1736379072.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 15.681327 m, bearing: 142.431260 deg, approach rate: 0.521035 m/s, LOS rate: 0.994530 deg/s, cmd heading: 332.079891 deg, new cmd heading: 332.978059 deg. 2025-01-08T23:31:12.217Z,1736379072.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811563 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:12.384Z,1736379072.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:12.636Z,1736379072.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:12.699Z,1736379072.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:12.705Z,1736379072.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:12.709Z,1736379072.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:12.712Z,1736379072.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 15.939989 m, bearing: 142.847967 deg, approach rate: 0.523322 m/s, LOS rate: 0.829388 deg/s, cmd heading: 332.978060 deg, new cmd heading: 334.207697 deg. 2025-01-08T23:31:12.713Z,1736379072.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833025 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:12.888Z,1736379072.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:12.888Z,1736379072.888 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:12.888Z,1736379072.888 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:12.889Z,1736379072.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:13.009Z,1736379073.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:13.017Z,1736379073.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:13.040Z,1736379073.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 16.105436 m, bearing: 143.071402 deg, approach rate: 0.533816 m/s, LOS rate: 0.713506 deg/s, cmd heading: 334.207686 deg, new cmd heading: 334.871073 deg. 2025-01-08T23:31:13.042Z,1736379073.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844603 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:13.145Z,1736379073.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:13.145Z,1736379073.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500609 2025-01-08T23:31:13.396Z,1736379073.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:13.396Z,1736379073.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751472 2025-01-08T23:31:13.442Z,1736379073.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:13.452Z,1736379073.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:13.455Z,1736379073.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 16.340229 m, bearing: 143.357564 deg, approach rate: 0.540138 m/s, LOS rate: 0.648852 deg/s, cmd heading: 334.871061 deg, new cmd heading: 335.717148 deg. 2025-01-08T23:31:13.456Z,1736379073.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859370 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:13.649Z,1736379073.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:13.650Z,1736379073.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004641 2025-01-08T23:31:13.852Z,1736379073.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:13.862Z,1736379073.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:13.865Z,1736379073.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 16.567993 m, bearing: 143.536209 deg, approach rate: 0.555823 m/s, LOS rate: 0.429959 deg/s, cmd heading: 335.717158 deg, new cmd heading: 336.245706 deg. 2025-01-08T23:31:13.866Z,1736379073.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868595 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:13.901Z,1736379073.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:13.902Z,1736379073.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256759 2025-01-08T23:31:14.152Z,1736379074.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:14.152Z,1736379074.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507564 2025-01-08T23:31:14.240Z,1736379074.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:14.250Z,1736379074.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:14.253Z,1736379074.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 16.783432 m, bearing: 143.700613 deg, approach rate: 0.554664 m/s, LOS rate: 0.417838 deg/s, cmd heading: 336.245705 deg, new cmd heading: 336.732575 deg. 2025-01-08T23:31:14.254Z,1736379074.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877092 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:14.404Z,1736379074.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:14.404Z,1736379074.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759627 2025-01-08T23:31:14.656Z,1736379074.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:14.657Z,1736379074.657 [DAT](INFO): DAT read: Rx Time:23:31:13.4709 2025-01-08T23:31:14.659Z,1736379074.659 [DAT](INFO): Rx dataTimestamp_ set to:1736379074.658033 2025-01-08T23:31:14.659Z,1736379074.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014488 2025-01-08T23:31:14.723Z,1736379074.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:14.731Z,1736379074.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:14.733Z,1736379074.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:14.736Z,1736379074.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 17.061115 m, bearing: 143.797764 deg, approach rate: 0.575105 m/s, LOS rate: 0.197933 deg/s, cmd heading: 336.732588 deg, new cmd heading: 337.019295 deg. 2025-01-08T23:31:14.737Z,1736379074.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882096 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:14.908Z,1736379074.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:14.909Z,1736379074.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264330 2025-01-08T23:31:15.029Z,1736379075.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:15.054Z,1736379075.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:15.061Z,1736379075.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 17.237511 m, bearing: 143.845025 deg, approach rate: 0.549549 m/s, LOS rate: 0.145733 deg/s, cmd heading: 337.019292 deg, new cmd heading: 337.159625 deg. 2025-01-08T23:31:15.062Z,1736379075.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.884545 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:15.161Z,1736379075.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:15.162Z,1736379075.162 [DAT](INFO): DAT read: Range 10 to 50 : 134.9 m (Round-trip 179.9 ms) speed -0.3 m/s 2025-01-08T23:31:15.163Z,1736379075.163 [DAT](INFO): DAT read: user:3287> 2025-01-08T23:31:15.164Z,1736379075.164 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:31:15.165Z,1736379075.165 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:15.165Z,1736379075.165 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:15.165Z,1736379075.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:15.412Z,1736379075.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:15.413Z,1736379075.413 [DAT](INFO): DAT read: Tx time:23:31:14.5869 2025-01-08T23:31:15.413Z,1736379075.413 [DAT](INFO): Ping request sent. 2025-01-08T23:31:15.413Z,1736379075.413 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:15.414Z,1736379075.414 [DAT](INFO): DAT read: TxSync time:23:31:14.5861 2025-01-08T23:31:15.414Z,1736379075.414 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:15.415Z,1736379075.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001541 2025-01-08T23:31:15.479Z,1736379075.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:15.510Z,1736379075.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 134.899994 m, deltaT: 3.532559 s, deltaX: -0.100006 m, approachRate: -0.028310 m/s, rangeRepo size: 4 2025-01-08T23:31:15.511Z,1736379075.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:15.518Z,1736379075.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 17.496651 m, bearing: 143.898225 deg, approach rate: 0.569245 m/s, LOS rate: 0.115132 deg/s, cmd heading: 337.159612 deg, new cmd heading: 337.316848 deg. 2025-01-08T23:31:15.524Z,1736379075.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887290 target range: 135.000000 and range: 134.90 m. 2025-01-08T23:31:15.665Z,1736379075.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:15.666Z,1736379075.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252873 2025-01-08T23:31:15.861Z,1736379075.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:15.870Z,1736379075.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:15.873Z,1736379075.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 17.722649 m, bearing: 143.890791 deg, approach rate: 0.626184 m/s, LOS rate: -0.020336 deg/s, cmd heading: 337.316843 deg, new cmd heading: 337.294824 deg. 2025-01-08T23:31:15.875Z,1736379075.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886905 target range: 135.000000 and range: 134.90 m. 2025-01-08T23:31:15.916Z,1736379075.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:15.917Z,1736379075.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504100 2025-01-08T23:31:16.168Z,1736379076.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:16.169Z,1736379076.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755474 2025-01-08T23:31:16.240Z,1736379076.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:16.261Z,1736379076.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:16.268Z,1736379076.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 17.946144 m, bearing: 143.874940 deg, approach rate: 0.571644 m/s, LOS rate: -0.040037 deg/s, cmd heading: 337.294822 deg, new cmd heading: 337.247862 deg. 2025-01-08T23:31:16.269Z,1736379076.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886086 target range: 135.000000 and range: 134.90 m. 2025-01-08T23:31:16.420Z,1736379076.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:16.422Z,1736379076.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008459 2025-01-08T23:31:16.674Z,1736379076.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:16.677Z,1736379076.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263424 2025-01-08T23:31:16.724Z,1736379076.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:31:16.729Z,1736379076.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:16.735Z,1736379076.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:16.737Z,1736379076.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:16.740Z,1736379076.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 18.234459 m, bearing: 143.818645 deg, approach rate: 0.605466 m/s, LOS rate: -0.116351 deg/s, cmd heading: 337.247858 deg, new cmd heading: 337.081643 deg. 2025-01-08T23:31:16.742Z,1736379076.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883184 target range: 135.000000 and range: 134.90 m. 2025-01-08T23:31:16.924Z,1736379076.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:16.925Z,1736379076.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512314 2025-01-08T23:31:17.048Z,1736379077.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:17.073Z,1736379077.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:17.080Z,1736379077.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 18.422735 m, bearing: 143.778852 deg, approach rate: 0.561719 m/s, LOS rate: -0.117508 deg/s, cmd heading: 337.081638 deg, new cmd heading: 336.963479 deg. 2025-01-08T23:31:17.081Z,1736379077.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881122 target range: 135.000000 and range: 134.90 m. 2025-01-08T23:31:17.180Z,1736379077.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:17.181Z,1736379077.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768155 2025-01-08T23:31:17.432Z,1736379077.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:17.433Z,1736379077.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020060 2025-01-08T23:31:17.518Z,1736379077.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:17.528Z,1736379077.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:17.533Z,1736379077.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 18.699465 m, bearing: 143.718111 deg, approach rate: 0.609708 m/s, LOS rate: -0.131848 deg/s, cmd heading: 336.963476 deg, new cmd heading: 336.783950 deg. 2025-01-08T23:31:17.534Z,1736379077.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877989 target range: 135.000000 and range: 134.90 m. 2025-01-08T23:31:17.684Z,1736379077.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:17.686Z,1736379077.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272492 2025-01-08T23:31:17.728Z,1736379077.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:31:17.936Z,1736379077.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:17.937Z,1736379077.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523412 2025-01-08T23:31:17.940Z,1736379077.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:17.951Z,1736379077.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:17.954Z,1736379077.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 18.952503 m, bearing: 143.650372 deg, approach rate: 0.595665 m/s, LOS rate: -0.157333 deg/s, cmd heading: 336.783951 deg, new cmd heading: 336.583446 deg. 2025-01-08T23:31:17.955Z,1736379077.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874489 target range: 135.000000 and range: 134.90 m. 2025-01-08T23:31:18.188Z,1736379078.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:18.188Z,1736379078.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775255 2025-01-08T23:31:18.336Z,1736379078.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:18.345Z,1736379078.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:18.348Z,1736379078.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 19.189926 m, bearing: 143.589581 deg, approach rate: 0.603387 m/s, LOS rate: -0.152582 deg/s, cmd heading: 336.583444 deg, new cmd heading: 336.403329 deg. 2025-01-08T23:31:18.349Z,1736379078.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871346 target range: 135.000000 and range: 134.90 m. 2025-01-08T23:31:18.440Z,1736379078.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:18.441Z,1736379078.441 [DAT](INFO): DAT read: Rx Time:23:31:17.1722 2025-01-08T23:31:18.441Z,1736379078.441 [DAT](INFO): Rx dataTimestamp_ set to:1736379078.440747 2025-01-08T23:31:18.442Z,1736379078.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028448 2025-01-08T23:31:18.693Z,1736379078.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:18.696Z,1736379078.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282385 2025-01-08T23:31:18.774Z,1736379078.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:18.782Z,1736379078.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:18.784Z,1736379078.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:18.787Z,1736379078.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 19.450924 m, bearing: 143.530889 deg, approach rate: 0.593663 m/s, LOS rate: -0.131708 deg/s, cmd heading: 336.403318 deg, new cmd heading: 336.229607 deg. 2025-01-08T23:31:18.788Z,1736379078.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868314 target range: 135.000000 and range: 134.90 m. 2025-01-08T23:31:18.945Z,1736379078.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:18.952Z,1736379078.952 [DAT](INFO): DAT read: 23:31:17.1722 LVL= 11184, 10353, 16146, 20579, AGC= 58, IDX= 444,-0.46, 0.469,-0.796,-1.983,-0.852, PHS= 1.409, 0.103,-1.134, RAW= 60.9, -3.5, CAL= 66.0, -8.2, ROT= 84.0, 8.2 2025-01-08T23:31:18.953Z,1736379078.953 [DAT](INFO): got valid direction response: 23:31:17.1722 LVL= 11184, 10353, 16146, 20579, AGC= 58, IDX= 444,-0.46, 0.469,-0.796,-1.983,-0.852, PHS= 1.409, 0.103,-1.134, RAW= 60.9, -3.5, CAL= 66.0, -8.2, ROT= 84.0, 8.2 2025-01-08T23:31:18.954Z,1736379078.954 [DAT](INFO): DAT read: Bearing 84.0, 8.2 (Local) 2025-01-08T23:31:18.954Z,1736379078.954 [DAT](INFO): Local bearing/azimuth received: Bearing 84.0, 8.2 (Local) 2025-01-08T23:31:18.956Z,1736379078.956 [DAT](INFO): DAT read: Range 10 to 50 : 135.8 m (Round-trip 181.1 ms) speed 0.0 m/s 2025-01-08T23:31:18.957Z,1736379078.957 [DAT](INFO): DAT read: user:3288> 2025-01-08T23:31:18.958Z,1736379078.958 [DAT](INFO): DAT read: Tx time:23:31:18.2870 2025-01-08T23:31:18.959Z,1736379078.959 [DAT](INFO): Ping request sent. 2025-01-08T23:31:18.959Z,1736379078.959 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:18.960Z,1736379078.960 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:18.961Z,1736379078.961 [DAT](INFO): direction in FSK: [0.033697,0.560242,0.827644] 2025-01-08T23:31:18.961Z,1736379078.961 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:18.961Z,1736379078.961 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:18.965Z,1736379078.965 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:18.965Z,1736379078.965 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:19.145Z,1736379079.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:19.181Z,1736379079.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.800003 m, deltaT: 3.784433 s, deltaX: 0.900009 m, approachRate: 0.237819 m/s, rangeRepo size: 4 2025-01-08T23:31:19.187Z,1736379079.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 135.800003 m, bearing: 52.409626 deg, lat: 36.904293 deg, lon: -122.120505 deg, deltaT: 7.316992 s, deltaX: 0.800003 m, approachRate: 0.109335 m/s, posRepo size: 4 2025-01-08T23:31:19.188Z,1736379079.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m. 2025-01-08T23:31:19.191Z,1736379079.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.800003 m, nav range: 37.863972 m, bearing: 108.019255 deg, approach rate: 0.000000 m/s, LOS rate: -0.131708 deg/s, cmd heading: 336.229613 deg, new cmd heading: 336.073073 deg. 2025-01-08T23:31:19.196Z,1736379079.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:19.197Z,1736379079.197 [DAT](INFO): DAT read: TxSync time:23:31:18.2862 2025-01-08T23:31:19.198Z,1736379079.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865582 target range: 135.800003 and range: 135.80 m. 2025-01-08T23:31:19.449Z,1736379079.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:19.555Z,1736379079.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:19.590Z,1736379079.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m. 2025-01-08T23:31:19.597Z,1736379079.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.800003 m, nav range: 38.072010 m, bearing: 108.214408 deg, approach rate: 0.507923 m/s, LOS rate: 0.473861 deg/s, cmd heading: 336.073065 deg, new cmd heading: 336.655306 deg. 2025-01-08T23:31:19.598Z,1736379079.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875743 target range: 135.800003 and range: 135.80 m. 2025-01-08T23:31:19.701Z,1736379079.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:19.952Z,1736379079.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:20.011Z,1736379080.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:20.024Z,1736379080.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m. 2025-01-08T23:31:20.032Z,1736379080.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.800003 m, nav range: 38.286366 m, bearing: 108.416741 deg, approach rate: 0.494002 m/s, LOS rate: 0.463684 deg/s, cmd heading: 336.655298 deg, new cmd heading: 337.258875 deg. 2025-01-08T23:31:20.033Z,1736379080.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886278 target range: 135.800003 and range: 135.80 m. 2025-01-08T23:31:20.204Z,1736379080.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:20.377Z,1736379080.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:20.393Z,1736379080.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m. 2025-01-08T23:31:20.396Z,1736379080.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.800003 m, nav range: 38.476315 m, bearing: 108.595210 deg, approach rate: 0.517316 m/s, LOS rate: 0.483650 deg/s, cmd heading: 337.258868 deg, new cmd heading: 337.791615 deg. 2025-01-08T23:31:20.397Z,1736379080.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895576 target range: 135.800003 and range: 135.80 m. 2025-01-08T23:31:20.456Z,1736379080.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:20.710Z,1736379080.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:20.800Z,1736379080.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:20.807Z,1736379080.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:20.810Z,1736379080.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m. 2025-01-08T23:31:20.813Z,1736379080.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.800003 m, nav range: 38.680023 m, bearing: 108.798402 deg, approach rate: 0.485961 m/s, LOS rate: 0.482174 deg/s, cmd heading: 337.791623 deg, new cmd heading: 338.397964 deg. 2025-01-08T23:31:20.814Z,1736379080.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906158 target range: 135.800003 and range: 135.80 m. 2025-01-08T23:31:20.960Z,1736379080.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:20.960Z,1736379080.960 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:20.960Z,1736379080.960 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:20.961Z,1736379080.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:21.176Z,1736379081.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:21.185Z,1736379081.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m. 2025-01-08T23:31:21.188Z,1736379081.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.800003 m, nav range: 38.860691 m, bearing: 108.978805 deg, approach rate: 0.482136 m/s, LOS rate: 0.479189 deg/s, cmd heading: 338.397952 deg, new cmd heading: 338.936628 deg. 2025-01-08T23:31:21.189Z,1736379081.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915560 target range: 135.800003 and range: 135.80 m. 2025-01-08T23:31:21.212Z,1736379081.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:21.213Z,1736379081.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253044 2025-01-08T23:31:21.464Z,1736379081.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:21.464Z,1736379081.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504877 2025-01-08T23:31:21.591Z,1736379081.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:21.610Z,1736379081.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m. 2025-01-08T23:31:21.617Z,1736379081.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.800003 m, nav range: 39.059521 m, bearing: 109.177927 deg, approach rate: 0.468287 m/s, LOS rate: 0.466588 deg/s, cmd heading: 338.936636 deg, new cmd heading: 339.530939 deg. 2025-01-08T23:31:21.619Z,1736379081.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925933 target range: 135.800003 and range: 135.80 m. 2025-01-08T23:31:21.726Z,1736379081.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:21.729Z,1736379081.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769213 2025-01-08T23:31:21.976Z,1736379081.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:21.976Z,1736379081.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016932 2025-01-08T23:31:22.009Z,1736379082.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:22.042Z,1736379082.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m. 2025-01-08T23:31:22.049Z,1736379082.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.800003 m, nav range: 39.250401 m, bearing: 109.386251 deg, approach rate: 0.441089 m/s, LOS rate: 0.479057 deg/s, cmd heading: 339.530944 deg, new cmd heading: 340.152851 deg. 2025-01-08T23:31:22.050Z,1736379082.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936787 target range: 135.800003 and range: 135.80 m. 2025-01-08T23:31:22.228Z,1736379082.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:22.228Z,1736379082.228 [DAT](INFO): DAT read: Rx Time:23:31:20.8727 2025-01-08T23:31:22.229Z,1736379082.229 [DAT](INFO): Rx dataTimestamp_ set to:1736379082.228557 2025-01-08T23:31:22.229Z,1736379082.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269882 2025-01-08T23:31:22.384Z,1736379082.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:22.409Z,1736379082.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m. 2025-01-08T23:31:22.413Z,1736379082.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.800003 m, nav range: 39.420929 m, bearing: 109.573031 deg, approach rate: 0.465212 m/s, LOS rate: 0.507343 deg/s, cmd heading: 340.152846 deg, new cmd heading: 340.710745 deg. 2025-01-08T23:31:22.414Z,1736379082.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946524 target range: 135.800003 and range: 135.80 m. 2025-01-08T23:31:22.481Z,1736379082.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:22.482Z,1736379082.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522078 2025-01-08T23:31:22.733Z,1736379082.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:22.788Z,1736379082.788 [DAT](INFO): DAT read: 23:31:20.8727 LVL= 15296, 21169, 20658, 28467, AGC= 60, IDX= 448, 0.38, 2.202, 1.100,-0.221, 0.960, PHS= 1.330, 0.187,-1.184, RAW= 57.0, -3.1, CAL= 61.0, -7.4, ROT= 89.0, 7.4 2025-01-08T23:31:22.789Z,1736379082.789 [DAT](INFO): got valid direction response: 23:31:20.8727 LVL= 15296, 21169, 20658, 28467, AGC= 60, IDX= 448, 0.38, 2.202, 1.100,-0.221, 0.960, PHS= 1.330, 0.187,-1.184, RAW= 57.0, -3.1, CAL= 61.0, -7.4, ROT= 89.0, 7.4 2025-01-08T23:31:22.790Z,1736379082.790 [DAT](INFO): DAT read: Bearing 89.0, 7.4 (Local) 2025-01-08T23:31:22.790Z,1736379082.790 [DAT](INFO): Local bearing/azimuth received: Bearing 89.0, 7.4 (Local) 2025-01-08T23:31:22.793Z,1736379082.793 [DAT](INFO): DAT read: Range 10 to 50 : 136.2 m (Round-trip 181.6 ms) speed -0.1 m/s 2025-01-08T23:31:22.794Z,1736379082.794 [DAT](INFO): DAT read: user:3289> 2025-01-08T23:31:22.795Z,1736379082.795 [DAT](INFO): DAT read: Tx time:23:31:21.9870 2025-01-08T23:31:22.795Z,1736379082.795 [DAT](INFO): Ping request sent. 2025-01-08T23:31:22.796Z,1736379082.796 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:22.797Z,1736379082.797 [DAT](INFO): DAT read: TxSync time:23:31:21.9862 2025-01-08T23:31:22.798Z,1736379082.798 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:22.798Z,1736379082.798 [DAT](INFO): direction in FSK: [0.034415,0.612563,0.789672] 2025-01-08T23:31:22.799Z,1736379082.799 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:22.799Z,1736379082.799 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:22.843Z,1736379082.843 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:22.843Z,1736379082.843 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:22.906Z,1736379082.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:22.956Z,1736379082.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.199997 m, deltaT: 3.788453 s, deltaX: 0.399994 m, approachRate: 0.105582 m/s, rangeRepo size: 4 2025-01-08T23:31:22.964Z,1736379082.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.199997 m, bearing: 61.413346 deg, lat: 36.904412 deg, lon: -122.120323 deg, deltaT: 3.788453 s, deltaX: 0.399994 m, approachRate: 0.105582 m/s, posRepo size: 4 2025-01-08T23:31:22.964Z,1736379082.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:22.967Z,1736379082.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 53.460098 m, bearing: 90.215770 deg, approach rate: 0.000000 m/s, LOS rate: 0.507343 deg/s, cmd heading: 340.710736 deg, new cmd heading: 341.523848 deg. 2025-01-08T23:31:22.972Z,1736379082.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960716 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:22.984Z,1736379082.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:23.236Z,1736379083.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:23.276Z,1736379083.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:23.283Z,1736379083.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:23.285Z,1736379083.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:23.300Z,1736379083.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 53.560371 m, bearing: 90.401096 deg, approach rate: 0.293380 m/s, LOS rate: 0.541211 deg/s, cmd heading: 341.523857 deg, new cmd heading: 342.078774 deg. 2025-01-08T23:31:23.301Z,1736379083.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970401 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:23.488Z,1736379083.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:23.488Z,1736379083.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:23.488Z,1736379083.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:23.488Z,1736379083.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:23.665Z,1736379083.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:23.680Z,1736379083.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:23.688Z,1736379083.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 53.665535 m, bearing: 90.595532 deg, approach rate: 0.266618 m/s, LOS rate: 0.491981 deg/s, cmd heading: 342.078768 deg, new cmd heading: 342.660914 deg. 2025-01-08T23:31:23.692Z,1736379083.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980561 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:23.742Z,1736379083.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:23.744Z,1736379083.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.948844 2025-01-08T23:31:23.993Z,1736379083.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:23.994Z,1736379083.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.198708 2025-01-08T23:31:24.086Z,1736379084.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:24.095Z,1736379084.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:24.098Z,1736379084.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 53.773674 m, bearing: 90.815386 deg, approach rate: 0.260487 m/s, LOS rate: 0.528522 deg/s, cmd heading: 342.660919 deg, new cmd heading: 343.319125 deg. 2025-01-08T23:31:24.099Z,1736379084.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.992049 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:24.244Z,1736379084.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:24.244Z,1736379084.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449315 2025-01-08T23:31:24.496Z,1736379084.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:24.496Z,1736379084.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701361 2025-01-08T23:31:24.539Z,1736379084.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:24.582Z,1736379084.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:24.589Z,1736379084.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 53.889065 m, bearing: 91.052541 deg, approach rate: 0.236820 m/s, LOS rate: 0.485675 deg/s, cmd heading: 343.319131 deg, new cmd heading: 344.029032 deg. 2025-01-08T23:31:24.590Z,1736379084.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.004439 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:24.750Z,1736379084.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:24.752Z,1736379084.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956627 2025-01-08T23:31:24.964Z,1736379084.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:24.000Z,1736379085.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:25.001Z,1736379085.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205504 2025-01-08T23:31:25.001Z,1736379085.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:25.004Z,1736379085.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 53.992046 m, bearing: 91.277996 deg, approach rate: 0.248644 m/s, LOS rate: 0.543311 deg/s, cmd heading: 344.029033 deg, new cmd heading: 344.704075 deg. 2025-01-08T23:31:25.005Z,1736379085.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.016221 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:25.252Z,1736379085.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:25.252Z,1736379085.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457355 2025-01-08T23:31:25.380Z,1736379085.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:25.387Z,1736379085.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:25.389Z,1736379085.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:25.393Z,1736379085.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 54.089672 m, bearing: 91.499439 deg, approach rate: 0.248456 m/s, LOS rate: 0.562551 deg/s, cmd heading: 344.704075 deg, new cmd heading: 345.367173 deg. 2025-01-08T23:31:25.394Z,1736379085.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027794 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:25.504Z,1736379085.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:25.504Z,1736379085.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709485 2025-01-08T23:31:25.757Z,1736379085.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:25.763Z,1736379085.763 [DAT](INFO): DAT read: Rx Time:23:31:24.5731 2025-01-08T23:31:25.765Z,1736379085.765 [DAT](INFO): Rx dataTimestamp_ set to:1736379085.763588 2025-01-08T23:31:25.766Z,1736379085.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970939 2025-01-08T23:31:25.862Z,1736379085.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:25.870Z,1736379085.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:25.873Z,1736379085.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 54.202419 m, bearing: 91.757946 deg, approach rate: 0.234306 m/s, LOS rate: 0.536099 deg/s, cmd heading: 345.367177 deg, new cmd heading: 346.141035 deg. 2025-01-08T23:31:25.874Z,1736379085.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041301 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:26.008Z,1736379086.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:26.010Z,1736379086.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214419 2025-01-08T23:31:26.261Z,1736379086.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:26.277Z,1736379086.277 [DAT](INFO): DAT read: 23:31:24.5731 LVL= 10000, 14241, 14946, 23715, AGC= 58, IDX= 437,-0.40, 1.886, 0.903,-0.394, 0.719, PHS= 1.256, 0.231,-1.116, RAW= 55.5, -3.6, CAL= 59.5, -8.1, ROT= 90.5, 8.1 2025-01-08T23:31:26.281Z,1736379086.281 [DAT](INFO): got valid direction response: 23:31:24.5731 LVL= 10000, 14241, 14946, 23715, AGC= 58, IDX= 437,-0.40, 1.886, 0.903,-0.394, 0.719, PHS= 1.256, 0.231,-1.116, RAW= 55.5, -3.6, CAL= 59.5, -8.1, ROT= 90.5, 8.1 2025-01-08T23:31:26.284Z,1736379086.284 [DAT](INFO): DAT read: Bearing 90.5, 8.1 (Local) 2025-01-08T23:31:26.285Z,1736379086.285 [DAT](INFO): Local bearing/azimuth received: Bearing 90.5, 8.1 (Local) 2025-01-08T23:31:26.287Z,1736379086.287 [DAT](INFO): DAT read: Range 10 to 50 : 136.5 m (Round-trip 182.0 ms) speed -0.2 m/s 2025-01-08T23:31:26.316Z,1736379086.316 [DAT](INFO): DAT read: user:3290> 2025-01-08T23:31:26.317Z,1736379086.317 [DAT](INFO): DAT read: Tx time:23:31:25.6885 2025-01-08T23:31:26.317Z,1736379086.317 [DAT](INFO): Ping request sent. 2025-01-08T23:31:26.317Z,1736379086.317 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:26.317Z,1736379086.317 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:26.318Z,1736379086.318 [DAT](INFO): direction in FSK: [0.047666,0.630614,0.774632] 2025-01-08T23:31:26.318Z,1736379086.318 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:26.319Z,1736379086.319 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:26.351Z,1736379086.351 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:26.352Z,1736379086.352 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:26.388Z,1736379086.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:26.414Z,1736379086.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.500000 m, deltaT: 3.527763 s, deltaX: 0.300003 m, approachRate: 0.085041 m/s, rangeRepo size: 4 2025-01-08T23:31:26.426Z,1736379086.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.500000 m, bearing: 67.233070 deg, lat: 36.904658 deg, lon: -122.120271 deg, deltaT: 3.527763 s, deltaX: 0.300003 m, approachRate: 0.085041 m/s, posRepo size: 4 2025-01-08T23:31:26.427Z,1736379086.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T23:31:26.434Z,1736379086.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 64.210556 m, bearing: 66.657159 deg, approach rate: 0.000000 m/s, LOS rate: 0.536099 deg/s, cmd heading: 346.141037 deg, new cmd heading: 347.014953 deg. 2025-01-08T23:31:26.435Z,1736379086.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056553 target range: 136.500000 and range: 136.50 m. 2025-01-08T23:31:26.514Z,1736379086.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:26.515Z,1736379086.515 [DAT](INFO): DAT read: TxSync time:23:31:25.6877 2025-01-08T23:31:26.723Z,1736379086.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:26.749Z,1736379086.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T23:31:26.756Z,1736379086.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 64.206238 m, bearing: 66.832520 deg, approach rate: -0.012877 m/s, LOS rate: 0.522974 deg/s, cmd heading: 347.014946 deg, new cmd heading: 347.541048 deg. 2025-01-08T23:31:26.757Z,1736379086.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065735 target range: 136.500000 and range: 136.50 m. 2025-01-08T23:31:26.766Z,1736379086.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:27.016Z,1736379087.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:27.157Z,1736379087.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:27.171Z,1736379087.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T23:31:27.174Z,1736379087.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 64.199219 m, bearing: 67.057272 deg, approach rate: -0.016645 m/s, LOS rate: 0.533027 deg/s, cmd heading: 347.541035 deg, new cmd heading: 348.215333 deg. 2025-01-08T23:31:27.176Z,1736379087.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.077504 target range: 136.500000 and range: 136.50 m. 2025-01-08T23:31:27.268Z,1736379087.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:27.520Z,1736379087.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:27.530Z,1736379087.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:27.537Z,1736379087.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:27.540Z,1736379087.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T23:31:27.544Z,1736379087.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 64.194016 m, bearing: 67.249208 deg, approach rate: -0.014112 m/s, LOS rate: 0.520609 deg/s, cmd heading: 348.215338 deg, new cmd heading: 348.791170 deg. 2025-01-08T23:31:27.545Z,1736379087.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087554 target range: 136.500000 and range: 136.50 m. 2025-01-08T23:31:27.776Z,1736379087.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:27.778Z,1736379087.778 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:27.779Z,1736379087.779 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:27.780Z,1736379087.780 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:27.954Z,1736379087.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:27.971Z,1736379087.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T23:31:27.978Z,1736379087.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 64.190750 m, bearing: 67.474682 deg, approach rate: -0.007568 m/s, LOS rate: 0.522611 deg/s, cmd heading: 348.791178 deg, new cmd heading: 349.467604 deg. 2025-01-08T23:31:27.984Z,1736379087.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099360 target range: 136.500000 and range: 136.50 m. 2025-01-08T23:31:28.029Z,1736379088.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:28.030Z,1736379088.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713064 2025-01-08T23:31:28.280Z,1736379088.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:28.280Z,1736379088.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963368 2025-01-08T23:31:28.337Z,1736379088.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:28.352Z,1736379088.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T23:31:28.355Z,1736379088.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 64.186150 m, bearing: 67.678231 deg, approach rate: -0.012064 m/s, LOS rate: 0.533783 deg/s, cmd heading: 349.467612 deg, new cmd heading: 350.078278 deg. 2025-01-08T23:31:28.356Z,1736379088.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.110019 target range: 136.500000 and range: 136.50 m. 2025-01-08T23:31:28.532Z,1736379088.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:28.532Z,1736379088.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215489 2025-01-08T23:31:28.725Z,1736379088.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:28.734Z,1736379088.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T23:31:28.754Z,1736379088.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 64.179596 m, bearing: 67.884889 deg, approach rate: -0.017176 m/s, LOS rate: 0.541675 deg/s, cmd heading: 350.078286 deg, new cmd heading: 350.698296 deg. 2025-01-08T23:31:28.755Z,1736379088.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.120840 target range: 136.500000 and range: 136.50 m. 2025-01-08T23:31:28.784Z,1736379088.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:28.785Z,1736379088.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467583 2025-01-08T23:31:29.036Z,1736379089.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:29.037Z,1736379089.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719696 2025-01-08T23:31:29.161Z,1736379089.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:29.170Z,1736379089.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T23:31:29.173Z,1736379089.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 64.176857 m, bearing: 68.118627 deg, approach rate: -0.006278 m/s, LOS rate: 0.535743 deg/s, cmd heading: 350.698303 deg, new cmd heading: 351.399511 deg. 2025-01-08T23:31:29.174Z,1736379089.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133079 target range: 136.500000 and range: 136.50 m. 2025-01-08T23:31:29.288Z,1736379089.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:29.288Z,1736379089.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971448 2025-01-08T23:31:29.540Z,1736379089.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:29.541Z,1736379089.541 [DAT](INFO): DAT read: Rx Time:23:31:28.2756 2025-01-08T23:31:29.542Z,1736379089.542 [DAT](INFO): Rx dataTimestamp_ set to:1736379089.540700 2025-01-08T23:31:29.542Z,1736379089.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225401 2025-01-08T23:31:29.624Z,1736379089.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:29.635Z,1736379089.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:29.641Z,1736379089.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.50 m. 2025-01-08T23:31:29.648Z,1736379089.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.500000 m, nav range: 64.169136 m, bearing: 68.366948 deg, approach rate: -0.016399 m/s, LOS rate: 0.527494 deg/s, cmd heading: 351.399518 deg, new cmd heading: 352.144527 deg. 2025-01-08T23:31:29.650Z,1736379089.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146081 target range: 136.500000 and range: 136.50 m. 2025-01-08T23:31:29.794Z,1736379089.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:29.797Z,1736379089.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479594 2025-01-08T23:31:30.044Z,1736379090.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:30.050Z,1736379090.050 [DAT](INFO): DAT read: 23:31:28.2756 LVL= 12480, 19825, 21874, 31667, AGC= 60, IDX= 429,-0.12, 3.066, 2.311, 1.022, 2.110, PHS= 1.044, 0.248,-1.091, RAW= 51.7, -2.2, CAL= 53.9, -5.6, ROT= 96.1, 5.6 2025-01-08T23:31:30.052Z,1736379090.052 [DAT](INFO): got valid direction response: 23:31:28.2756 LVL= 12480, 19825, 21874, 31667, AGC= 60, IDX= 429,-0.12, 3.066, 2.311, 1.022, 2.110, PHS= 1.044, 0.248,-1.091, RAW= 51.7, -2.2, CAL= 53.9, -5.6, ROT= 96.1, 5.6 2025-01-08T23:31:30.053Z,1736379090.053 [DAT](INFO): DAT read: Bearing 96.1, 5.6 (Local) 2025-01-08T23:31:30.053Z,1736379090.053 [DAT](INFO): Local bearing/azimuth received: Bearing 96.1, 5.6 (Local) 2025-01-08T23:31:30.054Z,1736379090.054 [DAT](INFO): DAT read: Range 10 to 50 : 137.1 m (Round-trip 182.9 ms) speed 0.0 m/s 2025-01-08T23:31:30.055Z,1736379090.055 [DAT](INFO): DAT read: user:3291> 2025-01-08T23:31:30.056Z,1736379090.056 [DAT](INFO): DAT read: Tx time:23:31:29.3886 2025-01-08T23:31:30.056Z,1736379090.056 [DAT](INFO): Ping request sent. 2025-01-08T23:31:30.056Z,1736379090.056 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:30.057Z,1736379090.057 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:30.058Z,1736379090.058 [DAT](INFO): direction in FSK: [0.028373,0.680682,0.732030] 2025-01-08T23:31:30.058Z,1736379090.058 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:30.059Z,1736379090.059 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:30.062Z,1736379090.062 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:30.062Z,1736379090.062 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:30.125Z,1736379090.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:30.157Z,1736379090.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.100006 m, deltaT: 3.782285 s, deltaX: 0.600006 m, approachRate: 0.158636 m/s, rangeRepo size: 4 2025-01-08T23:31:30.164Z,1736379090.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.100006 m, bearing: 78.577359 deg, lat: 36.904658 deg, lon: -122.120252 deg, deltaT: 3.782285 s, deltaX: 0.600006 m, approachRate: 0.158636 m/s, posRepo size: 4 2025-01-08T23:31:30.165Z,1736379090.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:30.172Z,1736379090.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 65.731834 m, bearing: 69.174016 deg, approach rate: 0.000000 m/s, LOS rate: 0.527494 deg/s, cmd heading: 352.144527 deg, new cmd heading: 352.959955 deg. 2025-01-08T23:31:30.173Z,1736379090.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160313 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:30.296Z,1736379090.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:30.297Z,1736379090.297 [DAT](INFO): DAT read: TxSync time:23:31:29.3878 2025-01-08T23:31:30.548Z,1736379090.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:30.559Z,1736379090.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:30.592Z,1736379090.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:30.594Z,1736379090.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 65.736328 m, bearing: 69.408918 deg, approach rate: 0.010933 m/s, LOS rate: 0.571455 deg/s, cmd heading: 352.959943 deg, new cmd heading: 353.664563 deg. 2025-01-08T23:31:30.600Z,1736379090.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172611 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:30.800Z,1736379090.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:30.986Z,1736379090.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:31.020Z,1736379091.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:31.022Z,1736379091.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 65.743736 m, bearing: 69.652056 deg, approach rate: 0.017304 m/s, LOS rate: 0.567856 deg/s, cmd heading: 353.664572 deg, new cmd heading: 354.393861 deg. 2025-01-08T23:31:31.027Z,1736379091.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185340 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:31.052Z,1736379091.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:31.304Z,1736379091.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:31.366Z,1736379091.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:31.377Z,1736379091.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:31.382Z,1736379091.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 65.749870 m, bearing: 69.867804 deg, approach rate: 0.016057 m/s, LOS rate: 0.564726 deg/s, cmd heading: 354.393873 deg, new cmd heading: 355.041029 deg. 2025-01-08T23:31:31.383Z,1736379091.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196635 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:31.556Z,1736379091.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:31.774Z,1736379091.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:31.808Z,1736379091.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:31.812Z,1736379091.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:31.814Z,1736379091.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:31.881Z,1736379091.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 65.755699 m, bearing: 70.099268 deg, approach rate: 0.013347 m/s, LOS rate: 0.529972 deg/s, cmd heading: 355.041019 deg, new cmd heading: 355.735315 deg. 2025-01-08T23:31:31.896Z,1736379091.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208753 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:32.060Z,1736379092.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:32.060Z,1736379092.060 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:32.060Z,1736379092.060 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:32.061Z,1736379092.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:32.219Z,1736379092.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:32.229Z,1736379092.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:32.232Z,1736379092.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 65.770844 m, bearing: 70.343869 deg, approach rate: 0.036504 m/s, LOS rate: 0.589446 deg/s, cmd heading: 355.735322 deg, new cmd heading: 356.468914 deg. 2025-01-08T23:31:32.233Z,1736379092.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.221556 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:32.312Z,1736379092.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:32.313Z,1736379092.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256187 2025-01-08T23:31:32.564Z,1736379092.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:32.564Z,1736379092.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507942 2025-01-08T23:31:32.620Z,1736379092.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:32.636Z,1736379092.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:32.644Z,1736379092.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 65.785339 m, bearing: 70.561570 deg, approach rate: 0.035569 m/s, LOS rate: 0.534065 deg/s, cmd heading: 356.468912 deg, new cmd heading: 357.121840 deg. 2025-01-08T23:31:32.645Z,1736379092.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232952 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:32.816Z,1736379092.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:32.816Z,1736379092.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760004 2025-01-08T23:31:33.029Z,1736379093.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:33.037Z,1736379093.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:33.040Z,1736379093.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 65.799019 m, bearing: 70.782781 deg, approach rate: 0.034135 m/s, LOS rate: 0.551876 deg/s, cmd heading: 357.121850 deg, new cmd heading: 357.785315 deg. 2025-01-08T23:31:33.043Z,1736379093.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244532 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:33.086Z,1736379093.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:33.088Z,1736379093.088 [DAT](INFO): DAT read: Rx Time:23:31:31.9763 2025-01-08T23:31:33.088Z,1736379093.088 [DAT](INFO): Rx dataTimestamp_ set to:1736379093.088167 2025-01-08T23:31:33.089Z,1736379093.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033019 2025-01-08T23:31:33.336Z,1736379093.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:33.336Z,1736379093.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279982 2025-01-08T23:31:33.412Z,1736379093.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:33.421Z,1736379093.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:33.424Z,1736379093.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 65.812569 m, bearing: 70.987541 deg, approach rate: 0.035312 m/s, LOS rate: 0.533511 deg/s, cmd heading: 357.785308 deg, new cmd heading: 358.399437 deg. 2025-01-08T23:31:33.426Z,1736379093.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255250 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:33.588Z,1736379093.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:33.588Z,1736379093.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531953 2025-01-08T23:31:33.805Z,1736379093.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:33.814Z,1736379093.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:33.816Z,1736379093.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 65.822128 m, bearing: 71.197390 deg, approach rate: 0.024348 m/s, LOS rate: 0.534408 deg/s, cmd heading: 358.399423 deg, new cmd heading: 359.028851 deg. 2025-01-08T23:31:33.818Z,1736379093.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.266235 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:33.840Z,1736379093.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:33.846Z,1736379093.846 [DAT](INFO): DAT read: 23:31:31.9763 LVL= 19824, 29569, 28466, 32755, AGC= 62, IDX= 452,-0.08, 0.474,-0.138,-1.466,-0.437, PHS= 0.999, 0.346,-1.031, RAW= 48.3, -3.5, CAL= 50.7, -7.4, ROT= 99.3, 7.4 2025-01-08T23:31:33.848Z,1736379093.848 [DAT](INFO): got valid direction response: 23:31:31.9763 LVL= 19824, 29569, 28466, 32755, AGC= 62, IDX= 452,-0.08, 0.474,-0.138,-1.466,-0.437, PHS= 0.999, 0.346,-1.031, RAW= 48.3, -3.5, CAL= 50.7, -7.4, ROT= 99.3, 7.4 2025-01-08T23:31:33.849Z,1736379093.849 [DAT](INFO): DAT read: Bearing 99.3, 7.4 (Local) 2025-01-08T23:31:33.849Z,1736379093.849 [DAT](INFO): Local bearing/azimuth received: Bearing 99.3, 7.4 (Local) 2025-01-08T23:31:33.852Z,1736379093.852 [DAT](INFO): DAT read: Range 10 to 50 : 137.6 m (Round-trip 183.5 ms) speed 0.1 m/s 2025-01-08T23:31:33.854Z,1736379093.854 [DAT](INFO): DAT read: user:3292> 2025-01-08T23:31:33.891Z,1736379093.891 [DAT](INFO): DAT read: Tx time:23:31:33.0871 2025-01-08T23:31:33.892Z,1736379093.892 [DAT](INFO): Ping request sent. 2025-01-08T23:31:33.893Z,1736379093.893 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:33.904Z,1736379093.904 [DAT](INFO): DAT read: TxSync time:23:31:33.0863 2025-01-08T23:31:33.905Z,1736379093.905 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:33.917Z,1736379093.917 [DAT](INFO): direction in FSK: [0.060374,0.716489,0.694981] 2025-01-08T23:31:33.918Z,1736379093.918 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:33.928Z,1736379093.928 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:33.931Z,1736379093.931 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:33.931Z,1736379093.931 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:34.093Z,1736379094.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:34.336Z,1736379094.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:34.344Z,1736379094.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:34.359Z,1736379094.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.600006 m, deltaT: 3.796040 s, deltaX: 0.500000 m, approachRate: 0.131716 m/s, rangeRepo size: 4 2025-01-08T23:31:34.362Z,1736379094.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.600006 m, bearing: 81.844523 deg, lat: 36.904658 deg, lon: -122.120252 deg, deltaT: 3.796040 s, deltaX: 0.500000 m, approachRate: 0.131716 m/s, posRepo size: 4 2025-01-08T23:31:34.363Z,1736379094.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.60 m. 2025-01-08T23:31:34.378Z,1736379094.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.600006 m, nav range: 65.824059 m, bearing: 71.475543 deg, approach rate: 0.000000 m/s, LOS rate: 0.534408 deg/s, cmd heading: 359.028839 deg, new cmd heading: 359.900720 deg. 2025-01-08T23:31:34.379Z,1736379094.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281453 target range: 137.600006 and range: 137.60 m. 2025-01-08T23:31:34.596Z,1736379094.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:34.633Z,1736379094.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:34.650Z,1736379094.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:34.664Z,1736379094.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.60 m. 2025-01-08T23:31:34.682Z,1736379094.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.600006 m, nav range: 65.823868 m, bearing: 71.631823 deg, approach rate: -0.000633 m/s, LOS rate: 0.518956 deg/s, cmd heading: 359.900726 deg, new cmd heading: 0.369559 deg. 2025-01-08T23:31:34.684Z,1736379094.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006450 target range: 137.600006 and range: 137.60 m. 2025-01-08T23:31:34.848Z,1736379094.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:34.848Z,1736379094.848 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:34.848Z,1736379094.848 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:34.849Z,1736379094.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:35.039Z,1736379095.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:35.065Z,1736379095.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.60 m. 2025-01-08T23:31:35.080Z,1736379095.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.600006 m, nav range: 65.817543 m, bearing: 71.835804 deg, approach rate: -0.015553 m/s, LOS rate: 0.501646 deg/s, cmd heading: 0.369559 deg, new cmd heading: 0.981536 deg. 2025-01-08T23:31:35.081Z,1736379095.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017131 target range: 137.600006 and range: 137.60 m. 2025-01-08T23:31:35.100Z,1736379095.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:35.100Z,1736379095.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207963 2025-01-08T23:31:35.352Z,1736379095.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:35.352Z,1736379095.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460010 2025-01-08T23:31:35.431Z,1736379095.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:35.440Z,1736379095.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.60 m. 2025-01-08T23:31:35.443Z,1736379095.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.600006 m, nav range: 65.809326 m, bearing: 72.032804 deg, approach rate: -0.021952 m/s, LOS rate: 0.526358 deg/s, cmd heading: 0.981536 deg, new cmd heading: 1.572588 deg. 2025-01-08T23:31:35.444Z,1736379095.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.027447 target range: 137.600006 and range: 137.60 m. 2025-01-08T23:31:35.604Z,1736379095.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:35.605Z,1736379095.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712118 2025-01-08T23:31:35.821Z,1736379095.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:35.834Z,1736379095.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.60 m. 2025-01-08T23:31:35.837Z,1736379095.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.600006 m, nav range: 65.798943 m, bearing: 72.229394 deg, approach rate: -0.026322 m/s, LOS rate: 0.498424 deg/s, cmd heading: 1.572588 deg, new cmd heading: 2.162428 deg. 2025-01-08T23:31:35.838Z,1736379095.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037741 target range: 137.600006 and range: 137.60 m. 2025-01-08T23:31:35.856Z,1736379095.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:35.857Z,1736379095.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964746 2025-01-08T23:31:36.108Z,1736379096.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:36.110Z,1736379096.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217564 2025-01-08T23:31:36.251Z,1736379096.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:31:36.251Z,1736379096.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:36.262Z,1736379096.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.60 m. 2025-01-08T23:31:36.264Z,1736379096.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.600006 m, nav range: 65.785400 m, bearing: 72.444981 deg, approach rate: -0.031675 m/s, LOS rate: 0.504363 deg/s, cmd heading: 2.162428 deg, new cmd heading: 2.809294 deg. 2025-01-08T23:31:36.265Z,1736379096.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049031 target range: 137.600006 and range: 137.60 m. 2025-01-08T23:31:36.362Z,1736379096.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:36.364Z,1736379096.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471711 2025-01-08T23:31:36.616Z,1736379096.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:36.616Z,1736379096.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724094 2025-01-08T23:31:36.668Z,1736379096.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:31:36.668Z,1736379096.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:36.683Z,1736379096.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:36.697Z,1736379096.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.60 m. 2025-01-08T23:31:36.700Z,1736379096.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.600006 m, nav range: 65.770233 m, bearing: 72.652382 deg, approach rate: -0.034808 m/s, LOS rate: 0.476081 deg/s, cmd heading: 2.809294 deg, new cmd heading: 3.431613 deg. 2025-01-08T23:31:36.701Z,1736379096.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059893 target range: 137.600006 and range: 137.60 m. 2025-01-08T23:31:36.869Z,1736379096.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:36.871Z,1736379096.871 [DAT](INFO): DAT read: Rx Time:23:31:35.6747 2025-01-08T23:31:36.872Z,1736379096.872 [DAT](INFO): Rx dataTimestamp_ set to:1736379096.871319 2025-01-08T23:31:36.873Z,1736379096.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980656 2025-01-08T23:31:37.065Z,1736379097.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:37.073Z,1736379097.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.60 m. 2025-01-08T23:31:37.077Z,1736379097.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.600006 m, nav range: 65.732918 m, bearing: 72.847124 deg, approach rate: -0.099300 m/s, LOS rate: 0.518523 deg/s, cmd heading: 3.431613 deg, new cmd heading: 4.016150 deg. 2025-01-08T23:31:37.078Z,1736379097.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070095 target range: 137.600006 and range: 137.60 m. 2025-01-08T23:31:37.120Z,1736379097.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:37.120Z,1736379097.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228082 2025-01-08T23:31:37.373Z,1736379097.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:37.388Z,1736379097.388 [DAT](INFO): DAT read: 23:31:35.6747 LVL= 22192, 30945, 26354, 32755, AGC= 60, IDX= 434, 0.32,-0.057,-0.934,-2.131,-1.217, PHS= 1.248, 0.330,-0.916, RAW= 55.0, -7.1, CAL= 61.2, -13.1, ROT= 88.8, 13.1 2025-01-08T23:31:37.389Z,1736379097.389 [DAT](INFO): got valid direction response: 23:31:35.6747 LVL= 22192, 30945, 26354, 32755, AGC= 60, IDX= 434, 0.32,-0.057,-0.934,-2.131,-1.217, PHS= 1.248, 0.330,-0.916, RAW= 55.0, -7.1, CAL= 61.2, -13.1, ROT= 88.8, 13.1 2025-01-08T23:31:37.390Z,1736379097.390 [DAT](INFO): DAT read: Bearing 88.8, 13.1 (Local) 2025-01-08T23:31:37.391Z,1736379097.391 [DAT](INFO): Local bearing/azimuth received: Bearing 88.8, 13.1 (Local) 2025-01-08T23:31:37.393Z,1736379097.393 [DAT](INFO): DAT read: Range 10 to 50 : 137.5 m (Round-trip 183.4 ms) speed 0.0 m/s 2025-01-08T23:31:37.394Z,1736379097.394 [DAT](INFO): DAT read: user:3293> 2025-01-08T23:31:37.395Z,1736379097.395 [DAT](INFO): DAT read: Tx time:23:31:36.7886 2025-01-08T23:31:37.396Z,1736379097.396 [DAT](INFO): Ping request sent. 2025-01-08T23:31:37.396Z,1736379097.396 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:37.396Z,1736379097.396 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:37.397Z,1736379097.397 [DAT](INFO): direction in FSK: [0.112593,0.629695,0.768640] 2025-01-08T23:31:37.397Z,1736379097.397 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:37.397Z,1736379097.397 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:37.401Z,1736379097.401 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:37.401Z,1736379097.401 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:37.482Z,1736379097.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:37.540Z,1736379097.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.500000 m, deltaT: 3.533729 s, deltaX: -0.100006 m, approachRate: -0.028300 m/s, rangeRepo size: 4 2025-01-08T23:31:37.547Z,1736379097.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.500000 m, bearing: 82.620443 deg, lat: 36.904573 deg, lon: -122.120252 deg, deltaT: 3.533729 s, deltaX: -0.100006 m, approachRate: -0.028300 m/s, posRepo size: 4 2025-01-08T23:31:37.548Z,1736379097.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:37.551Z,1736379097.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 63.588287 m, bearing: 81.175484 deg, approach rate: 0.000000 m/s, LOS rate: 0.518523 deg/s, cmd heading: 4.016150 deg, new cmd heading: 4.728332 deg. 2025-01-08T23:31:37.556Z,1736379097.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.082525 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:37.624Z,1736379097.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:37.626Z,1736379097.626 [DAT](INFO): DAT read: TxSync time:23:31:36.7878 2025-01-08T23:31:37.876Z,1736379097.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:37.882Z,1736379097.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:37.907Z,1736379097.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:37.938Z,1736379097.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 63.576569 m, bearing: 81.378521 deg, approach rate: -0.031188 m/s, LOS rate: 0.540450 deg/s, cmd heading: 4.728332 deg, new cmd heading: 5.337529 deg. 2025-01-08T23:31:37.951Z,1736379097.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093157 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:38.128Z,1736379098.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:38.380Z,1736379098.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:38.453Z,1736379098.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:38.474Z,1736379098.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:38.499Z,1736379098.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 63.543133 m, bearing: 81.674910 deg, approach rate: -0.058967 m/s, LOS rate: 0.522983 deg/s, cmd heading: 5.337529 deg, new cmd heading: 6.227090 deg. 2025-01-08T23:31:38.500Z,1736379098.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108683 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:38.632Z,1736379098.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:38.799Z,1736379098.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:38.806Z,1736379098.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:38.812Z,1736379098.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:38.815Z,1736379098.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 63.521725 m, bearing: 81.848199 deg, approach rate: -0.063261 m/s, LOS rate: 0.512241 deg/s, cmd heading: 6.227090 deg, new cmd heading: 6.747117 deg. 2025-01-08T23:31:38.820Z,1736379098.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.117759 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:38.884Z,1736379098.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:38.884Z,1736379098.884 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:38.885Z,1736379098.885 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:38.885Z,1736379098.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:39.136Z,1736379099.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:39.136Z,1736379099.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740627 2025-01-08T23:31:39.282Z,1736379099.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:39.290Z,1736379099.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:39.294Z,1736379099.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 63.483387 m, bearing: 82.095277 deg, approach rate: -0.080207 m/s, LOS rate: 0.517228 deg/s, cmd heading: 6.747117 deg, new cmd heading: 7.488755 deg. 2025-01-08T23:31:39.295Z,1736379099.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.130703 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:39.390Z,1736379099.390 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:39.391Z,1736379099.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994788 2025-01-08T23:31:39.644Z,1736379099.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:39.645Z,1736379099.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249417 2025-01-08T23:31:39.685Z,1736379099.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:39.698Z,1736379099.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:39.704Z,1736379099.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 63.451008 m, bearing: 82.310398 deg, approach rate: -0.079467 m/s, LOS rate: 0.528233 deg/s, cmd heading: 7.488754 deg, new cmd heading: 8.134419 deg. 2025-01-08T23:31:39.705Z,1736379099.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.141972 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:39.896Z,1736379099.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:39.898Z,1736379099.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502088 2025-01-08T23:31:40.061Z,1736379100.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:40.070Z,1736379100.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:40.073Z,1736379100.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 63.410137 m, bearing: 82.507365 deg, approach rate: -0.109806 m/s, LOS rate: 0.529525 deg/s, cmd heading: 8.134419 deg, new cmd heading: 8.725679 deg. 2025-01-08T23:31:40.073Z,1736379100.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.152292 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:40.148Z,1736379100.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:40.148Z,1736379100.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752733 2025-01-08T23:31:40.400Z,1736379100.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:40.401Z,1736379100.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004828 2025-01-08T23:31:40.461Z,1736379100.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:40.472Z,1736379100.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:40.476Z,1736379100.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 63.365253 m, bearing: 82.716510 deg, approach rate: -0.111630 m/s, LOS rate: 0.520527 deg/s, cmd heading: 8.725679 deg, new cmd heading: 9.353530 deg. 2025-01-08T23:31:40.477Z,1736379100.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.163250 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:40.652Z,1736379100.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:40.653Z,1736379100.653 [DAT](INFO): DAT read: Rx Time:23:31:39.3755 2025-01-08T23:31:40.654Z,1736379100.654 [DAT](INFO): Rx dataTimestamp_ set to:1736379100.653435 2025-01-08T23:31:40.655Z,1736379100.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258873 2025-01-08T23:31:40.889Z,1736379100.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:40.895Z,1736379100.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:40.897Z,1736379100.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m. 2025-01-08T23:31:40.900Z,1736379100.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.500000 m, nav range: 63.318237 m, bearing: 82.940252 deg, approach rate: -0.110457 m/s, LOS rate: 0.526037 deg/s, cmd heading: 9.353529 deg, new cmd heading: 10.025222 deg. 2025-01-08T23:31:40.901Z,1736379100.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.174973 target range: 137.500000 and range: 137.50 m. 2025-01-08T23:31:40.904Z,1736379100.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:40.904Z,1736379100.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508703 2025-01-08T23:31:41.156Z,1736379101.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:41.164Z,1736379101.164 [DAT](INFO): DAT read: 23:31:39.3755 LVL= 13456, 26257, 18770, 25011, AGC= 60, IDX= 428,-0.17, 1.445, 0.299,-0.737, 0.085, PHS= 1.449, 0.262,-0.824, RAW= 61.5, -9.0, CAL= 70.7, -16.4, ROT= 79.3, 16.4 2025-01-08T23:31:41.165Z,1736379101.165 [DAT](INFO): got valid direction response: 23:31:39.3755 LVL= 13456, 26257, 18770, 25011, AGC= 60, IDX= 428,-0.17, 1.445, 0.299,-0.737, 0.085, PHS= 1.449, 0.262,-0.824, RAW= 61.5, -9.0, CAL= 70.7, -16.4, ROT= 79.3, 16.4 2025-01-08T23:31:41.166Z,1736379101.166 [DAT](INFO): DAT read: Bearing 79.3, 16.4 (Local) 2025-01-08T23:31:41.166Z,1736379101.166 [DAT](INFO): Local bearing/azimuth received: Bearing 79.3, 16.4 (Local) 2025-01-08T23:31:41.169Z,1736379101.169 [DAT](INFO): DAT read: Range 10 to 50 : 137.1 m (Round-trip 182.8 ms) speed -0.1 m/s 2025-01-08T23:31:41.169Z,1736379101.169 [DAT](INFO): DAT read: user:3294> 2025-01-08T23:31:41.170Z,1736379101.170 [DAT](INFO): DAT read: Tx time:23:31:40.4871 2025-01-08T23:31:41.170Z,1736379101.170 [DAT](INFO): Ping request sent. 2025-01-08T23:31:41.171Z,1736379101.171 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:41.171Z,1736379101.171 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:41.172Z,1736379101.172 [DAT](INFO): direction in FSK: [0.136107,0.540460,0.830288] 2025-01-08T23:31:41.172Z,1736379101.172 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:41.172Z,1736379101.172 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:41.177Z,1736379101.177 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:41.177Z,1736379101.177 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:41.340Z,1736379101.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:41.367Z,1736379101.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.100006 m, deltaT: 3.782816 s, deltaX: -0.399994 m, approachRate: -0.105740 m/s, rangeRepo size: 4 2025-01-08T23:31:41.384Z,1736379101.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.100006 m, bearing: 82.456113 deg, lat: 36.904567 deg, lon: -122.120252 deg, deltaT: 3.782816 s, deltaX: -0.399994 m, approachRate: -0.105740 m/s, posRepo size: 4 2025-01-08T23:31:41.385Z,1736379101.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:41.392Z,1736379101.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 63.187496 m, bearing: 83.841938 deg, approach rate: 0.000000 m/s, LOS rate: 0.526037 deg/s, cmd heading: 10.025222 deg, new cmd heading: 10.764648 deg. 2025-01-08T23:31:41.393Z,1736379101.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.187879 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:41.409Z,1736379101.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:41.410Z,1736379101.410 [DAT](INFO): DAT read: TxSync time:23:31:40.4863 2025-01-08T23:31:41.660Z,1736379101.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:41.710Z,1736379101.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:41.718Z,1736379101.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:41.721Z,1736379101.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 63.144108 m, bearing: 84.039279 deg, approach rate: -0.123182 m/s, LOS rate: 0.560646 deg/s, cmd heading: 10.764648 deg, new cmd heading: 11.357056 deg. 2025-01-08T23:31:41.722Z,1736379101.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.198218 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:41.912Z,1736379101.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:42.105Z,1736379102.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:42.115Z,1736379102.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:42.118Z,1736379102.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 63.095879 m, bearing: 84.248787 deg, approach rate: -0.121592 m/s, LOS rate: 0.528599 deg/s, cmd heading: 11.357056 deg, new cmd heading: 11.986035 deg. 2025-01-08T23:31:42.119Z,1736379102.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.209196 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:42.164Z,1736379102.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:42.416Z,1736379102.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:42.485Z,1736379102.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:42.510Z,1736379102.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:42.517Z,1736379102.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 63.048363 m, bearing: 84.449787 deg, approach rate: -0.120165 m/s, LOS rate: 0.508700 deg/s, cmd heading: 11.986035 deg, new cmd heading: 12.589466 deg. 2025-01-08T23:31:42.518Z,1736379102.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.219728 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:42.669Z,1736379102.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:42.904Z,1736379102.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:42.920Z,1736379102.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:42.923Z,1736379102.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:42.929Z,1736379102.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:42.933Z,1736379102.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.993912 m, bearing: 84.671627 deg, approach rate: -0.130119 m/s, LOS rate: 0.530578 deg/s, cmd heading: 12.589466 deg, new cmd heading: 13.255531 deg. 2025-01-08T23:31:42.934Z,1736379102.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.231353 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:43.172Z,1736379103.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:43.172Z,1736379103.172 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:43.172Z,1736379103.172 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:43.172Z,1736379103.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:43.313Z,1736379103.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:43.322Z,1736379103.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:43.325Z,1736379103.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.946529 m, bearing: 84.885466 deg, approach rate: -0.120573 m/s, LOS rate: 0.544559 deg/s, cmd heading: 13.255531 deg, new cmd heading: 13.897501 deg. 2025-01-08T23:31:43.326Z,1736379103.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.242557 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:43.424Z,1736379103.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:43.426Z,1736379103.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254856 2025-01-08T23:31:43.676Z,1736379103.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:43.677Z,1736379103.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505917 2025-01-08T23:31:43.713Z,1736379103.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:43.722Z,1736379103.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:43.726Z,1736379103.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.897976 m, bearing: 85.094634 deg, approach rate: -0.121324 m/s, LOS rate: 0.523063 deg/s, cmd heading: 13.897501 deg, new cmd heading: 14.525463 deg. 2025-01-08T23:31:43.727Z,1736379103.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253517 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:43.931Z,1736379103.931 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:43.934Z,1736379103.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762971 2025-01-08T23:31:44.130Z,1736379104.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:44.145Z,1736379104.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:44.148Z,1736379104.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.849461 m, bearing: 85.312670 deg, approach rate: -0.114744 m/s, LOS rate: 0.516075 deg/s, cmd heading: 14.525463 deg, new cmd heading: 15.180046 deg. 2025-01-08T23:31:44.149Z,1736379104.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.264942 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:44.181Z,1736379104.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:44.184Z,1736379104.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012521 2025-01-08T23:31:44.432Z,1736379104.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:44.433Z,1736379104.433 [DAT](INFO): DAT read: Rx Time:23:31:43.0737 2025-01-08T23:31:44.433Z,1736379104.433 [DAT](INFO): Rx dataTimestamp_ set to:1736379104.432682 2025-01-08T23:31:44.433Z,1736379104.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262891 2025-01-08T23:31:44.560Z,1736379104.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:44.577Z,1736379104.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:44.584Z,1736379104.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.794727 m, bearing: 85.536813 deg, approach rate: -0.126581 m/s, LOS rate: 0.518824 deg/s, cmd heading: 15.180046 deg, new cmd heading: 15.853027 deg. 2025-01-08T23:31:44.585Z,1736379104.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.276688 target range: 137.100006 and range: 137.10 m. 2025-01-08T23:31:44.684Z,1736379104.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:44.686Z,1736379104.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514544 2025-01-08T23:31:44.925Z,1736379104.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:44.937Z,1736379104.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:44.952Z,1736379104.952 [DAT](INFO): DAT read: 23:31:43.0737 LVL= 17680, 26481, 19602, 30003, AGC= 61, IDX= 423, 0.25, 1.967, 0.485,-0.110, 0.620, PHS= 1.435,-0.089,-0.733, RAW= 73.2, -6.4, CAL= 82.2, -13.6, ROT= 67.8, 13.6 2025-01-08T23:31:44.953Z,1736379104.953 [DAT](INFO): got valid direction response: 23:31:43.0737 LVL= 17680, 26481, 19602, 30003, AGC= 61, IDX= 423, 0.25, 1.967, 0.485,-0.110, 0.620, PHS= 1.435,-0.089,-0.733, RAW= 73.2, -6.4, CAL= 82.2, -13.6, ROT= 67.8, 13.6 2025-01-08T23:31:44.954Z,1736379104.954 [DAT](INFO): DAT read: Bearing 67.8, 13.6 (Local) 2025-01-08T23:31:44.954Z,1736379104.954 [DAT](INFO): Local bearing/azimuth received: Bearing 67.8, 13.6 (Local) 2025-01-08T23:31:44.964Z,1736379104.964 [DAT](INFO): DAT read: Range 10 to 50 : 136.8 m (Round-trip 182.4 ms) speed 0.0 m/s 2025-01-08T23:31:44.965Z,1736379104.965 [DAT](INFO): DAT read: user:3295> 2025-01-08T23:31:44.965Z,1736379104.965 [DAT](INFO): DAT read: Tx time:23:31:44.1872 2025-01-08T23:31:44.966Z,1736379104.966 [DAT](INFO): Ping request sent. 2025-01-08T23:31:44.966Z,1736379104.966 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:44.966Z,1736379104.966 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:44.971Z,1736379104.971 [DAT](INFO): direction in FSK: [0.065321,0.376234,0.924219] 2025-01-08T23:31:44.971Z,1736379104.971 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:44.972Z,1736379104.972 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:44.975Z,1736379104.975 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:44.975Z,1736379104.975 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:44.978Z,1736379104.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:44.990Z,1736379104.990 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:44.990Z,1736379104.990 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:44.990Z,1736379104.990 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:44.993Z,1736379104.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.800003 m, deltaT: 3.780710 s, deltaX: -0.300003 m, approachRate: -0.079351 m/s, rangeRepo size: 4 2025-01-08T23:31:44.994Z,1736379104.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:45.013Z,1736379105.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.749310 m, bearing: 85.726164 deg, approach rate: -0.109275 m/s, LOS rate: 0.455906 deg/s, cmd heading: 15.853028 deg, new cmd heading: 16.421473 deg. 2025-01-08T23:31:45.020Z,1736379105.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.286609 target range: 137.100006 and range: 136.80 m. 2025-01-08T23:31:45.189Z,1736379105.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:45.190Z,1736379105.190 [DAT](INFO): DAT read: TxSync time:23:31:44.1864 2025-01-08T23:31:45.192Z,1736379105.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.225486 2025-01-08T23:31:45.386Z,1736379105.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:45.419Z,1736379105.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:45.426Z,1736379105.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.700790 m, bearing: 85.965543 deg, approach rate: -0.113951 m/s, LOS rate: 0.562635 deg/s, cmd heading: 16.421472 deg, new cmd heading: 17.140126 deg. 2025-01-08T23:31:45.436Z,1736379105.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.299152 target range: 137.100006 and range: 136.80 m. 2025-01-08T23:31:45.440Z,1736379105.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:45.441Z,1736379105.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.474726 2025-01-08T23:31:45.692Z,1736379105.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:45.693Z,1736379105.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.727544 2025-01-08T23:31:45.738Z,1736379105.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:45.760Z,1736379105.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:45.762Z,1736379105.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.662289 m, bearing: 86.148526 deg, approach rate: -0.114391 m/s, LOS rate: 0.543989 deg/s, cmd heading: 17.140126 deg, new cmd heading: 17.689395 deg. 2025-01-08T23:31:45.768Z,1736379105.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.308738 target range: 137.100006 and range: 136.80 m. 2025-01-08T23:31:45.945Z,1736379105.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:45.947Z,1736379105.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980841 2025-01-08T23:31:46.165Z,1736379106.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:46.174Z,1736379106.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:46.178Z,1736379106.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.614208 m, bearing: 86.375187 deg, approach rate: -0.114901 m/s, LOS rate: 0.542079 deg/s, cmd heading: 17.689394 deg, new cmd heading: 18.369864 deg. 2025-01-08T23:31:46.179Z,1736379106.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.320615 target range: 137.100006 and range: 136.80 m. 2025-01-08T23:31:46.197Z,1736379106.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:46.198Z,1736379106.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232134 2025-01-08T23:31:46.448Z,1736379106.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:46.448Z,1736379106.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482460 2025-01-08T23:31:46.536Z,1736379106.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:46.545Z,1736379106.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:46.548Z,1736379106.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.571438 m, bearing: 86.572009 deg, approach rate: -0.115127 m/s, LOS rate: 0.530156 deg/s, cmd heading: 18.369864 deg, new cmd heading: 18.960711 deg. 2025-01-08T23:31:46.549Z,1736379106.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.330927 target range: 137.100006 and range: 136.80 m. 2025-01-08T23:31:46.700Z,1736379106.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:46.700Z,1736379106.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734616 2025-01-08T23:31:46.944Z,1736379106.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:46.952Z,1736379106.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:46.952Z,1736379106.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986598 2025-01-08T23:31:46.954Z,1736379106.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:46.957Z,1736379106.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.522846 m, bearing: 86.788402 deg, approach rate: -0.118812 m/s, LOS rate: 0.529516 deg/s, cmd heading: 18.960711 deg, new cmd heading: 19.610365 deg. 2025-01-08T23:31:46.959Z,1736379106.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342265 target range: 137.100006 and range: 136.80 m. 2025-01-08T23:31:47.204Z,1736379107.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:47.204Z,1736379107.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238558 2025-01-08T23:31:47.350Z,1736379107.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:47.357Z,1736379107.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:47.361Z,1736379107.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:47.384Z,1736379107.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.478703 m, bearing: 86.996274 deg, approach rate: -0.108560 m/s, LOS rate: 0.511569 deg/s, cmd heading: 19.610364 deg, new cmd heading: 20.234396 deg. 2025-01-08T23:31:47.385Z,1736379107.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.353157 target range: 137.100006 and range: 136.80 m. 2025-01-08T23:31:47.456Z,1736379107.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:47.457Z,1736379107.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491561 2025-01-08T23:31:47.709Z,1736379107.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:47.710Z,1736379107.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744036 2025-01-08T23:31:47.770Z,1736379107.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:47.780Z,1736379107.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:47.783Z,1736379107.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.433990 m, bearing: 87.211211 deg, approach rate: -0.106569 m/s, LOS rate: 0.512656 deg/s, cmd heading: 20.234396 deg, new cmd heading: 20.879641 deg. 2025-01-08T23:31:47.784Z,1736379107.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.364418 target range: 137.100006 and range: 136.80 m. 2025-01-08T23:31:47.852Z,1736379107.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:31:47.960Z,1736379107.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:47.961Z,1736379107.961 [DAT](INFO): DAT read: Rx Time:23:31:46.7729 2025-01-08T23:31:47.961Z,1736379107.961 [DAT](INFO): Rx dataTimestamp_ set to:1736379107.960880 2025-01-08T23:31:47.962Z,1736379107.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995824 2025-01-08T23:31:48.184Z,1736379108.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:48.210Z,1736379108.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.10 m. 2025-01-08T23:31:48.212Z,1736379108.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:48.213Z,1736379108.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246768 2025-01-08T23:31:48.217Z,1736379108.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.100006 m, nav range: 62.392132 m, bearing: 87.420636 deg, approach rate: -0.097335 m/s, LOS rate: 0.487305 deg/s, cmd heading: 20.879641 deg, new cmd heading: 21.508310 deg. 2025-01-08T23:31:48.218Z,1736379108.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.375391 target range: 137.100006 and range: 136.80 m. 2025-01-08T23:31:48.465Z,1736379108.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:48.488Z,1736379108.488 [DAT](INFO): DAT read: 23:31:46.7729 LVL= 22704, 32753, 28386, 32755, AGC= 63, IDX= 432,-0.43, 1.925, 0.295, 0.107, 0.730, PHS= 1.284,-0.388,-0.626, RAW= 83.4, -3.0, CAL= 91.4, -9.1, ROT= 58.6, 9.1 2025-01-08T23:31:48.489Z,1736379108.489 [DAT](INFO): got valid direction response: 23:31:46.7729 LVL= 22704, 32753, 28386, 32755, AGC= 63, IDX= 432,-0.43, 1.925, 0.295, 0.107, 0.730, PHS= 1.284,-0.388,-0.626, RAW= 83.4, -3.0, CAL= 91.4, -9.1, ROT= 58.6, 9.1 2025-01-08T23:31:48.490Z,1736379108.490 [DAT](INFO): DAT read: Bearing 58.6, 9.1 (Local) 2025-01-08T23:31:48.490Z,1736379108.490 [DAT](INFO): Local bearing/azimuth received: Bearing 58.6, 9.1 (Local) 2025-01-08T23:31:48.493Z,1736379108.493 [DAT](INFO): DAT read: Range 10 to 50 : 136.2 m (Round-trip 181.6 ms) speed 0.2 m/s 2025-01-08T23:31:48.494Z,1736379108.494 [DAT](INFO): DAT read: user:3296> 2025-01-08T23:31:48.494Z,1736379108.494 [DAT](INFO): DAT read: Tx time:23:31:47.8872 2025-01-08T23:31:48.495Z,1736379108.495 [DAT](INFO): Ping request sent. 2025-01-08T23:31:48.495Z,1736379108.495 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:48.495Z,1736379108.495 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:48.496Z,1736379108.496 [DAT](INFO): direction in FSK: [-0.016550,0.216090,0.976233] 2025-01-08T23:31:48.496Z,1736379108.496 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:48.497Z,1736379108.497 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:48.528Z,1736379108.528 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:48.528Z,1736379108.528 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:48.554Z,1736379108.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:48.586Z,1736379108.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.199997 m, deltaT: 3.528137 s, deltaX: -0.600006 m, approachRate: -0.170063 m/s, rangeRepo size: 4 2025-01-08T23:31:48.594Z,1736379108.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.199997 m, bearing: 186.770237 deg, lat: 36.904556 deg, lon: -122.120417 deg, deltaT: 7.308847 s, deltaX: -0.900009 m, approachRate: -0.123140 m/s, posRepo size: 4 2025-01-08T23:31:48.595Z,1736379108.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:48.614Z,1736379108.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 47.618557 m, bearing: 88.318372 deg, approach rate: 0.000000 m/s, LOS rate: 0.487305 deg/s, cmd heading: 21.508310 deg, new cmd heading: 22.056934 deg. 2025-01-08T23:31:48.615Z,1736379108.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.384966 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:48.717Z,1736379108.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:48.718Z,1736379108.718 [DAT](INFO): DAT read: TxSync time:23:31:47.8864 2025-01-08T23:31:48.860Z,1736379108.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:31:48.964Z,1736379108.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:48.968Z,1736379108.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:48.981Z,1736379108.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:48.988Z,1736379108.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 47.573303 m, bearing: 88.589138 deg, approach rate: -0.114517 m/s, LOS rate: 0.685838 deg/s, cmd heading: 22.056935 deg, new cmd heading: 22.869948 deg. 2025-01-08T23:31:48.989Z,1736379108.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.399156 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:49.220Z,1736379109.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:49.371Z,1736379109.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:49.380Z,1736379109.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:49.382Z,1736379109.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:49.385Z,1736379109.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 47.523651 m, bearing: 88.858776 deg, approach rate: -0.123881 m/s, LOS rate: 0.673443 deg/s, cmd heading: 22.869948 deg, new cmd heading: 23.679650 deg. 2025-01-08T23:31:49.386Z,1736379109.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413288 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:49.474Z,1736379109.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:49.475Z,1736379109.475 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:49.475Z,1736379109.475 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:49.476Z,1736379109.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:49.728Z,1736379109.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:49.728Z,1736379109.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233519 2025-01-08T23:31:49.765Z,1736379109.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:49.774Z,1736379109.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:49.794Z,1736379109.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 47.474442 m, bearing: 89.119964 deg, approach rate: -0.125523 m/s, LOS rate: 0.666918 deg/s, cmd heading: 23.679649 deg, new cmd heading: 24.463972 deg. 2025-01-08T23:31:49.800Z,1736379109.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426977 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:49.980Z,1736379109.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:49.980Z,1736379109.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485453 2025-01-08T23:31:50.201Z,1736379110.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:50.210Z,1736379110.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:50.213Z,1736379110.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 47.409870 m, bearing: 89.408832 deg, approach rate: -0.147877 m/s, LOS rate: 0.662447 deg/s, cmd heading: 24.463972 deg, new cmd heading: 25.331689 deg. 2025-01-08T23:31:50.214Z,1736379110.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442121 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:50.232Z,1736379110.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:50.232Z,1736379110.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737564 2025-01-08T23:31:50.486Z,1736379110.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:50.486Z,1736379110.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991565 2025-01-08T23:31:50.567Z,1736379110.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:50.576Z,1736379110.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:50.579Z,1736379110.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 47.354431 m, bearing: 89.651519 deg, approach rate: -0.151531 m/s, LOS rate: 0.664106 deg/s, cmd heading: 25.331688 deg, new cmd heading: 26.060557 deg. 2025-01-08T23:31:50.580Z,1736379110.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454843 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:50.736Z,1736379110.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:50.736Z,1736379110.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241463 2025-01-08T23:31:50.986Z,1736379110.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:50.988Z,1736379110.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:50.988Z,1736379110.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493620 2025-01-08T23:31:50.996Z,1736379110.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:50.998Z,1736379110.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 47.291981 m, bearing: 89.930174 deg, approach rate: -0.148782 m/s, LOS rate: 0.664743 deg/s, cmd heading: 26.060558 deg, new cmd heading: 26.897564 deg. 2025-01-08T23:31:50.000Z,1736379111.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.469451 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:51.242Z,1736379111.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:51.244Z,1736379111.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749100 2025-01-08T23:31:51.407Z,1736379111.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:51.415Z,1736379111.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:51.417Z,1736379111.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:51.421Z,1736379111.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 47.218105 m, bearing: 90.211807 deg, approach rate: -0.175263 m/s, LOS rate: 0.669190 deg/s, cmd heading: 26.897563 deg, new cmd heading: 27.743719 deg. 2025-01-08T23:31:51.422Z,1736379111.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484219 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:51.493Z,1736379111.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:51.494Z,1736379111.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998996 2025-01-08T23:31:51.744Z,1736379111.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:51.744Z,1736379111.744 [DAT](INFO): DAT read: Rx Time:23:31:50.4715 2025-01-08T23:31:51.745Z,1736379111.745 [DAT](INFO): Rx dataTimestamp_ set to:1736379111.744671 2025-01-08T23:31:51.745Z,1736379111.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250619 2025-01-08T23:31:51.777Z,1736379111.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:51.807Z,1736379111.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:51.812Z,1736379111.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 47.151531 m, bearing: 90.459772 deg, approach rate: -0.171262 m/s, LOS rate: 0.638790 deg/s, cmd heading: 27.743720 deg, new cmd heading: 28.488621 deg. 2025-01-08T23:31:51.813Z,1736379111.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497220 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:51.996Z,1736379111.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:51.996Z,1736379111.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501591 2025-01-08T23:31:52.234Z,1736379112.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:52.244Z,1736379112.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.20 m. 2025-01-08T23:31:52.248Z,1736379112.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:52.254Z,1736379112.254 [DAT](INFO): DAT read: 23:31:50.4715 LVL= 16848, 32753, 24434, 29683, AGC= 62, IDX= 433, 0.50,-0.787,-2.381,-2.401,-1.776, PHS= 1.077,-0.558,-0.628, RAW= 87.9, 1.3, CAL= 94.9, -2.1, ROT= 55.1, 2.1 2025-01-08T23:31:52.256Z,1736379112.256 [DAT](INFO): got valid direction response: 23:31:50.4715 LVL= 16848, 32753, 24434, 29683, AGC= 62, IDX= 433, 0.50,-0.787,-2.381,-2.401,-1.776, PHS= 1.077,-0.558,-0.628, RAW= 87.9, 1.3, CAL= 94.9, -2.1, ROT= 55.1, 2.1 2025-01-08T23:31:52.257Z,1736379112.257 [DAT](INFO): DAT read: Bearing 55.1, 2.1 (Local) 2025-01-08T23:31:52.257Z,1736379112.257 [DAT](INFO): Local bearing/azimuth received: Bearing 55.1, 2.1 (Local) 2025-01-08T23:31:52.260Z,1736379112.260 [DAT](INFO): DAT read: Range 10 to 50 : 135.0 m (Round-trip 180.1 ms) speed 0.3 m/s 2025-01-08T23:31:52.261Z,1736379112.261 [DAT](INFO): DAT read: user:3297> 2025-01-08T23:31:52.261Z,1736379112.261 [DAT](INFO): DAT read: Tx time:23:31:51.5873 2025-01-08T23:31:52.262Z,1736379112.262 [DAT](INFO): Ping request sent. 2025-01-08T23:31:52.262Z,1736379112.262 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:52.262Z,1736379112.262 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:52.263Z,1736379112.263 [DAT](INFO): direction in FSK: [-0.106773,0.144598,0.983713] 2025-01-08T23:31:52.279Z,1736379112.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.199997 m, nav range: 47.056957 m, bearing: 90.765552 deg, approach rate: -0.215799 m/s, LOS rate: 0.699129 deg/s, cmd heading: 28.488622 deg, new cmd heading: 29.407723 deg. 2025-01-08T23:31:52.280Z,1736379112.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513262 target range: 136.199997 and range: 136.20 m. 2025-01-08T23:31:52.283Z,1736379112.283 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:52.284Z,1736379112.284 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:52.287Z,1736379112.287 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:52.287Z,1736379112.287 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:52.500Z,1736379112.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:52.501Z,1736379112.501 [DAT](INFO): DAT read: TxSync time:23:31:51.5865 2025-01-08T23:31:52.588Z,1736379112.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:52.615Z,1736379112.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.000000 m, deltaT: 3.782513 s, deltaX: -1.199997 m, approachRate: -0.317249 m/s, rangeRepo size: 4 2025-01-08T23:31:52.622Z,1736379112.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 135.000000 m, bearing: 233.642190 deg, lat: 36.904502 deg, lon: -122.120702 deg, deltaT: 3.782513 s, deltaX: -1.199997 m, approachRate: -0.317249 m/s, posRepo size: 4 2025-01-08T23:31:52.622Z,1736379112.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:52.630Z,1736379112.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 22.714382 m, bearing: 107.403600 deg, approach rate: 0.000000 m/s, LOS rate: 0.699129 deg/s, cmd heading: 29.407724 deg, new cmd heading: 30.182681 deg. 2025-01-08T23:31:52.631Z,1736379112.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526787 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:52.752Z,1736379112.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:52.999Z,1736379112.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:53.006Z,1736379113.006 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:53.011Z,1736379113.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:53.014Z,1736379113.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 22.693213 m, bearing: 108.010521 deg, approach rate: -0.053319 m/s, LOS rate: 1.530018 deg/s, cmd heading: 30.182681 deg, new cmd heading: 32.004493 deg. 2025-01-08T23:31:53.015Z,1736379113.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558584 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:53.260Z,1736379113.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:53.426Z,1736379113.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:53.453Z,1736379113.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:53.460Z,1736379113.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:53.462Z,1736379113.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 22.667171 m, bearing: 108.657659 deg, approach rate: -0.058617 m/s, LOS rate: 1.458320 deg/s, cmd heading: 32.004494 deg, new cmd heading: 33.947351 deg. 2025-01-08T23:31:53.472Z,1736379113.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592493 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:53.512Z,1736379113.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:53.512Z,1736379113.512 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:53.513Z,1736379113.513 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:53.513Z,1736379113.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:53.764Z,1736379113.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:53.764Z,1736379113.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502584 2025-01-08T23:31:53.796Z,1736379113.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:53.826Z,1736379113.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:53.829Z,1736379113.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 22.642210 m, bearing: 109.219570 deg, approach rate: -0.067417 m/s, LOS rate: 1.519275 deg/s, cmd heading: 33.947352 deg, new cmd heading: 35.634430 deg. 2025-01-08T23:31:53.830Z,1736379113.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621938 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:54.016Z,1736379114.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:54.017Z,1736379114.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754921 2025-01-08T23:31:54.268Z,1736379114.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:54.269Z,1736379114.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006800 2025-01-08T23:31:54.270Z,1736379114.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:54.279Z,1736379114.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:54.282Z,1736379114.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 22.608452 m, bearing: 109.950519 deg, approach rate: -0.074404 m/s, LOS rate: 1.613393 deg/s, cmd heading: 35.634429 deg, new cmd heading: 37.829417 deg. 2025-01-08T23:31:54.284Z,1736379114.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660248 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:54.523Z,1736379114.523 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:54.524Z,1736379114.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262084 2025-01-08T23:31:54.610Z,1736379114.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:54.618Z,1736379114.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:54.621Z,1736379114.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 22.583647 m, bearing: 110.475388 deg, approach rate: -0.073211 m/s, LOS rate: 1.550806 deg/s, cmd heading: 37.829416 deg, new cmd heading: 39.405333 deg. 2025-01-08T23:31:54.622Z,1736379114.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687753 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:54.776Z,1736379114.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:54.777Z,1736379114.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515056 2025-01-08T23:31:55.017Z,1736379115.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:55.027Z,1736379115.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:55.028Z,1736379115.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:55.029Z,1736379115.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766886 2025-01-08T23:31:55.033Z,1736379115.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 22.552547 m, bearing: 111.104873 deg, approach rate: -0.076116 m/s, LOS rate: 1.542765 deg/s, cmd heading: 39.405332 deg, new cmd heading: 41.295666 deg. 2025-01-08T23:31:55.034Z,1736379115.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.720745 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:55.280Z,1736379115.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:55.282Z,1736379115.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019703 2025-01-08T23:31:55.443Z,1736379115.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:31:55.444Z,1736379115.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:55.472Z,1736379115.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:55.476Z,1736379115.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 22.522940 m, bearing: 111.765054 deg, approach rate: -0.066567 m/s, LOS rate: 1.486196 deg/s, cmd heading: 41.295665 deg, new cmd heading: 43.277978 deg. 2025-01-08T23:31:55.477Z,1736379115.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755343 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:55.533Z,1736379115.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:55.536Z,1736379115.536 [DAT](INFO): DAT read: Rx Time:23:31:54.1699 2025-01-08T23:31:55.537Z,1736379115.537 [DAT](INFO): Rx dataTimestamp_ set to:1736379115.536448 2025-01-08T23:31:55.539Z,1736379115.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276702 2025-01-08T23:31:55.784Z,1736379115.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:55.784Z,1736379115.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522654 2025-01-08T23:31:55.829Z,1736379115.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:31:55.829Z,1736379115.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:55.889Z,1736379115.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:55.896Z,1736379115.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-01-08T23:31:55.898Z,1736379115.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.000000 m, nav range: 22.490705 m, bearing: 112.356951 deg, approach rate: -0.075956 m/s, LOS rate: 1.396704 deg/s, cmd heading: 43.277977 deg, new cmd heading: 45.055610 deg. 2025-01-08T23:31:55.904Z,1736379115.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786369 target range: 135.000000 and range: 135.00 m. 2025-01-08T23:31:56.043Z,1736379116.043 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:56.053Z,1736379116.053 [DAT](INFO): DAT read: 23:31:54.1699 LVL= 16624, 32753, 29202, 32755, AGC= 58, IDX= 432,-0.16, 2.598, 1.022, 1.273, 1.801, PHS= 0.884,-0.732,-0.531, RAW= 96.5, 5.0, CAL= 105.7, 3.6, ROT= 44.3, -3.6 2025-01-08T23:31:56.054Z,1736379116.054 [DAT](INFO): got valid direction response: 23:31:54.1699 LVL= 16624, 32753, 29202, 32755, AGC= 58, IDX= 432,-0.16, 2.598, 1.022, 1.273, 1.801, PHS= 0.884,-0.732,-0.531, RAW= 96.5, 5.0, CAL= 105.7, 3.6, ROT= 44.3, -3.6 2025-01-08T23:31:56.055Z,1736379116.055 [DAT](INFO): DAT read: Bearing 44.3, -3.6 (Local) 2025-01-08T23:31:56.056Z,1736379116.056 [DAT](INFO): Local bearing/azimuth received: Bearing 44.3, -3.6 (Local) 2025-01-08T23:31:56.057Z,1736379116.057 [DAT](INFO): DAT read: Range 10 to 50 : 133.8 m (Round-trip 178.5 ms) speed 0.3 m/s 2025-01-08T23:31:56.058Z,1736379116.058 [DAT](INFO): DAT read: user:3298> 2025-01-08T23:31:56.059Z,1736379116.059 [DAT](INFO): DAT read: Tx time:23:31:55.2873 2025-01-08T23:31:56.091Z,1736379116.091 [DAT](INFO): Ping request sent. 2025-01-08T23:31:56.091Z,1736379116.091 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:56.092Z,1736379116.092 [DAT](INFO): DAT read: TxSync time:23:31:55.2865 2025-01-08T23:31:56.093Z,1736379116.093 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:56.093Z,1736379116.093 [DAT](INFO): direction in FSK: [-0.190386,-0.001427,0.981708] 2025-01-08T23:31:56.094Z,1736379116.094 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:56.094Z,1736379116.094 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:56.101Z,1736379116.101 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:56.102Z,1736379116.102 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:56.296Z,1736379116.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:56.331Z,1736379116.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:56.363Z,1736379116.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.800003 m, deltaT: 3.794747 s, deltaX: -1.199997 m, approachRate: -0.316226 m/s, rangeRepo size: 4 2025-01-08T23:31:56.365Z,1736379116.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.800003 m, bearing: 258.520356 deg, lat: 36.904502 deg, lon: -122.120962 deg, deltaT: 3.794747 s, deltaX: -1.199997 m, approachRate: -0.316226 m/s, posRepo size: 4 2025-01-08T23:31:56.366Z,1736379116.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.80 m. 2025-01-08T23:31:56.380Z,1736379116.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.800003 m, nav range: 9.223676 m, bearing: 195.615461 deg, approach rate: 0.000000 m/s, LOS rate: 1.396704 deg/s, cmd heading: 45.055609 deg, new cmd heading: 46.990194 deg. 2025-01-08T23:31:56.381Z,1736379116.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820134 target range: 133.800003 and range: 133.80 m. 2025-01-08T23:31:56.548Z,1736379116.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:56.655Z,1736379116.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:56.698Z,1736379116.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.80 m. 2025-01-08T23:31:56.705Z,1736379116.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.800003 m, nav range: 9.415674 m, bearing: 195.954574 deg, approach rate: 0.564134 m/s, LOS rate: 0.976066 deg/s, cmd heading: 46.990195 deg, new cmd heading: 47.986683 deg. 2025-01-08T23:31:56.706Z,1736379116.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837526 target range: 133.800003 and range: 133.80 m. 2025-01-08T23:31:56.800Z,1736379116.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:57.052Z,1736379117.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:57.057Z,1736379117.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:57.069Z,1736379117.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.80 m. 2025-01-08T23:31:57.072Z,1736379117.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.800003 m, nav range: 9.650867 m, bearing: 196.383747 deg, approach rate: 0.633890 m/s, LOS rate: 1.128508 deg/s, cmd heading: 47.986682 deg, new cmd heading: 49.242613 deg. 2025-01-08T23:31:57.073Z,1736379117.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.859446 target range: 133.800003 and range: 133.80 m. 2025-01-08T23:31:57.304Z,1736379117.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:57.492Z,1736379117.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:57.501Z,1736379117.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.80 m. 2025-01-08T23:31:57.504Z,1736379117.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.800003 m, nav range: 9.892833 m, bearing: 196.811203 deg, approach rate: 0.559804 m/s, LOS rate: 0.964748 deg/s, cmd heading: 49.242614 deg, new cmd heading: 50.493406 deg. 2025-01-08T23:31:57.505Z,1736379117.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.881276 target range: 133.800003 and range: 133.80 m. 2025-01-08T23:31:57.557Z,1736379117.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:57.808Z,1736379117.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:57.856Z,1736379117.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:57.866Z,1736379117.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.80 m. 2025-01-08T23:31:57.869Z,1736379117.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.800003 m, nav range: 10.093535 m, bearing: 197.206320 deg, approach rate: 0.550602 m/s, LOS rate: 1.062392 deg/s, cmd heading: 50.493406 deg, new cmd heading: 51.655021 deg. 2025-01-08T23:31:57.870Z,1736379117.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.901550 target range: 133.800003 and range: 133.80 m. 2025-01-08T23:31:58.061Z,1736379118.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:58.312Z,1736379118.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:58.332Z,1736379118.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:58.339Z,1736379118.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:31:58.346Z,1736379118.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.80 m. 2025-01-08T23:31:58.349Z,1736379118.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.800003 m, nav range: 10.348872 m, bearing: 197.740442 deg, approach rate: 0.535209 m/s, LOS rate: 1.091927 deg/s, cmd heading: 51.655020 deg, new cmd heading: 53.217440 deg. 2025-01-08T23:31:58.350Z,1736379118.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928820 target range: 133.800003 and range: 133.80 m. 2025-01-08T23:31:58.564Z,1736379118.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:58.564Z,1736379118.564 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:31:58.564Z,1736379118.564 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:31:58.565Z,1736379118.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:31:58.697Z,1736379118.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:58.711Z,1736379118.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.80 m. 2025-01-08T23:31:58.714Z,1736379118.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.800003 m, nav range: 10.543100 m, bearing: 198.160855 deg, approach rate: 0.528013 m/s, LOS rate: 1.121837 deg/s, cmd heading: 53.217439 deg, new cmd heading: 54.455240 deg. 2025-01-08T23:31:58.715Z,1736379118.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.950423 target range: 133.800003 and range: 133.80 m. 2025-01-08T23:31:58.816Z,1736379118.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:58.816Z,1736379118.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757338 2025-01-08T23:31:59.068Z,1736379119.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:59.068Z,1736379119.068 [DAT](INFO): DAT read: Rx Time:23:31:57.8680 2025-01-08T23:31:59.069Z,1736379119.069 [DAT](INFO): Rx dataTimestamp_ set to:1736379119.068583 2025-01-08T23:31:59.069Z,1736379119.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010262 2025-01-08T23:31:59.086Z,1736379119.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:59.096Z,1736379119.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.80 m. 2025-01-08T23:31:59.099Z,1736379119.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.800003 m, nav range: 10.748611 m, bearing: 198.622100 deg, approach rate: 0.533100 m/s, LOS rate: 1.173589 deg/s, cmd heading: 54.455240 deg, new cmd heading: 55.812249 deg. 2025-01-08T23:31:59.128Z,1736379119.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.974108 target range: 133.800003 and range: 133.80 m. 2025-01-08T23:31:59.320Z,1736379119.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:59.321Z,1736379119.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261371 2025-01-08T23:31:59.573Z,1736379119.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:59.583Z,1736379119.583 [DAT](INFO): DAT read: 23:31:57.8680 LVL= 24928, 32753, 32754, 32755, AGC= 64, IDX= 429, 0.05,-1.456,-3.036,-2.475,-2.182, PHS= 0.814,-0.807,-0.297, RAW= 107.9, 4.1, CAL= 119.1, 1.5, ROT= 30.9, -1.5 2025-01-08T23:31:59.585Z,1736379119.585 [DAT](INFO): got valid direction response: 23:31:57.8680 LVL= 24928, 32753, 32754, 32755, AGC= 64, IDX= 429, 0.05,-1.456,-3.036,-2.475,-2.182, PHS= 0.814,-0.807,-0.297, RAW= 107.9, 4.1, CAL= 119.1, 1.5, ROT= 30.9, -1.5 2025-01-08T23:31:59.586Z,1736379119.586 [DAT](INFO): DAT read: Bearing 30.9, -1.5 (Local) 2025-01-08T23:31:59.586Z,1736379119.586 [DAT](INFO): Local bearing/azimuth received: Bearing 30.9, -1.5 (Local) 2025-01-08T23:31:59.588Z,1736379119.588 [DAT](INFO): DAT read: Range 10 to 50 : 132.4 m (Round-trip 176.6 ms) speed 0.4 m/s 2025-01-08T23:31:59.589Z,1736379119.589 [DAT](INFO): DAT read: user:3299> 2025-01-08T23:31:59.590Z,1736379119.590 [DAT](INFO): DAT read: Tx time:23:31:58.9873 2025-01-08T23:31:59.590Z,1736379119.590 [DAT](INFO): Ping request sent. 2025-01-08T23:31:59.590Z,1736379119.590 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:31:59.591Z,1736379119.591 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:31:59.600Z,1736379119.600 [DAT](INFO): direction in FSK: [-0.188047,-0.201712,0.961224] 2025-01-08T23:31:59.600Z,1736379119.600 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:59.601Z,1736379119.601 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:59.604Z,1736379119.604 [DAT](INFO): publishing transmit ping time 2025-01-08T23:31:59.604Z,1736379119.604 [DAT](INFO): publishing direction and range info 2025-01-08T23:31:59.613Z,1736379119.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:59.676Z,1736379119.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.399994 m, deltaT: 3.530942 s, deltaX: -1.400009 m, approachRate: -0.396497 m/s, rangeRepo size: 4 2025-01-08T23:31:59.688Z,1736379119.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 132.399994 m, bearing: 284.668421 deg, lat: 36.904502 deg, lon: -122.121128 deg, deltaT: 3.530942 s, deltaX: -1.400009 m, approachRate: -0.396497 m/s, posRepo size: 4 2025-01-08T23:31:59.689Z,1736379119.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.40 m. 2025-01-08T23:31:59.700Z,1736379119.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.399994 m, nav range: 21.139118 m, bearing: 240.539117 deg, approach rate: 0.000000 m/s, LOS rate: 1.173589 deg/s, cmd heading: 55.812249 deg, new cmd heading: 57.789399 deg. 2025-01-08T23:31:59.701Z,1736379119.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008615 target range: 132.399994 and range: 132.40 m. 2025-01-08T23:31:59.824Z,1736379119.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:31:59.825Z,1736379119.825 [DAT](INFO): DAT read: TxSync time:23:31:58.9865 2025-01-08T23:31:59.976Z,1736379119.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:31:59.993Z,1736379119.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.40 m. 2025-01-08T23:31:59.000Z,1736379120.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.399994 m, nav range: 21.335768 m, bearing: 240.413937 deg, approach rate: 0.587224 m/s, LOS rate: -0.370361 deg/s, cmd heading: 57.789397 deg, new cmd heading: 57.417323 deg. 2025-01-08T23:32:00.001Z,1736379120.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.002121 target range: 132.399994 and range: 132.40 m. 2025-01-08T23:32:00.076Z,1736379120.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:00.328Z,1736379120.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:00.396Z,1736379120.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:00.402Z,1736379120.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:00.404Z,1736379120.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.40 m. 2025-01-08T23:32:00.415Z,1736379120.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.399994 m, nav range: 21.559320 m, bearing: 240.316391 deg, approach rate: 0.543145 m/s, LOS rate: -0.234541 deg/s, cmd heading: 57.417323 deg, new cmd heading: 57.127722 deg. 2025-01-08T23:32:00.416Z,1736379120.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997067 target range: 132.399994 and range: 132.40 m. 2025-01-08T23:32:00.580Z,1736379120.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:00.580Z,1736379120.580 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:00.580Z,1736379120.580 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:00.581Z,1736379120.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:00.772Z,1736379120.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:00.797Z,1736379120.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.40 m. 2025-01-08T23:32:00.800Z,1736379120.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.399994 m, nav range: 21.760260 m, bearing: 240.245122 deg, approach rate: 0.511678 m/s, LOS rate: -0.179806 deg/s, cmd heading: 57.127723 deg, new cmd heading: 56.915891 deg. 2025-01-08T23:32:00.801Z,1736379120.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993370 target range: 132.399994 and range: 132.40 m. 2025-01-08T23:32:00.832Z,1736379120.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:00.833Z,1736379120.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242216 2025-01-08T23:32:01.084Z,1736379121.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:01.084Z,1736379121.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494085 2025-01-08T23:32:01.215Z,1736379121.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:01.223Z,1736379121.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.40 m. 2025-01-08T23:32:01.242Z,1736379121.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.399994 m, nav range: 21.997471 m, bearing: 240.162678 deg, approach rate: 0.557144 m/s, LOS rate: -0.191550 deg/s, cmd heading: 56.915891 deg, new cmd heading: 56.671228 deg. 2025-01-08T23:32:01.243Z,1736379121.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989100 target range: 132.399994 and range: 132.40 m. 2025-01-08T23:32:01.338Z,1736379121.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:01.340Z,1736379121.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749453 2025-01-08T23:32:01.588Z,1736379121.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:01.588Z,1736379121.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998053 2025-01-08T23:32:01.692Z,1736379121.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:01.700Z,1736379121.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.40 m. 2025-01-08T23:32:01.703Z,1736379121.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.399994 m, nav range: 22.242620 m, bearing: 240.101475 deg, approach rate: 0.513595 m/s, LOS rate: -0.126808 deg/s, cmd heading: 56.671227 deg, new cmd heading: 56.489643 deg. 2025-01-08T23:32:01.704Z,1736379121.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985930 target range: 132.399994 and range: 132.40 m. 2025-01-08T23:32:01.840Z,1736379121.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:01.841Z,1736379121.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250538 2025-01-08T23:32:02.035Z,1736379122.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:02.045Z,1736379122.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.40 m. 2025-01-08T23:32:02.047Z,1736379122.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.399994 m, nav range: 22.420177 m, bearing: 240.070386 deg, approach rate: 0.515686 m/s, LOS rate: -0.089578 deg/s, cmd heading: 56.489643 deg, new cmd heading: 56.397114 deg. 2025-01-08T23:32:02.048Z,1736379122.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.984315 target range: 132.399994 and range: 132.40 m. 2025-01-08T23:32:02.092Z,1736379122.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:02.093Z,1736379122.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502684 2025-01-08T23:32:02.344Z,1736379122.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:02.345Z,1736379122.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755141 2025-01-08T23:32:02.475Z,1736379122.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:02.482Z,1736379122.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:02.486Z,1736379122.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.40 m. 2025-01-08T23:32:02.505Z,1736379122.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.399994 m, nav range: 22.641863 m, bearing: 240.048163 deg, approach rate: 0.502276 m/s, LOS rate: -0.049859 deg/s, cmd heading: 56.397114 deg, new cmd heading: 56.331097 deg. 2025-01-08T23:32:02.506Z,1736379122.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983163 target range: 132.399994 and range: 132.40 m. 2025-01-08T23:32:02.596Z,1736379122.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:02.597Z,1736379122.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006235 2025-01-08T23:32:02.848Z,1736379122.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:02.848Z,1736379122.848 [DAT](INFO): DAT read: Rx Time:23:32:01.5663 2025-01-08T23:32:02.849Z,1736379122.849 [DAT](INFO): Rx dataTimestamp_ set to:1736379122.848561 2025-01-08T23:32:02.849Z,1736379122.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259055 2025-01-08T23:32:02.881Z,1736379122.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:02.891Z,1736379122.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.40 m. 2025-01-08T23:32:02.894Z,1736379122.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.399994 m, nav range: 22.847502 m, bearing: 240.027934 deg, approach rate: 0.508173 m/s, LOS rate: -0.049540 deg/s, cmd heading: 56.331097 deg, new cmd heading: 56.270957 deg. 2025-01-08T23:32:02.895Z,1736379122.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982113 target range: 132.399994 and range: 132.40 m. 2025-01-08T23:32:03.100Z,1736379123.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:03.101Z,1736379123.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510234 2025-01-08T23:32:03.304Z,1736379123.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:03.338Z,1736379123.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.40 m. 2025-01-08T23:32:03.353Z,1736379123.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:03.377Z,1736379123.377 [DAT](INFO): DAT read: 23:32:01.5663 LVL= 28432, 32753, 32754, 32755, AGC= 64, IDX= 425,-0.22,-0.708,-2.157,-1.336,-1.215, PHS= 0.595,-0.895,-0.125, RAW= 121.1, 6.6, CAL= 130.0, 2.3, ROT= 20.0, -2.3 2025-01-08T23:32:03.378Z,1736379123.378 [DAT](INFO): got valid direction response: 23:32:01.5663 LVL= 28432, 32753, 32754, 32755, AGC= 64, IDX= 425,-0.22,-0.708,-2.157,-1.336,-1.215, PHS= 0.595,-0.895,-0.125, RAW= 121.1, 6.6, CAL= 130.0, 2.3, ROT= 20.0, -2.3 2025-01-08T23:32:03.379Z,1736379123.379 [DAT](INFO): DAT read: Bearing 20.0, -2.3 (Local) 2025-01-08T23:32:03.380Z,1736379123.380 [DAT](INFO): Local bearing/azimuth received: Bearing 20.0, -2.3 (Local) 2025-01-08T23:32:03.381Z,1736379123.381 [DAT](INFO): DAT read: Range 10 to 50 : 131.1 m (Round-trip 174.8 ms) speed 0.1 m/s 2025-01-08T23:32:03.382Z,1736379123.382 [DAT](INFO): DAT read: user:3300> 2025-01-08T23:32:03.383Z,1736379123.383 [DAT](INFO): DAT read: Tx time:23:32:02.6874 2025-01-08T23:32:03.383Z,1736379123.383 [DAT](INFO): Ping request sent. 2025-01-08T23:32:03.384Z,1736379123.384 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:03.385Z,1736379123.385 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:32:03.386Z,1736379123.386 [DAT](INFO): direction in FSK: [-0.248398,-0.420216,0.872764] 2025-01-08T23:32:03.386Z,1736379123.386 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:03.386Z,1736379123.386 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:03.389Z,1736379123.389 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:03.389Z,1736379123.389 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:03.401Z,1736379123.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.399994 m, nav range: 23.054689 m, bearing: 240.045197 deg, approach rate: 0.464638 m/s, LOS rate: 0.038366 deg/s, cmd heading: 56.270957 deg, new cmd heading: 56.322282 deg. 2025-01-08T23:32:03.402Z,1736379123.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983009 target range: 132.399994 and range: 132.40 m. 2025-01-08T23:32:03.604Z,1736379123.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:03.605Z,1736379123.605 [DAT](INFO): DAT read: TxSync time:23:32:02.6866 2025-01-08T23:32:03.762Z,1736379123.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:03.793Z,1736379123.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.100006 m, deltaT: 3.780301 s, deltaX: -1.299988 m, approachRate: -0.343885 m/s, rangeRepo size: 4 2025-01-08T23:32:03.795Z,1736379123.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.100006 m, bearing: 302.798142 deg, lat: 36.904502 deg, lon: -122.121426 deg, deltaT: 3.780301 s, deltaX: -1.299988 m, approachRate: -0.343885 m/s, posRepo size: 4 2025-01-08T23:32:03.800Z,1736379123.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:32:03.803Z,1736379123.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 48.101898 m, bearing: 256.016842 deg, approach rate: 0.000000 m/s, LOS rate: 0.038366 deg/s, cmd heading: 56.322283 deg, new cmd heading: 56.374166 deg. 2025-01-08T23:32:03.809Z,1736379123.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983915 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:32:03.856Z,1736379123.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:04.100Z,1736379124.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:04.108Z,1736379124.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:04.110Z,1736379124.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:32:04.113Z,1736379124.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 48.270309 m, bearing: 255.971416 deg, approach rate: 0.521764 m/s, LOS rate: -0.140246 deg/s, cmd heading: 56.374165 deg, new cmd heading: 56.238363 deg. 2025-01-08T23:32:04.114Z,1736379124.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.981545 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:32:04.362Z,1736379124.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:04.589Z,1736379124.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:04.609Z,1736379124.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:04.611Z,1736379124.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:32:04.612Z,1736379124.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:04.612Z,1736379124.612 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:04.612Z,1736379124.612 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:04.613Z,1736379124.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:04.618Z,1736379124.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 48.511414 m, bearing: 255.893473 deg, approach rate: 0.481550 m/s, LOS rate: -0.154901 deg/s, cmd heading: 56.238364 deg, new cmd heading: 56.005696 deg. 2025-01-08T23:32:04.619Z,1736379124.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.977484 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:32:04.864Z,1736379124.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:04.865Z,1736379124.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481520 2025-01-08T23:32:04.925Z,1736379124.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:04.934Z,1736379124.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:32:04.937Z,1736379124.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 48.677265 m, bearing: 255.842663 deg, approach rate: 0.512809 m/s, LOS rate: -0.156568 deg/s, cmd heading: 56.005697 deg, new cmd heading: 55.853786 deg. 2025-01-08T23:32:04.938Z,1736379124.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.974832 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:32:05.116Z,1736379125.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:05.117Z,1736379125.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733504 2025-01-08T23:32:05.302Z,1736379125.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:05.313Z,1736379125.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:32:05.320Z,1736379125.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 48.864510 m, bearing: 255.787282 deg, approach rate: 0.495270 m/s, LOS rate: -0.145923 deg/s, cmd heading: 55.853787 deg, new cmd heading: 55.688281 deg. 2025-01-08T23:32:05.321Z,1736379125.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971944 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:32:05.370Z,1736379125.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:05.374Z,1736379125.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989885 2025-01-08T23:32:05.620Z,1736379125.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:05.621Z,1736379125.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237751 2025-01-08T23:32:05.758Z,1736379125.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:05.767Z,1736379125.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:32:05.770Z,1736379125.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 49.095039 m, bearing: 255.716939 deg, approach rate: 0.506944 m/s, LOS rate: -0.153960 deg/s, cmd heading: 55.688281 deg, new cmd heading: 55.478245 deg. 2025-01-08T23:32:05.771Z,1736379125.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.968278 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:32:05.872Z,1736379125.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:05.873Z,1736379125.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489514 2025-01-08T23:32:06.124Z,1736379126.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:06.126Z,1736379126.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742452 2025-01-08T23:32:06.134Z,1736379126.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:06.152Z,1736379126.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:32:06.155Z,1736379126.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 49.285820 m, bearing: 255.659436 deg, approach rate: 0.495084 m/s, LOS rate: -0.148645 deg/s, cmd heading: 55.478246 deg, new cmd heading: 55.306406 deg. 2025-01-08T23:32:06.160Z,1736379126.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.965279 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:32:06.377Z,1736379126.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:06.379Z,1736379126.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995792 2025-01-08T23:32:06.540Z,1736379126.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:06.550Z,1736379126.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:32:06.553Z,1736379126.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 49.496483 m, bearing: 255.584468 deg, approach rate: 0.530093 m/s, LOS rate: -0.187842 deg/s, cmd heading: 55.306405 deg, new cmd heading: 55.082457 deg. 2025-01-08T23:32:06.554Z,1736379126.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.961370 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:32:06.628Z,1736379126.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:06.629Z,1736379126.629 [DAT](INFO): DAT read: Rx Time:23:32:05.2635 2025-01-08T23:32:06.630Z,1736379126.630 [DAT](INFO): Rx dataTimestamp_ set to:1736379126.628761 2025-01-08T23:32:06.634Z,1736379126.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250089 2025-01-08T23:32:06.880Z,1736379126.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:06.880Z,1736379126.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497362 2025-01-08T23:32:06.950Z,1736379126.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:06.991Z,1736379126.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:07.003Z,1736379127.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m. 2025-01-08T23:32:07.006Z,1736379127.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.100006 m, nav range: 49.708290 m, bearing: 255.508450 deg, approach rate: 0.471443 m/s, LOS rate: -0.168480 deg/s, cmd heading: 55.082457 deg, new cmd heading: 54.855377 deg. 2025-01-08T23:32:07.011Z,1736379127.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.957407 target range: 131.100006 and range: 131.10 m. 2025-01-08T23:32:07.132Z,1736379127.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:07.138Z,1736379127.138 [DAT](INFO): DAT read: 23:32:05.2635 LVL= 23312, 32289, 24658, 32755, AGC= 66, IDX= 414, 0.07, 1.827, 0.293, 1.171, 1.303, PHS= 0.611,-0.963,-0.135, RAW= 121.7, 7.2, CAL= 130.3, 2.8, ROT= 19.7, -2.8 2025-01-08T23:32:07.144Z,1736379127.144 [DAT](INFO): got valid direction response: 23:32:05.2635 LVL= 23312, 32289, 24658, 32755, AGC= 66, IDX= 414, 0.07, 1.827, 0.293, 1.171, 1.303, PHS= 0.611,-0.963,-0.135, RAW= 121.7, 7.2, CAL= 130.3, 2.8, ROT= 19.7, -2.8 2025-01-08T23:32:07.145Z,1736379127.145 [DAT](INFO): DAT read: Bearing 19.7, -2.8 (Local) 2025-01-08T23:32:07.146Z,1736379127.146 [DAT](INFO): Local bearing/azimuth received: Bearing 19.7, -2.8 (Local) 2025-01-08T23:32:07.149Z,1736379127.149 [DAT](INFO): DAT read: Range 10 to 50 : 129.0 m (Round-trip 172.0 ms) speed 0.6 m/s 2025-01-08T23:32:07.153Z,1736379127.153 [DAT](INFO): DAT read: user:3301> 2025-01-08T23:32:07.155Z,1736379127.155 [DAT](INFO): DAT read: Tx time:23:32:06.3874 2025-01-08T23:32:07.160Z,1736379127.160 [DAT](INFO): Ping request sent. 2025-01-08T23:32:07.160Z,1736379127.160 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:07.161Z,1736379127.161 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:32:07.161Z,1736379127.161 [DAT](INFO): direction in FSK: [-0.259186,-0.428737,0.865452] 2025-01-08T23:32:07.162Z,1736379127.162 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:07.162Z,1736379127.162 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:07.188Z,1736379127.188 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:07.188Z,1736379127.188 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:07.388Z,1736379127.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:07.391Z,1736379127.391 [DAT](INFO): DAT read: TxSync time:23:32:06.3866 2025-01-08T23:32:07.498Z,1736379127.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:07.513Z,1736379127.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: 3.778032 s, deltaX: -2.100006 m, approachRate: -0.555847 m/s, rangeRepo size: 4 2025-01-08T23:32:07.515Z,1736379127.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.000000 m, bearing: 305.264252 deg, lat: 36.904759 deg, lon: -122.121586 deg, deltaT: 3.778032 s, deltaX: -2.100006 m, approachRate: -0.555847 m/s, posRepo size: 4 2025-01-08T23:32:07.532Z,1736379127.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:32:07.534Z,1736379127.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 64.621750 m, bearing: 284.361584 deg, approach rate: 0.000000 m/s, LOS rate: -0.168480 deg/s, cmd heading: 54.855377 deg, new cmd heading: 54.596035 deg. 2025-01-08T23:32:07.539Z,1736379127.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952881 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:32:07.636Z,1736379127.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:07.888Z,1736379127.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:07.964Z,1736379127.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:07.973Z,1736379127.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:32:07.977Z,1736379127.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 64.803757 m, bearing: 284.189839 deg, approach rate: 0.394610 m/s, LOS rate: -0.371316 deg/s, cmd heading: 54.596035 deg, new cmd heading: 54.082260 deg. 2025-01-08T23:32:07.978Z,1736379127.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.943914 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:32:08.141Z,1736379128.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:08.394Z,1736379128.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:08.446Z,1736379128.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:08.463Z,1736379128.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:32:08.469Z,1736379128.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 64.991753 m, bearing: 284.012804 deg, approach rate: 0.384179 m/s, LOS rate: -0.360731 deg/s, cmd heading: 54.082261 deg, new cmd heading: 53.552710 deg. 2025-01-08T23:32:08.470Z,1736379128.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.934671 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:32:08.644Z,1736379128.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:08.814Z,1736379128.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:08.823Z,1736379128.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:32:08.827Z,1736379128.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 65.147537 m, bearing: 283.870835 deg, approach rate: 0.432408 m/s, LOS rate: -0.393119 deg/s, cmd heading: 53.552709 deg, new cmd heading: 53.127828 deg. 2025-01-08T23:32:08.828Z,1736379128.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.927256 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:32:08.898Z,1736379128.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:09.148Z,1736379129.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:09.190Z,1736379129.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:09.197Z,1736379129.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:09.200Z,1736379129.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:32:09.202Z,1736379129.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 65.305283 m, bearing: 283.725436 deg, approach rate: 0.419069 m/s, LOS rate: -0.385334 deg/s, cmd heading: 53.127827 deg, new cmd heading: 52.692694 deg. 2025-01-08T23:32:09.287Z,1736379129.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.919661 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:32:09.402Z,1736379129.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:09.404Z,1736379129.404 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:09.404Z,1736379129.404 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:09.406Z,1736379129.406 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:09.627Z,1736379129.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:09.636Z,1736379129.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:32:09.639Z,1736379129.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 65.502846 m, bearing: 283.554942 deg, approach rate: 0.453172 m/s, LOS rate: -0.389903 deg/s, cmd heading: 52.692693 deg, new cmd heading: 52.182765 deg. 2025-01-08T23:32:09.640Z,1736379129.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910761 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:32:09.652Z,1736379129.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:09.653Z,1736379129.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493073 2025-01-08T23:32:09.904Z,1736379129.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:09.905Z,1736379129.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744587 2025-01-08T23:32:10.062Z,1736379130.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:10.090Z,1736379130.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:32:10.097Z,1736379130.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 65.696350 m, bearing: 283.383269 deg, approach rate: 0.425231 m/s, LOS rate: -0.376144 deg/s, cmd heading: 52.182765 deg, new cmd heading: 51.669278 deg. 2025-01-08T23:32:10.098Z,1736379130.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.901799 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:32:10.156Z,1736379130.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:10.157Z,1736379130.157 [DAT](INFO): DAT read: Rx Time:23:32:08.9607 2025-01-08T23:32:10.157Z,1736379130.157 [DAT](INFO): Rx dataTimestamp_ set to:1736379130.156958 2025-01-08T23:32:10.158Z,1736379130.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997747 2025-01-08T23:32:10.409Z,1736379130.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:10.412Z,1736379130.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251157 2025-01-08T23:32:10.528Z,1736379130.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:10.537Z,1736379130.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:32:10.539Z,1736379130.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 65.915627 m, bearing: 283.205987 deg, approach rate: 0.491358 m/s, LOS rate: -0.395933 deg/s, cmd heading: 51.669278 deg, new cmd heading: 51.139219 deg. 2025-01-08T23:32:10.540Z,1736379130.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.892548 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:32:10.663Z,1736379130.663 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:10.681Z,1736379130.681 [DAT](INFO): DAT read: 23:32:08.9607 LVL= 22736, 32753, 22578, 32755, AGC= 63, IDX= 416, 0.36, 0.236,-1.372,-0.603,-0.366, PHS= 0.689,-0.959,-0.241, RAW= 115.8, 7.2, CAL= 125.3, 3.7, ROT= 24.7, -3.7 2025-01-08T23:32:10.682Z,1736379130.682 [DAT](INFO): got valid direction response: 23:32:08.9607 LVL= 22736, 32753, 22578, 32755, AGC= 63, IDX= 416, 0.36, 0.236,-1.372,-0.603,-0.366, PHS= 0.689,-0.959,-0.241, RAW= 115.8, 7.2, CAL= 125.3, 3.7, ROT= 24.7, -3.7 2025-01-08T23:32:10.688Z,1736379130.688 [DAT](INFO): DAT read: Bearing 24.7, -3.7 (Local) 2025-01-08T23:32:10.688Z,1736379130.688 [DAT](INFO): Local bearing/azimuth received: Bearing 24.7, -3.7 (Local) 2025-01-08T23:32:10.689Z,1736379130.689 [DAT](INFO): DAT read: Range 10 to 50 : 126.8 m (Round-trip 169.1 ms) speed 0.3 m/s 2025-01-08T23:32:10.690Z,1736379130.690 [DAT](INFO): DAT read: user:3302> 2025-01-08T23:32:10.691Z,1736379130.691 [DAT](INFO): DAT read: Tx time:23:32:10.0375 2025-01-08T23:32:10.695Z,1736379130.695 [DAT](INFO): Ping request sent. 2025-01-08T23:32:10.696Z,1736379130.696 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:10.696Z,1736379130.696 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:32:10.697Z,1736379130.697 [DAT](INFO): direction in FSK: [-0.254629,-0.330452,0.908827] 2025-01-08T23:32:10.697Z,1736379130.697 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:10.697Z,1736379130.697 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:10.718Z,1736379130.718 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:10.718Z,1736379130.718 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:10.912Z,1736379130.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:10.913Z,1736379130.913 [DAT](INFO): DAT read: TxSync time:23:32:10.0367 2025-01-08T23:32:10.957Z,1736379130.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:10.998Z,1736379130.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.800003 m, deltaT: 3.531151 s, deltaX: -2.199997 m, approachRate: -0.623025 m/s, rangeRepo size: 4 2025-01-08T23:32:11.004Z,1736379131.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.800003 m, bearing: 299.945494 deg, lat: 36.904873 deg, lon: -122.121586 deg, deltaT: 3.531151 s, deltaX: -2.199997 m, approachRate: -0.623025 m/s, posRepo size: 4 2025-01-08T23:32:11.005Z,1736379131.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T23:32:11.011Z,1736379131.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 70.064072 m, bearing: 293.177066 deg, approach rate: 0.000000 m/s, LOS rate: -0.395933 deg/s, cmd heading: 51.139218 deg, new cmd heading: 50.592549 deg. 2025-01-08T23:32:11.013Z,1736379131.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.883007 target range: 126.800003 and range: 126.80 m. 2025-01-08T23:32:11.164Z,1736379131.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:11.358Z,1736379131.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:11.374Z,1736379131.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:11.392Z,1736379131.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T23:32:11.395Z,1736379131.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 70.215118 m, bearing: 293.007040 deg, approach rate: 0.382222 m/s, LOS rate: -0.429323 deg/s, cmd heading: 50.592550 deg, new cmd heading: 50.083582 deg. 2025-01-08T23:32:11.400Z,1736379131.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874123 target range: 126.800003 and range: 126.80 m. 2025-01-08T23:32:11.416Z,1736379131.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:11.417Z,1736379131.417 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:11.417Z,1736379131.417 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:11.417Z,1736379131.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:11.668Z,1736379131.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:11.670Z,1736379131.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.973688 2025-01-08T23:32:11.786Z,1736379131.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:11.796Z,1736379131.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T23:32:11.798Z,1736379131.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 70.385681 m, bearing: 292.823395 deg, approach rate: 0.422956 m/s, LOS rate: -0.454292 deg/s, cmd heading: 50.083581 deg, new cmd heading: 49.533999 deg. 2025-01-08T23:32:11.800Z,1736379131.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864531 target range: 126.800003 and range: 126.80 m. 2025-01-08T23:32:11.920Z,1736379131.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:11.920Z,1736379131.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224739 2025-01-08T23:32:12.151Z,1736379132.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:12.172Z,1736379132.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:12.172Z,1736379132.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476926 2025-01-08T23:32:12.184Z,1736379132.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T23:32:12.187Z,1736379132.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 70.530708 m, bearing: 292.667403 deg, approach rate: 0.372968 m/s, LOS rate: -0.400343 deg/s, cmd heading: 49.534000 deg, new cmd heading: 49.066995 deg. 2025-01-08T23:32:12.196Z,1736379132.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.856381 target range: 126.800003 and range: 126.80 m. 2025-01-08T23:32:12.425Z,1736379132.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:12.428Z,1736379132.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731943 2025-01-08T23:32:12.581Z,1736379132.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:12.612Z,1736379132.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T23:32:12.615Z,1736379132.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 70.706528 m, bearing: 292.496215 deg, approach rate: 0.410735 m/s, LOS rate: -0.398920 deg/s, cmd heading: 49.066996 deg, new cmd heading: 48.554726 deg. 2025-01-08T23:32:12.627Z,1736379132.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.847440 target range: 126.800003 and range: 126.80 m. 2025-01-08T23:32:12.676Z,1736379132.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:12.677Z,1736379132.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981615 2025-01-08T23:32:12.928Z,1736379132.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:12.928Z,1736379132.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232890 2025-01-08T23:32:12.979Z,1736379132.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:13.004Z,1736379133.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T23:32:13.006Z,1736379133.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 70.866928 m, bearing: 292.336123 deg, approach rate: 0.427527 m/s, LOS rate: -0.425740 deg/s, cmd heading: 48.554725 deg, new cmd heading: 48.075547 deg. 2025-01-08T23:32:13.012Z,1736379133.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839077 target range: 126.800003 and range: 126.80 m. 2025-01-08T23:32:13.180Z,1736379133.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:13.180Z,1736379133.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484876 2025-01-08T23:32:13.368Z,1736379133.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:13.375Z,1736379133.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:13.378Z,1736379133.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T23:32:13.399Z,1736379133.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 71.022552 m, bearing: 292.179281 deg, approach rate: 0.398824 m/s, LOS rate: -0.401063 deg/s, cmd heading: 48.075547 deg, new cmd heading: 47.606063 deg. 2025-01-08T23:32:13.404Z,1736379133.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830883 target range: 126.800003 and range: 126.80 m. 2025-01-08T23:32:13.432Z,1736379133.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:13.434Z,1736379133.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737516 2025-01-08T23:32:13.684Z,1736379133.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:13.685Z,1736379133.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989164 2025-01-08T23:32:13.804Z,1736379133.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:13.833Z,1736379133.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T23:32:13.840Z,1736379133.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 71.189346 m, bearing: 292.014010 deg, approach rate: 0.366330 m/s, LOS rate: -0.362134 deg/s, cmd heading: 47.606063 deg, new cmd heading: 47.111425 deg. 2025-01-08T23:32:13.841Z,1736379133.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822249 target range: 126.800003 and range: 126.80 m. 2025-01-08T23:32:13.936Z,1736379133.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:13.937Z,1736379133.937 [DAT](INFO): DAT read: Rx Time:23:32:12.6081 2025-01-08T23:32:13.937Z,1736379133.937 [DAT](INFO): Rx dataTimestamp_ set to:1736379133.936773 2025-01-08T23:32:13.938Z,1736379133.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242020 2025-01-08T23:32:14.188Z,1736379134.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:14.189Z,1736379134.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493638 2025-01-08T23:32:14.252Z,1736379134.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:14.316Z,1736379134.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.80 m. 2025-01-08T23:32:14.326Z,1736379134.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.800003 m, nav range: 71.358238 m, bearing: 291.842679 deg, approach rate: 0.354289 m/s, LOS rate: -0.358555 deg/s, cmd heading: 47.111424 deg, new cmd heading: 46.598661 deg. 2025-01-08T23:32:14.327Z,1736379134.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813300 target range: 126.800003 and range: 126.80 m. 2025-01-08T23:32:14.440Z,1736379134.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:14.446Z,1736379134.446 [DAT](INFO): DAT read: 23:32:12.6081 LVL= 19792, 32753, 27762, 32755, AGC= 64, IDX= 422,-0.22, 0.881,-0.802,-0.060, 0.235, PHS= 0.734,-0.990,-0.298, RAW= 113.5, 7.4, CAL= 123.3, 4.2, ROT= 26.7, -4.2 2025-01-08T23:32:14.448Z,1736379134.448 [DAT](INFO): got valid direction response: 23:32:12.6081 LVL= 19792, 32753, 27762, 32755, AGC= 64, IDX= 422,-0.22, 0.881,-0.802,-0.060, 0.235, PHS= 0.734,-0.990,-0.298, RAW= 113.5, 7.4, CAL= 123.3, 4.2, ROT= 26.7, -4.2 2025-01-08T23:32:14.449Z,1736379134.449 [DAT](INFO): DAT read: Bearing 26.7, -4.2 (Local) 2025-01-08T23:32:14.449Z,1736379134.449 [DAT](INFO): Local bearing/azimuth received: Bearing 26.7, -4.2 (Local) 2025-01-08T23:32:14.450Z,1736379134.450 [DAT](INFO): DAT read: Range 10 to 50 : 124.8 m (Round-trip 166.5 ms) speed 0.4 m/s 2025-01-08T23:32:14.465Z,1736379134.465 [DAT](INFO): DAT read: user:3303> 2025-01-08T23:32:14.468Z,1736379134.468 [DAT](INFO): DAT read: Tx time:23:32:13.6875 2025-01-08T23:32:14.469Z,1736379134.469 [DAT](INFO): Ping request sent. 2025-01-08T23:32:14.469Z,1736379134.469 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:14.470Z,1736379134.470 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:32:14.488Z,1736379134.488 [DAT](INFO): direction in FSK: [-0.256850,-0.292036,0.921273] 2025-01-08T23:32:14.489Z,1736379134.489 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:14.490Z,1736379134.490 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:14.577Z,1736379134.577 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:14.577Z,1736379134.577 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:14.693Z,1736379134.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:14.695Z,1736379134.695 [DAT](INFO): DAT read: TxSync time:23:32:13.6867 2025-01-08T23:32:14.858Z,1736379134.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:14.873Z,1736379134.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.800003 m, deltaT: 3.776872 s, deltaX: -2.000000 m, approachRate: -0.529539 m/s, rangeRepo size: 4 2025-01-08T23:32:14.876Z,1736379134.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 124.800003 m, bearing: 294.758804 deg, lat: 36.904873 deg, lon: -122.121586 deg, deltaT: 3.776872 s, deltaX: -2.000000 m, approachRate: -0.529539 m/s, posRepo size: 4 2025-01-08T23:32:14.877Z,1736379134.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T23:32:14.880Z,1736379134.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 71.571800 m, bearing: 291.630348 deg, approach rate: 0.000000 m/s, LOS rate: -0.358555 deg/s, cmd heading: 46.598662 deg, new cmd heading: 45.993758 deg. 2025-01-08T23:32:14.880Z,1736379134.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.802743 target range: 124.800003 and range: 124.80 m. 2025-01-08T23:32:14.944Z,1736379134.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:15.196Z,1736379135.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:15.288Z,1736379135.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:15.297Z,1736379135.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T23:32:15.300Z,1736379135.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 71.722771 m, bearing: 291.479301 deg, approach rate: 0.354957 m/s, LOS rate: -0.354388 deg/s, cmd heading: 45.993760 deg, new cmd heading: 45.541582 deg. 2025-01-08T23:32:15.301Z,1736379135.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794851 target range: 124.800003 and range: 124.80 m. 2025-01-08T23:32:15.448Z,1736379135.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:15.700Z,1736379135.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:15.735Z,1736379135.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:15.742Z,1736379135.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:15.745Z,1736379135.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T23:32:15.747Z,1736379135.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 71.858131 m, bearing: 291.327782 deg, approach rate: 0.302592 m/s, LOS rate: -0.338074 deg/s, cmd heading: 45.541584 deg, new cmd heading: 45.087894 deg. 2025-01-08T23:32:15.748Z,1736379135.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786932 target range: 124.800003 and range: 124.80 m. 2025-01-08T23:32:15.952Z,1736379135.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:15.952Z,1736379135.952 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:15.952Z,1736379135.952 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:15.953Z,1736379135.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:16.094Z,1736379136.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:16.109Z,1736379136.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T23:32:16.112Z,1736379136.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 71.965828 m, bearing: 291.205550 deg, approach rate: 0.297531 m/s, LOS rate: -0.337182 deg/s, cmd heading: 45.087896 deg, new cmd heading: 44.721754 deg. 2025-01-08T23:32:16.113Z,1736379136.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780542 target range: 124.800003 and range: 124.80 m. 2025-01-08T23:32:16.204Z,1736379136.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:16.205Z,1736379136.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735667 2025-01-08T23:32:16.456Z,1736379136.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:16.456Z,1736379136.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987564 2025-01-08T23:32:16.585Z,1736379136.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:16.594Z,1736379136.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T23:32:16.597Z,1736379136.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 72.092422 m, bearing: 291.046611 deg, approach rate: 0.259939 m/s, LOS rate: -0.325779 deg/s, cmd heading: 44.721753 deg, new cmd heading: 44.245784 deg. 2025-01-08T23:32:16.598Z,1736379136.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772235 target range: 124.800003 and range: 124.80 m. 2025-01-08T23:32:16.708Z,1736379136.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:16.709Z,1736379136.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240424 2025-01-08T23:32:16.919Z,1736379136.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:16.929Z,1736379136.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T23:32:16.932Z,1736379136.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 72.178932 m, bearing: 290.938714 deg, approach rate: 0.257781 m/s, LOS rate: -0.321124 deg/s, cmd heading: 44.245784 deg, new cmd heading: 43.922486 deg. 2025-01-08T23:32:16.933Z,1736379136.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766592 target range: 124.800003 and range: 124.80 m. 2025-01-08T23:32:16.960Z,1736379136.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:16.962Z,1736379136.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492941 2025-01-08T23:32:17.212Z,1736379137.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:17.212Z,1736379137.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743570 2025-01-08T23:32:17.329Z,1736379137.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:17.354Z,1736379137.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T23:32:17.357Z,1736379137.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 72.285393 m, bearing: 290.806718 deg, approach rate: 0.250875 m/s, LOS rate: -0.310591 deg/s, cmd heading: 43.922484 deg, new cmd heading: 43.527086 deg. 2025-01-08T23:32:17.358Z,1736379137.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759691 target range: 124.800003 and range: 124.80 m. 2025-01-08T23:32:17.465Z,1736379137.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:17.467Z,1736379137.467 [DAT](INFO): DAT read: Rx Time:23:32:16.2557 2025-01-08T23:32:17.468Z,1736379137.468 [DAT](INFO): Rx dataTimestamp_ set to:1736379137.467800 2025-01-08T23:32:17.470Z,1736379137.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000979 2025-01-08T23:32:17.716Z,1736379137.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:17.717Z,1736379137.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247670 2025-01-08T23:32:17.749Z,1736379137.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:17.756Z,1736379137.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:17.759Z,1736379137.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-08T23:32:17.762Z,1736379137.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 72.369179 m, bearing: 290.668540 deg, approach rate: 0.207295 m/s, LOS rate: -0.341471 deg/s, cmd heading: 43.527085 deg, new cmd heading: 43.113037 deg. 2025-01-08T23:32:17.764Z,1736379137.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752464 target range: 124.800003 and range: 124.80 m. 2025-01-08T23:32:17.969Z,1736379137.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:17.985Z,1736379137.985 [DAT](INFO): DAT read: 23:32:16.2557 LVL= 21168, 32241, 26914, 32755, AGC= 65, IDX= 413,-0.49, 0.635,-1.267,-0.410,-0.183, PHS= 0.906,-1.036,-0.230, RAW= 114.4, 4.3, CAL= 124.9, 0.8, ROT= 25.1, -0.8 2025-01-08T23:32:17.986Z,1736379137.986 [DAT](INFO): got valid direction response: 23:32:16.2557 LVL= 21168, 32241, 26914, 32755, AGC= 65, IDX= 413,-0.49, 0.635,-1.267,-0.410,-0.183, PHS= 0.906,-1.036,-0.230, RAW= 114.4, 4.3, CAL= 124.9, 0.8, ROT= 25.1, -0.8 2025-01-08T23:32:17.994Z,1736379137.994 [DAT](INFO): DAT read: Bearing 25.1, -0.8 (Local) 2025-01-08T23:32:17.994Z,1736379137.994 [DAT](INFO): Local bearing/azimuth received: Bearing 25.1, -0.8 (Local) 2025-01-08T23:32:18.005Z,1736379138.005 [DAT](INFO): DAT read: Range 10 to 50 : 123.0 m (Round-trip 164.0 ms) speed 0.4 m/s 2025-01-08T23:32:18.005Z,1736379138.005 [DAT](INFO): DAT read: user:3304> 2025-01-08T23:32:18.006Z,1736379138.006 [DAT](INFO): DAT read: Tx time:23:32:17.3375 2025-01-08T23:32:18.006Z,1736379138.006 [DAT](INFO): Ping request sent. 2025-01-08T23:32:18.006Z,1736379138.006 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:18.007Z,1736379138.007 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:32:18.013Z,1736379138.013 [DAT](INFO): direction in FSK: [-0.199001,-0.313256,0.928584] 2025-01-08T23:32:18.013Z,1736379138.013 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:18.014Z,1736379138.014 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:18.029Z,1736379138.029 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:18.030Z,1736379138.030 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:18.218Z,1736379138.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:18.220Z,1736379138.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:18.221Z,1736379138.221 [DAT](INFO): DAT read: TxSync time:23:32:17.3368 2025-01-08T23:32:18.252Z,1736379138.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.000000 m, deltaT: 3.529989 s, deltaX: -1.800003 m, approachRate: -0.509917 m/s, rangeRepo size: 4 2025-01-08T23:32:18.254Z,1736379138.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.000000 m, bearing: 297.982671 deg, lat: 36.904873 deg, lon: -122.121400 deg, deltaT: 3.529989 s, deltaX: -1.800003 m, approachRate: -0.509917 m/s, posRepo size: 4 2025-01-08T23:32:18.260Z,1736379138.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m. 2025-01-08T23:32:18.262Z,1736379138.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.000000 m, nav range: 57.261730 m, bearing: 296.324261 deg, approach rate: 0.000000 m/s, LOS rate: -0.341471 deg/s, cmd heading: 43.113039 deg, new cmd heading: 42.611570 deg. 2025-01-08T23:32:18.268Z,1736379138.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743712 target range: 123.000000 and range: 123.00 m. 2025-01-08T23:32:18.474Z,1736379138.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:18.664Z,1736379138.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:18.688Z,1736379138.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m. 2025-01-08T23:32:18.690Z,1736379138.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.000000 m, nav range: 57.316868 m, bearing: 296.135340 deg, approach rate: 0.125814 m/s, LOS rate: -0.430667 deg/s, cmd heading: 42.611569 deg, new cmd heading: 42.045372 deg. 2025-01-08T23:32:18.692Z,1736379138.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.733830 target range: 123.000000 and range: 123.00 m. 2025-01-08T23:32:18.724Z,1736379138.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:18.977Z,1736379138.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:18.980Z,1736379138.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:32:19.004Z,1736379139.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:19.014Z,1736379139.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m. 2025-01-08T23:32:19.017Z,1736379139.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.000000 m, nav range: 57.362652 m, bearing: 295.974709 deg, approach rate: 0.139351 m/s, LOS rate: -0.488516 deg/s, cmd heading: 42.045371 deg, new cmd heading: 41.563873 deg. 2025-01-08T23:32:19.018Z,1736379139.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725426 target range: 123.000000 and range: 123.00 m. 2025-01-08T23:32:19.229Z,1736379139.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:19.417Z,1736379139.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:19.428Z,1736379139.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m. 2025-01-08T23:32:19.430Z,1736379139.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.000000 m, nav range: 57.414536 m, bearing: 295.791122 deg, approach rate: 0.125531 m/s, LOS rate: -0.443779 deg/s, cmd heading: 41.563873 deg, new cmd heading: 41.013629 deg. 2025-01-08T23:32:19.431Z,1736379139.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715823 target range: 123.000000 and range: 123.00 m. 2025-01-08T23:32:19.480Z,1736379139.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:19.732Z,1736379139.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:19.841Z,1736379139.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:19.873Z,1736379139.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:19.880Z,1736379139.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m. 2025-01-08T23:32:19.883Z,1736379139.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.000000 m, nav range: 57.466270 m, bearing: 295.594064 deg, approach rate: 0.114292 m/s, LOS rate: -0.434946 deg/s, cmd heading: 41.013630 deg, new cmd heading: 40.423010 deg. 2025-01-08T23:32:19.888Z,1736379139.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705515 target range: 123.000000 and range: 123.00 m. 2025-01-08T23:32:19.984Z,1736379139.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:19.985Z,1736379139.985 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:19.985Z,1736379139.985 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:19.986Z,1736379139.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:19.989Z,1736379139.989 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:32:20.229Z,1736379140.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:20.236Z,1736379140.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:20.236Z,1736379140.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229992 2025-01-08T23:32:20.239Z,1736379140.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m. 2025-01-08T23:32:20.243Z,1736379140.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.000000 m, nav range: 57.512959 m, bearing: 295.413215 deg, approach rate: 0.129992 m/s, LOS rate: -0.503123 deg/s, cmd heading: 40.423010 deg, new cmd heading: 39.880920 deg. 2025-01-08T23:32:20.244Z,1736379140.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696053 target range: 123.000000 and range: 123.00 m. 2025-01-08T23:32:20.488Z,1736379140.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:20.488Z,1736379140.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481879 2025-01-08T23:32:20.673Z,1736379140.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:20.709Z,1736379140.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m. 2025-01-08T23:32:20.716Z,1736379140.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.000000 m, nav range: 57.575859 m, bearing: 295.193403 deg, approach rate: 0.133815 m/s, LOS rate: -0.467118 deg/s, cmd heading: 39.880921 deg, new cmd heading: 39.222235 deg. 2025-01-08T23:32:20.717Z,1736379140.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684557 target range: 123.000000 and range: 123.00 m. 2025-01-08T23:32:20.740Z,1736379140.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:20.741Z,1736379140.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734085 2025-01-08T23:32:20.992Z,1736379140.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:20.993Z,1736379140.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986703 2025-01-08T23:32:21.048Z,1736379141.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:21.072Z,1736379141.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m. 2025-01-08T23:32:21.080Z,1736379141.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.000000 m, nav range: 57.628193 m, bearing: 295.007351 deg, approach rate: 0.144180 m/s, LOS rate: -0.512106 deg/s, cmd heading: 39.222235 deg, new cmd heading: 38.664606 deg. 2025-01-08T23:32:21.081Z,1736379141.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674825 target range: 123.000000 and range: 123.00 m. 2025-01-08T23:32:21.244Z,1736379141.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:21.245Z,1736379141.245 [DAT](INFO): DAT read: Rx Time:23:32:19.9037 2025-01-08T23:32:21.245Z,1736379141.245 [DAT](INFO): Rx dataTimestamp_ set to:1736379141.244847 2025-01-08T23:32:21.246Z,1736379141.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239198 2025-01-08T23:32:21.443Z,1736379141.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:21.452Z,1736379141.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.00 m. 2025-01-08T23:32:21.454Z,1736379141.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.000000 m, nav range: 57.682358 m, bearing: 294.811226 deg, approach rate: 0.142905 m/s, LOS rate: -0.516958 deg/s, cmd heading: 38.664605 deg, new cmd heading: 38.076802 deg. 2025-01-08T23:32:21.455Z,1736379141.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664566 target range: 123.000000 and range: 123.00 m. 2025-01-08T23:32:21.496Z,1736379141.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:21.497Z,1736379141.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490073 2025-01-08T23:32:21.748Z,1736379141.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:21.754Z,1736379141.754 [DAT](INFO): DAT read: 23:32:19.9037 LVL= 18832, 30801, 22322, 32755, AGC= 65, IDX= 423, 0.30,-0.845,-2.589,-1.830,-1.473, PHS= 0.716,-1.069,-0.360, RAW= 113.2, 9.2, CAL= 122.6, 6.2, ROT= 27.4, -6.2 2025-01-08T23:32:21.755Z,1736379141.755 [DAT](INFO): got valid direction response: 23:32:19.9037 LVL= 18832, 30801, 22322, 32755, AGC= 65, IDX= 423, 0.30,-0.845,-2.589,-1.830,-1.473, PHS= 0.716,-1.069,-0.360, RAW= 113.2, 9.2, CAL= 122.6, 6.2, ROT= 27.4, -6.2 2025-01-08T23:32:21.756Z,1736379141.756 [DAT](INFO): DAT read: Bearing 27.4, -6.2 (Local) 2025-01-08T23:32:21.757Z,1736379141.757 [DAT](INFO): Local bearing/azimuth received: Bearing 27.4, -6.2 (Local) 2025-01-08T23:32:21.759Z,1736379141.759 [DAT](INFO): DAT read: Range 10 to 50 : 121.5 m (Round-trip 162.0 ms) speed 0.4 m/s 2025-01-08T23:32:21.760Z,1736379141.760 [DAT](INFO): DAT read: user:3305> 2025-01-08T23:32:21.760Z,1736379141.760 [DAT](INFO): DAT read: Tx time:23:32:20.9875 2025-01-08T23:32:21.761Z,1736379141.761 [DAT](INFO): Ping request sent. 2025-01-08T23:32:21.761Z,1736379141.761 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:21.761Z,1736379141.761 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:32:21.762Z,1736379141.762 [DAT](INFO): direction in FSK: [-0.289320,-0.283583,0.914262] 2025-01-08T23:32:21.762Z,1736379141.762 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:21.762Z,1736379141.762 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:21.766Z,1736379141.766 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:21.766Z,1736379141.766 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:21.932Z,1736379141.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:21.964Z,1736379141.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 3.777797 s, deltaX: -1.500000 m, approachRate: -0.397057 m/s, rangeRepo size: 4 2025-01-08T23:32:21.966Z,1736379141.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 121.500000 m, bearing: 279.132245 deg, lat: 36.904850 deg, lon: -122.121377 deg, deltaT: 3.777797 s, deltaX: -1.500000 m, approachRate: -0.397057 m/s, posRepo size: 4 2025-01-08T23:32:21.966Z,1736379141.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m. 2025-01-08T23:32:21.973Z,1736379141.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.500000 m, nav range: 54.882996 m, bearing: 293.060271 deg, approach rate: 0.000000 m/s, LOS rate: -0.516958 deg/s, cmd heading: 38.076802 deg, new cmd heading: 37.291356 deg. 2025-01-08T23:32:21.974Z,1736379141.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650857 target range: 121.500000 and range: 121.50 m. 2025-01-08T23:32:21.000Z,1736379142.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:22.001Z,1736379142.001 [DAT](INFO): DAT read: TxSync time:23:32:20.9868 2025-01-08T23:32:22.252Z,1736379142.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:22.284Z,1736379142.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:22.291Z,1736379142.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:22.294Z,1736379142.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m. 2025-01-08T23:32:22.297Z,1736379142.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.500000 m, nav range: 54.945583 m, bearing: 292.857712 deg, approach rate: 0.186193 m/s, LOS rate: -0.601908 deg/s, cmd heading: 37.291354 deg, new cmd heading: 36.684391 deg. 2025-01-08T23:32:22.298Z,1736379142.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640263 target range: 121.500000 and range: 121.50 m. 2025-01-08T23:32:22.504Z,1736379142.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:22.504Z,1736379142.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:22.504Z,1736379142.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:22.504Z,1736379142.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:22.714Z,1736379142.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:22.722Z,1736379142.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m. 2025-01-08T23:32:22.726Z,1736379142.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.500000 m, nav range: 55.036629 m, bearing: 292.602633 deg, approach rate: 0.212582 m/s, LOS rate: -0.594596 deg/s, cmd heading: 36.684393 deg, new cmd heading: 35.920472 deg. 2025-01-08T23:32:22.727Z,1736379142.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626931 target range: 121.500000 and range: 121.50 m. 2025-01-08T23:32:22.756Z,1736379142.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:22.756Z,1736379142.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995611 2025-01-08T23:32:23.008Z,1736379143.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:23.009Z,1736379143.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248438 2025-01-08T23:32:23.076Z,1736379143.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:23.084Z,1736379143.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m. 2025-01-08T23:32:23.087Z,1736379143.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.500000 m, nav range: 55.112125 m, bearing: 292.388213 deg, approach rate: 0.208547 m/s, LOS rate: -0.591490 deg/s, cmd heading: 35.920474 deg, new cmd heading: 35.278121 deg. 2025-01-08T23:32:23.100Z,1736379143.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615719 target range: 121.500000 and range: 121.50 m. 2025-01-08T23:32:23.109Z,1736379143.109 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T23:22:22.9Z 2025-01-08T23:32:23.110Z,1736379143.110 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T23:32:23.110Z,1736379143.110 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:32:23.110Z,1736379143.110 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T23:32:23.110Z,1736379143.110 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:32:23.110Z,1736379143.110 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T23:32:23.260Z,1736379143.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:23.261Z,1736379143.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499833 2025-01-08T23:32:23.480Z,1736379143.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:23.489Z,1736379143.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m. 2025-01-08T23:32:23.512Z,1736379143.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:23.513Z,1736379143.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751954 2025-01-08T23:32:23.513Z,1736379143.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.500000 m, nav range: 55.195221 m, bearing: 292.147164 deg, approach rate: 0.205516 m/s, LOS rate: -0.595272 deg/s, cmd heading: 35.278122 deg, new cmd heading: 34.556106 deg. 2025-01-08T23:32:23.514Z,1736379143.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603118 target range: 121.500000 and range: 121.50 m. 2025-01-08T23:32:23.522Z,1736379143.522 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T23:32:23.522Z,1736379143.522 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T23:32:23.522Z,1736379143.522 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T23:32:23.523Z,1736379143.523 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:32:23.523Z,1736379143.523 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T23:32:23.764Z,1736379143.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:23.765Z,1736379143.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003820 2025-01-08T23:32:24.016Z,1736379144.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:24.016Z,1736379144.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255664 2025-01-08T23:32:24.036Z,1736379144.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:24.069Z,1736379144.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m. 2025-01-08T23:32:24.076Z,1736379144.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.500000 m, nav range: 55.322319 m, bearing: 291.804826 deg, approach rate: 0.219045 m/s, LOS rate: -0.588638 deg/s, cmd heading: 34.556106 deg, new cmd heading: 33.531564 deg. 2025-01-08T23:32:24.077Z,1736379144.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585236 target range: 121.500000 and range: 121.50 m. 2025-01-08T23:32:24.270Z,1736379144.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:24.271Z,1736379144.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510709 2025-01-08T23:32:24.421Z,1736379144.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:24.429Z,1736379144.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:24.431Z,1736379144.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m. 2025-01-08T23:32:24.434Z,1736379144.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.500000 m, nav range: 55.411594 m, bearing: 291.568408 deg, approach rate: 0.246369 m/s, LOS rate: -0.651376 deg/s, cmd heading: 33.531564 deg, new cmd heading: 32.823493 deg. 2025-01-08T23:32:24.435Z,1736379144.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572878 target range: 121.500000 and range: 121.50 m. 2025-01-08T23:32:24.521Z,1736379144.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:24.522Z,1736379144.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760962 2025-01-08T23:32:24.772Z,1736379144.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:24.772Z,1736379144.772 [DAT](INFO): DAT read: Rx Time:23:32:23.5507 2025-01-08T23:32:24.773Z,1736379144.773 [DAT](INFO): Rx dataTimestamp_ set to:1736379144.772539 2025-01-08T23:32:24.773Z,1736379144.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012603 2025-01-08T23:32:24.866Z,1736379144.866 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3 2025-01-08T23:32:24.893Z,1736379144.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:32:24.893Z,1736379144.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:24.905Z,1736379144.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.50 m. 2025-01-08T23:32:24.912Z,1736379144.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.500000 m, nav range: 55.516640 m, bearing: 291.281917 deg, approach rate: 0.221546 m/s, LOS rate: -0.603081 deg/s, cmd heading: 32.823492 deg, new cmd heading: 31.965710 deg. 2025-01-08T23:32:24.913Z,1736379144.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557907 target range: 121.500000 and range: 121.50 m. 2025-01-08T23:32:25.024Z,1736379145.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:25.025Z,1736379145.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263981 2025-01-08T23:32:25.276Z,1736379145.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:25.283Z,1736379145.283 [DAT](INFO): DAT read: 23:32:23.5507 LVL= 13088, 25137, 21682, 32755, AGC= 61, IDX= 409, 0.04, 1.790,-0.017, 0.645, 1.048, PHS= 0.830,-1.018,-0.406, RAW= 109.0, 7.3, CAL= 119.2, 4.9, ROT= 30.8, -4.9 2025-01-08T23:32:25.285Z,1736379145.285 [DAT](INFO): got valid direction response: 23:32:23.5507 LVL= 13088, 25137, 21682, 32755, AGC= 61, IDX= 409, 0.04, 1.790,-0.017, 0.645, 1.048, PHS= 0.830,-1.018,-0.406, RAW= 109.0, 7.3, CAL= 119.2, 4.9, ROT= 30.8, -4.9 2025-01-08T23:32:25.286Z,1736379145.286 [DAT](INFO): DAT read: Bearing 30.8, -4.9 (Local) 2025-01-08T23:32:25.286Z,1736379145.286 [DAT](INFO): Local bearing/azimuth received: Bearing 30.8, -4.9 (Local) 2025-01-08T23:32:25.287Z,1736379145.287 [DAT](INFO): DAT read: Range 10 to 50 : 119.2 m (Round-trip 159.0 ms) speed 0.6 m/s 2025-01-08T23:32:25.288Z,1736379145.288 [DAT](INFO): DAT read: user:3306> 2025-01-08T23:32:25.289Z,1736379145.289 [DAT](INFO): DAT read: Tx time:23:32:24.6375 2025-01-08T23:32:25.289Z,1736379145.289 [DAT](INFO): Ping request sent. 2025-01-08T23:32:25.289Z,1736379145.289 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:25.290Z,1736379145.290 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:32:25.290Z,1736379145.290 [DAT](INFO): direction in FSK: [-0.250406,-0.214621,0.944052] 2025-01-08T23:32:25.291Z,1736379145.291 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:25.295Z,1736379145.295 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:25.298Z,1736379145.298 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:25.299Z,1736379145.299 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:25.299Z,1736379145.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:32:25.299Z,1736379145.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:25.332Z,1736379145.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.199997 m, deltaT: 3.528543 s, deltaX: -2.300003 m, approachRate: -0.651828 m/s, rangeRepo size: 4 2025-01-08T23:32:25.334Z,1736379145.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 119.199997 m, bearing: 269.349122 deg, lat: 36.904822 deg, lon: -122.121342 deg, deltaT: 3.528543 s, deltaX: -2.300003 m, approachRate: -0.651828 m/s, posRepo size: 4 2025-01-08T23:32:25.334Z,1736379145.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.20 m. 2025-01-08T23:32:25.341Z,1736379145.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.199997 m, nav range: 51.607544 m, bearing: 288.978712 deg, approach rate: 0.000000 m/s, LOS rate: -0.603081 deg/s, cmd heading: 31.965709 deg, new cmd heading: 31.203881 deg. 2025-01-08T23:32:25.343Z,1736379145.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544610 target range: 119.199997 and range: 119.20 m. 2025-01-08T23:32:25.530Z,1736379145.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:25.531Z,1736379145.531 [DAT](INFO): DAT read: TxSync time:23:32:24.6368 2025-01-08T23:32:25.784Z,1736379145.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:25.785Z,1736379145.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:25.802Z,1736379145.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.20 m. 2025-01-08T23:32:25.814Z,1736379145.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.199997 m, nav range: 51.745434 m, bearing: 288.639673 deg, approach rate: 0.289943 m/s, LOS rate: -0.710999 deg/s, cmd heading: 31.203880 deg, new cmd heading: 30.189584 deg. 2025-01-08T23:32:25.815Z,1736379145.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526908 target range: 119.199997 and range: 119.20 m. 2025-01-08T23:32:26.037Z,1736379146.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:26.114Z,1736379146.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:26.154Z,1736379146.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.20 m. 2025-01-08T23:32:26.162Z,1736379146.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.199997 m, nav range: 51.837994 m, bearing: 288.411757 deg, approach rate: 0.262891 m/s, LOS rate: -0.646176 deg/s, cmd heading: 30.189583 deg, new cmd heading: 29.507091 deg. 2025-01-08T23:32:26.163Z,1736379146.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514996 target range: 119.199997 and range: 119.20 m. 2025-01-08T23:32:26.288Z,1736379146.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:26.503Z,1736379146.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:26.511Z,1736379146.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:26.513Z,1736379146.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.20 m. 2025-01-08T23:32:26.516Z,1736379146.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.199997 m, nav range: 51.944012 m, bearing: 288.150227 deg, approach rate: 0.295142 m/s, LOS rate: -0.726583 deg/s, cmd heading: 29.507090 deg, new cmd heading: 28.724151 deg. 2025-01-08T23:32:26.517Z,1736379146.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501331 target range: 119.199997 and range: 119.20 m. 2025-01-08T23:32:26.542Z,1736379146.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:26.551Z,1736379146.551 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:26.552Z,1736379146.552 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:26.552Z,1736379146.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:26.794Z,1736379146.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:26.795Z,1736379146.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505731 2025-01-08T23:32:26.920Z,1736379146.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:26.929Z,1736379146.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.20 m. 2025-01-08T23:32:26.932Z,1736379146.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.199997 m, nav range: 52.051517 m, bearing: 287.881992 deg, approach rate: 0.258662 m/s, LOS rate: -0.644044 deg/s, cmd heading: 28.724152 deg, new cmd heading: 27.921167 deg. 2025-01-08T23:32:26.933Z,1736379146.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.487316 target range: 119.199997 and range: 119.20 m. 2025-01-08T23:32:27.048Z,1736379147.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:27.048Z,1736379147.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759033 2025-01-08T23:32:27.300Z,1736379147.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:27.300Z,1736379147.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011123 2025-01-08T23:32:27.305Z,1736379147.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:27.314Z,1736379147.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.20 m. 2025-01-08T23:32:27.317Z,1736379147.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.199997 m, nav range: 52.149448 m, bearing: 287.634020 deg, approach rate: 0.254159 m/s, LOS rate: -0.642348 deg/s, cmd heading: 27.921166 deg, new cmd heading: 27.178690 deg. 2025-01-08T23:32:27.318Z,1736379147.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.474358 target range: 119.199997 and range: 119.20 m. 2025-01-08T23:32:27.554Z,1736379147.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:27.555Z,1736379147.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265713 2025-01-08T23:32:27.787Z,1736379147.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:27.796Z,1736379147.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.20 m. 2025-01-08T23:32:27.799Z,1736379147.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.199997 m, nav range: 52.260925 m, bearing: 287.339723 deg, approach rate: 0.231306 m/s, LOS rate: -0.609339 deg/s, cmd heading: 27.178690 deg, new cmd heading: 26.297756 deg. 2025-01-08T23:32:27.800Z,1736379147.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.458982 target range: 119.199997 and range: 119.20 m. 2025-01-08T23:32:27.804Z,1736379147.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:27.804Z,1736379147.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515130 2025-01-08T23:32:28.056Z,1736379148.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:28.056Z,1736379148.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767032 2025-01-08T23:32:28.163Z,1736379148.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:28.172Z,1736379148.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.20 m. 2025-01-08T23:32:28.174Z,1736379148.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.199997 m, nav range: 52.346046 m, bearing: 287.109923 deg, approach rate: 0.226903 m/s, LOS rate: -0.611567 deg/s, cmd heading: 26.297755 deg, new cmd heading: 25.609511 deg. 2025-01-08T23:32:28.176Z,1736379148.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446970 target range: 119.199997 and range: 119.20 m. 2025-01-08T23:32:28.308Z,1736379148.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:28.309Z,1736379148.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019859 2025-01-08T23:32:28.560Z,1736379148.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:28.560Z,1736379148.560 [DAT](INFO): DAT read: Rx Time:23:32:27.1985 2025-01-08T23:32:28.561Z,1736379148.561 [DAT](INFO): Rx dataTimestamp_ set to:1736379148.560584 2025-01-08T23:32:28.561Z,1736379148.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272061 2025-01-08T23:32:28.577Z,1736379148.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:28.608Z,1736379148.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:28.610Z,1736379148.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.20 m. 2025-01-08T23:32:28.613Z,1736379148.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.199997 m, nav range: 52.440788 m, bearing: 286.857637 deg, approach rate: 0.215895 m/s, LOS rate: -0.573862 deg/s, cmd heading: 25.609511 deg, new cmd heading: 24.854068 deg. 2025-01-08T23:32:28.614Z,1736379148.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433785 target range: 119.199997 and range: 119.20 m. 2025-01-08T23:32:28.812Z,1736379148.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:28.813Z,1736379148.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523525 2025-01-08T23:32:28.973Z,1736379148.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:29.004Z,1736379149.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.20 m. 2025-01-08T23:32:29.006Z,1736379149.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.199997 m, nav range: 52.513828 m, bearing: 286.620412 deg, approach rate: 0.185920 m/s, LOS rate: -0.603004 deg/s, cmd heading: 24.854068 deg, new cmd heading: 24.143419 deg. 2025-01-08T23:32:29.007Z,1736379149.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421382 target range: 119.199997 and range: 119.20 m. 2025-01-08T23:32:29.064Z,1736379149.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:29.074Z,1736379149.074 [DAT](INFO): DAT read: 23:32:27.1985 LVL= 15280, 25649, 23138, 30131, AGC= 59, IDX= 417, 0.14,-1.024,-2.924,-2.483,-2.025, PHS= 1.089,-0.852,-0.461, RAW= 101.0, 2.5, CAL= 111.5, 0.3, ROT= 38.5, -0.3 2025-01-08T23:32:29.078Z,1736379149.078 [DAT](INFO): got valid direction response: 23:32:27.1985 LVL= 15280, 25649, 23138, 30131, AGC= 59, IDX= 417, 0.14,-1.024,-2.924,-2.483,-2.025, PHS= 1.089,-0.852,-0.461, RAW= 101.0, 2.5, CAL= 111.5, 0.3, ROT= 38.5, -0.3 2025-01-08T23:32:29.080Z,1736379149.080 [DAT](INFO): DAT read: Bearing 38.5, -0.3 (Local) 2025-01-08T23:32:29.080Z,1736379149.080 [DAT](INFO): Local bearing/azimuth received: Bearing 38.5, -0.3 (Local) 2025-01-08T23:32:29.085Z,1736379149.085 [DAT](INFO): DAT read: Range 10 to 50 : 117.5 m (Round-trip 156.7 ms) speed 0.2 m/s 2025-01-08T23:32:29.096Z,1736379149.096 [DAT](INFO): DAT read: user:3307> 2025-01-08T23:32:29.097Z,1736379149.097 [DAT](INFO): DAT read: Tx time:23:32:28.2876 2025-01-08T23:32:29.097Z,1736379149.097 [DAT](INFO): Ping request sent. 2025-01-08T23:32:29.097Z,1736379149.097 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:29.098Z,1736379149.098 [DAT](INFO): DAT read: TxSync time:23:32:28.2869 2025-01-08T23:32:29.098Z,1736379149.098 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:32:29.099Z,1736379149.099 [DAT](INFO): direction in FSK: [-0.150108,-0.081862,0.985275] 2025-01-08T23:32:29.104Z,1736379149.104 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:29.104Z,1736379149.104 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:29.114Z,1736379149.114 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:29.114Z,1736379149.114 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:29.316Z,1736379149.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:29.371Z,1736379149.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:29.415Z,1736379149.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 117.500000 m, deltaT: 3.788701 s, deltaX: -1.699997 m, approachRate: -0.448702 m/s, rangeRepo size: 4 2025-01-08T23:32:29.421Z,1736379149.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 117.500000 m, bearing: 255.158673 deg, lat: 36.904730 deg, lon: -122.121307 deg, deltaT: 3.788701 s, deltaX: -1.699997 m, approachRate: -0.448702 m/s, posRepo size: 4 2025-01-08T23:32:29.422Z,1736379149.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.50 m. 2025-01-08T23:32:29.429Z,1736379149.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.500000 m, nav range: 47.550747 m, bearing: 275.594472 deg, approach rate: 0.000000 m/s, LOS rate: -0.603004 deg/s, cmd heading: 24.143419 deg, new cmd heading: 23.399794 deg. 2025-01-08T23:32:29.429Z,1736379149.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.408403 target range: 117.500000 and range: 117.50 m. 2025-01-08T23:32:29.569Z,1736379149.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:29.820Z,1736379149.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:29.825Z,1736379149.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:29.838Z,1736379149.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.50 m. 2025-01-08T23:32:29.841Z,1736379149.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.500000 m, nav range: 47.660900 m, bearing: 275.329478 deg, approach rate: 0.259944 m/s, LOS rate: -0.623894 deg/s, cmd heading: 23.399794 deg, new cmd heading: 22.606705 deg. 2025-01-08T23:32:29.842Z,1736379149.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.394561 target range: 117.500000 and range: 117.50 m. 2025-01-08T23:32:30.072Z,1736379150.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:30.173Z,1736379150.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:30.182Z,1736379150.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.50 m. 2025-01-08T23:32:30.185Z,1736379150.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.500000 m, nav range: 47.744007 m, bearing: 275.125709 deg, approach rate: 0.241256 m/s, LOS rate: -0.590502 deg/s, cmd heading: 22.606705 deg, new cmd heading: 21.996487 deg. 2025-01-08T23:32:30.186Z,1736379150.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.383911 target range: 117.500000 and range: 117.50 m. 2025-01-08T23:32:30.324Z,1736379150.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:30.576Z,1736379150.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:30.585Z,1736379150.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:30.594Z,1736379150.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.50 m. 2025-01-08T23:32:30.597Z,1736379150.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.500000 m, nav range: 47.840645 m, bearing: 274.884460 deg, approach rate: 0.234480 m/s, LOS rate: -0.584180 deg/s, cmd heading: 21.996486 deg, new cmd heading: 21.274240 deg. 2025-01-08T23:32:30.598Z,1736379150.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371306 target range: 117.500000 and range: 117.50 m. 2025-01-08T23:32:30.829Z,1736379150.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:31.021Z,1736379151.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:31.028Z,1736379151.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:31.030Z,1736379151.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.50 m. 2025-01-08T23:32:31.037Z,1736379151.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.500000 m, nav range: 47.929501 m, bearing: 274.628999 deg, approach rate: 0.203896 m/s, LOS rate: -0.585115 deg/s, cmd heading: 21.274240 deg, new cmd heading: 20.509325 deg. 2025-01-08T23:32:31.038Z,1736379151.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357955 target range: 117.500000 and range: 117.50 m. 2025-01-08T23:32:31.080Z,1736379151.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:31.081Z,1736379151.081 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:31.081Z,1736379151.081 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:31.082Z,1736379151.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:31.332Z,1736379151.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:31.332Z,1736379151.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235465 2025-01-08T23:32:31.402Z,1736379151.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:31.412Z,1736379151.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.50 m. 2025-01-08T23:32:31.414Z,1736379151.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.500000 m, nav range: 48.001945 m, bearing: 274.403538 deg, approach rate: 0.190075 m/s, LOS rate: -0.590649 deg/s, cmd heading: 20.509325 deg, new cmd heading: 19.833998 deg. 2025-01-08T23:32:31.415Z,1736379151.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.346169 target range: 117.500000 and range: 117.50 m. 2025-01-08T23:32:31.584Z,1736379151.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:31.584Z,1736379151.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487382 2025-01-08T23:32:31.836Z,1736379151.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:31.836Z,1736379151.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739486 2025-01-08T23:32:31.872Z,1736379151.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:31.883Z,1736379151.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.50 m. 2025-01-08T23:32:31.890Z,1736379151.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.500000 m, nav range: 48.087257 m, bearing: 274.131361 deg, approach rate: 0.181019 m/s, LOS rate: -0.576495 deg/s, cmd heading: 19.833999 deg, new cmd heading: 19.018972 deg. 2025-01-08T23:32:31.896Z,1736379151.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.331944 target range: 117.500000 and range: 117.50 m. 2025-01-08T23:32:32.088Z,1736379152.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:32.089Z,1736379152.089 [DAT](INFO): DAT read: Rx Time:23:32:30.8474 2025-01-08T23:32:32.089Z,1736379152.089 [DAT](INFO): Rx dataTimestamp_ set to:1736379152.088966 2025-01-08T23:32:32.090Z,1736379152.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992813 2025-01-08T23:32:32.196Z,1736379152.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:32.204Z,1736379152.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.50 m. 2025-01-08T23:32:32.207Z,1736379152.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.500000 m, nav range: 48.144028 m, bearing: 273.943101 deg, approach rate: 0.176454 m/s, LOS rate: -0.584461 deg/s, cmd heading: 19.018973 deg, new cmd heading: 18.454878 deg. 2025-01-08T23:32:32.209Z,1736379152.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.322098 target range: 117.500000 and range: 117.50 m. 2025-01-08T23:32:32.340Z,1736379152.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:32.340Z,1736379152.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243447 2025-01-08T23:32:32.592Z,1736379152.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:32.599Z,1736379152.599 [DAT](INFO): DAT read: 23:32:30.8474 LVL= 16016, 24049, 20402, 25507, AGC= 60, IDX= 438,-0.44, 1.072,-0.979,-0.775,-0.201, PHS= 1.362,-0.730,-0.576, RAW= 93.8, -0.5, CAL= 102.1, -5.3, ROT= 47.9, 5.3 2025-01-08T23:32:32.600Z,1736379152.600 [DAT](INFO): got valid direction response: 23:32:30.8474 LVL= 16016, 24049, 20402, 25507, AGC= 60, IDX= 438,-0.44, 1.072,-0.979,-0.775,-0.201, PHS= 1.362,-0.730,-0.576, RAW= 93.8, -0.5, CAL= 102.1, -5.3, ROT= 47.9, 5.3 2025-01-08T23:32:32.601Z,1736379152.601 [DAT](INFO): DAT read: Bearing 47.9, 5.3 (Local) 2025-01-08T23:32:32.601Z,1736379152.601 [DAT](INFO): Local bearing/azimuth received: Bearing 47.9, 5.3 (Local) 2025-01-08T23:32:32.603Z,1736379152.603 [DAT](INFO): DAT read: Range 10 to 50 : 116.7 m (Round-trip 155.6 ms) speed 0.2 m/s 2025-01-08T23:32:32.604Z,1736379152.604 [DAT](INFO): DAT read: user:3308> 2025-01-08T23:32:32.605Z,1736379152.605 [DAT](INFO): DAT read: Tx time:23:32:31.9376 2025-01-08T23:32:32.605Z,1736379152.605 [DAT](INFO): Ping request sent. 2025-01-08T23:32:32.605Z,1736379152.605 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:32.605Z,1736379152.605 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:32:32.606Z,1736379152.606 [DAT](INFO): direction in FSK: [-0.080312,0.041261,0.995915] 2025-01-08T23:32:32.606Z,1736379152.606 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:32.607Z,1736379152.607 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:32.611Z,1736379152.611 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:32.611Z,1736379152.611 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:32.628Z,1736379152.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:32.679Z,1736379152.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.699997 m, deltaT: 3.527730 s, deltaX: -0.800003 m, approachRate: -0.226776 m/s, rangeRepo size: 4 2025-01-08T23:32:32.689Z,1736379152.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.699997 m, bearing: 187.231766 deg, lat: 36.904666 deg, lon: -122.121259 deg, deltaT: 3.527730 s, deltaX: -0.800003 m, approachRate: -0.226776 m/s, posRepo size: 4 2025-01-08T23:32:32.690Z,1736379152.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:32:32.701Z,1736379152.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 44.084164 m, bearing: 264.853262 deg, approach rate: 0.000000 m/s, LOS rate: -0.584461 deg/s, cmd heading: 18.454877 deg, new cmd heading: 17.625280 deg. 2025-01-08T23:32:32.702Z,1736379152.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307619 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:32:32.844Z,1736379152.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:32.845Z,1736379152.845 [DAT](INFO): DAT read: TxSync time:23:32:31.9369 2025-01-08T23:32:33.096Z,1736379153.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:33.148Z,1736379153.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:33.154Z,1736379153.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:33.161Z,1736379153.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:32:33.168Z,1736379153.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 44.195992 m, bearing: 264.547047 deg, approach rate: 0.231496 m/s, LOS rate: -0.632289 deg/s, cmd heading: 17.625279 deg, new cmd heading: 16.709044 deg. 2025-01-08T23:32:33.169Z,1736379153.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.291628 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:32:33.348Z,1736379153.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:33.348Z,1736379153.348 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:33.348Z,1736379153.348 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:33.348Z,1736379153.348 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:33.464Z,1736379153.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:33.478Z,1736379153.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:32:33.481Z,1736379153.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 44.268440 m, bearing: 264.343884 deg, approach rate: 0.228010 m/s, LOS rate: -0.638349 deg/s, cmd heading: 16.709044 deg, new cmd heading: 16.100574 deg. 2025-01-08T23:32:33.482Z,1736379153.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.281008 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:32:33.600Z,1736379153.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:33.601Z,1736379153.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995654 2025-01-08T23:32:33.852Z,1736379153.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:33.852Z,1736379153.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247451 2025-01-08T23:32:33.933Z,1736379153.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:33.942Z,1736379153.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:32:33.945Z,1736379153.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 44.369659 m, bearing: 264.062047 deg, approach rate: 0.218525 m/s, LOS rate: -0.607075 deg/s, cmd heading: 16.100574 deg, new cmd heading: 15.257058 deg. 2025-01-08T23:32:33.946Z,1736379153.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.266286 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:32:34.104Z,1736379154.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:34.105Z,1736379154.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499698 2025-01-08T23:32:34.320Z,1736379154.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:34.330Z,1736379154.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:32:34.333Z,1736379154.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 44.451530 m, bearing: 263.828837 deg, approach rate: 0.210907 m/s, LOS rate: -0.599661 deg/s, cmd heading: 15.257058 deg, new cmd heading: 14.558753 deg. 2025-01-08T23:32:34.334Z,1736379154.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.254098 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:32:34.356Z,1736379154.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:34.356Z,1736379154.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751419 2025-01-08T23:32:34.608Z,1736379154.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:34.610Z,1736379154.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004509 2025-01-08T23:32:34.701Z,1736379154.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:34.718Z,1736379154.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:32:34.725Z,1736379154.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 44.530472 m, bearing: 263.598658 deg, approach rate: 0.203339 m/s, LOS rate: -0.591848 deg/s, cmd heading: 14.558753 deg, new cmd heading: 13.869474 deg. 2025-01-08T23:32:34.726Z,1736379154.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.242068 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:32:34.862Z,1736379154.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:34.864Z,1736379154.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259101 2025-01-08T23:32:35.112Z,1736379155.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:35.113Z,1736379155.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507627 2025-01-08T23:32:35.128Z,1736379155.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:35.137Z,1736379155.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:32:35.156Z,1736379155.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 44.624451 m, bearing: 263.333047 deg, approach rate: 0.224433 m/s, LOS rate: -0.632973 deg/s, cmd heading: 13.869474 deg, new cmd heading: 13.074374 deg. 2025-01-08T23:32:35.157Z,1736379155.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228191 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:32:35.364Z,1736379155.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:35.365Z,1736379155.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759757 2025-01-08T23:32:35.488Z,1736379155.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:35.495Z,1736379155.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:35.497Z,1736379155.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:32:35.500Z,1736379155.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 44.700336 m, bearing: 263.107799 deg, approach rate: 0.210371 m/s, LOS rate: -0.623372 deg/s, cmd heading: 13.074374 deg, new cmd heading: 12.399809 deg. 2025-01-08T23:32:35.501Z,1736379155.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216417 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:32:35.616Z,1736379155.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:35.617Z,1736379155.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011720 2025-01-08T23:32:35.868Z,1736379155.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:35.870Z,1736379155.870 [DAT](INFO): DAT read: Rx Time:23:32:34.4959 2025-01-08T23:32:35.871Z,1736379155.871 [DAT](INFO): Rx dataTimestamp_ set to:1736379155.869906 2025-01-08T23:32:35.872Z,1736379155.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266725 2025-01-08T23:32:35.963Z,1736379155.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:35.972Z,1736379155.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:32:35.974Z,1736379155.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 44.802643 m, bearing: 262.815890 deg, approach rate: 0.215831 m/s, LOS rate: -0.614418 deg/s, cmd heading: 12.399809 deg, new cmd heading: 11.526154 deg. 2025-01-08T23:32:35.976Z,1736379155.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.201169 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:32:36.120Z,1736379156.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:36.120Z,1736379156.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515438 2025-01-08T23:32:36.307Z,1736379156.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:36.321Z,1736379156.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:32:36.323Z,1736379156.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 44.873978 m, bearing: 262.603673 deg, approach rate: 0.204363 m/s, LOS rate: -0.607000 deg/s, cmd heading: 11.526153 deg, new cmd heading: 10.890543 deg. 2025-01-08T23:32:36.325Z,1736379156.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.190076 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:32:36.372Z,1736379156.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:36.380Z,1736379156.380 [DAT](INFO): DAT read: 23:32:34.4959 LVL= 13808, 28385, 21170, 29587, AGC= 61, IDX= 422,-0.07, 0.595,-1.090,-1.246,-0.431, PHS= 1.114,-0.613,-0.818, RAW= 84.4, 3.5, CAL= 90.0, 1.2, ROT= 60.0, -1.2 2025-01-08T23:32:36.381Z,1736379156.381 [DAT](INFO): got valid direction response: 23:32:34.4959 LVL= 13808, 28385, 21170, 29587, AGC= 61, IDX= 422,-0.07, 0.595,-1.090,-1.246,-0.431, PHS= 1.114,-0.613,-0.818, RAW= 84.4, 3.5, CAL= 90.0, 1.2, ROT= 60.0, -1.2 2025-01-08T23:32:36.383Z,1736379156.383 [DAT](INFO): DAT read: Bearing 60.0, -1.2 (Local) 2025-01-08T23:32:36.384Z,1736379156.384 [DAT](INFO): Local bearing/azimuth received: Bearing 60.0, -1.2 (Local) 2025-01-08T23:32:36.388Z,1736379156.388 [DAT](INFO): DAT read: Range 10 to 50 : 115.5 m (Round-trip 154.1 ms) speed 0.3 m/s 2025-01-08T23:32:36.389Z,1736379156.389 [DAT](INFO): DAT read: user:3309> 2025-01-08T23:32:36.390Z,1736379156.390 [DAT](INFO): DAT read: Tx time:23:32:35.5877 2025-01-08T23:32:36.390Z,1736379156.390 [DAT](INFO): Ping request sent. 2025-01-08T23:32:36.390Z,1736379156.390 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:36.391Z,1736379156.391 [DAT](INFO): DAT read: TxSync time:23:32:35.5870 2025-01-08T23:32:36.391Z,1736379156.391 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:32:36.393Z,1736379156.393 [DAT](INFO): direction in FSK: [-0.141625,0.204993,0.968463] 2025-01-08T23:32:36.393Z,1736379156.393 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:36.393Z,1736379156.393 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:36.397Z,1736379156.397 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:36.398Z,1736379156.398 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:36.624Z,1736379156.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:36.726Z,1736379156.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:36.741Z,1736379156.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.500000 m, deltaT: 3.779336 s, deltaX: -1.199997 m, approachRate: -0.317515 m/s, rangeRepo size: 4 2025-01-08T23:32:36.743Z,1736379156.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.500000 m, bearing: 137.448388 deg, lat: 36.904658 deg, lon: -122.120989 deg, deltaT: 3.779336 s, deltaX: -1.199997 m, approachRate: -0.317515 m/s, posRepo size: 4 2025-01-08T23:32:36.760Z,1736379156.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:32:36.762Z,1736379156.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 21.631172 m, bearing: 251.396407 deg, approach rate: 0.000000 m/s, LOS rate: -0.607000 deg/s, cmd heading: 10.890543 deg, new cmd heading: 10.126748 deg. 2025-01-08T23:32:36.769Z,1736379156.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.176745 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:32:36.876Z,1736379156.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:37.128Z,1736379157.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:37.168Z,1736379157.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:37.178Z,1736379157.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:32:37.201Z,1736379157.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 21.765467 m, bearing: 250.859241 deg, approach rate: 0.306805 m/s, LOS rate: -1.219603 deg/s, cmd heading: 10.126748 deg, new cmd heading: 8.525634 deg. 2025-01-08T23:32:37.202Z,1736379157.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.148800 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:32:37.380Z,1736379157.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:37.534Z,1736379157.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:37.540Z,1736379157.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:37.545Z,1736379157.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:32:37.548Z,1736379157.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 21.876066 m, bearing: 250.417504 deg, approach rate: 0.302475 m/s, LOS rate: -1.201969 deg/s, cmd heading: 8.525633 deg, new cmd heading: 7.207370 deg. 2025-01-08T23:32:37.549Z,1736379157.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125792 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:32:37.634Z,1736379157.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:37.634Z,1736379157.634 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:37.634Z,1736379157.634 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:37.634Z,1736379157.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:37.888Z,1736379157.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:37.888Z,1736379157.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498334 2025-01-08T23:32:37.969Z,1736379157.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:37.978Z,1736379157.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:32:37.981Z,1736379157.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 22.009699 m, bearing: 249.896864 deg, approach rate: 0.307161 m/s, LOS rate: -1.189433 deg/s, cmd heading: 7.207370 deg, new cmd heading: 5.655333 deg. 2025-01-08T23:32:37.982Z,1736379157.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098704 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:32:38.140Z,1736379158.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:38.140Z,1736379158.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750341 2025-01-08T23:32:38.357Z,1736379158.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:38.366Z,1736379158.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:32:38.369Z,1736379158.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 22.125237 m, bearing: 249.430606 deg, approach rate: 0.298099 m/s, LOS rate: -1.196696 deg/s, cmd heading: 5.655333 deg, new cmd heading: 4.264153 deg. 2025-01-08T23:32:38.370Z,1736379158.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074424 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:32:38.393Z,1736379158.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:38.394Z,1736379158.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003980 2025-01-08T23:32:38.644Z,1736379158.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:38.645Z,1736379158.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254901 2025-01-08T23:32:38.751Z,1736379158.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:38.760Z,1736379158.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:32:38.762Z,1736379158.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 22.241549 m, bearing: 248.956027 deg, approach rate: 0.295308 m/s, LOS rate: -1.198607 deg/s, cmd heading: 4.264153 deg, new cmd heading: 2.848166 deg. 2025-01-08T23:32:38.764Z,1736379158.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049710 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:32:38.896Z,1736379158.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:38.898Z,1736379158.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507532 2025-01-08T23:32:39.150Z,1736379159.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:39.151Z,1736379159.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760773 2025-01-08T23:32:39.188Z,1736379159.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:39.197Z,1736379159.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:32:39.203Z,1736379159.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 22.369993 m, bearing: 248.413389 deg, approach rate: 0.294124 m/s, LOS rate: -1.235426 deg/s, cmd heading: 2.848166 deg, new cmd heading: 1.230053 deg. 2025-01-08T23:32:39.220Z,1736379159.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021468 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:32:39.404Z,1736379159.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:39.405Z,1736379159.405 [DAT](INFO): DAT read: Rx Time:23:32:38.1445 2025-01-08T23:32:39.405Z,1736379159.405 [DAT](INFO): Rx dataTimestamp_ set to:1736379159.404897 2025-01-08T23:32:39.406Z,1736379159.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015683 2025-01-08T23:32:39.604Z,1736379159.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:39.612Z,1736379159.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:39.614Z,1736379159.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:32:39.617Z,1736379159.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 22.494629 m, bearing: 247.900515 deg, approach rate: 0.298587 m/s, LOS rate: -1.221858 deg/s, cmd heading: 1.230053 deg, new cmd heading: 359.700340 deg. 2025-01-08T23:32:39.618Z,1736379159.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277955 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:32:39.656Z,1736379159.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:39.658Z,1736379159.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267482 2025-01-08T23:32:39.909Z,1736379159.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:39.917Z,1736379159.917 [DAT](INFO): DAT read: 23:32:38.1445 LVL= 10528, 22561, 15794, 23923, AGC= 57, IDX= 423,-0.39,-2.782, 2.188, 1.595, 2.718, PHS= 0.871,-0.483,-1.126, RAW= 71.6, 8.4, CAL= 73.6, 12.1, ROT= 76.4, -12.1 2025-01-08T23:32:39.918Z,1736379159.918 [DAT](INFO): got valid direction response: 23:32:38.1445 LVL= 10528, 22561, 15794, 23923, AGC= 57, IDX= 423,-0.39,-2.782, 2.188, 1.595, 2.718, PHS= 0.871,-0.483,-1.126, RAW= 71.6, 8.4, CAL= 73.6, 12.1, ROT= 76.4, -12.1 2025-01-08T23:32:39.920Z,1736379159.920 [DAT](INFO): DAT read: Bearing 76.4, -12.1 (Local) 2025-01-08T23:32:39.920Z,1736379159.920 [DAT](INFO): Local bearing/azimuth received: Bearing 76.4, -12.1 (Local) 2025-01-08T23:32:39.922Z,1736379159.922 [DAT](INFO): DAT read: Range 10 to 50 : 114.4 m (Round-trip 152.6 ms) speed 0.0 m/s 2025-01-08T23:32:39.922Z,1736379159.922 [DAT](INFO): DAT read: user:3310> 2025-01-08T23:32:39.923Z,1736379159.923 [DAT](INFO): DAT read: Tx time:23:32:39.2377 2025-01-08T23:32:39.923Z,1736379159.923 [DAT](INFO): Ping request sent. 2025-01-08T23:32:39.924Z,1736379159.924 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:39.924Z,1736379159.924 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:32:39.925Z,1736379159.925 [DAT](INFO): direction in FSK: [-0.208085,0.411664,0.887262] 2025-01-08T23:32:39.925Z,1736379159.925 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:39.925Z,1736379159.925 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:39.932Z,1736379159.932 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:39.933Z,1736379159.933 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:40.043Z,1736379160.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:40.074Z,1736379160.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.400002 m, deltaT: 3.537674 s, deltaX: -1.099998 m, approachRate: -0.310938 m/s, rangeRepo size: 4 2025-01-08T23:32:40.081Z,1736379160.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.400002 m, bearing: 123.351434 deg, lat: 36.904643 deg, lon: -122.120773 deg, deltaT: 3.537674 s, deltaX: -1.099998 m, approachRate: -0.310938 m/s, posRepo size: 4 2025-01-08T23:32:40.081Z,1736379160.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:40.084Z,1736379160.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 10.552129 m, bearing: 188.959344 deg, approach rate: 0.000000 m/s, LOS rate: -1.221858 deg/s, cmd heading: 359.700329 deg, new cmd heading: 358.018119 deg. 2025-01-08T23:32:40.085Z,1736379160.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.248595 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:32:40.160Z,1736379160.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:40.161Z,1736379160.161 [DAT](INFO): DAT read: TxSync time:23:32:39.2370 2025-01-08T23:32:40.392Z,1736379160.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:40.410Z,1736379160.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:40.412Z,1736379160.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:40.417Z,1736379160.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 10.750086 m, bearing: 188.914080 deg, approach rate: 0.587075 m/s, LOS rate: -0.131769 deg/s, cmd heading: 358.018108 deg, new cmd heading: 357.884814 deg. 2025-01-08T23:32:40.418Z,1736379160.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.246268 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:32:40.665Z,1736379160.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:40.786Z,1736379160.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:40.794Z,1736379160.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:40.813Z,1736379160.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 10.972698 m, bearing: 188.845710 deg, approach rate: 0.579395 m/s, LOS rate: -0.174336 deg/s, cmd heading: 357.884810 deg, new cmd heading: 357.683863 deg. 2025-01-08T23:32:40.814Z,1736379160.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.242761 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:32:40.916Z,1736379160.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:41.168Z,1736379161.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:41.213Z,1736379161.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:41.246Z,1736379161.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:41.253Z,1736379161.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 11.215790 m, bearing: 188.746832 deg, approach rate: 0.538779 m/s, LOS rate: -0.214400 deg/s, cmd heading: 357.683866 deg, new cmd heading: 357.393663 deg. 2025-01-08T23:32:41.254Z,1736379161.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.237696 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:32:41.420Z,1736379161.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:41.596Z,1736379161.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:41.605Z,1736379161.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:41.608Z,1736379161.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 11.433481 m, bearing: 188.643914 deg, approach rate: 0.606281 m/s, LOS rate: -0.281173 deg/s, cmd heading: 357.393664 deg, new cmd heading: 357.090794 deg. 2025-01-08T23:32:41.609Z,1736379161.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232410 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:32:41.678Z,1736379161.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:41.929Z,1736379161.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:42.028Z,1736379162.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:42.034Z,1736379162.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:42.036Z,1736379162.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:42.059Z,1736379162.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 11.678874 m, bearing: 188.529360 deg, approach rate: 0.568335 m/s, LOS rate: -0.259736 deg/s, cmd heading: 357.090787 deg, new cmd heading: 356.754348 deg. 2025-01-08T23:32:42.060Z,1736379162.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.226538 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:32:42.180Z,1736379162.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:42.180Z,1736379162.180 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:42.180Z,1736379162.180 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:42.180Z,1736379162.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:42.421Z,1736379162.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:42.430Z,1736379162.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:42.432Z,1736379162.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:42.432Z,1736379162.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508924 2025-01-08T23:32:42.435Z,1736379162.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 11.902401 m, bearing: 188.408185 deg, approach rate: 0.567628 m/s, LOS rate: -0.301935 deg/s, cmd heading: 356.754359 deg, new cmd heading: 356.397665 deg. 2025-01-08T23:32:42.436Z,1736379162.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220313 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:32:42.684Z,1736379162.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:42.684Z,1736379162.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760914 2025-01-08T23:32:42.804Z,1736379162.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:42.813Z,1736379162.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:42.818Z,1736379162.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 12.119404 m, bearing: 188.273801 deg, approach rate: 0.566303 m/s, LOS rate: -0.344416 deg/s, cmd heading: 356.397659 deg, new cmd heading: 356.001733 deg. 2025-01-08T23:32:42.820Z,1736379162.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.213402 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:32:42.938Z,1736379162.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:42.941Z,1736379162.941 [DAT](INFO): DAT read: Rx Time:23:32:41.7941 2025-01-08T23:32:42.942Z,1736379162.942 [DAT](INFO): Rx dataTimestamp_ set to:1736379162.941406 2025-01-08T23:32:42.944Z,1736379162.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019232 2025-01-08T23:32:43.188Z,1736379163.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:43.189Z,1736379163.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265250 2025-01-08T23:32:43.247Z,1736379163.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:43.256Z,1736379163.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:43.260Z,1736379163.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 12.364264 m, bearing: 188.118427 deg, approach rate: 0.553632 m/s, LOS rate: -0.344346 deg/s, cmd heading: 356.001727 deg, new cmd heading: 355.544845 deg. 2025-01-08T23:32:43.261Z,1736379163.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205428 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:32:43.440Z,1736379163.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:43.442Z,1736379163.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517554 2025-01-08T23:32:43.621Z,1736379163.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:43.631Z,1736379163.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:43.634Z,1736379163.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 12.570721 m, bearing: 187.975204 deg, approach rate: 0.550519 m/s, LOS rate: -0.375632 deg/s, cmd heading: 355.544842 deg, new cmd heading: 355.122238 deg. 2025-01-08T23:32:43.635Z,1736379163.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.198052 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:32:43.692Z,1736379163.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:43.695Z,1736379163.695 [DAT](INFO): DAT read: Range 10 to 50 : 114.1 m (Round-trip 152.2 ms) speed 0.1 m/s 2025-01-08T23:32:43.696Z,1736379163.696 [DAT](INFO): DAT read: user:3311> 2025-01-08T23:32:43.698Z,1736379163.698 [DAT](INFO): DAT read: Tx time:23:32:42.8877 2025-01-08T23:32:43.698Z,1736379163.698 [DAT](INFO): Ping request sent. 2025-01-08T23:32:43.698Z,1736379163.698 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:43.704Z,1736379163.704 [DAT](INFO): DAT read: TxSync time:23:32:42.8870 2025-01-08T23:32:43.705Z,1736379163.705 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:32:43.705Z,1736379163.705 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:43.706Z,1736379163.706 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:43.946Z,1736379163.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:44.070Z,1736379164.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:44.094Z,1736379164.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:44.101Z,1736379164.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.099998 m, deltaT: 3.782957 s, deltaX: -0.300003 m, approachRate: -0.079304 m/s, rangeRepo size: 4 2025-01-08T23:32:44.102Z,1736379164.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:44.113Z,1736379164.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 12.817323 m, bearing: 187.824777 deg, approach rate: 0.525139 m/s, LOS rate: -0.314170 deg/s, cmd heading: 355.122244 deg, new cmd heading: 354.679656 deg. 2025-01-08T23:32:44.114Z,1736379164.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.190328 target range: 114.400002 and range: 114.10 m. 2025-01-08T23:32:44.196Z,1736379164.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:44.197Z,1736379164.197 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:44.197Z,1736379164.197 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:44.198Z,1736379164.198 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:44.428Z,1736379164.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:44.437Z,1736379164.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:44.440Z,1736379164.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 13.013795 m, bearing: 187.695768 deg, approach rate: 0.583377 m/s, LOS rate: -0.377278 deg/s, cmd heading: 354.679648 deg, new cmd heading: 354.298470 deg. 2025-01-08T23:32:44.442Z,1736379164.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183675 target range: 114.400002 and range: 114.10 m. 2025-01-08T23:32:44.448Z,1736379164.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:44.449Z,1736379164.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750220 2025-01-08T23:32:44.700Z,1736379164.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:44.700Z,1736379164.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001919 2025-01-08T23:32:44.835Z,1736379164.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:44.847Z,1736379164.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:44.850Z,1736379164.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 13.236169 m, bearing: 187.541716 deg, approach rate: 0.542726 m/s, LOS rate: -0.369661 deg/s, cmd heading: 354.298469 deg, new cmd heading: 353.844089 deg. 2025-01-08T23:32:44.851Z,1736379164.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175745 target range: 114.400002 and range: 114.10 m. 2025-01-08T23:32:44.955Z,1736379164.955 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:44.958Z,1736379164.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258822 2025-01-08T23:32:45.204Z,1736379165.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:45.204Z,1736379165.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505849 2025-01-08T23:32:45.270Z,1736379165.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:45.299Z,1736379165.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:45.306Z,1736379165.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 13.467360 m, bearing: 187.409663 deg, approach rate: 0.511708 m/s, LOS rate: -0.287263 deg/s, cmd heading: 353.844097 deg, new cmd heading: 353.454743 deg. 2025-01-08T23:32:45.306Z,1736379165.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168949 target range: 114.400002 and range: 114.10 m. 2025-01-08T23:32:45.459Z,1736379165.459 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:45.460Z,1736379165.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761420 2025-01-08T23:32:45.640Z,1736379165.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:45.653Z,1736379165.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:45.659Z,1736379165.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 13.663527 m, bearing: 187.284513 deg, approach rate: 0.553251 m/s, LOS rate: -0.347893 deg/s, cmd heading: 353.454749 deg, new cmd heading: 353.084697 deg. 2025-01-08T23:32:45.661Z,1736379165.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162490 target range: 114.400002 and range: 114.10 m. 2025-01-08T23:32:45.710Z,1736379165.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:45.712Z,1736379165.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013323 2025-01-08T23:32:45.962Z,1736379165.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:45.964Z,1736379165.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265492 2025-01-08T23:32:46.066Z,1736379166.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:46.074Z,1736379166.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:46.097Z,1736379166.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 13.888435 m, bearing: 187.146967 deg, approach rate: 0.534464 m/s, LOS rate: -0.321567 deg/s, cmd heading: 353.084689 deg, new cmd heading: 352.678738 deg. 2025-01-08T23:32:46.098Z,1736379166.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.155405 target range: 114.400002 and range: 114.10 m. 2025-01-08T23:32:46.214Z,1736379166.214 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:46.214Z,1736379166.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515966 2025-01-08T23:32:46.439Z,1736379166.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:46.446Z,1736379166.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:46.461Z,1736379166.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:46.464Z,1736379166.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:46.465Z,1736379166.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766160 2025-01-08T23:32:46.468Z,1736379166.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 14.085289 m, bearing: 187.023512 deg, approach rate: 0.509133 m/s, LOS rate: -0.314835 deg/s, cmd heading: 352.678730 deg, new cmd heading: 352.313547 deg. 2025-01-08T23:32:46.469Z,1736379166.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.149031 target range: 114.400002 and range: 114.10 m. 2025-01-08T23:32:46.717Z,1736379166.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:46.718Z,1736379166.718 [DAT](INFO): DAT read: Rx Time:23:32:45.4439 2025-01-08T23:32:46.719Z,1736379166.719 [DAT](INFO): Rx dataTimestamp_ set to:1736379166.718404 2025-01-08T23:32:46.720Z,1736379166.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021655 2025-01-08T23:32:46.849Z,1736379166.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:46.857Z,1736379166.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:46.861Z,1736379166.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 14.301600 m, bearing: 186.885890 deg, approach rate: 0.545514 m/s, LOS rate: -0.341818 deg/s, cmd heading: 352.313534 deg, new cmd heading: 351.906919 deg. 2025-01-08T23:32:46.862Z,1736379166.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.141934 target range: 114.400002 and range: 114.10 m. 2025-01-08T23:32:46.970Z,1736379166.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:46.973Z,1736379166.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273663 2025-01-08T23:32:47.220Z,1736379167.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:47.221Z,1736379167.221 [DAT](INFO): DAT read: Range 10 to 50 : 114.0 m (Round-trip 152.0 ms) speed 0.0 m/s 2025-01-08T23:32:47.222Z,1736379167.222 [DAT](INFO): DAT read: user:3312> 2025-01-08T23:32:47.223Z,1736379167.223 [DAT](INFO): DAT read: Tx time:23:32:46.5377 2025-01-08T23:32:47.229Z,1736379167.229 [DAT](INFO): Ping request sent. 2025-01-08T23:32:47.229Z,1736379167.229 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:47.230Z,1736379167.230 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:32:47.230Z,1736379167.230 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:47.230Z,1736379167.230 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:47.330Z,1736379167.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:47.353Z,1736379167.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.000000 m, deltaT: 3.527138 s, deltaX: -0.099998 m, approachRate: -0.028351 m/s, rangeRepo size: 4 2025-01-08T23:32:47.354Z,1736379167.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:47.361Z,1736379167.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 14.548153 m, bearing: 186.714621 deg, approach rate: 0.497699 m/s, LOS rate: -0.339868 deg/s, cmd heading: 351.906919 deg, new cmd heading: 351.401835 deg. 2025-01-08T23:32:47.362Z,1736379167.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133119 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:47.472Z,1736379167.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:47.473Z,1736379167.473 [DAT](INFO): DAT read: TxSync time:23:32:46.5370 2025-01-08T23:32:47.660Z,1736379167.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:47.675Z,1736379167.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:47.684Z,1736379167.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 14.717459 m, bearing: 186.596423 deg, approach rate: 0.526026 m/s, LOS rate: -0.363011 deg/s, cmd heading: 351.401840 deg, new cmd heading: 351.051331 deg. 2025-01-08T23:32:47.685Z,1736379167.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.127002 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:47.724Z,1736379167.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:47.978Z,1736379167.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:48.099Z,1736379168.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:48.109Z,1736379168.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:48.112Z,1736379168.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 14.934857 m, bearing: 186.392599 deg, approach rate: 0.501367 m/s, LOS rate: -0.463219 deg/s, cmd heading: 351.051342 deg, new cmd heading: 350.448793 deg. 2025-01-08T23:32:48.113Z,1736379168.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116485 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:48.228Z,1736379168.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:48.461Z,1736379168.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:48.468Z,1736379168.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:48.480Z,1736379168.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:48.480Z,1736379168.480 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:48.480Z,1736379168.480 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:48.481Z,1736379168.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:48.492Z,1736379168.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:48.495Z,1736379168.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 15.114040 m, bearing: 186.221658 deg, approach rate: 0.488752 m/s, LOS rate: -0.460742 deg/s, cmd heading: 350.448783 deg, new cmd heading: 349.942053 deg. 2025-01-08T23:32:48.500Z,1736379168.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.107641 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:48.732Z,1736379168.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:48.733Z,1736379168.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503312 2025-01-08T23:32:48.869Z,1736379168.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:48.879Z,1736379168.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:48.902Z,1736379168.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 15.316029 m, bearing: 186.027766 deg, approach rate: 0.500145 m/s, LOS rate: -0.473766 deg/s, cmd heading: 349.942065 deg, new cmd heading: 349.368080 deg. 2025-01-08T23:32:48.903Z,1736379168.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097623 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:48.986Z,1736379168.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:48.989Z,1736379168.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759456 2025-01-08T23:32:49.236Z,1736379169.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:49.237Z,1736379169.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007382 2025-01-08T23:32:49.324Z,1736379169.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:49.347Z,1736379169.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:49.350Z,1736379169.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 15.543216 m, bearing: 185.753634 deg, approach rate: 0.489505 m/s, LOS rate: -0.582018 deg/s, cmd heading: 349.368083 deg, new cmd heading: 348.557766 deg. 2025-01-08T23:32:49.360Z,1736379169.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083481 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:49.488Z,1736379169.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:49.488Z,1736379169.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259179 2025-01-08T23:32:49.698Z,1736379169.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:49.707Z,1736379169.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:49.711Z,1736379169.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 15.730031 m, bearing: 185.528424 deg, approach rate: 0.512477 m/s, LOS rate: -0.610465 deg/s, cmd heading: 348.557777 deg, new cmd heading: 347.890201 deg. 2025-01-08T23:32:49.712Z,1736379169.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071829 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:49.740Z,1736379169.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:49.740Z,1736379169.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511162 2025-01-08T23:32:49.994Z,1736379169.994 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:49.997Z,1736379169.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766817 2025-01-08T23:32:50.108Z,1736379170.108 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:32:50.143Z,1736379170.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:50.152Z,1736379170.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:50.154Z,1736379170.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 15.953543 m, bearing: 185.180758 deg, approach rate: 0.503194 m/s, LOS rate: -0.771733 deg/s, cmd heading: 347.890194 deg, new cmd heading: 346.861926 deg. 2025-01-08T23:32:50.155Z,1736379170.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053883 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:50.244Z,1736379170.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:50.245Z,1736379170.245 [DAT](INFO): DAT read: Rx Time:23:32:49.0940 2025-01-08T23:32:50.245Z,1736379170.245 [DAT](INFO): Rx dataTimestamp_ set to:1736379170.244713 2025-01-08T23:32:50.245Z,1736379170.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016255 2025-01-08T23:32:50.496Z,1736379170.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:50.496Z,1736379170.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266945 2025-01-08T23:32:50.528Z,1736379170.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:50.535Z,1736379170.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:50.537Z,1736379170.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:50.540Z,1736379170.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 16.147808 m, bearing: 184.887105 deg, approach rate: 0.503850 m/s, LOS rate: -0.752456 deg/s, cmd heading: 346.861923 deg, new cmd heading: 345.991635 deg. 2025-01-08T23:32:50.541Z,1736379170.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038693 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:50.750Z,1736379170.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:50.752Z,1736379170.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522574 2025-01-08T23:32:50.893Z,1736379170.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:50.919Z,1736379170.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:50.933Z,1736379170.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 16.330393 m, bearing: 184.600232 deg, approach rate: 0.478081 m/s, LOS rate: -0.742751 deg/s, cmd heading: 345.991647 deg, new cmd heading: 345.140714 deg. 2025-01-08T23:32:50.934Z,1736379170.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023842 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:51.002Z,1736379171.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:51.008Z,1736379171.008 [DAT](INFO): DAT read: Range 10 to 50 : 114.0 m (Round-trip 152.0 ms) speed 0.0 m/s 2025-01-08T23:32:51.012Z,1736379171.012 [DAT](INFO): DAT read: user:3313> 2025-01-08T23:32:51.016Z,1736379171.016 [DAT](INFO): DAT read: Tx time:23:32:50.1878 2025-01-08T23:32:51.017Z,1736379171.017 [DAT](INFO): Ping request sent. 2025-01-08T23:32:51.017Z,1736379171.017 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:51.036Z,1736379171.036 [DAT](INFO): DAT read: TxSync time:23:32:50.1871 2025-01-08T23:32:51.038Z,1736379171.038 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:32:51.038Z,1736379171.038 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:51.069Z,1736379171.069 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:51.112Z,1736379171.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:32:51.252Z,1736379171.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:51.338Z,1736379171.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:51.348Z,1736379171.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.000000 m, deltaT: 3.782465 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:32:51.349Z,1736379171.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:51.368Z,1736379171.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 16.557692 m, bearing: 184.195856 deg, approach rate: 0.530342 m/s, LOS rate: -0.930544 deg/s, cmd heading: 345.140715 deg, new cmd heading: 343.944426 deg. 2025-01-08T23:32:51.369Z,1736379171.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.002963 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:51.504Z,1736379171.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:51.713Z,1736379171.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:51.722Z,1736379171.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:51.726Z,1736379171.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 16.749193 m, bearing: 183.856044 deg, approach rate: 0.511485 m/s, LOS rate: -0.897228 deg/s, cmd heading: 343.944421 deg, new cmd heading: 342.936751 deg. 2025-01-08T23:32:51.727Z,1736379171.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.985375 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:51.756Z,1736379171.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:52.009Z,1736379172.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:52.155Z,1736379172.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:52.165Z,1736379172.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:52.184Z,1736379172.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 16.980074 m, bearing: 183.414241 deg, approach rate: 0.521333 m/s, LOS rate: -0.984025 deg/s, cmd heading: 342.936749 deg, new cmd heading: 341.629603 deg. 2025-01-08T23:32:52.185Z,1736379172.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962562 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:52.260Z,1736379172.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:52.512Z,1736379172.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:52.524Z,1736379172.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:52.533Z,1736379172.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:52.536Z,1736379172.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 17.171335 m, bearing: 183.040806 deg, approach rate: 0.519373 m/s, LOS rate: -1.002767 deg/s, cmd heading: 341.629615 deg, new cmd heading: 340.521935 deg. 2025-01-08T23:32:52.537Z,1736379172.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943229 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:52.764Z,1736379172.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:52.951Z,1736379172.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:52.957Z,1736379172.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:52.961Z,1736379172.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:52.963Z,1736379172.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 17.391994 m, bearing: 182.610095 deg, approach rate: 0.515948 m/s, LOS rate: -0.994308 deg/s, cmd heading: 340.521922 deg, new cmd heading: 339.246405 deg. 2025-01-08T23:32:52.964Z,1736379172.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920967 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:53.016Z,1736379173.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:53.018Z,1736379173.018 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:53.018Z,1736379173.018 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:53.018Z,1736379173.018 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:53.268Z,1736379173.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:53.268Z,1736379173.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251549 2025-01-08T23:32:53.353Z,1736379173.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:53.363Z,1736379173.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:53.366Z,1736379173.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 17.614143 m, bearing: 182.201767 deg, approach rate: 0.552540 m/s, LOS rate: -1.002798 deg/s, cmd heading: 339.246398 deg, new cmd heading: 338.037053 deg. 2025-01-08T23:32:53.366Z,1736379173.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.899859 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:53.520Z,1736379173.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:53.521Z,1736379173.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503727 2025-01-08T23:32:53.733Z,1736379173.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:53.742Z,1736379173.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:53.746Z,1736379173.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 17.822754 m, bearing: 181.816469 deg, approach rate: 0.550735 m/s, LOS rate: -1.005279 deg/s, cmd heading: 338.037045 deg, new cmd heading: 336.894839 deg. 2025-01-08T23:32:53.747Z,1736379173.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879924 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:53.794Z,1736379173.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:53.795Z,1736379173.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777671 2025-01-08T23:32:54.044Z,1736379174.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:54.044Z,1736379174.044 [DAT](INFO): DAT read: Rx Time:23:32:52.7451 2025-01-08T23:32:54.045Z,1736379174.045 [DAT](INFO): Rx dataTimestamp_ set to:1736379174.044667 2025-01-08T23:32:54.045Z,1736379174.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028610 2025-01-08T23:32:54.213Z,1736379174.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:54.221Z,1736379174.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:54.224Z,1736379174.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 18.087879 m, bearing: 181.379754 deg, approach rate: 0.552432 m/s, LOS rate: -0.896620 deg/s, cmd heading: 336.894846 deg, new cmd heading: 335.604135 deg. 2025-01-08T23:32:54.227Z,1736379174.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857397 target range: 114.400002 and range: 114.00 m. 2025-01-08T23:32:54.296Z,1736379174.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:54.297Z,1736379174.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279679 2025-01-08T23:32:54.548Z,1736379174.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:54.550Z,1736379174.550 [DAT](INFO): DAT read: Range 10 to 50 : 114.8 m (Round-trip 153.1 ms) speed -0.2 m/s 2025-01-08T23:32:54.551Z,1736379174.551 [DAT](INFO): DAT read: user:3314> 2025-01-08T23:32:54.552Z,1736379174.552 [DAT](INFO): DAT read: Tx time:23:32:53.8378 2025-01-08T23:32:54.552Z,1736379174.552 [DAT](INFO): Ping request sent. 2025-01-08T23:32:54.552Z,1736379174.552 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:54.552Z,1736379174.552 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:32:54.553Z,1736379174.553 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:54.553Z,1736379174.553 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:54.617Z,1736379174.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:54.630Z,1736379174.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.800003 m, deltaT: 3.546207 s, deltaX: 0.800003 m, approachRate: 0.225594 m/s, rangeRepo size: 4 2025-01-08T23:32:54.631Z,1736379174.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:54.644Z,1736379174.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 18.312302 m, bearing: 181.021242 deg, approach rate: 0.549779 m/s, LOS rate: -0.867494 deg/s, cmd heading: 335.604132 deg, new cmd heading: 334.541908 deg. 2025-01-08T23:32:54.646Z,1736379174.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838858 target range: 114.400002 and range: 114.80 m. 2025-01-08T23:32:54.801Z,1736379174.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:54.802Z,1736379174.802 [DAT](INFO): DAT read: TxSync time:23:32:53.8371 2025-01-08T23:32:54.963Z,1736379174.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:54.971Z,1736379174.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:54.973Z,1736379174.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:54.977Z,1736379174.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 18.501270 m, bearing: 180.702547 deg, approach rate: 0.550634 m/s, LOS rate: -0.919155 deg/s, cmd heading: 334.541901 deg, new cmd heading: 333.595669 deg. 2025-01-08T23:32:54.977Z,1736379174.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822343 target range: 114.400002 and range: 114.80 m. 2025-01-08T23:32:55.053Z,1736379175.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:55.056Z,1736379175.056 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:55.056Z,1736379175.056 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:55.057Z,1736379175.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:55.305Z,1736379175.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:55.307Z,1736379175.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754897 2025-01-08T23:32:55.383Z,1736379175.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:55.393Z,1736379175.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:55.396Z,1736379175.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 18.737373 m, bearing: 180.371250 deg, approach rate: 0.564065 m/s, LOS rate: -0.781511 deg/s, cmd heading: 333.595673 deg, new cmd heading: 332.614409 deg. 2025-01-08T23:32:55.397Z,1736379175.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805217 target range: 114.400002 and range: 114.80 m. 2025-01-08T23:32:55.556Z,1736379175.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:55.556Z,1736379175.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004205 2025-01-08T23:32:55.768Z,1736379175.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:55.778Z,1736379175.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:55.780Z,1736379175.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 18.952913 m, bearing: 180.064664 deg, approach rate: 0.558104 m/s, LOS rate: -0.784820 deg/s, cmd heading: 332.614421 deg, new cmd heading: 331.705205 deg. 2025-01-08T23:32:55.781Z,1736379175.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789348 target range: 114.400002 and range: 114.80 m. 2025-01-08T23:32:55.817Z,1736379175.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:55.818Z,1736379175.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265823 2025-01-08T23:32:56.069Z,1736379176.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:56.070Z,1736379176.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517778 2025-01-08T23:32:56.198Z,1736379176.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:56.232Z,1736379176.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:56.235Z,1736379176.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 19.193087 m, bearing: 179.804739 deg, approach rate: 0.528269 m/s, LOS rate: -0.564558 deg/s, cmd heading: 331.705214 deg, new cmd heading: 330.935244 deg. 2025-01-08T23:32:56.240Z,1736379176.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775909 target range: 114.400002 and range: 114.80 m. 2025-01-08T23:32:56.320Z,1736379176.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:56.321Z,1736379176.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768439 2025-01-08T23:32:56.565Z,1736379176.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:56.572Z,1736379176.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:56.572Z,1736379176.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020331 2025-01-08T23:32:56.577Z,1736379176.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:56.596Z,1736379176.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 19.397099 m, bearing: 179.580008 deg, approach rate: 0.591666 m/s, LOS rate: -0.644897 deg/s, cmd heading: 330.935233 deg, new cmd heading: 330.268164 deg. 2025-01-08T23:32:56.597Z,1736379176.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764267 target range: 114.400002 and range: 114.80 m. 2025-01-08T23:32:56.824Z,1736379176.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:56.826Z,1736379176.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272974 2025-01-08T23:32:56.979Z,1736379176.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:56.985Z,1736379176.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:56.988Z,1736379176.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:56.991Z,1736379176.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 19.626127 m, bearing: 179.322464 deg, approach rate: 0.558229 m/s, LOS rate: -0.620406 deg/s, cmd heading: 330.268169 deg, new cmd heading: 329.504600 deg. 2025-01-08T23:32:56.993Z,1736379176.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750940 target range: 114.400002 and range: 114.80 m. 2025-01-08T23:32:57.076Z,1736379177.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:57.077Z,1736379177.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524575 2025-01-08T23:32:57.328Z,1736379177.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:57.328Z,1736379177.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776256 2025-01-08T23:32:57.406Z,1736379177.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:57.436Z,1736379177.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:57.438Z,1736379177.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 19.856407 m, bearing: 179.108166 deg, approach rate: 0.513395 m/s, LOS rate: -0.472221 deg/s, cmd heading: 329.504609 deg, new cmd heading: 328.869200 deg. 2025-01-08T23:32:57.444Z,1736379177.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739851 target range: 114.400002 and range: 114.80 m. 2025-01-08T23:32:57.586Z,1736379177.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:57.587Z,1736379177.587 [DAT](INFO): DAT read: Rx Time:23:32:56.3960 2025-01-08T23:32:57.587Z,1736379177.587 [DAT](INFO): Rx dataTimestamp_ set to:1736379177.587157 2025-01-08T23:32:57.588Z,1736379177.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035830 2025-01-08T23:32:57.784Z,1736379177.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:57.809Z,1736379177.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:32:57.816Z,1736379177.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 20.058781 m, bearing: 178.914052 deg, approach rate: 0.542875 m/s, LOS rate: -0.515465 deg/s, cmd heading: 328.869210 deg, new cmd heading: 328.292762 deg. 2025-01-08T23:32:57.817Z,1736379177.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729790 target range: 114.400002 and range: 114.80 m. 2025-01-08T23:32:57.836Z,1736379177.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:57.836Z,1736379177.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284313 2025-01-08T23:32:58.090Z,1736379178.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:58.117Z,1736379178.117 [DAT](INFO): DAT read: 23:32:56.3960 LVL= 16224, 19377, 18114, 25587, AGC= 59, IDX= 438,-0.49, 0.827, 0.424,-1.512, 0.019, PHS= 0.897, 0.452,-1.534, RAW= 39.9, 1.7, CAL= 38.9, 0.9, ROT= 111.1, -0.9 2025-01-08T23:32:58.121Z,1736379178.121 [DAT](INFO): got valid direction response: 23:32:56.3960 LVL= 16224, 19377, 18114, 25587, AGC= 59, IDX= 438,-0.49, 0.827, 0.424,-1.512, 0.019, PHS= 0.897, 0.452,-1.534, RAW= 39.9, 1.7, CAL= 38.9, 0.9, ROT= 111.1, -0.9 2025-01-08T23:32:58.129Z,1736379178.129 [DAT](INFO): DAT read: Bearing 111.1, -0.9 (Local) 2025-01-08T23:32:58.131Z,1736379178.131 [DAT](INFO): Local bearing/azimuth received: Bearing 111.1, -0.9 (Local) 2025-01-08T23:32:58.145Z,1736379178.145 [DAT](INFO): DAT read: Range 10 to 50 : 115.5 m (Round-trip 154.1 ms) speed -0.2 m/s 2025-01-08T23:32:58.153Z,1736379178.153 [DAT](INFO): DAT read: user:3315> 2025-01-08T23:32:58.199Z,1736379178.199 [DAT](INFO): DAT read: Tx time:23:32:57.4878 2025-01-08T23:32:58.200Z,1736379178.200 [DAT](INFO): Ping request sent. 2025-01-08T23:32:58.200Z,1736379178.200 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:32:58.200Z,1736379178.200 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:32:58.202Z,1736379178.202 [DAT](INFO): direction in FSK: [-0.018781,0.811825,0.583599] 2025-01-08T23:32:58.203Z,1736379178.203 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:58.223Z,1736379178.223 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:58.226Z,1736379178.226 [DAT](INFO): publishing transmit ping time 2025-01-08T23:32:58.227Z,1736379178.227 [DAT](INFO): publishing direction and range info 2025-01-08T23:32:58.302Z,1736379178.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:58.342Z,1736379178.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:58.346Z,1736379178.346 [DAT](INFO): DAT read: TxSync time:23:32:57.4871 2025-01-08T23:32:58.355Z,1736379178.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.500000 m, deltaT: 3.541489 s, deltaX: 0.699997 m, approachRate: 0.197656 m/s, rangeRepo size: 4 2025-01-08T23:32:58.358Z,1736379178.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.500000 m, bearing: 66.974782 deg, lat: 36.904643 deg, lon: -122.120599 deg, deltaT: 18.180256 s, deltaX: 1.099998 m, approachRate: 0.060505 m/s, posRepo size: 4 2025-01-08T23:32:58.359Z,1736379178.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:32:58.366Z,1736379178.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 25.786160 m, bearing: 142.008210 deg, approach rate: 0.000000 m/s, LOS rate: -0.515465 deg/s, cmd heading: 328.292769 deg, new cmd heading: 327.454835 deg. 2025-01-08T23:32:58.367Z,1736379178.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715165 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:32:58.593Z,1736379178.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:58.702Z,1736379178.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:58.727Z,1736379178.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:32:58.741Z,1736379178.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 25.990274 m, bearing: 142.164836 deg, approach rate: 0.542541 m/s, LOS rate: 0.413044 deg/s, cmd heading: 327.454842 deg, new cmd heading: 327.921018 deg. 2025-01-08T23:32:58.752Z,1736379178.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723301 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:32:58.844Z,1736379178.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:59.098Z,1736379179.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:59.263Z,1736379179.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:59.271Z,1736379179.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:32:59.273Z,1736379179.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:32:59.277Z,1736379179.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 26.268042 m, bearing: 142.383810 deg, approach rate: 0.508400 m/s, LOS rate: 0.396551 deg/s, cmd heading: 327.921016 deg, new cmd heading: 328.570962 deg. 2025-01-08T23:32:59.278Z,1736379179.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734645 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:32:59.348Z,1736379179.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:59.348Z,1736379179.348 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:32:59.349Z,1736379179.349 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:32:59.349Z,1736379179.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:32:59.598Z,1736379179.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:32:59.600Z,1736379179.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:59.600Z,1736379179.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.400551 2025-01-08T23:32:59.609Z,1736379179.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:32:59.612Z,1736379179.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 26.437202 m, bearing: 142.495348 deg, approach rate: 0.505077 m/s, LOS rate: 0.330898 deg/s, cmd heading: 328.570949 deg, new cmd heading: 328.903419 deg. 2025-01-08T23:32:59.613Z,1736379179.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740448 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:32:59.852Z,1736379179.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:32:59.853Z,1736379179.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.653443 2025-01-08T23:33:00.052Z,1736379180.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:00.061Z,1736379180.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:33:00.064Z,1736379180.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 26.666222 m, bearing: 142.644000 deg, approach rate: 0.505390 m/s, LOS rate: 0.325221 deg/s, cmd heading: 328.903415 deg, new cmd heading: 329.345531 deg. 2025-01-08T23:33:00.065Z,1736379180.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748164 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:33:00.104Z,1736379180.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:00.105Z,1736379180.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.905258 2025-01-08T23:33:00.356Z,1736379180.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:00.356Z,1736379180.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.156447 2025-01-08T23:33:00.457Z,1736379180.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:00.467Z,1736379180.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:33:00.470Z,1736379180.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 26.876896 m, bearing: 142.738075 deg, approach rate: 0.519363 m/s, LOS rate: 0.230099 deg/s, cmd heading: 329.345520 deg, new cmd heading: 329.625530 deg. 2025-01-08T23:33:00.471Z,1736379180.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753051 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:33:00.609Z,1736379180.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:00.611Z,1736379180.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.410407 2025-01-08T23:33:00.840Z,1736379180.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:00.850Z,1736379180.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:33:00.853Z,1736379180.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 27.076925 m, bearing: 142.820852 deg, approach rate: 0.521927 m/s, LOS rate: 0.214391 deg/s, cmd heading: 329.625530 deg, new cmd heading: 329.872026 deg. 2025-01-08T23:33:00.854Z,1736379180.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757353 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:33:00.861Z,1736379180.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:00.861Z,1736379180.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.661459 2025-01-08T23:33:01.112Z,1736379181.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:01.113Z,1736379181.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.912666 2025-01-08T23:33:01.270Z,1736379181.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:01.277Z,1736379181.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:01.279Z,1736379181.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:33:01.282Z,1736379181.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 27.309717 m, bearing: 142.853409 deg, approach rate: 0.542601 m/s, LOS rate: 0.075239 deg/s, cmd heading: 329.872018 deg, new cmd heading: 329.968857 deg. 2025-01-08T23:33:01.283Z,1736379181.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759043 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:33:01.364Z,1736379181.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:01.366Z,1736379181.366 [DAT](INFO): DAT read: Rx Time:23:33:00.0471 2025-01-08T23:33:01.367Z,1736379181.367 [DAT](INFO): Rx dataTimestamp_ set to:1736379181.366169 2025-01-08T23:33:01.368Z,1736379181.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.167631 2025-01-08T23:33:01.616Z,1736379181.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:01.616Z,1736379181.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.416575 2025-01-08T23:33:01.640Z,1736379181.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:01.654Z,1736379181.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:33:01.682Z,1736379181.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 27.509600 m, bearing: 142.877687 deg, approach rate: 0.533702 m/s, LOS rate: 0.064355 deg/s, cmd heading: 329.968870 deg, new cmd heading: 330.041177 deg. 2025-01-08T23:33:01.688Z,1736379181.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760305 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:33:01.868Z,1736379181.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:01.874Z,1736379181.874 [DAT](INFO): DAT read: 23:33:00.0471 LVL= 15760, 18481, 18866, 24371, AGC= 59, IDX= 432, 0.15, 1.544, 1.914,-0.389, 1.145, PHS= 0.488, 0.816,-1.537, RAW= 22.6, 2.1, CAL= 21.9, 2.0, ROT= 128.1, -2.0 2025-01-08T23:33:01.877Z,1736379181.877 [DAT](INFO): got valid direction response: 23:33:00.0471 LVL= 15760, 18481, 18866, 24371, AGC= 59, IDX= 432, 0.15, 1.544, 1.914,-0.389, 1.145, PHS= 0.488, 0.816,-1.537, RAW= 22.6, 2.1, CAL= 21.9, 2.0, ROT= 128.1, -2.0 2025-01-08T23:33:01.878Z,1736379181.878 [DAT](INFO): DAT read: Bearing 128.1, -2.0 (Local) 2025-01-08T23:33:01.879Z,1736379181.879 [DAT](INFO): Local bearing/azimuth received: Bearing 128.1, -2.0 (Local) 2025-01-08T23:33:01.881Z,1736379181.881 [DAT](INFO): DAT read: Range 10 to 50 : 116.2 m (Round-trip 155.0 ms) speed -0.4 m/s 2025-01-08T23:33:01.882Z,1736379181.882 [DAT](INFO): DAT read: user:3316> 2025-01-08T23:33:01.882Z,1736379181.882 [DAT](INFO): DAT read: Tx time:23:33:01.1379 2025-01-08T23:33:01.883Z,1736379181.883 [DAT](INFO): Ping request sent. 2025-01-08T23:33:01.883Z,1736379181.883 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:01.883Z,1736379181.883 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:01.884Z,1736379181.884 [DAT](INFO): direction in FSK: [0.007194,0.943563,0.331116] 2025-01-08T23:33:01.884Z,1736379181.884 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:01.885Z,1736379181.885 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:01.888Z,1736379181.888 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:01.888Z,1736379181.888 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:02.062Z,1736379182.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:02.118Z,1736379182.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.199997 m, deltaT: 3.777830 s, deltaX: 0.699997 m, approachRate: 0.185291 m/s, rangeRepo size: 4 2025-01-08T23:33:02.120Z,1736379182.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:02.121Z,1736379182.121 [DAT](INFO): DAT read: TxSync time:23:33:01.1372 2025-01-08T23:33:02.129Z,1736379182.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.199997 m, bearing: 58.213773 deg, lat: 36.904658 deg, lon: -122.120305 deg, deltaT: 3.777830 s, deltaX: 0.699997 m, approachRate: 0.185291 m/s, posRepo size: 4 2025-01-08T23:33:02.129Z,1736379182.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:33:02.139Z,1736379182.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 47.488232 m, bearing: 115.454153 deg, approach rate: 0.000000 m/s, LOS rate: 0.064355 deg/s, cmd heading: 330.041188 deg, new cmd heading: 330.130729 deg. 2025-01-08T23:33:02.144Z,1736379182.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761868 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:33:02.372Z,1736379182.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:02.470Z,1736379182.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:02.479Z,1736379182.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:33:02.482Z,1736379182.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 47.710892 m, bearing: 115.571990 deg, approach rate: 0.615629 m/s, LOS rate: 0.324284 deg/s, cmd heading: 330.130719 deg, new cmd heading: 330.482575 deg. 2025-01-08T23:33:02.483Z,1736379182.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768009 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:33:02.624Z,1736379182.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:02.852Z,1736379182.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:02.862Z,1736379182.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:33:02.865Z,1736379182.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 47.919880 m, bearing: 115.680933 deg, approach rate: 0.546045 m/s, LOS rate: 0.283404 deg/s, cmd heading: 330.482583 deg, new cmd heading: 330.807981 deg. 2025-01-08T23:33:02.866Z,1736379182.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773688 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:33:02.876Z,1736379182.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:03.128Z,1736379183.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:03.308Z,1736379183.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:03.315Z,1736379183.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:03.317Z,1736379183.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:33:03.323Z,1736379183.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 48.196880 m, bearing: 115.792603 deg, approach rate: 0.608810 m/s, LOS rate: 0.244024 deg/s, cmd heading: 330.807973 deg, new cmd heading: 331.141053 deg. 2025-01-08T23:33:03.326Z,1736379183.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779501 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:33:03.380Z,1736379183.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:03.381Z,1736379183.381 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:03.381Z,1736379183.381 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:03.381Z,1736379183.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:03.632Z,1736379183.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:03.632Z,1736379183.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749669 2025-01-08T23:33:03.697Z,1736379183.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:03.710Z,1736379183.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:33:03.717Z,1736379183.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 48.432903 m, bearing: 115.887444 deg, approach rate: 0.600048 m/s, LOS rate: 0.239944 deg/s, cmd heading: 331.141040 deg, new cmd heading: 331.424177 deg. 2025-01-08T23:33:03.718Z,1736379183.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784443 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:33:03.884Z,1736379183.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:03.884Z,1736379183.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001728 2025-01-08T23:33:04.061Z,1736379184.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:04.070Z,1736379184.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:33:04.073Z,1736379184.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 48.654270 m, bearing: 115.975823 deg, approach rate: 0.615637 m/s, LOS rate: 0.244669 deg/s, cmd heading: 331.424165 deg, new cmd heading: 331.688093 deg. 2025-01-08T23:33:04.074Z,1736379184.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789049 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:33:04.137Z,1736379184.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:04.138Z,1736379184.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255009 2025-01-08T23:33:04.388Z,1736379184.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:04.388Z,1736379184.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505618 2025-01-08T23:33:04.498Z,1736379184.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:04.506Z,1736379184.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:33:04.510Z,1736379184.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 48.943840 m, bearing: 116.077382 deg, approach rate: 0.663808 m/s, LOS rate: 0.231437 deg/s, cmd heading: 331.688084 deg, new cmd heading: 331.990956 deg. 2025-01-08T23:33:04.511Z,1736379184.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794335 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:33:04.640Z,1736379184.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:04.641Z,1736379184.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757864 2025-01-08T23:33:04.872Z,1736379184.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:04.881Z,1736379184.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:33:04.884Z,1736379184.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 49.191589 m, bearing: 116.164153 deg, approach rate: 0.660901 m/s, LOS rate: 0.230305 deg/s, cmd heading: 331.990962 deg, new cmd heading: 332.249960 deg. 2025-01-08T23:33:04.885Z,1736379184.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798856 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:33:04.893Z,1736379184.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:04.893Z,1736379184.893 [DAT](INFO): DAT read: Rx Time:23:33:03.6997 2025-01-08T23:33:04.894Z,1736379184.894 [DAT](INFO): Rx dataTimestamp_ set to:1736379184.893441 2025-01-08T23:33:04.894Z,1736379184.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011576 2025-01-08T23:33:05.144Z,1736379185.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:05.145Z,1736379185.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262015 2025-01-08T23:33:05.312Z,1736379185.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:05.322Z,1736379185.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:05.325Z,1736379185.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:33:05.330Z,1736379185.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 49.497631 m, bearing: 116.259970 deg, approach rate: 0.688736 m/s, LOS rate: 0.214299 deg/s, cmd heading: 332.249962 deg, new cmd heading: 332.535634 deg. 2025-01-08T23:33:05.331Z,1736379185.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803842 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:33:05.397Z,1736379185.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:05.416Z,1736379185.416 [DAT](INFO): DAT read: 23:33:03.6997 LVL= 15088, 20113, 18418, 27379, AGC= 58, IDX= 458,-0.37, 2.643,-2.911, 0.939, 2.313, PHS= 0.418, 1.106,-1.377, RAW= 14.4, -1.3, CAL= 14.1, -3.2, ROT= 135.9, 3.2 2025-01-08T23:33:05.417Z,1736379185.417 [DAT](INFO): got valid direction response: 23:33:03.6997 LVL= 15088, 20113, 18418, 27379, AGC= 58, IDX= 458,-0.37, 2.643,-2.911, 0.939, 2.313, PHS= 0.418, 1.106,-1.377, RAW= 14.4, -1.3, CAL= 14.1, -3.2, ROT= 135.9, 3.2 2025-01-08T23:33:05.418Z,1736379185.418 [DAT](INFO): DAT read: Bearing 135.9, 3.2 (Local) 2025-01-08T23:33:05.419Z,1736379185.419 [DAT](INFO): Local bearing/azimuth received: Bearing 135.9, 3.2 (Local) 2025-01-08T23:33:05.429Z,1736379185.429 [DAT](INFO): DAT read: Range 10 to 50 : 118.2 m (Round-trip 157.6 ms) speed -0.5 m/s 2025-01-08T23:33:05.429Z,1736379185.429 [DAT](INFO): DAT read: user:3317> 2025-01-08T23:33:05.430Z,1736379185.430 [DAT](INFO): DAT read: Tx time:23:33:04.7879 2025-01-08T23:33:05.430Z,1736379185.430 [DAT](INFO): Ping request sent. 2025-01-08T23:33:05.430Z,1736379185.430 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:05.431Z,1736379185.431 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:05.436Z,1736379185.436 [DAT](INFO): direction in FSK: [0.087919,0.975149,0.203356] 2025-01-08T23:33:05.436Z,1736379185.436 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:05.437Z,1736379185.437 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:05.453Z,1736379185.453 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:05.453Z,1736379185.453 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:05.649Z,1736379185.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:05.650Z,1736379185.650 [DAT](INFO): DAT read: TxSync time:23:33:04.7872 2025-01-08T23:33:05.722Z,1736379185.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:05.757Z,1736379185.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.199997 m, deltaT: 3.530000 s, deltaX: 2.000000 m, approachRate: 0.566572 m/s, rangeRepo size: 4 2025-01-08T23:33:05.764Z,1736379185.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.199997 m, bearing: 53.367926 deg, lat: 36.905154 deg, lon: -122.119813 deg, deltaT: 3.530000 s, deltaX: 2.000000 m, approachRate: 0.566572 m/s, posRepo size: 4 2025-01-08T23:33:05.765Z,1736379185.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m. 2025-01-08T23:33:05.772Z,1736379185.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.199997 m, nav range: 94.362045 m, bearing: 69.539032 deg, approach rate: 0.000000 m/s, LOS rate: 0.214299 deg/s, cmd heading: 332.535628 deg, new cmd heading: 332.812846 deg. 2025-01-08T23:33:05.773Z,1736379185.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808680 target range: 118.199997 and range: 118.20 m. 2025-01-08T23:33:05.900Z,1736379185.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:06.103Z,1736379186.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:06.112Z,1736379186.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m. 2025-01-08T23:33:06.116Z,1736379186.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.199997 m, nav range: 94.490349 m, bearing: 69.685618 deg, approach rate: 0.360266 m/s, LOS rate: 0.411042 deg/s, cmd heading: 332.812852 deg, new cmd heading: 333.252004 deg. 2025-01-08T23:33:06.117Z,1736379186.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816345 target range: 118.199997 and range: 118.20 m. 2025-01-08T23:33:06.152Z,1736379186.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:06.404Z,1736379186.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:06.528Z,1736379186.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:06.537Z,1736379186.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m. 2025-01-08T23:33:06.540Z,1736379186.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.199997 m, nav range: 94.631302 m, bearing: 69.848926 deg, approach rate: 0.332419 m/s, LOS rate: 0.384566 deg/s, cmd heading: 333.252006 deg, new cmd heading: 333.741188 deg. 2025-01-08T23:33:06.541Z,1736379186.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824883 target range: 118.199997 and range: 118.20 m. 2025-01-08T23:33:06.656Z,1736379186.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:06.908Z,1736379186.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:06.916Z,1736379186.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:06.933Z,1736379186.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m. 2025-01-08T23:33:06.941Z,1736379186.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.199997 m, nav range: 94.757431 m, bearing: 69.998253 deg, approach rate: 0.317964 m/s, LOS rate: 0.375942 deg/s, cmd heading: 333.741184 deg, new cmd heading: 334.188558 deg. 2025-01-08T23:33:06.943Z,1736379186.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832691 target range: 118.199997 and range: 118.20 m. 2025-01-08T23:33:07.160Z,1736379187.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:07.360Z,1736379187.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:07.371Z,1736379187.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:07.377Z,1736379187.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m. 2025-01-08T23:33:07.385Z,1736379187.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.199997 m, nav range: 94.882286 m, bearing: 70.163034 deg, approach rate: 0.281112 m/s, LOS rate: 0.370516 deg/s, cmd heading: 334.188561 deg, new cmd heading: 334.682239 deg. 2025-01-08T23:33:07.399Z,1736379187.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841307 target range: 118.199997 and range: 118.20 m. 2025-01-08T23:33:07.412Z,1736379187.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:07.412Z,1736379187.412 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:07.412Z,1736379187.412 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:07.413Z,1736379187.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:07.664Z,1736379187.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:07.666Z,1736379187.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234610 2025-01-08T23:33:07.741Z,1736379187.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:07.750Z,1736379187.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m. 2025-01-08T23:33:07.753Z,1736379187.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.199997 m, nav range: 94.998512 m, bearing: 70.316284 deg, approach rate: 0.311807 m/s, LOS rate: 0.410631 deg/s, cmd heading: 334.682247 deg, new cmd heading: 335.141425 deg. 2025-01-08T23:33:07.754Z,1736379187.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849321 target range: 118.199997 and range: 118.20 m. 2025-01-08T23:33:07.916Z,1736379187.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:07.916Z,1736379187.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485775 2025-01-08T23:33:08.136Z,1736379188.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:08.146Z,1736379188.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m. 2025-01-08T23:33:08.148Z,1736379188.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.199997 m, nav range: 95.113770 m, bearing: 70.467986 deg, approach rate: 0.291447 m/s, LOS rate: 0.383139 deg/s, cmd heading: 335.141427 deg, new cmd heading: 335.595972 deg. 2025-01-08T23:33:08.149Z,1736379188.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857255 target range: 118.199997 and range: 118.20 m. 2025-01-08T23:33:08.169Z,1736379188.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:08.170Z,1736379188.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739279 2025-01-08T23:33:08.420Z,1736379188.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:08.420Z,1736379188.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989969 2025-01-08T23:33:08.535Z,1736379188.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:08.565Z,1736379188.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m. 2025-01-08T23:33:08.568Z,1736379188.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.199997 m, nav range: 95.203995 m, bearing: 70.613741 deg, approach rate: 0.215278 m/s, LOS rate: 0.347443 deg/s, cmd heading: 335.595963 deg, new cmd heading: 336.032806 deg. 2025-01-08T23:33:08.569Z,1736379188.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864879 target range: 118.199997 and range: 118.20 m. 2025-01-08T23:33:08.673Z,1736379188.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:08.674Z,1736379188.674 [DAT](INFO): DAT read: Rx Time:23:33:07.3519 2025-01-08T23:33:08.674Z,1736379188.674 [DAT](INFO): Rx dataTimestamp_ set to:1736379188.673962 2025-01-08T23:33:08.676Z,1736379188.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244793 2025-01-08T23:33:08.920Z,1736379188.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:08.924Z,1736379188.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:08.924Z,1736379188.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493857 2025-01-08T23:33:08.945Z,1736379188.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.20 m. 2025-01-08T23:33:08.952Z,1736379188.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.199997 m, nav range: 95.290535 m, bearing: 70.754169 deg, approach rate: 0.227701 m/s, LOS rate: 0.369153 deg/s, cmd heading: 336.032794 deg, new cmd heading: 336.453688 deg. 2025-01-08T23:33:08.953Z,1736379188.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872225 target range: 118.199997 and range: 118.20 m. 2025-01-08T23:33:09.176Z,1736379189.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:09.184Z,1736379189.184 [DAT](INFO): DAT read: 23:33:07.3519 LVL= 16016, 17489, 17394, 24867, AGC= 57, IDX= 449,-0.43, 0.097, 0.708,-1.640,-0.370, PHS= 0.555, 1.125,-1.273, RAW= 16.9, -3.8, CAL= 16.6, -6.7, ROT= 133.4, 6.7 2025-01-08T23:33:09.185Z,1736379189.185 [DAT](INFO): got valid direction response: 23:33:07.3519 LVL= 16016, 17489, 17394, 24867, AGC= 57, IDX= 449,-0.43, 0.097, 0.708,-1.640,-0.370, PHS= 0.555, 1.125,-1.273, RAW= 16.9, -3.8, CAL= 16.6, -6.7, ROT= 133.4, 6.7 2025-01-08T23:33:09.186Z,1736379189.186 [DAT](INFO): DAT read: Bearing 133.4, 6.7 (Local) 2025-01-08T23:33:09.186Z,1736379189.186 [DAT](INFO): Local bearing/azimuth received: Bearing 133.4, 6.7 (Local) 2025-01-08T23:33:09.191Z,1736379189.191 [DAT](INFO): DAT read: Range 10 to 50 : 119.8 m (Round-trip 159.8 ms) speed -0.2 m/s 2025-01-08T23:33:09.192Z,1736379189.192 [DAT](INFO): DAT read: user:3318> 2025-01-08T23:33:09.193Z,1736379189.193 [DAT](INFO): DAT read: Tx time:23:33:08.4379 2025-01-08T23:33:09.193Z,1736379189.193 [DAT](INFO): Ping request sent. 2025-01-08T23:33:09.193Z,1736379189.193 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:09.194Z,1736379189.194 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:09.195Z,1736379189.195 [DAT](INFO): direction in FSK: [0.129099,0.960812,0.245304] 2025-01-08T23:33:09.195Z,1736379189.195 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:09.209Z,1736379189.209 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:09.216Z,1736379189.216 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:09.216Z,1736379189.216 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:09.428Z,1736379189.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:09.430Z,1736379189.430 [DAT](INFO): DAT read: TxSync time:23:33:08.4372 2025-01-08T23:33:09.474Z,1736379189.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:09.504Z,1736379189.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.800003 m, deltaT: 3.778385 s, deltaX: 1.600006 m, approachRate: 0.423463 m/s, rangeRepo size: 4 2025-01-08T23:33:09.506Z,1736379189.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 119.800003 m, bearing: 53.806567 deg, lat: 36.905352 deg, lon: -122.119813 deg, deltaT: 3.778385 s, deltaX: 1.600006 m, approachRate: 0.423463 m/s, posRepo size: 4 2025-01-08T23:33:09.507Z,1736379189.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.80 m. 2025-01-08T23:33:09.514Z,1736379189.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.800003 m, nav range: 104.668427 m, bearing: 59.469887 deg, approach rate: 0.000000 m/s, LOS rate: 0.369153 deg/s, cmd heading: 336.453698 deg, new cmd heading: 337.067697 deg. 2025-01-08T23:33:09.515Z,1736379189.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882941 target range: 119.800003 and range: 119.80 m. 2025-01-08T23:33:09.681Z,1736379189.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:09.803Z,1736379189.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:09.817Z,1736379189.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:09.820Z,1736379189.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.80 m. 2025-01-08T23:33:09.823Z,1736379189.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.800003 m, nav range: 104.682442 m, bearing: 59.580502 deg, approach rate: 0.043768 m/s, LOS rate: 0.345395 deg/s, cmd heading: 337.067705 deg, new cmd heading: 337.399501 deg. 2025-01-08T23:33:09.832Z,1736379189.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888732 target range: 119.800003 and range: 119.80 m. 2025-01-08T23:33:09.933Z,1736379189.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:09.934Z,1736379189.934 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:09.934Z,1736379189.934 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:09.934Z,1736379189.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:10.184Z,1736379190.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:10.184Z,1736379190.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991067 2025-01-08T23:33:10.201Z,1736379190.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:10.210Z,1736379190.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.80 m. 2025-01-08T23:33:10.212Z,1736379190.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.800003 m, nav range: 104.699905 m, bearing: 59.714115 deg, approach rate: 0.044764 m/s, LOS rate: 0.342424 deg/s, cmd heading: 337.399488 deg, new cmd heading: 337.800253 deg. 2025-01-08T23:33:10.213Z,1736379190.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895727 target range: 119.800003 and range: 119.80 m. 2025-01-08T23:33:10.437Z,1736379190.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:10.439Z,1736379190.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244830 2025-01-08T23:33:10.611Z,1736379190.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:10.640Z,1736379190.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.80 m. 2025-01-08T23:33:10.644Z,1736379190.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.800003 m, nav range: 104.693047 m, bearing: 59.845365 deg, approach rate: -0.015933 m/s, LOS rate: 0.304916 deg/s, cmd heading: 337.800256 deg, new cmd heading: 338.194024 deg. 2025-01-08T23:33:10.645Z,1736379190.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902599 target range: 119.800003 and range: 119.80 m. 2025-01-08T23:33:10.688Z,1736379190.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:10.689Z,1736379190.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495179 2025-01-08T23:33:10.940Z,1736379190.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:10.940Z,1736379190.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747036 2025-01-08T23:33:11.009Z,1736379191.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:11.018Z,1736379191.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.80 m. 2025-01-08T23:33:11.021Z,1736379191.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.800003 m, nav range: 104.684509 m, bearing: 59.972456 deg, approach rate: -0.022567 m/s, LOS rate: 0.335974 deg/s, cmd heading: 338.194030 deg, new cmd heading: 338.575327 deg. 2025-01-08T23:33:11.022Z,1736379191.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909254 target range: 119.800003 and range: 119.80 m. 2025-01-08T23:33:11.193Z,1736379191.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:11.193Z,1736379191.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000084 2025-01-08T23:33:11.429Z,1736379191.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:11.438Z,1736379191.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.80 m. 2025-01-08T23:33:11.441Z,1736379191.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.800003 m, nav range: 104.655838 m, bearing: 60.102366 deg, approach rate: -0.068328 m/s, LOS rate: 0.309680 deg/s, cmd heading: 338.575319 deg, new cmd heading: 338.965149 deg. 2025-01-08T23:33:11.442Z,1736379191.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916058 target range: 119.800003 and range: 119.80 m. 2025-01-08T23:33:11.444Z,1736379191.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:11.445Z,1736379191.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251785 2025-01-08T23:33:11.696Z,1736379191.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:11.696Z,1736379191.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503029 2025-01-08T23:33:11.797Z,1736379191.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:11.806Z,1736379191.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.80 m. 2025-01-08T23:33:11.810Z,1736379191.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.800003 m, nav range: 104.629181 m, bearing: 60.215717 deg, approach rate: -0.072436 m/s, LOS rate: 0.308089 deg/s, cmd heading: 338.965158 deg, new cmd heading: 339.305294 deg. 2025-01-08T23:33:11.811Z,1736379191.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921995 target range: 119.800003 and range: 119.80 m. 2025-01-08T23:33:11.948Z,1736379191.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:11.948Z,1736379191.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754950 2025-01-08T23:33:12.200Z,1736379192.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:12.201Z,1736379192.201 [DAT](INFO): DAT read: Rx Time:23:33:11.0031 2025-01-08T23:33:12.201Z,1736379192.201 [DAT](INFO): Rx dataTimestamp_ set to:1736379192.200872 2025-01-08T23:33:12.202Z,1736379192.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008263 2025-01-08T23:33:12.228Z,1736379192.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:12.273Z,1736379192.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:12.279Z,1736379192.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.80 m. 2025-01-08T23:33:12.282Z,1736379192.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.800003 m, nav range: 104.596298 m, bearing: 60.348013 deg, approach rate: -0.070161 m/s, LOS rate: 0.282366 deg/s, cmd heading: 339.305302 deg, new cmd heading: 339.702310 deg. 2025-01-08T23:33:12.288Z,1736379192.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928924 target range: 119.800003 and range: 119.80 m. 2025-01-08T23:33:12.452Z,1736379192.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:12.452Z,1736379192.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259074 2025-01-08T23:33:12.705Z,1736379192.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:12.718Z,1736379192.718 [DAT](INFO): DAT read: 23:33:11.0031 LVL= 14128, 15473, 16242, 20851, AGC= 56, IDX= 444, 0.33, 2.923,-3.055, 0.946, 2.294, PHS= 0.717, 0.981,-1.351, RAW= 24.1, -3.2, CAL= 23.9, -6.0, ROT= 126.1, 6.0 2025-01-08T23:33:12.719Z,1736379192.719 [DAT](INFO): got valid direction response: 23:33:11.0031 LVL= 14128, 15473, 16242, 20851, AGC= 56, IDX= 444, 0.33, 2.923,-3.055, 0.946, 2.294, PHS= 0.717, 0.981,-1.351, RAW= 24.1, -3.2, CAL= 23.9, -6.0, ROT= 126.1, 6.0 2025-01-08T23:33:12.721Z,1736379192.721 [DAT](INFO): DAT read: Bearing 126.1, 6.0 (Local) 2025-01-08T23:33:12.721Z,1736379192.721 [DAT](INFO): Local bearing/azimuth received: Bearing 126.1, 6.0 (Local) 2025-01-08T23:33:12.722Z,1736379192.722 [DAT](INFO): DAT read: Range 10 to 50 : 120.6 m (Round-trip 160.9 ms) speed -0.4 m/s 2025-01-08T23:33:12.723Z,1736379192.723 [DAT](INFO): DAT read: user:3319> 2025-01-08T23:33:12.724Z,1736379192.724 [DAT](INFO): DAT read: Tx time:23:33:12.0880 2025-01-08T23:33:12.724Z,1736379192.724 [DAT](INFO): Ping request sent. 2025-01-08T23:33:12.724Z,1736379192.724 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:12.725Z,1736379192.725 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:12.727Z,1736379192.727 [DAT](INFO): direction in FSK: [0.103445,0.927360,0.359586] 2025-01-08T23:33:12.732Z,1736379192.732 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:12.732Z,1736379192.732 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:12.735Z,1736379192.735 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:12.735Z,1736379192.735 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:12.744Z,1736379192.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:12.770Z,1736379192.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.599998 m, deltaT: 3.529305 s, deltaX: 0.799995 m, approachRate: 0.226672 m/s, rangeRepo size: 4 2025-01-08T23:33:12.778Z,1736379192.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.599998 m, bearing: 60.138391 deg, lat: 36.905352 deg, lon: -122.119813 deg, deltaT: 3.529305 s, deltaX: 0.799995 m, approachRate: 0.226672 m/s, posRepo size: 4 2025-01-08T23:33:12.778Z,1736379192.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.60 m. 2025-01-08T23:33:12.797Z,1736379192.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.599998 m, nav range: 104.553627 m, bearing: 60.494221 deg, approach rate: 0.000000 m/s, LOS rate: 0.282366 deg/s, cmd heading: 339.702300 deg, new cmd heading: 340.121739 deg. 2025-01-08T23:33:12.798Z,1736379192.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936244 target range: 120.599998 and range: 120.60 m. 2025-01-08T23:33:12.956Z,1736379192.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:12.957Z,1736379192.957 [DAT](INFO): DAT read: TxSync time:23:33:12.0873 2025-01-08T23:33:13.138Z,1736379193.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:13.154Z,1736379193.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.60 m. 2025-01-08T23:33:13.162Z,1736379193.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.599998 m, nav range: 104.513527 m, bearing: 60.627902 deg, approach rate: -0.104299 m/s, LOS rate: 0.347835 deg/s, cmd heading: 340.121728 deg, new cmd heading: 340.522919 deg. 2025-01-08T23:33:13.168Z,1736379193.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943246 target range: 120.599998 and range: 120.60 m. 2025-01-08T23:33:13.208Z,1736379193.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:13.460Z,1736379193.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:13.488Z,1736379193.488 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 97.54, 75.79, 81.68 2025-01-08T23:33:13.536Z,1736379193.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:33:13.536Z,1736379193.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:13.554Z,1736379193.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.60 m. 2025-01-08T23:33:13.557Z,1736379193.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.599998 m, nav range: 104.476738 m, bearing: 60.748779 deg, approach rate: -0.092108 m/s, LOS rate: 0.302743 deg/s, cmd heading: 340.522906 deg, new cmd heading: 340.885659 deg. 2025-01-08T23:33:13.559Z,1736379193.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949577 target range: 120.599998 and range: 120.60 m. 2025-01-08T23:33:13.712Z,1736379193.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:13.893Z,1736379193.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:33:13.893Z,1736379193.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:13.902Z,1736379193.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.60 m. 2025-01-08T23:33:13.905Z,1736379193.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.599998 m, nav range: 104.442223 m, bearing: 60.859534 deg, approach rate: -0.099073 m/s, LOS rate: 0.318018 deg/s, cmd heading: 340.885671 deg, new cmd heading: 341.218043 deg. 2025-01-08T23:33:13.906Z,1736379193.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955379 target range: 120.599998 and range: 120.60 m. 2025-01-08T23:33:13.964Z,1736379193.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:14.216Z,1736379194.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:14.442Z,1736379194.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T23:33:14.443Z,1736379194.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:14.469Z,1736379194.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:14.473Z,1736379194.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:14.480Z,1736379194.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.60 m. 2025-01-08T23:33:14.485Z,1736379194.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.599998 m, nav range: 104.388580 m, bearing: 61.027679 deg, approach rate: -0.093059 m/s, LOS rate: 0.291847 deg/s, cmd heading: 341.218055 deg, new cmd heading: 341.722736 deg. 2025-01-08T23:33:14.492Z,1736379194.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964187 target range: 120.599998 and range: 120.60 m. 2025-01-08T23:33:14.720Z,1736379194.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:14.720Z,1736379194.720 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:14.720Z,1736379194.720 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:14.720Z,1736379194.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:14.833Z,1736379194.833 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3278,-32768,V 2025-01-08T23:33:14.840Z,1736379194.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T23:33:14.841Z,1736379194.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:14.850Z,1736379194.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.60 m. 2025-01-08T23:33:14.853Z,1736379194.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.599998 m, nav range: 104.348404 m, bearing: 61.150756 deg, approach rate: -0.108023 m/s, LOS rate: 0.331045 deg/s, cmd heading: 341.722724 deg, new cmd heading: 342.092090 deg. 2025-01-08T23:33:14.854Z,1736379194.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970634 target range: 120.599998 and range: 120.60 m. 2025-01-08T23:33:14.972Z,1736379194.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:14.972Z,1736379194.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247998 2025-01-08T23:33:15.224Z,1736379195.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:15.226Z,1736379195.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501492 2025-01-08T23:33:15.272Z,1736379195.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s. 2025-01-08T23:33:15.272Z,1736379195.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:15.282Z,1736379195.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.60 m. 2025-01-08T23:33:15.285Z,1736379195.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.599998 m, nav range: 104.304558 m, bearing: 61.283061 deg, approach rate: -0.101676 m/s, LOS rate: 0.306937 deg/s, cmd heading: 342.092101 deg, new cmd heading: 342.489177 deg. 2025-01-08T23:33:15.286Z,1736379195.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.977564 target range: 120.599998 and range: 120.60 m. 2025-01-08T23:33:15.476Z,1736379195.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:15.476Z,1736379195.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752146 2025-01-08T23:33:15.726Z,1736379195.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:15.728Z,1736379195.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:15.729Z,1736379195.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004487 2025-01-08T23:33:15.752Z,1736379195.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.60 m. 2025-01-08T23:33:15.755Z,1736379195.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.599998 m, nav range: 104.293549 m, bearing: 61.441797 deg, approach rate: -0.023414 m/s, LOS rate: 0.337634 deg/s, cmd heading: 342.489181 deg, new cmd heading: 342.965428 deg. 2025-01-08T23:33:15.764Z,1736379195.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.985876 target range: 120.599998 and range: 120.60 m. 2025-01-08T23:33:15.980Z,1736379195.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:15.982Z,1736379195.982 [DAT](INFO): DAT read: Rx Time:23:33:14.6551 2025-01-08T23:33:15.982Z,1736379195.982 [DAT](INFO): Rx dataTimestamp_ set to:1736379195.981787 2025-01-08T23:33:15.983Z,1736379195.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258692 2025-01-08T23:33:16.160Z,1736379196.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:16.169Z,1736379196.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.60 m. 2025-01-08T23:33:16.172Z,1736379196.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.599998 m, nav range: 104.281380 m, bearing: 61.593098 deg, approach rate: -0.029198 m/s, LOS rate: 0.363073 deg/s, cmd heading: 342.965436 deg, new cmd heading: 343.419383 deg. 2025-01-08T23:33:16.173Z,1736379196.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993799 target range: 120.599998 and range: 120.60 m. 2025-01-08T23:33:16.232Z,1736379196.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:16.233Z,1736379196.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508375 2025-01-08T23:33:16.484Z,1736379196.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:16.491Z,1736379196.491 [DAT](INFO): DAT read: 23:33:14.6551 LVL= 15824, 16913, 17090, 22771, AGC= 57, IDX= 465,-0.06,-1.977,-1.814, 2.277,-2.652, PHS= 0.763, 0.885,-1.357, RAW= 27.2, -2.7, CAL= 27.0, -5.3, ROT= 123.0, 5.3 2025-01-08T23:33:16.492Z,1736379196.492 [DAT](INFO): got valid direction response: 23:33:14.6551 LVL= 15824, 16913, 17090, 22771, AGC= 57, IDX= 465,-0.06,-1.977,-1.814, 2.277,-2.652, PHS= 0.763, 0.885,-1.357, RAW= 27.2, -2.7, CAL= 27.0, -5.3, ROT= 123.0, 5.3 2025-01-08T23:33:16.497Z,1736379196.497 [DAT](INFO): DAT read: Bearing 123.0, 5.3 (Local) 2025-01-08T23:33:16.498Z,1736379196.498 [DAT](INFO): Local bearing/azimuth received: Bearing 123.0, 5.3 (Local) 2025-01-08T23:33:16.500Z,1736379196.500 [DAT](INFO): DAT read: Range 10 to 50 : 122.1 m (Round-trip 162.9 ms) speed -0.5 m/s 2025-01-08T23:33:16.501Z,1736379196.501 [DAT](INFO): DAT read: user:3320> 2025-01-08T23:33:16.502Z,1736379196.502 [DAT](INFO): DAT read: Tx time:23:33:15.7380 2025-01-08T23:33:16.503Z,1736379196.503 [DAT](INFO): Ping request sent. 2025-01-08T23:33:16.503Z,1736379196.503 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:16.504Z,1736379196.504 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:16.506Z,1736379196.506 [DAT](INFO): direction in FSK: [0.088256,0.908859,0.407660] 2025-01-08T23:33:16.507Z,1736379196.507 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:16.510Z,1736379196.510 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:16.513Z,1736379196.513 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:16.514Z,1736379196.514 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:16.641Z,1736379196.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:16.701Z,1736379196.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 3.779008 s, deltaX: 1.500000 m, approachRate: 0.396930 m/s, rangeRepo size: 4 2025-01-08T23:33:16.703Z,1736379196.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 122.099998 m, bearing: 64.497050 deg, lat: 36.905352 deg, lon: -122.119830 deg, deltaT: 3.779008 s, deltaX: 1.500000 m, approachRate: 0.396930 m/s, posRepo size: 4 2025-01-08T23:33:16.708Z,1736379196.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:33:16.712Z,1736379196.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 102.962135 m, bearing: 61.364554 deg, approach rate: 0.000000 m/s, LOS rate: 0.363073 deg/s, cmd heading: 343.419371 deg, new cmd heading: 343.998345 deg. 2025-01-08T23:33:16.713Z,1736379196.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.003904 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:33:16.737Z,1736379196.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:16.738Z,1736379196.738 [DAT](INFO): DAT read: TxSync time:23:33:15.7373 2025-01-08T23:33:16.988Z,1736379196.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:17.037Z,1736379197.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:17.052Z,1736379197.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:17.054Z,1736379197.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:33:17.061Z,1736379197.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 102.967407 m, bearing: 61.506045 deg, approach rate: 0.014899 m/s, LOS rate: 0.399840 deg/s, cmd heading: 343.998352 deg, new cmd heading: 344.422796 deg. 2025-01-08T23:33:17.062Z,1736379197.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.011312 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:33:17.240Z,1736379197.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:17.240Z,1736379197.240 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:17.240Z,1736379197.240 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:17.240Z,1736379197.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:17.486Z,1736379197.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:17.492Z,1736379197.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:17.493Z,1736379197.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989537 2025-01-08T23:33:17.501Z,1736379197.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:33:17.521Z,1736379197.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 102.986816 m, bearing: 61.671073 deg, approach rate: 0.043443 m/s, LOS rate: 0.369309 deg/s, cmd heading: 344.422807 deg, new cmd heading: 344.917786 deg. 2025-01-08T23:33:17.528Z,1736379197.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019951 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:33:17.745Z,1736379197.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:17.746Z,1736379197.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242796 2025-01-08T23:33:17.817Z,1736379197.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:17.846Z,1736379197.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:33:17.853Z,1736379197.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 103.000046 m, bearing: 61.792743 deg, approach rate: 0.038373 m/s, LOS rate: 0.352866 deg/s, cmd heading: 344.917778 deg, new cmd heading: 345.282734 deg. 2025-01-08T23:33:17.854Z,1736379197.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026320 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:33:17.996Z,1736379197.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:17.996Z,1736379197.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493436 2025-01-08T23:33:18.233Z,1736379198.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:18.243Z,1736379198.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:33:18.248Z,1736379198.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:18.249Z,1736379198.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745529 2025-01-08T23:33:18.259Z,1736379198.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 103.017342 m, bearing: 61.945711 deg, approach rate: 0.043540 m/s, LOS rate: 0.385013 deg/s, cmd heading: 345.282728 deg, new cmd heading: 345.741545 deg. 2025-01-08T23:33:18.260Z,1736379198.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034328 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:33:18.502Z,1736379198.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:18.503Z,1736379198.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999825 2025-01-08T23:33:18.684Z,1736379198.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:18.694Z,1736379198.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:33:18.697Z,1736379198.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 103.043922 m, bearing: 62.108218 deg, approach rate: 0.058923 m/s, LOS rate: 0.360144 deg/s, cmd heading: 345.741553 deg, new cmd heading: 346.228938 deg. 2025-01-08T23:33:18.698Z,1736379198.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.042835 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:33:18.752Z,1736379198.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:18.754Z,1736379198.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250241 2025-01-08T23:33:19.004Z,1736379199.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:19.006Z,1736379199.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502232 2025-01-08T23:33:19.060Z,1736379199.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:19.068Z,1736379199.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:19.070Z,1736379199.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:33:19.072Z,1736379199.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 103.061340 m, bearing: 62.243690 deg, approach rate: 0.046361 m/s, LOS rate: 0.360523 deg/s, cmd heading: 346.228928 deg, new cmd heading: 346.635267 deg. 2025-01-08T23:33:19.073Z,1736379199.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049927 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:33:19.258Z,1736379199.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:19.261Z,1736379199.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757791 2025-01-08T23:33:19.508Z,1736379199.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:19.509Z,1736379199.509 [DAT](INFO): DAT read: Rx Time:23:33:18.3078 2025-01-08T23:33:19.509Z,1736379199.509 [DAT](INFO): Rx dataTimestamp_ set to:1736379199.508922 2025-01-08T23:33:19.510Z,1736379199.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006738 2025-01-08T23:33:19.522Z,1736379199.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:19.557Z,1736379199.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:33:19.601Z,1736379199.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 103.077675 m, bearing: 62.404625 deg, approach rate: 0.034201 m/s, LOS rate: 0.336907 deg/s, cmd heading: 346.635270 deg, new cmd heading: 347.117985 deg. 2025-01-08T23:33:19.602Z,1736379199.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.058352 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:33:19.760Z,1736379199.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:19.761Z,1736379199.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257618 2025-01-08T23:33:19.901Z,1736379199.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:19.910Z,1736379199.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:33:19.934Z,1736379199.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 103.091667 m, bearing: 62.536389 deg, approach rate: 0.038550 m/s, LOS rate: 0.362973 deg/s, cmd heading: 347.117973 deg, new cmd heading: 347.513206 deg. 2025-01-08T23:33:19.934Z,1736379199.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065249 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:33:20.014Z,1736379200.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:20.026Z,1736379200.026 [DAT](INFO): DAT read: 23:33:18.3078 LVL= 16368, 15281, 15410, 22099, AGC= 56, IDX= 460,-0.09,-0.743,-0.972,-2.979,-1.671, PHS= 1.017, 0.747,-1.310, RAW= 36.1, -4.2, CAL= 36.9, -7.8, ROT= 113.1, 7.8 2025-01-08T23:33:20.027Z,1736379200.027 [DAT](INFO): got valid direction response: 23:33:18.3078 LVL= 16368, 15281, 15410, 22099, AGC= 56, IDX= 460,-0.09,-0.743,-0.972,-2.979,-1.671, PHS= 1.017, 0.747,-1.310, RAW= 36.1, -4.2, CAL= 36.9, -7.8, ROT= 113.1, 7.8 2025-01-08T23:33:20.029Z,1736379200.029 [DAT](INFO): DAT read: Bearing 113.1, 7.8 (Local) 2025-01-08T23:33:20.029Z,1736379200.029 [DAT](INFO): Local bearing/azimuth received: Bearing 113.1, 7.8 (Local) 2025-01-08T23:33:20.031Z,1736379200.031 [DAT](INFO): DAT read: Range 10 to 50 : 124.2 m (Round-trip 165.6 ms) speed -0.3 m/s 2025-01-08T23:33:20.052Z,1736379200.052 [DAT](INFO): DAT read: user:3321> 2025-01-08T23:33:20.052Z,1736379200.052 [DAT](INFO): DAT read: Tx time:23:33:19.4380 2025-01-08T23:33:20.053Z,1736379200.053 [DAT](INFO): Ping request sent. 2025-01-08T23:33:20.053Z,1736379200.053 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:20.053Z,1736379200.053 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:20.054Z,1736379200.054 [DAT](INFO): direction in FSK: [0.097280,0.837854,0.537157] 2025-01-08T23:33:20.054Z,1736379200.054 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:20.054Z,1736379200.054 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:20.074Z,1736379200.074 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:20.074Z,1736379200.074 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:20.264Z,1736379200.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:20.264Z,1736379200.264 [DAT](INFO): DAT read: TxSync time:23:33:19.4373 2025-01-08T23:33:20.301Z,1736379200.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:20.336Z,1736379200.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.199997 m, deltaT: 3.529556 s, deltaX: 2.099998 m, approachRate: 0.594975 m/s, rangeRepo size: 4 2025-01-08T23:33:20.338Z,1736379200.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 124.199997 m, bearing: 66.636192 deg, lat: 36.905342 deg, lon: -122.119842 deg, deltaT: 3.529556 s, deltaX: 2.099998 m, approachRate: 0.594975 m/s, posRepo size: 4 2025-01-08T23:33:20.343Z,1736379200.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:33:20.354Z,1736379200.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 101.631935 m, bearing: 62.954533 deg, approach rate: 0.000000 m/s, LOS rate: 0.362973 deg/s, cmd heading: 347.513195 deg, new cmd heading: 347.971777 deg. 2025-01-08T23:33:20.355Z,1736379200.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.073253 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:33:20.516Z,1736379200.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:20.715Z,1736379200.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:20.723Z,1736379200.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:33:20.727Z,1736379200.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 101.630798 m, bearing: 63.097461 deg, approach rate: -0.002901 m/s, LOS rate: 0.364711 deg/s, cmd heading: 347.971774 deg, new cmd heading: 348.400552 deg. 2025-01-08T23:33:20.729Z,1736379200.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.080737 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:33:20.770Z,1736379200.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:21.020Z,1736379201.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:21.097Z,1736379201.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:21.104Z,1736379201.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:21.106Z,1736379201.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:33:21.112Z,1736379201.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 101.628960 m, bearing: 63.229674 deg, approach rate: -0.004804 m/s, LOS rate: 0.345448 deg/s, cmd heading: 348.400546 deg, new cmd heading: 348.797187 deg. 2025-01-08T23:33:21.113Z,1736379201.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087659 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:33:21.234Z,1736379201.234 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:33:21.273Z,1736379201.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:21.274Z,1736379201.274 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:21.274Z,1736379201.274 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:21.274Z,1736379201.274 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:21.524Z,1736379201.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:21.524Z,1736379201.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471675 2025-01-08T23:33:21.554Z,1736379201.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:21.591Z,1736379201.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:33:21.596Z,1736379201.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 101.615211 m, bearing: 63.382389 deg, approach rate: -0.029840 m/s, LOS rate: 0.331506 deg/s, cmd heading: 348.797188 deg, new cmd heading: 349.255384 deg. 2025-01-08T23:33:21.597Z,1736379201.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.095656 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:33:21.776Z,1736379201.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:21.777Z,1736379201.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724010 2025-01-08T23:33:21.907Z,1736379201.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:21.917Z,1736379201.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:33:21.920Z,1736379201.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 101.602921 m, bearing: 63.500566 deg, approach rate: -0.035124 m/s, LOS rate: 0.337755 deg/s, cmd heading: 349.255385 deg, new cmd heading: 349.609954 deg. 2025-01-08T23:33:21.921Z,1736379201.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.101845 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:33:22.028Z,1736379202.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:22.029Z,1736379202.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975958 2025-01-08T23:33:22.236Z,1736379202.236 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:33:22.280Z,1736379202.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:22.280Z,1736379202.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227562 2025-01-08T23:33:22.306Z,1736379202.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:22.316Z,1736379202.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:33:22.318Z,1736379202.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 101.586906 m, bearing: 63.633818 deg, approach rate: -0.040147 m/s, LOS rate: 0.334110 deg/s, cmd heading: 349.609954 deg, new cmd heading: 350.009767 deg. 2025-01-08T23:33:22.320Z,1736379202.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.108823 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:33:22.536Z,1736379202.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:22.539Z,1736379202.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485358 2025-01-08T23:33:22.738Z,1736379202.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:22.748Z,1736379202.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:33:22.750Z,1736379202.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 101.555283 m, bearing: 63.778497 deg, approach rate: -0.073216 m/s, LOS rate: 0.335067 deg/s, cmd heading: 350.009766 deg, new cmd heading: 350.443929 deg. 2025-01-08T23:33:22.767Z,1736379202.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116400 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:33:22.784Z,1736379202.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:22.785Z,1736379202.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731925 2025-01-08T23:33:23.036Z,1736379203.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:23.036Z,1736379203.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983509 2025-01-08T23:33:23.118Z,1736379203.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:23.126Z,1736379203.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:23.128Z,1736379203.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:33:23.131Z,1736379203.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 101.526207 m, bearing: 63.905785 deg, approach rate: -0.076322 m/s, LOS rate: 0.334220 deg/s, cmd heading: 350.443920 deg, new cmd heading: 350.825887 deg. 2025-01-08T23:33:23.132Z,1736379203.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.123067 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:33:23.288Z,1736379203.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:23.289Z,1736379203.289 [DAT](INFO): DAT read: Rx Time:23:33:22.0090 2025-01-08T23:33:23.289Z,1736379203.289 [DAT](INFO): Rx dataTimestamp_ set to:1736379203.288825 2025-01-08T23:33:23.290Z,1736379203.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236847 2025-01-08T23:33:23.541Z,1736379203.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:23.544Z,1736379203.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490677 2025-01-08T23:33:23.606Z,1736379203.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:23.634Z,1736379203.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:33:23.640Z,1736379203.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 101.479584 m, bearing: 64.072334 deg, approach rate: -0.092299 m/s, LOS rate: 0.329863 deg/s, cmd heading: 350.825891 deg, new cmd heading: 351.325754 deg. 2025-01-08T23:33:23.641Z,1736379203.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.131791 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:33:23.792Z,1736379203.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:23.801Z,1736379203.801 [DAT](INFO): DAT read: 23:33:22.0090 LVL= 16736, 15473, 15074, 21939, AGC= 58, IDX= 440,-0.15, 2.788, 2.384, 0.511, 1.716, PHS= 1.160, 0.715,-1.208, RAW= 40.2, -6.2, CAL= 42.3, -11.0, ROT= 107.7, 11.0 2025-01-08T23:33:23.802Z,1736379203.802 [DAT](INFO): got valid direction response: 23:33:22.0090 LVL= 16736, 15473, 15074, 21939, AGC= 58, IDX= 440,-0.15, 2.788, 2.384, 0.511, 1.716, PHS= 1.160, 0.715,-1.208, RAW= 40.2, -6.2, CAL= 42.3, -11.0, ROT= 107.7, 11.0 2025-01-08T23:33:23.803Z,1736379203.803 [DAT](INFO): DAT read: Bearing 107.7, 11.0 (Local) 2025-01-08T23:33:23.803Z,1736379203.803 [DAT](INFO): Local bearing/azimuth received: Bearing 107.7, 11.0 (Local) 2025-01-08T23:33:23.805Z,1736379203.805 [DAT](INFO): DAT read: Range 10 to 50 : 125.0 m (Round-trip 166.7 ms) speed -0.2 m/s 2025-01-08T23:33:23.805Z,1736379203.805 [DAT](INFO): DAT read: user:3322> 2025-01-08T23:33:23.806Z,1736379203.806 [DAT](INFO): DAT read: Tx time:23:33:23.1381 2025-01-08T23:33:23.806Z,1736379203.806 [DAT](INFO): Ping request sent. 2025-01-08T23:33:23.806Z,1736379203.806 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:23.807Z,1736379203.807 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:23.812Z,1736379203.812 [DAT](INFO): direction in FSK: [0.125834,0.795433,0.592834] 2025-01-08T23:33:23.812Z,1736379203.812 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:23.813Z,1736379203.813 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:23.820Z,1736379203.820 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:23.820Z,1736379203.820 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:24.011Z,1736379204.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:24.038Z,1736379204.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.000000 m, deltaT: 3.778524 s, deltaX: 0.800003 m, approachRate: 0.211724 m/s, rangeRepo size: 4 2025-01-08T23:33:24.044Z,1736379204.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:24.045Z,1736379204.045 [DAT](INFO): DAT read: TxSync time:23:33:23.1374 2025-01-08T23:33:24.046Z,1736379204.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.000000 m, bearing: 67.937798 deg, lat: 36.905296 deg, lon: -122.119849 deg, deltaT: 3.778524 s, deltaX: 0.800003 m, approachRate: 0.211724 m/s, posRepo size: 4 2025-01-08T23:33:24.047Z,1736379204.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T23:33:24.062Z,1736379204.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 98.717850 m, bearing: 66.719098 deg, approach rate: 0.000000 m/s, LOS rate: 0.329863 deg/s, cmd heading: 351.325752 deg, new cmd heading: 351.724987 deg. 2025-01-08T23:33:24.063Z,1736379204.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.138759 target range: 125.000000 and range: 125.00 m. 2025-01-08T23:33:24.296Z,1736379204.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:24.373Z,1736379204.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:24.383Z,1736379204.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T23:33:24.386Z,1736379204.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 98.690819 m, bearing: 66.848202 deg, approach rate: -0.078218 m/s, LOS rate: 0.373684 deg/s, cmd heading: 351.724990 deg, new cmd heading: 352.112401 deg. 2025-01-08T23:33:24.389Z,1736379204.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145521 target range: 125.000000 and range: 125.00 m. 2025-01-08T23:33:24.549Z,1736379204.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:24.800Z,1736379204.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:24.822Z,1736379204.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:24.832Z,1736379204.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T23:33:24.834Z,1736379204.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 98.662979 m, bearing: 67.009977 deg, approach rate: -0.062016 m/s, LOS rate: 0.360473 deg/s, cmd heading: 352.112398 deg, new cmd heading: 352.597850 deg. 2025-01-08T23:33:24.835Z,1736379204.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.153994 target range: 125.000000 and range: 125.00 m. 2025-01-08T23:33:25.052Z,1736379205.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:25.194Z,1736379205.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:25.201Z,1736379205.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:25.203Z,1736379205.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T23:33:25.206Z,1736379205.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 98.639008 m, bearing: 67.143680 deg, approach rate: -0.064560 m/s, LOS rate: 0.360175 deg/s, cmd heading: 352.597861 deg, new cmd heading: 352.999059 deg. 2025-01-08T23:33:25.206Z,1736379205.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160996 target range: 125.000000 and range: 125.00 m. 2025-01-08T23:33:25.304Z,1736379205.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:25.304Z,1736379205.304 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:25.304Z,1736379205.304 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:25.305Z,1736379205.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:25.557Z,1736379205.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:25.568Z,1736379205.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761591 2025-01-08T23:33:25.659Z,1736379205.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:25.673Z,1736379205.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T23:33:25.700Z,1736379205.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 98.608467 m, bearing: 67.320124 deg, approach rate: -0.064899 m/s, LOS rate: 0.375063 deg/s, cmd heading: 352.999066 deg, new cmd heading: 353.528546 deg. 2025-01-08T23:33:25.701Z,1736379205.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170237 target range: 125.000000 and range: 125.00 m. 2025-01-08T23:33:25.808Z,1736379205.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:25.809Z,1736379205.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002959 2025-01-08T23:33:25.994Z,1736379205.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:26.019Z,1736379206.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T23:33:26.022Z,1736379206.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 98.585083 m, bearing: 67.447634 deg, approach rate: -0.067708 m/s, LOS rate: 0.369291 deg/s, cmd heading: 353.528542 deg, new cmd heading: 353.911159 deg. 2025-01-08T23:33:26.023Z,1736379206.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.176915 target range: 125.000000 and range: 125.00 m. 2025-01-08T23:33:26.060Z,1736379206.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:26.061Z,1736379206.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254768 2025-01-08T23:33:26.312Z,1736379206.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:26.313Z,1736379206.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506185 2025-01-08T23:33:26.400Z,1736379206.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:26.410Z,1736379206.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T23:33:26.413Z,1736379206.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 98.556137 m, bearing: 67.602038 deg, approach rate: -0.074029 m/s, LOS rate: 0.394998 deg/s, cmd heading: 353.911170 deg, new cmd heading: 354.374504 deg. 2025-01-08T23:33:26.414Z,1736379206.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185002 target range: 125.000000 and range: 125.00 m. 2025-01-08T23:33:26.565Z,1736379206.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:26.568Z,1736379206.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761012 2025-01-08T23:33:26.816Z,1736379206.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:26.816Z,1736379206.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009925 2025-01-08T23:33:26.834Z,1736379206.834 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -101, -40,A 2025-01-08T23:33:26.845Z,1736379206.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:33:26.845Z,1736379206.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:26.854Z,1736379206.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T23:33:26.857Z,1736379206.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 98.525307 m, bearing: 67.770963 deg, approach rate: -0.069395 m/s, LOS rate: 0.380348 deg/s, cmd heading: 354.374502 deg, new cmd heading: 354.881424 deg. 2025-01-08T23:33:26.858Z,1736379206.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193849 target range: 125.000000 and range: 125.00 m. 2025-01-08T23:33:27.068Z,1736379207.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:27.069Z,1736379207.069 [DAT](INFO): DAT read: Rx Time:23:33:25.7102 2025-01-08T23:33:27.069Z,1736379207.069 [DAT](INFO): Rx dataTimestamp_ set to:1736379207.068723 2025-01-08T23:33:27.070Z,1736379207.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263019 2025-01-08T23:33:27.201Z,1736379207.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:33:27.202Z,1736379207.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:27.209Z,1736379207.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:27.212Z,1736379207.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.00 m. 2025-01-08T23:33:27.215Z,1736379207.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.000000 m, nav range: 98.499290 m, bearing: 67.906255 deg, approach rate: -0.072791 m/s, LOS rate: 0.378633 deg/s, cmd heading: 354.881412 deg, new cmd heading: 355.287386 deg. 2025-01-08T23:33:27.216Z,1736379207.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200935 target range: 125.000000 and range: 125.00 m. 2025-01-08T23:33:27.320Z,1736379207.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:27.321Z,1736379207.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514008 2025-01-08T23:33:27.574Z,1736379207.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:27.623Z,1736379207.623 [DAT](INFO): DAT read: 23:33:25.7102 LVL= 13584, 12481, 12450, 16547, AGC= 57, IDX= 436, 0.07,-2.921, 2.741, 0.971, 2.169, PHS= 1.281, 0.620,-1.201, RAW= 44.9, -6.3, CAL= 48.1, -11.5, ROT= 101.9, 11.5 2025-01-08T23:33:27.632Z,1736379207.632 [DAT](INFO): got valid direction response: 23:33:25.7102 LVL= 13584, 12481, 12450, 16547, AGC= 57, IDX= 436, 0.07,-2.921, 2.741, 0.971, 2.169, PHS= 1.281, 0.620,-1.201, RAW= 44.9, -6.3, CAL= 48.1, -11.5, ROT= 101.9, 11.5 2025-01-08T23:33:27.633Z,1736379207.633 [DAT](INFO): DAT read: Bearing 101.9, 11.5 (Local) 2025-01-08T23:33:27.633Z,1736379207.633 [DAT](INFO): Local bearing/azimuth received: Bearing 101.9, 11.5 (Local) 2025-01-08T23:33:27.640Z,1736379207.640 [DAT](INFO): DAT read: Range 10 to 50 : 125.9 m (Round-trip 167.9 ms) speed -0.4 m/s 2025-01-08T23:33:27.641Z,1736379207.641 [DAT](INFO): DAT read: user:3323> 2025-01-08T23:33:27.642Z,1736379207.642 [DAT](INFO): DAT read: Tx time:23:33:26.7881 2025-01-08T23:33:27.642Z,1736379207.642 [DAT](INFO): Ping request sent. 2025-01-08T23:33:27.642Z,1736379207.642 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:27.643Z,1736379207.643 [DAT](INFO): DAT read: TxSync time:23:33:26.7874 2025-01-08T23:33:27.657Z,1736379207.657 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:27.658Z,1736379207.658 [DAT](INFO): direction in FSK: [0.119240,0.747775,0.653157] 2025-01-08T23:33:27.659Z,1736379207.659 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:27.659Z,1736379207.659 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:27.685Z,1736379207.685 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:27.685Z,1736379207.685 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:27.795Z,1736379207.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:27.818Z,1736379207.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.900002 m, deltaT: 3.781654 s, deltaX: 0.900002 m, approachRate: 0.237992 m/s, rangeRepo size: 4 2025-01-08T23:33:27.826Z,1736379207.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:27.832Z,1736379207.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.900002 m, bearing: 71.063053 deg, lat: 36.905244 deg, lon: -122.119939 deg, deltaT: 3.781654 s, deltaX: 0.900002 m, approachRate: 0.237992 m/s, posRepo size: 4 2025-01-08T23:33:27.833Z,1736379207.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:27.840Z,1736379207.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.996857 m, bearing: 69.631565 deg, approach rate: 0.000000 m/s, LOS rate: 0.378633 deg/s, cmd heading: 355.287398 deg, new cmd heading: 355.975761 deg. 2025-01-08T23:33:27.841Z,1736379207.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212949 target range: 125.900002 and range: 125.90 m. 2025-01-08T23:33:28.080Z,1736379208.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:28.140Z,1736379208.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:28.149Z,1736379208.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:28.153Z,1736379208.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.991592 m, bearing: 69.775798 deg, approach rate: -0.015856 m/s, LOS rate: 0.434447 deg/s, cmd heading: 355.975772 deg, new cmd heading: 356.408488 deg. 2025-01-08T23:33:28.154Z,1736379208.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220501 target range: 125.900002 and range: 125.90 m. 2025-01-08T23:33:28.332Z,1736379208.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:28.509Z,1736379208.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:28.517Z,1736379208.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:28.521Z,1736379208.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.981979 m, bearing: 69.940754 deg, approach rate: -0.026124 m/s, LOS rate: 0.448318 deg/s, cmd heading: 356.408478 deg, new cmd heading: 356.903387 deg. 2025-01-08T23:33:28.522Z,1736379208.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229139 target range: 125.900002 and range: 125.90 m. 2025-01-08T23:33:28.585Z,1736379208.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:28.836Z,1736379208.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:28.939Z,1736379208.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:28.949Z,1736379208.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:28.952Z,1736379208.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.979408 m, bearing: 70.117721 deg, approach rate: -0.005963 m/s, LOS rate: 0.410420 deg/s, cmd heading: 356.903393 deg, new cmd heading: 357.434293 deg. 2025-01-08T23:33:28.953Z,1736379208.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238405 target range: 125.900002 and range: 125.90 m. 2025-01-08T23:33:29.088Z,1736379209.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:29.329Z,1736379209.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:29.335Z,1736379209.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:29.337Z,1736379209.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:29.340Z,1736379209.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:29.341Z,1736379209.341 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:29.341Z,1736379209.341 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:29.341Z,1736379209.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:29.345Z,1736379209.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.976189 m, bearing: 70.277723 deg, approach rate: -0.008282 m/s, LOS rate: 0.411593 deg/s, cmd heading: 357.434290 deg, new cmd heading: 357.914301 deg. 2025-01-08T23:33:29.346Z,1736379209.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.246783 target range: 125.900002 and range: 125.90 m. 2025-01-08T23:33:29.594Z,1736379209.594 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:29.597Z,1736379209.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954696 2025-01-08T23:33:29.728Z,1736379209.728 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.06, 71.03, 77.82, 80.54 2025-01-08T23:33:29.735Z,1736379209.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:33:29.735Z,1736379209.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:29.744Z,1736379209.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:29.746Z,1736379209.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.971680 m, bearing: 70.444387 deg, approach rate: -0.011107 m/s, LOS rate: 0.410582 deg/s, cmd heading: 357.914289 deg, new cmd heading: 358.414293 deg. 2025-01-08T23:33:29.747Z,1736379209.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255509 target range: 125.900002 and range: 125.90 m. 2025-01-08T23:33:29.844Z,1736379209.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:29.844Z,1736379209.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202450 2025-01-08T23:33:30.096Z,1736379210.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:30.096Z,1736379210.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454312 2025-01-08T23:33:30.149Z,1736379210.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:33:30.149Z,1736379210.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:30.159Z,1736379210.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:30.162Z,1736379210.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.966133 m, bearing: 70.614634 deg, approach rate: -0.013368 m/s, LOS rate: 0.410333 deg/s, cmd heading: 358.414286 deg, new cmd heading: 358.925043 deg. 2025-01-08T23:33:30.163Z,1736379210.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264424 target range: 125.900002 and range: 125.90 m. 2025-01-08T23:33:30.351Z,1736379210.351 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:30.352Z,1736379210.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709529 2025-01-08T23:33:30.528Z,1736379210.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:33:30.528Z,1736379210.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:30.538Z,1736379210.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:30.540Z,1736379210.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.959778 m, bearing: 70.770233 deg, approach rate: -0.016751 m/s, LOS rate: 0.410154 deg/s, cmd heading: 358.925048 deg, new cmd heading: 359.391867 deg. 2025-01-08T23:33:30.541Z,1736379210.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272572 target range: 125.900002 and range: 125.90 m. 2025-01-08T23:33:30.603Z,1736379210.603 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:30.606Z,1736379210.606 [DAT](INFO): DAT read: Rx Time:23:33:29.3621 2025-01-08T23:33:30.612Z,1736379210.612 [DAT](INFO): Rx dataTimestamp_ set to:1736379210.606312 2025-01-08T23:33:30.614Z,1736379210.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971123 2025-01-08T23:33:30.852Z,1736379210.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:30.852Z,1736379210.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.210446 2025-01-08T23:33:30.973Z,1736379210.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:30.982Z,1736379210.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:30.985Z,1736379210.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.932701 m, bearing: 70.938775 deg, approach rate: -0.060868 m/s, LOS rate: 0.378997 deg/s, cmd heading: 359.391877 deg, new cmd heading: 359.897645 deg. 2025-01-08T23:33:30.986Z,1736379210.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281399 target range: 125.900002 and range: 125.90 m. 2025-01-08T23:33:31.104Z,1736379211.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:31.106Z,1736379211.106 [DAT](INFO): DAT read: Range 10 to 50 : 127.3 m (Round-trip 169.8 ms) speed 0.0 m/s 2025-01-08T23:33:31.106Z,1736379211.106 [DAT](INFO): DAT read: user:3324> 2025-01-08T23:33:31.109Z,1736379211.109 [DAT](INFO): DAT read: Tx time:23:33:30.4381 2025-01-08T23:33:31.109Z,1736379211.109 [DAT](INFO): Ping request sent. 2025-01-08T23:33:31.109Z,1736379211.109 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:31.110Z,1736379211.110 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:33:31.110Z,1736379211.110 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:31.110Z,1736379211.110 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:31.336Z,1736379211.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:31.343Z,1736379211.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:31.346Z,1736379211.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.300003 m, deltaT: 3.529769 s, deltaX: 1.400002 m, approachRate: 0.396627 m/s, rangeRepo size: 4 2025-01-08T23:33:31.347Z,1736379211.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:31.350Z,1736379211.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.909225 m, bearing: 71.075887 deg, approach rate: -0.064666 m/s, LOS rate: 0.377789 deg/s, cmd heading: 359.897639 deg, new cmd heading: 0.309075 deg. 2025-01-08T23:33:31.351Z,1736379211.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005394 target range: 125.900002 and range: 127.30 m. 2025-01-08T23:33:31.356Z,1736379211.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:31.357Z,1736379211.357 [DAT](INFO): DAT read: TxSync time:23:33:30.4374 2025-01-08T23:33:31.357Z,1736379211.357 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:31.357Z,1736379211.357 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:31.357Z,1736379211.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:31.610Z,1736379211.610 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:31.613Z,1736379211.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503192 2025-01-08T23:33:31.775Z,1736379211.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:31.784Z,1736379211.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:31.791Z,1736379211.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.860565 m, bearing: 71.230821 deg, approach rate: -0.110975 m/s, LOS rate: 0.353539 deg/s, cmd heading: 0.309075 deg, new cmd heading: 0.774122 deg. 2025-01-08T23:33:31.802Z,1736379211.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013511 target range: 125.900002 and range: 127.30 m. 2025-01-08T23:33:31.861Z,1736379211.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:31.862Z,1736379211.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752560 2025-01-08T23:33:32.112Z,1736379212.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:32.112Z,1736379212.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003175 2025-01-08T23:33:32.151Z,1736379212.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:32.176Z,1736379212.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:32.179Z,1736379212.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.817574 m, bearing: 71.363472 deg, approach rate: -0.110931 m/s, LOS rate: 0.342443 deg/s, cmd heading: 0.774122 deg, new cmd heading: 1.172259 deg. 2025-01-08T23:33:32.184Z,1736379212.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020460 target range: 125.900002 and range: 127.30 m. 2025-01-08T23:33:32.364Z,1736379212.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:32.364Z,1736379212.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255033 2025-01-08T23:33:32.563Z,1736379212.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:32.588Z,1736379212.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:32.590Z,1736379212.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.769409 m, bearing: 71.508660 deg, approach rate: -0.120473 m/s, LOS rate: 0.363354 deg/s, cmd heading: 1.172259 deg, new cmd heading: 1.608051 deg. 2025-01-08T23:33:32.596Z,1736379212.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028066 target range: 125.900002 and range: 127.30 m. 2025-01-08T23:33:32.616Z,1736379212.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:32.617Z,1736379212.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507252 2025-01-08T23:33:32.870Z,1736379212.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:32.871Z,1736379212.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762097 2025-01-08T23:33:32.989Z,1736379212.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:32.998Z,1736379212.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:33.001Z,1736379213.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.704529 m, bearing: 71.653033 deg, approach rate: -0.151993 m/s, LOS rate: 0.338465 deg/s, cmd heading: 1.608051 deg, new cmd heading: 2.041479 deg. 2025-01-08T23:33:33.002Z,1736379213.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035631 target range: 125.900002 and range: 127.30 m. 2025-01-08T23:33:33.120Z,1736379213.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:33.121Z,1736379213.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011335 2025-01-08T23:33:33.373Z,1736379213.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:33.374Z,1736379213.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264677 2025-01-08T23:33:33.448Z,1736379213.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:33.455Z,1736379213.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:33.457Z,1736379213.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:33.461Z,1736379213.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.631859 m, bearing: 71.808356 deg, approach rate: -0.158293 m/s, LOS rate: 0.338609 deg/s, cmd heading: 2.041479 deg, new cmd heading: 2.507819 deg. 2025-01-08T23:33:33.462Z,1736379213.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043770 target range: 125.900002 and range: 127.30 m. 2025-01-08T23:33:33.626Z,1736379213.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:33.628Z,1736379213.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518311 2025-01-08T23:33:33.876Z,1736379213.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:33.877Z,1736379213.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767645 2025-01-08T23:33:33.898Z,1736379213.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:33.914Z,1736379213.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:33.921Z,1736379213.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.546486 m, bearing: 71.962611 deg, approach rate: -0.186803 m/s, LOS rate: 0.337848 deg/s, cmd heading: 2.507819 deg, new cmd heading: 2.971019 deg. 2025-01-08T23:33:33.922Z,1736379213.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051854 target range: 125.900002 and range: 127.30 m. 2025-01-08T23:33:34.128Z,1736379214.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:34.129Z,1736379214.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020055 2025-01-08T23:33:34.346Z,1736379214.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:34.374Z,1736379214.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:34.380Z,1736379214.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:34.381Z,1736379214.381 [DAT](INFO): DAT read: Rx Time:23:33:33.0128 2025-01-08T23:33:34.381Z,1736379214.381 [DAT](INFO): Rx dataTimestamp_ set to:1736379214.380757 2025-01-08T23:33:34.382Z,1736379214.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272291 2025-01-08T23:33:34.382Z,1736379214.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.456970 m, bearing: 72.115583 deg, approach rate: -0.194546 m/s, LOS rate: 0.332793 deg/s, cmd heading: 2.971019 deg, new cmd heading: 3.430390 deg. 2025-01-08T23:33:34.383Z,1736379214.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059872 target range: 125.900002 and range: 127.30 m. 2025-01-08T23:33:34.632Z,1736379214.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:34.632Z,1736379214.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522992 2025-01-08T23:33:34.813Z,1736379214.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:34.824Z,1736379214.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.90 m. 2025-01-08T23:33:34.827Z,1736379214.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.900002 m, nav range: 88.359169 m, bearing: 72.278816 deg, approach rate: -0.217398 m/s, LOS rate: 0.363244 deg/s, cmd heading: 3.430390 deg, new cmd heading: 3.920618 deg. 2025-01-08T23:33:34.850Z,1736379214.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068428 target range: 125.900002 and range: 127.30 m. 2025-01-08T23:33:34.884Z,1736379214.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:34.890Z,1736379214.890 [DAT](INFO): DAT read: 23:33:33.0128 LVL= 17648, 20513, 18546, 26611, AGC= 60, IDX= 446,-0.18, 2.527, 1.633, 0.158, 1.216, PHS= 1.400, 0.464,-1.061, RAW= 52.1, -7.5, CAL= 57.9, -13.6, ROT= 92.1, 13.6 2025-01-08T23:33:34.892Z,1736379214.892 [DAT](INFO): got valid direction response: 23:33:33.0128 LVL= 17648, 20513, 18546, 26611, AGC= 60, IDX= 446,-0.18, 2.527, 1.633, 0.158, 1.216, PHS= 1.400, 0.464,-1.061, RAW= 52.1, -7.5, CAL= 57.9, -13.6, ROT= 92.1, 13.6 2025-01-08T23:33:34.894Z,1736379214.894 [DAT](INFO): DAT read: Bearing 92.1, 13.6 (Local) 2025-01-08T23:33:34.895Z,1736379214.895 [DAT](INFO): Local bearing/azimuth received: Bearing 92.1, 13.6 (Local) 2025-01-08T23:33:34.897Z,1736379214.897 [DAT](INFO): DAT read: Range 10 to 50 : 127.8 m (Round-trip 170.5 ms) speed -0.2 m/s 2025-01-08T23:33:34.898Z,1736379214.898 [DAT](INFO): DAT read: user:3325> 2025-01-08T23:33:34.904Z,1736379214.904 [DAT](INFO): DAT read: Tx time:23:33:34.1382 2025-01-08T23:33:34.905Z,1736379214.905 [DAT](INFO): Ping request sent. 2025-01-08T23:33:34.905Z,1736379214.905 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:34.906Z,1736379214.906 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:34.920Z,1736379214.920 [DAT](INFO): direction in FSK: [0.126142,0.663478,0.737486] 2025-01-08T23:33:34.920Z,1736379214.920 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:34.921Z,1736379214.921 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:34.941Z,1736379214.941 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:34.942Z,1736379214.942 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:35.136Z,1736379215.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:35.136Z,1736379215.136 [DAT](INFO): DAT read: TxSync time:23:33:34.1375 2025-01-08T23:33:35.181Z,1736379215.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:35.212Z,1736379215.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.800003 m, deltaT: 3.779932 s, deltaX: 0.500000 m, approachRate: 0.132278 m/s, rangeRepo size: 4 2025-01-08T23:33:35.214Z,1736379215.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.800003 m, bearing: 76.711548 deg, lat: 36.905227 deg, lon: -122.119998 deg, deltaT: 7.309701 s, deltaX: 1.900002 m, approachRate: 0.259929 m/s, posRepo size: 4 2025-01-08T23:33:35.215Z,1736379215.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.80 m. 2025-01-08T23:33:35.221Z,1736379215.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.800003 m, nav range: 82.704185 m, bearing: 72.566857 deg, approach rate: 0.000000 m/s, LOS rate: 0.363244 deg/s, cmd heading: 3.920618 deg, new cmd heading: 4.337537 deg. 2025-01-08T23:33:35.222Z,1736379215.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075704 target range: 127.800003 and range: 127.80 m. 2025-01-08T23:33:35.388Z,1736379215.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:35.556Z,1736379215.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:35.580Z,1736379215.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:35.582Z,1736379215.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.80 m. 2025-01-08T23:33:35.589Z,1736379215.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.800003 m, nav range: 82.623238 m, bearing: 72.706282 deg, approach rate: -0.215791 m/s, LOS rate: 0.372046 deg/s, cmd heading: 4.337537 deg, new cmd heading: 4.756217 deg. 2025-01-08T23:33:35.590Z,1736379215.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.083012 target range: 127.800003 and range: 127.80 m. 2025-01-08T23:33:35.642Z,1736379215.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:35.643Z,1736379215.643 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:35.643Z,1736379215.643 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:35.643Z,1736379215.643 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:35.892Z,1736379215.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:35.893Z,1736379215.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987832 2025-01-08T23:33:35.988Z,1736379215.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:35.998Z,1736379215.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.80 m. 2025-01-08T23:33:36.001Z,1736379216.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.800003 m, nav range: 82.539116 m, bearing: 72.867486 deg, approach rate: -0.202171 m/s, LOS rate: 0.387817 deg/s, cmd heading: 4.756217 deg, new cmd heading: 5.240307 deg. 2025-01-08T23:33:36.002Z,1736379216.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091461 target range: 127.800003 and range: 127.80 m. 2025-01-08T23:33:36.144Z,1736379216.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:36.144Z,1736379216.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239236 2025-01-08T23:33:36.372Z,1736379216.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:36.381Z,1736379216.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.80 m. 2025-01-08T23:33:36.384Z,1736379216.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.800003 m, nav range: 82.462372 m, bearing: 73.010164 deg, approach rate: -0.200270 m/s, LOS rate: 0.372677 deg/s, cmd heading: 5.240307 deg, new cmd heading: 5.668732 deg. 2025-01-08T23:33:36.385Z,1736379216.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098938 target range: 127.800003 and range: 127.80 m. 2025-01-08T23:33:36.396Z,1736379216.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:36.397Z,1736379216.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491382 2025-01-08T23:33:36.648Z,1736379216.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:36.649Z,1736379216.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743958 2025-01-08T23:33:36.808Z,1736379216.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:36.821Z,1736379216.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.80 m. 2025-01-08T23:33:36.824Z,1736379216.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.800003 m, nav range: 82.379066 m, bearing: 73.186039 deg, approach rate: -0.189481 m/s, LOS rate: 0.400437 deg/s, cmd heading: 5.668733 deg, new cmd heading: 6.196874 deg. 2025-01-08T23:33:36.825Z,1736379216.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108156 target range: 127.800003 and range: 127.80 m. 2025-01-08T23:33:36.901Z,1736379216.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:36.902Z,1736379216.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996050 2025-01-08T23:33:37.152Z,1736379217.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:37.152Z,1736379217.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247133 2025-01-08T23:33:37.204Z,1736379217.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:37.214Z,1736379217.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.80 m. 2025-01-08T23:33:37.218Z,1736379217.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.800003 m, nav range: 82.304077 m, bearing: 73.346083 deg, approach rate: -0.190671 m/s, LOS rate: 0.407306 deg/s, cmd heading: 6.196874 deg, new cmd heading: 6.677432 deg. 2025-01-08T23:33:37.219Z,1736379217.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116543 target range: 127.800003 and range: 127.80 m. 2025-01-08T23:33:37.404Z,1736379217.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:37.405Z,1736379217.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499910 2025-01-08T23:33:37.578Z,1736379217.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:37.585Z,1736379217.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:37.587Z,1736379217.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.80 m. 2025-01-08T23:33:37.589Z,1736379217.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.800003 m, nav range: 82.230560 m, bearing: 73.496244 deg, approach rate: -0.197382 m/s, LOS rate: 0.403520 deg/s, cmd heading: 6.677432 deg, new cmd heading: 7.128309 deg. 2025-01-08T23:33:37.590Z,1736379217.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.124412 target range: 127.800003 and range: 127.80 m. 2025-01-08T23:33:37.657Z,1736379217.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:37.658Z,1736379217.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752540 2025-01-08T23:33:37.908Z,1736379217.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:37.909Z,1736379217.909 [DAT](INFO): DAT read: Rx Time:23:33:36.7133 2025-01-08T23:33:37.910Z,1736379217.910 [DAT](INFO): Rx dataTimestamp_ set to:1736379217.909338 2025-01-08T23:33:37.910Z,1736379217.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004921 2025-01-08T23:33:38.002Z,1736379218.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:38.012Z,1736379218.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.80 m. 2025-01-08T23:33:38.014Z,1736379218.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.800003 m, nav range: 82.169510 m, bearing: 73.674056 deg, approach rate: -0.143565 m/s, LOS rate: 0.418449 deg/s, cmd heading: 7.128309 deg, new cmd heading: 7.662123 deg. 2025-01-08T23:33:38.016Z,1736379218.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.133729 target range: 127.800003 and range: 127.80 m. 2025-01-08T23:33:38.161Z,1736379218.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:38.163Z,1736379218.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256948 2025-01-08T23:33:38.414Z,1736379218.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:38.424Z,1736379218.424 [DAT](INFO): DAT read: 23:33:36.7133 LVL= 16160, 23217, 17890, 26483, AGC= 62, IDX= 435, 0.34, 2.394, 1.403,-0.002, 1.101, PHS= 1.381, 0.349,-1.106, RAW= 54.4, -5.8, CAL= 59.6, -11.2, ROT= 90.4, 11.2 2025-01-08T23:33:38.426Z,1736379218.426 [DAT](INFO): got valid direction response: 23:33:36.7133 LVL= 16160, 23217, 17890, 26483, AGC= 62, IDX= 435, 0.34, 2.394, 1.403,-0.002, 1.101, PHS= 1.381, 0.349,-1.106, RAW= 54.4, -5.8, CAL= 59.6, -11.2, ROT= 90.4, 11.2 2025-01-08T23:33:38.426Z,1736379218.426 [DAT](INFO): DAT read: Bearing 90.4, 11.2 (Local) 2025-01-08T23:33:38.427Z,1736379218.427 [DAT](INFO): Local bearing/azimuth received: Bearing 90.4, 11.2 (Local) 2025-01-08T23:33:38.428Z,1736379218.428 [DAT](INFO): DAT read: Range 10 to 50 : 128.1 m (Round-trip 170.9 ms) speed -0.4 m/s 2025-01-08T23:33:38.429Z,1736379218.429 [DAT](INFO): DAT read: user:3326> 2025-01-08T23:33:38.429Z,1736379218.429 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:38.430Z,1736379218.430 [DAT](INFO): direction in FSK: [0.090322,0.640306,0.762791] 2025-01-08T23:33:38.431Z,1736379218.431 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:38.446Z,1736379218.446 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:38.446Z,1736379218.446 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:38.446Z,1736379218.446 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:38.515Z,1736379218.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:38.554Z,1736379218.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.100006 m, deltaT: 3.530477 s, deltaX: 0.300003 m, approachRate: 0.084975 m/s, rangeRepo size: 4 2025-01-08T23:33:38.561Z,1736379218.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.100006 m, bearing: 83.695111 deg, lat: 36.905193 deg, lon: -122.120050 deg, deltaT: 3.530477 s, deltaX: 0.300003 m, approachRate: 0.084975 m/s, posRepo size: 4 2025-01-08T23:33:38.561Z,1736379218.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m. 2025-01-08T23:33:38.569Z,1736379218.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.100006 m, nav range: 76.639473 m, bearing: 75.677601 deg, approach rate: 0.000000 m/s, LOS rate: 0.418449 deg/s, cmd heading: 7.662123 deg, new cmd heading: 8.341149 deg. 2025-01-08T23:33:38.570Z,1736379218.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.145581 target range: 128.100006 and range: 128.10 m. 2025-01-08T23:33:38.666Z,1736379218.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:38.669Z,1736379218.669 [DAT](INFO): DAT read: Tx time:23:33:37.8382 2025-01-08T23:33:38.669Z,1736379218.669 [DAT](INFO): Ping request sent. 2025-01-08T23:33:38.669Z,1736379218.670 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:38.670Z,1736379218.670 [DAT](INFO): DAT read: TxSync time:23:33:37.8375 2025-01-08T23:33:38.672Z,1736379218.672 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:38.673Z,1736379218.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003855 2025-01-08T23:33:38.917Z,1736379218.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:38.918Z,1736379218.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248886 2025-01-08T23:33:38.948Z,1736379218.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:38.965Z,1736379218.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m. 2025-01-08T23:33:38.972Z,1736379218.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.100006 m, nav range: 76.603004 m, bearing: 75.879627 deg, approach rate: -0.088476 m/s, LOS rate: 0.490365 deg/s, cmd heading: 8.341149 deg, new cmd heading: 8.947493 deg. 2025-01-08T23:33:38.973Z,1736379218.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.156163 target range: 128.100006 and range: 128.10 m. 2025-01-08T23:33:39.168Z,1736379219.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:39.168Z,1736379219.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499104 2025-01-08T23:33:39.271Z,1736379219.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:39.282Z,1736379219.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m. 2025-01-08T23:33:39.285Z,1736379219.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.100006 m, nav range: 76.575554 m, bearing: 76.028018 deg, approach rate: -0.086599 m/s, LOS rate: 0.468301 deg/s, cmd heading: 8.947492 deg, new cmd heading: 9.392817 deg. 2025-01-08T23:33:39.286Z,1736379219.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.163936 target range: 128.100006 and range: 128.10 m. 2025-01-08T23:33:39.420Z,1736379219.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:39.421Z,1736379219.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751416 2025-01-08T23:33:39.673Z,1736379219.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:39.674Z,1736379219.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004132 2025-01-08T23:33:39.684Z,1736379219.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:39.692Z,1736379219.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:39.699Z,1736379219.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m. 2025-01-08T23:33:39.702Z,1736379219.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.100006 m, nav range: 76.540215 m, bearing: 76.217440 deg, approach rate: -0.084746 m/s, LOS rate: 0.454452 deg/s, cmd heading: 9.392816 deg, new cmd heading: 9.961324 deg. 2025-01-08T23:33:39.703Z,1736379219.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.173858 target range: 128.100006 and range: 128.10 m. 2025-01-08T23:33:39.924Z,1736379219.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:39.926Z,1736379219.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256564 2025-01-08T23:33:40.101Z,1736379220.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:40.110Z,1736379220.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m. 2025-01-08T23:33:40.113Z,1736379220.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.100006 m, nav range: 76.522385 m, bearing: 76.407006 deg, approach rate: -0.043349 m/s, LOS rate: 0.460985 deg/s, cmd heading: 9.961324 deg, new cmd heading: 10.530134 deg. 2025-01-08T23:33:40.114Z,1736379220.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183786 target range: 128.100006 and range: 128.10 m. 2025-01-08T23:33:40.181Z,1736379220.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:40.182Z,1736379220.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512465 2025-01-08T23:33:40.432Z,1736379220.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:40.434Z,1736379220.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764566 2025-01-08T23:33:40.491Z,1736379220.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:40.500Z,1736379220.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m. 2025-01-08T23:33:40.503Z,1736379220.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.100006 m, nav range: 76.504883 m, bearing: 76.584351 deg, approach rate: -0.044906 m/s, LOS rate: 0.455129 deg/s, cmd heading: 10.530134 deg, new cmd heading: 11.062274 deg. 2025-01-08T23:33:40.505Z,1736379220.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.193073 target range: 128.100006 and range: 128.10 m. 2025-01-08T23:33:40.684Z,1736379220.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:40.684Z,1736379220.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015166 2025-01-08T23:33:40.921Z,1736379220.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:40.929Z,1736379220.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m. 2025-01-08T23:33:40.932Z,1736379220.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.100006 m, nav range: 76.493469 m, bearing: 76.773632 deg, approach rate: -0.026601 m/s, LOS rate: 0.441218 deg/s, cmd heading: 11.062274 deg, new cmd heading: 11.630184 deg. 2025-01-08T23:33:40.933Z,1736379220.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.202985 target range: 128.100006 and range: 128.10 m. 2025-01-08T23:33:40.937Z,1736379220.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:40.939Z,1736379220.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269574 2025-01-08T23:33:41.188Z,1736379221.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:41.189Z,1736379221.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519509 2025-01-08T23:33:41.284Z,1736379221.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:41.293Z,1736379221.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m. 2025-01-08T23:33:41.312Z,1736379221.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.100006 m, nav range: 76.482773 m, bearing: 76.933438 deg, approach rate: -0.029369 m/s, LOS rate: 0.438843 deg/s, cmd heading: 11.630184 deg, new cmd heading: 12.109657 deg. 2025-01-08T23:33:41.313Z,1736379221.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.211353 target range: 128.100006 and range: 128.10 m. 2025-01-08T23:33:41.441Z,1736379221.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:41.443Z,1736379221.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773436 2025-01-08T23:33:41.692Z,1736379221.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:41.693Z,1736379221.693 [DAT](INFO): DAT read: Rx Time:23:33:40.4148 2025-01-08T23:33:41.694Z,1736379221.694 [DAT](INFO): Rx dataTimestamp_ set to:1736379221.693440 2025-01-08T23:33:41.694Z,1736379221.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024988 2025-01-08T23:33:41.712Z,1736379221.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:41.720Z,1736379221.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:41.722Z,1736379221.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m. 2025-01-08T23:33:41.730Z,1736379221.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.100006 m, nav range: 76.470932 m, bearing: 77.121848 deg, approach rate: -0.027634 m/s, LOS rate: 0.439781 deg/s, cmd heading: 12.109657 deg, new cmd heading: 12.674955 deg. 2025-01-08T23:33:41.731Z,1736379221.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.221220 target range: 128.100006 and range: 128.10 m. 2025-01-08T23:33:41.944Z,1736379221.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:41.944Z,1736379221.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275160 2025-01-08T23:33:42.185Z,1736379222.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:42.194Z,1736379222.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.10 m. 2025-01-08T23:33:42.196Z,1736379222.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:42.205Z,1736379222.205 [DAT](INFO): DAT read: 23:33:40.4148 LVL= 15856, 19873, 23218, 30835, AGC= 58, IDX= 451,-0.26,-0.420,-1.374,-2.694,-1.594, PHS= 1.262, 0.267,-1.103, RAW= 54.8, -4.2, CAL= 58.9, -8.8, ROT= 91.1, 8.8 2025-01-08T23:33:42.206Z,1736379222.206 [DAT](INFO): got valid direction response: 23:33:40.4148 LVL= 15856, 19873, 23218, 30835, AGC= 58, IDX= 451,-0.26,-0.420,-1.374,-2.694,-1.594, PHS= 1.262, 0.267,-1.103, RAW= 54.8, -4.2, CAL= 58.9, -8.8, ROT= 91.1, 8.8 2025-01-08T23:33:42.207Z,1736379222.207 [DAT](INFO): DAT read: Bearing 91.1, 8.8 (Local) 2025-01-08T23:33:42.208Z,1736379222.208 [DAT](INFO): Local bearing/azimuth received: Bearing 91.1, 8.8 (Local) 2025-01-08T23:33:42.210Z,1736379222.210 [DAT](INFO): DAT read: Range 10 to 50 : 129.3 m (Round-trip 172.4 ms) speed 0.0 m/s 2025-01-08T23:33:42.211Z,1736379222.211 [DAT](INFO): DAT read: user:3327> 2025-01-08T23:33:42.212Z,1736379222.212 [DAT](INFO): DAT read: Tx time:23:33:41.5382 2025-01-08T23:33:42.212Z,1736379222.212 [DAT](INFO): Ping request sent. 2025-01-08T23:33:42.212Z,1736379222.212 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:42.212Z,1736379222.212 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:42.213Z,1736379222.213 [DAT](INFO): direction in FSK: [0.059317,0.639031,0.766891] 2025-01-08T23:33:42.213Z,1736379222.213 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:42.214Z,1736379222.214 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:42.217Z,1736379222.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.100006 m, nav range: 76.460030 m, bearing: 77.317692 deg, approach rate: -0.023111 m/s, LOS rate: 0.415213 deg/s, cmd heading: 12.674955 deg, new cmd heading: 13.262549 deg. 2025-01-08T23:33:42.218Z,1736379222.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.231475 target range: 128.100006 and range: 128.10 m. 2025-01-08T23:33:42.229Z,1736379222.229 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:42.229Z,1736379222.229 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:42.453Z,1736379222.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:42.454Z,1736379222.454 [DAT](INFO): DAT read: TxSync time:23:33:41.5375 2025-01-08T23:33:42.669Z,1736379222.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:42.704Z,1736379222.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:42.720Z,1736379222.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.300003 m, deltaT: 3.781574 s, deltaX: 1.199997 m, approachRate: 0.317327 m/s, rangeRepo size: 4 2025-01-08T23:33:42.723Z,1736379222.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.300003 m, bearing: 89.903054 deg, lat: 36.905137 deg, lon: -122.120182 deg, deltaT: 3.781574 s, deltaX: 1.199997 m, approachRate: 0.317327 m/s, posRepo size: 4 2025-01-08T23:33:42.724Z,1736379222.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T23:33:42.731Z,1736379222.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 63.683018 m, bearing: 80.662803 deg, approach rate: 0.000000 m/s, LOS rate: 0.415213 deg/s, cmd heading: 13.262549 deg, new cmd heading: 13.911989 deg. 2025-01-08T23:33:42.732Z,1736379222.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.242810 target range: 129.300003 and range: 129.30 m. 2025-01-08T23:33:42.956Z,1736379222.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:43.082Z,1736379223.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:43.090Z,1736379223.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T23:33:43.094Z,1736379223.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 63.668686 m, bearing: 80.864949 deg, approach rate: -0.038184 m/s, LOS rate: 0.538699 deg/s, cmd heading: 13.911989 deg, new cmd heading: 14.518540 deg. 2025-01-08T23:33:43.095Z,1736379223.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253396 target range: 129.300003 and range: 129.30 m. 2025-01-08T23:33:43.208Z,1736379223.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:43.460Z,1736379223.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:43.501Z,1736379223.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:43.510Z,1736379223.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T23:33:43.513Z,1736379223.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 63.652752 m, bearing: 81.070075 deg, approach rate: -0.037968 m/s, LOS rate: 0.488902 deg/s, cmd heading: 14.518540 deg, new cmd heading: 15.134046 deg. 2025-01-08T23:33:43.514Z,1736379223.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.264139 target range: 129.300003 and range: 129.30 m. 2025-01-08T23:33:43.712Z,1736379223.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:43.940Z,1736379223.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:43.946Z,1736379223.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:43.948Z,1736379223.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T23:33:43.951Z,1736379223.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 63.619469 m, bearing: 81.282486 deg, approach rate: -0.075917 m/s, LOS rate: 0.484749 deg/s, cmd heading: 15.134046 deg, new cmd heading: 15.771587 deg. 2025-01-08T23:33:43.954Z,1736379223.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.275266 target range: 129.300003 and range: 129.30 m. 2025-01-08T23:33:43.964Z,1736379223.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:43.964Z,1736379223.964 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:43.964Z,1736379223.964 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:43.964Z,1736379223.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:44.216Z,1736379224.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:44.216Z,1736379224.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004174 2025-01-08T23:33:44.304Z,1736379224.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:44.313Z,1736379224.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T23:33:44.316Z,1736379224.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 63.590443 m, bearing: 81.458996 deg, approach rate: -0.079610 m/s, LOS rate: 0.484338 deg/s, cmd heading: 15.771586 deg, new cmd heading: 16.301342 deg. 2025-01-08T23:33:44.317Z,1736379224.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.284512 target range: 129.300003 and range: 129.30 m. 2025-01-08T23:33:44.468Z,1736379224.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:44.468Z,1736379224.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256240 2025-01-08T23:33:44.711Z,1736379224.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:44.720Z,1736379224.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:44.721Z,1736379224.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508424 2025-01-08T23:33:44.721Z,1736379224.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T23:33:44.724Z,1736379224.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 63.556309 m, bearing: 81.656055 deg, approach rate: -0.084041 m/s, LOS rate: 0.485437 deg/s, cmd heading: 16.301341 deg, new cmd heading: 16.892813 deg. 2025-01-08T23:33:44.726Z,1736379224.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.294835 target range: 129.300003 and range: 129.30 m. 2025-01-08T23:33:44.972Z,1736379224.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:44.974Z,1736379224.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761640 2025-01-08T23:33:45.128Z,1736379225.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:45.136Z,1736379225.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T23:33:45.139Z,1736379225.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 63.501575 m, bearing: 81.852533 deg, approach rate: -0.131265 m/s, LOS rate: 0.471612 deg/s, cmd heading: 16.892813 deg, new cmd heading: 17.482733 deg. 2025-01-08T23:33:45.164Z,1736379225.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.305131 target range: 129.300003 and range: 129.30 m. 2025-01-08T23:33:45.224Z,1736379225.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:45.226Z,1736379225.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013116 2025-01-08T23:33:45.476Z,1736379225.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:45.477Z,1736379225.477 [DAT](INFO): DAT read: Rx Time:23:33:44.1152 2025-01-08T23:33:45.477Z,1736379225.477 [DAT](INFO): Rx dataTimestamp_ set to:1736379225.477209 2025-01-08T23:33:45.478Z,1736379225.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265887 2025-01-08T23:33:45.512Z,1736379225.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:45.520Z,1736379225.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.30 m. 2025-01-08T23:33:45.523Z,1736379225.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.300003 m, nav range: 63.449631 m, bearing: 82.033281 deg, approach rate: -0.135201 m/s, LOS rate: 0.470831 deg/s, cmd heading: 17.482733 deg, new cmd heading: 18.025404 deg. 2025-01-08T23:33:45.552Z,1736379225.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.314603 target range: 129.300003 and range: 129.30 m. 2025-01-08T23:33:45.728Z,1736379225.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:45.729Z,1736379225.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516447 2025-01-08T23:33:45.951Z,1736379225.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:45.980Z,1736379225.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:45.989Z,1736379225.989 [DAT](INFO): DAT read: 23:33:44.1152 LVL= 18144, 28337, 26802, 32755, AGC= 65, IDX= 438,-0.29, 2.429, 1.662, 0.360, 1.439, PHS= 1.078, 0.270,-1.082, RAW= 51.7, -2.9, CAL= 54.4, -6.6, ROT= 95.6, 6.6 2025-01-08T23:33:45.991Z,1736379225.991 [DAT](INFO): got valid direction response: 23:33:44.1152 LVL= 18144, 28337, 26802, 32755, AGC= 65, IDX= 438,-0.29, 2.429, 1.662, 0.360, 1.439, PHS= 1.078, 0.270,-1.082, RAW= 51.7, -2.9, CAL= 54.4, -6.6, ROT= 95.6, 6.6 2025-01-08T23:33:45.992Z,1736379225.992 [DAT](INFO): DAT read: Bearing 95.6, 6.6 (Local) 2025-01-08T23:33:45.993Z,1736379225.993 [DAT](INFO): Local bearing/azimuth received: Bearing 95.6, 6.6 (Local) 2025-01-08T23:33:45.995Z,1736379225.995 [DAT](INFO): DAT read: Range 10 to 50 : 129.5 m (Round-trip 172.7 ms) speed 0.0 m/s 2025-01-08T23:33:45.996Z,1736379225.996 [DAT](INFO): DAT read: user:3328> 2025-01-08T23:33:45.996Z,1736379225.996 [DAT](INFO): DAT read: Tx time:23:33:45.2383 2025-01-08T23:33:45.997Z,1736379225.997 [DAT](INFO): Ping request sent. 2025-01-08T23:33:45.997Z,1736379225.997 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:45.997Z,1736379225.997 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:45.998Z,1736379225.998 [DAT](INFO): direction in FSK: [0.040654,0.678652,0.733334] 2025-01-08T23:33:45.998Z,1736379225.998 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:45.998Z,1736379225.998 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:46.001Z,1736379226.001 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:46.002Z,1736379226.002 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:46.040Z,1736379226.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.500000 m, deltaT: 3.783847 s, deltaX: 0.199997 m, approachRate: 0.052855 m/s, rangeRepo size: 4 2025-01-08T23:33:46.052Z,1736379226.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.500000 m, bearing: 97.036494 deg, lat: 36.905084 deg, lon: -122.120182 deg, deltaT: 3.783847 s, deltaX: 0.199997 m, approachRate: 0.052855 m/s, posRepo size: 4 2025-01-08T23:33:46.052Z,1736379226.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.50 m. 2025-01-08T23:33:46.077Z,1736379226.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.500000 m, nav range: 62.847649 m, bearing: 87.629178 deg, approach rate: 0.000000 m/s, LOS rate: 0.470831 deg/s, cmd heading: 18.025404 deg, new cmd heading: 18.751336 deg. 2025-01-08T23:33:46.078Z,1736379226.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.327273 target range: 129.500000 and range: 129.50 m. 2025-01-08T23:33:46.232Z,1736379226.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:46.233Z,1736379226.233 [DAT](INFO): DAT read: TxSync time:23:33:45.2375 2025-01-08T23:33:46.393Z,1736379226.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:46.411Z,1736379226.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:46.417Z,1736379226.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.50 m. 2025-01-08T23:33:46.424Z,1736379226.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.500000 m, nav range: 62.794411 m, bearing: 87.846586 deg, approach rate: -0.139090 m/s, LOS rate: 0.568480 deg/s, cmd heading: 18.751335 deg, new cmd heading: 19.404081 deg. 2025-01-08T23:33:46.426Z,1736379226.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.338665 target range: 129.500000 and range: 129.50 m. 2025-01-08T23:33:46.484Z,1736379226.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:46.485Z,1736379226.485 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:46.485Z,1736379226.485 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:46.486Z,1736379226.486 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:46.736Z,1736379226.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:46.736Z,1736379226.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739577 2025-01-08T23:33:46.781Z,1736379226.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:46.790Z,1736379226.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.50 m. 2025-01-08T23:33:46.793Z,1736379226.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.500000 m, nav range: 62.748432 m, bearing: 88.037692 deg, approach rate: -0.123349 m/s, LOS rate: 0.513063 deg/s, cmd heading: 19.404081 deg, new cmd heading: 19.977798 deg. 2025-01-08T23:33:46.794Z,1736379226.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.348678 target range: 129.500000 and range: 129.50 m. 2025-01-08T23:33:46.988Z,1736379226.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:46.990Z,1736379226.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992790 2025-01-08T23:33:47.223Z,1736379227.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:47.240Z,1736379227.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:47.240Z,1736379227.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243600 2025-01-08T23:33:47.243Z,1736379227.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.50 m. 2025-01-08T23:33:47.249Z,1736379227.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.500000 m, nav range: 62.674931 m, bearing: 88.259332 deg, approach rate: -0.162639 m/s, LOS rate: 0.491004 deg/s, cmd heading: 19.977798 deg, new cmd heading: 20.643467 deg. 2025-01-08T23:33:47.250Z,1736379227.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.360296 target range: 129.500000 and range: 129.50 m. 2025-01-08T23:33:47.492Z,1736379227.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:47.493Z,1736379227.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496200 2025-01-08T23:33:47.562Z,1736379227.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:47.571Z,1736379227.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.50 m. 2025-01-08T23:33:47.574Z,1736379227.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.500000 m, nav range: 62.608917 m, bearing: 88.430769 deg, approach rate: -0.200711 m/s, LOS rate: 0.521795 deg/s, cmd heading: 20.643466 deg, new cmd heading: 21.158303 deg. 2025-01-08T23:33:47.576Z,1736379227.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.369282 target range: 129.500000 and range: 129.50 m. 2025-01-08T23:33:47.744Z,1736379227.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:47.745Z,1736379227.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747793 2025-01-08T23:33:47.997Z,1736379227.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:47.998Z,1736379227.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001093 2025-01-08T23:33:48.008Z,1736379228.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:48.016Z,1736379228.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.50 m. 2025-01-08T23:33:48.022Z,1736379228.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.500000 m, nav range: 62.507401 m, bearing: 88.661738 deg, approach rate: -0.227789 m/s, LOS rate: 0.519101 deg/s, cmd heading: 21.158304 deg, new cmd heading: 21.852301 deg. 2025-01-08T23:33:48.045Z,1736379228.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.381395 target range: 129.500000 and range: 129.50 m. 2025-01-08T23:33:48.248Z,1736379228.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:48.248Z,1736379228.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251511 2025-01-08T23:33:48.368Z,1736379228.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:48.377Z,1736379228.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.50 m. 2025-01-08T23:33:48.380Z,1736379228.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.500000 m, nav range: 62.421097 m, bearing: 88.847083 deg, approach rate: -0.239214 m/s, LOS rate: 0.514443 deg/s, cmd heading: 21.852301 deg, new cmd heading: 22.409087 deg. 2025-01-08T23:33:48.381Z,1736379228.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.391112 target range: 129.500000 and range: 129.50 m. 2025-01-08T23:33:48.500Z,1736379228.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:48.501Z,1736379228.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503704 2025-01-08T23:33:48.753Z,1736379228.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:48.754Z,1736379228.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757137 2025-01-08T23:33:48.780Z,1736379228.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:48.787Z,1736379228.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:48.810Z,1736379228.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.50 m. 2025-01-08T23:33:48.817Z,1736379228.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.500000 m, nav range: 62.320591 m, bearing: 89.058843 deg, approach rate: -0.232226 m/s, LOS rate: 0.490072 deg/s, cmd heading: 22.409087 deg, new cmd heading: 23.045362 deg. 2025-01-08T23:33:48.818Z,1736379228.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.402217 target range: 129.500000 and range: 129.50 m. 2025-01-08T23:33:49.004Z,1736379229.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:49.005Z,1736379229.005 [DAT](INFO): DAT read: Rx Time:23:33:47.8145 2025-01-08T23:33:49.005Z,1736379229.005 [DAT](INFO): Rx dataTimestamp_ set to:1736379229.004891 2025-01-08T23:33:49.006Z,1736379229.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008839 2025-01-08T23:33:49.258Z,1736379229.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:49.260Z,1736379229.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263544 2025-01-08T23:33:49.352Z,1736379229.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:49.362Z,1736379229.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.50 m. 2025-01-08T23:33:49.365Z,1736379229.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.500000 m, nav range: 62.163673 m, bearing: 89.365578 deg, approach rate: -0.284037 m/s, LOS rate: 0.556622 deg/s, cmd heading: 23.045362 deg, new cmd heading: 23.967808 deg. 2025-01-08T23:33:49.366Z,1736379229.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418317 target range: 129.500000 and range: 129.50 m. 2025-01-08T23:33:49.510Z,1736379229.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:49.523Z,1736379229.523 [DAT](INFO): DAT read: 23:33:47.8145 LVL= 15008, 25585, 22690, 32755, AGC= 60, IDX= 430, 0.08,-1.398,-2.170, 2.812,-2.440, PHS= 1.130, 0.317,-1.034, RAW= 51.8, -4.4, CAL= 55.4, -9.0, ROT= 94.6, 9.0 2025-01-08T23:33:49.524Z,1736379229.524 [DAT](INFO): got valid direction response: 23:33:47.8145 LVL= 15008, 25585, 22690, 32755, AGC= 60, IDX= 430, 0.08,-1.398,-2.170, 2.812,-2.440, PHS= 1.130, 0.317,-1.034, RAW= 51.8, -4.4, CAL= 55.4, -9.0, ROT= 94.6, 9.0 2025-01-08T23:33:49.525Z,1736379229.525 [DAT](INFO): DAT read: Bearing 94.6, 9.0 (Local) 2025-01-08T23:33:49.526Z,1736379229.526 [DAT](INFO): Local bearing/azimuth received: Bearing 94.6, 9.0 (Local) 2025-01-08T23:33:49.528Z,1736379229.528 [DAT](INFO): DAT read: Range 10 to 50 : 129.0 m (Round-trip 172.0 ms) speed 0.0 m/s 2025-01-08T23:33:49.529Z,1736379229.529 [DAT](INFO): DAT read: user:3329> 2025-01-08T23:33:49.529Z,1736379229.529 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:49.530Z,1736379229.530 [DAT](INFO): direction in FSK: [0.069397,0.674500,0.735006] 2025-01-08T23:33:49.531Z,1736379229.531 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:49.534Z,1736379229.534 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:49.534Z,1736379229.534 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:49.534Z,1736379229.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:49.730Z,1736379229.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:49.760Z,1736379229.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:49.761Z,1736379229.761 [DAT](INFO): DAT read: T tie:23:33:48.9383 2025-01-08T23:33:49.762Z,1736379229.762 [DAT](INFO): unknown deviceResponse_: T tie:23:33:48.9383 2025-01-08T23:33:49.762Z,1736379229.762 [DAT](INFO): DAT read: TxSync time:23:33:48.9375 2025-01-08T23:33:49.763Z,1736379229.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766021 2025-01-08T23:33:49.771Z,1736379229.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: 3.530635 s, deltaX: -0.500000 m, approachRate: -0.141618 m/s, rangeRepo size: 4 2025-01-08T23:33:49.778Z,1736379229.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.000000 m, bearing: 98.995116 deg, lat: 36.905045 deg, lon: -122.120182 deg, deltaT: 3.530635 s, deltaX: -0.500000 m, approachRate: -0.141618 m/s, posRepo size: 4 2025-01-08T23:33:49.778Z,1736379229.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:49.786Z,1736379229.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 62.176064 m, bearing: 93.509782 deg, approach rate: 0.000000 m/s, LOS rate: 0.556622 deg/s, cmd heading: 23.967808 deg, new cmd heading: 24.648472 deg. 2025-01-08T23:33:49.787Z,1736379229.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430197 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:50.012Z,1736379230.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:50.013Z,1736379230.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016564 2025-01-08T23:33:50.188Z,1736379230.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:50.201Z,1736379230.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:50.215Z,1736379230.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 62.056740 m, bearing: 93.760669 deg, approach rate: -0.276985 m/s, LOS rate: 0.583498 deg/s, cmd heading: 24.648472 deg, new cmd heading: 25.402533 deg. 2025-01-08T23:33:50.216Z,1736379230.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.443358 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:50.264Z,1736379230.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:50.265Z,1736379230.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.267682 2025-01-08T23:33:50.505Z,1736379230.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:50.515Z,1736379230.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:50.516Z,1736379230.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:50.517Z,1736379230.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519912 2025-01-08T23:33:50.520Z,1736379230.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 61.972977 m, bearing: 93.934526 deg, approach rate: -0.266955 m/s, LOS rate: 0.554833 deg/s, cmd heading: 25.402532 deg, new cmd heading: 25.924793 deg. 2025-01-08T23:33:50.521Z,1736379230.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452473 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:50.768Z,1736379230.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:50.768Z,1736379230.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.771505 2025-01-08T23:33:50.977Z,1736379230.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:50.983Z,1736379230.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:50.985Z,1736379230.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:50.988Z,1736379230.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 61.847027 m, bearing: 94.192476 deg, approach rate: -0.267537 m/s, LOS rate: 0.549039 deg/s, cmd heading: 25.924792 deg, new cmd heading: 26.700168 deg. 2025-01-08T23:33:50.989Z,1736379230.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466006 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:51.020Z,1736379231.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:51.020Z,1736379231.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.023580 2025-01-08T23:33:51.272Z,1736379231.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:51.272Z,1736379231.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.275495 2025-01-08T23:33:51.362Z,1736379231.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:51.371Z,1736379231.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:51.374Z,1736379231.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 61.745327 m, bearing: 94.402878 deg, approach rate: -0.263771 m/s, LOS rate: 0.546601 deg/s, cmd heading: 26.700169 deg, new cmd heading: 27.332388 deg. 2025-01-08T23:33:51.375Z,1736379231.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.477040 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:51.525Z,1736379231.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:51.527Z,1736379231.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.529681 2025-01-08T23:33:51.736Z,1736379231.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:51.745Z,1736379231.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:51.748Z,1736379231.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 61.644791 m, bearing: 94.607111 deg, approach rate: -0.268802 m/s, LOS rate: 0.546944 deg/s, cmd heading: 27.332388 deg, new cmd heading: 27.946064 deg. 2025-01-08T23:33:51.749Z,1736379231.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.487751 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:51.776Z,1736379231.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:51.777Z,1736379231.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.779852 2025-01-08T23:33:52.029Z,1736379232.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:52.031Z,1736379232.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.033601 2025-01-08T23:33:52.165Z,1736379232.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:52.174Z,1736379232.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:52.178Z,1736379232.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 61.544781 m, bearing: 94.820605 deg, approach rate: -0.232862 m/s, LOS rate: 0.497901 deg/s, cmd heading: 27.946064 deg, new cmd heading: 28.587556 deg. 2025-01-08T23:33:52.179Z,1736379232.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.498947 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:52.280Z,1736379232.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:52.281Z,1736379232.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.283704 2025-01-08T23:33:52.365Z,1736379232.365 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:33:52.532Z,1736379232.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:52.533Z,1736379232.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.535697 2025-01-08T23:33:52.537Z,1736379232.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:52.547Z,1736379232.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:52.550Z,1736379232.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 61.448071 m, bearing: 95.022918 deg, approach rate: -0.259654 m/s, LOS rate: 0.544038 deg/s, cmd heading: 28.587555 deg, new cmd heading: 29.195427 deg. 2025-01-08T23:33:52.551Z,1736379232.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509556 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:52.784Z,1736379232.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:52.785Z,1736379232.785 [DAT](INFO): DAT read: Rx Time:23:33:51.5146 2025-01-08T23:33:52.785Z,1736379232.785 [DAT](INFO): Rx dataTimestamp_ set to:1736379232.784971 2025-01-08T23:33:52.786Z,1736379232.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.788911 2025-01-08T23:33:53.004Z,1736379233.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:53.015Z,1736379233.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:53.021Z,1736379233.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:53.024Z,1736379233.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 61.330757 m, bearing: 95.264481 deg, approach rate: -0.247407 m/s, LOS rate: 0.510414 deg/s, cmd heading: 29.195428 deg, new cmd heading: 29.921462 deg. 2025-01-08T23:33:53.025Z,1736379233.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.522228 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:53.036Z,1736379233.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:53.038Z,1736379233.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.041007 2025-01-08T23:33:53.288Z,1736379233.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:53.295Z,1736379233.295 [DAT](INFO): DAT read: 23:33:51.5146 LVL= 16240, 25025, 21938, 29683, AGC= 61, IDX= 447,-0.26,-0.483,-1.284,-2.595,-1.561, PHS= 1.166, 0.325,-1.036, RAW= 52.2, -4.8, CAL= 56.2, -9.5, ROT= 93.8, 9.5 2025-01-08T23:33:53.296Z,1736379233.296 [DAT](INFO): got valid direction response: 23:33:51.5146 LVL= 16240, 25025, 21938, 29683, AGC= 61, IDX= 447,-0.26,-0.483,-1.284,-2.595,-1.561, PHS= 1.166, 0.325,-1.036, RAW= 52.2, -4.8, CAL= 56.2, -9.5, ROT= 93.8, 9.5 2025-01-08T23:33:53.297Z,1736379233.297 [DAT](INFO): DAT read: Bearing 93.8, 9.5 (Local) 2025-01-08T23:33:53.297Z,1736379233.297 [DAT](INFO): Local bearing/azimuth received: Bearing 93.8, 9.5 (Local) 2025-01-08T23:33:53.299Z,1736379233.299 [DAT](INFO): DAT read: Range 10 to 50 : 129.0 m (Round-trip 172.1 ms) speed 0.0 m/s 2025-01-08T23:33:53.312Z,1736379233.312 [DAT](INFO): DAT read: user:3330> 2025-01-08T23:33:53.313Z,1736379233.313 [DAT](INFO): DAT read: Tx time:23:33:52.6383 2025-01-08T23:33:53.313Z,1736379233.313 [DAT](INFO): Ping request sent. 2025-01-08T23:33:53.313Z,1736379233.313 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:53.314Z,1736379233.314 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:53.315Z,1736379233.315 [DAT](INFO): direction in FSK: [0.075382,0.668894,0.739526] 2025-01-08T23:33:53.315Z,1736379233.315 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:53.319Z,1736379233.319 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:53.331Z,1736379233.331 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:53.331Z,1736379233.331 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:53.368Z,1736379233.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:33:53.446Z,1736379233.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:53.481Z,1736379233.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: 3.777344 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:33:53.488Z,1736379233.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.000000 m, bearing: 105.298688 deg, lat: 36.904989 deg, lon: -122.120170 deg, deltaT: 3.777344 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T23:33:53.489Z,1736379233.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:53.495Z,1736379233.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 63.217278 m, bearing: 101.029452 deg, approach rate: 0.000000 m/s, LOS rate: 0.510414 deg/s, cmd heading: 29.921460 deg, new cmd heading: 30.625308 deg. 2025-01-08T23:33:53.496Z,1736379233.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534512 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:53.541Z,1736379233.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:53.542Z,1736379233.542 [DAT](INFO): DAT read: TxSync time:23:33:52.6375 2025-01-08T23:33:53.778Z,1736379233.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:53.792Z,1736379233.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:53.801Z,1736379233.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:53.808Z,1736379233.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 63.161713 m, bearing: 101.193041 deg, approach rate: -0.173425 m/s, LOS rate: 0.511028 deg/s, cmd heading: 30.625308 deg, new cmd heading: 31.116492 deg. 2025-01-08T23:33:53.810Z,1736379233.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543085 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:54.047Z,1736379234.047 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:54.217Z,1736379234.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:54.300Z,1736379234.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:54.343Z,1736379234.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:54.346Z,1736379234.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 63.109245 m, bearing: 101.398062 deg, approach rate: -0.097075 m/s, LOS rate: 0.379645 deg/s, cmd heading: 31.116491 deg, new cmd heading: 31.732041 deg. 2025-01-08T23:33:54.347Z,1736379234.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553829 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:54.552Z,1736379234.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:54.689Z,1736379234.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:54.698Z,1736379234.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:54.705Z,1736379234.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 63.051449 m, bearing: 101.617937 deg, approach rate: -0.162132 m/s, LOS rate: 0.617360 deg/s, cmd heading: 31.732041 deg, new cmd heading: 32.392239 deg. 2025-01-08T23:33:54.706Z,1736379234.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565351 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:54.804Z,1736379234.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:55.056Z,1736379235.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:55.143Z,1736379235.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:55.150Z,1736379235.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:55.152Z,1736379235.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:55.155Z,1736379235.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 63.019806 m, bearing: 101.817044 deg, approach rate: -0.069665 m/s, LOS rate: 0.438573 deg/s, cmd heading: 32.392240 deg, new cmd heading: 32.989839 deg. 2025-01-08T23:33:55.164Z,1736379235.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575781 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:55.308Z,1736379235.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:55.310Z,1736379235.310 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:55.310Z,1736379235.310 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:55.310Z,1736379235.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:55.486Z,1736379235.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:55.496Z,1736379235.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:55.498Z,1736379235.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 62.995277 m, bearing: 101.967810 deg, approach rate: -0.071481 m/s, LOS rate: 0.439533 deg/s, cmd heading: 32.989838 deg, new cmd heading: 33.442302 deg. 2025-01-08T23:33:55.500Z,1736379235.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583678 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:55.560Z,1736379235.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:55.561Z,1736379235.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247213 2025-01-08T23:33:55.812Z,1736379235.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:55.813Z,1736379235.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499170 2025-01-08T23:33:55.887Z,1736379235.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:55.897Z,1736379235.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:55.899Z,1736379235.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 62.966152 m, bearing: 102.143745 deg, approach rate: -0.072595 m/s, LOS rate: 0.438722 deg/s, cmd heading: 33.442303 deg, new cmd heading: 33.970336 deg. 2025-01-08T23:33:55.900Z,1736379235.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592894 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:56.064Z,1736379236.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:56.065Z,1736379236.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751091 2025-01-08T23:33:56.316Z,1736379236.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:56.316Z,1736379236.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002953 2025-01-08T23:33:56.355Z,1736379236.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:56.385Z,1736379236.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:56.392Z,1736379236.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 62.953732 m, bearing: 102.339880 deg, approach rate: -0.025448 m/s, LOS rate: 0.401929 deg/s, cmd heading: 33.970335 deg, new cmd heading: 34.558835 deg. 2025-01-08T23:33:56.393Z,1736379236.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603165 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:56.548Z,1736379236.548 [RudderServo](FAULT): Invalid EZ Servo response:"\r" 2025-01-08T23:33:56.548Z,1736379236.548 [RudderServo] Communications Fault, FailCount= 1 2025-01-08T23:33:56.548Z,1736379236.548 [RudderServo](ERROR): Communications Fault 2025-01-08T23:33:56.548Z,1736379236.548 [RudderServo](ERROR): Rudder reporting null position 2025-01-08T23:33:56.568Z,1736379236.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:56.570Z,1736379236.570 [DAT](INFO): DAT read: Rx Time:23:33:55.2147 2025-01-08T23:33:56.570Z,1736379236.570 [DAT](INFO): Rx dataTimestamp_ set to:1736379236.569877 2025-01-08T23:33:56.576Z,1736379236.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257683 2025-01-08T23:33:56.588Z,1736379236.588 [CBIT](ERROR): Communications Fault in component: RudderServo 2025-01-08T23:33:56.716Z,1736379236.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:56.725Z,1736379236.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m. 2025-01-08T23:33:56.728Z,1736379236.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.000000 m, nav range: 62.942482 m, bearing: 102.491246 deg, approach rate: -0.033090 m/s, LOS rate: 0.445319 deg/s, cmd heading: 34.558835 deg, new cmd heading: 35.013003 deg. 2025-01-08T23:33:56.729Z,1736379236.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.611092 target range: 129.000000 and range: 129.00 m. 2025-01-08T23:33:56.820Z,1736379236.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:56.820Z,1736379236.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507017 2025-01-08T23:33:56.953Z,1736379236.953 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2025-01-08T23:33:56.954Z,1736379236.954 [RudderServo](INFO): Powering down 2025-01-08T23:33:57.072Z,1736379237.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:57.079Z,1736379237.079 [DAT](INFO): DAT read: 23:33:55.2147 LVL= 15088, 24561, 20562, 24915, AGC= 57, IDX= 448,-0.04,-0.754,-1.802,-2.919,-2.010, PHS= 1.344, 0.255,-0.912, RAW= 58.9, -7.1, CAL= 66.1, -13.3, ROT= 83.9, 13.3 2025-01-08T23:33:57.080Z,1736379237.080 [DAT](INFO): got valid direction response: 23:33:55.2147 LVL= 15088, 24561, 20562, 24915, AGC= 57, IDX= 448,-0.04,-0.754,-1.802,-2.919,-2.010, PHS= 1.344, 0.255,-0.912, RAW= 58.9, -7.1, CAL= 66.1, -13.3, ROT= 83.9, 13.3 2025-01-08T23:33:57.081Z,1736379237.081 [DAT](INFO): DAT read: Bearing 83.9, 13.3 (Local) 2025-01-08T23:33:57.081Z,1736379237.081 [DAT](INFO): Local bearing/azimuth received: Bearing 83.9, 13.3 (Local) 2025-01-08T23:33:57.083Z,1736379237.083 [DAT](INFO): DAT read: Range 10 to 50 : 129.1 m (Round-trip 172.2 ms) speed 0.0 m/s 2025-01-08T23:33:57.084Z,1736379237.084 [DAT](INFO): DAT read: user:3331> 2025-01-08T23:33:57.084Z,1736379237.084 [DAT](INFO): DAT read: Tx time:23:33:56.3384 2025-01-08T23:33:57.085Z,1736379237.085 [DAT](INFO): Ping request sent. 2025-01-08T23:33:57.085Z,1736379237.085 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:33:57.085Z,1736379237.085 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:33:57.086Z,1736379237.086 [DAT](INFO): direction in FSK: [0.104860,0.580309,0.807617] 2025-01-08T23:33:57.086Z,1736379237.086 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:57.086Z,1736379237.086 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:57.089Z,1736379237.089 [DAT](INFO): publishing transmit ping time 2025-01-08T23:33:57.090Z,1736379237.090 [DAT](INFO): publishing direction and range info 2025-01-08T23:33:57.251Z,1736379237.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:57.278Z,1736379237.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.100006 m, deltaT: 3.783975 s, deltaX: 0.100006 m, approachRate: 0.026429 m/s, rangeRepo size: 4 2025-01-08T23:33:57.285Z,1736379237.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.100006 m, bearing: 101.871560 deg, lat: 36.904989 deg, lon: -122.120170 deg, deltaT: 3.783975 s, deltaX: 0.100006 m, approachRate: 0.026429 m/s, posRepo size: 4 2025-01-08T23:33:57.285Z,1736379237.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.10 m. 2025-01-08T23:33:57.293Z,1736379237.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.100006 m, nav range: 62.935715 m, bearing: 102.710248 deg, approach rate: 0.000000 m/s, LOS rate: 0.445319 deg/s, cmd heading: 35.013001 deg, new cmd heading: 35.751100 deg. 2025-01-08T23:33:57.294Z,1736379237.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.623974 target range: 129.100006 and range: 129.10 m. 2025-01-08T23:33:57.326Z,1736379237.326 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:57.328Z,1736379237.328 [DAT](INFO): DAT read: TxSync time:23:33:56.3376 2025-01-08T23:33:57.536Z,1736379237.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:57.554Z,1736379237.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:57.565Z,1736379237.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.10 m. 2025-01-08T23:33:57.572Z,1736379237.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.100006 m, nav range: 62.931267 m, bearing: 102.827311 deg, approach rate: -0.015454 m/s, LOS rate: 0.406754 deg/s, cmd heading: 35.751099 deg, new cmd heading: 36.102309 deg. 2025-01-08T23:33:57.573Z,1736379237.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630104 target range: 129.100006 and range: 129.10 m. 2025-01-08T23:33:57.576Z,1736379237.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:57.576Z,1736379237.576 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:33:57.577Z,1736379237.577 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:33:57.577Z,1736379237.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:33:57.651Z,1736379237.651 [RudderServo](DEBUG): Initializing EZServoServo. 2025-01-08T23:33:57.772Z,1736379237.772 [RudderServo](DEBUG): Initializing RudderServo. 2025-01-08T23:33:57.804Z,1736379237.804 [CBIT](INFO): Clearing failed state for component RudderServo 2025-01-08T23:33:57.804Z,1736379237.804 [RudderServo] No Fault, FailCount= 1 2025-01-08T23:33:57.828Z,1736379237.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:57.828Z,1736379237.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743580 2025-01-08T23:33:57.926Z,1736379237.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:57.934Z,1736379237.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.10 m. 2025-01-08T23:33:57.941Z,1736379237.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.100006 m, nav range: 62.923946 m, bearing: 102.986495 deg, approach rate: -0.019821 m/s, LOS rate: 0.431064 deg/s, cmd heading: 36.102310 deg, new cmd heading: 36.579906 deg. 2025-01-08T23:33:57.944Z,1736379237.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638440 target range: 129.100006 and range: 129.10 m. 2025-01-08T23:33:58.080Z,1736379238.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:58.081Z,1736379238.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995804 2025-01-08T23:33:58.334Z,1736379238.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:58.337Z,1736379238.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251815 2025-01-08T23:33:58.369Z,1736379238.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:58.377Z,1736379238.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.10 m. 2025-01-08T23:33:58.381Z,1736379238.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.100006 m, nav range: 62.915298 m, bearing: 103.172193 deg, approach rate: -0.019516 m/s, LOS rate: 0.419126 deg/s, cmd heading: 36.579905 deg, new cmd heading: 37.137056 deg. 2025-01-08T23:33:58.382Z,1736379238.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648164 target range: 129.100006 and range: 129.10 m. 2025-01-08T23:33:58.584Z,1736379238.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:58.584Z,1736379238.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499750 2025-01-08T23:33:58.741Z,1736379238.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:58.751Z,1736379238.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.10 m. 2025-01-08T23:33:58.753Z,1736379238.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.100006 m, nav range: 62.907177 m, bearing: 103.327958 deg, approach rate: -0.021767 m/s, LOS rate: 0.417535 deg/s, cmd heading: 37.137057 deg, new cmd heading: 37.604402 deg. 2025-01-08T23:33:58.754Z,1736379238.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.656321 target range: 129.100006 and range: 129.10 m. 2025-01-08T23:33:58.837Z,1736379238.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:58.838Z,1736379238.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753195 2025-01-08T23:33:59.088Z,1736379239.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:59.088Z,1736379239.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003664 2025-01-08T23:33:59.186Z,1736379239.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:59.195Z,1736379239.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.10 m. 2025-01-08T23:33:59.218Z,1736379239.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.100006 m, nav range: 62.881802 m, bearing: 103.522860 deg, approach rate: -0.057130 m/s, LOS rate: 0.438981 deg/s, cmd heading: 37.604402 deg, new cmd heading: 38.189324 deg. 2025-01-08T23:33:59.219Z,1736379239.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666529 target range: 129.100006 and range: 129.10 m. 2025-01-08T23:33:59.340Z,1736379239.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:59.340Z,1736379239.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255708 2025-01-08T23:33:59.545Z,1736379239.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:59.553Z,1736379239.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.10 m. 2025-01-08T23:33:59.556Z,1736379239.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.100006 m, nav range: 62.857166 m, bearing: 103.679293 deg, approach rate: -0.068733 m/s, LOS rate: 0.436620 deg/s, cmd heading: 38.189323 deg, new cmd heading: 38.658795 deg. 2025-01-08T23:33:59.557Z,1736379239.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674723 target range: 129.100006 and range: 129.10 m. 2025-01-08T23:33:59.593Z,1736379239.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:59.594Z,1736379239.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509247 2025-01-08T23:33:59.844Z,1736379239.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:33:59.844Z,1736379239.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759756 2025-01-08T23:33:59.954Z,1736379239.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:33:59.962Z,1736379239.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:33:59.964Z,1736379239.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.10 m. 2025-01-08T23:33:59.967Z,1736379239.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.100006 m, nav range: 62.827682 m, bearing: 103.857995 deg, approach rate: -0.071684 m/s, LOS rate: 0.434684 deg/s, cmd heading: 38.658796 deg, new cmd heading: 39.195136 deg. 2025-01-08T23:33:59.968Z,1736379239.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684084 target range: 129.100006 and range: 129.10 m. 2025-01-08T23:34:00.096Z,1736379240.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:00.097Z,1736379240.097 [DAT](INFO): DAT read: Rx Time:23:33:58.9141 2025-01-08T23:34:00.097Z,1736379240.097 [DAT](INFO): Rx dataTimestamp_ set to:1736379240.096760 2025-01-08T23:34:00.098Z,1736379240.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012827 2025-01-08T23:34:00.348Z,1736379240.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:00.348Z,1736379240.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263531 2025-01-08T23:34:00.384Z,1736379240.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:00.393Z,1736379240.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.10 m. 2025-01-08T23:34:00.397Z,1736379240.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.100006 m, nav range: 62.778156 m, bearing: 104.056174 deg, approach rate: -0.115484 m/s, LOS rate: 0.462475 deg/s, cmd heading: 39.195136 deg, new cmd heading: 39.790120 deg. 2025-01-08T23:34:00.398Z,1736379240.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694469 target range: 129.100006 and range: 129.10 m. 2025-01-08T23:34:00.601Z,1736379240.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:00.621Z,1736379240.621 [DAT](INFO): DAT read: 23:33:58.9141 LVL= 17760, 24881, 18338, 21843, AGC= 61, IDX= 441,-0.46, 0.002,-1.348,-2.129,-1.295, PHS= 1.385,-0.006,-0.837, RAW= 68.3, -5.6, CAL= 76.4, -12.0, ROT= 73.6, 12.0 2025-01-08T23:34:00.622Z,1736379240.622 [DAT](INFO): got valid direction response: 23:33:58.9141 LVL= 17760, 24881, 18338, 21843, AGC= 61, IDX= 441,-0.46, 0.002,-1.348,-2.129,-1.295, PHS= 1.385,-0.006,-0.837, RAW= 68.3, -5.6, CAL= 76.4, -12.0, ROT= 73.6, 12.0 2025-01-08T23:34:00.623Z,1736379240.623 [DAT](INFO): DAT read: Bearing 73.6, 12.0 (Local) 2025-01-08T23:34:00.623Z,1736379240.623 [DAT](INFO): Local bearing/azimuth received: Bearing 73.6, 12.0 (Local) 2025-01-08T23:34:00.625Z,1736379240.625 [DAT](INFO): DAT read: Range 10 to 50 : 128.6 m (Round-trip 171.5 ms) speed 0.2 m/s 2025-01-08T23:34:00.626Z,1736379240.626 [DAT](INFO): DAT read: user:3332> 2025-01-08T23:34:00.627Z,1736379240.627 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:00.628Z,1736379240.628 [DAT](INFO): direction in FSK: [0.059648,0.451756,0.890145] 2025-01-08T23:34:00.628Z,1736379240.628 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:00.631Z,1736379240.631 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:00.631Z,1736379240.631 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:00.632Z,1736379240.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:00.766Z,1736379240.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:00.801Z,1736379240.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.600006 m, deltaT: 3.529712 s, deltaX: -0.500000 m, approachRate: -0.141655 m/s, rangeRepo size: 4 2025-01-08T23:34:00.816Z,1736379240.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.600006 m, bearing: 108.047210 deg, lat: 36.904989 deg, lon: -122.120170 deg, deltaT: 3.529712 s, deltaX: -0.500000 m, approachRate: -0.141655 m/s, posRepo size: 4 2025-01-08T23:34:00.816Z,1736379240.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m. 2025-01-08T23:34:00.819Z,1736379240.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.600006 m, nav range: 62.732761 m, bearing: 104.232085 deg, approach rate: 0.000000 m/s, LOS rate: 0.462475 deg/s, cmd heading: 39.790121 deg, new cmd heading: 40.355389 deg. 2025-01-08T23:34:00.828Z,1736379240.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704334 target range: 128.600006 and range: 128.60 m. 2025-01-08T23:34:00.852Z,1736379240.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:00.853Z,1736379240.853 [DAT](INFO): DAT read: Tx time:23:34:00.0384 2025-01-08T23:34:00.853Z,1736379240.853 [DAT](INFO): Ping request sent. 2025-01-08T23:34:00.853Z,1736379240.853 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:00.854Z,1736379240.854 [DAT](INFO): DAT read: TxSync time:23:34:00.0376 2025-01-08T23:34:00.854Z,1736379240.854 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:00.855Z,1736379240.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001539 2025-01-08T23:34:01.105Z,1736379241.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:01.108Z,1736379241.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254971 2025-01-08T23:34:01.246Z,1736379241.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:01.262Z,1736379241.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m. 2025-01-08T23:34:01.277Z,1736379241.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.600006 m, nav range: 62.637974 m, bearing: 104.470867 deg, approach rate: -0.205276 m/s, LOS rate: 0.517898 deg/s, cmd heading: 40.355391 deg, new cmd heading: 41.072782 deg. 2025-01-08T23:34:01.284Z,1736379241.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716855 target range: 128.600006 and range: 128.60 m. 2025-01-08T23:34:01.357Z,1736379241.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:01.358Z,1736379241.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504791 2025-01-08T23:34:01.569Z,1736379241.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:01.578Z,1736379241.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m. 2025-01-08T23:34:01.581Z,1736379241.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.600006 m, nav range: 62.571182 m, bearing: 104.630529 deg, approach rate: -0.211712 m/s, LOS rate: 0.506625 deg/s, cmd heading: 41.072782 deg, new cmd heading: 41.552266 deg. 2025-01-08T23:34:01.582Z,1736379241.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725224 target range: 128.600006 and range: 128.60 m. 2025-01-08T23:34:01.608Z,1736379241.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:01.609Z,1736379241.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755639 2025-01-08T23:34:01.860Z,1736379241.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:01.861Z,1736379241.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007977 2025-01-08T23:34:01.980Z,1736379241.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:01.986Z,1736379241.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:01.989Z,1736379241.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m. 2025-01-08T23:34:01.992Z,1736379241.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.600006 m, nav range: 62.484394 m, bearing: 104.833144 deg, approach rate: -0.211243 m/s, LOS rate: 0.493850 deg/s, cmd heading: 41.552265 deg, new cmd heading: 42.160930 deg. 2025-01-08T23:34:01.994Z,1736379241.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.735847 target range: 128.600006 and range: 128.60 m. 2025-01-08T23:34:02.112Z,1736379242.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:02.113Z,1736379242.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260206 2025-01-08T23:34:02.364Z,1736379242.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:02.364Z,1736379242.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511459 2025-01-08T23:34:02.395Z,1736379242.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:02.405Z,1736379242.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m. 2025-01-08T23:34:02.407Z,1736379242.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.600006 m, nav range: 62.367840 m, bearing: 105.052315 deg, approach rate: -0.280367 m/s, LOS rate: 0.528191 deg/s, cmd heading: 42.160931 deg, new cmd heading: 42.819641 deg. 2025-01-08T23:34:02.409Z,1736379242.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747344 target range: 128.600006 and range: 128.60 m. 2025-01-08T23:34:02.616Z,1736379242.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:02.616Z,1736379242.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763341 2025-01-08T23:34:02.790Z,1736379242.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:02.800Z,1736379242.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m. 2025-01-08T23:34:02.803Z,1736379242.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.600006 m, nav range: 62.254784 m, bearing: 105.260129 deg, approach rate: -0.286383 m/s, LOS rate: 0.527370 deg/s, cmd heading: 42.819641 deg, new cmd heading: 43.444191 deg. 2025-01-08T23:34:02.804Z,1736379242.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758244 target range: 128.600006 and range: 128.60 m. 2025-01-08T23:34:02.868Z,1736379242.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:02.869Z,1736379242.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015535 2025-01-08T23:34:03.122Z,1736379243.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:03.124Z,1736379243.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270811 2025-01-08T23:34:03.227Z,1736379243.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:03.241Z,1736379243.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m. 2025-01-08T23:34:03.244Z,1736379243.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.600006 m, nav range: 62.108219 m, bearing: 105.492457 deg, approach rate: -0.331994 m/s, LOS rate: 0.527505 deg/s, cmd heading: 43.444190 deg, new cmd heading: 44.142784 deg. 2025-01-08T23:34:03.247Z,1736379243.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770437 target range: 128.600006 and range: 128.60 m. 2025-01-08T23:34:03.372Z,1736379243.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:03.372Z,1736379243.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519405 2025-01-08T23:34:03.594Z,1736379243.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:03.603Z,1736379243.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m. 2025-01-08T23:34:03.606Z,1736379243.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.600006 m, nav range: 61.982349 m, bearing: 105.687042 deg, approach rate: -0.347737 m/s, LOS rate: 0.538666 deg/s, cmd heading: 44.142785 deg, new cmd heading: 44.727704 deg. 2025-01-08T23:34:03.607Z,1736379243.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780646 target range: 128.600006 and range: 128.60 m. 2025-01-08T23:34:03.626Z,1736379243.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:03.627Z,1736379243.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773563 2025-01-08T23:34:03.876Z,1736379243.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:03.877Z,1736379243.877 [DAT](INFO): DAT read: Rx Time:23:34:02.6125 2025-01-08T23:34:03.877Z,1736379243.877 [DAT](INFO): Rx dataTimestamp_ set to:1736379243.877138 2025-01-08T23:34:03.878Z,1736379243.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024913 2025-01-08T23:34:03.988Z,1736379243.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:03.996Z,1736379243.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:03.998Z,1736379243.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m. 2025-01-08T23:34:04.001Z,1736379244.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.600006 m, nav range: 61.844639 m, bearing: 105.894446 deg, approach rate: -0.348283 m/s, LOS rate: 0.525711 deg/s, cmd heading: 44.727706 deg, new cmd heading: 45.351277 deg. 2025-01-08T23:34:04.002Z,1736379244.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791529 target range: 128.600006 and range: 128.60 m. 2025-01-08T23:34:04.130Z,1736379244.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:04.134Z,1736379244.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280392 2025-01-08T23:34:04.380Z,1736379244.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:04.386Z,1736379244.386 [DAT](INFO): DAT read: 23:34:02.6125 LVL= 14656, 26545, 17970, 28851, AGC= 59, IDX= 424, 0.05,-1.507,-3.013, 2.962,-2.660, PHS= 1.240,-0.306,-0.664, RAW= 79.8, -3.1, CAL= 87.6, -9.0, ROT= 62.4, 9.0 2025-01-08T23:34:04.387Z,1736379244.387 [DAT](INFO): got valid direction response: 23:34:02.6125 LVL= 14656, 26545, 17970, 28851, AGC= 59, IDX= 424, 0.05,-1.507,-3.013, 2.962,-2.660, PHS= 1.240,-0.306,-0.664, RAW= 79.8, -3.1, CAL= 87.6, -9.0, ROT= 62.4, 9.0 2025-01-08T23:34:04.388Z,1736379244.388 [DAT](INFO): DAT read: Bearing 62.4, 9.0 (Local) 2025-01-08T23:34:04.389Z,1736379244.389 [DAT](INFO): Local bearing/azimuth received: Bearing 62.4, 9.0 (Local) 2025-01-08T23:34:04.390Z,1736379244.390 [DAT](INFO): DAT read: Range 10 to 50 : 127.4 m (Round-trip 169.9 ms) speed 0.3 m/s 2025-01-08T23:34:04.391Z,1736379244.391 [DAT](INFO): DAT read: user:3333> 2025-01-08T23:34:04.393Z,1736379244.393 [DAT](INFO): DAT read: Tx time:23:34:03.7384 2025-01-08T23:34:04.393Z,1736379244.393 [DAT](INFO): Ping request sent. 2025-01-08T23:34:04.393Z,1736379244.393 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:04.394Z,1736379244.394 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:04.394Z,1736379244.394 [DAT](INFO): direction in FSK: [-0.008652,0.275878,0.961154] 2025-01-08T23:34:04.395Z,1736379244.395 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:04.395Z,1736379244.395 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:04.398Z,1736379244.398 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:04.398Z,1736379244.398 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:04.479Z,1736379244.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:04.510Z,1736379244.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.400002 m, deltaT: 3.778309 s, deltaX: -1.200005 m, approachRate: -0.317604 m/s, rangeRepo size: 4 2025-01-08T23:34:04.517Z,1736379244.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.400002 m, bearing: 140.203253 deg, lat: 36.905017 deg, lon: -122.120284 deg, deltaT: 3.778309 s, deltaX: -1.200005 m, approachRate: -0.317604 m/s, posRepo size: 4 2025-01-08T23:34:04.517Z,1736379244.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:34:04.525Z,1736379244.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 51.030167 m, bearing: 106.012448 deg, approach rate: 0.000000 m/s, LOS rate: 0.525711 deg/s, cmd heading: 45.351278 deg, new cmd heading: 46.158061 deg. 2025-01-08T23:34:04.526Z,1736379244.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805610 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:34:04.633Z,1736379244.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:04.635Z,1736379244.635 [DAT](INFO): DAT read: TxSync time:23:34:03.7376 2025-01-08T23:34:04.830Z,1736379244.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:04.851Z,1736379244.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:34:04.854Z,1736379244.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 50.886433 m, bearing: 106.242608 deg, approach rate: -0.425761 m/s, LOS rate: 0.683692 deg/s, cmd heading: 46.158060 deg, new cmd heading: 46.850455 deg. 2025-01-08T23:34:04.859Z,1736379244.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817695 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:34:04.884Z,1736379244.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:05.138Z,1736379245.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:05.278Z,1736379245.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:05.299Z,1736379245.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:34:05.308Z,1736379245.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 50.690342 m, bearing: 106.525315 deg, approach rate: -0.437897 m/s, LOS rate: 0.633763 deg/s, cmd heading: 46.850453 deg, new cmd heading: 47.701789 deg. 2025-01-08T23:34:05.310Z,1736379245.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832553 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:34:05.388Z,1736379245.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:05.628Z,1736379245.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:05.637Z,1736379245.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:34:05.640Z,1736379245.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:05.643Z,1736379245.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 50.538570 m, bearing: 106.740554 deg, approach rate: -0.444470 m/s, LOS rate: 0.632230 deg/s, cmd heading: 47.701788 deg, new cmd heading: 48.349416 deg. 2025-01-08T23:34:05.645Z,1736379245.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.843857 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:34:05.892Z,1736379245.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:06.045Z,1736379246.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:06.052Z,1736379246.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:06.054Z,1736379246.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:34:06.073Z,1736379246.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 50.350655 m, bearing: 107.010287 deg, approach rate: -0.450433 m/s, LOS rate: 0.648960 deg/s, cmd heading: 48.349417 deg, new cmd heading: 49.161580 deg. 2025-01-08T23:34:06.074Z,1736379246.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858031 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:34:06.147Z,1736379246.147 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:06.157Z,1736379246.157 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:06.158Z,1736379246.158 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:06.159Z,1736379246.159 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:06.396Z,1736379246.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:06.396Z,1736379246.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003123 2025-01-08T23:34:06.460Z,1736379246.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:06.494Z,1736379246.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:34:06.497Z,1736379246.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 50.169823 m, bearing: 107.266616 deg, approach rate: -0.410576 m/s, LOS rate: 0.584085 deg/s, cmd heading: 49.161581 deg, new cmd heading: 49.933289 deg. 2025-01-08T23:34:06.498Z,1736379246.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.871500 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:34:06.648Z,1736379246.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:06.649Z,1736379246.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256141 2025-01-08T23:34:06.835Z,1736379246.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:06.864Z,1736379246.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:34:06.867Z,1736379246.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 50.003670 m, bearing: 107.499557 deg, approach rate: -0.449290 m/s, LOS rate: 0.631981 deg/s, cmd heading: 49.933290 deg, new cmd heading: 50.634397 deg. 2025-01-08T23:34:06.868Z,1736379246.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.883737 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:34:06.900Z,1736379246.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:06.901Z,1736379246.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507485 2025-01-08T23:34:07.164Z,1736379247.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:07.168Z,1736379247.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773392 2025-01-08T23:34:07.298Z,1736379247.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:07.308Z,1736379247.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:34:07.310Z,1736379247.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 49.813705 m, bearing: 107.777176 deg, approach rate: -0.428498 m/s, LOS rate: 0.628606 deg/s, cmd heading: 50.634398 deg, new cmd heading: 51.470371 deg. 2025-01-08T23:34:07.313Z,1736379247.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.898327 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:34:07.411Z,1736379247.411 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:07.414Z,1736379247.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020476 2025-01-08T23:34:07.653Z,1736379247.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:07.665Z,1736379247.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:07.666Z,1736379247.666 [DAT](INFO): DAT read: Rx Time:23:34:06.3108 2025-01-08T23:34:07.666Z,1736379247.666 [DAT](INFO): Rx dataTimestamp_ set to:1736379247.665855 2025-01-08T23:34:07.668Z,1736379247.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273762 2025-01-08T23:34:07.695Z,1736379247.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:34:07.698Z,1736379247.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 49.667065 m, bearing: 107.989551 deg, approach rate: -0.382024 m/s, LOS rate: 0.554904 deg/s, cmd heading: 51.470369 deg, new cmd heading: 52.109345 deg. 2025-01-08T23:34:07.707Z,1736379247.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.909480 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:34:07.916Z,1736379247.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:07.918Z,1736379247.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523869 2025-01-08T23:34:08.055Z,1736379248.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:08.062Z,1736379248.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:08.065Z,1736379248.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m. 2025-01-08T23:34:08.067Z,1736379248.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.400002 m, nav range: 49.500019 m, bearing: 108.229196 deg, approach rate: -0.447234 m/s, LOS rate: 0.643770 deg/s, cmd heading: 52.109344 deg, new cmd heading: 52.830665 deg. 2025-01-08T23:34:08.068Z,1736379248.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.922069 target range: 127.400002 and range: 127.40 m. 2025-01-08T23:34:08.169Z,1736379248.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:08.198Z,1736379248.198 [DAT](INFO): DAT read: 23:34:06.3109 LVL= 16320, 32753, 24994, 32755, AGC= 58, IDX= 423, 0.15, 0.616,-1.030,-1.127,-0.540, PHS= 1.244,-0.443,-0.590, RAW= 85.9, -2.4, CAL= 93.7, -8.3, ROT= 56.3, 8.3 2025-01-08T23:34:08.208Z,1736379248.208 [DAT](INFO): got valid direction response: 23:34:06.3109 LVL= 16320, 32753, 24994, 32755, AGC= 58, IDX= 423, 0.15, 0.616,-1.030,-1.127,-0.540, PHS= 1.244,-0.443,-0.590, RAW= 85.9, -2.4, CAL= 93.7, -8.3, ROT= 56.3, 8.3 2025-01-08T23:34:08.210Z,1736379248.210 [DAT](INFO): DAT read: Bearing 56.3, 8.3 (Local) 2025-01-08T23:34:08.210Z,1736379248.210 [DAT](INFO): Local bearing/azimuth received: Bearing 56.3, 8.3 (Local) 2025-01-08T23:34:08.218Z,1736379248.218 [DAT](INFO): DAT read: Range 10 to 50 : 126.1 m (Round-trip 168.2 ms) speed 0.2 m/s 2025-01-08T23:34:08.232Z,1736379248.232 [DAT](INFO): DAT read: user:3334> 2025-01-08T23:34:08.233Z,1736379248.233 [DAT](INFO): DAT read: Tx time:23:34:07.4385 2025-01-08T23:34:08.234Z,1736379248.234 [DAT](INFO): Ping request sent. 2025-01-08T23:34:08.234Z,1736379248.234 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:08.234Z,1736379248.234 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:08.235Z,1736379248.235 [DAT](INFO): direction in FSK: [-0.032246,0.175909,0.983878] 2025-01-08T23:34:08.254Z,1736379248.254 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:08.255Z,1736379248.255 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:08.266Z,1736379248.266 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:08.266Z,1736379248.266 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:08.420Z,1736379248.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:08.421Z,1736379248.421 [DAT](INFO): DAT read: TxSync time:23:34:07.4377 2025-01-08T23:34:08.512Z,1736379248.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:08.534Z,1736379248.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.099998 m, deltaT: 3.789802 s, deltaX: -1.300003 m, approachRate: -0.343027 m/s, rangeRepo size: 4 2025-01-08T23:34:08.541Z,1736379248.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.099998 m, bearing: 271.839977 deg, lat: 36.905036 deg, lon: -122.120502 deg, deltaT: 3.789802 s, deltaX: -1.300003 m, approachRate: -0.343027 m/s, posRepo size: 4 2025-01-08T23:34:08.541Z,1736379248.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:34:08.549Z,1736379248.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 30.567417 m, bearing: 116.193451 deg, approach rate: 0.000000 m/s, LOS rate: 0.643770 deg/s, cmd heading: 52.830666 deg, new cmd heading: 53.736422 deg. 2025-01-08T23:34:08.550Z,1736379248.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937877 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:34:08.672Z,1736379248.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:08.867Z,1736379248.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:08.877Z,1736379248.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:34:08.880Z,1736379248.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 30.462830 m, bearing: 116.550245 deg, approach rate: -0.304873 m/s, LOS rate: 1.043618 deg/s, cmd heading: 53.736421 deg, new cmd heading: 54.810344 deg. 2025-01-08T23:34:08.881Z,1736379248.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956621 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:34:08.925Z,1736379248.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:09.178Z,1736379249.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:09.279Z,1736379249.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:09.314Z,1736379249.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:34:09.321Z,1736379249.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 30.351967 m, bearing: 116.933220 deg, approach rate: -0.253915 m/s, LOS rate: 0.880347 deg/s, cmd heading: 54.810345 deg, new cmd heading: 55.963305 deg. 2025-01-08T23:34:09.322Z,1736379249.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.976744 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:34:09.429Z,1736379249.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:09.680Z,1736379249.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:09.688Z,1736379249.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:09.698Z,1736379249.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:34:09.700Z,1736379249.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 30.240862 m, bearing: 117.314025 deg, approach rate: -0.289214 m/s, LOS rate: 0.994895 deg/s, cmd heading: 55.963305 deg, new cmd heading: 57.109755 deg. 2025-01-08T23:34:09.701Z,1736379249.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996753 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:34:09.932Z,1736379249.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:10.066Z,1736379250.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:10.072Z,1736379250.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:10.074Z,1736379250.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:34:10.105Z,1736379250.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 30.137808 m, bearing: 117.667085 deg, approach rate: -0.273495 m/s, LOS rate: 0.940183 deg/s, cmd heading: 57.109756 deg, new cmd heading: 58.172428 deg. 2025-01-08T23:34:10.106Z,1736379250.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.015300 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:34:10.186Z,1736379250.186 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:10.188Z,1736379250.188 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:10.189Z,1736379250.189 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:10.189Z,1736379250.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:10.436Z,1736379250.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:10.436Z,1736379250.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202686 2025-01-08T23:34:10.504Z,1736379250.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:10.513Z,1736379250.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:34:10.516Z,1736379250.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 30.041815 m, bearing: 118.054438 deg, approach rate: -0.218770 m/s, LOS rate: 0.885599 deg/s, cmd heading: 58.172427 deg, new cmd heading: 59.338029 deg. 2025-01-08T23:34:10.517Z,1736379250.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035644 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:34:10.690Z,1736379250.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:10.692Z,1736379250.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457723 2025-01-08T23:34:10.893Z,1736379250.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:10.917Z,1736379250.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:34:10.924Z,1736379250.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 29.954697 m, bearing: 118.396878 deg, approach rate: -0.215438 m/s, LOS rate: 0.849295 deg/s, cmd heading: 59.338027 deg, new cmd heading: 60.368220 deg. 2025-01-08T23:34:10.926Z,1736379250.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.053624 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:34:10.940Z,1736379250.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:10.941Z,1736379250.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707486 2025-01-08T23:34:11.193Z,1736379251.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:11.195Z,1736379251.195 [DAT](INFO): DAT read: Rx Time:23:34:10.0098 2025-01-08T23:34:11.197Z,1736379251.197 [DAT](INFO): Rx dataTimestamp_ set to:1736379251.195968 2025-01-08T23:34:11.198Z,1736379251.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964292 2025-01-08T23:34:11.339Z,1736379251.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:11.352Z,1736379251.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:34:11.354Z,1736379251.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 29.876759 m, bearing: 118.773646 deg, approach rate: -0.179693 m/s, LOS rate: 0.870933 deg/s, cmd heading: 60.368217 deg, new cmd heading: 61.501313 deg. 2025-01-08T23:34:11.355Z,1736379251.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.073400 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:34:11.445Z,1736379251.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:11.446Z,1736379251.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212529 2025-01-08T23:34:11.698Z,1736379251.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:11.700Z,1736379251.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465910 2025-01-08T23:34:11.747Z,1736379251.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:11.771Z,1736379251.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.10 m. 2025-01-08T23:34:11.778Z,1736379251.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.099998 m, nav range: 29.804844 m, bearing: 119.118441 deg, approach rate: -0.171507 m/s, LOS rate: 0.824269 deg/s, cmd heading: 61.501311 deg, new cmd heading: 62.538071 deg. 2025-01-08T23:34:11.779Z,1736379251.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.091495 target range: 126.099998 and range: 126.10 m. 2025-01-08T23:34:11.948Z,1736379251.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:11.956Z,1736379251.956 [DAT](INFO): DAT read: 23:34:10.0098 LVL= 14128, 29233, 21442, 32755, AGC= 55, IDX= 428, 0.07,-2.820, 1.852, 1.937, 2.494, PHS= 1.057,-0.595,-0.560, RAW= 91.1, 1.2, CAL= 98.7, -2.1, ROT= 51.3, 2.1 2025-01-08T23:34:11.957Z,1736379251.957 [DAT](INFO): got valid direction response: 23:34:10.0098 LVL= 14128, 29233, 21442, 32755, AGC= 55, IDX= 428, 0.07,-2.820, 1.852, 1.937, 2.494, PHS= 1.057,-0.595,-0.560, RAW= 91.1, 1.2, CAL= 98.7, -2.1, ROT= 51.3, 2.1 2025-01-08T23:34:11.958Z,1736379251.958 [DAT](INFO): DAT read: Bearing 51.3, 2.1 (Local) 2025-01-08T23:34:11.958Z,1736379251.958 [DAT](INFO): Local bearing/azimuth received: Bearing 51.3, 2.1 (Local) 2025-01-08T23:34:11.961Z,1736379251.961 [DAT](INFO): DAT read: Range 10 to 50 : 125.3 m (Round-trip 167.1 ms) speed 0.2 m/s 2025-01-08T23:34:11.962Z,1736379251.962 [DAT](INFO): DAT read: user:3335> 2025-01-08T23:34:11.963Z,1736379251.963 [DAT](INFO): DAT read: Tx time:23:34:11.1385 2025-01-08T23:34:11.965Z,1736379251.965 [DAT](INFO): Ping request sent. 2025-01-08T23:34:11.965Z,1736379251.965 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:11.965Z,1736379251.965 [DAT](INFO): DAT read: TxSync time:23:34:11.1377 2025-01-08T23:34:11.966Z,1736379251.966 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:11.967Z,1736379251.967 [DAT](INFO): direction in FSK: [-0.109911,0.090434,0.989819] 2025-01-08T23:34:11.967Z,1736379251.967 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:11.967Z,1736379251.967 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:11.970Z,1736379251.970 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:11.970Z,1736379251.970 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:12.122Z,1736379252.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:12.169Z,1736379252.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.300003 m, deltaT: 3.778337 s, deltaX: -0.799995 m, approachRate: -0.211732 m/s, rangeRepo size: 4 2025-01-08T23:34:12.176Z,1736379252.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.300003 m, bearing: 281.901197 deg, lat: 36.905091 deg, lon: -122.120781 deg, deltaT: 3.778337 s, deltaX: -0.799995 m, approachRate: -0.211732 m/s, posRepo size: 4 2025-01-08T23:34:12.183Z,1736379252.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m. 2025-01-08T23:34:12.186Z,1736379252.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.300003 m, nav range: 8.576473 m, bearing: 172.922615 deg, approach rate: 0.000000 m/s, LOS rate: 0.824269 deg/s, cmd heading: 62.538073 deg, new cmd heading: 63.521605 deg. 2025-01-08T23:34:12.187Z,1736379252.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108661 target range: 125.300003 and range: 125.30 m. 2025-01-08T23:34:12.203Z,1736379252.203 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:12.459Z,1736379252.459 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:12.582Z,1736379252.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:12.589Z,1736379252.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:12.591Z,1736379252.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m. 2025-01-08T23:34:12.595Z,1736379252.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.300003 m, nav range: 8.690817 m, bearing: 174.105472 deg, approach rate: 0.270752 m/s, LOS rate: 2.763815 deg/s, cmd heading: 63.521606 deg, new cmd heading: 67.018892 deg. 2025-01-08T23:34:12.596Z,1736379252.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169700 target range: 125.300003 and range: 125.30 m. 2025-01-08T23:34:12.712Z,1736379252.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:12.712Z,1736379252.712 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:12.712Z,1736379252.712 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:12.713Z,1736379252.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:12.942Z,1736379252.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:12.952Z,1736379252.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m. 2025-01-08T23:34:12.955Z,1736379252.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.300003 m, nav range: 8.780495 m, bearing: 175.017167 deg, approach rate: 0.248169 m/s, LOS rate: 2.497095 deg/s, cmd heading: 67.018888 deg, new cmd heading: 69.723913 deg. 2025-01-08T23:34:12.964Z,1736379252.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:12.964Z,1736379252.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999804 2025-01-08T23:34:12.972Z,1736379252.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216912 target range: 125.300003 and range: 125.30 m. 2025-01-08T23:34:13.216Z,1736379253.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:13.216Z,1736379253.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251737 2025-01-08T23:34:13.372Z,1736379253.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:13.385Z,1736379253.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m. 2025-01-08T23:34:13.388Z,1736379253.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.300003 m, nav range: 8.886130 m, bearing: 176.076831 deg, approach rate: 0.243890 m/s, LOS rate: 2.417309 deg/s, cmd heading: 69.723910 deg, new cmd heading: 72.861789 deg. 2025-01-08T23:34:13.389Z,1736379253.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.271678 target range: 125.300003 and range: 125.30 m. 2025-01-08T23:34:13.469Z,1736379253.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:13.471Z,1736379253.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505503 2025-01-08T23:34:13.720Z,1736379253.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:13.720Z,1736379253.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755782 2025-01-08T23:34:13.769Z,1736379253.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:13.787Z,1736379253.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m. 2025-01-08T23:34:13.795Z,1736379253.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.300003 m, nav range: 8.981825 m, bearing: 177.047929 deg, approach rate: 0.238286 m/s, LOS rate: 2.392220 deg/s, cmd heading: 72.861787 deg, new cmd heading: 75.741478 deg. 2025-01-08T23:34:13.800Z,1736379253.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321938 target range: 125.300003 and range: 125.30 m. 2025-01-08T23:34:13.972Z,1736379253.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:13.972Z,1736379253.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007731 2025-01-08T23:34:14.156Z,1736379254.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:14.186Z,1736379254.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m. 2025-01-08T23:34:14.189Z,1736379254.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.300003 m, nav range: 9.075194 m, bearing: 177.983390 deg, approach rate: 0.233599 m/s, LOS rate: 2.316227 deg/s, cmd heading: 75.741477 deg, new cmd heading: 78.516693 deg. 2025-01-08T23:34:14.190Z,1736379254.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370375 target range: 125.300003 and range: 125.30 m. 2025-01-08T23:34:14.227Z,1736379254.227 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:14.230Z,1736379254.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264371 2025-01-08T23:34:14.476Z,1736379254.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:14.477Z,1736379254.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512860 2025-01-08T23:34:14.574Z,1736379254.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:14.600Z,1736379254.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m. 2025-01-08T23:34:14.648Z,1736379254.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.300003 m, nav range: 9.176353 m, bearing: 179.057188 deg, approach rate: 0.255058 m/s, LOS rate: 2.677450 deg/s, cmd heading: 78.516692 deg, new cmd heading: 81.699110 deg. 2025-01-08T23:34:14.650Z,1736379254.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425918 target range: 125.300003 and range: 125.30 m. 2025-01-08T23:34:14.728Z,1736379254.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:14.730Z,1736379254.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764471 2025-01-08T23:34:14.960Z,1736379254.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:14.967Z,1736379254.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:14.980Z,1736379254.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:14.981Z,1736379254.981 [DAT](INFO): DAT read: Rx Time:23:34:13.7083 2025-01-08T23:34:14.981Z,1736379254.981 [DAT](INFO): Rx dataTimestamp_ set to:1736379254.980830 2025-01-08T23:34:14.982Z,1736379254.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017005 2025-01-08T23:34:14.989Z,1736379254.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m. 2025-01-08T23:34:14.996Z,1736379254.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.300003 m, nav range: 9.269396 m, bearing: 180.037858 deg, approach rate: 0.229154 m/s, LOS rate: 2.390909 deg/s, cmd heading: 81.699110 deg, new cmd heading: 84.608941 deg. 2025-01-08T23:34:14.997Z,1736379254.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476705 target range: 125.300003 and range: 125.30 m. 2025-01-08T23:34:15.232Z,1736379255.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:15.232Z,1736379255.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267653 2025-01-08T23:34:15.441Z,1736379255.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:15.458Z,1736379255.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.30 m. 2025-01-08T23:34:15.472Z,1736379255.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.300003 m, nav range: 9.385715 m, bearing: 181.315975 deg, approach rate: 0.247917 m/s, LOS rate: 2.690127 deg/s, cmd heading: 84.608941 deg, new cmd heading: 88.389961 deg. 2025-01-08T23:34:15.473Z,1736379255.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542696 target range: 125.300003 and range: 125.30 m. 2025-01-08T23:34:15.484Z,1736379255.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:15.495Z,1736379255.495 [DAT](INFO): DAT read: 23:34:13.7083 LVL= 17392, 32753, 29378, 32755, AGC= 61, IDX= 428,-0.19, 2.746, 1.184, 1.487, 1.941, PHS= 0.893,-0.711,-0.457, RAW= 98.5, 3.7, CAL= 108.3, 1.8, ROT= 41.7, -1.8 2025-01-08T23:34:15.496Z,1736379255.496 [DAT](INFO): got valid direction response: 23:34:13.7083 LVL= 17392, 32753, 29378, 32755, AGC= 61, IDX= 428,-0.19, 2.746, 1.184, 1.487, 1.941, PHS= 0.893,-0.711,-0.457, RAW= 98.5, 3.7, CAL= 108.3, 1.8, ROT= 41.7, -1.8 2025-01-08T23:34:15.497Z,1736379255.497 [DAT](INFO): DAT read: Bearing 41.7, -1.8 (Local) 2025-01-08T23:34:15.497Z,1736379255.497 [DAT](INFO): Local bearing/azimuth received: Bearing 41.7, -1.8 (Local) 2025-01-08T23:34:15.498Z,1736379255.498 [DAT](INFO): DAT read: Range 10 to 50 : 124.2 m (Round-trip 165.6 ms) speed 0.4 m/s 2025-01-08T23:34:15.499Z,1736379255.499 [DAT](INFO): DAT read: user:3336> 2025-01-08T23:34:15.500Z,1736379255.500 [DAT](INFO): DAT read: Tx time:23:34:14.7885 2025-01-08T23:34:15.500Z,1736379255.500 [DAT](INFO): Ping request sent. 2025-01-08T23:34:15.500Z,1736379255.500 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:15.501Z,1736379255.501 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:15.502Z,1736379255.502 [DAT](INFO): direction in FSK: [-0.168864,-0.036408,0.984967] 2025-01-08T23:34:15.502Z,1736379255.502 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:15.502Z,1736379255.502 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:15.505Z,1736379255.505 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:15.505Z,1736379255.505 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:15.736Z,1736379255.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:15.738Z,1736379255.738 [DAT](INFO): DAT read: TxSync time:23:34:14.7877 2025-01-08T23:34:15.782Z,1736379255.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:15.812Z,1736379255.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.199997 m, deltaT: 3.535908 s, deltaX: -1.100006 m, approachRate: -0.311096 m/s, rangeRepo size: 4 2025-01-08T23:34:15.814Z,1736379255.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 124.199997 m, bearing: 301.756066 deg, lat: 36.905159 deg, lon: -122.120889 deg, deltaT: 3.535908 s, deltaX: -1.100006 m, approachRate: -0.311096 m/s, posRepo size: 4 2025-01-08T23:34:15.820Z,1736379255.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:34:15.822Z,1736379255.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 10.077742 m, bearing: 259.455218 deg, approach rate: 0.000000 m/s, LOS rate: 2.690127 deg/s, cmd heading: 88.389963 deg, new cmd heading: 91.171822 deg. 2025-01-08T23:34:15.828Z,1736379255.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.591249 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:34:15.988Z,1736379255.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:16.184Z,1736379256.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:16.210Z,1736379256.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:34:16.217Z,1736379256.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 10.271226 m, bearing: 259.190279 deg, approach rate: 0.475887 m/s, LOS rate: -0.639357 deg/s, cmd heading: 91.171824 deg, new cmd heading: 90.392031 deg. 2025-01-08T23:34:16.218Z,1736379256.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.577639 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:34:16.240Z,1736379256.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:16.494Z,1736379256.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:16.594Z,1736379256.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:16.628Z,1736379256.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:34:16.630Z,1736379256.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 10.490045 m, bearing: 258.986938 deg, approach rate: 0.529197 m/s, LOS rate: -0.481506 deg/s, cmd heading: 90.392028 deg, new cmd heading: 89.794753 deg. 2025-01-08T23:34:16.635Z,1736379256.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.567214 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:34:16.744Z,1736379256.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:16.985Z,1736379256.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:16.993Z,1736379256.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:16.996Z,1736379256.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:16.996Z,1736379256.996 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:16.996Z,1736379256.996 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:16.997Z,1736379256.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:16.998Z,1736379256.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:34:17.002Z,1736379257.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 10.699811 m, bearing: 258.833751 deg, approach rate: 0.564207 m/s, LOS rate: -0.403947 deg/s, cmd heading: 89.794755 deg, new cmd heading: 89.344214 deg. 2025-01-08T23:34:17.004Z,1736379257.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559351 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:34:17.248Z,1736379257.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:17.248Z,1736379257.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747857 2025-01-08T23:34:17.500Z,1736379257.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:17.501Z,1736379257.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000497 2025-01-08T23:34:17.539Z,1736379257.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:17.549Z,1736379257.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:34:17.552Z,1736379257.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 11.024098 m, bearing: 258.749625 deg, approach rate: 0.585735 m/s, LOS rate: -0.147480 deg/s, cmd heading: 89.344216 deg, new cmd heading: 89.099263 deg. 2025-01-08T23:34:17.555Z,1736379257.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555076 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:34:17.752Z,1736379257.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:17.752Z,1736379257.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251845 2025-01-08T23:34:17.855Z,1736379257.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:17.885Z,1736379257.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:34:17.896Z,1736379257.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 11.209291 m, bearing: 258.732353 deg, approach rate: 0.551026 m/s, LOS rate: -0.050544 deg/s, cmd heading: 89.099264 deg, new cmd heading: 89.048303 deg. 2025-01-08T23:34:17.897Z,1736379257.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554186 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:34:18.004Z,1736379258.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:18.004Z,1736379258.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503918 2025-01-08T23:34:18.256Z,1736379258.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:18.256Z,1736379258.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755965 2025-01-08T23:34:18.257Z,1736379258.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:18.272Z,1736379258.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:34:18.275Z,1736379258.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 11.444113 m, bearing: 258.748117 deg, approach rate: 0.606033 m/s, LOS rate: 0.039851 deg/s, cmd heading: 89.048304 deg, new cmd heading: 89.094627 deg. 2025-01-08T23:34:18.277Z,1736379258.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554995 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:34:18.508Z,1736379258.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:18.509Z,1736379258.509 [DAT](INFO): DAT read: Rx Time:23:34:17.3555 2025-01-08T23:34:18.509Z,1736379258.509 [DAT](INFO): Rx dataTimestamp_ set to:1736379258.508900 2025-01-08T23:34:18.510Z,1736379258.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009202 2025-01-08T23:34:18.728Z,1736379258.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:18.761Z,1736379258.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:18.762Z,1736379258.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261033 2025-01-08T23:34:18.764Z,1736379258.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m. 2025-01-08T23:34:18.774Z,1736379258.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.199997 m, nav range: 11.749122 m, bearing: 258.844721 deg, approach rate: 0.620276 m/s, LOS rate: 0.191355 deg/s, cmd heading: 89.094627 deg, new cmd heading: 89.376911 deg. 2025-01-08T23:34:18.785Z,1736379258.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559921 target range: 124.199997 and range: 124.20 m. 2025-01-08T23:34:19.013Z,1736379259.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:19.016Z,1736379259.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515203 2025-01-08T23:34:19.264Z,1736379259.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:19.271Z,1736379259.271 [DAT](INFO): DAT read: 23:34:17.3556 LVL= 26096, 32753, 32754, 32755, AGC= 62, IDX= 416,-0.04,-1.150,-2.638,-1.991,-1.752, PHS= 0.690,-0.839,-0.241, RAW= 112.8, 5.9, CAL= 123.1, 2.7, ROT= 26.9, -2.7 2025-01-08T23:34:19.272Z,1736379259.272 [DAT](INFO): got valid direction response: 23:34:17.3556 LVL= 26096, 32753, 32754, 32755, AGC= 62, IDX= 416,-0.04,-1.150,-2.638,-1.991,-1.752, PHS= 0.690,-0.839,-0.241, RAW= 112.8, 5.9, CAL= 123.1, 2.7, ROT= 26.9, -2.7 2025-01-08T23:34:19.273Z,1736379259.273 [DAT](INFO): DAT read: Bearing 26.9, -2.7 (Local) 2025-01-08T23:34:19.274Z,1736379259.274 [DAT](INFO): Local bearing/azimuth received: Bearing 26.9, -2.7 (Local) 2025-01-08T23:34:19.276Z,1736379259.276 [DAT](INFO): DAT read: Range 10 to 50 : 122.1 m (Round-trip 162.8 ms) speed 0.4 m/s 2025-01-08T23:34:19.277Z,1736379259.277 [DAT](INFO): DAT read: user:3337> 2025-01-08T23:34:19.278Z,1736379259.278 [DAT](INFO): DAT read: Tx time:23:34:18.4386 2025-01-08T23:34:19.278Z,1736379259.278 [DAT](INFO): Ping request sent. 2025-01-08T23:34:19.278Z,1736379259.278 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:19.279Z,1736379259.279 [DAT](INFO): DAT read: TxSync time:23:34:18.4378 2025-01-08T23:34:19.280Z,1736379259.280 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:19.281Z,1736379259.281 [DAT](INFO): direction in FSK: [-0.227607,-0.283639,0.931528] 2025-01-08T23:34:19.281Z,1736379259.281 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:19.281Z,1736379259.281 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:19.293Z,1736379259.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:19.310Z,1736379259.310 [CTD_Seabird](ERROR): Failed to parse device response: 66.61,10.0808,3.699.33 2025-01-08T23:34:19.311Z,1736379259.311 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:19.311Z,1736379259.311 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:19.411Z,1736379259.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 3.780092 s, deltaX: -2.099998 m, approachRate: -0.555542 m/s, rangeRepo size: 4 2025-01-08T23:34:19.413Z,1736379259.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 122.099998 m, bearing: 320.434461 deg, lat: 36.905209 deg, lon: -122.121038 deg, deltaT: 3.780092 s, deltaX: -2.099998 m, approachRate: -0.555542 m/s, posRepo size: 4 2025-01-08T23:34:19.414Z,1736379259.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:34:19.421Z,1736379259.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 25.349922 m, bearing: 277.186861 deg, approach rate: 0.000000 m/s, LOS rate: 0.191355 deg/s, cmd heading: 89.376912 deg, new cmd heading: 89.745673 deg. 2025-01-08T23:34:19.422Z,1736379259.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.566357 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:34:19.516Z,1736379259.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:19.768Z,1736379259.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:19.844Z,1736379259.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:19.855Z,1736379259.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:19.862Z,1736379259.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:34:19.873Z,1736379259.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 25.722677 m, bearing: 277.058106 deg, approach rate: 0.818909 m/s, LOS rate: -0.278765 deg/s, cmd heading: 89.745674 deg, new cmd heading: 89.365010 deg. 2025-01-08T23:34:19.874Z,1736379259.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559714 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:34:20.020Z,1736379260.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:20.020Z,1736379260.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:20.020Z,1736379260.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:20.020Z,1736379260.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:20.272Z,1736379260.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:20.273Z,1736379260.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994128 2025-01-08T23:34:20.288Z,1736379260.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:20.303Z,1736379260.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:34:20.310Z,1736379260.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 26.029459 m, bearing: 276.976882 deg, approach rate: 0.695709 m/s, LOS rate: -0.182025 deg/s, cmd heading: 89.365007 deg, new cmd heading: 89.124209 deg. 2025-01-08T23:34:20.345Z,1736379260.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555511 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:34:20.524Z,1736379260.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:20.524Z,1736379260.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245946 2025-01-08T23:34:20.710Z,1736379260.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:20.738Z,1736379260.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:34:20.745Z,1736379260.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 26.327776 m, bearing: 276.911535 deg, approach rate: 0.684794 m/s, LOS rate: -0.148307 deg/s, cmd heading: 89.124208 deg, new cmd heading: 88.930388 deg. 2025-01-08T23:34:20.746Z,1736379260.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552128 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:34:20.777Z,1736379260.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:20.777Z,1736379260.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498916 2025-01-08T23:34:21.029Z,1736379261.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:21.031Z,1736379261.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752147 2025-01-08T23:34:21.079Z,1736379261.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:21.100Z,1736379261.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:34:21.103Z,1736379261.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 26.589720 m, bearing: 276.871610 deg, approach rate: 0.723340 m/s, LOS rate: -0.109164 deg/s, cmd heading: 88.930388 deg, new cmd heading: 88.811793 deg. 2025-01-08T23:34:21.108Z,1736379261.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550058 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:34:21.280Z,1736379261.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:21.280Z,1736379261.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002041 2025-01-08T23:34:21.522Z,1736379261.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:21.548Z,1736379261.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:21.549Z,1736379261.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270343 2025-01-08T23:34:21.558Z,1736379261.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:34:21.569Z,1736379261.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 26.911932 m, bearing: 276.838721 deg, approach rate: 0.704261 m/s, LOS rate: -0.071024 deg/s, cmd heading: 88.811795 deg, new cmd heading: 88.714311 deg. 2025-01-08T23:34:21.570Z,1736379261.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548357 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:34:21.802Z,1736379261.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:21.804Z,1736379261.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525116 2025-01-08T23:34:21.891Z,1736379261.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:21.899Z,1736379261.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:21.913Z,1736379261.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:34:21.920Z,1736379261.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 27.180733 m, bearing: 276.826862 deg, approach rate: 0.756199 m/s, LOS rate: -0.033032 deg/s, cmd heading: 88.714308 deg, new cmd heading: 88.679083 deg. 2025-01-08T23:34:21.921Z,1736379261.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547742 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:34:22.053Z,1736379262.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:22.054Z,1736379262.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775589 2025-01-08T23:34:22.304Z,1736379262.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:22.305Z,1736379262.305 [DAT](INFO): DAT read: Rx Time:23:34:21.0028 2025-01-08T23:34:22.305Z,1736379262.305 [DAT](INFO): Rx dataTimestamp_ set to:1736379262.304694 2025-01-08T23:34:22.305Z,1736379262.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027117 2025-01-08T23:34:22.306Z,1736379262.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:22.315Z,1736379262.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:34:22.318Z,1736379262.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 27.481062 m, bearing: 276.828297 deg, approach rate: 0.747286 m/s, LOS rate: 0.003531 deg/s, cmd heading: 88.679085 deg, new cmd heading: 88.683342 deg. 2025-01-08T23:34:22.319Z,1736379262.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547816 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:34:22.556Z,1736379262.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:22.556Z,1736379262.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278024 2025-01-08T23:34:22.767Z,1736379262.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:22.800Z,1736379262.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.10 m. 2025-01-08T23:34:22.802Z,1736379262.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.099998 m, nav range: 27.813614 m, bearing: 276.824081 deg, approach rate: 0.686929 m/s, LOS rate: -0.008604 deg/s, cmd heading: 88.683340 deg, new cmd heading: 88.670844 deg. 2025-01-08T23:34:22.805Z,1736379262.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547598 target range: 122.099998 and range: 122.10 m. 2025-01-08T23:34:22.810Z,1736379262.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:22.816Z,1736379262.816 [DAT](INFO): DAT read: 23:34:21.0028 LVL= 22944, 32753, 29938, 32755, AGC= 61, IDX= 419, 0.03,-0.751,-2.241,-1.392,-1.331, PHS= 0.668,-0.863,-0.064, RAW= 121.4, 3.9, CAL= 130.5, -1.0, ROT= 19.5, 1.0 2025-01-08T23:34:22.817Z,1736379262.817 [DAT](INFO): got valid direction response: 23:34:21.0028 LVL= 22944, 32753, 29938, 32755, AGC= 61, IDX= 419, 0.03,-0.751,-2.241,-1.392,-1.331, PHS= 0.668,-0.863,-0.064, RAW= 121.4, 3.9, CAL= 130.5, -1.0, ROT= 19.5, 1.0 2025-01-08T23:34:22.818Z,1736379262.818 [DAT](INFO): DAT read: Bearing 19.5, 1.0 (Local) 2025-01-08T23:34:22.819Z,1736379262.819 [DAT](INFO): Local bearing/azimuth received: Bearing 19.5, 1.0 (Local) 2025-01-08T23:34:22.820Z,1736379262.820 [DAT](INFO): DAT read: Range 10 to 50 : 120.0 m (Round-trip 160.0 ms) speed 0.4 m/s 2025-01-08T23:34:22.821Z,1736379262.821 [DAT](INFO): DAT read: user:3338> 2025-01-08T23:34:22.822Z,1736379262.822 [DAT](INFO): DAT read: Tx time:23:34:22.0886 2025-01-08T23:34:22.822Z,1736379262.822 [DAT](INFO): Ping request sent. 2025-01-08T23:34:22.822Z,1736379262.822 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:22.822Z,1736379262.822 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:22.844Z,1736379262.844 [DAT](INFO): direction in FSK: [-0.197647,-0.431725,0.880085] 2025-01-08T23:34:22.844Z,1736379262.844 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:22.844Z,1736379262.844 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:22.859Z,1736379262.859 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:22.860Z,1736379262.860 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:23.060Z,1736379263.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:23.061Z,1736379263.061 [DAT](INFO): DAT read: TxSync time:23:34:22.0878 2025-01-08T23:34:23.112Z,1736379263.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:23.134Z,1736379263.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.000000 m, deltaT: 3.545732 s, deltaX: -2.099998 m, approachRate: -0.592261 m/s, rangeRepo size: 4 2025-01-08T23:34:23.145Z,1736379263.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.000000 m, bearing: 342.426851 deg, lat: 36.905391 deg, lon: -122.121038 deg, deltaT: 3.545732 s, deltaX: -2.099998 m, approachRate: -0.592261 m/s, posRepo size: 4 2025-01-08T23:34:23.145Z,1736379263.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:34:23.153Z,1736379263.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 36.550686 m, bearing: 310.334422 deg, approach rate: 0.000000 m/s, LOS rate: -0.008604 deg/s, cmd heading: 88.670841 deg, new cmd heading: 88.662208 deg. 2025-01-08T23:34:23.153Z,1736379263.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547447 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:34:23.312Z,1736379263.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:23.500Z,1736379263.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:34:23.538Z,1736379263.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:23.565Z,1736379263.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:23.570Z,1736379263.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:34:23.576Z,1736379263.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 36.799969 m, bearing: 310.100119 deg, approach rate: 0.571967 m/s, LOS rate: -0.533954 deg/s, cmd heading: 88.662208 deg, new cmd heading: 87.964096 deg. 2025-01-08T23:34:23.577Z,1736379263.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535263 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:34:23.816Z,1736379263.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:23.916Z,1736379263.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:23.923Z,1736379263.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:23.926Z,1736379263.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:34:23.929Z,1736379263.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 37.024124 m, bearing: 309.897834 deg, approach rate: 0.629576 m/s, LOS rate: -0.564707 deg/s, cmd heading: 87.964094 deg, new cmd heading: 87.360938 deg. 2025-01-08T23:34:23.930Z,1736379263.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.524736 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:34:24.068Z,1736379264.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:24.068Z,1736379264.068 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:24.069Z,1736379264.069 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:24.069Z,1736379264.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:24.320Z,1736379264.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:24.320Z,1736379264.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498294 2025-01-08T23:34:24.337Z,1736379264.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:24.365Z,1736379264.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:34:24.373Z,1736379264.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 37.274754 m, bearing: 309.680385 deg, approach rate: 0.570763 m/s, LOS rate: -0.491870 deg/s, cmd heading: 87.360940 deg, new cmd heading: 86.713009 deg. 2025-01-08T23:34:24.381Z,1736379264.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.513427 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:34:24.504Z,1736379264.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:34:24.572Z,1736379264.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:24.573Z,1736379264.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750432 2025-01-08T23:34:24.759Z,1736379264.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:24.768Z,1736379264.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:34:24.770Z,1736379264.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 37.512638 m, bearing: 309.474436 deg, approach rate: 0.590627 m/s, LOS rate: -0.508094 deg/s, cmd heading: 86.713008 deg, new cmd heading: 86.099102 deg. 2025-01-08T23:34:24.772Z,1736379264.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.502713 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:34:24.824Z,1736379264.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:24.824Z,1736379264.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002345 2025-01-08T23:34:25.076Z,1736379265.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:25.077Z,1736379265.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254835 2025-01-08T23:34:25.135Z,1736379265.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:25.156Z,1736379265.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:34:25.160Z,1736379265.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 37.725651 m, bearing: 309.293975 deg, approach rate: 0.547831 m/s, LOS rate: -0.461491 deg/s, cmd heading: 86.099104 deg, new cmd heading: 85.560796 deg. 2025-01-08T23:34:25.161Z,1736379265.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.493318 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:34:25.328Z,1736379265.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:25.329Z,1736379265.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506615 2025-01-08T23:34:25.561Z,1736379265.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:25.581Z,1736379265.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:25.582Z,1736379265.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760041 2025-01-08T23:34:25.604Z,1736379265.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:34:25.607Z,1736379265.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 37.944817 m, bearing: 309.112459 deg, approach rate: 0.490274 m/s, LOS rate: -0.403706 deg/s, cmd heading: 85.560796 deg, new cmd heading: 85.019409 deg. 2025-01-08T23:34:25.616Z,1736379265.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.483869 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:34:25.834Z,1736379265.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:25.837Z,1736379265.837 [DAT](INFO): DAT read: Rx Time:23:34:24.6501 2025-01-08T23:34:25.837Z,1736379265.837 [DAT](INFO): Rx dataTimestamp_ set to:1736379265.836826 2025-01-08T23:34:25.838Z,1736379265.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015545 2025-01-08T23:34:25.931Z,1736379265.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:25.937Z,1736379265.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:25.940Z,1736379265.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:34:25.965Z,1736379265.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 38.135296 m, bearing: 308.954653 deg, approach rate: 0.566891 m/s, LOS rate: -0.467305 deg/s, cmd heading: 85.019408 deg, new cmd heading: 84.548366 deg. 2025-01-08T23:34:25.972Z,1736379265.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.475647 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:34:26.084Z,1736379266.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:26.084Z,1736379266.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262334 2025-01-08T23:34:26.337Z,1736379266.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:26.366Z,1736379266.366 [DAT](INFO): DAT read: 23:34:24.6501 LVL= 30432, 32753, 32722, 32755, AGC= 69, IDX= 409,-0.30, 1.315,-0.128, 0.764, 0.924, PHS= 0.479,-1.006,-0.163, RAW= 124.5, 10.7, CAL= 131.6, 6.2, ROT= 18.4, -6.2 2025-01-08T23:34:26.367Z,1736379266.367 [DAT](INFO): got valid direction response: 23:34:24.6501 LVL= 30432, 32753, 32722, 32755, AGC= 69, IDX= 409,-0.30, 1.315,-0.128, 0.764, 0.924, PHS= 0.479,-1.006,-0.163, RAW= 124.5, 10.7, CAL= 131.6, 6.2, ROT= 18.4, -6.2 2025-01-08T23:34:26.368Z,1736379266.368 [DAT](INFO): DAT read: Bearing 18.4, -6.2 (Local) 2025-01-08T23:34:26.369Z,1736379266.369 [DAT](INFO): Local bearing/azimuth received: Bearing 18.4, -6.2 (Local) 2025-01-08T23:34:26.370Z,1736379266.370 [DAT](INFO): DAT read: Range 10 to 50 : 118.0 m (Round-trip 157.4 ms) speed 0.8 m/s 2025-01-08T23:34:26.371Z,1736379266.371 [DAT](INFO): DAT read: user:3339> 2025-01-08T23:34:26.386Z,1736379266.386 [DAT](INFO): DAT read: Tx time:23:34:25.7386 2025-01-08T23:34:26.395Z,1736379266.395 [DAT](INFO): Ping request sent. 2025-01-08T23:34:26.395Z,1736379266.395 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:26.396Z,1736379266.396 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:26.397Z,1736379266.397 [DAT](INFO): direction in FSK: [-0.325465,-0.461859,0.825081] 2025-01-08T23:34:26.397Z,1736379266.397 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:26.397Z,1736379266.397 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:26.418Z,1736379266.418 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:26.419Z,1736379266.419 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:26.475Z,1736379266.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:26.510Z,1736379266.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.000000 m, deltaT: 3.528024 s, deltaX: -2.000000 m, approachRate: -0.566890 m/s, rangeRepo size: 4 2025-01-08T23:34:26.517Z,1736379266.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.000000 m, bearing: 334.303219 deg, lat: 36.905692 deg, lon: -122.121075 deg, deltaT: 3.528024 s, deltaX: -2.000000 m, approachRate: -0.566890 m/s, posRepo size: 4 2025-01-08T23:34:26.517Z,1736379266.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T23:34:26.524Z,1736379266.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 66.445885 m, bearing: 329.921973 deg, approach rate: 0.000000 m/s, LOS rate: -0.467305 deg/s, cmd heading: 84.548364 deg, new cmd heading: 83.751015 deg. 2025-01-08T23:34:26.526Z,1736379266.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.461731 target range: 118.000000 and range: 118.00 m. 2025-01-08T23:34:26.588Z,1736379266.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:26.589Z,1736379266.589 [DAT](INFO): DAT read: TxSync time:23:34:25.7378 2025-01-08T23:34:26.840Z,1736379266.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:26.906Z,1736379266.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:26.932Z,1736379266.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T23:34:26.934Z,1736379266.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 66.599182 m, bearing: 329.771687 deg, approach rate: 0.361866 m/s, LOS rate: -0.353941 deg/s, cmd heading: 83.751015 deg, new cmd heading: 83.301204 deg. 2025-01-08T23:34:26.940Z,1736379266.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.453880 target range: 118.000000 and range: 118.00 m. 2025-01-08T23:34:27.092Z,1736379267.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:27.219Z,1736379267.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:27.229Z,1736379267.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T23:34:27.232Z,1736379267.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 66.705345 m, bearing: 329.659396 deg, approach rate: 0.357538 m/s, LOS rate: -0.377573 deg/s, cmd heading: 83.301206 deg, new cmd heading: 82.964874 deg. 2025-01-08T23:34:27.233Z,1736379267.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448010 target range: 118.000000 and range: 118.00 m. 2025-01-08T23:34:27.344Z,1736379267.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:27.596Z,1736379267.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:27.713Z,1736379267.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:27.741Z,1736379267.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T23:34:27.749Z,1736379267.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 66.863899 m, bearing: 329.485601 deg, approach rate: 0.309649 m/s, LOS rate: -0.338609 deg/s, cmd heading: 82.964874 deg, new cmd heading: 82.444739 deg. 2025-01-08T23:34:27.750Z,1736379267.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.438932 target range: 118.000000 and range: 118.00 m. 2025-01-08T23:34:27.848Z,1736379267.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:28.066Z,1736379268.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:28.073Z,1736379268.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:28.076Z,1736379268.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T23:34:28.079Z,1736379268.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 66.975426 m, bearing: 329.359941 deg, approach rate: 0.333373 m/s, LOS rate: -0.374993 deg/s, cmd heading: 82.444741 deg, new cmd heading: 82.068395 deg. 2025-01-08T23:34:28.080Z,1736379268.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432364 target range: 118.000000 and range: 118.00 m. 2025-01-08T23:34:28.100Z,1736379268.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:28.100Z,1736379268.100 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:28.100Z,1736379268.100 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:28.101Z,1736379268.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:28.352Z,1736379268.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:28.352Z,1736379268.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965281 2025-01-08T23:34:28.547Z,1736379268.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:28.556Z,1736379268.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T23:34:28.560Z,1736379268.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 67.116989 m, bearing: 329.195731 deg, approach rate: 0.294783 m/s, LOS rate: -0.341218 deg/s, cmd heading: 82.068398 deg, new cmd heading: 81.576820 deg. 2025-01-08T23:34:28.561Z,1736379268.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423784 target range: 118.000000 and range: 118.00 m. 2025-01-08T23:34:28.604Z,1736379268.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:28.605Z,1736379268.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217520 2025-01-08T23:34:28.856Z,1736379268.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:28.856Z,1736379268.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469306 2025-01-08T23:34:28.920Z,1736379268.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:28.937Z,1736379268.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T23:34:28.943Z,1736379268.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 67.224442 m, bearing: 329.067314 deg, approach rate: 0.281532 m/s, LOS rate: -0.335923 deg/s, cmd heading: 81.576822 deg, new cmd heading: 81.192193 deg. 2025-01-08T23:34:28.946Z,1736379268.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.417071 target range: 118.000000 and range: 118.00 m. 2025-01-08T23:34:29.108Z,1736379269.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:29.109Z,1736379269.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722370 2025-01-08T23:34:29.348Z,1736379269.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:29.357Z,1736379269.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T23:34:29.360Z,1736379269.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:29.361Z,1736379269.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973641 2025-01-08T23:34:29.368Z,1736379269.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 67.345665 m, bearing: 328.917918 deg, approach rate: 0.289077 m/s, LOS rate: -0.355618 deg/s, cmd heading: 81.192194 deg, new cmd heading: 80.744820 deg. 2025-01-08T23:34:29.369Z,1736379269.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.409263 target range: 118.000000 and range: 118.00 m. 2025-01-08T23:34:29.612Z,1736379269.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:29.612Z,1736379269.612 [DAT](INFO): DAT read: Rx Time:23:34:28.2974 2025-01-08T23:34:29.613Z,1736379269.613 [DAT](INFO): Rx dataTimestamp_ set to:1736379269.612528 2025-01-08T23:34:29.613Z,1736379269.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226309 2025-01-08T23:34:29.733Z,1736379269.733 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +79, +517, 2025-01-08T23:34:29.740Z,1736379269.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:34:29.740Z,1736379269.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:29.749Z,1736379269.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.00 m. 2025-01-08T23:34:29.768Z,1736379269.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.000000 m, nav range: 67.456635 m, bearing: 328.782120 deg, approach rate: 0.283023 m/s, LOS rate: -0.345777 deg/s, cmd heading: 80.744823 deg, new cmd heading: 80.338106 deg. 2025-01-08T23:34:29.771Z,1736379269.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402164 target range: 118.000000 and range: 118.00 m. 2025-01-08T23:34:29.864Z,1736379269.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:29.865Z,1736379269.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477613 2025-01-08T23:34:30.109Z,1736379270.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:34:30.110Z,1736379270.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:30.116Z,1736379270.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:30.122Z,1736379270.122 [DAT](INFO): DAT read: 23:34:28.2975 LVL= 25776, 32753, 32754, 32755, AGC= 63, IDX= 413, 0.06, 2.025, 0.400, 1.101, 1.428, PHS= 0.685,-0.981,-0.330, RAW= 112.8, 8.6, CAL= 122.3, 5.7, ROT= 27.7, -5.7 2025-01-08T23:34:30.124Z,1736379270.124 [DAT](INFO): got valid direction response: 23:34:28.2975 LVL= 25776, 32753, 32754, 32755, AGC= 63, IDX= 413, 0.06, 2.025, 0.400, 1.101, 1.428, PHS= 0.685,-0.981,-0.330, RAW= 112.8, 8.6, CAL= 122.3, 5.7, ROT= 27.7, -5.7 2025-01-08T23:34:30.124Z,1736379270.124 [DAT](INFO): DAT read: Bearing 27.7, -5.7 (Local) 2025-01-08T23:34:30.125Z,1736379270.125 [DAT](INFO): Local bearing/azimuth received: Bearing 27.7, -5.7 (Local) 2025-01-08T23:34:30.128Z,1736379270.128 [DAT](INFO): DAT read: Range 10 to 50 : 115.9 m (Round-trip 154.6 ms) speed 0.8 m/s 2025-01-08T23:34:30.129Z,1736379270.129 [DAT](INFO): DAT read: user:3340> 2025-01-08T23:34:30.129Z,1736379270.129 [DAT](INFO): DAT read: Tx time:23:34:29.3887 2025-01-08T23:34:30.130Z,1736379270.130 [DAT](INFO): Ping request sent. 2025-01-08T23:34:30.130Z,1736379270.130 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:30.130Z,1736379270.130 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:30.131Z,1736379270.131 [DAT](INFO): direction in FSK: [-0.278885,-0.277688,0.919300] 2025-01-08T23:34:30.139Z,1736379270.139 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:30.140Z,1736379270.140 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:30.148Z,1736379270.148 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:30.148Z,1736379270.148 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:30.170Z,1736379270.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.900002 m, deltaT: 3.778227 s, deltaX: -2.099998 m, approachRate: -0.555816 m/s, rangeRepo size: 4 2025-01-08T23:34:30.183Z,1736379270.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.900002 m, bearing: 320.079739 deg, lat: 36.905692 deg, lon: -122.121075 deg, deltaT: 3.778227 s, deltaX: -2.099998 m, approachRate: -0.555816 m/s, posRepo size: 4 2025-01-08T23:34:30.188Z,1736379270.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:34:30.190Z,1736379270.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 67.556778 m, bearing: 328.652163 deg, approach rate: 0.000000 m/s, LOS rate: -0.345777 deg/s, cmd heading: 80.338106 deg, new cmd heading: 79.902021 deg. 2025-01-08T23:34:30.196Z,1736379270.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394553 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:34:30.368Z,1736379270.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:30.369Z,1736379270.369 [DAT](INFO): DAT read: TxSync time:23:34:29.3879 2025-01-08T23:34:30.620Z,1736379270.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:30.621Z,1736379270.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:30.636Z,1736379270.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:30.638Z,1736379270.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:34:30.646Z,1736379270.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 67.714493 m, bearing: 328.456411 deg, approach rate: 0.336334 m/s, LOS rate: -0.416476 deg/s, cmd heading: 79.902019 deg, new cmd heading: 79.316154 deg. 2025-01-08T23:34:30.651Z,1736379270.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384328 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:34:30.872Z,1736379270.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:30.872Z,1736379270.872 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:30.872Z,1736379270.872 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:30.873Z,1736379270.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:30.940Z,1736379270.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:30.950Z,1736379270.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:34:30.953Z,1736379270.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 67.816963 m, bearing: 328.328107 deg, approach rate: 0.328432 m/s, LOS rate: -0.410613 deg/s, cmd heading: 79.316152 deg, new cmd heading: 78.931825 deg. 2025-01-08T23:34:30.954Z,1736379270.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.377620 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:34:31.124Z,1736379271.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:31.124Z,1736379271.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994568 2025-01-08T23:34:31.340Z,1736379271.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:31.365Z,1736379271.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:34:31.373Z,1736379271.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 67.941582 m, bearing: 328.173158 deg, approach rate: 0.299925 m/s, LOS rate: -0.372236 deg/s, cmd heading: 78.931824 deg, new cmd heading: 78.467843 deg. 2025-01-08T23:34:31.374Z,1736379271.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369522 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:34:31.376Z,1736379271.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:31.377Z,1736379271.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247386 2025-01-08T23:34:31.628Z,1736379271.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:31.628Z,1736379271.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498662 2025-01-08T23:34:31.757Z,1736379271.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:31.767Z,1736379271.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:34:31.770Z,1736379271.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 68.085213 m, bearing: 328.001720 deg, approach rate: 0.357443 m/s, LOS rate: -0.425746 deg/s, cmd heading: 78.467843 deg, new cmd heading: 77.954626 deg. 2025-01-08T23:34:31.771Z,1736379271.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360565 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:34:31.880Z,1736379271.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:31.881Z,1736379271.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750764 2025-01-08T23:34:32.132Z,1736379272.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:32.132Z,1736379272.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002671 2025-01-08T23:34:32.136Z,1736379272.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:32.146Z,1736379272.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:34:32.148Z,1736379272.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 68.213631 m, bearing: 327.845829 deg, approach rate: 0.339445 m/s, LOS rate: -0.411286 deg/s, cmd heading: 77.954622 deg, new cmd heading: 77.487842 deg. 2025-01-08T23:34:32.149Z,1736379272.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352418 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:34:32.384Z,1736379272.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:32.384Z,1736379272.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254646 2025-01-08T23:34:32.615Z,1736379272.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:32.624Z,1736379272.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:34:32.628Z,1736379272.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 68.388344 m, bearing: 327.634206 deg, approach rate: 0.364883 m/s, LOS rate: -0.440837 deg/s, cmd heading: 77.487840 deg, new cmd heading: 76.854622 deg. 2025-01-08T23:34:32.629Z,1736379272.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341366 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:34:32.636Z,1736379272.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:32.636Z,1736379272.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506667 2025-01-08T23:34:32.888Z,1736379272.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:32.888Z,1736379272.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758588 2025-01-08T23:34:32.948Z,1736379272.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:32.955Z,1736379272.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:32.957Z,1736379272.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:34:32.980Z,1736379272.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 68.507149 m, bearing: 327.485683 deg, approach rate: 0.357350 m/s, LOS rate: -0.445963 deg/s, cmd heading: 76.854620 deg, new cmd heading: 76.409833 deg. 2025-01-08T23:34:32.981Z,1736379272.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.333603 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:34:33.140Z,1736379273.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:33.140Z,1736379273.140 [DAT](INFO): DAT read: Rx Time:23:34:31.9442 2025-01-08T23:34:33.141Z,1736379273.141 [DAT](INFO): Rx dataTimestamp_ set to:1736379273.140627 2025-01-08T23:34:33.141Z,1736379273.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011667 2025-01-08T23:34:33.357Z,1736379273.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:33.374Z,1736379273.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:34:33.393Z,1736379273.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:33.394Z,1736379273.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263748 2025-01-08T23:34:33.401Z,1736379273.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 68.651749 m, bearing: 327.303377 deg, approach rate: 0.346797 m/s, LOS rate: -0.436309 deg/s, cmd heading: 76.409832 deg, new cmd heading: 75.864081 deg. 2025-01-08T23:34:33.402Z,1736379273.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324078 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:34:33.648Z,1736379273.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:33.669Z,1736379273.669 [DAT](INFO): DAT read: 23:34:31.9442 LVL= 17968, 32753, 23986, 32755, AGC= 65, IDX= 411,-0.01, 1.699,-0.098, 0.704, 1.037, PHS= 0.750,-1.088,-0.336, RAW= 114.0, 8.5, CAL= 123.4, 5.3, ROT= 26.6, -5.3 2025-01-08T23:34:33.670Z,1736379273.670 [DAT](INFO): got valid direction response: 23:34:31.9442 LVL= 17968, 32753, 23986, 32755, AGC= 65, IDX= 411,-0.01, 1.699,-0.098, 0.704, 1.037, PHS= 0.750,-1.088,-0.336, RAW= 114.0, 8.5, CAL= 123.4, 5.3, ROT= 26.6, -5.3 2025-01-08T23:34:33.680Z,1736379273.680 [DAT](INFO): DAT read: Bearing 26.6, -5.3 (Local) 2025-01-08T23:34:33.680Z,1736379273.680 [DAT](INFO): Local bearing/azimuth received: Bearing 26.6, -5.3 (Local) 2025-01-08T23:34:33.682Z,1736379273.682 [DAT](INFO): DAT read: Range 10 to 50 : 113.4 m (Round-trip 151.3 ms) speed 0.2 m/s 2025-01-08T23:34:33.683Z,1736379273.683 [DAT](INFO): DAT read: user:3341> 2025-01-08T23:34:33.696Z,1736379273.696 [DAT](INFO): DAT read: Tx time:23:34:33.0387 2025-01-08T23:34:33.696Z,1736379273.696 [DAT](INFO): Ping request sent. 2025-01-08T23:34:33.696Z,1736379273.696 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:33.697Z,1736379273.697 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:33.698Z,1736379273.698 [DAT](INFO): direction in FSK: [-0.276655,-0.298356,0.913480] 2025-01-08T23:34:33.698Z,1736379273.698 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:33.698Z,1736379273.698 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:33.733Z,1736379273.733 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:33.733Z,1736379273.733 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:33.848Z,1736379273.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:33.878Z,1736379273.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.400002 m, deltaT: 3.534126 s, deltaX: -2.500000 m, approachRate: -0.707388 m/s, rangeRepo size: 4 2025-01-08T23:34:33.885Z,1736379273.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.400002 m, bearing: 319.280628 deg, lat: 36.905692 deg, lon: -122.120998 deg, deltaT: 3.534126 s, deltaX: -2.500000 m, approachRate: -0.707388 m/s, posRepo size: 4 2025-01-08T23:34:33.885Z,1736379273.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:34:33.896Z,1736379273.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 65.360931 m, bearing: 332.133673 deg, approach rate: 0.000000 m/s, LOS rate: -0.436309 deg/s, cmd heading: 75.864079 deg, new cmd heading: 75.204641 deg. 2025-01-08T23:34:33.897Z,1736379273.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312569 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:34:33.900Z,1736379273.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:33.901Z,1736379273.901 [DAT](INFO): DAT read: TxSync time:23:34:33.0379 2025-01-08T23:34:34.152Z,1736379274.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:34.214Z,1736379274.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:34.272Z,1736379274.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:34:34.284Z,1736379274.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 65.482254 m, bearing: 331.941948 deg, approach rate: 0.328205 m/s, LOS rate: -0.517698 deg/s, cmd heading: 75.204638 deg, new cmd heading: 74.630548 deg. 2025-01-08T23:34:34.285Z,1736379274.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.302549 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:34:34.404Z,1736379274.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:34.656Z,1736379274.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:34.700Z,1736379274.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:34.708Z,1736379274.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:34:34.711Z,1736379274.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 65.651474 m, bearing: 331.685505 deg, approach rate: 0.367165 m/s, LOS rate: -0.554980 deg/s, cmd heading: 74.630547 deg, new cmd heading: 73.863250 deg. 2025-01-08T23:34:34.712Z,1736379274.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.289157 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:34:34.908Z,1736379274.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:35.012Z,1736379275.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:35.018Z,1736379275.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:35.021Z,1736379275.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:34:35.025Z,1736379275.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 65.759956 m, bearing: 331.520808 deg, approach rate: 0.346474 m/s, LOS rate: -0.525145 deg/s, cmd heading: 73.863250 deg, new cmd heading: 73.369987 deg. 2025-01-08T23:34:35.026Z,1736379275.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.280548 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:34:35.160Z,1736379275.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:35.161Z,1736379275.161 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:35.161Z,1736379275.161 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:35.161Z,1736379275.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:35.412Z,1736379275.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:35.412Z,1736379275.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715993 2025-01-08T23:34:35.420Z,1736379275.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:35.430Z,1736379275.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:34:35.433Z,1736379275.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 65.901443 m, bearing: 331.305963 deg, approach rate: 0.346488 m/s, LOS rate: -0.525005 deg/s, cmd heading: 73.369988 deg, new cmd heading: 72.726863 deg. 2025-01-08T23:34:35.438Z,1736379275.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.269323 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:34:35.664Z,1736379275.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:35.665Z,1736379275.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968519 2025-01-08T23:34:35.868Z,1736379275.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:35.877Z,1736379275.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:34:35.880Z,1736379275.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 66.056580 m, bearing: 331.067367 deg, approach rate: 0.346489 m/s, LOS rate: -0.531638 deg/s, cmd heading: 72.726864 deg, new cmd heading: 72.012798 deg. 2025-01-08T23:34:35.881Z,1736379275.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.256860 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:34:35.918Z,1736379275.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:35.919Z,1736379275.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222937 2025-01-08T23:34:36.168Z,1736379276.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:36.168Z,1736379276.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471885 2025-01-08T23:34:36.218Z,1736379276.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:36.246Z,1736379276.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:34:36.254Z,1736379276.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 66.176460 m, bearing: 330.881430 deg, approach rate: 0.324811 m/s, LOS rate: -0.502874 deg/s, cmd heading: 72.012795 deg, new cmd heading: 71.456013 deg. 2025-01-08T23:34:36.254Z,1736379276.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247143 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:34:36.420Z,1736379276.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:36.421Z,1736379276.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724074 2025-01-08T23:34:36.672Z,1736379276.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:36.674Z,1736379276.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977056 2025-01-08T23:34:36.711Z,1736379276.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:36.720Z,1736379276.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:34:36.722Z,1736379276.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 66.344666 m, bearing: 330.626313 deg, approach rate: 0.355359 m/s, LOS rate: -0.537605 deg/s, cmd heading: 71.456012 deg, new cmd heading: 70.692648 deg. 2025-01-08T23:34:36.724Z,1736379276.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233819 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:34:36.924Z,1736379276.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:36.924Z,1736379276.924 [DAT](INFO): DAT read: Rx Time:23:34:35.5911 2025-01-08T23:34:36.925Z,1736379276.925 [DAT](INFO): Rx dataTimestamp_ set to:1736379276.924659 2025-01-08T23:34:36.926Z,1736379276.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229764 2025-01-08T23:34:37.030Z,1736379277.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:37.036Z,1736379277.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:37.038Z,1736379277.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:34:37.043Z,1736379277.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 66.448990 m, bearing: 330.459872 deg, approach rate: 0.327452 m/s, LOS rate: -0.521602 deg/s, cmd heading: 70.692649 deg, new cmd heading: 70.194123 deg. 2025-01-08T23:34:37.044Z,1736379277.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225119 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:34:37.176Z,1736379277.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:37.178Z,1736379277.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480650 2025-01-08T23:34:37.428Z,1736379277.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:37.434Z,1736379277.434 [DAT](INFO): DAT read: 23:34:35.5911 LVL= 19632, 32753, 32754, 32755, AGC= 63, IDX= 410, 0.41,-1.027,-2.867,-2.060,-1.720, PHS= 0.781,-1.099,-0.343, RAW= 113.6, 8.1, CAL= 123.1, 5.0, ROT= 26.9, -5.0 2025-01-08T23:34:37.436Z,1736379277.436 [DAT](INFO): got valid direction response: 23:34:35.5911 LVL= 19632, 32753, 32754, 32755, AGC= 63, IDX= 410, 0.41,-1.027,-2.867,-2.060,-1.720, PHS= 0.781,-1.099,-0.343, RAW= 113.6, 8.1, CAL= 123.1, 5.0, ROT= 26.9, -5.0 2025-01-08T23:34:37.437Z,1736379277.437 [DAT](INFO): DAT read: Bearing 26.9, -5.0 (Local) 2025-01-08T23:34:37.437Z,1736379277.437 [DAT](INFO): Local bearing/azimuth received: Bearing 26.9, -5.0 (Local) 2025-01-08T23:34:37.439Z,1736379277.439 [DAT](INFO): DAT read: Range 10 to 50 : 111.1 m (Round-trip 148.2 ms) speed 0.4 m/s 2025-01-08T23:34:37.439Z,1736379277.439 [DAT](INFO): DAT read: user:3342> 2025-01-08T23:34:37.440Z,1736379277.440 [DAT](INFO): DAT read: Tx time:23:34:36.6887 2025-01-08T23:34:37.440Z,1736379277.440 [DAT](INFO): Ping request sent. 2025-01-08T23:34:37.440Z,1736379277.440 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:37.441Z,1736379277.441 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:37.442Z,1736379277.442 [DAT](INFO): direction in FSK: [-0.269720,-0.291387,0.917793] 2025-01-08T23:34:37.443Z,1736379277.443 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:37.459Z,1736379277.459 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:37.462Z,1736379277.462 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:37.463Z,1736379277.463 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:37.465Z,1736379277.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:37.518Z,1736379277.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.099998 m, deltaT: 3.777846 s, deltaX: -2.300003 m, approachRate: -0.608813 m/s, rangeRepo size: 4 2025-01-08T23:34:37.533Z,1736379277.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.099998 m, bearing: 314.307002 deg, lat: 36.905492 deg, lon: -122.120997 deg, deltaT: 3.777846 s, deltaX: -2.300003 m, approachRate: -0.608813 m/s, posRepo size: 4 2025-01-08T23:34:37.533Z,1736379277.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.10 m. 2025-01-08T23:34:37.545Z,1736379277.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.099998 m, nav range: 48.446373 m, bearing: 317.145428 deg, approach rate: 0.000000 m/s, LOS rate: -0.521602 deg/s, cmd heading: 70.194120 deg, new cmd heading: 69.444517 deg. 2025-01-08T23:34:37.546Z,1736379277.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212035 target range: 111.099998 and range: 111.10 m. 2025-01-08T23:34:37.680Z,1736379277.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:37.682Z,1736379277.682 [DAT](INFO): DAT read: TxSync time:23:34:36.6879 2025-01-08T23:34:37.911Z,1736379277.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:37.932Z,1736379277.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:37.934Z,1736379277.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.10 m. 2025-01-08T23:34:37.943Z,1736379277.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.099998 m, nav range: 48.633896 m, bearing: 316.877658 deg, approach rate: 0.450418 m/s, LOS rate: -0.640683 deg/s, cmd heading: 69.444514 deg, new cmd heading: 68.644358 deg. 2025-01-08T23:34:37.950Z,1736379277.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198070 target range: 111.099998 and range: 111.10 m. 2025-01-08T23:34:38.184Z,1736379278.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:38.236Z,1736379278.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:38.253Z,1736379278.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.10 m. 2025-01-08T23:34:38.260Z,1736379278.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.099998 m, nav range: 48.769455 m, bearing: 316.682742 deg, approach rate: 0.424860 m/s, LOS rate: -0.609194 deg/s, cmd heading: 68.644357 deg, new cmd heading: 68.061255 deg. 2025-01-08T23:34:38.261Z,1736379278.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.187893 target range: 111.099998 and range: 111.10 m. 2025-01-08T23:34:38.436Z,1736379278.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:38.688Z,1736379278.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:38.730Z,1736379278.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:38.741Z,1736379278.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.10 m. 2025-01-08T23:34:38.744Z,1736379278.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.099998 m, nav range: 48.961063 m, bearing: 316.390866 deg, approach rate: 0.392578 m/s, LOS rate: -0.595670 deg/s, cmd heading: 68.061257 deg, new cmd heading: 67.189127 deg. 2025-01-08T23:34:38.745Z,1736379278.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.172671 target range: 111.099998 and range: 111.10 m. 2025-01-08T23:34:38.940Z,1736379278.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:39.165Z,1736379279.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:39.172Z,1736379279.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:39.174Z,1736379279.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.10 m. 2025-01-08T23:34:39.177Z,1736379279.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.099998 m, nav range: 49.130344 m, bearing: 316.136473 deg, approach rate: 0.391186 m/s, LOS rate: -0.585841 deg/s, cmd heading: 67.189124 deg, new cmd heading: 66.428622 deg. 2025-01-08T23:34:39.178Z,1736379279.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159398 target range: 111.099998 and range: 111.10 m. 2025-01-08T23:34:39.194Z,1736379279.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:39.195Z,1736379279.195 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:39.195Z,1736379279.195 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:39.195Z,1736379279.195 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:39.448Z,1736379279.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:39.449Z,1736379279.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007992 2025-01-08T23:34:39.544Z,1736379279.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:39.553Z,1736379279.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.10 m. 2025-01-08T23:34:39.556Z,1736379279.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.099998 m, nav range: 49.271828 m, bearing: 315.909709 deg, approach rate: 0.373321 m/s, LOS rate: -0.596625 deg/s, cmd heading: 66.428624 deg, new cmd heading: 65.750318 deg. 2025-01-08T23:34:39.557Z,1736379279.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147560 target range: 111.099998 and range: 111.10 m. 2025-01-08T23:34:39.700Z,1736379279.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:39.700Z,1736379279.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259919 2025-01-08T23:34:39.952Z,1736379279.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:39.953Z,1736379279.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512380 2025-01-08T23:34:40.040Z,1736379280.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:34:40.041Z,1736379280.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:40.050Z,1736379280.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.10 m. 2025-01-08T23:34:40.069Z,1736379280.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.099998 m, nav range: 49.454716 m, bearing: 315.612361 deg, approach rate: 0.367914 m/s, LOS rate: -0.595957 deg/s, cmd heading: 65.750317 deg, new cmd heading: 64.861649 deg. 2025-01-08T23:34:40.070Z,1736379280.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132049 target range: 111.099998 and range: 111.10 m. 2025-01-08T23:34:40.205Z,1736379280.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:40.206Z,1736379280.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765589 2025-01-08T23:34:40.424Z,1736379280.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:34:40.424Z,1736379280.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:40.446Z,1736379280.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.10 m. 2025-01-08T23:34:40.453Z,1736379280.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.099998 m, nav range: 49.594315 m, bearing: 315.381722 deg, approach rate: 0.352617 m/s, LOS rate: -0.580937 deg/s, cmd heading: 64.861648 deg, new cmd heading: 64.171713 deg. 2025-01-08T23:34:40.454Z,1736379280.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120008 target range: 111.099998 and range: 111.10 m. 2025-01-08T23:34:40.456Z,1736379280.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:40.457Z,1736379280.457 [DAT](INFO): DAT read: Rx Time:23:34:39.2389 2025-01-08T23:34:40.457Z,1736379280.457 [DAT](INFO): Rx dataTimestamp_ set to:1736379280.457007 2025-01-08T23:34:40.458Z,1736379280.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017282 2025-01-08T23:34:40.708Z,1736379280.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:40.709Z,1736379280.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268065 2025-01-08T23:34:40.834Z,1736379280.834 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,32768,V 2025-01-08T23:34:40.846Z,1736379280.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T23:34:40.847Z,1736379280.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:40.885Z,1736379280.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.10 m. 2025-01-08T23:34:40.900Z,1736379280.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.099998 m, nav range: 49.745377 m, bearing: 315.127872 deg, approach rate: 0.343646 m/s, LOS rate: -0.575720 deg/s, cmd heading: 64.171710 deg, new cmd heading: 63.412520 deg. 2025-01-08T23:34:40.913Z,1736379280.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106757 target range: 111.099998 and range: 111.10 m. 2025-01-08T23:34:40.962Z,1736379280.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:40.972Z,1736379280.972 [DAT](INFO): DAT read: 23:34:39.2389 LVL= 16672, 32305, 27602, 32755, AGC= 63, IDX= 420,-0.18,-1.960, 2.427,-3.119,-2.794, PHS= 0.921,-1.015,-0.328, RAW= 110.5, 5.0, CAL= 121.2, 2.1, ROT= 28.8, -2.1 2025-01-08T23:34:40.973Z,1736379280.973 [DAT](INFO): got valid direction response: 23:34:39.2389 LVL= 16672, 32305, 27602, 32755, AGC= 63, IDX= 420,-0.18,-1.960, 2.427,-3.119,-2.794, PHS= 0.921,-1.015,-0.328, RAW= 110.5, 5.0, CAL= 121.2, 2.1, ROT= 28.8, -2.1 2025-01-08T23:34:40.974Z,1736379280.974 [DAT](INFO): DAT read: Bearing 28.8, -2.1 (Local) 2025-01-08T23:34:40.974Z,1736379280.974 [DAT](INFO): Local bearing/azimuth received: Bearing 28.8, -2.1 (Local) 2025-01-08T23:34:40.976Z,1736379280.976 [DAT](INFO): DAT read: Range 10 to 50 : 109.5 m (Round-trip 146.0 ms) speed 0.3 m/s 2025-01-08T23:34:40.977Z,1736379280.977 [DAT](INFO): DAT read: user:3343> 2025-01-08T23:34:40.978Z,1736379280.978 [DAT](INFO): DAT read: Tx time:23:34:40.3387 2025-01-08T23:34:40.978Z,1736379280.978 [DAT](INFO): Ping request sent. 2025-01-08T23:34:40.978Z,1736379280.978 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:40.979Z,1736379280.978 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:40.984Z,1736379280.984 [DAT](INFO): direction in FSK: [-0.208533,-0.244852,0.946869] 2025-01-08T23:34:40.984Z,1736379280.984 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:40.984Z,1736379280.984 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:40.988Z,1736379280.988 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:40.988Z,1736379280.988 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:41.212Z,1736379281.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:41.213Z,1736379281.213 [DAT](INFO): DAT read: TxSync time:23:34:40.3379 2025-01-08T23:34:41.272Z,1736379281.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s. 2025-01-08T23:34:41.272Z,1736379281.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:41.286Z,1736379281.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 3.534833 s, deltaX: -1.599998 m, approachRate: -0.452638 m/s, rangeRepo size: 4 2025-01-08T23:34:41.305Z,1736379281.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 109.500000 m, bearing: 311.598497 deg, lat: 36.905474 deg, lon: -122.120994 deg, deltaT: 3.534833 s, deltaX: -1.599998 m, approachRate: -0.452638 m/s, posRepo size: 4 2025-01-08T23:34:41.305Z,1736379281.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:34:41.308Z,1736379281.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 48.355831 m, bearing: 313.366848 deg, approach rate: 0.000000 m/s, LOS rate: -0.575720 deg/s, cmd heading: 63.412521 deg, new cmd heading: 62.720700 deg. 2025-01-08T23:34:41.310Z,1736379281.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094683 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:34:41.464Z,1736379281.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:41.714Z,1736379281.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.2 s old, using for 20.0 s. 2025-01-08T23:34:41.714Z,1736379281.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:41.716Z,1736379281.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:41.737Z,1736379281.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:41.744Z,1736379281.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:34:41.746Z,1736379281.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 48.516949 m, bearing: 313.095012 deg, approach rate: 0.355186 m/s, LOS rate: -0.597274 deg/s, cmd heading: 62.720698 deg, new cmd heading: 61.907956 deg. 2025-01-08T23:34:41.753Z,1736379281.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.080498 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:34:41.968Z,1736379281.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:41.969Z,1736379281.969 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:41.969Z,1736379281.969 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:41.970Z,1736379281.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:42.079Z,1736379282.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:42.108Z,1736379282.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:34:42.113Z,1736379282.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 48.612000 m, bearing: 312.889411 deg, approach rate: 0.257759 m/s, LOS rate: -0.556456 deg/s, cmd heading: 61.907954 deg, new cmd heading: 61.292383 deg. 2025-01-08T23:34:42.114Z,1736379282.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.069754 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:34:42.220Z,1736379282.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:42.221Z,1736379282.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242441 2025-01-08T23:34:42.472Z,1736379282.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:42.474Z,1736379282.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495016 2025-01-08T23:34:42.496Z,1736379282.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:42.513Z,1736379282.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:34:42.520Z,1736379282.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 48.719284 m, bearing: 312.654312 deg, approach rate: 0.264963 m/s, LOS rate: -0.579348 deg/s, cmd heading: 61.292383 deg, new cmd heading: 60.588677 deg. 2025-01-08T23:34:42.521Z,1736379282.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.057472 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:34:42.725Z,1736379282.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:42.726Z,1736379282.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747780 2025-01-08T23:34:42.901Z,1736379282.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:42.909Z,1736379282.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:34:42.932Z,1736379282.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 48.819157 m, bearing: 312.419665 deg, approach rate: 0.251967 m/s, LOS rate: -0.590774 deg/s, cmd heading: 60.588675 deg, new cmd heading: 59.886212 deg. 2025-01-08T23:34:42.940Z,1736379282.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.045212 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:34:42.978Z,1736379282.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:42.980Z,1736379282.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001325 2025-01-08T23:34:43.228Z,1736379283.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:43.228Z,1736379283.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250059 2025-01-08T23:34:43.267Z,1736379283.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:43.276Z,1736379283.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:34:43.279Z,1736379283.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 48.907375 m, bearing: 312.206550 deg, approach rate: 0.241188 m/s, LOS rate: -0.581601 deg/s, cmd heading: 59.886211 deg, new cmd heading: 59.248046 deg. 2025-01-08T23:34:43.288Z,1736379283.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.034073 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:34:43.480Z,1736379283.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:43.481Z,1736379283.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502273 2025-01-08T23:34:43.733Z,1736379283.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:43.735Z,1736379283.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756465 2025-01-08T23:34:43.744Z,1736379283.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:43.755Z,1736379283.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:43.757Z,1736379283.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:34:43.765Z,1736379283.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 49.019966 m, bearing: 311.927598 deg, approach rate: 0.233544 m/s, LOS rate: -0.577293 deg/s, cmd heading: 59.248046 deg, new cmd heading: 58.413173 deg. 2025-01-08T23:34:43.766Z,1736379283.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.019502 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:34:43.984Z,1736379283.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:43.986Z,1736379283.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007104 2025-01-08T23:34:44.113Z,1736379284.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:44.128Z,1736379284.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:34:44.130Z,1736379284.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 49.113377 m, bearing: 311.710332 deg, approach rate: 0.252062 m/s, LOS rate: -0.585158 deg/s, cmd heading: 58.413171 deg, new cmd heading: 57.762645 deg. 2025-01-08T23:34:44.132Z,1736379284.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008148 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:34:44.236Z,1736379284.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:44.237Z,1736379284.237 [DAT](INFO): DAT read: Rx Time:23:34:42.8868 2025-01-08T23:34:44.237Z,1736379284.237 [DAT](INFO): Rx dataTimestamp_ set to:1736379284.237066 2025-01-08T23:34:44.238Z,1736379284.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259618 2025-01-08T23:34:44.482Z,1736379284.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:44.488Z,1736379284.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:44.488Z,1736379284.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510168 2025-01-08T23:34:44.506Z,1736379284.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:34:44.521Z,1736379284.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 49.201859 m, bearing: 311.491155 deg, approach rate: 0.233895 m/s, LOS rate: -0.578336 deg/s, cmd heading: 57.762643 deg, new cmd heading: 57.106323 deg. 2025-01-08T23:34:44.522Z,1736379284.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996693 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:34:44.742Z,1736379284.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:44.749Z,1736379284.749 [DAT](INFO): DAT read: 23:34:42.8868 LVL= 14432, 24657, 20546, 31987, AGC= 58, IDX= 413,-0.10, 2.697, 0.695, 1.157, 1.612, PHS= 1.173,-0.871,-0.458, RAW= 101.0, 1.7, CAL= 111.3, -1.2, ROT= 38.7, 1.2 2025-01-08T23:34:44.750Z,1736379284.750 [DAT](INFO): got valid direction response: 23:34:42.8868 LVL= 14432, 24657, 20546, 31987, AGC= 58, IDX= 413,-0.10, 2.697, 0.695, 1.157, 1.612, PHS= 1.173,-0.871,-0.458, RAW= 101.0, 1.7, CAL= 111.3, -1.2, ROT= 38.7, 1.2 2025-01-08T23:34:44.752Z,1736379284.752 [DAT](INFO): DAT read: Bearing 38.7, 1.2 (Local) 2025-01-08T23:34:44.752Z,1736379284.752 [DAT](INFO): Local bearing/azimuth received: Bearing 38.7, 1.2 (Local) 2025-01-08T23:34:44.754Z,1736379284.754 [DAT](INFO): DAT read: Range 10 to 50 : 107.8 m (Round-trip 143.8 ms) speed 0.5 m/s 2025-01-08T23:34:44.754Z,1736379284.754 [DAT](INFO): DAT read: user:3344> 2025-01-08T23:34:44.755Z,1736379284.755 [DAT](INFO): DAT read: Tx time:23:34:43.9888 2025-01-08T23:34:44.756Z,1736379284.756 [DAT](INFO): Ping request sent. 2025-01-08T23:34:44.756Z,1736379284.756 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:44.756Z,1736379284.756 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:44.757Z,1736379284.757 [DAT](INFO): direction in FSK: [-0.133703,-0.083499,0.987498] 2025-01-08T23:34:44.757Z,1736379284.757 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:44.757Z,1736379284.757 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:44.765Z,1736379284.765 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:44.766Z,1736379284.766 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:44.963Z,1736379284.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:44.992Z,1736379284.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:44.993Z,1736379284.993 [DAT](INFO): DAT read: TxSync time:23:34:43.9880 2025-01-08T23:34:45.004Z,1736379285.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.800003 m, deltaT: 3.779854 s, deltaX: -1.699997 m, approachRate: -0.449752 m/s, rangeRepo size: 4 2025-01-08T23:34:45.014Z,1736379285.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 107.800003 m, bearing: 297.896168 deg, lat: 36.905455 deg, lon: -122.120988 deg, deltaT: 3.779854 s, deltaX: -1.699997 m, approachRate: -0.449752 m/s, posRepo size: 4 2025-01-08T23:34:45.036Z,1736379285.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.80 m. 2025-01-08T23:34:45.038Z,1736379285.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.800003 m, nav range: 47.470585 m, bearing: 309.722630 deg, approach rate: 0.000000 m/s, LOS rate: -0.578336 deg/s, cmd heading: 57.106324 deg, new cmd heading: 56.246797 deg. 2025-01-08T23:34:45.051Z,1736379285.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.981692 target range: 107.800003 and range: 107.80 m. 2025-01-08T23:34:45.244Z,1736379285.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:45.289Z,1736379285.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:45.298Z,1736379285.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.80 m. 2025-01-08T23:34:45.301Z,1736379285.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.800003 m, nav range: 47.560379 m, bearing: 309.516113 deg, approach rate: 0.303055 m/s, LOS rate: -0.695675 deg/s, cmd heading: 56.246796 deg, new cmd heading: 55.628441 deg. 2025-01-08T23:34:45.319Z,1736379285.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970899 target range: 107.800003 and range: 107.80 m. 2025-01-08T23:34:45.496Z,1736379285.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:45.749Z,1736379285.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:45.757Z,1736379285.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:45.781Z,1736379285.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:45.788Z,1736379285.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.80 m. 2025-01-08T23:34:45.790Z,1736379285.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.800003 m, nav range: 47.683826 m, bearing: 309.227820 deg, approach rate: 0.254264 m/s, LOS rate: -0.592255 deg/s, cmd heading: 55.628442 deg, new cmd heading: 54.765871 deg. 2025-01-08T23:34:45.796Z,1736379285.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.955845 target range: 107.800003 and range: 107.80 m. 2025-01-08T23:34:46.000Z,1736379286.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:46.001Z,1736379286.001 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:46.001Z,1736379286.001 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:46.002Z,1736379286.002 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:46.123Z,1736379286.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:46.133Z,1736379286.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.80 m. 2025-01-08T23:34:46.136Z,1736379286.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.800003 m, nav range: 47.795418 m, bearing: 308.979559 deg, approach rate: 0.319525 m/s, LOS rate: -0.709197 deg/s, cmd heading: 54.765871 deg, new cmd heading: 54.022870 deg. 2025-01-08T23:34:46.137Z,1736379286.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.942877 target range: 107.800003 and range: 107.80 m. 2025-01-08T23:34:46.257Z,1736379286.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:46.259Z,1736379286.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502725 2025-01-08T23:34:46.508Z,1736379286.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:46.510Z,1736379286.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753852 2025-01-08T23:34:46.515Z,1736379286.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:46.524Z,1736379286.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.80 m. 2025-01-08T23:34:46.528Z,1736379286.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.800003 m, nav range: 47.906410 m, bearing: 308.721486 deg, approach rate: 0.283986 m/s, LOS rate: -0.658777 deg/s, cmd heading: 54.022869 deg, new cmd heading: 53.250491 deg. 2025-01-08T23:34:46.529Z,1736379286.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.929396 target range: 107.800003 and range: 107.80 m. 2025-01-08T23:34:46.763Z,1736379286.763 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:46.766Z,1736379286.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009628 2025-01-08T23:34:46.944Z,1736379286.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:46.962Z,1736379286.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.80 m. 2025-01-08T23:34:46.977Z,1736379286.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.800003 m, nav range: 48.031208 m, bearing: 308.448174 deg, approach rate: 0.284424 m/s, LOS rate: -0.621278 deg/s, cmd heading: 53.250491 deg, new cmd heading: 52.432744 deg. 2025-01-08T23:34:46.979Z,1736379286.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.915124 target range: 107.800003 and range: 107.80 m. 2025-01-08T23:34:47.012Z,1736379287.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:47.012Z,1736379287.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256827 2025-01-08T23:34:47.264Z,1736379287.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:47.264Z,1736379287.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508756 2025-01-08T23:34:47.316Z,1736379287.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:47.325Z,1736379287.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.80 m. 2025-01-08T23:34:47.341Z,1736379287.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.800003 m, nav range: 48.146938 m, bearing: 308.189273 deg, approach rate: 0.319156 m/s, LOS rate: -0.712265 deg/s, cmd heading: 52.432743 deg, new cmd heading: 51.657958 deg. 2025-01-08T23:34:47.343Z,1736379287.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.901601 target range: 107.800003 and range: 107.80 m. 2025-01-08T23:34:47.516Z,1736379287.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:47.517Z,1736379287.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760914 2025-01-08T23:34:47.736Z,1736379287.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:47.771Z,1736379287.771 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:47.782Z,1736379287.782 [DAT](INFO): DAT read: Rx Time:23:34:46.5340 2025-01-08T23:34:47.784Z,1736379287.784 [DAT](INFO): Rx dataTimestamp_ set to:1736379287.782499 2025-01-08T23:34:47.786Z,1736379287.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029600 2025-01-08T23:34:47.803Z,1736379287.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.80 m. 2025-01-08T23:34:47.806Z,1736379287.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.800003 m, nav range: 48.269493 m, bearing: 307.910910 deg, approach rate: 0.259446 m/s, LOS rate: -0.587791 deg/s, cmd heading: 51.657957 deg, new cmd heading: 50.825049 deg. 2025-01-08T23:34:47.811Z,1736379287.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.887064 target range: 107.800003 and range: 107.80 m. 2025-01-08T23:34:48.021Z,1736379288.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:48.022Z,1736379288.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266278 2025-01-08T23:34:48.153Z,1736379288.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:48.161Z,1736379288.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:48.163Z,1736379288.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.80 m. 2025-01-08T23:34:48.166Z,1736379288.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.800003 m, nav range: 48.402237 m, bearing: 307.632673 deg, approach rate: 0.362985 m/s, LOS rate: -0.758743 deg/s, cmd heading: 50.825050 deg, new cmd heading: 49.992689 deg. 2025-01-08T23:34:48.167Z,1736379288.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872537 target range: 107.800003 and range: 107.80 m. 2025-01-08T23:34:48.272Z,1736379288.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:48.282Z,1736379288.282 [DAT](INFO): DAT read: 23:34:46.5340 LVL= 14832, 23329, 18498, 26547, AGC= 59, IDX= 417, 0.13, 0.916,-1.069,-0.819,-0.227, PHS= 1.231,-0.795,-0.595, RAW= 95.1, 1.7, CAL= 104.0, -1.2, ROT= 46.0, 1.2 2025-01-08T23:34:48.284Z,1736379288.284 [DAT](INFO): got valid direction response: 23:34:46.5340 LVL= 14832, 23329, 18498, 26547, AGC= 59, IDX= 417, 0.13, 0.916,-1.069,-0.819,-0.227, PHS= 1.231,-0.795,-0.595, RAW= 95.1, 1.7, CAL= 104.0, -1.2, ROT= 46.0, 1.2 2025-01-08T23:34:48.286Z,1736379288.286 [DAT](INFO): DAT read: Bearing 46.0, 1.2 (Local) 2025-01-08T23:34:48.286Z,1736379288.286 [DAT](INFO): Local bearing/azimuth received: Bearing 46.0, 1.2 (Local) 2025-01-08T23:34:48.289Z,1736379288.289 [DAT](INFO): DAT read: Range 10 to 50 : 105.8 m (Round-trip 141.1 ms) speed 0.4 m/s 2025-01-08T23:34:48.290Z,1736379288.290 [DAT](INFO): DAT read: user:3345> 2025-01-08T23:34:48.296Z,1736379288.296 [DAT](INFO): DAT read: Tx time:23:34:47.6388 2025-01-08T23:34:48.297Z,1736379288.297 [DAT](INFO): Ping request sent. 2025-01-08T23:34:48.297Z,1736379288.297 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:48.297Z,1736379288.297 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:48.299Z,1736379288.299 [DAT](INFO): direction in FSK: [-0.124848,0.019861,0.991977] 2025-01-08T23:34:48.300Z,1736379288.300 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:48.300Z,1736379288.300 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:48.304Z,1736379288.304 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:48.304Z,1736379288.304 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:48.524Z,1736379288.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:48.524Z,1736379288.524 [DAT](INFO): DAT read: TxSync time:23:34:47.6380 2025-01-08T23:34:48.534Z,1736379288.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:48.570Z,1736379288.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.800003 m, deltaT: 3.530168 s, deltaX: -2.000000 m, approachRate: -0.566545 m/s, rangeRepo size: 4 2025-01-08T23:34:48.576Z,1736379288.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 105.800003 m, bearing: 251.098405 deg, lat: 36.905384 deg, lon: -122.120892 deg, deltaT: 3.530168 s, deltaX: -2.000000 m, approachRate: -0.566545 m/s, posRepo size: 4 2025-01-08T23:34:48.577Z,1736379288.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m. 2025-01-08T23:34:48.584Z,1736379288.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.800003 m, nav range: 37.032875 m, bearing: 305.622204 deg, approach rate: 0.000000 m/s, LOS rate: -0.758743 deg/s, cmd heading: 49.992689 deg, new cmd heading: 49.068613 deg. 2025-01-08T23:34:48.585Z,1736379288.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.856409 target range: 105.800003 and range: 105.80 m. 2025-01-08T23:34:48.778Z,1736379288.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:48.957Z,1736379288.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:48.973Z,1736379288.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m. 2025-01-08T23:34:48.996Z,1736379288.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.800003 m, nav range: 37.177410 m, bearing: 305.261775 deg, approach rate: 0.357670 m/s, LOS rate: -0.888454 deg/s, cmd heading: 49.068612 deg, new cmd heading: 47.991660 deg. 2025-01-08T23:34:48.997Z,1736379288.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837613 target range: 105.800003 and range: 105.80 m. 2025-01-08T23:34:49.028Z,1736379289.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:49.280Z,1736379289.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:49.341Z,1736379289.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:49.351Z,1736379289.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m. 2025-01-08T23:34:49.354Z,1736379289.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.800003 m, nav range: 37.309109 m, bearing: 304.934350 deg, approach rate: 0.348698 m/s, LOS rate: -0.863854 deg/s, cmd heading: 47.991662 deg, new cmd heading: 47.012957 deg. 2025-01-08T23:34:49.355Z,1736379289.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820531 target range: 105.800003 and range: 105.80 m. 2025-01-08T23:34:49.532Z,1736379289.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:49.756Z,1736379289.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:49.786Z,1736379289.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:49.821Z,1736379289.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m. 2025-01-08T23:34:49.837Z,1736379289.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.800003 m, nav range: 37.452320 m, bearing: 304.584253 deg, approach rate: 0.308245 m/s, LOS rate: -0.750656 deg/s, cmd heading: 47.012957 deg, new cmd heading: 45.966804 deg. 2025-01-08T23:34:49.838Z,1736379289.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.802272 target range: 105.800003 and range: 105.80 m. 2025-01-08T23:34:50.036Z,1736379290.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:50.160Z,1736379290.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:50.168Z,1736379290.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:50.170Z,1736379290.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m. 2025-01-08T23:34:50.173Z,1736379290.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.800003 m, nav range: 37.578697 m, bearing: 304.250305 deg, approach rate: 0.356723 m/s, LOS rate: -0.939455 deg/s, cmd heading: 45.966804 deg, new cmd heading: 44.968437 deg. 2025-01-08T23:34:50.173Z,1736379290.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784847 target range: 105.800003 and range: 105.80 m. 2025-01-08T23:34:50.288Z,1736379290.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:50.288Z,1736379290.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:50.288Z,1736379290.288 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:50.289Z,1736379290.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:50.540Z,1736379290.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:50.540Z,1736379290.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243662 2025-01-08T23:34:50.546Z,1736379290.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:50.554Z,1736379290.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m. 2025-01-08T23:34:50.557Z,1736379290.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.800003 m, nav range: 37.697910 m, bearing: 303.931736 deg, approach rate: 0.309806 m/s, LOS rate: -0.825263 deg/s, cmd heading: 44.968439 deg, new cmd heading: 44.015845 deg. 2025-01-08T23:34:50.558Z,1736379290.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768221 target range: 105.800003 and range: 105.80 m. 2025-01-08T23:34:50.794Z,1736379290.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:50.796Z,1736379290.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499229 2025-01-08T23:34:50.970Z,1736379290.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:50.979Z,1736379290.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m. 2025-01-08T23:34:50.981Z,1736379290.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.800003 m, nav range: 37.817406 m, bearing: 303.591444 deg, approach rate: 0.281713 m/s, LOS rate: -0.799705 deg/s, cmd heading: 44.015846 deg, new cmd heading: 42.998310 deg. 2025-01-08T23:34:50.982Z,1736379290.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.750462 target range: 105.800003 and range: 105.80 m. 2025-01-08T23:34:51.045Z,1736379291.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:51.046Z,1736379291.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749621 2025-01-08T23:34:51.296Z,1736379291.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:51.296Z,1736379291.296 [DAT](INFO): DAT read: Rx Time:23:34:50.1822 2025-01-08T23:34:51.297Z,1736379291.297 [DAT](INFO): Rx dataTimestamp_ set to:1736379291.296667 2025-01-08T23:34:51.297Z,1736379291.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000700 2025-01-08T23:34:51.351Z,1736379291.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:51.372Z,1736379291.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m. 2025-01-08T23:34:51.374Z,1736379291.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.800003 m, nav range: 37.923004 m, bearing: 303.285882 deg, approach rate: 0.269021 m/s, LOS rate: -0.776275 deg/s, cmd heading: 42.998312 deg, new cmd heading: 42.084258 deg. 2025-01-08T23:34:51.379Z,1736379291.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.734509 target range: 105.800003 and range: 105.80 m. 2025-01-08T23:34:51.548Z,1736379291.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:51.548Z,1736379291.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251615 2025-01-08T23:34:51.765Z,1736379291.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:51.778Z,1736379291.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m. 2025-01-08T23:34:51.782Z,1736379291.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.800003 m, nav range: 38.035904 m, bearing: 302.952332 deg, approach rate: 0.280214 m/s, LOS rate: -0.825400 deg/s, cmd heading: 42.084258 deg, new cmd heading: 41.086685 deg. 2025-01-08T23:34:51.783Z,1736379291.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.717098 target range: 105.800003 and range: 105.80 m. 2025-01-08T23:34:51.802Z,1736379291.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:51.805Z,1736379291.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507397 2025-01-08T23:34:52.052Z,1736379292.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:52.059Z,1736379292.059 [DAT](INFO): DAT read: 23:34:50.1822 LVL= 17376, 25073, 23922, 27635, AGC= 59, IDX= 430,-0.22, 1.662,-0.210,-0.230, 0.518, PHS= 1.233,-0.681,-0.751, RAW= 88.2, 2.1, CAL= 95.0, -0.9, ROT= 55.0, 0.9 2025-01-08T23:34:52.061Z,1736379292.061 [DAT](INFO): got valid direction response: 23:34:50.1822 LVL= 17376, 25073, 23922, 27635, AGC= 59, IDX= 430,-0.22, 1.662,-0.210,-0.230, 0.518, PHS= 1.233,-0.681,-0.751, RAW= 88.2, 2.1, CAL= 95.0, -0.9, ROT= 55.0, 0.9 2025-01-08T23:34:52.065Z,1736379292.065 [DAT](INFO): DAT read: Bearing 55.0, 0.9 (Local) 2025-01-08T23:34:52.066Z,1736379292.066 [DAT](INFO): Local bearing/azimuth received: Bearing 55.0, 0.9 (Local) 2025-01-08T23:34:52.068Z,1736379292.068 [DAT](INFO): DAT read: Range 10 to 50 : 104.4 m (Round-trip 139.2 ms) speed 0.1 m/s 2025-01-08T23:34:52.069Z,1736379292.069 [DAT](INFO): DAT read: user:3346> 2025-01-08T23:34:52.070Z,1736379292.070 [DAT](INFO): DAT read: Tx time:23:34:51.2888 2025-01-08T23:34:52.070Z,1736379292.070 [DAT](INFO): Ping request sent. 2025-01-08T23:34:52.070Z,1736379292.070 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:52.070Z,1736379292.070 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:52.071Z,1736379292.071 [DAT](INFO): direction in FSK: [-0.121370,0.140166,0.982661] 2025-01-08T23:34:52.072Z,1736379292.072 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:52.072Z,1736379292.072 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:52.075Z,1736379292.075 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:52.085Z,1736379292.085 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:52.258Z,1736379292.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:52.290Z,1736379292.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.400002 m, deltaT: 3.779073 s, deltaX: -1.400002 m, approachRate: -0.370462 m/s, rangeRepo size: 4 2025-01-08T23:34:52.301Z,1736379292.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 104.400002 m, bearing: 182.041469 deg, lat: 36.905248 deg, lon: -122.120733 deg, deltaT: 3.779073 s, deltaX: -1.400002 m, approachRate: -0.370462 m/s, posRepo size: 4 2025-01-08T23:34:52.301Z,1736379292.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-08T23:34:52.304Z,1736379292.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:52.305Z,1736379292.305 [DAT](INFO): DAT read: TxSync time:23:34:51.2880 2025-01-08T23:34:52.308Z,1736379292.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 18.772335 m, bearing: 286.817714 deg, approach rate: 0.000000 m/s, LOS rate: -0.825400 deg/s, cmd heading: 41.086685 deg, new cmd heading: 39.810355 deg. 2025-01-08T23:34:52.315Z,1736379292.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694822 target range: 104.400002 and range: 104.40 m. 2025-01-08T23:34:52.556Z,1736379292.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:52.602Z,1736379292.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:52.618Z,1736379292.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:52.624Z,1736379292.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-08T23:34:52.633Z,1736379292.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 18.896679 m, bearing: 286.349184 deg, approach rate: 0.373247 m/s, LOS rate: -1.397131 deg/s, cmd heading: 39.810355 deg, new cmd heading: 38.414306 deg. 2025-01-08T23:34:52.651Z,1736379292.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670456 target range: 104.400002 and range: 104.40 m. 2025-01-08T23:34:52.810Z,1736379292.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:52.812Z,1736379292.812 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:52.812Z,1736379292.812 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:52.813Z,1736379292.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:53.053Z,1736379293.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:53.060Z,1736379293.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:53.060Z,1736379293.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990404 2025-01-08T23:34:53.063Z,1736379293.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-08T23:34:53.066Z,1736379293.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 19.051159 m, bearing: 285.734883 deg, approach rate: 0.350812 m/s, LOS rate: -1.383689 deg/s, cmd heading: 38.414306 deg, new cmd heading: 36.587003 deg. 2025-01-08T23:34:53.067Z,1736379293.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638564 target range: 104.400002 and range: 104.40 m. 2025-01-08T23:34:53.315Z,1736379293.315 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:53.316Z,1736379293.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245884 2025-01-08T23:34:53.402Z,1736379293.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:53.412Z,1736379293.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-08T23:34:53.414Z,1736379293.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 19.167667 m, bearing: 285.255596 deg, approach rate: 0.334453 m/s, LOS rate: -1.367479 deg/s, cmd heading: 36.587001 deg, new cmd heading: 35.158193 deg. 2025-01-08T23:34:53.435Z,1736379293.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613626 target range: 104.400002 and range: 104.40 m. 2025-01-08T23:34:53.564Z,1736379293.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:53.565Z,1736379293.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494701 2025-01-08T23:34:53.800Z,1736379293.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:53.816Z,1736379293.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:53.817Z,1736379293.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746642 2025-01-08T23:34:53.865Z,1736379293.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-08T23:34:53.888Z,1736379293.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 19.298759 m, bearing: 284.707819 deg, approach rate: 0.290533 m/s, LOS rate: -1.205747 deg/s, cmd heading: 35.158194 deg, new cmd heading: 33.526489 deg. 2025-01-08T23:34:53.899Z,1736379293.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585148 target range: 104.400002 and range: 104.40 m. 2025-01-08T23:34:54.068Z,1736379294.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:54.068Z,1736379294.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998360 2025-01-08T23:34:54.234Z,1736379294.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:54.243Z,1736379294.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-08T23:34:54.246Z,1736379294.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 19.428257 m, bearing: 284.118179 deg, approach rate: 0.341195 m/s, LOS rate: -1.543176 deg/s, cmd heading: 33.526489 deg, new cmd heading: 31.769943 deg. 2025-01-08T23:34:54.247Z,1736379294.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554490 target range: 104.400002 and range: 104.40 m. 2025-01-08T23:34:54.321Z,1736379294.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:54.322Z,1736379294.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251597 2025-01-08T23:34:54.572Z,1736379294.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:54.572Z,1736379294.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502246 2025-01-08T23:34:54.617Z,1736379294.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:54.625Z,1736379294.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:54.628Z,1736379294.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-08T23:34:54.630Z,1736379294.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 19.540495 m, bearing: 283.595029 deg, approach rate: 0.291277 m/s, LOS rate: -1.349848 deg/s, cmd heading: 31.769942 deg, new cmd heading: 30.209913 deg. 2025-01-08T23:34:54.632Z,1736379294.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.527262 target range: 104.400002 and range: 104.40 m. 2025-01-08T23:34:54.636Z,1736379294.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:34:54.826Z,1736379294.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:54.828Z,1736379294.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757597 2025-01-08T23:34:55.044Z,1736379295.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:55.052Z,1736379295.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-08T23:34:55.055Z,1736379295.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 19.660578 m, bearing: 282.997412 deg, approach rate: 0.282935 m/s, LOS rate: -1.399456 deg/s, cmd heading: 30.209913 deg, new cmd heading: 28.428620 deg. 2025-01-08T23:34:55.068Z,1736379295.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496173 target range: 104.400002 and range: 104.40 m. 2025-01-08T23:34:55.077Z,1736379295.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:55.078Z,1736379295.078 [DAT](INFO): DAT read: Rx Time:23:34:53.8310 2025-01-08T23:34:55.081Z,1736379295.081 [DAT](INFO): Rx dataTimestamp_ set to:1736379295.078781 2025-01-08T23:34:55.081Z,1736379295.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011338 2025-01-08T23:34:55.328Z,1736379295.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:55.328Z,1736379295.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258364 2025-01-08T23:34:55.463Z,1736379295.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:55.477Z,1736379295.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-08T23:34:55.482Z,1736379295.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 19.776033 m, bearing: 282.408276 deg, approach rate: 0.271820 m/s, LOS rate: -1.378895 deg/s, cmd heading: 28.428620 deg, new cmd heading: 26.672110 deg. 2025-01-08T23:34:55.490Z,1736379295.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.465516 target range: 104.400002 and range: 104.40 m. 2025-01-08T23:34:55.580Z,1736379295.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:55.591Z,1736379295.591 [DAT](INFO): DAT read: 23:34:53.8310 LVL= 10400, 23409, 18098, 27235, AGC= 58, IDX= 434,-0.15, 0.909,-0.537,-1.083, 0.028, PHS= 0.969,-0.518,-1.114, RAW= 73.9, 7.2, CAL= 76.8, 9.3, ROT= 73.2, -9.3 2025-01-08T23:34:55.593Z,1736379295.593 [DAT](INFO): got valid direction response: 23:34:53.8310 LVL= 10400, 23409, 18098, 27235, AGC= 58, IDX= 434,-0.15, 0.909,-0.537,-1.083, 0.028, PHS= 0.969,-0.518,-1.114, RAW= 73.9, 7.2, CAL= 76.8, 9.3, ROT= 73.2, -9.3 2025-01-08T23:34:55.594Z,1736379295.594 [DAT](INFO): DAT read: Bearing 73.2, -9.3 (Local) 2025-01-08T23:34:55.595Z,1736379295.595 [DAT](INFO): Local bearing/azimuth received: Bearing 73.2, -9.3 (Local) 2025-01-08T23:34:55.597Z,1736379295.597 [DAT](INFO): DAT read: Range 10 to 50 : 103.5 m (Round-trip 138.0 ms) speed 0.2 m/s 2025-01-08T23:34:55.599Z,1736379295.599 [DAT](INFO): DAT read: user:3347> 2025-01-08T23:34:55.602Z,1736379295.602 [DAT](INFO): DAT read: Tx time:23:34:54.9388 2025-01-08T23:34:55.602Z,1736379295.602 [DAT](INFO): Ping request sent. 2025-01-08T23:34:55.602Z,1736379295.602 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:55.603Z,1736379295.603 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:34:55.604Z,1736379295.604 [DAT](INFO): direction in FSK: [-0.190315,0.377331,0.906312] 2025-01-08T23:34:55.605Z,1736379295.605 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:55.605Z,1736379295.605 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:55.635Z,1736379295.635 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:55.640Z,1736379295.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:34:55.641Z,1736379295.641 [DAT](INFO): publishing direction and range info 2025-01-08T23:34:55.832Z,1736379295.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:55.832Z,1736379295.832 [DAT](INFO): DAT read: TxSync time:23:34:54.9380 2025-01-08T23:34:55.904Z,1736379295.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:55.950Z,1736379295.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.500000 m, deltaT: 3.528661 s, deltaX: -0.900002 m, approachRate: -0.255055 m/s, rangeRepo size: 4 2025-01-08T23:34:55.957Z,1736379295.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.500000 m, bearing: 153.843322 deg, lat: 36.905161 deg, lon: -122.120659 deg, deltaT: 3.528661 s, deltaX: -0.900002 m, approachRate: -0.255055 m/s, posRepo size: 4 2025-01-08T23:34:55.957Z,1736379295.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:34:55.966Z,1736379295.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 14.106798 m, bearing: 246.578488 deg, approach rate: 0.000000 m/s, LOS rate: -1.378895 deg/s, cmd heading: 26.672109 deg, new cmd heading: 24.716742 deg. 2025-01-08T23:34:55.967Z,1736379295.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431389 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:34:56.086Z,1736379296.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:56.278Z,1736379296.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:56.287Z,1736379296.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:34:56.290Z,1736379296.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 14.291448 m, bearing: 246.209377 deg, approach rate: 0.546957 m/s, LOS rate: -1.079225 deg/s, cmd heading: 24.716742 deg, new cmd heading: 23.623855 deg. 2025-01-08T23:34:56.291Z,1736379296.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412314 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:34:56.336Z,1736379296.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:56.588Z,1736379296.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:56.635Z,1736379296.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:56.641Z,1736379296.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:56.648Z,1736379296.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:34:56.653Z,1736379296.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 14.463182 m, bearing: 245.856392 deg, approach rate: 0.477035 m/s, LOS rate: -0.968851 deg/s, cmd heading: 23.623855 deg, new cmd heading: 22.577598 deg. 2025-01-08T23:34:56.654Z,1736379296.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.394053 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:34:56.840Z,1736379296.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:56.840Z,1736379296.840 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:34:56.841Z,1736379296.841 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:34:56.841Z,1736379296.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:34:57.063Z,1736379297.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:57.071Z,1736379297.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:34:57.074Z,1736379297.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 14.672484 m, bearing: 245.436860 deg, approach rate: 0.493680 m/s, LOS rate: -0.975425 deg/s, cmd heading: 22.577598 deg, new cmd heading: 21.337160 deg. 2025-01-08T23:34:57.075Z,1736379297.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.372404 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:34:57.092Z,1736379297.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:57.093Z,1736379297.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490962 2025-01-08T23:34:57.344Z,1736379297.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:57.345Z,1736379297.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742957 2025-01-08T23:34:57.440Z,1736379297.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:57.451Z,1736379297.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:34:57.454Z,1736379297.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 14.855245 m, bearing: 245.061415 deg, approach rate: 0.480954 m/s, LOS rate: -0.975864 deg/s, cmd heading: 21.337159 deg, new cmd heading: 20.224828 deg. 2025-01-08T23:34:57.455Z,1736379297.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.352990 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:34:57.596Z,1736379297.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:57.597Z,1736379297.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994423 2025-01-08T23:34:57.839Z,1736379297.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:57.848Z,1736379297.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:57.849Z,1736379297.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246381 2025-01-08T23:34:57.867Z,1736379297.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:34:57.874Z,1736379297.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 15.047074 m, bearing: 244.655930 deg, approach rate: 0.462888 m/s, LOS rate: -0.965960 deg/s, cmd heading: 20.224829 deg, new cmd heading: 19.024068 deg. 2025-01-08T23:34:57.875Z,1736379297.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.332033 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:34:58.100Z,1736379298.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:58.100Z,1736379298.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498183 2025-01-08T23:34:58.302Z,1736379298.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:58.311Z,1736379298.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:34:58.314Z,1736379298.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 15.270887 m, bearing: 244.207768 deg, approach rate: 0.502985 m/s, LOS rate: -0.992401 deg/s, cmd heading: 19.024068 deg, new cmd heading: 17.699538 deg. 2025-01-08T23:34:58.314Z,1736379298.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.308915 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:34:58.352Z,1736379298.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:58.352Z,1736379298.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750254 2025-01-08T23:34:58.604Z,1736379298.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:58.604Z,1736379298.604 [DAT](INFO): DAT read: Rx Time:23:34:57.4798 2025-01-08T23:34:58.605Z,1736379298.605 [DAT](INFO): Rx dataTimestamp_ set to:1736379298.604638 2025-01-08T23:34:58.605Z,1736379298.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003302 2025-01-08T23:34:58.730Z,1736379298.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:58.739Z,1736379298.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:34:58.741Z,1736379298.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:34:58.745Z,1736379298.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 15.473336 m, bearing: 243.766687 deg, approach rate: 0.470377 m/s, LOS rate: -1.011405 deg/s, cmd heading: 17.699537 deg, new cmd heading: 16.393846 deg. 2025-01-08T23:34:58.746Z,1736379298.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.286127 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:34:58.856Z,1736379298.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:58.857Z,1736379298.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254573 2025-01-08T23:34:59.108Z,1736379299.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:59.108Z,1736379299.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506083 2025-01-08T23:34:59.175Z,1736379299.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:59.198Z,1736379299.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:34:59.212Z,1736379299.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 15.679098 m, bearing: 243.316625 deg, approach rate: 0.449752 m/s, LOS rate: -0.970821 deg/s, cmd heading: 16.393846 deg, new cmd heading: 15.061631 deg. 2025-01-08T23:34:59.213Z,1736379299.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262875 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:34:59.360Z,1736379299.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:59.362Z,1736379299.362 [DAT](INFO): DAT read: Range 10 to 50 : 102.6 m (Round-trip 136.8 ms) speed 0.1 m/s 2025-01-08T23:34:59.363Z,1736379299.363 [DAT](INFO): DAT read: user:3348> 2025-01-08T23:34:59.363Z,1736379299.363 [DAT](INFO): DAT read: Tx time:23:34:58.5889 2025-01-08T23:34:59.364Z,1736379299.364 [DAT](INFO): Ping request sent. 2025-01-08T23:34:59.364Z,1736379299.364 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:34:59.364Z,1736379299.364 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:34:59.364Z,1736379299.364 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:59.365Z,1736379299.365 [DAT](INFO): publishing transmit ping time 2025-01-08T23:34:59.549Z,1736379299.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:34:59.578Z,1736379299.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.599998 m, deltaT: 3.779757 s, deltaX: -0.900002 m, approachRate: -0.238111 m/s, rangeRepo size: 4 2025-01-08T23:34:59.583Z,1736379299.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:34:59.586Z,1736379299.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 15.848085 m, bearing: 242.916123 deg, approach rate: 0.445563 m/s, LOS rate: -1.044721 deg/s, cmd heading: 15.061631 deg, new cmd heading: 13.873117 deg. 2025-01-08T23:34:59.587Z,1736379299.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.242132 target range: 103.500000 and range: 102.60 m. 2025-01-08T23:34:59.612Z,1736379299.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:34:59.613Z,1736379299.613 [DAT](INFO): DAT read: TxSync time:23:34:58.5881 2025-01-08T23:34:59.864Z,1736379299.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:00.023Z,1736379300.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:00.032Z,1736379300.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:00.035Z,1736379300.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 16.058365 m, bearing: 242.397996 deg, approach rate: 0.462536 m/s, LOS rate: -1.124745 deg/s, cmd heading: 13.873117 deg, new cmd heading: 12.339479 deg. 2025-01-08T23:35:00.036Z,1736379300.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.215365 target range: 103.500000 and range: 102.60 m. 2025-01-08T23:35:00.116Z,1736379300.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:00.331Z,1736379300.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:00.340Z,1736379300.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:00.359Z,1736379300.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 16.193930 m, bearing: 242.056153 deg, approach rate: 0.441494 m/s, LOS rate: -1.103954 deg/s, cmd heading: 12.339479 deg, new cmd heading: 11.322648 deg. 2025-01-08T23:35:00.361Z,1736379300.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.197617 target range: 103.500000 and range: 102.60 m. 2025-01-08T23:35:00.368Z,1736379300.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:00.620Z,1736379300.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:00.747Z,1736379300.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:00.754Z,1736379300.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:00.756Z,1736379300.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:00.760Z,1736379300.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 16.374189 m, bearing: 241.588257 deg, approach rate: 0.432705 m/s, LOS rate: -1.110786 deg/s, cmd heading: 11.322648 deg, new cmd heading: 9.934699 deg. 2025-01-08T23:35:00.761Z,1736379300.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.173393 target range: 103.500000 and range: 102.60 m. 2025-01-08T23:35:00.873Z,1736379300.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:00.874Z,1736379300.874 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:00.874Z,1736379300.874 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:00.874Z,1736379300.874 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:01.124Z,1736379301.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:01.124Z,1736379301.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760499 2025-01-08T23:35:01.190Z,1736379301.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:01.221Z,1736379301.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:01.233Z,1736379301.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 16.555248 m, bearing: 241.076658 deg, approach rate: 0.389238 m/s, LOS rate: -1.087787 deg/s, cmd heading: 9.934699 deg, new cmd heading: 8.417062 deg. 2025-01-08T23:35:01.234Z,1736379301.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146905 target range: 103.500000 and range: 102.60 m. 2025-01-08T23:35:01.377Z,1736379301.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:01.378Z,1736379301.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014229 2025-01-08T23:35:01.554Z,1736379301.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:01.579Z,1736379301.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:01.600Z,1736379301.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 16.702122 m, bearing: 240.652218 deg, approach rate: 0.410680 m/s, LOS rate: -1.176349 deg/s, cmd heading: 8.417062 deg, new cmd heading: 7.155156 deg. 2025-01-08T23:35:01.601Z,1736379301.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.124881 target range: 103.500000 and range: 102.60 m. 2025-01-08T23:35:01.629Z,1736379301.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:01.632Z,1736379301.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266986 2025-01-08T23:35:01.882Z,1736379301.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:01.885Z,1736379301.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520114 2025-01-08T23:35:02.023Z,1736379302.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:02.032Z,1736379302.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:02.035Z,1736379302.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 16.889019 m, bearing: 240.102131 deg, approach rate: 0.412128 m/s, LOS rate: -1.199559 deg/s, cmd heading: 7.155156 deg, new cmd heading: 5.523622 deg. 2025-01-08T23:35:02.036Z,1736379302.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096405 target range: 103.500000 and range: 102.60 m. 2025-01-08T23:35:02.132Z,1736379302.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:02.133Z,1736379302.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768799 2025-01-08T23:35:02.384Z,1736379302.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:02.385Z,1736379302.385 [DAT](INFO): DAT read: Rx Time:23:35:01.1294 2025-01-08T23:35:02.385Z,1736379302.385 [DAT](INFO): Rx dataTimestamp_ set to:1736379302.384793 2025-01-08T23:35:02.386Z,1736379302.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021680 2025-01-08T23:35:02.387Z,1736379302.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:02.398Z,1736379302.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:02.401Z,1736379302.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 17.028690 m, bearing: 239.642420 deg, approach rate: 0.381879 m/s, LOS rate: -1.246583 deg/s, cmd heading: 5.523622 deg, new cmd heading: 4.156075 deg. 2025-01-08T23:35:02.402Z,1736379302.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072537 target range: 103.500000 and range: 102.60 m. 2025-01-08T23:35:02.636Z,1736379302.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:02.636Z,1736379302.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272416 2025-01-08T23:35:02.791Z,1736379302.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:02.823Z,1736379302.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:02.825Z,1736379302.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:02.830Z,1736379302.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 17.184174 m, bearing: 239.121427 deg, approach rate: 0.364312 m/s, LOS rate: -1.209674 deg/s, cmd heading: 4.156075 deg, new cmd heading: 2.607637 deg. 2025-01-08T23:35:02.834Z,1736379302.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045512 target range: 103.500000 and range: 102.60 m. 2025-01-08T23:35:02.889Z,1736379302.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:02.893Z,1736379302.893 [DAT](INFO): DAT read: Range 10 to 50 : 102.3 m (Round-trip 136.4 ms) speed -0.2 m/s 2025-01-08T23:35:02.894Z,1736379302.894 [DAT](INFO): DAT read: user:3349> 2025-01-08T23:35:02.896Z,1736379302.896 [DAT](INFO): DAT read: Tx time:23:35:02.2389 2025-01-08T23:35:02.896Z,1736379302.896 [DAT](INFO): Ping request sent. 2025-01-08T23:35:02.896Z,1736379302.896 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:02.896Z,1736379302.896 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:35:02.896Z,1736379302.896 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:02.897Z,1736379302.897 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:03.140Z,1736379303.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:03.141Z,1736379303.141 [DAT](INFO): DAT read: TxSync time:23:35:02.2381 2025-01-08T23:35:03.230Z,1736379303.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:03.241Z,1736379303.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.300003 m, deltaT: 3.529349 s, deltaX: -0.299995 m, approachRate: -0.085000 m/s, rangeRepo size: 4 2025-01-08T23:35:03.242Z,1736379303.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:03.246Z,1736379303.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 17.341579 m, bearing: 238.540657 deg, approach rate: 0.378811 m/s, LOS rate: -1.384964 deg/s, cmd heading: 2.607637 deg, new cmd heading: 0.881694 deg. 2025-01-08T23:35:03.250Z,1736379303.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.015388 target range: 103.500000 and range: 102.30 m. 2025-01-08T23:35:03.393Z,1736379303.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:03.579Z,1736379303.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:03.587Z,1736379303.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:03.590Z,1736379303.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 17.464642 m, bearing: 238.078868 deg, approach rate: 0.355005 m/s, LOS rate: -1.322750 deg/s, cmd heading: 0.881694 deg, new cmd heading: 359.506368 deg. 2025-01-08T23:35:03.591Z,1736379303.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274570 target range: 103.500000 and range: 102.30 m. 2025-01-08T23:35:03.645Z,1736379303.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:03.896Z,1736379303.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:04.045Z,1736379304.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:04.066Z,1736379304.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:04.073Z,1736379304.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 17.627239 m, bearing: 237.460621 deg, approach rate: 0.339448 m/s, LOS rate: -1.278759 deg/s, cmd heading: 359.506379 deg, new cmd heading: 357.669409 deg. 2025-01-08T23:35:04.074Z,1736379304.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.242509 target range: 103.500000 and range: 102.30 m. 2025-01-08T23:35:04.148Z,1736379304.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:04.400Z,1736379304.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:04.401Z,1736379304.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:04.430Z,1736379304.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:04.437Z,1736379304.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 17.746332 m, bearing: 236.961341 deg, approach rate: 0.327244 m/s, LOS rate: -1.362699 deg/s, cmd heading: 357.669413 deg, new cmd heading: 356.181978 deg. 2025-01-08T23:35:04.438Z,1736379304.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216548 target range: 103.500000 and range: 102.30 m. 2025-01-08T23:35:04.653Z,1736379304.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:04.795Z,1736379304.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:04.803Z,1736379304.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:04.806Z,1736379304.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 17.875689 m, bearing: 236.408936 deg, approach rate: 0.346501 m/s, LOS rate: -1.468970 deg/s, cmd heading: 356.181989 deg, new cmd heading: 354.537244 deg. 2025-01-08T23:35:04.807Z,1736379304.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187842 target range: 103.500000 and range: 102.30 m. 2025-01-08T23:35:04.904Z,1736379304.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:05.156Z,1736379305.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:05.297Z,1736379305.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:05.329Z,1736379305.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:05.331Z,1736379305.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:05.353Z,1736379305.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 18.037464 m, bearing: 235.732297 deg, approach rate: 0.306555 m/s, LOS rate: -1.270662 deg/s, cmd heading: 354.537252 deg, new cmd heading: 352.526412 deg. 2025-01-08T23:35:05.354Z,1736379305.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152747 target range: 103.500000 and range: 102.30 m. 2025-01-08T23:35:05.408Z,1736379305.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:05.408Z,1736379305.408 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:05.409Z,1736379305.409 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:05.409Z,1736379305.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:05.660Z,1736379305.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:05.661Z,1736379305.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764860 2025-01-08T23:35:05.785Z,1736379305.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:05.794Z,1736379305.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:05.797Z,1736379305.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 18.187449 m, bearing: 235.063167 deg, approach rate: 0.323566 m/s, LOS rate: -1.431599 deg/s, cmd heading: 352.526417 deg, new cmd heading: 350.536428 deg. 2025-01-08T23:35:05.798Z,1736379305.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.118015 target range: 103.500000 and range: 102.30 m. 2025-01-08T23:35:05.912Z,1736379305.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:05.913Z,1736379305.913 [DAT](INFO): DAT read: Rx Time:23:35:04.7805 2025-01-08T23:35:05.913Z,1736379305.913 [DAT](INFO): Rx dataTimestamp_ set to:1736379305.913162 2025-01-08T23:35:05.914Z,1736379305.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018013 2025-01-08T23:35:06.165Z,1736379306.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:06.166Z,1736379306.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270016 2025-01-08T23:35:06.224Z,1736379306.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:06.257Z,1736379306.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:06.265Z,1736379306.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 18.318642 m, bearing: 234.478832 deg, approach rate: 0.283414 m/s, LOS rate: -1.253266 deg/s, cmd heading: 350.536428 deg, new cmd heading: 348.796541 deg. 2025-01-08T23:35:06.266Z,1736379306.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087648 target range: 103.500000 and range: 102.30 m. 2025-01-08T23:35:06.417Z,1736379306.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:06.418Z,1736379306.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521930 2025-01-08T23:35:06.596Z,1736379306.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:06.633Z,1736379306.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:35:06.640Z,1736379306.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 18.428600 m, bearing: 233.977581 deg, approach rate: 0.293064 m/s, LOS rate: -1.327958 deg/s, cmd heading: 348.796533 deg, new cmd heading: 347.302111 deg. 2025-01-08T23:35:06.641Z,1736379306.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.061565 target range: 103.500000 and range: 102.30 m. 2025-01-08T23:35:06.668Z,1736379306.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:06.678Z,1736379306.678 [DAT](INFO): DAT read: 23:35:04.7805 LVL= 12784, 13649, 14162, 20227, AGC= 56, IDX= 444, 0.30,-1.132,-1.675, 2.787,-2.013, PHS= 0.969, 0.385,-1.487, RAW= 43.2, 1.2, CAL= 42.5, -0.1, ROT= 107.5, 0.1 2025-01-08T23:35:06.682Z,1736379306.682 [DAT](INFO): got valid direction response: 23:35:04.7805 LVL= 12784, 13649, 14162, 20227, AGC= 56, IDX= 444, 0.30,-1.132,-1.675, 2.787,-2.013, PHS= 0.969, 0.385,-1.487, RAW= 43.2, 1.2, CAL= 42.5, -0.1, ROT= 107.5, 0.1 2025-01-08T23:35:06.692Z,1736379306.692 [DAT](INFO): DAT read: Bearing 107.5, 0.1 (Local) 2025-01-08T23:35:06.693Z,1736379306.693 [DAT](INFO): Local bearing/azimuth received: Bearing 107.5, 0.1 (Local) 2025-01-08T23:35:06.694Z,1736379306.694 [DAT](INFO): DAT read: Range 10 to 50 : 103.1 m (Round-trip 137.5 ms) speed -0.2 m/s 2025-01-08T23:35:06.703Z,1736379306.703 [DAT](INFO): DAT read: user:3350> 2025-01-08T23:35:06.704Z,1736379306.704 [DAT](INFO): DAT read: Tx time:23:35:05.8889 2025-01-08T23:35:06.705Z,1736379306.705 [DAT](INFO): Ping request sent. 2025-01-08T23:35:06.705Z,1736379306.705 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:06.705Z,1736379306.705 [DAT](INFO): DAT read: TxSync time:23:35:05.8881 2025-01-08T23:35:06.706Z,1736379306.706 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:35:06.707Z,1736379306.707 [DAT](INFO): direction in FSK: [-0.016984,0.779138,0.626623] 2025-01-08T23:35:06.707Z,1736379306.707 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:06.719Z,1736379306.719 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:06.722Z,1736379306.722 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:06.723Z,1736379306.723 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:06.920Z,1736379306.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:07.000Z,1736379307.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:07.080Z,1736379307.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.099998 m, deltaT: 3.779138 s, deltaX: 0.799995 m, approachRate: 0.211687 m/s, rangeRepo size: 4 2025-01-08T23:35:07.082Z,1736379307.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.099998 m, bearing: 90.591440 deg, lat: 36.905161 deg, lon: -122.120537 deg, deltaT: 11.088244 s, deltaX: -0.400002 m, approachRate: -0.036074 m/s, posRepo size: 4 2025-01-08T23:35:07.088Z,1736379307.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m. 2025-01-08T23:35:07.090Z,1736379307.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.099998 m, nav range: 11.746112 m, bearing: 199.848725 deg, approach rate: 0.000000 m/s, LOS rate: -1.327958 deg/s, cmd heading: 347.302115 deg, new cmd heading: 345.541021 deg. 2025-01-08T23:35:07.095Z,1736379307.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030828 target range: 103.099998 and range: 103.10 m. 2025-01-08T23:35:07.174Z,1736379307.174 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:07.429Z,1736379307.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:07.446Z,1736379307.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:07.453Z,1736379307.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:07.455Z,1736379307.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m. 2025-01-08T23:35:07.457Z,1736379307.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.099998 m, nav range: 11.956627 m, bearing: 199.472716 deg, approach rate: 0.554301 m/s, LOS rate: -0.972618 deg/s, cmd heading: 345.541019 deg, new cmd heading: 344.433000 deg. 2025-01-08T23:35:07.459Z,1736379307.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.011490 target range: 103.099998 and range: 103.10 m. 2025-01-08T23:35:07.680Z,1736379307.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:07.681Z,1736379307.681 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:07.681Z,1736379307.681 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:07.681Z,1736379307.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:07.816Z,1736379307.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:07.824Z,1736379307.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m. 2025-01-08T23:35:07.828Z,1736379307.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.099998 m, nav range: 12.128454 m, bearing: 199.128608 deg, approach rate: 0.465008 m/s, LOS rate: -0.918045 deg/s, cmd heading: 344.432998 deg, new cmd heading: 343.415411 deg. 2025-01-08T23:35:07.829Z,1736379307.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993730 target range: 103.099998 and range: 103.10 m. 2025-01-08T23:35:07.932Z,1736379307.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:07.933Z,1736379307.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227885 2025-01-08T23:35:08.184Z,1736379308.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:08.185Z,1736379308.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480026 2025-01-08T23:35:08.262Z,1736379308.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:08.292Z,1736379308.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m. 2025-01-08T23:35:08.298Z,1736379308.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.099998 m, nav range: 12.330936 m, bearing: 198.715374 deg, approach rate: 0.436931 m/s, LOS rate: -0.877056 deg/s, cmd heading: 343.415409 deg, new cmd heading: 342.196259 deg. 2025-01-08T23:35:08.299Z,1736379308.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972451 target range: 103.099998 and range: 103.10 m. 2025-01-08T23:35:08.436Z,1736379308.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:08.436Z,1736379308.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731807 2025-01-08T23:35:08.627Z,1736379308.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:08.636Z,1736379308.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m. 2025-01-08T23:35:08.639Z,1736379308.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.099998 m, nav range: 12.495056 m, bearing: 198.368063 deg, approach rate: 0.470556 m/s, LOS rate: -0.982708 deg/s, cmd heading: 342.196248 deg, new cmd heading: 341.168117 deg. 2025-01-08T23:35:08.640Z,1736379308.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.954507 target range: 103.099998 and range: 103.10 m. 2025-01-08T23:35:08.688Z,1736379308.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:08.688Z,1736379308.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983784 2025-01-08T23:35:08.940Z,1736379308.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:08.940Z,1736379308.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235683 2025-01-08T23:35:09.025Z,1736379309.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:09.045Z,1736379309.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m. 2025-01-08T23:35:09.058Z,1736379309.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.099998 m, nav range: 12.672493 m, bearing: 197.979517 deg, approach rate: 0.437116 m/s, LOS rate: -0.943775 deg/s, cmd heading: 341.168113 deg, new cmd heading: 340.018958 deg. 2025-01-08T23:35:09.082Z,1736379309.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934450 target range: 103.099998 and range: 103.10 m. 2025-01-08T23:35:09.192Z,1736379309.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:09.193Z,1736379309.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488547 2025-01-08T23:35:09.444Z,1736379309.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:09.445Z,1736379309.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739916 2025-01-08T23:35:09.477Z,1736379309.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:09.484Z,1736379309.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:09.486Z,1736379309.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m. 2025-01-08T23:35:09.489Z,1736379309.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.099998 m, nav range: 12.868324 m, bearing: 197.559497 deg, approach rate: 0.441335 m/s, LOS rate: -0.932164 deg/s, cmd heading: 340.018947 deg, new cmd heading: 338.778268 deg. 2025-01-08T23:35:09.490Z,1736379309.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912796 target range: 103.099998 and range: 103.10 m. 2025-01-08T23:35:09.696Z,1736379309.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:09.697Z,1736379309.697 [DAT](INFO): DAT read: Rx Time:23:35:08.4316 2025-01-08T23:35:09.697Z,1736379309.697 [DAT](INFO): Rx dataTimestamp_ set to:1736379309.696751 2025-01-08T23:35:09.698Z,1736379309.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992882 2025-01-08T23:35:09.835Z,1736379309.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:09.845Z,1736379309.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m. 2025-01-08T23:35:09.848Z,1736379309.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.099998 m, nav range: 13.022298 m, bearing: 197.219130 deg, approach rate: 0.428958 m/s, LOS rate: -0.937018 deg/s, cmd heading: 338.778257 deg, new cmd heading: 337.769339 deg. 2025-01-08T23:35:09.849Z,1736379309.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895187 target range: 103.099998 and range: 103.10 m. 2025-01-08T23:35:09.948Z,1736379309.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:09.949Z,1736379309.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243831 2025-01-08T23:35:10.200Z,1736379310.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:10.206Z,1736379310.206 [DAT](INFO): DAT read: 23:35:08.4316 LVL= 16688, 20801, 20978, 27235, AGC= 58, IDX= 438,-0.03, 2.184, 2.778, 0.398, 1.857, PHS= 0.416, 0.968,-1.462, RAW= 17.5, 0.7, CAL= 17.1, -0.4, ROT= 132.9, 0.4 2025-01-08T23:35:10.207Z,1736379310.207 [DAT](INFO): got valid direction response: 23:35:08.4316 LVL= 16688, 20801, 20978, 27235, AGC= 58, IDX= 438,-0.03, 2.184, 2.778, 0.398, 1.857, PHS= 0.416, 0.968,-1.462, RAW= 17.5, 0.7, CAL= 17.1, -0.4, ROT= 132.9, 0.4 2025-01-08T23:35:10.208Z,1736379310.208 [DAT](INFO): DAT read: Bearing 132.9, 0.4 (Local) 2025-01-08T23:35:10.208Z,1736379310.208 [DAT](INFO): Local bearing/azimuth received: Bearing 132.9, 0.4 (Local) 2025-01-08T23:35:10.211Z,1736379310.211 [DAT](INFO): DAT read: Range 10 to 50 : 103.8 m (Round-trip 138.4 ms) speed -0.2 m/s 2025-01-08T23:35:10.212Z,1736379310.212 [DAT](INFO): DAT read: user:3351> 2025-01-08T23:35:10.213Z,1736379310.213 [DAT](INFO): DAT read: Tx time:23:35:09.5390 2025-01-08T23:35:10.213Z,1736379310.213 [DAT](INFO): Ping request sent. 2025-01-08T23:35:10.213Z,1736379310.213 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:10.214Z,1736379310.214 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:35:10.214Z,1736379310.214 [DAT](INFO): direction in FSK: [0.043605,0.966985,0.251073] 2025-01-08T23:35:10.215Z,1736379310.215 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:10.215Z,1736379310.215 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:10.218Z,1736379310.218 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:10.219Z,1736379310.219 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:10.343Z,1736379310.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:10.380Z,1736379310.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.800003 m, deltaT: 3.530914 s, deltaX: 0.700005 m, approachRate: 0.198250 m/s, rangeRepo size: 4 2025-01-08T23:35:10.382Z,1736379310.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.800003 m, bearing: 75.400612 deg, lat: 36.905161 deg, lon: -122.120301 deg, deltaT: 3.530914 s, deltaX: 0.700005 m, approachRate: 0.198250 m/s, posRepo size: 4 2025-01-08T23:35:10.382Z,1736379310.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:10.396Z,1736379310.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 21.300779 m, bearing: 126.475931 deg, approach rate: 0.000000 m/s, LOS rate: -0.937018 deg/s, cmd heading: 337.769329 deg, new cmd heading: 336.280337 deg. 2025-01-08T23:35:10.397Z,1736379310.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869199 target range: 103.800003 and range: 103.80 m. 2025-01-08T23:35:10.452Z,1736379310.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:10.454Z,1736379310.454 [DAT](INFO): DAT read: TxSync time:23:35:09.5382 2025-01-08T23:35:10.687Z,1736379310.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:10.704Z,1736379310.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:10.705Z,1736379310.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:10.712Z,1736379310.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 21.428183 m, bearing: 126.791302 deg, approach rate: 0.385667 m/s, LOS rate: 0.948991 deg/s, cmd heading: 336.280348 deg, new cmd heading: 337.220746 deg. 2025-01-08T23:35:10.713Z,1736379310.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885612 target range: 103.800003 and range: 103.80 m. 2025-01-08T23:35:10.956Z,1736379310.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:11.060Z,1736379311.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:11.119Z,1736379311.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:11.137Z,1736379311.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 21.560665 m, bearing: 127.099224 deg, approach rate: 0.343525 m/s, LOS rate: 0.793526 deg/s, cmd heading: 337.220755 deg, new cmd heading: 338.138761 deg. 2025-01-08T23:35:11.138Z,1736379311.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901635 target range: 103.800003 and range: 103.80 m. 2025-01-08T23:35:11.209Z,1736379311.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:11.460Z,1736379311.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:11.500Z,1736379311.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:11.508Z,1736379311.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:11.510Z,1736379311.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:11.513Z,1736379311.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 21.719395 m, bearing: 127.442212 deg, approach rate: 0.378205 m/s, LOS rate: 0.811260 deg/s, cmd heading: 338.138760 deg, new cmd heading: 339.160090 deg. 2025-01-08T23:35:11.514Z,1736379311.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919460 target range: 103.800003 and range: 103.80 m. 2025-01-08T23:35:11.712Z,1736379311.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:11.712Z,1736379311.712 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:11.712Z,1736379311.712 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:11.712Z,1736379311.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:11.865Z,1736379311.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:11.894Z,1736379311.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:11.898Z,1736379311.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 21.853432 m, bearing: 127.714967 deg, approach rate: 0.349053 m/s, LOS rate: 0.705937 deg/s, cmd heading: 339.160092 deg, new cmd heading: 339.973281 deg. 2025-01-08T23:35:11.899Z,1736379311.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933653 target range: 103.800003 and range: 103.80 m. 2025-01-08T23:35:11.964Z,1736379311.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:11.966Z,1736379311.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752210 2025-01-08T23:35:12.216Z,1736379312.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:12.216Z,1736379312.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003181 2025-01-08T23:35:12.305Z,1736379312.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:12.330Z,1736379312.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:12.337Z,1736379312.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 22.024715 m, bearing: 128.024439 deg, approach rate: 0.393284 m/s, LOS rate: 0.705048 deg/s, cmd heading: 339.973294 deg, new cmd heading: 340.894406 deg. 2025-01-08T23:35:12.338Z,1736379312.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949730 target range: 103.800003 and range: 103.80 m. 2025-01-08T23:35:12.468Z,1736379312.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:12.468Z,1736379312.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255160 2025-01-08T23:35:12.686Z,1736379312.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:12.698Z,1736379312.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:12.701Z,1736379312.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 22.176794 m, bearing: 128.273600 deg, approach rate: 0.412977 m/s, LOS rate: 0.671966 deg/s, cmd heading: 340.894414 deg, new cmd heading: 341.636727 deg. 2025-01-08T23:35:12.702Z,1736379312.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962686 target range: 103.800003 and range: 103.80 m. 2025-01-08T23:35:12.740Z,1736379312.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:12.741Z,1736379312.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527731 2025-01-08T23:35:12.993Z,1736379312.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:12.993Z,1736379312.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780173 2025-01-08T23:35:13.082Z,1736379313.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:13.090Z,1736379313.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:13.097Z,1736379313.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 22.336744 m, bearing: 128.522377 deg, approach rate: 0.408201 m/s, LOS rate: 0.630342 deg/s, cmd heading: 341.636719 deg, new cmd heading: 342.377660 deg. 2025-01-08T23:35:13.101Z,1736379313.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975617 target range: 103.800003 and range: 103.80 m. 2025-01-08T23:35:13.244Z,1736379313.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:13.245Z,1736379313.245 [DAT](INFO): DAT read: Rx Time:23:35:12.0828 2025-01-08T23:35:13.245Z,1736379313.245 [DAT](INFO): Rx dataTimestamp_ set to:1736379313.244727 2025-01-08T23:35:13.246Z,1736379313.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032288 2025-01-08T23:35:13.496Z,1736379313.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:13.497Z,1736379313.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283288 2025-01-08T23:35:13.606Z,1736379313.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:13.614Z,1736379313.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:13.616Z,1736379313.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:13.619Z,1736379313.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 22.568918 m, bearing: 128.817814 deg, approach rate: 0.441430 m/s, LOS rate: 0.555931 deg/s, cmd heading: 342.377658 deg, new cmd heading: 343.254780 deg. 2025-01-08T23:35:13.620Z,1736379313.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.990926 target range: 103.800003 and range: 103.80 m. 2025-01-08T23:35:13.752Z,1736379313.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:13.754Z,1736379313.754 [DAT](INFO): DAT read: Range 10 to 50 : 104.7 m (Round-trip 139.6 ms) speed -0.2 m/s 2025-01-08T23:35:13.755Z,1736379313.755 [DAT](INFO): DAT read: user:3352> 2025-01-08T23:35:13.755Z,1736379313.755 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:35:13.756Z,1736379313.756 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:13.756Z,1736379313.756 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:13.756Z,1736379313.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:13.994Z,1736379313.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:14.003Z,1736379314.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.699997 m, deltaT: 3.552693 s, deltaX: 0.899994 m, approachRate: 0.253327 m/s, rangeRepo size: 4 2025-01-08T23:35:14.004Z,1736379314.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:14.005Z,1736379314.005 [DAT](INFO): DAT read: Tx time:23:35:13.1890 2025-01-08T23:35:14.005Z,1736379314.005 [DAT](INFO): Ping request sent. 2025-01-08T23:35:14.005Z,1736379314.005 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:14.006Z,1736379314.006 [DAT](INFO): DAT read: TxSync time:23:35:13.1882 2025-01-08T23:35:14.006Z,1736379314.006 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:14.007Z,1736379314.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001528 2025-01-08T23:35:14.008Z,1736379314.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:14.012Z,1736379314.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 22.741045 m, bearing: 129.032474 deg, approach rate: 0.445621 m/s, LOS rate: 0.551528 deg/s, cmd heading: 343.254790 deg, new cmd heading: 343.893868 deg. 2025-01-08T23:35:14.013Z,1736379314.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.002080 target range: 103.800003 and range: 104.70 m. 2025-01-08T23:35:14.257Z,1736379314.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:14.258Z,1736379314.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252627 2025-01-08T23:35:14.415Z,1736379314.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:14.423Z,1736379314.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:14.426Z,1736379314.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 22.950106 m, bearing: 129.242978 deg, approach rate: 0.496703 m/s, LOS rate: 0.495573 deg/s, cmd heading: 343.893878 deg, new cmd heading: 344.519609 deg. 2025-01-08T23:35:14.427Z,1736379314.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.013001 target range: 103.800003 and range: 104.70 m. 2025-01-08T23:35:14.508Z,1736379314.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:14.510Z,1736379314.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504545 2025-01-08T23:35:14.760Z,1736379314.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:14.761Z,1736379314.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755563 2025-01-08T23:35:14.785Z,1736379314.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:14.821Z,1736379314.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:14.829Z,1736379314.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 23.134861 m, bearing: 129.421505 deg, approach rate: 0.463802 m/s, LOS rate: 0.444588 deg/s, cmd heading: 344.519605 deg, new cmd heading: 345.050895 deg. 2025-01-08T23:35:14.830Z,1736379314.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022274 target range: 103.800003 and range: 104.70 m. 2025-01-08T23:35:15.012Z,1736379315.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:15.012Z,1736379315.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007293 2025-01-08T23:35:15.233Z,1736379315.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:15.264Z,1736379315.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:15.265Z,1736379315.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259571 2025-01-08T23:35:15.272Z,1736379315.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:15.274Z,1736379315.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 23.370855 m, bearing: 129.617586 deg, approach rate: 0.526181 m/s, LOS rate: 0.432773 deg/s, cmd heading: 345.050884 deg, new cmd heading: 345.633165 deg. 2025-01-08T23:35:15.276Z,1736379315.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032437 target range: 103.800003 and range: 104.70 m. 2025-01-08T23:35:15.516Z,1736379315.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:15.517Z,1736379315.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511946 2025-01-08T23:35:15.602Z,1736379315.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:15.612Z,1736379315.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:15.614Z,1736379315.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 23.565701 m, bearing: 129.777493 deg, approach rate: 0.570712 m/s, LOS rate: 0.464502 deg/s, cmd heading: 345.633172 deg, new cmd heading: 346.108913 deg. 2025-01-08T23:35:15.615Z,1736379315.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.040740 target range: 103.800003 and range: 104.70 m. 2025-01-08T23:35:15.768Z,1736379315.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:15.769Z,1736379315.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763685 2025-01-08T23:35:16.001Z,1736379316.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:16.007Z,1736379316.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:16.010Z,1736379316.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:16.013Z,1736379316.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 23.775961 m, bearing: 129.948055 deg, approach rate: 0.527296 m/s, LOS rate: 0.423957 deg/s, cmd heading: 346.108908 deg, new cmd heading: 346.616056 deg. 2025-01-08T23:35:16.014Z,1736379316.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049592 target range: 103.800003 and range: 104.70 m. 2025-01-08T23:35:16.020Z,1736379316.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:16.021Z,1736379316.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015493 2025-01-08T23:35:16.272Z,1736379316.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:16.272Z,1736379316.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267267 2025-01-08T23:35:16.436Z,1736379316.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:16.445Z,1736379316.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:16.464Z,1736379316.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 24.023300 m, bearing: 130.136114 deg, approach rate: 0.569050 m/s, LOS rate: 0.428210 deg/s, cmd heading: 346.616063 deg, new cmd heading: 347.174414 deg. 2025-01-08T23:35:16.466Z,1736379316.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059337 target range: 103.800003 and range: 104.70 m. 2025-01-08T23:35:16.525Z,1736379316.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:16.527Z,1736379316.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521198 2025-01-08T23:35:16.777Z,1736379316.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:16.777Z,1736379316.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772430 2025-01-08T23:35:16.821Z,1736379316.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:16.831Z,1736379316.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:16.838Z,1736379316.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 24.241488 m, bearing: 130.302681 deg, approach rate: 0.565063 m/s, LOS rate: 0.427494 deg/s, cmd heading: 347.174417 deg, new cmd heading: 347.669608 deg. 2025-01-08T23:35:16.839Z,1736379316.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067979 target range: 103.800003 and range: 104.70 m. 2025-01-08T23:35:17.028Z,1736379317.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:17.028Z,1736379317.028 [DAT](INFO): DAT read: Rx Time:23:35:15.7353 2025-01-08T23:35:17.029Z,1736379317.029 [DAT](INFO): Rx dataTimestamp_ set to:1736379317.028677 2025-01-08T23:35:17.029Z,1736379317.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024460 2025-01-08T23:35:17.272Z,1736379317.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:17.280Z,1736379317.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:17.280Z,1736379317.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275450 2025-01-08T23:35:17.316Z,1736379317.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:17.327Z,1736379317.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 24.501493 m, bearing: 130.488438 deg, approach rate: 0.545753 m/s, LOS rate: 0.385764 deg/s, cmd heading: 347.669606 deg, new cmd heading: 348.220943 deg. 2025-01-08T23:35:17.329Z,1736379317.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.077602 target range: 103.800003 and range: 104.70 m. 2025-01-08T23:35:17.532Z,1736379317.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:17.533Z,1736379317.533 [DAT](INFO): DAT read: Range 10 to 50 : 106.5 m (Round-trip 142.1 ms) speed -0.4 m/s 2025-01-08T23:35:17.534Z,1736379317.534 [DAT](INFO): DAT read: user:3353> 2025-01-08T23:35:17.536Z,1736379317.536 [DAT](INFO): DAT read: Tx time:23:35:16.8390 2025-01-08T23:35:17.537Z,1736379317.537 [DAT](INFO): Ping request sent. 2025-01-08T23:35:17.537Z,1736379317.537 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:17.538Z,1736379317.538 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:35:17.538Z,1736379317.538 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:17.541Z,1736379317.541 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:17.684Z,1736379317.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:17.702Z,1736379317.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 106.500000 m, deltaT: 3.779495 s, deltaX: 1.800003 m, approachRate: 0.476255 m/s, rangeRepo size: 4 2025-01-08T23:35:17.703Z,1736379317.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:17.711Z,1736379317.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 24.737879 m, bearing: 130.665842 deg, approach rate: 0.599544 m/s, LOS rate: 0.445651 deg/s, cmd heading: 348.220939 deg, new cmd heading: 348.748051 deg. 2025-01-08T23:35:17.716Z,1736379317.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.086802 target range: 103.800003 and range: 106.50 m. 2025-01-08T23:35:17.784Z,1736379317.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:17.786Z,1736379317.786 [DAT](INFO): DAT read: TxSync time:23:35:16.8382 2025-01-08T23:35:18.036Z,1736379318.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:18.043Z,1736379318.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:18.050Z,1736379318.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:18.052Z,1736379318.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:18.055Z,1736379318.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 24.942602 m, bearing: 130.822167 deg, approach rate: 0.584231 m/s, LOS rate: 0.442451 deg/s, cmd heading: 348.748038 deg, new cmd heading: 349.213153 deg. 2025-01-08T23:35:18.056Z,1736379318.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.094919 target range: 103.800003 and range: 106.50 m. 2025-01-08T23:35:18.288Z,1736379318.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:18.288Z,1736379318.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:18.288Z,1736379318.288 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:18.289Z,1736379318.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:18.478Z,1736379318.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:18.486Z,1736379318.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:18.489Z,1736379318.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 25.188505 m, bearing: 131.018919 deg, approach rate: 0.566320 m/s, LOS rate: 0.448700 deg/s, cmd heading: 349.213147 deg, new cmd heading: 349.797619 deg. 2025-01-08T23:35:18.490Z,1736379318.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.105120 target range: 103.800003 and range: 106.50 m. 2025-01-08T23:35:18.540Z,1736379318.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:18.541Z,1736379318.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004015 2025-01-08T23:35:18.792Z,1736379318.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:18.793Z,1736379318.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256153 2025-01-08T23:35:18.864Z,1736379318.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:18.873Z,1736379318.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:18.877Z,1736379318.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 25.405495 m, bearing: 131.197682 deg, approach rate: 0.561059 m/s, LOS rate: 0.458271 deg/s, cmd heading: 349.797620 deg, new cmd heading: 350.329313 deg. 2025-01-08T23:35:18.878Z,1736379318.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.114400 target range: 103.800003 and range: 106.50 m. 2025-01-08T23:35:19.044Z,1736379319.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:19.045Z,1736379319.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507535 2025-01-08T23:35:19.296Z,1736379319.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:19.297Z,1736379319.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759662 2025-01-08T23:35:19.314Z,1736379319.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:19.348Z,1736379319.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:19.350Z,1736379319.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 25.652657 m, bearing: 131.421501 deg, approach rate: 0.525843 m/s, LOS rate: 0.471591 deg/s, cmd heading: 350.329309 deg, new cmd heading: 350.994265 deg. 2025-01-08T23:35:19.355Z,1736379319.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.126006 target range: 103.800003 and range: 106.50 m. 2025-01-08T23:35:19.548Z,1736379319.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:19.548Z,1736379319.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011444 2025-01-08T23:35:19.713Z,1736379319.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:19.725Z,1736379319.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:19.728Z,1736379319.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 25.872601 m, bearing: 131.616790 deg, approach rate: 0.576230 m/s, LOS rate: 0.507285 deg/s, cmd heading: 350.994269 deg, new cmd heading: 351.575134 deg. 2025-01-08T23:35:19.729Z,1736379319.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.136144 target range: 103.800003 and range: 106.50 m. 2025-01-08T23:35:19.800Z,1736379319.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:19.801Z,1736379319.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263681 2025-01-08T23:35:20.052Z,1736379320.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:20.052Z,1736379320.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515288 2025-01-08T23:35:20.064Z,1736379320.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:20.087Z,1736379320.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:20.089Z,1736379320.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:20.093Z,1736379320.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 26.061106 m, bearing: 131.810149 deg, approach rate: 0.516756 m/s, LOS rate: 0.526228 deg/s, cmd heading: 351.575136 deg, new cmd heading: 352.150998 deg. 2025-01-08T23:35:20.094Z,1736379320.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146194 target range: 103.800003 and range: 106.50 m. 2025-01-08T23:35:20.306Z,1736379320.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:20.308Z,1736379320.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770543 2025-01-08T23:35:20.489Z,1736379320.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:20.517Z,1736379320.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:20.524Z,1736379320.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 26.268164 m, bearing: 132.042688 deg, approach rate: 0.483980 m/s, LOS rate: 0.539253 deg/s, cmd heading: 352.151003 deg, new cmd heading: 352.843083 deg. 2025-01-08T23:35:20.525Z,1736379320.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158274 target range: 103.800003 and range: 106.50 m. 2025-01-08T23:35:20.557Z,1736379320.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:20.558Z,1736379320.558 [DAT](INFO): DAT read: Rx Time:23:35:19.3877 2025-01-08T23:35:20.558Z,1736379320.558 [DAT](INFO): Rx dataTimestamp_ set to:1736379320.557881 2025-01-08T23:35:20.559Z,1736379320.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021719 2025-01-08T23:35:20.809Z,1736379320.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:20.811Z,1736379320.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273261 2025-01-08T23:35:20.880Z,1736379320.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:20.889Z,1736379320.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:20.892Z,1736379320.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 26.458374 m, bearing: 132.258950 deg, approach rate: 0.512270 m/s, LOS rate: 0.578243 deg/s, cmd heading: 352.843092 deg, new cmd heading: 353.487186 deg. 2025-01-08T23:35:20.893Z,1736379320.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169515 target range: 103.800003 and range: 106.50 m. 2025-01-08T23:35:21.060Z,1736379321.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:21.062Z,1736379321.062 [DAT](INFO): DAT read: Range 10 to 50 : 108.3 m (Round-trip 144.5 ms) speed -0.2 m/s 2025-01-08T23:35:21.062Z,1736379321.062 [DAT](INFO): DAT read: user:3354> 2025-01-08T23:35:21.063Z,1736379321.063 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:35:21.064Z,1736379321.064 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:21.064Z,1736379321.064 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:21.064Z,1736379321.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:21.312Z,1736379321.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:21.312Z,1736379321.312 [DAT](INFO): DAT read: Tx time:23:35:20.4891 2025-01-08T23:35:21.313Z,1736379321.313 [DAT](INFO): Ping request sent. 2025-01-08T23:35:21.313Z,1736379321.313 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:21.313Z,1736379321.313 [DAT](INFO): DAT read: TxSync time:23:35:20.4883 2025-01-08T23:35:21.314Z,1736379321.314 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:21.314Z,1736379321.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001552 2025-01-08T23:35:21.371Z,1736379321.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:21.396Z,1736379321.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.300003 m, deltaT: 3.528419 s, deltaX: 1.800003 m, approachRate: 0.510144 m/s, rangeRepo size: 4 2025-01-08T23:35:21.397Z,1736379321.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:21.404Z,1736379321.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 26.679449 m, bearing: 132.558193 deg, approach rate: 0.435908 m/s, LOS rate: 0.585145 deg/s, cmd heading: 353.487179 deg, new cmd heading: 354.377394 deg. 2025-01-08T23:35:21.409Z,1736379321.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185052 target range: 103.800003 and range: 108.30 m. 2025-01-08T23:35:21.565Z,1736379321.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:21.566Z,1736379321.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253053 2025-01-08T23:35:21.810Z,1736379321.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:21.816Z,1736379321.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:21.817Z,1736379321.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503831 2025-01-08T23:35:21.821Z,1736379321.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:21.824Z,1736379321.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 26.875061 m, bearing: 132.830646 deg, approach rate: 0.459774 m/s, LOS rate: 0.635722 deg/s, cmd heading: 354.377398 deg, new cmd heading: 355.188751 deg. 2025-01-08T23:35:21.826Z,1736379321.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.199213 target range: 103.800003 and range: 108.30 m. 2025-01-08T23:35:22.068Z,1736379322.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:22.069Z,1736379322.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756230 2025-01-08T23:35:22.239Z,1736379322.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:22.267Z,1736379322.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:22.296Z,1736379322.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:22.314Z,1736379322.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 27.066656 m, bearing: 133.092891 deg, approach rate: 0.408665 m/s, LOS rate: 0.555396 deg/s, cmd heading: 355.188743 deg, new cmd heading: 355.969856 deg. 2025-01-08T23:35:22.315Z,1736379322.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212846 target range: 103.800003 and range: 108.30 m. 2025-01-08T23:35:22.320Z,1736379322.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:22.321Z,1736379322.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007729 2025-01-08T23:35:22.572Z,1736379322.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:22.572Z,1736379322.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259513 2025-01-08T23:35:22.687Z,1736379322.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:22.697Z,1736379322.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:22.700Z,1736379322.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 27.250282 m, bearing: 133.381574 deg, approach rate: 0.450997 m/s, LOS rate: 0.704242 deg/s, cmd heading: 355.969843 deg, new cmd heading: 356.829988 deg. 2025-01-08T23:35:22.701Z,1736379322.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.227858 target range: 103.800003 and range: 108.30 m. 2025-01-08T23:35:22.824Z,1736379322.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:22.824Z,1736379322.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511593 2025-01-08T23:35:23.045Z,1736379323.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:23.077Z,1736379323.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:23.078Z,1736379323.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765062 2025-01-08T23:35:23.083Z,1736379323.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:23.089Z,1736379323.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 27.397797 m, bearing: 133.609914 deg, approach rate: 0.383184 m/s, LOS rate: 0.589943 deg/s, cmd heading: 356.829983 deg, new cmd heading: 357.511282 deg. 2025-01-08T23:35:23.092Z,1736379323.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.239749 target range: 103.800003 and range: 108.30 m. 2025-01-08T23:35:23.328Z,1736379323.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:23.330Z,1736379323.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016643 2025-01-08T23:35:23.452Z,1736379323.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:23.462Z,1736379323.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:23.465Z,1736379323.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 27.559053 m, bearing: 133.883521 deg, approach rate: 0.424625 m/s, LOS rate: 0.716249 deg/s, cmd heading: 357.511280 deg, new cmd heading: 358.327240 deg. 2025-01-08T23:35:23.466Z,1736379323.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253990 target range: 103.800003 and range: 108.30 m. 2025-01-08T23:35:23.581Z,1736379323.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:23.582Z,1736379323.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269145 2025-01-08T23:35:23.832Z,1736379323.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:23.832Z,1736379323.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519306 2025-01-08T23:35:23.855Z,1736379323.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:23.865Z,1736379323.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:23.867Z,1736379323.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 27.717979 m, bearing: 134.155169 deg, approach rate: 0.394686 m/s, LOS rate: 0.670757 deg/s, cmd heading: 358.327242 deg, new cmd heading: 359.137457 deg. 2025-01-08T23:35:23.868Z,1736379323.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268131 target range: 103.800003 and range: 108.30 m. 2025-01-08T23:35:24.084Z,1736379324.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:24.085Z,1736379324.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772327 2025-01-08T23:35:24.338Z,1736379324.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:24.341Z,1736379324.341 [DAT](INFO): DAT read: Rx Time:23:35:23.0394 2025-01-08T23:35:24.343Z,1736379324.343 [DAT](INFO): Rx dataTimestamp_ set to:1736379324.341503 2025-01-08T23:35:24.344Z,1736379324.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031301 2025-01-08T23:35:24.420Z,1736379324.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:24.428Z,1736379324.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:24.430Z,1736379324.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:24.433Z,1736379324.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 27.938894 m, bearing: 134.538102 deg, approach rate: 0.390731 m/s, LOS rate: 0.671931 deg/s, cmd heading: 359.137466 deg, new cmd heading: 0.277022 deg. 2025-01-08T23:35:24.434Z,1736379324.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004835 target range: 103.800003 and range: 108.30 m. 2025-01-08T23:35:24.588Z,1736379324.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:24.588Z,1736379324.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275490 2025-01-08T23:35:24.840Z,1736379324.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:24.841Z,1736379324.841 [DAT](INFO): DAT read: Range 10 to 50 : 109.5 m (Round-trip 146.1 ms) speed -0.4 m/s 2025-01-08T23:35:24.843Z,1736379324.843 [DAT](INFO): DAT read: user:3355> 2025-01-08T23:35:24.844Z,1736379324.844 [DAT](INFO): DAT read: Tx time:23:35:24.1391 2025-01-08T23:35:24.844Z,1736379324.844 [DAT](INFO): Ping request sent. 2025-01-08T23:35:24.844Z,1736379324.844 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:24.844Z,1736379324.844 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:35:24.844Z,1736379324.844 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:24.845Z,1736379324.845 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:24.853Z,1736379324.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:24.863Z,1736379324.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 3.779613 s, deltaX: 1.199997 m, approachRate: 0.317492 m/s, rangeRepo size: 4 2025-01-08T23:35:24.864Z,1736379324.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:24.866Z,1736379324.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 28.109007 m, bearing: 134.827445 deg, approach rate: 0.393736 m/s, LOS rate: 0.665647 deg/s, cmd heading: 0.277022 deg, new cmd heading: 1.139729 deg. 2025-01-08T23:35:24.867Z,1736379324.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019892 target range: 103.800003 and range: 109.50 m. 2025-01-08T23:35:25.092Z,1736379325.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:25.094Z,1736379325.093 [DAT](INFO): DAT read: TxSync time:23:35:24.1383 2025-01-08T23:35:25.233Z,1736379325.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:25.242Z,1736379325.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:25.246Z,1736379325.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 28.253288 m, bearing: 135.091124 deg, approach rate: 0.379899 m/s, LOS rate: 0.690730 deg/s, cmd heading: 1.139729 deg, new cmd heading: 1.926674 deg. 2025-01-08T23:35:25.247Z,1736379325.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.033627 target range: 103.800003 and range: 109.50 m. 2025-01-08T23:35:25.345Z,1736379325.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:25.596Z,1736379325.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:25.696Z,1736379325.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:25.704Z,1736379325.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:25.706Z,1736379325.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 28.437399 m, bearing: 135.404432 deg, approach rate: 0.398405 m/s, LOS rate: 0.673587 deg/s, cmd heading: 1.926674 deg, new cmd heading: 2.860424 deg. 2025-01-08T23:35:25.707Z,1736379325.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049924 target range: 103.800003 and range: 109.50 m. 2025-01-08T23:35:25.761Z,1736379325.761 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:35:25.848Z,1736379325.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:26.045Z,1736379326.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:26.054Z,1736379326.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:26.057Z,1736379326.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 28.575449 m, bearing: 135.642151 deg, approach rate: 0.394043 m/s, LOS rate: 0.675252 deg/s, cmd heading: 2.860424 deg, new cmd heading: 3.570097 deg. 2025-01-08T23:35:26.058Z,1736379326.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062310 target range: 103.800003 and range: 109.50 m. 2025-01-08T23:35:26.100Z,1736379326.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:26.355Z,1736379326.355 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:26.494Z,1736379326.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:26.501Z,1736379326.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:26.503Z,1736379326.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:26.506Z,1736379326.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 28.763819 m, bearing: 135.943721 deg, approach rate: 0.420081 m/s, LOS rate: 0.668120 deg/s, cmd heading: 3.570097 deg, new cmd heading: 4.468805 deg. 2025-01-08T23:35:26.507Z,1736379326.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077995 target range: 103.800003 and range: 109.50 m. 2025-01-08T23:35:26.604Z,1736379326.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:26.604Z,1736379326.604 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:26.604Z,1736379326.604 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:26.605Z,1736379326.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:26.764Z,1736379326.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:35:26.856Z,1736379326.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:26.856Z,1736379326.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012157 2025-01-08T23:35:26.864Z,1736379326.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:26.872Z,1736379326.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:26.874Z,1736379326.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 28.916843 m, bearing: 136.196225 deg, approach rate: 0.414531 m/s, LOS rate: 0.680390 deg/s, cmd heading: 4.468805 deg, new cmd heading: 5.222262 deg. 2025-01-08T23:35:26.877Z,1736379326.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091146 target range: 103.800003 and range: 109.50 m. 2025-01-08T23:35:27.108Z,1736379327.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:27.109Z,1736379327.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264453 2025-01-08T23:35:27.266Z,1736379327.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:27.277Z,1736379327.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:27.280Z,1736379327.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 29.082787 m, bearing: 136.472207 deg, approach rate: 0.409185 m/s, LOS rate: 0.676634 deg/s, cmd heading: 5.222262 deg, new cmd heading: 6.045424 deg. 2025-01-08T23:35:27.281Z,1736379327.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105513 target range: 103.800003 and range: 109.50 m. 2025-01-08T23:35:27.362Z,1736379327.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:27.365Z,1736379327.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520511 2025-01-08T23:35:27.613Z,1736379327.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:27.615Z,1736379327.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770197 2025-01-08T23:35:27.720Z,1736379327.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:27.729Z,1736379327.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:27.733Z,1736379327.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 29.288023 m, bearing: 136.760002 deg, approach rate: 0.454365 m/s, LOS rate: 0.632673 deg/s, cmd heading: 6.045424 deg, new cmd heading: 6.902694 deg. 2025-01-08T23:35:27.734Z,1736379327.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120475 target range: 103.800003 and range: 109.50 m. 2025-01-08T23:35:27.864Z,1736379327.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:27.865Z,1736379327.865 [DAT](INFO): DAT read: Rx Time:23:35:26.6916 2025-01-08T23:35:27.865Z,1736379327.865 [DAT](INFO): Rx dataTimestamp_ set to:1736379327.864685 2025-01-08T23:35:27.865Z,1736379327.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021481 2025-01-08T23:35:28.064Z,1736379328.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:28.082Z,1736379328.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:28.089Z,1736379328.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 29.443260 m, bearing: 136.979429 deg, approach rate: 0.440127 m/s, LOS rate: 0.618835 deg/s, cmd heading: 6.902694 deg, new cmd heading: 7.557473 deg. 2025-01-08T23:35:28.090Z,1736379328.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.131903 target range: 103.800003 and range: 109.50 m. 2025-01-08T23:35:28.116Z,1736379328.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:28.117Z,1736379328.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272506 2025-01-08T23:35:28.370Z,1736379328.370 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:28.373Z,1736379328.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528700 2025-01-08T23:35:28.493Z,1736379328.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:28.502Z,1736379328.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m. 2025-01-08T23:35:28.505Z,1736379328.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.800003 m, nav range: 29.648199 m, bearing: 137.239558 deg, approach rate: 0.487474 m/s, LOS rate: 0.614470 deg/s, cmd heading: 7.557473 deg, new cmd heading: 8.332414 deg. 2025-01-08T23:35:28.506Z,1736379328.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.145428 target range: 103.800003 and range: 109.50 m. 2025-01-08T23:35:28.622Z,1736379328.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:28.632Z,1736379328.632 [DAT](INFO): DAT read: 23:35:26.6916 LVL= 17056, 20913, 21330, 28819, AGC= 57, IDX= 459,-0.20,-0.438, 0.260,-2.141,-0.788, PHS= 0.438, 1.095,-1.356, RAW= 15.0, -1.6, CAL= 14.7, -3.6, ROT= 135.3, 3.6 2025-01-08T23:35:28.633Z,1736379328.633 [DAT](INFO): got valid direction response: 23:35:26.6916 LVL= 17056, 20913, 21330, 28819, AGC= 57, IDX= 459,-0.20,-0.438, 0.260,-2.141,-0.788, PHS= 0.438, 1.095,-1.356, RAW= 15.0, -1.6, CAL= 14.7, -3.6, ROT= 135.3, 3.6 2025-01-08T23:35:28.641Z,1736379328.641 [DAT](INFO): DAT read: Bearing 135.3, 3.6 (Local) 2025-01-08T23:35:28.642Z,1736379328.642 [DAT](INFO): Local bearing/azimuth received: Bearing 135.3, 3.6 (Local) 2025-01-08T23:35:28.644Z,1736379328.644 [DAT](INFO): DAT read: Range 10 to 50 : 111.2 m (Round-trip 148.3 ms) speed -0.4 m/s 2025-01-08T23:35:28.645Z,1736379328.645 [DAT](INFO): DAT read: user:3356> 2025-01-08T23:35:28.646Z,1736379328.646 [DAT](INFO): DAT read: Tx time:23:35:27.7891 2025-01-08T23:35:28.646Z,1736379328.646 [DAT](INFO): Ping request sent. 2025-01-08T23:35:28.647Z,1736379328.647 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:28.648Z,1736379328.648 [DAT](INFO): DAT read: TxSync time:23:35:27.7883 2025-01-08T23:35:28.649Z,1736379328.649 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:35:28.650Z,1736379328.650 [DAT](INFO): direction in FSK: [0.092310,0.972707,0.212884] 2025-01-08T23:35:28.650Z,1736379328.650 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:28.651Z,1736379328.651 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:28.671Z,1736379328.671 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:28.675Z,1736379328.675 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:28.872Z,1736379328.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:28.876Z,1736379328.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:28.906Z,1736379328.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.199997 m, deltaT: 3.781809 s, deltaX: 1.699997 m, approachRate: 0.449520 m/s, rangeRepo size: 4 2025-01-08T23:35:28.913Z,1736379328.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.199997 m, bearing: 86.956574 deg, lat: 36.905253 deg, lon: -122.119598 deg, deltaT: 18.422029 s, deltaX: 7.399994 m, approachRate: 0.401693 m/s, posRepo size: 4 2025-01-08T23:35:28.914Z,1736379328.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:35:28.920Z,1736379328.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 83.529388 m, bearing: 98.088302 deg, approach rate: 0.000000 m/s, LOS rate: 0.614470 deg/s, cmd heading: 8.332414 deg, new cmd heading: 9.076377 deg. 2025-01-08T23:35:28.921Z,1736379328.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158413 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:35:29.124Z,1736379329.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:29.278Z,1736379329.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:29.285Z,1736379329.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:29.287Z,1736379329.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:35:29.289Z,1736379329.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 83.595856 m, bearing: 98.240646 deg, approach rate: 0.174534 m/s, LOS rate: 0.399716 deg/s, cmd heading: 9.076377 deg, new cmd heading: 9.533037 deg. 2025-01-08T23:35:29.290Z,1736379329.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.166383 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:35:29.379Z,1736379329.379 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:29.382Z,1736379329.382 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:29.382Z,1736379329.382 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:29.383Z,1736379329.383 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:29.629Z,1736379329.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:29.631Z,1736379329.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984143 2025-01-08T23:35:29.758Z,1736379329.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:29.770Z,1736379329.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:35:29.774Z,1736379329.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 83.687378 m, bearing: 98.421687 deg, approach rate: 0.189194 m/s, LOS rate: 0.373836 deg/s, cmd heading: 9.533037 deg, new cmd heading: 10.075548 deg. 2025-01-08T23:35:29.775Z,1736379329.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.175851 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:35:29.880Z,1736379329.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:29.880Z,1736379329.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234013 2025-01-08T23:35:30.080Z,1736379330.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:30.088Z,1736379330.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:35:30.091Z,1736379330.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 83.747063 m, bearing: 98.542896 deg, approach rate: 0.187815 m/s, LOS rate: 0.381146 deg/s, cmd heading: 10.075548 deg, new cmd heading: 10.438911 deg. 2025-01-08T23:35:30.093Z,1736379330.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.182193 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:35:30.132Z,1736379330.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:30.132Z,1736379330.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486011 2025-01-08T23:35:30.386Z,1736379330.386 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:30.388Z,1736379330.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741065 2025-01-08T23:35:30.504Z,1736379330.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:30.513Z,1736379330.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:35:30.516Z,1736379330.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 83.826172 m, bearing: 98.698877 deg, approach rate: 0.186129 m/s, LOS rate: 0.366646 deg/s, cmd heading: 10.438911 deg, new cmd heading: 10.906400 deg. 2025-01-08T23:35:30.517Z,1736379330.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.190353 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:35:30.636Z,1736379330.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:30.637Z,1736379330.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990564 2025-01-08T23:35:30.887Z,1736379330.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:30.888Z,1736379330.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:30.888Z,1736379330.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241987 2025-01-08T23:35:30.898Z,1736379330.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:35:30.901Z,1736379330.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 83.895622 m, bearing: 98.839693 deg, approach rate: 0.180611 m/s, LOS rate: 0.365899 deg/s, cmd heading: 10.906400 deg, new cmd heading: 11.328491 deg. 2025-01-08T23:35:30.902Z,1736379330.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.197719 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:35:31.140Z,1736379331.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:31.141Z,1736379331.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494786 2025-01-08T23:35:31.330Z,1736379331.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:31.337Z,1736379331.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:31.339Z,1736379331.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:35:31.342Z,1736379331.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 83.974098 m, bearing: 99.003127 deg, approach rate: 0.177878 m/s, LOS rate: 0.370103 deg/s, cmd heading: 11.328491 deg, new cmd heading: 11.818323 deg. 2025-01-08T23:35:31.346Z,1736379331.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.206269 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:35:31.394Z,1736379331.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:31.397Z,1736379331.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749646 2025-01-08T23:35:31.644Z,1736379331.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:31.645Z,1736379331.645 [DAT](INFO): DAT read: Rx Time:23:35:30.3437 2025-01-08T23:35:31.646Z,1736379331.646 [DAT](INFO): Rx dataTimestamp_ set to:1736379331.645795 2025-01-08T23:35:31.650Z,1736379331.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000501 2025-01-08T23:35:31.759Z,1736379331.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:31.772Z,1736379331.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:35:31.800Z,1736379331.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 84.052139 m, bearing: 99.165831 deg, approach rate: 0.182123 m/s, LOS rate: 0.379346 deg/s, cmd heading: 11.818322 deg, new cmd heading: 12.305968 deg. 2025-01-08T23:35:31.801Z,1736379331.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.214780 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:35:31.896Z,1736379331.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:31.896Z,1736379331.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249962 2025-01-08T23:35:32.148Z,1736379332.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:32.156Z,1736379332.156 [DAT](INFO): DAT read: 23:35:30.3437 LVL= 14304, 15137, 16290, 21235, AGC= 56, IDX= 448,-0.32,-1.237,-1.026, 3.071,-1.912, PHS= 0.762, 0.933,-1.303, RAW= 26.1, -3.7, CAL= 26.0, -6.7, ROT= 124.0, 6.7 2025-01-08T23:35:32.157Z,1736379332.157 [DAT](INFO): got valid direction response: 23:35:30.3437 LVL= 14304, 15137, 16290, 21235, AGC= 56, IDX= 448,-0.32,-1.237,-1.026, 3.071,-1.912, PHS= 0.762, 0.933,-1.303, RAW= 26.1, -3.7, CAL= 26.0, -6.7, ROT= 124.0, 6.7 2025-01-08T23:35:32.158Z,1736379332.158 [DAT](INFO): DAT read: Bearing 124.0, 6.7 (Local) 2025-01-08T23:35:32.162Z,1736379332.162 [DAT](INFO): Local bearing/azimuth received: Bearing 124.0, 6.7 (Local) 2025-01-08T23:35:32.166Z,1736379332.166 [DAT](INFO): DAT read: Range 10 to 50 : 112.7 m (Round-trip 150.3 ms) speed -0.2 m/s 2025-01-08T23:35:32.180Z,1736379332.180 [DAT](INFO): DAT read: user:3357> 2025-01-08T23:35:32.181Z,1736379332.181 [DAT](INFO): DAT read: Tx time:23:35:31.4392 2025-01-08T23:35:32.182Z,1736379332.182 [DAT](INFO): Ping request sent. 2025-01-08T23:35:32.182Z,1736379332.182 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:32.182Z,1736379332.182 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:35:32.200Z,1736379332.200 [DAT](INFO): direction in FSK: [0.108786,0.914107,0.390607] 2025-01-08T23:35:32.200Z,1736379332.200 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:32.200Z,1736379332.200 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:32.220Z,1736379332.220 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:32.220Z,1736379332.220 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:32.266Z,1736379332.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:32.333Z,1736379332.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.699997 m, deltaT: 3.526648 s, deltaX: 1.500000 m, approachRate: 0.425333 m/s, rangeRepo size: 4 2025-01-08T23:35:32.340Z,1736379332.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 112.699997 m, bearing: 92.045370 deg, lat: 36.905347 deg, lon: -122.119521 deg, deltaT: 3.526648 s, deltaX: 1.500000 m, approachRate: 0.425333 m/s, posRepo size: 4 2025-01-08T23:35:32.340Z,1736379332.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.70 m. 2025-01-08T23:35:32.348Z,1736379332.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.699997 m, nav range: 89.907410 m, bearing: 92.045066 deg, approach rate: 0.000000 m/s, LOS rate: 0.379346 deg/s, cmd heading: 12.305968 deg, new cmd heading: 12.949276 deg. 2025-01-08T23:35:32.349Z,1736379332.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226007 target range: 112.699997 and range: 112.70 m. 2025-01-08T23:35:32.402Z,1736379332.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:32.407Z,1736379332.407 [DAT](INFO): DAT read: TxSync time:23:35:31.4384 2025-01-08T23:35:32.652Z,1736379332.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:32.722Z,1736379332.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:32.748Z,1736379332.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.70 m. 2025-01-08T23:35:32.750Z,1736379332.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.699997 m, nav range: 89.936272 m, bearing: 92.210725 deg, approach rate: 0.069588 m/s, LOS rate: 0.399283 deg/s, cmd heading: 12.949275 deg, new cmd heading: 13.446080 deg. 2025-01-08T23:35:32.761Z,1736379332.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.234678 target range: 112.699997 and range: 112.70 m. 2025-01-08T23:35:32.904Z,1736379332.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:33.052Z,1736379333.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:33.067Z,1736379333.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.70 m. 2025-01-08T23:35:33.070Z,1736379333.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.699997 m, nav range: 89.957642 m, bearing: 92.330595 deg, approach rate: 0.067309 m/s, LOS rate: 0.377466 deg/s, cmd heading: 13.446080 deg, new cmd heading: 13.805600 deg. 2025-01-08T23:35:33.071Z,1736379333.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.240953 target range: 112.699997 and range: 112.70 m. 2025-01-08T23:35:33.157Z,1736379333.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:33.410Z,1736379333.410 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:33.541Z,1736379333.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:33.549Z,1736379333.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:33.551Z,1736379333.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.70 m. 2025-01-08T23:35:33.554Z,1736379333.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.699997 m, nav range: 89.974373 m, bearing: 92.507351 deg, approach rate: 0.034433 m/s, LOS rate: 0.363692 deg/s, cmd heading: 13.805599 deg, new cmd heading: 14.335754 deg. 2025-01-08T23:35:33.555Z,1736379333.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.250206 target range: 112.699997 and range: 112.70 m. 2025-01-08T23:35:33.661Z,1736379333.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:33.662Z,1736379333.662 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:33.662Z,1736379333.662 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:33.662Z,1736379333.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:33.864Z,1736379333.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:33.873Z,1736379333.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.70 m. 2025-01-08T23:35:33.877Z,1736379333.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.699997 m, nav range: 89.985939 m, bearing: 92.624551 deg, approach rate: 0.035883 m/s, LOS rate: 0.363552 deg/s, cmd heading: 14.335754 deg, new cmd heading: 14.687305 deg. 2025-01-08T23:35:33.878Z,1736379333.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.256342 target range: 112.699997 and range: 112.70 m. 2025-01-08T23:35:33.912Z,1736379333.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:33.913Z,1736379333.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730917 2025-01-08T23:35:34.164Z,1736379334.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:34.164Z,1736379334.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982767 2025-01-08T23:35:34.313Z,1736379334.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:34.330Z,1736379334.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.70 m. 2025-01-08T23:35:34.333Z,1736379334.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.699997 m, nav range: 89.985893 m, bearing: 92.787520 deg, approach rate: -0.000100 m/s, LOS rate: 0.356466 deg/s, cmd heading: 14.687304 deg, new cmd heading: 15.176198 deg. 2025-01-08T23:35:34.334Z,1736379334.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.264875 target range: 112.699997 and range: 112.70 m. 2025-01-08T23:35:34.417Z,1736379334.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:34.418Z,1736379334.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235973 2025-01-08T23:35:34.668Z,1736379334.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:34.670Z,1736379334.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488262 2025-01-08T23:35:34.768Z,1736379334.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:34.779Z,1736379334.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.70 m. 2025-01-08T23:35:34.795Z,1736379334.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.699997 m, nav range: 89.964058 m, bearing: 92.950934 deg, approach rate: -0.048714 m/s, LOS rate: 0.364663 deg/s, cmd heading: 15.176199 deg, new cmd heading: 15.666547 deg. 2025-01-08T23:35:34.800Z,1736379334.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273433 target range: 112.699997 and range: 112.70 m. 2025-01-08T23:35:34.924Z,1736379334.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:34.926Z,1736379334.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744083 2025-01-08T23:35:35.054Z,1736379335.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:35.066Z,1736379335.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.70 m. 2025-01-08T23:35:35.069Z,1736379335.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.699997 m, nav range: 89.946770 m, bearing: 93.053435 deg, approach rate: -0.060154 m/s, LOS rate: 0.356716 deg/s, cmd heading: 15.666547 deg, new cmd heading: 15.974103 deg. 2025-01-08T23:35:35.070Z,1736379335.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.278801 target range: 112.699997 and range: 112.70 m. 2025-01-08T23:35:35.172Z,1736379335.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:35.172Z,1736379335.172 [DAT](INFO): DAT read: Rx Time:23:35:33.9950 2025-01-08T23:35:35.173Z,1736379335.173 [DAT](INFO): Rx dataTimestamp_ set to:1736379335.172614 2025-01-08T23:35:35.173Z,1736379335.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991772 2025-01-08T23:35:35.426Z,1736379335.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:35.437Z,1736379335.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254634 2025-01-08T23:35:35.548Z,1736379335.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:35.555Z,1736379335.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:35.557Z,1736379335.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.70 m. 2025-01-08T23:35:35.561Z,1736379335.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.699997 m, nav range: 89.899963 m, bearing: 93.231460 deg, approach rate: -0.095335 m/s, LOS rate: 0.362790 deg/s, cmd heading: 15.974103 deg, new cmd heading: 16.508441 deg. 2025-01-08T23:35:35.562Z,1736379335.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.288127 target range: 112.699997 and range: 112.70 m. 2025-01-08T23:35:35.677Z,1736379335.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:35.679Z,1736379335.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497262 2025-01-08T23:35:35.912Z,1736379335.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:35.921Z,1736379335.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.70 m. 2025-01-08T23:35:35.928Z,1736379335.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:35.935Z,1736379335.935 [DAT](INFO): DAT read: 23:35:33.9950 LVL= 23808, 20721, 22578, 30387, AGC= 59, IDX= 444, 0.27,-3.027, 2.961, 1.065, 2.246, PHS= 1.099, 0.763,-1.184, RAW= 37.8, -6.4, CAL= 39.6, -11.3, ROT= 110.4, 11.3 2025-01-08T23:35:35.939Z,1736379335.939 [DAT](INFO): got valid direction response: 23:35:33.9950 LVL= 23808, 20721, 22578, 30387, AGC= 59, IDX= 444, 0.27,-3.027, 2.961, 1.065, 2.246, PHS= 1.099, 0.763,-1.184, RAW= 37.8, -6.4, CAL= 39.6, -11.3, ROT= 110.4, 11.3 2025-01-08T23:35:35.940Z,1736379335.940 [DAT](INFO): DAT read: Bearing 110.4, 11.3 (Local) 2025-01-08T23:35:35.940Z,1736379335.940 [DAT](INFO): Local bearing/azimuth received: Bearing 110.4, 11.3 (Local) 2025-01-08T23:35:35.947Z,1736379335.947 [DAT](INFO): DAT read: Range 10 to 50 : 113.7 m (Round-trip 151.6 ms) speed -0.1 m/s 2025-01-08T23:35:35.948Z,1736379335.948 [DAT](INFO): DAT read: user:3358> 2025-01-08T23:35:35.949Z,1736379335.949 [DAT](INFO): DAT read: Tx time:23:35:35.0892 2025-01-08T23:35:35.949Z,1736379335.949 [DAT](INFO): Ping request sent. 2025-01-08T23:35:35.949Z,1736379335.949 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:35.950Z,1736379335.950 [DAT](INFO): DAT read: TxSync time:23:35:35.0884 2025-01-08T23:35:35.950Z,1736379335.950 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:35:35.951Z,1736379335.951 [DAT](INFO): direction in FSK: [0.134929,0.816477,0.561390] 2025-01-08T23:35:35.952Z,1736379335.952 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:35.952Z,1736379335.952 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:35.955Z,1736379335.955 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:35.955Z,1736379335.955 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:35.960Z,1736379335.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.699997 m, nav range: 89.863457 m, bearing: 93.362806 deg, approach rate: -0.100414 m/s, LOS rate: 0.361424 deg/s, cmd heading: 16.508441 deg, new cmd heading: 16.902632 deg. 2025-01-08T23:35:35.961Z,1736379335.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.295007 target range: 112.699997 and range: 112.70 m. 2025-01-08T23:35:36.180Z,1736379336.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:36.387Z,1736379336.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:36.402Z,1736379336.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.699997 m, deltaT: 3.779593 s, deltaX: 1.000000 m, approachRate: 0.264579 m/s, rangeRepo size: 4 2025-01-08T23:35:36.428Z,1736379336.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.699997 m, bearing: 96.738287 deg, lat: 36.905347 deg, lon: -122.119521 deg, deltaT: 3.779593 s, deltaX: 1.000000 m, approachRate: 0.264579 m/s, posRepo size: 4 2025-01-08T23:35:36.429Z,1736379336.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:35:36.432Z,1736379336.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:36.453Z,1736379336.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 89.816620 m, bearing: 93.534061 deg, approach rate: 0.000000 m/s, LOS rate: 0.361424 deg/s, cmd heading: 16.902632 deg, new cmd heading: 17.423762 deg. 2025-01-08T23:35:36.474Z,1736379336.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.304102 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:35:36.684Z,1736379336.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:36.898Z,1736379336.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:36.914Z,1736379336.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:35:36.922Z,1736379336.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 89.743103 m, bearing: 93.717266 deg, approach rate: -0.143276 m/s, LOS rate: 0.357336 deg/s, cmd heading: 17.423761 deg, new cmd heading: 17.973808 deg. 2025-01-08T23:35:36.923Z,1736379336.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.313702 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:35:36.936Z,1736379336.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:37.188Z,1736379337.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:37.216Z,1736379337.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:37.224Z,1736379337.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:35:37.228Z,1736379337.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 89.696129 m, bearing: 93.831297 deg, approach rate: -0.151484 m/s, LOS rate: 0.367925 deg/s, cmd heading: 17.973808 deg, new cmd heading: 18.316077 deg. 2025-01-08T23:35:37.229Z,1736379337.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.319676 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:35:37.440Z,1736379337.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:37.653Z,1736379337.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:37.665Z,1736379337.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:37.669Z,1736379337.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:35:37.677Z,1736379337.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 89.628105 m, bearing: 93.989718 deg, approach rate: -0.153125 m/s, LOS rate: 0.356883 deg/s, cmd heading: 18.316078 deg, new cmd heading: 18.791689 deg. 2025-01-08T23:35:37.678Z,1736379337.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.327977 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:35:37.692Z,1736379337.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:37.693Z,1736379337.693 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:37.693Z,1736379337.693 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:37.694Z,1736379337.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:37.944Z,1736379337.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:37.945Z,1736379337.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995255 2025-01-08T23:35:38.024Z,1736379338.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:38.033Z,1736379338.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:35:38.037Z,1736379338.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 89.569077 m, bearing: 94.124364 deg, approach rate: -0.161900 m/s, LOS rate: 0.369542 deg/s, cmd heading: 18.791689 deg, new cmd heading: 19.195887 deg. 2025-01-08T23:35:38.038Z,1736379338.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.335031 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:35:38.198Z,1736379338.198 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:38.199Z,1736379338.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249760 2025-01-08T23:35:38.435Z,1736379338.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:38.448Z,1736379338.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:38.449Z,1736379338.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499554 2025-01-08T23:35:38.479Z,1736379338.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:35:38.482Z,1736379338.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 89.504295 m, bearing: 94.273658 deg, approach rate: -0.149342 m/s, LOS rate: 0.344422 deg/s, cmd heading: 19.195886 deg, new cmd heading: 19.644084 deg. 2025-01-08T23:35:38.485Z,1736379338.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342854 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:35:38.700Z,1736379338.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:38.700Z,1736379338.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751130 2025-01-08T23:35:38.883Z,1736379338.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:38.901Z,1736379338.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:35:38.904Z,1736379338.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 89.436890 m, bearing: 94.434631 deg, approach rate: -0.155429 m/s, LOS rate: 0.371463 deg/s, cmd heading: 19.644083 deg, new cmd heading: 20.127355 deg. 2025-01-08T23:35:38.905Z,1736379338.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.351289 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:35:38.952Z,1736379338.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:38.953Z,1736379338.953 [DAT](INFO): DAT read: Rx Time:23:35:37.6460 2025-01-08T23:35:38.953Z,1736379338.953 [DAT](INFO): Rx dataTimestamp_ set to:1736379338.953104 2025-01-08T23:35:38.954Z,1736379338.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004665 2025-01-08T23:35:39.204Z,1736379339.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:39.205Z,1736379339.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255371 2025-01-08T23:35:39.273Z,1736379339.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:39.290Z,1736379339.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:35:39.297Z,1736379339.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 89.374756 m, bearing: 94.572402 deg, approach rate: -0.159676 m/s, LOS rate: 0.354298 deg/s, cmd heading: 20.127355 deg, new cmd heading: 20.540946 deg. 2025-01-08T23:35:39.299Z,1736379339.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.358507 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:35:39.456Z,1736379339.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:39.466Z,1736379339.466 [DAT](INFO): DAT read: 23:35:37.6460 LVL= 18656, 19793, 18338, 26403, AGC= 61, IDX= 439, 0.25,-0.067,-0.684,-2.464,-1.232, PHS= 1.253, 0.594,-1.236, RAW= 44.8, -5.5, CAL= 47.5, -10.2, ROT= 102.5, 10.2 2025-01-08T23:35:39.469Z,1736379339.469 [DAT](INFO): got valid direction response: 23:35:37.6460 LVL= 18656, 19793, 18338, 26403, AGC= 61, IDX= 439, 0.25,-0.067,-0.684,-2.464,-1.232, PHS= 1.253, 0.594,-1.236, RAW= 44.8, -5.5, CAL= 47.5, -10.2, ROT= 102.5, 10.2 2025-01-08T23:35:39.470Z,1736379339.470 [DAT](INFO): DAT read: Bearing 102.5, 10.2 (Local) 2025-01-08T23:35:39.471Z,1736379339.471 [DAT](INFO): Local bearing/azimuth received: Bearing 102.5, 10.2 (Local) 2025-01-08T23:35:39.472Z,1736379339.472 [DAT](INFO): DAT read: Range 10 to 50 : 114.5 m (Round-trip 152.7 ms) speed -0.3 m/s 2025-01-08T23:35:39.473Z,1736379339.473 [DAT](INFO): DAT read: user:3359> 2025-01-08T23:35:39.474Z,1736379339.474 [DAT](INFO): DAT read: Tx time:23:35:38.7392 2025-01-08T23:35:39.474Z,1736379339.474 [DAT](INFO): Ping request sent. 2025-01-08T23:35:39.474Z,1736379339.474 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:39.475Z,1736379339.475 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:35:39.490Z,1736379339.490 [DAT](INFO): direction in FSK: [0.104365,0.750920,0.652095] 2025-01-08T23:35:39.491Z,1736379339.491 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:39.496Z,1736379339.496 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:39.559Z,1736379339.559 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:39.563Z,1736379339.563 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:39.708Z,1736379339.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:39.709Z,1736379339.709 [DAT](INFO): DAT read: TxSync time:23:35:38.7384 2025-01-08T23:35:39.757Z,1736379339.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:39.811Z,1736379339.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.500000 m, deltaT: 3.528310 s, deltaX: 0.800003 m, approachRate: 0.226738 m/s, rangeRepo size: 4 2025-01-08T23:35:39.820Z,1736379339.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.500000 m, bearing: 100.795496 deg, lat: 36.905347 deg, lon: -122.119521 deg, deltaT: 3.528310 s, deltaX: 0.800003 m, approachRate: 0.226738 m/s, posRepo size: 4 2025-01-08T23:35:39.820Z,1736379339.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:39.827Z,1736379339.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 89.304100 m, bearing: 94.750536 deg, approach rate: 0.000000 m/s, LOS rate: 0.354298 deg/s, cmd heading: 20.540945 deg, new cmd heading: 21.092796 deg. 2025-01-08T23:35:39.828Z,1736379339.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.368139 target range: 114.500000 and range: 114.50 m. 2025-01-08T23:35:39.961Z,1736379339.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:40.124Z,1736379340.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:40.132Z,1736379340.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:40.134Z,1736379340.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:40.137Z,1736379340.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 89.250465 m, bearing: 94.883920 deg, approach rate: -0.165049 m/s, LOS rate: 0.410706 deg/s, cmd heading: 21.092796 deg, new cmd heading: 21.493179 deg. 2025-01-08T23:35:40.138Z,1736379340.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.375127 target range: 114.500000 and range: 114.50 m. 2025-01-08T23:35:40.212Z,1736379340.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:40.212Z,1736379340.212 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:40.212Z,1736379340.212 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:40.213Z,1736379340.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:40.464Z,1736379340.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:40.464Z,1736379340.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990130 2025-01-08T23:35:40.586Z,1736379340.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:40.608Z,1736379340.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:40.617Z,1736379340.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 89.181656 m, bearing: 95.051925 deg, approach rate: -0.145077 m/s, LOS rate: 0.354494 deg/s, cmd heading: 21.493180 deg, new cmd heading: 21.997571 deg. 2025-01-08T23:35:40.618Z,1736379340.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.383930 target range: 114.500000 and range: 114.50 m. 2025-01-08T23:35:40.716Z,1736379340.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:40.717Z,1736379340.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242943 2025-01-08T23:35:40.968Z,1736379340.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:40.969Z,1736379340.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494242 2025-01-08T23:35:40.972Z,1736379340.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:40.981Z,1736379340.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:40.984Z,1736379340.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 89.132851 m, bearing: 95.188223 deg, approach rate: -0.130866 m/s, LOS rate: 0.365668 deg/s, cmd heading: 21.997572 deg, new cmd heading: 22.406682 deg. 2025-01-08T23:35:40.985Z,1736379340.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.391070 target range: 114.500000 and range: 114.50 m. 2025-01-08T23:35:41.220Z,1736379341.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:41.220Z,1736379341.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746155 2025-01-08T23:35:41.330Z,1736379341.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:41.338Z,1736379341.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:41.341Z,1736379341.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 89.086075 m, bearing: 95.314470 deg, approach rate: -0.130991 m/s, LOS rate: 0.353727 deg/s, cmd heading: 22.406681 deg, new cmd heading: 22.785615 deg. 2025-01-08T23:35:41.344Z,1736379341.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.397684 target range: 114.500000 and range: 114.50 m. 2025-01-08T23:35:41.472Z,1736379341.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:41.473Z,1736379341.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998454 2025-01-08T23:35:41.724Z,1736379341.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:41.724Z,1736379341.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250047 2025-01-08T23:35:41.795Z,1736379341.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:41.808Z,1736379341.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:41.811Z,1736379341.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 89.035484 m, bearing: 95.471849 deg, approach rate: -0.108760 m/s, LOS rate: 0.338528 deg/s, cmd heading: 22.785615 deg, new cmd heading: 23.258010 deg. 2025-01-08T23:35:41.816Z,1736379341.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.405929 target range: 114.500000 and range: 114.50 m. 2025-01-08T23:35:41.976Z,1736379341.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:41.977Z,1736379341.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502518 2025-01-08T23:35:42.156Z,1736379342.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:42.163Z,1736379342.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:42.165Z,1736379342.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:42.171Z,1736379342.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 88.995956 m, bearing: 95.596409 deg, approach rate: -0.109227 m/s, LOS rate: 0.344347 deg/s, cmd heading: 23.258010 deg, new cmd heading: 23.631850 deg. 2025-01-08T23:35:42.172Z,1736379342.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412454 target range: 114.500000 and range: 114.50 m. 2025-01-08T23:35:42.229Z,1736379342.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:42.230Z,1736379342.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755763 2025-01-08T23:35:42.480Z,1736379342.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:42.481Z,1736379342.481 [DAT](INFO): DAT read: Rx Time:23:35:41.2974 2025-01-08T23:35:42.481Z,1736379342.481 [DAT](INFO): Rx dataTimestamp_ set to:1736379342.480733 2025-01-08T23:35:42.482Z,1736379342.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007264 2025-01-08T23:35:42.670Z,1736379342.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:42.697Z,1736379342.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:42.704Z,1736379342.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 88.946808 m, bearing: 95.771720 deg, approach rate: -0.092387 m/s, LOS rate: 0.329725 deg/s, cmd heading: 23.631850 deg, new cmd heading: 24.158060 deg. 2025-01-08T23:35:42.705Z,1736379342.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421638 target range: 114.500000 and range: 114.50 m. 2025-01-08T23:35:42.732Z,1736379342.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:42.732Z,1736379342.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258096 2025-01-08T23:35:42.985Z,1736379342.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:42.987Z,1736379342.987 [DAT](INFO): DAT read: Range 10 to 50 : 115.5 m (Round-trip 154.0 ms) speed 0.0 m/s 2025-01-08T23:35:42.988Z,1736379342.988 [DAT](INFO): DAT read: user:3360> 2025-01-08T23:35:42.989Z,1736379342.989 [DAT](INFO): DAT read: Tx time:23:35:42.3893 2025-01-08T23:35:42.989Z,1736379342.989 [DAT](INFO): Ping request sent. 2025-01-08T23:35:42.989Z,1736379342.989 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:42.989Z,1736379342.989 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:35:42.990Z,1736379342.990 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:42.990Z,1736379342.990 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:43.006Z,1736379343.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:43.016Z,1736379343.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.500000 m, deltaT: 3.529368 s, deltaX: 1.000000 m, approachRate: 0.283337 m/s, rangeRepo size: 4 2025-01-08T23:35:43.016Z,1736379343.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:43.019Z,1736379343.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 88.913490 m, bearing: 95.886264 deg, approach rate: -0.104938 m/s, LOS rate: 0.360904 deg/s, cmd heading: 24.158060 deg, new cmd heading: 24.501815 deg. 2025-01-08T23:35:43.020Z,1736379343.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427637 target range: 114.500000 and range: 115.50 m. 2025-01-08T23:35:43.236Z,1736379343.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:43.237Z,1736379343.237 [DAT](INFO): DAT read: TxSync time:23:35:42.3885 2025-01-08T23:35:43.416Z,1736379343.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:43.425Z,1736379343.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:43.429Z,1736379343.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 88.871521 m, bearing: 96.026170 deg, approach rate: -0.102340 m/s, LOS rate: 0.341315 deg/s, cmd heading: 24.501815 deg, new cmd heading: 24.921722 deg. 2025-01-08T23:35:43.430Z,1736379343.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434966 target range: 114.500000 and range: 115.50 m. 2025-01-08T23:35:43.488Z,1736379343.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:43.740Z,1736379343.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:43.832Z,1736379343.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:43.856Z,1736379343.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:43.864Z,1736379343.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 88.832542 m, bearing: 96.166125 deg, approach rate: -0.090366 m/s, LOS rate: 0.324607 deg/s, cmd heading: 24.921723 deg, new cmd heading: 25.341764 deg. 2025-01-08T23:35:43.871Z,1736379343.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442297 target range: 114.500000 and range: 115.50 m. 2025-01-08T23:35:43.992Z,1736379343.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:44.244Z,1736379344.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:44.284Z,1736379344.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:44.291Z,1736379344.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:44.294Z,1736379344.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:44.297Z,1736379344.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 88.787743 m, bearing: 96.318942 deg, approach rate: -0.102336 m/s, LOS rate: 0.349258 deg/s, cmd heading: 25.341764 deg, new cmd heading: 25.800438 deg. 2025-01-08T23:35:44.298Z,1736379344.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450303 target range: 114.500000 and range: 115.50 m. 2025-01-08T23:35:44.496Z,1736379344.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:44.498Z,1736379344.498 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:44.498Z,1736379344.498 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:44.499Z,1736379344.499 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:44.748Z,1736379344.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:44.749Z,1736379344.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759617 2025-01-08T23:35:44.779Z,1736379344.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:44.839Z,1736379344.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:44.842Z,1736379344.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 88.740578 m, bearing: 96.482517 deg, approach rate: -0.089164 m/s, LOS rate: 0.309398 deg/s, cmd heading: 25.800439 deg, new cmd heading: 26.291409 deg. 2025-01-08T23:35:44.843Z,1736379344.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.458872 target range: 114.500000 and range: 115.50 m. 2025-01-08T23:35:45.000Z,1736379345.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:45.002Z,1736379345.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012340 2025-01-08T23:35:45.155Z,1736379345.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:45.164Z,1736379345.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:45.166Z,1736379345.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 88.703621 m, bearing: 96.606744 deg, approach rate: -0.108435 m/s, LOS rate: 0.364646 deg/s, cmd heading: 26.291410 deg, new cmd heading: 26.664241 deg. 2025-01-08T23:35:45.168Z,1736379345.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.465379 target range: 114.500000 and range: 115.50 m. 2025-01-08T23:35:45.252Z,1736379345.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:45.252Z,1736379345.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263292 2025-01-08T23:35:45.504Z,1736379345.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:45.504Z,1736379345.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515217 2025-01-08T23:35:45.568Z,1736379345.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:45.647Z,1736379345.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:45.660Z,1736379345.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 88.661995 m, bearing: 96.743164 deg, approach rate: -0.092581 m/s, LOS rate: 0.303556 deg/s, cmd heading: 26.664241 deg, new cmd heading: 27.073686 deg. 2025-01-08T23:35:45.661Z,1736379345.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472525 target range: 114.500000 and range: 115.50 m. 2025-01-08T23:35:45.757Z,1736379345.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:45.758Z,1736379345.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768728 2025-01-08T23:35:46.000Z,1736379346.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:46.008Z,1736379346.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:46.011Z,1736379346.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020971 2025-01-08T23:35:46.050Z,1736379346.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:46.057Z,1736379346.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 88.619080 m, bearing: 96.884630 deg, approach rate: -0.098236 m/s, LOS rate: 0.323982 deg/s, cmd heading: 27.073687 deg, new cmd heading: 27.498281 deg. 2025-01-08T23:35:46.058Z,1736379346.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.479936 target range: 114.500000 and range: 115.50 m. 2025-01-08T23:35:46.260Z,1736379346.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:46.261Z,1736379346.261 [DAT](INFO): DAT read: Rx Time:23:35:44.9480 2025-01-08T23:35:46.262Z,1736379346.262 [DAT](INFO): Rx dataTimestamp_ set to:1736379346.261385 2025-01-08T23:35:46.262Z,1736379346.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273004 2025-01-08T23:35:46.364Z,1736379346.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:46.371Z,1736379346.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:46.374Z,1736379346.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.50 m. 2025-01-08T23:35:46.378Z,1736379346.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.500000 m, nav range: 88.581161 m, bearing: 97.003601 deg, approach rate: -0.117254 m/s, LOS rate: 0.368050 deg/s, cmd heading: 27.498282 deg, new cmd heading: 27.855342 deg. 2025-01-08T23:35:46.379Z,1736379346.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486167 target range: 114.500000 and range: 115.50 m. 2025-01-08T23:35:46.512Z,1736379346.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:46.513Z,1736379346.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524019 2025-01-08T23:35:46.765Z,1736379346.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:46.788Z,1736379346.788 [DAT](INFO): DAT read: 23:35:44.9480 LVL= 13712, 17985, 16370, 23475, AGC= 59, IDX= 443, 0.02,-2.415, 3.009, 1.531, 2.575, PHS= 1.382, 0.482,-1.047, RAW= 51.5, -7.7, CAL= 57.3, -13.8, ROT= 92.7, 13.8 2025-01-08T23:35:46.789Z,1736379346.789 [DAT](INFO): got valid direction response: 23:35:44.9480 LVL= 13712, 17985, 16370, 23475, AGC= 59, IDX= 443, 0.02,-2.415, 3.009, 1.531, 2.575, PHS= 1.382, 0.482,-1.047, RAW= 51.5, -7.7, CAL= 57.3, -13.8, ROT= 92.7, 13.8 2025-01-08T23:35:46.790Z,1736379346.790 [DAT](INFO): DAT read: Bearing 92.7, 13.8 (Local) 2025-01-08T23:35:46.790Z,1736379346.790 [DAT](INFO): Local bearing/azimuth received: Bearing 92.7, 13.8 (Local) 2025-01-08T23:35:46.800Z,1736379346.800 [DAT](INFO): DAT read: Range 10 to 50 : 115.8 m (Round-trip 154.5 ms) speed 0.0 m/s 2025-01-08T23:35:46.801Z,1736379346.801 [DAT](INFO): DAT read: user:3361> 2025-01-08T23:35:46.802Z,1736379346.802 [DAT](INFO): DAT read: Tx time:23:35:46.0393 2025-01-08T23:35:46.802Z,1736379346.802 [DAT](INFO): Ping request sent. 2025-01-08T23:35:46.802Z,1736379346.802 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:46.802Z,1736379346.802 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:35:46.808Z,1736379346.808 [DAT](INFO): direction in FSK: [0.131401,0.670400,0.730272] 2025-01-08T23:35:46.808Z,1736379346.808 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:46.808Z,1736379346.808 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:46.816Z,1736379346.816 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:46.816Z,1736379346.816 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:46.873Z,1736379346.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:46.901Z,1736379346.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.800003 m, deltaT: 3.779680 s, deltaX: 0.300003 m, approachRate: 0.079373 m/s, rangeRepo size: 4 2025-01-08T23:35:46.908Z,1736379346.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.800003 m, bearing: 98.999669 deg, lat: 36.905347 deg, lon: -122.119680 deg, deltaT: 7.309048 s, deltaX: 1.300003 m, approachRate: 0.177862 m/s, posRepo size: 4 2025-01-08T23:35:46.908Z,1736379346.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:35:46.923Z,1736379346.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 74.513100 m, bearing: 98.535541 deg, approach rate: 0.000000 m/s, LOS rate: 0.368050 deg/s, cmd heading: 27.855342 deg, new cmd heading: 28.437327 deg. 2025-01-08T23:35:46.924Z,1736379346.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496325 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:35:47.016Z,1736379347.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:47.017Z,1736379347.017 [DAT](INFO): DAT read: TxSync time:23:35:46.0385 2025-01-08T23:35:47.233Z,1736379347.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:47.260Z,1736379347.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:35:47.262Z,1736379347.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 74.477127 m, bearing: 98.681903 deg, approach rate: -0.101478 m/s, LOS rate: 0.413080 deg/s, cmd heading: 28.437327 deg, new cmd heading: 28.876614 deg. 2025-01-08T23:35:47.268Z,1736379347.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:47.269Z,1736379347.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503992 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:35:47.520Z,1736379347.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:47.619Z,1736379347.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:47.689Z,1736379347.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:35:47.693Z,1736379347.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 74.438164 m, bearing: 98.838140 deg, approach rate: -0.089746 m/s, LOS rate: 0.360058 deg/s, cmd heading: 28.876612 deg, new cmd heading: 29.345560 deg. 2025-01-08T23:35:47.694Z,1736379347.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512177 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:35:47.772Z,1736379347.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:48.024Z,1736379348.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:48.054Z,1736379348.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:48.094Z,1736379348.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:35:48.101Z,1736379348.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 74.391220 m, bearing: 99.011358 deg, approach rate: -0.116133 m/s, LOS rate: 0.428789 deg/s, cmd heading: 29.345559 deg, new cmd heading: 29.865526 deg. 2025-01-08T23:35:48.101Z,1736379348.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521252 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:35:48.279Z,1736379348.279 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:48.532Z,1736379348.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:48.536Z,1736379348.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:48.567Z,1736379348.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:48.573Z,1736379348.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:35:48.580Z,1736379348.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 74.334908 m, bearing: 99.201966 deg, approach rate: -0.117425 m/s, LOS rate: 0.397762 deg/s, cmd heading: 29.865525 deg, new cmd heading: 30.437761 deg. 2025-01-08T23:35:48.581Z,1736379348.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531239 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:35:48.784Z,1736379348.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:48.784Z,1736379348.784 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:48.784Z,1736379348.784 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:48.784Z,1736379348.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:48.975Z,1736379348.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:48.984Z,1736379348.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:35:48.987Z,1736379348.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 74.273170 m, bearing: 99.385092 deg, approach rate: -0.150290 m/s, LOS rate: 0.446164 deg/s, cmd heading: 30.437761 deg, new cmd heading: 30.987578 deg. 2025-01-08T23:35:48.988Z,1736379348.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540835 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:35:49.036Z,1736379349.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:49.036Z,1736379349.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234358 2025-01-08T23:35:49.288Z,1736379349.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:49.288Z,1736379349.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486251 2025-01-08T23:35:49.414Z,1736379349.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:49.422Z,1736379349.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:35:49.429Z,1736379349.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 74.210793 m, bearing: 99.568031 deg, approach rate: -0.142262 m/s, LOS rate: 0.417570 deg/s, cmd heading: 30.987578 deg, new cmd heading: 31.536839 deg. 2025-01-08T23:35:49.430Z,1736379349.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550422 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:35:49.540Z,1736379349.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:49.540Z,1736379349.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738352 2025-01-08T23:35:49.792Z,1736379349.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:49.793Z,1736379349.793 [DAT](INFO): DAT read: Rx Time:23:35:48.5985 2025-01-08T23:35:49.794Z,1736379349.794 [DAT](INFO): Rx dataTimestamp_ set to:1736379349.793447 2025-01-08T23:35:49.794Z,1736379349.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992127 2025-01-08T23:35:49.828Z,1736379349.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:49.869Z,1736379349.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:35:49.876Z,1736379349.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 74.152573 m, bearing: 99.741103 deg, approach rate: -0.130442 m/s, LOS rate: 0.388074 deg/s, cmd heading: 31.536838 deg, new cmd heading: 32.056447 deg. 2025-01-08T23:35:49.877Z,1736379349.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559491 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:35:50.044Z,1736379350.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:50.045Z,1736379350.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242760 2025-01-08T23:35:50.214Z,1736379350.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:50.223Z,1736379350.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:35:50.227Z,1736379350.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 74.096046 m, bearing: 99.901872 deg, approach rate: -0.159481 m/s, LOS rate: 0.453932 deg/s, cmd heading: 32.056448 deg, new cmd heading: 32.539110 deg. 2025-01-08T23:35:50.228Z,1736379350.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567915 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:35:50.297Z,1736379350.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:50.317Z,1736379350.317 [DAT](INFO): DAT read: 23:35:48.5985 LVL= 13664, 23185, 20850, 29171, AGC= 60, IDX= 448,-0.35,-0.177,-1.220,-2.619,-1.484, PHS= 1.395, 0.311,-1.138, RAW= 55.3, -5.2, CAL= 60.2, -10.4, ROT= 89.8, 10.4 2025-01-08T23:35:50.318Z,1736379350.318 [DAT](INFO): got valid direction response: 23:35:48.5985 LVL= 13664, 23185, 20850, 29171, AGC= 60, IDX= 448,-0.35,-0.177,-1.220,-2.619,-1.484, PHS= 1.395, 0.311,-1.138, RAW= 55.3, -5.2, CAL= 60.2, -10.4, ROT= 89.8, 10.4 2025-01-08T23:35:50.319Z,1736379350.319 [DAT](INFO): DAT read: Bearing 89.8, 10.4 (Local) 2025-01-08T23:35:50.319Z,1736379350.319 [DAT](INFO): Local bearing/azimuth received: Bearing 89.8, 10.4 (Local) 2025-01-08T23:35:50.321Z,1736379350.321 [DAT](INFO): DAT read: Range 10 to 50 : 116.2 m (Round-trip 155.0 ms) speed -0.1 m/s 2025-01-08T23:35:50.322Z,1736379350.322 [DAT](INFO): DAT read: user:3362> 2025-01-08T23:35:50.322Z,1736379350.322 [DAT](INFO): DAT read: Tx time:23:35:49.6893 2025-01-08T23:35:50.323Z,1736379350.323 [DAT](INFO): Ping request sent. 2025-01-08T23:35:50.323Z,1736379350.323 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:50.326Z,1736379350.326 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:35:50.328Z,1736379350.328 [DAT](INFO): direction in FSK: [0.077353,0.631011,0.771908] 2025-01-08T23:35:50.329Z,1736379350.329 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:50.329Z,1736379350.329 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:50.332Z,1736379350.332 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:50.333Z,1736379350.333 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:50.548Z,1736379350.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:50.549Z,1736379350.549 [DAT](INFO): DAT read: TxSync time:23:35:49.6885 2025-01-08T23:35:50.633Z,1736379350.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:50.705Z,1736379350.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.199997 m, deltaT: 3.532432 s, deltaX: 0.399994 m, approachRate: 0.113235 m/s, rangeRepo size: 4 2025-01-08T23:35:50.740Z,1736379350.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.199997 m, bearing: 106.648313 deg, lat: 36.905321 deg, lon: -122.119748 deg, deltaT: 3.532432 s, deltaX: 0.399994 m, approachRate: 0.113235 m/s, posRepo size: 4 2025-01-08T23:35:50.740Z,1736379350.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:35:50.748Z,1736379350.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 68.662109 m, bearing: 103.308964 deg, approach rate: 0.000000 m/s, LOS rate: 0.453932 deg/s, cmd heading: 32.539110 deg, new cmd heading: 33.176563 deg. 2025-01-08T23:35:50.749Z,1736379350.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579040 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:35:50.801Z,1736379350.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:51.052Z,1736379351.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:51.077Z,1736379351.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:35:51.077Z,1736379351.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:51.084Z,1736379351.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:51.088Z,1736379351.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:35:51.096Z,1736379351.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 68.608757 m, bearing: 103.510774 deg, approach rate: -0.134761 m/s, LOS rate: 0.510139 deg/s, cmd heading: 33.176565 deg, new cmd heading: 33.782439 deg. 2025-01-08T23:35:51.099Z,1736379351.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589615 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:35:51.304Z,1736379351.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:51.304Z,1736379351.304 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:51.304Z,1736379351.304 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:51.304Z,1736379351.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:51.429Z,1736379351.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:35:51.429Z,1736379351.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:51.438Z,1736379351.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:35:51.457Z,1736379351.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 68.565895 m, bearing: 103.671045 deg, approach rate: -0.122255 m/s, LOS rate: 0.457427 deg/s, cmd heading: 33.782440 deg, new cmd heading: 34.263543 deg. 2025-01-08T23:35:51.458Z,1736379351.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598012 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:35:51.556Z,1736379351.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:51.557Z,1736379351.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234640 2025-01-08T23:35:51.808Z,1736379351.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:51.808Z,1736379351.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485594 2025-01-08T23:35:51.854Z,1736379351.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:51.887Z,1736379351.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:35:51.890Z,1736379351.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 68.483147 m, bearing: 103.875900 deg, approach rate: -0.185794 m/s, LOS rate: 0.460513 deg/s, cmd heading: 34.263542 deg, new cmd heading: 34.878825 deg. 2025-01-08T23:35:51.896Z,1736379351.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608750 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:35:52.060Z,1736379352.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:52.061Z,1736379352.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737991 2025-01-08T23:35:52.251Z,1736379352.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:52.261Z,1736379352.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:35:52.264Z,1736379352.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 68.404350 m, bearing: 104.066411 deg, approach rate: -0.208852 m/s, LOS rate: 0.505534 deg/s, cmd heading: 34.878825 deg, new cmd heading: 35.450996 deg. 2025-01-08T23:35:52.265Z,1736379352.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618737 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:35:52.312Z,1736379352.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:52.313Z,1736379352.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990648 2025-01-08T23:35:52.564Z,1736379352.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:52.564Z,1736379352.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241702 2025-01-08T23:35:52.653Z,1736379352.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:52.668Z,1736379352.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:35:52.673Z,1736379352.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 68.322449 m, bearing: 104.258930 deg, approach rate: -0.201254 m/s, LOS rate: 0.473636 deg/s, cmd heading: 35.450997 deg, new cmd heading: 36.029227 deg. 2025-01-08T23:35:52.678Z,1736379352.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628829 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:35:52.817Z,1736379352.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:52.819Z,1736379352.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495770 2025-01-08T23:35:53.068Z,1736379353.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:53.069Z,1736379353.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746311 2025-01-08T23:35:53.074Z,1736379353.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:53.083Z,1736379353.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:35:53.103Z,1736379353.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 68.229095 m, bearing: 104.464741 deg, approach rate: -0.224849 m/s, LOS rate: 0.496390 deg/s, cmd heading: 36.029227 deg, new cmd heading: 36.647479 deg. 2025-01-08T23:35:53.104Z,1736379353.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639619 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:35:53.321Z,1736379353.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:53.322Z,1736379353.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998612 2025-01-08T23:35:53.445Z,1736379353.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:53.452Z,1736379353.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:53.454Z,1736379353.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:35:53.458Z,1736379353.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 68.145706 m, bearing: 104.645696 deg, approach rate: -0.224299 m/s, LOS rate: 0.487323 deg/s, cmd heading: 36.647479 deg, new cmd heading: 37.190991 deg. 2025-01-08T23:35:53.460Z,1736379353.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649105 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:35:53.572Z,1736379353.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:53.572Z,1736379353.572 [DAT](INFO): DAT read: Rx Time:23:35:52.2492 2025-01-08T23:35:53.573Z,1736379353.573 [DAT](INFO): Rx dataTimestamp_ set to:1736379353.572657 2025-01-08T23:35:53.573Z,1736379353.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250746 2025-01-08T23:35:53.824Z,1736379353.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:53.826Z,1736379353.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503135 2025-01-08T23:35:53.901Z,1736379353.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:53.969Z,1736379353.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:35:53.976Z,1736379353.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 68.038345 m, bearing: 104.860440 deg, approach rate: -0.208502 m/s, LOS rate: 0.417703 deg/s, cmd heading: 37.190991 deg, new cmd heading: 37.836210 deg. 2025-01-08T23:35:53.977Z,1736379353.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.660366 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:35:54.076Z,1736379354.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:54.088Z,1736379354.088 [DAT](INFO): DAT read: 23:35:52.2492 LVL= 13296, 18705, 17442, 25715, AGC= 59, IDX= 438, 0.16, 1.135, 0.137,-1.182,-0.107, PHS= 1.330, 0.290,-1.079, RAW= 55.5, -5.2, CAL= 60.5, -10.4, ROT= 89.5, 10.4 2025-01-08T23:35:54.089Z,1736379354.089 [DAT](INFO): got valid direction response: 23:35:52.2492 LVL= 13296, 18705, 17442, 25715, AGC= 59, IDX= 438, 0.16, 1.135, 0.137,-1.182,-0.107, PHS= 1.330, 0.290,-1.079, RAW= 55.5, -5.2, CAL= 60.5, -10.4, ROT= 89.5, 10.4 2025-01-08T23:35:54.090Z,1736379354.090 [DAT](INFO): DAT read: Bearing 89.5, 10.4 (Local) 2025-01-08T23:35:54.091Z,1736379354.091 [DAT](INFO): Local bearing/azimuth received: Bearing 89.5, 10.4 (Local) 2025-01-08T23:35:54.092Z,1736379354.092 [DAT](INFO): DAT read: Range 10 to 50 : 116.7 m (Round-trip 155.6 ms) speed -0.2 m/s 2025-01-08T23:35:54.093Z,1736379354.093 [DAT](INFO): DAT read: user:3363> 2025-01-08T23:35:54.094Z,1736379354.094 [DAT](INFO): DAT read: Tx time:23:35:53.3394 2025-01-08T23:35:54.094Z,1736379354.094 [DAT](INFO): Ping request sent. 2025-01-08T23:35:54.094Z,1736379354.094 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:54.094Z,1736379354.094 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:35:54.096Z,1736379354.096 [DAT](INFO): direction in FSK: [0.077033,0.627878,0.774490] 2025-01-08T23:35:54.096Z,1736379354.096 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:54.096Z,1736379354.096 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:54.099Z,1736379354.099 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:54.104Z,1736379354.104 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:54.306Z,1736379354.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:54.328Z,1736379354.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:54.329Z,1736379354.329 [DAT](INFO): DAT read: TxSync time:23:35:53.3386 2025-01-08T23:35:54.338Z,1736379354.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.699997 m, deltaT: 3.778659 s, deltaX: 0.500000 m, approachRate: 0.132322 m/s, rangeRepo size: 4 2025-01-08T23:35:54.344Z,1736379354.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.699997 m, bearing: 113.684933 deg, lat: 36.905317 deg, lon: -122.119819 deg, deltaT: 3.778659 s, deltaX: 0.500000 m, approachRate: 0.132322 m/s, posRepo size: 4 2025-01-08T23:35:54.345Z,1736379354.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:54.352Z,1736379354.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 62.097637 m, bearing: 107.019287 deg, approach rate: 0.000000 m/s, LOS rate: 0.417703 deg/s, cmd heading: 37.836212 deg, new cmd heading: 38.297247 deg. 2025-01-08T23:35:54.353Z,1736379354.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668413 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:54.580Z,1736379354.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:54.832Z,1736379354.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:54.849Z,1736379354.849 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,2501081537000410.9, 0.0,1493.3, 0 2025-01-08T23:35:54.856Z,1736379354.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:35:54.856Z,1736379354.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:54.866Z,1736379354.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:54.868Z,1736379354.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 61.978947 m, bearing: 107.307832 deg, approach rate: -0.224653 m/s, LOS rate: 0.547192 deg/s, cmd heading: 38.297246 deg, new cmd heading: 39.164469 deg. 2025-01-08T23:35:54.869Z,1736379354.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683549 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:55.084Z,1736379355.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:55.221Z,1736379355.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:35:55.221Z,1736379355.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:55.230Z,1736379355.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:55.233Z,1736379355.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 61.894650 m, bearing: 107.497746 deg, approach rate: -0.231217 m/s, LOS rate: 0.521620 deg/s, cmd heading: 39.164469 deg, new cmd heading: 39.734968 deg. 2025-01-08T23:35:55.234Z,1736379355.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693506 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:55.336Z,1736379355.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:55.368Z,1736379355.368 [ThrusterServo](FAULT): Invalid EZ Servo response:"\r" 2025-01-08T23:35:55.368Z,1736379355.368 [ThrusterServo] Communications Fault, FailCount= 1 2025-01-08T23:35:55.368Z,1736379355.368 [ThrusterServo](ERROR): Communications Fault 2025-01-08T23:35:55.372Z,1736379355.372 [CBIT](ERROR): Communications Fault in component: ThrusterServo 2025-01-08T23:35:55.588Z,1736379355.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:55.626Z,1736379355.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T23:35:55.627Z,1736379355.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:55.634Z,1736379355.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:55.637Z,1736379355.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:55.656Z,1736379355.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 61.799683 m, bearing: 107.708389 deg, approach rate: -0.233658 m/s, LOS rate: 0.519064 deg/s, cmd heading: 39.734967 deg, new cmd heading: 40.367840 deg. 2025-01-08T23:35:55.661Z,1736379355.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704552 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:55.840Z,1736379355.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:55.840Z,1736379355.840 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:55.840Z,1736379355.840 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:55.841Z,1736379355.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:55.892Z,1736379355.892 [ThrusterServo](DEBUG): Uninitialize Thruster Servo. 2025-01-08T23:35:55.892Z,1736379355.892 [ThrusterServo](INFO): Powering down 2025-01-08T23:35:56.072Z,1736379356.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:56.092Z,1736379356.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:56.092Z,1736379356.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998236 2025-01-08T23:35:56.098Z,1736379356.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:56.105Z,1736379356.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 61.693684 m, bearing: 107.930442 deg, approach rate: -0.229495 m/s, LOS rate: 0.481582 deg/s, cmd heading: 40.367839 deg, new cmd heading: 41.035108 deg. 2025-01-08T23:35:56.106Z,1736379356.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716198 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:56.344Z,1736379356.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:56.344Z,1736379356.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250305 2025-01-08T23:35:56.433Z,1736379356.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:56.441Z,1736379356.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:56.445Z,1736379356.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 61.606720 m, bearing: 108.110072 deg, approach rate: -0.253531 m/s, LOS rate: 0.524428 deg/s, cmd heading: 41.035107 deg, new cmd heading: 41.574744 deg. 2025-01-08T23:35:56.446Z,1736379356.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725616 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:56.596Z,1736379356.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:56.597Z,1736379356.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502348 2025-01-08T23:35:56.649Z,1736379356.649 [ThrusterServo](DEBUG): Initializing EZServoServo. 2025-01-08T23:35:56.777Z,1736379356.777 [ThrusterServo](DEBUG): Initializing ThrusterServo. 2025-01-08T23:35:56.790Z,1736379356.790 [CBIT](INFO): Clearing failed state for component ThrusterServo 2025-01-08T23:35:56.790Z,1736379356.790 [ThrusterServo] No Fault, FailCount= 1 2025-01-08T23:35:56.848Z,1736379356.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:56.849Z,1736379356.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754486 2025-01-08T23:35:56.884Z,1736379356.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:35:56.893Z,1736379356.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:56.913Z,1736379356.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:56.917Z,1736379356.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 61.494717 m, bearing: 108.337707 deg, approach rate: -0.238038 m/s, LOS rate: 0.484666 deg/s, cmd heading: 41.574743 deg, new cmd heading: 42.258857 deg. 2025-01-08T23:35:56.940Z,1736379356.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.737556 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:57.101Z,1736379357.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:57.103Z,1736379357.103 [DAT](INFO): DAT read: Rx Time:23:35:55.8993 2025-01-08T23:35:57.105Z,1736379357.105 [DAT](INFO): Rx dataTimestamp_ set to:1736379357.103771 2025-01-08T23:35:57.105Z,1736379357.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010898 2025-01-08T23:35:57.249Z,1736379357.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:57.257Z,1736379357.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:57.260Z,1736379357.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 61.407093 m, bearing: 108.513210 deg, approach rate: -0.254041 m/s, LOS rate: 0.509548 deg/s, cmd heading: 42.258859 deg, new cmd heading: 42.786102 deg. 2025-01-08T23:35:57.261Z,1736379357.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746758 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:57.352Z,1736379357.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:57.353Z,1736379357.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258693 2025-01-08T23:35:57.605Z,1736379357.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:57.617Z,1736379357.617 [DAT](INFO): DAT read: 23:35:55.8993 LVL= 15824, 27281, 24786, 32755, AGC= 57, IDX= 423,-0.07, 2.990, 2.153, 0.850, 1.934, PHS= 1.144, 0.266,-1.087, RAW= 53.0, -3.3, CAL= 56.2, -7.5, ROT= 93.8, 7.5 2025-01-08T23:35:57.618Z,1736379357.618 [DAT](INFO): got valid direction response: 23:35:55.8993 LVL= 15824, 27281, 24786, 32755, AGC= 57, IDX= 423,-0.07, 2.990, 2.153, 0.850, 1.934, PHS= 1.144, 0.266,-1.087, RAW= 53.0, -3.3, CAL= 56.2, -7.5, ROT= 93.8, 7.5 2025-01-08T23:35:57.623Z,1736379357.623 [DAT](INFO): DAT read: Bearing 93.8, 7.5 (Local) 2025-01-08T23:35:57.624Z,1736379357.624 [DAT](INFO): Local bearing/azimuth received: Bearing 93.8, 7.5 (Local) 2025-01-08T23:35:57.625Z,1736379357.625 [DAT](INFO): DAT read: Range 10 to 50 : 116.7 m (Round-trip 155.7 ms) speed 0.1 m/s 2025-01-08T23:35:57.626Z,1736379357.626 [DAT](INFO): DAT read: user:3364> 2025-01-08T23:35:57.640Z,1736379357.640 [DAT](INFO): DAT read: Tx time:23:35:56.9894 2025-01-08T23:35:57.640Z,1736379357.640 [DAT](INFO): Ping request sent. 2025-01-08T23:35:57.640Z,1736379357.640 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:35:57.641Z,1736379357.641 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:35:57.641Z,1736379357.641 [DAT](INFO): direction in FSK: [0.047512,0.662500,0.747554] 2025-01-08T23:35:57.642Z,1736379357.642 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:57.643Z,1736379357.643 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:57.669Z,1736379357.669 [DAT](INFO): publishing transmit ping time 2025-01-08T23:35:57.669Z,1736379357.669 [DAT](INFO): publishing direction and range info 2025-01-08T23:35:57.722Z,1736379357.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:57.836Z,1736379357.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.699997 m, deltaT: 3.529155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:35:57.838Z,1736379357.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.699997 m, bearing: 123.370009 deg, lat: 36.905296 deg, lon: -122.119905 deg, deltaT: 3.529155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T23:35:57.839Z,1736379357.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:57.846Z,1736379357.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 54.923752 m, bearing: 113.649529 deg, approach rate: 0.000000 m/s, LOS rate: 0.509548 deg/s, cmd heading: 42.786101 deg, new cmd heading: 43.650658 deg. 2025-01-08T23:35:57.847Z,1736379357.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761848 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:57.856Z,1736379357.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:57.857Z,1736379357.857 [DAT](INFO): DAT read: TxSync time:23:35:56.9886 2025-01-08T23:35:57.888Z,1736379357.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:35:58.108Z,1736379358.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:58.227Z,1736379358.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:58.256Z,1736379358.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:35:58.258Z,1736379358.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:58.266Z,1736379358.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 54.830433 m, bearing: 113.905486 deg, approach rate: -0.214086 m/s, LOS rate: 0.588197 deg/s, cmd heading: 43.650656 deg, new cmd heading: 44.419787 deg. 2025-01-08T23:35:58.267Z,1736379358.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775272 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:58.360Z,1736379358.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:58.361Z,1736379358.361 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:35:58.361Z,1736379358.361 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:35:58.362Z,1736379358.362 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:35:58.612Z,1736379358.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:58.612Z,1736379358.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972155 2025-01-08T23:35:58.620Z,1736379358.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:58.629Z,1736379358.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:58.632Z,1736379358.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 54.758453 m, bearing: 114.105606 deg, approach rate: -0.194066 m/s, LOS rate: 0.540256 deg/s, cmd heading: 44.419787 deg, new cmd heading: 45.020913 deg. 2025-01-08T23:35:58.633Z,1736379358.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785763 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:58.864Z,1736379358.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:58.865Z,1736379358.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224216 2025-01-08T23:35:59.023Z,1736379359.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:59.053Z,1736379359.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:59.060Z,1736379359.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 54.687939 m, bearing: 114.293088 deg, approach rate: -0.166589 m/s, LOS rate: 0.443490 deg/s, cmd heading: 45.020912 deg, new cmd heading: 45.584063 deg. 2025-01-08T23:35:59.061Z,1736379359.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795592 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:59.118Z,1736379359.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:59.119Z,1736379359.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478295 2025-01-08T23:35:59.368Z,1736379359.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:59.368Z,1736379359.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728053 2025-01-08T23:35:59.421Z,1736379359.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:59.437Z,1736379359.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:59.444Z,1736379359.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 54.617599 m, bearing: 114.477766 deg, approach rate: -0.182912 m/s, LOS rate: 0.480859 deg/s, cmd heading: 45.584064 deg, new cmd heading: 46.138794 deg. 2025-01-08T23:35:59.445Z,1736379359.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805274 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:35:59.620Z,1736379359.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:59.621Z,1736379359.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980529 2025-01-08T23:35:59.872Z,1736379359.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:35:59.873Z,1736379359.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232214 2025-01-08T23:35:59.912Z,1736379359.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:35:59.929Z,1736379359.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:35:59.944Z,1736379359.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 54.535370 m, bearing: 114.687768 deg, approach rate: -0.167191 m/s, LOS rate: 0.427625 deg/s, cmd heading: 46.138795 deg, new cmd heading: 46.769726 deg. 2025-01-08T23:35:59.945Z,1736379359.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816286 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:36:00.124Z,1736379360.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:00.124Z,1736379360.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484089 2025-01-08T23:36:00.231Z,1736379360.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:00.240Z,1736379360.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:36:00.242Z,1736379360.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 54.481556 m, bearing: 114.823968 deg, approach rate: -0.173371 m/s, LOS rate: 0.439222 deg/s, cmd heading: 46.769727 deg, new cmd heading: 47.178721 deg. 2025-01-08T23:36:00.243Z,1736379360.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823424 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:36:00.377Z,1736379360.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:00.377Z,1736379360.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736967 2025-01-08T23:36:00.628Z,1736379360.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:00.629Z,1736379360.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988450 2025-01-08T23:36:00.638Z,1736379360.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:00.648Z,1736379360.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:00.652Z,1736379360.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:36:00.657Z,1736379360.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 54.413345 m, bearing: 114.998141 deg, approach rate: -0.165715 m/s, LOS rate: 0.423679 deg/s, cmd heading: 47.178722 deg, new cmd heading: 47.701883 deg. 2025-01-08T23:36:00.659Z,1736379360.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832555 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:36:00.882Z,1736379360.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:00.884Z,1736379360.884 [DAT](INFO): DAT read: Rx Time:23:35:59.5488 2025-01-08T23:36:00.885Z,1736379360.885 [DAT](INFO): Rx dataTimestamp_ set to:1736379360.884205 2025-01-08T23:36:00.886Z,1736379360.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245075 2025-01-08T23:36:01.068Z,1736379361.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:01.078Z,1736379361.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.70 m. 2025-01-08T23:36:01.081Z,1736379361.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.699997 m, nav range: 54.349369 m, bearing: 115.168301 deg, approach rate: -0.150057 m/s, LOS rate: 0.399580 deg/s, cmd heading: 47.701884 deg, new cmd heading: 48.212949 deg. 2025-01-08T23:36:01.082Z,1736379361.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841475 target range: 116.699997 and range: 116.70 m. 2025-01-08T23:36:01.132Z,1736379361.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:01.133Z,1736379361.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492291 2025-01-08T23:36:01.384Z,1736379361.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:01.392Z,1736379361.392 [DAT](INFO): DAT read: 23:35:59.5488 LVL= 15456, 28225, 24050, 31571, AGC= 60, IDX= 435,-0.25,-1.403,-2.075, 2.930,-2.324, PHS= 1.009, 0.296,-1.032, RAW= 50.1, -3.1, CAL= 52.5, -6.9, ROT= 97.5, 6.9 2025-01-08T23:36:01.394Z,1736379361.394 [DAT](INFO): got valid direction response: 23:35:59.5488 LVL= 15456, 28225, 24050, 31571, AGC= 60, IDX= 435,-0.25,-1.403,-2.075, 2.930,-2.324, PHS= 1.009, 0.296,-1.032, RAW= 50.1, -3.1, CAL= 52.5, -6.9, ROT= 97.5, 6.9 2025-01-08T23:36:01.412Z,1736379361.412 [DAT](INFO): DAT read: Bearing 97.5, 6.9 (Local) 2025-01-08T23:36:01.413Z,1736379361.413 [DAT](INFO): Local bearing/azimuth received: Bearing 97.5, 6.9 (Local) 2025-01-08T23:36:01.434Z,1736379361.434 [DAT](INFO): DAT read: Range 10 to 50 : 116.4 m (Round-trip 155.2 ms) speed -0.2 m/s 2025-01-08T23:36:01.438Z,1736379361.438 [DAT](INFO): DAT read: user:3365> 2025-01-08T23:36:01.438Z,1736379361.438 [DAT](INFO): DAT read: Tx time:23:36:00.6394 2025-01-08T23:36:01.439Z,1736379361.439 [DAT](INFO): Ping request sent. 2025-01-08T23:36:01.439Z,1736379361.439 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:01.460Z,1736379361.460 [DAT](INFO): DAT read: TxSync time:23:36:00.6386 2025-01-08T23:36:01.461Z,1736379361.461 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:36:01.462Z,1736379361.462 [DAT](INFO): direction in FSK: [0.048220,0.697084,0.715366] 2025-01-08T23:36:01.462Z,1736379361.462 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:01.462Z,1736379361.462 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:01.496Z,1736379361.496 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:01.496Z,1736379361.496 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:01.507Z,1736379361.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:01.550Z,1736379361.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.400002 m, deltaT: 3.778300 s, deltaX: -0.299995 m, approachRate: -0.079400 m/s, rangeRepo size: 4 2025-01-08T23:36:01.556Z,1736379361.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.400002 m, bearing: 127.204143 deg, lat: 36.905286 deg, lon: -122.119912 deg, deltaT: 3.778300 s, deltaX: -0.299995 m, approachRate: -0.079400 m/s, posRepo size: 4 2025-01-08T23:36:01.557Z,1736379361.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-01-08T23:36:01.568Z,1736379361.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.400002 m, nav range: 54.230450 m, bearing: 116.634801 deg, approach rate: 0.000000 m/s, LOS rate: 0.399580 deg/s, cmd heading: 48.212950 deg, new cmd heading: 48.778093 deg. 2025-01-08T23:36:01.569Z,1736379361.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.851338 target range: 116.400002 and range: 116.40 m. 2025-01-08T23:36:01.636Z,1736379361.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:01.888Z,1736379361.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:01.948Z,1736379361.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:01.957Z,1736379361.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-01-08T23:36:01.977Z,1736379361.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.400002 m, nav range: 54.172932 m, bearing: 116.797279 deg, approach rate: -0.140900 m/s, LOS rate: 0.398442 deg/s, cmd heading: 48.778093 deg, new cmd heading: 49.266034 deg. 2025-01-08T23:36:01.978Z,1736379361.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.859855 target range: 116.400002 and range: 116.40 m. 2025-01-08T23:36:02.140Z,1736379362.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:02.301Z,1736379362.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:02.327Z,1736379362.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-01-08T23:36:02.330Z,1736379362.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.400002 m, nav range: 54.127361 m, bearing: 116.927150 deg, approach rate: -0.123245 m/s, LOS rate: 0.351531 deg/s, cmd heading: 49.266035 deg, new cmd heading: 49.655970 deg. 2025-01-08T23:36:02.331Z,1736379362.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.866660 target range: 116.400002 and range: 116.40 m. 2025-01-08T23:36:02.392Z,1736379362.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:02.644Z,1736379362.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:02.698Z,1736379362.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:02.705Z,1736379362.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:02.706Z,1736379362.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-01-08T23:36:02.710Z,1736379362.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.400002 m, nav range: 54.070976 m, bearing: 117.071449 deg, approach rate: -0.148496 m/s, LOS rate: 0.380422 deg/s, cmd heading: 49.655970 deg, new cmd heading: 50.089308 deg. 2025-01-08T23:36:02.712Z,1736379362.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874223 target range: 116.400002 and range: 116.40 m. 2025-01-08T23:36:02.898Z,1736379362.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:02.900Z,1736379362.900 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:02.900Z,1736379362.900 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:02.901Z,1736379362.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:03.111Z,1736379363.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:03.120Z,1736379363.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-01-08T23:36:03.123Z,1736379363.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.400002 m, nav range: 54.019928 m, bearing: 117.219452 deg, approach rate: -0.123603 m/s, LOS rate: 0.358699 deg/s, cmd heading: 50.089308 deg, new cmd heading: 50.533728 deg. 2025-01-08T23:36:03.124Z,1736379363.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.881980 target range: 116.400002 and range: 116.40 m. 2025-01-08T23:36:03.148Z,1736379363.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:03.148Z,1736379363.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709385 2025-01-08T23:36:03.400Z,1736379363.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:03.400Z,1736379363.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961423 2025-01-08T23:36:03.490Z,1736379363.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:03.499Z,1736379363.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-01-08T23:36:03.502Z,1736379363.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.400002 m, nav range: 53.972847 m, bearing: 117.354997 deg, approach rate: -0.124034 m/s, LOS rate: 0.357402 deg/s, cmd heading: 50.533728 deg, new cmd heading: 50.940709 deg. 2025-01-08T23:36:03.503Z,1736379363.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.889083 target range: 116.400002 and range: 116.40 m. 2025-01-08T23:36:03.652Z,1736379363.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:03.653Z,1736379363.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214304 2025-01-08T23:36:03.906Z,1736379363.906 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:03.908Z,1736379363.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468656 2025-01-08T23:36:03.960Z,1736379363.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:03.968Z,1736379363.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-01-08T23:36:03.971Z,1736379363.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.400002 m, nav range: 53.914913 m, bearing: 117.532819 deg, approach rate: -0.123461 m/s, LOS rate: 0.379357 deg/s, cmd heading: 50.940709 deg, new cmd heading: 51.474732 deg. 2025-01-08T23:36:03.972Z,1736379363.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.898404 target range: 116.400002 and range: 116.40 m. 2025-01-08T23:36:04.156Z,1736379364.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:04.156Z,1736379364.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717371 2025-01-08T23:36:04.299Z,1736379364.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:04.307Z,1736379364.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-01-08T23:36:04.310Z,1736379364.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.400002 m, nav range: 53.872684 m, bearing: 117.661094 deg, approach rate: -0.124643 m/s, LOS rate: 0.378916 deg/s, cmd heading: 51.474730 deg, new cmd heading: 51.859851 deg. 2025-01-08T23:36:04.311Z,1736379364.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.905125 target range: 116.400002 and range: 116.40 m. 2025-01-08T23:36:04.408Z,1736379364.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:04.409Z,1736379364.409 [DAT](INFO): DAT read: Rx Time:23:36:03.1986 2025-01-08T23:36:04.410Z,1736379364.410 [DAT](INFO): Rx dataTimestamp_ set to:1736379364.409072 2025-01-08T23:36:04.410Z,1736379364.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971339 2025-01-08T23:36:04.660Z,1736379364.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:04.661Z,1736379364.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222145 2025-01-08T23:36:04.739Z,1736379364.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:04.754Z,1736379364.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:04.761Z,1736379364.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.40 m. 2025-01-08T23:36:04.768Z,1736379364.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.400002 m, nav range: 53.817150 m, bearing: 117.827417 deg, approach rate: -0.122435 m/s, LOS rate: 0.367067 deg/s, cmd heading: 51.859851 deg, new cmd heading: 52.359324 deg. 2025-01-08T23:36:04.772Z,1736379364.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.913843 target range: 116.400002 and range: 116.40 m. 2025-01-08T23:36:04.920Z,1736379364.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:04.948Z,1736379364.948 [DAT](INFO): DAT read: 23:36:03.1986 LVL= 11760, 26609, 22514, 32755, AGC= 59, IDX= 416, 0.35,-0.229,-1.013,-2.323,-1.276, PHS= 1.135, 0.310,-1.050, RAW= 52.0, -4.2, CAL= 55.5, -8.6, ROT= 94.5, 8.6 2025-01-08T23:36:04.949Z,1736379364.949 [DAT](INFO): got valid direction response: 23:36:03.1986 LVL= 11760, 26609, 22514, 32755, AGC= 59, IDX= 416, 0.35,-0.229,-1.013,-2.323,-1.276, PHS= 1.135, 0.310,-1.050, RAW= 52.0, -4.2, CAL= 55.5, -8.6, ROT= 94.5, 8.6 2025-01-08T23:36:04.950Z,1736379364.950 [DAT](INFO): DAT read: Bearing 94.5, 8.6 (Local) 2025-01-08T23:36:04.950Z,1736379364.950 [DAT](INFO): Local bearing/azimuth received: Bearing 94.5, 8.6 (Local) 2025-01-08T23:36:04.957Z,1736379364.957 [DAT](INFO): DAT read: Range 10 to 50 : 116.2 m (Round-trip 155.0 ms) speed 0.0 m/s 2025-01-08T23:36:04.958Z,1736379364.958 [DAT](INFO): DAT read: user:3366> 2025-01-08T23:36:04.958Z,1736379364.958 [DAT](INFO): DAT read: Tx time:23:36:04.2894 2025-01-08T23:36:04.963Z,1736379364.963 [DAT](INFO): Ping request sent. 2025-01-08T23:36:04.963Z,1736379364.963 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:04.964Z,1736379364.964 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:36:04.965Z,1736379364.965 [DAT](INFO): direction in FSK: [0.064876,0.673505,0.736330] 2025-01-08T23:36:04.965Z,1736379364.965 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:04.966Z,1736379364.966 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:04.975Z,1736379364.975 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:04.980Z,1736379364.980 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:05.168Z,1736379365.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:05.169Z,1736379365.169 [DAT](INFO): DAT read: TxSync time:23:36:04.2886 2025-01-08T23:36:05.172Z,1736379365.172 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:36:05.200Z,1736379365.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:05.225Z,1736379365.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.199997 m, deltaT: 3.536395 s, deltaX: -0.200005 m, approachRate: -0.056556 m/s, rangeRepo size: 4 2025-01-08T23:36:05.240Z,1736379365.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.199997 m, bearing: 128.550677 deg, lat: 36.905219 deg, lon: -122.119914 deg, deltaT: 3.536395 s, deltaX: -0.200005 m, approachRate: -0.056556 m/s, posRepo size: 4 2025-01-08T23:36:05.241Z,1736379365.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:36:05.249Z,1736379365.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 57.536739 m, bearing: 124.662690 deg, approach rate: 0.000000 m/s, LOS rate: 0.367067 deg/s, cmd heading: 52.359325 deg, new cmd heading: 52.870076 deg. 2025-01-08T23:36:05.249Z,1736379365.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.922757 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:36:05.420Z,1736379365.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:05.554Z,1736379365.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:05.571Z,1736379365.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:36:05.578Z,1736379365.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 57.508827 m, bearing: 124.802008 deg, approach rate: -0.080603 m/s, LOS rate: 0.402509 deg/s, cmd heading: 52.870076 deg, new cmd heading: 53.288227 deg. 2025-01-08T23:36:05.584Z,1736379365.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.930055 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:36:05.673Z,1736379365.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:05.926Z,1736379365.926 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:06.001Z,1736379366.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:06.010Z,1736379366.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:36:06.013Z,1736379366.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 57.461960 m, bearing: 124.994811 deg, approach rate: -0.106680 m/s, LOS rate: 0.439218 deg/s, cmd heading: 53.288227 deg, new cmd heading: 53.867087 deg. 2025-01-08T23:36:06.014Z,1736379366.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940158 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:36:06.177Z,1736379366.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:06.360Z,1736379366.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:06.373Z,1736379366.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:36:06.399Z,1736379366.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 57.423748 m, bearing: 125.149804 deg, approach rate: -0.105443 m/s, LOS rate: 0.427977 deg/s, cmd heading: 53.867086 deg, new cmd heading: 54.332364 deg. 2025-01-08T23:36:06.401Z,1736379366.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.948279 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:36:06.428Z,1736379366.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:06.680Z,1736379366.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:06.764Z,1736379366.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:06.771Z,1736379366.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:06.773Z,1736379366.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:36:06.777Z,1736379366.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 57.380150 m, bearing: 125.324036 deg, approach rate: -0.108788 m/s, LOS rate: 0.435079 deg/s, cmd heading: 54.332365 deg, new cmd heading: 54.855441 deg. 2025-01-08T23:36:06.778Z,1736379366.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.957408 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:36:06.934Z,1736379366.934 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:06.938Z,1736379366.938 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:06.938Z,1736379366.938 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:06.939Z,1736379366.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:07.183Z,1736379367.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:07.184Z,1736379367.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:07.184Z,1736379367.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221020 2025-01-08T23:36:07.215Z,1736379367.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:36:07.218Z,1736379367.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 57.330986 m, bearing: 125.517756 deg, approach rate: -0.112286 m/s, LOS rate: 0.442817 deg/s, cmd heading: 54.855442 deg, new cmd heading: 55.437079 deg. 2025-01-08T23:36:07.223Z,1736379367.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.967560 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:36:07.436Z,1736379367.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:07.436Z,1736379367.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472957 2025-01-08T23:36:07.577Z,1736379367.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:07.586Z,1736379367.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:36:07.588Z,1736379367.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 57.285236 m, bearing: 125.700698 deg, approach rate: -0.122195 m/s, LOS rate: 0.489018 deg/s, cmd heading: 55.437080 deg, new cmd heading: 55.986328 deg. 2025-01-08T23:36:07.589Z,1736379367.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.977146 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:36:07.693Z,1736379367.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:07.694Z,1736379367.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730478 2025-01-08T23:36:07.945Z,1736379367.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:07.948Z,1736379367.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983707 2025-01-08T23:36:08.032Z,1736379368.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:08.041Z,1736379368.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:36:08.045Z,1736379368.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 57.213589 m, bearing: 125.926734 deg, approach rate: -0.157364 m/s, LOS rate: 0.497077 deg/s, cmd heading: 55.986326 deg, new cmd heading: 56.665250 deg. 2025-01-08T23:36:08.046Z,1736379368.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988995 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:36:08.197Z,1736379368.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:08.199Z,1736379368.199 [DAT](INFO): DAT read: Rx Time:23:36:06.8485 2025-01-08T23:36:08.200Z,1736379368.200 [DAT](INFO): Rx dataTimestamp_ set to:1736379368.199406 2025-01-08T23:36:08.201Z,1736379368.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237681 2025-01-08T23:36:08.382Z,1736379368.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:08.401Z,1736379368.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:36:08.405Z,1736379368.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 57.157627 m, bearing: 126.099927 deg, approach rate: -0.155361 m/s, LOS rate: 0.481289 deg/s, cmd heading: 56.665251 deg, new cmd heading: 57.185322 deg. 2025-01-08T23:36:08.406Z,1736379368.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.998072 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:36:08.448Z,1736379368.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:08.449Z,1736379368.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485198 2025-01-08T23:36:08.700Z,1736379368.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:08.706Z,1736379368.706 [DAT](INFO): DAT read: 23:36:06.8485 LVL= 12016, 25201, 16994, 25123, AGC= 57, IDX= 446, 0.18, 2.055, 1.234, 0.017, 1.005, PHS= 1.138, 0.275,-0.991, RAW= 53.7, -4.6, CAL= 57.9, -9.4, ROT= 92.1, 9.4 2025-01-08T23:36:08.707Z,1736379368.707 [DAT](INFO): got valid direction response: 23:36:06.8485 LVL= 12016, 25201, 16994, 25123, AGC= 57, IDX= 446, 0.18, 2.055, 1.234, 0.017, 1.005, PHS= 1.138, 0.275,-0.991, RAW= 53.7, -4.6, CAL= 57.9, -9.4, ROT= 92.1, 9.4 2025-01-08T23:36:08.708Z,1736379368.708 [DAT](INFO): DAT read: Bearing 92.1, 9.4 (Local) 2025-01-08T23:36:08.709Z,1736379368.709 [DAT](INFO): Local bearing/azimuth received: Bearing 92.1, 9.4 (Local) 2025-01-08T23:36:08.711Z,1736379368.711 [DAT](INFO): DAT read: Range 10 to 50 : 116.1 m (Round-trip 154.8 ms) speed 0.0 m/s 2025-01-08T23:36:08.711Z,1736379368.711 [DAT](INFO): DAT read: user:3367> 2025-01-08T23:36:08.712Z,1736379368.712 [DAT](INFO): DAT read: Tx time:23:36:07.9395 2025-01-08T23:36:08.712Z,1736379368.712 [DAT](INFO): Ping request sent. 2025-01-08T23:36:08.713Z,1736379368.713 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:08.713Z,1736379368.713 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:36:08.714Z,1736379368.714 [DAT](INFO): direction in FSK: [0.068972,0.650702,0.756194] 2025-01-08T23:36:08.714Z,1736379368.714 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:08.714Z,1736379368.714 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:08.717Z,1736379368.717 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:08.718Z,1736379368.718 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:08.793Z,1736379368.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:08.840Z,1736379368.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.099998 m, deltaT: 3.779516 s, deltaX: -0.099998 m, approachRate: -0.026458 m/s, rangeRepo size: 4 2025-01-08T23:36:08.843Z,1736379368.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.099998 m, bearing: 132.238798 deg, lat: 36.905180 deg, lon: -122.119933 deg, deltaT: 3.779516 s, deltaX: -0.099998 m, approachRate: -0.026458 m/s, posRepo size: 4 2025-01-08T23:36:08.848Z,1736379368.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T23:36:08.850Z,1736379368.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 58.453377 m, bearing: 130.732394 deg, approach rate: 0.000000 m/s, LOS rate: 0.481289 deg/s, cmd heading: 57.185322 deg, new cmd heading: 57.811810 deg. 2025-01-08T23:36:08.856Z,1736379368.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009006 target range: 116.099998 and range: 116.10 m. 2025-01-08T23:36:08.954Z,1736379368.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:08.958Z,1736379368.958 [DAT](INFO): DAT read: TxSync time:23:36:07.9387 2025-01-08T23:36:09.204Z,1736379369.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:09.338Z,1736379369.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:09.365Z,1736379369.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:09.367Z,1736379369.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T23:36:09.382Z,1736379369.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 58.365372 m, bearing: 131.021395 deg, approach rate: -0.165442 m/s, LOS rate: 0.544115 deg/s, cmd heading: 57.811807 deg, new cmd heading: 58.680049 deg. 2025-01-08T23:36:09.383Z,1736379369.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.024160 target range: 116.099998 and range: 116.10 m. 2025-01-08T23:36:09.456Z,1736379369.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:09.457Z,1736379369.457 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:09.457Z,1736379369.457 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:09.458Z,1736379369.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:09.708Z,1736379369.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:09.709Z,1736379369.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996568 2025-01-08T23:36:09.837Z,1736379369.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:09.853Z,1736379369.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T23:36:09.860Z,1736379369.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 58.277508 m, bearing: 131.283442 deg, approach rate: -0.180620 m/s, LOS rate: 0.539496 deg/s, cmd heading: 58.680047 deg, new cmd heading: 59.467320 deg. 2025-01-08T23:36:09.861Z,1736379369.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.037901 target range: 116.099998 and range: 116.10 m. 2025-01-08T23:36:09.962Z,1736379369.962 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:09.964Z,1736379369.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251225 2025-01-08T23:36:10.212Z,1736379370.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:10.212Z,1736379370.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499866 2025-01-08T23:36:10.264Z,1736379370.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:10.281Z,1736379370.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T23:36:10.288Z,1736379370.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 58.187973 m, bearing: 131.521159 deg, approach rate: -0.209522 m/s, LOS rate: 0.557140 deg/s, cmd heading: 59.467322 deg, new cmd heading: 60.181531 deg. 2025-01-08T23:36:10.289Z,1736379370.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.050366 target range: 116.099998 and range: 116.10 m. 2025-01-08T23:36:10.465Z,1736379370.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:10.466Z,1736379370.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753171 2025-01-08T23:36:10.619Z,1736379370.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:10.646Z,1736379370.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T23:36:10.655Z,1736379370.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 58.112350 m, bearing: 131.718128 deg, approach rate: -0.207260 m/s, LOS rate: 0.540538 deg/s, cmd heading: 60.181528 deg, new cmd heading: 60.773181 deg. 2025-01-08T23:36:10.665Z,1736379370.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.060692 target range: 116.099998 and range: 116.10 m. 2025-01-08T23:36:10.716Z,1736379370.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:10.717Z,1736379370.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004804 2025-01-08T23:36:10.970Z,1736379370.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:10.972Z,1736379370.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258949 2025-01-08T23:36:11.085Z,1736379371.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:11.096Z,1736379371.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T23:36:11.098Z,1736379371.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 57.997486 m, bearing: 131.985045 deg, approach rate: -0.255350 m/s, LOS rate: 0.594545 deg/s, cmd heading: 60.773179 deg, new cmd heading: 61.575461 deg. 2025-01-08T23:36:11.100Z,1736379371.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074695 target range: 116.099998 and range: 116.10 m. 2025-01-08T23:36:11.220Z,1736379371.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:11.221Z,1736379371.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508106 2025-01-08T23:36:11.427Z,1736379371.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:11.433Z,1736379371.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:11.437Z,1736379371.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T23:36:11.444Z,1736379371.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 57.911724 m, bearing: 132.179634 deg, approach rate: -0.252328 m/s, LOS rate: 0.573364 deg/s, cmd heading: 61.575460 deg, new cmd heading: 62.160070 deg. 2025-01-08T23:36:11.447Z,1736379371.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.084898 target range: 116.099998 and range: 116.10 m. 2025-01-08T23:36:11.472Z,1736379371.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:11.473Z,1736379371.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759936 2025-01-08T23:36:11.724Z,1736379371.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:11.724Z,1736379371.724 [DAT](INFO): DAT read: Rx Time:23:36:10.4977 2025-01-08T23:36:11.725Z,1736379371.725 [DAT](INFO): Rx dataTimestamp_ set to:1736379371.724547 2025-01-08T23:36:11.726Z,1736379371.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012754 2025-01-08T23:36:11.836Z,1736379371.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:11.846Z,1736379371.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.10 m. 2025-01-08T23:36:11.849Z,1736379371.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.099998 m, nav range: 57.806602 m, bearing: 132.412591 deg, approach rate: -0.256049 m/s, LOS rate: 0.568454 deg/s, cmd heading: 62.160069 deg, new cmd heading: 62.860177 deg. 2025-01-08T23:36:11.850Z,1736379371.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.097117 target range: 116.099998 and range: 116.10 m. 2025-01-08T23:36:11.978Z,1736379371.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:11.982Z,1736379371.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268664 2025-01-08T23:36:12.228Z,1736379372.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:12.235Z,1736379372.235 [DAT](INFO): DAT read: 23:36:10.4977 LVL= 14320, 25297, 16706, 25203, AGC= 59, IDX= 437, 0.31,-0.297,-1.231,-2.316,-1.425, PHS= 1.217, 0.242,-0.893, RAW= 57.5, -6.2, CAL= 63.8, -12.0, ROT= 86.2, 12.0 2025-01-08T23:36:12.236Z,1736379372.236 [DAT](INFO): got valid direction response: 23:36:10.4977 LVL= 14320, 25297, 16706, 25203, AGC= 59, IDX= 437, 0.31,-0.297,-1.231,-2.316,-1.425, PHS= 1.217, 0.242,-0.893, RAW= 57.5, -6.2, CAL= 63.8, -12.0, ROT= 86.2, 12.0 2025-01-08T23:36:12.237Z,1736379372.237 [DAT](INFO): DAT read: Bearing 86.2, 12.0 (Local) 2025-01-08T23:36:12.238Z,1736379372.238 [DAT](INFO): Local bearing/azimuth received: Bearing 86.2, 12.0 (Local) 2025-01-08T23:36:12.239Z,1736379372.239 [DAT](INFO): DAT read: Range 10 to 50 : 115.5 m (Round-trip 154.1 ms) speed 0.0 m/s 2025-01-08T23:36:12.240Z,1736379372.240 [DAT](INFO): DAT read: user:3368> 2025-01-08T23:36:12.241Z,1736379372.241 [DAT](INFO): DAT read: Tx time:23:36:11.5895 2025-01-08T23:36:12.241Z,1736379372.241 [DAT](INFO): Ping request sent. 2025-01-08T23:36:12.241Z,1736379372.241 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:12.242Z,1736379372.242 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:36:12.244Z,1736379372.244 [DAT](INFO): direction in FSK: [0.091963,0.600063,0.794649] 2025-01-08T23:36:12.244Z,1736379372.244 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:12.244Z,1736379372.244 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:12.247Z,1736379372.247 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:12.248Z,1736379372.248 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:12.338Z,1736379372.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:12.405Z,1736379372.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.500000 m, deltaT: 3.528422 s, deltaX: -0.599998 m, approachRate: -0.170047 m/s, rangeRepo size: 4 2025-01-08T23:36:12.407Z,1736379372.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.500000 m, bearing: 135.472127 deg, lat: 36.905180 deg, lon: -122.119949 deg, deltaT: 3.528422 s, deltaX: -0.599998 m, approachRate: -0.170047 m/s, posRepo size: 4 2025-01-08T23:36:12.412Z,1736379372.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:36:12.414Z,1736379372.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 56.618027 m, bearing: 133.687803 deg, approach rate: 0.000000 m/s, LOS rate: 0.568454 deg/s, cmd heading: 62.860178 deg, new cmd heading: 63.811974 deg. 2025-01-08T23:36:12.420Z,1736379372.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113729 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:36:12.480Z,1736379372.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:12.481Z,1736379372.481 [DAT](INFO): DAT read: TxSync time:23:36:11.5887 2025-01-08T23:36:12.729Z,1736379372.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:12.732Z,1736379372.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:12.755Z,1736379372.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:36:12.758Z,1736379372.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 56.513653 m, bearing: 133.915447 deg, approach rate: -0.297510 m/s, LOS rate: 0.650080 deg/s, cmd heading: 63.811971 deg, new cmd heading: 64.496131 deg. 2025-01-08T23:36:12.764Z,1736379372.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125670 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:36:12.984Z,1736379372.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:13.131Z,1736379373.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:13.140Z,1736379373.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:36:13.163Z,1736379373.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 56.407444 m, bearing: 134.138833 deg, approach rate: -0.276121 m/s, LOS rate: 0.581849 deg/s, cmd heading: 64.496131 deg, new cmd heading: 65.167518 deg. 2025-01-08T23:36:13.164Z,1736379373.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137388 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:36:13.237Z,1736379373.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:13.488Z,1736379373.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:13.532Z,1736379373.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:13.539Z,1736379373.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:13.541Z,1736379373.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:36:13.545Z,1736379373.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 56.302067 m, bearing: 134.363120 deg, approach rate: -0.262369 m/s, LOS rate: 0.559476 deg/s, cmd heading: 65.167518 deg, new cmd heading: 65.841605 deg. 2025-01-08T23:36:13.546Z,1736379373.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149153 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:36:13.740Z,1736379373.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:13.740Z,1736379373.740 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:13.740Z,1736379373.740 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:13.741Z,1736379373.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:13.925Z,1736379373.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:13.934Z,1736379373.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:36:13.937Z,1736379373.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 56.193226 m, bearing: 134.579850 deg, approach rate: -0.276684 m/s, LOS rate: 0.552015 deg/s, cmd heading: 65.841603 deg, new cmd heading: 66.493023 deg. 2025-01-08T23:36:13.938Z,1736379373.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160522 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:36:13.992Z,1736379373.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:13.995Z,1736379373.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753039 2025-01-08T23:36:14.244Z,1736379374.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:14.244Z,1736379374.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003058 2025-01-08T23:36:14.362Z,1736379374.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:14.370Z,1736379374.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:36:14.373Z,1736379374.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 56.079670 m, bearing: 134.811952 deg, approach rate: -0.260680 m/s, LOS rate: 0.533892 deg/s, cmd heading: 66.493025 deg, new cmd heading: 67.190705 deg. 2025-01-08T23:36:14.374Z,1736379374.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.172699 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:36:14.496Z,1736379374.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:14.497Z,1736379374.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256124 2025-01-08T23:36:14.748Z,1736379374.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:14.748Z,1736379374.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507132 2025-01-08T23:36:14.769Z,1736379374.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:14.779Z,1736379374.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:36:14.802Z,1736379374.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 55.972042 m, bearing: 135.028464 deg, approach rate: -0.263408 m/s, LOS rate: 0.530906 deg/s, cmd heading: 67.190702 deg, new cmd heading: 67.841456 deg. 2025-01-08T23:36:14.803Z,1736379374.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.184057 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:36:14.000Z,1736379375.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:15.001Z,1736379375.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759320 2025-01-08T23:36:15.219Z,1736379375.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:15.229Z,1736379375.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:36:15.231Z,1736379375.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 55.860954 m, bearing: 135.252761 deg, approach rate: -0.246939 m/s, LOS rate: 0.499584 deg/s, cmd heading: 67.841455 deg, new cmd heading: 68.515653 deg. 2025-01-08T23:36:15.232Z,1736379375.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195824 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:36:15.252Z,1736379375.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:15.252Z,1736379375.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011186 2025-01-08T23:36:15.505Z,1736379375.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:15.506Z,1736379375.506 [DAT](INFO): DAT read: Rx Time:23:36:14.1464 2025-01-08T23:36:15.508Z,1736379375.508 [DAT](INFO): Rx dataTimestamp_ set to:1736379375.506847 2025-01-08T23:36:15.509Z,1736379375.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267620 2025-01-08T23:36:15.607Z,1736379375.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:15.615Z,1736379375.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:15.617Z,1736379375.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:36:15.620Z,1736379375.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 55.763710 m, bearing: 135.446250 deg, approach rate: -0.250339 m/s, LOS rate: 0.498973 deg/s, cmd heading: 68.515656 deg, new cmd heading: 69.097114 deg. 2025-01-08T23:36:15.621Z,1736379375.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205972 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:36:15.756Z,1736379375.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:15.757Z,1736379375.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515240 2025-01-08T23:36:16.004Z,1736379376.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:16.010Z,1736379376.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:16.029Z,1736379376.029 [DAT](INFO): DAT read: 23:36:14.1464 LVL= 15568, 23985, 16114, 24243, AGC= 58, IDX= 425,-0.02,-2.854, 2.183, 1.452, 2.265, PHS= 1.252,-0.035,-0.816, RAW= 68.0, -4.5, CAL= 75.3, -10.3, ROT= 74.7, 10.3 2025-01-08T23:36:16.053Z,1736379376.053 [DAT](INFO): got valid direction response: 23:36:14.1464 LVL= 15568, 23985, 16114, 24243, AGC= 58, IDX= 425,-0.02,-2.854, 2.183, 1.452, 2.265, PHS= 1.252,-0.035,-0.816, RAW= 68.0, -4.5, CAL= 75.3, -10.3, ROT= 74.7, 10.3 2025-01-08T23:36:16.066Z,1736379376.066 [DAT](INFO): DAT read: Bearing 74.7, 10.3 (Local) 2025-01-08T23:36:16.067Z,1736379376.067 [DAT](INFO): Local bearing/azimuth received: Bearing 74.7, 10.3 (Local) 2025-01-08T23:36:16.090Z,1736379376.090 [DAT](INFO): DAT read: Range 10 to 50 : 114.6 m (Round-trip 152.8 ms) speed 0.2 m/s 2025-01-08T23:36:16.101Z,1736379376.101 [DAT](INFO): DAT read: user:3369> 2025-01-08T23:36:16.102Z,1736379376.102 [DAT](INFO): DAT read: Tx time:23:36:15.2395 2025-01-08T23:36:16.102Z,1736379376.102 [DAT](INFO): Ping request sent. 2025-01-08T23:36:16.103Z,1736379376.103 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:16.110Z,1736379376.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m. 2025-01-08T23:36:16.112Z,1736379376.112 [DAT](INFO): DAT read: TxSync time:23:36:15.2387 2025-01-08T23:36:16.112Z,1736379376.112 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:36:16.113Z,1736379376.113 [DAT](INFO): direction in FSK: [0.038642,0.457252,0.888497] 2025-01-08T23:36:16.113Z,1736379376.113 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:16.114Z,1736379376.114 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:16.125Z,1736379376.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.500000 m, nav range: 55.663185 m, bearing: 135.643298 deg, approach rate: -0.204051 m/s, LOS rate: 0.400699 deg/s, cmd heading: 69.097117 deg, new cmd heading: 69.689305 deg. 2025-01-08T23:36:16.127Z,1736379376.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216308 target range: 115.500000 and range: 115.50 m. 2025-01-08T23:36:16.130Z,1736379376.130 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:16.130Z,1736379376.130 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:16.260Z,1736379376.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:16.475Z,1736379376.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:16.512Z,1736379376.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:16.513Z,1736379376.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.599998 m, deltaT: 3.782124 s, deltaX: -0.900002 m, approachRate: -0.237962 m/s, rangeRepo size: 4 2025-01-08T23:36:16.520Z,1736379376.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.599998 m, bearing: 147.420575 deg, lat: 36.905180 deg, lon: -122.119959 deg, deltaT: 3.782124 s, deltaX: -0.900002 m, approachRate: -0.237962 m/s, posRepo size: 4 2025-01-08T23:36:16.520Z,1736379376.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:36:16.523Z,1736379376.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 54.979408 m, bearing: 136.489070 deg, approach rate: 0.000000 m/s, LOS rate: 0.400699 deg/s, cmd heading: 69.689308 deg, new cmd heading: 70.166124 deg. 2025-01-08T23:36:16.528Z,1736379376.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224630 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:36:16.766Z,1736379376.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:16.833Z,1736379376.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:16.847Z,1736379376.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:36:16.850Z,1736379376.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 54.900249 m, bearing: 136.657705 deg, approach rate: -0.232339 m/s, LOS rate: 0.495674 deg/s, cmd heading: 70.166124 deg, new cmd heading: 70.672745 deg. 2025-01-08T23:36:16.851Z,1736379376.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233472 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:36:17.020Z,1736379377.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:17.274Z,1736379377.274 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:17.307Z,1736379377.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:17.317Z,1736379377.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:36:17.319Z,1736379377.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 54.812332 m, bearing: 136.872097 deg, approach rate: -0.187272 m/s, LOS rate: 0.457404 deg/s, cmd heading: 70.672746 deg, new cmd heading: 71.316923 deg. 2025-01-08T23:36:17.320Z,1736379377.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.244715 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:36:17.524Z,1736379377.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:17.644Z,1736379377.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:17.662Z,1736379377.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:17.670Z,1736379377.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:36:17.675Z,1736379377.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 54.748562 m, bearing: 137.024081 deg, approach rate: -0.181815 m/s, LOS rate: 0.433825 deg/s, cmd heading: 71.316922 deg, new cmd heading: 71.773394 deg. 2025-01-08T23:36:17.692Z,1736379377.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252682 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:36:17.776Z,1736379377.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:17.777Z,1736379377.777 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:17.777Z,1736379377.777 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:17.777Z,1736379377.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:18.028Z,1736379378.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:18.029Z,1736379378.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.926462 2025-01-08T23:36:18.050Z,1736379378.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:18.125Z,1736379378.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:36:18.133Z,1736379378.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 54.670593 m, bearing: 137.207504 deg, approach rate: -0.170233 m/s, LOS rate: 0.401048 deg/s, cmd heading: 71.773397 deg, new cmd heading: 72.324434 deg. 2025-01-08T23:36:18.134Z,1736379378.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262300 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:36:18.280Z,1736379378.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:18.280Z,1736379378.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.177951 2025-01-08T23:36:18.504Z,1736379378.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:18.518Z,1736379378.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:36:18.521Z,1736379378.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 54.579433 m, bearing: 137.418240 deg, approach rate: -0.232399 m/s, LOS rate: 0.538137 deg/s, cmd heading: 72.324436 deg, new cmd heading: 72.957671 deg. 2025-01-08T23:36:18.522Z,1736379378.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273352 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:36:18.532Z,1736379378.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:18.532Z,1736379378.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.429962 2025-01-08T23:36:18.784Z,1736379378.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:18.784Z,1736379378.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.681900 2025-01-08T23:36:18.880Z,1736379378.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:18.889Z,1736379378.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:36:18.892Z,1736379378.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 54.504620 m, bearing: 137.593011 deg, approach rate: -0.201571 m/s, LOS rate: 0.471534 deg/s, cmd heading: 72.957670 deg, new cmd heading: 73.482688 deg. 2025-01-08T23:36:18.893Z,1736379378.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282515 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:36:19.036Z,1736379379.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:19.036Z,1736379379.036 [DAT](INFO): DAT read: Rx Time:23:36:17.7955 2025-01-08T23:36:19.037Z,1736379379.037 [DAT](INFO): Rx dataTimestamp_ set to:1736379379.036617 2025-01-08T23:36:19.037Z,1736379379.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.934930 2025-01-08T23:36:19.281Z,1736379379.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:19.288Z,1736379379.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:19.289Z,1736379379.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.186148 2025-01-08T23:36:19.291Z,1736379379.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.60 m. 2025-01-08T23:36:19.295Z,1736379379.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.599998 m, nav range: 54.429523 m, bearing: 137.784889 deg, approach rate: -0.186595 m/s, LOS rate: 0.477424 deg/s, cmd heading: 73.482686 deg, new cmd heading: 74.059093 deg. 2025-01-08T23:36:19.296Z,1736379379.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.292575 target range: 114.599998 and range: 114.60 m. 2025-01-08T23:36:19.540Z,1736379379.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:19.546Z,1736379379.546 [DAT](INFO): DAT read: 23:36:17.7955 LVL= 17504, 29969, 19058, 27315, AGC= 58, IDX= 430,-0.26, 0.750,-0.786,-1.147,-0.386, PHS= 1.225,-0.353,-0.763, RAW= 78.7, -1.2, CAL= 85.3, -6.1, ROT= 64.7, 6.1 2025-01-08T23:36:19.548Z,1736379379.548 [DAT](INFO): got valid direction response: 23:36:17.7955 LVL= 17504, 29969, 19058, 27315, AGC= 58, IDX= 430,-0.26, 0.750,-0.786,-1.147,-0.386, PHS= 1.225,-0.353,-0.763, RAW= 78.7, -1.2, CAL= 85.3, -6.1, ROT= 64.7, 6.1 2025-01-08T23:36:19.550Z,1736379379.550 [DAT](INFO): DAT read: Bearing 64.7, 6.1 (Local) 2025-01-08T23:36:19.550Z,1736379379.550 [DAT](INFO): Local bearing/azimuth received: Bearing 64.7, 6.1 (Local) 2025-01-08T23:36:19.553Z,1736379379.553 [DAT](INFO): DAT read: Range 10 to 50 : 113.7 m (Round-trip 151.7 ms) speed 0.2 m/s 2025-01-08T23:36:19.557Z,1736379379.557 [DAT](INFO): DAT read: user:3370> 2025-01-08T23:36:19.558Z,1736379379.558 [DAT](INFO): DAT read: Tx time:23:36:18.8896 2025-01-08T23:36:19.558Z,1736379379.558 [DAT](INFO): Ping request sent. 2025-01-08T23:36:19.558Z,1736379379.558 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:19.559Z,1736379379.559 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:36:19.574Z,1736379379.574 [DAT](INFO): direction in FSK: [-0.042747,0.295535,0.954375] 2025-01-08T23:36:19.574Z,1736379379.574 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:19.574Z,1736379379.574 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:19.577Z,1736379379.577 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:19.578Z,1736379379.578 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:19.741Z,1736379379.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:19.785Z,1736379379.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.699997 m, deltaT: 3.529488 s, deltaX: -0.900002 m, approachRate: -0.254995 m/s, rangeRepo size: 4 2025-01-08T23:36:19.795Z,1736379379.795 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:19.796Z,1736379379.796 [DAT](INFO): DAT read: TxSync time:23:36:18.8888 2025-01-08T23:36:19.797Z,1736379379.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.699997 m, bearing: 179.752600 deg, lat: 36.905221 deg, lon: -122.120028 deg, deltaT: 3.529488 s, deltaX: -0.900002 m, approachRate: -0.254995 m/s, posRepo size: 4 2025-01-08T23:36:19.798Z,1736379379.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:36:19.809Z,1736379379.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 46.781490 m, bearing: 139.840884 deg, approach rate: 0.000000 m/s, LOS rate: 0.477424 deg/s, cmd heading: 74.059092 deg, new cmd heading: 74.765332 deg. 2025-01-08T23:36:19.810Z,1736379379.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304901 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:36:20.044Z,1736379380.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:20.157Z,1736379380.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:20.172Z,1736379380.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:20.174Z,1736379380.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:36:20.191Z,1736379380.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 46.705681 m, bearing: 140.073988 deg, approach rate: -0.194347 m/s, LOS rate: 0.598560 deg/s, cmd heading: 74.765334 deg, new cmd heading: 75.465744 deg. 2025-01-08T23:36:20.193Z,1736379380.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.317126 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:36:20.296Z,1736379380.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:20.297Z,1736379380.297 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:20.297Z,1736379380.297 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:20.297Z,1736379380.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:20.525Z,1736379380.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:20.541Z,1736379380.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:36:20.549Z,1736379380.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:20.551Z,1736379380.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991773 2025-01-08T23:36:20.552Z,1736379380.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 46.633469 m, bearing: 140.288891 deg, approach rate: -0.196811 m/s, LOS rate: 0.586612 deg/s, cmd heading: 75.465742 deg, new cmd heading: 76.111421 deg. 2025-01-08T23:36:20.553Z,1736379380.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328395 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:36:20.800Z,1736379380.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:20.800Z,1736379380.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241984 2025-01-08T23:36:20.888Z,1736379380.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:20.897Z,1736379380.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:36:20.900Z,1736379380.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 46.560623 m, bearing: 140.500216 deg, approach rate: -0.204825 m/s, LOS rate: 0.595129 deg/s, cmd heading: 76.111421 deg, new cmd heading: 76.746362 deg. 2025-01-08T23:36:20.901Z,1736379380.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339477 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:36:21.052Z,1736379381.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:21.052Z,1736379381.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494034 2025-01-08T23:36:21.305Z,1736379381.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:21.306Z,1736379381.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747346 2025-01-08T23:36:21.318Z,1736379381.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:21.330Z,1736379381.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:36:21.333Z,1736379381.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 46.464092 m, bearing: 140.776233 deg, approach rate: -0.222893 m/s, LOS rate: 0.638655 deg/s, cmd heading: 76.746362 deg, new cmd heading: 77.576072 deg. 2025-01-08T23:36:21.334Z,1736379381.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353958 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:36:21.556Z,1736379381.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:21.557Z,1736379381.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998662 2025-01-08T23:36:21.699Z,1736379381.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:21.708Z,1736379381.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:36:21.713Z,1736379381.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 46.378082 m, bearing: 141.020460 deg, approach rate: -0.227822 m/s, LOS rate: 0.648100 deg/s, cmd heading: 77.576073 deg, new cmd heading: 78.310069 deg. 2025-01-08T23:36:21.732Z,1736379381.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.366768 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:36:21.808Z,1736379381.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:21.809Z,1736379381.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250183 2025-01-08T23:36:22.060Z,1736379382.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:22.061Z,1736379382.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502496 2025-01-08T23:36:22.139Z,1736379382.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:22.189Z,1736379382.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:22.191Z,1736379382.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:36:22.201Z,1736379382.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 46.277817 m, bearing: 141.301679 deg, approach rate: -0.207528 m/s, LOS rate: 0.583321 deg/s, cmd heading: 78.310065 deg, new cmd heading: 79.155485 deg. 2025-01-08T23:36:22.202Z,1736379382.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381524 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:36:22.312Z,1736379382.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:22.313Z,1736379382.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754630 2025-01-08T23:36:22.525Z,1736379382.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:22.541Z,1736379382.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:36:22.561Z,1736379382.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 46.170147 m, bearing: 141.567236 deg, approach rate: -0.306951 m/s, LOS rate: 0.758827 deg/s, cmd heading: 79.155486 deg, new cmd heading: 79.953960 deg. 2025-01-08T23:36:22.562Z,1736379382.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.395460 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:36:22.564Z,1736379382.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:22.564Z,1736379382.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006167 2025-01-08T23:36:22.816Z,1736379382.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:22.816Z,1736379382.816 [DAT](INFO): DAT read: Rx Time:23:36:21.4439 2025-01-08T23:36:22.817Z,1736379382.817 [DAT](INFO): Rx dataTimestamp_ set to:1736379382.816649 2025-01-08T23:36:22.817Z,1736379382.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259133 2025-01-08T23:36:22.909Z,1736379382.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:22.918Z,1736379382.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.70 m. 2025-01-08T23:36:22.921Z,1736379382.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.699997 m, nav range: 46.061920 m, bearing: 141.830313 deg, approach rate: -0.287256 m/s, LOS rate: 0.699899 deg/s, cmd heading: 79.953962 deg, new cmd heading: 80.744996 deg. 2025-01-08T23:36:22.922Z,1736379382.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.409266 target range: 113.699997 and range: 113.70 m. 2025-01-08T23:36:23.068Z,1736379383.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:23.068Z,1736379383.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510025 2025-01-08T23:36:23.320Z,1736379383.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:23.329Z,1736379383.329 [DAT](INFO): DAT read: 23:36:21.4439 LVL= 18272, 27073, 21122, 30963, AGC= 62, IDX= 430,-0.05, 1.125,-0.524,-0.649,-0.018, PHS= 1.231,-0.459,-0.634, RAW= 85.1, -1.6, CAL= 92.5, -6.9, ROT= 57.5, 6.9 2025-01-08T23:36:23.330Z,1736379383.330 [DAT](INFO): got valid direction response: 23:36:21.4439 LVL= 18272, 27073, 21122, 30963, AGC= 62, IDX= 430,-0.05, 1.125,-0.524,-0.649,-0.018, PHS= 1.231,-0.459,-0.634, RAW= 85.1, -1.6, CAL= 92.5, -6.9, ROT= 57.5, 6.9 2025-01-08T23:36:23.331Z,1736379383.331 [DAT](INFO): DAT read: Bearing 57.5, 6.9 (Local) 2025-01-08T23:36:23.331Z,1736379383.331 [DAT](INFO): Local bearing/azimuth received: Bearing 57.5, 6.9 (Local) 2025-01-08T23:36:23.339Z,1736379383.339 [DAT](INFO): DAT read: Range 10 to 50 : 112.5 m (Round-trip 150.1 ms) speed 0.4 m/s 2025-01-08T23:36:23.357Z,1736379383.357 [DAT](INFO): DAT read: user:3371> 2025-01-08T23:36:23.357Z,1736379383.357 [DAT](INFO): DAT read: Tx time:23:36:22.5396 2025-01-08T23:36:23.358Z,1736379383.358 [DAT](INFO): Ping request sent. 2025-01-08T23:36:23.358Z,1736379383.358 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:23.358Z,1736379383.358 [DAT](INFO): DAT read: TxSync time:23:36:22.5388 2025-01-08T23:36:23.364Z,1736379383.364 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:36:23.365Z,1736379383.365 [DAT](INFO): direction in FSK: [-0.047255,0.189306,0.980780] 2025-01-08T23:36:23.365Z,1736379383.365 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:23.365Z,1736379383.365 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:23.380Z,1736379383.380 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:23.381Z,1736379383.381 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:23.422Z,1736379383.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:36:23.423Z,1736379383.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:23.450Z,1736379383.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.500000 m, deltaT: 3.780105 s, deltaX: -1.199997 m, approachRate: -0.317451 m/s, rangeRepo size: 4 2025-01-08T23:36:23.461Z,1736379383.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 112.500000 m, bearing: 299.667069 deg, lat: 36.905314 deg, lon: -122.120205 deg, deltaT: 3.780105 s, deltaX: -1.199997 m, approachRate: -0.317451 m/s, posRepo size: 4 2025-01-08T23:36:23.462Z,1736379383.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:36:23.469Z,1736379383.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 28.835300 m, bearing: 154.424185 deg, approach rate: 0.000000 m/s, LOS rate: 0.699899 deg/s, cmd heading: 80.744994 deg, new cmd heading: 81.861096 deg. 2025-01-08T23:36:23.470Z,1736379383.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428746 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:36:23.572Z,1736379383.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:23.783Z,1736379383.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:36:23.783Z,1736379383.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:23.796Z,1736379383.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:36:23.799Z,1736379383.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 28.776302 m, bearing: 154.847907 deg, approach rate: -0.170380 m/s, LOS rate: 1.226161 deg/s, cmd heading: 81.861094 deg, new cmd heading: 83.134644 deg. 2025-01-08T23:36:23.804Z,1736379383.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.450973 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:36:23.824Z,1736379383.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:24.077Z,1736379384.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:24.229Z,1736379384.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T23:36:24.229Z,1736379384.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:24.236Z,1736379384.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:24.238Z,1736379384.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:36:24.241Z,1736379384.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 28.701033 m, bearing: 155.383337 deg, approach rate: -0.170275 m/s, LOS rate: 1.214407 deg/s, cmd heading: 83.134645 deg, new cmd heading: 84.744700 deg. 2025-01-08T23:36:24.242Z,1736379384.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.479074 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:36:24.329Z,1736379384.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:24.329Z,1736379384.329 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:24.329Z,1736379384.329 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:24.329Z,1736379384.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:24.581Z,1736379384.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:24.582Z,1736379384.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224106 2025-01-08T23:36:24.622Z,1736379384.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:24.651Z,1736379384.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:36:24.660Z,1736379384.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 28.613688 m, bearing: 155.917495 deg, approach rate: -0.213729 m/s, LOS rate: 1.311026 deg/s, cmd heading: 84.744698 deg, new cmd heading: 86.351620 deg. 2025-01-08T23:36:24.662Z,1736379384.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.507120 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:36:24.834Z,1736379384.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:24.835Z,1736379384.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476971 2025-01-08T23:36:24.977Z,1736379384.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:24.986Z,1736379384.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:36:24.989Z,1736379384.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 28.533844 m, bearing: 156.399611 deg, approach rate: -0.235405 m/s, LOS rate: 1.425399 deg/s, cmd heading: 86.351623 deg, new cmd heading: 87.801692 deg. 2025-01-08T23:36:24.990Z,1736379384.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.532429 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:36:25.084Z,1736379385.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:25.085Z,1736379385.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726696 2025-01-08T23:36:25.336Z,1736379385.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:25.336Z,1736379385.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978538 2025-01-08T23:36:25.424Z,1736379385.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:25.433Z,1736379385.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:36:25.436Z,1736379385.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 28.429380 m, bearing: 157.027958 deg, approach rate: -0.233558 m/s, LOS rate: 1.409983 deg/s, cmd heading: 87.801692 deg, new cmd heading: 89.692935 deg. 2025-01-08T23:36:25.437Z,1736379385.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.565437 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:36:25.588Z,1736379385.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:25.589Z,1736379385.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231017 2025-01-08T23:36:25.785Z,1736379385.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:25.794Z,1736379385.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:36:25.797Z,1736379385.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 28.339832 m, bearing: 157.534405 deg, approach rate: -0.248246 m/s, LOS rate: 1.408391 deg/s, cmd heading: 89.692938 deg, new cmd heading: 91.216700 deg. 2025-01-08T23:36:25.798Z,1736379385.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.592032 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:36:25.840Z,1736379385.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:25.841Z,1736379385.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483250 2025-01-08T23:36:26.092Z,1736379386.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:26.093Z,1736379386.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735282 2025-01-08T23:36:26.187Z,1736379386.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:26.202Z,1736379386.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:36:26.205Z,1736379386.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 28.237974 m, bearing: 158.098483 deg, approach rate: -0.249779 m/s, LOS rate: 1.388212 deg/s, cmd heading: 91.216698 deg, new cmd heading: 92.914510 deg. 2025-01-08T23:36:26.206Z,1736379386.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621664 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:36:26.344Z,1736379386.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:26.345Z,1736379386.345 [DAT](INFO): DAT read: Rx Time:23:36:25.0921 2025-01-08T23:36:26.345Z,1736379386.345 [DAT](INFO): Rx dataTimestamp_ set to:1736379386.345070 2025-01-08T23:36:26.346Z,1736379386.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988044 2025-01-08T23:36:26.597Z,1736379386.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:26.599Z,1736379386.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240821 2025-01-08T23:36:26.661Z,1736379386.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:26.685Z,1736379386.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:26.687Z,1736379386.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:36:26.694Z,1736379386.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 28.111818 m, bearing: 158.767496 deg, approach rate: -0.260108 m/s, LOS rate: 1.385530 deg/s, cmd heading: 92.914513 deg, new cmd heading: 94.929682 deg. 2025-01-08T23:36:26.695Z,1736379386.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656836 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:36:26.848Z,1736379386.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:26.855Z,1736379386.855 [DAT](INFO): DAT read: 23:36:25.0921 LVL= 15472, 28705, 20434, 29043, AGC= 63, IDX= 428,-0.31,-0.268,-1.882,-1.826,-1.228, PHS= 1.048,-0.607,-0.601, RAW= 90.2, 1.9, CAL= 97.6, -0.9, ROT= 52.4, 0.9 2025-01-08T23:36:26.856Z,1736379386.856 [DAT](INFO): got valid direction response: 23:36:25.0921 LVL= 15472, 28705, 20434, 29043, AGC= 63, IDX= 428,-0.31,-0.268,-1.882,-1.826,-1.228, PHS= 1.048,-0.607,-0.601, RAW= 90.2, 1.9, CAL= 97.6, -0.9, ROT= 52.4, 0.9 2025-01-08T23:36:26.857Z,1736379386.857 [DAT](INFO): DAT read: Bearing 52.4, 0.9 (Local) 2025-01-08T23:36:26.857Z,1736379386.857 [DAT](INFO): Local bearing/azimuth received: Bearing 52.4, 0.9 (Local) 2025-01-08T23:36:26.869Z,1736379386.869 [DAT](INFO): DAT read: Range 10 to 50 : 111.3 m (Round-trip 148.4 ms) speed 0.3 m/s 2025-01-08T23:36:26.870Z,1736379386.870 [DAT](INFO): DAT read: user:3372> 2025-01-08T23:36:26.870Z,1736379386.870 [DAT](INFO): DAT read: Tx time:23:36:26.1896 2025-01-08T23:36:26.871Z,1736379386.871 [DAT](INFO): Ping request sent. 2025-01-08T23:36:26.871Z,1736379386.871 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:26.871Z,1736379386.871 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:36:26.872Z,1736379386.872 [DAT](INFO): direction in FSK: [-0.122640,0.106372,0.986734] 2025-01-08T23:36:26.872Z,1736379386.872 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:26.872Z,1736379386.872 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:26.900Z,1736379386.900 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:26.900Z,1736379386.900 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:27.024Z,1736379387.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:27.056Z,1736379387.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.300003 m, deltaT: 3.527932 s, deltaX: -1.199997 m, approachRate: -0.340142 m/s, rangeRepo size: 4 2025-01-08T23:36:27.058Z,1736379387.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.300003 m, bearing: 312.850283 deg, lat: 36.905450 deg, lon: -122.120367 deg, deltaT: 3.527932 s, deltaX: -1.199997 m, approachRate: -0.340142 m/s, posRepo size: 4 2025-01-08T23:36:27.059Z,1736379387.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T23:36:27.066Z,1736379387.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 11.956685 m, bearing: 202.161354 deg, approach rate: 0.000000 m/s, LOS rate: 1.385530 deg/s, cmd heading: 94.929685 deg, new cmd heading: 96.443296 deg. 2025-01-08T23:36:27.071Z,1736379387.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.683253 target range: 111.300003 and range: 111.30 m. 2025-01-08T23:36:27.101Z,1736379387.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:27.102Z,1736379387.102 [DAT](INFO): DAT read: TxSync time:23:36:26.1888 2025-01-08T23:36:27.352Z,1736379387.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:27.431Z,1736379387.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:27.439Z,1736379387.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T23:36:27.442Z,1736379387.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 12.056428 m, bearing: 203.451485 deg, approach rate: 0.256943 m/s, LOS rate: 3.295678 deg/s, cmd heading: 96.443296 deg, new cmd heading: 100.275618 deg. 2025-01-08T23:36:27.444Z,1736379387.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.750140 target range: 111.300003 and range: 111.30 m. 2025-01-08T23:36:27.604Z,1736379387.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:27.817Z,1736379387.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:27.825Z,1736379387.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T23:36:27.829Z,1736379387.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 12.151272 m, bearing: 204.667784 deg, approach rate: 0.245861 m/s, LOS rate: 3.128134 deg/s, cmd heading: 100.275619 deg, new cmd heading: 103.890959 deg. 2025-01-08T23:36:27.830Z,1736379387.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813239 target range: 111.300003 and range: 111.30 m. 2025-01-08T23:36:27.856Z,1736379387.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:28.021Z,1736379388.021 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:36:28.108Z,1736379388.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:28.201Z,1736379388.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:28.211Z,1736379388.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T23:36:28.214Z,1736379388.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 12.245501 m, bearing: 205.869755 deg, approach rate: 0.244160 m/s, LOS rate: 3.090279 deg/s, cmd heading: 103.890961 deg, new cmd heading: 107.464224 deg. 2025-01-08T23:36:28.215Z,1736379388.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.875605 target range: 111.300003 and range: 111.30 m. 2025-01-08T23:36:28.361Z,1736379388.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:28.612Z,1736379388.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:28.656Z,1736379388.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:28.688Z,1736379388.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T23:36:28.690Z,1736379388.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 12.353139 m, bearing: 207.189197 deg, approach rate: 0.227971 m/s, LOS rate: 2.769897 deg/s, cmd heading: 107.464222 deg, new cmd heading: 111.381594 deg. 2025-01-08T23:36:28.695Z,1736379388.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.943976 target range: 111.300003 and range: 111.30 m. 2025-01-08T23:36:28.864Z,1736379388.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:29.013Z,1736379389.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:29.020Z,1736379389.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:29.022Z,1736379389.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T23:36:29.024Z,1736379389.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:36:29.028Z,1736379389.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 12.436866 m, bearing: 208.218971 deg, approach rate: 0.246772 m/s, LOS rate: 3.014499 deg/s, cmd heading: 111.381596 deg, new cmd heading: 114.447026 deg. 2025-01-08T23:36:29.029Z,1736379389.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.997477 target range: 111.300003 and range: 111.30 m. 2025-01-08T23:36:29.117Z,1736379389.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:29.117Z,1736379389.117 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:29.117Z,1736379389.117 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:29.117Z,1736379389.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:29.368Z,1736379389.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:29.368Z,1736379389.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497679 2025-01-08T23:36:29.442Z,1736379389.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:29.477Z,1736379389.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T23:36:29.486Z,1736379389.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 12.526877 m, bearing: 209.367813 deg, approach rate: 0.200516 m/s, LOS rate: 2.540685 deg/s, cmd heading: 114.447025 deg, new cmd heading: 117.864500 deg. 2025-01-08T23:36:29.487Z,1736379389.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057124 target range: 111.300003 and range: 111.30 m. 2025-01-08T23:36:29.622Z,1736379389.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:29.623Z,1736379389.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752754 2025-01-08T23:36:29.829Z,1736379389.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:29.839Z,1736379389.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T23:36:29.841Z,1736379389.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 12.606577 m, bearing: 210.400143 deg, approach rate: 0.216946 m/s, LOS rate: 2.792132 deg/s, cmd heading: 117.864504 deg, new cmd heading: 120.938795 deg. 2025-01-08T23:36:29.843Z,1736379389.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.110780 target range: 111.300003 and range: 111.30 m. 2025-01-08T23:36:29.873Z,1736379389.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:29.874Z,1736379389.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002508 2025-01-08T23:36:30.124Z,1736379390.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:30.125Z,1736379390.125 [DAT](INFO): DAT read: Rx Time:23:36:28.7401 2025-01-08T23:36:30.125Z,1736379390.125 [DAT](INFO): Rx dataTimestamp_ set to:1736379390.124827 2025-01-08T23:36:30.126Z,1736379390.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255608 2025-01-08T23:36:30.224Z,1736379390.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:30.234Z,1736379390.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m. 2025-01-08T23:36:30.237Z,1736379390.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.300003 m, nav range: 12.685705 m, bearing: 211.450320 deg, approach rate: 0.200108 m/s, LOS rate: 2.639090 deg/s, cmd heading: 120.938799 deg, new cmd heading: 124.066392 deg. 2025-01-08T23:36:30.238Z,1736379390.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.165367 target range: 111.300003 and range: 111.30 m. 2025-01-08T23:36:30.377Z,1736379390.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:30.378Z,1736379390.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506971 2025-01-08T23:36:30.628Z,1736379390.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:30.638Z,1736379390.638 [DAT](INFO): DAT read: 23:36:28.7401 LVL= 19952, 32753, 26130, 32755, AGC= 58, IDX= 423, 0.46,-2.262, 2.391, 2.781,-3.066, PHS= 0.891,-0.780,-0.439, RAW= 101.1, 4.3, CAL= 111.4, 2.4, ROT= 38.6, -2.4 2025-01-08T23:36:30.640Z,1736379390.640 [DAT](INFO): got valid direction response: 23:36:28.7401 LVL= 19952, 32753, 26130, 32755, AGC= 58, IDX= 423, 0.46,-2.262, 2.391, 2.781,-3.066, PHS= 0.891,-0.780,-0.439, RAW= 101.1, 4.3, CAL= 111.4, 2.4, ROT= 38.6, -2.4 2025-01-08T23:36:30.641Z,1736379390.641 [DAT](INFO): DAT read: Bearing 38.6, -2.4 (Local) 2025-01-08T23:36:30.641Z,1736379390.641 [DAT](INFO): Local bearing/azimuth received: Bearing 38.6, -2.4 (Local) 2025-01-08T23:36:30.643Z,1736379390.643 [DAT](INFO): DAT read: Range 10 to 50 : 109.7 m (Round-trip 146.3 ms) speed 0.4 m/s 2025-01-08T23:36:30.648Z,1736379390.648 [DAT](INFO): DAT read: user:3373> 2025-01-08T23:36:30.649Z,1736379390.649 [DAT](INFO): DAT read: Tx time:23:36:29.8396 2025-01-08T23:36:30.650Z,1736379390.650 [DAT](INFO): Ping request sent. 2025-01-08T23:36:30.650Z,1736379390.650 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:30.655Z,1736379390.655 [DAT](INFO): DAT read: TxSync time:23:36:29.8388 2025-01-08T23:36:30.656Z,1736379390.656 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:36:30.658Z,1736379390.658 [DAT](INFO): direction in FSK: [-0.184181,-0.082460,0.979427] 2025-01-08T23:36:30.658Z,1736379390.658 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:30.659Z,1736379390.659 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:30.684Z,1736379390.684 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:30.685Z,1736379390.685 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:30.780Z,1736379390.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T23:36:30.780Z,1736379390.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:30.822Z,1736379390.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.699997 m, deltaT: 3.779925 s, deltaX: -1.600006 m, approachRate: -0.423290 m/s, rangeRepo size: 4 2025-01-08T23:36:30.829Z,1736379390.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 109.699997 m, bearing: 338.295346 deg, lat: 36.905564 deg, lon: -122.120382 deg, deltaT: 3.779925 s, deltaX: -1.600006 m, approachRate: -0.423290 m/s, posRepo size: 4 2025-01-08T23:36:30.829Z,1736379390.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T23:36:30.838Z,1736379390.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 8.529964 m, bearing: 283.627420 deg, approach rate: 0.000000 m/s, LOS rate: 2.639090 deg/s, cmd heading: 124.066397 deg, new cmd heading: 128.703746 deg. 2025-01-08T23:36:30.839Z,1736379390.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.246304 target range: 109.699997 and range: 109.70 m. 2025-01-08T23:36:30.880Z,1736379390.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:31.130Z,1736379391.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:36:31.130Z,1736379391.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:31.132Z,1736379391.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:31.139Z,1736379391.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:31.141Z,1736379391.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T23:36:31.145Z,1736379391.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 8.746265 m, bearing: 283.711031 deg, approach rate: 0.676336 m/s, LOS rate: 0.254973 deg/s, cmd heading: 128.703741 deg, new cmd heading: 128.948370 deg. 2025-01-08T23:36:31.146Z,1736379391.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250574 target range: 109.699997 and range: 109.70 m. 2025-01-08T23:36:31.384Z,1736379391.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:31.385Z,1736379391.385 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:31.385Z,1736379391.385 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:31.385Z,1736379391.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:31.552Z,1736379391.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:31.581Z,1736379391.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T23:36:31.588Z,1736379391.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 8.973475 m, bearing: 283.851706 deg, approach rate: 0.515652 m/s, LOS rate: 0.311178 deg/s, cmd heading: 128.948371 deg, new cmd heading: 129.359702 deg. 2025-01-08T23:36:31.589Z,1736379391.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257753 target range: 109.699997 and range: 109.70 m. 2025-01-08T23:36:31.636Z,1736379391.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:31.637Z,1736379391.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986782 2025-01-08T23:36:31.889Z,1736379391.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:31.890Z,1736379391.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239867 2025-01-08T23:36:31.945Z,1736379391.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:31.954Z,1736379391.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T23:36:31.956Z,1736379391.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 9.183967 m, bearing: 284.015845 deg, approach rate: 0.565667 m/s, LOS rate: 0.430990 deg/s, cmd heading: 129.359698 deg, new cmd heading: 129.840818 deg. 2025-01-08T23:36:31.957Z,1736379391.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.266150 target range: 109.699997 and range: 109.70 m. 2025-01-08T23:36:32.140Z,1736379392.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:32.140Z,1736379392.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490464 2025-01-08T23:36:32.392Z,1736379392.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:32.393Z,1736379392.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743373 2025-01-08T23:36:32.420Z,1736379392.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:32.430Z,1736379392.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T23:36:32.433Z,1736379392.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 9.433452 m, bearing: 284.251686 deg, approach rate: 0.524220 m/s, LOS rate: 0.482442 deg/s, cmd heading: 129.840817 deg, new cmd heading: 130.529591 deg. 2025-01-08T23:36:32.434Z,1736379392.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278171 target range: 109.699997 and range: 109.70 m. 2025-01-08T23:36:32.644Z,1736379392.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:32.645Z,1736379392.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995227 2025-01-08T23:36:32.747Z,1736379392.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:32.756Z,1736379392.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T23:36:32.758Z,1736379392.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 9.605460 m, bearing: 284.436206 deg, approach rate: 0.527748 m/s, LOS rate: 0.555997 deg/s, cmd heading: 130.529587 deg, new cmd heading: 131.073217 deg. 2025-01-08T23:36:32.759Z,1736379392.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287659 target range: 109.699997 and range: 109.70 m. 2025-01-08T23:36:32.896Z,1736379392.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:32.896Z,1736379392.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246574 2025-01-08T23:36:33.148Z,1736379393.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:33.148Z,1736379393.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498401 2025-01-08T23:36:33.158Z,1736379393.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:33.165Z,1736379393.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:33.167Z,1736379393.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T23:36:33.170Z,1736379393.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 9.820884 m, bearing: 284.658043 deg, approach rate: 0.523339 m/s, LOS rate: 0.527099 deg/s, cmd heading: 131.073215 deg, new cmd heading: 131.724101 deg. 2025-01-08T23:36:33.171Z,1736379393.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299019 target range: 109.699997 and range: 109.70 m. 2025-01-08T23:36:33.400Z,1736379393.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:33.400Z,1736379393.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750640 2025-01-08T23:36:33.568Z,1736379393.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:33.577Z,1736379393.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T23:36:33.596Z,1736379393.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 10.042973 m, bearing: 284.945384 deg, approach rate: 0.541376 m/s, LOS rate: 0.684946 deg/s, cmd heading: 131.724105 deg, new cmd heading: 132.567001 deg. 2025-01-08T23:36:33.597Z,1736379393.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313731 target range: 109.699997 and range: 109.70 m. 2025-01-08T23:36:33.652Z,1736379393.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:33.654Z,1736379393.654 [DAT](INFO): DAT read: Rx Time:23:36:32.3877 2025-01-08T23:36:33.654Z,1736379393.654 [DAT](INFO): Rx dataTimestamp_ set to:1736379393.654218 2025-01-08T23:36:33.656Z,1736379393.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005887 2025-01-08T23:36:33.904Z,1736379393.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:33.905Z,1736379393.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254731 2025-01-08T23:36:33.969Z,1736379393.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:33.979Z,1736379393.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.70 m. 2025-01-08T23:36:33.989Z,1736379393.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.699997 m, nav range: 10.259228 m, bearing: 285.249430 deg, approach rate: 0.538967 m/s, LOS rate: 0.741789 deg/s, cmd heading: 132.567005 deg, new cmd heading: 133.459839 deg. 2025-01-08T23:36:33.990Z,1736379393.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329314 target range: 109.699997 and range: 109.70 m. 2025-01-08T23:36:34.156Z,1736379394.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:34.163Z,1736379394.163 [DAT](INFO): DAT read: 23:36:32.3877 LVL= 23840, 32753, 30994, 32755, AGC= 59, IDX= 413, 0.04,-2.725, 1.997, 2.770, 2.999, PHS= 0.647,-0.954,-0.231, RAW= 116.8, 7.8, CAL= 126.0, 4.2, ROT= 24.0, -4.2 2025-01-08T23:36:34.164Z,1736379394.164 [DAT](INFO): got valid direction response: 23:36:32.3877 LVL= 23840, 32753, 30994, 32755, AGC= 59, IDX= 413, 0.04,-2.725, 1.997, 2.770, 2.999, PHS= 0.647,-0.954,-0.231, RAW= 116.8, 7.8, CAL= 126.0, 4.2, ROT= 24.0, -4.2 2025-01-08T23:36:34.165Z,1736379394.165 [DAT](INFO): DAT read: Bearing 24.0, -4.2 (Local) 2025-01-08T23:36:34.166Z,1736379394.166 [DAT](INFO): Local bearing/azimuth received: Bearing 24.0, -4.2 (Local) 2025-01-08T23:36:34.192Z,1736379394.192 [DAT](INFO): DAT read: Range 10 to 50 : 107.9 m (Round-trip 143.9 ms) speed 0.6 m/s 2025-01-08T23:36:34.193Z,1736379394.193 [DAT](INFO): DAT read: user:3374> 2025-01-08T23:36:34.194Z,1736379394.194 [DAT](INFO): DAT read: Tx time:23:36:33.4897 2025-01-08T23:36:34.194Z,1736379394.194 [DAT](INFO): Ping request sent. 2025-01-08T23:36:34.194Z,1736379394.194 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:34.195Z,1736379394.195 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:36:34.196Z,1736379394.196 [DAT](INFO): direction in FSK: [-0.266789,-0.346600,0.899273] 2025-01-08T23:36:34.196Z,1736379394.196 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:34.196Z,1736379394.196 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:34.224Z,1736379394.224 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:34.224Z,1736379394.224 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:34.408Z,1736379394.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:34.409Z,1736379394.409 [DAT](INFO): DAT read: TxSync time:23:36:33.4889 2025-01-08T23:36:34.471Z,1736379394.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:34.503Z,1736379394.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.900002 m, deltaT: 3.528264 s, deltaX: -1.799995 m, approachRate: -0.510165 m/s, rangeRepo size: 4 2025-01-08T23:36:34.513Z,1736379394.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 107.900002 m, bearing: 355.170244 deg, lat: 36.905660 deg, lon: -122.120382 deg, deltaT: 3.528264 s, deltaX: -1.799995 m, approachRate: -0.510165 m/s, posRepo size: 4 2025-01-08T23:36:34.514Z,1736379394.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:34.529Z,1736379394.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 16.888823 m, bearing: 323.033129 deg, approach rate: 0.000000 m/s, LOS rate: 0.741789 deg/s, cmd heading: 133.459834 deg, new cmd heading: 134.625200 deg. 2025-01-08T23:36:34.530Z,1736379394.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.349653 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:34.661Z,1736379394.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:34.811Z,1736379394.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:34.829Z,1736379394.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:34.832Z,1736379394.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 17.072506 m, bearing: 322.787195 deg, approach rate: 0.562633 m/s, LOS rate: -0.745202 deg/s, cmd heading: 134.625201 deg, new cmd heading: 133.895380 deg. 2025-01-08T23:36:34.833Z,1736379394.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336915 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:34.912Z,1736379394.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:35.164Z,1736379395.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:35.212Z,1736379395.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:35.218Z,1736379395.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:35.221Z,1736379395.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:35.224Z,1736379395.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 17.292143 m, bearing: 322.527239 deg, approach rate: 0.560021 m/s, LOS rate: -0.654405 deg/s, cmd heading: 133.895381 deg, new cmd heading: 133.125466 deg. 2025-01-08T23:36:35.225Z,1736379395.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323478 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:35.420Z,1736379395.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:35.421Z,1736379395.421 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:35.421Z,1736379395.421 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:35.421Z,1736379395.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:35.630Z,1736379395.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:35.638Z,1736379395.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:35.641Z,1736379395.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 17.540813 m, bearing: 322.250259 deg, approach rate: 0.595986 m/s, LOS rate: -0.654421 deg/s, cmd heading: 133.125469 deg, new cmd heading: 132.306369 deg. 2025-01-08T23:36:35.642Z,1736379395.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309182 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:35.668Z,1736379395.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:35.669Z,1736379395.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474736 2025-01-08T23:36:35.920Z,1736379395.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:35.920Z,1736379395.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725894 2025-01-08T23:36:36.012Z,1736379396.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:36.020Z,1736379396.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:36.023Z,1736379396.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 17.771009 m, bearing: 322.024511 deg, approach rate: 0.602620 m/s, LOS rate: -0.583320 deg/s, cmd heading: 132.306365 deg, new cmd heading: 131.637925 deg. 2025-01-08T23:36:36.024Z,1736379396.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.297515 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:36.172Z,1736379396.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:36.173Z,1736379396.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978203 2025-01-08T23:36:36.426Z,1736379396.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:36.428Z,1736379396.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233191 2025-01-08T23:36:36.475Z,1736379396.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:36.504Z,1736379396.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:36.507Z,1736379396.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 18.073475 m, bearing: 321.768351 deg, approach rate: 0.624917 m/s, LOS rate: -0.520387 deg/s, cmd heading: 131.637922 deg, new cmd heading: 130.882350 deg. 2025-01-08T23:36:36.512Z,1736379396.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284328 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:36.676Z,1736379396.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:36.677Z,1736379396.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482652 2025-01-08T23:36:36.822Z,1736379396.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:36.852Z,1736379396.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:36.868Z,1736379396.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 18.300581 m, bearing: 321.604141 deg, approach rate: 0.685620 m/s, LOS rate: -0.489588 deg/s, cmd heading: 130.882352 deg, new cmd heading: 130.395848 deg. 2025-01-08T23:36:36.869Z,1736379396.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275837 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:36.928Z,1736379396.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:36.929Z,1736379396.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734396 2025-01-08T23:36:37.180Z,1736379397.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:37.181Z,1736379397.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986038 2025-01-08T23:36:37.227Z,1736379397.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:37.234Z,1736379397.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:37.236Z,1736379397.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:37.238Z,1736379397.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 18.571308 m, bearing: 321.441815 deg, approach rate: 0.675921 m/s, LOS rate: -0.399370 deg/s, cmd heading: 130.395852 deg, new cmd heading: 129.915983 deg. 2025-01-08T23:36:37.240Z,1736379397.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.267462 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:37.433Z,1736379397.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:37.434Z,1736379397.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239225 2025-01-08T23:36:37.669Z,1736379397.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:37.682Z,1736379397.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:37.684Z,1736379397.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:37.685Z,1736379397.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490086 2025-01-08T23:36:37.703Z,1736379397.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 18.878872 m, bearing: 321.235437 deg, approach rate: 0.688803 m/s, LOS rate: -0.454661 deg/s, cmd heading: 129.915976 deg, new cmd heading: 129.306955 deg. 2025-01-08T23:36:37.704Z,1736379397.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.256832 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:37.936Z,1736379397.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:37.937Z,1736379397.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742128 2025-01-08T23:36:38.025Z,1736379398.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:38.034Z,1736379398.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:38.037Z,1736379398.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 19.129974 m, bearing: 321.117536 deg, approach rate: 0.714608 m/s, LOS rate: -0.331129 deg/s, cmd heading: 129.306956 deg, new cmd heading: 128.957899 deg. 2025-01-08T23:36:38.038Z,1736379398.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250740 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:38.190Z,1736379398.190 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:38.193Z,1736379398.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.997626 2025-01-08T23:36:38.441Z,1736379398.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:38.446Z,1736379398.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.250467 2025-01-08T23:36:38.517Z,1736379398.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:38.525Z,1736379398.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:38.529Z,1736379398.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 19.492826 m, bearing: 320.942630 deg, approach rate: 0.738507 m/s, LOS rate: -0.349355 deg/s, cmd heading: 128.957892 deg, new cmd heading: 128.442958 deg. 2025-01-08T23:36:38.530Z,1736379398.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.241753 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:38.692Z,1736379398.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:38.694Z,1736379398.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.499231 2025-01-08T23:36:38.847Z,1736379398.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:38.856Z,1736379398.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:38.858Z,1736379398.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 19.738508 m, bearing: 320.867238 deg, approach rate: 0.743882 m/s, LOS rate: -0.225434 deg/s, cmd heading: 128.442964 deg, new cmd heading: 128.219603 deg. 2025-01-08T23:36:38.876Z,1736379398.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237854 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:38.944Z,1736379398.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:38.945Z,1736379398.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.750992 2025-01-08T23:36:39.196Z,1736379399.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:39.197Z,1736379399.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.002135 2025-01-08T23:36:39.258Z,1736379399.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:39.266Z,1736379399.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:39.268Z,1736379399.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:39.271Z,1736379399.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 20.044218 m, bearing: 320.776019 deg, approach rate: 0.741126 m/s, LOS rate: -0.217767 deg/s, cmd heading: 128.219603 deg, new cmd heading: 127.950122 deg. 2025-01-08T23:36:39.272Z,1736379399.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233151 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:39.449Z,1736379399.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:39.454Z,1736379399.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.256507 2025-01-08T23:36:39.688Z,1736379399.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:39.700Z,1736379399.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:39.700Z,1736379399.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.505992 2025-01-08T23:36:39.718Z,1736379399.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:39.746Z,1736379399.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 20.366339 m, bearing: 320.729366 deg, approach rate: 0.716469 m/s, LOS rate: -0.102125 deg/s, cmd heading: 127.950125 deg, new cmd heading: 127.812380 deg. 2025-01-08T23:36:39.752Z,1736379399.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.230747 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:39.952Z,1736379399.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:39.952Z,1736379399.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.758004 2025-01-08T23:36:40.060Z,1736379400.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:40.077Z,1736379400.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:40.084Z,1736379400.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 20.641550 m, bearing: 320.703913 deg, approach rate: 0.764848 m/s, LOS rate: -0.069793 deg/s, cmd heading: 127.812374 deg, new cmd heading: 127.737034 deg. 2025-01-08T23:36:40.085Z,1736379400.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229432 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:40.204Z,1736379400.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:40.205Z,1736379400.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.010124 2025-01-08T23:36:40.457Z,1736379400.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:40.460Z,1736379400.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.264956 2025-01-08T23:36:40.537Z,1736379400.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:40.546Z,1736379400.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:40.549Z,1736379400.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 20.994743 m, bearing: 320.684046 deg, approach rate: 0.753826 m/s, LOS rate: -0.041690 deg/s, cmd heading: 127.737037 deg, new cmd heading: 127.678437 deg. 2025-01-08T23:36:40.550Z,1736379400.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.228409 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:40.708Z,1736379400.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:40.708Z,1736379400.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.514005 2025-01-08T23:36:40.878Z,1736379400.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:40.886Z,1736379400.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:40.894Z,1736379400.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 21.245037 m, bearing: 320.677371 deg, approach rate: 0.735764 m/s, LOS rate: -0.019390 deg/s, cmd heading: 127.678434 deg, new cmd heading: 127.658646 deg. 2025-01-08T23:36:40.897Z,1736379400.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.228064 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:40.961Z,1736379400.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:40.962Z,1736379400.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.767683 2025-01-08T23:36:41.212Z,1736379401.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:41.212Z,1736379401.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.017952 2025-01-08T23:36:41.264Z,1736379401.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:41.287Z,1736379401.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:41.289Z,1736379401.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:41.297Z,1736379401.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 21.528727 m, bearing: 320.673026 deg, approach rate: 0.703234 m/s, LOS rate: -0.010629 deg/s, cmd heading: 127.658640 deg, new cmd heading: 127.645777 deg. 2025-01-08T23:36:41.298Z,1736379401.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.227839 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:41.466Z,1736379401.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:41.470Z,1736379401.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.275042 2025-01-08T23:36:41.711Z,1736379401.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:41.716Z,1736379401.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:41.717Z,1736379401.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.522196 2025-01-08T23:36:41.722Z,1736379401.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:41.725Z,1736379401.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 21.848057 m, bearing: 320.703268 deg, approach rate: 0.738404 m/s, LOS rate: 0.068907 deg/s, cmd heading: 127.645772 deg, new cmd heading: 127.735170 deg. 2025-01-08T23:36:41.727Z,1736379401.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229399 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:41.968Z,1736379401.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:41.969Z,1736379401.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.773875 2025-01-08T23:36:42.077Z,1736379402.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:42.087Z,1736379402.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:42.090Z,1736379402.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 22.110363 m, bearing: 320.726901 deg, approach rate: 0.718352 m/s, LOS rate: 0.063955 deg/s, cmd heading: 127.735165 deg, new cmd heading: 127.805224 deg. 2025-01-08T23:36:42.091Z,1736379402.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.230622 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:42.220Z,1736379402.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:42.220Z,1736379402.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.025977 2025-01-08T23:36:42.473Z,1736379402.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:42.475Z,1736379402.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.280337 2025-01-08T23:36:42.569Z,1736379402.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:42.579Z,1736379402.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:42.582Z,1736379402.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 22.449833 m, bearing: 320.767079 deg, approach rate: 0.690219 m/s, LOS rate: 0.080455 deg/s, cmd heading: 127.805229 deg, new cmd heading: 127.923939 deg. 2025-01-08T23:36:42.583Z,1736379402.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232694 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:42.724Z,1736379402.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:42.724Z,1736379402.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.530002 2025-01-08T23:36:42.880Z,1736379402.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:42.894Z,1736379402.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:42.916Z,1736379402.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 22.664076 m, bearing: 320.787250 deg, approach rate: 0.681998 m/s, LOS rate: 0.063605 deg/s, cmd heading: 127.923938 deg, new cmd heading: 127.983880 deg. 2025-01-08T23:36:42.917Z,1736379402.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233740 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:42.976Z,1736379402.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:42.977Z,1736379402.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.782052 2025-01-08T23:36:43.228Z,1736379403.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:43.228Z,1736379403.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.033978 2025-01-08T23:36:43.281Z,1736379403.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:43.289Z,1736379403.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:43.318Z,1736379403.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 22.940414 m, bearing: 320.806363 deg, approach rate: 0.697784 m/s, LOS rate: 0.047680 deg/s, cmd heading: 127.983880 deg, new cmd heading: 128.040526 deg. 2025-01-08T23:36:43.319Z,1736379403.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.234729 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:43.481Z,1736379403.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:43.484Z,1736379403.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.288928 2025-01-08T23:36:43.732Z,1736379403.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:43.733Z,1736379403.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.538264 2025-01-08T23:36:43.734Z,1736379403.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:43.758Z,1736379403.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:43.764Z,1736379403.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:43.767Z,1736379403.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 23.238827 m, bearing: 320.849063 deg, approach rate: 0.628184 m/s, LOS rate: 0.088735 deg/s, cmd heading: 128.040529 deg, new cmd heading: 128.166987 deg. 2025-01-08T23:36:43.772Z,1736379403.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.236936 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:43.984Z,1736379403.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:43.984Z,1736379403.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.789949 2025-01-08T23:36:44.103Z,1736379404.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:44.117Z,1736379404.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:44.120Z,1736379404.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 23.474047 m, bearing: 320.875005 deg, approach rate: 0.666510 m/s, LOS rate: 0.072769 deg/s, cmd heading: 128.166983 deg, new cmd heading: 128.244027 deg. 2025-01-08T23:36:44.121Z,1736379404.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.238281 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:44.236Z,1736379404.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:44.236Z,1736379404.236 [DAT](INFO): Reached modem response timeout 2025-01-08T23:36:44.236Z,1736379404.236 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:36:44.236Z,1736379404.236 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:44.490Z,1736379404.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:44.491Z,1736379404.491 [DAT](INFO): Reached modem response timeout 2025-01-08T23:36:44.492Z,1736379404.492 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:36:44.493Z,1736379404.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:44.573Z,1736379404.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:44.590Z,1736379404.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:44.597Z,1736379404.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 23.791597 m, bearing: 320.900709 deg, approach rate: 0.671211 m/s, LOS rate: 0.053607 deg/s, cmd heading: 128.244028 deg, new cmd heading: 128.320112 deg. 2025-01-08T23:36:44.598Z,1736379404.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239609 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:44.740Z,1736379404.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:44.740Z,1736379404.740 [DAT](INFO): Reached modem response timeout 2025-01-08T23:36:44.740Z,1736379404.740 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:36:44.741Z,1736379404.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:44.942Z,1736379404.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:44.977Z,1736379404.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:44.986Z,1736379404.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 24.027203 m, bearing: 320.924108 deg, approach rate: 0.608683 m/s, LOS rate: 0.059857 deg/s, cmd heading: 128.320116 deg, new cmd heading: 128.389624 deg. 2025-01-08T23:36:44.992Z,1736379404.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:44.993Z,1736379404.993 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:36:44.993Z,1736379404.993 [DAT](INFO): response not received 2025-01-08T23:36:44.994Z,1736379404.994 [DAT](INFO): DAT read: user:3375> 2025-01-08T23:36:44.995Z,1736379404.995 [DAT](ERROR): No response from remote modem. 2025-01-08T23:36:44.995Z,1736379404.995 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:36:44.995Z,1736379404.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:45.004Z,1736379405.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240822 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:45.244Z,1736379405.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:45.245Z,1736379405.245 [DAT](INFO): DAT read: Tx time:23:36:44.4398 2025-01-08T23:36:45.245Z,1736379405.245 [DAT](INFO): Ping request sent. 2025-01-08T23:36:45.245Z,1736379405.245 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:45.246Z,1736379405.246 [DAT](INFO): DAT read: TxSync time:23:36:44.4390 2025-01-08T23:36:45.246Z,1736379405.246 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:45.247Z,1736379405.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001556 2025-01-08T23:36:45.455Z,1736379405.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:45.486Z,1736379405.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:45.498Z,1736379405.498 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:45.500Z,1736379405.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254295 2025-01-08T23:36:45.513Z,1736379405.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 24.355000 m, bearing: 320.930371 deg, approach rate: 0.646528 m/s, LOS rate: 0.012188 deg/s, cmd heading: 128.389620 deg, new cmd heading: 128.408159 deg. 2025-01-08T23:36:45.519Z,1736379405.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.241145 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:45.748Z,1736379405.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:45.749Z,1736379405.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503776 2025-01-08T23:36:45.909Z,1736379405.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:45.916Z,1736379405.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:45.918Z,1736379405.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:45.921Z,1736379405.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 24.649963 m, bearing: 320.924801 deg, approach rate: 0.680115 m/s, LOS rate: -0.012689 deg/s, cmd heading: 128.408157 deg, new cmd heading: 128.391647 deg. 2025-01-08T23:36:45.922Z,1736379405.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240857 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:45.000Z,1736379406.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:46.001Z,1736379406.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755150 2025-01-08T23:36:46.252Z,1736379406.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:46.252Z,1736379406.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006905 2025-01-08T23:36:46.345Z,1736379406.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:46.354Z,1736379406.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:46.357Z,1736379406.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 24.933207 m, bearing: 320.909861 deg, approach rate: 0.649444 m/s, LOS rate: -0.033868 deg/s, cmd heading: 128.391642 deg, new cmd heading: 128.347330 deg. 2025-01-08T23:36:46.358Z,1736379406.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240083 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:46.504Z,1736379406.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:46.504Z,1736379406.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258967 2025-01-08T23:36:46.756Z,1736379406.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:46.756Z,1736379406.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510882 2025-01-08T23:36:46.777Z,1736379406.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:46.815Z,1736379406.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:46.818Z,1736379406.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 25.213215 m, bearing: 320.885032 deg, approach rate: 0.612884 m/s, LOS rate: -0.053742 deg/s, cmd heading: 128.347328 deg, new cmd heading: 128.273668 deg. 2025-01-08T23:36:46.819Z,1736379406.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.238798 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:47.008Z,1736379407.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:47.008Z,1736379407.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762953 2025-01-08T23:36:47.158Z,1736379407.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:47.167Z,1736379407.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:47.170Z,1736379407.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 25.459715 m, bearing: 320.852635 deg, approach rate: 0.692809 m/s, LOS rate: -0.090171 deg/s, cmd heading: 128.273671 deg, new cmd heading: 128.177423 deg. 2025-01-08T23:36:47.171Z,1736379407.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237118 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:47.265Z,1736379407.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:47.268Z,1736379407.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021098 2025-01-08T23:36:47.518Z,1736379407.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:47.521Z,1736379407.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275524 2025-01-08T23:36:47.628Z,1736379407.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:47.637Z,1736379407.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:47.640Z,1736379407.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 25.778116 m, bearing: 320.786307 deg, approach rate: 0.677614 m/s, LOS rate: -0.139416 deg/s, cmd heading: 128.177420 deg, new cmd heading: 127.980892 deg. 2025-01-08T23:36:47.641Z,1736379407.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233688 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:47.768Z,1736379407.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:47.768Z,1736379407.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522924 2025-01-08T23:36:48.020Z,1736379408.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:48.021Z,1736379408.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775646 2025-01-08T23:36:48.108Z,1736379408.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:48.124Z,1736379408.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:48.127Z,1736379408.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:48.130Z,1736379408.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 26.102758 m, bearing: 320.716046 deg, approach rate: 0.663492 m/s, LOS rate: -0.141810 deg/s, cmd heading: 127.980888 deg, new cmd heading: 127.772730 deg. 2025-01-08T23:36:48.131Z,1736379408.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.230055 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:48.273Z,1736379408.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:48.274Z,1736379408.274 [DAT](INFO): DAT read: Rx Time:23:36:46.9747 2025-01-08T23:36:48.274Z,1736379408.274 [DAT](INFO): Rx dataTimestamp_ set to:1736379408.274096 2025-01-08T23:36:48.275Z,1736379408.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029425 2025-01-08T23:36:48.493Z,1736379408.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:48.501Z,1736379408.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:48.504Z,1736379408.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 26.363152 m, bearing: 320.660433 deg, approach rate: 0.693978 m/s, LOS rate: -0.146751 deg/s, cmd heading: 127.772731 deg, new cmd heading: 127.607541 deg. 2025-01-08T23:36:48.505Z,1736379408.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.227172 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:48.525Z,1736379408.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:48.528Z,1736379408.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281891 2025-01-08T23:36:48.777Z,1736379408.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:48.785Z,1736379408.785 [DAT](INFO): DAT read: 23:36:46.9747 LVL= 28720, 32753, 32610, 32755, AGC= 68, IDX= 280,-0.33, 0.414,-1.017,-0.159,-0.047, PHS= 0.549,-0.922,-0.115, RAW= 123.2, 7.7, CAL= 131.4, 3.1, ROT= 18.6, -3.1 2025-01-08T23:36:48.790Z,1736379408.790 [DAT](INFO): got valid direction response: 23:36:46.9747 LVL= 28720, 32753, 32610, 32755, AGC= 68, IDX= 280,-0.33, 0.414,-1.017,-0.159,-0.047, PHS= 0.549,-0.922,-0.115, RAW= 123.2, 7.7, CAL= 131.4, 3.1, ROT= 18.6, -3.1 2025-01-08T23:36:48.792Z,1736379408.792 [DAT](INFO): DAT read: $Error in header 2025-01-08T23:36:48.792Z,1736379408.792 [DAT](INFO): Received a bad header 2025-01-08T23:36:48.817Z,1736379408.817 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T23:36:48.818Z,1736379408.818 [DAT](INFO): direction in FSK: [-0.269501,-0.451224,0.850744] 2025-01-08T23:36:48.839Z,1736379408.839 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:48.839Z,1736379408.839 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:48.865Z,1736379408.865 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:48.960Z,1736379408.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:48.992Z,1736379408.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:49.000Z,1736379409.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 26.693855 m, bearing: 320.580776 deg, approach rate: 0.680027 m/s, LOS rate: -0.161770 deg/s, cmd heading: 127.607536 deg, new cmd heading: 127.371527 deg. 2025-01-08T23:36:49.001Z,1736379409.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.223053 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:49.030Z,1736379409.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:49.032Z,1736379409.032 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:49.032Z,1736379409.032 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:49.032Z,1736379409.032 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:49.280Z,1736379409.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:49.280Z,1736379409.280 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:49.280Z,1736379409.280 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:49.281Z,1736379409.281 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:49.322Z,1736379409.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:49.331Z,1736379409.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:49.334Z,1736379409.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 26.949970 m, bearing: 320.520718 deg, approach rate: 0.745684 m/s, LOS rate: -0.173199 deg/s, cmd heading: 127.371526 deg, new cmd heading: 127.193064 deg. 2025-01-08T23:36:49.335Z,1736379409.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.219938 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:49.532Z,1736379409.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:49.532Z,1736379409.532 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:49.532Z,1736379409.532 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:49.532Z,1736379409.532 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:49.722Z,1736379409.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:49.776Z,1736379409.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:49.779Z,1736379409.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 27.245031 m, bearing: 320.442915 deg, approach rate: 0.670284 m/s, LOS rate: -0.174831 deg/s, cmd heading: 127.193067 deg, new cmd heading: 126.962185 deg. 2025-01-08T23:36:49.784Z,1736379409.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:49.784Z,1736379409.784 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:49.785Z,1736379409.785 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:49.785Z,1736379409.785 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:49.786Z,1736379409.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.215908 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:50.036Z,1736379410.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:50.036Z,1736379410.036 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:50.036Z,1736379410.036 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:50.036Z,1736379410.036 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:50.129Z,1736379410.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:50.144Z,1736379410.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:50.146Z,1736379410.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:50.153Z,1736379410.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 27.544497 m, bearing: 320.366001 deg, approach rate: 0.799595 m/s, LOS rate: -0.203131 deg/s, cmd heading: 126.962179 deg, new cmd heading: 126.733949 deg. 2025-01-08T23:36:50.154Z,1736379410.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.211925 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:50.288Z,1736379410.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:50.288Z,1736379410.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:50.288Z,1736379410.288 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:50.288Z,1736379410.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:50.510Z,1736379410.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:50.518Z,1736379410.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:50.521Z,1736379410.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 27.825092 m, bearing: 320.296898 deg, approach rate: 0.753243 m/s, LOS rate: -0.183634 deg/s, cmd heading: 126.733955 deg, new cmd heading: 126.528736 deg. 2025-01-08T23:36:50.522Z,1736379410.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208343 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:50.541Z,1736379410.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:50.542Z,1736379410.542 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:50.542Z,1736379410.542 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:50.542Z,1736379410.542 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:50.792Z,1736379410.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:50.793Z,1736379410.793 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:50.793Z,1736379410.793 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:50.793Z,1736379410.793 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:50.939Z,1736379410.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:50.949Z,1736379410.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:50.968Z,1736379410.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 28.144739 m, bearing: 320.226029 deg, approach rate: 0.742132 m/s, LOS rate: -0.162670 deg/s, cmd heading: 126.528735 deg, new cmd heading: 126.318543 deg. 2025-01-08T23:36:50.969Z,1736379410.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204674 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:51.045Z,1736379411.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:51.046Z,1736379411.046 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:51.047Z,1736379411.047 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:51.047Z,1736379411.047 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:51.296Z,1736379411.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:51.296Z,1736379411.296 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:51.296Z,1736379411.296 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:51.296Z,1736379411.296 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:51.323Z,1736379411.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:51.332Z,1736379411.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:51.335Z,1736379411.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 28.430468 m, bearing: 320.165434 deg, approach rate: 0.745412 m/s, LOS rate: -0.156491 deg/s, cmd heading: 126.318543 deg, new cmd heading: 126.138587 deg. 2025-01-08T23:36:51.336Z,1736379411.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201534 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:51.550Z,1736379411.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:51.551Z,1736379411.551 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:51.551Z,1736379411.551 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:51.551Z,1736379411.551 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:51.763Z,1736379411.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:51.772Z,1736379411.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:51.775Z,1736379411.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 28.764900 m, bearing: 320.099176 deg, approach rate: 0.760484 m/s, LOS rate: -0.148916 deg/s, cmd heading: 126.138581 deg, new cmd heading: 125.942119 deg. 2025-01-08T23:36:51.777Z,1736379411.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.198105 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:51.800Z,1736379411.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:51.800Z,1736379411.800 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:51.800Z,1736379411.800 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:51.800Z,1736379411.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:52.052Z,1736379412.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:52.052Z,1736379412.052 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:52.052Z,1736379412.052 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:52.052Z,1736379412.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:52.152Z,1736379412.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:52.159Z,1736379412.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:52.162Z,1736379412.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:52.164Z,1736379412.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 29.060846 m, bearing: 320.042479 deg, approach rate: 0.759609 m/s, LOS rate: -0.144043 deg/s, cmd heading: 125.942118 deg, new cmd heading: 125.773760 deg. 2025-01-08T23:36:52.165Z,1736379412.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.195166 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:52.304Z,1736379412.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:52.305Z,1736379412.305 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:52.305Z,1736379412.305 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:52.305Z,1736379412.305 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:52.549Z,1736379412.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:52.556Z,1736379412.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:52.556Z,1736379412.556 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:52.556Z,1736379412.556 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:52.556Z,1736379412.556 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:52.560Z,1736379412.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:52.563Z,1736379412.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 29.362360 m, bearing: 319.985896 deg, approach rate: 0.758758 m/s, LOS rate: -0.140929 deg/s, cmd heading: 125.773753 deg, new cmd heading: 125.605748 deg. 2025-01-08T23:36:52.590Z,1736379412.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.192234 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:52.808Z,1736379412.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:52.808Z,1736379412.808 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:52.808Z,1736379412.808 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:52.808Z,1736379412.808 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:52.969Z,1736379412.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:52.983Z,1736379412.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:52.986Z,1736379412.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 29.679165 m, bearing: 319.941186 deg, approach rate: 0.747234 m/s, LOS rate: -0.104331 deg/s, cmd heading: 125.605744 deg, new cmd heading: 125.473046 deg. 2025-01-08T23:36:52.987Z,1736379412.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.189918 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:53.061Z,1736379413.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:53.062Z,1736379413.062 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:53.062Z,1736379413.062 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:53.062Z,1736379413.062 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:53.312Z,1736379413.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:53.313Z,1736379413.313 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:53.314Z,1736379413.314 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:53.314Z,1736379413.314 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:53.364Z,1736379413.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:53.374Z,1736379413.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:53.379Z,1736379413.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 29.977257 m, bearing: 319.898688 deg, approach rate: 0.761702 m/s, LOS rate: -0.107514 deg/s, cmd heading: 125.473048 deg, new cmd heading: 125.346821 deg. 2025-01-08T23:36:53.404Z,1736379413.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.187715 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:53.564Z,1736379413.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:53.564Z,1736379413.564 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:53.564Z,1736379413.564 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:53.564Z,1736379413.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:53.772Z,1736379413.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:53.782Z,1736379413.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:53.785Z,1736379413.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 30.284599 m, bearing: 319.860091 deg, approach rate: 0.754383 m/s, LOS rate: -0.093776 deg/s, cmd heading: 125.346826 deg, new cmd heading: 125.232210 deg. 2025-01-08T23:36:53.786Z,1736379413.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.185714 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:53.816Z,1736379413.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:53.816Z,1736379413.816 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:53.816Z,1736379413.816 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:53.816Z,1736379413.816 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:54.068Z,1736379414.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:54.069Z,1736379414.069 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:54.070Z,1736379414.070 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:54.070Z,1736379414.070 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:54.156Z,1736379414.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:54.162Z,1736379414.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:54.165Z,1736379414.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:54.168Z,1736379414.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 30.574142 m, bearing: 319.823105 deg, approach rate: 0.755889 m/s, LOS rate: -0.095642 deg/s, cmd heading: 125.232215 deg, new cmd heading: 125.122309 deg. 2025-01-08T23:36:54.169Z,1736379414.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.183796 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:54.320Z,1736379414.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:54.320Z,1736379414.320 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:54.321Z,1736379414.321 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:54.321Z,1736379414.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:54.560Z,1736379414.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:54.568Z,1736379414.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:54.571Z,1736379414.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 30.877975 m, bearing: 319.782946 deg, approach rate: 0.752835 m/s, LOS rate: -0.098527 deg/s, cmd heading: 125.122304 deg, new cmd heading: 125.003012 deg. 2025-01-08T23:36:54.572Z,1736379414.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:54.572Z,1736379414.572 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:54.572Z,1736379414.572 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:54.573Z,1736379414.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:54.574Z,1736379414.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.181714 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:54.824Z,1736379414.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:54.824Z,1736379414.824 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:54.824Z,1736379414.824 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:54.824Z,1736379414.824 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:54.996Z,1736379414.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:55.012Z,1736379415.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:55.014Z,1736379415.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 31.198864 m, bearing: 319.743957 deg, approach rate: 0.724443 m/s, LOS rate: -0.087117 deg/s, cmd heading: 125.003008 deg, new cmd heading: 124.887244 deg. 2025-01-08T23:36:55.017Z,1736379415.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.179694 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:55.076Z,1736379415.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:55.077Z,1736379415.077 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:36:55.077Z,1736379415.077 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:36:55.077Z,1736379415.077 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:36:55.328Z,1736379415.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:55.328Z,1736379415.328 [DAT](INFO): Reached modem response timeout 2025-01-08T23:36:55.328Z,1736379415.328 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:36:55.329Z,1736379415.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:55.359Z,1736379415.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:55.395Z,1736379415.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:55.401Z,1736379415.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 31.464518 m, bearing: 319.708861 deg, approach rate: 0.692905 m/s, LOS rate: -0.090767 deg/s, cmd heading: 124.887250 deg, new cmd heading: 124.782852 deg. 2025-01-08T23:36:55.402Z,1736379415.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.177872 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:55.581Z,1736379415.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:55.582Z,1736379415.582 [DAT](INFO): Reached modem response timeout 2025-01-08T23:36:55.582Z,1736379415.582 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:36:55.583Z,1736379415.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:55.829Z,1736379415.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:55.832Z,1736379415.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:55.832Z,1736379415.832 [DAT](INFO): Reached modem response timeout 2025-01-08T23:36:55.833Z,1736379415.833 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:36:55.833Z,1736379415.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:36:55.846Z,1736379415.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:55.853Z,1736379415.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 31.795639 m, bearing: 319.670368 deg, approach rate: 0.733098 m/s, LOS rate: -0.084335 deg/s, cmd heading: 124.782857 deg, new cmd heading: 124.668581 deg. 2025-01-08T23:36:55.854Z,1736379415.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.175877 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:56.084Z,1736379416.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:56.085Z,1736379416.085 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:36:56.085Z,1736379416.085 [DAT](INFO): response not received 2025-01-08T23:36:56.085Z,1736379416.085 [DAT](INFO): DAT read: user:3377> 2025-01-08T23:36:56.086Z,1736379416.086 [DAT](INFO): DAT read: Tx time:23:36:55.3899 2025-01-08T23:36:56.086Z,1736379416.086 [DAT](INFO): Ping request sent. 2025-01-08T23:36:56.087Z,1736379416.087 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:56.087Z,1736379416.087 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:56.087Z,1736379416.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000818 2025-01-08T23:36:56.205Z,1736379416.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:56.240Z,1736379416.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:56.242Z,1736379416.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:56.249Z,1736379416.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 32.059757 m, bearing: 319.638393 deg, approach rate: 0.667832 m/s, LOS rate: -0.080186 deg/s, cmd heading: 124.668574 deg, new cmd heading: 124.573437 deg. 2025-01-08T23:36:56.250Z,1736379416.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174217 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:56.336Z,1736379416.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:56.337Z,1736379416.337 [DAT](INFO): DAT read: TxSync time:23:36:55.3891 2025-01-08T23:36:56.337Z,1736379416.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250925 2025-01-08T23:36:56.576Z,1736379416.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:56.585Z,1736379416.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:56.588Z,1736379416.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:56.589Z,1736379416.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502195 2025-01-08T23:36:56.591Z,1736379416.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 32.321312 m, bearing: 319.605546 deg, approach rate: 0.761294 m/s, LOS rate: -0.094831 deg/s, cmd heading: 124.573443 deg, new cmd heading: 124.475701 deg. 2025-01-08T23:36:56.592Z,1736379416.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.172511 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:56.840Z,1736379416.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:56.841Z,1736379416.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754022 2025-01-08T23:36:57.018Z,1736379417.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:57.050Z,1736379417.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:57.057Z,1736379417.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 32.625576 m, bearing: 319.567108 deg, approach rate: 0.688648 m/s, LOS rate: -0.086186 deg/s, cmd heading: 124.475703 deg, new cmd heading: 124.361466 deg. 2025-01-08T23:36:57.060Z,1736379417.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.170517 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:57.092Z,1736379417.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:57.092Z,1736379417.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005860 2025-01-08T23:36:57.344Z,1736379417.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:57.344Z,1736379417.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257876 2025-01-08T23:36:57.394Z,1736379417.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:57.403Z,1736379417.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:57.406Z,1736379417.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 32.884747 m, bearing: 319.534147 deg, approach rate: 0.690192 m/s, LOS rate: -0.087087 deg/s, cmd heading: 124.361462 deg, new cmd heading: 124.263357 deg. 2025-01-08T23:36:57.407Z,1736379417.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168805 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:57.596Z,1736379417.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:57.597Z,1736379417.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510514 2025-01-08T23:36:57.816Z,1736379417.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:57.834Z,1736379417.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:57.840Z,1736379417.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 33.170738 m, bearing: 319.482300 deg, approach rate: 0.664627 m/s, LOS rate: -0.119450 deg/s, cmd heading: 124.263353 deg, new cmd heading: 124.109153 deg. 2025-01-08T23:36:57.841Z,1736379417.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.166113 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:57.860Z,1736379417.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:57.861Z,1736379417.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774155 2025-01-08T23:36:58.112Z,1736379418.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:58.112Z,1736379418.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025857 2025-01-08T23:36:58.193Z,1736379418.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:58.202Z,1736379418.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:58.208Z,1736379418.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 33.426712 m, bearing: 319.434902 deg, approach rate: 0.694038 m/s, LOS rate: -0.127529 deg/s, cmd heading: 124.109154 deg, new cmd heading: 123.968050 deg. 2025-01-08T23:36:58.209Z,1736379418.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.163651 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:58.364Z,1736379418.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:58.365Z,1736379418.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278040 2025-01-08T23:36:58.592Z,1736379418.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:58.599Z,1736379418.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:36:58.601Z,1736379418.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:58.605Z,1736379418.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 33.696255 m, bearing: 319.384515 deg, approach rate: 0.674759 m/s, LOS rate: -0.125129 deg/s, cmd heading: 123.968056 deg, new cmd heading: 123.818103 deg. 2025-01-08T23:36:58.606Z,1736379418.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.161034 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:58.616Z,1736379418.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:58.616Z,1736379418.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529695 2025-01-08T23:36:58.871Z,1736379418.871 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:58.872Z,1736379418.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785868 2025-01-08T23:36:59.054Z,1736379419.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:59.063Z,1736379419.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:59.066Z,1736379419.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 34.011982 m, bearing: 319.320354 deg, approach rate: 0.683697 m/s, LOS rate: -0.137648 deg/s, cmd heading: 123.818106 deg, new cmd heading: 123.627412 deg. 2025-01-08T23:36:59.067Z,1736379419.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.157705 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:59.125Z,1736379419.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:59.126Z,1736379419.126 [DAT](INFO): DAT read: Rx Time:23:36:57.9144 2025-01-08T23:36:59.127Z,1736379419.127 [DAT](INFO): Rx dataTimestamp_ set to:1736379419.126306 2025-01-08T23:36:59.128Z,1736379419.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.041234 2025-01-08T23:36:59.169Z,1736379419.169 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:36:59.376Z,1736379419.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:59.377Z,1736379419.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290567 2025-01-08T23:36:59.410Z,1736379419.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:59.419Z,1736379419.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-01-08T23:36:59.421Z,1736379419.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.900002 m, nav range: 34.254726 m, bearing: 319.268671 deg, approach rate: 0.682672 m/s, LOS rate: -0.144318 deg/s, cmd heading: 123.627408 deg, new cmd heading: 123.473458 deg. 2025-01-08T23:36:59.422Z,1736379419.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.155018 target range: 107.900002 and range: 107.90 m. 2025-01-08T23:36:59.628Z,1736379419.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:59.636Z,1736379419.636 [DAT](INFO): DAT read: 23:36:57.9144 LVL= 24544, 28737, 24754, 32755, AGC= 62, IDX= 334,-0.49,-2.150, 2.652,-2.740,-2.531, PHS= 0.469,-1.054,-0.212, RAW= 123.5, 12.0, CAL= 130.6, 7.7, ROT= 19.4, -7.7 2025-01-08T23:36:59.637Z,1736379419.637 [DAT](INFO): got valid direction response: 23:36:57.9144 LVL= 24544, 28737, 24754, 32755, AGC= 62, IDX= 334,-0.49,-2.150, 2.652,-2.740,-2.531, PHS= 0.469,-1.054,-0.212, RAW= 123.5, 12.0, CAL= 130.6, 7.7, ROT= 19.4, -7.7 2025-01-08T23:36:59.638Z,1736379419.638 [DAT](INFO): DAT read: Bearing 19.4, -7.7 (Local) 2025-01-08T23:36:59.639Z,1736379419.639 [DAT](INFO): Local bearing/azimuth received: Bearing 19.4, -7.7 (Local) 2025-01-08T23:36:59.646Z,1736379419.646 [DAT](INFO): DAT read: Range 10 to 50 : 90.3 m (Round-trip 120.4 ms) speed 0.7 m/s 2025-01-08T23:36:59.660Z,1736379419.660 [DAT](INFO): DAT read: user:3378> 2025-01-08T23:36:59.661Z,1736379419.661 [DAT](INFO): DAT read: Tx time:23:36:58.9899 2025-01-08T23:36:59.662Z,1736379419.662 [DAT](INFO): Ping request sent. 2025-01-08T23:36:59.662Z,1736379419.662 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:36:59.663Z,1736379419.663 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:36:59.669Z,1736379419.669 [DAT](INFO): direction in FSK: [-0.348861,-0.442270,0.826253] 2025-01-08T23:36:59.670Z,1736379419.670 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:59.670Z,1736379419.670 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:59.685Z,1736379419.685 [DAT](INFO): publishing transmit ping time 2025-01-08T23:36:59.685Z,1736379419.685 [DAT](INFO): publishing direction and range info 2025-01-08T23:36:59.880Z,1736379419.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:36:59.881Z,1736379419.881 [DAT](INFO): DAT read: TxSync time:23:36:58.9891 2025-01-08T23:36:59.907Z,1736379419.907 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +92, +695A 2025-01-08T23:36:59.937Z,1736379419.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:36:59.937Z,1736379419.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:36:59.972Z,1736379419.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.300003 m, deltaT: 25.472484 s, deltaX: -17.599998 m, approachRate: -0.690942 m/s, rangeRepo size: 4 2025-01-08T23:36:59.974Z,1736379419.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.300003 m, bearing: 5.874463 deg, lat: 36.905905 deg, lon: -122.120382 deg, deltaT: 25.472484 s, deltaX: -17.599998 m, approachRate: -0.690942 m/s, posRepo size: 4 2025-01-08T23:36:59.975Z,1736379419.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T23:36:59.982Z,1736379419.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 57.962788 m, bearing: 337.028978 deg, approach rate: 0.000000 m/s, LOS rate: -0.144318 deg/s, cmd heading: 123.473455 deg, new cmd heading: 123.236070 deg. 2025-01-08T23:36:59.983Z,1736379419.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150875 target range: 90.300003 and range: 90.30 m. 2025-01-08T23:37:00.132Z,1736379420.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:00.173Z,1736379420.173 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:37:00.384Z,1736379420.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:00.428Z,1736379420.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T23:37:00.428Z,1736379420.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:00.437Z,1736379420.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T23:37:00.440Z,1736379420.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 58.267704 m, bearing: 336.886008 deg, approach rate: 0.648750 m/s, LOS rate: -0.302595 deg/s, cmd heading: 123.236065 deg, new cmd heading: 122.809409 deg. 2025-01-08T23:37:00.441Z,1736379420.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.143429 target range: 90.300003 and range: 90.30 m. 2025-01-08T23:37:00.637Z,1736379420.637 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:00.863Z,1736379420.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:00.888Z,1736379420.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:00.890Z,1736379420.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:00.898Z,1736379420.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T23:37:00.905Z,1736379420.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 58.548225 m, bearing: 336.757954 deg, approach rate: 0.608724 m/s, LOS rate: -0.276543 deg/s, cmd heading: 122.809410 deg, new cmd heading: 122.427095 deg. 2025-01-08T23:37:00.906Z,1736379420.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.136756 target range: 90.300003 and range: 90.30 m. 2025-01-08T23:37:01.140Z,1736379421.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:01.141Z,1736379421.141 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:01.141Z,1736379421.141 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:01.141Z,1736379421.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:01.248Z,1736379421.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:01.275Z,1736379421.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T23:37:01.278Z,1736379421.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 58.796532 m, bearing: 336.645317 deg, approach rate: 0.658545 m/s, LOS rate: -0.297468 deg/s, cmd heading: 122.427097 deg, new cmd heading: 122.090618 deg. 2025-01-08T23:37:01.279Z,1736379421.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.130883 target range: 90.300003 and range: 90.30 m. 2025-01-08T23:37:01.393Z,1736379421.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:01.394Z,1736379421.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731840 2025-01-08T23:37:01.645Z,1736379421.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:01.645Z,1736379421.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983403 2025-01-08T23:37:01.669Z,1736379421.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:01.696Z,1736379421.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T23:37:01.699Z,1736379421.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 59.067345 m, bearing: 336.521794 deg, approach rate: 0.650236 m/s, LOS rate: -0.295227 deg/s, cmd heading: 122.090615 deg, new cmd heading: 121.721748 deg. 2025-01-08T23:37:01.705Z,1736379421.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.124445 target range: 90.300003 and range: 90.30 m. 2025-01-08T23:37:01.896Z,1736379421.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:01.897Z,1736379421.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234740 2025-01-08T23:37:02.086Z,1736379422.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:02.097Z,1736379422.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T23:37:02.116Z,1736379422.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 59.338306 m, bearing: 336.396099 deg, approach rate: 0.668277 m/s, LOS rate: -0.308587 deg/s, cmd heading: 121.721744 deg, new cmd heading: 121.346387 deg. 2025-01-08T23:37:02.117Z,1736379422.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.117894 target range: 90.300003 and range: 90.30 m. 2025-01-08T23:37:02.148Z,1736379422.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:02.149Z,1736379422.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487338 2025-01-08T23:37:02.400Z,1736379422.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:02.400Z,1736379422.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738479 2025-01-08T23:37:02.460Z,1736379422.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:02.488Z,1736379422.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T23:37:02.491Z,1736379422.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 59.580833 m, bearing: 336.283620 deg, approach rate: 0.620015 m/s, LOS rate: -0.286379 deg/s, cmd heading: 121.346384 deg, new cmd heading: 121.010326 deg. 2025-01-08T23:37:02.492Z,1736379422.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.112029 target range: 90.300003 and range: 90.30 m. 2025-01-08T23:37:02.652Z,1736379422.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:02.653Z,1736379422.653 [DAT](INFO): DAT read: Rx Time:23:37:01.5105 2025-01-08T23:37:02.654Z,1736379422.654 [DAT](INFO): Rx dataTimestamp_ set to:1736379422.653664 2025-01-08T23:37:02.655Z,1736379422.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992933 2025-01-08T23:37:02.902Z,1736379422.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:02.904Z,1736379422.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:02.905Z,1736379422.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242660 2025-01-08T23:37:02.913Z,1736379422.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:02.915Z,1736379422.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T23:37:02.917Z,1736379422.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 59.874256 m, bearing: 336.145504 deg, approach rate: 0.687814 m/s, LOS rate: -0.322173 deg/s, cmd heading: 121.010325 deg, new cmd heading: 120.598014 deg. 2025-01-08T23:37:02.918Z,1736379422.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104832 target range: 90.300003 and range: 90.30 m. 2025-01-08T23:37:03.156Z,1736379423.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:03.156Z,1736379423.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494503 2025-01-08T23:37:03.268Z,1736379423.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:03.276Z,1736379423.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.30 m. 2025-01-08T23:37:03.279Z,1736379423.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.300003 m, nav range: 60.115807 m, bearing: 336.031785 deg, approach rate: 0.668082 m/s, LOS rate: -0.313259 deg/s, cmd heading: 120.598014 deg, new cmd heading: 120.258234 deg. 2025-01-08T23:37:03.280Z,1736379423.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098902 target range: 90.300003 and range: 90.30 m. 2025-01-08T23:37:03.408Z,1736379423.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:03.416Z,1736379423.416 [DAT](INFO): DAT read: 23:37:01.5106 LVL= 22704, 32753, 24818, 32755, AGC= 68, IDX= 406,-0.12,-2.813, 2.021, 2.858, 3.066, PHS= 0.492,-0.998,-0.211, RAW= 121.9, 11.1, CAL= 129.5, 7.0, ROT= 20.5, -7.0 2025-01-08T23:37:03.417Z,1736379423.417 [DAT](INFO): got valid direction response: 23:37:01.5106 LVL= 22704, 32753, 24818, 32755, AGC= 68, IDX= 406,-0.12,-2.813, 2.021, 2.858, 3.066, PHS= 0.492,-0.998,-0.211, RAW= 121.9, 11.1, CAL= 129.5, 7.0, ROT= 20.5, -7.0 2025-01-08T23:37:03.418Z,1736379423.418 [DAT](INFO): DAT read: Bearing 20.5, -7.0 (Local) 2025-01-08T23:37:03.418Z,1736379423.418 [DAT](INFO): Local bearing/azimuth received: Bearing 20.5, -7.0 (Local) 2025-01-08T23:37:03.420Z,1736379423.420 [DAT](INFO): DAT read: Range 10 to 50 : 87.3 m (Round-trip 116.5 ms) speed 0.4 m/s 2025-01-08T23:37:03.421Z,1736379423.421 [DAT](INFO): DAT read: user:3379> 2025-01-08T23:37:03.422Z,1736379423.422 [DAT](INFO): DAT read: Tx time:23:37:02.5900 2025-01-08T23:37:03.422Z,1736379423.422 [DAT](INFO): Ping request sent. 2025-01-08T23:37:03.422Z,1736379423.422 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:03.423Z,1736379423.423 [DAT](INFO): DAT read: TxSync time:23:37:02.5892 2025-01-08T23:37:03.423Z,1736379423.423 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:37:03.424Z,1736379423.424 [DAT](INFO): direction in FSK: [-0.331186,-0.419819,0.845026] 2025-01-08T23:37:03.424Z,1736379423.424 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:03.425Z,1736379423.425 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:03.429Z,1736379423.429 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:03.429Z,1736379423.429 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:03.661Z,1736379423.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:03.685Z,1736379423.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:03.700Z,1736379423.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.300003 m, deltaT: 3.779426 s, deltaX: -3.000000 m, approachRate: -0.793771 m/s, rangeRepo size: 4 2025-01-08T23:37:03.702Z,1736379423.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.300003 m, bearing: 3.786381 deg, lat: 36.905905 deg, lon: -122.120333 deg, deltaT: 3.779426 s, deltaX: -3.000000 m, approachRate: -0.793771 m/s, posRepo size: 4 2025-01-08T23:37:03.703Z,1736379423.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T23:37:03.733Z,1736379423.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 58.739147 m, bearing: 339.808324 deg, approach rate: 0.000000 m/s, LOS rate: -0.313259 deg/s, cmd heading: 120.258239 deg, new cmd heading: 119.860554 deg. 2025-01-08T23:37:03.739Z,1736379423.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091961 target range: 87.300003 and range: 87.30 m. 2025-01-08T23:37:03.912Z,1736379423.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:04.104Z,1736379424.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:04.114Z,1736379424.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T23:37:04.117Z,1736379424.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 59.013363 m, bearing: 339.652591 deg, approach rate: 0.661312 m/s, LOS rate: -0.373828 deg/s, cmd heading: 119.860558 deg, new cmd heading: 119.395540 deg. 2025-01-08T23:37:04.118Z,1736379424.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.083845 target range: 87.300003 and range: 87.30 m. 2025-01-08T23:37:04.164Z,1736379424.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:04.416Z,1736379424.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:04.474Z,1736379424.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:04.497Z,1736379424.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T23:37:04.499Z,1736379424.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 59.254749 m, bearing: 339.514918 deg, approach rate: 0.630751 m/s, LOS rate: -0.358278 deg/s, cmd heading: 119.395545 deg, new cmd heading: 118.984216 deg. 2025-01-08T23:37:04.500Z,1736379424.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.076666 target range: 87.300003 and range: 87.30 m. 2025-01-08T23:37:04.669Z,1736379424.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:04.913Z,1736379424.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:04.920Z,1736379424.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:04.921Z,1736379424.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:04.939Z,1736379424.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T23:37:04.942Z,1736379424.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 59.544369 m, bearing: 339.351368 deg, approach rate: 0.679155 m/s, LOS rate: -0.381658 deg/s, cmd heading: 118.984218 deg, new cmd heading: 118.495966 deg. 2025-01-08T23:37:04.948Z,1736379424.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068145 target range: 87.300003 and range: 87.30 m. 2025-01-08T23:37:05.172Z,1736379425.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:05.172Z,1736379425.172 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:05.173Z,1736379425.173 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:05.173Z,1736379425.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:05.287Z,1736379425.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:05.298Z,1736379425.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T23:37:05.303Z,1736379425.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 59.790867 m, bearing: 339.210969 deg, approach rate: 0.659428 m/s, LOS rate: -0.374044 deg/s, cmd heading: 118.495968 deg, new cmd heading: 118.076516 deg. 2025-01-08T23:37:05.304Z,1736379425.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060824 target range: 87.300003 and range: 87.30 m. 2025-01-08T23:37:05.426Z,1736379425.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:05.429Z,1736379425.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006850 2025-01-08T23:37:05.676Z,1736379425.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:05.678Z,1736379425.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255625 2025-01-08T23:37:05.725Z,1736379425.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:05.755Z,1736379425.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T23:37:05.758Z,1736379425.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 60.079796 m, bearing: 339.048123 deg, approach rate: 0.631230 m/s, LOS rate: -0.354062 deg/s, cmd heading: 118.076513 deg, new cmd heading: 117.590337 deg. 2025-01-08T23:37:05.759Z,1736379425.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052339 target range: 87.300003 and range: 87.30 m. 2025-01-08T23:37:05.928Z,1736379425.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:05.929Z,1736379425.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506832 2025-01-08T23:37:06.140Z,1736379426.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:06.150Z,1736379426.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T23:37:06.169Z,1736379426.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 60.352955 m, bearing: 338.896482 deg, approach rate: 0.690923 m/s, LOS rate: -0.381820 deg/s, cmd heading: 117.590340 deg, new cmd heading: 117.137487 deg. 2025-01-08T23:37:06.170Z,1736379426.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.044435 target range: 87.300003 and range: 87.30 m. 2025-01-08T23:37:06.180Z,1736379426.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:06.181Z,1736379426.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758586 2025-01-08T23:37:06.432Z,1736379426.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:06.434Z,1736379426.434 [DAT](INFO): DAT read: Rx Time:23:37:05.1072 2025-01-08T23:37:06.434Z,1736379426.434 [DAT](INFO): Rx dataTimestamp_ set to:1736379426.434053 2025-01-08T23:37:06.435Z,1736379426.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013229 2025-01-08T23:37:06.505Z,1736379426.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:06.521Z,1736379426.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.30 m. 2025-01-08T23:37:06.528Z,1736379426.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.300003 m, nav range: 60.590557 m, bearing: 338.760516 deg, approach rate: 0.640016 m/s, LOS rate: -0.364807 deg/s, cmd heading: 117.137485 deg, new cmd heading: 116.731194 deg. 2025-01-08T23:37:06.529Z,1736379426.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.037344 target range: 87.300003 and range: 87.30 m. 2025-01-08T23:37:06.684Z,1736379426.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:06.685Z,1736379426.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262576 2025-01-08T23:37:06.936Z,1736379426.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:06.943Z,1736379426.943 [DAT](INFO): DAT read: 23:37:05.1072 LVL= 29792, 32753, 32754, 32755, AGC= 64, IDX= 403,-0.24,-2.355, 2.488,-3.021,-2.816, PHS= 0.549,-0.933,-0.208, RAW= 119.3, 9.3, CAL= 127.8, 5.4, ROT= 22.2, -5.4 2025-01-08T23:37:06.945Z,1736379426.945 [DAT](INFO): got valid direction response: 23:37:05.1072 LVL= 29792, 32753, 32754, 32755, AGC= 64, IDX= 403,-0.24,-2.355, 2.488,-3.021,-2.816, PHS= 0.549,-0.933,-0.208, RAW= 119.3, 9.3, CAL= 127.8, 5.4, ROT= 22.2, -5.4 2025-01-08T23:37:06.945Z,1736379426.945 [DAT](INFO): DAT read: Bearing 22.2, -5.4 (Local) 2025-01-08T23:37:06.946Z,1736379426.946 [DAT](INFO): Local bearing/azimuth received: Bearing 22.2, -5.4 (Local) 2025-01-08T23:37:06.947Z,1736379426.947 [DAT](INFO): DAT read: Range 10 to 50 : 84.7 m (Round-trip 113.0 ms) speed 0.4 m/s 2025-01-08T23:37:06.948Z,1736379426.948 [DAT](INFO): DAT read: user:3380> 2025-01-08T23:37:06.949Z,1736379426.949 [DAT](INFO): DAT read: Tx time:23:37:06.1900 2025-01-08T23:37:06.949Z,1736379426.949 [DAT](INFO): Ping request sent. 2025-01-08T23:37:06.949Z,1736379426.949 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:06.949Z,1736379426.949 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:37:06.950Z,1736379426.950 [DAT](INFO): direction in FSK: [-0.295767,-0.383834,0.874753] 2025-01-08T23:37:06.951Z,1736379426.951 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:06.951Z,1736379426.951 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:06.954Z,1736379426.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:07.014Z,1736379427.014 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:07.014Z,1736379427.014 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:07.047Z,1736379427.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.699997 m, deltaT: 3.527981 s, deltaX: -2.600006 m, approachRate: -0.736967 m/s, rangeRepo size: 4 2025-01-08T23:37:07.073Z,1736379427.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.699997 m, bearing: 1.522246 deg, lat: 36.905905 deg, lon: -122.120070 deg, deltaT: 3.527981 s, deltaX: -2.600006 m, approachRate: -0.736967 m/s, posRepo size: 4 2025-01-08T23:37:07.073Z,1736379427.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:37:07.080Z,1736379427.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 56.688885 m, bearing: 1.184476 deg, approach rate: 0.000000 m/s, LOS rate: -0.364807 deg/s, cmd heading: 116.731198 deg, new cmd heading: 116.156941 deg. 2025-01-08T23:37:07.081Z,1736379427.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.027321 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:37:07.188Z,1736379427.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:07.189Z,1736379427.189 [DAT](INFO): DAT read: TxSync time:23:37:06.1892 2025-01-08T23:37:07.382Z,1736379427.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:07.412Z,1736379427.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:07.414Z,1736379427.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:37:07.420Z,1736379427.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 56.874557 m, bearing: 0.919899 deg, approach rate: 0.504883 m/s, LOS rate: -0.717089 deg/s, cmd heading: 116.156943 deg, new cmd heading: 115.365856 deg. 2025-01-08T23:37:07.421Z,1736379427.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.013514 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:37:07.440Z,1736379427.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:07.440Z,1736379427.440 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:07.440Z,1736379427.440 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:07.441Z,1736379427.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:07.692Z,1736379427.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:07.693Z,1736379427.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743648 2025-01-08T23:37:07.761Z,1736379427.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:07.778Z,1736379427.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:37:07.785Z,1736379427.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 57.039196 m, bearing: 0.686134 deg, approach rate: 0.451507 m/s, LOS rate: -0.639229 deg/s, cmd heading: 115.365857 deg, new cmd heading: 114.666622 deg. 2025-01-08T23:37:07.786Z,1736379427.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.001310 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:37:07.944Z,1736379427.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:07.945Z,1736379427.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995376 2025-01-08T23:37:08.196Z,1736379428.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:08.197Z,1736379428.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247664 2025-01-08T23:37:08.197Z,1736379428.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:08.207Z,1736379428.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:37:08.211Z,1736379428.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 57.229431 m, bearing: 0.426607 deg, approach rate: 0.444132 m/s, LOS rate: -0.603888 deg/s, cmd heading: 114.666623 deg, new cmd heading: 113.890680 deg. 2025-01-08T23:37:08.212Z,1736379428.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.987767 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:37:08.448Z,1736379428.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:08.448Z,1736379428.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499132 2025-01-08T23:37:08.560Z,1736379428.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:08.568Z,1736379428.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:37:08.571Z,1736379428.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 57.387051 m, bearing: 0.207692 deg, approach rate: 0.435899 m/s, LOS rate: -0.603748 deg/s, cmd heading: 113.890679 deg, new cmd heading: 113.235769 deg. 2025-01-08T23:37:08.572Z,1736379428.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.976337 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:37:08.700Z,1736379428.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:08.701Z,1736379428.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751650 2025-01-08T23:37:08.952Z,1736379428.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:08.953Z,1736379428.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003292 2025-01-08T23:37:08.988Z,1736379428.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:09.026Z,1736379429.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:37:09.030Z,1736379429.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 57.566921 m, bearing: 359.958216 deg, approach rate: 0.393368 m/s, LOS rate: -0.543887 deg/s, cmd heading: 113.235766 deg, new cmd heading: 112.489719 deg. 2025-01-08T23:37:09.031Z,1736379429.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.963316 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:37:09.204Z,1736379429.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:09.204Z,1736379429.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255106 2025-01-08T23:37:09.364Z,1736379429.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:09.397Z,1736379429.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:37:09.404Z,1736379429.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 57.723415 m, bearing: 359.739464 deg, approach rate: 0.420902 m/s, LOS rate: -0.586752 deg/s, cmd heading: 112.489719 deg, new cmd heading: 111.835272 deg. 2025-01-08T23:37:09.405Z,1736379429.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.951894 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:37:09.456Z,1736379429.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:09.457Z,1736379429.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507286 2025-01-08T23:37:09.708Z,1736379429.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:09.708Z,1736379429.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759207 2025-01-08T23:37:09.833Z,1736379429.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:09.849Z,1736379429.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:09.883Z,1736379429.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:37:09.914Z,1736379429.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 57.920757 m, bearing: 359.466945 deg, approach rate: 0.407645 m/s, LOS rate: -0.561017 deg/s, cmd heading: 111.835270 deg, new cmd heading: 111.020557 deg. 2025-01-08T23:37:09.915Z,1736379429.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.937674 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:37:09.961Z,1736379429.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:09.962Z,1736379429.962 [DAT](INFO): DAT read: Rx Time:23:37:08.7041 2025-01-08T23:37:09.963Z,1736379429.963 [DAT](INFO): Rx dataTimestamp_ set to:1736379429.962253 2025-01-08T23:37:09.964Z,1736379429.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014626 2025-01-08T23:37:10.212Z,1736379430.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:10.213Z,1736379430.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263181 2025-01-08T23:37:10.237Z,1736379430.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:10.262Z,1736379430.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:37:10.269Z,1736379430.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 58.077549 m, bearing: 359.237640 deg, approach rate: 0.412112 m/s, LOS rate: -0.601077 deg/s, cmd heading: 111.020559 deg, new cmd heading: 110.334535 deg. 2025-01-08T23:37:10.270Z,1736379430.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.925701 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:37:10.464Z,1736379430.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:10.470Z,1736379430.470 [DAT](INFO): DAT read: 23:37:08.7041 LVL= 19888, 32753, 27634, 32755, AGC= 64, IDX= 404,-0.35,-1.050,-2.547,-1.878,-1.578, PHS= 0.616,-0.923,-0.303, RAW= 113.6, 9.1, CAL= 122.9, 6.1, ROT= 27.1, -6.1 2025-01-08T23:37:10.474Z,1736379430.474 [DAT](INFO): got valid direction response: 23:37:08.7041 LVL= 19888, 32753, 27634, 32755, AGC= 64, IDX= 404,-0.35,-1.050,-2.547,-1.878,-1.578, PHS= 0.616,-0.923,-0.303, RAW= 113.6, 9.1, CAL= 122.9, 6.1, ROT= 27.1, -6.1 2025-01-08T23:37:10.484Z,1736379430.484 [DAT](INFO): DAT read: Bearing 27.1, -6.1 (Local) 2025-01-08T23:37:10.485Z,1736379430.485 [DAT](INFO): Local bearing/azimuth received: Bearing 27.1, -6.1 (Local) 2025-01-08T23:37:10.486Z,1736379430.486 [DAT](INFO): DAT read: Range 10 to 50 : 82.5 m (Round-trip 110.0 ms) speed 0.7 m/s 2025-01-08T23:37:10.487Z,1736379430.487 [DAT](INFO): DAT read: user:3381> 2025-01-08T23:37:10.488Z,1736379430.488 [DAT](INFO): DAT read: Tx time:23:37:09.7900 2025-01-08T23:37:10.488Z,1736379430.488 [DAT](INFO): Ping request sent. 2025-01-08T23:37:10.488Z,1736379430.488 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:10.488Z,1736379430.488 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:37:10.489Z,1736379430.489 [DAT](INFO): direction in FSK: [-0.288529,-0.289948,0.912514] 2025-01-08T23:37:10.490Z,1736379430.490 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:10.490Z,1736379430.490 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:10.518Z,1736379430.518 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:10.518Z,1736379430.518 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:10.616Z,1736379430.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:10.664Z,1736379430.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.527991 s, deltaX: -2.199997 m, approachRate: -0.623583 m/s, rangeRepo size: 4 2025-01-08T23:37:10.672Z,1736379430.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 350.067523 deg, lat: 36.905860 deg, lon: -122.120070 deg, deltaT: 3.527991 s, deltaX: -2.199997 m, approachRate: -0.623583 m/s, posRepo size: 4 2025-01-08T23:37:10.673Z,1736379430.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:37:10.685Z,1736379430.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 53.213936 m, bearing: 358.929571 deg, approach rate: 0.000000 m/s, LOS rate: -0.601077 deg/s, cmd heading: 110.334534 deg, new cmd heading: 109.619992 deg. 2025-01-08T23:37:10.686Z,1736379430.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.913230 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:37:10.716Z,1736379430.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:10.717Z,1736379430.717 [DAT](INFO): DAT read: TxSync time:23:37:09.7892 2025-01-08T23:37:10.968Z,1736379430.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:11.038Z,1736379431.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:11.048Z,1736379431.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:37:11.051Z,1736379431.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 53.369938 m, bearing: 358.677342 deg, approach rate: 0.399868 m/s, LOS rate: -0.644626 deg/s, cmd heading: 109.619994 deg, new cmd heading: 108.865566 deg. 2025-01-08T23:37:11.068Z,1736379431.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.900063 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:37:11.220Z,1736379431.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:11.413Z,1736379431.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:11.444Z,1736379431.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:37:11.446Z,1736379431.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 53.508022 m, bearing: 358.452357 deg, approach rate: 0.349009 m/s, LOS rate: -0.567183 deg/s, cmd heading: 108.865566 deg, new cmd heading: 108.192383 deg. 2025-01-08T23:37:11.448Z,1736379431.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.888313 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:37:11.472Z,1736379431.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:11.724Z,1736379431.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:11.977Z,1736379431.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:12.009Z,1736379432.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:12.017Z,1736379432.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:12.019Z,1736379432.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:37:12.022Z,1736379432.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 53.729588 m, bearing: 358.103161 deg, approach rate: 0.385197 m/s, LOS rate: -0.604578 deg/s, cmd heading: 108.192382 deg, new cmd heading: 107.149237 deg. 2025-01-08T23:37:12.023Z,1736379432.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870107 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:37:12.229Z,1736379432.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:12.229Z,1736379432.229 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:12.229Z,1736379432.229 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:12.229Z,1736379432.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:12.421Z,1736379432.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:12.454Z,1736379432.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:37:12.457Z,1736379432.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 53.879509 m, bearing: 357.859431 deg, approach rate: 0.344521 m/s, LOS rate: -0.558533 deg/s, cmd heading: 107.149235 deg, new cmd heading: 106.420122 deg. 2025-01-08T23:37:12.458Z,1736379432.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.857381 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:37:12.481Z,1736379432.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:12.483Z,1736379432.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994442 2025-01-08T23:37:12.733Z,1736379432.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:12.734Z,1736379432.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245909 2025-01-08T23:37:12.820Z,1736379432.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:12.846Z,1736379432.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:37:12.849Z,1736379432.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 54.022652 m, bearing: 357.623249 deg, approach rate: 0.365163 m/s, LOS rate: -0.600913 deg/s, cmd heading: 106.420119 deg, new cmd heading: 105.713486 deg. 2025-01-08T23:37:12.850Z,1736379432.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.845048 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:37:12.985Z,1736379432.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:12.986Z,1736379432.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497276 2025-01-08T23:37:13.236Z,1736379433.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:13.237Z,1736379433.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748570 2025-01-08T23:37:13.246Z,1736379433.246 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3276,-32768,V 2025-01-08T23:37:13.254Z,1736379433.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:37:13.254Z,1736379433.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:13.264Z,1736379433.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:37:13.267Z,1736379433.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 54.179222 m, bearing: 357.368031 deg, approach rate: 0.375268 m/s, LOS rate: -0.609937 deg/s, cmd heading: 105.713488 deg, new cmd heading: 104.950094 deg. 2025-01-08T23:37:13.296Z,1736379433.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.831725 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:37:13.493Z,1736379433.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:13.495Z,1736379433.495 [DAT](INFO): DAT read: Rx Time:23:37:12.3010 2025-01-08T23:37:13.496Z,1736379433.496 [DAT](INFO): Rx dataTimestamp_ set to:1736379433.495445 2025-01-08T23:37:13.498Z,1736379433.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009199 2025-01-08T23:37:13.668Z,1736379433.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:37:13.668Z,1736379433.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:13.692Z,1736379433.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:37:13.700Z,1736379433.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 54.322170 m, bearing: 357.124288 deg, approach rate: 0.333824 m/s, LOS rate: -0.567709 deg/s, cmd heading: 104.950091 deg, new cmd heading: 104.220828 deg. 2025-01-08T23:37:13.701Z,1736379433.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.818997 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:37:13.744Z,1736379433.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:13.745Z,1736379433.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256895 2025-01-08T23:37:13.997Z,1736379433.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:14.013Z,1736379434.013 [DAT](INFO): DAT read: 23:37:12.3011 LVL= 22112, 32753, 32754, 32755, AGC= 62, IDX= 404, 0.09, 1.878, 0.067, 0.837, 1.211, PHS= 0.754,-1.097,-0.377, RAW= 112.7, 8.9, CAL= 122.1, 6.0, ROT= 27.9, -6.0 2025-01-08T23:37:14.016Z,1736379434.016 [DAT](INFO): got valid direction response: 23:37:12.3011 LVL= 22112, 32753, 32754, 32755, AGC= 62, IDX= 404, 0.09, 1.878, 0.067, 0.837, 1.211, PHS= 0.754,-1.097,-0.377, RAW= 112.7, 8.9, CAL= 122.1, 6.0, ROT= 27.9, -6.0 2025-01-08T23:37:14.017Z,1736379434.017 [DAT](INFO): DAT read: Bearing 27.9, -6.0 (Local) 2025-01-08T23:37:14.018Z,1736379434.018 [DAT](INFO): Local bearing/azimuth received: Bearing 27.9, -6.0 (Local) 2025-01-08T23:37:14.020Z,1736379434.020 [DAT](INFO): DAT read: Range 10 to 50 : 80.1 m (Round-trip 106.9 ms) speed 0.5 m/s 2025-01-08T23:37:14.020Z,1736379434.020 [DAT](INFO): DAT read: user:3382> 2025-01-08T23:37:14.021Z,1736379434.021 [DAT](INFO): DAT read: Tx time:23:37:13.3901 2025-01-08T23:37:14.021Z,1736379434.021 [DAT](INFO): Ping request sent. 2025-01-08T23:37:14.021Z,1736379434.021 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:14.022Z,1736379434.022 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:37:14.023Z,1736379434.023 [DAT](INFO): direction in FSK: [-0.284244,-0.275087,0.918440] 2025-01-08T23:37:14.023Z,1736379434.023 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:14.023Z,1736379434.023 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:14.027Z,1736379434.027 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:14.028Z,1736379434.028 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:14.150Z,1736379434.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:14.196Z,1736379434.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.099998 m, deltaT: 3.533653 s, deltaX: -2.400002 m, approachRate: -0.679184 m/s, rangeRepo size: 4 2025-01-08T23:37:14.198Z,1736379434.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.099998 m, bearing: 342.743614 deg, lat: 36.905792 deg, lon: -122.120070 deg, deltaT: 3.533653 s, deltaX: -2.400002 m, approachRate: -0.679184 m/s, posRepo size: 4 2025-01-08T23:37:14.204Z,1736379434.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:37:14.210Z,1736379434.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 46.928898 m, bearing: 356.333804 deg, approach rate: 0.000000 m/s, LOS rate: -0.567709 deg/s, cmd heading: 104.220825 deg, new cmd heading: 103.370128 deg. 2025-01-08T23:37:14.220Z,1736379434.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.804149 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:37:14.248Z,1736379434.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:14.249Z,1736379434.249 [DAT](INFO): DAT read: TxSync time:23:37:13.3893 2025-01-08T23:37:14.500Z,1736379434.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:14.540Z,1736379434.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:14.561Z,1736379434.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:14.563Z,1736379434.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:37:14.569Z,1736379434.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 47.062012 m, bearing: 356.075049 deg, approach rate: 0.358424 m/s, LOS rate: -0.694753 deg/s, cmd heading: 103.370125 deg, new cmd heading: 102.596105 deg. 2025-01-08T23:37:14.570Z,1736379434.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.790640 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:37:14.753Z,1736379434.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:14.754Z,1736379434.754 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:14.754Z,1736379434.754 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:14.754Z,1736379434.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:14.930Z,1736379434.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:15.003Z,1736379435.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:37:15.006Z,1736379435.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 47.196083 m, bearing: 355.817751 deg, approach rate: 0.307955 m/s, LOS rate: -0.589319 deg/s, cmd heading: 102.596108 deg, new cmd heading: 101.826456 deg. 2025-01-08T23:37:15.007Z,1736379435.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.777207 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:37:15.008Z,1736379435.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:15.009Z,1736379435.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987241 2025-01-08T23:37:15.260Z,1736379435.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:15.261Z,1736379435.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239505 2025-01-08T23:37:15.345Z,1736379435.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:15.378Z,1736379435.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:37:15.385Z,1736379435.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 47.332237 m, bearing: 355.527857 deg, approach rate: 0.358098 m/s, LOS rate: -0.760251 deg/s, cmd heading: 101.826455 deg, new cmd heading: 100.959344 deg. 2025-01-08T23:37:15.386Z,1736379435.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.762073 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:37:15.512Z,1736379435.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:15.514Z,1736379435.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492007 2025-01-08T23:37:15.721Z,1736379435.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:15.731Z,1736379435.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:37:15.735Z,1736379435.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 47.453865 m, bearing: 355.263314 deg, approach rate: 0.345157 m/s, LOS rate: -0.748798 deg/s, cmd heading: 100.959342 deg, new cmd heading: 100.167799 deg. 2025-01-08T23:37:15.736Z,1736379435.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.748258 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:37:15.764Z,1736379435.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:15.765Z,1736379435.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743225 2025-01-08T23:37:16.016Z,1736379436.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:16.016Z,1736379436.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994942 2025-01-08T23:37:16.156Z,1736379436.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:16.185Z,1736379436.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:37:16.192Z,1736379436.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 47.598125 m, bearing: 354.946796 deg, approach rate: 0.317740 m/s, LOS rate: -0.695030 deg/s, cmd heading: 100.167798 deg, new cmd heading: 99.221212 deg. 2025-01-08T23:37:16.194Z,1736379436.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.731737 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:37:16.268Z,1736379436.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:16.269Z,1736379436.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247855 2025-01-08T23:37:16.520Z,1736379436.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:16.521Z,1736379436.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499127 2025-01-08T23:37:16.550Z,1736379436.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:16.565Z,1736379436.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:16.567Z,1736379436.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:37:16.574Z,1736379436.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 47.726799 m, bearing: 354.659427 deg, approach rate: 0.336622 m/s, LOS rate: -0.749753 deg/s, cmd heading: 99.221209 deg, new cmd heading: 98.361496 deg. 2025-01-08T23:37:16.575Z,1736379436.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.716732 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:37:16.772Z,1736379436.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:16.772Z,1736379436.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750903 2025-01-08T23:37:16.930Z,1736379436.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:16.938Z,1736379436.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:37:16.941Z,1736379436.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 47.849133 m, bearing: 354.381451 deg, approach rate: 0.329188 m/s, LOS rate: -0.746093 deg/s, cmd heading: 98.361500 deg, new cmd heading: 97.529764 deg. 2025-01-08T23:37:16.943Z,1736379436.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.702216 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:37:17.025Z,1736379437.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:17.029Z,1736379437.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007253 2025-01-08T23:37:17.277Z,1736379437.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:17.277Z,1736379437.277 [DAT](INFO): DAT read: Rx Time:23:37:15.8978 2025-01-08T23:37:17.278Z,1736379437.278 [DAT](INFO): Rx dataTimestamp_ set to:1736379437.277559 2025-01-08T23:37:17.278Z,1736379437.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256969 2025-01-08T23:37:17.365Z,1736379437.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:17.373Z,1736379437.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:37:17.378Z,1736379437.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 47.989632 m, bearing: 354.051462 deg, approach rate: 0.323062 m/s, LOS rate: -0.756548 deg/s, cmd heading: 97.529767 deg, new cmd heading: 96.542801 deg. 2025-01-08T23:37:17.379Z,1736379437.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.684990 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:37:17.528Z,1736379437.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:17.529Z,1736379437.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507750 2025-01-08T23:37:17.746Z,1736379437.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:17.755Z,1736379437.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.10 m. 2025-01-08T23:37:17.760Z,1736379437.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.099998 m, nav range: 48.111134 m, bearing: 353.762066 deg, approach rate: 0.318705 m/s, LOS rate: -0.757179 deg/s, cmd heading: 96.542805 deg, new cmd heading: 95.676878 deg. 2025-01-08T23:37:17.761Z,1736379437.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669877 target range: 80.099998 and range: 80.10 m. 2025-01-08T23:37:17.780Z,1736379437.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:17.801Z,1736379437.801 [DAT](INFO): DAT read: 23:37:15.8978 LVL= 15952, 25713, 22354, 32755, AGC= 64, IDX= 401, 0.12,-2.392, 2.018, 2.781, 3.135, PHS= 0.844,-1.071,-0.357, RAW= 111.6, 7.0, CAL= 121.7, 4.1, ROT= 28.3, -4.1 2025-01-08T23:37:17.803Z,1736379437.803 [DAT](INFO): got valid direction response: 23:37:15.8978 LVL= 15952, 25713, 22354, 32755, AGC= 64, IDX= 401, 0.12,-2.392, 2.018, 2.781, 3.135, PHS= 0.844,-1.071,-0.357, RAW= 111.6, 7.0, CAL= 121.7, 4.1, ROT= 28.3, -4.1 2025-01-08T23:37:17.817Z,1736379437.817 [DAT](INFO): DAT read: Bearing 28.3, -4.1 (Local) 2025-01-08T23:37:17.818Z,1736379437.818 [DAT](INFO): Local bearing/azimuth received: Bearing 28.3, -4.1 (Local) 2025-01-08T23:37:17.820Z,1736379437.820 [DAT](INFO): DAT read: Range 10 to 50 : 77.7 m (Round-trip 103.6 ms) speed 0.4 m/s 2025-01-08T23:37:17.821Z,1736379437.821 [DAT](INFO): DAT read: user:3383> 2025-01-08T23:37:17.822Z,1736379437.822 [DAT](INFO): DAT read: Tx time:23:37:16.9901 2025-01-08T23:37:17.822Z,1736379437.822 [DAT](INFO): Ping request sent. 2025-01-08T23:37:17.822Z,1736379437.822 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:17.823Z,1736379437.823 [DAT](INFO): DAT read: TxSync time:23:37:16.9893 2025-01-08T23:37:17.824Z,1736379437.824 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:37:17.825Z,1736379437.825 [DAT](INFO): direction in FSK: [-0.247443,-0.261218,0.933026] 2025-01-08T23:37:17.825Z,1736379437.825 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:17.825Z,1736379437.825 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:17.835Z,1736379437.835 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:17.835Z,1736379437.835 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:18.033Z,1736379438.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:18.224Z,1736379438.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:18.284Z,1736379438.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:18.316Z,1736379438.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.699997 m, deltaT: 3.782352 s, deltaX: -2.400002 m, approachRate: -0.634526 m/s, rangeRepo size: 4 2025-01-08T23:37:18.318Z,1736379438.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 77.699997 m, bearing: 336.232075 deg, lat: 36.905688 deg, lon: -122.120126 deg, deltaT: 3.782352 s, deltaX: -2.400002 m, approachRate: -0.634526 m/s, posRepo size: 4 2025-01-08T23:37:18.323Z,1736379438.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T23:37:18.332Z,1736379438.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 37.897701 m, bearing: 343.864904 deg, approach rate: 0.000000 m/s, LOS rate: -0.757179 deg/s, cmd heading: 95.676880 deg, new cmd heading: 94.423168 deg. 2025-01-08T23:37:18.333Z,1736379438.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647995 target range: 77.699997 and range: 77.70 m. 2025-01-08T23:37:18.536Z,1736379438.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:18.637Z,1736379438.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:18.645Z,1736379438.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:18.649Z,1736379438.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T23:37:18.654Z,1736379438.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 38.069283 m, bearing: 343.495739 deg, approach rate: 0.501620 m/s, LOS rate: -1.074390 deg/s, cmd heading: 94.423172 deg, new cmd heading: 93.320809 deg. 2025-01-08T23:37:18.656Z,1736379438.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628755 target range: 77.699997 and range: 77.70 m. 2025-01-08T23:37:18.788Z,1736379438.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:18.788Z,1736379438.788 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:18.788Z,1736379438.788 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:18.789Z,1736379438.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:19.041Z,1736379439.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:19.044Z,1736379439.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221198 2025-01-08T23:37:19.128Z,1736379439.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:19.144Z,1736379439.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T23:37:19.152Z,1736379439.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 38.265411 m, bearing: 343.082845 deg, approach rate: 0.395628 m/s, LOS rate: -0.828606 deg/s, cmd heading: 93.320806 deg, new cmd heading: 92.088675 deg. 2025-01-08T23:37:19.153Z,1736379439.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.607251 target range: 77.699997 and range: 77.70 m. 2025-01-08T23:37:19.292Z,1736379439.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:19.293Z,1736379439.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470208 2025-01-08T23:37:19.472Z,1736379439.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:19.502Z,1736379439.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T23:37:19.509Z,1736379439.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 38.421764 m, bearing: 342.759622 deg, approach rate: 0.437689 m/s, LOS rate: -0.901131 deg/s, cmd heading: 92.088674 deg, new cmd heading: 91.123049 deg. 2025-01-08T23:37:19.509Z,1736379439.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.590397 target range: 77.699997 and range: 77.70 m. 2025-01-08T23:37:19.546Z,1736379439.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:19.547Z,1736379439.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724815 2025-01-08T23:37:19.800Z,1736379439.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:19.800Z,1736379439.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978214 2025-01-08T23:37:19.872Z,1736379439.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:19.881Z,1736379439.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T23:37:19.884Z,1736379439.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 38.592720 m, bearing: 342.412011 deg, approach rate: 0.450083 m/s, LOS rate: -0.911114 deg/s, cmd heading: 91.123050 deg, new cmd heading: 90.084955 deg. 2025-01-08T23:37:19.885Z,1736379439.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.572279 target range: 77.699997 and range: 77.70 m. 2025-01-08T23:37:20.056Z,1736379440.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:20.058Z,1736379440.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235465 2025-01-08T23:37:20.304Z,1736379440.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:20.305Z,1736379440.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482531 2025-01-08T23:37:20.363Z,1736379440.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:20.401Z,1736379440.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T23:37:20.408Z,1736379440.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 38.805534 m, bearing: 341.994751 deg, approach rate: 0.409700 m/s, LOS rate: -0.798877 deg/s, cmd heading: 90.084956 deg, new cmd heading: 88.840248 deg. 2025-01-08T23:37:20.409Z,1736379440.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550555 target range: 77.699997 and range: 77.70 m. 2025-01-08T23:37:20.558Z,1736379440.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:20.559Z,1736379440.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737246 2025-01-08T23:37:20.718Z,1736379440.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:20.725Z,1736379440.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:20.729Z,1736379440.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T23:37:20.732Z,1736379440.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 38.949245 m, bearing: 341.682748 deg, approach rate: 0.438632 m/s, LOS rate: -0.948770 deg/s, cmd heading: 88.840250 deg, new cmd heading: 87.907781 deg. 2025-01-08T23:37:20.733Z,1736379440.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534280 target range: 77.699997 and range: 77.70 m. 2025-01-08T23:37:20.808Z,1736379440.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:20.809Z,1736379440.809 [DAT](INFO): DAT read: Rx Time:23:37:19.4953 2025-01-08T23:37:20.810Z,1736379440.810 [DAT](INFO): Rx dataTimestamp_ set to:1736379440.809784 2025-01-08T23:37:20.811Z,1736379440.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988482 2025-01-08T23:37:21.063Z,1736379441.063 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:21.066Z,1736379441.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242681 2025-01-08T23:37:21.209Z,1736379441.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:21.246Z,1736379441.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-08T23:37:21.249Z,1736379441.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 39.137096 m, bearing: 341.262486 deg, approach rate: 0.362940 m/s, LOS rate: -0.808068 deg/s, cmd heading: 87.907779 deg, new cmd heading: 86.653257 deg. 2025-01-08T23:37:21.250Z,1736379441.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.512385 target range: 77.699997 and range: 77.70 m. 2025-01-08T23:37:21.312Z,1736379441.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:21.318Z,1736379441.318 [DAT](INFO): DAT read: 23:37:19.4953 LVL= 14064, 23537, 18578, 26179, AGC= 57, IDX= 423, 0.00,-2.650, 1.609, 2.103, 2.548, PHS= 1.173,-0.892,-0.448, RAW= 101.8, 1.8, CAL= 112.2, -1.1, ROT= 37.8, 1.1 2025-01-08T23:37:21.320Z,1736379441.320 [DAT](INFO): got valid direction response: 23:37:19.4953 LVL= 14064, 23537, 18578, 26179, AGC= 57, IDX= 423, 0.00,-2.650, 1.609, 2.103, 2.548, PHS= 1.173,-0.892,-0.448, RAW= 101.8, 1.8, CAL= 112.2, -1.1, ROT= 37.8, 1.1 2025-01-08T23:37:21.321Z,1736379441.321 [DAT](INFO): DAT read: Bearing 37.8, 1.1 (Local) 2025-01-08T23:37:21.321Z,1736379441.321 [DAT](INFO): Local bearing/azimuth received: Bearing 37.8, 1.1 (Local) 2025-01-08T23:37:21.322Z,1736379441.322 [DAT](INFO): DAT read: Range 10 to 50 : 75.7 m (Round-trip 101.0 ms) speed 0.4 m/s 2025-01-08T23:37:21.323Z,1736379441.323 [DAT](INFO): DAT read: user:3384> 2025-01-08T23:37:21.324Z,1736379441.324 [DAT](INFO): DAT read: Tx time:23:37:20.5901 2025-01-08T23:37:21.324Z,1736379441.324 [DAT](INFO): Ping request sent. 2025-01-08T23:37:21.324Z,1736379441.324 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:21.325Z,1736379441.325 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:37:21.326Z,1736379441.326 [DAT](INFO): direction in FSK: [-0.136811,-0.096959,0.985841] 2025-01-08T23:37:21.327Z,1736379441.327 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:21.327Z,1736379441.327 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:21.330Z,1736379441.330 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:21.330Z,1736379441.330 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:21.457Z,1736379441.457 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:37:21.565Z,1736379441.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:21.567Z,1736379441.567 [DAT](INFO): DAT read: TxSync time:23:37:20.5893 2025-01-08T23:37:21.569Z,1736379441.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:21.601Z,1736379441.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.699997 m, deltaT: 3.532109 s, deltaX: -2.000000 m, approachRate: -0.566234 m/s, rangeRepo size: 4 2025-01-08T23:37:21.603Z,1736379441.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 75.699997 m, bearing: 321.071668 deg, lat: 36.905640 deg, lon: -122.120126 deg, deltaT: 3.532109 s, deltaX: -2.000000 m, approachRate: -0.566234 m/s, posRepo size: 4 2025-01-08T23:37:21.610Z,1736379441.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:37:21.618Z,1736379441.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 34.252384 m, bearing: 338.038550 deg, approach rate: 0.000000 m/s, LOS rate: -0.808068 deg/s, cmd heading: 86.653258 deg, new cmd heading: 85.794986 deg. 2025-01-08T23:37:21.627Z,1736379441.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497405 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:37:21.816Z,1736379441.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:21.939Z,1736379441.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:21.950Z,1736379441.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:37:21.952Z,1736379441.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 34.404312 m, bearing: 337.675310 deg, approach rate: 0.434802 m/s, LOS rate: -1.034959 deg/s, cmd heading: 85.794983 deg, new cmd heading: 84.710210 deg. 2025-01-08T23:37:21.953Z,1736379441.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478472 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:37:22.069Z,1736379442.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:22.320Z,1736379442.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:22.379Z,1736379442.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:22.388Z,1736379442.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:37:22.390Z,1736379442.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 34.572166 m, bearing: 337.281623 deg, approach rate: 0.383394 m/s, LOS rate: -0.894841 deg/s, cmd heading: 84.710212 deg, new cmd heading: 83.535061 deg. 2025-01-08T23:37:22.392Z,1736379442.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457962 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:37:22.572Z,1736379442.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:22.744Z,1736379442.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:22.751Z,1736379442.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:22.754Z,1736379442.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:37:22.757Z,1736379442.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 34.709393 m, bearing: 336.953089 deg, approach rate: 0.374591 m/s, LOS rate: -0.893261 deg/s, cmd heading: 83.535065 deg, new cmd heading: 82.553459 deg. 2025-01-08T23:37:22.758Z,1736379442.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440830 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:37:22.825Z,1736379442.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:22.825Z,1736379442.825 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:22.825Z,1736379442.825 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:22.826Z,1736379442.826 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:23.077Z,1736379443.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:23.081Z,1736379443.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755775 2025-01-08T23:37:23.194Z,1736379443.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:23.202Z,1736379443.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:37:23.205Z,1736379443.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 34.867561 m, bearing: 336.562953 deg, approach rate: 0.352750 m/s, LOS rate: -0.866131 deg/s, cmd heading: 82.553457 deg, new cmd heading: 81.388529 deg. 2025-01-08T23:37:23.206Z,1736379443.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.420498 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:37:23.328Z,1736379443.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:23.329Z,1736379443.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004173 2025-01-08T23:37:23.570Z,1736379443.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:23.578Z,1736379443.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:37:23.582Z,1736379443.582 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:23.585Z,1736379443.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260003 2025-01-08T23:37:23.588Z,1736379443.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 34.996887 m, bearing: 336.234335 deg, approach rate: 0.344145 m/s, LOS rate: -0.871240 deg/s, cmd heading: 81.388527 deg, new cmd heading: 80.406416 deg. 2025-01-08T23:37:23.589Z,1736379443.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403357 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:37:23.832Z,1736379443.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:23.832Z,1736379443.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507916 2025-01-08T23:37:23.956Z,1736379443.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:23.967Z,1736379443.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:37:23.969Z,1736379443.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 35.126648 m, bearing: 335.894653 deg, approach rate: 0.333826 m/s, LOS rate: -0.870641 deg/s, cmd heading: 80.406414 deg, new cmd heading: 79.391245 deg. 2025-01-08T23:37:23.970Z,1736379443.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385639 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:37:24.086Z,1736379444.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:24.089Z,1736379444.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763376 2025-01-08T23:37:24.336Z,1736379444.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:24.336Z,1736379444.336 [DAT](INFO): DAT read: Rx Time:23:37:23.0929 2025-01-08T23:37:24.337Z,1736379444.337 [DAT](INFO): Rx dataTimestamp_ set to:1736379444.336548 2025-01-08T23:37:24.337Z,1736379444.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012880 2025-01-08T23:37:24.430Z,1736379444.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:24.439Z,1736379444.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.70 m. 2025-01-08T23:37:24.441Z,1736379444.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.699997 m, nav range: 35.271126 m, bearing: 335.506427 deg, approach rate: 0.306200 m/s, LOS rate: -0.819412 deg/s, cmd heading: 79.391243 deg, new cmd heading: 78.231506 deg. 2025-01-08T23:37:24.443Z,1736379444.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365397 target range: 75.699997 and range: 75.70 m. 2025-01-08T23:37:24.588Z,1736379444.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:24.588Z,1736379444.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264008 2025-01-08T23:37:24.840Z,1736379444.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:24.848Z,1736379444.848 [DAT](INFO): DAT read: 23:37:23.0929 LVL= 13552, 23713, 18834, 24691, AGC= 54, IDX= 415, 0.01, 0.892,-1.160,-1.012,-0.315, PHS= 1.295,-0.798,-0.701, RAW= 92.4, 2.0, CAL= 100.4, -0.6, ROT= 49.6, 0.6 2025-01-08T23:37:24.849Z,1736379444.849 [DAT](INFO): got valid direction response: 23:37:23.0929 LVL= 13552, 23713, 18834, 24691, AGC= 54, IDX= 415, 0.01, 0.892,-1.160,-1.012,-0.315, PHS= 1.295,-0.798,-0.701, RAW= 92.4, 2.0, CAL= 100.4, -0.6, ROT= 49.6, 0.6 2025-01-08T23:37:24.850Z,1736379444.850 [DAT](INFO): DAT read: Bearing 49.6, 0.6 (Local) 2025-01-08T23:37:24.850Z,1736379444.850 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, 0.6 (Local) 2025-01-08T23:37:24.851Z,1736379444.851 [DAT](INFO): DAT read: Range 10 to 50 : 74.0 m (Rou 98.7 ms) speed 0.4 m/s 2025-01-08T23:37:24.852Z,1736379444.852 [DAT](INFO): DAT read: user:3385> 2025-01-08T23:37:24.853Z,1736379444.853 [DAT](INFO): DAT read: Tx time:23:37:24.1901 2025-01-08T23:37:24.853Z,1736379444.853 [DAT](INFO): Ping request sent. 2025-01-08T23:37:24.853Z,1736379444.853 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:24.853Z,1736379444.853 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:37:24.854Z,1736379444.854 [DAT](INFO): direction in FSK: [-0.127238,0.068813,0.989482] 2025-01-08T23:37:24.855Z,1736379444.855 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:24.855Z,1736379444.855 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:24.884Z,1736379444.884 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:24.884Z,1736379444.884 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:24.927Z,1736379444.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:24.970Z,1736379444.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.000000 m, deltaT: 3.527924 s, deltaX: -1.699997 m, approachRate: -0.481869 m/s, rangeRepo size: 4 2025-01-08T23:37:24.978Z,1736379444.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.000000 m, bearing: 233.345619 deg, lat: 36.905593 deg, lon: -122.120126 deg, deltaT: 3.527924 s, deltaX: -1.699997 m, approachRate: -0.481869 m/s, posRepo size: 4 2025-01-08T23:37:24.979Z,1736379444.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:37:24.998Z,1736379444.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000000 m, nav range: 30.744539 m, bearing: 330.980654 deg, approach rate: 0.000000 m/s, LOS rate: -0.819412 deg/s, cmd heading: 78.231505 deg, new cmd heading: 76.926985 deg. 2025-01-08T23:37:24.998Z,1736379444.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342629 target range: 74.000000 and range: 74.00 m. 2025-01-08T23:37:25.093Z,1736379445.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:25.097Z,1736379445.097 [DAT](INFO): DAT read: TxSync time:23:37:24.1893 2025-01-08T23:37:25.345Z,1736379445.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:25.399Z,1736379445.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:25.406Z,1736379445.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:25.412Z,1736379445.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:37:25.415Z,1736379445.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000000 m, nav range: 30.887690 m, bearing: 330.569423 deg, approach rate: 0.323115 m/s, LOS rate: -0.923910 deg/s, cmd heading: 76.926986 deg, new cmd heading: 75.699208 deg. 2025-01-08T23:37:25.422Z,1736379445.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321200 target range: 74.000000 and range: 74.00 m. 2025-01-08T23:37:25.596Z,1736379445.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:25.597Z,1736379445.597 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:25.598Z,1736379445.598 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:25.598Z,1736379445.598 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:25.725Z,1736379445.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:25.735Z,1736379445.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:37:25.737Z,1736379445.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000000 m, nav range: 30.983490 m, bearing: 330.275907 deg, approach rate: 0.297294 m/s, LOS rate: -0.908037 deg/s, cmd heading: 75.699205 deg, new cmd heading: 74.821453 deg. 2025-01-08T23:37:25.738Z,1736379445.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.305881 target range: 74.000000 and range: 74.00 m. 2025-01-08T23:37:25.848Z,1736379445.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:25.848Z,1736379445.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995195 2025-01-08T23:37:26.101Z,1736379446.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:26.103Z,1736379446.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249527 2025-01-08T23:37:26.203Z,1736379446.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:26.233Z,1736379446.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:37:26.249Z,1736379446.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000000 m, nav range: 31.113230 m, bearing: 329.841340 deg, approach rate: 0.260149 m/s, LOS rate: -0.867733 deg/s, cmd heading: 74.821451 deg, new cmd heading: 73.523421 deg. 2025-01-08T23:37:26.250Z,1736379446.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.283226 target range: 74.000000 and range: 74.00 m. 2025-01-08T23:37:26.352Z,1736379446.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:26.352Z,1736379446.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499201 2025-01-08T23:37:26.553Z,1736379446.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:26.561Z,1736379446.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:37:26.564Z,1736379446.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000000 m, nav range: 31.206135 m, bearing: 329.522460 deg, approach rate: 0.283162 m/s, LOS rate: -0.969005 deg/s, cmd heading: 73.523421 deg, new cmd heading: 72.569724 deg. 2025-01-08T23:37:26.565Z,1736379446.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266581 target range: 74.000000 and range: 74.00 m. 2025-01-08T23:37:26.606Z,1736379446.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:26.607Z,1736379446.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753715 2025-01-08T23:37:26.856Z,1736379446.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:26.856Z,1736379446.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003123 2025-01-08T23:37:26.964Z,1736379446.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:26.972Z,1736379446.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:37:26.975Z,1736379446.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000000 m, nav range: 31.312143 m, bearing: 329.145423 deg, approach rate: 0.257940 m/s, LOS rate: -0.914293 deg/s, cmd heading: 72.569722 deg, new cmd heading: 71.442593 deg. 2025-01-08T23:37:26.977Z,1736379446.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246908 target range: 74.000000 and range: 74.00 m. 2025-01-08T23:37:27.108Z,1736379447.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:27.109Z,1736379447.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255280 2025-01-08T23:37:27.364Z,1736379447.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:27.365Z,1736379447.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511461 2025-01-08T23:37:27.394Z,1736379447.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:27.432Z,1736379447.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:27.434Z,1736379447.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:37:27.440Z,1736379447.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000000 m, nav range: 31.425659 m, bearing: 328.752430 deg, approach rate: 0.246077 m/s, LOS rate: -0.848839 deg/s, cmd heading: 71.442590 deg, new cmd heading: 70.268041 deg. 2025-01-08T23:37:27.441Z,1736379447.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226409 target range: 74.000000 and range: 74.00 m. 2025-01-08T23:37:27.616Z,1736379447.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:27.619Z,1736379447.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765268 2025-01-08T23:37:27.787Z,1736379447.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:27.797Z,1736379447.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:37:27.799Z,1736379447.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000000 m, nav range: 31.530750 m, bearing: 328.395547 deg, approach rate: 0.289486 m/s, LOS rate: -0.979794 deg/s, cmd heading: 70.268044 deg, new cmd heading: 69.201095 deg. 2025-01-08T23:37:27.800Z,1736379447.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207787 target range: 74.000000 and range: 74.00 m. 2025-01-08T23:37:27.868Z,1736379447.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:27.869Z,1736379447.869 [DAT](INFO): DAT read: Rx Time:23:37:26.6911 2025-01-08T23:37:27.869Z,1736379447.869 [DAT](INFO): Rx dataTimestamp_ set to:1736379447.868849 2025-01-08T23:37:27.870Z,1736379447.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016423 2025-01-08T23:37:28.121Z,1736379448.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:28.123Z,1736379448.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269485 2025-01-08T23:37:28.240Z,1736379448.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:28.251Z,1736379448.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-01-08T23:37:28.253Z,1736379448.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000000 m, nav range: 31.646507 m, bearing: 327.958693 deg, approach rate: 0.255015 m/s, LOS rate: -0.958868 deg/s, cmd heading: 69.201093 deg, new cmd heading: 67.895562 deg. 2025-01-08T23:37:28.254Z,1736379448.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185001 target range: 74.000000 and range: 74.00 m. 2025-01-08T23:37:28.375Z,1736379448.375 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:28.425Z,1736379448.425 [DAT](INFO): DAT read: 23:37:26.6911 LVL= 9584, 24369, 17458, 25139, AGC= 55, IDX= 427,-0.04, 1.348,-0.150,-0.535, 0.495, PHS= 0.941,-0.598,-1.033, RAW= 77.9, 7.7, CAL= 82.1, 10.1, ROT= 67.9, -10.1 2025-01-08T23:37:28.436Z,1736379448.436 [DAT](INFO): got valid direction response: 23:37:26.6911 LVL= 9584, 24369, 17458, 25139, AGC= 55, IDX= 427,-0.04, 1.348,-0.150,-0.535, 0.495, PHS= 0.941,-0.598,-1.033, RAW= 77.9, 7.7, CAL= 82.1, 10.1, ROT= 67.9, -10.1 2025-01-08T23:37:28.437Z,1736379448.437 [DAT](INFO): DAT read: Bearing 67.9, -10.1 (Local) 2025-01-08T23:37:28.437Z,1736379448.437 [DAT](INFO): Local bearing/azimuth received: Bearing 67.9, -10.1 (Local) 2025-01-08T23:37:28.439Z,1736379448.439 [DAT](INFO): DAT read: Range 10 to 50 : 72.5 m (Round-trip 96.7 ms) speed 0.2 m/s 2025-01-08T23:37:28.456Z,1736379448.456 [DAT](INFO): DAT read: user:3386> 2025-01-08T23:37:28.457Z,1736379448.457 [DAT](INFO): DAT read: Tx time:23:37:27.7902 2025-01-08T23:37:28.457Z,1736379448.457 [DAT](INFO): Ping request sent. 2025-01-08T23:37:28.457Z,1736379448.457 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:28.457Z,1736379448.457 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:37:28.458Z,1736379448.458 [DAT](INFO): direction in FSK: [-0.208098,0.314103,0.926302] 2025-01-08T23:37:28.458Z,1736379448.458 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:28.459Z,1736379448.459 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:28.489Z,1736379448.489 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:28.490Z,1736379448.490 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:28.585Z,1736379448.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:28.624Z,1736379448.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:28.625Z,1736379448.625 [DAT](INFO): DAT read: TxSync time:23:37:27.7894 2025-01-08T23:37:28.654Z,1736379448.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.500000 m, deltaT: 3.551809 s, deltaX: -1.500000 m, approachRate: -0.422320 m/s, rangeRepo size: 4 2025-01-08T23:37:28.658Z,1736379448.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.500000 m, bearing: 199.579074 deg, lat: 36.905437 deg, lon: -122.120065 deg, deltaT: 3.551809 s, deltaX: -1.500000 m, approachRate: -0.422320 m/s, posRepo size: 4 2025-01-08T23:37:28.659Z,1736379448.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:28.688Z,1736379448.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 15.042141 m, bearing: 309.239312 deg, approach rate: 0.000000 m/s, LOS rate: -0.958868 deg/s, cmd heading: 67.895564 deg, new cmd heading: 66.813761 deg. 2025-01-08T23:37:28.689Z,1736379448.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166120 target range: 72.500000 and range: 72.50 m. 2025-01-08T23:37:28.877Z,1736379448.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:29.002Z,1736379449.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:29.021Z,1736379449.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:29.028Z,1736379449.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 15.209224 m, bearing: 308.557616 deg, approach rate: 0.424044 m/s, LOS rate: -1.711050 deg/s, cmd heading: 66.813764 deg, new cmd heading: 64.792030 deg. 2025-01-08T23:37:29.029Z,1736379449.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130834 target range: 72.500000 and range: 72.50 m. 2025-01-08T23:37:29.130Z,1736379449.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:29.380Z,1736379449.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:29.435Z,1736379449.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:29.447Z,1736379449.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:29.453Z,1736379449.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:29.461Z,1736379449.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 15.385619 m, bearing: 307.864294 deg, approach rate: 0.407753 m/s, LOS rate: -1.584258 deg/s, cmd heading: 64.792028 deg, new cmd heading: 62.736840 deg. 2025-01-08T23:37:29.462Z,1736379449.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094964 target range: 72.500000 and range: 72.50 m. 2025-01-08T23:37:29.632Z,1736379449.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:29.632Z,1736379449.632 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:29.632Z,1736379449.632 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:29.632Z,1736379449.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:29.828Z,1736379449.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:29.837Z,1736379449.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:29.840Z,1736379449.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 15.558012 m, bearing: 307.188974 deg, approach rate: 0.449483 m/s, LOS rate: -1.741221 deg/s, cmd heading: 62.736838 deg, new cmd heading: 60.734190 deg. 2025-01-08T23:37:29.841Z,1736379449.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.060012 target range: 72.500000 and range: 72.50 m. 2025-01-08T23:37:29.884Z,1736379449.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:29.884Z,1736379449.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.427435 2025-01-08T23:37:30.136Z,1736379450.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:30.136Z,1736379450.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679344 2025-01-08T23:37:30.265Z,1736379450.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:30.274Z,1736379450.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:30.297Z,1736379450.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 15.750977 m, bearing: 306.462795 deg, approach rate: 0.441481 m/s, LOS rate: -1.641016 deg/s, cmd heading: 60.734192 deg, new cmd heading: 58.583412 deg. 2025-01-08T23:37:30.298Z,1736379450.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022473 target range: 72.500000 and range: 72.50 m. 2025-01-08T23:37:30.304Z,1736379450.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:37:30.388Z,1736379450.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:30.388Z,1736379450.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931391 2025-01-08T23:37:30.592Z,1736379450.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:30.618Z,1736379450.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:30.625Z,1736379450.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 15.891665 m, bearing: 305.913900 deg, approach rate: 0.408921 m/s, LOS rate: -1.581260 deg/s, cmd heading: 58.583414 deg, new cmd heading: 56.951771 deg. 2025-01-08T23:37:30.626Z,1736379450.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993996 target range: 72.500000 and range: 72.50 m. 2025-01-08T23:37:30.640Z,1736379450.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:30.641Z,1736379450.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183577 2025-01-08T23:37:30.892Z,1736379450.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:30.893Z,1736379450.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.435697 2025-01-08T23:37:30.993Z,1736379450.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:31.002Z,1736379451.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:31.005Z,1736379451.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 16.062693 m, bearing: 305.242597 deg, approach rate: 0.445358 m/s, LOS rate: -1.729424 deg/s, cmd heading: 56.951770 deg, new cmd heading: 54.960152 deg. 2025-01-08T23:37:31.006Z,1736379451.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959236 target range: 72.500000 and range: 72.50 m. 2025-01-08T23:37:31.144Z,1736379451.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:31.145Z,1736379451.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687483 2025-01-08T23:37:31.307Z,1736379451.307 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:37:31.396Z,1736379451.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:31.397Z,1736379451.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939551 2025-01-08T23:37:31.417Z,1736379451.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:31.449Z,1736379451.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:31.451Z,1736379451.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:31.458Z,1736379451.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 16.252008 m, bearing: 304.517249 deg, approach rate: 0.421837 m/s, LOS rate: -1.597362 deg/s, cmd heading: 54.960152 deg, new cmd heading: 52.810525 deg. 2025-01-08T23:37:31.459Z,1736379451.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.921718 target range: 72.500000 and range: 72.50 m. 2025-01-08T23:37:31.649Z,1736379451.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:31.651Z,1736379451.651 [DAT](INFO): DAT read: Rx Time:23:37:30.2898 2025-01-08T23:37:31.652Z,1736379451.652 [DAT](INFO): Rx dataTimestamp_ set to:1736379451.651570 2025-01-08T23:37:31.653Z,1736379451.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196190 2025-01-08T23:37:31.825Z,1736379451.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:31.835Z,1736379451.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:31.838Z,1736379451.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 16.432360 m, bearing: 303.824124 deg, approach rate: 0.469442 m/s, LOS rate: -1.784315 deg/s, cmd heading: 52.810524 deg, new cmd heading: 50.754901 deg. 2025-01-08T23:37:31.839Z,1736379451.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.885840 target range: 72.500000 and range: 72.50 m. 2025-01-08T23:37:31.900Z,1736379451.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:31.901Z,1736379451.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443607 2025-01-08T23:37:32.152Z,1736379452.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:32.154Z,1736379452.154 [DAT](INFO): DAT read: Range 10 to 50 : 71.6 m (Round-trip 95.5 ms) speed 0.1 m/s 2025-01-08T23:37:32.163Z,1736379452.163 [DAT](INFO): DAT read: user:3387> 2025-01-08T23:37:32.164Z,1736379452.164 [DAT](INFO): DAT read: Tx time:23:37:31.3902 2025-01-08T23:37:32.164Z,1736379452.164 [DAT](INFO): Ping request sent. 2025-01-08T23:37:32.164Z,1736379452.164 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:32.165Z,1736379452.165 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:37:32.165Z,1736379452.165 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:32.165Z,1736379452.165 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:32.332Z,1736379452.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:32.350Z,1736379452.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.599998 m, deltaT: 3.760339 s, deltaX: -0.900002 m, approachRate: -0.239341 m/s, rangeRepo size: 4 2025-01-08T23:37:32.355Z,1736379452.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:32.358Z,1736379452.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 16.652857 m, bearing: 302.974073 deg, approach rate: 0.428413 m/s, LOS rate: -1.629671 deg/s, cmd heading: 50.754900 deg, new cmd heading: 48.240224 deg. 2025-01-08T23:37:32.361Z,1736379452.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841951 target range: 72.500000 and range: 71.60 m. 2025-01-08T23:37:32.405Z,1736379452.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:32.406Z,1736379452.406 [DAT](INFO): DAT read: TxSync time:23:37:31.3894 2025-01-08T23:37:32.632Z,1736379452.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:32.643Z,1736379452.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:32.647Z,1736379452.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 16.781675 m, bearing: 302.472266 deg, approach rate: 0.439423 m/s, LOS rate: -1.698592 deg/s, cmd heading: 48.240223 deg, new cmd heading: 46.746714 deg. 2025-01-08T23:37:32.649Z,1736379452.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815884 target range: 72.500000 and range: 71.60 m. 2025-01-08T23:37:32.656Z,1736379452.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:32.908Z,1736379452.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:33.039Z,1736379453.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:33.052Z,1736379453.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:33.060Z,1736379453.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 16.954739 m, bearing: 301.791868 deg, approach rate: 0.423557 m/s, LOS rate: -1.648179 deg/s, cmd heading: 46.746713 deg, new cmd heading: 44.727237 deg. 2025-01-08T23:37:33.061Z,1736379453.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780638 target range: 72.500000 and range: 71.60 m. 2025-01-08T23:37:33.160Z,1736379453.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:33.412Z,1736379453.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:33.475Z,1736379453.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:33.484Z,1736379453.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:33.486Z,1736379453.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:33.505Z,1736379453.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 17.132187 m, bearing: 301.099014 deg, approach rate: 0.408725 m/s, LOS rate: -1.579313 deg/s, cmd heading: 44.727238 deg, new cmd heading: 42.671139 deg. 2025-01-08T23:37:33.506Z,1736379453.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.744752 target range: 72.500000 and range: 71.60 m. 2025-01-08T23:37:33.665Z,1736379453.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:33.665Z,1736379453.665 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:33.665Z,1736379453.665 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:33.666Z,1736379453.666 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:33.853Z,1736379453.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:33.879Z,1736379453.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:33.885Z,1736379453.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 17.283560 m, bearing: 300.499248 deg, approach rate: 0.385160 m/s, LOS rate: -1.512680 deg/s, cmd heading: 42.671139 deg, new cmd heading: 40.888206 deg. 2025-01-08T23:37:33.886Z,1736379453.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713634 target range: 72.500000 and range: 71.60 m. 2025-01-08T23:37:33.916Z,1736379453.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:33.917Z,1736379453.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753134 2025-01-08T23:37:34.170Z,1736379454.170 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:34.171Z,1736379454.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006680 2025-01-08T23:37:34.382Z,1736379454.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:34.391Z,1736379454.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:34.394Z,1736379454.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 17.467670 m, bearing: 299.652709 deg, approach rate: 0.359474 m/s, LOS rate: -1.635376 deg/s, cmd heading: 40.888207 deg, new cmd heading: 38.377060 deg. 2025-01-08T23:37:34.396Z,1736379454.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669806 target range: 72.500000 and range: 71.60 m. 2025-01-08T23:37:34.424Z,1736379454.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:34.426Z,1736379454.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261687 2025-01-08T23:37:34.676Z,1736379454.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:34.677Z,1736379454.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513054 2025-01-08T23:37:34.762Z,1736379454.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:34.824Z,1736379454.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:34.826Z,1736379454.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 17.596643 m, bearing: 299.041462 deg, approach rate: 0.315931 m/s, LOS rate: -1.486305 deg/s, cmd heading: 38.377061 deg, new cmd heading: 36.557405 deg. 2025-01-08T23:37:34.831Z,1736379454.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638047 target range: 72.500000 and range: 71.60 m. 2025-01-08T23:37:34.929Z,1736379454.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:34.930Z,1736379454.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765636 2025-01-08T23:37:35.180Z,1736379455.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:35.181Z,1736379455.181 [DAT](INFO): DAT read: Rx Time:23:37:33.8892 2025-01-08T23:37:35.181Z,1736379455.181 [DAT](INFO): Rx dataTimestamp_ set to:1736379455.180807 2025-01-08T23:37:35.182Z,1736379455.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017675 2025-01-08T23:37:35.363Z,1736379455.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:35.389Z,1736379455.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:35.396Z,1736379455.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 17.784073 m, bearing: 298.122014 deg, approach rate: 0.317877 m/s, LOS rate: -1.542868 deg/s, cmd heading: 36.557406 deg, new cmd heading: 33.830313 deg. 2025-01-08T23:37:35.397Z,1736379455.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590450 target range: 72.500000 and range: 71.60 m. 2025-01-08T23:37:35.432Z,1736379455.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:35.433Z,1736379455.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268322 2025-01-08T23:37:35.684Z,1736379455.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:35.686Z,1736379455.686 [DAT](INFO): DAT read: Range 10 to 50 : 71.1 m (Round-trip 94.9 ms) speed 0.0 m/s 2025-01-08T23:37:35.686Z,1736379455.686 [DAT](INFO): DAT read: user:3388> 2025-01-08T23:37:35.687Z,1736379455.687 [DAT](INFO): DAT read: Tx time:23:37:34.9902 2025-01-08T23:37:35.688Z,1736379455.688 [DAT](INFO): Ping request sent. 2025-01-08T23:37:35.688Z,1736379455.688 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:35.688Z,1736379455.688 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:37:35.688Z,1736379455.688 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:35.689Z,1736379455.689 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:35.710Z,1736379455.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:35.756Z,1736379455.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:35.771Z,1736379455.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.099998 m, deltaT: 3.531965 s, deltaX: -0.500000 m, approachRate: -0.141564 m/s, rangeRepo size: 4 2025-01-08T23:37:35.772Z,1736379455.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:35.775Z,1736379455.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 17.883829 m, bearing: 297.579172 deg, approach rate: 0.269730 m/s, LOS rate: -1.459574 deg/s, cmd heading: 33.830313 deg, new cmd heading: 32.211326 deg. 2025-01-08T23:37:35.784Z,1736379455.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562194 target range: 72.500000 and range: 71.10 m. 2025-01-08T23:37:35.936Z,1736379455.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:35.936Z,1736379455.936 [DAT](INFO): DAT read: TxSync time:23:37:34.9894 2025-01-08T23:37:35.937Z,1736379455.937 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:35.937Z,1736379455.937 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:35.937Z,1736379455.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:36.112Z,1736379456.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:36.121Z,1736379456.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:36.124Z,1736379456.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 17.995329 m, bearing: 296.944669 deg, approach rate: 0.307696 m/s, LOS rate: -1.740097 deg/s, cmd heading: 32.211326 deg, new cmd heading: 30.320336 deg. 2025-01-08T23:37:36.125Z,1736379456.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529190 target range: 72.500000 and range: 71.10 m. 2025-01-08T23:37:36.188Z,1736379456.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:36.189Z,1736379456.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501445 2025-01-08T23:37:36.440Z,1736379456.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:36.440Z,1736379456.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752698 2025-01-08T23:37:36.542Z,1736379456.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:36.552Z,1736379456.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:36.554Z,1736379456.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 18.098944 m, bearing: 296.307823 deg, approach rate: 0.240655 m/s, LOS rate: -1.470637 deg/s, cmd heading: 30.320337 deg, new cmd heading: 28.421471 deg. 2025-01-08T23:37:36.555Z,1736379456.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496048 target range: 72.500000 and range: 71.10 m. 2025-01-08T23:37:36.692Z,1736379456.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:36.694Z,1736379456.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005746 2025-01-08T23:37:36.912Z,1736379456.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:36.920Z,1736379456.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:36.944Z,1736379456.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:36.945Z,1736379456.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257526 2025-01-08T23:37:36.946Z,1736379456.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 18.184128 m, bearing: 295.755056 deg, approach rate: 0.230788 m/s, LOS rate: -1.490564 deg/s, cmd heading: 28.421471 deg, new cmd heading: 26.771421 deg. 2025-01-08T23:37:36.948Z,1736379456.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467249 target range: 72.500000 and range: 71.10 m. 2025-01-08T23:37:37.196Z,1736379457.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:37.196Z,1736379457.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508682 2025-01-08T23:37:37.378Z,1736379457.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:37.387Z,1736379457.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:37.389Z,1736379457.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 18.271139 m, bearing: 295.071267 deg, approach rate: 0.186693 m/s, LOS rate: -1.460126 deg/s, cmd heading: 26.771422 deg, new cmd heading: 24.730736 deg. 2025-01-08T23:37:37.390Z,1736379457.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431633 target range: 72.500000 and range: 71.10 m. 2025-01-08T23:37:37.448Z,1736379457.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:37.449Z,1736379457.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761062 2025-01-08T23:37:37.700Z,1736379457.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:37.700Z,1736379457.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012775 2025-01-08T23:37:37.746Z,1736379457.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:37.754Z,1736379457.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:37.757Z,1736379457.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 18.335503 m, bearing: 294.528015 deg, approach rate: 0.175132 m/s, LOS rate: -1.472966 deg/s, cmd heading: 24.730735 deg, new cmd heading: 23.107159 deg. 2025-01-08T23:37:37.758Z,1736379457.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.403296 target range: 72.500000 and range: 71.10 m. 2025-01-08T23:37:37.952Z,1736379457.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:37.952Z,1736379457.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264699 2025-01-08T23:37:38.138Z,1736379458.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:38.145Z,1736379458.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:38.148Z,1736379458.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:38.150Z,1736379458.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 18.397778 m, bearing: 293.962000 deg, approach rate: 0.158340 m/s, LOS rate: -1.434253 deg/s, cmd heading: 23.107158 deg, new cmd heading: 21.415380 deg. 2025-01-08T23:37:38.152Z,1736379458.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373769 target range: 72.500000 and range: 71.10 m. 2025-01-08T23:37:38.204Z,1736379458.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:38.205Z,1736379458.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517352 2025-01-08T23:37:38.456Z,1736379458.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:38.456Z,1736379458.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768732 2025-01-08T23:37:38.549Z,1736379458.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:38.558Z,1736379458.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:38.562Z,1736379458.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 18.459772 m, bearing: 293.351576 deg, approach rate: 0.150871 m/s, LOS rate: -1.480522 deg/s, cmd heading: 21.415380 deg, new cmd heading: 19.590909 deg. 2025-01-08T23:37:38.564Z,1736379458.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.341926 target range: 72.500000 and range: 71.10 m. 2025-01-08T23:37:38.708Z,1736379458.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:38.709Z,1736379458.709 [DAT](INFO): DAT read: Rx Time:23:37:37.4891 2025-01-08T23:37:38.710Z,1736379458.710 [DAT](INFO): Rx dataTimestamp_ set to:1736379458.708867 2025-01-08T23:37:38.711Z,1736379458.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023229 2025-01-08T23:37:38.942Z,1736379458.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:38.960Z,1736379458.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:38.961Z,1736379458.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273528 2025-01-08T23:37:38.969Z,1736379458.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.50 m. 2025-01-08T23:37:38.971Z,1736379458.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.500000 m, nav range: 18.513464 m, bearing: 292.780979 deg, approach rate: 0.130862 m/s, LOS rate: -1.386644 deg/s, cmd heading: 19.590909 deg, new cmd heading: 17.884614 deg. 2025-01-08T23:37:38.972Z,1736379458.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312145 target range: 72.500000 and range: 71.10 m. 2025-01-08T23:37:39.212Z,1736379459.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:39.218Z,1736379459.218 [DAT](INFO): DAT read: 23:37:37.4891 LVL= 14064, 13281, 15298, 17859, AGC= 53, IDX= 438, 0.06, 0.901, 0.437,-1.456, 0.102, PHS= 0.887, 0.382,-1.561, RAW= 41.3, 2.6, CAL= 40.1, 2.5, ROT= 109.9, -2.5 2025-01-08T23:37:39.220Z,1736379459.220 [DAT](INFO): got valid direction response: 23:37:37.4891 LVL= 14064, 13281, 15298, 17859, AGC= 53, IDX= 438, 0.06, 0.901, 0.437,-1.456, 0.102, PHS= 0.887, 0.382,-1.561, RAW= 41.3, 2.6, CAL= 40.1, 2.5, ROT= 109.9, -2.5 2025-01-08T23:37:39.221Z,1736379459.220 [DAT](INFO): DAT read: Bearing 109.9, -2.5 (Local) 2025-01-08T23:37:39.221Z,1736379459.221 [DAT](INFO): Local bearing/azimuth received: Bearing 109.9, -2.5 (Local) 2025-01-08T23:37:39.222Z,1736379459.222 [DAT](INFO): DAT read: Range 10 to 50 : 71.0 m (Round-trip 94.7 ms) speed -0.1 m/s 2025-01-08T23:37:39.223Z,1736379459.223 [DAT](INFO): DAT read: user:3389> 2025-01-08T23:37:39.224Z,1736379459.224 [DAT](INFO): DAT read: Tx time:23:37:38.5903 2025-01-08T23:37:39.224Z,1736379459.224 [DAT](INFO): Ping request sent. 2025-01-08T23:37:39.224Z,1736379459.224 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:39.224Z,1736379459.224 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:37:39.225Z,1736379459.225 [DAT](INFO): direction in FSK: [-0.039594,0.798997,0.600030] 2025-01-08T23:37:39.226Z,1736379459.226 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:39.227Z,1736379459.227 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:39.231Z,1736379459.231 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:39.231Z,1736379459.231 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:39.464Z,1736379459.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:39.465Z,1736379459.465 [DAT](INFO): DAT read: TxSync time:23:37:38.5895 2025-01-08T23:37:39.502Z,1736379459.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:39.534Z,1736379459.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.000000 m, deltaT: 3.527974 s, deltaX: -0.099998 m, approachRate: -0.028344 m/s, rangeRepo size: 4 2025-01-08T23:37:39.543Z,1736379459.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.000000 m, bearing: 124.770438 deg, lat: 36.905297 deg, lon: -122.120047 deg, deltaT: 10.820278 s, deltaX: -1.500000 m, approachRate: -0.138629 m/s, posRepo size: 4 2025-01-08T23:37:39.549Z,1736379459.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:39.559Z,1736379459.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 17.827047 m, bearing: 241.232653 deg, approach rate: 0.000000 m/s, LOS rate: -1.386644 deg/s, cmd heading: 17.884615 deg, new cmd heading: 15.537124 deg. 2025-01-08T23:37:39.569Z,1736379459.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.271174 target range: 71.000000 and range: 71.00 m. 2025-01-08T23:37:39.716Z,1736379459.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:39.968Z,1736379459.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:40.017Z,1736379460.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:40.025Z,1736379460.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:40.029Z,1736379460.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 18.049648 m, bearing: 240.903631 deg, approach rate: 0.452322 m/s, LOS rate: -0.660320 deg/s, cmd heading: 15.537123 deg, new cmd heading: 14.562330 deg. 2025-01-08T23:37:40.030Z,1736379460.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.254161 target range: 71.000000 and range: 71.00 m. 2025-01-08T23:37:40.220Z,1736379460.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:40.454Z,1736379460.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:40.472Z,1736379460.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:40.477Z,1736379460.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:40.484Z,1736379460.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:40.487Z,1736379460.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 18.230719 m, bearing: 240.593976 deg, approach rate: 0.398839 m/s, LOS rate: -0.675291 deg/s, cmd heading: 14.562330 deg, new cmd heading: 13.642677 deg. 2025-01-08T23:37:40.492Z,1736379460.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238110 target range: 71.000000 and range: 71.00 m. 2025-01-08T23:37:40.724Z,1736379460.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:40.725Z,1736379460.725 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:40.725Z,1736379460.725 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:40.725Z,1736379460.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:40.852Z,1736379460.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:40.868Z,1736379460.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:40.875Z,1736379460.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 18.394051 m, bearing: 240.302889 deg, approach rate: 0.419645 m/s, LOS rate: -0.741237 deg/s, cmd heading: 13.642676 deg, new cmd heading: 12.777240 deg. 2025-01-08T23:37:40.876Z,1736379460.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.223005 target range: 71.000000 and range: 71.00 m. 2025-01-08T23:37:40.977Z,1736379460.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:40.977Z,1736379460.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753223 2025-01-08T23:37:41.228Z,1736379461.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:41.228Z,1736379461.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004303 2025-01-08T23:37:41.260Z,1736379461.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:41.293Z,1736379461.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:41.297Z,1736379461.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 18.561871 m, bearing: 240.009986 deg, approach rate: 0.395589 m/s, LOS rate: -0.684193 deg/s, cmd heading: 12.777240 deg, new cmd heading: 11.906546 deg. 2025-01-08T23:37:41.297Z,1736379461.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.207808 target range: 71.000000 and range: 71.00 m. 2025-01-08T23:37:41.480Z,1736379461.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:41.481Z,1736379461.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256321 2025-01-08T23:37:41.694Z,1736379461.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:41.703Z,1736379461.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:41.706Z,1736379461.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 18.741892 m, bearing: 239.723919 deg, approach rate: 0.438802 m/s, LOS rate: -0.690590 deg/s, cmd heading: 11.906545 deg, new cmd heading: 11.056652 deg. 2025-01-08T23:37:41.707Z,1736379461.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192975 target range: 71.000000 and range: 71.00 m. 2025-01-08T23:37:41.732Z,1736379461.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:41.732Z,1736379461.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508054 2025-01-08T23:37:41.984Z,1736379461.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:41.984Z,1736379461.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760134 2025-01-08T23:37:42.058Z,1736379462.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:42.067Z,1736379462.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:42.070Z,1736379462.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 18.886091 m, bearing: 239.446786 deg, approach rate: 0.395851 m/s, LOS rate: -0.754964 deg/s, cmd heading: 11.056652 deg, new cmd heading: 10.231661 deg. 2025-01-08T23:37:42.071Z,1736379462.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178576 target range: 71.000000 and range: 71.00 m. 2025-01-08T23:37:42.236Z,1736379462.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:42.238Z,1736379462.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013106 2025-01-08T23:37:42.488Z,1736379462.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:42.489Z,1736379462.489 [DAT](INFO): DAT read: Rx Time:23:37:41.0899 2025-01-08T23:37:42.489Z,1736379462.489 [DAT](INFO): Rx dataTimestamp_ set to:1736379462.488821 2025-01-08T23:37:42.490Z,1736379462.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265440 2025-01-08T23:37:42.500Z,1736379462.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:42.507Z,1736379462.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:42.510Z,1736379462.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:42.514Z,1736379462.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 19.057451 m, bearing: 239.124417 deg, approach rate: 0.387820 m/s, LOS rate: -0.723016 deg/s, cmd heading: 10.231662 deg, new cmd heading: 9.273347 deg. 2025-01-08T23:37:42.514Z,1736379462.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.161850 target range: 71.000000 and range: 71.00 m. 2025-01-08T23:37:42.742Z,1736379462.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:42.746Z,1736379462.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521028 2025-01-08T23:37:42.943Z,1736379462.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:42.980Z,1736379462.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:42.989Z,1736379462.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 19.226385 m, bearing: 238.792135 deg, approach rate: 0.359977 m/s, LOS rate: -0.701827 deg/s, cmd heading: 9.273347 deg, new cmd heading: 8.285362 deg. 2025-01-08T23:37:42.992Z,1736379462.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:42.995Z,1736379462.995 [DAT](INFO): DAT read: Range 10 to 50 : 71.6 m (Round-trip 95.5 ms) speed -0.3 m/s 2025-01-08T23:37:42.996Z,1736379462.996 [DAT](INFO): DAT read: user:3390> 2025-01-08T23:37:42.997Z,1736379462.997 [DAT](INFO): DAT read: Tx time:23:37:42.1903 2025-01-08T23:37:42.997Z,1736379462.997 [DAT](INFO): Ping request sent. 2025-01-08T23:37:42.997Z,1736379462.997 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:42.998Z,1736379462.998 [DAT](INFO): DAT read: TxSync time:23:37:42.1895 2025-01-08T23:37:42.998Z,1736379462.998 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:37:42.998Z,1736379462.998 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:42.999Z,1736379462.999 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:43.001Z,1736379463.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.144607 target range: 71.000000 and range: 71.00 m. 2025-01-08T23:37:43.245Z,1736379463.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:43.314Z,1736379463.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:43.350Z,1736379463.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.599998 m, deltaT: 3.780659 s, deltaX: 0.599998 m, approachRate: 0.158702 m/s, rangeRepo size: 4 2025-01-08T23:37:43.350Z,1736379463.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:43.396Z,1736379463.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 19.365774 m, bearing: 238.506027 deg, approach rate: 0.376144 m/s, LOS rate: -0.766507 deg/s, cmd heading: 8.285362 deg, new cmd heading: 7.433282 deg. 2025-01-08T23:37:43.405Z,1736379463.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129735 target range: 71.000000 and range: 71.60 m. 2025-01-08T23:37:43.497Z,1736379463.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:43.748Z,1736379463.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:43.753Z,1736379463.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:43.762Z,1736379463.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:43.765Z,1736379463.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 19.527628 m, bearing: 238.165072 deg, approach rate: 0.391468 m/s, LOS rate: -0.817812 deg/s, cmd heading: 7.433282 deg, new cmd heading: 6.419007 deg. 2025-01-08T23:37:43.766Z,1736379463.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112033 target range: 71.000000 and range: 71.60 m. 2025-01-08T23:37:44.001Z,1736379464.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:44.135Z,1736379464.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:44.144Z,1736379464.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:44.147Z,1736379464.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 19.661594 m, bearing: 237.843765 deg, approach rate: 0.351031 m/s, LOS rate: -0.836175 deg/s, cmd heading: 6.419008 deg, new cmd heading: 5.461750 deg. 2025-01-08T23:37:44.148Z,1736379464.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095326 target range: 71.000000 and range: 71.60 m. 2025-01-08T23:37:44.252Z,1736379464.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:44.505Z,1736379464.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:44.556Z,1736379464.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:44.564Z,1736379464.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:44.566Z,1736379464.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:44.568Z,1736379464.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 19.807594 m, bearing: 237.482592 deg, approach rate: 0.346290 m/s, LOS rate: -0.850330 deg/s, cmd heading: 5.461750 deg, new cmd heading: 4.386349 deg. 2025-01-08T23:37:44.569Z,1736379464.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076556 target range: 71.000000 and range: 71.60 m. 2025-01-08T23:37:44.756Z,1736379464.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:44.756Z,1736379464.756 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:44.756Z,1736379464.756 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:44.756Z,1736379464.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:44.933Z,1736379464.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:44.957Z,1736379464.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:44.964Z,1736379464.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 19.935778 m, bearing: 237.157374 deg, approach rate: 0.327332 m/s, LOS rate: -0.825138 deg/s, cmd heading: 4.386349 deg, new cmd heading: 3.417067 deg. 2025-01-08T23:37:44.965Z,1736379464.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059639 target range: 71.000000 and range: 71.60 m. 2025-01-08T23:37:45.008Z,1736379465.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:45.010Z,1736379465.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012538 2025-01-08T23:37:45.260Z,1736379465.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:45.261Z,1736379465.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263808 2025-01-08T23:37:45.336Z,1736379465.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:45.345Z,1736379465.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:45.348Z,1736379465.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 20.071993 m, bearing: 236.802385 deg, approach rate: 0.351366 m/s, LOS rate: -0.909473 deg/s, cmd heading: 3.417067 deg, new cmd heading: 2.359453 deg. 2025-01-08T23:37:45.349Z,1736379465.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041180 target range: 71.000000 and range: 71.60 m. 2025-01-08T23:37:45.512Z,1736379465.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:45.512Z,1736379465.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515312 2025-01-08T23:37:45.763Z,1736379465.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:45.764Z,1736379465.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:45.764Z,1736379465.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767333 2025-01-08T23:37:45.773Z,1736379465.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:45.792Z,1736379465.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 20.208334 m, bearing: 236.407848 deg, approach rate: 0.318334 m/s, LOS rate: -0.914955 deg/s, cmd heading: 2.359453 deg, new cmd heading: 1.184003 deg. 2025-01-08T23:37:45.794Z,1736379465.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020665 target range: 71.000000 and range: 71.60 m. 2025-01-08T23:37:46.016Z,1736379466.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:46.017Z,1736379466.017 [DAT](INFO): DAT read: Rx Time:23:37:44.6915 2025-01-08T23:37:46.017Z,1736379466.017 [DAT](INFO): Rx dataTimestamp_ set to:1736379466.016721 2025-01-08T23:37:46.018Z,1736379466.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020368 2025-01-08T23:37:46.230Z,1736379466.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:46.238Z,1736379466.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:46.241Z,1736379466.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 20.355465 m, bearing: 235.974090 deg, approach rate: 0.316549 m/s, LOS rate: -0.926466 deg/s, cmd heading: 1.184003 deg, new cmd heading: 359.892365 deg. 2025-01-08T23:37:46.242Z,1736379466.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281307 target range: 71.000000 and range: 71.60 m. 2025-01-08T23:37:46.268Z,1736379466.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:46.268Z,1736379466.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271249 2025-01-08T23:37:46.520Z,1736379466.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:46.522Z,1736379466.522 [DAT](INFO): DAT read: Range 10 to 50 : 72.7 m (Round-trip 97.0 ms) speed -0.4 m/s 2025-01-08T23:37:46.522Z,1736379466.522 [DAT](INFO): DAT read: user:3391> 2025-01-08T23:37:46.523Z,1736379466.523 [DAT](INFO): DAT read: Tx time:23:37:45.7903 2025-01-08T23:37:46.524Z,1736379466.524 [DAT](INFO): Ping request sent. 2025-01-08T23:37:46.524Z,1736379466.524 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:46.524Z,1736379466.524 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:37:46.524Z,1736379466.524 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:46.525Z,1736379466.525 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:46.677Z,1736379466.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:46.686Z,1736379466.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:46.689Z,1736379466.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.699997 m, deltaT: 3.527392 s, deltaX: 1.099998 m, approachRate: 0.311845 m/s, rangeRepo size: 4 2025-01-08T23:37:46.689Z,1736379466.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:46.692Z,1736379466.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 20.490765 m, bearing: 235.531612 deg, approach rate: 0.300640 m/s, LOS rate: -0.976697 deg/s, cmd heading: 359.892366 deg, new cmd heading: 358.573943 deg. 2025-01-08T23:37:46.694Z,1736379466.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258296 target range: 71.000000 and range: 72.70 m. 2025-01-08T23:37:46.773Z,1736379466.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:46.774Z,1736379466.774 [DAT](INFO): DAT read: TxSync time:23:37:45.7895 2025-01-08T23:37:46.775Z,1736379466.775 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:46.775Z,1736379466.775 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:46.776Z,1736379466.776 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:47.024Z,1736379467.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:47.024Z,1736379467.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500755 2025-01-08T23:37:47.034Z,1736379467.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:47.052Z,1736379467.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:47.055Z,1736379467.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 20.597475 m, bearing: 235.176732 deg, approach rate: 0.293241 m/s, LOS rate: -0.970154 deg/s, cmd heading: 358.573948 deg, new cmd heading: 357.514952 deg. 2025-01-08T23:37:47.056Z,1736379467.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.239813 target range: 71.000000 and range: 72.70 m. 2025-01-08T23:37:47.279Z,1736379467.279 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:47.280Z,1736379467.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756077 2025-01-08T23:37:47.529Z,1736379467.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:47.532Z,1736379467.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:47.533Z,1736379467.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009136 2025-01-08T23:37:47.540Z,1736379467.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:47.545Z,1736379467.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 20.743366 m, bearing: 234.655357 deg, approach rate: 0.298833 m/s, LOS rate: -1.060421 deg/s, cmd heading: 357.514941 deg, new cmd heading: 355.962219 deg. 2025-01-08T23:37:47.546Z,1736379467.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212713 target range: 71.000000 and range: 72.70 m. 2025-01-08T23:37:47.784Z,1736379467.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:47.784Z,1736379467.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260615 2025-01-08T23:37:47.851Z,1736379467.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:47.861Z,1736379467.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:47.864Z,1736379467.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 20.833448 m, bearing: 234.327277 deg, approach rate: 0.281433 m/s, LOS rate: -1.020543 deg/s, cmd heading: 355.962221 deg, new cmd heading: 354.982338 deg. 2025-01-08T23:37:47.865Z,1736379467.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195611 target range: 71.000000 and range: 72.70 m. 2025-01-08T23:37:48.036Z,1736379468.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:48.036Z,1736379468.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512677 2025-01-08T23:37:48.258Z,1736379468.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:48.267Z,1736379468.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:48.270Z,1736379468.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 20.953117 m, bearing: 233.882103 deg, approach rate: 0.294150 m/s, LOS rate: -1.087990 deg/s, cmd heading: 354.982334 deg, new cmd heading: 353.654691 deg. 2025-01-08T23:37:48.271Z,1736379468.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172439 target range: 71.000000 and range: 72.70 m. 2025-01-08T23:37:48.296Z,1736379468.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:48.297Z,1736379468.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772891 2025-01-08T23:37:48.548Z,1736379468.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:48.548Z,1736379468.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024723 2025-01-08T23:37:48.695Z,1736379468.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:48.702Z,1736379468.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:48.704Z,1736379468.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:48.707Z,1736379468.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 21.078606 m, bearing: 233.385779 deg, approach rate: 0.287187 m/s, LOS rate: -1.129092 deg/s, cmd heading: 353.654682 deg, new cmd heading: 352.174920 deg. 2025-01-08T23:37:48.728Z,1736379468.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146612 target range: 71.000000 and range: 72.70 m. 2025-01-08T23:37:48.801Z,1736379468.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:48.802Z,1736379468.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278266 2025-01-08T23:37:49.052Z,1736379469.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:49.053Z,1736379469.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528850 2025-01-08T23:37:49.053Z,1736379469.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:49.090Z,1736379469.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:49.097Z,1736379469.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 21.177002 m, bearing: 232.975399 deg, approach rate: 0.254853 m/s, LOS rate: -1.057963 deg/s, cmd heading: 352.174908 deg, new cmd heading: 350.949688 deg. 2025-01-08T23:37:49.098Z,1736379469.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.125227 target range: 71.000000 and range: 72.70 m. 2025-01-08T23:37:49.304Z,1736379469.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:49.304Z,1736379469.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780581 2025-01-08T23:37:49.520Z,1736379469.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:49.529Z,1736379469.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:49.552Z,1736379469.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 21.304821 m, bearing: 232.435338 deg, approach rate: 0.291006 m/s, LOS rate: -1.222163 deg/s, cmd heading: 350.949682 deg, new cmd heading: 349.339666 deg. 2025-01-08T23:37:49.553Z,1736379469.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097127 target range: 71.000000 and range: 72.70 m. 2025-01-08T23:37:49.556Z,1736379469.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:49.557Z,1736379469.557 [DAT](INFO): DAT read: Rx Time:23:37:48.2934 2025-01-08T23:37:49.557Z,1736379469.557 [DAT](INFO): Rx dataTimestamp_ set to:1736379469.556997 2025-01-08T23:37:49.558Z,1736379469.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034121 2025-01-08T23:37:49.808Z,1736379469.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:49.810Z,1736379469.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285395 2025-01-08T23:37:49.898Z,1736379469.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:49.928Z,1736379469.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:49.931Z,1736379469.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 21.410955 m, bearing: 231.980316 deg, approach rate: 0.266040 m/s, LOS rate: -1.134909 deg/s, cmd heading: 349.339669 deg, new cmd heading: 347.981638 deg. 2025-01-08T23:37:49.936Z,1736379469.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.073425 target range: 71.000000 and range: 72.70 m. 2025-01-08T23:37:50.061Z,1736379470.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:50.063Z,1736379470.063 [DAT](INFO): DAT read: Range 10 to 50 : 74.1 m (Round-trip 98.9 ms) speed -0.4 m/s 2025-01-08T23:37:50.064Z,1736379470.064 [DAT](INFO): DAT read: user:3392> 2025-01-08T23:37:50.064Z,1736379470.064 [DAT](INFO): DAT read: Tx time:23:37:49.3904 2025-01-08T23:37:50.065Z,1736379470.065 [DAT](INFO): Ping request sent. 2025-01-08T23:37:50.065Z,1736379470.065 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:50.065Z,1736379470.065 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:37:50.065Z,1736379470.065 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:50.066Z,1736379470.066 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:50.282Z,1736379470.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:50.304Z,1736379470.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.099998 m, deltaT: 3.541134 s, deltaX: 1.400002 m, approachRate: 0.395354 m/s, rangeRepo size: 4 2025-01-08T23:37:50.305Z,1736379470.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:50.312Z,1736379470.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:50.313Z,1736379470.313 [DAT](INFO): DAT read: TxSync time:23:37:49.3896 2025-01-08T23:37:50.314Z,1736379470.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 21.517466 m, bearing: 231.517138 deg, approach rate: 0.287582 m/s, LOS rate: -1.244395 deg/s, cmd heading: 347.981636 deg, new cmd heading: 346.599263 deg. 2025-01-08T23:37:50.323Z,1736379470.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049298 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:50.564Z,1736379470.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:50.708Z,1736379470.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:50.716Z,1736379470.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:50.718Z,1736379470.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:50.721Z,1736379470.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 21.637238 m, bearing: 230.992641 deg, approach rate: 0.285606 m/s, LOS rate: -1.243764 deg/s, cmd heading: 346.599261 deg, new cmd heading: 345.034891 deg. 2025-01-08T23:37:50.722Z,1736379470.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021995 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:50.820Z,1736379470.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:50.821Z,1736379470.821 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:50.821Z,1736379470.821 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:50.822Z,1736379470.822 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:51.068Z,1736379471.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:51.069Z,1736379471.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003926 2025-01-08T23:37:51.080Z,1736379471.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:51.089Z,1736379471.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:51.092Z,1736379471.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 21.740736 m, bearing: 230.531643 deg, approach rate: 0.279232 m/s, LOS rate: -1.237808 deg/s, cmd heading: 345.034902 deg, new cmd heading: 343.658771 deg. 2025-01-08T23:37:51.093Z,1736379471.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.997977 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:51.320Z,1736379471.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:51.320Z,1736379471.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255582 2025-01-08T23:37:51.505Z,1736379471.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:51.553Z,1736379471.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:51.561Z,1736379471.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 21.855993 m, bearing: 230.007566 deg, approach rate: 0.247993 m/s, LOS rate: -1.121665 deg/s, cmd heading: 343.658782 deg, new cmd heading: 342.095252 deg. 2025-01-08T23:37:51.562Z,1736379471.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970688 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:51.572Z,1736379471.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:51.572Z,1736379471.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507670 2025-01-08T23:37:51.824Z,1736379471.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:51.824Z,1736379471.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759611 2025-01-08T23:37:51.911Z,1736379471.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:51.926Z,1736379471.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:51.934Z,1736379471.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 21.966076 m, bearing: 229.517375 deg, approach rate: 0.295906 m/s, LOS rate: -1.311031 deg/s, cmd heading: 342.095243 deg, new cmd heading: 340.632376 deg. 2025-01-08T23:37:51.935Z,1736379471.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945157 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:52.076Z,1736379472.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:52.076Z,1736379472.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011634 2025-01-08T23:37:52.328Z,1736379472.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:52.329Z,1736379472.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264372 2025-01-08T23:37:52.418Z,1736379472.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:52.448Z,1736379472.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:52.451Z,1736379472.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.106703 m, bearing: 228.854936 deg, approach rate: 0.269232 m/s, LOS rate: -1.260150 deg/s, cmd heading: 340.632380 deg, new cmd heading: 338.658530 deg. 2025-01-08T23:37:52.459Z,1736379472.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910707 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:52.581Z,1736379472.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:52.583Z,1736379472.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517743 2025-01-08T23:37:52.832Z,1736379472.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:52.832Z,1736379472.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767648 2025-01-08T23:37:52.981Z,1736379472.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:52.988Z,1736379472.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:52.990Z,1736379472.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:52.993Z,1736379472.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.253607 m, bearing: 228.167324 deg, approach rate: 0.270861 m/s, LOS rate: -1.259418 deg/s, cmd heading: 338.658538 deg, new cmd heading: 336.610241 deg. 2025-01-08T23:37:52.994Z,1736379472.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874957 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:53.086Z,1736379473.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:53.087Z,1736379473.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021584 2025-01-08T23:37:53.336Z,1736379473.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:53.337Z,1736379473.337 [DAT](INFO): DAT read: Rx Time:23:37:51.9460 2025-01-08T23:37:53.337Z,1736379473.337 [DAT](INFO): Rx dataTimestamp_ set to:1736379473.336698 2025-01-08T23:37:53.337Z,1736379473.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272719 2025-01-08T23:37:53.353Z,1736379473.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:53.363Z,1736379473.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:53.366Z,1736379473.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.349030 m, bearing: 227.713672 deg, approach rate: 0.256190 m/s, LOS rate: -1.212748 deg/s, cmd heading: 336.610246 deg, new cmd heading: 335.255369 deg. 2025-01-08T23:37:53.367Z,1736379473.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851310 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:53.591Z,1736379473.591 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:53.593Z,1736379473.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527718 2025-01-08T23:37:53.785Z,1736379473.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:53.795Z,1736379473.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:53.814Z,1736379473.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.458742 m, bearing: 227.203724 deg, approach rate: 0.253948 m/s, LOS rate: -1.174577 deg/s, cmd heading: 335.255382 deg, new cmd heading: 333.733390 deg. 2025-01-08T23:37:53.815Z,1736379473.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824747 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:53.844Z,1736379473.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:53.851Z,1736379473.851 [DAT](INFO): DAT read: 23:37:51.9460 LVL= 22688, 16241, 19250, 27619, AGC= 66, IDX= 476,-0.47,-3.003,-1.678,-3.127, 2.851, PHS= 0.517, 1.801, 0.302, RAW= 337.6, -33.4, CAL= 342.6, -46.9, ROT= 167.4, 46.9 2025-01-08T23:37:53.853Z,1736379473.853 [DAT](INFO): got valid direction response: 23:37:51.9460 LVL= 22688, 16241, 19250, 27619, AGC= 66, IDX= 476,-0.47,-3.003,-1.678,-3.127, 2.851, PHS= 0.517, 1.801, 0.302, RAW= 337.6, -33.4, CAL= 342.6, -46.9, ROT= 167.4, 46.9 2025-01-08T23:37:53.854Z,1736379473.854 [DAT](INFO): DAT read: Bearing 167.4, 46.9 (Local) 2025-01-08T23:37:53.854Z,1736379473.854 [DAT](INFO): Local bearing/azimuth received: Bearing 167.4, 46.9 (Local) 2025-01-08T23:37:53.856Z,1736379473.856 [DAT](INFO): DAT read: Range 10 to 50 : 113.6 m (Round-trip 151.5 ms) speed -0.4 m/s 2025-01-08T23:37:53.856Z,1736379473.856 [DAT](INFO): DAT read: user:3393> 2025-01-08T23:37:53.857Z,1736379473.857 [DAT](INFO): DAT read: Tx time:23:37:53.0404 2025-01-08T23:37:53.857Z,1736379473.857 [DAT](INFO): Ping request sent. 2025-01-08T23:37:53.857Z,1736379473.857 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:37:53.858Z,1736379473.858 [DAT](INFO): DAT read: TxSync time:23:37:53.0396 2025-01-08T23:37:53.859Z,1736379473.859 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:37:53.864Z,1736379473.864 [DAT](INFO): direction in FSK: [0.672783,0.677257,-0.297802] 2025-01-08T23:37:53.864Z,1736379473.864 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:53.864Z,1736379473.864 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:53.872Z,1736379473.872 [DAT](INFO): publishing transmit ping time 2025-01-08T23:37:53.872Z,1736379473.872 [DAT](INFO): publishing direction and range info 2025-01-08T23:37:54.097Z,1736379474.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:54.264Z,1736379474.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:54.279Z,1736379474.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 113.599998 m, deltaT: 3.783053 s, deltaX: 39.500000 m, approachRate: 10.441302 m/s, rangeRepo size: 4 2025-01-08T23:37:54.280Z,1736379474.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:54.282Z,1736379474.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.578239 m, bearing: 226.637410 deg, approach rate: 0.247178 m/s, LOS rate: -1.165194 deg/s, cmd heading: 333.733397 deg, new cmd heading: 332.043962 deg. 2025-01-08T23:37:54.284Z,1736379474.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795260 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:54.348Z,1736379474.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:54.600Z,1736379474.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:54.694Z,1736379474.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:54.702Z,1736379474.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:54.705Z,1736379474.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.682095 m, bearing: 226.134987 deg, approach rate: 0.244766 m/s, LOS rate: -1.178676 deg/s, cmd heading: 332.043964 deg, new cmd heading: 330.543959 deg. 2025-01-08T23:37:54.706Z,1736379474.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769081 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:54.852Z,1736379474.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:55.054Z,1736379475.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:55.083Z,1736379475.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:55.085Z,1736379475.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:55.092Z,1736379475.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.766298 m, bearing: 225.712472 deg, approach rate: 0.219963 m/s, LOS rate: -1.099630 deg/s, cmd heading: 330.543972 deg, new cmd heading: 329.281332 deg. 2025-01-08T23:37:55.093Z,1736379475.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747044 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:55.104Z,1736379475.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:55.104Z,1736379475.104 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:37:55.104Z,1736379475.104 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:37:55.105Z,1736379475.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:37:55.357Z,1736379475.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:55.358Z,1736379475.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500482 2025-01-08T23:37:55.472Z,1736379475.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:55.483Z,1736379475.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:55.486Z,1736379475.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.861135 m, bearing: 225.220239 deg, approach rate: 0.238415 m/s, LOS rate: -1.232296 deg/s, cmd heading: 329.281344 deg, new cmd heading: 327.811110 deg. 2025-01-08T23:37:55.487Z,1736379475.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721383 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:55.609Z,1736379475.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:55.610Z,1736379475.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752619 2025-01-08T23:37:55.860Z,1736379475.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:55.861Z,1736379475.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003431 2025-01-08T23:37:55.917Z,1736379475.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:55.927Z,1736379475.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:55.930Z,1736379475.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.948896 m, bearing: 224.735308 deg, approach rate: 0.198119 m/s, LOS rate: -1.090526 deg/s, cmd heading: 327.811104 deg, new cmd heading: 326.362202 deg. 2025-01-08T23:37:55.931Z,1736379475.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696095 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:56.114Z,1736379476.114 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:56.116Z,1736379476.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258387 2025-01-08T23:37:56.271Z,1736379476.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:56.281Z,1736379476.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:56.284Z,1736379476.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.012779 m, bearing: 224.345420 deg, approach rate: 0.180036 m/s, LOS rate: -1.095731 deg/s, cmd heading: 326.362203 deg, new cmd heading: 325.195956 deg. 2025-01-08T23:37:56.285Z,1736379476.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675740 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:56.364Z,1736379476.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:56.366Z,1736379476.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508284 2025-01-08T23:37:56.616Z,1736379476.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:56.616Z,1736379476.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758924 2025-01-08T23:37:56.713Z,1736379476.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:56.722Z,1736379476.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:56.725Z,1736379476.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.085238 m, bearing: 223.829916 deg, approach rate: 0.164063 m/s, LOS rate: -1.163550 deg/s, cmd heading: 325.195961 deg, new cmd heading: 323.654694 deg. 2025-01-08T23:37:56.728Z,1736379476.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648840 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:56.868Z,1736379476.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:56.868Z,1736379476.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010931 2025-01-08T23:37:57.074Z,1736379477.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:57.082Z,1736379477.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:57.105Z,1736379477.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.141645 m, bearing: 223.409040 deg, approach rate: 0.156942 m/s, LOS rate: -1.168120 deg/s, cmd heading: 323.654688 deg, new cmd heading: 322.395354 deg. 2025-01-08T23:37:57.106Z,1736379477.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626861 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:57.120Z,1736379477.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:57.121Z,1736379477.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263008 2025-01-08T23:37:57.372Z,1736379477.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:57.372Z,1736379477.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514911 2025-01-08T23:37:57.487Z,1736379477.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:57.494Z,1736379477.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:57.497Z,1736379477.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:57.500Z,1736379477.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.202900 m, bearing: 222.925140 deg, approach rate: 0.147646 m/s, LOS rate: -1.163290 deg/s, cmd heading: 322.395365 deg, new cmd heading: 320.947821 deg. 2025-01-08T23:37:57.501Z,1736379477.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601596 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:57.626Z,1736379477.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:57.629Z,1736379477.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770707 2025-01-08T23:37:57.876Z,1736379477.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:57.877Z,1736379477.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019531 2025-01-08T23:37:57.925Z,1736379477.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:57.944Z,1736379477.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:57.952Z,1736379477.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.248983 m, bearing: 222.406472 deg, approach rate: 0.102938 m/s, LOS rate: -1.156252 deg/s, cmd heading: 320.947830 deg, new cmd heading: 319.395313 deg. 2025-01-08T23:37:57.953Z,1736379477.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574500 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:58.129Z,1736379478.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:58.131Z,1736379478.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273143 2025-01-08T23:37:58.311Z,1736379478.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:58.325Z,1736379478.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:58.328Z,1736379478.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.286158 m, bearing: 221.948984 deg, approach rate: 0.097777 m/s, LOS rate: -1.201365 deg/s, cmd heading: 319.395300 deg, new cmd heading: 318.025303 deg. 2025-01-08T23:37:58.329Z,1736379478.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.550589 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:58.381Z,1736379478.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:58.382Z,1736379478.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524472 2025-01-08T23:37:58.633Z,1736379478.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:58.634Z,1736379478.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776460 2025-01-08T23:37:58.752Z,1736379478.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:58.761Z,1736379478.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:58.764Z,1736379478.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.317162 m, bearing: 221.396659 deg, approach rate: 0.071077 m/s, LOS rate: -1.264513 deg/s, cmd heading: 318.025301 deg, new cmd heading: 316.371015 deg. 2025-01-08T23:37:58.765Z,1736379478.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521716 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:58.884Z,1736379478.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:58.884Z,1736379478.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026933 2025-01-08T23:37:59.098Z,1736379479.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:59.122Z,1736379479.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:59.137Z,1736379479.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:59.138Z,1736379479.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280395 2025-01-08T23:37:59.144Z,1736379479.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.338255 m, bearing: 220.962185 deg, approach rate: 0.058357 m/s, LOS rate: -1.200910 deg/s, cmd heading: 316.371002 deg, new cmd heading: 315.068994 deg. 2025-01-08T23:37:59.147Z,1736379479.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498991 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:59.389Z,1736379479.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:59.390Z,1736379479.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532200 2025-01-08T23:37:59.517Z,1736379479.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:59.524Z,1736379479.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:37:59.528Z,1736379479.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:59.530Z,1736379479.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.360058 m, bearing: 220.435063 deg, approach rate: 0.053900 m/s, LOS rate: -1.301878 deg/s, cmd heading: 315.069004 deg, new cmd heading: 313.489536 deg. 2025-01-08T23:37:59.532Z,1736379479.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471425 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:37:59.642Z,1736379479.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:59.645Z,1736379479.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787176 2025-01-08T23:37:59.892Z,1736379479.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:37:59.892Z,1736379479.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034746 2025-01-08T23:37:59.957Z,1736379479.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:37:59.968Z,1736379479.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:37:59.970Z,1736379479.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.368889 m, bearing: 219.859524 deg, approach rate: 0.020041 m/s, LOS rate: -1.305625 deg/s, cmd heading: 313.489536 deg, new cmd heading: 311.764122 deg. 2025-01-08T23:37:59.972Z,1736379479.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441310 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:00.145Z,1736379480.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:00.148Z,1736379480.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289560 2025-01-08T23:38:00.340Z,1736379480.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:00.349Z,1736379480.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:00.352Z,1736379480.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.378492 m, bearing: 219.359123 deg, approach rate: 0.025165 m/s, LOS rate: -1.310671 deg/s, cmd heading: 311.764121 deg, new cmd heading: 310.263898 deg. 2025-01-08T23:38:00.353Z,1736379480.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.415127 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:00.397Z,1736379480.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:00.398Z,1736379480.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540592 2025-01-08T23:38:00.649Z,1736379480.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:00.651Z,1736379480.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793279 2025-01-08T23:38:00.745Z,1736379480.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:00.753Z,1736379480.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:00.756Z,1736379480.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.376019 m, bearing: 218.791476 deg, approach rate: -0.006119 m/s, LOS rate: -1.404091 deg/s, cmd heading: 310.263911 deg, new cmd heading: 308.561319 deg. 2025-01-08T23:38:00.757Z,1736379480.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.385411 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:00.900Z,1736379480.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:00.901Z,1736379480.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043161 2025-01-08T23:38:01.120Z,1736379481.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:01.128Z,1736379481.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:01.131Z,1736379481.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.370300 m, bearing: 218.264686 deg, approach rate: -0.015261 m/s, LOS rate: -1.406199 deg/s, cmd heading: 308.561309 deg, new cmd heading: 306.980976 deg. 2025-01-08T23:38:01.132Z,1736379481.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357829 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:01.152Z,1736379481.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:01.152Z,1736379481.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.294969 2025-01-08T23:38:01.404Z,1736379481.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:01.404Z,1736379481.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.546834 2025-01-08T23:38:01.436Z,1736379481.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:38:01.525Z,1736379481.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:01.533Z,1736379481.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:01.535Z,1736379481.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:01.538Z,1736379481.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.360413 m, bearing: 217.694441 deg, approach rate: -0.024305 m/s, LOS rate: -1.402284 deg/s, cmd heading: 306.980967 deg, new cmd heading: 305.270044 deg. 2025-01-08T23:38:01.539Z,1736379481.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327967 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:01.658Z,1736379481.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:01.662Z,1736379481.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.803547 2025-01-08T23:38:01.908Z,1736379481.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:01.909Z,1736379481.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051000 2025-01-08T23:38:01.946Z,1736379481.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:01.984Z,1736379481.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:01.987Z,1736379481.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.347046 m, bearing: 217.076169 deg, approach rate: -0.029753 m/s, LOS rate: -1.376980 deg/s, cmd heading: 305.270032 deg, new cmd heading: 303.414840 deg. 2025-01-08T23:38:01.989Z,1736379481.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295588 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:02.162Z,1736379482.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:02.163Z,1736379482.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305324 2025-01-08T23:38:02.338Z,1736379482.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:02.347Z,1736379482.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:02.350Z,1736379482.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.331335 m, bearing: 216.502105 deg, approach rate: -0.043281 m/s, LOS rate: -1.582487 deg/s, cmd heading: 303.414843 deg, new cmd heading: 301.692039 deg. 2025-01-08T23:38:02.351Z,1736379482.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.265520 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:02.412Z,1736379482.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:02.413Z,1736379482.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555064 2025-01-08T23:38:02.440Z,1736379482.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:38:02.666Z,1736379482.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:02.669Z,1736379482.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810535 2025-01-08T23:38:02.808Z,1736379482.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:02.819Z,1736379482.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:02.822Z,1736379482.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.332470 m, bearing: 215.790883 deg, approach rate: 0.002406 m/s, LOS rate: -1.507837 deg/s, cmd heading: 301.692051 deg, new cmd heading: 299.559527 deg. 2025-01-08T23:38:02.823Z,1736379482.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.228300 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:02.916Z,1736379482.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:02.917Z,1736379482.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.059227 2025-01-08T23:38:03.164Z,1736379483.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:03.168Z,1736379483.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:03.168Z,1736379483.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.310970 2025-01-08T23:38:03.175Z,1736379483.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:03.178Z,1736379483.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.325256 m, bearing: 215.253448 deg, approach rate: -0.020270 m/s, LOS rate: -1.510614 deg/s, cmd heading: 299.559529 deg, new cmd heading: 297.947177 deg. 2025-01-08T23:38:03.178Z,1736379483.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200159 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:03.420Z,1736379483.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:03.420Z,1736379483.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562920 2025-01-08T23:38:03.601Z,1736379483.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:03.608Z,1736379483.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:03.632Z,1736379483.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:03.635Z,1736379483.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.312635 m, bearing: 214.593055 deg, approach rate: -0.028896 m/s, LOS rate: -1.512750 deg/s, cmd heading: 297.947168 deg, new cmd heading: 295.965751 deg. 2025-01-08T23:38:03.648Z,1736379483.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.165577 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:03.674Z,1736379483.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:03.677Z,1736379483.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.819077 2025-01-08T23:38:03.924Z,1736379483.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:03.924Z,1736379483.924 [DAT](INFO): Reached modem response timeout 2025-01-08T23:38:03.924Z,1736379483.924 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:38:03.925Z,1736379483.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:04.041Z,1736379484.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:04.051Z,1736379484.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:04.054Z,1736379484.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.310711 m, bearing: 213.925717 deg, approach rate: -0.004379 m/s, LOS rate: -1.518507 deg/s, cmd heading: 295.965757 deg, new cmd heading: 293.964438 deg. 2025-01-08T23:38:04.055Z,1736379484.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130647 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:04.176Z,1736379484.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:04.176Z,1736379484.176 [DAT](INFO): Reached modem response timeout 2025-01-08T23:38:04.176Z,1736379484.176 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:38:04.177Z,1736379484.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:04.404Z,1736379484.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:04.414Z,1736379484.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:04.417Z,1736379484.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.300520 m, bearing: 213.375437 deg, approach rate: -0.028106 m/s, LOS rate: -1.518278 deg/s, cmd heading: 293.964430 deg, new cmd heading: 292.313350 deg. 2025-01-08T23:38:04.418Z,1736379484.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101830 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:04.428Z,1736379484.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:04.428Z,1736379484.428 [DAT](INFO): Reached modem response timeout 2025-01-08T23:38:04.428Z,1736379484.428 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:38:04.429Z,1736379484.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:04.682Z,1736379484.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:04.685Z,1736379484.685 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:38:04.685Z,1736379484.685 [DAT](INFO): response not received 2025-01-08T23:38:04.687Z,1736379484.687 [DAT](INFO): DAT read: user:3394> 2025-01-08T23:38:04.690Z,1736379484.690 [DAT](INFO): DAT read: Tx time:23:38:03.9905 2025-01-08T23:38:04.691Z,1736379484.691 [DAT](INFO): Ping request sent. 2025-01-08T23:38:04.691Z,1736379484.691 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:04.692Z,1736379484.692 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:04.695Z,1736379484.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003366 2025-01-08T23:38:04.865Z,1736379484.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:04.890Z,1736379484.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:04.894Z,1736379484.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.293375 m, bearing: 212.697561 deg, approach rate: -0.015004 m/s, LOS rate: -1.423900 deg/s, cmd heading: 292.313354 deg, new cmd heading: 290.280003 deg. 2025-01-08T23:38:04.903Z,1736379484.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.066342 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:04.932Z,1736379484.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:04.933Z,1736379484.933 [DAT](INFO): DAT read: TxSync time:23:38:03.9897 2025-01-08T23:38:04.933Z,1736379484.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242730 2025-01-08T23:38:05.184Z,1736379485.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:05.184Z,1736379485.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493517 2025-01-08T23:38:05.208Z,1736379485.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:05.240Z,1736379485.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:05.243Z,1736379485.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.284634 m, bearing: 212.193246 deg, approach rate: -0.024944 m/s, LOS rate: -1.439624 deg/s, cmd heading: 290.280007 deg, new cmd heading: 288.766866 deg. 2025-01-08T23:38:05.249Z,1736379485.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.039933 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:05.437Z,1736379485.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:05.438Z,1736379485.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747025 2025-01-08T23:38:05.618Z,1736379485.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:05.625Z,1736379485.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:05.628Z,1736379485.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:05.632Z,1736379485.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.270082 m, bearing: 211.591270 deg, approach rate: -0.037474 m/s, LOS rate: -1.551206 deg/s, cmd heading: 288.766874 deg, new cmd heading: 286.960450 deg. 2025-01-08T23:38:05.633Z,1736379485.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.008405 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:05.690Z,1736379485.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:05.692Z,1736379485.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001198 2025-01-08T23:38:05.940Z,1736379485.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:05.941Z,1736379485.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249796 2025-01-08T23:38:06.045Z,1736379486.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:06.054Z,1736379486.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:06.057Z,1736379486.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.255486 m, bearing: 211.074865 deg, approach rate: -0.034338 m/s, LOS rate: -1.215541 deg/s, cmd heading: 286.960453 deg, new cmd heading: 285.410663 deg. 2025-01-08T23:38:06.058Z,1736379486.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.981356 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:06.192Z,1736379486.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:06.192Z,1736379486.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501640 2025-01-08T23:38:06.424Z,1736379486.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:06.434Z,1736379486.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:06.437Z,1736379486.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.239119 m, bearing: 210.618721 deg, approach rate: -0.043079 m/s, LOS rate: -1.201426 deg/s, cmd heading: 285.410656 deg, new cmd heading: 284.041536 deg. 2025-01-08T23:38:06.438Z,1736379486.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.957460 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:06.444Z,1736379486.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:06.445Z,1736379486.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754412 2025-01-08T23:38:06.697Z,1736379486.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:06.700Z,1736379486.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008543 2025-01-08T23:38:06.853Z,1736379486.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:06.882Z,1736379486.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:06.889Z,1736379486.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.183668 m, bearing: 210.045240 deg, approach rate: -0.123660 m/s, LOS rate: -1.281958 deg/s, cmd heading: 284.041531 deg, new cmd heading: 282.317523 deg. 2025-01-08T23:38:06.890Z,1736379486.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.927371 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:06.948Z,1736379486.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:06.949Z,1736379486.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258007 2025-01-08T23:38:07.200Z,1736379487.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:07.200Z,1736379487.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509670 2025-01-08T23:38:07.242Z,1736379487.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:07.251Z,1736379487.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:07.253Z,1736379487.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.129961 m, bearing: 209.528535 deg, approach rate: -0.145686 m/s, LOS rate: -1.404846 deg/s, cmd heading: 282.317537 deg, new cmd heading: 280.764224 deg. 2025-01-08T23:38:07.254Z,1736379487.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.900260 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:07.452Z,1736379487.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:07.452Z,1736379487.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761618 2025-01-08T23:38:07.654Z,1736379487.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:07.666Z,1736379487.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:07.669Z,1736379487.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:07.674Z,1736379487.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.069338 m, bearing: 208.981514 deg, approach rate: -0.144924 m/s, LOS rate: -1.311114 deg/s, cmd heading: 280.764215 deg, new cmd heading: 279.119315 deg. 2025-01-08T23:38:07.692Z,1736379487.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871551 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:07.704Z,1736379487.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:07.705Z,1736379487.705 [DAT](INFO): DAT read: Rx Time:23:38:06.5056 2025-01-08T23:38:07.705Z,1736379487.705 [DAT](INFO): Rx dataTimestamp_ set to:1736379487.704799 2025-01-08T23:38:07.706Z,1736379487.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014857 2025-01-08T23:38:07.956Z,1736379487.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:07.956Z,1736379487.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265635 2025-01-08T23:38:08.072Z,1736379488.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:08.082Z,1736379488.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:08.085Z,1736379488.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.039818 m, bearing: 208.457160 deg, approach rate: -0.071470 m/s, LOS rate: -1.271111 deg/s, cmd heading: 279.119314 deg, new cmd heading: 277.544655 deg. 2025-01-08T23:38:08.086Z,1736379488.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.844068 target range: 71.000000 and range: 74.10 m. 2025-01-08T23:38:08.208Z,1736379488.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:08.211Z,1736379488.211 [DAT](INFO): DAT read: Range 10 to 50 : 83.2 m (Round-trip 111.0 ms) speed -0.6 m/s 2025-01-08T23:38:08.211Z,1736379488.211 [DAT](INFO): DAT read: user:3395> 2025-01-08T23:38:08.212Z,1736379488.212 [DAT](INFO): DAT read: Tx time:23:38:07.5905 2025-01-08T23:38:08.212Z,1736379488.212 [DAT](INFO): Ping request sent. 2025-01-08T23:38:08.213Z,1736379488.213 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:08.213Z,1736379488.213 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:38:08.213Z,1736379488.213 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:08.214Z,1736379488.214 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:08.457Z,1736379488.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:08.461Z,1736379488.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:08.462Z,1736379488.462 [DAT](INFO): DAT read: TxSync time:23:38:07.5897 2025-01-08T23:38:08.471Z,1736379488.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.199997 m, deltaT: 18.146748 s, deltaX: 9.099998 m, approachRate: 0.501467 m/s, rangeRepo size: 4 2025-01-08T23:38:08.471Z,1736379488.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:08.474Z,1736379488.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 23.009224 m, bearing: 207.974714 deg, approach rate: -0.078854 m/s, LOS rate: -1.245117 deg/s, cmd heading: 277.544655 deg, new cmd heading: 276.095719 deg. 2025-01-08T23:38:08.476Z,1736379488.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818779 target range: 71.000000 and range: 83.20 m. 2025-01-08T23:38:08.712Z,1736379488.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:08.904Z,1736379488.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:08.930Z,1736379488.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:08.936Z,1736379488.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.959932 m, bearing: 207.423829 deg, approach rate: -0.107254 m/s, LOS rate: -1.201230 deg/s, cmd heading: 276.095726 deg, new cmd heading: 274.440011 deg. 2025-01-08T23:38:08.937Z,1736379488.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789882 target range: 71.000000 and range: 83.20 m. 2025-01-08T23:38:08.964Z,1736379488.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:09.216Z,1736379489.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:09.293Z,1736379489.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:09.301Z,1736379489.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:09.304Z,1736379489.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.918741 m, bearing: 206.942194 deg, approach rate: -0.110735 m/s, LOS rate: -1.297107 deg/s, cmd heading: 274.440006 deg, new cmd heading: 272.992828 deg. 2025-01-08T23:38:09.305Z,1736379489.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.764624 target range: 71.000000 and range: 83.20 m. 2025-01-08T23:38:09.468Z,1736379489.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:09.699Z,1736379489.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:09.720Z,1736379489.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:09.733Z,1736379489.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:09.744Z,1736379489.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:09.792Z,1736379489.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.866013 m, bearing: 206.445453 deg, approach rate: -0.121621 m/s, LOS rate: -1.148379 deg/s, cmd heading: 272.992826 deg, new cmd heading: 271.499525 deg. 2025-01-08T23:38:09.808Z,1736379489.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738561 target range: 71.000000 and range: 83.20 m. 2025-01-08T23:38:09.972Z,1736379489.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:09.972Z,1736379489.972 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:09.972Z,1736379489.972 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:09.973Z,1736379489.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:10.164Z,1736379490.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:10.173Z,1736379490.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:10.177Z,1736379490.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.788555 m, bearing: 205.899367 deg, approach rate: -0.176846 m/s, LOS rate: -1.251012 deg/s, cmd heading: 271.499528 deg, new cmd heading: 269.856174 deg. 2025-01-08T23:38:10.178Z,1736379490.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709879 target range: 71.000000 and range: 83.20 m. 2025-01-08T23:38:10.224Z,1736379490.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:10.226Z,1736379490.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013019 2025-01-08T23:38:10.476Z,1736379490.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:10.477Z,1736379490.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264821 2025-01-08T23:38:10.532Z,1736379490.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:10.566Z,1736379490.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:10.569Z,1736379490.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.724289 m, bearing: 205.469817 deg, approach rate: -0.163600 m/s, LOS rate: -1.096568 deg/s, cmd heading: 269.856184 deg, new cmd heading: 268.564122 deg. 2025-01-08T23:38:10.570Z,1736379490.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687328 target range: 71.000000 and range: 83.20 m. 2025-01-08T23:38:10.730Z,1736379490.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:10.731Z,1736379490.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518894 2025-01-08T23:38:10.963Z,1736379490.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:10.980Z,1736379490.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:10.980Z,1736379490.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767818 2025-01-08T23:38:10.992Z,1736379490.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:10.997Z,1736379490.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.629406 m, bearing: 204.926567 deg, approach rate: -0.222469 m/s, LOS rate: -1.279064 deg/s, cmd heading: 268.564131 deg, new cmd heading: 266.928017 deg. 2025-01-08T23:38:10.998Z,1736379490.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658773 target range: 71.000000 and range: 83.20 m. 2025-01-08T23:38:11.232Z,1736379491.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:11.233Z,1736379491.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020009 2025-01-08T23:38:11.352Z,1736379491.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:11.383Z,1736379491.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:11.389Z,1736379491.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.540440 m, bearing: 204.438451 deg, approach rate: -0.228455 m/s, LOS rate: -1.258355 deg/s, cmd heading: 266.928027 deg, new cmd heading: 265.458241 deg. 2025-01-08T23:38:11.390Z,1736379491.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633121 target range: 71.000000 and range: 83.20 m. 2025-01-08T23:38:11.497Z,1736379491.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:11.498Z,1736379491.498 [DAT](INFO): DAT read: Rx Time:23:38:10.1076 2025-01-08T23:38:11.499Z,1736379491.499 [DAT](INFO): Rx dataTimestamp_ set to:1736379491.498397 2025-01-08T23:38:11.499Z,1736379491.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286740 2025-01-08T23:38:11.748Z,1736379491.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:11.749Z,1736379491.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536724 2025-01-08T23:38:11.907Z,1736379491.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:11.914Z,1736379491.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:11.916Z,1736379491.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-08T23:38:11.919Z,1736379491.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 22.394361 m, bearing: 203.692108 deg, approach rate: -0.273294 m/s, LOS rate: -1.405383 deg/s, cmd heading: 265.458253 deg, new cmd heading: 263.205844 deg. 2025-01-08T23:38:11.920Z,1736379491.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593809 target range: 71.000000 and range: 83.20 m. 2025-01-08T23:38:11.000Z,1736379492.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:12.007Z,1736379492.007 [DAT](INFO): DAT read: 23:38:10.1076 LVL= 26480, 20001, 14114, 26739, AGC= 57, IDX= 448, 0.20, 1.791,-1.960,-2.541,-2.934, PHS=-1.470, 1.022, 0.390, RAW= 284.1, 0.5, CAL= 286.5, -0.3, ROT= 223.5, 0.3 2025-01-08T23:38:12.008Z,1736379492.008 [DAT](INFO): got valid direction response: 23:38:10.1076 LVL= 26480, 20001, 14114, 26739, AGC= 57, IDX= 448, 0.20, 1.791,-1.960,-2.541,-2.934, PHS=-1.470, 1.022, 0.390, RAW= 284.1, 0.5, CAL= 286.5, -0.3, ROT= 223.5, 0.3 2025-01-08T23:38:12.010Z,1736379492.010 [DAT](INFO): DAT read: Bearing 223.5, 0.3 (Local) 2025-01-08T23:38:12.010Z,1736379492.010 [DAT](INFO): Local bearing/azimuth received: Bearing 223.5, 0.3 (Local) 2025-01-08T23:38:12.012Z,1736379492.012 [DAT](INFO): DAT read: Range 10 to 50 : 84.6 m (Round-trip 112.9 ms) speed -0.3 m/s 2025-01-08T23:38:12.013Z,1736379492.013 [DAT](INFO): DAT read: user:3396> 2025-01-08T23:38:12.013Z,1736379492.013 [DAT](INFO): DAT read: Tx time:23:38:11.1905 2025-01-08T23:38:12.014Z,1736379492.014 [DAT](INFO): Ping request sent. 2025-01-08T23:38:12.014Z,1736379492.014 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:12.014Z,1736379492.014 [DAT](INFO): DAT read: TxSync time:23:38:11.1897 2025-01-08T23:38:12.015Z,1736379492.015 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:38:12.016Z,1736379492.016 [DAT](INFO): direction in FSK: [0.095219,0.140827,-0.985445] 2025-01-08T23:38:12.017Z,1736379492.017 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:12.017Z,1736379492.017 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:12.020Z,1736379492.020 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:12.020Z,1736379492.020 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:12.253Z,1736379492.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:12.335Z,1736379492.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:12.349Z,1736379492.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.599998 m, deltaT: 3.792054 s, deltaX: 1.400002 m, approachRate: 0.369193 m/s, rangeRepo size: 4 2025-01-08T23:38:12.351Z,1736379492.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.599998 m, bearing: 343.149872 deg, lat: 36.905297 deg, lon: -122.119998 deg, deltaT: 32.787987 s, deltaX: 13.599998 m, approachRate: 0.414786 m/s, posRepo size: 4 2025-01-08T23:38:12.352Z,1736379492.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:12.354Z,1736379492.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 20.938936 m, bearing: 191.902218 deg, approach rate: 0.000000 m/s, LOS rate: -1.405383 deg/s, cmd heading: 263.205848 deg, new cmd heading: 261.385143 deg. 2025-01-08T23:38:12.356Z,1736379492.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562031 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:38:12.504Z,1736379492.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:12.757Z,1736379492.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:12.770Z,1736379492.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:12.840Z,1736379492.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:12.849Z,1736379492.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 20.862232 m, bearing: 191.230049 deg, approach rate: -0.157944 m/s, LOS rate: -1.389143 deg/s, cmd heading: 261.385138 deg, new cmd heading: 259.362104 deg. 2025-01-08T23:38:12.852Z,1736379492.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526723 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:38:13.008Z,1736379493.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:13.211Z,1736379493.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:13.220Z,1736379493.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:13.222Z,1736379493.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 20.775778 m, bearing: 190.474041 deg, approach rate: -0.224319 m/s, LOS rate: -1.969686 deg/s, cmd heading: 259.362118 deg, new cmd heading: 257.085918 deg. 2025-01-08T23:38:13.223Z,1736379493.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486996 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:38:13.261Z,1736379493.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:13.513Z,1736379493.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:13.580Z,1736379493.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:13.589Z,1736379493.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:13.592Z,1736379493.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 20.699331 m, bearing: 189.840296 deg, approach rate: -0.206923 m/s, LOS rate: -1.721701 deg/s, cmd heading: 257.085916 deg, new cmd heading: 255.178405 deg. 2025-01-08T23:38:13.594Z,1736379493.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453703 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:38:13.764Z,1736379493.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:14.002Z,1736379494.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:14.009Z,1736379494.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:14.012Z,1736379494.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:14.015Z,1736379494.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 20.608641 m, bearing: 189.065093 deg, approach rate: -0.214214 m/s, LOS rate: -1.839056 deg/s, cmd heading: 255.178408 deg, new cmd heading: 252.843930 deg. 2025-01-08T23:38:14.016Z,1736379494.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:14.016Z,1736379494.016 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:14.016Z,1736379494.016 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:14.017Z,1736379494.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:14.036Z,1736379494.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412959 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:38:14.268Z,1736379494.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:14.269Z,1736379494.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255061 2025-01-08T23:38:14.380Z,1736379494.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:14.414Z,1736379494.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:14.428Z,1736379494.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 20.522881 m, bearing: 188.368751 deg, approach rate: -0.213713 m/s, LOS rate: -1.742480 deg/s, cmd heading: 252.843932 deg, new cmd heading: 250.747164 deg. 2025-01-08T23:38:14.432Z,1736379494.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.376364 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:38:14.521Z,1736379494.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:14.524Z,1736379494.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509905 2025-01-08T23:38:14.772Z,1736379494.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:14.772Z,1736379494.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758670 2025-01-08T23:38:14.890Z,1736379494.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:14.918Z,1736379494.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:14.929Z,1736379494.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 20.402229 m, bearing: 187.431524 deg, approach rate: -0.238893 m/s, LOS rate: -1.866626 deg/s, cmd heading: 250.747173 deg, new cmd heading: 247.921282 deg. 2025-01-08T23:38:14.930Z,1736379494.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327043 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:38:15.024Z,1736379495.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:15.024Z,1736379495.024 [DAT](INFO): DAT read: Rx Time:23:38:13.7088 2025-01-08T23:38:15.025Z,1736379495.025 [DAT](INFO): Rx dataTimestamp_ set to:1736379495.024632 2025-01-08T23:38:15.025Z,1736379495.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011619 2025-01-08T23:38:15.225Z,1736379495.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.3 s old, using for 20.0 s. 2025-01-08T23:38:15.225Z,1736379495.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:15.235Z,1736379495.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:15.254Z,1736379495.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 20.319309 m, bearing: 186.817214 deg, approach rate: -0.262272 m/s, LOS rate: -1.950920 deg/s, cmd heading: 247.921278 deg, new cmd heading: 246.071506 deg. 2025-01-08T23:38:15.255Z,1736379495.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294758 target range: 84.599998 and range: 84.60 m. 2025-01-08T23:38:15.277Z,1736379495.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:15.278Z,1736379495.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263842 2025-01-08T23:38:15.528Z,1736379495.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:15.531Z,1736379495.531 [DAT](INFO): DAT read: Range 10 to 50 : 85.5 m (Round-trip 114.1 ms) speed -0.1 m/s 2025-01-08T23:38:15.532Z,1736379495.532 [DAT](INFO): DAT read: user:3397> 2025-01-08T23:38:15.533Z,1736379495.533 [DAT](INFO): DAT read: Tx time:23:38:14.7906 2025-01-08T23:38:15.534Z,1736379495.534 [DAT](INFO): Ping request sent. 2025-01-08T23:38:15.534Z,1736379495.534 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:15.534Z,1736379495.534 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:38:15.534Z,1736379495.534 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:15.536Z,1736379495.536 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:15.674Z,1736379495.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:38:15.674Z,1736379495.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:15.699Z,1736379495.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.500000 m, deltaT: 3.528293 s, deltaX: 0.900002 m, approachRate: 0.255081 m/s, rangeRepo size: 4 2025-01-08T23:38:15.704Z,1736379495.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:15.706Z,1736379495.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 20.202824 m, bearing: 185.994535 deg, approach rate: -0.251350 m/s, LOS rate: -1.785332 deg/s, cmd heading: 246.071498 deg, new cmd heading: 243.590867 deg. 2025-01-08T23:38:15.711Z,1736379495.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251462 target range: 84.599998 and range: 85.50 m. 2025-01-08T23:38:15.780Z,1736379495.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:15.781Z,1736379495.781 [DAT](INFO): DAT read: TxSync time:23:38:14.7898 2025-01-08T23:38:16.032Z,1736379496.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:16.054Z,1736379496.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:16.062Z,1736379496.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:16.064Z,1736379496.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:16.067Z,1736379496.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 20.115471 m, bearing: 185.281555 deg, approach rate: -0.238610 m/s, LOS rate: -1.955961 deg/s, cmd heading: 243.590856 deg, new cmd heading: 241.443688 deg. 2025-01-08T23:38:16.068Z,1736379496.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213987 target range: 84.599998 and range: 85.50 m. 2025-01-08T23:38:16.284Z,1736379496.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:16.285Z,1736379496.285 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:16.285Z,1736379496.285 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:16.285Z,1736379496.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:16.426Z,1736379496.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:16.434Z,1736379496.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:16.437Z,1736379496.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 20.025307 m, bearing: 184.585944 deg, approach rate: -0.243663 m/s, LOS rate: -1.888265 deg/s, cmd heading: 241.443690 deg, new cmd heading: 239.348447 deg. 2025-01-08T23:38:16.438Z,1736379496.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177418 target range: 84.599998 and range: 85.50 m. 2025-01-08T23:38:16.536Z,1736379496.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:16.536Z,1736379496.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002761 2025-01-08T23:38:16.789Z,1736379496.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:16.790Z,1736379496.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255568 2025-01-08T23:38:16.893Z,1736379496.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:16.909Z,1736379496.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:16.933Z,1736379496.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 19.916502 m, bearing: 183.705303 deg, approach rate: -0.229063 m/s, LOS rate: -1.864042 deg/s, cmd heading: 239.348434 deg, new cmd heading: 236.694085 deg. 2025-01-08T23:38:16.934Z,1736379496.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131091 target range: 84.599998 and range: 85.50 m. 2025-01-08T23:38:17.040Z,1736379497.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:17.040Z,1736379497.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506684 2025-01-08T23:38:17.272Z,1736379497.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:17.292Z,1736379497.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:17.293Z,1736379497.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758759 2025-01-08T23:38:17.305Z,1736379497.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:17.320Z,1736379497.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 19.840616 m, bearing: 183.019660 deg, approach rate: -0.191644 m/s, LOS rate: -1.738122 deg/s, cmd heading: 236.694086 deg, new cmd heading: 234.630231 deg. 2025-01-08T23:38:17.321Z,1736379497.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095070 target range: 84.599998 and range: 85.50 m. 2025-01-08T23:38:17.545Z,1736379497.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:17.546Z,1736379497.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011880 2025-01-08T23:38:17.636Z,1736379497.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:17.662Z,1736379497.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:17.670Z,1736379497.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 19.750067 m, bearing: 182.381674 deg, approach rate: -0.254124 m/s, LOS rate: -1.798659 deg/s, cmd heading: 234.630221 deg, new cmd heading: 232.708248 deg. 2025-01-08T23:38:17.677Z,1736379497.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.061525 target range: 84.599998 and range: 85.50 m. 2025-01-08T23:38:17.796Z,1736379497.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:17.797Z,1736379497.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262793 2025-01-08T23:38:18.048Z,1736379498.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:18.049Z,1736379498.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514900 2025-01-08T23:38:18.089Z,1736379498.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:18.098Z,1736379498.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:18.100Z,1736379498.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:18.102Z,1736379498.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 19.635406 m, bearing: 181.622779 deg, approach rate: -0.261606 m/s, LOS rate: -1.741538 deg/s, cmd heading: 232.708261 deg, new cmd heading: 230.419567 deg. 2025-01-08T23:38:18.104Z,1736379498.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.021580 target range: 84.599998 and range: 85.50 m. 2025-01-08T23:38:18.300Z,1736379498.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:18.301Z,1736379498.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767143 2025-01-08T23:38:18.453Z,1736379498.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:18.482Z,1736379498.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:18.491Z,1736379498.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 19.539732 m, bearing: 181.015900 deg, approach rate: -0.251019 m/s, LOS rate: -1.600020 deg/s, cmd heading: 230.419574 deg, new cmd heading: 228.590676 deg. 2025-01-08T23:38:18.496Z,1736379498.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.989660 target range: 84.599998 and range: 85.50 m. 2025-01-08T23:38:18.553Z,1736379498.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:18.556Z,1736379498.556 [DAT](INFO): DAT read: Rx Time:23:38:17.3093 2025-01-08T23:38:18.557Z,1736379498.557 [DAT](INFO): Rx dataTimestamp_ set to:1736379498.556261 2025-01-08T23:38:18.558Z,1736379498.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024541 2025-01-08T23:38:18.804Z,1736379498.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:18.804Z,1736379498.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270673 2025-01-08T23:38:18.922Z,1736379498.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:18.952Z,1736379498.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:18.955Z,1736379498.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 19.404144 m, bearing: 180.249360 deg, approach rate: -0.290820 m/s, LOS rate: -1.655576 deg/s, cmd heading: 228.590681 deg, new cmd heading: 226.276323 deg. 2025-01-08T23:38:18.963Z,1736379498.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.949267 target range: 84.599998 and range: 85.50 m. 2025-01-08T23:38:19.058Z,1736379499.058 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:19.060Z,1736379499.060 [DAT](INFO): DAT read: Range 10 to 50 : 85.9 m (Round-trip 114.6 ms) speed 0.0 m/s 2025-01-08T23:38:19.061Z,1736379499.061 [DAT](INFO): DAT read: user:3398> 2025-01-08T23:38:19.062Z,1736379499.062 [DAT](INFO): DAT read: Tx time:23:38:18.3906 2025-01-08T23:38:19.062Z,1736379499.062 [DAT](INFO): Ping request sent. 2025-01-08T23:38:19.062Z,1736379499.062 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:19.062Z,1736379499.062 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:38:19.062Z,1736379499.062 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:19.064Z,1736379499.064 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:19.290Z,1736379499.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:19.300Z,1736379499.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.900002 m, deltaT: 3.529668 s, deltaX: 0.400002 m, approachRate: 0.113326 m/s, rangeRepo size: 4 2025-01-08T23:38:19.301Z,1736379499.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:19.304Z,1736379499.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 19.295135 m, bearing: 179.692477 deg, approach rate: -0.309569 m/s, LOS rate: -1.590375 deg/s, cmd heading: 226.276326 deg, new cmd heading: 224.596746 deg. 2025-01-08T23:38:19.305Z,1736379499.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919953 target range: 84.599998 and range: 85.90 m. 2025-01-08T23:38:19.308Z,1736379499.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:19.309Z,1736379499.309 [DAT](INFO): DAT read: TxSync time:23:38:18.3898 2025-01-08T23:38:19.560Z,1736379499.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:19.679Z,1736379499.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:19.689Z,1736379499.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:19.691Z,1736379499.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 19.175732 m, bearing: 179.109727 deg, approach rate: -0.306704 m/s, LOS rate: -1.506163 deg/s, cmd heading: 224.596742 deg, new cmd heading: 222.838188 deg. 2025-01-08T23:38:19.693Z,1736379499.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.889260 target range: 84.599998 and range: 85.90 m. 2025-01-08T23:38:19.812Z,1736379499.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:20.064Z,1736379500.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:20.103Z,1736379500.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:20.111Z,1736379500.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:20.113Z,1736379500.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:20.116Z,1736379500.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 19.044687 m, bearing: 178.503264 deg, approach rate: -0.308645 m/s, LOS rate: -1.438185 deg/s, cmd heading: 222.838187 deg, new cmd heading: 221.006937 deg. 2025-01-08T23:38:20.117Z,1736379500.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.857299 target range: 84.599998 and range: 85.90 m. 2025-01-08T23:38:20.316Z,1736379500.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:20.316Z,1736379500.316 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:20.316Z,1736379500.316 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:20.317Z,1736379500.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:20.473Z,1736379500.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:20.481Z,1736379500.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:20.484Z,1736379500.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 18.926800 m, bearing: 177.978124 deg, approach rate: -0.320390 m/s, LOS rate: -1.436076 deg/s, cmd heading: 221.006931 deg, new cmd heading: 219.422123 deg. 2025-01-08T23:38:20.485Z,1736379500.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829638 target range: 84.599998 and range: 85.90 m. 2025-01-08T23:38:20.568Z,1736379500.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:20.569Z,1736379500.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507192 2025-01-08T23:38:20.820Z,1736379500.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:20.820Z,1736379500.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758367 2025-01-08T23:38:20.890Z,1736379500.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:20.943Z,1736379500.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:20.963Z,1736379500.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 18.790440 m, bearing: 177.389328 deg, approach rate: -0.298844 m/s, LOS rate: -1.299734 deg/s, cmd heading: 219.422122 deg, new cmd heading: 217.643519 deg. 2025-01-08T23:38:20.969Z,1736379500.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798596 target range: 84.599998 and range: 85.90 m. 2025-01-08T23:38:21.073Z,1736379501.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:21.074Z,1736379501.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011811 2025-01-08T23:38:21.323Z,1736379501.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:21.324Z,1736379501.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:21.324Z,1736379501.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262354 2025-01-08T23:38:21.334Z,1736379501.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:21.337Z,1736379501.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 18.635635 m, bearing: 176.781118 deg, approach rate: -0.390142 m/s, LOS rate: -1.545534 deg/s, cmd heading: 217.643513 deg, new cmd heading: 215.804392 deg. 2025-01-08T23:38:21.338Z,1736379501.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.766497 target range: 84.599998 and range: 85.90 m. 2025-01-08T23:38:21.576Z,1736379501.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:21.577Z,1736379501.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514686 2025-01-08T23:38:21.727Z,1736379501.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:21.735Z,1736379501.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:21.738Z,1736379501.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 18.493382 m, bearing: 176.205575 deg, approach rate: -0.354780 m/s, LOS rate: -1.446414 deg/s, cmd heading: 215.804389 deg, new cmd heading: 214.065043 deg. 2025-01-08T23:38:21.739Z,1736379501.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.736140 target range: 84.599998 and range: 85.90 m. 2025-01-08T23:38:21.828Z,1736379501.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:21.829Z,1736379501.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766979 2025-01-08T23:38:22.080Z,1736379502.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:22.081Z,1736379502.081 [DAT](INFO): DAT read: Rx Time:23:38:20.9095 2025-01-08T23:38:22.081Z,1736379502.081 [DAT](INFO): Rx dataTimestamp_ set to:1736379502.080739 2025-01-08T23:38:22.082Z,1736379502.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019432 2025-01-08T23:38:22.140Z,1736379502.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:22.156Z,1736379502.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:22.158Z,1736379502.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:22.165Z,1736379502.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 18.336826 m, bearing: 175.615259 deg, approach rate: -0.370386 m/s, LOS rate: -1.408499 deg/s, cmd heading: 214.065041 deg, new cmd heading: 212.279582 deg. 2025-01-08T23:38:22.166Z,1736379502.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.704978 target range: 84.599998 and range: 85.90 m. 2025-01-08T23:38:22.332Z,1736379502.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:22.332Z,1736379502.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270325 2025-01-08T23:38:22.514Z,1736379502.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:22.524Z,1736379502.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:22.527Z,1736379502.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 18.197159 m, bearing: 175.073532 deg, approach rate: -0.380985 m/s, LOS rate: -1.489041 deg/s, cmd heading: 212.279588 deg, new cmd heading: 210.642404 deg. 2025-01-08T23:38:22.528Z,1736379502.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.676404 target range: 84.599998 and range: 85.90 m. 2025-01-08T23:38:22.584Z,1736379502.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:22.587Z,1736379502.587 [DAT](INFO): DAT read: Range 10 to 50 : 86.1 m (Round-trip 114.8 ms) speed 0.0 m/s 2025-01-08T23:38:22.588Z,1736379502.588 [DAT](INFO): DAT read: user:3399> 2025-01-08T23:38:22.589Z,1736379502.589 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:38:22.592Z,1736379502.592 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:22.592Z,1736379502.592 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:22.593Z,1736379502.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:22.836Z,1736379502.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:22.836Z,1736379502.836 [DAT](INFO): DAT read: Tx time:23:38:21.9906 2025-01-08T23:38:22.837Z,1736379502.837 [DAT](INFO): Ping request sent. 2025-01-08T23:38:22.837Z,1736379502.837 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:22.838Z,1736379502.838 [DAT](INFO): DAT read: TxSync time:23:38:21.9898 2025-01-08T23:38:22.838Z,1736379502.838 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:22.838Z,1736379502.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001548 2025-01-08T23:38:22.966Z,1736379502.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:23.007Z,1736379503.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.099998 m, deltaT: 3.526515 s, deltaX: 0.199997 m, approachRate: 0.056712 m/s, rangeRepo size: 4 2025-01-08T23:38:23.012Z,1736379503.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:23.014Z,1736379503.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 18.019024 m, bearing: 174.443165 deg, approach rate: -0.370001 m/s, LOS rate: -1.322241 deg/s, cmd heading: 210.642406 deg, new cmd heading: 208.733354 deg. 2025-01-08T23:38:23.021Z,1736379503.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.643084 target range: 84.599998 and range: 86.10 m. 2025-01-08T23:38:23.089Z,1736379503.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:23.090Z,1736379503.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252990 2025-01-08T23:38:23.328Z,1736379503.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:23.336Z,1736379503.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:23.340Z,1736379503.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:23.340Z,1736379503.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503533 2025-01-08T23:38:23.360Z,1736379503.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 17.870478 m, bearing: 173.890420 deg, approach rate: -0.449384 m/s, LOS rate: -1.686046 deg/s, cmd heading: 208.733354 deg, new cmd heading: 207.061836 deg. 2025-01-08T23:38:23.361Z,1736379503.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613911 target range: 84.599998 and range: 86.10 m. 2025-01-08T23:38:23.592Z,1736379503.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:23.593Z,1736379503.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755686 2025-01-08T23:38:23.728Z,1736379503.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:23.736Z,1736379503.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:23.739Z,1736379503.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 17.702629 m, bearing: 173.288214 deg, approach rate: -0.419630 m/s, LOS rate: -1.519793 deg/s, cmd heading: 207.061829 deg, new cmd heading: 205.238730 deg. 2025-01-08T23:38:23.740Z,1736379503.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582092 target range: 84.599998 and range: 86.10 m. 2025-01-08T23:38:23.844Z,1736379503.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:23.845Z,1736379503.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007957 2025-01-08T23:38:24.096Z,1736379504.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:24.096Z,1736379504.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259527 2025-01-08T23:38:24.158Z,1736379504.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:24.166Z,1736379504.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:24.168Z,1736379504.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:24.171Z,1736379504.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 17.526209 m, bearing: 172.571170 deg, approach rate: -0.409257 m/s, LOS rate: -1.680089 deg/s, cmd heading: 205.238729 deg, new cmd heading: 203.067041 deg. 2025-01-08T23:38:24.172Z,1736379504.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544188 target range: 84.599998 and range: 86.10 m. 2025-01-08T23:38:24.348Z,1736379504.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:24.348Z,1736379504.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511457 2025-01-08T23:38:24.521Z,1736379504.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:24.532Z,1736379504.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:24.534Z,1736379504.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 17.367207 m, bearing: 171.987562 deg, approach rate: -0.436976 m/s, LOS rate: -1.618547 deg/s, cmd heading: 203.067043 deg, new cmd heading: 201.300781 deg. 2025-01-08T23:38:24.535Z,1736379504.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513361 target range: 84.599998 and range: 86.10 m. 2025-01-08T23:38:24.601Z,1736379504.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:24.602Z,1736379504.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765207 2025-01-08T23:38:24.852Z,1736379504.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:24.853Z,1736379504.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016145 2025-01-08T23:38:24.919Z,1736379504.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:24.948Z,1736379504.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:24.950Z,1736379504.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 17.189293 m, bearing: 171.354910 deg, approach rate: -0.427522 m/s, LOS rate: -1.535951 deg/s, cmd heading: 201.300783 deg, new cmd heading: 199.383936 deg. 2025-01-08T23:38:24.952Z,1736379504.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.479906 target range: 84.599998 and range: 86.10 m. 2025-01-08T23:38:25.104Z,1736379505.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:25.105Z,1736379505.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268150 2025-01-08T23:38:25.353Z,1736379505.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:25.356Z,1736379505.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:25.357Z,1736379505.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519601 2025-01-08T23:38:25.371Z,1736379505.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:25.391Z,1736379505.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 16.988569 m, bearing: 170.590207 deg, approach rate: -0.474374 m/s, LOS rate: -1.828533 deg/s, cmd heading: 199.383932 deg, new cmd heading: 197.064056 deg. 2025-01-08T23:38:25.392Z,1736379505.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.439417 target range: 84.599998 and range: 86.10 m. 2025-01-08T23:38:25.608Z,1736379505.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:25.609Z,1736379505.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772109 2025-01-08T23:38:25.729Z,1736379505.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:25.757Z,1736379505.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:25.760Z,1736379505.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 16.811264 m, bearing: 169.932326 deg, approach rate: -0.459376 m/s, LOS rate: -1.722426 deg/s, cmd heading: 197.064058 deg, new cmd heading: 195.070448 deg. 2025-01-08T23:38:25.761Z,1736379505.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.404622 target range: 84.599998 and range: 86.10 m. 2025-01-08T23:38:25.860Z,1736379505.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:25.861Z,1736379505.861 [DAT](INFO): DAT read: Rx Time:23:38:24.5091 2025-01-08T23:38:25.862Z,1736379505.862 [DAT](INFO): Rx dataTimestamp_ set to:1736379505.861374 2025-01-08T23:38:25.862Z,1736379505.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025243 2025-01-08T23:38:26.112Z,1736379506.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:26.112Z,1736379506.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275428 2025-01-08T23:38:26.146Z,1736379506.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:26.177Z,1736379506.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.60 m. 2025-01-08T23:38:26.203Z,1736379506.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.599998 m, nav range: 16.612101 m, bearing: 169.171646 deg, approach rate: -0.500198 m/s, LOS rate: -1.933292 deg/s, cmd heading: 195.070449 deg, new cmd heading: 192.762367 deg. 2025-01-08T23:38:26.221Z,1736379506.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.364338 target range: 84.599998 and range: 86.10 m. 2025-01-08T23:38:26.364Z,1736379506.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:26.370Z,1736379506.370 [DAT](INFO): DAT read: 23:38:24.5091 LVL= 18416, 23361, 10450, 24787, AGC= 54, IDX= 431, 0.29, 1.592, 2.210,-2.298, 2.615, PHS=-0.935,-0.357, 1.367, RAW= 223.9, -0.7, CAL= 223.7, -5.8, ROT= 286.3, 5.8 2025-01-08T23:38:26.375Z,1736379506.375 [DAT](INFO): got valid direction response: 23:38:24.5091 LVL= 18416, 23361, 10450, 24787, AGC= 54, IDX= 431, 0.29, 1.592, 2.210,-2.298, 2.615, PHS=-0.935,-0.357, 1.367, RAW= 223.9, -0.7, CAL= 223.7, -5.8, ROT= 286.3, 5.8 2025-01-08T23:38:26.400Z,1736379506.400 [DAT](INFO): DAT read: Bearing 286.3, 5.8 (Local) 2025-01-08T23:38:26.400Z,1736379506.400 [DAT](INFO): Local bearing/azimuth received: Bearing 286.3, 5.8 (Local) 2025-01-08T23:38:26.436Z,1736379506.436 [DAT](INFO): DAT read: Range 10 to 50 : 85.7 m (Round-trip 114.3 ms) speed 0.2 m/s 2025-01-08T23:38:26.437Z,1736379506.437 [DAT](INFO): DAT read: user:3400> 2025-01-08T23:38:26.438Z,1736379506.438 [DAT](INFO): DAT read: Tx time:23:38:25.5907 2025-01-08T23:38:26.438Z,1736379506.438 [DAT](INFO): Ping request sent. 2025-01-08T23:38:26.438Z,1736379506.438 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:26.439Z,1736379506.439 [DAT](INFO): DAT read: TxSync time:23:38:25.5899 2025-01-08T23:38:26.480Z,1736379506.480 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:38:26.480Z,1736379506.480 [DAT](INFO): direction in FSK: [0.009754,-0.770355,-0.637541] 2025-01-08T23:38:26.481Z,1736379506.481 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:26.481Z,1736379506.481 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:26.484Z,1736379506.484 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:26.484Z,1736379506.484 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:26.541Z,1736379506.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:26.574Z,1736379506.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.699997 m, deltaT: 3.779475 s, deltaX: -0.400002 m, approachRate: -0.105835 m/s, rangeRepo size: 4 2025-01-08T23:38:26.581Z,1736379506.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.699997 m, bearing: 128.944624 deg, lat: 36.905128 deg, lon: -122.119466 deg, deltaT: 14.363951 s, deltaX: 1.099998 m, approachRate: 0.076580 m/s, posRepo size: 4 2025-01-08T23:38:26.581Z,1736379506.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:38:26.588Z,1736379506.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 61.491405 m, bearing: 124.626200 deg, approach rate: 0.000000 m/s, LOS rate: -1.933292 deg/s, cmd heading: 192.762364 deg, new cmd heading: 190.335668 deg. 2025-01-08T23:38:26.589Z,1736379506.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.321984 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:38:26.618Z,1736379506.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:26.868Z,1736379506.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:26.954Z,1736379506.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:26.964Z,1736379506.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:26.971Z,1736379506.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:38:26.974Z,1736379506.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 61.488865 m, bearing: 124.351143 deg, approach rate: -0.006392 m/s, LOS rate: -0.692080 deg/s, cmd heading: 190.335666 deg, new cmd heading: 189.510521 deg. 2025-01-08T23:38:26.975Z,1736379506.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.307583 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:38:27.121Z,1736379507.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:27.121Z,1736379507.121 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:27.122Z,1736379507.122 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:27.122Z,1736379507.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:27.360Z,1736379507.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:27.369Z,1736379507.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:38:27.372Z,1736379507.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:27.373Z,1736379507.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.934756 2025-01-08T23:38:27.374Z,1736379507.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 61.489399 m, bearing: 124.077503 deg, approach rate: 0.001340 m/s, LOS rate: -0.686754 deg/s, cmd heading: 189.510524 deg, new cmd heading: 188.689673 deg. 2025-01-08T23:38:27.376Z,1736379507.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.293256 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:38:27.624Z,1736379507.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:27.625Z,1736379507.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.186669 2025-01-08T23:38:27.752Z,1736379507.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:27.778Z,1736379507.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:38:27.785Z,1736379507.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 61.481609 m, bearing: 123.813871 deg, approach rate: -0.019117 m/s, LOS rate: -0.647083 deg/s, cmd heading: 188.689672 deg, new cmd heading: 187.898727 deg. 2025-01-08T23:38:27.786Z,1736379507.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.279451 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:38:27.877Z,1736379507.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:27.878Z,1736379507.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.440291 2025-01-08T23:38:28.128Z,1736379508.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:28.129Z,1736379508.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.690881 2025-01-08T23:38:28.189Z,1736379508.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:28.199Z,1736379508.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:38:28.202Z,1736379508.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 61.464645 m, bearing: 123.519023 deg, approach rate: -0.040172 m/s, LOS rate: -0.698408 deg/s, cmd heading: 187.898723 deg, new cmd heading: 187.014011 deg. 2025-01-08T23:38:28.223Z,1736379508.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.264010 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:38:28.380Z,1736379508.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:28.380Z,1736379508.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942554 2025-01-08T23:38:28.556Z,1736379508.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:28.566Z,1736379508.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:38:28.569Z,1736379508.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 61.443295 m, bearing: 123.271717 deg, approach rate: -0.058211 m/s, LOS rate: -0.674489 deg/s, cmd heading: 187.014008 deg, new cmd heading: 186.271876 deg. 2025-01-08T23:38:28.570Z,1736379508.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.251058 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:38:28.632Z,1736379508.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:28.633Z,1736379508.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195114 2025-01-08T23:38:28.884Z,1736379508.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:28.884Z,1736379508.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446431 2025-01-08T23:38:28.962Z,1736379508.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:28.968Z,1736379508.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:28.970Z,1736379508.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:38:28.973Z,1736379508.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 61.412090 m, bearing: 122.998713 deg, approach rate: -0.077182 m/s, LOS rate: -0.675601 deg/s, cmd heading: 186.271881 deg, new cmd heading: 185.452511 deg. 2025-01-08T23:38:28.974Z,1736379508.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.236757 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:38:29.136Z,1736379509.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:29.137Z,1736379509.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698818 2025-01-08T23:38:29.382Z,1736379509.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:29.388Z,1736379509.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:29.389Z,1736379509.389 [DAT](INFO): DAT read: Rx Time:23:38:28.1076 2025-01-08T23:38:29.389Z,1736379509.389 [DAT](INFO): Rx dataTimestamp_ set to:1736379509.388884 2025-01-08T23:38:29.390Z,1736379509.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.951754 2025-01-08T23:38:29.419Z,1736379509.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:38:29.422Z,1736379509.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 61.370308 m, bearing: 122.724009 deg, approach rate: -0.098356 m/s, LOS rate: -0.647093 deg/s, cmd heading: 185.452504 deg, new cmd heading: 184.627892 deg. 2025-01-08T23:38:29.423Z,1736379509.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.222365 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:38:29.640Z,1736379509.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:29.641Z,1736379509.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203525 2025-01-08T23:38:29.817Z,1736379509.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:29.844Z,1736379509.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.70 m. 2025-01-08T23:38:29.862Z,1736379509.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.699997 m, nav range: 61.319447 m, bearing: 122.441406 deg, approach rate: -0.116514 m/s, LOS rate: -0.647927 deg/s, cmd heading: 184.627895 deg, new cmd heading: 183.779446 deg. 2025-01-08T23:38:29.868Z,1736379509.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.207556 target range: 85.699997 and range: 85.70 m. 2025-01-08T23:38:29.894Z,1736379509.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:29.903Z,1736379509.903 [DAT](INFO): DAT read: 23:38:28.1076 LVL= 24432, 31425, 14098, 31411, AGC= 58, IDX= 431,-0.10,-1.119,-1.192, 0.770,-0.469, PHS=-0.562,-0.676, 1.236, RAW= 207.0, 0.0, CAL= 206.5, -6.9, ROT= 303.5, 6.9 2025-01-08T23:38:29.904Z,1736379509.904 [DAT](INFO): got valid direction response: 23:38:28.1076 LVL= 24432, 31425, 14098, 31411, AGC= 58, IDX= 431,-0.10,-1.119,-1.192, 0.770,-0.469, PHS=-0.562,-0.676, 1.236, RAW= 207.0, 0.0, CAL= 206.5, -6.9, ROT= 303.5, 6.9 2025-01-08T23:38:29.905Z,1736379509.905 [DAT](INFO): DAT read: Bearing 303.5, 6.9 (Local) 2025-01-08T23:38:29.905Z,1736379509.905 [DAT](INFO): Local bearing/azimuth received: Bearing 303.5, 6.9 (Local) 2025-01-08T23:38:29.907Z,1736379509.907 [DAT](INFO): DAT read: Range 10 to 50 : 84.5 m (Round-trip 112.7 ms) speed 0.4 m/s 2025-01-08T23:38:29.908Z,1736379509.908 [DAT](INFO): DAT read: user:3401> 2025-01-08T23:38:29.909Z,1736379509.909 [DAT](INFO): DAT read: Tx time:23:38:29.1907 2025-01-08T23:38:29.909Z,1736379509.909 [DAT](INFO): Ping request sent. 2025-01-08T23:38:29.909Z,1736379509.909 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:29.910Z,1736379509.910 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:38:29.924Z,1736379509.924 [DAT](INFO): direction in FSK: [-0.039024,-0.915236,-0.401024] 2025-01-08T23:38:29.925Z,1736379509.925 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:29.925Z,1736379509.925 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:29.937Z,1736379509.937 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:29.937Z,1736379509.937 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:30.145Z,1736379510.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:30.145Z,1736379510.145 [DAT](INFO): DAT read: TxSync time:23:38:29.1899 2025-01-08T23:38:30.253Z,1736379510.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:30.292Z,1736379510.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.500000 m, deltaT: 3.532667 s, deltaX: -1.199997 m, approachRate: -0.339686 m/s, rangeRepo size: 4 2025-01-08T23:38:30.309Z,1736379510.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.500000 m, bearing: 108.468781 deg, lat: 36.905203 deg, lon: -122.119352 deg, deltaT: 3.532667 s, deltaX: -1.199997 m, approachRate: -0.339686 m/s, posRepo size: 4 2025-01-08T23:38:30.310Z,1736379510.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m. 2025-01-08T23:38:30.324Z,1736379510.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.500000 m, nav range: 66.515701 m, bearing: 111.391350 deg, approach rate: 0.000000 m/s, LOS rate: -0.647927 deg/s, cmd heading: 183.779449 deg, new cmd heading: 182.898245 deg. 2025-01-08T23:38:30.327Z,1736379510.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.192177 target range: 84.500000 and range: 84.50 m. 2025-01-08T23:38:30.397Z,1736379510.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:30.594Z,1736379510.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:30.629Z,1736379510.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m. 2025-01-08T23:38:30.640Z,1736379510.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.500000 m, nav range: 66.502396 m, bearing: 111.188241 deg, approach rate: -0.038636 m/s, LOS rate: -0.589896 deg/s, cmd heading: 182.898246 deg, new cmd heading: 182.288822 deg. 2025-01-08T23:38:30.641Z,1736379510.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.181540 target range: 84.500000 and range: 84.50 m. 2025-01-08T23:38:30.648Z,1736379510.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:30.901Z,1736379510.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:30.986Z,1736379510.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:30.993Z,1736379510.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:30.996Z,1736379510.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m. 2025-01-08T23:38:30.998Z,1736379510.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.500000 m, nav range: 66.480125 m, bearing: 110.955272 deg, approach rate: -0.060824 m/s, LOS rate: -0.636490 deg/s, cmd heading: 182.288829 deg, new cmd heading: 181.589724 deg. 2025-01-08T23:38:30.999Z,1736379510.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.169338 target range: 84.500000 and range: 84.50 m. 2025-01-08T23:38:31.152Z,1736379511.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:31.152Z,1736379511.152 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:31.152Z,1736379511.152 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:31.153Z,1736379511.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:31.404Z,1736379511.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:31.405Z,1736379511.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495372 2025-01-08T23:38:31.438Z,1736379511.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:31.487Z,1736379511.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m. 2025-01-08T23:38:31.490Z,1736379511.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.500000 m, nav range: 66.451347 m, bearing: 110.691419 deg, approach rate: -0.059015 m/s, LOS rate: -0.541319 deg/s, cmd heading: 181.589718 deg, new cmd heading: 180.797869 deg. 2025-01-08T23:38:31.491Z,1736379511.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.155518 target range: 84.500000 and range: 84.50 m. 2025-01-08T23:38:31.656Z,1736379511.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:31.657Z,1736379511.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747780 2025-01-08T23:38:31.804Z,1736379511.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:31.820Z,1736379511.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m. 2025-01-08T23:38:31.823Z,1736379511.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.500000 m, nav range: 66.414711 m, bearing: 110.479122 deg, approach rate: -0.108578 m/s, LOS rate: -0.629519 deg/s, cmd heading: 180.797867 deg, new cmd heading: 180.160654 deg. 2025-01-08T23:38:31.824Z,1736379511.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.144397 target range: 84.500000 and range: 84.50 m. 2025-01-08T23:38:31.908Z,1736379511.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:31.909Z,1736379511.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999773 2025-01-08T23:38:32.161Z,1736379512.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:32.162Z,1736379512.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253000 2025-01-08T23:38:32.241Z,1736379512.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:32.252Z,1736379512.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m. 2025-01-08T23:38:32.254Z,1736379512.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.500000 m, nav range: 66.363007 m, bearing: 110.226788 deg, approach rate: -0.119992 m/s, LOS rate: -0.586053 deg/s, cmd heading: 180.160651 deg, new cmd heading: 179.403105 deg. 2025-01-08T23:38:32.255Z,1736379512.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.131175 target range: 84.500000 and range: 84.50 m. 2025-01-08T23:38:32.412Z,1736379512.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:32.413Z,1736379512.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503884 2025-01-08T23:38:32.580Z,1736379512.580 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:38:32.625Z,1736379512.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:32.634Z,1736379512.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m. 2025-01-08T23:38:32.638Z,1736379512.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.500000 m, nav range: 66.318848 m, bearing: 110.005814 deg, approach rate: -0.115295 m/s, LOS rate: -0.577325 deg/s, cmd heading: 179.403101 deg, new cmd heading: 178.739770 deg. 2025-01-08T23:38:32.638Z,1736379512.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.119597 target range: 84.500000 and range: 84.50 m. 2025-01-08T23:38:32.664Z,1736379512.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:32.666Z,1736379512.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756139 2025-01-08T23:38:32.916Z,1736379512.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:32.917Z,1736379512.917 [DAT](INFO): DAT read: Rx Time:23:38:31.7057 2025-01-08T23:38:32.917Z,1736379512.917 [DAT](INFO): Rx dataTimestamp_ set to:1736379512.916725 2025-01-08T23:38:32.918Z,1736379512.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008400 2025-01-08T23:38:33.004Z,1736379513.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:33.019Z,1736379513.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:33.021Z,1736379513.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.50 m. 2025-01-08T23:38:33.028Z,1736379513.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.500000 m, nav range: 66.262321 m, bearing: 109.789978 deg, approach rate: -0.146116 m/s, LOS rate: -0.558396 deg/s, cmd heading: 178.739767 deg, new cmd heading: 178.091733 deg. 2025-01-08T23:38:33.029Z,1736379513.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.108287 target range: 84.500000 and range: 84.50 m. 2025-01-08T23:38:33.168Z,1736379513.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:33.168Z,1736379513.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259266 2025-01-08T23:38:33.420Z,1736379513.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:33.428Z,1736379513.428 [DAT](INFO): DAT read: 23:38:31.7057 LVL= 32752, 29937, 17906, 31475, AGC= 63, IDX= 428,-0.37, 2.714, 2.023,-2.201,-3.116, PHS=-0.365,-1.097, 0.912, RAW= 188.9, 6.3, CAL= 189.0, -2.5, ROT= 321.0, 2.5 2025-01-08T23:38:33.429Z,1736379513.429 [DAT](INFO): got valid direction response: 23:38:31.7057 LVL= 32752, 29937, 17906, 31475, AGC= 63, IDX= 428,-0.37, 2.714, 2.023,-2.201,-3.116, PHS=-0.365,-1.097, 0.912, RAW= 188.9, 6.3, CAL= 189.0, -2.5, ROT= 321.0, 2.5 2025-01-08T23:38:33.430Z,1736379513.430 [DAT](INFO): DAT read: Bearing 321.0, 2.5 (Local) 2025-01-08T23:38:33.430Z,1736379513.430 [DAT](INFO): Local bearing/azimuth received: Bearing 321.0, 2.5 (Local) 2025-01-08T23:38:33.436Z,1736379513.436 [DAT](INFO): DAT read: Range 10 to 50 : 83.1 m (Round-trip 110.9 ms) speed 0.3 m/s 2025-01-08T23:38:33.436Z,1736379513.436 [DAT](INFO): DAT read: user:3402> 2025-01-08T23:38:33.437Z,1736379513.437 [DAT](INFO): DAT read: Tx time:23:38:32.7907 2025-01-08T23:38:33.437Z,1736379513.437 [DAT](INFO): Ping request sent. 2025-01-08T23:38:33.437Z,1736379513.437 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:33.438Z,1736379513.438 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:38:33.439Z,1736379513.439 [DAT](INFO): direction in FSK: [-0.190451,-0.974827,-0.115932] 2025-01-08T23:38:33.439Z,1736379513.439 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:33.441Z,1736379513.441 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:33.450Z,1736379513.450 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:33.451Z,1736379513.451 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:33.570Z,1736379513.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:33.584Z,1736379513.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:38:33.608Z,1736379513.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.099998 m, deltaT: 3.524070 s, deltaX: -1.400002 m, approachRate: -0.397268 m/s, rangeRepo size: 4 2025-01-08T23:38:33.611Z,1736379513.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.099998 m, bearing: 84.573448 deg, lat: 36.905471 deg, lon: -122.119232 deg, deltaT: 3.524070 s, deltaX: -1.400002 m, approachRate: -0.397268 m/s, posRepo size: 4 2025-01-08T23:38:33.616Z,1736379513.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T23:38:33.618Z,1736379513.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 73.486664 m, bearing: 83.935269 deg, approach rate: 0.000000 m/s, LOS rate: -0.558396 deg/s, cmd heading: 178.091732 deg, new cmd heading: 177.116865 deg. 2025-01-08T23:38:33.624Z,1736379513.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.091272 target range: 83.099998 and range: 83.10 m. 2025-01-08T23:38:33.672Z,1736379513.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:33.674Z,1736379513.674 [DAT](INFO): DAT read: TxSync time:23:38:32.7899 2025-01-08T23:38:33.859Z,1736379513.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:33.900Z,1736379513.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T23:38:33.903Z,1736379513.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 73.517792 m, bearing: 83.785336 deg, approach rate: 0.109644 m/s, LOS rate: -0.527891 deg/s, cmd heading: 177.116859 deg, new cmd heading: 176.667262 deg. 2025-01-08T23:38:33.908Z,1736379513.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.083425 target range: 83.099998 and range: 83.10 m. 2025-01-08T23:38:33.924Z,1736379513.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:34.176Z,1736379514.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:34.316Z,1736379514.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:34.325Z,1736379514.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T23:38:34.329Z,1736379514.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 73.563622 m, bearing: 83.546827 deg, approach rate: 0.104721 m/s, LOS rate: -0.544652 deg/s, cmd heading: 176.667255 deg, new cmd heading: 175.952211 deg. 2025-01-08T23:38:34.329Z,1736379514.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.070946 target range: 83.099998 and range: 83.10 m. 2025-01-08T23:38:34.428Z,1736379514.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:34.620Z,1736379514.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:34.634Z,1736379514.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T23:38:34.658Z,1736379514.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 73.590019 m, bearing: 83.388578 deg, approach rate: 0.085347 m/s, LOS rate: -0.511452 deg/s, cmd heading: 175.952216 deg, new cmd heading: 175.477653 deg. 2025-01-08T23:38:34.665Z,1736379514.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.062663 target range: 83.099998 and range: 83.10 m. 2025-01-08T23:38:34.680Z,1736379514.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:34.684Z,1736379514.684 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:38:34.932Z,1736379514.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:35.032Z,1736379515.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:35.039Z,1736379515.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:35.041Z,1736379515.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T23:38:35.045Z,1736379515.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 73.620857 m, bearing: 83.172590 deg, approach rate: 0.075774 m/s, LOS rate: -0.530496 deg/s, cmd heading: 175.477655 deg, new cmd heading: 174.829992 deg. 2025-01-08T23:38:35.046Z,1736379515.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.051359 target range: 83.099998 and range: 83.10 m. 2025-01-08T23:38:35.184Z,1736379515.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:35.185Z,1736379515.185 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:35.185Z,1736379515.185 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:35.185Z,1736379515.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:35.436Z,1736379515.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:35.436Z,1736379515.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998941 2025-01-08T23:38:35.484Z,1736379515.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:35.509Z,1736379515.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T23:38:35.517Z,1736379515.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 73.654510 m, bearing: 82.932810 deg, approach rate: 0.071942 m/s, LOS rate: -0.512349 deg/s, cmd heading: 174.829989 deg, new cmd heading: 174.111018 deg. 2025-01-08T23:38:35.518Z,1736379515.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.038810 target range: 83.099998 and range: 83.10 m. 2025-01-08T23:38:35.688Z,1736379515.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:35.688Z,1736379515.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250876 2025-01-08T23:38:35.852Z,1736379515.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:35.861Z,1736379515.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T23:38:35.864Z,1736379515.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 73.678391 m, bearing: 82.737248 deg, approach rate: 0.067855 m/s, LOS rate: -0.555509 deg/s, cmd heading: 174.111016 deg, new cmd heading: 173.524541 deg. 2025-01-08T23:38:35.865Z,1736379515.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.028574 target range: 83.099998 and range: 83.10 m. 2025-01-08T23:38:35.940Z,1736379515.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:35.942Z,1736379515.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504580 2025-01-08T23:38:36.194Z,1736379516.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:36.197Z,1736379516.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758668 2025-01-08T23:38:36.273Z,1736379516.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:36.299Z,1736379516.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T23:38:36.306Z,1736379516.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 73.709106 m, bearing: 82.512091 deg, approach rate: 0.070157 m/s, LOS rate: -0.514053 deg/s, cmd heading: 173.524535 deg, new cmd heading: 172.849378 deg. 2025-01-08T23:38:36.307Z,1736379516.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.016791 target range: 83.099998 and range: 83.10 m. 2025-01-08T23:38:36.444Z,1736379516.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:36.445Z,1736379516.445 [DAT](INFO): DAT read: Rx Time:23:38:35.3037 2025-01-08T23:38:36.445Z,1736379516.445 [DAT](INFO): Rx dataTimestamp_ set to:1736379516.444926 2025-01-08T23:38:36.446Z,1736379516.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008212 2025-01-08T23:38:36.651Z,1736379516.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:36.687Z,1736379516.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T23:38:36.695Z,1736379516.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 73.733566 m, bearing: 82.309527 deg, approach rate: 0.063010 m/s, LOS rate: -0.521640 deg/s, cmd heading: 172.849384 deg, new cmd heading: 172.241919 deg. 2025-01-08T23:38:36.696Z,1736379516.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:36.697Z,1736379516.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259081 2025-01-08T23:38:36.700Z,1736379516.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.006189 target range: 83.099998 and range: 83.10 m. 2025-01-08T23:38:36.948Z,1736379516.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:36.948Z,1736379516.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510889 2025-01-08T23:38:37.086Z,1736379517.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:37.098Z,1736379517.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:37.130Z,1736379517.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m. 2025-01-08T23:38:37.141Z,1736379517.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.099998 m, nav range: 73.762863 m, bearing: 82.076511 deg, approach rate: 0.067124 m/s, LOS rate: -0.533667 deg/s, cmd heading: 172.241921 deg, new cmd heading: 171.543187 deg. 2025-01-08T23:38:37.145Z,1736379517.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.993994 target range: 83.099998 and range: 83.10 m. 2025-01-08T23:38:37.202Z,1736379517.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:37.211Z,1736379517.211 [DAT](INFO): DAT read: 23:38:35.3037 LVL= 32752, 27361, 19762, 32755, AGC= 63, IDX= 422,-0.20, 1.217, 0.300, 2.522, 1.443, PHS=-0.138,-1.096, 1.077, RAW= 183.9, 1.7, CAL= 184.0, -6.4, ROT= 326.0, 6.4 2025-01-08T23:38:37.212Z,1736379517.212 [DAT](INFO): got valid direction response: 23:38:35.3037 LVL= 32752, 27361, 19762, 32755, AGC= 63, IDX= 422,-0.20, 1.217, 0.300, 2.522, 1.443, PHS=-0.138,-1.096, 1.077, RAW= 183.9, 1.7, CAL= 184.0, -6.4, ROT= 326.0, 6.4 2025-01-08T23:38:37.213Z,1736379517.213 [DAT](INFO): DAT read: Bearing 326.0, 6.4 (Local) 2025-01-08T23:38:37.213Z,1736379517.213 [DAT](INFO): Local bearing/azimuth received: Bearing 326.0, 6.4 (Local) 2025-01-08T23:38:37.215Z,1736379517.215 [DAT](INFO): DAT read: Range 10 to 50 : 81.5 m (Round-trip 108.7 ms) speed 0.6 m/s 2025-01-08T23:38:37.216Z,1736379517.216 [DAT](INFO): DAT read: user:3403> 2025-01-08T23:38:37.216Z,1736379517.216 [DAT](INFO): DAT read: Tx time:23:38:36.3923 2025-01-08T23:38:37.217Z,1736379517.217 [DAT](INFO): Ping request sent. 2025-01-08T23:38:37.217Z,1736379517.217 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:37.217Z,1736379517.217 [DAT](INFO): DAT read: TxSync time:23:38:36.3916 2025-01-08T23:38:37.218Z,1736379517.218 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:38:37.219Z,1736379517.219 [DAT](INFO): direction in FSK: [-0.113155,-0.993241,-0.025864] 2025-01-08T23:38:37.219Z,1736379517.219 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:37.220Z,1736379517.220 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:37.223Z,1736379517.223 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:37.223Z,1736379517.223 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:37.452Z,1736379517.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:37.554Z,1736379517.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:37.570Z,1736379517.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.500000 m, deltaT: 3.782699 s, deltaX: -1.599998 m, approachRate: -0.422978 m/s, rangeRepo size: 4 2025-01-08T23:38:37.572Z,1736379517.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.500000 m, bearing: 78.615954 deg, lat: 36.905471 deg, lon: -122.119232 deg, deltaT: 3.782699 s, deltaX: -1.599998 m, approachRate: -0.422978 m/s, posRepo size: 4 2025-01-08T23:38:37.573Z,1736379517.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T23:38:37.576Z,1736379517.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.500000 m, nav range: 73.812759 m, bearing: 81.828077 deg, approach rate: 0.000000 m/s, LOS rate: -0.533667 deg/s, cmd heading: 171.543193 deg, new cmd heading: 170.832504 deg. 2025-01-08T23:38:37.577Z,1736379517.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.981590 target range: 81.500000 and range: 81.50 m. 2025-01-08T23:38:37.704Z,1736379517.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:37.920Z,1736379517.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:37.930Z,1736379517.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T23:38:37.933Z,1736379517.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.500000 m, nav range: 73.849915 m, bearing: 81.633426 deg, approach rate: 0.102502 m/s, LOS rate: -0.536723 deg/s, cmd heading: 170.832498 deg, new cmd heading: 170.248860 deg. 2025-01-08T23:38:37.933Z,1736379517.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.971403 target range: 81.500000 and range: 81.50 m. 2025-01-08T23:38:37.956Z,1736379517.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:38.210Z,1736379518.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:38.355Z,1736379518.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:38.364Z,1736379518.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T23:38:38.367Z,1736379518.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.500000 m, nav range: 73.893097 m, bearing: 81.400170 deg, approach rate: 0.099362 m/s, LOS rate: -0.536405 deg/s, cmd heading: 170.248858 deg, new cmd heading: 169.549534 deg. 2025-01-08T23:38:38.368Z,1736379518.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.959198 target range: 81.500000 and range: 81.50 m. 2025-01-08T23:38:38.462Z,1736379518.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:38.716Z,1736379518.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:38.718Z,1736379518.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:38.728Z,1736379518.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T23:38:38.730Z,1736379518.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.500000 m, nav range: 73.924057 m, bearing: 81.204801 deg, approach rate: 0.085362 m/s, LOS rate: -0.538435 deg/s, cmd heading: 169.549529 deg, new cmd heading: 168.963691 deg. 2025-01-08T23:38:38.731Z,1736379518.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.948973 target range: 81.500000 and range: 81.50 m. 2025-01-08T23:38:38.968Z,1736379518.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:39.114Z,1736379519.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:39.120Z,1736379519.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:39.122Z,1736379519.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T23:38:39.125Z,1736379519.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.500000 m, nav range: 73.955795 m, bearing: 80.992037 deg, approach rate: 0.080240 m/s, LOS rate: -0.537672 deg/s, cmd heading: 168.963690 deg, new cmd heading: 168.325697 deg. 2025-01-08T23:38:39.127Z,1736379519.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.937838 target range: 81.500000 and range: 81.50 m. 2025-01-08T23:38:39.221Z,1736379519.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:39.223Z,1736379519.223 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:39.223Z,1736379519.223 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:39.225Z,1736379519.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:39.472Z,1736379519.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:39.472Z,1736379519.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255683 2025-01-08T23:38:39.552Z,1736379519.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:39.561Z,1736379519.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T23:38:39.577Z,1736379519.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.500000 m, nav range: 73.992989 m, bearing: 80.752901 deg, approach rate: 0.084750 m/s, LOS rate: -0.544626 deg/s, cmd heading: 168.325695 deg, new cmd heading: 167.608687 deg. 2025-01-08T23:38:39.578Z,1736379519.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.925323 target range: 81.500000 and range: 81.50 m. 2025-01-08T23:38:39.724Z,1736379519.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:39.724Z,1736379519.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507731 2025-01-08T23:38:39.931Z,1736379519.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:39.960Z,1736379519.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T23:38:39.964Z,1736379519.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.500000 m, nav range: 74.024063 m, bearing: 80.545899 deg, approach rate: 0.078845 m/s, LOS rate: -0.525002 deg/s, cmd heading: 167.608689 deg, new cmd heading: 166.987970 deg. 2025-01-08T23:38:39.965Z,1736379519.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.914490 target range: 81.500000 and range: 81.50 m. 2025-01-08T23:38:39.976Z,1736379519.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:39.977Z,1736379519.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760461 2025-01-08T23:38:40.230Z,1736379520.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:40.233Z,1736379520.233 [DAT](INFO): DAT read: Rx Time:23:38:38.9022 2025-01-08T23:38:40.235Z,1736379520.235 [DAT](INFO): Rx dataTimestamp_ set to:1736379520.233772 2025-01-08T23:38:40.237Z,1736379520.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019623 2025-01-08T23:38:40.346Z,1736379520.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:40.354Z,1736379520.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.50 m. 2025-01-08T23:38:40.378Z,1736379520.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.500000 m, nav range: 74.055038 m, bearing: 80.319847 deg, approach rate: 0.077653 m/s, LOS rate: -0.566459 deg/s, cmd heading: 166.987976 deg, new cmd heading: 166.310137 deg. 2025-01-08T23:38:40.384Z,1736379520.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.902659 target range: 81.500000 and range: 81.50 m. 2025-01-08T23:38:40.480Z,1736379520.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:40.481Z,1736379520.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264751 2025-01-08T23:38:40.732Z,1736379520.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:40.738Z,1736379520.738 [DAT](INFO): DAT read: 23:38:38.9022 LVL= 30544, 28465, 18114, 32755, AGC= 62, IDX= 407, 0.29,-0.760,-1.700, 0.348,-0.663, PHS=-0.009,-0.990, 1.008, RAW= 180.6, -0.1, CAL= 181.0, -7.9, ROT= 329.0, 7.9 2025-01-08T23:38:40.739Z,1736379520.739 [DAT](INFO): got valid direction response: 23:38:38.9022 LVL= 30544, 28465, 18114, 32755, AGC= 62, IDX= 407, 0.29,-0.760,-1.700, 0.348,-0.663, PHS=-0.009,-0.990, 1.008, RAW= 180.6, -0.1, CAL= 181.0, -7.9, ROT= 329.0, 7.9 2025-01-08T23:38:40.740Z,1736379520.740 [DAT](INFO): DAT read: Bearing 329.0, 7.9 (Local) 2025-01-08T23:38:40.741Z,1736379520.741 [DAT](INFO): Local bearing/azimuth received: Bearing 329.0, 7.9 (Local) 2025-01-08T23:38:40.742Z,1736379520.742 [DAT](INFO): DAT read: Range 10 to 50 : 79.2 m (Round-trip 105.7 ms) speed 0.7 m/s 2025-01-08T23:38:40.743Z,1736379520.743 [DAT](INFO): DAT read: user:3404> 2025-01-08T23:38:40.744Z,1736379520.744 [DAT](INFO): DAT read: Tx time:23:38:39.9908 2025-01-08T23:38:40.744Z,1736379520.744 [DAT](INFO): Ping request sent. 2025-01-08T23:38:40.745Z,1736379520.745 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:40.745Z,1736379520.745 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:38:40.746Z,1736379520.746 [DAT](INFO): direction in FSK: [-0.084639,-0.995847,0.033542] 2025-01-08T23:38:40.746Z,1736379520.746 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:40.746Z,1736379520.746 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:40.750Z,1736379520.750 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:40.750Z,1736379520.750 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:40.792Z,1736379520.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:40.822Z,1736379520.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.528352 s, deltaX: -2.300003 m, approachRate: -0.651863 m/s, rangeRepo size: 4 2025-01-08T23:38:40.836Z,1736379520.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.199997 m, bearing: 75.895902 deg, lat: 36.905471 deg, lon: -122.119189 deg, deltaT: 3.528352 s, deltaX: -2.300003 m, approachRate: -0.651863 m/s, posRepo size: 4 2025-01-08T23:38:40.837Z,1736379520.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T23:38:40.845Z,1736379520.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 77.830208 m, bearing: 80.558066 deg, approach rate: 0.000000 m/s, LOS rate: -0.566459 deg/s, cmd heading: 166.310134 deg, new cmd heading: 165.516625 deg. 2025-01-08T23:38:40.854Z,1736379520.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.888810 target range: 79.199997 and range: 79.20 m. 2025-01-08T23:38:40.984Z,1736379520.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:40.985Z,1736379520.985 [DAT](INFO): DAT read: TxSync time:23:38:39.9900 2025-01-08T23:38:41.238Z,1736379521.238 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:41.310Z,1736379521.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:41.317Z,1736379521.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:41.342Z,1736379521.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T23:38:41.350Z,1736379521.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 77.866463 m, bearing: 80.291847 deg, approach rate: 0.072792 m/s, LOS rate: -0.534260 deg/s, cmd heading: 165.516630 deg, new cmd heading: 164.718399 deg. 2025-01-08T23:38:41.351Z,1736379521.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874878 target range: 79.199997 and range: 79.20 m. 2025-01-08T23:38:41.488Z,1736379521.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:41.488Z,1736379521.488 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:41.488Z,1736379521.488 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:41.488Z,1736379521.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:41.698Z,1736379521.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:41.706Z,1736379521.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T23:38:41.710Z,1736379521.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 77.892372 m, bearing: 80.097781 deg, approach rate: 0.066964 m/s, LOS rate: -0.501404 deg/s, cmd heading: 164.718399 deg, new cmd heading: 164.136417 deg. 2025-01-08T23:38:41.711Z,1736379521.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.864721 target range: 79.199997 and range: 79.20 m. 2025-01-08T23:38:41.752Z,1736379521.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:41.753Z,1736379521.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008382 2025-01-08T23:38:42.004Z,1736379522.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:42.004Z,1736379522.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259801 2025-01-08T23:38:42.121Z,1736379522.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:42.134Z,1736379522.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T23:38:42.137Z,1736379522.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 77.921745 m, bearing: 79.875234 deg, approach rate: 0.068608 m/s, LOS rate: -0.519609 deg/s, cmd heading: 164.136413 deg, new cmd heading: 163.469057 deg. 2025-01-08T23:38:42.138Z,1736379522.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853073 target range: 79.199997 and range: 79.20 m. 2025-01-08T23:38:42.259Z,1736379522.259 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:42.261Z,1736379522.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516406 2025-01-08T23:38:42.508Z,1736379522.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:42.508Z,1736379522.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763648 2025-01-08T23:38:42.565Z,1736379522.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:42.588Z,1736379522.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T23:38:42.591Z,1736379522.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 77.948639 m, bearing: 79.647113 deg, approach rate: 0.059297 m/s, LOS rate: -0.502801 deg/s, cmd heading: 163.469062 deg, new cmd heading: 162.784967 deg. 2025-01-08T23:38:42.596Z,1736379522.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841134 target range: 79.199997 and range: 79.20 m. 2025-01-08T23:38:42.762Z,1736379522.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:42.763Z,1736379522.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018315 2025-01-08T23:38:43.012Z,1736379523.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:43.012Z,1736379523.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267846 2025-01-08T23:38:43.030Z,1736379523.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:43.052Z,1736379523.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T23:38:43.054Z,1736379523.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 77.971130 m, bearing: 79.408841 deg, approach rate: 0.048945 m/s, LOS rate: -0.518365 deg/s, cmd heading: 162.784964 deg, new cmd heading: 162.070394 deg. 2025-01-08T23:38:43.061Z,1736379523.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.828662 target range: 79.199997 and range: 79.20 m. 2025-01-08T23:38:43.266Z,1736379523.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:43.270Z,1736379523.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524658 2025-01-08T23:38:43.484Z,1736379523.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:43.507Z,1736379523.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:43.510Z,1736379523.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T23:38:43.516Z,1736379523.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:43.516Z,1736379523.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771879 2025-01-08T23:38:43.519Z,1736379523.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 77.989479 m, bearing: 79.176968 deg, approach rate: 0.039732 m/s, LOS rate: -0.501973 deg/s, cmd heading: 162.070390 deg, new cmd heading: 161.374970 deg. 2025-01-08T23:38:43.524Z,1736379523.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816525 target range: 79.199997 and range: 79.20 m. 2025-01-08T23:38:43.768Z,1736379523.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:43.768Z,1736379523.768 [DAT](INFO): DAT read: Rx Time:23:38:42.4975 2025-01-08T23:38:43.769Z,1736379523.769 [DAT](INFO): Rx dataTimestamp_ set to:1736379523.768591 2025-01-08T23:38:43.769Z,1736379523.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024780 2025-01-08T23:38:43.906Z,1736379523.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:43.919Z,1736379523.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-01-08T23:38:43.922Z,1736379523.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.199997 m, nav range: 78.004402 m, bearing: 78.961703 deg, approach rate: 0.036452 m/s, LOS rate: -0.525711 deg/s, cmd heading: 161.374967 deg, new cmd heading: 160.729324 deg. 2025-01-08T23:38:43.923Z,1736379523.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805256 target range: 79.199997 and range: 79.20 m. 2025-01-08T23:38:44.020Z,1736379524.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:44.020Z,1736379524.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275855 2025-01-08T23:38:44.273Z,1736379524.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:44.332Z,1736379524.332 [DAT](INFO): DAT read: 23:38:42.4975 LVL= 32752, 32209, 19986, 32755, AGC= 67, IDX= 407, 0.04,-2.208,-3.066,-1.237,-2.128, PHS= 0.009,-0.891, 0.889, RAW= 179.6, -0.1, CAL= 180.2, -7.9, ROT= 329.8, 7.9 2025-01-08T23:38:44.333Z,1736379524.333 [DAT](INFO): got valid direction response: 23:38:42.4975 LVL= 32752, 32209, 19986, 32755, AGC= 67, IDX= 407, 0.04,-2.208,-3.066,-1.237,-2.128, PHS= 0.009,-0.891, 0.889, RAW= 179.6, -0.1, CAL= 180.2, -7.9, ROT= 329.8, 7.9 2025-01-08T23:38:44.334Z,1736379524.334 [DAT](INFO): DAT read: Bearing 329.8, 7.9 (Local) 2025-01-08T23:38:44.335Z,1736379524.335 [DAT](INFO): Local bearing/azimuth received: Bearing 329.8, 7.9 (Local) 2025-01-08T23:38:44.344Z,1736379524.344 [DAT](INFO): DAT read: Range 10 to 50 : 76.9 m (Round-trip 102.6 ms) speed 0.5 m/s 2025-01-08T23:38:44.345Z,1736379524.345 [DAT](INFO): DAT read: user:3405> 2025-01-08T23:38:44.346Z,1736379524.346 [DAT](INFO): DAT read: Tx time:23:38:43.5908 2025-01-08T23:38:44.346Z,1736379524.346 [DAT](INFO): Ping request sent. 2025-01-08T23:38:44.346Z,1736379524.346 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:44.347Z,1736379524.347 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:38:44.361Z,1736379524.361 [DAT](INFO): direction in FSK: [-0.086415,-0.994989,0.050296] 2025-01-08T23:38:44.361Z,1736379524.361 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:44.361Z,1736379524.361 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:44.372Z,1736379524.372 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:44.373Z,1736379524.373 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:44.404Z,1736379524.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:44.429Z,1736379524.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.900002 m, deltaT: 3.541878 s, deltaX: -2.299995 m, approachRate: -0.649372 m/s, rangeRepo size: 4 2025-01-08T23:38:44.431Z,1736379524.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.900002 m, bearing: 70.439681 deg, lat: 36.905521 deg, lon: -122.119189 deg, deltaT: 3.541878 s, deltaX: -2.299995 m, approachRate: -0.649372 m/s, posRepo size: 4 2025-01-08T23:38:44.433Z,1736379524.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.90 m. 2025-01-08T23:38:44.444Z,1736379524.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.900002 m, nav range: 79.285606 m, bearing: 74.787719 deg, approach rate: 0.000000 m/s, LOS rate: -0.525711 deg/s, cmd heading: 160.729323 deg, new cmd heading: 159.925776 deg. 2025-01-08T23:38:44.445Z,1736379524.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791231 target range: 76.900002 and range: 76.90 m. 2025-01-08T23:38:44.525Z,1736379524.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:44.526Z,1736379524.526 [DAT](INFO): DAT read: TxSync time:23:38:43.5900 2025-01-08T23:38:44.766Z,1736379524.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:44.776Z,1736379524.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:44.783Z,1736379524.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.90 m. 2025-01-08T23:38:44.790Z,1736379524.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.900002 m, nav range: 79.311012 m, bearing: 74.606258 deg, approach rate: 0.071622 m/s, LOS rate: -0.511395 deg/s, cmd heading: 159.925779 deg, new cmd heading: 159.381587 deg. 2025-01-08T23:38:44.796Z,1736379524.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781734 target range: 76.900002 and range: 76.90 m. 2025-01-08T23:38:45.029Z,1736379525.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:45.148Z,1736379525.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:45.156Z,1736379525.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.90 m. 2025-01-08T23:38:45.159Z,1736379525.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.900002 m, nav range: 79.335739 m, bearing: 74.415337 deg, approach rate: 0.066260 m/s, LOS rate: -0.511446 deg/s, cmd heading: 159.381590 deg, new cmd heading: 158.809026 deg. 2025-01-08T23:38:45.180Z,1736379525.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.771740 target range: 76.900002 and range: 76.90 m. 2025-01-08T23:38:45.282Z,1736379525.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:45.532Z,1736379525.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:45.628Z,1736379525.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:45.635Z,1736379525.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:45.638Z,1736379525.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.90 m. 2025-01-08T23:38:45.641Z,1736379525.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.900002 m, nav range: 79.366020 m, bearing: 74.170617 deg, approach rate: 0.062882 m/s, LOS rate: -0.507993 deg/s, cmd heading: 158.809029 deg, new cmd heading: 158.075191 deg. 2025-01-08T23:38:45.642Z,1736379525.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.758933 target range: 76.900002 and range: 76.90 m. 2025-01-08T23:38:45.784Z,1736379525.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:45.785Z,1736379525.785 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:45.785Z,1736379525.785 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:45.786Z,1736379525.786 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:45.998Z,1736379525.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:46.011Z,1736379526.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.90 m. 2025-01-08T23:38:46.014Z,1736379526.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.900002 m, nav range: 79.384323 m, bearing: 73.982155 deg, approach rate: 0.049149 m/s, LOS rate: -0.505960 deg/s, cmd heading: 158.075193 deg, new cmd heading: 157.509958 deg. 2025-01-08T23:38:46.015Z,1736379526.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.749067 target range: 76.900002 and range: 76.90 m. 2025-01-08T23:38:46.037Z,1736379526.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:46.038Z,1736379526.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.691118 2025-01-08T23:38:46.290Z,1736379526.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:46.292Z,1736379526.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945260 2025-01-08T23:38:46.419Z,1736379526.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:46.452Z,1736379526.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.90 m. 2025-01-08T23:38:46.460Z,1736379526.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.900002 m, nav range: 79.397324 m, bearing: 73.763197 deg, approach rate: 0.029394 m/s, LOS rate: -0.494975 deg/s, cmd heading: 157.509954 deg, new cmd heading: 156.853218 deg. 2025-01-08T23:38:46.461Z,1736379526.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.737605 target range: 76.900002 and range: 76.90 m. 2025-01-08T23:38:46.540Z,1736379526.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:46.541Z,1736379526.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194957 2025-01-08T23:38:46.792Z,1736379526.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:46.793Z,1736379526.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446208 2025-01-08T23:38:46.807Z,1736379526.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:46.818Z,1736379526.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.90 m. 2025-01-08T23:38:46.820Z,1736379526.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.900002 m, nav range: 79.407051 m, bearing: 73.560984 deg, approach rate: 0.026634 m/s, LOS rate: -0.553601 deg/s, cmd heading: 156.853218 deg, new cmd heading: 156.246677 deg. 2025-01-08T23:38:46.821Z,1736379526.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.727019 target range: 76.900002 and range: 76.90 m. 2025-01-08T23:38:47.044Z,1736379527.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:47.045Z,1736379527.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698272 2025-01-08T23:38:47.208Z,1736379527.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:47.246Z,1736379527.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.90 m. 2025-01-08T23:38:47.253Z,1736379527.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.900002 m, nav range: 79.414680 m, bearing: 73.352205 deg, approach rate: 0.017829 m/s, LOS rate: -0.487833 deg/s, cmd heading: 156.246670 deg, new cmd heading: 155.620420 deg. 2025-01-08T23:38:47.254Z,1736379527.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.716089 target range: 76.900002 and range: 76.90 m. 2025-01-08T23:38:47.299Z,1736379527.299 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:47.302Z,1736379527.302 [DAT](INFO): DAT read: Rx Time:23:38:46.0948 2025-01-08T23:38:47.304Z,1736379527.304 [DAT](INFO): Rx dataTimestamp_ set to:1736379527.302616 2025-01-08T23:38:47.306Z,1736379527.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959306 2025-01-08T23:38:47.548Z,1736379527.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:47.548Z,1736379527.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202063 2025-01-08T23:38:47.634Z,1736379527.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:47.641Z,1736379527.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:47.646Z,1736379527.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.90 m. 2025-01-08T23:38:47.652Z,1736379527.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.900002 m, nav range: 79.422951 m, bearing: 73.126427 deg, approach rate: 0.020662 m/s, LOS rate: -0.564009 deg/s, cmd heading: 155.620423 deg, new cmd heading: 154.943191 deg. 2025-01-08T23:38:47.658Z,1736379527.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704269 target range: 76.900002 and range: 76.90 m. 2025-01-08T23:38:47.802Z,1736379527.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:47.810Z,1736379527.810 [DAT](INFO): DAT read: 23:38:46.0948 LVL= 32752, 32753, 22642, 32755, AGC= 65, IDX= 410, 0.14,-2.327,-3.112,-1.481,-2.305, PHS= 0.067,-0.760, 0.822, RAW= 178.5, -1.9, CAL= 179.3, -9.4, ROT= 330.7, 9.4 2025-01-08T23:38:47.812Z,1736379527.812 [DAT](INFO): got valid direction response: 23:38:46.0948 LVL= 32752, 32753, 22642, 32755, AGC= 65, IDX= 410, 0.14,-2.327,-3.112,-1.481,-2.305, PHS= 0.067,-0.760, 0.822, RAW= 178.5, -1.9, CAL= 179.3, -9.4, ROT= 330.7, 9.4 2025-01-08T23:38:47.813Z,1736379527.813 [DAT](INFO): DAT read: Bearing 330.7, 9.4 (Local) 2025-01-08T23:38:47.813Z,1736379527.813 [DAT](INFO): Local bearing/azimuth received: Bearing 330.7, 9.4 (Local) 2025-01-08T23:38:47.814Z,1736379527.814 [DAT](INFO): DAT read: Range 10 to 50 : 74.8 m (Round-trip 99.8 ms) speed 0.5 m/s 2025-01-08T23:38:47.815Z,1736379527.815 [DAT](INFO): DAT read: user:3406> 2025-01-08T23:38:47.816Z,1736379527.816 [DAT](INFO): DAT read: Tx time:23:38:47.1909 2025-01-08T23:38:47.816Z,1736379527.816 [DAT](INFO): Ping request sent. 2025-01-08T23:38:47.816Z,1736379527.816 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:47.817Z,1736379527.817 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:38:47.818Z,1736379527.818 [DAT](INFO): direction in FSK: [-0.053515,-0.995946,0.072307] 2025-01-08T23:38:47.818Z,1736379527.818 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:47.818Z,1736379527.818 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:47.822Z,1736379527.822 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:47.822Z,1736379527.822 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:48.053Z,1736379528.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:48.054Z,1736379528.054 [DAT](INFO): DAT read: TxSync time:23:38:47.1901 2025-01-08T23:38:48.125Z,1736379528.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:48.139Z,1736379528.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.800003 m, deltaT: 3.529867 s, deltaX: -2.099998 m, approachRate: -0.594923 m/s, rangeRepo size: 4 2025-01-08T23:38:48.141Z,1736379528.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.800003 m, bearing: 65.603493 deg, lat: 36.905530 deg, lon: -122.119189 deg, deltaT: 3.529867 s, deltaX: -2.099998 m, approachRate: -0.594923 m/s, posRepo size: 4 2025-01-08T23:38:48.142Z,1736379528.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m. 2025-01-08T23:38:48.145Z,1736379528.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.800003 m, nav range: 79.725586 m, bearing: 72.182278 deg, approach rate: 0.000000 m/s, LOS rate: -0.564009 deg/s, cmd heading: 154.943196 deg, new cmd heading: 154.109659 deg. 2025-01-08T23:38:48.146Z,1736379528.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689721 target range: 74.800003 and range: 74.80 m. 2025-01-08T23:38:48.307Z,1736379528.307 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:48.548Z,1736379528.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:48.557Z,1736379528.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m. 2025-01-08T23:38:48.560Z,1736379528.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:48.562Z,1736379528.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.800003 m, nav range: 79.732010 m, bearing: 71.953393 deg, approach rate: 0.015365 m/s, LOS rate: -0.547426 deg/s, cmd heading: 154.109654 deg, new cmd heading: 153.423088 deg. 2025-01-08T23:38:48.563Z,1736379528.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677738 target range: 74.800003 and range: 74.80 m. 2025-01-08T23:38:48.812Z,1736379528.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:48.961Z,1736379528.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:48.970Z,1736379528.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m. 2025-01-08T23:38:48.973Z,1736379528.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.800003 m, nav range: 79.735626 m, bearing: 71.729556 deg, approach rate: 0.008754 m/s, LOS rate: -0.541841 deg/s, cmd heading: 153.423083 deg, new cmd heading: 152.751634 deg. 2025-01-08T23:38:48.974Z,1736379528.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.666019 target range: 74.800003 and range: 74.80 m. 2025-01-08T23:38:49.064Z,1736379529.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:49.318Z,1736379529.318 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:49.422Z,1736379529.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:49.451Z,1736379529.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m. 2025-01-08T23:38:49.458Z,1736379529.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.800003 m, nav range: 79.730156 m, bearing: 71.477088 deg, approach rate: -0.011371 m/s, LOS rate: -0.524826 deg/s, cmd heading: 152.751635 deg, new cmd heading: 151.994225 deg. 2025-01-08T23:38:49.459Z,1736379529.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.652800 target range: 74.800003 and range: 74.80 m. 2025-01-08T23:38:49.569Z,1736379529.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:49.766Z,1736379529.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:49.773Z,1736379529.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:49.775Z,1736379529.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m. 2025-01-08T23:38:49.779Z,1736379529.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.800003 m, nav range: 79.723206 m, bearing: 71.287998 deg, approach rate: -0.021429 m/s, LOS rate: -0.583044 deg/s, cmd heading: 151.994221 deg, new cmd heading: 151.426923 deg. 2025-01-08T23:38:49.780Z,1736379529.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.642898 target range: 74.800003 and range: 74.80 m. 2025-01-08T23:38:49.820Z,1736379529.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:49.821Z,1736379529.821 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:49.821Z,1736379529.821 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:49.821Z,1736379529.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:50.072Z,1736379530.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:50.074Z,1736379530.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257354 2025-01-08T23:38:50.161Z,1736379530.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:50.170Z,1736379530.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m. 2025-01-08T23:38:50.172Z,1736379530.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.800003 m, nav range: 79.713043 m, bearing: 71.071397 deg, approach rate: -0.025755 m/s, LOS rate: -0.549010 deg/s, cmd heading: 151.426919 deg, new cmd heading: 150.777063 deg. 2025-01-08T23:38:50.173Z,1736379530.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.631556 target range: 74.800003 and range: 74.80 m. 2025-01-08T23:38:50.324Z,1736379530.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:50.326Z,1736379530.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508814 2025-01-08T23:38:50.578Z,1736379530.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:50.579Z,1736379530.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762261 2025-01-08T23:38:50.622Z,1736379530.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:50.661Z,1736379530.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m. 2025-01-08T23:38:50.670Z,1736379530.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.800003 m, nav range: 79.700607 m, bearing: 70.817143 deg, approach rate: -0.025313 m/s, LOS rate: -0.517605 deg/s, cmd heading: 150.777068 deg, new cmd heading: 150.014234 deg. 2025-01-08T23:38:50.676Z,1736379530.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.618242 target range: 74.800003 and range: 74.80 m. 2025-01-08T23:38:50.834Z,1736379530.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:50.836Z,1736379530.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019170 2025-01-08T23:38:51.084Z,1736379531.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:51.085Z,1736379531.085 [DAT](INFO): DAT read: Rx Time:23:38:49.6916 2025-01-08T23:38:51.086Z,1736379531.086 [DAT](INFO): Rx dataTimestamp_ set to:1736379531.085383 2025-01-08T23:38:51.087Z,1736379531.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270915 2025-01-08T23:38:51.147Z,1736379531.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:51.168Z,1736379531.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m. 2025-01-08T23:38:51.171Z,1736379531.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.800003 m, nav range: 79.684837 m, bearing: 70.527518 deg, approach rate: -0.031084 m/s, LOS rate: -0.570983 deg/s, cmd heading: 150.014231 deg, new cmd heading: 149.145256 deg. 2025-01-08T23:38:51.177Z,1736379531.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.603076 target range: 74.800003 and range: 74.80 m. 2025-01-08T23:38:51.336Z,1736379531.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:51.336Z,1736379531.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519813 2025-01-08T23:38:51.554Z,1736379531.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:51.564Z,1736379531.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m. 2025-01-08T23:38:51.566Z,1736379531.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.800003 m, nav range: 79.676300 m, bearing: 70.302092 deg, approach rate: -0.021606 m/s, LOS rate: -0.570572 deg/s, cmd heading: 149.145254 deg, new cmd heading: 148.468938 deg. 2025-01-08T23:38:51.568Z,1736379531.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591272 target range: 74.800003 and range: 74.80 m. 2025-01-08T23:38:51.588Z,1736379531.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:51.596Z,1736379531.596 [DAT](INFO): DAT read: 23:38:49.6916 LVL= 25072, 28241, 17506, 32755, AGC= 64, IDX= 409, 0.33,-0.828,-1.785,-0.156,-1.000, PHS= 0.260,-0.738, 0.841, RAW= 171.3, -5.3, CAL= 173.5, -12.3, ROT= 336.5, 12.3 2025-01-08T23:38:51.597Z,1736379531.597 [DAT](INFO): got valid direction response: 23:38:49.6916 LVL= 25072, 28241, 17506, 32755, AGC= 64, IDX= 409, 0.33,-0.828,-1.785,-0.156,-1.000, PHS= 0.260,-0.738, 0.841, RAW= 171.3, -5.3, CAL= 173.5, -12.3, ROT= 336.5, 12.3 2025-01-08T23:38:51.598Z,1736379531.598 [DAT](INFO): DAT read: Bearing 336.5, 12.3 (Local) 2025-01-08T23:38:51.598Z,1736379531.598 [DAT](INFO): Local bearing/azimuth received: Bearing 336.5, 12.3 (Local) 2025-01-08T23:38:51.602Z,1736379531.602 [DAT](INFO): DAT read: Range 10 to 50 : 72.3 m (Round-trip 96.5 ms) speed 0.6 m/s 2025-01-08T23:38:51.612Z,1736379531.612 [DAT](INFO): DAT read: user:3407> 2025-01-08T23:38:51.613Z,1736379531.613 [DAT](INFO): DAT read: Tx time:23:38:50.7909 2025-01-08T23:38:51.613Z,1736379531.613 [DAT](INFO): Ping request sent. 2025-01-08T23:38:51.613Z,1736379531.613 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:51.614Z,1736379531.614 [DAT](INFO): DAT read: TxSync time:23:38:50.7901 2025-01-08T23:38:51.615Z,1736379531.615 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:38:51.624Z,1736379531.624 [DAT](INFO): direction in FSK: [0.002028,-0.979658,0.200663] 2025-01-08T23:38:51.624Z,1736379531.624 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:51.624Z,1736379531.624 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:51.644Z,1736379531.644 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:51.645Z,1736379531.645 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:51.840Z,1736379531.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:52.022Z,1736379532.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:52.049Z,1736379532.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.300003 m, deltaT: 3.784441 s, deltaX: -2.500000 m, approachRate: -0.660600 m/s, rangeRepo size: 4 2025-01-08T23:38:52.051Z,1736379532.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 61.851853 deg, lat: 36.905565 deg, lon: -122.119235 deg, deltaT: 3.784441 s, deltaX: -2.500000 m, approachRate: -0.660600 m/s, posRepo size: 4 2025-01-08T23:38:52.052Z,1736379532.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:38:52.054Z,1736379532.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 77.369431 m, bearing: 66.271215 deg, approach rate: 0.000000 m/s, LOS rate: -0.570572 deg/s, cmd heading: 148.468942 deg, new cmd heading: 147.645365 deg. 2025-01-08T23:38:52.071Z,1736379532.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576898 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:38:52.092Z,1736379532.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:52.344Z,1736379532.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:52.497Z,1736379532.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:52.504Z,1736379532.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:52.506Z,1736379532.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:38:52.509Z,1736379532.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 77.386253 m, bearing: 66.011016 deg, approach rate: 0.036436 m/s, LOS rate: -0.563427 deg/s, cmd heading: 147.645372 deg, new cmd heading: 146.864995 deg. 2025-01-08T23:38:52.511Z,1736379532.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563278 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:38:52.597Z,1736379532.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:52.598Z,1736379532.598 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:52.598Z,1736379532.598 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:52.598Z,1736379532.598 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:52.833Z,1736379532.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:52.841Z,1736379532.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:38:52.845Z,1736379532.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 77.390930 m, bearing: 65.827046 deg, approach rate: 0.013955 m/s, LOS rate: -0.548893 deg/s, cmd heading: 146.864995 deg, new cmd heading: 146.313136 deg. 2025-01-08T23:38:52.846Z,1736379532.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553646 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:38:52.848Z,1736379532.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:52.849Z,1736379532.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235042 2025-01-08T23:38:53.101Z,1736379533.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:53.102Z,1736379533.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488491 2025-01-08T23:38:53.228Z,1736379533.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:53.237Z,1736379533.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:38:53.240Z,1736379533.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 77.393440 m, bearing: 65.610081 deg, approach rate: 0.006349 m/s, LOS rate: -0.548777 deg/s, cmd heading: 146.313130 deg, new cmd heading: 145.662284 deg. 2025-01-08T23:38:53.241Z,1736379533.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.542286 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:38:53.352Z,1736379533.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:53.352Z,1736379533.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739008 2025-01-08T23:38:53.604Z,1736379533.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:53.604Z,1736379533.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990958 2025-01-08T23:38:53.677Z,1736379533.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:53.700Z,1736379533.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:38:53.703Z,1736379533.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 77.404663 m, bearing: 65.369071 deg, approach rate: 0.024227 m/s, LOS rate: -0.520187 deg/s, cmd heading: 145.662281 deg, new cmd heading: 144.939397 deg. 2025-01-08T23:38:53.708Z,1736379533.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529670 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:38:53.856Z,1736379533.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:53.856Z,1736379533.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242902 2025-01-08T23:38:54.043Z,1736379534.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:54.052Z,1736379534.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:38:54.054Z,1736379534.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 77.411346 m, bearing: 65.171871 deg, approach rate: 0.018999 m/s, LOS rate: -0.560525 deg/s, cmd heading: 144.939401 deg, new cmd heading: 144.347874 deg. 2025-01-08T23:38:54.056Z,1736379534.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519346 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:38:54.108Z,1736379534.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:54.110Z,1736379534.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496054 2025-01-08T23:38:54.360Z,1736379534.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:54.361Z,1736379534.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747633 2025-01-08T23:38:54.518Z,1736379534.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:54.525Z,1736379534.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:54.548Z,1736379534.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:38:54.551Z,1736379534.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 77.428955 m, bearing: 64.924665 deg, approach rate: 0.035469 m/s, LOS rate: -0.497834 deg/s, cmd heading: 144.347879 deg, new cmd heading: 143.606473 deg. 2025-01-08T23:38:54.556Z,1736379534.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.506406 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:38:54.613Z,1736379534.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:54.614Z,1736379534.614 [DAT](INFO): DAT read: Rx Time:23:38:53.2880 2025-01-08T23:38:54.615Z,1736379534.615 [DAT](INFO): Rx dataTimestamp_ set to:1736379534.614147 2025-01-08T23:38:54.616Z,1736379534.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002161 2025-01-08T23:38:54.864Z,1736379534.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:54.865Z,1736379534.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251107 2025-01-08T23:38:54.896Z,1736379534.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:54.925Z,1736379534.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:38:54.933Z,1736379534.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 77.444038 m, bearing: 64.727444 deg, approach rate: 0.040072 m/s, LOS rate: -0.523850 deg/s, cmd heading: 143.606476 deg, new cmd heading: 143.014951 deg. 2025-01-08T23:38:54.934Z,1736379534.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.496082 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:38:55.117Z,1736379535.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:55.129Z,1736379535.129 [DAT](INFO): DAT read: 23:38:53.2880 LVL= 23408, 25153, 15570, 29363, AGC= 63, IDX= 405, 0.07,-3.038, 2.102,-2.599, 2.872, PHS= 0.461,-0.724, 0.809, RAW= 162.5, -7.9, CAL= 166.5, -14.9, ROT= 343.5, 14.9 2025-01-08T23:38:55.132Z,1736379535.132 [DAT](INFO): got valid direction response: 23:38:53.2880 LVL= 23408, 25153, 15570, 29363, AGC= 63, IDX= 405, 0.07,-3.038, 2.102,-2.599, 2.872, PHS= 0.461,-0.724, 0.809, RAW= 162.5, -7.9, CAL= 166.5, -14.9, ROT= 343.5, 14.9 2025-01-08T23:38:55.135Z,1736379535.135 [DAT](INFO): DAT read: Bearing 343.5, 14.9 (Local) 2025-01-08T23:38:55.135Z,1736379535.135 [DAT](INFO): Local bearing/azimuth received: Bearing 343.5, 14.9 (Local) 2025-01-08T23:38:55.142Z,1736379535.142 [DAT](INFO): DAT read: Range 10 to 50 : 69.7 m (Round-trip 93.0 ms) speed 0.8 m/s 2025-01-08T23:38:55.143Z,1736379535.143 [DAT](INFO): DAT read: user:3408> 2025-01-08T23:38:55.178Z,1736379535.178 [DAT](INFO): DAT read: Tx time:23:38:54.3909 2025-01-08T23:38:55.184Z,1736379535.184 [DAT](INFO): Ping request sent. 2025-01-08T23:38:55.184Z,1736379535.184 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:55.186Z,1736379535.186 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:38:55.192Z,1736379535.192 [DAT](INFO): direction in FSK: [0.042916,-0.934542,0.353255] 2025-01-08T23:38:55.192Z,1736379535.192 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:55.193Z,1736379535.193 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:55.244Z,1736379535.244 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:55.245Z,1736379535.245 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:55.303Z,1736379535.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:55.325Z,1736379535.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.699997 m, deltaT: 3.529605 s, deltaX: -2.600006 m, approachRate: -0.736628 m/s, rangeRepo size: 4 2025-01-08T23:38:55.333Z,1736379535.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.699997 m, bearing: 56.986337 deg, lat: 36.905588 deg, lon: -122.119277 deg, deltaT: 3.529605 s, deltaX: -2.600006 m, approachRate: -0.736628 m/s, posRepo size: 4 2025-01-08T23:38:55.333Z,1736379535.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:38:55.345Z,1736379535.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.278000 m, bearing: 61.537502 deg, approach rate: 0.000000 m/s, LOS rate: -0.523850 deg/s, cmd heading: 143.014954 deg, new cmd heading: 142.386063 deg. 2025-01-08T23:38:55.346Z,1736379535.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.485106 target range: 69.699997 and range: 69.70 m. 2025-01-08T23:38:55.368Z,1736379535.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:55.369Z,1736379535.369 [DAT](INFO): DAT read: TxSync time:23:38:54.3901 2025-01-08T23:38:55.620Z,1736379535.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:55.705Z,1736379535.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:55.715Z,1736379535.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:38:55.717Z,1736379535.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.310898 m, bearing: 61.329289 deg, approach rate: 0.084422 m/s, LOS rate: -0.534079 deg/s, cmd heading: 142.386058 deg, new cmd heading: 141.761716 deg. 2025-01-08T23:38:55.718Z,1736379535.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474209 target range: 69.699997 and range: 69.70 m. 2025-01-08T23:38:55.872Z,1736379535.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:56.064Z,1736379536.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:56.100Z,1736379536.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:38:56.106Z,1736379536.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.335709 m, bearing: 61.144624 deg, approach rate: 0.064579 m/s, LOS rate: -0.480500 deg/s, cmd heading: 141.761710 deg, new cmd heading: 141.207915 deg. 2025-01-08T23:38:56.107Z,1736379536.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464543 target range: 69.699997 and range: 69.70 m. 2025-01-08T23:38:56.124Z,1736379536.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:56.376Z,1736379536.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:56.558Z,1736379536.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:56.573Z,1736379536.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:56.578Z,1736379536.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:38:56.597Z,1736379536.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.369072 m, bearing: 60.894266 deg, approach rate: 0.069998 m/s, LOS rate: -0.525025 deg/s, cmd heading: 141.207918 deg, new cmd heading: 140.457223 deg. 2025-01-08T23:38:56.598Z,1736379536.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451441 target range: 69.699997 and range: 69.70 m. 2025-01-08T23:38:56.628Z,1736379536.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:56.628Z,1736379536.628 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:56.629Z,1736379536.629 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:56.629Z,1736379536.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:56.880Z,1736379536.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:56.880Z,1736379536.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.696785 2025-01-08T23:38:56.885Z,1736379536.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:56.894Z,1736379536.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:38:56.897Z,1736379536.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.389046 m, bearing: 60.728613 deg, approach rate: 0.062589 m/s, LOS rate: -0.518943 deg/s, cmd heading: 140.457226 deg, new cmd heading: 139.960413 deg. 2025-01-08T23:38:56.898Z,1736379536.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442770 target range: 69.699997 and range: 69.70 m. 2025-01-08T23:38:57.133Z,1736379537.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:57.134Z,1736379537.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.949921 2025-01-08T23:38:57.285Z,1736379537.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:57.294Z,1736379537.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:38:57.313Z,1736379537.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.410469 m, bearing: 60.525748 deg, approach rate: 0.053753 m/s, LOS rate: -0.508861 deg/s, cmd heading: 139.960412 deg, new cmd heading: 139.352013 deg. 2025-01-08T23:38:57.314Z,1736379537.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432152 target range: 69.699997 and range: 69.70 m. 2025-01-08T23:38:57.385Z,1736379537.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:57.386Z,1736379537.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.201777 2025-01-08T23:38:57.636Z,1736379537.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:57.636Z,1736379537.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452729 2025-01-08T23:38:57.738Z,1736379537.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:57.756Z,1736379537.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:38:57.759Z,1736379537.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.429688 m, bearing: 60.295581 deg, approach rate: 0.041920 m/s, LOS rate: -0.501923 deg/s, cmd heading: 139.352019 deg, new cmd heading: 138.661728 deg. 2025-01-08T23:38:57.764Z,1736379537.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420104 target range: 69.699997 and range: 69.70 m. 2025-01-08T23:38:57.888Z,1736379537.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:57.888Z,1736379537.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704765 2025-01-08T23:38:58.140Z,1736379538.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:58.140Z,1736379538.140 [DAT](INFO): DAT read: Rx Time:23:38:56.8847 2025-01-08T23:38:58.141Z,1736379538.141 [DAT](INFO): Rx dataTimestamp_ set to:1736379538.140583 2025-01-08T23:38:58.141Z,1736379538.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957752 2025-01-08T23:38:58.212Z,1736379538.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:58.221Z,1736379538.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:38:58.228Z,1736379538.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.451111 m, bearing: 60.054776 deg, approach rate: 0.045624 m/s, LOS rate: -0.512685 deg/s, cmd heading: 138.661733 deg, new cmd heading: 137.939565 deg. 2025-01-08T23:38:58.229Z,1736379538.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407500 target range: 69.699997 and range: 69.70 m. 2025-01-08T23:38:58.392Z,1736379538.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:58.393Z,1736379538.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209129 2025-01-08T23:38:58.642Z,1736379538.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:58.644Z,1736379538.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:58.654Z,1736379538.654 [DAT](INFO): DAT read: 23:38:56.8847 LVL= 28624, 32753, 24162, 32755, AGC= 61, IDX= 403,-0.14,-0.891,-2.111,-0.772,-1.419, PHS= 0.616,-0.645, 0.644, RAW= 151.1, -9.7, CAL= 157.3, -17.5, ROT= 352.7, 17.5 2025-01-08T23:38:58.656Z,1736379538.656 [DAT](INFO): got valid direction response: 23:38:56.8847 LVL= 28624, 32753, 24162, 32755, AGC= 61, IDX= 403,-0.14,-0.891,-2.111,-0.772,-1.419, PHS= 0.616,-0.645, 0.644, RAW= 151.1, -9.7, CAL= 157.3, -17.5, ROT= 352.7, 17.5 2025-01-08T23:38:58.658Z,1736379538.658 [DAT](INFO): DAT read: Bearing 352.7, 17.5 (Local) 2025-01-08T23:38:58.658Z,1736379538.658 [DAT](INFO): Local bearing/azimuth received: Bearing 352.7, 17.5 (Local) 2025-01-08T23:38:58.661Z,1736379538.661 [DAT](INFO): DAT read: Range 10 to 50 : 67.2 m (Round-trip 89.7 ms) speed 0.7 m/s 2025-01-08T23:38:58.662Z,1736379538.662 [DAT](INFO): DAT read: user:3409> 2025-01-08T23:38:58.663Z,1736379538.663 [DAT](INFO): DAT read: Tx time:23:38:57.9909 2025-01-08T23:38:58.671Z,1736379538.671 [DAT](INFO): Ping request sent. 2025-01-08T23:38:58.672Z,1736379538.672 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:38:58.672Z,1736379538.672 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:38:58.674Z,1736379538.674 [DAT](INFO): direction in FSK: [0.069529,-0.840727,0.536977] 2025-01-08T23:38:58.674Z,1736379538.674 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:58.674Z,1736379538.674 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:58.678Z,1736379538.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:38:58.703Z,1736379538.703 [DAT](INFO): publishing transmit ping time 2025-01-08T23:38:58.703Z,1736379538.703 [DAT](INFO): publishing direction and range info 2025-01-08T23:38:58.719Z,1736379538.719 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:38:58.719Z,1736379538.719 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:38:58.724Z,1736379538.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:38:58.724Z,1736379538.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.199997 m, deltaT: 3.526772 s, deltaX: -2.500000 m, approachRate: -0.708863 m/s, rangeRepo size: 4 2025-01-08T23:38:58.725Z,1736379538.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:38:58.734Z,1736379538.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.454842 m, bearing: 59.834918 deg, approach rate: 0.007688 m/s, LOS rate: -0.453065 deg/s, cmd heading: 137.939563 deg, new cmd heading: 137.280051 deg. 2025-01-08T23:38:58.735Z,1736379538.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395989 target range: 69.699997 and range: 67.20 m. 2025-01-08T23:38:58.896Z,1736379538.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:58.897Z,1736379538.897 [DAT](INFO): DAT read: TxSync time:23:38:57.9901 2025-01-08T23:38:58.897Z,1736379538.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.225852 2025-01-08T23:38:59.002Z,1736379539.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:59.048Z,1736379539.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:38:59.051Z,1736379539.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.456322 m, bearing: 59.650393 deg, approach rate: 0.004442 m/s, LOS rate: -0.553745 deg/s, cmd heading: 137.280054 deg, new cmd heading: 136.726510 deg. 2025-01-08T23:38:59.056Z,1736379539.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386328 target range: 69.699997 and range: 67.20 m. 2025-01-08T23:38:59.149Z,1736379539.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:59.151Z,1736379539.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.479103 2025-01-08T23:38:59.400Z,1736379539.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:59.401Z,1736379539.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.728940 2025-01-08T23:38:59.415Z,1736379539.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:59.424Z,1736379539.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:38:59.428Z,1736379539.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.456505 m, bearing: 59.438315 deg, approach rate: 0.000476 m/s, LOS rate: -0.551720 deg/s, cmd heading: 136.726508 deg, new cmd heading: 136.090301 deg. 2025-01-08T23:38:59.429Z,1736379539.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.375224 target range: 69.699997 and range: 67.20 m. 2025-01-08T23:38:59.653Z,1736379539.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:59.654Z,1736379539.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982628 2025-01-08T23:38:59.845Z,1736379539.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:38:59.854Z,1736379539.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:38:59.866Z,1736379539.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.452278 m, bearing: 59.208073 deg, approach rate: -0.009835 m/s, LOS rate: -0.535794 deg/s, cmd heading: 136.090303 deg, new cmd heading: 135.399576 deg. 2025-01-08T23:38:59.879Z,1736379539.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.363168 target range: 69.699997 and range: 67.20 m. 2025-01-08T23:38:59.904Z,1736379539.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:38:59.904Z,1736379539.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232871 2025-01-08T23:39:00.156Z,1736379540.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:00.156Z,1736379540.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484834 2025-01-08T23:39:00.210Z,1736379540.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:00.233Z,1736379540.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:39:00.241Z,1736379540.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.444443 m, bearing: 59.012227 deg, approach rate: -0.020639 m/s, LOS rate: -0.515928 deg/s, cmd heading: 135.399580 deg, new cmd heading: 134.812003 deg. 2025-01-08T23:39:00.242Z,1736379540.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.352913 target range: 69.699997 and range: 67.20 m. 2025-01-08T23:39:00.408Z,1736379540.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:00.408Z,1736379540.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736787 2025-01-08T23:39:00.634Z,1736379540.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:00.642Z,1736379540.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:39:00.660Z,1736379540.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:00.662Z,1736379540.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990123 2025-01-08T23:39:00.676Z,1736379540.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.423439 m, bearing: 58.772212 deg, approach rate: -0.051352 m/s, LOS rate: -0.586976 deg/s, cmd heading: 134.812006 deg, new cmd heading: 134.091799 deg. 2025-01-08T23:39:00.677Z,1736379540.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340343 target range: 69.699997 and range: 67.20 m. 2025-01-08T23:39:00.912Z,1736379540.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:00.913Z,1736379540.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241297 2025-01-08T23:39:01.012Z,1736379541.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:01.020Z,1736379541.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:01.022Z,1736379541.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:39:01.025Z,1736379541.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.403397 m, bearing: 58.560283 deg, approach rate: -0.052841 m/s, LOS rate: -0.558892 deg/s, cmd heading: 134.091804 deg, new cmd heading: 133.455875 deg. 2025-01-08T23:39:01.026Z,1736379541.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329244 target range: 69.699997 and range: 67.20 m. 2025-01-08T23:39:01.164Z,1736379541.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:01.164Z,1736379541.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492811 2025-01-08T23:39:01.413Z,1736379541.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:01.416Z,1736379541.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:01.416Z,1736379541.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744901 2025-01-08T23:39:01.449Z,1736379541.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:39:01.452Z,1736379541.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.379776 m, bearing: 58.329979 deg, approach rate: -0.055240 m/s, LOS rate: -0.538761 deg/s, cmd heading: 133.455872 deg, new cmd heading: 132.764779 deg. 2025-01-08T23:39:01.453Z,1736379541.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.317183 target range: 69.699997 and range: 67.20 m. 2025-01-08T23:39:01.668Z,1736379541.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:01.670Z,1736379541.670 [DAT](INFO): DAT read: Rx Time:23:39:00.4814 2025-01-08T23:39:01.670Z,1736379541.670 [DAT](INFO): Rx dataTimestamp_ set to:1736379541.669910 2025-01-08T23:39:01.671Z,1736379541.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999657 2025-01-08T23:39:01.849Z,1736379541.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:01.861Z,1736379541.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.70 m. 2025-01-08T23:39:01.869Z,1736379541.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.699997 m, nav range: 75.348808 m, bearing: 58.077804 deg, approach rate: -0.075290 m/s, LOS rate: -0.613348 deg/s, cmd heading: 132.764780 deg, new cmd heading: 132.007992 deg. 2025-01-08T23:39:01.870Z,1736379541.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303974 target range: 69.699997 and range: 67.20 m. 2025-01-08T23:39:01.922Z,1736379541.922 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:01.924Z,1736379541.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251927 2025-01-08T23:39:02.173Z,1736379542.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:02.205Z,1736379542.205 [DAT](INFO): DAT read: 23:39:00.4814 LVL= 23648, 24753, 17458, 30451, AGC= 64, IDX= 399, 0.45,-2.602, 2.147,-2.749, 2.987, PHS= 0.783,-0.793, 0.545, RAW= 141.9, -7.3, CAL= 148.2, -16.7, ROT= 1.8, 16.7 2025-01-08T23:39:02.206Z,1736379542.206 [DAT](INFO): got valid direction response: 23:39:00.4814 LVL= 23648, 24753, 17458, 30451, AGC= 64, IDX= 399, 0.45,-2.602, 2.147,-2.749, 2.987, PHS= 0.783,-0.793, 0.545, RAW= 141.9, -7.3, CAL= 148.2, -16.7, ROT= 1.8, 16.7 2025-01-08T23:39:02.235Z,1736379542.235 [DAT](INFO): DAT read: Bearing 1.8, 16.7 (Local) 2025-01-08T23:39:02.240Z,1736379542.240 [DAT](INFO): Local bearing/azimuth received: Bearing 1.8, 16.7 (Local) 2025-01-08T23:39:02.241Z,1736379542.241 [DAT](INFO): DAT read: Range 10 to 50 : 64.7 m (Round-trip 86.3 ms) speed 0.8 m/s 2025-01-08T23:39:02.242Z,1736379542.242 [DAT](INFO): DAT read: user:3410> 2025-01-08T23:39:02.243Z,1736379542.243 [DAT](INFO): DAT read: Tx time:23:39:01.5910 2025-01-08T23:39:02.243Z,1736379542.243 [DAT](INFO): Ping request sent. 2025-01-08T23:39:02.243Z,1736379542.243 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:02.248Z,1736379542.248 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:39:02.250Z,1736379542.250 [DAT](INFO): direction in FSK: [0.019541,-0.742147,0.669953] 2025-01-08T23:39:02.251Z,1736379542.251 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:02.256Z,1736379542.256 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:02.265Z,1736379542.265 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:02.266Z,1736379542.266 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:02.342Z,1736379542.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:02.380Z,1736379542.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.699997 m, deltaT: 3.529355 s, deltaX: -2.500000 m, approachRate: -0.708345 m/s, rangeRepo size: 4 2025-01-08T23:39:02.388Z,1736379542.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.699997 m, bearing: 43.474455 deg, lat: 36.905588 deg, lon: -122.119397 deg, deltaT: 7.056127 s, deltaX: -5.000000 m, approachRate: -0.708604 m/s, posRepo size: 4 2025-01-08T23:39:02.389Z,1736379542.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.70 m. 2025-01-08T23:39:02.396Z,1736379542.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.699997 m, nav range: 66.519714 m, bearing: 52.881027 deg, approach rate: 0.000000 m/s, LOS rate: -0.613348 deg/s, cmd heading: 132.007995 deg, new cmd heading: 131.060955 deg. 2025-01-08T23:39:02.397Z,1736379542.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287445 target range: 64.699997 and range: 64.70 m. 2025-01-08T23:39:02.424Z,1736379542.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:02.425Z,1736379542.425 [DAT](INFO): DAT read: TxSync time:23:39:01.5902 2025-01-08T23:39:02.676Z,1736379542.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:02.854Z,1736379542.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:02.877Z,1736379542.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.70 m. 2025-01-08T23:39:02.884Z,1736379542.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.699997 m, nav range: 66.503593 m, bearing: 52.529459 deg, approach rate: -0.032168 m/s, LOS rate: -0.701702 deg/s, cmd heading: 131.060962 deg, new cmd heading: 130.006129 deg. 2025-01-08T23:39:02.885Z,1736379542.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269035 target range: 64.699997 and range: 64.70 m. 2025-01-08T23:39:02.928Z,1736379542.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:03.180Z,1736379543.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:03.253Z,1736379543.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:03.269Z,1736379543.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:03.276Z,1736379543.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.70 m. 2025-01-08T23:39:03.279Z,1736379543.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.699997 m, nav range: 66.489510 m, bearing: 52.255390 deg, approach rate: -0.035654 m/s, LOS rate: -0.693961 deg/s, cmd heading: 130.006135 deg, new cmd heading: 129.183813 deg. 2025-01-08T23:39:03.289Z,1736379543.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.254683 target range: 64.699997 and range: 64.70 m. 2025-01-08T23:39:03.432Z,1736379543.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:03.432Z,1736379543.432 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:03.432Z,1736379543.432 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:03.432Z,1736379543.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:03.684Z,1736379543.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:03.684Z,1736379543.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441585 2025-01-08T23:39:03.716Z,1736379543.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:39:03.741Z,1736379543.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:03.750Z,1736379543.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.70 m. 2025-01-08T23:39:03.753Z,1736379543.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.699997 m, nav range: 66.467079 m, bearing: 51.917441 deg, approach rate: -0.046860 m/s, LOS rate: -0.706259 deg/s, cmd heading: 129.183807 deg, new cmd heading: 128.169729 deg. 2025-01-08T23:39:03.754Z,1736379543.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.236984 target range: 64.699997 and range: 64.70 m. 2025-01-08T23:39:03.936Z,1736379543.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:03.936Z,1736379543.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693506 2025-01-08T23:39:04.102Z,1736379544.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:04.130Z,1736379544.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.70 m. 2025-01-08T23:39:04.152Z,1736379544.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.699997 m, nav range: 66.448822 m, bearing: 51.667603 deg, approach rate: -0.048029 m/s, LOS rate: -0.657429 deg/s, cmd heading: 128.169729 deg, new cmd heading: 127.420054 deg. 2025-01-08T23:39:04.153Z,1736379544.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.223899 target range: 64.699997 and range: 64.70 m. 2025-01-08T23:39:04.188Z,1736379544.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:04.188Z,1736379544.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945587 2025-01-08T23:39:04.440Z,1736379544.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:04.441Z,1736379544.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197754 2025-01-08T23:39:04.516Z,1736379544.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:04.525Z,1736379544.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.70 m. 2025-01-08T23:39:04.528Z,1736379544.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.699997 m, nav range: 66.429405 m, bearing: 51.380322 deg, approach rate: -0.049211 m/s, LOS rate: -0.728316 deg/s, cmd heading: 127.420048 deg, new cmd heading: 126.558022 deg. 2025-01-08T23:39:04.529Z,1736379544.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208854 target range: 64.699997 and range: 64.70 m. 2025-01-08T23:39:04.692Z,1736379544.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:04.693Z,1736379544.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450177 2025-01-08T23:39:04.724Z,1736379544.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:39:04.944Z,1736379544.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:04.945Z,1736379544.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701956 2025-01-08T23:39:04.961Z,1736379544.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:04.989Z,1736379544.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.70 m. 2025-01-08T23:39:04.996Z,1736379544.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.699997 m, nav range: 66.411354 m, bearing: 51.074549 deg, approach rate: -0.038847 m/s, LOS rate: -0.658220 deg/s, cmd heading: 126.558023 deg, new cmd heading: 125.640540 deg. 2025-01-08T23:39:04.997Z,1736379544.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.192841 target range: 64.699997 and range: 64.70 m. 2025-01-08T23:39:05.196Z,1736379545.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:05.196Z,1736379545.196 [DAT](INFO): DAT read: Rx Time:23:39:04.0779 2025-01-08T23:39:05.197Z,1736379545.197 [DAT](INFO): Rx dataTimestamp_ set to:1736379545.196592 2025-01-08T23:39:05.197Z,1736379545.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954496 2025-01-08T23:39:05.325Z,1736379545.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:05.333Z,1736379545.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:05.335Z,1736379545.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.70 m. 2025-01-08T23:39:05.338Z,1736379545.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.699997 m, nav range: 66.394951 m, bearing: 50.824125 deg, approach rate: -0.047498 m/s, LOS rate: -0.725323 deg/s, cmd heading: 125.640537 deg, new cmd heading: 124.889125 deg. 2025-01-08T23:39:05.339Z,1736379545.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.179726 target range: 64.699997 and range: 64.70 m. 2025-01-08T23:39:05.453Z,1736379545.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:05.454Z,1736379545.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211018 2025-01-08T23:39:05.704Z,1736379545.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:05.704Z,1736379545.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.461315 2025-01-08T23:39:05.790Z,1736379545.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:05.806Z,1736379545.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.70 m. 2025-01-08T23:39:05.820Z,1736379545.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.699997 m, nav range: 66.380363 m, bearing: 50.521393 deg, approach rate: -0.030938 m/s, LOS rate: -0.642187 deg/s, cmd heading: 124.889121 deg, new cmd heading: 123.980803 deg. 2025-01-08T23:39:05.821Z,1736379545.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.163873 target range: 64.699997 and range: 64.70 m. 2025-01-08T23:39:05.956Z,1736379545.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:05.964Z,1736379545.964 [DAT](INFO): DAT read: 23:39:04.0779 LVL= 20000, 27473, 19346, 32755, AGC= 64, IDX= 412,-0.28, 0.641,-1.085, 0.242,-0.111, PHS= 0.840,-0.927, 0.349, RAW= 134.4, -3.4, CAL= 139.9, -13.3, ROT= 10.1, 13.3 2025-01-08T23:39:05.965Z,1736379545.965 [DAT](INFO): got valid direction response: 23:39:04.0779 LVL= 20000, 27473, 19346, 32755, AGC= 64, IDX= 412,-0.28, 0.641,-1.085, 0.242,-0.111, PHS= 0.840,-0.927, 0.349, RAW= 134.4, -3.4, CAL= 139.9, -13.3, ROT= 10.1, 13.3 2025-01-08T23:39:05.966Z,1736379545.966 [DAT](INFO): DAT read: Bearing 10.1, 13.3 (Local) 2025-01-08T23:39:05.966Z,1736379545.966 [DAT](INFO): Local bearing/azimuth received: Bearing 10.1, 13.3 (Local) 2025-01-08T23:39:05.968Z,1736379545.968 [DAT](INFO): DAT read: Range 10 to 50 : 62.1 m (Round-trip 82.8 ms) speed 0.7 m/s 2025-01-08T23:39:05.969Z,1736379545.969 [DAT](INFO): DAT read: user:3411> 2025-01-08T23:39:05.970Z,1736379545.970 [DAT](INFO): DAT read: Tx time:23:39:05.1910 2025-01-08T23:39:05.970Z,1736379545.970 [DAT](INFO): Ping request sent. 2025-01-08T23:39:05.970Z,1736379545.970 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:05.970Z,1736379545.970 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:39:05.971Z,1736379545.971 [DAT](INFO): direction in FSK: [-0.059728,-0.641263,0.764993] 2025-01-08T23:39:05.972Z,1736379545.972 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:05.972Z,1736379545.972 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:05.975Z,1736379545.975 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:05.975Z,1736379545.975 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:06.131Z,1736379546.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:06.169Z,1736379546.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 3.782806 s, deltaX: -2.599998 m, approachRate: -0.687320 m/s, rangeRepo size: 4 2025-01-08T23:39:06.176Z,1736379546.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.099998 m, bearing: 31.197219 deg, lat: 36.905574 deg, lon: -122.119498 deg, deltaT: 3.782806 s, deltaX: -2.599998 m, approachRate: -0.687320 m/s, posRepo size: 4 2025-01-08T23:39:06.177Z,1736379546.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m. 2025-01-08T23:39:06.184Z,1736379546.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.099998 m, nav range: 58.572472 m, bearing: 45.864771 deg, approach rate: 0.000000 m/s, LOS rate: -0.642187 deg/s, cmd heading: 123.980802 deg, new cmd heading: 123.282425 deg. 2025-01-08T23:39:06.185Z,1736379546.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.151684 target range: 62.099998 and range: 62.10 m. 2025-01-08T23:39:06.210Z,1736379546.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:06.211Z,1736379546.211 [DAT](INFO): DAT read: TxSync time:23:39:05.1902 2025-01-08T23:39:06.460Z,1736379546.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:06.530Z,1736379546.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:06.539Z,1736379546.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m. 2025-01-08T23:39:06.542Z,1736379546.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.099998 m, nav range: 58.579235 m, bearing: 45.569460 deg, approach rate: 0.018279 m/s, LOS rate: -0.798003 deg/s, cmd heading: 123.282428 deg, new cmd heading: 122.396673 deg. 2025-01-08T23:39:06.548Z,1736379546.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.136225 target range: 62.099998 and range: 62.10 m. 2025-01-08T23:39:06.712Z,1736379546.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:06.961Z,1736379546.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:06.964Z,1736379546.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:06.996Z,1736379546.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m. 2025-01-08T23:39:07.005Z,1736379547.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.099998 m, nav range: 58.597160 m, bearing: 45.266956 deg, approach rate: 0.039637 m/s, LOS rate: -0.668697 deg/s, cmd heading: 122.396676 deg, new cmd heading: 121.489522 deg. 2025-01-08T23:39:07.006Z,1736379547.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.120392 target range: 62.099998 and range: 62.10 m. 2025-01-08T23:39:07.216Z,1736379547.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:07.344Z,1736379547.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:07.350Z,1736379547.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:07.353Z,1736379547.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m. 2025-01-08T23:39:07.360Z,1736379547.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.099998 m, nav range: 58.607594 m, bearing: 44.997649 deg, approach rate: 0.028855 m/s, LOS rate: -0.744693 deg/s, cmd heading: 121.489517 deg, new cmd heading: 120.681797 deg. 2025-01-08T23:39:07.362Z,1736379547.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106295 target range: 62.099998 and range: 62.10 m. 2025-01-08T23:39:07.469Z,1736379547.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:07.469Z,1736379547.469 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:07.470Z,1736379547.470 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:07.470Z,1736379547.470 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:07.720Z,1736379547.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:07.720Z,1736379547.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750325 2025-01-08T23:39:07.773Z,1736379547.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:07.803Z,1736379547.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m. 2025-01-08T23:39:07.806Z,1736379547.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.099998 m, nav range: 58.623562 m, bearing: 44.709203 deg, approach rate: 0.037166 m/s, LOS rate: -0.671162 deg/s, cmd heading: 120.681793 deg, new cmd heading: 119.816758 deg. 2025-01-08T23:39:07.807Z,1736379547.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091197 target range: 62.099998 and range: 62.10 m. 2025-01-08T23:39:07.972Z,1736379547.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:07.972Z,1736379547.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002285 2025-01-08T23:39:08.138Z,1736379548.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:08.148Z,1736379548.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m. 2025-01-08T23:39:08.150Z,1736379548.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.099998 m, nav range: 58.634136 m, bearing: 44.463023 deg, approach rate: 0.028929 m/s, LOS rate: -0.673367 deg/s, cmd heading: 119.816763 deg, new cmd heading: 119.078399 deg. 2025-01-08T23:39:08.152Z,1736379548.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.078310 target range: 62.099998 and range: 62.10 m. 2025-01-08T23:39:08.224Z,1736379548.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:08.225Z,1736379548.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254574 2025-01-08T23:39:08.476Z,1736379548.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:08.477Z,1736379548.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507156 2025-01-08T23:39:08.549Z,1736379548.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:08.562Z,1736379548.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m. 2025-01-08T23:39:08.565Z,1736379548.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.099998 m, nav range: 58.642704 m, bearing: 44.186543 deg, approach rate: 0.020686 m/s, LOS rate: -0.667417 deg/s, cmd heading: 119.078392 deg, new cmd heading: 118.249136 deg. 2025-01-08T23:39:08.566Z,1736379548.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063837 target range: 62.099998 and range: 62.10 m. 2025-01-08T23:39:08.728Z,1736379548.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:08.728Z,1736379548.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758461 2025-01-08T23:39:08.980Z,1736379548.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:08.981Z,1736379548.981 [DAT](INFO): DAT read: Rx Time:23:39:07.6745 2025-01-08T23:39:08.981Z,1736379548.981 [DAT](INFO): Rx dataTimestamp_ set to:1736379548.980756 2025-01-08T23:39:08.982Z,1736379548.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011547 2025-01-08T23:39:09.014Z,1736379549.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:09.023Z,1736379549.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m. 2025-01-08T23:39:09.026Z,1736379549.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.099998 m, nav range: 58.662933 m, bearing: 43.892583 deg, approach rate: 0.043889 m/s, LOS rate: -0.637548 deg/s, cmd heading: 118.249139 deg, new cmd heading: 117.367637 deg. 2025-01-08T23:39:09.028Z,1736379549.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048452 target range: 62.099998 and range: 62.10 m. 2025-01-08T23:39:09.232Z,1736379549.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:09.232Z,1736379549.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262370 2025-01-08T23:39:09.401Z,1736379549.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:09.408Z,1736379549.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:09.410Z,1736379549.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m. 2025-01-08T23:39:09.413Z,1736379549.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.099998 m, nav range: 58.680923 m, bearing: 43.648331 deg, approach rate: 0.046442 m/s, LOS rate: -0.630347 deg/s, cmd heading: 117.367635 deg, new cmd heading: 116.635145 deg. 2025-01-08T23:39:09.414Z,1736379549.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.035667 target range: 62.099998 and range: 62.10 m. 2025-01-08T23:39:09.484Z,1736379549.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:09.495Z,1736379549.495 [DAT](INFO): DAT read: 23:39:07.6745 LVL= 24736, 32753, 26018, 32755, AGC= 61, IDX= 409,-0.22, 2.894, 1.216, 2.375, 2.317, PHS= 0.665,-1.054, 0.055, RAW= 129.5, 4.5, CAL= 136.1, -2.0, ROT= 13.9, 2.0 2025-01-08T23:39:09.497Z,1736379549.497 [DAT](INFO): got valid direction response: 23:39:07.6745 LVL= 24736, 32753, 26018, 32755, AGC= 61, IDX= 409,-0.22, 2.894, 1.216, 2.375, 2.317, PHS= 0.665,-1.054, 0.055, RAW= 129.5, 4.5, CAL= 136.1, -2.0, ROT= 13.9, 2.0 2025-01-08T23:39:09.498Z,1736379549.498 [DAT](INFO): DAT read: Bearing 13.9, 2.0 (Local) 2025-01-08T23:39:09.498Z,1736379549.498 [DAT](INFO): Local bearing/azimuth received: Bearing 13.9, 2.0 (Local) 2025-01-08T23:39:09.512Z,1736379549.512 [DAT](INFO): DAT read: Range 10 to 50 : 59.4 m (Round-trip 79.3 ms) speed 0.8 m/s 2025-01-08T23:39:09.513Z,1736379549.513 [DAT](INFO): DAT read: user:3412> 2025-01-08T23:39:09.514Z,1736379549.514 [DAT](INFO): DAT read: Tx time:23:39:08.7910 2025-01-08T23:39:09.514Z,1736379549.514 [DAT](INFO): Ping request sent. 2025-01-08T23:39:09.514Z,1736379549.514 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:09.514Z,1736379549.514 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:39:09.521Z,1736379549.521 [DAT](INFO): direction in FSK: [-0.211317,-0.557147,0.803077] 2025-01-08T23:39:09.521Z,1736379549.521 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:09.522Z,1736379549.522 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:09.541Z,1736379549.541 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:09.541Z,1736379549.541 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:09.736Z,1736379549.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:09.737Z,1736379549.737 [DAT](INFO): DAT read: TxSync time:23:39:08.7902 2025-01-08T23:39:09.828Z,1736379549.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:09.854Z,1736379549.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 3.528072 s, deltaX: -2.699997 m, approachRate: -0.765290 m/s, rangeRepo size: 4 2025-01-08T23:39:09.861Z,1736379549.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.400002 m, bearing: 12.779066 deg, lat: 36.905557 deg, lon: -122.119603 deg, deltaT: 3.528072 s, deltaX: -2.699997 m, approachRate: -0.765290 m/s, posRepo size: 4 2025-01-08T23:39:09.861Z,1736379549.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:39:09.862Z,1736379549.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:39:09.892Z,1736379549.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 51.262039 m, bearing: 37.305709 deg, approach rate: 0.000000 m/s, LOS rate: -0.630347 deg/s, cmd heading: 116.635152 deg, new cmd heading: 115.798007 deg. 2025-01-08T23:39:09.893Z,1736379549.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.021056 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:39:09.924Z,1736379549.924 [DockingStepper](INFO): Changing to mode: 2 2025-01-08T23:39:09.924Z,1736379549.924 [DockingStepper](INFO): Armed mode. 2025-01-08T23:39:09.988Z,1736379549.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:09.989Z,1736379549.989 [DockingStepper](INFO): Commanding negative:54396 2025-01-08T23:39:10.216Z,1736379550.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:10.225Z,1736379550.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:39:10.226Z,1736379550.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:39:10.240Z,1736379550.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:10.250Z,1736379550.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 51.292377 m, bearing: 37.037266 deg, approach rate: 0.081524 m/s, LOS rate: -0.720917 deg/s, cmd heading: 115.798003 deg, new cmd heading: 114.993208 deg. 2025-01-08T23:39:10.250Z,1736379550.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.007010 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:39:10.492Z,1736379550.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:10.618Z,1736379550.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:10.642Z,1736379550.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:39:10.648Z,1736379550.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:39:10.672Z,1736379550.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 51.321201 m, bearing: 36.762796 deg, approach rate: 0.069101 m/s, LOS rate: -0.657634 deg/s, cmd heading: 114.993201 deg, new cmd heading: 114.170313 deg. 2025-01-08T23:39:10.693Z,1736379550.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.992648 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:39:10.745Z,1736379550.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:10.996Z,1736379550.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:11.048Z,1736379551.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:11.057Z,1736379551.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:39:11.057Z,1736379551.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:39:11.077Z,1736379551.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 51.345058 m, bearing: 36.465482 deg, approach rate: 0.057559 m/s, LOS rate: -0.716982 deg/s, cmd heading: 114.170314 deg, new cmd heading: 113.278862 deg. 2025-01-08T23:39:11.078Z,1736379551.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.977089 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:39:11.248Z,1736379551.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:11.436Z,1736379551.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:11.442Z,1736379551.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:11.445Z,1736379551.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:39:11.446Z,1736379551.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:39:11.449Z,1736379551.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 51.363140 m, bearing: 36.196962 deg, approach rate: 0.046532 m/s, LOS rate: -0.690766 deg/s, cmd heading: 113.278865 deg, new cmd heading: 112.473645 deg. 2025-01-08T23:39:11.450Z,1736379551.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.963035 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:39:11.501Z,1736379551.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:11.502Z,1736379551.502 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:11.502Z,1736379551.502 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:11.502Z,1736379551.502 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:11.752Z,1736379551.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:11.752Z,1736379551.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238265 2025-01-08T23:39:11.853Z,1736379551.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:11.862Z,1736379551.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:39:11.863Z,1736379551.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:39:11.866Z,1736379551.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 51.382660 m, bearing: 35.907776 deg, approach rate: 0.046794 m/s, LOS rate: -0.692995 deg/s, cmd heading: 112.473647 deg, new cmd heading: 111.606487 deg. 2025-01-08T23:39:11.867Z,1736379551.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.947901 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:39:12.004Z,1736379552.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:12.005Z,1736379552.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490460 2025-01-08T23:39:12.235Z,1736379552.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:12.245Z,1736379552.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:39:12.245Z,1736379552.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:39:12.248Z,1736379552.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 51.397942 m, bearing: 35.642315 deg, approach rate: 0.039971 m/s, LOS rate: -0.694128 deg/s, cmd heading: 111.606486 deg, new cmd heading: 110.810394 deg. 2025-01-08T23:39:12.249Z,1736379552.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.934006 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:39:12.256Z,1736379552.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:12.257Z,1736379552.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742464 2025-01-08T23:39:12.508Z,1736379552.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:12.508Z,1736379552.508 [DAT](INFO): DAT read: Rx Time:23:39:11.2708 2025-01-08T23:39:12.509Z,1736379552.509 [DAT](INFO): Rx dataTimestamp_ set to:1736379552.508579 2025-01-08T23:39:12.510Z,1736379552.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995296 2025-01-08T23:39:12.666Z,1736379552.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:12.724Z,1736379552.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-01-08T23:39:12.726Z,1736379552.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-01-08T23:39:12.749Z,1736379552.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400002 m, nav range: 51.412544 m, bearing: 35.343501 deg, approach rate: 0.032505 m/s, LOS rate: -0.664961 deg/s, cmd heading: 110.810394 deg, new cmd heading: 109.914284 deg. 2025-01-08T23:39:12.750Z,1736379552.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.918366 target range: 59.400002 and range: 59.40 m. 2025-01-08T23:39:12.761Z,1736379552.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:12.761Z,1736379552.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247200 2025-01-08T23:39:13.012Z,1736379553.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:13.018Z,1736379553.018 [DAT](INFO): DAT read: 23:39:11.2708 LVL= 20096, 25537, 25186, 30707, AGC= 62, IDX= 405,-0.14,-1.174,-2.574,-1.816,-1.609, PHS= 0.523,-0.917,-0.210, RAW= 119.4, 9.7, CAL= 127.8, 5.8, ROT= 22.2, -5.8 2025-01-08T23:39:13.019Z,1736379553.019 [DAT](INFO): got valid direction response: 23:39:11.2708 LVL= 20096, 25537, 25186, 30707, AGC= 62, IDX= 405,-0.14,-1.174,-2.574,-1.816,-1.609, PHS= 0.523,-0.917,-0.210, RAW= 119.4, 9.7, CAL= 127.8, 5.8, ROT= 22.2, -5.8 2025-01-08T23:39:13.020Z,1736379553.020 [DAT](INFO): DAT read: Bearing 22.2, -5.8 (Local) 2025-01-08T23:39:13.021Z,1736379553.021 [DAT](INFO): Local bearing/azimuth received: Bearing 22.2, -5.8 (Local) 2025-01-08T23:39:13.022Z,1736379553.022 [DAT](INFO): DAT read: Range 10 to 50 : 56.7 m (Round-trip 75.7 ms) speed 0.6 m/s 2025-01-08T23:39:13.023Z,1736379553.023 [DAT](INFO): DAT read: user:3413> 2025-01-08T23:39:13.028Z,1736379553.028 [DAT](INFO): DAT read: Tx time:23:39:12.3910 2025-01-08T23:39:13.028Z,1736379553.028 [DAT](INFO): Ping request sent. 2025-01-08T23:39:13.028Z,1736379553.028 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:13.029Z,1736379553.029 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:39:13.029Z,1736379553.029 [DAT](INFO): direction in FSK: [-0.304190,-0.384494,0.871569] 2025-01-08T23:39:13.030Z,1736379553.030 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:13.030Z,1736379553.030 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:13.033Z,1736379553.033 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:13.033Z,1736379553.033 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:13.208Z,1736379553.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:13.239Z,1736379553.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.700001 m, deltaT: 3.527312 s, deltaX: -2.700001 m, approachRate: -0.765456 m/s, rangeRepo size: 4 2025-01-08T23:39:13.245Z,1736379553.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 56.700001 m, bearing: 348.649134 deg, lat: 36.905533 deg, lon: -122.119724 deg, deltaT: 3.527312 s, deltaX: -2.700001 m, approachRate: -0.765456 m/s, posRepo size: 4 2025-01-08T23:39:13.246Z,1736379553.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m. 2025-01-08T23:39:13.246Z,1736379553.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.70 m. 2025-01-08T23:39:13.253Z,1736379553.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.700001 m, nav range: 43.671009 m, bearing: 25.267183 deg, approach rate: 0.000000 m/s, LOS rate: -0.664961 deg/s, cmd heading: 109.914286 deg, new cmd heading: 108.828933 deg. 2025-01-08T23:39:13.254Z,1736379553.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.899423 target range: 56.700001 and range: 56.70 m. 2025-01-08T23:39:13.264Z,1736379553.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:13.265Z,1736379553.265 [DAT](INFO): DAT read: TxSync time:23:39:12.3902 2025-01-08T23:39:13.516Z,1736379553.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:13.545Z,1736379553.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:13.560Z,1736379553.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:13.562Z,1736379553.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m. 2025-01-08T23:39:13.563Z,1736379553.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.70 m. 2025-01-08T23:39:13.570Z,1736379553.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.700001 m, nav range: 43.704578 m, bearing: 24.986344 deg, approach rate: 0.103503 m/s, LOS rate: -0.865234 deg/s, cmd heading: 108.828935 deg, new cmd heading: 107.987129 deg. 2025-01-08T23:39:13.580Z,1736379553.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.884731 target range: 56.700001 and range: 56.70 m. 2025-01-08T23:39:13.768Z,1736379553.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:13.768Z,1736379553.768 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:13.768Z,1736379553.768 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:13.769Z,1736379553.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:13.952Z,1736379553.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:13.962Z,1736379553.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m. 2025-01-08T23:39:13.962Z,1736379553.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.70 m. 2025-01-08T23:39:13.965Z,1736379553.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.700001 m, nav range: 43.747425 m, bearing: 24.632630 deg, approach rate: 0.107295 m/s, LOS rate: -0.884882 deg/s, cmd heading: 107.987128 deg, new cmd heading: 106.927153 deg. 2025-01-08T23:39:13.966Z,1736379553.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.866231 target range: 56.700001 and range: 56.70 m. 2025-01-08T23:39:14.020Z,1736379554.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:14.020Z,1736379554.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992122 2025-01-08T23:39:14.272Z,1736379554.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:14.272Z,1736379554.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244002 2025-01-08T23:39:14.345Z,1736379554.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:14.354Z,1736379554.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m. 2025-01-08T23:39:14.354Z,1736379554.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.70 m. 2025-01-08T23:39:14.373Z,1736379554.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.700001 m, nav range: 43.787579 m, bearing: 24.290900 deg, approach rate: 0.102434 m/s, LOS rate: -0.870966 deg/s, cmd heading: 106.927151 deg, new cmd heading: 105.903017 deg. 2025-01-08T23:39:14.374Z,1736379554.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.848356 target range: 56.700001 and range: 56.70 m. 2025-01-08T23:39:14.524Z,1736379554.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:14.524Z,1736379554.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496016 2025-01-08T23:39:14.776Z,1736379554.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:14.777Z,1736379554.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748318 2025-01-08T23:39:14.820Z,1736379554.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:14.830Z,1736379554.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m. 2025-01-08T23:39:14.830Z,1736379554.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.70 m. 2025-01-08T23:39:14.833Z,1736379554.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.700001 m, nav range: 43.831112 m, bearing: 23.859099 deg, approach rate: 0.091469 m/s, LOS rate: -0.906365 deg/s, cmd heading: 105.903019 deg, new cmd heading: 104.609132 deg. 2025-01-08T23:39:14.834Z,1736379554.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.825774 target range: 56.700001 and range: 56.70 m. 2025-01-08T23:39:15.028Z,1736379555.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:15.029Z,1736379555.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000255 2025-01-08T23:39:15.181Z,1736379555.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:15.206Z,1736379555.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m. 2025-01-08T23:39:15.206Z,1736379555.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.70 m. 2025-01-08T23:39:15.209Z,1736379555.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.700001 m, nav range: 43.865814 m, bearing: 23.531950 deg, approach rate: 0.092334 m/s, LOS rate: -0.869761 deg/s, cmd heading: 104.609135 deg, new cmd heading: 103.628568 deg. 2025-01-08T23:39:15.211Z,1736379555.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.808660 target range: 56.700001 and range: 56.70 m. 2025-01-08T23:39:15.280Z,1736379555.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:15.281Z,1736379555.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252296 2025-01-08T23:39:15.533Z,1736379555.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:15.534Z,1736379555.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505430 2025-01-08T23:39:15.581Z,1736379555.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:15.592Z,1736379555.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:15.595Z,1736379555.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m. 2025-01-08T23:39:15.596Z,1736379555.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.70 m. 2025-01-08T23:39:15.599Z,1736379555.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.700001 m, nav range: 43.899124 m, bearing: 23.168910 deg, approach rate: 0.085516 m/s, LOS rate: -0.931319 deg/s, cmd heading: 103.628566 deg, new cmd heading: 102.540408 deg. 2025-01-08T23:39:15.600Z,1736379555.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.789668 target range: 56.700001 and range: 56.70 m. 2025-01-08T23:39:15.784Z,1736379555.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:15.785Z,1736379555.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756334 2025-01-08T23:39:16.003Z,1736379556.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:16.012Z,1736379556.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m. 2025-01-08T23:39:16.013Z,1736379556.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.70 m. 2025-01-08T23:39:16.013Z,1736379556.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.70 m. 2025-01-08T23:39:16.013Z,1736379556.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-01-08T23:39:16.016Z,1736379556.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.700001 m, nav range: 43.931004 m, bearing: 22.778982 deg, approach rate: 0.076392 m/s, LOS rate: -0.933687 deg/s, cmd heading: 102.540407 deg, new cmd heading: 101.371644 deg. 2025-01-08T23:39:16.017Z,1736379556.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.769269 target range: 56.700001 and range: 56.70 m. 2025-01-08T23:39:16.036Z,1736379556.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:16.037Z,1736379556.037 [DAT](INFO): DAT read: Rx Time:23:39:14.8681 2025-01-08T23:39:16.037Z,1736379556.037 [DAT](INFO): Rx dataTimestamp_ set to:1736379556.037079 2025-01-08T23:39:16.038Z,1736379556.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009530 2025-01-08T23:39:16.288Z,1736379556.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:16.288Z,1736379556.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260003 2025-01-08T23:39:16.394Z,1736379556.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:16.402Z,1736379556.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.70 m. 2025-01-08T23:39:16.405Z,1736379556.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.700001 m, nav range: 43.962391 m, bearing: 22.417791 deg, approach rate: 0.080486 m/s, LOS rate: -0.925525 deg/s, cmd heading: 101.371646 deg, new cmd heading: 100.288983 deg. 2025-01-08T23:39:16.406Z,1736379556.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.750373 target range: 56.700001 and range: 56.70 m. 2025-01-08T23:39:16.542Z,1736379556.542 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:16.548Z,1736379556.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518160 2025-01-08T23:39:16.793Z,1736379556.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:16.809Z,1736379556.809 [DAT](INFO): DAT read: 23:39:14.8681 LVL= 24032, 32753, 25378, 32755, AGC= 64, IDX= 406,-0.29,-0.583,-2.038,-1.433,-0.999, PHS= 0.505,-0.992,-0.437, RAW= 111.5, 14.0, CAL= 119.8, 11.6, ROT= 30.2, -11.6 2025-01-08T23:39:16.811Z,1736379556.811 [DAT](INFO): got valid direction response: 23:39:14.8681 LVL= 24032, 32753, 25378, 32755, AGC= 64, IDX= 406,-0.29,-0.583,-2.038,-1.433,-0.999, PHS= 0.505,-0.992,-0.437, RAW= 111.5, 14.0, CAL= 119.8, 11.6, ROT= 30.2, -11.6 2025-01-08T23:39:16.813Z,1736379556.813 [DAT](INFO): DAT read: Bearing 30.2, -11.6 (Local) 2025-01-08T23:39:16.813Z,1736379556.813 [DAT](INFO): Local bearing/azimuth received: Bearing 30.2, -11.6 (Local) 2025-01-08T23:39:16.814Z,1736379556.814 [DAT](INFO): DAT read: Range 10 to 50 : 54.6 m (Round-trip 72.9 ms) speed 0.5 m/s 2025-01-08T23:39:16.816Z,1736379556.816 [DAT](INFO): DAT read: user:3414> 2025-01-08T23:39:16.817Z,1736379556.817 [DAT](INFO): DAT read: Tx time:23:39:15.9911 2025-01-08T23:39:16.817Z,1736379556.817 [DAT](INFO): Ping request sent. 2025-01-08T23:39:16.817Z,1736379556.817 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:16.818Z,1736379556.818 [DAT](INFO): DAT read: TxSync time:23:39:15.9903 2025-01-08T23:39:16.818Z,1736379556.818 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:39:16.830Z,1736379556.830 [DAT](INFO): direction in FSK: [-0.373579,-0.243404,0.895094] 2025-01-08T23:39:16.831Z,1736379556.831 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:16.835Z,1736379556.835 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:16.838Z,1736379556.838 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:16.838Z,1736379556.838 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:16.969Z,1736379556.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:17.002Z,1736379557.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 3.781678 s, deltaX: -2.100002 m, approachRate: -0.555310 m/s, rangeRepo size: 4 2025-01-08T23:39:17.009Z,1736379557.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.599998 m, bearing: 326.664557 deg, lat: 36.905518 deg, lon: -122.119859 deg, deltaT: 3.781678 s, deltaX: -2.100002 m, approachRate: -0.555310 m/s, posRepo size: 4 2025-01-08T23:39:17.010Z,1736379557.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.60 m. 2025-01-08T23:39:17.017Z,1736379557.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.599998 m, nav range: 39.427593 m, bearing: 6.435738 deg, approach rate: 0.000000 m/s, LOS rate: -0.925525 deg/s, cmd heading: 100.288986 deg, new cmd heading: 98.625652 deg. 2025-01-08T23:39:17.018Z,1736379557.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.721342 target range: 54.599998 and range: 54.60 m. 2025-01-08T23:39:17.044Z,1736379557.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:17.217Z,1736379557.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:17.239Z,1736379557.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.60 m. 2025-01-08T23:39:17.264Z,1736379557.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.599998 m, nav range: 39.497875 m, bearing: 6.195253 deg, approach rate: 0.296287 m/s, LOS rate: -1.012006 deg/s, cmd heading: 98.625650 deg, new cmd heading: 97.905518 deg. 2025-01-08T23:39:17.265Z,1736379557.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.708774 target range: 54.599998 and range: 54.60 m. 2025-01-08T23:39:17.296Z,1736379557.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:17.548Z,1736379557.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:17.609Z,1736379557.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:17.618Z,1736379557.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:17.621Z,1736379557.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.60 m. 2025-01-08T23:39:17.625Z,1736379557.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.599998 m, nav range: 39.598633 m, bearing: 5.809952 deg, approach rate: 0.263534 m/s, LOS rate: -1.005192 deg/s, cmd heading: 97.905516 deg, new cmd heading: 96.752721 deg. 2025-01-08T23:39:17.626Z,1736379557.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.688654 target range: 54.599998 and range: 54.60 m. 2025-01-08T23:39:17.802Z,1736379557.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:17.804Z,1736379557.804 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:17.804Z,1736379557.804 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:17.805Z,1736379557.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:18.019Z,1736379558.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:18.052Z,1736379558.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:18.053Z,1736379558.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235444 2025-01-08T23:39:18.059Z,1736379558.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.60 m. 2025-01-08T23:39:18.066Z,1736379558.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.599998 m, nav range: 39.698795 m, bearing: 5.410218 deg, approach rate: 0.228897 m/s, LOS rate: -0.911186 deg/s, cmd heading: 96.752724 deg, new cmd heading: 95.556728 deg. 2025-01-08T23:39:18.067Z,1736379558.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667780 target range: 54.599998 and range: 54.60 m. 2025-01-08T23:39:18.304Z,1736379558.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:18.304Z,1736379558.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487176 2025-01-08T23:39:18.414Z,1736379558.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:18.423Z,1736379558.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.60 m. 2025-01-08T23:39:18.426Z,1736379558.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.599998 m, nav range: 39.794373 m, bearing: 5.025528 deg, approach rate: 0.262485 m/s, LOS rate: -1.053935 deg/s, cmd heading: 95.556730 deg, new cmd heading: 94.405596 deg. 2025-01-08T23:39:18.430Z,1736379558.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647689 target range: 54.599998 and range: 54.60 m. 2025-01-08T23:39:18.556Z,1736379558.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:18.556Z,1736379558.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739166 2025-01-08T23:39:18.812Z,1736379558.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:18.815Z,1736379558.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996927 2025-01-08T23:39:18.904Z,1736379558.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:18.914Z,1736379558.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.60 m. 2025-01-08T23:39:18.916Z,1736379558.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.599998 m, nav range: 39.907879 m, bearing: 4.551623 deg, approach rate: 0.231347 m/s, LOS rate: -0.963149 deg/s, cmd heading: 94.405597 deg, new cmd heading: 92.988232 deg. 2025-01-08T23:39:18.917Z,1736379558.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.622951 target range: 54.599998 and range: 54.60 m. 2025-01-08T23:39:19.064Z,1736379559.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:19.065Z,1736379559.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248038 2025-01-08T23:39:19.284Z,1736379559.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:19.294Z,1736379559.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.60 m. 2025-01-08T23:39:19.297Z,1736379559.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.599998 m, nav range: 39.993664 m, bearing: 4.183670 deg, approach rate: 0.226031 m/s, LOS rate: -0.967414 deg/s, cmd heading: 92.988231 deg, new cmd heading: 91.886884 deg. 2025-01-08T23:39:19.297Z,1736379559.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.603729 target range: 54.599998 and range: 54.60 m. 2025-01-08T23:39:19.316Z,1736379559.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:19.316Z,1736379559.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499133 2025-01-08T23:39:19.568Z,1736379559.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:19.569Z,1736379559.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751623 2025-01-08T23:39:19.697Z,1736379559.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:19.704Z,1736379559.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:19.706Z,1736379559.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.60 m. 2025-01-08T23:39:19.709Z,1736379559.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.599998 m, nav range: 40.083866 m, bearing: 3.783688 deg, approach rate: 0.218393 m/s, LOS rate: -0.966227 deg/s, cmd heading: 91.886883 deg, new cmd heading: 90.689821 deg. 2025-01-08T23:39:19.711Z,1736379559.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.582836 target range: 54.599998 and range: 54.60 m. 2025-01-08T23:39:19.821Z,1736379559.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:19.824Z,1736379559.824 [DAT](INFO): DAT read: Rx Time:23:39:18.4653 2025-01-08T23:39:19.825Z,1736379559.825 [DAT](INFO): Rx dataTimestamp_ set to:1736379559.824136 2025-01-08T23:39:19.833Z,1736379559.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009719 2025-01-08T23:39:20.072Z,1736379560.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:20.072Z,1736379560.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255003 2025-01-08T23:39:20.109Z,1736379560.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:20.180Z,1736379560.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.60 m. 2025-01-08T23:39:20.195Z,1736379560.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.599998 m, nav range: 40.173065 m, bearing: 3.399479 deg, approach rate: 0.188052 m/s, LOS rate: -0.808196 deg/s, cmd heading: 90.689824 deg, new cmd heading: 89.539919 deg. 2025-01-08T23:39:20.196Z,1736379560.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562766 target range: 54.599998 and range: 54.60 m. 2025-01-08T23:39:20.324Z,1736379560.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:20.331Z,1736379560.331 [DAT](INFO): DAT read: 23:39:18.4653 LVL= 20112, 31905, 31122, 32755, AGC= 58, IDX= 411,-0.25, 0.249,-1.412,-0.602,-0.274, PHS= 0.611,-1.090,-0.330, RAW= 116.5, 11.0, CAL= 124.9, 7.6, ROT= 25.1, -7.6 2025-01-08T23:39:20.332Z,1736379560.332 [DAT](INFO): got valid direction response: 23:39:18.4653 LVL= 20112, 31905, 31122, 32755, AGC= 58, IDX= 411,-0.25, 0.249,-1.412,-0.602,-0.274, PHS= 0.611,-1.090,-0.330, RAW= 116.5, 11.0, CAL= 124.9, 7.6, ROT= 25.1, -7.6 2025-01-08T23:39:20.333Z,1736379560.333 [DAT](INFO): DAT read: Bearing 25.1, -7.6 (Local) 2025-01-08T23:39:20.333Z,1736379560.333 [DAT](INFO): Local bearing/azimuth received: Bearing 25.1, -7.6 (Local) 2025-01-08T23:39:20.335Z,1736379560.335 [DAT](INFO): DAT read: Range 10 to 50 : 52.5 m (Round-trip 70.1 ms) speed 0.5 m/s 2025-01-08T23:39:20.336Z,1736379560.336 [DAT](INFO): DAT read: user:3415> 2025-01-08T23:39:20.337Z,1736379560.337 [DAT](INFO): DAT read: Tx time:23:39:19.5911 2025-01-08T23:39:20.337Z,1736379560.337 [DAT](INFO): Ping request sent. 2025-01-08T23:39:20.337Z,1736379560.337 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:20.337Z,1736379560.337 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:39:20.338Z,1736379560.338 [DAT](INFO): direction in FSK: [-0.324581,-0.333414,0.885145] 2025-01-08T23:39:20.339Z,1736379560.339 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:20.339Z,1736379560.339 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:20.400Z,1736379560.400 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:20.400Z,1736379560.400 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:20.508Z,1736379560.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:20.554Z,1736379560.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.500000 m, deltaT: 3.530348 s, deltaX: -2.099998 m, approachRate: -0.594842 m/s, rangeRepo size: 4 2025-01-08T23:39:20.560Z,1736379560.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.500000 m, bearing: 329.775975 deg, lat: 36.905431 deg, lon: -122.119998 deg, deltaT: 3.530348 s, deltaX: -2.099998 m, approachRate: -0.594842 m/s, posRepo size: 4 2025-01-08T23:39:20.561Z,1736379560.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:39:20.568Z,1736379560.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 32.205151 m, bearing: 341.553864 deg, approach rate: 0.000000 m/s, LOS rate: -0.808196 deg/s, cmd heading: 89.539921 deg, new cmd heading: 88.636177 deg. 2025-01-08T23:39:20.572Z,1736379560.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546993 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:39:20.576Z,1736379560.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:20.577Z,1736379560.577 [DAT](INFO): DAT read: TxSync time:23:39:19.5903 2025-01-08T23:39:20.829Z,1736379560.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:20.929Z,1736379560.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:20.937Z,1736379560.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:39:20.940Z,1736379560.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 32.377567 m, bearing: 341.178039 deg, approach rate: 0.448887 m/s, LOS rate: -0.973244 deg/s, cmd heading: 88.636178 deg, new cmd heading: 87.514858 deg. 2025-01-08T23:39:20.941Z,1736379560.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.527422 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:39:21.081Z,1736379561.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:21.304Z,1736379561.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:21.314Z,1736379561.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:39:21.317Z,1736379561.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 32.529781 m, bearing: 340.840880 deg, approach rate: 0.404294 m/s, LOS rate: -0.891331 deg/s, cmd heading: 87.514859 deg, new cmd heading: 86.508223 deg. 2025-01-08T23:39:21.318Z,1736379561.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509853 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:39:21.332Z,1736379561.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:21.584Z,1736379561.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:21.704Z,1736379561.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:21.711Z,1736379561.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:21.713Z,1736379561.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:39:21.716Z,1736379561.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 32.689655 m, bearing: 340.481365 deg, approach rate: 0.400103 m/s, LOS rate: -0.895321 deg/s, cmd heading: 86.508225 deg, new cmd heading: 85.435088 deg. 2025-01-08T23:39:21.717Z,1736379561.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491124 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:39:21.838Z,1736379561.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:21.840Z,1736379561.840 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:21.840Z,1736379561.840 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:21.841Z,1736379561.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:22.088Z,1736379562.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:22.088Z,1736379562.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751174 2025-01-08T23:39:22.144Z,1736379562.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:22.152Z,1736379562.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:39:22.155Z,1736379562.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 32.854980 m, bearing: 340.110187 deg, approach rate: 0.376709 m/s, LOS rate: -0.841502 deg/s, cmd heading: 85.435087 deg, new cmd heading: 84.327303 deg. 2025-01-08T23:39:22.156Z,1736379562.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.471789 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:39:22.340Z,1736379562.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:22.340Z,1736379562.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003207 2025-01-08T23:39:22.519Z,1736379562.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:22.527Z,1736379562.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:39:22.530Z,1736379562.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 32.993938 m, bearing: 339.790569 deg, approach rate: 0.370721 m/s, LOS rate: -0.849101 deg/s, cmd heading: 84.327305 deg, new cmd heading: 83.372582 deg. 2025-01-08T23:39:22.531Z,1736379562.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455126 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:39:22.592Z,1736379562.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:22.593Z,1736379562.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255312 2025-01-08T23:39:22.845Z,1736379562.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:22.848Z,1736379562.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510325 2025-01-08T23:39:22.942Z,1736379562.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:22.952Z,1736379562.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:39:22.954Z,1736379562.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 33.141403 m, bearing: 339.450162 deg, approach rate: 0.347542 m/s, LOS rate: -0.798691 deg/s, cmd heading: 83.372581 deg, new cmd heading: 82.356015 deg. 2025-01-08T23:39:22.956Z,1736379562.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437384 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:39:23.096Z,1736379563.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:23.096Z,1736379563.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759078 2025-01-08T23:39:23.341Z,1736379563.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:23.348Z,1736379563.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:23.349Z,1736379563.349 [DAT](INFO): DAT read: Rx Time:23:39:22.0624 2025-01-08T23:39:23.349Z,1736379563.349 [DAT](INFO): Rx dataTimestamp_ set to:1736379563.349030 2025-01-08T23:39:23.350Z,1736379563.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012606 2025-01-08T23:39:23.353Z,1736379563.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:39:23.356Z,1736379563.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 33.277363 m, bearing: 339.128571 deg, approach rate: 0.338458 m/s, LOS rate: -0.797293 deg/s, cmd heading: 82.356017 deg, new cmd heading: 81.395282 deg. 2025-01-08T23:39:23.357Z,1736379563.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.420616 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:39:23.600Z,1736379563.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:23.601Z,1736379563.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263324 2025-01-08T23:39:23.780Z,1736379563.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:23.795Z,1736379563.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:23.801Z,1736379563.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.50 m. 2025-01-08T23:39:23.804Z,1736379563.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.500000 m, nav range: 33.428986 m, bearing: 338.775854 deg, approach rate: 0.338349 m/s, LOS rate: -0.783518 deg/s, cmd heading: 81.395282 deg, new cmd heading: 80.342056 deg. 2025-01-08T23:39:23.811Z,1736379563.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402233 target range: 52.500000 and range: 52.50 m. 2025-01-08T23:39:23.854Z,1736379563.854 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:23.907Z,1736379563.907 [DAT](INFO): DAT read: 23:39:22.0624 LVL= 13888, 25457, 20418, 30531, AGC= 55, IDX= 412,-0.19,-0.787,-2.727,-2.277,-1.747, PHS= 1.049,-0.932,-0.532, RAW= 101.0, 4.6, CAL= 111.2, 2.8, ROT= 38.8, -2.8 2025-01-08T23:39:23.908Z,1736379563.908 [DAT](INFO): got valid direction response: 23:39:22.0624 LVL= 13888, 25457, 20418, 30531, AGC= 55, IDX= 412,-0.19,-0.787,-2.727,-2.277,-1.747, PHS= 1.049,-0.932,-0.532, RAW= 101.0, 4.6, CAL= 111.2, 2.8, ROT= 38.8, -2.8 2025-01-08T23:39:23.909Z,1736379563.909 [DAT](INFO): DAT read: Bearing 38.8, -2.8 (Local) 2025-01-08T23:39:23.910Z,1736379563.910 [DAT](INFO): Local bearing/azimuth received: Bearing 38.8, -2.8 (Local) 2025-01-08T23:39:23.925Z,1736379563.925 [DAT](INFO): DAT read: Range 10 to 50 : 50.3 m (Round-trip 67.1 ms) speed 0.4 m/s 2025-01-08T23:39:23.937Z,1736379563.937 [DAT](INFO): DAT read: user:3416> 2025-01-08T23:39:23.938Z,1736379563.938 [DAT](INFO): DAT read: Tx time:23:39:23.1411 2025-01-08T23:39:23.939Z,1736379563.939 [DAT](INFO): Ping request sent. 2025-01-08T23:39:23.950Z,1736379563.950 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:23.956Z,1736379563.956 [DAT](INFO): DAT read: TxSync time:23:39:23.1403 2025-01-08T23:39:23.957Z,1736379563.957 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:39:23.958Z,1736379563.958 [DAT](INFO): direction in FSK: [-0.189415,-0.079873,0.978643] 2025-01-08T23:39:23.958Z,1736379563.958 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:23.958Z,1736379563.958 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:23.974Z,1736379563.974 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:23.974Z,1736379563.974 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:24.105Z,1736379564.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:24.196Z,1736379564.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:24.232Z,1736379564.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.299999 m, deltaT: 3.530380 s, deltaX: -2.200001 m, approachRate: -0.623163 m/s, rangeRepo size: 4 2025-01-08T23:39:24.234Z,1736379564.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.299999 m, bearing: 307.631298 deg, lat: 36.905351 deg, lon: -122.119998 deg, deltaT: 3.530380 s, deltaX: -2.200001 m, approachRate: -0.623163 m/s, posRepo size: 4 2025-01-08T23:39:24.239Z,1736379564.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T23:39:24.242Z,1736379564.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 25.484930 m, bearing: 331.081495 deg, approach rate: 0.000000 m/s, LOS rate: -0.783518 deg/s, cmd heading: 80.342054 deg, new cmd heading: 79.341585 deg. 2025-01-08T23:39:24.248Z,1736379564.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384772 target range: 50.299999 and range: 50.30 m. 2025-01-08T23:39:24.356Z,1736379564.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:24.560Z,1736379564.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:24.568Z,1736379564.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T23:39:24.571Z,1736379564.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 25.619587 m, bearing: 330.750597 deg, approach rate: 0.394295 m/s, LOS rate: -0.963822 deg/s, cmd heading: 79.341588 deg, new cmd heading: 78.354213 deg. 2025-01-08T23:39:24.572Z,1736379564.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367539 target range: 50.299999 and range: 50.30 m. 2025-01-08T23:39:24.608Z,1736379564.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:24.861Z,1736379564.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:25.012Z,1736379565.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:25.021Z,1736379565.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T23:39:25.024Z,1736379565.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 25.777798 m, bearing: 330.369812 deg, approach rate: 0.349840 m/s, LOS rate: -0.836828 deg/s, cmd heading: 78.354216 deg, new cmd heading: 77.219031 deg. 2025-01-08T23:39:25.025Z,1736379565.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347726 target range: 50.299999 and range: 50.30 m. 2025-01-08T23:39:25.112Z,1736379565.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:25.357Z,1736379565.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:25.364Z,1736379565.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:25.367Z,1736379565.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T23:39:25.370Z,1736379565.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 25.894590 m, bearing: 330.074010 deg, approach rate: 0.336973 m/s, LOS rate: -0.849602 deg/s, cmd heading: 77.219032 deg, new cmd heading: 76.335700 deg. 2025-01-08T23:39:25.371Z,1736379565.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332309 target range: 50.299999 and range: 50.30 m. 2025-01-08T23:39:25.617Z,1736379565.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:25.772Z,1736379565.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:25.788Z,1736379565.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T23:39:25.791Z,1736379565.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 26.032547 m, bearing: 329.714755 deg, approach rate: 0.327689 m/s, LOS rate: -0.848813 deg/s, cmd heading: 76.335704 deg, new cmd heading: 75.263783 deg. 2025-01-08T23:39:25.796Z,1736379565.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.313601 target range: 50.299999 and range: 50.30 m. 2025-01-08T23:39:25.871Z,1736379565.871 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:26.120Z,1736379566.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:26.188Z,1736379566.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:26.196Z,1736379566.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:26.198Z,1736379566.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T23:39:26.221Z,1736379566.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 26.165155 m, bearing: 329.363001 deg, approach rate: 0.323760 m/s, LOS rate: -0.854440 deg/s, cmd heading: 75.263781 deg, new cmd heading: 74.213990 deg. 2025-01-08T23:39:26.222Z,1736379566.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295278 target range: 50.299999 and range: 50.30 m. 2025-01-08T23:39:26.372Z,1736379566.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:26.372Z,1736379566.372 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:26.373Z,1736379566.373 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:26.373Z,1736379566.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:26.561Z,1736379566.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:26.570Z,1736379566.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T23:39:26.589Z,1736379566.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 26.278580 m, bearing: 329.040510 deg, approach rate: 0.304993 m/s, LOS rate: -0.863418 deg/s, cmd heading: 74.213987 deg, new cmd heading: 73.250786 deg. 2025-01-08T23:39:26.592Z,1736379566.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.278467 target range: 50.299999 and range: 50.30 m. 2025-01-08T23:39:26.628Z,1736379566.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:26.629Z,1736379566.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.690139 2025-01-08T23:39:26.880Z,1736379566.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:26.880Z,1736379566.880 [DAT](INFO): DAT read: Rx Time:23:39:25.6101 2025-01-08T23:39:26.881Z,1736379566.881 [DAT](INFO): Rx dataTimestamp_ set to:1736379566.880660 2025-01-08T23:39:26.881Z,1736379566.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.942635 2025-01-08T23:39:27.012Z,1736379567.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:27.032Z,1736379567.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m. 2025-01-08T23:39:27.037Z,1736379567.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.299999 m, nav range: 26.411165 m, bearing: 328.665830 deg, approach rate: 0.286588 m/s, LOS rate: -0.805813 deg/s, cmd heading: 73.250787 deg, new cmd heading: 72.132540 deg. 2025-01-08T23:39:27.038Z,1736379567.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258950 target range: 50.299999 and range: 50.30 m. 2025-01-08T23:39:27.132Z,1736379567.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:27.132Z,1736379567.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.193578 2025-01-08T23:39:27.385Z,1736379567.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:27.392Z,1736379567.392 [DAT](INFO): DAT read: 23:39:25.6101 LVL= 14384, 25041, 19090, 28019, AGC= 57, IDX= 420,-0.35, 0.698,-1.327,-1.173,-0.467, PHS= 1.253,-0.813,-0.709, RAW= 92.6, 2.7, CAL= 100.6, 0.5, ROT= 49.4, -0.5 2025-01-08T23:39:27.393Z,1736379567.393 [DAT](INFO): got valid direction response: 23:39:25.6101 LVL= 14384, 25041, 19090, 28019, AGC= 57, IDX= 420,-0.35, 0.698,-1.327,-1.173,-0.467, PHS= 1.253,-0.813,-0.709, RAW= 92.6, 2.7, CAL= 100.6, 0.5, ROT= 49.4, -0.5 2025-01-08T23:39:27.394Z,1736379567.394 [DAT](INFO): DAT read: Bearing 49.4, -0.5 (Local) 2025-01-08T23:39:27.395Z,1736379567.395 [DAT](INFO): Local bearing/azimuth received: Bearing 49.4, -0.5 (Local) 2025-01-08T23:39:27.396Z,1736379567.396 [DAT](INFO): DAT read: Range 10 to 50 : 48.6 m (Round-trip 64.8 ms) speed 0.3 m/s 2025-01-08T23:39:27.397Z,1736379567.397 [DAT](INFO): DAT read: user:3417> 2025-01-08T23:39:27.398Z,1736379567.398 [DAT](INFO): DAT read: Tx time:23:39:26.6912 2025-01-08T23:39:27.398Z,1736379567.398 [DAT](INFO): Ping request sent. 2025-01-08T23:39:27.398Z,1736379567.398 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:27.398Z,1736379567.398 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:39:27.402Z,1736379567.402 [DAT](INFO): direction in FSK: [-0.140484,0.065847,0.987891] 2025-01-08T23:39:27.403Z,1736379567.403 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:27.404Z,1736379567.404 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:27.425Z,1736379567.425 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:27.425Z,1736379567.425 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:27.526Z,1736379567.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:27.583Z,1736379567.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 3.530867 s, deltaX: -1.700001 m, approachRate: -0.481468 m/s, rangeRepo size: 4 2025-01-08T23:39:27.585Z,1736379567.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.599998 m, bearing: 220.143949 deg, lat: 36.905342 deg, lon: -122.119998 deg, deltaT: 3.530867 s, deltaX: -1.700001 m, approachRate: -0.481468 m/s, posRepo size: 4 2025-01-08T23:39:27.586Z,1736379567.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T23:39:27.593Z,1736379567.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 25.665707 m, bearing: 326.991645 deg, approach rate: 0.000000 m/s, LOS rate: -0.805813 deg/s, cmd heading: 72.132542 deg, new cmd heading: 70.813695 deg. 2025-01-08T23:39:27.594Z,1736379567.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.235932 target range: 48.599998 and range: 48.60 m. 2025-01-08T23:39:27.636Z,1736379567.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:27.637Z,1736379567.637 [DAT](INFO): DAT read: TxSync time:23:39:26.6904 2025-01-08T23:39:27.890Z,1736379567.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:28.055Z,1736379568.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:28.086Z,1736379568.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T23:39:28.089Z,1736379568.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 25.819294 m, bearing: 326.541133 deg, approach rate: 0.303839 m/s, LOS rate: -0.885931 deg/s, cmd heading: 70.813694 deg, new cmd heading: 69.470455 deg. 2025-01-08T23:39:28.090Z,1736379568.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212488 target range: 48.599998 and range: 48.60 m. 2025-01-08T23:39:28.140Z,1736379568.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:28.392Z,1736379568.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:28.418Z,1736379568.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:28.441Z,1736379568.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:28.443Z,1736379568.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T23:39:28.450Z,1736379568.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 25.917768 m, bearing: 326.223485 deg, approach rate: 0.274124 m/s, LOS rate: -0.880874 deg/s, cmd heading: 69.470455 deg, new cmd heading: 68.521225 deg. 2025-01-08T23:39:28.451Z,1736379568.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195921 target range: 48.599998 and range: 48.60 m. 2025-01-08T23:39:28.644Z,1736379568.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:28.644Z,1736379568.644 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:28.644Z,1736379568.644 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:28.645Z,1736379568.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:28.821Z,1736379568.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:28.830Z,1736379568.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T23:39:28.833Z,1736379568.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 26.025391 m, bearing: 325.868957 deg, approach rate: 0.277831 m/s, LOS rate: -0.911436 deg/s, cmd heading: 68.521223 deg, new cmd heading: 67.462165 deg. 2025-01-08T23:39:28.834Z,1736379568.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.177437 target range: 48.599998 and range: 48.60 m. 2025-01-08T23:39:28.899Z,1736379568.899 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:28.901Z,1736379568.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502749 2025-01-08T23:39:29.148Z,1736379569.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:29.149Z,1736379569.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750444 2025-01-08T23:39:29.271Z,1736379569.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:29.293Z,1736379569.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T23:39:29.301Z,1736379569.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 26.142405 m, bearing: 325.455996 deg, approach rate: 0.252866 m/s, LOS rate: -0.888402 deg/s, cmd heading: 67.462168 deg, new cmd heading: 66.229031 deg. 2025-01-08T23:39:29.302Z,1736379569.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155915 target range: 48.599998 and range: 48.60 m. 2025-01-08T23:39:29.400Z,1736379569.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:29.401Z,1736379569.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002454 2025-01-08T23:39:29.639Z,1736379569.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:29.652Z,1736379569.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:29.653Z,1736379569.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255438 2025-01-08T23:39:29.659Z,1736379569.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T23:39:29.681Z,1736379569.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 26.236006 m, bearing: 325.116585 deg, approach rate: 0.255956 m/s, LOS rate: -0.924819 deg/s, cmd heading: 66.229032 deg, new cmd heading: 65.214541 deg. 2025-01-08T23:39:29.688Z,1736379569.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138209 target range: 48.599998 and range: 48.60 m. 2025-01-08T23:39:29.904Z,1736379569.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:29.905Z,1736379569.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506996 2025-01-08T23:39:30.069Z,1736379570.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:30.085Z,1736379570.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T23:39:30.112Z,1736379570.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 26.354151 m, bearing: 324.696651 deg, approach rate: 0.276844 m/s, LOS rate: -0.979590 deg/s, cmd heading: 65.214544 deg, new cmd heading: 63.960603 deg. 2025-01-08T23:39:30.113Z,1736379570.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116323 target range: 48.599998 and range: 48.60 m. 2025-01-08T23:39:30.156Z,1736379570.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:30.157Z,1736379570.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758941 2025-01-08T23:39:30.408Z,1736379570.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:30.408Z,1736379570.408 [DAT](INFO): DAT read: Rx Time:23:39:29.1584 2025-01-08T23:39:30.409Z,1736379570.409 [DAT](INFO): Rx dataTimestamp_ set to:1736379570.408640 2025-01-08T23:39:30.410Z,1736379570.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011393 2025-01-08T23:39:30.470Z,1736379570.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:30.477Z,1736379570.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:30.480Z,1736379570.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T23:39:30.482Z,1736379570.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 26.458136 m, bearing: 324.300985 deg, approach rate: 0.263782 m/s, LOS rate: -0.999746 deg/s, cmd heading: 63.960603 deg, new cmd heading: 62.778447 deg. 2025-01-08T23:39:30.484Z,1736379570.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095691 target range: 48.599998 and range: 48.60 m. 2025-01-08T23:39:30.660Z,1736379570.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:30.661Z,1736379570.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263007 2025-01-08T23:39:30.884Z,1736379570.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:30.892Z,1736379570.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.60 m. 2025-01-08T23:39:30.896Z,1736379570.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.599998 m, nav range: 26.563435 m, bearing: 323.890607 deg, approach rate: 0.255212 m/s, LOS rate: -0.990679 deg/s, cmd heading: 62.778447 deg, new cmd heading: 61.552389 deg. 2025-01-08T23:39:30.897Z,1736379570.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074292 target range: 48.599998 and range: 48.60 m. 2025-01-08T23:39:30.914Z,1736379570.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:30.945Z,1736379570.945 [DAT](INFO): DAT read: 23:39:29.1584 LVL= 10656, 26081, 17970, 26019, AGC= 54, IDX= 420,-0.44,-1.434,-3.029, 2.954,-2.327, PHS= 0.981,-0.655,-1.005, RAW= 80.5, 7.5, CAL= 85.4, 9.1, ROT= 64.6, -9.1 2025-01-08T23:39:30.950Z,1736379570.950 [DAT](INFO): got valid direction response: 23:39:29.1584 LVL= 10656, 26081, 17970, 26019, AGC= 54, IDX= 420,-0.44,-1.434,-3.029, 2.954,-2.327, PHS= 0.981,-0.655,-1.005, RAW= 80.5, 7.5, CAL= 85.4, 9.1, ROT= 64.6, -9.1 2025-01-08T23:39:30.972Z,1736379570.972 [DAT](INFO): DAT read: Bearing 64.6, -9.1 (Local) 2025-01-08T23:39:30.973Z,1736379570.973 [DAT](INFO): Local bearing/azimuth received: Bearing 64.6, -9.1 (Local) 2025-01-08T23:39:30.988Z,1736379570.988 [DAT](INFO): DAT read: Range 10 to 50 : 47.3 m (Round-trip 63.1 ms) speed 0.0 m/s 2025-01-08T23:39:30.990Z,1736379570.990 [DAT](INFO): DAT read: user:3418> 2025-01-08T23:39:31.015Z,1736379571.015 [DAT](INFO): DAT read: Tx time:23:39:30.2412 2025-01-08T23:39:31.016Z,1736379571.016 [DAT](INFO): Ping request sent. 2025-01-08T23:39:31.016Z,1736379571.016 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:31.016Z,1736379571.016 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:39:31.017Z,1736379571.017 [DAT](INFO): direction in FSK: [-0.207831,0.272171,0.939537] 2025-01-08T23:39:31.017Z,1736379571.017 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:31.017Z,1736379571.017 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:31.025Z,1736379571.025 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:31.025Z,1736379571.025 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:31.164Z,1736379571.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:31.165Z,1736379571.165 [DAT](INFO): DAT read: TxSync time:23:39:30.2404 2025-01-08T23:39:31.301Z,1736379571.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:31.330Z,1736379571.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 3.529403 s, deltaX: -1.299999 m, approachRate: -0.368334 m/s, rangeRepo size: 4 2025-01-08T23:39:31.336Z,1736379571.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.299999 m, bearing: 184.810442 deg, lat: 36.905195 deg, lon: -122.119930 deg, deltaT: 3.529403 s, deltaX: -1.299999 m, approachRate: -0.368334 m/s, posRepo size: 4 2025-01-08T23:39:31.336Z,1736379571.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:31.344Z,1736379571.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 11.135509 m, bearing: 297.098526 deg, approach rate: 0.000000 m/s, LOS rate: -0.990679 deg/s, cmd heading: 61.552388 deg, new cmd heading: 60.254376 deg. 2025-01-08T23:39:31.345Z,1736379571.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.051637 target range: 47.299999 and range: 47.30 m. 2025-01-08T23:39:31.416Z,1736379571.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:31.668Z,1736379571.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:31.678Z,1736379571.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:31.696Z,1736379571.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:31.698Z,1736379571.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 11.307715 m, bearing: 296.477558 deg, approach rate: 0.470274 m/s, LOS rate: -1.669923 deg/s, cmd heading: 60.254378 deg, new cmd heading: 58.420507 deg. 2025-01-08T23:39:31.700Z,1736379571.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.019630 target range: 47.299999 and range: 47.30 m. 2025-01-08T23:39:31.920Z,1736379571.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:32.079Z,1736379572.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:32.088Z,1736379572.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:32.090Z,1736379572.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 11.498875 m, bearing: 295.787718 deg, approach rate: 0.487299 m/s, LOS rate: -1.729250 deg/s, cmd heading: 58.420507 deg, new cmd heading: 56.386295 deg. 2025-01-08T23:39:32.092Z,1736379572.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.984127 target range: 47.299999 and range: 47.30 m. 2025-01-08T23:39:32.172Z,1736379572.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:32.424Z,1736379572.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:32.464Z,1736379572.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:32.480Z,1736379572.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:32.483Z,1736379572.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 11.677678 m, bearing: 295.144125 deg, approach rate: 0.455082 m/s, LOS rate: -1.612925 deg/s, cmd heading: 56.386295 deg, new cmd heading: 54.485819 deg. 2025-01-08T23:39:32.488Z,1736379572.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.950957 target range: 47.299999 and range: 47.30 m. 2025-01-08T23:39:32.682Z,1736379572.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:32.870Z,1736379572.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:32.877Z,1736379572.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:32.880Z,1736379572.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:32.882Z,1736379572.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 11.873343 m, bearing: 294.439679 deg, approach rate: 0.490043 m/s, LOS rate: -1.735164 deg/s, cmd heading: 54.485819 deg, new cmd heading: 52.408270 deg. 2025-01-08T23:39:32.900Z,1736379572.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.914697 target range: 47.299999 and range: 47.30 m. 2025-01-08T23:39:32.930Z,1736379572.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:32.931Z,1736379572.931 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:32.931Z,1736379572.931 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:32.931Z,1736379572.931 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:33.180Z,1736379573.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:33.180Z,1736379573.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.164581 2025-01-08T23:39:33.290Z,1736379573.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:33.301Z,1736379573.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:33.304Z,1736379573.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 12.082343 m, bearing: 293.705563 deg, approach rate: 0.495865 m/s, LOS rate: -1.711563 deg/s, cmd heading: 52.408270 deg, new cmd heading: 50.245104 deg. 2025-01-08T23:39:33.305Z,1736379573.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876943 target range: 47.299999 and range: 47.30 m. 2025-01-08T23:39:33.432Z,1736379573.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:33.433Z,1736379573.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.416740 2025-01-08T23:39:33.684Z,1736379573.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:33.685Z,1736379573.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.668724 2025-01-08T23:39:33.693Z,1736379573.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:33.702Z,1736379573.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:33.705Z,1736379573.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 12.281647 m, bearing: 293.009927 deg, approach rate: 0.496921 m/s, LOS rate: -1.706233 deg/s, cmd heading: 50.245105 deg, new cmd heading: 48.192991 deg. 2025-01-08T23:39:33.706Z,1736379573.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841126 target range: 47.299999 and range: 47.30 m. 2025-01-08T23:39:33.936Z,1736379573.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:33.936Z,1736379573.936 [DAT](INFO): DAT read: Rx Time:23:39:32.7074 2025-01-08T23:39:33.937Z,1736379573.937 [DAT](INFO): Rx dataTimestamp_ set to:1736379573.936622 2025-01-08T23:39:33.937Z,1736379573.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.921610 2025-01-08T23:39:34.113Z,1736379574.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:34.122Z,1736379574.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:34.125Z,1736379574.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 12.499008 m, bearing: 292.318745 deg, approach rate: 0.517969 m/s, LOS rate: -1.618393 deg/s, cmd heading: 48.192992 deg, new cmd heading: 46.156413 deg. 2025-01-08T23:39:34.126Z,1736379574.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805581 target range: 47.299999 and range: 47.30 m. 2025-01-08T23:39:34.188Z,1736379574.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:34.189Z,1736379574.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.172918 2025-01-08T23:39:34.440Z,1736379574.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:34.441Z,1736379574.441 [DAT](INFO): DAT read: Range 10 to 50 : 46.5 m (Round-trip 62.1 ms) speed 0.2 m/s 2025-01-08T23:39:34.442Z,1736379574.442 [DAT](INFO): DAT read: user:3419> 2025-01-08T23:39:34.443Z,1736379574.443 [DAT](INFO): DAT read: Tx time:23:39:33.7912 2025-01-08T23:39:34.444Z,1736379574.444 [DAT](INFO): Ping request sent. 2025-01-08T23:39:34.444Z,1736379574.444 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:34.444Z,1736379574.444 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:39:34.444Z,1736379574.444 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:34.445Z,1736379574.445 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:34.524Z,1736379574.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:34.542Z,1736379574.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 3.525334 s, deltaX: -0.799999 m, approachRate: -0.226929 m/s, rangeRepo size: 4 2025-01-08T23:39:34.544Z,1736379574.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:34.547Z,1736379574.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 12.708452 m, bearing: 291.631954 deg, approach rate: 0.498740 m/s, LOS rate: -1.608434 deg/s, cmd heading: 46.156414 deg, new cmd heading: 44.130891 deg. 2025-01-08T23:39:34.548Z,1736379574.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770229 target range: 47.299999 and range: 46.50 m. 2025-01-08T23:39:34.696Z,1736379574.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:34.697Z,1736379574.697 [DAT](INFO): DAT read: TxSync time:23:39:33.7904 2025-01-08T23:39:34.860Z,1736379574.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:39:34.938Z,1736379574.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:34.945Z,1736379574.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:34.948Z,1736379574.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:34.948Z,1736379574.948 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:34.948Z,1736379574.948 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:34.949Z,1736379574.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:34.951Z,1736379574.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:34.954Z,1736379574.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 12.918205 m, bearing: 290.947485 deg, approach rate: 0.517277 m/s, LOS rate: -1.660536 deg/s, cmd heading: 44.130890 deg, new cmd heading: 42.111709 deg. 2025-01-08T23:39:34.955Z,1736379574.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.734988 target range: 47.299999 and range: 46.50 m. 2025-01-08T23:39:35.200Z,1736379575.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:35.200Z,1736379575.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756466 2025-01-08T23:39:35.334Z,1736379575.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:35.345Z,1736379575.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:35.364Z,1736379575.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 13.119134 m, bearing: 290.297140 deg, approach rate: 0.507611 m/s, LOS rate: -1.617784 deg/s, cmd heading: 42.111709 deg, new cmd heading: 40.191317 deg. 2025-01-08T23:39:35.365Z,1736379575.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701471 target range: 47.299999 and range: 46.50 m. 2025-01-08T23:39:35.452Z,1736379575.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:35.453Z,1736379575.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008689 2025-01-08T23:39:35.704Z,1736379575.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:35.704Z,1736379575.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260536 2025-01-08T23:39:35.723Z,1736379575.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:35.741Z,1736379575.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:35.746Z,1736379575.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 13.314087 m, bearing: 289.662917 deg, approach rate: 0.492131 m/s, LOS rate: -1.577533 deg/s, cmd heading: 40.191316 deg, new cmd heading: 38.317213 deg. 2025-01-08T23:39:35.776Z,1736379575.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668761 target range: 47.299999 and range: 46.50 m. 2025-01-08T23:39:35.865Z,1736379575.865 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:39:35.956Z,1736379575.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:35.957Z,1736379575.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512655 2025-01-08T23:39:36.144Z,1736379576.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:36.153Z,1736379576.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:36.156Z,1736379576.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 13.517613 m, bearing: 289.015000 deg, approach rate: 0.491726 m/s, LOS rate: -1.541785 deg/s, cmd heading: 38.317211 deg, new cmd heading: 36.403479 deg. 2025-01-08T23:39:36.157Z,1736379576.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635361 target range: 47.299999 and range: 46.50 m. 2025-01-08T23:39:36.209Z,1736379576.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:36.210Z,1736379576.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766123 2025-01-08T23:39:36.460Z,1736379576.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:36.461Z,1736379576.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016991 2025-01-08T23:39:36.550Z,1736379576.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:36.559Z,1736379576.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:36.562Z,1736379576.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 13.712238 m, bearing: 288.385913 deg, approach rate: 0.479889 m/s, LOS rate: -1.529102 deg/s, cmd heading: 36.403481 deg, new cmd heading: 34.543697 deg. 2025-01-08T23:39:36.564Z,1736379576.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602901 target range: 47.299999 and range: 46.50 m. 2025-01-08T23:39:36.712Z,1736379576.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:36.713Z,1736379576.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268948 2025-01-08T23:39:36.964Z,1736379576.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:36.964Z,1736379576.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520595 2025-01-08T23:39:36.972Z,1736379576.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:36.982Z,1736379576.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:36.987Z,1736379576.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:37.001Z,1736379577.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 13.912246 m, bearing: 287.731703 deg, approach rate: 0.467108 m/s, LOS rate: -1.505880 deg/s, cmd heading: 34.543699 deg, new cmd heading: 32.610061 deg. 2025-01-08T23:39:37.002Z,1736379577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569153 target range: 47.299999 and range: 46.50 m. 2025-01-08T23:39:37.216Z,1736379577.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:37.216Z,1736379577.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772469 2025-01-08T23:39:37.468Z,1736379577.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:37.469Z,1736379577.469 [DAT](INFO): DAT read: Rx Time:23:39:36.2565 2025-01-08T23:39:37.469Z,1736379577.469 [DAT](INFO): Rx dataTimestamp_ set to:1736379577.468912 2025-01-08T23:39:37.470Z,1736379577.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025812 2025-01-08T23:39:37.568Z,1736379577.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:37.578Z,1736379577.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:37.581Z,1736379577.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 14.155494 m, bearing: 286.817613 deg, approach rate: 0.411232 m/s, LOS rate: -1.518731 deg/s, cmd heading: 32.610062 deg, new cmd heading: 29.917013 deg. 2025-01-08T23:39:37.582Z,1736379577.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.522150 target range: 47.299999 and range: 46.50 m. 2025-01-08T23:39:37.720Z,1736379577.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:37.720Z,1736379577.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276462 2025-01-08T23:39:37.973Z,1736379577.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:37.977Z,1736379577.977 [DAT](INFO): DAT read: Range 10 to 50 : 45.8 m (Round-trip 61.1 ms) speed 0.0 m/s 2025-01-08T23:39:37.980Z,1736379577.980 [DAT](INFO): DAT read: user:3420> 2025-01-08T23:39:37.981Z,1736379577.981 [DAT](INFO): DAT read: Tx time:23:39:37.3413 2025-01-08T23:39:37.981Z,1736379577.981 [DAT](INFO): Ping request sent. 2025-01-08T23:39:37.981Z,1736379577.981 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:37.982Z,1736379577.982 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:39:37.983Z,1736379577.983 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:37.984Z,1736379577.984 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:38.196Z,1736379578.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:38.205Z,1736379578.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.799999 m, deltaT: 3.533537 s, deltaX: -0.700001 m, approachRate: -0.198102 m/s, rangeRepo size: 4 2025-01-08T23:39:38.206Z,1736379578.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:38.209Z,1736379578.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 14.381198 m, bearing: 285.901705 deg, approach rate: 0.360533 m/s, LOS rate: -1.440018 deg/s, cmd heading: 29.917014 deg, new cmd heading: 27.214536 deg. 2025-01-08T23:39:38.210Z,1736379578.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.474983 target range: 47.299999 and range: 45.80 m. 2025-01-08T23:39:38.224Z,1736379578.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:38.225Z,1736379578.225 [DAT](INFO): DAT read: TxSync time:23:39:37.3405 2025-01-08T23:39:38.476Z,1736379578.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:38.493Z,1736379578.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:38.502Z,1736379578.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:38.505Z,1736379578.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 14.489531 m, bearing: 285.477215 deg, approach rate: 0.363998 m/s, LOS rate: -1.415610 deg/s, cmd heading: 27.214535 deg, new cmd heading: 25.950803 deg. 2025-01-08T23:39:38.506Z,1736379578.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452927 target range: 47.299999 and range: 45.80 m. 2025-01-08T23:39:38.728Z,1736379578.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:38.885Z,1736379578.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:38.893Z,1736379578.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:38.897Z,1736379578.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 14.626293 m, bearing: 284.903812 deg, approach rate: 0.349564 m/s, LOS rate: -1.451883 deg/s, cmd heading: 25.950803 deg, new cmd heading: 24.247210 deg. 2025-01-08T23:39:38.898Z,1736379578.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423194 target range: 47.299999 and range: 45.80 m. 2025-01-08T23:39:38.980Z,1736379578.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:39.232Z,1736379579.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:39.304Z,1736379579.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:39.312Z,1736379579.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:39.314Z,1736379579.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:39.318Z,1736379579.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 14.744649 m, bearing: 284.324167 deg, approach rate: 0.280917 m/s, LOS rate: -1.364716 deg/s, cmd heading: 24.247211 deg, new cmd heading: 22.522785 deg. 2025-01-08T23:39:39.319Z,1736379579.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393097 target range: 47.299999 and range: 45.80 m. 2025-01-08T23:39:39.484Z,1736379579.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:39.484Z,1736379579.484 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:39.484Z,1736379579.484 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:39.484Z,1736379579.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:39.704Z,1736379579.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:39.713Z,1736379579.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:39.716Z,1736379579.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 14.855258 m, bearing: 283.773933 deg, approach rate: 0.277438 m/s, LOS rate: -1.369844 deg/s, cmd heading: 22.522784 deg, new cmd heading: 20.884843 deg. 2025-01-08T23:39:39.717Z,1736379579.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.364509 target range: 47.299999 and range: 45.80 m. 2025-01-08T23:39:39.737Z,1736379579.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:39.737Z,1736379579.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755992 2025-01-08T23:39:39.988Z,1736379579.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:39.988Z,1736379579.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006980 2025-01-08T23:39:40.179Z,1736379580.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:40.190Z,1736379580.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:40.194Z,1736379580.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 14.964129 m, bearing: 283.149193 deg, approach rate: 0.228324 m/s, LOS rate: -1.300639 deg/s, cmd heading: 20.884842 deg, new cmd heading: 19.024949 deg. 2025-01-08T23:39:40.195Z,1736379580.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.332048 target range: 47.299999 and range: 45.80 m. 2025-01-08T23:39:40.241Z,1736379580.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:40.242Z,1736379580.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260241 2025-01-08T23:39:40.492Z,1736379580.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:40.493Z,1736379580.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511232 2025-01-08T23:39:40.496Z,1736379580.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:40.504Z,1736379580.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:40.507Z,1736379580.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 15.034802 m, bearing: 282.729481 deg, approach rate: 0.224794 m/s, LOS rate: -1.328716 deg/s, cmd heading: 19.024949 deg, new cmd heading: 17.771943 deg. 2025-01-08T23:39:40.508Z,1736379580.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.310179 target range: 47.299999 and range: 45.80 m. 2025-01-08T23:39:40.744Z,1736379580.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:40.745Z,1736379580.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763535 2025-01-08T23:39:40.924Z,1736379580.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:40.932Z,1736379580.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:40.944Z,1736379580.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 15.131288 m, bearing: 282.170219 deg, approach rate: 0.225678 m/s, LOS rate: -1.299746 deg/s, cmd heading: 17.771944 deg, new cmd heading: 16.105353 deg. 2025-01-08T23:39:40.946Z,1736379580.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.281091 target range: 47.299999 and range: 45.80 m. 2025-01-08T23:39:40.996Z,1736379580.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:40.997Z,1736379580.997 [DAT](INFO): DAT read: Rx Time:23:39:39.8062 2025-01-08T23:39:40.997Z,1736379580.997 [DAT](INFO): Rx dataTimestamp_ set to:1736379580.996809 2025-01-08T23:39:40.998Z,1736379580.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016312 2025-01-08T23:39:41.248Z,1736379581.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:41.248Z,1736379581.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267131 2025-01-08T23:39:41.340Z,1736379581.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:41.378Z,1736379581.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:41.385Z,1736379581.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:41.394Z,1736379581.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 15.196561 m, bearing: 281.624351 deg, approach rate: 0.144117 m/s, LOS rate: -1.200031 deg/s, cmd heading: 16.105352 deg, new cmd heading: 14.475246 deg. 2025-01-08T23:39:41.404Z,1736379581.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.252641 target range: 47.299999 and range: 45.80 m. 2025-01-08T23:39:41.500Z,1736379581.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:41.501Z,1736379581.501 [DAT](INFO): DAT read: Range 10 to 50 : 45.6 m (Round-trip 60.8 ms) speed 0.0 m/s 2025-01-08T23:39:41.502Z,1736379581.502 [DAT](INFO): DAT read: user:3421> 2025-01-08T23:39:41.503Z,1736379581.503 [DAT](INFO): DAT read: Tx time:23:39:40.8913 2025-01-08T23:39:41.503Z,1736379581.503 [DAT](INFO): Ping request sent. 2025-01-08T23:39:41.503Z,1736379581.503 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:41.504Z,1736379581.504 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:39:41.504Z,1736379581.504 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:41.504Z,1736379581.504 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:41.753Z,1736379581.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:41.754Z,1736379581.754 [DAT](INFO): DAT read: TxSync time:23:39:40.8905 2025-01-08T23:39:41.830Z,1736379581.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:41.855Z,1736379581.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.599998 m, deltaT: 3.526400 s, deltaX: -0.200001 m, approachRate: -0.056715 m/s, rangeRepo size: 4 2025-01-08T23:39:41.856Z,1736379581.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:41.859Z,1736379581.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 15.265751 m, bearing: 280.974769 deg, approach rate: 0.148650 m/s, LOS rate: -1.389227 deg/s, cmd heading: 14.475246 deg, new cmd heading: 12.536114 deg. 2025-01-08T23:39:41.864Z,1736379581.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.218796 target range: 47.299999 and range: 45.60 m. 2025-01-08T23:39:42.004Z,1736379582.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:42.246Z,1736379582.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:42.256Z,1736379582.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:42.275Z,1736379582.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:42.279Z,1736379582.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 15.318101 m, bearing: 280.413233 deg, approach rate: 0.129365 m/s, LOS rate: -1.382876 deg/s, cmd heading: 12.536115 deg, new cmd heading: 10.857773 deg. 2025-01-08T23:39:42.284Z,1736379582.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.189504 target range: 47.299999 and range: 45.60 m. 2025-01-08T23:39:42.511Z,1736379582.511 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:42.729Z,1736379582.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:42.737Z,1736379582.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:42.740Z,1736379582.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 15.372162 m, bearing: 279.757119 deg, approach rate: 0.112081 m/s, LOS rate: -1.355466 deg/s, cmd heading: 10.857773 deg, new cmd heading: 8.897161 deg. 2025-01-08T23:39:42.741Z,1736379582.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.155285 target range: 47.299999 and range: 45.60 m. 2025-01-08T23:39:42.761Z,1736379582.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:43.012Z,1736379583.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:43.117Z,1736379583.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:43.133Z,1736379583.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:43.175Z,1736379583.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 15.414123 m, bearing: 279.229479 deg, approach rate: 0.106625 m/s, LOS rate: -1.337095 deg/s, cmd heading: 8.897161 deg, new cmd heading: 7.318970 deg. 2025-01-08T23:39:43.184Z,1736379583.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.127740 target range: 47.299999 and range: 45.60 m. 2025-01-08T23:39:43.264Z,1736379583.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:43.516Z,1736379583.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:43.553Z,1736379583.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:43.561Z,1736379583.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:43.563Z,1736379583.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:43.570Z,1736379583.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 15.456616 m, bearing: 278.629185 deg, approach rate: 0.098419 m/s, LOS rate: -1.386483 deg/s, cmd heading: 7.318970 deg, new cmd heading: 5.523661 deg. 2025-01-08T23:39:43.571Z,1736379583.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096406 target range: 47.299999 and range: 45.60 m. 2025-01-08T23:39:43.768Z,1736379583.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:43.768Z,1736379583.768 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:43.768Z,1736379583.768 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:43.768Z,1736379583.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:43.928Z,1736379583.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:43.955Z,1736379583.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:43.962Z,1736379583.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 15.490571 m, bearing: 278.113082 deg, approach rate: 0.086608 m/s, LOS rate: -1.313517 deg/s, cmd heading: 5.523661 deg, new cmd heading: 3.979142 deg. 2025-01-08T23:39:43.972Z,1736379583.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069449 target range: 47.299999 and range: 45.60 m. 2025-01-08T23:39:44.021Z,1736379584.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:44.023Z,1736379584.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518905 2025-01-08T23:39:44.272Z,1736379584.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:44.272Z,1736379584.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769005 2025-01-08T23:39:44.443Z,1736379584.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:44.453Z,1736379584.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:44.456Z,1736379584.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 15.551836 m, bearing: 277.384227 deg, approach rate: 0.122963 m/s, LOS rate: -1.457055 deg/s, cmd heading: 3.979142 deg, new cmd heading: 1.802297 deg. 2025-01-08T23:39:44.457Z,1736379584.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.031456 target range: 47.299999 and range: 45.60 m. 2025-01-08T23:39:44.524Z,1736379584.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:44.525Z,1736379584.525 [DAT](INFO): DAT read: Rx Time:23:39:43.3568 2025-01-08T23:39:44.525Z,1736379584.525 [DAT](INFO): Rx dataTimestamp_ set to:1736379584.524851 2025-01-08T23:39:44.526Z,1736379584.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022283 2025-01-08T23:39:44.745Z,1736379584.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:44.762Z,1736379584.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:44.776Z,1736379584.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:44.776Z,1736379584.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272994 2025-01-08T23:39:44.780Z,1736379584.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 15.585629 m, bearing: 276.959645 deg, approach rate: 0.109209 m/s, LOS rate: -1.369150 deg/s, cmd heading: 1.802297 deg, new cmd heading: 0.531532 deg. 2025-01-08T23:39:44.781Z,1736379584.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009277 target range: 47.299999 and range: 45.60 m. 2025-01-08T23:39:45.030Z,1736379585.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:45.034Z,1736379585.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529993 2025-01-08T23:39:45.153Z,1736379585.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:45.204Z,1736379585.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m. 2025-01-08T23:39:45.221Z,1736379585.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.299999 m, nav range: 15.629136 m, bearing: 276.378095 deg, approach rate: 0.101790 m/s, LOS rate: -1.356779 deg/s, cmd heading: 0.531532 deg, new cmd heading: 358.792303 deg. 2025-01-08T23:39:45.228Z,1736379585.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262107 target range: 47.299999 and range: 45.60 m. 2025-01-08T23:39:45.282Z,1736379585.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:45.296Z,1736379585.296 [DAT](INFO): DAT read: 23:39:43.3568 LVL= 15856, 15777, 17794, 21315, AGC= 56, IDX= 449,-0.23,-2.074,-1.918, 2.150,-2.692, PHS= 0.706, 0.821,-1.445, RAW= 27.4, -0.7, CAL= 27.0, -2.5, ROT= 123.0, 2.5 2025-01-08T23:39:45.298Z,1736379585.298 [DAT](INFO): got valid direction response: 23:39:43.3568 LVL= 15856, 15777, 17794, 21315, AGC= 56, IDX= 449,-0.23,-2.074,-1.918, 2.150,-2.692, PHS= 0.706, 0.821,-1.445, RAW= 27.4, -0.7, CAL= 27.0, -2.5, ROT= 123.0, 2.5 2025-01-08T23:39:45.323Z,1736379585.323 [DAT](INFO): DAT read: Bearing 123.0, 2.5 (Local) 2025-01-08T23:39:45.328Z,1736379585.328 [DAT](INFO): Local bearing/azimuth received: Bearing 123.0, 2.5 (Local) 2025-01-08T23:39:45.330Z,1736379585.330 [DAT](INFO): DAT read: Range 10 to 50 : 46.0 m (Round-trip 61.4 ms) speed -0.2 m/s 2025-01-08T23:39:45.331Z,1736379585.331 [DAT](INFO): DAT read: user:3422> 2025-01-08T23:39:45.337Z,1736379585.337 [DAT](INFO): DAT read: Tx time:23:39:44.4413 2025-01-08T23:39:45.337Z,1736379585.337 [DAT](INFO): Ping request sent. 2025-01-08T23:39:45.337Z,1736379585.337 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:45.338Z,1736379585.338 [DAT](INFO): DAT read: TxSync time:23:39:44.4405 2025-01-08T23:39:45.344Z,1736379585.344 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:39:45.346Z,1736379585.346 [DAT](INFO): direction in FSK: [0.051690,0.911139,0.408845] 2025-01-08T23:39:45.346Z,1736379585.346 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:45.346Z,1736379585.346 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:45.354Z,1736379585.354 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:45.354Z,1736379585.354 [DAT](INFO): publishing direction and range info 2025-01-08T23:39:45.532Z,1736379585.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:45.581Z,1736379585.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:45.611Z,1736379585.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.000000 m, deltaT: 3.782922 s, deltaX: 0.400002 m, approachRate: 0.105739 m/s, rangeRepo size: 4 2025-01-08T23:39:45.613Z,1736379585.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.000000 m, bearing: 107.548790 deg, lat: 36.905124 deg, lon: -122.119866 deg, deltaT: 14.368193 s, deltaX: -1.299999 m, approachRate: -0.090478 m/s, posRepo size: 4 2025-01-08T23:39:45.614Z,1736379585.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:45.622Z,1736379585.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 11.668148 m, bearing: 237.565838 deg, approach rate: 0.000000 m/s, LOS rate: -1.356779 deg/s, cmd heading: 358.792296 deg, new cmd heading: 357.097299 deg. 2025-01-08T23:39:45.623Z,1736379585.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232523 target range: 46.000000 and range: 46.00 m. 2025-01-08T23:39:45.784Z,1736379585.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:46.036Z,1736379586.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:46.096Z,1736379586.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:46.102Z,1736379586.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:46.112Z,1736379586.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 46.00 m. 2025-01-08T23:39:46.113Z,1736379586.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:46.117Z,1736379586.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 11.845741 m, bearing: 236.992318 deg, approach rate: 0.350876 m/s, LOS rate: -1.116116 deg/s, cmd heading: 357.097289 deg, new cmd heading: 355.403043 deg. 2025-01-08T23:39:46.118Z,1736379586.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202953 target range: 46.000000 and range: 46.00 m. 2025-01-08T23:39:46.288Z,1736379586.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:46.288Z,1736379586.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:46.288Z,1736379586.288 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:46.289Z,1736379586.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:46.491Z,1736379586.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:46.501Z,1736379586.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 46.00 m. 2025-01-08T23:39:46.502Z,1736379586.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:46.505Z,1736379586.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 12.012375 m, bearing: 236.558286 deg, approach rate: 0.428406 m/s, LOS rate: -1.100381 deg/s, cmd heading: 355.403047 deg, new cmd heading: 354.119242 deg. 2025-01-08T23:39:46.506Z,1736379586.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180547 target range: 46.000000 and range: 46.00 m. 2025-01-08T23:39:46.540Z,1736379586.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:46.540Z,1736379586.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.203255 2025-01-08T23:39:46.792Z,1736379586.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:46.792Z,1736379586.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.455044 2025-01-08T23:39:46.918Z,1736379586.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:46.927Z,1736379586.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 46.00 m. 2025-01-08T23:39:46.927Z,1736379586.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:46.930Z,1736379586.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 12.184273 m, bearing: 236.070673 deg, approach rate: 0.404303 m/s, LOS rate: -1.130669 deg/s, cmd heading: 354.119244 deg, new cmd heading: 352.677366 deg. 2025-01-08T23:39:46.931Z,1736379586.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.155381 target range: 46.000000 and range: 46.00 m. 2025-01-08T23:39:47.045Z,1736379587.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:47.046Z,1736379587.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.708557 2025-01-08T23:39:47.296Z,1736379587.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:47.297Z,1736379587.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959331 2025-01-08T23:39:47.353Z,1736379587.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:47.362Z,1736379587.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 46.00 m. 2025-01-08T23:39:47.362Z,1736379587.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:47.366Z,1736379587.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 12.375621 m, bearing: 235.622658 deg, approach rate: 0.439523 m/s, LOS rate: -1.013162 deg/s, cmd heading: 352.677364 deg, new cmd heading: 351.354347 deg. 2025-01-08T23:39:47.366Z,1736379587.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.132290 target range: 46.000000 and range: 46.00 m. 2025-01-08T23:39:47.548Z,1736379587.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:47.548Z,1736379587.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211050 2025-01-08T23:39:47.723Z,1736379587.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:47.733Z,1736379587.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 46.00 m. 2025-01-08T23:39:47.733Z,1736379587.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:47.737Z,1736379587.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 12.537263 m, bearing: 235.235309 deg, approach rate: 0.435941 m/s, LOS rate: -1.031183 deg/s, cmd heading: 351.354357 deg, new cmd heading: 350.207456 deg. 2025-01-08T23:39:47.738Z,1736379587.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.112273 target range: 46.000000 and range: 46.00 m. 2025-01-08T23:39:47.800Z,1736379587.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:47.802Z,1736379587.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464596 2025-01-08T23:39:48.052Z,1736379588.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:48.053Z,1736379588.053 [DAT](INFO): DAT read: Rx Time:23:39:46.9080 2025-01-08T23:39:48.054Z,1736379588.054 [DAT](INFO): Rx dataTimestamp_ set to:1736379588.053066 2025-01-08T23:39:48.056Z,1736379588.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717697 2025-01-08T23:39:48.169Z,1736379588.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:48.208Z,1736379588.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:48.226Z,1736379588.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:48.250Z,1736379588.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 12.727942 m, bearing: 234.769614 deg, approach rate: 0.388051 m/s, LOS rate: -0.933525 deg/s, cmd heading: 350.207459 deg, new cmd heading: 348.831582 deg. 2025-01-08T23:39:48.256Z,1736379588.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088260 target range: 46.000000 and range: 46.00 m. 2025-01-08T23:39:48.306Z,1736379588.306 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:48.307Z,1736379588.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970244 2025-01-08T23:39:48.556Z,1736379588.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:48.556Z,1736379588.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219205 2025-01-08T23:39:48.596Z,1736379588.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:48.608Z,1736379588.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 46.00 m. 2025-01-08T23:39:48.609Z,1736379588.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:48.616Z,1736379588.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 12.916677 m, bearing: 234.368298 deg, approach rate: 0.491377 m/s, LOS rate: -1.029562 deg/s, cmd heading: 348.831585 deg, new cmd heading: 347.645409 deg. 2025-01-08T23:39:48.617Z,1736379588.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067557 target range: 46.000000 and range: 46.00 m. 2025-01-08T23:39:48.809Z,1736379588.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:48.811Z,1736379588.811 [DAT](INFO): DAT read: Range 10 to 50 : 46.8 m (Round-trip 62.5 ms) speed -0.3 m/s 2025-01-08T23:39:48.812Z,1736379588.812 [DAT](INFO): DAT read: user:3423> 2025-01-08T23:39:48.813Z,1736379588.813 [DAT](INFO): DAT read: Tx time:23:39:47.9913 2025-01-08T23:39:48.813Z,1736379588.813 [DAT](INFO): Ping request sent. 2025-01-08T23:39:48.813Z,1736379588.813 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:48.814Z,1736379588.814 [DAT](INFO): DAT read: TxSync time:23:39:47.9905 2025-01-08T23:39:48.814Z,1736379588.814 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:39:48.814Z,1736379588.814 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:48.815Z,1736379588.815 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:48.949Z,1736379588.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:48.958Z,1736379588.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 3.525948 s, deltaX: 0.799999 m, approachRate: 0.226889 m/s, rangeRepo size: 4 2025-01-08T23:39:48.959Z,1736379588.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 46.80 m. 2025-01-08T23:39:48.960Z,1736379588.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:48.962Z,1736379588.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 13.091340 m, bearing: 233.989320 deg, approach rate: 0.499667 m/s, LOS rate: -1.069691 deg/s, cmd heading: 347.645400 deg, new cmd heading: 346.523786 deg. 2025-01-08T23:39:48.964Z,1736379588.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.047981 target range: 46.000000 and range: 46.80 m. 2025-01-08T23:39:49.060Z,1736379589.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:49.312Z,1736379589.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:49.365Z,1736379589.365 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 74.43, 72.39, 66.61 2025-01-08T23:39:49.373Z,1736379589.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:39:49.373Z,1736379589.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:49.383Z,1736379589.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:49.386Z,1736379589.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 13.286816 m, bearing: 233.578385 deg, approach rate: 0.460088 m/s, LOS rate: -0.952975 deg/s, cmd heading: 346.523774 deg, new cmd heading: 345.309296 deg. 2025-01-08T23:39:49.387Z,1736379589.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026784 target range: 46.000000 and range: 46.80 m. 2025-01-08T23:39:49.565Z,1736379589.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:49.752Z,1736379589.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:39:49.752Z,1736379589.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:49.761Z,1736379589.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:49.765Z,1736379589.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 13.458900 m, bearing: 233.188425 deg, approach rate: 0.454394 m/s, LOS rate: -1.016524 deg/s, cmd heading: 345.309284 deg, new cmd heading: 344.154528 deg. 2025-01-08T23:39:49.766Z,1736379589.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.006629 target range: 46.000000 and range: 46.80 m. 2025-01-08T23:39:49.816Z,1736379589.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:50.068Z,1736379590.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:50.157Z,1736379590.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:39:50.157Z,1736379590.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:50.166Z,1736379590.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:50.169Z,1736379590.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 13.641727 m, bearing: 232.765353 deg, approach rate: 0.451478 m/s, LOS rate: -1.030734 deg/s, cmd heading: 344.154518 deg, new cmd heading: 342.902524 deg. 2025-01-08T23:39:50.170Z,1736379590.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.984778 target range: 46.000000 and range: 46.80 m. 2025-01-08T23:39:50.320Z,1736379590.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:50.572Z,1736379590.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:50.619Z,1736379590.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:50.644Z,1736379590.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:50.649Z,1736379590.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 46.80 m. 2025-01-08T23:39:50.649Z,1736379590.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:50.659Z,1736379590.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 13.846843 m, bearing: 232.285542 deg, approach rate: 0.426739 m/s, LOS rate: -0.983439 deg/s, cmd heading: 342.902517 deg, new cmd heading: 341.484713 deg. 2025-01-08T23:39:50.665Z,1736379590.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960032 target range: 46.000000 and range: 46.80 m. 2025-01-08T23:39:50.824Z,1736379590.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:50.824Z,1736379590.824 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:50.824Z,1736379590.824 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:50.824Z,1736379590.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:50.979Z,1736379590.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:50.988Z,1736379590.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 46.80 m. 2025-01-08T23:39:50.988Z,1736379590.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:50.991Z,1736379590.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 14.005689 m, bearing: 231.907590 deg, approach rate: 0.466733 m/s, LOS rate: -1.097924 deg/s, cmd heading: 341.484706 deg, new cmd heading: 340.363860 deg. 2025-01-08T23:39:50.992Z,1736379590.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940470 target range: 46.000000 and range: 46.80 m. 2025-01-08T23:39:51.076Z,1736379591.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:51.077Z,1736379591.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263701 2025-01-08T23:39:51.328Z,1736379591.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:51.328Z,1736379591.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515464 2025-01-08T23:39:51.401Z,1736379591.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:51.429Z,1736379591.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 46.80 m. 2025-01-08T23:39:51.430Z,1736379591.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:51.437Z,1736379591.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 14.174074 m, bearing: 231.422694 deg, approach rate: 0.380796 m/s, LOS rate: -1.083530 deg/s, cmd heading: 340.363872 deg, new cmd heading: 338.926785 deg. 2025-01-08T23:39:51.438Z,1736379591.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915388 target range: 46.000000 and range: 46.80 m. 2025-01-08T23:39:51.580Z,1736379591.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:51.581Z,1736379591.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767500 2025-01-08T23:39:51.771Z,1736379591.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:51.797Z,1736379591.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 46.80 m. 2025-01-08T23:39:51.797Z,1736379591.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:51.804Z,1736379591.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 14.320738 m, bearing: 230.993921 deg, approach rate: 0.399414 m/s, LOS rate: -1.155724 deg/s, cmd heading: 338.926773 deg, new cmd heading: 337.653847 deg. 2025-01-08T23:39:51.805Z,1736379591.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.893171 target range: 46.000000 and range: 46.80 m. 2025-01-08T23:39:51.832Z,1736379591.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:51.833Z,1736379591.833 [DAT](INFO): DAT read: Rx Time:23:39:50.4594 2025-01-08T23:39:51.833Z,1736379591.833 [DAT](INFO): Rx dataTimestamp_ set to:1736379591.832789 2025-01-08T23:39:51.834Z,1736379591.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020580 2025-01-08T23:39:52.084Z,1736379592.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:52.084Z,1736379592.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271262 2025-01-08T23:39:52.185Z,1736379592.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:52.194Z,1736379592.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:52.197Z,1736379592.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 14.483107 m, bearing: 230.510227 deg, approach rate: 0.408968 m/s, LOS rate: -1.204637 deg/s, cmd heading: 337.653844 deg, new cmd heading: 336.219346 deg. 2025-01-08T23:39:52.198Z,1736379592.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868134 target range: 46.000000 and range: 46.80 m. 2025-01-08T23:39:52.337Z,1736379592.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:52.340Z,1736379592.340 [DAT](INFO): DAT read: Range 10 to 50 : 47.9 m (Round-trip 63.9 ms) speed -0.3 m/s 2025-01-08T23:39:52.341Z,1736379592.341 [DAT](INFO): DAT read: user:3424> 2025-01-08T23:39:52.342Z,1736379592.342 [DAT](INFO): DAT read: Tx time:23:39:51.5414 2025-01-08T23:39:52.342Z,1736379592.342 [DAT](INFO): Ping request sent. 2025-01-08T23:39:52.342Z,1736379592.342 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:52.343Z,1736379592.343 [DAT](INFO): DAT read: TxSync time:23:39:51.5406 2025-01-08T23:39:52.344Z,1736379592.344 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:39:52.344Z,1736379592.344 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:52.345Z,1736379592.345 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:52.588Z,1736379592.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:52.608Z,1736379592.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:52.618Z,1736379592.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.900002 m, deltaT: 3.529257 s, deltaX: 1.100002 m, approachRate: 0.311681 m/s, rangeRepo size: 4 2025-01-08T23:39:52.618Z,1736379592.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 47.90 m. 2025-01-08T23:39:52.619Z,1736379592.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:52.650Z,1736379592.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 14.625369 m, bearing: 229.976681 deg, approach rate: 0.335927 m/s, LOS rate: -1.247600 deg/s, cmd heading: 336.219340 deg, new cmd heading: 334.634699 deg. 2025-01-08T23:39:52.658Z,1736379592.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840477 target range: 46.000000 and range: 47.90 m. 2025-01-08T23:39:52.840Z,1736379592.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:52.984Z,1736379592.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:52.991Z,1736379592.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:52.993Z,1736379592.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 47.90 m. 2025-01-08T23:39:52.994Z,1736379592.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:53.013Z,1736379593.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 14.750649 m, bearing: 229.499854 deg, approach rate: 0.333401 m/s, LOS rate: -1.258156 deg/s, cmd heading: 334.634709 deg, new cmd heading: 333.216685 deg. 2025-01-08T23:39:53.014Z,1736379593.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815728 target range: 46.000000 and range: 47.90 m. 2025-01-08T23:39:53.092Z,1736379593.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:53.092Z,1736379593.092 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:53.092Z,1736379593.092 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:53.093Z,1736379593.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:53.344Z,1736379593.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:53.345Z,1736379593.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002780 2025-01-08T23:39:53.441Z,1736379593.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:53.450Z,1736379593.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 47.90 m. 2025-01-08T23:39:53.450Z,1736379593.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:53.453Z,1736379593.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 14.874829 m, bearing: 228.842632 deg, approach rate: 0.271666 m/s, LOS rate: -1.425758 deg/s, cmd heading: 333.216680 deg, new cmd heading: 331.262275 deg. 2025-01-08T23:39:53.454Z,1736379593.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781617 target range: 46.000000 and range: 47.90 m. 2025-01-08T23:39:53.596Z,1736379593.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:53.596Z,1736379593.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254318 2025-01-08T23:39:53.805Z,1736379593.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:53.833Z,1736379593.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 47.90 m. 2025-01-08T23:39:53.834Z,1736379593.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:53.837Z,1736379593.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 14.972022 m, bearing: 228.317324 deg, approach rate: 0.253553 m/s, LOS rate: -1.361488 deg/s, cmd heading: 331.262262 deg, new cmd heading: 329.696979 deg. 2025-01-08T23:39:53.838Z,1736379593.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754298 target range: 46.000000 and range: 47.90 m. 2025-01-08T23:39:53.848Z,1736379593.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:53.849Z,1736379593.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506870 2025-01-08T23:39:54.100Z,1736379594.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:54.101Z,1736379594.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758486 2025-01-08T23:39:54.211Z,1736379594.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:54.220Z,1736379594.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:54.222Z,1736379594.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.077980 m, bearing: 227.729593 deg, approach rate: 0.274484 m/s, LOS rate: -1.511792 deg/s, cmd heading: 329.696974 deg, new cmd heading: 327.946746 deg. 2025-01-08T23:39:54.224Z,1736379594.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723751 target range: 46.000000 and range: 47.90 m. 2025-01-08T23:39:54.352Z,1736379594.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:54.352Z,1736379594.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010394 2025-01-08T23:39:54.604Z,1736379594.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:54.604Z,1736379594.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262342 2025-01-08T23:39:54.642Z,1736379594.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:54.657Z,1736379594.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 47.90 m. 2025-01-08T23:39:54.658Z,1736379594.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:54.663Z,1736379594.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.169431 m, bearing: 227.036172 deg, approach rate: 0.208933 m/s, LOS rate: -1.574638 deg/s, cmd heading: 327.946752 deg, new cmd heading: 325.879978 deg. 2025-01-08T23:39:54.665Z,1736379594.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687679 target range: 46.000000 and range: 47.90 m. 2025-01-08T23:39:54.856Z,1736379594.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:54.857Z,1736379594.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514440 2025-01-08T23:39:55.020Z,1736379595.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:55.046Z,1736379595.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:55.053Z,1736379595.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 47.90 m. 2025-01-08T23:39:55.053Z,1736379595.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:55.064Z,1736379595.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.251185 m, bearing: 226.436809 deg, approach rate: 0.206636 m/s, LOS rate: -1.506754 deg/s, cmd heading: 325.879991 deg, new cmd heading: 324.092153 deg. 2025-01-08T23:39:55.065Z,1736379595.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656475 target range: 46.000000 and range: 47.90 m. 2025-01-08T23:39:55.108Z,1736379595.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:55.109Z,1736379595.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766539 2025-01-08T23:39:55.362Z,1736379595.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:55.364Z,1736379595.364 [DAT](INFO): DAT read: Rx Time:23:39:54.0111 2025-01-08T23:39:55.366Z,1736379595.366 [DAT](INFO): Rx dataTimestamp_ set to:1736379595.364923 2025-01-08T23:39:55.368Z,1736379595.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025948 2025-01-08T23:39:55.470Z,1736379595.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:55.480Z,1736379595.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 47.90 m. 2025-01-08T23:39:55.480Z,1736379595.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:55.483Z,1736379595.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.334405 m, bearing: 225.680502 deg, approach rate: 0.194846 m/s, LOS rate: -1.761114 deg/s, cmd heading: 324.092148 deg, new cmd heading: 321.836772 deg. 2025-01-08T23:39:55.484Z,1736379595.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617111 target range: 46.000000 and range: 47.90 m. 2025-01-08T23:39:55.612Z,1736379595.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:55.613Z,1736379595.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270446 2025-01-08T23:39:55.812Z,1736379595.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:55.839Z,1736379595.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 47.90 m. 2025-01-08T23:39:55.840Z,1736379595.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:55.843Z,1736379595.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.388017 m, bearing: 225.093145 deg, approach rate: 0.149149 m/s, LOS rate: -1.628321 deg/s, cmd heading: 321.836765 deg, new cmd heading: 320.081415 deg. 2025-01-08T23:39:55.844Z,1736379595.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586474 target range: 46.000000 and range: 47.90 m. 2025-01-08T23:39:55.864Z,1736379595.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:55.865Z,1736379595.865 [DAT](INFO): DAT read: Range 10 to 50 : 49.2 m (Round-trip 65.6 ms) speed -0.4 m/s 2025-01-08T23:39:55.866Z,1736379595.866 [DAT](INFO): DAT read: user:3425> 2025-01-08T23:39:55.867Z,1736379595.867 [DAT](INFO): DAT read: Tx time:23:39:55.0914 2025-01-08T23:39:55.871Z,1736379595.871 [DAT](INFO): Ping request sent. 2025-01-08T23:39:55.871Z,1736379595.871 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:55.871Z,1736379595.871 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:39:55.871Z,1736379595.871 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:55.872Z,1736379595.872 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:56.117Z,1736379596.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:56.120Z,1736379596.120 [DAT](INFO): DAT read: TxSync time:23:39:55.0906 2025-01-08T23:39:56.217Z,1736379596.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:56.235Z,1736379596.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 3.525933 s, deltaX: 1.299999 m, approachRate: 0.368697 m/s, rangeRepo size: 4 2025-01-08T23:39:56.236Z,1736379596.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 49.20 m. 2025-01-08T23:39:56.236Z,1736379596.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:56.239Z,1736379596.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.449236 m, bearing: 224.398816 deg, approach rate: 0.155354 m/s, LOS rate: -1.754949 deg/s, cmd heading: 320.081407 deg, new cmd heading: 318.007631 deg. 2025-01-08T23:39:56.240Z,1736379596.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.550280 target range: 46.000000 and range: 49.20 m. 2025-01-08T23:39:56.371Z,1736379596.371 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:56.620Z,1736379596.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:56.688Z,1736379596.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:56.705Z,1736379596.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:56.712Z,1736379596.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.513988 m, bearing: 223.575978 deg, approach rate: 0.137404 m/s, LOS rate: -1.738729 deg/s, cmd heading: 318.007625 deg, new cmd heading: 315.551003 deg. 2025-01-08T23:39:56.713Z,1736379596.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507404 target range: 46.000000 and range: 49.20 m. 2025-01-08T23:39:56.872Z,1736379596.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:57.037Z,1736379597.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:57.046Z,1736379597.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:57.049Z,1736379597.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.556575 m, bearing: 222.962743 deg, approach rate: 0.124863 m/s, LOS rate: -1.793005 deg/s, cmd heading: 315.550997 deg, new cmd heading: 313.716992 deg. 2025-01-08T23:39:57.050Z,1736379597.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475394 target range: 46.000000 and range: 49.20 m. 2025-01-08T23:39:57.128Z,1736379597.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:57.381Z,1736379597.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:57.632Z,1736379597.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:57.675Z,1736379597.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:57.699Z,1736379597.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:39:57.705Z,1736379597.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:57.712Z,1736379597.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.639619 m, bearing: 221.849415 deg, approach rate: 0.125923 m/s, LOS rate: -1.679109 deg/s, cmd heading: 313.716982 deg, new cmd heading: 310.398654 deg. 2025-01-08T23:39:57.713Z,1736379597.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.417479 target range: 46.000000 and range: 49.20 m. 2025-01-08T23:39:57.884Z,1736379597.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:57.884Z,1736379597.884 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:39:57.884Z,1736379597.884 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:39:57.884Z,1736379597.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:39:58.007Z,1736379598.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:58.017Z,1736379598.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:58.020Z,1736379598.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.678560 m, bearing: 221.267359 deg, approach rate: 0.124866 m/s, LOS rate: -1.861702 deg/s, cmd heading: 310.398657 deg, new cmd heading: 308.657394 deg. 2025-01-08T23:39:58.021Z,1736379598.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.387088 target range: 46.000000 and range: 49.20 m. 2025-01-08T23:39:58.136Z,1736379598.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:58.137Z,1736379598.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265764 2025-01-08T23:39:58.389Z,1736379598.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:58.392Z,1736379598.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520191 2025-01-08T23:39:58.459Z,1736379598.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:58.468Z,1736379598.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:58.471Z,1736379598.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.739674 m, bearing: 220.506914 deg, approach rate: 0.135462 m/s, LOS rate: -1.678988 deg/s, cmd heading: 308.657396 deg, new cmd heading: 306.386175 deg. 2025-01-08T23:39:58.472Z,1736379598.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.347447 target range: 46.000000 and range: 49.20 m. 2025-01-08T23:39:58.640Z,1736379598.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:58.640Z,1736379598.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769585 2025-01-08T23:39:58.803Z,1736379598.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:58.812Z,1736379598.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:58.831Z,1736379598.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.784928 m, bearing: 219.927901 deg, approach rate: 0.131519 m/s, LOS rate: -1.677874 deg/s, cmd heading: 306.386167 deg, new cmd heading: 304.654665 deg. 2025-01-08T23:39:58.832Z,1736379598.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317227 target range: 46.000000 and range: 49.20 m. 2025-01-08T23:39:58.894Z,1736379598.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:58.895Z,1736379598.895 [DAT](INFO): DAT read: Rx Time:23:39:57.5633 2025-01-08T23:39:58.895Z,1736379598.895 [DAT](INFO): Rx dataTimestamp_ set to:1736379598.894891 2025-01-08T23:39:58.896Z,1736379598.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025009 2025-01-08T23:39:59.144Z,1736379599.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:59.144Z,1736379599.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273469 2025-01-08T23:39:59.209Z,1736379599.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:59.229Z,1736379599.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:59.237Z,1736379599.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.000000 m, nav range: 15.836357 m, bearing: 219.245090 deg, approach rate: 0.123867 m/s, LOS rate: -1.639176 deg/s, cmd heading: 304.654659 deg, new cmd heading: 302.613790 deg. 2025-01-08T23:39:59.241Z,1736379599.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281607 target range: 46.000000 and range: 49.20 m. 2025-01-08T23:39:59.396Z,1736379599.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:59.403Z,1736379599.403 [DAT](INFO): DAT read: Range 10 to 50 : 50.8 m (Round-trip 67.8 ms) speed -0.6 m/s 2025-01-08T23:39:59.406Z,1736379599.406 [DAT](INFO): DAT read: user:3426> 2025-01-08T23:39:59.409Z,1736379599.409 [DAT](INFO): DAT read: Tx time:23:39:58.6414 2025-01-08T23:39:59.411Z,1736379599.411 [DAT](INFO): Ping request sent. 2025-01-08T23:39:59.411Z,1736379599.411 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:39:59.412Z,1736379599.412 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:39:59.413Z,1736379599.413 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:59.415Z,1736379599.415 [DAT](INFO): publishing transmit ping time 2025-01-08T23:39:59.639Z,1736379599.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:39:59.648Z,1736379599.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:39:59.650Z,1736379599.650 [DAT](INFO): DAT read: TxSync time:23:39:58.6406 2025-01-08T23:39:59.684Z,1736379599.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.799999 m, deltaT: 3.534194 s, deltaX: 1.599998 m, approachRate: 0.452719 m/s, rangeRepo size: 4 2025-01-08T23:39:59.685Z,1736379599.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:39:59.686Z,1736379599.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 50.80 m. Rolling out. 2025-01-08T23:39:59.686Z,1736379599.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-01-08T23:39:59.717Z,1736379599.717 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T23:39:59.717Z,1736379599.717 [DockingStepper](INFO): Standby mode. 2025-01-08T23:39:59.780Z,1736379599.780 [DockingStepper](INFO): Commanding positive:54389 2025-01-08T23:39:59.900Z,1736379599.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:00.033Z,1736379600.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:00.039Z,1736379600.039 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-01-08T23:40:00.039Z,1736379600.039 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T23:40:00.039Z,1736379600.039 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-01-08T23:40:00.041Z,1736379600.041 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 50.799999 m (mode 5.000000 count ). 2025-01-08T23:40:00.041Z,1736379600.041 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-01-08T23:40:00.041Z,1736379600.041 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-01-08T23:40:00.042Z,1736379600.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:40:00.045Z,1736379600.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:00.047Z,1736379600.047 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-01-08T23:40:00.047Z,1736379600.047 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T23:40:00.048Z,1736379600.048 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-01-08T23:40:00.048Z,1736379600.048 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-01-08T23:40:00.152Z,1736379600.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:00.152Z,1736379600.152 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:40:00.153Z,1736379600.153 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:40:00.153Z,1736379600.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:40:00.405Z,1736379600.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:00.408Z,1736379600.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997206 2025-01-08T23:40:00.481Z,1736379600.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:00.488Z,1736379600.488 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-01-08T23:40:00.488Z,1736379600.488 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-01-08T23:40:00.490Z,1736379600.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:00.656Z,1736379600.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:00.657Z,1736379600.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246545 2025-01-08T23:40:00.837Z,1736379600.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:00.844Z,1736379600.844 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-01-08T23:40:00.844Z,1736379600.844 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-01-08T23:40:00.847Z,1736379600.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:00.908Z,1736379600.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:00.908Z,1736379600.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498034 2025-01-08T23:40:01.160Z,1736379601.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:01.160Z,1736379601.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749956 2025-01-08T23:40:01.241Z,1736379601.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:01.252Z,1736379601.252 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-01-08T23:40:01.252Z,1736379601.252 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T23:40:01.252Z,1736379601.252 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-01-08T23:40:01.252Z,1736379601.252 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T23:40:01.255Z,1736379601.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:01.414Z,1736379601.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:01.416Z,1736379601.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005125 2025-01-08T23:40:01.665Z,1736379601.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:01.668Z,1736379601.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256565 2025-01-08T23:40:01.718Z,1736379601.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:01.728Z,1736379601.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:01.916Z,1736379601.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:01.916Z,1736379601.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505983 2025-01-08T23:40:02.055Z,1736379602.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:02.088Z,1736379602.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:02.168Z,1736379602.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:02.169Z,1736379602.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758238 2025-01-08T23:40:02.421Z,1736379602.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:02.423Z,1736379602.423 [DAT](INFO): DAT read: Rx Time:23:40:01.1159 2025-01-08T23:40:02.425Z,1736379602.425 [DAT](INFO): Rx dataTimestamp_ set to:1736379602.423842 2025-01-08T23:40:02.427Z,1736379602.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015592 2025-01-08T23:40:02.546Z,1736379602.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:02.555Z,1736379602.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:02.672Z,1736379602.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:02.673Z,1736379602.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262849 2025-01-08T23:40:02.924Z,1736379602.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:02.925Z,1736379602.925 [DAT](INFO): DAT read: Range 10 to 50 : 52.7 m (Round-trip 70.3 ms) speed -0.4 m/s 2025-01-08T23:40:02.927Z,1736379602.927 [DAT](INFO): DAT read: user:3427> 2025-01-08T23:40:02.928Z,1736379602.928 [DAT](INFO): DAT read: Tx time:23:40:02.1915 2025-01-08T23:40:02.928Z,1736379602.928 [DAT](INFO): Ping request sent. 2025-01-08T23:40:02.928Z,1736379602.928 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:40:02.929Z,1736379602.929 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:40:02.929Z,1736379602.929 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:02.929Z,1736379602.929 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:02.934Z,1736379602.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:02.943Z,1736379602.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.700001 m, deltaT: 3.525851 s, deltaX: 1.900002 m, approachRate: 0.538877 m/s, rangeRepo size: 4 2025-01-08T23:40:02.944Z,1736379602.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:03.176Z,1736379603.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:03.176Z,1736379603.176 [DAT](INFO): DAT read: TxSync time:23:40:02.1907 2025-01-08T23:40:03.330Z,1736379603.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:03.354Z,1736379603.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:03.429Z,1736379603.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:03.682Z,1736379603.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:03.778Z,1736379603.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:03.791Z,1736379603.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:03.937Z,1736379603.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:04.146Z,1736379604.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:04.154Z,1736379604.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:04.188Z,1736379604.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:04.441Z,1736379604.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:04.580Z,1736379604.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:04.596Z,1736379604.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:04.692Z,1736379604.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:04.945Z,1736379604.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:04.981Z,1736379604.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:04.989Z,1736379604.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:05.196Z,1736379605.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:05.351Z,1736379605.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:05.360Z,1736379605.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:05.448Z,1736379605.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:05.700Z,1736379605.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:05.777Z,1736379605.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:05.815Z,1736379605.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:05.952Z,1736379605.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:05.953Z,1736379605.953 [DAT](INFO): DAT read: Rx Time:23:40:04.6676 2025-01-08T23:40:05.953Z,1736379605.953 [DAT](INFO): Rx dataTimestamp_ set to:1736379605.952789 2025-01-08T23:40:05.996Z,1736379605.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:40:06.154Z,1736379606.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:06.188Z,1736379606.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:06.205Z,1736379606.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:06.457Z,1736379606.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:06.463Z,1736379606.463 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (Round-trip 72.0 ms) speed 0.0 m/s 2025-01-08T23:40:06.466Z,1736379606.466 [DAT](INFO): DAT read: user:3428> 2025-01-08T23:40:06.468Z,1736379606.468 [DAT](INFO): DAT read: Tx time:23:40:05.7415 2025-01-08T23:40:06.470Z,1736379606.470 [DAT](INFO): Ping request sent. 2025-01-08T23:40:06.470Z,1736379606.470 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:40:06.471Z,1736379606.471 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-01-08T23:40:06.506Z,1736379606.506 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:06.509Z,1736379606.509 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:06.665Z,1736379606.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:06.696Z,1736379606.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.534089 s, deltaX: 1.299999 m, approachRate: 0.367846 m/s, rangeRepo size: 4 2025-01-08T23:40:06.696Z,1736379606.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:06.708Z,1736379606.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:06.709Z,1736379606.709 [DAT](INFO): DAT read: TxSync time:23:40:05.7407 2025-01-08T23:40:06.960Z,1736379606.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:06.982Z,1736379606.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:06.996Z,1736379606.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:06.000Z,1736379607.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:40:07.212Z,1736379607.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:07.369Z,1736379607.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:07.398Z,1736379607.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:07.464Z,1736379607.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:07.716Z,1736379607.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:07.819Z,1736379607.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:07.836Z,1736379607.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:07.968Z,1736379607.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:08.189Z,1736379608.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:08.198Z,1736379608.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:08.220Z,1736379608.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:08.472Z,1736379608.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:08.615Z,1736379608.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:08.624Z,1736379608.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:08.724Z,1736379608.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:08.976Z,1736379608.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:09.042Z,1736379609.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:09.068Z,1736379609.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:09.228Z,1736379609.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:09.453Z,1736379609.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:09.480Z,1736379609.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:09.481Z,1736379609.481 [DAT](INFO): DAT read: Rx Time:23:40:08.2189 2025-01-08T23:40:09.481Z,1736379609.481 [DAT](INFO): Rx dataTimestamp_ set to:1736379609.480742 2025-01-08T23:40:09.483Z,1736379609.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:09.732Z,1736379609.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:09.888Z,1736379609.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:09.898Z,1736379609.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:09.984Z,1736379609.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:09.987Z,1736379609.987 [DAT](INFO): DAT read: Range 10 to 50 : 54.9 m (Round-trip 73.3 ms) speed -0.2 m/s 2025-01-08T23:40:09.989Z,1736379609.989 [DAT](INFO): DAT read: user:3429> 2025-01-08T23:40:09.990Z,1736379609.990 [DAT](INFO): DAT read: Tx time:23:40:09.3415 2025-01-08T23:40:09.990Z,1736379609.990 [DAT](INFO): Ping request sent. 2025-01-08T23:40:09.990Z,1736379609.990 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:40:09.990Z,1736379609.990 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-01-08T23:40:09.991Z,1736379609.991 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:09.992Z,1736379609.992 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:10.236Z,1736379610.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:10.237Z,1736379610.237 [DAT](INFO): DAT read: TxSync time:23:40:09.3407 2025-01-08T23:40:10.256Z,1736379610.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:10.266Z,1736379610.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 3.526908 s, deltaX: 0.900002 m, approachRate: 0.255181 m/s, rangeRepo size: 4 2025-01-08T23:40:10.267Z,1736379610.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:10.488Z,1736379610.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:10.720Z,1736379610.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:10.740Z,1736379610.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:10.750Z,1736379610.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:10.992Z,1736379610.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:11.151Z,1736379611.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:11.172Z,1736379611.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:11.245Z,1736379611.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:11.496Z,1736379611.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:11.581Z,1736379611.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:11.628Z,1736379611.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:11.749Z,1736379611.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:11.974Z,1736379611.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:11.000Z,1736379612.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:12.003Z,1736379612.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:12.252Z,1736379612.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:12.355Z,1736379612.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:12.377Z,1736379612.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:12.504Z,1736379612.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:12.756Z,1736379612.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:12.795Z,1736379612.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:12.804Z,1736379612.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:13.008Z,1736379613.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:13.008Z,1736379613.008 [DAT](INFO): DAT read: Rx Time:23:40:11.8200 2025-01-08T23:40:13.009Z,1736379613.009 [DAT](INFO): Rx dataTimestamp_ set to:1736379613.008555 2025-01-08T23:40:13.196Z,1736379613.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:13.204Z,1736379613.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:13.261Z,1736379613.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:13.512Z,1736379613.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:13.516Z,1736379613.516 [DAT](INFO): DAT read: Range 10 to 50 : 55.8 m (Round-trip 74.4 ms) speed -0.3 m/s 2025-01-08T23:40:13.517Z,1736379613.517 [DAT](INFO): DAT read: user:3430> 2025-01-08T23:40:13.518Z,1736379613.518 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-01-08T23:40:13.653Z,1736379613.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:13.689Z,1736379613.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 55.799999 m, deltaT: 3.527867 s, deltaX: 0.899998 m, approachRate: 0.255111 m/s, rangeRepo size: 4 2025-01-08T23:40:13.690Z,1736379613.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:13.764Z,1736379613.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:13.765Z,1736379613.765 [DAT](INFO): DAT read: Tx time:23:40:12.9415 2025-01-08T23:40:13.765Z,1736379613.765 [DAT](INFO): Ping request sent. 2025-01-08T23:40:13.765Z,1736379613.765 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:40:13.766Z,1736379613.766 [DAT](INFO): DAT read: TxSync time:23:40:12.9407 2025-01-08T23:40:13.766Z,1736379613.766 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:14.016Z,1736379614.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:14.129Z,1736379614.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:14.142Z,1736379614.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:14.268Z,1736379614.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:14.500Z,1736379614.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:14.517Z,1736379614.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:14.521Z,1736379614.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:14.772Z,1736379614.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:14.923Z,1736379614.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:14.979Z,1736379614.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:15.024Z,1736379615.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:15.276Z,1736379615.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:15.301Z,1736379615.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:15.309Z,1736379615.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:15.528Z,1736379615.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:15.732Z,1736379615.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:15.741Z,1736379615.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:15.780Z,1736379615.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:16.032Z,1736379616.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:16.119Z,1736379616.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:16.129Z,1736379616.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:16.284Z,1736379616.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:16.495Z,1736379616.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:16.508Z,1736379616.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:16.537Z,1736379616.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:16.788Z,1736379616.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:16.788Z,1736379616.788 [DAT](INFO): DAT read: Rx Time:23:40:15.4211 2025-01-08T23:40:16.789Z,1736379616.789 [DAT](INFO): Rx dataTimestamp_ set to:1736379616.788627 2025-01-08T23:40:16.933Z,1736379616.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:16.942Z,1736379616.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:17.040Z,1736379617.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:17.292Z,1736379617.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:17.294Z,1736379617.294 [DAT](INFO): DAT read: Range 10 to 50 : 56.5 m (Round-trip 75.4 ms) speed 0.0 m/s 2025-01-08T23:40:17.295Z,1736379617.295 [DAT](INFO): DAT read: user:3431> 2025-01-08T23:40:17.296Z,1736379617.296 [DAT](INFO): DAT read: Tx time:23:40:16.5416 2025-01-08T23:40:17.296Z,1736379617.296 [DAT](INFO): Ping request sent. 2025-01-08T23:40:17.296Z,1736379617.296 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:40:17.296Z,1736379617.296 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-01-08T23:40:17.296Z,1736379617.296 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:17.297Z,1736379617.297 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:17.309Z,1736379617.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:17.359Z,1736379617.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.500000 m, deltaT: 3.779003 s, deltaX: 0.700001 m, approachRate: 0.185234 m/s, rangeRepo size: 4 2025-01-08T23:40:17.361Z,1736379617.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:17.544Z,1736379617.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:17.546Z,1736379617.546 [DAT](INFO): DAT read: TxSync time:23:40:16.5408 2025-01-08T23:40:17.750Z,1736379617.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:17.758Z,1736379617.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:17.796Z,1736379617.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:18.048Z,1736379618.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:18.129Z,1736379618.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:18.138Z,1736379618.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:18.302Z,1736379618.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:18.539Z,1736379618.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:18.548Z,1736379618.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:18.552Z,1736379618.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:18.804Z,1736379618.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:18.955Z,1736379618.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:18.965Z,1736379618.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:19.056Z,1736379619.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:19.308Z,1736379619.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:19.352Z,1736379619.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:19.364Z,1736379619.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:19.561Z,1736379619.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:19.783Z,1736379619.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:19.792Z,1736379619.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:19.812Z,1736379619.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:20.064Z,1736379620.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:20.152Z,1736379620.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:20.163Z,1736379620.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:20.316Z,1736379620.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:20.316Z,1736379620.316 [DAT](INFO): DAT read: Rx Time:23:40:19.0217 2025-01-08T23:40:20.317Z,1736379620.317 [DAT](INFO): Rx dataTimestamp_ set to:1736379620.316594 2025-01-08T23:40:20.554Z,1736379620.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:20.564Z,1736379620.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:20.568Z,1736379620.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:20.820Z,1736379620.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:20.821Z,1736379620.821 [DAT](INFO): DAT read: Range 10 to 50 : 57.0 m (Round-trip 76.0 ms) speed 0.0 m/s 2025-01-08T23:40:20.822Z,1736379620.822 [DAT](INFO): DAT read: user:3432> 2025-01-08T23:40:20.823Z,1736379620.823 [DAT](INFO): DAT read: Tx time:23:40:20.1416 2025-01-08T23:40:20.823Z,1736379620.823 [DAT](INFO): Ping request sent. 2025-01-08T23:40:20.823Z,1736379620.823 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:40:20.824Z,1736379620.824 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-08T23:40:20.824Z,1736379620.824 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:20.824Z,1736379620.824 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:20.986Z,1736379620.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:20.997Z,1736379620.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.000000 m, deltaT: 3.528051 s, deltaX: 0.500000 m, approachRate: 0.141721 m/s, rangeRepo size: 4 2025-01-08T23:40:20.997Z,1736379620.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:21.072Z,1736379621.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:21.073Z,1736379621.073 [DAT](INFO): DAT read: TxSync time:23:40:20.1408 2025-01-08T23:40:21.324Z,1736379621.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:21.371Z,1736379621.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:21.387Z,1736379621.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:21.576Z,1736379621.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:21.799Z,1736379621.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:21.808Z,1736379621.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:21.828Z,1736379621.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:22.080Z,1736379622.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:22.172Z,1736379622.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:22.182Z,1736379622.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:22.332Z,1736379622.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:22.580Z,1736379622.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:22.584Z,1736379622.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:22.589Z,1736379622.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:22.836Z,1736379622.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:23.004Z,1736379623.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:23.014Z,1736379623.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:23.088Z,1736379623.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:23.340Z,1736379623.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:23.380Z,1736379623.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:23.405Z,1736379623.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:23.592Z,1736379623.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:23.832Z,1736379623.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:23.840Z,1736379623.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:23.844Z,1736379623.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:23.845Z,1736379623.845 [DAT](INFO): DAT read: Rx Time:23:40:22.6224 2025-01-08T23:40:23.845Z,1736379623.845 [DAT](INFO): Rx dataTimestamp_ set to:1736379623.845202 2025-01-08T23:40:24.096Z,1736379624.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:24.193Z,1736379624.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:24.209Z,1736379624.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:24.348Z,1736379624.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:24.349Z,1736379624.349 [DAT](INFO): DAT read: Range 10 to 50 : 57.5 m (Round-trip 76.7 ms) speed -0.1 m/s 2025-01-08T23:40:24.350Z,1736379624.350 [DAT](INFO): DAT read: user:3433> 2025-01-08T23:40:24.351Z,1736379624.351 [DAT](INFO): DAT read: Tx time:23:40:23.7416 2025-01-08T23:40:24.351Z,1736379624.351 [DAT](INFO): Ping request sent. 2025-01-08T23:40:24.351Z,1736379624.351 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:40:24.352Z,1736379624.352 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-01-08T23:40:24.352Z,1736379624.352 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:24.352Z,1736379624.352 [DAT](INFO): publishing transmit ping time 2025-01-08T23:40:24.600Z,1736379624.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:24.601Z,1736379624.601 [DAT](INFO): DAT read: TxSync time:23:40:23.7408 2025-01-08T23:40:24.623Z,1736379624.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:24.637Z,1736379624.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.500000 m, deltaT: 3.528055 s, deltaX: 0.500000 m, approachRate: 0.141721 m/s, rangeRepo size: 4 2025-01-08T23:40:24.637Z,1736379624.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:24.852Z,1736379624.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:25.023Z,1736379625.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:25.033Z,1736379625.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:25.104Z,1736379625.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:25.356Z,1736379625.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:25.401Z,1736379625.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:25.422Z,1736379625.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:25.608Z,1736379625.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:25.860Z,1736379625.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:25.869Z,1736379625.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:25.902Z,1736379625.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:26.112Z,1736379626.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:26.225Z,1736379626.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:26.236Z,1736379626.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:26.364Z,1736379626.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:26.617Z,1736379626.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:26.626Z,1736379626.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:26.648Z,1736379626.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:26.868Z,1736379626.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:27.045Z,1736379627.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:27.054Z,1736379627.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:27.122Z,1736379627.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:27.372Z,1736379627.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:27.372Z,1736379627.372 [DAT](INFO): DAT read: Rx Time:23:40:26.2232 2025-01-08T23:40:27.373Z,1736379627.373 [DAT](INFO): Rx dataTimestamp_ set to:1736379627.372613 2025-01-08T23:40:27.444Z,1736379627.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:27.462Z,1736379627.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:27.624Z,1736379627.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:27.876Z,1736379627.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:27.933Z,1736379627.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:27.946Z,1736379627.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:28.128Z,1736379628.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:28.131Z,1736379628.131 [DAT](INFO): DAT read: Range 10 to 50 : 58.1 m (Round-trip 77.5 ms) speed -0.1 m/s 2025-01-08T23:40:28.132Z,1736379628.132 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-01-08T23:40:28.346Z,1736379628.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:28.356Z,1736379628.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.099998 m, deltaT: 3.781050 s, deltaX: 0.599998 m, approachRate: 0.158686 m/s, rangeRepo size: 4 2025-01-08T23:40:28.357Z,1736379628.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:28.380Z,1736379628.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:28.632Z,1736379628.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:28.775Z,1736379628.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:28.785Z,1736379628.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:28.886Z,1736379628.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:29.136Z,1736379629.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:29.164Z,1736379629.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:29.197Z,1736379629.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:29.388Z,1736379629.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:29.555Z,1736379629.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:29.566Z,1736379629.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:29.640Z,1736379629.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:29.893Z,1736379629.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:30.000Z,1736379630.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:30.033Z,1736379630.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:30.145Z,1736379630.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:30.355Z,1736379630.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:30.365Z,1736379630.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:30.396Z,1736379630.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:30.648Z,1736379630.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:30.766Z,1736379630.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:30.775Z,1736379630.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:30.901Z,1736379630.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:31.152Z,1736379631.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:31.188Z,1736379631.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:31.199Z,1736379631.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:31.404Z,1736379631.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:31.576Z,1736379631.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:31.585Z,1736379631.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:31.658Z,1736379631.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:31.909Z,1736379631.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:32.008Z,1736379632.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:32.017Z,1736379632.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:32.160Z,1736379632.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:32.380Z,1736379632.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:32.389Z,1736379632.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:32.412Z,1736379632.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:32.664Z,1736379632.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:32.784Z,1736379632.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:32.798Z,1736379632.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:32.917Z,1736379632.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:33.168Z,1736379633.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:33.226Z,1736379633.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:33.236Z,1736379633.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:33.420Z,1736379633.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:33.588Z,1736379633.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:33.597Z,1736379633.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:33.673Z,1736379633.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:33.925Z,1736379633.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:34.022Z,1736379634.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:34.031Z,1736379634.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:34.176Z,1736379634.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:34.418Z,1736379634.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:34.428Z,1736379634.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:34.429Z,1736379634.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:34.680Z,1736379634.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:34.810Z,1736379634.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:34.819Z,1736379634.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:34.933Z,1736379634.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:35.184Z,1736379635.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:35.218Z,1736379635.218 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00 +0.00, 20.00,2709.81 2025-01-08T23:40:35.248Z,1736379635.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:40:35.248Z,1736379635.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:35.257Z,1736379635.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:35.436Z,1736379635.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:35.612Z,1736379635.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:40:35.613Z,1736379635.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:35.622Z,1736379635.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:35.692Z,1736379635.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:35.945Z,1736379635.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:36.045Z,1736379636.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:36.053Z,1736379636.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:36.196Z,1736379636.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:36.418Z,1736379636.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:36.428Z,1736379636.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:36.448Z,1736379636.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:36.700Z,1736379636.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:36.825Z,1736379636.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:36.839Z,1736379636.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:36.953Z,1736379636.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:37.120Z,1736379637.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:40:37.204Z,1736379637.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:37.265Z,1736379637.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:37.273Z,1736379637.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:37.456Z,1736379637.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:37.629Z,1736379637.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:37.637Z,1736379637.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:37.708Z,1736379637.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:37.961Z,1736379637.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:38.054Z,1736379638.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:38.084Z,1736379638.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:38.124Z,1736379638.124 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:40:38.212Z,1736379638.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:38.455Z,1736379638.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:38.464Z,1736379638.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:38.466Z,1736379638.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:38.716Z,1736379638.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:38.872Z,1736379638.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:38.881Z,1736379638.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:38.968Z,1736379638.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:39.220Z,1736379639.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:39.321Z,1736379639.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:39.338Z,1736379639.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:39.472Z,1736379639.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:39.725Z,1736379639.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:39.740Z,1736379639.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:39.750Z,1736379639.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:39.978Z,1736379639.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:40.166Z,1736379640.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:40.174Z,1736379640.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:40.228Z,1736379640.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:40.480Z,1736379640.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:40.548Z,1736379640.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:40.575Z,1736379640.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:40.732Z,1736379640.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:40.984Z,1736379640.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:40.993Z,1736379640.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:41.032Z,1736379641.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:41.237Z,1736379641.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:41.481Z,1736379641.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:41.488Z,1736379641.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:41.491Z,1736379641.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:41.740Z,1736379641.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:41.883Z,1736379641.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:41.892Z,1736379641.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:41.992Z,1736379641.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:42.244Z,1736379642.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:42.317Z,1736379642.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:42.325Z,1736379642.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:42.496Z,1736379642.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:42.720Z,1736379642.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:42.731Z,1736379642.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:42.748Z,1736379642.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:43.000Z,1736379643.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:43.146Z,1736379643.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:43.155Z,1736379643.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:43.253Z,1736379643.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:43.504Z,1736379643.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:43.543Z,1736379643.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:43.552Z,1736379643.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:43.756Z,1736379643.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:43.938Z,1736379643.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:43.962Z,1736379643.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:44.009Z,1736379644.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:44.260Z,1736379644.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:44.455Z,1736379644.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:44.481Z,1736379644.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:44.512Z,1736379644.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:44.764Z,1736379644.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:44.791Z,1736379644.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:44.801Z,1736379644.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:45.016Z,1736379645.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:45.190Z,1736379645.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:45.224Z,1736379645.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:45.268Z,1736379645.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:45.520Z,1736379645.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:45.575Z,1736379645.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:45.584Z,1736379645.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:45.773Z,1736379645.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:45.985Z,1736379645.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:45.998Z,1736379645.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:46.024Z,1736379646.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:46.276Z,1736379646.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:46.431Z,1736379646.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:46.440Z,1736379646.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:46.529Z,1736379646.529 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:46.781Z,1736379646.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:46.826Z,1736379646.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:46.836Z,1736379646.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:47.032Z,1736379647.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:47.221Z,1736379647.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:47.262Z,1736379647.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:47.284Z,1736379647.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:47.536Z,1736379647.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:47.608Z,1736379647.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:47.618Z,1736379647.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:47.788Z,1736379647.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:48.027Z,1736379648.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:48.036Z,1736379648.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:48.043Z,1736379648.043 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:48.292Z,1736379648.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:48.462Z,1736379648.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:48.479Z,1736379648.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:48.544Z,1736379648.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:48.796Z,1736379648.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:48.864Z,1736379648.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:48.872Z,1736379648.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:49.048Z,1736379649.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:49.300Z,1736379649.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:49.333Z,1736379649.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:49.349Z,1736379649.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:49.552Z,1736379649.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:49.662Z,1736379649.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:49.696Z,1736379649.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:49.804Z,1736379649.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:50.056Z,1736379650.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:50.065Z,1736379650.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:50.077Z,1736379650.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:50.308Z,1736379650.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:50.499Z,1736379650.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:50.508Z,1736379650.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:50.561Z,1736379650.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:50.812Z,1736379650.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:50.868Z,1736379650.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:50.878Z,1736379650.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:51.066Z,1736379651.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:51.295Z,1736379651.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:51.316Z,1736379651.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:51.331Z,1736379651.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:51.568Z,1736379651.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:51.740Z,1736379651.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:51.749Z,1736379651.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:51.820Z,1736379651.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:52.072Z,1736379652.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:52.153Z,1736379652.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:52.225Z,1736379652.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:52.324Z,1736379652.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:52.576Z,1736379652.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:52.636Z,1736379652.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:52.646Z,1736379652.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:52.828Z,1736379652.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:53.013Z,1736379653.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:53.021Z,1736379653.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:53.080Z,1736379653.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:53.332Z,1736379653.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:53.428Z,1736379653.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:53.436Z,1736379653.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:53.584Z,1736379653.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:53.820Z,1736379653.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:53.829Z,1736379653.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:53.836Z,1736379653.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:54.088Z,1736379654.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:54.293Z,1736379654.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:54.302Z,1736379654.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:54.340Z,1736379654.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:54.592Z,1736379654.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:54.657Z,1736379654.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:54.670Z,1736379654.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:54.844Z,1736379654.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:55.040Z,1736379655.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:55.048Z,1736379655.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:55.096Z,1736379655.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:55.348Z,1736379655.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:55.490Z,1736379655.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:55.500Z,1736379655.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:55.600Z,1736379655.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:55.852Z,1736379655.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:55.884Z,1736379655.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:55.913Z,1736379655.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:56.105Z,1736379656.105 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:56.325Z,1736379656.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:56.338Z,1736379656.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:56.356Z,1736379656.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:56.608Z,1736379656.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:56.708Z,1736379656.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:56.718Z,1736379656.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:56.860Z,1736379656.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:57.088Z,1736379657.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:57.113Z,1736379657.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:57.124Z,1736379657.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:57.364Z,1736379657.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:57.533Z,1736379657.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:57.546Z,1736379657.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:57.616Z,1736379657.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:57.868Z,1736379657.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:57.919Z,1736379657.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:57.928Z,1736379657.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:58.120Z,1736379658.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:58.369Z,1736379658.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:58.372Z,1736379658.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:58.380Z,1736379658.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:58.624Z,1736379658.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:58.729Z,1736379658.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:58.738Z,1736379658.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:58.876Z,1736379658.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:59.122Z,1736379659.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:59.128Z,1736379659.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:59.149Z,1736379659.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:59.380Z,1736379659.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:59.574Z,1736379659.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:40:59.601Z,1736379659.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:40:59.632Z,1736379659.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:40:59.885Z,1736379659.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:00.019Z,1736379660.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:00.031Z,1736379660.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:00.137Z,1736379660.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:00.388Z,1736379660.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:00.442Z,1736379660.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:00.451Z,1736379660.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:41:00.453Z,1736379660.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:00.640Z,1736379660.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:00.640Z,1736379660.640 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:41:00.640Z,1736379660.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:41:00.802Z,1736379660.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:00.812Z,1736379660.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:00.894Z,1736379660.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:00.895Z,1736379660.895 [DAT](INFO): DAT read: user:3434> 2025-01-08T23:41:00.896Z,1736379660.896 [DAT](INFO): DAT read: Tx time:23:41:00.0919 2025-01-08T23:41:00.897Z,1736379660.897 [DAT](INFO): Ping request sent. 2025-01-08T23:41:00.897Z,1736379660.897 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:41:00.898Z,1736379660.898 [DAT](INFO): DAT read: TxSync time:23:41:00.0912 2025-01-08T23:41:00.898Z,1736379660.898 [DAT](INFO): publishing transmit ping time 2025-01-08T23:41:00.900Z,1736379660.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003169 2025-01-08T23:41:01.144Z,1736379661.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:01.144Z,1736379661.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247630 2025-01-08T23:41:01.214Z,1736379661.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:01.223Z,1736379661.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:01.396Z,1736379661.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:01.396Z,1736379661.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499745 2025-01-08T23:41:01.648Z,1736379661.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:01.649Z,1736379661.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752650 2025-01-08T23:41:01.671Z,1736379661.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:01.709Z,1736379661.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:01.900Z,1736379661.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:01.901Z,1736379661.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003900 2025-01-08T23:41:02.132Z,1736379662.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:02.143Z,1736379662.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:02.152Z,1736379662.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:02.152Z,1736379662.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255606 2025-01-08T23:41:02.406Z,1736379662.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:02.407Z,1736379662.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510034 2025-01-08T23:41:02.553Z,1736379662.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:02.591Z,1736379662.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:02.661Z,1736379662.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:02.661Z,1736379662.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764766 2025-01-08T23:41:02.912Z,1736379662.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:02.912Z,1736379662.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015642 2025-01-08T23:41:02.988Z,1736379662.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:02.998Z,1736379662.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:03.164Z,1736379663.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:03.164Z,1736379663.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267766 2025-01-08T23:41:03.416Z,1736379663.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:03.416Z,1736379663.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519723 2025-01-08T23:41:03.464Z,1736379663.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:03.480Z,1736379663.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:03.669Z,1736379663.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:03.670Z,1736379663.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773211 2025-01-08T23:41:03.858Z,1736379663.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:03.883Z,1736379663.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:03.921Z,1736379663.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:03.922Z,1736379663.922 [DAT](INFO): DAT read: Rx Time:23:41:02.5767 2025-01-08T23:41:03.922Z,1736379663.922 [DAT](INFO): Rx dataTimestamp_ set to:1736379663.921777 2025-01-08T23:41:03.923Z,1736379663.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025893 2025-01-08T23:41:04.172Z,1736379664.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:04.172Z,1736379664.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275607 2025-01-08T23:41:04.298Z,1736379664.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:04.310Z,1736379664.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:04.424Z,1736379664.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:04.425Z,1736379664.425 [DAT](INFO): DAT read: Range 10 to 50 : 60.4 m (Round-trip 80.6 ms) speed 0.0 m/s 2025-01-08T23:41:04.426Z,1736379664.426 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:41:04.676Z,1736379664.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:04.740Z,1736379664.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:04.776Z,1736379664.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.400002 m, deltaT: 36.294901 s, deltaX: 2.300003 m, approachRate: 0.063370 m/s, rangeRepo size: 4 2025-01-08T23:41:04.776Z,1736379664.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:04.928Z,1736379664.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:05.180Z,1736379665.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:05.223Z,1736379665.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:05.258Z,1736379665.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:05.433Z,1736379665.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:05.684Z,1736379665.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:05.731Z,1736379665.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:05.740Z,1736379665.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:05.936Z,1736379665.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:06.143Z,1736379666.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:06.152Z,1736379666.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:06.188Z,1736379666.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:06.440Z,1736379666.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:06.570Z,1736379666.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:06.597Z,1736379666.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:06.692Z,1736379666.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:06.944Z,1736379666.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:06.971Z,1736379666.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:06.981Z,1736379666.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:07.196Z,1736379667.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:07.386Z,1736379667.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:07.438Z,1736379667.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:07.449Z,1736379667.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:07.700Z,1736379667.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:07.862Z,1736379667.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:07.870Z,1736379667.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:07.952Z,1736379667.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:08.204Z,1736379668.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:08.244Z,1736379668.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:41:08.291Z,1736379668.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:08.317Z,1736379668.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:08.458Z,1736379668.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:08.708Z,1736379668.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:08.746Z,1736379668.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:08.755Z,1736379668.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:08.964Z,1736379668.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:09.120Z,1736379669.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:09.129Z,1736379669.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:09.213Z,1736379669.213 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:09.248Z,1736379669.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:41:09.465Z,1736379669.465 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:09.547Z,1736379669.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:09.556Z,1736379669.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:09.716Z,1736379669.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:09.924Z,1736379669.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:09.952Z,1736379669.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:09.970Z,1736379669.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:10.220Z,1736379670.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:10.326Z,1736379670.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:10.359Z,1736379670.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:10.473Z,1736379670.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:10.725Z,1736379670.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:10.790Z,1736379670.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:10.801Z,1736379670.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:10.976Z,1736379670.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:11.191Z,1736379671.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:11.201Z,1736379671.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:11.228Z,1736379671.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:11.481Z,1736379671.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:11.632Z,1736379671.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:11.642Z,1736379671.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:11.732Z,1736379671.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:11.984Z,1736379671.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:12.049Z,1736379672.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:12.057Z,1736379672.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:12.237Z,1736379672.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:12.465Z,1736379672.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:12.490Z,1736379672.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:12.529Z,1736379672.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:12.741Z,1736379672.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:12.954Z,1736379672.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:12.966Z,1736379672.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:12.992Z,1736379672.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:13.245Z,1736379673.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:13.358Z,1736379673.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:13.368Z,1736379673.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:13.498Z,1736379673.498 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:13.748Z,1736379673.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:13.793Z,1736379673.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:13.802Z,1736379673.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:14.001Z,1736379674.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:14.214Z,1736379674.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:14.223Z,1736379674.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:14.252Z,1736379674.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:14.506Z,1736379674.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:14.633Z,1736379674.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:14.665Z,1736379674.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:14.756Z,1736379674.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:15.008Z,1736379675.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:15.071Z,1736379675.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:15.081Z,1736379675.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:15.263Z,1736379675.263 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:15.436Z,1736379675.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:15.444Z,1736379675.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:15.517Z,1736379675.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:15.768Z,1736379675.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:15.857Z,1736379675.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:15.866Z,1736379675.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:16.021Z,1736379676.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:16.235Z,1736379676.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:16.245Z,1736379676.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:16.272Z,1736379676.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:16.525Z,1736379676.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:16.692Z,1736379676.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:16.702Z,1736379676.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:16.776Z,1736379676.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:17.029Z,1736379677.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:17.070Z,1736379677.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:17.079Z,1736379677.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:17.280Z,1736379677.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:17.487Z,1736379677.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:17.495Z,1736379677.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:17.532Z,1736379677.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:17.784Z,1736379677.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:17.929Z,1736379677.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:17.937Z,1736379677.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:18.036Z,1736379678.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:18.288Z,1736379678.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:18.340Z,1736379678.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:18.350Z,1736379678.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:18.541Z,1736379678.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:18.787Z,1736379678.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:18.792Z,1736379678.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:18.798Z,1736379678.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:19.044Z,1736379679.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:19.157Z,1736379679.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:19.166Z,1736379679.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:19.296Z,1736379679.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:19.548Z,1736379679.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:19.586Z,1736379679.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:19.650Z,1736379679.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:19.800Z,1736379679.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:20.052Z,1736379680.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:20.102Z,1736379680.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:20.124Z,1736379680.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:20.304Z,1736379680.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:20.536Z,1736379680.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:20.545Z,1736379680.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:20.557Z,1736379680.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:20.809Z,1736379680.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:21.060Z,1736379681.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:21.070Z,1736379681.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:21.102Z,1736379681.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:21.312Z,1736379681.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:21.508Z,1736379681.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:21.525Z,1736379681.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:21.565Z,1736379681.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:21.816Z,1736379681.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:21.946Z,1736379681.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:21.954Z,1736379681.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:22.068Z,1736379682.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:22.320Z,1736379682.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:22.331Z,1736379682.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:22.360Z,1736379682.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:22.572Z,1736379682.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:22.790Z,1736379682.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:22.800Z,1736379682.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:22.824Z,1736379682.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:23.076Z,1736379683.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:23.212Z,1736379683.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:23.232Z,1736379683.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:23.329Z,1736379683.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:23.580Z,1736379683.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:23.704Z,1736379683.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:23.720Z,1736379683.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:23.833Z,1736379683.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:24.069Z,1736379684.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:24.079Z,1736379684.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:24.084Z,1736379684.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:24.336Z,1736379684.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:24.439Z,1736379684.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:24.449Z,1736379684.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:24.588Z,1736379684.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:24.840Z,1736379684.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:24.872Z,1736379684.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:24.881Z,1736379684.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:25.092Z,1736379685.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:25.292Z,1736379685.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:25.301Z,1736379685.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:25.344Z,1736379685.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:25.597Z,1736379685.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:25.770Z,1736379685.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:25.780Z,1736379685.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:25.848Z,1736379685.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:26.100Z,1736379686.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:26.181Z,1736379686.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:26.189Z,1736379686.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:26.352Z,1736379686.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:26.605Z,1736379686.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:26.608Z,1736379686.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:26.640Z,1736379686.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:26.856Z,1736379686.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:27.038Z,1736379687.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:27.064Z,1736379687.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:27.108Z,1736379687.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:27.364Z,1736379687.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:27.484Z,1736379687.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:27.493Z,1736379687.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:27.613Z,1736379687.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:27.864Z,1736379687.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:27.923Z,1736379687.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:27.952Z,1736379687.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:28.116Z,1736379688.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:28.333Z,1736379688.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:28.342Z,1736379688.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:28.368Z,1736379688.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:28.620Z,1736379688.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:28.812Z,1736379688.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:28.837Z,1736379688.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:28.872Z,1736379688.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:29.124Z,1736379689.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:29.228Z,1736379689.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:29.237Z,1736379689.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:29.376Z,1736379689.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:29.621Z,1736379689.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:29.628Z,1736379689.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:29.631Z,1736379689.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:29.882Z,1736379689.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:30.065Z,1736379690.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:30.074Z,1736379690.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:30.132Z,1736379690.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:30.384Z,1736379690.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:30.421Z,1736379690.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:30.430Z,1736379690.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:30.636Z,1736379690.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:30.850Z,1736379690.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:30.859Z,1736379690.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:30.888Z,1736379690.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:31.140Z,1736379691.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:31.264Z,1736379691.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:31.274Z,1736379691.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:31.392Z,1736379691.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:31.644Z,1736379691.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:31.713Z,1736379691.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:31.722Z,1736379691.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:31.897Z,1736379691.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:32.142Z,1736379692.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:32.148Z,1736379692.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:32.157Z,1736379692.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:32.400Z,1736379692.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:32.544Z,1736379692.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:32.553Z,1736379692.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:32.652Z,1736379692.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:32.904Z,1736379692.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:32.972Z,1736379692.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:32.982Z,1736379692.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:33.156Z,1736379693.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:33.374Z,1736379693.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:33.383Z,1736379693.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:33.408Z,1736379693.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:33.660Z,1736379693.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:33.773Z,1736379693.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:33.854Z,1736379693.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:33.912Z,1736379693.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:34.165Z,1736379694.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:34.282Z,1736379694.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:34.290Z,1736379694.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:34.416Z,1736379694.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:34.670Z,1736379694.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:34.711Z,1736379694.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:34.719Z,1736379694.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:34.920Z,1736379694.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:35.131Z,1736379695.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:35.160Z,1736379695.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:35.172Z,1736379695.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:35.424Z,1736379695.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:35.499Z,1736379695.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:35.528Z,1736379695.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:35.676Z,1736379695.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:35.928Z,1736379695.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:35.947Z,1736379695.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:35.956Z,1736379695.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:36.180Z,1736379696.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:36.329Z,1736379696.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:36.337Z,1736379696.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:36.432Z,1736379696.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:36.684Z,1736379696.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:36.743Z,1736379696.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:36.751Z,1736379696.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:36.936Z,1736379696.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:37.160Z,1736379697.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:37.169Z,1736379697.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:37.188Z,1736379697.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:37.440Z,1736379697.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:37.550Z,1736379697.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:37.579Z,1736379697.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:37.692Z,1736379697.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:37.944Z,1736379697.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:37.966Z,1736379697.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:37.974Z,1736379697.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:38.196Z,1736379698.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:38.404Z,1736379698.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:38.413Z,1736379698.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:38.448Z,1736379698.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:38.700Z,1736379698.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:38.788Z,1736379698.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:38.800Z,1736379698.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:38.952Z,1736379698.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:39.204Z,1736379699.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:39.273Z,1736379699.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:39.283Z,1736379699.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:39.376Z,1736379699.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:41:39.456Z,1736379699.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:39.693Z,1736379699.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:39.702Z,1736379699.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:39.708Z,1736379699.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:39.960Z,1736379699.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:40.113Z,1736379700.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:40.121Z,1736379700.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:40.212Z,1736379700.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:40.380Z,1736379700.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:41:40.464Z,1736379700.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:40.508Z,1736379700.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:40.518Z,1736379700.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:40.718Z,1736379700.718 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:40.968Z,1736379700.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:40.981Z,1736379700.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:40.989Z,1736379700.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:41.224Z,1736379701.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:41.398Z,1736379701.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:41.408Z,1736379701.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:41.476Z,1736379701.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:41.728Z,1736379701.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:41.805Z,1736379701.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:41.814Z,1736379701.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:41.980Z,1736379701.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:42.228Z,1736379702.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:42.232Z,1736379702.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:42.238Z,1736379702.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:42.484Z,1736379702.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:42.613Z,1736379702.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:42.623Z,1736379702.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:42.736Z,1736379702.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:42.989Z,1736379702.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:43.084Z,1736379703.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:43.108Z,1736379703.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:43.240Z,1736379703.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:43.492Z,1736379703.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:43.499Z,1736379703.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:43.519Z,1736379703.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:43.745Z,1736379703.745 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:43.942Z,1736379703.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:43.998Z,1736379703.998 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:44.006Z,1736379704.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:44.248Z,1736379704.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:44.491Z,1736379704.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:44.516Z,1736379704.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:44.528Z,1736379704.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:44.768Z,1736379704.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:44.958Z,1736379704.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:45.020Z,1736379705.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:45.045Z,1736379705.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:45.277Z,1736379705.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:45.486Z,1736379705.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:45.516Z,1736379705.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:45.524Z,1736379705.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:45.776Z,1736379705.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:45.906Z,1736379705.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:45.935Z,1736379705.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:46.030Z,1736379706.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:46.280Z,1736379706.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:46.340Z,1736379706.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:46.366Z,1736379706.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:46.532Z,1736379706.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:46.729Z,1736379706.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:46.737Z,1736379706.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:46.785Z,1736379706.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:47.036Z,1736379707.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:47.149Z,1736379707.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:47.157Z,1736379707.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:47.288Z,1736379707.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:47.522Z,1736379707.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:47.531Z,1736379707.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:47.540Z,1736379707.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:47.792Z,1736379707.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:47.937Z,1736379707.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:47.950Z,1736379707.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:48.045Z,1736379708.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:48.296Z,1736379708.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:48.370Z,1736379708.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:48.379Z,1736379708.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:48.548Z,1736379708.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:48.770Z,1736379708.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:48.780Z,1736379708.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:48.801Z,1736379708.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:49.053Z,1736379709.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:49.198Z,1736379709.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:49.209Z,1736379709.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:49.304Z,1736379709.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:49.559Z,1736379709.559 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:49.620Z,1736379709.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:49.629Z,1736379709.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:49.808Z,1736379709.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:50.062Z,1736379710.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:50.105Z,1736379710.105 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815425534,35.0, +10.9, 0.0 0 2025-01-08T23:41:50.121Z,1736379710.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:41:50.121Z,1736379710.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:50.138Z,1736379710.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:50.312Z,1736379710.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:50.446Z,1736379710.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:41:50.446Z,1736379710.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:50.455Z,1736379710.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:50.564Z,1736379710.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:50.820Z,1736379710.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:50.852Z,1736379710.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:41:50.852Z,1736379710.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:50.862Z,1736379710.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:51.078Z,1736379711.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:51.292Z,1736379711.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:51.301Z,1736379711.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:51.324Z,1736379711.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:51.576Z,1736379711.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:51.714Z,1736379711.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:51.722Z,1736379711.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:51.829Z,1736379711.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:52.081Z,1736379712.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:52.178Z,1736379712.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:52.186Z,1736379712.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:52.332Z,1736379712.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:52.528Z,1736379712.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:52.536Z,1736379712.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:52.585Z,1736379712.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:52.836Z,1736379712.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:52.933Z,1736379712.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:52.941Z,1736379712.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:53.089Z,1736379713.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:53.341Z,1736379713.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:53.374Z,1736379713.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:53.403Z,1736379713.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:53.592Z,1736379713.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:53.732Z,1736379713.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:53.740Z,1736379713.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:53.845Z,1736379713.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:54.098Z,1736379714.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:54.206Z,1736379714.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:54.215Z,1736379714.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:54.348Z,1736379714.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:54.552Z,1736379714.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:54.561Z,1736379714.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:54.604Z,1736379714.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:54.856Z,1736379714.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:54.948Z,1736379714.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:54.976Z,1736379714.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:55.109Z,1736379715.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:55.360Z,1736379715.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:55.393Z,1736379715.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:55.411Z,1736379715.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:55.612Z,1736379715.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:55.753Z,1736379715.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:55.763Z,1736379715.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:55.864Z,1736379715.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:56.117Z,1736379716.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:56.235Z,1736379716.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:56.243Z,1736379716.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:56.368Z,1736379716.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:56.564Z,1736379716.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:56.592Z,1736379716.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:56.624Z,1736379716.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:56.876Z,1736379716.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:56.964Z,1736379716.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:56.973Z,1736379716.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:57.130Z,1736379717.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:57.380Z,1736379717.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:57.469Z,1736379717.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:57.479Z,1736379717.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:57.632Z,1736379717.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:57.872Z,1736379717.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:57.882Z,1736379717.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:57.884Z,1736379717.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:58.136Z,1736379718.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:58.293Z,1736379718.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:58.317Z,1736379718.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:58.388Z,1736379718.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:58.641Z,1736379718.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:58.652Z,1736379718.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:58.666Z,1736379718.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:58.892Z,1736379718.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:59.051Z,1736379719.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:59.078Z,1736379719.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:59.145Z,1736379719.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:59.396Z,1736379719.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:59.475Z,1736379719.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:59.490Z,1736379719.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:59.648Z,1736379719.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:41:59.870Z,1736379719.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:41:59.884Z,1736379719.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:41:59.902Z,1736379719.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:00.152Z,1736379720.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:00.329Z,1736379720.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:00.358Z,1736379720.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:00.404Z,1736379720.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:00.656Z,1736379720.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:00.743Z,1736379720.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:00.767Z,1736379720.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:42:00.769Z,1736379720.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:00.910Z,1736379720.910 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:00.912Z,1736379720.912 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:42:00.912Z,1736379720.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:42:01.162Z,1736379721.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:01.162Z,1736379721.162 [DAT](INFO): DAT read: user:3435> 2025-01-08T23:42:01.176Z,1736379721.176 [DAT](INFO): DAT read: Tx time:23:42:00.3925 2025-01-08T23:42:01.177Z,1736379721.177 [DAT](INFO): Ping request sent. 2025-01-08T23:42:01.177Z,1736379721.177 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:42:01.178Z,1736379721.178 [DAT](INFO): publishing transmit ping time 2025-01-08T23:42:01.180Z,1736379721.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002966 2025-01-08T23:42:01.208Z,1736379721.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:01.268Z,1736379721.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:01.412Z,1736379721.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:01.413Z,1736379721.413 [DAT](INFO): DAT read: TxSync time:23:42:00.3917 2025-01-08T23:42:01.413Z,1736379721.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.236825 2025-01-08T23:42:01.596Z,1736379721.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:01.608Z,1736379721.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:01.664Z,1736379721.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:01.665Z,1736379721.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.488483 2025-01-08T23:42:01.916Z,1736379721.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:01.916Z,1736379721.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739752 2025-01-08T23:42:01.965Z,1736379721.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:01.974Z,1736379721.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:02.168Z,1736379722.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:02.169Z,1736379722.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992439 2025-01-08T23:42:02.400Z,1736379722.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:02.409Z,1736379722.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:02.420Z,1736379722.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:02.421Z,1736379722.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243840 2025-01-08T23:42:02.672Z,1736379722.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:02.673Z,1736379722.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496477 2025-01-08T23:42:02.820Z,1736379722.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:02.837Z,1736379722.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:02.924Z,1736379722.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:02.924Z,1736379722.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747696 2025-01-08T23:42:03.178Z,1736379723.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:03.179Z,1736379723.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001974 2025-01-08T23:42:03.296Z,1736379723.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:03.313Z,1736379723.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:03.430Z,1736379723.430 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:03.436Z,1736379723.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258864 2025-01-08T23:42:03.680Z,1736379723.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:03.681Z,1736379723.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504540 2025-01-08T23:42:03.729Z,1736379723.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:03.737Z,1736379723.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:03.932Z,1736379723.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:03.932Z,1736379723.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755664 2025-01-08T23:42:04.085Z,1736379724.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:04.095Z,1736379724.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:04.184Z,1736379724.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:04.184Z,1736379724.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007757 2025-01-08T23:42:04.436Z,1736379724.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:04.436Z,1736379724.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259781 2025-01-08T23:42:04.522Z,1736379724.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:04.556Z,1736379724.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:04.688Z,1736379724.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:04.688Z,1736379724.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511677 2025-01-08T23:42:04.901Z,1736379724.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:04.909Z,1736379724.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:04.948Z,1736379724.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:04.949Z,1736379724.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772454 2025-01-08T23:42:05.200Z,1736379725.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:05.200Z,1736379725.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023617 2025-01-08T23:42:05.353Z,1736379725.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:05.396Z,1736379725.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:05.452Z,1736379725.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:05.453Z,1736379725.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276444 2025-01-08T23:42:05.701Z,1736379725.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:05.704Z,1736379725.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:05.705Z,1736379725.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.528055 2025-01-08T23:42:05.713Z,1736379725.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:05.956Z,1736379725.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:05.956Z,1736379725.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779630 2025-01-08T23:42:06.107Z,1736379726.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:06.116Z,1736379726.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:06.208Z,1736379726.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:06.208Z,1736379726.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031751 2025-01-08T23:42:06.460Z,1736379726.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:06.461Z,1736379726.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284375 2025-01-08T23:42:06.538Z,1736379726.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:06.547Z,1736379726.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:06.712Z,1736379726.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:06.713Z,1736379726.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.536327 2025-01-08T23:42:06.926Z,1736379726.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:06.937Z,1736379726.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:06.964Z,1736379726.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:06.965Z,1736379726.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788157 2025-01-08T23:42:07.216Z,1736379727.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:07.216Z,1736379727.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039728 2025-01-08T23:42:07.400Z,1736379727.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:07.416Z,1736379727.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:07.468Z,1736379727.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:07.469Z,1736379727.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.292703 2025-01-08T23:42:07.720Z,1736379727.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:07.720Z,1736379727.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543830 2025-01-08T23:42:07.722Z,1736379727.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:07.732Z,1736379727.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:07.972Z,1736379727.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:07.972Z,1736379727.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795731 2025-01-08T23:42:08.136Z,1736379728.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:08.145Z,1736379728.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:08.224Z,1736379728.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:08.225Z,1736379728.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048490 2025-01-08T23:42:08.476Z,1736379728.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:08.476Z,1736379728.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299676 2025-01-08T23:42:08.556Z,1736379728.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:08.569Z,1736379728.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:08.728Z,1736379728.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:08.729Z,1736379728.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552302 2025-01-08T23:42:08.980Z,1736379728.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:08.980Z,1736379728.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.803777 2025-01-08T23:42:08.985Z,1736379728.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:08.993Z,1736379728.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:09.232Z,1736379729.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:09.234Z,1736379729.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.057061 2025-01-08T23:42:09.416Z,1736379729.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:09.449Z,1736379729.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:09.484Z,1736379729.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:09.485Z,1736379729.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307850 2025-01-08T23:42:09.736Z,1736379729.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:09.736Z,1736379729.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559635 2025-01-08T23:42:09.780Z,1736379729.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:09.801Z,1736379729.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:09.988Z,1736379729.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:09.989Z,1736379729.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812759 2025-01-08T23:42:10.184Z,1736379730.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:10.193Z,1736379730.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:10.240Z,1736379730.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:10.242Z,1736379730.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064953 2025-01-08T23:42:10.492Z,1736379730.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:10.492Z,1736379730.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.315691 2025-01-08T23:42:10.500Z,1736379730.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:42:10.614Z,1736379730.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:10.653Z,1736379730.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:10.744Z,1736379730.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:10.745Z,1736379730.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.568410 2025-01-08T23:42:10.996Z,1736379730.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:10.997Z,1736379730.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.819996 2025-01-08T23:42:11.063Z,1736379731.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:11.072Z,1736379731.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:11.251Z,1736379731.251 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:11.251Z,1736379731.251 [DAT](INFO): Reached modem response timeout 2025-01-08T23:42:11.485Z,1736379731.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:11.494Z,1736379731.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:11.500Z,1736379731.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:11.504Z,1736379731.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:42:11.752Z,1736379731.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:11.853Z,1736379731.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:11.862Z,1736379731.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:12.004Z,1736379732.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:12.005Z,1736379732.005 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:42:12.005Z,1736379732.005 [DAT](INFO): response not received 2025-01-08T23:42:12.005Z,1736379732.005 [DAT](ERROR): No response from remote modem. 2025-01-08T23:42:12.254Z,1736379732.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:12.256Z,1736379732.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:12.265Z,1736379732.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:12.511Z,1736379732.511 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:12.706Z,1736379732.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:12.715Z,1736379732.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:12.760Z,1736379732.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:13.012Z,1736379733.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:13.061Z,1736379733.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:13.070Z,1736379733.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:13.264Z,1736379733.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:13.516Z,1736379733.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:13.520Z,1736379733.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:13.537Z,1736379733.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:13.768Z,1736379733.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:13.875Z,1736379733.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:13.884Z,1736379733.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:14.020Z,1736379734.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:14.272Z,1736379734.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:14.290Z,1736379734.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:14.300Z,1736379734.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:14.525Z,1736379734.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:14.712Z,1736379734.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:14.720Z,1736379734.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:14.776Z,1736379734.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:15.028Z,1736379735.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:15.099Z,1736379735.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:15.107Z,1736379735.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:15.280Z,1736379735.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:15.518Z,1736379735.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:15.528Z,1736379735.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:15.536Z,1736379735.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:15.788Z,1736379735.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:15.918Z,1736379735.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:15.934Z,1736379735.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:16.040Z,1736379736.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:16.292Z,1736379736.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:16.345Z,1736379736.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:16.353Z,1736379736.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:16.544Z,1736379736.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:16.796Z,1736379736.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:16.806Z,1736379736.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:16.817Z,1736379736.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:17.048Z,1736379737.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:17.198Z,1736379737.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:17.207Z,1736379737.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:17.301Z,1736379737.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:17.552Z,1736379737.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:17.649Z,1736379737.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:17.676Z,1736379737.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:17.804Z,1736379737.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:18.006Z,1736379738.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:18.015Z,1736379738.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:18.056Z,1736379738.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:18.308Z,1736379738.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:18.407Z,1736379738.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:18.443Z,1736379738.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:18.560Z,1736379738.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:18.812Z,1736379738.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:18.865Z,1736379738.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:18.874Z,1736379738.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:19.064Z,1736379739.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:19.316Z,1736379739.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:19.382Z,1736379739.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:19.441Z,1736379739.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:19.569Z,1736379739.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:19.821Z,1736379739.821 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:19.929Z,1736379739.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:19.937Z,1736379739.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:20.072Z,1736379740.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:20.317Z,1736379740.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:20.324Z,1736379740.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:20.329Z,1736379740.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:20.576Z,1736379740.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:20.749Z,1736379740.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:20.766Z,1736379740.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:20.829Z,1736379740.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:21.080Z,1736379741.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:21.121Z,1736379741.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:21.130Z,1736379741.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:21.332Z,1736379741.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:21.585Z,1736379741.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:21.606Z,1736379741.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:21.614Z,1736379741.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:21.838Z,1736379741.838 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:21.946Z,1736379741.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:21.954Z,1736379741.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:22.088Z,1736379742.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:22.331Z,1736379742.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:22.340Z,1736379742.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:22.341Z,1736379742.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:22.592Z,1736379742.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:22.756Z,1736379742.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:22.765Z,1736379742.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:22.844Z,1736379742.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:23.096Z,1736379743.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:23.149Z,1736379743.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:23.173Z,1736379743.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:23.349Z,1736379743.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:23.600Z,1736379743.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:23.643Z,1736379743.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:23.680Z,1736379743.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:23.691Z,1736379743.691 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T23:32:23.5Z 2025-01-08T23:42:23.703Z,1736379743.703 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T23:42:23.703Z,1736379743.703 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:42:23.704Z,1736379743.704 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T23:42:23.704Z,1736379743.704 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:42:23.704Z,1736379743.704 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T23:42:23.852Z,1736379743.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:23.966Z,1736379743.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:23.974Z,1736379743.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:24.002Z,1736379744.002 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T23:42:24.002Z,1736379744.002 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T23:42:24.002Z,1736379744.002 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T23:42:24.002Z,1736379744.002 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:42:24.002Z,1736379744.002 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T23:42:24.104Z,1736379744.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:24.356Z,1736379744.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:24.608Z,1736379744.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:24.701Z,1736379744.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:24.732Z,1736379744.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:24.860Z,1736379744.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:25.100Z,1736379745.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:25.108Z,1736379745.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:25.112Z,1736379745.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:25.364Z,1736379745.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:25.608Z,1736379745.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:25.617Z,1736379745.617 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:25.630Z,1736379745.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:25.868Z,1736379745.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:25.934Z,1736379745.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:25.942Z,1736379745.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:26.120Z,1736379746.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:26.293Z,1736379746.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:26.302Z,1736379746.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:26.372Z,1736379746.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:26.627Z,1736379746.627 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:26.726Z,1736379746.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:26.734Z,1736379746.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:26.876Z,1736379746.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:27.096Z,1736379747.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:27.120Z,1736379747.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:27.128Z,1736379747.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:27.380Z,1736379747.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:27.503Z,1736379747.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:27.517Z,1736379747.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:27.634Z,1736379747.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:27.884Z,1736379747.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:27.933Z,1736379747.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:27.941Z,1736379747.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:28.136Z,1736379748.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:28.329Z,1736379748.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:28.338Z,1736379748.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:28.389Z,1736379748.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:28.642Z,1736379748.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:28.754Z,1736379748.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:28.762Z,1736379748.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:28.892Z,1736379748.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:29.123Z,1736379749.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:29.132Z,1736379749.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:29.152Z,1736379749.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:29.404Z,1736379749.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:29.524Z,1736379749.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:29.533Z,1736379749.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:29.658Z,1736379749.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:29.908Z,1736379749.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:29.965Z,1736379749.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:29.982Z,1736379749.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:30.160Z,1736379750.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:30.346Z,1736379750.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:30.356Z,1736379750.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:30.413Z,1736379750.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:30.666Z,1736379750.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:30.793Z,1736379750.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:30.816Z,1736379750.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:30.916Z,1736379750.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:31.151Z,1736379751.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:31.160Z,1736379751.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:31.168Z,1736379751.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:31.420Z,1736379751.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:31.543Z,1736379751.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:31.553Z,1736379751.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:31.674Z,1736379751.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:31.924Z,1736379751.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:31.970Z,1736379751.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:32.008Z,1736379752.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:32.176Z,1736379752.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:32.352Z,1736379752.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:32.361Z,1736379752.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:32.428Z,1736379752.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:32.681Z,1736379752.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:32.784Z,1736379752.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:32.793Z,1736379752.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:32.932Z,1736379752.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:33.159Z,1736379753.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:33.184Z,1736379753.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:33.186Z,1736379753.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:33.436Z,1736379753.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:33.564Z,1736379753.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:33.573Z,1736379753.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:33.694Z,1736379753.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:33.941Z,1736379753.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:34.020Z,1736379754.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:34.029Z,1736379754.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:34.192Z,1736379754.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:34.387Z,1736379754.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:34.397Z,1736379754.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:34.444Z,1736379754.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:34.698Z,1736379754.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:34.829Z,1736379754.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:34.854Z,1736379754.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:34.948Z,1736379754.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:35.196Z,1736379755.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:35.200Z,1736379755.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:35.222Z,1736379755.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:35.452Z,1736379755.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:35.596Z,1736379755.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:35.605Z,1736379755.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:35.706Z,1736379755.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:35.956Z,1736379755.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:36.026Z,1736379756.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:36.036Z,1736379756.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:36.208Z,1736379756.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:36.407Z,1736379756.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:36.434Z,1736379756.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:36.460Z,1736379756.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:36.712Z,1736379756.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:36.842Z,1736379756.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:36.856Z,1736379756.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:36.964Z,1736379756.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:37.209Z,1736379757.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:37.216Z,1736379757.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:37.220Z,1736379757.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:37.468Z,1736379757.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:37.622Z,1736379757.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:37.632Z,1736379757.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:37.722Z,1736379757.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:37.972Z,1736379757.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:38.050Z,1736379758.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:38.058Z,1736379758.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:38.224Z,1736379758.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:38.421Z,1736379758.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:38.430Z,1736379758.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:38.477Z,1736379758.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:38.729Z,1736379758.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:38.891Z,1736379758.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:38.899Z,1736379758.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:38.980Z,1736379758.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:39.232Z,1736379759.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:39.248Z,1736379759.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:39.256Z,1736379759.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:39.484Z,1736379759.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:39.668Z,1736379759.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:39.682Z,1736379759.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:39.737Z,1736379759.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:39.988Z,1736379759.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:40.094Z,1736379760.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:40.103Z,1736379760.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:40.240Z,1736379760.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:40.456Z,1736379760.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:40.465Z,1736379760.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:40.492Z,1736379760.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:40.744Z,1736379760.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:40.901Z,1736379760.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:40.938Z,1736379760.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:40.996Z,1736379760.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:41.248Z,1736379761.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:41.256Z,1736379761.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:41.265Z,1736379761.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:41.500Z,1736379761.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:41.632Z,1736379761.632 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:42:41.676Z,1736379761.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:41.686Z,1736379761.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:41.753Z,1736379761.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:42.004Z,1736379762.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:42.088Z,1736379762.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:42.097Z,1736379762.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:42.256Z,1736379762.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:42.468Z,1736379762.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:42.496Z,1736379762.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:42.509Z,1736379762.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:42.636Z,1736379762.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:42:42.760Z,1736379762.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:42.933Z,1736379762.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:42.941Z,1736379762.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:43.013Z,1736379763.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:43.264Z,1736379763.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:43.303Z,1736379763.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:43.313Z,1736379763.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:43.516Z,1736379763.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:43.699Z,1736379763.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:43.721Z,1736379763.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:43.768Z,1736379763.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:44.020Z,1736379764.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:44.141Z,1736379764.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:44.150Z,1736379764.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:44.272Z,1736379764.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:44.512Z,1736379764.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:44.521Z,1736379764.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:44.524Z,1736379764.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:44.776Z,1736379764.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:44.967Z,1736379764.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:44.975Z,1736379764.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:45.028Z,1736379765.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:45.280Z,1736379765.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:45.312Z,1736379765.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:45.321Z,1736379765.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:45.532Z,1736379765.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:45.709Z,1736379765.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:45.718Z,1736379765.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:45.789Z,1736379765.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:46.040Z,1736379766.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:46.139Z,1736379766.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:46.148Z,1736379766.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:46.292Z,1736379766.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:46.521Z,1736379766.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:46.544Z,1736379766.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:46.548Z,1736379766.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:46.796Z,1736379766.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:46.988Z,1736379766.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:46.997Z,1736379766.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:47.048Z,1736379767.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:47.300Z,1736379767.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:47.335Z,1736379767.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:47.344Z,1736379767.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:47.552Z,1736379767.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:47.740Z,1736379767.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:47.749Z,1736379767.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:47.805Z,1736379767.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:48.057Z,1736379768.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:48.165Z,1736379768.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:48.173Z,1736379768.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:48.308Z,1736379768.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:48.545Z,1736379768.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:48.553Z,1736379768.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:48.560Z,1736379768.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:48.812Z,1736379768.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:49.034Z,1736379769.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:49.043Z,1736379769.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:49.064Z,1736379769.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:49.316Z,1736379769.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:49.380Z,1736379769.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:49.388Z,1736379769.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:49.568Z,1736379769.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:49.766Z,1736379769.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:49.774Z,1736379769.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:49.820Z,1736379769.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:50.072Z,1736379770.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:50.278Z,1736379770.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:50.286Z,1736379770.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:50.324Z,1736379770.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:50.565Z,1736379770.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:50.576Z,1736379770.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:50.599Z,1736379770.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:50.828Z,1736379770.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:51.059Z,1736379771.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:51.067Z,1736379771.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:51.081Z,1736379771.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:51.332Z,1736379771.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:51.425Z,1736379771.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:51.434Z,1736379771.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:51.586Z,1736379771.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:51.833Z,1736379771.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:51.836Z,1736379771.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:51.843Z,1736379771.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:52.088Z,1736379772.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:52.270Z,1736379772.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:52.280Z,1736379772.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:52.340Z,1736379772.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:52.592Z,1736379772.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:52.685Z,1736379772.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:52.697Z,1736379772.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:52.845Z,1736379772.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:53.096Z,1736379773.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:53.116Z,1736379773.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:53.134Z,1736379773.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:53.348Z,1736379773.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:53.546Z,1736379773.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:53.554Z,1736379773.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:53.600Z,1736379773.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:53.852Z,1736379773.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:54.055Z,1736379774.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:54.064Z,1736379774.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:54.104Z,1736379774.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:54.356Z,1736379774.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:54.442Z,1736379774.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:54.467Z,1736379774.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:54.611Z,1736379774.611 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:54.860Z,1736379774.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:54.863Z,1736379774.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:54.891Z,1736379774.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:55.113Z,1736379775.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:55.283Z,1736379775.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:55.310Z,1736379775.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:55.365Z,1736379775.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:55.616Z,1736379775.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:55.688Z,1736379775.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:55.697Z,1736379775.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:55.869Z,1736379775.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:56.112Z,1736379776.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:56.121Z,1736379776.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:56.129Z,1736379776.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:56.372Z,1736379776.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:56.588Z,1736379776.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:56.597Z,1736379776.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:56.624Z,1736379776.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:56.876Z,1736379776.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:57.086Z,1736379777.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:57.101Z,1736379777.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:57.129Z,1736379777.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:57.380Z,1736379777.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:57.525Z,1736379777.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:57.534Z,1736379777.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:57.632Z,1736379777.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:57.884Z,1736379777.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:57.895Z,1736379777.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:57.909Z,1736379777.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:58.136Z,1736379778.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:58.320Z,1736379778.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:58.329Z,1736379778.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:58.388Z,1736379778.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:58.640Z,1736379778.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:58.710Z,1736379778.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:58.719Z,1736379778.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:58.892Z,1736379778.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:59.144Z,1736379779.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:59.157Z,1736379779.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:59.195Z,1736379779.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:59.396Z,1736379779.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:59.513Z,1736379779.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:59.522Z,1736379779.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:42:59.648Z,1736379779.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:59.901Z,1736379779.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:42:59.945Z,1736379779.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:42:59.953Z,1736379779.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:00.152Z,1736379780.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:00.328Z,1736379780.328 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -155, +7,A 2025-01-08T23:43:00.335Z,1736379780.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:43:00.358Z,1736379780.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:00.367Z,1736379780.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:00.405Z,1736379780.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:00.656Z,1736379780.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:00.726Z,1736379780.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:43:00.726Z,1736379780.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:00.735Z,1736379780.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:00.908Z,1736379780.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:01.160Z,1736379781.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:01.195Z,1736379781.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:01.209Z,1736379781.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:43:01.212Z,1736379781.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:01.412Z,1736379781.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:01.413Z,1736379781.413 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:43:01.413Z,1736379781.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:43:01.528Z,1736379781.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:01.552Z,1736379781.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:01.664Z,1736379781.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:01.665Z,1736379781.665 [DAT](INFO): DAT read: user:3436> 2025-01-08T23:43:01.666Z,1736379781.666 [DAT](INFO): DAT read: Tx time:23:43:00.8948 2025-01-08T23:43:01.667Z,1736379781.667 [DAT](INFO): Ping request sent. 2025-01-08T23:43:01.667Z,1736379781.667 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:43:01.671Z,1736379781.671 [DAT](INFO): publishing transmit ping time 2025-01-08T23:43:01.672Z,1736379781.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005453 2025-01-08T23:43:01.916Z,1736379781.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:01.917Z,1736379781.917 [DAT](INFO): DAT read: TxSync time:23:43:00.8940 2025-01-08T23:43:01.917Z,1736379781.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250478 2025-01-08T23:43:01.940Z,1736379781.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:01.949Z,1736379781.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:02.168Z,1736379782.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:02.169Z,1736379782.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502245 2025-01-08T23:43:02.420Z,1736379782.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:02.420Z,1736379782.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753462 2025-01-08T23:43:02.494Z,1736379782.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:02.518Z,1736379782.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:02.672Z,1736379782.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:02.673Z,1736379782.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006151 2025-01-08T23:43:02.916Z,1736379782.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:02.924Z,1736379782.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:02.925Z,1736379782.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257667 2025-01-08T23:43:02.926Z,1736379782.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:03.176Z,1736379783.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:03.177Z,1736379783.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509695 2025-01-08T23:43:03.344Z,1736379783.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:03.353Z,1736379783.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:03.429Z,1736379783.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:03.430Z,1736379783.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762771 2025-01-08T23:43:03.680Z,1736379783.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:03.681Z,1736379783.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014043 2025-01-08T23:43:03.786Z,1736379783.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:03.795Z,1736379783.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:03.932Z,1736379783.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:03.932Z,1736379783.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265410 2025-01-08T23:43:04.184Z,1736379784.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:04.185Z,1736379784.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517593 2025-01-08T23:43:04.254Z,1736379784.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:04.268Z,1736379784.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:04.436Z,1736379784.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:04.436Z,1736379784.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769454 2025-01-08T23:43:04.685Z,1736379784.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:04.688Z,1736379784.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:04.689Z,1736379784.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021835 2025-01-08T23:43:04.696Z,1736379784.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:04.940Z,1736379784.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:04.940Z,1736379784.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273512 2025-01-08T23:43:05.078Z,1736379785.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:05.117Z,1736379785.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:05.196Z,1736379785.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:05.198Z,1736379785.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530540 2025-01-08T23:43:05.444Z,1736379785.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:05.445Z,1736379785.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778110 2025-01-08T23:43:05.502Z,1736379785.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:05.510Z,1736379785.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:05.697Z,1736379785.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:05.698Z,1736379785.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031176 2025-01-08T23:43:05.913Z,1736379785.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:05.921Z,1736379785.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:05.948Z,1736379785.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:05.949Z,1736379785.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281959 2025-01-08T23:43:06.202Z,1736379786.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:06.204Z,1736379786.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536763 2025-01-08T23:43:06.357Z,1736379786.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:06.390Z,1736379786.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:06.452Z,1736379786.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:06.453Z,1736379786.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786159 2025-01-08T23:43:06.704Z,1736379786.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:06.704Z,1736379786.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037387 2025-01-08T23:43:06.791Z,1736379786.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:06.801Z,1736379786.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:06.956Z,1736379786.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:06.957Z,1736379786.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290108 2025-01-08T23:43:07.210Z,1736379787.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:07.212Z,1736379787.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544856 2025-01-08T23:43:07.276Z,1736379787.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:07.285Z,1736379787.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:07.460Z,1736379787.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:07.461Z,1736379787.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793954 2025-01-08T23:43:07.688Z,1736379787.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:07.697Z,1736379787.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:07.720Z,1736379787.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:07.721Z,1736379787.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.053720 2025-01-08T23:43:07.972Z,1736379787.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:07.972Z,1736379787.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305533 2025-01-08T23:43:08.075Z,1736379788.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:08.085Z,1736379788.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:08.226Z,1736379788.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:08.228Z,1736379788.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.560968 2025-01-08T23:43:08.476Z,1736379788.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:08.477Z,1736379788.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809771 2025-01-08T23:43:08.498Z,1736379788.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:08.506Z,1736379788.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:08.728Z,1736379788.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:08.729Z,1736379788.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062276 2025-01-08T23:43:08.956Z,1736379788.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:08.965Z,1736379788.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:08.980Z,1736379788.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:08.980Z,1736379788.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313483 2025-01-08T23:43:09.234Z,1736379789.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:09.237Z,1736379789.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.569869 2025-01-08T23:43:09.426Z,1736379789.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:09.437Z,1736379789.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:09.484Z,1736379789.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:09.485Z,1736379789.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818405 2025-01-08T23:43:09.736Z,1736379789.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:09.736Z,1736379789.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069385 2025-01-08T23:43:09.794Z,1736379789.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:09.803Z,1736379789.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:09.988Z,1736379789.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:09.988Z,1736379789.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.321446 2025-01-08T23:43:10.241Z,1736379790.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:10.244Z,1736379790.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576454 2025-01-08T23:43:10.256Z,1736379790.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:10.272Z,1736379790.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:10.492Z,1736379790.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:10.492Z,1736379790.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825502 2025-01-08T23:43:10.716Z,1736379790.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:10.725Z,1736379790.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:10.744Z,1736379790.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:10.745Z,1736379790.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078131 2025-01-08T23:43:10.996Z,1736379790.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:10.996Z,1736379790.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329456 2025-01-08T23:43:11.090Z,1736379791.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:11.100Z,1736379791.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:11.250Z,1736379791.250 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:11.253Z,1736379791.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585361 2025-01-08T23:43:11.500Z,1736379791.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:11.501Z,1736379791.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834547 2025-01-08T23:43:11.524Z,1736379791.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:11.553Z,1736379791.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:11.752Z,1736379791.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:11.752Z,1736379791.752 [DAT](INFO): Reached modem response timeout 2025-01-08T23:43:11.909Z,1736379791.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:11.919Z,1736379791.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:12.004Z,1736379792.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:12.257Z,1736379792.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:12.380Z,1736379792.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:12.394Z,1736379792.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:12.508Z,1736379792.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:12.510Z,1736379792.510 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:43:12.511Z,1736379792.511 [DAT](INFO): response not received 2025-01-08T23:43:12.511Z,1736379792.511 [DAT](ERROR): No response from remote modem. 2025-01-08T23:43:12.709Z,1736379792.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:12.719Z,1736379792.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:12.760Z,1736379792.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:12.768Z,1736379792.768 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:43:13.012Z,1736379793.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:13.116Z,1736379793.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:13.125Z,1736379793.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:13.266Z,1736379793.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:13.516Z,1736379793.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:13.554Z,1736379793.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:13.580Z,1736379793.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:13.768Z,1736379793.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:13.772Z,1736379793.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:43:13.991Z,1736379793.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:14.000Z,1736379794.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:14.020Z,1736379794.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:14.274Z,1736379794.274 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:14.415Z,1736379794.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:14.424Z,1736379794.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:14.524Z,1736379794.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:14.776Z,1736379794.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:14.812Z,1736379794.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:14.836Z,1736379794.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:15.029Z,1736379795.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:15.214Z,1736379795.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:15.223Z,1736379795.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:15.280Z,1736379795.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:15.532Z,1736379795.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:15.662Z,1736379795.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:15.705Z,1736379795.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:15.784Z,1736379795.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:16.036Z,1736379796.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:16.106Z,1736379796.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:16.116Z,1736379796.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:16.289Z,1736379796.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:16.529Z,1736379796.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:16.541Z,1736379796.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:16.542Z,1736379796.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:16.794Z,1736379796.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:16.903Z,1736379796.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:16.912Z,1736379796.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:17.044Z,1736379797.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:17.296Z,1736379797.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:17.391Z,1736379797.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:17.408Z,1736379797.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:17.548Z,1736379797.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:17.800Z,1736379797.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:17.857Z,1736379797.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:17.886Z,1736379797.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:18.052Z,1736379798.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:18.242Z,1736379798.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:18.252Z,1736379798.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:18.305Z,1736379798.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:18.556Z,1736379798.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:18.689Z,1736379798.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:18.698Z,1736379798.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:18.808Z,1736379798.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:19.060Z,1736379799.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:19.106Z,1736379799.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:19.115Z,1736379799.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:19.312Z,1736379799.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:19.535Z,1736379799.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:19.565Z,1736379799.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:19.570Z,1736379799.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:19.816Z,1736379799.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:19.901Z,1736379799.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:19.926Z,1736379799.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:20.068Z,1736379800.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:20.304Z,1736379800.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:20.313Z,1736379800.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:20.329Z,1736379800.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:20.581Z,1736379800.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:20.753Z,1736379800.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:20.762Z,1736379800.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:20.832Z,1736379800.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:21.084Z,1736379801.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:21.141Z,1736379801.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:21.150Z,1736379801.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:21.336Z,1736379801.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:21.574Z,1736379801.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:21.588Z,1736379801.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:21.609Z,1736379801.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:21.842Z,1736379801.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:21.953Z,1736379801.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:21.962Z,1736379801.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:22.092Z,1736379802.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:22.344Z,1736379802.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:22.353Z,1736379802.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:22.433Z,1736379802.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:22.596Z,1736379802.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:22.848Z,1736379802.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:22.899Z,1736379802.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:22.911Z,1736379802.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:23.100Z,1736379803.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:23.288Z,1736379803.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:23.298Z,1736379803.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:23.352Z,1736379803.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:23.604Z,1736379803.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:23.740Z,1736379803.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:23.750Z,1736379803.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:23.856Z,1736379803.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:24.108Z,1736379804.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:24.121Z,1736379804.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:24.130Z,1736379804.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:24.360Z,1736379804.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:24.553Z,1736379804.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:24.562Z,1736379804.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:24.613Z,1736379804.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:24.864Z,1736379804.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:24.964Z,1736379804.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:24.972Z,1736379804.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:25.116Z,1736379805.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:25.368Z,1736379805.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:25.425Z,1736379805.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:25.433Z,1736379805.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:25.622Z,1736379805.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:25.854Z,1736379805.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:25.871Z,1736379805.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:25.872Z,1736379805.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:26.124Z,1736379806.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:26.216Z,1736379806.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:26.225Z,1736379806.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:26.376Z,1736379806.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:26.629Z,1736379806.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:26.658Z,1736379806.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:26.708Z,1736379806.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:26.880Z,1736379806.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:27.104Z,1736379807.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:27.118Z,1736379807.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:27.132Z,1736379807.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:27.384Z,1736379807.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:27.614Z,1736379807.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:27.624Z,1736379807.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:27.636Z,1736379807.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:27.888Z,1736379807.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:28.013Z,1736379808.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:28.042Z,1736379808.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:28.140Z,1736379808.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:28.393Z,1736379808.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:28.421Z,1736379808.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:28.429Z,1736379808.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:28.644Z,1736379808.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:28.846Z,1736379808.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:28.854Z,1736379808.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:28.896Z,1736379808.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:29.148Z,1736379809.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:29.244Z,1736379809.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:29.253Z,1736379809.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:29.400Z,1736379809.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:29.652Z,1736379809.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:29.683Z,1736379809.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:29.722Z,1736379809.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:29.904Z,1736379809.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:30.052Z,1736379810.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:30.076Z,1736379810.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:30.156Z,1736379810.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:30.408Z,1736379810.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:30.464Z,1736379810.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:30.473Z,1736379810.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:30.664Z,1736379810.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:30.912Z,1736379810.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:30.934Z,1736379810.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:30.942Z,1736379810.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:31.164Z,1736379811.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:31.345Z,1736379811.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:31.354Z,1736379811.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:31.416Z,1736379811.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:31.668Z,1736379811.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:31.779Z,1736379811.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:31.814Z,1736379811.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:31.920Z,1736379811.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:32.172Z,1736379812.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:32.227Z,1736379812.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:32.237Z,1736379812.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:32.424Z,1736379812.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:32.672Z,1736379812.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:32.690Z,1736379812.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:32.714Z,1736379812.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:32.944Z,1736379812.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:33.110Z,1736379813.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:33.120Z,1736379813.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:33.196Z,1736379813.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:33.450Z,1736379813.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:33.497Z,1736379813.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:33.507Z,1736379813.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:33.700Z,1736379813.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:33.938Z,1736379813.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:33.947Z,1736379813.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:33.952Z,1736379813.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:34.204Z,1736379814.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:34.355Z,1736379814.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:34.365Z,1736379814.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:34.456Z,1736379814.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:34.713Z,1736379814.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:34.751Z,1736379814.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:34.776Z,1736379814.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:34.964Z,1736379814.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:35.173Z,1736379815.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:35.182Z,1736379815.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:35.216Z,1736379815.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:35.468Z,1736379815.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:35.705Z,1736379815.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:35.720Z,1736379815.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:35.734Z,1736379815.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:35.973Z,1736379815.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:36.052Z,1736379816.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:36.060Z,1736379816.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:36.224Z,1736379816.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:36.457Z,1736379816.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:36.468Z,1736379816.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:36.476Z,1736379816.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:36.729Z,1736379816.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:36.902Z,1736379816.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:36.938Z,1736379816.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:36.980Z,1736379816.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:37.232Z,1736379817.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:37.264Z,1736379817.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:37.293Z,1736379817.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:37.484Z,1736379817.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:37.729Z,1736379817.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:37.736Z,1736379817.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:37.739Z,1736379817.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:37.988Z,1736379817.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:38.080Z,1736379818.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:38.088Z,1736379818.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:38.241Z,1736379818.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:38.484Z,1736379818.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:38.492Z,1736379818.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:38.495Z,1736379818.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:38.744Z,1736379818.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:38.918Z,1736379818.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:38.931Z,1736379818.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:38.996Z,1736379818.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:39.248Z,1736379819.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:39.291Z,1736379819.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:39.301Z,1736379819.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:39.500Z,1736379819.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:39.752Z,1736379819.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:39.766Z,1736379819.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:39.775Z,1736379819.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:40.004Z,1736379820.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:40.174Z,1736379820.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:40.183Z,1736379820.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:40.256Z,1736379820.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:40.508Z,1736379820.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:40.589Z,1736379820.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:40.599Z,1736379820.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:40.760Z,1736379820.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:41.012Z,1736379821.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:41.018Z,1736379821.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:41.027Z,1736379821.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:41.264Z,1736379821.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:41.387Z,1736379821.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:41.398Z,1736379821.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:41.516Z,1736379821.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:41.768Z,1736379821.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:41.826Z,1736379821.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:41.852Z,1736379821.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:42.020Z,1736379822.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:42.191Z,1736379822.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:42.200Z,1736379822.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:42.272Z,1736379822.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:42.524Z,1736379822.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:42.598Z,1736379822.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:42.607Z,1736379822.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:42.776Z,1736379822.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:43.027Z,1736379823.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:43.029Z,1736379823.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:43.065Z,1736379823.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:43.280Z,1736379823.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:43.416Z,1736379823.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:43.425Z,1736379823.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:43.532Z,1736379823.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:43.784Z,1736379823.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:43.846Z,1736379823.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:43.855Z,1736379823.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:43.904Z,1736379823.904 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:43:44.036Z,1736379824.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:44.280Z,1736379824.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:44.302Z,1736379824.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:44.307Z,1736379824.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:44.556Z,1736379824.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:44.629Z,1736379824.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:44.637Z,1736379824.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:44.808Z,1736379824.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:44.907Z,1736379824.907 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:43:45.060Z,1736379825.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:45.066Z,1736379825.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:45.130Z,1736379825.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:45.312Z,1736379825.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:45.424Z,1736379825.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:45.434Z,1736379825.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:45.564Z,1736379825.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:45.816Z,1736379825.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:45.855Z,1736379825.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:45.884Z,1736379825.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:46.068Z,1736379826.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:46.237Z,1736379826.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:46.247Z,1736379826.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:46.320Z,1736379826.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:46.572Z,1736379826.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:46.648Z,1736379826.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:46.664Z,1736379826.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:46.824Z,1736379826.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:47.069Z,1736379827.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:47.076Z,1736379827.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:47.106Z,1736379827.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:47.328Z,1736379827.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:47.457Z,1736379827.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:47.466Z,1736379827.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:47.580Z,1736379827.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:47.834Z,1736379827.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:47.927Z,1736379827.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:47.948Z,1736379827.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:48.084Z,1736379828.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:48.255Z,1736379828.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:48.265Z,1736379828.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:48.336Z,1736379828.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:48.588Z,1736379828.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:48.678Z,1736379828.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:48.704Z,1736379828.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:48.840Z,1736379828.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:49.093Z,1736379829.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:49.119Z,1736379829.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:49.141Z,1736379829.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:49.344Z,1736379829.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:49.480Z,1736379829.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:49.488Z,1736379829.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:49.596Z,1736379829.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:49.865Z,1736379829.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:49.917Z,1736379829.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:49.926Z,1736379829.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:50.100Z,1736379830.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:50.281Z,1736379830.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:50.289Z,1736379830.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:50.352Z,1736379830.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:50.604Z,1736379830.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:50.692Z,1736379830.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:50.701Z,1736379830.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:50.857Z,1736379830.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:51.108Z,1736379831.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:51.114Z,1736379831.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:51.126Z,1736379831.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:51.360Z,1736379831.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:51.492Z,1736379831.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:51.501Z,1736379831.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:51.612Z,1736379831.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:51.865Z,1736379831.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:51.946Z,1736379831.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:51.955Z,1736379831.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:52.124Z,1736379832.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:52.301Z,1736379832.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:52.309Z,1736379832.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:52.376Z,1736379832.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:52.629Z,1736379832.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:52.701Z,1736379832.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:52.711Z,1736379832.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:52.881Z,1736379832.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:53.132Z,1736379833.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:53.136Z,1736379833.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:53.172Z,1736379833.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:53.384Z,1736379833.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:53.515Z,1736379833.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:53.523Z,1736379833.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:53.636Z,1736379833.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:53.889Z,1736379833.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:53.988Z,1736379833.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:53.998Z,1736379833.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:54.140Z,1736379834.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:54.319Z,1736379834.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:54.327Z,1736379834.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:54.392Z,1736379834.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:54.644Z,1736379834.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:54.723Z,1736379834.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:54.732Z,1736379834.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:54.897Z,1736379834.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:55.149Z,1736379835.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:55.225Z,1736379835.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:55.239Z,1736379835.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:55.400Z,1736379835.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:55.587Z,1736379835.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:55.604Z,1736379835.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:55.652Z,1736379835.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:55.911Z,1736379835.911 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:56.004Z,1736379836.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:56.013Z,1736379836.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:56.160Z,1736379836.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:56.380Z,1736379836.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:56.404Z,1736379836.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:56.412Z,1736379836.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:56.664Z,1736379836.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:56.789Z,1736379836.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:56.799Z,1736379836.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:56.917Z,1736379836.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:57.168Z,1736379837.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:57.217Z,1736379837.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:57.243Z,1736379837.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:57.420Z,1736379837.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:57.602Z,1736379837.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:57.612Z,1736379837.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:57.672Z,1736379837.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:57.925Z,1736379837.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:58.042Z,1736379838.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:58.053Z,1736379838.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:58.176Z,1736379838.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:58.403Z,1736379838.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:58.414Z,1736379838.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:58.429Z,1736379838.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:58.681Z,1736379838.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:58.814Z,1736379838.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:58.823Z,1736379838.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:58.934Z,1736379838.934 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:59.185Z,1736379839.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:59.318Z,1736379839.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:59.326Z,1736379839.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:59.436Z,1736379839.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:59.689Z,1736379839.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:43:59.719Z,1736379839.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:43:59.728Z,1736379839.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:43:59.941Z,1736379839.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:00.183Z,1736379840.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:00.192Z,1736379840.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:00.209Z,1736379840.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:00.444Z,1736379840.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:00.519Z,1736379840.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:00.528Z,1736379840.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:00.697Z,1736379840.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:00.923Z,1736379840.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:00.937Z,1736379840.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:00.949Z,1736379840.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:01.203Z,1736379841.203 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:01.335Z,1736379841.335 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +20.0.00 2025-01-08T23:44:01.342Z,1736379841.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:44:01.343Z,1736379841.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:01.350Z,1736379841.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:44:01.370Z,1736379841.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:01.452Z,1736379841.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:01.452Z,1736379841.452 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:44:01.453Z,1736379841.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:44:01.704Z,1736379841.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:01.704Z,1736379841.704 [DAT](INFO): DAT read: user:3437> 2025-01-08T23:44:01.705Z,1736379841.705 [DAT](INFO): DAT read: Tx time:23:44:00.8938 2025-01-08T23:44:01.705Z,1736379841.705 [DAT](INFO): Ping request sent. 2025-01-08T23:44:01.705Z,1736379841.705 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:44:01.706Z,1736379841.706 [DAT](INFO): DAT read: TxSync time:23:44:00.8930 2025-01-08T23:44:01.706Z,1736379841.706 [DAT](INFO): publishing transmit ping time 2025-01-08T23:44:01.707Z,1736379841.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001530 2025-01-08T23:44:01.755Z,1736379841.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:44:01.755Z,1736379841.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:01.781Z,1736379841.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:01.956Z,1736379841.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:01.958Z,1736379841.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252135 2025-01-08T23:44:02.172Z,1736379842.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:02.188Z,1736379842.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:02.210Z,1736379842.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:02.210Z,1736379842.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504947 2025-01-08T23:44:02.464Z,1736379842.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:02.464Z,1736379842.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758894 2025-01-08T23:44:02.545Z,1736379842.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:02.554Z,1736379842.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:02.716Z,1736379842.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:02.717Z,1736379842.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011149 2025-01-08T23:44:02.946Z,1736379842.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:02.954Z,1736379842.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:02.968Z,1736379842.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:02.969Z,1736379842.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263186 2025-01-08T23:44:03.220Z,1736379843.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:03.220Z,1736379843.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514990 2025-01-08T23:44:03.378Z,1736379843.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:03.388Z,1736379843.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:03.472Z,1736379843.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:03.473Z,1736379843.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767703 2025-01-08T23:44:03.724Z,1736379843.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:03.724Z,1736379843.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018936 2025-01-08T23:44:03.786Z,1736379843.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:03.796Z,1736379843.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:03.976Z,1736379843.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:03.977Z,1736379843.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271939 2025-01-08T23:44:04.229Z,1736379844.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:04.230Z,1736379844.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524527 2025-01-08T23:44:04.237Z,1736379844.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:04.268Z,1736379844.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:04.480Z,1736379844.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:04.480Z,1736379844.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774907 2025-01-08T23:44:04.596Z,1736379844.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:04.613Z,1736379844.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:04.732Z,1736379844.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:04.732Z,1736379844.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026823 2025-01-08T23:44:04.984Z,1736379844.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:04.984Z,1736379844.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278927 2025-01-08T23:44:05.105Z,1736379845.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:05.155Z,1736379845.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:05.241Z,1736379845.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:05.241Z,1736379845.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535950 2025-01-08T23:44:05.414Z,1736379845.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:05.442Z,1736379845.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:05.492Z,1736379845.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:05.494Z,1736379845.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787653 2025-01-08T23:44:05.744Z,1736379845.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:05.745Z,1736379845.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039548 2025-01-08T23:44:05.827Z,1736379845.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:05.849Z,1736379845.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:05.996Z,1736379845.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:05.997Z,1736379845.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291168 2025-01-08T23:44:06.241Z,1736379846.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:06.248Z,1736379846.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:06.248Z,1736379846.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542991 2025-01-08T23:44:06.253Z,1736379846.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:06.500Z,1736379846.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:06.501Z,1736379846.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795112 2025-01-08T23:44:06.638Z,1736379846.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:06.650Z,1736379846.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:06.752Z,1736379846.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:06.753Z,1736379846.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047786 2025-01-08T23:44:07.004Z,1736379847.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:07.004Z,1736379847.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298791 2025-01-08T23:44:07.037Z,1736379847.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:07.117Z,1736379847.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:07.256Z,1736379847.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:07.257Z,1736379847.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551122 2025-01-08T23:44:07.460Z,1736379847.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:07.490Z,1736379847.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:07.508Z,1736379847.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:07.509Z,1736379847.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803013 2025-01-08T23:44:07.760Z,1736379847.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:07.762Z,1736379847.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055788 2025-01-08T23:44:07.845Z,1736379847.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:07.854Z,1736379847.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:08.012Z,1736379848.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:08.013Z,1736379848.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307505 2025-01-08T23:44:08.264Z,1736379848.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:08.265Z,1736379848.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559231 2025-01-08T23:44:08.277Z,1736379848.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:08.287Z,1736379848.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:08.516Z,1736379848.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:08.516Z,1736379848.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810787 2025-01-08T23:44:08.650Z,1736379848.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:08.692Z,1736379848.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:08.768Z,1736379848.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:08.770Z,1736379848.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063763 2025-01-08T23:44:09.020Z,1736379849.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:09.020Z,1736379849.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314861 2025-01-08T23:44:09.068Z,1736379849.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:09.140Z,1736379849.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:09.272Z,1736379849.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:09.273Z,1736379849.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567002 2025-01-08T23:44:09.524Z,1736379849.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:09.524Z,1736379849.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818951 2025-01-08T23:44:09.552Z,1736379849.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:09.580Z,1736379849.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:09.776Z,1736379849.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:09.776Z,1736379849.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070869 2025-01-08T23:44:09.941Z,1736379849.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:09.951Z,1736379849.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:10.029Z,1736379850.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:10.030Z,1736379850.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324366 2025-01-08T23:44:10.280Z,1736379850.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:10.281Z,1736379850.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575286 2025-01-08T23:44:10.360Z,1736379850.360 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0. +0.00,2924.94 2025-01-08T23:44:10.366Z,1736379850.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:44:10.367Z,1736379850.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:10.377Z,1736379850.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:10.532Z,1736379850.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:10.532Z,1736379850.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826979 2025-01-08T23:44:10.743Z,1736379850.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:44:10.743Z,1736379850.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:10.753Z,1736379850.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:10.784Z,1736379850.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:10.785Z,1736379850.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079442 2025-01-08T23:44:11.036Z,1736379851.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:11.036Z,1736379851.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330851 2025-01-08T23:44:11.221Z,1736379851.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:11.231Z,1736379851.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:11.288Z,1736379851.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:11.289Z,1736379851.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583374 2025-01-08T23:44:11.540Z,1736379851.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:11.540Z,1736379851.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834788 2025-01-08T23:44:11.619Z,1736379851.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:11.629Z,1736379851.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:11.793Z,1736379851.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:11.794Z,1736379851.794 [DAT](INFO): Reached modem response timeout 2025-01-08T23:44:12.027Z,1736379852.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:12.037Z,1736379852.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:12.044Z,1736379852.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:12.296Z,1736379852.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:12.469Z,1736379852.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:12.478Z,1736379852.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:12.549Z,1736379852.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:12.551Z,1736379852.551 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:44:12.551Z,1736379852.551 [DAT](INFO): response not received 2025-01-08T23:44:12.551Z,1736379852.551 [DAT](ERROR): No response from remote modem. 2025-01-08T23:44:12.802Z,1736379852.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:12.853Z,1736379852.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:12.863Z,1736379852.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:13.052Z,1736379853.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:13.296Z,1736379853.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:13.304Z,1736379853.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:13.306Z,1736379853.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:13.556Z,1736379853.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:13.665Z,1736379853.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:13.687Z,1736379853.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:13.808Z,1736379853.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:14.060Z,1736379854.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:14.072Z,1736379854.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:14.089Z,1736379854.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:14.272Z,1736379854.272 [RudderServo](ERROR): getPosition uart error serial timeout 2025-01-08T23:44:14.272Z,1736379854.272 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout 2025-01-08T23:44:14.272Z,1736379854.272 [RudderServo] Communications Fault, FailCount= 1 2025-01-08T23:44:14.273Z,1736379854.273 [RudderServo](ERROR): Communications Fault 2025-01-08T23:44:14.276Z,1736379854.276 [CBIT](ERROR): Communications Fault in component: RudderServo 2025-01-08T23:44:14.312Z,1736379854.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:14.504Z,1736379854.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:14.512Z,1736379854.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:14.565Z,1736379854.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:14.597Z,1736379854.597 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2025-01-08T23:44:14.597Z,1736379854.597 [RudderServo](INFO): Powering down 2025-01-08T23:44:14.816Z,1736379854.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:14.902Z,1736379854.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:14.912Z,1736379854.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:15.044Z,1736379855.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:44:15.068Z,1736379855.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:15.286Z,1736379855.286 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3768,V 2025-01-08T23:44:15.294Z,1736379855.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:44:15.294Z,1736379855.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:15.303Z,1736379855.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:15.320Z,1736379855.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:15.389Z,1736379855.389 [RudderServo](DEBUG): Initializing EZServoServo. 2025-01-08T23:44:15.512Z,1736379855.512 [RudderServo](DEBUG): Initializing RudderServo. 2025-01-08T23:44:15.517Z,1736379855.517 [CBIT](INFO): Clearing failed state for component RudderServo 2025-01-08T23:44:15.517Z,1736379855.517 [RudderServo] No Fault, FailCount= 1 2025-01-08T23:44:15.572Z,1736379855.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:15.701Z,1736379855.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:44:15.702Z,1736379855.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:15.710Z,1736379855.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:15.824Z,1736379855.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:16.048Z,1736379856.048 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:44:16.076Z,1736379856.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:16.082Z,1736379856.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:44:16.082Z,1736379856.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:16.091Z,1736379856.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:16.328Z,1736379856.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:16.532Z,1736379856.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:16.541Z,1736379856.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:16.581Z,1736379856.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:16.832Z,1736379856.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:16.913Z,1736379856.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:16.930Z,1736379856.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:17.084Z,1736379857.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:17.313Z,1736379857.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:17.322Z,1736379857.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:17.336Z,1736379857.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:17.589Z,1736379857.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:17.716Z,1736379857.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:17.733Z,1736379857.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:17.840Z,1736379857.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:18.092Z,1736379858.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:18.102Z,1736379858.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:18.128Z,1736379858.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:18.344Z,1736379858.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:18.551Z,1736379858.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:18.560Z,1736379858.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:18.596Z,1736379858.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:18.848Z,1736379858.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:18.940Z,1736379858.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:18.950Z,1736379858.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:19.100Z,1736379859.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:19.352Z,1736379859.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:19.474Z,1736379859.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:19.479Z,1736379859.479 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:44:19.520Z,1736379859.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:19.606Z,1736379859.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:19.836Z,1736379859.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:19.846Z,1736379859.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:19.856Z,1736379859.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:20.108Z,1736379860.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:20.240Z,1736379860.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:20.262Z,1736379860.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:20.360Z,1736379860.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:20.612Z,1736379860.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:20.677Z,1736379860.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:20.707Z,1736379860.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:20.864Z,1736379860.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:21.036Z,1736379861.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:21.061Z,1736379861.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:21.118Z,1736379861.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:21.368Z,1736379861.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:21.473Z,1736379861.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:21.490Z,1736379861.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:21.620Z,1736379861.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:21.844Z,1736379861.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:21.853Z,1736379861.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:21.872Z,1736379861.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:22.124Z,1736379862.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:22.269Z,1736379862.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:22.290Z,1736379862.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:22.377Z,1736379862.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:22.628Z,1736379862.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:22.698Z,1736379862.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:22.729Z,1736379862.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:22.880Z,1736379862.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:23.054Z,1736379863.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:23.063Z,1736379863.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:23.132Z,1736379863.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:23.384Z,1736379863.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:23.485Z,1736379863.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:23.493Z,1736379863.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:23.636Z,1736379863.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:23.858Z,1736379863.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:23.888Z,1736379863.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:23.892Z,1736379863.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:24.140Z,1736379864.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:24.271Z,1736379864.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:24.281Z,1736379864.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:24.392Z,1736379864.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:24.644Z,1736379864.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:24.780Z,1736379864.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:24.788Z,1736379864.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:24.896Z,1736379864.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:25.148Z,1736379865.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:25.174Z,1736379865.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:25.198Z,1736379865.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:25.400Z,1736379865.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:25.565Z,1736379865.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:25.574Z,1736379865.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:25.652Z,1736379865.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:25.904Z,1736379865.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:25.956Z,1736379865.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:25.967Z,1736379865.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:26.156Z,1736379866.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:26.384Z,1736379866.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:26.408Z,1736379866.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:26.426Z,1736379866.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:26.660Z,1736379866.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:26.801Z,1736379866.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:26.831Z,1736379866.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:26.912Z,1736379866.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:27.149Z,1736379867.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:27.158Z,1736379867.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:27.164Z,1736379867.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:27.416Z,1736379867.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:27.579Z,1736379867.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:27.588Z,1736379867.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:27.669Z,1736379867.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:27.920Z,1736379867.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:27.972Z,1736379867.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:27.981Z,1736379867.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:28.172Z,1736379868.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:28.401Z,1736379868.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:28.431Z,1736379868.431 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:28.449Z,1736379868.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:28.682Z,1736379868.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:28.794Z,1736379868.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:28.802Z,1736379868.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:28.932Z,1736379868.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:29.178Z,1736379869.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:29.184Z,1736379869.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:29.189Z,1736379869.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:29.436Z,1736379869.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:29.602Z,1736379869.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:29.613Z,1736379869.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:29.688Z,1736379869.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:29.940Z,1736379869.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:29.984Z,1736379869.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:30.011Z,1736379870.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:30.192Z,1736379870.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:30.388Z,1736379870.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:30.420Z,1736379870.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:30.446Z,1736379870.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:30.696Z,1736379870.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:30.817Z,1736379870.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:30.848Z,1736379870.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:30.948Z,1736379870.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:31.200Z,1736379871.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:31.204Z,1736379871.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:31.213Z,1736379871.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:31.454Z,1736379871.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:31.634Z,1736379871.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:31.642Z,1736379871.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:31.705Z,1736379871.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:31.956Z,1736379871.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:32.006Z,1736379872.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:32.015Z,1736379872.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:32.208Z,1736379872.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:32.422Z,1736379872.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:32.476Z,1736379872.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:32.478Z,1736379872.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:32.712Z,1736379872.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:32.845Z,1736379872.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:32.853Z,1736379872.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:32.964Z,1736379872.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:33.213Z,1736379873.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:33.216Z,1736379873.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:33.223Z,1736379873.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:33.469Z,1736379873.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:33.643Z,1736379873.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:33.672Z,1736379873.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:33.720Z,1736379873.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:33.972Z,1736379873.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:34.031Z,1736379874.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:34.039Z,1736379874.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:34.224Z,1736379874.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:34.424Z,1736379874.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:34.433Z,1736379874.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:34.478Z,1736379874.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:34.728Z,1736379874.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:34.879Z,1736379874.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:34.898Z,1736379874.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:34.980Z,1736379874.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:35.232Z,1736379875.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:35.238Z,1736379875.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:35.248Z,1736379875.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:35.485Z,1736379875.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:35.686Z,1736379875.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:35.694Z,1736379875.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:35.736Z,1736379875.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:35.988Z,1736379875.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:36.045Z,1736379876.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:36.053Z,1736379876.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:36.240Z,1736379876.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:36.460Z,1736379876.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:36.474Z,1736379876.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:36.494Z,1736379876.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:36.744Z,1736379876.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:36.903Z,1736379876.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:36.932Z,1736379876.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:36.996Z,1736379876.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:37.248Z,1736379877.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:37.254Z,1736379877.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:37.264Z,1736379877.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:37.501Z,1736379877.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:37.697Z,1736379877.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:37.722Z,1736379877.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:37.754Z,1736379877.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:38.004Z,1736379878.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:38.069Z,1736379878.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:38.097Z,1736379878.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:38.256Z,1736379878.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:38.485Z,1736379878.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:38.508Z,1736379878.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:38.518Z,1736379878.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:38.760Z,1736379878.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:38.907Z,1736379878.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:38.938Z,1736379878.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:39.013Z,1736379879.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:39.264Z,1736379879.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:39.292Z,1736379879.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:39.301Z,1736379879.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:39.517Z,1736379879.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:39.710Z,1736379879.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:39.720Z,1736379879.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:39.768Z,1736379879.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:40.020Z,1736379880.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:40.091Z,1736379880.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:40.100Z,1736379880.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:40.272Z,1736379880.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:40.484Z,1736379880.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:40.509Z,1736379880.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:40.526Z,1736379880.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:40.776Z,1736379880.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:41.029Z,1736379881.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:41.050Z,1736379881.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:41.059Z,1736379881.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:41.280Z,1736379881.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:41.307Z,1736379881.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:41.325Z,1736379881.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:41.532Z,1736379881.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:41.733Z,1736379881.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:41.741Z,1736379881.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:41.784Z,1736379881.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:42.036Z,1736379882.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:42.106Z,1736379882.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:42.116Z,1736379882.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:42.288Z,1736379882.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:42.510Z,1736379882.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:42.523Z,1736379882.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:42.541Z,1736379882.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:42.792Z,1736379882.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:42.946Z,1736379882.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:42.970Z,1736379882.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:43.044Z,1736379883.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:43.296Z,1736379883.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:43.322Z,1736379883.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:43.332Z,1736379883.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:43.548Z,1736379883.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:43.741Z,1736379883.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:43.750Z,1736379883.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:43.800Z,1736379883.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:44.052Z,1736379884.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:44.120Z,1736379884.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:44.129Z,1736379884.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:44.304Z,1736379884.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:44.522Z,1736379884.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:44.531Z,1736379884.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:44.573Z,1736379884.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:44.824Z,1736379884.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:44.966Z,1736379884.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:44.980Z,1736379884.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:45.077Z,1736379885.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:45.329Z,1736379885.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:45.332Z,1736379885.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:45.341Z,1736379885.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:45.580Z,1736379885.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:45.768Z,1736379885.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:45.793Z,1736379885.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:45.832Z,1736379885.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:46.084Z,1736379886.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:46.146Z,1736379886.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:46.154Z,1736379886.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:46.168Z,1736379886.168 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:44:46.338Z,1736379886.338 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:46.539Z,1736379886.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:46.549Z,1736379886.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:46.588Z,1736379886.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:46.842Z,1736379886.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:46.967Z,1736379886.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:47.003Z,1736379887.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:47.093Z,1736379887.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:47.172Z,1736379887.172 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:44:47.344Z,1736379887.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:47.350Z,1736379887.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:47.358Z,1736379887.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:47.596Z,1736379887.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:47.780Z,1736379887.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:47.789Z,1736379887.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:47.848Z,1736379887.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:48.100Z,1736379888.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:48.190Z,1736379888.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:48.200Z,1736379888.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:48.352Z,1736379888.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:48.565Z,1736379888.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:48.573Z,1736379888.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:48.604Z,1736379888.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:48.856Z,1736379888.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:48.994Z,1736379888.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:49.019Z,1736379889.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:49.108Z,1736379889.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:49.360Z,1736379889.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:49.427Z,1736379889.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:49.436Z,1736379889.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:49.612Z,1736379889.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:49.848Z,1736379889.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:49.857Z,1736379889.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:49.864Z,1736379889.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:50.117Z,1736379890.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:50.233Z,1736379890.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:50.241Z,1736379890.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:50.368Z,1736379890.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:50.621Z,1736379890.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:50.669Z,1736379890.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:50.739Z,1736379890.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:50.872Z,1736379890.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:51.124Z,1736379891.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:51.221Z,1736379891.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:51.230Z,1736379891.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:51.376Z,1736379891.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:51.628Z,1736379891.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:51.638Z,1736379891.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:51.649Z,1736379891.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:51.883Z,1736379891.883 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:52.062Z,1736379892.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:52.071Z,1736379892.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:52.132Z,1736379892.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:52.384Z,1736379892.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:52.437Z,1736379892.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:52.446Z,1736379892.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:52.636Z,1736379892.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:52.867Z,1736379892.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:52.888Z,1736379892.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:52.896Z,1736379892.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:53.140Z,1736379893.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:53.257Z,1736379893.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:53.266Z,1736379893.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:53.392Z,1736379893.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:53.644Z,1736379893.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:53.658Z,1736379893.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:53.690Z,1736379893.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:53.896Z,1736379893.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:54.112Z,1736379894.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:54.120Z,1736379894.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:54.148Z,1736379894.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:54.400Z,1736379894.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:54.514Z,1736379894.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:54.523Z,1736379894.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:54.653Z,1736379894.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:54.904Z,1736379894.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:54.962Z,1736379894.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:54.991Z,1736379894.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:55.156Z,1736379895.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:55.315Z,1736379895.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:55.323Z,1736379895.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:55.408Z,1736379895.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:55.660Z,1736379895.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:55.724Z,1736379895.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:55.734Z,1736379895.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:55.913Z,1736379895.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:56.153Z,1736379896.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:56.176Z,1736379896.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:56.192Z,1736379896.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:56.428Z,1736379896.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:56.602Z,1736379896.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:56.610Z,1736379896.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:56.680Z,1736379896.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:56.932Z,1736379896.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:57.052Z,1736379897.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:57.086Z,1736379897.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:57.185Z,1736379897.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:57.436Z,1736379897.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:57.514Z,1736379897.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:57.547Z,1736379897.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:57.688Z,1736379897.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:57.948Z,1736379897.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:57.968Z,1736379897.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:57.976Z,1736379897.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:58.201Z,1736379898.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:58.356Z,1736379898.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:58.381Z,1736379898.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:58.453Z,1736379898.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:58.704Z,1736379898.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:58.729Z,1736379898.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:58.751Z,1736379898.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:58.956Z,1736379898.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:59.173Z,1736379899.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:59.182Z,1736379899.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:59.208Z,1736379899.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:59.461Z,1736379899.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:59.556Z,1736379899.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:44:59.590Z,1736379899.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:44:59.713Z,1736379899.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:44:59.964Z,1736379899.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:00.012Z,1736379900.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:00.021Z,1736379900.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:00.022Z,1736379900.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 60.40 m and bearing: 89.434614 deg. Not drifting fast enough. 2025-01-08T23:45:00.216Z,1736379900.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:00.376Z,1736379900.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:00.386Z,1736379900.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:00.387Z,1736379900.387 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-01-08T23:45:00.388Z,1736379900.388 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T23:45:00.388Z,1736379900.388 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-01-08T23:45:00.388Z,1736379900.388 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-01-08T23:45:00.468Z,1736379900.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:00.720Z,1736379900.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:00.792Z,1736379900.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:00.802Z,1736379900.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:00.972Z,1736379900.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:01.217Z,1736379901.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:01.224Z,1736379901.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:01.227Z,1736379901.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:01.476Z,1736379901.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:01.594Z,1736379901.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:01.602Z,1736379901.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:45:01.604Z,1736379901.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:01.729Z,1736379901.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:01.730Z,1736379901.730 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:45:01.730Z,1736379901.730 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:45:01.980Z,1736379901.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:01.981Z,1736379901.981 [DAT](INFO): DAT read: user:3438> 2025-01-08T23:45:01.981Z,1736379901.981 [DAT](INFO): DAT read: Tx time:23:45:01.1944 2025-01-08T23:45:01.982Z,1736379901.982 [DAT](INFO): Ping request sent. 2025-01-08T23:45:01.982Z,1736379901.982 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:45:01.982Z,1736379901.982 [DAT](INFO): publishing transmit ping time 2025-01-08T23:45:01.982Z,1736379901.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721 2025-01-08T23:45:02.071Z,1736379902.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:02.088Z,1736379902.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:02.234Z,1736379902.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:02.236Z,1736379902.236 [DAT](INFO): DAT read: TxSync time:23:45:01.1936 2025-01-08T23:45:02.237Z,1736379902.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255284 2025-01-08T23:45:02.404Z,1736379902.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:02.414Z,1736379902.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:02.484Z,1736379902.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:02.484Z,1736379902.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502658 2025-01-08T23:45:02.736Z,1736379902.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:02.736Z,1736379902.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754653 2025-01-08T23:45:02.881Z,1736379902.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:02.951Z,1736379902.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:02.988Z,1736379902.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:02.989Z,1736379902.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007070 2025-01-08T23:45:03.240Z,1736379903.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:03.241Z,1736379903.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259260 2025-01-08T23:45:03.324Z,1736379903.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:03.340Z,1736379903.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:03.492Z,1736379903.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:03.494Z,1736379903.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511912 2025-01-08T23:45:03.692Z,1736379903.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:03.702Z,1736379903.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:03.744Z,1736379903.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:03.745Z,1736379903.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762963 2025-01-08T23:45:03.996Z,1736379903.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:03.996Z,1736379903.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014708 2025-01-08T23:45:04.127Z,1736379904.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:04.136Z,1736379904.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:04.248Z,1736379904.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:04.248Z,1736379904.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266707 2025-01-08T23:45:04.500Z,1736379904.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:04.501Z,1736379904.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518802 2025-01-08T23:45:04.502Z,1736379904.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:04.511Z,1736379904.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:04.752Z,1736379904.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:04.752Z,1736379904.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770568 2025-01-08T23:45:04.897Z,1736379904.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:04.913Z,1736379904.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:05.004Z,1736379905.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:05.004Z,1736379905.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022755 2025-01-08T23:45:05.256Z,1736379905.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:05.256Z,1736379905.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274643 2025-01-08T23:45:05.345Z,1736379905.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:05.361Z,1736379905.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:05.511Z,1736379905.511 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:05.512Z,1736379905.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530461 2025-01-08T23:45:05.697Z,1736379905.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:05.706Z,1736379905.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:05.765Z,1736379905.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:05.766Z,1736379905.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784113 2025-01-08T23:45:06.016Z,1736379906.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:06.016Z,1736379906.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034770 2025-01-08T23:45:06.124Z,1736379906.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:06.154Z,1736379906.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:06.268Z,1736379906.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:06.269Z,1736379906.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287389 2025-01-08T23:45:06.507Z,1736379906.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:06.517Z,1736379906.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:06.520Z,1736379906.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:06.520Z,1736379906.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538757 2025-01-08T23:45:06.772Z,1736379906.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:06.773Z,1736379906.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791266 2025-01-08T23:45:06.912Z,1736379906.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:06.994Z,1736379906.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:07.024Z,1736379907.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:07.024Z,1736379907.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042775 2025-01-08T23:45:07.276Z,1736379907.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:07.276Z,1736379907.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294593 2025-01-08T23:45:07.384Z,1736379907.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:07.392Z,1736379907.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:07.528Z,1736379907.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:07.529Z,1736379907.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547731 2025-01-08T23:45:07.725Z,1736379907.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:07.735Z,1736379907.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:07.781Z,1736379907.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:07.782Z,1736379907.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800434 2025-01-08T23:45:08.032Z,1736379908.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:08.032Z,1736379908.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050720 2025-01-08T23:45:08.150Z,1736379908.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:08.166Z,1736379908.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:08.286Z,1736379908.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:08.287Z,1736379908.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305040 2025-01-08T23:45:08.524Z,1736379908.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:08.533Z,1736379908.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:08.536Z,1736379908.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:08.536Z,1736379908.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554735 2025-01-08T23:45:08.788Z,1736379908.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:08.789Z,1736379908.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807056 2025-01-08T23:45:08.930Z,1736379908.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:08.938Z,1736379908.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:09.041Z,1736379909.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:09.042Z,1736379909.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059967 2025-01-08T23:45:09.292Z,1736379909.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:09.292Z,1736379909.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310574 2025-01-08T23:45:09.404Z,1736379909.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:09.412Z,1736379909.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:09.544Z,1736379909.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:09.545Z,1736379909.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563021 2025-01-08T23:45:09.757Z,1736379909.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:09.766Z,1736379909.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:09.813Z,1736379909.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:09.815Z,1736379909.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.832765 2025-01-08T23:45:10.064Z,1736379910.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:10.064Z,1736379910.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.082705 2025-01-08T23:45:10.204Z,1736379910.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:10.229Z,1736379910.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:10.320Z,1736379910.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:10.321Z,1736379910.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.339035 2025-01-08T23:45:10.550Z,1736379910.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:10.559Z,1736379910.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:10.572Z,1736379910.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:10.572Z,1736379910.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.590770 2025-01-08T23:45:10.824Z,1736379910.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:10.824Z,1736379910.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.842733 2025-01-08T23:45:10.958Z,1736379910.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:10.969Z,1736379910.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:11.076Z,1736379911.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:11.077Z,1736379911.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.094901 2025-01-08T23:45:11.328Z,1736379911.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:11.330Z,1736379911.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.348083 2025-01-08T23:45:11.402Z,1736379911.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:11.426Z,1736379911.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:11.580Z,1736379911.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:11.581Z,1736379911.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.598814 2025-01-08T23:45:11.832Z,1736379911.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:11.833Z,1736379911.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.850788 2025-01-08T23:45:11.885Z,1736379911.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:11.912Z,1736379911.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:12.084Z,1736379912.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:12.084Z,1736379912.084 [DAT](INFO): Reached modem response timeout 2025-01-08T23:45:12.285Z,1736379912.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:12.293Z,1736379912.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:12.336Z,1736379912.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:12.588Z,1736379912.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:12.684Z,1736379912.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:12.698Z,1736379912.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:12.840Z,1736379912.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:12.841Z,1736379912.841 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:45:12.841Z,1736379912.841 [DAT](INFO): response not received 2025-01-08T23:45:12.841Z,1736379912.841 [DAT](ERROR): No response from remote modem. 2025-01-08T23:45:13.093Z,1736379913.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:13.132Z,1736379913.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:13.169Z,1736379913.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:13.344Z,1736379913.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:13.480Z,1736379913.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:13.489Z,1736379913.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:13.596Z,1736379913.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:13.848Z,1736379913.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:13.948Z,1736379913.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:13.956Z,1736379913.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:14.101Z,1736379914.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:14.352Z,1736379914.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:14.383Z,1736379914.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:14.411Z,1736379914.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:14.604Z,1736379914.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:14.852Z,1736379914.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:14.856Z,1736379914.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:14.879Z,1736379914.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:15.109Z,1736379915.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:15.360Z,1736379915.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:15.455Z,1736379915.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:15.463Z,1736379915.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:15.612Z,1736379915.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:15.835Z,1736379915.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:15.849Z,1736379915.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:15.864Z,1736379915.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:16.118Z,1736379916.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:16.258Z,1736379916.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:16.268Z,1736379916.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:16.369Z,1736379916.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:16.620Z,1736379916.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:16.639Z,1736379916.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:16.666Z,1736379916.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:16.872Z,1736379916.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:17.055Z,1736379917.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:17.089Z,1736379917.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:17.125Z,1736379917.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:17.296Z,1736379917.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:45:17.376Z,1736379917.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:17.480Z,1736379917.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:17.518Z,1736379917.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:17.630Z,1736379917.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:17.880Z,1736379917.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:17.948Z,1736379917.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:17.956Z,1736379917.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:18.133Z,1736379918.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:18.300Z,1736379918.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:45:18.380Z,1736379918.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:18.384Z,1736379918.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:18.389Z,1736379918.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:18.636Z,1736379918.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:18.748Z,1736379918.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:18.757Z,1736379918.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:18.888Z,1736379918.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:19.141Z,1736379919.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:19.238Z,1736379919.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:19.248Z,1736379919.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:19.392Z,1736379919.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:19.575Z,1736379919.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:19.583Z,1736379919.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:19.646Z,1736379919.646 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:19.896Z,1736379919.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:19.961Z,1736379919.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:19.970Z,1736379919.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:20.150Z,1736379920.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:20.384Z,1736379920.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:20.400Z,1736379920.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:20.422Z,1736379920.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:20.652Z,1736379920.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:20.773Z,1736379920.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:20.788Z,1736379920.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:20.904Z,1736379920.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:21.157Z,1736379921.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:21.292Z,1736379921.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:21.301Z,1736379921.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:21.408Z,1736379921.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:21.604Z,1736379921.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:21.612Z,1736379921.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:21.661Z,1736379921.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:21.912Z,1736379921.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:22.027Z,1736379922.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:22.037Z,1736379922.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:22.170Z,1736379922.170 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:22.416Z,1736379922.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:22.481Z,1736379922.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:22.505Z,1736379922.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:22.668Z,1736379922.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:22.868Z,1736379922.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:22.876Z,1736379922.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:22.920Z,1736379922.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:23.172Z,1736379923.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:23.300Z,1736379923.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:23.308Z,1736379923.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:23.424Z,1736379923.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:23.673Z,1736379923.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:23.676Z,1736379923.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:23.686Z,1736379923.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:23.929Z,1736379923.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:24.072Z,1736379924.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:24.082Z,1736379924.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:24.182Z,1736379924.182 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:24.432Z,1736379924.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:24.504Z,1736379924.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:24.516Z,1736379924.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:24.685Z,1736379924.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:24.879Z,1736379924.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:24.887Z,1736379924.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:24.937Z,1736379924.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:25.189Z,1736379925.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:25.310Z,1736379925.310 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010210.9, 93.3, 0 2025-01-08T23:45:25.318Z,1736379925.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:45:25.318Z,1736379925.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:25.327Z,1736379925.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:25.440Z,1736379925.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:25.692Z,1736379925.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:25.693Z,1736379925.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:45:25.693Z,1736379925.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:25.705Z,1736379925.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:25.944Z,1736379925.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:26.097Z,1736379926.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:45:26.098Z,1736379926.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:26.106Z,1736379926.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:26.196Z,1736379926.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:26.448Z,1736379926.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:26.538Z,1736379926.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:26.549Z,1736379926.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:26.700Z,1736379926.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:26.891Z,1736379926.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:26.900Z,1736379926.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:26.952Z,1736379926.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:27.204Z,1736379927.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:27.348Z,1736379927.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:27.356Z,1736379927.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:27.456Z,1736379927.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:27.708Z,1736379927.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:27.713Z,1736379927.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:27.722Z,1736379927.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:27.960Z,1736379927.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:28.103Z,1736379928.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:28.112Z,1736379928.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:28.212Z,1736379928.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:28.464Z,1736379928.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:28.550Z,1736379928.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:28.559Z,1736379928.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:28.716Z,1736379928.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:28.913Z,1736379928.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:28.922Z,1736379928.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:28.968Z,1736379928.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:29.220Z,1736379929.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:29.388Z,1736379929.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:29.398Z,1736379929.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:29.473Z,1736379929.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:29.724Z,1736379929.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:29.727Z,1736379929.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:29.755Z,1736379929.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:29.976Z,1736379929.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:30.125Z,1736379930.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:30.135Z,1736379930.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:30.229Z,1736379930.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:30.480Z,1736379930.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:30.558Z,1736379930.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:30.567Z,1736379930.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:30.732Z,1736379930.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:30.960Z,1736379930.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:30.969Z,1736379930.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:30.986Z,1736379930.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:31.236Z,1736379931.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:31.405Z,1736379931.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:31.415Z,1736379931.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:31.488Z,1736379931.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:31.740Z,1736379931.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:31.850Z,1736379931.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:31.865Z,1736379931.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:31.992Z,1736379931.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:32.244Z,1736379932.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:32.274Z,1736379932.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:32.287Z,1736379932.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:32.497Z,1736379932.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:32.702Z,1736379932.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:32.713Z,1736379932.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:32.748Z,1736379932.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:32.000Z,1736379933.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:33.064Z,1736379933.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:33.072Z,1736379933.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:33.252Z,1736379933.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:33.495Z,1736379933.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:33.504Z,1736379933.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:33.507Z,1736379933.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:33.756Z,1736379933.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:33.875Z,1736379933.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:33.904Z,1736379933.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:34.008Z,1736379934.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:34.260Z,1736379934.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:34.317Z,1736379934.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:34.334Z,1736379934.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:34.513Z,1736379934.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:34.713Z,1736379934.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:34.744Z,1736379934.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:34.764Z,1736379934.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:35.016Z,1736379935.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:35.092Z,1736379935.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:35.101Z,1736379935.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:35.268Z,1736379935.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:35.520Z,1736379935.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:35.529Z,1736379935.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:35.572Z,1736379935.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:35.774Z,1736379935.774 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:35.901Z,1736379935.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:35.909Z,1736379935.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:36.024Z,1736379936.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:36.276Z,1736379936.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:36.317Z,1736379936.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:36.325Z,1736379936.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:36.528Z,1736379936.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:36.738Z,1736379936.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:36.747Z,1736379936.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:36.780Z,1736379936.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:37.032Z,1736379937.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:37.127Z,1736379937.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:37.138Z,1736379937.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:37.284Z,1736379937.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:37.538Z,1736379937.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:37.559Z,1736379937.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:37.568Z,1736379937.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:37.793Z,1736379937.793 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:37.934Z,1736379937.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:37.943Z,1736379937.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:38.044Z,1736379938.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:38.296Z,1736379938.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:38.338Z,1736379938.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:38.348Z,1736379938.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:38.549Z,1736379938.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:38.767Z,1736379938.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:38.775Z,1736379938.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:38.800Z,1736379938.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:39.052Z,1736379939.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:39.163Z,1736379939.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:39.172Z,1736379939.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:39.304Z,1736379939.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:39.556Z,1736379939.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:39.591Z,1736379939.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:39.608Z,1736379939.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:39.808Z,1736379939.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:39.953Z,1736379939.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:39.966Z,1736379939.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:40.061Z,1736379940.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:40.313Z,1736379940.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:40.367Z,1736379940.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:40.376Z,1736379940.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:40.566Z,1736379940.566 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:40.776Z,1736379940.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:40.786Z,1736379940.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:40.816Z,1736379940.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:41.068Z,1736379941.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:41.167Z,1736379941.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:41.182Z,1736379941.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:41.320Z,1736379941.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:41.572Z,1736379941.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:41.596Z,1736379941.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:41.605Z,1736379941.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:41.824Z,1736379941.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:41.970Z,1736379941.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:41.978Z,1736379941.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:42.076Z,1736379942.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:42.329Z,1736379942.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:42.377Z,1736379942.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:42.386Z,1736379942.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:42.580Z,1736379942.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:42.808Z,1736379942.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:42.817Z,1736379942.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:42.832Z,1736379942.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:43.084Z,1736379943.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:43.179Z,1736379943.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:43.188Z,1736379943.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:43.336Z,1736379943.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:43.588Z,1736379943.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:43.605Z,1736379943.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:43.614Z,1736379943.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:43.840Z,1736379943.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:43.996Z,1736379943.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:44.008Z,1736379944.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:44.092Z,1736379944.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:44.344Z,1736379944.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:44.410Z,1736379944.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:44.421Z,1736379944.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:44.597Z,1736379944.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:44.829Z,1736379944.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:44.838Z,1736379944.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:44.856Z,1736379944.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:45.108Z,1736379945.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:45.236Z,1736379945.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:45.244Z,1736379945.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:45.360Z,1736379945.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:45.613Z,1736379945.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:45.625Z,1736379945.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:45.669Z,1736379945.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:45.864Z,1736379945.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:46.016Z,1736379946.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:46.025Z,1736379946.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:46.117Z,1736379946.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:46.368Z,1736379946.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:46.413Z,1736379946.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:46.444Z,1736379946.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:46.620Z,1736379946.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:46.859Z,1736379946.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:46.869Z,1736379946.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:46.872Z,1736379946.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:47.124Z,1736379947.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:47.233Z,1736379947.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:47.241Z,1736379947.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:47.376Z,1736379947.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:47.628Z,1736379947.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:47.687Z,1736379947.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:47.697Z,1736379947.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:47.882Z,1736379947.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:48.050Z,1736379948.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:48.059Z,1736379948.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:48.134Z,1736379948.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:48.384Z,1736379948.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:48.437Z,1736379948.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:48.448Z,1736379948.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:45:48.452Z,1736379948.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:48.636Z,1736379948.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:48.888Z,1736379948.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:48.908Z,1736379948.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:48.917Z,1736379948.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:49.141Z,1736379949.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:49.284Z,1736379949.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:49.292Z,1736379949.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:49.392Z,1736379949.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:49.455Z,1736379949.455 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:45:49.645Z,1736379949.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:49.741Z,1736379949.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:49.750Z,1736379949.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:49.896Z,1736379949.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:50.109Z,1736379950.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:50.118Z,1736379950.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:50.148Z,1736379950.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:50.400Z,1736379950.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:50.512Z,1736379950.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:50.521Z,1736379950.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:50.652Z,1736379950.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:50.904Z,1736379950.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:50.955Z,1736379950.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:50.965Z,1736379950.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:51.156Z,1736379951.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:51.320Z,1736379951.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:51.337Z,1736379951.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:51.408Z,1736379951.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:51.592Z,1736379951.592 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@4194\r" 2025-01-08T23:45:51.592Z,1736379951.592 [ThrusterServo] Communications Fault, FailCount= 1 2025-01-08T23:45:51.592Z,1736379951.592 [ThrusterServo](ERROR): Communications Fault 2025-01-08T23:45:51.601Z,1736379951.601 [CBIT](ERROR): Communications Fault in component: ThrusterServo 2025-01-08T23:45:51.662Z,1736379951.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:51.742Z,1736379951.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:51.752Z,1736379951.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:51.912Z,1736379951.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:51.952Z,1736379951.952 [ThrusterServo](DEBUG): Uninitialize Thruster Servo. 2025-01-08T23:45:51.952Z,1736379951.952 [ThrusterServo](INFO): Powering down 2025-01-08T23:45:52.120Z,1736379952.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:52.128Z,1736379952.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:52.164Z,1736379952.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:52.416Z,1736379952.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:52.533Z,1736379952.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:52.550Z,1736379952.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:52.668Z,1736379952.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:52.772Z,1736379952.772 [ThrusterServo](DEBUG): Initializing EZServoServo. 2025-01-08T23:45:52.892Z,1736379952.892 [ThrusterServo](DEBUG): Initializing ThrusterServo. 2025-01-08T23:45:52.896Z,1736379952.896 [CBIT](INFO): Clearing failed state for component ThrusterServo 2025-01-08T23:45:52.896Z,1736379952.896 [ThrusterServo] No Fault, FailCount= 1 2025-01-08T23:45:52.920Z,1736379952.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:52.966Z,1736379952.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:52.983Z,1736379952.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:53.172Z,1736379953.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:53.339Z,1736379953.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:53.349Z,1736379953.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:53.424Z,1736379953.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:53.678Z,1736379953.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:53.753Z,1736379953.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:53.762Z,1736379953.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:53.928Z,1736379953.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:54.142Z,1736379954.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:54.150Z,1736379954.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:54.180Z,1736379954.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:54.432Z,1736379954.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:54.541Z,1736379954.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:54.550Z,1736379954.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:54.686Z,1736379954.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:54.936Z,1736379954.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:54.980Z,1736379954.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:54.988Z,1736379954.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:55.188Z,1736379955.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:55.343Z,1736379955.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:55.352Z,1736379955.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:55.440Z,1736379955.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:55.693Z,1736379955.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:55.786Z,1736379955.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:55.808Z,1736379955.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:55.944Z,1736379955.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:56.163Z,1736379956.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:56.174Z,1736379956.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:56.196Z,1736379956.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:56.449Z,1736379956.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:56.564Z,1736379956.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:56.572Z,1736379956.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:56.702Z,1736379956.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:56.952Z,1736379956.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:57.021Z,1736379957.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:57.047Z,1736379957.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:57.204Z,1736379957.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:57.373Z,1736379957.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:57.382Z,1736379957.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:57.456Z,1736379957.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:57.709Z,1736379957.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:57.798Z,1736379957.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:57.806Z,1736379957.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:57.960Z,1736379957.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:58.175Z,1736379958.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:58.210Z,1736379958.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:58.212Z,1736379958.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:58.464Z,1736379958.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:58.585Z,1736379958.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:58.593Z,1736379958.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:58.717Z,1736379958.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:58.970Z,1736379958.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:59.017Z,1736379959.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:59.049Z,1736379959.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:59.222Z,1736379959.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:59.472Z,1736379959.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:59.475Z,1736379959.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:59.486Z,1736379959.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:59.729Z,1736379959.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:45:59.949Z,1736379959.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:45:59.957Z,1736379959.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:45:59.976Z,1736379959.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:00.230Z,1736379960.230 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:00.464Z,1736379960.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:00.472Z,1736379960.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:00.480Z,1736379960.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:00.734Z,1736379960.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:00.833Z,1736379960.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:00.842Z,1736379960.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:00.984Z,1736379960.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:01.210Z,1736379961.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:01.237Z,1736379961.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:01.245Z,1736379961.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:01.488Z,1736379961.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:01.640Z,1736379961.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:01.648Z,1736379961.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:01.652Z,1736379961.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:01.740Z,1736379961.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:01.741Z,1736379961.741 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:46:01.741Z,1736379961.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:01.993Z,1736379961.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:01.996Z,1736379961.996 [DAT](INFO): DAT read: user:3439> 2025-01-08T23:46:01.997Z,1736379961.997 [DAT](INFO): DAT read: Tx time:23:46:01.1950 2025-01-08T23:46:01.997Z,1736379961.997 [DAT](INFO): Ping request sent. 2025-01-08T23:46:01.997Z,1736379961.997 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:46:01.998Z,1736379961.998 [DAT](INFO): DAT read: TxSync time:23:46:01.1942 2025-01-08T23:46:01.998Z,1736379961.998 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:01.999Z,1736379961.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001531 2025-01-08T23:46:02.100Z,1736379962.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:02.121Z,1736379962.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:02.244Z,1736379962.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:02.245Z,1736379962.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247099 2025-01-08T23:46:02.435Z,1736379962.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:02.443Z,1736379962.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:02.497Z,1736379962.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:02.498Z,1736379962.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500406 2025-01-08T23:46:02.749Z,1736379962.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:02.752Z,1736379962.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753599 2025-01-08T23:46:02.869Z,1736379962.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:02.877Z,1736379962.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:02.000Z,1736379963.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:03.000Z,1736379963.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003156 2025-01-08T23:46:03.252Z,1736379963.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:03.252Z,1736379963.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255104 2025-01-08T23:46:03.279Z,1736379963.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:03.291Z,1736379963.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:03.505Z,1736379963.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:03.506Z,1736379963.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508405 2025-01-08T23:46:03.657Z,1736379963.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:03.690Z,1736379963.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:03.757Z,1736379963.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:03.760Z,1736379963.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761627 2025-01-08T23:46:04.008Z,1736379964.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:04.008Z,1736379964.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010998 2025-01-08T23:46:04.108Z,1736379964.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:04.117Z,1736379964.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:04.260Z,1736379964.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:04.260Z,1736379964.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263026 2025-01-08T23:46:04.468Z,1736379964.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:04.477Z,1736379964.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:04.512Z,1736379964.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:04.513Z,1736379964.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515878 2025-01-08T23:46:04.764Z,1736379964.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:04.765Z,1736379964.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767500 2025-01-08T23:46:04.912Z,1736379964.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:04.937Z,1736379964.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:04.939Z,1736379964.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Running Loop=1 2025-01-08T23:46:04.939Z,1736379964.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-01-08T23:46:04.939Z,1736379964.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Running Loop=1 2025-01-08T23:46:04.941Z,1736379964.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A](IMPORTANT): Transitioning to midcourse guidance. Received last range of 60.400002 m 5.000943 min ago. 2025-01-08T23:46:04.941Z,1736379964.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Stopped 2025-01-08T23:46:04.941Z,1736379964.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Running Loop=1 2025-01-08T23:46:05.016Z,1736379965.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:05.017Z,1736379965.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019352 2025-01-08T23:46:05.268Z,1736379965.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:05.270Z,1736379965.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271945 2025-01-08T23:46:05.357Z,1736379965.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:05.365Z,1736379965.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m. 2025-01-08T23:46:05.367Z,1736379965.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Stopped 2025-01-08T23:46:05.367Z,1736379965.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-01-08T23:46:05.367Z,1736379965.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Stopped 2025-01-08T23:46:05.368Z,1736379965.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-01-08T23:46:05.520Z,1736379965.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:05.521Z,1736379965.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523452 2025-01-08T23:46:05.738Z,1736379965.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:05.745Z,1736379965.745 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-01-08T23:46:05.745Z,1736379965.745 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T23:46:05.747Z,1736379965.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-01-08T23:46:05.747Z,1736379965.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T23:46:05.748Z,1736379965.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-01-08T23:46:05.748Z,1736379965.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T23:46:05.748Z,1736379965.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-01-08T23:46:05.748Z,1736379965.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T23:46:05.748Z,1736379965.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-01-08T23:46:05.748Z,1736379965.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-01-08T23:46:05.748Z,1736379965.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-01-08T23:46:05.748Z,1736379965.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-01-08T23:46:05.748Z,1736379965.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-01-08T23:46:05.748Z,1736379965.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-08T23:46:05.749Z,1736379965.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-01-08T23:46:05.749Z,1736379965.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T23:46:05.749Z,1736379965.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-01-08T23:46:05.749Z,1736379965.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T23:46:05.749Z,1736379965.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-01-08T23:46:05.749Z,1736379965.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-01-08T23:46:05.749Z,1736379965.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-01-08T23:46:05.749Z,1736379965.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-01-08T23:46:05.749Z,1736379965.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-01-08T23:46:05.752Z,1736379965.752 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg ) 2025-01-08T23:46:05.752Z,1736379965.752 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-01-08T23:46:05.752Z,1736379965.752 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-01-08T23:46:05.752Z,1736379965.752 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-01-08T23:46:05.753Z,1736379965.753 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.903300,-122.119000 2025-01-08T23:46:05.782Z,1736379965.782 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:05.784Z,1736379965.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786782 2025-01-08T23:46:06.032Z,1736379966.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:06.032Z,1736379966.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035144 2025-01-08T23:46:06.167Z,1736379966.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:06.178Z,1736379966.178 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-01-08T23:46:06.179Z,1736379966.179 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T23:46:06.179Z,1736379966.179 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-01-08T23:46:06.181Z,1736379966.181 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 60.400002 m (mode 0.000000 count ). 2025-01-08T23:46:06.181Z,1736379966.181 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-01-08T23:46:06.181Z,1736379966.181 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-01-08T23:46:06.193Z,1736379966.193 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-01-08T23:46:06.194Z,1736379966.194 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-01-08T23:46:06.214Z,1736379966.214 [DockingStepper](INFO): Pause 2025-01-08T23:46:06.284Z,1736379966.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:06.284Z,1736379966.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287033 2025-01-08T23:46:06.537Z,1736379966.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:06.538Z,1736379966.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540860 2025-01-08T23:46:06.547Z,1736379966.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:06.553Z,1736379966.553 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-01-08T23:46:06.553Z,1736379966.553 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-01-08T23:46:06.553Z,1736379966.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:06.789Z,1736379966.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:06.792Z,1736379966.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793768 2025-01-08T23:46:06.977Z,1736379966.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:06.985Z,1736379966.985 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-01-08T23:46:06.985Z,1736379966.985 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-01-08T23:46:07.040Z,1736379967.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:07.041Z,1736379967.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043850 2025-01-08T23:46:07.292Z,1736379967.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:07.292Z,1736379967.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294991 2025-01-08T23:46:07.388Z,1736379967.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:07.394Z,1736379967.394 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-01-08T23:46:07.394Z,1736379967.394 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T23:46:07.394Z,1736379967.394 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-01-08T23:46:07.394Z,1736379967.394 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T23:46:07.545Z,1736379967.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:07.546Z,1736379967.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548627 2025-01-08T23:46:07.786Z,1736379967.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:07.797Z,1736379967.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:07.797Z,1736379967.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799858 2025-01-08T23:46:08.048Z,1736379968.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:08.049Z,1736379968.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051184 2025-01-08T23:46:08.200Z,1736379968.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:08.300Z,1736379968.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:08.300Z,1736379968.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303032 2025-01-08T23:46:08.552Z,1736379968.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:08.552Z,1736379968.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555071 2025-01-08T23:46:08.573Z,1736379968.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:08.581Z,1736379968.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:08.804Z,1736379968.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:08.804Z,1736379968.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807035 2025-01-08T23:46:09.022Z,1736379969.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:09.065Z,1736379969.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:09.066Z,1736379969.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.068110 2025-01-08T23:46:09.316Z,1736379969.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:09.316Z,1736379969.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318962 2025-01-08T23:46:09.411Z,1736379969.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:09.568Z,1736379969.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:09.568Z,1736379969.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.571159 2025-01-08T23:46:09.800Z,1736379969.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:09.820Z,1736379969.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:09.820Z,1736379969.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823155 2025-01-08T23:46:10.072Z,1736379970.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:10.073Z,1736379970.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075161 2025-01-08T23:46:10.208Z,1736379970.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:10.324Z,1736379970.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:10.325Z,1736379970.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.327692 2025-01-08T23:46:10.576Z,1736379970.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:10.576Z,1736379970.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579100 2025-01-08T23:46:10.605Z,1736379970.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:10.613Z,1736379970.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:10.828Z,1736379970.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:10.829Z,1736379970.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.832041 2025-01-08T23:46:11.032Z,1736379971.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:11.080Z,1736379971.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:11.081Z,1736379971.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.083412 2025-01-08T23:46:11.332Z,1736379971.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:11.332Z,1736379971.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.335158 2025-01-08T23:46:11.410Z,1736379971.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:11.584Z,1736379971.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:11.584Z,1736379971.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587003 2025-01-08T23:46:11.820Z,1736379971.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:11.836Z,1736379971.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:11.836Z,1736379971.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838973 2025-01-08T23:46:12.088Z,1736379972.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:12.088Z,1736379972.088 [DAT](INFO): Reached modem response timeout 2025-01-08T23:46:12.089Z,1736379972.089 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:46:12.089Z,1736379972.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:12.226Z,1736379972.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:12.340Z,1736379972.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:12.340Z,1736379972.340 [DAT](INFO): Reached modem response timeout 2025-01-08T23:46:12.340Z,1736379972.340 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:46:12.340Z,1736379972.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:12.592Z,1736379972.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:12.592Z,1736379972.592 [DAT](INFO): Reached modem response timeout 2025-01-08T23:46:12.593Z,1736379972.593 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:46:12.593Z,1736379972.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:12.643Z,1736379972.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:12.662Z,1736379972.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:12.846Z,1736379972.846 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:12.848Z,1736379972.848 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:46:12.848Z,1736379972.848 [DAT](INFO): response not received 2025-01-08T23:46:12.849Z,1736379972.849 [DAT](INFO): DAT read: user:3440> 2025-01-08T23:46:12.850Z,1736379972.850 [DAT](INFO): DAT read: Tx time:23:46:12.1451 2025-01-08T23:46:12.850Z,1736379972.850 [DAT](INFO): Ping request sent. 2025-01-08T23:46:12.850Z,1736379972.850 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:46:12.850Z,1736379972.850 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:12.851Z,1736379972.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723 2025-01-08T23:46:13.057Z,1736379973.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:13.096Z,1736379973.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:13.097Z,1736379973.097 [DAT](INFO): DAT read: TxSync time:23:46:12.1443 2025-01-08T23:46:13.098Z,1736379973.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247610 2025-01-08T23:46:13.348Z,1736379973.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:13.348Z,1736379973.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498426 2025-01-08T23:46:13.441Z,1736379973.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:13.602Z,1736379973.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:13.604Z,1736379973.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753756 2025-01-08T23:46:13.835Z,1736379973.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:13.852Z,1736379973.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:13.852Z,1736379973.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002453 2025-01-08T23:46:14.104Z,1736379974.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:14.104Z,1736379974.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254365 2025-01-08T23:46:14.297Z,1736379974.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:14.356Z,1736379974.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:14.357Z,1736379974.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507356 2025-01-08T23:46:14.608Z,1736379974.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:14.609Z,1736379974.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758535 2025-01-08T23:46:14.686Z,1736379974.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:14.692Z,1736379974.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:14.862Z,1736379974.862 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:14.863Z,1736379974.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012753 2025-01-08T23:46:15.098Z,1736379975.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:15.112Z,1736379975.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:15.113Z,1736379975.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263113 2025-01-08T23:46:15.364Z,1736379975.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:15.365Z,1736379975.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514791 2025-01-08T23:46:15.477Z,1736379975.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:15.616Z,1736379975.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:15.616Z,1736379975.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766448 2025-01-08T23:46:15.868Z,1736379975.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:15.869Z,1736379975.869 [DAT](INFO): DAT read: Rx Time:23:46:14.6816 2025-01-08T23:46:15.869Z,1736379975.869 [DAT](INFO): Rx dataTimestamp_ set to:1736379975.868789 2025-01-08T23:46:15.870Z,1736379975.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019600 2025-01-08T23:46:15.876Z,1736379975.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:16.120Z,1736379976.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:16.120Z,1736379976.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270345 2025-01-08T23:46:16.303Z,1736379976.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:16.372Z,1736379976.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:16.373Z,1736379976.373 [DAT](INFO): DAT read: Range 10 to 50 : 99.3 m (Round-trip 132.4 ms) speed -0.4 m/s 2025-01-08T23:46:16.374Z,1736379976.374 [DAT](INFO): DAT read: user:3441> 2025-01-08T23:46:16.375Z,1736379976.375 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:46:16.375Z,1736379976.375 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:46:16.375Z,1736379976.375 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:46:16.376Z,1736379976.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:16.624Z,1736379976.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:16.625Z,1736379976.625 [DAT](INFO): DAT read: Tx time:23:46:15.7966 2025-01-08T23:46:16.625Z,1736379976.625 [DAT](INFO): Ping request sent. 2025-01-08T23:46:16.625Z,1736379976.625 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:46:16.626Z,1736379976.626 [DAT](INFO): DAT read: TxSync time:23:46:15.7958 2025-01-08T23:46:16.626Z,1736379976.626 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:16.627Z,1736379976.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001544 2025-01-08T23:46:16.731Z,1736379976.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:16.738Z,1736379976.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:16.876Z,1736379976.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:16.876Z,1736379976.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251104 2025-01-08T23:46:17.113Z,1736379977.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:17.122Z,1736379977.122 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-01-08T23:46:17.122Z,1736379977.122 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T23:46:17.123Z,1736379977.123 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-01-08T23:46:17.123Z,1736379977.123 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 99.300003 m 2025-01-08T23:46:17.123Z,1736379977.123 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-01-08T23:46:17.123Z,1736379977.123 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-01-08T23:46:17.129Z,1736379977.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:17.130Z,1736379977.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504454 2025-01-08T23:46:17.380Z,1736379977.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:17.381Z,1736379977.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755344 2025-01-08T23:46:17.493Z,1736379977.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:17.519Z,1736379977.519 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-01-08T23:46:17.519Z,1736379977.519 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T23:46:17.519Z,1736379977.519 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-01-08T23:46:17.523Z,1736379977.523 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-01-08T23:46:17.632Z,1736379977.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:17.632Z,1736379977.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007249 2025-01-08T23:46:17.884Z,1736379977.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:17.884Z,1736379977.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259235 2025-01-08T23:46:17.894Z,1736379977.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:17.901Z,1736379977.901 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-01-08T23:46:17.901Z,1736379977.901 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-08T23:46:17.902Z,1736379977.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-01-08T23:46:17.902Z,1736379977.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-08T23:46:17.903Z,1736379977.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-01-08T23:46:17.903Z,1736379977.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-08T23:46:17.903Z,1736379977.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-01-08T23:46:17.903Z,1736379977.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-08T23:46:17.904Z,1736379977.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-01-08T23:46:17.904Z,1736379977.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-01-08T23:46:17.904Z,1736379977.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-01-08T23:46:17.904Z,1736379977.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T23:46:17.904Z,1736379977.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-01-08T23:46:17.904Z,1736379977.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-01-08T23:46:17.905Z,1736379977.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-01-08T23:46:17.905Z,1736379977.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-01-08T23:46:17.905Z,1736379977.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-01-08T23:46:17.906Z,1736379977.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-01-08T23:46:17.906Z,1736379977.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-01-08T23:46:17.906Z,1736379977.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-01-08T23:46:17.907Z,1736379977.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 67.445862 m. 2025-01-08T23:46:17.907Z,1736379977.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-01-08T23:46:17.907Z,1736379977.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-01-08T23:46:17.907Z,1736379977.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-01-08T23:46:17.907Z,1736379977.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-01-08T23:46:17.908Z,1736379977.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-01-08T23:46:17.908Z,1736379977.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-08T23:46:17.908Z,1736379977.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-01-08T23:46:17.909Z,1736379977.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00. 2025-01-08T23:46:17.909Z,1736379977.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-01-08T23:46:17.909Z,1736379977.909 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-01-08T23:46:17.910Z,1736379977.910 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-01-08T23:46:17.910Z,1736379977.910 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-01-08T23:46:17.910Z,1736379977.910 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-01-08T23:46:17.910Z,1736379977.910 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-01-08T23:46:17.910Z,1736379977.910 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-01-08T23:46:17.910Z,1736379977.910 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-01-08T23:46:17.910Z,1736379977.910 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-01-08T23:46:17.910Z,1736379977.910 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-01-08T23:46:18.136Z,1736379978.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:18.137Z,1736379978.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511555 2025-01-08T23:46:18.332Z,1736379978.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:18.357Z,1736379978.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.300003 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-01-08T23:46:18.386Z,1736379978.386 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-01-08T23:46:18.386Z,1736379978.386 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-01-08T23:46:18.388Z,1736379978.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:18.388Z,1736379978.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763157 2025-01-08T23:46:18.440Z,1736379978.440 [DockingStepper](INFO): Resume 2025-01-08T23:46:18.640Z,1736379978.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:18.642Z,1736379978.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016527 2025-01-08T23:46:18.730Z,1736379978.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:18.744Z,1736379978.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:18.777Z,1736379978.777 [DockingStepper](INFO): Resuming 2025-01-08T23:46:18.892Z,1736379978.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:18.892Z,1736379978.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267244 2025-01-08T23:46:19.129Z,1736379979.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:19.144Z,1736379979.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:19.145Z,1736379979.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519258 2025-01-08T23:46:19.292Z,1736379979.292 [DockingStepper](INFO): Start 2025-01-08T23:46:19.292Z,1736379979.292 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-01-08T23:46:19.396Z,1736379979.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:19.397Z,1736379979.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771408 2025-01-08T23:46:19.413Z,1736379979.413 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-01-08T23:46:19.511Z,1736379979.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:19.580Z,1736379979.580 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:46:19.600Z,1736379979.600 [DockingStepper](INFO): Starting 2025-01-08T23:46:19.650Z,1736379979.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:19.651Z,1736379979.651 [DAT](INFO): DAT read: Rx Time:23:46:18.3355 2025-01-08T23:46:19.652Z,1736379979.652 [DAT](INFO): Rx dataTimestamp_ set to:1736379979.651846 2025-01-08T23:46:19.653Z,1736379979.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027531 2025-01-08T23:46:19.900Z,1736379979.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:19.900Z,1736379979.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275143 2025-01-08T23:46:19.920Z,1736379979.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:20.108Z,1736379980.108 [DockingStepper](INFO): Starting 2025-01-08T23:46:20.152Z,1736379980.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:20.161Z,1736379980.161 [DAT](INFO): DAT read: 23:46:18.3355 LVL= 20368, 21137, 14578, 24163, AGC= 54, IDX= 448,-0.05, 2.750,-1.114,-1.421,-2.007, PHS=-1.438, 0.940, 0.583, RAW= 278.0, -0.8, CAL= 280.3, -2.3, ROT= 229.7, 2.3 2025-01-08T23:46:20.162Z,1736379980.162 [DAT](INFO): got valid direction response: 23:46:18.3355 LVL= 20368, 21137, 14578, 24163, AGC= 54, IDX= 448,-0.05, 2.750,-1.114,-1.421,-2.007, PHS=-1.438, 0.940, 0.583, RAW= 278.0, -0.8, CAL= 280.3, -2.3, ROT= 229.7, 2.3 2025-01-08T23:46:20.163Z,1736379980.163 [DAT](INFO): DAT read: Bearing 229.7, 2.3 (Local) 2025-01-08T23:46:20.164Z,1736379980.164 [DAT](INFO): Local bearing/azimuth received: Bearing 229.7, 2.3 (Local) 2025-01-08T23:46:20.165Z,1736379980.165 [DAT](INFO): DAT read: Range 10 to 50 : 101.0 m (Round-trip 134.7 ms) speed -0.6 m/s 2025-01-08T23:46:20.166Z,1736379980.166 [DAT](INFO): DAT read: user:3442> 2025-01-08T23:46:20.167Z,1736379980.167 [DAT](INFO): DAT read: Tx time:23:46:19.4451 2025-01-08T23:46:20.167Z,1736379980.167 [DAT](INFO): Ping request sent. 2025-01-08T23:46:20.167Z,1736379980.167 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:46:20.168Z,1736379980.168 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:46:20.168Z,1736379980.168 [DAT](INFO): direction in FSK: [0.112079,0.031358,-0.993204] 2025-01-08T23:46:20.169Z,1736379980.169 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:20.169Z,1736379980.169 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:20.172Z,1736379980.172 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:20.172Z,1736379980.172 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:20.375Z,1736379980.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:20.404Z,1736379980.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:20.405Z,1736379980.405 [DAT](INFO): DAT read: TxSync time:23:46:19.4443 2025-01-08T23:46:20.419Z,1736379980.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 101.000000 m, deltaT: 3.779929 s, deltaX: 1.699997 m, approachRate: 0.449743 m/s, rangeRepo size: 2 2025-01-08T23:46:20.422Z,1736379980.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.000000 m, bearing: 290.076623 deg, lat: 36.905067 deg, lon: -122.119866 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-01-08T23:46:20.423Z,1736379980.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:20.430Z,1736379980.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 101.000000 m, nav range: 68.664909 m, bearing: 85.943276 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 232.974447 deg, new cmd heading: 85.943276 deg. 2025-01-08T23:46:20.435Z,1736379980.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499993 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:20.500Z,1736379980.500 [DockingStepper](INFO): Starting 2025-01-08T23:46:20.554Z,1736379980.554 [DockingStepper](INFO): Init string: /1z16349aE13561N3m50 2025-01-08T23:46:20.584Z,1736379980.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:46:20.657Z,1736379980.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:20.724Z,1736379980.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:20.733Z,1736379980.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:20.752Z,1736379980.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 101.000000 m, nav range: 68.798668 m, bearing: 85.807019 deg, approach rate: 0.419894 m/s, LOS rate: -0.426906 deg/s, cmd heading: 85.943273 deg, new cmd heading: 85.807019 deg. 2025-01-08T23:46:20.752Z,1736379980.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497615 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:20.908Z,1736379980.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:20.909Z,1736379980.909 [DockingStepper](INFO): Starting 2025-01-08T23:46:21.151Z,1736379981.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:21.158Z,1736379981.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:21.160Z,1736379981.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:21.160Z,1736379981.160 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:46:21.160Z,1736379981.160 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:46:21.161Z,1736379981.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:21.164Z,1736379981.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:21.166Z,1736379981.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 101.000000 m, nav range: 68.950104 m, bearing: 85.652515 deg, approach rate: 0.351319 m/s, LOS rate: -0.357649 deg/s, cmd heading: 85.807018 deg, new cmd heading: 85.652515 deg. 2025-01-08T23:46:21.168Z,1736379981.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494918 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:21.205Z,1736379981.205 [DockingStepper](INFO): Starting 2025-01-08T23:46:21.413Z,1736379981.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:21.413Z,1736379981.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246186 2025-01-08T23:46:21.532Z,1736379981.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:21.541Z,1736379981.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:21.543Z,1736379981.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 101.000000 m, nav range: 69.084717 m, bearing: 85.514624 deg, approach rate: 0.357163 m/s, LOS rate: -0.365147 deg/s, cmd heading: 85.652512 deg, new cmd heading: 85.514624 deg. 2025-01-08T23:46:21.544Z,1736379981.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.492512 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:21.593Z,1736379981.593 [DockingStepper](INFO): Starting 2025-01-08T23:46:21.665Z,1736379981.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:21.666Z,1736379981.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498777 2025-01-08T23:46:21.916Z,1736379981.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:21.917Z,1736379981.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749523 2025-01-08T23:46:21.945Z,1736379981.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:21.954Z,1736379981.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:21.957Z,1736379981.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 101.000000 m, nav range: 69.230255 m, bearing: 85.365892 deg, approach rate: 0.352207 m/s, LOS rate: -0.359180 deg/s, cmd heading: 85.514624 deg, new cmd heading: 85.365892 deg. 2025-01-08T23:46:21.957Z,1736379981.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489916 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:21.992Z,1736379981.992 [DockingStepper](INFO): Starting 2025-01-08T23:46:22.168Z,1736379982.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:22.168Z,1736379982.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001343 2025-01-08T23:46:22.370Z,1736379982.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:22.392Z,1736379982.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:22.399Z,1736379982.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 101.000000 m, nav range: 69.384697 m, bearing: 85.224605 deg, approach rate: 0.352602 m/s, LOS rate: -0.321850 deg/s, cmd heading: 85.365890 deg, new cmd heading: 85.224605 deg. 2025-01-08T23:46:22.400Z,1736379982.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487450 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:22.420Z,1736379982.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:22.421Z,1736379982.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253666 2025-01-08T23:46:22.459Z,1736379982.459 [DockingStepper](INFO): Starting 2025-01-08T23:46:22.488Z,1736379982.488 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2025-01-08T23:46:22.672Z,1736379982.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:22.674Z,1736379982.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506495 2025-01-08T23:46:22.750Z,1736379982.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:22.764Z,1736379982.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:22.766Z,1736379982.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 101.000000 m, nav range: 69.522675 m, bearing: 85.098602 deg, approach rate: 0.371135 m/s, LOS rate: -0.338252 deg/s, cmd heading: 85.224607 deg, new cmd heading: 85.098602 deg. 2025-01-08T23:46:22.767Z,1736379982.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.485251 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:22.797Z,1736379982.797 [DockingStepper](INFO): Starting 2025-01-08T23:46:22.929Z,1736379982.929 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:22.930Z,1736379982.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762982 2025-01-08T23:46:23.173Z,1736379983.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:23.180Z,1736379983.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:23.181Z,1736379983.181 [DAT](INFO): DAT read: Rx Time:23:46:21.9860 2025-01-08T23:46:23.181Z,1736379983.181 [DAT](INFO): Rx dataTimestamp_ set to:1736379983.180941 2025-01-08T23:46:23.182Z,1736379983.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014743 2025-01-08T23:46:23.184Z,1736379983.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:23.186Z,1736379983.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:23.189Z,1736379983.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 101.000000 m, nav range: 69.683533 m, bearing: 84.958383 deg, approach rate: 0.381173 m/s, LOS rate: -0.331500 deg/s, cmd heading: 85.098604 deg, new cmd heading: 84.958383 deg. 2025-01-08T23:46:23.189Z,1736379983.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.482803 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:23.229Z,1736379983.229 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T23:46:23.229Z,1736379983.229 [DockingStepper](INFO): Standby mode. 2025-01-08T23:46:23.432Z,1736379983.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:23.432Z,1736379983.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265428 2025-01-08T23:46:23.565Z,1736379983.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:23.574Z,1736379983.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:23.576Z,1736379983.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 101.000000 m, nav range: 69.831200 m, bearing: 84.827632 deg, approach rate: 0.380814 m/s, LOS rate: -0.336475 deg/s, cmd heading: 84.958380 deg, new cmd heading: 84.827632 deg. 2025-01-08T23:46:23.577Z,1736379983.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.480521 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:23.686Z,1736379983.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:23.701Z,1736379983.701 [DAT](INFO): DAT read: 23:46:21.9860 LVL= 22896, 16881, 13858, 23235, AGC= 59, IDX= 452,-0.45, 0.818, 3.060,-3.121, 2.469, PHS=-1.563, 0.638, 0.691, RAW= 268.8, 2.1, CAL= 271.4, 2.5, ROT= 238.6, -2.5 2025-01-08T23:46:23.704Z,1736379983.704 [DAT](INFO): got valid direction response: 23:46:21.9860 LVL= 22896, 16881, 13858, 23235, AGC= 59, IDX= 452,-0.45, 0.818, 3.060,-3.121, 2.469, PHS=-1.563, 0.638, 0.691, RAW= 268.8, 2.1, CAL= 271.4, 2.5, ROT= 238.6, -2.5 2025-01-08T23:46:23.706Z,1736379983.706 [DAT](INFO): DAT read: Bearing 238.6, -2.5 (Local) 2025-01-08T23:46:23.706Z,1736379983.706 [DAT](INFO): Local bearing/azimuth received: Bearing 238.6, -2.5 (Local) 2025-01-08T23:46:23.710Z,1736379983.710 [DAT](INFO): DAT read: Range 10 to 50 : 102.5 m (Round-trip 136.7 ms) speed 0.0 m/s 2025-01-08T23:46:23.711Z,1736379983.711 [DAT](INFO): DAT read: user:3443> 2025-01-08T23:46:23.713Z,1736379983.713 [DAT](INFO): DAT read: Tx time:23:46:23.0952 2025-01-08T23:46:23.714Z,1736379983.714 [DAT](INFO): Ping request sent. 2025-01-08T23:46:23.714Z,1736379983.714 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:46:23.719Z,1736379983.719 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:46:23.720Z,1736379983.720 [DAT](INFO): direction in FSK: [0.042658,-0.125789,-0.991139] 2025-01-08T23:46:23.720Z,1736379983.720 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:23.721Z,1736379983.721 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:23.748Z,1736379983.748 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:23.748Z,1736379983.748 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:23.938Z,1736379983.938 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:23.941Z,1736379983.941 [DAT](INFO): DAT read: TxSync time:23:46:23.0944 2025-01-08T23:46:23.984Z,1736379983.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:24.007Z,1736379984.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.500000 m, deltaT: 3.535006 s, deltaX: 1.500000 m, approachRate: 0.424327 m/s, rangeRepo size: 3 2025-01-08T23:46:24.009Z,1736379984.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.500000 m, bearing: 109.612133 deg, lat: 36.905050 deg, lon: -122.119866 deg, deltaT: 3.535006 s, deltaX: 1.500000 m, approachRate: 0.424327 m/s, posRepo size: 2 2025-01-08T23:46:24.010Z,1736379984.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m. 2025-01-08T23:46:24.017Z,1736379984.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.500000 m, nav range: 69.832016 m, bearing: 86.248032 deg, approach rate: 0.000000 m/s, LOS rate: -0.336475 deg/s, cmd heading: 84.827630 deg, new cmd heading: 84.391176 deg. 2025-01-08T23:46:24.018Z,1736379984.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.472904 target range: 102.500000 and range: 102.50 m. 2025-01-08T23:46:24.188Z,1736379984.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:24.385Z,1736379984.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:24.393Z,1736379984.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m. 2025-01-08T23:46:24.397Z,1736379984.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.500000 m, nav range: 69.984550 m, bearing: 86.096599 deg, approach rate: 0.393711 m/s, LOS rate: -0.390014 deg/s, cmd heading: 84.391174 deg, new cmd heading: 83.937877 deg. 2025-01-08T23:46:24.398Z,1736379984.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.464992 target range: 102.500000 and range: 102.50 m. 2025-01-08T23:46:24.440Z,1736379984.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:24.693Z,1736379984.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:24.761Z,1736379984.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:24.770Z,1736379984.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m. 2025-01-08T23:46:24.773Z,1736379984.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.500000 m, nav range: 70.125061 m, bearing: 85.952657 deg, approach rate: 0.372865 m/s, LOS rate: -0.381207 deg/s, cmd heading: 83.937875 deg, new cmd heading: 83.506921 deg. 2025-01-08T23:46:24.774Z,1736379984.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457471 target range: 102.500000 and range: 102.50 m. 2025-01-08T23:46:24.944Z,1736379984.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:25.196Z,1736379985.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:25.218Z,1736379985.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:25.286Z,1736379985.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:25.292Z,1736379985.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m. 2025-01-08T23:46:25.299Z,1736379985.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.500000 m, nav range: 70.310852 m, bearing: 85.767246 deg, approach rate: 0.356108 m/s, LOS rate: -0.354440 deg/s, cmd heading: 83.506924 deg, new cmd heading: 82.952179 deg. 2025-01-08T23:46:25.300Z,1736379985.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447789 target range: 102.500000 and range: 102.50 m. 2025-01-08T23:46:25.448Z,1736379985.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:25.448Z,1736379985.448 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:46:25.449Z,1736379985.449 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:46:25.449Z,1736379985.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:25.581Z,1736379985.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:25.589Z,1736379985.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m. 2025-01-08T23:46:25.592Z,1736379985.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.500000 m, nav range: 70.451607 m, bearing: 85.615475 deg, approach rate: 0.473200 m/s, LOS rate: -0.509214 deg/s, cmd heading: 82.952176 deg, new cmd heading: 82.497784 deg. 2025-01-08T23:46:25.593Z,1736379985.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439858 target range: 102.500000 and range: 102.50 m. 2025-01-08T23:46:25.700Z,1736379985.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:25.701Z,1736379985.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986403 2025-01-08T23:46:25.956Z,1736379985.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:25.956Z,1736379985.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242131 2025-01-08T23:46:25.994Z,1736379985.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:26.011Z,1736379986.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m. 2025-01-08T23:46:26.018Z,1736379986.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.500000 m, nav range: 70.607330 m, bearing: 85.440756 deg, approach rate: 0.369624 m/s, LOS rate: -0.413795 deg/s, cmd heading: 82.497784 deg, new cmd heading: 81.974799 deg. 2025-01-08T23:46:26.019Z,1736379986.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.430730 target range: 102.500000 and range: 102.50 m. 2025-01-08T23:46:26.208Z,1736379986.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:26.208Z,1736379986.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494180 2025-01-08T23:46:26.401Z,1736379986.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:26.425Z,1736379986.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m. 2025-01-08T23:46:26.436Z,1736379986.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.500000 m, nav range: 70.771263 m, bearing: 85.263491 deg, approach rate: 0.395452 m/s, LOS rate: -0.426623 deg/s, cmd heading: 81.974797 deg, new cmd heading: 81.444249 deg. 2025-01-08T23:46:26.437Z,1736379986.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421470 target range: 102.500000 and range: 102.50 m. 2025-01-08T23:46:26.460Z,1736379986.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:26.461Z,1736379986.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746472 2025-01-08T23:46:26.712Z,1736379986.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:26.712Z,1736379986.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998178 2025-01-08T23:46:26.808Z,1736379986.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:26.825Z,1736379986.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m. 2025-01-08T23:46:26.832Z,1736379986.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.500000 m, nav range: 70.930138 m, bearing: 85.083066 deg, approach rate: 0.397798 m/s, LOS rate: -0.450744 deg/s, cmd heading: 81.444248 deg, new cmd heading: 80.904203 deg. 2025-01-08T23:46:26.833Z,1736379986.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412045 target range: 102.500000 and range: 102.50 m. 2025-01-08T23:46:26.964Z,1736379986.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:26.965Z,1736379986.965 [DAT](INFO): DAT read: Rx Time:23:46:25.6374 2025-01-08T23:46:26.965Z,1736379986.965 [DAT](INFO): Rx dataTimestamp_ set to:1736379986.964966 2025-01-08T23:46:26.966Z,1736379986.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251608 2025-01-08T23:46:27.216Z,1736379987.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:27.217Z,1736379987.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502391 2025-01-08T23:46:27.226Z,1736379987.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:27.236Z,1736379987.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.50 m. 2025-01-08T23:46:27.239Z,1736379987.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.500000 m, nav range: 71.091019 m, bearing: 84.885539 deg, approach rate: 0.391183 m/s, LOS rate: -0.479200 deg/s, cmd heading: 80.904205 deg, new cmd heading: 80.312988 deg. 2025-01-08T23:46:27.240Z,1736379987.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401726 target range: 102.500000 and range: 102.50 m. 2025-01-08T23:46:27.468Z,1736379987.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:27.475Z,1736379987.475 [DAT](INFO): DAT read: 23:46:25.6374 LVL= 18224, 15009, 13906, 25843, AGC= 58, IDX= 450, 0.03,-0.137, 1.572, 2.461, 1.365, PHS=-1.414, 0.254, 1.093, RAW= 250.8, 0.6, CAL= 254.2, 1.5, ROT= 255.8, -1.5 2025-01-08T23:46:27.477Z,1736379987.477 [DAT](INFO): got valid direction response: 23:46:25.6374 LVL= 18224, 15009, 13906, 25843, AGC= 58, IDX= 450, 0.03,-0.137, 1.572, 2.461, 1.365, PHS=-1.414, 0.254, 1.093, RAW= 250.8, 0.6, CAL= 254.2, 1.5, ROT= 255.8, -1.5 2025-01-08T23:46:27.479Z,1736379987.479 [DAT](INFO): DAT read: Bearing 255.8, -1.5 (Local) 2025-01-08T23:46:27.480Z,1736379987.480 [DAT](INFO): Local bearing/azimuth received: Bearing 255.8, -1.5 (Local) 2025-01-08T23:46:27.482Z,1736379987.482 [DAT](INFO): DAT read: Range 10 to 50 : 103.5 m (Round-trip 138.0 ms) speed -0.3 m/s 2025-01-08T23:46:27.499Z,1736379987.499 [DAT](INFO): DAT read: user:3444> 2025-01-08T23:46:27.504Z,1736379987.504 [DAT](INFO): DAT read: Tx time:23:46:26.7452 2025-01-08T23:46:27.504Z,1736379987.504 [DAT](INFO): Ping request sent. 2025-01-08T23:46:27.504Z,1736379987.504 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:46:27.505Z,1736379987.505 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:46:27.506Z,1736379987.506 [DAT](INFO): direction in FSK: [0.039204,-0.420880,-0.906269] 2025-01-08T23:46:27.506Z,1736379987.506 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:27.506Z,1736379987.506 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:27.514Z,1736379987.514 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:27.514Z,1736379987.514 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:27.626Z,1736379987.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:27.676Z,1736379987.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.500000 m, deltaT: 3.781027 s, deltaX: 1.000000 m, approachRate: 0.264478 m/s, rangeRepo size: 4 2025-01-08T23:46:27.684Z,1736379987.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.500000 m, bearing: 118.856658 deg, lat: 36.905033 deg, lon: -122.120243 deg, deltaT: 3.781027 s, deltaX: 1.000000 m, approachRate: 0.264478 m/s, posRepo size: 3 2025-01-08T23:46:27.685Z,1736379987.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:27.692Z,1736379987.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 37.696068 m, bearing: 82.858917 deg, approach rate: 0.000000 m/s, LOS rate: -0.479200 deg/s, cmd heading: 80.312984 deg, new cmd heading: 79.690709 deg. 2025-01-08T23:46:27.693Z,1736379987.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390865 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:46:27.720Z,1736379987.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:27.721Z,1736379987.721 [DAT](INFO): DAT read: TxSync time:23:46:26.7444 2025-01-08T23:46:27.972Z,1736379987.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:28.004Z,1736379988.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:28.011Z,1736379988.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:28.017Z,1736379988.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:28.019Z,1736379988.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 37.836117 m, bearing: 82.517615 deg, approach rate: 0.402712 m/s, LOS rate: -0.977779 deg/s, cmd heading: 79.690706 deg, new cmd heading: 78.670702 deg. 2025-01-08T23:46:28.020Z,1736379988.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373063 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:46:28.224Z,1736379988.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:28.225Z,1736379988.225 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:46:28.225Z,1736379988.225 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:46:28.225Z,1736379988.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:28.476Z,1736379988.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:28.476Z,1736379988.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972008 2025-01-08T23:46:28.548Z,1736379988.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:28.591Z,1736379988.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:28.594Z,1736379988.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 38.031055 m, bearing: 82.030394 deg, approach rate: 0.339494 m/s, LOS rate: -0.844157 deg/s, cmd heading: 78.670699 deg, new cmd heading: 77.216860 deg. 2025-01-08T23:46:28.595Z,1736379988.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347688 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:46:28.728Z,1736379988.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:28.728Z,1736379988.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224103 2025-01-08T23:46:28.860Z,1736379988.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:28.869Z,1736379988.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:28.872Z,1736379988.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 38.146835 m, bearing: 81.723079 deg, approach rate: 0.415422 m/s, LOS rate: -1.099308 deg/s, cmd heading: 77.216860 deg, new cmd heading: 76.297794 deg. 2025-01-08T23:46:28.873Z,1736379988.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331648 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:46:28.980Z,1736379988.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:28.981Z,1736379988.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476150 2025-01-08T23:46:29.232Z,1736379989.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:29.233Z,1736379989.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728699 2025-01-08T23:46:29.280Z,1736379989.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:29.309Z,1736379989.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:29.316Z,1736379989.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 38.287212 m, bearing: 81.328099 deg, approach rate: 0.319391 m/s, LOS rate: -0.895370 deg/s, cmd heading: 76.297796 deg, new cmd heading: 75.117377 deg. 2025-01-08T23:46:29.317Z,1736379989.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.311046 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:46:29.484Z,1736379989.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:29.484Z,1736379989.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980027 2025-01-08T23:46:29.688Z,1736379989.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:29.709Z,1736379989.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:29.731Z,1736379989.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 38.417561 m, bearing: 80.942413 deg, approach rate: 0.326147 m/s, LOS rate: -0.961749 deg/s, cmd heading: 75.117375 deg, new cmd heading: 73.964410 deg. 2025-01-08T23:46:29.732Z,1736379989.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.290923 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:46:29.736Z,1736379989.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:29.736Z,1736379989.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232070 2025-01-08T23:46:29.988Z,1736379989.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:29.988Z,1736379989.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484010 2025-01-08T23:46:30.073Z,1736379990.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:30.098Z,1736379990.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:30.101Z,1736379990.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:30.104Z,1736379990.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 38.534676 m, bearing: 80.576292 deg, approach rate: 0.298765 m/s, LOS rate: -0.931145 deg/s, cmd heading: 73.964412 deg, new cmd heading: 72.869527 deg. 2025-01-08T23:46:30.105Z,1736379990.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.271813 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:46:30.241Z,1736379990.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:30.242Z,1736379990.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737210 2025-01-08T23:46:30.492Z,1736379990.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:30.492Z,1736379990.492 [DAT](INFO): DAT read: Rx Time:23:46:29.2882 2025-01-08T23:46:30.493Z,1736379990.493 [DAT](INFO): Rx dataTimestamp_ set to:1736379990.492647 2025-01-08T23:46:30.493Z,1736379990.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989060 2025-01-08T23:46:30.547Z,1736379990.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:30.569Z,1736379990.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:30.575Z,1736379990.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 38.684566 m, bearing: 80.121040 deg, approach rate: 0.320386 m/s, LOS rate: -0.969302 deg/s, cmd heading: 72.869526 deg, new cmd heading: 71.509332 deg. 2025-01-08T23:46:30.576Z,1736379990.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248073 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:46:30.744Z,1736379990.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:30.744Z,1736379990.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239927 2025-01-08T23:46:30.884Z,1736379990.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:30.893Z,1736379990.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:30.896Z,1736379990.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 38.779739 m, bearing: 79.791356 deg, approach rate: 0.293638 m/s, LOS rate: -1.014677 deg/s, cmd heading: 71.509335 deg, new cmd heading: 70.522813 deg. 2025-01-08T23:46:30.897Z,1736379990.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230855 target range: 103.500000 and range: 103.50 m. 2025-01-08T23:46:30.997Z,1736379990.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:30.999Z,1736379990.999 [DAT](INFO): DAT read: Range 10 to 50 : 104.1 m (Round-trip 138.9 ms) speed -0.2 m/s 2025-01-08T23:46:31.001Z,1736379991.001 [DAT](INFO): DAT read: user:3445> 2025-01-08T23:46:31.002Z,1736379991.002 [DAT](INFO): DAT read: Tx time:23:46:30.3952 2025-01-08T23:46:31.002Z,1736379991.002 [DAT](INFO): Ping request sent. 2025-01-08T23:46:31.002Z,1736379991.002 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:46:31.003Z,1736379991.003 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:46:31.003Z,1736379991.003 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:31.004Z,1736379991.004 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:31.248Z,1736379991.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:31.249Z,1736379991.249 [DAT](INFO): DAT read: TxSync time:23:46:30.3944 2025-01-08T23:46:31.337Z,1736379991.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:31.348Z,1736379991.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.099998 m, deltaT: 3.529076 s, deltaX: 0.599998 m, approachRate: 0.170016 m/s, rangeRepo size: 4 2025-01-08T23:46:31.349Z,1736379991.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:31.352Z,1736379991.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 38.903908 m, bearing: 79.352745 deg, approach rate: 0.273170 m/s, LOS rate: -0.961854 deg/s, cmd heading: 70.522817 deg, new cmd heading: 69.211425 deg. 2025-01-08T23:46:31.353Z,1736379991.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207967 target range: 103.500000 and range: 104.10 m. 2025-01-08T23:46:31.500Z,1736379991.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:31.713Z,1736379991.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:31.721Z,1736379991.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:31.724Z,1736379991.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.008564 m, bearing: 78.991250 deg, approach rate: 0.279736 m/s, LOS rate: -0.963644 deg/s, cmd heading: 69.211427 deg, new cmd heading: 68.129986 deg. 2025-01-08T23:46:31.725Z,1736379991.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.189093 target range: 103.500000 and range: 104.10 m. 2025-01-08T23:46:31.754Z,1736379991.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:32.004Z,1736379992.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:32.098Z,1736379992.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:32.105Z,1736379992.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:32.107Z,1736379992.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:32.110Z,1736379992.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.102833 m, bearing: 78.613904 deg, approach rate: 0.244290 m/s, LOS rate: -0.975497 deg/s, cmd heading: 68.129983 deg, new cmd heading: 67.000828 deg. 2025-01-08T23:46:32.111Z,1736379992.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169385 target range: 103.500000 and range: 104.10 m. 2025-01-08T23:46:32.259Z,1736379992.259 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:32.261Z,1736379992.261 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:46:32.261Z,1736379992.261 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:46:32.262Z,1736379992.262 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:32.508Z,1736379992.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:32.508Z,1736379992.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506063 2025-01-08T23:46:32.549Z,1736379992.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:32.573Z,1736379992.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:32.580Z,1736379992.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.218349 m, bearing: 78.192489 deg, approach rate: 0.251231 m/s, LOS rate: -0.913804 deg/s, cmd heading: 67.000829 deg, new cmd heading: 65.740523 deg. 2025-01-08T23:46:32.581Z,1736379992.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147389 target range: 103.500000 and range: 104.10 m. 2025-01-08T23:46:32.760Z,1736379992.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:32.760Z,1736379992.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758011 2025-01-08T23:46:32.907Z,1736379992.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:32.917Z,1736379992.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:32.920Z,1736379992.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.295322 m, bearing: 77.864293 deg, approach rate: 0.219891 m/s, LOS rate: -0.935723 deg/s, cmd heading: 65.740523 deg, new cmd heading: 64.757967 deg. 2025-01-08T23:46:32.921Z,1736379992.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130240 target range: 103.500000 and range: 104.10 m. 2025-01-08T23:46:33.014Z,1736379993.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:33.017Z,1736379993.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014060 2025-01-08T23:46:33.266Z,1736379993.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:33.267Z,1736379993.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264104 2025-01-08T23:46:33.346Z,1736379993.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:33.369Z,1736379993.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:33.376Z,1736379993.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.402199 m, bearing: 77.440099 deg, approach rate: 0.236720 m/s, LOS rate: -0.936990 deg/s, cmd heading: 64.757966 deg, new cmd heading: 63.489054 deg. 2025-01-08T23:46:33.377Z,1736379993.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108093 target range: 103.500000 and range: 104.10 m. 2025-01-08T23:46:33.516Z,1736379993.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:33.517Z,1736379993.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514751 2025-01-08T23:46:33.718Z,1736379993.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:33.726Z,1736379993.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:33.729Z,1736379993.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.484951 m, bearing: 77.087853 deg, approach rate: 0.231495 m/s, LOS rate: -0.983321 deg/s, cmd heading: 63.489054 deg, new cmd heading: 62.434655 deg. 2025-01-08T23:46:33.730Z,1736379993.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089690 target range: 103.500000 and range: 104.10 m. 2025-01-08T23:46:33.769Z,1736379993.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:33.772Z,1736379993.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768417 2025-01-08T23:46:34.020Z,1736379994.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:34.020Z,1736379994.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018018 2025-01-08T23:46:34.113Z,1736379994.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:34.120Z,1736379994.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:34.122Z,1736379994.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:34.124Z,1736379994.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.566692 m, bearing: 76.712594 deg, approach rate: 0.206622 m/s, LOS rate: -0.946595 deg/s, cmd heading: 62.434657 deg, new cmd heading: 61.311359 deg. 2025-01-08T23:46:34.125Z,1736379994.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.070085 target range: 103.500000 and range: 104.10 m. 2025-01-08T23:46:34.274Z,1736379994.274 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:34.277Z,1736379994.277 [DAT](INFO): DAT read: Rx Time:23:46:32.9384 2025-01-08T23:46:34.279Z,1736379994.279 [DAT](INFO): Rx dataTimestamp_ set to:1736379994.277635 2025-01-08T23:46:34.282Z,1736379994.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278891 2025-01-08T23:46:34.524Z,1736379994.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:34.525Z,1736379994.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522280 2025-01-08T23:46:34.548Z,1736379994.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:34.557Z,1736379994.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:34.592Z,1736379994.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.656288 m, bearing: 76.312095 deg, approach rate: 0.205741 m/s, LOS rate: -0.917590 deg/s, cmd heading: 61.311357 deg, new cmd heading: 60.112758 deg. 2025-01-08T23:46:34.600Z,1736379994.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.049166 target range: 103.500000 and range: 104.10 m. 2025-01-08T23:46:34.776Z,1736379994.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:34.777Z,1736379994.777 [DAT](INFO): DAT read: Range 10 to 50 : 104.3 m (Round-trip 139.1 ms) speed -0.1 m/s 2025-01-08T23:46:34.779Z,1736379994.779 [DAT](INFO): DAT read: user:3446> 2025-01-08T23:46:34.781Z,1736379994.781 [DAT](INFO): DAT read: Tx time:23:46:34.0452 2025-01-08T23:46:34.782Z,1736379994.782 [DAT](INFO): Ping request sent. 2025-01-08T23:46:34.782Z,1736379994.782 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:46:34.783Z,1736379994.783 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:46:34.783Z,1736379994.783 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:34.784Z,1736379994.784 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:34.948Z,1736379994.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:34.958Z,1736379994.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.300003 m, deltaT: 3.778918 s, deltaX: 0.200005 m, approachRate: 0.052926 m/s, rangeRepo size: 4 2025-01-08T23:46:34.959Z,1736379994.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:34.962Z,1736379994.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.740089 m, bearing: 75.946660 deg, approach rate: 0.209394 m/s, LOS rate: -0.911181 deg/s, cmd heading: 60.112761 deg, new cmd heading: 59.018908 deg. 2025-01-08T23:46:34.997Z,1736379994.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030074 target range: 103.500000 and range: 104.30 m. 2025-01-08T23:46:35.028Z,1736379995.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:35.029Z,1736379995.029 [DAT](INFO): DAT read: TxSync time:23:46:34.0444 2025-01-08T23:46:35.282Z,1736379995.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:35.376Z,1736379995.376 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, .04 2025-01-08T23:46:35.390Z,1736379995.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:46:35.390Z,1736379995.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:35.400Z,1736379995.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:35.403Z,1736379995.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.817802 m, bearing: 75.538572 deg, approach rate: 0.175468 m/s, LOS rate: -0.919616 deg/s, cmd heading: 59.018906 deg, new cmd heading: 57.797228 deg. 2025-01-08T23:46:35.404Z,1736379995.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008752 target range: 103.500000 and range: 104.30 m. 2025-01-08T23:46:35.532Z,1736379995.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:35.737Z,1736379995.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:46:35.737Z,1736379995.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:35.748Z,1736379995.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:35.751Z,1736379995.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.874458 m, bearing: 75.215580 deg, approach rate: 0.162751 m/s, LOS rate: -0.926515 deg/s, cmd heading: 57.797232 deg, new cmd heading: 56.829728 deg. 2025-01-08T23:46:35.752Z,1736379995.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991866 target range: 103.500000 and range: 104.30 m. 2025-01-08T23:46:35.784Z,1736379995.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:36.036Z,1736379996.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:36.151Z,1736379996.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:46:36.151Z,1736379996.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:36.158Z,1736379996.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:36.160Z,1736379996.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:36.164Z,1736379996.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.935795 m, bearing: 74.829800 deg, approach rate: 0.148837 m/s, LOS rate: -0.934676 deg/s, cmd heading: 56.829728 deg, new cmd heading: 55.674331 deg. 2025-01-08T23:46:36.165Z,1736379996.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971700 target range: 103.500000 and range: 104.30 m. 2025-01-08T23:46:36.290Z,1736379996.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:36.292Z,1736379996.292 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:46:36.292Z,1736379996.292 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:46:36.293Z,1736379996.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:36.540Z,1736379996.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:36.540Z,1736379996.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758895 2025-01-08T23:46:36.574Z,1736379996.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:36.613Z,1736379996.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:36.620Z,1736379996.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.993996 m, bearing: 74.455600 deg, approach rate: 0.128728 m/s, LOS rate: -0.826441 deg/s, cmd heading: 55.674330 deg, new cmd heading: 54.553516 deg. 2025-01-08T23:46:36.621Z,1736379996.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952138 target range: 103.500000 and range: 104.30 m. 2025-01-08T23:46:36.792Z,1736379996.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:36.793Z,1736379996.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010986 2025-01-08T23:46:36.954Z,1736379996.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:36.984Z,1736379996.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:36.992Z,1736379996.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 40.040642 m, bearing: 74.117834 deg, approach rate: 0.125413 m/s, LOS rate: -0.907058 deg/s, cmd heading: 54.553517 deg, new cmd heading: 53.541508 deg. 2025-01-08T23:46:36.993Z,1736379996.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.934476 target range: 103.500000 and range: 104.30 m. 2025-01-08T23:46:37.044Z,1736379997.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:37.045Z,1736379997.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262925 2025-01-08T23:46:37.297Z,1736379997.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:37.300Z,1736379997.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518237 2025-01-08T23:46:37.388Z,1736379997.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:37.398Z,1736379997.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:37.401Z,1736379997.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 40.078846 m, bearing: 73.735003 deg, approach rate: 0.092474 m/s, LOS rate: -0.925756 deg/s, cmd heading: 53.541508 deg, new cmd heading: 52.394271 deg. 2025-01-08T23:46:37.402Z,1736379997.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.914453 target range: 103.500000 and range: 104.30 m. 2025-01-08T23:46:37.548Z,1736379997.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:37.549Z,1736379997.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767271 2025-01-08T23:46:37.763Z,1736379997.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:37.774Z,1736379997.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:37.776Z,1736379997.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 40.106262 m, bearing: 73.403879 deg, approach rate: 0.073362 m/s, LOS rate: -0.885427 deg/s, cmd heading: 52.394272 deg, new cmd heading: 51.401685 deg. 2025-01-08T23:46:37.777Z,1736379997.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.897129 target range: 103.500000 and range: 104.30 m. 2025-01-08T23:46:37.800Z,1736379997.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:37.801Z,1736379997.801 [DAT](INFO): DAT read: Rx Time:23:46:36.5887 2025-01-08T23:46:37.801Z,1736379997.801 [DAT](INFO): Rx dataTimestamp_ set to:1736379997.800709 2025-01-08T23:46:37.801Z,1736379997.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019955 2025-01-08T23:46:38.052Z,1736379998.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:38.052Z,1736379998.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270744 2025-01-08T23:46:38.167Z,1736379998.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:38.173Z,1736379998.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:38.180Z,1736379998.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-08T23:46:38.182Z,1736379998.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 40.122982 m, bearing: 73.045030 deg, approach rate: 0.041379 m/s, LOS rate: -0.887716 deg/s, cmd heading: 51.401685 deg, new cmd heading: 50.325721 deg. 2025-01-08T23:46:38.184Z,1736379998.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.878350 target range: 103.500000 and range: 104.30 m. 2025-01-08T23:46:38.305Z,1736379998.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:38.329Z,1736379998.329 [DAT](INFO): DAT read: 23:46:36.5888 LVL= 24384, 26609, 16578, 25171, AGC= 63, IDX= 432,-0.28,-2.775,-2.309,-0.508,-1.832, PHS=-0.855,-0.429, 1.321, RAW= 220.6, -0.4, CAL= 220.3, -5.9, ROT= 289.7, 5.9 2025-01-08T23:46:38.345Z,1736379998.345 [DAT](INFO): got valid direction response: 23:46:36.5888 LVL= 24384, 26609, 16578, 25171, AGC= 63, IDX= 432,-0.28,-2.775,-2.309,-0.508,-1.832, PHS=-0.855,-0.429, 1.321, RAW= 220.6, -0.4, CAL= 220.3, -5.9, ROT= 289.7, 5.9 2025-01-08T23:46:38.360Z,1736379998.360 [DAT](INFO): DAT read: Bearing 289.7, 5.9 (Local) 2025-01-08T23:46:38.360Z,1736379998.360 [DAT](INFO): Local bearing/azimuth received: Bearing 289.7, 5.9 (Local) 2025-01-08T23:46:38.362Z,1736379998.362 [DAT](INFO): DAT read: Range 10 to 50 : 104.5 m (Round-trip 139.4 ms) speed 0.1 m/s 2025-01-08T23:46:38.376Z,1736379998.376 [DAT](INFO): DAT read: user:3447> 2025-01-08T23:46:38.377Z,1736379998.377 [DAT](INFO): DAT read: Tx time:23:46:37.6953 2025-01-08T23:46:38.377Z,1736379998.377 [DAT](INFO): Ping request sent. 2025-01-08T23:46:38.378Z,1736379998.378 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:46:38.378Z,1736379998.378 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:46:38.385Z,1736379998.385 [DAT](INFO): direction in FSK: [-0.003749,-0.803546,-0.595230] 2025-01-08T23:46:38.385Z,1736379998.385 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:38.385Z,1736379998.385 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:38.412Z,1736379998.412 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:38.413Z,1736379998.413 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:38.556Z,1736379998.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:38.557Z,1736379998.557 [DAT](INFO): DAT read: TxSync time:23:46:37.6945 2025-01-08T23:46:38.652Z,1736379998.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:38.704Z,1736379998.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.500000 m, deltaT: 3.530176 s, deltaX: 0.199997 m, approachRate: 0.056654 m/s, rangeRepo size: 4 2025-01-08T23:46:38.718Z,1736379998.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 104.500000 m, bearing: 66.623642 deg, lat: 36.905050 deg, lon: -122.120243 deg, deltaT: 10.838170 s, deltaX: 1.000000 m, approachRate: 0.092266 m/s, posRepo size: 4 2025-01-08T23:46:38.724Z,1736379998.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-01-08T23:46:38.733Z,1736379998.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.500000 m, nav range: 40.733562 m, bearing: 70.057963 deg, approach rate: 0.000000 m/s, LOS rate: -0.887716 deg/s, cmd heading: 50.325722 deg, new cmd heading: 48.944686 deg. 2025-01-08T23:46:38.734Z,1736379998.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.854246 target range: 104.500000 and range: 104.50 m. 2025-01-08T23:46:38.808Z,1736379998.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:39.060Z,1736379999.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:39.138Z,1736379999.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:39.154Z,1736379999.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-01-08T23:46:39.161Z,1736379999.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.500000 m, nav range: 40.743126 m, bearing: 69.630205 deg, approach rate: 0.020797 m/s, LOS rate: -0.929992 deg/s, cmd heading: 48.944685 deg, new cmd heading: 47.661937 deg. 2025-01-08T23:46:39.163Z,1736379999.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831858 target range: 104.500000 and range: 104.50 m. 2025-01-08T23:46:39.314Z,1736379999.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:39.564Z,1736379999.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:39.591Z,1736379999.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:39.625Z,1736379999.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-01-08T23:46:39.632Z,1736379999.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.500000 m, nav range: 40.738541 m, bearing: 69.224440 deg, approach rate: -0.009736 m/s, LOS rate: -0.861619 deg/s, cmd heading: 47.661938 deg, new cmd heading: 46.444699 deg. 2025-01-08T23:46:39.633Z,1736379999.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810613 target range: 104.500000 and range: 104.50 m. 2025-01-08T23:46:39.816Z,1736379999.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:39.984Z,1736379999.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:40.001Z,1736380000.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-01-08T23:46:40.003Z,1736380000.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.500000 m, nav range: 40.736225 m, bearing: 68.873418 deg, approach rate: -0.006162 m/s, LOS rate: -0.934116 deg/s, cmd heading: 46.444699 deg, new cmd heading: 45.391698 deg. 2025-01-08T23:46:40.004Z,1736380000.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792235 target range: 104.500000 and range: 104.50 m. 2025-01-08T23:46:40.068Z,1736380000.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:40.321Z,1736380000.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:40.423Z,1736380000.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:40.431Z,1736380000.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:40.433Z,1736380000.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-01-08T23:46:40.456Z,1736380000.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.500000 m, nav range: 40.693253 m, bearing: 68.476547 deg, approach rate: -0.099366 m/s, LOS rate: -0.918654 deg/s, cmd heading: 45.391699 deg, new cmd heading: 44.200011 deg. 2025-01-08T23:46:40.457Z,1736380000.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771436 target range: 104.500000 and range: 104.50 m. 2025-01-08T23:46:40.572Z,1736380000.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:40.572Z,1736380000.572 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:46:40.572Z,1736380000.572 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:46:40.573Z,1736380000.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:40.770Z,1736380000.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:40.780Z,1736380000.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-01-08T23:46:40.782Z,1736380000.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.500000 m, nav range: 40.654469 m, bearing: 68.164679 deg, approach rate: -0.111995 m/s, LOS rate: -0.901424 deg/s, cmd heading: 44.200012 deg, new cmd heading: 43.263603 deg. 2025-01-08T23:46:40.784Z,1736380000.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755092 target range: 104.500000 and range: 104.50 m. 2025-01-08T23:46:40.824Z,1736380000.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:40.825Z,1736380000.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.447936 2025-01-08T23:46:41.077Z,1736380001.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:41.079Z,1736380001.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701113 2025-01-08T23:46:41.168Z,1736380001.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:41.177Z,1736380001.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-01-08T23:46:41.181Z,1736380001.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.500000 m, nav range: 40.604492 m, bearing: 67.807779 deg, approach rate: -0.125748 m/s, LOS rate: -0.899117 deg/s, cmd heading: 43.263603 deg, new cmd heading: 42.191718 deg. 2025-01-08T23:46:41.182Z,1736380001.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.736384 target range: 104.500000 and range: 104.50 m. 2025-01-08T23:46:41.329Z,1736380001.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:41.333Z,1736380001.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955066 2025-01-08T23:46:41.580Z,1736380001.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:41.581Z,1736380001.581 [DAT](INFO): DAT read: Rx Time:23:46:40.2376 2025-01-08T23:46:41.581Z,1736380001.581 [DAT](INFO): Rx dataTimestamp_ set to:1736380001.580796 2025-01-08T23:46:41.582Z,1736380001.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.204235 2025-01-08T23:46:41.654Z,1736380001.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:46:41.654Z,1736380001.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:41.675Z,1736380001.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-01-08T23:46:41.680Z,1736380001.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.500000 m, nav range: 40.537571 m, bearing: 67.373827 deg, approach rate: -0.134520 m/s, LOS rate: -0.873727 deg/s, cmd heading: 42.191718 deg, new cmd heading: 40.887950 deg. 2025-01-08T23:46:41.682Z,1736380001.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.713629 target range: 104.500000 and range: 104.50 m. 2025-01-08T23:46:41.832Z,1736380001.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:41.832Z,1736380001.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.455044 2025-01-08T23:46:41.990Z,1736380001.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:46:41.990Z,1736380001.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:41.998Z,1736380001.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-01-08T23:46:42.001Z,1736380002.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.500000 m, nav range: 40.486813 m, bearing: 67.074159 deg, approach rate: -0.156672 m/s, LOS rate: -0.926120 deg/s, cmd heading: 40.887951 deg, new cmd heading: 39.987897 deg. 2025-01-08T23:46:42.002Z,1736380002.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697920 target range: 104.500000 and range: 104.50 m. 2025-01-08T23:46:42.086Z,1736380002.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:42.103Z,1736380002.103 [DAT](INFO): DAT read: 23:46:40.2376 LVL= 28112, 27025, 15794, 27059, AGC= 60, IDX= 436,-0.04,-1.481,-1.661, 0.336,-0.820, PHS=-0.573,-0.794, 1.153, RAW= 204.1, 2.3, CAL= 204.3, -4.9, ROT= 305.7, 4.9 2025-01-08T23:46:42.106Z,1736380002.106 [DAT](INFO): got valid direction response: 23:46:40.2376 LVL= 28112, 27025, 15794, 27059, AGC= 60, IDX= 436,-0.04,-1.481,-1.661, 0.336,-0.820, PHS=-0.573,-0.794, 1.153, RAW= 204.1, 2.3, CAL= 204.3, -4.9, ROT= 305.7, 4.9 2025-01-08T23:46:42.108Z,1736380002.108 [DAT](INFO): DAT read: Bearing 305.7, 4.9 (Local) 2025-01-08T23:46:42.109Z,1736380002.109 [DAT](INFO): Local bearing/azimuth received: Bearing 305.7, 4.9 (Local) 2025-01-08T23:46:42.113Z,1736380002.113 [DAT](INFO): DAT read: Range 10 to 50 : 103.6 m (Round-trip 138.2 ms) speed 0.4 m/s 2025-01-08T23:46:42.115Z,1736380002.115 [DAT](INFO): DAT read: user:3448> 2025-01-08T23:46:42.124Z,1736380002.124 [DAT](INFO): DAT read: Tx time:23:46:41.3453 2025-01-08T23:46:42.125Z,1736380002.125 [DAT](INFO): Ping request sent. 2025-01-08T23:46:42.125Z,1736380002.125 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:46:42.125Z,1736380002.125 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:46:42.126Z,1736380002.126 [DAT](INFO): direction in FSK: [-0.088099,-0.929293,-0.358682] 2025-01-08T23:46:42.126Z,1736380002.126 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:42.127Z,1736380002.127 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:42.130Z,1736380002.130 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:42.131Z,1736380002.131 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:42.336Z,1736380002.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:42.337Z,1736380002.337 [DAT](INFO): DAT read: TxSync time:23:46:41.3445 2025-01-08T23:46:42.480Z,1736380002.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:42.526Z,1736380002.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.599998 m, deltaT: 3.779844 s, deltaX: -0.900002 m, approachRate: -0.238105 m/s, rangeRepo size: 4 2025-01-08T23:46:42.533Z,1736380002.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.599998 m, bearing: 49.578456 deg, lat: 36.905050 deg, lon: -122.120243 deg, deltaT: 3.779844 s, deltaX: -0.900002 m, approachRate: -0.238105 m/s, posRepo size: 4 2025-01-08T23:46:42.533Z,1736380002.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m. 2025-01-08T23:46:42.540Z,1736380002.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.599998 m, nav range: 40.413280 m, bearing: 66.588609 deg, approach rate: 0.000000 m/s, LOS rate: -0.926120 deg/s, cmd heading: 39.987896 deg, new cmd heading: 38.524887 deg. 2025-01-08T23:46:42.541Z,1736380002.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.672386 target range: 103.599998 and range: 103.60 m. 2025-01-08T23:46:42.589Z,1736380002.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:42.809Z,1736380002.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:42.816Z,1736380002.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:42.818Z,1736380002.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m. 2025-01-08T23:46:42.837Z,1736380002.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.599998 m, nav range: 40.353642 m, bearing: 66.265902 deg, approach rate: -0.203326 m/s, LOS rate: -1.101819 deg/s, cmd heading: 38.524886 deg, new cmd heading: 37.555432 deg. 2025-01-08T23:46:42.838Z,1736380002.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655466 target range: 103.599998 and range: 103.60 m. 2025-01-08T23:46:42.840Z,1736380002.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:42.840Z,1736380002.840 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:46:42.840Z,1736380002.840 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:46:42.841Z,1736380002.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:43.092Z,1736380003.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:43.092Z,1736380003.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967470 2025-01-08T23:46:43.226Z,1736380003.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:43.244Z,1736380003.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m. 2025-01-08T23:46:43.247Z,1736380003.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.599998 m, nav range: 40.272999 m, bearing: 65.858203 deg, approach rate: -0.189786 m/s, LOS rate: -0.961400 deg/s, cmd heading: 37.555433 deg, new cmd heading: 36.330083 deg. 2025-01-08T23:46:43.248Z,1736380003.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634080 target range: 103.599998 and range: 103.60 m. 2025-01-08T23:46:43.345Z,1736380003.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:43.348Z,1736380003.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221975 2025-01-08T23:46:43.596Z,1736380003.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:43.597Z,1736380003.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471901 2025-01-08T23:46:43.637Z,1736380003.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:43.682Z,1736380003.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m. 2025-01-08T23:46:43.689Z,1736380003.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.599998 m, nav range: 40.204544 m, bearing: 65.453038 deg, approach rate: -0.156269 m/s, LOS rate: -0.926484 deg/s, cmd heading: 36.330084 deg, new cmd heading: 35.112711 deg. 2025-01-08T23:46:43.690Z,1736380003.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.612832 target range: 103.599998 and range: 103.60 m. 2025-01-08T23:46:43.848Z,1736380003.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:43.848Z,1736380003.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723553 2025-01-08T23:46:44.022Z,1736380004.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:44.053Z,1736380004.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m. 2025-01-08T23:46:44.056Z,1736380004.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.599998 m, nav range: 40.135120 m, bearing: 65.075171 deg, approach rate: -0.186852 m/s, LOS rate: -1.018769 deg/s, cmd heading: 35.112712 deg, new cmd heading: 33.977307 deg. 2025-01-08T23:46:44.057Z,1736380004.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593016 target range: 103.599998 and range: 103.60 m. 2025-01-08T23:46:44.100Z,1736380004.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:44.100Z,1736380004.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975526 2025-01-08T23:46:44.352Z,1736380004.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:44.355Z,1736380004.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229584 2025-01-08T23:46:44.517Z,1736380004.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:44.534Z,1736380004.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m. 2025-01-08T23:46:44.541Z,1736380004.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.599998 m, nav range: 40.055908 m, bearing: 64.600694 deg, approach rate: -0.164724 m/s, LOS rate: -0.988631 deg/s, cmd heading: 33.977309 deg, new cmd heading: 32.551374 deg. 2025-01-08T23:46:44.542Z,1736380004.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568129 target range: 103.599998 and range: 103.60 m. 2025-01-08T23:46:44.604Z,1736380004.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:44.605Z,1736380004.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480551 2025-01-08T23:46:44.848Z,1736380004.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:44.858Z,1736380004.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:44.860Z,1736380004.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735301 2025-01-08T23:46:44.863Z,1736380004.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:44.881Z,1736380004.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m. 2025-01-08T23:46:44.890Z,1736380004.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.599998 m, nav range: 40.004417 m, bearing: 64.281996 deg, approach rate: -0.148147 m/s, LOS rate: -0.918118 deg/s, cmd heading: 32.551374 deg, new cmd heading: 31.594143 deg. 2025-01-08T23:46:44.896Z,1736380004.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.551422 target range: 103.599998 and range: 103.60 m. 2025-01-08T23:46:45.108Z,1736380005.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:45.108Z,1736380005.108 [DAT](INFO): DAT read: Rx Time:23:46:43.8857 2025-01-08T23:46:45.109Z,1736380005.109 [DAT](INFO): Rx dataTimestamp_ set to:1736380005.108589 2025-01-08T23:46:45.109Z,1736380005.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984510 2025-01-08T23:46:45.239Z,1736380005.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:45.265Z,1736380005.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.60 m. 2025-01-08T23:46:45.297Z,1736380005.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.599998 m, nav range: 39.937908 m, bearing: 63.907539 deg, approach rate: -0.175273 m/s, LOS rate: -0.988453 deg/s, cmd heading: 31.594143 deg, new cmd heading: 30.469052 deg. 2025-01-08T23:46:45.298Z,1736380005.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531785 target range: 103.599998 and range: 103.60 m. 2025-01-08T23:46:45.363Z,1736380005.363 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:45.364Z,1736380005.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239105 2025-01-08T23:46:45.612Z,1736380005.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:45.619Z,1736380005.619 [DAT](INFO): DAT read: 23:46:43.8857 LVL= 30416, 27697, 15266, 32755, AGC= 65, IDX= 416, 0.20,-1.987,-2.771,-0.661,-1.598, PHS=-0.301,-1.126, 0.933, RAW= 186.6, 5.5, CAL= 186.5, -3.2, ROT= 323.5, 3.2 2025-01-08T23:46:45.620Z,1736380005.620 [DAT](INFO): got valid direction response: 23:46:43.8857 LVL= 30416, 27697, 15266, 32755, AGC= 65, IDX= 416, 0.20,-1.987,-2.771,-0.661,-1.598, PHS=-0.301,-1.126, 0.933, RAW= 186.6, 5.5, CAL= 186.5, -3.2, ROT= 323.5, 3.2 2025-01-08T23:46:45.621Z,1736380005.621 [DAT](INFO): DAT read: Bearing 323.5, 3.2 (Local) 2025-01-08T23:46:45.622Z,1736380005.622 [DAT](INFO): Local bearing/azimuth received: Bearing 323.5, 3.2 (Local) 2025-01-08T23:46:45.623Z,1736380005.623 [DAT](INFO): DAT read: Range 10 to 50 : 102.2 m (Round-trip 136.3 ms) speed 0.3 m/s 2025-01-08T23:46:45.624Z,1736380005.624 [DAT](INFO): DAT read: user:3449> 2025-01-08T23:46:45.625Z,1736380005.625 [DAT](INFO): DAT read: Tx time:23:46:44.9953 2025-01-08T23:46:45.625Z,1736380005.625 [DAT](INFO): Ping request sent. 2025-01-08T23:46:45.625Z,1736380005.625 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:46:45.625Z,1736380005.625 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:46:45.626Z,1736380005.626 [DAT](INFO): direction in FSK: [-0.180992,-0.980591,-0.075394] 2025-01-08T23:46:45.627Z,1736380005.627 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:45.627Z,1736380005.627 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:45.631Z,1736380005.631 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:45.635Z,1736380005.635 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:45.789Z,1736380005.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:45.832Z,1736380005.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.199997 m, deltaT: 3.526449 s, deltaX: -1.400002 m, approachRate: -0.397000 m/s, rangeRepo size: 4 2025-01-08T23:46:45.834Z,1736380005.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.199997 m, bearing: 30.119191 deg, lat: 36.905220 deg, lon: -122.120069 deg, deltaT: 3.526449 s, deltaX: -1.400002 m, approachRate: -0.397000 m/s, posRepo size: 4 2025-01-08T23:46:45.834Z,1736380005.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T23:46:45.846Z,1736380005.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 62.924137 m, bearing: 54.293768 deg, approach rate: 0.000000 m/s, LOS rate: -0.988453 deg/s, cmd heading: 30.469054 deg, new cmd heading: 28.803282 deg. 2025-01-08T23:46:45.852Z,1736380005.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.502712 target range: 102.199997 and range: 102.20 m. 2025-01-08T23:46:45.864Z,1736380005.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:45.865Z,1736380005.865 [DAT](INFO): DAT read: TxSync time:23:46:44.9945 2025-01-08T23:46:46.116Z,1736380006.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:46.147Z,1736380006.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:46.169Z,1736380006.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T23:46:46.175Z,1736380006.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 62.904179 m, bearing: 54.081863 deg, approach rate: -0.057711 m/s, LOS rate: -0.612930 deg/s, cmd heading: 28.803283 deg, new cmd heading: 28.167393 deg. 2025-01-08T23:46:46.176Z,1736380006.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491614 target range: 102.199997 and range: 102.20 m. 2025-01-08T23:46:46.368Z,1736380006.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:46.576Z,1736380006.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:46.588Z,1736380006.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T23:46:46.591Z,1736380006.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 62.910007 m, bearing: 53.842252 deg, approach rate: 0.013890 m/s, LOS rate: -0.570928 deg/s, cmd heading: 28.167393 deg, new cmd heading: 27.448665 deg. 2025-01-08T23:46:46.592Z,1736380006.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.479070 target range: 102.199997 and range: 102.20 m. 2025-01-08T23:46:46.621Z,1736380006.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:46.872Z,1736380006.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:46.950Z,1736380006.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:46.957Z,1736380006.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:46.959Z,1736380006.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T23:46:46.961Z,1736380006.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 62.903736 m, bearing: 53.633948 deg, approach rate: -0.016928 m/s, LOS rate: -0.562308 deg/s, cmd heading: 27.448666 deg, new cmd heading: 26.823718 deg. 2025-01-08T23:46:46.962Z,1736380006.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468162 target range: 102.199997 and range: 102.20 m. 2025-01-08T23:46:47.124Z,1736380007.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:47.124Z,1736380007.124 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:46:47.124Z,1736380007.124 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:46:47.124Z,1736380007.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:47.349Z,1736380007.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:47.372Z,1736380007.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T23:46:47.375Z,1736380007.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 62.897953 m, bearing: 53.411379 deg, approach rate: -0.013990 m/s, LOS rate: -0.538461 deg/s, cmd heading: 26.823719 deg, new cmd heading: 26.155981 deg. 2025-01-08T23:46:47.376Z,1736380007.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:47.377Z,1736380007.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751776 2025-01-08T23:46:47.378Z,1736380007.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456508 target range: 102.199997 and range: 102.20 m. 2025-01-08T23:46:47.628Z,1736380007.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:47.629Z,1736380007.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004160 2025-01-08T23:46:47.817Z,1736380007.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:47.825Z,1736380007.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T23:46:47.829Z,1736380007.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 62.894299 m, bearing: 53.172125 deg, approach rate: -0.008065 m/s, LOS rate: -0.528031 deg/s, cmd heading: 26.155981 deg, new cmd heading: 25.438215 deg. 2025-01-08T23:46:47.830Z,1736380007.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.443981 target range: 102.199997 and range: 102.20 m. 2025-01-08T23:46:47.880Z,1736380007.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:47.881Z,1736380007.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255357 2025-01-08T23:46:48.132Z,1736380008.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:48.132Z,1736380008.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507250 2025-01-08T23:46:48.196Z,1736380008.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:48.205Z,1736380008.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T23:46:48.208Z,1736380008.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 62.885361 m, bearing: 52.978002 deg, approach rate: -0.023545 m/s, LOS rate: -0.511452 deg/s, cmd heading: 25.438215 deg, new cmd heading: 24.855784 deg. 2025-01-08T23:46:48.209Z,1736380008.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433815 target range: 102.199997 and range: 102.20 m. 2025-01-08T23:46:48.384Z,1736380008.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:48.384Z,1736380008.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759322 2025-01-08T23:46:48.624Z,1736380008.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:48.634Z,1736380008.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T23:46:48.636Z,1736380008.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:48.637Z,1736380008.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011494 2025-01-08T23:46:48.639Z,1736380008.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 62.885063 m, bearing: 52.797328 deg, approach rate: -0.000693 m/s, LOS rate: -0.420730 deg/s, cmd heading: 24.855784 deg, new cmd heading: 24.313779 deg. 2025-01-08T23:46:48.640Z,1736380008.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424356 target range: 102.199997 and range: 102.20 m. 2025-01-08T23:46:48.888Z,1736380008.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:48.889Z,1736380008.889 [DAT](INFO): DAT read: Rx Time:23:46:47.5341 2025-01-08T23:46:48.889Z,1736380008.889 [DAT](INFO): Rx dataTimestamp_ set to:1736380008.888891 2025-01-08T23:46:48.890Z,1736380008.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264745 2025-01-08T23:46:49.004Z,1736380009.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:49.010Z,1736380009.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:49.016Z,1736380009.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.20 m. 2025-01-08T23:46:49.040Z,1736380009.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.199997 m, nav range: 62.879776 m, bearing: 52.637250 deg, approach rate: -0.013907 m/s, LOS rate: -0.421091 deg/s, cmd heading: 24.313780 deg, new cmd heading: 23.833515 deg. 2025-01-08T23:46:49.041Z,1736380009.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415973 target range: 102.199997 and range: 102.20 m. 2025-01-08T23:46:49.140Z,1736380009.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:49.141Z,1736380009.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515359 2025-01-08T23:46:49.392Z,1736380009.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:49.403Z,1736380009.403 [DAT](INFO): DAT read: 23:46:47.5341 LVL= 23536, 31857, 16754, 32755, AGC= 63, IDX= 432, 0.03, 0.724,-0.156, 1.869, 0.847, PHS=-0.035,-0.956, 1.019, RAW= 182.2, -0.3, CAL= 182.6, -8.0, ROT= 327.4, 8.0 2025-01-08T23:46:49.404Z,1736380009.404 [DAT](INFO): got valid direction response: 23:46:47.5341 LVL= 23536, 31857, 16754, 32755, AGC= 63, IDX= 432, 0.03, 0.724,-0.156, 1.869, 0.847, PHS=-0.035,-0.956, 1.019, RAW= 182.2, -0.3, CAL= 182.6, -8.0, ROT= 327.4, 8.0 2025-01-08T23:46:49.405Z,1736380009.405 [DAT](INFO): DAT read: Bearing 327.4, 8.0 (Local) 2025-01-08T23:46:49.406Z,1736380009.406 [DAT](INFO): Local bearing/azimuth received: Bearing 327.4, 8.0 (Local) 2025-01-08T23:46:49.407Z,1736380009.407 [DAT](INFO): DAT read: Range 10 to 50 : 101.0 m (Round-trip 134.7 ms) speed 0.4 m/s 2025-01-08T23:46:49.408Z,1736380009.408 [DAT](INFO): DAT read: user:3450> 2025-01-08T23:46:49.409Z,1736380009.409 [DAT](INFO): DAT read: Tx time:23:46:48.6468 2025-01-08T23:46:49.409Z,1736380009.409 [DAT](INFO): Ping request sent. 2025-01-08T23:46:49.409Z,1736380009.409 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:46:49.409Z,1736380009.409 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:46:49.410Z,1736380009.410 [DAT](INFO): direction in FSK: [-0.077731,-0.996958,0.005624] 2025-01-08T23:46:49.411Z,1736380009.411 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:49.411Z,1736380009.411 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:49.425Z,1736380009.425 [DAT](INFO): publishing transmit ping time 2025-01-08T23:46:49.425Z,1736380009.425 [DAT](INFO): publishing direction and range info 2025-01-08T23:46:49.517Z,1736380009.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:49.572Z,1736380009.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 101.000000 m, deltaT: 3.779589 s, deltaX: -1.199997 m, approachRate: -0.317494 m/s, rangeRepo size: 4 2025-01-08T23:46:49.574Z,1736380009.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.000000 m, bearing: 20.914394 deg, lat: 36.905467 deg, lon: -122.120069 deg, deltaT: 3.779589 s, deltaX: -1.199997 m, approachRate: -0.317494 m/s, posRepo size: 4 2025-01-08T23:46:49.575Z,1736380009.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:49.605Z,1736380009.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.562325 m, bearing: 37.117102 deg, approach rate: 0.000000 m/s, LOS rate: -0.421091 deg/s, cmd heading: 23.833515 deg, new cmd heading: 23.135453 deg. 2025-01-08T23:46:49.606Z,1736380009.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.403790 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:49.644Z,1736380009.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:49.645Z,1736380009.645 [DAT](INFO): DAT read: TxSync time:23:46:48.6460 2025-01-08T23:46:49.896Z,1736380009.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:49.932Z,1736380009.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:49.941Z,1736380009.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:49.956Z,1736380009.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.588379 m, bearing: 36.982922 deg, approach rate: 0.069568 m/s, LOS rate: -0.358159 deg/s, cmd heading: 23.135454 deg, new cmd heading: 22.733050 deg. 2025-01-08T23:46:49.960Z,1736380009.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.396767 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:50.149Z,1736380010.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:50.303Z,1736380010.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:50.311Z,1736380010.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:50.315Z,1736380010.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.606972 m, bearing: 36.862803 deg, approach rate: 0.050311 m/s, LOS rate: -0.324963 deg/s, cmd heading: 22.733050 deg, new cmd heading: 22.372779 deg. 2025-01-08T23:46:50.332Z,1736380010.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.390479 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:50.400Z,1736380010.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:50.652Z,1736380010.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:50.704Z,1736380010.704 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:46:50.730Z,1736380010.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:50.739Z,1736380010.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:50.742Z,1736380010.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.590340 m, bearing: 36.698624 deg, approach rate: -0.038865 m/s, LOS rate: -0.383727 deg/s, cmd heading: 22.372778 deg, new cmd heading: 21.880154 deg. 2025-01-08T23:46:50.743Z,1736380010.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.381881 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:50.904Z,1736380010.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:51.114Z,1736380011.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:51.146Z,1736380011.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:51.153Z,1736380011.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:51.157Z,1736380011.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:51.158Z,1736380011.158 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:46:51.158Z,1736380011.158 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:46:51.159Z,1736380011.159 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:51.165Z,1736380011.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.569305 m, bearing: 36.552037 deg, approach rate: -0.050833 m/s, LOS rate: -0.354342 deg/s, cmd heading: 21.880154 deg, new cmd heading: 21.440290 deg. 2025-01-08T23:46:51.174Z,1736380011.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.374204 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:51.408Z,1736380011.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:51.408Z,1736380011.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999246 2025-01-08T23:46:51.585Z,1736380011.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:51.616Z,1736380011.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:51.618Z,1736380011.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.534248 m, bearing: 36.401837 deg, approach rate: -0.076436 m/s, LOS rate: -0.327621 deg/s, cmd heading: 21.440290 deg, new cmd heading: 20.989510 deg. 2025-01-08T23:46:51.624Z,1736380011.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.366336 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:51.660Z,1736380011.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:51.661Z,1736380011.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251956 2025-01-08T23:46:51.708Z,1736380011.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:46:51.912Z,1736380011.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:51.913Z,1736380011.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503978 2025-01-08T23:46:51.918Z,1736380011.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:51.950Z,1736380011.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:51.956Z,1736380011.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.504944 m, bearing: 36.296542 deg, approach rate: -0.086646 m/s, LOS rate: -0.311443 deg/s, cmd heading: 20.989509 deg, new cmd heading: 20.673514 deg. 2025-01-08T23:46:51.957Z,1736380011.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.360821 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:52.164Z,1736380012.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:52.165Z,1736380012.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755349 2025-01-08T23:46:52.319Z,1736380012.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:52.327Z,1736380012.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:52.331Z,1736380012.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.464325 m, bearing: 36.170506 deg, approach rate: -0.107581 m/s, LOS rate: -0.333976 deg/s, cmd heading: 20.673514 deg, new cmd heading: 20.295227 deg. 2025-01-08T23:46:52.332Z,1736380012.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.354219 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:52.416Z,1736380012.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:52.417Z,1736380012.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007358 2025-01-08T23:46:52.668Z,1736380012.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:52.669Z,1736380012.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260071 2025-01-08T23:46:52.768Z,1736380012.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:52.785Z,1736380012.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:52.792Z,1736380012.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.392479 m, bearing: 36.021373 deg, approach rate: -0.156797 m/s, LOS rate: -0.325754 deg/s, cmd heading: 20.295226 deg, new cmd heading: 19.847445 deg. 2025-01-08T23:46:52.793Z,1736380012.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.346403 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:52.920Z,1736380012.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:52.921Z,1736380012.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512230 2025-01-08T23:46:53.129Z,1736380013.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:53.142Z,1736380013.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:53.150Z,1736380013.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.328201 m, bearing: 35.899629 deg, approach rate: -0.180284 m/s, LOS rate: -0.341729 deg/s, cmd heading: 19.847445 deg, new cmd heading: 19.481935 deg. 2025-01-08T23:46:53.151Z,1736380013.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.340024 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:53.172Z,1736380013.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:53.173Z,1736380013.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763643 2025-01-08T23:46:53.424Z,1736380013.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:53.424Z,1736380013.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015321 2025-01-08T23:46:53.620Z,1736380013.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:53.635Z,1736380013.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:53.637Z,1736380013.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:53.660Z,1736380013.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.217278 m, bearing: 35.715942 deg, approach rate: -0.224129 m/s, LOS rate: -0.371653 deg/s, cmd heading: 19.481935 deg, new cmd heading: 18.930147 deg. 2025-01-08T23:46:53.662Z,1736380013.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.330393 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:53.676Z,1736380013.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:53.678Z,1736380013.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.268381 2025-01-08T23:46:53.928Z,1736380013.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:53.929Z,1736380013.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519995 2025-01-08T23:46:53.977Z,1736380013.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:53.994Z,1736380013.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:54.001Z,1736380014.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.119553 m, bearing: 35.587184 deg, approach rate: -0.273512 m/s, LOS rate: -0.360796 deg/s, cmd heading: 18.930148 deg, new cmd heading: 18.543421 deg. 2025-01-08T23:46:54.002Z,1736380014.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.323644 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:54.180Z,1736380014.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:54.180Z,1736380014.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.771195 2025-01-08T23:46:54.356Z,1736380014.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:54.365Z,1736380014.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:54.368Z,1736380014.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 82.010323 m, bearing: 35.452405 deg, approach rate: -0.294183 m/s, LOS rate: -0.363478 deg/s, cmd heading: 18.543421 deg, new cmd heading: 18.138551 deg. 2025-01-08T23:46:54.369Z,1736380014.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.316577 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:54.433Z,1736380014.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:54.434Z,1736380014.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.024937 2025-01-08T23:46:54.684Z,1736380014.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:54.685Z,1736380014.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.275413 2025-01-08T23:46:54.781Z,1736380014.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:54.791Z,1736380014.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:54.793Z,1736380014.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 81.873413 m, bearing: 35.287409 deg, approach rate: -0.322090 m/s, LOS rate: -0.388814 deg/s, cmd heading: 18.138551 deg, new cmd heading: 17.642748 deg. 2025-01-08T23:46:54.794Z,1736380014.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307924 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:54.936Z,1736380014.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:54.936Z,1736380014.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.527173 2025-01-08T23:46:55.166Z,1736380015.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:55.175Z,1736380015.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:55.177Z,1736380015.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 81.743538 m, bearing: 35.140009 deg, approach rate: -0.338109 m/s, LOS rate: -0.384340 deg/s, cmd heading: 17.642749 deg, new cmd heading: 17.199857 deg. 2025-01-08T23:46:55.178Z,1736380015.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.300194 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:55.188Z,1736380015.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:55.188Z,1736380015.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.779306 2025-01-08T23:46:55.440Z,1736380015.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:55.441Z,1736380015.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.031953 2025-01-08T23:46:55.689Z,1736380015.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:55.692Z,1736380015.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:55.692Z,1736380015.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.283336 2025-01-08T23:46:55.699Z,1736380015.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:55.701Z,1736380015.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:55.704Z,1736380015.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 81.555397 m, bearing: 34.917408 deg, approach rate: -0.357235 m/s, LOS rate: -0.423642 deg/s, cmd heading: 17.199858 deg, new cmd heading: 16.530545 deg. 2025-01-08T23:46:55.705Z,1736380015.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.288512 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:55.944Z,1736380015.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:55.944Z,1736380015.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.535306 2025-01-08T23:46:56.056Z,1736380016.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:56.066Z,1736380016.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:56.069Z,1736380016.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 81.424103 m, bearing: 34.760579 deg, approach rate: -0.360046 m/s, LOS rate: -0.430762 deg/s, cmd heading: 16.530545 deg, new cmd heading: 16.059311 deg. 2025-01-08T23:46:56.070Z,1736380016.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.280288 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:56.196Z,1736380016.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:56.196Z,1736380016.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.787279 2025-01-08T23:46:56.448Z,1736380016.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:56.448Z,1736380016.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.039248 2025-01-08T23:46:56.506Z,1736380016.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:56.534Z,1736380016.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:56.536Z,1736380016.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 81.240211 m, bearing: 34.578699 deg, approach rate: -0.393244 m/s, LOS rate: -0.389822 deg/s, cmd heading: 16.059312 deg, new cmd heading: 15.512456 deg. 2025-01-08T23:46:56.539Z,1736380016.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.270743 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:56.701Z,1736380016.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:56.702Z,1736380016.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.293037 2025-01-08T23:46:56.876Z,1736380016.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:56.885Z,1736380016.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:56.908Z,1736380016.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 81.092529 m, bearing: 34.422056 deg, approach rate: -0.420480 m/s, LOS rate: -0.446806 deg/s, cmd heading: 15.512456 deg, new cmd heading: 15.041681 deg. 2025-01-08T23:46:56.909Z,1736380016.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262527 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:56.953Z,1736380016.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:56.954Z,1736380016.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.544424 2025-01-08T23:46:57.204Z,1736380017.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:57.204Z,1736380017.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.795213 2025-01-08T23:46:57.306Z,1736380017.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:57.343Z,1736380017.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:57.350Z,1736380017.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 80.920792 m, bearing: 34.238356 deg, approach rate: -0.391750 m/s, LOS rate: -0.419926 deg/s, cmd heading: 15.041680 deg, new cmd heading: 14.489428 deg. 2025-01-08T23:46:57.351Z,1736380017.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.252888 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:57.456Z,1736380017.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:57.457Z,1736380017.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.048189 2025-01-08T23:46:57.685Z,1736380017.685 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-2768,V 2025-01-08T23:46:57.708Z,1736380017.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:57.708Z,1736380017.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.299324 2025-01-08T23:46:57.713Z,1736380017.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:46:57.713Z,1736380017.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:57.733Z,1736380017.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:46:57.735Z,1736380017.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:57.742Z,1736380017.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 80.745979 m, bearing: 34.071820 deg, approach rate: -0.424672 m/s, LOS rate: -0.405440 deg/s, cmd heading: 14.489428 deg, new cmd heading: 13.988754 deg. 2025-01-08T23:46:57.742Z,1736380017.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.244150 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:57.960Z,1736380017.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:57.962Z,1736380017.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.552915 2025-01-08T23:46:58.082Z,1736380018.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:46:58.082Z,1736380018.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:58.091Z,1736380018.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:58.093Z,1736380018.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 80.585739 m, bearing: 33.927019 deg, approach rate: -0.450411 m/s, LOS rate: -0.407823 deg/s, cmd heading: 13.988753 deg, new cmd heading: 13.553496 deg. 2025-01-08T23:46:58.094Z,1736380018.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.236553 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:58.212Z,1736380018.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:58.214Z,1736380018.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.804441 2025-01-08T23:46:58.464Z,1736380018.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:58.464Z,1736380018.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.055079 2025-01-08T23:46:58.476Z,1736380018.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:46:58.476Z,1736380018.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:58.486Z,1736380018.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:58.489Z,1736380018.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 80.399254 m, bearing: 33.766886 deg, approach rate: -0.471941 m/s, LOS rate: -0.406191 deg/s, cmd heading: 13.553495 deg, new cmd heading: 13.071994 deg. 2025-01-08T23:46:58.489Z,1736380018.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228149 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:58.716Z,1736380018.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:58.716Z,1736380018.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.307309 2025-01-08T23:46:58.913Z,1736380018.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:58.922Z,1736380018.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:58.925Z,1736380018.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 80.226593 m, bearing: 33.595376 deg, approach rate: -0.395700 m/s, LOS rate: -0.393909 deg/s, cmd heading: 13.071994 deg, new cmd heading: 12.556369 deg. 2025-01-08T23:46:58.926Z,1736380018.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.219150 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:58.969Z,1736380018.969 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:58.970Z,1736380018.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.560796 2025-01-08T23:46:59.220Z,1736380019.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:59.222Z,1736380019.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.812431 2025-01-08T23:46:59.285Z,1736380019.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:59.316Z,1736380019.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:59.318Z,1736380019.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 80.074959 m, bearing: 33.452464 deg, approach rate: -0.389658 m/s, LOS rate: -0.367938 deg/s, cmd heading: 12.556370 deg, new cmd heading: 12.126832 deg. 2025-01-08T23:46:59.332Z,1736380019.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.211653 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:59.472Z,1736380019.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:59.472Z,1736380019.472 [DAT](INFO): Reached modem response timeout 2025-01-08T23:46:59.472Z,1736380019.472 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:46:59.472Z,1736380019.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:59.718Z,1736380019.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:46:59.724Z,1736380019.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:59.724Z,1736380019.724 [DAT](INFO): Reached modem response timeout 2025-01-08T23:46:59.724Z,1736380019.724 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:46:59.725Z,1736380019.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:46:59.732Z,1736380019.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:46:59.735Z,1736380019.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 79.913979 m, bearing: 33.308877 deg, approach rate: -0.383226 m/s, LOS rate: -0.342510 deg/s, cmd heading: 12.126832 deg, new cmd heading: 11.695210 deg. 2025-01-08T23:46:59.736Z,1736380019.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.204120 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:46:59.976Z,1736380019.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:46:59.976Z,1736380019.976 [DAT](INFO): Reached modem response timeout 2025-01-08T23:46:59.976Z,1736380019.976 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:46:59.977Z,1736380019.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:00.089Z,1736380020.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:00.097Z,1736380020.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:00.099Z,1736380020.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:47:00.102Z,1736380020.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 79.772408 m, bearing: 33.189123 deg, approach rate: -0.385145 m/s, LOS rate: -0.326368 deg/s, cmd heading: 11.695210 deg, new cmd heading: 11.335316 deg. 2025-01-08T23:47:00.103Z,1736380020.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.197839 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:47:00.228Z,1736380020.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:00.230Z,1736380020.230 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:47:00.230Z,1736380020.230 [DAT](INFO): response not received 2025-01-08T23:47:00.231Z,1736380020.231 [DAT](INFO): DAT read: user:3451> 2025-01-08T23:47:00.234Z,1736380020.234 [DAT](INFO): DAT read: Tx time:23:46:59.5955 2025-01-08T23:47:00.234Z,1736380020.234 [DAT](INFO): Ping request sent. 2025-01-08T23:47:00.234Z,1736380020.234 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:00.236Z,1736380020.236 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:00.238Z,1736380020.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003455 2025-01-08T23:47:00.480Z,1736380020.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:00.481Z,1736380020.481 [DAT](INFO): DAT read: TxSync time:23:46:59.5947 2025-01-08T23:47:00.481Z,1736380020.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247030 2025-01-08T23:47:00.496Z,1736380020.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:00.524Z,1736380020.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:47:00.535Z,1736380020.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 79.610641 m, bearing: 33.059408 deg, approach rate: -0.380162 m/s, LOS rate: -0.305459 deg/s, cmd heading: 11.335316 deg, new cmd heading: 10.945386 deg. 2025-01-08T23:47:00.536Z,1736380020.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.191033 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:47:00.732Z,1736380020.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:00.732Z,1736380020.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498188 2025-01-08T23:47:00.934Z,1736380020.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:00.942Z,1736380020.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:47:00.946Z,1736380020.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 79.456711 m, bearing: 32.943948 deg, approach rate: -0.368220 m/s, LOS rate: -0.276728 deg/s, cmd heading: 10.945386 deg, new cmd heading: 10.598340 deg. 2025-01-08T23:47:00.947Z,1736380020.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.184976 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:47:00.984Z,1736380020.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:00.987Z,1736380020.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752090 2025-01-08T23:47:01.236Z,1736380021.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:01.236Z,1736380021.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002184 2025-01-08T23:47:01.331Z,1736380021.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:01.340Z,1736380021.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:47:01.342Z,1736380021.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 79.309151 m, bearing: 32.844888 deg, approach rate: -0.371702 m/s, LOS rate: -0.249996 deg/s, cmd heading: 10.598340 deg, new cmd heading: 10.300609 deg. 2025-01-08T23:47:01.343Z,1736380021.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.179780 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:47:01.488Z,1736380021.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:01.488Z,1736380021.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254109 2025-01-08T23:47:01.737Z,1736380021.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:01.740Z,1736380021.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:01.741Z,1736380021.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506478 2025-01-08T23:47:01.748Z,1736380021.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:47:01.751Z,1736380021.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 79.173157 m, bearing: 32.770280 deg, approach rate: -0.332718 m/s, LOS rate: -0.182847 deg/s, cmd heading: 10.300608 deg, new cmd heading: 10.076401 deg. 2025-01-08T23:47:01.752Z,1736380021.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.175866 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:47:01.992Z,1736380021.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:01.993Z,1736380021.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758374 2025-01-08T23:47:02.116Z,1736380022.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:02.122Z,1736380022.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:02.125Z,1736380022.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:47:02.147Z,1736380022.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 79.042923 m, bearing: 32.703273 deg, approach rate: -0.345877 m/s, LOS rate: -0.178251 deg/s, cmd heading: 10.076401 deg, new cmd heading: 9.875050 deg. 2025-01-08T23:47:02.148Z,1736380022.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.172352 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:47:02.244Z,1736380022.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:02.245Z,1736380022.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011077 2025-01-08T23:47:02.496Z,1736380022.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:02.497Z,1736380022.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262609 2025-01-08T23:47:02.522Z,1736380022.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:02.531Z,1736380022.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:47:02.534Z,1736380022.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 78.900665 m, bearing: 32.634745 deg, approach rate: -0.350351 m/s, LOS rate: -0.169074 deg/s, cmd heading: 9.875050 deg, new cmd heading: 9.669097 deg. 2025-01-08T23:47:02.535Z,1736380022.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.168758 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:47:02.748Z,1736380022.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:02.750Z,1736380022.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515144 2025-01-08T23:47:02.943Z,1736380022.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:02.953Z,1736380022.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:47:02.955Z,1736380022.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 78.761612 m, bearing: 32.592313 deg, approach rate: -0.329581 m/s, LOS rate: -0.100749 deg/s, cmd heading: 9.669097 deg, new cmd heading: 9.541576 deg. 2025-01-08T23:47:02.956Z,1736380022.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.166532 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:47:03.000Z,1736380023.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:03.002Z,1736380023.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767310 2025-01-08T23:47:03.252Z,1736380023.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:03.252Z,1736380023.252 [DAT](INFO): DAT read: Rx Time:23:47:02.1242 2025-01-08T23:47:03.253Z,1736380023.253 [DAT](INFO): Rx dataTimestamp_ set to:1736380023.252663 2025-01-08T23:47:03.253Z,1736380023.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019242 2025-01-08T23:47:03.338Z,1736380023.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:03.347Z,1736380023.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:47:03.350Z,1736380023.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 78.629341 m, bearing: 32.555580 deg, approach rate: -0.335493 m/s, LOS rate: -0.093325 deg/s, cmd heading: 9.541575 deg, new cmd heading: 9.431193 deg. 2025-01-08T23:47:03.351Z,1736380023.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.164605 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:47:03.504Z,1736380023.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:03.505Z,1736380023.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270670 2025-01-08T23:47:03.756Z,1736380023.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:03.756Z,1736380023.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522207 2025-01-08T23:47:03.761Z,1736380023.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:03.830Z,1736380023.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.00 m. 2025-01-08T23:47:03.837Z,1736380023.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.000000 m, nav range: 78.485893 m, bearing: 32.537072 deg, approach rate: -0.296982 m/s, LOS rate: -0.038388 deg/s, cmd heading: 9.431193 deg, new cmd heading: 9.375566 deg. 2025-01-08T23:47:03.838Z,1736380023.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.163634 target range: 101.000000 and range: 101.00 m. 2025-01-08T23:47:04.008Z,1736380024.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:04.015Z,1736380024.015 [DAT](INFO): DAT read: 23:47:02.1242 LVL= 31728, 32753, 32754, 32755, AGC= 69, IDX= 313,-0.36,-1.592, 2.979,-2.563,-2.190, PHS= 0.686,-1.067,-0.376, RAW= 113.1, 9.9, CAL= 122.2, 7.0, ROT= 27.8, -7.0 2025-01-08T23:47:04.016Z,1736380024.016 [DAT](INFO): got valid direction response: 23:47:02.1242 LVL= 31728, 32753, 32754, 32755, AGC= 69, IDX= 313,-0.36,-1.592, 2.979,-2.563,-2.190, PHS= 0.686,-1.067,-0.376, RAW= 113.1, 9.9, CAL= 122.2, 7.0, ROT= 27.8, -7.0 2025-01-08T23:47:04.017Z,1736380024.017 [DAT](INFO): DAT read: Bearing 27.8, -7.0 (Local) 2025-01-08T23:47:04.017Z,1736380024.017 [DAT](INFO): Local bearing/azimuth received: Bearing 27.8, -7.0 (Local) 2025-01-08T23:47:04.019Z,1736380024.019 [DAT](INFO): DAT read: Range 10 to 50 : 93.4 m (Round-trip 124.6 ms) speed 0.3 m/s 2025-01-08T23:47:04.020Z,1736380024.020 [DAT](INFO): DAT read: user:3452> 2025-01-08T23:47:04.021Z,1736380024.021 [DAT](INFO): DAT read: Tx time:23:47:03.2455 2025-01-08T23:47:04.021Z,1736380024.021 [DAT](INFO): Ping request sent. 2025-01-08T23:47:04.021Z,1736380024.021 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:04.021Z,1736380024.021 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:04.022Z,1736380024.022 [DAT](INFO): direction in FSK: [-0.302427,-0.278622,0.911541] 2025-01-08T23:47:04.023Z,1736380024.023 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:04.023Z,1736380024.023 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:04.026Z,1736380024.026 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:04.026Z,1736380024.026 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:04.165Z,1736380024.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:04.205Z,1736380024.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.400002 m, deltaT: 14.615946 s, deltaX: -7.599998 m, approachRate: -0.519980 m/s, rangeRepo size: 4 2025-01-08T23:47:04.213Z,1736380024.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.400002 m, bearing: 277.830003 deg, lat: 36.905467 deg, lon: -122.120069 deg, deltaT: 14.615946 s, deltaX: -7.599998 m, approachRate: -0.519980 m/s, posRepo size: 4 2025-01-08T23:47:04.214Z,1736380024.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T23:47:04.225Z,1736380024.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 78.348305 m, bearing: 32.519254 deg, approach rate: 0.000000 m/s, LOS rate: -0.038388 deg/s, cmd heading: 9.375566 deg, new cmd heading: 9.332406 deg. 2025-01-08T23:47:04.226Z,1736380024.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.162881 target range: 93.400002 and range: 93.40 m. 2025-01-08T23:47:04.260Z,1736380024.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:04.261Z,1736380024.261 [DAT](INFO): DAT read: TxSync time:23:47:03.2447 2025-01-08T23:47:04.512Z,1736380024.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:04.551Z,1736380024.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:04.558Z,1736380024.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:04.560Z,1736380024.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T23:47:04.564Z,1736380024.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 78.215996 m, bearing: 32.508740 deg, approach rate: -0.372187 m/s, LOS rate: -0.029626 deg/s, cmd heading: 9.332406 deg, new cmd heading: 9.300811 deg. 2025-01-08T23:47:04.565Z,1736380024.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.162330 target range: 93.400002 and range: 93.40 m. 2025-01-08T23:47:04.764Z,1736380024.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:04.765Z,1736380024.765 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:04.765Z,1736380024.765 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:04.765Z,1736380024.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:04.968Z,1736380024.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:04.997Z,1736380024.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T23:47:05.004Z,1736380025.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 78.063713 m, bearing: 32.511056 deg, approach rate: -0.348550 m/s, LOS rate: 0.005309 deg/s, cmd heading: 9.300811 deg, new cmd heading: 9.307770 deg. 2025-01-08T23:47:05.005Z,1736380025.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.162451 target range: 93.400002 and range: 93.40 m. 2025-01-08T23:47:05.016Z,1736380025.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:05.017Z,1736380025.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995371 2025-01-08T23:47:05.269Z,1736380025.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:05.269Z,1736380025.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248074 2025-01-08T23:47:05.373Z,1736380025.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:05.387Z,1736380025.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T23:47:05.393Z,1736380025.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 77.915924 m, bearing: 32.516993 deg, approach rate: -0.379042 m/s, LOS rate: 0.015257 deg/s, cmd heading: 9.307770 deg, new cmd heading: 9.325617 deg. 2025-01-08T23:47:05.394Z,1736380025.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.162763 target range: 93.400002 and range: 93.40 m. 2025-01-08T23:47:05.520Z,1736380025.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:05.521Z,1736380025.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499438 2025-01-08T23:47:05.772Z,1736380025.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:05.775Z,1736380025.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753220 2025-01-08T23:47:05.824Z,1736380025.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:05.834Z,1736380025.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T23:47:05.837Z,1736380025.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 77.740196 m, bearing: 32.526924 deg, approach rate: -0.393275 m/s, LOS rate: 0.022275 deg/s, cmd heading: 9.325617 deg, new cmd heading: 9.355476 deg. 2025-01-08T23:47:05.838Z,1736380025.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.163284 target range: 93.400002 and range: 93.40 m. 2025-01-08T23:47:06.024Z,1736380026.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:06.024Z,1736380026.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003073 2025-01-08T23:47:06.152Z,1736380026.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:06.161Z,1736380026.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T23:47:06.165Z,1736380026.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 77.612663 m, bearing: 32.537479 deg, approach rate: -0.389969 m/s, LOS rate: 0.032328 deg/s, cmd heading: 9.355476 deg, new cmd heading: 9.387193 deg. 2025-01-08T23:47:06.166Z,1736380026.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.163837 target range: 93.400002 and range: 93.40 m. 2025-01-08T23:47:06.277Z,1736380026.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:06.278Z,1736380026.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256360 2025-01-08T23:47:06.528Z,1736380026.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:06.529Z,1736380026.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507869 2025-01-08T23:47:06.558Z,1736380026.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:06.596Z,1736380026.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:06.598Z,1736380026.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T23:47:06.604Z,1736380026.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 77.455620 m, bearing: 32.554637 deg, approach rate: -0.359451 m/s, LOS rate: 0.039352 deg/s, cmd heading: 9.387193 deg, new cmd heading: 9.438771 deg. 2025-01-08T23:47:06.605Z,1736380026.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.164738 target range: 93.400002 and range: 93.40 m. 2025-01-08T23:47:06.780Z,1736380026.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:06.781Z,1736380026.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759305 2025-01-08T23:47:06.988Z,1736380026.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:06.997Z,1736380026.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T23:47:07.000Z,1736380027.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 77.269684 m, bearing: 32.568031 deg, approach rate: -0.465341 m/s, LOS rate: 0.033604 deg/s, cmd heading: 9.438771 deg, new cmd heading: 9.479052 deg. 2025-01-08T23:47:07.001Z,1736380027.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.165441 target range: 93.400002 and range: 93.40 m. 2025-01-08T23:47:07.032Z,1736380027.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:07.033Z,1736380027.033 [DAT](INFO): DAT read: Rx Time:23:47:05.7724 2025-01-08T23:47:07.033Z,1736380027.033 [DAT](INFO): Rx dataTimestamp_ set to:1736380027.032752 2025-01-08T23:47:07.034Z,1736380027.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012332 2025-01-08T23:47:07.284Z,1736380027.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:07.284Z,1736380027.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263276 2025-01-08T23:47:07.416Z,1736380027.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:07.519Z,1736380027.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-08T23:47:07.522Z,1736380027.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 77.085220 m, bearing: 32.590486 deg, approach rate: -0.364436 m/s, LOS rate: 0.044468 deg/s, cmd heading: 9.479052 deg, new cmd heading: 9.546576 deg. 2025-01-08T23:47:07.522Z,1736380027.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.166619 target range: 93.400002 and range: 93.40 m. 2025-01-08T23:47:07.536Z,1736380027.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:07.542Z,1736380027.542 [DAT](INFO): DAT read: 23:47:05.7724 LVL= 12688, 25713, 22562, 30003, AGC= 61, IDX= 422,-0.32, 0.131,-1.779,-1.406,-0.873, PHS= 1.093,-0.859,-0.535, RAW= 98.9, 3.4, CAL= 108.9, 1.4, ROT= 41.1, -1.4 2025-01-08T23:47:07.544Z,1736380027.544 [DAT](INFO): got valid direction response: 23:47:05.7724 LVL= 12688, 25713, 22562, 30003, AGC= 61, IDX= 422,-0.32, 0.131,-1.779,-1.406,-0.873, PHS= 1.093,-0.859,-0.535, RAW= 98.9, 3.4, CAL= 108.9, 1.4, ROT= 41.1, -1.4 2025-01-08T23:47:07.546Z,1736380027.546 [DAT](INFO): DAT read: Bearing 41.1, -1.4 (Local) 2025-01-08T23:47:07.546Z,1736380027.546 [DAT](INFO): Local bearing/azimuth received: Bearing 41.1, -1.4 (Local) 2025-01-08T23:47:07.548Z,1736380027.548 [DAT](INFO): DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.8 ms) speed 0.4 m/s 2025-01-08T23:47:07.548Z,1736380027.548 [DAT](INFO): DAT read: user:3453> 2025-01-08T23:47:07.549Z,1736380027.549 [DAT](INFO): DAT read: Tx time:23:47:06.8955 2025-01-08T23:47:07.549Z,1736380027.549 [DAT](INFO): Ping request sent. 2025-01-08T23:47:07.549Z,1736380027.549 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:07.550Z,1736380027.550 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:07.551Z,1736380027.551 [DAT](INFO): direction in FSK: [-0.162613,-0.044508,0.985686] 2025-01-08T23:47:07.551Z,1736380027.551 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:07.588Z,1736380027.588 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:07.631Z,1736380027.631 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:07.632Z,1736380027.632 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:07.788Z,1736380027.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:07.789Z,1736380027.789 [DAT](INFO): DAT read: TxSync time:23:47:06.8947 2025-01-08T23:47:07.896Z,1736380027.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:07.927Z,1736380027.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.528030 s, deltaX: -1.300003 m, approachRate: -0.368478 m/s, rangeRepo size: 4 2025-01-08T23:47:07.933Z,1736380027.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.099998 m, bearing: 238.259953 deg, lat: 36.905467 deg, lon: -122.120224 deg, deltaT: 3.528030 s, deltaX: -1.300003 m, approachRate: -0.368478 m/s, posRepo size: 4 2025-01-08T23:47:07.934Z,1736380027.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T23:47:07.940Z,1736380027.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 70.402740 m, bearing: 23.112842 deg, approach rate: 0.000000 m/s, LOS rate: 0.044468 deg/s, cmd heading: 9.546576 deg, new cmd heading: 9.602936 deg. 2025-01-08T23:47:07.941Z,1736380027.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167603 target range: 92.099998 and range: 92.10 m. 2025-01-08T23:47:08.041Z,1736380028.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:08.229Z,1736380028.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:08.247Z,1736380028.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T23:47:08.253Z,1736380028.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 70.245834 m, bearing: 23.104191 deg, approach rate: -0.489472 m/s, LOS rate: -0.027049 deg/s, cmd heading: 9.602936 deg, new cmd heading: 9.576924 deg. 2025-01-08T23:47:08.254Z,1736380028.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167149 target range: 92.099998 and range: 92.10 m. 2025-01-08T23:47:08.294Z,1736380028.294 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:08.548Z,1736380028.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:08.630Z,1736380028.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:08.661Z,1736380028.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:08.667Z,1736380028.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T23:47:08.676Z,1736380028.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 70.056053 m, bearing: 23.098190 deg, approach rate: -0.452005 m/s, LOS rate: -0.014331 deg/s, cmd heading: 9.576924 deg, new cmd heading: 9.558873 deg. 2025-01-08T23:47:08.677Z,1736380028.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.166834 target range: 92.099998 and range: 92.10 m. 2025-01-08T23:47:08.802Z,1736380028.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:08.805Z,1736380028.805 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:08.805Z,1736380028.805 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:08.806Z,1736380028.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:09.052Z,1736380029.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:09.052Z,1736380029.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502794 2025-01-08T23:47:09.068Z,1736380029.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:09.086Z,1736380029.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T23:47:09.093Z,1736380029.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 69.836349 m, bearing: 23.071062 deg, approach rate: -0.523408 m/s, LOS rate: -0.064831 deg/s, cmd heading: 9.558874 deg, new cmd heading: 9.477234 deg. 2025-01-08T23:47:09.094Z,1736380029.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.165409 target range: 92.099998 and range: 92.10 m. 2025-01-08T23:47:09.304Z,1736380029.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:09.304Z,1736380029.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754865 2025-01-08T23:47:09.437Z,1736380029.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:09.445Z,1736380029.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T23:47:09.448Z,1736380029.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 69.651970 m, bearing: 23.052221 deg, approach rate: -0.513748 m/s, LOS rate: -0.052637 deg/s, cmd heading: 9.477234 deg, new cmd heading: 9.420562 deg. 2025-01-08T23:47:09.449Z,1736380029.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.164420 target range: 92.099998 and range: 92.10 m. 2025-01-08T23:47:09.556Z,1736380029.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:09.556Z,1736380029.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007028 2025-01-08T23:47:09.808Z,1736380029.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:09.808Z,1736380029.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259013 2025-01-08T23:47:09.877Z,1736380029.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:09.890Z,1736380029.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T23:47:09.897Z,1736380029.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 69.423660 m, bearing: 23.010907 deg, approach rate: -0.512771 m/s, LOS rate: -0.093095 deg/s, cmd heading: 9.420561 deg, new cmd heading: 9.296210 deg. 2025-01-08T23:47:09.898Z,1736380029.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.162249 target range: 92.099998 and range: 92.10 m. 2025-01-08T23:47:10.060Z,1736380030.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:10.061Z,1736380030.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511172 2025-01-08T23:47:10.244Z,1736380030.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:10.255Z,1736380030.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T23:47:10.258Z,1736380030.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 69.232559 m, bearing: 22.980572 deg, approach rate: -0.524028 m/s, LOS rate: -0.083411 deg/s, cmd heading: 9.296210 deg, new cmd heading: 9.204956 deg. 2025-01-08T23:47:10.259Z,1736380030.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.160657 target range: 92.099998 and range: 92.10 m. 2025-01-08T23:47:10.314Z,1736380030.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:10.315Z,1736380030.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765335 2025-01-08T23:47:10.564Z,1736380030.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:10.565Z,1736380030.565 [DAT](INFO): DAT read: Rx Time:23:47:09.4203 2025-01-08T23:47:10.565Z,1736380030.565 [DAT](INFO): Rx dataTimestamp_ set to:1736380030.564727 2025-01-08T23:47:10.566Z,1736380030.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016081 2025-01-08T23:47:10.690Z,1736380030.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:10.704Z,1736380030.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:10.706Z,1736380030.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T23:47:10.714Z,1736380030.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 68.999672 m, bearing: 22.949111 deg, approach rate: -0.516295 m/s, LOS rate: -0.069982 deg/s, cmd heading: 9.204955 deg, new cmd heading: 9.110254 deg. 2025-01-08T23:47:10.715Z,1736380030.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.159004 target range: 92.099998 and range: 92.10 m. 2025-01-08T23:47:10.818Z,1736380030.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:10.821Z,1736380030.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270658 2025-01-08T23:47:11.068Z,1736380031.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:11.069Z,1736380031.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519426 2025-01-08T23:47:11.138Z,1736380031.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:11.163Z,1736380031.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-08T23:47:11.169Z,1736380031.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 68.762428 m, bearing: 22.906317 deg, approach rate: -0.520082 m/s, LOS rate: -0.094136 deg/s, cmd heading: 9.110254 deg, new cmd heading: 8.981430 deg. 2025-01-08T23:47:11.170Z,1736380031.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.156756 target range: 92.099998 and range: 92.10 m. 2025-01-08T23:47:11.320Z,1736380031.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:11.327Z,1736380031.327 [DAT](INFO): DAT read: 23:47:09.4203 LVL= 11968, 23025, 18658, 24211, AGC= 54, IDX= 416, 0.22, 1.334,-0.211,-0.545, 0.426, PHS= 0.997,-0.589,-0.974, RAW= 79.4, 6.3, CAL= 83.9, 7.0, ROT= 66.1, -7.0 2025-01-08T23:47:11.329Z,1736380031.329 [DAT](INFO): got valid direction response: 23:47:09.4203 LVL= 11968, 23025, 18658, 24211, AGC= 54, IDX= 416, 0.22, 1.334,-0.211,-0.545, 0.426, PHS= 0.997,-0.589,-0.974, RAW= 79.4, 6.3, CAL= 83.9, 7.0, ROT= 66.1, -7.0 2025-01-08T23:47:11.330Z,1736380031.330 [DAT](INFO): DAT read: Bearing 66.1, -7.0 (Local) 2025-01-08T23:47:11.331Z,1736380031.331 [DAT](INFO): Local bearing/azimuth received: Bearing 66.1, -7.0 (Local) 2025-01-08T23:47:11.353Z,1736380031.353 [DAT](INFO): DAT read: Range 10 to 50 : 90.5 m (Round-trip 120.7 ms) speed 0.2 m/s 2025-01-08T23:47:11.354Z,1736380031.354 [DAT](INFO): DAT read: user:3454> 2025-01-08T23:47:11.354Z,1736380031.354 [DAT](INFO): DAT read: Tx time:23:47:10.5455 2025-01-08T23:47:11.355Z,1736380031.355 [DAT](INFO): Ping request sent. 2025-01-08T23:47:11.355Z,1736380031.355 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:11.372Z,1736380031.372 [DAT](INFO): DAT read: TxSync time:23:47:10.5447 2025-01-08T23:47:11.373Z,1736380031.373 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:11.374Z,1736380031.374 [DAT](INFO): direction in FSK: [-0.184778,0.289999,0.939020] 2025-01-08T23:47:11.379Z,1736380031.379 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:11.380Z,1736380031.380 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:11.390Z,1736380031.390 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:11.390Z,1736380031.390 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:11.572Z,1736380031.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:11.607Z,1736380031.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:11.671Z,1736380031.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.500000 m, deltaT: 3.784612 s, deltaX: -1.599998 m, approachRate: -0.422764 m/s, rangeRepo size: 4 2025-01-08T23:47:11.675Z,1736380031.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.500000 m, bearing: 139.642964 deg, lat: 36.904921 deg, lon: -122.120317 deg, deltaT: 3.784612 s, deltaX: -1.599998 m, approachRate: -0.422764 m/s, posRepo size: 4 2025-01-08T23:47:11.681Z,1736380031.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T23:47:11.688Z,1736380031.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 18.466387 m, bearing: 82.424195 deg, approach rate: 0.000000 m/s, LOS rate: -0.094136 deg/s, cmd heading: 8.981430 deg, new cmd heading: 8.842455 deg. 2025-01-08T23:47:11.689Z,1736380031.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.154330 target range: 90.500000 and range: 90.50 m. 2025-01-08T23:47:11.826Z,1736380031.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:12.021Z,1736380032.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:12.031Z,1736380032.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T23:47:12.034Z,1736380032.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 18.317417 m, bearing: 82.931167 deg, approach rate: -0.395708 m/s, LOS rate: 1.357602 deg/s, cmd heading: 8.842455 deg, new cmd heading: 10.375354 deg. 2025-01-08T23:47:12.035Z,1736380032.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.181084 target range: 90.500000 and range: 90.50 m. 2025-01-08T23:47:12.078Z,1736380032.078 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:12.328Z,1736380032.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:12.406Z,1736380032.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:12.414Z,1736380032.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T23:47:12.417Z,1736380032.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 18.188181 m, bearing: 83.429956 deg, approach rate: -0.337070 m/s, LOS rate: 1.310153 deg/s, cmd heading: 10.375354 deg, new cmd heading: 11.881987 deg. 2025-01-08T23:47:12.418Z,1736380032.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.207380 target range: 90.500000 and range: 90.50 m. 2025-01-08T23:47:12.580Z,1736380032.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:12.833Z,1736380032.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:12.867Z,1736380032.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:12.874Z,1736380032.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:12.876Z,1736380032.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T23:47:12.885Z,1736380032.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 18.046421 m, bearing: 84.020687 deg, approach rate: -0.306841 m/s, LOS rate: 1.288665 deg/s, cmd heading: 11.881987 deg, new cmd heading: 13.667492 deg. 2025-01-08T23:47:12.886Z,1736380032.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238543 target range: 90.500000 and range: 90.50 m. 2025-01-08T23:47:13.084Z,1736380033.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:13.084Z,1736380033.084 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:13.085Z,1736380033.085 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:13.085Z,1736380033.085 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:13.224Z,1736380033.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:13.250Z,1736380033.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T23:47:13.257Z,1736380033.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 17.933289 m, bearing: 84.528949 deg, approach rate: -0.302845 m/s, LOS rate: 1.369133 deg/s, cmd heading: 13.667492 deg, new cmd heading: 15.201510 deg. 2025-01-08T23:47:13.258Z,1736380033.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265316 target range: 90.500000 and range: 90.50 m. 2025-01-08T23:47:13.336Z,1736380033.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:13.337Z,1736380033.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981984 2025-01-08T23:47:13.588Z,1736380033.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:13.588Z,1736380033.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233634 2025-01-08T23:47:13.631Z,1736380033.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:13.644Z,1736380033.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T23:47:13.648Z,1736380033.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 17.816797 m, bearing: 85.090133 deg, approach rate: -0.295548 m/s, LOS rate: 1.433054 deg/s, cmd heading: 15.201510 deg, new cmd heading: 16.895548 deg. 2025-01-08T23:47:13.650Z,1736380033.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.294883 target range: 90.500000 and range: 90.50 m. 2025-01-08T23:47:13.841Z,1736380033.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:13.844Z,1736380033.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488219 2025-01-08T23:47:14.043Z,1736380034.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:14.053Z,1736380034.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T23:47:14.072Z,1736380034.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 17.718637 m, bearing: 85.672606 deg, approach rate: -0.240066 m/s, LOS rate: 1.432402 deg/s, cmd heading: 16.895549 deg, new cmd heading: 18.652065 deg. 2025-01-08T23:47:14.073Z,1736380034.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.325540 target range: 90.500000 and range: 90.50 m. 2025-01-08T23:47:14.092Z,1736380034.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:14.093Z,1736380034.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737937 2025-01-08T23:47:14.344Z,1736380034.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:14.344Z,1736380034.344 [DAT](INFO): DAT read: Rx Time:23:47:13.0695 2025-01-08T23:47:14.346Z,1736380034.346 [DAT](INFO): Rx dataTimestamp_ set to:1736380034.344999 2025-01-08T23:47:14.346Z,1736380034.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991399 2025-01-08T23:47:14.428Z,1736380034.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:14.444Z,1736380034.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m. 2025-01-08T23:47:14.447Z,1736380034.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.500000 m, nav range: 17.631630 m, bearing: 86.227614 deg, approach rate: -0.222398 m/s, LOS rate: 1.425621 deg/s, cmd heading: 18.652065 deg, new cmd heading: 20.324805 deg. 2025-01-08T23:47:14.452Z,1736380034.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.354735 target range: 90.500000 and range: 90.50 m. 2025-01-08T23:47:14.596Z,1736380034.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:14.597Z,1736380034.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242011 2025-01-08T23:47:14.849Z,1736380034.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:14.874Z,1736380034.874 [DAT](INFO): DAT read: 23:47:13.0695 LVL= 7136, 17793, 13538, 16371, AGC= 54, IDX= 439, 0.10,-0.118,-1.285,-2.580,-1.297, PHS= 1.267, 0.059,-1.287, RAW= 58.2, -0.4, CAL= 60.6, -3.4, ROT= 89.4, 3.4 2025-01-08T23:47:14.882Z,1736380034.882 [DAT](INFO): got valid direction response: 23:47:13.0695 LVL= 7136, 17793, 13538, 16371, AGC= 54, IDX= 439, 0.10,-0.118,-1.285,-2.580,-1.297, PHS= 1.267, 0.059,-1.287, RAW= 58.2, -0.4, CAL= 60.6, -3.4, ROT= 89.4, 3.4 2025-01-08T23:47:14.900Z,1736380034.900 [DAT](INFO): DAT read: Bearing 89.4, 3.4 (Local) 2025-01-08T23:47:14.900Z,1736380034.900 [DAT](INFO): Local bearing/azimuth received: Bearing 89.4, 3.4 (Local) 2025-01-08T23:47:14.902Z,1736380034.902 [DAT](INFO): DAT read: Range 10 to 50 : 89.8 m (Round-trip 119.8 ms) speed 0.0 m/s 2025-01-08T23:47:14.903Z,1736380034.903 [DAT](INFO): DAT read: user:3455> 2025-01-08T23:47:14.912Z,1736380034.912 [DAT](INFO): DAT read: Tx time:23:47:14.1956 2025-01-08T23:47:14.912Z,1736380034.912 [DAT](INFO): Ping request sent. 2025-01-08T23:47:14.912Z,1736380034.912 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:14.913Z,1736380034.913 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:14.914Z,1736380034.914 [DAT](INFO): direction in FSK: [-0.018934,0.600370,0.799498] 2025-01-08T23:47:14.914Z,1736380034.914 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:14.914Z,1736380034.914 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:14.930Z,1736380034.930 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:14.931Z,1736380034.931 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:15.001Z,1736380035.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:15.027Z,1736380035.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.800003 m, deltaT: 3.529318 s, deltaX: -0.699997 m, approachRate: -0.198338 m/s, rangeRepo size: 4 2025-01-08T23:47:15.038Z,1736380035.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.800003 m, bearing: 98.402137 deg, lat: 36.904849 deg, lon: -122.120317 deg, deltaT: 3.529318 s, deltaX: -0.699997 m, approachRate: -0.198338 m/s, posRepo size: 4 2025-01-08T23:47:15.040Z,1736380035.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-08T23:47:15.043Z,1736380035.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 18.923130 m, bearing: 112.220091 deg, approach rate: 0.000000 m/s, LOS rate: 1.425621 deg/s, cmd heading: 20.324806 deg, new cmd heading: 22.812265 deg. 2025-01-08T23:47:15.048Z,1736380035.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.398149 target range: 89.800003 and range: 89.80 m. 2025-01-08T23:47:15.100Z,1736380035.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:15.102Z,1736380035.102 [DAT](INFO): DAT read: TxSync time:23:47:14.1948 2025-01-08T23:47:15.352Z,1736380035.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:15.377Z,1736380035.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:15.393Z,1736380035.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:15.400Z,1736380035.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-08T23:47:15.403Z,1736380035.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 18.949005 m, bearing: 112.776376 deg, approach rate: 0.070135 m/s, LOS rate: 1.505739 deg/s, cmd heading: 22.812265 deg, new cmd heading: 24.478346 deg. 2025-01-08T23:47:15.408Z,1736380035.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427228 target range: 89.800003 and range: 89.80 m. 2025-01-08T23:47:15.605Z,1736380035.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:15.605Z,1736380035.605 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:15.605Z,1736380035.605 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:15.606Z,1736380035.606 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:15.732Z,1736380035.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:15.741Z,1736380035.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-08T23:47:15.743Z,1736380035.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 18.975653 m, bearing: 113.299956 deg, approach rate: 0.077074 m/s, LOS rate: 1.512218 deg/s, cmd heading: 24.478346 deg, new cmd heading: 26.046466 deg. 2025-01-08T23:47:15.744Z,1736380035.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454597 target range: 89.800003 and range: 89.80 m. 2025-01-08T23:47:15.857Z,1736380035.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:15.860Z,1736380035.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.946234 2025-01-08T23:47:16.108Z,1736380036.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:16.108Z,1736380036.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.195774 2025-01-08T23:47:16.149Z,1736380036.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:16.182Z,1736380036.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-08T23:47:16.189Z,1736380036.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 19.034700 m, bearing: 113.896422 deg, approach rate: 0.133680 m/s, LOS rate: 1.346150 deg/s, cmd heading: 26.046465 deg, new cmd heading: 27.829705 deg. 2025-01-08T23:47:16.190Z,1736380036.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.485720 target range: 89.800003 and range: 89.80 m. 2025-01-08T23:47:16.360Z,1736380036.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:16.360Z,1736380036.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447886 2025-01-08T23:47:16.556Z,1736380036.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:16.564Z,1736380036.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-08T23:47:16.566Z,1736380036.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 19.094194 m, bearing: 114.473862 deg, approach rate: 0.155920 m/s, LOS rate: 1.508596 deg/s, cmd heading: 27.829705 deg, new cmd heading: 29.556074 deg. 2025-01-08T23:47:16.568Z,1736380036.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515851 target range: 89.800003 and range: 89.80 m. 2025-01-08T23:47:16.613Z,1736380036.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:16.616Z,1736380036.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702280 2025-01-08T23:47:16.865Z,1736380036.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:16.868Z,1736380036.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955056 2025-01-08T23:47:16.972Z,1736380036.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:16.982Z,1736380036.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-08T23:47:16.985Z,1736380036.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 19.176029 m, bearing: 115.057395 deg, approach rate: 0.195942 m/s, LOS rate: 1.391206 deg/s, cmd heading: 29.556073 deg, new cmd heading: 31.298634 deg. 2025-01-08T23:47:16.986Z,1736380036.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546264 target range: 89.800003 and range: 89.80 m. 2025-01-08T23:47:17.116Z,1736380037.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:17.118Z,1736380037.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205126 2025-01-08T23:47:17.337Z,1736380037.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:17.362Z,1736380037.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-08T23:47:17.366Z,1736380037.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 19.248018 m, bearing: 115.568507 deg, approach rate: 0.189366 m/s, LOS rate: 1.339423 deg/s, cmd heading: 31.298635 deg, new cmd heading: 32.825854 deg. 2025-01-08T23:47:17.367Z,1736380037.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572919 target range: 89.800003 and range: 89.80 m. 2025-01-08T23:47:17.368Z,1736380037.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:17.368Z,1736380037.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455993 2025-01-08T23:47:17.622Z,1736380037.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:17.629Z,1736380037.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715662 2025-01-08T23:47:17.781Z,1736380037.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:17.788Z,1736380037.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:17.790Z,1736380037.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-08T23:47:17.805Z,1736380037.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 19.334278 m, bearing: 116.187185 deg, approach rate: 0.201456 m/s, LOS rate: 1.438417 deg/s, cmd heading: 32.825855 deg, new cmd heading: 34.672932 deg. 2025-01-08T23:47:17.806Z,1736380037.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605157 target range: 89.800003 and range: 89.80 m. 2025-01-08T23:47:17.873Z,1736380037.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:17.877Z,1736380037.877 [DAT](INFO): DAT read: Rx Time:23:47:16.7198 2025-01-08T23:47:17.878Z,1736380037.878 [DAT](INFO): Rx dataTimestamp_ set to:1736380037.877264 2025-01-08T23:47:17.881Z,1736380037.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968098 2025-01-08T23:47:18.124Z,1736380038.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:18.125Z,1736380038.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212742 2025-01-08T23:47:18.234Z,1736380038.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:18.259Z,1736380038.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-08T23:47:18.266Z,1736380038.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 19.441601 m, bearing: 116.804703 deg, approach rate: 0.228954 m/s, LOS rate: 1.310067 deg/s, cmd heading: 34.672933 deg, new cmd heading: 36.514592 deg. 2025-01-08T23:47:18.272Z,1736380038.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637300 target range: 89.800003 and range: 89.80 m. 2025-01-08T23:47:18.379Z,1736380038.379 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:18.382Z,1736380038.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469423 2025-01-08T23:47:18.604Z,1736380038.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:18.617Z,1736380038.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-08T23:47:18.621Z,1736380038.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 19.530804 m, bearing: 117.303355 deg, approach rate: 0.248808 m/s, LOS rate: 1.384489 deg/s, cmd heading: 36.514591 deg, new cmd heading: 38.003361 deg. 2025-01-08T23:47:18.622Z,1736380038.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.663284 target range: 89.800003 and range: 89.80 m. 2025-01-08T23:47:18.629Z,1736380038.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:18.655Z,1736380038.655 [DAT](INFO): DAT read: 23:47:16.7198 LVL= 13200, 20721, 20242, 22883, AGC= 59, IDX= 442,-0.43, 0.493,-0.205,-1.595,-0.456, PHS= 1.037, 0.298,-1.142, RAW= 49.5, -2.0, CAL= 51.2, -5.3, ROT= 98.8, 5.3 2025-01-08T23:47:18.657Z,1736380038.657 [DAT](INFO): got valid direction response: 23:47:16.7198 LVL= 13200, 20721, 20242, 22883, AGC= 59, IDX= 442,-0.43, 0.493,-0.205,-1.595,-0.456, PHS= 1.037, 0.298,-1.142, RAW= 49.5, -2.0, CAL= 51.2, -5.3, ROT= 98.8, 5.3 2025-01-08T23:47:18.659Z,1736380038.659 [DAT](INFO): DAT read: Bearing 98.8, 5.3 (Local) 2025-01-08T23:47:18.659Z,1736380038.659 [DAT](INFO): Local bearing/azimuth received: Bearing 98.8, 5.3 (Local) 2025-01-08T23:47:18.678Z,1736380038.678 [DAT](INFO): DAT read: Range 10 to 50 : 90.0 m (Round-trip 120.1 ms) speed 0.0 m/s 2025-01-08T23:47:18.690Z,1736380038.690 [DAT](INFO): DAT read: user:3456> 2025-01-08T23:47:18.691Z,1736380038.691 [DAT](INFO): DAT read: Tx time:23:47:17.8456 2025-01-08T23:47:18.691Z,1736380038.691 [DAT](INFO): Ping request sent. 2025-01-08T23:47:18.691Z,1736380038.691 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:18.703Z,1736380038.703 [DAT](INFO): DAT read: TxSync time:23:47:17.8448 2025-01-08T23:47:18.704Z,1736380038.704 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:18.705Z,1736380038.705 [DAT](INFO): direction in FSK: [0.030212,0.706365,0.707202] 2025-01-08T23:47:18.705Z,1736380038.705 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:18.705Z,1736380038.705 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:18.718Z,1736380038.718 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:18.718Z,1736380038.718 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:18.880Z,1736380038.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:19.072Z,1736380039.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:19.098Z,1736380039.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.000000 m, deltaT: 3.779697 s, deltaX: 0.199997 m, approachRate: 0.052913 m/s, rangeRepo size: 4 2025-01-08T23:47:19.104Z,1736380039.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.000000 m, bearing: 103.294776 deg, lat: 36.904833 deg, lon: -122.120317 deg, deltaT: 3.779697 s, deltaX: 0.199997 m, approachRate: 0.052913 m/s, posRepo size: 4 2025-01-08T23:47:19.105Z,1736380039.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.00 m. 2025-01-08T23:47:19.109Z,1736380039.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.000000 m, nav range: 20.512320 m, bearing: 122.184708 deg, approach rate: 0.000000 m/s, LOS rate: 1.384489 deg/s, cmd heading: 38.003360 deg, new cmd heading: 39.997145 deg. 2025-01-08T23:47:19.110Z,1736380039.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698082 target range: 90.000000 and range: 90.00 m. 2025-01-08T23:47:19.132Z,1736380039.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:19.384Z,1736380039.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:19.398Z,1736380039.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:19.407Z,1736380039.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.00 m. 2025-01-08T23:47:19.410Z,1736380039.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.000000 m, nav range: 20.604160 m, bearing: 122.592751 deg, approach rate: 0.297051 m/s, LOS rate: 1.313886 deg/s, cmd heading: 39.997144 deg, new cmd heading: 41.215622 deg. 2025-01-08T23:47:19.427Z,1736380039.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719348 target range: 90.000000 and range: 90.00 m. 2025-01-08T23:47:19.636Z,1736380039.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:19.837Z,1736380039.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:19.846Z,1736380039.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:19.849Z,1736380039.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.00 m. 2025-01-08T23:47:19.852Z,1736380039.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.000000 m, nav range: 20.721813 m, bearing: 123.138248 deg, approach rate: 0.265871 m/s, LOS rate: 1.225695 deg/s, cmd heading: 41.215622 deg, new cmd heading: 42.842361 deg. 2025-01-08T23:47:19.853Z,1736380039.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747740 target range: 90.000000 and range: 90.00 m. 2025-01-08T23:47:19.890Z,1736380039.890 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:19.891Z,1736380039.891 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:19.891Z,1736380039.891 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:19.892Z,1736380039.892 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:20.140Z,1736380040.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:20.140Z,1736380040.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449524 2025-01-08T23:47:20.246Z,1736380040.246 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815482520,35.0, +10.9, 0.0,1493.1RA, 0.00, 79.18, 58.79, 64.22, 70.00 2025-01-08T23:47:20.255Z,1736380040.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:47:20.255Z,1736380040.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:20.265Z,1736380040.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.00 m. 2025-01-08T23:47:20.267Z,1736380040.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.000000 m, nav range: 20.829029 m, bearing: 123.660673 deg, approach rate: 0.257993 m/s, LOS rate: 1.250619 deg/s, cmd heading: 42.842362 deg, new cmd heading: 44.401163 deg. 2025-01-08T23:47:20.268Z,1736380040.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774947 target range: 90.000000 and range: 90.00 m. 2025-01-08T23:47:20.392Z,1736380040.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:20.392Z,1736380040.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701441 2025-01-08T23:47:20.644Z,1736380040.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:20.645Z,1736380040.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954350 2025-01-08T23:47:20.738Z,1736380040.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:47:20.738Z,1736380040.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:20.756Z,1736380040.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.00 m. 2025-01-08T23:47:20.758Z,1736380040.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.000000 m, nav range: 20.948978 m, bearing: 124.270442 deg, approach rate: 0.244167 m/s, LOS rate: 1.234104 deg/s, cmd heading: 44.401164 deg, new cmd heading: 46.219352 deg. 2025-01-08T23:47:20.764Z,1736380040.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806680 target range: 90.000000 and range: 90.00 m. 2025-01-08T23:47:20.896Z,1736380040.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:20.897Z,1736380040.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205937 2025-01-08T23:47:21.148Z,1736380041.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:21.149Z,1736380041.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457705 2025-01-08T23:47:21.225Z,1736380041.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:21.235Z,1736380041.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.00 m. 2025-01-08T23:47:21.238Z,1736380041.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.000000 m, nav range: 21.056982 m, bearing: 124.890625 deg, approach rate: 0.225568 m/s, LOS rate: 1.288595 deg/s, cmd heading: 46.219351 deg, new cmd heading: 48.069676 deg. 2025-01-08T23:47:21.238Z,1736380041.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838974 target range: 90.000000 and range: 90.00 m. 2025-01-08T23:47:21.400Z,1736380041.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:21.400Z,1736380041.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709359 2025-01-08T23:47:21.610Z,1736380041.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:21.619Z,1736380041.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.00 m. 2025-01-08T23:47:21.622Z,1736380041.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.000000 m, nav range: 21.139669 m, bearing: 125.382130 deg, approach rate: 0.215303 m/s, LOS rate: 1.274768 deg/s, cmd heading: 48.069676 deg, new cmd heading: 49.538086 deg. 2025-01-08T23:47:21.623Z,1736380041.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864603 target range: 90.000000 and range: 90.00 m. 2025-01-08T23:47:21.653Z,1736380041.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:21.654Z,1736380041.654 [DAT](INFO): DAT read: Rx Time:23:47:20.3693 2025-01-08T23:47:21.655Z,1736380041.655 [DAT](INFO): Rx dataTimestamp_ set to:1736380041.654123 2025-01-08T23:47:21.657Z,1736380041.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.965498 2025-01-08T23:47:21.852Z,1736380041.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:47:21.904Z,1736380041.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:21.904Z,1736380041.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213508 2025-01-08T23:47:22.086Z,1736380042.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:22.102Z,1736380042.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:22.108Z,1736380042.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.00 m. 2025-01-08T23:47:22.111Z,1736380042.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.000000 m, nav range: 21.227638 m, bearing: 125.985556 deg, approach rate: 0.179710 m/s, LOS rate: 1.227594 deg/s, cmd heading: 49.538085 deg, new cmd heading: 51.340231 deg. 2025-01-08T23:47:22.116Z,1736380042.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896056 target range: 90.000000 and range: 90.00 m. 2025-01-08T23:47:22.156Z,1736380042.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:22.164Z,1736380042.164 [DAT](INFO): DAT read: 23:47:20.3693 LVL= 17584, 29857, 18578, 22611, AGC= 59, IDX= 436, 0.09,-1.763,-3.048, 2.317, 2.864, PHS= 1.744, 0.418,-0.550, RAW= 65.2, -15.9, CAL= 77.6, -24.3, ROT= 72.4, 24.3 2025-01-08T23:47:22.166Z,1736380042.166 [DAT](INFO): got valid direction response: 23:47:20.3693 LVL= 17584, 29857, 18578, 22611, AGC= 59, IDX= 436, 0.09,-1.763,-3.048, 2.317, 2.864, PHS= 1.744, 0.418,-0.550, RAW= 65.2, -15.9, CAL= 77.6, -24.3, ROT= 72.4, 24.3 2025-01-08T23:47:22.168Z,1736380042.168 [DAT](INFO): DAT read: Bearing 72.4, 24.3 (Local) 2025-01-08T23:47:22.169Z,1736380042.169 [DAT](INFO): Local bearing/azimuth received: Bearing 72.4, 24.3 (Local) 2025-01-08T23:47:22.172Z,1736380042.172 [DAT](INFO): DAT read: Range 10 to 50 : 89.7 m (Round-trip 119.6 ms) speed 0.0 m/s 2025-01-08T23:47:22.173Z,1736380042.173 [DAT](INFO): DAT read: user:3457> 2025-01-08T23:47:22.174Z,1736380042.174 [DAT](INFO): DAT read: Tx time:23:47:21.4956 2025-01-08T23:47:22.174Z,1736380042.174 [DAT](INFO): Ping request sent. 2025-01-08T23:47:22.175Z,1736380042.175 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:22.175Z,1736380042.175 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:22.197Z,1736380042.197 [DAT](INFO): direction in FSK: [0.255189,0.468329,0.845900] 2025-01-08T23:47:22.197Z,1736380042.197 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:22.197Z,1736380042.197 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:22.209Z,1736380042.209 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:22.209Z,1736380042.209 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:22.408Z,1736380042.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:22.409Z,1736380042.409 [DAT](INFO): DAT read: TxSync time:23:47:21.4948 2025-01-08T23:47:22.419Z,1736380042.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:22.449Z,1736380042.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.699997 m, deltaT: 3.526930 s, deltaX: -0.300003 m, approachRate: -0.085061 m/s, rangeRepo size: 4 2025-01-08T23:47:22.455Z,1736380042.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.699997 m, bearing: 81.701858 deg, lat: 36.904833 deg, lon: -122.120264 deg, deltaT: 3.526930 s, deltaX: -0.300003 m, approachRate: -0.085061 m/s, posRepo size: 4 2025-01-08T23:47:22.456Z,1736380042.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.70 m. 2025-01-08T23:47:22.459Z,1736380042.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.699997 m, nav range: 25.242346 m, bearing: 120.031344 deg, approach rate: 0.000000 m/s, LOS rate: 1.227594 deg/s, cmd heading: 51.340230 deg, new cmd heading: 52.592711 deg. 2025-01-08T23:47:22.464Z,1736380042.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.917916 target range: 89.699997 and range: 89.70 m. 2025-01-08T23:47:22.660Z,1736380042.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:22.856Z,1736380042.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:47:22.874Z,1736380042.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:22.899Z,1736380042.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.70 m. 2025-01-08T23:47:22.906Z,1736380042.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.699997 m, nav range: 25.295599 m, bearing: 120.542701 deg, approach rate: 0.118246 m/s, LOS rate: 1.133040 deg/s, cmd heading: 52.592709 deg, new cmd heading: 54.123166 deg. 2025-01-08T23:47:22.907Z,1736380042.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.944627 target range: 89.699997 and range: 89.70 m. 2025-01-08T23:47:22.913Z,1736380042.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:23.164Z,1736380043.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:23.302Z,1736380043.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:23.310Z,1736380043.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.70 m. 2025-01-08T23:47:23.314Z,1736380043.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.699997 m, nav range: 25.328712 m, bearing: 121.029776 deg, approach rate: 0.080461 m/s, LOS rate: 1.181968 deg/s, cmd heading: 54.123167 deg, new cmd heading: 55.582150 deg. 2025-01-08T23:47:23.315Z,1736380043.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970092 target range: 89.699997 and range: 89.70 m. 2025-01-08T23:47:23.416Z,1736380043.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:23.670Z,1736380043.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:23.737Z,1736380043.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:23.747Z,1736380043.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.70 m. 2025-01-08T23:47:23.750Z,1736380043.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.699997 m, nav range: 25.358271 m, bearing: 121.526393 deg, approach rate: 0.067737 m/s, LOS rate: 1.136723 deg/s, cmd heading: 55.582150 deg, new cmd heading: 57.069912 deg. 2025-01-08T23:47:23.751Z,1736380043.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996058 target range: 89.699997 and range: 89.70 m. 2025-01-08T23:47:23.920Z,1736380043.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:24.172Z,1736380044.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:24.274Z,1736380044.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:24.359Z,1736380044.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:24.361Z,1736380044.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.70 m. 2025-01-08T23:47:24.365Z,1736380044.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.699997 m, nav range: 25.371361 m, bearing: 122.156331 deg, approach rate: 0.021312 m/s, LOS rate: 1.025045 deg/s, cmd heading: 57.069912 deg, new cmd heading: 58.958028 deg. 2025-01-08T23:47:24.366Z,1736380044.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.029012 target range: 89.699997 and range: 89.70 m. 2025-01-08T23:47:24.425Z,1736380044.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:24.426Z,1736380044.426 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:24.426Z,1736380044.426 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:24.426Z,1736380044.426 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:24.628Z,1736380044.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:24.649Z,1736380044.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.70 m. 2025-01-08T23:47:24.670Z,1736380044.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.699997 m, nav range: 25.376814 m, bearing: 122.572510 deg, approach rate: 0.018975 m/s, LOS rate: 1.447864 deg/s, cmd heading: 58.958029 deg, new cmd heading: 60.206089 deg. 2025-01-08T23:47:24.676Z,1736380044.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:24.678Z,1736380044.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503154 2025-01-08T23:47:24.682Z,1736380044.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.050794 target range: 89.699997 and range: 89.70 m. 2025-01-08T23:47:24.928Z,1736380044.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:24.929Z,1736380044.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754258 2025-01-08T23:47:25.085Z,1736380045.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:25.094Z,1736380045.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.70 m. 2025-01-08T23:47:25.097Z,1736380045.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.699997 m, nav range: 25.361786 m, bearing: 123.129544 deg, approach rate: -0.033711 m/s, LOS rate: 1.250259 deg/s, cmd heading: 60.206089 deg, new cmd heading: 61.877680 deg. 2025-01-08T23:47:25.098Z,1736380045.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079969 target range: 89.699997 and range: 89.70 m. 2025-01-08T23:47:25.180Z,1736380045.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:25.182Z,1736380045.182 [DAT](INFO): DAT read: Rx Time:23:47:24.0182 2025-01-08T23:47:25.182Z,1736380045.182 [DAT](INFO): Rx dataTimestamp_ set to:1736380045.182129 2025-01-08T23:47:25.184Z,1736380045.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009383 2025-01-08T23:47:25.432Z,1736380045.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:25.432Z,1736380045.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258131 2025-01-08T23:47:25.454Z,1736380045.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:25.464Z,1736380045.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.70 m. 2025-01-08T23:47:25.467Z,1736380045.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.699997 m, nav range: 25.346003 m, bearing: 123.578208 deg, approach rate: -0.042653 m/s, LOS rate: 1.213228 deg/s, cmd heading: 61.877682 deg, new cmd heading: 63.224252 deg. 2025-01-08T23:47:25.468Z,1736380045.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.103471 target range: 89.699997 and range: 89.70 m. 2025-01-08T23:47:25.686Z,1736380045.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:25.688Z,1736380045.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513180 2025-01-08T23:47:25.840Z,1736380045.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:25.849Z,1736380045.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.70 m. 2025-01-08T23:47:25.852Z,1736380045.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.699997 m, nav range: 25.325329 m, bearing: 124.047921 deg, approach rate: -0.053676 m/s, LOS rate: 1.220512 deg/s, cmd heading: 63.224254 deg, new cmd heading: 64.634243 deg. 2025-01-08T23:47:25.853Z,1736380045.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128080 target range: 89.699997 and range: 89.70 m. 2025-01-08T23:47:25.937Z,1736380045.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:25.950Z,1736380045.950 [DAT](INFO): DAT read: 23:47:24.0182 LVL= 12128, 29521, 19618, 28819, AGC= 56, IDX= 425, 0.31, 1.171,-0.261,-0.477,-0.012, PHS= 1.271,-0.202,-0.468, RAW= 81.8, -7.5, CAL= 91.3, -16.1, ROT= 58.7, 16.1 2025-01-08T23:47:25.951Z,1736380045.951 [DAT](INFO): got valid direction response: 23:47:24.0182 LVL= 12128, 29521, 19618, 28819, AGC= 56, IDX= 425, 0.31, 1.171,-0.261,-0.477,-0.012, PHS= 1.271,-0.202,-0.468, RAW= 81.8, -7.5, CAL= 91.3, -16.1, ROT= 58.7, 16.1 2025-01-08T23:47:25.952Z,1736380045.952 [DAT](INFO): DAT read: Bearing 58.7, 16.1 (Local) 2025-01-08T23:47:25.952Z,1736380045.952 [DAT](INFO): Local bearing/azimuth received: Bearing 58.7, 16.1 (Local) 2025-01-08T23:47:25.954Z,1736380045.954 [DAT](INFO): DAT read: Range 10 to 50 : 88.8 m (Round-trip 118.4 ms) speed 0.2 m/s 2025-01-08T23:47:25.955Z,1736380045.955 [DAT](INFO): DAT read: user:3458> 2025-01-08T23:47:25.956Z,1736380045.956 [DAT](INFO): DAT read: Tx time:23:47:25.1457 2025-01-08T23:47:25.956Z,1736380045.956 [DAT](INFO): Ping request sent. 2025-01-08T23:47:25.956Z,1736380045.956 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:25.957Z,1736380045.957 [DAT](INFO): DAT read: TxSync time:23:47:25.1449 2025-01-08T23:47:25.958Z,1736380045.958 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:25.963Z,1736380045.963 [DAT](INFO): direction in FSK: [0.070273,0.236490,0.969089] 2025-01-08T23:47:25.963Z,1736380045.963 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:25.964Z,1736380045.964 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:25.966Z,1736380045.966 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:25.967Z,1736380045.967 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:26.189Z,1736380046.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:26.310Z,1736380046.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:26.337Z,1736380046.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.800003 m, deltaT: 3.781136 s, deltaX: -0.899994 m, approachRate: -0.238022 m/s, rangeRepo size: 4 2025-01-08T23:47:26.344Z,1736380046.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 88.800003 m, bearing: 261.010961 deg, lat: 36.904849 deg, lon: -122.120264 deg, deltaT: 3.781136 s, deltaX: -0.899994 m, approachRate: -0.238022 m/s, posRepo size: 4 2025-01-08T23:47:26.344Z,1736380046.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m. 2025-01-08T23:47:26.356Z,1736380046.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.800003 m, nav range: 24.346153 m, bearing: 121.289798 deg, approach rate: 0.000000 m/s, LOS rate: 1.220512 deg/s, cmd heading: 64.634244 deg, new cmd heading: 66.417473 deg. 2025-01-08T23:47:26.357Z,1736380046.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159204 target range: 88.800003 and range: 88.80 m. 2025-01-08T23:47:26.441Z,1736380046.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:26.667Z,1736380046.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:26.682Z,1736380046.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:26.690Z,1736380046.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m. 2025-01-08T23:47:26.692Z,1736380046.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:26.692Z,1736380046.692 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:26.693Z,1736380046.693 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:26.693Z,1736380046.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:26.713Z,1736380046.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.800003 m, nav range: 24.300896 m, bearing: 121.744428 deg, approach rate: -0.128053 m/s, LOS rate: 1.288723 deg/s, cmd heading: 66.417470 deg, new cmd heading: 67.783627 deg. 2025-01-08T23:47:26.715Z,1736380046.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183047 target range: 88.800003 and range: 88.80 m. 2025-01-08T23:47:26.944Z,1736380046.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:26.944Z,1736380046.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988462 2025-01-08T23:47:27.167Z,1736380047.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:27.175Z,1736380047.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m. 2025-01-08T23:47:27.178Z,1736380047.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.800003 m, nav range: 24.215462 m, bearing: 122.410919 deg, approach rate: -0.176066 m/s, LOS rate: 1.378345 deg/s, cmd heading: 67.783624 deg, new cmd heading: 69.789285 deg. 2025-01-08T23:47:27.196Z,1736380047.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:27.197Z,1736380047.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240620 2025-01-08T23:47:27.201Z,1736380047.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218053 target range: 88.800003 and range: 88.80 m. 2025-01-08T23:47:27.448Z,1736380047.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:27.449Z,1736380047.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492862 2025-01-08T23:47:27.622Z,1736380047.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:27.634Z,1736380047.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m. 2025-01-08T23:47:27.637Z,1736380047.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.800003 m, nav range: 24.133186 m, bearing: 123.015885 deg, approach rate: -0.179189 m/s, LOS rate: 1.322033 deg/s, cmd heading: 69.789282 deg, new cmd heading: 71.609719 deg. 2025-01-08T23:47:27.638Z,1736380047.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249825 target range: 88.800003 and range: 88.80 m. 2025-01-08T23:47:27.701Z,1736380047.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:27.702Z,1736380047.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746159 2025-01-08T23:47:27.952Z,1736380047.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:27.952Z,1736380047.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996337 2025-01-08T23:47:28.084Z,1736380048.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:28.101Z,1736380048.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m. 2025-01-08T23:47:28.108Z,1736380048.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.800003 m, nav range: 24.045025 m, bearing: 123.630026 deg, approach rate: -0.188920 m/s, LOS rate: 1.320836 deg/s, cmd heading: 71.609718 deg, new cmd heading: 73.458220 deg. 2025-01-08T23:47:28.109Z,1736380048.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282088 target range: 88.800003 and range: 88.80 m. 2025-01-08T23:47:28.204Z,1736380048.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:28.204Z,1736380048.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248404 2025-01-08T23:47:28.452Z,1736380048.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:28.456Z,1736380048.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:28.457Z,1736380048.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500705 2025-01-08T23:47:28.464Z,1736380048.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m. 2025-01-08T23:47:28.466Z,1736380048.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.800003 m, nav range: 23.961380 m, bearing: 124.119559 deg, approach rate: -0.230531 m/s, LOS rate: 1.353879 deg/s, cmd heading: 73.458220 deg, new cmd heading: 74.931603 deg. 2025-01-08T23:47:28.468Z,1736380048.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.307803 target range: 88.800003 and range: 88.80 m. 2025-01-08T23:47:28.708Z,1736380048.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:28.709Z,1736380048.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752598 2025-01-08T23:47:28.861Z,1736380048.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:28.877Z,1736380048.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:28.884Z,1736380048.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m. 2025-01-08T23:47:28.887Z,1736380048.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.800003 m, nav range: 23.864111 m, bearing: 124.662281 deg, approach rate: -0.231446 m/s, LOS rate: 1.296621 deg/s, cmd heading: 74.931601 deg, new cmd heading: 76.565935 deg. 2025-01-08T23:47:28.892Z,1736380048.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336328 target range: 88.800003 and range: 88.80 m. 2025-01-08T23:47:28.960Z,1736380048.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:28.961Z,1736380048.961 [DAT](INFO): DAT read: Rx Time:23:47:27.6668 2025-01-08T23:47:28.962Z,1736380048.962 [DAT](INFO): Rx dataTimestamp_ set to:1736380048.961133 2025-01-08T23:47:28.963Z,1736380048.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006574 2025-01-08T23:47:29.212Z,1736380049.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:29.213Z,1736380049.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257165 2025-01-08T23:47:29.305Z,1736380049.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:29.336Z,1736380049.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.80 m. 2025-01-08T23:47:29.350Z,1736380049.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.800003 m, nav range: 23.749512 m, bearing: 125.260867 deg, approach rate: -0.263696 m/s, LOS rate: 1.383987 deg/s, cmd heading: 76.565936 deg, new cmd heading: 78.369731 deg. 2025-01-08T23:47:29.358Z,1736380049.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367810 target range: 88.800003 and range: 88.80 m. 2025-01-08T23:47:29.464Z,1736380049.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:29.470Z,1736380049.470 [DAT](INFO): DAT read: 23:47:27.6668 LVL= 22000, 32753, 28786, 32755, AGC= 57, IDX= 427, 0.12,-0.439,-2.010,-1.629,-1.272, PHS= 0.920,-0.691,-0.360, RAW= 101.2, 1.8, CAL= 111.6, -1.0, ROT= 38.4, 1.0 2025-01-08T23:47:29.472Z,1736380049.472 [DAT](INFO): got valid direction response: 23:47:27.6668 LVL= 22000, 32753, 28786, 32755, AGC= 57, IDX= 427, 0.12,-0.439,-2.010,-1.629,-1.272, PHS= 0.920,-0.691,-0.360, RAW= 101.2, 1.8, CAL= 111.6, -1.0, ROT= 38.4, 1.0 2025-01-08T23:47:29.472Z,1736380049.472 [DAT](INFO): DAT read: Bearing 38.4, 1.0 (Local) 2025-01-08T23:47:29.473Z,1736380049.473 [DAT](INFO): Local bearing/azimuth received: Bearing 38.4, 1.0 (Local) 2025-01-08T23:47:29.474Z,1736380049.474 [DAT](INFO): DAT read: Range 10 to 50 : 87.7 m (Round-trip 117.0 ms) speed 0.3 m/s 2025-01-08T23:47:29.475Z,1736380049.475 [DAT](INFO): DAT read: user:3459> 2025-01-08T23:47:29.476Z,1736380049.476 [DAT](INFO): DAT read: Tx time:23:47:28.7457 2025-01-08T23:47:29.476Z,1736380049.476 [DAT](INFO): Ping request sent. 2025-01-08T23:47:29.476Z,1736380049.476 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:29.476Z,1736380049.476 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:29.477Z,1736380049.477 [DAT](INFO): direction in FSK: [-0.136125,-0.086930,0.986870] 2025-01-08T23:47:29.478Z,1736380049.478 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:29.478Z,1736380049.478 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:29.481Z,1736380049.481 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:29.481Z,1736380049.481 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:29.496Z,1736380049.496 [RudderServo](FAULT): Invalid EZ Servo response:"\r" 2025-01-08T23:47:29.496Z,1736380049.496 [RudderServo] Communications Fault, FailCount= 2 2025-01-08T23:47:29.496Z,1736380049.496 [RudderServo](ERROR): Communications Fault 2025-01-08T23:47:29.496Z,1736380049.496 [RudderServo](ERROR): Rudder reporting null position 2025-01-08T23:47:29.527Z,1736380049.527 [CBIT](ERROR): Communications Fault in component: RudderServo 2025-01-08T23:47:29.654Z,1736380049.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:29.716Z,1736380049.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:29.718Z,1736380049.718 [DAT](INFO): DAT read: TxSync time:23:47:28.7449 2025-01-08T23:47:29.722Z,1736380049.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.699997 m, deltaT: 3.526250 s, deltaX: -1.100006 m, approachRate: -0.311948 m/s, rangeRepo size: 4 2025-01-08T23:47:29.731Z,1736380049.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.699997 m, bearing: 296.726568 deg, lat: 36.904955 deg, lon: -122.120264 deg, deltaT: 3.526250 s, deltaX: -1.100006 m, approachRate: -0.311948 m/s, posRepo size: 4 2025-01-08T23:47:29.756Z,1736380049.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.70 m. 2025-01-08T23:47:29.758Z,1736380049.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.699997 m, nav range: 19.305496 m, bearing: 95.910883 deg, approach rate: 0.000000 m/s, LOS rate: 1.383987 deg/s, cmd heading: 78.369734 deg, new cmd heading: 79.981199 deg. 2025-01-08T23:47:29.764Z,1736380049.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.395935 target range: 87.699997 and range: 87.70 m. 2025-01-08T23:47:29.861Z,1736380049.861 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2025-01-08T23:47:29.861Z,1736380049.861 [RudderServo](INFO): Powering down 2025-01-08T23:47:29.968Z,1736380049.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:30.113Z,1736380050.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:30.131Z,1736380050.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.70 m. 2025-01-08T23:47:30.137Z,1736380050.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.699997 m, nav range: 19.067682 m, bearing: 96.375085 deg, approach rate: -0.561288 m/s, LOS rate: 1.109262 deg/s, cmd heading: 79.981201 deg, new cmd heading: 81.390876 deg. 2025-01-08T23:47:30.138Z,1736380050.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.420539 target range: 87.699997 and range: 87.70 m. 2025-01-08T23:47:30.220Z,1736380050.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:30.472Z,1736380050.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:30.483Z,1736380050.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:30.492Z,1736380050.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.70 m. 2025-01-08T23:47:30.494Z,1736380050.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.699997 m, nav range: 18.880539 m, bearing: 96.752706 deg, approach rate: -0.517951 m/s, LOS rate: 1.055481 deg/s, cmd heading: 81.390877 deg, new cmd heading: 82.534808 deg. 2025-01-08T23:47:30.496Z,1736380050.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440504 target range: 87.699997 and range: 87.70 m. 2025-01-08T23:47:30.557Z,1736380050.557 [RudderServo](DEBUG): Initializing EZServoServo. 2025-01-08T23:47:30.677Z,1736380050.677 [RudderServo](DEBUG): Initializing RudderServo. 2025-01-08T23:47:30.714Z,1736380050.714 [CBIT](INFO): Clearing failed state for component RudderServo 2025-01-08T23:47:30.714Z,1736380050.714 [RudderServo] No Fault, FailCount= 2 2025-01-08T23:47:30.724Z,1736380050.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:30.857Z,1736380050.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:30.882Z,1736380050.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:30.884Z,1736380050.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.70 m. 2025-01-08T23:47:30.887Z,1736380050.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.699997 m, nav range: 18.684801 m, bearing: 97.106759 deg, approach rate: -0.498694 m/s, LOS rate: 0.911487 deg/s, cmd heading: 82.534811 deg, new cmd heading: 83.607964 deg. 2025-01-08T23:47:30.889Z,1736380050.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.459234 target range: 87.699997 and range: 87.70 m. 2025-01-08T23:47:30.976Z,1736380050.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:30.977Z,1736380050.977 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:30.977Z,1736380050.977 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:30.978Z,1736380050.978 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:31.228Z,1736380051.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:31.230Z,1736380051.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753477 2025-01-08T23:47:31.288Z,1736380051.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:31.317Z,1736380051.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.70 m. 2025-01-08T23:47:31.324Z,1736380051.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.699997 m, nav range: 18.465038 m, bearing: 97.498744 deg, approach rate: -0.507680 m/s, LOS rate: 0.916304 deg/s, cmd heading: 83.607963 deg, new cmd heading: 84.797733 deg. 2025-01-08T23:47:31.325Z,1736380051.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.480000 target range: 87.699997 and range: 87.70 m. 2025-01-08T23:47:31.480Z,1736380051.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:31.481Z,1736380051.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004886 2025-01-08T23:47:31.682Z,1736380051.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:31.701Z,1736380051.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.70 m. 2025-01-08T23:47:31.708Z,1736380051.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.699997 m, nav range: 18.262028 m, bearing: 97.846553 deg, approach rate: -0.528577 m/s, LOS rate: 0.915650 deg/s, cmd heading: 84.797734 deg, new cmd heading: 85.852636 deg. 2025-01-08T23:47:31.709Z,1736380051.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498411 target range: 87.699997 and range: 87.70 m. 2025-01-08T23:47:31.732Z,1736380051.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:31.734Z,1736380051.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257250 2025-01-08T23:47:31.984Z,1736380051.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:31.985Z,1736380051.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508472 2025-01-08T23:47:32.121Z,1736380052.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:32.148Z,1736380052.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.70 m. 2025-01-08T23:47:32.151Z,1736380052.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.699997 m, nav range: 18.033487 m, bearing: 98.222234 deg, approach rate: -0.511371 m/s, LOS rate: 0.851253 deg/s, cmd heading: 85.852637 deg, new cmd heading: 86.993804 deg. 2025-01-08T23:47:32.156Z,1736380052.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.518328 target range: 87.699997 and range: 87.70 m. 2025-01-08T23:47:32.236Z,1736380052.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:32.237Z,1736380052.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760360 2025-01-08T23:47:32.488Z,1736380052.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:32.489Z,1736380052.489 [DAT](INFO): DAT read: Rx Time:23:47:31.2651 2025-01-08T23:47:32.489Z,1736380052.489 [DAT](INFO): Rx dataTimestamp_ set to:1736380052.488684 2025-01-08T23:47:32.489Z,1736380052.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013254 2025-01-08T23:47:32.516Z,1736380052.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:32.541Z,1736380052.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.70 m. 2025-01-08T23:47:32.548Z,1736380052.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.699997 m, nav range: 17.837101 m, bearing: 98.548712 deg, approach rate: -0.500365 m/s, LOS rate: 0.840975 deg/s, cmd heading: 86.993804 deg, new cmd heading: 87.983918 deg. 2025-01-08T23:47:32.549Z,1736380052.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535609 target range: 87.699997 and range: 87.70 m. 2025-01-08T23:47:32.744Z,1736380052.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:32.744Z,1736380052.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268069 2025-01-08T23:47:32.893Z,1736380052.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:32.934Z,1736380052.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:32.941Z,1736380052.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.70 m. 2025-01-08T23:47:32.976Z,1736380052.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.699997 m, nav range: 17.647823 m, bearing: 98.848599 deg, approach rate: -0.474182 m/s, LOS rate: 0.759335 deg/s, cmd heading: 87.983915 deg, new cmd heading: 88.893143 deg. 2025-01-08T23:47:32.977Z,1736380052.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551478 target range: 87.699997 and range: 87.70 m. 2025-01-08T23:47:32.992Z,1736380052.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:32.000Z,1736380053.000 [DAT](INFO): DAT read: 23:47:31.2651 LVL= 28432, 32753, 27090, 32755, AGC= 64, IDX= 425,-0.10,-0.711,-2.065,-1.370,-1.185, PHS= 0.562,-0.833,-0.188, RAW= 117.5, 7.6, CAL= 126.7, 3.9, ROT= 23.3, -3.9 2025-01-08T23:47:33.001Z,1736380053.001 [DAT](INFO): got valid direction response: 23:47:31.2651 LVL= 28432, 32753, 27090, 32755, AGC= 64, IDX= 425,-0.10,-0.711,-2.065,-1.370,-1.185, PHS= 0.562,-0.833,-0.188, RAW= 117.5, 7.6, CAL= 126.7, 3.9, ROT= 23.3, -3.9 2025-01-08T23:47:33.002Z,1736380053.002 [DAT](INFO): DAT read: Bearing 23.3, -3.9 (Local) 2025-01-08T23:47:33.002Z,1736380053.002 [DAT](INFO): Local bearing/azimuth received: Bearing 23.3, -3.9 (Local) 2025-01-08T23:47:33.004Z,1736380053.004 [DAT](INFO): DAT read: Range 10 to 50 : 86.4 m (Round-trip 115.3 ms) speed 0.4 m/s 2025-01-08T23:47:33.004Z,1736380053.004 [DAT](INFO): DAT read: user:3460> 2025-01-08T23:47:33.005Z,1736380053.005 [DAT](INFO): DAT read: Tx time:23:47:32.3457 2025-01-08T23:47:33.005Z,1736380053.005 [DAT](INFO): Ping request sent. 2025-01-08T23:47:33.005Z,1736380053.005 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:33.006Z,1736380053.006 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:33.006Z,1736380053.006 [DAT](INFO): direction in FSK: [-0.264479,-0.358774,0.895172] 2025-01-08T23:47:33.007Z,1736380053.007 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:33.012Z,1736380053.012 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:33.037Z,1736380053.037 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:33.037Z,1736380053.037 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:33.244Z,1736380053.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:33.245Z,1736380053.245 [DAT](INFO): DAT read: TxSync time:23:47:32.3449 2025-01-08T23:47:33.325Z,1736380053.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:33.360Z,1736380053.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.400002 m, deltaT: 3.528165 s, deltaX: -1.299995 m, approachRate: -0.368462 m/s, rangeRepo size: 4 2025-01-08T23:47:33.372Z,1736380053.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.400002 m, bearing: 313.947011 deg, lat: 36.904976 deg, lon: -122.120556 deg, deltaT: 3.528165 s, deltaX: -1.299995 m, approachRate: -0.368462 m/s, posRepo size: 4 2025-01-08T23:47:33.373Z,1736380053.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-01-08T23:47:33.380Z,1736380053.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.400002 m, nav range: 8.774094 m, bearing: 266.652717 deg, approach rate: 0.000000 m/s, LOS rate: 0.759335 deg/s, cmd heading: 88.893143 deg, new cmd heading: 89.838630 deg. 2025-01-08T23:47:33.381Z,1736380053.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.567980 target range: 86.400002 and range: 86.40 m. 2025-01-08T23:47:33.496Z,1736380053.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:33.701Z,1736380053.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:33.709Z,1736380053.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-01-08T23:47:33.721Z,1736380053.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.400002 m, nav range: 8.968967 m, bearing: 266.391130 deg, approach rate: 0.549786 m/s, LOS rate: -0.721964 deg/s, cmd heading: 89.838632 deg, new cmd heading: 89.070970 deg. 2025-01-08T23:47:33.722Z,1736380053.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554582 target range: 86.400002 and range: 86.40 m. 2025-01-08T23:47:33.748Z,1736380053.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:34.001Z,1736380054.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:34.088Z,1736380054.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:34.100Z,1736380054.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-01-08T23:47:34.148Z,1736380054.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.400002 m, nav range: 9.170258 m, bearing: 266.171869 deg, approach rate: 0.517321 m/s, LOS rate: -0.551137 deg/s, cmd heading: 89.070967 deg, new cmd heading: 88.427650 deg. 2025-01-08T23:47:34.157Z,1736380054.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543354 target range: 86.400002 and range: 86.40 m. 2025-01-08T23:47:34.252Z,1736380054.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:34.504Z,1736380054.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:34.522Z,1736380054.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:34.532Z,1736380054.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-01-08T23:47:34.534Z,1736380054.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.400002 m, nav range: 9.381763 m, bearing: 266.011249 deg, approach rate: 0.488634 m/s, LOS rate: -0.362707 deg/s, cmd heading: 88.427652 deg, new cmd heading: 87.956668 deg. 2025-01-08T23:47:34.535Z,1736380054.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535133 target range: 86.400002 and range: 86.40 m. 2025-01-08T23:47:34.756Z,1736380054.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:34.897Z,1736380054.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:34.907Z,1736380054.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-01-08T23:47:34.916Z,1736380054.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.400002 m, nav range: 9.565017 m, bearing: 265.910114 deg, approach rate: 0.489410 m/s, LOS rate: -0.264925 deg/s, cmd heading: 87.956669 deg, new cmd heading: 87.659079 deg. 2025-01-08T23:47:34.919Z,1736380054.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.529940 target range: 86.400002 and range: 86.40 m. 2025-01-08T23:47:35.009Z,1736380055.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:35.260Z,1736380055.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:35.359Z,1736380055.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:35.366Z,1736380055.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:35.368Z,1736380055.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-01-08T23:47:35.371Z,1736380055.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.400002 m, nav range: 9.785021 m, bearing: 265.806690 deg, approach rate: 0.475530 m/s, LOS rate: -0.218521 deg/s, cmd heading: 87.659078 deg, new cmd heading: 87.355785 deg. 2025-01-08T23:47:35.373Z,1736380055.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.524646 target range: 86.400002 and range: 86.40 m. 2025-01-08T23:47:35.512Z,1736380055.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:35.513Z,1736380055.513 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:35.513Z,1736380055.513 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:35.513Z,1736380055.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:35.706Z,1736380055.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:35.716Z,1736380055.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-01-08T23:47:35.719Z,1736380055.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.400002 m, nav range: 9.950824 m, bearing: 265.757963 deg, approach rate: 0.477780 m/s, LOS rate: -0.138072 deg/s, cmd heading: 87.355784 deg, new cmd heading: 87.212039 deg. 2025-01-08T23:47:35.724Z,1736380055.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.522137 target range: 86.400002 and range: 86.40 m. 2025-01-08T23:47:35.764Z,1736380055.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:35.765Z,1736380055.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760037 2025-01-08T23:47:36.016Z,1736380056.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:36.017Z,1736380056.017 [DAT](INFO): DAT read: Rx Time:23:47:34.8629 2025-01-08T23:47:36.017Z,1736380056.017 [DAT](INFO): Rx dataTimestamp_ set to:1736380056.016746 2025-01-08T23:47:36.018Z,1736380056.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012176 2025-01-08T23:47:36.115Z,1736380056.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:36.124Z,1736380056.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-01-08T23:47:36.131Z,1736380056.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.400002 m, nav range: 10.145961 m, bearing: 265.732281 deg, approach rate: 0.478460 m/s, LOS rate: -0.061759 deg/s, cmd heading: 87.212042 deg, new cmd heading: 87.136478 deg. 2025-01-08T23:47:36.135Z,1736380056.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.520818 target range: 86.400002 and range: 86.40 m. 2025-01-08T23:47:36.270Z,1736380056.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:36.271Z,1736380056.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265341 2025-01-08T23:47:36.525Z,1736380056.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:36.528Z,1736380056.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521420 2025-01-08T23:47:36.601Z,1736380056.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:36.610Z,1736380056.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-01-08T23:47:36.613Z,1736380056.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.400002 m, nav range: 10.379016 m, bearing: 265.717691 deg, approach rate: 0.479045 m/s, LOS rate: -0.029316 deg/s, cmd heading: 87.136480 deg, new cmd heading: 87.093693 deg. 2025-01-08T23:47:36.614Z,1736380056.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.520072 target range: 86.400002 and range: 86.40 m. 2025-01-08T23:47:36.776Z,1736380056.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:36.783Z,1736380056.783 [DAT](INFO): DAT read: 23:47:34.8629 LVL= 28480, 32753, 27250, 32755, AGC= 67, IDX= 418,-0.10,-0.778,-2.170,-1.305,-1.237, PHS= 0.546,-0.887,-0.072, RAW= 124.5, 6.7, CAL= 132.6, 1.8, ROT= 17.4, -1.8 2025-01-08T23:47:36.784Z,1736380056.784 [DAT](INFO): got valid direction response: 23:47:34.8629 LVL= 28480, 32753, 27250, 32755, AGC= 67, IDX= 418,-0.10,-0.778,-2.170,-1.305,-1.237, PHS= 0.546,-0.887,-0.072, RAW= 124.5, 6.7, CAL= 132.6, 1.8, ROT= 17.4, -1.8 2025-01-08T23:47:36.785Z,1736380056.785 [DAT](INFO): DAT read: Bearing 17.4, -1.8 (Local) 2025-01-08T23:47:36.786Z,1736380056.786 [DAT](INFO): Local bearing/azimuth received: Bearing 17.4, -1.8 (Local) 2025-01-08T23:47:36.787Z,1736380056.787 [DAT](INFO): DAT read: Range 10 to 50 : 84.7 m (Round-trip 113.0 ms) speed 0.5 m/s 2025-01-08T23:47:36.788Z,1736380056.788 [DAT](INFO): DAT read: user:3461> 2025-01-08T23:47:36.789Z,1736380056.789 [DAT](INFO): DAT read: Tx time:23:47:35.9458 2025-01-08T23:47:36.789Z,1736380056.789 [DAT](INFO): Ping request sent. 2025-01-08T23:47:36.789Z,1736380056.789 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:36.790Z,1736380056.790 [DAT](INFO): DAT read: TxSync time:23:47:35.9450 2025-01-08T23:47:36.790Z,1736380056.790 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:36.791Z,1736380056.791 [DAT](INFO): direction in FSK: [-0.251313,-0.474893,0.843397] 2025-01-08T23:47:36.792Z,1736380056.792 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:36.792Z,1736380056.792 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:36.795Z,1736380056.795 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:36.796Z,1736380056.796 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:36.953Z,1736380056.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:36.000Z,1736380057.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.699997 m, deltaT: 3.783888 s, deltaX: -1.700005 m, approachRate: -0.449275 m/s, rangeRepo size: 4 2025-01-08T23:47:37.002Z,1736380057.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.699997 m, bearing: 330.870190 deg, lat: 36.905119 deg, lon: -122.120775 deg, deltaT: 3.783888 s, deltaX: -1.700005 m, approachRate: -0.449275 m/s, posRepo size: 4 2025-01-08T23:47:37.003Z,1736380057.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:47:37.009Z,1736380057.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 33.564667 m, bearing: 296.812509 deg, approach rate: 0.000000 m/s, LOS rate: -0.029316 deg/s, cmd heading: 87.093696 deg, new cmd heading: 87.060182 deg. 2025-01-08T23:47:37.010Z,1736380057.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519487 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:47:37.028Z,1736380057.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:37.280Z,1736380057.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:37.383Z,1736380057.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:37.405Z,1736380057.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:37.407Z,1736380057.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:47:37.414Z,1736380057.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 33.758205 m, bearing: 296.654762 deg, approach rate: 0.465330 m/s, LOS rate: -0.377101 deg/s, cmd heading: 87.060180 deg, new cmd heading: 86.589662 deg. 2025-01-08T23:47:37.420Z,1736380057.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511275 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:47:37.532Z,1736380057.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:37.532Z,1736380057.532 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:37.532Z,1736380057.532 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:37.533Z,1736380057.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:37.726Z,1736380057.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:37.740Z,1736380057.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:47:37.743Z,1736380057.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 33.914680 m, bearing: 296.535704 deg, approach rate: 0.469614 m/s, LOS rate: -0.355668 deg/s, cmd heading: 86.589662 deg, new cmd heading: 86.234142 deg. 2025-01-08T23:47:37.744Z,1736380057.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.505070 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:47:37.784Z,1736380057.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:37.786Z,1736380057.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996178 2025-01-08T23:47:38.036Z,1736380058.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:38.037Z,1736380058.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247131 2025-01-08T23:47:38.127Z,1736380058.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:38.136Z,1736380058.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:47:38.146Z,1736380058.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 34.099335 m, bearing: 296.405514 deg, approach rate: 0.466038 m/s, LOS rate: -0.326799 deg/s, cmd heading: 86.234144 deg, new cmd heading: 85.845695 deg. 2025-01-08T23:47:38.147Z,1736380058.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498290 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:47:38.288Z,1736380058.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:38.289Z,1736380058.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499398 2025-01-08T23:47:38.540Z,1736380058.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:38.541Z,1736380058.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751717 2025-01-08T23:47:38.579Z,1736380058.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:38.597Z,1736380058.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:47:38.604Z,1736380058.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 34.313385 m, bearing: 296.268196 deg, approach rate: 0.464573 m/s, LOS rate: -0.296175 deg/s, cmd heading: 85.845697 deg, new cmd heading: 85.436320 deg. 2025-01-08T23:47:38.605Z,1736380058.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491145 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:47:38.792Z,1736380058.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:38.792Z,1736380058.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002953 2025-01-08T23:47:38.953Z,1736380058.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:38.961Z,1736380058.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:47:38.964Z,1736380058.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 34.508755 m, bearing: 296.144457 deg, approach rate: 0.536272 m/s, LOS rate: -0.337729 deg/s, cmd heading: 85.436323 deg, new cmd heading: 85.067213 deg. 2025-01-08T23:47:38.965Z,1736380058.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.484703 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:47:39.044Z,1736380059.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:39.045Z,1736380059.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255156 2025-01-08T23:47:39.296Z,1736380059.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:39.296Z,1736380059.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507088 2025-01-08T23:47:39.374Z,1736380059.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:39.384Z,1736380059.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:47:39.387Z,1736380059.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 34.731834 m, bearing: 296.006425 deg, approach rate: 0.528384 m/s, LOS rate: -0.324840 deg/s, cmd heading: 85.067213 deg, new cmd heading: 84.655785 deg. 2025-01-08T23:47:39.388Z,1736380059.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477522 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:47:39.548Z,1736380059.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:39.549Z,1736380059.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759259 2025-01-08T23:47:39.765Z,1736380059.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:39.780Z,1736380059.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:39.782Z,1736380059.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.70 m. 2025-01-08T23:47:39.789Z,1736380059.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.699997 m, nav range: 34.939766 m, bearing: 295.882775 deg, approach rate: 0.521977 m/s, LOS rate: -0.308555 deg/s, cmd heading: 84.655782 deg, new cmd heading: 84.287045 deg. 2025-01-08T23:47:39.790Z,1736380059.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.471087 target range: 84.699997 and range: 84.70 m. 2025-01-08T23:47:39.800Z,1736380059.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:39.801Z,1736380059.801 [DAT](INFO): DAT read: Rx Time:23:47:38.4599 2025-01-08T23:47:39.801Z,1736380059.801 [DAT](INFO): Rx dataTimestamp_ set to:1736380059.800836 2025-01-08T23:47:39.802Z,1736380059.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012257 2025-01-08T23:47:40.052Z,1736380060.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:40.052Z,1736380060.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262928 2025-01-08T23:47:40.304Z,1736380060.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:40.310Z,1736380060.310 [DAT](INFO): DAT read: 23:47:38.4599 LVL= 29328, 32753, 26594, 32755, AGC= 68, IDX= 403,-0.07,-2.138, 2.524,-2.510,-2.704, PHS= 0.654,-1.008, 0.191, RAW= 134.3, 2.2, CAL= 139.7, -5.9, ROT= 10.3, 5.9 2025-01-08T23:47:40.312Z,1736380060.312 [DAT](INFO): got valid direction response: 23:47:38.4599 LVL= 29328, 32753, 26594, 32755, AGC= 68, IDX= 403,-0.07,-2.138, 2.524,-2.510,-2.704, PHS= 0.654,-1.008, 0.191, RAW= 134.3, 2.2, CAL= 139.7, -5.9, ROT= 10.3, 5.9 2025-01-08T23:47:40.313Z,1736380060.313 [DAT](INFO): DAT read: Bearing 10.3, 5.9 (Local) 2025-01-08T23:47:40.314Z,1736380060.314 [DAT](INFO): Local bearing/azimuth received: Bearing 10.3, 5.9 (Local) 2025-01-08T23:47:40.315Z,1736380060.315 [DAT](INFO): DAT read: Range 10 to 50 : 82.5 m (Round-trip 110.0 ms) speed 0.4 m/s 2025-01-08T23:47:40.316Z,1736380060.316 [DAT](INFO): DAT read: user:3462> 2025-01-08T23:47:40.317Z,1736380060.317 [DAT](INFO): DAT read: Tx time:23:47:39.5458 2025-01-08T23:47:40.317Z,1736380060.317 [DAT](INFO): Ping request sent. 2025-01-08T23:47:40.317Z,1736380060.317 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:40.317Z,1736380060.317 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:40.318Z,1736380060.318 [DAT](INFO): direction in FSK: [-0.168870,-0.632680,0.755777] 2025-01-08T23:47:40.318Z,1736380060.318 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:40.319Z,1736380060.319 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:40.324Z,1736380060.324 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:40.325Z,1736380060.325 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:40.421Z,1736380060.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:40.460Z,1736380060.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.528000 s, deltaX: -2.199997 m, approachRate: -0.623582 m/s, rangeRepo size: 4 2025-01-08T23:47:40.467Z,1736380060.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 350.838792 deg, lat: 36.905330 deg, lon: -122.120775 deg, deltaT: 3.528000 s, deltaX: -2.199997 m, approachRate: -0.623582 m/s, posRepo size: 4 2025-01-08T23:47:40.468Z,1736380060.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:47:40.471Z,1736380060.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 50.131428 m, bearing: 320.588843 deg, approach rate: 0.000000 m/s, LOS rate: -0.308555 deg/s, cmd heading: 84.287048 deg, new cmd heading: 83.667817 deg. 2025-01-08T23:47:40.476Z,1736380060.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.460279 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:47:40.556Z,1736380060.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:40.558Z,1736380060.558 [DAT](INFO): DAT read: TxSync time:23:47:39.5450 2025-01-08T23:47:40.727Z,1736380060.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:40.777Z,1736380060.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:47:40.785Z,1736380060.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 50.264004 m, bearing: 320.446258 deg, approach rate: 0.424391 m/s, LOS rate: -0.455230 deg/s, cmd heading: 83.667816 deg, new cmd heading: 83.241195 deg. 2025-01-08T23:47:40.786Z,1736380060.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.452833 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:47:40.808Z,1736380060.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:41.060Z,1736380061.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:41.091Z,1736380061.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:41.100Z,1736380061.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:47:41.103Z,1736380061.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 50.425716 m, bearing: 320.273798 deg, approach rate: 0.479961 m/s, LOS rate: -0.510216 deg/s, cmd heading: 83.241196 deg, new cmd heading: 82.725490 deg. 2025-01-08T23:47:41.104Z,1736380061.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.443832 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:47:41.312Z,1736380061.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:41.502Z,1736380061.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:41.511Z,1736380061.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:47:41.514Z,1736380061.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 50.612194 m, bearing: 320.079387 deg, approach rate: 0.454422 m/s, LOS rate: -0.472008 deg/s, cmd heading: 82.725489 deg, new cmd heading: 82.144427 deg. 2025-01-08T23:47:41.516Z,1736380061.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433691 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:47:41.564Z,1736380061.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:41.817Z,1736380061.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:41.932Z,1736380061.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:41.941Z,1736380061.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:41.943Z,1736380061.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:47:41.946Z,1736380061.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 50.806576 m, bearing: 319.877089 deg, approach rate: 0.449682 m/s, LOS rate: -0.466203 deg/s, cmd heading: 82.144424 deg, new cmd heading: 81.539877 deg. 2025-01-08T23:47:41.947Z,1736380061.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423139 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:47:42.068Z,1736380062.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:42.068Z,1736380062.068 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:42.068Z,1736380062.068 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:42.069Z,1736380062.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:42.320Z,1736380062.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:42.320Z,1736380062.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003428 2025-01-08T23:47:42.334Z,1736380062.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:42.342Z,1736380062.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:47:42.346Z,1736380062.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 50.990505 m, bearing: 319.686248 deg, approach rate: 0.460386 m/s, LOS rate: -0.475962 deg/s, cmd heading: 81.539877 deg, new cmd heading: 80.969440 deg. 2025-01-08T23:47:42.347Z,1736380062.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413183 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:47:42.572Z,1736380062.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:42.573Z,1736380062.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255572 2025-01-08T23:47:42.713Z,1736380062.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:42.740Z,1736380062.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:47:42.742Z,1736380062.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 51.162361 m, bearing: 319.505959 deg, approach rate: 0.433640 m/s, LOS rate: -0.453391 deg/s, cmd heading: 80.969441 deg, new cmd heading: 80.430406 deg. 2025-01-08T23:47:42.743Z,1736380062.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403775 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:47:42.825Z,1736380062.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:42.826Z,1736380062.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508748 2025-01-08T23:47:43.076Z,1736380063.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:43.076Z,1736380063.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759359 2025-01-08T23:47:43.116Z,1736380063.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:43.138Z,1736380063.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:47:43.146Z,1736380063.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 51.343857 m, bearing: 319.313222 deg, approach rate: 0.454507 m/s, LOS rate: -0.480950 deg/s, cmd heading: 80.430409 deg, new cmd heading: 79.854264 deg. 2025-01-08T23:47:43.149Z,1736380063.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393720 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:47:43.328Z,1736380063.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:43.329Z,1736380063.329 [DAT](INFO): DAT read: Rx Time:23:47:42.0571 2025-01-08T23:47:43.330Z,1736380063.330 [DAT](INFO): Rx dataTimestamp_ set to:1736380063.329438 2025-01-08T23:47:43.330Z,1736380063.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013256 2025-01-08T23:47:43.561Z,1736380063.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:43.571Z,1736380063.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.50 m. 2025-01-08T23:47:43.574Z,1736380063.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.500000 m, nav range: 51.547157 m, bearing: 319.102258 deg, approach rate: 0.469593 m/s, LOS rate: -0.485373 deg/s, cmd heading: 79.854262 deg, new cmd heading: 79.223891 deg. 2025-01-08T23:47:43.575Z,1736380063.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382718 target range: 82.500000 and range: 82.50 m. 2025-01-08T23:47:43.581Z,1736380063.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:43.581Z,1736380063.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264461 2025-01-08T23:47:43.832Z,1736380063.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:43.838Z,1736380063.838 [DAT](INFO): DAT read: 23:47:42.0571 LVL= 20208, 32753, 21234, 32755, AGC= 65, IDX= 406, 0.08, 1.959, 0.498, 1.422, 1.467, PHS= 0.580,-0.922,-0.048, RAW= 125.4, 6.0, CAL= 133.3, 0.9, ROT= 16.7, -0.9 2025-01-08T23:47:43.839Z,1736380063.839 [DAT](INFO): got valid direction response: 23:47:42.0571 LVL= 20208, 32753, 21234, 32755, AGC= 65, IDX= 406, 0.08, 1.959, 0.498, 1.422, 1.467, PHS= 0.580,-0.922,-0.048, RAW= 125.4, 6.0, CAL= 133.3, 0.9, ROT= 16.7, -0.9 2025-01-08T23:47:43.840Z,1736380063.840 [DAT](INFO): DAT read: Bearing 16.7, -0.9 (Local) 2025-01-08T23:47:43.841Z,1736380063.841 [DAT](INFO): Local bearing/azimuth received: Bearing 16.7, -0.9 (Local) 2025-01-08T23:47:43.842Z,1736380063.842 [DAT](INFO): DAT read: Range 10 to 50 : 80.4 m (Round-trip 107.2 ms) speed 0.4 m/s 2025-01-08T23:47:43.843Z,1736380063.843 [DAT](INFO): DAT read: user:3463> 2025-01-08T23:47:43.848Z,1736380063.848 [DAT](INFO): DAT read: Tx time:23:47:43.1458 2025-01-08T23:47:43.849Z,1736380063.849 [DAT](INFO): Ping request sent. 2025-01-08T23:47:43.849Z,1736380063.849 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:43.849Z,1736380063.849 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:43.850Z,1736380063.850 [DAT](INFO): direction in FSK: [-0.239213,-0.490177,0.838155] 2025-01-08T23:47:43.850Z,1736380063.850 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:43.850Z,1736380063.850 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:43.853Z,1736380063.853 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:43.854Z,1736380063.854 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:43.932Z,1736380063.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:43.969Z,1736380063.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.527991 s, deltaX: -2.099998 m, approachRate: -0.595239 m/s, rangeRepo size: 4 2025-01-08T23:47:43.980Z,1736380063.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.400002 m, bearing: 342.882316 deg, lat: 36.905362 deg, lon: -122.120775 deg, deltaT: 3.527991 s, deltaX: -2.099998 m, approachRate: -0.595239 m/s, posRepo size: 4 2025-01-08T23:47:43.980Z,1736380063.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:43.983Z,1736380063.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 54.478737 m, bearing: 321.419847 deg, approach rate: 0.000000 m/s, LOS rate: -0.485373 deg/s, cmd heading: 79.223890 deg, new cmd heading: 78.644730 deg. 2025-01-08T23:47:43.988Z,1736380063.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372609 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:44.085Z,1736380064.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:44.086Z,1736380064.086 [DAT](INFO): DAT read: TxSync time:23:47:43.1450 2025-01-08T23:47:44.336Z,1736380064.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:44.402Z,1736380064.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:44.433Z,1736380064.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:44.439Z,1736380064.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:44.442Z,1736380064.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 54.678291 m, bearing: 321.199413 deg, approach rate: 0.427897 m/s, LOS rate: -0.470944 deg/s, cmd heading: 78.644731 deg, new cmd heading: 77.985871 deg. 2025-01-08T23:47:44.447Z,1736380064.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361110 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:44.588Z,1736380064.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:44.588Z,1736380064.588 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:44.588Z,1736380064.588 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:44.589Z,1736380064.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:44.742Z,1736380064.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:44.753Z,1736380064.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:44.756Z,1736380064.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 54.818535 m, bearing: 321.041589 deg, approach rate: 0.441038 m/s, LOS rate: -0.495055 deg/s, cmd heading: 77.985871 deg, new cmd heading: 77.513621 deg. 2025-01-08T23:47:44.757Z,1736380064.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352868 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:44.840Z,1736380064.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:44.841Z,1736380064.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992671 2025-01-08T23:47:45.093Z,1736380065.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:45.095Z,1736380065.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246068 2025-01-08T23:47:45.152Z,1736380065.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:45.161Z,1736380065.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:45.166Z,1736380065.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 54.984882 m, bearing: 320.850132 deg, approach rate: 0.407397 m/s, LOS rate: -0.467470 deg/s, cmd heading: 77.513624 deg, new cmd heading: 76.941014 deg. 2025-01-08T23:47:45.167Z,1736380065.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342874 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:45.345Z,1736380065.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:45.347Z,1736380065.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498210 2025-01-08T23:47:45.559Z,1736380065.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:45.588Z,1736380065.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:45.591Z,1736380065.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 55.151318 m, bearing: 320.654404 deg, approach rate: 0.389835 m/s, LOS rate: -0.457061 deg/s, cmd heading: 76.941015 deg, new cmd heading: 76.355625 deg. 2025-01-08T23:47:45.592Z,1736380065.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332657 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:45.597Z,1736380065.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:45.597Z,1736380065.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748550 2025-01-08T23:47:45.848Z,1736380065.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:45.848Z,1736380065.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999783 2025-01-08T23:47:45.953Z,1736380065.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:45.962Z,1736380065.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:45.965Z,1736380065.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 55.309525 m, bearing: 320.462771 deg, approach rate: 0.423658 m/s, LOS rate: -0.511701 deg/s, cmd heading: 76.355627 deg, new cmd heading: 75.782391 deg. 2025-01-08T23:47:45.966Z,1736380065.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322652 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:46.101Z,1736380066.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:46.103Z,1736380066.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253687 2025-01-08T23:47:46.352Z,1736380066.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:46.352Z,1736380066.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503774 2025-01-08T23:47:46.439Z,1736380066.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:46.452Z,1736380066.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:46.454Z,1736380066.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:46.460Z,1736380066.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 55.495110 m, bearing: 320.243057 deg, approach rate: 0.377294 m/s, LOS rate: -0.445183 deg/s, cmd heading: 75.782390 deg, new cmd heading: 75.125482 deg. 2025-01-08T23:47:46.462Z,1736380066.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.311187 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:46.604Z,1736380066.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:46.605Z,1736380066.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756056 2025-01-08T23:47:46.765Z,1736380066.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:46.778Z,1736380066.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:46.781Z,1736380066.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 55.625023 m, bearing: 320.085364 deg, approach rate: 0.400998 m/s, LOS rate: -0.485607 deg/s, cmd heading: 75.125483 deg, new cmd heading: 74.653520 deg. 2025-01-08T23:47:46.782Z,1736380066.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.302950 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:46.858Z,1736380066.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:46.858Z,1736380066.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009768 2025-01-08T23:47:47.113Z,1736380067.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:47.115Z,1736380067.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265953 2025-01-08T23:47:47.164Z,1736380067.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:47.174Z,1736380067.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:47.177Z,1736380067.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 55.776295 m, bearing: 319.897631 deg, approach rate: 0.381492 m/s, LOS rate: -0.472157 deg/s, cmd heading: 74.653517 deg, new cmd heading: 74.091865 deg. 2025-01-08T23:47:47.178Z,1736380067.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293147 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:47.365Z,1736380067.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:47.367Z,1736380067.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517912 2025-01-08T23:47:47.584Z,1736380067.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:47.618Z,1736380067.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:47.620Z,1736380067.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770372 2025-01-08T23:47:47.623Z,1736380067.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:47.644Z,1736380067.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 55.929859 m, bearing: 319.700093 deg, approach rate: 0.342422 m/s, LOS rate: -0.439265 deg/s, cmd heading: 74.091864 deg, new cmd heading: 73.500898 deg. 2025-01-08T23:47:47.646Z,1736380067.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282833 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:47.868Z,1736380067.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:47.870Z,1736380067.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020567 2025-01-08T23:47:48.089Z,1736380068.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:48.101Z,1736380068.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:48.104Z,1736380068.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 56.108898 m, bearing: 319.459513 deg, approach rate: 0.373831 m/s, LOS rate: -0.500723 deg/s, cmd heading: 73.500895 deg, new cmd heading: 72.781499 deg. 2025-01-08T23:47:48.105Z,1736380068.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.270277 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:48.120Z,1736380068.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:48.121Z,1736380068.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271862 2025-01-08T23:47:48.374Z,1736380068.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:48.376Z,1736380068.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526823 2025-01-08T23:47:48.511Z,1736380068.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:48.519Z,1736380068.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:48.521Z,1736380068.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:48.524Z,1736380068.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 56.260006 m, bearing: 319.249645 deg, approach rate: 0.360236 m/s, LOS rate: -0.498973 deg/s, cmd heading: 72.781499 deg, new cmd heading: 72.153612 deg. 2025-01-08T23:47:48.525Z,1736380068.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259318 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:48.624Z,1736380068.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:48.625Z,1736380068.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775839 2025-01-08T23:47:48.876Z,1736380068.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:48.877Z,1736380068.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028159 2025-01-08T23:47:48.960Z,1736380068.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:48.974Z,1736380068.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:48.993Z,1736380068.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 56.419048 m, bearing: 319.025506 deg, approach rate: 0.350790 m/s, LOS rate: -0.492974 deg/s, cmd heading: 72.153613 deg, new cmd heading: 71.483124 deg. 2025-01-08T23:47:48.994Z,1736380068.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247616 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:49.128Z,1736380069.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:49.128Z,1736380069.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279677 2025-01-08T23:47:49.383Z,1736380069.383 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:49.386Z,1736380069.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.536788 2025-01-08T23:47:49.410Z,1736380069.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:49.427Z,1736380069.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:49.434Z,1736380069.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 56.576706 m, bearing: 318.800493 deg, approach rate: 0.348550 m/s, LOS rate: -0.496072 deg/s, cmd heading: 71.483121 deg, new cmd heading: 70.809995 deg. 2025-01-08T23:47:49.435Z,1736380069.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.235868 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:49.638Z,1736380069.638 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:49.641Z,1736380069.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792063 2025-01-08T23:47:49.805Z,1736380069.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:49.822Z,1736380069.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:49.827Z,1736380069.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 56.722343 m, bearing: 318.598452 deg, approach rate: 0.368153 m/s, LOS rate: -0.509421 deg/s, cmd heading: 70.809999 deg, new cmd heading: 70.205455 deg. 2025-01-08T23:47:49.836Z,1736380069.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225316 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:49.888Z,1736380069.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:49.889Z,1736380069.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039845 2025-01-08T23:47:50.140Z,1736380070.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:50.140Z,1736380070.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291563 2025-01-08T23:47:50.178Z,1736380070.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:50.189Z,1736380070.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:50.192Z,1736380070.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 56.858326 m, bearing: 318.407776 deg, approach rate: 0.370438 m/s, LOS rate: -0.518188 deg/s, cmd heading: 70.205452 deg, new cmd heading: 69.634811 deg. 2025-01-08T23:47:50.193Z,1736380070.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215357 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:50.394Z,1736380070.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:50.406Z,1736380070.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557600 2025-01-08T23:47:50.576Z,1736380070.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:50.607Z,1736380070.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:50.609Z,1736380070.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:50.617Z,1736380070.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 57.004265 m, bearing: 318.202931 deg, approach rate: 0.347309 m/s, LOS rate: -0.486246 deg/s, cmd heading: 69.634810 deg, new cmd heading: 69.021873 deg. 2025-01-08T23:47:50.618Z,1736380070.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204659 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:50.644Z,1736380070.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:50.645Z,1736380070.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.796051 2025-01-08T23:47:50.897Z,1736380070.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:50.898Z,1736380070.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048952 2025-01-08T23:47:50.969Z,1736380070.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:50.980Z,1736380070.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:50.982Z,1736380070.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 57.147888 m, bearing: 317.999582 deg, approach rate: 0.389177 m/s, LOS rate: -0.549632 deg/s, cmd heading: 69.021876 deg, new cmd heading: 68.413384 deg. 2025-01-08T23:47:50.984Z,1736380070.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194039 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:51.148Z,1736380071.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:51.149Z,1736380071.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300018 2025-01-08T23:47:51.377Z,1736380071.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:51.404Z,1736380071.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:51.406Z,1736380071.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557007 2025-01-08T23:47:51.442Z,1736380071.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:51.449Z,1736380071.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 57.294853 m, bearing: 317.790207 deg, approach rate: 0.317166 m/s, LOS rate: -0.450693 deg/s, cmd heading: 68.413381 deg, new cmd heading: 67.786893 deg. 2025-01-08T23:47:51.450Z,1736380071.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183105 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:51.657Z,1736380071.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:51.658Z,1736380071.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808907 2025-01-08T23:47:51.793Z,1736380071.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:51.821Z,1736380071.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:51.828Z,1736380071.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 57.445606 m, bearing: 317.569717 deg, approach rate: 0.398026 m/s, LOS rate: -0.580618 deg/s, cmd heading: 67.786895 deg, new cmd heading: 67.127194 deg. 2025-01-08T23:47:51.829Z,1736380071.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171591 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:51.908Z,1736380071.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:51.909Z,1736380071.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060285 2025-01-08T23:47:52.160Z,1736380072.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:52.161Z,1736380072.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312602 2025-01-08T23:47:52.194Z,1736380072.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:52.222Z,1736380072.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:52.230Z,1736380072.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 57.588928 m, bearing: 317.358847 deg, approach rate: 0.357282 m/s, LOS rate: -0.524361 deg/s, cmd heading: 67.127195 deg, new cmd heading: 66.496186 deg. 2025-01-08T23:47:52.232Z,1736380072.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160577 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:52.415Z,1736380072.415 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:52.417Z,1736380072.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567805 2025-01-08T23:47:52.584Z,1736380072.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:47:52.585Z,1736380072.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:52.593Z,1736380072.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:52.597Z,1736380072.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 57.727558 m, bearing: 317.153454 deg, approach rate: 0.373356 m/s, LOS rate: -0.551832 deg/s, cmd heading: 66.496188 deg, new cmd heading: 65.881512 deg. 2025-01-08T23:47:52.598Z,1736380072.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149849 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:52.665Z,1736380072.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:52.666Z,1736380072.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817416 2025-01-08T23:47:52.916Z,1736380072.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:52.916Z,1736380072.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067814 2025-01-08T23:47:52.988Z,1736380072.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:47:53.004Z,1736380073.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:47:53.004Z,1736380073.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:53.011Z,1736380073.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:53.016Z,1736380073.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:53.018Z,1736380073.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 57.876076 m, bearing: 316.931675 deg, approach rate: 0.351373 m/s, LOS rate: -0.523351 deg/s, cmd heading: 65.881512 deg, new cmd heading: 65.217914 deg. 2025-01-08T23:47:53.020Z,1736380073.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138267 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:53.169Z,1736380073.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:53.170Z,1736380073.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321174 2025-01-08T23:47:53.390Z,1736380073.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:47:53.390Z,1736380073.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:53.413Z,1736380073.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:53.421Z,1736380073.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:53.424Z,1736380073.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575147 2025-01-08T23:47:53.468Z,1736380073.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 58.011578 m, bearing: 316.727733 deg, approach rate: 0.342958 m/s, LOS rate: -0.514974 deg/s, cmd heading: 65.217911 deg, new cmd heading: 64.607538 deg. 2025-01-08T23:47:53.469Z,1736380073.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.127614 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:53.672Z,1736380073.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:53.673Z,1736380073.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824141 2025-01-08T23:47:53.841Z,1736380073.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:53.858Z,1736380073.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:53.865Z,1736380073.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 58.154175 m, bearing: 316.498275 deg, approach rate: 0.318764 m/s, LOS rate: -0.511675 deg/s, cmd heading: 64.607538 deg, new cmd heading: 63.920887 deg. 2025-01-08T23:47:53.866Z,1736380073.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.115630 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:53.925Z,1736380073.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:53.925Z,1736380073.925 [DAT](INFO): Reached modem response timeout 2025-01-08T23:47:53.926Z,1736380073.926 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:47:53.926Z,1736380073.926 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:53.992Z,1736380073.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:47:54.176Z,1736380074.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:54.176Z,1736380074.176 [DAT](INFO): Reached modem response timeout 2025-01-08T23:47:54.177Z,1736380074.177 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:47:54.177Z,1736380074.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:54.246Z,1736380074.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:54.267Z,1736380074.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:54.270Z,1736380074.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 58.280449 m, bearing: 316.293087 deg, approach rate: 0.311805 m/s, LOS rate: -0.505566 deg/s, cmd heading: 63.920885 deg, new cmd heading: 63.306679 deg. 2025-01-08T23:47:54.271Z,1736380074.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104910 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:54.429Z,1736380074.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:54.431Z,1736380074.431 [DAT](INFO): Reached modem response timeout 2025-01-08T23:47:54.431Z,1736380074.431 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:47:54.432Z,1736380074.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:54.633Z,1736380074.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:54.667Z,1736380074.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:54.677Z,1736380074.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 58.385704 m, bearing: 316.104700 deg, approach rate: 0.266223 m/s, LOS rate: -0.475630 deg/s, cmd heading: 63.306681 deg, new cmd heading: 62.742558 deg. 2025-01-08T23:47:54.682Z,1736380074.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:54.683Z,1736380074.683 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:47:54.683Z,1736380074.683 [DAT](INFO): response not received 2025-01-08T23:47:54.684Z,1736380074.684 [DAT](INFO): DAT read: user:3464> 2025-01-08T23:47:54.684Z,1736380074.684 [DAT](ERROR): No response from remote modem. 2025-01-08T23:47:54.684Z,1736380074.684 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:47:54.685Z,1736380074.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:54.696Z,1736380074.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095064 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:54.936Z,1736380074.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:54.937Z,1736380074.937 [DAT](INFO): DAT read: Tx time:23:47:54.0958 2025-01-08T23:47:54.937Z,1736380074.937 [DAT](INFO): Ping request sent. 2025-01-08T23:47:54.937Z,1736380074.937 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:54.938Z,1736380074.938 [DAT](INFO): DAT read: TxSync time:23:47:54.0951 2025-01-08T23:47:54.938Z,1736380074.938 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:54.939Z,1736380074.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001547 2025-01-08T23:47:55.024Z,1736380075.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:55.037Z,1736380075.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:55.040Z,1736380075.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:55.042Z,1736380075.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 58.490639 m, bearing: 315.914121 deg, approach rate: 0.275576 m/s, LOS rate: -0.499593 deg/s, cmd heading: 62.742555 deg, new cmd heading: 62.171864 deg. 2025-01-08T23:47:55.044Z,1736380075.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.085104 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:55.188Z,1736380075.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:55.189Z,1736380075.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251536 2025-01-08T23:47:55.419Z,1736380075.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:55.446Z,1736380075.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:55.448Z,1736380075.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510791 2025-01-08T23:47:55.498Z,1736380075.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:55.505Z,1736380075.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 58.590622 m, bearing: 315.729523 deg, approach rate: 0.218085 m/s, LOS rate: -0.401962 deg/s, cmd heading: 62.171865 deg, new cmd heading: 61.619032 deg. 2025-01-08T23:47:55.506Z,1736380075.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.075455 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:55.696Z,1736380075.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:55.697Z,1736380075.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759840 2025-01-08T23:47:55.838Z,1736380075.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:55.852Z,1736380075.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:55.855Z,1736380075.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 58.687172 m, bearing: 315.521984 deg, approach rate: 0.272249 m/s, LOS rate: -0.584247 deg/s, cmd heading: 61.619030 deg, new cmd heading: 60.997464 deg. 2025-01-08T23:47:55.856Z,1736380075.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.064607 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:55.948Z,1736380075.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:55.949Z,1736380075.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011639 2025-01-08T23:47:56.201Z,1736380076.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:56.202Z,1736380076.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265026 2025-01-08T23:47:56.213Z,1736380076.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:56.223Z,1736380076.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:56.277Z,1736380076.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 58.769585 m, bearing: 315.343353 deg, approach rate: 0.223335 m/s, LOS rate: -0.483403 deg/s, cmd heading: 60.997462 deg, new cmd heading: 60.462338 deg. 2025-01-08T23:47:56.278Z,1736380076.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.055267 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:56.454Z,1736380076.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:56.456Z,1736380076.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518068 2025-01-08T23:47:56.644Z,1736380076.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:56.685Z,1736380076.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:56.700Z,1736380076.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 58.851368 m, bearing: 315.145162 deg, approach rate: 0.176254 m/s, LOS rate: -0.426533 deg/s, cmd heading: 60.462337 deg, new cmd heading: 59.868613 deg. 2025-01-08T23:47:56.701Z,1736380076.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044904 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:56.704Z,1736380076.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:56.705Z,1736380076.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767565 2025-01-08T23:47:56.956Z,1736380076.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:56.956Z,1736380076.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019353 2025-01-08T23:47:57.026Z,1736380077.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:57.049Z,1736380077.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:57.060Z,1736380077.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 58.922104 m, bearing: 314.968480 deg, approach rate: 0.194715 m/s, LOS rate: -0.485771 deg/s, cmd heading: 59.868616 deg, new cmd heading: 59.339220 deg. 2025-01-08T23:47:57.061Z,1736380077.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035665 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:57.208Z,1736380077.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:57.208Z,1736380077.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271355 2025-01-08T23:47:57.422Z,1736380077.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:57.432Z,1736380077.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:57.434Z,1736380077.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:57.437Z,1736380077.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 58.993034 m, bearing: 314.785109 deg, approach rate: 0.184143 m/s, LOS rate: -0.475476 deg/s, cmd heading: 59.339222 deg, new cmd heading: 58.789790 deg. 2025-01-08T23:47:57.441Z,1736380077.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.026075 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:57.462Z,1736380077.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:57.465Z,1736380077.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527528 2025-01-08T23:47:57.712Z,1736380077.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:57.713Z,1736380077.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776467 2025-01-08T23:47:57.870Z,1736380077.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:57.892Z,1736380077.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:57.899Z,1736380077.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 59.067467 m, bearing: 314.575780 deg, approach rate: 0.162373 m/s, LOS rate: -0.456071 deg/s, cmd heading: 58.789788 deg, new cmd heading: 58.162618 deg. 2025-01-08T23:47:57.900Z,1736380077.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.015129 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:57.965Z,1736380077.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:57.967Z,1736380077.967 [DAT](INFO): DAT read: Rx Time:23:47:56.5962 2025-01-08T23:47:57.968Z,1736380077.968 [DAT](INFO): Rx dataTimestamp_ set to:1736380077.966848 2025-01-08T23:47:57.969Z,1736380077.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031339 2025-01-08T23:47:58.216Z,1736380078.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:58.216Z,1736380078.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279343 2025-01-08T23:47:58.228Z,1736380078.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:58.241Z,1736380078.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m. 2025-01-08T23:47:58.282Z,1736380078.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.400002 m, nav range: 59.122681 m, bearing: 314.407164 deg, approach rate: 0.158146 m/s, LOS rate: -0.482504 deg/s, cmd heading: 58.162619 deg, new cmd heading: 57.657259 deg. 2025-01-08T23:47:58.298Z,1736380078.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006309 target range: 80.400002 and range: 80.40 m. 2025-01-08T23:47:58.469Z,1736380078.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:58.506Z,1736380078.506 [DAT](INFO): DAT read: 23:47:56.5962 LVL= 17856, 26849, 27202, 30963, AGC= 65, IDX= 293, 0.01, 1.071,-1.279,-0.419,-0.201, PHS= 1.359,-1.032,-0.222, RAW= 109.4, -1.0, CAL= 118.0, -7.8, ROT= 32.0, 7.8 2025-01-08T23:47:58.510Z,1736380078.510 [DAT](INFO): got valid direction response: 23:47:56.5962 LVL= 17856, 26849, 27202, 30963, AGC= 65, IDX= 293, 0.01, 1.071,-1.279,-0.419,-0.201, PHS= 1.359,-1.032,-0.222, RAW= 109.4, -1.0, CAL= 118.0, -7.8, ROT= 32.0, 7.8 2025-01-08T23:47:58.523Z,1736380078.523 [DAT](INFO): DAT read: Bearing 32.0, 7.8 (Local) 2025-01-08T23:47:58.532Z,1736380078.532 [DAT](INFO): Local bearing/azimuth received: Bearing 32.0, 7.8 (Local) 2025-01-08T23:47:58.533Z,1736380078.533 [DAT](INFO): DAT read: Range 10 to 50 : 72.0 m (Round-trip 96.1 ms) speed 0.4 m/s 2025-01-08T23:47:58.534Z,1736380078.534 [DAT](INFO): DAT read: user:3465> 2025-01-08T23:47:58.535Z,1736380078.535 [DAT](INFO): DAT read: Tx time:23:47:57.6959 2025-01-08T23:47:58.539Z,1736380078.539 [DAT](INFO): Ping request sent. 2025-01-08T23:47:58.540Z,1736380078.540 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:47:58.540Z,1736380078.540 [DAT](INFO): DAT read: TxSync time:23:47:57.6952 2025-01-08T23:47:58.541Z,1736380078.541 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:47:58.542Z,1736380078.542 [DAT](INFO): direction in FSK: [-0.091839,-0.235288,0.967577] 2025-01-08T23:47:58.542Z,1736380078.542 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:58.542Z,1736380078.542 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:58.549Z,1736380078.549 [DAT](INFO): publishing transmit ping time 2025-01-08T23:47:58.550Z,1736380078.550 [DAT](INFO): publishing direction and range info 2025-01-08T23:47:58.704Z,1736380078.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:58.720Z,1736380078.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:58.734Z,1736380078.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.000000 m, deltaT: 14.638232 s, deltaX: -8.400002 m, approachRate: -0.573840 m/s, rangeRepo size: 4 2025-01-08T23:47:58.740Z,1736380078.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.000000 m, bearing: 348.794142 deg, lat: 36.905362 deg, lon: -122.120540 deg, deltaT: 14.638232 s, deltaX: -8.400002 m, approachRate: -0.573840 m/s, posRepo size: 4 2025-01-08T23:47:58.741Z,1736380078.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-01-08T23:47:58.748Z,1736380078.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.000000 m, nav range: 46.567631 m, bearing: 332.375251 deg, approach rate: 0.000000 m/s, LOS rate: -0.482504 deg/s, cmd heading: 57.657260 deg, new cmd heading: 56.945663 deg. 2025-01-08T23:47:58.749Z,1736380078.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993889 target range: 72.000000 and range: 72.00 m. 2025-01-08T23:47:58.972Z,1736380078.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:59.066Z,1736380079.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:59.077Z,1736380079.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-01-08T23:47:59.080Z,1736380079.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.000000 m, nav range: 46.562855 m, bearing: 332.149650 deg, approach rate: -0.013902 m/s, LOS rate: -0.656741 deg/s, cmd heading: 56.945664 deg, new cmd heading: 56.268825 deg. 2025-01-08T23:47:59.081Z,1736380079.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982076 target range: 72.000000 and range: 72.00 m. 2025-01-08T23:47:59.224Z,1736380079.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:59.476Z,1736380079.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:59.568Z,1736380079.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:59.584Z,1736380079.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:47:59.586Z,1736380079.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-01-08T23:47:59.597Z,1736380079.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.000000 m, nav range: 46.551495 m, bearing: 331.837168 deg, approach rate: -0.022307 m/s, LOS rate: -0.613750 deg/s, cmd heading: 56.268826 deg, new cmd heading: 55.331240 deg. 2025-01-08T23:47:59.598Z,1736380079.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.965712 target range: 72.000000 and range: 72.00 m. 2025-01-08T23:47:59.728Z,1736380079.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:59.729Z,1736380079.729 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:47:59.729Z,1736380079.729 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:47:59.729Z,1736380079.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:47:59.970Z,1736380079.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:47:59.978Z,1736380079.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-01-08T23:47:59.980Z,1736380079.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:47:59.981Z,1736380079.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441088 2025-01-08T23:47:59.984Z,1736380079.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.000000 m, nav range: 46.549507 m, bearing: 331.576006 deg, approach rate: -0.005068 m/s, LOS rate: -0.666047 deg/s, cmd heading: 55.331240 deg, new cmd heading: 54.547769 deg. 2025-01-08T23:47:59.984Z,1736380079.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952038 target range: 72.000000 and range: 72.00 m. 2025-01-08T23:48:00.233Z,1736380080.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:00.234Z,1736380080.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694414 2025-01-08T23:48:00.401Z,1736380080.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:00.418Z,1736380080.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-01-08T23:48:00.441Z,1736380080.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.000000 m, nav range: 46.545826 m, bearing: 331.295262 deg, approach rate: -0.008374 m/s, LOS rate: -0.638668 deg/s, cmd heading: 54.547769 deg, new cmd heading: 53.705536 deg. 2025-01-08T23:48:00.441Z,1736380080.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937338 target range: 72.000000 and range: 72.00 m. 2025-01-08T23:48:00.484Z,1736380080.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:00.484Z,1736380080.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944889 2025-01-08T23:48:00.736Z,1736380080.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:00.737Z,1736380080.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197465 2025-01-08T23:48:00.851Z,1736380080.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:00.872Z,1736380080.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-01-08T23:48:00.874Z,1736380080.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.000000 m, nav range: 46.550640 m, bearing: 330.985282 deg, approach rate: 0.010706 m/s, LOS rate: -0.689256 deg/s, cmd heading: 53.705535 deg, new cmd heading: 52.775777 deg. 2025-01-08T23:48:00.880Z,1736380080.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.921111 target range: 72.000000 and range: 72.00 m. 2025-01-08T23:48:00.988Z,1736380080.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:00.989Z,1736380080.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449465 2025-01-08T23:48:01.200Z,1736380081.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:01.229Z,1736380081.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-01-08T23:48:01.241Z,1736380081.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:01.241Z,1736380081.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701713 2025-01-08T23:48:01.244Z,1736380081.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.000000 m, nav range: 46.553673 m, bearing: 330.744187 deg, approach rate: 0.008402 m/s, LOS rate: -0.667912 deg/s, cmd heading: 52.775775 deg, new cmd heading: 52.052579 deg. 2025-01-08T23:48:01.244Z,1736380081.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.908489 target range: 72.000000 and range: 72.00 m. 2025-01-08T23:48:01.492Z,1736380081.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:01.492Z,1736380081.492 [DAT](INFO): DAT read: Rx Time:23:48:00.1940 2025-01-08T23:48:01.493Z,1736380081.493 [DAT](INFO): Rx dataTimestamp_ set to:1736380081.492530 2025-01-08T23:48:01.493Z,1736380081.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953738 2025-01-08T23:48:01.643Z,1736380081.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:01.670Z,1736380081.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:01.680Z,1736380081.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-01-08T23:48:01.684Z,1736380081.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.000000 m, nav range: 46.575729 m, bearing: 330.411638 deg, approach rate: 0.049100 m/s, LOS rate: -0.739925 deg/s, cmd heading: 52.052578 deg, new cmd heading: 51.055509 deg. 2025-01-08T23:48:01.685Z,1736380081.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.891087 target range: 72.000000 and range: 72.00 m. 2025-01-08T23:48:01.744Z,1736380081.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:01.746Z,1736380081.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206579 2025-01-08T23:48:01.996Z,1736380081.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:02.003Z,1736380082.003 [DAT](INFO): DAT read: 23:48:00.1940 LVL= 12400, 21009, 21618, 24803, AGC= 60, IDX= 414,-0.43, 2.589, 0.435, 1.182, 1.543, PHS= 1.134,-1.062,-0.364, RAW= 108.1, 3.0, CAL= 119.6, 0.3, ROT= 30.4, -0.3 2025-01-08T23:48:02.004Z,1736380082.004 [DAT](INFO): got valid direction response: 23:48:00.1940 LVL= 12400, 21009, 21618, 24803, AGC= 60, IDX= 414,-0.43, 2.589, 0.435, 1.182, 1.543, PHS= 1.134,-1.062,-0.364, RAW= 108.1, 3.0, CAL= 119.6, 0.3, ROT= 30.4, -0.3 2025-01-08T23:48:02.005Z,1736380082.005 [DAT](INFO): DAT read: Bearing 30.4, -0.3 (Local) 2025-01-08T23:48:02.005Z,1736380082.005 [DAT](INFO): Local bearing/azimuth received: Bearing 30.4, -0.3 (Local) 2025-01-08T23:48:02.007Z,1736380082.007 [DAT](INFO): DAT read: Range 10 to 50 : 70.4 m (Round-trip 93.9 ms) speed 0.6 m/s 2025-01-08T23:48:02.008Z,1736380082.008 [DAT](INFO): DAT read: user:3466> 2025-01-08T23:48:02.009Z,1736380082.009 [DAT](INFO): DAT read: Tx time:23:48:01.2959 2025-01-08T23:48:02.009Z,1736380082.009 [DAT](INFO): Ping request sent. 2025-01-08T23:48:02.009Z,1736380082.009 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:02.009Z,1736380082.009 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:48:02.010Z,1736380082.010 [DAT](INFO): direction in FSK: [-0.168410,-0.206804,0.963779] 2025-01-08T23:48:02.010Z,1736380082.010 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:02.011Z,1736380082.011 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:02.022Z,1736380082.022 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:02.022Z,1736380082.022 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:02.085Z,1736380082.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:02.122Z,1736380082.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.400002 m, deltaT: 3.526471 s, deltaX: -1.599998 m, approachRate: -0.453711 m/s, rangeRepo size: 4 2025-01-08T23:48:02.129Z,1736380082.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.400002 m, bearing: 327.078965 deg, lat: 36.905362 deg, lon: -122.120534 deg, deltaT: 3.526471 s, deltaX: -1.599998 m, approachRate: -0.453711 m/s, posRepo size: 4 2025-01-08T23:48:02.130Z,1736380082.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.40 m. 2025-01-08T23:48:02.137Z,1736380082.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.400002 m, nav range: 46.300900 m, bearing: 330.722568 deg, approach rate: 0.000000 m/s, LOS rate: -0.739925 deg/s, cmd heading: 51.055510 deg, new cmd heading: 50.070733 deg. 2025-01-08T23:48:02.138Z,1736380082.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873899 target range: 70.400002 and range: 70.40 m. 2025-01-08T23:48:02.257Z,1736380082.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:02.258Z,1736380082.258 [DAT](INFO): DAT read: TxSync time:23:48:01.2952 2025-01-08T23:48:02.440Z,1736380082.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:02.453Z,1736380082.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.40 m. 2025-01-08T23:48:02.460Z,1736380082.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.400002 m, nav range: 46.314156 m, bearing: 330.457549 deg, approach rate: 0.039974 m/s, LOS rate: -0.798947 deg/s, cmd heading: 50.070734 deg, new cmd heading: 49.275956 deg. 2025-01-08T23:48:02.461Z,1736380082.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.860028 target range: 70.400002 and range: 70.40 m. 2025-01-08T23:48:02.509Z,1736380082.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:02.760Z,1736380082.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:02.846Z,1736380082.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:02.875Z,1736380082.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.40 m. 2025-01-08T23:48:02.878Z,1736380082.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.400002 m, nav range: 46.340031 m, bearing: 330.129814 deg, approach rate: 0.061329 m/s, LOS rate: -0.776354 deg/s, cmd heading: 49.275956 deg, new cmd heading: 48.293402 deg. 2025-01-08T23:48:02.884Z,1736380082.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.842879 target range: 70.400002 and range: 70.40 m. 2025-01-08T23:48:03.013Z,1736380083.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:03.229Z,1736380083.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:03.238Z,1736380083.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.40 m. 2025-01-08T23:48:03.241Z,1736380083.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.400002 m, nav range: 46.362640 m, bearing: 329.824090 deg, approach rate: 0.062285 m/s, LOS rate: -0.841790 deg/s, cmd heading: 48.293402 deg, new cmd heading: 47.376761 deg. 2025-01-08T23:48:03.241Z,1736380083.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826880 target range: 70.400002 and range: 70.40 m. 2025-01-08T23:48:03.265Z,1736380083.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:03.516Z,1736380083.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:03.669Z,1736380083.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:03.699Z,1736380083.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:03.705Z,1736380083.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.40 m. 2025-01-08T23:48:03.713Z,1736380083.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.400002 m, nav range: 46.396904 m, bearing: 329.448600 deg, approach rate: 0.073267 m/s, LOS rate: -0.802329 deg/s, cmd heading: 47.376760 deg, new cmd heading: 46.251273 deg. 2025-01-08T23:48:03.714Z,1736380083.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807237 target range: 70.400002 and range: 70.40 m. 2025-01-08T23:48:03.769Z,1736380083.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:03.770Z,1736380083.770 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:03.770Z,1736380083.770 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:03.770Z,1736380083.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:04.020Z,1736380084.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:04.020Z,1736380084.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011399 2025-01-08T23:48:04.037Z,1736380084.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:04.047Z,1736380084.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.40 m. 2025-01-08T23:48:04.050Z,1736380084.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.400002 m, nav range: 46.424313 m, bearing: 329.133861 deg, approach rate: 0.080267 m/s, LOS rate: -0.921171 deg/s, cmd heading: 46.251271 deg, new cmd heading: 45.307702 deg. 2025-01-08T23:48:04.051Z,1736380084.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790769 target range: 70.400002 and range: 70.40 m. 2025-01-08T23:48:04.272Z,1736380084.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:04.272Z,1736380084.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263465 2025-01-08T23:48:04.457Z,1736380084.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:04.466Z,1736380084.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.40 m. 2025-01-08T23:48:04.469Z,1736380084.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.400002 m, nav range: 46.453804 m, bearing: 328.775410 deg, approach rate: 0.070392 m/s, LOS rate: -0.855020 deg/s, cmd heading: 45.307701 deg, new cmd heading: 44.233165 deg. 2025-01-08T23:48:04.470Z,1736380084.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772014 target range: 70.400002 and range: 70.40 m. 2025-01-08T23:48:04.524Z,1736380084.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:04.525Z,1736380084.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515493 2025-01-08T23:48:04.776Z,1736380084.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:04.776Z,1736380084.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767288 2025-01-08T23:48:04.871Z,1736380084.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:04.900Z,1736380084.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.40 m. 2025-01-08T23:48:04.903Z,1736380084.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.400002 m, nav range: 46.491802 m, bearing: 328.418696 deg, approach rate: 0.087448 m/s, LOS rate: -0.820255 deg/s, cmd heading: 44.233166 deg, new cmd heading: 43.164028 deg. 2025-01-08T23:48:04.908Z,1736380084.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753354 target range: 70.400002 and range: 70.40 m. 2025-01-08T23:48:05.028Z,1736380085.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:05.029Z,1736380085.029 [DAT](INFO): DAT read: Rx Time:23:48:03.7915 2025-01-08T23:48:05.030Z,1736380085.030 [DAT](INFO): Rx dataTimestamp_ set to:1736380085.029355 2025-01-08T23:48:05.030Z,1736380085.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021156 2025-01-08T23:48:05.258Z,1736380085.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:05.266Z,1736380085.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.40 m. 2025-01-08T23:48:05.269Z,1736380085.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.400002 m, nav range: 46.528912 m, bearing: 328.086080 deg, approach rate: 0.101403 m/s, LOS rate: -0.908159 deg/s, cmd heading: 43.164029 deg, new cmd heading: 42.167086 deg. 2025-01-08T23:48:05.270Z,1736380085.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.735954 target range: 70.400002 and range: 70.40 m. 2025-01-08T23:48:05.280Z,1736380085.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:05.280Z,1736380085.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271436 2025-01-08T23:48:05.532Z,1736380085.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:05.540Z,1736380085.540 [DAT](INFO): DAT read: 23:48:03.7915 LVL= 15568, 25969, 20594, 25555, AGC= 57, IDX= 420,-0.36, 1.358,-0.833,-0.366, 0.115, PHS= 1.331,-0.901,-0.484, RAW= 100.1, 0.5, CAL= 109.8, -3.4, ROT= 40.2, 3.4 2025-01-08T23:48:05.541Z,1736380085.541 [DAT](INFO): got valid direction response: 23:48:03.7915 LVL= 15568, 25969, 20594, 25555, AGC= 57, IDX= 420,-0.36, 1.358,-0.833,-0.366, 0.115, PHS= 1.331,-0.901,-0.484, RAW= 100.1, 0.5, CAL= 109.8, -3.4, ROT= 40.2, 3.4 2025-01-08T23:48:05.542Z,1736380085.542 [DAT](INFO): DAT read: Bearing 40.2, 3.4 (Local) 2025-01-08T23:48:05.542Z,1736380085.542 [DAT](INFO): Local bearing/azimuth received: Bearing 40.2, 3.4 (Local) 2025-01-08T23:48:05.544Z,1736380085.544 [DAT](INFO): DAT read: Range 10 to 50 : 68.5 m (Round-trip 91.4 ms) speed 0.4 m/s 2025-01-08T23:48:05.545Z,1736380085.545 [DAT](INFO): DAT read: user:3467> 2025-01-08T23:48:05.546Z,1736380085.546 [DAT](INFO): DAT read: Tx time:23:48:04.8959 2025-01-08T23:48:05.547Z,1736380085.547 [DAT](INFO): Ping request sent. 2025-01-08T23:48:05.547Z,1736380085.547 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:05.547Z,1736380085.547 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:48:05.548Z,1736380085.548 [DAT](INFO): direction in FSK: [-0.110371,-0.068978,0.991494] 2025-01-08T23:48:05.548Z,1736380085.548 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:05.549Z,1736380085.549 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:05.565Z,1736380085.565 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:05.565Z,1736380085.565 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:05.756Z,1736380085.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:05.784Z,1736380085.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:05.785Z,1736380085.785 [DAT](INFO): DAT read: TxSync time:23:48:04.8952 2025-01-08T23:48:05.807Z,1736380085.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.500000 m, deltaT: 3.535312 s, deltaX: -1.900002 m, approachRate: -0.537435 m/s, rangeRepo size: 4 2025-01-08T23:48:05.814Z,1736380085.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.500000 m, bearing: 346.876900 deg, lat: 36.905177 deg, lon: -122.120390 deg, deltaT: 3.535312 s, deltaX: -1.900002 m, approachRate: -0.537435 m/s, posRepo size: 4 2025-01-08T23:48:05.815Z,1736380085.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m. 2025-01-08T23:48:05.821Z,1736380085.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.500000 m, nav range: 22.314754 m, bearing: 327.018215 deg, approach rate: 0.000000 m/s, LOS rate: -0.908159 deg/s, cmd heading: 42.167085 deg, new cmd heading: 40.696451 deg. 2025-01-08T23:48:05.822Z,1736380085.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710287 target range: 68.500000 and range: 68.50 m. 2025-01-08T23:48:06.036Z,1736380086.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:06.114Z,1736380086.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:06.130Z,1736380086.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:06.137Z,1736380086.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m. 2025-01-08T23:48:06.143Z,1736380086.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.500000 m, nav range: 22.339243 m, bearing: 326.389082 deg, approach rate: 0.074107 m/s, LOS rate: -1.901753 deg/s, cmd heading: 40.696453 deg, new cmd heading: 38.811841 deg. 2025-01-08T23:48:06.144Z,1736380086.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677394 target range: 68.500000 and range: 68.50 m. 2025-01-08T23:48:06.288Z,1736380086.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:06.288Z,1736380086.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:06.289Z,1736380086.289 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:06.289Z,1736380086.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:06.508Z,1736380086.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:06.517Z,1736380086.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m. 2025-01-08T23:48:06.520Z,1736380086.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.500000 m, nav range: 22.366175 m, bearing: 325.698730 deg, approach rate: 0.070829 m/s, LOS rate: -1.813355 deg/s, cmd heading: 38.811843 deg, new cmd heading: 36.744227 deg. 2025-01-08T23:48:06.521Z,1736380086.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.641308 target range: 68.500000 and range: 68.50 m. 2025-01-08T23:48:06.540Z,1736380086.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:06.540Z,1736380086.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993647 2025-01-08T23:48:06.792Z,1736380086.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:06.792Z,1736380086.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245537 2025-01-08T23:48:06.940Z,1736380086.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:06.950Z,1736380086.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m. 2025-01-08T23:48:06.953Z,1736380086.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.500000 m, nav range: 22.387230 m, bearing: 324.967156 deg, approach rate: 0.048631 m/s, LOS rate: -1.688069 deg/s, cmd heading: 36.744229 deg, new cmd heading: 34.552699 deg. 2025-01-08T23:48:06.959Z,1736380086.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603058 target range: 68.500000 and range: 68.50 m. 2025-01-08T23:48:07.044Z,1736380087.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:07.045Z,1736380087.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497818 2025-01-08T23:48:07.296Z,1736380087.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:07.296Z,1736380087.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749622 2025-01-08T23:48:07.335Z,1736380087.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:07.366Z,1736380087.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m. 2025-01-08T23:48:07.374Z,1736380087.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.500000 m, nav range: 22.401939 m, bearing: 324.299755 deg, approach rate: 0.035436 m/s, LOS rate: -1.606724 deg/s, cmd heading: 34.552701 deg, new cmd heading: 32.552670 deg. 2025-01-08T23:48:07.375Z,1736380087.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568151 target range: 68.500000 and range: 68.50 m. 2025-01-08T23:48:07.548Z,1736380087.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:07.548Z,1736380087.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001674 2025-01-08T23:48:07.751Z,1736380087.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:07.760Z,1736380087.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m. 2025-01-08T23:48:07.763Z,1736380087.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.500000 m, nav range: 22.397696 m, bearing: 323.659952 deg, approach rate: -0.010761 m/s, LOS rate: -1.622540 deg/s, cmd heading: 32.552671 deg, new cmd heading: 30.633659 deg. 2025-01-08T23:48:07.784Z,1736380087.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534658 target range: 68.500000 and range: 68.50 m. 2025-01-08T23:48:07.800Z,1736380087.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:07.801Z,1736380087.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253788 2025-01-08T23:48:08.052Z,1736380088.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:08.053Z,1736380088.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506238 2025-01-08T23:48:08.141Z,1736380088.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:08.160Z,1736380088.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:08.162Z,1736380088.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m. 2025-01-08T23:48:08.170Z,1736380088.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.500000 m, nav range: 22.392061 m, bearing: 323.080098 deg, approach rate: -0.014004 m/s, LOS rate: -1.441525 deg/s, cmd heading: 30.633658 deg, new cmd heading: 28.894222 deg. 2025-01-08T23:48:08.170Z,1736380088.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.504299 target range: 68.500000 and range: 68.50 m. 2025-01-08T23:48:08.304Z,1736380088.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:08.305Z,1736380088.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757922 2025-01-08T23:48:08.527Z,1736380088.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:08.542Z,1736380088.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m. 2025-01-08T23:48:08.556Z,1736380088.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:08.557Z,1736380088.557 [DAT](INFO): DAT read: Rx Time:23:48:07.3896 2025-01-08T23:48:08.557Z,1736380088.557 [DAT](INFO): Rx dataTimestamp_ set to:1736380088.556725 2025-01-08T23:48:08.557Z,1736380088.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010718 2025-01-08T23:48:08.565Z,1736380088.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.500000 m, nav range: 22.383705 m, bearing: 322.464456 deg, approach rate: -0.021984 m/s, LOS rate: -1.620297 deg/s, cmd heading: 28.894221 deg, new cmd heading: 27.047280 deg. 2025-01-08T23:48:08.566Z,1736380088.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472064 target range: 68.500000 and range: 68.50 m. 2025-01-08T23:48:08.808Z,1736380088.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:08.808Z,1736380088.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261634 2025-01-08T23:48:08.978Z,1736380088.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:08.988Z,1736380088.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m. 2025-01-08T23:48:08.991Z,1736380088.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.500000 m, nav range: 22.343779 m, bearing: 321.838869 deg, approach rate: -0.089625 m/s, LOS rate: -1.406766 deg/s, cmd heading: 27.047279 deg, new cmd heading: 25.167878 deg. 2025-01-08T23:48:08.992Z,1736380088.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439262 target range: 68.500000 and range: 68.50 m. 2025-01-08T23:48:09.061Z,1736380089.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:09.064Z,1736380089.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515922 2025-01-08T23:48:09.312Z,1736380089.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:09.320Z,1736380089.320 [DAT](INFO): DAT read: 23:48:07.3896 LVL= 16512, 24257, 20642, 27843, AGC= 56, IDX= 416,-0.27,-1.094, 3.112,-3.027,-2.278, PHS= 1.271,-0.846,-0.752, RAW= 92.3, 3.2, CAL= 100.2, 1.2, ROT= 49.8, -1.2 2025-01-08T23:48:09.321Z,1736380089.321 [DAT](INFO): got valid direction response: 23:48:07.3896 LVL= 16512, 24257, 20642, 27843, AGC= 56, IDX= 416,-0.27,-1.094, 3.112,-3.027,-2.278, PHS= 1.271,-0.846,-0.752, RAW= 92.3, 3.2, CAL= 100.2, 1.2, ROT= 49.8, -1.2 2025-01-08T23:48:09.325Z,1736380089.325 [DAT](INFO): DAT read: Bearing 49.8, -1.2 (Local) 2025-01-08T23:48:09.326Z,1736380089.326 [DAT](INFO): Local bearing/azimuth received: Bearing 49.8, -1.2 (Local) 2025-01-08T23:48:09.329Z,1736380089.329 [DAT](INFO): DAT read: Range 10 to 50 : 67.0 m (Round-trip 89.4 ms) speed 0.2 m/s 2025-01-08T23:48:09.330Z,1736380089.330 [DAT](INFO): DAT read: user:3468> 2025-01-08T23:48:09.330Z,1736380089.330 [DAT](INFO): DAT read: Tx time:23:48:08.4960 2025-01-08T23:48:09.331Z,1736380089.331 [DAT](INFO): Ping request sent. 2025-01-08T23:48:09.331Z,1736380089.331 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:09.331Z,1736380089.331 [DAT](INFO): DAT read: TxSync time:23:48:08.4953 2025-01-08T23:48:09.332Z,1736380089.332 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:48:09.333Z,1736380089.333 [DAT](INFO): direction in FSK: [-0.149307,0.071656,0.986191] 2025-01-08T23:48:09.333Z,1736380089.333 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:09.333Z,1736380089.333 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:09.336Z,1736380089.336 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:09.337Z,1736380089.337 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:09.418Z,1736380089.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:09.474Z,1736380089.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.000000 m, deltaT: 3.781056 s, deltaX: -1.500000 m, approachRate: -0.396715 m/s, rangeRepo size: 4 2025-01-08T23:48:09.481Z,1736380089.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 67.000000 m, bearing: 128.334318 deg, lat: 36.905136 deg, lon: -122.120343 deg, deltaT: 3.781056 s, deltaX: -1.500000 m, approachRate: -0.396715 m/s, posRepo size: 4 2025-01-08T23:48:09.481Z,1736380089.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m. 2025-01-08T23:48:09.493Z,1736380089.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.000000 m, nav range: 16.199341 m, bearing: 322.721065 deg, approach rate: 0.000000 m/s, LOS rate: -1.406766 deg/s, cmd heading: 25.167878 deg, new cmd heading: 23.115492 deg. 2025-01-08T23:48:09.501Z,1736380089.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.403441 target range: 67.000000 and range: 67.00 m. 2025-01-08T23:48:09.564Z,1736380089.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:09.816Z,1736380089.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:09.824Z,1736380089.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:09.845Z,1736380089.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m. 2025-01-08T23:48:09.852Z,1736380089.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.000000 m, nav range: 16.124878 m, bearing: 322.051536 deg, approach rate: -0.200840 m/s, LOS rate: -1.814140 deg/s, cmd heading: 23.115491 deg, new cmd heading: 21.098510 deg. 2025-01-08T23:48:09.853Z,1736380089.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.368238 target range: 67.000000 and range: 67.00 m. 2025-01-08T23:48:10.069Z,1736380090.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:10.146Z,1736380090.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:10.155Z,1736380090.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m. 2025-01-08T23:48:10.174Z,1736380090.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.000000 m, nav range: 16.063862 m, bearing: 321.521470 deg, approach rate: -0.196598 m/s, LOS rate: -1.714376 deg/s, cmd heading: 21.098509 deg, new cmd heading: 19.502705 deg. 2025-01-08T23:48:10.175Z,1736380090.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.340386 target range: 67.000000 and range: 67.00 m. 2025-01-08T23:48:10.320Z,1736380090.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:10.572Z,1736380090.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:10.594Z,1736380090.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:10.601Z,1736380090.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:10.603Z,1736380090.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m. 2025-01-08T23:48:10.606Z,1736380090.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.000000 m, nav range: 15.975291 m, bearing: 320.782840 deg, approach rate: -0.197621 m/s, LOS rate: -1.657146 deg/s, cmd heading: 19.502705 deg, new cmd heading: 17.275713 deg. 2025-01-08T23:48:10.607Z,1736380090.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.301518 target range: 67.000000 and range: 67.00 m. 2025-01-08T23:48:10.824Z,1736380090.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:10.824Z,1736380090.824 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:10.824Z,1736380090.824 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:10.824Z,1736380090.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:11.010Z,1736380091.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:11.020Z,1736380091.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m. 2025-01-08T23:48:11.043Z,1736380091.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.000000 m, nav range: 15.873137 m, bearing: 320.181570 deg, approach rate: -0.244745 m/s, LOS rate: -1.449794 deg/s, cmd heading: 17.275714 deg, new cmd heading: 15.460936 deg. 2025-01-08T23:48:11.044Z,1736380091.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.269844 target range: 67.000000 and range: 67.00 m. 2025-01-08T23:48:11.076Z,1736380091.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:11.077Z,1736380091.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745814 2025-01-08T23:48:11.328Z,1736380091.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:11.329Z,1736380091.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997704 2025-01-08T23:48:11.463Z,1736380091.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:11.501Z,1736380091.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m. 2025-01-08T23:48:11.504Z,1736380091.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.000000 m, nav range: 15.757871 m, bearing: 319.532631 deg, approach rate: -0.240801 m/s, LOS rate: -1.365568 deg/s, cmd heading: 15.460936 deg, new cmd heading: 13.500687 deg. 2025-01-08T23:48:11.505Z,1736380091.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.235631 target range: 67.000000 and range: 67.00 m. 2025-01-08T23:48:11.580Z,1736380091.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:11.582Z,1736380091.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250928 2025-01-08T23:48:11.832Z,1736380091.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:11.832Z,1736380091.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501743 2025-01-08T23:48:11.904Z,1736380091.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:11.933Z,1736380091.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m. 2025-01-08T23:48:11.940Z,1736380091.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.000000 m, nav range: 15.631114 m, bearing: 318.924107 deg, approach rate: -0.292331 m/s, LOS rate: -1.414757 deg/s, cmd heading: 13.500687 deg, new cmd heading: 11.660978 deg. 2025-01-08T23:48:11.941Z,1736380091.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.203522 target range: 67.000000 and range: 67.00 m. 2025-01-08T23:48:12.084Z,1736380092.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:12.086Z,1736380092.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754389 2025-01-08T23:48:12.272Z,1736380092.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:12.282Z,1736380092.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m. 2025-01-08T23:48:12.285Z,1736380092.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.000000 m, nav range: 15.517325 m, bearing: 318.436925 deg, approach rate: -0.325915 m/s, LOS rate: -1.405610 deg/s, cmd heading: 11.660978 deg, new cmd heading: 10.189054 deg. 2025-01-08T23:48:12.286Z,1736380092.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.177833 target range: 67.000000 and range: 67.00 m. 2025-01-08T23:48:12.336Z,1736380092.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:12.338Z,1736380092.338 [DAT](INFO): DAT read: Rx Time:23:48:10.9881 2025-01-08T23:48:12.339Z,1736380092.339 [DAT](INFO): Rx dataTimestamp_ set to:1736380092.338485 2025-01-08T23:48:12.340Z,1736380092.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009243 2025-01-08T23:48:12.588Z,1736380092.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:12.588Z,1736380092.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257669 2025-01-08T23:48:12.783Z,1736380092.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:48:12.784Z,1736380092.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:12.791Z,1736380092.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:12.793Z,1736380092.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.00 m. 2025-01-08T23:48:12.796Z,1736380092.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.000000 m, nav range: 15.361437 m, bearing: 317.749540 deg, approach rate: -0.304964 m/s, LOS rate: -1.358342 deg/s, cmd heading: 10.189054 deg, new cmd heading: 8.106940 deg. 2025-01-08T23:48:12.797Z,1736380092.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.141493 target range: 67.000000 and range: 67.00 m. 2025-01-08T23:48:12.840Z,1736380092.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:12.848Z,1736380092.848 [DAT](INFO): DAT read: 23:48:10.9881 LVL= 9760, 22449, 14962, 25331, AGC= 56, IDX= 434,-0.48,-2.199, 2.325, 1.828, 2.973, PHS= 1.199,-0.601,-1.148, RAW= 77.1, 5.2, CAL= 81.1, 4.9, ROT= 68.9, -4.9 2025-01-08T23:48:12.849Z,1736380092.849 [DAT](INFO): got valid direction response: 23:48:10.9881 LVL= 9760, 22449, 14962, 25331, AGC= 56, IDX= 434,-0.48,-2.199, 2.325, 1.828, 2.973, PHS= 1.199,-0.601,-1.148, RAW= 77.1, 5.2, CAL= 81.1, 4.9, ROT= 68.9, -4.9 2025-01-08T23:48:12.850Z,1736380092.850 [DAT](INFO): DAT read: Bearing 68.9, -4.9 (Local) 2025-01-08T23:48:12.850Z,1736380092.850 [DAT](INFO): Local bearing/azimuth received: Bearing 68.9, -4.9 (Local) 2025-01-08T23:48:12.852Z,1736380092.852 [DAT](INFO): DAT read: Range 10 to 50 : 65.9 m (Round-trip 87.9 ms) speed 0.1 m/s 2025-01-08T23:48:12.853Z,1736380092.853 [DAT](INFO): DAT read: user:3469> 2025-01-08T23:48:12.854Z,1736380092.854 [DAT](INFO): DAT read: Tx time:23:48:12.0960 2025-01-08T23:48:12.854Z,1736380092.854 [DAT](INFO): Ping request sent. 2025-01-08T23:48:12.854Z,1736380092.854 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:12.854Z,1736380092.854 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:48:12.860Z,1736380092.860 [DAT](INFO): direction in FSK: [-0.160390,0.325841,0.931721] 2025-01-08T23:48:12.860Z,1736380092.860 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:12.860Z,1736380092.860 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:12.866Z,1736380092.866 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:12.866Z,1736380092.866 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:13.092Z,1736380093.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:13.093Z,1736380093.093 [DAT](INFO): DAT read: TxSync time:23:48:12.0953 2025-01-08T23:48:13.250Z,1736380093.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T23:48:13.250Z,1736380093.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:13.266Z,1736380093.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.900002 m, deltaT: 3.527003 s, deltaX: -1.099998 m, approachRate: -0.311879 m/s, rangeRepo size: 4 2025-01-08T23:48:13.270Z,1736380093.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.900002 m, bearing: 115.159420 deg, lat: 36.905078 deg, lon: -122.120274 deg, deltaT: 3.527003 s, deltaX: -1.099998 m, approachRate: -0.311879 m/s, posRepo size: 4 2025-01-08T23:48:13.274Z,1736380093.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:13.277Z,1736380093.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 6.259627 m, bearing: 318.416565 deg, approach rate: 0.000000 m/s, LOS rate: -1.358342 deg/s, cmd heading: 8.106940 deg, new cmd heading: 6.183387 deg. 2025-01-08T23:48:13.278Z,1736380093.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107920 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:48:13.344Z,1736380093.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:13.596Z,1736380093.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:13.670Z,1736380093.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T23:48:13.670Z,1736380093.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:13.690Z,1736380093.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:13.721Z,1736380093.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 6.117589 m, bearing: 317.131694 deg, approach rate: -0.334642 m/s, LOS rate: -3.097197 deg/s, cmd heading: 6.183387 deg, new cmd heading: 2.245819 deg. 2025-01-08T23:48:13.730Z,1736380093.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039197 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:48:13.848Z,1736380093.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:14.100Z,1736380094.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:14.188Z,1736380094.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:14.198Z,1736380094.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:14.200Z,1736380094.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.947876 m, bearing: 315.425863 deg, approach rate: -0.334184 m/s, LOS rate: -3.454305 deg/s, cmd heading: 2.245819 deg, new cmd heading: 356.997811 deg. 2025-01-08T23:48:14.201Z,1736380094.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.230787 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:48:14.352Z,1736380094.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:14.574Z,1736380094.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:14.604Z,1736380094.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:14.615Z,1736380094.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:14.618Z,1736380094.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.821067 m, bearing: 314.140767 deg, approach rate: -0.306624 m/s, LOS rate: -3.174788 deg/s, cmd heading: 356.997814 deg, new cmd heading: 353.065058 deg. 2025-01-08T23:48:14.619Z,1736380094.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162148 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:48:14.856Z,1736380094.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:14.996Z,1736380094.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:15.003Z,1736380095.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:15.005Z,1736380095.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:15.008Z,1736380095.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.698609 m, bearing: 312.468703 deg, approach rate: -0.310560 m/s, LOS rate: -4.330959 deg/s, cmd heading: 353.065046 deg, new cmd heading: 347.955375 deg. 2025-01-08T23:48:15.009Z,1736380095.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072967 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:48:15.108Z,1736380095.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:15.108Z,1736380095.108 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:15.108Z,1736380095.108 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:15.109Z,1736380095.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:15.360Z,1736380095.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:15.360Z,1736380095.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506442 2025-01-08T23:48:15.405Z,1736380095.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:15.415Z,1736380095.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:15.428Z,1736380095.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.580068 m, bearing: 310.823340 deg, approach rate: -0.289677 m/s, LOS rate: -4.105599 deg/s, cmd heading: 347.955381 deg, new cmd heading: 342.928067 deg. 2025-01-08T23:48:15.429Z,1736380095.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.985224 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:48:15.612Z,1736380095.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:15.613Z,1736380095.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759234 2025-01-08T23:48:15.838Z,1736380095.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:15.848Z,1736380095.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:15.850Z,1736380095.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.486517 m, bearing: 308.766582 deg, approach rate: -0.216252 m/s, LOS rate: -4.834406 deg/s, cmd heading: 342.928061 deg, new cmd heading: 336.678825 deg. 2025-01-08T23:48:15.852Z,1736380095.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876154 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:48:15.864Z,1736380095.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:15.865Z,1736380095.865 [DAT](INFO): DAT read: Rx Time:23:48:14.5874 2025-01-08T23:48:15.865Z,1736380095.865 [DAT](INFO): Rx dataTimestamp_ set to:1736380095.864756 2025-01-08T23:48:15.866Z,1736380095.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011646 2025-01-08T23:48:16.117Z,1736380096.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:16.118Z,1736380096.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263288 2025-01-08T23:48:16.193Z,1736380096.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:16.206Z,1736380096.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:16.209Z,1736380096.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.410504 m, bearing: 307.050573 deg, approach rate: -0.211806 m/s, LOS rate: -4.848022 deg/s, cmd heading: 336.678821 deg, new cmd heading: 331.473614 deg. 2025-01-08T23:48:16.210Z,1736380096.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785306 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:48:16.368Z,1736380096.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:16.369Z,1736380096.369 [DAT](INFO): DAT read: Range 10 to 50 : 65.4 m (Round-trip 87.2 ms) speed 0.0 m/s 2025-01-08T23:48:16.370Z,1736380096.370 [DAT](INFO): DAT read: user:3470> 2025-01-08T23:48:16.371Z,1736380096.371 [DAT](INFO): DAT read: Tx time:23:48:15.6960 2025-01-08T23:48:16.371Z,1736380096.371 [DAT](INFO): Ping request sent. 2025-01-08T23:48:16.371Z,1736380096.371 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:16.372Z,1736380096.372 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:48:16.372Z,1736380096.372 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:16.372Z,1736380096.372 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:16.600Z,1736380096.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:16.622Z,1736380096.622 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:16.622Z,1736380096.622 [DAT](INFO): DAT read: TxSync time:23:48:15.6953 2025-01-08T23:48:16.630Z,1736380096.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.527894 s, deltaX: -0.500000 m, approachRate: -0.141728 m/s, rangeRepo size: 4 2025-01-08T23:48:16.635Z,1736380096.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:16.641Z,1736380096.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.324161 m, bearing: 305.046719 deg, approach rate: -0.203814 m/s, LOS rate: -4.805860 deg/s, cmd heading: 331.473616 deg, new cmd heading: 325.388789 deg. 2025-01-08T23:48:16.642Z,1736380096.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679106 target range: 65.900002 and range: 65.40 m. 2025-01-08T23:48:16.872Z,1736380096.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:17.019Z,1736380097.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:17.042Z,1736380097.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:17.048Z,1736380097.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:17.051Z,1736380097.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.266611 m, bearing: 302.702586 deg, approach rate: -0.137523 m/s, LOS rate: -5.661253 deg/s, cmd heading: 325.388791 deg, new cmd heading: 318.317651 deg. 2025-01-08T23:48:17.056Z,1736380097.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555691 target range: 65.900002 and range: 65.40 m. 2025-01-08T23:48:17.124Z,1736380097.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:17.124Z,1736380097.124 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:17.125Z,1736380097.125 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:17.125Z,1736380097.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:17.376Z,1736380097.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:17.376Z,1736380097.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004903 2025-01-08T23:48:17.418Z,1736380097.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:17.427Z,1736380097.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:17.432Z,1736380097.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.214982 m, bearing: 300.432750 deg, approach rate: -0.136319 m/s, LOS rate: -6.050938 deg/s, cmd heading: 318.317660 deg, new cmd heading: 311.475251 deg. 2025-01-08T23:48:17.433Z,1736380097.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.436269 target range: 65.900002 and range: 65.40 m. 2025-01-08T23:48:17.629Z,1736380097.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:17.631Z,1736380097.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259064 2025-01-08T23:48:17.880Z,1736380097.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:17.881Z,1736380097.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509115 2025-01-08T23:48:17.886Z,1736380097.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:17.900Z,1736380097.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:17.902Z,1736380097.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.189681 m, bearing: 297.586912 deg, approach rate: -0.053595 m/s, LOS rate: -6.055107 deg/s, cmd heading: 311.475259 deg, new cmd heading: 302.962837 deg. 2025-01-08T23:48:17.903Z,1736380097.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287699 target range: 65.900002 and range: 65.40 m. 2025-01-08T23:48:18.134Z,1736380098.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:18.134Z,1736380098.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762751 2025-01-08T23:48:18.267Z,1736380098.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:18.276Z,1736380098.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:18.279Z,1736380098.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.173802 m, bearing: 295.252214 deg, approach rate: -0.042185 m/s, LOS rate: -6.220085 deg/s, cmd heading: 302.962849 deg, new cmd heading: 295.974071 deg. 2025-01-08T23:48:18.280Z,1736380098.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.165722 target range: 65.900002 and range: 65.40 m. 2025-01-08T23:48:18.384Z,1736380098.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:18.385Z,1736380098.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013182 2025-01-08T23:48:18.636Z,1736380098.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:18.636Z,1736380098.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265079 2025-01-08T23:48:18.686Z,1736380098.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:18.702Z,1736380098.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:18.709Z,1736380098.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.160837 m, bearing: 292.678948 deg, approach rate: -0.030365 m/s, LOS rate: -6.039521 deg/s, cmd heading: 295.974063 deg, new cmd heading: 288.283984 deg. 2025-01-08T23:48:18.710Z,1736380098.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.031505 target range: 65.900002 and range: 65.40 m. 2025-01-08T23:48:18.888Z,1736380098.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:18.888Z,1736380098.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516900 2025-01-08T23:48:19.120Z,1736380099.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:19.127Z,1736380099.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:19.129Z,1736380099.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:19.132Z,1736380099.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.170038 m, bearing: 290.002897 deg, approach rate: 0.021565 m/s, LOS rate: -6.258565 deg/s, cmd heading: 288.283980 deg, new cmd heading: 280.324627 deg. 2025-01-08T23:48:19.133Z,1736380099.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.892588 target range: 65.900002 and range: 65.40 m. 2025-01-08T23:48:19.140Z,1736380099.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:19.141Z,1736380099.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769342 2025-01-08T23:48:19.392Z,1736380099.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:19.393Z,1736380099.393 [DAT](INFO): DAT read: Rx Time:23:48:18.1872 2025-01-08T23:48:19.393Z,1736380099.393 [DAT](INFO): Rx dataTimestamp_ set to:1736380099.392896 2025-01-08T23:48:19.394Z,1736380099.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022287 2025-01-08T23:48:19.469Z,1736380099.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:19.478Z,1736380099.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:48:19.481Z,1736380099.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 5.176119 m, bearing: 287.855886 deg, approach rate: 0.017449 m/s, LOS rate: -6.152007 deg/s, cmd heading: 280.324624 deg, new cmd heading: 273.919480 deg. 2025-01-08T23:48:19.482Z,1736380099.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780797 target range: 65.900002 and range: 65.40 m. 2025-01-08T23:48:19.488Z,1736380099.488 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:48:19.644Z,1736380099.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:19.644Z,1736380099.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272999 2025-01-08T23:48:19.898Z,1736380099.898 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:19.912Z,1736380099.912 [DAT](INFO): DAT read: 23:48:18.1872 LVL= 13200, 13985, 15186, 18707, AGC= 55, IDX= 439, 0.08,-1.810,-2.643, 2.027,-2.884, PHS= 1.162, 0.289,-1.375, RAW= 49.8, -0.7, CAL= 50.8, -3.3, ROT= 99.2, 3.3 2025-01-08T23:48:19.913Z,1736380099.913 [DAT](INFO): got valid direction response: 23:48:18.1872 LVL= 13200, 13985, 15186, 18707, AGC= 55, IDX= 439, 0.08,-1.810,-2.643, 2.027,-2.884, PHS= 1.162, 0.289,-1.375, RAW= 49.8, -0.7, CAL= 50.8, -3.3, ROT= 99.2, 3.3 2025-01-08T23:48:19.914Z,1736380099.914 [DAT](INFO): DAT read: Bearing 99.2, 3.3 (Local) 2025-01-08T23:48:19.915Z,1736380099.915 [DAT](INFO): Local bearing/azimuth received: Bearing 99.2, 3.3 (Local) 2025-01-08T23:48:19.921Z,1736380099.921 [DAT](INFO): DAT read: Range 10 to 50 : 65.2 m (Round-trip 87.0 ms) speed -0.2 m/s 2025-01-08T23:48:19.921Z,1736380099.921 [DAT](INFO): DAT read: user:3471> 2025-01-08T23:48:19.922Z,1736380099.922 [DAT](INFO): DAT read: Tx time:23:48:19.2961 2025-01-08T23:48:19.922Z,1736380099.922 [DAT](INFO): Ping request sent. 2025-01-08T23:48:19.922Z,1736380099.922 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:19.923Z,1736380099.923 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:48:19.928Z,1736380099.928 [DAT](INFO): direction in FSK: [0.004559,0.704510,0.709680] 2025-01-08T23:48:19.928Z,1736380099.928 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:19.929Z,1736380099.929 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:19.936Z,1736380099.936 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:19.937Z,1736380099.937 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:20.011Z,1736380100.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:20.054Z,1736380100.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.199997 m, deltaT: 3.530262 s, deltaX: -0.200005 m, approachRate: -0.056654 m/s, rangeRepo size: 4 2025-01-08T23:48:20.061Z,1736380100.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.199997 m, bearing: 75.807279 deg, lat: 36.905078 deg, lon: -122.120181 deg, deltaT: 7.058156 s, deltaX: -0.700005 m, approachRate: -0.099177 m/s, posRepo size: 4 2025-01-08T23:48:20.062Z,1736380100.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.20 m. 2025-01-08T23:48:20.073Z,1736380100.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.199997 m, nav range: 3.512353 m, bearing: 68.070317 deg, approach rate: 0.000000 m/s, LOS rate: -6.152007 deg/s, cmd heading: 273.919491 deg, new cmd heading: 263.406888 deg. 2025-01-08T23:48:20.074Z,1736380100.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.597318 target range: 65.199997 and range: 65.20 m. 2025-01-08T23:48:20.148Z,1736380100.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:20.150Z,1736380100.150 [DAT](INFO): DAT read: TxSync time:23:48:19.2954 2025-01-08T23:48:20.400Z,1736380100.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:20.409Z,1736380100.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:20.425Z,1736380100.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.20 m. 2025-01-08T23:48:20.444Z,1736380100.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.199997 m, nav range: 3.385199 m, bearing: 70.933683 deg, approach rate: -0.342198 m/s, LOS rate: 7.992043 deg/s, cmd heading: 263.406901 deg, new cmd heading: 272.245174 deg. 2025-01-08T23:48:20.446Z,1736380100.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.751575 target range: 65.199997 and range: 65.20 m. 2025-01-08T23:48:20.652Z,1736380100.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:20.779Z,1736380100.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:20.835Z,1736380100.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.20 m. 2025-01-08T23:48:20.857Z,1736380100.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.199997 m, nav range: 3.275405 m, bearing: 73.780784 deg, approach rate: -0.269076 m/s, LOS rate: 7.208392 deg/s, cmd heading: 272.245166 deg, new cmd heading: 281.000359 deg. 2025-01-08T23:48:20.858Z,1736380100.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.904381 target range: 65.199997 and range: 65.20 m. 2025-01-08T23:48:20.904Z,1736380100.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:21.156Z,1736380101.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:21.210Z,1736380101.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:21.217Z,1736380101.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:21.220Z,1736380101.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.20 m. 2025-01-08T23:48:21.222Z,1736380101.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.199997 m, nav range: 3.190493 m, bearing: 77.322723 deg, approach rate: -0.219882 m/s, LOS rate: 9.410053 deg/s, cmd heading: 281.000348 deg, new cmd heading: 291.773246 deg. 2025-01-08T23:48:21.225Z,1736380101.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.092404 target range: 65.199997 and range: 65.20 m. 2025-01-08T23:48:21.408Z,1736380101.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:21.408Z,1736380101.408 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:21.408Z,1736380101.408 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:21.409Z,1736380101.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:21.603Z,1736380101.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:21.611Z,1736380101.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.20 m. 2025-01-08T23:48:21.614Z,1736380101.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.199997 m, nav range: 3.126014 m, bearing: 80.606934 deg, approach rate: -0.164658 m/s, LOS rate: 8.555186 deg/s, cmd heading: 291.773250 deg, new cmd heading: 301.722383 deg. 2025-01-08T23:48:21.615Z,1736380101.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.266049 target range: 65.199997 and range: 65.20 m. 2025-01-08T23:48:21.661Z,1736380101.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:21.662Z,1736380101.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739300 2025-01-08T23:48:21.912Z,1736380101.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:21.913Z,1736380101.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990605 2025-01-08T23:48:22.044Z,1736380102.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:22.054Z,1736380102.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.20 m. 2025-01-08T23:48:22.057Z,1736380102.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.199997 m, nav range: 3.134975 m, bearing: 84.713560 deg, approach rate: 0.020241 m/s, LOS rate: 9.241633 deg/s, cmd heading: 301.722377 deg, new cmd heading: 313.813768 deg. 2025-01-08T23:48:22.058Z,1736380102.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477084 target range: 65.199997 and range: 65.20 m. 2025-01-08T23:48:22.164Z,1736380102.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:22.166Z,1736380102.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243187 2025-01-08T23:48:22.416Z,1736380102.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:22.417Z,1736380102.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494071 2025-01-08T23:48:22.438Z,1736380102.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:22.448Z,1736380102.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.20 m. 2025-01-08T23:48:22.450Z,1736380102.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.199997 m, nav range: 3.161200 m, bearing: 88.237534 deg, approach rate: 0.066631 m/s, LOS rate: 8.873791 deg/s, cmd heading: 313.813779 deg, new cmd heading: 324.176887 deg. 2025-01-08T23:48:22.452Z,1736380102.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657954 target range: 65.199997 and range: 65.20 m. 2025-01-08T23:48:22.668Z,1736380102.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:22.669Z,1736380102.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746711 2025-01-08T23:48:22.896Z,1736380102.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:22.920Z,1736380102.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:22.921Z,1736380102.921 [DAT](INFO): DAT read: Rx Time:23:48:21.7887 2025-01-08T23:48:22.921Z,1736380102.921 [DAT](INFO): Rx dataTimestamp_ set to:1736380102.920736 2025-01-08T23:48:22.922Z,1736380102.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999055 2025-01-08T23:48:22.924Z,1736380102.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.20 m. 2025-01-08T23:48:22.926Z,1736380102.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.199997 m, nav range: 3.212156 m, bearing: 92.173515 deg, approach rate: 0.107936 m/s, LOS rate: 8.198606 deg/s, cmd heading: 324.176897 deg, new cmd heading: 335.633229 deg. 2025-01-08T23:48:22.931Z,1736380102.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857905 target range: 65.199997 and range: 65.20 m. 2025-01-08T23:48:23.172Z,1736380103.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:23.173Z,1736380103.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250312 2025-01-08T23:48:23.253Z,1736380103.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:23.260Z,1736380103.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:23.264Z,1736380103.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.20 m. 2025-01-08T23:48:23.266Z,1736380103.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.199997 m, nav range: 3.303003 m, bearing: 95.127575 deg, approach rate: 0.264257 m/s, LOS rate: 8.352715 deg/s, cmd heading: 335.633228 deg, new cmd heading: 344.183794 deg. 2025-01-08T23:48:23.268Z,1736380103.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007141 target range: 65.199997 and range: 65.20 m. 2025-01-08T23:48:23.424Z,1736380103.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:23.425Z,1736380103.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502193 2025-01-08T23:48:23.648Z,1736380103.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:23.662Z,1736380103.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.20 m. 2025-01-08T23:48:23.670Z,1736380103.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.199997 m, nav range: 3.417043 m, bearing: 98.112335 deg, approach rate: 0.286119 m/s, LOS rate: 7.235380 deg/s, cmd heading: 344.183805 deg, new cmd heading: 352.770463 deg. 2025-01-08T23:48:23.672Z,1736380103.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157006 target range: 65.199997 and range: 65.20 m. 2025-01-08T23:48:23.676Z,1736380103.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:23.692Z,1736380103.692 [DAT](INFO): DAT read: 23:48:21.7887 LVL= 16928, 19841, 19218, 26483, AGC= 55, IDX= 438,-0.04, 3.100,-2.824, 1.116, 2.636, PHS= 0.552, 0.870,-1.523, RAW= 23.0, 0.9, CAL= 22.4, -0.1, ROT= 127.6, 0.1 2025-01-08T23:48:23.694Z,1736380103.694 [DAT](INFO): got valid direction response: 23:48:21.7887 LVL= 16928, 19841, 19218, 26483, AGC= 55, IDX= 438,-0.04, 3.100,-2.824, 1.116, 2.636, PHS= 0.552, 0.870,-1.523, RAW= 23.0, 0.9, CAL= 22.4, -0.1, ROT= 127.6, 0.1 2025-01-08T23:48:23.700Z,1736380103.700 [DAT](INFO): DAT read: Bearing 127.6, 0.1 (Local) 2025-01-08T23:48:23.700Z,1736380103.700 [DAT](INFO): Local bearing/azimuth received: Bearing 127.6, 0.1 (Local) 2025-01-08T23:48:23.702Z,1736380103.702 [DAT](INFO): DAT read: Range 10 to 50 : 66.3 m (Round-trip 88.4 ms) speed -0.4 m/s 2025-01-08T23:48:23.703Z,1736380103.703 [DAT](INFO): DAT read: user:3472> 2025-01-08T23:48:23.704Z,1736380103.704 [DAT](INFO): DAT read: Tx time:23:48:22.8961 2025-01-08T23:48:23.704Z,1736380103.704 [DAT](INFO): Ping request sent. 2025-01-08T23:48:23.704Z,1736380103.704 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:23.705Z,1736380103.705 [DAT](INFO): DAT read: TxSync time:23:48:22.8954 2025-01-08T23:48:23.705Z,1736380103.705 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:48:23.706Z,1736380103.706 [DAT](INFO): direction in FSK: [0.029487,0.940514,0.338472] 2025-01-08T23:48:23.706Z,1736380103.706 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:23.706Z,1736380103.706 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:23.752Z,1736380103.752 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:23.752Z,1736380103.752 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:23.933Z,1736380103.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:24.117Z,1736380104.117 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:48:24.151Z,1736380104.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:24.166Z,1736380104.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.778527 s, deltaX: 1.100006 m, approachRate: 0.291120 m/s, rangeRepo size: 4 2025-01-08T23:48:24.177Z,1736380104.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.300003 m, bearing: 64.701912 deg, lat: 36.905078 deg, lon: -122.120014 deg, deltaT: 3.778527 s, deltaX: 1.100006 m, approachRate: 0.291120 m/s, posRepo size: 4 2025-01-08T23:48:24.177Z,1736380104.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:24.182Z,1736380104.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 18.419739 m, bearing: 92.196075 deg, approach rate: 0.000000 m/s, LOS rate: 7.235380 deg/s, cmd heading: 352.770473 deg, new cmd heading: 3.577514 deg. 2025-01-08T23:48:24.183Z,1736380104.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062439 target range: 66.300003 and range: 66.30 m. 2025-01-08T23:48:24.184Z,1736380104.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:24.436Z,1736380104.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:24.470Z,1736380104.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:24.480Z,1736380104.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:24.483Z,1736380104.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 18.543398 m, bearing: 92.619519 deg, approach rate: 0.393526 m/s, LOS rate: 1.338545 deg/s, cmd heading: 3.577514 deg, new cmd heading: 4.839159 deg. 2025-01-08T23:48:24.484Z,1736380104.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084459 target range: 66.300003 and range: 66.30 m. 2025-01-08T23:48:24.689Z,1736380104.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:24.940Z,1736380104.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:24.964Z,1736380104.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:24.997Z,1736380104.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:25.002Z,1736380105.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 18.782539 m, bearing: 93.247879 deg, approach rate: 0.482904 m/s, LOS rate: 1.252683 deg/s, cmd heading: 4.839160 deg, new cmd heading: 6.699547 deg. 2025-01-08T23:48:25.003Z,1736380105.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116929 target range: 66.300003 and range: 66.30 m. 2025-01-08T23:48:25.123Z,1736380105.123 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:48:25.192Z,1736380105.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:25.320Z,1736380105.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:25.327Z,1736380105.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:25.366Z,1736380105.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:25.377Z,1736380105.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 18.960194 m, bearing: 93.677418 deg, approach rate: 0.453991 m/s, LOS rate: 1.087379 deg/s, cmd heading: 6.699547 deg, new cmd heading: 7.975866 deg. 2025-01-08T23:48:25.379Z,1736380105.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.139205 target range: 66.300003 and range: 66.30 m. 2025-01-08T23:48:25.444Z,1736380105.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:25.444Z,1736380105.444 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:25.444Z,1736380105.444 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:25.445Z,1736380105.445 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:25.697Z,1736380105.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:25.697Z,1736380105.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993097 2025-01-08T23:48:25.786Z,1736380105.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:25.795Z,1736380105.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:25.798Z,1736380105.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 19.199646 m, bearing: 94.207804 deg, approach rate: 0.559067 m/s, LOS rate: 1.222870 deg/s, cmd heading: 7.975865 deg, new cmd heading: 9.546763 deg. 2025-01-08T23:48:25.799Z,1736380105.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.166622 target range: 66.300003 and range: 66.30 m. 2025-01-08T23:48:25.948Z,1736380105.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:25.949Z,1736380105.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244530 2025-01-08T23:48:26.200Z,1736380106.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:26.201Z,1736380106.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496490 2025-01-08T23:48:26.217Z,1736380106.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:26.226Z,1736380106.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:26.249Z,1736380106.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 19.435226 m, bearing: 94.686834 deg, approach rate: 0.545767 m/s, LOS rate: 1.096302 deg/s, cmd heading: 9.546763 deg, new cmd heading: 10.966129 deg. 2025-01-08T23:48:26.250Z,1736380106.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.191395 target range: 66.300003 and range: 66.30 m. 2025-01-08T23:48:26.452Z,1736380106.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:26.452Z,1736380106.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748224 2025-01-08T23:48:26.604Z,1736380106.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:26.633Z,1736380106.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:26.636Z,1736380106.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 19.647715 m, bearing: 95.106812 deg, approach rate: 0.522959 m/s, LOS rate: 1.022427 deg/s, cmd heading: 10.966129 deg, new cmd heading: 12.212228 deg. 2025-01-08T23:48:26.636Z,1736380106.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.213144 target range: 66.300003 and range: 66.30 m. 2025-01-08T23:48:26.704Z,1736380106.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:26.705Z,1736380106.705 [DAT](INFO): DAT read: Rx Time:23:48:25.3906 2025-01-08T23:48:26.705Z,1736380106.705 [DAT](INFO): Rx dataTimestamp_ set to:1736380106.704743 2025-01-08T23:48:26.706Z,1736380106.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001482 2025-01-08T23:48:26.956Z,1736380106.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:26.956Z,1736380106.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252370 2025-01-08T23:48:27.069Z,1736380107.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:27.077Z,1736380107.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:27.081Z,1736380107.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 19.903414 m, bearing: 95.609574 deg, approach rate: 0.574938 m/s, LOS rate: 1.115921 deg/s, cmd heading: 12.212228 deg, new cmd heading: 13.700783 deg. 2025-01-08T23:48:27.082Z,1736380107.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.239124 target range: 66.300003 and range: 66.30 m. 2025-01-08T23:48:27.208Z,1736380107.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:27.210Z,1736380107.210 [DAT](INFO): DAT read: Range 10 to 50 : 67.7 m (Round-trip 90.3 ms) speed -0.3 m/s 2025-01-08T23:48:27.211Z,1736380107.211 [DAT](INFO): DAT read: user:3473> 2025-01-08T23:48:27.213Z,1736380107.213 [DAT](INFO): DAT read: Tx time:23:48:26.4961 2025-01-08T23:48:27.213Z,1736380107.213 [DAT](INFO): Ping request sent. 2025-01-08T23:48:27.213Z,1736380107.213 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:27.213Z,1736380107.213 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:48:27.213Z,1736380107.213 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:27.214Z,1736380107.214 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:27.398Z,1736380107.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:27.405Z,1736380107.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:27.408Z,1736380107.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.699997 m, deltaT: 3.531735 s, deltaX: 1.399994 m, approachRate: 0.396404 m/s, rangeRepo size: 4 2025-01-08T23:48:27.408Z,1736380107.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:27.411Z,1736380107.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 20.098238 m, bearing: 95.896551 deg, approach rate: 0.591515 m/s, LOS rate: 0.862854 deg/s, cmd heading: 13.700783 deg, new cmd heading: 14.553302 deg. 2025-01-08T23:48:27.413Z,1736380107.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.254003 target range: 66.300003 and range: 67.70 m. 2025-01-08T23:48:27.461Z,1736380107.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:27.463Z,1736380107.463 [DAT](INFO): DAT read: TxSync time:23:48:26.4954 2025-01-08T23:48:27.463Z,1736380107.463 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:27.464Z,1736380107.464 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:27.464Z,1736380107.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:27.712Z,1736380107.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:27.712Z,1736380107.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499385 2025-01-08T23:48:27.825Z,1736380107.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:27.834Z,1736380107.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:27.837Z,1736380107.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 20.355137 m, bearing: 96.242317 deg, approach rate: 0.601511 m/s, LOS rate: 0.799365 deg/s, cmd heading: 14.553303 deg, new cmd heading: 15.577394 deg. 2025-01-08T23:48:27.838Z,1736380107.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.271877 target range: 66.300003 and range: 67.70 m. 2025-01-08T23:48:27.972Z,1736380107.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:27.974Z,1736380107.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760369 2025-01-08T23:48:28.224Z,1736380108.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:28.224Z,1736380108.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011433 2025-01-08T23:48:28.229Z,1736380108.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:28.258Z,1736380108.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:28.276Z,1736380108.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 20.585089 m, bearing: 96.557209 deg, approach rate: 0.542479 m/s, LOS rate: 0.734559 deg/s, cmd heading: 15.577394 deg, new cmd heading: 16.511430 deg. 2025-01-08T23:48:28.277Z,1736380108.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.288179 target range: 66.300003 and range: 67.70 m. 2025-01-08T23:48:28.476Z,1736380108.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:28.476Z,1736380108.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263321 2025-01-08T23:48:28.607Z,1736380108.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:28.628Z,1736380108.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:28.632Z,1736380108.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 20.803741 m, bearing: 96.833168 deg, approach rate: 0.590467 m/s, LOS rate: 0.737386 deg/s, cmd heading: 16.511431 deg, new cmd heading: 17.330549 deg. 2025-01-08T23:48:28.633Z,1736380108.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.302475 target range: 66.300003 and range: 67.70 m. 2025-01-08T23:48:28.728Z,1736380108.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:28.728Z,1736380108.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515464 2025-01-08T23:48:28.980Z,1736380108.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:28.980Z,1736380108.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767433 2025-01-08T23:48:29.052Z,1736380109.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:29.066Z,1736380109.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:29.069Z,1736380109.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 21.033501 m, bearing: 97.172918 deg, approach rate: 0.524341 m/s, LOS rate: 0.766878 deg/s, cmd heading: 17.330548 deg, new cmd heading: 18.338552 deg. 2025-01-08T23:48:29.070Z,1736380109.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.320068 target range: 66.300003 and range: 67.70 m. 2025-01-08T23:48:29.232Z,1736380109.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:29.233Z,1736380109.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019595 2025-01-08T23:48:29.429Z,1736380109.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:29.437Z,1736380109.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:29.439Z,1736380109.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:29.442Z,1736380109.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 21.228245 m, bearing: 97.454314 deg, approach rate: 0.523052 m/s, LOS rate: 0.748850 deg/s, cmd heading: 18.338552 deg, new cmd heading: 19.174936 deg. 2025-01-08T23:48:29.443Z,1736380109.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.334666 target range: 66.300003 and range: 67.70 m. 2025-01-08T23:48:29.484Z,1736380109.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:29.485Z,1736380109.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271530 2025-01-08T23:48:29.737Z,1736380109.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:29.738Z,1736380109.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524958 2025-01-08T23:48:29.836Z,1736380109.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:29.844Z,1736380109.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:29.853Z,1736380109.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 21.441835 m, bearing: 97.739133 deg, approach rate: 0.526673 m/s, LOS rate: 0.695308 deg/s, cmd heading: 19.174935 deg, new cmd heading: 20.020814 deg. 2025-01-08T23:48:29.854Z,1736380109.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349429 target range: 66.300003 and range: 67.70 m. 2025-01-08T23:48:29.989Z,1736380109.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:29.992Z,1736380109.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777884 2025-01-08T23:48:30.240Z,1736380110.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:30.240Z,1736380110.240 [DAT](INFO): DAT read: Rx Time:23:48:28.9922 2025-01-08T23:48:30.243Z,1736380110.243 [DAT](INFO): Rx dataTimestamp_ set to:1736380110.241293 2025-01-08T23:48:30.245Z,1736380110.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031502 2025-01-08T23:48:30.263Z,1736380110.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:30.272Z,1736380110.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:30.275Z,1736380110.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 21.636961 m, bearing: 98.055351 deg, approach rate: 0.455925 m/s, LOS rate: 0.732201 deg/s, cmd heading: 20.020814 deg, new cmd heading: 20.960825 deg. 2025-01-08T23:48:30.308Z,1736380110.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.365835 target range: 66.300003 and range: 67.70 m. 2025-01-08T23:48:30.492Z,1736380110.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:30.493Z,1736380110.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279782 2025-01-08T23:48:30.650Z,1736380110.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:30.672Z,1736380110.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:30.677Z,1736380110.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 21.814018 m, bearing: 98.335004 deg, approach rate: 0.444037 m/s, LOS rate: 0.695638 deg/s, cmd heading: 20.960826 deg, new cmd heading: 21.792912 deg. 2025-01-08T23:48:30.678Z,1736380110.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.380358 target range: 66.300003 and range: 67.70 m. 2025-01-08T23:48:30.744Z,1736380110.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:30.746Z,1736380110.746 [DAT](INFO): DAT read: Range 10 to 50 : 68.9 m (Round-trip 91.9 ms) speed -0.4 m/s 2025-01-08T23:48:30.749Z,1736380110.749 [DAT](INFO): DAT read: user:3474> 2025-01-08T23:48:30.750Z,1736380110.750 [DAT](INFO): DAT read: Tx time:23:48:30.0961 2025-01-08T23:48:30.751Z,1736380110.751 [DAT](INFO): Ping request sent. 2025-01-08T23:48:30.752Z,1736380110.752 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:30.752Z,1736380110.752 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:48:30.752Z,1736380110.752 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:30.753Z,1736380110.753 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:30.997Z,1736380110.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:31.000Z,1736380111.000 [DAT](INFO): DAT read: TxSync time:23:48:30.0955 2025-01-08T23:48:31.082Z,1736380111.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:31.091Z,1736380111.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.900002 m, deltaT: 3.535658 s, deltaX: 1.200005 m, approachRate: 0.339401 m/s, rangeRepo size: 4 2025-01-08T23:48:31.092Z,1736380111.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:31.094Z,1736380111.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 21.978951 m, bearing: 98.662311 deg, approach rate: 0.393189 m/s, LOS rate: 0.774423 deg/s, cmd heading: 21.792912 deg, new cmd heading: 22.767366 deg. 2025-01-08T23:48:31.096Z,1736380111.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.397366 target range: 66.300003 and range: 68.90 m. 2025-01-08T23:48:31.248Z,1736380111.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:31.455Z,1736380111.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:31.461Z,1736380111.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:31.465Z,1736380111.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:31.468Z,1736380111.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 22.121601 m, bearing: 98.940357 deg, approach rate: 0.381128 m/s, LOS rate: 0.738079 deg/s, cmd heading: 22.767367 deg, new cmd heading: 23.596064 deg. 2025-01-08T23:48:31.469Z,1736380111.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411829 target range: 66.300003 and range: 68.90 m. 2025-01-08T23:48:31.519Z,1736380111.519 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:31.522Z,1736380111.522 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:31.522Z,1736380111.522 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:31.522Z,1736380111.522 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:31.768Z,1736380111.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:31.769Z,1736380111.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018079 2025-01-08T23:48:31.902Z,1736380111.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:31.918Z,1736380111.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:31.925Z,1736380111.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 22.292381 m, bearing: 99.271457 deg, approach rate: 0.376706 m/s, LOS rate: 0.724740 deg/s, cmd heading: 23.596065 deg, new cmd heading: 24.581652 deg. 2025-01-08T23:48:31.926Z,1736380111.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429031 target range: 66.300003 and range: 68.90 m. 2025-01-08T23:48:32.022Z,1736380112.022 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:32.025Z,1736380112.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.273031 2025-01-08T23:48:32.272Z,1736380112.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:32.272Z,1736380112.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521358 2025-01-08T23:48:32.323Z,1736380112.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:32.334Z,1736380112.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:32.337Z,1736380112.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 22.424494 m, bearing: 99.621852 deg, approach rate: 0.317729 m/s, LOS rate: 0.837727 deg/s, cmd heading: 24.581653 deg, new cmd heading: 25.626523 deg. 2025-01-08T23:48:32.338Z,1736380112.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447267 target range: 66.300003 and range: 68.90 m. 2025-01-08T23:48:32.524Z,1736380112.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:32.525Z,1736380112.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773572 2025-01-08T23:48:32.702Z,1736380112.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:32.710Z,1736380112.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:32.714Z,1736380112.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 22.541939 m, bearing: 99.937648 deg, approach rate: 0.311782 m/s, LOS rate: 0.833976 deg/s, cmd heading: 25.626523 deg, new cmd heading: 26.568887 deg. 2025-01-08T23:48:32.718Z,1736380112.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.463715 target range: 66.300003 and range: 68.90 m. 2025-01-08T23:48:32.776Z,1736380112.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:32.777Z,1736380112.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025830 2025-01-08T23:48:33.030Z,1736380113.030 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:33.032Z,1736380113.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280567 2025-01-08T23:48:33.140Z,1736380113.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:33.149Z,1736380113.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:33.152Z,1736380113.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 22.671022 m, bearing: 100.311668 deg, approach rate: 0.294216 m/s, LOS rate: 0.847629 deg/s, cmd heading: 26.568886 deg, new cmd heading: 27.684406 deg. 2025-01-08T23:48:33.153Z,1736380113.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483184 target range: 66.300003 and range: 68.90 m. 2025-01-08T23:48:33.280Z,1736380113.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:33.281Z,1736380113.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529609 2025-01-08T23:48:33.532Z,1736380113.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:33.532Z,1736380113.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781391 2025-01-08T23:48:33.585Z,1736380113.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:33.605Z,1736380113.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:33.608Z,1736380113.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:33.610Z,1736380113.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 22.796289 m, bearing: 100.701121 deg, approach rate: 0.273392 m/s, LOS rate: 0.845294 deg/s, cmd heading: 27.684406 deg, new cmd heading: 28.846178 deg. 2025-01-08T23:48:33.613Z,1736380113.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503461 target range: 66.300003 and range: 68.90 m. 2025-01-08T23:48:33.785Z,1736380113.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:33.786Z,1736380113.786 [DAT](INFO): DAT read: Rx Time:23:48:32.5948 2025-01-08T23:48:33.786Z,1736380113.786 [DAT](INFO): Rx dataTimestamp_ set to:1736380113.785759 2025-01-08T23:48:33.787Z,1736380113.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035622 2025-01-08T23:48:33.990Z,1736380113.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:34.013Z,1736380114.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:34.038Z,1736380114.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:34.040Z,1736380114.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289044 2025-01-08T23:48:34.053Z,1736380114.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 22.907545 m, bearing: 101.059461 deg, approach rate: 0.275921 m/s, LOS rate: 0.884386 deg/s, cmd heading: 28.846177 deg, new cmd heading: 29.915846 deg. 2025-01-08T23:48:34.061Z,1736380114.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.522130 target range: 66.300003 and range: 68.90 m. 2025-01-08T23:48:34.288Z,1736380114.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:34.291Z,1736380114.291 [DAT](INFO): DAT read: Range 10 to 50 : 70.8 m (Round-trip 94.4 ms) speed -0.6 m/s 2025-01-08T23:48:34.293Z,1736380114.293 [DAT](INFO): DAT read: user:3475> 2025-01-08T23:48:34.294Z,1736380114.294 [DAT](INFO): DAT read: Tx time:23:48:33.6962 2025-01-08T23:48:34.294Z,1736380114.294 [DAT](INFO): Ping request sent. 2025-01-08T23:48:34.295Z,1736380114.295 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:34.295Z,1736380114.295 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:48:34.295Z,1736380114.295 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:34.296Z,1736380114.296 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:34.422Z,1736380114.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:34.433Z,1736380114.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.800003 m, deltaT: 3.543758 s, deltaX: 1.900002 m, approachRate: 0.536154 m/s, rangeRepo size: 4 2025-01-08T23:48:34.433Z,1736380114.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:34.437Z,1736380114.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 23.024673 m, bearing: 101.471480 deg, approach rate: 0.277991 m/s, LOS rate: 0.972900 deg/s, cmd heading: 29.915846 deg, new cmd heading: 31.145416 deg. 2025-01-08T23:48:34.438Z,1736380114.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543590 target range: 66.300003 and range: 70.80 m. 2025-01-08T23:48:34.540Z,1736380114.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:34.541Z,1736380114.541 [DAT](INFO): DAT read: TxSync time:23:48:33.6955 2025-01-08T23:48:34.776Z,1736380114.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:34.784Z,1736380114.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:34.787Z,1736380114.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 23.117527 m, bearing: 101.812050 deg, approach rate: 0.263557 m/s, LOS rate: 0.962791 deg/s, cmd heading: 31.145417 deg, new cmd heading: 32.162910 deg. 2025-01-08T23:48:34.792Z,1736380114.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:34.808Z,1736380114.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561349 target range: 66.300003 and range: 70.80 m. 2025-01-08T23:48:35.046Z,1736380115.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:35.218Z,1736380115.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:35.227Z,1736380115.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:35.231Z,1736380115.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 23.248098 m, bearing: 102.242644 deg, approach rate: 0.295215 m/s, LOS rate: 0.968073 deg/s, cmd heading: 32.162910 deg, new cmd heading: 33.447208 deg. 2025-01-08T23:48:35.232Z,1736380115.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583764 target range: 66.300003 and range: 70.80 m. 2025-01-08T23:48:35.297Z,1736380115.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:35.548Z,1736380115.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:35.586Z,1736380115.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:35.607Z,1736380115.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:35.620Z,1736380115.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 23.350447 m, bearing: 102.610801 deg, approach rate: 0.269301 m/s, LOS rate: 0.964449 deg/s, cmd heading: 33.447208 deg, new cmd heading: 34.546695 deg. 2025-01-08T23:48:35.621Z,1736380115.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.602954 target range: 66.300003 and range: 70.80 m. 2025-01-08T23:48:35.800Z,1736380115.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:35.992Z,1736380115.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:35.000Z,1736380116.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:36.002Z,1736380116.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:36.008Z,1736380116.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 23.459789 m, bearing: 103.019411 deg, approach rate: 0.276772 m/s, LOS rate: 1.029459 deg/s, cmd heading: 34.546694 deg, new cmd heading: 35.766616 deg. 2025-01-08T23:48:36.013Z,1736380116.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.624245 target range: 66.300003 and range: 70.80 m. 2025-01-08T23:48:36.053Z,1736380116.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:36.055Z,1736380116.055 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:36.056Z,1736380116.056 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:36.056Z,1736380116.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:36.304Z,1736380116.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:36.305Z,1736380116.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010497 2025-01-08T23:48:36.495Z,1736380116.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:36.525Z,1736380116.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:36.532Z,1736380116.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 23.616611 m, bearing: 103.547998 deg, approach rate: 0.299858 m/s, LOS rate: 1.003978 deg/s, cmd heading: 35.766617 deg, new cmd heading: 37.341428 deg. 2025-01-08T23:48:36.533Z,1736380116.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651731 target range: 66.300003 and range: 70.80 m. 2025-01-08T23:48:36.556Z,1736380116.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:36.560Z,1736380116.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264069 2025-01-08T23:48:36.808Z,1736380116.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:36.809Z,1736380116.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514116 2025-01-08T23:48:36.894Z,1736380116.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:36.924Z,1736380116.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:36.933Z,1736380116.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 23.738026 m, bearing: 103.970979 deg, approach rate: 0.317356 m/s, LOS rate: 1.099937 deg/s, cmd heading: 37.341426 deg, new cmd heading: 38.603664 deg. 2025-01-08T23:48:36.934Z,1736380116.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673761 target range: 66.300003 and range: 70.80 m. 2025-01-08T23:48:37.061Z,1736380117.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:37.065Z,1736380117.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769262 2025-01-08T23:48:37.313Z,1736380117.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:37.314Z,1736380117.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019478 2025-01-08T23:48:37.431Z,1736380117.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:37.439Z,1736380117.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:37.442Z,1736380117.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 23.925287 m, bearing: 104.548416 deg, approach rate: 0.351983 m/s, LOS rate: 1.076856 deg/s, cmd heading: 38.603666 deg, new cmd heading: 40.321874 deg. 2025-01-08T23:48:37.443Z,1736380117.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703749 target range: 66.300003 and range: 70.80 m. 2025-01-08T23:48:37.564Z,1736380117.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:37.565Z,1736380117.565 [DAT](INFO): DAT read: Rx Time:23:48:36.1977 2025-01-08T23:48:37.566Z,1736380117.566 [DAT](INFO): Rx dataTimestamp_ set to:1736380117.565605 2025-01-08T23:48:37.567Z,1736380117.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272243 2025-01-08T23:48:37.771Z,1736380117.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:37.797Z,1736380117.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:37.806Z,1736380117.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 24.041716 m, bearing: 104.917598 deg, approach rate: 0.326428 m/s, LOS rate: 1.030048 deg/s, cmd heading: 40.321875 deg, new cmd heading: 41.423913 deg. 2025-01-08T23:48:37.807Z,1736380117.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722984 target range: 66.300003 and range: 70.80 m. 2025-01-08T23:48:37.816Z,1736380117.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:37.816Z,1736380117.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521853 2025-01-08T23:48:38.069Z,1736380118.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:38.074Z,1736380118.074 [DAT](INFO): DAT read: Range 10 to 50 : 72.9 m (Round-trip 97.3 ms) speed -0.6 m/s 2025-01-08T23:48:38.077Z,1736380118.077 [DAT](INFO): DAT read: user:3476> 2025-01-08T23:48:38.080Z,1736380118.080 [DAT](INFO): DAT read: Tx time:23:48:37.2962 2025-01-08T23:48:38.081Z,1736380118.081 [DAT](INFO): Ping request sent. 2025-01-08T23:48:38.081Z,1736380118.081 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:38.082Z,1736380118.082 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:48:38.082Z,1736380118.082 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:38.089Z,1736380118.089 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:38.258Z,1736380118.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:38.299Z,1736380118.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:38.306Z,1736380118.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 3.781925 s, deltaX: 2.099998 m, approachRate: 0.555272 m/s, rangeRepo size: 4 2025-01-08T23:48:38.306Z,1736380118.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:38.315Z,1736380118.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 24.242258 m, bearing: 105.409916 deg, approach rate: 0.393895 m/s, LOS rate: 0.958974 deg/s, cmd heading: 41.423912 deg, new cmd heading: 42.888312 deg. 2025-01-08T23:48:38.320Z,1736380118.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:38.321Z,1736380118.321 [DAT](INFO): DAT read: TxSync time:23:48:37.2955 2025-01-08T23:48:38.321Z,1736380118.321 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:38.322Z,1736380118.322 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:38.322Z,1736380118.322 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:38.332Z,1736380118.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748542 target range: 66.300003 and range: 72.90 m. 2025-01-08T23:48:38.572Z,1736380118.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:38.572Z,1736380118.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.491494 2025-01-08T23:48:38.633Z,1736380118.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:38.655Z,1736380118.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:38.668Z,1736380118.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 24.390251 m, bearing: 105.800581 deg, approach rate: 0.423759 m/s, LOS rate: 1.111822 deg/s, cmd heading: 42.888312 deg, new cmd heading: 44.053026 deg. 2025-01-08T23:48:38.670Z,1736380118.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768870 target range: 66.300003 and range: 72.90 m. 2025-01-08T23:48:38.824Z,1736380118.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:38.825Z,1736380118.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743779 2025-01-08T23:48:39.036Z,1736380119.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:39.049Z,1736380119.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:39.052Z,1736380119.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 24.546541 m, bearing: 106.224196 deg, approach rate: 0.396059 m/s, LOS rate: 1.066649 deg/s, cmd heading: 44.053026 deg, new cmd heading: 45.315563 deg. 2025-01-08T23:48:39.053Z,1736380119.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790906 target range: 66.300003 and range: 72.90 m. 2025-01-08T23:48:39.077Z,1736380119.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:39.080Z,1736380119.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999009 2025-01-08T23:48:39.328Z,1736380119.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:39.329Z,1736380119.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247501 2025-01-08T23:48:39.469Z,1736380119.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:39.479Z,1736380119.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:39.482Z,1736380119.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 24.724001 m, bearing: 106.666751 deg, approach rate: 0.413278 m/s, LOS rate: 1.023241 deg/s, cmd heading: 45.315563 deg, new cmd heading: 46.633454 deg. 2025-01-08T23:48:39.500Z,1736380119.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813907 target range: 66.300003 and range: 72.90 m. 2025-01-08T23:48:39.581Z,1736380119.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:39.582Z,1736380119.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501158 2025-01-08T23:48:39.832Z,1736380119.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:39.832Z,1736380119.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751547 2025-01-08T23:48:39.858Z,1736380119.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:39.867Z,1736380119.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:39.870Z,1736380119.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 24.880178 m, bearing: 107.067077 deg, approach rate: 0.401793 m/s, LOS rate: 1.023434 deg/s, cmd heading: 46.633455 deg, new cmd heading: 47.826711 deg. 2025-01-08T23:48:39.871Z,1736380119.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834734 target range: 66.300003 and range: 72.90 m. 2025-01-08T23:48:40.085Z,1736380120.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:40.087Z,1736380120.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005845 2025-01-08T23:48:40.284Z,1736380120.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:40.292Z,1736380120.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:40.295Z,1736380120.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 25.063417 m, bearing: 107.480943 deg, approach rate: 0.431063 m/s, LOS rate: 0.966478 deg/s, cmd heading: 47.826713 deg, new cmd heading: 49.059032 deg. 2025-01-08T23:48:40.297Z,1736380120.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.856242 target range: 66.300003 and range: 72.90 m. 2025-01-08T23:48:40.336Z,1736380120.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:40.336Z,1736380120.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255670 2025-01-08T23:48:40.588Z,1736380120.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:40.588Z,1736380120.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507594 2025-01-08T23:48:40.666Z,1736380120.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:40.677Z,1736380120.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:40.682Z,1736380120.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:40.685Z,1736380120.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 25.221050 m, bearing: 107.866806 deg, approach rate: 0.404439 m/s, LOS rate: 0.983814 deg/s, cmd heading: 49.059032 deg, new cmd heading: 50.209223 deg. 2025-01-08T23:48:40.686Z,1736380120.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876316 target range: 66.300003 and range: 72.90 m. 2025-01-08T23:48:40.840Z,1736380120.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:40.841Z,1736380120.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759721 2025-01-08T23:48:41.060Z,1736380121.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:41.074Z,1736380121.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:41.094Z,1736380121.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:41.097Z,1736380121.097 [DAT](INFO): DAT read: Rx Time:23:48:39.7999 2025-01-08T23:48:41.100Z,1736380121.100 [DAT](INFO): Rx dataTimestamp_ set to:1736380121.098120 2025-01-08T23:48:41.102Z,1736380121.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020451 2025-01-08T23:48:41.115Z,1736380121.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 25.380314 m, bearing: 108.269491 deg, approach rate: 0.406584 m/s, LOS rate: 1.021557 deg/s, cmd heading: 50.209223 deg, new cmd heading: 51.409513 deg. 2025-01-08T23:48:41.139Z,1736380121.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.897265 target range: 66.300003 and range: 72.90 m. 2025-01-08T23:48:41.344Z,1736380121.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:41.344Z,1736380121.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263562 2025-01-08T23:48:41.532Z,1736380121.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:41.541Z,1736380121.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m. 2025-01-08T23:48:41.544Z,1736380121.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.300003 m, nav range: 25.567898 m, bearing: 108.734521 deg, approach rate: 0.401252 m/s, LOS rate: 0.987415 deg/s, cmd heading: 51.409512 deg, new cmd heading: 52.794080 deg. 2025-01-08T23:48:41.545Z,1736380121.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.921431 target range: 66.300003 and range: 72.90 m. 2025-01-08T23:48:41.596Z,1736380121.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:41.605Z,1736380121.605 [DAT](INFO): DAT read: 23:48:39.7999 LVL= 15600, 20417, 15954, 23395, AGC= 56, IDX= 455,-0.05, 1.271, 1.626,-0.681, 0.691, PHS= 0.668, 0.982,-1.375, RAW= 23.0, -2.5, CAL= 22.7, -5.0, ROT= 127.3, 5.0 2025-01-08T23:48:41.606Z,1736380121.606 [DAT](INFO): got valid direction response: 23:48:39.7999 LVL= 15600, 20417, 15954, 23395, AGC= 56, IDX= 455,-0.05, 1.271, 1.626,-0.681, 0.691, PHS= 0.668, 0.982,-1.375, RAW= 23.0, -2.5, CAL= 22.7, -5.0, ROT= 127.3, 5.0 2025-01-08T23:48:41.609Z,1736380121.609 [DAT](INFO): DAT read: Bearing 127.3, 5.0 (Local) 2025-01-08T23:48:41.609Z,1736380121.609 [DAT](INFO): Local bearing/azimuth received: Bearing 127.3, 5.0 (Local) 2025-01-08T23:48:41.610Z,1736380121.610 [DAT](INFO): DAT read: Range 10 to 50 : 74.6 m (Round-trip 99.5 ms) speed -0.2 m/s 2025-01-08T23:48:41.611Z,1736380121.611 [DAT](INFO): DAT read: user:3477> 2025-01-08T23:48:41.613Z,1736380121.613 [DAT](INFO): DAT read: Tx time:23:48:40.8962 2025-01-08T23:48:41.613Z,1736380121.613 [DAT](INFO): Ping request sent. 2025-01-08T23:48:41.613Z,1736380121.613 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:41.613Z,1736380121.613 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:48:41.614Z,1736380121.614 [DAT](INFO): direction in FSK: [0.093342,0.935155,0.341720] 2025-01-08T23:48:41.614Z,1736380121.614 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:41.615Z,1736380121.615 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:41.618Z,1736380121.618 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:41.618Z,1736380121.618 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:41.848Z,1736380121.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:41.849Z,1736380121.849 [DAT](INFO): DAT read: TxSync time:23:48:40.8955 2025-01-08T23:48:41.885Z,1736380121.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:41.906Z,1736380121.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.599998 m, deltaT: 3.526646 s, deltaX: 1.699997 m, approachRate: 0.482044 m/s, rangeRepo size: 4 2025-01-08T23:48:41.917Z,1736380121.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.599998 m, bearing: 82.503144 deg, lat: 36.905169 deg, lon: -122.119711 deg, deltaT: 17.919722 s, deltaX: 8.299995 m, approachRate: 0.463177 m/s, posRepo size: 4 2025-01-08T23:48:41.918Z,1736380121.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:41.930Z,1736380121.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.234684 m, bearing: 88.131317 deg, approach rate: 0.000000 m/s, LOS rate: 0.987415 deg/s, cmd heading: 52.794080 deg, new cmd heading: 53.874005 deg. 2025-01-08T23:48:41.949Z,1736380121.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.940279 target range: 74.599998 and range: 74.60 m. 2025-01-08T23:48:42.103Z,1736380122.103 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:42.290Z,1736380122.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:42.300Z,1736380122.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:42.303Z,1736380122.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.302532 m, bearing: 88.372483 deg, approach rate: 0.172466 m/s, LOS rate: 0.612217 deg/s, cmd heading: 53.874005 deg, new cmd heading: 54.596506 deg. 2025-01-08T23:48:42.304Z,1736380122.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952889 target range: 74.599998 and range: 74.60 m. 2025-01-08T23:48:42.357Z,1736380122.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:42.608Z,1736380122.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:42.682Z,1736380122.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:42.689Z,1736380122.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:42.712Z,1736380122.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:42.720Z,1736380122.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.364071 m, bearing: 88.606925 deg, approach rate: 0.156896 m/s, LOS rate: 0.597004 deg/s, cmd heading: 54.596506 deg, new cmd heading: 55.298951 deg. 2025-01-08T23:48:42.721Z,1736380122.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.965149 target range: 74.599998 and range: 74.60 m. 2025-01-08T23:48:42.860Z,1736380122.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:42.860Z,1736380122.860 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:42.860Z,1736380122.860 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:42.861Z,1736380122.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:43.076Z,1736380123.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:43.086Z,1736380123.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:43.089Z,1736380123.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.421944 m, bearing: 88.843428 deg, approach rate: 0.146775 m/s, LOS rate: 0.599133 deg/s, cmd heading: 55.298950 deg, new cmd heading: 56.007623 deg. 2025-01-08T23:48:43.090Z,1736380123.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.977517 target range: 74.599998 and range: 74.60 m. 2025-01-08T23:48:43.112Z,1736380123.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:43.113Z,1736380123.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499990 2025-01-08T23:48:43.364Z,1736380123.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:43.364Z,1736380123.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751451 2025-01-08T23:48:43.504Z,1736380123.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:43.514Z,1736380123.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:43.517Z,1736380123.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.471249 m, bearing: 89.095870 deg, approach rate: 0.115052 m/s, LOS rate: 0.588502 deg/s, cmd heading: 56.007623 deg, new cmd heading: 56.764176 deg. 2025-01-08T23:48:43.518Z,1736380123.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.990722 target range: 74.599998 and range: 74.60 m. 2025-01-08T23:48:43.616Z,1736380123.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:43.617Z,1736380123.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003842 2025-01-08T23:48:43.868Z,1736380123.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:43.868Z,1736380123.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255221 2025-01-08T23:48:43.877Z,1736380123.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:43.887Z,1736380123.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:43.890Z,1736380123.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.510250 m, bearing: 89.317946 deg, approach rate: 0.104604 m/s, LOS rate: 0.595166 deg/s, cmd heading: 56.764176 deg, new cmd heading: 57.429869 deg. 2025-01-08T23:48:43.891Z,1736380123.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.002340 target range: 74.599998 and range: 74.60 m. 2025-01-08T23:48:44.122Z,1736380124.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:44.123Z,1736380124.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510305 2025-01-08T23:48:44.372Z,1736380124.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:44.372Z,1736380124.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759367 2025-01-08T23:48:44.450Z,1736380124.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:44.484Z,1736380124.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:44.487Z,1736380124.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.536770 m, bearing: 89.648112 deg, approach rate: 0.044395 m/s, LOS rate: 0.552422 deg/s, cmd heading: 57.429870 deg, new cmd heading: 58.419753 deg. 2025-01-08T23:48:44.497Z,1736380124.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.019617 target range: 74.599998 and range: 74.60 m. 2025-01-08T23:48:44.624Z,1736380124.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:44.625Z,1736380124.625 [DAT](INFO): DAT read: Rx Time:23:48:43.4010 2025-01-08T23:48:44.625Z,1736380124.625 [DAT](INFO): Rx dataTimestamp_ set to:1736380124.624799 2025-01-08T23:48:44.626Z,1736380124.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012630 2025-01-08T23:48:44.782Z,1736380124.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:44.789Z,1736380124.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:44.791Z,1736380124.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:44.794Z,1736380124.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.548275 m, bearing: 89.839734 deg, approach rate: 0.037533 m/s, LOS rate: 0.624985 deg/s, cmd heading: 58.419755 deg, new cmd heading: 58.994474 deg. 2025-01-08T23:48:44.795Z,1736380124.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.029648 target range: 74.599998 and range: 74.60 m. 2025-01-08T23:48:44.877Z,1736380124.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:44.878Z,1736380124.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264349 2025-01-08T23:48:45.129Z,1736380125.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:45.134Z,1736380125.134 [DAT](INFO): DAT read: Range 10 to 50 : 75.4 m (Round-trip 100.6 ms) speed -0.2 m/s 2025-01-08T23:48:45.134Z,1736380125.134 [DAT](INFO): DAT read: user:3478> 2025-01-08T23:48:45.135Z,1736380125.135 [DAT](INFO): DAT read: Tx time:23:48:44.4962 2025-01-08T23:48:45.136Z,1736380125.136 [DAT](INFO): Ping request sent. 2025-01-08T23:48:45.136Z,1736380125.136 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:45.136Z,1736380125.136 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:48:45.136Z,1736380125.136 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:45.137Z,1736380125.137 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:45.325Z,1736380125.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:45.343Z,1736380125.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.400002 m, deltaT: 3.533144 s, deltaX: 0.800003 m, approachRate: 0.226428 m/s, rangeRepo size: 4 2025-01-08T23:48:45.348Z,1736380125.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:45.378Z,1736380125.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.537296 m, bearing: 90.143039 deg, approach rate: -0.019923 m/s, LOS rate: 0.550521 deg/s, cmd heading: 58.994475 deg, new cmd heading: 59.904504 deg. 2025-01-08T23:48:45.380Z,1736380125.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:45.381Z,1736380125.381 [DAT](INFO): DAT read: TxSync time:23:48:44.4955 2025-01-08T23:48:45.384Z,1736380125.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.045531 target range: 74.599998 and range: 75.40 m. 2025-01-08T23:48:45.632Z,1736380125.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:45.702Z,1736380125.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:45.722Z,1736380125.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:45.730Z,1736380125.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.520386 m, bearing: 90.352525 deg, approach rate: -0.044449 m/s, LOS rate: 0.550803 deg/s, cmd heading: 59.904502 deg, new cmd heading: 60.533139 deg. 2025-01-08T23:48:45.736Z,1736380125.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.056503 target range: 74.599998 and range: 75.40 m. 2025-01-08T23:48:45.884Z,1736380125.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:46.095Z,1736380126.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:46.126Z,1736380126.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:46.133Z,1736380126.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.497990 m, bearing: 90.570730 deg, approach rate: -0.055517 m/s, LOS rate: 0.541136 deg/s, cmd heading: 60.533139 deg, new cmd heading: 61.188008 deg. 2025-01-08T23:48:46.134Z,1736380126.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.067932 target range: 74.599998 and range: 75.40 m. 2025-01-08T23:48:46.136Z,1736380126.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:46.388Z,1736380126.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:46.640Z,1736380126.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:46.694Z,1736380126.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:46.711Z,1736380126.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:46.721Z,1736380126.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.426743 m, bearing: 90.903053 deg, approach rate: -0.121848 m/s, LOS rate: 0.569127 deg/s, cmd heading: 61.188011 deg, new cmd heading: 62.186253 deg. 2025-01-08T23:48:46.722Z,1736380126.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.085355 target range: 74.599998 and range: 75.40 m. 2025-01-08T23:48:46.892Z,1736380126.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:47.144Z,1736380127.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:47.162Z,1736380127.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:47.170Z,1736380127.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:47.172Z,1736380127.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:47.175Z,1736380127.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.365517 m, bearing: 91.161496 deg, approach rate: -0.132675 m/s, LOS rate: 0.560707 deg/s, cmd heading: 62.186250 deg, new cmd heading: 62.962454 deg. 2025-01-08T23:48:47.177Z,1736380127.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.098902 target range: 74.599998 and range: 75.40 m. 2025-01-08T23:48:47.396Z,1736380127.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:47.397Z,1736380127.397 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:47.397Z,1736380127.397 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:47.397Z,1736380127.397 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:47.648Z,1736380127.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:47.649Z,1736380127.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513455 2025-01-08T23:48:47.672Z,1736380127.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:47.700Z,1736380127.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:47.702Z,1736380127.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.277576 m, bearing: 91.444311 deg, approach rate: -0.168023 m/s, LOS rate: 0.541285 deg/s, cmd heading: 62.962453 deg, new cmd heading: 63.812286 deg. 2025-01-08T23:48:47.708Z,1736380127.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113734 target range: 74.599998 and range: 75.40 m. 2025-01-08T23:48:47.900Z,1736380127.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:47.901Z,1736380127.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764936 2025-01-08T23:48:48.086Z,1736380128.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:48.122Z,1736380128.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:48.129Z,1736380128.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.190117 m, bearing: 91.667234 deg, approach rate: -0.204979 m/s, LOS rate: 0.523357 deg/s, cmd heading: 63.812285 deg, new cmd heading: 64.482166 deg. 2025-01-08T23:48:48.130Z,1736380128.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125426 target range: 74.599998 and range: 75.40 m. 2025-01-08T23:48:48.152Z,1736380128.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:48.153Z,1736380128.153 [DAT](INFO): DAT read: Rx Time:23:48:47.0021 2025-01-08T23:48:48.154Z,1736380128.154 [DAT](INFO): Rx dataTimestamp_ set to:1736380128.153366 2025-01-08T23:48:48.154Z,1736380128.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018508 2025-01-08T23:48:48.404Z,1736380128.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:48.405Z,1736380128.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268846 2025-01-08T23:48:48.486Z,1736380128.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:48.495Z,1736380128.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:48.498Z,1736380128.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 51.088833 m, bearing: 91.881470 deg, approach rate: -0.271841 m/s, LOS rate: 0.576137 deg/s, cmd heading: 64.482163 deg, new cmd heading: 65.126116 deg. 2025-01-08T23:48:48.499Z,1736380128.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136665 target range: 74.599998 and range: 75.40 m. 2025-01-08T23:48:48.658Z,1736380128.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:48.661Z,1736380128.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524491 2025-01-08T23:48:48.827Z,1736380128.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:48.837Z,1736380128.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.60 m. 2025-01-08T23:48:48.840Z,1736380128.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.599998 m, nav range: 50.998623 m, bearing: 92.062009 deg, approach rate: -0.263323 m/s, LOS rate: 0.527924 deg/s, cmd heading: 65.126113 deg, new cmd heading: 65.668671 deg. 2025-01-08T23:48:48.841Z,1736380128.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146134 target range: 74.599998 and range: 75.40 m. 2025-01-08T23:48:48.909Z,1736380128.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:48.920Z,1736380128.920 [DAT](INFO): DAT read: 23:48:47.0021 LVL= 16560, 22097, 20658, 30115, AGC= 57, IDX= 429, 0.36,-1.538,-2.414, 2.475,-2.722, PHS= 1.272, 0.356,-1.089, RAW= 52.6, -5.3, CAL= 57.0, -10.3, ROT= 93.0, 10.3 2025-01-08T23:48:48.921Z,1736380128.921 [DAT](INFO): got valid direction response: 23:48:47.0021 LVL= 16560, 22097, 20658, 30115, AGC= 57, IDX= 429, 0.36,-1.538,-2.414, 2.475,-2.722, PHS= 1.272, 0.356,-1.089, RAW= 52.6, -5.3, CAL= 57.0, -10.3, ROT= 93.0, 10.3 2025-01-08T23:48:48.922Z,1736380128.922 [DAT](INFO): DAT read: Bearing 93.0, 10.3 (Local) 2025-01-08T23:48:48.923Z,1736380128.923 [DAT](INFO): Local bearing/azimuth received: Bearing 93.0, 10.3 (Local) 2025-01-08T23:48:48.925Z,1736380128.925 [DAT](INFO): DAT read: Range 10 to 50 : 76.2 m (Round-trip 101.6 ms) speed -0.1 m/s 2025-01-08T23:48:48.926Z,1736380128.926 [DAT](INFO): DAT read: user:3479> 2025-01-08T23:48:48.927Z,1736380128.927 [DAT](INFO): DAT read: Tx time:23:48:48.0963 2025-01-08T23:48:48.927Z,1736380128.927 [DAT](INFO): Ping request sent. 2025-01-08T23:48:48.927Z,1736380128.927 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:48.928Z,1736380128.928 [DAT](INFO): DAT read: TxSync time:23:48:48.0956 2025-01-08T23:48:48.928Z,1736380128.928 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:48:48.930Z,1736380128.930 [DAT](INFO): direction in FSK: [0.083892,0.663073,0.743838] 2025-01-08T23:48:48.930Z,1736380128.930 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:48.930Z,1736380128.930 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:48.942Z,1736380128.942 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:48.942Z,1736380128.942 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:49.161Z,1736380129.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:49.305Z,1736380129.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:49.320Z,1736380129.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.199997 m, deltaT: 3.779751 s, deltaX: 0.799995 m, approachRate: 0.211653 m/s, rangeRepo size: 4 2025-01-08T23:48:49.322Z,1736380129.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.199997 m, bearing: 110.031546 deg, lat: 36.905169 deg, lon: -122.119711 deg, deltaT: 7.312895 s, deltaX: 1.599998 m, approachRate: 0.218791 m/s, posRepo size: 4 2025-01-08T23:48:49.322Z,1736380129.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m. 2025-01-08T23:48:49.325Z,1736380129.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.199997 m, nav range: 50.873314 m, bearing: 92.313561 deg, approach rate: 0.000000 m/s, LOS rate: 0.527924 deg/s, cmd heading: 65.668669 deg, new cmd heading: 66.431456 deg. 2025-01-08T23:48:49.326Z,1736380129.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159448 target range: 76.199997 and range: 76.20 m. 2025-01-08T23:48:49.413Z,1736380129.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:49.664Z,1736380129.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:49.694Z,1736380129.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:49.702Z,1736380129.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:49.704Z,1736380129.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m. 2025-01-08T23:48:49.707Z,1736380129.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.199997 m, nav range: 50.762207 m, bearing: 92.512743 deg, approach rate: -0.288298 m/s, LOS rate: 0.517963 deg/s, cmd heading: 66.431458 deg, new cmd heading: 67.030289 deg. 2025-01-08T23:48:49.708Z,1736380129.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169899 target range: 76.199997 and range: 76.20 m. 2025-01-08T23:48:49.918Z,1736380129.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:49.918Z,1736380129.918 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:49.918Z,1736380129.918 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:49.918Z,1736380129.918 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:50.089Z,1736380130.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:50.105Z,1736380130.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m. 2025-01-08T23:48:50.112Z,1736380130.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.199997 m, nav range: 50.644756 m, bearing: 92.711891 deg, approach rate: -0.292717 m/s, LOS rate: 0.497478 deg/s, cmd heading: 67.030288 deg, new cmd heading: 67.629095 deg. 2025-01-08T23:48:50.113Z,1736380130.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.180350 target range: 76.199997 and range: 76.20 m. 2025-01-08T23:48:50.169Z,1736380130.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:50.170Z,1736380130.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242828 2025-01-08T23:48:50.420Z,1736380130.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:50.420Z,1736380130.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493436 2025-01-08T23:48:50.522Z,1736380130.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:50.532Z,1736380130.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m. 2025-01-08T23:48:50.535Z,1736380130.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.199997 m, nav range: 50.516163 m, bearing: 92.932906 deg, approach rate: -0.301338 m/s, LOS rate: 0.519231 deg/s, cmd heading: 67.629098 deg, new cmd heading: 68.293799 deg. 2025-01-08T23:48:50.536Z,1736380130.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.191952 target range: 76.199997 and range: 76.20 m. 2025-01-08T23:48:50.674Z,1736380130.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:50.675Z,1736380130.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748347 2025-01-08T23:48:50.884Z,1736380130.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:50.909Z,1736380130.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m. 2025-01-08T23:48:50.916Z,1736380130.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.199997 m, nav range: 50.400394 m, bearing: 93.111461 deg, approach rate: -0.307456 m/s, LOS rate: 0.475291 deg/s, cmd heading: 68.293798 deg, new cmd heading: 68.830675 deg. 2025-01-08T23:48:50.917Z,1736380130.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.201322 target range: 76.199997 and range: 76.20 m. 2025-01-08T23:48:50.924Z,1736380130.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:50.925Z,1736380130.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997576 2025-01-08T23:48:51.176Z,1736380131.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:51.176Z,1736380131.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249379 2025-01-08T23:48:51.344Z,1736380131.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:51.354Z,1736380131.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m. 2025-01-08T23:48:51.357Z,1736380131.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.199997 m, nav range: 50.259056 m, bearing: 93.334022 deg, approach rate: -0.317500 m/s, LOS rate: 0.501363 deg/s, cmd heading: 68.830678 deg, new cmd heading: 69.500208 deg. 2025-01-08T23:48:51.358Z,1736380131.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213007 target range: 76.199997 and range: 76.20 m. 2025-01-08T23:48:51.432Z,1736380131.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:51.433Z,1736380131.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506183 2025-01-08T23:48:51.684Z,1736380131.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:51.685Z,1736380131.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757752 2025-01-08T23:48:51.698Z,1736380131.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:51.705Z,1736380131.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:51.707Z,1736380131.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m. 2025-01-08T23:48:51.709Z,1736380131.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.199997 m, nav range: 50.146908 m, bearing: 93.502288 deg, approach rate: -0.317960 m/s, LOS rate: 0.478129 deg/s, cmd heading: 69.500207 deg, new cmd heading: 70.006119 deg. 2025-01-08T23:48:51.710Z,1736380131.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221837 target range: 76.199997 and range: 76.20 m. 2025-01-08T23:48:51.936Z,1736380131.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:51.937Z,1736380131.937 [DAT](INFO): DAT read: Rx Time:23:48:50.6025 2025-01-08T23:48:51.937Z,1736380131.937 [DAT](INFO): Rx dataTimestamp_ set to:1736380131.936692 2025-01-08T23:48:51.937Z,1736380131.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010471 2025-01-08T23:48:52.095Z,1736380132.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:52.128Z,1736380132.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m. 2025-01-08T23:48:52.130Z,1736380132.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.199997 m, nav range: 50.016708 m, bearing: 93.688332 deg, approach rate: -0.312412 m/s, LOS rate: 0.447572 deg/s, cmd heading: 70.006120 deg, new cmd heading: 70.565686 deg. 2025-01-08T23:48:52.135Z,1736380132.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231604 target range: 76.199997 and range: 76.20 m. 2025-01-08T23:48:52.188Z,1736380132.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:52.189Z,1736380132.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262312 2025-01-08T23:48:52.440Z,1736380132.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:52.450Z,1736380132.450 [DAT](INFO): DAT read: 23:48:50.6025 LVL= 15248, 26401, 20258, 26995, AGC= 58, IDX= 432, 0.20,-2.024,-2.830, 2.197, 3.128, PHS= 1.219, 0.372,-0.934, RAW= 53.0, -7.0, CAL= 58.7, -12.9, ROT= 91.3, 12.9 2025-01-08T23:48:52.451Z,1736380132.451 [DAT](INFO): got valid direction response: 23:48:50.6025 LVL= 15248, 26401, 20258, 26995, AGC= 58, IDX= 432, 0.20,-2.024,-2.830, 2.197, 3.128, PHS= 1.219, 0.372,-0.934, RAW= 53.0, -7.0, CAL= 58.7, -12.9, ROT= 91.3, 12.9 2025-01-08T23:48:52.452Z,1736380132.452 [DAT](INFO): DAT read: Bearing 91.3, 12.9 (Local) 2025-01-08T23:48:52.453Z,1736380132.453 [DAT](INFO): Local bearing/azimuth received: Bearing 91.3, 12.9 (Local) 2025-01-08T23:48:52.454Z,1736380132.454 [DAT](INFO): DAT read: Range 10 to 50 : 76.5 m (Round-trip 102.0 ms) speed 0.0 m/s 2025-01-08T23:48:52.455Z,1736380132.455 [DAT](INFO): DAT read: user:3480> 2025-01-08T23:48:52.456Z,1736380132.456 [DAT](INFO): DAT read: Tx time:23:48:51.6963 2025-01-08T23:48:52.456Z,1736380132.456 [DAT](INFO): Ping request sent. 2025-01-08T23:48:52.456Z,1736380132.456 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:52.456Z,1736380132.456 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:48:52.457Z,1736380132.457 [DAT](INFO): direction in FSK: [0.115818,0.654536,0.747107] 2025-01-08T23:48:52.458Z,1736380132.458 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:52.458Z,1736380132.458 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:52.461Z,1736380132.461 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:52.461Z,1736380132.461 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:52.613Z,1736380132.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:52.645Z,1736380132.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.500000 m, deltaT: 3.530530 s, deltaX: 0.300003 m, approachRate: 0.084974 m/s, rangeRepo size: 4 2025-01-08T23:48:52.653Z,1736380132.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.500000 m, bearing: 119.687445 deg, lat: 36.905169 deg, lon: -122.119711 deg, deltaT: 3.530530 s, deltaX: 0.300003 m, approachRate: 0.084974 m/s, posRepo size: 4 2025-01-08T23:48:52.654Z,1736380132.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T23:48:52.668Z,1736380132.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 49.860283 m, bearing: 93.928177 deg, approach rate: 0.000000 m/s, LOS rate: 0.447572 deg/s, cmd heading: 70.565690 deg, new cmd heading: 71.258580 deg. 2025-01-08T23:48:52.669Z,1736380132.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.243697 target range: 76.500000 and range: 76.50 m. 2025-01-08T23:48:52.692Z,1736380132.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:52.693Z,1736380132.693 [DAT](INFO): DAT read: TxSync time:23:48:51.6956 2025-01-08T23:48:52.945Z,1736380132.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:52.973Z,1736380132.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:52.982Z,1736380132.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T23:48:52.986Z,1736380132.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 49.748123 m, bearing: 94.092211 deg, approach rate: -0.327298 m/s, LOS rate: 0.479753 deg/s, cmd heading: 71.258578 deg, new cmd heading: 71.751777 deg. 2025-01-08T23:48:52.987Z,1736380132.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252305 target range: 76.500000 and range: 76.50 m. 2025-01-08T23:48:53.196Z,1736380133.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:53.383Z,1736380133.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:53.412Z,1736380133.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T23:48:53.420Z,1736380133.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 49.623608 m, bearing: 94.275525 deg, approach rate: -0.304187 m/s, LOS rate: 0.448952 deg/s, cmd heading: 71.751779 deg, new cmd heading: 72.303083 deg. 2025-01-08T23:48:53.421Z,1736380133.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261927 target range: 76.500000 and range: 76.50 m. 2025-01-08T23:48:53.448Z,1736380133.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:53.700Z,1736380133.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:53.764Z,1736380133.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:53.770Z,1736380133.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:53.772Z,1736380133.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T23:48:53.777Z,1736380133.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 49.504276 m, bearing: 94.442455 deg, approach rate: -0.313195 m/s, LOS rate: 0.439177 deg/s, cmd heading: 72.303085 deg, new cmd heading: 72.805068 deg. 2025-01-08T23:48:53.778Z,1736380133.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.270688 target range: 76.500000 and range: 76.50 m. 2025-01-08T23:48:53.952Z,1736380133.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:53.952Z,1736380133.952 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:53.952Z,1736380133.952 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:53.952Z,1736380133.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:54.175Z,1736380134.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:54.204Z,1736380134.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:54.205Z,1736380134.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748634 2025-01-08T23:48:54.209Z,1736380134.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T23:48:54.221Z,1736380134.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 49.371723 m, bearing: 94.619990 deg, approach rate: -0.310515 m/s, LOS rate: 0.417004 deg/s, cmd heading: 72.805070 deg, new cmd heading: 73.339088 deg. 2025-01-08T23:48:54.222Z,1736380134.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.280009 target range: 76.500000 and range: 76.50 m. 2025-01-08T23:48:54.456Z,1736380134.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:54.457Z,1736380134.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000378 2025-01-08T23:48:54.708Z,1736380134.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:54.708Z,1736380134.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252337 2025-01-08T23:48:54.770Z,1736380134.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:54.782Z,1736380134.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T23:48:54.785Z,1736380134.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 49.206581 m, bearing: 94.879071 deg, approach rate: -0.283490 m/s, LOS rate: 0.446241 deg/s, cmd heading: 73.339088 deg, new cmd heading: 74.118889 deg. 2025-01-08T23:48:54.786Z,1736380134.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293619 target range: 76.500000 and range: 76.50 m. 2025-01-08T23:48:54.960Z,1736380134.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:54.960Z,1736380134.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504255 2025-01-08T23:48:55.130Z,1736380135.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:55.138Z,1736380135.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T23:48:55.141Z,1736380135.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 49.100464 m, bearing: 95.030477 deg, approach rate: -0.297702 m/s, LOS rate: 0.425673 deg/s, cmd heading: 74.118891 deg, new cmd heading: 74.574079 deg. 2025-01-08T23:48:55.142Z,1736380135.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.301563 target range: 76.500000 and range: 76.50 m. 2025-01-08T23:48:55.212Z,1736380135.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:55.213Z,1736380135.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756431 2025-01-08T23:48:55.244Z,1736380135.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:48:55.464Z,1736380135.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:55.466Z,1736380135.466 [DAT](INFO): DAT read: Rx Time:23:48:54.2019 2025-01-08T23:48:55.466Z,1736380135.466 [DAT](INFO): Rx dataTimestamp_ set to:1736380135.465785 2025-01-08T23:48:55.468Z,1736380135.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010861 2025-01-08T23:48:55.576Z,1736380135.576 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 108.58, 79.01, 87.68 2025-01-08T23:48:55.585Z,1736380135.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:48:55.585Z,1736380135.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:55.594Z,1736380135.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T23:48:55.609Z,1736380135.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 48.958557 m, bearing: 95.214511 deg, approach rate: -0.311487 m/s, LOS rate: 0.405127 deg/s, cmd heading: 74.574082 deg, new cmd heading: 75.127765 deg. 2025-01-08T23:48:55.610Z,1736380135.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.311227 target range: 76.500000 and range: 76.50 m. 2025-01-08T23:48:55.716Z,1736380135.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:55.717Z,1736380135.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260489 2025-01-08T23:48:55.960Z,1736380135.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:48:55.960Z,1736380135.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:55.968Z,1736380135.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:55.975Z,1736380135.975 [DAT](INFO): DAT read: 23:48:54.2019 LVL= 16832, 27681, 17298, 25075, AGC= 56, IDX= 443,-0.32,-0.338,-1.770,-2.332,-1.692, PHS= 1.442,-0.031,-0.643, RAW= 73.4, -8.3, CAL= 83.5, -16.5, ROT= 66.5, 16.5 2025-01-08T23:48:55.992Z,1736380135.992 [DAT](INFO): got valid direction response: 23:48:54.2019 LVL= 16832, 27681, 17298, 25075, AGC= 56, IDX= 443,-0.32,-0.338,-1.770,-2.332,-1.692, PHS= 1.442,-0.031,-0.643, RAW= 73.4, -8.3, CAL= 83.5, -16.5, ROT= 66.5, 16.5 2025-01-08T23:48:55.993Z,1736380135.993 [DAT](INFO): DAT read: Bearing 66.5, 16.5 (Local) 2025-01-08T23:48:55.993Z,1736380135.993 [DAT](INFO): Local bearing/azimuth received: Bearing 66.5, 16.5 (Local) 2025-01-08T23:48:55.995Z,1736380135.995 [DAT](INFO): DAT read: Range 10 to 50 : 76.0 m (Round-trip 101.4 ms) speed 0.1 m/s 2025-01-08T23:48:55.997Z,1736380135.997 [DAT](INFO): DAT read: user:3481> 2025-01-08T23:48:55.998Z,1736380135.998 [DAT](INFO): DAT read: Tx time:23:48:55.2963 2025-01-08T23:48:55.998Z,1736380135.998 [DAT](INFO): Ping request sent. 2025-01-08T23:48:55.998Z,1736380135.998 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:55.999Z,1736380135.999 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:48:56.000Z,1736380136.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:56.002Z,1736380136.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m. 2025-01-08T23:48:56.004Z,1736380136.004 [DAT](INFO): direction in FSK: [0.100754,0.369195,0.923874] 2025-01-08T23:48:56.004Z,1736380136.004 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:56.004Z,1736380136.004 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:56.015Z,1736380136.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.500000 m, nav range: 48.842163 m, bearing: 95.366747 deg, approach rate: -0.285111 m/s, LOS rate: 0.373795 deg/s, cmd heading: 75.127764 deg, new cmd heading: 75.585550 deg. 2025-01-08T23:48:56.024Z,1736380136.024 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:56.024Z,1736380136.024 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:56.028Z,1736380136.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319217 target range: 76.500000 and range: 76.50 m. 2025-01-08T23:48:56.036Z,1736380136.036 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:48:56.036Z,1736380136.036 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:48:56.036Z,1736380136.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:48:56.221Z,1736380136.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:56.221Z,1736380136.221 [DAT](INFO): DAT read: TxSync time:23:48:55.2956 2025-01-08T23:48:56.222Z,1736380136.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.223715 2025-01-08T23:48:56.248Z,1736380136.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:48:56.458Z,1736380136.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:56.472Z,1736380136.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:56.473Z,1736380136.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.474121 2025-01-08T23:48:56.497Z,1736380136.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.000000 m, deltaT: 3.528411 s, deltaX: -0.500000 m, approachRate: -0.141707 m/s, rangeRepo size: 4 2025-01-08T23:48:56.504Z,1736380136.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.000000 m, bearing: 126.007437 deg, lat: 36.905165 deg, lon: -122.119928 deg, deltaT: 3.528411 s, deltaX: -0.500000 m, approachRate: -0.141707 m/s, posRepo size: 4 2025-01-08T23:48:56.504Z,1736380136.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m. 2025-01-08T23:48:56.507Z,1736380136.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.000000 m, nav range: 29.624357 m, bearing: 99.876878 deg, approach rate: 0.000000 m/s, LOS rate: 0.373795 deg/s, cmd heading: 75.585551 deg, new cmd heading: 76.133385 deg. 2025-01-08T23:48:56.520Z,1736380136.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328778 target range: 76.000000 and range: 76.00 m. 2025-01-08T23:48:56.724Z,1736380136.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:56.724Z,1736380136.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.725963 2025-01-08T23:48:56.823Z,1736380136.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:56.833Z,1736380136.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m. 2025-01-08T23:48:56.836Z,1736380136.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.000000 m, nav range: 29.515987 m, bearing: 100.119521 deg, approach rate: -0.316863 m/s, LOS rate: 0.712067 deg/s, cmd heading: 76.133387 deg, new cmd heading: 76.863945 deg. 2025-01-08T23:48:56.837Z,1736380136.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341529 target range: 76.000000 and range: 76.00 m. 2025-01-08T23:48:56.976Z,1736380136.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:56.977Z,1736380136.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978238 2025-01-08T23:48:57.217Z,1736380137.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:57.226Z,1736380137.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m. 2025-01-08T23:48:57.228Z,1736380137.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:57.229Z,1736380137.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230151 2025-01-08T23:48:57.230Z,1736380137.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.000000 m, nav range: 29.395939 m, bearing: 100.378400 deg, approach rate: -0.305545 m/s, LOS rate: 0.661583 deg/s, cmd heading: 76.863944 deg, new cmd heading: 77.643703 deg. 2025-01-08T23:48:57.232Z,1736380137.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355138 target range: 76.000000 and range: 76.00 m. 2025-01-08T23:48:57.482Z,1736380137.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:57.483Z,1736380137.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484110 2025-01-08T23:48:57.638Z,1736380137.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:57.649Z,1736380137.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m. 2025-01-08T23:48:57.673Z,1736380137.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.000000 m, nav range: 29.252224 m, bearing: 100.649886 deg, approach rate: -0.339708 m/s, LOS rate: 0.644880 deg/s, cmd heading: 77.643705 deg, new cmd heading: 78.462107 deg. 2025-01-08T23:48:57.680Z,1736380137.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369422 target range: 76.000000 and range: 76.00 m. 2025-01-08T23:48:57.737Z,1736380137.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:57.738Z,1736380137.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739389 2025-01-08T23:48:57.988Z,1736380137.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:57.989Z,1736380137.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990230 2025-01-08T23:48:58.053Z,1736380138.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:58.065Z,1736380138.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:48:58.068Z,1736380138.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m. 2025-01-08T23:48:58.070Z,1736380138.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.000000 m, nav range: 29.110905 m, bearing: 100.920703 deg, approach rate: -0.337529 m/s, LOS rate: 0.649959 deg/s, cmd heading: 78.462105 deg, new cmd heading: 79.278441 deg. 2025-01-08T23:48:58.072Z,1736380138.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.383670 target range: 76.000000 and range: 76.00 m. 2025-01-08T23:48:58.240Z,1736380138.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:58.240Z,1736380138.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241952 2025-01-08T23:48:58.464Z,1736380138.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:58.492Z,1736380138.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:58.492Z,1736380138.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494095 2025-01-08T23:48:58.494Z,1736380138.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m. 2025-01-08T23:48:58.501Z,1736380138.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.000000 m, nav range: 28.955471 m, bearing: 101.161534 deg, approach rate: -0.364572 m/s, LOS rate: 0.567905 deg/s, cmd heading: 79.278443 deg, new cmd heading: 80.004774 deg. 2025-01-08T23:48:58.502Z,1736380138.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.396347 target range: 76.000000 and range: 76.00 m. 2025-01-08T23:48:58.744Z,1736380138.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:58.746Z,1736380138.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746730 2025-01-08T23:48:58.827Z,1736380138.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:58.837Z,1736380138.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m. 2025-01-08T23:48:58.840Z,1736380138.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.000000 m, nav range: 28.815607 m, bearing: 101.369020 deg, approach rate: -0.407553 m/s, LOS rate: 0.607530 deg/s, cmd heading: 80.004772 deg, new cmd heading: 80.630223 deg. 2025-01-08T23:48:58.841Z,1736380138.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.407263 target range: 76.000000 and range: 76.00 m. 2025-01-08T23:48:58.997Z,1736380138.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:58.998Z,1736380138.998 [DAT](INFO): DAT read: Rx Time:23:48:57.8006 2025-01-08T23:48:58.998Z,1736380138.998 [DAT](INFO): Rx dataTimestamp_ set to:1736380138.998036 2025-01-08T23:48:58.999Z,1736380138.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000455 2025-01-08T23:48:59.246Z,1736380139.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:59.248Z,1736380139.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:59.249Z,1736380139.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250182 2025-01-08T23:48:59.257Z,1736380139.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.00 m. 2025-01-08T23:48:59.261Z,1736380139.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.000000 m, nav range: 28.651220 m, bearing: 101.602022 deg, approach rate: -0.390883 m/s, LOS rate: 0.557216 deg/s, cmd heading: 80.630226 deg, new cmd heading: 81.333206 deg. 2025-01-08T23:48:59.262Z,1736380139.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.419532 target range: 76.000000 and range: 76.00 m. 2025-01-08T23:48:59.501Z,1736380139.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:59.519Z,1736380139.519 [DAT](INFO): DAT read: 23:48:57.8006 LVL= 18416, 31601, 22514, 32755, AGC= 57, IDX= 429, 0.22,-0.614,-2.109,-2.048,-1.542, PHS= 1.016,-0.520,-0.509, RAW= 90.4, 0.2, CAL= 98.0, -4.0, ROT= 52.0, 4.0 2025-01-08T23:48:59.520Z,1736380139.520 [DAT](INFO): got valid direction response: 23:48:57.8006 LVL= 18416, 31601, 22514, 32755, AGC= 57, IDX= 429, 0.22,-0.614,-2.109,-2.048,-1.542, PHS= 1.016,-0.520,-0.509, RAW= 90.4, 0.2, CAL= 98.0, -4.0, ROT= 52.0, 4.0 2025-01-08T23:48:59.521Z,1736380139.521 [DAT](INFO): DAT read: Bearing 52.0, 4.0 (Local) 2025-01-08T23:48:59.521Z,1736380139.521 [DAT](INFO): Local bearing/azimuth received: Bearing 52.0, 4.0 (Local) 2025-01-08T23:48:59.527Z,1736380139.527 [DAT](INFO): DAT read: Range 10 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.3 m/s 2025-01-08T23:48:59.528Z,1736380139.528 [DAT](INFO): DAT read: user:3482> 2025-01-08T23:48:59.529Z,1736380139.529 [DAT](INFO): DAT read: Tx time:23:48:58.8964 2025-01-08T23:48:59.530Z,1736380139.530 [DAT](INFO): Ping request sent. 2025-01-08T23:48:59.530Z,1736380139.530 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:48:59.530Z,1736380139.530 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:48:59.531Z,1736380139.531 [DAT](INFO): direction in FSK: [-0.088963,0.101642,0.990835] 2025-01-08T23:48:59.535Z,1736380139.535 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:59.536Z,1736380139.536 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:59.539Z,1736380139.539 [DAT](INFO): publishing transmit ping time 2025-01-08T23:48:59.539Z,1736380139.539 [DAT](INFO): publishing direction and range info 2025-01-08T23:48:59.732Z,1736380139.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:48:59.752Z,1736380139.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:48:59.752Z,1736380139.752 [DAT](INFO): DAT read: TxSync time:23:48:58.8957 2025-01-08T23:48:59.778Z,1736380139.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 3.533623 s, deltaX: -1.000000 m, approachRate: -0.282996 m/s, rangeRepo size: 4 2025-01-08T23:48:59.785Z,1736380139.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 75.000000 m, bearing: 287.164199 deg, lat: 36.905165 deg, lon: -122.119947 deg, deltaT: 3.533623 s, deltaX: -1.000000 m, approachRate: -0.282996 m/s, posRepo size: 4 2025-01-08T23:48:59.785Z,1736380139.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:48:59.794Z,1736380139.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 26.814005 m, bearing: 102.623044 deg, approach rate: 0.000000 m/s, LOS rate: 0.557216 deg/s, cmd heading: 81.333210 deg, new cmd heading: 82.201622 deg. 2025-01-08T23:48:59.795Z,1736380139.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434689 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:49:00.004Z,1736380140.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:00.093Z,1736380140.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:00.101Z,1736380140.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:00.102Z,1736380140.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:49:00.105Z,1736380140.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 26.649853 m, bearing: 102.839059 deg, approach rate: -0.504274 m/s, LOS rate: 0.667682 deg/s, cmd heading: 82.201620 deg, new cmd heading: 82.853628 deg. 2025-01-08T23:49:00.106Z,1736380140.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.446069 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:49:00.256Z,1736380140.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:00.256Z,1736380140.256 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:00.256Z,1736380140.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:00.257Z,1736380140.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:00.493Z,1736380140.493 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815500570,0.9, 0.0,1493.3, 0 2025-01-08T23:49:00.501Z,1736380140.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:49:00.501Z,1736380140.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:00.508Z,1736380140.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:00.508Z,1736380140.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978764 2025-01-08T23:49:00.531Z,1736380140.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:49:00.538Z,1736380140.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 26.464815 m, bearing: 103.086391 deg, approach rate: -0.431990 m/s, LOS rate: 0.581458 deg/s, cmd heading: 82.853630 deg, new cmd heading: 83.600769 deg. 2025-01-08T23:49:00.539Z,1736380140.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.459109 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:49:00.762Z,1736380140.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:00.763Z,1736380140.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233781 2025-01-08T23:49:00.880Z,1736380140.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:49:00.880Z,1736380140.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:00.909Z,1736380140.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:49:00.913Z,1736380140.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 26.287106 m, bearing: 103.295365 deg, approach rate: -0.469585 m/s, LOS rate: 0.555929 deg/s, cmd heading: 83.600771 deg, new cmd heading: 84.231903 deg. 2025-01-08T23:49:00.914Z,1736380140.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.470124 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:49:01.012Z,1736380141.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:01.013Z,1736380141.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483569 2025-01-08T23:49:01.264Z,1736380141.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:01.266Z,1736380141.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736233 2025-01-08T23:49:01.285Z,1736380141.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:49:01.285Z,1736380141.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:01.294Z,1736380141.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:49:01.328Z,1736380141.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 26.094564 m, bearing: 103.507934 deg, approach rate: -0.501027 m/s, LOS rate: 0.557224 deg/s, cmd heading: 84.231901 deg, new cmd heading: 84.874286 deg. 2025-01-08T23:49:01.329Z,1736380141.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.481336 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:49:01.516Z,1736380141.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:01.517Z,1736380141.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986998 2025-01-08T23:49:01.744Z,1736380141.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:01.762Z,1736380141.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:49:01.768Z,1736380141.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:01.769Z,1736380141.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239009 2025-01-08T23:49:01.781Z,1736380141.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 25.847425 m, bearing: 103.728873 deg, approach rate: -0.527732 m/s, LOS rate: 0.476294 deg/s, cmd heading: 84.874287 deg, new cmd heading: 85.543408 deg. 2025-01-08T23:49:01.782Z,1736380141.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.493014 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:49:02.020Z,1736380142.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:02.021Z,1736380142.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490840 2025-01-08T23:49:02.128Z,1736380142.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:02.144Z,1736380142.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:02.147Z,1736380142.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:49:02.150Z,1736380142.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 25.639139 m, bearing: 103.903583 deg, approach rate: -0.541005 m/s, LOS rate: 0.457480 deg/s, cmd heading: 85.543407 deg, new cmd heading: 86.071779 deg. 2025-01-08T23:49:02.160Z,1736380142.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.502236 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:49:02.274Z,1736380142.274 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:02.275Z,1736380142.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745738 2025-01-08T23:49:02.524Z,1736380142.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:02.525Z,1736380142.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994807 2025-01-08T23:49:02.534Z,1736380142.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:02.546Z,1736380142.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:49:02.549Z,1736380142.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 25.411640 m, bearing: 104.071527 deg, approach rate: -0.570014 m/s, LOS rate: 0.424563 deg/s, cmd heading: 86.071776 deg, new cmd heading: 86.580106 deg. 2025-01-08T23:49:02.550Z,1736380142.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511108 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:49:02.776Z,1736380142.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:02.776Z,1736380142.776 [DAT](INFO): DAT read: Rx Time:23:49:01.3989 2025-01-08T23:49:02.777Z,1736380142.777 [DAT](INFO): Rx dataTimestamp_ set to:1736380142.776584 2025-01-08T23:49:02.777Z,1736380142.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247696 2025-01-08T23:49:02.920Z,1736380142.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:02.930Z,1736380142.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m. 2025-01-08T23:49:02.933Z,1736380142.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.000000 m, nav range: 25.193138 m, bearing: 104.221217 deg, approach rate: -0.570816 m/s, LOS rate: 0.394442 deg/s, cmd heading: 86.580106 deg, new cmd heading: 87.033061 deg. 2025-01-08T23:49:02.934Z,1736380142.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519014 target range: 75.000000 and range: 75.00 m. 2025-01-08T23:49:03.028Z,1736380143.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:03.030Z,1736380143.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500097 2025-01-08T23:49:03.281Z,1736380143.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:03.301Z,1736380143.301 [DAT](INFO): DAT read: 23:49:01.3989 LVL= 22832, 32753, 30818, 32755, AGC= 59, IDX= 427, 0.36,-2.476, 2.202, 2.691, 3.049, PHS= 0.846,-0.800,-0.361, RAW= 104.9, 4.3, CAL= 115.7, 2.0, ROT= 34.3, -2.0 2025-01-08T23:49:03.302Z,1736380143.302 [DAT](INFO): got valid direction response: 23:49:01.3989 LVL= 22832, 32753, 30818, 32755, AGC= 59, IDX= 427, 0.36,-2.476, 2.202, 2.691, 3.049, PHS= 0.846,-0.800,-0.361, RAW= 104.9, 4.3, CAL= 115.7, 2.0, ROT= 34.3, -2.0 2025-01-08T23:49:03.304Z,1736380143.304 [DAT](INFO): DAT read: Bearing 34.3, -2.0 (Local) 2025-01-08T23:49:03.305Z,1736380143.305 [DAT](INFO): Local bearing/azimuth received: Bearing 34.3, -2.0 (Local) 2025-01-08T23:49:03.306Z,1736380143.306 [DAT](INFO): DAT read: Range 10 to 50 : 73.7 m (Round-trip 98.3 ms) speed 0.3 m/s 2025-01-08T23:49:03.308Z,1736380143.308 [DAT](INFO): DAT read: user:3483> 2025-01-08T23:49:03.308Z,1736380143.308 [DAT](INFO): DAT read: Tx time:23:49:02.4964 2025-01-08T23:49:03.309Z,1736380143.309 [DAT](INFO): Ping request sent. 2025-01-08T23:49:03.309Z,1736380143.309 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:03.309Z,1736380143.309 [DAT](INFO): DAT read: TxSync time:23:49:02.4957 2025-01-08T23:49:03.310Z,1736380143.310 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:03.311Z,1736380143.311 [DAT](INFO): direction in FSK: [-0.188768,-0.148997,0.970653] 2025-01-08T23:49:03.311Z,1736380143.311 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:03.311Z,1736380143.311 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:03.314Z,1736380143.314 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:03.314Z,1736380143.314 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:03.474Z,1736380143.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:03.525Z,1736380143.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.699997 m, deltaT: 3.779468 s, deltaX: -1.300003 m, approachRate: -0.343965 m/s, rangeRepo size: 4 2025-01-08T23:49:03.532Z,1736380143.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:03.535Z,1736380143.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.699997 m, bearing: 315.719211 deg, lat: 36.905165 deg, lon: -122.120177 deg, deltaT: 3.779468 s, deltaX: -1.300003 m, approachRate: -0.343965 m/s, posRepo size: 4 2025-01-08T23:49:03.536Z,1736380143.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m. 2025-01-08T23:49:03.539Z,1736380143.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.699997 m, nav range: 7.146644 m, bearing: 150.107789 deg, approach rate: 0.000000 m/s, LOS rate: 0.394442 deg/s, cmd heading: 87.033064 deg, new cmd heading: 87.737904 deg. 2025-01-08T23:49:03.544Z,1736380143.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.531315 target range: 73.699997 and range: 73.70 m. 2025-01-08T23:49:03.784Z,1736380143.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:03.919Z,1736380143.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:03.948Z,1736380143.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m. 2025-01-08T23:49:03.950Z,1736380143.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.699997 m, nav range: 7.023044 m, bearing: 151.985591 deg, approach rate: -0.298037 m/s, LOS rate: 4.606808 deg/s, cmd heading: 87.737905 deg, new cmd heading: 93.450424 deg. 2025-01-08T23:49:03.960Z,1736380143.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631018 target range: 73.699997 and range: 73.70 m. 2025-01-08T23:49:04.036Z,1736380144.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:04.174Z,1736380144.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:04.182Z,1736380144.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:04.185Z,1736380144.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m. 2025-01-08T23:49:04.194Z,1736380144.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.699997 m, nav range: 6.955692 m, bearing: 153.091359 deg, approach rate: -0.274240 m/s, LOS rate: 4.545740 deg/s, cmd heading: 93.450423 deg, new cmd heading: 96.795835 deg. 2025-01-08T23:49:04.195Z,1736380144.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.689406 target range: 73.699997 and range: 73.70 m. 2025-01-08T23:49:04.288Z,1736380144.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:04.289Z,1736380144.289 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:04.289Z,1736380144.289 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:04.289Z,1736380144.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:04.540Z,1736380144.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:04.541Z,1736380144.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231975 2025-01-08T23:49:04.609Z,1736380144.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:04.618Z,1736380144.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m. 2025-01-08T23:49:04.622Z,1736380144.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.699997 m, nav range: 6.829036 m, bearing: 154.865753 deg, approach rate: -0.292147 m/s, LOS rate: 4.168112 deg/s, cmd heading: 96.795836 deg, new cmd heading: 102.200788 deg. 2025-01-08T23:49:04.623Z,1736380144.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.783740 target range: 73.699997 and range: 73.70 m. 2025-01-08T23:49:04.792Z,1736380144.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:04.793Z,1736380144.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484422 2025-01-08T23:49:04.966Z,1736380144.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:04.974Z,1736380144.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m. 2025-01-08T23:49:04.982Z,1736380144.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.699997 m, nav range: 6.726320 m, bearing: 156.356233 deg, approach rate: -0.288553 m/s, LOS rate: 4.250544 deg/s, cmd heading: 102.200790 deg, new cmd heading: 106.730540 deg. 2025-01-08T23:49:04.983Z,1736380144.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.862799 target range: 73.699997 and range: 73.70 m. 2025-01-08T23:49:05.045Z,1736380145.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:05.046Z,1736380145.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737442 2025-01-08T23:49:05.296Z,1736380145.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:05.296Z,1736380145.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987602 2025-01-08T23:49:05.424Z,1736380145.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:05.466Z,1736380145.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m. 2025-01-08T23:49:05.490Z,1736380145.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.699997 m, nav range: 6.594602 m, bearing: 158.304991 deg, approach rate: -0.268703 m/s, LOS rate: 4.054072 deg/s, cmd heading: 106.730537 deg, new cmd heading: 112.671053 deg. 2025-01-08T23:49:05.503Z,1736380145.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.966481 target range: 73.699997 and range: 73.70 m. 2025-01-08T23:49:05.548Z,1736380145.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:05.549Z,1736380145.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240080 2025-01-08T23:49:05.801Z,1736380145.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:05.802Z,1736380145.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493212 2025-01-08T23:49:05.830Z,1736380145.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:05.867Z,1736380145.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m. 2025-01-08T23:49:05.870Z,1736380145.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.699997 m, nav range: 6.485911 m, bearing: 160.068475 deg, approach rate: -0.272762 m/s, LOS rate: 4.498945 deg/s, cmd heading: 112.671053 deg, new cmd heading: 118.033600 deg. 2025-01-08T23:49:05.872Z,1736380145.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060075 target range: 73.699997 and range: 73.70 m. 2025-01-08T23:49:06.052Z,1736380146.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:06.053Z,1736380146.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743924 2025-01-08T23:49:06.205Z,1736380146.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:06.216Z,1736380146.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:06.218Z,1736380146.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m. 2025-01-08T23:49:06.221Z,1736380146.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.699997 m, nav range: 6.388039 m, bearing: 161.742146 deg, approach rate: -0.275703 m/s, LOS rate: 4.786226 deg/s, cmd heading: 118.033606 deg, new cmd heading: 123.117438 deg. 2025-01-08T23:49:06.222Z,1736380146.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.148805 target range: 73.699997 and range: 73.70 m. 2025-01-08T23:49:06.304Z,1736380146.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:06.305Z,1736380146.305 [DAT](INFO): DAT read: Rx Time:23:49:04.9970 2025-01-08T23:49:06.305Z,1736380146.305 [DAT](INFO): Rx dataTimestamp_ set to:1736380146.304881 2025-01-08T23:49:06.306Z,1736380146.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997421 2025-01-08T23:49:06.558Z,1736380146.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:06.560Z,1736380146.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251370 2025-01-08T23:49:06.641Z,1736380146.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:06.714Z,1736380146.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m. 2025-01-08T23:49:06.721Z,1736380146.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.699997 m, nav range: 6.288669 m, bearing: 163.700257 deg, approach rate: -0.200224 m/s, LOS rate: 4.007030 deg/s, cmd heading: 123.117438 deg, new cmd heading: 129.062011 deg. 2025-01-08T23:49:06.722Z,1736380146.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252557 target range: 73.699997 and range: 73.70 m. 2025-01-08T23:49:06.809Z,1736380146.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:06.816Z,1736380146.816 [DAT](INFO): DAT read: 23:49:04.9970 LVL= 27968, 32753, 32754, 32755, AGC= 62, IDX= 423, 0.42,-0.613,-2.049,-1.392,-1.120, PHS= 0.595,-0.882,-0.276, RAW= 114.1, 8.8, CAL= 123.4, 5.6, ROT= 26.6, -5.6 2025-01-08T23:49:06.818Z,1736380146.818 [DAT](INFO): got valid direction response: 23:49:04.9970 LVL= 27968, 32753, 32754, 32755, AGC= 62, IDX= 423, 0.42,-0.613,-2.049,-1.392,-1.120, PHS= 0.595,-0.882,-0.276, RAW= 114.1, 8.8, CAL= 123.4, 5.6, ROT= 26.6, -5.6 2025-01-08T23:49:06.820Z,1736380146.820 [DAT](INFO): DAT read: Bearing 26.6, -5.6 (Local) 2025-01-08T23:49:06.820Z,1736380146.820 [DAT](INFO): Local bearing/azimuth received: Bearing 26.6, -5.6 (Local) 2025-01-08T23:49:06.823Z,1736380146.823 [DAT](INFO): DAT read: Range 10 to 50 : 72.3 m (Round-trip 96.4 ms) speed 0.4 m/s 2025-01-08T23:49:06.824Z,1736380146.824 [DAT](INFO): DAT read: user:3484> 2025-01-08T23:49:06.825Z,1736380146.825 [DAT](INFO): DAT read: Tx time:23:49:06.0964 2025-01-08T23:49:06.826Z,1736380146.826 [DAT](INFO): Ping request sent. 2025-01-08T23:49:06.826Z,1736380146.826 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:06.826Z,1736380146.826 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:06.840Z,1736380146.840 [DAT](INFO): direction in FSK: [-0.282817,-0.298884,0.911418] 2025-01-08T23:49:06.840Z,1736380146.840 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:06.840Z,1736380146.840 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:06.848Z,1736380146.848 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:06.848Z,1736380146.848 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:07.018Z,1736380147.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:07.050Z,1736380147.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.300003 m, deltaT: 3.527919 s, deltaX: -1.399994 m, approachRate: -0.396833 m/s, rangeRepo size: 4 2025-01-08T23:49:07.056Z,1736380147.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 325.980113 deg, lat: 36.905265 deg, lon: -122.120430 deg, deltaT: 3.527919 s, deltaX: -1.399994 m, approachRate: -0.396833 m/s, posRepo size: 4 2025-01-08T23:49:07.057Z,1736380147.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:07.060Z,1736380147.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:07.061Z,1736380147.061 [DAT](INFO): DAT read: TxSync time:23:49:06.0957 2025-01-08T23:49:07.064Z,1736380147.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 21.463375 m, bearing: 283.590893 deg, approach rate: 0.000000 m/s, LOS rate: 4.007030 deg/s, cmd heading: 129.062011 deg, new cmd heading: 133.080372 deg. 2025-01-08T23:49:07.065Z,1736380147.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322691 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:49:07.312Z,1736380147.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:07.428Z,1736380147.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:07.437Z,1736380147.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:07.440Z,1736380147.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 21.686609 m, bearing: 283.561095 deg, approach rate: 0.575223 m/s, LOS rate: -0.075992 deg/s, cmd heading: 133.080376 deg, new cmd heading: 132.991902 deg. 2025-01-08T23:49:07.441Z,1736380147.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321146 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:49:07.564Z,1736380147.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:07.816Z,1736380147.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:07.852Z,1736380147.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:07.861Z,1736380147.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:07.864Z,1736380147.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 21.910625 m, bearing: 283.544169 deg, approach rate: 0.529136 m/s, LOS rate: -0.039571 deg/s, cmd heading: 132.991897 deg, new cmd heading: 132.941638 deg. 2025-01-08T23:49:07.865Z,1736380147.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320269 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:49:08.069Z,1736380148.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:08.225Z,1736380148.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:08.240Z,1736380148.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:08.242Z,1736380148.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:08.249Z,1736380148.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 22.107538 m, bearing: 283.542682 deg, approach rate: 0.516671 m/s, LOS rate: -0.003868 deg/s, cmd heading: 132.941641 deg, new cmd heading: 132.937218 deg. 2025-01-08T23:49:08.250Z,1736380148.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320192 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:49:08.320Z,1736380148.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:08.322Z,1736380148.322 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:08.322Z,1736380148.322 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:08.322Z,1736380148.322 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:08.574Z,1736380148.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:08.577Z,1736380148.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750317 2025-01-08T23:49:08.682Z,1736380148.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:08.691Z,1736380148.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:08.694Z,1736380148.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 22.347260 m, bearing: 283.529849 deg, approach rate: 0.533431 m/s, LOS rate: -0.028249 deg/s, cmd heading: 132.937215 deg, new cmd heading: 132.899129 deg. 2025-01-08T23:49:08.695Z,1736380148.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319527 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:49:08.824Z,1736380148.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:08.824Z,1736380148.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998476 2025-01-08T23:49:09.038Z,1736380149.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:09.047Z,1736380149.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:09.050Z,1736380149.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 22.533350 m, bearing: 283.541296 deg, approach rate: 0.522477 m/s, LOS rate: 0.031873 deg/s, cmd heading: 132.899130 deg, new cmd heading: 132.933187 deg. 2025-01-08T23:49:09.051Z,1736380149.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320122 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:49:09.076Z,1736380149.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:09.076Z,1736380149.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250447 2025-01-08T23:49:09.328Z,1736380149.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:09.328Z,1736380149.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502385 2025-01-08T23:49:09.428Z,1736380149.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:09.443Z,1736380149.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:09.446Z,1736380149.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 22.737434 m, bearing: 283.566680 deg, approach rate: 0.515862 m/s, LOS rate: 0.063588 deg/s, cmd heading: 132.933185 deg, new cmd heading: 133.008655 deg. 2025-01-08T23:49:09.447Z,1736380149.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321439 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:49:09.580Z,1736380149.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:09.581Z,1736380149.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754964 2025-01-08T23:49:09.832Z,1736380149.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:09.833Z,1736380149.833 [DAT](INFO): DAT read: Rx Time:23:49:08.5946 2025-01-08T23:49:09.833Z,1736380149.833 [DAT](INFO): Rx dataTimestamp_ set to:1736380149.832755 2025-01-08T23:49:09.834Z,1736380149.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007563 2025-01-08T23:49:09.898Z,1736380149.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:09.921Z,1736380149.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:09.928Z,1736380149.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 22.986488 m, bearing: 283.597446 deg, approach rate: 0.520903 m/s, LOS rate: 0.063650 deg/s, cmd heading: 133.008659 deg, new cmd heading: 133.099956 deg. 2025-01-08T23:49:09.930Z,1736380149.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323032 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:49:10.084Z,1736380150.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:10.084Z,1736380150.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258448 2025-01-08T23:49:10.240Z,1736380150.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:10.276Z,1736380150.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:10.278Z,1736380150.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:10.285Z,1736380150.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 23.166832 m, bearing: 283.631408 deg, approach rate: 0.505642 m/s, LOS rate: 0.094479 deg/s, cmd heading: 133.099951 deg, new cmd heading: 133.201043 deg. 2025-01-08T23:49:10.286Z,1736380150.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324797 target range: 72.300003 and range: 72.30 m. 2025-01-08T23:49:10.336Z,1736380150.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:10.338Z,1736380150.338 [DAT](INFO): DAT read: Range 10 to 50 : 70.4 m (Round-trip 93.9 ms) speed 0.8 m/s 2025-01-08T23:49:10.340Z,1736380150.340 [DAT](INFO): DAT read: user:3485> 2025-01-08T23:49:10.341Z,1736380150.341 [DAT](INFO): DAT read: Tx time:23:49:09.6965 2025-01-08T23:49:10.342Z,1736380150.342 [DAT](INFO): Ping request sent. 2025-01-08T23:49:10.342Z,1736380150.342 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:10.342Z,1736380150.342 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:49:10.342Z,1736380150.342 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:10.344Z,1736380150.344 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:10.589Z,1736380150.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:10.593Z,1736380150.593 [DAT](INFO): DAT read: TxSync time:23:49:09.6958 2025-01-08T23:49:10.693Z,1736380150.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:10.703Z,1736380150.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.400002 m, deltaT: 3.526757 s, deltaX: -1.900002 m, approachRate: -0.538739 m/s, rangeRepo size: 4 2025-01-08T23:49:10.704Z,1736380150.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:10.707Z,1736380150.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 23.410236 m, bearing: 283.696436 deg, approach rate: 0.572750 m/s, LOS rate: 0.151425 deg/s, cmd heading: 133.201038 deg, new cmd heading: 133.394093 deg. 2025-01-08T23:49:10.708Z,1736380150.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328166 target range: 72.300003 and range: 70.40 m. 2025-01-08T23:49:10.840Z,1736380150.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:11.053Z,1736380151.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:11.064Z,1736380151.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:11.067Z,1736380151.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 23.602390 m, bearing: 283.761379 deg, approach rate: 0.531017 m/s, LOS rate: 0.178008 deg/s, cmd heading: 133.394086 deg, new cmd heading: 133.587328 deg. 2025-01-08T23:49:11.068Z,1736380151.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331539 target range: 72.300003 and range: 70.40 m. 2025-01-08T23:49:11.092Z,1736380151.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:11.344Z,1736380151.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:11.454Z,1736380151.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:11.472Z,1736380151.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:11.475Z,1736380151.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 23.815609 m, bearing: 283.846566 deg, approach rate: 0.523131 m/s, LOS rate: 0.207136 deg/s, cmd heading: 133.587326 deg, new cmd heading: 133.840599 deg. 2025-01-08T23:49:11.493Z,1736380151.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335959 target range: 72.300003 and range: 70.40 m. 2025-01-08T23:49:11.598Z,1736380151.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:11.848Z,1736380151.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:11.902Z,1736380151.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:11.911Z,1736380151.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:11.915Z,1736380151.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 24.067444 m, bearing: 283.950252 deg, approach rate: 0.573760 m/s, LOS rate: 0.233757 deg/s, cmd heading: 133.840603 deg, new cmd heading: 134.148402 deg. 2025-01-08T23:49:11.932Z,1736380151.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341331 target range: 72.300003 and range: 70.40 m. 2025-01-08T23:49:12.101Z,1736380152.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:12.270Z,1736380152.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:12.280Z,1736380152.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:12.282Z,1736380152.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:12.285Z,1736380152.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 24.273413 m, bearing: 284.046049 deg, approach rate: 0.554922 m/s, LOS rate: 0.255907 deg/s, cmd heading: 134.148399 deg, new cmd heading: 134.433349 deg. 2025-01-08T23:49:12.286Z,1736380152.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.346305 target range: 72.300003 and range: 70.40 m. 2025-01-08T23:49:12.353Z,1736380152.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:12.354Z,1736380152.354 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:12.354Z,1736380152.354 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:12.354Z,1736380152.354 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:12.605Z,1736380152.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:12.608Z,1736380152.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265537 2025-01-08T23:49:12.716Z,1736380152.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:12.724Z,1736380152.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:12.727Z,1736380152.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 24.539562 m, bearing: 284.175916 deg, approach rate: 0.602049 m/s, LOS rate: 0.290583 deg/s, cmd heading: 134.433354 deg, new cmd heading: 134.818725 deg. 2025-01-08T23:49:12.728Z,1736380152.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.353031 target range: 72.300003 and range: 70.40 m. 2025-01-08T23:49:12.856Z,1736380152.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:12.857Z,1736380152.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515054 2025-01-08T23:49:13.071Z,1736380153.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:13.086Z,1736380153.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:13.108Z,1736380153.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:13.108Z,1736380153.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766975 2025-01-08T23:49:13.110Z,1736380153.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 24.750790 m, bearing: 284.291245 deg, approach rate: 0.583854 m/s, LOS rate: 0.316058 deg/s, cmd heading: 134.818727 deg, new cmd heading: 135.161755 deg. 2025-01-08T23:49:13.113Z,1736380153.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.359018 target range: 72.300003 and range: 70.40 m. 2025-01-08T23:49:13.361Z,1736380153.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:13.362Z,1736380153.362 [DAT](INFO): DAT read: Rx Time:23:49:12.1915 2025-01-08T23:49:13.363Z,1736380153.363 [DAT](INFO): Rx dataTimestamp_ set to:1736380153.362760 2025-01-08T23:49:13.364Z,1736380153.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022202 2025-01-08T23:49:13.564Z,1736380153.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:13.614Z,1736380153.614 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:13.617Z,1736380153.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275091 2025-01-08T23:49:13.640Z,1736380153.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:13.642Z,1736380153.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 25.038393 m, bearing: 284.464386 deg, approach rate: 0.523670 m/s, LOS rate: 0.311636 deg/s, cmd heading: 135.161753 deg, new cmd heading: 135.675197 deg. 2025-01-08T23:49:13.649Z,1736380153.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.367979 target range: 72.300003 and range: 70.40 m. 2025-01-08T23:49:13.866Z,1736380153.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:13.870Z,1736380153.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527563 2025-01-08T23:49:13.991Z,1736380153.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:14.000Z,1736380154.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m. 2025-01-08T23:49:14.003Z,1736380154.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.300003 m, nav range: 25.303703 m, bearing: 284.606105 deg, approach rate: 0.727113 m/s, LOS rate: 0.384323 deg/s, cmd heading: 135.675192 deg, new cmd heading: 136.095882 deg. 2025-01-08T23:49:14.004Z,1736380154.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.375321 target range: 72.300003 and range: 70.40 m. 2025-01-08T23:49:14.116Z,1736380154.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:14.128Z,1736380154.128 [DAT](INFO): DAT read: 23:49:12.1915 LVL= 22304, 25105, 22514, 32755, AGC= 62, IDX= 414,-0.09,-2.510, 1.963,-2.936, 2.968, PHS= 0.893,-0.958, 0.376, RAW= 134.3, -3.8, CAL= 139.8, -13.9, ROT= 10.2, 13.9 2025-01-08T23:49:14.130Z,1736380154.130 [DAT](INFO): got valid direction response: 23:49:12.1915 LVL= 22304, 25105, 22514, 32755, AGC= 62, IDX= 414,-0.09,-2.510, 1.963,-2.936, 2.968, PHS= 0.893,-0.958, 0.376, RAW= 134.3, -3.8, CAL= 139.8, -13.9, ROT= 10.2, 13.9 2025-01-08T23:49:14.131Z,1736380154.131 [DAT](INFO): DAT read: Bearing 10.2, 13.9 (Local) 2025-01-08T23:49:14.132Z,1736380154.132 [DAT](INFO): Local bearing/azimuth received: Bearing 10.2, 13.9 (Local) 2025-01-08T23:49:14.133Z,1736380154.133 [DAT](INFO): DAT read: Range 10 to 50 : 68.1 m (Round-trip 90.8 ms) speed 0.6 m/s 2025-01-08T23:49:14.134Z,1736380154.134 [DAT](INFO): DAT read: user:3486> 2025-01-08T23:49:14.135Z,1736380154.135 [DAT](INFO): DAT read: Tx time:23:49:13.2965 2025-01-08T23:49:14.150Z,1736380154.150 [DAT](INFO): Ping request sent. 2025-01-08T23:49:14.151Z,1736380154.151 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:14.154Z,1736380154.154 [DAT](INFO): DAT read: TxSync time:23:49:13.2958 2025-01-08T23:49:14.164Z,1736380154.164 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:14.165Z,1736380154.165 [DAT](INFO): direction in FSK: [-0.050889,-0.640304,0.766434] 2025-01-08T23:49:14.166Z,1736380154.166 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:14.166Z,1736380154.166 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:14.186Z,1736380154.186 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:14.186Z,1736380154.186 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:14.368Z,1736380154.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:14.430Z,1736380154.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:14.444Z,1736380154.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.099998 m, deltaT: 3.779926 s, deltaX: -2.300003 m, approachRate: -0.608478 m/s, rangeRepo size: 4 2025-01-08T23:49:14.446Z,1736380154.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.099998 m, bearing: 19.791696 deg, lat: 36.905454 deg, lon: -122.120430 deg, deltaT: 7.306683 s, deltaX: -4.200005 m, approachRate: -0.574817 m/s, posRepo size: 4 2025-01-08T23:49:14.446Z,1736380154.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T23:49:14.455Z,1736380154.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.099998 m, nav range: 37.007328 m, bearing: 318.082698 deg, approach rate: 0.000000 m/s, LOS rate: 0.384323 deg/s, cmd heading: 136.095877 deg, new cmd heading: 136.606415 deg. 2025-01-08T23:49:14.472Z,1736380154.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384232 target range: 68.099998 and range: 68.10 m. 2025-01-08T23:49:14.624Z,1736380154.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:14.859Z,1736380154.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:14.867Z,1736380154.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:14.869Z,1736380154.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T23:49:14.872Z,1736380154.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.099998 m, nav range: 37.283585 m, bearing: 317.965017 deg, approach rate: 0.648296 m/s, LOS rate: -0.274117 deg/s, cmd heading: 136.606420 deg, new cmd heading: 136.255998 deg. 2025-01-08T23:49:14.873Z,1736380154.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.378116 target range: 68.099998 and range: 68.10 m. 2025-01-08T23:49:14.876Z,1736380154.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:14.876Z,1736380154.876 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:14.876Z,1736380154.876 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:14.877Z,1736380154.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:15.129Z,1736380155.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:15.130Z,1736380155.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980112 2025-01-08T23:49:15.227Z,1736380155.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:15.237Z,1736380155.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T23:49:15.245Z,1736380155.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.099998 m, nav range: 37.522545 m, bearing: 317.875744 deg, approach rate: 0.649394 m/s, LOS rate: -0.241063 deg/s, cmd heading: 136.256004 deg, new cmd heading: 135.989891 deg. 2025-01-08T23:49:15.247Z,1736380155.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373471 target range: 68.099998 and range: 68.10 m. 2025-01-08T23:49:15.380Z,1736380155.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:15.381Z,1736380155.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230862 2025-01-08T23:49:15.634Z,1736380155.634 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:15.638Z,1736380155.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486926 2025-01-08T23:49:15.725Z,1736380155.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:15.735Z,1736380155.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T23:49:15.738Z,1736380155.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.099998 m, nav range: 37.856689 m, bearing: 317.771064 deg, approach rate: 0.670681 m/s, LOS rate: -0.208254 deg/s, cmd heading: 135.989886 deg, new cmd heading: 135.678621 deg. 2025-01-08T23:49:15.739Z,1736380155.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.368039 target range: 68.099998 and range: 68.10 m. 2025-01-08T23:49:15.884Z,1736380155.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:15.885Z,1736380155.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734767 2025-01-08T23:49:16.053Z,1736380156.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:16.061Z,1736380156.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T23:49:16.065Z,1736380156.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.099998 m, nav range: 38.076275 m, bearing: 317.703294 deg, approach rate: 0.673763 m/s, LOS rate: -0.206742 deg/s, cmd heading: 135.678621 deg, new cmd heading: 135.476484 deg. 2025-01-08T23:49:16.066Z,1736380156.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.364511 target range: 68.099998 and range: 68.10 m. 2025-01-08T23:49:16.136Z,1736380156.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:16.137Z,1736380156.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986586 2025-01-08T23:49:16.388Z,1736380156.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:16.388Z,1736380156.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238359 2025-01-08T23:49:16.453Z,1736380156.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:16.462Z,1736380156.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T23:49:16.465Z,1736380156.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.099998 m, nav range: 38.347843 m, bearing: 317.644031 deg, approach rate: 0.676907 m/s, LOS rate: -0.146670 deg/s, cmd heading: 135.476488 deg, new cmd heading: 135.299961 deg. 2025-01-08T23:49:16.466Z,1736380156.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.361430 target range: 68.099998 and range: 68.10 m. 2025-01-08T23:49:16.641Z,1736380156.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:16.644Z,1736380156.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493652 2025-01-08T23:49:16.872Z,1736380156.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:16.894Z,1736380156.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:16.896Z,1736380156.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745671 2025-01-08T23:49:16.905Z,1736380156.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:16.911Z,1736380156.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T23:49:16.920Z,1736380156.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.099998 m, nav range: 38.640110 m, bearing: 317.594411 deg, approach rate: 0.656828 m/s, LOS rate: -0.110671 deg/s, cmd heading: 135.299955 deg, new cmd heading: 135.152220 deg. 2025-01-08T23:49:16.921Z,1736380156.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.358851 target range: 68.099998 and range: 68.10 m. 2025-01-08T23:49:17.144Z,1736380157.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:17.144Z,1736380157.144 [DAT](INFO): DAT read: Rx Time:23:49:15.7886 2025-01-08T23:49:17.145Z,1736380157.145 [DAT](INFO): Rx dataTimestamp_ set to:1736380157.144594 2025-01-08T23:49:17.147Z,1736380157.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996222 2025-01-08T23:49:17.248Z,1736380157.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:17.257Z,1736380157.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m. 2025-01-08T23:49:17.284Z,1736380157.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.099998 m, nav range: 38.903591 m, bearing: 317.561505 deg, approach rate: 0.753378 m/s, LOS rate: -0.093451 deg/s, cmd heading: 135.152218 deg, new cmd heading: 135.054169 deg. 2025-01-08T23:49:17.285Z,1736380157.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.357140 target range: 68.099998 and range: 68.10 m. 2025-01-08T23:49:17.397Z,1736380157.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:17.397Z,1736380157.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247457 2025-01-08T23:49:17.650Z,1736380157.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:17.700Z,1736380157.700 [DAT](INFO): DAT read: 23:49:15.7886 LVL= 20528, 32753, 20546, 32755, AGC= 65, IDX= 417,-0.22,-0.962,-2.057,-0.645,-1.213, PHS= 0.339,-0.797, 0.565, RAW= 158.9, -1.7, CAL= 161.7, -10.1, ROT= 348.3, 10.1 2025-01-08T23:49:17.701Z,1736380157.701 [DAT](INFO): got valid direction response: 23:49:15.7886 LVL= 20528, 32753, 20546, 32755, AGC= 65, IDX= 417,-0.22,-0.962,-2.057,-0.645,-1.213, PHS= 0.339,-0.797, 0.565, RAW= 158.9, -1.7, CAL= 161.7, -10.1, ROT= 348.3, 10.1 2025-01-08T23:49:17.702Z,1736380157.702 [DAT](INFO): DAT read: Bearing 348.3, 10.1 (Local) 2025-01-08T23:49:17.702Z,1736380157.702 [DAT](INFO): Local bearing/azimuth received: Bearing 348.3, 10.1 (Local) 2025-01-08T23:49:17.709Z,1736380157.709 [DAT](INFO): DAT read: Range 10 to 50 : 65.9 m (Round-trip 87.9 ms) speed 0.6 m/s 2025-01-08T23:49:17.709Z,1736380157.709 [DAT](INFO): DAT read: user:3487> 2025-01-08T23:49:17.710Z,1736380157.710 [DAT](INFO): DAT read: Tx time:23:49:16.8965 2025-01-08T23:49:17.710Z,1736380157.710 [DAT](INFO): Ping request sent. 2025-01-08T23:49:17.711Z,1736380157.711 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:17.714Z,1736380157.714 [DAT](INFO): DAT read: TxSync time:23:49:16.8958 2025-01-08T23:49:17.715Z,1736380157.715 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:17.716Z,1736380157.716 [DAT](INFO): direction in FSK: [-0.081247,-0.909549,0.407578] 2025-01-08T23:49:17.716Z,1736380157.716 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:17.716Z,1736380157.716 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:17.719Z,1736380157.719 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:17.720Z,1736380157.720 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:17.822Z,1736380157.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:17.861Z,1736380157.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.900002 m, deltaT: 3.534510 s, deltaX: -2.199997 m, approachRate: -0.622433 m/s, rangeRepo size: 4 2025-01-08T23:49:17.897Z,1736380157.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.900002 m, bearing: 35.035006 deg, lat: 36.905557 deg, lon: -122.120430 deg, deltaT: 3.534510 s, deltaX: -2.199997 m, approachRate: -0.622433 m/s, posRepo size: 4 2025-01-08T23:49:17.897Z,1736380157.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:49:17.900Z,1736380157.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:17.904Z,1736380157.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 48.430271 m, bearing: 326.757523 deg, approach rate: 0.000000 m/s, LOS rate: -0.093451 deg/s, cmd heading: 135.054164 deg, new cmd heading: 134.885125 deg. 2025-01-08T23:49:17.905Z,1736380157.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.354190 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:49:18.089Z,1736380158.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:18.119Z,1736380158.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:49:18.150Z,1736380158.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 48.617462 m, bearing: 326.716487 deg, approach rate: 0.733967 m/s, LOS rate: -0.160280 deg/s, cmd heading: 134.885130 deg, new cmd heading: 134.762497 deg. 2025-01-08T23:49:18.151Z,1736380158.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.352049 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:49:18.152Z,1736380158.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:18.404Z,1736380158.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:18.482Z,1736380158.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:18.491Z,1736380158.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:49:18.494Z,1736380158.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 48.893570 m, bearing: 326.662949 deg, approach rate: 0.734726 m/s, LOS rate: -0.141660 deg/s, cmd heading: 134.762501 deg, new cmd heading: 134.602795 deg. 2025-01-08T23:49:18.495Z,1736380158.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.349262 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:49:18.658Z,1736380158.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:18.908Z,1736380158.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:18.923Z,1736380158.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:18.931Z,1736380158.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:18.933Z,1736380158.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:49:18.956Z,1736380158.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 49.200520 m, bearing: 326.620078 deg, approach rate: 0.693515 m/s, LOS rate: -0.096257 deg/s, cmd heading: 134.602798 deg, new cmd heading: 134.474988 deg. 2025-01-08T23:49:18.957Z,1736380158.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.347031 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:49:19.160Z,1736380159.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:19.161Z,1736380159.161 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:19.162Z,1736380159.162 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:19.162Z,1736380159.162 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:19.311Z,1736380159.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:19.320Z,1736380159.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:49:19.322Z,1736380159.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 49.471222 m, bearing: 326.586479 deg, approach rate: 0.700485 m/s, LOS rate: -0.086467 deg/s, cmd heading: 134.474991 deg, new cmd heading: 134.374745 deg. 2025-01-08T23:49:19.324Z,1736380159.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.345282 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:49:19.413Z,1736380159.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:19.414Z,1736380159.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703185 2025-01-08T23:49:19.666Z,1736380159.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:19.669Z,1736380159.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957807 2025-01-08T23:49:19.765Z,1736380159.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:19.774Z,1736380159.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:49:19.777Z,1736380159.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 49.788635 m, bearing: 326.557792 deg, approach rate: 0.698987 m/s, LOS rate: -0.062769 deg/s, cmd heading: 134.374751 deg, new cmd heading: 134.289240 deg. 2025-01-08T23:49:19.778Z,1736380159.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343789 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:49:19.916Z,1736380159.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:19.916Z,1736380159.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205846 2025-01-08T23:49:20.168Z,1736380160.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:20.169Z,1736380160.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458584 2025-01-08T23:49:20.230Z,1736380160.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:20.252Z,1736380160.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:49:20.255Z,1736380160.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 50.113556 m, bearing: 326.530917 deg, approach rate: 0.679726 m/s, LOS rate: -0.055857 deg/s, cmd heading: 134.289237 deg, new cmd heading: 134.209136 deg. 2025-01-08T23:49:20.260Z,1736380160.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342391 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:49:20.420Z,1736380160.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:20.421Z,1736380160.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710508 2025-01-08T23:49:20.616Z,1736380160.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:20.628Z,1736380160.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:49:20.631Z,1736380160.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 50.382565 m, bearing: 326.509781 deg, approach rate: 0.714717 m/s, LOS rate: -0.055857 deg/s, cmd heading: 134.209133 deg, new cmd heading: 134.146062 deg. 2025-01-08T23:49:20.649Z,1736380160.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341290 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:49:20.674Z,1736380160.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:20.676Z,1736380160.676 [DAT](INFO): DAT read: Rx Time:23:49:19.3855 2025-01-08T23:49:20.677Z,1736380160.677 [DAT](INFO): Rx dataTimestamp_ set to:1736380160.676392 2025-01-08T23:49:20.678Z,1736380160.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967678 2025-01-08T23:49:20.924Z,1736380160.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:20.924Z,1736380160.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213691 2025-01-08T23:49:21.102Z,1736380161.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:21.118Z,1736380161.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:21.126Z,1736380161.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.90 m. 2025-01-08T23:49:21.139Z,1736380161.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.900002 m, nav range: 50.719948 m, bearing: 326.497802 deg, approach rate: 0.686882 m/s, LOS rate: -0.024225 deg/s, cmd heading: 134.146063 deg, new cmd heading: 134.110366 deg. 2025-01-08T23:49:21.142Z,1736380161.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340667 target range: 65.900002 and range: 65.90 m. 2025-01-08T23:49:21.176Z,1736380161.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:21.183Z,1736380161.183 [DAT](INFO): DAT read: 23:49:19.3855 LVL= 25984, 32625, 18386, 31443, AGC= 64, IDX= 416, 0.38,-1.295,-2.263,-0.671,-1.300, PHS= 0.093,-0.916, 0.626, RAW= 169.9, 2.9, CAL= 170.4, -5.8, ROT= 339.6, 5.8 2025-01-08T23:49:21.184Z,1736380161.184 [DAT](INFO): got valid direction response: 23:49:19.3855 LVL= 25984, 32625, 18386, 31443, AGC= 64, IDX= 416, 0.38,-1.295,-2.263,-0.671,-1.300, PHS= 0.093,-0.916, 0.626, RAW= 169.9, 2.9, CAL= 170.4, -5.8, ROT= 339.6, 5.8 2025-01-08T23:49:21.185Z,1736380161.185 [DAT](INFO): DAT read: Bearing 339.6, 5.8 (Local) 2025-01-08T23:49:21.186Z,1736380161.186 [DAT](INFO): Local bearing/azimuth received: Bearing 339.6, 5.8 (Local) 2025-01-08T23:49:21.187Z,1736380161.187 [DAT](INFO): DAT read: Range 10 to 50 : 63.5 m (Round-trip 84.7 ms) speed 0.7 m/s 2025-01-08T23:49:21.188Z,1736380161.188 [DAT](INFO): DAT read: user:3488> 2025-01-08T23:49:21.189Z,1736380161.189 [DAT](INFO): DAT read: Tx time:23:49:20.4982 2025-01-08T23:49:21.189Z,1736380161.189 [DAT](INFO): Ping request sent. 2025-01-08T23:49:21.189Z,1736380161.189 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:21.189Z,1736380161.189 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:21.190Z,1736380161.190 [DAT](INFO): direction in FSK: [-0.158276,-0.963825,0.214454] 2025-01-08T23:49:21.190Z,1736380161.190 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:21.191Z,1736380161.191 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:21.199Z,1736380161.199 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:21.199Z,1736380161.199 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:21.428Z,1736380161.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:21.429Z,1736380161.429 [DAT](INFO): DAT read: TxSync time:23:49:20.4974 2025-01-08T23:49:21.470Z,1736380161.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:21.500Z,1736380161.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.500000 m, deltaT: 3.525566 s, deltaX: -2.400002 m, approachRate: -0.680742 m/s, rangeRepo size: 4 2025-01-08T23:49:21.502Z,1736380161.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.500000 m, bearing: 37.630910 deg, lat: 36.905627 deg, lon: -122.119935 deg, deltaT: 3.525566 s, deltaX: -2.400002 m, approachRate: -0.680742 m/s, posRepo size: 4 2025-01-08T23:49:21.503Z,1736380161.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m. 2025-01-08T23:49:21.510Z,1736380161.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.500000 m, nav range: 52.672756 m, bearing: 17.472843 deg, approach rate: 0.000000 m/s, LOS rate: -0.024225 deg/s, cmd heading: 134.110368 deg, new cmd heading: 134.083066 deg. 2025-01-08T23:49:21.511Z,1736380161.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340191 target range: 63.500000 and range: 63.50 m. 2025-01-08T23:49:21.681Z,1736380161.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:21.873Z,1736380161.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:21.882Z,1736380161.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m. 2025-01-08T23:49:21.886Z,1736380161.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.500000 m, nav range: 52.849869 m, bearing: 17.248532 deg, approach rate: 0.457558 m/s, LOS rate: -0.577547 deg/s, cmd heading: 134.083061 deg, new cmd heading: 133.412417 deg. 2025-01-08T23:49:21.887Z,1736380161.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328486 target range: 63.500000 and range: 63.50 m. 2025-01-08T23:49:21.932Z,1736380161.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:22.184Z,1736380162.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:22.284Z,1736380162.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:22.292Z,1736380162.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m. 2025-01-08T23:49:22.295Z,1736380162.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.500000 m, nav range: 53.031151 m, bearing: 17.021541 deg, approach rate: 0.441980 m/s, LOS rate: -0.551528 deg/s, cmd heading: 133.412418 deg, new cmd heading: 132.733807 deg. 2025-01-08T23:49:22.297Z,1736380162.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.316642 target range: 63.500000 and range: 63.50 m. 2025-01-08T23:49:22.436Z,1736380162.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:22.677Z,1736380162.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:22.688Z,1736380162.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:22.689Z,1736380162.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m. 2025-01-08T23:49:22.692Z,1736380162.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.500000 m, nav range: 53.204109 m, bearing: 16.804413 deg, approach rate: 0.437964 m/s, LOS rate: -0.548022 deg/s, cmd heading: 132.733812 deg, new cmd heading: 132.084573 deg. 2025-01-08T23:49:22.692Z,1736380162.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305311 target range: 63.500000 and range: 63.50 m. 2025-01-08T23:49:22.940Z,1736380162.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:23.093Z,1736380163.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:23.102Z,1736380163.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m. 2025-01-08T23:49:23.105Z,1736380163.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.500000 m, nav range: 53.390446 m, bearing: 16.590071 deg, approach rate: 0.449700 m/s, LOS rate: -0.515481 deg/s, cmd heading: 132.084575 deg, new cmd heading: 131.443823 deg. 2025-01-08T23:49:23.105Z,1736380163.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.294127 target range: 63.500000 and range: 63.50 m. 2025-01-08T23:49:23.192Z,1736380163.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:23.444Z,1736380163.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:23.472Z,1736380163.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:23.478Z,1736380163.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:23.481Z,1736380163.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m. 2025-01-08T23:49:23.484Z,1736380163.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.500000 m, nav range: 53.558041 m, bearing: 16.393036 deg, approach rate: 0.441718 m/s, LOS rate: -0.517686 deg/s, cmd heading: 131.443821 deg, new cmd heading: 130.854587 deg. 2025-01-08T23:49:23.485Z,1736380163.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283843 target range: 63.500000 and range: 63.50 m. 2025-01-08T23:49:23.696Z,1736380163.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:23.697Z,1736380163.697 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:23.697Z,1736380163.697 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:23.697Z,1736380163.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:23.945Z,1736380163.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:23.948Z,1736380163.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:23.948Z,1736380163.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759370 2025-01-08T23:49:23.957Z,1736380163.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m. 2025-01-08T23:49:23.963Z,1736380163.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.500000 m, nav range: 53.768772 m, bearing: 16.149575 deg, approach rate: 0.442936 m/s, LOS rate: -0.509723 deg/s, cmd heading: 130.854581 deg, new cmd heading: 130.127102 deg. 2025-01-08T23:49:23.964Z,1736380163.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.271146 target range: 63.500000 and range: 63.50 m. 2025-01-08T23:49:24.202Z,1736380164.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:24.202Z,1736380164.202 [DAT](INFO): DAT read: Rx Time:23:49:22.9838 2025-01-08T23:49:24.203Z,1736380164.203 [DAT](INFO): Rx dataTimestamp_ set to:1736380164.202622 2025-01-08T23:49:24.204Z,1736380164.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014976 2025-01-08T23:49:24.384Z,1736380164.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:24.401Z,1736380164.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.50 m. 2025-01-08T23:49:24.408Z,1736380164.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.500000 m, nav range: 53.961670 m, bearing: 15.922012 deg, approach rate: 0.434198 m/s, LOS rate: -0.510395 deg/s, cmd heading: 130.127098 deg, new cmd heading: 129.446882 deg. 2025-01-08T23:49:24.409Z,1736380164.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.259274 target range: 63.500000 and range: 63.50 m. 2025-01-08T23:49:24.456Z,1736380164.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:24.457Z,1736380164.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267412 2025-01-08T23:49:24.709Z,1736380164.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:24.721Z,1736380164.721 [DAT](INFO): DAT read: 23:49:22.9838 LVL= 25936, 30017, 18642, 32595, AGC= 67, IDX= 415, 0.31,-1.088,-2.086,-0.540,-1.164, PHS= 0.164,-0.875, 0.622, RAW= 167.4, 1.4, CAL= 168.5, -7.2, ROT= 341.5, 7.2 2025-01-08T23:49:24.722Z,1736380164.722 [DAT](INFO): got valid direction response: 23:49:22.9838 LVL= 25936, 30017, 18642, 32595, AGC= 67, IDX= 415, 0.31,-1.088,-2.086,-0.540,-1.164, PHS= 0.164,-0.875, 0.622, RAW= 167.4, 1.4, CAL= 168.5, -7.2, ROT= 341.5, 7.2 2025-01-08T23:49:24.723Z,1736380164.723 [DAT](INFO): DAT read: Bearing 341.5, 7.2 (Local) 2025-01-08T23:49:24.725Z,1736380164.725 [DAT](INFO): Local bearing/azimuth received: Bearing 341.5, 7.2 (Local) 2025-01-08T23:49:24.731Z,1736380164.731 [DAT](INFO): DAT read: Range 10 to 50 : 61.1 m (Round-trip 81.5 ms) speed 0.7 m/s 2025-01-08T23:49:24.754Z,1736380164.754 [DAT](INFO): DAT read: user:3489> 2025-01-08T23:49:24.781Z,1736380164.781 [DAT](INFO): DAT read: Tx time:23:49:24.0966 2025-01-08T23:49:24.782Z,1736380164.782 [DAT](INFO): Ping request sent. 2025-01-08T23:49:24.782Z,1736380164.782 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:24.788Z,1736380164.788 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:24.827Z,1736380164.827 [DAT](INFO): direction in FSK: [-0.131389,-0.956528,0.260366] 2025-01-08T23:49:24.828Z,1736380164.828 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:24.828Z,1736380164.828 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:24.844Z,1736380164.844 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:24.844Z,1736380164.844 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:24.941Z,1736380164.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:24.960Z,1736380164.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:24.961Z,1736380164.961 [DAT](INFO): DAT read: TxSync time:23:49:24.0958 2025-01-08T23:49:24.966Z,1736380164.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.099998 m, deltaT: 3.533689 s, deltaX: -2.400002 m, approachRate: -0.679177 m/s, rangeRepo size: 4 2025-01-08T23:49:24.973Z,1736380164.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.099998 m, bearing: 35.593672 deg, lat: 36.905627 deg, lon: -122.119709 deg, deltaT: 3.533689 s, deltaX: -2.400002 m, approachRate: -0.679177 m/s, posRepo size: 4 2025-01-08T23:49:24.974Z,1736380164.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:49:24.981Z,1736380164.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.099998 m, nav range: 62.677223 m, bearing: 33.613034 deg, approach rate: 0.000000 m/s, LOS rate: -0.510395 deg/s, cmd heading: 129.446879 deg, new cmd heading: 128.582335 deg. 2025-01-08T23:49:24.982Z,1736380164.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.244185 target range: 61.099998 and range: 61.10 m. 2025-01-08T23:49:25.212Z,1736380165.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:25.271Z,1736380165.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:25.285Z,1736380165.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:49:25.292Z,1736380165.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.099998 m, nav range: 62.760147 m, bearing: 33.429202 deg, approach rate: 0.260166 m/s, LOS rate: -0.575991 deg/s, cmd heading: 128.582341 deg, new cmd heading: 128.031592 deg. 2025-01-08T23:49:25.293Z,1736380165.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.234573 target range: 61.099998 and range: 61.10 m. 2025-01-08T23:49:25.464Z,1736380165.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:25.695Z,1736380165.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:25.714Z,1736380165.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:25.716Z,1736380165.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:25.717Z,1736380165.717 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:25.717Z,1736380165.717 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:25.717Z,1736380165.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:25.721Z,1736380165.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:49:25.726Z,1736380165.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.099998 m, nav range: 62.867786 m, bearing: 33.193394 deg, approach rate: 0.246662 m/s, LOS rate: -0.539443 deg/s, cmd heading: 128.031595 deg, new cmd heading: 127.325420 deg. 2025-01-08T23:49:25.730Z,1736380165.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.222248 target range: 61.099998 and range: 61.10 m. 2025-01-08T23:49:25.968Z,1736380165.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:25.968Z,1736380165.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.186342 2025-01-08T23:49:26.102Z,1736380166.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:26.111Z,1736380166.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:49:26.115Z,1736380166.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.099998 m, nav range: 62.964600 m, bearing: 32.961945 deg, approach rate: 0.248415 m/s, LOS rate: -0.592967 deg/s, cmd heading: 127.325422 deg, new cmd heading: 126.632178 deg. 2025-01-08T23:49:26.116Z,1736380166.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210148 target range: 61.099998 and range: 61.10 m. 2025-01-08T23:49:26.220Z,1736380166.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:26.220Z,1736380166.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438432 2025-01-08T23:49:26.396Z,1736380166.396 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:49:26.472Z,1736380166.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:26.472Z,1736380166.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.690433 2025-01-08T23:49:26.476Z,1736380166.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:26.486Z,1736380166.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:49:26.489Z,1736380166.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.099998 m, nav range: 63.052341 m, bearing: 32.748943 deg, approach rate: 0.233789 m/s, LOS rate: -0.566755 deg/s, cmd heading: 126.632172 deg, new cmd heading: 125.994083 deg. 2025-01-08T23:49:26.490Z,1736380166.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199012 target range: 61.099998 and range: 61.10 m. 2025-01-08T23:49:26.724Z,1736380166.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:26.725Z,1736380166.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942562 2025-01-08T23:49:26.895Z,1736380166.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:26.920Z,1736380166.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:49:26.923Z,1736380166.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.099998 m, nav range: 63.132767 m, bearing: 32.506032 deg, approach rate: 0.185202 m/s, LOS rate: -0.558659 deg/s, cmd heading: 125.994082 deg, new cmd heading: 125.266318 deg. 2025-01-08T23:49:26.925Z,1736380166.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186310 target range: 61.099998 and range: 61.10 m. 2025-01-08T23:49:26.977Z,1736380166.977 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:26.978Z,1736380166.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195723 2025-01-08T23:49:27.228Z,1736380167.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:27.228Z,1736380167.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446255 2025-01-08T23:49:27.287Z,1736380167.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:27.297Z,1736380167.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:49:27.300Z,1736380167.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.099998 m, nav range: 63.206463 m, bearing: 32.278291 deg, approach rate: 0.196485 m/s, LOS rate: -0.606480 deg/s, cmd heading: 125.266311 deg, new cmd heading: 124.583921 deg. 2025-01-08T23:49:27.301Z,1736380167.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174400 target range: 61.099998 and range: 61.10 m. 2025-01-08T23:49:27.402Z,1736380167.402 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:49:27.480Z,1736380167.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:27.481Z,1736380167.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.699026 2025-01-08T23:49:27.712Z,1736380167.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:27.718Z,1736380167.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:27.721Z,1736380167.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:49:27.723Z,1736380167.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.099998 m, nav range: 63.284435 m, bearing: 32.031764 deg, approach rate: 0.183357 m/s, LOS rate: -0.579009 deg/s, cmd heading: 124.583921 deg, new cmd heading: 123.845293 deg. 2025-01-08T23:49:27.724Z,1736380167.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.161508 target range: 61.099998 and range: 61.10 m. 2025-01-08T23:49:27.733Z,1736380167.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:27.735Z,1736380167.735 [DAT](INFO): DAT read: Rx Time:23:49:26.5791 2025-01-08T23:49:27.736Z,1736380167.736 [DAT](INFO): Rx dataTimestamp_ set to:1736380167.735354 2025-01-08T23:49:27.738Z,1736380167.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955199 2025-01-08T23:49:27.984Z,1736380167.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:27.984Z,1736380167.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202400 2025-01-08T23:49:28.114Z,1736380168.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:28.123Z,1736380168.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m. 2025-01-08T23:49:28.126Z,1736380168.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.099998 m, nav range: 63.347862 m, bearing: 31.786764 deg, approach rate: 0.157659 m/s, LOS rate: -0.608379 deg/s, cmd heading: 123.845291 deg, new cmd heading: 123.111068 deg. 2025-01-08T23:49:28.127Z,1736380168.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.148694 target range: 61.099998 and range: 61.10 m. 2025-01-08T23:49:28.238Z,1736380168.238 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:28.240Z,1736380168.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457746 2025-01-08T23:49:28.488Z,1736380168.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:28.498Z,1736380168.498 [DAT](INFO): DAT read: 23:49:26.5791 LVL= 25776, 30433, 17602, 31539, AGC= 66, IDX= 415, 0.14, 1.242, 0.036, 1.670, 1.079, PHS= 0.251,-0.996, 0.588, RAW= 161.7, 2.2, CAL= 162.9, -6.6, ROT= 347.1, 6.6 2025-01-08T23:49:28.499Z,1736380168.499 [DAT](INFO): got valid direction response: 23:49:26.5791 LVL= 25776, 30433, 17602, 31539, AGC= 66, IDX= 415, 0.14, 1.242, 0.036, 1.670, 1.079, PHS= 0.251,-0.996, 0.588, RAW= 161.7, 2.2, CAL= 162.9, -6.6, ROT= 347.1, 6.6 2025-01-08T23:49:28.500Z,1736380168.500 [DAT](INFO): DAT read: Bearing 347.1, 6.6 (Local) 2025-01-08T23:49:28.501Z,1736380168.501 [DAT](INFO): Local bearing/azimuth received: Bearing 347.1, 6.6 (Local) 2025-01-08T23:49:28.502Z,1736380168.502 [DAT](INFO): DAT read: Range 10 to 50 : 58.8 m (Round-trip 78.4 ms) speed 0.5 m/s 2025-01-08T23:49:28.503Z,1736380168.503 [DAT](INFO): DAT read: user:3490> 2025-01-08T23:49:28.504Z,1736380168.504 [DAT](INFO): DAT read: Tx time:23:49:27.6966 2025-01-08T23:49:28.504Z,1736380168.504 [DAT](INFO): Ping request sent. 2025-01-08T23:49:28.504Z,1736380168.504 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:28.505Z,1736380168.505 [DAT](INFO): DAT read: TxSync time:23:49:27.6958 2025-01-08T23:49:28.505Z,1736380168.505 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:28.506Z,1736380168.506 [DAT](INFO): direction in FSK: [-0.154147,-0.921790,0.355728] 2025-01-08T23:49:28.506Z,1736380168.506 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:28.507Z,1736380168.507 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:28.510Z,1736380168.510 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:28.510Z,1736380168.510 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:28.527Z,1736380168.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:28.598Z,1736380168.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.799999 m, deltaT: 3.778127 s, deltaX: -2.299999 m, approachRate: -0.608767 m/s, rangeRepo size: 4 2025-01-08T23:49:28.604Z,1736380168.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 58.799999 m, bearing: 29.600169 deg, lat: 36.905627 deg, lon: -122.119709 deg, deltaT: 3.778127 s, deltaX: -2.299999 m, approachRate: -0.608767 m/s, posRepo size: 4 2025-01-08T23:49:28.605Z,1736380168.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m. 2025-01-08T23:49:28.606Z,1736380168.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m. 2025-01-08T23:49:28.617Z,1736380168.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.799999 m, nav range: 63.414009 m, bearing: 31.536403 deg, approach rate: 0.000000 m/s, LOS rate: -0.608379 deg/s, cmd heading: 123.111073 deg, new cmd heading: 122.244999 deg. 2025-01-08T23:49:28.618Z,1736380168.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.133578 target range: 58.799999 and range: 58.80 m. 2025-01-08T23:49:28.676Z,1736380168.676 [DockingStepper](INFO): Changing to mode: 2 2025-01-08T23:49:28.676Z,1736380168.676 [DockingStepper](INFO): Armed mode. 2025-01-08T23:49:28.740Z,1736380168.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:28.741Z,1736380168.741 [DockingStepper](INFO): Commanding negative:54402 2025-01-08T23:49:28.992Z,1736380168.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:29.034Z,1736380169.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:29.064Z,1736380169.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m. 2025-01-08T23:49:29.064Z,1736380169.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m. 2025-01-08T23:49:29.076Z,1736380169.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.799999 m, nav range: 63.479179 m, bearing: 31.219994 deg, approach rate: 0.140213 m/s, LOS rate: -0.680045 deg/s, cmd heading: 122.245005 deg, new cmd heading: 121.296844 deg. 2025-01-08T23:49:29.077Z,1736380169.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.117029 target range: 58.799999 and range: 58.80 m. 2025-01-08T23:49:29.244Z,1736380169.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:29.358Z,1736380169.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:29.380Z,1736380169.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m. 2025-01-08T23:49:29.380Z,1736380169.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m. 2025-01-08T23:49:29.392Z,1736380169.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.799999 m, nav range: 63.520489 m, bearing: 31.017013 deg, approach rate: 0.132007 m/s, LOS rate: -0.648221 deg/s, cmd heading: 121.296838 deg, new cmd heading: 120.688314 deg. 2025-01-08T23:49:29.393Z,1736380169.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106408 target range: 58.799999 and range: 58.80 m. 2025-01-08T23:49:29.496Z,1736380169.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:29.748Z,1736380169.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:29.782Z,1736380169.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:29.794Z,1736380169.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:29.798Z,1736380169.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m. 2025-01-08T23:49:29.799Z,1736380169.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m. 2025-01-08T23:49:29.802Z,1736380169.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.799999 m, nav range: 63.575577 m, bearing: 30.752631 deg, approach rate: 0.130120 m/s, LOS rate: -0.623939 deg/s, cmd heading: 120.688309 deg, new cmd heading: 119.895903 deg. 2025-01-08T23:49:29.803Z,1736380169.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092578 target range: 58.799999 and range: 58.80 m. 2025-01-08T23:49:29.000Z,1736380170.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:30.000Z,1736380170.000 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:30.000Z,1736380170.000 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:30.000Z,1736380170.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:30.204Z,1736380170.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:30.230Z,1736380170.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m. 2025-01-08T23:49:30.231Z,1736380170.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m. 2025-01-08T23:49:30.234Z,1736380170.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.799999 m, nav range: 63.625572 m, bearing: 30.476508 deg, approach rate: 0.115752 m/s, LOS rate: -0.638786 deg/s, cmd heading: 119.895898 deg, new cmd heading: 119.068242 deg. 2025-01-08T23:49:30.240Z,1736380170.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.078133 target range: 58.799999 and range: 58.80 m. 2025-01-08T23:49:30.252Z,1736380170.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:30.253Z,1736380170.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748495 2025-01-08T23:49:30.504Z,1736380170.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:30.504Z,1736380170.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000103 2025-01-08T23:49:30.568Z,1736380170.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:30.577Z,1736380170.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m. 2025-01-08T23:49:30.577Z,1736380170.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m. 2025-01-08T23:49:30.581Z,1736380170.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.799999 m, nav range: 63.662628 m, bearing: 30.237773 deg, approach rate: 0.107018 m/s, LOS rate: -0.689068 deg/s, cmd heading: 119.068243 deg, new cmd heading: 118.352493 deg. 2025-01-08T23:49:30.582Z,1736380170.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065641 target range: 58.799999 and range: 58.80 m. 2025-01-08T23:49:30.756Z,1736380170.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:30.757Z,1736380170.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252244 2025-01-08T23:49:30.998Z,1736380170.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:31.023Z,1736380171.023 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:31.024Z,1736380171.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520138 2025-01-08T23:49:31.031Z,1736380171.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m. 2025-01-08T23:49:31.032Z,1736380171.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m. 2025-01-08T23:49:31.035Z,1736380171.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.799999 m, nav range: 63.703308 m, bearing: 29.950373 deg, approach rate: 0.094542 m/s, LOS rate: -0.667502 deg/s, cmd heading: 118.352493 deg, new cmd heading: 117.490912 deg. 2025-01-08T23:49:31.041Z,1736380171.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050603 target range: 58.799999 and range: 58.80 m. 2025-01-08T23:49:31.273Z,1736380171.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:31.275Z,1736380171.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770226 2025-01-08T23:49:31.369Z,1736380171.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:31.378Z,1736380171.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m. 2025-01-08T23:49:31.378Z,1736380171.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m. 2025-01-08T23:49:31.382Z,1736380171.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.799999 m, nav range: 63.733131 m, bearing: 29.702600 deg, approach rate: 0.080452 m/s, LOS rate: -0.668083 deg/s, cmd heading: 117.490906 deg, new cmd heading: 116.747978 deg. 2025-01-08T23:49:31.383Z,1736380171.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.037637 target range: 58.799999 and range: 58.80 m. 2025-01-08T23:49:31.524Z,1736380171.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:31.524Z,1736380171.524 [DAT](INFO): DAT read: Rx Time:23:49:30.1761 2025-01-08T23:49:31.525Z,1736380171.525 [DAT](INFO): Rx dataTimestamp_ set to:1736380171.524614 2025-01-08T23:49:31.526Z,1736380171.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021607 2025-01-08T23:49:31.776Z,1736380171.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:31.776Z,1736380171.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272209 2025-01-08T23:49:31.783Z,1736380171.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:31.792Z,1736380171.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m. 2025-01-08T23:49:31.792Z,1736380171.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m. 2025-01-08T23:49:31.795Z,1736380171.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.799999 m, nav range: 63.764191 m, bearing: 29.425417 deg, approach rate: 0.075010 m/s, LOS rate: -0.669088 deg/s, cmd heading: 116.747973 deg, new cmd heading: 115.916891 deg. 2025-01-08T23:49:31.796Z,1736380171.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.023131 target range: 58.799999 and range: 58.80 m. 2025-01-08T23:49:32.028Z,1736380172.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:32.035Z,1736380172.035 [DAT](INFO): DAT read: 23:49:30.1761 LVL= 19552, 26097, 16194, 24755, AGC= 64, IDX= 416,-0.20, 3.087, 1.838,-2.951, 2.855, PHS= 0.320,-0.970, 0.474, RAW= 155.6, 2.6, CAL= 157.4, -6.3, ROT= 352.6, 6.3 2025-01-08T23:49:32.039Z,1736380172.039 [DAT](INFO): got valid direction response: 23:49:30.1761 LVL= 19552, 26097, 16194, 24755, AGC= 64, IDX= 416,-0.20, 3.087, 1.838,-2.951, 2.855, PHS= 0.320,-0.970, 0.474, RAW= 155.6, 2.6, CAL= 157.4, -6.3, ROT= 352.6, 6.3 2025-01-08T23:49:32.049Z,1736380172.049 [DAT](INFO): DAT read: Bearing 352.6, 6.3 (Local) 2025-01-08T23:49:32.049Z,1736380172.049 [DAT](INFO): Local bearing/azimuth received: Bearing 352.6, 6.3 (Local) 2025-01-08T23:49:32.051Z,1736380172.051 [DAT](INFO): DAT read: Range 10 to 50 : 56.4 m (Round-trip 75.3 ms) speed 0.7 m/s 2025-01-08T23:49:32.068Z,1736380172.068 [DAT](INFO): DAT read: user:3491> 2025-01-08T23:49:32.069Z,1736380172.069 [DAT](INFO): DAT read: Tx time:23:49:31.2967 2025-01-08T23:49:32.069Z,1736380172.069 [DAT](INFO): Ping request sent. 2025-01-08T23:49:32.069Z,1736380172.069 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:32.070Z,1736380172.070 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:32.071Z,1736380172.071 [DAT](INFO): direction in FSK: [-0.167526,-0.874869,0.454466] 2025-01-08T23:49:32.071Z,1736380172.071 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:32.077Z,1736380172.077 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:32.123Z,1736380172.123 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:32.139Z,1736380172.139 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:32.270Z,1736380172.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:32.280Z,1736380172.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:32.281Z,1736380172.281 [DAT](INFO): DAT read: TxSync time:23:49:31.2959 2025-01-08T23:49:32.301Z,1736380172.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.400002 m, deltaT: 3.540071 s, deltaX: -2.399998 m, approachRate: -0.677952 m/s, rangeRepo size: 4 2025-01-08T23:49:32.308Z,1736380172.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 56.400002 m, bearing: 22.909140 deg, lat: 36.905597 deg, lon: -122.119709 deg, deltaT: 3.540071 s, deltaX: -2.399998 m, approachRate: -0.677952 m/s, posRepo size: 4 2025-01-08T23:49:32.309Z,1736380172.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m. 2025-01-08T23:49:32.309Z,1736380172.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-01-08T23:49:32.317Z,1736380172.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.400002 m, nav range: 60.922504 m, bearing: 30.618783 deg, approach rate: 0.000000 m/s, LOS rate: -0.669088 deg/s, cmd heading: 115.916889 deg, new cmd heading: 114.895686 deg. 2025-01-08T23:49:32.318Z,1736380172.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.005308 target range: 56.400002 and range: 56.40 m. 2025-01-08T23:49:32.532Z,1736380172.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:32.585Z,1736380172.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:32.591Z,1736380172.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:32.593Z,1736380172.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m. 2025-01-08T23:49:32.594Z,1736380172.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-01-08T23:49:32.598Z,1736380172.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.400002 m, nav range: 60.937111 m, bearing: 30.399281 deg, approach rate: 0.049873 m/s, LOS rate: -0.749289 deg/s, cmd heading: 114.895680 deg, new cmd heading: 114.237362 deg. 2025-01-08T23:49:32.599Z,1736380172.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.993818 target range: 56.400002 and range: 56.40 m. 2025-01-08T23:49:32.787Z,1736380172.787 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:32.789Z,1736380172.789 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:32.790Z,1736380172.790 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:32.790Z,1736380172.790 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:33.020Z,1736380173.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:33.030Z,1736380173.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m. 2025-01-08T23:49:33.030Z,1736380173.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-01-08T23:49:33.033Z,1736380173.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.400002 m, nav range: 60.961609 m, bearing: 30.092295 deg, approach rate: 0.056266 m/s, LOS rate: -0.704787 deg/s, cmd heading: 114.237359 deg, new cmd heading: 113.316854 deg. 2025-01-08T23:49:33.034Z,1736380173.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.977752 target range: 56.400002 and range: 56.40 m. 2025-01-08T23:49:33.036Z,1736380173.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:33.036Z,1736380173.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966918 2025-01-08T23:49:33.289Z,1736380173.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:33.290Z,1736380173.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220459 2025-01-08T23:49:33.388Z,1736380173.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:33.413Z,1736380173.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m. 2025-01-08T23:49:33.414Z,1736380173.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-01-08T23:49:33.421Z,1736380173.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.400002 m, nav range: 60.979427 m, bearing: 29.833265 deg, approach rate: 0.046388 m/s, LOS rate: -0.674147 deg/s, cmd heading: 113.316854 deg, new cmd heading: 112.540042 deg. 2025-01-08T23:49:33.422Z,1736380173.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.964194 target range: 56.400002 and range: 56.40 m. 2025-01-08T23:49:33.540Z,1736380173.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:33.542Z,1736380173.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471975 2025-01-08T23:49:33.794Z,1736380173.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:33.795Z,1736380173.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725532 2025-01-08T23:49:33.822Z,1736380173.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:33.839Z,1736380173.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m. 2025-01-08T23:49:33.840Z,1736380173.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-01-08T23:49:33.842Z,1736380173.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.400002 m, nav range: 60.997616 m, bearing: 29.527432 deg, approach rate: 0.042682 m/s, LOS rate: -0.717471 deg/s, cmd heading: 112.540043 deg, new cmd heading: 111.622901 deg. 2025-01-08T23:49:33.844Z,1736380173.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.948187 target range: 56.400002 and range: 56.40 m. 2025-01-08T23:49:34.044Z,1736380174.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:34.045Z,1736380174.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975293 2025-01-08T23:49:34.234Z,1736380174.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:34.243Z,1736380174.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m. 2025-01-08T23:49:34.244Z,1736380174.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-01-08T23:49:34.248Z,1736380174.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.400002 m, nav range: 61.026508 m, bearing: 29.235654 deg, approach rate: 0.071545 m/s, LOS rate: -0.722170 deg/s, cmd heading: 111.622899 deg, new cmd heading: 110.748051 deg. 2025-01-08T23:49:34.249Z,1736380174.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.932918 target range: 56.400002 and range: 56.40 m. 2025-01-08T23:49:34.296Z,1736380174.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:34.297Z,1736380174.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227601 2025-01-08T23:49:34.548Z,1736380174.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:34.548Z,1736380174.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478870 2025-01-08T23:49:34.611Z,1736380174.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:34.619Z,1736380174.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:34.621Z,1736380174.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m. 2025-01-08T23:49:34.622Z,1736380174.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-01-08T23:49:34.622Z,1736380174.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.40 m. 2025-01-08T23:49:34.622Z,1736380174.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-01-08T23:49:34.637Z,1736380174.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.400002 m, nav range: 61.041874 m, bearing: 28.969084 deg, approach rate: 0.040612 m/s, LOS rate: -0.704384 deg/s, cmd heading: 110.748048 deg, new cmd heading: 109.948594 deg. 2025-01-08T23:49:34.638Z,1736380174.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.918965 target range: 56.400002 and range: 56.40 m. 2025-01-08T23:49:34.801Z,1736380174.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:34.804Z,1736380174.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734305 2025-01-08T23:49:35.022Z,1736380175.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:35.052Z,1736380175.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:35.053Z,1736380175.053 [DAT](INFO): DAT read: Rx Time:23:49:33.7729 2025-01-08T23:49:35.053Z,1736380175.053 [DAT](INFO): Rx dataTimestamp_ set to:1736380175.052794 2025-01-08T23:49:35.054Z,1736380175.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984050 2025-01-08T23:49:35.055Z,1736380175.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m. 2025-01-08T23:49:35.058Z,1736380175.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.400002 m, nav range: 61.063221 m, bearing: 28.684823 deg, approach rate: 0.049669 m/s, LOS rate: -0.661173 deg/s, cmd heading: 109.948595 deg, new cmd heading: 109.096177 deg. 2025-01-08T23:49:35.059Z,1736380175.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.904088 target range: 56.400002 and range: 56.40 m. 2025-01-08T23:49:35.304Z,1736380175.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:35.304Z,1736380175.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234773 2025-01-08T23:49:35.489Z,1736380175.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:35.505Z,1736380175.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m. 2025-01-08T23:49:35.513Z,1736380175.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.400002 m, nav range: 61.084831 m, bearing: 28.362860 deg, approach rate: 0.047592 m/s, LOS rate: -0.708799 deg/s, cmd heading: 109.096180 deg, new cmd heading: 108.130728 deg. 2025-01-08T23:49:35.514Z,1736380175.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.887237 target range: 56.400002 and range: 56.40 m. 2025-01-08T23:49:35.556Z,1736380175.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:35.563Z,1736380175.563 [DAT](INFO): DAT read: 23:49:33.7729 LVL= 20416, 30369, 20514, 31699, AGC= 60, IDX= 414,-0.30, 1.189,-0.308, 0.855, 0.757, PHS= 0.521,-1.018, 0.095, RAW= 134.5, 5.9, CAL= 139.7, -1.0, ROT= 10.3, 1.0 2025-01-08T23:49:35.564Z,1736380175.564 [DAT](INFO): got valid direction response: 23:49:33.7729 LVL= 20416, 30369, 20514, 31699, AGC= 60, IDX= 414,-0.30, 1.189,-0.308, 0.855, 0.757, PHS= 0.521,-1.018, 0.095, RAW= 134.5, 5.9, CAL= 139.7, -1.0, ROT= 10.3, 1.0 2025-01-08T23:49:35.565Z,1736380175.565 [DAT](INFO): DAT read: Bearing 10.3, 1.0 (Local) 2025-01-08T23:49:35.566Z,1736380175.566 [DAT](INFO): Local bearing/azimuth received: Bearing 10.3, 1.0 (Local) 2025-01-08T23:49:35.567Z,1736380175.567 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (Round-trip 72.0 ms) speed 0.7 m/s 2025-01-08T23:49:35.568Z,1736380175.568 [DAT](INFO): DAT read: user:3492> 2025-01-08T23:49:35.569Z,1736380175.569 [DAT](INFO): DAT read: Tx time:23:49:34.8967 2025-01-08T23:49:35.569Z,1736380175.569 [DAT](INFO): Ping request sent. 2025-01-08T23:49:35.569Z,1736380175.569 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:35.570Z,1736380175.570 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:35.570Z,1736380175.570 [DAT](INFO): direction in FSK: [-0.239151,-0.624889,0.743183] 2025-01-08T23:49:35.571Z,1736380175.571 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:35.571Z,1736380175.571 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:35.574Z,1736380175.574 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:35.574Z,1736380175.574 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:35.808Z,1736380175.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:35.810Z,1736380175.810 [DAT](INFO): DAT read: TxSync time:23:49:34.8959 2025-01-08T23:49:35.864Z,1736380175.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:35.970Z,1736380175.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.528227 s, deltaX: -2.400002 m, approachRate: -0.680229 m/s, rangeRepo size: 4 2025-01-08T23:49:35.976Z,1736380175.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.000000 m, bearing: 6.556317 deg, lat: 36.905579 deg, lon: -122.119771 deg, deltaT: 3.528227 s, deltaX: -2.400002 m, approachRate: -0.680229 m/s, posRepo size: 4 2025-01-08T23:49:35.977Z,1736380175.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:49:35.992Z,1736380175.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.000000 m, nav range: 56.900078 m, bearing: 24.177921 deg, approach rate: 0.000000 m/s, LOS rate: -0.708799 deg/s, cmd heading: 108.130726 deg, new cmd heading: 107.143606 deg. 2025-01-08T23:49:35.993Z,1736380175.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870009 target range: 54.000000 and range: 54.00 m. 2025-01-08T23:49:36.060Z,1736380176.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:36.298Z,1736380176.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:36.312Z,1736380176.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:36.328Z,1736380176.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:49:36.336Z,1736380176.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.000000 m, nav range: 56.953773 m, bearing: 23.876103 deg, approach rate: 0.151825 m/s, LOS rate: -0.852586 deg/s, cmd heading: 107.143607 deg, new cmd heading: 106.239084 deg. 2025-01-08T23:49:36.337Z,1736380176.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.854222 target range: 54.000000 and range: 54.00 m. 2025-01-08T23:49:36.564Z,1736380176.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:36.684Z,1736380176.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:36.690Z,1736380176.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:36.693Z,1736380176.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:49:36.697Z,1736380176.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.000000 m, nav range: 56.997513 m, bearing: 23.619940 deg, approach rate: 0.118292 m/s, LOS rate: -0.692255 deg/s, cmd heading: 106.239085 deg, new cmd heading: 105.471234 deg. 2025-01-08T23:49:36.698Z,1736380176.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.840820 target range: 54.000000 and range: 54.00 m. 2025-01-08T23:49:36.816Z,1736380176.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:36.816Z,1736380176.816 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:36.816Z,1736380176.816 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:36.816Z,1736380176.816 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:37.068Z,1736380177.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:37.068Z,1736380177.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499043 2025-01-08T23:49:37.121Z,1736380177.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:37.130Z,1736380177.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:49:37.133Z,1736380177.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.000000 m, nav range: 57.057270 m, bearing: 23.323082 deg, approach rate: 0.136688 m/s, LOS rate: -0.678317 deg/s, cmd heading: 105.471235 deg, new cmd heading: 104.581669 deg. 2025-01-08T23:49:37.134Z,1736380177.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.825294 target range: 54.000000 and range: 54.00 m. 2025-01-08T23:49:37.322Z,1736380177.322 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:37.324Z,1736380177.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754760 2025-01-08T23:49:37.471Z,1736380177.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:37.481Z,1736380177.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:49:37.484Z,1736380177.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.000000 m, nav range: 57.098522 m, bearing: 23.093066 deg, approach rate: 0.117534 m/s, LOS rate: -0.654880 deg/s, cmd heading: 104.581671 deg, new cmd heading: 103.892156 deg. 2025-01-08T23:49:37.485Z,1736380177.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813260 target range: 54.000000 and range: 54.00 m. 2025-01-08T23:49:37.573Z,1736380177.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:37.574Z,1736380177.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004660 2025-01-08T23:49:37.824Z,1736380177.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:37.825Z,1736380177.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255285 2025-01-08T23:49:37.887Z,1736380177.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:37.896Z,1736380177.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:49:37.900Z,1736380177.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.000000 m, nav range: 57.144989 m, bearing: 22.820153 deg, approach rate: 0.112136 m/s, LOS rate: -0.658066 deg/s, cmd heading: 103.892156 deg, new cmd heading: 103.074144 deg. 2025-01-08T23:49:37.903Z,1736380177.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.798983 target range: 54.000000 and range: 54.00 m. 2025-01-08T23:49:38.076Z,1736380178.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:38.077Z,1736380178.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507316 2025-01-08T23:49:38.309Z,1736380178.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:38.319Z,1736380178.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:49:38.322Z,1736380178.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.000000 m, nav range: 57.201031 m, bearing: 22.553410 deg, approach rate: 0.132290 m/s, LOS rate: -0.629045 deg/s, cmd heading: 103.074146 deg, new cmd heading: 102.274756 deg. 2025-01-08T23:49:38.323Z,1736380178.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785031 target range: 54.000000 and range: 54.00 m. 2025-01-08T23:49:38.328Z,1736380178.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:38.330Z,1736380178.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759903 2025-01-08T23:49:38.580Z,1736380178.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:38.582Z,1736380178.582 [DAT](INFO): DAT read: Rx Time:23:49:37.3694 2025-01-08T23:49:38.582Z,1736380178.582 [DAT](INFO): Rx dataTimestamp_ set to:1736380178.581705 2025-01-08T23:49:38.583Z,1736380178.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013673 2025-01-08T23:49:38.690Z,1736380178.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:38.698Z,1736380178.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:38.700Z,1736380178.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:49:38.703Z,1736380178.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.000000 m, nav range: 57.249424 m, bearing: 22.312797 deg, approach rate: 0.126978 m/s, LOS rate: -0.630803 deg/s, cmd heading: 102.274754 deg, new cmd heading: 101.553565 deg. 2025-01-08T23:49:38.704Z,1736380178.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.772444 target range: 54.000000 and range: 54.00 m. 2025-01-08T23:49:38.832Z,1736380178.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:38.833Z,1736380178.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264094 2025-01-08T23:49:39.084Z,1736380179.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:39.090Z,1736380179.090 [DAT](INFO): DAT read: 23:49:37.3694 LVL= 17904, 32753, 20066, 32755, AGC= 64, IDX= 410,-0.44,-1.249,-2.696,-1.582,-1.756, PHS= 0.595,-0.893, 0.171, RAW= 134.0, 1.9, CAL= 139.4, -6.2, ROT= 10.6, 6.2 2025-01-08T23:49:39.092Z,1736380179.092 [DAT](INFO): got valid direction response: 23:49:37.3694 LVL= 17904, 32753, 20066, 32755, AGC= 64, IDX= 410,-0.44,-1.249,-2.696,-1.582,-1.756, PHS= 0.595,-0.893, 0.171, RAW= 134.0, 1.9, CAL= 139.4, -6.2, ROT= 10.6, 6.2 2025-01-08T23:49:39.093Z,1736380179.093 [DAT](INFO): DAT read: Bearing 10.6, 6.2 (Local) 2025-01-08T23:49:39.093Z,1736380179.093 [DAT](INFO): Local bearing/azimuth received: Bearing 10.6, 6.2 (Local) 2025-01-08T23:49:39.094Z,1736380179.094 [DAT](INFO): DAT read: Range 10 to 50 : 51.3 m (Round-trip 68.5 ms) speed 0.6 m/s 2025-01-08T23:49:39.095Z,1736380179.095 [DAT](INFO): DAT read: user:3493> 2025-01-08T23:49:39.096Z,1736380179.096 [DAT](INFO): DAT read: Tx time:23:49:38.4467 2025-01-08T23:49:39.097Z,1736380179.097 [DAT](INFO): Ping request sent. 2025-01-08T23:49:39.097Z,1736380179.097 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:39.097Z,1736380179.097 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:39.098Z,1736380179.098 [DAT](INFO): direction in FSK: [-0.163335,-0.627661,0.761159] 2025-01-08T23:49:39.098Z,1736380179.098 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:39.098Z,1736380179.098 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:39.106Z,1736380179.106 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:39.106Z,1736380179.106 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:39.233Z,1736380179.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:39.265Z,1736380179.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 3.527850 s, deltaX: -2.700001 m, approachRate: -0.765339 m/s, rangeRepo size: 4 2025-01-08T23:49:39.267Z,1736380179.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.299999 m, bearing: 7.707838 deg, lat: 36.905549 deg, lon: -122.119834 deg, deltaT: 3.527850 s, deltaX: -2.700001 m, approachRate: -0.765339 m/s, posRepo size: 4 2025-01-08T23:49:39.268Z,1736380179.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T23:49:39.271Z,1736380179.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 52.223515 m, bearing: 17.616304 deg, approach rate: 0.000000 m/s, LOS rate: -0.630803 deg/s, cmd heading: 101.553568 deg, new cmd heading: 100.485861 deg. 2025-01-08T23:49:39.280Z,1736380179.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753809 target range: 51.299999 and range: 51.30 m. 2025-01-08T23:49:39.336Z,1736380179.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:39.337Z,1736380179.337 [DAT](INFO): DAT read: TxSync time:23:49:38.4459 2025-01-08T23:49:39.588Z,1736380179.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:39.698Z,1736380179.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:39.707Z,1736380179.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T23:49:39.732Z,1736380179.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 52.301731 m, bearing: 17.321027 deg, approach rate: 0.176809 m/s, LOS rate: -0.666475 deg/s, cmd heading: 100.485859 deg, new cmd heading: 99.601428 deg. 2025-01-08T23:49:39.733Z,1736380179.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.738373 target range: 51.299999 and range: 51.30 m. 2025-01-08T23:49:39.841Z,1736380179.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:40.092Z,1736380180.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:40.175Z,1736380180.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:40.185Z,1736380180.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T23:49:40.188Z,1736380180.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 52.375366 m, bearing: 17.039651 deg, approach rate: 0.153996 m/s, LOS rate: -0.587623 deg/s, cmd heading: 99.601425 deg, new cmd heading: 98.758547 deg. 2025-01-08T23:49:40.189Z,1736380180.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.723662 target range: 51.299999 and range: 51.30 m. 2025-01-08T23:49:40.344Z,1736380180.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:40.553Z,1736380180.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:40.578Z,1736380180.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T23:49:40.582Z,1736380180.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 52.432190 m, bearing: 16.816776 deg, approach rate: 0.144702 m/s, LOS rate: -0.566936 deg/s, cmd heading: 98.758545 deg, new cmd heading: 98.090676 deg. 2025-01-08T23:49:40.583Z,1736380180.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.712005 target range: 51.299999 and range: 51.30 m. 2025-01-08T23:49:40.596Z,1736380180.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:40.848Z,1736380180.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:40.965Z,1736380180.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:40.981Z,1736380180.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:40.984Z,1736380180.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T23:49:40.988Z,1736380180.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 52.491428 m, bearing: 16.572869 deg, approach rate: 0.145957 m/s, LOS rate: -0.600282 deg/s, cmd heading: 98.090676 deg, new cmd heading: 97.359823 deg. 2025-01-08T23:49:40.992Z,1736380180.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.699250 target range: 51.299999 and range: 51.30 m. 2025-01-08T23:49:41.101Z,1736380181.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:41.102Z,1736380181.102 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:41.102Z,1736380181.102 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:41.102Z,1736380181.102 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:41.352Z,1736380181.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:41.352Z,1736380181.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255558 2025-01-08T23:49:41.384Z,1736380181.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:41.413Z,1736380181.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T23:49:41.421Z,1736380181.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 52.549877 m, bearing: 16.334972 deg, approach rate: 0.136072 m/s, LOS rate: -0.553221 deg/s, cmd heading: 97.359825 deg, new cmd heading: 96.646967 deg. 2025-01-08T23:49:41.422Z,1736380181.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.686808 target range: 51.299999 and range: 51.30 m. 2025-01-08T23:49:41.604Z,1736380181.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:41.604Z,1736380181.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507523 2025-01-08T23:49:41.781Z,1736380181.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:41.790Z,1736380181.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T23:49:41.793Z,1736380181.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 52.606167 m, bearing: 16.109732 deg, approach rate: 0.149319 m/s, LOS rate: -0.596853 deg/s, cmd heading: 96.646965 deg, new cmd heading: 95.972000 deg. 2025-01-08T23:49:41.794Z,1736380181.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.675027 target range: 51.299999 and range: 51.30 m. 2025-01-08T23:49:41.856Z,1736380181.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:41.857Z,1736380181.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759731 2025-01-08T23:49:42.108Z,1736380182.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:42.108Z,1736380182.108 [DAT](INFO): DAT read: Rx Time:23:49:40.9164 2025-01-08T23:49:42.109Z,1736380182.109 [DAT](INFO): Rx dataTimestamp_ set to:1736380182.108584 2025-01-08T23:49:42.109Z,1736380182.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012544 2025-01-08T23:49:42.214Z,1736380182.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:42.223Z,1736380182.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-08T23:49:42.226Z,1736380182.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 52.664413 m, bearing: 15.867427 deg, approach rate: 0.134626 m/s, LOS rate: -0.559423 deg/s, cmd heading: 95.971999 deg, new cmd heading: 95.245928 deg. 2025-01-08T23:49:42.227Z,1736380182.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662355 target range: 51.299999 and range: 51.30 m. 2025-01-08T23:49:42.360Z,1736380182.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:42.361Z,1736380182.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263771 2025-01-08T23:49:42.613Z,1736380182.613 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:42.631Z,1736380182.631 [DAT](INFO): DAT read: 23:49:40.9164 LVL= 23248, 30657, 23250, 32755, AGC= 62, IDX= 410,-0.38,-2.238, 2.611,-2.920,-2.690, PHS= 0.541,-0.935,-0.232, RAW= 118.4, 9.8, CAL= 126.9, 6.1, ROT= 23.1, -6.1 2025-01-08T23:49:42.632Z,1736380182.632 [DAT](INFO): got valid direction response: 23:49:40.9164 LVL= 23248, 30657, 23250, 32755, AGC= 62, IDX= 410,-0.38,-2.238, 2.611,-2.920,-2.690, PHS= 0.541,-0.935,-0.232, RAW= 118.4, 9.8, CAL= 126.9, 6.1, ROT= 23.1, -6.1 2025-01-08T23:49:42.633Z,1736380182.633 [DAT](INFO): DAT read: Bearing 23.1, -6.1 (Local) 2025-01-08T23:49:42.634Z,1736380182.634 [DAT](INFO): Local bearing/azimuth received: Bearing 23.1, -6.1 (Local) 2025-01-08T23:49:42.640Z,1736380182.640 [DAT](INFO): DAT read: Range 10 to 50 : 49.0 m (Round-trip 65.4 ms) speed 0.5 m/s 2025-01-08T23:49:42.641Z,1736380182.641 [DAT](INFO): DAT read: user:3494> 2025-01-08T23:49:42.642Z,1736380182.642 [DAT](INFO): DAT read: Tx time:23:49:41.9968 2025-01-08T23:49:42.642Z,1736380182.642 [DAT](INFO): Ping request sent. 2025-01-08T23:49:42.642Z,1736380182.642 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:42.642Z,1736380182.642 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:42.667Z,1736380182.667 [DAT](INFO): direction in FSK: [-0.305332,-0.368406,0.878094] 2025-01-08T23:49:42.668Z,1736380182.668 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:42.668Z,1736380182.668 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:42.680Z,1736380182.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:42.685Z,1736380182.685 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:42.685Z,1736380182.685 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:42.724Z,1736380182.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.000000 m, deltaT: 3.530004 s, deltaX: -2.299999 m, approachRate: -0.651557 m/s, rangeRepo size: 4 2025-01-08T23:49:42.726Z,1736380182.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.000000 m, bearing: 340.703129 deg, lat: 36.905441 deg, lon: -122.119961 deg, deltaT: 3.530004 s, deltaX: -2.299999 m, approachRate: -0.651557 m/s, posRepo size: 4 2025-01-08T23:49:42.726Z,1736380182.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-01-08T23:49:42.734Z,1736380182.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000000 m, nav range: 38.878998 m, bearing: 4.392354 deg, approach rate: 0.000000 m/s, LOS rate: -0.559423 deg/s, cmd heading: 95.245929 deg, new cmd heading: 94.413525 deg. 2025-01-08T23:49:42.735Z,1736380182.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647827 target range: 49.000000 and range: 49.00 m. 2025-01-08T23:49:42.864Z,1736380182.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:42.865Z,1736380182.865 [DAT](INFO): DAT read: TxSync time:23:49:41.9960 2025-01-08T23:49:43.116Z,1736380183.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:43.154Z,1736380183.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:43.166Z,1736380183.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:43.177Z,1736380183.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-01-08T23:49:43.184Z,1736380183.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000000 m, nav range: 38.976589 m, bearing: 4.039001 deg, approach rate: 0.213124 m/s, LOS rate: -0.769730 deg/s, cmd heading: 94.413527 deg, new cmd heading: 93.356248 deg. 2025-01-08T23:49:43.185Z,1736380183.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629374 target range: 49.000000 and range: 49.00 m. 2025-01-08T23:49:43.368Z,1736380183.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:43.369Z,1736380183.369 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:43.369Z,1736380183.369 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:43.369Z,1736380183.369 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:43.453Z,1736380183.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:43.466Z,1736380183.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-01-08T23:49:43.474Z,1736380183.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000000 m, nav range: 39.035770 m, bearing: 3.822245 deg, approach rate: 0.204339 m/s, LOS rate: -0.747271 deg/s, cmd heading: 93.356248 deg, new cmd heading: 92.706996 deg. 2025-01-08T23:49:43.475Z,1736380183.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.618042 target range: 49.000000 and range: 49.00 m. 2025-01-08T23:49:43.620Z,1736380183.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:43.621Z,1736380183.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978866 2025-01-08T23:49:43.846Z,1736380183.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:43.855Z,1736380183.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-01-08T23:49:43.858Z,1736380183.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000000 m, nav range: 39.111832 m, bearing: 3.536650 deg, approach rate: 0.195795 m/s, LOS rate: -0.733739 deg/s, cmd heading: 92.706998 deg, new cmd heading: 91.851948 deg. 2025-01-08T23:49:43.859Z,1736380183.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.603119 target range: 49.000000 and range: 49.00 m. 2025-01-08T23:49:43.872Z,1736380183.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:43.873Z,1736380183.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230637 2025-01-08T23:49:44.124Z,1736380184.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:44.125Z,1736380184.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482816 2025-01-08T23:49:44.272Z,1736380184.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:44.301Z,1736380184.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-01-08T23:49:44.307Z,1736380184.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000000 m, nav range: 39.193687 m, bearing: 3.203194 deg, approach rate: 0.183554 m/s, LOS rate: -0.746178 deg/s, cmd heading: 91.851947 deg, new cmd heading: 90.853773 deg. 2025-01-08T23:49:44.312Z,1736380184.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.585698 target range: 49.000000 and range: 49.00 m. 2025-01-08T23:49:44.376Z,1736380184.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:44.376Z,1736380184.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734500 2025-01-08T23:49:44.628Z,1736380184.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:44.629Z,1736380184.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986519 2025-01-08T23:49:44.638Z,1736380184.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:44.681Z,1736380184.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-01-08T23:49:44.696Z,1736380184.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000000 m, nav range: 39.259624 m, bearing: 2.914526 deg, approach rate: 0.173368 m/s, LOS rate: -0.757718 deg/s, cmd heading: 90.853776 deg, new cmd heading: 89.989295 deg. 2025-01-08T23:49:44.697Z,1736380184.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.570609 target range: 49.000000 and range: 49.00 m. 2025-01-08T23:49:44.880Z,1736380184.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:44.881Z,1736380184.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238891 2025-01-08T23:49:45.089Z,1736380185.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:45.124Z,1736380185.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-01-08T23:49:45.132Z,1736380185.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:45.133Z,1736380185.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490519 2025-01-08T23:49:45.133Z,1736380185.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000000 m, nav range: 39.338177 m, bearing: 2.560074 deg, approach rate: 0.177089 m/s, LOS rate: -0.797480 deg/s, cmd heading: 89.989293 deg, new cmd heading: 88.928188 deg. 2025-01-08T23:49:45.134Z,1736380185.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552090 target range: 49.000000 and range: 49.00 m. 2025-01-08T23:49:45.384Z,1736380185.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:45.385Z,1736380185.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742571 2025-01-08T23:49:45.500Z,1736380185.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:45.508Z,1736380185.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:45.510Z,1736380185.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-01-08T23:49:45.513Z,1736380185.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000000 m, nav range: 39.397350 m, bearing: 2.216918 deg, approach rate: 0.153625 m/s, LOS rate: -0.889550 deg/s, cmd heading: 88.928189 deg, new cmd heading: 87.900386 deg. 2025-01-08T23:49:45.514Z,1736380185.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534151 target range: 49.000000 and range: 49.00 m. 2025-01-08T23:49:45.636Z,1736380185.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:45.637Z,1736380185.637 [DAT](INFO): DAT read: Rx Time:23:49:44.4639 2025-01-08T23:49:45.637Z,1736380185.637 [DAT](INFO): Rx dataTimestamp_ set to:1736380185.637121 2025-01-08T23:49:45.638Z,1736380185.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995939 2025-01-08T23:49:45.850Z,1736380185.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:45.859Z,1736380185.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-01-08T23:49:45.862Z,1736380185.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000000 m, nav range: 39.446026 m, bearing: 1.925361 deg, approach rate: 0.139499 m/s, LOS rate: -0.834538 deg/s, cmd heading: 87.900389 deg, new cmd heading: 87.026868 deg. 2025-01-08T23:49:45.864Z,1736380185.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.518905 target range: 49.000000 and range: 49.00 m. 2025-01-08T23:49:45.888Z,1736380185.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:45.888Z,1736380185.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246437 2025-01-08T23:49:46.141Z,1736380186.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:46.144Z,1736380186.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501010 2025-01-08T23:49:46.278Z,1736380186.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:46.288Z,1736380186.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-01-08T23:49:46.290Z,1736380186.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000000 m, nav range: 39.497570 m, bearing: 1.550151 deg, approach rate: 0.120194 m/s, LOS rate: -0.873791 deg/s, cmd heading: 87.026869 deg, new cmd heading: 85.902859 deg. 2025-01-08T23:49:46.308Z,1736380186.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499288 target range: 49.000000 and range: 49.00 m. 2025-01-08T23:49:46.392Z,1736380186.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:46.405Z,1736380186.405 [DAT](INFO): DAT read: 23:49:44.4639 LVL= 19408, 30385, 24658, 32755, AGC= 60, IDX= 415, 0.18, 1.232,-0.314, 0.315, 0.721, PHS= 0.599,-0.987,-0.409, RAW= 111.1, 11.5, CAL= 120.1, 8.9, ROT= 29.9, -8.9 2025-01-08T23:49:46.406Z,1736380186.406 [DAT](INFO): got valid direction response: 23:49:44.4639 LVL= 19408, 30385, 24658, 32755, AGC= 60, IDX= 415, 0.18, 1.232,-0.314, 0.315, 0.721, PHS= 0.599,-0.987,-0.409, RAW= 111.1, 11.5, CAL= 120.1, 8.9, ROT= 29.9, -8.9 2025-01-08T23:49:46.412Z,1736380186.412 [DAT](INFO): DAT read: Bearing 29.9, -8.9 (Local) 2025-01-08T23:49:46.413Z,1736380186.413 [DAT](INFO): Local bearing/azimuth received: Bearing 29.9, -8.9 (Local) 2025-01-08T23:49:46.420Z,1736380186.420 [DAT](INFO): DAT read: Range 10 to 50 : 47.1 m (Round-trip 62.9 ms) speed 0.7 m/s 2025-01-08T23:49:46.428Z,1736380186.428 [DAT](INFO): DAT read: user:3495> 2025-01-08T23:49:46.429Z,1736380186.429 [DAT](INFO): DAT read: Tx time:23:49:45.5468 2025-01-08T23:49:46.429Z,1736380186.429 [DAT](INFO): Ping request sent. 2025-01-08T23:49:46.429Z,1736380186.429 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:46.430Z,1736380186.430 [DAT](INFO): DAT read: TxSync time:23:49:45.5460 2025-01-08T23:49:46.431Z,1736380186.431 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:46.436Z,1736380186.436 [DAT](INFO): direction in FSK: [-0.328131,-0.242669,0.912930] 2025-01-08T23:49:46.436Z,1736380186.436 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:46.437Z,1736380186.437 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:46.441Z,1736380186.441 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:46.441Z,1736380186.441 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:46.644Z,1736380186.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:46.684Z,1736380186.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:46.699Z,1736380186.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 3.778713 s, deltaX: -1.900002 m, approachRate: -0.502817 m/s, rangeRepo size: 4 2025-01-08T23:49:46.717Z,1736380186.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.099998 m, bearing: 317.235229 deg, lat: 36.905406 deg, lon: -122.119986 deg, deltaT: 3.778713 s, deltaX: -1.900002 m, approachRate: -0.502817 m/s, posRepo size: 4 2025-01-08T23:49:46.718Z,1736380186.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-08T23:49:46.732Z,1736380186.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 35.724304 m, bearing: 357.740304 deg, approach rate: 0.000000 m/s, LOS rate: -0.873791 deg/s, cmd heading: 85.902859 deg, new cmd heading: 84.826786 deg. 2025-01-08T23:49:46.733Z,1736380186.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.480507 target range: 47.099998 and range: 47.10 m. 2025-01-08T23:49:46.896Z,1736380186.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:47.092Z,1736380187.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:47.148Z,1736380187.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:47.152Z,1736380187.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-08T23:49:47.159Z,1736380187.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 35.785744 m, bearing: 357.350700 deg, approach rate: 0.135181 m/s, LOS rate: -0.855740 deg/s, cmd heading: 84.826783 deg, new cmd heading: 83.660147 deg. 2025-01-08T23:49:47.160Z,1736380187.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.460145 target range: 47.099998 and range: 47.10 m. 2025-01-08T23:49:47.400Z,1736380187.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:47.527Z,1736380187.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:47.536Z,1736380187.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:47.538Z,1736380187.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-08T23:49:47.541Z,1736380187.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 35.849586 m, bearing: 356.913687 deg, approach rate: 0.165634 m/s, LOS rate: -1.131761 deg/s, cmd heading: 83.660146 deg, new cmd heading: 82.351682 deg. 2025-01-08T23:49:47.542Z,1736380187.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437308 target range: 47.099998 and range: 47.10 m. 2025-01-08T23:49:47.653Z,1736380187.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:47.653Z,1736380187.653 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:47.653Z,1736380187.653 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:47.654Z,1736380187.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:47.873Z,1736380187.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:47.899Z,1736380187.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-08T23:49:47.902Z,1736380187.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 35.899273 m, bearing: 356.566129 deg, approach rate: 0.137622 m/s, LOS rate: -0.961333 deg/s, cmd heading: 82.351680 deg, new cmd heading: 81.310569 deg. 2025-01-08T23:49:47.904Z,1736380187.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:47.905Z,1736380187.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475339 2025-01-08T23:49:47.903Z,1736380187.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.419137 target range: 47.099998 and range: 47.10 m. 2025-01-08T23:49:48.156Z,1736380188.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:48.156Z,1736380188.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727152 2025-01-08T23:49:48.316Z,1736380188.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:48.325Z,1736380188.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-08T23:49:48.328Z,1736380188.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 35.960445 m, bearing: 356.086452 deg, approach rate: 0.143733 m/s, LOS rate: -1.125136 deg/s, cmd heading: 81.310568 deg, new cmd heading: 79.874301 deg. 2025-01-08T23:49:48.329Z,1736380188.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394070 target range: 47.099998 and range: 47.10 m. 2025-01-08T23:49:48.408Z,1736380188.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:48.409Z,1736380188.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979451 2025-01-08T23:49:48.660Z,1736380188.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:48.662Z,1736380188.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232127 2025-01-08T23:49:48.688Z,1736380188.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:48.709Z,1736380188.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-08T23:49:48.717Z,1736380188.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 36.010002 m, bearing: 355.683617 deg, approach rate: 0.128753 m/s, LOS rate: -1.045154 deg/s, cmd heading: 79.874302 deg, new cmd heading: 78.667647 deg. 2025-01-08T23:49:48.717Z,1736380188.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373009 target range: 47.099998 and range: 47.10 m. 2025-01-08T23:49:48.913Z,1736380188.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:48.914Z,1736380188.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484795 2025-01-08T23:49:49.173Z,1736380189.173 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:49.176Z,1736380189.176 [DAT](INFO): DAT read: Rx Time:23:49:48.0115 2025-01-08T23:49:49.177Z,1736380189.177 [DAT](INFO): Rx dataTimestamp_ set to:1736380189.176590 2025-01-08T23:49:49.177Z,1736380189.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748203 2025-01-08T23:49:49.256Z,1736380189.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:49.278Z,1736380189.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-08T23:49:49.289Z,1736380189.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 36.076767 m, bearing: 355.058986 deg, approach rate: 0.117433 m/s, LOS rate: -1.096609 deg/s, cmd heading: 78.667646 deg, new cmd heading: 76.797923 deg. 2025-01-08T23:49:49.290Z,1736380189.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.340377 target range: 47.099998 and range: 47.10 m. 2025-01-08T23:49:49.424Z,1736380189.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:49.425Z,1736380189.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995323 2025-01-08T23:49:49.601Z,1736380189.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:49.608Z,1736380189.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:49.610Z,1736380189.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-08T23:49:49.614Z,1736380189.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 36.119511 m, bearing: 354.679862 deg, approach rate: 0.128850 m/s, LOS rate: -1.141502 deg/s, cmd heading: 76.797923 deg, new cmd heading: 75.662054 deg. 2025-01-08T23:49:49.614Z,1736380189.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320552 target range: 47.099998 and range: 47.10 m. 2025-01-08T23:49:49.678Z,1736380189.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:49.681Z,1736380189.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251108 2025-01-08T23:49:49.928Z,1736380189.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:49.935Z,1736380189.935 [DAT](INFO): DAT read: 23:49:48.0115 LVL= 19168, 26785, 19906, 31987, AGC= 61, IDX= 422,-0.15, 2.155, 0.618, 1.445, 1.708, PHS= 0.535,-1.042,-0.266, RAW= 119.5, 11.3, CAL= 127.4, 7.6, ROT= 22.6, -7.6 2025-01-08T23:49:49.936Z,1736380189.936 [DAT](INFO): got valid direction response: 23:49:48.0115 LVL= 19168, 26785, 19906, 31987, AGC= 61, IDX= 422,-0.15, 2.155, 0.618, 1.445, 1.708, PHS= 0.535,-1.042,-0.266, RAW= 119.5, 11.3, CAL= 127.4, 7.6, ROT= 22.6, -7.6 2025-01-08T23:49:49.937Z,1736380189.937 [DAT](INFO): DAT read: Bearing 22.6, -7.6 (Local) 2025-01-08T23:49:49.938Z,1736380189.938 [DAT](INFO): Local bearing/azimuth received: Bearing 22.6, -7.6 (Local) 2025-01-08T23:49:49.940Z,1736380189.940 [DAT](INFO): DAT read: Range 10 to 50 : 45.3 m (Round-trip 60.5 ms) speed 0.4 m/s 2025-01-08T23:49:49.941Z,1736380189.941 [DAT](INFO): DAT read: user:3496> 2025-01-08T23:49:49.941Z,1736380189.941 [DAT](INFO): DAT read: Tx time:23:49:49.0968 2025-01-08T23:49:49.942Z,1736380189.942 [DAT](INFO): Ping request sent. 2025-01-08T23:49:49.942Z,1736380189.942 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:49.942Z,1736380189.942 [DAT](INFO): DAT read: TxSync time:23:49:49.0960 2025-01-08T23:49:49.943Z,1736380189.943 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:49.944Z,1736380189.944 [DAT](INFO): direction in FSK: [-0.333269,-0.381080,0.862386] 2025-01-08T23:49:49.944Z,1736380189.944 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:49.945Z,1736380189.945 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:49.987Z,1736380189.987 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:49.000Z,1736380190.000 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:50.081Z,1736380190.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:50.180Z,1736380190.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:50.189Z,1736380190.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 3.535137 s, deltaX: -1.799999 m, approachRate: -0.509174 m/s, rangeRepo size: 4 2025-01-08T23:49:50.190Z,1736380190.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.299999 m, bearing: 319.430218 deg, lat: 36.905293 deg, lon: -122.120082 deg, deltaT: 3.535137 s, deltaX: -1.799999 m, approachRate: -0.509174 m/s, posRepo size: 4 2025-01-08T23:49:50.196Z,1736380190.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m. 2025-01-08T23:49:50.199Z,1736380190.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.299999 m, nav range: 26.378498 m, bearing: 332.349228 deg, approach rate: 0.000000 m/s, LOS rate: -1.141502 deg/s, cmd heading: 75.662056 deg, new cmd heading: 73.683003 deg. 2025-01-08T23:49:50.205Z,1736380190.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286011 target range: 45.299999 and range: 45.30 m. 2025-01-08T23:49:50.432Z,1736380190.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:50.526Z,1736380190.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:50.552Z,1736380190.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m. 2025-01-08T23:49:50.555Z,1736380190.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.299999 m, nav range: 26.539101 m, bearing: 331.759851 deg, approach rate: 0.441247 m/s, LOS rate: -1.609457 deg/s, cmd heading: 73.683002 deg, new cmd heading: 71.926150 deg. 2025-01-08T23:49:50.560Z,1736380190.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255348 target range: 45.299999 and range: 45.30 m. 2025-01-08T23:49:50.684Z,1736380190.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:50.857Z,1736380190.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:50.866Z,1736380190.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m. 2025-01-08T23:49:50.869Z,1736380190.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.299999 m, nav range: 26.657328 m, bearing: 331.322258 deg, approach rate: 0.375947 m/s, LOS rate: -1.385302 deg/s, cmd heading: 71.926147 deg, new cmd heading: 70.619432 deg. 2025-01-08T23:49:50.870Z,1736380190.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232542 target range: 45.299999 and range: 45.30 m. 2025-01-08T23:49:50.937Z,1736380190.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:51.189Z,1736380191.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:51.299Z,1736380191.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:51.308Z,1736380191.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m. 2025-01-08T23:49:51.310Z,1736380191.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.299999 m, nav range: 26.817905 m, bearing: 330.758470 deg, approach rate: 0.364036 m/s, LOS rate: -1.270458 deg/s, cmd heading: 70.619430 deg, new cmd heading: 68.938699 deg. 2025-01-08T23:49:51.328Z,1736380191.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203207 target range: 45.299999 and range: 45.30 m. 2025-01-08T23:49:51.441Z,1736380191.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:51.677Z,1736380191.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:51.692Z,1736380191.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:51.705Z,1736380191.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:51.708Z,1736380191.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m. 2025-01-08T23:49:51.711Z,1736380191.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.299999 m, nav range: 26.949081 m, bearing: 330.271415 deg, approach rate: 0.327916 m/s, LOS rate: -1.211606 deg/s, cmd heading: 68.938698 deg, new cmd heading: 67.484977 deg. 2025-01-08T23:49:51.713Z,1736380191.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.177835 target range: 45.299999 and range: 45.30 m. 2025-01-08T23:49:51.944Z,1736380191.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:51.944Z,1736380191.944 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:51.944Z,1736380191.944 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:51.944Z,1736380191.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:52.083Z,1736380192.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:52.098Z,1736380192.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m. 2025-01-08T23:49:52.103Z,1736380192.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.299999 m, nav range: 27.087090 m, bearing: 329.748483 deg, approach rate: 0.353946 m/s, LOS rate: -1.334299 deg/s, cmd heading: 67.484974 deg, new cmd heading: 65.924578 deg. 2025-01-08T23:49:52.104Z,1736380192.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150601 target range: 45.299999 and range: 45.30 m. 2025-01-08T23:49:52.203Z,1736380192.203 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:52.206Z,1736380192.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263540 2025-01-08T23:49:52.452Z,1736380192.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:52.452Z,1736380192.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510695 2025-01-08T23:49:52.520Z,1736380192.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:52.537Z,1736380192.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m. 2025-01-08T23:49:52.544Z,1736380192.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.299999 m, nav range: 27.231836 m, bearing: 329.228887 deg, approach rate: 0.329044 m/s, LOS rate: -1.174873 deg/s, cmd heading: 65.924576 deg, new cmd heading: 64.374471 deg. 2025-01-08T23:49:52.546Z,1736380192.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123546 target range: 45.299999 and range: 45.30 m. 2025-01-08T23:49:52.706Z,1736380192.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:52.708Z,1736380192.708 [DAT](INFO): DAT read: Rx Time:23:49:51.5583 2025-01-08T23:49:52.709Z,1736380192.709 [DAT](INFO): Rx dataTimestamp_ set to:1736380192.708829 2025-01-08T23:49:52.711Z,1736380192.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768997 2025-01-08T23:49:52.881Z,1736380192.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:52.889Z,1736380192.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m. 2025-01-08T23:49:52.892Z,1736380192.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.299999 m, nav range: 27.348650 m, bearing: 328.798958 deg, approach rate: 0.331973 m/s, LOS rate: -1.216584 deg/s, cmd heading: 64.374471 deg, new cmd heading: 63.090423 deg. 2025-01-08T23:49:52.893Z,1736380192.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101136 target range: 45.299999 and range: 45.30 m. 2025-01-08T23:49:52.956Z,1736380192.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:52.957Z,1736380192.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015086 2025-01-08T23:49:53.210Z,1736380193.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:53.213Z,1736380193.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270959 2025-01-08T23:49:53.334Z,1736380193.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:53.342Z,1736380193.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m. 2025-01-08T23:49:53.345Z,1736380193.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.299999 m, nav range: 27.482801 m, bearing: 328.297237 deg, approach rate: 0.296220 m/s, LOS rate: -1.102429 deg/s, cmd heading: 63.090423 deg, new cmd heading: 61.592966 deg. 2025-01-08T23:49:53.347Z,1736380193.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.075000 target range: 45.299999 and range: 45.30 m. 2025-01-08T23:49:53.460Z,1736380193.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:53.468Z,1736380193.468 [DAT](INFO): DAT read: 23:49:51.5583 LVL= 12128, 22977, 22194, 32499, AGC= 55, IDX= 407, 0.49, 1.269,-0.684, 0.009, 0.391, PHS= 0.966,-1.027,-0.384, RAW= 108.4, 5.1, CAL= 119.4, 2.5, ROT= 30.6, -2.5 2025-01-08T23:49:53.469Z,1736380193.469 [DAT](INFO): got valid direction response: 23:49:51.5583 LVL= 12128, 22977, 22194, 32499, AGC= 55, IDX= 407, 0.49, 1.269,-0.684, 0.009, 0.391, PHS= 0.966,-1.027,-0.384, RAW= 108.4, 5.1, CAL= 119.4, 2.5, ROT= 30.6, -2.5 2025-01-08T23:49:53.470Z,1736380193.470 [DAT](INFO): DAT read: Bearing 30.6, -2.5 (Local) 2025-01-08T23:49:53.470Z,1736380193.470 [DAT](INFO): Local bearing/azimuth received: Bearing 30.6, -2.5 (Local) 2025-01-08T23:49:53.488Z,1736380193.488 [DAT](INFO): DAT read: Range 10 to 50 : 43.0 m (Round-trip 57.4 ms) speed 0.5 m/s 2025-01-08T23:49:53.489Z,1736380193.489 [DAT](INFO): DAT read: user:3497> 2025-01-08T23:49:53.490Z,1736380193.490 [DAT](INFO): DAT read: Tx time:23:49:52.6468 2025-01-08T23:49:53.490Z,1736380193.490 [DAT](INFO): Ping request sent. 2025-01-08T23:49:53.490Z,1736380193.490 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:53.491Z,1736380193.491 [DAT](INFO): DAT read: TxSync time:23:49:52.6460 2025-01-08T23:49:53.500Z,1736380193.500 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:53.501Z,1736380193.501 [DAT](INFO): direction in FSK: [-0.207894,-0.208986,0.955565] 2025-01-08T23:49:53.501Z,1736380193.501 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:53.501Z,1736380193.501 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:53.514Z,1736380193.514 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:53.514Z,1736380193.514 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:53.701Z,1736380193.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:53.712Z,1736380193.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:53.717Z,1736380193.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.000000 m, deltaT: 3.532486 s, deltaX: -2.299999 m, approachRate: -0.651099 m/s, rangeRepo size: 4 2025-01-08T23:49:53.719Z,1736380193.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.000000 m, bearing: 307.350529 deg, lat: 36.905241 deg, lon: -122.120082 deg, deltaT: 3.532486 s, deltaX: -2.299999 m, approachRate: -0.651099 m/s, posRepo size: 4 2025-01-08T23:49:53.720Z,1736380193.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m. 2025-01-08T23:49:53.723Z,1736380193.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.000000 m, nav range: 22.885860 m, bearing: 320.149211 deg, approach rate: 0.000000 m/s, LOS rate: -1.102429 deg/s, cmd heading: 61.592966 deg, new cmd heading: 60.355125 deg. 2025-01-08T23:49:53.724Z,1736380193.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.053396 target range: 43.000000 and range: 43.00 m. 2025-01-08T23:49:53.964Z,1736380193.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:54.101Z,1736380194.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:54.108Z,1736380194.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:54.110Z,1736380194.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m. 2025-01-08T23:49:54.115Z,1736380194.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.000000 m, nav range: 23.026361 m, bearing: 319.655669 deg, approach rate: 0.357008 m/s, LOS rate: -1.246408 deg/s, cmd heading: 60.355124 deg, new cmd heading: 58.883872 deg. 2025-01-08T23:49:54.117Z,1736380194.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.027717 target range: 43.000000 and range: 43.00 m. 2025-01-08T23:49:54.217Z,1736380194.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:54.219Z,1736380194.219 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:54.219Z,1736380194.219 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:54.220Z,1736380194.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:54.468Z,1736380194.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:54.468Z,1736380194.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978135 2025-01-08T23:49:54.529Z,1736380194.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:54.564Z,1736380194.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m. 2025-01-08T23:49:54.567Z,1736380194.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.000000 m, nav range: 23.159929 m, bearing: 319.184017 deg, approach rate: 0.295348 m/s, LOS rate: -1.036900 deg/s, cmd heading: 58.883874 deg, new cmd heading: 57.477379 deg. 2025-01-08T23:49:54.568Z,1736380194.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003170 target range: 43.000000 and range: 43.00 m. 2025-01-08T23:49:54.722Z,1736380194.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:54.722Z,1736380194.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232149 2025-01-08T23:49:54.895Z,1736380194.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:54.921Z,1736380194.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m. 2025-01-08T23:49:54.928Z,1736380194.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.000000 m, nav range: 23.271749 m, bearing: 318.779097 deg, approach rate: 0.311653 m/s, LOS rate: -1.123118 deg/s, cmd heading: 57.477381 deg, new cmd heading: 56.268646 deg. 2025-01-08T23:49:54.930Z,1736380194.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982073 target range: 43.000000 and range: 43.00 m. 2025-01-08T23:49:54.973Z,1736380194.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:54.975Z,1736380194.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484078 2025-01-08T23:49:55.225Z,1736380195.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:55.229Z,1736380195.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737926 2025-01-08T23:49:55.336Z,1736380195.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:55.344Z,1736380195.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m. 2025-01-08T23:49:55.349Z,1736380195.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.000000 m, nav range: 23.382172 m, bearing: 318.341622 deg, approach rate: 0.260816 m/s, LOS rate: -1.028421 deg/s, cmd heading: 56.268645 deg, new cmd heading: 54.962658 deg. 2025-01-08T23:49:55.349Z,1736380195.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959279 target range: 43.000000 and range: 43.00 m. 2025-01-08T23:49:55.476Z,1736380195.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:55.477Z,1736380195.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986459 2025-01-08T23:49:55.709Z,1736380195.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:55.718Z,1736380195.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m. 2025-01-08T23:49:55.721Z,1736380195.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.000000 m, nav range: 23.472492 m, bearing: 317.969701 deg, approach rate: 0.241668 m/s, LOS rate: -0.991299 deg/s, cmd heading: 54.962659 deg, new cmd heading: 53.851337 deg. 2025-01-08T23:49:55.722Z,1736380195.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939883 target range: 43.000000 and range: 43.00 m. 2025-01-08T23:49:55.728Z,1736380195.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:55.728Z,1736380195.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238289 2025-01-08T23:49:55.980Z,1736380195.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:55.981Z,1736380195.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490513 2025-01-08T23:49:56.130Z,1736380196.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:56.138Z,1736380196.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:56.140Z,1736380196.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m. 2025-01-08T23:49:56.142Z,1736380196.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.000000 m, nav range: 23.571371 m, bearing: 317.545918 deg, approach rate: 0.234489 m/s, LOS rate: -1.000768 deg/s, cmd heading: 53.851336 deg, new cmd heading: 52.585536 deg. 2025-01-08T23:49:56.144Z,1736380196.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.917791 target range: 43.000000 and range: 43.00 m. 2025-01-08T23:49:56.235Z,1736380196.235 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:56.238Z,1736380196.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747305 2025-01-08T23:49:56.488Z,1736380196.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:56.488Z,1736380196.488 [DAT](INFO): DAT read: Rx Time:23:49:55.1061 2025-01-08T23:49:56.489Z,1736380196.489 [DAT](INFO): Rx dataTimestamp_ set to:1736380196.488551 2025-01-08T23:49:56.489Z,1736380196.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999194 2025-01-08T23:49:56.573Z,1736380196.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:56.589Z,1736380196.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m. 2025-01-08T23:49:56.597Z,1736380196.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.000000 m, nav range: 23.658707 m, bearing: 317.153240 deg, approach rate: 0.194299 m/s, LOS rate: -0.870376 deg/s, cmd heading: 52.585538 deg, new cmd heading: 51.412026 deg. 2025-01-08T23:49:56.598Z,1736380196.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.897309 target range: 43.000000 and range: 43.00 m. 2025-01-08T23:49:56.740Z,1736380196.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:56.740Z,1736380196.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250157 2025-01-08T23:49:56.924Z,1736380196.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:56.933Z,1736380196.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m. 2025-01-08T23:49:56.936Z,1736380196.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.000000 m, nav range: 23.725296 m, bearing: 316.839448 deg, approach rate: 0.193627 m/s, LOS rate: -0.909870 deg/s, cmd heading: 51.412026 deg, new cmd heading: 50.473380 deg. 2025-01-08T23:49:56.937Z,1736380196.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.880927 target range: 43.000000 and range: 43.00 m. 2025-01-08T23:49:56.992Z,1736380196.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:57.003Z,1736380197.003 [DAT](INFO): DAT read: 23:49:55.1061 LVL= 14528, 24929, 19826, 28659, AGC= 54, IDX= 416, 0.08,-3.046, 1.145, 1.412, 2.053, PHS= 1.272,-0.861,-0.643, RAW= 95.3, 2.3, CAL= 104.3, 0.0, ROT= 45.7, -0.0 2025-01-08T23:49:57.004Z,1736380197.004 [DAT](INFO): got valid direction response: 23:49:55.1061 LVL= 14528, 24929, 19826, 28659, AGC= 54, IDX= 416, 0.08,-3.046, 1.145, 1.412, 2.053, PHS= 1.272,-0.861,-0.643, RAW= 95.3, 2.3, CAL= 104.3, 0.0, ROT= 45.7, -0.0 2025-01-08T23:49:57.005Z,1736380197.005 [DAT](INFO): DAT read: Bearing 45.7, -0.0 (Local) 2025-01-08T23:49:57.006Z,1736380197.006 [DAT](INFO): Local bearing/azimuth received: Bearing 45.7, -0.0 (Local) 2025-01-08T23:49:57.007Z,1736380197.007 [DAT](INFO): DAT read: Range 10 to 50 : 41.2 m (Round-trip 55.0 ms) speed 0.3 m/s 2025-01-08T23:49:57.008Z,1736380197.008 [DAT](INFO): DAT read: user:3498> 2025-01-08T23:49:57.009Z,1736380197.009 [DAT](INFO): DAT read: Tx time:23:49:56.1969 2025-01-08T23:49:57.009Z,1736380197.009 [DAT](INFO): Ping request sent. 2025-01-08T23:49:57.009Z,1736380197.009 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:49:57.010Z,1736380197.010 [DAT](INFO): DAT read: TxSync time:23:49:56.1961 2025-01-08T23:49:57.010Z,1736380197.010 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:49:57.012Z,1736380197.012 [DAT](INFO): direction in FSK: [-0.137402,0.017186,0.990366] 2025-01-08T23:49:57.012Z,1736380197.012 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:57.013Z,1736380197.013 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:57.016Z,1736380197.016 [DAT](INFO): publishing transmit ping time 2025-01-08T23:49:57.016Z,1736380197.016 [DAT](INFO): publishing direction and range info 2025-01-08T23:49:57.247Z,1736380197.247 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:57.416Z,1736380197.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:57.482Z,1736380197.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.200001 m, deltaT: 3.532794 s, deltaX: -1.799999 m, approachRate: -0.509512 m/s, rangeRepo size: 4 2025-01-08T23:49:57.488Z,1736380197.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.200001 m, bearing: 260.237003 deg, lat: 36.905212 deg, lon: -122.120082 deg, deltaT: 3.532794 s, deltaX: -1.799999 m, approachRate: -0.509512 m/s, posRepo size: 4 2025-01-08T23:49:57.489Z,1736380197.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.20 m. 2025-01-08T23:49:57.497Z,1736380197.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:57.498Z,1736380197.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.200001 m, nav range: 21.592651 m, bearing: 310.577976 deg, approach rate: 0.000000 m/s, LOS rate: -0.909870 deg/s, cmd heading: 50.473380 deg, new cmd heading: 48.980542 deg. 2025-01-08T23:49:57.500Z,1736380197.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.854872 target range: 41.200001 and range: 41.20 m. 2025-01-08T23:49:57.532Z,1736380197.532 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:49:57.748Z,1736380197.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:57.832Z,1736380197.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:57.840Z,1736380197.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.20 m. 2025-01-08T23:49:57.843Z,1736380197.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.200001 m, nav range: 21.666664 m, bearing: 310.201606 deg, approach rate: 0.205541 m/s, LOS rate: -1.041643 deg/s, cmd heading: 48.980543 deg, new cmd heading: 47.855441 deg. 2025-01-08T23:49:57.844Z,1736380197.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835235 target range: 41.200001 and range: 41.20 m. 2025-01-08T23:49:58.000Z,1736380198.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:58.253Z,1736380198.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:58.257Z,1736380198.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:58.315Z,1736380198.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:49:58.325Z,1736380198.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.20 m. 2025-01-08T23:49:58.332Z,1736380198.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.200001 m, nav range: 21.738123 m, bearing: 309.823189 deg, approach rate: 0.147458 m/s, LOS rate: -0.778305 deg/s, cmd heading: 47.855440 deg, new cmd heading: 46.724078 deg. 2025-01-08T23:49:58.333Z,1736380198.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815489 target range: 41.200001 and range: 41.20 m. 2025-01-08T23:49:58.504Z,1736380198.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:58.504Z,1736380198.504 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:49:58.504Z,1736380198.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:49:58.505Z,1736380198.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:49:58.536Z,1736380198.536 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:49:58.674Z,1736380198.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:58.706Z,1736380198.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.20 m. 2025-01-08T23:49:58.714Z,1736380198.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.200001 m, nav range: 21.802954 m, bearing: 309.464793 deg, approach rate: 0.170164 m/s, LOS rate: -0.937896 deg/s, cmd heading: 46.724078 deg, new cmd heading: 45.652218 deg. 2025-01-08T23:49:58.715Z,1736380198.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796782 target range: 41.200001 and range: 41.20 m. 2025-01-08T23:49:58.756Z,1736380198.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:58.757Z,1736380198.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747283 2025-01-08T23:49:59.008Z,1736380199.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:59.008Z,1736380199.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998897 2025-01-08T23:49:59.046Z,1736380199.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:59.061Z,1736380199.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.20 m. 2025-01-08T23:49:59.065Z,1736380199.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.200001 m, nav range: 21.854927 m, bearing: 309.140098 deg, approach rate: 0.146201 m/s, LOS rate: -0.911191 deg/s, cmd heading: 45.652219 deg, new cmd heading: 44.680549 deg. 2025-01-08T23:49:59.066Z,1736380199.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779823 target range: 41.200001 and range: 41.20 m. 2025-01-08T23:49:59.261Z,1736380199.261 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:59.264Z,1736380199.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253772 2025-01-08T23:49:59.456Z,1736380199.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:59.466Z,1736380199.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.20 m. 2025-01-08T23:49:59.469Z,1736380199.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.200001 m, nav range: 21.909777 m, bearing: 308.758370 deg, approach rate: 0.135675 m/s, LOS rate: -0.941864 deg/s, cmd heading: 44.680550 deg, new cmd heading: 43.538393 deg. 2025-01-08T23:49:59.469Z,1736380199.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759888 target range: 41.200001 and range: 41.20 m. 2025-01-08T23:49:59.512Z,1736380199.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:59.513Z,1736380199.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503600 2025-01-08T23:49:59.764Z,1736380199.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:49:59.765Z,1736380199.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755551 2025-01-08T23:49:59.836Z,1736380199.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:49:59.868Z,1736380199.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.20 m. 2025-01-08T23:49:59.871Z,1736380199.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.200001 m, nav range: 21.957773 m, bearing: 308.403753 deg, approach rate: 0.119239 m/s, LOS rate: -0.879054 deg/s, cmd heading: 43.538392 deg, new cmd heading: 42.476995 deg. 2025-01-08T23:49:59.876Z,1736380199.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741363 target range: 41.200001 and range: 41.20 m. 2025-01-08T23:50:00.016Z,1736380200.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:00.017Z,1736380200.017 [DAT](INFO): DAT read: Rx Time:23:49:58.6545 2025-01-08T23:50:00.017Z,1736380200.017 [DAT](INFO): Rx dataTimestamp_ set to:1736380200.016762 2025-01-08T23:50:00.018Z,1736380200.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008227 2025-01-08T23:50:00.270Z,1736380200.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:00.272Z,1736380200.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262492 2025-01-08T23:50:00.369Z,1736380200.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:00.386Z,1736380200.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:00.392Z,1736380200.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.20 m. 2025-01-08T23:50:00.395Z,1736380200.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.200001 m, nav range: 22.026493 m, bearing: 307.909062 deg, approach rate: 0.131129 m/s, LOS rate: -0.940995 deg/s, cmd heading: 42.476994 deg, new cmd heading: 40.997898 deg. 2025-01-08T23:50:00.400Z,1736380200.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715548 target range: 41.200001 and range: 41.20 m. 2025-01-08T23:50:00.520Z,1736380200.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:00.526Z,1736380200.526 [DAT](INFO): DAT read: 23:49:58.6545 LVL= 12528, 23969, 16706, 24435, AGC= 50, IDX= 432, 0.21, 1.443,-0.165,-0.516, 0.548, PHS= 0.983,-0.666,-1.067, RAW= 79.4, 8.0, CAL= 84.0, 10.5, ROT= 66.0, -10.5 2025-01-08T23:50:00.528Z,1736380200.528 [DAT](INFO): got valid direction response: 23:49:58.6545 LVL= 12528, 23969, 16706, 24435, AGC= 50, IDX= 432, 0.21, 1.443,-0.165,-0.516, 0.548, PHS= 0.983,-0.666,-1.067, RAW= 79.4, 8.0, CAL= 84.0, 10.5, ROT= 66.0, -10.5 2025-01-08T23:50:00.529Z,1736380200.529 [DAT](INFO): DAT read: Bearing 66.0, -10.5 (Local) 2025-01-08T23:50:00.529Z,1736380200.529 [DAT](INFO): Local bearing/azimuth received: Bearing 66.0, -10.5 (Local) 2025-01-08T23:50:00.531Z,1736380200.531 [DAT](INFO): DAT read: Range 10 to 50 : 40.1 m (Round-trip 53.5 ms) speed 0.1 m/s 2025-01-08T23:50:00.553Z,1736380200.553 [DAT](INFO): DAT read: user:3499> 2025-01-08T23:50:00.554Z,1736380200.554 [DAT](INFO): DAT read: Tx time:23:49:59.7469 2025-01-08T23:50:00.554Z,1736380200.554 [DAT](INFO): Ping request sent. 2025-01-08T23:50:00.555Z,1736380200.555 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:50:00.555Z,1736380200.555 [DAT](INFO): DAT read: TxSync time:23:49:59.7461 2025-01-08T23:50:00.556Z,1736380200.556 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:50:00.557Z,1736380200.557 [DAT](INFO): direction in FSK: [-0.216169,0.290569,0.932116] 2025-01-08T23:50:00.557Z,1736380200.557 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:00.557Z,1736380200.557 [DAT](INFO): publishing direction and range info 2025-01-08T23:50:00.582Z,1736380200.582 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:00.583Z,1736380200.583 [DAT](INFO): publishing direction and range info 2025-01-08T23:50:00.773Z,1736380200.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:00.866Z,1736380200.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:00.901Z,1736380200.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.099998 m, deltaT: 3.527052 s, deltaX: -1.100002 m, approachRate: -0.311876 m/s, rangeRepo size: 4 2025-01-08T23:50:00.903Z,1736380200.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.099998 m, bearing: 164.545480 deg, lat: 36.905147 deg, lon: -122.120022 deg, deltaT: 3.527052 s, deltaX: -1.100002 m, approachRate: -0.311876 m/s, posRepo size: 4 2025-01-08T23:50:00.908Z,1736380200.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:00.910Z,1736380200.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 13.726694 m, bearing: 296.810168 deg, approach rate: 0.000000 m/s, LOS rate: -0.940995 deg/s, cmd heading: 40.997896 deg, new cmd heading: 39.564627 deg. 2025-01-08T23:50:00.916Z,1736380200.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690533 target range: 40.099998 and range: 40.10 m. 2025-01-08T23:50:01.026Z,1736380201.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:01.260Z,1736380201.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:01.269Z,1736380201.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:01.276Z,1736380201.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:01.277Z,1736380201.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 13.800226 m, bearing: 296.205813 deg, approach rate: 0.199826 m/s, LOS rate: -1.633575 deg/s, cmd heading: 39.564626 deg, new cmd heading: 37.761852 deg. 2025-01-08T23:50:01.278Z,1736380201.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659069 target range: 40.099998 and range: 40.10 m. 2025-01-08T23:50:01.530Z,1736380201.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:01.682Z,1736380201.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:01.711Z,1736380201.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:01.726Z,1736380201.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 13.891019 m, bearing: 295.501043 deg, approach rate: 0.205030 m/s, LOS rate: -1.581087 deg/s, cmd heading: 37.761852 deg, new cmd heading: 35.662352 deg. 2025-01-08T23:50:01.736Z,1736380201.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.622425 target range: 40.099998 and range: 40.10 m. 2025-01-08T23:50:01.780Z,1736380201.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:02.032Z,1736380202.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:02.061Z,1736380202.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:02.071Z,1736380202.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:02.078Z,1736380202.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 13.970664 m, bearing: 294.867876 deg, approach rate: 0.221316 m/s, LOS rate: -1.749361 deg/s, cmd heading: 35.662351 deg, new cmd heading: 33.774401 deg. 2025-01-08T23:50:02.078Z,1736380202.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589474 target range: 40.099998 and range: 40.10 m. 2025-01-08T23:50:02.284Z,1736380202.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:02.479Z,1736380202.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:02.486Z,1736380202.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:02.489Z,1736380202.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:02.492Z,1736380202.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 14.068418 m, bearing: 294.125285 deg, approach rate: 0.233932 m/s, LOS rate: -1.764681 deg/s, cmd heading: 33.774401 deg, new cmd heading: 31.563267 deg. 2025-01-08T23:50:02.493Z,1736380202.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550883 target range: 40.099998 and range: 40.10 m. 2025-01-08T23:50:02.538Z,1736380202.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:02.539Z,1736380202.539 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:50:02.539Z,1736380202.539 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:50:02.539Z,1736380202.539 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:50:02.788Z,1736380202.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:02.788Z,1736380202.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233736 2025-01-08T23:50:02.877Z,1736380202.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:02.891Z,1736380202.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:02.894Z,1736380202.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 14.159657 m, bearing: 293.418252 deg, approach rate: 0.226755 m/s, LOS rate: -1.745792 deg/s, cmd heading: 31.563267 deg, new cmd heading: 29.456838 deg. 2025-01-08T23:50:02.896Z,1736380202.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514119 target range: 40.099998 and range: 40.10 m. 2025-01-08T23:50:03.046Z,1736380203.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:03.047Z,1736380203.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492495 2025-01-08T23:50:03.276Z,1736380203.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:03.296Z,1736380203.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:03.296Z,1736380203.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741691 2025-01-08T23:50:03.305Z,1736380203.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:03.319Z,1736380203.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 14.249830 m, bearing: 292.710275 deg, approach rate: 0.217964 m/s, LOS rate: -1.700439 deg/s, cmd heading: 29.456837 deg, new cmd heading: 27.347355 deg. 2025-01-08T23:50:03.335Z,1736380203.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.477301 target range: 40.099998 and range: 40.10 m. 2025-01-08T23:50:03.548Z,1736380203.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:03.549Z,1736380203.549 [DAT](INFO): DAT read: Rx Time:23:50:02.2038 2025-01-08T23:50:03.549Z,1736380203.549 [DAT](INFO): Rx dataTimestamp_ set to:1736380203.548687 2025-01-08T23:50:03.549Z,1736380203.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994936 2025-01-08T23:50:03.703Z,1736380203.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:03.732Z,1736380203.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:03.734Z,1736380203.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 14.362096 m, bearing: 291.910078 deg, approach rate: 0.275989 m/s, LOS rate: -1.951732 deg/s, cmd heading: 27.347355 deg, new cmd heading: 24.966978 deg. 2025-01-08T23:50:03.740Z,1736380203.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435756 target range: 40.099998 and range: 40.10 m. 2025-01-08T23:50:03.800Z,1736380203.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:03.802Z,1736380203.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246785 2025-01-08T23:50:04.052Z,1736380204.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:04.053Z,1736380204.053 [DAT](INFO): DAT read: Range 10 to 50 : 39.5 m (Round-trip 52.7 ms) speed 0.0 m/s 2025-01-08T23:50:04.054Z,1736380204.054 [DAT](INFO): DAT read: user:3500> 2025-01-08T23:50:04.055Z,1736380204.055 [DAT](INFO): DAT read: Tx time:23:50:03.2969 2025-01-08T23:50:04.055Z,1736380204.055 [DAT](INFO): Ping request sent. 2025-01-08T23:50:04.055Z,1736380204.055 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:50:04.056Z,1736380204.056 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:50:04.056Z,1736380204.056 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:04.056Z,1736380204.056 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:04.117Z,1736380204.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:04.139Z,1736380204.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.500000 m, deltaT: 3.531762 s, deltaX: -0.599998 m, approachRate: -0.169886 m/s, rangeRepo size: 4 2025-01-08T23:50:04.140Z,1736380204.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:04.143Z,1736380204.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 14.470084 m, bearing: 291.138711 deg, approach rate: 0.257748 m/s, LOS rate: -1.827313 deg/s, cmd heading: 24.966978 deg, new cmd heading: 22.671444 deg. 2025-01-08T23:50:04.152Z,1736380204.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.395691 target range: 40.099998 and range: 39.50 m. 2025-01-08T23:50:04.304Z,1736380204.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:04.306Z,1736380204.306 [DAT](INFO): DAT read: TxSync time:23:50:03.2961 2025-01-08T23:50:04.494Z,1736380204.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:04.514Z,1736380204.514 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-01-08T23:50:04.514Z,1736380204.514 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-01-08T23:50:04.514Z,1736380204.514 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-01-08T23:50:04.520Z,1736380204.520 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.500000 m (mode 2.000000 count ). 2025-01-08T23:50:04.520Z,1736380204.520 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-01-08T23:50:04.520Z,1736380204.520 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-01-08T23:50:04.520Z,1736380204.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:04.522Z,1736380204.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:04.530Z,1736380204.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 14.579541 m, bearing: 290.417000 deg, approach rate: 0.279170 m/s, LOS rate: -1.826857 deg/s, cmd heading: 22.671443 deg, new cmd heading: 20.523628 deg. 2025-01-08T23:50:04.536Z,1736380204.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.358205 target range: 40.099998 and range: 39.50 m. 2025-01-08T23:50:04.556Z,1736380204.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:04.556Z,1736380204.556 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:50:04.556Z,1736380204.556 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:50:04.557Z,1736380204.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:50:04.808Z,1736380204.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:04.809Z,1736380204.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753111 2025-01-08T23:50:04.888Z,1736380204.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:04.894Z,1736380204.894 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-01-08T23:50:04.894Z,1736380204.894 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-01-08T23:50:04.897Z,1736380204.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:04.900Z,1736380204.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 14.693037 m, bearing: 289.665197 deg, approach rate: 0.302732 m/s, LOS rate: -1.989769 deg/s, cmd heading: 20.523627 deg, new cmd heading: 18.286841 deg. 2025-01-08T23:50:04.901Z,1736380204.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.319166 target range: 40.099998 and range: 39.50 m. 2025-01-08T23:50:05.060Z,1736380205.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:05.060Z,1736380205.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004898 2025-01-08T23:50:05.287Z,1736380205.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:05.293Z,1736380205.293 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-01-08T23:50:05.293Z,1736380205.293 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-01-08T23:50:05.312Z,1736380205.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:05.313Z,1736380205.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257169 2025-01-08T23:50:05.317Z,1736380205.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:05.325Z,1736380205.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 14.807302 m, bearing: 288.908543 deg, approach rate: 0.286997 m/s, LOS rate: -1.885761 deg/s, cmd heading: 18.286841 deg, new cmd heading: 16.035621 deg. 2025-01-08T23:50:05.326Z,1736380205.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279874 target range: 40.099998 and range: 39.50 m. 2025-01-08T23:50:05.564Z,1736380205.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:05.564Z,1736380205.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508926 2025-01-08T23:50:05.734Z,1736380205.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:05.741Z,1736380205.741 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-01-08T23:50:05.741Z,1736380205.741 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-01-08T23:50:05.741Z,1736380205.741 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-01-08T23:50:05.741Z,1736380205.741 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-01-08T23:50:05.744Z,1736380205.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:05.748Z,1736380205.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 14.944456 m, bearing: 288.052202 deg, approach rate: 0.306145 m/s, LOS rate: -1.893836 deg/s, cmd heading: 16.035621 deg, new cmd heading: 13.491944 deg. 2025-01-08T23:50:05.749Z,1736380205.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.235479 target range: 40.099998 and range: 39.50 m. 2025-01-08T23:50:05.818Z,1736380205.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:05.819Z,1736380205.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763441 2025-01-08T23:50:06.068Z,1736380206.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:06.068Z,1736380206.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012986 2025-01-08T23:50:06.104Z,1736380206.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:06.114Z,1736380206.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:06.117Z,1736380206.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 15.052571 m, bearing: 287.341762 deg, approach rate: 0.291959 m/s, LOS rate: -1.904679 deg/s, cmd heading: 13.491944 deg, new cmd heading: 11.376946 deg. 2025-01-08T23:50:06.118Z,1736380206.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.198565 target range: 40.099998 and range: 39.50 m. 2025-01-08T23:50:06.321Z,1736380206.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:06.323Z,1736380206.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267405 2025-01-08T23:50:06.519Z,1736380206.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:06.542Z,1736380206.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:06.549Z,1736380206.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:06.557Z,1736380206.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 15.164614 m, bearing: 286.567596 deg, approach rate: 0.257720 m/s, LOS rate: -1.767524 deg/s, cmd heading: 11.376945 deg, new cmd heading: 9.072922 deg. 2025-01-08T23:50:06.558Z,1736380206.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158352 target range: 40.099998 and range: 39.50 m. 2025-01-08T23:50:06.572Z,1736380206.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:06.572Z,1736380206.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517089 2025-01-08T23:50:06.824Z,1736380206.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:06.824Z,1736380206.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769023 2025-01-08T23:50:06.916Z,1736380206.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:06.924Z,1736380206.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:06.927Z,1736380206.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 15.269721 m, bearing: 285.831259 deg, approach rate: 0.279783 m/s, LOS rate: -1.946493 deg/s, cmd heading: 9.072922 deg, new cmd heading: 6.880246 deg. 2025-01-08T23:50:06.928Z,1736380206.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120083 target range: 40.099998 and range: 39.50 m. 2025-01-08T23:50:07.076Z,1736380207.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:07.076Z,1736380207.076 [DAT](INFO): DAT read: Rx Time:23:50:05.7536 2025-01-08T23:50:07.077Z,1736380207.077 [DAT](INFO): Rx dataTimestamp_ set to:1736380207.076602 2025-01-08T23:50:07.077Z,1736380207.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022013 2025-01-08T23:50:07.309Z,1736380207.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:07.326Z,1736380207.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:07.328Z,1736380207.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:07.329Z,1736380207.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273105 2025-01-08T23:50:07.335Z,1736380207.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 15.372136 m, bearing: 285.100135 deg, approach rate: 0.255108 m/s, LOS rate: -1.808988 deg/s, cmd heading: 6.880246 deg, new cmd heading: 4.702597 deg. 2025-01-08T23:50:07.395Z,1736380207.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.082076 target range: 40.099998 and range: 39.50 m. 2025-01-08T23:50:07.580Z,1736380207.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:07.582Z,1736380207.582 [DAT](INFO): DAT read: Range 10 to 50 : 39.3 m (Round-trip 52.4 ms) speed 0.0 m/s 2025-01-08T23:50:07.582Z,1736380207.582 [DAT](INFO): DAT read: user:3501> 2025-01-08T23:50:07.583Z,1736380207.583 [DAT](INFO): DAT read: Tx time:23:50:06.8470 2025-01-08T23:50:07.583Z,1736380207.583 [DAT](INFO): Ping request sent. 2025-01-08T23:50:07.584Z,1736380207.584 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:50:07.584Z,1736380207.584 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:50:07.584Z,1736380207.584 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:07.585Z,1736380207.585 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:07.771Z,1736380207.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:07.781Z,1736380207.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.299999 m, deltaT: 3.528137 s, deltaX: -0.200001 m, approachRate: -0.056687 m/s, rangeRepo size: 4 2025-01-08T23:50:07.782Z,1736380207.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:07.797Z,1736380207.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 15.485352 m, bearing: 284.260325 deg, approach rate: 0.249013 m/s, LOS rate: -1.833558 deg/s, cmd heading: 4.702597 deg, new cmd heading: 2.203263 deg. 2025-01-08T23:50:07.798Z,1736380207.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038454 target range: 40.099998 and range: 39.30 m. 2025-01-08T23:50:07.832Z,1736380207.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:07.833Z,1736380207.833 [DAT](INFO): DAT read: TxSync time:23:50:06.8462 2025-01-08T23:50:08.084Z,1736380208.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:08.136Z,1736380208.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:08.144Z,1736380208.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:08.148Z,1736380208.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 15.573042 m, bearing: 283.597872 deg, approach rate: 0.241054 m/s, LOS rate: -1.810737 deg/s, cmd heading: 2.203263 deg, new cmd heading: 0.227921 deg. 2025-01-08T23:50:08.149Z,1736380208.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003978 target range: 40.099998 and range: 39.30 m. 2025-01-08T23:50:08.336Z,1736380208.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:08.542Z,1736380208.542 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815510, +10.9, 0.0,1493.3, 0 2025-01-08T23:50:08.550Z,1736380208.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:50:08.550Z,1736380208.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:08.581Z,1736380208.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:08.588Z,1736380208.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:08.588Z,1736380208.588 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:50:08.588Z,1736380208.588 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:50:08.589Z,1736380208.589 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-01-08T23:50:08.595Z,1736380208.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:08.598Z,1736380208.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 15.666693 m, bearing: 282.839009 deg, approach rate: 0.213252 m/s, LOS rate: -1.717624 deg/s, cmd heading: 0.227921 deg, new cmd heading: 357.966182 deg. 2025-01-08T23:50:08.605Z,1736380208.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247688 target range: 40.099998 and range: 39.30 m. 2025-01-08T23:50:08.840Z,1736380208.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:08.841Z,1736380208.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257325 2025-01-08T23:50:08.944Z,1736380208.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:50:08.944Z,1736380208.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:08.954Z,1736380208.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:08.957Z,1736380208.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 15.754633 m, bearing: 282.118085 deg, approach rate: 0.237287 m/s, LOS rate: -1.934343 deg/s, cmd heading: 357.966171 deg, new cmd heading: 355.816537 deg. 2025-01-08T23:50:08.958Z,1736380208.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210170 target range: 40.099998 and range: 39.30 m. 2025-01-08T23:50:09.092Z,1736380209.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:09.092Z,1736380209.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508828 2025-01-08T23:50:09.344Z,1736380209.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:09.344Z,1736380209.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760867 2025-01-08T23:50:09.346Z,1736380209.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:50:09.346Z,1736380209.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:09.355Z,1736380209.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:09.358Z,1736380209.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 15.841760 m, bearing: 281.382997 deg, approach rate: 0.217269 m/s, LOS rate: -1.822970 deg/s, cmd heading: 355.816546 deg, new cmd heading: 353.624539 deg. 2025-01-08T23:50:09.359Z,1736380209.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171913 target range: 40.099998 and range: 39.30 m. 2025-01-08T23:50:09.596Z,1736380209.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:09.597Z,1736380209.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013511 2025-01-08T23:50:09.775Z,1736380209.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:09.784Z,1736380209.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:09.787Z,1736380209.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 15.899695 m, bearing: 280.669450 deg, approach rate: 0.134966 m/s, LOS rate: -1.656171 deg/s, cmd heading: 353.624548 deg, new cmd heading: 351.492747 deg. 2025-01-08T23:50:09.788Z,1736380209.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134706 target range: 40.099998 and range: 39.30 m. 2025-01-08T23:50:09.849Z,1736380209.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:09.850Z,1736380209.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266293 2025-01-08T23:50:10.100Z,1736380210.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:10.100Z,1736380210.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516818 2025-01-08T23:50:10.165Z,1736380210.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:10.173Z,1736380210.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:10.176Z,1736380210.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 15.949817 m, bearing: 280.020395 deg, approach rate: 0.128872 m/s, LOS rate: -1.663578 deg/s, cmd heading: 351.492736 deg, new cmd heading: 349.552472 deg. 2025-01-08T23:50:10.177Z,1736380210.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.100842 target range: 40.099998 and range: 39.30 m. 2025-01-08T23:50:10.354Z,1736380210.354 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:10.355Z,1736380210.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771656 2025-01-08T23:50:10.569Z,1736380210.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:50:10.569Z,1736380210.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:10.577Z,1736380210.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:10.581Z,1736380210.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 15.999011 m, bearing: 279.347897 deg, approach rate: 0.121658 m/s, LOS rate: -1.657934 deg/s, cmd heading: 349.552471 deg, new cmd heading: 347.542054 deg. 2025-01-08T23:50:10.582Z,1736380210.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065753 target range: 40.099998 and range: 39.30 m. 2025-01-08T23:50:10.604Z,1736380210.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:10.604Z,1736380210.604 [DAT](INFO): DAT read: Rx Time:23:50:09.3035 2025-01-08T23:50:10.605Z,1736380210.605 [DAT](INFO): Rx dataTimestamp_ set to:1736380210.604677 2025-01-08T23:50:10.605Z,1736380210.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021888 2025-01-08T23:50:10.856Z,1736380210.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:10.856Z,1736380210.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272740 2025-01-08T23:50:10.974Z,1736380210.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:50:10.974Z,1736380210.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:10.982Z,1736380210.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:10.985Z,1736380210.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:10.988Z,1736380210.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 16.050644 m, bearing: 278.676470 deg, approach rate: 0.126757 m/s, LOS rate: -1.642987 deg/s, cmd heading: 347.542046 deg, new cmd heading: 345.535109 deg. 2025-01-08T23:50:10.989Z,1736380210.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030725 target range: 40.099998 and range: 39.30 m. 2025-01-08T23:50:11.108Z,1736380211.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:11.110Z,1736380211.110 [DAT](INFO): DAT read: Range 10 to 50 : 39.2 m (Round-trip 52.3 ms) speed 0.0 m/s 2025-01-08T23:50:11.110Z,1736380211.110 [DAT](INFO): DAT read: user:3502> 2025-01-08T23:50:11.111Z,1736380211.111 [DAT](INFO): DAT read: Tx time:23:50:10.3970 2025-01-08T23:50:11.112Z,1736380211.112 [DAT](INFO): Ping request sent. 2025-01-08T23:50:11.112Z,1736380211.112 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:50:11.112Z,1736380211.112 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:50:11.112Z,1736380211.112 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:11.113Z,1736380211.113 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:11.114Z,1736380211.114 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.002559 2025-01-08T23:50:11.360Z,1736380211.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:11.360Z,1736380211.360 [DAT](INFO): DAT read: TxSync time:23:50:10.3962 2025-01-08T23:50:11.361Z,1736380211.361 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.249379 2025-01-08T23:50:11.371Z,1736380211.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:50:11.371Z,1736380211.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:11.384Z,1736380211.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.200001 m, deltaT: 3.527998 s, deltaX: -0.099998 m, approachRate: -0.028344 m/s, rangeRepo size: 4 2025-01-08T23:50:11.385Z,1736380211.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 39.20 m. 2025-01-08T23:50:11.385Z,1736380211.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:11.388Z,1736380211.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 16.093679 m, bearing: 278.015804 deg, approach rate: 0.107959 m/s, LOS rate: -1.652876 deg/s, cmd heading: 345.535117 deg, new cmd heading: 343.559248 deg. 2025-01-08T23:50:11.389Z,1736380211.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996240 target range: 40.099998 and range: 39.20 m. 2025-01-08T23:50:11.612Z,1736380211.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:11.614Z,1736380211.614 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.501351 2025-01-08T23:50:11.797Z,1736380211.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:11.806Z,1736380211.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 39.20 m. 2025-01-08T23:50:11.807Z,1736380211.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:11.810Z,1736380211.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 16.105652 m, bearing: 277.350328 deg, approach rate: 0.028314 m/s, LOS rate: -1.572612 deg/s, cmd heading: 343.559253 deg, new cmd heading: 341.565160 deg. 2025-01-08T23:50:11.811Z,1736380211.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961437 target range: 40.099998 and range: 39.20 m. 2025-01-08T23:50:11.864Z,1736380211.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:11.865Z,1736380211.865 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.753563 2025-01-08T23:50:12.116Z,1736380212.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:12.116Z,1736380212.116 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.004675 2025-01-08T23:50:12.201Z,1736380212.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:12.210Z,1736380212.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 39.20 m. 2025-01-08T23:50:12.210Z,1736380212.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:12.215Z,1736380212.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 16.119020 m, bearing: 276.719715 deg, approach rate: 0.033114 m/s, LOS rate: -1.560706 deg/s, cmd heading: 341.565166 deg, new cmd heading: 339.675619 deg. 2025-01-08T23:50:12.216Z,1736380212.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928458 target range: 40.099998 and range: 39.20 m. 2025-01-08T23:50:12.368Z,1736380212.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:12.368Z,1736380212.368 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.256582 2025-01-08T23:50:12.613Z,1736380212.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:12.620Z,1736380212.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:12.621Z,1736380212.621 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.509405 2025-01-08T23:50:12.625Z,1736380212.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 39.20 m. 2025-01-08T23:50:12.625Z,1736380212.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:12.628Z,1736380212.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 16.121923 m, bearing: 276.072379 deg, approach rate: 0.006997 m/s, LOS rate: -1.560005 deg/s, cmd heading: 339.675607 deg, new cmd heading: 337.734734 deg. 2025-01-08T23:50:12.630Z,1736380212.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894583 target range: 40.099998 and range: 39.20 m. 2025-01-08T23:50:12.872Z,1736380212.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:12.872Z,1736380212.872 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.760592 2025-01-08T23:50:12.978Z,1736380212.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:12.985Z,1736380212.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:12.988Z,1736380212.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 39.20 m. 2025-01-08T23:50:12.988Z,1736380212.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:12.991Z,1736380212.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 16.113640 m, bearing: 275.499797 deg, approach rate: -0.022858 m/s, LOS rate: -1.580806 deg/s, cmd heading: 337.734741 deg, new cmd heading: 336.016656 deg. 2025-01-08T23:50:12.992Z,1736380212.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864597 target range: 40.099998 and range: 39.20 m. 2025-01-08T23:50:13.124Z,1736380213.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:13.124Z,1736380213.124 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.012603 2025-01-08T23:50:13.376Z,1736380213.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:13.376Z,1736380213.376 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.264489 2025-01-08T23:50:13.415Z,1736380213.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:13.424Z,1736380213.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:13.427Z,1736380213.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 16.100393 m, bearing: 274.813213 deg, approach rate: -0.030363 m/s, LOS rate: -1.575014 deg/s, cmd heading: 336.016648 deg, new cmd heading: 333.956137 deg. 2025-01-08T23:50:13.428Z,1736380213.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828634 target range: 40.099998 and range: 39.20 m. 2025-01-08T23:50:13.628Z,1736380213.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:13.629Z,1736380213.629 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.516698 2025-01-08T23:50:13.805Z,1736380213.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:13.814Z,1736380213.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 39.20 m. 2025-01-08T23:50:13.815Z,1736380213.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:13.821Z,1736380213.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 16.082392 m, bearing: 274.192626 deg, approach rate: -0.046053 m/s, LOS rate: -1.589383 deg/s, cmd heading: 333.956144 deg, new cmd heading: 332.092993 deg. 2025-01-08T23:50:13.822Z,1736380213.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796116 target range: 40.099998 and range: 39.20 m. 2025-01-08T23:50:13.882Z,1736380213.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:13.883Z,1736380213.883 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770971 2025-01-08T23:50:14.137Z,1736380214.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:14.139Z,1736380214.139 [DAT](INFO): DAT read: Rx Time:23:50:12.8541 2025-01-08T23:50:14.141Z,1736380214.141 [DAT](INFO): Rx dataTimestamp_ set to:1736380214.139829 2025-01-08T23:50:14.142Z,1736380214.142 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.030140 2025-01-08T23:50:14.223Z,1736380214.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:14.234Z,1736380214.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 39.20 m. 2025-01-08T23:50:14.234Z,1736380214.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-01-08T23:50:14.237Z,1736380214.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.099998 m, nav range: 16.060223 m, bearing: 273.526026 deg, approach rate: -0.052886 m/s, LOS rate: -1.592372 deg/s, cmd heading: 332.093005 deg, new cmd heading: 330.091305 deg. 2025-01-08T23:50:14.238Z,1736380214.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761180 target range: 40.099998 and range: 39.20 m. 2025-01-08T23:50:14.388Z,1736380214.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:14.388Z,1736380214.388 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.276599 2025-01-08T23:50:14.640Z,1736380214.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:14.665Z,1736380214.665 [DAT](INFO): DAT read: 23:50:12.8541 LVL= 15056, 17009, 15474, 21443, AGC= 53, IDX= 442,-0.13, 3.041,-2.827, 1.119, 2.624, PHS= 0.505, 0.880,-1.508, RAW= 21.6, 1.1, CAL= 21.1, 0.2, ROT= 128.9, -0.2 2025-01-08T23:50:14.667Z,1736380214.667 [DAT](INFO): got valid direction response: 23:50:12.8541 LVL= 15056, 17009, 15474, 21443, AGC= 53, IDX= 442,-0.13, 3.041,-2.827, 1.119, 2.624, PHS= 0.505, 0.880,-1.508, RAW= 21.6, 1.1, CAL= 21.1, 0.2, ROT= 128.9, -0.2 2025-01-08T23:50:14.668Z,1736380214.668 [DAT](INFO): DAT read: Bearing 128.9, -0.2 (Local) 2025-01-08T23:50:14.669Z,1736380214.669 [DAT](INFO): Local bearing/azimuth received: Bearing 128.9, -0.2 (Local) 2025-01-08T23:50:14.685Z,1736380214.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:14.687Z,1736380214.687 [DAT](INFO): DAT read: Range 10 to 50 : 39.6 m (Round-trip 52.9 ms) speed -0.3 m/s 2025-01-08T23:50:14.688Z,1736380214.688 [DAT](INFO): DAT read: user:3503> 2025-01-08T23:50:14.689Z,1736380214.689 [DAT](INFO): DAT read: Tx time:23:50:13.9471 2025-01-08T23:50:14.689Z,1736380214.689 [DAT](INFO): Ping request sent. 2025-01-08T23:50:14.689Z,1736380214.689 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:50:14.690Z,1736380214.690 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-01-08T23:50:14.690Z,1736380214.690 [DAT](INFO): direction in FSK: [0.028183,0.948119,0.316664] 2025-01-08T23:50:14.691Z,1736380214.691 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:14.691Z,1736380214.691 [DAT](INFO): publishing direction and range info 2025-01-08T23:50:14.707Z,1736380214.707 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:14.707Z,1736380214.707 [DAT](INFO): publishing direction and range info 2025-01-08T23:50:14.722Z,1736380214.722 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.032985 2025-01-08T23:50:14.727Z,1736380214.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.599998 m, deltaT: 3.531879 s, deltaX: 0.399998 m, approachRate: 0.113254 m/s, rangeRepo size: 4 2025-01-08T23:50:14.733Z,1736380214.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 39.599998 m, bearing: 93.209515 deg, lat: 36.905121 deg, lon: -122.119929 deg, deltaT: 14.119776 s, deltaX: -0.500000 m, approachRate: -0.035411 m/s, posRepo size: 4 2025-01-08T23:50:14.734Z,1736380214.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 39.60 m. 2025-01-08T23:50:14.734Z,1736380214.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:14.760Z,1736380214.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 7.961873 m, bearing: 254.826506 deg, approach rate: 0.000000 m/s, LOS rate: -1.592372 deg/s, cmd heading: 330.091295 deg, new cmd heading: 327.739886 deg. 2025-01-08T23:50:14.761Z,1736380214.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720140 target range: 39.599998 and range: 39.60 m. 2025-01-08T23:50:14.892Z,1736380214.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:14.893Z,1736380214.893 [DAT](INFO): DAT read: TxSync time:23:50:13.9463 2025-01-08T23:50:14.893Z,1736380214.893 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.204032 2025-01-08T23:50:15.144Z,1736380215.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:15.145Z,1736380215.145 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.455237 2025-01-08T23:50:15.182Z,1736380215.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:15.208Z,1736380215.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 39.60 m. 2025-01-08T23:50:15.212Z,1736380215.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:15.216Z,1736380215.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.003119 m, bearing: 253.248274 deg, approach rate: 0.086446 m/s, LOS rate: -3.290262 deg/s, cmd heading: 327.739879 deg, new cmd heading: 323.040747 deg. 2025-01-08T23:50:15.217Z,1736380215.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638124 target range: 39.599998 and range: 39.60 m. 2025-01-08T23:50:15.396Z,1736380215.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:15.397Z,1736380215.397 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.707983 2025-01-08T23:50:15.617Z,1736380215.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:15.642Z,1736380215.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:15.648Z,1736380215.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:15.649Z,1736380215.649 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.959862 2025-01-08T23:50:15.656Z,1736380215.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 39.60 m. 2025-01-08T23:50:15.656Z,1736380215.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:15.665Z,1736380215.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.045450 m, bearing: 251.840383 deg, approach rate: 0.094556 m/s, LOS rate: -3.128014 deg/s, cmd heading: 323.040736 deg, new cmd heading: 318.847211 deg. 2025-01-08T23:50:15.671Z,1736380215.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564934 target range: 39.599998 and range: 39.60 m. 2025-01-08T23:50:15.900Z,1736380215.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:15.901Z,1736380215.901 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.211960 2025-01-08T23:50:16.087Z,1736380216.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:16.117Z,1736380216.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 39.60 m. 2025-01-08T23:50:16.117Z,1736380216.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:16.120Z,1736380216.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.087222 m, bearing: 250.323016 deg, approach rate: 0.089688 m/s, LOS rate: -3.240700 deg/s, cmd heading: 318.847219 deg, new cmd heading: 314.328552 deg. 2025-01-08T23:50:16.121Z,1736380216.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486068 target range: 39.599998 and range: 39.60 m. 2025-01-08T23:50:16.154Z,1736380216.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:16.155Z,1736380216.155 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.465770 2025-01-08T23:50:16.404Z,1736380216.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:16.405Z,1736380216.405 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.715275 2025-01-08T23:50:16.497Z,1736380216.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:16.572Z,1736380216.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:16.578Z,1736380216.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.124225 m, bearing: 249.007317 deg, approach rate: 0.081797 m/s, LOS rate: -2.894950 deg/s, cmd heading: 314.328557 deg, new cmd heading: 310.405922 deg. 2025-01-08T23:50:16.583Z,1736380216.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.417605 target range: 39.599998 and range: 39.60 m. 2025-01-08T23:50:16.657Z,1736380216.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:16.659Z,1736380216.659 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.969076 2025-01-08T23:50:16.909Z,1736380216.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:16.910Z,1736380216.910 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.220677 2025-01-08T23:50:16.915Z,1736380216.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:16.956Z,1736380216.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 39.60 m. 2025-01-08T23:50:16.957Z,1736380216.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:16.964Z,1736380216.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.172898 m, bearing: 247.648297 deg, approach rate: 0.125633 m/s, LOS rate: -3.486591 deg/s, cmd heading: 310.405924 deg, new cmd heading: 306.360263 deg. 2025-01-08T23:50:16.965Z,1736380216.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346995 target range: 39.599998 and range: 39.60 m. 2025-01-08T23:50:17.160Z,1736380217.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:17.160Z,1736380217.160 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.471042 2025-01-08T23:50:17.301Z,1736380217.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:17.310Z,1736380217.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 39.60 m. 2025-01-08T23:50:17.310Z,1736380217.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:17.314Z,1736380217.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.218142 m, bearing: 246.401063 deg, approach rate: 0.127945 m/s, LOS rate: -3.507410 deg/s, cmd heading: 306.360267 deg, new cmd heading: 302.644676 deg. 2025-01-08T23:50:17.316Z,1736380217.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282146 target range: 39.599998 and range: 39.60 m. 2025-01-08T23:50:17.412Z,1736380217.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:17.413Z,1736380217.413 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.724016 2025-01-08T23:50:17.664Z,1736380217.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:17.665Z,1736380217.665 [DAT](INFO): DAT read: Rx Time:23:50:16.4057 2025-01-08T23:50:17.666Z,1736380217.666 [DAT](INFO): Rx dataTimestamp_ set to:1736380217.665164 2025-01-08T23:50:17.666Z,1736380217.666 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.977097 2025-01-08T23:50:17.762Z,1736380217.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:17.770Z,1736380217.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:17.772Z,1736380217.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 39.60 m. 2025-01-08T23:50:17.773Z,1736380217.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:17.776Z,1736380217.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.275309 m, bearing: 244.958177 deg, approach rate: 0.123660 m/s, LOS rate: -3.099277 deg/s, cmd heading: 302.644671 deg, new cmd heading: 298.354405 deg. 2025-01-08T23:50:17.777Z,1736380217.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.207267 target range: 39.599998 and range: 39.60 m. 2025-01-08T23:50:17.916Z,1736380217.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:17.917Z,1736380217.917 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.227423 2025-01-08T23:50:18.108Z,1736380218.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:18.136Z,1736380218.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 39.60 m. 2025-01-08T23:50:18.136Z,1736380218.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:18.139Z,1736380218.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.318233 m, bearing: 243.883461 deg, approach rate: 0.118215 m/s, LOS rate: -2.944322 deg/s, cmd heading: 298.354411 deg, new cmd heading: 295.150434 deg. 2025-01-08T23:50:18.140Z,1736380218.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151347 target range: 39.599998 and range: 39.60 m. 2025-01-08T23:50:18.168Z,1736380218.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:18.170Z,1736380218.170 [DAT](INFO): DAT read: Range 10 to 50 : 40.8 m (Round-trip 54.4 ms) speed -0.4 m/s 2025-01-08T23:50:18.170Z,1736380218.170 [DAT](INFO): DAT read: user:3504> 2025-01-08T23:50:18.171Z,1736380218.171 [DAT](INFO): DAT read: Tx time:23:50:17.4971 2025-01-08T23:50:18.172Z,1736380218.172 [DAT](INFO): Ping request sent. 2025-01-08T23:50:18.172Z,1736380218.172 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:50:18.172Z,1736380218.172 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-01-08T23:50:18.172Z,1736380218.172 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:18.173Z,1736380218.173 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:18.174Z,1736380218.174 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.001849 2025-01-08T23:50:18.420Z,1736380218.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:18.420Z,1736380218.420 [DAT](INFO): DAT read: TxSync time:23:50:17.4963 2025-01-08T23:50:18.421Z,1736380218.421 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.249559 2025-01-08T23:50:18.515Z,1736380218.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:18.525Z,1736380218.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.799999 m, deltaT: 3.528138 s, deltaX: 1.200001 m, approachRate: 0.340123 m/s, rangeRepo size: 4 2025-01-08T23:50:18.525Z,1736380218.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:18.536Z,1736380218.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.368652 m, bearing: 242.618703 deg, approach rate: 0.129767 m/s, LOS rate: -3.235323 deg/s, cmd heading: 295.150424 deg, new cmd heading: 291.384746 deg. 2025-01-08T23:50:18.542Z,1736380218.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085623 target range: 39.599998 and range: 40.80 m. 2025-01-08T23:50:18.673Z,1736380218.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:18.675Z,1736380218.675 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.503125 2025-01-08T23:50:18.924Z,1736380218.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:18.925Z,1736380218.925 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.752879 2025-01-08T23:50:18.938Z,1736380218.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:18.945Z,1736380218.945 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-01-08T23:50:18.945Z,1736380218.945 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-01-08T23:50:18.945Z,1736380218.945 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-01-08T23:50:18.947Z,1736380218.947 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 40.799999 m (mode 2.000000 count ). 2025-01-08T23:50:18.947Z,1736380218.947 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-01-08T23:50:18.948Z,1736380218.948 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-01-08T23:50:18.950Z,1736380218.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 40.80 m. 2025-01-08T23:50:18.950Z,1736380218.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:18.994Z,1736380218.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.426317 m, bearing: 241.336666 deg, approach rate: 0.135468 m/s, LOS rate: -2.990928 deg/s, cmd heading: 291.384749 deg, new cmd heading: 287.570920 deg. 2025-01-08T23:50:18.995Z,1736380218.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.019059 target range: 39.599998 and range: 40.80 m. 2025-01-08T23:50:19.176Z,1736380219.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:19.176Z,1736380219.176 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.004653 2025-01-08T23:50:19.326Z,1736380219.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:19.334Z,1736380219.334 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-01-08T23:50:19.334Z,1736380219.334 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-01-08T23:50:19.336Z,1736380219.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 40.80 m. 2025-01-08T23:50:19.337Z,1736380219.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:19.340Z,1736380219.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.478676 m, bearing: 240.165409 deg, approach rate: 0.135430 m/s, LOS rate: -3.010644 deg/s, cmd heading: 287.570908 deg, new cmd heading: 284.083395 deg. 2025-01-08T23:50:19.341Z,1736380219.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.958190 target range: 39.599998 and range: 40.80 m. 2025-01-08T23:50:19.429Z,1736380219.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:19.430Z,1736380219.430 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.258208 2025-01-08T23:50:19.680Z,1736380219.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:19.681Z,1736380219.681 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.509320 2025-01-08T23:50:19.750Z,1736380219.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:19.757Z,1736380219.757 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-01-08T23:50:19.757Z,1736380219.757 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-01-08T23:50:19.759Z,1736380219.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 40.80 m. 2025-01-08T23:50:19.760Z,1736380219.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:19.788Z,1736380219.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.538427 m, bearing: 238.920726 deg, approach rate: 0.141356 m/s, LOS rate: -2.923745 deg/s, cmd heading: 284.083386 deg, new cmd heading: 280.380921 deg. 2025-01-08T23:50:19.790Z,1736380219.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893570 target range: 39.599998 and range: 40.80 m. 2025-01-08T23:50:19.932Z,1736380219.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:19.932Z,1736380219.932 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.760791 2025-01-08T23:50:20.123Z,1736380220.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:20.131Z,1736380220.131 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-01-08T23:50:20.131Z,1736380220.131 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-01-08T23:50:20.132Z,1736380220.132 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-01-08T23:50:20.132Z,1736380220.132 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-01-08T23:50:20.132Z,1736380220.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:20.134Z,1736380220.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 40.80 m. 2025-01-08T23:50:20.135Z,1736380220.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:20.137Z,1736380220.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.587356 m, bearing: 237.822458 deg, approach rate: 0.130388 m/s, LOS rate: -2.909903 deg/s, cmd heading: 280.380932 deg, new cmd heading: 277.108662 deg. 2025-01-08T23:50:20.138Z,1736380220.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836459 target range: 39.599998 and range: 40.80 m. 2025-01-08T23:50:20.184Z,1736380220.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:20.185Z,1736380220.185 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.013310 2025-01-08T23:50:20.436Z,1736380220.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:20.437Z,1736380220.437 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.265329 2025-01-08T23:50:20.537Z,1736380220.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:20.550Z,1736380220.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:20.553Z,1736380220.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.641760 m, bearing: 236.611874 deg, approach rate: 0.130790 m/s, LOS rate: -2.891757 deg/s, cmd heading: 277.108670 deg, new cmd heading: 273.504813 deg. 2025-01-08T23:50:20.554Z,1736380220.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.773560 target range: 39.599998 and range: 40.80 m. 2025-01-08T23:50:20.689Z,1736380220.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:20.691Z,1736380220.691 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.518710 2025-01-08T23:50:20.940Z,1736380220.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:20.940Z,1736380220.940 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.768837 2025-01-08T23:50:20.983Z,1736380220.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:20.992Z,1736380220.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 40.80 m. 2025-01-08T23:50:20.992Z,1736380220.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:21.016Z,1736380221.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.697224 m, bearing: 235.274647 deg, approach rate: 0.125536 m/s, LOS rate: -3.007081 deg/s, cmd heading: 273.504817 deg, new cmd heading: 269.525489 deg. 2025-01-08T23:50:21.017Z,1736380221.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704107 target range: 39.599998 and range: 40.80 m. 2025-01-08T23:50:21.192Z,1736380221.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:21.192Z,1736380221.192 [DAT](INFO): DAT read: Rx Time:23:50:19.9576 2025-01-08T23:50:21.193Z,1736380221.193 [DAT](INFO): Rx dataTimestamp_ set to:1736380221.192665 2025-01-08T23:50:21.193Z,1736380221.193 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.021839 2025-01-08T23:50:21.341Z,1736380221.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:21.350Z,1736380221.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 40.80 m. 2025-01-08T23:50:21.350Z,1736380221.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:21.353Z,1736380221.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.741674 m, bearing: 234.208765 deg, approach rate: 0.124162 m/s, LOS rate: -2.961955 deg/s, cmd heading: 269.525494 deg, new cmd heading: 266.347555 deg. 2025-01-08T23:50:21.354Z,1736380221.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648642 target range: 39.599998 and range: 40.80 m. 2025-01-08T23:50:21.445Z,1736380221.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:21.447Z,1736380221.447 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.274863 2025-01-08T23:50:21.697Z,1736380221.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:21.701Z,1736380221.701 [DAT](INFO): DAT read: Range 10 to 50 : 42.2 m (Round-trip 56.3 ms) speed -0.4 m/s 2025-01-08T23:50:21.703Z,1736380221.703 [DAT](INFO): DAT read: user:3505> 2025-01-08T23:50:21.704Z,1736380221.704 [DAT](INFO): DAT read: Tx time:23:50:21.0471 2025-01-08T23:50:21.704Z,1736380221.704 [DAT](INFO): Ping request sent. 2025-01-08T23:50:21.704Z,1736380221.704 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:50:21.705Z,1736380221.705 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-01-08T23:50:21.705Z,1736380221.705 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:21.705Z,1736380221.705 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:21.706Z,1736380221.706 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.001848 2025-01-08T23:50:21.827Z,1736380221.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:21.850Z,1736380221.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 42.200001 m, deltaT: 3.529245 s, deltaX: 1.400002 m, approachRate: 0.396686 m/s, rangeRepo size: 4 2025-01-08T23:50:21.851Z,1736380221.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 42.20 m. 2025-01-08T23:50:21.855Z,1736380221.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:21.858Z,1736380221.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.799594 m, bearing: 232.815469 deg, approach rate: 0.117436 m/s, LOS rate: -2.806129 deg/s, cmd heading: 266.347543 deg, new cmd heading: 262.202823 deg. 2025-01-08T23:50:21.863Z,1736380221.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576303 target range: 39.599998 and range: 42.20 m. 2025-01-08T23:50:21.949Z,1736380221.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:21.950Z,1736380221.950 [DAT](INFO): DAT read: TxSync time:23:50:21.0463 2025-01-08T23:50:21.951Z,1736380221.951 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.246542 2025-01-08T23:50:22.165Z,1736380222.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:22.172Z,1736380222.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:22.173Z,1736380222.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:22.176Z,1736380222.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.842893 m, bearing: 231.857956 deg, approach rate: 0.131083 m/s, LOS rate: -2.884461 deg/s, cmd heading: 262.202821 deg, new cmd heading: 259.346847 deg. 2025-01-08T23:50:22.177Z,1736380222.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526456 target range: 39.599998 and range: 42.20 m. 2025-01-08T23:50:22.200Z,1736380222.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:22.201Z,1736380222.201 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.496180 2025-01-08T23:50:22.452Z,1736380222.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:22.453Z,1736380222.453 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.748264 2025-01-08T23:50:22.552Z,1736380222.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:22.560Z,1736380222.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:22.563Z,1736380222.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.888268 m, bearing: 230.760657 deg, approach rate: 0.117366 m/s, LOS rate: -2.823538 deg/s, cmd heading: 259.346845 deg, new cmd heading: 256.075512 deg. 2025-01-08T23:50:22.564Z,1736380222.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469361 target range: 39.599998 and range: 42.20 m. 2025-01-08T23:50:22.704Z,1736380222.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:22.705Z,1736380222.705 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.000300 2025-01-08T23:50:22.956Z,1736380222.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:22.956Z,1736380222.956 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.252069 2025-01-08T23:50:22.978Z,1736380222.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:23.031Z,1736380223.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:23.034Z,1736380223.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.931164 m, bearing: 229.563511 deg, approach rate: 0.092682 m/s, LOS rate: -2.574013 deg/s, cmd heading: 256.075513 deg, new cmd heading: 252.506208 deg. 2025-01-08T23:50:23.044Z,1736380223.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407065 target range: 39.599998 and range: 42.20 m. 2025-01-08T23:50:23.208Z,1736380223.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:23.208Z,1736380223.208 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.504104 2025-01-08T23:50:23.356Z,1736380223.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:23.365Z,1736380223.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:23.368Z,1736380223.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 8.968862 m, bearing: 228.508144 deg, approach rate: 0.110061 m/s, LOS rate: -3.068086 deg/s, cmd heading: 252.506220 deg, new cmd heading: 249.356781 deg. 2025-01-08T23:50:23.369Z,1736380223.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352097 target range: 39.599998 and range: 42.20 m. 2025-01-08T23:50:23.460Z,1736380223.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:23.461Z,1736380223.461 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.756321 2025-01-08T23:50:23.712Z,1736380223.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:23.712Z,1736380223.712 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.007973 2025-01-08T23:50:23.793Z,1736380223.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:23.802Z,1736380223.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:23.805Z,1736380223.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 9.008963 m, bearing: 227.270120 deg, approach rate: 0.091805 m/s, LOS rate: -2.821430 deg/s, cmd heading: 249.356792 deg, new cmd heading: 245.664659 deg. 2025-01-08T23:50:23.806Z,1736380223.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287657 target range: 39.599998 and range: 42.20 m. 2025-01-08T23:50:23.967Z,1736380223.967 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:23.967Z,1736380223.967 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.262918 2025-01-08T23:50:24.174Z,1736380224.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:24.182Z,1736380224.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:24.184Z,1736380224.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:24.187Z,1736380224.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 9.043834 m, bearing: 226.194846 deg, approach rate: 0.091337 m/s, LOS rate: -2.805429 deg/s, cmd heading: 245.664665 deg, new cmd heading: 242.454831 deg. 2025-01-08T23:50:24.188Z,1736380224.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231635 target range: 39.599998 and range: 42.20 m. 2025-01-08T23:50:24.220Z,1736380224.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:24.222Z,1736380224.222 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.517196 2025-01-08T23:50:24.472Z,1736380224.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:24.472Z,1736380224.472 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.767928 2025-01-08T23:50:24.582Z,1736380224.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:24.590Z,1736380224.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:24.593Z,1736380224.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 9.080914 m, bearing: 225.050111 deg, approach rate: 0.091258 m/s, LOS rate: -2.805652 deg/s, cmd heading: 242.454831 deg, new cmd heading: 239.038931 deg. 2025-01-08T23:50:24.594Z,1736380224.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172017 target range: 39.599998 and range: 42.20 m. 2025-01-08T23:50:24.724Z,1736380224.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:24.725Z,1736380224.725 [DAT](INFO): DAT read: Rx Time:23:50:23.5096 2025-01-08T23:50:24.725Z,1736380224.725 [DAT](INFO): Rx dataTimestamp_ set to:1736380224.724748 2025-01-08T23:50:24.726Z,1736380224.726 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.021194 2025-01-08T23:50:24.976Z,1736380224.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:24.976Z,1736380224.976 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.272011 2025-01-08T23:50:25.032Z,1736380225.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:25.044Z,1736380225.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:25.052Z,1736380225.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 9.124894 m, bearing: 223.797263 deg, approach rate: 0.096913 m/s, LOS rate: -2.747164 deg/s, cmd heading: 239.038944 deg, new cmd heading: 235.304114 deg. 2025-01-08T23:50:25.053Z,1736380225.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106832 target range: 39.599998 and range: 42.20 m. 2025-01-08T23:50:25.228Z,1736380225.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:25.230Z,1736380225.230 [DAT](INFO): DAT read: Range 10 to 50 : 43.7 m (Round-trip 58.3 ms) speed -0.4 m/s 2025-01-08T23:50:25.231Z,1736380225.231 [DAT](INFO): DAT read: user:3506> 2025-01-08T23:50:25.232Z,1736380225.232 [DAT](INFO): DAT read: Tx time:23:50:24.5972 2025-01-08T23:50:25.232Z,1736380225.232 [DAT](INFO): Ping request sent. 2025-01-08T23:50:25.232Z,1736380225.232 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:50:25.233Z,1736380225.233 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-01-08T23:50:25.233Z,1736380225.233 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:25.233Z,1736380225.233 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:25.234Z,1736380225.234 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.001844 2025-01-08T23:50:25.410Z,1736380225.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:25.480Z,1736380225.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:25.481Z,1736380225.481 [DAT](INFO): DAT read: TxSync time:23:50:24.5964 2025-01-08T23:50:25.482Z,1736380225.482 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.249233 2025-01-08T23:50:25.482Z,1736380225.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.700001 m, deltaT: 3.530752 s, deltaX: 1.500000 m, approachRate: 0.424839 m/s, rangeRepo size: 4 2025-01-08T23:50:25.483Z,1736380225.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:25.486Z,1736380225.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 9.158889 m, bearing: 222.720559 deg, approach rate: 0.078974 m/s, LOS rate: -2.491886 deg/s, cmd heading: 235.304115 deg, new cmd heading: 232.089558 deg. 2025-01-08T23:50:25.497Z,1736380225.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.050727 target range: 39.599998 and range: 43.70 m. 2025-01-08T23:50:25.733Z,1736380225.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:25.734Z,1736380225.734 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.501520 2025-01-08T23:50:25.847Z,1736380225.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:25.856Z,1736380225.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:25.859Z,1736380225.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 9.194631 m, bearing: 221.495784 deg, approach rate: 0.093716 m/s, LOS rate: -3.198653 deg/s, cmd heading: 232.089555 deg, new cmd heading: 228.434756 deg. 2025-01-08T23:50:25.860Z,1736380225.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.986939 target range: 39.599998 and range: 43.70 m. 2025-01-08T23:50:25.984Z,1736380225.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:25.984Z,1736380225.984 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.752118 2025-01-08T23:50:26.192Z,1736380226.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:26.200Z,1736380226.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:26.202Z,1736380226.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:26.205Z,1736380226.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 9.222182 m, bearing: 220.533153 deg, approach rate: 0.079737 m/s, LOS rate: -2.777484 deg/s, cmd heading: 228.434762 deg, new cmd heading: 225.558052 deg. 2025-01-08T23:50:26.205Z,1736380226.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.936731 target range: 39.599998 and range: 43.70 m. 2025-01-08T23:50:26.236Z,1736380226.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:26.236Z,1736380226.236 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.004178 2025-01-08T23:50:26.488Z,1736380226.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:26.489Z,1736380226.489 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.256292 2025-01-08T23:50:26.602Z,1736380226.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:26.613Z,1736380226.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:26.616Z,1736380226.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 9.254248 m, bearing: 219.391333 deg, approach rate: 0.077988 m/s, LOS rate: -2.767285 deg/s, cmd heading: 225.558050 deg, new cmd heading: 222.148713 deg. 2025-01-08T23:50:26.617Z,1736380226.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.877227 target range: 39.599998 and range: 43.70 m. 2025-01-08T23:50:26.742Z,1736380226.742 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:26.744Z,1736380226.744 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.510759 2025-01-08T23:50:26.992Z,1736380226.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:26.992Z,1736380226.992 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.760103 2025-01-08T23:50:27.043Z,1736380227.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:27.055Z,1736380227.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:27.085Z,1736380227.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 9.297878 m, bearing: 218.141813 deg, approach rate: 0.098728 m/s, LOS rate: -2.813938 deg/s, cmd heading: 222.148720 deg, new cmd heading: 218.423305 deg. 2025-01-08T23:50:27.086Z,1736380227.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.812206 target range: 39.599998 and range: 43.70 m. 2025-01-08T23:50:27.244Z,1736380227.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:27.244Z,1736380227.244 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.012113 2025-01-08T23:50:27.422Z,1736380227.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:27.455Z,1736380227.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:27.458Z,1736380227.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 9.338777 m, bearing: 217.080236 deg, approach rate: 0.108658 m/s, LOS rate: -2.807874 deg/s, cmd heading: 218.423302 deg, new cmd heading: 215.255932 deg. 2025-01-08T23:50:27.463Z,1736380227.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.756925 target range: 39.599998 and range: 43.70 m. 2025-01-08T23:50:27.497Z,1736380227.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:27.497Z,1736380227.497 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.264974 2025-01-08T23:50:27.748Z,1736380227.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:27.748Z,1736380227.748 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.516121 2025-01-08T23:50:27.864Z,1736380227.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:27.877Z,1736380227.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:27.880Z,1736380227.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 9.383241 m, bearing: 215.793424 deg, approach rate: 0.099788 m/s, LOS rate: -2.873985 deg/s, cmd heading: 215.255925 deg, new cmd heading: 211.419845 deg. 2025-01-08T23:50:27.881Z,1736380227.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.689972 target range: 39.599998 and range: 43.70 m. 2025-01-08T23:50:28.000Z,1736380228.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:28.001Z,1736380228.001 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.769128 2025-01-08T23:50:28.216Z,1736380228.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:28.243Z,1736380228.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:50:28.245Z,1736380228.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:28.249Z,1736380228.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.599998 m, nav range: 9.418777 m, bearing: 214.763869 deg, approach rate: 0.096473 m/s, LOS rate: -2.784281 deg/s, cmd heading: 211.419845 deg, new cmd heading: 208.345953 deg. 2025-01-08T23:50:28.250Z,1736380228.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.636323 target range: 39.599998 and range: 43.70 m. 2025-01-08T23:50:28.252Z,1736380228.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:28.253Z,1736380228.253 [DAT](INFO): DAT read: Rx Time:23:50:27.0618 2025-01-08T23:50:28.253Z,1736380228.253 [DAT](INFO): Rx dataTimestamp_ set to:1736380228.252879 2025-01-08T23:50:28.254Z,1736380228.254 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.021371 2025-01-08T23:50:28.504Z,1736380228.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:28.506Z,1736380228.506 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.273477 2025-01-08T23:50:28.658Z,1736380228.658 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:50:28.756Z,1736380228.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:28.757Z,1736380228.757 [DAT](INFO): DAT read: Range 10 to 50 : 45.3 m (Round-trip 60.4 ms) speed -0.4 m/s 2025-01-08T23:50:28.758Z,1736380228.758 [DAT](INFO): DAT read: user:3507> 2025-01-08T23:50:28.759Z,1736380228.759 [DAT](INFO): DAT read: Tx time:23:50:28.1472 2025-01-08T23:50:28.759Z,1736380228.759 [DAT](INFO): Ping request sent. 2025-01-08T23:50:28.759Z,1736380228.759 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:50:28.760Z,1736380228.760 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-08T23:50:28.760Z,1736380228.760 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:28.761Z,1736380228.761 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:28.761Z,1736380228.761 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.001852 2025-01-08T23:50:28.858Z,1736380228.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:28.888Z,1736380228.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 3.527933 s, deltaX: 1.599998 m, approachRate: 0.453523 m/s, rangeRepo size: 4 2025-01-08T23:50:28.889Z,1736380228.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:28.889Z,1736380228.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 45.30 m. Rolling out. 2025-01-08T23:50:28.890Z,1736380228.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-01-08T23:50:29.008Z,1736380229.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:29.009Z,1736380229.009 [DAT](INFO): DAT read: TxSync time:23:50:28.1464 2025-01-08T23:50:29.009Z,1736380229.009 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.249796 2025-01-08T23:50:29.060Z,1736380229.060 [DockingStepper](INFO): Changing to mode: 1 2025-01-08T23:50:29.061Z,1736380229.061 [DockingStepper](INFO): Standby mode. 2025-01-08T23:50:29.119Z,1736380229.119 [DockingStepper](INFO): Commanding positive:54396 2025-01-08T23:50:29.260Z,1736380229.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:29.260Z,1736380229.260 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.500788 2025-01-08T23:50:29.350Z,1736380229.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:29.366Z,1736380229.366 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-01-08T23:50:29.366Z,1736380229.366 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T23:50:29.366Z,1736380229.366 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-01-08T23:50:29.372Z,1736380229.372 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 45.299999 m (mode 5.000000 count ). 2025-01-08T23:50:29.372Z,1736380229.372 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-01-08T23:50:29.372Z,1736380229.372 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-01-08T23:50:29.375Z,1736380229.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:29.378Z,1736380229.378 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-01-08T23:50:29.378Z,1736380229.378 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T23:50:29.378Z,1736380229.378 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-01-08T23:50:29.378Z,1736380229.378 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-01-08T23:50:29.512Z,1736380229.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:29.514Z,1736380229.514 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.754447 2025-01-08T23:50:29.662Z,1736380229.662 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:50:29.766Z,1736380229.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:29.769Z,1736380229.769 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.008856 2025-01-08T23:50:29.859Z,1736380229.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:29.867Z,1736380229.867 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-01-08T23:50:29.867Z,1736380229.867 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-01-08T23:50:29.869Z,1736380229.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:30.016Z,1736380230.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:30.016Z,1736380230.016 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.256909 2025-01-08T23:50:30.221Z,1736380230.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:30.227Z,1736380230.227 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-01-08T23:50:30.228Z,1736380230.228 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-01-08T23:50:30.233Z,1736380230.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:30.268Z,1736380230.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:30.269Z,1736380230.269 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.509255 2025-01-08T23:50:30.520Z,1736380230.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:30.520Z,1736380230.520 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.760884 2025-01-08T23:50:30.637Z,1736380230.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:30.643Z,1736380230.643 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-01-08T23:50:30.643Z,1736380230.643 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T23:50:30.643Z,1736380230.643 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-01-08T23:50:30.644Z,1736380230.644 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-08T23:50:30.649Z,1736380230.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:30.773Z,1736380230.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:30.777Z,1736380230.777 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.017658 2025-01-08T23:50:31.026Z,1736380231.026 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:31.028Z,1736380231.028 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.268131 2025-01-08T23:50:31.104Z,1736380231.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:31.113Z,1736380231.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:31.276Z,1736380231.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:31.276Z,1736380231.276 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.516809 2025-01-08T23:50:31.434Z,1736380231.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:31.444Z,1736380231.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:31.528Z,1736380231.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:31.528Z,1736380231.528 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.768849 2025-01-08T23:50:31.786Z,1736380231.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:31.788Z,1736380231.788 [DAT](INFO): DAT read: Rx Time:23:50:30.6142 2025-01-08T23:50:31.790Z,1736380231.790 [DAT](INFO): Rx dataTimestamp_ set to:1736380231.788749 2025-01-08T23:50:31.792Z,1736380231.792 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.031523 2025-01-08T23:50:31.894Z,1736380231.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:31.905Z,1736380231.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:32.032Z,1736380232.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:32.033Z,1736380232.033 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.273575 2025-01-08T23:50:32.236Z,1736380232.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:32.244Z,1736380232.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:32.284Z,1736380232.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:32.285Z,1736380232.285 [DAT](INFO): DAT read: Range 10 to 50 : 47.1 m (Round-trip 62.8 ms) speed -0.4 m/s 2025-01-08T23:50:32.286Z,1736380232.286 [DAT](INFO): DAT read: user:3508> 2025-01-08T23:50:32.287Z,1736380232.287 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-01-08T23:50:32.288Z,1736380232.288 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.528033 2025-01-08T23:50:32.536Z,1736380232.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:32.537Z,1736380232.537 [DAT](INFO): DAT read: Tx time:23:50:31.6973 2025-01-08T23:50:32.537Z,1736380232.537 [DAT](INFO): Ping request sent. 2025-01-08T23:50:32.537Z,1736380232.537 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:50:32.538Z,1736380232.538 [DAT](INFO): DAT read: TxSync time:23:50:31.6965 2025-01-08T23:50:32.538Z,1736380232.538 [DAT](INFO): publishing transmit ping time 2025-01-08T23:50:32.539Z,1736380232.539 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.001551 2025-01-08T23:50:32.643Z,1736380232.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:32.658Z,1736380232.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 3.527995 s, deltaX: 1.799999 m, approachRate: 0.510205 m/s, rangeRepo size: 4 2025-01-08T23:50:32.659Z,1736380232.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:32.790Z,1736380232.790 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:32.793Z,1736380232.793 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.255618 2025-01-08T23:50:33.040Z,1736380233.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:33.040Z,1736380233.040 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.503119 2025-01-08T23:50:33.090Z,1736380233.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:33.099Z,1736380233.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:33.292Z,1736380233.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:33.293Z,1736380233.293 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.755621 2025-01-08T23:50:33.534Z,1736380233.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:33.542Z,1736380233.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:33.544Z,1736380233.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:33.545Z,1736380233.545 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.007545 2025-01-08T23:50:33.798Z,1736380233.798 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:33.801Z,1736380233.801 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.262955 2025-01-08T23:50:33.961Z,1736380233.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:33.970Z,1736380233.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:34.049Z,1736380234.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:34.050Z,1736380234.050 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.512614 2025-01-08T23:50:34.300Z,1736380234.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:34.301Z,1736380234.301 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.763449 2025-01-08T23:50:34.337Z,1736380234.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:34.347Z,1736380234.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:34.552Z,1736380234.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:34.552Z,1736380234.552 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.015212 2025-01-08T23:50:34.721Z,1736380234.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:34.761Z,1736380234.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:34.806Z,1736380234.806 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:34.809Z,1736380234.809 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.271288 2025-01-08T23:50:35.056Z,1736380235.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:35.057Z,1736380235.057 [DAT](INFO): DAT read: Rx Time:23:50:33.8912 2025-01-08T23:50:35.057Z,1736380235.057 [DAT](INFO): Rx dataTimestamp_ set to:1736380235.056820 2025-01-08T23:50:35.058Z,1736380235.058 [DAT](INFO): DAT read: Range 10 to 50 : 48.6 m (trip time 32.4 ms) speed -0.4 2025-01-08T23:50:35.059Z,1736380235.059 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-01-08T23:50:35.060Z,1736380235.060 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.522834 2025-01-08T23:50:35.224Z,1736380235.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:35.234Z,1736380235.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 2.772840 s, deltaX: 1.500000 m, approachRate: 0.540962 m/s, rangeRepo size: 4 2025-01-08T23:50:35.234Z,1736380235.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:35.308Z,1736380235.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:35.308Z,1736380235.308 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.771374 2025-01-08T23:50:35.560Z,1736380235.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:35.561Z,1736380235.561 [DAT](INFO): DAT read: Rx Time:23:50:34.3912 2025-01-08T23:50:35.561Z,1736380235.561 [DAT](INFO): Rx dataTimestamp_ set to:1736380235.561030 2025-01-08T23:50:35.563Z,1736380235.563 [DAT](INFO): DAT read: Range 10 to 50 : 48.6 m (trip time 32.4 ms) speed -0.3 2025-01-08T23:50:35.564Z,1736380235.564 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-01-08T23:50:35.566Z,1736380235.566 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.029128 2025-01-08T23:50:35.669Z,1736380235.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:35.696Z,1736380235.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 0.504210 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:35.697Z,1736380235.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:35.814Z,1736380235.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:35.820Z,1736380235.820 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.281585 2025-01-08T23:50:36.064Z,1736380236.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:36.065Z,1736380236.065 [DAT](INFO): DAT read: Rx Time:23:50:34.8913 2025-01-08T23:50:36.065Z,1736380236.065 [DAT](INFO): Rx dataTimestamp_ set to:1736380236.064857 2025-01-08T23:50:36.066Z,1736380236.066 [DAT](INFO): DAT read: Range 10 to 50 : 48.8 m (trip time 32.5 ms) speed -0.3 2025-01-08T23:50:36.067Z,1736380236.067 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-01-08T23:50:36.068Z,1736380236.068 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.530856 2025-01-08T23:50:36.100Z,1736380236.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:36.109Z,1736380236.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.799999 m, deltaT: 0.503827 s, deltaX: 0.200001 m, approachRate: 0.396963 m/s, rangeRepo size: 4 2025-01-08T23:50:36.109Z,1736380236.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:36.316Z,1736380236.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:36.316Z,1736380236.316 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.779216 2025-01-08T23:50:36.558Z,1736380236.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:36.568Z,1736380236.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:36.569Z,1736380236.569 [DAT](INFO): DAT read: Rx Time:23:50:35.3913 2025-01-08T23:50:36.569Z,1736380236.569 [DAT](INFO): Rx dataTimestamp_ set to:1736380236.568914 2025-01-08T23:50:36.570Z,1736380236.570 [DAT](INFO): DAT read: Range 10 to 50 : 48.8 m (trip time 32.5 ms) speed -0.4 2025-01-08T23:50:36.571Z,1736380236.571 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-01-08T23:50:36.572Z,1736380236.572 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=4.034909 2025-01-08T23:50:36.573Z,1736380236.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:36.822Z,1736380236.822 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:36.825Z,1736380236.825 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=4.286916 2025-01-08T23:50:36.989Z,1736380236.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:37.011Z,1736380237.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.799999 m, deltaT: 0.504057 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:37.012Z,1736380237.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:37.072Z,1736380237.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:37.073Z,1736380237.073 [DAT](INFO): DAT read: Rx Time:23:50:35.8916 2025-01-08T23:50:37.073Z,1736380237.073 [DAT](INFO): Rx dataTimestamp_ set to:1736380237.073161 2025-01-08T23:50:37.075Z,1736380237.075 [DAT](INFO): DAT read: Range 10 to 50 : 49.2 m (trip time 32.8 ms) speed -0.4 2025-01-08T23:50:37.075Z,1736380237.075 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-01-08T23:50:37.076Z,1736380237.076 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=4.539137 2025-01-08T23:50:37.324Z,1736380237.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:37.324Z,1736380237.324 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=4.787269 2025-01-08T23:50:37.387Z,1736380237.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:37.397Z,1736380237.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 0.504247 s, deltaX: 0.400002 m, approachRate: 0.793265 m/s, rangeRepo size: 4 2025-01-08T23:50:37.397Z,1736380237.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:37.576Z,1736380237.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:37.576Z,1736380237.576 [DAT](INFO): DAT read: Rx Time:23:50:36.3916 2025-01-08T23:50:37.577Z,1736380237.577 [DAT](INFO): Rx dataTimestamp_ set to:1736380237.576676 2025-01-08T23:50:37.578Z,1736380237.578 [DAT](INFO): DAT read: Range 10 to 50 : 49.2 m (trip time 32.8 ms) speed -0.4 2025-01-08T23:50:37.579Z,1736380237.579 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-01-08T23:50:37.580Z,1736380237.580 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=5.043386 2025-01-08T23:50:37.765Z,1736380237.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:37.774Z,1736380237.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 0.503515 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:37.775Z,1736380237.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:37.830Z,1736380237.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:37.833Z,1736380237.833 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=5.295334 2025-01-08T23:50:38.080Z,1736380238.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:38.081Z,1736380238.081 [DAT](INFO): DAT read: Rx Time:23:50:36.8917 2025-01-08T23:50:38.082Z,1736380238.082 [DAT](INFO): Rx dataTimestamp_ set to:1736380238.081330 2025-01-08T23:50:38.083Z,1736380238.083 [DAT](INFO): DAT read: Range 10 to 50 : 49.5 m (trip time 33.0 ms) speed -0.4 2025-01-08T23:50:38.084Z,1736380238.084 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-01-08T23:50:38.085Z,1736380238.085 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=5.547542 2025-01-08T23:50:38.202Z,1736380238.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:38.213Z,1736380238.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.500000 m, deltaT: 0.504654 s, deltaX: 0.299999 m, approachRate: 0.594465 m/s, rangeRepo size: 4 2025-01-08T23:50:38.214Z,1736380238.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:38.332Z,1736380238.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:38.333Z,1736380238.333 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=5.795402 2025-01-08T23:50:38.584Z,1736380238.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:38.585Z,1736380238.585 [DAT](INFO): DAT read: Rx Time:23:50:37.3918 2025-01-08T23:50:38.585Z,1736380238.585 [DAT](INFO): Rx dataTimestamp_ set to:1736380238.584807 2025-01-08T23:50:38.586Z,1736380238.586 [DAT](INFO): DAT read: Range 10 to 50 : 49.7 m (trip time 33.1 ms) speed -0.4 2025-01-08T23:50:38.587Z,1736380238.587 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-01-08T23:50:38.589Z,1736380238.589 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=6.051437 2025-01-08T23:50:38.681Z,1736380238.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:38.704Z,1736380238.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.700001 m, deltaT: 0.503477 s, deltaX: 0.200001 m, approachRate: 0.397239 m/s, rangeRepo size: 4 2025-01-08T23:50:38.704Z,1736380238.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:38.837Z,1736380238.837 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:38.840Z,1736380238.840 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=6.302263 2025-01-08T23:50:39.088Z,1736380239.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:39.089Z,1736380239.089 [DAT](INFO): DAT read: Rx Time:23:50:37.8919 2025-01-08T23:50:39.089Z,1736380239.089 [DAT](INFO): Rx dataTimestamp_ set to:1736380239.088796 2025-01-08T23:50:39.090Z,1736380239.090 [DAT](INFO): DAT read: Range 10 to 50 : 49.8 m (trip time 33.2 ms) speed -0.3 2025-01-08T23:50:39.091Z,1736380239.091 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-01-08T23:50:39.092Z,1736380239.092 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=6.554781 2025-01-08T23:50:39.093Z,1736380239.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:39.104Z,1736380239.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.799999 m, deltaT: 0.503989 s, deltaX: 0.099998 m, approachRate: 0.198414 m/s, rangeRepo size: 4 2025-01-08T23:50:39.104Z,1736380239.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:39.340Z,1736380239.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:39.341Z,1736380239.341 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=6.803546 2025-01-08T23:50:39.460Z,1736380239.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:39.470Z,1736380239.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:39.592Z,1736380239.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:39.593Z,1736380239.593 [DAT](INFO): DAT read: Rx Time:23:50:38.3919 2025-01-08T23:50:39.593Z,1736380239.593 [DAT](INFO): Rx dataTimestamp_ set to:1736380239.592847 2025-01-08T23:50:39.594Z,1736380239.594 [DAT](INFO): DAT read: Range 10 to 50 : 49.8 m (trip time 33.2 ms) speed -0.3 2025-01-08T23:50:39.595Z,1736380239.595 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-01-08T23:50:39.597Z,1736380239.597 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=7.059640 2025-01-08T23:50:39.845Z,1736380239.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:39.845Z,1736380239.845 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=7.308092 2025-01-08T23:50:39.974Z,1736380239.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:39.984Z,1736380239.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.799999 m, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:39.985Z,1736380239.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:40.096Z,1736380240.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:40.099Z,1736380240.099 [DAT](INFO): DAT read: Rx Time:23:50:38.8921 2025-01-08T23:50:40.100Z,1736380240.100 [DAT](INFO): Rx dataTimestamp_ set to:1736380240.099189 2025-01-08T23:50:40.106Z,1736380240.106 [DAT](INFO): DAT read: Range 10 to 50 : 50.0 m (trip time 33.3 ms) speed -0.3 2025-01-08T23:50:40.106Z,1736380240.106 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-01-08T23:50:40.113Z,1736380240.113 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=7.576235 2025-01-08T23:50:40.349Z,1736380240.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:40.349Z,1736380240.349 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=7.812321 2025-01-08T23:50:40.417Z,1736380240.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:40.474Z,1736380240.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.000000 m, deltaT: 0.506342 s, deltaX: 0.200001 m, approachRate: 0.394991 m/s, rangeRepo size: 4 2025-01-08T23:50:40.474Z,1736380240.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:40.600Z,1736380240.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:40.601Z,1736380240.601 [DAT](INFO): DAT read: Rx Time:23:50:39.3922 2025-01-08T23:50:40.602Z,1736380240.602 [DAT](INFO): Rx dataTimestamp_ set to:1736380240.601740 2025-01-08T23:50:40.604Z,1736380240.604 [DAT](INFO): DAT read: Range 10 to 50 : 50.1 m (trip time 33.4 ms) speed -0.4 2025-01-08T23:50:40.605Z,1736380240.605 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-01-08T23:50:40.606Z,1736380240.606 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=8.069201 2025-01-08T23:50:40.810Z,1736380240.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:40.821Z,1736380240.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.099998 m, deltaT: 0.502551 s, deltaX: 0.099998 m, approachRate: 0.198982 m/s, rangeRepo size: 4 2025-01-08T23:50:40.822Z,1736380240.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:40.852Z,1736380240.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:40.855Z,1736380240.855 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=8.317034 2025-01-08T23:50:41.104Z,1736380241.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:41.105Z,1736380241.105 [DAT](INFO): DAT read: Rx Time:23:50:39.8924 2025-01-08T23:50:41.105Z,1736380241.105 [DAT](INFO): Rx dataTimestamp_ set to:1736380241.104796 2025-01-08T23:50:41.106Z,1736380241.106 [DAT](INFO): DAT read: Range 10 to 50 : 50.4 m (trip time 33.6 ms) speed -0.3 2025-01-08T23:50:41.107Z,1736380241.107 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-01-08T23:50:41.108Z,1736380241.108 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=8.570796 2025-01-08T23:50:41.257Z,1736380241.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:41.268Z,1736380241.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.400002 m, deltaT: 0.503056 s, deltaX: 0.300003 m, approachRate: 0.596361 m/s, rangeRepo size: 4 2025-01-08T23:50:41.268Z,1736380241.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:41.357Z,1736380241.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:41.359Z,1736380241.359 [DAT](INFO): DAT read: Rx Time:23:50:40.3924 2025-01-08T23:50:41.361Z,1736380241.361 [DAT](INFO): Rx dataTimestamp_ set to:1736380241.359907 2025-01-08T23:50:41.363Z,1736380241.363 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=8.825097 2025-01-08T23:50:41.608Z,1736380241.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:41.610Z,1736380241.610 [DAT](INFO): DAT read: Range 10 to 50 : 50.4 m (trip time 33.6 ms) speed -0.2 2025-01-08T23:50:41.611Z,1736380241.611 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-01-08T23:50:41.612Z,1736380241.612 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=9.074855 2025-01-08T23:50:41.646Z,1736380241.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:41.687Z,1736380241.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.400002 m, deltaT: 0.503601 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:41.691Z,1736380241.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.60 m. 2025-01-08T23:50:41.861Z,1736380241.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:41.866Z,1736380241.866 [DAT](INFO): DAT read: Rx Time:23:50:40.8926 2025-01-08T23:50:41.867Z,1736380241.867 [DAT](INFO): Rx dataTimestamp_ set to:1736380241.866448 2025-01-08T23:50:41.871Z,1736380241.871 [DAT](INFO): DAT read: Bearing 199.9, 14.1 (Local) 2025-01-08T23:50:41.876Z,1736380241.876 [DAT](INFO): Local bearing/azimuth received: Bearing 199.9, 14.1 (Local) 2025-01-08T23:50:41.881Z,1736380241.881 [DAT](INFO): DAT read: Range 10 to 50 : 50.7 m (trip time 33.8 ms) speed -0.2 2025-01-08T23:50:41.894Z,1736380241.894 [DAT](ERROR): #Rx 22: Read range message, but no direction. 2025-01-08T23:50:41.942Z,1736380241.942 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=9.369436 2025-01-08T23:50:42.112Z,1736380242.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:42.117Z,1736380242.117 [DAT](INFO): DAT read: 23:50:40.8926 LVL= 27888, 28865, 16962, 32755, AGC= 61, IDX= 513,-0.01, 1.326,-2.907, 2.263, 2.068, PHS=-0.654, 1.356, 0.193, RAW= 305.2, -10.3, CAL= 310.1, -14.1, ROT= 199.9, 14.1 2025-01-08T23:50:42.118Z,1736380242.118 [DAT](INFO): got valid direction response: 23:50:40.8926 LVL= 27888, 28865, 16962, 32755, AGC= 61, IDX= 513,-0.01, 1.326,-2.907, 2.263, 2.068, PHS=-0.654, 1.356, 0.193, RAW= 305.2, -10.3, CAL= 310.1, -14.1, ROT= 199.9, 14.1 2025-01-08T23:50:42.118Z,1736380242.118 [DAT](INFO): #Rx 23: Read direction message, but no range. 2025-01-08T23:50:42.120Z,1736380242.120 [DAT](INFO): direction in FSK: [0.317698,0.474420,-0.820972] 2025-01-08T23:50:42.123Z,1736380242.123 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.585780 2025-01-08T23:50:42.157Z,1736380242.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:42.229Z,1736380242.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 0.258051 s, deltaX: 0.299999 m, approachRate: 1.162558 m/s, rangeRepo size: 4 2025-01-08T23:50:42.236Z,1736380242.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.700001 m, bearing: 3.092988 deg, lat: 36.905121 deg, lon: -122.119851 deg, deltaT: 27.226531 s, deltaX: 11.100002 m, approachRate: 0.407691 m/s, posRepo size: 4 2025-01-08T23:50:42.236Z,1736380242.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:42.366Z,1736380242.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:42.369Z,1736380242.369 [DAT](INFO): DAT read: Rx Time:23:50:41.3926 2025-01-08T23:50:42.370Z,1736380242.370 [DAT](INFO): Rx dataTimestamp_ set to:1736380242.369596 2025-01-08T23:50:42.375Z,1736380242.375 [DAT](INFO): DAT read: Range 10 to 50 : 50.7 m (trip time 33.8 ms) speed -0.2 2025-01-08T23:50:42.377Z,1736380242.377 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-01-08T23:50:42.378Z,1736380242.378 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=9.840390 2025-01-08T23:50:42.608Z,1736380242.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:42.616Z,1736380242.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:42.617Z,1736380242.617 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=10.079408 2025-01-08T23:50:42.621Z,1736380242.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 0.503148 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:42.621Z,1736380242.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:42.870Z,1736380242.870 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:42.872Z,1736380242.872 [DAT](INFO): DAT read: Rx Time:23:50:41.8926 2025-01-08T23:50:42.874Z,1736380242.874 [DAT](INFO): Rx dataTimestamp_ set to:1736380242.872905 2025-01-08T23:50:42.876Z,1736380242.876 [DAT](INFO): DAT read: Range 10 to 50 : 50.7 m (trip time 33.8 ms) speed -0.2 2025-01-08T23:50:42.876Z,1736380242.876 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-01-08T23:50:42.877Z,1736380242.877 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=10.339996 2025-01-08T23:50:43.036Z,1736380243.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:43.069Z,1736380243.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 0.503309 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:43.070Z,1736380243.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:43.120Z,1736380243.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:43.122Z,1736380243.122 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=10.584425 2025-01-08T23:50:43.372Z,1736380243.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:43.373Z,1736380243.373 [DAT](INFO): DAT read: Rx Time:23:50:42.3926 2025-01-08T23:50:43.373Z,1736380243.373 [DAT](INFO): Rx dataTimestamp_ set to:1736380243.372855 2025-01-08T23:50:43.374Z,1736380243.374 [DAT](INFO): DAT read: Range 10 to 50 : 50.7 m (trip time 33.8 ms) speed -0.1 2025-01-08T23:50:43.375Z,1736380243.375 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-01-08T23:50:43.376Z,1736380243.376 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.838878 2025-01-08T23:50:43.444Z,1736380243.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:43.458Z,1736380243.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 0.499950 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:43.459Z,1736380243.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:43.624Z,1736380243.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:43.625Z,1736380243.625 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=11.088123 2025-01-08T23:50:43.836Z,1736380243.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:43.845Z,1736380243.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:43.877Z,1736380243.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:43.878Z,1736380243.878 [DAT](INFO): DAT read: Rx Time:23:50:42.8927 2025-01-08T23:50:43.879Z,1736380243.879 [DAT](INFO): Rx dataTimestamp_ set to:1736380243.878235 2025-01-08T23:50:43.881Z,1736380243.881 [DAT](INFO): DAT read: Range 10 to 50 : 50.9 m (trip time 33.9 ms) speed -0.1 2025-01-08T23:50:43.881Z,1736380243.881 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-01-08T23:50:43.882Z,1736380243.882 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.345073 2025-01-08T23:50:43.888Z,1736380243.888 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:50:44.128Z,1736380244.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:44.128Z,1736380244.128 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.591309 2025-01-08T23:50:44.259Z,1736380244.259 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 12768,V 2025-01-08T23:50:44.289Z,1736380244.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:50:44.289Z,1736380244.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:44.300Z,1736380244.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.900002 m, deltaT: 0.505380 s, deltaX: 0.200001 m, approachRate: 0.395743 m/s, rangeRepo size: 4 2025-01-08T23:50:44.300Z,1736380244.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:44.380Z,1736380244.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:44.381Z,1736380244.381 [DAT](INFO): DAT read: Rx Time:23:50:43.3927 2025-01-08T23:50:44.382Z,1736380244.382 [DAT](INFO): Rx dataTimestamp_ set to:1736380244.381298 2025-01-08T23:50:44.383Z,1736380244.383 [DAT](INFO): DAT read: Range 10 to 50 : 50.9 m (trip time 33.9 ms) speed 0.0 2025-01-08T23:50:44.384Z,1736380244.384 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-01-08T23:50:44.385Z,1736380244.385 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.848292 2025-01-08T23:50:44.632Z,1736380244.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:44.633Z,1736380244.633 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=12.095685 2025-01-08T23:50:44.643Z,1736380244.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:50:44.643Z,1736380244.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:44.659Z,1736380244.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.900002 m, deltaT: 0.503063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:44.688Z,1736380244.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:44.884Z,1736380244.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:44.885Z,1736380244.885 [DAT](INFO): DAT read: Rx Time:23:50:43.8928 2025-01-08T23:50:44.885Z,1736380244.885 [DAT](INFO): Rx dataTimestamp_ set to:1736380244.884811 2025-01-08T23:50:44.886Z,1736380244.886 [DAT](INFO): DAT read: Range 10 to 50 : 51.0 m (trip time 34.0 ms) speed -0.1 2025-01-08T23:50:44.887Z,1736380244.887 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-01-08T23:50:44.888Z,1736380244.888 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.350824 2025-01-08T23:50:45.077Z,1736380245.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:45.111Z,1736380245.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.000000 m, deltaT: 0.503513 s, deltaX: 0.099998 m, approachRate: 0.198602 m/s, rangeRepo size: 4 2025-01-08T23:50:45.111Z,1736380245.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:45.136Z,1736380245.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:45.137Z,1736380245.137 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.599403 2025-01-08T23:50:45.388Z,1736380245.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:45.389Z,1736380245.389 [DAT](INFO): DAT read: Rx Time:23:50:44.3928 2025-01-08T23:50:45.389Z,1736380245.389 [DAT](INFO): Rx dataTimestamp_ set to:1736380245.388748 2025-01-08T23:50:45.390Z,1736380245.390 [DAT](INFO): DAT read: Range 10 to 50 : 51.0 m (trip time 34.0 ms) speed 0.0 2025-01-08T23:50:45.391Z,1736380245.391 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-01-08T23:50:45.392Z,1736380245.392 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.854735 2025-01-08T23:50:45.513Z,1736380245.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:45.536Z,1736380245.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.000000 m, deltaT: 0.503937 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:45.537Z,1736380245.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:45.640Z,1736380245.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:45.641Z,1736380245.641 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=13.104003 2025-01-08T23:50:45.877Z,1736380245.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:45.887Z,1736380245.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:45.892Z,1736380245.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:45.893Z,1736380245.893 [DAT](INFO): DAT read: Rx Time:23:50:44.8929 2025-01-08T23:50:45.893Z,1736380245.893 [DAT](INFO): Rx dataTimestamp_ set to:1736380245.892842 2025-01-08T23:50:45.894Z,1736380245.894 [DAT](INFO): DAT read: Range 10 to 50 : 51.2 m (trip time 34.1 ms) speed 0.0 2025-01-08T23:50:45.895Z,1736380245.895 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-01-08T23:50:45.897Z,1736380245.897 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=13.359812 2025-01-08T23:50:46.144Z,1736380246.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:46.145Z,1736380246.145 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=13.608030 2025-01-08T23:50:46.280Z,1736380246.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:46.289Z,1736380246.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.200001 m, deltaT: 0.504094 s, deltaX: 0.200001 m, approachRate: 0.396753 m/s, rangeRepo size: 4 2025-01-08T23:50:46.290Z,1736380246.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:46.396Z,1736380246.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:46.398Z,1736380246.398 [DAT](INFO): DAT read: Rx Time:23:50:45.3930 2025-01-08T23:50:46.398Z,1736380246.398 [DAT](INFO): Rx dataTimestamp_ set to:1736380246.398125 2025-01-08T23:50:46.400Z,1736380246.400 [DAT](INFO): DAT read: Range 10 to 50 : 51.3 m (trip time 34.2 ms) speed 0.0 2025-01-08T23:50:46.400Z,1736380246.400 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-01-08T23:50:46.401Z,1736380246.401 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=13.864113 2025-01-08T23:50:46.648Z,1736380246.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:46.649Z,1736380246.649 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=14.111743 2025-01-08T23:50:46.677Z,1736380246.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:46.708Z,1736380246.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 0.505283 s, deltaX: 0.099998 m, approachRate: 0.197906 m/s, rangeRepo size: 4 2025-01-08T23:50:46.709Z,1736380246.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:46.900Z,1736380246.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:46.901Z,1736380246.901 [DAT](INFO): DAT read: Rx Time:23:50:45.8930 2025-01-08T23:50:46.901Z,1736380246.901 [DAT](INFO): Rx dataTimestamp_ set to:1736380246.900978 2025-01-08T23:50:46.902Z,1736380246.902 [DAT](INFO): DAT read: Range 10 to 50 : 51.3 m (trip time 34.2 ms) speed -0.1 2025-01-08T23:50:46.903Z,1736380246.903 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-01-08T23:50:46.904Z,1736380246.904 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.367157 2025-01-08T23:50:47.103Z,1736380247.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:47.121Z,1736380247.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 0.502853 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:47.121Z,1736380247.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:47.152Z,1736380247.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:47.152Z,1736380247.152 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.615303 2025-01-08T23:50:47.404Z,1736380247.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:47.405Z,1736380247.405 [DAT](INFO): DAT read: Rx Time:23:50:46.3930 2025-01-08T23:50:47.405Z,1736380247.405 [DAT](INFO): Rx dataTimestamp_ set to:1736380247.404729 2025-01-08T23:50:47.406Z,1736380247.406 [DAT](INFO): DAT read: Range 10 to 50 : 51.3 m (trip time 34.2 ms) speed -0.1 2025-01-08T23:50:47.407Z,1736380247.407 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-01-08T23:50:47.408Z,1736380247.408 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=14.870724 2025-01-08T23:50:47.516Z,1736380247.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:47.526Z,1736380247.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 0.503751 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:47.526Z,1736380247.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:47.657Z,1736380247.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:47.658Z,1736380247.658 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=15.120764 2025-01-08T23:50:47.889Z,1736380247.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:47.898Z,1736380247.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:47.908Z,1736380247.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:47.909Z,1736380247.909 [DAT](INFO): DAT read: Rx Time:23:50:46.8931 2025-01-08T23:50:47.909Z,1736380247.909 [DAT](INFO): Rx dataTimestamp_ set to:1736380247.908937 2025-01-08T23:50:47.910Z,1736380247.910 [DAT](INFO): DAT read: Range 10 to 50 : 51.5 m (trip time 34.3 ms) speed -0.1 2025-01-08T23:50:47.912Z,1736380247.912 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-01-08T23:50:47.914Z,1736380247.914 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.376596 2025-01-08T23:50:48.160Z,1736380248.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:48.160Z,1736380248.160 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.623228 2025-01-08T23:50:48.321Z,1736380248.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:48.332Z,1736380248.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 0.504208 s, deltaX: 0.200001 m, approachRate: 0.396663 m/s, rangeRepo size: 4 2025-01-08T23:50:48.333Z,1736380248.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:48.412Z,1736380248.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:48.413Z,1736380248.413 [DAT](INFO): DAT read: Rx Time:23:50:47.3931 2025-01-08T23:50:48.414Z,1736380248.414 [DAT](INFO): Rx dataTimestamp_ set to:1736380248.413601 2025-01-08T23:50:48.415Z,1736380248.415 [DAT](INFO): DAT read: Range 10 to 50 : 51.5 m (trip time 34.3 ms) speed -0.1 2025-01-08T23:50:48.416Z,1736380248.416 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-01-08T23:50:48.417Z,1736380248.417 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=15.879612 2025-01-08T23:50:48.664Z,1736380248.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:48.665Z,1736380248.665 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.127987 2025-01-08T23:50:48.692Z,1736380248.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:48.722Z,1736380248.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 0.504664 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:48.723Z,1736380248.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:48.916Z,1736380248.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:48.917Z,1736380248.917 [DAT](INFO): DAT read: Rx Time:23:50:47.8932 2025-01-08T23:50:48.917Z,1736380248.917 [DAT](INFO): Rx dataTimestamp_ set to:1736380248.916703 2025-01-08T23:50:48.918Z,1736380248.918 [DAT](INFO): DAT read: Range 10 to 50 : 51.6 m (trip time 34.4 ms) speed -0.1 2025-01-08T23:50:48.919Z,1736380248.919 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-01-08T23:50:48.920Z,1736380248.920 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.382706 2025-01-08T23:50:49.144Z,1736380249.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:49.161Z,1736380249.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.599998 m, deltaT: 0.503102 s, deltaX: 0.099998 m, approachRate: 0.198764 m/s, rangeRepo size: 4 2025-01-08T23:50:49.162Z,1736380249.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:49.168Z,1736380249.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:49.169Z,1736380249.169 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.631430 2025-01-08T23:50:49.420Z,1736380249.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:49.421Z,1736380249.421 [DAT](INFO): DAT read: Rx Time:23:50:48.3932 2025-01-08T23:50:49.421Z,1736380249.421 [DAT](INFO): Rx dataTimestamp_ set to:1736380249.420746 2025-01-08T23:50:49.422Z,1736380249.422 [DAT](INFO): DAT read: Range 10 to 50 : 51.6 m (trip time 34.4 ms) speed 0.0 2025-01-08T23:50:49.423Z,1736380249.423 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-01-08T23:50:49.424Z,1736380249.424 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=16.886837 2025-01-08T23:50:49.521Z,1736380249.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:49.532Z,1736380249.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.599998 m, deltaT: 0.504043 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:49.533Z,1736380249.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:49.674Z,1736380249.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:49.677Z,1736380249.677 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.139555 2025-01-08T23:50:49.921Z,1736380249.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:49.924Z,1736380249.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:49.925Z,1736380249.925 [DAT](INFO): DAT read: Rx Time:23:50:48.8933 2025-01-08T23:50:49.925Z,1736380249.925 [DAT](INFO): Rx dataTimestamp_ set to:1736380249.924859 2025-01-08T23:50:49.926Z,1736380249.926 [DAT](INFO): DAT read: Range 10 to 50 : 51.8 m (trip time 34.5 ms) speed 0.0 2025-01-08T23:50:49.927Z,1736380249.927 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-01-08T23:50:49.928Z,1736380249.928 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.390860 2025-01-08T23:50:49.951Z,1736380249.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 0.504113 s, deltaX: 0.200001 m, approachRate: 0.396738 m/s, rangeRepo size: 4 2025-01-08T23:50:49.955Z,1736380249.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:50.176Z,1736380250.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:50.176Z,1736380250.176 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.639318 2025-01-08T23:50:50.343Z,1736380250.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:50.352Z,1736380250.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:50.428Z,1736380250.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:50.430Z,1736380250.430 [DAT](INFO): DAT read: Rx Time:23:50:49.3933 2025-01-08T23:50:50.430Z,1736380250.430 [DAT](INFO): Rx dataTimestamp_ set to:1736380250.429941 2025-01-08T23:50:50.432Z,1736380250.432 [DAT](INFO): DAT read: Range 10 to 50 : 51.8 m (trip time 34.5 ms) speed 0.0 2025-01-08T23:50:50.432Z,1736380250.432 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-01-08T23:50:50.434Z,1736380250.434 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=17.897274 2025-01-08T23:50:50.680Z,1736380250.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:50.681Z,1736380250.681 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=18.143757 2025-01-08T23:50:50.765Z,1736380250.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:50.775Z,1736380250.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 0.505082 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:50.775Z,1736380250.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:50.932Z,1736380250.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:50.934Z,1736380250.934 [DAT](INFO): DAT read: Rx Time:23:50:49.8933 2025-01-08T23:50:50.934Z,1736380250.934 [DAT](INFO): Rx dataTimestamp_ set to:1736380250.933858 2025-01-08T23:50:50.936Z,1736380250.936 [DAT](INFO): DAT read: Range 10 to 50 : 51.8 m (trip time 34.5 ms) speed -0.1 2025-01-08T23:50:50.936Z,1736380250.936 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-01-08T23:50:50.937Z,1736380250.937 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.400230 2025-01-08T23:50:51.184Z,1736380251.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:51.186Z,1736380251.186 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.648129 2025-01-08T23:50:51.201Z,1736380251.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:51.231Z,1736380251.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 0.503917 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:51.232Z,1736380251.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:51.436Z,1736380251.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:51.437Z,1736380251.437 [DAT](INFO): DAT read: Rx Time:23:50:50.3933 2025-01-08T23:50:51.437Z,1736380251.437 [DAT](INFO): Rx dataTimestamp_ set to:1736380251.436972 2025-01-08T23:50:51.438Z,1736380251.438 [DAT](INFO): DAT read: Range 10 to 50 : 51.8 m (trip time 34.5 ms) speed -0.1 2025-01-08T23:50:51.439Z,1736380251.439 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-01-08T23:50:51.440Z,1736380251.440 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.902979 2025-01-08T23:50:51.613Z,1736380251.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:51.623Z,1736380251.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 0.503114 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:51.623Z,1736380251.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:51.690Z,1736380251.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:51.691Z,1736380251.691 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.153824 2025-01-08T23:50:51.940Z,1736380251.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:51.940Z,1736380251.940 [DAT](INFO): DAT read: Rx Time:23:50:50.8934 2025-01-08T23:50:51.943Z,1736380251.943 [DAT](INFO): Rx dataTimestamp_ set to:1736380251.941322 2025-01-08T23:50:51.947Z,1736380251.947 [DAT](INFO): DAT read: Range 10 to 50 : 51.9 m (trip time 34.6 ms) speed -0.1 2025-01-08T23:50:51.948Z,1736380251.948 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-01-08T23:50:51.948Z,1736380251.948 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.411364 2025-01-08T23:50:52.088Z,1736380252.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:52.122Z,1736380252.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.900002 m, deltaT: 0.504350 s, deltaX: 0.100002 m, approachRate: 0.198280 m/s, rangeRepo size: 4 2025-01-08T23:50:52.122Z,1736380252.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:52.193Z,1736380252.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:52.195Z,1736380252.195 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.657169 2025-01-08T23:50:52.444Z,1736380252.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:52.445Z,1736380252.445 [DAT](INFO): DAT read: Rx Time:23:50:51.3934 2025-01-08T23:50:52.445Z,1736380252.445 [DAT](INFO): Rx dataTimestamp_ set to:1736380252.444840 2025-01-08T23:50:52.447Z,1736380252.447 [DAT](INFO): DAT read: Range 10 to 50 : 51.9 m (trip time 34.6 ms) speed 0.0 2025-01-08T23:50:52.448Z,1736380252.448 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-01-08T23:50:52.449Z,1736380252.449 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.911543 2025-01-08T23:50:52.485Z,1736380252.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:52.541Z,1736380252.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.900002 m, deltaT: 0.503518 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:52.541Z,1736380252.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:52.696Z,1736380252.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:52.697Z,1736380252.697 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.159855 2025-01-08T23:50:52.827Z,1736380252.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:52.836Z,1736380252.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:52.948Z,1736380252.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:52.949Z,1736380252.949 [DAT](INFO): DAT read: Rx Time:23:50:51.8936 2025-01-08T23:50:52.950Z,1736380252.950 [DAT](INFO): Rx dataTimestamp_ set to:1736380252.949574 2025-01-08T23:50:52.952Z,1736380252.952 [DAT](INFO): DAT read: Range 10 to 50 : 52.2 m (trip time 34.8 ms) speed -0.1 2025-01-08T23:50:52.953Z,1736380252.953 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-01-08T23:50:52.954Z,1736380252.954 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.417004 2025-01-08T23:50:53.200Z,1736380253.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:53.201Z,1736380253.201 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.663404 2025-01-08T23:50:53.281Z,1736380253.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:53.290Z,1736380253.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 0.504734 s, deltaX: 0.299999 m, approachRate: 0.594371 m/s, rangeRepo size: 4 2025-01-08T23:50:53.291Z,1736380253.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:53.452Z,1736380253.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:53.453Z,1736380253.453 [DAT](INFO): DAT read: Rx Time:23:50:52.3935 2025-01-08T23:50:53.453Z,1736380253.453 [DAT](INFO): Rx dataTimestamp_ set to:1736380253.452750 2025-01-08T23:50:53.454Z,1736380253.454 [DAT](INFO): DAT read: Range 10 to 50 : 52.1 m (trip time 34.7 ms) speed -0.1 2025-01-08T23:50:53.455Z,1736380253.455 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-01-08T23:50:53.456Z,1736380253.456 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.918774 2025-01-08T23:50:53.648Z,1736380253.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:53.684Z,1736380253.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.099998 m, deltaT: 0.503176 s, deltaX: -0.100002 m, approachRate: -0.198742 m/s, rangeRepo size: 4 2025-01-08T23:50:53.685Z,1736380253.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:53.704Z,1736380253.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:53.705Z,1736380253.705 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.167667 2025-01-08T23:50:53.956Z,1736380253.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:53.957Z,1736380253.957 [DAT](INFO): DAT read: Rx Time:23:50:52.8937 2025-01-08T23:50:53.957Z,1736380253.957 [DAT](INFO): Rx dataTimestamp_ set to:1736380253.956799 2025-01-08T23:50:53.958Z,1736380253.958 [DAT](INFO): DAT read: Range 10 to 50 : 52.4 m (trip time 34.9 ms) speed 0.0 2025-01-08T23:50:53.959Z,1736380253.959 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-01-08T23:50:53.960Z,1736380253.960 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.422775 2025-01-08T23:50:54.079Z,1736380254.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:54.142Z,1736380254.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.400002 m, deltaT: 0.504049 s, deltaX: 0.300003 m, approachRate: 0.595186 m/s, rangeRepo size: 4 2025-01-08T23:50:54.143Z,1736380254.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:54.208Z,1736380254.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:54.210Z,1736380254.210 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.672306 2025-01-08T23:50:54.460Z,1736380254.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:54.461Z,1736380254.461 [DAT](INFO): DAT read: Rx Time:23:50:53.3936 2025-01-08T23:50:54.461Z,1736380254.461 [DAT](INFO): Rx dataTimestamp_ set to:1736380254.460850 2025-01-08T23:50:54.465Z,1736380254.465 [DAT](INFO): DAT read: Range 10 to 50 : 52.2 m (trip time 34.8 ms) speed -0.1 2025-01-08T23:50:54.466Z,1736380254.466 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-01-08T23:50:54.467Z,1736380254.467 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.929716 2025-01-08T23:50:54.473Z,1736380254.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:54.483Z,1736380254.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 0.504051 s, deltaX: -0.200001 m, approachRate: -0.396787 m/s, rangeRepo size: 4 2025-01-08T23:50:54.484Z,1736380254.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:54.712Z,1736380254.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:54.713Z,1736380254.713 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.175711 2025-01-08T23:50:54.840Z,1736380254.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:54.850Z,1736380254.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:54.966Z,1736380254.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:54.967Z,1736380254.967 [DAT](INFO): DAT read: Rx Time:23:50:53.8937 2025-01-08T23:50:54.967Z,1736380254.967 [DAT](INFO): Rx dataTimestamp_ set to:1736380254.966746 2025-01-08T23:50:54.968Z,1736380254.968 [DAT](INFO): DAT read: Range 10 to 50 : 52.4 m (trip time 34.9 ms) speed -0.1 2025-01-08T23:50:54.969Z,1736380254.969 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-01-08T23:50:54.970Z,1736380254.970 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.432968 2025-01-08T23:50:55.220Z,1736380255.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:55.220Z,1736380255.220 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.683212 2025-01-08T23:50:55.304Z,1736380255.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:55.315Z,1736380255.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.400002 m, deltaT: 0.505896 s, deltaX: 0.200001 m, approachRate: 0.395340 m/s, rangeRepo size: 4 2025-01-08T23:50:55.316Z,1736380255.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:55.472Z,1736380255.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:55.473Z,1736380255.473 [DAT](INFO): DAT read: Rx Time:23:50:54.3936 2025-01-08T23:50:55.473Z,1736380255.473 [DAT](INFO): Rx dataTimestamp_ set to:1736380255.472884 2025-01-08T23:50:55.474Z,1736380255.474 [DAT](INFO): DAT read: Range 10 to 50 : 52.2 m (trip time 34.8 ms) speed -0.1 2025-01-08T23:50:55.475Z,1736380255.475 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-01-08T23:50:55.476Z,1736380255.476 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.938875 2025-01-08T23:50:55.656Z,1736380255.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:55.672Z,1736380255.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 0.506138 s, deltaX: -0.200001 m, approachRate: -0.395151 m/s, rangeRepo size: 4 2025-01-08T23:50:55.672Z,1736380255.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:55.725Z,1736380255.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:55.726Z,1736380255.726 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.188702 2025-01-08T23:50:55.976Z,1736380255.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:55.977Z,1736380255.977 [DAT](INFO): DAT read: Rx Time:23:50:54.8938 2025-01-08T23:50:55.977Z,1736380255.977 [DAT](INFO): Rx dataTimestamp_ set to:1736380255.977206 2025-01-08T23:50:55.979Z,1736380255.979 [DAT](INFO): DAT read: Range 10 to 50 : 52.5 m (trip time 35.0 ms) speed -0.1 2025-01-08T23:50:55.980Z,1736380255.980 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-01-08T23:50:55.981Z,1736380255.981 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.443939 2025-01-08T23:50:56.077Z,1736380256.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:56.113Z,1736380256.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.500000 m, deltaT: 0.504322 s, deltaX: 0.299999 m, approachRate: 0.594857 m/s, rangeRepo size: 4 2025-01-08T23:50:56.120Z,1736380256.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:56.229Z,1736380256.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:56.230Z,1736380256.230 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.692528 2025-01-08T23:50:56.480Z,1736380256.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:56.481Z,1736380256.481 [DAT](INFO): DAT read: Rx Time:23:50:55.3939 2025-01-08T23:50:56.481Z,1736380256.481 [DAT](INFO): Rx dataTimestamp_ set to:1736380256.481096 2025-01-08T23:50:56.483Z,1736380256.483 [DAT](INFO): DAT read: Range 10 to 50 : 52.7 m (trip time 35.1 ms) speed -0.1 2025-01-08T23:50:56.483Z,1736380256.483 [DAT](ERROR): #Rx 52: Read range message, but no direction. 2025-01-08T23:50:56.484Z,1736380256.484 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.947071 2025-01-08T23:50:56.520Z,1736380256.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:56.542Z,1736380256.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.700001 m, deltaT: 0.503890 s, deltaX: 0.200001 m, approachRate: 0.396914 m/s, rangeRepo size: 4 2025-01-08T23:50:56.543Z,1736380256.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:56.732Z,1736380256.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:56.732Z,1736380256.732 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.195232 2025-01-08T23:50:56.876Z,1736380256.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:56.885Z,1736380256.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:56.984Z,1736380256.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:56.985Z,1736380256.985 [DAT](INFO): DAT read: Rx Time:23:50:55.8940 2025-01-08T23:50:56.985Z,1736380256.985 [DAT](INFO): Rx dataTimestamp_ set to:1736380256.984823 2025-01-08T23:50:56.986Z,1736380256.986 [DAT](INFO): DAT read: Range 10 to 50 : 52.8 m (trip time 35.2 ms) speed -0.1 2025-01-08T23:50:56.987Z,1736380256.987 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-01-08T23:50:56.988Z,1736380256.988 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.450821 2025-01-08T23:50:57.236Z,1736380257.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:57.236Z,1736380257.236 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.699224 2025-01-08T23:50:57.304Z,1736380257.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:57.339Z,1736380257.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 0.503727 s, deltaX: 0.099998 m, approachRate: 0.198517 m/s, rangeRepo size: 4 2025-01-08T23:50:57.365Z,1736380257.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.70 m. 2025-01-08T23:50:57.489Z,1736380257.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:57.490Z,1736380257.490 [DAT](INFO): DAT read: Rx Time:23:50:56.3940 2025-01-08T23:50:57.490Z,1736380257.490 [DAT](INFO): Rx dataTimestamp_ set to:1736380257.490178 2025-01-08T23:50:57.493Z,1736380257.493 [DAT](INFO): DAT read: Bearing 217.7, -1.1 (Local) 2025-01-08T23:50:57.493Z,1736380257.493 [DAT](INFO): Local bearing/azimuth received: Bearing 217.7, -1.1 (Local) 2025-01-08T23:50:57.495Z,1736380257.495 [DAT](INFO): DAT read: Range 10 to 50 : 52.8 m (trip time 35.2 ms) speed -0.1 2025-01-08T23:50:57.502Z,1736380257.502 [DAT](INFO): DAT read: 23:50:56.3940 LVL= 21712, 27313, 13698, 29747, AGC= 56, IDX= 508, 0.33,-2.812,-0.219,-1.038,-1.263, PHS=-1.461, 1.091, 0.222, RAW= 289.6, 1.3, CAL= 292.3, 1.1, ROT= 217.7, -1.1 2025-01-08T23:50:57.504Z,1736380257.504 [DAT](INFO): got valid direction response: 23:50:56.3940 LVL= 21712, 27313, 13698, 29747, AGC= 56, IDX= 508, 0.33,-2.812,-0.219,-1.038,-1.263, PHS=-1.461, 1.091, 0.222, RAW= 289.6, 1.3, CAL= 292.3, 1.1, ROT= 217.7, -1.1 2025-01-08T23:50:57.504Z,1736380257.504 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-01-08T23:50:57.506Z,1736380257.506 [DAT](INFO): direction in FSK: [0.085659,0.237602,-0.967578] 2025-01-08T23:50:57.506Z,1736380257.506 [DAT](INFO): publishing direction and range info 2025-01-08T23:50:57.511Z,1736380257.511 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.973745 2025-01-08T23:50:57.685Z,1736380257.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:57.721Z,1736380257.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 0.505355 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:57.728Z,1736380257.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 3.589692 deg, lat: 36.905139 deg, lon: -122.119851 deg, deltaT: 15.623730 s, deltaX: 2.099998 m, approachRate: 0.134411 m/s, posRepo size: 4 2025-01-08T23:50:57.728Z,1736380257.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T23:50:57.740Z,1736380257.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:57.741Z,1736380257.741 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.203430 2025-01-08T23:50:57.992Z,1736380257.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:57.993Z,1736380257.993 [DAT](INFO): DAT read: Rx Time:23:50:56.8940 2025-01-08T23:50:57.993Z,1736380257.993 [DAT](INFO): Rx dataTimestamp_ set to:1736380257.992719 2025-01-08T23:50:57.994Z,1736380257.994 [DAT](INFO): DAT read: Range 10 to 50 : 52.8 m (trip time 35.2 ms) speed -0.1 2025-01-08T23:50:57.995Z,1736380257.995 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-01-08T23:50:57.997Z,1736380257.997 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.459435 2025-01-08T23:50:58.076Z,1736380258.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:58.086Z,1736380258.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 0.502541 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:58.086Z,1736380258.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T23:50:58.244Z,1736380258.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:58.245Z,1736380258.245 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.707403 2025-01-08T23:50:58.496Z,1736380258.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:58.497Z,1736380258.497 [DAT](INFO): DAT read: Rx Time:23:50:57.3940 2025-01-08T23:50:58.498Z,1736380258.498 [DAT](INFO): Rx dataTimestamp_ set to:1736380258.497617 2025-01-08T23:50:58.499Z,1736380258.499 [DAT](INFO): DAT read: Range 10 to 50 : 52.8 m (trip time 35.2 ms) speed -0.1 2025-01-08T23:50:58.500Z,1736380258.500 [DAT](ERROR): #Rx 56: Read range message, but no direction. 2025-01-08T23:50:58.501Z,1736380258.501 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.963610 2025-01-08T23:50:58.518Z,1736380258.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:58.528Z,1736380258.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 0.504898 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:50:58.528Z,1736380258.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T23:50:58.748Z,1736380258.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:58.749Z,1736380258.749 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.211422 2025-01-08T23:50:58.890Z,1736380258.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:58.900Z,1736380258.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T23:50:58.000Z,1736380259.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:59.001Z,1736380259.001 [DAT](INFO): DAT read: Rx Time:23:50:57.8941 2025-01-08T23:50:59.001Z,1736380259.001 [DAT](INFO): Rx dataTimestamp_ set to:1736380259.000832 2025-01-08T23:50:59.002Z,1736380259.002 [DAT](INFO): DAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed 0.0 2025-01-08T23:50:59.003Z,1736380259.003 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-01-08T23:50:59.005Z,1736380259.005 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.467426 2025-01-08T23:50:59.253Z,1736380259.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:59.255Z,1736380259.255 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.717623 2025-01-08T23:50:59.362Z,1736380259.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:59.398Z,1736380259.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.503215 s, deltaX: 0.200001 m, approachRate: 0.397446 m/s, rangeRepo size: 4 2025-01-08T23:50:59.399Z,1736380259.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T23:50:59.504Z,1736380259.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:59.505Z,1736380259.505 [DAT](INFO): DAT read: Rx Time:23:50:58.3940 2025-01-08T23:50:59.506Z,1736380259.506 [DAT](INFO): Rx dataTimestamp_ set to:1736380259.505790 2025-01-08T23:50:59.507Z,1736380259.507 [DAT](INFO): DAT read: Range 10 to 50 : 52.8 m (trip time 35.2 ms) speed -0.1 2025-01-08T23:50:59.508Z,1736380259.508 [DAT](ERROR): #Rx 58: Read range message, but no direction. 2025-01-08T23:50:59.509Z,1736380259.509 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.971823 2025-01-08T23:50:59.724Z,1736380259.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:50:59.734Z,1736380259.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 0.504958 s, deltaX: -0.200001 m, approachRate: -0.396074 m/s, rangeRepo size: 4 2025-01-08T23:50:59.735Z,1736380259.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m. 2025-01-08T23:50:59.756Z,1736380259.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:50:59.757Z,1736380259.757 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.219381 2025-01-08T23:50:59.784Z,1736380259.784 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:51:00.008Z,1736380260.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:00.009Z,1736380260.009 [DAT](INFO): DAT read: Rx Time:23:50:58.8942 2025-01-08T23:51:00.009Z,1736380260.009 [DAT](INFO): Rx dataTimestamp_ set to:1736380260.009176 2025-01-08T23:51:00.011Z,1736380260.011 [DAT](INFO): DAT read: Bearing 220.8, -1.7 (Local) 2025-01-08T23:51:00.011Z,1736380260.011 [DAT](INFO): Local bearing/azimuth received: Bearing 220.8, -1.7 (Local) 2025-01-08T23:51:00.014Z,1736380260.014 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed -0.1 2025-01-08T23:51:00.019Z,1736380260.019 [DAT](INFO): DAT read: 23:50:58.8942 LVL= 16752, 19409, 11106, 24307, AGC= 55, IDX= 510, 0.40,-1.118, 1.399, 0.727, 0.445, PHS=-1.475, 1.002, 0.279, RAW= 286.5, 1.8, CAL= 289.2, 1.7, ROT= 220.8, -1.7 2025-01-08T23:51:00.020Z,1736380260.020 [DAT](INFO): got valid direction response: 23:50:58.8942 LVL= 16752, 19409, 11106, 24307, AGC= 55, IDX= 510, 0.40,-1.118, 1.399, 0.727, 0.445, PHS=-1.475, 1.002, 0.279, RAW= 286.5, 1.8, CAL= 289.2, 1.7, ROT= 220.8, -1.7 2025-01-08T23:51:00.020Z,1736380260.020 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-01-08T23:51:00.021Z,1736380260.021 [DAT](INFO): direction in FSK: [0.073663,0.183993,-0.980163] 2025-01-08T23:51:00.021Z,1736380260.021 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:00.025Z,1736380260.025 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.488016 2025-01-08T23:51:00.145Z,1736380260.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:00.241Z,1736380260.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.503386 s, deltaX: 0.299999 m, approachRate: 0.595963 m/s, rangeRepo size: 4 2025-01-08T23:51:00.248Z,1736380260.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.099998 m, bearing: 5.881028 deg, lat: 36.905373 deg, lon: -122.119909 deg, deltaT: 2.518998 s, deltaX: 0.299999 m, approachRate: 0.119095 m/s, posRepo size: 4 2025-01-08T23:51:00.248Z,1736380260.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:51:00.260Z,1736380260.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:00.261Z,1736380260.261 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.723356 2025-01-08T23:51:00.512Z,1736380260.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:00.513Z,1736380260.513 [DAT](INFO): DAT read: Rx Time:23:50:59.3941 2025-01-08T23:51:00.514Z,1736380260.514 [DAT](INFO): Rx dataTimestamp_ set to:1736380260.513792 2025-01-08T23:51:00.515Z,1736380260.515 [DAT](INFO): DAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed 0.0 2025-01-08T23:51:00.516Z,1736380260.516 [DAT](ERROR): #Rx 60: Read range message, but no direction. 2025-01-08T23:51:00.517Z,1736380260.517 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.979774 2025-01-08T23:51:00.639Z,1736380260.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:00.652Z,1736380260.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.504616 s, deltaX: -0.099998 m, approachRate: -0.198167 m/s, rangeRepo size: 4 2025-01-08T23:51:00.653Z,1736380260.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:51:00.764Z,1736380260.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:00.766Z,1736380260.766 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.228386 2025-01-08T23:51:00.788Z,1736380260.788 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:51:00.937Z,1736380260.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:00.967Z,1736380260.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:51:01.016Z,1736380261.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:01.018Z,1736380261.018 [DAT](INFO): DAT read: Rx Time:23:50:59.8942 2025-01-08T23:51:01.018Z,1736380261.018 [DAT](INFO): Rx dataTimestamp_ set to:1736380261.017698 2025-01-08T23:51:01.023Z,1736380261.023 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 2025-01-08T23:51:01.026Z,1736380261.026 [DAT](ERROR): #Rx 61: Read range message, but no direction. 2025-01-08T23:51:01.028Z,1736380261.028 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.490686 2025-01-08T23:51:01.268Z,1736380261.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:01.268Z,1736380261.268 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.731247 2025-01-08T23:51:01.392Z,1736380261.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:01.402Z,1736380261.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.503906 s, deltaX: 0.099998 m, approachRate: 0.198447 m/s, rangeRepo size: 4 2025-01-08T23:51:01.402Z,1736380261.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:51:01.520Z,1736380261.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:01.522Z,1736380261.522 [DAT](INFO): DAT read: Rx Time:23:51:00.3941 2025-01-08T23:51:01.523Z,1736380261.523 [DAT](INFO): Rx dataTimestamp_ set to:1736380261.522241 2025-01-08T23:51:01.525Z,1736380261.525 [DAT](INFO): DAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed 0.0 2025-01-08T23:51:01.527Z,1736380261.527 [DAT](ERROR): #Rx 62: Read range message, but no direction. 2025-01-08T23:51:01.530Z,1736380261.530 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.992990 2025-01-08T23:51:01.749Z,1736380261.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:01.759Z,1736380261.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.504543 s, deltaX: -0.099998 m, approachRate: -0.198196 m/s, rangeRepo size: 4 2025-01-08T23:51:01.760Z,1736380261.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:51:01.772Z,1736380261.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:01.772Z,1736380261.772 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.235348 2025-01-08T23:51:02.024Z,1736380262.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:02.024Z,1736380262.024 [DAT](INFO): DAT read: Rx Time:23:51:00.8942 2025-01-08T23:51:02.025Z,1736380262.025 [DAT](INFO): Rx dataTimestamp_ set to:1736380262.024678 2025-01-08T23:51:02.026Z,1736380262.026 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 2025-01-08T23:51:02.027Z,1736380262.027 [DAT](ERROR): #Rx 63: Read range message, but no direction. 2025-01-08T23:51:02.028Z,1736380262.028 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.490660 2025-01-08T23:51:02.152Z,1736380262.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:02.162Z,1736380262.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.502437 s, deltaX: 0.099998 m, approachRate: 0.199027 m/s, rangeRepo size: 4 2025-01-08T23:51:02.162Z,1736380262.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:51:02.276Z,1736380262.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:02.277Z,1736380262.277 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.739519 2025-01-08T23:51:02.528Z,1736380262.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:02.528Z,1736380262.528 [DAT](INFO): DAT read: Rx Time:23:51:01.3941 2025-01-08T23:51:02.529Z,1736380262.529 [DAT](INFO): Rx dataTimestamp_ set to:1736380262.528673 2025-01-08T23:51:02.531Z,1736380262.531 [DAT](INFO): DAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed 0.0 2025-01-08T23:51:02.532Z,1736380262.532 [DAT](ERROR): #Rx 64: Read range message, but no direction. 2025-01-08T23:51:02.533Z,1736380262.533 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.995384 2025-01-08T23:51:02.669Z,1736380262.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:02.690Z,1736380262.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.503995 s, deltaX: -0.099998 m, approachRate: -0.198412 m/s, rangeRepo size: 4 2025-01-08T23:51:02.691Z,1736380262.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:51:02.780Z,1736380262.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:02.781Z,1736380262.781 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.243769 2025-01-08T23:51:02.965Z,1736380262.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:02.976Z,1736380262.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:51:03.032Z,1736380263.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:03.033Z,1736380263.033 [DAT](INFO): DAT read: Rx Time:23:51:01.8942 2025-01-08T23:51:03.034Z,1736380263.034 [DAT](INFO): Rx dataTimestamp_ set to:1736380263.033616 2025-01-08T23:51:03.036Z,1736380263.036 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 2025-01-08T23:51:03.036Z,1736380263.036 [DAT](ERROR): #Rx 65: Read range message, but no direction. 2025-01-08T23:51:03.037Z,1736380263.037 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.500126 2025-01-08T23:51:03.285Z,1736380263.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:03.286Z,1736380263.286 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.748695 2025-01-08T23:51:03.440Z,1736380263.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:03.451Z,1736380263.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.504943 s, deltaX: 0.099998 m, approachRate: 0.198039 m/s, rangeRepo size: 4 2025-01-08T23:51:03.451Z,1736380263.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:51:03.536Z,1736380263.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:03.538Z,1736380263.538 [DAT](INFO): DAT read: Rx Time:23:51:02.3941 2025-01-08T23:51:03.539Z,1736380263.539 [DAT](INFO): Rx dataTimestamp_ set to:1736380263.538396 2025-01-08T23:51:03.541Z,1736380263.541 [DAT](INFO): DAT read: Bearing 224.7, -2.8 (Local) 2025-01-08T23:51:03.541Z,1736380263.541 [DAT](INFO): Local bearing/azimuth received: Bearing 224.7, -2.8 (Local) 2025-01-08T23:51:03.544Z,1736380263.544 [DAT](INFO): DAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed 0.0 2025-01-08T23:51:03.549Z,1736380263.549 [DAT](INFO): DAT read: 23:51:02.3941 LVL= 20160, 19681, 12002, 24435, AGC= 54, IDX= 509, 0.43,-1.904, 0.605, 0.089,-0.269, PHS=-1.546, 0.922, 0.356, RAW= 282.6, 2.4, CAL= 285.3, 2.8, ROT= 224.7, -2.8 2025-01-08T23:51:03.550Z,1736380263.550 [DAT](INFO): got valid direction response: 23:51:02.3941 LVL= 20160, 19681, 12002, 24435, AGC= 54, IDX= 509, 0.43,-1.904, 0.605, 0.089,-0.269, PHS=-1.546, 0.922, 0.356, RAW= 282.6, 2.4, CAL= 285.3, 2.8, ROT= 224.7, -2.8 2025-01-08T23:51:03.550Z,1736380263.550 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-01-08T23:51:03.552Z,1736380263.552 [DAT](INFO): direction in FSK: [0.056674,0.116760,-0.991542] 2025-01-08T23:51:03.552Z,1736380263.552 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:03.556Z,1736380263.556 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.019083 2025-01-08T23:51:03.789Z,1736380263.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:03.790Z,1736380263.790 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.252619 2025-01-08T23:51:03.800Z,1736380263.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:03.835Z,1736380263.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.504780 s, deltaX: -0.099998 m, approachRate: -0.198103 m/s, rangeRepo size: 4 2025-01-08T23:51:03.837Z,1736380263.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.000000 m, bearing: 9.107687 deg, lat: 36.905373 deg, lon: -122.119951 deg, deltaT: 3.529220 s, deltaX: -0.099998 m, approachRate: -0.028334 m/s, posRepo size: 4 2025-01-08T23:51:03.838Z,1736380263.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m. 2025-01-08T23:51:04.040Z,1736380264.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:04.040Z,1736380264.040 [DAT](INFO): DAT read: Rx Time:23:51:02.8942 2025-01-08T23:51:04.041Z,1736380264.041 [DAT](INFO): Rx dataTimestamp_ set to:1736380264.040677 2025-01-08T23:51:04.042Z,1736380264.042 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 2025-01-08T23:51:04.043Z,1736380264.043 [DAT](ERROR): #Rx 67: Read range message, but no direction. 2025-01-08T23:51:04.044Z,1736380264.044 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.506681 2025-01-08T23:51:04.184Z,1736380264.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:04.194Z,1736380264.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.502281 s, deltaX: 0.099998 m, approachRate: 0.199089 m/s, rangeRepo size: 4 2025-01-08T23:51:04.195Z,1736380264.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m. 2025-01-08T23:51:04.292Z,1736380264.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:04.293Z,1736380264.293 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.755842 2025-01-08T23:51:04.544Z,1736380264.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:04.545Z,1736380264.545 [DAT](INFO): DAT read: Rx Time:23:51:03.3942 2025-01-08T23:51:04.545Z,1736380264.545 [DAT](INFO): Rx dataTimestamp_ set to:1736380264.544806 2025-01-08T23:51:04.547Z,1736380264.547 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 2025-01-08T23:51:04.548Z,1736380264.548 [DAT](ERROR): #Rx 68: Read range message, but no direction. 2025-01-08T23:51:04.549Z,1736380264.549 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.011471 2025-01-08T23:51:04.664Z,1736380264.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:04.686Z,1736380264.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.504129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:04.686Z,1736380264.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m. 2025-01-08T23:51:04.796Z,1736380264.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:04.797Z,1736380264.797 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.259872 2025-01-08T23:51:04.990Z,1736380264.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:05.000Z,1736380265.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m. 2025-01-08T23:51:05.048Z,1736380265.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:05.049Z,1736380265.049 [DAT](INFO): DAT read: Rx Time:23:51:03.8943 2025-01-08T23:51:05.049Z,1736380265.049 [DAT](INFO): Rx dataTimestamp_ set to:1736380265.049192 2025-01-08T23:51:05.051Z,1736380265.051 [DAT](INFO): DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 2025-01-08T23:51:05.051Z,1736380265.051 [DAT](ERROR): #Rx 69: Read range message, but no direction. 2025-01-08T23:51:05.052Z,1736380265.052 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.515198 2025-01-08T23:51:05.301Z,1736380265.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:05.303Z,1736380265.303 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.765118 2025-01-08T23:51:05.424Z,1736380265.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:05.460Z,1736380265.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.504386 s, deltaX: 0.200001 m, approachRate: 0.396523 m/s, rangeRepo size: 4 2025-01-08T23:51:05.462Z,1736380265.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m. 2025-01-08T23:51:05.554Z,1736380265.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:05.558Z,1736380265.558 [DAT](INFO): DAT read: Rx Time:23:51:04.3942 2025-01-08T23:51:05.561Z,1736380265.561 [DAT](INFO): Rx dataTimestamp_ set to:1736380265.558435 2025-01-08T23:51:05.566Z,1736380265.566 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 2025-01-08T23:51:05.574Z,1736380265.574 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-01-08T23:51:05.580Z,1736380265.580 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.043106 2025-01-08T23:51:05.804Z,1736380265.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:05.804Z,1736380265.804 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.267258 2025-01-08T23:51:05.839Z,1736380265.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:05.849Z,1736380265.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.509243 s, deltaX: -0.200001 m, approachRate: -0.392741 m/s, rangeRepo size: 4 2025-01-08T23:51:05.849Z,1736380265.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m. 2025-01-08T23:51:06.056Z,1736380266.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:06.057Z,1736380266.057 [DAT](INFO): DAT read: Rx Time:23:51:04.8942 2025-01-08T23:51:06.058Z,1736380266.058 [DAT](INFO): Rx dataTimestamp_ set to:1736380266.057475 2025-01-08T23:51:06.059Z,1736380266.059 [DAT](INFO): DAT read: Bearing 228.6, -3.3 (Local) 2025-01-08T23:51:06.059Z,1736380266.059 [DAT](INFO): Local bearing/azimuth received: Bearing 228.6, -3.3 (Local) 2025-01-08T23:51:06.062Z,1736380266.062 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 2025-01-08T23:51:06.067Z,1736380266.067 [DAT](INFO): DAT read: 23:51:04.8942 LVL= 19216, 21729, 14786, 27875, AGC= 55, IDX= 510,-0.11, 3.135,-0.693,-1.037,-1.479, PHS=-1.581, 0.833, 0.440, RAW= 278.7, 2.8, CAL= 281.4, 3.3, ROT= 228.6, -3.3 2025-01-08T23:51:06.068Z,1736380266.068 [DAT](INFO): got valid direction response: 23:51:04.8942 LVL= 19216, 21729, 14786, 27875, AGC= 55, IDX= 510,-0.11, 3.135,-0.693,-1.037,-1.479, PHS=-1.581, 0.833, 0.440, RAW= 278.7, 2.8, CAL= 281.4, 3.3, ROT= 228.6, -3.3 2025-01-08T23:51:06.069Z,1736380266.069 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-01-08T23:51:06.070Z,1736380266.070 [DAT](INFO): direction in FSK: [0.044743,0.047860,-0.997851] 2025-01-08T23:51:06.070Z,1736380266.070 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:06.073Z,1736380266.073 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.536160 2025-01-08T23:51:06.244Z,1736380266.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:06.310Z,1736380266.310 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:06.312Z,1736380266.312 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.774303 2025-01-08T23:51:06.344Z,1736380266.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.499040 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:06.346Z,1736380266.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.099998 m, bearing: 12.444164 deg, lat: 36.905373 deg, lon: -122.119951 deg, deltaT: 2.519079 s, deltaX: 0.099998 m, approachRate: 0.039696 m/s, posRepo size: 4 2025-01-08T23:51:06.346Z,1736380266.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-08T23:51:06.560Z,1736380266.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:06.561Z,1736380266.561 [DAT](INFO): DAT read: Rx Time:23:51:05.3941 2025-01-08T23:51:06.561Z,1736380266.561 [DAT](INFO): Rx dataTimestamp_ set to:1736380266.561181 2025-01-08T23:51:06.564Z,1736380266.564 [DAT](INFO): DAT read: Bearing 229.1, -3.4 (Local) 2025-01-08T23:51:06.564Z,1736380266.564 [DAT](INFO): Local bearing/azimuth received: Bearing 229.1, -3.4 (Local) 2025-01-08T23:51:06.566Z,1736380266.566 [DAT](INFO): DAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed 0.0 2025-01-08T23:51:06.590Z,1736380266.590 [DAT](INFO): DAT read: 23:51:05.3941 LVL= 20624, 18993, 12898, 23859, AGC= 56, IDX= 509, 0.09, 1.940,-1.899,-2.217,-2.670, PHS=-1.585, 0.818, 0.450, RAW= 278.2, 2.9, CAL= 280.9, 3.4, ROT= 229.1, -3.4 2025-01-08T23:51:06.591Z,1736380266.591 [DAT](INFO): got valid direction response: 23:51:05.3941 LVL= 20624, 18993, 12898, 23859, AGC= 56, IDX= 509, 0.09, 1.940,-1.899,-2.217,-2.670, PHS=-1.585, 0.818, 0.450, RAW= 278.2, 2.9, CAL= 280.9, 3.4, ROT= 229.1, -3.4 2025-01-08T23:51:06.597Z,1736380266.597 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-01-08T23:51:06.608Z,1736380266.608 [DAT](INFO): direction in FSK: [0.042391,0.038192,-0.998371] 2025-01-08T23:51:06.609Z,1736380266.609 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:06.636Z,1736380266.636 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.099274 2025-01-08T23:51:06.764Z,1736380266.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:06.791Z,1736380266.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.503706 s, deltaX: -0.099998 m, approachRate: -0.198525 m/s, rangeRepo size: 4 2025-01-08T23:51:06.798Z,1736380266.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.000000 m, bearing: 12.809719 deg, lat: 36.905341 deg, lon: -122.119955 deg, deltaT: 0.503706 s, deltaX: -0.099998 m, approachRate: -0.198525 m/s, posRepo size: 4 2025-01-08T23:51:06.798Z,1736380266.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.00 m. 2025-01-08T23:51:06.812Z,1736380266.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:06.813Z,1736380266.813 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.275776 2025-01-08T23:51:07.061Z,1736380267.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:07.064Z,1736380267.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:07.065Z,1736380267.065 [DAT](INFO): DAT read: Rx Time:23:51:05.8943 2025-01-08T23:51:07.066Z,1736380267.066 [DAT](INFO): Rx dataTimestamp_ set to:1736380267.065418 2025-01-08T23:51:07.067Z,1736380267.067 [DAT](INFO): DAT read: Bearing 229.8, -3.6 (Local) 2025-01-08T23:51:07.067Z,1736380267.067 [DAT](INFO): Local bearing/azimuth received: Bearing 229.8, -3.6 (Local) 2025-01-08T23:51:07.069Z,1736380267.069 [DAT](INFO): DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 2025-01-08T23:51:07.075Z,1736380267.075 [DAT](INFO): DAT read: 23:51:05.8943 LVL= 17728, 21233, 14226, 27251, AGC= 55, IDX= 510, 0.16,-2.094, 0.277, 0.000,-0.455, PHS=-1.551, 0.779, 0.452, RAW= 277.4, 3.0, CAL= 280.2, 3.6, ROT= 229.8, -3.6 2025-01-08T23:51:07.076Z,1736380267.076 [DAT](INFO): got valid direction response: 23:51:05.8943 LVL= 17728, 21233, 14226, 27251, AGC= 55, IDX= 510, 0.16,-2.094, 0.277, 0.000,-0.455, PHS=-1.551, 0.779, 0.452, RAW= 277.4, 3.0, CAL= 280.2, 3.6, ROT= 229.8, -3.6 2025-01-08T23:51:07.076Z,1736380267.076 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-01-08T23:51:07.077Z,1736380267.077 [DAT](INFO): direction in FSK: [0.039432,0.025500,-0.998897] 2025-01-08T23:51:07.077Z,1736380267.077 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:07.091Z,1736380267.091 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.553413 2025-01-08T23:51:07.136Z,1736380267.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.504237 s, deltaX: 0.299999 m, approachRate: 0.594957 m/s, rangeRepo size: 4 2025-01-08T23:51:07.138Z,1736380267.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.299999 m, bearing: 14.432897 deg, lat: 36.905311 deg, lon: -122.119955 deg, deltaT: 0.504237 s, deltaX: 0.299999 m, approachRate: 0.594957 m/s, posRepo size: 4 2025-01-08T23:51:07.139Z,1736380267.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T23:51:07.317Z,1736380267.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:07.318Z,1736380267.318 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.781021 2025-01-08T23:51:07.547Z,1736380267.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:07.568Z,1736380267.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:07.569Z,1736380267.569 [DAT](INFO): DAT read: Rx Time:23:51:06.3942 2025-01-08T23:51:07.570Z,1736380267.570 [DAT](INFO): Rx dataTimestamp_ set to:1736380267.569306 2025-01-08T23:51:07.571Z,1736380267.571 [DAT](INFO): DAT read: Bearing 230.3, -3.7 (Local) 2025-01-08T23:51:07.571Z,1736380267.571 [DAT](INFO): Local bearing/azimuth received: Bearing 230.3, -3.7 (Local) 2025-01-08T23:51:07.573Z,1736380267.573 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 2025-01-08T23:51:07.578Z,1736380267.578 [DAT](INFO): DAT read: 23:51:06.3942 LVL= 17728, 20065, 13266, 25427, AGC= 55, IDX= 509, 0.16,-1.623, 0.732, 0.482, 0.018, PHS=-1.552, 0.762, 0.461, RAW= 276.9, 3.1, CAL= 279.7, 3.7, ROT= 230.3, -3.7 2025-01-08T23:51:07.580Z,1736380267.580 [DAT](INFO): got valid direction response: 23:51:06.3942 LVL= 17728, 20065, 13266, 25427, AGC= 55, IDX= 509, 0.16,-1.623, 0.732, 0.482, 0.018, PHS=-1.552, 0.762, 0.461, RAW= 276.9, 3.1, CAL= 279.7, 3.7, ROT= 230.3, -3.7 2025-01-08T23:51:07.581Z,1736380267.581 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-01-08T23:51:07.581Z,1736380267.581 [DAT](INFO): direction in FSK: [0.036876,0.015436,-0.999201] 2025-01-08T23:51:07.582Z,1736380267.582 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:07.585Z,1736380267.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.503888 s, deltaX: -0.200001 m, approachRate: -0.396915 m/s, rangeRepo size: 4 2025-01-08T23:51:07.585Z,1736380267.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T23:51:07.589Z,1736380267.589 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.052216 2025-01-08T23:51:07.820Z,1736380267.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:07.820Z,1736380267.820 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.283333 2025-01-08T23:51:07.886Z,1736380267.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:07.900Z,1736380267.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T23:51:08.073Z,1736380268.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:08.074Z,1736380268.074 [DAT](INFO): DAT read: Rx Time:23:51:06.8943 2025-01-08T23:51:08.075Z,1736380268.075 [DAT](INFO): Rx dataTimestamp_ set to:1736380268.074677 2025-01-08T23:51:08.076Z,1736380268.076 [DAT](INFO): DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 2025-01-08T23:51:08.077Z,1736380268.077 [DAT](ERROR): #Rx 75: Read range message, but no direction. 2025-01-08T23:51:08.078Z,1736380268.078 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.540649 2025-01-08T23:51:08.325Z,1736380268.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:08.328Z,1736380268.328 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.789951 2025-01-08T23:51:08.414Z,1736380268.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:08.428Z,1736380268.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.505371 s, deltaX: 0.200001 m, approachRate: 0.395750 m/s, rangeRepo size: 4 2025-01-08T23:51:08.429Z,1736380268.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T23:51:08.576Z,1736380268.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:08.577Z,1736380268.577 [DAT](INFO): DAT read: Rx Time:23:51:07.3942 2025-01-08T23:51:08.577Z,1736380268.577 [DAT](INFO): Rx dataTimestamp_ set to:1736380268.576684 2025-01-08T23:51:08.578Z,1736380268.578 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 2025-01-08T23:51:08.579Z,1736380268.579 [DAT](ERROR): #Rx 76: Read range message, but no direction. 2025-01-08T23:51:08.580Z,1736380268.580 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.043270 2025-01-08T23:51:08.732Z,1736380268.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:08.745Z,1736380268.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.502007 s, deltaX: -0.200001 m, approachRate: -0.398402 m/s, rangeRepo size: 4 2025-01-08T23:51:08.745Z,1736380268.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T23:51:08.828Z,1736380268.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:08.830Z,1736380268.830 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.292778 2025-01-08T23:51:09.081Z,1736380269.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:09.083Z,1736380269.083 [DAT](INFO): DAT read: Rx Time:23:51:07.8943 2025-01-08T23:51:09.083Z,1736380269.083 [DAT](INFO): Rx dataTimestamp_ set to:1736380269.082722 2025-01-08T23:51:09.084Z,1736380269.084 [DAT](INFO): DAT read: Bearing 231.1, -3.9 (Local) 2025-01-08T23:51:09.085Z,1736380269.085 [DAT](INFO): Local bearing/azimuth received: Bearing 231.1, -3.9 (Local) 2025-01-08T23:51:09.087Z,1736380269.087 [DAT](INFO): DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 2025-01-08T23:51:09.120Z,1736380269.120 [DAT](INFO): DAT read: 23:51:07.8943 LVL= 19488, 18929, 11058, 23379, AGC= 56, IDX= 511, 0.09, 1.843,-2.040,-2.256,-2.751, PHS=-1.602, 0.757, 0.491, RAW= 275.9, 3.2, CAL= 278.9, 3.9, ROT= 231.1, -3.9 2025-01-08T23:51:09.122Z,1736380269.122 [DAT](INFO): got valid direction response: 23:51:07.8943 LVL= 19488, 18929, 11058, 23379, AGC= 56, IDX= 511, 0.09, 1.843,-2.040,-2.256,-2.751, PHS=-1.602, 0.757, 0.491, RAW= 275.9, 3.2, CAL= 278.9, 3.9, ROT= 231.1, -3.9 2025-01-08T23:51:09.122Z,1736380269.122 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-01-08T23:51:09.123Z,1736380269.123 [DAT](INFO): direction in FSK: [0.032726,-0.001327,-0.999463] 2025-01-08T23:51:09.123Z,1736380269.123 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:09.126Z,1736380269.126 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.589329 2025-01-08T23:51:09.222Z,1736380269.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:09.265Z,1736380269.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.506038 s, deltaX: 0.200001 m, approachRate: 0.395229 m/s, rangeRepo size: 4 2025-01-08T23:51:09.272Z,1736380269.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.299999 m, bearing: 18.089706 deg, lat: 36.905302 deg, lon: -122.119955 deg, deltaT: 2.017304 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T23:51:09.272Z,1736380269.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T23:51:09.334Z,1736380269.334 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:09.336Z,1736380269.336 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.798279 2025-01-08T23:51:09.584Z,1736380269.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:09.585Z,1736380269.585 [DAT](INFO): DAT read: Rx Time:23:51:08.3943 2025-01-08T23:51:09.585Z,1736380269.585 [DAT](INFO): Rx dataTimestamp_ set to:1736380269.585117 2025-01-08T23:51:09.587Z,1736380269.587 [DAT](INFO): DAT read: Bearing 231.2, -3.8 (Local) 2025-01-08T23:51:09.587Z,1736380269.587 [DAT](INFO): Local bearing/azimuth received: Bearing 231.2, -3.8 (Local) 2025-01-08T23:51:09.589Z,1736380269.589 [DAT](INFO): DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 2025-01-08T23:51:09.594Z,1736380269.594 [DAT](INFO): DAT read: 23:51:08.3943 LVL= 25952, 19441, 13538, 25955, AGC= 55, IDX= 510, 0.19, 2.073,-1.818,-2.034,-2.528, PHS=-1.594, 0.758, 0.492, RAW= 275.9, 3.1, CAL= 278.8, 3.8, ROT= 231.2, -3.8 2025-01-08T23:51:09.595Z,1736380269.595 [DAT](INFO): got valid direction response: 23:51:08.3943 LVL= 25952, 19441, 13538, 25955, AGC= 55, IDX= 510, 0.19, 2.073,-1.818,-2.034,-2.528, PHS=-1.594, 0.758, 0.492, RAW= 275.9, 3.1, CAL= 278.8, 3.8, ROT= 231.2, -3.8 2025-01-08T23:51:09.595Z,1736380269.595 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-01-08T23:51:09.597Z,1736380269.597 [DAT](INFO): direction in FSK: [0.034304,-0.001086,-0.999411] 2025-01-08T23:51:09.598Z,1736380269.598 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:09.601Z,1736380269.601 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.064133 2025-01-08T23:51:09.797Z,1736380269.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:09.831Z,1736380269.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.502395 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:09.836Z,1736380269.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:09.837Z,1736380269.837 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.299397 2025-01-08T23:51:09.839Z,1736380269.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.299999 m, bearing: 17.286963 deg, lat: 36.905297 deg, lon: -122.119956 deg, deltaT: 0.502395 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T23:51:09.843Z,1736380269.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T23:51:10.088Z,1736380270.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:10.089Z,1736380270.089 [DAT](INFO): DAT read: Rx Time:23:51:08.8943 2025-01-08T23:51:10.089Z,1736380270.089 [DAT](INFO): Rx dataTimestamp_ set to:1736380270.088697 2025-01-08T23:51:10.090Z,1736380270.090 [DAT](INFO): DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 2025-01-08T23:51:10.091Z,1736380270.091 [DAT](ERROR): #Rx 79: Read range message, but no direction. 2025-01-08T23:51:10.092Z,1736380270.092 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.554653 2025-01-08T23:51:10.241Z,1736380270.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:10.253Z,1736380270.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.503580 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:10.253Z,1736380270.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T23:51:10.343Z,1736380270.343 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:10.345Z,1736380270.345 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.807938 2025-01-08T23:51:10.592Z,1736380270.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:10.594Z,1736380270.594 [DAT](INFO): DAT read: Rx Time:23:51:09.3942 2025-01-08T23:51:10.594Z,1736380270.594 [DAT](INFO): Rx dataTimestamp_ set to:1736380270.593805 2025-01-08T23:51:10.596Z,1736380270.596 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed -0.1 2025-01-08T23:51:10.597Z,1736380270.597 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-01-08T23:51:10.598Z,1736380270.598 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.061111 2025-01-08T23:51:10.750Z,1736380270.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:10.800Z,1736380270.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.505108 s, deltaX: -0.200001 m, approachRate: -0.395956 m/s, rangeRepo size: 4 2025-01-08T23:51:10.800Z,1736380270.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.30 m. 2025-01-08T23:51:10.844Z,1736380270.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:10.845Z,1736380270.845 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.307369 2025-01-08T23:51:11.096Z,1736380271.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:11.098Z,1736380271.098 [DAT](INFO): DAT read: Rx Time:23:51:09.8944 2025-01-08T23:51:11.099Z,1736380271.099 [DAT](INFO): Rx dataTimestamp_ set to:1736380271.098458 2025-01-08T23:51:11.100Z,1736380271.100 [DAT](INFO): DAT read: Bearing 231.6, -4.4 (Local) 2025-01-08T23:51:11.100Z,1736380271.100 [DAT](INFO): Local bearing/azimuth received: Bearing 231.6, -4.4 (Local) 2025-01-08T23:51:11.103Z,1736380271.103 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed -0.1 2025-01-08T23:51:11.107Z,1736380271.107 [DAT](INFO): DAT read: 23:51:09.8944 LVL= 22384, 15777, 11074, 21235, AGC= 55, IDX= 511, 0.23, 1.859,-2.047,-2.232,-2.727, PHS=-1.609, 0.727, 0.492, RAW= 275.2, 3.5, CAL= 278.4, 4.4, ROT= 231.6, -4.4 2025-01-08T23:51:11.108Z,1736380271.108 [DAT](INFO): got valid direction response: 23:51:09.8944 LVL= 22384, 15777, 11074, 21235, AGC= 55, IDX= 511, 0.23, 1.859,-2.047,-2.232,-2.727, PHS=-1.609, 0.727, 0.492, RAW= 275.2, 3.5, CAL= 278.4, 4.4, ROT= 231.6, -4.4 2025-01-08T23:51:11.109Z,1736380271.109 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-01-08T23:51:11.110Z,1736380271.110 [DAT](INFO): direction in FSK: [0.025221,-0.012677,-0.999602] 2025-01-08T23:51:11.110Z,1736380271.110 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:11.144Z,1736380271.144 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.606682 2025-01-08T23:51:11.259Z,1736380271.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:11.274Z,1736380271.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.504653 s, deltaX: 0.300003 m, approachRate: 0.594474 m/s, rangeRepo size: 4 2025-01-08T23:51:11.276Z,1736380271.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.400002 m, bearing: 20.512777 deg, lat: 36.905289 deg, lon: -122.119955 deg, deltaT: 1.513341 s, deltaX: 0.100002 m, approachRate: 0.066080 m/s, posRepo size: 4 2025-01-08T23:51:11.277Z,1736380271.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m. 2025-01-08T23:51:11.350Z,1736380271.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:11.353Z,1736380271.353 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.814838 2025-01-08T23:51:11.600Z,1736380271.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:11.601Z,1736380271.601 [DAT](INFO): DAT read: Rx Time:23:51:10.3944 2025-01-08T23:51:11.601Z,1736380271.601 [DAT](INFO): Rx dataTimestamp_ set to:1736380271.600691 2025-01-08T23:51:11.602Z,1736380271.602 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed -0.1 2025-01-08T23:51:11.603Z,1736380271.603 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-01-08T23:51:11.604Z,1736380271.604 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.066681 2025-01-08T23:51:11.745Z,1736380271.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:11.756Z,1736380271.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.502233 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:11.757Z,1736380271.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m. 2025-01-08T23:51:11.852Z,1736380271.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:11.852Z,1736380271.852 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.315315 2025-01-08T23:51:12.104Z,1736380272.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:12.105Z,1736380272.105 [DAT](INFO): DAT read: Rx Time:23:51:10.8945 2025-01-08T23:51:12.106Z,1736380272.106 [DAT](INFO): Rx dataTimestamp_ set to:1736380272.105326 2025-01-08T23:51:12.107Z,1736380272.107 [DAT](INFO): DAT read: Bearing 242.2, -7.1 (Local) 2025-01-08T23:51:12.107Z,1736380272.107 [DAT](INFO): Local bearing/azimuth received: Bearing 242.2, -7.1 (Local) 2025-01-08T23:51:12.109Z,1736380272.109 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T23:51:12.115Z,1736380272.115 [DAT](INFO): DAT read: 23:51:10.8945 LVL= 24784, 19153, 15138, 27939, AGC= 57, IDX= 512, 0.08,-1.281, 0.647, 0.972, 0.330, PHS=-1.523, 0.364, 0.639, RAW= 263.3, 5.1, CAL= 267.8, 7.1, ROT= 242.2, -7.1 2025-01-08T23:51:12.116Z,1736380272.116 [DAT](INFO): got valid direction response: 23:51:10.8945 LVL= 24784, 19153, 15138, 27939, AGC= 57, IDX= 512, 0.08,-1.281, 0.647, 0.972, 0.330, PHS=-1.523, 0.364, 0.639, RAW= 263.3, 5.1, CAL= 267.8, 7.1, ROT= 242.2, -7.1 2025-01-08T23:51:12.117Z,1736380272.117 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-01-08T23:51:12.118Z,1736380272.118 [DAT](INFO): direction in FSK: [-0.024063,-0.215815,-0.976138] 2025-01-08T23:51:12.118Z,1736380272.118 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:12.122Z,1736380272.122 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.584656 2025-01-08T23:51:12.193Z,1736380272.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:12.246Z,1736380272.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.504635 s, deltaX: 0.199997 m, approachRate: 0.396320 m/s, rangeRepo size: 4 2025-01-08T23:51:12.253Z,1736380272.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.599998 m, bearing: 91.936768 deg, lat: 36.905289 deg, lon: -122.119955 deg, deltaT: 1.006868 s, deltaX: 0.199997 m, approachRate: 0.198633 m/s, posRepo size: 4 2025-01-08T23:51:12.254Z,1736380272.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T23:51:12.409Z,1736380272.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:12.414Z,1736380272.414 [DAT](INFO): DAT read: Rx Time:23:51:11.3945 2025-01-08T23:51:12.415Z,1736380272.415 [DAT](INFO): Rx dataTimestamp_ set to:1736380272.414670 2025-01-08T23:51:12.417Z,1736380272.417 [DAT](INFO): DAT read: Bearing 232.6, -4.6 (Local) 2025-01-08T23:51:12.417Z,1736380272.417 [DAT](INFO): Local bearing/azimuth received: Bearing 232.6, -4.6 (Local) 2025-01-08T23:51:12.419Z,1736380272.419 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T23:51:12.424Z,1736380272.424 [DAT](INFO): DAT read: 23:51:11.3945 LVL= 22192, 16001, 12386, 23267, AGC= 57, IDX= 511, 0.14, 2.296,-1.665,-1.799,-2.308, PHS=-1.592, 0.690, 0.506, RAW= 274.2, 3.6, CAL= 277.4, 4.6, ROT= 232.6, -4.6 2025-01-08T23:51:12.425Z,1736380272.425 [DAT](INFO): got valid direction response: 23:51:11.3945 LVL= 22192, 16001, 12386, 23267, AGC= 57, IDX= 511, 0.14, 2.296,-1.665,-1.799,-2.308, PHS=-1.592, 0.690, 0.506, RAW= 274.2, 3.6, CAL= 277.4, 4.6, ROT= 232.6, -4.6 2025-01-08T23:51:12.425Z,1736380272.425 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-01-08T23:51:12.426Z,1736380272.426 [DAT](INFO): direction in FSK: [0.021623,-0.031474,-0.999271] 2025-01-08T23:51:12.427Z,1736380272.427 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:12.442Z,1736380272.442 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.904438 2025-01-08T23:51:12.660Z,1736380272.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:12.662Z,1736380272.662 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.124153 2025-01-08T23:51:12.749Z,1736380272.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:12.764Z,1736380272.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.309344 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:12.766Z,1736380272.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.599998 m, bearing: 25.095406 deg, lat: 36.905285 deg, lon: -122.119953 deg, deltaT: 0.309344 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T23:51:12.766Z,1736380272.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T23:51:12.914Z,1736380272.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:12.916Z,1736380272.916 [DAT](INFO): DAT read: Rx Time:23:51:11.8946 2025-01-08T23:51:12.916Z,1736380272.916 [DAT](INFO): Rx dataTimestamp_ set to:1736380272.916205 2025-01-08T23:51:12.918Z,1736380272.918 [DAT](INFO): DAT read: Bearing 59.7, 18.5 (Local) 2025-01-08T23:51:12.918Z,1736380272.918 [DAT](INFO): Local bearing/azimuth received: Bearing 59.7, 18.5 (Local) 2025-01-08T23:51:12.921Z,1736380272.921 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:12.926Z,1736380272.926 [DAT](INFO): DAT read: 23:51:11.8946 LVL= 17808, 18289, 13730, 24499, AGC= 54, IDX= 513,-0.29,-2.692, 2.232, 1.964, 2.400, PHS= 1.279,-0.120,-0.439, RAW= 80.0, -9.1, CAL= 90.3, -18.5, ROT= 59.7, 18.5 2025-01-08T23:51:12.927Z,1736380272.927 [DAT](INFO): got valid direction response: 23:51:11.8946 LVL= 17808, 18289, 13730, 24499, AGC= 54, IDX= 513,-0.29,-2.692, 2.232, 1.964, 2.400, PHS= 1.279,-0.120,-0.439, RAW= 80.0, -9.1, CAL= 90.3, -18.5, ROT= 59.7, 18.5 2025-01-08T23:51:12.928Z,1736380272.928 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-01-08T23:51:12.928Z,1736380272.928 [DAT](INFO): direction in FSK: [0.105006,0.264433,0.958670] 2025-01-08T23:51:12.929Z,1736380272.929 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:12.949Z,1736380272.949 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.411926 2025-01-08T23:51:13.164Z,1736380273.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:13.165Z,1736380273.165 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.627960 2025-01-08T23:51:13.187Z,1736380273.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:13.223Z,1736380273.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.501535 s, deltaX: 0.100002 m, approachRate: 0.199392 m/s, rangeRepo size: 4 2025-01-08T23:51:13.225Z,1736380273.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 277.546672 deg, lat: 36.905274 deg, lon: -122.119953 deg, deltaT: 0.501535 s, deltaX: 0.100002 m, approachRate: 0.199392 m/s, posRepo size: 4 2025-01-08T23:51:13.226Z,1736380273.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:13.416Z,1736380273.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:13.418Z,1736380273.418 [DAT](INFO): DAT read: Rx Time:23:51:12.3945 2025-01-08T23:51:13.418Z,1736380273.418 [DAT](INFO): Rx dataTimestamp_ set to:1736380273.417813 2025-01-08T23:51:13.420Z,1736380273.420 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T23:51:13.421Z,1736380273.421 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-01-08T23:51:13.423Z,1736380273.423 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.885185 2025-01-08T23:51:13.637Z,1736380273.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:13.648Z,1736380273.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.501608 s, deltaX: -0.100002 m, approachRate: -0.199363 m/s, rangeRepo size: 4 2025-01-08T23:51:13.649Z,1736380273.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:13.668Z,1736380273.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:13.669Z,1736380273.669 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.131607 2025-01-08T23:51:13.921Z,1736380273.921 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:13.923Z,1736380273.923 [DAT](INFO): DAT read: Rx Time:23:51:12.8945 2025-01-08T23:51:13.924Z,1736380273.924 [DAT](INFO): Rx dataTimestamp_ set to:1736380273.923599 2025-01-08T23:51:13.926Z,1736380273.926 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T23:51:13.927Z,1736380273.927 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-01-08T23:51:13.929Z,1736380273.929 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.391621 2025-01-08T23:51:14.076Z,1736380274.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:14.086Z,1736380274.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.505786 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:14.087Z,1736380274.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:14.172Z,1736380274.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:14.173Z,1736380274.173 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.635483 2025-01-08T23:51:14.426Z,1736380274.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:14.430Z,1736380274.430 [DAT](INFO): DAT read: Rx Time:23:51:13.3944 2025-01-08T23:51:14.432Z,1736380274.432 [DAT](INFO): Rx dataTimestamp_ set to:1736380274.430691 2025-01-08T23:51:14.436Z,1736380274.436 [DAT](INFO): DAT read: Bearing 234.0, -4.7 (Local) 2025-01-08T23:51:14.437Z,1736380274.437 [DAT](INFO): Local bearing/azimuth received: Bearing 234.0, -4.7 (Local) 2025-01-08T23:51:14.441Z,1736380274.441 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed 0.0 2025-01-08T23:51:14.464Z,1736380274.464 [DAT](INFO): DAT read: 23:51:13.3944 LVL= 20144, 17905, 12946, 24355, AGC= 55, IDX= 511, 0.12, 1.413,-2.538,-2.613, 3.122, PHS=-1.621, 0.671, 0.545, RAW= 272.8, 3.7, CAL= 276.0, 4.7, ROT= 234.0, -4.7 2025-01-08T23:51:14.467Z,1736380274.467 [DAT](INFO): got valid direction response: 23:51:13.3944 LVL= 20144, 17905, 12946, 24355, AGC= 55, IDX= 511, 0.12, 1.413,-2.538,-2.613, 3.122, PHS=-1.621, 0.671, 0.545, RAW= 272.8, 3.7, CAL= 276.0, 4.7, ROT= 234.0, -4.7 2025-01-08T23:51:14.475Z,1736380274.475 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-01-08T23:51:14.496Z,1736380274.496 [DAT](INFO): direction in FSK: [0.019199,-0.055171,-0.998292] 2025-01-08T23:51:14.496Z,1736380274.496 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:14.512Z,1736380274.512 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.974754 2025-01-08T23:51:14.547Z,1736380274.547 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 95.81, 93.13, 78.51 2025-01-08T23:51:14.554Z,1736380274.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:51:14.555Z,1736380274.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:14.617Z,1736380274.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.507092 s, deltaX: -0.199997 m, approachRate: -0.394400 m/s, rangeRepo size: 4 2025-01-08T23:51:14.623Z,1736380274.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.400002 m, bearing: 27.756388 deg, lat: 36.905263 deg, lon: -122.119950 deg, deltaT: 1.514486 s, deltaX: -0.299999 m, approachRate: -0.198087 m/s, posRepo size: 4 2025-01-08T23:51:14.624Z,1736380274.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m. 2025-01-08T23:51:14.677Z,1736380274.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:14.678Z,1736380274.678 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.140617 2025-01-08T23:51:14.928Z,1736380274.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:14.929Z,1736380274.929 [DAT](INFO): DAT read: Rx Time:23:51:13.8946 2025-01-08T23:51:14.930Z,1736380274.930 [DAT](INFO): Rx dataTimestamp_ set to:1736380274.928763 2025-01-08T23:51:14.931Z,1736380274.931 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:14.932Z,1736380274.932 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-01-08T23:51:14.933Z,1736380274.933 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.395535 2025-01-08T23:51:15.036Z,1736380275.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-08T23:51:15.036Z,1736380275.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:15.052Z,1736380275.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.498072 s, deltaX: 0.299999 m, approachRate: 0.602321 m/s, rangeRepo size: 4 2025-01-08T23:51:15.052Z,1736380275.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m. 2025-01-08T23:51:15.180Z,1736380275.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:15.181Z,1736380275.181 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.643772 2025-01-08T23:51:15.434Z,1736380275.434 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:15.436Z,1736380275.436 [DAT](INFO): DAT read: Rx Time:23:51:14.3945 2025-01-08T23:51:15.438Z,1736380275.438 [DAT](INFO): Rx dataTimestamp_ set to:1736380275.436943 2025-01-08T23:51:15.439Z,1736380275.439 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T23:51:15.442Z,1736380275.442 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-01-08T23:51:15.443Z,1736380275.443 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.905499 2025-01-08T23:51:15.578Z,1736380275.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:15.599Z,1736380275.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.508180 s, deltaX: -0.100002 m, approachRate: -0.196785 m/s, rangeRepo size: 4 2025-01-08T23:51:15.600Z,1736380275.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m. 2025-01-08T23:51:15.684Z,1736380275.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:15.685Z,1736380275.685 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.147427 2025-01-08T23:51:15.927Z,1736380275.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:15.936Z,1736380275.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:15.937Z,1736380275.937 [DAT](INFO): DAT read: Rx Time:23:51:14.8946 2025-01-08T23:51:15.937Z,1736380275.937 [DAT](INFO): Rx dataTimestamp_ set to:1736380275.936906 2025-01-08T23:51:15.938Z,1736380275.938 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:15.948Z,1736380275.948 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-01-08T23:51:15.949Z,1736380275.949 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.411732 2025-01-08T23:51:15.974Z,1736380275.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.499963 s, deltaX: 0.100002 m, approachRate: 0.200019 m/s, rangeRepo size: 4 2025-01-08T23:51:15.974Z,1736380275.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m. 2025-01-08T23:51:16.188Z,1736380276.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:16.190Z,1736380276.190 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.652653 2025-01-08T23:51:16.311Z,1736380276.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:16.332Z,1736380276.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m. 2025-01-08T23:51:16.441Z,1736380276.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:16.444Z,1736380276.444 [DAT](INFO): DAT read: Rx Time:23:51:15.3945 2025-01-08T23:51:16.446Z,1736380276.446 [DAT](INFO): Rx dataTimestamp_ set to:1736380276.444740 2025-01-08T23:51:16.450Z,1736380276.450 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T23:51:16.454Z,1736380276.454 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-01-08T23:51:16.458Z,1736380276.458 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.920078 2025-01-08T23:51:16.692Z,1736380276.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:16.692Z,1736380276.692 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.155315 2025-01-08T23:51:16.761Z,1736380276.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:16.771Z,1736380276.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.507834 s, deltaX: -0.100002 m, approachRate: -0.196919 m/s, rangeRepo size: 4 2025-01-08T23:51:16.772Z,1736380276.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m. 2025-01-08T23:51:16.944Z,1736380276.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:16.945Z,1736380276.945 [DAT](INFO): DAT read: Rx Time:23:51:15.8946 2025-01-08T23:51:16.945Z,1736380276.945 [DAT](INFO): Rx dataTimestamp_ set to:1736380276.944735 2025-01-08T23:51:16.947Z,1736380276.947 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:16.948Z,1736380276.948 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-01-08T23:51:16.949Z,1736380276.949 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.411442 2025-01-08T23:51:17.196Z,1736380277.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:17.198Z,1736380277.198 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.660667 2025-01-08T23:51:17.228Z,1736380277.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:17.238Z,1736380277.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.499995 s, deltaX: 0.100002 m, approachRate: 0.200007 m/s, rangeRepo size: 4 2025-01-08T23:51:17.239Z,1736380277.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m. 2025-01-08T23:51:17.451Z,1736380277.451 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:17.454Z,1736380277.454 [DAT](INFO): DAT read: Rx Time:23:51:16.3945 2025-01-08T23:51:17.456Z,1736380277.456 [DAT](INFO): Rx dataTimestamp_ set to:1736380277.454932 2025-01-08T23:51:17.460Z,1736380277.460 [DAT](INFO): DAT read: Bearing 237.2, -4.6 (Local) 2025-01-08T23:51:17.461Z,1736380277.461 [DAT](INFO): Local bearing/azimuth received: Bearing 237.2, -4.6 (Local) 2025-01-08T23:51:17.469Z,1736380277.469 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T23:51:17.502Z,1736380277.502 [DAT](INFO): DAT read: 23:51:16.3945 LVL= 19504, 17265, 12834, 25475, AGC= 50, IDX= 511, 0.22, 0.877, 3.142,-3.070, 2.587, PHS=-1.621, 0.602, 0.623, RAW= 269.5, 3.6, CAL= 272.8, 4.6, ROT= 237.2, -4.6 2025-01-08T23:51:17.503Z,1736380277.503 [DAT](INFO): got valid direction response: 23:51:16.3945 LVL= 19504, 17265, 12834, 25475, AGC= 50, IDX= 511, 0.22, 0.877, 3.142,-3.070, 2.587, PHS=-1.621, 0.602, 0.623, RAW= 269.5, 3.6, CAL= 272.8, 4.6, ROT= 237.2, -4.6 2025-01-08T23:51:17.507Z,1736380277.507 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-01-08T23:51:17.508Z,1736380277.508 [DAT](INFO): direction in FSK: [0.015861,-0.111899,-0.993593] 2025-01-08T23:51:17.509Z,1736380277.509 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:17.517Z,1736380277.517 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.979584 2025-01-08T23:51:17.684Z,1736380277.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:17.700Z,1736380277.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:17.701Z,1736380277.701 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.163387 2025-01-08T23:51:17.724Z,1736380277.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.510197 s, deltaX: -0.100002 m, approachRate: -0.196007 m/s, rangeRepo size: 4 2025-01-08T23:51:17.726Z,1736380277.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.599998 m, bearing: 41.040586 deg, lat: 36.905234 deg, lon: -122.119950 deg, deltaT: 3.024241 s, deltaX: 0.199997 m, approachRate: 0.066131 m/s, posRepo size: 4 2025-01-08T23:51:17.731Z,1736380277.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T23:51:17.954Z,1736380277.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:17.957Z,1736380277.957 [DAT](INFO): DAT read: Rx Time:23:51:16.8945 2025-01-08T23:51:17.957Z,1736380277.957 [DAT](INFO): Rx dataTimestamp_ set to:1736380277.956794 2025-01-08T23:51:17.958Z,1736380277.958 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T23:51:17.959Z,1736380277.959 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-01-08T23:51:17.960Z,1736380277.960 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.422813 2025-01-08T23:51:18.060Z,1736380278.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:18.075Z,1736380278.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.501862 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:18.076Z,1736380278.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T23:51:18.204Z,1736380278.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:18.204Z,1736380278.204 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.667332 2025-01-08T23:51:18.458Z,1736380278.458 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:18.462Z,1736380278.462 [DAT](INFO): DAT read: Rx Time:23:51:17.3944 2025-01-08T23:51:18.464Z,1736380278.464 [DAT](INFO): Rx dataTimestamp_ set to:1736380278.463350 2025-01-08T23:51:18.468Z,1736380278.468 [DAT](INFO): DAT read: Bearing 238.3, -4.5 (Local) 2025-01-08T23:51:18.469Z,1736380278.469 [DAT](INFO): Local bearing/azimuth received: Bearing 238.3, -4.5 (Local) 2025-01-08T23:51:18.477Z,1736380278.477 [DAT](INFO): DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed 0.0 2025-01-08T23:51:18.535Z,1736380278.535 [DAT](INFO): DAT read: 23:51:17.3944 LVL= 19536, 18545, 14562, 26451, AGC= 54, IDX= 510, 0.08, 0.356, 2.600, 2.720, 2.065, PHS=-1.620, 0.583, 0.652, RAW= 268.5, 3.5, CAL= 271.7, 4.5, ROT= 238.3, -4.5 2025-01-08T23:51:18.537Z,1736380278.537 [DAT](INFO): got valid direction response: 23:51:17.3944 LVL= 19536, 18545, 14562, 26451, AGC= 54, IDX= 510, 0.08, 0.356, 2.600, 2.720, 2.065, PHS=-1.620, 0.583, 0.652, RAW= 268.5, 3.5, CAL= 271.7, 4.5, ROT= 238.3, -4.5 2025-01-08T23:51:18.537Z,1736380278.537 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-01-08T23:51:18.538Z,1736380278.538 [DAT](INFO): direction in FSK: [0.016236,-0.130288,-0.991343] 2025-01-08T23:51:18.538Z,1736380278.538 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:18.562Z,1736380278.562 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.025166 2025-01-08T23:51:18.678Z,1736380278.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:18.708Z,1736380278.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:18.709Z,1736380278.709 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.171715 2025-01-08T23:51:18.711Z,1736380278.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.506556 s, deltaX: -0.199997 m, approachRate: -0.394817 m/s, rangeRepo size: 4 2025-01-08T23:51:18.725Z,1736380278.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.400002 m, bearing: 46.310006 deg, lat: 36.905234 deg, lon: -122.119955 deg, deltaT: 1.008418 s, deltaX: -0.199997 m, approachRate: -0.198327 m/s, posRepo size: 4 2025-01-08T23:51:18.725Z,1736380278.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m. 2025-01-08T23:51:18.960Z,1736380278.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:18.961Z,1736380278.961 [DAT](INFO): DAT read: Rx Time:23:51:17.8947 2025-01-08T23:51:18.962Z,1736380278.962 [DAT](INFO): Rx dataTimestamp_ set to:1736380278.961520 2025-01-08T23:51:18.964Z,1736380278.964 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T23:51:18.965Z,1736380278.965 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-01-08T23:51:18.966Z,1736380278.966 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.429295 2025-01-08T23:51:19.117Z,1736380279.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:19.127Z,1736380279.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.498170 s, deltaX: 0.500000 m, approachRate: 1.003673 m/s, rangeRepo size: 4 2025-01-08T23:51:19.127Z,1736380279.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m. 2025-01-08T23:51:19.212Z,1736380279.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:19.213Z,1736380279.213 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.675823 2025-01-08T23:51:19.466Z,1736380279.466 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:19.470Z,1736380279.470 [DAT](INFO): DAT read: Rx Time:23:51:18.3946 2025-01-08T23:51:19.472Z,1736380279.472 [DAT](INFO): Rx dataTimestamp_ set to:1736380279.470276 2025-01-08T23:51:19.476Z,1736380279.476 [DAT](INFO): DAT read: Bearing 238.8, -4.4 (Local) 2025-01-08T23:51:19.477Z,1736380279.477 [DAT](INFO): Local bearing/azimuth received: Bearing 238.8, -4.4 (Local) 2025-01-08T23:51:19.490Z,1736380279.490 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:19.547Z,1736380279.547 [DAT](INFO): DAT read: 23:51:18.3946 LVL= 19680, 18545, 13682, 25923, AGC= 54, IDX= 511, 0.14, 0.943,-3.136,-2.998, 2.627, PHS=-1.595, 0.568, 0.655, RAW= 268.0, 3.4, CAL= 271.2, 4.4, ROT= 238.8, -4.4 2025-01-08T23:51:19.558Z,1736380279.558 [DAT](INFO): got valid direction response: 23:51:18.3946 LVL= 19680, 18545, 13682, 25923, AGC= 54, IDX= 511, 0.14, 0.943,-3.136,-2.998, 2.627, PHS=-1.595, 0.568, 0.655, RAW= 268.0, 3.4, CAL= 271.2, 4.4, ROT= 238.8, -4.4 2025-01-08T23:51:19.559Z,1736380279.559 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-01-08T23:51:19.584Z,1736380279.584 [DAT](INFO): direction in FSK: [0.016915,-0.137663,-0.990335] 2025-01-08T23:51:19.584Z,1736380279.584 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:19.598Z,1736380279.598 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.060730 2025-01-08T23:51:19.660Z,1736380279.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:19.715Z,1736380279.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.508756 s, deltaX: -0.200001 m, approachRate: -0.393117 m/s, rangeRepo size: 4 2025-01-08T23:51:19.716Z,1736380279.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:19.717Z,1736380279.717 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.179497 2025-01-08T23:51:19.721Z,1736380279.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 48.417272 deg, lat: 36.905225 deg, lon: -122.119959 deg, deltaT: 1.006926 s, deltaX: 0.299999 m, approachRate: 0.297936 m/s, posRepo size: 4 2025-01-08T23:51:19.722Z,1736380279.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:19.970Z,1736380279.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:19.972Z,1736380279.972 [DAT](INFO): DAT read: Rx Time:23:51:18.8946 2025-01-08T23:51:19.972Z,1736380279.972 [DAT](INFO): Rx dataTimestamp_ set to:1736380279.971945 2025-01-08T23:51:19.973Z,1736380279.973 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:19.974Z,1736380279.974 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-01-08T23:51:19.975Z,1736380279.975 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.437817 2025-01-08T23:51:20.069Z,1736380280.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:20.090Z,1736380280.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.501669 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:20.091Z,1736380280.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:20.220Z,1736380280.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:20.221Z,1736380280.221 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.683598 2025-01-08T23:51:20.425Z,1736380280.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:20.436Z,1736380280.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:20.473Z,1736380280.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:20.476Z,1736380280.476 [DAT](INFO): DAT read: Rx Time:23:51:19.3946 2025-01-08T23:51:20.478Z,1736380280.478 [DAT](INFO): Rx dataTimestamp_ set to:1736380280.477246 2025-01-08T23:51:20.483Z,1736380280.483 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:20.485Z,1736380280.485 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-01-08T23:51:20.494Z,1736380280.494 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.956470 2025-01-08T23:51:20.724Z,1736380280.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:20.725Z,1736380280.725 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.187843 2025-01-08T23:51:20.922Z,1736380280.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:20.935Z,1736380280.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.505301 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:20.936Z,1736380280.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:20.976Z,1736380280.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:20.977Z,1736380280.977 [DAT](INFO): DAT read: Rx Time:23:51:19.8947 2025-01-08T23:51:20.977Z,1736380280.977 [DAT](INFO): Rx dataTimestamp_ set to:1736380280.977178 2025-01-08T23:51:20.979Z,1736380280.979 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T23:51:20.980Z,1736380280.980 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-01-08T23:51:20.981Z,1736380280.981 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.443844 2025-01-08T23:51:21.228Z,1736380281.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:21.228Z,1736380281.228 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.691330 2025-01-08T23:51:21.333Z,1736380281.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:21.342Z,1736380281.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.499932 s, deltaX: 0.200001 m, approachRate: 0.400056 m/s, rangeRepo size: 4 2025-01-08T23:51:21.342Z,1736380281.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:21.482Z,1736380281.482 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:21.484Z,1736380281.484 [DAT](INFO): DAT read: Rx Time:23:51:20.3946 2025-01-08T23:51:21.486Z,1736380281.486 [DAT](INFO): Rx dataTimestamp_ set to:1736380281.484902 2025-01-08T23:51:21.499Z,1736380281.499 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:21.502Z,1736380281.502 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-01-08T23:51:21.510Z,1736380281.510 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.972397 2025-01-08T23:51:21.732Z,1736380281.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:21.732Z,1736380281.732 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.195122 2025-01-08T23:51:21.785Z,1736380281.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:51:21.785Z,1736380281.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:21.795Z,1736380281.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.507724 s, deltaX: -0.200001 m, approachRate: -0.393916 m/s, rangeRepo size: 4 2025-01-08T23:51:21.795Z,1736380281.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:21.984Z,1736380281.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:21.985Z,1736380281.985 [DAT](INFO): DAT read: Rx Time:23:51:20.8946 2025-01-08T23:51:21.985Z,1736380281.985 [DAT](INFO): Rx dataTimestamp_ set to:1736380281.984962 2025-01-08T23:51:21.986Z,1736380281.986 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:21.987Z,1736380281.987 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-01-08T23:51:21.988Z,1736380281.988 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.450962 2025-01-08T23:51:22.132Z,1736380282.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:51:22.133Z,1736380282.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:22.142Z,1736380282.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.500060 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:22.142Z,1736380282.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:22.236Z,1736380282.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:22.237Z,1736380282.237 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.700035 2025-01-08T23:51:22.489Z,1736380282.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:22.493Z,1736380282.493 [DAT](INFO): DAT read: Rx Time:23:51:21.3945 2025-01-08T23:51:22.495Z,1736380282.495 [DAT](INFO): Rx dataTimestamp_ set to:1736380282.493713 2025-01-08T23:51:22.505Z,1736380282.505 [DAT](INFO): DAT read: Bearing 237.4, -5.3 (Local) 2025-01-08T23:51:22.507Z,1736380282.507 [DAT](INFO): Local bearing/azimuth received: Bearing 237.4, -5.3 (Local) 2025-01-08T23:51:22.546Z,1736380282.546 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T23:51:22.572Z,1736380282.572 [DAT](INFO): DAT read: 23:51:21.3945 LVL= 19568, 16753, 11554, 23779, AGC= 52, IDX= 511,-0.04,-2.172, 0.052, 0.141,-0.470, PHS=-1.614, 0.569, 0.608, RAW= 269.1, 4.0, CAL= 272.6, 5.3, ROT= 237.4, -5.3 2025-01-08T23:51:22.573Z,1736380282.573 [DAT](INFO): got valid direction response: 23:51:21.3945 LVL= 19568, 16753, 11554, 23779, AGC= 52, IDX= 511,-0.04,-2.172, 0.052, 0.141,-0.470, PHS=-1.614, 0.569, 0.608, RAW= 269.1, 4.0, CAL= 272.6, 5.3, ROT= 237.4, -5.3 2025-01-08T23:51:22.573Z,1736380282.573 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-01-08T23:51:22.574Z,1736380282.574 [DAT](INFO): direction in FSK: [0.007076,-0.118500,-0.992929] 2025-01-08T23:51:22.575Z,1736380282.575 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:22.586Z,1736380282.586 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.049076 2025-01-08T23:51:22.735Z,1736380282.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:22.740Z,1736380282.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:22.741Z,1736380282.741 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.203487 2025-01-08T23:51:22.766Z,1736380282.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.508751 s, deltaX: -0.100002 m, approachRate: -0.196564 m/s, rangeRepo size: 4 2025-01-08T23:51:22.772Z,1736380282.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.599998 m, bearing: 36.341594 deg, lat: 36.905229 deg, lon: -122.119959 deg, deltaT: 3.023437 s, deltaX: -0.100002 m, approachRate: -0.033076 m/s, posRepo size: 4 2025-01-08T23:51:22.772Z,1736380282.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T23:51:22.992Z,1736380282.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:22.993Z,1736380282.993 [DAT](INFO): DAT read: Rx Time:23:51:21.8947 2025-01-08T23:51:22.993Z,1736380282.993 [DAT](INFO): Rx dataTimestamp_ set to:1736380282.992790 2025-01-08T23:51:22.994Z,1736380282.994 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T23:51:22.995Z,1736380282.995 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-01-08T23:51:22.997Z,1736380282.997 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.459064 2025-01-08T23:51:23.172Z,1736380283.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:23.182Z,1736380283.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.499077 s, deltaX: 0.300003 m, approachRate: 0.601116 m/s, rangeRepo size: 4 2025-01-08T23:51:23.182Z,1736380283.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T23:51:23.244Z,1736380283.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:23.245Z,1736380283.245 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.707367 2025-01-08T23:51:23.497Z,1736380283.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:23.506Z,1736380283.506 [DAT](INFO): DAT read: Rx Time:23:51:22.3946 2025-01-08T23:51:23.507Z,1736380283.507 [DAT](INFO): Rx dataTimestamp_ set to:1736380283.506345 2025-01-08T23:51:23.511Z,1736380283.511 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:23.514Z,1736380283.514 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-01-08T23:51:23.518Z,1736380283.518 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.979977 2025-01-08T23:51:23.665Z,1736380283.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:23.701Z,1736380283.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.513555 s, deltaX: -0.200001 m, approachRate: -0.389444 m/s, rangeRepo size: 4 2025-01-08T23:51:23.702Z,1736380283.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T23:51:23.749Z,1736380283.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:23.750Z,1736380283.750 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.212772 2025-01-08T23:51:23.000Z,1736380284.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:24.001Z,1736380284.001 [DAT](INFO): DAT read: Rx Time:23:51:22.8947 2025-01-08T23:51:24.001Z,1736380284.001 [DAT](INFO): Rx dataTimestamp_ set to:1736380284.001146 2025-01-08T23:51:24.003Z,1736380284.003 [DAT](INFO): DAT read: Bearing 275.4, -17.1 (Local) 2025-01-08T23:51:24.005Z,1736380284.005 [DAT](INFO): Local bearing/azimuth received: Bearing 275.4, -17.1 (Local) 2025-01-08T23:51:24.007Z,1736380284.007 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T23:51:24.012Z,1736380284.012 [DAT](INFO): DAT read: 23:51:22.8947 LVL= 16176, 15137, 11810, 21379, AGC= 52, IDX= 513,-0.08,-2.939,-2.356,-0.743,-1.515, PHS=-1.336,-0.794, 0.769, RAW= 224.4, 14.3, CAL= 234.6, 17.1, ROT= 275.4, -17.1 2025-01-08T23:51:24.013Z,1736380284.013 [DAT](INFO): got valid direction response: 23:51:22.8947 LVL= 16176, 15137, 11810, 21379, AGC= 52, IDX= 513,-0.08,-2.939,-2.356,-0.743,-1.515, PHS=-1.336,-0.794, 0.769, RAW= 224.4, 14.3, CAL= 234.6, 17.1, ROT= 275.4, -17.1 2025-01-08T23:51:24.014Z,1736380284.014 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-01-08T23:51:24.015Z,1736380284.015 [DAT](INFO): direction in FSK: [-0.263533,-0.723878,-0.637613] 2025-01-08T23:51:24.015Z,1736380284.015 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:24.018Z,1736380284.018 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.481213 2025-01-08T23:51:24.172Z,1736380284.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:24.208Z,1736380284.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.494801 s, deltaX: 0.200001 m, approachRate: 0.404204 m/s, rangeRepo size: 4 2025-01-08T23:51:24.210Z,1736380284.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.900002 m, bearing: 127.530130 deg, lat: 36.905225 deg, lon: -122.119959 deg, deltaT: 1.507433 s, deltaX: 0.300003 m, approachRate: 0.199016 m/s, posRepo size: 4 2025-01-08T23:51:24.211Z,1736380284.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T23:51:24.252Z,1736380284.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:24.253Z,1736380284.253 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.715714 2025-01-08T23:51:24.506Z,1736380284.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:24.507Z,1736380284.507 [DAT](INFO): DAT read: Rx Time:23:51:23.3947 2025-01-08T23:51:24.507Z,1736380284.507 [DAT](INFO): Rx dataTimestamp_ set to:1736380284.506912 2025-01-08T23:51:24.509Z,1736380284.509 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T23:51:24.509Z,1736380284.509 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-01-08T23:51:24.510Z,1736380284.510 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.972916 2025-01-08T23:51:24.682Z,1736380284.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:24.691Z,1736380284.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.505766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:24.696Z,1736380284.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T23:51:24.761Z,1736380284.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:24.763Z,1736380284.763 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.225136 2025-01-08T23:51:25.012Z,1736380285.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:25.014Z,1736380285.014 [DAT](INFO): DAT read: Rx Time:23:51:23.8948 2025-01-08T23:51:25.014Z,1736380285.014 [DAT](INFO): Rx dataTimestamp_ set to:1736380285.013985 2025-01-08T23:51:25.016Z,1736380285.016 [DAT](INFO): DAT read: Bearing 237.6, -5.2 (Local) 2025-01-08T23:51:25.016Z,1736380285.016 [DAT](INFO): Local bearing/azimuth received: Bearing 237.6, -5.2 (Local) 2025-01-08T23:51:25.018Z,1736380285.018 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 2025-01-08T23:51:25.023Z,1736380285.023 [DAT](INFO): DAT read: 23:51:23.8948 LVL= 18064, 18193, 8498, 17603, AGC= 59, IDX= 2,-0.24, 2.067,-1.967,-1.870,-2.494, PHS=-1.634, 0.574, 0.621, RAW= 269.0, 4.0, CAL= 272.4, 5.2, ROT= 237.6, -5.2 2025-01-08T23:51:25.024Z,1736380285.024 [DAT](INFO): got valid direction response: 23:51:23.8948 LVL= 18064, 18193, 8498, 17603, AGC= 59, IDX= 2,-0.24, 2.067,-1.967,-1.870,-2.494, PHS=-1.634, 0.574, 0.621, RAW= 269.0, 4.0, CAL= 272.4, 5.2, ROT= 237.6, -5.2 2025-01-08T23:51:25.024Z,1736380285.024 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-01-08T23:51:25.025Z,1736380285.025 [DAT](INFO): direction in FSK: [0.007470,-0.121398,-0.992576] 2025-01-08T23:51:25.026Z,1736380285.026 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:25.034Z,1736380285.034 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.496357 2025-01-08T23:51:25.084Z,1736380285.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:25.136Z,1736380285.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.507073 s, deltaX: 0.099998 m, approachRate: 0.197207 m/s, rangeRepo size: 4 2025-01-08T23:51:25.138Z,1736380285.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.000000 m, bearing: 35.155611 deg, lat: 36.905225 deg, lon: -122.119963 deg, deltaT: 1.012839 s, deltaX: 0.099998 m, approachRate: 0.098731 m/s, posRepo size: 4 2025-01-08T23:51:25.139Z,1736380285.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:51:25.264Z,1736380285.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:25.265Z,1736380285.265 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.727856 2025-01-08T23:51:25.457Z,1736380285.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:25.466Z,1736380285.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:51:25.517Z,1736380285.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:25.521Z,1736380285.521 [DAT](INFO): DAT read: Rx Time:23:51:24.3948 2025-01-08T23:51:25.522Z,1736380285.522 [DAT](INFO): Rx dataTimestamp_ set to:1736380285.521529 2025-01-08T23:51:25.527Z,1736380285.527 [DAT](INFO): DAT read: Bearing 237.5, -5.5 (Local) 2025-01-08T23:51:25.528Z,1736380285.528 [DAT](INFO): Local bearing/azimuth received: Bearing 237.5, -5.5 (Local) 2025-01-08T23:51:25.534Z,1736380285.534 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 2025-01-08T23:51:25.592Z,1736380285.592 [DAT](INFO): DAT read: 23:51:24.3948 LVL= 17440, 14993, 12018, 20979, AGC= 56, IDX= 497,-0.19,-2.018, 0.179, 0.273,-0.328, PHS=-1.602, 0.553, 0.598, RAW= 269.0, 4.2, CAL= 272.5, 5.5, ROT= 237.5, -5.5 2025-01-08T23:51:25.593Z,1736380285.593 [DAT](INFO): got valid direction response: 23:51:24.3948 LVL= 17440, 14993, 12018, 20979, AGC= 56, IDX= 497,-0.19,-2.018, 0.179, 0.273,-0.328, PHS=-1.602, 0.553, 0.598, RAW= 269.0, 4.2, CAL= 272.5, 5.5, ROT= 237.5, -5.5 2025-01-08T23:51:25.594Z,1736380285.594 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-01-08T23:51:25.594Z,1736380285.594 [DAT](INFO): direction in FSK: [0.003493,-0.120818,-0.992669] 2025-01-08T23:51:25.595Z,1736380285.595 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:25.602Z,1736380285.602 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.065201 2025-01-08T23:51:25.768Z,1736380285.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:25.769Z,1736380285.769 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.231415 2025-01-08T23:51:25.919Z,1736380285.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:25.933Z,1736380285.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.507544 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:25.936Z,1736380285.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.000000 m, bearing: 34.845210 deg, lat: 36.905227 deg, lon: -122.119975 deg, deltaT: 0.507544 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T23:51:25.936Z,1736380285.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:51:26.020Z,1736380286.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:26.021Z,1736380286.021 [DAT](INFO): DAT read: Rx Time:23:51:24.8948 2025-01-08T23:51:26.022Z,1736380286.022 [DAT](INFO): Rx dataTimestamp_ set to:1736380286.021274 2025-01-08T23:51:26.023Z,1736380286.023 [DAT](INFO): DAT read: Bearing 317.1, -17.2 (Local) 2025-01-08T23:51:26.024Z,1736380286.024 [DAT](INFO): Local bearing/azimuth received: Bearing 317.1, -17.2 (Local) 2025-01-08T23:51:26.026Z,1736380286.026 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 2025-01-08T23:51:26.031Z,1736380286.031 [DAT](INFO): DAT read: 23:51:24.8948 LVL= 17856, 16289, 13634, 239054, IDX= 513, 0.10,-2.908, 2.951,-1.603,-2.164, PHS=-0.656,-1.122, 0.558, RAW= 194.4, 16.0, CAL= 192.9, 17.2, ROT= 317.1, -17.2 2025-01-08T23:51:26.032Z,1736380286.032 [DAT](INFO): unknown deviceResponse_: 23:51:24.8948 LVL= 17856, 16289, 13634, 239054, IDX= 513, 0.10,-2.908, 2.951,-1.603,-2.164, PHS=-0.656,-1.122, 0.558, RAW= 194.4, 16.0, CAL= 192.9, 17.2, ROT= 317.1, -17.2 2025-01-08T23:51:26.032Z,1736380286.032 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-01-08T23:51:26.033Z,1736380286.033 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.495960 2025-01-08T23:51:26.272Z,1736380286.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:26.273Z,1736380286.273 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.735809 2025-01-08T23:51:26.356Z,1736380286.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:26.421Z,1736380286.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.499745 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:26.422Z,1736380286.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:51:26.524Z,1736380286.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:26.525Z,1736380286.525 [DAT](INFO): DAT read: Rx Time:23:51:25.3948 2025-01-08T23:51:26.526Z,1736380286.526 [DAT](INFO): Rx dataTimestamp_ set to:1736380286.525266 2025-01-08T23:51:26.527Z,1736380286.527 [DAT](INFO): DAT read: Bearing 246.9, -4.0 (Local) 2025-01-08T23:51:26.527Z,1736380286.527 [DAT](INFO): Local bearing/azimuth received: Bearing 246.9, -4.0 (Local) 2025-01-08T23:51:26.534Z,1736380286.534 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 2025-01-08T23:51:26.539Z,1736380286.539 [DAT](INFO): DAT read: 23:51:25.3948 LVL= 16048, 15713, 12930, 22579, AGC= 54, IDX= 512, 0.23, 2.682,-1.998,-1.555,-2.260, PHS=-1.253, 0.310, 0.702, RAW= 259.1, 2.7, CAL= 263.1, 4.0, ROT= 246.9, -4.0 2025-01-08T23:51:26.544Z,1736380286.544 [DAT](INFO): got valid direction response: 23:51:25.3948 LVL= 16048, 15713, 12930, 22579, AGC= 54, IDX= 512, 0.23, 2.682,-1.998,-1.555,-2.260, PHS=-1.253, 0.310, 0.702, RAW= 259.1, 2.7, CAL= 263.1, 4.0, ROT= 246.9, -4.0 2025-01-08T23:51:26.544Z,1736380286.544 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-01-08T23:51:26.545Z,1736380286.545 [DAT](INFO): direction in FSK: [0.014825,-0.288327,-0.957417] 2025-01-08T23:51:26.545Z,1736380286.545 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:26.636Z,1736380286.636 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.098740 2025-01-08T23:51:26.777Z,1736380286.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:26.777Z,1736380286.777 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.240128 2025-01-08T23:51:26.943Z,1736380286.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:26.967Z,1736380286.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.503992 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:26.973Z,1736380286.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.000000 m, bearing: 120.639945 deg, lat: 36.905227 deg, lon: -122.119975 deg, deltaT: 1.003737 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T23:51:26.973Z,1736380286.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:51:27.031Z,1736380287.031 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:27.032Z,1736380287.032 [DAT](INFO): DAT read: Rx Time:23:51:25.8949 2025-01-08T23:51:27.033Z,1736380287.033 [DAT](INFO): Rx dataTimestamp_ set to:1736380287.032609 2025-01-08T23:51:27.034Z,1736380287.034 [DAT](INFO): DAT read: Bearing 238.8, -5.6 (Local) 2025-01-08T23:51:27.034Z,1736380287.034 [DAT](INFO): Local bearing/azimuth received: Bearing 238.8, -5.6 (Local) 2025-01-08T23:51:27.037Z,1736380287.037 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 2025-01-08T23:51:27.042Z,1736380287.042 [DAT](INFO): DAT read: 23:51:25.8949 LVL= 13392, 12049, 7922, 15219, AGC= 57, IDX= 1, 0.15, 0.703, 2.866, 3.018, 2.389, PHS=-1.598, 0.523, 0.626, RAW= 267.7, 4.2, CAL= 271.2, 5.6, ROT= 238.8, -5.6 2025-01-08T23:51:27.043Z,1736380287.043 [DAT](INFO): got valid direction response: 23:51:25.8949 LVL= 13392, 12049, 7922, 15219, AGC= 57, IDX= 1, 0.15, 0.703, 2.866, 3.018, 2.389, PHS=-1.598, 0.523, 0.626, RAW= 267.7, 4.2, CAL= 271.2, 5.6, ROT= 238.8, -5.6 2025-01-08T23:51:27.051Z,1736380287.051 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-01-08T23:51:27.052Z,1736380287.052 [DAT](INFO): direction in FSK: [0.001637,-0.143529,-0.989645] 2025-01-08T23:51:27.052Z,1736380287.052 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:27.084Z,1736380287.084 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.546429 2025-01-08T23:51:27.284Z,1736380287.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:27.284Z,1736380287.284 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.747257 2025-01-08T23:51:27.392Z,1736380287.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:27.435Z,1736380287.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.507343 s, deltaX: 0.200001 m, approachRate: 0.394212 m/s, rangeRepo size: 4 2025-01-08T23:51:27.441Z,1736380287.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.200001 m, bearing: 45.217151 deg, lat: 36.905215 deg, lon: -122.119972 deg, deltaT: 0.507343 s, deltaX: 0.200001 m, approachRate: 0.394212 m/s, posRepo size: 4 2025-01-08T23:51:27.441Z,1736380287.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:27.536Z,1736380287.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:27.537Z,1736380287.537 [DAT](INFO): DAT read: Rx Time:23:51:26.3948 2025-01-08T23:51:27.538Z,1736380287.538 [DAT](INFO): Rx dataTimestamp_ set to:1736380287.537332 2025-01-08T23:51:27.539Z,1736380287.539 [DAT](INFO): DAT read: Bearing 239.1, -5.4 (Local) 2025-01-08T23:51:27.539Z,1736380287.539 [DAT](INFO): Local bearing/azimuth received: Bearing 239.1, -5.4 (Local) 2025-01-08T23:51:27.541Z,1736380287.541 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 2025-01-08T23:51:27.548Z,1736380287.548 [DAT](INFO): DAT read: 23:51:26.3948 LVL= 17632, 15441, 12562, 23347, AGC= 52, IDX= 496, 0.16,-0.657, 1.496, 1.663, 1.023, PHS=-1.592, 0.520, 0.637, RAW= 267.3, 4.0, CAL= 270.9, 5.4, ROT= 239.1, -5.4 2025-01-08T23:51:27.574Z,1736380287.574 [DAT](INFO): got valid direction response: 23:51:26.3948 LVL= 17632, 15441, 12562, 23347, AGC= 52, IDX= 496, 0.16,-0.657, 1.496, 1.663, 1.023, PHS=-1.592, 0.520, 0.637, RAW= 267.3, 4.0, CAL= 270.9, 5.4, ROT= 239.1, -5.4 2025-01-08T23:51:27.581Z,1736380287.581 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-01-08T23:51:27.588Z,1736380287.588 [DAT](INFO): direction in FSK: [0.003554,-0.149165,-0.988806] 2025-01-08T23:51:27.589Z,1736380287.589 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:27.621Z,1736380287.621 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.083450 2025-01-08T23:51:27.788Z,1736380287.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:27.789Z,1736380287.789 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.251549 2025-01-08T23:51:27.939Z,1736380287.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:27.954Z,1736380287.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.504723 s, deltaX: -0.200001 m, approachRate: -0.396258 m/s, rangeRepo size: 4 2025-01-08T23:51:27.957Z,1736380287.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.000000 m, bearing: 48.635746 deg, lat: 36.905215 deg, lon: -122.119973 deg, deltaT: 0.504723 s, deltaX: -0.200001 m, approachRate: -0.396258 m/s, posRepo size: 4 2025-01-08T23:51:27.957Z,1736380287.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m. 2025-01-08T23:51:28.040Z,1736380288.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:28.041Z,1736380288.041 [DAT](INFO): DAT read: Rx Time:23:51:26.8949 2025-01-08T23:51:28.042Z,1736380288.042 [DAT](INFO): Rx dataTimestamp_ set to:1736380288.041487 2025-01-08T23:51:28.043Z,1736380288.043 [DAT](INFO): DAT read: Bearing 240.1, -5.5 (Local) 2025-01-08T23:51:28.043Z,1736380288.043 [DAT](INFO): Local bearing/azimuth received: Bearing 240.1, -5.5 (Local) 2025-01-08T23:51:28.046Z,1736380288.046 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 2025-01-08T23:51:28.055Z,1736380288.055 [DAT](INFO): DAT read: 23:51:26.8949 LVL= 15152, 9233, 7138, 14563, AGC= 54, IDX= 1, 0.12, 0.326, 2.483, 2.698, 2.028, PHS=-1.614, 0.503, 0.667, RAW= 266.3, 4.1, CAL= 269.9, 5.5, ROT= 240.1, -5.5 2025-01-08T23:51:28.056Z,1736380288.056 [DAT](INFO): got valid direction response: 23:51:26.8949 LVL= 15152, 9233, 7138, 14563, AGC= 54, IDX= 1, 0.12, 0.326, 2.483, 2.698, 2.028, PHS=-1.614, 0.503, 0.667, RAW= 266.3, 4.1, CAL= 269.9, 5.5, ROT= 240.1, -5.5 2025-01-08T23:51:28.056Z,1736380288.056 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-01-08T23:51:28.057Z,1736380288.057 [DAT](INFO): direction in FSK: [0.001415,-0.166522,-0.986037] 2025-01-08T23:51:28.057Z,1736380288.057 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:28.086Z,1736380288.086 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.548412 2025-01-08T23:51:28.292Z,1736380288.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:28.292Z,1736380288.292 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.755287 2025-01-08T23:51:28.333Z,1736380288.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:28.358Z,1736380288.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.504155 s, deltaX: 0.200001 m, approachRate: 0.396705 m/s, rangeRepo size: 4 2025-01-08T23:51:28.380Z,1736380288.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.200001 m, bearing: 59.443517 deg, lat: 36.905211 deg, lon: -122.119972 deg, deltaT: 0.504155 s, deltaX: 0.200001 m, approachRate: 0.396705 m/s, posRepo size: 4 2025-01-08T23:51:28.382Z,1736380288.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:28.544Z,1736380288.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:28.546Z,1736380288.546 [DAT](INFO): DAT read: Rx Time:23:51:27.3947 2025-01-08T23:51:28.547Z,1736380288.547 [DAT](INFO): Rx dataTimestamp_ set to:1736380288.546486 2025-01-08T23:51:28.549Z,1736380288.549 [DAT](INFO): DAT read: Bearing 241.1, -5.5 (Local) 2025-01-08T23:51:28.549Z,1736380288.549 [DAT](INFO): Local bearing/azimuth received: Bearing 241.1, -5.5 (Local) 2025-01-08T23:51:28.551Z,1736380288.551 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T23:51:28.556Z,1736380288.556 [DAT](INFO): DAT read: 23:51:27.3947 LVL= 19344, 15825, 12530, 22003, AGC= 52, IDX= 496, 0.04,-1.209, 0.952, 1.214, 0.512, PHS=-1.632, 0.488, 0.700, RAW= 265.3, 4.0, CAL= 268.9, 5.5, ROT= 241.1, -5.5 2025-01-08T23:51:28.557Z,1736380288.557 [DAT](INFO): got valid direction response: 23:51:27.3947 LVL= 19344, 15825, 12530, 22003, AGC= 52, IDX= 496, 0.04,-1.209, 0.952, 1.214, 0.512, PHS=-1.632, 0.488, 0.700, RAW= 265.3, 4.0, CAL= 268.9, 5.5, ROT= 241.1, -5.5 2025-01-08T23:51:28.557Z,1736380288.557 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-01-08T23:51:28.558Z,1736380288.558 [DAT](INFO): direction in FSK: [0.000797,-0.183834,-0.982957] 2025-01-08T23:51:28.561Z,1736380288.561 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:28.567Z,1736380288.567 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.029617 2025-01-08T23:51:28.796Z,1736380288.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:28.797Z,1736380288.797 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.259979 2025-01-08T23:51:28.808Z,1736380288.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:28.843Z,1736380288.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504999 s, deltaX: -0.299999 m, approachRate: -0.594059 m/s, rangeRepo size: 4 2025-01-08T23:51:28.849Z,1736380288.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.900002 m, bearing: 69.894230 deg, lat: 36.905203 deg, lon: -122.119969 deg, deltaT: 0.504999 s, deltaX: -0.299999 m, approachRate: -0.594059 m/s, posRepo size: 4 2025-01-08T23:51:28.850Z,1736380288.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T23:51:29.049Z,1736380289.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:29.050Z,1736380289.050 [DAT](INFO): DAT read: Rx Time:23:51:27.8948 2025-01-08T23:51:29.051Z,1736380289.051 [DAT](INFO): Rx dataTimestamp_ set to:1736380289.050325 2025-01-08T23:51:29.052Z,1736380289.052 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 2025-01-08T23:51:29.053Z,1736380289.053 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-01-08T23:51:29.053Z,1736380289.053 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.516335 2025-01-08T23:51:29.138Z,1736380289.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:29.153Z,1736380289.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:51:29.160Z,1736380289.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.503839 s, deltaX: 0.099998 m, approachRate: 0.198473 m/s, rangeRepo size: 4 2025-01-08T23:51:29.160Z,1736380289.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T23:51:29.300Z,1736380289.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:29.301Z,1736380289.301 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.763996 2025-01-08T23:51:29.552Z,1736380289.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:29.553Z,1736380289.553 [DAT](INFO): DAT read: Rx Time:23:51:28.3947 2025-01-08T23:51:29.553Z,1736380289.553 [DAT](INFO): Rx dataTimestamp_ set to:1736380289.552903 2025-01-08T23:51:29.554Z,1736380289.554 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T23:51:29.555Z,1736380289.555 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-01-08T23:51:29.556Z,1736380289.556 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.018997 2025-01-08T23:51:29.572Z,1736380289.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:29.655Z,1736380289.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.502578 s, deltaX: -0.099998 m, approachRate: -0.198971 m/s, rangeRepo size: 4 2025-01-08T23:51:29.664Z,1736380289.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T23:51:29.804Z,1736380289.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:29.804Z,1736380289.804 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.267277 2025-01-08T23:51:30.056Z,1736380290.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:30.057Z,1736380290.057 [DAT](INFO): DAT read: Rx Time:23:51:28.8947 2025-01-08T23:51:30.058Z,1736380290.058 [DAT](INFO): Rx dataTimestamp_ set to:1736380290.057260 2025-01-08T23:51:30.059Z,1736380290.059 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T23:51:30.059Z,1736380290.059 [DAT](ERROR): #Rx 119: Read range message, but no direction. 2025-01-08T23:51:30.060Z,1736380290.060 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.523239 2025-01-08T23:51:30.153Z,1736380290.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:30.162Z,1736380290.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504357 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:30.163Z,1736380290.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T23:51:30.308Z,1736380290.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:30.308Z,1736380290.308 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.771286 2025-01-08T23:51:30.482Z,1736380290.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:30.491Z,1736380290.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T23:51:30.560Z,1736380290.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:30.561Z,1736380290.561 [DAT](INFO): DAT read: Rx Time:23:51:29.3946 2025-01-08T23:51:30.561Z,1736380290.561 [DAT](INFO): Rx dataTimestamp_ set to:1736380290.560828 2025-01-08T23:51:30.563Z,1736380290.563 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:30.564Z,1736380290.564 [DAT](ERROR): #Rx 120: Read range message, but no direction. 2025-01-08T23:51:30.565Z,1736380290.565 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:51:30.565Z,1736380290.565 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:51:30.566Z,1736380290.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:30.812Z,1736380290.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:30.812Z,1736380290.812 [DAT](INFO): Reached modem response timeout 2025-01-08T23:51:30.812Z,1736380290.812 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:30.812Z,1736380290.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:30.908Z,1736380290.908 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:51:30.914Z,1736380290.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:30.925Z,1736380290.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.503568 s, deltaX: -0.200001 m, approachRate: -0.397167 m/s, rangeRepo size: 4 2025-01-08T23:51:30.926Z,1736380290.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T23:51:31.064Z,1736380291.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:31.065Z,1736380291.065 [DAT](INFO): DAT read: Rx Time:23:51:29.8947 2025-01-08T23:51:31.066Z,1736380291.066 [DAT](INFO): Rx dataTimestamp_ set to:1736380291.065510 2025-01-08T23:51:31.070Z,1736380291.070 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T23:51:31.070Z,1736380291.070 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:51:31.071Z,1736380291.071 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:31.071Z,1736380291.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:31.284Z,1736380291.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:31.294Z,1736380291.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504682 s, deltaX: 0.200001 m, approachRate: 0.396291 m/s, rangeRepo size: 4 2025-01-08T23:51:31.294Z,1736380291.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T23:51:31.329Z,1736380291.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:31.330Z,1736380291.330 [DAT](INFO): Reached modem response timeout 2025-01-08T23:51:31.330Z,1736380291.330 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:31.330Z,1736380291.330 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:31.580Z,1736380291.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:31.581Z,1736380291.581 [DAT](INFO): DAT read: Rx Time:23:51:30.3946 2025-01-08T23:51:31.582Z,1736380291.582 [DAT](INFO): Rx dataTimestamp_ set to:1736380291.581625 2025-01-08T23:51:31.583Z,1736380291.583 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:31.584Z,1736380291.584 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:51:31.585Z,1736380291.585 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:31.585Z,1736380291.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:31.761Z,1736380291.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:31.778Z,1736380291.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.516115 s, deltaX: -0.200001 m, approachRate: -0.387512 m/s, rangeRepo size: 4 2025-01-08T23:51:31.778Z,1736380291.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T23:51:31.832Z,1736380291.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:31.832Z,1736380291.832 [DAT](INFO): Reached modem response timeout 2025-01-08T23:51:31.833Z,1736380291.833 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:31.833Z,1736380291.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:31.912Z,1736380291.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:51:32.084Z,1736380292.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:32.085Z,1736380292.085 [DAT](INFO): DAT read: Rx Time:23:51:30.8946 2025-01-08T23:51:32.085Z,1736380292.085 [DAT](INFO): Rx dataTimestamp_ set to:1736380292.084847 2025-01-08T23:51:32.086Z,1736380292.086 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:32.088Z,1736380292.088 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:51:32.088Z,1736380292.088 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:32.088Z,1736380292.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:32.097Z,1736380292.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:32.106Z,1736380292.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.503222 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:32.107Z,1736380292.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T23:51:32.336Z,1736380292.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:32.336Z,1736380292.336 [DAT](INFO): Reached modem response timeout 2025-01-08T23:51:32.336Z,1736380292.336 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:32.337Z,1736380292.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:32.492Z,1736380292.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:32.502Z,1736380292.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m. 2025-01-08T23:51:32.588Z,1736380292.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:32.589Z,1736380292.589 [DAT](INFO): DAT read: Rx Time:23:51:31.3945 2025-01-08T23:51:32.589Z,1736380292.589 [DAT](INFO): Rx dataTimestamp_ set to:1736380292.589204 2025-01-08T23:51:32.591Z,1736380292.591 [DAT](INFO): DAT read: Bearing 245.6, -4.2 (Local) 2025-01-08T23:51:32.591Z,1736380292.591 [DAT](INFO): Local bearing/azimuth received: Bearing 245.6, -4.2 (Local) 2025-01-08T23:51:32.593Z,1736380292.593 [DAT](INFO): DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 2025-01-08T23:51:32.603Z,1736380292.603 [DAT](INFO): DAT read: 23:51:31.3945 LVL= 17072, 13793, 14322, 23219, AGC= 54, IDX= 510, 0.18,-2.733,-0.693,-0.213,-1.060, PHS=-1.585, 0.414, 0.844, RAW= 260.5, 3.0, CAL= 264.4, 4.2, ROT= 245.6, -4.2 2025-01-08T23:51:32.604Z,1736380292.604 [DAT](INFO): got valid direction response: 23:51:31.3945 LVL= 17072, 13793, 14322, 23219, AGC= 54, IDX= 510, 0.18,-2.733,-0.693,-0.213,-1.060, PHS=-1.585, 0.414, 0.844, RAW= 260.5, 3.0, CAL= 264.4, 4.2, ROT= 245.6, -4.2 2025-01-08T23:51:32.604Z,1736380292.604 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:51:32.605Z,1736380292.605 [DAT](INFO): direction in FSK: [0.012993,-0.265588,-0.963999] 2025-01-08T23:51:32.605Z,1736380292.605 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:32.609Z,1736380292.609 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:32.609Z,1736380292.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:32.840Z,1736380292.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:32.840Z,1736380292.840 [DAT](INFO): Reached modem response timeout 2025-01-08T23:51:32.840Z,1736380292.840 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:32.841Z,1736380292.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:32.975Z,1736380292.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:33.028Z,1736380293.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.504357 s, deltaX: -0.100002 m, approachRate: -0.198277 m/s, rangeRepo size: 4 2025-01-08T23:51:33.030Z,1736380293.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.599998 m, bearing: 119.821261 deg, lat: 36.905203 deg, lon: -122.119969 deg, deltaT: 4.042718 s, deltaX: -0.300003 m, approachRate: -0.074208 m/s, posRepo size: 4 2025-01-08T23:51:33.031Z,1736380293.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.60 m. 2025-01-08T23:51:33.093Z,1736380293.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:33.096Z,1736380293.096 [DAT](INFO): DAT read: Rx Time:23:51:31.8946 2025-01-08T23:51:33.097Z,1736380293.097 [DAT](INFO): Rx dataTimestamp_ set to:1736380293.096798 2025-01-08T23:51:33.100Z,1736380293.100 [DAT](INFO): DAT read: Bearing 246.1, -4.1 (Local) 2025-01-08T23:51:33.101Z,1736380293.101 [DAT](INFO): Local bearing/azimuth received: Bearing 246.1, -4.1 (Local) 2025-01-08T23:51:33.104Z,1736380293.104 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:33.129Z,1736380293.129 [DAT](INFO): DAT read: 23:51:31.8946 LVL= 17296, 14177, 14018, 23075, AGC= 54, IDX= 511, 0.10,-1.036, 0.983, 1.481, 0.623, PHS=-1.571, 0.407, 0.856, RAW= 260.0, 2.8, CAL= 263.9, 4.1, ROT= 246.1, -4.1 2025-01-08T23:51:33.131Z,1736380293.131 [DAT](INFO): got valid direction response: 23:51:31.8946 LVL= 17296, 14177, 14018, 23075, AGC= 54, IDX= 511, 0.10,-1.036, 0.983, 1.481, 0.623, PHS=-1.571, 0.407, 0.856, RAW= 260.0, 2.8, CAL= 263.9, 4.1, ROT= 246.1, -4.1 2025-01-08T23:51:33.136Z,1736380293.136 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:51:33.137Z,1736380293.137 [DAT](INFO): direction in FSK: [0.015218,-0.273390,-0.961783] 2025-01-08T23:51:33.137Z,1736380293.137 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:33.144Z,1736380293.144 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:33.145Z,1736380293.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:33.344Z,1736380293.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:33.344Z,1736380293.344 [DAT](INFO): Reached modem response timeout 2025-01-08T23:51:33.344Z,1736380293.344 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:33.344Z,1736380293.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:33.466Z,1736380293.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:33.481Z,1736380293.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.507594 s, deltaX: 0.100002 m, approachRate: 0.197012 m/s, rangeRepo size: 4 2025-01-08T23:51:33.483Z,1736380293.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.700001 m, bearing: 122.857521 deg, lat: 36.905195 deg, lon: -122.119967 deg, deltaT: 0.507594 s, deltaX: 0.100002 m, approachRate: 0.197012 m/s, posRepo size: 4 2025-01-08T23:51:33.484Z,1736380293.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:33.597Z,1736380293.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:33.598Z,1736380293.598 [DAT](INFO): DAT read: Rx Time:23:51:32.3946 2025-01-08T23:51:33.598Z,1736380293.598 [DAT](INFO): Rx dataTimestamp_ set to:1736380293.597972 2025-01-08T23:51:33.600Z,1736380293.600 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:33.600Z,1736380293.600 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:51:33.601Z,1736380293.601 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:33.601Z,1736380293.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:33.848Z,1736380293.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:33.848Z,1736380293.848 [DAT](INFO): Reached modem response timeout 2025-01-08T23:51:33.849Z,1736380293.849 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:33.850Z,1736380293.850 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:33.934Z,1736380293.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:33.943Z,1736380293.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.501174 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:33.944Z,1736380293.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:34.100Z,1736380294.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:34.101Z,1736380294.101 [DAT](INFO): DAT read: Rx Time:23:51:32.8947 2025-01-08T23:51:34.102Z,1736380294.102 [DAT](INFO): Rx dataTimestamp_ set to:1736380294.101541 2025-01-08T23:51:34.103Z,1736380294.103 [DAT](INFO): DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 2025-01-08T23:51:34.104Z,1736380294.104 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:51:34.104Z,1736380294.104 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:34.105Z,1736380294.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:34.325Z,1736380294.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:34.336Z,1736380294.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.503569 s, deltaX: 0.200001 m, approachRate: 0.397167 m/s, rangeRepo size: 4 2025-01-08T23:51:34.336Z,1736380294.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:34.352Z,1736380294.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:34.352Z,1736380294.352 [DAT](INFO): Reached modem response timeout 2025-01-08T23:51:34.352Z,1736380294.352 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:34.353Z,1736380294.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:34.604Z,1736380294.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:34.605Z,1736380294.605 [DAT](INFO): DAT read: R ime:23:51:33.3946 2025-01-08T23:51:34.606Z,1736380294.606 [DAT](INFO): unknown deviceResponse_: R ime:23:51:33.3946 2025-01-08T23:51:34.607Z,1736380294.607 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 2025-01-08T23:51:34.607Z,1736380294.607 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:51:34.608Z,1736380294.608 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:34.608Z,1736380294.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:34.800Z,1736380294.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:34.837Z,1736380294.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.502907 s, deltaX: -0.200001 m, approachRate: -0.397689 m/s, rangeRepo size: 4 2025-01-08T23:51:34.837Z,1736380294.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:34.856Z,1736380294.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:34.856Z,1736380294.856 [DAT](INFO): DAT read: user:3509> 2025-01-08T23:51:34.857Z,1736380294.857 [DAT](INFO): Reached modem response timeout 2025-01-08T23:51:34.857Z,1736380294.857 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:51:34.857Z,1736380294.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:51:35.108Z,1736380295.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:35.108Z,1736380295.108 [DAT](INFO): DAT read: Tx time:23:51:34.2981 2025-01-08T23:51:35.109Z,1736380295.109 [DAT](INFO): Ping request sent. 2025-01-08T23:51:35.109Z,1736380295.109 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:51:35.110Z,1736380295.110 [DAT](INFO): DAT read: TxSync time:23:51:34.2973 2025-01-08T23:51:35.110Z,1736380295.110 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:35.110Z,1736380295.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001549 2025-01-08T23:51:35.221Z,1736380295.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:35.231Z,1736380295.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:35.362Z,1736380295.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:35.368Z,1736380295.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.259135 2025-01-08T23:51:35.612Z,1736380295.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:35.613Z,1736380295.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503908 2025-01-08T23:51:35.709Z,1736380295.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:35.748Z,1736380295.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:35.865Z,1736380295.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:35.866Z,1736380295.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756682 2025-01-08T23:51:36.080Z,1736380296.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:36.088Z,1736380296.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:36.120Z,1736380296.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:36.122Z,1736380296.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012712 2025-01-08T23:51:36.372Z,1736380296.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:36.373Z,1736380296.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263676 2025-01-08T23:51:36.510Z,1736380296.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:36.519Z,1736380296.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:36.624Z,1736380296.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:36.625Z,1736380296.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515605 2025-01-08T23:51:36.876Z,1736380296.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:36.876Z,1736380296.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767482 2025-01-08T23:51:36.990Z,1736380296.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:37.000Z,1736380297.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:37.128Z,1736380297.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:37.128Z,1736380297.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019490 2025-01-08T23:51:37.380Z,1736380297.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:37.381Z,1736380297.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271875 2025-01-08T23:51:37.393Z,1736380297.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:37.402Z,1736380297.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:37.632Z,1736380297.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:37.634Z,1736380297.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524099 2025-01-08T23:51:37.829Z,1736380297.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:37.857Z,1736380297.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:37.885Z,1736380297.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:37.886Z,1736380297.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777082 2025-01-08T23:51:38.136Z,1736380298.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:38.136Z,1736380298.136 [DAT](INFO): DAT read: Rx Time:23:51:36.7745 2025-01-08T23:51:38.137Z,1736380298.137 [DAT](INFO): Rx dataTimestamp_ set to:1736380298.136606 2025-01-08T23:51:38.137Z,1736380298.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028485 2025-01-08T23:51:38.272Z,1736380298.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:38.281Z,1736380298.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-01-08T23:51:38.388Z,1736380298.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:38.388Z,1736380298.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279447 2025-01-08T23:51:38.642Z,1736380298.642 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:38.664Z,1736380298.664 [DAT](INFO): DAT read: 23:51:36.7745 LVL= 12432, 9169, 6674, 12771, AGC= 55, IDX= 16,-0.29,-0.895, 1.043, 1.651, 0.723, PHS=-1.530, 0.368, 0.925, RAW= 257.5, 2.2, CAL= 261.4, 3.4, ROT= 248.6, -3.4 2025-01-08T23:51:38.666Z,1736380298.666 [DAT](INFO): got valid direction response: 23:51:36.7745 LVL= 12432, 9169, 6674, 12771, AGC= 55, IDX= 16,-0.29,-0.895, 1.043, 1.651, 0.723, PHS=-1.530, 0.368, 0.925, RAW= 257.5, 2.2, CAL= 261.4, 3.4, ROT= 248.6, -3.4 2025-01-08T23:51:38.669Z,1736380298.669 [DAT](INFO): DAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed 0.0 m/s 2025-01-08T23:51:38.670Z,1736380298.670 [DAT](INFO): DAT read: user:3510> 2025-01-08T23:51:38.691Z,1736380298.691 [DAT](INFO): DAT read: Tx time:23:51:37.8481 2025-01-08T23:51:38.692Z,1736380298.692 [DAT](INFO): Ping request sent. 2025-01-08T23:51:38.692Z,1736380298.692 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:51:38.693Z,1736380298.693 [DAT](INFO): DAT read: TxSync time:23:51:37.8473 2025-01-08T23:51:38.693Z,1736380298.693 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:51:38.694Z,1736380298.694 [DAT](INFO): direction in FSK: [0.022789,-0.314425,-0.949009] 2025-01-08T23:51:38.694Z,1736380298.694 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:38.694Z,1736380298.694 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:38.706Z,1736380298.706 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:38.706Z,1736380298.706 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:38.884Z,1736380298.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:38.892Z,1736380298.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:38.924Z,1736380298.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 4.037568 s, deltaX: 0.399998 m, approachRate: 0.099069 m/s, rangeRepo size: 4 2025-01-08T23:51:38.926Z,1736380298.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.099998 m, bearing: 128.174241 deg, lat: 36.905151 deg, lon: -122.119967 deg, deltaT: 5.545218 s, deltaX: 0.399998 m, approachRate: 0.072134 m/s, posRepo size: 4 2025-01-08T23:51:38.926Z,1736380298.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T23:51:39.144Z,1736380299.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:39.326Z,1736380299.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:39.335Z,1736380299.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T23:51:39.396Z,1736380299.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:39.648Z,1736380299.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:39.761Z,1736380299.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:39.820Z,1736380299.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T23:51:39.901Z,1736380299.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:40.151Z,1736380300.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:40.152Z,1736380300.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:40.161Z,1736380300.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T23:51:40.404Z,1736380300.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:40.564Z,1736380300.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:40.572Z,1736380300.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T23:51:40.656Z,1736380300.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:40.908Z,1736380300.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:40.985Z,1736380300.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:41.003Z,1736380301.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T23:51:41.162Z,1736380301.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:41.400Z,1736380301.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:41.409Z,1736380301.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T23:51:41.412Z,1736380301.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:41.664Z,1736380301.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:41.665Z,1736380301.665 [DAT](INFO): DAT read: Rx Time:23:51:40.3247 2025-01-08T23:51:41.666Z,1736380301.666 [DAT](INFO): Rx dataTimestamp_ set to:1736380301.665367 2025-01-08T23:51:41.873Z,1736380301.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:41.881Z,1736380301.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.10 m. 2025-01-08T23:51:41.916Z,1736380301.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:42.168Z,1736380302.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:42.174Z,1736380302.174 [DAT](INFO): DAT read: 23:51:40.3248 LVL= 18144, 15121, 11842, 23699, AGC= 55, IDX= 450, 0.09, 2.744,-1.682,-0.962,-1.948, PHS=-1.503, 0.313, 0.984, RAW= 254.9, 1.9, CAL= 258.9, 3.0, ROT= 251.1, -3.0 2025-01-08T23:51:42.176Z,1736380302.176 [DAT](INFO): got valid direction response: 23:51:40.3248 LVL= 18144, 15121, 11842, 23699, AGC= 55, IDX= 450, 0.09, 2.744,-1.682,-0.962,-1.948, PHS=-1.503, 0.313, 0.984, RAW= 254.9, 1.9, CAL= 258.9, 3.0, ROT= 251.1, -3.0 2025-01-08T23:51:42.177Z,1736380302.177 [DAT](INFO): DAT read: Bearing 251.1, -3.0 (Local) 2025-01-08T23:51:42.177Z,1736380302.177 [DAT](INFO): Local bearing/azimuth received: Bearing 251.1, -3.0 (Local) 2025-01-08T23:51:42.178Z,1736380302.178 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (Round-trip 72.4 ms) speed 0.0 m/s 2025-01-08T23:51:42.180Z,1736380302.180 [DAT](INFO): DAT read: user:3511> 2025-01-08T23:51:42.181Z,1736380302.181 [DAT](INFO): DAT read: Tx time:23:51:41.4482 2025-01-08T23:51:42.181Z,1736380302.181 [DAT](INFO): Ping request sent. 2025-01-08T23:51:42.181Z,1736380302.181 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:51:42.181Z,1736380302.181 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-01-08T23:51:42.182Z,1736380302.182 [DAT](INFO): direction in FSK: [0.023281,-0.356410,-0.934040] 2025-01-08T23:51:42.183Z,1736380302.183 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:42.183Z,1736380302.183 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:42.186Z,1736380302.186 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:42.186Z,1736380302.186 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:42.365Z,1736380302.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:42.420Z,1736380302.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:42.421Z,1736380302.421 [DAT](INFO): DAT read: TxSync time:23:51:41.4474 2025-01-08T23:51:42.427Z,1736380302.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 3.525850 s, deltaX: 0.200001 m, approachRate: 0.056724 m/s, rangeRepo size: 4 2025-01-08T23:51:42.430Z,1736380302.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.299999 m, bearing: 131.526137 deg, lat: 36.905147 deg, lon: -122.119966 deg, deltaT: 3.525850 s, deltaX: 0.200001 m, approachRate: 0.056724 m/s, posRepo size: 4 2025-01-08T23:51:42.431Z,1736380302.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T23:51:42.672Z,1736380302.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:42.911Z,1736380302.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:42.920Z,1736380302.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T23:51:42.924Z,1736380302.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:43.176Z,1736380303.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:43.278Z,1736380303.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:43.287Z,1736380303.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T23:51:43.428Z,1736380303.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:43.665Z,1736380303.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:43.680Z,1736380303.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:43.700Z,1736380303.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T23:51:43.932Z,1736380303.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:44.114Z,1736380304.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:44.122Z,1736380304.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T23:51:44.184Z,1736380304.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:44.436Z,1736380304.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:44.478Z,1736380304.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:44.488Z,1736380304.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T23:51:44.688Z,1736380304.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:44.923Z,1736380304.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:44.940Z,1736380304.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:44.963Z,1736380304.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T23:51:45.192Z,1736380305.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:45.193Z,1736380305.193 [DAT](INFO): DAT read: Rx Time:23:51:43.9247 2025-01-08T23:51:45.194Z,1736380305.194 [DAT](INFO): Rx dataTimestamp_ set to:1736380305.193664 2025-01-08T23:51:45.360Z,1736380305.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:45.370Z,1736380305.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-01-08T23:51:45.444Z,1736380305.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:45.696Z,1736380305.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:45.703Z,1736380305.703 [DAT](INFO): DAT read: 23:51:43.9247 LVL= 18064, 15777, 12722, 23155, AGC= 53, IDX= 433,-0.20, 1.866,-2.633,-1.805,-2.878, PHS=-1.451, 0.292, 1.070, RAW= 252.5, 0.8, CAL= 255.9, 1.7, ROT= 254.1, -1.7 2025-01-08T23:51:45.704Z,1736380305.704 [DAT](INFO): got valid direction response: 23:51:43.9247 LVL= 18064, 15777, 12722, 23155, AGC= 53, IDX= 433,-0.20, 1.866,-2.633,-1.805,-2.878, PHS=-1.451, 0.292, 1.070, RAW= 252.5, 0.8, CAL= 255.9, 1.7, ROT= 254.1, -1.7 2025-01-08T23:51:45.705Z,1736380305.705 [DAT](INFO): DAT read: Bearing 254.1, -1.7 (Local) 2025-01-08T23:51:45.705Z,1736380305.705 [DAT](INFO): Local bearing/azimuth received: Bearing 254.1, -1.7 (Local) 2025-01-08T23:51:45.707Z,1736380305.707 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (Round-trip 72.3 ms) speed 0.0 m/s 2025-01-08T23:51:45.737Z,1736380305.737 [DAT](INFO): DAT read: user:3512> 2025-01-08T23:51:45.738Z,1736380305.738 [DAT](INFO): DAT read: Tx time:23:51:45.0482 2025-01-08T23:51:45.738Z,1736380305.738 [DAT](INFO): Ping request sent. 2025-01-08T23:51:45.738Z,1736380305.738 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:51:45.739Z,1736380305.739 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-01-08T23:51:45.756Z,1736380305.756 [DAT](INFO): direction in FSK: [0.038766,-0.395357,-0.917709] 2025-01-08T23:51:45.756Z,1736380305.756 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:45.756Z,1736380305.756 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:45.772Z,1736380305.772 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:45.772Z,1736380305.772 [DAT](INFO): publishing direction and range info 2025-01-08T23:51:45.894Z,1736380305.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:45.940Z,1736380305.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 3.528770 s, deltaX: -0.099998 m, approachRate: -0.028338 m/s, rangeRepo size: 4 2025-01-08T23:51:45.942Z,1736380305.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.200001 m, bearing: 138.298620 deg, lat: 36.905127 deg, lon: -122.119962 deg, deltaT: 3.528770 s, deltaX: -0.099998 m, approachRate: -0.028338 m/s, posRepo size: 4 2025-01-08T23:51:45.942Z,1736380305.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:45.948Z,1736380305.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:45.949Z,1736380305.949 [DAT](INFO): DAT read: TxSync time:23:51:45.0474 2025-01-08T23:51:46.200Z,1736380306.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:46.357Z,1736380306.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:46.366Z,1736380306.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:46.452Z,1736380306.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:46.705Z,1736380306.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:46.775Z,1736380306.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:46.784Z,1736380306.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:46.956Z,1736380306.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:47.187Z,1736380307.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:47.197Z,1736380307.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:47.208Z,1736380307.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:47.460Z,1736380307.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:47.557Z,1736380307.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:47.567Z,1736380307.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:47.712Z,1736380307.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:47.964Z,1736380307.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:47.997Z,1736380307.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:48.021Z,1736380308.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:48.216Z,1736380308.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:48.431Z,1736380308.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:48.439Z,1736380308.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:48.468Z,1736380308.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:48.720Z,1736380308.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:48.720Z,1736380308.720 [DAT](INFO): DAT read: Rx Time:23:51:47.5246 2025-01-08T23:51:48.721Z,1736380308.721 [DAT](INFO): Rx dataTimestamp_ set to:1736380308.720541 2025-01-08T23:51:48.823Z,1736380308.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:48.833Z,1736380308.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:48.972Z,1736380308.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:49.224Z,1736380309.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:49.225Z,1736380309.225 [DAT](INFO): DAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed 0.0 m/s 2025-01-08T23:51:49.226Z,1736380309.226 [DAT](INFO): DAT read: user:3513> 2025-01-08T23:51:49.227Z,1736380309.227 [DAT](INFO): DAT read: Tx time:23:51:48.5982 2025-01-08T23:51:49.227Z,1736380309.227 [DAT](INFO): Ping request sent. 2025-01-08T23:51:49.227Z,1736380309.227 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:51:49.228Z,1736380309.228 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-01-08T23:51:49.228Z,1736380309.228 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:49.228Z,1736380309.228 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:49.316Z,1736380309.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:49.334Z,1736380309.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 3.527205 s, deltaX: -0.100002 m, approachRate: -0.028352 m/s, rangeRepo size: 4 2025-01-08T23:51:49.334Z,1736380309.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:49.476Z,1736380309.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:49.477Z,1736380309.477 [DAT](INFO): DAT read: TxSync time:23:51:48.5974 2025-01-08T23:51:49.728Z,1736380309.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:49.741Z,1736380309.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:49.751Z,1736380309.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:49.981Z,1736380309.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:50.187Z,1736380310.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:50.215Z,1736380310.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:50.232Z,1736380310.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:50.484Z,1736380310.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:50.602Z,1736380310.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:50.610Z,1736380310.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:50.736Z,1736380310.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:50.989Z,1736380310.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:51.055Z,1736380311.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:51.063Z,1736380311.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:51.240Z,1736380311.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:51.427Z,1736380311.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:51.437Z,1736380311.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:51.492Z,1736380311.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:51.744Z,1736380311.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:51.833Z,1736380311.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:51.842Z,1736380311.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:51.996Z,1736380311.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:52.248Z,1736380312.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:52.249Z,1736380312.249 [DAT](INFO): DAT read: Rx Time:23:51:51.0746 2025-01-08T23:51:52.249Z,1736380312.249 [DAT](INFO): Rx dataTimestamp_ set to:1736380312.248782 2025-01-08T23:51:52.311Z,1736380312.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:52.325Z,1736380312.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:52.500Z,1736380312.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:52.717Z,1736380312.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:52.740Z,1736380312.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:52.752Z,1736380312.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:52.754Z,1736380312.754 [DAT](INFO): DAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed 0.0 m/s 2025-01-08T23:51:52.754Z,1736380312.754 [DAT](INFO): DAT read: user:3514> 2025-01-08T23:51:52.755Z,1736380312.755 [DAT](INFO): DAT read: Tx time:23:51:52.1482 2025-01-08T23:51:52.756Z,1736380312.756 [DAT](INFO): Ping request sent. 2025-01-08T23:51:52.756Z,1736380312.756 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:51:52.756Z,1736380312.756 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-01-08T23:51:52.756Z,1736380312.756 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:52.757Z,1736380312.757 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:53.013Z,1736380313.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:53.014Z,1736380313.014 [DAT](INFO): DAT read: TxSync time:23:51:52.1475 2025-01-08T23:51:53.232Z,1736380313.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:53.256Z,1736380313.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:53.257Z,1736380313.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 3.528359 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:51:53.257Z,1736380313.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:53.508Z,1736380313.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:53.638Z,1736380313.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:53.676Z,1736380313.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:53.760Z,1736380313.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:54.015Z,1736380314.015 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:54.095Z,1736380314.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:54.104Z,1736380314.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:54.268Z,1736380314.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:54.463Z,1736380314.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:54.472Z,1736380314.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:54.523Z,1736380314.523 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:54.776Z,1736380314.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:54.876Z,1736380314.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:54.885Z,1736380314.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:55.035Z,1736380315.035 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:55.284Z,1736380315.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:55.304Z,1736380315.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:55.328Z,1736380315.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:55.536Z,1736380315.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:55.693Z,1736380315.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:55.703Z,1736380315.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:55.788Z,1736380315.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:55.789Z,1736380315.789 [DAT](INFO): DAT read: Rx Time:23:51:54.6249 2025-01-08T23:51:55.790Z,1736380315.790 [DAT](INFO): Rx dataTimestamp_ set to:1736380315.789603 2025-01-08T23:51:56.040Z,1736380316.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:56.109Z,1736380316.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:56.120Z,1736380316.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:56.293Z,1736380316.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:56.295Z,1736380316.295 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (Round-trip 72.4 ms) speed 0.0 m/s 2025-01-08T23:51:56.296Z,1736380316.296 [DAT](INFO): DAT read: user:3515> 2025-01-08T23:51:56.297Z,1736380316.297 [DAT](INFO): DAT read: Tx time:23:51:55.6983 2025-01-08T23:51:56.298Z,1736380316.298 [DAT](INFO): Ping request sent. 2025-01-08T23:51:56.298Z,1736380316.298 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:51:56.298Z,1736380316.298 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-08T23:51:56.298Z,1736380316.298 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:56.299Z,1736380316.299 [DAT](INFO): publishing transmit ping time 2025-01-08T23:51:56.504Z,1736380316.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:56.514Z,1736380316.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 3.541445 s, deltaX: 0.200001 m, approachRate: 0.056474 m/s, rangeRepo size: 4 2025-01-08T23:51:56.514Z,1736380316.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:56.544Z,1736380316.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:56.545Z,1736380316.545 [DAT](INFO): DAT read: TxSync time:23:51:55.6975 2025-01-08T23:51:56.797Z,1736380316.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:56.922Z,1736380316.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:56.931Z,1736380316.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:57.049Z,1736380317.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:57.301Z,1736380317.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:57.374Z,1736380317.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:57.383Z,1736380317.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:57.552Z,1736380317.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:57.753Z,1736380317.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:57.761Z,1736380317.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:57.804Z,1736380317.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:58.058Z,1736380318.058 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:58.182Z,1736380318.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:58.191Z,1736380318.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:58.309Z,1736380318.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:58.560Z,1736380318.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:58.568Z,1736380318.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:58.592Z,1736380318.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:58.812Z,1736380318.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:58.986Z,1736380318.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:59.015Z,1736380319.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:59.066Z,1736380319.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:59.316Z,1736380319.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:59.317Z,1736380319.317 [DAT](INFO): DAT read: Rx Time:23:51:58.1749 2025-01-08T23:51:59.318Z,1736380319.318 [DAT](INFO): Rx dataTimestamp_ set to:1736380319.317544 2025-01-08T23:51:59.405Z,1736380319.405 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 73.75, 59.81, 67.97 2025-01-08T23:51:59.412Z,1736380319.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:51:59.412Z,1736380319.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:59.421Z,1736380319.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:59.568Z,1736380319.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:51:59.808Z,1736380319.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:51:59.808Z,1736380319.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:51:59.818Z,1736380319.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:51:59.820Z,1736380319.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:00.073Z,1736380320.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:00.082Z,1736380320.082 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (Round-trip 72.4 ms) speed 0.0 m/s 2025-01-08T23:52:00.084Z,1736380320.084 [DAT](INFO): DAT read: user:3516> 2025-01-08T23:52:00.087Z,1736380320.087 [DAT](INFO): DAT read: Tx time:23:51:59.2483 2025-01-08T23:52:00.088Z,1736380320.088 [DAT](INFO): Ping request sent. 2025-01-08T23:52:00.089Z,1736380320.089 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:52:00.091Z,1736380320.091 [DAT](INFO): DAT read: TxSync time:23:51:59.2475 2025-01-08T23:52:00.101Z,1736380320.101 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-01-08T23:52:00.101Z,1736380320.101 [DAT](INFO): publishing transmit ping time 2025-01-08T23:52:00.102Z,1736380320.102 [DAT](INFO): publishing transmit ping time 2025-01-08T23:52:00.299Z,1736380320.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:00.312Z,1736380320.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 3.779897 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:52:00.313Z,1736380320.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:00.324Z,1736380320.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:00.576Z,1736380320.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:00.680Z,1736380320.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:00.707Z,1736380320.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:00.828Z,1736380320.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:01.082Z,1736380321.082 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:01.164Z,1736380321.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:01.173Z,1736380321.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:01.332Z,1736380321.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:01.478Z,1736380321.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:01.488Z,1736380321.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:01.584Z,1736380321.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:01.836Z,1736380321.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:01.880Z,1736380321.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:01.897Z,1736380321.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:02.036Z,1736380322.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:52:02.089Z,1736380322.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:02.319Z,1736380322.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:02.329Z,1736380322.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:02.342Z,1736380322.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:02.592Z,1736380322.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:02.710Z,1736380322.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:02.740Z,1736380322.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:02.845Z,1736380322.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:02.846Z,1736380322.846 [DAT](INFO): DAT read: Rx Time:23:52:01.7247 2025-01-08T23:52:02.847Z,1736380322.847 [DAT](INFO): Rx dataTimestamp_ set to:1736380322.846638 2025-01-08T23:52:03.040Z,1736380323.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:52:03.097Z,1736380323.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:03.202Z,1736380323.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:03.211Z,1736380323.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:03.348Z,1736380323.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:03.600Z,1736380323.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:03.602Z,1736380323.602 [DAT](INFO): DAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed 0.0 m/s 2025-01-08T23:52:03.602Z,1736380323.602 [DAT](INFO): DAT read: user:3517> 2025-01-08T23:52:03.603Z,1736380323.603 [DAT](INFO): DAT read: Tx time:23:52:02.7983 2025-01-08T23:52:03.604Z,1736380323.604 [DAT](INFO): Ping request sent. 2025-01-08T23:52:03.604Z,1736380323.604 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:52:03.604Z,1736380323.604 [DAT](INFO): DAT read: TxSync time:23:52:02.7975 2025-01-08T23:52:03.605Z,1736380323.605 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-01-08T23:52:03.605Z,1736380323.605 [DAT](INFO): publishing transmit ping time 2025-01-08T23:52:03.605Z,1736380323.605 [DAT](INFO): publishing transmit ping time 2025-01-08T23:52:03.666Z,1736380323.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:03.693Z,1736380323.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 3.526395 s, deltaX: -0.200001 m, approachRate: -0.056715 m/s, rangeRepo size: 4 2025-01-08T23:52:03.693Z,1736380323.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:03.852Z,1736380323.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:04.086Z,1736380324.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:04.106Z,1736380324.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:04.158Z,1736380324.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:04.356Z,1736380324.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:04.501Z,1736380324.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:04.510Z,1736380324.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:04.608Z,1736380324.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:04.860Z,1736380324.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:04.903Z,1736380324.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:04.921Z,1736380324.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:05.112Z,1736380325.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:05.364Z,1736380325.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:05.374Z,1736380325.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:05.383Z,1736380325.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:05.616Z,1736380325.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:05.733Z,1736380325.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:05.742Z,1736380325.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:05.868Z,1736380325.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:06.121Z,1736380326.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:06.232Z,1736380326.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:06.241Z,1736380326.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:06.372Z,1736380326.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:06.614Z,1736380326.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:06.624Z,1736380326.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:06.625Z,1736380326.625 [DAT](INFO): DAT read: Rx Time:23:52:05.2748 2025-01-08T23:52:06.625Z,1736380326.625 [DAT](INFO): Rx dataTimestamp_ set to:1736380326.624764 2025-01-08T23:52:06.642Z,1736380326.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:06.877Z,1736380326.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:07.088Z,1736380327.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:07.097Z,1736380327.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:07.128Z,1736380327.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:07.132Z,1736380327.132 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (Round-trip 72.3 ms) speed -0.1 m/s 2025-01-08T23:52:07.134Z,1736380327.134 [DAT](INFO): DAT read: user:3518> 2025-01-08T23:52:07.136Z,1736380327.136 [DAT](INFO): DAT read: Tx time:23:52:06.3483 2025-01-08T23:52:07.136Z,1736380327.136 [DAT](INFO): Ping request sent. 2025-01-08T23:52:07.136Z,1736380327.136 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:52:07.136Z,1736380327.136 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-01-08T23:52:07.137Z,1736380327.137 [DAT](INFO): publishing transmit ping time 2025-01-08T23:52:07.137Z,1736380327.137 [DAT](INFO): publishing transmit ping time 2025-01-08T23:52:07.380Z,1736380327.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:07.381Z,1736380327.381 [DAT](INFO): DAT read: TxSync time:23:52:06.3475 2025-01-08T23:52:07.562Z,1736380327.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:07.572Z,1736380327.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 3.528005 s, deltaX: 0.100002 m, approachRate: 0.028345 m/s, rangeRepo size: 4 2025-01-08T23:52:07.573Z,1736380327.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:07.632Z,1736380327.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:07.884Z,1736380327.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:07.972Z,1736380327.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:07.981Z,1736380327.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:08.136Z,1736380328.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:08.388Z,1736380328.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:08.407Z,1736380328.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:08.416Z,1736380328.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:08.640Z,1736380328.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:08.818Z,1736380328.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:08.827Z,1736380328.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:08.892Z,1736380328.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:09.144Z,1736380329.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:09.293Z,1736380329.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:09.303Z,1736380329.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:09.396Z,1736380329.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:09.648Z,1736380329.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:09.712Z,1736380329.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:09.721Z,1736380329.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:09.902Z,1736380329.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:10.101Z,1736380330.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:10.116Z,1736380330.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:10.152Z,1736380330.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:10.152Z,1736380330.152 [DAT](INFO): DAT read: Rx Time:23:52:08.8250 2025-01-08T23:52:10.153Z,1736380330.153 [DAT](INFO): Rx dataTimestamp_ set to:1736380330.152476 2025-01-08T23:52:10.405Z,1736380330.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:10.578Z,1736380330.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:10.594Z,1736380330.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:10.657Z,1736380330.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:10.659Z,1736380330.659 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (Round-trip 72.4 ms) speed 0.0 m/s 2025-01-08T23:52:10.660Z,1736380330.660 [DAT](INFO): DAT read: user:3519> 2025-01-08T23:52:10.662Z,1736380330.662 [DAT](INFO): DAT read: Tx time:23:52:09.8984 2025-01-08T23:52:10.662Z,1736380330.662 [DAT](INFO): Ping request sent. 2025-01-08T23:52:10.662Z,1736380330.662 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:52:10.663Z,1736380330.663 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-01-08T23:52:10.663Z,1736380330.663 [DAT](INFO): publishing transmit ping time 2025-01-08T23:52:10.664Z,1736380330.664 [DAT](INFO): publishing transmit ping time 2025-01-08T23:52:10.908Z,1736380330.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:10.908Z,1736380330.908 [DAT](INFO): DAT read: TxSync time:23:52:09.8976 2025-01-08T23:52:10.915Z,1736380330.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:10.925Z,1736380330.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 3.528971 s, deltaX: 0.099998 m, approachRate: 0.028336 m/s, rangeRepo size: 4 2025-01-08T23:52:10.925Z,1736380330.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:11.164Z,1736380331.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:11.337Z,1736380331.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:11.345Z,1736380331.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:11.412Z,1736380331.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:11.664Z,1736380331.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:11.716Z,1736380331.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:11.724Z,1736380331.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:11.916Z,1736380331.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:12.134Z,1736380332.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:12.143Z,1736380332.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:12.168Z,1736380332.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:12.420Z,1736380332.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:12.600Z,1736380332.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:12.609Z,1736380332.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:12.672Z,1736380332.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:12.924Z,1736380332.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:13.000Z,1736380333.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:13.009Z,1736380333.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:13.176Z,1736380333.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:13.428Z,1736380333.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:13.431Z,1736380333.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:13.440Z,1736380333.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:13.681Z,1736380333.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:13.682Z,1736380333.682 [DAT](INFO): DAT read: Rx Time:23:52:12.3748 2025-01-08T23:52:13.683Z,1736380333.683 [DAT](INFO): Rx dataTimestamp_ set to:1736380333.682466 2025-01-08T23:52:13.825Z,1736380333.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:13.835Z,1736380333.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:13.932Z,1736380333.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:14.188Z,1736380334.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:14.189Z,1736380334.189 [DAT](INFO): DAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed -0.1 m/s 2025-01-08T23:52:14.190Z,1736380334.190 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-01-08T23:52:14.379Z,1736380334.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:14.420Z,1736380334.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 3.530890 s, deltaX: -0.200001 m, approachRate: -0.056643 m/s, rangeRepo size: 4 2025-01-08T23:52:14.421Z,1736380334.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:14.441Z,1736380334.441 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:14.628Z,1736380334.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:14.637Z,1736380334.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:14.692Z,1736380334.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:14.944Z,1736380334.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:15.033Z,1736380335.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:15.041Z,1736380335.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:15.197Z,1736380335.197 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:15.448Z,1736380335.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:15.466Z,1736380335.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:15.500Z,1736380335.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:15.700Z,1736380335.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:15.898Z,1736380335.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:15.922Z,1736380335.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:15.952Z,1736380335.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:16.204Z,1736380336.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:16.366Z,1736380336.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:16.375Z,1736380336.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:16.456Z,1736380336.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:16.706Z,1736380336.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:16.708Z,1736380336.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:16.717Z,1736380336.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:16.960Z,1736380336.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:17.124Z,1736380337.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:17.133Z,1736380337.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:17.212Z,1736380337.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:17.464Z,1736380337.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:17.545Z,1736380337.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:17.555Z,1736380337.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:17.716Z,1736380337.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:17.916Z,1736380337.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:17.925Z,1736380337.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:17.968Z,1736380337.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:18.221Z,1736380338.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:18.375Z,1736380338.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:18.390Z,1736380338.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:18.472Z,1736380338.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:18.724Z,1736380338.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:18.806Z,1736380338.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:18.815Z,1736380338.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:18.978Z,1736380338.978 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:19.223Z,1736380339.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:19.228Z,1736380339.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:19.233Z,1736380339.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:19.481Z,1736380339.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:19.654Z,1736380339.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:19.690Z,1736380339.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:19.732Z,1736380339.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:19.984Z,1736380339.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:20.027Z,1736380340.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:20.053Z,1736380340.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:20.236Z,1736380340.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:20.481Z,1736380340.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:20.489Z,1736380340.489 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:20.502Z,1736380340.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:20.741Z,1736380340.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:20.926Z,1736380340.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:20.935Z,1736380340.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:20.992Z,1736380340.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:21.244Z,1736380341.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:21.322Z,1736380341.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:21.338Z,1736380341.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:21.498Z,1736380341.498 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:21.747Z,1736380341.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:21.758Z,1736380341.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:21.801Z,1736380341.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:22.012Z,1736380342.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:22.189Z,1736380342.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:22.199Z,1736380342.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:22.264Z,1736380342.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:22.516Z,1736380342.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:22.632Z,1736380342.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:22.657Z,1736380342.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:22.768Z,1736380342.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:22.988Z,1736380342.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:22.997Z,1736380342.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:23.020Z,1736380343.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:23.272Z,1736380343.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:23.428Z,1736380343.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:23.480Z,1736380343.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:23.524Z,1736380343.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:23.776Z,1736380343.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:23.928Z,1736380343.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:23.937Z,1736380343.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:24.028Z,1736380344.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:24.280Z,1736380344.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:24.352Z,1736380344.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:24.361Z,1736380344.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:24.366Z,1736380344.366 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T23:42:24.0Z 2025-01-08T23:52:24.366Z,1736380344.366 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-08T23:52:24.366Z,1736380344.366 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:52:24.366Z,1736380344.366 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-08T23:52:24.367Z,1736380344.367 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:52:24.367Z,1736380344.367 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-08T23:52:24.532Z,1736380344.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:24.784Z,1736380344.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:24.789Z,1736380344.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:24.822Z,1736380344.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:24.831Z,1736380344.831 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-08T23:52:24.831Z,1736380344.831 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-08T23:52:24.831Z,1736380344.831 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-08T23:52:24.835Z,1736380344.835 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-08T23:52:24.835Z,1736380344.835 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-08T23:52:25.036Z,1736380345.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:25.288Z,1736380345.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:25.540Z,1736380345.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:25.543Z,1736380345.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:52:25.543Z,1736380345.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:25.612Z,1736380345.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:25.792Z,1736380345.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:25.920Z,1736380345.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.1 s old, using for 20.0 s. 2025-01-08T23:52:25.920Z,1736380345.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:25.934Z,1736380345.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:26.045Z,1736380346.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:26.296Z,1736380346.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:26.321Z,1736380346.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.5 s old, using for 20.0 s. 2025-01-08T23:52:26.321Z,1736380346.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:26.348Z,1736380346.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:26.548Z,1736380346.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:26.757Z,1736380346.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:26.765Z,1736380346.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:26.800Z,1736380346.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:27.052Z,1736380347.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:27.128Z,1736380347.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:27.157Z,1736380347.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:27.304Z,1736380347.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:27.557Z,1736380347.557 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:27.578Z,1736380347.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:27.588Z,1736380347.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:27.809Z,1736380347.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:27.984Z,1736380347.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:27.992Z,1736380347.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:28.060Z,1736380348.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:28.312Z,1736380348.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:28.400Z,1736380348.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:28.409Z,1736380348.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:28.565Z,1736380348.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:28.804Z,1736380348.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:28.820Z,1736380348.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:28.846Z,1736380348.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:29.072Z,1736380349.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:29.238Z,1736380349.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:29.245Z,1736380349.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:52:29.248Z,1736380349.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:29.325Z,1736380349.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:29.326Z,1736380349.326 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:52:29.326Z,1736380349.326 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:52:29.576Z,1736380349.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:29.576Z,1736380349.576 [DAT](INFO): DAT read: user:3520> 2025-01-08T23:52:29.577Z,1736380349.577 [DAT](INFO): DAT read: Tx time:23:52:28.7986 2025-01-08T23:52:29.577Z,1736380349.577 [DAT](INFO): Ping request sent. 2025-01-08T23:52:29.577Z,1736380349.577 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:52:29.578Z,1736380349.578 [DAT](INFO): publishing transmit ping time 2025-01-08T23:52:29.578Z,1736380349.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724 2025-01-08T23:52:29.705Z,1736380349.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:29.714Z,1736380349.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:29.830Z,1736380349.830 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:29.834Z,1736380349.834 [DAT](INFO): DAT read: TxSync time:23:52:28.7978 2025-01-08T23:52:29.835Z,1736380349.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257565 2025-01-08T23:52:30.080Z,1736380350.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:30.081Z,1736380350.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503616 2025-01-08T23:52:30.132Z,1736380350.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:30.141Z,1736380350.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:30.332Z,1736380350.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:30.333Z,1736380350.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755971 2025-01-08T23:52:30.584Z,1736380350.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:30.585Z,1736380350.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007038 2025-01-08T23:52:30.654Z,1736380350.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:30.682Z,1736380350.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:30.836Z,1736380350.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:30.837Z,1736380350.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259371 2025-01-08T23:52:31.067Z,1736380351.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:31.076Z,1736380351.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:31.088Z,1736380351.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:31.088Z,1736380351.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511035 2025-01-08T23:52:31.340Z,1736380351.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:31.340Z,1736380351.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762846 2025-01-08T23:52:31.474Z,1736380351.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:31.483Z,1736380351.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:31.592Z,1736380351.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:31.593Z,1736380351.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015107 2025-01-08T23:52:31.844Z,1736380351.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:31.844Z,1736380351.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266917 2025-01-08T23:52:31.922Z,1736380351.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:31.955Z,1736380351.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:32.096Z,1736380352.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:32.097Z,1736380352.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519853 2025-01-08T23:52:32.275Z,1736380352.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:32.285Z,1736380352.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:32.348Z,1736380352.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:32.349Z,1736380352.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771302 2025-01-08T23:52:32.600Z,1736380352.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:32.601Z,1736380352.601 [DAT](INFO): DAT read: Rx Time:23:52:31.2751 2025-01-08T23:52:32.601Z,1736380352.601 [DAT](INFO): Rx dataTimestamp_ set to:1736380352.600737 2025-01-08T23:52:32.602Z,1736380352.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024085 2025-01-08T23:52:32.705Z,1736380352.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:32.716Z,1736380352.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:32.852Z,1736380352.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:32.852Z,1736380352.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274941 2025-01-08T23:52:33.104Z,1736380353.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:33.105Z,1736380353.105 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m (Round-trip 72.4 ms) speed -0.1 m/s 2025-01-08T23:52:33.106Z,1736380353.106 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:52:33.120Z,1736380353.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:33.129Z,1736380353.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 18.916161 s, deltaX: 0.200001 m, approachRate: 0.010573 m/s, rangeRepo size: 4 2025-01-08T23:52:33.130Z,1736380353.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:33.164Z,1736380353.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:52:33.357Z,1736380353.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:33.552Z,1736380353.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:33.608Z,1736380353.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:33.620Z,1736380353.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:33.861Z,1736380353.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:33.968Z,1736380353.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:33.978Z,1736380353.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:34.112Z,1736380354.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:34.168Z,1736380354.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:52:34.348Z,1736380354.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:34.360Z,1736380354.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:34.364Z,1736380354.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:34.616Z,1736380354.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:34.773Z,1736380354.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:34.783Z,1736380354.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:34.868Z,1736380354.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:35.120Z,1736380355.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:35.189Z,1736380355.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:35.198Z,1736380355.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:35.374Z,1736380355.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:35.626Z,1736380355.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:35.681Z,1736380355.681 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815534088,35.0, +100, 0 2025-01-08T23:52:35.689Z,1736380355.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:52:35.689Z,1736380355.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:35.714Z,1736380355.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:35.876Z,1736380355.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:36.107Z,1736380356.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:52:36.107Z,1736380356.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:36.128Z,1736380356.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:36.134Z,1736380356.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:36.380Z,1736380356.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:36.568Z,1736380356.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T23:52:36.569Z,1736380356.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:36.633Z,1736380356.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:36.642Z,1736380356.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:36.885Z,1736380356.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:37.082Z,1736380357.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:37.092Z,1736380357.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:37.136Z,1736380357.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:37.389Z,1736380357.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:37.486Z,1736380357.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:37.494Z,1736380357.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:37.641Z,1736380357.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:37.892Z,1736380357.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:37.934Z,1736380357.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:37.942Z,1736380357.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:38.144Z,1736380358.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:38.337Z,1736380358.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:38.345Z,1736380358.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:38.396Z,1736380358.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:38.650Z,1736380358.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:38.765Z,1736380358.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:38.775Z,1736380358.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:38.900Z,1736380358.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:39.152Z,1736380359.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:39.169Z,1736380359.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:39.178Z,1736380359.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:39.405Z,1736380359.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:39.582Z,1736380359.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:39.592Z,1736380359.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:39.658Z,1736380359.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:39.908Z,1736380359.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:40.029Z,1736380360.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:40.051Z,1736380360.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:40.160Z,1736380360.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:40.412Z,1736380360.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:40.450Z,1736380360.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:40.472Z,1736380360.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:40.665Z,1736380360.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:40.916Z,1736380360.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:40.963Z,1736380360.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:40.971Z,1736380360.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:41.168Z,1736380361.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:41.377Z,1736380361.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:41.387Z,1736380361.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:41.420Z,1736380361.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:41.674Z,1736380361.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:41.843Z,1736380361.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:41.855Z,1736380361.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:41.925Z,1736380361.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:42.178Z,1736380362.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:42.251Z,1736380362.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:42.262Z,1736380362.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:42.428Z,1736380362.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:42.682Z,1736380362.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:42.735Z,1736380362.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:42.744Z,1736380362.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:42.932Z,1736380362.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:43.139Z,1736380363.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:43.168Z,1736380363.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:43.184Z,1736380363.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:43.436Z,1736380363.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:43.574Z,1736380363.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:43.583Z,1736380363.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:43.693Z,1736380363.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:43.940Z,1736380363.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:44.013Z,1736380364.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:44.024Z,1736380364.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:44.192Z,1736380364.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:44.452Z,1736380364.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:44.461Z,1736380364.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:44.489Z,1736380364.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:44.706Z,1736380364.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:44.931Z,1736380364.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:44.944Z,1736380364.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:44.956Z,1736380364.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:45.208Z,1736380365.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:45.352Z,1736380365.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:45.361Z,1736380365.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:45.460Z,1736380365.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:45.715Z,1736380365.715 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:45.833Z,1736380365.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:45.842Z,1736380365.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:45.964Z,1736380365.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:46.211Z,1736380366.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:46.216Z,1736380366.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:46.238Z,1736380366.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:46.469Z,1736380366.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:46.656Z,1736380366.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:46.669Z,1736380366.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:46.722Z,1736380366.722 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:46.972Z,1736380366.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:47.074Z,1736380367.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:47.086Z,1736380367.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:47.224Z,1736380367.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:47.440Z,1736380367.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:47.450Z,1736380367.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:47.493Z,1736380367.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:47.744Z,1736380367.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:47.869Z,1736380367.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:47.878Z,1736380367.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:47.996Z,1736380367.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:48.248Z,1736380368.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:48.271Z,1736380368.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:48.280Z,1736380368.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:48.500Z,1736380368.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:48.692Z,1736380368.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:48.709Z,1736380368.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:48.753Z,1736380368.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:49.004Z,1736380369.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:49.122Z,1736380369.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:49.130Z,1736380369.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:49.256Z,1736380369.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:49.510Z,1736380369.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:49.525Z,1736380369.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:49.535Z,1736380369.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:49.761Z,1736380369.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:49.952Z,1736380369.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:49.965Z,1736380369.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:50.013Z,1736380370.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:50.265Z,1736380370.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:50.380Z,1736380370.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:50.389Z,1736380370.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:50.516Z,1736380370.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:50.768Z,1736380370.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:50.884Z,1736380370.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:50.893Z,1736380370.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:51.020Z,1736380371.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:51.257Z,1736380371.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:51.266Z,1736380371.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:51.272Z,1736380371.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:51.524Z,1736380371.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:51.668Z,1736380371.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:51.681Z,1736380371.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:51.776Z,1736380371.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:52.028Z,1736380372.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:52.128Z,1736380372.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:52.141Z,1736380372.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:52.280Z,1736380372.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:52.472Z,1736380372.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:52.504Z,1736380372.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:52.532Z,1736380372.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:52.784Z,1736380372.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:52.925Z,1736380372.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:52.934Z,1736380372.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:53.038Z,1736380373.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:53.276Z,1736380373.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:53.285Z,1736380373.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:53.288Z,1736380373.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:53.540Z,1736380373.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:53.691Z,1736380373.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:53.701Z,1736380373.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:53.792Z,1736380373.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:54.044Z,1736380374.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:54.140Z,1736380374.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:54.161Z,1736380374.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:54.296Z,1736380374.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:54.548Z,1736380374.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:54.605Z,1736380374.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:54.617Z,1736380374.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:54.800Z,1736380374.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:55.007Z,1736380375.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:55.017Z,1736380375.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:55.052Z,1736380375.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:55.304Z,1736380375.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:55.379Z,1736380375.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:55.409Z,1736380375.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:55.556Z,1736380375.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:55.808Z,1736380375.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:55.828Z,1736380375.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:55.837Z,1736380375.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:56.060Z,1736380376.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:56.257Z,1736380376.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:56.266Z,1736380376.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:56.312Z,1736380376.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:56.565Z,1736380376.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:56.684Z,1736380376.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:56.693Z,1736380376.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:56.816Z,1736380376.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:57.069Z,1736380377.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:57.150Z,1736380377.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:57.158Z,1736380377.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:57.320Z,1736380377.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:57.572Z,1736380377.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:57.574Z,1736380377.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:57.595Z,1736380377.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:57.824Z,1736380377.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:58.023Z,1736380378.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:58.032Z,1736380378.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:58.076Z,1736380378.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:58.328Z,1736380378.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:58.400Z,1736380378.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:58.409Z,1736380378.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:58.581Z,1736380378.581 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:58.808Z,1736380378.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:58.820Z,1736380378.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:58.832Z,1736380378.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:59.084Z,1736380379.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:59.247Z,1736380379.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:59.273Z,1736380379.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:59.337Z,1736380379.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:59.588Z,1736380379.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:52:59.666Z,1736380379.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:52:59.694Z,1736380379.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:52:59.843Z,1736380379.843 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:00.092Z,1736380380.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:00.135Z,1736380380.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:00.160Z,1736380380.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:00.345Z,1736380380.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:00.549Z,1736380380.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:00.557Z,1736380380.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:00.598Z,1736380380.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:00.852Z,1736380380.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:01.064Z,1736380381.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:01.106Z,1736380381.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:01.112Z,1736380381.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:01.361Z,1736380381.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:01.439Z,1736380381.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:01.464Z,1736380381.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:01.612Z,1736380381.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:01.848Z,1736380381.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:01.864Z,1736380381.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:01.885Z,1736380381.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:02.116Z,1736380382.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:02.313Z,1736380382.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:02.326Z,1736380382.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:02.368Z,1736380382.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:02.620Z,1736380382.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:02.710Z,1736380382.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:02.735Z,1736380382.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:02.872Z,1736380382.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:03.124Z,1736380383.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:03.152Z,1736380383.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:03.161Z,1736380383.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:03.376Z,1736380383.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:03.539Z,1736380383.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:03.568Z,1736380383.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:03.628Z,1736380383.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:03.880Z,1736380383.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:03.938Z,1736380383.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:03.947Z,1736380383.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:04.132Z,1736380384.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:04.288Z,1736380384.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:53:04.374Z,1736380384.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:04.384Z,1736380384.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:04.404Z,1736380384.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:04.636Z,1736380384.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:04.799Z,1736380384.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:04.828Z,1736380384.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:04.888Z,1736380384.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:05.140Z,1736380385.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:05.267Z,1736380385.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:05.292Z,1736380385.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:53:05.292Z,1736380385.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:05.392Z,1736380385.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:05.644Z,1736380385.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:05.665Z,1736380385.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:05.694Z,1736380385.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:05.896Z,1736380385.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:06.139Z,1736380386.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:06.148Z,1736380386.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:06.189Z,1736380386.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:06.400Z,1736380386.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:06.494Z,1736380386.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:06.504Z,1736380386.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:06.652Z,1736380386.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:06.888Z,1736380386.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:06.896Z,1736380386.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:06.904Z,1736380386.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:07.157Z,1736380387.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:07.362Z,1736380387.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:07.389Z,1736380387.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:07.408Z,1736380387.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:07.660Z,1736380387.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:07.808Z,1736380387.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:07.818Z,1736380387.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:07.913Z,1736380387.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:08.164Z,1736380388.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:08.229Z,1736380388.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:08.238Z,1736380388.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:08.417Z,1736380388.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:08.632Z,1736380388.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:08.640Z,1736380388.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:08.682Z,1736380388.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:08.932Z,1736380388.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:09.044Z,1736380389.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:09.073Z,1736380389.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:09.184Z,1736380389.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:09.437Z,1736380389.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:09.535Z,1736380389.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:09.549Z,1736380389.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:09.690Z,1736380389.690 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:09.909Z,1736380389.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:09.934Z,1736380389.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:09.940Z,1736380389.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:10.192Z,1736380390.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:10.333Z,1736380390.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:10.368Z,1736380390.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:10.444Z,1736380390.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:10.697Z,1736380390.697 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:10.752Z,1736380390.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:10.761Z,1736380390.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:10.948Z,1736380390.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:11.200Z,1736380391.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:11.252Z,1736380391.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:11.270Z,1736380391.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:11.452Z,1736380391.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:11.691Z,1736380391.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:11.700Z,1736380391.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:11.712Z,1736380391.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:11.964Z,1736380391.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:12.176Z,1736380392.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:12.201Z,1736380392.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:12.216Z,1736380392.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:12.468Z,1736380392.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:12.602Z,1736380392.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:12.636Z,1736380392.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:12.720Z,1736380392.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:12.972Z,1736380392.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:13.040Z,1736380393.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:13.050Z,1736380393.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:13.224Z,1736380393.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:13.442Z,1736380393.442 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -20, +14,A 2025-01-08T23:53:13.454Z,1736380393.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:53:13.455Z,1736380393.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:13.476Z,1736380393.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:13.516Z,1736380393.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:13.728Z,1736380393.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:13.903Z,1736380393.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:53:13.903Z,1736380393.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:13.912Z,1736380393.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:13.981Z,1736380393.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:14.232Z,1736380394.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:14.370Z,1736380394.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:14.378Z,1736380394.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:14.485Z,1736380394.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:14.722Z,1736380394.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:14.731Z,1736380394.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:14.736Z,1736380394.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:14.988Z,1736380394.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:15.158Z,1736380395.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:15.225Z,1736380395.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:15.240Z,1736380395.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:15.492Z,1736380395.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:15.564Z,1736380395.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:15.573Z,1736380395.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:15.744Z,1736380395.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:15.927Z,1736380395.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:15.937Z,1736380395.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:15.996Z,1736380395.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:16.248Z,1736380396.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:16.356Z,1736380396.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:16.365Z,1736380396.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:16.501Z,1736380396.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:16.733Z,1736380396.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:16.741Z,1736380396.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:16.752Z,1736380396.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:17.004Z,1736380397.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:17.144Z,1736380397.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:17.158Z,1736380397.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:17.256Z,1736380397.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:17.508Z,1736380397.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:17.586Z,1736380397.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:17.621Z,1736380397.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:17.761Z,1736380397.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:17.944Z,1736380397.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:17.953Z,1736380397.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:18.014Z,1736380398.014 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:18.266Z,1736380398.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:18.370Z,1736380398.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:18.405Z,1736380398.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:18.516Z,1736380398.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:18.759Z,1736380398.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:18.768Z,1736380398.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:18.769Z,1736380398.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:19.020Z,1736380399.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:19.191Z,1736380399.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:19.272Z,1736380399.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:19.273Z,1736380399.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:19.524Z,1736380399.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:19.596Z,1736380399.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:19.609Z,1736380399.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:19.776Z,1736380399.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:19.972Z,1736380399.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:19.981Z,1736380399.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:20.028Z,1736380400.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:20.282Z,1736380400.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:20.401Z,1736380400.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:20.409Z,1736380400.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:20.532Z,1736380400.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:20.774Z,1736380400.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:20.784Z,1736380400.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:20.800Z,1736380400.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:21.036Z,1736380401.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:21.182Z,1736380401.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:21.191Z,1736380401.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:21.290Z,1736380401.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:21.541Z,1736380401.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:21.619Z,1736380401.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:21.628Z,1736380401.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:21.792Z,1736380401.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:21.988Z,1736380401.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:21.997Z,1736380401.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:22.044Z,1736380402.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:22.298Z,1736380402.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:22.412Z,1736380402.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:22.442Z,1736380402.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:22.548Z,1736380402.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:22.800Z,1736380402.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:22.805Z,1736380402.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:22.815Z,1736380402.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:23.052Z,1736380403.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:23.201Z,1736380403.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:23.233Z,1736380403.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:23.305Z,1736380403.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:23.556Z,1736380403.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:23.628Z,1736380403.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:23.671Z,1736380403.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:23.814Z,1736380403.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:24.023Z,1736380404.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:24.033Z,1736380404.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:24.064Z,1736380404.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:24.317Z,1736380404.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:24.437Z,1736380404.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:24.449Z,1736380404.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:24.568Z,1736380404.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:24.817Z,1736380404.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:24.820Z,1736380404.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:24.827Z,1736380404.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:25.072Z,1736380405.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:25.228Z,1736380405.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:25.237Z,1736380405.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:25.325Z,1736380405.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:25.576Z,1736380405.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:25.723Z,1736380405.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:25.736Z,1736380405.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:25.828Z,1736380405.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:26.033Z,1736380406.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:26.044Z,1736380406.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:26.081Z,1736380406.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:26.333Z,1736380406.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:26.453Z,1736380406.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:26.462Z,1736380406.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:26.584Z,1736380406.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:26.831Z,1736380406.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:26.836Z,1736380406.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:26.858Z,1736380406.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:27.088Z,1736380407.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:27.252Z,1736380407.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:27.278Z,1736380407.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:27.341Z,1736380407.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:27.592Z,1736380407.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:27.703Z,1736380407.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:27.717Z,1736380407.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:27.844Z,1736380407.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:28.051Z,1736380408.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:28.059Z,1736380408.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:28.096Z,1736380408.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:28.349Z,1736380408.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:28.483Z,1736380408.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:28.500Z,1736380408.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:28.600Z,1736380408.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:28.852Z,1736380408.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:28.894Z,1736380408.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:28.911Z,1736380408.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:29.104Z,1736380409.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:29.324Z,1736380409.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:29.336Z,1736380409.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:53:29.338Z,1736380409.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:29.357Z,1736380409.357 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:29.359Z,1736380409.359 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:53:29.360Z,1736380409.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:53:29.608Z,1736380409.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:29.608Z,1736380409.608 [DAT](INFO): DAT read: user:3521> 2025-01-08T23:53:29.609Z,1736380409.609 [DAT](INFO): DAT read: Tx time:23:53:28.8492 2025-01-08T23:53:29.609Z,1736380409.609 [DAT](INFO): Ping request sent. 2025-01-08T23:53:29.609Z,1736380409.609 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:53:29.610Z,1736380409.610 [DAT](INFO): publishing transmit ping time 2025-01-08T23:53:29.610Z,1736380409.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-01-08T23:53:29.754Z,1736380409.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:29.762Z,1736380409.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:29.860Z,1736380409.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:29.861Z,1736380409.861 [DAT](INFO): DAT read: TxSync time:23:53:28.8484 2025-01-08T23:53:29.861Z,1736380409.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251856 2025-01-08T23:53:30.112Z,1736380410.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:30.113Z,1736380410.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503115 2025-01-08T23:53:30.139Z,1736380410.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:30.176Z,1736380410.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:30.366Z,1736380410.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:30.367Z,1736380410.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757621 2025-01-08T23:53:30.603Z,1736380410.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:30.618Z,1736380410.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:30.622Z,1736380410.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012537 2025-01-08T23:53:30.657Z,1736380410.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:30.869Z,1736380410.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:30.870Z,1736380410.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260886 2025-01-08T23:53:30.992Z,1736380410.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:31.001Z,1736380411.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:31.120Z,1736380411.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:31.120Z,1736380411.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510877 2025-01-08T23:53:31.376Z,1736380411.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:31.376Z,1736380411.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766910 2025-01-08T23:53:31.517Z,1736380411.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:31.525Z,1736380411.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:31.628Z,1736380411.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:31.628Z,1736380411.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019032 2025-01-08T23:53:31.881Z,1736380411.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:31.883Z,1736380411.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272836 2025-01-08T23:53:31.915Z,1736380411.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:31.940Z,1736380411.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:32.132Z,1736380412.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:32.133Z,1736380412.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523217 2025-01-08T23:53:32.322Z,1736380412.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:32.332Z,1736380412.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:32.384Z,1736380412.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:32.385Z,1736380412.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775191 2025-01-08T23:53:32.636Z,1736380412.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:32.636Z,1736380412.636 [DAT](INFO): DAT read: Rx Time:23:53:31.3255 2025-01-08T23:53:32.637Z,1736380412.637 [DAT](INFO): Rx dataTimestamp_ set to:1736380412.636571 2025-01-08T23:53:32.637Z,1736380412.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027974 2025-01-08T23:53:32.756Z,1736380412.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:32.764Z,1736380412.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:32.888Z,1736380412.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:32.888Z,1736380412.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278913 2025-01-08T23:53:33.140Z,1736380413.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:33.141Z,1736380413.141 [DAT](INFO): DAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed 0.0 m/s 2025-01-08T23:53:33.142Z,1736380413.142 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:53:33.169Z,1736380413.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:33.178Z,1736380413.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 60.036005 s, deltaX: -0.200001 m, approachRate: -0.003331 m/s, rangeRepo size: 4 2025-01-08T23:53:33.178Z,1736380413.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:33.394Z,1736380413.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:33.641Z,1736380413.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:33.644Z,1736380413.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:33.666Z,1736380413.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:33.896Z,1736380413.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:34.056Z,1736380414.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:34.065Z,1736380414.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:34.148Z,1736380414.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:34.400Z,1736380414.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:34.508Z,1736380414.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:34.534Z,1736380414.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:34.655Z,1736380414.655 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:34.896Z,1736380414.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:34.905Z,1736380414.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:34.908Z,1736380414.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:35.163Z,1736380415.163 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:35.272Z,1736380415.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:35.281Z,1736380415.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:35.416Z,1736380415.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:35.426Z,1736380415.426 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:53:35.668Z,1736380415.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:35.723Z,1736380415.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:35.733Z,1736380415.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:35.920Z,1736380415.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:36.089Z,1736380416.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:36.098Z,1736380416.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:36.172Z,1736380416.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:36.424Z,1736380416.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:36.428Z,1736380416.428 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:53:36.548Z,1736380416.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:36.560Z,1736380416.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:36.676Z,1736380416.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:36.924Z,1736380416.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:36.930Z,1736380416.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:36.941Z,1736380416.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:37.181Z,1736380417.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:37.303Z,1736380417.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:37.312Z,1736380417.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:37.432Z,1736380417.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:37.684Z,1736380417.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:37.760Z,1736380417.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:37.769Z,1736380417.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:37.936Z,1736380417.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:38.125Z,1736380418.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:38.134Z,1736380418.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:38.188Z,1736380418.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:38.440Z,1736380418.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:38.602Z,1736380418.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:38.612Z,1736380418.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:38.692Z,1736380418.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:38.929Z,1736380418.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:38.942Z,1736380418.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:38.944Z,1736380418.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:39.196Z,1736380419.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:39.337Z,1736380419.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:39.345Z,1736380419.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:39.448Z,1736380419.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:39.700Z,1736380419.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:39.769Z,1736380419.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:39.777Z,1736380419.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:39.953Z,1736380419.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:40.139Z,1736380420.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:40.169Z,1736380420.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:40.204Z,1736380420.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:40.456Z,1736380420.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:40.602Z,1736380420.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:40.666Z,1736380420.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:40.708Z,1736380420.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:40.960Z,1736380420.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:40.980Z,1736380420.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:40.988Z,1736380420.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:41.212Z,1736380421.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:41.366Z,1736380421.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:41.374Z,1736380421.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:41.464Z,1736380421.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:41.716Z,1736380421.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:41.787Z,1736380421.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:41.801Z,1736380421.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:41.968Z,1736380421.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:42.163Z,1736380422.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:42.171Z,1736380422.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:42.220Z,1736380422.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:42.472Z,1736380422.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:42.633Z,1736380422.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:42.641Z,1736380422.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:42.725Z,1736380422.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:42.976Z,1736380422.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:43.010Z,1736380423.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:43.019Z,1736380423.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:43.228Z,1736380423.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:43.376Z,1736380423.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:43.385Z,1736380423.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:43.480Z,1736380423.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:43.734Z,1736380423.734 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:43.810Z,1736380423.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:43.843Z,1736380423.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:43.984Z,1736380423.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:44.190Z,1736380424.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:44.200Z,1736380424.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:44.236Z,1736380424.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:44.488Z,1736380424.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:44.634Z,1736380424.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:44.685Z,1736380424.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:44.740Z,1736380424.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:44.992Z,1736380424.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:45.140Z,1736380425.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:45.149Z,1736380425.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:45.244Z,1736380425.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:45.498Z,1736380425.498 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:45.568Z,1736380425.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:45.582Z,1736380425.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:45.748Z,1736380425.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:45.992Z,1736380425.992 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3 2025-01-08T23:53:46.001Z,1736380426.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:46.006Z,1736380426.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:53:46.010Z,1736380426.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:46.024Z,1736380426.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:46.252Z,1736380426.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:46.372Z,1736380426.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:53:46.372Z,1736380426.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:46.382Z,1736380426.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:46.504Z,1736380426.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:46.756Z,1736380426.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:46.808Z,1736380426.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:46.818Z,1736380426.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:47.009Z,1736380427.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:47.229Z,1736380427.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:47.259Z,1736380427.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:47.260Z,1736380427.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:47.512Z,1736380427.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:47.697Z,1736380427.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:47.719Z,1736380427.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:47.765Z,1736380427.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:48.016Z,1736380428.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:48.152Z,1736380428.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:48.174Z,1736380428.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:48.268Z,1736380428.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:48.520Z,1736380428.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:48.525Z,1736380428.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:48.535Z,1736380428.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:48.775Z,1736380428.775 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:48.949Z,1736380428.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:48.958Z,1736380428.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:49.024Z,1736380429.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:49.276Z,1736380429.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:49.323Z,1736380429.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:49.349Z,1736380429.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:49.528Z,1736380429.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:49.765Z,1736380429.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:49.774Z,1736380429.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:49.781Z,1736380429.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:50.032Z,1736380430.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:50.135Z,1736380430.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:50.146Z,1736380430.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:50.284Z,1736380430.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:50.536Z,1736380430.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:50.545Z,1736380430.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:50.555Z,1736380430.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:50.788Z,1736380430.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:50.977Z,1736380430.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:50.987Z,1736380430.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:51.040Z,1736380431.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:51.292Z,1736380431.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:51.356Z,1736380431.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:51.365Z,1736380431.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:51.546Z,1736380431.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:51.786Z,1736380431.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:51.795Z,1736380431.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:51.796Z,1736380431.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:52.048Z,1736380432.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:52.250Z,1736380432.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:52.259Z,1736380432.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:52.301Z,1736380432.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:52.552Z,1736380432.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:52.658Z,1736380432.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:52.672Z,1736380432.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:52.804Z,1736380432.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:53.056Z,1736380433.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:53.095Z,1736380433.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:53.104Z,1736380433.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:53.308Z,1736380433.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:53.459Z,1736380433.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:53.468Z,1736380433.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:53.561Z,1736380433.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:53.812Z,1736380433.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:53.915Z,1736380433.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:53.924Z,1736380433.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:54.065Z,1736380434.065 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:54.316Z,1736380434.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:54.447Z,1736380434.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:54.456Z,1736380434.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:54.568Z,1736380434.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:54.755Z,1736380434.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:54.810Z,1736380434.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:54.820Z,1736380434.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:55.072Z,1736380435.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:55.144Z,1736380435.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:55.184Z,1736380435.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:55.324Z,1736380435.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:55.539Z,1736380435.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:55.548Z,1736380435.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:55.576Z,1736380435.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:55.828Z,1736380435.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:55.959Z,1736380435.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:55.976Z,1736380435.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:56.080Z,1736380436.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:56.332Z,1736380436.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:56.334Z,1736380436.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:56.348Z,1736380436.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:56.589Z,1736380436.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:56.737Z,1736380436.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:56.746Z,1736380436.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:56.840Z,1736380436.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:57.092Z,1736380437.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:57.170Z,1736380437.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:57.186Z,1736380437.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:57.344Z,1736380437.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:57.542Z,1736380437.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:57.555Z,1736380437.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:57.598Z,1736380437.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:57.850Z,1736380437.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:57.966Z,1736380437.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:57.975Z,1736380437.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:58.100Z,1736380438.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:58.352Z,1736380438.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:58.362Z,1736380438.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:58.382Z,1736380438.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:58.604Z,1736380438.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:58.753Z,1736380438.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:58.761Z,1736380438.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:58.857Z,1736380438.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:59.108Z,1736380439.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:59.184Z,1736380439.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:59.193Z,1736380439.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:59.360Z,1736380439.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:59.575Z,1736380439.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:53:59.585Z,1736380439.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:53:59.625Z,1736380439.625 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:59.876Z,1736380439.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:53:59.994Z,1736380439.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:00.003Z,1736380440.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:00.128Z,1736380440.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:00.381Z,1736380440.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:00.382Z,1736380440.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:00.390Z,1736380440.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:00.635Z,1736380440.635 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:00.781Z,1736380440.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:00.790Z,1736380440.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:00.886Z,1736380440.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:01.136Z,1736380441.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:01.215Z,1736380441.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:01.224Z,1736380441.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:01.388Z,1736380441.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:01.579Z,1736380441.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:01.589Z,1736380441.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:01.640Z,1736380441.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:01.893Z,1736380441.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:02.021Z,1736380442.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:02.045Z,1736380442.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:02.144Z,1736380442.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:02.396Z,1736380442.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:02.398Z,1736380442.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:02.426Z,1736380442.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:02.648Z,1736380442.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:02.793Z,1736380442.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:02.802Z,1736380442.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:02.901Z,1736380442.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:03.152Z,1736380443.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:03.227Z,1736380443.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:03.252Z,1736380443.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:03.404Z,1736380443.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:03.603Z,1736380443.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:03.636Z,1736380443.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:03.657Z,1736380443.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:03.909Z,1736380443.909 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:04.026Z,1736380444.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:04.056Z,1736380444.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:04.160Z,1736380444.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:04.412Z,1736380444.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:04.421Z,1736380444.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:04.430Z,1736380444.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:04.664Z,1736380444.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:04.817Z,1736380444.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:04.826Z,1736380444.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:04.918Z,1736380444.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:05.168Z,1736380445.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:05.240Z,1736380445.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:05.266Z,1736380445.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:05.420Z,1736380445.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:05.672Z,1736380445.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:05.692Z,1736380445.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:05.709Z,1736380445.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:05.927Z,1736380445.927 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:06.161Z,1736380446.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:06.170Z,1736380446.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:06.177Z,1736380446.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:06.428Z,1736380446.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:06.542Z,1736380446.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:06.552Z,1736380446.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:06.572Z,1736380446.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:54:06.681Z,1736380446.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:06.933Z,1736380446.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:07.000Z,1736380447.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:07.017Z,1736380447.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:07.184Z,1736380447.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:07.377Z,1736380447.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:07.385Z,1736380447.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:07.437Z,1736380447.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:07.576Z,1736380447.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:54:07.688Z,1736380447.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:07.762Z,1736380447.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:07.779Z,1736380447.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:07.942Z,1736380447.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:08.164Z,1736380448.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:08.173Z,1736380448.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:08.192Z,1736380448.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:08.444Z,1736380448.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:08.555Z,1736380448.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:08.564Z,1736380448.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:08.696Z,1736380448.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:08.949Z,1736380448.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:08.984Z,1736380448.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:09.026Z,1736380449.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:09.200Z,1736380449.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:09.377Z,1736380449.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:09.410Z,1736380449.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:09.452Z,1736380449.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:09.704Z,1736380449.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:09.769Z,1736380449.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:09.778Z,1736380449.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:09.957Z,1736380449.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:10.204Z,1736380450.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:10.208Z,1736380450.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:10.216Z,1736380450.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:10.460Z,1736380450.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:10.561Z,1736380450.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:10.571Z,1736380450.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:10.712Z,1736380450.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:10.966Z,1736380450.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:10.989Z,1736380450.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:11.050Z,1736380451.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:11.221Z,1736380451.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:11.410Z,1736380451.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:11.441Z,1736380451.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:11.472Z,1736380451.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:11.724Z,1736380451.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:11.784Z,1736380451.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:11.793Z,1736380451.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:11.976Z,1736380451.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:12.228Z,1736380452.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:12.237Z,1736380452.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:12.254Z,1736380452.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:12.480Z,1736380452.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:12.592Z,1736380452.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:12.601Z,1736380452.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:12.732Z,1736380452.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:12.984Z,1736380452.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:13.025Z,1736380453.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:13.082Z,1736380453.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:13.236Z,1736380453.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:13.440Z,1736380453.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:13.452Z,1736380453.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:13.488Z,1736380453.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:13.740Z,1736380453.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:13.871Z,1736380453.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:13.901Z,1736380453.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:13.993Z,1736380453.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:14.248Z,1736380454.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:14.310Z,1736380454.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:14.320Z,1736380454.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:14.500Z,1736380454.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:14.690Z,1736380454.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:14.700Z,1736380454.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:14.753Z,1736380454.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:15.004Z,1736380455.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:15.142Z,1736380455.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:15.151Z,1736380455.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:15.256Z,1736380455.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:15.508Z,1736380455.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:15.508Z,1736380455.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:15.520Z,1736380455.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:15.760Z,1736380455.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:15.900Z,1736380455.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:15.926Z,1736380455.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:16.012Z,1736380456.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:16.264Z,1736380456.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:16.321Z,1736380456.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:16.354Z,1736380456.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:16.516Z,1736380456.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:16.762Z,1736380456.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:16.768Z,1736380456.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:16.772Z,1736380456.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:17.020Z,1736380457.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:17.187Z,1736380457.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:17.202Z,1736380457.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:17.272Z,1736380457.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:17.524Z,1736380457.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:17.617Z,1736380457.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:17.642Z,1736380457.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:17.777Z,1736380457.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:18.028Z,1736380458.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:18.060Z,1736380458.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:18.091Z,1736380458.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:18.281Z,1736380458.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:18.532Z,1736380458.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:18.558Z,1736380458.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:18.589Z,1736380458.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:18.784Z,1736380458.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:18.942Z,1736380458.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:18.952Z,1736380458.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:19.037Z,1736380459.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:19.288Z,1736380459.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:19.363Z,1736380459.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:19.373Z,1736380459.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:19.540Z,1736380459.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:19.738Z,1736380459.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:19.747Z,1736380459.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:19.792Z,1736380459.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:20.047Z,1736380460.047 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:20.206Z,1736380460.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:20.216Z,1736380460.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:20.296Z,1736380460.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:20.550Z,1736380460.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:20.603Z,1736380460.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:20.638Z,1736380460.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:20.800Z,1736380460.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:21.052Z,1736380461.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:21.121Z,1736380461.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:21.166Z,1736380461.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:21.304Z,1736380461.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:21.556Z,1736380461.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:21.646Z,1736380461.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:21.679Z,1736380461.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:21.808Z,1736380461.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:22.016Z,1736380462.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:22.040Z,1736380462.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:22.060Z,1736380462.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:22.313Z,1736380462.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:22.461Z,1736380462.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:22.470Z,1736380462.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:22.564Z,1736380462.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:22.816Z,1736380462.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:22.838Z,1736380462.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:22.848Z,1736380462.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:23.068Z,1736380463.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:23.291Z,1736380463.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:23.300Z,1736380463.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:23.320Z,1736380463.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:23.572Z,1736380463.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:23.707Z,1736380463.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:23.715Z,1736380463.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:23.824Z,1736380463.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:24.076Z,1736380464.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:24.095Z,1736380464.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:24.120Z,1736380464.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:24.328Z,1736380464.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:24.517Z,1736380464.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:24.525Z,1736380464.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:24.580Z,1736380464.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:24.832Z,1736380464.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:24.940Z,1736380464.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:24.965Z,1736380464.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:25.086Z,1736380465.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:25.336Z,1736380465.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:25.441Z,1736380465.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:25.450Z,1736380465.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:25.588Z,1736380465.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:25.820Z,1736380465.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:25.829Z,1736380465.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:25.840Z,1736380465.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:26.092Z,1736380466.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:26.327Z,1736380466.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:26.343Z,1736380466.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:26.344Z,1736380466.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:26.596Z,1736380466.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:26.687Z,1736380466.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:26.696Z,1736380466.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:26.848Z,1736380466.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:27.069Z,1736380467.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:27.078Z,1736380467.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:27.100Z,1736380467.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:27.352Z,1736380467.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:27.520Z,1736380467.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:27.530Z,1736380467.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:27.604Z,1736380467.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:27.856Z,1736380467.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:27.889Z,1736380467.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:27.899Z,1736380467.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:28.109Z,1736380468.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:28.333Z,1736380468.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:28.358Z,1736380468.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:28.360Z,1736380468.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:28.612Z,1736380468.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:28.743Z,1736380468.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:28.756Z,1736380468.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:28.865Z,1736380468.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:29.117Z,1736380469.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:29.168Z,1736380469.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:29.193Z,1736380469.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:29.368Z,1736380469.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:29.583Z,1736380469.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:29.590Z,1736380469.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:54:29.608Z,1736380469.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:29.620Z,1736380469.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:29.621Z,1736380469.621 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:54:29.621Z,1736380469.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:54:29.872Z,1736380469.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:29.872Z,1736380469.872 [DAT](INFO): DAT read: user:3522> 2025-01-08T23:54:29.873Z,1736380469.873 [DAT](INFO): DAT read: Tx time:23:54:29.0998 2025-01-08T23:54:29.873Z,1736380469.873 [DAT](INFO): Ping request sent. 2025-01-08T23:54:29.874Z,1736380469.874 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:54:29.874Z,1736380469.874 [DAT](INFO): publishing transmit ping time 2025-01-08T23:54:29.874Z,1736380469.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744 2025-01-08T23:54:30.005Z,1736380470.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:30.015Z,1736380470.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:30.124Z,1736380470.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:30.124Z,1736380470.124 [DAT](INFO): DAT read: TxSync time:23:54:29.0990 2025-01-08T23:54:30.125Z,1736380470.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251612 2025-01-08T23:54:30.377Z,1736380470.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:30.378Z,1736380470.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503968 2025-01-08T23:54:30.470Z,1736380470.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:30.487Z,1736380470.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:30.628Z,1736380470.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:30.629Z,1736380470.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755401 2025-01-08T23:54:30.826Z,1736380470.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:30.834Z,1736380470.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:30.880Z,1736380470.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:30.881Z,1736380470.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007565 2025-01-08T23:54:31.132Z,1736380471.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:31.132Z,1736380471.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258763 2025-01-08T23:54:31.223Z,1736380471.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:31.233Z,1736380471.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:31.384Z,1736380471.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:31.385Z,1736380471.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511206 2025-01-08T23:54:31.636Z,1736380471.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:31.637Z,1736380471.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762998 2025-01-08T23:54:31.684Z,1736380471.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:31.703Z,1736380471.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:31.888Z,1736380471.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:31.888Z,1736380471.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014770 2025-01-08T23:54:32.108Z,1736380472.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:32.117Z,1736380472.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:32.140Z,1736380472.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:32.141Z,1736380472.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267001 2025-01-08T23:54:32.392Z,1736380472.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:32.392Z,1736380472.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518781 2025-01-08T23:54:32.533Z,1736380472.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:32.561Z,1736380472.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:32.645Z,1736380472.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:32.647Z,1736380472.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773806 2025-01-08T23:54:32.896Z,1736380472.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:32.897Z,1736380472.897 [DAT](INFO): DAT read: Rx Time:23:54:31.5756 2025-01-08T23:54:32.898Z,1736380472.898 [DAT](INFO): Rx dataTimestamp_ set to:1736380472.897446 2025-01-08T23:54:32.898Z,1736380472.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024690 2025-01-08T23:54:32.944Z,1736380472.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:32.953Z,1736380472.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:33.149Z,1736380473.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:33.150Z,1736380473.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276380 2025-01-08T23:54:33.400Z,1736380473.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:33.402Z,1736380473.402 [DAT](INFO): DAT read: Range 10 to 50 : 53.7 m (Round-trip 71.7 ms) speed 0.0 m/s 2025-01-08T23:54:33.402Z,1736380473.402 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:54:33.502Z,1736380473.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:33.511Z,1736380473.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 60.260256 s, deltaX: -0.399998 m, approachRate: -0.006638 m/s, rangeRepo size: 4 2025-01-08T23:54:33.512Z,1736380473.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:33.652Z,1736380473.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:33.902Z,1736380473.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:33.904Z,1736380473.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:33.929Z,1736380473.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:34.156Z,1736380474.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:34.289Z,1736380474.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:34.303Z,1736380474.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:34.409Z,1736380474.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:34.660Z,1736380474.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:34.744Z,1736380474.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:34.760Z,1736380474.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:34.912Z,1736380474.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:35.089Z,1736380475.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:35.098Z,1736380475.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:35.165Z,1736380475.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:35.416Z,1736380475.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:35.542Z,1736380475.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:35.552Z,1736380475.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:35.669Z,1736380475.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:35.920Z,1736380475.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:35.921Z,1736380475.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:35.939Z,1736380475.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:36.172Z,1736380476.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:36.311Z,1736380476.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:36.351Z,1736380476.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:36.424Z,1736380476.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:36.676Z,1736380476.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:36.843Z,1736380476.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:36.885Z,1736380476.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:36.930Z,1736380476.930 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:37.180Z,1736380477.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:37.304Z,1736380477.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:37.312Z,1736380477.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:37.435Z,1736380477.435 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:37.684Z,1736380477.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:37.696Z,1736380477.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:54:37.741Z,1736380477.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:37.773Z,1736380477.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:37.936Z,1736380477.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:38.183Z,1736380478.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:38.188Z,1736380478.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:38.196Z,1736380478.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:38.440Z,1736380478.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:38.625Z,1736380478.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:38.634Z,1736380478.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:38.692Z,1736380478.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:38.700Z,1736380478.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:54:38.945Z,1736380478.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:39.026Z,1736380479.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:39.037Z,1736380479.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:39.196Z,1736380479.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:39.450Z,1736380479.450 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:39.532Z,1736380479.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:39.549Z,1736380479.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:39.700Z,1736380479.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:39.845Z,1736380479.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:39.853Z,1736380479.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:39.953Z,1736380479.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:40.204Z,1736380480.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:40.258Z,1736380480.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:40.267Z,1736380480.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:40.459Z,1736380480.459 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:40.712Z,1736380480.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:40.721Z,1736380480.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:40.729Z,1736380480.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:40.964Z,1736380480.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:41.120Z,1736380481.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:41.144Z,1736380481.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:41.216Z,1736380481.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:41.470Z,1736380481.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:41.556Z,1736380481.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:41.565Z,1736380481.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:41.720Z,1736380481.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:41.945Z,1736380481.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:41.954Z,1736380481.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:41.972Z,1736380481.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:42.224Z,1736380482.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:42.369Z,1736380482.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:42.394Z,1736380482.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:42.486Z,1736380482.486 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:42.736Z,1736380482.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:42.803Z,1736380482.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:54:42.803Z,1736380482.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:42.812Z,1736380482.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:42.989Z,1736380482.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:43.175Z,1736380483.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:54:43.175Z,1736380483.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:43.185Z,1736380483.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:43.243Z,1736380483.243 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:43.493Z,1736380483.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:43.608Z,1736380483.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:43.618Z,1736380483.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:43.748Z,1736380483.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:44.001Z,1736380484.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:44.055Z,1736380484.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:44.076Z,1736380484.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:44.252Z,1736380484.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:44.505Z,1736380484.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:44.587Z,1736380484.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:44.596Z,1736380484.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:44.756Z,1736380484.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:45.003Z,1736380485.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:45.008Z,1736380485.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:45.012Z,1736380485.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:45.260Z,1736380485.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:45.412Z,1736380485.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:45.421Z,1736380485.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:45.514Z,1736380485.514 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:45.764Z,1736380485.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:45.816Z,1736380485.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:45.849Z,1736380485.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:46.016Z,1736380486.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:46.250Z,1736380486.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:46.258Z,1736380486.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:46.268Z,1736380486.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:46.522Z,1736380486.522 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:46.690Z,1736380486.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:46.700Z,1736380486.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:46.772Z,1736380486.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:47.024Z,1736380487.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:47.054Z,1736380487.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:47.063Z,1736380487.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:47.276Z,1736380487.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:47.468Z,1736380487.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:47.477Z,1736380487.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:47.530Z,1736380487.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:47.780Z,1736380487.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:47.894Z,1736380487.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:47.904Z,1736380487.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:48.033Z,1736380488.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:48.274Z,1736380488.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:48.284Z,1736380488.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:48.303Z,1736380488.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:48.537Z,1736380488.537 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:48.725Z,1736380488.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:48.734Z,1736380488.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:48.788Z,1736380488.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:49.041Z,1736380489.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:49.106Z,1736380489.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:49.119Z,1736380489.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:49.292Z,1736380489.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:49.527Z,1736380489.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:49.544Z,1736380489.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:49.614Z,1736380489.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:49.796Z,1736380489.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:50.036Z,1736380490.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:50.045Z,1736380490.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:50.049Z,1736380490.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:50.300Z,1736380490.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:50.436Z,1736380490.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:50.457Z,1736380490.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:50.554Z,1736380490.554 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:50.804Z,1736380490.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:50.888Z,1736380490.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:50.897Z,1736380490.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:51.056Z,1736380491.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:51.275Z,1736380491.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:51.298Z,1736380491.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:51.308Z,1736380491.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:51.561Z,1736380491.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:51.717Z,1736380491.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:51.726Z,1736380491.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:51.812Z,1736380491.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:52.064Z,1736380492.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:52.122Z,1736380492.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:52.130Z,1736380492.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:52.316Z,1736380492.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:52.512Z,1736380492.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:52.521Z,1736380492.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:52.574Z,1736380492.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:52.824Z,1736380492.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:52.936Z,1736380492.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:52.944Z,1736380492.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:53.076Z,1736380493.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:53.328Z,1736380493.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:53.341Z,1736380493.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:53.350Z,1736380493.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:53.580Z,1736380493.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:53.773Z,1736380493.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:53.783Z,1736380493.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:53.832Z,1736380493.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:54.084Z,1736380494.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:54.217Z,1736380494.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:54.234Z,1736380494.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:54.336Z,1736380494.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:54.588Z,1736380494.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:54.726Z,1736380494.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:54.736Z,1736380494.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:54.840Z,1736380494.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:55.092Z,1736380495.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:55.153Z,1736380495.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:55.175Z,1736380495.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:55.344Z,1736380495.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:55.571Z,1736380495.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:55.596Z,1736380495.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:55.606Z,1736380495.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:55.848Z,1736380495.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:56.009Z,1736380496.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:54:56.009Z,1736380496.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:56.020Z,1736380496.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:56.100Z,1736380496.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:56.352Z,1736380496.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:56.380Z,1736380496.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:54:56.381Z,1736380496.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:56.401Z,1736380496.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:56.604Z,1736380496.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:56.818Z,1736380496.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:56.826Z,1736380496.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:56.864Z,1736380496.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:57.118Z,1736380497.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:57.213Z,1736380497.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:57.241Z,1736380497.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:57.372Z,1736380497.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:57.624Z,1736380497.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:57.742Z,1736380497.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:57.761Z,1736380497.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:57.876Z,1736380497.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:58.093Z,1736380498.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:58.102Z,1736380498.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:58.128Z,1736380498.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:58.381Z,1736380498.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:58.475Z,1736380498.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:58.504Z,1736380498.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:58.632Z,1736380498.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:58.884Z,1736380498.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:58.925Z,1736380498.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:58.935Z,1736380498.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:59.138Z,1736380499.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:59.338Z,1736380499.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:59.346Z,1736380499.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:59.388Z,1736380499.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:59.640Z,1736380499.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:54:59.805Z,1736380499.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:54:59.814Z,1736380499.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:54:59.892Z,1736380499.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:00.146Z,1736380500.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:00.203Z,1736380500.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:00.248Z,1736380500.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:00.398Z,1736380500.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:00.649Z,1736380500.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:00.670Z,1736380500.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:00.784Z,1736380500.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:00.900Z,1736380500.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:01.152Z,1736380501.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:01.168Z,1736380501.168 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 80.88, 65.25, 71.03, 2025-01-08T23:55:01.177Z,1736380501.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:55:01.177Z,1736380501.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:01.186Z,1736380501.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:01.404Z,1736380501.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:01.583Z,1736380501.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:55:01.583Z,1736380501.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:01.592Z,1736380501.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:01.657Z,1736380501.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:01.908Z,1736380501.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:02.036Z,1736380502.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:02.044Z,1736380502.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:02.160Z,1736380502.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:02.412Z,1736380502.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:02.426Z,1736380502.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:02.451Z,1736380502.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:02.664Z,1736380502.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:02.870Z,1736380502.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:02.879Z,1736380502.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:02.917Z,1736380502.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:03.168Z,1736380503.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:03.291Z,1736380503.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:03.300Z,1736380503.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:03.420Z,1736380503.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:03.672Z,1736380503.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:03.702Z,1736380503.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:03.711Z,1736380503.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:03.924Z,1736380503.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:04.119Z,1736380504.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:04.140Z,1736380504.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:04.176Z,1736380504.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:04.428Z,1736380504.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:04.489Z,1736380504.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:04.498Z,1736380504.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:04.681Z,1736380504.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:04.920Z,1736380504.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:04.929Z,1736380504.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:04.932Z,1736380504.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:05.184Z,1736380505.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:05.333Z,1736380505.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:05.341Z,1736380505.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:05.436Z,1736380505.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:05.688Z,1736380505.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:05.791Z,1736380505.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:05.860Z,1736380505.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:05.940Z,1736380505.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:06.194Z,1736380506.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:06.295Z,1736380506.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:06.326Z,1736380506.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:06.444Z,1736380506.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:06.685Z,1736380506.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:06.694Z,1736380506.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:06.696Z,1736380506.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:06.948Z,1736380506.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:07.083Z,1736380507.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:07.112Z,1736380507.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:07.200Z,1736380507.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:07.452Z,1736380507.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:07.474Z,1736380507.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:07.484Z,1736380507.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:07.704Z,1736380507.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:07.917Z,1736380507.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:07.941Z,1736380507.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:07.956Z,1736380507.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:08.208Z,1736380508.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:08.265Z,1736380508.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:08.273Z,1736380508.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:08.461Z,1736380508.461 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:08.685Z,1736380508.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:08.693Z,1736380508.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:08.712Z,1736380508.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:08.829Z,1736380508.829 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:55:08.964Z,1736380508.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:09.093Z,1736380509.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:09.102Z,1736380509.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:09.216Z,1736380509.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:09.468Z,1736380509.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:09.472Z,1736380509.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:09.505Z,1736380509.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:09.720Z,1736380509.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:09.833Z,1736380509.833 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:55:09.946Z,1736380509.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:09.975Z,1736380509.975 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:09.979Z,1736380509.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:10.224Z,1736380510.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:10.290Z,1736380510.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:10.300Z,1736380510.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:10.478Z,1736380510.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:10.728Z,1736380510.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:10.733Z,1736380510.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:10.745Z,1736380510.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:10.980Z,1736380510.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:11.109Z,1736380511.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:11.118Z,1736380511.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:11.232Z,1736380511.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:11.484Z,1736380511.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:11.534Z,1736380511.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:11.558Z,1736380511.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:11.736Z,1736380511.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:11.988Z,1736380511.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:11.995Z,1736380511.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:12.006Z,1736380512.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:12.240Z,1736380512.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:12.397Z,1736380512.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:12.405Z,1736380512.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:12.493Z,1736380512.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:12.744Z,1736380512.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:12.778Z,1736380512.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:12.789Z,1736380512.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:12.996Z,1736380512.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:13.210Z,1736380513.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:13.246Z,1736380513.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:13.249Z,1736380513.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:13.500Z,1736380513.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:13.590Z,1736380513.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:13.600Z,1736380513.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:13.752Z,1736380513.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:14.004Z,1736380514.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:14.026Z,1736380514.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:14.042Z,1736380514.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:14.256Z,1736380514.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:14.394Z,1736380514.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:14.402Z,1736380514.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:14.509Z,1736380514.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:14.760Z,1736380514.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:14.806Z,1736380514.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:14.815Z,1736380514.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:15.012Z,1736380515.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:15.219Z,1736380515.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:15.228Z,1736380515.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:15.264Z,1736380515.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:15.516Z,1736380515.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:15.615Z,1736380515.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:15.648Z,1736380515.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:15.768Z,1736380515.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:16.020Z,1736380516.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:16.071Z,1736380516.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:55:16.071Z,1736380516.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:16.080Z,1736380516.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:16.272Z,1736380516.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:16.417Z,1736380516.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:55:16.417Z,1736380516.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:16.461Z,1736380516.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:16.525Z,1736380516.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:16.776Z,1736380516.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:16.820Z,1736380516.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:55:16.820Z,1736380516.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:16.829Z,1736380516.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:17.028Z,1736380517.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:17.242Z,1736380517.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:17.252Z,1736380517.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:17.281Z,1736380517.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:17.532Z,1736380517.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:17.636Z,1736380517.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:17.645Z,1736380517.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:17.784Z,1736380517.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:18.037Z,1736380518.037 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:18.085Z,1736380518.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:18.094Z,1736380518.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:18.288Z,1736380518.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:18.437Z,1736380518.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:18.446Z,1736380518.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:18.540Z,1736380518.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:18.792Z,1736380518.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:18.845Z,1736380518.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:18.870Z,1736380518.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:19.044Z,1736380519.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:19.270Z,1736380519.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:19.278Z,1736380519.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:19.296Z,1736380519.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:19.548Z,1736380519.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:19.654Z,1736380519.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:19.668Z,1736380519.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:19.803Z,1736380519.803 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:20.058Z,1736380520.058 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:20.117Z,1736380520.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:20.126Z,1736380520.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:20.308Z,1736380520.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:20.541Z,1736380520.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:20.554Z,1736380520.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:20.560Z,1736380520.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:20.812Z,1736380520.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:20.974Z,1736380520.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:20.987Z,1736380520.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:21.066Z,1736380521.066 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:21.316Z,1736380521.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:21.495Z,1736380521.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:21.506Z,1736380521.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:21.569Z,1736380521.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:21.820Z,1736380521.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:21.897Z,1736380521.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:21.906Z,1736380521.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:22.074Z,1736380522.074 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:22.324Z,1736380522.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:22.333Z,1736380522.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:22.342Z,1736380522.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:22.576Z,1736380522.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:22.730Z,1736380522.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:22.752Z,1736380522.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:22.828Z,1736380522.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:23.081Z,1736380523.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:23.155Z,1736380523.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:23.163Z,1736380523.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:23.332Z,1736380523.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:23.518Z,1736380523.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:23.526Z,1736380523.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:23.584Z,1736380523.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:23.836Z,1736380523.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:23.921Z,1736380523.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:23.930Z,1736380523.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:24.089Z,1736380524.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:24.341Z,1736380524.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:24.371Z,1736380524.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:24.391Z,1736380524.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:24.596Z,1736380524.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:24.740Z,1736380524.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:24.784Z,1736380524.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:24.848Z,1736380524.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:25.101Z,1736380525.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:25.189Z,1736380525.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:25.199Z,1736380525.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:25.352Z,1736380525.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:25.542Z,1736380525.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:25.561Z,1736380525.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:25.604Z,1736380525.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:25.856Z,1736380525.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:25.939Z,1736380525.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:25.948Z,1736380525.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:26.111Z,1736380526.111 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:26.360Z,1736380526.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:26.361Z,1736380526.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:26.394Z,1736380526.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:26.612Z,1736380526.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:26.802Z,1736380526.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:26.812Z,1736380526.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:26.864Z,1736380526.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:27.117Z,1736380527.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:27.220Z,1736380527.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:27.228Z,1736380527.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:27.368Z,1736380527.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:27.601Z,1736380527.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:27.612Z,1736380527.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:27.620Z,1736380527.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:27.872Z,1736380527.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:28.001Z,1736380528.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:28.012Z,1736380528.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:28.125Z,1736380528.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:28.376Z,1736380528.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:28.435Z,1736380528.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:28.443Z,1736380528.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:28.628Z,1736380528.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:28.880Z,1736380528.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:28.883Z,1736380528.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:28.891Z,1736380528.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:28.892Z,1736380528.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 53.70 m and bearing: 37.758904 deg. Not drifting fast enough. 2025-01-08T23:55:29.134Z,1736380529.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:29.298Z,1736380529.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:29.313Z,1736380529.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:29.316Z,1736380529.316 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-01-08T23:55:29.316Z,1736380529.316 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-08T23:55:29.316Z,1736380529.316 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-01-08T23:55:29.316Z,1736380529.316 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-01-08T23:55:29.385Z,1736380529.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:29.636Z,1736380529.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:29.689Z,1736380529.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:29.710Z,1736380529.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:55:29.718Z,1736380529.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:29.888Z,1736380529.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:29.888Z,1736380529.888 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:55:29.888Z,1736380529.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:55:30.092Z,1736380530.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:30.102Z,1736380530.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:30.140Z,1736380530.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:30.141Z,1736380530.141 [DAT](INFO): DAT read: user:3523> 2025-01-08T23:55:30.141Z,1736380530.141 [DAT](INFO): DAT read: Tx time:23:55:29.3503 2025-01-08T23:55:30.142Z,1736380530.142 [DAT](INFO): Ping request sent. 2025-01-08T23:55:30.142Z,1736380530.142 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:55:30.142Z,1736380530.142 [DAT](INFO): publishing transmit ping time 2025-01-08T23:55:30.143Z,1736380530.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-01-08T23:55:30.392Z,1736380530.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:30.393Z,1736380530.393 [DAT](INFO): DAT read: TxSync time:23:55:29.3496 2025-01-08T23:55:30.393Z,1736380530.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251404 2025-01-08T23:55:30.583Z,1736380530.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:30.592Z,1736380530.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:30.645Z,1736380530.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:30.646Z,1736380530.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503770 2025-01-08T23:55:30.896Z,1736380530.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:30.896Z,1736380530.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754456 2025-01-08T23:55:31.046Z,1736380531.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:31.055Z,1736380531.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:31.149Z,1736380531.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:31.152Z,1736380531.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009686 2025-01-08T23:55:31.400Z,1736380531.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:31.401Z,1736380531.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258986 2025-01-08T23:55:31.478Z,1736380531.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:31.489Z,1736380531.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:31.652Z,1736380531.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:31.654Z,1736380531.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511883 2025-01-08T23:55:31.901Z,1736380531.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:31.904Z,1736380531.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:31.905Z,1736380531.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762676 2025-01-08T23:55:31.928Z,1736380531.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:32.156Z,1736380532.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:32.156Z,1736380532.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014625 2025-01-08T23:55:32.350Z,1736380532.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:32.371Z,1736380532.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:32.408Z,1736380532.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:32.408Z,1736380532.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266578 2025-01-08T23:55:32.660Z,1736380532.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:32.662Z,1736380532.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519461 2025-01-08T23:55:32.723Z,1736380532.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:32.731Z,1736380532.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:32.912Z,1736380532.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:32.912Z,1736380532.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770428 2025-01-08T23:55:33.114Z,1736380533.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:33.136Z,1736380533.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:33.165Z,1736380533.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:33.166Z,1736380533.166 [DAT](INFO): DAT read: Rx Time:23:55:31.8268 2025-01-08T23:55:33.167Z,1736380533.167 [DAT](INFO): Rx dataTimestamp_ set to:1736380533.166627 2025-01-08T23:55:33.168Z,1736380533.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026109 2025-01-08T23:55:33.416Z,1736380533.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:33.417Z,1736380533.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274755 2025-01-08T23:55:33.552Z,1736380533.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:33.561Z,1736380533.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:33.668Z,1736380533.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:33.670Z,1736380533.670 [DAT](INFO): DAT read: Range 10 to 50 : 54.2 m (Round-trip 72.3 ms) speed 0.0 m/s 2025-01-08T23:55:33.672Z,1736380533.672 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:55:33.920Z,1736380533.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:33.929Z,1736380533.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:33.940Z,1736380533.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 60.268120 s, deltaX: 0.500000 m, approachRate: 0.008296 m/s, rangeRepo size: 4 2025-01-08T23:55:33.940Z,1736380533.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:34.172Z,1736380534.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:34.360Z,1736380534.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:34.369Z,1736380534.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:34.424Z,1736380534.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:34.676Z,1736380534.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:34.738Z,1736380534.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:34.770Z,1736380534.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:34.928Z,1736380534.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:35.152Z,1736380535.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:35.180Z,1736380535.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:35.182Z,1736380535.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:35.432Z,1736380535.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:35.591Z,1736380535.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:35.617Z,1736380535.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:35.684Z,1736380535.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:35.936Z,1736380535.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:35.969Z,1736380535.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:35.977Z,1736380535.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:36.189Z,1736380536.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:36.391Z,1736380536.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:36.401Z,1736380536.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:36.440Z,1736380536.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:36.692Z,1736380536.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:36.783Z,1736380536.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:36.819Z,1736380536.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:36.944Z,1736380536.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:37.176Z,1736380537.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:37.186Z,1736380537.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:37.196Z,1736380537.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:37.449Z,1736380537.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:37.606Z,1736380537.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:37.617Z,1736380537.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:37.700Z,1736380537.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:37.775Z,1736380537.775 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:55:37.953Z,1736380537.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:37.993Z,1736380537.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:38.003Z,1736380538.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:38.205Z,1736380538.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:38.413Z,1736380538.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:38.422Z,1736380538.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:38.456Z,1736380538.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:38.708Z,1736380538.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:38.812Z,1736380538.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:38.820Z,1736380538.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:38.961Z,1736380538.961 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:39.204Z,1736380539.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:39.212Z,1736380539.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:39.230Z,1736380539.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:39.464Z,1736380539.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:39.653Z,1736380539.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:39.669Z,1736380539.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:39.716Z,1736380539.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:39.956Z,1736380539.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:55:39.968Z,1736380539.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:40.025Z,1736380540.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:40.035Z,1736380540.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:40.220Z,1736380540.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:40.472Z,1736380540.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:40.506Z,1736380540.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:40.546Z,1736380540.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:40.724Z,1736380540.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:40.853Z,1736380540.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:40.862Z,1736380540.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:40.960Z,1736380540.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:55:40.976Z,1736380540.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:41.228Z,1736380541.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:41.328Z,1736380541.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:41.380Z,1736380541.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:41.481Z,1736380541.481 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:41.714Z,1736380541.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:41.723Z,1736380541.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:41.732Z,1736380541.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:41.985Z,1736380541.985 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:42.101Z,1736380542.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:42.110Z,1736380542.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:42.236Z,1736380542.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:42.488Z,1736380542.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:42.527Z,1736380542.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:42.537Z,1736380542.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:42.740Z,1736380542.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:42.954Z,1736380542.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:42.962Z,1736380542.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:42.993Z,1736380542.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:43.244Z,1736380543.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:43.434Z,1736380543.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:43.442Z,1736380543.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:43.497Z,1736380543.497 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:43.748Z,1736380543.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:43.845Z,1736380543.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:43.856Z,1736380543.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:43.000Z,1736380544.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:44.252Z,1736380544.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:44.266Z,1736380544.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:44.274Z,1736380544.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:44.507Z,1736380544.507 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:44.711Z,1736380544.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:44.721Z,1736380544.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:44.756Z,1736380544.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:45.008Z,1736380545.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:45.089Z,1736380545.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:45.097Z,1736380545.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:45.260Z,1736380545.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:45.512Z,1736380545.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:45.524Z,1736380545.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:45.553Z,1736380545.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:45.765Z,1736380545.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:45.920Z,1736380545.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:45.928Z,1736380545.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:46.017Z,1736380546.017 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:46.268Z,1736380546.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:46.310Z,1736380546.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:46.339Z,1736380546.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:46.520Z,1736380546.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:46.750Z,1736380546.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:46.758Z,1736380546.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:46.772Z,1736380546.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:47.024Z,1736380547.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:47.124Z,1736380547.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:47.133Z,1736380547.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:47.276Z,1736380547.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:47.528Z,1736380547.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:47.543Z,1736380547.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:47.552Z,1736380547.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:47.780Z,1736380547.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:47.922Z,1736380547.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:47.947Z,1736380547.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:48.032Z,1736380548.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:48.286Z,1736380548.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:48.375Z,1736380548.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:48.384Z,1736380548.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:48.536Z,1736380548.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:48.788Z,1736380548.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:48.813Z,1736380548.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:48.826Z,1736380548.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:49.040Z,1736380549.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:49.185Z,1736380549.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:49.193Z,1736380549.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:49.292Z,1736380549.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:49.544Z,1736380549.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:49.613Z,1736380549.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:49.639Z,1736380549.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:49.796Z,1736380549.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:49.983Z,1736380549.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:50.009Z,1736380550.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:50.050Z,1736380550.050 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:50.300Z,1736380550.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:50.387Z,1736380550.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:50.395Z,1736380550.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:50.552Z,1736380550.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:50.804Z,1736380550.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:50.809Z,1736380550.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:50.857Z,1736380550.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:51.057Z,1736380551.057 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:51.200Z,1736380551.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:51.208Z,1736380551.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:51.308Z,1736380551.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:51.560Z,1736380551.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:51.636Z,1736380551.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:51.645Z,1736380551.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:51.812Z,1736380551.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:52.004Z,1736380552.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:52.014Z,1736380552.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:52.064Z,1736380552.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:52.318Z,1736380552.318 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:52.401Z,1736380552.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:52.430Z,1736380552.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:52.568Z,1736380552.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:52.820Z,1736380552.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:52.861Z,1736380552.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:52.871Z,1736380552.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:53.072Z,1736380553.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:53.218Z,1736380553.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:53.227Z,1736380553.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:53.324Z,1736380553.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:53.576Z,1736380553.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:53.687Z,1736380553.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:53.695Z,1736380553.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:53.828Z,1736380553.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:54.041Z,1736380554.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:54.059Z,1736380554.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:54.088Z,1736380554.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:54.340Z,1736380554.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:54.424Z,1736380554.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:54.434Z,1736380554.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:54.592Z,1736380554.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:54.844Z,1736380554.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:54.883Z,1736380554.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:54.905Z,1736380554.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:55.096Z,1736380555.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:55.245Z,1736380555.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:55.254Z,1736380555.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:55.350Z,1736380555.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:55.604Z,1736380555.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:55.688Z,1736380555.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:55.717Z,1736380555.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:55.856Z,1736380555.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:56.044Z,1736380556.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:56.053Z,1736380556.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:56.109Z,1736380556.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:56.360Z,1736380556.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:56.448Z,1736380556.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:56.457Z,1736380556.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:56.612Z,1736380556.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:56.864Z,1736380556.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:56.898Z,1736380556.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:56.919Z,1736380556.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:57.116Z,1736380557.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:57.252Z,1736380557.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:57.267Z,1736380557.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:57.369Z,1736380557.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:57.620Z,1736380557.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:57.696Z,1736380557.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:57.717Z,1736380557.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:57.872Z,1736380557.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:58.056Z,1736380558.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:58.066Z,1736380558.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:58.124Z,1736380558.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:58.376Z,1736380558.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:58.469Z,1736380558.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:58.477Z,1736380558.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:58.630Z,1736380558.630 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:58.880Z,1736380558.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:58.924Z,1736380558.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:58.934Z,1736380558.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:59.133Z,1736380559.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:59.311Z,1736380559.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:59.350Z,1736380559.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:59.384Z,1736380559.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:59.638Z,1736380559.638 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:55:59.718Z,1736380559.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:55:59.727Z,1736380559.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:55:59.892Z,1736380559.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:00.081Z,1736380560.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:00.090Z,1736380560.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:00.144Z,1736380560.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:00.396Z,1736380560.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:00.490Z,1736380560.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:00.499Z,1736380560.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:00.650Z,1736380560.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:00.900Z,1736380560.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:00.952Z,1736380560.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:00.960Z,1736380560.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:01.152Z,1736380561.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:01.298Z,1736380561.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:01.334Z,1736380561.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:01.404Z,1736380561.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:01.658Z,1736380561.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:01.741Z,1736380561.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:01.753Z,1736380561.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:01.908Z,1736380561.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:02.105Z,1736380562.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:02.113Z,1736380562.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:02.160Z,1736380562.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:02.412Z,1736380562.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:02.511Z,1736380562.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:02.520Z,1736380562.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:02.666Z,1736380562.666 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:02.916Z,1736380562.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:02.948Z,1736380562.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:02.957Z,1736380562.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:03.168Z,1736380563.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:03.310Z,1736380563.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:03.319Z,1736380563.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:03.421Z,1736380563.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:03.675Z,1736380563.675 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:03.772Z,1736380563.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:03.782Z,1736380563.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:03.924Z,1736380563.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:04.134Z,1736380564.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:04.143Z,1736380564.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:04.176Z,1736380564.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:04.428Z,1736380564.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:04.524Z,1736380564.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:04.551Z,1736380564.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:04.682Z,1736380564.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:04.932Z,1736380564.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:04.978Z,1736380564.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:04.988Z,1736380564.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:05.184Z,1736380565.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:05.328Z,1736380565.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:05.346Z,1736380565.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:05.440Z,1736380565.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:05.694Z,1736380565.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:05.814Z,1736380565.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:05.823Z,1736380565.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:05.944Z,1736380565.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:06.146Z,1736380566.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:06.185Z,1736380566.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:06.196Z,1736380566.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:06.448Z,1736380566.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:06.546Z,1736380566.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:06.556Z,1736380566.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:06.702Z,1736380566.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:06.952Z,1736380566.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:06.976Z,1736380566.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:07.005Z,1736380567.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:07.205Z,1736380567.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:07.363Z,1736380567.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:07.376Z,1736380567.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:07.456Z,1736380567.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:07.710Z,1736380567.710 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:07.835Z,1736380567.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:07.843Z,1736380567.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:07.960Z,1736380567.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:08.157Z,1736380568.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:08.166Z,1736380568.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:08.212Z,1736380568.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:08.464Z,1736380568.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:08.564Z,1736380568.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:08.573Z,1736380568.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:08.716Z,1736380568.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:08.968Z,1736380568.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:09.007Z,1736380569.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:09.016Z,1736380569.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:09.220Z,1736380569.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:09.380Z,1736380569.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:09.413Z,1736380569.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:09.474Z,1736380569.474 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:09.725Z,1736380569.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:09.840Z,1736380569.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:09.872Z,1736380569.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:09.976Z,1736380569.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:10.185Z,1736380570.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:10.194Z,1736380570.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:10.228Z,1736380570.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:10.485Z,1736380570.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:10.607Z,1736380570.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:10.624Z,1736380570.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:10.736Z,1736380570.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:10.988Z,1736380570.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:11.029Z,1736380571.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:11.038Z,1736380571.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:11.080Z,1736380571.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:56:11.240Z,1736380571.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:11.406Z,1736380571.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:11.414Z,1736380571.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:11.493Z,1736380571.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:11.744Z,1736380571.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:11.867Z,1736380571.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:11.876Z,1736380571.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:11.996Z,1736380571.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:12.084Z,1736380572.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:56:12.200Z,1736380572.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:12.220Z,1736380572.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:12.248Z,1736380572.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:12.500Z,1736380572.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:12.607Z,1736380572.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:12.616Z,1736380572.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:12.752Z,1736380572.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:13.004Z,1736380573.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:13.059Z,1736380573.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:13.068Z,1736380573.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:13.256Z,1736380573.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:13.425Z,1736380573.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:13.438Z,1736380573.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:13.513Z,1736380573.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:13.767Z,1736380573.767 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:13.894Z,1736380573.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:13.903Z,1736380573.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:14.020Z,1736380574.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:14.222Z,1736380574.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:14.232Z,1736380574.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:14.272Z,1736380574.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:14.524Z,1736380574.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:14.625Z,1736380574.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:14.634Z,1736380574.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:14.776Z,1736380574.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:15.028Z,1736380575.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:15.092Z,1736380575.092 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815572012,35.0, +10.9, 0.0,149 2025-01-08T23:56:15.108Z,1736380575.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:56:15.109Z,1736380575.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:15.120Z,1736380575.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:15.280Z,1736380575.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:15.533Z,1736380575.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:15.556Z,1736380575.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:56:15.556Z,1736380575.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:15.574Z,1736380575.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:15.784Z,1736380575.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:15.992Z,1736380575.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:16.006Z,1736380576.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:16.036Z,1736380576.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:16.288Z,1736380576.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:16.366Z,1736380576.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:16.375Z,1736380576.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:16.540Z,1736380576.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:16.771Z,1736380576.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:16.779Z,1736380576.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:16.792Z,1736380576.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:17.044Z,1736380577.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:17.199Z,1736380577.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:17.208Z,1736380577.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:17.296Z,1736380577.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:17.548Z,1736380577.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:17.582Z,1736380577.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:17.611Z,1736380577.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:17.802Z,1736380577.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:18.007Z,1736380578.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:18.036Z,1736380578.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:18.052Z,1736380578.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:18.304Z,1736380578.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:18.392Z,1736380578.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:18.401Z,1736380578.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:18.556Z,1736380578.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:18.787Z,1736380578.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:18.808Z,1736380578.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:18.812Z,1736380578.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:19.060Z,1736380579.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:19.210Z,1736380579.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:19.248Z,1736380579.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:19.312Z,1736380579.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:19.564Z,1736380579.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:19.626Z,1736380579.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:19.654Z,1736380579.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:19.816Z,1736380579.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:20.028Z,1736380580.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:20.038Z,1736380580.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:20.068Z,1736380580.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:20.320Z,1736380580.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:20.402Z,1736380580.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:20.411Z,1736380580.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:20.572Z,1736380580.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:20.806Z,1736380580.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:20.816Z,1736380580.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:20.824Z,1736380580.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:21.077Z,1736380581.077 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:21.228Z,1736380581.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:21.238Z,1736380581.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:21.328Z,1736380581.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:21.580Z,1736380581.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:21.629Z,1736380581.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:21.639Z,1736380581.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:21.835Z,1736380581.835 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:22.054Z,1736380582.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:22.062Z,1736380582.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:22.084Z,1736380582.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:22.336Z,1736380582.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:22.424Z,1736380582.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:22.434Z,1736380582.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:22.588Z,1736380582.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:22.840Z,1736380582.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:22.842Z,1736380582.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:22.852Z,1736380582.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:23.092Z,1736380583.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:23.269Z,1736380583.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:23.277Z,1736380583.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:23.344Z,1736380583.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:23.596Z,1736380583.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:23.701Z,1736380583.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:23.732Z,1736380583.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:23.848Z,1736380583.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:24.100Z,1736380584.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:24.161Z,1736380584.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:24.170Z,1736380584.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:24.352Z,1736380584.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:24.513Z,1736380584.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:24.523Z,1736380584.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:24.605Z,1736380584.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:24.856Z,1736380584.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:24.921Z,1736380584.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:24.929Z,1736380584.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:25.108Z,1736380585.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:25.354Z,1736380585.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:25.360Z,1736380585.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:25.365Z,1736380585.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:25.612Z,1736380585.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:25.734Z,1736380585.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:25.785Z,1736380585.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:25.866Z,1736380585.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:26.116Z,1736380586.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:26.168Z,1736380586.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:26.177Z,1736380586.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:26.368Z,1736380586.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:26.533Z,1736380586.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:26.542Z,1736380586.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:26.621Z,1736380586.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:26.872Z,1736380586.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:26.938Z,1736380586.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:26.947Z,1736380586.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:27.126Z,1736380587.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:27.375Z,1736380587.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:27.376Z,1736380587.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:27.388Z,1736380587.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:27.628Z,1736380587.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:27.747Z,1736380587.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:27.755Z,1736380587.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:27.880Z,1736380587.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:28.132Z,1736380588.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:28.198Z,1736380588.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:28.207Z,1736380588.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:28.385Z,1736380588.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:28.565Z,1736380588.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:28.573Z,1736380588.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:28.636Z,1736380588.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:28.888Z,1736380588.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:28.956Z,1736380588.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:28.966Z,1736380588.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:29.140Z,1736380589.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:29.392Z,1736380589.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:29.402Z,1736380589.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:29.411Z,1736380589.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:29.644Z,1736380589.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:29.782Z,1736380589.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:29.789Z,1736380589.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:56:29.792Z,1736380589.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:29.896Z,1736380589.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:29.897Z,1736380589.897 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:56:29.898Z,1736380589.898 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:56:30.148Z,1736380590.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:30.149Z,1736380590.149 [DAT](INFO): DAT read: user:3524> 2025-01-08T23:56:30.150Z,1736380590.150 [DAT](INFO): DAT read: Tx time:23:56:29.3509 2025-01-08T23:56:30.150Z,1736380590.150 [DAT](INFO): Ping request sent. 2025-01-08T23:56:30.150Z,1736380590.150 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:56:30.151Z,1736380590.151 [DAT](INFO): DAT read: TxSync time:23:56:29.3501 2025-01-08T23:56:30.151Z,1736380590.151 [DAT](INFO): publishing transmit ping time 2025-01-08T23:56:30.152Z,1736380590.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001836 2025-01-08T23:56:30.258Z,1736380590.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:30.267Z,1736380590.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:30.400Z,1736380590.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:30.401Z,1736380590.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250263 2025-01-08T23:56:30.575Z,1736380590.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:30.584Z,1736380590.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:30.653Z,1736380590.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:30.654Z,1736380590.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503882 2025-01-08T23:56:30.904Z,1736380590.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:30.904Z,1736380590.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754218 2025-01-08T23:56:30.976Z,1736380590.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:30.990Z,1736380590.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:31.156Z,1736380591.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:31.156Z,1736380591.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006105 2025-01-08T23:56:31.408Z,1736380591.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:31.409Z,1736380591.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258440 2025-01-08T23:56:31.424Z,1736380591.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:31.433Z,1736380591.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:31.660Z,1736380591.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:31.661Z,1736380591.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511030 2025-01-08T23:56:31.794Z,1736380591.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:31.821Z,1736380591.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:31.912Z,1736380591.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:31.912Z,1736380591.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762039 2025-01-08T23:56:32.164Z,1736380592.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:32.165Z,1736380592.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014818 2025-01-08T23:56:32.238Z,1736380592.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:32.255Z,1736380592.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:32.416Z,1736380592.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:32.417Z,1736380592.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266413 2025-01-08T23:56:32.604Z,1736380592.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:32.612Z,1736380592.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:32.668Z,1736380592.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:32.669Z,1736380592.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519127 2025-01-08T23:56:32.920Z,1736380592.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:32.920Z,1736380592.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770091 2025-01-08T23:56:33.006Z,1736380593.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:33.030Z,1736380593.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:33.172Z,1736380593.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:33.173Z,1736380593.173 [DAT](INFO): DAT read: Rx Time:23:56:31.8586 2025-01-08T23:56:33.173Z,1736380593.173 [DAT](INFO): Rx dataTimestamp_ set to:1736380593.172694 2025-01-08T23:56:33.173Z,1736380593.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023244 2025-01-08T23:56:33.424Z,1736380593.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:33.424Z,1736380593.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274195 2025-01-08T23:56:33.433Z,1736380593.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:33.455Z,1736380593.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:33.678Z,1736380593.678 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:33.680Z,1736380593.680 [DAT](INFO): DAT read: Range 10 to 50 : 77.6 m (Round-trip 103.5 ms) speed -0.6 m/s 2025-01-08T23:56:33.682Z,1736380593.682 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:56:33.813Z,1736380593.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:33.822Z,1736380593.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.599998 m, deltaT: 60.009496 s, deltaX: 23.399998 m, approachRate: 0.389938 m/s, rangeRepo size: 4 2025-01-08T23:56:33.823Z,1736380593.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:33.928Z,1736380593.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:34.180Z,1736380594.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:34.241Z,1736380594.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:34.250Z,1736380594.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:34.432Z,1736380594.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:34.612Z,1736380594.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:34.622Z,1736380594.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:34.684Z,1736380594.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:34.936Z,1736380594.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:35.028Z,1736380595.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:35.038Z,1736380595.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:35.188Z,1736380595.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:35.440Z,1736380595.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:35.454Z,1736380595.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:35.462Z,1736380595.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:35.692Z,1736380595.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:35.880Z,1736380595.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:35.890Z,1736380595.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:35.944Z,1736380595.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:36.196Z,1736380596.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:36.295Z,1736380596.295 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 118.23, 123.87, 97.37 2025-01-08T23:56:36.304Z,1736380596.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:56:36.304Z,1736380596.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:36.333Z,1736380596.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:36.449Z,1736380596.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:36.700Z,1736380596.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:36.771Z,1736380596.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:56:36.771Z,1736380596.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:36.796Z,1736380596.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:36.952Z,1736380596.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:37.205Z,1736380597.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:37.269Z,1736380597.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:37.277Z,1736380597.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:37.456Z,1736380597.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:37.659Z,1736380597.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:37.698Z,1736380597.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:37.711Z,1736380597.711 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:37.964Z,1736380597.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:38.061Z,1736380598.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:38.070Z,1736380598.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:38.216Z,1736380598.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:38.468Z,1736380598.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:38.486Z,1736380598.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:38.500Z,1736380598.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:38.720Z,1736380598.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:38.958Z,1736380598.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:38.967Z,1736380598.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:38.972Z,1736380598.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:39.225Z,1736380599.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:39.346Z,1736380599.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:56:39.346Z,1736380599.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:39.382Z,1736380599.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:39.476Z,1736380599.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:39.729Z,1736380599.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:39.787Z,1736380599.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:56:39.787Z,1736380599.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:39.797Z,1736380599.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:39.980Z,1736380599.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:40.174Z,1736380600.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:56:40.174Z,1736380600.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:40.234Z,1736380600.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:40.247Z,1736380600.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:40.484Z,1736380600.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:40.595Z,1736380600.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:40.624Z,1736380600.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:40.736Z,1736380600.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:40.980Z,1736380600.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:40.988Z,1736380600.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:40.989Z,1736380600.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:41.242Z,1736380601.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:41.396Z,1736380601.396 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD +6.72, +1621.69, -35.75, 11.64, 0.00 2025-01-08T23:56:41.406Z,1736380601.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:56:41.406Z,1736380601.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:41.420Z,1736380601.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:41.494Z,1736380601.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:41.749Z,1736380601.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:41.786Z,1736380601.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:56:41.786Z,1736380601.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:41.795Z,1736380601.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:42.000Z,1736380602.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:42.206Z,1736380602.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:56:42.207Z,1736380602.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:42.213Z,1736380602.213 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:56:42.253Z,1736380602.253 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:42.276Z,1736380602.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:42.504Z,1736380602.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:42.621Z,1736380602.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:42.630Z,1736380602.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:42.756Z,1736380602.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:42.993Z,1736380602.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:43.002Z,1736380603.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:43.012Z,1736380603.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:43.217Z,1736380603.217 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:56:43.266Z,1736380603.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:43.478Z,1736380603.478 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010815574854,35.0, +10.9, 0.0 0 2025-01-08T23:56:43.516Z,1736380603.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:43.521Z,1736380603.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:56:43.521Z,1736380603.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:43.530Z,1736380603.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:43.768Z,1736380603.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:43.839Z,1736380603.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:56:43.839Z,1736380603.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:43.848Z,1736380603.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:44.021Z,1736380604.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:44.273Z,1736380604.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:44.323Z,1736380604.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T23:56:44.323Z,1736380604.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:44.344Z,1736380604.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:44.524Z,1736380604.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:44.686Z,1736380604.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:44.710Z,1736380604.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:44.776Z,1736380604.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:45.028Z,1736380605.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:45.068Z,1736380605.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:45.089Z,1736380605.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:45.282Z,1736380605.282 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:45.475Z,1736380605.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:45.507Z,1736380605.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:45.534Z,1736380605.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:45.784Z,1736380605.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:45.863Z,1736380605.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:45.872Z,1736380605.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:46.036Z,1736380606.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:46.290Z,1736380606.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:46.306Z,1736380606.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:46.343Z,1736380606.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:46.540Z,1736380606.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:46.714Z,1736380606.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:46.723Z,1736380606.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:46.794Z,1736380606.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:47.044Z,1736380607.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:47.096Z,1736380607.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:47.104Z,1736380607.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:47.299Z,1736380607.299 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:47.498Z,1736380607.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:47.507Z,1736380607.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:47.548Z,1736380607.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:47.800Z,1736380607.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:47.878Z,1736380607.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:47.887Z,1736380607.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:48.052Z,1736380608.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:48.286Z,1736380608.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:48.305Z,1736380608.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:48.334Z,1736380608.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:48.556Z,1736380608.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:48.716Z,1736380608.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:48.725Z,1736380608.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:48.808Z,1736380608.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:49.060Z,1736380609.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:49.096Z,1736380609.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:49.132Z,1736380609.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:49.312Z,1736380609.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:49.513Z,1736380609.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:49.523Z,1736380609.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:49.565Z,1736380609.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:49.816Z,1736380609.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:49.905Z,1736380609.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:49.917Z,1736380609.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:50.069Z,1736380610.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:50.321Z,1736380610.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:50.342Z,1736380610.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:50.394Z,1736380610.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:50.572Z,1736380610.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:50.824Z,1736380610.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:50.867Z,1736380610.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:50.875Z,1736380610.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:51.076Z,1736380611.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:51.289Z,1736380611.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:51.313Z,1736380611.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:51.328Z,1736380611.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:51.580Z,1736380611.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:51.741Z,1736380611.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:51.750Z,1736380611.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:51.832Z,1736380611.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:52.085Z,1736380612.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:52.117Z,1736380612.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:52.125Z,1736380612.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:52.336Z,1736380612.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:52.540Z,1736380612.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:52.549Z,1736380612.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:52.588Z,1736380612.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:52.840Z,1736380612.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:52.904Z,1736380612.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:52.912Z,1736380612.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:53.092Z,1736380613.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:53.344Z,1736380613.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:53.356Z,1736380613.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:53.369Z,1736380613.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:53.596Z,1736380613.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:53.744Z,1736380613.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:53.753Z,1736380613.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:53.848Z,1736380613.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:54.100Z,1736380614.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:54.165Z,1736380614.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:54.178Z,1736380614.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:54.352Z,1736380614.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:54.604Z,1736380614.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:54.626Z,1736380614.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:54.636Z,1736380614.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:54.856Z,1736380614.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:54.975Z,1736380614.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:54.985Z,1736380614.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:55.108Z,1736380615.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:55.360Z,1736380615.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:55.386Z,1736380615.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:55.400Z,1736380615.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:55.612Z,1736380615.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:55.825Z,1736380615.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:55.853Z,1736380615.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:55.866Z,1736380615.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:56.116Z,1736380616.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:56.186Z,1736380616.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:56.194Z,1736380616.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:56.368Z,1736380616.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:56.613Z,1736380616.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:56.620Z,1736380616.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:56.625Z,1736380616.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:56.872Z,1736380616.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:56.990Z,1736380616.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:56.999Z,1736380616.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:57.124Z,1736380617.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:57.376Z,1736380617.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:57.401Z,1736380617.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:57.409Z,1736380617.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:57.629Z,1736380617.629 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:57.833Z,1736380617.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:57.846Z,1736380617.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:57.880Z,1736380617.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:58.132Z,1736380618.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:58.211Z,1736380618.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:58.237Z,1736380618.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:58.384Z,1736380618.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:58.632Z,1736380618.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:58.636Z,1736380618.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:58.664Z,1736380618.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:58.889Z,1736380618.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:59.017Z,1736380619.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:59.032Z,1736380619.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:59.142Z,1736380619.142 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:59.396Z,1736380619.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:59.436Z,1736380619.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:59.446Z,1736380619.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:59.649Z,1736380619.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:56:59.854Z,1736380619.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:56:59.862Z,1736380619.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:56:59.900Z,1736380619.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:00.152Z,1736380620.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:00.246Z,1736380620.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:00.255Z,1736380620.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:00.404Z,1736380620.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:00.657Z,1736380620.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:00.658Z,1736380620.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:00.692Z,1736380620.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:00.908Z,1736380620.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:01.046Z,1736380621.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:01.055Z,1736380621.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:01.160Z,1736380621.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:01.413Z,1736380621.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:01.433Z,1736380621.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:01.441Z,1736380621.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:01.664Z,1736380621.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:01.863Z,1736380621.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:01.873Z,1736380621.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:01.916Z,1736380621.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:02.168Z,1736380622.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:02.238Z,1736380622.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:02.274Z,1736380622.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:02.420Z,1736380622.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:02.672Z,1736380622.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:02.691Z,1736380622.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:02.701Z,1736380622.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:02.924Z,1736380622.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:03.048Z,1736380623.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:03.057Z,1736380623.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:03.176Z,1736380623.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:03.428Z,1736380623.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:03.461Z,1736380623.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:03.470Z,1736380623.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:03.680Z,1736380623.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:03.880Z,1736380623.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:03.889Z,1736380623.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:03.932Z,1736380623.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:04.184Z,1736380624.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:04.263Z,1736380624.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:04.272Z,1736380624.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:04.436Z,1736380624.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:04.688Z,1736380624.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:04.734Z,1736380624.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:04.742Z,1736380624.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:04.942Z,1736380624.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:05.071Z,1736380625.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:05.079Z,1736380625.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:05.192Z,1736380625.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:05.445Z,1736380625.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:05.488Z,1736380625.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:05.505Z,1736380625.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:05.696Z,1736380625.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:05.912Z,1736380625.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:05.922Z,1736380625.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:05.957Z,1736380625.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:06.208Z,1736380626.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:06.300Z,1736380626.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:06.309Z,1736380626.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:06.460Z,1736380626.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:06.712Z,1736380626.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:06.773Z,1736380626.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:06.782Z,1736380626.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:06.964Z,1736380626.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:07.146Z,1736380627.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:07.172Z,1736380627.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:07.216Z,1736380627.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:07.468Z,1736380627.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:07.560Z,1736380627.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:07.585Z,1736380627.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:07.720Z,1736380627.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:07.972Z,1736380627.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:08.032Z,1736380628.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:08.040Z,1736380628.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:08.224Z,1736380628.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:08.379Z,1736380628.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:08.387Z,1736380628.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:08.476Z,1736380628.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:08.728Z,1736380628.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:08.797Z,1736380628.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:08.806Z,1736380628.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:08.980Z,1736380628.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:09.185Z,1736380629.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:09.193Z,1736380629.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:09.232Z,1736380629.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:09.485Z,1736380629.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:09.585Z,1736380629.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:09.593Z,1736380629.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:09.736Z,1736380629.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:09.988Z,1736380629.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:10.020Z,1736380630.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:10.029Z,1736380630.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:10.240Z,1736380630.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:10.401Z,1736380630.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:10.424Z,1736380630.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:10.495Z,1736380630.495 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:10.749Z,1736380630.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:10.855Z,1736380630.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:10.876Z,1736380630.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:10.000Z,1736380631.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:11.212Z,1736380631.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:11.230Z,1736380631.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:11.252Z,1736380631.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:11.506Z,1736380631.506 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:11.601Z,1736380631.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:11.629Z,1736380631.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:11.760Z,1736380631.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:12.012Z,1736380632.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:12.054Z,1736380632.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:12.062Z,1736380632.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:12.265Z,1736380632.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:12.411Z,1736380632.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:12.427Z,1736380632.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:12.516Z,1736380632.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:12.768Z,1736380632.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:12.850Z,1736380632.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:12.859Z,1736380632.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:13.020Z,1736380633.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:13.217Z,1736380633.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:13.237Z,1736380633.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:13.272Z,1736380633.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:13.336Z,1736380633.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:57:13.524Z,1736380633.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:13.621Z,1736380633.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:13.635Z,1736380633.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:13.776Z,1736380633.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:14.028Z,1736380634.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:14.062Z,1736380634.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:14.072Z,1736380634.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:14.283Z,1736380634.283 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:14.340Z,1736380634.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:57:14.432Z,1736380634.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:14.461Z,1736380634.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:14.533Z,1736380634.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:14.784Z,1736380634.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:14.889Z,1736380634.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:14.899Z,1736380634.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:15.036Z,1736380635.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:15.249Z,1736380635.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:15.258Z,1736380635.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:15.289Z,1736380635.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:15.540Z,1736380635.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:15.660Z,1736380635.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:15.674Z,1736380635.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:15.794Z,1736380635.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:16.044Z,1736380636.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:16.065Z,1736380636.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:16.074Z,1736380636.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:16.296Z,1736380636.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:16.457Z,1736380636.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:16.465Z,1736380636.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:16.548Z,1736380636.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:16.800Z,1736380636.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:16.882Z,1736380636.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:16.890Z,1736380636.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:17.052Z,1736380637.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:17.256Z,1736380637.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:17.265Z,1736380637.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:17.305Z,1736380637.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:17.556Z,1736380637.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:17.669Z,1736380637.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:17.683Z,1736380637.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:17.809Z,1736380637.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:18.060Z,1736380638.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:18.089Z,1736380638.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:18.099Z,1736380638.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:18.312Z,1736380638.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:18.480Z,1736380638.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:18.488Z,1736380638.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:18.564Z,1736380638.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:18.816Z,1736380638.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:18.916Z,1736380638.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:18.925Z,1736380638.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:19.068Z,1736380639.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:19.320Z,1736380639.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:19.437Z,1736380639.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:19.448Z,1736380639.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:19.572Z,1736380639.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:19.712Z,1736380639.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:19.725Z,1736380639.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:19.825Z,1736380639.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:20.076Z,1736380640.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:20.145Z,1736380640.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:20.154Z,1736380640.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:20.328Z,1736380640.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:20.560Z,1736380640.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:20.573Z,1736380640.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:20.580Z,1736380640.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:20.833Z,1736380640.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:20.937Z,1736380640.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:57:20.937Z,1736380640.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:20.961Z,1736380640.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:21.084Z,1736380641.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:21.336Z,1736380641.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:21.398Z,1736380641.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:57:21.399Z,1736380641.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:21.408Z,1736380641.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:21.588Z,1736380641.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:21.824Z,1736380641.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T23:57:21.825Z,1736380641.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:21.842Z,1736380641.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:21.884Z,1736380641.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:22.092Z,1736380642.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:22.329Z,1736380642.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:22.338Z,1736380642.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:22.344Z,1736380642.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:22.596Z,1736380642.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:22.732Z,1736380642.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:22.741Z,1736380642.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:22.850Z,1736380642.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:23.102Z,1736380643.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:23.158Z,1736380643.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:23.167Z,1736380643.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:23.352Z,1736380643.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:23.523Z,1736380643.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:23.533Z,1736380643.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:23.605Z,1736380643.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:23.857Z,1736380643.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:23.968Z,1736380643.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:23.993Z,1736380643.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:24.108Z,1736380644.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:24.337Z,1736380644.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:24.360Z,1736380644.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:24.368Z,1736380644.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:24.612Z,1736380644.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:24.742Z,1736380644.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:24.752Z,1736380644.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:24.867Z,1736380644.867 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:25.120Z,1736380645.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:25.171Z,1736380645.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:25.204Z,1736380645.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:25.372Z,1736380645.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:25.543Z,1736380645.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:25.569Z,1736380645.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:25.624Z,1736380645.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:25.877Z,1736380645.877 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:25.992Z,1736380645.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:26.002Z,1736380646.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:26.129Z,1736380646.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:26.352Z,1736380646.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:26.361Z,1736380646.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:26.380Z,1736380646.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:26.632Z,1736380646.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:26.753Z,1736380646.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:26.785Z,1736380646.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:26.886Z,1736380646.886 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:27.136Z,1736380647.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:27.195Z,1736380647.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:27.218Z,1736380647.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:27.388Z,1736380647.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:27.561Z,1736380647.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:27.572Z,1736380647.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:27.641Z,1736380647.641 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:27.892Z,1736380647.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:28.008Z,1736380648.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:28.030Z,1736380648.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:28.144Z,1736380648.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:28.370Z,1736380648.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:28.379Z,1736380648.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:28.396Z,1736380648.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:28.648Z,1736380648.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:28.774Z,1736380648.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:28.783Z,1736380648.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:28.903Z,1736380648.903 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:29.152Z,1736380649.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:29.204Z,1736380649.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:29.213Z,1736380649.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:29.404Z,1736380649.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:29.626Z,1736380649.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:29.655Z,1736380649.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:29.656Z,1736380649.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:29.908Z,1736380649.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:30.056Z,1736380650.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:30.062Z,1736380650.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:30.093Z,1736380650.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:30.160Z,1736380650.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:30.160Z,1736380650.160 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:57:30.160Z,1736380650.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:57:30.412Z,1736380650.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:30.413Z,1736380650.413 [DAT](INFO): DAT read: user:3525> 2025-01-08T23:57:30.414Z,1736380650.414 [DAT](INFO): DAT read: Tx time:23:57:29.6516 2025-01-08T23:57:30.414Z,1736380650.414 [DAT](INFO): Ping request sent. 2025-01-08T23:57:30.414Z,1736380650.414 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:57:30.414Z,1736380650.414 [DAT](INFO): publishing transmit ping time 2025-01-08T23:57:30.416Z,1736380650.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002189 2025-01-08T23:57:30.518Z,1736380650.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:30.540Z,1736380650.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:30.665Z,1736380650.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:30.667Z,1736380650.667 [DAT](INFO): DAT read: TxSync time:23:57:29.6508 2025-01-08T23:57:30.668Z,1736380650.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254186 2025-01-08T23:57:30.916Z,1736380650.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:30.917Z,1736380650.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503215 2025-01-08T23:57:30.919Z,1736380650.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:30.928Z,1736380650.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:31.168Z,1736380651.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:31.169Z,1736380651.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754580 2025-01-08T23:57:31.333Z,1736380651.333 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +6.43, +1660.03, , 12.53, 0.00 2025-01-08T23:57:31.341Z,1736380651.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:57:31.342Z,1736380651.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:31.351Z,1736380651.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:31.420Z,1736380651.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:31.420Z,1736380651.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006549 2025-01-08T23:57:31.672Z,1736380651.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:31.673Z,1736380651.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259042 2025-01-08T23:57:31.719Z,1736380651.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:57:31.719Z,1736380651.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:31.728Z,1736380651.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:31.924Z,1736380651.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:31.924Z,1736380651.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510368 2025-01-08T23:57:32.168Z,1736380652.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:32.178Z,1736380652.178 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:32.180Z,1736380652.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766197 2025-01-08T23:57:32.195Z,1736380652.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:32.428Z,1736380652.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:32.429Z,1736380652.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015131 2025-01-08T23:57:32.528Z,1736380652.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:32.537Z,1736380652.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:32.680Z,1736380652.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:32.682Z,1736380652.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267897 2025-01-08T23:57:32.932Z,1736380652.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:32.933Z,1736380652.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518735 2025-01-08T23:57:32.957Z,1736380652.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:33.009Z,1736380653.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:33.184Z,1736380653.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:33.185Z,1736380653.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770754 2025-01-08T23:57:33.392Z,1736380653.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:33.417Z,1736380653.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:33.436Z,1736380653.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:33.437Z,1736380653.437 [DAT](INFO): DAT read: Rx Time:23:57:32.2916 2025-01-08T23:57:33.437Z,1736380653.437 [DAT](INFO): Rx dataTimestamp_ set to:1736380653.436848 2025-01-08T23:57:33.438Z,1736380653.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023739 2025-01-08T23:57:33.688Z,1736380653.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:33.689Z,1736380653.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274612 2025-01-08T23:57:33.745Z,1736380653.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:33.756Z,1736380653.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:33.940Z,1736380653.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:33.942Z,1736380653.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527909 2025-01-08T23:57:34.181Z,1736380654.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:34.190Z,1736380654.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.20 m. 2025-01-08T23:57:34.192Z,1736380654.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:34.199Z,1736380654.199 [DAT](INFO): DAT read: 23:57:32.2916 LVL= 22576, 16177, 15682, 27091, AGC= 64, IDX= 253, 0.17, 0.035, 2.310, 0.761, 0.248, PHS=-0.125, 2.109, 0.510, RAW= 314.0, -23.9, CAL= 314.6, -35.8, ROT= 195.4, 35.8 2025-01-08T23:57:34.201Z,1736380654.201 [DAT](INFO): got valid direction response: 23:57:32.2916 LVL= 22576, 16177, 15682, 27091, AGC= 64, IDX= 253, 0.17, 0.035, 2.310, 0.761, 0.248, PHS=-0.125, 2.109, 0.510, RAW= 314.0, -23.9, CAL= 314.6, -35.8, ROT= 195.4, 35.8 2025-01-08T23:57:34.201Z,1736380654.201 [DAT](INFO): DAT read: Bearing 195.4, 35.8 (Local) 2025-01-08T23:57:34.202Z,1736380654.202 [DAT](INFO): Local bearing/azimuth received: Bearing 195.4, 35.8 (Local) 2025-01-08T23:57:34.203Z,1736380654.203 [DAT](INFO): DAT read: Range 10 to 50 : 176.8 m (Round-trip 235.8 ms) speed -0.3 m/s 2025-01-08T23:57:34.204Z,1736380654.204 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:57:34.205Z,1736380654.205 [DAT](INFO): direction in FSK: [0.548845,0.532589,-0.644297] 2025-01-08T23:57:34.205Z,1736380654.205 [DAT](INFO): publishing direction and range info 2025-01-08T23:57:34.444Z,1736380654.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:34.549Z,1736380654.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:34.584Z,1736380654.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 176.800003 m, deltaT: 60.514145 s, deltaX: 99.200005 m, approachRate: 1.639286 m/s, rangeRepo size: 4 2025-01-08T23:57:34.586Z,1736380654.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 176.800003 m, bearing: 261.230965 deg, lat: 36.905107 deg, lon: -122.119962 deg, deltaT: 348.495350 s, deltaX: 122.600006 m, approachRate: 0.351798 m/s, posRepo size: 4 2025-01-08T23:57:34.586Z,1736380654.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.80 m. 2025-01-08T23:57:34.586Z,1736380654.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 176.80 m. Resuming terminal guidance. 2025-01-08T23:57:34.587Z,1736380654.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-01-08T23:57:34.696Z,1736380654.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:34.949Z,1736380654.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:34.986Z,1736380654.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:35.034Z,1736380655.034 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-01-08T23:57:35.034Z,1736380655.034 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T23:57:35.040Z,1736380655.040 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-01-08T23:57:35.060Z,1736380655.060 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 176.800003 m (mode 1.000000 count ). 2025-01-08T23:57:35.060Z,1736380655.060 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-01-08T23:57:35.060Z,1736380655.060 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-01-08T23:57:35.200Z,1736380655.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:35.406Z,1736380655.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:35.428Z,1736380655.428 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-01-08T23:57:35.428Z,1736380655.428 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-01-08T23:57:35.429Z,1736380655.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:35.452Z,1736380655.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:35.452Z,1736380655.452 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:57:35.452Z,1736380655.452 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:57:35.453Z,1736380655.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:57:35.704Z,1736380655.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:35.704Z,1736380655.704 [DAT](INFO): DAT read: user:3526> 2025-01-08T23:57:35.705Z,1736380655.705 [DAT](INFO): DAT read: Tx time:23:57:34.9016 2025-01-08T23:57:35.706Z,1736380655.706 [DAT](INFO): Ping request sent. 2025-01-08T23:57:35.706Z,1736380655.706 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:57:35.706Z,1736380655.706 [DAT](INFO): DAT read: TxSync time:23:57:34.9008 2025-01-08T23:57:35.707Z,1736380655.707 [DAT](INFO): publishing transmit ping time 2025-01-08T23:57:35.707Z,1736380655.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001625 2025-01-08T23:57:35.794Z,1736380655.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:35.845Z,1736380655.845 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-01-08T23:57:35.845Z,1736380655.845 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-01-08T23:57:35.956Z,1736380655.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:35.957Z,1736380655.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251445 2025-01-08T23:57:36.208Z,1736380656.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:36.208Z,1736380656.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502806 2025-01-08T23:57:36.217Z,1736380656.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:36.223Z,1736380656.223 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-01-08T23:57:36.224Z,1736380656.224 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T23:57:36.224Z,1736380656.224 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-01-08T23:57:36.224Z,1736380656.224 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-01-08T23:57:36.460Z,1736380656.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:36.460Z,1736380656.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754725 2025-01-08T23:57:36.596Z,1736380656.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:36.712Z,1736380656.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:36.713Z,1736380656.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007344 2025-01-08T23:57:36.965Z,1736380656.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:36.967Z,1736380656.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261032 2025-01-08T23:57:37.013Z,1736380657.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:37.216Z,1736380657.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:37.217Z,1736380657.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511446 2025-01-08T23:57:37.451Z,1736380657.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:37.468Z,1736380657.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:37.468Z,1736380657.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762621 2025-01-08T23:57:37.490Z,1736380657.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:37.720Z,1736380657.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:37.720Z,1736380657.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014776 2025-01-08T23:57:37.806Z,1736380657.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:37.975Z,1736380657.975 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:37.981Z,1736380657.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274764 2025-01-08T23:57:38.228Z,1736380658.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:38.228Z,1736380658.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522752 2025-01-08T23:57:38.261Z,1736380658.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:38.480Z,1736380658.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:38.480Z,1736380658.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774673 2025-01-08T23:57:38.613Z,1736380658.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:38.732Z,1736380658.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:38.733Z,1736380658.733 [DAT](INFO): DAT read: Rx Time:23:57:37.5454 2025-01-08T23:57:38.734Z,1736380658.734 [DAT](INFO): Rx dataTimestamp_ set to:1736380658.733541 2025-01-08T23:57:38.735Z,1736380658.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029104 2025-01-08T23:57:38.984Z,1736380658.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:38.984Z,1736380658.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278689 2025-01-08T23:57:39.037Z,1736380659.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:39.236Z,1736380659.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:39.238Z,1736380659.238 [DAT](INFO): DAT read: Range 10 to 50 : 179.7 m (Round-trip 239.6 ms) speed -0.5 m/s 2025-01-08T23:57:39.238Z,1736380659.238 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:57:39.239Z,1736380659.239 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:57:39.239Z,1736380659.239 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:57:39.240Z,1736380659.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:57:39.452Z,1736380659.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:39.461Z,1736380659.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 179.699997 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-01-08T23:57:39.501Z,1736380659.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:39.503Z,1736380659.503 [DAT](INFO): DAT read: user:3527> 2025-01-08T23:57:39.504Z,1736380659.504 [DAT](INFO): DAT read: Tx time:23:57:38.7017 2025-01-08T23:57:39.505Z,1736380659.505 [DAT](INFO): Ping request sent. 2025-01-08T23:57:39.505Z,1736380659.505 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:57:39.506Z,1736380659.506 [DAT](INFO): DAT read: TxSync time:23:57:38.7009 2025-01-08T23:57:39.506Z,1736380659.506 [DAT](INFO): publishing transmit ping time 2025-01-08T23:57:39.508Z,1736380659.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002289 2025-01-08T23:57:39.752Z,1736380659.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:39.753Z,1736380659.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247874 2025-01-08T23:57:39.833Z,1736380659.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:39.841Z,1736380659.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:40.004Z,1736380660.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:40.004Z,1736380660.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499660 2025-01-08T23:57:40.256Z,1736380660.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:40.257Z,1736380660.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752001 2025-01-08T23:57:40.270Z,1736380660.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:40.508Z,1736380660.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:40.509Z,1736380660.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003656 2025-01-08T23:57:40.640Z,1736380660.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:40.760Z,1736380660.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:40.761Z,1736380660.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255918 2025-01-08T23:57:41.012Z,1736380661.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:41.012Z,1736380661.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507733 2025-01-08T23:57:41.057Z,1736380661.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:41.264Z,1736380661.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:41.265Z,1736380661.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760452 2025-01-08T23:57:41.468Z,1736380661.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:41.518Z,1736380661.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:41.518Z,1736380661.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013635 2025-01-08T23:57:41.768Z,1736380661.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:41.768Z,1736380661.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263841 2025-01-08T23:57:41.844Z,1736380661.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:41.852Z,1736380661.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:42.020Z,1736380662.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:42.020Z,1736380662.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515831 2025-01-08T23:57:42.268Z,1736380662.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:42.272Z,1736380662.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:42.272Z,1736380662.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767807 2025-01-08T23:57:42.525Z,1736380662.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:42.526Z,1736380662.526 [DAT](INFO): DAT read: Rx Time:23:57:41.3107 2025-01-08T23:57:42.526Z,1736380662.526 [DAT](INFO): Rx dataTimestamp_ set to:1736380662.526157 2025-01-08T23:57:42.527Z,1736380662.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022329 2025-01-08T23:57:42.674Z,1736380662.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:42.776Z,1736380662.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:42.776Z,1736380662.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271659 2025-01-08T23:57:43.029Z,1736380663.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:43.032Z,1736380663.032 [DAT](INFO): DAT read: Range 10 to 50 : 153.6 m (Round-trip 204.8 ms) speed -0.4 m/s 2025-01-08T23:57:43.033Z,1736380663.033 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:57:43.034Z,1736380663.034 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:57:43.034Z,1736380663.034 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:57:43.035Z,1736380663.035 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:57:43.212Z,1736380663.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:43.232Z,1736380663.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 153.600006 m, deltaT: 3.793280 s, deltaX: -26.099991 m, approachRate: -6.880587 m/s, rangeRepo size: 1 2025-01-08T23:57:43.280Z,1736380663.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:43.281Z,1736380663.281 [DAT](INFO): DAT read: user:3528> 2025-01-08T23:57:43.282Z,1736380663.282 [DAT](INFO): DAT read: Tx time:23:57:42.5017 2025-01-08T23:57:43.282Z,1736380663.282 [DAT](INFO): Ping request sent. 2025-01-08T23:57:43.282Z,1736380663.282 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:57:43.283Z,1736380663.283 [DAT](INFO): publishing transmit ping time 2025-01-08T23:57:43.283Z,1736380663.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000878 2025-01-08T23:57:43.532Z,1736380663.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:43.533Z,1736380663.533 [DAT](INFO): DAT read: TxSync time:23:57:42.5009 2025-01-08T23:57:43.534Z,1736380663.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251075 2025-01-08T23:57:43.685Z,1736380663.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:43.784Z,1736380663.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:43.785Z,1736380663.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502227 2025-01-08T23:57:44.036Z,1736380664.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:44.037Z,1736380664.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754199 2025-01-08T23:57:44.108Z,1736380664.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:44.119Z,1736380664.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:44.288Z,1736380664.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:44.289Z,1736380664.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006574 2025-01-08T23:57:44.488Z,1736380664.488 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:57:44.522Z,1736380664.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:44.540Z,1736380664.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:44.540Z,1736380664.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257970 2025-01-08T23:57:44.792Z,1736380664.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:44.792Z,1736380664.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509946 2025-01-08T23:57:44.892Z,1736380664.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:45.044Z,1736380665.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:45.044Z,1736380665.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761812 2025-01-08T23:57:45.297Z,1736380665.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:45.299Z,1736380665.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016048 2025-01-08T23:57:45.376Z,1736380665.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:45.492Z,1736380665.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:57:45.548Z,1736380665.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:45.549Z,1736380665.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266920 2025-01-08T23:57:45.795Z,1736380665.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:45.800Z,1736380665.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:45.800Z,1736380665.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517992 2025-01-08T23:57:46.052Z,1736380666.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:46.056Z,1736380666.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773124 2025-01-08T23:57:46.241Z,1736380666.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:46.249Z,1736380666.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:46.304Z,1736380666.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:46.305Z,1736380666.305 [DAT](INFO): DAT read: Rx Time:23:57:45.0768 2025-01-08T23:57:46.306Z,1736380666.306 [DAT](INFO): Rx dataTimestamp_ set to:1736380666.305775 2025-01-08T23:57:46.307Z,1736380666.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024511 2025-01-08T23:57:46.556Z,1736380666.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:46.557Z,1736380666.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274049 2025-01-08T23:57:46.710Z,1736380666.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:46.808Z,1736380666.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:46.815Z,1736380666.815 [DAT](INFO): DAT read: 23:57:45.0768 LVL= 22560, 18929, 12786, 27859, AGC= 63, IDX= 82, 0.45, 0.045, 2.420, 2.222, 1.664, PHS=-1.532, 0.802, 0.554, RAW= 275.5, 1.6, CAL= 277.7, 1.5, ROT= 232.3, -1.5 2025-01-08T23:57:46.817Z,1736380666.817 [DAT](INFO): got valid direction response: 23:57:45.0768 LVL= 22560, 18929, 12786, 27859, AGC= 63, IDX= 82, 0.45, 0.045, 2.420, 2.222, 1.664, PHS=-1.532, 0.802, 0.554, RAW= 275.5, 1.6, CAL= 277.7, 1.5, ROT= 232.3, -1.5 2025-01-08T23:57:46.818Z,1736380666.818 [DAT](INFO): DAT read: Bearing 232.3, -1.5 (Local) 2025-01-08T23:57:46.818Z,1736380666.818 [DAT](INFO): Local bearing/azimuth received: Bearing 232.3, -1.5 (Local) 2025-01-08T23:57:46.820Z,1736380666.820 [DAT](INFO): DAT read: Range 10 to 50 : 128.1 m (Round-trip 170.9 ms) speed -0.3 m/s 2025-01-08T23:57:46.820Z,1736380666.820 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:57:46.821Z,1736380666.821 [DAT](INFO): direction in FSK: [0.062918,-0.009271,-0.997976] 2025-01-08T23:57:46.821Z,1736380666.821 [DAT](INFO): publishing direction and range info 2025-01-08T23:57:46.825Z,1736380666.825 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:57:46.825Z,1736380666.825 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:57:46.825Z,1736380666.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:57:47.060Z,1736380667.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:47.060Z,1736380667.060 [DAT](INFO): DAT read: user:3529> 2025-01-08T23:57:47.061Z,1736380667.061 [DAT](INFO): DAT read: Tx time:23:57:46.3017 2025-01-08T23:57:47.062Z,1736380667.062 [DAT](INFO): Ping request sent. 2025-01-08T23:57:47.062Z,1736380667.062 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:57:47.062Z,1736380667.062 [DAT](INFO): publishing transmit ping time 2025-01-08T23:57:47.062Z,1736380667.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728 2025-01-08T23:57:47.279Z,1736380667.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:47.294Z,1736380667.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 128.100006 m, deltaT: 7.572031 s, deltaX: -51.599991 m, approachRate: -6.814551 m/s, rangeRepo size: 1 2025-01-08T23:57:47.313Z,1736380667.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:47.314Z,1736380667.314 [DAT](INFO): DAT read: TxSync time:23:57:46.3009 2025-01-08T23:57:47.328Z,1736380667.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253425 2025-01-08T23:57:47.565Z,1736380667.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:47.566Z,1736380667.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504595 2025-01-08T23:57:47.596Z,1736380667.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:47.816Z,1736380667.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:47.817Z,1736380667.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754915 2025-01-08T23:57:47.981Z,1736380667.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:48.068Z,1736380668.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:48.068Z,1736380668.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006791 2025-01-08T23:57:48.320Z,1736380668.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:48.321Z,1736380668.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259368 2025-01-08T23:57:48.417Z,1736380668.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:48.441Z,1736380668.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:48.572Z,1736380668.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:48.572Z,1736380668.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510791 2025-01-08T23:57:48.824Z,1736380668.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:48.825Z,1736380668.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763099 2025-01-08T23:57:48.888Z,1736380668.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:49.076Z,1736380669.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:49.077Z,1736380669.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014992 2025-01-08T23:57:49.324Z,1736380669.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:49.328Z,1736380669.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:49.329Z,1736380669.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266873 2025-01-08T23:57:49.580Z,1736380669.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:49.580Z,1736380669.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518650 2025-01-08T23:57:49.717Z,1736380669.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:49.832Z,1736380669.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:49.834Z,1736380669.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772321 2025-01-08T23:57:50.085Z,1736380670.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:50.087Z,1736380670.087 [DAT](INFO): DAT read: Rx Time:23:57:48.8788 2025-01-08T23:57:50.090Z,1736380670.090 [DAT](INFO): Rx dataTimestamp_ set to:1736380670.089305 2025-01-08T23:57:50.090Z,1736380670.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028501 2025-01-08T23:57:50.146Z,1736380670.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:50.337Z,1736380670.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:50.338Z,1736380670.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275973 2025-01-08T23:57:50.589Z,1736380670.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:50.595Z,1736380670.595 [DAT](INFO): DAT read: 23:57:48.8788 LVL= 22768, 18225, 15250, 24867, AGC= 62, IDX= 438, 0.04,-1.969,-0.383, 0.655,-0.472, PHS=-1.408, 0.136, 1.124, RAW= 247.2, 1.4, CAL= 251.1, 2.3, ROT= 258.9, -2.3 2025-01-08T23:57:50.596Z,1736380670.596 [DAT](INFO): got valid direction response: 23:57:48.8788 LVL= 22768, 18225, 15250, 24867, AGC= 62, IDX= 438, 0.04,-1.969,-0.383, 0.655,-0.472, PHS=-1.408, 0.136, 1.124, RAW= 247.2, 1.4, CAL= 251.1, 2.3, ROT= 258.9, -2.3 2025-01-08T23:57:50.597Z,1736380670.597 [DAT](INFO): DAT read: Bearing 258.9, -2.3 (Local) 2025-01-08T23:57:50.597Z,1736380670.597 [DAT](INFO): Local bearing/azimuth received: Bearing 258.9, -2.3 (Local) 2025-01-08T23:57:50.599Z,1736380670.599 [DAT](INFO): DAT read: Range 10 to 50 : 129.6 m (Round-trip 172.8 ms) speed 0.0 m/s 2025-01-08T23:57:50.600Z,1736380670.600 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:57:50.601Z,1736380670.601 [DAT](INFO): direction in FSK: [0.018333,-0.473610,-0.880544] 2025-01-08T23:57:50.601Z,1736380670.601 [DAT](INFO): publishing direction and range info 2025-01-08T23:57:50.605Z,1736380670.605 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:57:50.605Z,1736380670.605 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:57:50.605Z,1736380670.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:57:50.616Z,1736380670.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:50.691Z,1736380670.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.600006 m, deltaT: 11.352611 s, deltaX: -50.099991 m, approachRate: -4.413081 m/s, rangeRepo size: 2 2025-01-08T23:57:50.699Z,1736380670.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.600006 m, bearing: 71.458473 deg, lat: 36.904391 deg, lon: -122.120050 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-01-08T23:57:50.704Z,1736380670.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:50.706Z,1736380670.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.251202 m, bearing: 71.458261 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 37.758904 deg, new cmd heading: 71.458261 deg. 2025-01-08T23:57:50.707Z,1736380670.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247182 target range: 129.600006 and range: 129.60 m. 2025-01-08T23:57:50.840Z,1736380670.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:50.841Z,1736380670.841 [DAT](INFO): DAT read: user:3530> 2025-01-08T23:57:50.841Z,1736380670.841 [DAT](INFO): DAT read: Tx time:23:57:50.0518 2025-01-08T23:57:50.842Z,1736380670.842 [DAT](INFO): Ping request sent. 2025-01-08T23:57:50.842Z,1736380670.842 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:57:50.842Z,1736380670.842 [DAT](INFO): publishing transmit ping time 2025-01-08T23:57:50.842Z,1736380670.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721 2025-01-08T23:57:51.020Z,1736380671.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:51.030Z,1736380671.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:51.049Z,1736380671.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:51.056Z,1736380671.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.264290 m, bearing: 71.204657 deg, approach rate: 0.036507 m/s, LOS rate: -0.707222 deg/s, cmd heading: 71.458259 deg, new cmd heading: 71.204657 deg. 2025-01-08T23:57:51.057Z,1736380671.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.242756 target range: 129.600006 and range: 129.60 m. 2025-01-08T23:57:51.093Z,1736380671.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:51.094Z,1736380671.094 [DAT](INFO): DAT read: TxSync time:23:57:50.0510 2025-01-08T23:57:51.095Z,1736380671.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252894 2025-01-08T23:57:51.344Z,1736380671.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:51.344Z,1736380671.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502657 2025-01-08T23:57:51.425Z,1736380671.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:51.437Z,1736380671.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:51.439Z,1736380671.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.279335 m, bearing: 70.957488 deg, approach rate: 0.038784 m/s, LOS rate: -0.637006 deg/s, cmd heading: 71.204661 deg, new cmd heading: 70.957488 deg. 2025-01-08T23:57:51.440Z,1736380671.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238442 target range: 129.600006 and range: 129.60 m. 2025-01-08T23:57:51.596Z,1736380671.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:51.596Z,1736380671.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754685 2025-01-08T23:57:51.833Z,1736380671.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:51.848Z,1736380671.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:51.849Z,1736380671.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007149 2025-01-08T23:57:51.858Z,1736380671.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:51.865Z,1736380671.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.288273 m, bearing: 70.707677 deg, approach rate: 0.021221 m/s, LOS rate: -0.593022 deg/s, cmd heading: 70.957490 deg, new cmd heading: 70.707677 deg. 2025-01-08T23:57:51.866Z,1736380671.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.234082 target range: 129.600006 and range: 129.60 m. 2025-01-08T23:57:52.102Z,1736380672.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:52.105Z,1736380672.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263047 2025-01-08T23:57:52.279Z,1736380672.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:52.331Z,1736380672.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:52.338Z,1736380672.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.299290 m, bearing: 70.436121 deg, approach rate: 0.023293 m/s, LOS rate: -0.574054 deg/s, cmd heading: 70.707676 deg, new cmd heading: 70.436121 deg. 2025-01-08T23:57:52.338Z,1736380672.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229342 target range: 129.600006 and range: 129.60 m. 2025-01-08T23:57:52.352Z,1736380672.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:52.353Z,1736380672.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510914 2025-01-08T23:57:52.604Z,1736380672.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:52.604Z,1736380672.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762628 2025-01-08T23:57:52.768Z,1736380672.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:52.776Z,1736380672.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:52.779Z,1736380672.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.329048 m, bearing: 70.151640 deg, approach rate: 0.066806 m/s, LOS rate: -0.638328 deg/s, cmd heading: 70.436121 deg, new cmd heading: 70.151640 deg. 2025-01-08T23:57:52.780Z,1736380672.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224377 target range: 129.600006 and range: 129.60 m. 2025-01-08T23:57:52.857Z,1736380672.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:52.858Z,1736380672.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016381 2025-01-08T23:57:53.112Z,1736380673.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:53.112Z,1736380673.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270773 2025-01-08T23:57:53.156Z,1736380673.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:53.163Z,1736380673.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:53.165Z,1736380673.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:53.170Z,1736380673.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.325386 m, bearing: 69.924534 deg, approach rate: -0.009421 m/s, LOS rate: -0.584257 deg/s, cmd heading: 70.151644 deg, new cmd heading: 69.924534 deg. 2025-01-08T23:57:53.172Z,1736380673.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220413 target range: 129.600006 and range: 129.60 m. 2025-01-08T23:57:53.365Z,1736380673.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:53.366Z,1736380673.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524114 2025-01-08T23:57:53.574Z,1736380673.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:53.583Z,1736380673.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:53.586Z,1736380673.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.333466 m, bearing: 69.684176 deg, approach rate: 0.019332 m/s, LOS rate: -0.575027 deg/s, cmd heading: 69.924533 deg, new cmd heading: 69.684176 deg. 2025-01-08T23:57:53.587Z,1736380673.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216218 target range: 129.600006 and range: 129.60 m. 2025-01-08T23:57:53.616Z,1736380673.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:53.616Z,1736380673.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774800 2025-01-08T23:57:53.868Z,1736380673.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:53.869Z,1736380673.869 [DAT](INFO): DAT read: Rx Time:23:57:52.6298 2025-01-08T23:57:53.869Z,1736380673.869 [DAT](INFO): Rx dataTimestamp_ set to:1736380673.868743 2025-01-08T23:57:53.870Z,1736380673.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027859 2025-01-08T23:57:53.949Z,1736380673.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:53.957Z,1736380673.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:53.960Z,1736380673.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.327644 m, bearing: 69.468417 deg, approach rate: -0.015543 m/s, LOS rate: -0.576138 deg/s, cmd heading: 69.684179 deg, new cmd heading: 69.468417 deg. 2025-01-08T23:57:53.961Z,1736380673.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212453 target range: 129.600006 and range: 129.60 m. 2025-01-08T23:57:54.120Z,1736380674.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:54.121Z,1736380674.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279307 2025-01-08T23:57:54.372Z,1736380674.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:54.373Z,1736380674.373 [DAT](INFO): DAT read: Range 10 to 50 : 130.4 m (Round-trip 173.9 ms) speed -0.1 m/s 2025-01-08T23:57:54.374Z,1736380674.374 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:57:54.375Z,1736380674.375 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:57:54.375Z,1736380674.375 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:57:54.375Z,1736380674.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:57:54.487Z,1736380674.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:54.509Z,1736380674.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.399994 m, deltaT: 3.783167 s, deltaX: 0.799988 m, approachRate: 0.211460 m/s, rangeRepo size: 3 2025-01-08T23:57:54.510Z,1736380674.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:54.517Z,1736380674.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.325150 m, bearing: 69.170745 deg, approach rate: -0.004525 m/s, LOS rate: -0.539944 deg/s, cmd heading: 69.468420 deg, new cmd heading: 69.170745 deg. 2025-01-08T23:57:54.518Z,1736380674.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207257 target range: 129.600006 and range: 130.40 m. 2025-01-08T23:57:54.624Z,1736380674.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:54.625Z,1736380674.625 [DAT](INFO): DAT read: user:3531> 2025-01-08T23:57:54.625Z,1736380674.625 [DAT](INFO): DAT read: Tx time:23:57:53.8518 2025-01-08T23:57:54.626Z,1736380674.626 [DAT](INFO): Ping request sent. 2025-01-08T23:57:54.626Z,1736380674.626 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:57:54.626Z,1736380674.626 [DAT](INFO): publishing transmit ping time 2025-01-08T23:57:54.627Z,1736380674.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724 2025-01-08T23:57:54.876Z,1736380674.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:54.876Z,1736380674.876 [DAT](INFO): DAT read: TxSync time:23:57:53.8510 2025-01-08T23:57:54.878Z,1736380674.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251891 2025-01-08T23:57:54.944Z,1736380674.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:54.953Z,1736380674.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:54.956Z,1736380674.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.307682 m, bearing: 68.914783 deg, approach rate: -0.039286 m/s, LOS rate: -0.575843 deg/s, cmd heading: 69.170746 deg, new cmd heading: 68.914783 deg. 2025-01-08T23:57:54.957Z,1736380674.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.202790 target range: 129.600006 and range: 130.40 m. 2025-01-08T23:57:55.128Z,1736380675.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:55.130Z,1736380675.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503721 2025-01-08T23:57:55.380Z,1736380675.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:55.381Z,1736380675.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754671 2025-01-08T23:57:55.404Z,1736380675.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:55.435Z,1736380675.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:55.441Z,1736380675.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:55.449Z,1736380675.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.280983 m, bearing: 68.665221 deg, approach rate: -0.054739 m/s, LOS rate: -0.511880 deg/s, cmd heading: 68.914785 deg, new cmd heading: 68.665221 deg. 2025-01-08T23:57:55.455Z,1736380675.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198434 target range: 129.600006 and range: 130.40 m. 2025-01-08T23:57:55.632Z,1736380675.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:55.633Z,1736380675.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007101 2025-01-08T23:57:55.783Z,1736380675.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:55.806Z,1736380675.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:55.809Z,1736380675.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.253555 m, bearing: 68.460419 deg, approach rate: -0.075167 m/s, LOS rate: -0.561528 deg/s, cmd heading: 68.665224 deg, new cmd heading: 68.460419 deg. 2025-01-08T23:57:55.809Z,1736380675.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194860 target range: 129.600006 and range: 130.40 m. 2025-01-08T23:57:55.884Z,1736380675.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:55.885Z,1736380675.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258706 2025-01-08T23:57:56.136Z,1736380676.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:56.136Z,1736380676.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510610 2025-01-08T23:57:56.202Z,1736380676.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:56.228Z,1736380676.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:56.230Z,1736380676.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.217510 m, bearing: 68.234088 deg, approach rate: -0.086325 m/s, LOS rate: -0.542368 deg/s, cmd heading: 68.460420 deg, new cmd heading: 68.234088 deg. 2025-01-08T23:57:56.235Z,1736380676.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190910 target range: 129.600006 and range: 130.40 m. 2025-01-08T23:57:56.389Z,1736380676.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:56.390Z,1736380676.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764109 2025-01-08T23:57:56.640Z,1736380676.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:56.640Z,1736380676.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014640 2025-01-08T23:57:56.648Z,1736380676.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:56.681Z,1736380676.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:56.693Z,1736380676.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.168999 m, bearing: 68.005383 deg, approach rate: -0.106599 m/s, LOS rate: -0.502961 deg/s, cmd heading: 68.234088 deg, new cmd heading: 68.005383 deg. 2025-01-08T23:57:56.694Z,1736380676.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186918 target range: 129.600006 and range: 130.40 m. 2025-01-08T23:57:56.894Z,1736380676.894 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:56.896Z,1736380676.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270239 2025-01-08T23:57:56.993Z,1736380676.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:57.002Z,1736380677.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:57.024Z,1736380677.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.121590 m, bearing: 67.809488 deg, approach rate: -0.146508 m/s, LOS rate: -0.605849 deg/s, cmd heading: 68.005380 deg, new cmd heading: 67.809488 deg. 2025-01-08T23:57:57.025Z,1736380677.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183499 target range: 129.600006 and range: 130.40 m. 2025-01-08T23:57:57.144Z,1736380677.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:57.144Z,1736380677.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518571 2025-01-08T23:57:57.396Z,1736380677.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:57.397Z,1736380677.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770919 2025-01-08T23:57:57.464Z,1736380677.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:57.487Z,1736380677.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:57.489Z,1736380677.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:57.496Z,1736380677.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.043365 m, bearing: 67.552524 deg, approach rate: -0.160578 m/s, LOS rate: -0.528178 deg/s, cmd heading: 67.809490 deg, new cmd heading: 67.552524 deg. 2025-01-08T23:57:57.497Z,1736380677.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179014 target range: 129.600006 and range: 130.40 m. 2025-01-08T23:57:57.648Z,1736380677.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:57.650Z,1736380677.650 [DAT](INFO): DAT read: Rx Time:23:57:56.4305 2025-01-08T23:57:57.650Z,1736380677.650 [DAT](INFO): Rx dataTimestamp_ set to:1736380677.649775 2025-01-08T23:57:57.651Z,1736380677.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025163 2025-01-08T23:57:57.804Z,1736380677.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:57.813Z,1736380677.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:57.816Z,1736380677.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.975956 m, bearing: 67.370113 deg, approach rate: -0.208452 m/s, LOS rate: -0.564708 deg/s, cmd heading: 67.552524 deg, new cmd heading: 67.370113 deg. 2025-01-08T23:57:57.817Z,1736380677.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.175830 target range: 129.600006 and range: 130.40 m. 2025-01-08T23:57:57.900Z,1736380677.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:57.901Z,1736380677.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274887 2025-01-08T23:57:58.152Z,1736380678.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:58.153Z,1736380678.153 [DAT](INFO): DAT read: Range 10 to 50 : 130.9 m (Round-trip 174.6 ms) speed 0.0 m/s 2025-01-08T23:57:58.154Z,1736380678.154 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:57:58.155Z,1736380678.155 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:57:58.155Z,1736380678.155 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:57:58.155Z,1736380678.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:57:58.242Z,1736380678.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:58.265Z,1736380678.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.899994 m, deltaT: 3.779861 s, deltaX: 0.500000 m, approachRate: 0.132280 m/s, rangeRepo size: 4 2025-01-08T23:57:58.266Z,1736380678.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:58.272Z,1736380678.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.883198 m, bearing: 67.137876 deg, approach rate: -0.205297 m/s, LOS rate: -0.514793 deg/s, cmd heading: 67.370110 deg, new cmd heading: 67.137876 deg. 2025-01-08T23:57:58.273Z,1736380678.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171777 target range: 129.600006 and range: 130.90 m. 2025-01-08T23:57:58.405Z,1736380678.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:58.408Z,1736380678.408 [DAT](INFO): DAT read: user:3532> 2025-01-08T23:57:58.410Z,1736380678.410 [DAT](INFO): DAT read: Tx time:23:57:57.6018 2025-01-08T23:57:58.412Z,1736380678.412 [DAT](INFO): Ping request sent. 2025-01-08T23:57:58.412Z,1736380678.412 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:57:58.414Z,1736380678.414 [DAT](INFO): DAT read: TxSync time:23:57:57.6010 2025-01-08T23:57:58.416Z,1736380678.416 [DAT](INFO): publishing transmit ping time 2025-01-08T23:57:58.419Z,1736380678.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006996 2025-01-08T23:57:58.656Z,1736380678.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:58.657Z,1736380678.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245907 2025-01-08T23:57:58.670Z,1736380678.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:58.685Z,1736380678.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:58.688Z,1736380678.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.773365 m, bearing: 66.908206 deg, approach rate: -0.261135 m/s, LOS rate: -0.547058 deg/s, cmd heading: 67.137877 deg, new cmd heading: 66.908206 deg. 2025-01-08T23:57:58.689Z,1736380678.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.167768 target range: 129.600006 and range: 130.90 m. 2025-01-08T23:57:58.908Z,1736380678.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:58.909Z,1736380678.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497551 2025-01-08T23:57:59.038Z,1736380679.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:59.046Z,1736380679.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:59.050Z,1736380679.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.674713 m, bearing: 66.714835 deg, approach rate: -0.272988 m/s, LOS rate: -0.535977 deg/s, cmd heading: 66.908205 deg, new cmd heading: 66.714835 deg. 2025-01-08T23:57:59.052Z,1736380679.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.164394 target range: 129.600006 and range: 130.90 m. 2025-01-08T23:57:59.160Z,1736380679.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:59.161Z,1736380679.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749519 2025-01-08T23:57:59.414Z,1736380679.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:59.417Z,1736380679.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005032 2025-01-08T23:57:59.508Z,1736380679.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:59.516Z,1736380679.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:57:59.518Z,1736380679.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:57:59.522Z,1736380679.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.537125 m, bearing: 66.457943 deg, approach rate: -0.291609 m/s, LOS rate: -0.545721 deg/s, cmd heading: 66.714836 deg, new cmd heading: 66.457943 deg. 2025-01-08T23:57:59.522Z,1736380679.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159910 target range: 129.600006 and range: 130.90 m. 2025-01-08T23:57:59.665Z,1736380679.665 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:59.666Z,1736380679.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254510 2025-01-08T23:57:59.916Z,1736380679.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:57:59.917Z,1736380679.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505896 2025-01-08T23:57:59.966Z,1736380679.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:57:59.998Z,1736380679.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:58:00.005Z,1736380680.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.384426 m, bearing: 66.221152 deg, approach rate: -0.318391 m/s, LOS rate: -0.494998 deg/s, cmd heading: 66.457946 deg, new cmd heading: 66.221152 deg. 2025-01-08T23:58:00.006Z,1736380680.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155777 target range: 129.600006 and range: 130.90 m. 2025-01-08T23:58:00.168Z,1736380680.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:00.169Z,1736380680.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757521 2025-01-08T23:58:00.374Z,1736380680.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:00.422Z,1736380680.422 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:00.426Z,1736380680.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013973 2025-01-08T23:58:00.436Z,1736380680.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:58:00.452Z,1736380680.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.242500 m, bearing: 66.013252 deg, approach rate: -0.328493 m/s, LOS rate: -0.482345 deg/s, cmd heading: 66.221150 deg, new cmd heading: 66.013252 deg. 2025-01-08T23:58:00.453Z,1736380680.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.152149 target range: 129.600006 and range: 130.90 m. 2025-01-08T23:58:00.672Z,1736380680.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:00.674Z,1736380680.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262461 2025-01-08T23:58:00.904Z,1736380680.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:00.912Z,1736380680.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:58:00.916Z,1736380680.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.043209 m, bearing: 65.740580 deg, approach rate: -0.413106 m/s, LOS rate: -0.567121 deg/s, cmd heading: 66.013252 deg, new cmd heading: 65.740580 deg. 2025-01-08T23:58:00.917Z,1736380680.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147390 target range: 129.600006 and range: 130.90 m. 2025-01-08T23:58:00.924Z,1736380680.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:00.924Z,1736380680.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513349 2025-01-08T23:58:01.176Z,1736380681.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:01.177Z,1736380681.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765601 2025-01-08T23:58:01.288Z,1736380681.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:01.302Z,1736380681.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:58:01.307Z,1736380681.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 58.893673 m, bearing: 65.546283 deg, approach rate: -0.384582 m/s, LOS rate: -0.500968 deg/s, cmd heading: 65.740578 deg, new cmd heading: 65.546283 deg. 2025-01-08T23:58:01.308Z,1736380681.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.143999 target range: 129.600006 and range: 130.90 m. 2025-01-08T23:58:01.429Z,1736380681.429 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:01.432Z,1736380681.432 [DAT](INFO): DAT read: Rx Time:23:58:00.1802 2025-01-08T23:58:01.434Z,1736380681.434 [DAT](INFO): Rx dataTimestamp_ set to:1736380681.432757 2025-01-08T23:58:01.436Z,1736380681.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023703 2025-01-08T23:58:01.680Z,1736380681.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:01.682Z,1736380681.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270826 2025-01-08T23:58:01.752Z,1736380681.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:01.759Z,1736380681.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:01.761Z,1736380681.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m. 2025-01-08T23:58:01.765Z,1736380681.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 129.600006 m, nav range: 58.708126 m, bearing: 65.309373 deg, approach rate: -0.403531 m/s, LOS rate: -0.516863 deg/s, cmd heading: 65.546286 deg, new cmd heading: 65.309373 deg. 2025-01-08T23:58:01.766Z,1736380681.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139864 target range: 129.600006 and range: 130.90 m. 2025-01-08T23:58:01.932Z,1736380681.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:01.938Z,1736380681.938 [DAT](INFO): DAT read: 23:58:00.1802 LVL= 23696, 25585, 12530, 28211, AGC= 57, IDX= 436,-0.34, 2.071, 2.222,-2.133, 2.714, PHS=-0.555,-0.445, 1.434, RAW= 212.8, -4.5, CAL= 210.5, -11.3, ROT= 299.5, 11.3 2025-01-08T23:58:01.939Z,1736380681.939 [DAT](INFO): got valid direction response: 23:58:00.1802 LVL= 23696, 25585, 12530, 28211, AGC= 57, IDX= 436,-0.34, 2.071, 2.222,-2.133, 2.714, PHS=-0.555,-0.445, 1.434, RAW= 212.8, -4.5, CAL= 210.5, -11.3, ROT= 299.5, 11.3 2025-01-08T23:58:01.940Z,1736380681.940 [DAT](INFO): DAT read: Bearing 299.5, 11.3 (Local) 2025-01-08T23:58:01.941Z,1736380681.941 [DAT](INFO): Local bearing/azimuth received: Bearing 299.5, 11.3 (Local) 2025-01-08T23:58:01.942Z,1736380681.942 [DAT](INFO): DAT read: Range 10 to 50 : 130.6 m (Round-trip 174.2 ms) speed 0.0 m/s 2025-01-08T23:58:01.943Z,1736380681.943 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:58:01.944Z,1736380681.944 [DAT](INFO): direction in FSK: [0.057549,-0.874874,-0.480920] 2025-01-08T23:58:01.944Z,1736380681.944 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:01.977Z,1736380681.977 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:01.977Z,1736380681.977 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:01.978Z,1736380681.978 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:02.128Z,1736380682.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:02.143Z,1736380682.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.600006 m, deltaT: 3.780592 s, deltaX: -0.299988 m, approachRate: -0.079349 m/s, rangeRepo size: 4 2025-01-08T23:58:02.145Z,1736380682.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 130.600006 m, bearing: 29.794501 deg, lat: 36.904391 deg, lon: -122.120050 deg, deltaT: 11.343620 s, deltaX: 1.000000 m, approachRate: 0.088155 m/s, posRepo size: 2 2025-01-08T23:58:02.146Z,1736380682.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:58:02.149Z,1736380682.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 58.552967 m, bearing: 65.120982 deg, approach rate: 0.000000 m/s, LOS rate: -0.516863 deg/s, cmd heading: 65.309374 deg, new cmd heading: 64.718308 deg. 2025-01-08T23:58:02.150Z,1736380682.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129548 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:58:02.184Z,1736380682.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:02.184Z,1736380682.184 [DAT](INFO): DAT read: user:3533> 2025-01-08T23:58:02.185Z,1736380682.185 [DAT](INFO): DAT read: Tx time:23:58:01.4519 2025-01-08T23:58:02.186Z,1736380682.186 [DAT](INFO): Ping request sent. 2025-01-08T23:58:02.186Z,1736380682.186 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:02.186Z,1736380682.186 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:02.186Z,1736380682.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720 2025-01-08T23:58:02.437Z,1736380682.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:02.442Z,1736380682.442 [DAT](INFO): DAT read: TxSync time:23:58:01.4511 2025-01-08T23:58:02.445Z,1736380682.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258484 2025-01-08T23:58:02.562Z,1736380682.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:02.586Z,1736380682.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:58:02.589Z,1736380682.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 58.375900 m, bearing: 64.910604 deg, approach rate: -0.398674 m/s, LOS rate: -0.475111 deg/s, cmd heading: 64.718310 deg, new cmd heading: 64.085290 deg. 2025-01-08T23:58:02.590Z,1736380682.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118499 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:58:02.688Z,1736380682.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:02.689Z,1736380682.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503158 2025-01-08T23:58:02.927Z,1736380682.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:02.936Z,1736380682.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:58:02.939Z,1736380682.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 58.222431 m, bearing: 64.737168 deg, approach rate: -0.438646 m/s, LOS rate: -0.497021 deg/s, cmd heading: 64.085288 deg, new cmd heading: 63.563624 deg. 2025-01-08T23:58:02.940Z,1736380682.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:02.941Z,1736380682.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754882 2025-01-08T23:58:02.942Z,1736380682.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109395 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:58:03.193Z,1736380683.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:03.194Z,1736380683.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007859 2025-01-08T23:58:03.340Z,1736380683.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:03.373Z,1736380683.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:58:03.380Z,1736380683.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 58.043289 m, bearing: 64.545264 deg, approach rate: -0.410430 m/s, LOS rate: -0.441026 deg/s, cmd heading: 63.563626 deg, new cmd heading: 62.986156 deg. 2025-01-08T23:58:03.381Z,1736380683.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099316 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:58:03.446Z,1736380683.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:03.448Z,1736380683.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261848 2025-01-08T23:58:03.696Z,1736380683.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:03.696Z,1736380683.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510706 2025-01-08T23:58:03.779Z,1736380683.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:03.787Z,1736380683.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:03.789Z,1736380683.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:58:03.809Z,1736380683.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 57.865601 m, bearing: 64.346856 deg, approach rate: -0.426415 m/s, LOS rate: -0.477598 deg/s, cmd heading: 62.986154 deg, new cmd heading: 62.389126 deg. 2025-01-08T23:58:03.810Z,1736380683.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.088896 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:58:03.949Z,1736380683.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:03.949Z,1736380683.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763501 2025-01-08T23:58:04.140Z,1736380684.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:04.154Z,1736380684.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:58:04.157Z,1736380684.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 57.714577 m, bearing: 64.187249 deg, approach rate: -0.414514 m/s, LOS rate: -0.439218 deg/s, cmd heading: 62.389127 deg, new cmd heading: 61.909064 deg. 2025-01-08T23:58:04.158Z,1736380684.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.080517 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:58:04.201Z,1736380684.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:04.202Z,1736380684.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015927 2025-01-08T23:58:04.454Z,1736380684.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:04.456Z,1736380684.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270224 2025-01-08T23:58:04.572Z,1736380684.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:04.601Z,1736380684.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:58:04.608Z,1736380684.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 57.546093 m, bearing: 64.009147 deg, approach rate: -0.376355 m/s, LOS rate: -0.399003 deg/s, cmd heading: 61.909067 deg, new cmd heading: 61.373215 deg. 2025-01-08T23:58:04.609Z,1736380684.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071165 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:58:04.705Z,1736380684.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:04.706Z,1736380684.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519975 2025-01-08T23:58:04.956Z,1736380684.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:04.957Z,1736380684.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771060 2025-01-08T23:58:04.957Z,1736380684.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:04.999Z,1736380684.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:58:05.006Z,1736380685.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 57.387154 m, bearing: 63.860062 deg, approach rate: -0.400309 m/s, LOS rate: -0.376530 deg/s, cmd heading: 61.373218 deg, new cmd heading: 60.924732 deg. 2025-01-08T23:58:05.008Z,1736380685.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.063337 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:58:05.210Z,1736380685.210 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:05.212Z,1736380685.212 [DAT](INFO): DAT read: Rx Time:23:58:04.0291 2025-01-08T23:58:05.213Z,1736380685.213 [DAT](INFO): Rx dataTimestamp_ set to:1736380685.212333 2025-01-08T23:58:05.213Z,1736380685.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027483 2025-01-08T23:58:05.363Z,1736380685.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:05.394Z,1736380685.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:58:05.403Z,1736380685.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 57.213379 m, bearing: 63.705763 deg, approach rate: -0.440970 m/s, LOS rate: -0.392737 deg/s, cmd heading: 60.924734 deg, new cmd heading: 60.460442 deg. 2025-01-08T23:58:05.408Z,1736380685.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.055234 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:58:05.462Z,1736380685.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:05.467Z,1736380685.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280581 2025-01-08T23:58:05.714Z,1736380685.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:05.717Z,1736380685.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530587 2025-01-08T23:58:05.932Z,1736380685.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:05.938Z,1736380685.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:05.960Z,1736380685.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.60 m. 2025-01-08T23:58:05.965Z,1736380685.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:05.971Z,1736380685.971 [DAT](INFO): DAT read: 23:58:04.0291 LVL= 30256, 28321, 17890, 32755, AGC= 64, IDX= 425,-0.11,-1.778,-2.320,-0.354,-1.325, PHS=-0.365,-0.948, 0.969, RAW= 192.7, 4.1, CAL= 192.8, -4.1, ROT= 317.2, 4.1 2025-01-08T23:58:05.972Z,1736380685.972 [DAT](INFO): got valid direction response: 23:58:04.0291 LVL= 30256, 28321, 17890, 32755, AGC= 64, IDX= 425,-0.11,-1.778,-2.320,-0.354,-1.325, PHS=-0.365,-0.948, 0.969, RAW= 192.7, 4.1, CAL= 192.8, -4.1, ROT= 317.2, 4.1 2025-01-08T23:58:05.973Z,1736380685.973 [DAT](INFO): DAT read: Bearing 317.2, 4.1 (Local) 2025-01-08T23:58:05.973Z,1736380685.973 [DAT](INFO): Local bearing/azimuth received: Bearing 317.2, 4.1 (Local) 2025-01-08T23:58:05.975Z,1736380685.975 [DAT](INFO): DAT read: Range 10 to 50 : 129.8 m (Round-trip 173.1 ms) speed 0.0 m/s 2025-01-08T23:58:05.976Z,1736380685.976 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:58:05.977Z,1736380685.977 [DAT](INFO): direction in FSK: [-0.142344,-0.973668,-0.178073] 2025-01-08T23:58:05.977Z,1736380685.977 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:05.980Z,1736380685.980 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:05.980Z,1736380685.980 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:05.981Z,1736380685.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:05.989Z,1736380685.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.600006 m, nav range: 56.996788 m, bearing: 63.505826 deg, approach rate: -0.381380 m/s, LOS rate: -0.353393 deg/s, cmd heading: 60.460445 deg, new cmd heading: 59.858377 deg. 2025-01-08T23:58:05.990Z,1736380685.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044726 target range: 130.600006 and range: 130.60 m. 2025-01-08T23:58:06.216Z,1736380686.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:06.216Z,1736380686.216 [DAT](INFO): DAT read: user:3534> 2025-01-08T23:58:06.217Z,1736380686.217 [DAT](INFO): DAT read: Tx time:23:58:05.4519 2025-01-08T23:58:06.217Z,1736380686.217 [DAT](INFO): Ping request sent. 2025-01-08T23:58:06.217Z,1736380686.217 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:06.218Z,1736380686.218 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:06.218Z,1736380686.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723 2025-01-08T23:58:06.320Z,1736380686.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:06.342Z,1736380686.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.800003 m, deltaT: 4.032621 s, deltaX: -0.800003 m, approachRate: -0.198383 m/s, rangeRepo size: 4 2025-01-08T23:58:06.354Z,1736380686.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.800003 m, bearing: 358.742256 deg, lat: 36.904391 deg, lon: -122.120653 deg, deltaT: 4.032621 s, deltaX: -0.800003 m, approachRate: -0.198383 m/s, posRepo size: 3 2025-01-08T23:58:06.354Z,1736380686.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:06.361Z,1736380686.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.634058 m, bearing: 353.771663 deg, approach rate: 0.000000 m/s, LOS rate: -0.353393 deg/s, cmd heading: 59.858378 deg, new cmd heading: 59.457232 deg. 2025-01-08T23:58:06.362Z,1736380686.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.037724 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:06.468Z,1736380686.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:06.470Z,1736380686.470 [DAT](INFO): DAT read: TxSync time:23:58:05.4511 2025-01-08T23:58:06.473Z,1736380686.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254818 2025-01-08T23:58:06.720Z,1736380686.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:06.721Z,1736380686.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503549 2025-01-08T23:58:06.820Z,1736380686.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:06.829Z,1736380686.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:06.833Z,1736380686.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.706097 m, bearing: 353.278429 deg, approach rate: 0.146995 m/s, LOS rate: -1.003615 deg/s, cmd heading: 59.457234 deg, new cmd heading: 57.982021 deg. 2025-01-08T23:58:06.834Z,1736380686.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.011977 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:06.972Z,1736380686.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:06.972Z,1736380686.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754928 2025-01-08T23:58:07.194Z,1736380687.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:07.203Z,1736380687.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:07.206Z,1736380687.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.755995 m, bearing: 352.908689 deg, approach rate: 0.133280 m/s, LOS rate: -0.985670 deg/s, cmd heading: 57.982022 deg, new cmd heading: 56.875097 deg. 2025-01-08T23:58:07.207Z,1736380687.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992658 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:07.226Z,1736380687.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:07.226Z,1736380687.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008977 2025-01-08T23:58:07.477Z,1736380687.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:07.479Z,1736380687.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261271 2025-01-08T23:58:07.608Z,1736380687.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:07.638Z,1736380687.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:07.645Z,1736380687.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.794939 m, bearing: 352.515746 deg, approach rate: 0.089661 m/s, LOS rate: -0.903294 deg/s, cmd heading: 56.875098 deg, new cmd heading: 55.698224 deg. 2025-01-08T23:58:07.646Z,1736380687.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.972117 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:07.729Z,1736380687.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:07.730Z,1736380687.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512444 2025-01-08T23:58:07.980Z,1736380687.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:07.980Z,1736380687.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762963 2025-01-08T23:58:08.006Z,1736380688.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:08.013Z,1736380688.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:08.017Z,1736380688.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:08.020Z,1736380688.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.827885 m, bearing: 352.136136 deg, approach rate: 0.086910 m/s, LOS rate: -1.000118 deg/s, cmd heading: 55.698222 deg, new cmd heading: 54.561004 deg. 2025-01-08T23:58:08.021Z,1736380688.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952269 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:08.233Z,1736380688.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:08.234Z,1736380688.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015965 2025-01-08T23:58:08.411Z,1736380688.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:08.446Z,1736380688.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:08.453Z,1736380688.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.856579 m, bearing: 351.748638 deg, approach rate: 0.066778 m/s, LOS rate: -0.900791 deg/s, cmd heading: 54.561003 deg, new cmd heading: 53.399965 deg. 2025-01-08T23:58:08.454Z,1736380688.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.932005 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:08.490Z,1736380688.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:08.493Z,1736380688.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275346 2025-01-08T23:58:08.741Z,1736380688.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:08.742Z,1736380688.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524560 2025-01-08T23:58:08.848Z,1736380688.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:08.857Z,1736380688.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:08.860Z,1736380688.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.875912 m, bearing: 351.341775 deg, approach rate: 0.047066 m/s, LOS rate: -0.989766 deg/s, cmd heading: 53.399966 deg, new cmd heading: 52.180485 deg. 2025-01-08T23:58:08.861Z,1736380688.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910721 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:08.992Z,1736380688.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:08.994Z,1736380688.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775753 2025-01-08T23:58:09.244Z,1736380689.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:09.244Z,1736380689.244 [DAT](INFO): DAT read: Rx Time:23:58:08.0274 2025-01-08T23:58:09.245Z,1736380689.245 [DAT](INFO): Rx dataTimestamp_ set to:1736380689.244540 2025-01-08T23:58:09.245Z,1736380689.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027929 2025-01-08T23:58:09.253Z,1736380689.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:09.273Z,1736380689.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:09.287Z,1736380689.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.889378 m, bearing: 350.963092 deg, approach rate: 0.032351 m/s, LOS rate: -0.909296 deg/s, cmd heading: 52.180484 deg, new cmd heading: 51.045182 deg. 2025-01-08T23:58:09.288Z,1736380689.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.890907 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:09.321Z,1736380689.321 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:58:09.504Z,1736380689.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:09.509Z,1736380689.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291339 2025-01-08T23:58:09.752Z,1736380689.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:09.758Z,1736380689.758 [DAT](INFO): DAT read: 23:58:08.0274 LVL= 32752, 32753, 22562, 32755, AGC= 66, IDX= 424,-0.03,-2.078,-2.934,-1.103,-1.907, PHS=-0.082,-0.979, 0.801, RAW= 179.8, 3.4, CAL= 179.9, -5.2, ROT= 330.1, 5.2 2025-01-08T23:58:09.760Z,1736380689.760 [DAT](INFO): got valid direction response: 23:58:08.0274 LVL= 32752, 32753, 22562, 32755, AGC= 66, IDX= 424,-0.03,-2.078,-2.934,-1.103,-1.907, PHS=-0.082,-0.979, 0.801, RAW= 179.8, 3.4, CAL= 179.9, -5.2, ROT= 330.1, 5.2 2025-01-08T23:58:09.760Z,1736380689.760 [DAT](INFO): DAT read: $Error in header 2025-01-08T23:58:09.761Z,1736380689.761 [DAT](INFO): Received a bad header 2025-01-08T23:58:09.772Z,1736380689.772 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-08T23:58:09.772Z,1736380689.772 [DAT](INFO): direction in FSK: [-0.152563,-0.987327,0.043711] 2025-01-08T23:58:09.776Z,1736380689.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:09.776Z,1736380689.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:09.776Z,1736380689.776 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:09.841Z,1736380689.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:09.859Z,1736380689.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:09.866Z,1736380689.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.884563 m, bearing: 350.394183 deg, approach rate: -0.008227 m/s, LOS rate: -0.972331 deg/s, cmd heading: 51.045183 deg, new cmd heading: 49.338670 deg. 2025-01-08T23:58:09.868Z,1736380689.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.861122 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:10.004Z,1736380690.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:10.004Z,1736380690.004 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:10.004Z,1736380690.004 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:10.005Z,1736380690.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:10.256Z,1736380690.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:10.256Z,1736380690.256 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:10.256Z,1736380690.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:10.256Z,1736380690.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:10.274Z,1736380690.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:10.308Z,1736380690.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:10.310Z,1736380690.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:10.317Z,1736380690.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.876375 m, bearing: 349.975890 deg, approach rate: -0.018153 m/s, LOS rate: -0.927643 deg/s, cmd heading: 49.338671 deg, new cmd heading: 48.083608 deg. 2025-01-08T23:58:10.318Z,1736380690.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839217 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:10.509Z,1736380690.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:10.511Z,1736380690.511 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:10.512Z,1736380690.512 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:10.512Z,1736380690.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:10.742Z,1736380690.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:10.760Z,1736380690.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:10.760Z,1736380690.760 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:10.760Z,1736380690.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:10.760Z,1736380690.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:10.775Z,1736380690.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:10.778Z,1736380690.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.863766 m, bearing: 349.511254 deg, approach rate: -0.027094 m/s, LOS rate: -0.998842 deg/s, cmd heading: 48.083610 deg, new cmd heading: 46.689311 deg. 2025-01-08T23:58:10.779Z,1736380690.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814882 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:11.013Z,1736380691.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:11.014Z,1736380691.014 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:11.014Z,1736380691.014 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:11.014Z,1736380691.014 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:11.144Z,1736380691.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:11.153Z,1736380691.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:11.157Z,1736380691.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.854288 m, bearing: 349.111612 deg, approach rate: -0.025045 m/s, LOS rate: -1.056450 deg/s, cmd heading: 46.689312 deg, new cmd heading: 45.490133 deg. 2025-01-08T23:58:11.158Z,1736380691.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793953 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:11.265Z,1736380691.265 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:11.265Z,1736380691.265 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:11.265Z,1736380691.265 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:11.266Z,1736380691.266 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:11.517Z,1736380691.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:11.517Z,1736380691.517 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:11.517Z,1736380691.517 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:11.517Z,1736380691.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:11.596Z,1736380691.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:11.621Z,1736380691.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:11.628Z,1736380691.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.832159 m, bearing: 348.669545 deg, approach rate: -0.047312 m/s, LOS rate: -0.945947 deg/s, cmd heading: 45.490132 deg, new cmd heading: 44.163043 deg. 2025-01-08T23:58:11.629Z,1736380691.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770791 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:11.768Z,1736380691.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:11.768Z,1736380691.768 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:11.768Z,1736380691.768 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:11.768Z,1736380691.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:11.968Z,1736380691.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:11.977Z,1736380691.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:11.980Z,1736380691.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.807432 m, bearing: 348.264591 deg, approach rate: -0.069507 m/s, LOS rate: -1.139405 deg/s, cmd heading: 44.163044 deg, new cmd heading: 42.947213 deg. 2025-01-08T23:58:11.982Z,1736380691.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749570 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:12.020Z,1736380692.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:12.020Z,1736380692.020 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:12.020Z,1736380692.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:12.021Z,1736380692.021 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:12.272Z,1736380692.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:12.272Z,1736380692.272 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:12.272Z,1736380692.272 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:12.272Z,1736380692.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:12.334Z,1736380692.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:12.354Z,1736380692.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:12.361Z,1736380692.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:12.371Z,1736380692.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.779039 m, bearing: 347.872874 deg, approach rate: -0.074112 m/s, LOS rate: -1.023596 deg/s, cmd heading: 42.947212 deg, new cmd heading: 41.770939 deg. 2025-01-08T23:58:12.382Z,1736380692.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.729040 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:12.524Z,1736380692.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:12.524Z,1736380692.524 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:12.524Z,1736380692.524 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:12.524Z,1736380692.524 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:12.769Z,1736380692.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:12.776Z,1736380692.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:12.776Z,1736380692.776 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:12.776Z,1736380692.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:12.777Z,1736380692.777 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:12.779Z,1736380692.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:12.786Z,1736380692.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.746803 m, bearing: 347.372436 deg, approach rate: -0.077031 m/s, LOS rate: -1.197330 deg/s, cmd heading: 41.770941 deg, new cmd heading: 40.268110 deg. 2025-01-08T23:58:12.787Z,1736380692.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702811 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:13.028Z,1736380693.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:13.028Z,1736380693.028 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:13.028Z,1736380693.028 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:13.029Z,1736380693.029 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:13.154Z,1736380693.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:13.178Z,1736380693.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:13.184Z,1736380693.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.713531 m, bearing: 346.929466 deg, approach rate: -0.083269 m/s, LOS rate: -1.110041 deg/s, cmd heading: 40.268111 deg, new cmd heading: 38.937736 deg. 2025-01-08T23:58:13.185Z,1736380693.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679592 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:13.280Z,1736380693.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:13.281Z,1736380693.281 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:13.281Z,1736380693.281 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:13.282Z,1736380693.282 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:13.533Z,1736380693.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:13.533Z,1736380693.533 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:13.533Z,1736380693.533 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:13.534Z,1736380693.534 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:13.556Z,1736380693.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:13.633Z,1736380693.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:13.649Z,1736380693.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.673876 m, bearing: 346.467571 deg, approach rate: -0.087186 m/s, LOS rate: -1.017069 deg/s, cmd heading: 38.937737 deg, new cmd heading: 37.550197 deg. 2025-01-08T23:58:13.650Z,1736380693.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655375 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:13.784Z,1736380693.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:13.784Z,1736380693.784 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:13.785Z,1736380693.785 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:13.785Z,1736380693.785 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:13.988Z,1736380693.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:13.996Z,1736380693.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:13.000Z,1736380694.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.637493 m, bearing: 345.944353 deg, approach rate: -0.100185 m/s, LOS rate: -1.442778 deg/s, cmd heading: 37.550198 deg, new cmd heading: 35.978731 deg. 2025-01-08T23:58:14.001Z,1736380694.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.627947 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:14.039Z,1736380694.039 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:14.039Z,1736380694.039 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:14.039Z,1736380694.039 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:14.039Z,1736380694.039 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:14.288Z,1736380694.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:14.288Z,1736380694.288 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:14.288Z,1736380694.288 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:14.288Z,1736380694.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:14.363Z,1736380694.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:14.379Z,1736380694.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:14.385Z,1736380694.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:14.392Z,1736380694.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.594879 m, bearing: 345.492597 deg, approach rate: -0.109515 m/s, LOS rate: -1.162906 deg/s, cmd heading: 35.978732 deg, new cmd heading: 34.621476 deg. 2025-01-08T23:58:14.393Z,1736380694.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.604259 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:14.540Z,1736380694.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:14.540Z,1736380694.540 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:14.540Z,1736380694.540 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:14.541Z,1736380694.541 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:14.792Z,1736380694.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:14.792Z,1736380694.792 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:14.792Z,1736380694.792 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:14.792Z,1736380694.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:14.800Z,1736380694.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:14.818Z,1736380694.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:14.821Z,1736380694.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.546183 m, bearing: 344.942612 deg, approach rate: -0.112616 m/s, LOS rate: -1.274308 deg/s, cmd heading: 34.621478 deg, new cmd heading: 32.968862 deg. 2025-01-08T23:58:14.822Z,1736380694.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575415 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:15.045Z,1736380695.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:15.046Z,1736380695.046 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:15.046Z,1736380695.046 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:15.046Z,1736380695.046 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:15.168Z,1736380695.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:15.176Z,1736380695.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:15.179Z,1736380695.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.500610 m, bearing: 344.481701 deg, approach rate: -0.127153 m/s, LOS rate: -1.288291 deg/s, cmd heading: 32.968862 deg, new cmd heading: 31.583942 deg. 2025-01-08T23:58:15.180Z,1736380695.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.551244 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:15.296Z,1736380695.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:15.296Z,1736380695.296 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:15.296Z,1736380695.296 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:15.296Z,1736380695.296 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:15.556Z,1736380695.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:15.556Z,1736380695.556 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:15.556Z,1736380695.556 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:15.556Z,1736380695.556 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:15.620Z,1736380695.620 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:58:15.713Z,1736380695.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:15.723Z,1736380695.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:15.726Z,1736380695.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.429749 m, bearing: 343.807335 deg, approach rate: -0.129553 m/s, LOS rate: -1.236318 deg/s, cmd heading: 31.583942 deg, new cmd heading: 29.556102 deg. 2025-01-08T23:58:15.727Z,1736380695.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515851 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:15.808Z,1736380695.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:15.808Z,1736380695.808 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:15.809Z,1736380695.809 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:15.809Z,1736380695.809 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:16.006Z,1736380696.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:16.030Z,1736380696.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:16.036Z,1736380696.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.393198 m, bearing: 343.444087 deg, approach rate: -0.118967 m/s, LOS rate: -1.184018 deg/s, cmd heading: 29.556103 deg, new cmd heading: 28.464930 deg. 2025-01-08T23:58:16.037Z,1736380696.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496807 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:16.060Z,1736380696.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:16.060Z,1736380696.060 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:16.060Z,1736380696.060 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:16.060Z,1736380696.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-08T23:58:16.312Z,1736380696.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:16.312Z,1736380696.312 [DAT](INFO): Reached modem response timeout 2025-01-08T23:58:16.312Z,1736380696.312 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:58:16.313Z,1736380696.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:16.418Z,1736380696.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:16.425Z,1736380696.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:16.443Z,1736380696.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:16.446Z,1736380696.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.343437 m, bearing: 342.930555 deg, approach rate: -0.125401 m/s, LOS rate: -1.296670 deg/s, cmd heading: 28.464929 deg, new cmd heading: 26.921700 deg. 2025-01-08T23:58:16.447Z,1736380696.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.469872 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:16.564Z,1736380696.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:16.565Z,1736380696.565 [DAT](INFO): DAT read: 2025-01-08T23:58:16.565Z,1736380696.565 [DAT](INFO): Reached modem response timeout 2025-01-08T23:58:16.566Z,1736380696.566 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:58:16.566Z,1736380696.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:16.629Z,1736380696.629 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:58:16.816Z,1736380696.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:16.817Z,1736380696.817 [DAT](INFO): Reached modem response timeout 2025-01-08T23:58:16.817Z,1736380696.817 [DAT](DEBUG): Acoustic response timeout 2025-01-08T23:58:16.817Z,1736380696.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:16.829Z,1736380696.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:16.838Z,1736380696.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:16.841Z,1736380696.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.272261 m, bearing: 342.451896 deg, approach rate: -0.173035 m/s, LOS rate: -1.166916 deg/s, cmd heading: 26.921701 deg, new cmd heading: 25.481999 deg. 2025-01-08T23:58:16.842Z,1736380696.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444745 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:17.068Z,1736380697.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:17.069Z,1736380697.069 [DAT](INFO): DAT read: Response Not Received 2025-01-08T23:58:17.070Z,1736380697.070 [DAT](INFO): response not received 2025-01-08T23:58:17.070Z,1736380697.070 [DAT](INFO): DAT read: user:3536> 2025-01-08T23:58:17.072Z,1736380697.072 [DAT](INFO): DAT read: Tx time:23:58:16.4021 2025-01-08T23:58:17.072Z,1736380697.072 [DAT](INFO): Ping request sent. 2025-01-08T23:58:17.073Z,1736380697.073 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:17.073Z,1736380697.073 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:17.074Z,1736380697.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001559 2025-01-08T23:58:17.233Z,1736380697.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:17.258Z,1736380697.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:17.261Z,1736380697.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.204123 m, bearing: 341.979481 deg, approach rate: -0.162418 m/s, LOS rate: -1.129110 deg/s, cmd heading: 25.482000 deg, new cmd heading: 24.061232 deg. 2025-01-08T23:58:17.262Z,1736380697.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419948 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:17.320Z,1736380697.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:17.321Z,1736380697.321 [DAT](INFO): DAT read: TxSync time:23:58:16.4013 2025-01-08T23:58:17.321Z,1736380697.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249311 2025-01-08T23:58:17.573Z,1736380697.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:17.574Z,1736380697.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501547 2025-01-08T23:58:17.676Z,1736380697.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:17.702Z,1736380697.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:17.708Z,1736380697.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.118610 m, bearing: 341.475339 deg, approach rate: -0.192769 m/s, LOS rate: -1.140338 deg/s, cmd heading: 24.061232 deg, new cmd heading: 22.544031 deg. 2025-01-08T23:58:17.709Z,1736380697.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393468 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:17.824Z,1736380697.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:17.825Z,1736380697.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753091 2025-01-08T23:58:18.054Z,1736380698.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:18.062Z,1736380698.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:18.066Z,1736380698.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 25.040932 m, bearing: 341.065077 deg, approach rate: -0.215262 m/s, LOS rate: -1.140431 deg/s, cmd heading: 22.544031 deg, new cmd heading: 21.309629 deg. 2025-01-08T23:58:18.067Z,1736380698.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371923 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:18.076Z,1736380698.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:18.076Z,1736380698.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004332 2025-01-08T23:58:18.328Z,1736380698.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:18.328Z,1736380698.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256151 2025-01-08T23:58:18.489Z,1736380698.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:18.496Z,1736380698.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:18.498Z,1736380698.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:18.500Z,1736380698.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 24.948380 m, bearing: 340.602152 deg, approach rate: -0.212608 m/s, LOS rate: -1.067350 deg/s, cmd heading: 21.309628 deg, new cmd heading: 19.915993 deg. 2025-01-08T23:58:18.501Z,1736380698.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.347600 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:18.580Z,1736380698.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:18.581Z,1736380698.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508628 2025-01-08T23:58:18.832Z,1736380698.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:18.833Z,1736380698.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760754 2025-01-08T23:58:18.955Z,1736380698.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:18.964Z,1736380698.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:18.967Z,1736380698.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 24.845850 m, bearing: 340.148804 deg, approach rate: -0.220175 m/s, LOS rate: -0.977543 deg/s, cmd heading: 19.915993 deg, new cmd heading: 18.550609 deg. 2025-01-08T23:58:18.968Z,1736380698.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.323769 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:19.086Z,1736380699.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:19.086Z,1736380699.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014201 2025-01-08T23:58:19.321Z,1736380699.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:19.336Z,1736380699.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:19.337Z,1736380699.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264397 2025-01-08T23:58:19.342Z,1736380699.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:19.357Z,1736380699.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 24.757143 m, bearing: 339.802052 deg, approach rate: -0.234072 m/s, LOS rate: -0.918250 deg/s, cmd heading: 18.550609 deg, new cmd heading: 17.506749 deg. 2025-01-08T23:58:19.358Z,1736380699.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.305550 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:19.588Z,1736380699.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:19.589Z,1736380699.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516742 2025-01-08T23:58:19.808Z,1736380699.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:19.818Z,1736380699.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:19.821Z,1736380699.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 24.622528 m, bearing: 339.391025 deg, approach rate: -0.283152 m/s, LOS rate: -0.869285 deg/s, cmd heading: 17.506748 deg, new cmd heading: 16.267129 deg. 2025-01-08T23:58:19.822Z,1736380699.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.283915 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:19.840Z,1736380699.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:19.841Z,1736380699.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768511 2025-01-08T23:58:20.092Z,1736380700.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:20.092Z,1736380700.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020194 2025-01-08T23:58:20.146Z,1736380700.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:20.156Z,1736380700.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:20.159Z,1736380700.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 24.526064 m, bearing: 339.109030 deg, approach rate: -0.285141 m/s, LOS rate: -0.836831 deg/s, cmd heading: 16.267129 deg, new cmd heading: 15.417883 deg. 2025-01-08T23:58:20.160Z,1736380700.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.269093 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:20.344Z,1736380700.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:20.345Z,1736380700.345 [DAT](INFO): DAT read: Rx Time:23:58:18.9710 2025-01-08T23:58:20.345Z,1736380700.345 [DAT](INFO): Rx dataTimestamp_ set to:1736380700.345138 2025-01-08T23:58:20.346Z,1736380700.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273790 2025-01-08T23:58:20.541Z,1736380700.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:20.548Z,1736380700.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:20.550Z,1736380700.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m. 2025-01-08T23:58:20.573Z,1736380700.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.800003 m, nav range: 24.409983 m, bearing: 338.784954 deg, approach rate: -0.294610 m/s, LOS rate: -0.826401 deg/s, cmd heading: 15.417883 deg, new cmd heading: 14.441129 deg. 2025-01-08T23:58:20.574Z,1736380700.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.252045 target range: 129.800003 and range: 129.80 m. 2025-01-08T23:58:20.596Z,1736380700.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:20.597Z,1736380700.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524347 2025-01-08T23:58:20.851Z,1736380700.851 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:20.858Z,1736380700.858 [DAT](INFO): DAT read: 23:58:18.9710 LVL= 31856, 32753, 32754, 32755, AGC= 66, IDX= 371, 0.39, 0.446,-1.206,-0.102,-0.240, PHS= 0.774,-0.919, 0.134, RAW= 128.0, 0.1, CAL= 134.4, -8.2, ROT= 15.6, 8.2 2025-01-08T23:58:20.860Z,1736380700.860 [DAT](INFO): got valid direction response: 23:58:18.9710 LVL= 31856, 32753, 32754, 32755, AGC= 66, IDX= 371, 0.39, 0.446,-1.206,-0.102,-0.240, PHS= 0.774,-0.919, 0.134, RAW= 128.0, 0.1, CAL= 134.4, -8.2, ROT= 15.6, 8.2 2025-01-08T23:58:20.861Z,1736380700.861 [DAT](INFO): DAT read: Bearing 15.6, 8.2 (Local) 2025-01-08T23:58:20.861Z,1736380700.861 [DAT](INFO): Local bearing/azimuth received: Bearing 15.6, 8.2 (Local) 2025-01-08T23:58:20.863Z,1736380700.863 [DAT](INFO): DAT read: Range 10 to 50 : 123.6 m (Round-trip 164.8 ms) speed 0.1 m/s 2025-01-08T23:58:20.863Z,1736380700.863 [DAT](INFO): DAT read: user:3537> 2025-01-08T23:58:20.864Z,1736380700.864 [DAT](INFO): DAT read: Tx time:23:58:20.0521 2025-01-08T23:58:20.865Z,1736380700.865 [DAT](INFO): Ping request sent. 2025-01-08T23:58:20.865Z,1736380700.865 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:20.866Z,1736380700.866 [DAT](INFO): DAT read: TxSync time:23:58:20.0513 2025-01-08T23:58:20.866Z,1736380700.866 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:58:20.867Z,1736380700.867 [DAT](INFO): direction in FSK: [-0.127384,-0.542938,0.830055] 2025-01-08T23:58:20.868Z,1736380700.868 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:20.868Z,1736380700.868 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:20.871Z,1736380700.871 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:20.873Z,1736380700.873 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:21.078Z,1736380701.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:21.100Z,1736380701.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:21.128Z,1736380701.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.599998 m, deltaT: 14.886399 s, deltaX: -6.200005 m, approachRate: -0.416488 m/s, rangeRepo size: 4 2025-01-08T23:58:21.130Z,1736380701.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.599998 m, bearing: 271.363527 deg, lat: 36.904391 deg, lon: -122.120653 deg, deltaT: 14.886399 s, deltaX: -6.200005 m, approachRate: -0.416488 m/s, posRepo size: 4 2025-01-08T23:58:21.136Z,1736380701.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.60 m. 2025-01-08T23:58:21.139Z,1736380701.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.599998 m, nav range: 24.239807 m, bearing: 338.391154 deg, approach rate: 0.000000 m/s, LOS rate: -0.826401 deg/s, cmd heading: 14.441129 deg, new cmd heading: 13.020392 deg. 2025-01-08T23:58:21.144Z,1736380701.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227249 target range: 123.599998 and range: 123.60 m. 2025-01-08T23:58:21.352Z,1736380701.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:21.376Z,1736380701.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:21.393Z,1736380701.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.60 m. 2025-01-08T23:58:21.418Z,1736380701.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.599998 m, nav range: 24.140768 m, bearing: 338.183368 deg, approach rate: -0.368018 m/s, LOS rate: -0.775273 deg/s, cmd heading: 13.020392 deg, new cmd heading: 12.394504 deg. 2025-01-08T23:58:21.424Z,1736380701.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216325 target range: 123.599998 and range: 123.60 m. 2025-01-08T23:58:21.605Z,1736380701.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:21.811Z,1736380701.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:21.822Z,1736380701.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.60 m. 2025-01-08T23:58:21.841Z,1736380701.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.599998 m, nav range: 23.980984 m, bearing: 337.903866 deg, approach rate: -0.372029 m/s, LOS rate: -0.655105 deg/s, cmd heading: 12.394504 deg, new cmd heading: 11.550475 deg. 2025-01-08T23:58:21.842Z,1736380701.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.201594 target range: 123.599998 and range: 123.60 m. 2025-01-08T23:58:21.856Z,1736380701.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:22.108Z,1736380702.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:22.201Z,1736380702.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:22.223Z,1736380702.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.60 m. 2025-01-08T23:58:22.226Z,1736380702.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.599998 m, nav range: 23.838358 m, bearing: 337.650342 deg, approach rate: -0.355616 m/s, LOS rate: -0.635904 deg/s, cmd heading: 11.550475 deg, new cmd heading: 10.785400 deg. 2025-01-08T23:58:22.227Z,1736380702.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.188241 target range: 123.599998 and range: 123.60 m. 2025-01-08T23:58:22.360Z,1736380702.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:22.588Z,1736380702.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:22.595Z,1736380702.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:22.597Z,1736380702.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.60 m. 2025-01-08T23:58:22.600Z,1736380702.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.599998 m, nav range: 23.692497 m, bearing: 337.413888 deg, approach rate: -0.390152 m/s, LOS rate: -0.636365 deg/s, cmd heading: 10.785400 deg, new cmd heading: 10.071710 deg. 2025-01-08T23:58:22.601Z,1736380702.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.175784 target range: 123.599998 and range: 123.60 m. 2025-01-08T23:58:22.612Z,1736380702.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:22.612Z,1736380702.612 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:22.612Z,1736380702.612 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:22.613Z,1736380702.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:22.864Z,1736380702.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:22.865Z,1736380702.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000249 2025-01-08T23:58:23.024Z,1736380703.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:23.033Z,1736380703.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.60 m. 2025-01-08T23:58:23.036Z,1736380703.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.599998 m, nav range: 23.516483 m, bearing: 337.159880 deg, approach rate: -0.403393 m/s, LOS rate: -0.586497 deg/s, cmd heading: 10.071710 deg, new cmd heading: 9.304030 deg. 2025-01-08T23:58:23.037Z,1736380703.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.162386 target range: 123.599998 and range: 123.60 m. 2025-01-08T23:58:23.117Z,1736380703.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:23.118Z,1736380703.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252951 2025-01-08T23:58:23.368Z,1736380703.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:23.368Z,1736380703.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503561 2025-01-08T23:58:23.410Z,1736380703.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:23.420Z,1736380703.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.60 m. 2025-01-08T23:58:23.422Z,1736380703.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.599998 m, nav range: 23.358812 m, bearing: 336.941661 deg, approach rate: -0.408461 m/s, LOS rate: -0.569131 deg/s, cmd heading: 9.304031 deg, new cmd heading: 8.644985 deg. 2025-01-08T23:58:23.423Z,1736380703.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.150883 target range: 123.599998 and range: 123.60 m. 2025-01-08T23:58:23.620Z,1736380703.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:23.621Z,1736380703.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755995 2025-01-08T23:58:23.837Z,1736380703.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:23.872Z,1736380703.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:23.873Z,1736380703.873 [DAT](INFO): DAT read: Rx Time:23:58:22.6189 2025-01-08T23:58:23.873Z,1736380703.873 [DAT](INFO): Rx dataTimestamp_ set to:1736380703.872721 2025-01-08T23:58:23.874Z,1736380703.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008665 2025-01-08T23:58:23.875Z,1736380703.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.60 m. 2025-01-08T23:58:23.897Z,1736380703.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.599998 m, nav range: 23.178616 m, bearing: 336.680003 deg, approach rate: -0.402065 m/s, LOS rate: -0.588363 deg/s, cmd heading: 8.644986 deg, new cmd heading: 7.853963 deg. 2025-01-08T23:58:23.898Z,1736380703.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.137078 target range: 123.599998 and range: 123.60 m. 2025-01-08T23:58:24.124Z,1736380704.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:24.124Z,1736380704.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259573 2025-01-08T23:58:24.209Z,1736380704.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:24.218Z,1736380704.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.60 m. 2025-01-08T23:58:24.221Z,1736380704.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.599998 m, nav range: 23.020603 m, bearing: 336.458727 deg, approach rate: -0.449973 m/s, LOS rate: -0.634452 deg/s, cmd heading: 7.853963 deg, new cmd heading: 7.185610 deg. 2025-01-08T23:58:24.222Z,1736380704.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125413 target range: 123.599998 and range: 123.60 m. 2025-01-08T23:58:24.376Z,1736380704.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:24.390Z,1736380704.390 [DAT](INFO): DAT read: 23:58:22.6189 LVL= 24800, 32753, 32754, 32755, AGC= 63, IDX= 414,-0.30, 1.614, 0.199, 0.898, 1.128, PHS= 0.573,-0.883,-0.234, RAW= 116.4, 8.6, CAL= 125.5, 5.1, ROT= 24.5, -5.1 2025-01-08T23:58:24.391Z,1736380704.391 [DAT](INFO): got valid direction response: 23:58:22.6189 LVL= 24800, 32753, 32754, 32755, AGC= 63, IDX= 414,-0.30, 1.614, 0.199, 0.898, 1.128, PHS= 0.573,-0.883,-0.234, RAW= 116.4, 8.6, CAL= 125.5, 5.1, ROT= 24.5, -5.1 2025-01-08T23:58:24.393Z,1736380704.393 [DAT](INFO): DAT read: Bearing 24.5, -5.1 (Local) 2025-01-08T23:58:24.393Z,1736380704.393 [DAT](INFO): Local bearing/azimuth received: Bearing 24.5, -5.1 (Local) 2025-01-08T23:58:24.394Z,1736380704.394 [DAT](INFO): DAT read: Range 10 to 50 : 121.9 m (Round-trip 162.6 ms) speed 0.5 m/s 2025-01-08T23:58:24.400Z,1736380704.400 [DAT](INFO): DAT read: user:3538> 2025-01-08T23:58:24.400Z,1736380704.400 [DAT](INFO): DAT read: Tx time:23:58:23.7021 2025-01-08T23:58:24.401Z,1736380704.401 [DAT](INFO): Ping request sent. 2025-01-08T23:58:24.401Z,1736380704.401 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:24.401Z,1736380704.401 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:58:24.402Z,1736380704.402 [DAT](INFO): direction in FSK: [-0.282310,-0.338155,0.897748] 2025-01-08T23:58:24.402Z,1736380704.402 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:24.402Z,1736380704.402 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:24.414Z,1736380704.414 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:24.414Z,1736380704.414 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:24.607Z,1736380704.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:24.621Z,1736380704.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.900002 m, deltaT: 3.524428 s, deltaX: -1.699997 m, approachRate: -0.482347 m/s, rangeRepo size: 4 2025-01-08T23:58:24.624Z,1736380704.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 121.900002 m, bearing: 230.828377 deg, lat: 36.904391 deg, lon: -122.120653 deg, deltaT: 3.524428 s, deltaX: -1.699997 m, approachRate: -0.482347 m/s, posRepo size: 4 2025-01-08T23:58:24.624Z,1736380704.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.90 m. 2025-01-08T23:58:24.627Z,1736380704.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.900002 m, nav range: 22.849545 m, bearing: 336.227900 deg, approach rate: 0.000000 m/s, LOS rate: -0.634452 deg/s, cmd heading: 7.185610 deg, new cmd heading: 6.420291 deg. 2025-01-08T23:58:24.628Z,1736380704.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:24.629Z,1736380704.629 [DAT](INFO): DAT read: TxSync time:23:58:23.7013 2025-01-08T23:58:24.630Z,1736380704.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112055 target range: 121.900002 and range: 121.90 m. 2025-01-08T23:58:24.880Z,1736380704.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:25.043Z,1736380705.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:25.050Z,1736380705.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:25.053Z,1736380705.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.90 m. 2025-01-08T23:58:25.056Z,1736380705.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.900002 m, nav range: 22.667091 m, bearing: 335.946798 deg, approach rate: -0.422164 m/s, LOS rate: -0.655653 deg/s, cmd heading: 6.420291 deg, new cmd heading: 5.570261 deg. 2025-01-08T23:58:25.057Z,1736380705.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097219 target range: 121.900002 and range: 121.90 m. 2025-01-08T23:58:25.133Z,1736380705.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:25.133Z,1736380705.133 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:25.134Z,1736380705.134 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:25.134Z,1736380705.134 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:25.384Z,1736380705.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:25.384Z,1736380705.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983486 2025-01-08T23:58:25.417Z,1736380705.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:25.426Z,1736380705.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.90 m. 2025-01-08T23:58:25.429Z,1736380705.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.900002 m, nav range: 22.508938 m, bearing: 335.709605 deg, approach rate: -0.423931 m/s, LOS rate: -0.640262 deg/s, cmd heading: 5.570261 deg, new cmd heading: 4.853723 deg. 2025-01-08T23:58:25.430Z,1736380705.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084713 target range: 121.900002 and range: 121.90 m. 2025-01-08T23:58:25.636Z,1736380705.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:25.636Z,1736380705.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235615 2025-01-08T23:58:25.888Z,1736380705.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:25.888Z,1736380705.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487622 2025-01-08T23:58:25.891Z,1736380705.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:25.933Z,1736380705.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.90 m. 2025-01-08T23:58:25.944Z,1736380705.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.900002 m, nav range: 22.312799 m, bearing: 335.367929 deg, approach rate: -0.387237 m/s, LOS rate: -0.680498 deg/s, cmd heading: 4.853723 deg, new cmd heading: 3.819801 deg. 2025-01-08T23:58:25.945Z,1736380705.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.066668 target range: 121.900002 and range: 121.90 m. 2025-01-08T23:58:26.140Z,1736380706.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:26.140Z,1736380706.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739472 2025-01-08T23:58:26.225Z,1736380706.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:26.234Z,1736380706.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.90 m. 2025-01-08T23:58:26.237Z,1736380706.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.900002 m, nav range: 22.174034 m, bearing: 335.130274 deg, approach rate: -0.460102 m/s, LOS rate: -0.792918 deg/s, cmd heading: 3.819801 deg, new cmd heading: 3.102414 deg. 2025-01-08T23:58:26.238Z,1736380706.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.054147 target range: 121.900002 and range: 121.90 m. 2025-01-08T23:58:26.393Z,1736380706.393 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:26.394Z,1736380706.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993014 2025-01-08T23:58:26.645Z,1736380706.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:26.648Z,1736380706.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246471 2025-01-08T23:58:26.678Z,1736380706.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:26.717Z,1736380706.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.90 m. 2025-01-08T23:58:26.724Z,1736380706.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.900002 m, nav range: 21.986029 m, bearing: 334.802419 deg, approach rate: -0.388913 m/s, LOS rate: -0.684004 deg/s, cmd heading: 3.102414 deg, new cmd heading: 2.110544 deg. 2025-01-08T23:58:26.725Z,1736380706.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036836 target range: 121.900002 and range: 121.90 m. 2025-01-08T23:58:26.896Z,1736380706.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:26.896Z,1736380706.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495482 2025-01-08T23:58:27.148Z,1736380707.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:27.150Z,1736380707.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748417 2025-01-08T23:58:27.226Z,1736380707.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:27.234Z,1736380707.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:27.236Z,1736380707.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.90 m. 2025-01-08T23:58:27.239Z,1736380707.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.900002 m, nav range: 21.764212 m, bearing: 334.373078 deg, approach rate: -0.427657 m/s, LOS rate: -0.836187 deg/s, cmd heading: 2.110544 deg, new cmd heading: 0.809627 deg. 2025-01-08T23:58:27.240Z,1736380707.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.014131 target range: 121.900002 and range: 121.90 m. 2025-01-08T23:58:27.402Z,1736380707.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:27.403Z,1736380707.403 [DAT](INFO): DAT read: Rx Time:23:58:26.2663 2025-01-08T23:58:27.403Z,1736380707.403 [DAT](INFO): Rx dataTimestamp_ set to:1736380707.403158 2025-01-08T23:58:27.404Z,1736380707.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003558 2025-01-08T23:58:27.597Z,1736380707.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:27.606Z,1736380707.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.90 m. 2025-01-08T23:58:27.609Z,1736380707.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.900002 m, nav range: 21.614491 m, bearing: 334.082806 deg, approach rate: -0.404776 m/s, LOS rate: -0.790193 deg/s, cmd heading: 0.809627 deg, new cmd heading: 359.932852 deg. 2025-01-08T23:58:27.610Z,1736380707.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282013 target range: 121.900002 and range: 121.90 m. 2025-01-08T23:58:27.653Z,1736380707.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:27.655Z,1736380707.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253335 2025-01-08T23:58:27.904Z,1736380707.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:27.904Z,1736380707.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503532 2025-01-08T23:58:28.039Z,1736380708.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:28.047Z,1736380708.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.90 m. 2025-01-08T23:58:28.051Z,1736380708.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.900002 m, nav range: 21.443413 m, bearing: 333.704417 deg, approach rate: -0.387872 m/s, LOS rate: -0.864730 deg/s, cmd heading: 359.932856 deg, new cmd heading: 358.788793 deg. 2025-01-08T23:58:28.055Z,1736380708.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262046 target range: 121.900002 and range: 121.90 m. 2025-01-08T23:58:28.158Z,1736380708.158 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:28.179Z,1736380708.179 [DAT](INFO): DAT read: 23:58:26.2663 LVL= 25232, 32753, 32754, 32755, AGC= 56, IDX= 419, 0.12, 2.139, 0.553, 1.064, 1.434, PHS= 0.793,-0.834,-0.373, RAW= 106.0, 5.8, CAL= 116.4, 3.5, ROT= 33.6, -3.5 2025-01-08T23:58:28.182Z,1736380708.182 [DAT](INFO): got valid direction response: 23:58:26.2663 LVL= 25232, 32753, 32754, 32755, AGC= 56, IDX= 419, 0.12, 2.139, 0.553, 1.064, 1.434, PHS= 0.793,-0.834,-0.373, RAW= 106.0, 5.8, CAL= 116.4, 3.5, ROT= 33.6, -3.5 2025-01-08T23:58:28.203Z,1736380708.203 [DAT](INFO): DAT read: Bearing 33.6, -3.5 (Local) 2025-01-08T23:58:28.204Z,1736380708.204 [DAT](INFO): Local bearing/azimuth received: Bearing 33.6, -3.5 (Local) 2025-01-08T23:58:28.205Z,1736380708.205 [DAT](INFO): DAT read: Range 10 to 50 : 120.0 m (Round-trip 160.0 ms) speed 0.4 m/s 2025-01-08T23:58:28.206Z,1736380708.206 [DAT](INFO): DAT read: user:3539> 2025-01-08T23:58:28.207Z,1736380708.207 [DAT](INFO): DAT read: Tx time:23:58:27.3521 2025-01-08T23:58:28.219Z,1736380708.219 [DAT](INFO): Ping request sent. 2025-01-08T23:58:28.234Z,1736380708.234 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:28.234Z,1736380708.234 [DAT](INFO): DAT read: TxSync time:23:58:27.3513 2025-01-08T23:58:28.235Z,1736380708.235 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:58:28.236Z,1736380708.236 [DAT](INFO): direction in FSK: [-0.217202,-0.164946,0.962089] 2025-01-08T23:58:28.236Z,1736380708.236 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:28.237Z,1736380708.237 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:28.244Z,1736380708.244 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:28.245Z,1736380708.245 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:28.408Z,1736380708.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:28.410Z,1736380708.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:28.444Z,1736380708.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.000000 m, deltaT: 3.782477 s, deltaX: -1.900002 m, approachRate: -0.502317 m/s, rangeRepo size: 4 2025-01-08T23:58:28.446Z,1736380708.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.000000 m, bearing: 207.151573 deg, lat: 36.904205 deg, lon: -122.120866 deg, deltaT: 3.782477 s, deltaX: -1.900002 m, approachRate: -0.502317 m/s, posRepo size: 4 2025-01-08T23:58:28.447Z,1736380708.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:58:28.450Z,1736380708.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 28.534348 m, bearing: 266.664359 deg, approach rate: 0.000000 m/s, LOS rate: -0.864730 deg/s, cmd heading: 358.788799 deg, new cmd heading: 357.762100 deg. 2025-01-08T23:58:28.451Z,1736380708.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244127 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:58:28.662Z,1736380708.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:28.872Z,1736380708.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:28.893Z,1736380708.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:58:28.900Z,1736380708.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 28.596275 m, bearing: 266.218037 deg, approach rate: 0.137655 m/s, LOS rate: -0.989941 deg/s, cmd heading: 357.762112 deg, new cmd heading: 356.426302 deg. 2025-01-08T23:58:28.901Z,1736380708.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220812 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:58:28.912Z,1736380708.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:29.164Z,1736380709.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:29.255Z,1736380709.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:29.262Z,1736380709.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:29.265Z,1736380709.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:58:29.268Z,1736380709.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 28.648561 m, bearing: 265.843358 deg, approach rate: 0.140771 m/s, LOS rate: -1.006909 deg/s, cmd heading: 356.426291 deg, new cmd heading: 355.304457 deg. 2025-01-08T23:58:29.269Z,1736380709.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201232 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:58:29.416Z,1736380709.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:29.417Z,1736380709.417 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:29.417Z,1736380709.417 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:29.417Z,1736380709.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:29.623Z,1736380709.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:29.632Z,1736380709.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:58:29.635Z,1736380709.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 28.695160 m, bearing: 265.483111 deg, approach rate: 0.126622 m/s, LOS rate: -0.977303 deg/s, cmd heading: 355.304446 deg, new cmd heading: 354.225593 deg. 2025-01-08T23:58:29.636Z,1736380709.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182403 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:58:29.668Z,1736380709.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:29.669Z,1736380709.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449882 2025-01-08T23:58:29.920Z,1736380709.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:29.921Z,1736380709.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701053 2025-01-08T23:58:30.059Z,1736380710.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:30.069Z,1736380710.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:58:30.092Z,1736380710.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 28.742474 m, bearing: 265.053343 deg, approach rate: 0.108392 m/s, LOS rate: -0.982930 deg/s, cmd heading: 354.225604 deg, new cmd heading: 352.938653 deg. 2025-01-08T23:58:30.093Z,1736380710.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159942 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:58:30.172Z,1736380710.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:30.172Z,1736380710.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952799 2025-01-08T23:58:30.425Z,1736380710.425 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:30.425Z,1736380710.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205750 2025-01-08T23:58:30.500Z,1736380710.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:30.532Z,1736380710.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:58:30.535Z,1736380710.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 28.786081 m, bearing: 264.618996 deg, approach rate: 0.094042 m/s, LOS rate: -0.935259 deg/s, cmd heading: 352.938660 deg, new cmd heading: 351.637828 deg. 2025-01-08T23:58:30.540Z,1736380710.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137238 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:58:30.677Z,1736380710.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:30.678Z,1736380710.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458062 2025-01-08T23:58:30.928Z,1736380710.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:30.928Z,1736380710.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708881 2025-01-08T23:58:30.941Z,1736380710.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-08T23:58:30.941Z,1736380710.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:30.951Z,1736380710.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:58:30.954Z,1736380710.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 28.828287 m, bearing: 264.186313 deg, approach rate: 0.100874 m/s, LOS rate: -1.032614 deg/s, cmd heading: 351.637837 deg, new cmd heading: 350.341921 deg. 2025-01-08T23:58:30.955Z,1736380710.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.114620 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:58:31.181Z,1736380711.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:31.182Z,1736380711.182 [DAT](INFO): DAT read: Rx Time:23:58:29.9146 2025-01-08T23:58:31.182Z,1736380711.182 [DAT](INFO): Rx dataTimestamp_ set to:1736380711.182043 2025-01-08T23:58:31.183Z,1736380711.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963256 2025-01-08T23:58:31.309Z,1736380711.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-08T23:58:31.309Z,1736380711.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:31.352Z,1736380711.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:31.354Z,1736380711.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.00 m. 2025-01-08T23:58:31.363Z,1736380711.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.000000 m, nav range: 28.862377 m, bearing: 263.825791 deg, approach rate: 0.084560 m/s, LOS rate: -0.893206 deg/s, cmd heading: 350.341931 deg, new cmd heading: 349.261777 deg. 2025-01-08T23:58:31.368Z,1736380711.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.095768 target range: 120.000000 and range: 120.00 m. 2025-01-08T23:58:31.433Z,1736380711.433 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:31.434Z,1736380711.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214317 2025-01-08T23:58:31.684Z,1736380711.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:31.690Z,1736380711.690 [DAT](INFO): DAT read: 23:58:29.9146 LVL= 17296, 32753, 24098, 32755, AGC= 57, IDX= 417, 0.05,-2.666, 2.028, 2.291, 2.755, PHS= 0.950,-0.679,-0.467, RAW= 96.9, 2.6, CAL= 106.4, 0.4, ROT= 43.6, -0.4 2025-01-08T23:58:31.691Z,1736380711.691 [DAT](INFO): got valid direction response: 23:58:29.9146 LVL= 17296, 32753, 24098, 32755, AGC= 57, IDX= 417, 0.05,-2.666, 2.028, 2.291, 2.755, PHS= 0.950,-0.679,-0.467, RAW= 96.9, 2.6, CAL= 106.4, 0.4, ROT= 43.6, -0.4 2025-01-08T23:58:31.692Z,1736380711.692 [DAT](INFO): DAT read: Bearing 43.6, -0.4 (Local) 2025-01-08T23:58:31.693Z,1736380711.693 [DAT](INFO): Local bearing/azimuth received: Bearing 43.6, -0.4 (Local) 2025-01-08T23:58:31.694Z,1736380711.694 [DAT](INFO): DAT read: Range 10 to 50 : 118.7 m (Round-trip 158.3 ms) speed 0.1 m/s 2025-01-08T23:58:31.695Z,1736380711.695 [DAT](INFO): DAT read: user:3540> 2025-01-08T23:58:31.696Z,1736380711.696 [DAT](INFO): DAT read: Tx time:23:58:31.0022 2025-01-08T23:58:31.697Z,1736380711.697 [DAT](INFO): Ping request sent. 2025-01-08T23:58:31.697Z,1736380711.697 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:31.697Z,1736380711.697 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:58:31.700Z,1736380711.700 [DAT](INFO): direction in FSK: [-0.144953,-0.009607,0.989392] 2025-01-08T23:58:31.701Z,1736380711.701 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:31.701Z,1736380711.701 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:31.734Z,1736380711.734 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:31.734Z,1736380711.734 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:31.855Z,1736380711.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s. 2025-01-08T23:58:31.860Z,1736380711.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:31.923Z,1736380711.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.699997 m, deltaT: 3.525577 s, deltaX: -1.300003 m, approachRate: -0.368735 m/s, rangeRepo size: 4 2025-01-08T23:58:31.929Z,1736380711.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.699997 m, bearing: 180.391734 deg, lat: 36.903792 deg, lon: -122.120866 deg, deltaT: 3.525577 s, deltaX: -1.300003 m, approachRate: -0.368735 m/s, posRepo size: 4 2025-01-08T23:58:31.930Z,1736380711.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-08T23:58:31.936Z,1736380711.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:31.937Z,1736380711.937 [DAT](INFO): DAT read: TxSync time:23:58:31.0014 2025-01-08T23:58:31.939Z,1736380711.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 57.052021 m, bearing: 210.212824 deg, approach rate: 0.000000 m/s, LOS rate: -0.893206 deg/s, cmd heading: 349.261778 deg, new cmd heading: 347.739987 deg. 2025-01-08T23:58:31.945Z,1736380711.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.069208 target range: 118.699997 and range: 118.70 m. 2025-01-08T23:58:32.188Z,1736380712.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:32.393Z,1736380712.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:32.403Z,1736380712.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-08T23:58:32.406Z,1736380712.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 57.269833 m, bearing: 210.035740 deg, approach rate: 0.452773 m/s, LOS rate: -0.366711 deg/s, cmd heading: 347.739984 deg, new cmd heading: 347.210768 deg. 2025-01-08T23:58:32.407Z,1736380712.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059971 target range: 118.699997 and range: 118.70 m. 2025-01-08T23:58:32.440Z,1736380712.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:32.693Z,1736380712.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:32.761Z,1736380712.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:32.770Z,1736380712.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-08T23:58:32.773Z,1736380712.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 57.409496 m, bearing: 209.918476 deg, approach rate: 0.380966 m/s, LOS rate: -0.319087 deg/s, cmd heading: 347.210781 deg, new cmd heading: 346.859850 deg. 2025-01-08T23:58:32.774Z,1736380712.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053846 target range: 118.699997 and range: 118.70 m. 2025-01-08T23:58:32.946Z,1736380712.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:33.200Z,1736380713.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:33.207Z,1736380713.207 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-01-08T23:58:33.207Z,1736380713.207 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-01-08T23:58:33.208Z,1736380713.208 [RDI_Pathfinder](ERROR): Communications Fault 2025-01-08T23:58:33.254Z,1736380713.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-08T23:58:33.254Z,1736380713.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:33.263Z,1736380713.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-08T23:58:33.282Z,1736380713.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 57.593704 m, bearing: 209.759444 deg, approach rate: 0.373649 m/s, LOS rate: -0.321549 deg/s, cmd heading: 346.859846 deg, new cmd heading: 346.384289 deg. 2025-01-08T23:58:33.292Z,1736380713.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045547 target range: 118.699997 and range: 118.70 m. 2025-01-08T23:58:33.452Z,1736380713.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:33.548Z,1736380713.548 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-01-08T23:58:33.585Z,1736380713.585 [RDI_Pathfinder](INFO): Powering down 2025-01-08T23:58:33.613Z,1736380713.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:58:33.613Z,1736380713.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:33.622Z,1736380713.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:33.624Z,1736380713.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-08T23:58:33.627Z,1736380713.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 57.726234 m, bearing: 209.641281 deg, approach rate: 0.366618 m/s, LOS rate: -0.326124 deg/s, cmd heading: 346.384301 deg, new cmd heading: 346.030630 deg. 2025-01-08T23:58:33.628Z,1736380713.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039374 target range: 118.699997 and range: 118.70 m. 2025-01-08T23:58:33.704Z,1736380713.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:33.704Z,1736380713.704 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:33.705Z,1736380713.705 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:33.705Z,1736380713.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:33.744Z,1736380713.744 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-08T23:58:33.956Z,1736380713.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:33.956Z,1736380713.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259529 2025-01-08T23:58:34.000Z,1736380714.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-08T23:58:34.000Z,1736380714.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:34.025Z,1736380714.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-08T23:58:34.032Z,1736380714.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 57.866474 m, bearing: 209.511783 deg, approach rate: 0.349613 m/s, LOS rate: -0.322051 deg/s, cmd heading: 346.030634 deg, new cmd heading: 345.643088 deg. 2025-01-08T23:58:34.033Z,1736380714.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032610 target range: 118.699997 and range: 118.70 m. 2025-01-08T23:58:34.208Z,1736380714.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:34.208Z,1736380714.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511488 2025-01-08T23:58:34.407Z,1736380714.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s. 2025-01-08T23:58:34.408Z,1736380714.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:34.417Z,1736380714.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-08T23:58:34.420Z,1736380714.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 58.011307 m, bearing: 209.372934 deg, approach rate: 0.369643 m/s, LOS rate: -0.353487 deg/s, cmd heading: 345.643089 deg, new cmd heading: 345.227589 deg. 2025-01-08T23:58:34.421Z,1736380714.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025358 target range: 118.699997 and range: 118.70 m. 2025-01-08T23:58:34.460Z,1736380714.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:34.462Z,1736380714.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765245 2025-01-08T23:58:34.640Z,1736380714.640 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-01-08T23:58:34.640Z,1736380714.640 [RDI_Pathfinder] No Fault, FailCount= 1 2025-01-08T23:58:34.712Z,1736380714.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:34.713Z,1736380714.713 [DAT](INFO): DAT read: Rx Time:23:58:33.5638 2025-01-08T23:58:34.713Z,1736380714.713 [DAT](INFO): Rx dataTimestamp_ set to:1736380714.712705 2025-01-08T23:58:34.713Z,1736380714.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016670 2025-01-08T23:58:34.801Z,1736380714.801 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-08T23:58:34.808Z,1736380714.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s. 2025-01-08T23:58:34.808Z,1736380714.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:34.823Z,1736380714.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-08T23:58:34.828Z,1736380714.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 58.151493 m, bearing: 209.233840 deg, approach rate: 0.346611 m/s, LOS rate: -0.343081 deg/s, cmd heading: 345.227595 deg, new cmd heading: 344.811326 deg. 2025-01-08T23:58:34.829Z,1736380714.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.018093 target range: 118.699997 and range: 118.70 m. 2025-01-08T23:58:34.964Z,1736380714.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:34.964Z,1736380714.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267570 2025-01-08T23:58:35.217Z,1736380715.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:35.220Z,1736380715.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522222 2025-01-08T23:58:35.286Z,1736380715.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s. 2025-01-08T23:58:35.286Z,1736380715.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:35.308Z,1736380715.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-08T23:58:35.311Z,1736380715.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 58.319187 m, bearing: 209.068774 deg, approach rate: 0.348189 m/s, LOS rate: -0.341746 deg/s, cmd heading: 344.811336 deg, new cmd heading: 344.317575 deg. 2025-01-08T23:58:35.316Z,1736380715.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009475 target range: 118.699997 and range: 118.70 m. 2025-01-08T23:58:35.468Z,1736380715.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:35.475Z,1736380715.475 [DAT](INFO): DAT read: 23:58:33.5638 LVL= 14800, 29137, 21394, 27891, AGC= 61, IDX= 441,-0.36, 2.537, 0.832, 0.721, 1.375, PHS= 1.251,-0.496,-0.656, RAW= 85.6, -1.1, CAL= 92.9, -6.1, ROT= 57.1, 6.1 2025-01-08T23:58:35.476Z,1736380715.476 [DAT](INFO): got valid direction response: 23:58:33.5638 LVL= 14800, 29137, 21394, 27891, AGC= 61, IDX= 441,-0.36, 2.537, 0.832, 0.721, 1.375, PHS= 1.251,-0.496,-0.656, RAW= 85.6, -1.1, CAL= 92.9, -6.1, ROT= 57.1, 6.1 2025-01-08T23:58:35.477Z,1736380715.477 [DAT](INFO): DAT read: Bearing 57.1, 6.1 (Local) 2025-01-08T23:58:35.478Z,1736380715.478 [DAT](INFO): Local bearing/azimuth received: Bearing 57.1, 6.1 (Local) 2025-01-08T23:58:35.480Z,1736380715.480 [DAT](INFO): DAT read: Range 10 to 50 : 118.1 m (Round-trip 157.5 ms) speed 0.1 m/s 2025-01-08T23:58:35.480Z,1736380715.480 [DAT](INFO): DAT read: user:3541> 2025-01-08T23:58:35.482Z,1736380715.482 [DAT](INFO): DAT read: Tx time:23:58:34.6522 2025-01-08T23:58:35.482Z,1736380715.482 [DAT](INFO): Ping request sent. 2025-01-08T23:58:35.482Z,1736380715.482 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:35.483Z,1736380715.483 [DAT](INFO): DAT read: TxSync time:23:58:34.6514 2025-01-08T23:58:35.484Z,1736380715.484 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:58:35.485Z,1736380715.485 [DAT](INFO): direction in FSK: [-0.057137,0.180730,0.981872] 2025-01-08T23:58:35.485Z,1736380715.485 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:35.485Z,1736380715.485 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:35.493Z,1736380715.493 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:35.493Z,1736380715.493 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:35.653Z,1736380715.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s. 2025-01-08T23:58:35.653Z,1736380715.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:35.698Z,1736380715.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.099998 m, deltaT: 3.784305 s, deltaX: -0.599998 m, approachRate: -0.158549 m/s, rangeRepo size: 4 2025-01-08T23:58:35.705Z,1736380715.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.099998 m, bearing: 144.450900 deg, lat: 36.903792 deg, lon: -122.120866 deg, deltaT: 3.784305 s, deltaX: -0.599998 m, approachRate: -0.158549 m/s, posRepo size: 4 2025-01-08T23:58:35.706Z,1736380715.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:35.713Z,1736380715.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 58.437450 m, bearing: 208.944408 deg, approach rate: 0.000000 m/s, LOS rate: -0.341746 deg/s, cmd heading: 344.317568 deg, new cmd heading: 343.913775 deg. 2025-01-08T23:58:35.720Z,1736380715.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:35.721Z,1736380715.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.002428 target range: 118.099998 and range: 118.10 m. 2025-01-08T23:58:35.972Z,1736380715.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:36.133Z,1736380716.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.4 s old, using for 20.0 s. 2025-01-08T23:58:36.133Z,1736380716.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:36.140Z,1736380716.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:36.142Z,1736380716.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:36.167Z,1736380716.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 58.606464 m, bearing: 208.768038 deg, approach rate: 0.379350 m/s, LOS rate: -0.394719 deg/s, cmd heading: 343.913767 deg, new cmd heading: 343.386198 deg. 2025-01-08T23:58:36.168Z,1736380716.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993220 target range: 118.099998 and range: 118.10 m. 2025-01-08T23:58:36.225Z,1736380716.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:36.226Z,1736380716.226 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:36.226Z,1736380716.226 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:36.227Z,1736380716.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:36.476Z,1736380716.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:36.476Z,1736380716.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994151 2025-01-08T23:58:36.541Z,1736380716.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.8 s old, using for 20.0 s. 2025-01-08T23:58:36.541Z,1736380716.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:36.551Z,1736380716.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:36.562Z,1736380716.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 58.739388 m, bearing: 208.622180 deg, approach rate: 0.325463 m/s, LOS rate: -0.356325 deg/s, cmd heading: 343.386203 deg, new cmd heading: 342.949630 deg. 2025-01-08T23:58:36.563Z,1736380716.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.985600 target range: 118.099998 and range: 118.10 m. 2025-01-08T23:58:36.728Z,1736380716.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:36.729Z,1736380716.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246496 2025-01-08T23:58:36.936Z,1736380716.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.2 s old, using for 20.0 s. 2025-01-08T23:58:36.936Z,1736380716.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:36.946Z,1736380716.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:36.948Z,1736380716.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 58.868725 m, bearing: 208.474669 deg, approach rate: 0.327709 m/s, LOS rate: -0.372935 deg/s, cmd heading: 342.949618 deg, new cmd heading: 342.508066 deg. 2025-01-08T23:58:36.949Z,1736380716.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.977893 target range: 118.099998 and range: 118.10 m. 2025-01-08T23:58:36.980Z,1736380716.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:36.980Z,1736380716.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498285 2025-01-08T23:58:37.232Z,1736380717.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:37.233Z,1736380717.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750617 2025-01-08T23:58:37.328Z,1736380717.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s. 2025-01-08T23:58:37.328Z,1736380717.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:37.337Z,1736380717.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:37.340Z,1736380717.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 58.994297 m, bearing: 208.329745 deg, approach rate: 0.320532 m/s, LOS rate: -0.369140 deg/s, cmd heading: 342.508059 deg, new cmd heading: 342.074222 deg. 2025-01-08T23:58:37.341Z,1736380717.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970322 target range: 118.099998 and range: 118.10 m. 2025-01-08T23:58:37.484Z,1736380717.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:37.485Z,1736380717.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002823 2025-01-08T23:58:37.729Z,1736380717.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.0 s old, using for 20.0 s. 2025-01-08T23:58:37.729Z,1736380717.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:37.736Z,1736380717.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:37.737Z,1736380717.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254424 2025-01-08T23:58:37.740Z,1736380717.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:37.742Z,1736380717.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 59.122131 m, bearing: 208.181095 deg, approach rate: 0.317536 m/s, LOS rate: -0.368445 deg/s, cmd heading: 342.074233 deg, new cmd heading: 341.629254 deg. 2025-01-08T23:58:37.744Z,1736380717.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962555 target range: 118.099998 and range: 118.10 m. 2025-01-08T23:58:37.988Z,1736380717.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:37.989Z,1736380717.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506837 2025-01-08T23:58:38.173Z,1736380718.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.4 s old, using for 20.0 s. 2025-01-08T23:58:38.173Z,1736380718.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:38.202Z,1736380718.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:38.204Z,1736380718.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:38.207Z,1736380718.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 59.264198 m, bearing: 208.017181 deg, approach rate: 0.306094 m/s, LOS rate: -0.352316 deg/s, cmd heading: 341.629260 deg, new cmd heading: 341.138711 deg. 2025-01-08T23:58:38.208Z,1736380718.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953994 target range: 118.099998 and range: 118.10 m. 2025-01-08T23:58:38.240Z,1736380718.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:38.242Z,1736380718.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759423 2025-01-08T23:58:38.492Z,1736380718.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:38.493Z,1736380718.493 [DAT](INFO): DAT read: Rx Time:23:58:37.2125 2025-01-08T23:58:38.493Z,1736380718.493 [DAT](INFO): Rx dataTimestamp_ set to:1736380718.492803 2025-01-08T23:58:38.494Z,1736380718.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011489 2025-01-08T23:58:38.584Z,1736380718.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.8 s old, using for 20.0 s. 2025-01-08T23:58:38.584Z,1736380718.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:38.595Z,1736380718.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:38.598Z,1736380718.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 59.394505 m, bearing: 207.864507 deg, approach rate: 0.333669 m/s, LOS rate: -0.390087 deg/s, cmd heading: 341.138716 deg, new cmd heading: 340.681709 deg. 2025-01-08T23:58:38.600Z,1736380718.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946018 target range: 118.099998 and range: 118.10 m. 2025-01-08T23:58:38.744Z,1736380718.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:38.745Z,1736380718.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262672 2025-01-08T23:58:38.997Z,1736380718.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:39.010Z,1736380719.010 [DAT](INFO): DAT read: 23:58:37.2125 LVL= 13872, 23729, 18034, 23139, AGC= 54, IDX= 426, 0.42, 0.305,-1.122,-1.55, PHS= 1.216,-0.252,-0.731, RAW= 76.3, -2.7, CAL= 83.6, -8.2, ROT= 66.4, 8.2 2025-01-08T23:58:39.011Z,1736380719.011 [DAT](INFO): unknown deviceResponse_: 23:58:37.2125 LVL= 13872, 23729, 18034, 23139, AGC= 54, IDX= 426, 0.42, 0.305,-1.122,-1.55, PHS= 1.216,-0.252,-0.731, RAW= 76.3, -2.7, CAL= 83.6, -8.2, ROT= 66.4, 8.2 2025-01-08T23:58:39.013Z,1736380719.013 [DAT](INFO): DAT read: Bearing 66.4, 8.2 (Local) 2025-01-08T23:58:39.014Z,1736380719.014 [DAT](INFO): Local bearing/azimuth received: Bearing 66.4, 8.2 (Local) 2025-01-08T23:58:39.016Z,1736380719.016 [DAT](INFO): DAT read: Range 10 to 50 : 117.0 m (Round-trip 156.1 ms) speed 0.0 m/s 2025-01-08T23:58:39.017Z,1736380719.017 [DAT](INFO): DAT read: user:3542> 2025-01-08T23:58:39.017Z,1736380719.017 [DAT](INFO): DAT read: Tx time:23:58:38.3022 2025-01-08T23:58:39.018Z,1736380719.018 [DAT](INFO): Ping request sent. 2025-01-08T23:58:39.018Z,1736380719.018 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:39.018Z,1736380719.018 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:58:39.018Z,1736380719.018 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:39.019Z,1736380719.019 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:39.052Z,1736380719.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.3 s old, using for 20.0 s. 2025-01-08T23:58:39.052Z,1736380719.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:39.066Z,1736380719.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 117.000000 m, deltaT: 3.528990 s, deltaX: -1.099998 m, approachRate: -0.311703 m/s, rangeRepo size: 4 2025-01-08T23:58:39.067Z,1736380719.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:39.070Z,1736380719.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 59.542622 m, bearing: 207.690815 deg, approach rate: 0.314330 m/s, LOS rate: -0.367688 deg/s, cmd heading: 340.681722 deg, new cmd heading: 340.161955 deg. 2025-01-08T23:58:39.071Z,1736380719.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936946 target range: 118.099998 and range: 117.00 m. 2025-01-08T23:58:39.249Z,1736380719.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:39.249Z,1736380719.249 [DAT](INFO): DAT read: TxSync time:23:58:38.3014 2025-01-08T23:58:39.417Z,1736380719.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.7 s old, using for 20.0 s. 2025-01-08T23:58:39.418Z,1736380719.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:39.426Z,1736380719.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:39.432Z,1736380719.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 59.657360 m, bearing: 207.556224 deg, approach rate: 0.318215 m/s, LOS rate: -0.372556 deg/s, cmd heading: 340.161944 deg, new cmd heading: 339.758955 deg. 2025-01-08T23:58:39.436Z,1736380719.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929913 target range: 118.099998 and range: 117.00 m. 2025-01-08T23:58:39.500Z,1736380719.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:39.752Z,1736380719.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:39.848Z,1736380719.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.1 s old, using for 20.0 s. 2025-01-08T23:58:39.849Z,1736380719.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:39.857Z,1736380719.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:39.860Z,1736380719.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 59.793663 m, bearing: 207.395642 deg, approach rate: 0.316431 m/s, LOS rate: -0.371943 deg/s, cmd heading: 339.758963 deg, new cmd heading: 339.278329 deg. 2025-01-08T23:58:39.861Z,1736380719.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921524 target range: 118.099998 and range: 117.00 m. 2025-01-08T23:58:40.004Z,1736380720.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:40.256Z,1736380720.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:40.262Z,1736380720.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.5 s old, using for 20.0 s. 2025-01-08T23:58:40.262Z,1736380720.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:40.270Z,1736380720.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:40.272Z,1736380720.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:40.276Z,1736380720.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 59.923683 m, bearing: 207.242462 deg, approach rate: 0.313151 m/s, LOS rate: -0.368131 deg/s, cmd heading: 339.278336 deg, new cmd heading: 338.819803 deg. 2025-01-08T23:58:40.277Z,1736380720.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913521 target range: 118.099998 and range: 117.00 m. 2025-01-08T23:58:40.509Z,1736380720.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:40.510Z,1736380720.510 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:40.510Z,1736380720.510 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:40.510Z,1736380720.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:40.666Z,1736380720.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.9 s old, using for 20.0 s. 2025-01-08T23:58:40.666Z,1736380720.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:40.682Z,1736380720.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:40.685Z,1736380720.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 60.050373 m, bearing: 207.093073 deg, approach rate: 0.310232 m/s, LOS rate: -0.365045 deg/s, cmd heading: 338.819812 deg, new cmd heading: 338.372599 deg. 2025-01-08T23:58:40.686Z,1736380720.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905716 target range: 118.099998 and range: 117.00 m. 2025-01-08T23:58:40.761Z,1736380720.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:40.762Z,1736380720.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743970 2025-01-08T23:58:41.012Z,1736380721.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:41.013Z,1736380721.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994755 2025-01-08T23:58:41.073Z,1736380721.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.3 s old, using for 20.0 s. 2025-01-08T23:58:41.073Z,1736380721.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:41.093Z,1736380721.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:41.100Z,1736380721.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 60.178246 m, bearing: 206.942272 deg, approach rate: 0.309849 m/s, LOS rate: -0.364631 deg/s, cmd heading: 338.372599 deg, new cmd heading: 337.921166 deg. 2025-01-08T23:58:41.101Z,1736380721.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.897837 target range: 118.099998 and range: 117.00 m. 2025-01-08T23:58:41.267Z,1736380721.267 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:41.268Z,1736380721.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250044 2025-01-08T23:58:41.466Z,1736380721.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.7 s old, using for 20.0 s. 2025-01-08T23:58:41.467Z,1736380721.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:41.476Z,1736380721.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:41.478Z,1736380721.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 60.301880 m, bearing: 206.796555 deg, approach rate: 0.323857 m/s, LOS rate: -0.380918 deg/s, cmd heading: 337.921178 deg, new cmd heading: 337.484932 deg. 2025-01-08T23:58:41.479Z,1736380721.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890223 target range: 118.099998 and range: 117.00 m. 2025-01-08T23:58:41.520Z,1736380721.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:41.522Z,1736380721.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503405 2025-01-08T23:58:41.772Z,1736380721.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:41.772Z,1736380721.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754506 2025-01-08T23:58:41.864Z,1736380721.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.1 s old, using for 20.0 s. 2025-01-08T23:58:41.864Z,1736380721.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:41.876Z,1736380721.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:41.879Z,1736380721.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 60.426121 m, bearing: 206.649575 deg, approach rate: 0.309944 m/s, LOS rate: -0.365917 deg/s, cmd heading: 337.484920 deg, new cmd heading: 337.044896 deg. 2025-01-08T23:58:41.880Z,1736380721.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882543 target range: 118.099998 and range: 117.00 m. 2025-01-08T23:58:42.024Z,1736380722.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:42.025Z,1736380722.025 [DAT](INFO): DAT read: Rx Time:23:58:40.8614 2025-01-08T23:58:42.026Z,1736380722.026 [DAT](INFO): Rx dataTimestamp_ set to:1736380722.025229 2025-01-08T23:58:42.026Z,1736380722.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008259 2025-01-08T23:58:42.276Z,1736380722.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:42.277Z,1736380722.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258727 2025-01-08T23:58:42.301Z,1736380722.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.5 s old, using for 20.0 s. 2025-01-08T23:58:42.302Z,1736380722.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:42.309Z,1736380722.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:42.311Z,1736380722.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:42.314Z,1736380722.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 60.563068 m, bearing: 206.487253 deg, approach rate: 0.315103 m/s, LOS rate: -0.372642 deg/s, cmd heading: 337.044892 deg, new cmd heading: 336.559039 deg. 2025-01-08T23:58:42.316Z,1736380722.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874063 target range: 118.099998 and range: 117.00 m. 2025-01-08T23:58:42.533Z,1736380722.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:42.536Z,1736380722.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517903 2025-01-08T23:58:42.689Z,1736380722.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.9 s old, using for 20.0 s. 2025-01-08T23:58:42.690Z,1736380722.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:42.699Z,1736380722.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.10 m. 2025-01-08T23:58:42.702Z,1736380722.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.099998 m, nav range: 60.683880 m, bearing: 206.343317 deg, approach rate: 0.310887 m/s, LOS rate: -0.369656 deg/s, cmd heading: 336.559047 deg, new cmd heading: 336.128107 deg. 2025-01-08T23:58:42.704Z,1736380722.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866542 target range: 118.099998 and range: 117.00 m. 2025-01-08T23:58:42.784Z,1736380722.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:42.791Z,1736380722.791 [DAT](INFO): DAT read: 23:58:40.8614 LVL= 14592, 23985, 14674, 21331, AGC= 53, IDX= 431, 0.12,-1.946, 3.000, 2.149, 3.038, PHS= 1.387, 0.010,-0.892, RAW= 66.9, -5.1, CAL= 74.4, -11.1, ROT= 75.6, 11.1 2025-01-08T23:58:42.792Z,1736380722.792 [DAT](INFO): got valid direction response: 23:58:40.8614 LVL= 14592, 23985, 14674, 21331, AGC= 53, IDX= 431, 0.12,-1.946, 3.000, 2.149, 3.038, PHS= 1.387, 0.010,-0.892, RAW= 66.9, -5.1, CAL= 74.4, -11.1, ROT= 75.6, 11.1 2025-01-08T23:58:42.793Z,1736380722.793 [DAT](INFO): DAT read: Bearing 75.6, 11.1 (Local) 2025-01-08T23:58:42.794Z,1736380722.794 [DAT](INFO): Local bearing/azimuth received: Bearing 75.6, 11.1 (Local) 2025-01-08T23:58:42.796Z,1736380722.796 [DAT](INFO): DAT read: Range 10 to 50 : 116.2 m (Round-trip 155.0 ms) speed 0.0 m/s 2025-01-08T23:58:42.796Z,1736380722.796 [DAT](INFO): DAT read: user:3543> 2025-01-08T23:58:42.797Z,1736380722.797 [DAT](INFO): DAT read: Tx time:23:58:41.9522 2025-01-08T23:58:42.798Z,1736380722.798 [DAT](INFO): Ping request sent. 2025-01-08T23:58:42.798Z,1736380722.798 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:42.799Z,1736380722.799 [DAT](INFO): DAT read: TxSync time:23:58:41.9514 2025-01-08T23:58:42.804Z,1736380722.804 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:58:42.805Z,1736380722.805 [DAT](INFO): direction in FSK: [0.053058,0.473402,0.879247] 2025-01-08T23:58:42.805Z,1736380722.805 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:42.805Z,1736380722.805 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:42.808Z,1736380722.808 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:42.809Z,1736380722.809 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:43.036Z,1736380723.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:43.119Z,1736380723.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.4 s old, using for 20.0 s. 2025-01-08T23:58:43.119Z,1736380723.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:43.153Z,1736380723.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.199997 m, deltaT: 3.786864 s, deltaX: -0.800003 m, approachRate: -0.211257 m/s, rangeRepo size: 4 2025-01-08T23:58:43.159Z,1736380723.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.199997 m, bearing: 97.854627 deg, lat: 36.903792 deg, lon: -122.120548 deg, deltaT: 7.315854 s, deltaX: -1.900002 m, approachRate: -0.259710 m/s, posRepo size: 4 2025-01-08T23:58:43.160Z,1736380723.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:43.163Z,1736380723.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 54.596687 m, bearing: 178.429964 deg, approach rate: 0.000000 m/s, LOS rate: -0.369656 deg/s, cmd heading: 336.128116 deg, new cmd heading: 335.625473 deg. 2025-01-08T23:58:43.168Z,1736380723.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857769 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:43.288Z,1736380723.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:43.540Z,1736380723.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:43.598Z,1736380723.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.8 s old, using for 20.0 s. 2025-01-08T23:58:43.598Z,1736380723.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:43.607Z,1736380723.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:43.610Z,1736380723.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 54.816177 m, bearing: 178.327994 deg, approach rate: 0.482585 m/s, LOS rate: -0.223299 deg/s, cmd heading: 335.625469 deg, new cmd heading: 335.320789 deg. 2025-01-08T23:58:43.612Z,1736380723.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852452 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:43.792Z,1736380723.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:44.002Z,1736380724.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.2 s old, using for 20.0 s. 2025-01-08T23:58:44.002Z,1736380724.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:44.046Z,1736380724.046 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:44.067Z,1736380724.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:44.070Z,1736380724.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 54.999363 m, bearing: 178.239972 deg, approach rate: 0.401811 m/s, LOS rate: -0.192431 deg/s, cmd heading: 335.320788 deg, new cmd heading: 335.057602 deg. 2025-01-08T23:58:44.077Z,1736380724.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847858 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:44.296Z,1736380724.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:44.416Z,1736380724.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s. 2025-01-08T23:58:44.416Z,1736380724.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:44.424Z,1736380724.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:44.426Z,1736380724.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:44.429Z,1736380724.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 55.189285 m, bearing: 178.149395 deg, approach rate: 0.523927 m/s, LOS rate: -0.249007 deg/s, cmd heading: 335.057607 deg, new cmd heading: 334.786815 deg. 2025-01-08T23:58:44.429Z,1736380724.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843132 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:44.549Z,1736380724.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:44.550Z,1736380724.550 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:44.550Z,1736380724.550 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:44.550Z,1736380724.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:44.793Z,1736380724.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.0 s old, using for 20.0 s. 2025-01-08T23:58:44.793Z,1736380724.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:44.800Z,1736380724.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:44.802Z,1736380724.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003874 2025-01-08T23:58:44.809Z,1736380724.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:44.812Z,1736380724.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 55.361191 m, bearing: 178.065436 deg, approach rate: 0.448002 m/s, LOS rate: -0.218126 deg/s, cmd heading: 334.786804 deg, new cmd heading: 334.535711 deg. 2025-01-08T23:58:44.813Z,1736380724.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838749 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:45.053Z,1736380725.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:45.056Z,1736380725.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256883 2025-01-08T23:58:45.189Z,1736380725.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.4 s old, using for 20.0 s. 2025-01-08T23:58:45.189Z,1736380725.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:45.203Z,1736380725.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:45.205Z,1736380725.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 55.540970 m, bearing: 177.976501 deg, approach rate: 0.457275 m/s, LOS rate: -0.225478 deg/s, cmd heading: 334.535699 deg, new cmd heading: 334.269758 deg. 2025-01-08T23:58:45.206Z,1736380725.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834108 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:45.304Z,1736380725.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:45.305Z,1736380725.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506792 2025-01-08T23:58:45.556Z,1736380725.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:45.556Z,1736380725.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758516 2025-01-08T23:58:45.622Z,1736380725.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.9 s old, using for 20.0 s. 2025-01-08T23:58:45.622Z,1736380725.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:45.631Z,1736380725.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:45.634Z,1736380725.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 55.736511 m, bearing: 177.876025 deg, approach rate: 0.456642 m/s, LOS rate: -0.233816 deg/s, cmd heading: 334.269759 deg, new cmd heading: 333.969390 deg. 2025-01-08T23:58:45.636Z,1736380725.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828866 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:45.808Z,1736380725.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:45.809Z,1736380725.809 [DAT](INFO): DAT read: Rx Time:23:58:44.5115 2025-01-08T23:58:45.809Z,1736380725.809 [DAT](INFO): Rx dataTimestamp_ set to:1736380725.808891 2025-01-08T23:58:45.810Z,1736380725.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011917 2025-01-08T23:58:46.062Z,1736380726.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:46.064Z,1736380726.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265829 2025-01-08T23:58:46.129Z,1736380726.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.4 s old, using for 20.0 s. 2025-01-08T23:58:46.129Z,1736380726.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:46.138Z,1736380726.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:46.141Z,1736380726.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 55.964916 m, bearing: 177.756935 deg, approach rate: 0.450111 m/s, LOS rate: -0.233728 deg/s, cmd heading: 333.969394 deg, new cmd heading: 333.613589 deg. 2025-01-08T23:58:46.142Z,1736380726.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822656 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:46.312Z,1736380726.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:46.319Z,1736380726.319 [DAT](INFO): DAT read: 23:58:44.5115 LVL= 14640, 24209, 17186, 24099, AGC= 63, IDX= 447, 0.23, 3.130, 2.218, 1.086, 2.149, PHS= 1.068, 0.115,-1.067, RAW= 56.5, -1.3, CAL= 59.1, -4.7, ROT= 90.9, 4.7 2025-01-08T23:58:46.326Z,1736380726.326 [DAT](INFO): got valid direction response: 23:58:44.5115 LVL= 14640, 24209, 17186, 24099, AGC= 63, IDX= 447, 0.23, 3.130, 2.218, 1.086, 2.149, PHS= 1.068, 0.115,-1.067, RAW= 56.5, -1.3, CAL= 59.1, -4.7, ROT= 90.9, 4.7 2025-01-08T23:58:46.327Z,1736380726.327 [DAT](INFO): DAT read: Bearing 90.9, 4.7 (Local) 2025-01-08T23:58:46.327Z,1736380726.327 [DAT](INFO): Local bearing/azimuth received: Bearing 90.9, 4.7 (Local) 2025-01-08T23:58:46.329Z,1736380726.329 [DAT](INFO): DAT read: Range 10 to 50 : 116.2 m (Round-trip 155.0 ms) speed 0.0 m/s 2025-01-08T23:58:46.330Z,1736380726.330 [DAT](INFO): DAT read: user:3544> 2025-01-08T23:58:46.330Z,1736380726.330 [DAT](INFO): DAT read: Tx time:23:58:45.6023 2025-01-08T23:58:46.331Z,1736380726.331 [DAT](INFO): Ping request sent. 2025-01-08T23:58:46.337Z,1736380726.337 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:46.337Z,1736380726.337 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:58:46.339Z,1736380726.339 [DAT](INFO): direction in FSK: [0.001611,0.622222,0.782839] 2025-01-08T23:58:46.350Z,1736380726.350 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:46.355Z,1736380726.355 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:46.358Z,1736380726.358 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:46.359Z,1736380726.359 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:46.510Z,1736380726.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.7 s old, using for 20.0 s. 2025-01-08T23:58:46.510Z,1736380726.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:46.549Z,1736380726.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.199997 m, deltaT: 3.527893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:58:46.556Z,1736380726.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.199997 m, bearing: 85.650551 deg, lat: 36.903897 deg, lon: -122.120231 deg, deltaT: 3.527893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T23:58:46.557Z,1736380726.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:46.564Z,1736380726.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:46.565Z,1736380726.565 [DAT](INFO): DAT read: TxSync time:23:58:45.6015 2025-01-08T23:58:46.566Z,1736380726.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 53.904110 m, bearing: 145.577375 deg, approach rate: 0.000000 m/s, LOS rate: -0.233728 deg/s, cmd heading: 333.613596 deg, new cmd heading: 333.325656 deg. 2025-01-08T23:58:46.572Z,1736380726.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817630 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:46.756Z,1736380726.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:58:46.816Z,1736380726.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:46.986Z,1736380726.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.2 s old, using for 20.0 s. 2025-01-08T23:58:46.986Z,1736380726.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:47.009Z,1736380727.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:47.012Z,1736380727.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:47.020Z,1736380727.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 54.144463 m, bearing: 145.596281 deg, approach rate: 0.519970 m/s, LOS rate: 0.040719 deg/s, cmd heading: 333.325662 deg, new cmd heading: 333.382129 deg. 2025-01-08T23:58:47.028Z,1736380727.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818616 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:47.076Z,1736380727.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:47.077Z,1736380727.077 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:47.078Z,1736380727.078 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:47.079Z,1736380727.079 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:47.329Z,1736380727.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:47.332Z,1736380727.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000056 2025-01-08T23:58:47.424Z,1736380727.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.7 s old, using for 20.0 s. 2025-01-08T23:58:47.424Z,1736380727.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:47.433Z,1736380727.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:47.436Z,1736380727.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 54.365112 m, bearing: 145.611704 deg, approach rate: 0.522820 m/s, LOS rate: 0.036396 deg/s, cmd heading: 333.382134 deg, new cmd heading: 333.428216 deg. 2025-01-08T23:58:47.437Z,1736380727.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819420 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:47.580Z,1736380727.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:47.580Z,1736380727.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249638 2025-01-08T23:58:47.760Z,1736380727.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:58:47.824Z,1736380727.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.1 s old, using for 20.0 s. 2025-01-08T23:58:47.824Z,1736380727.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:47.832Z,1736380727.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:47.833Z,1736380727.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502231 2025-01-08T23:58:47.853Z,1736380727.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:47.860Z,1736380727.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 54.567650 m, bearing: 145.625751 deg, approach rate: 0.482357 m/s, LOS rate: 0.033330 deg/s, cmd heading: 333.428225 deg, new cmd heading: 333.470209 deg. 2025-01-08T23:58:47.861Z,1736380727.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820153 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:48.089Z,1736380728.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:48.092Z,1736380728.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760901 2025-01-08T23:58:48.234Z,1736380728.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:48.243Z,1736380728.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:48.246Z,1736380728.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 54.834194 m, bearing: 145.587323 deg, approach rate: 0.683356 m/s, LOS rate: -0.098041 deg/s, cmd heading: 333.470217 deg, new cmd heading: 333.355493 deg. 2025-01-08T23:58:48.247Z,1736380728.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818151 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:48.337Z,1736380728.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:48.338Z,1736380728.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007105 2025-01-08T23:58:48.588Z,1736380728.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:48.588Z,1736380728.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257520 2025-01-08T23:58:48.640Z,1736380728.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:48.652Z,1736380728.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:48.670Z,1736380728.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 55.097687 m, bearing: 145.548519 deg, approach rate: 0.645570 m/s, LOS rate: -0.094616 deg/s, cmd heading: 333.355497 deg, new cmd heading: 333.239643 deg. 2025-01-08T23:58:48.680Z,1736380728.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816129 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:48.840Z,1736380728.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:48.841Z,1736380728.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509919 2025-01-08T23:58:49.018Z,1736380729.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:49.026Z,1736380729.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:49.029Z,1736380729.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:49.032Z,1736380729.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 55.343410 m, bearing: 145.511432 deg, approach rate: 0.651043 m/s, LOS rate: -0.097827 deg/s, cmd heading: 333.239657 deg, new cmd heading: 333.128888 deg. 2025-01-08T23:58:49.033Z,1736380729.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814196 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:49.093Z,1736380729.093 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:49.096Z,1736380729.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764782 2025-01-08T23:58:49.344Z,1736380729.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:49.344Z,1736380729.344 [DAT](INFO): DAT read: Rx Time:23:58:48.1615 2025-01-08T23:58:49.345Z,1736380729.345 [DAT](INFO): Rx dataTimestamp_ set to:1736380729.344609 2025-01-08T23:58:49.345Z,1736380729.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014623 2025-01-08T23:58:49.534Z,1736380729.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:49.548Z,1736380729.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:49.551Z,1736380729.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 55.684101 m, bearing: 145.463276 deg, approach rate: 0.657028 m/s, LOS rate: -0.092300 deg/s, cmd heading: 333.128898 deg, new cmd heading: 332.985316 deg. 2025-01-08T23:58:49.552Z,1736380729.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811690 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:49.597Z,1736380729.597 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:49.598Z,1736380729.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266785 2025-01-08T23:58:49.850Z,1736380729.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:49.867Z,1736380729.867 [DAT](INFO): DAT read: 23:58:48.1615 LVL= 15184, 21681, 18146, 24147, AGC= 64, IDX= 448,-0.01, 1.839, 1.037,-0.295, 0.835, PHS= 1.092, 0.249,-1.133, RAW= 52.0, -2.2, CAL= 54.3, -5.6, ROT= 95.7, 5.6 2025-01-08T23:58:49.871Z,1736380729.871 [DAT](INFO): got valid direction response: 23:58:48.1615 LVL= 15184, 21681, 18146, 24147, AGC= 64, IDX= 448,-0.01, 1.839, 1.037,-0.295, 0.835, PHS= 1.092, 0.249,-1.133, RAW= 52.0, -2.2, CAL= 54.3, -5.6, ROT= 95.7, 5.6 2025-01-08T23:58:49.889Z,1736380729.889 [DAT](INFO): DAT read: Bearing 95.7, 5.6 (Local) 2025-01-08T23:58:49.889Z,1736380729.889 [DAT](INFO): Local bearing/azimuth received: Bearing 95.7, 5.6 (Local) 2025-01-08T23:58:49.891Z,1736380729.891 [DAT](INFO): DAT read: Range 10 to 50 : 116.2 m (Round-trip 155.0 ms) speed 0.2 m/s 2025-01-08T23:58:49.892Z,1736380729.892 [DAT](INFO): DAT read: user:3545> 2025-01-08T23:58:49.892Z,1736380729.892 [DAT](INFO): DAT read: Tx time:23:58:49.2523 2025-01-08T23:58:49.893Z,1736380729.893 [DAT](INFO): Ping request sent. 2025-01-08T23:58:49.893Z,1736380729.893 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:49.893Z,1736380729.893 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:58:49.894Z,1736380729.894 [DAT](INFO): direction in FSK: [0.027324,0.676004,0.736391] 2025-01-08T23:58:49.894Z,1736380729.894 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:49.894Z,1736380729.894 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:49.918Z,1736380729.918 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:49.918Z,1736380729.918 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:49.953Z,1736380729.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:49.992Z,1736380729.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.199997 m, deltaT: 3.538176 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:58:49.994Z,1736380729.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.199997 m, bearing: 76.684923 deg, lat: 36.904217 deg, lon: -122.119972 deg, deltaT: 3.538176 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T23:58:49.999Z,1736380729.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:50.002Z,1736380730.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 55.729851 m, bearing: 100.746191 deg, approach rate: 0.000000 m/s, LOS rate: -0.092300 deg/s, cmd heading: 332.985328 deg, new cmd heading: 332.863455 deg. 2025-01-08T23:58:50.003Z,1736380730.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809563 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:50.102Z,1736380730.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:50.105Z,1736380730.105 [DAT](INFO): DAT read: TxSync time:23:58:49.2515 2025-01-08T23:58:50.352Z,1736380730.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:50.453Z,1736380730.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:50.462Z,1736380730.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:50.466Z,1736380730.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 55.985752 m, bearing: 100.953766 deg, approach rate: 0.539264 m/s, LOS rate: 0.435425 deg/s, cmd heading: 332.863450 deg, new cmd heading: 333.483303 deg. 2025-01-08T23:58:50.467Z,1736380730.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820382 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:50.606Z,1736380730.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:50.838Z,1736380730.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:50.847Z,1736380730.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:50.850Z,1736380730.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 56.185253 m, bearing: 101.110773 deg, approach rate: 0.518215 m/s, LOS rate: 0.406385 deg/s, cmd heading: 333.483303 deg, new cmd heading: 333.952639 deg. 2025-01-08T23:58:50.852Z,1736380730.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828573 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:50.856Z,1736380730.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:51.108Z,1736380731.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:51.274Z,1736380731.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:51.282Z,1736380731.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:51.312Z,1736380731.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:51.320Z,1736380731.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 56.403111 m, bearing: 101.297925 deg, approach rate: 0.467930 m/s, LOS rate: 0.400426 deg/s, cmd heading: 333.952646 deg, new cmd heading: 334.511916 deg. 2025-01-08T23:58:51.321Z,1736380731.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838335 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:51.360Z,1736380731.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:51.360Z,1736380731.360 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:51.361Z,1736380731.361 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:51.361Z,1736380731.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:51.612Z,1736380731.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:51.613Z,1736380731.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720090 2025-01-08T23:58:51.694Z,1736380731.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:51.710Z,1736380731.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:51.718Z,1736380731.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 56.613205 m, bearing: 101.476565 deg, approach rate: 0.527833 m/s, LOS rate: 0.447141 deg/s, cmd heading: 334.511930 deg, new cmd heading: 335.045844 deg. 2025-01-08T23:58:51.719Z,1736380731.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847653 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:51.864Z,1736380731.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:51.867Z,1736380731.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973895 2025-01-08T23:58:52.068Z,1736380732.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:52.084Z,1736380732.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:52.092Z,1736380732.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 56.798950 m, bearing: 101.633159 deg, approach rate: 0.496653 m/s, LOS rate: 0.417339 deg/s, cmd heading: 335.045832 deg, new cmd heading: 335.514068 deg. 2025-01-08T23:58:52.104Z,1736380732.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855825 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:52.118Z,1736380732.118 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:52.121Z,1736380732.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227889 2025-01-08T23:58:52.368Z,1736380732.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:52.369Z,1736380732.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476541 2025-01-08T23:58:52.602Z,1736380732.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:52.620Z,1736380732.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:52.621Z,1736380732.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728214 2025-01-08T23:58:52.638Z,1736380732.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:52.645Z,1736380732.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 57.053753 m, bearing: 101.856899 deg, approach rate: 0.460447 m/s, LOS rate: 0.402508 deg/s, cmd heading: 335.514055 deg, new cmd heading: 336.182245 deg. 2025-01-08T23:58:52.647Z,1736380732.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867487 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:52.872Z,1736380732.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:52.872Z,1736380732.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979711 2025-01-08T23:58:53.009Z,1736380733.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:53.022Z,1736380733.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:53.026Z,1736380733.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 57.247036 m, bearing: 102.025752 deg, approach rate: 0.503478 m/s, LOS rate: 0.438353 deg/s, cmd heading: 336.182239 deg, new cmd heading: 336.687071 deg. 2025-01-08T23:58:53.028Z,1736380733.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876298 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:53.126Z,1736380733.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:53.127Z,1736380733.127 [DAT](INFO): DAT read: Rx Time:23:58:51.8110 2025-01-08T23:58:53.128Z,1736380733.128 [DAT](INFO): Rx dataTimestamp_ set to:1736380733.127391 2025-01-08T23:58:53.128Z,1736380733.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235488 2025-01-08T23:58:53.377Z,1736380733.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:53.378Z,1736380733.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485562 2025-01-08T23:58:53.537Z,1736380733.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:53.552Z,1736380733.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:53.554Z,1736380733.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.20 m. 2025-01-08T23:58:53.557Z,1736380733.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.199997 m, nav range: 57.484234 m, bearing: 102.258233 deg, approach rate: 0.445976 m/s, LOS rate: 0.435303 deg/s, cmd heading: 336.687072 deg, new cmd heading: 337.381602 deg. 2025-01-08T23:58:53.558Z,1736380733.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888420 target range: 116.199997 and range: 116.20 m. 2025-01-08T23:58:53.628Z,1736380733.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:53.637Z,1736380733.637 [DAT](INFO): DAT read: 23:58:51.8110 LVL= 13856, 23409, 24930, 27923, AGC= 59, IDX= 443,-0.14, 2.255, 1.492, 0.141, 1.235, PHS= 1.108, 0.304,-1.097, RAW= 51.1, -3.3, CAL= 53.9, -7.3, ROT= 96.1, 7.3 2025-01-08T23:58:53.638Z,1736380733.638 [DAT](INFO): got valid direction response: 23:58:51.8110 LVL= 13856, 23409, 24930, 27923, AGC= 59, IDX= 443,-0.14, 2.255, 1.492, 0.141, 1.235, PHS= 1.108, 0.304,-1.097, RAW= 51.1, -3.3, CAL= 53.9, -7.3, ROT= 96.1, 7.3 2025-01-08T23:58:53.640Z,1736380733.640 [DAT](INFO): DAT read: Bearing 96.1, 7.3 (Local) 2025-01-08T23:58:53.640Z,1736380733.640 [DAT](INFO): Local bearing/azimuth received: Bearing 96.1, 7.3 (Local) 2025-01-08T23:58:53.641Z,1736380733.641 [DAT](INFO): DAT read: Range 10 to 50 : 115.8 m (Round-trip 154.5 ms) speed 0.0 m/s 2025-01-08T23:58:53.642Z,1736380733.642 [DAT](INFO): DAT read: user:3546> 2025-01-08T23:58:53.643Z,1736380733.643 [DAT](INFO): DAT read: Tx time:23:58:52.9023 2025-01-08T23:58:53.643Z,1736380733.643 [DAT](INFO): Ping request sent. 2025-01-08T23:58:53.643Z,1736380733.643 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:53.644Z,1736380733.644 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:58:53.645Z,1736380733.645 [DAT](INFO): direction in FSK: [0.050248,0.685142,0.726675] 2025-01-08T23:58:53.646Z,1736380733.646 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:53.646Z,1736380733.646 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:53.653Z,1736380733.653 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:53.654Z,1736380733.654 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:53.869Z,1736380733.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:53.882Z,1736380733.882 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:53.886Z,1736380733.886 [DAT](INFO): DAT read: TxSync time:23:58:52.9015 2025-01-08T23:58:53.905Z,1736380733.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.800003 m, deltaT: 3.778565 s, deltaX: -0.399994 m, approachRate: -0.105859 m/s, rangeRepo size: 4 2025-01-08T23:58:53.907Z,1736380733.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.800003 m, bearing: 72.765208 deg, lat: 36.904344 deg, lon: -122.119866 deg, deltaT: 3.778565 s, deltaX: -0.399994 m, approachRate: -0.105859 m/s, posRepo size: 4 2025-01-08T23:58:53.912Z,1736380733.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:53.920Z,1736380733.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 65.691597 m, bearing: 88.508015 deg, approach rate: 0.000000 m/s, LOS rate: 0.435303 deg/s, cmd heading: 337.381593 deg, new cmd heading: 337.839402 deg. 2025-01-08T23:58:53.920Z,1736380733.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896410 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:54.133Z,1736380734.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:54.340Z,1736380734.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:54.367Z,1736380734.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:54.374Z,1736380734.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 65.833549 m, bearing: 88.725746 deg, approach rate: 0.307951 m/s, LOS rate: 0.471324 deg/s, cmd heading: 337.839407 deg, new cmd heading: 338.491161 deg. 2025-01-08T23:58:54.375Z,1736380734.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907785 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:54.384Z,1736380734.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:54.638Z,1736380734.638 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:54.734Z,1736380734.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:54.754Z,1736380734.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:54.757Z,1736380734.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 65.951477 m, bearing: 88.907539 deg, approach rate: 0.302994 m/s, LOS rate: 0.466249 deg/s, cmd heading: 338.491171 deg, new cmd heading: 339.035558 deg. 2025-01-08T23:58:54.758Z,1736380734.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917287 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:54.888Z,1736380734.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:55.126Z,1736380735.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:55.140Z,1736380735.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:55.150Z,1736380735.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:55.158Z,1736380735.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 66.067818 m, bearing: 89.088958 deg, approach rate: 0.294019 m/s, LOS rate: 0.457677 deg/s, cmd heading: 339.035564 deg, new cmd heading: 339.578844 deg. 2025-01-08T23:58:55.163Z,1736380735.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926769 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:55.392Z,1736380735.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:55.644Z,1736380735.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:55.698Z,1736380735.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:55.718Z,1736380735.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:55.733Z,1736380735.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:55.740Z,1736380735.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 66.209618 m, bearing: 89.357876 deg, approach rate: 0.243478 m/s, LOS rate: 0.460756 deg/s, cmd heading: 339.578837 deg, new cmd heading: 340.383809 deg. 2025-01-08T23:58:55.741Z,1736380735.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940818 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:55.896Z,1736380735.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:55.896Z,1736380735.896 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:55.896Z,1736380735.896 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:55.897Z,1736380735.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:56.148Z,1736380736.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:56.148Z,1736380736.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504912 2025-01-08T23:58:56.167Z,1736380736.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:56.236Z,1736380736.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:56.245Z,1736380736.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 66.324684 m, bearing: 89.579119 deg, approach rate: 0.231154 m/s, LOS rate: 0.443677 deg/s, cmd heading: 340.383816 deg, new cmd heading: 341.046362 deg. 2025-01-08T23:58:56.246Z,1736380736.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952382 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:56.400Z,1736380736.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:56.401Z,1736380736.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757667 2025-01-08T23:58:56.653Z,1736380736.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:56.654Z,1736380736.654 [DAT](INFO): DAT read: Rx Time:23:58:55.4610 2025-01-08T23:58:56.655Z,1736380736.655 [DAT](INFO): Rx dataTimestamp_ set to:1736380736.653922 2025-01-08T23:58:56.656Z,1736380736.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011632 2025-01-08T23:58:56.746Z,1736380736.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:56.763Z,1736380736.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:56.770Z,1736380736.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 66.453011 m, bearing: 89.854152 deg, approach rate: 0.240969 m/s, LOS rate: 0.515452 deg/s, cmd heading: 341.046372 deg, new cmd heading: 341.869818 deg. 2025-01-08T23:58:56.771Z,1736380736.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966754 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:56.904Z,1736380736.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:56.904Z,1736380736.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260844 2025-01-08T23:58:57.066Z,1736380737.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:57.074Z,1736380737.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:57.077Z,1736380737.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 66.522705 m, bearing: 90.006395 deg, approach rate: 0.223775 m/s, LOS rate: 0.488308 deg/s, cmd heading: 341.869819 deg, new cmd heading: 342.326059 deg. 2025-01-08T23:58:57.078Z,1736380737.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974717 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:57.157Z,1736380737.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:57.173Z,1736380737.173 [DAT](INFO): DAT read: 23:58:55.4610 LVL= 16352, 26401, 28658, 30371, AGC= 60, IDX= 442,-0.36, 2.140, 1.221,-0.064, 0.896, PHS= 1.332, 0.372,-0.963, RAW= 54.6, -7.5, CAL= 61.0, -13.6, ROT= 89.0, 13.6 2025-01-08T23:58:57.174Z,1736380737.174 [DAT](INFO): got valid direction response: 23:58:55.4610 LVL= 16352, 26401, 28658, 30371, AGC= 60, IDX= 442,-0.36, 2.140, 1.221,-0.064, 0.896, PHS= 1.332, 0.372,-0.963, RAW= 54.6, -7.5, CAL= 61.0, -13.6, ROT= 89.0, 13.6 2025-01-08T23:58:57.175Z,1736380737.175 [DAT](INFO): DAT read: Bearing 89.0, 13.6 (Local) 2025-01-08T23:58:57.175Z,1736380737.175 [DAT](INFO): Local bearing/azimuth received: Bearing 89.0, 13.6 (Local) 2025-01-08T23:58:57.177Z,1736380737.177 [DAT](INFO): DAT read: Range 10 to 50 : 115.8 m (Round-trip 154.4 ms) speed 0.0 m/s 2025-01-08T23:58:57.177Z,1736380737.177 [DAT](INFO): DAT read: user:3547> 2025-01-08T23:58:57.178Z,1736380737.178 [DAT](INFO): DAT read: Tx time:23:58:56.5524 2025-01-08T23:58:57.178Z,1736380737.178 [DAT](INFO): Ping request sent. 2025-01-08T23:58:57.178Z,1736380737.178 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:58:57.179Z,1736380737.179 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:58:57.188Z,1736380737.188 [DAT](INFO): direction in FSK: [0.120449,0.633515,0.764298] 2025-01-08T23:58:57.188Z,1736380737.188 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:57.188Z,1736380737.188 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:57.195Z,1736380737.195 [DAT](INFO): publishing transmit ping time 2025-01-08T23:58:57.196Z,1736380737.196 [DAT](INFO): publishing direction and range info 2025-01-08T23:58:57.408Z,1736380737.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:57.409Z,1736380737.409 [DAT](INFO): DAT read: TxSync time:23:58:56.5516 2025-01-08T23:58:57.544Z,1736380737.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:57.570Z,1736380737.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.800003 m, deltaT: 3.529641 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:58:57.580Z,1736380737.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.800003 m, bearing: 67.220819 deg, lat: 36.904461 deg, lon: -122.119866 deg, deltaT: 3.529641 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-01-08T23:58:57.581Z,1736380737.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:57.588Z,1736380737.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 67.838516 m, bearing: 79.194719 deg, approach rate: 0.000000 m/s, LOS rate: 0.488308 deg/s, cmd heading: 342.326049 deg, new cmd heading: 343.051075 deg. 2025-01-08T23:58:57.589Z,1736380737.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987371 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:57.593Z,1736380737.593 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-08T23:58:57.603Z,1736380737.603 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-08T23:58:57.661Z,1736380737.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:57.875Z,1736380737.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:57.884Z,1736380737.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:58:57.885Z,1736380737.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:57.888Z,1736380737.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 67.879189 m, bearing: 79.355612 deg, approach rate: 0.128551 m/s, LOS rate: 0.508221 deg/s, cmd heading: 343.051087 deg, new cmd heading: 343.533465 deg. 2025-01-08T23:58:57.889Z,1736380737.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.995790 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:57.912Z,1736380737.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:57.912Z,1736380737.912 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:58:57.912Z,1736380737.912 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:58:57.912Z,1736380737.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:58:58.164Z,1736380738.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:58.164Z,1736380738.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985936 2025-01-08T23:58:58.329Z,1736380738.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:58.363Z,1736380738.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:58.370Z,1736380738.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 67.938957 m, bearing: 79.575740 deg, approach rate: 0.125218 m/s, LOS rate: 0.460772 deg/s, cmd heading: 343.533462 deg, new cmd heading: 344.193236 deg. 2025-01-08T23:58:58.371Z,1736380738.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007305 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:58.417Z,1736380738.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:58.418Z,1736380738.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239741 2025-01-08T23:58:58.668Z,1736380738.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:58.669Z,1736380738.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490937 2025-01-08T23:58:58.802Z,1736380738.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:58.811Z,1736380738.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:58.814Z,1736380738.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 67.997795 m, bearing: 79.806223 deg, approach rate: 0.131305 m/s, LOS rate: 0.513908 deg/s, cmd heading: 344.193231 deg, new cmd heading: 344.884045 deg. 2025-01-08T23:58:58.816Z,1736380738.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019362 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:58.920Z,1736380738.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:58.922Z,1736380738.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743228 2025-01-08T23:58:59.172Z,1736380739.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:59.173Z,1736380739.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994783 2025-01-08T23:58:59.336Z,1736380739.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:59.354Z,1736380739.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:59.358Z,1736380739.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 68.073502 m, bearing: 80.070850 deg, approach rate: 0.139639 m/s, LOS rate: 0.487554 deg/s, cmd heading: 344.884036 deg, new cmd heading: 345.676981 deg. 2025-01-08T23:58:59.358Z,1736380739.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.033202 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:59.424Z,1736380739.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:59.425Z,1736380739.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247018 2025-01-08T23:58:59.677Z,1736380739.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:59.678Z,1736380739.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499275 2025-01-08T23:58:59.833Z,1736380739.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:58:59.841Z,1736380739.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:58:59.844Z,1736380739.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 68.139137 m, bearing: 80.317280 deg, approach rate: 0.134443 m/s, LOS rate: 0.504279 deg/s, cmd heading: 345.676994 deg, new cmd heading: 346.415529 deg. 2025-01-08T23:58:59.845Z,1736380739.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.046092 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:58:59.928Z,1736380739.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:58:59.929Z,1736380739.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750572 2025-01-08T23:59:00.180Z,1736380740.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:00.181Z,1736380740.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002322 2025-01-08T23:59:00.281Z,1736380740.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:00.311Z,1736380740.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:00.314Z,1736380740.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:59:00.321Z,1736380740.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 68.196938 m, bearing: 80.539559 deg, approach rate: 0.122371 m/s, LOS rate: 0.470195 deg/s, cmd heading: 346.415529 deg, new cmd heading: 347.081768 deg. 2025-01-08T23:59:00.321Z,1736380740.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.057720 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:59:00.432Z,1736380740.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:00.433Z,1736380740.433 [DAT](INFO): DAT read: Rx Time:23:58:59.1112 2025-01-08T23:59:00.434Z,1736380740.434 [DAT](INFO): Rx dataTimestamp_ set to:1736380740.433294 2025-01-08T23:59:00.434Z,1736380740.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255692 2025-01-08T23:59:00.686Z,1736380740.686 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:00.688Z,1736380740.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509424 2025-01-08T23:59:00.855Z,1736380740.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:00.909Z,1736380740.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.80 m. 2025-01-08T23:59:00.916Z,1736380740.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.800003 m, nav range: 68.301399 m, bearing: 80.826765 deg, approach rate: 0.175474 m/s, LOS rate: 0.481708 deg/s, cmd heading: 347.081773 deg, new cmd heading: 347.942006 deg. 2025-01-08T23:59:00.917Z,1736380740.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072733 target range: 115.800003 and range: 115.80 m. 2025-01-08T23:59:00.936Z,1736380740.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:00.942Z,1736380740.942 [DAT](INFO): DAT read: 23:58:59.1112 LVL= 25072, 27633, 26562, 28787, AGC= 63, IDX= 443, 0.19,-1.817,-2.721, 2.467,-3.026, PHS= 1.297, 0.352,-0.794, RAW= 56.8, -9.5, CAL= 65.3, -16.6, ROT= 84.7, 16.6 2025-01-08T23:59:00.943Z,1736380740.943 [DAT](INFO): got valid direction response: 23:58:59.1112 LVL= 25072, 27633, 26562, 28787, AGC= 63, IDX= 443, 0.19,-1.817,-2.721, 2.467,-3.026, PHS= 1.297, 0.352,-0.794, RAW= 56.8, -9.5, CAL= 65.3, -16.6, ROT= 84.7, 16.6 2025-01-08T23:59:00.944Z,1736380740.944 [DAT](INFO): DAT read: Bearing 84.7, 16.6 (Local) 2025-01-08T23:59:00.945Z,1736380740.945 [DAT](INFO): Local bearing/azimuth received: Bearing 84.7, 16.6 (Local) 2025-01-08T23:59:00.946Z,1736380740.946 [DAT](INFO): DAT read: Range 10 to 50 : 115.9 m (Round-trip 154.6 ms) speed 0.1 m/s 2025-01-08T23:59:00.947Z,1736380740.947 [DAT](INFO): DAT read: user:3548> 2025-01-08T23:59:00.948Z,1736380740.948 [DAT](INFO): DAT read: Tx time:23:59:00.2024 2025-01-08T23:59:00.949Z,1736380740.949 [DAT](INFO): Ping request sent. 2025-01-08T23:59:00.949Z,1736380740.949 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:00.949Z,1736380740.949 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:59:00.950Z,1736380740.950 [DAT](INFO): direction in FSK: [0.152627,0.600206,0.785148] 2025-01-08T23:59:00.950Z,1736380740.950 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:00.951Z,1736380740.951 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:00.954Z,1736380740.954 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:00.954Z,1736380740.954 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:01.188Z,1736380741.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:01.189Z,1736380741.189 [DAT](INFO): DAT read: TxSync time:23:59:00.2016 2025-01-08T23:59:01.239Z,1736380741.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:01.309Z,1736380741.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.900002 m, deltaT: 3.777624 s, deltaX: 0.099998 m, approachRate: 0.026471 m/s, rangeRepo size: 4 2025-01-08T23:59:01.326Z,1736380741.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.900002 m, bearing: 57.812426 deg, lat: 36.904512 deg, lon: -122.119866 deg, deltaT: 3.777624 s, deltaX: 0.099998 m, approachRate: 0.026471 m/s, posRepo size: 4 2025-01-08T23:59:01.332Z,1736380741.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:59:01.334Z,1736380741.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 69.483124 m, bearing: 76.388188 deg, approach rate: 0.000000 m/s, LOS rate: 0.481708 deg/s, cmd heading: 347.941994 deg, new cmd heading: 348.507372 deg. 2025-01-08T23:59:01.340Z,1736380741.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082601 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:59:01.442Z,1736380741.442 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:01.692Z,1736380741.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:01.712Z,1736380741.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:01.721Z,1736380741.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:59:01.724Z,1736380741.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 69.562073 m, bearing: 76.629349 deg, approach rate: 0.187551 m/s, LOS rate: 0.572251 deg/s, cmd heading: 348.507370 deg, new cmd heading: 349.229992 deg. 2025-01-08T23:59:01.725Z,1736380741.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.095213 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:59:01.944Z,1736380741.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:02.079Z,1736380742.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:02.090Z,1736380742.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:59:02.093Z,1736380742.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 69.621834 m, bearing: 76.816657 deg, approach rate: 0.162017 m/s, LOS rate: 0.507370 deg/s, cmd heading: 349.230004 deg, new cmd heading: 349.791427 deg. 2025-01-08T23:59:02.094Z,1736380742.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.105012 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:59:02.196Z,1736380742.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:02.449Z,1736380742.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:02.505Z,1736380742.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:02.512Z,1736380742.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:02.514Z,1736380742.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:59:02.534Z,1736380742.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 69.695984 m, bearing: 77.034233 deg, approach rate: 0.174916 m/s, LOS rate: 0.512702 deg/s, cmd heading: 349.791418 deg, new cmd heading: 350.443423 deg. 2025-01-08T23:59:02.535Z,1736380742.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116392 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:59:02.700Z,1736380742.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:02.701Z,1736380742.701 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:02.701Z,1736380742.701 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:02.701Z,1736380742.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:02.879Z,1736380742.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:02.908Z,1736380742.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:59:02.911Z,1736380742.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 69.759041 m, bearing: 77.225201 deg, approach rate: 0.159829 m/s, LOS rate: 0.483605 deg/s, cmd heading: 350.443428 deg, new cmd heading: 351.015795 deg. 2025-01-08T23:59:02.912Z,1736380742.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.126381 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:59:02.952Z,1736380742.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:02.952Z,1736380742.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003484 2025-01-08T23:59:03.204Z,1736380743.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:03.205Z,1736380743.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255678 2025-01-08T23:59:03.433Z,1736380743.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:03.442Z,1736380743.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:59:03.445Z,1736380743.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 69.868439 m, bearing: 77.513186 deg, approach rate: 0.205081 m/s, LOS rate: 0.539019 deg/s, cmd heading: 351.015798 deg, new cmd heading: 351.878331 deg. 2025-01-08T23:59:03.446Z,1736380743.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.141436 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:59:03.472Z,1736380743.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:03.473Z,1736380743.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523653 2025-01-08T23:59:03.728Z,1736380743.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:03.728Z,1736380743.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779385 2025-01-08T23:59:03.822Z,1736380743.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:03.847Z,1736380743.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:59:03.854Z,1736380743.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 69.936676 m, bearing: 77.713573 deg, approach rate: 0.168501 m/s, LOS rate: 0.494340 deg/s, cmd heading: 351.878341 deg, new cmd heading: 352.478891 deg. 2025-01-08T23:59:03.855Z,1736380743.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151917 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:59:03.976Z,1736380743.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:03.976Z,1736380743.976 [DAT](INFO): DAT read: Rx Time:23:59:02.7609 2025-01-08T23:59:03.977Z,1736380743.977 [DAT](INFO): Rx dataTimestamp_ set to:1736380743.976636 2025-01-08T23:59:03.977Z,1736380743.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028524 2025-01-08T23:59:04.228Z,1736380744.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:04.228Z,1736380744.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279564 2025-01-08T23:59:04.239Z,1736380744.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:04.248Z,1736380744.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.90 m. 2025-01-08T23:59:04.260Z,1736380744.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.900002 m, nav range: 70.007637 m, bearing: 77.927727 deg, approach rate: 0.177210 m/s, LOS rate: 0.534261 deg/s, cmd heading: 352.478879 deg, new cmd heading: 353.120663 deg. 2025-01-08T23:59:04.261Z,1736380744.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163118 target range: 115.900002 and range: 115.90 m. 2025-01-08T23:59:04.480Z,1736380744.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:04.488Z,1736380744.488 [DAT](INFO): DAT read: 23:59:02.7609 LVL= 21728, 25841, 20178, 26739, AGC= 62, IDX= 441,-0.27,-2.041, 2.916, 2.217, 3.027, PHS= 1.303,-0.065,-0.813, RAW= 69.6, -4.6, CAL= 77.2, -10.6, ROT= 72.8, 10.6 2025-01-08T23:59:04.489Z,1736380744.489 [DAT](INFO): got valid direction response: 23:59:02.7609 LVL= 21728, 25841, 20178, 26739, AGC= 62, IDX= 441,-0.27,-2.041, 2.916, 2.217, 3.027, PHS= 1.303,-0.065,-0.813, RAW= 69.6, -4.6, CAL= 77.2, -10.6, ROT= 72.8, 10.6 2025-01-08T23:59:04.490Z,1736380744.490 [DAT](INFO): DAT read: Bearing 72.8, 10.6 (Local) 2025-01-08T23:59:04.491Z,1736380744.491 [DAT](INFO): Local bearing/azimuth received: Bearing 72.8, 10.6 (Local) 2025-01-08T23:59:04.492Z,1736380744.492 [DAT](INFO): DAT read: Range 10 to 50 : 115.7 m (Round-trip 154.3 ms) speed 0.0 m/s 2025-01-08T23:59:04.493Z,1736380744.493 [DAT](INFO): DAT read: user:3549> 2025-01-08T23:59:04.494Z,1736380744.494 [DAT](INFO): DAT read: Tx time:23:59:03.8524 2025-01-08T23:59:04.494Z,1736380744.494 [DAT](INFO): Ping request sent. 2025-01-08T23:59:04.494Z,1736380744.494 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:04.494Z,1736380744.494 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:59:04.496Z,1736380744.496 [DAT](INFO): direction in FSK: [0.038319,0.433836,0.900177] 2025-01-08T23:59:04.496Z,1736380744.496 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:04.496Z,1736380744.496 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:04.505Z,1736380744.505 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:04.505Z,1736380744.505 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:04.732Z,1736380744.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:04.734Z,1736380744.734 [DAT](INFO): DAT read: TxSync time:23:59:03.8516 2025-01-08T23:59:04.787Z,1736380744.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:04.833Z,1736380744.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.699997 m, deltaT: 3.544622 s, deltaX: -0.200005 m, approachRate: -0.056425 m/s, rangeRepo size: 4 2025-01-08T23:59:04.836Z,1736380744.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.699997 m, bearing: 38.649256 deg, lat: 36.904539 deg, lon: -122.120044 deg, deltaT: 3.544622 s, deltaX: -0.200005 m, approachRate: -0.056425 m/s, posRepo size: 4 2025-01-08T23:59:04.836Z,1736380744.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T23:59:04.843Z,1736380744.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 55.579842 m, bearing: 71.891272 deg, approach rate: 0.000000 m/s, LOS rate: 0.534261 deg/s, cmd heading: 353.120671 deg, new cmd heading: 354.029201 deg. 2025-01-08T23:59:04.844Z,1736380744.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178975 target range: 115.699997 and range: 115.70 m. 2025-01-08T23:59:04.984Z,1736380744.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:05.178Z,1736380745.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:05.206Z,1736380745.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:05.209Z,1736380745.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T23:59:05.220Z,1736380745.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 55.623444 m, bearing: 72.149910 deg, approach rate: 0.110451 m/s, LOS rate: 0.654656 deg/s, cmd heading: 354.029195 deg, new cmd heading: 354.804452 deg. 2025-01-08T23:59:05.221Z,1736380745.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.192506 target range: 115.699997 and range: 115.70 m. 2025-01-08T23:59:05.236Z,1736380745.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:05.236Z,1736380745.236 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:05.236Z,1736380745.236 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:05.237Z,1736380745.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:05.488Z,1736380745.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:05.488Z,1736380745.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994193 2025-01-08T23:59:05.709Z,1736380745.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:05.738Z,1736380745.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T23:59:05.740Z,1736380745.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:05.741Z,1736380745.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246448 2025-01-08T23:59:05.745Z,1736380745.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 55.670830 m, bearing: 72.486393 deg, approach rate: 0.089495 m/s, LOS rate: 0.634949 deg/s, cmd heading: 354.804449 deg, new cmd heading: 355.812929 deg. 2025-01-08T23:59:05.746Z,1736380745.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210107 target range: 115.699997 and range: 115.70 m. 2025-01-08T23:59:05.992Z,1736380745.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:05.994Z,1736380745.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499041 2025-01-08T23:59:06.077Z,1736380746.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:06.086Z,1736380746.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T23:59:06.089Z,1736380746.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 55.699463 m, bearing: 72.717354 deg, approach rate: 0.082407 m/s, LOS rate: 0.664367 deg/s, cmd heading: 355.812940 deg, new cmd heading: 356.505429 deg. 2025-01-08T23:59:06.090Z,1736380746.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.222194 target range: 115.699997 and range: 115.70 m. 2025-01-08T23:59:06.244Z,1736380746.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:06.245Z,1736380746.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751028 2025-01-08T23:59:06.496Z,1736380746.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:06.497Z,1736380746.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002407 2025-01-08T23:59:06.500Z,1736380746.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:06.547Z,1736380746.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T23:59:06.551Z,1736380746.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 55.726021 m, bearing: 72.975572 deg, approach rate: 0.058104 m/s, LOS rate: 0.564670 deg/s, cmd heading: 356.505439 deg, new cmd heading: 357.279676 deg. 2025-01-08T23:59:06.556Z,1736380746.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.235707 target range: 115.699997 and range: 115.70 m. 2025-01-08T23:59:06.749Z,1736380746.749 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:06.749Z,1736380746.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255179 2025-01-08T23:59:06.869Z,1736380746.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:06.878Z,1736380746.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T23:59:06.881Z,1736380746.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 55.747547 m, bearing: 73.199172 deg, approach rate: 0.064313 m/s, LOS rate: 0.667778 deg/s, cmd heading: 357.279682 deg, new cmd heading: 357.950189 deg. 2025-01-08T23:59:06.882Z,1736380746.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247409 target range: 115.699997 and range: 115.70 m. 2025-01-08T23:59:07.000Z,1736380747.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:07.001Z,1736380747.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506580 2025-01-08T23:59:07.252Z,1736380747.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:07.253Z,1736380747.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758402 2025-01-08T23:59:07.271Z,1736380747.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:07.278Z,1736380747.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:07.280Z,1736380747.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T23:59:07.284Z,1736380747.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 55.769413 m, bearing: 73.441355 deg, approach rate: 0.054340 m/s, LOS rate: 0.601624 deg/s, cmd heading: 357.950188 deg, new cmd heading: 358.676410 deg. 2025-01-08T23:59:07.285Z,1736380747.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.260084 target range: 115.699997 and range: 115.70 m. 2025-01-08T23:59:07.508Z,1736380747.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:07.509Z,1736380747.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014944 2025-01-08T23:59:07.760Z,1736380747.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:07.761Z,1736380747.761 [DAT](INFO): DAT read: Rx Time:23:59:06.4103 2025-01-08T23:59:07.761Z,1736380747.761 [DAT](INFO): Rx dataTimestamp_ set to:1736380747.760700 2025-01-08T23:59:07.761Z,1736380747.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267410 2025-01-08T23:59:07.820Z,1736380747.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:07.854Z,1736380747.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-01-08T23:59:07.866Z,1736380747.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699997 m, nav range: 55.765667 m, bearing: 73.777179 deg, approach rate: -0.006525 m/s, LOS rate: 0.585026 deg/s, cmd heading: 358.676401 deg, new cmd heading: 359.683833 deg. 2025-01-08T23:59:07.867Z,1736380747.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277667 target range: 115.699997 and range: 115.70 m. 2025-01-08T23:59:08.012Z,1736380748.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:08.012Z,1736380748.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518321 2025-01-08T23:59:08.266Z,1736380748.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:08.277Z,1736380748.277 [DAT](INFO): DAT read: 23:59:06.4103 LVL= 14400, 25841, 17698, 26675, AGC= 57, IDX= 434, 0.03,-2.307, 2.360, 2.178, 2.887, PHS= 1.177,-0.481,-0.712, RAW= 83.6, 0.2, CAL= 90.0, -4.1, ROT= 60.0, 4.1 2025-01-08T23:59:08.278Z,1736380748.278 [DAT](INFO): got valid direction response: 23:59:06.4103 LVL= 14400, 25841, 17698, 26675, AGC= 57, IDX= 434, 0.03,-2.307, 2.360, 2.178, 2.887, PHS= 1.177,-0.481,-0.712, RAW= 83.6, 0.2, CAL= 90.0, -4.1, ROT= 60.0, 4.1 2025-01-08T23:59:08.279Z,1736380748.279 [DAT](INFO): DAT read: Bearing 60.0, 4.1 (Local) 2025-01-08T23:59:08.280Z,1736380748.280 [DAT](INFO): Local bearing/azimuth received: Bearing 60.0, 4.1 (Local) 2025-01-08T23:59:08.282Z,1736380748.282 [DAT](INFO): DAT read: Range 10 to 50 : 115.2 m (Round-trip 153.7 ms) speed 0.0 m/s 2025-01-08T23:59:08.284Z,1736380748.284 [DAT](INFO): DAT read: user:3550> 2025-01-08T23:59:08.285Z,1736380748.285 [DAT](INFO): DAT read: Tx time:23:59:07.5025 2025-01-08T23:59:08.285Z,1736380748.285 [DAT](INFO): Ping request sent. 2025-01-08T23:59:08.285Z,1736380748.285 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:08.286Z,1736380748.286 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:59:08.287Z,1736380748.287 [DAT](INFO): direction in FSK: [-0.077733,0.217309,0.973003] 2025-01-08T23:59:08.290Z,1736380748.290 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:08.291Z,1736380748.291 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:08.296Z,1736380748.296 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:08.296Z,1736380748.296 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:08.516Z,1736380748.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:08.517Z,1736380748.517 [DAT](INFO): DAT read: TxSync time:23:59:07.5017 2025-01-08T23:59:08.563Z,1736380748.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:08.591Z,1736380748.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.199997 m, deltaT: 3.786126 s, deltaX: -0.500000 m, approachRate: -0.132061 m/s, rangeRepo size: 4 2025-01-08T23:59:08.601Z,1736380748.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.199997 m, bearing: 349.438558 deg, lat: 36.904603 deg, lon: -122.120134 deg, deltaT: 3.786126 s, deltaX: -0.500000 m, approachRate: -0.132061 m/s, posRepo size: 4 2025-01-08T23:59:08.602Z,1736380748.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.20 m. 2025-01-08T23:59:08.605Z,1736380748.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.199997 m, nav range: 50.791500 m, bearing: 63.899335 deg, approach rate: 0.000000 m/s, LOS rate: 0.585026 deg/s, cmd heading: 359.683827 deg, new cmd heading: 0.975507 deg. 2025-01-08T23:59:08.606Z,1736380748.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017026 target range: 115.199997 and range: 115.20 m. 2025-01-08T23:59:08.769Z,1736380748.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:09.020Z,1736380749.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:09.162Z,1736380749.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:09.172Z,1736380749.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.20 m. 2025-01-08T23:59:09.174Z,1736380749.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.199997 m, nav range: 50.696758 m, bearing: 64.264507 deg, approach rate: -0.162850 m/s, LOS rate: 0.628854 deg/s, cmd heading: 0.975507 deg, new cmd heading: 2.072927 deg. 2025-01-08T23:59:09.192Z,1736380749.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036179 target range: 115.199997 and range: 115.20 m. 2025-01-08T23:59:09.274Z,1736380749.274 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:09.525Z,1736380749.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:09.589Z,1736380749.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:09.616Z,1736380749.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:09.618Z,1736380749.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.20 m. 2025-01-08T23:59:09.625Z,1736380749.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.199997 m, nav range: 50.608505 m, bearing: 64.515534 deg, approach rate: -0.197732 m/s, LOS rate: 0.563408 deg/s, cmd heading: 2.072927 deg, new cmd heading: 2.827275 deg. 2025-01-08T23:59:09.626Z,1736380749.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049345 target range: 115.199997 and range: 115.20 m. 2025-01-08T23:59:09.776Z,1736380749.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:09.777Z,1736380749.777 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:09.777Z,1736380749.777 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:09.778Z,1736380749.778 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:09.993Z,1736380749.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:10.002Z,1736380750.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.20 m. 2025-01-08T23:59:10.005Z,1736380750.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.199997 m, nav range: 50.523834 m, bearing: 64.751715 deg, approach rate: -0.220921 m/s, LOS rate: 0.617267 deg/s, cmd heading: 2.827275 deg, new cmd heading: 3.536967 deg. 2025-01-08T23:59:10.006Z,1736380750.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061732 target range: 115.199997 and range: 115.20 m. 2025-01-08T23:59:10.028Z,1736380750.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:10.028Z,1736380750.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743178 2025-01-08T23:59:10.280Z,1736380750.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:10.280Z,1736380750.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995075 2025-01-08T23:59:10.442Z,1736380750.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:10.470Z,1736380750.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.20 m. 2025-01-08T23:59:10.477Z,1736380750.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.199997 m, nav range: 50.427895 m, bearing: 65.013630 deg, approach rate: -0.205508 m/s, LOS rate: 0.562102 deg/s, cmd heading: 3.536968 deg, new cmd heading: 4.324155 deg. 2025-01-08T23:59:10.478Z,1736380750.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075471 target range: 115.199997 and range: 115.20 m. 2025-01-08T23:59:10.533Z,1736380750.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:10.536Z,1736380750.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249527 2025-01-08T23:59:10.784Z,1736380750.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:10.784Z,1736380750.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499168 2025-01-08T23:59:10.907Z,1736380750.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:10.928Z,1736380750.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.20 m. 2025-01-08T23:59:10.935Z,1736380750.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.199997 m, nav range: 50.305874 m, bearing: 65.279818 deg, approach rate: -0.265254 m/s, LOS rate: 0.580054 deg/s, cmd heading: 4.324155 deg, new cmd heading: 5.124602 deg. 2025-01-08T23:59:10.936Z,1736380750.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089441 target range: 115.199997 and range: 115.20 m. 2025-01-08T23:59:11.036Z,1736380751.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:11.037Z,1736380751.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752048 2025-01-08T23:59:11.288Z,1736380751.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:11.289Z,1736380751.289 [DAT](INFO): DAT read: Rx Time:23:59:10.0592 2025-01-08T23:59:11.289Z,1736380751.289 [DAT](INFO): Rx dataTimestamp_ set to:1736380751.288829 2025-01-08T23:59:11.290Z,1736380751.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004337 2025-01-08T23:59:11.365Z,1736380751.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:11.378Z,1736380751.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.20 m. 2025-01-08T23:59:11.380Z,1736380751.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.199997 m, nav range: 50.181091 m, bearing: 65.539621 deg, approach rate: -0.277786 m/s, LOS rate: 0.579799 deg/s, cmd heading: 5.124602 deg, new cmd heading: 5.905898 deg. 2025-01-08T23:59:11.381Z,1736380751.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103077 target range: 115.199997 and range: 115.20 m. 2025-01-08T23:59:11.540Z,1736380751.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:11.542Z,1736380751.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256338 2025-01-08T23:59:11.792Z,1736380751.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:11.799Z,1736380751.799 [DAT](INFO): DAT read: 23:59:10.0592 LVL= 12464, 25169, 19634, 25619, AGC= 58, IDX= 423,-0.06,-0.462,-2.257,-2.216,-1.530, PHS= 1.156,-0.680,-0.689, RAW= 89.8, 2.3, CAL= 97.0, -0.3, ROT= 53.0, 0.3 2025-01-08T23:59:11.800Z,1736380751.800 [DAT](INFO): got valid direction response: 23:59:10.0592 LVL= 12464, 25169, 19634, 25619, AGC= 58, IDX= 423,-0.06,-0.462,-2.257,-2.216,-1.530, PHS= 1.156,-0.680,-0.689, RAW= 89.8, 2.3, CAL= 97.0, -0.3, ROT= 53.0, 0.3 2025-01-08T23:59:11.801Z,1736380751.801 [DAT](INFO): DAT read: Bearing 53.0, 0.3 (Local) 2025-01-08T23:59:11.802Z,1736380751.802 [DAT](INFO): Local bearing/azimuth received: Bearing 53.0, 0.3 (Local) 2025-01-08T23:59:11.807Z,1736380751.807 [DAT](INFO): DAT read: Range 10 to 50 : 114.4 m (Round-trip 152.6 ms) speed 0.2 m/s 2025-01-08T23:59:11.808Z,1736380751.808 [DAT](INFO): DAT read: user:3551> 2025-01-08T23:59:11.809Z,1736380751.809 [DAT](INFO): DAT read: Tx time:23:59:11.1525 2025-01-08T23:59:11.809Z,1736380751.809 [DAT](INFO): Ping request sent. 2025-01-08T23:59:11.809Z,1736380751.809 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:11.809Z,1736380751.809 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:59:11.810Z,1736380751.810 [DAT](INFO): direction in FSK: [-0.129164,0.113998,0.985049] 2025-01-08T23:59:11.811Z,1736380751.811 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:11.811Z,1736380751.811 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:11.815Z,1736380751.815 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:11.815Z,1736380751.815 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:11.877Z,1736380751.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:11.913Z,1736380751.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.400002 m, deltaT: 3.525228 s, deltaX: -0.799995 m, approachRate: -0.226934 m/s, rangeRepo size: 4 2025-01-08T23:59:11.924Z,1736380751.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.400002 m, bearing: 326.410408 deg, lat: 36.904612 deg, lon: -122.120401 deg, deltaT: 3.525228 s, deltaX: -0.799995 m, approachRate: -0.226934 m/s, posRepo size: 4 2025-01-08T23:59:11.924Z,1736380751.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:59:11.927Z,1736380751.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 30.742310 m, bearing: 45.577575 deg, approach rate: 0.000000 m/s, LOS rate: 0.579799 deg/s, cmd heading: 5.905898 deg, new cmd heading: 6.835286 deg. 2025-01-08T23:59:11.936Z,1736380751.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119298 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:59:12.044Z,1736380752.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:12.045Z,1736380752.045 [DAT](INFO): DAT read: TxSync time:23:59:11.1517 2025-01-08T23:59:12.296Z,1736380752.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:12.386Z,1736380752.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:12.399Z,1736380752.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:12.401Z,1736380752.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:59:12.404Z,1736380752.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 30.507166 m, bearing: 45.902397 deg, approach rate: -0.480630 m/s, LOS rate: 0.669047 deg/s, cmd heading: 6.835286 deg, new cmd heading: 7.817163 deg. 2025-01-08T23:59:12.405Z,1736380752.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.136435 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:59:12.548Z,1736380752.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:12.548Z,1736380752.548 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:12.548Z,1736380752.548 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:12.549Z,1736380752.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:12.800Z,1736380752.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:12.800Z,1736380752.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991106 2025-01-08T23:59:12.909Z,1736380752.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:12.938Z,1736380752.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:59:12.945Z,1736380752.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 30.244312 m, bearing: 46.253976 deg, approach rate: -0.489776 m/s, LOS rate: 0.660786 deg/s, cmd heading: 7.817163 deg, new cmd heading: 8.880936 deg. 2025-01-08T23:59:12.946Z,1736380752.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.155002 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:59:13.052Z,1736380753.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:13.052Z,1736380753.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243244 2025-01-08T23:59:13.312Z,1736380753.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:13.313Z,1736380753.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503509 2025-01-08T23:59:13.317Z,1736380753.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:13.335Z,1736380753.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:59:13.345Z,1736380753.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 30.037676 m, bearing: 46.528765 deg, approach rate: -0.520951 m/s, LOS rate: 0.697534 deg/s, cmd heading: 8.880936 deg, new cmd heading: 9.710912 deg. 2025-01-08T23:59:13.346Z,1736380753.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.169487 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:59:13.564Z,1736380753.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:13.564Z,1736380753.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755138 2025-01-08T23:59:13.731Z,1736380753.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:13.765Z,1736380753.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:59:13.772Z,1736380753.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 29.843012 m, bearing: 46.815721 deg, approach rate: -0.452923 m/s, LOS rate: 0.672011 deg/s, cmd heading: 9.710912 deg, new cmd heading: 10.577326 deg. 2025-01-08T23:59:13.773Z,1736380753.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.184609 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:59:13.816Z,1736380753.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:13.817Z,1736380753.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007397 2025-01-08T23:59:14.069Z,1736380754.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:14.070Z,1736380754.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261018 2025-01-08T23:59:14.135Z,1736380754.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:14.144Z,1736380754.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:59:14.146Z,1736380754.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 29.650993 m, bearing: 47.096073 deg, approach rate: -0.506689 m/s, LOS rate: 0.744568 deg/s, cmd heading: 10.577327 deg, new cmd heading: 11.423765 deg. 2025-01-08T23:59:14.156Z,1736380754.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.199382 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:59:14.320Z,1736380754.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:14.320Z,1736380754.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511112 2025-01-08T23:59:14.572Z,1736380754.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:14.572Z,1736380754.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763283 2025-01-08T23:59:14.574Z,1736380754.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:14.581Z,1736380754.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:14.583Z,1736380754.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:59:14.586Z,1736380754.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 29.457470 m, bearing: 47.391552 deg, approach rate: -0.440606 m/s, LOS rate: 0.677150 deg/s, cmd heading: 11.423765 deg, new cmd heading: 12.315949 deg. 2025-01-08T23:59:14.586Z,1736380754.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.214954 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:59:14.825Z,1736380754.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:14.826Z,1736380754.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016308 2025-01-08T23:59:15.054Z,1736380755.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:15.063Z,1736380755.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:59:15.067Z,1736380755.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 29.244198 m, bearing: 47.717193 deg, approach rate: -0.444099 m/s, LOS rate: 0.683028 deg/s, cmd heading: 12.315949 deg, new cmd heading: 13.299894 deg. 2025-01-08T23:59:15.068Z,1736380755.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.232127 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:59:15.084Z,1736380755.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:15.085Z,1736380755.085 [DAT](INFO): DAT read: Rx Time:23:59:13.7079 2025-01-08T23:59:15.085Z,1736380755.085 [DAT](INFO): Rx dataTimestamp_ set to:1736380755.084907 2025-01-08T23:59:15.086Z,1736380755.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276523 2025-01-08T23:59:15.336Z,1736380755.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:15.336Z,1736380755.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527231 2025-01-08T23:59:15.462Z,1736380755.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:15.549Z,1736380755.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.40 m. 2025-01-08T23:59:15.564Z,1736380755.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.400002 m, nav range: 29.062742 m, bearing: 47.995871 deg, approach rate: -0.377460 m/s, LOS rate: 0.583318 deg/s, cmd heading: 13.299894 deg, new cmd heading: 14.141085 deg. 2025-01-08T23:59:15.565Z,1736380755.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246808 target range: 114.400002 and range: 114.40 m. 2025-01-08T23:59:15.590Z,1736380755.590 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:15.601Z,1736380755.601 [DAT](INFO): DAT read: 23:59:13.7079 LVL= 11312, 23393, 18706, 27123, AGC= 57, IDX= 425, 0.18, 1.459,-0.378,-0.136, 0.453, PHS= 1.094,-0.783,-0.592, RAW= 95.3, 3.2, CAL= 104.2, 1.2, ROT= 45.8, -1.2 2025-01-08T23:59:15.612Z,1736380755.612 [DAT](INFO): got valid direction response: 23:59:13.7079 LVL= 11312, 23393, 18706, 27123, AGC= 57, IDX= 425, 0.18, 1.459,-0.378,-0.136, 0.453, PHS= 1.094,-0.783,-0.592, RAW= 95.3, 3.2, CAL= 104.2, 1.2, ROT= 45.8, -1.2 2025-01-08T23:59:15.615Z,1736380755.615 [DAT](INFO): DAT read: Bearing 45.8, -1.2 (Local) 2025-01-08T23:59:15.624Z,1736380755.624 [DAT](INFO): Local bearing/azimuth received: Bearing 45.8, -1.2 (Local) 2025-01-08T23:59:15.627Z,1736380755.627 [DAT](INFO): DAT read: Range 10 to 50 : 113.4 m (Round-trip 151.2 ms) speed 0.1 m/s 2025-01-08T23:59:15.632Z,1736380755.632 [DAT](INFO): DAT read: user:3552> 2025-01-08T23:59:15.633Z,1736380755.633 [DAT](INFO): DAT read: Tx time:23:59:14.8025 2025-01-08T23:59:15.634Z,1736380755.634 [DAT](INFO): Ping request sent. 2025-01-08T23:59:15.634Z,1736380755.634 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:15.634Z,1736380755.634 [DAT](INFO): DAT read: TxSync time:23:59:14.8017 2025-01-08T23:59:15.635Z,1736380755.635 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:59:15.641Z,1736380755.641 [DAT](INFO): direction in FSK: [-0.153799,0.018487,0.987929] 2025-01-08T23:59:15.641Z,1736380755.641 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:15.642Z,1736380755.642 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:15.653Z,1736380755.653 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:15.653Z,1736380755.653 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:15.841Z,1736380755.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:16.071Z,1736380756.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:16.092Z,1736380756.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:16.109Z,1736380756.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.400002 m, deltaT: 3.798840 s, deltaX: -1.000000 m, approachRate: -0.263238 m/s, rangeRepo size: 4 2025-01-08T23:59:16.116Z,1736380756.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.400002 m, bearing: 292.404944 deg, lat: 36.904612 deg, lon: -122.120694 deg, deltaT: 3.798840 s, deltaX: -1.000000 m, approachRate: -0.263238 m/s, posRepo size: 4 2025-01-08T23:59:16.117Z,1736380756.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:59:16.128Z,1736380756.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 19.642580 m, bearing: 346.662258 deg, approach rate: 0.000000 m/s, LOS rate: 0.583318 deg/s, cmd heading: 14.141085 deg, new cmd heading: 15.129708 deg. 2025-01-08T23:59:16.129Z,1736380756.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.264063 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:59:16.344Z,1736380756.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:16.474Z,1736380756.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:16.542Z,1736380756.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:59:16.549Z,1736380756.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 19.430099 m, bearing: 346.457249 deg, approach rate: -0.490198 m/s, LOS rate: -0.478131 deg/s, cmd heading: 15.129707 deg, new cmd heading: 14.507981 deg. 2025-01-08T23:59:16.550Z,1736380756.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253212 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:59:16.598Z,1736380756.598 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:16.852Z,1736380756.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:16.904Z,1736380756.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:16.910Z,1736380756.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:16.913Z,1736380756.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:59:16.937Z,1736380756.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 19.200928 m, bearing: 346.283301 deg, approach rate: -0.617729 m/s, LOS rate: -0.474470 deg/s, cmd heading: 14.507981 deg, new cmd heading: 13.979923 deg. 2025-01-08T23:59:16.938Z,1736380756.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.243996 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:59:17.104Z,1736380757.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:17.104Z,1736380757.104 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:17.105Z,1736380757.105 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:17.105Z,1736380757.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:17.269Z,1736380757.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:17.278Z,1736380757.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:59:17.281Z,1736380757.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 19.005415 m, bearing: 346.125485 deg, approach rate: -0.535693 m/s, LOS rate: -0.436855 deg/s, cmd heading: 13.979924 deg, new cmd heading: 13.501616 deg. 2025-01-08T23:59:17.283Z,1736380757.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.235648 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:59:17.356Z,1736380757.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:17.357Z,1736380757.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722944 2025-01-08T23:59:17.609Z,1736380757.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:17.612Z,1736380757.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977079 2025-01-08T23:59:17.712Z,1736380757.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:17.725Z,1736380757.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:59:17.728Z,1736380757.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 18.759562 m, bearing: 346.034599 deg, approach rate: -0.549882 m/s, LOS rate: -0.205942 deg/s, cmd heading: 13.501616 deg, new cmd heading: 13.225387 deg. 2025-01-08T23:59:17.729Z,1736380757.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230827 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:59:17.860Z,1736380757.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:17.860Z,1736380757.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226788 2025-01-08T23:59:17.886Z,1736380757.886 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:59:18.075Z,1736380758.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:18.085Z,1736380758.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:59:18.103Z,1736380758.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 18.556877 m, bearing: 345.949712 deg, approach rate: -0.563648 m/s, LOS rate: -0.238642 deg/s, cmd heading: 13.225387 deg, new cmd heading: 12.967946 deg. 2025-01-08T23:59:18.105Z,1736380758.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226333 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:59:18.112Z,1736380758.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:18.112Z,1736380758.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478803 2025-01-08T23:59:18.365Z,1736380758.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:18.366Z,1736380758.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732177 2025-01-08T23:59:18.498Z,1736380758.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:18.560Z,1736380758.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:59:18.576Z,1736380758.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 18.320429 m, bearing: 345.843468 deg, approach rate: -0.504063 m/s, LOS rate: -0.229414 deg/s, cmd heading: 12.967946 deg, new cmd heading: 12.645106 deg. 2025-01-08T23:59:18.577Z,1736380758.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.220699 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:59:18.616Z,1736380758.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:18.617Z,1736380758.617 [DAT](INFO): DAT read: Rx Time:23:59:17.3568 2025-01-08T23:59:18.617Z,1736380758.617 [DAT](INFO): Rx dataTimestamp_ set to:1736380758.616792 2025-01-08T23:59:18.618Z,1736380758.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983954 2025-01-08T23:59:18.868Z,1736380758.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:18.869Z,1736380758.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235520 2025-01-08T23:59:18.889Z,1736380758.889 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:59:18.984Z,1736380758.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:18.991Z,1736380758.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:18.993Z,1736380758.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.40 m. 2025-01-08T23:59:18.997Z,1736380758.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.400002 m, nav range: 18.047966 m, bearing: 345.699011 deg, approach rate: -0.619995 m/s, LOS rate: -0.333678 deg/s, cmd heading: 12.645106 deg, new cmd heading: 12.205200 deg. 2025-01-08T23:59:18.998Z,1736380758.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.213021 target range: 113.400002 and range: 113.40 m. 2025-01-08T23:59:19.121Z,1736380759.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:19.128Z,1736380759.128 [DAT](INFO): DAT read: 23:59:17.3568 LVL= 13488, 28145, 21490, 32755, AGC= 61, IDX= 430,-0.30, 0.273,-1.475,-1.160,-0.665, PHS= 1.026,-0.763,-0.498, RAW= 97.9, 2.8, CAL= 107.7, 0.7, ROT= 42.3, -0.7 2025-01-08T23:59:19.130Z,1736380759.130 [DAT](INFO): got valid direction response: 23:59:17.3568 LVL= 13488, 28145, 21490, 32755, AGC= 61, IDX= 430,-0.30, 0.273,-1.475,-1.160,-0.665, PHS= 1.026,-0.763,-0.498, RAW= 97.9, 2.8, CAL= 107.7, 0.7, ROT= 42.3, -0.7 2025-01-08T23:59:19.130Z,1736380759.130 [DAT](INFO): DAT read: Bearing 42.3, -0.7 (Local) 2025-01-08T23:59:19.131Z,1736380759.131 [DAT](INFO): Local bearing/azimuth received: Bearing 42.3, -0.7 (Local) 2025-01-08T23:59:19.133Z,1736380759.133 [DAT](INFO): DAT read: Range 10 to 50 : 112.5 m (Round-trip 150.0 ms) speed 0.3 m/s 2025-01-08T23:59:19.134Z,1736380759.134 [DAT](INFO): DAT read: user:3553> 2025-01-08T23:59:19.185Z,1736380759.185 [DAT](INFO): DAT read: Tx time:23:59:18.4526 2025-01-08T23:59:19.185Z,1736380759.185 [DAT](INFO): Ping request sent. 2025-01-08T23:59:19.185Z,1736380759.185 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:19.186Z,1736380759.186 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:59:19.196Z,1736380759.196 [DAT](INFO): direction in FSK: [-0.151334,-0.027134,0.988110] 2025-01-08T23:59:19.196Z,1736380759.196 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:19.197Z,1736380759.197 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:19.228Z,1736380759.228 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:19.229Z,1736380759.229 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:19.372Z,1736380759.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:19.373Z,1736380759.373 [DAT](INFO): DAT read: TxSync time:23:59:18.4518 2025-01-08T23:59:19.390Z,1736380759.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:19.419Z,1736380759.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.500000 m, deltaT: 3.530678 s, deltaX: -0.900002 m, approachRate: -0.254909 m/s, rangeRepo size: 4 2025-01-08T23:59:19.425Z,1736380759.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 112.500000 m, bearing: 273.900396 deg, lat: 36.904603 deg, lon: -122.120812 deg, deltaT: 3.530678 s, deltaX: -0.900002 m, approachRate: -0.254909 m/s, posRepo size: 4 2025-01-08T23:59:19.426Z,1736380759.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:59:19.453Z,1736380759.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 22.033083 m, bearing: 317.433302 deg, approach rate: 0.000000 m/s, LOS rate: -0.333678 deg/s, cmd heading: 12.205201 deg, new cmd heading: 11.779951 deg. 2025-01-08T23:59:19.454Z,1736380759.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.205599 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:59:19.624Z,1736380759.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:19.836Z,1736380759.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:19.862Z,1736380759.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:59:19.876Z,1736380759.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:19.881Z,1736380759.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 21.833130 m, bearing: 317.040076 deg, approach rate: -0.450774 m/s, LOS rate: -0.894601 deg/s, cmd heading: 11.779951 deg, new cmd heading: 10.589649 deg. 2025-01-08T23:59:19.882Z,1736380759.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.184824 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:59:20.128Z,1736380760.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:20.291Z,1736380760.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:20.300Z,1736380760.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:59:20.303Z,1736380760.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 21.631062 m, bearing: 316.623733 deg, approach rate: -0.460609 m/s, LOS rate: -0.957899 deg/s, cmd heading: 10.589649 deg, new cmd heading: 9.329167 deg. 2025-01-08T23:59:20.304Z,1736380760.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.162825 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:59:20.380Z,1736380760.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:20.632Z,1736380760.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:20.742Z,1736380760.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:20.768Z,1736380760.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:59:20.770Z,1736380760.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 21.437191 m, bearing: 316.174140 deg, approach rate: -0.429774 m/s, LOS rate: -1.005663 deg/s, cmd heading: 9.329167 deg, new cmd heading: 7.968461 deg. 2025-01-08T23:59:20.775Z,1736380760.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.139076 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:59:20.884Z,1736380760.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:21.096Z,1736380761.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:21.103Z,1736380761.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:21.105Z,1736380761.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:59:21.108Z,1736380761.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 21.286661 m, bearing: 315.814691 deg, approach rate: -0.425584 m/s, LOS rate: -1.023430 deg/s, cmd heading: 7.968462 deg, new cmd heading: 6.882623 deg. 2025-01-08T23:59:21.109Z,1736380761.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120124 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:59:21.136Z,1736380761.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:21.136Z,1736380761.136 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:21.136Z,1736380761.136 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:21.137Z,1736380761.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:21.388Z,1736380761.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:21.389Z,1736380761.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203623 2025-01-08T23:59:21.501Z,1736380761.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:21.528Z,1736380761.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:59:21.531Z,1736380761.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 21.115313 m, bearing: 315.394435 deg, approach rate: -0.404882 m/s, LOS rate: -1.001077 deg/s, cmd heading: 6.882623 deg, new cmd heading: 5.611846 deg. 2025-01-08T23:59:21.536Z,1736380761.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097945 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:59:21.640Z,1736380761.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:21.641Z,1736380761.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455533 2025-01-08T23:59:21.893Z,1736380761.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:21.894Z,1736380761.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708574 2025-01-08T23:59:21.984Z,1736380761.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:21.992Z,1736380761.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:59:21.995Z,1736380761.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 20.925835 m, bearing: 314.834867 deg, approach rate: -0.408201 m/s, LOS rate: -1.216399 deg/s, cmd heading: 5.611846 deg, new cmd heading: 3.918462 deg. 2025-01-08T23:59:21.996Z,1736380761.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068390 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:59:22.144Z,1736380762.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:22.144Z,1736380762.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959362 2025-01-08T23:59:22.347Z,1736380762.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:22.376Z,1736380762.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:59:22.379Z,1736380762.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 20.784550 m, bearing: 314.408408 deg, approach rate: -0.368047 m/s, LOS rate: -1.118468 deg/s, cmd heading: 3.918462 deg, new cmd heading: 2.630617 deg. 2025-01-08T23:59:22.380Z,1736380762.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045913 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:59:22.397Z,1736380762.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:22.399Z,1736380762.399 [DAT](INFO): DAT read: Rx Time:23:59:21.0050 2025-01-08T23:59:22.400Z,1736380762.400 [DAT](INFO): Rx dataTimestamp_ set to:1736380762.398836 2025-01-08T23:59:22.400Z,1736380762.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215124 2025-01-08T23:59:22.648Z,1736380762.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:22.650Z,1736380762.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.464906 2025-01-08T23:59:22.853Z,1736380762.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:22.861Z,1736380762.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m. 2025-01-08T23:59:22.865Z,1736380762.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.500000 m, nav range: 20.612408 m, bearing: 313.750723 deg, approach rate: -0.355202 m/s, LOS rate: -1.368388 deg/s, cmd heading: 2.630617 deg, new cmd heading: 0.641926 deg. 2025-01-08T23:59:22.866Z,1736380762.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011204 target range: 112.500000 and range: 112.50 m. 2025-01-08T23:59:22.901Z,1736380762.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:22.911Z,1736380762.911 [DAT](INFO): DAT read: 23:59:21.0050 LVL= 15920, 29137, 22850, 32755, AGC= 58, IDX= 427,-0.08,-2.432, 2.133, 2.507, 3.060, PHS= 0.880,-0.880,-0.556, RAW= 100.0, 6.9, CAL= 109.7, 5.6, ROT= 40.3, -5.6 2025-01-08T23:59:22.912Z,1736380762.912 [DAT](INFO): got valid direction response: 23:59:21.0050 LVL= 15920, 29137, 22850, 32755, AGC= 58, IDX= 427,-0.08,-2.432, 2.133, 2.507, 3.060, PHS= 0.880,-0.880,-0.556, RAW= 100.0, 6.9, CAL= 109.7, 5.6, ROT= 40.3, -5.6 2025-01-08T23:59:22.913Z,1736380762.913 [DAT](INFO): DAT read: Bearing 40.3, -5.6 (Local) 2025-01-08T23:59:22.913Z,1736380762.913 [DAT](INFO): Local bearing/azimuth received: Bearing 40.3, -5.6 (Local) 2025-01-08T23:59:22.916Z,1736380762.916 [DAT](INFO): DAT read: Range 10 to 50 : 111.2 m (Round-trip 148.3 ms) speed 0.4 m/s 2025-01-08T23:59:22.917Z,1736380762.917 [DAT](INFO): DAT read: user:3554> 2025-01-08T23:59:22.917Z,1736380762.917 [DAT](INFO): DAT read: Tx time:23:59:22.1026 2025-01-08T23:59:22.918Z,1736380762.918 [DAT](INFO): Ping request sent. 2025-01-08T23:59:22.918Z,1736380762.918 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:22.918Z,1736380762.918 [DAT](INFO): DAT read: TxSync time:23:59:22.1018 2025-01-08T23:59:22.919Z,1736380762.919 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:59:22.920Z,1736380762.920 [DAT](INFO): direction in FSK: [-0.230684,-0.058736,0.971254] 2025-01-08T23:59:22.920Z,1736380762.920 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:22.920Z,1736380762.920 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:22.923Z,1736380762.923 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:22.924Z,1736380762.924 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:23.152Z,1736380763.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:23.217Z,1736380763.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:23.248Z,1736380763.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.199997 m, deltaT: 3.780472 s, deltaX: -1.300003 m, approachRate: -0.343873 m/s, rangeRepo size: 4 2025-01-08T23:59:23.250Z,1736380763.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.199997 m, bearing: 239.245206 deg, lat: 36.904526 deg, lon: -122.120901 deg, deltaT: 3.780472 s, deltaX: -1.300003 m, approachRate: -0.343873 m/s, posRepo size: 4 2025-01-08T23:59:23.256Z,1736380763.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:59:23.259Z,1736380763.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 23.473406 m, bearing: 283.412050 deg, approach rate: 0.000000 m/s, LOS rate: -1.368388 deg/s, cmd heading: 0.641926 deg, new cmd heading: 359.075655 deg. 2025-01-08T23:59:23.264Z,1736380763.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267053 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:59:23.404Z,1736380763.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:23.658Z,1736380763.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:23.723Z,1736380763.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:23.730Z,1736380763.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:23.732Z,1736380763.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:59:23.734Z,1736380763.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 23.473286 m, bearing: 282.678151 deg, approach rate: -0.000246 m/s, LOS rate: -1.500179 deg/s, cmd heading: 359.075667 deg, new cmd heading: 356.875104 deg. 2025-01-08T23:59:23.736Z,1736380763.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.228646 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:59:23.908Z,1736380763.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:23.908Z,1736380763.908 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:23.908Z,1736380763.908 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:23.908Z,1736380763.908 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:24.027Z,1736380764.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:24.036Z,1736380764.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:59:24.038Z,1736380764.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 23.473911 m, bearing: 282.237060 deg, approach rate: 0.002058 m/s, LOS rate: -1.451020 deg/s, cmd heading: 356.875117 deg, new cmd heading: 355.552126 deg. 2025-01-08T23:59:24.040Z,1736380764.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205555 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:59:24.160Z,1736380764.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:24.160Z,1736380764.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242705 2025-01-08T23:59:24.412Z,1736380764.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:24.412Z,1736380764.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494749 2025-01-08T23:59:24.429Z,1736380764.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:24.456Z,1736380764.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:59:24.458Z,1736380764.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 23.474411 m, bearing: 281.652799 deg, approach rate: 0.001203 m/s, LOS rate: -1.406736 deg/s, cmd heading: 355.552136 deg, new cmd heading: 353.799967 deg. 2025-01-08T23:59:24.463Z,1736380764.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174974 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:59:24.664Z,1736380764.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:24.666Z,1736380764.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747727 2025-01-08T23:59:24.862Z,1736380764.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:24.872Z,1736380764.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:59:24.874Z,1736380764.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 23.492846 m, bearing: 281.024043 deg, approach rate: 0.043862 m/s, LOS rate: -1.494815 deg/s, cmd heading: 353.799974 deg, new cmd heading: 351.915904 deg. 2025-01-08T23:59:24.875Z,1736380764.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142091 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:59:24.916Z,1736380764.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:24.917Z,1736380764.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999079 2025-01-08T23:59:25.168Z,1736380765.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:25.168Z,1736380765.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250606 2025-01-08T23:59:25.237Z,1736380765.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:25.246Z,1736380765.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:59:25.249Z,1736380765.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 23.504894 m, bearing: 280.479106 deg, approach rate: 0.032202 m/s, LOS rate: -1.455643 deg/s, cmd heading: 351.915907 deg, new cmd heading: 350.282403 deg. 2025-01-08T23:59:25.250Z,1736380765.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113581 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:59:25.420Z,1736380765.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:25.422Z,1736380765.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503598 2025-01-08T23:59:25.674Z,1736380765.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:25.677Z,1736380765.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758835 2025-01-08T23:59:25.770Z,1736380765.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:25.794Z,1736380765.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:25.796Z,1736380765.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:59:25.801Z,1736380765.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 23.522604 m, bearing: 279.685394 deg, approach rate: 0.032162 m/s, LOS rate: -1.440297 deg/s, cmd heading: 350.282399 deg, new cmd heading: 347.904497 deg. 2025-01-08T23:59:25.804Z,1736380765.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072079 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:59:25.924Z,1736380765.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:25.925Z,1736380765.925 [DAT](INFO): DAT read: Rx Time:23:59:24.6529 2025-01-08T23:59:25.925Z,1736380765.925 [DAT](INFO): Rx dataTimestamp_ set to:1736380765.924993 2025-01-08T23:59:25.926Z,1736380765.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008106 2025-01-08T23:59:26.108Z,1736380766.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:26.118Z,1736380766.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m. 2025-01-08T23:59:26.121Z,1736380766.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.199997 m, nav range: 23.531786 m, bearing: 279.181182 deg, approach rate: 0.028563 m/s, LOS rate: -1.567831 deg/s, cmd heading: 347.904510 deg, new cmd heading: 346.392833 deg. 2025-01-08T23:59:26.122Z,1736380766.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045695 target range: 111.199997 and range: 111.20 m. 2025-01-08T23:59:26.177Z,1736380766.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:26.178Z,1736380766.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260077 2025-01-08T23:59:26.428Z,1736380766.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:26.435Z,1736380766.435 [DAT](INFO): DAT read: 23:59:24.6529 LVL= 13280, 23665, 20546, 27555, AGC= 55, IDX= 420, 0.48, 1.657,-0.420,-0.156, 0.434, PHS= 1.311,-0.806,-0.593, RAW= 95.3, 0.9, CAL= 104.0, -2.6, ROT= 46.0, 2.6 2025-01-08T23:59:26.436Z,1736380766.436 [DAT](INFO): got valid direction response: 23:59:24.6529 LVL= 13280, 23665, 20546, 27555, AGC= 55, IDX= 420, 0.48, 1.657,-0.420,-0.156, 0.434, PHS= 1.311,-0.806,-0.593, RAW= 95.3, 0.9, CAL= 104.0, -2.6, ROT= 46.0, 2.6 2025-01-08T23:59:26.437Z,1736380766.437 [DAT](INFO): DAT read: Bearing 46.0, 2.6 (Local) 2025-01-08T23:59:26.437Z,1736380766.437 [DAT](INFO): Local bearing/azimuth received: Bearing 46.0, 2.6 (Local) 2025-01-08T23:59:26.438Z,1736380766.438 [DAT](INFO): DAT read: Range 10 to 50 : 109.5 m (Round-trip 146.1 ms) speed 0.3 m/s 2025-01-08T23:59:26.439Z,1736380766.439 [DAT](INFO): DAT read: user:3555> 2025-01-08T23:59:26.440Z,1736380766.440 [DAT](INFO): DAT read: Tx time:23:59:25.7526 2025-01-08T23:59:26.440Z,1736380766.440 [DAT](INFO): Ping request sent. 2025-01-08T23:59:26.440Z,1736380766.440 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:26.441Z,1736380766.441 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:59:26.442Z,1736380766.442 [DAT](INFO): direction in FSK: [-0.110103,0.017253,0.993770] 2025-01-08T23:59:26.442Z,1736380766.442 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:26.442Z,1736380766.442 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:26.445Z,1736380766.445 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:26.445Z,1736380766.445 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:26.537Z,1736380766.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:26.584Z,1736380766.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 3.525872 s, deltaX: -1.699997 m, approachRate: -0.482149 m/s, rangeRepo size: 4 2025-01-08T23:59:26.586Z,1736380766.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 109.500000 m, bearing: 177.967072 deg, lat: 36.904474 deg, lon: -122.120901 deg, deltaT: 3.525872 s, deltaX: -1.699997 m, approachRate: -0.482149 m/s, posRepo size: 4 2025-01-08T23:59:26.587Z,1736380766.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:59:26.593Z,1736380766.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 23.393393 m, bearing: 264.476078 deg, approach rate: 0.000000 m/s, LOS rate: -1.567831 deg/s, cmd heading: 346.392825 deg, new cmd heading: 344.225990 deg. 2025-01-08T23:59:26.594Z,1736380766.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007877 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:59:26.683Z,1736380766.683 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:26.686Z,1736380766.686 [DAT](INFO): DAT read: TxSync time:23:59:25.7518 2025-01-08T23:59:26.932Z,1736380766.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:27.086Z,1736380767.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:27.095Z,1736380767.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:59:27.098Z,1736380767.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 23.491201 m, bearing: 263.729229 deg, approach rate: 0.189530 m/s, LOS rate: -1.441145 deg/s, cmd heading: 344.225989 deg, new cmd heading: 341.995963 deg. 2025-01-08T23:59:27.099Z,1736380767.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968956 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:59:27.184Z,1736380767.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:27.436Z,1736380767.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:27.454Z,1736380767.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:27.463Z,1736380767.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:59:27.467Z,1736380767.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 23.543896 m, bearing: 263.221812 deg, approach rate: 0.143069 m/s, LOS rate: -1.374579 deg/s, cmd heading: 341.995959 deg, new cmd heading: 340.477489 deg. 2025-01-08T23:59:27.468Z,1736380767.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942453 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:59:27.689Z,1736380767.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:27.872Z,1736380767.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:27.878Z,1736380767.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:27.897Z,1736380767.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:59:27.905Z,1736380767.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 23.578075 m, bearing: 262.649058 deg, approach rate: 0.078811 m/s, LOS rate: -1.318704 deg/s, cmd heading: 340.477499 deg, new cmd heading: 338.762270 deg. 2025-01-08T23:59:27.906Z,1736380767.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912517 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:59:27.941Z,1736380767.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:27.942Z,1736380767.942 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:27.942Z,1736380767.942 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:27.943Z,1736380767.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:28.192Z,1736380768.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:28.192Z,1736380768.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751987 2025-01-08T23:59:28.245Z,1736380768.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:28.254Z,1736380768.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:59:28.273Z,1736380768.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 23.605030 m, bearing: 262.136891 deg, approach rate: 0.075408 m/s, LOS rate: -1.431172 deg/s, cmd heading: 338.762274 deg, new cmd heading: 337.227915 deg. 2025-01-08T23:59:28.274Z,1736380768.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885737 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:59:28.444Z,1736380768.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:28.444Z,1736380768.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003932 2025-01-08T23:59:28.673Z,1736380768.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:28.698Z,1736380768.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:28.700Z,1736380768.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259137 2025-01-08T23:59:28.736Z,1736380768.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:59:28.744Z,1736380768.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 23.630810 m, bearing: 261.551705 deg, approach rate: 0.054024 m/s, LOS rate: -1.224960 deg/s, cmd heading: 337.227913 deg, new cmd heading: 335.474848 deg. 2025-01-08T23:59:28.745Z,1736380768.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855141 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:59:28.950Z,1736380768.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:28.952Z,1736380768.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512022 2025-01-08T23:59:29.109Z,1736380769.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:29.139Z,1736380769.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:59:29.142Z,1736380769.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 23.639383 m, bearing: 260.946163 deg, approach rate: 0.021231 m/s, LOS rate: -1.498962 deg/s, cmd heading: 335.474850 deg, new cmd heading: 333.659525 deg. 2025-01-08T23:59:29.143Z,1736380769.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823457 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:59:29.200Z,1736380769.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:29.201Z,1736380769.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760208 2025-01-08T23:59:29.453Z,1736380769.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:29.454Z,1736380769.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013719 2025-01-08T23:59:29.475Z,1736380769.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:29.485Z,1736380769.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:59:29.488Z,1736380769.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 23.636288 m, bearing: 260.439599 deg, approach rate: -0.008845 m/s, LOS rate: -1.447567 deg/s, cmd heading: 333.659522 deg, new cmd heading: 332.140007 deg. 2025-01-08T23:59:29.489Z,1736380769.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796937 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:59:29.706Z,1736380769.706 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:29.708Z,1736380769.708 [DAT](INFO): DAT read: Rx Time:23:59:28.3015 2025-01-08T23:59:29.710Z,1736380769.710 [DAT](INFO): Rx dataTimestamp_ set to:1736380769.708775 2025-01-08T23:59:29.712Z,1736380769.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270603 2025-01-08T23:59:29.900Z,1736380769.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:29.907Z,1736380769.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:29.909Z,1736380769.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m. 2025-01-08T23:59:29.912Z,1736380769.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.500000 m, nav range: 23.605047 m, bearing: 259.874057 deg, approach rate: -0.073674 m/s, LOS rate: -1.335447 deg/s, cmd heading: 332.139996 deg, new cmd heading: 330.441649 deg. 2025-01-08T23:59:29.913Z,1736380769.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767295 target range: 109.500000 and range: 109.50 m. 2025-01-08T23:59:29.958Z,1736380769.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:29.961Z,1736380769.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519753 2025-01-08T23:59:30.209Z,1736380770.209 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:30.221Z,1736380770.221 [DAT](INFO): DAT read: 23:59:28.3015 LVL= 11584, 22097, 16834, 25843, AGC= 57, IDX= 423, 0.50,-0.009,-1.602,-2.005,-0.936, PHS= 1.015,-0.619,-1.073, RAW= 78.1, 7.2, CAL= 82.3, 8.9, ROT= 67.7, -8.9 2025-01-08T23:59:30.223Z,1736380770.223 [DAT](INFO): got valid direction response: 23:59:28.3015 LVL= 11584, 22097, 16834, 25843, AGC= 57, IDX= 423, 0.50,-0.009,-1.602,-2.005,-0.936, PHS= 1.015,-0.619,-1.073, RAW= 78.1, 7.2, CAL= 82.3, 8.9, ROT= 67.7, -8.9 2025-01-08T23:59:30.226Z,1736380770.226 [DAT](INFO): DAT read: Bearing 67.7, -8.9 (Local) 2025-01-08T23:59:30.226Z,1736380770.226 [DAT](INFO): Local bearing/azimuth received: Bearing 67.7, -8.9 (Local) 2025-01-08T23:59:30.229Z,1736380770.229 [DAT](INFO): DAT read: Range 10 to 50 : 108.6 m (Round-trip 144.8 ms) speed 0.0 m/s 2025-01-08T23:59:30.230Z,1736380770.230 [DAT](INFO): DAT read: user:3556> 2025-01-08T23:59:30.231Z,1736380770.231 [DAT](INFO): DAT read: Tx time:23:59:29.4026 2025-01-08T23:59:30.231Z,1736380770.231 [DAT](INFO): Ping request sent. 2025-01-08T23:59:30.231Z,1736380770.231 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:30.232Z,1736380770.232 [DAT](INFO): DAT read: TxSync time:23:59:29.4018 2025-01-08T23:59:30.233Z,1736380770.233 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:59:30.234Z,1736380770.234 [DAT](INFO): direction in FSK: [-0.198146,0.311252,0.929441] 2025-01-08T23:59:30.234Z,1736380770.234 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:30.234Z,1736380770.234 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:30.262Z,1736380770.262 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:30.262Z,1736380770.262 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:30.345Z,1736380770.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:30.378Z,1736380770.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.599998 m, deltaT: 3.781640 s, deltaX: -0.900002 m, approachRate: -0.237992 m/s, rangeRepo size: 4 2025-01-08T23:59:30.384Z,1736380770.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.599998 m, bearing: 88.449600 deg, lat: 36.904474 deg, lon: -122.120901 deg, deltaT: 3.781640 s, deltaX: -0.900002 m, approachRate: -0.237992 m/s, posRepo size: 4 2025-01-08T23:59:30.388Z,1736380770.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:30.390Z,1736380770.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 23.567558 m, bearing: 259.284237 deg, approach rate: 0.000000 m/s, LOS rate: -1.335447 deg/s, cmd heading: 330.441656 deg, new cmd heading: 328.568266 deg. 2025-01-08T23:59:30.391Z,1736380770.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734598 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:30.460Z,1736380770.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:30.708Z,1736380770.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:30.714Z,1736380770.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:30.772Z,1736380770.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:30.775Z,1736380770.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 23.535118 m, bearing: 258.832546 deg, approach rate: -0.083108 m/s, LOS rate: -1.158758 deg/s, cmd heading: 328.568272 deg, new cmd heading: 327.211599 deg. 2025-01-08T23:59:30.780Z,1736380770.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710920 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:30.964Z,1736380770.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:31.105Z,1736380771.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:31.114Z,1736380771.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:31.117Z,1736380771.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 23.472843 m, bearing: 258.280826 deg, approach rate: -0.179611 m/s, LOS rate: -1.595442 deg/s, cmd heading: 327.211605 deg, new cmd heading: 325.552544 deg. 2025-01-08T23:59:31.118Z,1736380771.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681964 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:31.216Z,1736380771.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:31.468Z,1736380771.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:31.531Z,1736380771.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:31.540Z,1736380771.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:31.543Z,1736380771.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 23.405262 m, bearing: 257.723154 deg, approach rate: -0.158523 m/s, LOS rate: -1.311867 deg/s, cmd heading: 325.552552 deg, new cmd heading: 323.875210 deg. 2025-01-08T23:59:31.544Z,1736380771.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.652689 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:31.721Z,1736380771.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:31.969Z,1736380771.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:31.972Z,1736380771.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:31.992Z,1736380771.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:31.994Z,1736380771.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:31.997Z,1736380771.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 23.329588 m, bearing: 257.133223 deg, approach rate: -0.166749 m/s, LOS rate: -1.304119 deg/s, cmd heading: 323.875221 deg, new cmd heading: 322.100287 deg. 2025-01-08T23:59:31.999Z,1736380771.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621710 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:32.224Z,1736380772.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:32.225Z,1736380772.225 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:32.225Z,1736380772.225 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:32.226Z,1736380772.226 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:32.408Z,1736380772.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:32.418Z,1736380772.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:32.420Z,1736380772.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 23.242878 m, bearing: 256.552521 deg, approach rate: -0.204763 m/s, LOS rate: -1.376399 deg/s, cmd heading: 322.100274 deg, new cmd heading: 320.352242 deg. 2025-01-08T23:59:32.421Z,1736380772.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.591201 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:32.477Z,1736380772.477 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:32.479Z,1736380772.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247291 2025-01-08T23:59:32.729Z,1736380772.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:32.732Z,1736380772.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500177 2025-01-08T23:59:32.865Z,1736380772.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:32.884Z,1736380772.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:32.891Z,1736380772.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 23.146170 m, bearing: 255.960227 deg, approach rate: -0.207132 m/s, LOS rate: -1.273868 deg/s, cmd heading: 320.352237 deg, new cmd heading: 318.568537 deg. 2025-01-08T23:59:32.892Z,1736380772.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560070 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:32.980Z,1736380772.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:32.981Z,1736380772.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749624 2025-01-08T23:59:33.217Z,1736380773.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:33.226Z,1736380773.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:33.229Z,1736380773.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 23.067911 m, bearing: 255.505250 deg, approach rate: -0.229136 m/s, LOS rate: -1.336644 deg/s, cmd heading: 318.568547 deg, new cmd heading: 317.199263 deg. 2025-01-08T23:59:33.230Z,1736380773.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536171 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:33.232Z,1736380773.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:33.233Z,1736380773.233 [DAT](INFO): DAT read: Rx Time:23:59:31.9516 2025-01-08T23:59:33.233Z,1736380773.233 [DAT](INFO): Rx dataTimestamp_ set to:1736380773.233182 2025-01-08T23:59:33.234Z,1736380773.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003059 2025-01-08T23:59:33.484Z,1736380773.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:33.484Z,1736380773.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253502 2025-01-08T23:59:33.642Z,1736380773.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:33.658Z,1736380773.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:33.664Z,1736380773.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 22.969677 m, bearing: 254.961160 deg, approach rate: -0.227234 m/s, LOS rate: -1.263948 deg/s, cmd heading: 317.199258 deg, new cmd heading: 315.560476 deg. 2025-01-08T23:59:33.666Z,1736380773.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507569 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:33.736Z,1736380773.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:33.738Z,1736380773.738 [DAT](INFO): DAT read: Range 10 to 50 : 108.6 m (Round-trip 144.8 ms) speed 0.0 m/s 2025-01-08T23:59:33.738Z,1736380773.738 [DAT](INFO): DAT read: user:3557> 2025-01-08T23:59:33.740Z,1736380773.740 [DAT](INFO): DAT read: Tx time:23:59:33.0527 2025-01-08T23:59:33.741Z,1736380773.741 [DAT](INFO): Ping request sent. 2025-01-08T23:59:33.741Z,1736380773.741 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:33.742Z,1736380773.742 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:59:33.742Z,1736380773.742 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:33.747Z,1736380773.747 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:33.988Z,1736380773.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:33.988Z,1736380773.988 [DAT](INFO): DAT read: TxSync time:23:59:33.0519 2025-01-08T23:59:34.135Z,1736380774.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:34.147Z,1736380774.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:34.151Z,1736380774.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.599998 m, deltaT: 3.526655 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-01-08T23:59:34.171Z,1736380774.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:34.174Z,1736380774.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 22.866365 m, bearing: 254.326400 deg, approach rate: -0.210137 m/s, LOS rate: -1.296918 deg/s, cmd heading: 315.560477 deg, new cmd heading: 313.648345 deg. 2025-01-08T23:59:34.180Z,1736380774.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474196 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:34.242Z,1736380774.242 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:34.243Z,1736380774.243 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:34.243Z,1736380774.243 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:34.243Z,1736380774.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:34.496Z,1736380774.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:34.496Z,1736380774.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755812 2025-01-08T23:59:34.526Z,1736380774.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:34.540Z,1736380774.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:34.543Z,1736380774.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 22.775524 m, bearing: 253.831891 deg, approach rate: -0.232664 m/s, LOS rate: -1.271580 deg/s, cmd heading: 313.648352 deg, new cmd heading: 312.159260 deg. 2025-01-08T23:59:34.544Z,1736380774.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448207 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:34.750Z,1736380774.750 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:34.752Z,1736380774.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011386 2025-01-08T23:59:34.997Z,1736380774.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:34.000Z,1736380775.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:35.001Z,1736380775.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259954 2025-01-08T23:59:35.009Z,1736380775.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:35.011Z,1736380775.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 22.668938 m, bearing: 253.246725 deg, approach rate: -0.227679 m/s, LOS rate: -1.255825 deg/s, cmd heading: 312.159261 deg, new cmd heading: 310.396097 deg. 2025-01-08T23:59:35.012Z,1736380775.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.417434 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:35.252Z,1736380775.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:35.252Z,1736380775.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511898 2025-01-08T23:59:35.384Z,1736380775.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:35.393Z,1736380775.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:35.412Z,1736380775.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 22.583208 m, bearing: 252.762182 deg, approach rate: -0.223007 m/s, LOS rate: -1.265202 deg/s, cmd heading: 310.396089 deg, new cmd heading: 308.937275 deg. 2025-01-08T23:59:35.413Z,1736380775.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.391973 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:35.504Z,1736380775.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:35.504Z,1736380775.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763770 2025-01-08T23:59:35.757Z,1736380775.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:35.758Z,1736380775.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017155 2025-01-08T23:59:35.868Z,1736380775.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:35.888Z,1736380775.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:35.891Z,1736380775.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 22.467733 m, bearing: 252.172828 deg, approach rate: -0.233224 m/s, LOS rate: -1.196416 deg/s, cmd heading: 308.937270 deg, new cmd heading: 307.160720 deg. 2025-01-08T23:59:35.906Z,1736380775.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.360966 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:36.008Z,1736380776.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:36.009Z,1736380776.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268052 2025-01-08T23:59:36.234Z,1736380776.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:36.260Z,1736380776.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:36.260Z,1736380776.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519925 2025-01-08T23:59:36.263Z,1736380776.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:36.266Z,1736380776.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:36.281Z,1736380776.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 22.390892 m, bearing: 251.728350 deg, approach rate: -0.203394 m/s, LOS rate: -1.180531 deg/s, cmd heading: 307.160710 deg, new cmd heading: 305.822958 deg. 2025-01-08T23:59:36.283Z,1736380776.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.337617 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:36.513Z,1736380776.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:36.515Z,1736380776.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773693 2025-01-08T23:59:36.697Z,1736380776.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:36.724Z,1736380776.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:36.726Z,1736380776.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 22.291271 m, bearing: 251.175224 deg, approach rate: -0.225841 m/s, LOS rate: -1.259521 deg/s, cmd heading: 305.822950 deg, new cmd heading: 304.156653 deg. 2025-01-08T23:59:36.732Z,1736380776.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308535 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:36.764Z,1736380776.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:36.765Z,1736380776.765 [DAT](INFO): DAT read: Rx Time:23:59:35.6014 2025-01-08T23:59:36.766Z,1736380776.766 [DAT](INFO): Rx dataTimestamp_ set to:1736380776.765486 2025-01-08T23:59:36.766Z,1736380776.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025747 2025-01-08T23:59:37.016Z,1736380777.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:37.017Z,1736380777.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276089 2025-01-08T23:59:37.135Z,1736380777.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:37.156Z,1736380777.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m. 2025-01-08T23:59:37.158Z,1736380777.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.599998 m, nav range: 22.205767 m, bearing: 250.668569 deg, approach rate: -0.190464 m/s, LOS rate: -1.132919 deg/s, cmd heading: 304.156657 deg, new cmd heading: 302.631219 deg. 2025-01-08T23:59:37.168Z,1736380777.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281911 target range: 108.599998 and range: 108.60 m. 2025-01-08T23:59:37.269Z,1736380777.269 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:37.272Z,1736380777.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530978 2025-01-08T23:59:37.520Z,1736380777.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:37.528Z,1736380777.528 [DAT](INFO): DAT read: 23:59:35.6014 LVL= 11520, 11713, 14578, 21459, AGC= 55, IDX= 437, 0.26, 1.155, 0.134,-1.302,-0.021, PHS= 1.264, 0.203,-1.283, RAW= 54.5, -1.7, CAL= 57.0, -5.1, ROT= 93.0, 5.1 2025-01-08T23:59:37.530Z,1736380777.530 [DAT](INFO): got valid direction response: 23:59:35.6014 LVL= 11520, 11713, 14578, 21459, AGC= 55, IDX= 437, 0.26, 1.155, 0.134,-1.302,-0.021, PHS= 1.264, 0.203,-1.283, RAW= 54.5, -1.7, CAL= 57.0, -5.1, ROT= 93.0, 5.1 2025-01-08T23:59:37.533Z,1736380777.533 [DAT](INFO): DAT read: Bearing 93.0, 5.1 (Local) 2025-01-08T23:59:37.534Z,1736380777.534 [DAT](INFO): Local bearing/azimuth received: Bearing 93.0, 5.1 (Local) 2025-01-08T23:59:37.552Z,1736380777.552 [DAT](INFO): DAT read: Range 10 to 50 : 108.4 m (Round-trip 144.6 ms) speed 0.0 m/s 2025-01-08T23:59:37.553Z,1736380777.553 [DAT](INFO): DAT read: user:3558> 2025-01-08T23:59:37.554Z,1736380777.554 [DAT](INFO): DAT read: Tx time:23:59:36.7027 2025-01-08T23:59:37.554Z,1736380777.554 [DAT](INFO): Ping request sent. 2025-01-08T23:59:37.554Z,1736380777.554 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:37.555Z,1736380777.555 [DAT](INFO): DAT read: TxSync time:23:59:36.7019 2025-01-08T23:59:37.566Z,1736380777.566 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-08T23:59:37.567Z,1736380777.567 [DAT](INFO): direction in FSK: [0.013304,0.646534,0.762769] 2025-01-08T23:59:37.579Z,1736380777.579 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:37.580Z,1736380777.580 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:37.592Z,1736380777.592 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:37.592Z,1736380777.592 [DAT](INFO): publishing direction and range info 2025-01-08T23:59:37.653Z,1736380777.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:37.705Z,1736380777.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.400002 m, deltaT: 3.783859 s, deltaX: -0.199997 m, approachRate: -0.052855 m/s, rangeRepo size: 4 2025-01-08T23:59:37.712Z,1736380777.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.400002 m, bearing: 34.528001 deg, lat: 36.904474 deg, lon: -122.120638 deg, deltaT: 7.310514 s, deltaX: -0.199997 m, approachRate: -0.027357 m/s, posRepo size: 4 2025-01-08T23:59:37.712Z,1736380777.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:37.716Z,1736380777.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 7.967991 m, bearing: 161.087290 deg, approach rate: 0.000000 m/s, LOS rate: -1.132919 deg/s, cmd heading: 302.631229 deg, new cmd heading: 300.766741 deg. 2025-01-08T23:59:37.717Z,1736380777.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.249370 target range: 108.400002 and range: 108.40 m. 2025-01-08T23:59:37.772Z,1736380777.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:38.024Z,1736380778.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:38.083Z,1736380778.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:38.113Z,1736380778.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:38.125Z,1736380778.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 8.146959 m, bearing: 160.466242 deg, approach rate: 0.438812 m/s, LOS rate: -1.489267 deg/s, cmd heading: 300.766752 deg, new cmd heading: 298.945187 deg. 2025-01-08T23:59:38.126Z,1736380778.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.217578 target range: 108.400002 and range: 108.40 m. 2025-01-08T23:59:38.276Z,1736380778.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:38.417Z,1736380778.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:38.423Z,1736380778.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:38.425Z,1736380778.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:38.428Z,1736380778.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 8.287509 m, bearing: 159.967898 deg, approach rate: 0.449119 m/s, LOS rate: -1.565408 deg/s, cmd heading: 298.945195 deg, new cmd heading: 297.475857 deg. 2025-01-08T23:59:38.429Z,1736380778.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.191933 target range: 108.400002 and range: 108.40 m. 2025-01-08T23:59:38.528Z,1736380778.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:38.529Z,1736380778.529 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:38.529Z,1736380778.529 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:38.530Z,1736380778.530 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:38.780Z,1736380778.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:38.781Z,1736380778.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226443 2025-01-08T23:59:38.929Z,1736380778.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:38.938Z,1736380778.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:38.941Z,1736380778.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 8.498243 m, bearing: 159.171145 deg, approach rate: 0.411221 m/s, LOS rate: -1.516158 deg/s, cmd heading: 297.475857 deg, new cmd heading: 295.146230 deg. 2025-01-08T23:59:38.942Z,1736380778.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151274 target range: 108.400002 and range: 108.40 m. 2025-01-08T23:59:39.033Z,1736380779.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:39.033Z,1736380779.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479198 2025-01-08T23:59:39.281Z,1736380779.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:39.284Z,1736380779.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:39.285Z,1736380779.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730425 2025-01-08T23:59:39.310Z,1736380779.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:39.321Z,1736380779.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 8.641857 m, bearing: 158.627286 deg, approach rate: 0.385538 m/s, LOS rate: -1.435730 deg/s, cmd heading: 295.146244 deg, new cmd heading: 293.542226 deg. 2025-01-08T23:59:39.322Z,1736380779.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.123278 target range: 108.400002 and range: 108.40 m. 2025-01-08T23:59:39.536Z,1736380779.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:39.536Z,1736380779.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982151 2025-01-08T23:59:39.639Z,1736380779.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:39.653Z,1736380779.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:39.658Z,1736380779.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 8.787018 m, bearing: 158.068910 deg, approach rate: 0.424579 m/s, LOS rate: -1.606185 deg/s, cmd heading: 293.542215 deg, new cmd heading: 291.895238 deg. 2025-01-08T23:59:39.676Z,1736380779.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.094533 target range: 108.400002 and range: 108.40 m. 2025-01-08T23:59:39.788Z,1736380779.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:39.789Z,1736380779.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234523 2025-01-08T23:59:40.041Z,1736380780.041 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:40.042Z,1736380780.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487763 2025-01-08T23:59:40.107Z,1736380780.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:40.117Z,1736380780.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:40.120Z,1736380780.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 8.976558 m, bearing: 157.249848 deg, approach rate: 0.408398 m/s, LOS rate: -1.727495 deg/s, cmd heading: 291.895238 deg, new cmd heading: 289.491427 deg. 2025-01-08T23:59:40.121Z,1736380780.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.052578 target range: 108.400002 and range: 108.40 m. 2025-01-08T23:59:40.292Z,1736380780.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:40.293Z,1736380780.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738447 2025-01-08T23:59:40.447Z,1736380780.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:40.463Z,1736380780.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:40.467Z,1736380780.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:40.489Z,1736380780.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 9.112844 m, bearing: 156.654348 deg, approach rate: 0.389991 m/s, LOS rate: -1.678536 deg/s, cmd heading: 289.491421 deg, new cmd heading: 287.732226 deg. 2025-01-08T23:59:40.490Z,1736380780.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.021875 target range: 108.400002 and range: 108.40 m. 2025-01-08T23:59:40.545Z,1736380780.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:40.546Z,1736380780.546 [DAT](INFO): DAT read: Rx Time:23:59:39.2524 2025-01-08T23:59:40.547Z,1736380780.547 [DAT](INFO): Rx dataTimestamp_ set to:1736380780.546632 2025-01-08T23:59:40.548Z,1736380780.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993948 2025-01-08T23:59:40.796Z,1736380780.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:40.796Z,1736380780.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242188 2025-01-08T23:59:41.026Z,1736380781.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:41.034Z,1736380781.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:41.037Z,1736380781.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 9.343702 m, bearing: 155.474735 deg, approach rate: 0.406291 m/s, LOS rate: -2.024588 deg/s, cmd heading: 287.732237 deg, new cmd heading: 284.285240 deg. 2025-01-08T23:59:41.038Z,1736380781.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.961713 target range: 108.400002 and range: 108.40 m. 2025-01-08T23:59:41.049Z,1736380781.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:41.062Z,1736380781.062 [DAT](INFO): DAT read: 23:59:39.2524 LVL= 16592, 16545, 16114, 22771, AIDX= 446, 0.41, 0.077, 0.019,-2.062,-0.697, PHS= 0.862, 0.763,-1.367, RAW= 32.3, -2.4, CAL= 32.2, -5.0, ROT= 117.8, 5.0 2025-01-08T23:59:41.063Z,1736380781.063 [DAT](INFO): unknown deviceResponse_: 23:59:39.2524 LVL= 16592, 16545, 16114, 22771, AIDX= 446, 0.41, 0.077, 0.019,-2.062,-0.697, PHS= 0.862, 0.763,-1.367, RAW= 32.3, -2.4, CAL= 32.2, -5.0, ROT= 117.8, 5.0 2025-01-08T23:59:41.064Z,1736380781.064 [DAT](INFO): DAT read: Bearing 117.8, 5.0 (Local) 2025-01-08T23:59:41.064Z,1736380781.064 [DAT](INFO): Local bearing/azimuth received: Bearing 117.8, 5.0 (Local) 2025-01-08T23:59:41.066Z,1736380781.066 [DAT](INFO): DAT read: Range 10 to 50 : 109.2 m (Round-trip 145.6 ms) speed -0.4 m/s 2025-01-08T23:59:41.073Z,1736380781.073 [DAT](INFO): DAT read: user:3559> 2025-01-08T23:59:41.074Z,1736380781.074 [DAT](INFO): DAT read: Tx time:23:59:40.3527 2025-01-08T23:59:41.074Z,1736380781.074 [DAT](INFO): Ping request sent. 2025-01-08T23:59:41.075Z,1736380781.075 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:41.075Z,1736380781.075 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:59:41.075Z,1736380781.075 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:41.076Z,1736380781.076 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:41.300Z,1736380781.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:41.301Z,1736380781.301 [DAT](INFO): DAT read: TxSync time:23:59:40.3519 2025-01-08T23:59:41.347Z,1736380781.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:41.367Z,1736380781.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.199997 m, deltaT: 3.529666 s, deltaX: 0.799995 m, approachRate: 0.226649 m/s, rangeRepo size: 4 2025-01-08T23:59:41.368Z,1736380781.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:41.371Z,1736380781.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 9.470639 m, bearing: 154.824273 deg, approach rate: 0.386495 m/s, LOS rate: -1.953926 deg/s, cmd heading: 284.285232 deg, new cmd heading: 282.360767 deg. 2025-01-08T23:59:41.377Z,1736380781.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.928125 target range: 108.400002 and range: 109.20 m. 2025-01-08T23:59:41.552Z,1736380781.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:41.724Z,1736380781.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:41.733Z,1736380781.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:41.752Z,1736380781.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 9.617927 m, bearing: 154.055375 deg, approach rate: 0.397876 m/s, LOS rate: -2.045201 deg/s, cmd heading: 282.360758 deg, new cmd heading: 280.090645 deg. 2025-01-08T23:59:41.753Z,1736380781.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888504 target range: 108.400002 and range: 109.20 m. 2025-01-08T23:59:41.805Z,1736380781.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:42.056Z,1736380782.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:42.151Z,1736380782.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:42.160Z,1736380782.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:42.162Z,1736380782.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 9.789905 m, bearing: 153.072065 deg, approach rate: 0.402637 m/s, LOS rate: -2.261585 deg/s, cmd heading: 280.090649 deg, new cmd heading: 277.195150 deg. 2025-01-08T23:59:42.164Z,1736380782.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.837968 target range: 108.400002 and range: 109.20 m. 2025-01-08T23:59:42.308Z,1736380782.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:42.540Z,1736380782.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:42.546Z,1736380782.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:42.550Z,1736380782.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:42.553Z,1736380782.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 9.945118 m, bearing: 152.183821 deg, approach rate: 0.398255 m/s, LOS rate: -2.243444 deg/s, cmd heading: 277.195141 deg, new cmd heading: 274.573932 deg. 2025-01-08T23:59:42.554Z,1736380782.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792219 target range: 108.400002 and range: 109.20 m. 2025-01-08T23:59:42.560Z,1736380782.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:42.561Z,1736380782.561 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:42.561Z,1736380782.561 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:42.561Z,1736380782.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:42.812Z,1736380782.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:42.812Z,1736380782.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737910 2025-01-08T23:59:43.005Z,1736380783.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:43.013Z,1736380783.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:43.016Z,1736380783.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 10.141746 m, bearing: 151.058042 deg, approach rate: 0.424326 m/s, LOS rate: -2.382197 deg/s, cmd heading: 274.573932 deg, new cmd heading: 271.265968 deg. 2025-01-08T23:59:43.018Z,1736380783.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.734484 target range: 108.400002 and range: 109.20 m. 2025-01-08T23:59:43.064Z,1736380783.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:43.065Z,1736380783.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990821 2025-01-08T23:59:43.316Z,1736380783.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:43.317Z,1736380783.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241936 2025-01-08T23:59:43.360Z,1736380783.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:43.370Z,1736380783.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:43.372Z,1736380783.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 10.290826 m, bearing: 150.202482 deg, approach rate: 0.418092 m/s, LOS rate: -2.364548 deg/s, cmd heading: 271.265963 deg, new cmd heading: 268.738202 deg. 2025-01-08T23:59:43.373Z,1736380783.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690366 target range: 108.400002 and range: 109.20 m. 2025-01-08T23:59:43.568Z,1736380783.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:43.568Z,1736380783.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493851 2025-01-08T23:59:43.773Z,1736380783.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:43.782Z,1736380783.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:43.785Z,1736380783.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 10.461823 m, bearing: 149.213956 deg, approach rate: 0.415483 m/s, LOS rate: -2.362507 deg/s, cmd heading: 268.738192 deg, new cmd heading: 265.823746 deg. 2025-01-08T23:59:43.786Z,1736380783.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639500 target range: 108.400002 and range: 109.20 m. 2025-01-08T23:59:43.820Z,1736380783.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:43.821Z,1736380783.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745991 2025-01-08T23:59:44.073Z,1736380784.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:44.074Z,1736380784.074 [DAT](INFO): DAT read: Rx Time:23:59:42.9046 2025-01-08T23:59:44.075Z,1736380784.075 [DAT](INFO): Rx dataTimestamp_ set to:1736380784.074278 2025-01-08T23:59:44.075Z,1736380784.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000521 2025-01-08T23:59:44.194Z,1736380784.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:44.203Z,1736380784.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:44.206Z,1736380784.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 10.659967 m, bearing: 148.266991 deg, approach rate: 0.469646 m/s, LOS rate: -2.202698 deg/s, cmd heading: 265.823750 deg, new cmd heading: 263.037985 deg. 2025-01-08T23:59:44.207Z,1736380784.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590879 target range: 108.400002 and range: 109.20 m. 2025-01-08T23:59:44.324Z,1736380784.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:44.324Z,1736380784.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249904 2025-01-08T23:59:44.576Z,1736380784.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:44.577Z,1736380784.577 [DAT](INFO): DAT read: Range 10 to 50 : 110.7 m (Round-trip 147.7 ms) speed -0.7 m/s 2025-01-08T23:59:44.578Z,1736380784.578 [DAT](INFO): DAT read: user:3560> 2025-01-08T23:59:44.579Z,1736380784.579 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:59:44.579Z,1736380784.579 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:44.580Z,1736380784.580 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:44.580Z,1736380784.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:44.624Z,1736380784.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:44.635Z,1736380784.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:44.638Z,1736380784.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 110.699997 m, deltaT: 3.526341 s, deltaX: 1.500000 m, approachRate: 0.425370 m/s, rangeRepo size: 4 2025-01-08T23:59:44.639Z,1736380784.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:44.653Z,1736380784.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 10.856014 m, bearing: 147.275090 deg, approach rate: 0.451186 m/s, LOS rate: -2.241447 deg/s, cmd heading: 263.037989 deg, new cmd heading: 260.118698 deg. 2025-01-08T23:59:44.655Z,1736380784.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539927 target range: 108.400002 and range: 110.70 m. 2025-01-08T23:59:44.828Z,1736380784.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:44.829Z,1736380784.829 [DAT](INFO): DAT read: Tx time:23:59:44.0028 2025-01-08T23:59:44.829Z,1736380784.829 [DAT](INFO): Ping request sent. 2025-01-08T23:59:44.829Z,1736380784.829 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:44.830Z,1736380784.830 [DAT](INFO): DAT read: TxSync time:23:59:44.0020 2025-01-08T23:59:44.830Z,1736380784.830 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:44.831Z,1736380784.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001540 2025-01-08T23:59:45.080Z,1736380785.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:45.081Z,1736380785.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251902 2025-01-08T23:59:45.105Z,1736380785.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:45.139Z,1736380785.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:45.142Z,1736380785.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 11.066273 m, bearing: 146.084787 deg, approach rate: 0.422631 m/s, LOS rate: -2.346946 deg/s, cmd heading: 260.118684 deg, new cmd heading: 256.620228 deg. 2025-01-08T23:59:45.143Z,1736380785.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478868 target range: 108.400002 and range: 110.70 m. 2025-01-08T23:59:45.332Z,1736380785.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:45.333Z,1736380785.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503728 2025-01-08T23:59:45.475Z,1736380785.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:45.485Z,1736380785.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:45.488Z,1736380785.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 11.226047 m, bearing: 145.176409 deg, approach rate: 0.456425 m/s, LOS rate: -2.557919 deg/s, cmd heading: 256.620234 deg, new cmd heading: 253.935963 deg. 2025-01-08T23:59:45.489Z,1736380785.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432019 target range: 108.400002 and range: 110.70 m. 2025-01-08T23:59:45.584Z,1736380785.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:45.585Z,1736380785.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755719 2025-01-08T23:59:45.836Z,1736380785.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:45.837Z,1736380785.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008191 2025-01-08T23:59:46.028Z,1736380786.028 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010816005123,35.0, +10.9, 0.0,14 2025-01-08T23:59:46.049Z,1736380786.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s. 2025-01-08T23:59:46.049Z,1736380786.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:46.066Z,1736380786.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:46.080Z,1736380786.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 11.471865 m, bearing: 143.780526 deg, approach rate: 0.423343 m/s, LOS rate: -2.352218 deg/s, cmd heading: 253.935969 deg, new cmd heading: 249.845423 deg. 2025-01-08T23:59:46.081Z,1736380786.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360625 target range: 108.400002 and range: 110.70 m. 2025-01-08T23:59:46.088Z,1736380786.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:46.088Z,1736380786.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259482 2025-01-08T23:59:46.341Z,1736380786.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:46.342Z,1736380786.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512902 2025-01-08T23:59:46.416Z,1736380786.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-08T23:59:46.417Z,1736380786.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:46.426Z,1736380786.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:46.429Z,1736380786.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 11.622747 m, bearing: 142.877127 deg, approach rate: 0.418892 m/s, LOS rate: -2.475422 deg/s, cmd heading: 249.845424 deg, new cmd heading: 247.172460 deg. 2025-01-08T23:59:46.430Z,1736380786.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313973 target range: 108.400002 and range: 110.70 m. 2025-01-08T23:59:46.592Z,1736380786.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:46.592Z,1736380786.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763389 2025-01-08T23:59:46.813Z,1736380786.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s. 2025-01-08T23:59:46.814Z,1736380786.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:46.822Z,1736380786.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:46.825Z,1736380786.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:46.828Z,1736380786.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 11.785175 m, bearing: 141.898929 deg, approach rate: 0.407304 m/s, LOS rate: -2.419003 deg/s, cmd heading: 247.172470 deg, new cmd heading: 244.280920 deg. 2025-01-08T23:59:46.829Z,1736380786.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.263506 target range: 108.400002 and range: 110.70 m. 2025-01-08T23:59:46.857Z,1736380786.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:46.858Z,1736380786.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.028928 2025-01-08T23:59:47.108Z,1736380787.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:47.110Z,1736380787.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281032 2025-01-08T23:59:47.249Z,1736380787.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:47.258Z,1736380787.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:47.261Z,1736380787.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 11.963254 m, bearing: 140.899626 deg, approach rate: 0.410897 m/s, LOS rate: -2.271344 deg/s, cmd heading: 244.280923 deg, new cmd heading: 241.330401 deg. 2025-01-08T23:59:47.262Z,1736380787.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212010 target range: 108.400002 and range: 110.70 m. 2025-01-08T23:59:47.368Z,1736380787.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:47.369Z,1736380787.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.539615 2025-01-08T23:59:47.620Z,1736380787.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:47.621Z,1736380787.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.791948 2025-01-08T23:59:47.622Z,1736380787.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:47.654Z,1736380787.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:47.667Z,1736380787.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 12.114051 m, bearing: 140.047947 deg, approach rate: 0.380877 m/s, LOS rate: -2.124284 deg/s, cmd heading: 241.330391 deg, new cmd heading: 238.808881 deg. 2025-01-08T23:59:47.669Z,1736380787.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168001 target range: 108.400002 and range: 110.70 m. 2025-01-08T23:59:47.872Z,1736380787.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:47.873Z,1736380787.873 [DAT](INFO): DAT read: Rx Time:23:59:46.5571 2025-01-08T23:59:47.873Z,1736380787.873 [DAT](INFO): Rx dataTimestamp_ set to:1736380787.872837 2025-01-08T23:59:47.874Z,1736380787.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.044648 2025-01-08T23:59:48.079Z,1736380788.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:48.087Z,1736380788.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:48.090Z,1736380788.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 12.292561 m, bearing: 139.075672 deg, approach rate: 0.412212 m/s, LOS rate: -2.212453 deg/s, cmd heading: 238.808876 deg, new cmd heading: 235.936955 deg. 2025-01-08T23:59:48.091Z,1736380788.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117877 target range: 108.400002 and range: 110.70 m. 2025-01-08T23:59:48.124Z,1736380788.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:48.125Z,1736380788.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.295968 2025-01-08T23:59:48.376Z,1736380788.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:48.377Z,1736380788.377 [DAT](INFO): DAT read: Range 10 to 50 : 112.5 m (Round-trip 150.1 ms) speed -0.4 m/s 2025-01-08T23:59:48.378Z,1736380788.378 [DAT](INFO): DAT read: user:3561> 2025-01-08T23:59:48.379Z,1736380788.379 [DAT](INFO): DAT read: Tx time:23:59:47.6528 2025-01-08T23:59:48.379Z,1736380788.379 [DAT](INFO): Ping request sent. 2025-01-08T23:59:48.379Z,1736380788.379 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:48.380Z,1736380788.380 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:59:48.380Z,1736380788.380 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:48.380Z,1736380788.380 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:48.486Z,1736380788.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:48.507Z,1736380788.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.500000 m, deltaT: 3.799890 s, deltaX: 1.800003 m, approachRate: 0.473699 m/s, rangeRepo size: 4 2025-01-08T23:59:48.508Z,1736380788.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:48.511Z,1736380788.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 12.449881 m, bearing: 138.211451 deg, approach rate: 0.378764 m/s, LOS rate: -2.054329 deg/s, cmd heading: 235.936946 deg, new cmd heading: 233.378844 deg. 2025-01-08T23:59:48.513Z,1736380788.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.073229 target range: 108.400002 and range: 112.50 m. 2025-01-08T23:59:48.628Z,1736380788.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:48.629Z,1736380788.629 [DAT](INFO): DAT read: TxSync time:23:59:47.6520 2025-01-08T23:59:48.832Z,1736380788.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:48.839Z,1736380788.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:48.841Z,1736380788.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:48.845Z,1736380788.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 12.581062 m, bearing: 137.477735 deg, approach rate: 0.387167 m/s, LOS rate: -2.142836 deg/s, cmd heading: 233.378849 deg, new cmd heading: 231.201758 deg. 2025-01-08T23:59:48.846Z,1736380788.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.035232 target range: 108.400002 and range: 112.50 m. 2025-01-08T23:59:48.880Z,1736380788.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:48.880Z,1736380788.880 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:48.880Z,1736380788.880 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:48.881Z,1736380788.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:49.020Z,1736380789.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-08T23:59:49.132Z,1736380789.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:49.132Z,1736380789.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752972 2025-01-08T23:59:49.256Z,1736380789.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:49.266Z,1736380789.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:49.269Z,1736380789.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 12.732803 m, bearing: 136.627795 deg, approach rate: 0.357263 m/s, LOS rate: -1.977199 deg/s, cmd heading: 231.201767 deg, new cmd heading: 228.684049 deg. 2025-01-08T23:59:49.270Z,1736380789.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.991290 target range: 108.400002 and range: 112.50 m. 2025-01-08T23:59:49.385Z,1736380789.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:49.386Z,1736380789.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006120 2025-01-08T23:59:49.636Z,1736380789.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:49.636Z,1736380789.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256960 2025-01-08T23:59:49.646Z,1736380789.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:49.662Z,1736380789.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:49.693Z,1736380789.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 12.869485 m, bearing: 135.848958 deg, approach rate: 0.345408 m/s, LOS rate: -1.947238 deg/s, cmd heading: 228.684050 deg, new cmd heading: 226.373679 deg. 2025-01-08T23:59:49.694Z,1736380789.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.950966 target range: 108.400002 and range: 112.50 m. 2025-01-08T23:59:49.888Z,1736380789.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:49.889Z,1736380789.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509173 2025-01-08T23:59:50.025Z,1736380790.025 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-08T23:59:50.122Z,1736380790.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:50.130Z,1736380790.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:50.133Z,1736380790.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 13.035576 m, bearing: 134.961335 deg, approach rate: 0.354695 m/s, LOS rate: -1.871335 deg/s, cmd heading: 226.373684 deg, new cmd heading: 223.746689 deg. 2025-01-08T23:59:50.136Z,1736380790.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.905116 target range: 108.400002 and range: 112.50 m. 2025-01-08T23:59:50.157Z,1736380790.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:50.160Z,1736380790.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.780329 2025-01-08T23:59:50.408Z,1736380790.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:50.409Z,1736380790.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029823 2025-01-08T23:59:50.475Z,1736380790.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:50.485Z,1736380790.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:50.501Z,1736380790.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 13.153469 m, bearing: 134.289009 deg, approach rate: 0.332163 m/s, LOS rate: -1.877250 deg/s, cmd heading: 223.746684 deg, new cmd heading: 221.748640 deg. 2025-01-08T23:59:50.509Z,1736380790.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.870244 target range: 108.400002 and range: 112.50 m. 2025-01-08T23:59:50.660Z,1736380790.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:50.661Z,1736380790.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281811 2025-01-08T23:59:50.864Z,1736380790.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:50.876Z,1736380790.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:50.878Z,1736380790.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:50.882Z,1736380790.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 13.280632 m, bearing: 133.548773 deg, approach rate: 0.323192 m/s, LOS rate: -1.863287 deg/s, cmd heading: 221.748635 deg, new cmd heading: 219.550332 deg. 2025-01-08T23:59:50.883Z,1736380790.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.831876 target range: 108.400002 and range: 112.50 m. 2025-01-08T23:59:50.913Z,1736380790.913 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:50.916Z,1736380790.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535572 2025-01-08T23:59:51.164Z,1736380791.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:51.164Z,1736380791.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785046 2025-01-08T23:59:51.278Z,1736380791.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:51.308Z,1736380791.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:51.311Z,1736380791.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 13.403022 m, bearing: 132.792441 deg, approach rate: 0.284719 m/s, LOS rate: -1.743359 deg/s, cmd heading: 219.550338 deg, new cmd heading: 217.303280 deg. 2025-01-08T23:59:51.316Z,1736380791.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.792658 target range: 108.400002 and range: 112.50 m. 2025-01-08T23:59:51.416Z,1736380791.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:51.417Z,1736380791.417 [DAT](INFO): DAT read: Rx Time:23:59:50.2093 2025-01-08T23:59:51.418Z,1736380791.418 [DAT](INFO): Rx dataTimestamp_ set to:1736380791.417401 2025-01-08T23:59:51.418Z,1736380791.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038850 2025-01-08T23:59:51.668Z,1736380791.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:51.670Z,1736380791.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290292 2025-01-08T23:59:51.686Z,1736380791.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:51.696Z,1736380791.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:51.719Z,1736380791.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 13.521010 m, bearing: 132.046852 deg, approach rate: 0.304847 m/s, LOS rate: -1.909515 deg/s, cmd heading: 217.303274 deg, new cmd heading: 215.087192 deg. 2025-01-08T23:59:51.721Z,1736380791.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753980 target range: 108.400002 and range: 112.50 m. 2025-01-08T23:59:51.920Z,1736380791.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:51.922Z,1736380791.922 [DAT](INFO): DAT read: Range 10 to 50 : 114.3 m (Round-trip 152.4 ms) speed -0.4 m/s 2025-01-08T23:59:51.923Z,1736380791.923 [DAT](INFO): DAT read: user:3562> 2025-01-08T23:59:51.924Z,1736380791.924 [DAT](INFO): DAT read: Tx time:23:59:51.3028 2025-01-08T23:59:51.925Z,1736380791.925 [DAT](INFO): Ping request sent. 2025-01-08T23:59:51.925Z,1736380791.925 [DAT](INFO): transmitted an acoustic signal 2025-01-08T23:59:51.926Z,1736380791.926 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-08T23:59:51.926Z,1736380791.926 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:51.927Z,1736380791.927 [DAT](INFO): publishing transmit ping time 2025-01-08T23:59:52.151Z,1736380792.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:52.160Z,1736380792.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.300003 m, deltaT: 3.544000 s, deltaX: 1.800003 m, approachRate: 0.507902 m/s, rangeRepo size: 4 2025-01-08T23:59:52.161Z,1736380792.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:52.164Z,1736380792.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 13.651856 m, bearing: 131.176460 deg, approach rate: 0.282151 m/s, LOS rate: -1.858816 deg/s, cmd heading: 215.087192 deg, new cmd heading: 212.502897 deg. 2025-01-08T23:59:52.165Z,1736380792.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.708875 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:52.172Z,1736380792.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:52.174Z,1736380792.174 [DAT](INFO): DAT read: TxSync time:23:59:51.3020 2025-01-08T23:59:52.424Z,1736380792.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:52.487Z,1736380792.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:52.497Z,1736380792.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:52.501Z,1736380792.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 13.740250 m, bearing: 130.534828 deg, approach rate: 0.261872 m/s, LOS rate: -1.888616 deg/s, cmd heading: 212.502895 deg, new cmd heading: 210.591131 deg. 2025-01-08T23:59:52.502Z,1736380792.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.675508 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:52.676Z,1736380792.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:52.881Z,1736380792.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:52.889Z,1736380792.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:52.892Z,1736380792.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:52.894Z,1736380792.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 13.840652 m, bearing: 129.780068 deg, approach rate: 0.254254 m/s, LOS rate: -1.897406 deg/s, cmd heading: 210.591125 deg, new cmd heading: 208.344488 deg. 2025-01-08T23:59:52.896Z,1736380792.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.636297 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:52.928Z,1736380792.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:52.929Z,1736380792.929 [DAT](INFO): ****** received valid address query ****** 2025-01-08T23:59:52.929Z,1736380792.929 [DAT](INFO): ****** received valid ping request ****** 2025-01-08T23:59:52.929Z,1736380792.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-08T23:59:53.180Z,1736380793.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:53.180Z,1736380793.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255522 2025-01-08T23:59:53.318Z,1736380793.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:53.328Z,1736380793.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:53.330Z,1736380793.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 13.943376 m, bearing: 128.947386 deg, approach rate: 0.235579 m/s, LOS rate: -1.895467 deg/s, cmd heading: 208.344484 deg, new cmd heading: 205.866476 deg. 2025-01-08T23:59:53.332Z,1736380793.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593048 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:53.432Z,1736380793.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:53.433Z,1736380793.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508327 2025-01-08T23:59:53.684Z,1736380793.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:53.685Z,1736380793.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759665 2025-01-08T23:59:53.694Z,1736380793.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:53.704Z,1736380793.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:53.707Z,1736380793.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 14.029408 m, bearing: 128.231703 deg, approach rate: 0.228234 m/s, LOS rate: -1.886923 deg/s, cmd heading: 205.866478 deg, new cmd heading: 203.733636 deg. 2025-01-08T23:59:53.708Z,1736380793.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.555823 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:53.936Z,1736380793.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:53.937Z,1736380793.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011719 2025-01-08T23:59:54.171Z,1736380794.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:54.180Z,1736380794.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:54.182Z,1736380794.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 14.142214 m, bearing: 127.265529 deg, approach rate: 0.237441 m/s, LOS rate: -2.017360 deg/s, cmd heading: 203.733642 deg, new cmd heading: 200.860787 deg. 2025-01-08T23:59:54.184Z,1736380794.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.505682 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:54.188Z,1736380794.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:54.189Z,1736380794.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263700 2025-01-08T23:59:54.440Z,1736380794.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:54.440Z,1736380794.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515562 2025-01-08T23:59:54.517Z,1736380794.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:54.545Z,1736380794.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:54.549Z,1736380794.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 14.221824 m, bearing: 126.566158 deg, approach rate: 0.217767 m/s, LOS rate: -1.902326 deg/s, cmd heading: 200.860782 deg, new cmd heading: 198.775387 deg. 2025-01-08T23:59:54.550Z,1736380794.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.469285 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:54.692Z,1736380794.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:54.692Z,1736380794.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767616 2025-01-08T23:59:54.917Z,1736380794.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:54.925Z,1736380794.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:54.927Z,1736380794.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:54.929Z,1736380794.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 14.311502 m, bearing: 125.754912 deg, approach rate: 0.235057 m/s, LOS rate: -2.112986 deg/s, cmd heading: 198.775389 deg, new cmd heading: 196.358416 deg. 2025-01-08T23:59:54.930Z,1736380794.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.427101 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:54.944Z,1736380794.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:54.945Z,1736380794.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019678 2025-01-08T23:59:55.196Z,1736380795.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:55.196Z,1736380795.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271465 2025-01-08T23:59:55.346Z,1736380795.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:55.356Z,1736380795.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:55.358Z,1736380795.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 14.416962 m, bearing: 124.845804 deg, approach rate: 0.245959 m/s, LOS rate: -2.104666 deg/s, cmd heading: 196.358417 deg, new cmd heading: 193.653170 deg. 2025-01-08T23:59:55.359Z,1736380795.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.379885 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:55.449Z,1736380795.449 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:55.449Z,1736380795.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524444 2025-01-08T23:59:55.700Z,1736380795.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:55.700Z,1736380795.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775600 2025-01-08T23:59:55.750Z,1736380795.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:55.758Z,1736380795.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:55.761Z,1736380795.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 14.513609 m, bearing: 123.991106 deg, approach rate: 0.239855 m/s, LOS rate: -2.106952 deg/s, cmd heading: 193.653171 deg, new cmd heading: 191.107921 deg. 2025-01-08T23:59:55.762Z,1736380795.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.335462 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:55.952Z,1736380795.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:55.952Z,1736380795.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027572 2025-01-08T23:59:56.204Z,1736380796.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:56.205Z,1736380796.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280178 2025-01-08T23:59:56.211Z,1736380796.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:56.220Z,1736380796.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:56.222Z,1736380796.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 14.647851 m, bearing: 122.967759 deg, approach rate: 0.290811 m/s, LOS rate: -2.196465 deg/s, cmd heading: 191.107914 deg, new cmd heading: 188.069024 deg. 2025-01-08T23:59:56.226Z,1736380796.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.282424 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:56.456Z,1736380796.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:56.458Z,1736380796.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532706 2025-01-08T23:59:56.544Z,1736380796.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:56.553Z,1736380796.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:56.572Z,1736380796.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 14.742093 m, bearing: 122.230830 deg, approach rate: 0.282919 m/s, LOS rate: -2.198092 deg/s, cmd heading: 188.069027 deg, new cmd heading: 185.873509 deg. 2025-01-08T23:59:56.573Z,1736380796.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.244105 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:56.708Z,1736380796.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:56.708Z,1736380796.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783477 2025-01-08T23:59:56.950Z,1736380796.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:56.957Z,1736380796.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:56.959Z,1736380796.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:56.960Z,1736380796.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:56.961Z,1736380796.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036131 2025-01-08T23:59:56.964Z,1736380796.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 14.853726 m, bearing: 121.330928 deg, approach rate: 0.275189 m/s, LOS rate: -2.201597 deg/s, cmd heading: 185.873503 deg, new cmd heading: 183.196148 deg. 2025-01-08T23:59:56.966Z,1736380796.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.197376 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:57.212Z,1736380797.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:57.213Z,1736380797.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287670 2025-01-08T23:59:57.364Z,1736380797.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:57.373Z,1736380797.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:57.376Z,1736380797.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 14.985680 m, bearing: 120.370276 deg, approach rate: 0.318695 m/s, LOS rate: -2.299643 deg/s, cmd heading: 183.196151 deg, new cmd heading: 180.342067 deg. 2025-01-08T23:59:57.377Z,1736380797.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.147563 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:57.464Z,1736380797.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:57.465Z,1736380797.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539576 2025-01-08T23:59:57.716Z,1736380797.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:57.717Z,1736380797.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791843 2025-01-08T23:59:57.757Z,1736380797.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:57.766Z,1736380797.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:57.769Z,1736380797.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 15.108073 m, bearing: 119.458192 deg, approach rate: 0.310914 m/s, LOS rate: -2.298079 deg/s, cmd heading: 180.342061 deg, new cmd heading: 177.630116 deg. 2025-01-08T23:59:57.770Z,1736380797.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.100230 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:57.968Z,1736380797.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:57.969Z,1736380797.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043660 2025-01-08T23:59:58.211Z,1736380798.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:58.222Z,1736380798.222 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:58.224Z,1736380798.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298147 2025-01-08T23:59:58.246Z,1736380798.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:58.253Z,1736380798.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 15.264579 m, bearing: 118.375823 deg, approach rate: 0.326004 m/s, LOS rate: -2.231343 deg/s, cmd heading: 177.630121 deg, new cmd heading: 174.419862 deg. 2025-01-08T23:59:58.254Z,1736380798.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.044201 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:58.472Z,1736380798.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:58.474Z,1736380798.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548927 2025-01-08T23:59:58.695Z,1736380798.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:58.721Z,1736380798.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:58.724Z,1736380798.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:58.725Z,1736380798.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799754 2025-01-08T23:59:58.726Z,1736380798.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 15.418313 m, bearing: 117.207144 deg, approach rate: 0.324028 m/s, LOS rate: -2.438514 deg/s, cmd heading: 174.419863 deg, new cmd heading: 170.953262 deg. 2025-01-08T23:59:58.727Z,1736380798.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.983697 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:58.976Z,1736380798.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:58.976Z,1736380798.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051516 2025-01-08T23:59:59.202Z,1736380799.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:59.213Z,1736380799.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-08T23:59:59.215Z,1736380799.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:59.217Z,1736380799.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 15.598514 m, bearing: 115.976876 deg, approach rate: 0.364947 m/s, LOS rate: -2.462599 deg/s, cmd heading: 170.953256 deg, new cmd heading: 167.310285 deg. 2025-01-08T23:59:59.218Z,1736380799.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.920115 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:59.228Z,1736380799.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:59.229Z,1736380799.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303890 2025-01-08T23:59:59.480Z,1736380799.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:59.481Z,1736380799.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555692 2025-01-08T23:59:59.568Z,1736380799.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:59.577Z,1736380799.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:59.583Z,1736380799.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 15.725208 m, bearing: 115.092615 deg, approach rate: 0.349797 m/s, LOS rate: -2.421629 deg/s, cmd heading: 167.310279 deg, new cmd heading: 164.680820 deg. 2025-01-08T23:59:59.584Z,1736380799.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874223 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:59.732Z,1736380799.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:59.733Z,1736380799.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808154 2025-01-08T23:59:59.959Z,1736380799.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-08T23:59:59.969Z,1736380799.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-08T23:59:59.971Z,1736380799.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 15.856379 m, bearing: 114.147018 deg, approach rate: 0.334824 m/s, LOS rate: -2.393645 deg/s, cmd heading: 164.680820 deg, new cmd heading: 161.869881 deg. 2025-01-08T23:59:59.972Z,1736380799.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.825162 target range: 108.400002 and range: 114.30 m. 2025-01-08T23:59:59.984Z,1736380799.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-08T23:59:59.985Z,1736380799.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059656 2025-01-09T00:00:00.236Z,1736380800.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:00.236Z,1736380800.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311564 2025-01-09T00:00:00.388Z,1736380800.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:00.406Z,1736380800.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:00.409Z,1736380800.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.006762 m, bearing: 113.133009 deg, approach rate: 0.344009 m/s, LOS rate: -2.297688 deg/s, cmd heading: 161.869883 deg, new cmd heading: 158.859367 deg. 2025-01-09T00:00:00.410Z,1736380800.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.772619 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:00.488Z,1736380800.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:00.489Z,1736380800.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563795 2025-01-09T00:00:00.740Z,1736380800.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:00.741Z,1736380800.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815856 2025-01-09T00:00:00.774Z,1736380800.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:00.784Z,1736380800.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:00.786Z,1736380800.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.130093 m, bearing: 112.207777 deg, approach rate: 0.326630 m/s, LOS rate: -2.431541 deg/s, cmd heading: 158.859367 deg, new cmd heading: 156.107131 deg. 2025-01-09T00:00:00.788Z,1736380800.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.724583 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:00.993Z,1736380800.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:00.994Z,1736380800.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069011 2025-01-09T00:00:01.225Z,1736380801.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:01.244Z,1736380801.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:01.244Z,1736380801.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319582 2025-01-09T00:00:01.254Z,1736380801.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:01.261Z,1736380801.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:01.268Z,1736380801.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.264687 m, bearing: 111.130870 deg, approach rate: 0.281948 m/s, LOS rate: -2.237107 deg/s, cmd heading: 156.107129 deg, new cmd heading: 152.906664 deg. 2025-01-09T00:00:01.269Z,1736380801.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668725 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:01.496Z,1736380801.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:01.497Z,1736380801.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572324 2025-01-09T00:00:01.587Z,1736380801.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:01.608Z,1736380801.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:01.611Z,1736380801.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.369068 m, bearing: 110.268895 deg, approach rate: 0.300602 m/s, LOS rate: -2.466423 deg/s, cmd heading: 152.906666 deg, new cmd heading: 150.339050 deg. 2025-01-09T00:00:01.616Z,1736380801.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623911 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:01.748Z,1736380801.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:01.749Z,1736380801.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824350 2025-01-09T00:00:01.974Z,1736380801.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:01.984Z,1736380801.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:01.986Z,1736380801.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.477034 m, bearing: 109.346223 deg, approach rate: 0.287562 m/s, LOS rate: -2.441295 deg/s, cmd heading: 150.339048 deg, new cmd heading: 147.591396 deg. 2025-01-09T00:00:01.987Z,1736380801.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.575956 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:01.000Z,1736380802.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:01.000Z,1736380802.000 [DAT](INFO): Reached modem response timeout 2025-01-09T00:00:02.000Z,1736380802.000 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:00:02.000Z,1736380802.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:02.252Z,1736380802.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:02.252Z,1736380802.252 [DAT](INFO): Reached modem response timeout 2025-01-09T00:00:02.253Z,1736380802.253 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:00:02.253Z,1736380802.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:02.409Z,1736380802.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:02.417Z,1736380802.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:02.420Z,1736380802.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.579056 m, bearing: 108.363886 deg, approach rate: 0.235153 m/s, LOS rate: -2.250168 deg/s, cmd heading: 147.591399 deg, new cmd heading: 144.665213 deg. 2025-01-09T00:00:02.421Z,1736380802.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.524884 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:02.505Z,1736380802.505 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:02.505Z,1736380802.505 [DAT](INFO): Reached modem response timeout 2025-01-09T00:00:02.506Z,1736380802.506 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:00:02.506Z,1736380802.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:02.756Z,1736380802.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:02.756Z,1736380802.756 [DAT](INFO): Reached modem response timeout 2025-01-09T00:00:02.756Z,1736380802.756 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:00:02.756Z,1736380802.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:02.779Z,1736380802.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:02.817Z,1736380802.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:02.824Z,1736380802.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.655035 m, bearing: 107.520042 deg, approach rate: 0.190100 m/s, LOS rate: -2.101587 deg/s, cmd heading: 144.665210 deg, new cmd heading: 142.146939 deg. 2025-01-09T00:00:02.825Z,1736380802.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.480932 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:03.008Z,1736380803.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:03.009Z,1736380803.009 [DAT](INFO): DAT read: Response Not Received 2025-01-09T00:00:03.009Z,1736380803.009 [DAT](INFO): response not received 2025-01-09T00:00:03.009Z,1736380803.009 [DAT](INFO): DAT read: user:3563> 2025-01-09T00:00:03.010Z,1736380803.010 [DAT](INFO): DAT read: Tx time:00:00:02.2530 2025-01-09T00:00:03.010Z,1736380803.010 [DAT](INFO): Ping request sent. 2025-01-09T00:00:03.010Z,1736380803.010 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:03.011Z,1736380803.011 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:03.012Z,1736380803.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001469 2025-01-09T00:00:03.259Z,1736380803.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:03.260Z,1736380803.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:03.261Z,1736380803.261 [DAT](INFO): DAT read: TxSync time:00:00:02.2522 2025-01-09T00:00:03.262Z,1736380803.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251187 2025-01-09T00:00:03.282Z,1736380803.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:03.289Z,1736380803.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:03.296Z,1736380803.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.730227 m, bearing: 106.442327 deg, approach rate: 0.159410 m/s, LOS rate: -2.274406 deg/s, cmd heading: 142.146933 deg, new cmd heading: 138.931888 deg. 2025-01-09T00:00:03.297Z,1736380803.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424819 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:03.513Z,1736380803.513 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:03.514Z,1736380803.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502723 2025-01-09T00:00:03.598Z,1736380803.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:03.607Z,1736380803.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:03.610Z,1736380803.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.780073 m, bearing: 105.681922 deg, approach rate: 0.156459 m/s, LOS rate: -2.379600 deg/s, cmd heading: 138.931894 deg, new cmd heading: 136.658716 deg. 2025-01-09T00:00:03.627Z,1736380803.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385144 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:03.764Z,1736380803.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:03.766Z,1736380803.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755013 2025-01-09T00:00:03.996Z,1736380803.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:04.016Z,1736380804.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:04.017Z,1736380804.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006794 2025-01-09T00:00:04.018Z,1736380804.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:04.021Z,1736380804.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.834902 m, bearing: 104.788540 deg, approach rate: 0.134762 m/s, LOS rate: -2.188589 deg/s, cmd heading: 136.658712 deg, new cmd heading: 133.989336 deg. 2025-01-09T00:00:04.022Z,1736380804.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.338555 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:04.268Z,1736380804.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:04.268Z,1736380804.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257865 2025-01-09T00:00:04.428Z,1736380804.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:04.439Z,1736380804.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:04.442Z,1736380804.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.873400 m, bearing: 103.823111 deg, approach rate: 0.090661 m/s, LOS rate: -2.268251 deg/s, cmd heading: 133.989337 deg, new cmd heading: 131.102240 deg. 2025-01-09T00:00:04.442Z,1736380804.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288166 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:04.520Z,1736380804.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:04.522Z,1736380804.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511359 2025-01-09T00:00:04.772Z,1736380804.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:04.772Z,1736380804.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761995 2025-01-09T00:00:04.836Z,1736380804.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:04.845Z,1736380804.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:04.848Z,1736380804.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.914118 m, bearing: 102.915973 deg, approach rate: 0.100298 m/s, LOS rate: -2.229021 deg/s, cmd heading: 131.102244 deg, new cmd heading: 128.389525 deg. 2025-01-09T00:00:04.850Z,1736380804.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240820 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:05.024Z,1736380805.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:05.025Z,1736380805.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014310 2025-01-09T00:00:05.276Z,1736380805.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:05.277Z,1736380805.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266144 2025-01-09T00:00:05.290Z,1736380805.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:05.297Z,1736380805.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:05.302Z,1736380805.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:05.305Z,1736380805.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.942520 m, bearing: 101.922983 deg, approach rate: 0.062149 m/s, LOS rate: -2.169081 deg/s, cmd heading: 128.389525 deg, new cmd heading: 125.418362 deg. 2025-01-09T00:00:05.306Z,1736380805.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.188963 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:05.528Z,1736380805.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:05.528Z,1736380805.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518020 2025-01-09T00:00:05.651Z,1736380805.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:05.666Z,1736380805.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:05.670Z,1736380805.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.968639 m, bearing: 101.138346 deg, approach rate: 0.071937 m/s, LOS rate: -2.157640 deg/s, cmd heading: 125.418365 deg, new cmd heading: 123.069468 deg. 2025-01-09T00:00:05.672Z,1736380805.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.147967 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:05.781Z,1736380805.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:05.782Z,1736380805.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771620 2025-01-09T00:00:06.024Z,1736380806.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:06.033Z,1736380806.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:06.034Z,1736380806.034 [DAT](INFO): DAT read: Rx Time:00:00:04.8211 2025-01-09T00:00:06.034Z,1736380806.034 [DAT](INFO): Rx dataTimestamp_ set to:1736380806.033827 2025-01-09T00:00:06.035Z,1736380806.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024188 2025-01-09T00:00:06.038Z,1736380806.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:06.040Z,1736380806.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 16.985979 m, bearing: 100.321051 deg, approach rate: 0.046514 m/s, LOS rate: -2.190109 deg/s, cmd heading: 123.069463 deg, new cmd heading: 120.621654 deg. 2025-01-09T00:00:06.041Z,1736380806.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105245 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:06.286Z,1736380806.286 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:06.289Z,1736380806.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277824 2025-01-09T00:00:06.453Z,1736380806.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:06.467Z,1736380806.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:06.476Z,1736380806.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 17.002632 m, bearing: 99.391716 deg, approach rate: 0.038904 m/s, LOS rate: -2.168817 deg/s, cmd heading: 120.621660 deg, new cmd heading: 117.838699 deg. 2025-01-09T00:00:06.479Z,1736380806.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056673 target range: 108.400002 and range: 114.30 m. 2025-01-09T00:00:06.536Z,1736380806.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:06.538Z,1736380806.538 [DAT](INFO): DAT read: Range 10 to 50 : 123.0 m (Round-trip 164.0 ms) speed -0.6 m/s 2025-01-09T00:00:06.538Z,1736380806.538 [DAT](INFO): DAT read: user:3564> 2025-01-09T00:00:06.539Z,1736380806.539 [DAT](INFO): DAT read: Tx time:00:00:05.9030 2025-01-09T00:00:06.539Z,1736380806.539 [DAT](INFO): Ping request sent. 2025-01-09T00:00:06.539Z,1736380806.539 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:06.540Z,1736380806.540 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:00:06.540Z,1736380806.540 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:06.541Z,1736380806.541 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:06.788Z,1736380806.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:06.789Z,1736380806.789 [DAT](INFO): DAT read: TxSync time:00:00:05.9022 2025-01-09T00:00:06.836Z,1736380806.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:06.846Z,1736380806.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.000000 m, deltaT: 14.616121 s, deltaX: 8.699997 m, approachRate: 0.595233 m/s, rangeRepo size: 4 2025-01-09T00:00:06.846Z,1736380806.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:06.867Z,1736380806.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 17.014538 m, bearing: 98.562071 deg, approach rate: 0.031379 m/s, LOS rate: -2.185037 deg/s, cmd heading: 117.838699 deg, new cmd heading: 115.353152 deg. 2025-01-09T00:00:06.872Z,1736380806.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.013292 target range: 108.400002 and range: 123.00 m. 2025-01-09T00:00:07.040Z,1736380807.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:07.292Z,1736380807.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:07.295Z,1736380807.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:07.318Z,1736380807.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:07.325Z,1736380807.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:07.338Z,1736380807.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 17.025032 m, bearing: 97.570860 deg, approach rate: 0.021866 m/s, LOS rate: -2.063918 deg/s, cmd heading: 115.353152 deg, new cmd heading: 112.384161 deg. 2025-01-09T00:00:07.348Z,1736380807.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.961474 target range: 108.400002 and range: 123.00 m. 2025-01-09T00:00:07.544Z,1736380807.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:07.544Z,1736380807.544 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:07.544Z,1736380807.544 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:07.544Z,1736380807.544 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:07.707Z,1736380807.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:07.724Z,1736380807.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:07.727Z,1736380807.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 17.032640 m, bearing: 96.696063 deg, approach rate: 0.019050 m/s, LOS rate: -2.189214 deg/s, cmd heading: 112.384158 deg, new cmd heading: 109.762872 deg. 2025-01-09T00:00:07.733Z,1736380807.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.915724 target range: 108.400002 and range: 123.00 m. 2025-01-09T00:00:07.796Z,1736380807.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:07.797Z,1736380807.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257015 2025-01-09T00:00:08.049Z,1736380808.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:08.050Z,1736380808.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510211 2025-01-09T00:00:08.055Z,1736380808.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:08.063Z,1736380808.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:08.068Z,1736380808.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 17.036131 m, bearing: 95.944461 deg, approach rate: 0.010305 m/s, LOS rate: -2.218475 deg/s, cmd heading: 109.762875 deg, new cmd heading: 107.509758 deg. 2025-01-09T00:00:08.069Z,1736380808.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.876399 target range: 108.400002 and range: 123.00 m. 2025-01-09T00:00:08.302Z,1736380808.302 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:08.306Z,1736380808.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765606 2025-01-09T00:00:08.518Z,1736380808.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:08.531Z,1736380808.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:08.539Z,1736380808.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 17.054611 m, bearing: 94.968003 deg, approach rate: 0.039618 m/s, LOS rate: -2.090971 deg/s, cmd heading: 107.509759 deg, new cmd heading: 104.586242 deg. 2025-01-09T00:00:08.540Z,1736380808.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.825374 target range: 108.400002 and range: 123.00 m. 2025-01-09T00:00:08.553Z,1736380808.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:08.553Z,1736380808.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013939 2025-01-09T00:00:08.804Z,1736380808.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:08.804Z,1736380808.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264792 2025-01-09T00:00:08.892Z,1736380808.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:08.901Z,1736380808.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:08.904Z,1736380808.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 17.066559 m, bearing: 94.178029 deg, approach rate: 0.032125 m/s, LOS rate: -2.122533 deg/s, cmd heading: 104.586240 deg, new cmd heading: 102.219401 deg. 2025-01-09T00:00:08.905Z,1736380808.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.784065 target range: 108.400002 and range: 123.00 m. 2025-01-09T00:00:09.056Z,1736380809.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:09.057Z,1736380809.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517504 2025-01-09T00:00:09.309Z,1736380809.309 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:09.311Z,1736380809.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771441 2025-01-09T00:00:09.373Z,1736380809.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:09.380Z,1736380809.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:09.382Z,1736380809.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:09.385Z,1736380809.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 17.084269 m, bearing: 93.162187 deg, approach rate: 0.036842 m/s, LOS rate: -2.111004 deg/s, cmd heading: 102.219402 deg, new cmd heading: 99.178053 deg. 2025-01-09T00:00:09.386Z,1736380809.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.730984 target range: 108.400002 and range: 123.00 m. 2025-01-09T00:00:09.560Z,1736380809.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:09.560Z,1736380809.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020919 2025-01-09T00:00:09.717Z,1736380809.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:09.741Z,1736380809.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:09.744Z,1736380809.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 17.093987 m, bearing: 92.434493 deg, approach rate: 0.027044 m/s, LOS rate: -2.023919 deg/s, cmd heading: 99.178056 deg, new cmd heading: 96.997327 deg. 2025-01-09T00:00:09.745Z,1736380809.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.692923 target range: 108.400002 and range: 123.00 m. 2025-01-09T00:00:09.814Z,1736380809.814 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:09.816Z,1736380809.816 [DAT](INFO): DAT read: Rx Time:00:00:08.4736 2025-01-09T00:00:09.816Z,1736380809.816 [DAT](INFO): Rx dataTimestamp_ set to:1736380809.815841 2025-01-09T00:00:09.817Z,1736380809.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277150 2025-01-09T00:00:10.068Z,1736380810.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:10.068Z,1736380810.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528922 2025-01-09T00:00:10.170Z,1736380810.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:10.204Z,1736380810.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.40 m. 2025-01-09T00:00:10.212Z,1736380810.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.400002 m, nav range: 17.102627 m, bearing: 91.479572 deg, approach rate: 0.018763 m/s, LOS rate: -2.072481 deg/s, cmd heading: 96.997326 deg, new cmd heading: 94.136523 deg. 2025-01-09T00:00:10.213Z,1736380810.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642992 target range: 108.400002 and range: 123.00 m. 2025-01-09T00:00:10.321Z,1736380810.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:10.348Z,1736380810.348 [DAT](INFO): DAT read: 00:00:08.4736 LVL= 17136, 16641, 13058, 22643, AGC= 58, IDX= 452, 0.14, 2.875,-1.178,-1.213,-1.923, PHS=-1.397, 0.792, 0.707, RAW= 272.0, -1.0, CAL= 274.2, -2.5, ROT= 235.8, 2.5 2025-01-09T00:00:10.350Z,1736380810.350 [DAT](INFO): got valid direction response: 00:00:08.4736 LVL= 17136, 16641, 13058, 22643, AGC= 58, IDX= 452, 0.14, 2.875,-1.178,-1.213,-1.923, PHS=-1.397, 0.792, 0.707, RAW= 272.0, -1.0, CAL= 274.2, -2.5, ROT= 235.8, 2.5 2025-01-09T00:00:10.351Z,1736380810.351 [DAT](INFO): DAT read: Bearing 235.8, 2.5 (Local) 2025-01-09T00:00:10.356Z,1736380810.356 [DAT](INFO): Local bearing/azimuth received: Bearing 235.8, 2.5 (Local) 2025-01-09T00:00:10.357Z,1736380810.357 [DAT](INFO): DAT read: Range 10 to 50 : 124.8 m (Round-trip 166.5 ms) speed -0.4 m/s 2025-01-09T00:00:10.358Z,1736380810.358 [DAT](INFO): DAT read: user:3565> 2025-01-09T00:00:10.359Z,1736380810.359 [DAT](INFO): DAT read: Tx time:00:00:09.6030 2025-01-09T00:00:10.375Z,1736380810.375 [DAT](INFO): Ping request sent. 2025-01-09T00:00:10.375Z,1736380810.375 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:10.376Z,1736380810.376 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:00:10.377Z,1736380810.377 [DAT](INFO): direction in FSK: [0.106556,-0.074553,-0.991508] 2025-01-09T00:00:10.377Z,1736380810.377 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:10.377Z,1736380810.377 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:10.385Z,1736380810.385 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:10.385Z,1736380810.385 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:10.572Z,1736380810.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:10.573Z,1736380810.573 [DAT](INFO): DAT read: TxSync time:00:00:09.6022 2025-01-09T00:00:10.658Z,1736380810.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:10.700Z,1736380810.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.800003 m, deltaT: 3.785698 s, deltaX: 1.800003 m, approachRate: 0.475475 m/s, rangeRepo size: 4 2025-01-09T00:00:10.702Z,1736380810.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 124.800003 m, bearing: 93.011947 deg, lat: 36.904474 deg, lon: -122.120638 deg, deltaT: 32.801716 s, deltaX: 16.400002 m, approachRate: 0.499974 m/s, posRepo size: 4 2025-01-09T00:00:10.705Z,1736380810.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-09T00:00:10.716Z,1736380810.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 17.129417 m, bearing: 90.439093 deg, approach rate: 0.000000 m/s, LOS rate: -2.072481 deg/s, cmd heading: 94.136522 deg, new cmd heading: 91.073094 deg. 2025-01-09T00:00:10.720Z,1736380810.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.589525 target range: 124.800003 and range: 124.80 m. 2025-01-09T00:00:10.825Z,1736380810.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:11.020Z,1736380811.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:11.029Z,1736380811.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-09T00:00:11.033Z,1736380811.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 17.145910 m, bearing: 89.668659 deg, approach rate: 0.049402 m/s, LOS rate: -2.305451 deg/s, cmd heading: 91.073094 deg, new cmd heading: 88.765331 deg. 2025-01-09T00:00:11.034Z,1736380811.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549247 target range: 124.800003 and range: 124.80 m. 2025-01-09T00:00:11.076Z,1736380811.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:11.329Z,1736380811.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:11.435Z,1736380811.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:11.442Z,1736380811.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:11.445Z,1736380811.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-09T00:00:11.448Z,1736380811.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 17.170553 m, bearing: 88.756810 deg, approach rate: 0.059275 m/s, LOS rate: -2.190075 deg/s, cmd heading: 88.765330 deg, new cmd heading: 86.035891 deg. 2025-01-09T00:00:11.449Z,1736380811.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.501610 target range: 124.800003 and range: 124.80 m. 2025-01-09T00:00:11.580Z,1736380811.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:11.581Z,1736380811.581 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:11.582Z,1736380811.582 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:11.583Z,1736380811.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:11.819Z,1736380811.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:11.832Z,1736380811.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:11.833Z,1736380811.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457485 2025-01-09T00:00:11.855Z,1736380811.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-09T00:00:11.858Z,1736380811.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 17.189959 m, bearing: 87.914500 deg, approach rate: 0.048237 m/s, LOS rate: -2.091339 deg/s, cmd heading: 86.035890 deg, new cmd heading: 83.513534 deg. 2025-01-09T00:00:11.859Z,1736380811.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457586 target range: 124.800003 and range: 124.80 m. 2025-01-09T00:00:12.086Z,1736380812.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:12.088Z,1736380812.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712837 2025-01-09T00:00:12.222Z,1736380812.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:12.230Z,1736380812.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-09T00:00:12.233Z,1736380812.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 17.206600 m, bearing: 87.029421 deg, approach rate: 0.043440 m/s, LOS rate: -2.308030 deg/s, cmd heading: 83.513536 deg, new cmd heading: 80.862865 deg. 2025-01-09T00:00:12.234Z,1736380812.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411323 target range: 124.800003 and range: 124.80 m. 2025-01-09T00:00:12.337Z,1736380812.337 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:12.340Z,1736380812.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963955 2025-01-09T00:00:12.588Z,1736380812.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:12.588Z,1736380812.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212882 2025-01-09T00:00:12.692Z,1736380812.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:12.721Z,1736380812.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-09T00:00:12.731Z,1736380812.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 17.240274 m, bearing: 86.007493 deg, approach rate: 0.068636 m/s, LOS rate: -2.078736 deg/s, cmd heading: 80.862862 deg, new cmd heading: 77.806132 deg. 2025-01-09T00:00:12.733Z,1736380812.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357973 target range: 124.800003 and range: 124.80 m. 2025-01-09T00:00:12.840Z,1736380812.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:12.841Z,1736380812.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465103 2025-01-09T00:00:13.053Z,1736380813.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:13.092Z,1736380813.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:13.093Z,1736380813.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717188 2025-01-09T00:00:13.100Z,1736380813.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-09T00:00:13.102Z,1736380813.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 17.263226 m, bearing: 85.220643 deg, approach rate: 0.061282 m/s, LOS rate: -2.098108 deg/s, cmd heading: 77.806134 deg, new cmd heading: 75.450125 deg. 2025-01-09T00:00:13.108Z,1736380813.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316853 target range: 124.800003 and range: 124.80 m. 2025-01-09T00:00:13.345Z,1736380813.345 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:13.348Z,1736380813.348 [DAT](INFO): DAT read: Rx Time:00:00:12.1759 2025-01-09T00:00:13.350Z,1736380813.350 [DAT](INFO): Rx dataTimestamp_ set to:1736380813.349184 2025-01-09T00:00:13.352Z,1736380813.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976333 2025-01-09T00:00:13.556Z,1736380813.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:13.563Z,1736380813.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:13.565Z,1736380813.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-09T00:00:13.568Z,1736380813.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 17.302452 m, bearing: 84.106703 deg, approach rate: 0.083473 m/s, LOS rate: -2.364904 deg/s, cmd heading: 75.450122 deg, new cmd heading: 72.119845 deg. 2025-01-09T00:00:13.569Z,1736380813.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258729 target range: 124.800003 and range: 124.80 m. 2025-01-09T00:00:13.596Z,1736380813.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:13.596Z,1736380813.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220956 2025-01-09T00:00:13.849Z,1736380813.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:13.852Z,1736380813.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475882 2025-01-09T00:00:13.925Z,1736380813.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:13.934Z,1736380813.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m. 2025-01-09T00:00:13.937Z,1736380813.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.800003 m, nav range: 17.328362 m, bearing: 83.286323 deg, approach rate: 0.070203 m/s, LOS rate: -2.219479 deg/s, cmd heading: 72.119845 deg, new cmd heading: 69.663973 deg. 2025-01-09T00:00:13.938Z,1736380813.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215866 target range: 124.800003 and range: 124.80 m. 2025-01-09T00:00:14.100Z,1736380814.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:14.112Z,1736380814.112 [DAT](INFO): DAT read: 00:00:12.1759 LVL= 19136, 15521, 14530, 24435, AGC= 59, IDX= 444, 0.08, 1.333, 2.824,-2.413, 2.728, PHS=-1.307, 0.144, 1.139, RAW= 246.1, 0.2, CAL= 249.2, 0.9, ROT= 260.8, -0.9 2025-01-09T00:00:14.114Z,1736380814.114 [DAT](INFO): got valid direction response: 00:00:12.1759 LVL= 19136, 15521, 14530, 24435, AGC= 59, IDX= 444, 0.08, 1.333, 2.824,-2.413, 2.728, PHS=-1.307, 0.144, 1.139, RAW= 246.1, 0.2, CAL= 249.2, 0.9, ROT= 260.8, -0.9 2025-01-09T00:00:14.115Z,1736380814.115 [DAT](INFO): DAT read: Bearing 260.8, -0.9 (Local) 2025-01-09T00:00:14.116Z,1736380814.116 [DAT](INFO): Local bearing/azimuth received: Bearing 260.8, -0.9 (Local) 2025-01-09T00:00:14.118Z,1736380814.118 [DAT](INFO): DAT read: Range 10 to 50 : 126.5 m (Round-trip 168.7 ms) speed -0.3 m/s 2025-01-09T00:00:14.118Z,1736380814.118 [DAT](INFO): DAT read: user:3566> 2025-01-09T00:00:14.120Z,1736380814.120 [DAT](INFO): DAT read: Tx time:00:00:13.3031 2025-01-09T00:00:14.120Z,1736380814.120 [DAT](INFO): Ping request sent. 2025-01-09T00:00:14.120Z,1736380814.120 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:14.121Z,1736380814.121 [DAT](INFO): DAT read: TxSync time:00:00:13.3023 2025-01-09T00:00:14.121Z,1736380814.121 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:00:14.122Z,1736380814.122 [DAT](INFO): direction in FSK: [0.037300,-0.490582,-0.870597] 2025-01-09T00:00:14.123Z,1736380814.123 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:14.123Z,1736380814.123 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:14.134Z,1736380814.134 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:14.134Z,1736380814.134 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:14.345Z,1736380814.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:14.353Z,1736380814.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:14.423Z,1736380814.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.500000 m, deltaT: 3.778335 s, deltaX: 1.699997 m, approachRate: 0.449933 m/s, rangeRepo size: 4 2025-01-09T00:00:14.434Z,1736380814.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.500000 m, bearing: 74.474434 deg, lat: 36.904522 deg, lon: -122.120256 deg, deltaT: 3.778335 s, deltaX: 1.699997 m, approachRate: 0.449933 m/s, posRepo size: 4 2025-01-09T00:00:14.434Z,1736380814.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:14.441Z,1736380814.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.732052 m, bearing: 81.534935 deg, approach rate: 0.000000 m/s, LOS rate: -2.219479 deg/s, cmd heading: 69.663975 deg, new cmd heading: 66.419700 deg. 2025-01-09T00:00:14.442Z,1736380814.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159243 target range: 126.500000 and range: 126.50 m. 2025-01-09T00:00:14.604Z,1736380814.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:14.767Z,1736380814.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:14.776Z,1736380814.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:14.779Z,1736380814.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.774494 m, bearing: 81.221721 deg, approach rate: 0.119759 m/s, LOS rate: -0.883063 deg/s, cmd heading: 66.419703 deg, new cmd heading: 65.480920 deg. 2025-01-09T00:00:14.780Z,1736380814.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.142858 target range: 126.500000 and range: 126.50 m. 2025-01-09T00:00:14.857Z,1736380814.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:15.109Z,1736380815.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:15.136Z,1736380815.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:15.144Z,1736380815.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:15.147Z,1736380815.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.797642 m, bearing: 80.946800 deg, approach rate: 0.062943 m/s, LOS rate: -0.747226 deg/s, cmd heading: 65.480921 deg, new cmd heading: 64.656588 deg. 2025-01-09T00:00:15.161Z,1736380815.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128470 target range: 126.500000 and range: 126.50 m. 2025-01-09T00:00:15.361Z,1736380815.361 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:15.570Z,1736380815.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:15.601Z,1736380815.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:15.612Z,1736380815.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:15.613Z,1736380815.613 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:15.613Z,1736380815.613 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:15.614Z,1736380815.614 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:15.620Z,1736380815.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:15.622Z,1736380815.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.826408 m, bearing: 80.623472 deg, approach rate: 0.062686 m/s, LOS rate: -0.704172 deg/s, cmd heading: 64.656586 deg, new cmd heading: 63.687239 deg. 2025-01-09T00:00:15.628Z,1736380815.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.111552 target range: 126.500000 and range: 126.50 m. 2025-01-09T00:00:15.864Z,1736380815.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:15.866Z,1736380815.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744897 2025-01-09T00:00:15.989Z,1736380815.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:15.997Z,1736380815.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:16.001Z,1736380816.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.855732 m, bearing: 80.311788 deg, approach rate: 0.074357 m/s, LOS rate: -0.789903 deg/s, cmd heading: 63.687238 deg, new cmd heading: 62.752800 deg. 2025-01-09T00:00:16.002Z,1736380816.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095243 target range: 126.500000 and range: 126.50 m. 2025-01-09T00:00:16.116Z,1736380816.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:16.117Z,1736380816.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996387 2025-01-09T00:00:16.353Z,1736380816.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:16.365Z,1736380816.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:16.368Z,1736380816.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:16.369Z,1736380816.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248160 2025-01-09T00:00:16.373Z,1736380816.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.867283 m, bearing: 80.040360 deg, approach rate: 0.031452 m/s, LOS rate: -0.738901 deg/s, cmd heading: 62.752800 deg, new cmd heading: 61.938758 deg. 2025-01-09T00:00:16.379Z,1736380816.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.081035 target range: 126.500000 and range: 126.50 m. 2025-01-09T00:00:16.620Z,1736380816.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:16.621Z,1736380816.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500506 2025-01-09T00:00:16.787Z,1736380816.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:16.796Z,1736380816.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:16.799Z,1736380816.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.884781 m, bearing: 79.712190 deg, approach rate: 0.040638 m/s, LOS rate: -0.761890 deg/s, cmd heading: 61.938758 deg, new cmd heading: 60.954681 deg. 2025-01-09T00:00:16.800Z,1736380816.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.063860 target range: 126.500000 and range: 126.50 m. 2025-01-09T00:00:16.873Z,1736380816.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:16.874Z,1736380816.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753870 2025-01-09T00:00:17.124Z,1736380817.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:17.124Z,1736380817.124 [DAT](INFO): DAT read: Rx Time:00:00:15.8768 2025-01-09T00:00:17.125Z,1736380817.125 [DAT](INFO): Rx dataTimestamp_ set to:1736380817.124617 2025-01-09T00:00:17.125Z,1736380817.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005076 2025-01-09T00:00:17.153Z,1736380817.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:17.186Z,1736380817.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:17.193Z,1736380817.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.886143 m, bearing: 79.435506 deg, approach rate: 0.003490 m/s, LOS rate: -0.708988 deg/s, cmd heading: 60.954685 deg, new cmd heading: 60.124717 deg. 2025-01-09T00:00:17.194Z,1736380817.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.049374 target range: 126.500000 and range: 126.50 m. 2025-01-09T00:00:17.377Z,1736380817.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:17.380Z,1736380817.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258960 2025-01-09T00:00:17.626Z,1736380817.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:17.628Z,1736380817.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:17.630Z,1736380817.630 [DAT](INFO): DAT read: Range 10 to 50 : 127.2 m (Round-trip 169.6 ms) speed 0.0 m/s 2025-01-09T00:00:17.630Z,1736380817.630 [DAT](INFO): DAT read: user:3567> 2025-01-09T00:00:17.631Z,1736380817.631 [DAT](INFO): DAT read: Tx time:00:00:16.9531 2025-01-09T00:00:17.632Z,1736380817.632 [DAT](INFO): Ping request sent. 2025-01-09T00:00:17.632Z,1736380817.632 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:17.632Z,1736380817.632 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:00:17.632Z,1736380817.632 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:17.633Z,1736380817.633 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:17.644Z,1736380817.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:17.650Z,1736380817.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.199997 m, deltaT: 3.528056 s, deltaX: 0.699997 m, approachRate: 0.198409 m/s, rangeRepo size: 4 2025-01-09T00:00:17.651Z,1736380817.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:17.676Z,1736380817.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.871922 m, bearing: 79.088541 deg, approach rate: -0.030762 m/s, LOS rate: -0.750738 deg/s, cmd heading: 60.124714 deg, new cmd heading: 59.083653 deg. 2025-01-09T00:00:17.678Z,1736380817.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.031204 target range: 126.500000 and range: 127.20 m. 2025-01-09T00:00:17.880Z,1736380817.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:17.880Z,1736380817.880 [DAT](INFO): DAT read: TxSync time:00:00:16.9523 2025-01-09T00:00:17.881Z,1736380817.881 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:17.882Z,1736380817.882 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:17.882Z,1736380817.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:18.017Z,1736380818.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:18.030Z,1736380818.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:18.037Z,1736380818.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.854362 m, bearing: 78.802529 deg, approach rate: -0.045952 m/s, LOS rate: -0.748737 deg/s, cmd heading: 59.083650 deg, new cmd heading: 58.225392 deg. 2025-01-09T00:00:18.038Z,1736380818.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.016225 target range: 126.500000 and range: 127.20 m. 2025-01-09T00:00:18.138Z,1736380818.138 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:18.138Z,1736380818.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506819 2025-01-09T00:00:18.388Z,1736380818.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:18.389Z,1736380818.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756873 2025-01-09T00:00:18.390Z,1736380818.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:18.400Z,1736380818.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:18.430Z,1736380818.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.831799 m, bearing: 78.529604 deg, approach rate: -0.061193 m/s, LOS rate: -0.740490 deg/s, cmd heading: 58.225396 deg, new cmd heading: 57.406322 deg. 2025-01-09T00:00:18.457Z,1736380818.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.001929 target range: 126.500000 and range: 127.20 m. 2025-01-09T00:00:18.640Z,1736380818.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:18.641Z,1736380818.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009377 2025-01-09T00:00:18.833Z,1736380818.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:18.842Z,1736380818.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:18.845Z,1736380818.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.792252 m, bearing: 78.217586 deg, approach rate: -0.089246 m/s, LOS rate: -0.704665 deg/s, cmd heading: 57.406319 deg, new cmd heading: 56.469638 deg. 2025-01-09T00:00:18.846Z,1736380818.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985581 target range: 126.500000 and range: 127.20 m. 2025-01-09T00:00:18.892Z,1736380818.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:18.893Z,1736380818.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261605 2025-01-09T00:00:19.144Z,1736380819.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:19.145Z,1736380819.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512999 2025-01-09T00:00:19.214Z,1736380819.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:19.224Z,1736380819.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:19.226Z,1736380819.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.745842 m, bearing: 77.950882 deg, approach rate: -0.121644 m/s, LOS rate: -0.699680 deg/s, cmd heading: 56.469637 deg, new cmd heading: 55.668862 deg. 2025-01-09T00:00:19.228Z,1736380819.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971605 target range: 126.500000 and range: 127.20 m. 2025-01-09T00:00:19.396Z,1736380819.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:19.396Z,1736380819.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764678 2025-01-09T00:00:19.639Z,1736380819.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:19.648Z,1736380819.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:19.650Z,1736380819.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017837 2025-01-09T00:00:19.651Z,1736380819.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:19.659Z,1736380819.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:19.663Z,1736380819.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.677631 m, bearing: 77.657999 deg, approach rate: -0.158124 m/s, LOS rate: -0.679847 deg/s, cmd heading: 55.668863 deg, new cmd heading: 54.789129 deg. 2025-01-09T00:00:19.665Z,1736380819.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956251 target range: 126.500000 and range: 127.20 m. 2025-01-09T00:00:19.900Z,1736380819.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:19.901Z,1736380819.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268830 2025-01-09T00:00:20.020Z,1736380820.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:20.029Z,1736380820.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:20.032Z,1736380820.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.611053 m, bearing: 77.396615 deg, approach rate: -0.177928 m/s, LOS rate: -0.699445 deg/s, cmd heading: 54.789127 deg, new cmd heading: 54.004014 deg. 2025-01-09T00:00:20.033Z,1736380820.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.942548 target range: 126.500000 and range: 127.20 m. 2025-01-09T00:00:20.144Z,1736380820.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:00:20.152Z,1736380820.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:20.153Z,1736380820.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520918 2025-01-09T00:00:20.404Z,1736380820.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:20.404Z,1736380820.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772807 2025-01-09T00:00:20.410Z,1736380820.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:20.424Z,1736380820.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:20.426Z,1736380820.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.537300 m, bearing: 77.130548 deg, approach rate: -0.187000 m/s, LOS rate: -0.675571 deg/s, cmd heading: 54.004014 deg, new cmd heading: 53.204726 deg. 2025-01-09T00:00:20.428Z,1736380820.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928598 target range: 126.500000 and range: 127.20 m. 2025-01-09T00:00:20.656Z,1736380820.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:20.658Z,1736380820.658 [DAT](INFO): DAT read: Rx Time:00:00:19.5272 2025-01-09T00:00:20.658Z,1736380820.658 [DAT](INFO): Rx dataTimestamp_ set to:1736380820.657823 2025-01-09T00:00:20.659Z,1736380820.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027368 2025-01-09T00:00:20.849Z,1736380820.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:20.858Z,1736380820.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:20.861Z,1736380820.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.438976 m, bearing: 76.830472 deg, approach rate: -0.226195 m/s, LOS rate: -0.691643 deg/s, cmd heading: 53.204725 deg, new cmd heading: 52.302855 deg. 2025-01-09T00:00:20.862Z,1736380820.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.912857 target range: 126.500000 and range: 127.20 m. 2025-01-09T00:00:20.908Z,1736380820.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:20.909Z,1736380820.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277679 2025-01-09T00:00:21.148Z,1736380821.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:00:21.160Z,1736380821.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:21.160Z,1736380821.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528702 2025-01-09T00:00:21.235Z,1736380821.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:21.244Z,1736380821.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:21.247Z,1736380821.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.341057 m, bearing: 76.571700 deg, approach rate: -0.253490 m/s, LOS rate: -0.671175 deg/s, cmd heading: 52.302857 deg, new cmd heading: 51.525110 deg. 2025-01-09T00:00:21.249Z,1736380821.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899283 target range: 126.500000 and range: 127.20 m. 2025-01-09T00:00:21.413Z,1736380821.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:21.418Z,1736380821.418 [DAT](INFO): DAT read: Range 10 to 50 : 127.5 m (Round-trip 170.0 ms) speed 0.0 m/s 2025-01-09T00:00:21.418Z,1736380821.418 [DAT](INFO): DAT read: user:3568> 2025-01-09T00:00:21.419Z,1736380821.419 [DAT](INFO): DAT read: Tx time:00:00:20.6031 2025-01-09T00:00:21.420Z,1736380821.420 [DAT](INFO): Ping request sent. 2025-01-09T00:00:21.420Z,1736380821.420 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:21.420Z,1736380821.420 [DAT](INFO): DAT read: TxSync time:00:00:20.6023 2025-01-09T00:00:21.421Z,1736380821.421 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:00:21.421Z,1736380821.421 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:21.422Z,1736380821.422 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:21.664Z,1736380821.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:21.701Z,1736380821.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:21.711Z,1736380821.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:21.715Z,1736380821.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.500000 m, deltaT: 3.785811 s, deltaX: 0.300003 m, approachRate: 0.079244 m/s, rangeRepo size: 4 2025-01-09T00:00:21.717Z,1736380821.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:21.720Z,1736380821.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.212036 m, bearing: 76.289148 deg, approach rate: -0.274596 m/s, LOS rate: -0.602871 deg/s, cmd heading: 51.525110 deg, new cmd heading: 50.675384 deg. 2025-01-09T00:00:21.721Z,1736380821.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.884452 target range: 126.500000 and range: 127.50 m. 2025-01-09T00:00:21.916Z,1736380821.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:21.916Z,1736380821.916 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:21.917Z,1736380821.917 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:21.917Z,1736380821.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:22.033Z,1736380822.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:22.041Z,1736380822.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:22.044Z,1736380822.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 51.100582 m, bearing: 76.056945 deg, approach rate: -0.340969 m/s, LOS rate: -0.711922 deg/s, cmd heading: 50.675383 deg, new cmd heading: 49.977291 deg. 2025-01-09T00:00:22.045Z,1736380822.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872268 target range: 126.500000 and range: 127.50 m. 2025-01-09T00:00:22.168Z,1736380822.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:22.169Z,1736380822.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748916 2025-01-09T00:00:22.420Z,1736380822.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:22.420Z,1736380822.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000480 2025-01-09T00:00:22.434Z,1736380822.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:22.447Z,1736380822.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:22.450Z,1736380822.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 50.972061 m, bearing: 75.801730 deg, approach rate: -0.316988 m/s, LOS rate: -0.631054 deg/s, cmd heading: 49.977290 deg, new cmd heading: 49.209765 deg. 2025-01-09T00:00:22.452Z,1736380822.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.858872 target range: 126.500000 and range: 127.50 m. 2025-01-09T00:00:22.672Z,1736380822.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:22.673Z,1736380822.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253044 2025-01-09T00:00:22.857Z,1736380822.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:22.866Z,1736380822.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:22.869Z,1736380822.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 50.822613 m, bearing: 75.533321 deg, approach rate: -0.356165 m/s, LOS rate: -0.641551 deg/s, cmd heading: 49.209764 deg, new cmd heading: 48.402226 deg. 2025-01-09T00:00:22.870Z,1736380822.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.844778 target range: 126.500000 and range: 127.50 m. 2025-01-09T00:00:22.924Z,1736380822.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:22.925Z,1736380822.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504713 2025-01-09T00:00:23.176Z,1736380823.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:23.176Z,1736380823.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756549 2025-01-09T00:00:23.257Z,1736380823.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:23.266Z,1736380823.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:23.269Z,1736380823.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 50.676449 m, bearing: 75.282436 deg, approach rate: -0.365712 m/s, LOS rate: -0.629542 deg/s, cmd heading: 48.402224 deg, new cmd heading: 47.647442 deg. 2025-01-09T00:00:23.270Z,1736380823.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831605 target range: 126.500000 and range: 127.50 m. 2025-01-09T00:00:23.428Z,1736380823.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:23.428Z,1736380823.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008567 2025-01-09T00:00:23.680Z,1736380823.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:23.682Z,1736380823.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261509 2025-01-09T00:00:23.724Z,1736380823.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:23.739Z,1736380823.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:23.743Z,1736380823.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:23.756Z,1736380823.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 50.516388 m, bearing: 74.989443 deg, approach rate: -0.336457 m/s, LOS rate: -0.617836 deg/s, cmd heading: 47.647444 deg, new cmd heading: 46.765755 deg. 2025-01-09T00:00:23.757Z,1736380823.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816216 target range: 126.500000 and range: 127.50 m. 2025-01-09T00:00:23.932Z,1736380823.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:23.933Z,1736380823.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513289 2025-01-09T00:00:24.063Z,1736380824.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:24.073Z,1736380824.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:24.076Z,1736380824.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 50.391464 m, bearing: 74.783608 deg, approach rate: -0.376572 m/s, LOS rate: -0.622010 deg/s, cmd heading: 46.765755 deg, new cmd heading: 46.146745 deg. 2025-01-09T00:00:24.077Z,1736380824.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805413 target range: 126.500000 and range: 127.50 m. 2025-01-09T00:00:24.184Z,1736380824.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:24.184Z,1736380824.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764702 2025-01-09T00:00:24.436Z,1736380824.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:24.437Z,1736380824.437 [DAT](INFO): DAT read: Rx Time:00:00:23.1769 2025-01-09T00:00:24.437Z,1736380824.437 [DAT](INFO): Rx dataTimestamp_ set to:1736380824.436803 2025-01-09T00:00:24.438Z,1736380824.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017822 2025-01-09T00:00:24.456Z,1736380824.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:24.466Z,1736380824.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:24.469Z,1736380824.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 50.240955 m, bearing: 74.547440 deg, approach rate: -0.384132 m/s, LOS rate: -0.604556 deg/s, cmd heading: 46.146746 deg, new cmd heading: 45.436158 deg. 2025-01-09T00:00:24.470Z,1736380824.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793011 target range: 126.500000 and range: 127.50 m. 2025-01-09T00:00:24.689Z,1736380824.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:24.691Z,1736380824.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270960 2025-01-09T00:00:24.928Z,1736380824.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:24.937Z,1736380824.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.50 m. 2025-01-09T00:00:24.940Z,1736380824.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:24.946Z,1736380824.946 [DAT](INFO): DAT read: 00:00:23.1769 LVL= 21904, 27121, 12274, 27795, AGC= 59, IDX= 437, 0.20, 2.231, 2.502,-1.881, 3.118, PHS=-0.799,-0.569, 1.282, RAW= 215.8, 0.9, CAL= 215.9, -5.1, ROT= 294.1, 5.1 2025-01-09T00:00:24.948Z,1736380824.948 [DAT](INFO): got valid direction response: 00:00:23.1769 LVL= 21904, 27121, 12274, 27795, AGC= 59, IDX= 437, 0.20, 2.231, 2.502,-1.881, 3.118, PHS=-0.799,-0.569, 1.282, RAW= 215.8, 0.9, CAL= 215.9, -5.1, ROT= 294.1, 5.1 2025-01-09T00:00:24.950Z,1736380824.950 [DAT](INFO): DAT read: Bearing 294.1, 5.1 (Local) 2025-01-09T00:00:24.950Z,1736380824.950 [DAT](INFO): Local bearing/azimuth received: Bearing 294.1, 5.1 (Local) 2025-01-09T00:00:24.951Z,1736380824.951 [DAT](INFO): DAT read: Range 10 to 50 : 127.2 m (Round-trip 169.6 ms) speed 0.0 m/s 2025-01-09T00:00:24.952Z,1736380824.952 [DAT](INFO): DAT read: user:3569> 2025-01-09T00:00:24.953Z,1736380824.953 [DAT](INFO): DAT read: Tx time:00:00:24.3032 2025-01-09T00:00:24.953Z,1736380824.953 [DAT](INFO): Ping request sent. 2025-01-09T00:00:24.953Z,1736380824.953 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:24.954Z,1736380824.954 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:00:24.954Z,1736380824.954 [DAT](INFO): direction in FSK: [-0.037105,-0.846729,-0.530729] 2025-01-09T00:00:24.955Z,1736380824.955 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:24.956Z,1736380824.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.500000 m, nav range: 50.065018 m, bearing: 74.263482 deg, approach rate: -0.372443 m/s, LOS rate: -0.603222 deg/s, cmd heading: 45.436157 deg, new cmd heading: 44.581356 deg. 2025-01-09T00:00:24.957Z,1736380824.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778091 target range: 126.500000 and range: 127.50 m. 2025-01-09T00:00:24.959Z,1736380824.959 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:24.962Z,1736380824.962 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:24.962Z,1736380824.962 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:25.193Z,1736380825.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:25.194Z,1736380825.194 [DAT](INFO): DAT read: TxSync time:00:00:24.3024 2025-01-09T00:00:25.277Z,1736380825.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:25.308Z,1736380825.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.199997 m, deltaT: 3.526141 s, deltaX: -0.300003 m, approachRate: -0.085080 m/s, rangeRepo size: 4 2025-01-09T00:00:25.310Z,1736380825.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.199997 m, bearing: 30.807778 deg, lat: 36.904596 deg, lon: -122.120209 deg, deltaT: 10.840008 s, deltaX: 0.699997 m, approachRate: 0.064575 m/s, posRepo size: 4 2025-01-09T00:00:25.310Z,1736380825.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-09T00:00:25.321Z,1736380825.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 56.677273 m, bearing: 67.134161 deg, approach rate: 0.000000 m/s, LOS rate: -0.603222 deg/s, cmd heading: 44.581355 deg, new cmd heading: 43.920284 deg. 2025-01-09T00:00:25.322Z,1736380825.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766554 target range: 127.199997 and range: 127.20 m. 2025-01-09T00:00:25.444Z,1736380825.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:25.696Z,1736380825.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:25.714Z,1736380825.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:25.742Z,1736380825.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:25.760Z,1736380825.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-09T00:00:25.763Z,1736380825.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 56.540623 m, bearing: 66.892878 deg, approach rate: -0.298835 m/s, LOS rate: -0.528927 deg/s, cmd heading: 43.920285 deg, new cmd heading: 43.194726 deg. 2025-01-09T00:00:25.768Z,1736380825.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753890 target range: 127.199997 and range: 127.20 m. 2025-01-09T00:00:25.948Z,1736380825.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:25.949Z,1736380825.949 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:25.949Z,1736380825.949 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:25.949Z,1736380825.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:26.088Z,1736380826.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:26.097Z,1736380826.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-09T00:00:26.101Z,1736380826.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 56.424183 m, bearing: 66.684934 deg, approach rate: -0.345588 m/s, LOS rate: -0.618440 deg/s, cmd heading: 43.194728 deg, new cmd heading: 42.569636 deg. 2025-01-09T00:00:26.102Z,1736380826.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742980 target range: 127.199997 and range: 127.20 m. 2025-01-09T00:00:26.202Z,1736380826.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:26.203Z,1736380826.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249429 2025-01-09T00:00:26.452Z,1736380826.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:26.453Z,1736380826.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499198 2025-01-09T00:00:26.475Z,1736380826.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:26.484Z,1736380826.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-09T00:00:26.487Z,1736380826.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 56.293491 m, bearing: 66.476473 deg, approach rate: -0.337306 m/s, LOS rate: -0.539273 deg/s, cmd heading: 42.569636 deg, new cmd heading: 41.942825 deg. 2025-01-09T00:00:26.488Z,1736380826.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732040 target range: 127.199997 and range: 127.20 m. 2025-01-09T00:00:26.705Z,1736380826.705 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:26.706Z,1736380826.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752586 2025-01-09T00:00:26.956Z,1736380826.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:26.956Z,1736380826.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003078 2025-01-09T00:00:27.022Z,1736380827.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:27.061Z,1736380827.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-09T00:00:27.072Z,1736380827.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 56.132046 m, bearing: 66.179392 deg, approach rate: -0.280040 m/s, LOS rate: -0.516789 deg/s, cmd heading: 41.942826 deg, new cmd heading: 41.049097 deg. 2025-01-09T00:00:27.073Z,1736380827.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716442 target range: 127.199997 and range: 127.20 m. 2025-01-09T00:00:27.208Z,1736380827.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:27.209Z,1736380827.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255377 2025-01-09T00:00:27.460Z,1736380827.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:27.460Z,1736380827.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507096 2025-01-09T00:00:27.511Z,1736380827.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:27.588Z,1736380827.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-09T00:00:27.596Z,1736380827.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 55.965790 m, bearing: 65.928170 deg, approach rate: -0.319268 m/s, LOS rate: -0.483865 deg/s, cmd heading: 41.049099 deg, new cmd heading: 40.293238 deg. 2025-01-09T00:00:27.597Z,1736380827.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703250 target range: 127.199997 and range: 127.20 m. 2025-01-09T00:00:27.712Z,1736380827.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:27.712Z,1736380827.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759056 2025-01-09T00:00:27.964Z,1736380827.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:27.966Z,1736380827.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011780 2025-01-09T00:00:28.086Z,1736380828.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:28.093Z,1736380828.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:28.095Z,1736380828.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-09T00:00:28.098Z,1736380828.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 55.791489 m, bearing: 65.634663 deg, approach rate: -0.339823 m/s, LOS rate: -0.574015 deg/s, cmd heading: 40.293239 deg, new cmd heading: 39.410042 deg. 2025-01-09T00:00:28.100Z,1736380828.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687835 target range: 127.199997 and range: 127.20 m. 2025-01-09T00:00:28.219Z,1736380828.219 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:28.220Z,1736380828.220 [DAT](INFO): DAT read: Rx Time:00:00:26.8761 2025-01-09T00:00:28.221Z,1736380828.221 [DAT](INFO): Rx dataTimestamp_ set to:1736380828.220463 2025-01-09T00:00:28.221Z,1736380828.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267976 2025-01-09T00:00:28.442Z,1736380828.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:28.454Z,1736380828.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-01-09T00:00:28.457Z,1736380828.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.199997 m, nav range: 55.678761 m, bearing: 65.455027 deg, approach rate: -0.313901 m/s, LOS rate: -0.501223 deg/s, cmd heading: 39.410041 deg, new cmd heading: 38.870060 deg. 2025-01-09T00:00:28.458Z,1736380828.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678411 target range: 127.199997 and range: 127.20 m. 2025-01-09T00:00:28.468Z,1736380828.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:28.468Z,1736380828.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515185 2025-01-09T00:00:28.720Z,1736380828.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:28.726Z,1736380828.726 [DAT](INFO): DAT read: 00:00:26.8761 LVL= 22304, 21345, 11954, 25139, AGC= 59, IDX= 429, 0.05, 0.217,-0.162, 1.827, 0.794, PHS=-0.489,-0.909, 1.031, RAW= 198.1, 4.2, CAL= 198.4, -3.7, ROT= 311.6, 3.7 2025-01-09T00:00:28.728Z,1736380828.728 [DAT](INFO): got valid direction response: 00:00:26.8761 LVL= 22304, 21345, 11954, 25139, AGC= 59, IDX= 429, 0.05, 0.217,-0.162, 1.827, 0.794, PHS=-0.489,-0.909, 1.031, RAW= 198.1, 4.2, CAL= 198.4, -3.7, ROT= 311.6, 3.7 2025-01-09T00:00:28.729Z,1736380828.729 [DAT](INFO): DAT read: Bearing 311.6, 3.7 (Local) 2025-01-09T00:00:28.729Z,1736380828.729 [DAT](INFO): Local bearing/azimuth received: Bearing 311.6, 3.7 (Local) 2025-01-09T00:00:28.731Z,1736380828.731 [DAT](INFO): DAT read: Range 10 to 50 : 126.6 m (Round-trip 168.8 ms) speed 0.2 m/s 2025-01-09T00:00:28.731Z,1736380828.731 [DAT](INFO): DAT read: user:3570> 2025-01-09T00:00:28.732Z,1736380828.732 [DAT](INFO): DAT read: Tx time:00:00:28.0032 2025-01-09T00:00:28.732Z,1736380828.732 [DAT](INFO): Ping request sent. 2025-01-09T00:00:28.732Z,1736380828.732 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:28.733Z,1736380828.733 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:00:28.734Z,1736380828.734 [DAT](INFO): direction in FSK: [-0.134120,-0.954517,-0.266288] 2025-01-09T00:00:28.734Z,1736380828.734 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:28.734Z,1736380828.734 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:28.742Z,1736380828.742 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:28.743Z,1736380828.743 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:28.943Z,1736380828.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:28.972Z,1736380828.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:28.973Z,1736380828.973 [DAT](INFO): DAT read: TxSync time:00:00:28.0024 2025-01-09T00:00:28.990Z,1736380828.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.599998 m, deltaT: 3.780134 s, deltaX: -0.599998 m, approachRate: -0.158724 m/s, rangeRepo size: 4 2025-01-09T00:00:28.996Z,1736380828.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.599998 m, bearing: 12.539928 deg, lat: 36.905075 deg, lon: -122.120209 deg, deltaT: 3.780134 s, deltaX: -0.599998 m, approachRate: -0.158724 m/s, posRepo size: 4 2025-01-09T00:00:28.997Z,1736380828.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:29.012Z,1736380829.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.589516 m, bearing: 33.402107 deg, approach rate: 0.000000 m/s, LOS rate: -0.501223 deg/s, cmd heading: 38.870060 deg, new cmd heading: 38.064684 deg. 2025-01-09T00:00:29.013Z,1736380829.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664354 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:29.226Z,1736380829.226 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:29.309Z,1736380829.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:29.318Z,1736380829.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:29.321Z,1736380829.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.582809 m, bearing: 33.276262 deg, approach rate: -0.020386 m/s, LOS rate: -0.382584 deg/s, cmd heading: 38.064685 deg, new cmd heading: 37.687127 deg. 2025-01-09T00:00:29.322Z,1736380829.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.657764 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:29.476Z,1736380829.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:29.725Z,1736380829.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:29.732Z,1736380829.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:29.769Z,1736380829.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:29.778Z,1736380829.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.578880 m, bearing: 33.143658 deg, approach rate: -0.008732 m/s, LOS rate: -0.294702 deg/s, cmd heading: 37.687126 deg, new cmd heading: 37.289305 deg. 2025-01-09T00:00:29.784Z,1736380829.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.650821 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:29.984Z,1736380829.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:30.110Z,1736380830.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:30.124Z,1736380830.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:30.126Z,1736380830.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:30.129Z,1736380830.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.570007 m, bearing: 33.021202 deg, approach rate: -0.024816 m/s, LOS rate: -0.342514 deg/s, cmd heading: 37.289305 deg, new cmd heading: 36.921907 deg. 2025-01-09T00:00:30.130Z,1736380830.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644409 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:30.236Z,1736380830.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:30.236Z,1736380830.236 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:30.236Z,1736380830.236 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:30.237Z,1736380830.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:30.488Z,1736380830.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:30.488Z,1736380830.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755829 2025-01-09T00:00:30.523Z,1736380830.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:30.544Z,1736380830.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:30.547Z,1736380830.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.554634 m, bearing: 32.889951 deg, approach rate: -0.036730 m/s, LOS rate: -0.313644 deg/s, cmd heading: 36.921906 deg, new cmd heading: 36.528091 deg. 2025-01-09T00:00:30.552Z,1736380830.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637535 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:30.740Z,1736380830.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:30.741Z,1736380830.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008327 2025-01-09T00:00:30.992Z,1736380830.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:30.992Z,1736380830.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259984 2025-01-09T00:00:31.057Z,1736380831.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:31.075Z,1736380831.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:31.082Z,1736380831.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.515884 m, bearing: 32.723628 deg, approach rate: -0.073047 m/s, LOS rate: -0.313667 deg/s, cmd heading: 36.528091 deg, new cmd heading: 36.028926 deg. 2025-01-09T00:00:31.088Z,1736380831.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.628823 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:31.245Z,1736380831.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:31.246Z,1736380831.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513282 2025-01-09T00:00:31.430Z,1736380831.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:31.440Z,1736380831.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:31.442Z,1736380831.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.483246 m, bearing: 32.607933 deg, approach rate: -0.089388 m/s, LOS rate: -0.316969 deg/s, cmd heading: 36.028927 deg, new cmd heading: 35.681723 deg. 2025-01-09T00:00:31.444Z,1736380831.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.622764 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:31.496Z,1736380831.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:31.497Z,1736380831.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764115 2025-01-09T00:00:31.748Z,1736380831.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:31.749Z,1736380831.749 [DAT](INFO): DAT read: Rx Time:00:00:30.5750 2025-01-09T00:00:31.749Z,1736380831.749 [DAT](INFO): Rx dataTimestamp_ set to:1736380831.748768 2025-01-09T00:00:31.750Z,1736380831.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017100 2025-01-09T00:00:31.887Z,1736380831.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:31.912Z,1736380831.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:31.928Z,1736380831.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.430626 m, bearing: 32.470416 deg, approach rate: -0.115578 m/s, LOS rate: -0.302227 deg/s, cmd heading: 35.681724 deg, new cmd heading: 35.268942 deg. 2025-01-09T00:00:31.929Z,1736380831.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.615559 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:32.000Z,1736380832.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:32.001Z,1736380832.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268308 2025-01-09T00:00:32.254Z,1736380832.254 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:32.257Z,1736380832.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523688 2025-01-09T00:00:32.306Z,1736380832.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:32.313Z,1736380832.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:32.336Z,1736380832.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:32.341Z,1736380832.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.376312 m, bearing: 32.344869 deg, approach rate: -0.129322 m/s, LOS rate: -0.299108 deg/s, cmd heading: 35.268942 deg, new cmd heading: 34.892083 deg. 2025-01-09T00:00:32.342Z,1736380832.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.608982 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:32.504Z,1736380832.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:32.510Z,1736380832.510 [DAT](INFO): DAT read: 00:00:30.5750 LVL= 26752, 26977, 14482, 31635, AGC= 65, IDX= 433,-0.17,-2.311, 3.043,-0.948,-2.028, PHS=-0.196,-1.165, 1.077, RAW= 184.5, 3.0, CAL= 184.5, -5.3, ROT= 325.5, 5.3 2025-01-09T00:00:32.512Z,1736380832.512 [DAT](INFO): got valid direction response: 00:00:30.5750 LVL= 26752, 26977, 14482, 31635, AGC= 65, IDX= 433,-0.17,-2.311, 3.043,-0.948,-2.028, PHS=-0.196,-1.165, 1.077, RAW= 184.5, 3.0, CAL= 184.5, -5.3, ROT= 325.5, 5.3 2025-01-09T00:00:32.512Z,1736380832.512 [DAT](INFO): DAT read: $Error in header 2025-01-09T00:00:32.513Z,1736380832.513 [DAT](INFO): Received a bad header 2025-01-09T00:00:32.523Z,1736380832.523 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-09T00:00:32.524Z,1736380832.524 [DAT](INFO): direction in FSK: [-0.136003,-0.990010,-0.037193] 2025-01-09T00:00:32.527Z,1736380832.527 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:32.527Z,1736380832.527 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:32.528Z,1736380832.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:32.758Z,1736380832.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:32.759Z,1736380832.759 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:32.759Z,1736380832.759 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:32.759Z,1736380832.759 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:32.769Z,1736380832.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:32.790Z,1736380832.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:32.797Z,1736380832.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.302933 m, bearing: 32.208836 deg, approach rate: -0.154533 m/s, LOS rate: -0.286707 deg/s, cmd heading: 34.892083 deg, new cmd heading: 34.483664 deg. 2025-01-09T00:00:32.798Z,1736380832.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601853 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:33.012Z,1736380833.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:33.013Z,1736380833.013 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:33.013Z,1736380833.013 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:33.013Z,1736380833.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:33.102Z,1736380833.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:33.119Z,1736380833.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:33.126Z,1736380833.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.245590 m, bearing: 32.111951 deg, approach rate: -0.174368 m/s, LOS rate: -0.294795 deg/s, cmd heading: 34.483665 deg, new cmd heading: 34.192829 deg. 2025-01-09T00:00:33.127Z,1736380833.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596777 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:33.264Z,1736380833.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:33.264Z,1736380833.264 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:33.264Z,1736380833.264 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:33.264Z,1736380833.264 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:33.476Z,1736380833.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:33.485Z,1736380833.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:33.488Z,1736380833.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.176437 m, bearing: 32.004666 deg, approach rate: -0.188951 m/s, LOS rate: -0.293363 deg/s, cmd heading: 34.192829 deg, new cmd heading: 33.870735 deg. 2025-01-09T00:00:33.489Z,1736380833.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591156 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:33.516Z,1736380833.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:33.517Z,1736380833.517 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:33.517Z,1736380833.517 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:33.517Z,1736380833.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:33.768Z,1736380833.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:33.768Z,1736380833.768 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:33.768Z,1736380833.768 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:33.768Z,1736380833.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:33.921Z,1736380833.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:33.929Z,1736380833.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:33.932Z,1736380833.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 91.077545 m, bearing: 31.877670 deg, approach rate: -0.222587 m/s, LOS rate: -0.286154 deg/s, cmd heading: 33.870734 deg, new cmd heading: 33.489337 deg. 2025-01-09T00:00:33.933Z,1736380833.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584499 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:34.020Z,1736380834.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:34.020Z,1736380834.020 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:34.020Z,1736380834.020 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:34.021Z,1736380834.021 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:34.272Z,1736380834.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:34.272Z,1736380834.272 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:34.272Z,1736380834.272 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:34.272Z,1736380834.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:34.327Z,1736380834.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:34.350Z,1736380834.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:34.352Z,1736380834.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:34.355Z,1736380834.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 90.987740 m, bearing: 31.761598 deg, approach rate: -0.212307 m/s, LOS rate: -0.274673 deg/s, cmd heading: 33.489336 deg, new cmd heading: 33.140781 deg. 2025-01-09T00:00:34.356Z,1736380834.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578416 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:34.524Z,1736380834.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:34.524Z,1736380834.524 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:34.524Z,1736380834.524 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:34.524Z,1736380834.524 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:34.762Z,1736380834.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:34.772Z,1736380834.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:34.774Z,1736380834.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 90.882187 m, bearing: 31.632134 deg, approach rate: -0.252009 m/s, LOS rate: -0.309457 deg/s, cmd heading: 33.140781 deg, new cmd heading: 32.751944 deg. 2025-01-09T00:00:34.776Z,1736380834.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:34.777Z,1736380834.777 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:34.777Z,1736380834.777 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:34.777Z,1736380834.777 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:34.778Z,1736380834.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571629 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:35.028Z,1736380835.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:35.028Z,1736380835.028 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:35.028Z,1736380835.028 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:35.028Z,1736380835.028 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:35.113Z,1736380835.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:35.122Z,1736380835.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:35.125Z,1736380835.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 90.782066 m, bearing: 31.532894 deg, approach rate: -0.284854 m/s, LOS rate: -0.282660 deg/s, cmd heading: 32.751946 deg, new cmd heading: 32.453900 deg. 2025-01-09T00:00:35.126Z,1736380835.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566427 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:35.280Z,1736380835.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:35.280Z,1736380835.280 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:35.280Z,1736380835.280 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:35.280Z,1736380835.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:35.500Z,1736380835.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:35.509Z,1736380835.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:35.511Z,1736380835.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 90.666672 m, bearing: 31.425297 deg, approach rate: -0.298866 m/s, LOS rate: -0.279025 deg/s, cmd heading: 32.453900 deg, new cmd heading: 32.130702 deg. 2025-01-09T00:00:35.512Z,1736380835.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560787 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:35.533Z,1736380835.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:35.533Z,1736380835.533 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:35.533Z,1736380835.533 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:35.533Z,1736380835.533 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:35.785Z,1736380835.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:35.785Z,1736380835.785 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:35.785Z,1736380835.785 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:35.785Z,1736380835.785 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:35.934Z,1736380835.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:35.946Z,1736380835.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:35.965Z,1736380835.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 90.522514 m, bearing: 31.302096 deg, approach rate: -0.330299 m/s, LOS rate: -0.282733 deg/s, cmd heading: 32.130702 deg, new cmd heading: 31.760515 deg. 2025-01-09T00:00:35.996Z,1736380835.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554326 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:36.036Z,1736380836.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:36.036Z,1736380836.036 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:36.036Z,1736380836.036 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:36.036Z,1736380836.036 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:36.288Z,1736380836.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:36.288Z,1736380836.288 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:36.288Z,1736380836.288 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:36.288Z,1736380836.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:36.330Z,1736380836.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:36.340Z,1736380836.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:36.343Z,1736380836.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 90.385704 m, bearing: 31.191680 deg, approach rate: -0.346066 m/s, LOS rate: -0.279722 deg/s, cmd heading: 31.760516 deg, new cmd heading: 31.428772 deg. 2025-01-09T00:00:36.344Z,1736380836.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548536 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:36.543Z,1736380836.543 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:36.544Z,1736380836.544 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:36.544Z,1736380836.544 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:36.544Z,1736380836.544 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:36.792Z,1736380836.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:36.792Z,1736380836.792 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:36.792Z,1736380836.792 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:36.792Z,1736380836.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:36.794Z,1736380836.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:36.836Z,1736380836.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:36.838Z,1736380836.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:36.845Z,1736380836.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 90.214684 m, bearing: 31.062369 deg, approach rate: -0.343895 m/s, LOS rate: -0.260517 deg/s, cmd heading: 31.428774 deg, new cmd heading: 31.040110 deg. 2025-01-09T00:00:36.846Z,1736380836.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541752 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:37.044Z,1736380837.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:37.044Z,1736380837.044 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:37.044Z,1736380837.044 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:37.044Z,1736380837.044 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:37.129Z,1736380837.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:37.138Z,1736380837.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:37.141Z,1736380837.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 90.086868 m, bearing: 30.970926 deg, approach rate: -0.425101 m/s, LOS rate: -0.304562 deg/s, cmd heading: 31.040109 deg, new cmd heading: 30.765393 deg. 2025-01-09T00:00:37.142Z,1736380837.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536957 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:37.298Z,1736380837.298 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:37.300Z,1736380837.300 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:37.300Z,1736380837.300 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:37.300Z,1736380837.300 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:37.525Z,1736380837.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:37.548Z,1736380837.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:37.549Z,1736380837.549 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:37.550Z,1736380837.550 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:37.550Z,1736380837.550 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:37.555Z,1736380837.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:37.558Z,1736380837.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 89.930679 m, bearing: 30.865416 deg, approach rate: -0.393756 m/s, LOS rate: -0.266454 deg/s, cmd heading: 30.765392 deg, new cmd heading: 30.448317 deg. 2025-01-09T00:00:37.559Z,1736380837.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531423 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:37.800Z,1736380837.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:37.801Z,1736380837.801 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:37.801Z,1736380837.801 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:37.801Z,1736380837.801 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:37.985Z,1736380837.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:37.994Z,1736380837.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:37.997Z,1736380837.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 89.743088 m, bearing: 30.737742 deg, approach rate: -0.408809 m/s, LOS rate: -0.278815 deg/s, cmd heading: 30.448317 deg, new cmd heading: 30.064501 deg. 2025-01-09T00:00:37.998Z,1736380837.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.524725 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:38.052Z,1736380838.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:38.052Z,1736380838.052 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:38.052Z,1736380838.052 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:38.053Z,1736380838.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:38.304Z,1736380838.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:38.304Z,1736380838.304 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:38.304Z,1736380838.304 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:38.304Z,1736380838.304 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:38.344Z,1736380838.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:38.368Z,1736380838.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:38.370Z,1736380838.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 89.588013 m, bearing: 30.643712 deg, approach rate: -0.418653 m/s, LOS rate: -0.254292 deg/s, cmd heading: 30.064502 deg, new cmd heading: 29.781924 deg. 2025-01-09T00:00:38.372Z,1736380838.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519793 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:38.556Z,1736380838.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:38.557Z,1736380838.557 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:38.557Z,1736380838.557 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:38.557Z,1736380838.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:00:38.801Z,1736380838.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:38.808Z,1736380838.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:38.808Z,1736380838.808 [DAT](INFO): Reached modem response timeout 2025-01-09T00:00:38.808Z,1736380838.808 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:00:38.809Z,1736380838.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:38.834Z,1736380838.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:38.841Z,1736380838.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 89.391167 m, bearing: 30.529433 deg, approach rate: -0.419035 m/s, LOS rate: -0.243806 deg/s, cmd heading: 29.781923 deg, new cmd heading: 29.438337 deg. 2025-01-09T00:00:38.842Z,1736380838.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513796 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:39.060Z,1736380839.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:39.061Z,1736380839.061 [DAT](INFO): Reached modem response timeout 2025-01-09T00:00:39.061Z,1736380839.061 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:00:39.061Z,1736380839.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:39.139Z,1736380839.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:39.154Z,1736380839.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:39.162Z,1736380839.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:39.169Z,1736380839.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 89.241631 m, bearing: 30.447358 deg, approach rate: -0.455822 m/s, LOS rate: -0.250604 deg/s, cmd heading: 29.438337 deg, new cmd heading: 29.191701 deg. 2025-01-09T00:00:39.170Z,1736380839.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509491 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:39.312Z,1736380839.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:39.312Z,1736380839.312 [DAT](INFO): Reached modem response timeout 2025-01-09T00:00:39.312Z,1736380839.312 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:00:39.313Z,1736380839.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:39.552Z,1736380839.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:39.564Z,1736380839.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:39.564Z,1736380839.564 [DAT](INFO): DAT read: Response Not Received 2025-01-09T00:00:39.565Z,1736380839.565 [DAT](INFO): response not received 2025-01-09T00:00:39.566Z,1736380839.566 [DAT](INFO): DAT read: user:3572> 2025-01-09T00:00:39.567Z,1736380839.567 [DAT](INFO): DAT read: Tx time:00:00:38.9533 2025-01-09T00:00:39.568Z,1736380839.568 [DAT](INFO): Ping request sent. 2025-01-09T00:00:39.568Z,1736380839.568 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:39.568Z,1736380839.568 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:39.569Z,1736380839.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-01-09T00:00:39.586Z,1736380839.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:39.601Z,1736380839.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 89.054039 m, bearing: 30.350186 deg, approach rate: -0.442991 m/s, LOS rate: -0.229952 deg/s, cmd heading: 29.191703 deg, new cmd heading: 28.899574 deg. 2025-01-09T00:00:39.602Z,1736380839.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.504393 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:39.817Z,1736380839.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:39.818Z,1736380839.818 [DAT](INFO): DAT read: TxSync time:00:00:38.9525 2025-01-09T00:00:39.819Z,1736380839.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251116 2025-01-09T00:00:39.976Z,1736380839.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:40.003Z,1736380840.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:40.006Z,1736380840.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 88.868019 m, bearing: 30.254904 deg, approach rate: -0.464391 m/s, LOS rate: -0.238364 deg/s, cmd heading: 28.899575 deg, new cmd heading: 28.613135 deg. 2025-01-09T00:00:40.007Z,1736380840.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.499393 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:40.069Z,1736380840.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:40.070Z,1736380840.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501819 2025-01-09T00:00:40.320Z,1736380840.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:40.320Z,1736380840.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752541 2025-01-09T00:00:40.353Z,1736380840.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:40.362Z,1736380840.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:40.385Z,1736380840.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 88.699112 m, bearing: 30.172978 deg, approach rate: -0.449789 m/s, LOS rate: -0.218580 deg/s, cmd heading: 28.613136 deg, new cmd heading: 28.366890 deg. 2025-01-09T00:00:40.386Z,1736380840.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495096 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:40.574Z,1736380840.574 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:40.576Z,1736380840.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008234 2025-01-09T00:00:40.824Z,1736380840.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:40.825Z,1736380840.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256764 2025-01-09T00:00:40.833Z,1736380840.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:40.842Z,1736380840.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:40.866Z,1736380840.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 88.486244 m, bearing: 30.077887 deg, approach rate: -0.443523 m/s, LOS rate: -0.198605 deg/s, cmd heading: 28.366891 deg, new cmd heading: 28.080933 deg. 2025-01-09T00:00:40.871Z,1736380840.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490105 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:41.080Z,1736380841.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:41.082Z,1736380841.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513417 2025-01-09T00:00:41.190Z,1736380841.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:41.197Z,1736380841.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:41.200Z,1736380841.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:41.203Z,1736380841.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 88.324463 m, bearing: 30.009402 deg, approach rate: -0.451024 m/s, LOS rate: -0.191274 deg/s, cmd heading: 28.080933 deg, new cmd heading: 27.875105 deg. 2025-01-09T00:00:41.220Z,1736380841.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486512 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:41.332Z,1736380841.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:41.333Z,1736380841.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765176 2025-01-09T00:00:41.584Z,1736380841.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:41.585Z,1736380841.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016613 2025-01-09T00:00:41.600Z,1736380841.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:41.609Z,1736380841.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:41.611Z,1736380841.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 88.135742 m, bearing: 29.934649 deg, approach rate: -0.462168 m/s, LOS rate: -0.183459 deg/s, cmd heading: 27.875105 deg, new cmd heading: 27.650367 deg. 2025-01-09T00:00:41.612Z,1736380841.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.482590 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:41.836Z,1736380841.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:41.837Z,1736380841.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269360 2025-01-09T00:00:42.027Z,1736380842.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:42.057Z,1736380842.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:42.064Z,1736380842.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 87.943146 m, bearing: 29.864217 deg, approach rate: -0.429371 m/s, LOS rate: -0.157364 deg/s, cmd heading: 27.650366 deg, new cmd heading: 27.438608 deg. 2025-01-09T00:00:42.065Z,1736380842.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478894 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:42.089Z,1736380842.089 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:42.089Z,1736380842.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521378 2025-01-09T00:00:42.340Z,1736380842.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:42.340Z,1736380842.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772455 2025-01-09T00:00:42.437Z,1736380842.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:42.446Z,1736380842.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:42.450Z,1736380842.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 87.755089 m, bearing: 29.800290 deg, approach rate: -0.483967 m/s, LOS rate: -0.164870 deg/s, cmd heading: 27.438608 deg, new cmd heading: 27.246416 deg. 2025-01-09T00:00:42.451Z,1736380842.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475540 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:42.592Z,1736380842.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:42.592Z,1736380842.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024544 2025-01-09T00:00:42.844Z,1736380842.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:42.844Z,1736380842.844 [DAT](INFO): DAT read: Rx Time:00:00:41.5180 2025-01-09T00:00:42.845Z,1736380842.845 [DAT](INFO): Rx dataTimestamp_ set to:1736380842.844614 2025-01-09T00:00:42.845Z,1736380842.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277532 2025-01-09T00:00:42.898Z,1736380842.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:42.928Z,1736380842.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:42.930Z,1736380842.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 87.552895 m, bearing: 29.735071 deg, approach rate: -0.423256 m/s, LOS rate: -0.136840 deg/s, cmd heading: 27.246417 deg, new cmd heading: 27.050308 deg. 2025-01-09T00:00:42.936Z,1736380842.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472117 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:43.097Z,1736380843.097 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:43.098Z,1736380843.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529907 2025-01-09T00:00:43.275Z,1736380843.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:43.283Z,1736380843.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:43.301Z,1736380843.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.60 m. 2025-01-09T00:00:43.308Z,1736380843.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.599998 m, nav range: 87.387352 m, bearing: 29.681424 deg, approach rate: -0.438533 m/s, LOS rate: -0.142382 deg/s, cmd heading: 27.050309 deg, new cmd heading: 26.889065 deg. 2025-01-09T00:00:43.309Z,1736380843.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.469303 target range: 126.599998 and range: 126.60 m. 2025-01-09T00:00:43.348Z,1736380843.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:43.356Z,1736380843.356 [DAT](INFO): DAT read: 00:00:41.5180 LVL= 29040, 28577, 22242, 32755, AGC= 64, IDX= 376, 0.40,-0.838,-2.404,-1.285,-1.492, PHS= 0.742,-0.865, 0.204, RAW= 130.8, -1.2, CAL= 136.6, -10.3, ROT= 13.4, 10.3 2025-01-09T00:00:43.357Z,1736380843.357 [DAT](INFO): got valid direction response: 00:00:41.5180 LVL= 29040, 28577, 22242, 32755, AGC= 64, IDX= 376, 0.40,-0.838,-2.404,-1.285,-1.492, PHS= 0.742,-0.865, 0.204, RAW= 130.8, -1.2, CAL= 136.6, -10.3, ROT= 13.4, 10.3 2025-01-09T00:00:43.358Z,1736380843.358 [DAT](INFO): DAT read: Bearing 13.4, 10.3 (Local) 2025-01-09T00:00:43.358Z,1736380843.358 [DAT](INFO): Local bearing/azimuth received: Bearing 13.4, 10.3 (Local) 2025-01-09T00:00:43.360Z,1736380843.360 [DAT](INFO): DAT read: Range 10 to 50 : 120.4 m (Round-trip 160.6 ms) speed 0.4 m/s 2025-01-09T00:00:43.360Z,1736380843.360 [DAT](INFO): DAT read: user:3573> 2025-01-09T00:00:43.361Z,1736380843.361 [DAT](INFO): DAT read: Tx time:00:00:42.6033 2025-01-09T00:00:43.361Z,1736380843.361 [DAT](INFO): Ping request sent. 2025-01-09T00:00:43.361Z,1736380843.361 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:43.362Z,1736380843.362 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:00:43.363Z,1736380843.363 [DAT](INFO): direction in FSK: [-0.102527,-0.586941,0.803112] 2025-01-09T00:00:43.363Z,1736380843.363 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:43.364Z,1736380843.364 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:43.368Z,1736380843.368 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:43.368Z,1736380843.368 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:43.600Z,1736380843.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:43.601Z,1736380843.601 [DAT](INFO): DAT read: TxSync time:00:00:42.6025 2025-01-09T00:00:43.657Z,1736380843.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:43.704Z,1736380843.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.400002 m, deltaT: 14.628248 s, deltaX: -6.199997 m, approachRate: -0.423837 m/s, rangeRepo size: 4 2025-01-09T00:00:43.706Z,1736380843.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.400002 m, bearing: 300.593235 deg, lat: 36.904734 deg, lon: -122.120479 deg, deltaT: 14.628248 s, deltaX: -6.199997 m, approachRate: -0.423837 m/s, posRepo size: 4 2025-01-09T00:00:43.706Z,1736380843.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.40 m. 2025-01-09T00:00:43.713Z,1736380843.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.400002 m, nav range: 42.492168 m, bearing: 26.726410 deg, approach rate: 0.000000 m/s, LOS rate: -0.142382 deg/s, cmd heading: 26.889065 deg, new cmd heading: 26.719667 deg. 2025-01-09T00:00:43.714Z,1736380843.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466346 target range: 120.400002 and range: 120.40 m. 2025-01-09T00:00:43.852Z,1736380843.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:44.086Z,1736380844.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:44.104Z,1736380844.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:44.127Z,1736380844.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.40 m. 2025-01-09T00:00:44.130Z,1736380844.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.400002 m, nav range: 42.303516 m, bearing: 26.635261 deg, approach rate: -0.443215 m/s, LOS rate: -0.215098 deg/s, cmd heading: 26.719668 deg, new cmd heading: 26.445004 deg. 2025-01-09T00:00:44.135Z,1736380844.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461552 target range: 120.400002 and range: 120.40 m. 2025-01-09T00:00:44.356Z,1736380844.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:44.460Z,1736380844.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:44.489Z,1736380844.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.40 m. 2025-01-09T00:00:44.492Z,1736380844.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.400002 m, nav range: 42.137295 m, bearing: 26.561388 deg, approach rate: -0.454688 m/s, LOS rate: -0.202873 deg/s, cmd heading: 26.445003 deg, new cmd heading: 26.222510 deg. 2025-01-09T00:00:44.493Z,1736380844.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.457669 target range: 120.400002 and range: 120.40 m. 2025-01-09T00:00:44.608Z,1736380844.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:44.860Z,1736380844.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:44.908Z,1736380844.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:44.918Z,1736380844.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.40 m. 2025-01-09T00:00:44.921Z,1736380844.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.400002 m, nav range: 41.939110 m, bearing: 26.488891 deg, approach rate: -0.462001 m/s, LOS rate: -0.169800 deg/s, cmd heading: 26.222510 deg, new cmd heading: 26.003993 deg. 2025-01-09T00:00:44.922Z,1736380844.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453855 target range: 120.400002 and range: 120.40 m. 2025-01-09T00:00:45.112Z,1736380845.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:45.264Z,1736380845.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:45.273Z,1736380845.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.40 m. 2025-01-09T00:00:45.292Z,1736380845.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.400002 m, nav range: 41.780968 m, bearing: 26.437450 deg, approach rate: -0.444989 m/s, LOS rate: -0.145294 deg/s, cmd heading: 26.003994 deg, new cmd heading: 25.849089 deg. 2025-01-09T00:00:45.293Z,1736380845.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451152 target range: 120.400002 and range: 120.40 m. 2025-01-09T00:00:45.367Z,1736380845.367 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:45.620Z,1736380845.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:45.690Z,1736380845.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:45.697Z,1736380845.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:45.700Z,1736380845.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.40 m. 2025-01-09T00:00:45.703Z,1736380845.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.400002 m, nav range: 41.590019 m, bearing: 26.383250 deg, approach rate: -0.447257 m/s, LOS rate: -0.127536 deg/s, cmd heading: 25.849088 deg, new cmd heading: 25.685741 deg. 2025-01-09T00:00:45.704Z,1736380845.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448301 target range: 120.400002 and range: 120.40 m. 2025-01-09T00:00:45.872Z,1736380845.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:45.872Z,1736380845.872 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:45.872Z,1736380845.872 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:45.873Z,1736380845.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:46.120Z,1736380846.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:46.124Z,1736380846.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:46.124Z,1736380846.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762933 2025-01-09T00:00:46.130Z,1736380846.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.40 m. 2025-01-09T00:00:46.133Z,1736380846.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.400002 m, nav range: 41.379913 m, bearing: 26.336284 deg, approach rate: -0.488749 m/s, LOS rate: -0.109807 deg/s, cmd heading: 25.685741 deg, new cmd heading: 25.544128 deg. 2025-01-09T00:00:46.134Z,1736380846.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445829 target range: 120.400002 and range: 120.40 m. 2025-01-09T00:00:46.377Z,1736380846.377 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:46.377Z,1736380846.377 [DAT](INFO): DAT read: Rx Time:00:00:45.1659 2025-01-09T00:00:46.378Z,1736380846.378 [DAT](INFO): Rx dataTimestamp_ set to:1736380846.377676 2025-01-09T00:00:46.378Z,1736380846.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016992 2025-01-09T00:00:46.484Z,1736380846.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:46.493Z,1736380846.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.40 m. 2025-01-09T00:00:46.496Z,1736380846.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.400002 m, nav range: 41.201168 m, bearing: 26.302584 deg, approach rate: -0.492047 m/s, LOS rate: -0.093172 deg/s, cmd heading: 25.544127 deg, new cmd heading: 25.442588 deg. 2025-01-09T00:00:46.497Z,1736380846.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444057 target range: 120.400002 and range: 120.40 m. 2025-01-09T00:00:46.628Z,1736380846.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:46.628Z,1736380846.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266883 2025-01-09T00:00:46.881Z,1736380846.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:46.921Z,1736380846.921 [DAT](INFO): DAT read: 00:00:45.1659 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 418, 0.15,-1.857, 2.886,-2.701,-2.455, PHS= 0.686,-0.895,-0.248, RAW= 114.0, 6.7, CAL= 123.9, 3.4, ROT= 26.1, -3.4 2025-01-09T00:00:46.922Z,1736380846.922 [DAT](INFO): got valid direction response: 00:00:45.1659 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 418, 0.15,-1.857, 2.886,-2.701,-2.455, PHS= 0.686,-0.895,-0.248, RAW= 114.0, 6.7, CAL= 123.9, 3.4, ROT= 26.1, -3.4 2025-01-09T00:00:46.928Z,1736380846.928 [DAT](INFO): DAT read: Bearing 26.1, -3.4 (Local) 2025-01-09T00:00:46.928Z,1736380846.928 [DAT](INFO): Local bearing/azimuth received: Bearing 26.1, -3.4 (Local) 2025-01-09T00:00:46.930Z,1736380846.930 [DAT](INFO): DAT read: Range 10 to 50 : 118.7 m (Round-trip 158.3 ms) speed 1.0 m/s 2025-01-09T00:00:46.931Z,1736380846.931 [DAT](INFO): DAT read: user:3574> 2025-01-09T00:00:46.940Z,1736380846.940 [DAT](INFO): DAT read: Tx time:00:00:46.2534 2025-01-09T00:00:46.940Z,1736380846.940 [DAT](INFO): Ping request sent. 2025-01-09T00:00:46.940Z,1736380846.940 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:46.941Z,1736380846.941 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:00:46.941Z,1736380846.941 [DAT](INFO): direction in FSK: [-0.243674,-0.302235,0.921562] 2025-01-09T00:00:46.942Z,1736380846.942 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:46.942Z,1736380846.942 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:46.967Z,1736380846.967 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:46.967Z,1736380846.967 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:47.040Z,1736380847.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:47.081Z,1736380847.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.699997 m, deltaT: 3.534944 s, deltaX: -1.700005 m, approachRate: -0.480914 m/s, rangeRepo size: 4 2025-01-09T00:00:47.088Z,1736380847.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.699997 m, bearing: 261.021762 deg, lat: 36.904734 deg, lon: -122.120479 deg, deltaT: 3.534944 s, deltaX: -1.700005 m, approachRate: -0.480914 m/s, posRepo size: 4 2025-01-09T00:00:47.089Z,1736380847.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-09T00:00:47.099Z,1736380847.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 40.952896 m, bearing: 26.272035 deg, approach rate: 0.000000 m/s, LOS rate: -0.093172 deg/s, cmd heading: 25.442588 deg, new cmd heading: 25.278392 deg. 2025-01-09T00:00:47.102Z,1736380847.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441191 target range: 118.699997 and range: 118.70 m. 2025-01-09T00:00:47.132Z,1736380847.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:47.134Z,1736380847.134 [DAT](INFO): DAT read: TxSync time:00:00:46.2526 2025-01-09T00:00:47.297Z,1736380847.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:47.327Z,1736380847.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-09T00:00:47.334Z,1736380847.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 40.837944 m, bearing: 26.261424 deg, approach rate: -0.467515 m/s, LOS rate: -0.043274 deg/s, cmd heading: 25.278392 deg, new cmd heading: 25.246471 deg. 2025-01-09T00:00:47.344Z,1736380847.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440634 target range: 118.699997 and range: 118.70 m. 2025-01-09T00:00:47.384Z,1736380847.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:47.636Z,1736380847.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:47.703Z,1736380847.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:47.710Z,1736380847.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:47.712Z,1736380847.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-09T00:00:47.716Z,1736380847.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 40.656105 m, bearing: 26.249329 deg, approach rate: -0.471223 m/s, LOS rate: -0.031484 deg/s, cmd heading: 25.246471 deg, new cmd heading: 25.210023 deg. 2025-01-09T00:00:47.717Z,1736380847.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439998 target range: 118.699997 and range: 118.70 m. 2025-01-09T00:00:47.889Z,1736380847.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:47.890Z,1736380847.890 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:47.890Z,1736380847.890 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:47.890Z,1736380847.890 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:48.140Z,1736380848.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:48.140Z,1736380848.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200126 2025-01-09T00:00:48.145Z,1736380848.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:48.154Z,1736380848.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-09T00:00:48.157Z,1736380848.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 40.456314 m, bearing: 26.235331 deg, approach rate: -0.452132 m/s, LOS rate: -0.031835 deg/s, cmd heading: 25.210023 deg, new cmd heading: 25.167821 deg. 2025-01-09T00:00:48.161Z,1736380848.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439261 target range: 118.699997 and range: 118.70 m. 2025-01-09T00:00:48.392Z,1736380848.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:48.393Z,1736380848.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.452285 2025-01-09T00:00:48.517Z,1736380848.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:48.526Z,1736380848.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-09T00:00:48.529Z,1736380848.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 40.288170 m, bearing: 26.231884 deg, approach rate: -0.452412 m/s, LOS rate: -0.009313 deg/s, cmd heading: 25.167821 deg, new cmd heading: 25.157438 deg. 2025-01-09T00:00:48.530Z,1736380848.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439080 target range: 118.699997 and range: 118.70 m. 2025-01-09T00:00:48.644Z,1736380848.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:48.645Z,1736380848.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704308 2025-01-09T00:00:48.897Z,1736380848.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:48.900Z,1736380848.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958805 2025-01-09T00:00:48.988Z,1736380848.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:48.996Z,1736380848.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-09T00:00:49.000Z,1736380849.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 40.071163 m, bearing: 26.230390 deg, approach rate: -0.461423 m/s, LOS rate: -0.003195 deg/s, cmd heading: 25.157438 deg, new cmd heading: 25.152930 deg. 2025-01-09T00:00:49.001Z,1736380849.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439001 target range: 118.699997 and range: 118.70 m. 2025-01-09T00:00:49.150Z,1736380849.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:49.157Z,1736380849.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217145 2025-01-09T00:00:49.354Z,1736380849.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:49.362Z,1736380849.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-09T00:00:49.366Z,1736380849.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 39.902149 m, bearing: 26.232079 deg, approach rate: -0.461697 m/s, LOS rate: 0.004635 deg/s, cmd heading: 25.152930 deg, new cmd heading: 25.158020 deg. 2025-01-09T00:00:49.368Z,1736380849.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439090 target range: 118.699997 and range: 118.70 m. 2025-01-09T00:00:49.400Z,1736380849.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:49.402Z,1736380849.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461236 2025-01-09T00:00:49.652Z,1736380849.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:49.653Z,1736380849.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712800 2025-01-09T00:00:49.770Z,1736380849.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:49.777Z,1736380849.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:49.779Z,1736380849.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-09T00:00:49.783Z,1736380849.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 39.715275 m, bearing: 26.236163 deg, approach rate: -0.448473 m/s, LOS rate: 0.009847 deg/s, cmd heading: 25.158020 deg, new cmd heading: 25.170329 deg. 2025-01-09T00:00:49.784Z,1736380849.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439305 target range: 118.699997 and range: 118.70 m. 2025-01-09T00:00:49.905Z,1736380849.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:49.908Z,1736380849.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966782 2025-01-09T00:00:50.156Z,1736380850.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:50.156Z,1736380850.156 [DAT](INFO): DAT read: Rx Time:00:00:48.8135 2025-01-09T00:00:50.157Z,1736380850.157 [DAT](INFO): Rx dataTimestamp_ set to:1736380850.156571 2025-01-09T00:00:50.157Z,1736380850.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217083 2025-01-09T00:00:50.236Z,1736380850.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:50.251Z,1736380850.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-09T00:00:50.270Z,1736380850.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 39.486866 m, bearing: 26.246101 deg, approach rate: -0.484213 m/s, LOS rate: 0.021190 deg/s, cmd heading: 25.170330 deg, new cmd heading: 25.200317 deg. 2025-01-09T00:00:50.276Z,1736380850.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439828 target range: 118.699997 and range: 118.70 m. 2025-01-09T00:00:50.409Z,1736380850.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:50.410Z,1736380850.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469235 2025-01-09T00:00:50.580Z,1736380850.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:50.590Z,1736380850.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.70 m. 2025-01-09T00:00:50.593Z,1736380850.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.699997 m, nav range: 39.321922 m, bearing: 26.254145 deg, approach rate: -0.486471 m/s, LOS rate: 0.023822 deg/s, cmd heading: 25.200316 deg, new cmd heading: 25.224548 deg. 2025-01-09T00:00:50.594Z,1736380850.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440251 target range: 118.699997 and range: 118.70 m. 2025-01-09T00:00:50.660Z,1736380850.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:50.671Z,1736380850.671 [DAT](INFO): DAT read: 00:00:48.8135 LVL= 23968, 32753, 32434, 32755, AGC= 63, IDX= 410, 0.38,-1.719, 2.978,-2.592,-2.290, PHS= 0.660,-0.968,-0.304, RAW= 113.9, 8.7, CAL= 123.3, 5.5, ROT= 26.7, -5.5 2025-01-09T00:00:50.674Z,1736380850.674 [DAT](INFO): got valid direction response: 00:00:48.8135 LVL= 23968, 32753, 32434, 32755, AGC= 63, IDX= 410, 0.38,-1.719, 2.978,-2.592,-2.290, PHS= 0.660,-0.968,-0.304, RAW= 113.9, 8.7, CAL= 123.3, 5.5, ROT= 26.7, -5.5 2025-01-09T00:00:50.678Z,1736380850.678 [DAT](INFO): DAT read: Bearing 26.7, -5.5 (Local) 2025-01-09T00:00:50.679Z,1736380850.679 [DAT](INFO): Local bearing/azimuth received: Bearing 26.7, -5.5 (Local) 2025-01-09T00:00:50.681Z,1736380850.681 [DAT](INFO): DAT read: Range 10 to 50 : 117.0 m (Round-trip 156.0 ms) speed 0.1 m/s 2025-01-09T00:00:50.682Z,1736380850.682 [DAT](INFO): DAT read: user:3575> 2025-01-09T00:00:50.703Z,1736380850.703 [DAT](INFO): DAT read: Tx time:00:00:49.9034 2025-01-09T00:00:50.708Z,1736380850.708 [DAT](INFO): Ping request sent. 2025-01-09T00:00:50.708Z,1736380850.708 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:50.709Z,1736380850.709 [DAT](INFO): DAT read: TxSync time:00:00:49.9026 2025-01-09T00:00:50.709Z,1736380850.709 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:00:50.710Z,1736380850.710 [DAT](INFO): direction in FSK: [-0.280417,-0.296484,0.912942] 2025-01-09T00:00:50.711Z,1736380850.711 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:50.711Z,1736380850.711 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:50.741Z,1736380850.741 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:50.741Z,1736380850.741 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:50.914Z,1736380850.914 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:51.056Z,1736380851.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:51.079Z,1736380851.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 117.000000 m, deltaT: 3.777745 s, deltaX: -1.699997 m, approachRate: -0.450003 m/s, rangeRepo size: 4 2025-01-09T00:00:51.081Z,1736380851.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 117.000000 m, bearing: 249.668045 deg, lat: 36.904734 deg, lon: -122.121256 deg, deltaT: 3.777745 s, deltaX: -1.699997 m, approachRate: -0.450003 m/s, posRepo size: 4 2025-01-09T00:00:51.082Z,1736380851.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.00 m. 2025-01-09T00:00:51.089Z,1736380851.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.000000 m, nav range: 62.552940 m, bearing: 304.083054 deg, approach rate: 0.000000 m/s, LOS rate: 0.023822 deg/s, cmd heading: 25.224548 deg, new cmd heading: 25.259184 deg. 2025-01-09T00:00:51.090Z,1736380851.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440856 target range: 117.000000 and range: 117.00 m. 2025-01-09T00:00:51.165Z,1736380851.165 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:51.268Z,1736380851.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:00:51.380Z,1736380851.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:51.408Z,1736380851.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.00 m. 2025-01-09T00:00:51.416Z,1736380851.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:51.426Z,1736380851.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.000000 m, nav range: 62.522461 m, bearing: 303.935814 deg, approach rate: -0.091655 m/s, LOS rate: -0.442985 deg/s, cmd heading: 25.259184 deg, new cmd heading: 24.817255 deg. 2025-01-09T00:00:51.432Z,1736380851.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433143 target range: 117.000000 and range: 117.00 m. 2025-01-09T00:00:51.668Z,1736380851.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:51.789Z,1736380851.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:51.796Z,1736380851.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:51.800Z,1736380851.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.00 m. 2025-01-09T00:00:51.802Z,1736380851.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.000000 m, nav range: 62.486362 m, bearing: 303.754023 deg, approach rate: -0.092277 m/s, LOS rate: -0.464969 deg/s, cmd heading: 24.817255 deg, new cmd heading: 24.271586 deg. 2025-01-09T00:00:51.824Z,1736380851.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423619 target range: 117.000000 and range: 117.00 m. 2025-01-09T00:00:51.925Z,1736380851.925 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:51.927Z,1736380851.927 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:51.928Z,1736380851.928 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:51.928Z,1736380851.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:52.177Z,1736380852.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:52.178Z,1736380852.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474882 2025-01-09T00:00:52.240Z,1736380852.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:52.269Z,1736380852.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.00 m. 2025-01-09T00:00:52.272Z,1736380852.272 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:00:52.277Z,1736380852.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.000000 m, nav range: 62.439991 m, bearing: 303.549115 deg, approach rate: -0.098582 m/s, LOS rate: -0.435941 deg/s, cmd heading: 24.271586 deg, new cmd heading: 23.656430 deg. 2025-01-09T00:00:52.284Z,1736380852.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412883 target range: 117.000000 and range: 117.00 m. 2025-01-09T00:00:52.428Z,1736380852.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:52.428Z,1736380852.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725349 2025-01-09T00:00:52.600Z,1736380852.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:52.608Z,1736380852.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.00 m. 2025-01-09T00:00:52.611Z,1736380852.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.000000 m, nav range: 62.405922 m, bearing: 303.385532 deg, approach rate: -0.100303 m/s, LOS rate: -0.481868 deg/s, cmd heading: 23.656430 deg, new cmd heading: 23.165425 deg. 2025-01-09T00:00:52.612Z,1736380852.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.404313 target range: 117.000000 and range: 117.00 m. 2025-01-09T00:00:52.680Z,1736380852.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:52.682Z,1736380852.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978243 2025-01-09T00:00:52.933Z,1736380852.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:52.937Z,1736380852.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233512 2025-01-09T00:00:53.047Z,1736380853.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:53.057Z,1736380853.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.00 m. 2025-01-09T00:00:53.059Z,1736380853.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.000000 m, nav range: 62.364365 m, bearing: 303.173234 deg, approach rate: -0.092702 m/s, LOS rate: -0.473890 deg/s, cmd heading: 23.165425 deg, new cmd heading: 22.528133 deg. 2025-01-09T00:00:53.060Z,1736380853.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393190 target range: 117.000000 and range: 117.00 m. 2025-01-09T00:00:53.185Z,1736380853.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:53.188Z,1736380853.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484011 2025-01-09T00:00:53.404Z,1736380853.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:53.431Z,1736380853.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.00 m. 2025-01-09T00:00:53.435Z,1736380853.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.000000 m, nav range: 62.332348 m, bearing: 303.003543 deg, approach rate: -0.085601 m/s, LOS rate: -0.453921 deg/s, cmd heading: 22.528132 deg, new cmd heading: 22.018813 deg. 2025-01-09T00:00:53.436Z,1736380853.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:53.437Z,1736380853.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733461 2025-01-09T00:00:53.437Z,1736380853.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.384301 target range: 117.000000 and range: 117.00 m. 2025-01-09T00:00:53.688Z,1736380853.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:53.689Z,1736380853.689 [DAT](INFO): DAT read: Rx Time:00:00:52.4613 2025-01-09T00:00:53.690Z,1736380853.690 [DAT](INFO): Rx dataTimestamp_ set to:1736380853.689596 2025-01-09T00:00:53.692Z,1736380853.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989063 2025-01-09T00:00:53.830Z,1736380853.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:53.838Z,1736380853.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:53.840Z,1736380853.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.00 m. 2025-01-09T00:00:53.843Z,1736380853.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.000000 m, nav range: 62.295425 m, bearing: 302.803938 deg, approach rate: -0.090138 m/s, LOS rate: -0.487580 deg/s, cmd heading: 22.018814 deg, new cmd heading: 21.419668 deg. 2025-01-09T00:00:53.844Z,1736380853.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373844 target range: 117.000000 and range: 117.00 m. 2025-01-09T00:00:53.942Z,1736380853.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:53.944Z,1736380853.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241127 2025-01-09T00:00:54.192Z,1736380854.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:54.198Z,1736380854.198 [DAT](INFO): DAT read: 00:00:52.4613 LVL= 27504, 32753, 32754, 32755, AGC= 61, IDX= 419, 0.10, 0.490,-1.051,-0.364,-0.099, PHS= 0.677,-0.904,-0.268, RAW= 113.6, 7.2, CAL= 123.4, 4.0, ROT= 26.6, -4.0 2025-01-09T00:00:54.205Z,1736380854.205 [DAT](INFO): got valid direction response: 00:00:52.4613 LVL= 27504, 32753, 32754, 32755, AGC= 61, IDX= 419, 0.10, 0.490,-1.051,-0.364,-0.099, PHS= 0.677,-0.904,-0.268, RAW= 113.6, 7.2, CAL= 123.4, 4.0, ROT= 26.6, -4.0 2025-01-09T00:00:54.208Z,1736380854.208 [DAT](INFO): DAT read: Bearing 26.6, -4.0 (Local) 2025-01-09T00:00:54.208Z,1736380854.208 [DAT](INFO): Local bearing/azimuth received: Bearing 26.6, -4.0 (Local) 2025-01-09T00:00:54.211Z,1736380854.211 [DAT](INFO): DAT read: Range 10 to 50 : 115.3 m (Round-trip 153.8 ms) speed 0.4 m/s 2025-01-09T00:00:54.221Z,1736380854.221 [DAT](INFO): DAT read: user:3576> 2025-01-09T00:00:54.222Z,1736380854.222 [DAT](INFO): DAT read: Tx time:00:00:53.5534 2025-01-09T00:00:54.222Z,1736380854.222 [DAT](INFO): Ping request sent. 2025-01-09T00:00:54.222Z,1736380854.222 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:54.222Z,1736380854.222 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:00:54.228Z,1736380854.228 [DAT](INFO): direction in FSK: [-0.253408,-0.293405,0.921791] 2025-01-09T00:00:54.228Z,1736380854.228 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:54.228Z,1736380854.228 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:54.231Z,1736380854.231 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:54.232Z,1736380854.232 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:54.392Z,1736380854.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:54.444Z,1736380854.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:54.445Z,1736380854.445 [DAT](INFO): DAT read: TxSync time:00:00:53.5526 2025-01-09T00:00:54.452Z,1736380854.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.300003 m, deltaT: 3.530760 s, deltaX: -1.699997 m, approachRate: -0.481482 m/s, rangeRepo size: 4 2025-01-09T00:00:54.454Z,1736380854.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.300003 m, bearing: 251.658839 deg, lat: 36.904332 deg, lon: -122.121293 deg, deltaT: 3.530760 s, deltaX: -1.699997 m, approachRate: -0.481482 m/s, posRepo size: 4 2025-01-09T00:00:54.459Z,1736380854.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-09T00:00:54.462Z,1736380854.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 56.931061 m, bearing: 258.538380 deg, approach rate: 0.000000 m/s, LOS rate: -0.487580 deg/s, cmd heading: 21.419668 deg, new cmd heading: 20.537571 deg. 2025-01-09T00:00:54.463Z,1736380854.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.358448 target range: 115.300003 and range: 115.30 m. 2025-01-09T00:00:54.696Z,1736380854.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:54.883Z,1736380854.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:54.892Z,1736380854.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-09T00:00:54.894Z,1736380854.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 57.079525 m, bearing: 258.317613 deg, approach rate: 0.331364 m/s, LOS rate: -0.491456 deg/s, cmd heading: 20.537571 deg, new cmd heading: 19.877025 deg. 2025-01-09T00:00:54.895Z,1736380854.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.346920 target range: 115.300003 and range: 115.30 m. 2025-01-09T00:00:54.950Z,1736380854.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:55.200Z,1736380855.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:55.312Z,1736380855.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:55.320Z,1736380855.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-09T00:00:55.323Z,1736380855.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 57.215725 m, bearing: 258.120115 deg, approach rate: 0.317609 m/s, LOS rate: -0.459456 deg/s, cmd heading: 19.877025 deg, new cmd heading: 19.285962 deg. 2025-01-09T00:00:55.324Z,1736380855.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.336604 target range: 115.300003 and range: 115.30 m. 2025-01-09T00:00:55.454Z,1736380855.454 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:55.696Z,1736380855.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:55.704Z,1736380855.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:55.707Z,1736380855.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-09T00:00:55.710Z,1736380855.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 57.337177 m, bearing: 257.943466 deg, approach rate: 0.314292 m/s, LOS rate: -0.456159 deg/s, cmd heading: 19.285963 deg, new cmd heading: 18.757156 deg. 2025-01-09T00:00:55.711Z,1736380855.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.327374 target range: 115.300003 and range: 115.30 m. 2025-01-09T00:00:55.957Z,1736380855.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:56.091Z,1736380856.091 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768, 2025-01-09T00:00:56.111Z,1736380856.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-09T00:00:56.111Z,1736380856.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:56.123Z,1736380856.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:56.137Z,1736380856.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-09T00:00:56.144Z,1736380856.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 57.463348 m, bearing: 257.759046 deg, approach rate: 0.292982 m/s, LOS rate: -0.427301 deg/s, cmd heading: 18.757156 deg, new cmd heading: 18.205130 deg. 2025-01-09T00:00:56.145Z,1736380856.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.317739 target range: 115.300003 and range: 115.30 m. 2025-01-09T00:00:56.208Z,1736380856.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:56.208Z,1736380856.208 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:56.209Z,1736380856.209 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:56.209Z,1736380856.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:56.460Z,1736380856.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:56.460Z,1736380856.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238199 2025-01-09T00:00:56.546Z,1736380856.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-09T00:00:56.546Z,1736380856.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:56.555Z,1736380856.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-09T00:00:56.558Z,1736380856.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 57.603077 m, bearing: 257.553696 deg, approach rate: 0.334260 m/s, LOS rate: -0.490049 deg/s, cmd heading: 18.205130 deg, new cmd heading: 17.590598 deg. 2025-01-09T00:00:56.559Z,1736380856.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307014 target range: 115.300003 and range: 115.30 m. 2025-01-09T00:00:56.712Z,1736380856.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:56.713Z,1736380856.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490364 2025-01-09T00:00:56.946Z,1736380856.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-09T00:00:56.946Z,1736380856.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:56.961Z,1736380856.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-09T00:00:56.964Z,1736380856.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:56.965Z,1736380856.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742568 2025-01-09T00:00:56.966Z,1736380856.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 57.727184 m, bearing: 257.370193 deg, approach rate: 0.306186 m/s, LOS rate: -0.451748 deg/s, cmd heading: 17.590599 deg, new cmd heading: 17.041290 deg. 2025-01-09T00:00:56.968Z,1736380856.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.297427 target range: 115.300003 and range: 115.30 m. 2025-01-09T00:00:57.216Z,1736380857.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:57.217Z,1736380857.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994979 2025-01-09T00:00:57.468Z,1736380857.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:57.469Z,1736380857.469 [DAT](INFO): DAT read: Rx Time:00:00:56.1094 2025-01-09T00:00:57.469Z,1736380857.469 [DAT](INFO): Rx dataTimestamp_ set to:1736380857.468726 2025-01-09T00:00:57.470Z,1736380857.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247401 2025-01-09T00:00:57.481Z,1736380857.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:57.490Z,1736380857.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-09T00:00:57.493Z,1736380857.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 57.907990 m, bearing: 257.132583 deg, approach rate: 0.341489 m/s, LOS rate: -0.447373 deg/s, cmd heading: 17.041290 deg, new cmd heading: 16.330726 deg. 2025-01-09T00:00:57.494Z,1736380857.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.285025 target range: 115.300003 and range: 115.30 m. 2025-01-09T00:00:57.720Z,1736380857.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:57.720Z,1736380857.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498278 2025-01-09T00:00:57.868Z,1736380857.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:57.877Z,1736380857.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.30 m. 2025-01-09T00:00:57.879Z,1736380857.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.300003 m, nav range: 58.039425 m, bearing: 256.961596 deg, approach rate: 0.340006 m/s, LOS rate: -0.441320 deg/s, cmd heading: 16.330726 deg, new cmd heading: 15.818940 deg. 2025-01-09T00:00:57.880Z,1736380857.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.276093 target range: 115.300003 and range: 115.30 m. 2025-01-09T00:00:57.974Z,1736380857.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:58.021Z,1736380858.021 [DAT](INFO): DAT read: 00:00:56.1094 LVL= 23792, 32753, 32754, 32755, AGC= 60, IDX= 415,-0.24,-0.408,-1.942,-1.352,-1.026, PHS= 0.706,-0.869,-0.329, RAW= 109.7, 7.2, CAL= 120.0, 4.5, ROT= 30.0, -4.5 2025-01-09T00:00:58.026Z,1736380858.026 [DAT](INFO): got valid direction response: 00:00:56.1094 LVL= 23792, 32753, 32754, 32755, AGC= 60, IDX= 415,-0.24,-0.408,-1.942,-1.352,-1.026, PHS= 0.706,-0.869,-0.329, RAW= 109.7, 7.2, CAL= 120.0, 4.5, ROT= 30.0, -4.5 2025-01-09T00:00:58.030Z,1736380858.030 [DAT](INFO): DAT read: Bearing 30.0, -4.5 (Local) 2025-01-09T00:00:58.034Z,1736380858.034 [DAT](INFO): Local bearing/azimuth received: Bearing 30.0, -4.5 (Local) 2025-01-09T00:00:58.040Z,1736380858.040 [DAT](INFO): DAT read: Range 10 to 50 : 113.8 m (Round-trip 151.8 ms) speed 0.4 m/s 2025-01-09T00:00:58.041Z,1736380858.041 [DAT](INFO): DAT read: user:3577> 2025-01-09T00:00:58.042Z,1736380858.042 [DAT](INFO): DAT read: Tx time:00:00:57.2035 2025-01-09T00:00:58.042Z,1736380858.042 [DAT](INFO): Ping request sent. 2025-01-09T00:00:58.042Z,1736380858.042 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:00:58.043Z,1736380858.043 [DAT](INFO): DAT read: TxSync time:00:00:57.2027 2025-01-09T00:00:58.063Z,1736380858.063 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:00:58.064Z,1736380858.064 [DAT](INFO): direction in FSK: [-0.247771,-0.227822,0.941651] 2025-01-09T00:00:58.065Z,1736380858.065 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:58.066Z,1736380858.066 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:58.081Z,1736380858.081 [DAT](INFO): publishing transmit ping time 2025-01-09T00:00:58.082Z,1736380858.082 [DAT](INFO): publishing direction and range info 2025-01-09T00:00:58.224Z,1736380858.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:58.351Z,1736380858.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:58.384Z,1736380858.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.800003 m, deltaT: 3.782392 s, deltaX: -1.500000 m, approachRate: -0.396574 m/s, rangeRepo size: 4 2025-01-09T00:00:58.392Z,1736380858.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.800003 m, bearing: 234.634274 deg, lat: 36.904252 deg, lon: -122.121293 deg, deltaT: 3.782392 s, deltaX: -1.500000 m, approachRate: -0.396574 m/s, posRepo size: 4 2025-01-09T00:00:58.393Z,1736380858.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.80 m. 2025-01-09T00:00:58.400Z,1736380858.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.800003 m, nav range: 60.869457 m, bearing: 248.589720 deg, approach rate: 0.000000 m/s, LOS rate: -0.441320 deg/s, cmd heading: 15.818940 deg, new cmd heading: 15.151262 deg. 2025-01-09T00:00:58.401Z,1736380858.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.264439 target range: 113.800003 and range: 113.80 m. 2025-01-09T00:00:58.476Z,1736380858.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:58.713Z,1736380858.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:58.722Z,1736380858.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:00:58.728Z,1736380858.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:58.728Z,1736380858.728 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:00:58.728Z,1736380858.728 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:00:58.729Z,1736380858.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:00:58.740Z,1736380858.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.80 m. 2025-01-09T00:00:58.743Z,1736380858.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.800003 m, nav range: 61.023521 m, bearing: 248.459946 deg, approach rate: 0.429002 m/s, LOS rate: -0.360451 deg/s, cmd heading: 15.151262 deg, new cmd heading: 14.762930 deg. 2025-01-09T00:00:58.749Z,1736380858.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.257662 target range: 113.800003 and range: 113.80 m. 2025-01-09T00:00:58.980Z,1736380858.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:58.982Z,1736380858.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.939449 2025-01-09T00:00:59.154Z,1736380859.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:59.164Z,1736380859.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.80 m. 2025-01-09T00:00:59.168Z,1736380859.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.800003 m, nav range: 61.214409 m, bearing: 248.304249 deg, approach rate: 0.450852 m/s, LOS rate: -0.366589 deg/s, cmd heading: 14.762930 deg, new cmd heading: 14.297306 deg. 2025-01-09T00:00:59.169Z,1736380859.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.249535 target range: 113.800003 and range: 113.80 m. 2025-01-09T00:00:59.232Z,1736380859.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:59.233Z,1736380859.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.190624 2025-01-09T00:00:59.484Z,1736380859.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:59.485Z,1736380859.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.442692 2025-01-09T00:00:59.573Z,1736380859.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:59.583Z,1736380859.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.80 m. 2025-01-09T00:00:59.586Z,1736380859.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.800003 m, nav range: 61.396122 m, bearing: 248.157271 deg, approach rate: 0.434493 m/s, LOS rate: -0.350397 deg/s, cmd heading: 14.297306 deg, new cmd heading: 13.857687 deg. 2025-01-09T00:00:59.587Z,1736380859.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.241862 target range: 113.800003 and range: 113.80 m. 2025-01-09T00:00:59.736Z,1736380859.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:59.737Z,1736380859.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694659 2025-01-09T00:00:59.927Z,1736380859.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:00:59.937Z,1736380859.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.80 m. 2025-01-09T00:00:59.940Z,1736380859.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.800003 m, nav range: 61.546661 m, bearing: 248.030303 deg, approach rate: 0.423062 m/s, LOS rate: -0.355948 deg/s, cmd heading: 13.857687 deg, new cmd heading: 13.477719 deg. 2025-01-09T00:00:59.941Z,1736380859.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.235231 target range: 113.800003 and range: 113.80 m. 2025-01-09T00:00:59.988Z,1736380859.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:00:59.989Z,1736380859.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947270 2025-01-09T00:01:00.240Z,1736380860.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:00.240Z,1736380860.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198233 2025-01-09T00:01:00.361Z,1736380860.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:00.369Z,1736380860.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.80 m. 2025-01-09T00:01:00.372Z,1736380860.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.800003 m, nav range: 61.730946 m, bearing: 247.875287 deg, approach rate: 0.427060 m/s, LOS rate: -0.358162 deg/s, cmd heading: 13.477719 deg, new cmd heading: 13.014069 deg. 2025-01-09T00:01:00.373Z,1736380860.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227138 target range: 113.800003 and range: 113.80 m. 2025-01-09T00:01:00.494Z,1736380860.494 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:00.494Z,1736380860.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452353 2025-01-09T00:01:00.728Z,1736380860.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:00.736Z,1736380860.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:00.738Z,1736380860.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.80 m. 2025-01-09T00:01:00.740Z,1736380860.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.800003 m, nav range: 61.886150 m, bearing: 247.743248 deg, approach rate: 0.421154 m/s, LOS rate: -0.357391 deg/s, cmd heading: 13.014069 deg, new cmd heading: 12.618955 deg. 2025-01-09T00:01:00.741Z,1736380860.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.220242 target range: 113.800003 and range: 113.80 m. 2025-01-09T00:01:00.744Z,1736380860.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:00.745Z,1736380860.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702485 2025-01-09T00:01:00.996Z,1736380860.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:00.996Z,1736380860.996 [DAT](INFO): DAT read: Rx Time:00:00:59.7570 2025-01-09T00:01:00.997Z,1736380860.997 [DAT](INFO): Rx dataTimestamp_ set to:1736380860.996680 2025-01-09T00:01:00.997Z,1736380860.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955437 2025-01-09T00:01:01.173Z,1736380861.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:01.185Z,1736380861.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.80 m. 2025-01-09T00:01:01.188Z,1736380861.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.800003 m, nav range: 62.070023 m, bearing: 247.580117 deg, approach rate: 0.410921 m/s, LOS rate: -0.363488 deg/s, cmd heading: 12.618955 deg, new cmd heading: 12.131023 deg. 2025-01-09T00:01:01.189Z,1736380861.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.211726 target range: 113.800003 and range: 113.80 m. 2025-01-09T00:01:01.248Z,1736380861.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:01.250Z,1736380861.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207724 2025-01-09T00:01:01.500Z,1736380861.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:01.507Z,1736380861.507 [DAT](INFO): DAT read: 00:00:59.7570 LVL= 20064, 32753, 27442, 32755, AGC= 60, IDX= 422, 0.12,-1.726, 2.863,-2.911,-2.513, PHS= 0.875,-0.860,-0.401, RAW= 104.8, 5.0, CAL= 115.4, 2.8, ROT= 34.6, -2.8 2025-01-09T00:01:01.508Z,1736380861.508 [DAT](INFO): got valid direction response: 00:00:59.7570 LVL= 20064, 32753, 27442, 32755, AGC= 60, IDX= 422, 0.12,-1.726, 2.863,-2.911,-2.513, PHS= 0.875,-0.860,-0.401, RAW= 104.8, 5.0, CAL= 115.4, 2.8, ROT= 34.6, -2.8 2025-01-09T00:01:01.509Z,1736380861.509 [DAT](INFO): DAT read: Bearing 34.6, -2.8 (Local) 2025-01-09T00:01:01.509Z,1736380861.509 [DAT](INFO): Local bearing/azimuth received: Bearing 34.6, -2.8 (Local) 2025-01-09T00:01:01.510Z,1736380861.510 [DAT](INFO): DAT read: Range 10 to 50 : 112.0 m (Round-trip 149.4 ms) speed 0.4 m/s 2025-01-09T00:01:01.515Z,1736380861.515 [DAT](INFO): DAT read: user:3578> 2025-01-09T00:01:01.516Z,1736380861.516 [DAT](INFO): DAT read: Tx time:00:01:00.8535 2025-01-09T00:01:01.516Z,1736380861.516 [DAT](INFO): Ping request sent. 2025-01-09T00:01:01.517Z,1736380861.517 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:01.517Z,1736380861.517 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:01.518Z,1736380861.518 [DAT](INFO): direction in FSK: [-0.201717,-0.145701,0.968546] 2025-01-09T00:01:01.518Z,1736380861.518 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:01.518Z,1736380861.518 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:01.522Z,1736380861.522 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:01.522Z,1736380861.522 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:01.546Z,1736380861.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:01.614Z,1736380861.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.000000 m, deltaT: 3.525730 s, deltaX: -1.800003 m, approachRate: -0.510533 m/s, rangeRepo size: 4 2025-01-09T00:01:01.621Z,1736380861.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 112.000000 m, bearing: 223.226521 deg, lat: 36.904235 deg, lon: -122.121256 deg, deltaT: 3.525730 s, deltaX: -1.800003 m, approachRate: -0.510533 m/s, posRepo size: 4 2025-01-09T00:01:01.622Z,1736380861.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-01-09T00:01:01.629Z,1736380861.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.000000 m, nav range: 59.931324 m, bearing: 244.615958 deg, approach rate: 0.000000 m/s, LOS rate: -0.363488 deg/s, cmd heading: 12.131023 deg, new cmd heading: 11.663626 deg. 2025-01-09T00:01:01.630Z,1736380861.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.203569 target range: 112.000000 and range: 112.00 m. 2025-01-09T00:01:01.753Z,1736380861.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:01.754Z,1736380861.754 [DAT](INFO): DAT read: TxSync time:00:01:00.8527 2025-01-09T00:01:01.968Z,1736380861.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:01.984Z,1736380861.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-01-09T00:01:01.987Z,1736380861.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.000000 m, nav range: 60.107670 m, bearing: 244.461899 deg, approach rate: 0.475748 m/s, LOS rate: -0.414400 deg/s, cmd heading: 11.663625 deg, new cmd heading: 11.202817 deg. 2025-01-09T00:01:01.993Z,1736380861.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.195526 target range: 112.000000 and range: 112.00 m. 2025-01-09T00:01:02.004Z,1736380862.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:02.256Z,1736380862.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:02.386Z,1736380862.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:02.398Z,1736380862.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-01-09T00:01:02.401Z,1736380862.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.000000 m, nav range: 60.278851 m, bearing: 244.301022 deg, approach rate: 0.413963 m/s, LOS rate: -0.387942 deg/s, cmd heading: 11.202817 deg, new cmd heading: 10.721567 deg. 2025-01-09T00:01:02.402Z,1736380862.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.187127 target range: 112.000000 and range: 112.00 m. 2025-01-09T00:01:02.508Z,1736380862.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:02.750Z,1736380862.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:02.756Z,1736380862.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:02.758Z,1736380862.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-01-09T00:01:02.760Z,1736380862.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:02.760Z,1736380862.760 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:02.760Z,1736380862.760 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:02.761Z,1736380862.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:02.766Z,1736380862.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.000000 m, nav range: 60.426235 m, bearing: 244.161271 deg, approach rate: 0.408787 m/s, LOS rate: -0.386668 deg/s, cmd heading: 10.721567 deg, new cmd heading: 10.303346 deg. 2025-01-09T00:01:02.767Z,1736380862.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.179827 target range: 112.000000 and range: 112.00 m. 2025-01-09T00:01:03.012Z,1736380863.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:03.013Z,1736380863.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496613 2025-01-09T00:01:03.198Z,1736380863.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:03.209Z,1736380863.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-01-09T00:01:03.233Z,1736380863.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.000000 m, nav range: 60.595448 m, bearing: 243.981546 deg, approach rate: 0.375473 m/s, LOS rate: -0.397686 deg/s, cmd heading: 10.303346 deg, new cmd heading: 9.765692 deg. 2025-01-09T00:01:03.234Z,1736380863.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.170443 target range: 112.000000 and range: 112.00 m. 2025-01-09T00:01:03.264Z,1736380863.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:03.264Z,1736380863.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747812 2025-01-09T00:01:03.516Z,1736380863.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:03.517Z,1736380863.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000249 2025-01-09T00:01:03.686Z,1736380863.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:03.695Z,1736380863.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-01-09T00:01:03.698Z,1736380863.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.000000 m, nav range: 60.776684 m, bearing: 243.783456 deg, approach rate: 0.373107 m/s, LOS rate: -0.406587 deg/s, cmd heading: 9.765692 deg, new cmd heading: 9.173216 deg. 2025-01-09T00:01:03.705Z,1736380863.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.160103 target range: 112.000000 and range: 112.00 m. 2025-01-09T00:01:03.768Z,1736380863.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:03.769Z,1736380863.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252170 2025-01-09T00:01:04.020Z,1736380864.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:04.020Z,1736380864.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503804 2025-01-09T00:01:04.174Z,1736380864.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:04.186Z,1736380864.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-01-09T00:01:04.189Z,1736380864.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.000000 m, nav range: 60.944897 m, bearing: 243.574974 deg, approach rate: 0.342429 m/s, LOS rate: -0.423231 deg/s, cmd heading: 9.173216 deg, new cmd heading: 8.549524 deg. 2025-01-09T00:01:04.190Z,1736380864.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.149217 target range: 112.000000 and range: 112.00 m. 2025-01-09T00:01:04.273Z,1736380864.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:04.274Z,1736380864.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757353 2025-01-09T00:01:04.489Z,1736380864.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:04.521Z,1736380864.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-01-09T00:01:04.524Z,1736380864.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:04.525Z,1736380864.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007962 2025-01-09T00:01:04.535Z,1736380864.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.000000 m, nav range: 61.051334 m, bearing: 243.438831 deg, approach rate: 0.317563 m/s, LOS rate: -0.405484 deg/s, cmd heading: 8.549524 deg, new cmd heading: 8.141812 deg. 2025-01-09T00:01:04.536Z,1736380864.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.142101 target range: 112.000000 and range: 112.00 m. 2025-01-09T00:01:04.776Z,1736380864.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:04.777Z,1736380864.777 [DAT](INFO): DAT read: Rx Time:00:01:03.4049 2025-01-09T00:01:04.778Z,1736380864.778 [DAT](INFO): Rx dataTimestamp_ set to:1736380864.777345 2025-01-09T00:01:04.779Z,1736380864.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261937 2025-01-09T00:01:04.889Z,1736380864.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:04.896Z,1736380864.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:04.898Z,1736380864.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-01-09T00:01:04.901Z,1736380864.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.000000 m, nav range: 61.185104 m, bearing: 243.265209 deg, approach rate: 0.355243 m/s, LOS rate: -0.460066 deg/s, cmd heading: 8.141812 deg, new cmd heading: 7.622100 deg. 2025-01-09T00:01:04.902Z,1736380864.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.133031 target range: 112.000000 and range: 112.00 m. 2025-01-09T00:01:05.028Z,1736380865.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:05.029Z,1736380865.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512812 2025-01-09T00:01:05.280Z,1736380865.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:05.287Z,1736380865.287 [DAT](INFO): DAT read: 00:01:03.4049 LVL= 19296, 32753, 32722, 32755, AGC= 60, IDX= 417, 0.49,-1.763, 2.873,-3.091,-2.579, PHS= 0.904,-0.784,-0.514, RAW= 98.5, 5.1, CAL= 108.2, 3.5, ROT= 41.8, -3.5 2025-01-09T00:01:05.288Z,1736380865.288 [DAT](INFO): got valid direction response: 00:01:03.4049 LVL= 19296, 32753, 32722, 32755, AGC= 60, IDX= 417, 0.49,-1.763, 2.873,-3.091,-2.579, PHS= 0.904,-0.784,-0.514, RAW= 98.5, 5.1, CAL= 108.2, 3.5, ROT= 41.8, -3.5 2025-01-09T00:01:05.289Z,1736380865.289 [DAT](INFO): DAT read: Bearing 41.8, -3.5 (Local) 2025-01-09T00:01:05.289Z,1736380865.289 [DAT](INFO): Local bearing/azimuth received: Bearing 41.8, -3.5 (Local) 2025-01-09T00:01:05.291Z,1736380865.291 [DAT](INFO): DAT read: Range 10 to 50 : 110.4 m (Round-trip 147.3 ms) speed 0.3 m/s 2025-01-09T00:01:05.292Z,1736380865.292 [DAT](INFO): DAT read: user:3579> 2025-01-09T00:01:05.292Z,1736380865.292 [DAT](INFO): DAT read: Tx time:00:01:04.5035 2025-01-09T00:01:05.293Z,1736380865.293 [DAT](INFO): Ping request sent. 2025-01-09T00:01:05.293Z,1736380865.293 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:05.293Z,1736380865.293 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:05.294Z,1736380865.294 [DAT](INFO): direction in FSK: [-0.194302,-0.036507,0.980262] 2025-01-09T00:01:05.294Z,1736380865.294 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:05.294Z,1736380865.294 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:05.309Z,1736380865.309 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:05.309Z,1736380865.309 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:05.343Z,1736380865.343 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768, 2025-01-09T00:01:05.366Z,1736380865.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-09T00:01:05.366Z,1736380865.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:05.418Z,1736380865.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 110.400002 m, deltaT: 3.779816 s, deltaX: -1.599998 m, approachRate: -0.423301 m/s, rangeRepo size: 4 2025-01-09T00:01:05.425Z,1736380865.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 110.400002 m, bearing: 205.397162 deg, lat: 36.904153 deg, lon: -122.121191 deg, deltaT: 3.779816 s, deltaX: -1.599998 m, approachRate: -0.423301 m/s, posRepo size: 4 2025-01-09T00:01:05.425Z,1736380865.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-01-09T00:01:05.432Z,1736380865.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.400002 m, nav range: 61.332809 m, bearing: 232.924590 deg, approach rate: 0.000000 m/s, LOS rate: -0.460066 deg/s, cmd heading: 7.622100 deg, new cmd heading: 6.904522 deg. 2025-01-09T00:01:05.433Z,1736380865.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120507 target range: 110.400002 and range: 110.40 m. 2025-01-09T00:01:05.533Z,1736380865.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:05.534Z,1736380865.534 [DAT](INFO): DAT read: TxSync time:00:01:04.5027 2025-01-09T00:01:05.749Z,1736380865.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-09T00:01:05.749Z,1736380865.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:05.758Z,1736380865.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-01-09T00:01:05.761Z,1736380865.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.400002 m, nav range: 61.489189 m, bearing: 232.782633 deg, approach rate: 0.459847 m/s, LOS rate: -0.416373 deg/s, cmd heading: 6.904522 deg, new cmd heading: 6.479743 deg. 2025-01-09T00:01:05.762Z,1736380865.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113093 target range: 110.400002 and range: 110.40 m. 2025-01-09T00:01:05.784Z,1736380865.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:06.036Z,1736380866.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:06.216Z,1736380866.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:06.225Z,1736380866.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-01-09T00:01:06.228Z,1736380866.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.400002 m, nav range: 61.657230 m, bearing: 232.581892 deg, approach rate: 0.359512 m/s, LOS rate: -0.428299 deg/s, cmd heading: 6.479743 deg, new cmd heading: 5.879185 deg. 2025-01-09T00:01:06.229Z,1736380866.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102611 target range: 110.400002 and range: 110.40 m. 2025-01-09T00:01:06.289Z,1736380866.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:06.540Z,1736380866.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:06.554Z,1736380866.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:06.563Z,1736380866.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-01-09T00:01:06.567Z,1736380866.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.400002 m, nav range: 61.777740 m, bearing: 232.436922 deg, approach rate: 0.357080 m/s, LOS rate: -0.428718 deg/s, cmd heading: 5.879184 deg, new cmd heading: 5.445131 deg. 2025-01-09T00:01:06.568Z,1736380866.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095035 target range: 110.400002 and range: 110.40 m. 2025-01-09T00:01:06.792Z,1736380866.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:06.935Z,1736380866.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:06.958Z,1736380866.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:06.964Z,1736380866.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-01-09T00:01:06.970Z,1736380866.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.400002 m, nav range: 61.912331 m, bearing: 232.273024 deg, approach rate: 0.335247 m/s, LOS rate: -0.407361 deg/s, cmd heading: 5.445131 deg, new cmd heading: 4.954519 deg. 2025-01-09T00:01:06.984Z,1736380866.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.086473 target range: 110.400002 and range: 110.40 m. 2025-01-09T00:01:07.045Z,1736380867.045 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:07.046Z,1736380867.046 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:07.046Z,1736380867.046 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:07.046Z,1736380867.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:07.296Z,1736380867.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:07.297Z,1736380867.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004078 2025-01-09T00:01:07.370Z,1736380867.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:07.396Z,1736380867.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-01-09T00:01:07.401Z,1736380867.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.400002 m, nav range: 62.062992 m, bearing: 232.078443 deg, approach rate: 0.362894 m/s, LOS rate: -0.467541 deg/s, cmd heading: 4.954519 deg, new cmd heading: 4.372216 deg. 2025-01-09T00:01:07.402Z,1736380867.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076310 target range: 110.400002 and range: 110.40 m. 2025-01-09T00:01:07.548Z,1736380867.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:07.549Z,1736380867.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256393 2025-01-09T00:01:07.745Z,1736380867.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:07.775Z,1736380867.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-01-09T00:01:07.785Z,1736380867.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.400002 m, nav range: 62.191727 m, bearing: 231.910537 deg, approach rate: 0.325543 m/s, LOS rate: -0.423721 deg/s, cmd heading: 4.372215 deg, new cmd heading: 3.869552 deg. 2025-01-09T00:01:07.786Z,1736380867.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.067536 target range: 110.400002 and range: 110.40 m. 2025-01-09T00:01:07.800Z,1736380867.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:07.801Z,1736380867.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507859 2025-01-09T00:01:08.052Z,1736380868.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:08.052Z,1736380868.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759544 2025-01-09T00:01:08.235Z,1736380868.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:08.243Z,1736380868.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-01-09T00:01:08.246Z,1736380868.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.400002 m, nav range: 62.359596 m, bearing: 231.694844 deg, approach rate: 0.358482 m/s, LOS rate: -0.459366 deg/s, cmd heading: 3.869552 deg, new cmd heading: 3.224244 deg. 2025-01-09T00:01:08.247Z,1736380868.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056274 target range: 110.400002 and range: 110.40 m. 2025-01-09T00:01:08.304Z,1736380868.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:08.306Z,1736380868.306 [DAT](INFO): DAT read: Rx Time:00:01:07.0535 2025-01-09T00:01:08.307Z,1736380868.307 [DAT](INFO): Rx dataTimestamp_ set to:1736380868.306187 2025-01-09T00:01:08.308Z,1736380868.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014932 2025-01-09T00:01:08.546Z,1736380868.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:08.556Z,1736380868.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:08.557Z,1736380868.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263784 2025-01-09T00:01:08.580Z,1736380868.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-01-09T00:01:08.595Z,1736380868.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.400002 m, nav range: 62.465202 m, bearing: 231.557701 deg, approach rate: 0.317908 m/s, LOS rate: -0.412147 deg/s, cmd heading: 3.224244 deg, new cmd heading: 2.813517 deg. 2025-01-09T00:01:08.596Z,1736380868.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049105 target range: 110.400002 and range: 110.40 m. 2025-01-09T00:01:08.808Z,1736380868.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:08.814Z,1736380868.814 [DAT](INFO): DAT read: 00:01:07.0535 LVL= 13584, 29537, 21922, 31843, AGC= 58, IDX= 433,-0.03,-1.066,-2.716,-2.551,-1.998, PHS= 1.019,-0.671,-0.557, RAW= 93.5, 2.6, CAL= 101.8, 0.4, ROT= 48.2, -0.4 2025-01-09T00:01:08.816Z,1736380868.816 [DAT](INFO): got valid direction response: 00:01:07.0535 LVL= 13584, 29537, 21922, 31843, AGC= 58, IDX= 433,-0.03,-1.066,-2.716,-2.551,-1.998, PHS= 1.019,-0.671,-0.557, RAW= 93.5, 2.6, CAL= 101.8, 0.4, ROT= 48.2, -0.4 2025-01-09T00:01:08.817Z,1736380868.817 [DAT](INFO): DAT read: Bearing 48.2, -0.4 (Local) 2025-01-09T00:01:08.817Z,1736380868.817 [DAT](INFO): Local bearing/azimuth received: Bearing 48.2, -0.4 (Local) 2025-01-09T00:01:08.819Z,1736380868.819 [DAT](INFO): DAT read: Range 10 to 50 : 109.3 m (Round-trip 145.8 ms) speed 0.3 m/s 2025-01-09T00:01:08.820Z,1736380868.820 [DAT](INFO): DAT read: user:3580> 2025-01-09T00:01:08.820Z,1736380868.820 [DAT](INFO): DAT read: Tx time:00:01:08.1536 2025-01-09T00:01:08.821Z,1736380868.821 [DAT](INFO): Ping request sent. 2025-01-09T00:01:08.821Z,1736380868.821 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:08.821Z,1736380868.821 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:08.822Z,1736380868.822 [DAT](INFO): direction in FSK: [-0.139735,0.050098,0.988921] 2025-01-09T00:01:08.822Z,1736380868.822 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:08.822Z,1736380868.822 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:08.826Z,1736380868.826 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:08.826Z,1736380868.826 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:08.974Z,1736380868.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:09.006Z,1736380869.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.300003 m, deltaT: 3.528046 s, deltaX: -1.099998 m, approachRate: -0.311787 m/s, rangeRepo size: 4 2025-01-09T00:01:09.013Z,1736380869.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 109.300003 m, bearing: 189.905932 deg, lat: 36.904153 deg, lon: -122.121016 deg, deltaT: 3.528046 s, deltaX: -1.099998 m, approachRate: -0.311787 m/s, posRepo size: 4 2025-01-09T00:01:09.014Z,1736380869.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m. 2025-01-09T00:01:09.021Z,1736380869.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.300003 m, nav range: 51.345860 m, bearing: 220.421790 deg, approach rate: 0.000000 m/s, LOS rate: -0.412147 deg/s, cmd heading: 2.813517 deg, new cmd heading: 2.281156 deg. 2025-01-09T00:01:09.022Z,1736380869.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039814 target range: 109.300003 and range: 109.30 m. 2025-01-09T00:01:09.060Z,1736380869.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:09.061Z,1736380869.061 [DAT](INFO): DAT read: TxSync time:00:01:08.1528 2025-01-09T00:01:09.312Z,1736380869.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:09.435Z,1736380869.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:09.446Z,1736380869.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:09.460Z,1736380869.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m. 2025-01-09T00:01:09.478Z,1736380869.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.300003 m, nav range: 51.544655 m, bearing: 220.229436 deg, approach rate: 0.443632 m/s, LOS rate: -0.427600 deg/s, cmd heading: 2.281156 deg, new cmd heading: 1.706341 deg. 2025-01-09T00:01:09.485Z,1736380869.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.029781 target range: 109.300003 and range: 109.30 m. 2025-01-09T00:01:09.570Z,1736380869.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:09.572Z,1736380869.572 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:09.572Z,1736380869.572 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:09.572Z,1736380869.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:09.757Z,1736380869.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:09.791Z,1736380869.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m. 2025-01-09T00:01:09.797Z,1736380869.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.300003 m, nav range: 51.688511 m, bearing: 220.088744 deg, approach rate: 0.427259 m/s, LOS rate: -0.416699 deg/s, cmd heading: 1.706341 deg, new cmd heading: 1.285447 deg. 2025-01-09T00:01:09.804Z,1736380869.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022435 target range: 109.300003 and range: 109.30 m. 2025-01-09T00:01:09.820Z,1736380869.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:09.821Z,1736380869.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999711 2025-01-09T00:01:10.072Z,1736380870.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:10.072Z,1736380870.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251460 2025-01-09T00:01:10.272Z,1736380870.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:10.298Z,1736380870.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m. 2025-01-09T00:01:10.305Z,1736380870.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.300003 m, nav range: 51.923073 m, bearing: 219.879267 deg, approach rate: 0.462590 m/s, LOS rate: -0.411251 deg/s, cmd heading: 1.285447 deg, new cmd heading: 0.659882 deg. 2025-01-09T00:01:10.306Z,1736380870.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011517 target range: 109.300003 and range: 109.30 m. 2025-01-09T00:01:10.324Z,1736380870.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:10.325Z,1736380870.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503960 2025-01-09T00:01:10.576Z,1736380870.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:10.579Z,1736380870.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757396 2025-01-09T00:01:10.617Z,1736380870.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:10.647Z,1736380870.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m. 2025-01-09T00:01:10.664Z,1736380870.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.300003 m, nav range: 52.079735 m, bearing: 219.739383 deg, approach rate: 0.449329 m/s, LOS rate: -0.400000 deg/s, cmd heading: 0.659882 deg, new cmd heading: 0.241500 deg. 2025-01-09T00:01:10.666Z,1736380870.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004215 target range: 109.300003 and range: 109.30 m. 2025-01-09T00:01:10.828Z,1736380870.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:10.828Z,1736380870.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007538 2025-01-09T00:01:11.030Z,1736380871.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:11.040Z,1736380871.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m. 2025-01-09T00:01:11.042Z,1736380871.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.300003 m, nav range: 52.266968 m, bearing: 219.571895 deg, approach rate: 0.476366 m/s, LOS rate: -0.424603 deg/s, cmd heading: 0.241500 deg, new cmd heading: 359.740850 deg. 2025-01-09T00:01:11.044Z,1736380871.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.278662 target range: 109.300003 and range: 109.30 m. 2025-01-09T00:01:11.080Z,1736380871.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:11.081Z,1736380871.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259971 2025-01-09T00:01:11.332Z,1736380871.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:11.333Z,1736380871.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512395 2025-01-09T00:01:11.461Z,1736380871.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:11.468Z,1736380871.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:11.470Z,1736380871.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m. 2025-01-09T00:01:11.473Z,1736380871.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.300003 m, nav range: 52.462612 m, bearing: 219.415266 deg, approach rate: 0.454688 m/s, LOS rate: -0.362657 deg/s, cmd heading: 359.740845 deg, new cmd heading: 359.272721 deg. 2025-01-09T00:01:11.473Z,1736380871.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270492 target range: 109.300003 and range: 109.30 m. 2025-01-09T00:01:11.584Z,1736380871.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:11.586Z,1736380871.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764697 2025-01-09T00:01:11.807Z,1736380871.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:11.816Z,1736380871.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m. 2025-01-09T00:01:11.819Z,1736380871.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.300003 m, nav range: 52.618378 m, bearing: 219.287501 deg, approach rate: 0.449657 m/s, LOS rate: -0.367733 deg/s, cmd heading: 359.272731 deg, new cmd heading: 358.890578 deg. 2025-01-09T00:01:11.820Z,1736380871.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263822 target range: 109.300003 and range: 109.30 m. 2025-01-09T00:01:11.836Z,1736380871.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:11.836Z,1736380871.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015667 2025-01-09T00:01:12.088Z,1736380872.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:12.089Z,1736380872.089 [DAT](INFO): DAT read: Rx Time:00:01:10.7018 2025-01-09T00:01:12.089Z,1736380872.089 [DAT](INFO): Rx dataTimestamp_ set to:1736380872.088686 2025-01-09T00:01:12.089Z,1736380872.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268683 2025-01-09T00:01:12.314Z,1736380872.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:12.324Z,1736380872.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m. 2025-01-09T00:01:12.326Z,1736380872.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.300003 m, nav range: 52.855862 m, bearing: 219.109469 deg, approach rate: 0.468076 m/s, LOS rate: -0.349320 deg/s, cmd heading: 358.890569 deg, new cmd heading: 358.358888 deg. 2025-01-09T00:01:12.328Z,1736380872.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.254542 target range: 109.300003 and range: 109.30 m. 2025-01-09T00:01:12.340Z,1736380872.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:12.340Z,1736380872.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519525 2025-01-09T00:01:12.436Z,1736380872.436 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-09T00:01:12.593Z,1736380872.593 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:12.605Z,1736380872.605 [DAT](INFO): DAT read: 00:01:10.7018 LVL= 11536, 23601, 16562, 25811, AGC= 57, IDX= 432, 0.27,-0.389,-2.094,-2.120,-1.490, PHS= 1.190,-0.557,-0.632, RAW= 87.9, -0.0, CAL= 95.2, -4.4, ROT= 54.8, 4.4 2025-01-09T00:01:12.606Z,1736380872.606 [DAT](INFO): got valid direction response: 00:01:10.7018 LVL= 11536, 23601, 16562, 25811, AGC= 57, IDX= 432, 0.27,-0.389,-2.094,-2.120,-1.490, PHS= 1.190,-0.557,-0.632, RAW= 87.9, -0.0, CAL= 95.2, -4.4, ROT= 54.8, 4.4 2025-01-09T00:01:12.610Z,1736380872.610 [DAT](INFO): DAT read: Bearing 54.8, 4.4 (Local) 2025-01-09T00:01:12.623Z,1736380872.623 [DAT](INFO): Local bearing/azimuth received: Bearing 54.8, 4.4 (Local) 2025-01-09T00:01:12.625Z,1736380872.625 [DAT](INFO): DAT read: Range 10 to 50 : 108.0 m (Round-trip 144.1 ms) speed 0.2 m/s 2025-01-09T00:01:12.625Z,1736380872.625 [DAT](INFO): DAT read: user:3581> 2025-01-09T00:01:12.626Z,1736380872.626 [DAT](INFO): DAT read: Tx time:00:01:11.8036 2025-01-09T00:01:12.626Z,1736380872.626 [DAT](INFO): Ping request sent. 2025-01-09T00:01:12.626Z,1736380872.626 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:12.632Z,1736380872.632 [DAT](INFO): DAT read: TxSync time:00:01:11.8028 2025-01-09T00:01:12.633Z,1736380872.633 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:12.634Z,1736380872.634 [DAT](INFO): direction in FSK: [-0.081489,0.143454,0.986296] 2025-01-09T00:01:12.634Z,1736380872.634 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:12.634Z,1736380872.634 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:12.653Z,1736380872.653 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:12.654Z,1736380872.654 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:12.814Z,1736380872.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:12.844Z,1736380872.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:12.872Z,1736380872.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.000000 m, deltaT: 3.785053 s, deltaX: -1.300003 m, approachRate: -0.343457 m/s, rangeRepo size: 4 2025-01-09T00:01:12.874Z,1736380872.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.000000 m, bearing: 163.594793 deg, lat: 36.904153 deg, lon: -122.120839 deg, deltaT: 3.785053 s, deltaX: -1.300003 m, approachRate: -0.343457 m/s, posRepo size: 4 2025-01-09T00:01:12.875Z,1736380872.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-09T00:01:12.882Z,1736380872.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 44.911537 m, bearing: 203.143976 deg, approach rate: 0.000000 m/s, LOS rate: -0.349320 deg/s, cmd heading: 358.358879 deg, new cmd heading: 357.789902 deg. 2025-01-09T00:01:12.887Z,1736380872.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244612 target range: 108.000000 and range: 108.00 m. 2025-01-09T00:01:13.096Z,1736380873.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:13.356Z,1736380873.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:13.369Z,1736380873.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:13.378Z,1736380873.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-09T00:01:13.381Z,1736380873.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 45.215603 m, bearing: 203.027229 deg, approach rate: 0.594077 m/s, LOS rate: -0.226565 deg/s, cmd heading: 357.789897 deg, new cmd heading: 357.442014 deg. 2025-01-09T00:01:13.383Z,1736380873.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238540 target range: 108.000000 and range: 108.00 m. 2025-01-09T00:01:13.612Z,1736380873.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:13.708Z,1736380873.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:13.714Z,1736380873.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:13.717Z,1736380873.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-09T00:01:13.720Z,1736380873.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 45.399925 m, bearing: 202.950495 deg, approach rate: 0.543729 m/s, LOS rate: -0.225436 deg/s, cmd heading: 357.442022 deg, new cmd heading: 357.212757 deg. 2025-01-09T00:01:13.721Z,1736380873.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234539 target range: 108.000000 and range: 108.00 m. 2025-01-09T00:01:13.860Z,1736380873.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:13.860Z,1736380873.860 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:13.860Z,1736380873.860 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:13.861Z,1736380873.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:14.112Z,1736380874.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:14.113Z,1736380874.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486148 2025-01-09T00:01:14.128Z,1736380874.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:14.148Z,1736380874.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-09T00:01:14.156Z,1736380874.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 45.628880 m, bearing: 202.853998 deg, approach rate: 0.531612 m/s, LOS rate: -0.222934 deg/s, cmd heading: 357.212746 deg, new cmd heading: 356.924710 deg. 2025-01-09T00:01:14.157Z,1736380874.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229511 target range: 108.000000 and range: 108.00 m. 2025-01-09T00:01:14.364Z,1736380874.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:14.364Z,1736380874.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737874 2025-01-09T00:01:14.544Z,1736380874.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:14.576Z,1736380874.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-09T00:01:14.579Z,1736380874.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 45.856049 m, bearing: 202.754208 deg, approach rate: 0.530476 m/s, LOS rate: -0.231869 deg/s, cmd heading: 356.924704 deg, new cmd heading: 356.626822 deg. 2025-01-09T00:01:14.585Z,1736380874.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.224312 target range: 108.000000 and range: 108.00 m. 2025-01-09T00:01:14.616Z,1736380874.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:14.617Z,1736380874.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990874 2025-01-09T00:01:14.868Z,1736380874.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:14.868Z,1736380874.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241923 2025-01-09T00:01:14.925Z,1736380874.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:14.934Z,1736380874.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-09T00:01:14.938Z,1736380874.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 46.064217 m, bearing: 202.661666 deg, approach rate: 0.581379 m/s, LOS rate: -0.257287 deg/s, cmd heading: 356.626825 deg, new cmd heading: 356.350456 deg. 2025-01-09T00:01:14.939Z,1736380874.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219489 target range: 108.000000 and range: 108.00 m. 2025-01-09T00:01:15.122Z,1736380875.122 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:15.123Z,1736380875.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496849 2025-01-09T00:01:15.359Z,1736380875.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:15.369Z,1736380875.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-09T00:01:15.372Z,1736380875.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:15.372Z,1736380875.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745963 2025-01-09T00:01:15.374Z,1736380875.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 46.295681 m, bearing: 202.546206 deg, approach rate: 0.531986 m/s, LOS rate: -0.264041 deg/s, cmd heading: 356.350449 deg, new cmd heading: 356.005804 deg. 2025-01-09T00:01:15.375Z,1736380875.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.213473 target range: 108.000000 and range: 108.00 m. 2025-01-09T00:01:15.624Z,1736380875.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:15.625Z,1736380875.625 [DAT](INFO): DAT read: Rx Time:00:01:14.3504 2025-01-09T00:01:15.626Z,1736380875.626 [DAT](INFO): Rx dataTimestamp_ set to:1736380875.625771 2025-01-09T00:01:15.628Z,1736380875.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001624 2025-01-09T00:01:15.734Z,1736380875.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:15.741Z,1736380875.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:15.743Z,1736380875.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.00 m. 2025-01-09T00:01:15.746Z,1736380875.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.000000 m, nav range: 46.495541 m, bearing: 202.444925 deg, approach rate: 0.534867 m/s, LOS rate: -0.269886 deg/s, cmd heading: 356.005797 deg, new cmd heading: 355.703261 deg. 2025-01-09T00:01:15.747Z,1736380875.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208193 target range: 108.000000 and range: 108.00 m. 2025-01-09T00:01:15.876Z,1736380875.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:15.877Z,1736380875.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250088 2025-01-09T00:01:16.128Z,1736380876.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:16.136Z,1736380876.136 [DAT](INFO): DAT read: 00:01:14.3504 LVL= 12864, 22257, 16658, 23699, AGC= 56, IDX= 434, 0.06, 0.476,-1.092,-1.370,-0.562, PHS= 1.126,-0.483,-0.811, RAW= 80.9, 1.9, CAL= 86.2, -1.5, ROT= 63.8, 1.5 2025-01-09T00:01:16.137Z,1736380876.137 [DAT](INFO): got valid direction response: 00:01:14.3504 LVL= 12864, 22257, 16658, 23699, AGC= 56, IDX= 434, 0.06, 0.476,-1.092,-1.370,-0.562, PHS= 1.126,-0.483,-0.811, RAW= 80.9, 1.9, CAL= 86.2, -1.5, ROT= 63.8, 1.5 2025-01-09T00:01:16.138Z,1736380876.138 [DAT](INFO): DAT read: Bearing 63.8, 1.5 (Local) 2025-01-09T00:01:16.138Z,1736380876.138 [DAT](INFO): Local bearing/azimuth received: Bearing 63.8, 1.5 (Local) 2025-01-09T00:01:16.140Z,1736380876.140 [DAT](INFO): DAT read: Range 10 to 50 : 107.0 m (Round-trip 142.7 ms) speed 0.0 m/s 2025-01-09T00:01:16.141Z,1736380876.141 [DAT](INFO): DAT read: user:3582> 2025-01-09T00:01:16.141Z,1736380876.141 [DAT](INFO): DAT read: Tx time:00:01:15.4536 2025-01-09T00:01:16.142Z,1736380876.142 [DAT](INFO): Ping request sent. 2025-01-09T00:01:16.142Z,1736380876.142 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:16.142Z,1736380876.142 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:16.143Z,1736380876.143 [DAT](INFO): direction in FSK: [-0.105281,0.262996,0.959035] 2025-01-09T00:01:16.156Z,1736380876.156 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:16.157Z,1736380876.157 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:16.160Z,1736380876.160 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:16.160Z,1736380876.160 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:16.206Z,1736380876.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:16.330Z,1736380876.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.000000 m, deltaT: 3.534912 s, deltaX: -1.000000 m, approachRate: -0.282892 m/s, rangeRepo size: 4 2025-01-09T00:01:16.336Z,1736380876.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 107.000000 m, bearing: 135.022411 deg, lat: 36.904228 deg, lon: -122.120702 deg, deltaT: 3.534912 s, deltaX: -1.000000 m, approachRate: -0.282892 m/s, posRepo size: 4 2025-01-09T00:01:16.337Z,1736380876.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.00 m. 2025-01-09T00:01:16.344Z,1736380876.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.000000 m, nav range: 35.370953 m, bearing: 189.014619 deg, approach rate: 0.000000 m/s, LOS rate: -0.269886 deg/s, cmd heading: 355.703275 deg, new cmd heading: 355.228736 deg. 2025-01-09T00:01:16.345Z,1736380876.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.199911 target range: 107.000000 and range: 107.00 m. 2025-01-09T00:01:16.380Z,1736380876.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:16.381Z,1736380876.381 [DAT](INFO): DAT read: TxSync time:00:01:15.4528 2025-01-09T00:01:16.632Z,1736380876.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:16.691Z,1736380876.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:16.705Z,1736380876.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.00 m. 2025-01-09T00:01:16.707Z,1736380876.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.000000 m, nav range: 35.652309 m, bearing: 188.925028 deg, approach rate: 0.749226 m/s, LOS rate: -0.236689 deg/s, cmd heading: 355.228740 deg, new cmd heading: 354.962091 deg. 2025-01-09T00:01:16.708Z,1736380876.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195257 target range: 107.000000 and range: 107.00 m. 2025-01-09T00:01:16.884Z,1736380876.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:17.037Z,1736380877.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:17.046Z,1736380877.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.00 m. 2025-01-09T00:01:17.050Z,1736380877.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.000000 m, nav range: 35.853481 m, bearing: 188.861847 deg, approach rate: 0.589214 m/s, LOS rate: -0.184012 deg/s, cmd heading: 354.962090 deg, new cmd heading: 354.773612 deg. 2025-01-09T00:01:17.051Z,1736380877.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.191967 target range: 107.000000 and range: 107.00 m. 2025-01-09T00:01:17.137Z,1736380877.137 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:17.388Z,1736380877.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:17.454Z,1736380877.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:17.466Z,1736380877.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.00 m. 2025-01-09T00:01:17.477Z,1736380877.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.000000 m, nav range: 36.097874 m, bearing: 188.763771 deg, approach rate: 0.586046 m/s, LOS rate: -0.233592 deg/s, cmd heading: 354.773604 deg, new cmd heading: 354.481369 deg. 2025-01-09T00:01:17.478Z,1736380877.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186867 target range: 107.000000 and range: 107.00 m. 2025-01-09T00:01:17.640Z,1736380877.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:17.834Z,1736380877.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:17.841Z,1736380877.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:17.843Z,1736380877.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.00 m. 2025-01-09T00:01:17.846Z,1736380877.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.000000 m, nav range: 36.320900 m, bearing: 188.672995 deg, approach rate: 0.586866 m/s, LOS rate: -0.237398 deg/s, cmd heading: 354.481381 deg, new cmd heading: 354.210729 deg. 2025-01-09T00:01:17.847Z,1736380877.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182144 target range: 107.000000 and range: 107.00 m. 2025-01-09T00:01:17.892Z,1736380877.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:17.893Z,1736380877.893 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:17.893Z,1736380877.893 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:17.893Z,1736380877.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:18.144Z,1736380878.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:18.145Z,1736380878.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002817 2025-01-09T00:01:18.243Z,1736380878.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:18.255Z,1736380878.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.00 m. 2025-01-09T00:01:18.260Z,1736380878.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.000000 m, nav range: 36.560120 m, bearing: 188.574099 deg, approach rate: 0.583023 m/s, LOS rate: -0.239453 deg/s, cmd heading: 354.210742 deg, new cmd heading: 353.915995 deg. 2025-01-09T00:01:18.261Z,1736380878.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177000 target range: 107.000000 and range: 107.00 m. 2025-01-09T00:01:18.396Z,1736380878.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:18.396Z,1736380878.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254722 2025-01-09T00:01:18.648Z,1736380878.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:18.650Z,1736380878.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507609 2025-01-09T00:01:18.670Z,1736380878.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:18.725Z,1736380878.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.00 m. 2025-01-09T00:01:18.735Z,1736380878.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.000000 m, nav range: 36.813320 m, bearing: 188.448565 deg, approach rate: 0.536252 m/s, LOS rate: -0.264038 deg/s, cmd heading: 353.916005 deg, new cmd heading: 353.542001 deg. 2025-01-09T00:01:18.742Z,1736380878.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170472 target range: 107.000000 and range: 107.00 m. 2025-01-09T00:01:18.900Z,1736380878.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:18.900Z,1736380878.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758659 2025-01-09T00:01:19.052Z,1736380879.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:19.069Z,1736380879.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.00 m. 2025-01-09T00:01:19.076Z,1736380879.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.000000 m, nav range: 37.039616 m, bearing: 188.335192 deg, approach rate: 0.658766 m/s, LOS rate: -0.328024 deg/s, cmd heading: 353.542012 deg, new cmd heading: 353.203973 deg. 2025-01-09T00:01:19.077Z,1736380879.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164572 target range: 107.000000 and range: 107.00 m. 2025-01-09T00:01:19.152Z,1736380879.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:19.154Z,1736380879.154 [DAT](INFO): DAT read: Rx Time:00:01:17.9996 2025-01-09T00:01:19.154Z,1736380879.154 [DAT](INFO): Rx dataTimestamp_ set to:1736380879.153803 2025-01-09T00:01:19.155Z,1736380879.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013257 2025-01-09T00:01:19.404Z,1736380879.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:19.404Z,1736380879.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262536 2025-01-09T00:01:19.479Z,1736380879.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:19.491Z,1736380879.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.00 m. 2025-01-09T00:01:19.494Z,1736380879.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.000000 m, nav range: 37.289669 m, bearing: 188.196226 deg, approach rate: 0.593182 m/s, LOS rate: -0.327446 deg/s, cmd heading: 353.203972 deg, new cmd heading: 352.789879 deg. 2025-01-09T00:01:19.495Z,1736380879.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157345 target range: 107.000000 and range: 107.00 m. 2025-01-09T00:01:19.659Z,1736380879.659 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:19.662Z,1736380879.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519991 2025-01-09T00:01:19.850Z,1736380879.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:19.857Z,1736380879.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:19.859Z,1736380879.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.00 m. 2025-01-09T00:01:19.862Z,1736380879.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.000000 m, nav range: 37.506805 m, bearing: 188.075102 deg, approach rate: 0.589599 m/s, LOS rate: -0.326990 deg/s, cmd heading: 352.789871 deg, new cmd heading: 352.428606 deg. 2025-01-09T00:01:19.863Z,1736380879.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151040 target range: 107.000000 and range: 107.00 m. 2025-01-09T00:01:19.908Z,1736380879.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:19.920Z,1736380879.920 [DAT](INFO): DAT read: 00:01:17.9996 LVL= 16560, 32689, 25906, 27891, AGC= 61, IDX= 425, 0.27,-0.971,-2.332,-2.943,-1.931, PHS= 1.048,-0.354,-1.015, RAW= 71.7, 3.6, CAL= 74.6, 1.7, ROT= 75.4, -1.7 2025-01-09T00:01:19.932Z,1736380879.932 [DAT](INFO): got valid direction response: 00:01:17.9996 LVL= 16560, 32689, 25906, 27891, AGC= 61, IDX= 425, 0.27,-0.971,-2.332,-2.943,-1.931, PHS= 1.048,-0.354,-1.015, RAW= 71.7, 3.6, CAL= 74.6, 1.7, ROT= 75.4, -1.7 2025-01-09T00:01:19.933Z,1736380879.933 [DAT](INFO): DAT read: Bearing 75.4, -1.7 (Local) 2025-01-09T00:01:19.933Z,1736380879.933 [DAT](INFO): Local bearing/azimuth received: Bearing 75.4, -1.7 (Local) 2025-01-09T00:01:19.935Z,1736380879.935 [DAT](INFO): DAT read: Range 10 to 50 : 106.3 m (Round-trip 141.8 ms) speed 0.0 m/s 2025-01-09T00:01:19.952Z,1736380879.952 [DAT](INFO): DAT read: user:3583> 2025-01-09T00:01:19.953Z,1736380879.953 [DAT](INFO): DAT read: Tx time:00:01:19.1036 2025-01-09T00:01:19.953Z,1736380879.953 [DAT](INFO): Ping request sent. 2025-01-09T00:01:19.953Z,1736380879.953 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:19.954Z,1736380879.954 [DAT](INFO): DAT read: TxSync time:00:01:19.1029 2025-01-09T00:01:19.954Z,1736380879.954 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:19.960Z,1736380879.960 [DAT](INFO): direction in FSK: [-0.118969,0.409939,0.904321] 2025-01-09T00:01:19.960Z,1736380879.960 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:19.960Z,1736380879.960 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:19.966Z,1736380879.966 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:19.966Z,1736380879.966 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:20.160Z,1736380880.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:20.276Z,1736380880.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:20.297Z,1736380880.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 106.300003 m, deltaT: 3.781033 s, deltaX: -0.699997 m, approachRate: -0.185134 m/s, rangeRepo size: 4 2025-01-09T00:01:20.302Z,1736380880.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 106.300003 m, bearing: 115.653785 deg, lat: 36.904317 deg, lon: -122.120564 deg, deltaT: 3.781033 s, deltaX: -0.699997 m, approachRate: -0.185134 m/s, posRepo size: 4 2025-01-09T00:01:20.306Z,1736380880.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.30 m. 2025-01-09T00:01:20.337Z,1736380880.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.300003 m, nav range: 28.294378 m, bearing: 165.667574 deg, approach rate: 0.000000 m/s, LOS rate: -0.326990 deg/s, cmd heading: 352.428609 deg, new cmd heading: 351.999339 deg. 2025-01-09T00:01:20.347Z,1736380880.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143548 target range: 106.300003 and range: 106.30 m. 2025-01-09T00:01:20.413Z,1736380880.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:20.664Z,1736380880.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:20.825Z,1736380880.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:20.834Z,1736380880.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.30 m. 2025-01-09T00:01:20.837Z,1736380880.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.300003 m, nav range: 28.631357 m, bearing: 165.688197 deg, approach rate: 0.626419 m/s, LOS rate: 0.037886 deg/s, cmd heading: 351.999345 deg, new cmd heading: 352.060486 deg. 2025-01-09T00:01:20.838Z,1736380880.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144615 target range: 106.300003 and range: 106.30 m. 2025-01-09T00:01:20.917Z,1736380880.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:21.172Z,1736380881.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:21.199Z,1736380881.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:21.208Z,1736380881.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.30 m. 2025-01-09T00:01:21.211Z,1736380881.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.300003 m, nav range: 28.861145 m, bearing: 165.698616 deg, approach rate: 0.614873 m/s, LOS rate: 0.027659 deg/s, cmd heading: 352.060489 deg, new cmd heading: 352.091499 deg. 2025-01-09T00:01:21.212Z,1736380881.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145156 target range: 106.300003 and range: 106.30 m. 2025-01-09T00:01:21.424Z,1736380881.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:21.627Z,1736380881.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:21.636Z,1736380881.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.30 m. 2025-01-09T00:01:21.638Z,1736380881.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.300003 m, nav range: 29.120068 m, bearing: 165.706020 deg, approach rate: 0.605231 m/s, LOS rate: 0.017152 deg/s, cmd heading: 352.091498 deg, new cmd heading: 352.113511 deg. 2025-01-09T00:01:21.640Z,1736380881.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145540 target range: 106.300003 and range: 106.30 m. 2025-01-09T00:01:21.677Z,1736380881.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:21.928Z,1736380881.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:22.012Z,1736380882.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:22.020Z,1736380882.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:22.022Z,1736380882.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.30 m. 2025-01-09T00:01:22.025Z,1736380882.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.300003 m, nav range: 29.352455 m, bearing: 165.711293 deg, approach rate: 0.601369 m/s, LOS rate: 0.013538 deg/s, cmd heading: 352.113518 deg, new cmd heading: 352.129213 deg. 2025-01-09T00:01:22.026Z,1736380882.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145814 target range: 106.300003 and range: 106.30 m. 2025-01-09T00:01:22.180Z,1736380882.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:22.180Z,1736380882.180 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:22.180Z,1736380882.180 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:22.181Z,1736380882.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:22.397Z,1736380882.397 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:01:22.444Z,1736380882.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:22.445Z,1736380882.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491360 2025-01-09T00:01:22.470Z,1736380882.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:22.487Z,1736380882.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.30 m. 2025-01-09T00:01:22.497Z,1736380882.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.300003 m, nav range: 29.628315 m, bearing: 165.722296 deg, approach rate: 0.594281 m/s, LOS rate: 0.023483 deg/s, cmd heading: 352.129201 deg, new cmd heading: 352.161902 deg. 2025-01-09T00:01:22.500Z,1736380882.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146385 target range: 106.300003 and range: 106.30 m. 2025-01-09T00:01:22.696Z,1736380882.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:22.696Z,1736380882.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743071 2025-01-09T00:01:22.818Z,1736380882.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:22.826Z,1736380882.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.30 m. 2025-01-09T00:01:22.829Z,1736380882.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.300003 m, nav range: 29.837460 m, bearing: 165.729049 deg, approach rate: 0.616075 m/s, LOS rate: 0.019753 deg/s, cmd heading: 352.161903 deg, new cmd heading: 352.182021 deg. 2025-01-09T00:01:22.830Z,1736380882.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146736 target range: 106.300003 and range: 106.30 m. 2025-01-09T00:01:22.954Z,1736380882.954 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:22.955Z,1736380882.955 [DAT](INFO): DAT read: Rx Time:00:01:21.6488 2025-01-09T00:01:22.956Z,1736380882.956 [DAT](INFO): Rx dataTimestamp_ set to:1736380882.955309 2025-01-09T00:01:22.956Z,1736380882.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002842 2025-01-09T00:01:23.208Z,1736380883.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:23.208Z,1736380883.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255066 2025-01-09T00:01:23.234Z,1736380883.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:23.261Z,1736380883.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.30 m. 2025-01-09T00:01:23.269Z,1736380883.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.300003 m, nav range: 30.087791 m, bearing: 165.734843 deg, approach rate: 0.574903 m/s, LOS rate: 0.013194 deg/s, cmd heading: 352.182012 deg, new cmd heading: 352.199248 deg. 2025-01-09T00:01:23.270Z,1736380883.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147037 target range: 106.300003 and range: 106.30 m. 2025-01-09T00:01:23.403Z,1736380883.403 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:01:23.460Z,1736380883.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:23.470Z,1736380883.470 [DAT](INFO): DAT read: 00:01:21.6488 LVL= 15232, 23425, 16466, 24179, AGC= 58, IDX= 432, 0.18,-0.577,-1.741,-2.602,-1.548, PHS= 1.058,-0.146,-1.058, RAW= 64.6, 1.6, CAL= 66.9, -1.1, ROT= 83.1, 1.1 2025-01-09T00:01:23.483Z,1736380883.483 [DAT](INFO): got valid direction response: 00:01:21.6488 LVL= 15232, 23425, 16466, 24179, AGC= 58, IDX= 432, 0.18,-0.577,-1.741,-2.602,-1.548, PHS= 1.058,-0.146,-1.058, RAW= 64.6, 1.6, CAL= 66.9, -1.1, ROT= 83.1, 1.1 2025-01-09T00:01:23.488Z,1736380883.488 [DAT](INFO): DAT read: Bearing 83.1, 1.1 (Local) 2025-01-09T00:01:23.489Z,1736380883.489 [DAT](INFO): Local bearing/azimuth received: Bearing 83.1, 1.1 (Local) 2025-01-09T00:01:23.490Z,1736380883.490 [DAT](INFO): DAT read: Range 10 to 50 : 105.7 m (Round-trip 141.0 ms) speed 0.0 m/s 2025-01-09T00:01:23.491Z,1736380883.491 [DAT](INFO): DAT read: user:3584> 2025-01-09T00:01:23.500Z,1736380883.500 [DAT](INFO): DAT read: Tx time:00:01:22.7537 2025-01-09T00:01:23.501Z,1736380883.501 [DAT](INFO): Ping request sent. 2025-01-09T00:01:23.501Z,1736380883.501 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:23.501Z,1736380883.501 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:23.502Z,1736380883.502 [DAT](INFO): direction in FSK: [-0.068396,0.514888,0.854524] 2025-01-09T00:01:23.502Z,1736380883.502 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:23.502Z,1736380883.502 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:23.510Z,1736380883.510 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:23.510Z,1736380883.510 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:23.709Z,1736380883.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:23.712Z,1736380883.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:23.713Z,1736380883.713 [DAT](INFO): DAT read: TxSync time:00:01:22.7529 2025-01-09T00:01:23.741Z,1736380883.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.699997 m, deltaT: 3.551340 s, deltaX: -0.600006 m, approachRate: -0.168952 m/s, rangeRepo size: 4 2025-01-09T00:01:23.743Z,1736380883.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 105.699997 m, bearing: 99.610270 deg, lat: 36.904348 deg, lon: -122.120397 deg, deltaT: 3.551340 s, deltaX: -0.600006 m, approachRate: -0.168952 m/s, posRepo size: 4 2025-01-09T00:01:23.749Z,1736380883.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.70 m. 2025-01-09T00:01:23.757Z,1736380883.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.699997 m, nav range: 34.359913 m, bearing: 139.364721 deg, approach rate: 0.000000 m/s, LOS rate: 0.013194 deg/s, cmd heading: 352.199251 deg, new cmd heading: 352.218002 deg. 2025-01-09T00:01:23.758Z,1736380883.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147364 target range: 105.699997 and range: 105.70 m. 2025-01-09T00:01:23.964Z,1736380883.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:24.025Z,1736380884.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:24.036Z,1736380884.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:24.038Z,1736380884.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.70 m. 2025-01-09T00:01:24.041Z,1736380884.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.699997 m, nav range: 34.524837 m, bearing: 139.509608 deg, approach rate: 0.544950 m/s, LOS rate: 0.476455 deg/s, cmd heading: 352.217993 deg, new cmd heading: 352.650571 deg. 2025-01-09T00:01:24.042Z,1736380884.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154913 target range: 105.699997 and range: 105.70 m. 2025-01-09T00:01:24.218Z,1736380884.218 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:24.220Z,1736380884.220 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:24.220Z,1736380884.220 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:24.220Z,1736380884.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:24.468Z,1736380884.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:24.469Z,1736380884.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967805 2025-01-09T00:01:24.476Z,1736380884.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:24.485Z,1736380884.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.70 m. 2025-01-09T00:01:24.488Z,1736380884.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.699997 m, nav range: 34.757751 m, bearing: 139.710745 deg, approach rate: 0.520621 m/s, LOS rate: 0.446578 deg/s, cmd heading: 352.650563 deg, new cmd heading: 353.249907 deg. 2025-01-09T00:01:24.489Z,1736380884.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165374 target range: 105.699997 and range: 105.70 m. 2025-01-09T00:01:24.721Z,1736380884.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:24.722Z,1736380884.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221082 2025-01-09T00:01:24.841Z,1736380884.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:24.851Z,1736380884.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.70 m. 2025-01-09T00:01:24.854Z,1736380884.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.699997 m, nav range: 34.946693 m, bearing: 139.872211 deg, approach rate: 0.516466 m/s, LOS rate: 0.438974 deg/s, cmd heading: 353.249898 deg, new cmd heading: 353.731664 deg. 2025-01-09T00:01:24.855Z,1736380884.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.173782 target range: 105.699997 and range: 105.70 m. 2025-01-09T00:01:24.972Z,1736380884.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:24.973Z,1736380884.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471792 2025-01-09T00:01:25.224Z,1736380885.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:25.224Z,1736380885.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723701 2025-01-09T00:01:25.234Z,1736380885.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:25.254Z,1736380885.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.70 m. 2025-01-09T00:01:25.259Z,1736380885.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.699997 m, nav range: 35.149815 m, bearing: 140.044738 deg, approach rate: 0.506145 m/s, LOS rate: 0.427424 deg/s, cmd heading: 353.731672 deg, new cmd heading: 354.246247 deg. 2025-01-09T00:01:25.292Z,1736380885.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182764 target range: 105.699997 and range: 105.70 m. 2025-01-09T00:01:25.479Z,1736380885.479 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:25.480Z,1736380885.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978962 2025-01-09T00:01:25.697Z,1736380885.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:25.706Z,1736380885.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.70 m. 2025-01-09T00:01:25.709Z,1736380885.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.699997 m, nav range: 35.377148 m, bearing: 140.251484 deg, approach rate: 0.501544 m/s, LOS rate: 0.453193 deg/s, cmd heading: 354.246259 deg, new cmd heading: 354.862486 deg. 2025-01-09T00:01:25.710Z,1736380885.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193519 target range: 105.699997 and range: 105.70 m. 2025-01-09T00:01:25.728Z,1736380885.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:25.729Z,1736380885.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228142 2025-01-09T00:01:25.980Z,1736380885.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:25.980Z,1736380885.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479755 2025-01-09T00:01:26.053Z,1736380886.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:26.060Z,1736380886.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:26.062Z,1736380886.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.70 m. 2025-01-09T00:01:26.082Z,1736380886.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.699997 m, nav range: 35.564804 m, bearing: 140.420958 deg, approach rate: 0.526458 m/s, LOS rate: 0.472939 deg/s, cmd heading: 354.862478 deg, new cmd heading: 355.368204 deg. 2025-01-09T00:01:26.088Z,1736380886.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202345 target range: 105.699997 and range: 105.70 m. 2025-01-09T00:01:26.234Z,1736380886.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:26.235Z,1736380886.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734582 2025-01-09T00:01:26.484Z,1736380886.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:26.485Z,1736380886.485 [DAT](INFO): DAT read: Rx Time:00:01:25.2982 2025-01-09T00:01:26.485Z,1736380886.485 [DAT](INFO): Rx dataTimestamp_ set to:1736380886.485126 2025-01-09T00:01:26.486Z,1736380886.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985225 2025-01-09T00:01:26.527Z,1736380886.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:26.538Z,1736380886.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.70 m. 2025-01-09T00:01:26.557Z,1736380886.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.699997 m, nav range: 35.805481 m, bearing: 140.634849 deg, approach rate: 0.505969 m/s, LOS rate: 0.446635 deg/s, cmd heading: 355.368213 deg, new cmd heading: 356.005547 deg. 2025-01-09T00:01:26.558Z,1736380886.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.213469 target range: 105.699997 and range: 105.70 m. 2025-01-09T00:01:26.737Z,1736380886.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:26.740Z,1736380886.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238323 2025-01-09T00:01:26.989Z,1736380886.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:27.012Z,1736380887.012 [DAT](INFO): DAT read: 00:01:25.2982 LVL= 11696, 26545, 18482, 28403, AGC= 55, IDX= 442,-0.07,-0.541,-1.502,-2.552,-1.522, PHS= 1.069, 0.067,-1.033, RAW= 58.4, -1.1, CAL= 61.4, -4.6, ROT= 88.6, 4.6 2025-01-09T00:01:27.013Z,1736380887.013 [DAT](INFO): got valid direction response: 00:01:25.2982 LVL= 11696, 26545, 18482, 28403, AGC= 55, IDX= 442,-0.07,-0.541,-1.502,-2.552,-1.522, PHS= 1.069, 0.067,-1.033, RAW= 58.4, -1.1, CAL= 61.4, -4.6, ROT= 88.6, 4.6 2025-01-09T00:01:27.014Z,1736380887.014 [DAT](INFO): DAT read: Bearing 88.6, 4.6 (Local) 2025-01-09T00:01:27.014Z,1736380887.014 [DAT](INFO): Local bearing/azimuth received: Bearing 88.6, 4.6 (Local) 2025-01-09T00:01:27.020Z,1736380887.020 [DAT](INFO): DAT read: Range 10 to 50 : 105.3 m (Round-trip 140.4 ms) speed 0.0 m/s 2025-01-09T00:01:27.021Z,1736380887.021 [DAT](INFO): DAT read: user:3585> 2025-01-09T00:01:27.022Z,1736380887.022 [DAT](INFO): DAT read: Tx time:00:01:26.4037 2025-01-09T00:01:27.022Z,1736380887.022 [DAT](INFO): Ping request sent. 2025-01-09T00:01:27.022Z,1736380887.022 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:27.023Z,1736380887.023 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:27.033Z,1736380887.033 [DAT](INFO): direction in FSK: [-0.004748,0.596260,0.802777] 2025-01-09T00:01:27.034Z,1736380887.034 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:27.034Z,1736380887.034 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:27.051Z,1736380887.051 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:27.051Z,1736380887.051 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:27.096Z,1736380887.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:27.140Z,1736380887.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.300003 m, deltaT: 3.529114 s, deltaX: -0.399994 m, approachRate: -0.113341 m/s, rangeRepo size: 4 2025-01-09T00:01:27.142Z,1736380887.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 105.300003 m, bearing: 88.826563 deg, lat: 36.904405 deg, lon: -122.120229 deg, deltaT: 3.529114 s, deltaX: -0.399994 m, approachRate: -0.113341 m/s, posRepo size: 4 2025-01-09T00:01:27.147Z,1736380887.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.30 m. 2025-01-09T00:01:27.156Z,1736380887.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.300003 m, nav range: 43.454033 m, bearing: 119.863510 deg, approach rate: 0.000000 m/s, LOS rate: 0.446635 deg/s, cmd heading: 356.005551 deg, new cmd heading: 356.806345 deg. 2025-01-09T00:01:27.157Z,1736380887.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.227446 target range: 105.300003 and range: 105.30 m. 2025-01-09T00:01:27.241Z,1736380887.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:27.242Z,1736380887.242 [DAT](INFO): DAT read: TxSync time:00:01:26.4029 2025-01-09T00:01:27.418Z,1736380887.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:27.492Z,1736380887.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:27.521Z,1736380887.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.30 m. 2025-01-09T00:01:27.534Z,1736380887.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.300003 m, nav range: 43.575222 m, bearing: 120.052192 deg, approach rate: 0.316675 m/s, LOS rate: 0.491666 deg/s, cmd heading: 356.806350 deg, new cmd heading: 357.370803 deg. 2025-01-09T00:01:27.535Z,1736380887.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.237297 target range: 105.300003 and range: 105.30 m. 2025-01-09T00:01:27.744Z,1736380887.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:27.890Z,1736380887.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:27.915Z,1736380887.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.30 m. 2025-01-09T00:01:27.918Z,1736380887.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.300003 m, nav range: 43.756237 m, bearing: 120.327490 deg, approach rate: 0.456456 m/s, LOS rate: 0.691330 deg/s, cmd heading: 357.370797 deg, new cmd heading: 358.193214 deg. 2025-01-09T00:01:27.920Z,1736380887.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.251651 target range: 105.300003 and range: 105.30 m. 2025-01-09T00:01:27.996Z,1736380887.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:28.240Z,1736380888.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:28.247Z,1736380888.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:28.248Z,1736380888.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:28.252Z,1736380888.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.30 m. 2025-01-09T00:01:28.254Z,1736380888.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.300003 m, nav range: 43.888638 m, bearing: 120.532921 deg, approach rate: 0.393158 m/s, LOS rate: 0.608177 deg/s, cmd heading: 358.193206 deg, new cmd heading: 358.807615 deg. 2025-01-09T00:01:28.258Z,1736380888.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262374 target range: 105.300003 and range: 105.30 m. 2025-01-09T00:01:28.500Z,1736380888.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:28.501Z,1736380888.501 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:28.501Z,1736380888.501 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:28.501Z,1736380888.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:28.691Z,1736380888.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:28.720Z,1736380888.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.30 m. 2025-01-09T00:01:28.722Z,1736380888.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.300003 m, nav range: 44.064068 m, bearing: 120.806285 deg, approach rate: 0.376354 m/s, LOS rate: 0.584116 deg/s, cmd heading: 358.807623 deg, new cmd heading: 359.624391 deg. 2025-01-09T00:01:28.723Z,1736380888.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276630 target range: 105.300003 and range: 105.30 m. 2025-01-09T00:01:28.752Z,1736380888.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:28.753Z,1736380888.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730418 2025-01-09T00:01:29.005Z,1736380889.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:29.006Z,1736380889.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983301 2025-01-09T00:01:29.044Z,1736380889.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:29.053Z,1736380889.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.30 m. 2025-01-09T00:01:29.056Z,1736380889.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.300003 m, nav range: 44.200920 m, bearing: 121.020401 deg, approach rate: 0.407808 m/s, LOS rate: 0.636071 deg/s, cmd heading: 359.624404 deg, new cmd heading: 0.264736 deg. 2025-01-09T00:01:29.057Z,1736380889.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004621 target range: 105.300003 and range: 105.30 m. 2025-01-09T00:01:29.257Z,1736380889.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:29.258Z,1736380889.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235454 2025-01-09T00:01:29.478Z,1736380889.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:29.509Z,1736380889.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:29.511Z,1736380889.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488256 2025-01-09T00:01:29.532Z,1736380889.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.30 m. 2025-01-09T00:01:29.535Z,1736380889.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.300003 m, nav range: 44.365856 m, bearing: 121.278490 deg, approach rate: 0.347790 m/s, LOS rate: 0.542189 deg/s, cmd heading: 0.264736 deg, new cmd heading: 1.036073 deg. 2025-01-09T00:01:29.540Z,1736380889.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018083 target range: 105.300003 and range: 105.30 m. 2025-01-09T00:01:29.761Z,1736380889.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:29.763Z,1736380889.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740183 2025-01-09T00:01:29.882Z,1736380889.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:29.912Z,1736380889.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.30 m. 2025-01-09T00:01:29.920Z,1736380889.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.300003 m, nav range: 44.530128 m, bearing: 121.522134 deg, approach rate: 0.426756 m/s, LOS rate: 0.630615 deg/s, cmd heading: 1.036073 deg, new cmd heading: 1.764267 deg. 2025-01-09T00:01:29.924Z,1736380889.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.030792 target range: 105.300003 and range: 105.30 m. 2025-01-09T00:01:30.012Z,1736380890.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:30.013Z,1736380890.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990828 2025-01-09T00:01:30.257Z,1736380890.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:30.266Z,1736380890.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:30.267Z,1736380890.267 [DAT](INFO): DAT read: Rx Time:00:01:28.9479 2025-01-09T00:01:30.267Z,1736380890.267 [DAT](INFO): Rx dataTimestamp_ set to:1736380890.267116 2025-01-09T00:01:30.268Z,1736380890.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245549 2025-01-09T00:01:30.300Z,1736380890.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:30.302Z,1736380890.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.30 m. 2025-01-09T00:01:30.308Z,1736380890.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.300003 m, nav range: 44.679192 m, bearing: 121.743831 deg, approach rate: 0.382903 m/s, LOS rate: 0.567580 deg/s, cmd heading: 1.764267 deg, new cmd heading: 2.427109 deg. 2025-01-09T00:01:30.309Z,1736380890.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.042361 target range: 105.300003 and range: 105.30 m. 2025-01-09T00:01:30.521Z,1736380890.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:30.522Z,1736380890.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499543 2025-01-09T00:01:30.711Z,1736380890.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:30.720Z,1736380890.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.30 m. 2025-01-09T00:01:30.722Z,1736380890.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.300003 m, nav range: 44.859707 m, bearing: 122.020847 deg, approach rate: 0.431504 m/s, LOS rate: 0.659511 deg/s, cmd heading: 2.427109 deg, new cmd heading: 3.254751 deg. 2025-01-09T00:01:30.724Z,1736380890.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056806 target range: 105.300003 and range: 105.30 m. 2025-01-09T00:01:30.772Z,1736380890.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:30.780Z,1736380890.780 [DAT](INFO): DAT read: 00:01:28.9479 LVL= 15632, 25377, 14610, 20147, AGC= 59, IDX= 438, 0.14, 0.695,-0.338,-1.311,-0.401, PHS= 1.185, 0.110,-0.913, RAW= 60.8, -4.3, CAL= 66.5, -9.4, ROT= 83.5, 9.4 2025-01-09T00:01:30.782Z,1736380890.782 [DAT](INFO): got valid direction response: 00:01:28.9479 LVL= 15632, 25377, 14610, 20147, AGC= 59, IDX= 438, 0.14, 0.695,-0.338,-1.311,-0.401, PHS= 1.185, 0.110,-0.913, RAW= 60.8, -4.3, CAL= 66.5, -9.4, ROT= 83.5, 9.4 2025-01-09T00:01:30.784Z,1736380890.784 [DAT](INFO): DAT read: Bearing 83.5, 9.4 (Local) 2025-01-09T00:01:30.784Z,1736380890.784 [DAT](INFO): Local bearing/azimuth received: Bearing 83.5, 9.4 (Local) 2025-01-09T00:01:30.786Z,1736380890.786 [DAT](INFO): DAT read: Range 10 to 50 : 105.0 m (Round-trip 140.1 ms) speed 0.1 m/s 2025-01-09T00:01:30.789Z,1736380890.789 [DAT](INFO): DAT read: user:3586> 2025-01-09T00:01:30.790Z,1736380890.790 [DAT](INFO): DAT read: Tx time:00:01:30.0537 2025-01-09T00:01:30.790Z,1736380890.790 [DAT](INFO): Ping request sent. 2025-01-09T00:01:30.790Z,1736380890.790 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:30.791Z,1736380890.791 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:30.793Z,1736380890.793 [DAT](INFO): direction in FSK: [0.048356,0.559973,0.827098] 2025-01-09T00:01:30.793Z,1736380890.793 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:30.793Z,1736380890.793 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:30.835Z,1736380890.835 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:30.864Z,1736380890.864 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:31.024Z,1736380891.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:31.025Z,1736380891.025 [DAT](INFO): DAT read: TxSync time:00:01:30.0529 2025-01-09T00:01:31.088Z,1736380891.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:31.118Z,1736380891.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.000000 m, deltaT: 3.782697 s, deltaX: -0.300003 m, approachRate: -0.079309 m/s, rangeRepo size: 4 2025-01-09T00:01:31.124Z,1736380891.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 105.000000 m, bearing: 85.397861 deg, lat: 36.904511 deg, lon: -122.120204 deg, deltaT: 3.782697 s, deltaX: -0.300003 m, approachRate: -0.079309 m/s, posRepo size: 4 2025-01-09T00:01:31.125Z,1736380891.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.00 m. 2025-01-09T00:01:31.133Z,1736380891.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.000000 m, nav range: 42.132824 m, bearing: 106.810085 deg, approach rate: 0.000000 m/s, LOS rate: 0.659511 deg/s, cmd heading: 3.254751 deg, new cmd heading: 4.041107 deg. 2025-01-09T00:01:31.134Z,1736380891.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070531 target range: 105.000000 and range: 105.00 m. 2025-01-09T00:01:31.276Z,1736380891.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:31.477Z,1736380891.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:31.530Z,1736380891.530 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:31.534Z,1736380891.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.00 m. 2025-01-09T00:01:31.551Z,1736380891.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.000000 m, nav range: 42.232403 m, bearing: 107.117104 deg, approach rate: 0.239372 m/s, LOS rate: 0.736282 deg/s, cmd heading: 4.041107 deg, new cmd heading: 4.959909 deg. 2025-01-09T00:01:31.556Z,1736380891.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.086567 target range: 105.000000 and range: 105.00 m. 2025-01-09T00:01:31.780Z,1736380891.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:31.916Z,1736380891.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:31.924Z,1736380891.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.00 m. 2025-01-09T00:01:31.930Z,1736380891.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.000000 m, nav range: 42.346394 m, bearing: 107.454503 deg, approach rate: 0.291918 m/s, LOS rate: 0.861712 deg/s, cmd heading: 4.959909 deg, new cmd heading: 5.969271 deg. 2025-01-09T00:01:31.934Z,1736380891.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104183 target range: 105.000000 and range: 105.00 m. 2025-01-09T00:01:32.033Z,1736380892.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:32.280Z,1736380892.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:32.284Z,1736380892.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:32.296Z,1736380892.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.00 m. 2025-01-09T00:01:32.299Z,1736380892.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.000000 m, nav range: 42.440598 m, bearing: 107.733968 deg, approach rate: 0.253492 m/s, LOS rate: 0.750336 deg/s, cmd heading: 5.969272 deg, new cmd heading: 6.805743 deg. 2025-01-09T00:01:32.300Z,1736380892.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118783 target range: 105.000000 and range: 105.00 m. 2025-01-09T00:01:32.538Z,1736380892.538 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:32.716Z,1736380892.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:32.723Z,1736380892.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:32.725Z,1736380892.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.00 m. 2025-01-09T00:01:32.728Z,1736380892.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.000000 m, nav range: 42.552662 m, bearing: 108.070819 deg, approach rate: 0.260754 m/s, LOS rate: 0.781723 deg/s, cmd heading: 6.805743 deg, new cmd heading: 7.813525 deg. 2025-01-09T00:01:32.729Z,1736380892.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.136372 target range: 105.000000 and range: 105.00 m. 2025-01-09T00:01:32.789Z,1736380892.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:32.790Z,1736380892.790 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:32.790Z,1736380892.790 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:32.791Z,1736380892.791 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:33.040Z,1736380893.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:33.040Z,1736380893.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250099 2025-01-09T00:01:33.084Z,1736380893.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:33.108Z,1736380893.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.00 m. 2025-01-09T00:01:33.111Z,1736380893.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.000000 m, nav range: 42.646156 m, bearing: 108.353500 deg, approach rate: 0.244135 m/s, LOS rate: 0.736523 deg/s, cmd heading: 7.813525 deg, new cmd heading: 8.659644 deg. 2025-01-09T00:01:33.116Z,1736380893.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.151139 target range: 105.000000 and range: 105.00 m. 2025-01-09T00:01:33.292Z,1736380893.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:33.292Z,1736380893.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502049 2025-01-09T00:01:33.501Z,1736380893.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:33.510Z,1736380893.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.00 m. 2025-01-09T00:01:33.541Z,1736380893.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.000000 m, nav range: 42.750900 m, bearing: 108.674766 deg, approach rate: 0.261019 m/s, LOS rate: 0.798622 deg/s, cmd heading: 8.659644 deg, new cmd heading: 9.620986 deg. 2025-01-09T00:01:33.546Z,1736380893.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:33.549Z,1736380893.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757703 2025-01-09T00:01:33.553Z,1736380893.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167918 target range: 105.000000 and range: 105.00 m. 2025-01-09T00:01:33.796Z,1736380893.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:33.797Z,1736380893.797 [DAT](INFO): DAT read: Rx Time:00:01:32.5971 2025-01-09T00:01:33.797Z,1736380893.797 [DAT](INFO): Rx dataTimestamp_ set to:1736380893.796688 2025-01-09T00:01:33.798Z,1736380893.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007692 2025-01-09T00:01:34.003Z,1736380894.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:34.033Z,1736380894.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.00 m. 2025-01-09T00:01:34.040Z,1736380894.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.000000 m, nav range: 42.871799 m, bearing: 109.046880 deg, approach rate: 0.233532 m/s, LOS rate: 0.716753 deg/s, cmd heading: 9.620986 deg, new cmd heading: 10.734030 deg. 2025-01-09T00:01:34.041Z,1736380894.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.187344 target range: 105.000000 and range: 105.00 m. 2025-01-09T00:01:34.048Z,1736380894.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:34.049Z,1736380894.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259159 2025-01-09T00:01:34.301Z,1736380894.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:34.314Z,1736380894.314 [DAT](INFO): DAT read: 00:01:32.5970 LVL= 18000, 27121, 16802, 22195, AGC= 57, IDX= 430,-0.09, 2.821, 1.463, 0.788, 1.521, PHS= 1.388,-0.011,-0.736, RAW= 70.4, -6.9, CAL= 79.5, -14.1, ROT= 70.5, 14.1 2025-01-09T00:01:34.316Z,1736380894.316 [DAT](INFO): got valid direction response: 00:01:32.5970 LVL= 18000, 27121, 16802, 22195, AGC= 57, IDX= 430,-0.09, 2.821, 1.463, 0.788, 1.521, PHS= 1.388,-0.011,-0.736, RAW= 70.4, -6.9, CAL= 79.5, -14.1, ROT= 70.5, 14.1 2025-01-09T00:01:34.317Z,1736380894.317 [DAT](INFO): DAT read: Bearing 70.5, 14.1 (Local) 2025-01-09T00:01:34.317Z,1736380894.317 [DAT](INFO): Local bearing/azimuth received: Bearing 70.5, 14.1 (Local) 2025-01-09T00:01:34.319Z,1736380894.319 [DAT](INFO): DAT read: Range 10 to 50 : 104.4 m (Round-trip 139.2 ms) speed 0.0 m/s 2025-01-09T00:01:34.320Z,1736380894.320 [DAT](INFO): DAT read: user:3587> 2025-01-09T00:01:34.321Z,1736380894.321 [DAT](INFO): DAT read: Tx time:00:01:33.7037 2025-01-09T00:01:34.321Z,1736380894.321 [DAT](INFO): Ping request sent. 2025-01-09T00:01:34.321Z,1736380894.321 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:34.321Z,1736380894.321 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:34.322Z,1736380894.322 [DAT](INFO): direction in FSK: [0.079739,0.418039,0.904923] 2025-01-09T00:01:34.323Z,1736380894.323 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:34.323Z,1736380894.323 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:34.326Z,1736380894.326 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:34.326Z,1736380894.326 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:34.400Z,1736380894.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:34.442Z,1736380894.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.400002 m, deltaT: 3.530208 s, deltaX: -0.599998 m, approachRate: -0.169961 m/s, rangeRepo size: 4 2025-01-09T00:01:34.449Z,1736380894.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 104.400002 m, bearing: 82.044570 deg, lat: 36.904609 deg, lon: -122.120204 deg, deltaT: 3.530208 s, deltaX: -0.599998 m, approachRate: -0.169961 m/s, posRepo size: 4 2025-01-09T00:01:34.450Z,1736380894.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-09T00:01:34.457Z,1736380894.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 40.681572 m, bearing: 94.769825 deg, approach rate: 0.000000 m/s, LOS rate: 0.716753 deg/s, cmd heading: 10.734030 deg, new cmd heading: 11.624118 deg. 2025-01-09T00:01:34.458Z,1736380894.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.202879 target range: 104.400002 and range: 104.40 m. 2025-01-09T00:01:34.553Z,1736380894.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:34.557Z,1736380894.557 [DAT](INFO): DAT read: TxSync time:00:01:33.7029 2025-01-09T00:01:34.805Z,1736380894.805 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:34.906Z,1736380894.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:34.913Z,1736380894.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:34.915Z,1736380894.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-09T00:01:34.920Z,1736380894.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 40.722057 m, bearing: 95.187461 deg, approach rate: 0.085471 m/s, LOS rate: 0.880811 deg/s, cmd heading: 11.624118 deg, new cmd heading: 12.875570 deg. 2025-01-09T00:01:34.925Z,1736380894.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.224721 target range: 104.400002 and range: 104.40 m. 2025-01-09T00:01:35.056Z,1736380895.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:35.056Z,1736380895.056 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:35.056Z,1736380895.056 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:35.057Z,1736380895.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:35.279Z,1736380895.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:35.289Z,1736380895.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-09T00:01:35.292Z,1736380895.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 40.747025 m, bearing: 95.495994 deg, approach rate: 0.066741 m/s, LOS rate: 0.824244 deg/s, cmd heading: 12.875570 deg, new cmd heading: 13.800516 deg. 2025-01-09T00:01:35.293Z,1736380895.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.240864 target range: 104.400002 and range: 104.40 m. 2025-01-09T00:01:35.311Z,1736380895.311 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:35.312Z,1736380895.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990427 2025-01-09T00:01:35.561Z,1736380895.561 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:35.564Z,1736380895.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241740 2025-01-09T00:01:35.718Z,1736380895.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:35.727Z,1736380895.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-09T00:01:35.730Z,1736380895.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 40.770206 m, bearing: 95.857517 deg, approach rate: 0.052937 m/s, LOS rate: 0.825084 deg/s, cmd heading: 13.800517 deg, new cmd heading: 14.884330 deg. 2025-01-09T00:01:35.731Z,1736380895.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.259781 target range: 104.400002 and range: 104.40 m. 2025-01-09T00:01:35.812Z,1736380895.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:35.813Z,1736380895.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491451 2025-01-09T00:01:36.064Z,1736380896.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:36.064Z,1736380896.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743259 2025-01-09T00:01:36.091Z,1736380896.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:36.123Z,1736380896.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-09T00:01:36.126Z,1736380896.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 40.791130 m, bearing: 96.163670 deg, approach rate: 0.053321 m/s, LOS rate: 0.779786 deg/s, cmd heading: 14.884329 deg, new cmd heading: 15.802236 deg. 2025-01-09T00:01:36.131Z,1736380896.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.275801 target range: 104.400002 and range: 104.40 m. 2025-01-09T00:01:36.316Z,1736380896.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:36.317Z,1736380896.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996100 2025-01-09T00:01:36.475Z,1736380896.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:36.485Z,1736380896.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-09T00:01:36.487Z,1736380896.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 40.801586 m, bearing: 96.480548 deg, approach rate: 0.028630 m/s, LOS rate: 0.867433 deg/s, cmd heading: 15.802237 deg, new cmd heading: 16.752535 deg. 2025-01-09T00:01:36.488Z,1736380896.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292387 target range: 104.400002 and range: 104.40 m. 2025-01-09T00:01:36.570Z,1736380896.570 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:36.572Z,1736380896.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250420 2025-01-09T00:01:36.820Z,1736380896.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:36.820Z,1736380896.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499163 2025-01-09T00:01:36.928Z,1736380896.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:36.946Z,1736380896.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:36.949Z,1736380896.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-09T00:01:36.964Z,1736380896.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 40.804207 m, bearing: 96.841633 deg, approach rate: 0.005647 m/s, LOS rate: 0.777974 deg/s, cmd heading: 16.752535 deg, new cmd heading: 17.835584 deg. 2025-01-09T00:01:36.965Z,1736380896.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.311290 target range: 104.400002 and range: 104.40 m. 2025-01-09T00:01:37.072Z,1736380897.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:37.072Z,1736380897.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751344 2025-01-09T00:01:37.324Z,1736380897.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:37.324Z,1736380897.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003365 2025-01-09T00:01:37.342Z,1736380897.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:37.359Z,1736380897.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-09T00:01:37.362Z,1736380897.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 40.800335 m, bearing: 97.172000 deg, approach rate: -0.009439 m/s, LOS rate: 0.805410 deg/s, cmd heading: 17.835584 deg, new cmd heading: 18.826676 deg. 2025-01-09T00:01:37.363Z,1736380897.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328587 target range: 104.400002 and range: 104.40 m. 2025-01-09T00:01:37.577Z,1736380897.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:37.580Z,1736380897.580 [DAT](INFO): DAT read: Rx Time:00:01:36.2460 2025-01-09T00:01:37.582Z,1736380897.582 [DAT](INFO): Rx dataTimestamp_ set to:1736380897.580605 2025-01-09T00:01:37.584Z,1736380897.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262408 2025-01-09T00:01:37.746Z,1736380897.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:37.775Z,1736380897.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.40 m. 2025-01-09T00:01:37.782Z,1736380897.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.400002 m, nav range: 40.788261 m, bearing: 97.493365 deg, approach rate: -0.029044 m/s, LOS rate: 0.773292 deg/s, cmd heading: 18.826675 deg, new cmd heading: 19.790959 deg. 2025-01-09T00:01:37.788Z,1736380897.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.345417 target range: 104.400002 and range: 104.40 m. 2025-01-09T00:01:37.828Z,1736380897.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:37.829Z,1736380897.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507479 2025-01-09T00:01:38.082Z,1736380898.082 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:38.090Z,1736380898.090 [DAT](INFO): DAT read: 00:01:36.2460 LVL= 14448, 28465, 19186, 29283, AGC= 56, IDX= 435, 0.19, 1.278,-0.350,-0.565,-0.030, PHS= 1.396,-0.273,-0.538, RAW= 82.7, -6.5, CAL= 91.8, -14.7, ROT= 58.2, 14.7 2025-01-09T00:01:38.091Z,1736380898.091 [DAT](INFO): got valid direction response: 00:01:36.2460 LVL= 14448, 28465, 19186, 29283, AGC= 56, IDX= 435, 0.19, 1.278,-0.350,-0.565,-0.030, PHS= 1.396,-0.273,-0.538, RAW= 82.7, -6.5, CAL= 91.8, -14.7, ROT= 58.2, 14.7 2025-01-09T00:01:38.092Z,1736380898.092 [DAT](INFO): DAT read: Bearing 58.2, 14.7 (Local) 2025-01-09T00:01:38.092Z,1736380898.092 [DAT](INFO): Local bearing/azimuth received: Bearing 58.2, 14.7 (Local) 2025-01-09T00:01:38.094Z,1736380898.094 [DAT](INFO): DAT read: Range 10 to 50 : 103.5 m (Round-trip 138.1 ms) speed 0.2 m/s 2025-01-09T00:01:38.094Z,1736380898.094 [DAT](INFO): DAT read: user:3588> 2025-01-09T00:01:38.095Z,1736380898.095 [DAT](INFO): DAT read: Tx time:00:01:37.3538 2025-01-09T00:01:38.096Z,1736380898.096 [DAT](INFO): Ping request sent. 2025-01-09T00:01:38.096Z,1736380898.096 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:38.096Z,1736380898.096 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:38.097Z,1736380898.097 [DAT](INFO): direction in FSK: [0.050511,0.223066,0.973494] 2025-01-09T00:01:38.097Z,1736380898.097 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:38.097Z,1736380898.097 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:38.102Z,1736380898.102 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:38.102Z,1736380898.102 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:38.169Z,1736380898.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:38.195Z,1736380898.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.500000 m, deltaT: 3.780502 s, deltaX: -0.900002 m, approachRate: -0.238064 m/s, rangeRepo size: 4 2025-01-09T00:01:38.213Z,1736380898.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.500000 m, bearing: 282.044439 deg, lat: 36.904650 deg, lon: -122.120204 deg, deltaT: 3.780502 s, deltaX: -0.900002 m, approachRate: -0.238064 m/s, posRepo size: 4 2025-01-09T00:01:38.214Z,1736380898.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-09T00:01:38.221Z,1736380898.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 40.404026 m, bearing: 91.375484 deg, approach rate: 0.000000 m/s, LOS rate: 0.773292 deg/s, cmd heading: 19.790960 deg, new cmd heading: 20.764627 deg. 2025-01-09T00:01:38.222Z,1736380898.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.362411 target range: 103.500000 and range: 103.50 m. 2025-01-09T00:01:38.333Z,1736380898.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:38.334Z,1736380898.334 [DAT](INFO): DAT read: TxSync time:00:01:37.3530 2025-01-09T00:01:38.541Z,1736380898.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:38.552Z,1736380898.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-09T00:01:38.559Z,1736380898.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 40.363750 m, bearing: 91.668943 deg, approach rate: -0.112892 m/s, LOS rate: 0.823381 deg/s, cmd heading: 20.764627 deg, new cmd heading: 21.645808 deg. 2025-01-09T00:01:38.560Z,1736380898.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.377791 target range: 103.500000 and range: 103.50 m. 2025-01-09T00:01:38.586Z,1736380898.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:38.836Z,1736380898.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:38.977Z,1736380898.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:38.985Z,1736380898.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:38.990Z,1736380898.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-09T00:01:38.993Z,1736380898.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 40.310173 m, bearing: 92.005927 deg, approach rate: -0.122138 m/s, LOS rate: 0.769222 deg/s, cmd heading: 21.645809 deg, new cmd heading: 22.657993 deg. 2025-01-09T00:01:38.994Z,1736380898.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.395457 target range: 103.500000 and range: 103.50 m. 2025-01-09T00:01:39.088Z,1736380899.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:39.089Z,1736380899.089 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:39.089Z,1736380899.089 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:39.089Z,1736380899.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:39.340Z,1736380899.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:39.341Z,1736380899.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244944 2025-01-09T00:01:39.347Z,1736380899.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:39.362Z,1736380899.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-09T00:01:39.364Z,1736380899.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 40.262119 m, bearing: 92.291036 deg, approach rate: -0.129201 m/s, LOS rate: 0.767478 deg/s, cmd heading: 22.657993 deg, new cmd heading: 23.514274 deg. 2025-01-09T00:01:39.367Z,1736380899.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.410401 target range: 103.500000 and range: 103.50 m. 2025-01-09T00:01:39.592Z,1736380899.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:39.592Z,1736380899.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496623 2025-01-09T00:01:39.782Z,1736380899.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:39.791Z,1736380899.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-09T00:01:39.794Z,1736380899.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 40.207382 m, bearing: 92.633900 deg, approach rate: -0.127514 m/s, LOS rate: 0.799810 deg/s, cmd heading: 23.514273 deg, new cmd heading: 24.544150 deg. 2025-01-09T00:01:39.795Z,1736380899.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428376 target range: 103.500000 and range: 103.50 m. 2025-01-09T00:01:39.845Z,1736380899.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:39.846Z,1736380899.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749857 2025-01-09T00:01:40.096Z,1736380900.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:40.096Z,1736380900.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000598 2025-01-09T00:01:40.197Z,1736380900.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:40.207Z,1736380900.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-09T00:01:40.210Z,1736380900.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 40.148445 m, bearing: 92.959147 deg, approach rate: -0.141648 m/s, LOS rate: 0.782833 deg/s, cmd heading: 24.544150 deg, new cmd heading: 25.521223 deg. 2025-01-09T00:01:40.211Z,1736380900.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445429 target range: 103.500000 and range: 103.50 m. 2025-01-09T00:01:40.348Z,1736380900.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:40.350Z,1736380900.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253729 2025-01-09T00:01:40.601Z,1736380900.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:40.604Z,1736380900.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507693 2025-01-09T00:01:40.629Z,1736380900.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:40.689Z,1736380900.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-09T00:01:40.696Z,1736380900.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 40.084339 m, bearing: 93.296659 deg, approach rate: -0.132887 m/s, LOS rate: 0.700752 deg/s, cmd heading: 25.521222 deg, new cmd heading: 26.535264 deg. 2025-01-09T00:01:40.697Z,1736380900.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.463128 target range: 103.500000 and range: 103.50 m. 2025-01-09T00:01:40.852Z,1736380900.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:40.853Z,1736380900.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757561 2025-01-09T00:01:41.104Z,1736380901.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:41.105Z,1736380901.105 [DAT](INFO): DAT read: Rx Time:00:01:39.8950 2025-01-09T00:01:41.105Z,1736380901.105 [DAT](INFO): Rx dataTimestamp_ set to:1736380901.104785 2025-01-09T00:01:41.106Z,1736380901.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009852 2025-01-09T00:01:41.164Z,1736380901.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:41.179Z,1736380901.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:41.181Z,1736380901.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-09T00:01:41.189Z,1736380901.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 40.005871 m, bearing: 93.726379 deg, approach rate: -0.159517 m/s, LOS rate: 0.875276 deg/s, cmd heading: 26.535264 deg, new cmd heading: 27.826725 deg. 2025-01-09T00:01:41.190Z,1736380901.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.485668 target range: 103.500000 and range: 103.50 m. 2025-01-09T00:01:41.356Z,1736380901.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:41.356Z,1736380901.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260650 2025-01-09T00:01:41.518Z,1736380901.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:41.526Z,1736380901.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.50 m. 2025-01-09T00:01:41.529Z,1736380901.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.500000 m, nav range: 39.953384 m, bearing: 94.001853 deg, approach rate: -0.152145 m/s, LOS rate: 0.799575 deg/s, cmd heading: 27.826725 deg, new cmd heading: 28.654170 deg. 2025-01-09T00:01:41.530Z,1736380901.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500110 target range: 103.500000 and range: 103.50 m. 2025-01-09T00:01:41.609Z,1736380901.609 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:41.641Z,1736380901.641 [DAT](INFO): DAT read: 00:01:39.8950 LVL= 24800, 32753, 32754, 32755, AGC= 62, IDX= 424, 0.31, 2.506, 1.009, 1.140, 1.605, PHS= 0.988,-0.549,-0.469, RAW= 92.7, 0.4, CAL= 100.8, -3.5, ROT= 49.2, 3.5 2025-01-09T00:01:41.656Z,1736380901.656 [DAT](INFO): got valid direction response: 00:01:39.8950 LVL= 24800, 32753, 32754, 32755, AGC= 62, IDX= 424, 0.31, 2.506, 1.009, 1.140, 1.605, PHS= 0.988,-0.549,-0.469, RAW= 92.7, 0.4, CAL= 100.8, -3.5, ROT= 49.2, 3.5 2025-01-09T00:01:41.672Z,1736380901.672 [DAT](INFO): DAT read: Bearing 49.2, 3.5 (Local) 2025-01-09T00:01:41.673Z,1736380901.673 [DAT](INFO): Local bearing/azimuth received: Bearing 49.2, 3.5 (Local) 2025-01-09T00:01:41.719Z,1736380901.719 [DAT](INFO): DAT read: Range 10 to 50 : 102.8 m (Round-trip 137.1 ms) speed 0.0 m/s 2025-01-09T00:01:41.720Z,1736380901.720 [DAT](INFO): DAT read: user:3589> 2025-01-09T00:01:41.721Z,1736380901.721 [DAT](INFO): DAT read: Tx time:00:01:41.0038 2025-01-09T00:01:41.721Z,1736380901.721 [DAT](INFO): Ping request sent. 2025-01-09T00:01:41.721Z,1736380901.721 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:41.722Z,1736380901.722 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:41.722Z,1736380901.722 [DAT](INFO): direction in FSK: [-0.097038,0.062079,0.993343] 2025-01-09T00:01:41.723Z,1736380901.723 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:41.731Z,1736380901.731 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:41.735Z,1736380901.735 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:41.740Z,1736380901.740 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:41.860Z,1736380901.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:41.861Z,1736380901.861 [DAT](INFO): DAT read: TxSync time:00:01:41.0030 2025-01-09T00:01:41.969Z,1736380901.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:42.011Z,1736380902.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.800003 m, deltaT: 3.528069 s, deltaX: -0.699997 m, approachRate: -0.198408 m/s, rangeRepo size: 4 2025-01-09T00:01:42.017Z,1736380902.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.800003 m, bearing: 254.998716 deg, lat: 36.904650 deg, lon: -122.120428 deg, deltaT: 3.528069 s, deltaX: -0.699997 m, approachRate: -0.198408 m/s, posRepo size: 4 2025-01-09T00:01:42.018Z,1736380902.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m. 2025-01-09T00:01:42.032Z,1736380902.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.800003 m, nav range: 20.077311 m, bearing: 98.728301 deg, approach rate: 0.000000 m/s, LOS rate: 0.799575 deg/s, cmd heading: 28.654170 deg, new cmd heading: 29.814901 deg. 2025-01-09T00:01:42.033Z,1736380902.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520368 target range: 102.800003 and range: 102.80 m. 2025-01-09T00:01:42.112Z,1736380902.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:42.364Z,1736380902.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:42.385Z,1736380902.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:42.414Z,1736380902.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m. 2025-01-09T00:01:42.429Z,1736380902.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.800003 m, nav range: 20.030163 m, bearing: 99.413149 deg, approach rate: -0.116804 m/s, LOS rate: 1.700590 deg/s, cmd heading: 29.814899 deg, new cmd heading: 31.873343 deg. 2025-01-09T00:01:42.430Z,1736380902.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556295 target range: 102.800003 and range: 102.80 m. 2025-01-09T00:01:42.618Z,1736380902.618 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:42.802Z,1736380902.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:42.811Z,1736380902.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m. 2025-01-09T00:01:42.835Z,1736380902.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.800003 m, nav range: 19.986479 m, bearing: 100.126756 deg, approach rate: -0.110021 m/s, LOS rate: 1.801143 deg/s, cmd heading: 31.873344 deg, new cmd heading: 34.017790 deg. 2025-01-09T00:01:42.836Z,1736380902.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593722 target range: 102.800003 and range: 102.80 m. 2025-01-09T00:01:42.868Z,1736380902.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:43.121Z,1736380903.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:43.204Z,1736380903.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:43.217Z,1736380903.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:43.240Z,1736380903.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m. 2025-01-09T00:01:43.243Z,1736380903.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.800003 m, nav range: 19.947376 m, bearing: 100.816424 deg, approach rate: -0.095772 m/s, LOS rate: 1.692443 deg/s, cmd heading: 34.017791 deg, new cmd heading: 36.089895 deg. 2025-01-09T00:01:43.244Z,1736380903.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.629888 target range: 102.800003 and range: 102.80 m. 2025-01-09T00:01:43.372Z,1736380903.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:43.372Z,1736380903.372 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:43.372Z,1736380903.372 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:43.373Z,1736380903.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:43.588Z,1736380903.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:43.597Z,1736380903.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m. 2025-01-09T00:01:43.601Z,1736380903.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.800003 m, nav range: 19.904619 m, bearing: 101.474012 deg, approach rate: -0.113115 m/s, LOS rate: 1.743366 deg/s, cmd heading: 36.089897 deg, new cmd heading: 38.066073 deg. 2025-01-09T00:01:43.602Z,1736380903.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664378 target range: 102.800003 and range: 102.80 m. 2025-01-09T00:01:43.624Z,1736380903.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:43.624Z,1736380903.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.903180 2025-01-09T00:01:43.876Z,1736380903.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:43.876Z,1736380903.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.155049 2025-01-09T00:01:44.028Z,1736380904.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:44.051Z,1736380904.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m. 2025-01-09T00:01:44.054Z,1736380904.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.800003 m, nav range: 19.859795 m, bearing: 102.224277 deg, approach rate: -0.099675 m/s, LOS rate: 1.672051 deg/s, cmd heading: 38.066072 deg, new cmd heading: 40.320716 deg. 2025-01-09T00:01:44.055Z,1736380904.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703729 target range: 102.800003 and range: 102.80 m. 2025-01-09T00:01:44.129Z,1736380904.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:44.132Z,1736380904.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.409494 2025-01-09T00:01:44.380Z,1736380904.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:44.380Z,1736380904.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.659107 2025-01-09T00:01:44.433Z,1736380904.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:44.465Z,1736380904.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m. 2025-01-09T00:01:44.473Z,1736380904.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.800003 m, nav range: 19.813837 m, bearing: 102.913249 deg, approach rate: -0.109870 m/s, LOS rate: 1.650894 deg/s, cmd heading: 40.320717 deg, new cmd heading: 42.391477 deg. 2025-01-09T00:01:44.474Z,1736380904.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739871 target range: 102.800003 and range: 102.80 m. 2025-01-09T00:01:44.633Z,1736380904.633 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:44.633Z,1736380904.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.911997 2025-01-09T00:01:44.846Z,1736380904.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:44.856Z,1736380904.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m. 2025-01-09T00:01:44.858Z,1736380904.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.800003 m, nav range: 19.773308 m, bearing: 103.609314 deg, approach rate: -0.103862 m/s, LOS rate: 1.787383 deg/s, cmd heading: 42.391477 deg, new cmd heading: 44.482971 deg. 2025-01-09T00:01:44.860Z,1736380904.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.776374 target range: 102.800003 and range: 102.80 m. 2025-01-09T00:01:44.884Z,1736380904.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:44.885Z,1736380904.885 [DAT](INFO): DAT read: Rx Time:00:01:43.5433 2025-01-09T00:01:44.885Z,1736380904.885 [DAT](INFO): Rx dataTimestamp_ set to:1736380904.884817 2025-01-09T00:01:44.886Z,1736380904.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.164322 2025-01-09T00:01:45.136Z,1736380905.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:45.136Z,1736380905.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.415011 2025-01-09T00:01:45.263Z,1736380905.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:45.270Z,1736380905.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:45.274Z,1736380905.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.80 m. 2025-01-09T00:01:45.277Z,1736380905.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.800003 m, nav range: 19.726501 m, bearing: 104.309166 deg, approach rate: -0.111828 m/s, LOS rate: 1.675987 deg/s, cmd heading: 44.482970 deg, new cmd heading: 46.586507 deg. 2025-01-09T00:01:45.278Z,1736380905.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813088 target range: 102.800003 and range: 102.80 m. 2025-01-09T00:01:45.388Z,1736380905.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:45.394Z,1736380905.394 [DAT](INFO): DAT read: 00:01:43.5433 LVL= 17616, 31329, 25682, 32755, AGC= 63, IDX= 424,-0.34, 1.598,-0.045, 0.386, 0.816, PHS= 0.870,-0.813,-0.432, RAW= 102.5, 5.0, CAL= 112.8, 3.0, ROT= 37.2, -3.0 2025-01-09T00:01:45.396Z,1736380905.396 [DAT](INFO): got valid direction response: 00:01:43.5433 LVL= 17616, 31329, 25682, 32755, AGC= 63, IDX= 424,-0.34, 1.598,-0.045, 0.386, 0.816, PHS= 0.870,-0.813,-0.432, RAW= 102.5, 5.0, CAL= 112.8, 3.0, ROT= 37.2, -3.0 2025-01-09T00:01:45.397Z,1736380905.397 [DAT](INFO): DAT read: Bearing 37.2, -3.0 (Local) 2025-01-09T00:01:45.397Z,1736380905.397 [DAT](INFO): Local bearing/azimuth received: Bearing 37.2, -3.0 (Local) 2025-01-09T00:01:45.400Z,1736380905.400 [DAT](INFO): DAT read: Range 10 to 50 : 101.5 m (Round-trip 135.4 ms) speed 0.4 m/s 2025-01-09T00:01:45.401Z,1736380905.401 [DAT](INFO): DAT read: user:3590> 2025-01-09T00:01:45.402Z,1736380905.402 [DAT](INFO): DAT read: Tx time:00:01:44.6538 2025-01-09T00:01:45.402Z,1736380905.402 [DAT](INFO): Ping request sent. 2025-01-09T00:01:45.402Z,1736380905.402 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:45.402Z,1736380905.402 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:45.404Z,1736380905.404 [DAT](INFO): direction in FSK: [-0.197701,-0.105050,0.974617] 2025-01-09T00:01:45.404Z,1736380905.404 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:45.404Z,1736380905.404 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:45.408Z,1736380905.408 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:45.409Z,1736380905.409 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:45.621Z,1736380905.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:45.640Z,1736380905.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:45.641Z,1736380905.641 [DAT](INFO): DAT read: TxSync time:00:01:44.6530 2025-01-09T00:01:45.655Z,1736380905.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 101.500000 m, deltaT: 3.777183 s, deltaX: -1.300003 m, approachRate: -0.344173 m/s, rangeRepo size: 4 2025-01-09T00:01:45.679Z,1736380905.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.500000 m, bearing: 272.233075 deg, lat: 36.904665 deg, lon: -122.120706 deg, deltaT: 3.777183 s, deltaX: -1.300003 m, approachRate: -0.344173 m/s, posRepo size: 4 2025-01-09T00:01:45.681Z,1736380905.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.50 m. 2025-01-09T00:01:45.689Z,1736380905.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.500000 m, nav range: 6.680875 m, bearing: 239.554946 deg, approach rate: 0.000000 m/s, LOS rate: 1.675987 deg/s, cmd heading: 46.586507 deg, new cmd heading: 48.463292 deg. 2025-01-09T00:01:45.696Z,1736380905.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.845844 target range: 101.500000 and range: 101.50 m. 2025-01-09T00:01:45.892Z,1736380905.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:46.077Z,1736380906.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:46.085Z,1736380906.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.50 m. 2025-01-09T00:01:46.088Z,1736380906.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.500000 m, nav range: 6.903725 m, bearing: 238.410038 deg, approach rate: 0.509115 m/s, LOS rate: -2.531018 deg/s, cmd heading: 48.463293 deg, new cmd heading: 45.143382 deg. 2025-01-09T00:01:46.089Z,1736380906.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787901 target range: 101.500000 and range: 101.50 m. 2025-01-09T00:01:46.145Z,1736380906.145 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:46.396Z,1736380906.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:46.425Z,1736380906.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:46.434Z,1736380906.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.50 m. 2025-01-09T00:01:46.457Z,1736380906.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.500000 m, nav range: 7.077757 m, bearing: 237.615613 deg, approach rate: 0.498431 m/s, LOS rate: -2.219229 deg/s, cmd heading: 45.143384 deg, new cmd heading: 42.820060 deg. 2025-01-09T00:01:46.458Z,1736380906.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747351 target range: 101.500000 and range: 101.50 m. 2025-01-09T00:01:46.648Z,1736380906.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:46.842Z,1736380906.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:46.852Z,1736380906.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.50 m. 2025-01-09T00:01:46.854Z,1736380906.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.500000 m, nav range: 7.286486 m, bearing: 236.831874 deg, approach rate: 0.500509 m/s, LOS rate: -1.825428 deg/s, cmd heading: 42.820061 deg, new cmd heading: 40.537478 deg. 2025-01-09T00:01:46.856Z,1736380906.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707512 target range: 101.500000 and range: 101.50 m. 2025-01-09T00:01:46.900Z,1736380906.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:47.152Z,1736380907.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:47.232Z,1736380907.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:47.241Z,1736380907.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.50 m. 2025-01-09T00:01:47.243Z,1736380907.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.500000 m, nav range: 7.484478 m, bearing: 236.174747 deg, approach rate: 0.508468 m/s, LOS rate: -1.642910 deg/s, cmd heading: 40.537477 deg, new cmd heading: 38.619005 deg. 2025-01-09T00:01:47.244Z,1736380907.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.674029 target range: 101.500000 and range: 101.50 m. 2025-01-09T00:01:47.404Z,1736380907.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:47.628Z,1736380907.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:47.636Z,1736380907.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:47.638Z,1736380907.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.50 m. 2025-01-09T00:01:47.641Z,1736380907.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.500000 m, nav range: 7.689221 m, bearing: 235.579431 deg, approach rate: 0.515471 m/s, LOS rate: -1.458859 deg/s, cmd heading: 38.619006 deg, new cmd heading: 36.881177 deg. 2025-01-09T00:01:47.642Z,1736380907.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643698 target range: 101.500000 and range: 101.50 m. 2025-01-09T00:01:47.656Z,1736380907.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:47.657Z,1736380907.657 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:47.657Z,1736380907.657 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:47.657Z,1736380907.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:47.908Z,1736380907.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:47.908Z,1736380907.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506415 2025-01-09T00:01:48.061Z,1736380908.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:48.069Z,1736380908.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.50 m. 2025-01-09T00:01:48.072Z,1736380908.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.500000 m, nav range: 7.917604 m, bearing: 235.090261 deg, approach rate: 0.529882 m/s, LOS rate: -1.102194 deg/s, cmd heading: 36.881177 deg, new cmd heading: 35.456308 deg. 2025-01-09T00:01:48.073Z,1736380908.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.618829 target range: 101.500000 and range: 101.50 m. 2025-01-09T00:01:48.161Z,1736380908.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:48.163Z,1736380908.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760947 2025-01-09T00:01:48.412Z,1736380908.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:48.413Z,1736380908.413 [DAT](INFO): DAT read: Rx Time:00:01:47.1913 2025-01-09T00:01:48.413Z,1736380908.413 [DAT](INFO): Rx dataTimestamp_ set to:1736380908.412692 2025-01-09T00:01:48.413Z,1736380908.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011509 2025-01-09T00:01:48.466Z,1736380908.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:48.490Z,1736380908.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.50 m. 2025-01-09T00:01:48.497Z,1736380908.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.500000 m, nav range: 8.133623 m, bearing: 234.696796 deg, approach rate: 0.513017 m/s, LOS rate: -0.909605 deg/s, cmd heading: 35.456308 deg, new cmd heading: 34.307426 deg. 2025-01-09T00:01:48.498Z,1736380908.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598778 target range: 101.500000 and range: 101.50 m. 2025-01-09T00:01:48.664Z,1736380908.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:48.665Z,1736380908.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263260 2025-01-09T00:01:48.912Z,1736380908.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:48.917Z,1736380908.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:48.924Z,1736380908.924 [DAT](INFO): DAT read: 00:01:47.1913 LVL= 22928, 32753, 31346, 32755, AGC= 62, IDX= 416, 0.07, 2.481, 0.960, 1.705, 1.958, PHS= 0.610,-0.952,-0.256, RAW= 116.4, 8.9, CAL= 125.4, 5.4, ROT= 24.6, -5.4 2025-01-09T00:01:48.925Z,1736380908.925 [DAT](INFO): got valid direction response: 00:01:47.1913 LVL= 22928, 32753, 31346, 32755, AGC= 62, IDX= 416, 0.07, 2.481, 0.960, 1.705, 1.958, PHS= 0.610,-0.952,-0.256, RAW= 116.4, 8.9, CAL= 125.4, 5.4, ROT= 24.6, -5.4 2025-01-09T00:01:48.926Z,1736380908.926 [DAT](INFO): DAT read: Bearing 24.6, -5.4 (Local) 2025-01-09T00:01:48.926Z,1736380908.926 [DAT](INFO): Local bearing/azimuth received: Bearing 24.6, -5.4 (Local) 2025-01-09T00:01:48.928Z,1736380908.928 [DAT](INFO): DAT read: Range 10 to 50 : 99.9 m (Round-trip 133.3 ms) speed 0.4 m/s 2025-01-09T00:01:48.930Z,1736380908.930 [DAT](INFO): DAT read: user:3591> 2025-01-09T00:01:48.932Z,1736380908.932 [DAT](INFO): DAT read: Tx time:00:01:48.3039 2025-01-09T00:01:48.933Z,1736380908.933 [DAT](INFO): Ping request sent. 2025-01-09T00:01:48.934Z,1736380908.934 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:48.934Z,1736380908.934 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:48.958Z,1736380908.958 [DAT](INFO): direction in FSK: [-0.286171,-0.337472,0.896782] 2025-01-09T00:01:48.958Z,1736380908.958 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:48.959Z,1736380908.959 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:48.970Z,1736380908.970 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:48.970Z,1736380908.970 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:48.985Z,1736380908.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.50 m. 2025-01-09T00:01:48.995Z,1736380908.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.500000 m, nav range: 8.371002 m, bearing: 234.402624 deg, approach rate: 0.497212 m/s, LOS rate: -0.598695 deg/s, cmd heading: 34.307425 deg, new cmd heading: 33.450003 deg. 2025-01-09T00:01:48.996Z,1736380908.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583813 target range: 101.500000 and range: 101.50 m. 2025-01-09T00:01:49.168Z,1736380909.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:49.169Z,1736380909.169 [DAT](INFO): DAT read: TxSync time:00:01:48.3031 2025-01-09T00:01:49.306Z,1736380909.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:49.337Z,1736380909.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.529330 s, deltaX: -1.599998 m, approachRate: -0.453343 m/s, rangeRepo size: 4 2025-01-09T00:01:49.339Z,1736380909.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.900002 m, bearing: 287.571104 deg, lat: 36.904667 deg, lon: -122.120914 deg, deltaT: 3.529330 s, deltaX: -1.599998 m, approachRate: -0.453343 m/s, posRepo size: 4 2025-01-09T00:01:49.344Z,1736380909.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.90 m. 2025-01-09T00:01:49.346Z,1736380909.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.900002 m, nav range: 25.912004 m, bearing: 259.299033 deg, approach rate: 0.000000 m/s, LOS rate: -0.598695 deg/s, cmd heading: 33.450005 deg, new cmd heading: 32.788132 deg. 2025-01-09T00:01:49.351Z,1736380909.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572261 target range: 99.900002 and range: 99.90 m. 2025-01-09T00:01:49.421Z,1736380909.421 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:49.672Z,1736380909.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:49.712Z,1736380909.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:49.720Z,1736380909.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:49.722Z,1736380909.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.90 m. 2025-01-09T00:01:49.725Z,1736380909.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.900002 m, nav range: 26.097946 m, bearing: 259.040594 deg, approach rate: 0.481320 m/s, LOS rate: -0.664215 deg/s, cmd heading: 32.788132 deg, new cmd heading: 32.018387 deg. 2025-01-09T00:01:49.726Z,1736380909.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558826 target range: 99.900002 and range: 99.90 m. 2025-01-09T00:01:49.924Z,1736380909.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:49.925Z,1736380909.925 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:49.925Z,1736380909.925 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:49.925Z,1736380909.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:50.153Z,1736380910.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:50.161Z,1736380910.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.90 m. 2025-01-09T00:01:50.164Z,1736380910.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.900002 m, nav range: 26.300552 m, bearing: 258.805006 deg, approach rate: 0.461600 m/s, LOS rate: -0.532606 deg/s, cmd heading: 32.018387 deg, new cmd heading: 31.317104 deg. 2025-01-09T00:01:50.165Z,1736380910.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546587 target range: 99.900002 and range: 99.90 m. 2025-01-09T00:01:50.176Z,1736380910.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:50.177Z,1736380910.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243272 2025-01-09T00:01:50.428Z,1736380910.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:50.428Z,1736380910.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495034 2025-01-09T00:01:50.521Z,1736380910.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:50.540Z,1736380910.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.90 m. 2025-01-09T00:01:50.542Z,1736380910.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.900002 m, nav range: 26.471497 m, bearing: 258.616329 deg, approach rate: 0.453974 m/s, LOS rate: -0.497831 deg/s, cmd heading: 31.317104 deg, new cmd heading: 30.754746 deg. 2025-01-09T00:01:50.544Z,1736380910.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536772 target range: 99.900002 and range: 99.90 m. 2025-01-09T00:01:50.680Z,1736380910.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:50.681Z,1736380910.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747959 2025-01-09T00:01:50.933Z,1736380910.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:50.933Z,1736380910.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000040 2025-01-09T00:01:50.934Z,1736380910.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:50.960Z,1736380910.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.90 m. 2025-01-09T00:01:50.962Z,1736380910.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.900002 m, nav range: 26.666409 m, bearing: 258.405880 deg, approach rate: 0.461891 m/s, LOS rate: -0.495063 deg/s, cmd heading: 30.754747 deg, new cmd heading: 30.128042 deg. 2025-01-09T00:01:50.968Z,1736380910.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525834 target range: 99.900002 and range: 99.90 m. 2025-01-09T00:01:51.184Z,1736380911.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:51.186Z,1736380911.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252537 2025-01-09T00:01:51.324Z,1736380911.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:51.333Z,1736380911.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.90 m. 2025-01-09T00:01:51.336Z,1736380911.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.900002 m, nav range: 26.851374 m, bearing: 258.212631 deg, approach rate: 0.494976 m/s, LOS rate: -0.513581 deg/s, cmd heading: 30.128043 deg, new cmd heading: 29.552310 deg. 2025-01-09T00:01:51.337Z,1736380911.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515785 target range: 99.900002 and range: 99.90 m. 2025-01-09T00:01:51.439Z,1736380911.439 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:51.439Z,1736380911.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506048 2025-01-09T00:01:51.692Z,1736380911.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:51.692Z,1736380911.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759099 2025-01-09T00:01:51.731Z,1736380911.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:51.739Z,1736380911.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:51.741Z,1736380911.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.90 m. 2025-01-09T00:01:51.744Z,1736380911.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.900002 m, nav range: 27.044634 m, bearing: 258.014192 deg, approach rate: 0.473894 m/s, LOS rate: -0.483116 deg/s, cmd heading: 29.552309 deg, new cmd heading: 28.961268 deg. 2025-01-09T00:01:51.745Z,1736380911.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.505470 target range: 99.900002 and range: 99.90 m. 2025-01-09T00:01:51.944Z,1736380911.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:51.944Z,1736380911.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011053 2025-01-09T00:01:52.142Z,1736380912.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:52.175Z,1736380912.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.90 m. 2025-01-09T00:01:52.178Z,1736380912.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.900002 m, nav range: 27.244514 m, bearing: 257.820140 deg, approach rate: 0.465722 m/s, LOS rate: -0.448823 deg/s, cmd heading: 28.961269 deg, new cmd heading: 28.383406 deg. 2025-01-09T00:01:52.179Z,1736380912.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495384 target range: 99.900002 and range: 99.90 m. 2025-01-09T00:01:52.196Z,1736380912.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:52.197Z,1736380912.197 [DAT](INFO): DAT read: Rx Time:00:01:50.8390 2025-01-09T00:01:52.198Z,1736380912.198 [DAT](INFO): Rx dataTimestamp_ set to:1736380912.197549 2025-01-09T00:01:52.198Z,1736380912.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265058 2025-01-09T00:01:52.448Z,1736380912.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:52.449Z,1736380912.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515830 2025-01-09T00:01:52.586Z,1736380912.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:52.595Z,1736380912.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.90 m. 2025-01-09T00:01:52.597Z,1736380912.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.900002 m, nav range: 27.460094 m, bearing: 257.609590 deg, approach rate: 0.508219 m/s, LOS rate: -0.492462 deg/s, cmd heading: 28.383406 deg, new cmd heading: 27.756742 deg. 2025-01-09T00:01:52.600Z,1736380912.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484447 target range: 99.900002 and range: 99.90 m. 2025-01-09T00:01:52.700Z,1736380912.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:52.709Z,1736380912.709 [DAT](INFO): DAT read: 00:01:50.8390 LVL= 23536, 32753, 21730, 32755, AGC= 65, IDX= 426, 0.38, 2.236, 0.767, 1.437, 1.669, PHS= 0.655,-0.855,-0.235, RAW= 114.1, 6.7, CAL= 124.0, 3.4, ROT= 26.0, -3.4 2025-01-09T00:01:52.710Z,1736380912.710 [DAT](INFO): got valid direction response: 00:01:50.8390 LVL= 23536, 32753, 21730, 32755, AGC= 65, IDX= 426, 0.38, 2.236, 0.767, 1.437, 1.669, PHS= 0.655,-0.855,-0.235, RAW= 114.1, 6.7, CAL= 124.0, 3.4, ROT= 26.0, -3.4 2025-01-09T00:01:52.712Z,1736380912.712 [DAT](INFO): DAT read: Bearing 26.0, -3.4 (Local) 2025-01-09T00:01:52.713Z,1736380912.713 [DAT](INFO): Local bearing/azimuth received: Bearing 26.0, -3.4 (Local) 2025-01-09T00:01:52.716Z,1736380912.716 [DAT](INFO): DAT read: Range 10 to 50 : 98.2 m (Round-trip 131.0 ms) speed 0.7 m/s 2025-01-09T00:01:52.717Z,1736380912.717 [DAT](INFO): DAT read: user:3592> 2025-01-09T00:01:52.717Z,1736380912.717 [DAT](INFO): DAT read: Tx time:00:01:51.9539 2025-01-09T00:01:52.718Z,1736380912.718 [DAT](INFO): Ping request sent. 2025-01-09T00:01:52.718Z,1736380912.718 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:52.718Z,1736380912.718 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:52.719Z,1736380912.719 [DAT](INFO): direction in FSK: [-0.243358,-0.303789,0.921135] 2025-01-09T00:01:52.736Z,1736380912.736 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:52.736Z,1736380912.736 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:52.739Z,1736380912.739 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:52.740Z,1736380912.740 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:52.952Z,1736380912.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:52.952Z,1736380912.952 [DAT](INFO): DAT read: TxSync time:00:01:51.9531 2025-01-09T00:01:52.965Z,1736380912.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:53.001Z,1736380913.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 98.199997 m, deltaT: 3.782941 s, deltaX: -1.700005 m, approachRate: -0.449387 m/s, rangeRepo size: 4 2025-01-09T00:01:53.003Z,1736380913.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 98.199997 m, bearing: 291.014590 deg, lat: 36.904710 deg, lon: -122.121058 deg, deltaT: 3.782941 s, deltaX: -1.700005 m, approachRate: -0.449387 m/s, posRepo size: 4 2025-01-09T00:01:53.007Z,1736380913.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-09T00:01:53.010Z,1736380913.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 39.786060 m, bearing: 268.243744 deg, approach rate: 0.000000 m/s, LOS rate: -0.492462 deg/s, cmd heading: 27.756743 deg, new cmd heading: 27.164477 deg. 2025-01-09T00:01:53.016Z,1736380913.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.474110 target range: 98.199997 and range: 98.20 m. 2025-01-09T00:01:53.204Z,1736380913.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:53.330Z,1736380913.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:53.355Z,1736380913.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-09T00:01:53.358Z,1736380913.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 39.941219 m, bearing: 268.059520 deg, approach rate: 0.436155 m/s, LOS rate: -0.515846 deg/s, cmd heading: 27.164477 deg, new cmd heading: 26.613968 deg. 2025-01-09T00:01:53.363Z,1736380913.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464501 target range: 98.199997 and range: 98.20 m. 2025-01-09T00:01:53.457Z,1736380913.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:53.520Z,1736380913.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:01:53.708Z,1736380913.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:53.747Z,1736380913.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:53.755Z,1736380913.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:53.757Z,1736380913.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-09T00:01:53.760Z,1736380913.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 40.116447 m, bearing: 267.847253 deg, approach rate: 0.431580 m/s, LOS rate: -0.520519 deg/s, cmd heading: 26.613969 deg, new cmd heading: 25.979978 deg. 2025-01-09T00:01:53.761Z,1736380913.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453436 target range: 98.199997 and range: 98.20 m. 2025-01-09T00:01:53.960Z,1736380913.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:53.960Z,1736380913.960 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:53.961Z,1736380913.961 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:53.961Z,1736380913.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:54.173Z,1736380914.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:54.181Z,1736380914.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-09T00:01:54.190Z,1736380914.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 40.288151 m, bearing: 267.623880 deg, approach rate: 0.405029 m/s, LOS rate: -0.524664 deg/s, cmd heading: 25.979979 deg, new cmd heading: 25.312747 deg. 2025-01-09T00:01:54.192Z,1736380914.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441791 target range: 98.199997 and range: 98.20 m. 2025-01-09T00:01:54.212Z,1736380914.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:54.212Z,1736380914.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494619 2025-01-09T00:01:54.464Z,1736380914.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:54.465Z,1736380914.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746852 2025-01-09T00:01:54.523Z,1736380914.523 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:01:54.547Z,1736380914.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:54.556Z,1736380914.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-09T00:01:54.559Z,1736380914.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 40.432388 m, bearing: 267.419473 deg, approach rate: 0.384453 m/s, LOS rate: -0.542885 deg/s, cmd heading: 25.312748 deg, new cmd heading: 24.701739 deg. 2025-01-09T00:01:54.560Z,1736380914.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431127 target range: 98.199997 and range: 98.20 m. 2025-01-09T00:01:54.717Z,1736380914.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:54.718Z,1736380914.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999795 2025-01-09T00:01:54.968Z,1736380914.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:54.969Z,1736380914.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250829 2025-01-09T00:01:54.975Z,1736380914.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:54.984Z,1736380914.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-09T00:01:54.988Z,1736380914.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 40.588093 m, bearing: 267.169622 deg, approach rate: 0.363685 m/s, LOS rate: -0.581348 deg/s, cmd heading: 24.701739 deg, new cmd heading: 23.955104 deg. 2025-01-09T00:01:54.989Z,1736380914.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418095 target range: 98.199997 and range: 98.20 m. 2025-01-09T00:01:55.221Z,1736380915.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:55.222Z,1736380915.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503905 2025-01-09T00:01:55.368Z,1736380915.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:55.377Z,1736380915.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-09T00:01:55.379Z,1736380915.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 40.731956 m, bearing: 266.941551 deg, approach rate: 0.366917 m/s, LOS rate: -0.579627 deg/s, cmd heading: 23.955104 deg, new cmd heading: 23.273342 deg. 2025-01-09T00:01:55.380Z,1736380915.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.406196 target range: 98.199997 and range: 98.20 m. 2025-01-09T00:01:55.473Z,1736380915.473 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:55.474Z,1736380915.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755925 2025-01-09T00:01:55.725Z,1736380915.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:55.726Z,1736380915.726 [DAT](INFO): DAT read: Rx Time:00:01:54.4870 2025-01-09T00:01:55.727Z,1736380915.727 [DAT](INFO): Rx dataTimestamp_ set to:1736380915.726411 2025-01-09T00:01:55.728Z,1736380915.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010017 2025-01-09T00:01:55.790Z,1736380915.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:55.800Z,1736380915.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:55.802Z,1736380915.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.20 m. 2025-01-09T00:01:55.805Z,1736380915.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.199997 m, nav range: 40.886986 m, bearing: 266.698691 deg, approach rate: 0.364708 m/s, LOS rate: -0.569162 deg/s, cmd heading: 23.273342 deg, new cmd heading: 22.547566 deg. 2025-01-09T00:01:55.806Z,1736380915.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393529 target range: 98.199997 and range: 98.20 m. 2025-01-09T00:01:55.976Z,1736380915.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:55.977Z,1736380915.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259026 2025-01-09T00:01:56.229Z,1736380916.229 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:56.246Z,1736380916.246 [DAT](INFO): DAT read: 00:01:54.4870 LVL= 19152, 25873, 28194, 32755, AGC= 67, IDX= 421, 0.20, 0.453,-1.699,-0.904,-0.602, PHS= 1.143,-1.050,-0.305, RAW= 109.5, 2.2, CAL= 120.4, -1.4, ROT= 29.6, 1.4 2025-01-09T00:01:56.248Z,1736380916.248 [DAT](INFO): got valid direction response: 00:01:54.4870 LVL= 19152, 25873, 28194, 32755, AGC= 67, IDX= 421, 0.20, 0.453,-1.699,-0.904,-0.602, PHS= 1.143,-1.050,-0.305, RAW= 109.5, 2.2, CAL= 120.4, -1.4, ROT= 29.6, 1.4 2025-01-09T00:01:56.249Z,1736380916.249 [DAT](INFO): DAT read: Bearing 29.6, 1.4 (Local) 2025-01-09T00:01:56.250Z,1736380916.250 [DAT](INFO): Local bearing/azimuth received: Bearing 29.6, 1.4 (Local) 2025-01-09T00:01:56.251Z,1736380916.251 [DAT](INFO): DAT read: Range 10 to 50 : 96.7 m (Round-trip 129.0 ms) speed 0.4 m/s 2025-01-09T00:01:56.252Z,1736380916.252 [DAT](INFO): DAT read: user:3593> 2025-01-09T00:01:56.253Z,1736380916.253 [DAT](INFO): DAT read: Tx time:00:01:55.6039 2025-01-09T00:01:56.254Z,1736380916.254 [DAT](INFO): Ping request sent. 2025-01-09T00:01:56.254Z,1736380916.254 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:01:56.254Z,1736380916.254 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:01:56.257Z,1736380916.257 [DAT](INFO): direction in FSK: [-0.154295,-0.232275,0.960334] 2025-01-09T00:01:56.258Z,1736380916.258 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:56.258Z,1736380916.258 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:56.309Z,1736380916.309 [DAT](INFO): publishing transmit ping time 2025-01-09T00:01:56.310Z,1736380916.310 [DAT](INFO): publishing direction and range info 2025-01-09T00:01:56.445Z,1736380916.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:56.470Z,1736380916.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 96.699997 m, deltaT: 3.528770 s, deltaX: -1.500000 m, approachRate: -0.425077 m/s, rangeRepo size: 4 2025-01-09T00:01:56.477Z,1736380916.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 96.699997 m, bearing: 295.524489 deg, lat: 36.904813 deg, lon: -122.121058 deg, deltaT: 3.528770 s, deltaX: -1.500000 m, approachRate: -0.425077 m/s, posRepo size: 4 2025-01-09T00:01:56.477Z,1736380916.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.70 m. 2025-01-09T00:01:56.480Z,1736380916.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:56.481Z,1736380916.481 [DAT](INFO): DAT read: TxSync time:00:01:55.6031 2025-01-09T00:01:56.488Z,1736380916.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.699997 m, nav range: 41.940132 m, bearing: 282.085631 deg, approach rate: 0.000000 m/s, LOS rate: -0.569162 deg/s, cmd heading: 22.547566 deg, new cmd heading: 21.408076 deg. 2025-01-09T00:01:56.489Z,1736380916.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373641 target range: 96.699997 and range: 96.70 m. 2025-01-09T00:01:56.733Z,1736380916.733 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:56.784Z,1736380916.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:56.793Z,1736380916.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.70 m. 2025-01-09T00:01:56.797Z,1736380916.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.699997 m, nav range: 41.997261 m, bearing: 281.832703 deg, approach rate: 0.176396 m/s, LOS rate: -0.779898 deg/s, cmd heading: 21.408075 deg, new cmd heading: 20.650369 deg. 2025-01-09T00:01:56.816Z,1736380916.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.360417 target range: 96.699997 and range: 96.70 m. 2025-01-09T00:01:56.984Z,1736380916.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:57.205Z,1736380917.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:57.214Z,1736380917.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.70 m. 2025-01-09T00:01:57.237Z,1736380917.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:57.235Z,1736380917.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.699997 m, nav range: 42.062984 m, bearing: 281.513487 deg, approach rate: 0.156156 m/s, LOS rate: -0.757255 deg/s, cmd heading: 20.650370 deg, new cmd heading: 19.694314 deg. 2025-01-09T00:01:57.242Z,1736380917.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.343731 target range: 96.699997 and range: 96.70 m. 2025-01-09T00:01:57.488Z,1736380917.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:57.591Z,1736380917.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:57.620Z,1736380917.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.70 m. 2025-01-09T00:01:57.623Z,1736380917.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.699997 m, nav range: 42.119144 m, bearing: 281.220727 deg, approach rate: 0.139945 m/s, LOS rate: -0.728553 deg/s, cmd heading: 19.694314 deg, new cmd heading: 18.817275 deg. 2025-01-09T00:01:57.624Z,1736380917.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328423 target range: 96.699997 and range: 96.70 m. 2025-01-09T00:01:57.740Z,1736380917.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:57.992Z,1736380917.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:58.032Z,1736380918.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:58.039Z,1736380918.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:01:58.041Z,1736380918.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.70 m. 2025-01-09T00:01:58.044Z,1736380918.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.699997 m, nav range: 42.184124 m, bearing: 280.895354 deg, approach rate: 0.152413 m/s, LOS rate: -0.761999 deg/s, cmd heading: 18.817275 deg, new cmd heading: 17.842760 deg. 2025-01-09T00:01:58.045Z,1736380918.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.311415 target range: 96.699997 and range: 96.70 m. 2025-01-09T00:01:58.245Z,1736380918.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:58.246Z,1736380918.246 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:01:58.246Z,1736380918.246 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:01:58.246Z,1736380918.246 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:01:58.464Z,1736380918.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:58.473Z,1736380918.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.70 m. 2025-01-09T00:01:58.475Z,1736380918.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.699997 m, nav range: 42.243679 m, bearing: 280.575444 deg, approach rate: 0.138140 m/s, LOS rate: -0.740991 deg/s, cmd heading: 17.842759 deg, new cmd heading: 16.884478 deg. 2025-01-09T00:01:58.476Z,1736380918.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.294690 target range: 96.699997 and range: 96.70 m. 2025-01-09T00:01:58.496Z,1736380918.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:58.496Z,1736380918.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242732 2025-01-09T00:01:58.748Z,1736380918.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:58.750Z,1736380918.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495592 2025-01-09T00:01:58.804Z,1736380918.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:58.834Z,1736380918.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.70 m. 2025-01-09T00:01:58.837Z,1736380918.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.699997 m, nav range: 42.286949 m, bearing: 280.323509 deg, approach rate: 0.120033 m/s, LOS rate: -0.698158 deg/s, cmd heading: 16.884479 deg, new cmd heading: 16.129493 deg. 2025-01-09T00:01:58.838Z,1736380918.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.281513 target range: 96.699997 and range: 96.70 m. 2025-01-09T00:01:59.002Z,1736380919.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:59.003Z,1736380919.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749356 2025-01-09T00:01:59.236Z,1736380919.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:59.245Z,1736380919.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.70 m. 2025-01-09T00:01:59.249Z,1736380919.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.699997 m, nav range: 42.346371 m, bearing: 280.008690 deg, approach rate: 0.144358 m/s, LOS rate: -0.763742 deg/s, cmd heading: 16.129493 deg, new cmd heading: 15.186450 deg. 2025-01-09T00:01:59.252Z,1736380919.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:59.253Z,1736380919.253 [DAT](INFO): DAT read: Rx Time:00:01:58.1346 2025-01-09T00:01:59.254Z,1736380919.254 [DAT](INFO): Rx dataTimestamp_ set to:1736380919.253267 2025-01-09T00:01:59.254Z,1736380919.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000344 2025-01-09T00:01:59.255Z,1736380919.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265054 target range: 96.699997 and range: 96.70 m. 2025-01-09T00:01:59.504Z,1736380919.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:59.504Z,1736380919.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250713 2025-01-09T00:01:59.609Z,1736380919.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:01:59.638Z,1736380919.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.70 m. 2025-01-09T00:01:59.646Z,1736380919.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.699997 m, nav range: 42.394737 m, bearing: 279.736967 deg, approach rate: 0.122838 m/s, LOS rate: -0.689311 deg/s, cmd heading: 15.186451 deg, new cmd heading: 14.372271 deg. 2025-01-09T00:01:59.652Z,1736380919.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.250843 target range: 96.699997 and range: 96.70 m. 2025-01-09T00:01:59.756Z,1736380919.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:01:59.757Z,1736380919.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503323 2025-01-09T00:02:00.008Z,1736380920.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:00.014Z,1736380920.014 [DAT](INFO): DAT read: 00:01:58.1346 LVL= 15600, 24769, 20946, 27059, AGC= 58, IDX= 412,-0.15, 1.823,-0.378,-0.063, 0.469, PHS= 1.442,-0.800,-0.535, RAW= 96.2, -1.0, CAL= 104.8, -6.2, ROT= 45.2, 6.2 2025-01-09T00:02:00.017Z,1736380920.017 [DAT](INFO): got valid direction response: 00:01:58.1346 LVL= 15600, 24769, 20946, 27059, AGC= 58, IDX= 412,-0.15, 1.823,-0.378,-0.063, 0.469, PHS= 1.442,-0.800,-0.535, RAW= 96.2, -1.0, CAL= 104.8, -6.2, ROT= 45.2, 6.2 2025-01-09T00:02:00.018Z,1736380920.018 [DAT](INFO): DAT read: Bearing 45.2, 6.2 (Local) 2025-01-09T00:02:00.019Z,1736380920.019 [DAT](INFO): Local bearing/azimuth received: Bearing 45.2, 6.2 (Local) 2025-01-09T00:02:00.025Z,1736380920.025 [DAT](INFO): DAT read: Range 10 to 50 : 94.8 m (Round-trip 126.5 ms) speed 0.4 m/s 2025-01-09T00:02:00.025Z,1736380920.025 [DAT](INFO): DAT read: user:3594> 2025-01-09T00:02:00.026Z,1736380920.026 [DAT](INFO): DAT read: Tx time:00:01:59.2540 2025-01-09T00:02:00.026Z,1736380920.026 [DAT](INFO): Ping request sent. 2025-01-09T00:02:00.026Z,1736380920.026 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:00.027Z,1736380920.027 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:02:00.028Z,1736380920.028 [DAT](INFO): direction in FSK: [-0.075081,-0.001689,0.997176] 2025-01-09T00:02:00.028Z,1736380920.028 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:00.029Z,1736380920.029 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:00.036Z,1736380920.036 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:00.036Z,1736380920.036 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:00.146Z,1736380920.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:00.190Z,1736380920.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.800003 m, deltaT: 3.778948 s, deltaX: -1.899994 m, approachRate: -0.502784 m/s, rangeRepo size: 4 2025-01-09T00:02:00.197Z,1736380920.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.800003 m, bearing: 352.305292 deg, lat: 36.904846 deg, lon: -122.121058 deg, deltaT: 3.778948 s, deltaX: -1.899994 m, approachRate: -0.502784 m/s, posRepo size: 4 2025-01-09T00:02:00.200Z,1736380920.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:00.203Z,1736380920.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.222210 m, bearing: 284.148203 deg, approach rate: 0.000000 m/s, LOS rate: -0.689311 deg/s, cmd heading: 14.372272 deg, new cmd heading: 13.234099 deg. 2025-01-09T00:02:00.204Z,1736380920.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230979 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:00.260Z,1736380920.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:00.261Z,1736380920.261 [DAT](INFO): DAT read: TxSync time:00:01:59.2532 2025-01-09T00:02:00.512Z,1736380920.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:00.526Z,1736380920.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:00.535Z,1736380920.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:00.537Z,1736380920.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:00.540Z,1736380920.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.262772 m, bearing: 283.872168 deg, approach rate: 0.116555 m/s, LOS rate: -0.792448 deg/s, cmd heading: 13.234099 deg, new cmd heading: 12.406828 deg. 2025-01-09T00:02:00.541Z,1736380920.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216540 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:00.765Z,1736380920.765 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:00.766Z,1736380920.766 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:00.766Z,1736380920.766 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:00.766Z,1736380920.766 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:00.980Z,1736380920.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:00.989Z,1736380920.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:00.992Z,1736380920.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.300488 m, bearing: 283.540117 deg, approach rate: 0.083421 m/s, LOS rate: -0.733795 deg/s, cmd heading: 12.406829 deg, new cmd heading: 11.411650 deg. 2025-01-09T00:02:00.993Z,1736380920.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.199171 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:01.016Z,1736380921.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:01.017Z,1736380921.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990439 2025-01-09T00:02:01.268Z,1736380921.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:01.268Z,1736380921.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241954 2025-01-09T00:02:01.375Z,1736380921.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:01.401Z,1736380921.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:01.408Z,1736380921.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.335350 m, bearing: 283.262692 deg, approach rate: 0.084716 m/s, LOS rate: -0.673600 deg/s, cmd heading: 11.411650 deg, new cmd heading: 10.580104 deg. 2025-01-09T00:02:01.409Z,1736380921.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.184658 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:01.520Z,1736380921.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:01.521Z,1736380921.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494247 2025-01-09T00:02:01.753Z,1736380921.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:01.767Z,1736380921.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:01.770Z,1736380921.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.369602 m, bearing: 282.998062 deg, approach rate: 0.093490 m/s, LOS rate: -0.721719 deg/s, cmd heading: 10.580104 deg, new cmd heading: 9.786897 deg. 2025-01-09T00:02:01.771Z,1736380921.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.170814 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:01.772Z,1736380921.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:01.772Z,1736380921.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746042 2025-01-09T00:02:02.024Z,1736380922.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:02.024Z,1736380922.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997949 2025-01-09T00:02:02.181Z,1736380922.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:02.190Z,1736380922.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:02.193Z,1736380922.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.400204 m, bearing: 282.713357 deg, approach rate: 0.072288 m/s, LOS rate: -0.672064 deg/s, cmd heading: 9.786897 deg, new cmd heading: 8.933449 deg. 2025-01-09T00:02:02.194Z,1736380922.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.155918 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:02.276Z,1736380922.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:02.277Z,1736380922.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250133 2025-01-09T00:02:02.528Z,1736380922.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:02.528Z,1736380922.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501989 2025-01-09T00:02:02.578Z,1736380922.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:02.586Z,1736380922.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:02.591Z,1736380922.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:02.594Z,1736380922.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.427223 m, bearing: 282.449078 deg, approach rate: 0.068015 m/s, LOS rate: -0.664842 deg/s, cmd heading: 8.933449 deg, new cmd heading: 8.141160 deg. 2025-01-09T00:02:02.595Z,1736380922.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.142090 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:02.780Z,1736380922.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:02.780Z,1736380922.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753964 2025-01-09T00:02:03.027Z,1736380923.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:03.033Z,1736380923.033 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:03.033Z,1736380923.033 [DAT](INFO): DAT read: Rx Time:00:02:01.7828 2025-01-09T00:02:03.034Z,1736380923.034 [DAT](INFO): Rx dataTimestamp_ set to:1736380923.033566 2025-01-09T00:02:03.034Z,1736380923.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007944 2025-01-09T00:02:03.040Z,1736380923.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:03.042Z,1736380923.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.453720 m, bearing: 282.160928 deg, approach rate: 0.058671 m/s, LOS rate: -0.637648 deg/s, cmd heading: 8.141160 deg, new cmd heading: 7.277306 deg. 2025-01-09T00:02:03.043Z,1736380923.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.127013 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:03.284Z,1736380923.284 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:03.284Z,1736380923.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257955 2025-01-09T00:02:03.374Z,1736380923.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:03.383Z,1736380923.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:03.385Z,1736380923.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 43.469746 m, bearing: 281.937495 deg, approach rate: 0.046647 m/s, LOS rate: -0.650131 deg/s, cmd heading: 7.277306 deg, new cmd heading: 6.607285 deg. 2025-01-09T00:02:03.386Z,1736380923.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115319 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:03.536Z,1736380923.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:03.542Z,1736380923.542 [DAT](INFO): DAT read: 00:02:01.7828 LVL= 16064, 27729, 21298, 27299, AGC= 55, IDX= 425,-0.22,-0.360,-2.378,-2.326,-1.526, PHS= 1.254,-0.806,-0.804, RAW= 90.0, 3.5, CAL= 97.3, 1.6, ROT= 52.7, -1.6 2025-01-09T00:02:03.544Z,1736380923.544 [DAT](INFO): got valid direction response: 00:02:01.7828 LVL= 16064, 27729, 21298, 27299, AGC= 55, IDX= 425,-0.22,-0.360,-2.378,-2.326,-1.526, PHS= 1.254,-0.806,-0.804, RAW= 90.0, 3.5, CAL= 97.3, 1.6, ROT= 52.7, -1.6 2025-01-09T00:02:03.545Z,1736380923.545 [DAT](INFO): DAT read: Bearing 52.7, -1.6 (Local) 2025-01-09T00:02:03.545Z,1736380923.545 [DAT](INFO): Local bearing/azimuth received: Bearing 52.7, -1.6 (Local) 2025-01-09T00:02:03.547Z,1736380923.547 [DAT](INFO): DAT read: Range 10 to 50 : 93.5 m (Round-trip 124.7 ms) speed 0.1 m/s 2025-01-09T00:02:03.547Z,1736380923.547 [DAT](INFO): DAT read: user:3595> 2025-01-09T00:02:03.549Z,1736380923.549 [DAT](INFO): DAT read: Tx time:00:02:02.9040 2025-01-09T00:02:03.549Z,1736380923.549 [DAT](INFO): Ping request sent. 2025-01-09T00:02:03.549Z,1736380923.549 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:03.550Z,1736380923.550 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:02:03.551Z,1736380923.551 [DAT](INFO): direction in FSK: [-0.151424,0.109987,0.982331] 2025-01-09T00:02:03.551Z,1736380923.551 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:03.552Z,1736380923.552 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:03.555Z,1736380923.555 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:03.557Z,1736380923.557 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:03.773Z,1736380923.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:03.788Z,1736380923.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:03.789Z,1736380923.789 [DAT](INFO): DAT read: TxSync time:00:02:02.9032 2025-01-09T00:02:03.824Z,1736380923.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.500000 m, deltaT: 3.528072 s, deltaX: -1.300003 m, approachRate: -0.368474 m/s, rangeRepo size: 4 2025-01-09T00:02:03.826Z,1736380923.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.500000 m, bearing: 82.842924 deg, lat: 36.904846 deg, lon: -122.120804 deg, deltaT: 3.528072 s, deltaX: -1.300003 m, approachRate: -0.368474 m/s, posRepo size: 4 2025-01-09T00:02:03.827Z,1736380923.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.50 m. 2025-01-09T00:02:03.838Z,1736380923.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.500000 m, nav range: 21.820444 m, bearing: 293.795295 deg, approach rate: 0.000000 m/s, LOS rate: -0.650131 deg/s, cmd heading: 6.607285 deg, new cmd heading: 5.764620 deg. 2025-01-09T00:02:03.839Z,1736380923.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100612 target range: 93.500000 and range: 93.50 m. 2025-01-09T00:02:04.040Z,1736380924.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:04.244Z,1736380924.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:04.261Z,1736380924.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.50 m. 2025-01-09T00:02:04.268Z,1736380924.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.500000 m, nav range: 21.776711 m, bearing: 293.213964 deg, approach rate: -0.097947 m/s, LOS rate: -1.304555 deg/s, cmd heading: 5.764620 deg, new cmd heading: 4.017694 deg. 2025-01-09T00:02:04.269Z,1736380924.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070122 target range: 93.500000 and range: 93.50 m. 2025-01-09T00:02:04.292Z,1736380924.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:04.544Z,1736380924.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:04.575Z,1736380924.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:04.584Z,1736380924.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.50 m. 2025-01-09T00:02:04.587Z,1736380924.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.500000 m, nav range: 21.745310 m, bearing: 292.805703 deg, approach rate: -0.097261 m/s, LOS rate: -1.266371 deg/s, cmd heading: 4.017694 deg, new cmd heading: 2.791342 deg. 2025-01-09T00:02:04.588Z,1736380924.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048718 target range: 93.500000 and range: 93.50 m. 2025-01-09T00:02:04.796Z,1736380924.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:05.022Z,1736380925.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:05.045Z,1736380925.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:05.048Z,1736380925.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:05.049Z,1736380925.049 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:05.049Z,1736380925.049 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:05.049Z,1736380925.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:05.053Z,1736380925.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.50 m. 2025-01-09T00:02:05.059Z,1736380925.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.500000 m, nav range: 21.701838 m, bearing: 292.252709 deg, approach rate: -0.093856 m/s, LOS rate: -1.196275 deg/s, cmd heading: 2.791342 deg, new cmd heading: 1.129526 deg. 2025-01-09T00:02:05.060Z,1736380925.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019714 target range: 93.500000 and range: 93.50 m. 2025-01-09T00:02:05.300Z,1736380925.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:05.301Z,1736380925.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751540 2025-01-09T00:02:05.419Z,1736380925.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:05.451Z,1736380925.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.50 m. 2025-01-09T00:02:05.454Z,1736380925.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.500000 m, nav range: 21.646233 m, bearing: 291.781884 deg, approach rate: -0.139103 m/s, LOS rate: -1.180846 deg/s, cmd heading: 1.129526 deg, new cmd heading: 359.713727 deg. 2025-01-09T00:02:05.455Z,1736380925.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.278189 target range: 93.500000 and range: 93.50 m. 2025-01-09T00:02:05.552Z,1736380925.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:05.554Z,1736380925.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004499 2025-01-09T00:02:05.785Z,1736380925.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:05.793Z,1736380925.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.50 m. 2025-01-09T00:02:05.804Z,1736380925.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:05.805Z,1736380925.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255478 2025-01-09T00:02:05.812Z,1736380925.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.500000 m, nav range: 21.593990 m, bearing: 291.347424 deg, approach rate: -0.150902 m/s, LOS rate: -1.257965 deg/s, cmd heading: 359.713716 deg, new cmd heading: 358.407424 deg. 2025-01-09T00:02:05.813Z,1736380925.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255390 target range: 93.500000 and range: 93.50 m. 2025-01-09T00:02:06.060Z,1736380926.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:06.061Z,1736380926.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511803 2025-01-09T00:02:06.206Z,1736380926.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-09T00:02:06.206Z,1736380926.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:06.215Z,1736380926.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.50 m. 2025-01-09T00:02:06.218Z,1736380926.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.500000 m, nav range: 21.532927 m, bearing: 290.847352 deg, approach rate: -0.144922 m/s, LOS rate: -1.190168 deg/s, cmd heading: 358.407428 deg, new cmd heading: 356.903321 deg. 2025-01-09T00:02:06.219Z,1736380926.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229138 target range: 93.500000 and range: 93.50 m. 2025-01-09T00:02:06.312Z,1736380926.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:06.312Z,1736380926.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763308 2025-01-09T00:02:06.564Z,1736380926.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:06.565Z,1736380926.565 [DAT](INFO): DAT read: Rx Time:00:02:05.4321 2025-01-09T00:02:06.566Z,1736380926.566 [DAT](INFO): Rx dataTimestamp_ set to:1736380926.565917 2025-01-09T00:02:06.567Z,1736380926.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017682 2025-01-09T00:02:06.666Z,1736380926.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-09T00:02:06.666Z,1736380926.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:06.691Z,1736380926.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.50 m. 2025-01-09T00:02:06.697Z,1736380926.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.500000 m, nav range: 21.465216 m, bearing: 290.299979 deg, approach rate: -0.142261 m/s, LOS rate: -1.153639 deg/s, cmd heading: 356.903312 deg, new cmd heading: 355.256493 deg. 2025-01-09T00:02:06.705Z,1736380926.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200396 target range: 93.500000 and range: 93.50 m. 2025-01-09T00:02:06.816Z,1736380926.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:06.817Z,1736380926.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267803 2025-01-09T00:02:07.068Z,1736380927.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:07.069Z,1736380927.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519585 2025-01-09T00:02:07.165Z,1736380927.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:07.173Z,1736380927.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:07.175Z,1736380927.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.50 m. 2025-01-09T00:02:07.178Z,1736380927.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.500000 m, nav range: 21.348476 m, bearing: 289.697772 deg, approach rate: -0.241141 m/s, LOS rate: -1.250719 deg/s, cmd heading: 355.256498 deg, new cmd heading: 353.440639 deg. 2025-01-09T00:02:07.178Z,1736380927.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168703 target range: 93.500000 and range: 93.50 m. 2025-01-09T00:02:07.321Z,1736380927.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:07.335Z,1736380927.335 [DAT](INFO): DAT read: 00:02:05.4321 LVL= 13616, 24369, 19810, 28611, AGC= 58, IDX= 434,-0.17, 1.864, 0.288, 0.043, 0.969, PHS= 0.984,-0.633,-0.928, RAW= 81.8, 6.5, CAL= 87.0, 7.2, ROT= 63.0, -7.2 2025-01-09T00:02:07.336Z,1736380927.336 [DAT](INFO): got valid direction response: 00:02:05.4321 LVL= 13616, 24369, 19810, 28611, AGC= 58, IDX= 434,-0.17, 1.864, 0.288, 0.043, 0.969, PHS= 0.984,-0.633,-0.928, RAW= 81.8, 6.5, CAL= 87.0, 7.2, ROT= 63.0, -7.2 2025-01-09T00:02:07.337Z,1736380927.337 [DAT](INFO): DAT read: Bearing 63.0, -7.2 (Local) 2025-01-09T00:02:07.338Z,1736380927.338 [DAT](INFO): Local bearing/azimuth received: Bearing 63.0, -7.2 (Local) 2025-01-09T00:02:07.340Z,1736380927.340 [DAT](INFO): DAT read: Range 10 to 50 : 93.0 m (Round-trip 124.0 ms) speed 0.1 m/s 2025-01-09T00:02:07.340Z,1736380927.340 [DAT](INFO): DAT read: user:3596> 2025-01-09T00:02:07.341Z,1736380927.341 [DAT](INFO): DAT read: Tx time:00:02:06.5540 2025-01-09T00:02:07.341Z,1736380927.341 [DAT](INFO): Ping request sent. 2025-01-09T00:02:07.341Z,1736380927.341 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:07.342Z,1736380927.342 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:02:07.343Z,1736380927.343 [DAT](INFO): direction in FSK: [-0.193238,0.251302,0.948423] 2025-01-09T00:02:07.343Z,1736380927.343 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:07.344Z,1736380927.344 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:07.346Z,1736380927.346 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:07.347Z,1736380927.347 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:07.503Z,1736380927.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:07.548Z,1736380927.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.000000 m, deltaT: 3.785739 s, deltaX: -0.500000 m, approachRate: -0.132075 m/s, rangeRepo size: 4 2025-01-09T00:02:07.551Z,1736380927.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.000000 m, bearing: 107.133356 deg, lat: 36.904813 deg, lon: -122.120603 deg, deltaT: 3.785739 s, deltaX: -0.500000 m, approachRate: -0.132075 m/s, posRepo size: 4 2025-01-09T00:02:07.559Z,1736380927.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:07.562Z,1736380927.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 4.021587 m, bearing: 326.638036 deg, approach rate: 0.000000 m/s, LOS rate: -1.250719 deg/s, cmd heading: 353.440652 deg, new cmd heading: 352.060031 deg. 2025-01-09T00:02:07.567Z,1736380927.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144607 target range: 93.000000 and range: 93.00 m. 2025-01-09T00:02:07.572Z,1736380927.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:07.573Z,1736380927.573 [DAT](INFO): DAT read: TxSync time:00:02:06.5532 2025-01-09T00:02:07.824Z,1736380927.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:07.873Z,1736380927.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:07.883Z,1736380927.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:07.906Z,1736380927.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 3.850571 m, bearing: 325.501073 deg, approach rate: -0.504007 m/s, LOS rate: -3.499369 deg/s, cmd heading: 352.060024 deg, new cmd heading: 348.502459 deg. 2025-01-09T00:02:07.907Z,1736380927.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082515 target range: 93.000000 and range: 93.00 m. 2025-01-09T00:02:08.081Z,1736380928.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:08.304Z,1736380928.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:08.313Z,1736380928.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:08.316Z,1736380928.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 3.638990 m, bearing: 324.011265 deg, approach rate: -0.490959 m/s, LOS rate: -3.657586 deg/s, cmd heading: 348.502452 deg, new cmd heading: 343.784391 deg. 2025-01-09T00:02:08.317Z,1736380928.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.000170 target range: 93.000000 and range: 93.00 m. 2025-01-09T00:02:08.328Z,1736380928.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:08.580Z,1736380928.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:08.689Z,1736380928.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:08.699Z,1736380928.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:08.702Z,1736380928.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 3.448512 m, bearing: 322.646286 deg, approach rate: -0.494230 m/s, LOS rate: -3.736955 deg/s, cmd heading: 343.784403 deg, new cmd heading: 339.471854 deg. 2025-01-09T00:02:08.703Z,1736380928.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924901 target range: 93.000000 and range: 93.00 m. 2025-01-09T00:02:08.833Z,1736380928.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:09.085Z,1736380929.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:09.136Z,1736380929.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:09.146Z,1736380929.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:09.150Z,1736380929.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 3.225305 m, bearing: 320.674471 deg, approach rate: -0.499054 m/s, LOS rate: -4.712825 deg/s, cmd heading: 339.471849 deg, new cmd heading: 333.173764 deg. 2025-01-09T00:02:09.151Z,1736380929.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814979 target range: 93.000000 and range: 93.00 m. 2025-01-09T00:02:09.336Z,1736380929.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:09.519Z,1736380929.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:09.541Z,1736380929.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:09.543Z,1736380929.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:09.550Z,1736380929.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 3.037782 m, bearing: 318.759400 deg, approach rate: -0.472008 m/s, LOS rate: -5.116981 deg/s, cmd heading: 333.173759 deg, new cmd heading: 327.097907 deg. 2025-01-09T00:02:09.551Z,1736380929.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708935 target range: 93.000000 and range: 93.00 m. 2025-01-09T00:02:09.589Z,1736380929.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:09.589Z,1736380929.589 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:09.589Z,1736380929.589 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:09.589Z,1736380929.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:09.840Z,1736380929.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:09.841Z,1736380929.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499054 2025-01-09T00:02:09.905Z,1736380929.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:09.913Z,1736380929.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:09.917Z,1736380929.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 2.847211 m, bearing: 316.745871 deg, approach rate: -0.514946 m/s, LOS rate: -5.803782 deg/s, cmd heading: 327.097896 deg, new cmd heading: 320.681283 deg. 2025-01-09T00:02:09.918Z,1736380929.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596944 target range: 93.000000 and range: 93.00 m. 2025-01-09T00:02:10.094Z,1736380930.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:10.096Z,1736380930.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754548 2025-01-09T00:02:10.333Z,1736380930.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:10.341Z,1736380930.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:10.344Z,1736380930.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:10.345Z,1736380930.345 [DAT](INFO): DAT read: Rx Time:00:02:09.0814 2025-01-09T00:02:10.345Z,1736380930.345 [DAT](INFO): Rx dataTimestamp_ set to:1736380930.345143 2025-01-09T00:02:10.346Z,1736380930.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004475 2025-01-09T00:02:10.348Z,1736380930.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 2.649066 m, bearing: 313.899439 deg, approach rate: -0.462505 m/s, LOS rate: -7.138095 deg/s, cmd heading: 320.681288 deg, new cmd heading: 311.584265 deg. 2025-01-09T00:02:10.350Z,1736380930.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.438171 target range: 93.000000 and range: 93.00 m. 2025-01-09T00:02:10.596Z,1736380930.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:10.597Z,1736380930.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255843 2025-01-09T00:02:10.701Z,1736380930.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:10.729Z,1736380930.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:10.745Z,1736380930.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 2.477475 m, bearing: 311.281354 deg, approach rate: -0.442604 m/s, LOS rate: -7.218316 deg/s, cmd heading: 311.584269 deg, new cmd heading: 303.248268 deg. 2025-01-09T00:02:10.752Z,1736380930.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292681 target range: 93.000000 and range: 93.00 m. 2025-01-09T00:02:10.848Z,1736380930.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:10.850Z,1736380930.850 [DAT](INFO): DAT read: Range 10 to 50 : 92.4 m (Round-trip 123.2 ms) speed 0.1 m/s 2025-01-09T00:02:10.852Z,1736380930.852 [DAT](INFO): DAT read: user:3597> 2025-01-09T00:02:10.852Z,1736380930.852 [DAT](INFO): DAT read: Tx time:00:02:10.1541 2025-01-09T00:02:10.853Z,1736380930.853 [DAT](INFO): Ping request sent. 2025-01-09T00:02:10.853Z,1736380930.853 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:10.853Z,1736380930.853 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:02:10.853Z,1736380930.853 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:10.854Z,1736380930.854 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:11.102Z,1736380931.102 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:11.104Z,1736380931.104 [DAT](INFO): DAT read: TxSync time:00:02:10.1533 2025-01-09T00:02:11.193Z,1736380931.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:11.203Z,1736380931.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.400002 m, deltaT: 3.526331 s, deltaX: -0.599998 m, approachRate: -0.170148 m/s, rangeRepo size: 4 2025-01-09T00:02:11.204Z,1736380931.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:11.207Z,1736380931.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 2.279500 m, bearing: 306.650296 deg, approach rate: -0.418511 m/s, LOS rate: -10.628540 deg/s, cmd heading: 303.248269 deg, new cmd heading: 288.499535 deg. 2025-01-09T00:02:11.208Z,1736380931.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.035267 target range: 93.000000 and range: 92.40 m. 2025-01-09T00:02:11.352Z,1736380931.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:11.534Z,1736380931.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:11.544Z,1736380931.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:11.546Z,1736380931.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:11.550Z,1736380931.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.000000 m, nav range: 2.144720 m, bearing: 303.139999 deg, approach rate: -0.391459 m/s, LOS rate: -10.829332 deg/s, cmd heading: 288.499541 deg, new cmd heading: 277.452804 deg. 2025-01-09T00:02:11.551Z,1736380931.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842465 target range: 93.000000 and range: 92.40 m. 2025-01-09T00:02:11.605Z,1736380931.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:11.606Z,1736380931.606 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:11.606Z,1736380931.606 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:11.608Z,1736380931.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:11.856Z,1736380931.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:11.857Z,1736380931.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003797 2025-01-09T00:02:11.917Z,1736380931.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:11.926Z,1736380931.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:11.927Z,1736380931.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.383343 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:11.928Z,1736380931.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 92.40 m. 2025-01-09T00:02:12.110Z,1736380932.110 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:12.113Z,1736380932.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259622 2025-01-09T00:02:12.341Z,1736380932.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:12.351Z,1736380932.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:12.353Z,1736380932.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.432055 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:12.353Z,1736380932.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 92.40 m. 2025-01-09T00:02:12.360Z,1736380932.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:12.360Z,1736380932.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507723 2025-01-09T00:02:12.612Z,1736380932.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:12.614Z,1736380932.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761186 2025-01-09T00:02:12.721Z,1736380932.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:12.741Z,1736380932.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:12.743Z,1736380932.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.448081 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:12.748Z,1736380932.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 92.40 m. 2025-01-09T00:02:12.864Z,1736380932.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:12.866Z,1736380932.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013204 2025-01-09T00:02:13.117Z,1736380933.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:13.120Z,1736380933.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266867 2025-01-09T00:02:13.194Z,1736380933.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:13.224Z,1736380933.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:13.226Z,1736380933.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.513636 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:13.226Z,1736380933.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 92.40 m. 2025-01-09T00:02:13.368Z,1736380933.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:13.369Z,1736380933.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515885 2025-01-09T00:02:13.554Z,1736380933.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:13.561Z,1736380933.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:13.563Z,1736380933.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:13.565Z,1736380933.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.782602 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:13.565Z,1736380933.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 92.40 m. 2025-01-09T00:02:13.620Z,1736380933.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:13.621Z,1736380933.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768330 2025-01-09T00:02:13.872Z,1736380933.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:13.872Z,1736380933.872 [DAT](INFO): DAT read: Rx Time:00:02:12.6805 2025-01-09T00:02:13.873Z,1736380933.873 [DAT](INFO): Rx dataTimestamp_ set to:1736380933.872626 2025-01-09T00:02:13.873Z,1736380933.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020719 2025-01-09T00:02:13.939Z,1736380933.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:13.964Z,1736380933.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:13.966Z,1736380933.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.216909 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:13.971Z,1736380933.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 92.40 m. 2025-01-09T00:02:14.127Z,1736380934.127 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:14.129Z,1736380934.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275916 2025-01-09T00:02:14.376Z,1736380934.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:14.378Z,1736380934.378 [DAT](INFO): DAT read: Range 10 to 50 : 91.7 m (Round-trip 122.3 ms) speed -0.1 m/s 2025-01-09T00:02:14.378Z,1736380934.378 [DAT](INFO): DAT read: user:3598> 2025-01-09T00:02:14.379Z,1736380934.379 [DAT](INFO): DAT read: Tx time:00:02:13.7541 2025-01-09T00:02:14.379Z,1736380934.379 [DAT](INFO): Ping request sent. 2025-01-09T00:02:14.380Z,1736380934.380 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:14.380Z,1736380934.380 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:02:14.380Z,1736380934.380 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:14.381Z,1736380934.381 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:14.421Z,1736380934.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:14.438Z,1736380934.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 91.699997 m, deltaT: 3.527951 s, deltaX: -0.700005 m, approachRate: -0.198417 m/s, rangeRepo size: 4 2025-01-09T00:02:14.451Z,1736380934.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:14.453Z,1736380934.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.103466 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:14.454Z,1736380934.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. 2025-01-09T00:02:14.628Z,1736380934.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:14.629Z,1736380934.629 [DAT](INFO): DAT read: TxSync time:00:02:13.7533 2025-01-09T00:02:14.744Z,1736380934.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:14.755Z,1736380934.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:14.757Z,1736380934.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.477792 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:14.757Z,1736380934.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. 2025-01-09T00:02:14.880Z,1736380934.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:15.133Z,1736380935.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:15.226Z,1736380935.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:15.236Z,1736380935.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:15.238Z,1736380935.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.026503 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:15.238Z,1736380935.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. 2025-01-09T00:02:15.384Z,1736380935.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:15.582Z,1736380935.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:15.589Z,1736380935.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:15.591Z,1736380935.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:15.592Z,1736380935.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.316799 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:15.593Z,1736380935.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. 2025-01-09T00:02:15.636Z,1736380935.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:15.637Z,1736380935.637 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:15.637Z,1736380935.637 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:15.638Z,1736380935.638 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:15.888Z,1736380935.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:15.888Z,1736380935.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508799 2025-01-09T00:02:15.964Z,1736380935.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:15.979Z,1736380935.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:15.981Z,1736380935.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.193475 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:15.981Z,1736380935.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. 2025-01-09T00:02:16.141Z,1736380936.141 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:16.143Z,1736380936.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763387 2025-01-09T00:02:16.391Z,1736380936.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:16.392Z,1736380936.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:16.392Z,1736380936.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012869 2025-01-09T00:02:16.402Z,1736380936.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:16.404Z,1736380936.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.035413 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:16.405Z,1736380936.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. 2025-01-09T00:02:16.645Z,1736380936.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:16.647Z,1736380936.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827 2025-01-09T00:02:16.777Z,1736380936.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:16.787Z,1736380936.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:16.788Z,1736380936.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.144166 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:16.789Z,1736380936.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. 2025-01-09T00:02:16.896Z,1736380936.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:16.896Z,1736380936.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516838 2025-01-09T00:02:17.150Z,1736380937.150 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:17.154Z,1736380937.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773157 2025-01-09T00:02:17.285Z,1736380937.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:17.293Z,1736380937.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:17.295Z,1736380937.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.919731 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:17.296Z,1736380937.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. 2025-01-09T00:02:17.402Z,1736380937.402 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:17.403Z,1736380937.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023674 2025-01-09T00:02:17.574Z,1736380937.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:17.608Z,1736380937.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:17.609Z,1736380937.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.782859 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:17.610Z,1736380937.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. 2025-01-09T00:02:17.653Z,1736380937.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:17.654Z,1736380937.654 [DAT](INFO): DAT read: Rx Time:00:02:16.2812 2025-01-09T00:02:17.655Z,1736380937.655 [DAT](INFO): Rx dataTimestamp_ set to:1736380937.654045 2025-01-09T00:02:17.656Z,1736380937.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275858 2025-01-09T00:02:17.904Z,1736380937.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:17.904Z,1736380937.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524799 2025-01-09T00:02:18.041Z,1736380938.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:18.047Z,1736380938.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:18.050Z,1736380938.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.00 m. 2025-01-09T00:02:18.052Z,1736380938.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.946851 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg. 2025-01-09T00:02:18.053Z,1736380938.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. 2025-01-09T00:02:18.157Z,1736380938.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:18.171Z,1736380938.171 [DAT](INFO): DAT read: 00:02:16.2812 LVL= 16560, 16881, 17506, 19891, AGC= 57, IDX= 440, 0.16,-0.159,-0.786,-2.563,-1.110, PHS= 1.039, 0.371,-1.456, RAW= 45.0, 0.4, CAL= 44.8, -1.4, ROT= 105.2, 1.4 2025-01-09T00:02:18.175Z,1736380938.175 [DAT](INFO): got valid direction response: 00:02:16.2812 LVL= 16560, 16881, 17506, 19891, AGC= 57, IDX= 440, 0.16,-0.159,-0.786,-2.563,-1.110, PHS= 1.039, 0.371,-1.456, RAW= 45.0, 0.4, CAL= 44.8, -1.4, ROT= 105.2, 1.4 2025-01-09T00:02:18.178Z,1736380938.178 [DAT](INFO): DAT read: Bearing 105.2, 1.4 (Local) 2025-01-09T00:02:18.181Z,1736380938.181 [DAT](INFO): Local bearing/azimuth received: Bearing 105.2, 1.4 (Local) 2025-01-09T00:02:18.186Z,1736380938.186 [DAT](INFO): DAT read: Range 10 to 50 : 92.2 m (Round-trip 123.0 ms) speed -0.4 m/s 2025-01-09T00:02:18.189Z,1736380938.189 [DAT](INFO): DAT read: user:3599> 2025-01-09T00:02:18.193Z,1736380938.193 [DAT](INFO): DAT read: Tx time:00:02:17.4041 2025-01-09T00:02:18.194Z,1736380938.194 [DAT](INFO): Ping request sent. 2025-01-09T00:02:18.195Z,1736380938.195 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:18.196Z,1736380938.196 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:02:18.201Z,1736380938.201 [DAT](INFO): direction in FSK: [-0.006010,0.759273,0.650745] 2025-01-09T00:02:18.202Z,1736380938.202 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:18.208Z,1736380938.208 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:18.253Z,1736380938.253 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:18.254Z,1736380938.254 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:18.408Z,1736380938.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:18.409Z,1736380938.409 [DAT](INFO): DAT read: TxSync time:00:02:17.4033 2025-01-09T00:02:18.517Z,1736380938.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:18.546Z,1736380938.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.199997 m, deltaT: 3.781605 s, deltaX: 0.500000 m, approachRate: 0.132219 m/s, rangeRepo size: 4 2025-01-09T00:02:18.552Z,1736380938.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.199997 m, bearing: 49.027707 deg, lat: 36.904813 deg, lon: -122.120502 deg, deltaT: 10.835887 s, deltaX: -0.800003 m, approachRate: -0.073829 m/s, posRepo size: 4 2025-01-09T00:02:18.553Z,1736380938.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-01-09T00:02:18.554Z,1736380938.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.946851 deg/s. Setting heading cmd to target acoustic bearing of 49.027707 deg. 2025-01-09T00:02:18.555Z,1736380938.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.855695 target range: 92.199997 and range: 92.20 m. 2025-01-09T00:02:18.661Z,1736380938.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:18.898Z,1736380938.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:18.907Z,1736380938.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-01-09T00:02:18.909Z,1736380938.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.199997 m, nav range: 8.627740 m, bearing: 104.764475 deg, approach rate: 0.478449 m/s, LOS rate: 1.860028 deg/s, cmd heading: 49.027706 deg, new cmd heading: 51.044273 deg. 2025-01-09T00:02:18.910Z,1736380938.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.890891 target range: 92.199997 and range: 92.20 m. 2025-01-09T00:02:18.912Z,1736380938.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:19.164Z,1736380939.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:19.310Z,1736380939.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:19.319Z,1736380939.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-01-09T00:02:19.345Z,1736380939.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.199997 m, nav range: 8.839986 m, bearing: 105.453076 deg, approach rate: 0.515216 m/s, LOS rate: 1.631371 deg/s, cmd heading: 51.044275 deg, new cmd heading: 53.059597 deg. 2025-01-09T00:02:19.346Z,1736380939.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.926065 target range: 92.199997 and range: 92.20 m. 2025-01-09T00:02:19.417Z,1736380939.417 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:19.669Z,1736380939.669 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:19.709Z,1736380939.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:19.717Z,1736380939.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-01-09T00:02:19.720Z,1736380939.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.199997 m, nav range: 9.047256 m, bearing: 106.084577 deg, approach rate: 0.519950 m/s, LOS rate: 1.547839 deg/s, cmd heading: 53.059597 deg, new cmd heading: 54.910017 deg. 2025-01-09T00:02:19.721Z,1736380939.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.958361 target range: 92.199997 and range: 92.20 m. 2025-01-09T00:02:19.922Z,1736380939.922 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:20.096Z,1736380940.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:20.104Z,1736380940.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:20.106Z,1736380940.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-01-09T00:02:20.109Z,1736380940.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.199997 m, nav range: 9.249277 m, bearing: 106.671297 deg, approach rate: 0.519906 m/s, LOS rate: 1.476930 deg/s, cmd heading: 54.910018 deg, new cmd heading: 56.631185 deg. 2025-01-09T00:02:20.110Z,1736380940.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988401 target range: 92.199997 and range: 92.20 m. 2025-01-09T00:02:20.172Z,1736380940.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:20.172Z,1736380940.172 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:20.172Z,1736380940.172 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:20.173Z,1736380940.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:20.424Z,1736380940.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:20.424Z,1736380940.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230084 2025-01-09T00:02:20.566Z,1736380940.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:20.577Z,1736380940.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-01-09T00:02:20.580Z,1736380940.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.199997 m, nav range: 9.515247 m, bearing: 107.366633 deg, approach rate: 0.564101 m/s, LOS rate: 1.433494 deg/s, cmd heading: 56.631185 deg, new cmd heading: 58.657991 deg. 2025-01-09T00:02:20.581Z,1736380940.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023775 target range: 92.199997 and range: 92.20 m. 2025-01-09T00:02:20.677Z,1736380940.677 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:20.678Z,1736380940.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483486 2025-01-09T00:02:20.906Z,1736380940.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:20.915Z,1736380940.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-01-09T00:02:20.918Z,1736380940.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.199997 m, nav range: 9.708792 m, bearing: 107.853273 deg, approach rate: 0.573864 m/s, LOS rate: 1.414119 deg/s, cmd heading: 58.657992 deg, new cmd heading: 60.088493 deg. 2025-01-09T00:02:20.919Z,1736380940.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.048742 target range: 92.199997 and range: 92.20 m. 2025-01-09T00:02:20.928Z,1736380940.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:20.929Z,1736380940.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734384 2025-01-09T00:02:21.180Z,1736380941.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:21.180Z,1736380941.180 [DAT](INFO): DAT read: Rx Time:00:02 2025-01-09T00:02:21.181Z,1736380941.181 [DAT](INFO): Rx dataTimestamp_ set to:1736380941.180488 2025-01-09T00:02:21.181Z,1736380941.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986968 2025-01-09T00:02:21.337Z,1736380941.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:21.346Z,1736380941.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.20 m. 2025-01-09T00:02:21.369Z,1736380941.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.199997 m, nav range: 9.958425 m, bearing: 108.465736 deg, approach rate: 0.578770 m/s, LOS rate: 1.384364 deg/s, cmd heading: 60.088494 deg, new cmd heading: 61.879205 deg. 2025-01-09T00:02:21.370Z,1736380941.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079996 target range: 92.199997 and range: 92.20 m. 2025-01-09T00:02:21.432Z,1736380941.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:21.433Z,1736380941.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239138 2025-01-09T00:02:21.684Z,1736380941.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:21.695Z,1736380941.695 [DAT](INFO): DAT read: 00:02:19.9333 LVL= 16688, 15633, 16530, 20595, AGC= 56, IDX= 444,-0.28, 3.081, 2.992, 0.883, 2.216, PHS= 0.954, 0.823,-1.335, RAW= 32.9, -4.0, CAL= 33.3, -7.5, ROT= 116.7, 7.5 2025-01-09T00:02:21.696Z,1736380941.696 [DAT](INFO): got valid direction response: 00:02:19.9333 LVL= 16688, 15633, 16530, 20595, AGC= 56, IDX= 444,-0.28, 3.081, 2.992, 0.883, 2.216, PHS= 0.954, 0.823,-1.335, RAW= 32.9, -4.0, CAL= 33.3, -7.5, ROT= 116.7, 7.5 2025-01-09T00:02:21.697Z,1736380941.697 [DAT](INFO): DAT read: Bearing 116.7, 7.5 (Local) 2025-01-09T00:02:21.697Z,1736380941.697 [DAT](INFO): Local bearing/azimuth received: Bearing 116.7, 7.5 (Local) 2025-01-09T00:02:21.699Z,1736380941.699 [DAT](INFO): DAT read: Range 10 to 50 : 93.7 m (Round-trip 125.0 ms) speed -0.2 m/s 2025-01-09T00:02:21.700Z,1736380941.700 [DAT](INFO): DAT read: user:3600> 2025-01-09T00:02:21.701Z,1736380941.701 [DAT](INFO): DAT read: Tx time:00:02:21.0541 2025-01-09T00:02:21.701Z,1736380941.701 [DAT](INFO): Ping request sent. 2025-01-09T00:02:21.702Z,1736380941.702 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:21.703Z,1736380941.703 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:02:21.706Z,1736380941.706 [DAT](INFO): direction in FSK: [0.101037,0.864482,0.492404] 2025-01-09T00:02:21.707Z,1736380941.707 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:21.749Z,1736380941.749 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:21.762Z,1736380941.762 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:21.762Z,1736380941.762 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:21.810Z,1736380941.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:21.863Z,1736380941.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.699997 m, deltaT: 3.526302 s, deltaX: 1.500000 m, approachRate: 0.425375 m/s, rangeRepo size: 4 2025-01-09T00:02:21.866Z,1736380941.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.699997 m, bearing: 44.275952 deg, lat: 36.904846 deg, lon: -122.120347 deg, deltaT: 3.526302 s, deltaX: 1.500000 m, approachRate: 0.425375 m/s, posRepo size: 4 2025-01-09T00:02:21.867Z,1736380941.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:21.873Z,1736380941.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 23.457930 m, bearing: 89.232168 deg, approach rate: 0.000000 m/s, LOS rate: 1.384364 deg/s, cmd heading: 61.879205 deg, new cmd heading: 64.006868 deg. 2025-01-09T00:02:21.874Z,1736380941.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117131 target range: 93.699997 and range: 93.70 m. 2025-01-09T00:02:21.936Z,1736380941.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:21.937Z,1736380941.937 [DAT](INFO): DAT read: TxSync time:00:02:21.0534 2025-01-09T00:02:22.188Z,1736380942.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:22.358Z,1736380942.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:22.366Z,1736380942.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:22.369Z,1736380942.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:22.372Z,1736380942.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 23.709351 m, bearing: 89.810917 deg, approach rate: 0.492882 m/s, LOS rate: 1.122521 deg/s, cmd heading: 64.006871 deg, new cmd heading: 65.724164 deg. 2025-01-09T00:02:22.373Z,1736380942.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147103 target range: 93.699997 and range: 93.70 m. 2025-01-09T00:02:22.440Z,1736380942.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:22.441Z,1736380942.441 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:22.441Z,1736380942.441 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:22.441Z,1736380942.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:22.692Z,1736380942.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:22.693Z,1736380942.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991201 2025-01-09T00:02:22.701Z,1736380942.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:22.733Z,1736380942.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:22.740Z,1736380942.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 23.857851 m, bearing: 90.192748 deg, approach rate: 0.406966 m/s, LOS rate: 1.039889 deg/s, cmd heading: 65.724165 deg, new cmd heading: 66.862369 deg. 2025-01-09T00:02:22.741Z,1736380942.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166968 target range: 93.699997 and range: 93.70 m. 2025-01-09T00:02:22.944Z,1736380942.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:22.944Z,1736380942.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243017 2025-01-09T00:02:23.096Z,1736380943.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:23.106Z,1736380943.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:23.109Z,1736380943.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 24.025463 m, bearing: 90.640551 deg, approach rate: 0.450061 m/s, LOS rate: 1.194010 deg/s, cmd heading: 66.862368 deg, new cmd heading: 68.196151 deg. 2025-01-09T00:02:23.110Z,1736380943.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190247 target range: 93.699997 and range: 93.70 m. 2025-01-09T00:02:23.196Z,1736380943.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:23.197Z,1736380943.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495328 2025-01-09T00:02:23.448Z,1736380943.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:23.449Z,1736380943.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747040 2025-01-09T00:02:23.524Z,1736380943.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:23.538Z,1736380943.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:23.541Z,1736380943.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 24.185995 m, bearing: 91.108467 deg, approach rate: 0.371855 m/s, LOS rate: 1.076670 deg/s, cmd heading: 68.196154 deg, new cmd heading: 69.590294 deg. 2025-01-09T00:02:23.542Z,1736380943.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.214580 target range: 93.699997 and range: 93.70 m. 2025-01-09T00:02:23.700Z,1736380943.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:23.703Z,1736380943.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000768 2025-01-09T00:02:23.928Z,1736380943.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:23.938Z,1736380943.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:23.941Z,1736380943.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 24.339117 m, bearing: 91.544819 deg, approach rate: 0.382444 m/s, LOS rate: 1.082986 deg/s, cmd heading: 69.590291 deg, new cmd heading: 70.890876 deg. 2025-01-09T00:02:23.942Z,1736380943.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.237279 target range: 93.699997 and range: 93.70 m. 2025-01-09T00:02:23.968Z,1736380943.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:23.969Z,1736380943.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267177 2025-01-09T00:02:24.220Z,1736380944.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:24.221Z,1736380944.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519231 2025-01-09T00:02:24.425Z,1736380944.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:24.434Z,1736380944.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:24.436Z,1736380944.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:24.439Z,1736380944.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 24.500071 m, bearing: 92.031179 deg, approach rate: 0.322918 m/s, LOS rate: 0.969355 deg/s, cmd heading: 70.890875 deg, new cmd heading: 72.340044 deg. 2025-01-09T00:02:24.456Z,1736380944.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262572 target range: 93.699997 and range: 93.70 m. 2025-01-09T00:02:24.472Z,1736380944.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:24.473Z,1736380944.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771306 2025-01-09T00:02:24.648Z,1736380944.648 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:02:24.724Z,1736380944.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:24.725Z,1736380944.725 [DAT](INFO): DAT read: Rx Time:00:02:23.5842 2025-01-09T00:02:24.725Z,1736380944.725 [DAT](INFO): Rx dataTimestamp_ set to:1736380944.724750 2025-01-09T00:02:24.726Z,1736380944.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024224 2025-01-09T00:02:24.824Z,1736380944.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:24.847Z,1736380944.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:24.854Z,1736380944.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 24.616407 m, bearing: 92.442610 deg, approach rate: 0.283386 m/s, LOS rate: 0.997463 deg/s, cmd heading: 72.340043 deg, new cmd heading: 73.568302 deg. 2025-01-09T00:02:24.860Z,1736380944.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284009 target range: 93.699997 and range: 93.70 m. 2025-01-09T00:02:24.868Z,1736380944.868 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T23:52:24.8Z 2025-01-09T00:02:24.868Z,1736380944.868 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-09T00:02:24.868Z,1736380944.868 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-01-09T00:02:24.869Z,1736380944.869 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-09T00:02:24.869Z,1736380944.869 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-09T00:02:24.869Z,1736380944.869 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-01-09T00:02:24.976Z,1736380944.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:24.976Z,1736380944.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275085 2025-01-09T00:02:25.228Z,1736380945.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:25.228Z,1736380945.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526973 2025-01-09T00:02:25.406Z,1736380945.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:25.414Z,1736380945.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:25.418Z,1736380945.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 24.759718 m, bearing: 93.039956 deg, approach rate: 0.252545 m/s, LOS rate: 1.046545 deg/s, cmd heading: 73.568302 deg, new cmd heading: 75.349361 deg. 2025-01-09T00:02:25.420Z,1736380945.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315094 target range: 93.699997 and range: 93.70 m. 2025-01-09T00:02:25.451Z,1736380945.451 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-01-09T00:02:25.452Z,1736380945.452 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-01-09T00:02:25.452Z,1736380945.452 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-01-09T00:02:25.452Z,1736380945.452 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-09T00:02:25.452Z,1736380945.452 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-01-09T00:02:25.480Z,1736380945.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:25.482Z,1736380945.482 [DAT](INFO): DAT read: Range 10 to 50 : 94.4 m (Round-trip 125.9 ms) speed -0.1 m/s 2025-01-09T00:02:25.484Z,1736380945.484 [DAT](INFO): DAT read: user:3601> 2025-01-09T00:02:25.484Z,1736380945.484 [DAT](INFO): DAT read: Tx time:00:02:24.7041 2025-01-09T00:02:25.485Z,1736380945.485 [DAT](INFO): Ping request sent. 2025-01-09T00:02:25.485Z,1736380945.485 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:25.485Z,1736380945.485 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:02:25.485Z,1736380945.485 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:25.486Z,1736380945.486 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:25.654Z,1736380945.654 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:02:25.732Z,1736380945.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:25.733Z,1736380945.733 [DAT](INFO): DAT read: TxSync time:00:02:24.7034 2025-01-09T00:02:25.984Z,1736380945.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:26.035Z,1736380946.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:26.088Z,1736380946.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.400002 m, deltaT: 3.796179 s, deltaX: 0.700005 m, approachRate: 0.184397 m/s, rangeRepo size: 4 2025-01-09T00:02:26.089Z,1736380946.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:26.092Z,1736380946.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 24.903984 m, bearing: 93.695918 deg, approach rate: 0.219599 m/s, LOS rate: 0.992686 deg/s, cmd heading: 75.349363 deg, new cmd heading: 77.305048 deg. 2025-01-09T00:02:26.093Z,1736380946.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349228 target range: 93.699997 and range: 94.40 m. 2025-01-09T00:02:26.237Z,1736380946.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:26.488Z,1736380946.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:26.518Z,1736380946.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:26.525Z,1736380946.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:26.528Z,1736380946.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:26.530Z,1736380946.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 24.994469 m, bearing: 94.179384 deg, approach rate: 0.198401 m/s, LOS rate: 1.056219 deg/s, cmd heading: 77.305051 deg, new cmd heading: 78.749874 deg. 2025-01-09T00:02:26.532Z,1736380946.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374445 target range: 93.699997 and range: 94.40 m. 2025-01-09T00:02:26.741Z,1736380946.741 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:26.742Z,1736380946.742 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:26.742Z,1736380946.742 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:26.743Z,1736380946.743 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:26.908Z,1736380946.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:26.917Z,1736380946.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:26.920Z,1736380946.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 25.068638 m, bearing: 94.566253 deg, approach rate: 0.190464 m/s, LOS rate: 0.990517 deg/s, cmd heading: 78.749875 deg, new cmd heading: 79.906882 deg. 2025-01-09T00:02:26.921Z,1736380946.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394638 target range: 93.699997 and range: 94.40 m. 2025-01-09T00:02:26.993Z,1736380946.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:26.994Z,1736380946.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509227 2025-01-09T00:02:27.244Z,1736380947.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:27.244Z,1736380947.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759509 2025-01-09T00:02:27.398Z,1736380947.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:27.408Z,1736380947.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:27.410Z,1736380947.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 25.140247 m, bearing: 95.074900 deg, approach rate: 0.145982 m/s, LOS rate: 1.033952 deg/s, cmd heading: 79.906882 deg, new cmd heading: 81.428100 deg. 2025-01-09T00:02:27.412Z,1736380947.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421188 target range: 93.699997 and range: 94.40 m. 2025-01-09T00:02:27.496Z,1736380947.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:27.497Z,1736380947.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012615 2025-01-09T00:02:27.707Z,1736380947.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:27.736Z,1736380947.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:27.739Z,1736380947.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 25.182638 m, bearing: 95.397162 deg, approach rate: 0.128936 m/s, LOS rate: 0.978534 deg/s, cmd heading: 81.428101 deg, new cmd heading: 82.393162 deg. 2025-01-09T00:02:27.748Z,1736380947.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:27.749Z,1736380947.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263655 2025-01-09T00:02:27.760Z,1736380947.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.438032 target range: 93.699997 and range: 94.40 m. 2025-01-09T00:02:28.001Z,1736380948.001 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:28.002Z,1736380948.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516918 2025-01-09T00:02:28.113Z,1736380948.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:28.122Z,1736380948.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:28.125Z,1736380948.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 25.234701 m, bearing: 95.821316 deg, approach rate: 0.134837 m/s, LOS rate: 1.096232 deg/s, cmd heading: 82.393159 deg, new cmd heading: 83.662779 deg. 2025-01-09T00:02:28.126Z,1736380948.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.460191 target range: 93.699997 and range: 94.40 m. 2025-01-09T00:02:28.252Z,1736380948.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:28.253Z,1736380948.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767750 2025-01-09T00:02:28.504Z,1736380948.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:28.504Z,1736380948.504 [DAT](INFO): DAT read: Rx Time:00:02:27.2348 2025-01-09T00:02:28.505Z,1736380948.505 [DAT](INFO): Rx dataTimestamp_ set to:1736380948.504659 2025-01-09T00:02:28.505Z,1736380948.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020607 2025-01-09T00:02:28.572Z,1736380948.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:28.588Z,1736380948.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:28.591Z,1736380948.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.70 m. 2025-01-09T00:02:28.597Z,1736380948.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.699997 m, nav range: 25.287296 m, bearing: 96.317859 deg, approach rate: 0.112311 m/s, LOS rate: 1.058098 deg/s, cmd heading: 83.662782 deg, new cmd heading: 85.148961 deg. 2025-01-09T00:02:28.598Z,1736380948.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.486130 target range: 93.699997 and range: 94.40 m. 2025-01-09T00:02:28.756Z,1736380948.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:28.758Z,1736380948.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272753 2025-01-09T00:02:29.008Z,1736380949.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:29.014Z,1736380949.014 [DAT](INFO): DAT read: 00:02:27.2348 LVL= 17248, 25249, 25010, 32755, AGC= 57, IDX= 428, 0.10,-1.070,-1.916, 2.942,-2.258, PHS= 1.276, 0.389,-1.086, RAW= 51.8, -5.7, CAL= 56.2, -10.8, ROT= 93.8, 10.8 2025-01-09T00:02:29.016Z,1736380949.016 [DAT](INFO): got valid direction response: 00:02:27.2348 LVL= 17248, 25249, 25010, 32755, AGC= 57, IDX= 428, 0.10,-1.070,-1.916, 2.942,-2.258, PHS= 1.276, 0.389,-1.086, RAW= 51.8, -5.7, CAL= 56.2, -10.8, ROT= 93.8, 10.8 2025-01-09T00:02:29.017Z,1736380949.017 [DAT](INFO): DAT read: Bearing 93.8, 10.8 (Local) 2025-01-09T00:02:29.017Z,1736380949.017 [DAT](INFO): Local bearing/azimuth received: Bearing 93.8, 10.8 (Local) 2025-01-09T00:02:29.019Z,1736380949.019 [DAT](INFO): DAT read: Range 10 to 50 : 94.8 m (Round-trip 126.5 ms) speed -0.1 m/s 2025-01-09T00:02:29.020Z,1736380949.020 [DAT](INFO): DAT read: user:3602> 2025-01-09T00:02:29.021Z,1736380949.021 [DAT](INFO): DAT read: Tx time:00:02:28.3541 2025-01-09T00:02:29.021Z,1736380949.021 [DAT](INFO): Ping request sent. 2025-01-09T00:02:29.021Z,1736380949.021 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:29.021Z,1736380949.021 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:02:29.022Z,1736380949.022 [DAT](INFO): direction in FSK: [0.092484,0.671905,0.734840] 2025-01-09T00:02:29.022Z,1736380949.022 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:29.023Z,1736380949.023 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:29.030Z,1736380949.030 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:29.030Z,1736380949.030 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:29.052Z,1736380949.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:29.107Z,1736380949.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.800003 m, deltaT: 3.527833 s, deltaX: 0.400002 m, approachRate: 0.113384 m/s, rangeRepo size: 4 2025-01-09T00:02:29.118Z,1736380949.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.800003 m, bearing: 77.458402 deg, lat: 36.904957 deg, lon: -122.120162 deg, deltaT: 7.324012 s, deltaX: 1.100006 m, approachRate: 0.150192 m/s, posRepo size: 4 2025-01-09T00:02:29.118Z,1736380949.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:29.129Z,1736380949.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 42.623619 m, bearing: 77.458255 deg, approach rate: 0.000000 m/s, LOS rate: 1.058098 deg/s, cmd heading: 85.148963 deg, new cmd heading: 86.785711 deg. 2025-01-09T00:02:29.130Z,1736380949.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.514696 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:29.260Z,1736380949.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:29.262Z,1736380949.262 [DAT](INFO): DAT read: TxSync time:00:02:28.3534 2025-01-09T00:02:29.512Z,1736380949.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:29.525Z,1736380949.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:29.551Z,1736380949.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:29.576Z,1736380949.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 42.592022 m, bearing: 77.769113 deg, approach rate: -0.071270 m/s, LOS rate: 0.701681 deg/s, cmd heading: 86.785709 deg, new cmd heading: 87.718889 deg. 2025-01-09T00:02:29.577Z,1736380949.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.530983 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:29.764Z,1736380949.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:29.988Z,1736380949.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:29.997Z,1736380949.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:30.001Z,1736380950.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 42.556431 m, bearing: 78.073129 deg, approach rate: -0.079603 m/s, LOS rate: 0.680526 deg/s, cmd heading: 87.718890 deg, new cmd heading: 88.631618 deg. 2025-01-09T00:02:30.002Z,1736380950.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546914 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:30.018Z,1736380950.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:30.268Z,1736380950.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:30.474Z,1736380950.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:30.485Z,1736380950.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:30.487Z,1736380950.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 42.524769 m, bearing: 78.413833 deg, approach rate: -0.064912 m/s, LOS rate: 0.699016 deg/s, cmd heading: 88.631615 deg, new cmd heading: 89.654374 deg. 2025-01-09T00:02:30.488Z,1736380950.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.564764 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:30.520Z,1736380950.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:30.772Z,1736380950.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:30.791Z,1736380950.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:30.834Z,1736380950.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:30.844Z,1736380950.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:30.846Z,1736380950.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 42.495998 m, bearing: 78.634543 deg, approach rate: -0.081963 m/s, LOS rate: 0.629200 deg/s, cmd heading: 89.654374 deg, new cmd heading: 90.316923 deg. 2025-01-09T00:02:30.856Z,1736380950.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.576328 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:31.024Z,1736380951.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:31.024Z,1736380951.024 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:31.024Z,1736380951.024 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:31.025Z,1736380951.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:31.201Z,1736380951.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:31.228Z,1736380951.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:31.231Z,1736380951.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 42.454151 m, bearing: 78.919030 deg, approach rate: -0.106480 m/s, LOS rate: 0.724584 deg/s, cmd heading: 90.316923 deg, new cmd heading: 91.171157 deg. 2025-01-09T00:02:31.233Z,1736380951.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.591237 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:31.276Z,1736380951.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:31.278Z,1736380951.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256479 2025-01-09T00:02:31.528Z,1736380951.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:31.529Z,1736380951.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507646 2025-01-09T00:02:31.647Z,1736380951.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:31.662Z,1736380951.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:31.668Z,1736380951.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 42.418152 m, bearing: 79.237083 deg, approach rate: -0.083109 m/s, LOS rate: 0.734880 deg/s, cmd heading: 91.171155 deg, new cmd heading: 92.126029 deg. 2025-01-09T00:02:31.670Z,1736380951.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.607903 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:31.780Z,1736380951.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:31.781Z,1736380951.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759579 2025-01-09T00:02:32.005Z,1736380952.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:32.014Z,1736380952.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:32.018Z,1736380952.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 42.380566 m, bearing: 79.490875 deg, approach rate: -0.106605 m/s, LOS rate: 0.720460 deg/s, cmd heading: 92.126029 deg, new cmd heading: 92.888033 deg. 2025-01-09T00:02:32.019Z,1736380952.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621202 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:32.040Z,1736380952.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:32.041Z,1736380952.041 [DAT](INFO): DAT read: Rx Time:00:02:30.8858 2025-01-09T00:02:32.041Z,1736380952.041 [DAT](INFO): Rx dataTimestamp_ set to:1736380952.040707 2025-01-09T00:02:32.041Z,1736380952.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020547 2025-01-09T00:02:32.292Z,1736380952.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:32.292Z,1736380952.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271356 2025-01-09T00:02:32.489Z,1736380952.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:32.498Z,1736380952.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.80 m. 2025-01-09T00:02:32.501Z,1736380952.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.800003 m, nav range: 42.328045 m, bearing: 79.842171 deg, approach rate: -0.108661 m/s, LOS rate: 0.727698 deg/s, cmd heading: 92.888032 deg, new cmd heading: 93.943103 deg. 2025-01-09T00:02:32.502Z,1736380952.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639616 target range: 94.800003 and range: 94.80 m. 2025-01-09T00:02:32.546Z,1736380952.546 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:32.549Z,1736380952.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527243 2025-01-09T00:02:32.796Z,1736380952.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:32.806Z,1736380952.806 [DAT](INFO): DAT read: 00:02:30.8858 LVL= 19264, 23985, 21906, 26451, AGC= 61, IDX= 437,-0.01, 2.651, 1.830, 0.557, 1.470, PHS= 1.269, 0.407,-0.916, RAW= 53.1, -8.0, CAL= 59.5, -14.3, ROT= 90.5, 14.3 2025-01-09T00:02:32.807Z,1736380952.807 [DAT](INFO): got valid direction response: 00:02:30.8858 LVL= 19264, 23985, 21906, 26451, AGC= 61, IDX= 437,-0.01, 2.651, 1.830, 0.557, 1.470, PHS= 1.269, 0.407,-0.916, RAW= 53.1, -8.0, CAL= 59.5, -14.3, ROT= 90.5, 14.3 2025-01-09T00:02:32.808Z,1736380952.808 [DAT](INFO): DAT read: Bearing 90.5, 14.3 (Local) 2025-01-09T00:02:32.809Z,1736380952.809 [DAT](INFO): Local bearing/azimuth received: Bearing 90.5, 14.3 (Local) 2025-01-09T00:02:32.810Z,1736380952.810 [DAT](INFO): DAT read: Range 10 to 50 : 95.5 m (Round-trip 127.4 ms) speed 0.1 m/s 2025-01-09T00:02:32.811Z,1736380952.811 [DAT](INFO): DAT read: user:3603> 2025-01-09T00:02:32.812Z,1736380952.812 [DAT](INFO): DAT read: Tx time:00:02:32.0042 2025-01-09T00:02:32.812Z,1736380952.812 [DAT](INFO): Ping request sent. 2025-01-09T00:02:32.812Z,1736380952.812 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:32.813Z,1736380952.813 [DAT](INFO): DAT read: TxSync time:00:02:32.0035 2025-01-09T00:02:32.813Z,1736380952.813 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:02:32.814Z,1736380952.814 [DAT](INFO): direction in FSK: [0.133610,0.651022,0.747208] 2025-01-09T00:02:32.814Z,1736380952.814 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:32.815Z,1736380952.815 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:32.818Z,1736380952.818 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:32.818Z,1736380952.818 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:32.866Z,1736380952.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:32.907Z,1736380952.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.500000 m, deltaT: 3.787835 s, deltaX: 0.699997 m, approachRate: 0.184801 m/s, rangeRepo size: 4 2025-01-09T00:02:32.916Z,1736380952.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.500000 m, bearing: 82.835539 deg, lat: 36.904957 deg, lon: -122.120152 deg, deltaT: 3.787835 s, deltaX: 0.699997 m, approachRate: 0.184801 m/s, posRepo size: 4 2025-01-09T00:02:32.918Z,1736380952.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-09T00:02:32.931Z,1736380952.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 43.156750 m, bearing: 80.317634 deg, approach rate: 0.000000 m/s, LOS rate: 0.727698 deg/s, cmd heading: 93.943105 deg, new cmd heading: 94.818181 deg. 2025-01-09T00:02:32.957Z,1736380952.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654889 target range: 95.500000 and range: 95.50 m. 2025-01-09T00:02:33.050Z,1736380953.050 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:33.249Z,1736380953.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:33.256Z,1736380953.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:33.258Z,1736380953.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-09T00:02:33.262Z,1736380953.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 43.107456 m, bearing: 80.588198 deg, approach rate: -0.137042 m/s, LOS rate: 0.753059 deg/s, cmd heading: 94.818182 deg, new cmd heading: 95.630744 deg. 2025-01-09T00:02:33.263Z,1736380953.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669071 target range: 95.500000 and range: 95.50 m. 2025-01-09T00:02:33.304Z,1736380953.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:33.305Z,1736380953.305 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:33.305Z,1736380953.305 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:33.306Z,1736380953.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:33.556Z,1736380953.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:33.556Z,1736380953.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744103 2025-01-09T00:02:33.681Z,1736380953.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:33.691Z,1736380953.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-09T00:02:33.694Z,1736380953.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 43.048141 m, bearing: 80.884780 deg, approach rate: -0.137048 m/s, LOS rate: 0.686200 deg/s, cmd heading: 95.630742 deg, new cmd heading: 96.521641 deg. 2025-01-09T00:02:33.695Z,1736380953.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.684620 target range: 95.500000 and range: 95.50 m. 2025-01-09T00:02:33.808Z,1736380953.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:33.810Z,1736380953.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997549 2025-01-09T00:02:34.046Z,1736380954.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:34.060Z,1736380954.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:34.062Z,1736380954.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249399 2025-01-09T00:02:34.070Z,1736380954.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-09T00:02:34.075Z,1736380954.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 42.993683 m, bearing: 81.134833 deg, approach rate: -0.143989 m/s, LOS rate: 0.661977 deg/s, cmd heading: 96.521638 deg, new cmd heading: 97.272701 deg. 2025-01-09T00:02:34.077Z,1736380954.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.697729 target range: 95.500000 and range: 95.50 m. 2025-01-09T00:02:34.313Z,1736380954.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:34.314Z,1736380954.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501717 2025-01-09T00:02:34.513Z,1736380954.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:34.527Z,1736380954.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-09T00:02:34.530Z,1736380954.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 42.913933 m, bearing: 81.447867 deg, approach rate: -0.174228 m/s, LOS rate: 0.685147 deg/s, cmd heading: 97.272699 deg, new cmd heading: 98.213457 deg. 2025-01-09T00:02:34.531Z,1736380954.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.714148 target range: 95.500000 and range: 95.50 m. 2025-01-09T00:02:34.564Z,1736380954.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:34.565Z,1736380954.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752417 2025-01-09T00:02:34.816Z,1736380954.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:34.816Z,1736380954.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004229 2025-01-09T00:02:34.879Z,1736380954.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:34.891Z,1736380954.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-09T00:02:34.893Z,1736380954.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 42.847336 m, bearing: 81.691966 deg, approach rate: -0.183078 m/s, LOS rate: 0.672078 deg/s, cmd heading: 98.213455 deg, new cmd heading: 98.946846 deg. 2025-01-09T00:02:34.894Z,1736380954.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726948 target range: 95.500000 and range: 95.50 m. 2025-01-09T00:02:35.068Z,1736380955.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:35.068Z,1736380955.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256212 2025-01-09T00:02:35.259Z,1736380955.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:35.267Z,1736380955.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:35.269Z,1736380955.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-09T00:02:35.272Z,1736380955.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 42.774197 m, bearing: 81.944034 deg, approach rate: -0.193250 m/s, LOS rate: 0.667158 deg/s, cmd heading: 98.946847 deg, new cmd heading: 99.704299 deg. 2025-01-09T00:02:35.273Z,1736380955.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.740168 target range: 95.500000 and range: 95.50 m. 2025-01-09T00:02:35.321Z,1736380955.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:35.322Z,1736380955.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509590 2025-01-09T00:02:35.572Z,1736380955.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:35.572Z,1736380955.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760238 2025-01-09T00:02:35.697Z,1736380955.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:35.722Z,1736380955.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-09T00:02:35.729Z,1736380955.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 42.679909 m, bearing: 82.221406 deg, approach rate: -0.207999 m/s, LOS rate: 0.613232 deg/s, cmd heading: 99.704301 deg, new cmd heading: 100.538194 deg. 2025-01-09T00:02:35.730Z,1736380955.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754722 target range: 95.500000 and range: 95.50 m. 2025-01-09T00:02:35.824Z,1736380955.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:35.825Z,1736380955.825 [DAT](INFO): DAT read: Rx Time:00:02:34.5355 2025-01-09T00:02:35.826Z,1736380955.826 [DAT](INFO): Rx dataTimestamp_ set to:1736380955.825355 2025-01-09T00:02:35.827Z,1736380955.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014382 2025-01-09T00:02:36.076Z,1736380956.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:36.076Z,1736380956.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264270 2025-01-09T00:02:36.112Z,1736380956.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:36.124Z,1736380956.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.50 m. 2025-01-09T00:02:36.131Z,1736380956.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.500000 m, nav range: 42.586491 m, bearing: 82.482148 deg, approach rate: -0.232345 m/s, LOS rate: 0.649924 deg/s, cmd heading: 100.538192 deg, new cmd heading: 101.322080 deg. 2025-01-09T00:02:36.133Z,1736380956.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.768404 target range: 95.500000 and range: 95.50 m. 2025-01-09T00:02:36.329Z,1736380956.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:36.339Z,1736380956.339 [DAT](INFO): DAT read: 00:02:34.5355 LVL= 17792, 31937, 16866, 23283, AGC= 57, IDX= 434, 0.11,-0.729,-2.215,-2.649,-2.048, PHS= 1.407,-0.120,-0.604, RAW= 76.7, -7.6, CAL= 86.4, -15.7, ROT= 63.6, 15.7 2025-01-09T00:02:36.340Z,1736380956.340 [DAT](INFO): got valid direction response: 00:02:34.5355 LVL= 17792, 31937, 16866, 23283, AGC= 57, IDX= 434, 0.11,-0.729,-2.215,-2.649,-2.048, PHS= 1.407,-0.120,-0.604, RAW= 76.7, -7.6, CAL= 86.4, -15.7, ROT= 63.6, 15.7 2025-01-09T00:02:36.341Z,1736380956.341 [DAT](INFO): DAT read: Bearing 63.6, 15.7 (Local) 2025-01-09T00:02:36.341Z,1736380956.341 [DAT](INFO): Local bearing/azimuth received: Bearing 63.6, 15.7 (Local) 2025-01-09T00:02:36.343Z,1736380956.343 [DAT](INFO): DAT read: Range 10 to 50 : 95.3 m (Round-trip 127.1 ms) speed 0.2 m/s 2025-01-09T00:02:36.347Z,1736380956.347 [DAT](INFO): DAT read: user:3604> 2025-01-09T00:02:36.351Z,1736380956.351 [DAT](INFO): DAT read: Tx time:00:02:35.6542 2025-01-09T00:02:36.352Z,1736380956.352 [DAT](INFO): Ping request sent. 2025-01-09T00:02:36.352Z,1736380956.352 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:36.352Z,1736380956.352 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:02:36.353Z,1736380956.353 [DAT](INFO): direction in FSK: [0.080901,0.319740,0.944045] 2025-01-09T00:02:36.353Z,1736380956.353 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:36.354Z,1736380956.354 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:36.357Z,1736380956.357 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:36.357Z,1736380956.357 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:36.580Z,1736380956.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:36.581Z,1736380956.581 [DAT](INFO): DAT read: TxSync time:00:02:35.6535 2025-01-09T00:02:36.598Z,1736380956.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:36.634Z,1736380956.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.300003 m, deltaT: 3.533558 s, deltaX: -0.199997 m, approachRate: -0.056599 m/s, rangeRepo size: 4 2025-01-09T00:02:36.641Z,1736380956.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.300003 m, bearing: 55.839459 deg, lat: 36.904957 deg, lon: -122.120152 deg, deltaT: 3.533558 s, deltaX: -0.199997 m, approachRate: -0.056599 m/s, posRepo size: 4 2025-01-09T00:02:36.641Z,1736380956.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-09T00:02:36.649Z,1736380956.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 42.458481 m, bearing: 82.767161 deg, approach rate: 0.000000 m/s, LOS rate: 0.649924 deg/s, cmd heading: 101.322079 deg, new cmd heading: 102.314589 deg. 2025-01-09T00:02:36.651Z,1736380956.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785726 target range: 95.300003 and range: 95.30 m. 2025-01-09T00:02:36.833Z,1736380956.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:36.946Z,1736380956.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:36.974Z,1736380956.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-09T00:02:36.986Z,1736380956.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 42.363800 m, bearing: 82.968568 deg, approach rate: -0.277906 m/s, LOS rate: 0.592487 deg/s, cmd heading: 102.314588 deg, new cmd heading: 102.920133 deg. 2025-01-09T00:02:36.986Z,1736380956.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.796295 target range: 95.300003 and range: 95.30 m. 2025-01-09T00:02:37.084Z,1736380957.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:37.336Z,1736380957.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:37.353Z,1736380957.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:37.360Z,1736380957.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:37.362Z,1736380957.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-09T00:02:37.385Z,1736380957.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 42.248409 m, bearing: 83.201377 deg, approach rate: -0.297400 m/s, LOS rate: 0.601665 deg/s, cmd heading: 102.920132 deg, new cmd heading: 103.620432 deg. 2025-01-09T00:02:37.386Z,1736380957.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.808518 target range: 95.300003 and range: 95.30 m. 2025-01-09T00:02:37.588Z,1736380957.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:37.588Z,1736380957.588 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:37.589Z,1736380957.589 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:37.589Z,1736380957.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:37.789Z,1736380957.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:37.798Z,1736380957.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-09T00:02:37.802Z,1736380957.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 42.121143 m, bearing: 83.427615 deg, approach rate: -0.292105 m/s, LOS rate: 0.520836 deg/s, cmd heading: 103.620431 deg, new cmd heading: 104.301160 deg. 2025-01-09T00:02:37.803Z,1736380957.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.820399 target range: 95.300003 and range: 95.30 m. 2025-01-09T00:02:37.841Z,1736380957.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:37.842Z,1736380957.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489809 2025-01-09T00:02:38.092Z,1736380958.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:38.092Z,1736380958.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740510 2025-01-09T00:02:38.160Z,1736380958.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:38.186Z,1736380958.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-09T00:02:38.192Z,1736380958.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 42.009350 m, bearing: 83.616156 deg, approach rate: -0.288366 m/s, LOS rate: 0.487626 deg/s, cmd heading: 104.301162 deg, new cmd heading: 104.868271 deg. 2025-01-09T00:02:38.193Z,1736380958.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.830297 target range: 95.300003 and range: 95.30 m. 2025-01-09T00:02:38.344Z,1736380958.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:38.344Z,1736380958.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992616 2025-01-09T00:02:38.596Z,1736380958.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:38.596Z,1736380958.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244643 2025-01-09T00:02:38.632Z,1736380958.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:38.641Z,1736380958.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-09T00:02:38.644Z,1736380958.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 41.858047 m, bearing: 83.842788 deg, approach rate: -0.332245 m/s, LOS rate: 0.499460 deg/s, cmd heading: 104.868272 deg, new cmd heading: 105.550594 deg. 2025-01-09T00:02:38.645Z,1736380958.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.842205 target range: 95.300003 and range: 95.30 m. 2025-01-09T00:02:38.848Z,1736380958.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:38.849Z,1736380958.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496513 2025-01-09T00:02:38.977Z,1736380958.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:38.989Z,1736380958.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-09T00:02:38.993Z,1736380958.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 41.744164 m, bearing: 84.005709 deg, approach rate: -0.327961 m/s, LOS rate: 0.470454 deg/s, cmd heading: 105.550595 deg, new cmd heading: 106.040677 deg. 2025-01-09T00:02:38.994Z,1736380958.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.850759 target range: 95.300003 and range: 95.30 m. 2025-01-09T00:02:39.100Z,1736380959.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:39.101Z,1736380959.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749335 2025-01-09T00:02:39.352Z,1736380959.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:39.353Z,1736380959.353 [DAT](INFO): DAT read: Rx Time:00:02:38.1842 2025-01-09T00:02:39.353Z,1736380959.353 [DAT](INFO): Rx dataTimestamp_ set to:1736380959.352788 2025-01-09T00:02:39.354Z,1736380959.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001775 2025-01-09T00:02:39.377Z,1736380959.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:39.385Z,1736380959.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:39.387Z,1736380959.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-09T00:02:39.390Z,1736380959.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 41.609936 m, bearing: 84.189497 deg, approach rate: -0.336586 m/s, LOS rate: 0.462348 deg/s, cmd heading: 106.040674 deg, new cmd heading: 106.593799 deg. 2025-01-09T00:02:39.391Z,1736380959.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.860413 target range: 95.300003 and range: 95.30 m. 2025-01-09T00:02:39.604Z,1736380959.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:39.604Z,1736380959.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252387 2025-01-09T00:02:39.796Z,1736380959.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:39.805Z,1736380959.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m. 2025-01-09T00:02:39.824Z,1736380959.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.300003 m, nav range: 41.466320 m, bearing: 84.373107 deg, approach rate: -0.343967 m/s, LOS rate: 0.441279 deg/s, cmd heading: 106.593797 deg, new cmd heading: 107.146517 deg. 2025-01-09T00:02:39.825Z,1736380959.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870059 target range: 95.300003 and range: 95.30 m. 2025-01-09T00:02:39.858Z,1736380959.858 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:39.860Z,1736380959.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507943 2025-01-09T00:02:40.108Z,1736380960.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:40.116Z,1736380960.116 [DAT](INFO): DAT read: 00:02:38.1842 LVL= 16864, 32721, 25650, 32755, AGC= 58, IDX= 421, 0.21,-2.898, 1.812, 2.008, 2.521, PHS= 0.953,-0.662,-0.515, RAW= 94.7, 2.9, CAL= 103.5, 0.9, ROT= 46.5, -0.9 2025-01-09T00:02:40.118Z,1736380960.118 [DAT](INFO): got valid direction response: 00:02:38.1842 LVL= 16864, 32721, 25650, 32755, AGC= 58, IDX= 421, 0.21,-2.898, 1.812, 2.008, 2.521, PHS= 0.953,-0.662,-0.515, RAW= 94.7, 2.9, CAL= 103.5, 0.9, ROT= 46.5, -0.9 2025-01-09T00:02:40.120Z,1736380960.120 [DAT](INFO): DAT read: Bearing 46.5, -0.9 (Local) 2025-01-09T00:02:40.121Z,1736380960.121 [DAT](INFO): Local bearing/azimuth received: Bearing 46.5, -0.9 (Local) 2025-01-09T00:02:40.124Z,1736380960.124 [DAT](INFO): DAT read: Range 10 to 50 : 94.3 m (Round-trip 125.8 ms) speed 0.2 m/s 2025-01-09T00:02:40.125Z,1736380960.125 [DAT](INFO): DAT read: user:3605> 2025-01-09T00:02:40.126Z,1736380960.126 [DAT](INFO): DAT read: Tx time:00:02:39.3042 2025-01-09T00:02:40.127Z,1736380960.127 [DAT](INFO): Ping request sent. 2025-01-09T00:02:40.127Z,1736380960.127 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:40.148Z,1736380960.148 [DAT](INFO): DAT read: TxSync time:00:02:39.3035 2025-01-09T00:02:40.148Z,1736380960.148 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:02:40.150Z,1736380960.150 [DAT](INFO): direction in FSK: [-0.148227,0.028436,0.988545] 2025-01-09T00:02:40.150Z,1736380960.150 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:40.150Z,1736380960.150 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:40.170Z,1736380960.170 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:40.170Z,1736380960.170 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:40.234Z,1736380960.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:40.274Z,1736380960.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.300003 m, deltaT: 3.779078 s, deltaX: -1.000000 m, approachRate: -0.264615 m/s, rangeRepo size: 4 2025-01-09T00:02:40.280Z,1736380960.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.300003 m, bearing: 278.097118 deg, lat: 36.904956 deg, lon: -122.120162 deg, deltaT: 3.779078 s, deltaX: -1.000000 m, approachRate: -0.264615 m/s, posRepo size: 4 2025-01-09T00:02:40.281Z,1736380960.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m. 2025-01-09T00:02:40.288Z,1736380960.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.300003 m, nav range: 40.425098 m, bearing: 84.602552 deg, approach rate: 0.000000 m/s, LOS rate: 0.441279 deg/s, cmd heading: 107.146516 deg, new cmd heading: 107.766809 deg. 2025-01-09T00:02:40.289Z,1736380960.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.880886 target range: 94.300003 and range: 94.30 m. 2025-01-09T00:02:40.360Z,1736380960.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:40.612Z,1736380960.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:40.728Z,1736380960.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:40.738Z,1736380960.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m. 2025-01-09T00:02:40.761Z,1736380960.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.300003 m, nav range: 40.251930 m, bearing: 84.815436 deg, approach rate: -0.372821 m/s, LOS rate: 0.460299 deg/s, cmd heading: 107.766807 deg, new cmd heading: 108.408180 deg. 2025-01-09T00:02:40.762Z,1736380960.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.892080 target range: 94.300003 and range: 94.30 m. 2025-01-09T00:02:40.866Z,1736380960.866 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:41.117Z,1736380961.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:41.140Z,1736380961.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:41.149Z,1736380961.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m. 2025-01-09T00:02:41.152Z,1736380961.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.300003 m, nav range: 40.107727 m, bearing: 84.994648 deg, approach rate: -0.350894 m/s, LOS rate: 0.437649 deg/s, cmd heading: 108.408182 deg, new cmd heading: 108.947733 deg. 2025-01-09T00:02:41.153Z,1736380961.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.901497 target range: 94.300003 and range: 94.30 m. 2025-01-09T00:02:41.368Z,1736380961.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:41.613Z,1736380961.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:41.620Z,1736380961.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:41.622Z,1736380961.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:41.625Z,1736380961.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m. 2025-01-09T00:02:41.633Z,1736380961.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.300003 m, nav range: 39.947483 m, bearing: 85.194952 deg, approach rate: -0.336682 m/s, LOS rate: 0.422539 deg/s, cmd heading: 108.947733 deg, new cmd heading: 109.551033 deg. 2025-01-09T00:02:41.634Z,1736380961.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.912026 target range: 94.300003 and range: 94.30 m. 2025-01-09T00:02:41.873Z,1736380961.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:41.874Z,1736380961.874 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:41.874Z,1736380961.874 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:41.874Z,1736380961.874 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:42.007Z,1736380962.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:42.030Z,1736380962.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m. 2025-01-09T00:02:42.044Z,1736380962.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.300003 m, nav range: 39.811440 m, bearing: 85.358040 deg, approach rate: -0.335208 m/s, LOS rate: 0.403217 deg/s, cmd heading: 109.551030 deg, new cmd heading: 110.041952 deg. 2025-01-09T00:02:42.045Z,1736380962.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.920594 target range: 94.300003 and range: 94.30 m. 2025-01-09T00:02:42.124Z,1736380962.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:42.126Z,1736380962.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998977 2025-01-09T00:02:42.367Z,1736380962.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:42.376Z,1736380962.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:42.377Z,1736380962.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249810 2025-01-09T00:02:42.377Z,1736380962.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m. 2025-01-09T00:02:42.387Z,1736380962.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.300003 m, nav range: 39.684788 m, bearing: 85.503646 deg, approach rate: -0.367073 m/s, LOS rate: 0.423354 deg/s, cmd heading: 110.041950 deg, new cmd heading: 110.480153 deg. 2025-01-09T00:02:42.388Z,1736380962.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.928242 target range: 94.300003 and range: 94.30 m. 2025-01-09T00:02:42.628Z,1736380962.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:42.628Z,1736380962.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501721 2025-01-09T00:02:42.798Z,1736380962.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:42.808Z,1736380962.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m. 2025-01-09T00:02:42.816Z,1736380962.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.300003 m, nav range: 39.529556 m, bearing: 85.670200 deg, approach rate: -0.359648 m/s, LOS rate: 0.387394 deg/s, cmd heading: 110.480154 deg, new cmd heading: 110.981763 deg. 2025-01-09T00:02:42.817Z,1736380962.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.936997 target range: 94.300003 and range: 94.30 m. 2025-01-09T00:02:42.884Z,1736380962.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:42.885Z,1736380962.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758039 2025-01-09T00:02:43.136Z,1736380963.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:43.137Z,1736380963.137 [DAT](INFO): DAT read: Rx Time:00:02:41.8330 2025-01-09T00:02:43.137Z,1736380963.137 [DAT](INFO): Rx dataTimestamp_ set to:1736380963.136723 2025-01-09T00:02:43.138Z,1736380963.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010816 2025-01-09T00:02:43.163Z,1736380963.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:43.192Z,1736380963.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.30 m. 2025-01-09T00:02:43.195Z,1736380963.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.300003 m, nav range: 39.395927 m, bearing: 85.807359 deg, approach rate: -0.346983 m/s, LOS rate: 0.357358 deg/s, cmd heading: 110.981763 deg, new cmd heading: 111.394629 deg. 2025-01-09T00:02:43.201Z,1736380963.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.944203 target range: 94.300003 and range: 94.30 m. 2025-01-09T00:02:43.388Z,1736380963.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:43.388Z,1736380963.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261594 2025-01-09T00:02:43.640Z,1736380963.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:43.656Z,1736380963.656 [DAT](INFO): DAT read: 00:02:41.8330 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 424, 0.35,-2.880, 1.753, 2.373, 2.746, PHS= 0.746,-0.946,-0.376, RAW= 109.4, 7.8, CAL= 119.4, 5.3, ROT= 30.6, -5.3 2025-01-09T00:02:43.658Z,1736380963.658 [DAT](INFO): got valid direction response: 00:02:41.8330 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 424, 0.35,-2.880, 1.753, 2.373, 2.746, PHS= 0.746,-0.946,-0.376, RAW= 109.4, 7.8, CAL= 119.4, 5.3, ROT= 30.6, -5.3 2025-01-09T00:02:43.659Z,1736380963.659 [DAT](INFO): DAT read: Bearing 30.6, -5.3 (Local) 2025-01-09T00:02:43.660Z,1736380963.660 [DAT](INFO): Local bearing/azimuth received: Bearing 30.6, -5.3 (Local) 2025-01-09T00:02:43.662Z,1736380963.662 [DAT](INFO): DAT read: Range 10 to 50 : 93.4 m (Round-trip 124.6 ms) speed 0.5 m/s 2025-01-09T00:02:43.688Z,1736380963.688 [DAT](INFO): DAT read: user:3606> 2025-01-09T00:02:43.688Z,1736380963.688 [DAT](INFO): DAT read: Tx time:00:02:42.9542 2025-01-09T00:02:43.689Z,1736380963.689 [DAT](INFO): Ping request sent. 2025-01-09T00:02:43.689Z,1736380963.689 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:43.689Z,1736380963.689 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:02:43.690Z,1736380963.690 [DAT](INFO): direction in FSK: [-0.258951,-0.220100,0.940479] 2025-01-09T00:02:43.690Z,1736380963.690 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:43.691Z,1736380963.691 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:43.702Z,1736380963.702 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:43.702Z,1736380963.702 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:43.738Z,1736380963.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:43.777Z,1736380963.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.400002 m, deltaT: 3.531960 s, deltaX: -0.900002 m, approachRate: -0.254816 m/s, rangeRepo size: 4 2025-01-09T00:02:43.788Z,1736380963.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.400002 m, bearing: 289.916544 deg, lat: 36.904956 deg, lon: -122.120539 deg, deltaT: 3.531960 s, deltaX: -0.900002 m, approachRate: -0.254816 m/s, posRepo size: 4 2025-01-09T00:02:43.788Z,1736380963.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-09T00:02:43.791Z,1736380963.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 6.179829 m, bearing: 64.051091 deg, approach rate: 0.000000 m/s, LOS rate: 0.357358 deg/s, cmd heading: 111.394628 deg, new cmd heading: 112.021314 deg. 2025-01-09T00:02:43.796Z,1736380963.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.955141 target range: 93.400002 and range: 93.40 m. 2025-01-09T00:02:43.893Z,1736380963.893 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:43.894Z,1736380963.894 [DAT](INFO): DAT read: TxSync time:00:02:42.9535 2025-01-09T00:02:44.117Z,1736380964.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:44.141Z,1736380964.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:44.142Z,1736380964.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-09T00:02:44.144Z,1736380964.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:44.144Z,1736380964.144 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:44.144Z,1736380964.144 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:44.145Z,1736380964.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:44.153Z,1736380964.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 6.005134 m, bearing: 64.350158 deg, approach rate: -0.477660 m/s, LOS rate: 0.841507 deg/s, cmd heading: 112.021311 deg, new cmd heading: 112.944527 deg. 2025-01-09T00:02:44.154Z,1736380964.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.971254 target range: 93.400002 and range: 93.40 m. 2025-01-09T00:02:44.396Z,1736380964.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:44.397Z,1736380964.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.708146 2025-01-09T00:02:44.500Z,1736380964.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:44.509Z,1736380964.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-09T00:02:44.512Z,1736380964.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 5.828217 m, bearing: 64.623763 deg, approach rate: -0.483001 m/s, LOS rate: 0.769638 deg/s, cmd heading: 112.944527 deg, new cmd heading: 113.790193 deg. 2025-01-09T00:02:44.513Z,1736380964.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.986014 target range: 93.400002 and range: 93.40 m. 2025-01-09T00:02:44.649Z,1736380964.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:44.650Z,1736380964.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.961249 2025-01-09T00:02:44.900Z,1736380964.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:44.901Z,1736380964.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.211801 2025-01-09T00:02:44.936Z,1736380964.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:44.945Z,1736380964.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-09T00:02:44.947Z,1736380964.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 5.604665 m, bearing: 64.908551 deg, approach rate: -0.512892 m/s, LOS rate: 0.679447 deg/s, cmd heading: 113.790193 deg, new cmd heading: 114.678561 deg. 2025-01-09T00:02:44.949Z,1736380964.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.001518 target range: 93.400002 and range: 93.40 m. 2025-01-09T00:02:45.153Z,1736380965.153 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:45.156Z,1736380965.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466883 2025-01-09T00:02:45.300Z,1736380965.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:45.324Z,1736380965.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-09T00:02:45.334Z,1736380965.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 5.417783 m, bearing: 65.107302 deg, approach rate: -0.492613 m/s, LOS rate: 0.541970 deg/s, cmd heading: 114.678562 deg, new cmd heading: 115.295358 deg. 2025-01-09T00:02:45.341Z,1736380965.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.012284 target range: 93.400002 and range: 93.40 m. 2025-01-09T00:02:45.406Z,1736380965.406 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:45.407Z,1736380965.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718069 2025-01-09T00:02:45.656Z,1736380965.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:45.657Z,1736380965.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968319 2025-01-09T00:02:45.754Z,1736380965.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:45.762Z,1736380965.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-09T00:02:45.766Z,1736380965.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 5.175142 m, bearing: 65.376953 deg, approach rate: -0.553455 m/s, LOS rate: 0.643898 deg/s, cmd heading: 115.295355 deg, new cmd heading: 116.142171 deg. 2025-01-09T00:02:45.768Z,1736380965.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.027063 target range: 93.400002 and range: 93.40 m. 2025-01-09T00:02:45.908Z,1736380965.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:45.909Z,1736380965.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219788 2025-01-09T00:02:46.113Z,1736380966.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:46.122Z,1736380966.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-09T00:02:46.125Z,1736380966.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 4.982984 m, bearing: 65.490338 deg, approach rate: -0.534822 m/s, LOS rate: 0.327747 deg/s, cmd heading: 116.142176 deg, new cmd heading: 116.495443 deg. 2025-01-09T00:02:46.127Z,1736380966.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.033229 target range: 93.400002 and range: 93.40 m. 2025-01-09T00:02:46.161Z,1736380966.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:46.162Z,1736380966.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473337 2025-01-09T00:02:46.412Z,1736380966.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:46.412Z,1736380966.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723509 2025-01-09T00:02:46.520Z,1736380966.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:46.527Z,1736380966.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:46.529Z,1736380966.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-09T00:02:46.532Z,1736380966.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 4.765445 m, bearing: 65.564210 deg, approach rate: -0.534461 m/s, LOS rate: 0.189777 deg/s, cmd heading: 116.495447 deg, new cmd heading: 116.727178 deg. 2025-01-09T00:02:46.533Z,1736380966.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.037274 target range: 93.400002 and range: 93.40 m. 2025-01-09T00:02:46.664Z,1736380966.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:46.667Z,1736380966.667 [DAT](INFO): DAT read: Rx Time:00:02:45.4813 2025-01-09T00:02:46.668Z,1736380966.668 [DAT](INFO): Rx dataTimestamp_ set to:1736380966.667411 2025-01-09T00:02:46.669Z,1736380966.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979827 2025-01-09T00:02:46.916Z,1736380966.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:46.917Z,1736380966.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228145 2025-01-09T00:02:46.942Z,1736380966.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:46.956Z,1736380966.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-09T00:02:46.958Z,1736380966.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 4.533362 m, bearing: 65.622004 deg, approach rate: -0.549297 m/s, LOS rate: 0.143793 deg/s, cmd heading: 116.727182 deg, new cmd heading: 116.909442 deg. 2025-01-09T00:02:46.980Z,1736380966.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.040455 target range: 93.400002 and range: 93.40 m. 2025-01-09T00:02:47.169Z,1736380967.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:47.171Z,1736380967.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481773 2025-01-09T00:02:47.320Z,1736380967.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:47.328Z,1736380967.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-01-09T00:02:47.331Z,1736380967.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.400002 m, nav range: 4.325694 m, bearing: 65.607050 deg, approach rate: -0.550815 m/s, LOS rate: -0.041569 deg/s, cmd heading: 116.909438 deg, new cmd heading: 116.862421 deg. 2025-01-09T00:02:47.348Z,1736380967.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.039634 target range: 93.400002 and range: 93.40 m. 2025-01-09T00:02:47.420Z,1736380967.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:47.430Z,1736380967.430 [DAT](INFO): DAT read: 00:02:45.4813 LVL= 32128, 32753, 30914, 32755, AGC= 65, IDX= 420, 0.20, 0.786,-0.626, 0.119, 0.238, PHS= 0.636,-0.817,-0.122, RAW= 118.6, 4.9, CAL= 128.4, 0.8, ROT= 21.6, -0.8 2025-01-09T00:02:47.431Z,1736380967.431 [DAT](INFO): got valid direction response: 00:02:45.4813 LVL= 32128, 32753, 30914, 32755, AGC= 65, IDX= 420, 0.20, 0.786,-0.626, 0.119, 0.238, PHS= 0.636,-0.817,-0.122, RAW= 118.6, 4.9, CAL= 128.4, 0.8, ROT= 21.6, -0.8 2025-01-09T00:02:47.433Z,1736380967.433 [DAT](INFO): DAT read: Bearing 21.6, -0.8 (Local) 2025-01-09T00:02:47.433Z,1736380967.433 [DAT](INFO): Local bearing/azimuth received: Bearing 21.6, -0.8 (Local) 2025-01-09T00:02:47.436Z,1736380967.436 [DAT](INFO): DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.8 ms) speed 0.4 m/s 2025-01-09T00:02:47.436Z,1736380967.436 [DAT](INFO): DAT read: user:3607> 2025-01-09T00:02:47.437Z,1736380967.437 [DAT](INFO): DAT read: Tx time:00:02:46.6043 2025-01-09T00:02:47.437Z,1736380967.437 [DAT](INFO): Ping request sent. 2025-01-09T00:02:47.437Z,1736380967.437 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:47.438Z,1736380967.438 [DAT](INFO): DAT read: TxSync time:00:02:46.6036 2025-01-09T00:02:47.439Z,1736380967.439 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:02:47.440Z,1736380967.440 [DAT](INFO): direction in FSK: [-0.213079,-0.382408,0.899089] 2025-01-09T00:02:47.441Z,1736380967.441 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:47.441Z,1736380967.441 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:47.444Z,1736380967.444 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:47.444Z,1736380967.444 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:47.673Z,1736380967.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:47.783Z,1736380967.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:47.825Z,1736380967.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.780431 s, deltaX: -1.300003 m, approachRate: -0.343877 m/s, rangeRepo size: 4 2025-01-09T00:02:47.831Z,1736380967.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.099998 m, bearing: 318.248186 deg, lat: 36.904956 deg, lon: -122.120906 deg, deltaT: 3.780431 s, deltaX: -1.300003 m, approachRate: -0.343877 m/s, posRepo size: 4 2025-01-09T00:02:47.833Z,1736380967.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-09T00:02:47.840Z,1736380967.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 28.987326 m, bearing: 273.304667 deg, approach rate: 0.000000 m/s, LOS rate: -0.041569 deg/s, cmd heading: 116.862419 deg, new cmd heading: 116.800541 deg. 2025-01-09T00:02:47.841Z,1736380967.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.038554 target range: 92.099998 and range: 92.10 m. 2025-01-09T00:02:47.924Z,1736380967.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:48.145Z,1736380968.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:48.153Z,1736380968.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-09T00:02:48.156Z,1736380968.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 29.174351 m, bearing: 273.116501 deg, approach rate: 0.569322 m/s, LOS rate: -0.569120 deg/s, cmd heading: 116.800538 deg, new cmd heading: 116.239679 deg. 2025-01-09T00:02:48.157Z,1736380968.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.028765 target range: 92.099998 and range: 92.10 m. 2025-01-09T00:02:48.176Z,1736380968.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:48.428Z,1736380968.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:48.559Z,1736380968.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:48.567Z,1736380968.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:48.569Z,1736380968.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-09T00:02:48.572Z,1736380968.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 29.388765 m, bearing: 272.904105 deg, approach rate: 0.515484 m/s, LOS rate: -0.506907 deg/s, cmd heading: 116.239684 deg, new cmd heading: 115.607169 deg. 2025-01-09T00:02:48.573Z,1736380968.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.017726 target range: 92.099998 and range: 92.10 m. 2025-01-09T00:02:48.682Z,1736380968.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:48.683Z,1736380968.683 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:48.684Z,1736380968.684 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:48.685Z,1736380968.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:48.932Z,1736380968.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:48.933Z,1736380968.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495798 2025-01-09T00:02:48.961Z,1736380968.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:49.004Z,1736380969.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-09T00:02:49.006Z,1736380969.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 29.625734 m, bearing: 272.761753 deg, approach rate: 0.551320 m/s, LOS rate: -0.328538 deg/s, cmd heading: 115.607167 deg, new cmd heading: 115.183537 deg. 2025-01-09T00:02:49.012Z,1736380969.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.010332 target range: 92.099998 and range: 92.10 m. 2025-01-09T00:02:49.184Z,1736380969.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:49.185Z,1736380969.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747536 2025-01-09T00:02:49.343Z,1736380969.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:49.352Z,1736380969.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-09T00:02:49.355Z,1736380969.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 29.852169 m, bearing: 272.641147 deg, approach rate: 0.641080 m/s, LOS rate: -0.338870 deg/s, cmd heading: 115.183532 deg, new cmd heading: 114.824461 deg. 2025-01-09T00:02:49.376Z,1736380969.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.004065 target range: 92.099998 and range: 92.10 m. 2025-01-09T00:02:49.436Z,1736380969.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:49.437Z,1736380969.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999272 2025-01-09T00:02:49.689Z,1736380969.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:49.691Z,1736380969.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253586 2025-01-09T00:02:49.770Z,1736380969.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:49.779Z,1736380969.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-09T00:02:49.797Z,1736380969.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 30.121284 m, bearing: 272.558368 deg, approach rate: 0.630909 m/s, LOS rate: -0.192331 deg/s, cmd heading: 114.824455 deg, new cmd heading: 114.578338 deg. 2025-01-09T00:02:49.799Z,1736380969.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.999769 target range: 92.099998 and range: 92.10 m. 2025-01-09T00:02:49.940Z,1736380969.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:49.941Z,1736380969.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503407 2025-01-09T00:02:50.160Z,1736380970.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:50.171Z,1736380970.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-09T00:02:50.176Z,1736380970.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 30.368044 m, bearing: 272.497486 deg, approach rate: 0.630874 m/s, LOS rate: -0.154389 deg/s, cmd heading: 114.578336 deg, new cmd heading: 114.397174 deg. 2025-01-09T00:02:50.176Z,1736380970.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.996607 target range: 92.099998 and range: 92.10 m. 2025-01-09T00:02:50.194Z,1736380970.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:50.196Z,1736380970.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757796 2025-01-09T00:02:50.444Z,1736380970.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:50.444Z,1736380970.444 [DAT](INFO): DAT read: Rx Time:00:02:49.1283 2025-01-09T00:02:50.445Z,1736380970.445 [DAT](INFO): Rx dataTimestamp_ set to:1736380970.444615 2025-01-09T00:02:50.445Z,1736380970.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007930 2025-01-09T00:02:50.565Z,1736380970.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:50.581Z,1736380970.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:50.603Z,1736380970.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.10 m. 2025-01-09T00:02:50.609Z,1736380970.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.099998 m, nav range: 30.625164 m, bearing: 272.449616 deg, approach rate: 0.621252 m/s, LOS rate: -0.114691 deg/s, cmd heading: 114.397172 deg, new cmd heading: 114.254769 deg. 2025-01-09T00:02:50.610Z,1736380970.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.994122 target range: 92.099998 and range: 92.10 m. 2025-01-09T00:02:50.698Z,1736380970.698 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:50.701Z,1736380970.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262828 2025-01-09T00:02:50.948Z,1736380970.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:50.955Z,1736380970.955 [DAT](INFO): DAT read: 00:02:49.1283 LVL= 26688, 32753, 28642, 32755, AGC= 63, IDX= 406, 0.43, 0.413,-1.173,-0.046,-0.248, PHS= 0.749,-0.879, 0.199, RAW= 130.6, -1.0, CAL= 136.5, -10.0, ROT= 13.5, 10.0 2025-01-09T00:02:50.956Z,1736380970.956 [DAT](INFO): got valid direction response: 00:02:49.1283 LVL= 26688, 32753, 28642, 32755, AGC= 63, IDX= 406, 0.43, 0.413,-1.173,-0.046,-0.248, PHS= 0.749,-0.879, 0.199, RAW= 130.6, -1.0, CAL= 136.5, -10.0, ROT= 13.5, 10.0 2025-01-09T00:02:50.957Z,1736380970.957 [DAT](INFO): DAT read: Bearing 13.5, 10.0 (Local) 2025-01-09T00:02:50.958Z,1736380970.958 [DAT](INFO): Local bearing/azimuth received: Bearing 13.5, 10.0 (Local) 2025-01-09T00:02:50.959Z,1736380970.959 [DAT](INFO): DAT read: Range 10 to 50 : 89.8 m (Round-trip 119.8 ms) speed 0.4 m/s 2025-01-09T00:02:50.960Z,1736380970.960 [DAT](INFO): DAT read: user:3608> 2025-01-09T00:02:50.961Z,1736380970.961 [DAT](INFO): DAT read: Tx time:00:02:50.2043 2025-01-09T00:02:50.961Z,1736380970.961 [DAT](INFO): Ping request sent. 2025-01-09T00:02:50.961Z,1736380970.961 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:02:50.961Z,1736380970.961 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:02:50.962Z,1736380970.962 [DAT](INFO): direction in FSK: [-0.106087,-0.583797,0.804939] 2025-01-09T00:02:50.963Z,1736380970.963 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:50.963Z,1736380970.963 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:50.989Z,1736380970.989 [DAT](INFO): publishing transmit ping time 2025-01-09T00:02:50.989Z,1736380970.989 [DAT](INFO): publishing direction and range info 2025-01-09T00:02:51.158Z,1736380971.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:51.195Z,1736380971.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.800003 m, deltaT: 3.527026 s, deltaX: -2.299995 m, approachRate: -0.652106 m/s, rangeRepo size: 4 2025-01-09T00:02:51.197Z,1736380971.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.800003 m, bearing: 342.675171 deg, lat: 36.905081 deg, lon: -122.120906 deg, deltaT: 3.527026 s, deltaX: -2.299995 m, approachRate: -0.652106 m/s, posRepo size: 4 2025-01-09T00:02:51.198Z,1736380971.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:51.200Z,1736380971.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:51.201Z,1736380971.201 [DAT](INFO): DAT read: TxSync time:00:02:50.2036 2025-01-09T00:02:51.211Z,1736380971.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 34.534603 m, bearing: 296.225509 deg, approach rate: 0.000000 m/s, LOS rate: -0.114691 deg/s, cmd heading: 114.254769 deg, new cmd heading: 114.046347 deg. 2025-01-09T00:02:51.217Z,1736380971.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.990484 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:51.452Z,1736380971.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:51.501Z,1736380971.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:51.513Z,1736380971.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:51.520Z,1736380971.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 34.735699 m, bearing: 296.072541 deg, approach rate: 0.620298 m/s, LOS rate: -0.469111 deg/s, cmd heading: 114.046346 deg, new cmd heading: 113.590109 deg. 2025-01-09T00:02:51.521Z,1736380971.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.982521 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:51.709Z,1736380971.709 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:51.921Z,1736380971.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:51.930Z,1736380971.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:51.934Z,1736380971.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 34.987820 m, bearing: 295.882804 deg, approach rate: 0.605022 m/s, LOS rate: -0.452035 deg/s, cmd heading: 113.590110 deg, new cmd heading: 113.025020 deg. 2025-01-09T00:02:51.936Z,1736380971.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.972659 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:51.956Z,1736380971.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:52.208Z,1736380972.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:52.297Z,1736380972.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:52.306Z,1736380972.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:52.309Z,1736380972.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 35.219151 m, bearing: 295.739739 deg, approach rate: 0.615409 m/s, LOS rate: -0.378094 deg/s, cmd heading: 113.025021 deg, new cmd heading: 112.598655 deg. 2025-01-09T00:02:52.310Z,1736380972.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.965217 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:52.460Z,1736380972.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:52.713Z,1736380972.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:52.786Z,1736380972.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:52.794Z,1736380972.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:52.796Z,1736380972.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:52.799Z,1736380972.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 35.506687 m, bearing: 295.559577 deg, approach rate: 0.587174 m/s, LOS rate: -0.364925 deg/s, cmd heading: 112.598653 deg, new cmd heading: 112.062561 deg. 2025-01-09T00:02:52.800Z,1736380972.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.955861 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:52.964Z,1736380972.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:52.964Z,1736380972.964 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:52.964Z,1736380972.964 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:52.964Z,1736380972.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:02:53.096Z,1736380973.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:53.121Z,1736380973.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:53.128Z,1736380973.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 35.693890 m, bearing: 295.473519 deg, approach rate: 0.574943 m/s, LOS rate: -0.262919 deg/s, cmd heading: 112.062559 deg, new cmd heading: 111.805739 deg. 2025-01-09T00:02:53.129Z,1736380973.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.951378 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:53.217Z,1736380973.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:53.219Z,1736380973.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257066 2025-01-09T00:02:53.470Z,1736380973.470 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:53.478Z,1736380973.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516394 2025-01-09T00:02:53.497Z,1736380973.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:53.530Z,1736380973.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:53.537Z,1736380973.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 35.939041 m, bearing: 295.374004 deg, approach rate: 0.600349 m/s, LOS rate: -0.242039 deg/s, cmd heading: 111.805737 deg, new cmd heading: 111.509230 deg. 2025-01-09T00:02:53.538Z,1736380973.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.946203 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:53.721Z,1736380973.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:53.724Z,1736380973.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761756 2025-01-09T00:02:53.921Z,1736380973.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:53.950Z,1736380973.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:53.957Z,1736380973.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 36.172302 m, bearing: 295.283839 deg, approach rate: 0.554622 m/s, LOS rate: -0.213002 deg/s, cmd heading: 111.509231 deg, new cmd heading: 111.240482 deg. 2025-01-09T00:02:53.958Z,1736380973.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.941513 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:53.972Z,1736380973.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:53.973Z,1736380973.973 [DAT](INFO): DAT read: Rx Time:00:02:52.7256 2025-01-09T00:02:53.973Z,1736380973.973 [DAT](INFO): Rx dataTimestamp_ set to:1736380973.972736 2025-01-09T00:02:53.974Z,1736380973.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012407 2025-01-09T00:02:54.225Z,1736380974.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:54.227Z,1736380974.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265086 2025-01-09T00:02:54.311Z,1736380974.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:54.320Z,1736380974.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:54.322Z,1736380974.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 36.388458 m, bearing: 295.211241 deg, approach rate: 0.585644 m/s, LOS rate: -0.195525 deg/s, cmd heading: 111.240484 deg, new cmd heading: 111.023985 deg. 2025-01-09T00:02:54.324Z,1736380974.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.937734 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:54.476Z,1736380974.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:54.484Z,1736380974.484 [DAT](INFO): DAT read: 00:02:52.7256 LVL= 25152, 24497, 18482, 28531, AGC= 67, IDX= 412,-0.01,-2.947, 2.073,-2.742, 3.123, PHS= 0.301,-1.003, 0.415, RAW= 154.2, 4.3, CAL= 155.6, -4.8, ROT= 354.4, 4.8 2025-01-09T00:02:54.485Z,1736380974.485 [DAT](INFO): got valid direction response: 00:02:52.7256 LVL= 25152, 24497, 18482, 28531, AGC= 67, IDX= 412,-0.01,-2.947, 2.073,-2.742, 3.123, PHS= 0.301,-1.003, 0.415, RAW= 154.2, 4.3, CAL= 155.6, -4.8, ROT= 354.4, 4.8 2025-01-09T00:02:54.485Z,1736380974.485 [DAT](INFO): DAT read: $Error in header 2025-01-09T00:02:54.486Z,1736380974.486 [DAT](INFO): Received a bad header 2025-01-09T00:02:54.500Z,1736380974.500 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-01-09T00:02:54.501Z,1736380974.501 [DAT](INFO): direction in FSK: [-0.200381,-0.857790,0.473333] 2025-01-09T00:02:54.504Z,1736380974.504 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:54.504Z,1736380974.504 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:54.504Z,1736380974.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:54.730Z,1736380974.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:54.731Z,1736380974.731 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:54.732Z,1736380974.732 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:54.732Z,1736380974.732 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:54.783Z,1736380974.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:54.802Z,1736380974.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:54.809Z,1736380974.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:54.817Z,1736380974.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 36.649223 m, bearing: 295.136950 deg, approach rate: 0.532704 m/s, LOS rate: -0.150685 deg/s, cmd heading: 111.023987 deg, new cmd heading: 110.802702 deg. 2025-01-09T00:02:54.820Z,1736380974.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.933872 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:54.980Z,1736380974.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:54.980Z,1736380974.980 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:54.981Z,1736380974.981 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:54.981Z,1736380974.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:55.145Z,1736380975.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:55.155Z,1736380975.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:55.158Z,1736380975.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 36.852283 m, bearing: 295.094329 deg, approach rate: 0.586804 m/s, LOS rate: -0.122487 deg/s, cmd heading: 110.802703 deg, new cmd heading: 110.675545 deg. 2025-01-09T00:02:55.159Z,1736380975.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.931653 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:55.233Z,1736380975.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:55.235Z,1736380975.235 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:55.235Z,1736380975.235 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:55.236Z,1736380975.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:55.485Z,1736380975.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:55.486Z,1736380975.486 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:55.486Z,1736380975.486 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:55.487Z,1736380975.487 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:55.556Z,1736380975.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:55.573Z,1736380975.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:55.588Z,1736380975.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 37.080593 m, bearing: 295.057067 deg, approach rate: 0.545466 m/s, LOS rate: -0.088478 deg/s, cmd heading: 110.675545 deg, new cmd heading: 110.564446 deg. 2025-01-09T00:02:55.589Z,1736380975.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.929714 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:55.737Z,1736380975.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:55.739Z,1736380975.739 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:55.740Z,1736380975.740 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:55.740Z,1736380975.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:55.773Z,1736380975.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:02:55.957Z,1736380975.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:55.967Z,1736380975.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:55.970Z,1736380975.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 37.304691 m, bearing: 295.052290 deg, approach rate: 0.569524 m/s, LOS rate: -0.012066 deg/s, cmd heading: 110.564445 deg, new cmd heading: 110.550202 deg. 2025-01-09T00:02:55.971Z,1736380975.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.929465 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:55.990Z,1736380975.990 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:55.991Z,1736380975.991 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:55.991Z,1736380975.991 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:55.996Z,1736380975.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:56.240Z,1736380976.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:56.240Z,1736380976.240 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:56.240Z,1736380976.240 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:56.240Z,1736380976.240 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:56.330Z,1736380976.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:56.338Z,1736380976.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:56.341Z,1736380976.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 37.512779 m, bearing: 295.056359 deg, approach rate: 0.560310 m/s, LOS rate: 0.010894 deg/s, cmd heading: 110.550204 deg, new cmd heading: 110.562342 deg. 2025-01-09T00:02:56.345Z,1736380976.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.929677 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:56.492Z,1736380976.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:56.492Z,1736380976.492 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:56.492Z,1736380976.492 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:56.492Z,1736380976.492 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:56.746Z,1736380976.746 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:56.747Z,1736380976.747 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:56.748Z,1736380976.748 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:56.748Z,1736380976.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:56.767Z,1736380976.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:56.777Z,1736380976.777 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:02:56.817Z,1736380976.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:56.819Z,1736380976.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:56.826Z,1736380976.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 37.756187 m, bearing: 295.070218 deg, approach rate: 0.506854 m/s, LOS rate: 0.028673 deg/s, cmd heading: 110.562342 deg, new cmd heading: 110.603651 deg. 2025-01-09T00:02:56.827Z,1736380976.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.930398 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:56.996Z,1736380976.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:56.996Z,1736380976.996 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:56.996Z,1736380976.996 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:56.996Z,1736380976.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:57.158Z,1736380977.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:57.168Z,1736380977.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:57.171Z,1736380977.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 37.948471 m, bearing: 295.098368 deg, approach rate: 0.550336 m/s, LOS rate: 0.080160 deg/s, cmd heading: 110.603651 deg, new cmd heading: 110.687673 deg. 2025-01-09T00:02:57.172Z,1736380977.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.931864 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:57.248Z,1736380977.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:57.248Z,1736380977.248 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:57.248Z,1736380977.248 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:57.248Z,1736380977.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:57.500Z,1736380977.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:57.501Z,1736380977.501 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:57.501Z,1736380977.501 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:57.501Z,1736380977.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:57.558Z,1736380977.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:57.568Z,1736380977.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:57.571Z,1736380977.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 38.143932 m, bearing: 295.133095 deg, approach rate: 0.489597 m/s, LOS rate: 0.086542 deg/s, cmd heading: 110.687676 deg, new cmd heading: 110.791325 deg. 2025-01-09T00:02:57.572Z,1736380977.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.933673 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:57.754Z,1736380977.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:57.756Z,1736380977.756 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:57.756Z,1736380977.756 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:57.757Z,1736380977.757 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:57.973Z,1736380977.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:57.982Z,1736380977.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:57.986Z,1736380977.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 38.347389 m, bearing: 295.174577 deg, approach rate: 0.490916 m/s, LOS rate: 0.099559 deg/s, cmd heading: 110.791324 deg, new cmd heading: 110.915108 deg. 2025-01-09T00:02:57.987Z,1736380977.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.935834 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:58.004Z,1736380978.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:58.004Z,1736380978.004 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:58.004Z,1736380978.004 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:58.004Z,1736380978.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:58.256Z,1736380978.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:58.256Z,1736380978.256 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:58.256Z,1736380978.256 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:58.256Z,1736380978.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:58.353Z,1736380978.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:58.364Z,1736380978.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:58.367Z,1736380978.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 38.532356 m, bearing: 295.216751 deg, approach rate: 0.483703 m/s, LOS rate: 0.109759 deg/s, cmd heading: 110.915107 deg, new cmd heading: 111.041022 deg. 2025-01-09T00:02:58.368Z,1736380978.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.938031 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:58.508Z,1736380978.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:58.508Z,1736380978.508 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:58.508Z,1736380978.508 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:58.508Z,1736380978.508 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:58.748Z,1736380978.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:58.760Z,1736380978.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:58.760Z,1736380978.760 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:58.761Z,1736380978.761 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:58.761Z,1736380978.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:58.763Z,1736380978.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:58.767Z,1736380978.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 38.725513 m, bearing: 295.264007 deg, approach rate: 0.483950 m/s, LOS rate: 0.117807 deg/s, cmd heading: 111.041022 deg, new cmd heading: 111.182080 deg. 2025-01-09T00:02:58.768Z,1736380978.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.940493 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:59.012Z,1736380979.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:59.013Z,1736380979.013 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:59.013Z,1736380979.013 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:59.013Z,1736380979.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:59.183Z,1736380979.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:59.190Z,1736380979.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:02:59.196Z,1736380979.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:59.205Z,1736380979.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 38.951523 m, bearing: 295.310606 deg, approach rate: 0.521862 m/s, LOS rate: 0.106974 deg/s, cmd heading: 111.182079 deg, new cmd heading: 111.321065 deg. 2025-01-09T00:02:59.206Z,1736380979.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.942919 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:59.264Z,1736380979.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:59.265Z,1736380979.265 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:59.265Z,1736380979.265 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:59.265Z,1736380979.265 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:59.516Z,1736380979.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:59.517Z,1736380979.517 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:59.517Z,1736380979.517 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:59.517Z,1736380979.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:02:59.572Z,1736380979.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:02:59.590Z,1736380979.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:02:59.597Z,1736380979.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 39.157524 m, bearing: 295.355203 deg, approach rate: 0.523613 m/s, LOS rate: 0.112761 deg/s, cmd heading: 111.321066 deg, new cmd heading: 111.454155 deg. 2025-01-09T00:02:59.598Z,1736380979.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.945242 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:02:59.768Z,1736380979.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:02:59.768Z,1736380979.768 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:02:59.769Z,1736380979.769 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:02:59.769Z,1736380979.769 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:03:00.021Z,1736380980.021 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:00.022Z,1736380980.022 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:00.022Z,1736380980.022 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:00.022Z,1736380980.022 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:03:00.027Z,1736380980.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:00.037Z,1736380980.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:00.040Z,1736380980.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 39.412415 m, bearing: 295.397997 deg, approach rate: 0.569765 m/s, LOS rate: 0.095039 deg/s, cmd heading: 111.454153 deg, new cmd heading: 111.581703 deg. 2025-01-09T00:03:00.041Z,1736380980.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.947468 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:00.272Z,1736380980.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:00.272Z,1736380980.272 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:00.272Z,1736380980.272 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:00.272Z,1736380980.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:03:00.371Z,1736380980.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:00.380Z,1736380980.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:00.382Z,1736380980.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 39.605404 m, bearing: 295.433500 deg, approach rate: 0.563718 m/s, LOS rate: 0.103200 deg/s, cmd heading: 111.581700 deg, new cmd heading: 111.687691 deg. 2025-01-09T00:03:00.383Z,1736380980.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.949318 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:00.524Z,1736380980.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:00.524Z,1736380980.524 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:00.524Z,1736380980.524 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:00.524Z,1736380980.524 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:03:00.776Z,1736380980.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:00.776Z,1736380980.776 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:00.776Z,1736380980.776 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:00.776Z,1736380980.776 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-01-09T00:03:00.785Z,1736380980.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:00.796Z,1736380980.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:00.800Z,1736380980.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 39.836708 m, bearing: 295.475596 deg, approach rate: 0.555164 m/s, LOS rate: 0.100449 deg/s, cmd heading: 111.687690 deg, new cmd heading: 111.813244 deg. 2025-01-09T00:03:00.821Z,1736380980.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.951509 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:01.028Z,1736380981.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:01.029Z,1736380981.029 [DAT](INFO): Reached modem response timeout 2025-01-09T00:03:01.029Z,1736380981.029 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:03:01.030Z,1736380981.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:01.280Z,1736380981.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:01.280Z,1736380981.280 [DAT](INFO): Reached modem response timeout 2025-01-09T00:03:01.280Z,1736380981.280 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:03:01.281Z,1736380981.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:01.332Z,1736380981.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:01.339Z,1736380981.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:01.341Z,1736380981.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:01.358Z,1736380981.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 40.177425 m, bearing: 295.488962 deg, approach rate: 0.624962 m/s, LOS rate: 0.024308 deg/s, cmd heading: 111.813243 deg, new cmd heading: 111.853000 deg. 2025-01-09T00:03:01.366Z,1736380981.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.952203 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:01.533Z,1736380981.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:01.533Z,1736380981.533 [DAT](INFO): Reached modem response timeout 2025-01-09T00:03:01.534Z,1736380981.534 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:03:01.534Z,1736380981.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:01.711Z,1736380981.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:01.720Z,1736380981.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:01.724Z,1736380981.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 40.412273 m, bearing: 295.498803 deg, approach rate: 0.619250 m/s, LOS rate: 0.025798 deg/s, cmd heading: 111.853002 deg, new cmd heading: 111.882353 deg. 2025-01-09T00:03:01.725Z,1736380981.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.952715 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:01.789Z,1736380981.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:01.790Z,1736380981.790 [DAT](INFO): DAT read: Response Not Received 2025-01-09T00:03:01.790Z,1736380981.790 [DAT](INFO): response not received 2025-01-09T00:03:01.791Z,1736380981.791 [DAT](INFO): DAT read: user:3610> 2025-01-09T00:03:01.792Z,1736380981.792 [DAT](INFO): DAT read: Tx time:00:03:01.1544 2025-01-09T00:03:01.792Z,1736380981.792 [DAT](INFO): Ping request sent. 2025-01-09T00:03:01.792Z,1736380981.792 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:01.792Z,1736380981.792 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:01.793Z,1736380981.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744 2025-01-09T00:03:02.040Z,1736380982.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:02.041Z,1736380982.041 [DAT](INFO): DAT read: TxSync time:00:03:01.1537 2025-01-09T00:03:02.041Z,1736380982.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249282 2025-01-09T00:03:02.205Z,1736380982.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:02.213Z,1736380982.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:02.224Z,1736380982.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 40.744492 m, bearing: 295.521971 deg, approach rate: 0.674277 m/s, LOS rate: 0.046640 deg/s, cmd heading: 111.882351 deg, new cmd heading: 111.951290 deg. 2025-01-09T00:03:02.225Z,1736380982.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.953919 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:02.292Z,1736380982.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:02.293Z,1736380982.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500507 2025-01-09T00:03:02.544Z,1736380982.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:02.547Z,1736380982.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754339 2025-01-09T00:03:02.550Z,1736380982.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:02.559Z,1736380982.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:02.597Z,1736380982.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 40.972084 m, bearing: 295.538343 deg, approach rate: 0.658743 m/s, LOS rate: 0.047123 deg/s, cmd heading: 111.951288 deg, new cmd heading: 112.000130 deg. 2025-01-09T00:03:02.597Z,1736380982.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.954771 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:02.796Z,1736380982.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:02.796Z,1736380982.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004322 2025-01-09T00:03:02.978Z,1736380982.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:02.987Z,1736380982.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:02.990Z,1736380982.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 41.289883 m, bearing: 295.550192 deg, approach rate: 0.741830 m/s, LOS rate: 0.027447 deg/s, cmd heading: 112.000131 deg, new cmd heading: 112.035405 deg. 2025-01-09T00:03:02.991Z,1736380982.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.955387 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:03.048Z,1736380983.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:03.050Z,1736380983.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257326 2025-01-09T00:03:03.300Z,1736380983.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:03.301Z,1736380983.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508656 2025-01-09T00:03:03.362Z,1736380983.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:03.369Z,1736380983.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:03.380Z,1736380983.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:03.404Z,1736380983.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 41.571072 m, bearing: 295.561342 deg, approach rate: 0.732276 m/s, LOS rate: 0.028840 deg/s, cmd heading: 112.035402 deg, new cmd heading: 112.068624 deg. 2025-01-09T00:03:03.406Z,1736380983.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.955966 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:03.552Z,1736380983.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:03.553Z,1736380983.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760452 2025-01-09T00:03:03.763Z,1736380983.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:03.773Z,1736380983.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:03.775Z,1736380983.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 41.863750 m, bearing: 295.572703 deg, approach rate: 0.728920 m/s, LOS rate: 0.028097 deg/s, cmd heading: 112.068624 deg, new cmd heading: 112.102469 deg. 2025-01-09T00:03:03.776Z,1736380983.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.956557 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:03.804Z,1736380983.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:03.805Z,1736380983.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012862 2025-01-09T00:03:04.056Z,1736380984.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:04.056Z,1736380984.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264342 2025-01-09T00:03:04.187Z,1736380984.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:04.235Z,1736380984.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:04.238Z,1736380984.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 42.188450 m, bearing: 295.575843 deg, approach rate: 0.702715 m/s, LOS rate: 0.006743 deg/s, cmd heading: 112.102467 deg, new cmd heading: 112.111815 deg. 2025-01-09T00:03:04.239Z,1736380984.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.956720 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:04.308Z,1736380984.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:04.309Z,1736380984.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517347 2025-01-09T00:03:04.560Z,1736380984.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:04.560Z,1736380984.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768402 2025-01-09T00:03:04.566Z,1736380984.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:04.575Z,1736380984.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:04.578Z,1736380984.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 42.478485 m, bearing: 295.579116 deg, approach rate: 0.852686 m/s, LOS rate: 0.009558 deg/s, cmd heading: 112.111818 deg, new cmd heading: 112.121571 deg. 2025-01-09T00:03:04.579Z,1736380984.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.956891 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:04.812Z,1736380984.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:04.813Z,1736380984.813 [DAT](INFO): DAT read: Rx Time:00:03:03.6675 2025-01-09T00:03:04.813Z,1736380984.813 [DAT](INFO): Rx dataTimestamp_ set to:1736380984.812714 2025-01-09T00:03:04.813Z,1736380984.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021472 2025-01-09T00:03:05.001Z,1736380985.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:05.009Z,1736380985.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:05.012Z,1736380985.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 42.827435 m, bearing: 295.578275 deg, approach rate: 0.803513 m/s, LOS rate: -0.001920 deg/s, cmd heading: 112.121571 deg, new cmd heading: 112.119069 deg. 2025-01-09T00:03:05.013Z,1736380985.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.956847 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:05.064Z,1736380985.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:05.066Z,1736380985.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273540 2025-01-09T00:03:05.316Z,1736380985.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:05.319Z,1736380985.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526076 2025-01-09T00:03:05.403Z,1736380985.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:05.411Z,1736380985.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:05.413Z,1736380985.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.80 m. 2025-01-09T00:03:05.418Z,1736380985.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.800003 m, nav range: 43.149868 m, bearing: 295.579027 deg, approach rate: 0.797345 m/s, LOS rate: 0.001846 deg/s, cmd heading: 112.119072 deg, new cmd heading: 112.121311 deg. 2025-01-09T00:03:05.421Z,1736380985.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.956886 target range: 89.800003 and range: 89.80 m. 2025-01-09T00:03:05.568Z,1736380985.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:05.575Z,1736380985.575 [DAT](INFO): DAT read: 00:03:03.6675 LVL= 24736, 23233, 13298, 28947, AGC= 66, IDX= 360, 0.09, 1.697, 0.738, 2.749, 1.890, PHS=-0.105,-1.105, 0.856, RAW= 179.3, 4.2, CAL= 179.4, -4.6, ROT= 330.6, 4.6 2025-01-09T00:03:05.576Z,1736380985.576 [DAT](INFO): got valid direction response: 00:03:03.6675 LVL= 24736, 23233, 13298, 28947, AGC= 66, IDX= 360, 0.09, 1.697, 0.738, 2.749, 1.890, PHS=-0.105,-1.105, 0.856, RAW= 179.3, 4.2, CAL= 179.4, -4.6, ROT= 330.6, 4.6 2025-01-09T00:03:05.577Z,1736380985.577 [DAT](INFO): DAT read: Bearing 330.6, 4.6 (Local) 2025-01-09T00:03:05.578Z,1736380985.578 [DAT](INFO): Local bearing/azimuth received: Bearing 330.6, 4.6 (Local) 2025-01-09T00:03:05.580Z,1736380985.580 [DAT](INFO): DAT read: Range 10 to 50 : 81.6 m (Round-trip 108.9 ms) speed 0.4 m/s 2025-01-09T00:03:05.580Z,1736380985.580 [DAT](INFO): DAT read: user:3611> 2025-01-09T00:03:05.581Z,1736380985.581 [DAT](INFO): DAT read: Tx time:00:03:04.7544 2025-01-09T00:03:05.581Z,1736380985.581 [DAT](INFO): Ping request sent. 2025-01-09T00:03:05.582Z,1736380985.582 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:05.583Z,1736380985.583 [DAT](INFO): DAT read: TxSync time:00:03:04.7537 2025-01-09T00:03:05.584Z,1736380985.584 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:05.585Z,1736380985.585 [DAT](INFO): direction in FSK: [-0.168254,-0.984501,0.049476] 2025-01-09T00:03:05.585Z,1736380985.585 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:05.585Z,1736380985.585 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:05.601Z,1736380985.601 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:05.602Z,1736380985.602 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:05.784Z,1736380985.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:05.810Z,1736380985.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 14.620487 s, deltaX: -8.200005 m, approachRate: -0.560857 m/s, rangeRepo size: 4 2025-01-09T00:03:05.817Z,1736380985.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.599998 m, bearing: 12.609342 deg, lat: 36.905337 deg, lon: -122.120906 deg, deltaT: 14.620487 s, deltaX: -8.200005 m, approachRate: -0.560857 m/s, posRepo size: 4 2025-01-09T00:03:05.818Z,1736380985.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-09T00:03:05.820Z,1736380985.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:05.825Z,1736380985.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 61.361965 m, bearing: 320.300229 deg, approach rate: 0.000000 m/s, LOS rate: 0.001846 deg/s, cmd heading: 112.121312 deg, new cmd heading: 112.123505 deg. 2025-01-09T00:03:05.826Z,1736380985.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.956924 target range: 81.599998 and range: 81.60 m. 2025-01-09T00:03:06.073Z,1736380986.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:06.213Z,1736380986.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:06.222Z,1736380986.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-09T00:03:06.225Z,1736380986.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 61.674889 m, bearing: 320.168044 deg, approach rate: 0.758009 m/s, LOS rate: -0.318573 deg/s, cmd heading: 112.123504 deg, new cmd heading: 111.728968 deg. 2025-01-09T00:03:06.226Z,1736380986.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.950038 target range: 81.599998 and range: 81.60 m. 2025-01-09T00:03:06.325Z,1736380986.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:06.576Z,1736380986.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:06.595Z,1736380986.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:06.605Z,1736380986.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-09T00:03:06.608Z,1736380986.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 61.953659 m, bearing: 320.052036 deg, approach rate: 0.728193 m/s, LOS rate: -0.301667 deg/s, cmd heading: 111.728965 deg, new cmd heading: 111.382512 deg. 2025-01-09T00:03:06.609Z,1736380986.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.943992 target range: 81.599998 and range: 81.60 m. 2025-01-09T00:03:06.828Z,1736380986.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:07.015Z,1736380987.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:07.024Z,1736380987.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-09T00:03:07.027Z,1736380987.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 62.256058 m, bearing: 319.929363 deg, approach rate: 0.721557 m/s, LOS rate: -0.291291 deg/s, cmd heading: 111.382511 deg, new cmd heading: 111.016282 deg. 2025-01-09T00:03:07.046Z,1736380987.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.937600 target range: 81.599998 and range: 81.60 m. 2025-01-09T00:03:07.081Z,1736380987.081 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:07.332Z,1736380987.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:07.409Z,1736380987.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:07.424Z,1736380987.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:07.426Z,1736380987.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-09T00:03:07.433Z,1736380987.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 62.540379 m, bearing: 319.814702 deg, approach rate: 0.708295 m/s, LOS rate: -0.284340 deg/s, cmd heading: 111.016283 deg, new cmd heading: 110.673870 deg. 2025-01-09T00:03:07.433Z,1736380987.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.931623 target range: 81.599998 and range: 81.60 m. 2025-01-09T00:03:07.585Z,1736380987.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:07.585Z,1736380987.585 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:07.585Z,1736380987.585 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:07.586Z,1736380987.586 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:07.799Z,1736380987.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:07.808Z,1736380987.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-09T00:03:07.811Z,1736380987.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 62.821266 m, bearing: 319.701909 deg, approach rate: 0.734519 m/s, LOS rate: -0.293636 deg/s, cmd heading: 110.673872 deg, new cmd heading: 110.337008 deg. 2025-01-09T00:03:07.812Z,1736380987.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.925744 target range: 81.599998 and range: 81.60 m. 2025-01-09T00:03:07.836Z,1736380987.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:07.837Z,1736380987.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254996 2025-01-09T00:03:08.088Z,1736380988.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:08.088Z,1736380988.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506876 2025-01-09T00:03:08.228Z,1736380988.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:08.241Z,1736380988.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-09T00:03:08.248Z,1736380988.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 63.125355 m, bearing: 319.591881 deg, approach rate: 0.702042 m/s, LOS rate: -0.252794 deg/s, cmd heading: 110.337007 deg, new cmd heading: 110.008518 deg. 2025-01-09T00:03:08.250Z,1736380988.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.920011 target range: 81.599998 and range: 81.60 m. 2025-01-09T00:03:08.340Z,1736380988.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:08.340Z,1736380988.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758889 2025-01-09T00:03:08.592Z,1736380988.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:08.592Z,1736380988.592 [DAT](INFO): DAT read: Rx Time:00:03:07.2650 2025-01-09T00:03:08.593Z,1736380988.593 [DAT](INFO): Rx dataTimestamp_ set to:1736380988.592596 2025-01-09T00:03:08.593Z,1736380988.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011861 2025-01-09T00:03:08.616Z,1736380988.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:08.625Z,1736380988.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-09T00:03:08.628Z,1736380988.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 63.399246 m, bearing: 319.493096 deg, approach rate: 0.714344 m/s, LOS rate: -0.256532 deg/s, cmd heading: 110.008516 deg, new cmd heading: 109.713442 deg. 2025-01-09T00:03:08.629Z,1736380988.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.914861 target range: 81.599998 and range: 81.60 m. 2025-01-09T00:03:08.845Z,1736380988.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:08.846Z,1736380988.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264138 2025-01-09T00:03:09.056Z,1736380989.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:09.067Z,1736380989.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m. 2025-01-09T00:03:09.070Z,1736380989.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.599998 m, nav range: 63.696823 m, bearing: 319.397525 deg, approach rate: 0.672957 m/s, LOS rate: -0.215119 deg/s, cmd heading: 109.713445 deg, new cmd heading: 109.428074 deg. 2025-01-09T00:03:09.071Z,1736380989.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.909880 target range: 81.599998 and range: 81.60 m. 2025-01-09T00:03:09.096Z,1736380989.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:09.104Z,1736380989.104 [DAT](INFO): DAT read: 00:03:07.2650 LVL= 25488, 27169, 14914, 27299, AGC= 67, IDX= 413,-0.15,-1.026,-1.944, 0.053,-0.796, PHS=-0.142,-1.101, 0.846, RAW= 180.5, 4.8, CAL= 180.4, -4.1, ROT= 329.6, 4.1 2025-01-09T00:03:09.105Z,1736380989.105 [DAT](INFO): got valid direction response: 00:03:07.2650 LVL= 25488, 27169, 14914, 27299, AGC= 67, IDX= 413,-0.15,-1.026,-1.944, 0.053,-0.796, PHS=-0.142,-1.101, 0.846, RAW= 180.5, 4.8, CAL= 180.4, -4.1, ROT= 329.6, 4.1 2025-01-09T00:03:09.106Z,1736380989.106 [DAT](INFO): DAT read: Bearing 329.6, 4.1 (Local) 2025-01-09T00:03:09.106Z,1736380989.106 [DAT](INFO): Local bearing/azimuth received: Bearing 329.6, 4.1 (Local) 2025-01-09T00:03:09.108Z,1736380989.108 [DAT](INFO): DAT read: Range 10 to 50 : 79.7 m (Round-trip 106.3 ms) speed 0.4 m/s 2025-01-09T00:03:09.109Z,1736380989.109 [DAT](INFO): DAT read: user:3612> 2025-01-09T00:03:09.110Z,1736380989.110 [DAT](INFO): DAT read: Tx time:00:03:08.3545 2025-01-09T00:03:09.110Z,1736380989.110 [DAT](INFO): Ping request sent. 2025-01-09T00:03:09.110Z,1736380989.110 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:09.111Z,1736380989.111 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:09.112Z,1736380989.112 [DAT](INFO): direction in FSK: [-0.176537,-0.983869,0.028927] 2025-01-09T00:03:09.113Z,1736380989.113 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:09.113Z,1736380989.113 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:09.117Z,1736380989.117 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:09.117Z,1736380989.117 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:09.348Z,1736380989.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:09.349Z,1736380989.349 [DAT](INFO): DAT read: TxSync time:00:03:08.3538 2025-01-09T00:03:09.421Z,1736380989.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:09.458Z,1736380989.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.699997 m, deltaT: 3.527635 s, deltaX: -1.900002 m, approachRate: -0.538605 m/s, rangeRepo size: 4 2025-01-09T00:03:09.460Z,1736380989.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.699997 m, bearing: 11.699101 deg, lat: 36.905549 deg, lon: -122.120794 deg, deltaT: 3.527635 s, deltaX: -1.900002 m, approachRate: -0.538605 m/s, posRepo size: 4 2025-01-09T00:03:09.460Z,1736380989.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-09T00:03:09.463Z,1736380989.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 78.772026 m, bearing: 336.266455 deg, approach rate: 0.000000 m/s, LOS rate: -0.215119 deg/s, cmd heading: 109.428073 deg, new cmd heading: 109.176285 deg. 2025-01-09T00:03:09.464Z,1736380989.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.905486 target range: 79.699997 and range: 79.70 m. 2025-01-09T00:03:09.601Z,1736380989.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:09.824Z,1736380989.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:09.835Z,1736380989.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:09.837Z,1736380989.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-09T00:03:09.840Z,1736380989.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 79.003700 m, bearing: 336.141149 deg, approach rate: 0.609416 m/s, LOS rate: -0.328648 deg/s, cmd heading: 109.176285 deg, new cmd heading: 108.801475 deg. 2025-01-09T00:03:09.841Z,1736380989.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.898944 target range: 79.699997 and range: 79.70 m. 2025-01-09T00:03:09.852Z,1736380989.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:09.852Z,1736380989.852 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:09.852Z,1736380989.852 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:09.853Z,1736380989.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:10.104Z,1736380990.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:10.105Z,1736380990.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995136 2025-01-09T00:03:10.260Z,1736380990.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:10.270Z,1736380990.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-09T00:03:10.273Z,1736380990.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 79.244957 m, bearing: 336.025550 deg, approach rate: 0.557669 m/s, LOS rate: -0.266397 deg/s, cmd heading: 108.801478 deg, new cmd heading: 108.455740 deg. 2025-01-09T00:03:10.274Z,1736380990.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.892910 target range: 79.699997 and range: 79.70 m. 2025-01-09T00:03:10.356Z,1736380990.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:10.357Z,1736380990.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246690 2025-01-09T00:03:10.608Z,1736380990.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:10.610Z,1736380990.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499338 2025-01-09T00:03:10.657Z,1736380990.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:10.674Z,1736380990.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-09T00:03:10.678Z,1736380990.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 79.463905 m, bearing: 335.920170 deg, approach rate: 0.542638 m/s, LOS rate: -0.260451 deg/s, cmd heading: 108.455741 deg, new cmd heading: 108.140477 deg. 2025-01-09T00:03:10.704Z,1736380990.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.887407 target range: 79.699997 and range: 79.70 m. 2025-01-09T00:03:10.860Z,1736380990.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:10.860Z,1736380990.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750401 2025-01-09T00:03:11.066Z,1736380991.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:11.103Z,1736380991.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-09T00:03:11.112Z,1736380991.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:11.112Z,1736380991.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002501 2025-01-09T00:03:11.122Z,1736380991.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 79.685051 m, bearing: 335.825556 deg, approach rate: 0.515196 m/s, LOS rate: -0.219808 deg/s, cmd heading: 108.140480 deg, new cmd heading: 107.857427 deg. 2025-01-09T00:03:11.122Z,1736380991.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.882467 target range: 79.699997 and range: 79.70 m. 2025-01-09T00:03:11.365Z,1736380991.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:11.366Z,1736380991.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256189 2025-01-09T00:03:11.550Z,1736380991.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:11.559Z,1736380991.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-09T00:03:11.561Z,1736380991.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 79.945534 m, bearing: 335.712791 deg, approach rate: 0.571164 m/s, LOS rate: -0.246456 deg/s, cmd heading: 107.857430 deg, new cmd heading: 107.520240 deg. 2025-01-09T00:03:11.562Z,1736380991.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.876582 target range: 79.699997 and range: 79.70 m. 2025-01-09T00:03:11.616Z,1736380991.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:11.617Z,1736380991.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506632 2025-01-09T00:03:11.868Z,1736380991.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:11.868Z,1736380991.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758514 2025-01-09T00:03:11.977Z,1736380991.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:12.024Z,1736380992.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:12.026Z,1736380992.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-09T00:03:12.029Z,1736380992.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 80.175095 m, bearing: 335.614131 deg, approach rate: 0.490679 m/s, LOS rate: -0.210278 deg/s, cmd heading: 107.520244 deg, new cmd heading: 107.225115 deg. 2025-01-09T00:03:12.030Z,1736380992.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.871431 target range: 79.699997 and range: 79.70 m. 2025-01-09T00:03:12.120Z,1736380992.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:12.120Z,1736380992.120 [DAT](INFO): DAT read: Rx Time:00:03:10.8624 2025-01-09T00:03:12.121Z,1736380992.121 [DAT](INFO): Rx dataTimestamp_ set to:1736380992.120656 2025-01-09T00:03:12.121Z,1736380992.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011559 2025-01-09T00:03:12.372Z,1736380992.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:12.372Z,1736380992.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262417 2025-01-09T00:03:12.484Z,1736380992.484 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +168, +561, 2025-01-09T00:03:12.491Z,1736380992.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-09T00:03:12.491Z,1736380992.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:12.500Z,1736380992.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m. 2025-01-09T00:03:12.502Z,1736380992.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.699997 m, nav range: 80.449059 m, bearing: 335.491653 deg, approach rate: 0.579071 m/s, LOS rate: -0.257998 deg/s, cmd heading: 107.225118 deg, new cmd heading: 106.858940 deg. 2025-01-09T00:03:12.504Z,1736380992.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.865040 target range: 79.699997 and range: 79.70 m. 2025-01-09T00:03:12.624Z,1736380992.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:12.631Z,1736380992.631 [DAT](INFO): DAT read: 00:03:10.8624 LVL= 31616, 28497, 17474, 32755, AGC= 65, IDX= 418, 0.12, 1.460, 0.509, 2.451, 1.602, PHS=-0.054,-1.046, 0.847, RAW= 178.4, 3.1, CAL= 178.6, -5.4, ROT= 331.4, 5.4 2025-01-09T00:03:12.632Z,1736380992.632 [DAT](INFO): got valid direction response: 00:03:10.8624 LVL= 31616, 28497, 17474, 32755, AGC= 65, IDX= 418, 0.12, 1.460, 0.509, 2.451, 1.602, PHS=-0.054,-1.046, 0.847, RAW= 178.4, 3.1, CAL= 178.6, -5.4, ROT= 331.4, 5.4 2025-01-09T00:03:12.633Z,1736380992.633 [DAT](INFO): DAT read: Bearing 331.4, 5.4 (Local) 2025-01-09T00:03:12.633Z,1736380992.633 [DAT](INFO): Local bearing/azimuth received: Bearing 331.4, 5.4 (Local) 2025-01-09T00:03:12.635Z,1736380992.635 [DAT](INFO): DAT read: Range 10 to 50 : 77.7 m (Round-trip 103.7 ms) speed 0.9 m/s 2025-01-09T00:03:12.635Z,1736380992.635 [DAT](INFO): DAT read: user:3613> 2025-01-09T00:03:12.636Z,1736380992.636 [DAT](INFO): DAT read: Tx time:00:03:11.9545 2025-01-09T00:03:12.636Z,1736380992.636 [DAT](INFO): Ping request sent. 2025-01-09T00:03:12.637Z,1736380992.637 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:12.637Z,1736380992.637 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:12.638Z,1736380992.638 [DAT](INFO): direction in FSK: [-0.149222,-0.986526,0.067080] 2025-01-09T00:03:12.638Z,1736380992.638 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:12.638Z,1736380992.638 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:12.644Z,1736380992.644 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:12.645Z,1736380992.645 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:12.876Z,1736380992.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:12.877Z,1736380992.877 [DAT](INFO): DAT read: TxSync time:00:03:11.9538 2025-01-09T00:03:12.976Z,1736380992.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s. 2025-01-09T00:03:12.976Z,1736380992.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:13.063Z,1736380993.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.699997 m, deltaT: 3.528291 s, deltaX: -2.000000 m, approachRate: -0.566847 m/s, rangeRepo size: 4 2025-01-09T00:03:13.067Z,1736380993.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 77.699997 m, bearing: 10.275557 deg, lat: 36.905577 deg, lon: -122.120266 deg, deltaT: 3.528291 s, deltaX: -2.000000 m, approachRate: -0.566847 m/s, posRepo size: 4 2025-01-09T00:03:13.070Z,1736380993.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-09T00:03:13.081Z,1736380993.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 77.609184 m, bearing: 9.907456 deg, approach rate: 0.000000 m/s, LOS rate: -0.257998 deg/s, cmd heading: 106.858938 deg, new cmd heading: 106.426279 deg. 2025-01-09T00:03:13.083Z,1736380993.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.857489 target range: 77.699997 and range: 77.70 m. 2025-01-09T00:03:13.130Z,1736380993.130 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:13.374Z,1736380993.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:13.380Z,1736380993.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:13.407Z,1736380993.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-09T00:03:13.414Z,1736380993.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 77.709953 m, bearing: 9.760361 deg, approach rate: 0.289392 m/s, LOS rate: -0.421885 deg/s, cmd heading: 106.426280 deg, new cmd heading: 105.985576 deg. 2025-01-09T00:03:13.415Z,1736380993.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.849797 target range: 77.699997 and range: 77.70 m. 2025-01-09T00:03:13.632Z,1736380993.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:13.753Z,1736380993.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:13.761Z,1736380993.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-09T00:03:13.764Z,1736380993.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 77.805275 m, bearing: 9.619955 deg, approach rate: 0.268853 m/s, LOS rate: -0.395528 deg/s, cmd heading: 105.985575 deg, new cmd heading: 105.564880 deg. 2025-01-09T00:03:13.766Z,1736380993.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.842455 target range: 77.699997 and range: 77.70 m. 2025-01-09T00:03:13.885Z,1736380993.885 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:14.136Z,1736380994.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:14.195Z,1736380994.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:14.210Z,1736380994.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:14.248Z,1736380994.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-09T00:03:14.264Z,1736380994.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 77.922676 m, bearing: 9.455297 deg, approach rate: 0.260764 m/s, LOS rate: -0.365177 deg/s, cmd heading: 105.564877 deg, new cmd heading: 105.071659 deg. 2025-01-09T00:03:14.265Z,1736380994.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.833846 target range: 77.699997 and range: 77.70 m. 2025-01-09T00:03:14.391Z,1736380994.391 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:14.392Z,1736380994.392 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:14.392Z,1736380994.392 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:14.392Z,1736380994.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:14.640Z,1736380994.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:14.640Z,1736380994.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003831 2025-01-09T00:03:14.721Z,1736380994.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:14.742Z,1736380994.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-09T00:03:14.750Z,1736380994.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 78.057877 m, bearing: 9.260793 deg, approach rate: 0.254837 m/s, LOS rate: -0.365980 deg/s, cmd heading: 105.071662 deg, new cmd heading: 104.489184 deg. 2025-01-09T00:03:14.755Z,1736380994.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.823680 target range: 77.699997 and range: 77.70 m. 2025-01-09T00:03:14.892Z,1736380994.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:14.892Z,1736380994.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255793 2025-01-09T00:03:15.144Z,1736380995.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:15.144Z,1736380995.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507810 2025-01-09T00:03:15.212Z,1736380995.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:15.221Z,1736380995.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-09T00:03:15.224Z,1736380995.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 78.179703 m, bearing: 9.062524 deg, approach rate: 0.254211 m/s, LOS rate: -0.413076 deg/s, cmd heading: 104.489183 deg, new cmd heading: 103.895326 deg. 2025-01-09T00:03:15.225Z,1736380995.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813316 target range: 77.699997 and range: 77.70 m. 2025-01-09T00:03:15.396Z,1736380995.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:15.396Z,1736380995.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759786 2025-01-09T00:03:15.582Z,1736380995.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:15.590Z,1736380995.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-01-09T00:03:15.593Z,1736380995.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.699997 m, nav range: 78.269402 m, bearing: 8.915164 deg, approach rate: 0.243285 m/s, LOS rate: -0.399219 deg/s, cmd heading: 103.895326 deg, new cmd heading: 103.453759 deg. 2025-01-09T00:03:15.594Z,1736380995.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.805609 target range: 77.699997 and range: 77.70 m. 2025-01-09T00:03:15.649Z,1736380995.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:15.650Z,1736380995.650 [DAT](INFO): DAT read: Rx Time:00:03:14.4594 2025-01-09T00:03:15.652Z,1736380995.652 [DAT](INFO): Rx dataTimestamp_ set to:1736380995.650481 2025-01-09T00:03:15.654Z,1736380995.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016656 2025-01-09T00:03:15.900Z,1736380995.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:15.901Z,1736380995.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264146 2025-01-09T00:03:16.154Z,1736380996.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:16.177Z,1736380996.177 [DAT](INFO): DAT read: 00:03:14.4594 LVL= 28016, 27345, 15938, 32755, AGC= 63, IDX= 404, 0.39,-1.008,-2.022,-0.140,-0.904, PHS=-0.015,-1.071, 0.762, RAW= 175.0, 4.1, CAL= 175.1, -4.7, ROT= 334.9, 4.7 2025-01-09T00:03:16.178Z,1736380996.178 [DAT](INFO): got valid direction response: 00:03:14.4594 LVL= 28016, 27345, 15938, 32755, AGC= 63, IDX= 404, 0.39,-1.008,-2.022,-0.140,-0.904, PHS=-0.015,-1.071, 0.762, RAW= 175.0, 4.1, CAL= 175.1, -4.7, ROT= 334.9, 4.7 2025-01-09T00:03:16.188Z,1736380996.188 [DAT](INFO): DAT read: Bearing 334.9, 4.7 (Local) 2025-01-09T00:03:16.188Z,1736380996.188 [DAT](INFO): Local bearing/azimuth received: Bearing 334.9, 4.7 (Local) 2025-01-09T00:03:16.189Z,1736380996.189 [DAT](INFO): DAT read: Range 10 to 50 : 75.5 m (Round-trip 100.7 ms) speed 0.5 m/s 2025-01-09T00:03:16.190Z,1736380996.190 [DAT](INFO): DAT read: user:3614> 2025-01-09T00:03:16.191Z,1736380996.191 [DAT](INFO): DAT read: Tx time:00:03:15.5545 2025-01-09T00:03:16.203Z,1736380996.203 [DAT](INFO): Ping request sent. 2025-01-09T00:03:16.204Z,1736380996.204 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:16.204Z,1736380996.204 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:16.205Z,1736380996.205 [DAT](INFO): direction in FSK: [-0.173147,-0.976939,0.124944] 2025-01-09T00:03:16.205Z,1736380996.205 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:16.205Z,1736380996.205 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:16.221Z,1736380996.221 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:16.221Z,1736380996.221 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:16.239Z,1736380996.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:16.269Z,1736380996.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.500000 m, deltaT: 3.530949 s, deltaX: -2.199997 m, approachRate: -0.623061 m/s, rangeRepo size: 4 2025-01-09T00:03:16.271Z,1736380996.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 75.500000 m, bearing: 5.929564 deg, lat: 36.905577 deg, lon: -122.120266 deg, deltaT: 3.530949 s, deltaX: -2.199997 m, approachRate: -0.623061 m/s, posRepo size: 4 2025-01-09T00:03:16.276Z,1736380996.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.50 m. 2025-01-09T00:03:16.278Z,1736380996.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.500000 m, nav range: 78.416832 m, bearing: 8.629008 deg, approach rate: 0.000000 m/s, LOS rate: -0.399219 deg/s, cmd heading: 103.453761 deg, new cmd heading: 102.647651 deg. 2025-01-09T00:03:16.285Z,1736380996.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.791539 target range: 75.500000 and range: 75.50 m. 2025-01-09T00:03:16.404Z,1736380996.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:16.405Z,1736380996.405 [DAT](INFO): DAT read: TxSync time:00:03:15.5538 2025-01-09T00:03:16.656Z,1736380996.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:16.715Z,1736380996.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:16.722Z,1736380996.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:16.724Z,1736380996.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.50 m. 2025-01-09T00:03:16.732Z,1736380996.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.500000 m, nav range: 78.523186 m, bearing: 8.422146 deg, approach rate: 0.230515 m/s, LOS rate: -0.447753 deg/s, cmd heading: 102.647648 deg, new cmd heading: 102.027927 deg. 2025-01-09T00:03:16.734Z,1736380996.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780723 target range: 75.500000 and range: 75.50 m. 2025-01-09T00:03:16.908Z,1736380996.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:16.910Z,1736380996.910 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:16.910Z,1736380996.910 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:16.911Z,1736380996.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:17.157Z,1736380997.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:17.176Z,1736380997.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:17.177Z,1736380997.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.973129 2025-01-09T00:03:17.194Z,1736380997.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.50 m. 2025-01-09T00:03:17.217Z,1736380997.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.500000 m, nav range: 78.616371 m, bearing: 8.206644 deg, approach rate: 0.198404 m/s, LOS rate: -0.458285 deg/s, cmd heading: 102.027925 deg, new cmd heading: 101.382215 deg. 2025-01-09T00:03:17.218Z,1736380997.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.769453 target range: 75.500000 and range: 75.50 m. 2025-01-09T00:03:17.428Z,1736380997.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:17.428Z,1736380997.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224855 2025-01-09T00:03:17.513Z,1736380997.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:17.522Z,1736380997.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.50 m. 2025-01-09T00:03:17.525Z,1736380997.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.500000 m, nav range: 78.690857 m, bearing: 8.033846 deg, approach rate: 0.227341 m/s, LOS rate: -0.526905 deg/s, cmd heading: 101.382212 deg, new cmd heading: 100.864322 deg. 2025-01-09T00:03:17.526Z,1736380997.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.760414 target range: 75.500000 and range: 75.50 m. 2025-01-09T00:03:17.680Z,1736380997.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:17.682Z,1736380997.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477927 2025-01-09T00:03:17.916Z,1736380997.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:17.924Z,1736380997.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.50 m. 2025-01-09T00:03:17.927Z,1736380997.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.500000 m, nav range: 78.775078 m, bearing: 7.838315 deg, approach rate: 0.209224 m/s, LOS rate: -0.485222 deg/s, cmd heading: 100.864320 deg, new cmd heading: 100.278376 deg. 2025-01-09T00:03:17.928Z,1736380997.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.750188 target range: 75.500000 and range: 75.50 m. 2025-01-09T00:03:17.932Z,1736380997.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:17.933Z,1736380997.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729778 2025-01-09T00:03:18.184Z,1736380998.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:18.184Z,1736380998.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980776 2025-01-09T00:03:18.354Z,1736380998.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:18.372Z,1736380998.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.50 m. 2025-01-09T00:03:18.374Z,1736380998.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.500000 m, nav range: 78.853096 m, bearing: 7.608423 deg, approach rate: 0.174503 m/s, LOS rate: -0.513687 deg/s, cmd heading: 100.278379 deg, new cmd heading: 99.589422 deg. 2025-01-09T00:03:18.376Z,1736380998.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.738163 target range: 75.500000 and range: 75.50 m. 2025-01-09T00:03:18.436Z,1736380998.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:18.437Z,1736380998.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233317 2025-01-09T00:03:18.688Z,1736380998.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:18.688Z,1736380998.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484887 2025-01-09T00:03:18.776Z,1736380998.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:18.786Z,1736380998.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:18.793Z,1736380998.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.50 m. 2025-01-09T00:03:18.800Z,1736380998.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.500000 m, nav range: 78.926949 m, bearing: 7.387877 deg, approach rate: 0.175107 m/s, LOS rate: -0.522432 deg/s, cmd heading: 99.589424 deg, new cmd heading: 98.928435 deg. 2025-01-09T00:03:18.801Z,1736380998.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726627 target range: 75.500000 and range: 75.50 m. 2025-01-09T00:03:18.940Z,1736380998.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:18.940Z,1736380998.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736913 2025-01-09T00:03:19.193Z,1736380999.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:19.194Z,1736380999.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990514 2025-01-09T00:03:19.305Z,1736380999.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:19.346Z,1736380999.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.50 m. 2025-01-09T00:03:19.360Z,1736380999.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.500000 m, nav range: 79.013794 m, bearing: 7.084708 deg, approach rate: 0.157127 m/s, LOS rate: -0.547908 deg/s, cmd heading: 98.928433 deg, new cmd heading: 98.020005 deg. 2025-01-09T00:03:19.361Z,1736380999.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.710772 target range: 75.500000 and range: 75.50 m. 2025-01-09T00:03:19.444Z,1736380999.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:19.445Z,1736380999.445 [DAT](INFO): DAT read: Rx Time:00:03:18.0565 2025-01-09T00:03:19.446Z,1736380999.446 [DAT](INFO): Rx dataTimestamp_ set to:1736380999.445547 2025-01-09T00:03:19.447Z,1736380999.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243221 2025-01-09T00:03:19.678Z,1736380999.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:19.696Z,1736380999.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:19.696Z,1736380999.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492777 2025-01-09T00:03:19.711Z,1736380999.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.50 m. 2025-01-09T00:03:19.772Z,1736380999.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.500000 m, nav range: 79.070595 m, bearing: 6.870383 deg, approach rate: 0.157291 m/s, LOS rate: -0.593073 deg/s, cmd heading: 98.020004 deg, new cmd heading: 97.377519 deg. 2025-01-09T00:03:19.774Z,1736380999.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.699558 target range: 75.500000 and range: 75.50 m. 2025-01-09T00:03:19.948Z,1736380999.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:19.962Z,1736380999.962 [DAT](INFO): DAT read: 00:03:18.0565 LVL= 26224, 27281, 18162, 32243, AGC= 63, IDX= 405,-0.20,-0.647,-1.667, 0.131,-0.574, PHS= 0.015,-1.047, 0.701, RAW= 172.9, 4.4, CAL= 173.0, -4.6, ROT= 337.0, 4.6 2025-01-09T00:03:19.970Z,1736380999.970 [DAT](INFO): got valid direction response: 00:03:18.0565 LVL= 26224, 27281, 18162, 32243, AGC= 63, IDX= 405,-0.20,-0.647,-1.667, 0.131,-0.574, PHS= 0.015,-1.047, 0.701, RAW= 172.9, 4.4, CAL= 173.0, -4.6, ROT= 337.0, 4.6 2025-01-09T00:03:19.976Z,1736380999.976 [DAT](INFO): DAT read: Bearing 337.0, 4.6 (Local) 2025-01-09T00:03:19.976Z,1736380999.976 [DAT](INFO): Local bearing/azimuth received: Bearing 337.0, 4.6 (Local) 2025-01-09T00:03:19.978Z,1736380999.978 [DAT](INFO): DAT read: Range 10 to 50 : 73.2 m (Round-trip 97.7 ms) speed 0.5 m/s 2025-01-09T00:03:19.979Z,1736380999.979 [DAT](INFO): DAT read: user:3615> 2025-01-09T00:03:19.993Z,1736380999.993 [DAT](INFO): DAT read: Tx time:00:03:19.1546 2025-01-09T00:03:19.993Z,1736380999.993 [DAT](INFO): Ping request sent. 2025-01-09T00:03:19.993Z,1736380999.993 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:19.994Z,1736380999.994 [DAT](INFO): DAT read: TxSync time:00:03:19.1539 2025-01-09T00:03:20.019Z,1736381000.019 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:20.025Z,1736381000.025 [DAT](INFO): direction in FSK: [-0.181367,-0.970316,0.159975] 2025-01-09T00:03:20.026Z,1736381000.026 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:20.026Z,1736381000.026 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:20.042Z,1736381000.042 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:20.043Z,1736381000.043 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:20.200Z,1736381000.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:20.250Z,1736381000.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:20.285Z,1736381000.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.199997 m, deltaT: 3.793460 s, deltaX: -2.300003 m, approachRate: -0.606307 m/s, rangeRepo size: 4 2025-01-09T00:03:20.291Z,1736381000.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.199997 m, bearing: 1.952828 deg, lat: 36.905577 deg, lon: -122.120266 deg, deltaT: 3.793460 s, deltaX: -2.300003 m, approachRate: -0.606307 m/s, posRepo size: 4 2025-01-09T00:03:20.294Z,1736381000.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-09T00:03:20.315Z,1736381000.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 79.142090 m, bearing: 6.525109 deg, approach rate: 0.000000 m/s, LOS rate: -0.593073 deg/s, cmd heading: 97.377522 deg, new cmd heading: 96.350465 deg. 2025-01-09T00:03:20.318Z,1736381000.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681633 target range: 73.199997 and range: 73.20 m. 2025-01-09T00:03:20.452Z,1736381000.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:20.636Z,1736381000.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:20.662Z,1736381000.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-09T00:03:20.667Z,1736381000.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 79.189735 m, bearing: 6.291989 deg, approach rate: 0.126303 m/s, LOS rate: -0.617599 deg/s, cmd heading: 96.350467 deg, new cmd heading: 95.651565 deg. 2025-01-09T00:03:20.673Z,1736381000.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669435 target range: 73.199997 and range: 73.20 m. 2025-01-09T00:03:20.707Z,1736381000.707 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:20.957Z,1736381000.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:21.078Z,1736381001.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:21.176Z,1736381001.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:21.178Z,1736381001.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-09T00:03:21.193Z,1736381001.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 79.242897 m, bearing: 6.025053 deg, approach rate: 0.102895 m/s, LOS rate: -0.516309 deg/s, cmd heading: 95.651567 deg, new cmd heading: 94.851351 deg. 2025-01-09T00:03:21.194Z,1736381001.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.655468 target range: 73.199997 and range: 73.20 m. 2025-01-09T00:03:21.208Z,1736381001.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:21.208Z,1736381001.208 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:21.208Z,1736381001.208 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:21.209Z,1736381001.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:21.460Z,1736381001.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:21.461Z,1736381001.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467640 2025-01-09T00:03:21.531Z,1736381001.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-09T00:03:21.531Z,1736381001.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:21.541Z,1736381001.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-09T00:03:21.544Z,1736381001.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 79.292068 m, bearing: 5.752079 deg, approach rate: 0.135453 m/s, LOS rate: -0.751495 deg/s, cmd heading: 94.851349 deg, new cmd heading: 94.032993 deg. 2025-01-09T00:03:21.545Z,1736381001.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.641185 target range: 73.199997 and range: 73.20 m. 2025-01-09T00:03:21.712Z,1736381001.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:21.712Z,1736381001.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719401 2025-01-09T00:03:21.917Z,1736381001.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-09T00:03:21.918Z,1736381001.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:21.926Z,1736381001.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-09T00:03:21.929Z,1736381001.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 79.331352 m, bearing: 5.519210 deg, approach rate: 0.102047 m/s, LOS rate: -0.604619 deg/s, cmd heading: 94.032990 deg, new cmd heading: 93.334765 deg. 2025-01-09T00:03:21.930Z,1736381001.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628999 target range: 73.199997 and range: 73.20 m. 2025-01-09T00:03:21.964Z,1736381001.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:21.965Z,1736381001.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971702 2025-01-09T00:03:22.217Z,1736381002.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:22.218Z,1736381002.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224869 2025-01-09T00:03:22.335Z,1736381002.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:22.344Z,1736381002.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-09T00:03:22.346Z,1736381002.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 79.377121 m, bearing: 5.265051 deg, approach rate: 0.109680 m/s, LOS rate: -0.608712 deg/s, cmd heading: 93.334767 deg, new cmd heading: 92.572778 deg. 2025-01-09T00:03:22.347Z,1736381002.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.615700 target range: 73.199997 and range: 73.20 m. 2025-01-09T00:03:22.468Z,1736381002.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:22.469Z,1736381002.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476024 2025-01-09T00:03:22.721Z,1736381002.721 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:22.723Z,1736381002.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729536 2025-01-09T00:03:22.740Z,1736381002.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:22.748Z,1736381002.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-09T00:03:22.751Z,1736381002.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 79.422859 m, bearing: 5.019595 deg, approach rate: 0.112984 m/s, LOS rate: -0.605983 deg/s, cmd heading: 92.572778 deg, new cmd heading: 91.836876 deg. 2025-01-09T00:03:22.752Z,1736381002.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.602856 target range: 73.199997 and range: 73.20 m. 2025-01-09T00:03:22.972Z,1736381002.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:22.972Z,1736381002.972 [DAT](INFO): DAT read: Rx Time:00:03:21.6535 2025-01-09T00:03:22.973Z,1736381002.973 [DAT](INFO): Rx dataTimestamp_ set to:1736381002.972582 2025-01-09T00:03:22.973Z,1736381002.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980313 2025-01-09T00:03:23.114Z,1736381003.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:23.125Z,1736381003.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m. 2025-01-09T00:03:23.128Z,1736381003.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.199997 m, nav range: 79.459015 m, bearing: 4.793288 deg, approach rate: 0.095856 m/s, LOS rate: -0.599709 deg/s, cmd heading: 91.836873 deg, new cmd heading: 91.158295 deg. 2025-01-09T00:03:23.129Z,1736381003.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.591012 target range: 73.199997 and range: 73.20 m. 2025-01-09T00:03:23.225Z,1736381003.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:23.225Z,1736381003.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232363 2025-01-09T00:03:23.476Z,1736381003.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:23.484Z,1736381003.484 [DAT](INFO): DAT read: 00:03:21.6535 LVL= 30624, 30193, 20338, 32755, AGC= 65, IDX= 406,-0.10, 0.697,-0.327, 1.358, 0.724, PHS= 0.061,-1.004, 0.631, RAW= 170.1, 4.4, CAL= 170.3, -4.7, ROT= 339.7, 4.7 2025-01-09T00:03:23.485Z,1736381003.485 [DAT](INFO): got valid direction response: 00:03:21.6535 LVL= 30624, 30193, 20338, 32755, AGC= 65, IDX= 406,-0.10, 0.697,-0.327, 1.358, 0.724, PHS= 0.061,-1.004, 0.631, RAW= 170.1, 4.4, CAL= 170.3, -4.7, ROT= 339.7, 4.7 2025-01-09T00:03:23.486Z,1736381003.486 [DAT](INFO): DAT read: Bearing 339.7, 4.7 (Local) 2025-01-09T00:03:23.486Z,1736381003.486 [DAT](INFO): Local bearing/azimuth received: Bearing 339.7, 4.7 (Local) 2025-01-09T00:03:23.488Z,1736381003.488 [DAT](INFO): DAT read: Range 10 to 50 : 71.0 m (Round-trip 94.7 ms) speed 0.6 m/s 2025-01-09T00:03:23.489Z,1736381003.489 [DAT](INFO): DAT read: user:3616> 2025-01-09T00:03:23.489Z,1736381003.489 [DAT](INFO): DAT read: Tx time:00:03:22.7546 2025-01-09T00:03:23.490Z,1736381003.490 [DAT](INFO): Ping request sent. 2025-01-09T00:03:23.490Z,1736381003.490 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:23.490Z,1736381003.490 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:23.504Z,1736381003.504 [DAT](INFO): direction in FSK: [-0.185400,-0.960245,0.208700] 2025-01-09T00:03:23.504Z,1736381003.504 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:23.504Z,1736381003.504 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:23.507Z,1736381003.507 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:23.507Z,1736381003.507 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:23.602Z,1736381003.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:23.641Z,1736381003.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.000000 m, deltaT: 3.527211 s, deltaX: -2.199997 m, approachRate: -0.623721 m/s, rangeRepo size: 4 2025-01-09T00:03:23.644Z,1736381003.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.000000 m, bearing: 356.128284 deg, lat: 36.905554 deg, lon: -122.120311 deg, deltaT: 3.527211 s, deltaX: -2.199997 m, approachRate: -0.623721 m/s, posRepo size: 4 2025-01-09T00:03:23.644Z,1736381003.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-09T00:03:23.653Z,1736381003.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 76.767548 m, bearing: 1.700280 deg, approach rate: 0.000000 m/s, LOS rate: -0.599709 deg/s, cmd heading: 91.158293 deg, new cmd heading: 90.231593 deg. 2025-01-09T00:03:23.655Z,1736381003.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.574838 target range: 71.000000 and range: 71.00 m. 2025-01-09T00:03:23.728Z,1736381003.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:23.729Z,1736381003.729 [DAT](INFO): DAT read: TxSync time:00:03:22.7539 2025-01-09T00:03:23.977Z,1736381003.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:23.980Z,1736381003.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:23.996Z,1736381003.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:23.998Z,1736381003.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-09T00:03:24.009Z,1736381004.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 76.817947 m, bearing: 1.477873 deg, approach rate: 0.140977 m/s, LOS rate: -0.621702 deg/s, cmd heading: 90.231594 deg, new cmd heading: 89.564841 deg. 2025-01-09T00:03:24.010Z,1736381004.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563201 target range: 71.000000 and range: 71.00 m. 2025-01-09T00:03:24.232Z,1736381004.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:24.233Z,1736381004.233 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:24.233Z,1736381004.233 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:24.234Z,1736381004.234 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:24.391Z,1736381004.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:24.400Z,1736381004.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-09T00:03:24.403Z,1736381004.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 76.875847 m, bearing: 1.249368 deg, approach rate: 0.143961 m/s, LOS rate: -0.567725 deg/s, cmd heading: 89.564844 deg, new cmd heading: 88.879880 deg. 2025-01-09T00:03:24.404Z,1736381004.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551247 target range: 71.000000 and range: 71.00 m. 2025-01-09T00:03:24.484Z,1736381004.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:24.486Z,1736381004.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995570 2025-01-09T00:03:24.736Z,1736381004.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:24.737Z,1736381004.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246663 2025-01-09T00:03:24.777Z,1736381004.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:24.789Z,1736381004.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-09T00:03:24.810Z,1736381004.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 76.927795 m, bearing: 1.035856 deg, approach rate: 0.133506 m/s, LOS rate: -0.548347 deg/s, cmd heading: 88.879879 deg, new cmd heading: 88.239804 deg. 2025-01-09T00:03:24.816Z,1736381004.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540075 target range: 71.000000 and range: 71.00 m. 2025-01-09T00:03:24.988Z,1736381004.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:24.988Z,1736381004.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498510 2025-01-09T00:03:25.184Z,1736381005.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:25.240Z,1736381005.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:25.241Z,1736381005.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750916 2025-01-09T00:03:25.241Z,1736381005.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-09T00:03:25.244Z,1736381005.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 76.978607 m, bearing: 0.811950 deg, approach rate: 0.113182 m/s, LOS rate: -0.498412 deg/s, cmd heading: 88.239801 deg, new cmd heading: 87.568560 deg. 2025-01-09T00:03:25.245Z,1736381005.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.528360 target range: 71.000000 and range: 71.00 m. 2025-01-09T00:03:25.492Z,1736381005.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:25.493Z,1736381005.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003362 2025-01-09T00:03:25.589Z,1736381005.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:25.614Z,1736381005.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-09T00:03:25.621Z,1736381005.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 77.025688 m, bearing: 0.610758 deg, approach rate: 0.125412 m/s, LOS rate: -0.535594 deg/s, cmd heading: 87.568558 deg, new cmd heading: 86.965375 deg. 2025-01-09T00:03:25.622Z,1736381005.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.517832 target range: 71.000000 and range: 71.00 m. 2025-01-09T00:03:25.744Z,1736381005.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:25.745Z,1736381005.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255334 2025-01-09T00:03:25.979Z,1736381005.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:25.988Z,1736381005.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-09T00:03:25.991Z,1736381005.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 77.067429 m, bearing: 0.418022 deg, approach rate: 0.111448 m/s, LOS rate: -0.514333 deg/s, cmd heading: 86.965377 deg, new cmd heading: 86.387501 deg. 2025-01-09T00:03:25.992Z,1736381005.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.507746 target range: 71.000000 and range: 71.00 m. 2025-01-09T00:03:25.996Z,1736381005.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:25.996Z,1736381005.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506638 2025-01-09T00:03:26.248Z,1736381006.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:26.249Z,1736381006.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758745 2025-01-09T00:03:26.409Z,1736381006.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:26.425Z,1736381006.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:26.431Z,1736381006.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-09T00:03:26.435Z,1736381006.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 77.117912 m, bearing: 0.222551 deg, approach rate: 0.115029 m/s, LOS rate: -0.445096 deg/s, cmd heading: 86.387502 deg, new cmd heading: 85.801494 deg. 2025-01-09T00:03:26.440Z,1736381006.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497519 target range: 71.000000 and range: 71.00 m. 2025-01-09T00:03:26.500Z,1736381006.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:26.501Z,1736381006.501 [DAT](INFO): DAT read: Rx Time:00:03:25.2506 2025-01-09T00:03:26.502Z,1736381006.502 [DAT](INFO): Rx dataTimestamp_ set to:1736381006.501621 2025-01-09T00:03:26.503Z,1736381006.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012966 2025-01-09T00:03:26.752Z,1736381006.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:26.752Z,1736381006.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262585 2025-01-09T00:03:26.815Z,1736381006.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:26.834Z,1736381006.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m. 2025-01-09T00:03:26.843Z,1736381006.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.000000 m, nav range: 77.162628 m, bearing: 0.037498 deg, approach rate: 0.109911 m/s, LOS rate: -0.454593 deg/s, cmd heading: 85.801492 deg, new cmd heading: 85.246673 deg. 2025-01-09T00:03:26.844Z,1736381006.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487835 target range: 71.000000 and range: 71.00 m. 2025-01-09T00:03:26.919Z,1736381006.919 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:03:27.004Z,1736381007.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:27.010Z,1736381007.010 [DAT](INFO): DAT read: 00:03:25.2506 LVL= 23280, 32033, 17186, 32755, AGC= 63, IDX= 409, 0.01,-2.446, 2.725,-2.041,-2.565, PHS= 0.207,-0.947, 0.520, RAW= 161.7, 3.3, CAL= 162.6, -5.7, ROT= 347.4, 5.7 2025-01-09T00:03:27.012Z,1736381007.012 [DAT](INFO): got valid direction response: 00:03:25.2506 LVL= 23280, 32033, 17186, 32755, AGC= 63, IDX= 409, 0.01,-2.446, 2.725,-2.041,-2.565, PHS= 0.207,-0.947, 0.520, RAW= 161.7, 3.3, CAL= 162.6, -5.7, ROT= 347.4, 5.7 2025-01-09T00:03:27.013Z,1736381007.013 [DAT](INFO): DAT read: Bearing 347.4, 5.7 (Local) 2025-01-09T00:03:27.013Z,1736381007.013 [DAT](INFO): Local bearing/azimuth received: Bearing 347.4, 5.7 (Local) 2025-01-09T00:03:27.014Z,1736381007.014 [DAT](INFO): DAT read: Range 10 to 50 : 68.8 m (Round-trip 91.8 ms) speed 0.7 m/s 2025-01-09T00:03:27.016Z,1736381007.016 [DAT](INFO): DAT read: user:3617> 2025-01-09T00:03:27.027Z,1736381007.027 [DAT](INFO): DAT read: Tx time:00:03:26.3546 2025-01-09T00:03:27.028Z,1736381007.028 [DAT](INFO): Ping request sent. 2025-01-09T00:03:27.028Z,1736381007.028 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:27.028Z,1736381007.028 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:27.029Z,1736381007.029 [DAT](INFO): direction in FSK: [-0.175626,-0.919008,0.352958] 2025-01-09T00:03:27.029Z,1736381007.029 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:27.029Z,1736381007.029 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:27.050Z,1736381007.050 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:27.051Z,1736381007.051 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:27.204Z,1736381007.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:27.258Z,1736381007.258 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:27.261Z,1736381007.261 [DAT](INFO): DAT read: TxSync time:00:03:26.3539 2025-01-09T00:03:27.280Z,1736381007.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.800003 m, deltaT: 3.528225 s, deltaX: -2.199997 m, approachRate: -0.623542 m/s, rangeRepo size: 4 2025-01-09T00:03:27.287Z,1736381007.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.800003 m, bearing: 348.959922 deg, lat: 36.905525 deg, lon: -122.120339 deg, deltaT: 3.528225 s, deltaX: -2.199997 m, approachRate: -0.623542 m/s, posRepo size: 4 2025-01-09T00:03:27.288Z,1736381007.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m. 2025-01-09T00:03:27.291Z,1736381007.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.800003 m, nav range: 73.959969 m, bearing: 357.891952 deg, approach rate: 0.000000 m/s, LOS rate: -0.454593 deg/s, cmd heading: 85.246676 deg, new cmd heading: 84.644726 deg. 2025-01-09T00:03:27.296Z,1736381007.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477329 target range: 68.800003 and range: 68.80 m. 2025-01-09T00:03:27.508Z,1736381007.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:27.609Z,1736381007.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:27.637Z,1736381007.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m. 2025-01-09T00:03:27.645Z,1736381007.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.800003 m, nav range: 74.012741 m, bearing: 357.715447 deg, approach rate: 0.145828 m/s, LOS rate: -0.487393 deg/s, cmd heading: 84.644724 deg, new cmd heading: 84.115605 deg. 2025-01-09T00:03:27.646Z,1736381007.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468094 target range: 68.800003 and range: 68.80 m. 2025-01-09T00:03:27.760Z,1736381007.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:27.920Z,1736381007.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:03:27.990Z,1736381007.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:27.000Z,1736381008.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m. 2025-01-09T00:03:28.003Z,1736381008.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.800003 m, nav range: 74.060295 m, bearing: 357.551049 deg, approach rate: 0.131483 m/s, LOS rate: -0.454256 deg/s, cmd heading: 84.115603 deg, new cmd heading: 83.622737 deg. 2025-01-09T00:03:28.004Z,1736381008.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.459492 target range: 68.800003 and range: 68.80 m. 2025-01-09T00:03:28.012Z,1736381008.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:28.266Z,1736381008.266 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:28.436Z,1736381008.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:28.443Z,1736381008.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:28.446Z,1736381008.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m. 2025-01-09T00:03:28.448Z,1736381008.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.800003 m, nav range: 74.117348 m, bearing: 357.374846 deg, approach rate: 0.127772 m/s, LOS rate: -0.394310 deg/s, cmd heading: 83.622737 deg, new cmd heading: 83.094551 deg. 2025-01-09T00:03:28.450Z,1736381008.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.450274 target range: 68.800003 and range: 68.80 m. 2025-01-09T00:03:28.517Z,1736381008.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:28.517Z,1736381008.517 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:28.517Z,1736381008.517 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:28.517Z,1736381008.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:28.768Z,1736381008.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:28.768Z,1736381008.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740605 2025-01-09T00:03:28.792Z,1736381008.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:28.822Z,1736381008.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m. 2025-01-09T00:03:28.832Z,1736381008.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.800003 m, nav range: 74.158493 m, bearing: 357.233751 deg, approach rate: 0.109477 m/s, LOS rate: -0.375208 deg/s, cmd heading: 83.094551 deg, new cmd heading: 82.671510 deg. 2025-01-09T00:03:28.835Z,1736381008.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442890 target range: 68.800003 and range: 68.80 m. 2025-01-09T00:03:29.020Z,1736381009.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:29.021Z,1736381009.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992919 2025-01-09T00:03:29.196Z,1736381009.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:29.212Z,1736381009.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m. 2025-01-09T00:03:29.214Z,1736381009.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.800003 m, nav range: 74.202835 m, bearing: 357.072901 deg, approach rate: 0.113651 m/s, LOS rate: -0.412022 deg/s, cmd heading: 82.671510 deg, new cmd heading: 82.189259 deg. 2025-01-09T00:03:29.216Z,1736381009.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434473 target range: 68.800003 and range: 68.80 m. 2025-01-09T00:03:29.273Z,1736381009.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:29.276Z,1736381009.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247401 2025-01-09T00:03:29.524Z,1736381009.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:29.524Z,1736381009.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496680 2025-01-09T00:03:29.622Z,1736381009.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:29.631Z,1736381009.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m. 2025-01-09T00:03:29.656Z,1736381009.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.800003 m, nav range: 74.246933 m, bearing: 356.905270 deg, approach rate: 0.105092 m/s, LOS rate: -0.399252 deg/s, cmd heading: 82.189258 deg, new cmd heading: 81.686678 deg. 2025-01-09T00:03:29.657Z,1736381009.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425701 target range: 68.800003 and range: 68.80 m. 2025-01-09T00:03:29.776Z,1736381009.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:29.778Z,1736381009.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749868 2025-01-09T00:03:30.020Z,1736381010.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:30.028Z,1736381010.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:30.029Z,1736381010.029 [DAT](INFO): DAT read: Rx Time:00:03:28.8477 2025-01-09T00:03:30.029Z,1736381010.029 [DAT](INFO): Rx dataTimestamp_ set to:1736381010.028788 2025-01-09T00:03:30.030Z,1736381010.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001923 2025-01-09T00:03:30.032Z,1736381010.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m. 2025-01-09T00:03:30.036Z,1736381010.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.800003 m, nav range: 74.286072 m, bearing: 356.748748 deg, approach rate: 0.097666 m/s, LOS rate: -0.390372 deg/s, cmd heading: 81.686679 deg, new cmd heading: 81.217373 deg. 2025-01-09T00:03:30.037Z,1736381010.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.417511 target range: 68.800003 and range: 68.80 m. 2025-01-09T00:03:30.281Z,1736381010.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:30.284Z,1736381010.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255856 2025-01-09T00:03:30.427Z,1736381010.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:30.456Z,1736381010.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:30.462Z,1736381010.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m. 2025-01-09T00:03:30.480Z,1736381010.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.800003 m, nav range: 74.321831 m, bearing: 356.583999 deg, approach rate: 0.083697 m/s, LOS rate: -0.385425 deg/s, cmd heading: 81.217370 deg, new cmd heading: 80.723373 deg. 2025-01-09T00:03:30.481Z,1736381010.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408889 target range: 68.800003 and range: 68.80 m. 2025-01-09T00:03:30.534Z,1736381010.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:30.550Z,1736381010.550 [DAT](INFO): DAT read: 00:03:28.8477 LVL= 20032, 25329, 18274, 27731, AGC= 62, IDX= 410,-0.17, 2.310, 1.010, 2.553, 2.090, PHS= 0.308,-1.033, 0.460, RAW= 155.3, 3.8, CAL= 156.8, -5.3, ROT= 353.2, 5.3 2025-01-09T00:03:30.564Z,1736381010.564 [DAT](INFO): got valid direction response: 00:03:28.8477 LVL= 20032, 25329, 18274, 27731, AGC= 62, IDX= 410,-0.17, 2.310, 1.010, 2.553, 2.090, PHS= 0.308,-1.033, 0.460, RAW= 155.3, 3.8, CAL= 156.8, -5.3, ROT= 353.2, 5.3 2025-01-09T00:03:30.565Z,1736381010.565 [DAT](INFO): DAT read: Bearing 353.2, 5.3 (Local) 2025-01-09T00:03:30.565Z,1736381010.565 [DAT](INFO): Local bearing/azimuth received: Bearing 353.2, 5.3 (Local) 2025-01-09T00:03:30.574Z,1736381010.574 [DAT](INFO): DAT read: Range 10 to 50 : 66.6 m (Round-trip 88.8 ms) speed 0.8 m/s 2025-01-09T00:03:30.580Z,1736381010.580 [DAT](INFO): DAT read: user:3618> 2025-01-09T00:03:30.580Z,1736381010.580 [DAT](INFO): DAT read: Tx time:00:03:29.9547 2025-01-09T00:03:30.581Z,1736381010.581 [DAT](INFO): Ping request sent. 2025-01-09T00:03:30.581Z,1736381010.581 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:30.581Z,1736381010.581 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:30.583Z,1736381010.583 [DAT](INFO): direction in FSK: [-0.190174,-0.869361,0.456121] 2025-01-09T00:03:30.587Z,1736381010.587 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:30.588Z,1736381010.588 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:30.598Z,1736381010.598 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:30.598Z,1736381010.598 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:30.784Z,1736381010.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:30.785Z,1736381010.785 [DAT](INFO): DAT read: TxSync time:00:03:29.9540 2025-01-09T00:03:30.832Z,1736381010.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:30.876Z,1736381010.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.599998 m, deltaT: 3.530233 s, deltaX: -2.200005 m, approachRate: -0.623190 m/s, rangeRepo size: 4 2025-01-09T00:03:30.878Z,1736381010.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.599998 m, bearing: 341.105577 deg, lat: 36.905492 deg, lon: -122.120389 deg, deltaT: 3.530233 s, deltaX: -2.200005 m, approachRate: -0.623190 m/s, posRepo size: 4 2025-01-09T00:03:30.879Z,1736381010.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.60 m. 2025-01-09T00:03:30.886Z,1736381010.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.599998 m, nav range: 71.143471 m, bearing: 352.644128 deg, approach rate: 0.000000 m/s, LOS rate: -0.385425 deg/s, cmd heading: 80.723376 deg, new cmd heading: 80.247780 deg. 2025-01-09T00:03:30.887Z,1736381010.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400588 target range: 66.599998 and range: 66.60 m. 2025-01-09T00:03:31.036Z,1736381011.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:31.229Z,1736381011.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:31.242Z,1736381011.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.60 m. 2025-01-09T00:03:31.245Z,1736381011.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.599998 m, nav range: 71.188850 m, bearing: 352.478143 deg, approach rate: 0.122012 m/s, LOS rate: -0.446000 deg/s, cmd heading: 80.247783 deg, new cmd heading: 79.750157 deg. 2025-01-09T00:03:31.246Z,1736381011.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391903 target range: 66.599998 and range: 66.60 m. 2025-01-09T00:03:31.289Z,1736381011.289 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:31.540Z,1736381011.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:31.724Z,1736381011.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:31.734Z,1736381011.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.60 m. 2025-01-09T00:03:31.737Z,1736381011.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.599998 m, nav range: 71.242058 m, bearing: 352.262504 deg, approach rate: 0.108214 m/s, LOS rate: -0.438241 deg/s, cmd heading: 79.750156 deg, new cmd heading: 79.103753 deg. 2025-01-09T00:03:31.738Z,1736381011.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380621 target range: 66.599998 and range: 66.60 m. 2025-01-09T00:03:31.792Z,1736381011.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:32.044Z,1736381012.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:32.090Z,1736381012.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:32.101Z,1736381012.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.60 m. 2025-01-09T00:03:32.120Z,1736381012.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.599998 m, nav range: 71.280235 m, bearing: 352.103012 deg, approach rate: 0.103902 m/s, LOS rate: -0.433835 deg/s, cmd heading: 79.103754 deg, new cmd heading: 78.625545 deg. 2025-01-09T00:03:32.121Z,1736381012.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372275 target range: 66.599998 and range: 66.60 m. 2025-01-09T00:03:32.299Z,1736381012.299 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:32.548Z,1736381012.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:32.570Z,1736381012.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:32.586Z,1736381012.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:32.592Z,1736381012.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.60 m. 2025-01-09T00:03:32.595Z,1736381012.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.599998 m, nav range: 71.326546 m, bearing: 351.873281 deg, approach rate: 0.094380 m/s, LOS rate: -0.467883 deg/s, cmd heading: 78.625545 deg, new cmd heading: 77.936834 deg. 2025-01-09T00:03:32.601Z,1736381012.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360254 target range: 66.599998 and range: 66.60 m. 2025-01-09T00:03:32.800Z,1736381012.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:32.801Z,1736381012.801 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:32.801Z,1736381012.801 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:32.801Z,1736381012.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:32.945Z,1736381012.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:32.953Z,1736381012.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.60 m. 2025-01-09T00:03:32.956Z,1736381012.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.599998 m, nav range: 71.361435 m, bearing: 351.693610 deg, approach rate: 0.096593 m/s, LOS rate: -0.497188 deg/s, cmd heading: 77.936837 deg, new cmd heading: 77.398104 deg. 2025-01-09T00:03:32.957Z,1736381012.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350852 target range: 66.599998 and range: 66.60 m. 2025-01-09T00:03:33.054Z,1736381013.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:33.055Z,1736381013.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474296 2025-01-09T00:03:33.317Z,1736381013.317 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:33.320Z,1736381013.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738157 2025-01-09T00:03:33.406Z,1736381013.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:33.414Z,1736381013.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.60 m. 2025-01-09T00:03:33.418Z,1736381013.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.599998 m, nav range: 71.403053 m, bearing: 351.451621 deg, approach rate: 0.090247 m/s, LOS rate: -0.524429 deg/s, cmd heading: 77.398105 deg, new cmd heading: 76.672603 deg. 2025-01-09T00:03:33.420Z,1736381013.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338189 target range: 66.599998 and range: 66.60 m. 2025-01-09T00:03:33.568Z,1736381013.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:33.569Z,1736381013.569 [DAT](INFO): DAT read: Rx Time:00:03:32.4443 2025-01-09T00:03:33.569Z,1736381013.569 [DAT](INFO): Rx dataTimestamp_ set to:1736381013.568789 2025-01-09T00:03:33.570Z,1736381013.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988819 2025-01-09T00:03:33.754Z,1736381013.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:33.763Z,1736381013.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.60 m. 2025-01-09T00:03:33.767Z,1736381013.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.599998 m, nav range: 71.430115 m, bearing: 351.268507 deg, approach rate: 0.077738 m/s, LOS rate: -0.525820 deg/s, cmd heading: 76.672603 deg, new cmd heading: 76.123486 deg. 2025-01-09T00:03:33.768Z,1736381013.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328606 target range: 66.599998 and range: 66.60 m. 2025-01-09T00:03:33.820Z,1736381013.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:33.821Z,1736381013.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239867 2025-01-09T00:03:34.072Z,1736381014.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:34.072Z,1736381014.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491563 2025-01-09T00:03:34.174Z,1736381014.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:34.184Z,1736381014.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.60 m. 2025-01-09T00:03:34.186Z,1736381014.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.599998 m, nav range: 71.461990 m, bearing: 351.047868 deg, approach rate: 0.075786 m/s, LOS rate: -0.524346 deg/s, cmd heading: 76.123490 deg, new cmd heading: 75.461898 deg. 2025-01-09T00:03:34.187Z,1736381014.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.317059 target range: 66.599998 and range: 66.60 m. 2025-01-09T00:03:34.325Z,1736381014.325 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:34.348Z,1736381014.348 [DAT](INFO): DAT read: 00:03:32.4443 LVL= 21072, 23889, 17282, 27891, AGC= 62, IDX= 406, 0.17, 0.719,-0.742, 0.752, 0.279, PHS= 0.528,-0.973, 0.470, RAW= 148.0, -0.3, CAL= 151.6, -9.3, ROT= 358.4, 9.3 2025-01-09T00:03:34.355Z,1736381014.355 [DAT](INFO): got valid direction response: 00:03:32.4443 LVL= 21072, 23889, 17282, 27891, AGC= 62, IDX= 406, 0.17, 0.719,-0.742, 0.752, 0.279, PHS= 0.528,-0.973, 0.470, RAW= 148.0, -0.3, CAL= 151.6, -9.3, ROT= 358.4, 9.3 2025-01-09T00:03:34.357Z,1736381014.357 [DAT](INFO): DAT read: Bearing 358.4, 9.3 (Local) 2025-01-09T00:03:34.358Z,1736381014.358 [DAT](INFO): Local bearing/azimuth received: Bearing 358.4, 9.3 (Local) 2025-01-09T00:03:34.359Z,1736381014.359 [DAT](INFO): DAT read: Range 10 to 50 : 64.0 m (Round-trip 85.4 ms) speed 0.6 m/s 2025-01-09T00:03:34.360Z,1736381014.360 [DAT](INFO): DAT read: user:3619> 2025-01-09T00:03:34.361Z,1736381014.361 [DAT](INFO): DAT read: Tx time:00:03:33.5547 2025-01-09T00:03:34.361Z,1736381014.361 [DAT](INFO): Ping request sent. 2025-01-09T00:03:34.361Z,1736381014.361 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:34.362Z,1736381014.362 [DAT](INFO): DAT read: TxSync time:00:03:33.5540 2025-01-09T00:03:34.362Z,1736381014.362 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:34.384Z,1736381014.384 [DAT](INFO): direction in FSK: [-0.115795,-0.808686,0.576732] 2025-01-09T00:03:34.385Z,1736381014.385 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:34.385Z,1736381014.385 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:34.393Z,1736381014.393 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:34.393Z,1736381014.393 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:34.576Z,1736381014.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:34.602Z,1736381014.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:34.633Z,1736381014.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.000000 m, deltaT: 3.791610 s, deltaX: -2.599998 m, approachRate: -0.685724 m/s, rangeRepo size: 4 2025-01-09T00:03:34.640Z,1736381014.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.000000 m, bearing: 340.498733 deg, lat: 36.905435 deg, lon: -122.120449 deg, deltaT: 3.791610 s, deltaX: -2.599998 m, approachRate: -0.685724 m/s, posRepo size: 4 2025-01-09T00:03:34.640Z,1736381014.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m. 2025-01-09T00:03:34.647Z,1736381014.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.000000 m, nav range: 66.357979 m, bearing: 345.419003 deg, approach rate: 0.000000 m/s, LOS rate: -0.524346 deg/s, cmd heading: 75.461897 deg, new cmd heading: 74.756024 deg. 2025-01-09T00:03:34.650Z,1736381014.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304739 target range: 64.000000 and range: 64.00 m. 2025-01-09T00:03:34.828Z,1736381014.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:34.978Z,1736381014.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:34.990Z,1736381014.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:34.993Z,1736381014.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m. 2025-01-09T00:03:35.014Z,1736381015.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.000000 m, nav range: 66.410652 m, bearing: 345.192423 deg, approach rate: 0.146161 m/s, LOS rate: -0.628226 deg/s, cmd heading: 74.756024 deg, new cmd heading: 74.076859 deg. 2025-01-09T00:03:35.014Z,1736381015.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.292885 target range: 64.000000 and range: 64.00 m. 2025-01-09T00:03:35.080Z,1736381015.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:35.080Z,1736381015.080 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:35.081Z,1736381015.081 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:35.081Z,1736381015.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:35.333Z,1736381015.333 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:35.336Z,1736381015.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.973614 2025-01-09T00:03:35.442Z,1736381015.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:35.451Z,1736381015.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m. 2025-01-09T00:03:35.454Z,1736381015.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.000000 m, nav range: 66.479286 m, bearing: 344.896704 deg, approach rate: 0.149713 m/s, LOS rate: -0.644392 deg/s, cmd heading: 74.076858 deg, new cmd heading: 73.190691 deg. 2025-01-09T00:03:35.455Z,1736381015.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277418 target range: 64.000000 and range: 64.00 m. 2025-01-09T00:03:35.586Z,1736381015.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:35.587Z,1736381015.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225920 2025-01-09T00:03:35.836Z,1736381015.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:35.836Z,1736381015.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475111 2025-01-09T00:03:35.843Z,1736381015.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:35.882Z,1736381015.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m. 2025-01-09T00:03:35.889Z,1736381015.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.000000 m, nav range: 66.538139 m, bearing: 344.640916 deg, approach rate: 0.136400 m/s, LOS rate: -0.592296 deg/s, cmd heading: 73.190688 deg, new cmd heading: 72.424050 deg. 2025-01-09T00:03:35.890Z,1736381015.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264038 target range: 64.000000 and range: 64.00 m. 2025-01-09T00:03:36.088Z,1736381016.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:36.091Z,1736381016.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728846 2025-01-09T00:03:36.259Z,1736381016.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:36.268Z,1736381016.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m. 2025-01-09T00:03:36.271Z,1736381016.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.000000 m, nav range: 66.600632 m, bearing: 344.375882 deg, approach rate: 0.161874 m/s, LOS rate: -0.685870 deg/s, cmd heading: 72.424047 deg, new cmd heading: 71.629745 deg. 2025-01-09T00:03:36.272Z,1736381016.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250175 target range: 64.000000 and range: 64.00 m. 2025-01-09T00:03:36.342Z,1736381016.342 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:36.345Z,1736381016.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983401 2025-01-09T00:03:36.592Z,1736381016.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:36.593Z,1736381016.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231282 2025-01-09T00:03:36.780Z,1736381016.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:36.789Z,1736381016.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m. 2025-01-09T00:03:36.792Z,1736381016.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.000000 m, nav range: 66.673470 m, bearing: 344.040547 deg, approach rate: 0.139967 m/s, LOS rate: -0.643682 deg/s, cmd heading: 71.629744 deg, new cmd heading: 70.624947 deg. 2025-01-09T00:03:36.793Z,1736381016.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232638 target range: 64.000000 and range: 64.00 m. 2025-01-09T00:03:36.845Z,1736381016.845 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:36.846Z,1736381016.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484517 2025-01-09T00:03:37.096Z,1736381017.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:37.096Z,1736381017.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734963 2025-01-09T00:03:37.160Z,1736381017.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:37.167Z,1736381017.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:37.169Z,1736381017.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m. 2025-01-09T00:03:37.172Z,1736381017.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.000000 m, nav range: 66.725952 m, bearing: 343.795237 deg, approach rate: 0.137955 m/s, LOS rate: -0.644308 deg/s, cmd heading: 70.624948 deg, new cmd heading: 69.889639 deg. 2025-01-09T00:03:37.173Z,1736381017.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219804 target range: 64.000000 and range: 64.00 m. 2025-01-09T00:03:37.350Z,1736381017.350 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:37.353Z,1736381017.353 [DAT](INFO): DAT read: Rx Time:00:03:36.0413 2025-01-09T00:03:37.355Z,1736381017.355 [DAT](INFO): Rx dataTimestamp_ set to:1736381017.353628 2025-01-09T00:03:37.357Z,1736381017.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995234 2025-01-09T00:03:37.588Z,1736381017.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:37.597Z,1736381017.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m. 2025-01-09T00:03:37.600Z,1736381017.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:37.601Z,1736381017.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239235 2025-01-09T00:03:37.602Z,1736381017.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.000000 m, nav range: 66.755890 m, bearing: 343.515101 deg, approach rate: 0.069967 m/s, LOS rate: -0.654400 deg/s, cmd heading: 69.889637 deg, new cmd heading: 69.049672 deg. 2025-01-09T00:03:37.623Z,1736381017.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205144 target range: 64.000000 and range: 64.00 m. 2025-01-09T00:03:37.861Z,1736381017.861 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:37.870Z,1736381017.870 [DAT](INFO): DAT read: 00:03:36.0413 LVL= 20624, 32753, 20978, 32755, AGC= 64, IDX= 408, 0.14,-2.509, 2.374,-2.661,-2.999, PHS= 0.578,-0.864, 0.335, RAW= 141.0, -0.8, CAL= 145.5, -9.8, ROT= 4.5, 9.8 2025-01-09T00:03:37.871Z,1736381017.871 [DAT](INFO): got valid direction response: 00:03:36.0413 LVL= 20624, 32753, 20978, 32755, AGC= 64, IDX= 408, 0.14,-2.509, 2.374,-2.661,-2.999, PHS= 0.578,-0.864, 0.335, RAW= 141.0, -0.8, CAL= 145.5, -9.8, ROT= 4.5, 9.8 2025-01-09T00:03:37.872Z,1736381017.872 [DAT](INFO): DAT read: Bearing 4.5, 9.8 (Local) 2025-01-09T00:03:37.872Z,1736381017.872 [DAT](INFO): Local bearing/azimuth received: Bearing 4.5, 9.8 (Local) 2025-01-09T00:03:37.873Z,1736381017.873 [DAT](INFO): DAT read: Range 10 to 50 : 61.8 m (Round-trip 82.4 ms) speed 0.5 m/s 2025-01-09T00:03:37.874Z,1736381017.874 [DAT](INFO): DAT read: user:3620> 2025-01-09T00:03:37.875Z,1736381017.875 [DAT](INFO): DAT read: Tx time:00:03:37.1547 2025-01-09T00:03:37.875Z,1736381017.875 [DAT](INFO): Ping request sent. 2025-01-09T00:03:37.876Z,1736381017.876 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:37.876Z,1736381017.876 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:37.877Z,1736381017.877 [DAT](INFO): direction in FSK: [-0.110622,-0.726387,0.678325] 2025-01-09T00:03:37.877Z,1736381017.877 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:37.877Z,1736381017.877 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:37.886Z,1736381017.886 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:37.886Z,1736381017.886 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:38.002Z,1736381018.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:38.033Z,1736381018.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 3.535707 s, deltaX: -2.200001 m, approachRate: -0.622224 m/s, rangeRepo size: 4 2025-01-09T00:03:38.040Z,1736381018.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.799999 m, bearing: 335.817010 deg, lat: 36.905374 deg, lon: -122.120452 deg, deltaT: 3.535707 s, deltaX: -2.200001 m, approachRate: -0.622224 m/s, posRepo size: 4 2025-01-09T00:03:38.041Z,1736381018.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-09T00:03:38.049Z,1736381018.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 60.428234 m, bearing: 341.112675 deg, approach rate: 0.000000 m/s, LOS rate: -0.654400 deg/s, cmd heading: 69.049674 deg, new cmd heading: 68.194342 deg. 2025-01-09T00:03:38.056Z,1736381018.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190216 target range: 61.799999 and range: 61.80 m. 2025-01-09T00:03:38.113Z,1736381018.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:38.114Z,1736381018.114 [DAT](INFO): DAT read: TxSync time:00:03:37.1540 2025-01-09T00:03:38.366Z,1736381018.366 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:38.458Z,1736381018.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:38.474Z,1736381018.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-09T00:03:38.477Z,1736381018.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 60.485592 m, bearing: 340.806746 deg, approach rate: 0.129908 m/s, LOS rate: -0.692230 deg/s, cmd heading: 68.194344 deg, new cmd heading: 67.277509 deg. 2025-01-09T00:03:38.478Z,1736381018.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.174214 target range: 61.799999 and range: 61.80 m. 2025-01-09T00:03:38.616Z,1736381018.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:38.776Z,1736381018.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:38.808Z,1736381018.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-09T00:03:38.810Z,1736381018.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 60.524590 m, bearing: 340.593153 deg, approach rate: 0.117135 m/s, LOS rate: -0.641144 deg/s, cmd heading: 67.277507 deg, new cmd heading: 66.637169 deg. 2025-01-09T00:03:38.812Z,1736381018.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163038 target range: 61.799999 and range: 61.80 m. 2025-01-09T00:03:38.869Z,1736381018.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:39.120Z,1736381019.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:39.185Z,1736381019.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:39.192Z,1736381019.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:39.194Z,1736381019.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-09T00:03:39.197Z,1736381019.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 60.573299 m, bearing: 340.319040 deg, approach rate: 0.125987 m/s, LOS rate: -0.708416 deg/s, cmd heading: 66.637170 deg, new cmd heading: 65.815552 deg. 2025-01-09T00:03:39.198Z,1736381019.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.148698 target range: 61.799999 and range: 61.80 m. 2025-01-09T00:03:39.374Z,1736381019.374 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:39.376Z,1736381019.376 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:39.377Z,1736381019.377 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:39.378Z,1736381019.378 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:39.624Z,1736381019.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:39.624Z,1736381019.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748922 2025-01-09T00:03:39.625Z,1736381019.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:39.636Z,1736381019.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-09T00:03:39.639Z,1736381019.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 60.629196 m, bearing: 340.035807 deg, approach rate: 0.126293 m/s, LOS rate: -0.639341 deg/s, cmd heading: 65.815553 deg, new cmd heading: 64.966703 deg. 2025-01-09T00:03:39.640Z,1736381019.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133883 target range: 61.799999 and range: 61.80 m. 2025-01-09T00:03:39.876Z,1736381019.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:39.877Z,1736381019.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001699 2025-01-09T00:03:39.987Z,1736381019.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:39.995Z,1736381019.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-09T00:03:39.998Z,1736381019.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 60.672405 m, bearing: 339.803250 deg, approach rate: 0.120453 m/s, LOS rate: -0.647834 deg/s, cmd heading: 64.966703 deg, new cmd heading: 64.269565 deg. 2025-01-09T00:03:39.999Z,1736381019.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.121716 target range: 61.799999 and range: 61.80 m. 2025-01-09T00:03:40.129Z,1736381020.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:40.131Z,1736381020.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254886 2025-01-09T00:03:40.381Z,1736381020.381 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:40.386Z,1736381020.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507585 2025-01-09T00:03:40.491Z,1736381020.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:40.501Z,1736381020.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-09T00:03:40.520Z,1736381020.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 60.725269 m, bearing: 339.491388 deg, approach rate: 0.104559 m/s, LOS rate: -0.616285 deg/s, cmd heading: 64.269567 deg, new cmd heading: 63.334882 deg. 2025-01-09T00:03:40.521Z,1736381020.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.105402 target range: 61.799999 and range: 61.80 m. 2025-01-09T00:03:40.648Z,1736381020.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:40.650Z,1736381020.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774298 2025-01-09T00:03:40.816Z,1736381020.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:40.825Z,1736381020.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-09T00:03:40.828Z,1736381020.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 60.760269 m, bearing: 339.290800 deg, approach rate: 0.107859 m/s, LOS rate: -0.617794 deg/s, cmd heading: 63.334883 deg, new cmd heading: 62.733490 deg. 2025-01-09T00:03:40.829Z,1736381020.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094906 target range: 61.799999 and range: 61.80 m. 2025-01-09T00:03:40.901Z,1736381020.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:40.902Z,1736381020.902 [DAT](INFO): DAT read: Rx Time:00:03:39.6384 2025-01-09T00:03:40.902Z,1736381020.902 [DAT](INFO): Rx dataTimestamp_ set to:1736381020.901791 2025-01-09T00:03:40.903Z,1736381020.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027057 2025-01-09T00:03:41.152Z,1736381021.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:41.154Z,1736381021.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278293 2025-01-09T00:03:41.200Z,1736381021.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:41.206Z,1736381021.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:41.217Z,1736381021.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m. 2025-01-09T00:03:41.224Z,1736381021.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.799999 m, nav range: 60.790897 m, bearing: 339.052320 deg, approach rate: 0.078122 m/s, LOS rate: -0.607972 deg/s, cmd heading: 62.733491 deg, new cmd heading: 62.018449 deg. 2025-01-09T00:03:41.225Z,1736381021.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.082426 target range: 61.799999 and range: 61.80 m. 2025-01-09T00:03:41.405Z,1736381021.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:41.433Z,1736381021.433 [DAT](INFO): DAT read: 00:03:39.6385 LVL= 24256, 32753, 22914, 32755, AGC= 66, IDX= 411, 0.14,-2.935, 1.793, 2.891, 2.742, PHS= 0.695,-0.902, 0.146, RAW= 130.2, 0.9, CAL= 136.3, -7.3, ROT= 13.7, 7.3 2025-01-09T00:03:41.460Z,1736381021.460 [DAT](INFO): got valid direction response: 00:03:39.6385 LVL= 24256, 32753, 22914, 32755, AGC= 66, IDX= 411, 0.14,-2.935, 1.793, 2.891, 2.742, PHS= 0.695,-0.902, 0.146, RAW= 130.2, 0.9, CAL= 136.3, -7.3, ROT= 13.7, 7.3 2025-01-09T00:03:41.474Z,1736381021.474 [DAT](INFO): DAT read: Bearing 13.7, 7.3 (Local) 2025-01-09T00:03:41.474Z,1736381021.474 [DAT](INFO): Local bearing/azimuth received: Bearing 13.7, 7.3 (Local) 2025-01-09T00:03:41.476Z,1736381021.476 [DAT](INFO): DAT read: Range 10 to 50 : 59.6 m (Round-trip 79.5 ms) speed 0.8 m/s 2025-01-09T00:03:41.477Z,1736381021.477 [DAT](INFO): DAT read: user:3621> 2025-01-09T00:03:41.478Z,1736381021.478 [DAT](INFO): DAT read: Tx time:00:03:40.7548 2025-01-09T00:03:41.478Z,1736381021.478 [DAT](INFO): Ping request sent. 2025-01-09T00:03:41.478Z,1736381021.478 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:41.478Z,1736381021.478 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:41.484Z,1736381021.484 [DAT](INFO): direction in FSK: [-0.142212,-0.575327,0.805465] 2025-01-09T00:03:41.484Z,1736381021.484 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:41.485Z,1736381021.485 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:41.517Z,1736381021.517 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:41.517Z,1736381021.517 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:41.656Z,1736381021.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:41.657Z,1736381021.657 [DAT](INFO): DAT read: TxSync time:00:03:40.7541 2025-01-09T00:03:41.661Z,1736381021.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:41.700Z,1736381021.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 3.543946 s, deltaX: -2.200001 m, approachRate: -0.620777 m/s, rangeRepo size: 4 2025-01-09T00:03:41.702Z,1736381021.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.599998 m, bearing: 323.587111 deg, lat: 36.905321 deg, lon: -122.120452 deg, deltaT: 3.543946 s, deltaX: -2.200001 m, approachRate: -0.620777 m/s, posRepo size: 4 2025-01-09T00:03:41.703Z,1736381021.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m. 2025-01-09T00:03:41.708Z,1736381021.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-09T00:03:41.710Z,1736381021.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.599998 m, nav range: 55.399162 m, bearing: 336.596514 deg, approach rate: 0.000000 m/s, LOS rate: -0.607972 deg/s, cmd heading: 62.018452 deg, new cmd heading: 61.147849 deg. 2025-01-09T00:03:41.716Z,1736381021.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.067231 target range: 59.599998 and range: 59.60 m. 2025-01-09T00:03:41.763Z,1736381021.763 [DockingStepper](INFO): Changing to mode: 2 2025-01-09T00:03:41.763Z,1736381021.763 [DockingStepper](INFO): Armed mode. 2025-01-09T00:03:41.828Z,1736381021.828 [DockingStepper](INFO): Commanding negative:54371 2025-01-09T00:03:41.908Z,1736381021.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:42.007Z,1736381022.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:42.029Z,1736381022.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m. 2025-01-09T00:03:42.030Z,1736381022.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-09T00:03:42.037Z,1736381022.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.599998 m, nav range: 55.424698 m, bearing: 336.380273 deg, approach rate: 0.076349 m/s, LOS rate: -0.646240 deg/s, cmd heading: 61.147849 deg, new cmd heading: 60.499454 deg. 2025-01-09T00:03:42.038Z,1736381022.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.055915 target range: 59.599998 and range: 59.60 m. 2025-01-09T00:03:42.161Z,1736381022.161 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:42.414Z,1736381022.414 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:42.509Z,1736381022.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:42.518Z,1736381022.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m. 2025-01-09T00:03:42.519Z,1736381022.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-09T00:03:42.522Z,1736381022.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.599998 m, nav range: 55.450497 m, bearing: 336.087751 deg, approach rate: 0.052723 m/s, LOS rate: -0.597520 deg/s, cmd heading: 60.499452 deg, new cmd heading: 59.622368 deg. 2025-01-09T00:03:42.523Z,1736381022.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.040607 target range: 59.599998 and range: 59.60 m. 2025-01-09T00:03:42.664Z,1736381022.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:42.835Z,1736381022.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:42.844Z,1736381022.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m. 2025-01-09T00:03:42.844Z,1736381022.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-09T00:03:42.847Z,1736381022.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.599998 m, nav range: 55.467632 m, bearing: 335.902117 deg, approach rate: 0.052737 m/s, LOS rate: -0.571137 deg/s, cmd heading: 59.622367 deg, new cmd heading: 59.065654 deg. 2025-01-09T00:03:42.850Z,1736381022.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030890 target range: 59.599998 and range: 59.60 m. 2025-01-09T00:03:42.916Z,1736381022.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:43.168Z,1736381023.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:43.227Z,1736381023.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:43.234Z,1736381023.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:43.237Z,1736381023.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m. 2025-01-09T00:03:43.237Z,1736381023.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-09T00:03:43.240Z,1736381023.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.599998 m, nav range: 55.475613 m, bearing: 335.668495 deg, approach rate: 0.020292 m/s, LOS rate: -0.593939 deg/s, cmd heading: 59.065652 deg, new cmd heading: 58.364925 deg. 2025-01-09T00:03:43.241Z,1736381023.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.018660 target range: 59.599998 and range: 59.60 m. 2025-01-09T00:03:43.420Z,1736381023.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:43.420Z,1736381023.420 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:43.420Z,1736381023.420 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:43.420Z,1736381023.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:43.650Z,1736381023.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:43.672Z,1736381023.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:43.674Z,1736381023.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195614 2025-01-09T00:03:43.689Z,1736381023.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m. 2025-01-09T00:03:43.689Z,1736381023.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-09T00:03:43.696Z,1736381023.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.599998 m, nav range: 55.481407 m, bearing: 335.430157 deg, approach rate: 0.012816 m/s, LOS rate: -0.527095 deg/s, cmd heading: 58.364923 deg, new cmd heading: 57.650023 deg. 2025-01-09T00:03:43.697Z,1736381023.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006183 target range: 59.599998 and range: 59.60 m. 2025-01-09T00:03:43.924Z,1736381023.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:43.924Z,1736381023.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446266 2025-01-09T00:03:44.033Z,1736381024.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:44.042Z,1736381024.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m. 2025-01-09T00:03:44.042Z,1736381024.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-09T00:03:44.045Z,1736381024.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.599998 m, nav range: 55.483810 m, bearing: 335.214274 deg, approach rate: 0.006812 m/s, LOS rate: -0.611886 deg/s, cmd heading: 57.650020 deg, new cmd heading: 57.002428 deg. 2025-01-09T00:03:44.046Z,1736381024.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994880 target range: 59.599998 and range: 59.60 m. 2025-01-09T00:03:44.176Z,1736381024.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:44.177Z,1736381024.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.699146 2025-01-09T00:03:44.428Z,1736381024.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:44.428Z,1736381024.428 [DAT](INFO): DAT read: Rx Time:00:03:43.2353 2025-01-09T00:03:44.429Z,1736381024.429 [DAT](INFO): Rx dataTimestamp_ set to:1736381024.428616 2025-01-09T00:03:44.429Z,1736381024.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.951397 2025-01-09T00:03:44.475Z,1736381024.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:44.517Z,1736381024.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m. 2025-01-09T00:03:44.518Z,1736381024.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-09T00:03:44.534Z,1736381024.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.599998 m, nav range: 55.483532 m, bearing: 334.966331 deg, approach rate: -0.000593 m/s, LOS rate: -0.527958 deg/s, cmd heading: 57.002430 deg, new cmd heading: 56.258640 deg. 2025-01-09T00:03:44.539Z,1736381024.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.981898 target range: 59.599998 and range: 59.60 m. 2025-01-09T00:03:44.680Z,1736381024.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:44.681Z,1736381024.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203044 2025-01-09T00:03:44.874Z,1736381024.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:44.884Z,1736381024.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.60 m. 2025-01-09T00:03:44.885Z,1736381024.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-01-09T00:03:44.921Z,1736381024.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.599998 m, nav range: 55.482494 m, bearing: 334.740649 deg, approach rate: -0.002782 m/s, LOS rate: -0.605131 deg/s, cmd heading: 56.258639 deg, new cmd heading: 55.581615 deg. 2025-01-09T00:03:44.929Z,1736381024.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970082 target range: 59.599998 and range: 59.60 m. 2025-01-09T00:03:44.933Z,1736381024.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:44.948Z,1736381024.948 [DAT](INFO): DAT read: 00:03:43.2353 LVL= 19936, 32753, 22386, 32755, AGC= 59, IDX= 410,-0.10,-1.138,-2.563,-1.664,-1.528, PHS= 0.479,-0.988,-0.138, RAW= 125.2, 10.2, CAL= 132.3, 5.5, ROT= 17.7, -5.5 2025-01-09T00:03:44.949Z,1736381024.949 [DAT](INFO): got valid direction response: 00:03:43.2353 LVL= 19936, 32753, 22386, 32755, AGC= 59, IDX= 410,-0.10,-1.138,-2.563,-1.664,-1.528, PHS= 0.479,-0.988,-0.138, RAW= 125.2, 10.2, CAL= 132.3, 5.5, ROT= 17.7, -5.5 2025-01-09T00:03:44.951Z,1736381024.951 [DAT](INFO): DAT read: Bearing 17.7, -5.5 (Local) 2025-01-09T00:03:44.951Z,1736381024.951 [DAT](INFO): Local bearing/azimuth received: Bearing 17.7, -5.5 (Local) 2025-01-09T00:03:44.955Z,1736381024.955 [DAT](INFO): DAT read: Range 10 to 50 : 57.2 m (Round-trip 76.3 ms) speed 0.7 m/s 2025-01-09T00:03:44.956Z,1736381024.956 [DAT](INFO): DAT read: user:3622> 2025-01-09T00:03:44.957Z,1736381024.957 [DAT](INFO): DAT read: Tx time:00:03:44.3548 2025-01-09T00:03:44.957Z,1736381024.957 [DAT](INFO): Ping request sent. 2025-01-09T00:03:44.958Z,1736381024.958 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:44.958Z,1736381024.958 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:44.959Z,1736381024.959 [DAT](INFO): direction in FSK: [-0.315967,-0.475551,0.820985] 2025-01-09T00:03:44.968Z,1736381024.968 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:44.968Z,1736381024.968 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:44.971Z,1736381024.971 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:44.979Z,1736381024.979 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:45.185Z,1736381025.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:45.185Z,1736381025.185 [DAT](INFO): DAT read: TxSync time:00:03:44.3541 2025-01-09T00:03:45.256Z,1736381025.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:45.287Z,1736381025.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.200001 m, deltaT: 3.528377 s, deltaX: -2.399998 m, approachRate: -0.680199 m/s, rangeRepo size: 4 2025-01-09T00:03:45.297Z,1736381025.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 57.200001 m, bearing: 296.621853 deg, lat: 36.905251 deg, lon: -122.120466 deg, deltaT: 3.528377 s, deltaX: -2.399998 m, approachRate: -0.680199 m/s, posRepo size: 4 2025-01-09T00:03:45.298Z,1736381025.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m. 2025-01-09T00:03:45.298Z,1736381025.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m. 2025-01-09T00:03:45.306Z,1736381025.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.200001 m, nav range: 49.216591 m, bearing: 329.313079 deg, approach rate: 0.000000 m/s, LOS rate: -0.605131 deg/s, cmd heading: 55.581614 deg, new cmd heading: 54.851671 deg. 2025-01-09T00:03:45.307Z,1736381025.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.957342 target range: 57.200001 and range: 57.20 m. 2025-01-09T00:03:45.436Z,1736381025.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:45.688Z,1736381025.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:45.691Z,1736381025.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:45.707Z,1736381025.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:45.719Z,1736381025.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m. 2025-01-09T00:03:45.724Z,1736381025.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m. 2025-01-09T00:03:45.726Z,1736381025.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.200001 m, nav range: 49.237232 m, bearing: 329.030189 deg, approach rate: 0.047733 m/s, LOS rate: -0.653899 deg/s, cmd heading: 54.851671 deg, new cmd heading: 54.003425 deg. 2025-01-09T00:03:45.732Z,1736381025.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.942538 target range: 57.200001 and range: 57.20 m. 2025-01-09T00:03:45.940Z,1736381025.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:45.940Z,1736381025.940 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:45.940Z,1736381025.940 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:45.941Z,1736381025.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:46.060Z,1736381026.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:46.070Z,1736381026.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m. 2025-01-09T00:03:46.070Z,1736381026.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m. 2025-01-09T00:03:46.073Z,1736381026.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.200001 m, nav range: 49.255692 m, bearing: 328.790295 deg, approach rate: 0.052562 m/s, LOS rate: -0.682831 deg/s, cmd heading: 54.003427 deg, new cmd heading: 53.284052 deg. 2025-01-09T00:03:46.074Z,1736381026.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.929982 target range: 57.200001 and range: 57.20 m. 2025-01-09T00:03:46.193Z,1736381026.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:46.196Z,1736381026.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237219 2025-01-09T00:03:46.445Z,1736381026.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:46.449Z,1736381026.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490937 2025-01-09T00:03:46.456Z,1736381026.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:46.518Z,1736381026.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m. 2025-01-09T00:03:46.525Z,1736381026.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m. 2025-01-09T00:03:46.538Z,1736381026.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.200001 m, nav range: 49.272518 m, bearing: 328.532562 deg, approach rate: 0.038119 m/s, LOS rate: -0.583661 deg/s, cmd heading: 53.284051 deg, new cmd heading: 52.511167 deg. 2025-01-09T00:03:46.539Z,1736381026.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.916493 target range: 57.200001 and range: 57.20 m. 2025-01-09T00:03:46.703Z,1736381026.703 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:46.704Z,1736381026.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745921 2025-01-09T00:03:46.888Z,1736381026.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:46.905Z,1736381026.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m. 2025-01-09T00:03:46.905Z,1736381026.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m. 2025-01-09T00:03:46.913Z,1736381026.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.200001 m, nav range: 49.296314 m, bearing: 328.246413 deg, approach rate: 0.060462 m/s, LOS rate: -0.726707 deg/s, cmd heading: 52.511167 deg, new cmd heading: 51.653203 deg. 2025-01-09T00:03:46.914Z,1736381026.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.901518 target range: 57.200001 and range: 57.20 m. 2025-01-09T00:03:46.956Z,1736381026.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:46.957Z,1736381026.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998898 2025-01-09T00:03:47.208Z,1736381027.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:47.209Z,1736381027.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250747 2025-01-09T00:03:47.277Z,1736381027.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:47.286Z,1736381027.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m. 2025-01-09T00:03:47.287Z,1736381027.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m. 2025-01-09T00:03:47.290Z,1736381027.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.200001 m, nav range: 49.316841 m, bearing: 327.988296 deg, approach rate: 0.053805 m/s, LOS rate: -0.676287 deg/s, cmd heading: 51.653203 deg, new cmd heading: 50.879224 deg. 2025-01-09T00:03:47.291Z,1736381027.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.888010 target range: 57.200001 and range: 57.20 m. 2025-01-09T00:03:47.460Z,1736381027.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:47.460Z,1736381027.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502750 2025-01-09T00:03:47.696Z,1736381027.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:47.706Z,1736381027.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m. 2025-01-09T00:03:47.707Z,1736381027.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m. 2025-01-09T00:03:47.707Z,1736381027.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.20 m. 2025-01-09T00:03:47.707Z,1736381027.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-01-09T00:03:47.710Z,1736381027.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.200001 m, nav range: 49.345135 m, bearing: 327.699243 deg, approach rate: 0.067397 m/s, LOS rate: -0.688146 deg/s, cmd heading: 50.879223 deg, new cmd heading: 50.012632 deg. 2025-01-09T00:03:47.712Z,1736381027.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:47.713Z,1736381027.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755056 2025-01-09T00:03:47.713Z,1736381027.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872885 target range: 57.200001 and range: 57.20 m. 2025-01-09T00:03:47.964Z,1736381027.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:47.964Z,1736381027.964 [DAT](INFO): DAT read: Rx Time:00:03:46.8323 2025-01-09T00:03:47.965Z,1736381027.965 [DAT](INFO): Rx dataTimestamp_ set to:1736381027.964603 2025-01-09T00:03:47.966Z,1736381027.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008123 2025-01-09T00:03:48.069Z,1736381028.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:48.076Z,1736381028.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:48.078Z,1736381028.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m. 2025-01-09T00:03:48.081Z,1736381028.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.200001 m, nav range: 49.369614 m, bearing: 327.442958 deg, approach rate: 0.065850 m/s, LOS rate: -0.689080 deg/s, cmd heading: 50.012633 deg, new cmd heading: 49.244207 deg. 2025-01-09T00:03:48.082Z,1736381028.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.859474 target range: 57.200001 and range: 57.20 m. 2025-01-09T00:03:48.221Z,1736381028.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:48.222Z,1736381028.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264225 2025-01-09T00:03:48.470Z,1736381028.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:48.472Z,1736381028.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:48.474Z,1736381028.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516017 2025-01-09T00:03:48.565Z,1736381028.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.20 m. 2025-01-09T00:03:48.573Z,1736381028.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.200001 m, nav range: 49.395569 m, bearing: 327.166781 deg, approach rate: 0.053304 m/s, LOS rate: -0.566879 deg/s, cmd heading: 49.244209 deg, new cmd heading: 48.416173 deg. 2025-01-09T00:03:48.574Z,1736381028.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.845022 target range: 57.200001 and range: 57.20 m. 2025-01-09T00:03:48.724Z,1736381028.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:48.738Z,1736381028.738 [DAT](INFO): DAT read: 00:03:46.8323 LVL= 18560, 32753, 24850, 32755, AGC= 57, IDX= 409,-0.00,-0.840,-2.373,-1.772,-1.402, PHS= 0.651,-0.924,-0.373, RAW= 110.2, 9.4, CAL= 119.7, 6.8, ROT= 30.3, -6.8 2025-01-09T00:03:48.739Z,1736381028.739 [DAT](INFO): got valid direction response: 00:03:46.8323 LVL= 18560, 32753, 24850, 32755, AGC= 57, IDX= 409,-0.00,-0.840,-2.373,-1.772,-1.402, PHS= 0.651,-0.924,-0.373, RAW= 110.2, 9.4, CAL= 119.7, 6.8, ROT= 30.3, -6.8 2025-01-09T00:03:48.741Z,1736381028.741 [DAT](INFO): DAT read: Bearing 30.3, -6.8 (Local) 2025-01-09T00:03:48.741Z,1736381028.741 [DAT](INFO): Local bearing/azimuth received: Bearing 30.3, -6.8 (Local) 2025-01-09T00:03:48.742Z,1736381028.742 [DAT](INFO): DAT read: Range 10 to 50 : 54.9 m (Round-trip 73.3 ms) speed 0.8 m/s 2025-01-09T00:03:48.760Z,1736381028.760 [DAT](INFO): DAT read: user:3623> 2025-01-09T00:03:48.760Z,1736381028.760 [DAT](INFO): DAT read: Tx time:00:03:47.9548 2025-01-09T00:03:48.761Z,1736381028.761 [DAT](INFO): Ping request sent. 2025-01-09T00:03:48.761Z,1736381028.761 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:48.761Z,1736381028.761 [DAT](INFO): DAT read: TxSync time:00:03:47.9541 2025-01-09T00:03:48.762Z,1736381028.762 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:48.763Z,1736381028.763 [DAT](INFO): direction in FSK: [-0.289199,-0.231237,0.928920] 2025-01-09T00:03:48.783Z,1736381028.783 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:48.784Z,1736381028.784 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:48.798Z,1736381028.798 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:48.798Z,1736381028.798 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:48.944Z,1736381028.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:48.966Z,1736381028.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 3.790134 s, deltaX: -2.299999 m, approachRate: -0.606839 m/s, rangeRepo size: 4 2025-01-09T00:03:48.976Z,1736381028.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:48.978Z,1736381028.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.900002 m, bearing: 278.255783 deg, lat: 36.905130 deg, lon: -122.120452 deg, deltaT: 3.790134 s, deltaX: -2.299999 m, approachRate: -0.606839 m/s, posRepo size: 4 2025-01-09T00:03:48.979Z,1736381028.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-09T00:03:48.990Z,1736381028.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 38.005638 m, bearing: 317.259611 deg, approach rate: 0.000000 m/s, LOS rate: -0.566879 deg/s, cmd heading: 48.416172 deg, new cmd heading: 47.735746 deg. 2025-01-09T00:03:48.991Z,1736381028.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833146 target range: 54.900002 and range: 54.90 m. 2025-01-09T00:03:49.228Z,1736381029.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:49.288Z,1736381029.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:49.313Z,1736381029.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-09T00:03:49.320Z,1736381029.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 38.069084 m, bearing: 316.951406 deg, approach rate: 0.182384 m/s, LOS rate: -0.884495 deg/s, cmd heading: 47.735745 deg, new cmd heading: 46.812754 deg. 2025-01-09T00:03:49.321Z,1736381029.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817037 target range: 54.900002 and range: 54.90 m. 2025-01-09T00:03:49.480Z,1736381029.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:49.712Z,1736381029.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:49.722Z,1736381029.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-09T00:03:49.725Z,1736381029.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 38.154812 m, bearing: 316.571388 deg, approach rate: 0.209579 m/s, LOS rate: -0.926940 deg/s, cmd heading: 46.812754 deg, new cmd heading: 45.675417 deg. 2025-01-09T00:03:49.726Z,1736381029.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.797186 target range: 54.900002 and range: 54.90 m. 2025-01-09T00:03:49.732Z,1736381029.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:49.984Z,1736381029.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:50.091Z,1736381030.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:50.098Z,1736381030.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:50.101Z,1736381030.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-09T00:03:50.104Z,1736381030.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 38.231514 m, bearing: 316.234159 deg, approach rate: 0.202390 m/s, LOS rate: -0.888036 deg/s, cmd heading: 45.675418 deg, new cmd heading: 44.665873 deg. 2025-01-09T00:03:50.105Z,1736381030.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779567 target range: 54.900002 and range: 54.90 m. 2025-01-09T00:03:50.237Z,1736381030.237 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:50.239Z,1736381030.239 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:50.239Z,1736381030.239 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:50.239Z,1736381030.239 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:50.488Z,1736381030.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:50.488Z,1736381030.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727559 2025-01-09T00:03:50.514Z,1736381030.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:50.567Z,1736381030.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-09T00:03:50.591Z,1736381030.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 38.318768 m, bearing: 315.859016 deg, approach rate: 0.187849 m/s, LOS rate: -0.805802 deg/s, cmd heading: 44.665872 deg, new cmd heading: 43.543156 deg. 2025-01-09T00:03:50.592Z,1736381030.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759971 target range: 54.900002 and range: 54.90 m. 2025-01-09T00:03:50.740Z,1736381030.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:50.740Z,1736381030.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979564 2025-01-09T00:03:50.915Z,1736381030.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:50.924Z,1736381030.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-09T00:03:50.943Z,1736381030.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 38.399723 m, bearing: 315.505817 deg, approach rate: 0.225553 m/s, LOS rate: -0.981979 deg/s, cmd heading: 43.543156 deg, new cmd heading: 42.485920 deg. 2025-01-09T00:03:50.944Z,1736381030.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741519 target range: 54.900002 and range: 54.90 m. 2025-01-09T00:03:50.992Z,1736381030.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:50.994Z,1736381030.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232756 2025-01-09T00:03:51.244Z,1736381031.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:51.244Z,1736381031.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483598 2025-01-09T00:03:51.294Z,1736381031.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:51.303Z,1736381031.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-09T00:03:51.324Z,1736381031.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 38.475697 m, bearing: 315.170912 deg, approach rate: 0.200803 m/s, LOS rate: -0.883421 deg/s, cmd heading: 42.485921 deg, new cmd heading: 41.483299 deg. 2025-01-09T00:03:51.325Z,1736381031.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.724020 target range: 54.900002 and range: 54.90 m. 2025-01-09T00:03:51.496Z,1736381031.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:51.496Z,1736381031.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735417 2025-01-09T00:03:51.730Z,1736381031.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:51.740Z,1736381031.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-09T00:03:51.743Z,1736381031.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 38.550880 m, bearing: 314.789649 deg, approach rate: 0.171805 m/s, LOS rate: -0.869531 deg/s, cmd heading: 41.483301 deg, new cmd heading: 40.341900 deg. 2025-01-09T00:03:51.744Z,1736381031.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704099 target range: 54.900002 and range: 54.90 m. 2025-01-09T00:03:51.748Z,1736381031.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:51.749Z,1736381031.749 [DAT](INFO): DAT read: Rx Time:00:03:50.4299 2025-01-09T00:03:51.750Z,1736381031.750 [DAT](INFO): Rx dataTimestamp_ set to:1736381031.749519 2025-01-09T00:03:51.751Z,1736381031.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989867 2025-01-09T00:03:52.000Z,1736381032.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:52.001Z,1736381032.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240173 2025-01-09T00:03:52.143Z,1736381032.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:52.170Z,1736381032.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:52.172Z,1736381032.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.90 m. 2025-01-09T00:03:52.175Z,1736381032.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.900002 m, nav range: 38.620575 m, bearing: 314.429078 deg, approach rate: 0.161349 m/s, LOS rate: -0.833241 deg/s, cmd heading: 40.341901 deg, new cmd heading: 39.262276 deg. 2025-01-09T00:03:52.176Z,1736381032.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685256 target range: 54.900002 and range: 54.90 m. 2025-01-09T00:03:52.252Z,1736381032.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:52.261Z,1736381032.261 [DAT](INFO): DAT read: 00:03:50.4300 LVL= 21312, 22289, 24178, 32659, AGC= 59, IDX= 417, 0.30, 3.069, 1.394, 2.138, 2.516, PHS= 0.641,-1.075,-0.381, RAW= 113.7, 10.9, CAL= 122.5, 8.0, ROT= 27.5, -8.0 2025-01-09T00:03:52.263Z,1736381032.263 [DAT](INFO): got valid direction response: 00:03:50.4300 LVL= 21312, 22289, 24178, 32659, AGC= 59, IDX= 417, 0.30, 3.069, 1.394, 2.138, 2.516, PHS= 0.641,-1.075,-0.381, RAW= 113.7, 10.9, CAL= 122.5, 8.0, ROT= 27.5, -8.0 2025-01-09T00:03:52.265Z,1736381032.265 [DAT](INFO): DAT read: Bearing 27.5, -8.0 (Local) 2025-01-09T00:03:52.265Z,1736381032.265 [DAT](INFO): Local bearing/azimuth received: Bearing 27.5, -8.0 (Local) 2025-01-09T00:03:52.267Z,1736381032.267 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (Round-trip 70.9 ms) speed 0.4 m/s 2025-01-09T00:03:52.268Z,1736381032.268 [DAT](INFO): DAT read: user:3624> 2025-01-09T00:03:52.270Z,1736381032.270 [DAT](INFO): DAT read: Tx time:00:03:51.5549 2025-01-09T00:03:52.272Z,1736381032.272 [DAT](INFO): Ping request sent. 2025-01-09T00:03:52.272Z,1736381032.272 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:52.273Z,1736381032.273 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:52.275Z,1736381032.275 [DAT](INFO): direction in FSK: [-0.320928,-0.287497,0.902414] 2025-01-09T00:03:52.275Z,1736381032.275 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:52.275Z,1736381032.275 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:52.289Z,1736381032.289 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:52.289Z,1736381032.289 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:52.504Z,1736381032.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:52.505Z,1736381032.505 [DAT](INFO): DAT read: TxSync time:00:03:51.5541 2025-01-09T00:03:52.510Z,1736381032.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:52.527Z,1736381032.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 3.527910 s, deltaX: -1.800003 m, approachRate: -0.510218 m/s, rangeRepo size: 4 2025-01-09T00:03:52.571Z,1736381032.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.099998 m, bearing: 274.337726 deg, lat: 36.905009 deg, lon: -122.120450 deg, deltaT: 3.527910 s, deltaX: -1.800003 m, approachRate: -0.510218 m/s, posRepo size: 4 2025-01-09T00:03:52.592Z,1736381032.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-09T00:03:52.611Z,1736381032.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 30.719288 m, bearing: 295.975084 deg, approach rate: 0.000000 m/s, LOS rate: -0.833241 deg/s, cmd heading: 39.262277 deg, new cmd heading: 38.378263 deg. 2025-01-09T00:03:52.623Z,1736381032.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.669827 target range: 53.099998 and range: 53.10 m. 2025-01-09T00:03:52.756Z,1736381032.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:52.946Z,1736381032.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:52.956Z,1736381032.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-09T00:03:52.959Z,1736381032.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 30.866951 m, bearing: 295.568057 deg, approach rate: 0.343701 m/s, LOS rate: -0.942856 deg/s, cmd heading: 38.378263 deg, new cmd heading: 37.163216 deg. 2025-01-09T00:03:52.960Z,1736381032.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.648620 target range: 53.099998 and range: 53.10 m. 2025-01-09T00:03:53.009Z,1736381033.009 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:53.260Z,1736381033.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:53.333Z,1736381033.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:53.363Z,1736381033.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-09T00:03:53.367Z,1736381033.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 30.999008 m, bearing: 295.210857 deg, approach rate: 0.327130 m/s, LOS rate: -0.881075 deg/s, cmd heading: 37.163216 deg, new cmd heading: 36.096312 deg. 2025-01-09T00:03:53.372Z,1736381033.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630000 target range: 53.099998 and range: 53.10 m. 2025-01-09T00:03:53.512Z,1736381033.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:53.746Z,1736381033.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:53.756Z,1736381033.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-09T00:03:53.758Z,1736381033.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 31.122351 m, bearing: 294.836044 deg, approach rate: 0.311223 m/s, LOS rate: -0.941991 deg/s, cmd heading: 36.096313 deg, new cmd heading: 34.976480 deg. 2025-01-09T00:03:53.760Z,1736381033.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.610455 target range: 53.099998 and range: 53.10 m. 2025-01-09T00:03:53.764Z,1736381033.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:54.016Z,1736381034.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:54.141Z,1736381034.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:54.172Z,1736381034.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-09T00:03:54.175Z,1736381034.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 31.237921 m, bearing: 294.477483 deg, approach rate: 0.277453 m/s, LOS rate: -0.857618 deg/s, cmd heading: 34.976480 deg, new cmd heading: 33.904911 deg. 2025-01-09T00:03:54.184Z,1736381034.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591752 target range: 53.099998 and range: 53.10 m. 2025-01-09T00:03:54.268Z,1736381034.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:54.521Z,1736381034.521 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:54.533Z,1736381034.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:54.540Z,1736381034.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:54.542Z,1736381034.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-09T00:03:54.545Z,1736381034.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 31.354038 m, bearing: 294.123600 deg, approach rate: 0.313881 m/s, LOS rate: -0.953046 deg/s, cmd heading: 33.904912 deg, new cmd heading: 32.847320 deg. 2025-01-09T00:03:54.546Z,1736381034.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573294 target range: 53.099998 and range: 53.10 m. 2025-01-09T00:03:54.772Z,1736381034.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:54.772Z,1736381034.772 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:54.772Z,1736381034.772 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:54.772Z,1736381034.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:54.970Z,1736381034.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:54.979Z,1736381034.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-09T00:03:54.982Z,1736381034.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 31.477840 m, bearing: 293.737941 deg, approach rate: 0.283370 m/s, LOS rate: -0.879253 deg/s, cmd heading: 32.847319 deg, new cmd heading: 31.695056 deg. 2025-01-09T00:03:55.000Z,1736381035.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553183 target range: 53.099998 and range: 53.10 m. 2025-01-09T00:03:55.024Z,1736381035.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:55.024Z,1736381035.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753543 2025-01-09T00:03:55.277Z,1736381035.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:55.279Z,1736381035.279 [DAT](INFO): DAT read: Rx Time:00:03:54.0275 2025-01-09T00:03:55.280Z,1736381035.280 [DAT](INFO): Rx dataTimestamp_ set to:1736381035.279439 2025-01-09T00:03:55.281Z,1736381035.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010017 2025-01-09T00:03:55.338Z,1736381035.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:55.359Z,1736381035.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.10 m. 2025-01-09T00:03:55.362Z,1736381035.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.099998 m, nav range: 31.572500 m, bearing: 293.405959 deg, approach rate: 0.251615 m/s, LOS rate: -0.879788 deg/s, cmd heading: 31.695056 deg, new cmd heading: 30.702202 deg. 2025-01-09T00:03:55.367Z,1736381035.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535855 target range: 53.099998 and range: 53.10 m. 2025-01-09T00:03:55.528Z,1736381035.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:55.528Z,1736381035.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257398 2025-01-09T00:03:55.780Z,1736381035.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:55.787Z,1736381035.787 [DAT](INFO): DAT read: 00:03:54.0275 LVL= 21168, 25825, 24722, 32755, AGC= 59, IDX= 409, 0.33,-2.336, 2.202, 3.025,-2.976, PHS= 0.727,-1.059,-0.285, RAW= 115.6, 8.0, CAL= 124.9, 4.6, ROT= 25.1, -4.6 2025-01-09T00:03:55.788Z,1736381035.788 [DAT](INFO): got valid direction response: 00:03:54.0275 LVL= 21168, 25825, 24722, 32755, AGC= 59, IDX= 409, 0.33,-2.336, 2.202, 3.025,-2.976, PHS= 0.727,-1.059,-0.285, RAW= 115.6, 8.0, CAL= 124.9, 4.6, ROT= 25.1, -4.6 2025-01-09T00:03:55.789Z,1736381035.789 [DAT](INFO): DAT read: Bearing 25.1, -4.6 (Local) 2025-01-09T00:03:55.790Z,1736381035.790 [DAT](INFO): Local bearing/azimuth received: Bearing 25.1, -4.6 (Local) 2025-01-09T00:03:55.791Z,1736381035.791 [DAT](INFO): DAT read: Range 10 to 50 : 51.3 m (Round-trip 68.4 ms) speed 0.4 m/s 2025-01-09T00:03:55.792Z,1736381035.792 [DAT](INFO): DAT read: user:3625> 2025-01-09T00:03:55.793Z,1736381035.793 [DAT](INFO): DAT read: Tx time:00:03:55.1549 2025-01-09T00:03:55.793Z,1736381035.793 [DAT](INFO): Ping request sent. 2025-01-09T00:03:55.793Z,1736381035.793 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:55.793Z,1736381035.793 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:55.794Z,1736381035.794 [DAT](INFO): direction in FSK: [-0.269547,-0.326097,0.906093] 2025-01-09T00:03:55.794Z,1736381035.794 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:55.795Z,1736381035.795 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:55.798Z,1736381035.798 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:55.798Z,1736381035.798 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:55.807Z,1736381035.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:55.859Z,1736381035.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 3.528077 s, deltaX: -1.799999 m, approachRate: -0.510193 m/s, rangeRepo size: 4 2025-01-09T00:03:55.862Z,1736381035.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.299999 m, bearing: 273.987195 deg, lat: 36.904912 deg, lon: -122.120414 deg, deltaT: 3.528077 s, deltaX: -1.799999 m, approachRate: -0.510193 m/s, posRepo size: 4 2025-01-09T00:03:55.862Z,1736381035.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-09T00:03:55.865Z,1736381035.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 25.945480 m, bearing: 273.387609 deg, approach rate: 0.000000 m/s, LOS rate: -0.879788 deg/s, cmd heading: 30.702202 deg, new cmd heading: 29.377715 deg. 2025-01-09T00:03:55.867Z,1736381035.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512738 target range: 51.299999 and range: 51.30 m. 2025-01-09T00:03:56.032Z,1736381036.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:56.033Z,1736381036.033 [DAT](INFO): DAT read: TxSync time:00:03:55.1541 2025-01-09T00:03:56.184Z,1736381036.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:56.206Z,1736381036.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-09T00:03:56.213Z,1736381036.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 26.094797 m, bearing: 273.045797 deg, approach rate: 0.427490 m/s, LOS rate: -0.972993 deg/s, cmd heading: 29.377716 deg, new cmd heading: 28.358262 deg. 2025-01-09T00:03:56.214Z,1736381036.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.494945 target range: 51.299999 and range: 51.30 m. 2025-01-09T00:03:56.285Z,1736381036.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:56.536Z,1736381036.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:56.572Z,1736381036.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:56.606Z,1736381036.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:56.640Z,1736381036.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-09T00:03:56.673Z,1736381036.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 26.246315 m, bearing: 272.691632 deg, approach rate: 0.371377 m/s, LOS rate: -0.863058 deg/s, cmd heading: 28.358262 deg, new cmd heading: 27.302028 deg. 2025-01-09T00:03:56.681Z,1736381036.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.476510 target range: 51.299999 and range: 51.30 m. 2025-01-09T00:03:56.792Z,1736381036.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:56.793Z,1736381036.793 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:03:56.793Z,1736381036.793 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:03:56.793Z,1736381036.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:03:57.001Z,1736381037.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:57.010Z,1736381037.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-09T00:03:57.013Z,1736381037.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 26.401104 m, bearing: 272.320912 deg, approach rate: 0.391076 m/s, LOS rate: -0.931131 deg/s, cmd heading: 27.302028 deg, new cmd heading: 26.196532 deg. 2025-01-09T00:03:57.036Z,1736381037.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.457216 target range: 51.299999 and range: 51.30 m. 2025-01-09T00:03:57.040Z,1736381037.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:57.040Z,1736381037.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247429 2025-01-09T00:03:57.292Z,1736381037.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:57.292Z,1736381037.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499356 2025-01-09T00:03:57.394Z,1736381037.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:57.424Z,1736381037.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-09T00:03:57.427Z,1736381037.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 26.540485 m, bearing: 271.978440 deg, approach rate: 0.336680 m/s, LOS rate: -0.822901 deg/s, cmd heading: 26.196531 deg, new cmd heading: 25.174627 deg. 2025-01-09T00:03:57.428Z,1736381037.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439380 target range: 51.299999 and range: 51.30 m. 2025-01-09T00:03:57.544Z,1736381037.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:57.547Z,1736381037.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752976 2025-01-09T00:03:57.796Z,1736381037.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:57.796Z,1736381037.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003378 2025-01-09T00:03:57.811Z,1736381037.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:57.820Z,1736381037.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-09T00:03:57.844Z,1736381037.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 26.685633 m, bearing: 271.623405 deg, approach rate: 0.366277 m/s, LOS rate: -0.891048 deg/s, cmd heading: 25.174628 deg, new cmd heading: 24.115442 deg. 2025-01-09T00:03:57.845Z,1736381037.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420894 target range: 51.299999 and range: 51.30 m. 2025-01-09T00:03:58.044Z,1736381038.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:03:58.048Z,1736381038.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:58.050Z,1736381038.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256283 2025-01-09T00:03:58.184Z,1736381038.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:58.209Z,1736381038.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-09T00:03:58.212Z,1736381038.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 26.813274 m, bearing: 271.301893 deg, approach rate: 0.328291 m/s, LOS rate: -0.822978 deg/s, cmd heading: 24.115443 deg, new cmd heading: 23.155594 deg. 2025-01-09T00:03:58.213Z,1736381038.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.404141 target range: 51.299999 and range: 51.30 m. 2025-01-09T00:03:58.301Z,1736381038.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:58.302Z,1736381038.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508610 2025-01-09T00:03:58.552Z,1736381038.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:58.552Z,1736381038.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759267 2025-01-09T00:03:58.588Z,1736381038.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:58.627Z,1736381038.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:03:58.634Z,1736381038.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-09T00:03:58.678Z,1736381038.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 26.948923 m, bearing: 270.951767 deg, approach rate: 0.319431 m/s, LOS rate: -0.820337 deg/s, cmd heading: 23.155593 deg, new cmd heading: 22.110624 deg. 2025-01-09T00:03:58.700Z,1736381038.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.385903 target range: 51.299999 and range: 51.30 m. 2025-01-09T00:03:58.809Z,1736381038.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:58.809Z,1736381038.809 [DAT](INFO): DAT read: Rx Time:00:03:57.6249 2025-01-09T00:03:58.810Z,1736381038.810 [DAT](INFO): Rx dataTimestamp_ set to:1736381038.809538 2025-01-09T00:03:58.810Z,1736381038.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017289 2025-01-09T00:03:59.022Z,1736381039.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:59.031Z,1736381039.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.30 m. 2025-01-09T00:03:59.034Z,1736381039.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.299999 m, nav range: 27.086929 m, bearing: 270.577589 deg, approach rate: 0.347642 m/s, LOS rate: -0.937757 deg/s, cmd heading: 22.110623 deg, new cmd heading: 20.993958 deg. 2025-01-09T00:03:59.036Z,1736381039.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.366414 target range: 51.299999 and range: 51.30 m. 2025-01-09T00:03:59.048Z,1736381039.048 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:03:59.060Z,1736381039.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:59.060Z,1736381039.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267385 2025-01-09T00:03:59.314Z,1736381039.314 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:59.332Z,1736381039.332 [DAT](INFO): DAT read: 00:03:57.6249 LVL= 14048, 22961, 22002, 28947, AGC= 56, IDX= 414,-0.02,-1.448, 2.849,-3.008,-2.466, PHS= 1.106,-0.921,-0.545, RAW= 100.0, 3.9, CAL= 110.3, 2.0, ROT= 39.7, -2.0 2025-01-09T00:03:59.334Z,1736381039.334 [DAT](INFO): got valid direction response: 00:03:57.6249 LVL= 14048, 22961, 22002, 28947, AGC= 56, IDX= 414,-0.02,-1.448, 2.849,-3.008,-2.466, PHS= 1.106,-0.921,-0.545, RAW= 100.0, 3.9, CAL= 110.3, 2.0, ROT= 39.7, -2.0 2025-01-09T00:03:59.345Z,1736381039.345 [DAT](INFO): DAT read: Bearing 39.7, -2.0 (Local) 2025-01-09T00:03:59.345Z,1736381039.345 [DAT](INFO): Local bearing/azimuth received: Bearing 39.7, -2.0 (Local) 2025-01-09T00:03:59.346Z,1736381039.346 [DAT](INFO): DAT read: Range 10 to 50 : 49.3 m (Round-trip 65.8 ms) speed 0.4 m/s 2025-01-09T00:03:59.347Z,1736381039.347 [DAT](INFO): DAT read: user:3626> 2025-01-09T00:03:59.348Z,1736381039.348 [DAT](INFO): DAT read: Tx time:00:03:58.7049 2025-01-09T00:03:59.348Z,1736381039.348 [DAT](INFO): Ping request sent. 2025-01-09T00:03:59.348Z,1736381039.348 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:03:59.349Z,1736381039.349 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:03:59.350Z,1736381039.350 [DAT](INFO): direction in FSK: [-0.174389,-0.063786,0.982609] 2025-01-09T00:03:59.375Z,1736381039.375 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:59.376Z,1736381039.376 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:59.379Z,1736381039.379 [DAT](INFO): publishing transmit ping time 2025-01-09T00:03:59.379Z,1736381039.379 [DAT](INFO): publishing direction and range info 2025-01-09T00:03:59.473Z,1736381039.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:59.505Z,1736381039.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.299999 m, deltaT: 3.534122 s, deltaX: -2.000000 m, approachRate: -0.565911 m/s, rangeRepo size: 4 2025-01-09T00:03:59.513Z,1736381039.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.299999 m, bearing: 238.701007 deg, lat: 36.904908 deg, lon: -122.120413 deg, deltaT: 3.534122 s, deltaX: -2.000000 m, approachRate: -0.565911 m/s, posRepo size: 4 2025-01-09T00:03:59.513Z,1736381039.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m. 2025-01-09T00:03:59.522Z,1736381039.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.299999 m, nav range: 27.151043 m, bearing: 269.403231 deg, approach rate: 0.000000 m/s, LOS rate: -0.937757 deg/s, cmd heading: 20.993958 deg, new cmd heading: 19.689368 deg. 2025-01-09T00:03:59.527Z,1736381039.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.343644 target range: 49.299999 and range: 49.30 m. 2025-01-09T00:03:59.564Z,1736381039.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:59.565Z,1736381039.565 [DAT](INFO): DAT read: TxSync time:00:03:58.7041 2025-01-09T00:03:59.816Z,1736381039.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:03:59.905Z,1736381039.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:03:59.922Z,1736381039.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m. 2025-01-09T00:03:59.934Z,1736381039.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.299999 m, nav range: 27.283747 m, bearing: 269.027629 deg, approach rate: 0.310580 m/s, LOS rate: -0.874779 deg/s, cmd heading: 19.689368 deg, new cmd heading: 18.568191 deg. 2025-01-09T00:03:59.935Z,1736381039.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.324076 target range: 49.299999 and range: 49.30 m. 2025-01-09T00:04:00.068Z,1736381040.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:00.247Z,1736381040.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:00.257Z,1736381040.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m. 2025-01-09T00:04:00.260Z,1736381040.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.299999 m, nav range: 27.387093 m, bearing: 268.729140 deg, approach rate: 0.308785 m/s, LOS rate: -0.888481 deg/s, cmd heading: 18.568192 deg, new cmd heading: 17.676180 deg. 2025-01-09T00:04:00.261Z,1736381040.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.308508 target range: 49.299999 and range: 49.30 m. 2025-01-09T00:04:00.320Z,1736381040.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:00.573Z,1736381040.573 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:00.650Z,1736381040.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:00.664Z,1736381040.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:00.668Z,1736381040.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m. 2025-01-09T00:04:00.698Z,1736381040.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.299999 m, nav range: 27.506910 m, bearing: 268.376051 deg, approach rate: 0.291281 m/s, LOS rate: -0.854627 deg/s, cmd heading: 17.676181 deg, new cmd heading: 16.621656 deg. 2025-01-09T00:04:00.707Z,1736381040.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.290103 target range: 49.299999 and range: 49.30 m. 2025-01-09T00:04:00.824Z,1736381040.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:00.825Z,1736381040.825 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:04:00.825Z,1736381040.825 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:04:00.825Z,1736381040.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:01.065Z,1736381041.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:01.076Z,1736381041.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:01.077Z,1736381041.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728124 2025-01-09T00:04:01.099Z,1736381041.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m. 2025-01-09T00:04:01.106Z,1736381041.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.299999 m, nav range: 27.625570 m, bearing: 268.010770 deg, approach rate: 0.275554 m/s, LOS rate: -0.844611 deg/s, cmd heading: 16.621656 deg, new cmd heading: 15.530659 deg. 2025-01-09T00:04:01.113Z,1736381041.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.271061 target range: 49.299999 and range: 49.30 m. 2025-01-09T00:04:01.328Z,1736381041.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:01.328Z,1736381041.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979971 2025-01-09T00:04:01.452Z,1736381041.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:01.461Z,1736381041.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m. 2025-01-09T00:04:01.464Z,1736381041.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.299999 m, nav range: 27.734756 m, bearing: 267.669050 deg, approach rate: 0.301398 m/s, LOS rate: -0.939566 deg/s, cmd heading: 15.530660 deg, new cmd heading: 14.509650 deg. 2025-01-09T00:04:01.465Z,1736381041.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253241 target range: 49.299999 and range: 49.30 m. 2025-01-09T00:04:01.580Z,1736381041.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:01.581Z,1736381041.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232473 2025-01-09T00:04:01.832Z,1736381041.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:01.833Z,1736381041.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484569 2025-01-09T00:04:01.901Z,1736381041.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:01.910Z,1736381041.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m. 2025-01-09T00:04:01.913Z,1736381041.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.299999 m, nav range: 27.853846 m, bearing: 267.274567 deg, approach rate: 0.265138 m/s, LOS rate: -0.874510 deg/s, cmd heading: 14.509649 deg, new cmd heading: 13.331433 deg. 2025-01-09T00:04:01.914Z,1736381041.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.232677 target range: 49.299999 and range: 49.30 m. 2025-01-09T00:04:02.084Z,1736381042.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:02.084Z,1736381042.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736013 2025-01-09T00:04:02.253Z,1736381042.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:02.277Z,1736381042.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m. 2025-01-09T00:04:02.284Z,1736381042.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.299999 m, nav range: 27.943451 m, bearing: 266.962499 deg, approach rate: 0.244189 m/s, LOS rate: -0.847704 deg/s, cmd heading: 13.331433 deg, new cmd heading: 12.398321 deg. 2025-01-09T00:04:02.285Z,1736381042.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216392 target range: 49.299999 and range: 49.30 m. 2025-01-09T00:04:02.336Z,1736381042.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:02.337Z,1736381042.337 [DAT](INFO): DAT read: Rx Time:00:04:01.1732 2025-01-09T00:04:02.337Z,1736381042.337 [DAT](INFO): Rx dataTimestamp_ set to:1736381042.336769 2025-01-09T00:04:02.338Z,1736381042.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989185 2025-01-09T00:04:02.588Z,1736381042.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:02.588Z,1736381042.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240076 2025-01-09T00:04:02.669Z,1736381042.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:02.681Z,1736381042.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:02.688Z,1736381042.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m. 2025-01-09T00:04:02.691Z,1736381042.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.299999 m, nav range: 28.048265 m, bearing: 266.592272 deg, approach rate: 0.254720 m/s, LOS rate: -0.896358 deg/s, cmd heading: 12.398321 deg, new cmd heading: 11.291934 deg. 2025-01-09T00:04:02.692Z,1736381042.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.197081 target range: 49.299999 and range: 49.30 m. 2025-01-09T00:04:02.842Z,1736381042.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:02.844Z,1736381042.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495449 2025-01-09T00:04:03.092Z,1736381043.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:03.102Z,1736381043.102 [DAT](INFO): DAT read: 00:04:01.1732 LVL= 13200, 23025, 18098, 25715, AGC= 53, IDX= 428,-0.08, 2.804, 0.756, 0.910, 1.630, PHS= 1.262,-0.828,-0.723, RAW= 92.5, 2.9, CAL= 100.6, 0.8, ROT= 49.4, -0.8 2025-01-09T00:04:03.107Z,1736381043.107 [DAT](INFO): got valid direction response: 00:04:01.1732 LVL= 13200, 23025, 18098, 25715, AGC= 53, IDX= 428,-0.08, 2.804, 0.756, 0.910, 1.630, PHS= 1.262,-0.828,-0.723, RAW= 92.5, 2.9, CAL= 100.6, 0.8, ROT= 49.4, -0.8 2025-01-09T00:04:03.110Z,1736381043.110 [DAT](INFO): DAT read: Bearing 49.4, -0.8 (Local) 2025-01-09T00:04:03.111Z,1736381043.111 [DAT](INFO): Local bearing/azimuth received: Bearing 49.4, -0.8 (Local) 2025-01-09T00:04:03.172Z,1736381043.172 [DAT](INFO): DAT read: Range 10 to 50 : 48.0 m (Round-trip 64.0 ms) speed 0.2 m/s 2025-01-09T00:04:03.173Z,1736381043.173 [DAT](INFO): DAT read: user:3627> 2025-01-09T00:04:03.174Z,1736381043.174 [DAT](INFO): DAT read: Tx time:00:04:02.2550 2025-01-09T00:04:03.184Z,1736381043.184 [DAT](INFO): Ping request sent. 2025-01-09T00:04:03.184Z,1736381043.184 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:03.186Z,1736381043.186 [DAT](INFO): DAT read: TxSync time:00:04:02.2542 2025-01-09T00:04:03.187Z,1736381043.187 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:04:03.196Z,1736381043.196 [DAT](INFO): direction in FSK: [-0.143634,0.066093,0.987421] 2025-01-09T00:04:03.196Z,1736381043.196 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:03.196Z,1736381043.196 [DAT](INFO): publishing direction and range info 2025-01-09T00:04:03.217Z,1736381043.217 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:03.217Z,1736381043.217 [DAT](INFO): publishing direction and range info 2025-01-09T00:04:03.296Z,1736381043.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:03.326Z,1736381043.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.000000 m, deltaT: 3.778406 s, deltaX: -1.299999 m, approachRate: -0.344060 m/s, rangeRepo size: 4 2025-01-09T00:04:03.340Z,1736381043.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.000000 m, bearing: 182.225486 deg, lat: 36.904905 deg, lon: -122.120370 deg, deltaT: 3.778406 s, deltaX: -1.299999 m, approachRate: -0.344060 m/s, posRepo size: 4 2025-01-09T00:04:03.341Z,1736381043.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.00 m. 2025-01-09T00:04:03.346Z,1736381043.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:03.348Z,1736381043.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.000000 m, nav range: 24.406240 m, bearing: 264.442538 deg, approach rate: 0.000000 m/s, LOS rate: -0.896358 deg/s, cmd heading: 11.291934 deg, new cmd heading: 9.579209 deg. 2025-01-09T00:04:03.349Z,1736381043.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167189 target range: 48.000000 and range: 48.00 m. 2025-01-09T00:04:03.600Z,1736381043.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:03.833Z,1736381043.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:03.841Z,1736381043.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.00 m. 2025-01-09T00:04:03.845Z,1736381043.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.000000 m, nav range: 24.523821 m, bearing: 263.884404 deg, approach rate: 0.227904 m/s, LOS rate: -1.076617 deg/s, cmd heading: 9.579209 deg, new cmd heading: 7.913333 deg. 2025-01-09T00:04:03.846Z,1736381043.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.138114 target range: 48.000000 and range: 48.00 m. 2025-01-09T00:04:03.852Z,1736381043.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:04.104Z,1736381044.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:04.156Z,1736381044.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:04.165Z,1736381044.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.00 m. 2025-01-09T00:04:04.169Z,1736381044.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.000000 m, nav range: 24.592718 m, bearing: 263.551238 deg, approach rate: 0.213108 m/s, LOS rate: -1.027634 deg/s, cmd heading: 7.913333 deg, new cmd heading: 6.916741 deg. 2025-01-09T00:04:04.170Z,1736381044.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120720 target range: 48.000000 and range: 48.00 m. 2025-01-09T00:04:04.356Z,1736381044.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:04.558Z,1736381044.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:04.584Z,1736381044.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.00 m. 2025-01-09T00:04:04.587Z,1736381044.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.000000 m, nav range: 24.676594 m, bearing: 263.134574 deg, approach rate: 0.199818 m/s, LOS rate: -0.989242 deg/s, cmd heading: 6.916741 deg, new cmd heading: 5.671205 deg. 2025-01-09T00:04:04.588Z,1736381044.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098981 target range: 48.000000 and range: 48.00 m. 2025-01-09T00:04:04.608Z,1736381044.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:04.860Z,1736381044.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:04.981Z,1736381044.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:04.990Z,1736381044.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:04.992Z,1736381044.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.00 m. 2025-01-09T00:04:04.995Z,1736381044.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.000000 m, nav range: 24.754587 m, bearing: 262.689834 deg, approach rate: 0.191321 m/s, LOS rate: -1.087516 deg/s, cmd heading: 5.671205 deg, new cmd heading: 4.341440 deg. 2025-01-09T00:04:05.012Z,1736381045.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075772 target range: 48.000000 and range: 48.00 m. 2025-01-09T00:04:05.113Z,1736381045.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:05.114Z,1736381045.114 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:04:05.114Z,1736381045.114 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:04:05.114Z,1736381045.114 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:05.360Z,1736381045.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:05.364Z,1736381045.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:05.364Z,1736381045.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180837 2025-01-09T00:04:05.393Z,1736381045.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.00 m. 2025-01-09T00:04:05.400Z,1736381045.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.000000 m, nav range: 24.822599 m, bearing: 262.291668 deg, approach rate: 0.169746 m/s, LOS rate: -0.991018 deg/s, cmd heading: 4.341439 deg, new cmd heading: 3.150395 deg. 2025-01-09T00:04:05.401Z,1736381045.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.054985 target range: 48.000000 and range: 48.00 m. 2025-01-09T00:04:05.616Z,1736381045.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:05.618Z,1736381045.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434227 2025-01-09T00:04:05.835Z,1736381045.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:05.844Z,1736381045.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.00 m. 2025-01-09T00:04:05.846Z,1736381045.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.000000 m, nav range: 24.905479 m, bearing: 261.792015 deg, approach rate: 0.183794 m/s, LOS rate: -1.104324 deg/s, cmd heading: 3.150395 deg, new cmd heading: 1.656782 deg. 2025-01-09T00:04:05.848Z,1736381045.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028916 target range: 48.000000 and range: 48.00 m. 2025-01-09T00:04:05.868Z,1736381045.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:05.869Z,1736381045.869 [DAT](INFO): DAT read: Rx Time:00:04:04.7221 2025-01-09T00:04:05.869Z,1736381045.869 [DAT](INFO): Rx dataTimestamp_ set to:1736381045.869074 2025-01-09T00:04:05.870Z,1736381045.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.686334 2025-01-09T00:04:06.120Z,1736381046.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:06.121Z,1736381046.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.937491 2025-01-09T00:04:06.218Z,1736381046.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:06.227Z,1736381046.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.00 m. 2025-01-09T00:04:06.230Z,1736381046.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.000000 m, nav range: 24.972214 m, bearing: 261.391267 deg, approach rate: 0.174190 m/s, LOS rate: -1.043230 deg/s, cmd heading: 1.656782 deg, new cmd heading: 0.457936 deg. 2025-01-09T00:04:06.231Z,1736381046.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007992 target range: 48.000000 and range: 48.00 m. 2025-01-09T00:04:06.373Z,1736381046.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:06.376Z,1736381046.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191408 2025-01-09T00:04:06.591Z,1736381046.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:06.600Z,1736381046.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.00 m. 2025-01-09T00:04:06.605Z,1736381046.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.000000 m, nav range: 25.034920 m, bearing: 261.001372 deg, approach rate: 0.168432 m/s, LOS rate: -1.044649 deg/s, cmd heading: 0.457936 deg, new cmd heading: 359.291350 deg. 2025-01-09T00:04:06.608Z,1736381046.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270817 target range: 48.000000 and range: 48.00 m. 2025-01-09T00:04:06.624Z,1736381046.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:06.635Z,1736381046.635 [DAT](INFO): DAT read: 00:04:04.7221 LVL= 11824, 24417, 17762, 26259, AGC= 54, IDX= 433,-0.27,-0.985,-2.562,-2.894,-1.847, PHS= 0.950,-0.668,-1.050, RAW= 79.6, 8.4, CAL= 84.3, 11.1, ROT= 65.7, -11.1 2025-01-09T00:04:06.636Z,1736381046.636 [DAT](INFO): got valid direction response: 00:04:04.7221 LVL= 11824, 24417, 17762, 26259, AGC= 54, IDX= 433,-0.27,-0.985,-2.562,-2.894,-1.847, PHS= 0.950,-0.668,-1.050, RAW= 79.6, 8.4, CAL= 84.3, 11.1, ROT= 65.7, -11.1 2025-01-09T00:04:06.637Z,1736381046.637 [DAT](INFO): DAT read: Bearing 65.7, -11.1 (Local) 2025-01-09T00:04:06.637Z,1736381046.637 [DAT](INFO): Local bearing/azimuth received: Bearing 65.7, -11.1 (Local) 2025-01-09T00:04:06.639Z,1736381046.639 [DAT](INFO): DAT read: Range 10 to 50 : 47.1 m (Round-trip 62.9 ms) speed 0.1 m/s 2025-01-09T00:04:06.640Z,1736381046.640 [DAT](INFO): DAT read: user:3628> 2025-01-09T00:04:06.641Z,1736381046.641 [DAT](INFO): DAT read: Tx time:00:04:05.8050 2025-01-09T00:04:06.641Z,1736381046.641 [DAT](INFO): Ping request sent. 2025-01-09T00:04:06.641Z,1736381046.641 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:06.642Z,1736381046.642 [DAT](INFO): DAT read: TxSync time:00:04:05.8042 2025-01-09T00:04:06.642Z,1736381046.642 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:04:06.643Z,1736381046.643 [DAT](INFO): direction in FSK: [-0.223598,0.286236,0.931704] 2025-01-09T00:04:06.643Z,1736381046.643 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:06.644Z,1736381046.644 [DAT](INFO): publishing direction and range info 2025-01-09T00:04:06.656Z,1736381046.656 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:06.657Z,1736381046.657 [DAT](INFO): publishing direction and range info 2025-01-09T00:04:06.876Z,1736381046.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:07.048Z,1736381047.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:07.077Z,1736381047.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 3.531611 s, deltaX: -0.900002 m, approachRate: -0.254842 m/s, rangeRepo size: 4 2025-01-09T00:04:07.087Z,1736381047.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.099998 m, bearing: 138.883450 deg, lat: 36.904876 deg, lon: -122.120188 deg, deltaT: 3.531611 s, deltaX: -0.900002 m, approachRate: -0.254842 m/s, posRepo size: 4 2025-01-09T00:04:07.088Z,1736381047.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:07.091Z,1736381047.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 11.270390 m, bearing: 229.695474 deg, approach rate: 0.000000 m/s, LOS rate: -1.044649 deg/s, cmd heading: 359.291337 deg, new cmd heading: 357.801960 deg. 2025-01-09T00:04:07.096Z,1736381047.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244823 target range: 47.099998 and range: 47.10 m. 2025-01-09T00:04:07.128Z,1736381047.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:07.380Z,1736381047.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:07.381Z,1736381047.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:07.413Z,1736381047.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:07.415Z,1736381047.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:07.422Z,1736381047.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 11.399924 m, bearing: 229.178912 deg, approach rate: 0.380588 m/s, LOS rate: -1.500456 deg/s, cmd heading: 357.801973 deg, new cmd heading: 356.270280 deg. 2025-01-09T00:04:07.423Z,1736381047.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.218090 target range: 47.099998 and range: 47.10 m. 2025-01-09T00:04:07.632Z,1736381047.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:07.633Z,1736381047.633 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:04:07.633Z,1736381047.633 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:04:07.633Z,1736381047.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:07.799Z,1736381047.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:07.866Z,1736381047.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:07.869Z,1736381047.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 11.559524 m, bearing: 228.545508 deg, approach rate: 0.354017 m/s, LOS rate: -1.385566 deg/s, cmd heading: 356.270290 deg, new cmd heading: 354.397018 deg. 2025-01-09T00:04:07.870Z,1736381047.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185395 target range: 47.099998 and range: 47.10 m. 2025-01-09T00:04:07.884Z,1736381047.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:07.885Z,1736381047.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243632 2025-01-09T00:04:08.136Z,1736381048.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:08.136Z,1736381048.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495382 2025-01-09T00:04:08.222Z,1736381048.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:08.230Z,1736381048.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:08.235Z,1736381048.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 11.729296 m, bearing: 227.943203 deg, approach rate: 0.465364 m/s, LOS rate: -1.627054 deg/s, cmd heading: 354.397015 deg, new cmd heading: 352.616862 deg. 2025-01-09T00:04:08.236Z,1736381048.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154325 target range: 47.099998 and range: 47.10 m. 2025-01-09T00:04:08.388Z,1736381048.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:08.389Z,1736381048.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747828 2025-01-09T00:04:08.607Z,1736381048.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:08.616Z,1736381048.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:08.640Z,1736381048.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:08.641Z,1736381048.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999614 2025-01-09T00:04:08.641Z,1736381048.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 11.882619 m, bearing: 227.397617 deg, approach rate: 0.398299 m/s, LOS rate: -1.399000 deg/s, cmd heading: 352.616849 deg, new cmd heading: 351.001662 deg. 2025-01-09T00:04:08.642Z,1736381048.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.126135 target range: 47.099998 and range: 47.10 m. 2025-01-09T00:04:08.892Z,1736381048.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:08.893Z,1736381048.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252281 2025-01-09T00:04:09.032Z,1736381049.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:09.042Z,1736381049.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:09.061Z,1736381049.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 12.060952 m, bearing: 226.879783 deg, approach rate: 0.418524 m/s, LOS rate: -1.197304 deg/s, cmd heading: 351.001673 deg, new cmd heading: 349.471524 deg. 2025-01-09T00:04:09.062Z,1736381049.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099429 target range: 47.099998 and range: 47.10 m. 2025-01-09T00:04:09.144Z,1736381049.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:09.146Z,1736381049.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504901 2025-01-09T00:04:09.396Z,1736381049.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:09.396Z,1736381049.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755351 2025-01-09T00:04:09.413Z,1736381049.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:09.420Z,1736381049.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:09.422Z,1736381049.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:09.425Z,1736381049.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 12.217785 m, bearing: 226.400241 deg, approach rate: 0.411906 m/s, LOS rate: -1.243288 deg/s, cmd heading: 349.471519 deg, new cmd heading: 348.051667 deg. 2025-01-09T00:04:09.426Z,1736381049.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074647 target range: 47.099998 and range: 47.10 m. 2025-01-09T00:04:09.650Z,1736381049.650 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:09.652Z,1736381049.652 [DAT](INFO): DAT read: Rx Time:00:04:08.2712 2025-01-09T00:04:09.652Z,1736381049.652 [DAT](INFO): Rx dataTimestamp_ set to:1736381049.651923 2025-01-09T00:04:09.653Z,1736381049.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012245 2025-01-09T00:04:09.816Z,1736381049.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:09.842Z,1736381049.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:09.881Z,1736381049.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 12.382764 m, bearing: 225.889900 deg, approach rate: 0.394467 m/s, LOS rate: -1.203957 deg/s, cmd heading: 348.051660 deg, new cmd heading: 346.541405 deg. 2025-01-09T00:04:09.890Z,1736381049.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.048288 target range: 47.099998 and range: 47.10 m. 2025-01-09T00:04:09.900Z,1736381049.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:09.901Z,1736381049.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260094 2025-01-09T00:04:10.152Z,1736381050.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:10.156Z,1736381050.156 [DAT](INFO): DAT read: Range 10 to 50 : 46.5 m (Round-trip 62.1 ms) speed 0.1 m/s 2025-01-09T00:04:10.158Z,1736381050.158 [DAT](INFO): DAT read: user:3629> 2025-01-09T00:04:10.159Z,1736381050.159 [DAT](INFO): DAT read: Tx time:00:04:09.3550 2025-01-09T00:04:10.159Z,1736381050.159 [DAT](INFO): Ping request sent. 2025-01-09T00:04:10.160Z,1736381050.160 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:10.160Z,1736381050.160 [DAT](INFO): DAT read: TxSync time:00:04:09.3542 2025-01-09T00:04:10.161Z,1736381050.161 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:04:10.161Z,1736381050.161 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:10.161Z,1736381050.161 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:10.296Z,1736381050.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:10.311Z,1736381050.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 3.527688 s, deltaX: -0.599998 m, approachRate: -0.170083 m/s, rangeRepo size: 4 2025-01-09T00:04:10.314Z,1736381050.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:10.325Z,1736381050.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 12.585977 m, bearing: 225.333958 deg, approach rate: 0.432870 m/s, LOS rate: -1.165091 deg/s, cmd heading: 346.541395 deg, new cmd heading: 344.900973 deg. 2025-01-09T00:04:10.326Z,1736381050.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019658 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:10.404Z,1736381050.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:10.616Z,1736381050.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:10.626Z,1736381050.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:10.653Z,1736381050.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 12.720214 m, bearing: 224.960672 deg, approach rate: 0.425916 m/s, LOS rate: -1.171878 deg/s, cmd heading: 344.900975 deg, new cmd heading: 343.793081 deg. 2025-01-09T00:04:10.655Z,1736381050.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.000321 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:10.656Z,1736381050.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:10.908Z,1736381050.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:11.084Z,1736381051.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:11.092Z,1736381051.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:11.096Z,1736381051.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 12.915527 m, bearing: 224.467066 deg, approach rate: 0.417948 m/s, LOS rate: -1.040274 deg/s, cmd heading: 343.793091 deg, new cmd heading: 342.334999 deg. 2025-01-09T00:04:11.097Z,1736381051.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974873 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:11.160Z,1736381051.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:11.412Z,1736381051.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:11.423Z,1736381051.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:11.430Z,1736381051.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:11.433Z,1736381051.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:11.436Z,1736381051.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 13.054304 m, bearing: 224.091742 deg, approach rate: 0.408476 m/s, LOS rate: -1.092978 deg/s, cmd heading: 342.335010 deg, new cmd heading: 341.221156 deg. 2025-01-09T00:04:11.437Z,1736381051.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955432 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:11.664Z,1736381051.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:11.665Z,1736381051.665 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:04:11.665Z,1736381051.665 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:04:11.666Z,1736381051.666 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:11.841Z,1736381051.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:11.850Z,1736381051.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:11.860Z,1736381051.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 13.223983 m, bearing: 223.625443 deg, approach rate: 0.406719 m/s, LOS rate: -1.103361 deg/s, cmd heading: 341.221143 deg, new cmd heading: 339.840479 deg. 2025-01-09T00:04:11.865Z,1736381051.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931335 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:11.918Z,1736381051.918 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:11.920Z,1736381051.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759522 2025-01-09T00:04:12.168Z,1736381052.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:12.168Z,1736381052.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008910 2025-01-09T00:04:12.265Z,1736381052.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:12.294Z,1736381052.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:12.302Z,1736381052.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 13.386596 m, bearing: 223.148309 deg, approach rate: 0.365577 m/s, LOS rate: -1.059622 deg/s, cmd heading: 339.840488 deg, new cmd heading: 338.426777 deg. 2025-01-09T00:04:12.303Z,1736381052.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906662 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:12.420Z,1736381052.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:12.421Z,1736381052.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261082 2025-01-09T00:04:12.643Z,1736381052.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:12.673Z,1736381052.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:12.674Z,1736381052.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514073 2025-01-09T00:04:12.696Z,1736381052.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:12.703Z,1736381052.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 13.530174 m, bearing: 222.719200 deg, approach rate: 0.357279 m/s, LOS rate: -1.056448 deg/s, cmd heading: 338.426776 deg, new cmd heading: 337.153330 deg. 2025-01-09T00:04:12.704Z,1736381052.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.884436 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:12.924Z,1736381052.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:12.924Z,1736381052.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764787 2025-01-09T00:04:13.078Z,1736381053.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:13.088Z,1736381053.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:13.090Z,1736381053.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 13.680355 m, bearing: 222.187594 deg, approach rate: 0.383765 m/s, LOS rate: -1.343509 deg/s, cmd heading: 337.153328 deg, new cmd heading: 335.576440 deg. 2025-01-09T00:04:13.092Z,1736381053.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856914 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:13.177Z,1736381053.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:13.178Z,1736381053.178 [DAT](INFO): DAT read: Rx Time:00:04:11.8209 2025-01-09T00:04:13.179Z,1736381053.179 [DAT](INFO): Rx dataTimestamp_ set to:1736381053.178066 2025-01-09T00:04:13.180Z,1736381053.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019848 2025-01-09T00:04:13.428Z,1736381053.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:13.428Z,1736381053.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268868 2025-01-09T00:04:13.474Z,1736381053.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:13.489Z,1736381053.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:13.491Z,1736381053.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:13.494Z,1736381053.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 13.814812 m, bearing: 221.702210 deg, approach rate: 0.333328 m/s, LOS rate: -1.191579 deg/s, cmd heading: 335.576428 deg, new cmd heading: 334.134770 deg. 2025-01-09T00:04:13.495Z,1736381053.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831752 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:13.681Z,1736381053.681 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:13.685Z,1736381053.685 [DAT](INFO): DAT read: Range 10 to 50 : 46.2 m (Round-trip 61.7 ms) speed 0.0 m/s 2025-01-09T00:04:13.687Z,1736381053.687 [DAT](INFO): DAT read: user:3630> 2025-01-09T00:04:13.689Z,1736381053.689 [DAT](INFO): DAT read: Tx time:00:04:12.9051 2025-01-09T00:04:13.690Z,1736381053.690 [DAT](INFO): Ping request sent. 2025-01-09T00:04:13.690Z,1736381053.690 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:13.690Z,1736381053.690 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:04:13.690Z,1736381053.690 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:13.691Z,1736381053.691 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:13.856Z,1736381053.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:13.901Z,1736381053.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 3.529640 s, deltaX: -0.299999 m, approachRate: -0.084994 m/s, rangeRepo size: 4 2025-01-09T00:04:13.908Z,1736381053.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:13.933Z,1736381053.933 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:13.936Z,1736381053.936 [DAT](INFO): DAT read: TxSync time:00:04:12.9043 2025-01-09T00:04:13.947Z,1736381053.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 13.943559 m, bearing: 221.225992 deg, approach rate: 0.320643 m/s, LOS rate: -1.175054 deg/s, cmd heading: 334.134767 deg, new cmd heading: 332.719607 deg. 2025-01-09T00:04:13.952Z,1736381053.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807053 target range: 47.099998 and range: 46.20 m. 2025-01-09T00:04:14.184Z,1736381054.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:14.288Z,1736381054.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:14.296Z,1736381054.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:14.300Z,1736381054.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 14.068156 m, bearing: 220.627910 deg, approach rate: 0.308395 m/s, LOS rate: -1.467189 deg/s, cmd heading: 332.719606 deg, new cmd heading: 330.941855 deg. 2025-01-09T00:04:14.301Z,1736381054.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776025 target range: 47.099998 and range: 46.20 m. 2025-01-09T00:04:14.437Z,1736381054.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:14.678Z,1736381054.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:14.688Z,1736381054.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:14.689Z,1736381054.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:14.694Z,1736381054.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 14.178952 m, bearing: 220.082961 deg, approach rate: 0.281949 m/s, LOS rate: -1.375908 deg/s, cmd heading: 330.941844 deg, new cmd heading: 329.320230 deg. 2025-01-09T00:04:14.697Z,1736381054.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747722 target range: 47.099998 and range: 46.20 m. 2025-01-09T00:04:14.941Z,1736381054.941 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:15.103Z,1736381055.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:15.126Z,1736381055.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:15.129Z,1736381055.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 14.289066 m, bearing: 219.411445 deg, approach rate: 0.252191 m/s, LOS rate: -1.526067 deg/s, cmd heading: 329.320221 deg, new cmd heading: 327.322052 deg. 2025-01-09T00:04:15.130Z,1736381055.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712848 target range: 47.099998 and range: 46.20 m. 2025-01-09T00:04:15.192Z,1736381055.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:15.444Z,1736381055.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:15.500Z,1736381055.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:15.507Z,1736381055.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:15.509Z,1736381055.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:15.512Z,1736381055.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 14.393640 m, bearing: 218.793720 deg, approach rate: 0.272809 m/s, LOS rate: -1.599769 deg/s, cmd heading: 327.322063 deg, new cmd heading: 325.483019 deg. 2025-01-09T00:04:15.513Z,1736381055.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680750 target range: 47.099998 and range: 46.20 m. 2025-01-09T00:04:15.696Z,1736381055.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:15.697Z,1736381055.697 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:04:15.697Z,1736381055.697 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:04:15.698Z,1736381055.698 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:15.950Z,1736381055.950 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:15.952Z,1736381055.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262183 2025-01-09T00:04:15.988Z,1736381055.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:16.009Z,1736381056.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:16.017Z,1736381056.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 14.509986 m, bearing: 218.012499 deg, approach rate: 0.232741 m/s, LOS rate: -1.550184 deg/s, cmd heading: 325.483021 deg, new cmd heading: 323.159498 deg. 2025-01-09T00:04:16.018Z,1736381056.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640197 target range: 47.099998 and range: 46.20 m. 2025-01-09T00:04:16.200Z,1736381056.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:16.201Z,1736381056.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511396 2025-01-09T00:04:16.368Z,1736381056.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:16.377Z,1736381056.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:16.380Z,1736381056.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 14.592416 m, bearing: 217.337289 deg, approach rate: 0.224341 m/s, LOS rate: -1.827229 deg/s, cmd heading: 323.159500 deg, new cmd heading: 321.146186 deg. 2025-01-09T00:04:16.381Z,1736381056.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605058 target range: 47.099998 and range: 46.20 m. 2025-01-09T00:04:16.452Z,1736381056.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:16.453Z,1736381056.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763199 2025-01-09T00:04:16.704Z,1736381056.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:16.705Z,1736381056.705 [DAT](INFO): DAT read: Rx Time:00:04:15.3712 2025-01-09T00:04:16.706Z,1736381056.706 [DAT](INFO): Rx dataTimestamp_ set to:1736381056.705716 2025-01-09T00:04:16.708Z,1736381056.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018212 2025-01-09T00:04:16.800Z,1736381056.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:16.809Z,1736381056.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:16.812Z,1736381056.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 14.673935 m, bearing: 216.553923 deg, approach rate: 0.188617 m/s, LOS rate: -1.802407 deg/s, cmd heading: 321.146178 deg, new cmd heading: 318.810504 deg. 2025-01-09T00:04:16.813Z,1736381056.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564293 target range: 47.099998 and range: 46.20 m. 2025-01-09T00:04:16.958Z,1736381056.958 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:16.960Z,1736381056.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270498 2025-01-09T00:04:17.208Z,1736381057.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:17.209Z,1736381057.209 [DAT](INFO): DAT read: Range 10 to 50 : 46.5 m (Round-trip 62.0 ms) speed -0.1 m/s 2025-01-09T00:04:17.210Z,1736381057.210 [DAT](INFO): DAT read: user:3631> 2025-01-09T00:04:17.211Z,1736381057.211 [DAT](INFO): DAT read: Tx time:00:04:16.4551 2025-01-09T00:04:17.211Z,1736381057.211 [DAT](INFO): Ping request sent. 2025-01-09T00:04:17.211Z,1736381057.211 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:17.212Z,1736381057.212 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:04:17.212Z,1736381057.212 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:17.212Z,1736381057.212 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:17.214Z,1736381057.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:17.225Z,1736381057.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 3.526412 s, deltaX: 0.299999 m, approachRate: 0.085072 m/s, rangeRepo size: 4 2025-01-09T00:04:17.225Z,1736381057.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:17.273Z,1736381057.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 14.745280 m, bearing: 215.729782 deg, approach rate: 0.172111 m/s, LOS rate: -1.978447 deg/s, cmd heading: 318.810500 deg, new cmd heading: 316.351634 deg. 2025-01-09T00:04:17.274Z,1736381057.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521378 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:17.460Z,1736381057.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:17.461Z,1736381057.461 [DAT](INFO): DAT read: TxSync time:00:04:16.4543 2025-01-09T00:04:17.578Z,1736381057.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:17.585Z,1736381057.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:17.587Z,1736381057.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 46.50 m. 2025-01-09T00:04:17.607Z,1736381057.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:17.610Z,1736381057.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 14.801266 m, bearing: 214.998823 deg, approach rate: 0.153992 m/s, LOS rate: -2.002895 deg/s, cmd heading: 316.351631 deg, new cmd heading: 314.168166 deg. 2025-01-09T00:04:17.611Z,1736381057.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483269 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:17.714Z,1736381057.714 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:17.715Z,1736381057.715 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:04:17.715Z,1736381057.715 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:04:17.716Z,1736381057.716 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:17.965Z,1736381057.965 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:17.968Z,1736381057.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756013 2025-01-09T00:04:18.088Z,1736381058.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:18.097Z,1736381058.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 46.50 m. 2025-01-09T00:04:18.097Z,1736381058.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:18.101Z,1736381058.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 14.876260 m, bearing: 213.927937 deg, approach rate: 0.147057 m/s, LOS rate: -2.089212 deg/s, cmd heading: 314.168157 deg, new cmd heading: 310.975191 deg. 2025-01-09T00:04:18.102Z,1736381058.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427541 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:18.216Z,1736381058.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:18.217Z,1736381058.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005685 2025-01-09T00:04:18.468Z,1736381058.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:18.468Z,1736381058.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257002 2025-01-09T00:04:18.489Z,1736381058.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:18.514Z,1736381058.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 46.50 m. 2025-01-09T00:04:18.514Z,1736381058.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:18.524Z,1736381058.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 14.933531 m, bearing: 213.087760 deg, approach rate: 0.137267 m/s, LOS rate: -2.005942 deg/s, cmd heading: 310.975180 deg, new cmd heading: 308.466010 deg. 2025-01-09T00:04:18.525Z,1736381058.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383748 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:18.720Z,1736381058.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:18.720Z,1736381058.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508886 2025-01-09T00:04:18.890Z,1736381058.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:18.899Z,1736381058.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:18.902Z,1736381058.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 14.988510 m, bearing: 212.248600 deg, approach rate: 0.142927 m/s, LOS rate: -2.173450 deg/s, cmd heading: 308.466014 deg, new cmd heading: 305.959458 deg. 2025-01-09T00:04:18.904Z,1736381058.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.340000 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:18.974Z,1736381058.974 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:18.977Z,1736381058.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765112 2025-01-09T00:04:19.224Z,1736381059.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:19.226Z,1736381059.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014051 2025-01-09T00:04:19.336Z,1736381059.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:19.344Z,1736381059.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 46.50 m. 2025-01-09T00:04:19.345Z,1736381059.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:19.348Z,1736381059.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 15.043960 m, bearing: 211.317929 deg, approach rate: 0.124452 m/s, LOS rate: -2.081033 deg/s, cmd heading: 305.959471 deg, new cmd heading: 303.180054 deg. 2025-01-09T00:04:19.349Z,1736381059.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291490 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:19.476Z,1736381059.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:19.476Z,1736381059.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264814 2025-01-09T00:04:19.710Z,1736381059.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:19.717Z,1736381059.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:19.722Z,1736381059.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 46.50 m. 2025-01-09T00:04:19.723Z,1736381059.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:19.726Z,1736381059.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 15.088593 m, bearing: 210.537140 deg, approach rate: 0.118569 m/s, LOS rate: -2.067951 deg/s, cmd heading: 303.180049 deg, new cmd heading: 300.845974 deg. 2025-01-09T00:04:19.728Z,1736381059.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:19.729Z,1736381059.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517331 2025-01-09T00:04:19.729Z,1736381059.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.250753 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:19.982Z,1736381059.982 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:19.984Z,1736381059.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772309 2025-01-09T00:04:20.145Z,1736381060.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:20.155Z,1736381060.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 46.50 m. 2025-01-09T00:04:20.156Z,1736381060.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:20.158Z,1736381060.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 15.152910 m, bearing: 209.632077 deg, approach rate: 0.148197 m/s, LOS rate: -2.076483 deg/s, cmd heading: 300.845982 deg, new cmd heading: 298.144435 deg. 2025-01-09T00:04:20.160Z,1736381060.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203602 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:20.233Z,1736381060.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:20.234Z,1736381060.234 [DAT](INFO): DAT read: Rx Time:00:04:18.9221 2025-01-09T00:04:20.235Z,1736381060.235 [DAT](INFO): Rx dataTimestamp_ set to:1736381060.234301 2025-01-09T00:04:20.236Z,1736381060.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024311 2025-01-09T00:04:20.484Z,1736381060.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:20.484Z,1736381060.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272960 2025-01-09T00:04:20.521Z,1736381060.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:20.550Z,1736381060.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 46.50 m. 2025-01-09T00:04:20.551Z,1736381060.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m. 2025-01-09T00:04:20.558Z,1736381060.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.099998 m, nav range: 15.206647 m, bearing: 208.852140 deg, approach rate: 0.135752 m/s, LOS rate: -1.963283 deg/s, cmd heading: 298.144424 deg, new cmd heading: 295.814236 deg. 2025-01-09T00:04:20.559Z,1736381060.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.162932 target range: 47.099998 and range: 46.50 m. 2025-01-09T00:04:20.738Z,1736381060.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:20.750Z,1736381060.750 [DAT](INFO): DAT read: 00:04:18.9221 LVL= 16240, 18689, 20098, 23187, AGC= 53, IDX= 431, 0.05,-0.995,-0.606,-2.956,-1.420, PHS= 0.512, 0.861,-1.539, RAW= 22.3, 1.5, CAL= 21.7, 0.9, ROT= 128.3, -0.9 2025-01-09T00:04:20.752Z,1736381060.752 [DAT](INFO): got valid direction response: 00:04:18.9221 LVL= 16240, 18689, 20098, 23187, AGC= 53, IDX= 431, 0.05,-0.995,-0.606,-2.956,-1.420, PHS= 0.512, 0.861,-1.539, RAW= 22.3, 1.5, CAL= 21.7, 0.9, ROT= 128.3, -0.9 2025-01-09T00:04:20.753Z,1736381060.753 [DAT](INFO): DAT read: Bearing 128.3, -0.9 (Local) 2025-01-09T00:04:20.753Z,1736381060.753 [DAT](INFO): Local bearing/azimuth received: Bearing 128.3, -0.9 (Local) 2025-01-09T00:04:20.755Z,1736381060.755 [DAT](INFO): DAT read: Range 10 to 50 : 47.0 m (Round-trip 62.7 ms) speed -0.4 m/s 2025-01-09T00:04:20.756Z,1736381060.756 [DAT](INFO): DAT read: user:3632> 2025-01-09T00:04:20.756Z,1736381060.756 [DAT](INFO): DAT read: Tx time:00:04:20.0052 2025-01-09T00:04:20.757Z,1736381060.757 [DAT](INFO): Ping request sent. 2025-01-09T00:04:20.757Z,1736381060.757 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:20.757Z,1736381060.757 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:04:20.758Z,1736381060.758 [DAT](INFO): direction in FSK: [0.019847,0.944946,0.326625] 2025-01-09T00:04:20.758Z,1736381060.758 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:20.759Z,1736381060.759 [DAT](INFO): publishing direction and range info 2025-01-09T00:04:20.765Z,1736381060.765 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:20.766Z,1736381060.766 [DAT](INFO): publishing direction and range info 2025-01-09T00:04:20.952Z,1736381060.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:20.989Z,1736381060.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:20.992Z,1736381060.992 [DAT](INFO): DAT read: TxSync time:00:04:20.0044 2025-01-09T00:04:21.046Z,1736381061.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 3.530141 s, deltaX: 0.500000 m, approachRate: 0.141637 m/s, rangeRepo size: 4 2025-01-09T00:04:21.057Z,1736381061.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.000000 m, bearing: 54.843245 deg, lat: 36.904876 deg, lon: -122.120099 deg, deltaT: 14.113881 s, deltaX: -0.099998 m, approachRate: -0.007085 m/s, posRepo size: 4 2025-01-09T00:04:21.058Z,1736381061.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:21.073Z,1736381061.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 13.504857 m, bearing: 176.853168 deg, approach rate: 0.000000 m/s, LOS rate: -1.963283 deg/s, cmd heading: 295.814236 deg, new cmd heading: 292.899735 deg. 2025-01-09T00:04:21.074Z,1736381061.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.112065 target range: 47.000000 and range: 47.00 m. 2025-01-09T00:04:21.240Z,1736381061.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:21.398Z,1736381061.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:21.420Z,1736381061.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 47.00 m. 2025-01-09T00:04:21.421Z,1736381061.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:21.428Z,1736381061.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 13.681396 m, bearing: 176.186133 deg, approach rate: 0.471242 m/s, LOS rate: -1.757530 deg/s, cmd heading: 292.899740 deg, new cmd heading: 290.925283 deg. 2025-01-09T00:04:21.429Z,1736381061.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.077604 target range: 47.000000 and range: 47.00 m. 2025-01-09T00:04:21.493Z,1736381061.493 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:21.744Z,1736381061.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:21.768Z,1736381061.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:21.774Z,1736381061.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:21.793Z,1736381061.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 47.00 m. 2025-01-09T00:04:21.793Z,1736381061.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:21.796Z,1736381061.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 13.828825 m, bearing: 175.647191 deg, approach rate: 0.396001 m/s, LOS rate: -1.432162 deg/s, cmd heading: 290.925296 deg, new cmd heading: 289.326147 deg. 2025-01-09T00:04:21.797Z,1736381061.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.049694 target range: 47.000000 and range: 47.00 m. 2025-01-09T00:04:21.996Z,1736381061.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:21.996Z,1736381061.996 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:04:21.996Z,1736381061.996 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:04:21.996Z,1736381061.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:22.191Z,1736381062.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:22.200Z,1736381062.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 47.00 m. 2025-01-09T00:04:22.201Z,1736381062.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:22.204Z,1736381062.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 13.994059 m, bearing: 175.126621 deg, approach rate: 0.405213 m/s, LOS rate: -1.261536 deg/s, cmd heading: 289.326158 deg, new cmd heading: 287.783281 deg. 2025-01-09T00:04:22.205Z,1736381062.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022766 target range: 47.000000 and range: 47.00 m. 2025-01-09T00:04:22.248Z,1736381062.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:22.250Z,1736381062.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492648 2025-01-09T00:04:22.501Z,1736381062.501 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:22.502Z,1736381062.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744990 2025-01-09T00:04:22.562Z,1736381062.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:22.573Z,1736381062.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 47.00 m. 2025-01-09T00:04:22.573Z,1736381062.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:22.592Z,1736381062.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 14.137328 m, bearing: 174.666414 deg, approach rate: 0.384805 m/s, LOS rate: -1.223524 deg/s, cmd heading: 287.783272 deg, new cmd heading: 286.416915 deg. 2025-01-09T00:04:22.593Z,1736381062.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998918 target range: 47.000000 and range: 47.00 m. 2025-01-09T00:04:22.752Z,1736381062.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:22.752Z,1736381062.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995493 2025-01-09T00:04:22.965Z,1736381062.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:22.975Z,1736381062.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:22.978Z,1736381062.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 14.290947 m, bearing: 174.163234 deg, approach rate: 0.381838 m/s, LOS rate: -1.237255 deg/s, cmd heading: 286.416907 deg, new cmd heading: 284.923950 deg. 2025-01-09T00:04:22.979Z,1736381062.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972861 target range: 47.000000 and range: 47.00 m. 2025-01-09T00:04:23.005Z,1736381063.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:23.007Z,1736381063.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249714 2025-01-09T00:04:23.256Z,1736381063.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:23.257Z,1736381063.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499720 2025-01-09T00:04:23.407Z,1736381063.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:23.417Z,1736381063.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 47.00 m. 2025-01-09T00:04:23.417Z,1736381063.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:23.420Z,1736381063.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 14.452900 m, bearing: 173.739161 deg, approach rate: 0.367405 m/s, LOS rate: -0.951259 deg/s, cmd heading: 284.923937 deg, new cmd heading: 283.666188 deg. 2025-01-09T00:04:23.421Z,1736381063.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.950909 target range: 47.000000 and range: 47.00 m. 2025-01-09T00:04:23.509Z,1736381063.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:23.510Z,1736381063.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752971 2025-01-09T00:04:23.760Z,1736381063.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:23.761Z,1736381063.761 [DAT](INFO): DAT read: Rx Time:00:04:22.4739 2025-01-09T00:04:23.761Z,1736381063.761 [DAT](INFO): Rx dataTimestamp_ set to:1736381063.760966 2025-01-09T00:04:23.762Z,1736381063.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004961 2025-01-09T00:04:23.806Z,1736381063.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:23.829Z,1736381063.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:23.831Z,1736381063.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 47.00 m. 2025-01-09T00:04:23.835Z,1736381063.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:23.838Z,1736381063.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 14.595607 m, bearing: 173.340293 deg, approach rate: 0.344019 m/s, LOS rate: -0.952128 deg/s, cmd heading: 283.666198 deg, new cmd heading: 282.481473 deg. 2025-01-09T00:04:23.859Z,1736381063.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.930232 target range: 47.000000 and range: 47.00 m. 2025-01-09T00:04:24.012Z,1736381064.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:24.014Z,1736381064.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256680 2025-01-09T00:04:24.206Z,1736381064.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:24.250Z,1736381064.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 47.00 m. 2025-01-09T00:04:24.255Z,1736381064.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:24.258Z,1736381064.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 14.728449 m, bearing: 173.006365 deg, approach rate: 0.322198 m/s, LOS rate: -0.802609 deg/s, cmd heading: 282.481461 deg, new cmd heading: 281.488816 deg. 2025-01-09T00:04:24.264Z,1736381064.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:24.266Z,1736381064.266 [DAT](INFO): DAT read: Range 10 to 50 : 48.3 m (Round-trip 64.5 ms) speed -0.4 m/s 2025-01-09T00:04:24.268Z,1736381064.268 [DAT](INFO): DAT read: user:3633> 2025-01-09T00:04:24.269Z,1736381064.269 [DAT](INFO): DAT read: Tx time:00:04:23.5552 2025-01-09T00:04:24.269Z,1736381064.269 [DAT](INFO): Ping request sent. 2025-01-09T00:04:24.269Z,1736381064.269 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:24.269Z,1736381064.269 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:04:24.269Z,1736381064.269 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:24.270Z,1736381064.270 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:24.275Z,1736381064.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.912907 target range: 47.000000 and range: 47.00 m. 2025-01-09T00:04:24.516Z,1736381064.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:24.517Z,1736381064.517 [DAT](INFO): DAT read: TxSync time:00:04:23.5544 2025-01-09T00:04:24.593Z,1736381064.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:24.626Z,1736381064.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.299999 m, deltaT: 3.526020 s, deltaX: 1.299999 m, approachRate: 0.368687 m/s, rangeRepo size: 4 2025-01-09T00:04:24.627Z,1736381064.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 48.30 m. 2025-01-09T00:04:24.635Z,1736381064.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:24.668Z,1736381064.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 14.855894 m, bearing: 172.678531 deg, approach rate: 0.335212 m/s, LOS rate: -0.854881 deg/s, cmd heading: 281.488816 deg, new cmd heading: 280.513851 deg. 2025-01-09T00:04:24.670Z,1736381064.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895890 target range: 47.000000 and range: 48.30 m. 2025-01-09T00:04:24.769Z,1736381064.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:24.986Z,1736381064.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:24.994Z,1736381064.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:24.997Z,1736381064.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 14.983702 m, bearing: 172.341614 deg, approach rate: 0.344413 m/s, LOS rate: -0.900166 deg/s, cmd heading: 280.513847 deg, new cmd heading: 279.511827 deg. 2025-01-09T00:04:24.998Z,1736381064.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.878402 target range: 47.000000 and range: 48.30 m. 2025-01-09T00:04:25.020Z,1736381065.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:25.272Z,1736381065.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:25.431Z,1736381065.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:25.445Z,1736381065.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 48.30 m. 2025-01-09T00:04:25.445Z,1736381065.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:25.448Z,1736381065.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 15.114477 m, bearing: 171.992746 deg, approach rate: 0.290145 m/s, LOS rate: -0.767314 deg/s, cmd heading: 279.511831 deg, new cmd heading: 278.474402 deg. 2025-01-09T00:04:25.451Z,1736381065.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860295 target range: 47.000000 and range: 48.30 m. 2025-01-09T00:04:25.524Z,1736381065.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:25.777Z,1736381065.777 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:25.813Z,1736381065.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:25.827Z,1736381065.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 48.30 m. 2025-01-09T00:04:25.827Z,1736381065.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:25.849Z,1736381065.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 15.224236 m, bearing: 171.680791 deg, approach rate: 0.287619 m/s, LOS rate: -0.811565 deg/s, cmd heading: 278.474408 deg, new cmd heading: 277.545378 deg. 2025-01-09T00:04:25.852Z,1736381065.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.844080 target range: 47.000000 and range: 48.30 m. 2025-01-09T00:04:26.028Z,1736381066.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:26.225Z,1736381066.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:26.236Z,1736381066.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:26.238Z,1736381066.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 48.30 m. 2025-01-09T00:04:26.238Z,1736381066.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:26.241Z,1736381066.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 15.338871 m, bearing: 171.318014 deg, approach rate: 0.278730 m/s, LOS rate: -0.875482 deg/s, cmd heading: 277.545365 deg, new cmd heading: 276.465302 deg. 2025-01-09T00:04:26.242Z,1736381066.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825230 target range: 47.000000 and range: 48.30 m. 2025-01-09T00:04:26.280Z,1736381066.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:26.280Z,1736381066.280 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:04:26.280Z,1736381066.280 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:04:26.281Z,1736381066.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:26.532Z,1736381066.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:26.533Z,1736381066.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264014 2025-01-09T00:04:26.604Z,1736381066.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:26.639Z,1736381066.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 48.30 m. 2025-01-09T00:04:26.643Z,1736381066.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:26.654Z,1736381066.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 15.444983 m, bearing: 170.976828 deg, approach rate: 0.264698 m/s, LOS rate: -0.845245 deg/s, cmd heading: 276.465294 deg, new cmd heading: 275.448882 deg. 2025-01-09T00:04:26.680Z,1736381066.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807490 target range: 47.000000 and range: 48.30 m. 2025-01-09T00:04:26.786Z,1736381066.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:26.788Z,1736381066.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518903 2025-01-09T00:04:27.007Z,1736381067.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:27.020Z,1736381067.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:27.023Z,1736381067.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 15.555506 m, bearing: 170.615523 deg, approach rate: 0.289572 m/s, LOS rate: -0.939891 deg/s, cmd heading: 275.448880 deg, new cmd heading: 274.372799 deg. 2025-01-09T00:04:27.024Z,1736381067.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788709 target range: 47.000000 and range: 48.30 m. 2025-01-09T00:04:27.040Z,1736381067.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:27.040Z,1736381067.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771301 2025-01-09T00:04:27.292Z,1736381067.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:27.293Z,1736381067.293 [DAT](INFO): DAT read: Rx Time:00:04:26.0259 2025-01-09T00:04:27.293Z,1736381067.293 [DAT](INFO): Rx dataTimestamp_ set to:1736381067.292739 2025-01-09T00:04:27.294Z,1736381067.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024603 2025-01-09T00:04:27.442Z,1736381067.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:27.452Z,1736381067.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 48.30 m. 2025-01-09T00:04:27.453Z,1736381067.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:27.472Z,1736381067.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 15.670266 m, bearing: 170.156939 deg, approach rate: 0.265706 m/s, LOS rate: -1.053977 deg/s, cmd heading: 274.372797 deg, new cmd heading: 273.007393 deg. 2025-01-09T00:04:27.473Z,1736381067.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.764878 target range: 47.000000 and range: 48.30 m. 2025-01-09T00:04:27.549Z,1736381067.549 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:27.550Z,1736381067.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281460 2025-01-09T00:04:27.801Z,1736381067.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:27.810Z,1736381067.810 [DAT](INFO): DAT read: Range 10 to 50 : 49.9 m (Round-trip 66.6 ms) speed -0.4 m/s 2025-01-09T00:04:27.812Z,1736381067.812 [DAT](INFO): DAT read: user:3634> 2025-01-09T00:04:27.812Z,1736381067.812 [DAT](INFO): DAT read: Tx time:00:04:27.1052 2025-01-09T00:04:27.813Z,1736381067.813 [DAT](INFO): Ping request sent. 2025-01-09T00:04:27.813Z,1736381067.813 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:27.813Z,1736381067.813 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:04:27.813Z,1736381067.813 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:27.814Z,1736381067.814 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:27.887Z,1736381067.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:27.912Z,1736381067.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.900002 m, deltaT: 3.537117 s, deltaX: 1.600002 m, approachRate: 0.452346 m/s, rangeRepo size: 4 2025-01-09T00:04:27.916Z,1736381067.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:27.928Z,1736381067.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 15.780996 m, bearing: 169.685065 deg, approach rate: 0.244972 m/s, LOS rate: -1.036605 deg/s, cmd heading: 273.007388 deg, new cmd heading: 271.601996 deg. 2025-01-09T00:04:27.929Z,1736381067.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.740349 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:28.052Z,1736381068.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:28.053Z,1736381068.053 [DAT](INFO): DAT read: TxSync time:00:04:27.1044 2025-01-09T00:04:28.243Z,1736381068.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:28.251Z,1736381068.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:28.253Z,1736381068.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:28.272Z,1736381068.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 15.875610 m, bearing: 169.188037 deg, approach rate: 0.271510 m/s, LOS rate: -1.417779 deg/s, cmd heading: 271.602008 deg, new cmd heading: 270.120161 deg. 2025-01-09T00:04:28.273Z,1736381068.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714486 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:28.304Z,1736381068.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:28.305Z,1736381068.305 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:04:28.305Z,1736381068.305 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:04:28.305Z,1736381068.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:28.556Z,1736381068.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:28.556Z,1736381068.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743485 2025-01-09T00:04:28.628Z,1736381068.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:28.660Z,1736381068.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:28.669Z,1736381068.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 15.973451 m, bearing: 168.659193 deg, approach rate: 0.240303 m/s, LOS rate: -1.290906 deg/s, cmd heading: 270.120157 deg, new cmd heading: 268.543763 deg. 2025-01-09T00:04:28.671Z,1736381068.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686973 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:28.808Z,1736381068.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:28.808Z,1736381068.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995609 2025-01-09T00:04:29.028Z,1736381069.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:29.038Z,1736381069.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:29.041Z,1736381069.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 16.072931 m, bearing: 168.107716 deg, approach rate: 0.263424 m/s, LOS rate: -1.451245 deg/s, cmd heading: 268.543750 deg, new cmd heading: 266.900035 deg. 2025-01-09T00:04:29.042Z,1736381069.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658284 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:29.060Z,1736381069.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:29.061Z,1736381069.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247680 2025-01-09T00:04:29.168Z,1736381069.168 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:04:29.312Z,1736381069.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:29.313Z,1736381069.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500352 2025-01-09T00:04:29.461Z,1736381069.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:29.484Z,1736381069.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:29.487Z,1736381069.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 16.196215 m, bearing: 167.377519 deg, approach rate: 0.284393 m/s, LOS rate: -1.671571 deg/s, cmd heading: 266.900024 deg, new cmd heading: 264.727208 deg. 2025-01-09T00:04:29.489Z,1736381069.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620361 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:29.565Z,1736381069.565 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:29.566Z,1736381069.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753035 2025-01-09T00:04:29.816Z,1736381069.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:29.816Z,1736381069.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003571 2025-01-09T00:04:29.933Z,1736381069.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:29.941Z,1736381069.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:29.948Z,1736381069.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 16.322964 m, bearing: 166.574572 deg, approach rate: 0.269683 m/s, LOS rate: -1.695106 deg/s, cmd heading: 264.727204 deg, new cmd heading: 262.338529 deg. 2025-01-09T00:04:29.952Z,1736381069.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578671 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:30.073Z,1736381070.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:30.073Z,1736381070.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260406 2025-01-09T00:04:30.174Z,1736381070.174 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:04:30.324Z,1736381070.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:30.324Z,1736381070.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511467 2025-01-09T00:04:30.386Z,1736381070.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:30.393Z,1736381070.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:30.395Z,1736381070.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:30.398Z,1736381070.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 16.469957 m, bearing: 165.681488 deg, approach rate: 0.323918 m/s, LOS rate: -1.950373 deg/s, cmd heading: 262.338523 deg, new cmd heading: 259.685190 deg. 2025-01-09T00:04:30.400Z,1736381070.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532362 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:30.578Z,1736381070.578 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:30.579Z,1736381070.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766126 2025-01-09T00:04:30.807Z,1736381070.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:30.816Z,1736381070.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:30.818Z,1736381070.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 16.598333 m, bearing: 164.841244 deg, approach rate: 0.305064 m/s, LOS rate: -1.981182 deg/s, cmd heading: 259.685186 deg, new cmd heading: 257.185627 deg. 2025-01-09T00:04:30.820Z,1736381070.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488736 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:30.828Z,1736381070.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:30.829Z,1736381070.829 [DAT](INFO): DAT read: Rx Time:00:04:29.5786 2025-01-09T00:04:30.829Z,1736381070.829 [DAT](INFO): Rx dataTimestamp_ set to:1736381070.828686 2025-01-09T00:04:30.829Z,1736381070.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016643 2025-01-09T00:04:31.080Z,1736381071.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:31.080Z,1736381071.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267384 2025-01-09T00:04:31.221Z,1736381071.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:31.232Z,1736381071.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:31.260Z,1736381071.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 16.721889 m, bearing: 164.018099 deg, approach rate: 0.298407 m/s, LOS rate: -1.973267 deg/s, cmd heading: 257.185637 deg, new cmd heading: 254.736025 deg. 2025-01-09T00:04:31.261Z,1736381071.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445982 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:31.332Z,1736381071.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:31.333Z,1736381071.333 [DAT](INFO): DAT read: $Error in header 2025-01-09T00:04:31.333Z,1736381071.333 [DAT](INFO): Received a bad header 2025-01-09T00:04:31.348Z,1736381071.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535375 2025-01-09T00:04:31.585Z,1736381071.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:31.586Z,1736381071.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773014 2025-01-09T00:04:31.610Z,1736381071.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:31.639Z,1736381071.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:31.647Z,1736381071.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 16.835791 m, bearing: 163.243012 deg, approach rate: 0.278464 m/s, LOS rate: -1.882047 deg/s, cmd heading: 254.736031 deg, new cmd heading: 252.427822 deg. 2025-01-09T00:04:31.653Z,1736381071.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405696 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:31.836Z,1736381071.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:31.837Z,1736381071.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023722 2025-01-09T00:04:32.013Z,1736381072.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:32.023Z,1736381072.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:32.026Z,1736381072.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 16.950956 m, bearing: 162.442403 deg, approach rate: 0.300093 m/s, LOS rate: -2.071945 deg/s, cmd heading: 252.427809 deg, new cmd heading: 250.043754 deg. 2025-01-09T00:04:32.027Z,1736381072.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364087 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:32.088Z,1736381072.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:32.089Z,1736381072.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275863 2025-01-09T00:04:32.340Z,1736381072.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:32.340Z,1736381072.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.527589 2025-01-09T00:04:32.453Z,1736381072.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-09T00:04:32.453Z,1736381072.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:32.461Z,1736381072.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:32.463Z,1736381072.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:32.466Z,1736381072.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 17.073551 m, bearing: 161.571203 deg, approach rate: 0.278609 m/s, LOS rate: -1.965600 deg/s, cmd heading: 250.043745 deg, new cmd heading: 247.450783 deg. 2025-01-09T00:04:32.468Z,1736381072.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318831 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:32.592Z,1736381072.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:32.593Z,1736381072.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779784 2025-01-09T00:04:32.824Z,1736381072.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-09T00:04:32.824Z,1736381072.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:32.832Z,1736381072.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:32.835Z,1736381072.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 17.174633 m, bearing: 160.836351 deg, approach rate: 0.273329 m/s, LOS rate: -1.975314 deg/s, cmd heading: 247.450787 deg, new cmd heading: 245.260334 deg. 2025-01-09T00:04:32.836Z,1736381072.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280601 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:32.844Z,1736381072.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:32.845Z,1736381072.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031789 2025-01-09T00:04:33.096Z,1736381073.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:33.096Z,1736381073.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.283380 2025-01-09T00:04:33.263Z,1736381073.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:33.272Z,1736381073.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:33.275Z,1736381073.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 17.325171 m, bearing: 159.893391 deg, approach rate: 0.342340 m/s, LOS rate: -2.125673 deg/s, cmd heading: 245.260345 deg, new cmd heading: 242.458408 deg. 2025-01-09T00:04:33.276Z,1736381073.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231698 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:33.349Z,1736381073.349 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:33.350Z,1736381073.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537519 2025-01-09T00:04:33.600Z,1736381073.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:33.601Z,1736381073.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788164 2025-01-09T00:04:33.674Z,1736381073.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:33.693Z,1736381073.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:33.700Z,1736381073.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 17.463276 m, bearing: 159.015100 deg, approach rate: 0.328421 m/s, LOS rate: -2.072019 deg/s, cmd heading: 242.458410 deg, new cmd heading: 239.846288 deg. 2025-01-09T00:04:33.701Z,1736381073.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186108 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:33.852Z,1736381073.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:33.853Z,1736381073.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039690 2025-01-09T00:04:34.041Z,1736381074.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:34.051Z,1736381074.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:34.054Z,1736381074.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 17.584419 m, bearing: 158.230034 deg, approach rate: 0.338544 m/s, LOS rate: -2.178746 deg/s, cmd heading: 239.846300 deg, new cmd heading: 237.508697 deg. 2025-01-09T00:04:34.055Z,1736381074.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145309 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:34.104Z,1736381074.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:34.106Z,1736381074.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293087 2025-01-09T00:04:34.356Z,1736381074.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:34.356Z,1736381074.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543592 2025-01-09T00:04:34.463Z,1736381074.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:34.471Z,1736381074.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:34.493Z,1736381074.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:34.501Z,1736381074.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 17.715221 m, bearing: 157.400743 deg, approach rate: 0.295621 m/s, LOS rate: -1.860349 deg/s, cmd heading: 237.508709 deg, new cmd heading: 235.040819 deg. 2025-01-09T00:04:34.502Z,1736381074.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102236 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:34.608Z,1736381074.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:34.608Z,1736381074.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795491 2025-01-09T00:04:34.849Z,1736381074.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:34.859Z,1736381074.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:34.860Z,1736381074.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:34.861Z,1736381074.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.047905 2025-01-09T00:04:34.869Z,1736381074.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 17.832491 m, bearing: 156.643259 deg, approach rate: 0.320549 m/s, LOS rate: -2.056856 deg/s, cmd heading: 235.040825 deg, new cmd heading: 232.784551 deg. 2025-01-09T00:04:34.870Z,1736381074.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.062857 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:35.112Z,1736381075.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:35.112Z,1736381075.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299584 2025-01-09T00:04:35.289Z,1736381075.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:35.298Z,1736381075.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:35.320Z,1736381075.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 17.952557 m, bearing: 155.848009 deg, approach rate: 0.273409 m/s, LOS rate: -1.798745 deg/s, cmd heading: 232.784540 deg, new cmd heading: 230.416171 deg. 2025-01-09T00:04:35.321Z,1736381075.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.021521 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:35.365Z,1736381075.365 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:35.366Z,1736381075.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552747 2025-01-09T00:04:35.616Z,1736381075.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:35.617Z,1736381075.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.804491 2025-01-09T00:04:35.664Z,1736381075.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:35.703Z,1736381075.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:35.706Z,1736381075.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.052568 m, bearing: 155.171775 deg, approach rate: 0.254268 m/s, LOS rate: -1.709681 deg/s, cmd heading: 230.416158 deg, new cmd heading: 228.399575 deg. 2025-01-09T00:04:35.712Z,1736381075.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.986325 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:35.869Z,1736381075.869 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:35.873Z,1736381075.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.057846 2025-01-09T00:04:36.058Z,1736381076.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:36.088Z,1736381076.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:36.097Z,1736381076.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.154942 m, bearing: 154.461823 deg, approach rate: 0.272154 m/s, LOS rate: -1.876681 deg/s, cmd heading: 228.399572 deg, new cmd heading: 226.282744 deg. 2025-01-09T00:04:36.098Z,1736381076.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.949379 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:36.120Z,1736381076.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:36.121Z,1736381076.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307686 2025-01-09T00:04:36.372Z,1736381076.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:36.372Z,1736381076.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559595 2025-01-09T00:04:36.494Z,1736381076.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:36.501Z,1736381076.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:36.504Z,1736381076.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:36.506Z,1736381076.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.245977 m, bearing: 153.773493 deg, approach rate: 0.208869 m/s, LOS rate: -1.571356 deg/s, cmd heading: 226.282747 deg, new cmd heading: 224.228991 deg. 2025-01-09T00:04:36.508Z,1736381076.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.913534 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:36.624Z,1736381076.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:36.625Z,1736381076.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.811952 2025-01-09T00:04:36.861Z,1736381076.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:36.871Z,1736381076.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:36.874Z,1736381076.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.320576 m, bearing: 153.191563 deg, approach rate: 0.202933 m/s, LOS rate: -1.576575 deg/s, cmd heading: 224.228991 deg, new cmd heading: 222.490873 deg. 2025-01-09T00:04:36.875Z,1736381076.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883198 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:36.876Z,1736381076.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:36.876Z,1736381076.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063616 2025-01-09T00:04:37.128Z,1736381077.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:37.128Z,1736381077.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.315507 2025-01-09T00:04:37.335Z,1736381077.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:37.344Z,1736381077.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:37.347Z,1736381077.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.395067 m, bearing: 152.509419 deg, approach rate: 0.157660 m/s, LOS rate: -1.437866 deg/s, cmd heading: 222.490871 deg, new cmd heading: 220.453633 deg. 2025-01-09T00:04:37.348Z,1736381077.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.847642 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:37.380Z,1736381077.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:37.381Z,1736381077.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.567838 2025-01-09T00:04:37.632Z,1736381077.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:37.633Z,1736381077.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.820240 2025-01-09T00:04:37.700Z,1736381077.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:37.709Z,1736381077.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:37.712Z,1736381077.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.454260 m, bearing: 151.987371 deg, approach rate: 0.162022 m/s, LOS rate: -1.424346 deg/s, cmd heading: 220.453631 deg, new cmd heading: 218.892919 deg. 2025-01-09T00:04:37.713Z,1736381077.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.820402 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:37.884Z,1736381077.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:37.885Z,1736381077.885 [DAT](INFO): Reached modem response timeout 2025-01-09T00:04:37.885Z,1736381077.885 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:04:37.885Z,1736381077.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:38.095Z,1736381078.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:38.134Z,1736381078.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:38.136Z,1736381078.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:38.137Z,1736381078.137 [DAT](INFO): Reached modem response timeout 2025-01-09T00:04:38.138Z,1736381078.138 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:04:38.138Z,1736381078.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:38.156Z,1736381078.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.507196 m, bearing: 151.413832 deg, approach rate: 0.124853 m/s, LOS rate: -1.348824 deg/s, cmd heading: 218.892919 deg, new cmd heading: 217.177764 deg. 2025-01-09T00:04:38.157Z,1736381078.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790467 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:38.388Z,1736381078.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:38.388Z,1736381078.388 [DAT](INFO): Reached modem response timeout 2025-01-09T00:04:38.388Z,1736381078.388 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:04:38.389Z,1736381078.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:38.514Z,1736381078.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:38.522Z,1736381078.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:38.524Z,1736381078.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:38.528Z,1736381078.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.543163 m, bearing: 150.825269 deg, approach rate: 0.091843 m/s, LOS rate: -1.499976 deg/s, cmd heading: 217.177763 deg, new cmd heading: 215.416084 deg. 2025-01-09T00:04:38.529Z,1736381078.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.759720 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:38.640Z,1736381078.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:38.641Z,1736381078.641 [DAT](INFO): DAT read: Response Not Received 2025-01-09T00:04:38.641Z,1736381078.641 [DAT](INFO): response not received 2025-01-09T00:04:38.642Z,1736381078.642 [DAT](INFO): DAT read: user:3636> 2025-01-09T00:04:38.642Z,1736381078.642 [DAT](ERROR): No response from remote modem. 2025-01-09T00:04:38.642Z,1736381078.642 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:04:38.643Z,1736381078.643 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:38.884Z,1736381078.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:38.892Z,1736381078.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:38.893Z,1736381078.893 [DAT](INFO): DAT read: Tx time:00:04:38.0554 2025-01-09T00:04:38.893Z,1736381078.893 [DAT](INFO): Ping request sent. 2025-01-09T00:04:38.893Z,1736381078.893 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:38.894Z,1736381078.894 [DAT](INFO): DAT read: TxSync time:00:04:38.0546 2025-01-09T00:04:38.894Z,1736381078.894 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:38.895Z,1736381078.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001562 2025-01-09T00:04:38.897Z,1736381078.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:38.901Z,1736381078.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.572594 m, bearing: 150.306363 deg, approach rate: 0.078929 m/s, LOS rate: -1.389430 deg/s, cmd heading: 215.416079 deg, new cmd heading: 213.862230 deg. 2025-01-09T00:04:38.902Z,1736381078.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.732600 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:39.144Z,1736381079.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:39.145Z,1736381079.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252008 2025-01-09T00:04:39.358Z,1736381079.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:39.368Z,1736381079.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:39.371Z,1736381079.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.602999 m, bearing: 149.629104 deg, approach rate: 0.064668 m/s, LOS rate: -1.438051 deg/s, cmd heading: 213.862225 deg, new cmd heading: 211.834665 deg. 2025-01-09T00:04:39.388Z,1736381079.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.697212 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:39.396Z,1736381079.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:39.396Z,1736381079.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503373 2025-01-09T00:04:39.649Z,1736381079.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:39.651Z,1736381079.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757132 2025-01-09T00:04:39.710Z,1736381079.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:39.730Z,1736381079.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:39.738Z,1736381079.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.618593 m, bearing: 149.125122 deg, approach rate: 0.042976 m/s, LOS rate: -1.387720 deg/s, cmd heading: 211.834670 deg, new cmd heading: 210.324358 deg. 2025-01-09T00:04:39.738Z,1736381079.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.670853 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:39.900Z,1736381079.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:39.901Z,1736381079.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007771 2025-01-09T00:04:40.131Z,1736381080.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:40.140Z,1736381080.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:40.143Z,1736381080.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.634407 m, bearing: 148.520810 deg, approach rate: 0.038550 m/s, LOS rate: -1.471863 deg/s, cmd heading: 210.324365 deg, new cmd heading: 208.513605 deg. 2025-01-09T00:04:40.144Z,1736381080.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.639249 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:40.152Z,1736381080.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:40.153Z,1736381080.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259428 2025-01-09T00:04:40.404Z,1736381080.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:40.406Z,1736381080.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512490 2025-01-09T00:04:40.545Z,1736381080.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:40.553Z,1736381080.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:40.556Z,1736381080.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:40.558Z,1736381080.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.652077 m, bearing: 147.890517 deg, approach rate: 0.042596 m/s, LOS rate: -1.517979 deg/s, cmd heading: 208.513600 deg, new cmd heading: 206.625233 deg. 2025-01-09T00:04:40.559Z,1736381080.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606291 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:40.657Z,1736381080.657 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:40.658Z,1736381080.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764303 2025-01-09T00:04:40.908Z,1736381080.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:40.908Z,1736381080.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015343 2025-01-09T00:04:40.924Z,1736381080.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:40.934Z,1736381080.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:40.937Z,1736381080.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.666164 m, bearing: 147.313811 deg, approach rate: 0.037212 m/s, LOS rate: -1.522187 deg/s, cmd heading: 206.625230 deg, new cmd heading: 204.896973 deg. 2025-01-09T00:04:40.938Z,1736381080.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576127 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:41.162Z,1736381081.162 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:41.163Z,1736381081.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269547 2025-01-09T00:04:41.409Z,1736381081.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:41.412Z,1736381081.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:41.412Z,1736381081.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519365 2025-01-09T00:04:41.421Z,1736381081.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:41.425Z,1736381081.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.690248 m, bearing: 146.506886 deg, approach rate: 0.049397 m/s, LOS rate: -1.652819 deg/s, cmd heading: 204.896973 deg, new cmd heading: 202.480831 deg. 2025-01-09T00:04:41.426Z,1736381081.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533957 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:41.664Z,1736381081.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:41.665Z,1736381081.665 [DAT](INFO): DAT read: Rx Time:00:04:40.5370 2025-01-09T00:04:41.667Z,1736381081.667 [DAT](INFO): Rx dataTimestamp_ set to:1736381081.665954 2025-01-09T00:04:41.667Z,1736381081.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774332 2025-01-09T00:04:41.727Z,1736381081.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:41.752Z,1736381081.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:41.755Z,1736381081.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.704006 m, bearing: 145.977923 deg, approach rate: 0.041625 m/s, LOS rate: -1.599217 deg/s, cmd heading: 202.480835 deg, new cmd heading: 200.895539 deg. 2025-01-09T00:04:41.760Z,1736381081.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.506289 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:41.916Z,1736381081.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:41.917Z,1736381081.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024064 2025-01-09T00:04:42.150Z,1736381082.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:42.161Z,1736381082.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:42.169Z,1736381082.169 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:42.171Z,1736381082.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277523 2025-01-09T00:04:42.173Z,1736381082.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.719259 m, bearing: 145.274048 deg, approach rate: 0.037360 m/s, LOS rate: -1.722566 deg/s, cmd heading: 200.895534 deg, new cmd heading: 198.786635 deg. 2025-01-09T00:04:42.174Z,1736381082.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.469481 target range: 47.000000 and range: 49.90 m. 2025-01-09T00:04:42.420Z,1736381082.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:42.421Z,1736381082.421 [DAT](INFO): DAT read: Range 10 to 50 : 58.0 m (Round-trip 77.4 ms) speed -0.5 m/s 2025-01-09T00:04:42.422Z,1736381082.422 [DAT](INFO): DAT read: user:3637> 2025-01-09T00:04:42.423Z,1736381082.423 [DAT](INFO): DAT read: Tx time:00:04:41.6554 2025-01-09T00:04:42.424Z,1736381082.424 [DAT](INFO): Ping request sent. 2025-01-09T00:04:42.424Z,1736381082.424 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:42.425Z,1736381082.425 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:04:42.425Z,1736381082.425 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:42.426Z,1736381082.426 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:42.569Z,1736381082.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:42.580Z,1736381082.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:42.585Z,1736381082.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.000000 m, deltaT: 14.618705 s, deltaX: 8.099998 m, approachRate: 0.554085 m/s, rangeRepo size: 4 2025-01-09T00:04:42.585Z,1736381082.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:42.593Z,1736381082.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.749918 m, bearing: 144.519275 deg, approach rate: 0.072752 m/s, LOS rate: -1.788063 deg/s, cmd heading: 198.786632 deg, new cmd heading: 196.527253 deg. 2025-01-09T00:04:42.594Z,1736381082.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.430048 target range: 47.000000 and range: 58.00 m. 2025-01-09T00:04:42.673Z,1736381082.673 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:42.674Z,1736381082.674 [DAT](INFO): DAT read: TxSync time:00:04:41.6546 2025-01-09T00:04:42.675Z,1736381082.675 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:04:42.675Z,1736381082.675 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:04:42.676Z,1736381082.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:42.924Z,1736381082.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:42.924Z,1736381082.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500081 2025-01-09T00:04:42.961Z,1736381082.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:42.970Z,1736381082.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:42.973Z,1736381082.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.781607 m, bearing: 143.813996 deg, approach rate: 0.081591 m/s, LOS rate: -1.812813 deg/s, cmd heading: 196.527260 deg, new cmd heading: 194.416002 deg. 2025-01-09T00:04:42.974Z,1736381082.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.393199 target range: 47.000000 and range: 58.00 m. 2025-01-09T00:04:43.177Z,1736381083.177 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:43.178Z,1736381083.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753613 2025-01-09T00:04:43.427Z,1736381083.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:43.428Z,1736381083.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:43.429Z,1736381083.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004175 2025-01-09T00:04:43.439Z,1736381083.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:43.442Z,1736381083.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.851902 m, bearing: 142.909566 deg, approach rate: 0.150009 m/s, LOS rate: -1.922763 deg/s, cmd heading: 194.416007 deg, new cmd heading: 191.714950 deg. 2025-01-09T00:04:43.443Z,1736381083.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.346057 target range: 47.000000 and range: 58.00 m. 2025-01-09T00:04:43.680Z,1736381083.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:43.681Z,1736381083.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256770 2025-01-09T00:04:43.763Z,1736381083.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:43.784Z,1736381083.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:43.789Z,1736381083.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.888067 m, bearing: 142.250368 deg, approach rate: 0.105083 m/s, LOS rate: -1.911673 deg/s, cmd heading: 191.714954 deg, new cmd heading: 189.741970 deg. 2025-01-09T00:04:43.792Z,1736381083.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.311622 target range: 47.000000 and range: 58.00 m. 2025-01-09T00:04:43.932Z,1736381083.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:43.933Z,1736381083.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508607 2025-01-09T00:04:44.155Z,1736381084.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:44.167Z,1736381084.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:44.184Z,1736381084.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:44.184Z,1736381084.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760010 2025-01-09T00:04:44.194Z,1736381084.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.927355 m, bearing: 141.480576 deg, approach rate: 0.102447 m/s, LOS rate: -2.003101 deg/s, cmd heading: 189.741972 deg, new cmd heading: 187.438700 deg. 2025-01-09T00:04:44.207Z,1736381084.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.271422 target range: 47.000000 and range: 58.00 m. 2025-01-09T00:04:44.436Z,1736381084.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:44.438Z,1736381084.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012872 2025-01-09T00:04:44.608Z,1736381084.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:44.614Z,1736381084.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:44.617Z,1736381084.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:44.621Z,1736381084.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 18.994143 m, bearing: 140.536212 deg, approach rate: 0.148093 m/s, LOS rate: -2.086540 deg/s, cmd heading: 187.438696 deg, new cmd heading: 184.617976 deg. 2025-01-09T00:04:44.622Z,1736381084.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.222192 target range: 47.000000 and range: 58.00 m. 2025-01-09T00:04:44.689Z,1736381084.689 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:44.690Z,1736381084.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265516 2025-01-09T00:04:44.940Z,1736381084.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:44.940Z,1736381084.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516076 2025-01-09T00:04:44.979Z,1736381084.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:44.988Z,1736381084.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:44.991Z,1736381084.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 19.039391 m, bearing: 139.757424 deg, approach rate: 0.122031 m/s, LOS rate: -2.095292 deg/s, cmd heading: 184.617978 deg, new cmd heading: 182.288522 deg. 2025-01-09T00:04:45.001Z,1736381085.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.181535 target range: 47.000000 and range: 58.00 m. 2025-01-09T00:04:45.193Z,1736381085.193 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:45.194Z,1736381085.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769651 2025-01-09T00:04:45.444Z,1736381085.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:45.444Z,1736381085.444 [DAT](INFO): DAT read: Rx Time:00:04:44.1394 2025-01-09T00:04:45.445Z,1736381085.445 [DAT](INFO): Rx dataTimestamp_ set to:1736381085.444661 2025-01-09T00:04:45.445Z,1736381085.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021130 2025-01-09T00:04:45.460Z,1736381085.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:45.470Z,1736381085.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:45.473Z,1736381085.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 19.118847 m, bearing: 138.721452 deg, approach rate: 0.164839 m/s, LOS rate: -2.140160 deg/s, cmd heading: 182.288528 deg, new cmd heading: 179.196701 deg. 2025-01-09T00:04:45.474Z,1736381085.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.127573 target range: 47.000000 and range: 58.00 m. 2025-01-09T00:04:45.696Z,1736381085.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:45.696Z,1736381085.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272099 2025-01-09T00:04:45.832Z,1736381085.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:45.842Z,1736381085.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:45.845Z,1736381085.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.000000 m, nav range: 19.176987 m, bearing: 137.923478 deg, approach rate: 0.156501 m/s, LOS rate: -2.141402 deg/s, cmd heading: 179.196706 deg, new cmd heading: 176.811500 deg. 2025-01-09T00:04:45.846Z,1736381085.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.085943 target range: 47.000000 and range: 58.00 m. 2025-01-09T00:04:45.948Z,1736381085.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:45.950Z,1736381085.950 [DAT](INFO): DAT read: Range 10 to 50 : 59.8 m (Round-trip 79.8 ms) speed -0.4 m/s 2025-01-09T00:04:45.952Z,1736381085.952 [DAT](INFO): DAT read: user:3638> 2025-01-09T00:04:45.953Z,1736381085.953 [DAT](INFO): DAT read: Tx time:00:04:45.2554 2025-01-09T00:04:45.953Z,1736381085.953 [DAT](INFO): Ping request sent. 2025-01-09T00:04:45.953Z,1736381085.953 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:45.953Z,1736381085.953 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:04:45.954Z,1736381085.954 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:45.954Z,1736381085.954 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:46.200Z,1736381086.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:46.201Z,1736381086.201 [DAT](INFO): DAT read: TxSync time:00:04:45.2546 2025-01-09T00:04:46.286Z,1736381086.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:46.312Z,1736381086.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.799999 m, deltaT: 3.528098 s, deltaX: 1.799999 m, approachRate: 0.510190 m/s, rangeRepo size: 4 2025-01-09T00:04:46.312Z,1736381086.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:46.313Z,1736381086.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 59.80 m. Rolling out. 2025-01-09T00:04:46.313Z,1736381086.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-01-09T00:04:46.351Z,1736381086.351 [DockingStepper](INFO): Changing to mode: 1 2025-01-09T00:04:46.351Z,1736381086.351 [DockingStepper](INFO): Standby mode. 2025-01-09T00:04:46.420Z,1736381086.420 [DockingStepper](INFO): Commanding positive:54389 2025-01-09T00:04:46.453Z,1736381086.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:46.704Z,1736381086.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:46.707Z,1736381086.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:46.713Z,1736381086.713 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-01-09T00:04:46.713Z,1736381086.713 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-09T00:04:46.714Z,1736381086.714 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-01-09T00:04:46.715Z,1736381086.715 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 59.799999 m (mode 5.000000 count ). 2025-01-09T00:04:46.715Z,1736381086.715 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-01-09T00:04:46.716Z,1736381086.716 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-01-09T00:04:46.717Z,1736381086.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:04:46.719Z,1736381086.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:46.721Z,1736381086.721 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-01-09T00:04:46.721Z,1736381086.721 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-09T00:04:46.721Z,1736381086.721 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-01-09T00:04:46.722Z,1736381086.722 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-01-09T00:04:46.956Z,1736381086.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:46.956Z,1736381086.956 [DAT](INFO): ****** received valid address query ****** 2025-01-09T00:04:46.957Z,1736381086.957 [DAT](INFO): ****** received valid ping request ****** 2025-01-09T00:04:46.957Z,1736381086.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:04:47.074Z,1736381087.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:47.080Z,1736381087.080 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-01-09T00:04:47.081Z,1736381087.081 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-01-09T00:04:47.084Z,1736381087.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:47.208Z,1736381087.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:47.208Z,1736381087.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255362 2025-01-09T00:04:47.460Z,1736381087.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:47.460Z,1736381087.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507309 2025-01-09T00:04:47.525Z,1736381087.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:47.545Z,1736381087.545 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-01-09T00:04:47.545Z,1736381087.545 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-01-09T00:04:47.553Z,1736381087.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:47.712Z,1736381087.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:47.712Z,1736381087.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759249 2025-01-09T00:04:47.958Z,1736381087.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:47.964Z,1736381087.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:47.965Z,1736381087.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011509 2025-01-09T00:04:47.968Z,1736381087.968 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-01-09T00:04:47.969Z,1736381087.969 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-09T00:04:47.969Z,1736381087.969 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-01-09T00:04:47.969Z,1736381087.969 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-01-09T00:04:47.971Z,1736381087.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:48.216Z,1736381088.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:48.216Z,1736381088.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263230 2025-01-09T00:04:48.352Z,1736381088.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:48.361Z,1736381088.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:48.468Z,1736381088.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:48.468Z,1736381088.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515276 2025-01-09T00:04:48.720Z,1736381088.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:48.720Z,1736381088.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767305 2025-01-09T00:04:48.822Z,1736381088.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:48.831Z,1736381088.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:48.972Z,1736381088.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:48.972Z,1736381088.972 [DAT](INFO): DAT read: Rx Time:00:04:47.7416 2025-01-09T00:04:48.973Z,1736381088.973 [DAT](INFO): Rx dataTimestamp_ set to:1736381088.972549 2025-01-09T00:04:48.973Z,1736381088.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020243 2025-01-09T00:04:49.224Z,1736381089.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:49.225Z,1736381089.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271986 2025-01-09T00:04:49.273Z,1736381089.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:49.311Z,1736381089.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:49.476Z,1736381089.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:49.477Z,1736381089.477 [DAT](INFO): DAT read: Range 10 to 50 : 61.5 m (Round-trip 82.0 ms) speed -0.4 m/s 2025-01-09T00:04:49.478Z,1736381089.478 [DAT](INFO): DAT read: user:3639> 2025-01-09T00:04:49.479Z,1736381089.479 [DAT](INFO): DAT read: Tx time:00:04:48.8554 2025-01-09T00:04:49.486Z,1736381089.486 [DAT](INFO): Ping request sent. 2025-01-09T00:04:49.486Z,1736381089.486 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:49.486Z,1736381089.486 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:04:49.486Z,1736381089.486 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:49.488Z,1736381089.488 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:49.728Z,1736381089.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:49.729Z,1736381089.729 [DAT](INFO): DAT read: TxSync time:00:04:48.8546 2025-01-09T00:04:49.871Z,1736381089.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:49.881Z,1736381089.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.500000 m, deltaT: 3.527868 s, deltaX: 1.700001 m, approachRate: 0.481878 m/s, rangeRepo size: 4 2025-01-09T00:04:49.881Z,1736381089.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:49.980Z,1736381089.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:50.232Z,1736381090.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:50.341Z,1736381090.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:50.351Z,1736381090.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:50.485Z,1736381090.485 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:50.736Z,1736381090.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:50.763Z,1736381090.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:50.772Z,1736381090.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:50.989Z,1736381090.989 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:51.196Z,1736381091.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:51.220Z,1736381091.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:51.241Z,1736381091.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:51.492Z,1736381091.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:51.648Z,1736381091.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:51.668Z,1736381091.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:51.744Z,1736381091.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:51.996Z,1736381091.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:52.080Z,1736381092.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:52.089Z,1736381092.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:52.248Z,1736381092.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:52.502Z,1736381092.502 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:52.506Z,1736381092.506 [DAT](INFO): DAT read: Rx Time:00:04:51.3434 2025-01-09T00:04:52.508Z,1736381092.508 [DAT](INFO): Rx dataTimestamp_ set to:1736381092.507304 2025-01-09T00:04:52.586Z,1736381092.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:52.594Z,1736381092.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:52.752Z,1736381092.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:52.892Z,1736381092.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:52.901Z,1736381092.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m. 2025-01-09T00:04:53.005Z,1736381093.005 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:53.256Z,1736381093.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:53.263Z,1736381093.263 [DAT](INFO): DAT read: 00:04:51.3434 LVL= 20912, 18865, 13218, 24547, AGC= 56, IDX= 453, 0.24, 0.175, 2.550, 2.324, 1.824, PHS=-1.561, 0.772, 0.497, RAW= 276.2, 2.7, CAL= 278.9, 3.1, ROT= 231.1, -3.1 2025-01-09T00:04:53.269Z,1736381093.269 [DAT](INFO): got valid direction response: 00:04:51.3434 LVL= 20912, 18865, 13218, 24547, AGC= 56, IDX= 453, 0.24, 0.175, 2.550, 2.324, 1.824, PHS=-1.561, 0.772, 0.497, RAW= 276.2, 2.7, CAL= 278.9, 3.1, ROT= 231.1, -3.1 2025-01-09T00:04:53.277Z,1736381093.277 [DAT](INFO): DAT read: Bearing 231.1, -3.1 (Local) 2025-01-09T00:04:53.277Z,1736381093.277 [DAT](INFO): Local bearing/azimuth received: Bearing 231.1, -3.1 (Local) 2025-01-09T00:04:53.279Z,1736381093.279 [DAT](INFO): DAT read: Range 10 to 50 : 62.7 m (Round-trip 83.7 ms) speed -0.3 m/s 2025-01-09T00:04:53.280Z,1736381093.280 [DAT](INFO): DAT read: user:3640> 2025-01-09T00:04:53.281Z,1736381093.281 [DAT](INFO): DAT read: Tx time:00:04:52.4555 2025-01-09T00:04:53.281Z,1736381093.281 [DAT](INFO): Ping request sent. 2025-01-09T00:04:53.281Z,1736381093.281 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:53.282Z,1736381093.282 [DAT](INFO): DAT read: TxSync time:00:04:52.4547 2025-01-09T00:04:53.282Z,1736381093.282 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-01-09T00:04:53.314Z,1736381093.314 [DAT](INFO): direction in FSK: [0.043228,0.003093,-0.999060] 2025-01-09T00:04:53.314Z,1736381093.314 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:53.314Z,1736381093.314 [DAT](INFO): publishing direction and range info 2025-01-09T00:04:53.331Z,1736381093.331 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:53.331Z,1736381093.331 [DAT](INFO): publishing direction and range info 2025-01-09T00:04:53.356Z,1736381093.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:53.410Z,1736381093.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.700001 m, deltaT: 3.780037 s, deltaX: 1.200001 m, approachRate: 0.317457 m/s, rangeRepo size: 4 2025-01-09T00:04:53.417Z,1736381093.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.700001 m, bearing: 328.283677 deg, lat: 36.904876 deg, lon: -122.120099 deg, deltaT: 32.517845 s, deltaX: 15.700001 m, approachRate: 0.482812 m/s, posRepo size: 4 2025-01-09T00:04:53.418Z,1736381093.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m. 2025-01-09T00:04:53.510Z,1736381093.510 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:53.760Z,1736381093.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:53.885Z,1736381093.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:53.894Z,1736381093.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m. 2025-01-09T00:04:54.012Z,1736381094.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:54.264Z,1736381094.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:54.315Z,1736381094.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:54.334Z,1736381094.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m. 2025-01-09T00:04:54.518Z,1736381094.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:54.721Z,1736381094.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:54.730Z,1736381094.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m. 2025-01-09T00:04:54.768Z,1736381094.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:55.020Z,1736381095.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:55.098Z,1736381095.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:55.107Z,1736381095.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m. 2025-01-09T00:04:55.272Z,1736381095.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:55.525Z,1736381095.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:55.556Z,1736381095.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:55.573Z,1736381095.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m. 2025-01-09T00:04:55.776Z,1736381095.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:55.984Z,1736381095.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:55.993Z,1736381095.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m. 2025-01-09T00:04:56.028Z,1736381096.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:56.280Z,1736381096.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:56.281Z,1736381096.281 [DAT](INFO): DAT read: Rx Time:00:04:54.9448 2025-01-09T00:04:56.281Z,1736381096.281 [DAT](INFO): Rx dataTimestamp_ set to:1736381096.280699 2025-01-09T00:04:56.408Z,1736381096.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:56.417Z,1736381096.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.70 m. 2025-01-09T00:04:56.534Z,1736381096.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:56.784Z,1736381096.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:56.791Z,1736381096.791 [DAT](INFO): DAT read: 00:04:54.9448 LVL= 21200, 15681, 11426, 21619, AGC= 56, IDX= 436,-0.14,-2.474,-0.246,-0.155,-0.808, PHS=-1.577, 0.609, 0.650, RAW= 269.1, 2.9, CAL= 272.0, 3.7, ROT= 238.0, -3.7 2025-01-09T00:04:56.792Z,1736381096.792 [DAT](INFO): got valid direction response: 00:04:54.9448 LVL= 21200, 15681, 11426, 21619, AGC= 56, IDX= 436,-0.14,-2.474,-0.246,-0.155,-0.808, PHS=-1.577, 0.609, 0.650, RAW= 269.1, 2.9, CAL= 272.0, 3.7, ROT= 238.0, -3.7 2025-01-09T00:04:56.794Z,1736381096.794 [DAT](INFO): DAT read: Bearing 238.0, -3.7 (Local) 2025-01-09T00:04:56.794Z,1736381096.794 [DAT](INFO): Local bearing/azimuth received: Bearing 238.0, -3.7 (Local) 2025-01-09T00:04:56.820Z,1736381096.820 [DAT](INFO): DAT read: Range 10 to 50 : 63.8 m (Round-trip 85.1 ms) speed -0.2 m/s 2025-01-09T00:04:56.821Z,1736381096.821 [DAT](INFO): DAT read: user:3641> 2025-01-09T00:04:56.822Z,1736381096.822 [DAT](INFO): DAT read: Tx time:00:04:56.0555 2025-01-09T00:04:56.822Z,1736381096.822 [DAT](INFO): Ping request sent. 2025-01-09T00:04:56.822Z,1736381096.822 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:04:56.822Z,1736381096.822 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-01-09T00:04:56.832Z,1736381096.832 [DAT](INFO): direction in FSK: [0.027972,-0.120484,-0.992321] 2025-01-09T00:04:56.832Z,1736381096.832 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:56.832Z,1736381096.832 [DAT](INFO): publishing direction and range info 2025-01-09T00:04:56.845Z,1736381096.845 [DAT](INFO): publishing transmit ping time 2025-01-09T00:04:56.845Z,1736381096.845 [DAT](INFO): publishing direction and range info 2025-01-09T00:04:56.951Z,1736381096.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:56.975Z,1736381096.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.799999 m, deltaT: 3.528650 s, deltaX: 1.099998 m, approachRate: 0.311734 m/s, rangeRepo size: 4 2025-01-09T00:04:57.018Z,1736381097.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.799999 m, bearing: 20.108058 deg, lat: 36.905037 deg, lon: -122.120099 deg, deltaT: 3.528650 s, deltaX: 1.099998 m, approachRate: 0.311734 m/s, posRepo size: 4 2025-01-09T00:04:57.018Z,1736381097.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m. 2025-01-09T00:04:57.036Z,1736381097.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:57.037Z,1736381097.037 [DAT](INFO): DAT read: TxSync time:00:04:56.0547 2025-01-09T00:04:57.288Z,1736381097.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:57.439Z,1736381097.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:57.455Z,1736381097.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m. 2025-01-09T00:04:57.543Z,1736381097.543 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:57.792Z,1736381097.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:57.860Z,1736381097.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:57.870Z,1736381097.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m. 2025-01-09T00:04:58.044Z,1736381098.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:58.243Z,1736381098.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:58.252Z,1736381098.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m. 2025-01-09T00:04:58.296Z,1736381098.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:58.550Z,1736381098.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:58.692Z,1736381098.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:58.704Z,1736381098.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m. 2025-01-09T00:04:58.800Z,1736381098.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:59.052Z,1736381099.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:59.080Z,1736381099.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:59.109Z,1736381099.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m. 2025-01-09T00:04:59.304Z,1736381099.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:59.492Z,1736381099.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:59.501Z,1736381099.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m. 2025-01-09T00:04:59.558Z,1736381099.558 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:59.808Z,1736381099.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:04:59.809Z,1736381099.809 [DAT](INFO): DAT read: Rx Time:00:04:58.5456 2025-01-09T00:04:59.809Z,1736381099.809 [DAT](INFO): Rx dataTimestamp_ set to:1736381099.808719 2025-01-09T00:04:59.912Z,1736381099.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:04:59.922Z,1736381099.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m. 2025-01-09T00:05:00.060Z,1736381100.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:00.291Z,1736381100.291 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:05:00.302Z,1736381100.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:00.312Z,1736381100.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:00.320Z,1736381100.320 [DAT](INFO): DAT read: 00:04:58.5456 LVL= 16112, 13201, 13986, 20931, AGC= 56, IDX= 428, 0.09,-3.029,-1.142,-0.546,-1.459, PHS=-1.481, 0.364, 0.910, RAW= 257.4, 1.9, CAL= 261.2, 3.1, ROT= 248.8, -3.1 2025-01-09T00:05:00.321Z,1736381100.321 [DAT](INFO): got valid direction response: 00:04:58.5456 LVL= 16112, 13201, 13986, 20931, AGC= 56, IDX= 428, 0.09,-3.029,-1.142,-0.546,-1.459, PHS=-1.481, 0.364, 0.910, RAW= 257.4, 1.9, CAL= 261.2, 3.1, ROT= 248.8, -3.1 2025-01-09T00:05:00.322Z,1736381100.322 [DAT](INFO): DAT read: Bearing 248.8, -3.1 (Local) 2025-01-09T00:05:00.322Z,1736381100.322 [DAT](INFO): Local bearing/azimuth received: Bearing 248.8, -3.1 (Local) 2025-01-09T00:05:00.324Z,1736381100.324 [DAT](INFO): DAT read: Range 10 to 50 : 64.4 m (Round-trip 85.9 ms) speed -0.1 m/s 2025-01-09T00:05:00.325Z,1736381100.325 [DAT](INFO): DAT read: user:3642> 2025-01-09T00:05:00.326Z,1736381100.326 [DAT](INFO): DAT read: Tx time:00:04:59.6555 2025-01-09T00:05:00.326Z,1736381100.326 [DAT](INFO): Ping request sent. 2025-01-09T00:05:00.326Z,1736381100.326 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:05:00.326Z,1736381100.326 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-01-09T00:05:00.336Z,1736381100.336 [DAT](INFO): direction in FSK: [0.026803,-0.316103,-0.948346] 2025-01-09T00:05:00.337Z,1736381100.337 [DAT](INFO): publishing transmit ping time 2025-01-09T00:05:00.337Z,1736381100.337 [DAT](INFO): publishing direction and range info 2025-01-09T00:05:00.344Z,1736381100.344 [DAT](INFO): publishing transmit ping time 2025-01-09T00:05:00.344Z,1736381100.344 [DAT](INFO): publishing direction and range info 2025-01-09T00:05:00.374Z,1736381100.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.400002 m, deltaT: 3.527334 s, deltaX: 0.600002 m, approachRate: 0.170101 m/s, rangeRepo size: 4 2025-01-09T00:05:00.380Z,1736381100.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.400002 m, bearing: 67.381039 deg, lat: 36.905037 deg, lon: -122.120131 deg, deltaT: 3.527334 s, deltaX: 0.600002 m, approachRate: 0.170101 m/s, posRepo size: 4 2025-01-09T00:05:00.381Z,1736381100.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.40 m. 2025-01-09T00:05:00.569Z,1736381100.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:00.569Z,1736381100.569 [DAT](INFO): DAT read: TxSync time:00:04:59.6547 2025-01-09T00:05:00.820Z,1736381100.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:00.826Z,1736381100.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:00.836Z,1736381100.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.40 m. 2025-01-09T00:05:01.072Z,1736381101.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:01.241Z,1736381101.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:01.250Z,1736381101.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.40 m. 2025-01-09T00:05:01.298Z,1736381101.298 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:05:01.324Z,1736381101.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:01.577Z,1736381101.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:01.701Z,1736381101.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:01.709Z,1736381101.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.40 m. 2025-01-09T00:05:01.828Z,1736381101.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:02.080Z,1736381102.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:02.094Z,1736381102.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:02.124Z,1736381102.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.40 m. 2025-01-09T00:05:02.332Z,1736381102.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:02.501Z,1736381102.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:02.510Z,1736381102.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.40 m. 2025-01-09T00:05:02.585Z,1736381102.585 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:02.840Z,1736381102.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:02.924Z,1736381102.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:02.940Z,1736381102.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.40 m. 2025-01-09T00:05:03.092Z,1736381103.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:03.302Z,1736381103.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:03.311Z,1736381103.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.40 m. 2025-01-09T00:05:03.344Z,1736381103.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:03.344Z,1736381103.344 [DAT](INFO): DAT read: Rx Time:00:05:02.1461 2025-01-09T00:05:03.345Z,1736381103.345 [DAT](INFO): Rx dataTimestamp_ set to:1736381103.344545 2025-01-09T00:05:03.596Z,1736381103.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:03.737Z,1736381103.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:03.769Z,1736381103.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.40 m. 2025-01-09T00:05:03.850Z,1736381103.850 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:03.867Z,1736381103.867 [DAT](INFO): DAT read: 00:05:02.1461 LVL= 19376, 12705, 12402, 23187, AGC= 54, IDX= 433,-0.05, 0.803, 2.533,-2.859, 2.342, PHS=-1.451, 0.237, 1.078, RAW= 250.9, 1.2, CAL= 254.7, 2.2, ROT= 255.3, -2.2 2025-01-09T00:05:03.868Z,1736381103.868 [DAT](INFO): got valid direction response: 00:05:02.1461 LVL= 19376, 12705, 12402, 23187, AGC= 54, IDX= 433,-0.05, 0.803, 2.533,-2.859, 2.342, PHS=-1.451, 0.237, 1.078, RAW= 250.9, 1.2, CAL= 254.7, 2.2, ROT= 255.3, -2.2 2025-01-09T00:05:03.869Z,1736381103.869 [DAT](INFO): DAT read: Bearing 255.3, -2.2 (Local) 2025-01-09T00:05:03.870Z,1736381103.870 [DAT](INFO): Local bearing/azimuth received: Bearing 255.3, -2.2 (Local) 2025-01-09T00:05:03.875Z,1736381103.875 [DAT](INFO): DAT read: Range 10 to 50 : 64.8 m (Round-trip 86.4 ms) speed -0.2 m/s 2025-01-09T00:05:03.877Z,1736381103.877 [DAT](INFO): DAT read: user:3643> 2025-01-09T00:05:03.878Z,1736381103.878 [DAT](INFO): DAT read: Tx time:00:05:03.2556 2025-01-09T00:05:03.878Z,1736381103.878 [DAT](INFO): Ping request sent. 2025-01-09T00:05:03.878Z,1736381103.878 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:05:03.879Z,1736381103.879 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-01-09T00:05:03.880Z,1736381103.880 [DAT](INFO): direction in FSK: [0.027816,-0.418171,-0.907942] 2025-01-09T00:05:03.880Z,1736381103.880 [DAT](INFO): publishing transmit ping time 2025-01-09T00:05:03.880Z,1736381103.880 [DAT](INFO): publishing direction and range info 2025-01-09T00:05:03.884Z,1736381103.884 [DAT](INFO): publishing transmit ping time 2025-01-09T00:05:03.885Z,1736381103.885 [DAT](INFO): publishing direction and range info 2025-01-09T00:05:04.101Z,1736381104.101 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:04.102Z,1736381104.102 [DAT](INFO): DAT read: TxSync time:00:05:03.2548 2025-01-09T00:05:04.144Z,1736381104.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:04.171Z,1736381104.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.800003 m, deltaT: 3.538387 s, deltaX: 0.400002 m, approachRate: 0.113046 m/s, rangeRepo size: 4 2025-01-09T00:05:04.177Z,1736381104.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.800003 m, bearing: 76.083517 deg, lat: 36.905037 deg, lon: -122.120131 deg, deltaT: 3.538387 s, deltaX: 0.400002 m, approachRate: 0.113046 m/s, posRepo size: 4 2025-01-09T00:05:04.177Z,1736381104.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:04.352Z,1736381104.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:04.525Z,1736381104.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:04.538Z,1736381104.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:04.604Z,1736381104.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:04.856Z,1736381104.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:04.947Z,1736381104.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:04.957Z,1736381104.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:05.108Z,1736381105.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:05.325Z,1736381105.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:05.335Z,1736381105.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:05.360Z,1736381105.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:05.612Z,1736381105.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:05.776Z,1736381105.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:05.785Z,1736381105.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:05.865Z,1736381105.865 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:06.117Z,1736381106.117 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:06.146Z,1736381106.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:06.155Z,1736381106.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:06.368Z,1736381106.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:06.553Z,1736381106.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:06.564Z,1736381106.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:06.620Z,1736381106.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:06.872Z,1736381106.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:06.872Z,1736381106.872 [DAT](INFO): DAT read: Rx Time:00:05:05.7470 2025-01-09T00:05:06.873Z,1736381106.873 [DAT](INFO): Rx dataTimestamp_ set to:1736381106.872675 2025-01-09T00:05:06.980Z,1736381106.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:06.989Z,1736381106.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:07.125Z,1736381107.125 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:07.353Z,1736381107.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:07.361Z,1736381107.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:07.376Z,1736381107.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:07.631Z,1736381107.631 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:07.634Z,1736381107.634 [DAT](INFO): DAT read: Range 10 to 50 : 65.4 m (Round-trip 87.3 ms) speed -0.1 m/s 2025-01-09T00:05:07.634Z,1736381107.634 [DAT](INFO): DAT read: user:3644> 2025-01-09T00:05:07.635Z,1736381107.635 [DAT](INFO): DAT read: Tx time:00:05:06.8556 2025-01-09T00:05:07.636Z,1736381107.636 [DAT](INFO): Ping request sent. 2025-01-09T00:05:07.636Z,1736381107.636 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:05:07.636Z,1736381107.636 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-01-09T00:05:07.636Z,1736381107.636 [DAT](INFO): publishing transmit ping time 2025-01-09T00:05:07.637Z,1736381107.637 [DAT](INFO): publishing transmit ping time 2025-01-09T00:05:07.818Z,1736381107.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:07.828Z,1736381107.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.781115 s, deltaX: 0.599998 m, approachRate: 0.158683 m/s, rangeRepo size: 4 2025-01-09T00:05:07.828Z,1736381107.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:07.884Z,1736381107.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:07.885Z,1736381107.885 [DAT](INFO): DAT read: TxSync time:00:05:06.8548 2025-01-09T00:05:08.136Z,1736381108.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:08.164Z,1736381108.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:08.173Z,1736381108.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:08.388Z,1736381108.388 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:08.569Z,1736381108.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:08.588Z,1736381108.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:08.640Z,1736381108.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:08.892Z,1736381108.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:08.989Z,1736381108.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:09.021Z,1736381109.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:09.144Z,1736381109.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:09.377Z,1736381109.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:09.387Z,1736381109.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:09.396Z,1736381109.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:09.649Z,1736381109.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:09.808Z,1736381109.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:09.817Z,1736381109.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:09.901Z,1736381109.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:10.155Z,1736381110.155 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:10.181Z,1736381110.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:10.208Z,1736381110.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:10.409Z,1736381110.409 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:10.587Z,1736381110.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:10.596Z,1736381110.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:10.661Z,1736381110.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:10.663Z,1736381110.663 [DAT](INFO): DAT read: Rx Time:00:05:09.3476 2025-01-09T00:05:10.665Z,1736381110.665 [DAT](INFO): Rx dataTimestamp_ set to:1736381110.664019 2025-01-09T00:05:10.912Z,1736381110.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:11.030Z,1736381111.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:11.064Z,1736381111.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:11.164Z,1736381111.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:11.166Z,1736381111.166 [DAT](INFO): DAT read: Range 10 to 50 : 65.8 m (Round-trip 87.8 ms) speed 0.0 m/s 2025-01-09T00:05:11.171Z,1736381111.171 [DAT](INFO): DAT read: user:3645> 2025-01-09T00:05:11.176Z,1736381111.176 [DAT](INFO): DAT read: Tx time:00:05:10.4556 2025-01-09T00:05:11.179Z,1736381111.179 [DAT](INFO): Ping request sent. 2025-01-09T00:05:11.179Z,1736381111.179 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:05:11.197Z,1736381111.197 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-01-09T00:05:11.201Z,1736381111.201 [DAT](INFO): publishing transmit ping time 2025-01-09T00:05:11.201Z,1736381111.201 [DAT](INFO): publishing transmit ping time 2025-01-09T00:05:11.397Z,1736381111.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:11.407Z,1736381111.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.800003 m, deltaT: 3.532877 s, deltaX: 0.400002 m, approachRate: 0.113223 m/s, rangeRepo size: 4 2025-01-09T00:05:11.408Z,1736381111.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:11.416Z,1736381111.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:11.418Z,1736381111.418 [DAT](INFO): DAT read: TxSync time:00:05:10.4548 2025-01-09T00:05:11.668Z,1736381111.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:11.835Z,1736381111.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:11.868Z,1736381111.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:11.920Z,1736381111.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:12.172Z,1736381112.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:12.230Z,1736381112.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:12.240Z,1736381112.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:12.424Z,1736381112.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:12.630Z,1736381112.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:12.642Z,1736381112.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:12.676Z,1736381112.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:12.928Z,1736381112.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:13.063Z,1736381113.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:13.073Z,1736381113.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:13.180Z,1736381113.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:13.432Z,1736381113.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:13.434Z,1736381113.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:13.443Z,1736381113.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:13.685Z,1736381113.685 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:13.863Z,1736381113.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:13.873Z,1736381113.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:13.936Z,1736381113.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:14.188Z,1736381114.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:14.188Z,1736381114.188 [DAT](INFO): DAT read: Rx Time:00:05:12.9478 2025-01-09T00:05:14.189Z,1736381114.189 [DAT](INFO): Rx dataTimestamp_ set to:1736381114.188556 2025-01-09T00:05:14.314Z,1736381114.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:14.344Z,1736381114.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:14.440Z,1736381114.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:14.555Z,1736381114.555 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-09T00:05:14.672Z,1736381114.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:14.685Z,1736381114.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:14.692Z,1736381114.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:14.695Z,1736381114.695 [DAT](INFO): DAT read: Range 10 to 50 : 65.9 m (Round-trip 87.9 ms) speed 0.0 m/s 2025-01-09T00:05:14.697Z,1736381114.697 [DAT](INFO): DAT read: user:3646> 2025-01-09T00:05:14.698Z,1736381114.698 [DAT](INFO): DAT read: Tx time:00:05:14.0557 2025-01-09T00:05:14.698Z,1736381114.698 [DAT](INFO): Ping request sent. 2025-01-09T00:05:14.699Z,1736381114.699 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:05:14.699Z,1736381114.699 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-01-09T00:05:14.699Z,1736381114.699 [DAT](INFO): publishing transmit ping time 2025-01-09T00:05:14.701Z,1736381114.701 [DAT](INFO): publishing transmit ping time 2025-01-09T00:05:14.944Z,1736381114.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:14.945Z,1736381114.945 [DAT](INFO): DAT read: TxSync time:00:05:14.0549 2025-01-09T00:05:15.081Z,1736381115.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:15.091Z,1736381115.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.900002 m, deltaT: 3.527781 s, deltaX: 0.099998 m, approachRate: 0.028346 m/s, rangeRepo size: 4 2025-01-09T00:05:15.092Z,1736381115.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:15.196Z,1736381115.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:15.448Z,1736381115.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:15.453Z,1736381115.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:15.462Z,1736381115.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:15.700Z,1736381115.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:15.890Z,1736381115.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:15.898Z,1736381115.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:15.952Z,1736381115.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:16.205Z,1736381116.205 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:16.263Z,1736381116.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:16.289Z,1736381116.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:16.457Z,1736381116.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:16.682Z,1736381116.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:16.699Z,1736381116.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:16.708Z,1736381116.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:16.960Z,1736381116.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:17.088Z,1736381117.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:17.097Z,1736381117.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:17.212Z,1736381117.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:17.464Z,1736381117.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:17.484Z,1736381117.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:17.493Z,1736381117.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:17.716Z,1736381117.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:17.716Z,1736381117.716 [DAT](INFO): DAT read: Rx Time:00:05:16.5480 2025-01-09T00:05:17.717Z,1736381117.717 [DAT](INFO): Rx dataTimestamp_ set to:1736381117.716574 2025-01-09T00:05:17.919Z,1736381117.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:17.928Z,1736381117.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:17.968Z,1736381117.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:18.220Z,1736381118.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:18.221Z,1736381118.221 [DAT](INFO): DAT read: Range 10 to 50 : 66.0 m (Round-trip 88.1 ms) speed 0.0 m/s 2025-01-09T00:05:18.222Z,1736381118.222 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-01-09T00:05:18.308Z,1736381118.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:18.334Z,1736381118.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 3.527832 s, deltaX: 0.099998 m, approachRate: 0.028346 m/s, rangeRepo size: 4 2025-01-09T00:05:18.334Z,1736381118.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:18.472Z,1736381118.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:18.708Z,1736381118.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:18.716Z,1736381118.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:18.725Z,1736381118.725 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:18.976Z,1736381118.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:19.121Z,1736381119.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:19.132Z,1736381119.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:19.228Z,1736381119.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:19.480Z,1736381119.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:19.492Z,1736381119.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:19.501Z,1736381119.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:19.732Z,1736381119.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:19.959Z,1736381119.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:19.968Z,1736381119.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:19.986Z,1736381119.986 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:20.236Z,1736381120.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:20.314Z,1736381120.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:20.325Z,1736381120.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:20.490Z,1736381120.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:20.712Z,1736381120.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:20.740Z,1736381120.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:20.748Z,1736381120.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:20.993Z,1736381120.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:21.150Z,1736381121.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:21.172Z,1736381121.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:21.244Z,1736381121.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:21.496Z,1736381121.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:21.524Z,1736381121.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:21.532Z,1736381121.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:21.748Z,1736381121.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:21.992Z,1736381121.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:22.000Z,1736381122.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:22.002Z,1736381122.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:22.252Z,1736381122.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:22.393Z,1736381122.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:22.402Z,1736381122.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:22.504Z,1736381122.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:22.757Z,1736381122.757 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:22.792Z,1736381122.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:22.820Z,1736381122.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:23.008Z,1736381123.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:23.229Z,1736381123.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:23.260Z,1736381123.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:23.277Z,1736381123.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:23.512Z,1736381123.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:23.710Z,1736381123.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:23.719Z,1736381123.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:23.766Z,1736381123.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:24.016Z,1736381124.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:24.106Z,1736381124.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:24.143Z,1736381124.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:24.268Z,1736381124.268 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:24.520Z,1736381124.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:24.543Z,1736381124.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:24.553Z,1736381124.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:24.773Z,1736381124.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:25.009Z,1736381125.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:25.024Z,1736381125.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:25.032Z,1736381125.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:25.277Z,1736381125.277 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:25.381Z,1736381125.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:25.390Z,1736381125.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:25.528Z,1736381125.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:25.762Z,1736381125.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:25.770Z,1736381125.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:25.783Z,1736381125.783 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:26.036Z,1736381126.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:26.252Z,1736381126.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:26.269Z,1736381126.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:26.288Z,1736381126.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:26.540Z,1736381126.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:26.565Z,1736381126.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:26.576Z,1736381126.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:26.780Z,1736381126.780 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-09T00:05:26.792Z,1736381126.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:27.044Z,1736381127.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:27.074Z,1736381127.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:27.095Z,1736381127.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:27.297Z,1736381127.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:27.508Z,1736381127.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:27.517Z,1736381127.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:27.550Z,1736381127.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:27.802Z,1736381127.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:27.911Z,1736381127.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:27.920Z,1736381127.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:28.054Z,1736381128.054 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:28.304Z,1736381128.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:28.357Z,1736381128.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:28.366Z,1736381128.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:28.556Z,1736381128.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:28.720Z,1736381128.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:28.729Z,1736381128.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:28.808Z,1736381128.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:29.062Z,1736381129.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:29.172Z,1736381129.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:29.181Z,1736381129.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:29.312Z,1736381129.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:29.549Z,1736381129.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:29.558Z,1736381129.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:29.564Z,1736381129.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:29.816Z,1736381129.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:29.957Z,1736381129.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:29.969Z,1736381129.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:30.068Z,1736381130.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:30.320Z,1736381130.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:30.418Z,1736381130.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:30.427Z,1736381130.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:30.572Z,1736381130.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:30.793Z,1736381130.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:30.801Z,1736381130.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:30.824Z,1736381130.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:31.079Z,1736381131.079 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:31.253Z,1736381131.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:31.262Z,1736381131.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:31.328Z,1736381131.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:31.417Z,1736381131.417 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:05:31.580Z,1736381131.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:31.643Z,1736381131.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:31.673Z,1736381131.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:31.834Z,1736381131.834 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:32.086Z,1736381132.086 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:32.153Z,1736381132.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:32.161Z,1736381132.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:32.336Z,1736381132.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:32.420Z,1736381132.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:05:32.568Z,1736381132.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:32.577Z,1736381132.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:32.588Z,1736381132.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:32.840Z,1736381132.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:32.970Z,1736381132.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:32.978Z,1736381132.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:33.094Z,1736381133.094 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:33.346Z,1736381133.346 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:33.411Z,1736381133.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:33.425Z,1736381133.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:33.601Z,1736381133.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:33.770Z,1736381133.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:33.779Z,1736381133.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:33.852Z,1736381133.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:34.108Z,1736381134.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:34.222Z,1736381134.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:34.231Z,1736381134.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:34.356Z,1736381134.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:34.608Z,1736381134.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:34.640Z,1736381134.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:34.652Z,1736381134.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:34.860Z,1736381134.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:35.035Z,1736381135.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:35.065Z,1736381135.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:35.113Z,1736381135.113 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:35.367Z,1736381135.367 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:35.555Z,1736381135.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:35.564Z,1736381135.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:35.621Z,1736381135.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:35.872Z,1736381135.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:35.949Z,1736381135.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:35.957Z,1736381135.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:36.126Z,1736381136.126 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:36.376Z,1736381136.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:36.386Z,1736381136.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:36.394Z,1736381136.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:36.628Z,1736381136.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:36.753Z,1736381136.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:36.761Z,1736381136.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:36.881Z,1736381136.881 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:37.134Z,1736381137.134 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:37.225Z,1736381137.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:37.234Z,1736381137.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:37.384Z,1736381137.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:37.559Z,1736381137.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:37.587Z,1736381137.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:37.636Z,1736381137.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:37.888Z,1736381137.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:37.962Z,1736381137.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:37.971Z,1736381137.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:38.151Z,1736381138.151 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:38.393Z,1736381138.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:38.396Z,1736381138.396 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:38.423Z,1736381138.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:38.649Z,1736381138.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:38.805Z,1736381138.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:38.814Z,1736381138.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:38.901Z,1736381138.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:39.154Z,1736381139.154 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:39.269Z,1736381139.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:39.278Z,1736381139.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:39.404Z,1736381139.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:39.629Z,1736381139.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:39.638Z,1736381139.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:39.664Z,1736381139.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:39.916Z,1736381139.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:40.047Z,1736381140.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:40.063Z,1736381140.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:40.170Z,1736381140.170 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:40.420Z,1736381140.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:40.484Z,1736381140.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:40.493Z,1736381140.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:40.674Z,1736381140.674 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:40.892Z,1736381140.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:40.901Z,1736381140.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:40.924Z,1736381140.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:41.182Z,1736381141.182 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:41.327Z,1736381141.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-09T00:05:41.327Z,1736381141.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:41.341Z,1736381141.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:41.428Z,1736381141.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:41.680Z,1736381141.680 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:41.702Z,1736381141.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-09T00:05:41.702Z,1736381141.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:41.711Z,1736381141.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:41.932Z,1736381141.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:42.112Z,1736381142.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-09T00:05:42.113Z,1736381142.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:42.121Z,1736381142.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:42.185Z,1736381142.185 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:42.437Z,1736381142.437 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:42.535Z,1736381142.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:42.544Z,1736381142.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:42.688Z,1736381142.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:42.912Z,1736381142.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:42.921Z,1736381142.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:42.940Z,1736381142.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:43.194Z,1736381143.194 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:43.337Z,1736381143.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:43.374Z,1736381143.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:43.444Z,1736381143.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:43.696Z,1736381143.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:43.774Z,1736381143.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:43.784Z,1736381143.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:43.949Z,1736381143.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:44.192Z,1736381144.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:44.202Z,1736381144.202 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:44.276Z,1736381144.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:44.452Z,1736381144.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:44.704Z,1736381144.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:44.785Z,1736381144.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:44.802Z,1736381144.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:44.957Z,1736381144.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:45.130Z,1736381145.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:45.146Z,1736381145.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:45.208Z,1736381145.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:45.462Z,1736381145.462 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:45.549Z,1736381145.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:45.558Z,1736381145.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:45.712Z,1736381145.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:45.964Z,1736381145.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:45.986Z,1736381145.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:45.994Z,1736381145.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:46.217Z,1736381146.217 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:46.404Z,1736381146.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-09T00:05:46.404Z,1736381146.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:46.413Z,1736381146.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:46.468Z,1736381146.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:46.720Z,1736381146.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:46.811Z,1736381146.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-09T00:05:46.812Z,1736381146.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:46.820Z,1736381146.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:05:46.822Z,1736381146.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:46.972Z,1736381146.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:46.972Z,1736381146.972 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:05:46.972Z,1736381146.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:05:47.216Z,1736381147.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-09T00:05:47.216Z,1736381147.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:47.225Z,1736381147.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:47.225Z,1736381147.225 [DAT](INFO): DAT read: user:3647> 2025-01-09T00:05:47.226Z,1736381147.226 [DAT](INFO): DAT read: Tx time:00:05:46.4560 2025-01-09T00:05:47.226Z,1736381147.226 [DAT](INFO): Ping request sent. 2025-01-09T00:05:47.226Z,1736381147.226 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:05:47.227Z,1736381147.227 [DAT](INFO): publishing transmit ping time 2025-01-09T00:05:47.227Z,1736381147.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000837 2025-01-09T00:05:47.233Z,1736381147.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:47.476Z,1736381147.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:47.476Z,1736381147.476 [DAT](INFO): DAT read: TxSync time:00:05:46.4552 2025-01-09T00:05:47.477Z,1736381147.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250834 2025-01-09T00:05:47.651Z,1736381147.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:47.668Z,1736381147.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:47.729Z,1736381147.729 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:47.730Z,1736381147.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503264 2025-01-09T00:05:47.980Z,1736381147.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:47.980Z,1736381147.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753942 2025-01-09T00:05:48.083Z,1736381148.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:48.108Z,1736381148.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:48.232Z,1736381148.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:48.233Z,1736381148.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006704 2025-01-09T00:05:48.484Z,1736381148.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:48.485Z,1736381148.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258467 2025-01-09T00:05:48.497Z,1736381148.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:48.506Z,1736381148.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:48.738Z,1736381148.738 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:48.739Z,1736381148.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512924 2025-01-09T00:05:48.883Z,1736381148.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:48.893Z,1736381148.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:48.993Z,1736381148.993 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:48.994Z,1736381148.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767190 2025-01-09T00:05:49.244Z,1736381149.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:49.244Z,1736381149.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017876 2025-01-09T00:05:49.362Z,1736381149.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:49.371Z,1736381149.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:49.496Z,1736381149.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:49.496Z,1736381149.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269884 2025-01-09T00:05:49.748Z,1736381149.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:49.749Z,1736381149.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522302 2025-01-09T00:05:49.754Z,1736381149.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:49.795Z,1736381149.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:50.000Z,1736381150.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:50.002Z,1736381150.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775158 2025-01-09T00:05:50.211Z,1736381150.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:50.240Z,1736381150.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:50.252Z,1736381150.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:50.253Z,1736381150.253 [DAT](INFO): DAT read: Rx Time:00:05:48.9510 2025-01-09T00:05:50.253Z,1736381150.253 [DAT](INFO): Rx dataTimestamp_ set to:1736381150.252718 2025-01-09T00:05:50.254Z,1736381150.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027112 2025-01-09T00:05:50.508Z,1736381150.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:50.508Z,1736381150.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281859 2025-01-09T00:05:50.640Z,1736381150.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:50.652Z,1736381150.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:50.760Z,1736381150.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:50.763Z,1736381150.763 [DAT](INFO): DAT read: Range 10 to 50 : 68.1 m (Round-trip 90.9 ms) speed 0.0 m/s 2025-01-09T00:05:50.765Z,1736381150.765 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:05:51.001Z,1736381151.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:51.012Z,1736381151.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:51.013Z,1736381151.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.099998 m, deltaT: 32.540629 s, deltaX: 2.099998 m, approachRate: 0.064535 m/s, rangeRepo size: 4 2025-01-09T00:05:51.013Z,1736381151.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:51.264Z,1736381151.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:51.456Z,1736381151.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:51.496Z,1736381151.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:51.520Z,1736381151.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:51.772Z,1736381151.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:51.864Z,1736381151.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:51.873Z,1736381151.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:52.024Z,1736381152.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:52.276Z,1736381152.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:52.295Z,1736381152.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:52.327Z,1736381152.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:52.528Z,1736381152.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:52.780Z,1736381152.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:52.814Z,1736381152.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:52.843Z,1736381152.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:53.032Z,1736381153.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:53.252Z,1736381153.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:53.261Z,1736381153.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:53.285Z,1736381153.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:53.536Z,1736381153.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:53.686Z,1736381153.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:53.728Z,1736381153.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:53.788Z,1736381153.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:54.040Z,1736381154.040 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:54.084Z,1736381154.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:54.092Z,1736381154.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:54.293Z,1736381154.293 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:54.488Z,1736381154.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:54.496Z,1736381154.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:54.544Z,1736381154.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:54.796Z,1736381154.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:54.885Z,1736381154.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:54.912Z,1736381154.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:55.048Z,1736381155.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:55.295Z,1736381155.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:55.301Z,1736381155.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:55.329Z,1736381155.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:55.552Z,1736381155.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:55.747Z,1736381155.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:55.757Z,1736381155.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:55.804Z,1736381155.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:56.056Z,1736381156.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:56.128Z,1736381156.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:56.137Z,1736381156.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:56.308Z,1736381156.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:56.556Z,1736381156.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:56.560Z,1736381156.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:56.567Z,1736381156.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:56.812Z,1736381156.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:56.956Z,1736381156.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:56.965Z,1736381156.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:57.064Z,1736381157.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:57.316Z,1736381157.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:57.373Z,1736381157.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:57.381Z,1736381157.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:57.568Z,1736381157.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:57.820Z,1736381157.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:57.863Z,1736381157.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:57.872Z,1736381157.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:58.072Z,1736381158.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:58.270Z,1736381158.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:58.278Z,1736381158.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:58.324Z,1736381158.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:58.576Z,1736381158.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:58.709Z,1736381158.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:58.743Z,1736381158.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:58.828Z,1736381158.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:59.084Z,1736381159.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:59.085Z,1736381159.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:59.102Z,1736381159.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:59.336Z,1736381159.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:59.544Z,1736381159.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:59.577Z,1736381159.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:05:59.588Z,1736381159.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:59.840Z,1736381159.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:05:59.892Z,1736381159.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:05:59.901Z,1736381159.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:00.092Z,1736381160.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:00.311Z,1736381160.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:00.323Z,1736381160.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:00.344Z,1736381160.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:00.596Z,1736381160.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:00.738Z,1736381160.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:00.763Z,1736381160.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:00.848Z,1736381160.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:01.100Z,1736381161.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:01.159Z,1736381161.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:01.181Z,1736381161.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:01.353Z,1736381161.353 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:01.600Z,1736381161.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:01.605Z,1736381161.605 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:01.625Z,1736381161.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:01.856Z,1736381161.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:02.068Z,1736381162.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:02.077Z,1736381162.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:02.108Z,1736381162.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:02.360Z,1736381162.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:02.512Z,1736381162.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:02.548Z,1736381162.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:06:02.552Z,1736381162.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:02.612Z,1736381162.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:02.864Z,1736381162.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:02.968Z,1736381162.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:02.977Z,1736381162.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:03.116Z,1736381163.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:03.342Z,1736381163.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:03.352Z,1736381163.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:03.392Z,1736381163.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:03.554Z,1736381163.554 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:06:03.640Z,1736381163.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:03.765Z,1736381163.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:03.775Z,1736381163.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:03.892Z,1736381163.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:04.144Z,1736381164.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:04.143Z,1736381164.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:04.170Z,1736381164.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:04.399Z,1736381164.399 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:04.641Z,1736381164.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:04.649Z,1736381164.649 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:04.654Z,1736381164.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:04.902Z,1736381164.902 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:05.061Z,1736381165.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:05.070Z,1736381165.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:05.152Z,1736381165.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:05.404Z,1736381165.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:05.485Z,1736381165.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:05.496Z,1736381165.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:05.658Z,1736381165.658 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:05.888Z,1736381165.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:05.912Z,1736381165.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:05.922Z,1736381165.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:06.164Z,1736381166.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:06.302Z,1736381166.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:06.310Z,1736381166.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:06.416Z,1736381166.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:06.668Z,1736381166.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:06.730Z,1736381166.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:06.764Z,1736381166.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:06.920Z,1736381166.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:07.142Z,1736381167.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:07.167Z,1736381167.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:07.172Z,1736381167.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:07.424Z,1736381167.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:07.618Z,1736381167.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:07.674Z,1736381167.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:07.676Z,1736381167.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:07.928Z,1736381167.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:08.010Z,1736381168.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:08.020Z,1736381168.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:08.180Z,1736381168.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:08.394Z,1736381168.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:08.403Z,1736381168.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:08.432Z,1736381168.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:08.684Z,1736381168.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:08.855Z,1736381168.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:08.864Z,1736381168.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:08.936Z,1736381168.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:09.188Z,1736381169.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:09.261Z,1736381169.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:09.271Z,1736381169.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:09.440Z,1736381169.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:09.692Z,1736381169.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:09.737Z,1736381169.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:09.753Z,1736381169.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:09.944Z,1736381169.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:10.153Z,1736381170.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:10.162Z,1736381170.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:10.196Z,1736381170.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:10.448Z,1736381170.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:10.554Z,1736381170.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:10.600Z,1736381170.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:10.701Z,1736381170.701 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:10.952Z,1736381170.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:11.063Z,1736381171.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:11.073Z,1736381171.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:11.204Z,1736381171.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:11.456Z,1736381171.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:11.479Z,1736381171.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:11.489Z,1736381171.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:11.708Z,1736381171.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:11.937Z,1736381171.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:11.946Z,1736381171.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:11.960Z,1736381171.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:12.212Z,1736381172.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:12.322Z,1736381172.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:12.330Z,1736381172.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:12.464Z,1736381172.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:12.716Z,1736381172.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:12.772Z,1736381172.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:12.781Z,1736381172.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:12.968Z,1736381172.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:13.131Z,1736381173.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:13.141Z,1736381173.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:13.221Z,1736381173.221 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:13.472Z,1736381173.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:13.550Z,1736381173.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:13.558Z,1736381173.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:13.726Z,1736381173.726 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:13.974Z,1736381173.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:13.976Z,1736381173.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:13.990Z,1736381173.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:14.232Z,1736381174.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:14.391Z,1736381174.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:14.399Z,1736381174.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:14.484Z,1736381174.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:14.737Z,1736381174.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:14.818Z,1736381174.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:14.826Z,1736381174.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:14.988Z,1736381174.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:15.193Z,1736381175.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:15.202Z,1736381175.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:15.240Z,1736381175.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:15.492Z,1736381175.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:15.593Z,1736381175.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:15.601Z,1736381175.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:15.753Z,1736381175.753 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:16.004Z,1736381176.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:16.022Z,1736381176.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:16.030Z,1736381176.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:16.257Z,1736381176.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:16.445Z,1736381176.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:16.471Z,1736381176.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:16.508Z,1736381176.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:16.761Z,1736381176.761 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:16.912Z,1736381176.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:16.921Z,1736381176.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:17.012Z,1736381177.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:17.264Z,1736381177.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:17.326Z,1736381177.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:17.335Z,1736381177.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:17.516Z,1736381177.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:17.769Z,1736381177.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:17.829Z,1736381177.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:17.839Z,1736381177.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:18.020Z,1736381178.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:18.226Z,1736381178.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:18.256Z,1736381178.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:18.272Z,1736381178.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:18.524Z,1736381178.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:18.692Z,1736381178.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:18.742Z,1736381178.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:18.778Z,1736381178.778 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:19.028Z,1736381179.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:19.184Z,1736381179.184 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010816072402,35.0, +10.9, 0.0,1493 2025-01-09T00:06:19.191Z,1736381179.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-09T00:06:19.191Z,1736381179.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:19.202Z,1736381179.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:19.280Z,1736381179.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:19.532Z,1736381179.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:19.602Z,1736381179.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-09T00:06:19.602Z,1736381179.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:19.610Z,1736381179.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:19.786Z,1736381179.786 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:20.012Z,1736381180.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:20.022Z,1736381180.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:20.036Z,1736381180.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:20.288Z,1736381180.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:20.406Z,1736381180.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:20.414Z,1736381180.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:20.540Z,1736381180.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:20.794Z,1736381180.794 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:20.857Z,1736381180.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:20.865Z,1736381180.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:21.044Z,1736381181.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:21.296Z,1736381181.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:21.301Z,1736381181.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:21.321Z,1736381181.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:21.548Z,1736381181.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:21.732Z,1736381181.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:21.748Z,1736381181.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:21.802Z,1736381181.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:22.052Z,1736381182.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:22.157Z,1736381182.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:22.166Z,1736381182.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:22.304Z,1736381182.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:22.551Z,1736381182.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:22.556Z,1736381182.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:22.561Z,1736381182.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:22.810Z,1736381182.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:22.977Z,1736381182.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:22.986Z,1736381182.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:23.062Z,1736381183.062 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:23.312Z,1736381183.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:23.360Z,1736381183.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:23.378Z,1736381183.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:23.564Z,1736381183.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:23.800Z,1736381183.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:23.817Z,1736381183.817 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:23.875Z,1736381183.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:24.069Z,1736381184.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:24.320Z,1736381184.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:24.331Z,1736381184.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:24.351Z,1736381184.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:24.572Z,1736381184.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:24.746Z,1736381184.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:24.754Z,1736381184.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:24.826Z,1736381184.826 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:25.076Z,1736381185.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:25.172Z,1736381185.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:25.180Z,1736381185.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:25.328Z,1736381185.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:25.575Z,1736381185.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:25.580Z,1736381185.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:25.592Z,1736381185.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:25.833Z,1736381185.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:26.024Z,1736381186.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:26.049Z,1736381186.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:26.084Z,1736381186.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:26.336Z,1736381186.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:26.392Z,1736381186.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:26.425Z,1736381186.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:26.588Z,1736381186.588 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:26.794Z,1736381186.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:26.802Z,1736381186.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:26.841Z,1736381186.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:27.092Z,1736381187.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:27.222Z,1736381187.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:27.231Z,1736381187.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:27.344Z,1736381187.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:27.596Z,1736381187.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:27.637Z,1736381187.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:27.647Z,1736381187.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:27.849Z,1736381187.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:28.098Z,1736381188.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:28.100Z,1736381188.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:28.109Z,1736381188.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:28.352Z,1736381188.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:28.484Z,1736381188.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:28.512Z,1736381188.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:28.604Z,1736381188.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:28.857Z,1736381188.857 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:28.997Z,1736381188.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:29.006Z,1736381189.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:29.108Z,1736381189.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:29.360Z,1736381189.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:29.365Z,1736381189.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:29.381Z,1736381189.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:29.612Z,1736381189.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:29.777Z,1736381189.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:29.790Z,1736381189.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:29.864Z,1736381189.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:30.116Z,1736381190.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:30.245Z,1736381190.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:30.255Z,1736381190.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:30.368Z,1736381190.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:30.620Z,1736381190.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:30.677Z,1736381190.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:30.688Z,1736381190.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:30.872Z,1736381190.872 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:31.077Z,1736381191.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:31.086Z,1736381191.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:31.124Z,1736381191.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:31.376Z,1736381191.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:31.444Z,1736381191.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:31.454Z,1736381191.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:31.628Z,1736381191.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:31.860Z,1736381191.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:31.876Z,1736381191.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:31.880Z,1736381191.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:32.132Z,1736381192.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:32.286Z,1736381192.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:32.294Z,1736381192.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:32.385Z,1736381192.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:32.636Z,1736381192.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:32.670Z,1736381192.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:32.710Z,1736381192.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:32.888Z,1736381192.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:33.126Z,1736381193.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:33.136Z,1736381193.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:33.140Z,1736381193.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:33.392Z,1736381193.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:33.515Z,1736381193.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:33.541Z,1736381193.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:33.644Z,1736381193.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:33.688Z,1736381193.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:06:33.896Z,1736381193.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:33.916Z,1736381193.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:33.924Z,1736381193.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:34.148Z,1736381194.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:34.380Z,1736381194.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:34.398Z,1736381194.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:34.400Z,1736381194.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:34.652Z,1736381194.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:34.692Z,1736381194.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:06:34.788Z,1736381194.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:34.796Z,1736381194.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:34.904Z,1736381194.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:35.156Z,1736381195.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:35.218Z,1736381195.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:35.226Z,1736381195.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:35.408Z,1736381195.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:35.629Z,1736381195.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:35.639Z,1736381195.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:35.661Z,1736381195.661 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:35.912Z,1736381195.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:36.099Z,1736381196.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:36.120Z,1736381196.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:36.164Z,1736381196.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:36.416Z,1736381196.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:36.422Z,1736381196.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:36.430Z,1736381196.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:36.668Z,1736381196.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:36.825Z,1736381196.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:36.835Z,1736381196.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:36.920Z,1736381196.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:37.172Z,1736381197.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:37.256Z,1736381197.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:37.264Z,1736381197.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:37.424Z,1736381197.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:37.676Z,1736381197.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:37.725Z,1736381197.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:37.735Z,1736381197.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:37.928Z,1736381197.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:38.145Z,1736381198.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:38.154Z,1736381198.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:38.180Z,1736381198.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:38.432Z,1736381198.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:38.497Z,1736381198.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:38.506Z,1736381198.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:38.684Z,1736381198.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:38.912Z,1736381198.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:38.921Z,1736381198.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:38.936Z,1736381198.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:39.188Z,1736381199.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:39.326Z,1736381199.326 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +3.79, .00 2025-01-09T00:06:39.334Z,1736381199.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-09T00:06:39.334Z,1736381199.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:39.343Z,1736381199.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:39.440Z,1736381199.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:39.692Z,1736381199.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:39.721Z,1736381199.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-09T00:06:39.721Z,1736381199.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:39.747Z,1736381199.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:39.945Z,1736381199.945 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:40.168Z,1736381200.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:40.177Z,1736381200.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:40.196Z,1736381200.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:40.448Z,1736381200.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:40.541Z,1736381200.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:40.551Z,1736381200.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:40.700Z,1736381200.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:40.944Z,1736381200.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:40.952Z,1736381200.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:40.955Z,1736381200.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:41.204Z,1736381201.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:41.371Z,1736381201.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:41.380Z,1736381201.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:41.456Z,1736381201.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:41.713Z,1736381201.713 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:41.774Z,1736381201.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:41.782Z,1736381201.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:41.964Z,1736381201.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:42.216Z,1736381202.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:42.220Z,1736381202.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:42.248Z,1736381202.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:42.469Z,1736381202.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:42.673Z,1736381202.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:42.696Z,1736381202.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:42.720Z,1736381202.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:42.972Z,1736381202.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:43.132Z,1736381203.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:43.157Z,1736381203.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:43.224Z,1736381203.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:43.478Z,1736381203.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:43.561Z,1736381203.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:43.571Z,1736381203.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:43.728Z,1736381203.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:43.976Z,1736381203.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:43.981Z,1736381203.981 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:43.991Z,1736381203.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:44.233Z,1736381204.233 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:44.425Z,1736381204.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:44.434Z,1736381204.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:44.484Z,1736381204.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:44.736Z,1736381204.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:44.810Z,1736381204.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:44.821Z,1736381204.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:44.988Z,1736381204.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:45.241Z,1736381205.241 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:45.273Z,1736381205.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:45.281Z,1736381205.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:45.492Z,1736381205.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:45.703Z,1736381205.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:45.714Z,1736381205.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:45.744Z,1736381205.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:45.996Z,1736381205.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:46.080Z,1736381206.080 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-01-09T00:06:46.220Z,1736381206.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:46.228Z,1736381206.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:46.249Z,1736381206.249 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:46.500Z,1736381206.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:46.688Z,1736381206.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:46.707Z,1736381206.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:46.752Z,1736381206.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:47.004Z,1736381207.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:47.248Z,1736381207.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:47.256Z,1736381207.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:47.273Z,1736381207.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:06:47.280Z,1736381207.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:47.508Z,1736381207.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:47.508Z,1736381207.508 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:06:47.508Z,1736381207.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:06:47.689Z,1736381207.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:47.697Z,1736381207.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:47.760Z,1736381207.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:47.760Z,1736381207.760 [DAT](INFO): DAT read: user:3648> 2025-01-09T00:06:47.761Z,1736381207.761 [DAT](INFO): DAT read: Tx time:00:06:46.9566 2025-01-09T00:06:47.762Z,1736381207.762 [DAT](INFO): Ping request sent. 2025-01-09T00:06:47.762Z,1736381207.762 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:06:47.762Z,1736381207.762 [DAT](INFO): DAT read: TxSync time:00:06:46.9558 2025-01-09T00:06:47.763Z,1736381207.763 [DAT](INFO): publishing transmit ping time 2025-01-09T00:06:47.763Z,1736381207.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001633 2025-01-09T00:06:48.012Z,1736381208.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:48.012Z,1736381208.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250697 2025-01-09T00:06:48.092Z,1736381208.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:48.102Z,1736381208.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:48.264Z,1736381208.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:48.265Z,1736381208.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503451 2025-01-09T00:06:48.516Z,1736381208.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:48.518Z,1736381208.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755511 2025-01-09T00:06:48.524Z,1736381208.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:48.532Z,1736381208.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:48.769Z,1736381208.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:48.769Z,1736381208.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007526 2025-01-09T00:06:48.934Z,1736381208.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:48.943Z,1736381208.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:49.020Z,1736381209.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:49.021Z,1736381209.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258890 2025-01-09T00:06:49.273Z,1736381209.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:49.274Z,1736381209.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511959 2025-01-09T00:06:49.361Z,1736381209.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:49.370Z,1736381209.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:49.524Z,1736381209.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:49.525Z,1736381209.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762862 2025-01-09T00:06:49.734Z,1736381209.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:49.761Z,1736381209.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:49.776Z,1736381209.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:49.777Z,1736381209.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014977 2025-01-09T00:06:50.028Z,1736381210.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:50.028Z,1736381210.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266683 2025-01-09T00:06:50.142Z,1736381210.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:50.154Z,1736381210.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:50.281Z,1736381210.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:50.283Z,1736381210.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520519 2025-01-09T00:06:50.532Z,1736381210.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:50.533Z,1736381210.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770852 2025-01-09T00:06:50.594Z,1736381210.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:50.607Z,1736381210.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:50.784Z,1736381210.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:50.785Z,1736381210.785 [DAT](INFO): DAT read: Rx Time:00:06:49.4566 2025-01-09T00:06:50.785Z,1736381210.785 [DAT](INFO): Rx dataTimestamp_ set to:1736381210.785000 2025-01-09T00:06:50.786Z,1736381210.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024134 2025-01-09T00:06:51.010Z,1736381211.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:51.020Z,1736381211.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:51.036Z,1736381211.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:51.037Z,1736381211.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274834 2025-01-09T00:06:51.288Z,1736381211.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:51.289Z,1736381211.289 [DAT](INFO): DAT read: Range 10 to 50 : 71.8 m (Round-trip 95.8 ms) speed 0.0 m/s 2025-01-09T00:06:51.290Z,1736381211.290 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:06:51.482Z,1736381211.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:51.492Z,1736381211.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.800003 m, deltaT: 60.527370 s, deltaX: 3.700005 m, approachRate: 0.061129 m/s, rangeRepo size: 4 2025-01-09T00:06:51.493Z,1736381211.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:51.541Z,1736381211.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:51.792Z,1736381211.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:51.857Z,1736381211.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:51.866Z,1736381211.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:52.044Z,1736381212.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:52.296Z,1736381212.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:52.345Z,1736381212.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:52.382Z,1736381212.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:52.548Z,1736381212.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:52.688Z,1736381212.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:52.696Z,1736381212.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:52.800Z,1736381212.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:53.052Z,1736381213.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:53.089Z,1736381213.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:53.106Z,1736381213.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:53.305Z,1736381213.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:53.544Z,1736381213.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:53.556Z,1736381213.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:53.573Z,1736381213.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:53.809Z,1736381213.809 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:53.984Z,1736381213.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:53.992Z,1736381213.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:54.060Z,1736381214.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:54.313Z,1736381214.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:54.414Z,1736381214.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:54.423Z,1736381214.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:54.564Z,1736381214.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:54.793Z,1736381214.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:54.803Z,1736381214.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:54.816Z,1736381214.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:55.068Z,1736381215.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:55.197Z,1736381215.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:55.207Z,1736381215.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:55.321Z,1736381215.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:55.572Z,1736381215.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:55.632Z,1736381215.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:55.642Z,1736381215.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:55.825Z,1736381215.825 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:56.058Z,1736381216.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:56.068Z,1736381216.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:56.076Z,1736381216.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:56.329Z,1736381216.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:56.482Z,1736381216.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:56.492Z,1736381216.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:56.580Z,1736381216.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:56.832Z,1736381216.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:56.914Z,1736381216.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:56.936Z,1736381216.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:57.084Z,1736381217.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:57.347Z,1736381217.347 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:57.408Z,1736381217.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:57.421Z,1736381217.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:57.596Z,1736381217.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:57.832Z,1736381217.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:57.841Z,1736381217.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:57.848Z,1736381217.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:58.100Z,1736381218.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:58.239Z,1736381218.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:58.248Z,1736381218.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:58.354Z,1736381218.354 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:58.604Z,1736381218.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:58.689Z,1736381218.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:58.711Z,1736381218.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:58.856Z,1736381218.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:59.093Z,1736381219.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:59.102Z,1736381219.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:59.108Z,1736381219.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:59.362Z,1736381219.362 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:59.523Z,1736381219.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:59.551Z,1736381219.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:06:59.612Z,1736381219.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:59.864Z,1736381219.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:06:59.935Z,1736381219.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:06:59.943Z,1736381219.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:00.116Z,1736381220.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:00.379Z,1736381220.379 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:00.456Z,1736381220.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:00.465Z,1736381220.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:00.632Z,1736381220.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:00.774Z,1736381220.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:00.783Z,1736381220.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:00.884Z,1736381220.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:01.136Z,1736381221.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:01.177Z,1736381221.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:01.185Z,1736381221.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:01.391Z,1736381221.391 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:01.602Z,1736381221.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:01.610Z,1736381221.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:01.640Z,1736381221.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:01.892Z,1736381221.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:02.004Z,1736381222.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:02.013Z,1736381222.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:02.146Z,1736381222.146 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:02.398Z,1736381222.398 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:02.489Z,1736381222.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:02.501Z,1736381222.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:02.648Z,1736381222.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:02.901Z,1736381222.901 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:02.910Z,1736381222.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:02.944Z,1736381222.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:03.152Z,1736381223.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:03.360Z,1736381223.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:03.368Z,1736381223.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:03.405Z,1736381223.405 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:03.656Z,1736381223.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:03.826Z,1736381223.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:03.848Z,1736381223.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:03.908Z,1736381223.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:04.160Z,1736381224.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:04.239Z,1736381224.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:04.247Z,1736381224.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:04.413Z,1736381224.413 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:04.664Z,1736381224.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:04.685Z,1736381224.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:04.724Z,1736381224.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:04.816Z,1736381224.816 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:07:04.916Z,1736381224.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:05.124Z,1736381225.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:05.134Z,1736381225.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:05.168Z,1736381225.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:05.426Z,1736381225.426 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:05.547Z,1736381225.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:05.555Z,1736381225.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:05.676Z,1736381225.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:05.820Z,1736381225.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:07:05.928Z,1736381225.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:05.958Z,1736381225.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:05.968Z,1736381225.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:06.180Z,1736381226.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:06.352Z,1736381226.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:06.377Z,1736381226.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:06.440Z,1736381226.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:06.688Z,1736381226.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:06.795Z,1736381226.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:06.804Z,1736381226.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:06.940Z,1736381226.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:07.178Z,1736381227.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:07.187Z,1736381227.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:07.192Z,1736381227.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:07.445Z,1736381227.445 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:07.628Z,1736381227.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:07.637Z,1736381227.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:07.696Z,1736381227.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:07.948Z,1736381227.948 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:07.996Z,1736381227.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:08.005Z,1736381228.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:08.203Z,1736381228.203 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:08.388Z,1736381228.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:08.413Z,1736381228.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:08.453Z,1736381228.453 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:08.704Z,1736381228.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:08.817Z,1736381228.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:08.826Z,1736381228.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:08.956Z,1736381228.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:09.208Z,1736381229.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:09.222Z,1736381229.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:09.230Z,1736381229.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:09.460Z,1736381229.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:09.689Z,1736381229.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:09.710Z,1736381229.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:09.712Z,1736381229.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:09.964Z,1736381229.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:10.103Z,1736381230.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:10.112Z,1736381230.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:10.216Z,1736381230.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:10.469Z,1736381230.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:10.572Z,1736381230.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:10.590Z,1736381230.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:10.720Z,1736381230.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:10.972Z,1736381230.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:11.023Z,1736381231.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:11.052Z,1736381231.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:11.224Z,1736381231.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:11.460Z,1736381231.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:11.470Z,1736381231.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:11.478Z,1736381231.478 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:11.728Z,1736381231.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:11.889Z,1736381231.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:11.901Z,1736381231.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:11.980Z,1736381231.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:12.232Z,1736381232.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:12.265Z,1736381232.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:12.277Z,1736381232.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:12.484Z,1736381232.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:12.736Z,1736381232.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:12.740Z,1736381232.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:12.748Z,1736381232.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:12.988Z,1736381232.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:13.154Z,1736381233.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:13.163Z,1736381233.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:13.240Z,1736381233.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:13.492Z,1736381233.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:13.649Z,1736381233.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:13.683Z,1736381233.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:13.744Z,1736381233.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:13.996Z,1736381233.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:14.004Z,1736381234.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:14.012Z,1736381234.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:14.248Z,1736381234.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:14.406Z,1736381234.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:14.415Z,1736381234.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:14.500Z,1736381234.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:14.752Z,1736381234.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:14.836Z,1736381234.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:14.844Z,1736381234.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:15.004Z,1736381235.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:15.240Z,1736381235.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:15.248Z,1736381235.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:15.256Z,1736381235.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:15.508Z,1736381235.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:15.714Z,1736381235.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:15.722Z,1736381235.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:15.760Z,1736381235.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:16.012Z,1736381236.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:16.129Z,1736381236.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:16.139Z,1736381236.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:16.264Z,1736381236.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:16.516Z,1736381236.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:16.541Z,1736381236.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:16.551Z,1736381236.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:16.768Z,1736381236.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:16.962Z,1736381236.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:16.972Z,1736381236.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:17.020Z,1736381237.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:17.273Z,1736381237.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:17.358Z,1736381237.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:17.385Z,1736381237.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:17.524Z,1736381237.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:17.776Z,1736381237.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:17.823Z,1736381237.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:17.831Z,1736381237.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:18.028Z,1736381238.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:18.220Z,1736381238.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:18.229Z,1736381238.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:18.280Z,1736381238.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:18.532Z,1736381238.532 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:18.684Z,1736381238.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:18.701Z,1736381238.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:18.785Z,1736381238.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:19.038Z,1736381239.038 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:19.122Z,1736381239.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:19.131Z,1736381239.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:19.290Z,1736381239.290 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:19.490Z,1736381239.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:19.498Z,1736381239.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:19.541Z,1736381239.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:19.792Z,1736381239.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:19.927Z,1736381239.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:19.955Z,1736381239.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:20.044Z,1736381240.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:20.296Z,1736381240.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:20.315Z,1736381240.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:20.325Z,1736381240.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:20.550Z,1736381240.550 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:20.793Z,1736381240.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:20.800Z,1736381240.800 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:20.803Z,1736381240.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:21.052Z,1736381241.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:21.212Z,1736381241.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:21.222Z,1736381241.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:21.305Z,1736381241.305 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:21.556Z,1736381241.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:21.637Z,1736381241.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:21.715Z,1736381241.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:21.808Z,1736381241.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:22.069Z,1736381242.069 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:22.159Z,1736381242.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:22.169Z,1736381242.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:22.312Z,1736381242.312 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:22.561Z,1736381242.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:22.564Z,1736381242.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:22.572Z,1736381242.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:22.816Z,1736381242.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:22.989Z,1736381242.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:22.997Z,1736381242.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:23.068Z,1736381243.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:23.320Z,1736381243.320 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:23.390Z,1736381243.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:23.399Z,1736381243.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:23.572Z,1736381243.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:23.824Z,1736381243.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:23.839Z,1736381243.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:23.881Z,1736381243.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:24.076Z,1736381244.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:24.199Z,1736381244.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:24.211Z,1736381244.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:24.329Z,1736381244.329 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:24.580Z,1736381244.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:24.614Z,1736381244.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:24.624Z,1736381244.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:24.832Z,1736381244.832 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:25.043Z,1736381245.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:25.053Z,1736381245.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:25.085Z,1736381245.085 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:25.336Z,1736381245.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:25.470Z,1736381245.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:25.479Z,1736381245.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:25.589Z,1736381245.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:25.841Z,1736381245.841 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:25.909Z,1736381245.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:25.932Z,1736381245.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:26.092Z,1736381246.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:26.344Z,1736381246.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:26.354Z,1736381246.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:26.362Z,1736381246.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:26.596Z,1736381246.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:26.848Z,1736381246.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:26.869Z,1736381246.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:26.881Z,1736381246.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:27.100Z,1736381247.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:27.253Z,1736381247.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:27.262Z,1736381247.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:27.352Z,1736381247.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:27.607Z,1736381247.607 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:27.690Z,1736381247.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:27.698Z,1736381247.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:27.856Z,1736381247.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:28.099Z,1736381248.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:28.108Z,1736381248.108 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:28.109Z,1736381248.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:28.360Z,1736381248.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:28.508Z,1736381248.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:28.518Z,1736381248.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:28.612Z,1736381248.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:28.864Z,1736381248.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:28.950Z,1736381248.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:28.958Z,1736381248.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:29.116Z,1736381249.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:29.360Z,1736381249.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:29.371Z,1736381249.371 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:29.376Z,1736381249.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:29.620Z,1736381249.620 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:29.773Z,1736381249.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:29.843Z,1736381249.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:29.873Z,1736381249.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:30.124Z,1736381250.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:30.203Z,1736381250.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:30.212Z,1736381250.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:30.376Z,1736381250.376 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:30.575Z,1736381250.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:30.604Z,1736381250.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:30.628Z,1736381250.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:30.880Z,1736381250.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:31.024Z,1736381251.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:31.034Z,1736381251.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:31.132Z,1736381251.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:31.384Z,1736381251.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:31.385Z,1736381251.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:31.394Z,1736381251.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:31.636Z,1736381251.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:31.882Z,1736381251.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:31.888Z,1736381251.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:31.900Z,1736381251.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:32.140Z,1736381252.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:32.225Z,1736381252.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:32.234Z,1736381252.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:32.392Z,1736381252.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:32.595Z,1736381252.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:32.605Z,1736381252.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:32.645Z,1736381252.645 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:32.896Z,1736381252.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:33.035Z,1736381253.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:33.075Z,1736381253.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:33.151Z,1736381253.151 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:33.404Z,1736381253.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:33.405Z,1736381253.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:33.437Z,1736381253.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:33.656Z,1736381253.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:33.819Z,1736381253.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:33.888Z,1736381253.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:33.908Z,1736381253.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:34.160Z,1736381254.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:34.239Z,1736381254.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:34.247Z,1736381254.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:34.412Z,1736381254.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:34.616Z,1736381254.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:34.645Z,1736381254.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:34.664Z,1736381254.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:34.917Z,1736381254.917 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:35.050Z,1736381255.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:35.059Z,1736381255.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:35.168Z,1736381255.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:35.420Z,1736381255.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:35.431Z,1736381255.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:35.441Z,1736381255.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:35.672Z,1736381255.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:35.923Z,1736381255.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:35.932Z,1736381255.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:35.960Z,1736381255.960 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:07:35.960Z,1736381255.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:36.184Z,1736381256.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:36.256Z,1736381256.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:36.265Z,1736381256.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:36.436Z,1736381256.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:36.631Z,1736381256.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:36.641Z,1736381256.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:36.688Z,1736381256.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:36.942Z,1736381256.942 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:36.963Z,1736381256.963 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:07:37.073Z,1736381257.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:37.109Z,1736381257.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:37.192Z,1736381257.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:37.446Z,1736381257.446 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:37.514Z,1736381257.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:37.524Z,1736381257.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:37.696Z,1736381257.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:37.949Z,1736381257.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:37.997Z,1736381257.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:38.028Z,1736381258.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:38.200Z,1736381258.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:38.305Z,1736381258.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:38.313Z,1736381258.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:38.452Z,1736381258.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:38.704Z,1736381258.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:38.711Z,1736381258.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:38.721Z,1736381258.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:38.957Z,1736381258.957 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:39.156Z,1736381259.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:39.186Z,1736381259.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:39.208Z,1736381259.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:39.460Z,1736381259.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:39.516Z,1736381259.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:39.540Z,1736381259.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:39.712Z,1736381259.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:39.966Z,1736381259.966 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:40.006Z,1736381260.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:40.015Z,1736381260.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:40.216Z,1736381260.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:40.349Z,1736381260.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:40.358Z,1736381260.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:40.469Z,1736381260.469 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:40.720Z,1736381260.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:40.748Z,1736381260.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:40.757Z,1736381260.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:40.973Z,1736381260.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:41.172Z,1736381261.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:41.181Z,1736381261.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:41.225Z,1736381261.225 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:41.476Z,1736381261.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:41.540Z,1736381261.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:41.549Z,1736381261.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:41.728Z,1736381261.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:41.973Z,1736381261.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:41.992Z,1736381261.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:42.025Z,1736381262.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:42.244Z,1736381262.244 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:42.382Z,1736381262.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:42.391Z,1736381262.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:42.496Z,1736381262.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:42.748Z,1736381262.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:42.805Z,1736381262.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:42.829Z,1736381262.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:43.002Z,1736381263.002 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:43.245Z,1736381263.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:43.252Z,1736381263.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:43.262Z,1736381263.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:43.504Z,1736381263.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:43.610Z,1736381263.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:43.620Z,1736381263.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:43.756Z,1736381263.756 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:44.010Z,1736381264.010 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:44.097Z,1736381264.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:44.113Z,1736381264.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:44.260Z,1736381264.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:44.512Z,1736381264.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:44.523Z,1736381264.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:44.532Z,1736381264.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:44.766Z,1736381264.766 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:44.930Z,1736381264.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:44.940Z,1736381264.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:45.018Z,1736381265.018 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:45.270Z,1736381265.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:45.362Z,1736381265.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:45.401Z,1736381265.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:45.520Z,1736381265.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:45.746Z,1736381265.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:45.756Z,1736381265.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:45.773Z,1736381265.773 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:46.025Z,1736381266.025 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:46.178Z,1736381266.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:46.189Z,1736381266.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:46.276Z,1736381266.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:46.528Z,1736381266.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:46.547Z,1736381266.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:46.557Z,1736381266.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:46.780Z,1736381266.780 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:46.973Z,1736381266.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:46.982Z,1736381266.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:47.034Z,1736381267.034 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:47.285Z,1736381267.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:47.385Z,1736381267.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:47.392Z,1736381267.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:07:47.394Z,1736381267.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:47.536Z,1736381267.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:47.536Z,1736381267.536 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:07:47.537Z,1736381267.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:07:47.780Z,1736381267.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:47.788Z,1736381267.788 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:47.788Z,1736381267.788 [DAT](INFO): DAT read: user:3649> 2025-01-09T00:07:47.789Z,1736381267.789 [DAT](INFO): DAT read: Tx time:00:07:47.0072 2025-01-09T00:07:47.789Z,1736381267.789 [DAT](INFO): Ping request sent. 2025-01-09T00:07:47.789Z,1736381267.789 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:07:47.790Z,1736381267.790 [DAT](INFO): publishing transmit ping time 2025-01-09T00:07:47.790Z,1736381267.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723 2025-01-09T00:07:47.815Z,1736381267.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:48.042Z,1736381268.042 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:48.044Z,1736381268.044 [DAT](INFO): DAT read: TxSync time:00:07:47.0064 2025-01-09T00:07:48.052Z,1736381268.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257019 2025-01-09T00:07:48.287Z,1736381268.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:48.292Z,1736381268.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:48.293Z,1736381268.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502873 2025-01-09T00:07:48.308Z,1736381268.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:48.545Z,1736381268.545 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:48.546Z,1736381268.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756008 2025-01-09T00:07:48.734Z,1736381268.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:48.780Z,1736381268.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:48.796Z,1736381268.796 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:48.797Z,1736381268.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006996 2025-01-09T00:07:49.049Z,1736381269.049 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:49.050Z,1736381269.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260324 2025-01-09T00:07:49.235Z,1736381269.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:49.243Z,1736381269.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:49.301Z,1736381269.301 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:49.302Z,1736381269.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512676 2025-01-09T00:07:49.552Z,1736381269.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:49.553Z,1736381269.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763027 2025-01-09T00:07:49.622Z,1736381269.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:49.630Z,1736381269.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:49.806Z,1736381269.806 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:49.810Z,1736381269.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020086 2025-01-09T00:07:50.056Z,1736381270.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:50.056Z,1736381270.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266915 2025-01-09T00:07:50.136Z,1736381270.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:50.149Z,1736381270.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:50.308Z,1736381270.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:50.308Z,1736381270.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518848 2025-01-09T00:07:50.492Z,1736381270.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:50.501Z,1736381270.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:50.560Z,1736381270.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:50.560Z,1736381270.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770839 2025-01-09T00:07:50.812Z,1736381270.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:50.813Z,1736381270.813 [DAT](INFO): DAT read: Rx Time:00:07:49.5125 2025-01-09T00:07:50.813Z,1736381270.813 [DAT](INFO): Rx dataTimestamp_ set to:1736381270.812898 2025-01-09T00:07:50.814Z,1736381270.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024165 2025-01-09T00:07:50.899Z,1736381270.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:50.909Z,1736381270.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:51.064Z,1736381271.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:51.065Z,1736381271.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275674 2025-01-09T00:07:51.316Z,1736381271.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:51.318Z,1736381271.318 [DAT](INFO): DAT read: Range 10 to 50 : 75.8 m (Round-trip 101.1 ms) speed -0.1 m/s 2025-01-09T00:07:51.319Z,1736381271.319 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:07:51.371Z,1736381271.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:51.389Z,1736381271.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.800003 m, deltaT: 60.028149 s, deltaX: 4.000000 m, approachRate: 0.066635 m/s, rangeRepo size: 4 2025-01-09T00:07:51.390Z,1736381271.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:51.568Z,1736381271.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:51.776Z,1736381271.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:51.785Z,1736381271.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:51.820Z,1736381271.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:52.072Z,1736381272.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:52.214Z,1736381272.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:52.223Z,1736381272.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:52.324Z,1736381272.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:52.576Z,1736381272.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:52.599Z,1736381272.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:52.630Z,1736381272.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:52.828Z,1736381272.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:53.045Z,1736381273.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:53.059Z,1736381273.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:53.080Z,1736381273.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:53.332Z,1736381273.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:53.473Z,1736381273.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:53.481Z,1736381273.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:53.584Z,1736381273.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:53.836Z,1736381273.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:53.849Z,1736381273.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:53.859Z,1736381273.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:54.088Z,1736381274.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:54.341Z,1736381274.341 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:54.447Z,1736381274.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:54.456Z,1736381274.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:54.592Z,1736381274.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:54.712Z,1736381274.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:54.722Z,1736381274.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:54.844Z,1736381274.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:55.086Z,1736381275.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:55.094Z,1736381275.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:55.096Z,1736381275.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:55.348Z,1736381275.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:55.536Z,1736381275.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:55.554Z,1736381275.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:55.600Z,1736381275.600 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:55.852Z,1736381275.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:55.910Z,1736381275.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:55.932Z,1736381275.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:56.104Z,1736381276.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:56.356Z,1736381276.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:56.366Z,1736381276.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:56.388Z,1736381276.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:56.608Z,1736381276.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:56.711Z,1736381276.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:56.721Z,1736381276.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:56.860Z,1736381276.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:57.109Z,1736381277.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:57.112Z,1736381277.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:57.143Z,1736381277.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:57.364Z,1736381277.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:57.528Z,1736381277.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:57.557Z,1736381277.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:57.616Z,1736381277.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:57.868Z,1736381277.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:57.966Z,1736381277.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:57.982Z,1736381277.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:58.120Z,1736381278.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:58.373Z,1736381278.373 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:58.411Z,1736381278.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:58.419Z,1736381278.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:58.624Z,1736381278.624 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:58.840Z,1736381278.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:58.869Z,1736381278.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:58.876Z,1736381278.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:59.128Z,1736381279.128 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:59.292Z,1736381279.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:59.320Z,1736381279.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:59.382Z,1736381279.382 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:59.632Z,1736381279.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:07:59.675Z,1736381279.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:07:59.711Z,1736381279.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:07:59.884Z,1736381279.884 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:00.057Z,1736381280.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:00.077Z,1736381280.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:00.136Z,1736381280.136 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:00.389Z,1736381280.389 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:00.484Z,1736381280.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:00.498Z,1736381280.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:00.640Z,1736381280.640 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:00.846Z,1736381280.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:00.856Z,1736381280.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:00.892Z,1736381280.892 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:01.144Z,1736381281.144 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:01.292Z,1736381281.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:01.326Z,1736381281.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:01.397Z,1736381281.397 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:01.648Z,1736381281.648 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:01.698Z,1736381281.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:01.707Z,1736381281.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:01.900Z,1736381281.900 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:02.119Z,1736381282.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:02.144Z,1736381282.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:02.152Z,1736381282.152 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:02.404Z,1736381282.404 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:02.555Z,1736381282.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:02.588Z,1736381282.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:02.656Z,1736381282.656 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:02.908Z,1736381282.908 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:02.970Z,1736381282.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:02.979Z,1736381282.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:03.160Z,1736381283.160 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:03.412Z,1736381283.412 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:03.425Z,1736381283.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:03.461Z,1736381283.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:03.664Z,1736381283.664 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:03.779Z,1736381283.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:03.791Z,1736381283.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:03.916Z,1736381283.916 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:04.168Z,1736381284.168 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:04.199Z,1736381284.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:04.208Z,1736381284.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:04.420Z,1736381284.420 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:04.639Z,1736381284.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:04.650Z,1736381284.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:04.672Z,1736381284.672 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:04.924Z,1736381284.924 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:04.997Z,1736381284.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:05.006Z,1736381285.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:05.176Z,1736381285.176 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:05.423Z,1736381285.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:05.428Z,1736381285.428 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:05.433Z,1736381285.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:05.682Z,1736381285.682 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:05.799Z,1736381285.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:05.808Z,1736381285.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:05.932Z,1736381285.932 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:06.184Z,1736381286.184 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:06.207Z,1736381286.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:06.216Z,1736381286.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:06.436Z,1736381286.436 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:06.635Z,1736381286.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-09T00:08:06.635Z,1736381286.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:06.643Z,1736381286.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:06.688Z,1736381286.688 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:06.940Z,1736381286.940 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:07.027Z,1736381287.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-09T00:08:07.028Z,1736381287.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:07.037Z,1736381287.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:07.088Z,1736381287.088 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:08:07.192Z,1736381287.192 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:07.444Z,1736381287.444 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:07.447Z,1736381287.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:07.483Z,1736381287.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:07.696Z,1736381287.696 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:07.844Z,1736381287.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:07.860Z,1736381287.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:07.949Z,1736381287.949 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:08.092Z,1736381288.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:08:08.200Z,1736381288.200 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:08.223Z,1736381288.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:08.231Z,1736381288.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:08.452Z,1736381288.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:08.657Z,1736381288.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:08.692Z,1736381288.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:08.704Z,1736381288.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:08.956Z,1736381288.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:09.028Z,1736381289.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:09.057Z,1736381289.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:09.208Z,1736381289.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:09.460Z,1736381289.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:09.477Z,1736381289.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:09.488Z,1736381289.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:09.712Z,1736381289.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:09.852Z,1736381289.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:09.861Z,1736381289.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:09.964Z,1736381289.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:10.216Z,1736381290.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:10.248Z,1736381290.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:10.257Z,1736381290.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:10.468Z,1736381290.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:10.706Z,1736381290.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:10.720Z,1736381290.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:10.728Z,1736381290.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:10.972Z,1736381290.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:11.051Z,1736381291.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:11.060Z,1736381291.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:11.224Z,1736381291.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:11.476Z,1736381291.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:11.510Z,1736381291.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:11.521Z,1736381291.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:11.728Z,1736381291.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:11.864Z,1736381291.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:11.873Z,1736381291.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:11.980Z,1736381291.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:12.232Z,1736381292.232 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:12.259Z,1736381292.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:12.269Z,1736381292.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:12.484Z,1736381292.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:12.720Z,1736381292.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:12.729Z,1736381292.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:12.736Z,1736381292.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:12.988Z,1736381292.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:13.088Z,1736381293.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:13.096Z,1736381293.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:13.240Z,1736381293.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:13.492Z,1736381293.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:13.551Z,1736381293.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:13.565Z,1736381293.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:13.744Z,1736381293.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:13.916Z,1736381293.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:13.925Z,1736381293.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:13.996Z,1736381293.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:14.248Z,1736381294.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:14.330Z,1736381294.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:14.340Z,1736381294.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:14.500Z,1736381294.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:14.752Z,1736381294.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:14.772Z,1736381294.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:14.797Z,1736381294.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:15.004Z,1736381295.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:15.128Z,1736381295.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:15.138Z,1736381295.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:15.256Z,1736381295.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:15.509Z,1736381295.509 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:15.582Z,1736381295.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:15.590Z,1736381295.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:15.760Z,1736381295.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:15.962Z,1736381295.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:15.975Z,1736381295.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:16.012Z,1736381296.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:16.264Z,1736381296.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:16.403Z,1736381296.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:16.411Z,1736381296.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:16.518Z,1736381296.518 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:16.769Z,1736381296.769 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:16.796Z,1736381296.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:16.826Z,1736381296.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:17.020Z,1736381297.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:17.177Z,1736381297.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:17.186Z,1736381297.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:17.272Z,1736381297.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:17.526Z,1736381297.526 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:17.614Z,1736381297.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:17.623Z,1736381297.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:17.776Z,1736381297.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:17.969Z,1736381297.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:17.982Z,1736381297.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:18.029Z,1736381298.029 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:18.280Z,1736381298.280 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:18.385Z,1736381298.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:18.393Z,1736381298.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:18.534Z,1736381298.534 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:18.784Z,1736381298.784 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:18.830Z,1736381298.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:18.852Z,1736381298.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:19.036Z,1736381299.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:19.189Z,1736381299.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:19.201Z,1736381299.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:19.288Z,1736381299.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:19.541Z,1736381299.541 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:19.629Z,1736381299.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:19.662Z,1736381299.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:19.792Z,1736381299.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:19.993Z,1736381299.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:20.021Z,1736381300.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:20.048Z,1736381300.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:20.300Z,1736381300.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:20.395Z,1736381300.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:20.405Z,1736381300.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:20.553Z,1736381300.553 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:20.804Z,1736381300.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:20.828Z,1736381300.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:20.866Z,1736381300.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:21.056Z,1736381301.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:21.212Z,1736381301.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:21.221Z,1736381301.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:21.308Z,1736381301.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:21.562Z,1736381301.562 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:21.653Z,1736381301.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:21.683Z,1736381301.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:21.813Z,1736381301.813 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:22.012Z,1736381302.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:22.022Z,1736381302.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:22.064Z,1736381302.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:22.316Z,1736381302.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:22.416Z,1736381302.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:22.425Z,1736381302.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:22.569Z,1736381302.569 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:22.820Z,1736381302.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:22.866Z,1736381302.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:22.897Z,1736381302.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:23.072Z,1736381303.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:23.220Z,1736381303.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:23.229Z,1736381303.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:23.324Z,1736381303.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:23.579Z,1736381303.579 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:23.743Z,1736381303.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:23.766Z,1736381303.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:23.828Z,1736381303.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:24.080Z,1736381304.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:24.186Z,1736381304.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:24.195Z,1736381304.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:24.332Z,1736381304.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:24.586Z,1736381304.586 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:24.662Z,1736381304.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:24.691Z,1736381304.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:24.842Z,1736381304.842 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:25.092Z,1736381305.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:25.104Z,1736381305.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:25.113Z,1736381305.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:25.344Z,1736381305.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:25.490Z,1736381305.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:25.499Z,1736381305.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:25.596Z,1736381305.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:25.848Z,1736381305.848 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:25.953Z,1736381305.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:25.962Z,1736381305.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:26.100Z,1736381306.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:26.354Z,1736381306.354 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:26.382Z,1736381306.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:26.412Z,1736381306.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:26.606Z,1736381306.606 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:26.845Z,1736381306.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:26.854Z,1736381306.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:26.856Z,1736381306.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:27.109Z,1736381307.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:27.245Z,1736381307.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:27.254Z,1736381307.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:27.360Z,1736381307.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:27.612Z,1736381307.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:27.730Z,1736381307.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:27.739Z,1736381307.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:27.864Z,1736381307.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:28.116Z,1736381308.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:28.147Z,1736381308.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:28.157Z,1736381308.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:28.369Z,1736381308.369 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:28.558Z,1736381308.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:28.566Z,1736381308.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:28.621Z,1736381308.621 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:28.873Z,1736381308.873 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:28.999Z,1736381308.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:29.008Z,1736381309.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:29.124Z,1736381309.124 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:29.378Z,1736381309.378 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:29.414Z,1736381309.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:29.424Z,1736381309.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:29.628Z,1736381309.628 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:29.857Z,1736381309.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:29.880Z,1736381309.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:29.891Z,1736381309.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:30.132Z,1736381310.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:30.238Z,1736381310.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:30.246Z,1736381310.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:30.384Z,1736381310.384 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:30.630Z,1736381310.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:30.636Z,1736381310.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:30.661Z,1736381310.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:30.889Z,1736381310.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:31.131Z,1736381311.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:31.140Z,1736381311.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:31.141Z,1736381311.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:31.392Z,1736381311.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:31.541Z,1736381311.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:31.550Z,1736381311.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:31.644Z,1736381311.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:31.897Z,1736381311.897 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:31.970Z,1736381311.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:31.982Z,1736381311.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:32.148Z,1736381312.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:32.376Z,1736381312.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:32.385Z,1736381312.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:32.400Z,1736381312.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:32.652Z,1736381312.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:32.813Z,1736381312.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:32.824Z,1736381312.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:32.904Z,1736381312.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:33.156Z,1736381313.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:33.210Z,1736381313.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:33.220Z,1736381313.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:33.408Z,1736381313.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:33.591Z,1736381313.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:33.601Z,1736381313.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:33.660Z,1736381313.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:33.912Z,1736381313.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:34.040Z,1736381314.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:34.070Z,1736381314.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:34.164Z,1736381314.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:34.416Z,1736381314.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:34.418Z,1736381314.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:34.433Z,1736381314.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:34.670Z,1736381314.670 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:34.844Z,1736381314.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:34.854Z,1736381314.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:34.920Z,1736381314.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:35.172Z,1736381315.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:35.206Z,1736381315.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:35.214Z,1736381315.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:35.424Z,1736381315.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:35.628Z,1736381315.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:35.670Z,1736381315.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:35.676Z,1736381315.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:35.928Z,1736381315.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:36.107Z,1736381316.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:36.155Z,1736381316.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:36.181Z,1736381316.181 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:36.432Z,1736381316.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:36.553Z,1736381316.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:36.562Z,1736381316.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:36.684Z,1736381316.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:36.936Z,1736381316.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:36.980Z,1736381316.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:37.016Z,1736381317.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:37.188Z,1736381317.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:37.360Z,1736381317.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:37.393Z,1736381317.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:37.440Z,1736381317.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:37.692Z,1736381317.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:37.763Z,1736381317.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:37.777Z,1736381317.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:37.946Z,1736381317.946 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:38.183Z,1736381318.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:38.192Z,1736381318.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:38.201Z,1736381318.201 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:38.216Z,1736381318.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:08:38.452Z,1736381318.452 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:38.573Z,1736381318.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:38.582Z,1736381318.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:38.704Z,1736381318.704 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:38.956Z,1736381318.956 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:39.014Z,1736381319.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:39.045Z,1736381319.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:39.208Z,1736381319.208 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:39.220Z,1736381319.220 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:08:39.445Z,1736381319.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:39.460Z,1736381319.460 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:39.482Z,1736381319.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:39.712Z,1736381319.712 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:39.941Z,1736381319.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:39.949Z,1736381319.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:39.964Z,1736381319.964 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:40.216Z,1736381320.216 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:40.345Z,1736381320.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:40.356Z,1736381320.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:40.468Z,1736381320.468 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:40.720Z,1736381320.720 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:40.742Z,1736381320.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:40.769Z,1736381320.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:40.972Z,1736381320.972 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:41.190Z,1736381321.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:41.199Z,1736381321.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:41.224Z,1736381321.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:41.476Z,1736381321.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:41.572Z,1736381321.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:41.581Z,1736381321.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:41.730Z,1736381321.730 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:41.980Z,1736381321.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:42.025Z,1736381322.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:42.037Z,1736381322.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:42.234Z,1736381322.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:42.428Z,1736381322.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:42.438Z,1736381322.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:42.484Z,1736381322.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:42.736Z,1736381322.736 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:42.839Z,1736381322.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:42.907Z,1736381322.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:42.988Z,1736381322.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:43.240Z,1736381323.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:43.260Z,1736381323.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:43.270Z,1736381323.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:43.492Z,1736381323.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:43.651Z,1736381323.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:43.681Z,1736381323.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:43.744Z,1736381323.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:43.996Z,1736381323.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:44.133Z,1736381324.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:44.141Z,1736381324.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:44.248Z,1736381324.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:44.500Z,1736381324.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:44.545Z,1736381324.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:44.555Z,1736381324.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:44.752Z,1736381324.752 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:44.982Z,1736381324.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:45.004Z,1736381325.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:45.022Z,1736381325.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:45.256Z,1736381325.256 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:45.362Z,1736381325.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:45.373Z,1736381325.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:45.508Z,1736381325.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:45.760Z,1736381325.760 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:45.761Z,1736381325.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:45.770Z,1736381325.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:46.013Z,1736381326.013 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:46.226Z,1736381326.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:46.234Z,1736381326.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:46.264Z,1736381326.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:46.516Z,1736381326.516 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:46.633Z,1736381326.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:46.642Z,1736381326.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:46.768Z,1736381326.768 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:47.020Z,1736381327.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:47.058Z,1736381327.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:47.068Z,1736381327.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:47.273Z,1736381327.273 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:47.441Z,1736381327.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:47.469Z,1736381327.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:08:47.470Z,1736381327.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:47.525Z,1736381327.525 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:47.526Z,1736381327.526 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:08:47.526Z,1736381327.526 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:08:47.776Z,1736381327.776 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:47.776Z,1736381327.776 [DAT](INFO): DAT read: user:3650> 2025-01-09T00:08:47.777Z,1736381327.777 [DAT](INFO): DAT read: Tx time:00:08:47.0078 2025-01-09T00:08:47.777Z,1736381327.777 [DAT](INFO): Ping request sent. 2025-01-09T00:08:47.777Z,1736381327.777 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:08:47.778Z,1736381327.778 [DAT](INFO): publishing transmit ping time 2025-01-09T00:08:47.778Z,1736381327.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-01-09T00:08:47.893Z,1736381327.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:47.902Z,1736381327.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:48.028Z,1736381328.028 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:48.028Z,1736381328.028 [DAT](INFO): DAT read: TxSync time:00:08:47.0070 2025-01-09T00:08:48.029Z,1736381328.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251703 2025-01-09T00:08:48.281Z,1736381328.281 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:48.283Z,1736381328.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505216 2025-01-09T00:08:48.365Z,1736381328.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:48.376Z,1736381328.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:48.533Z,1736381328.533 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:48.534Z,1736381328.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755973 2025-01-09T00:08:48.730Z,1736381328.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:48.739Z,1736381328.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:48.785Z,1736381328.785 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:48.785Z,1736381328.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007627 2025-01-09T00:08:49.036Z,1736381329.036 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:49.037Z,1736381329.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259047 2025-01-09T00:08:49.168Z,1736381329.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:49.176Z,1736381329.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:49.288Z,1736381329.288 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:49.288Z,1736381329.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510829 2025-01-09T00:08:49.540Z,1736381329.540 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:49.540Z,1736381329.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762900 2025-01-09T00:08:49.572Z,1736381329.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:49.581Z,1736381329.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:49.792Z,1736381329.792 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:49.793Z,1736381329.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015188 2025-01-09T00:08:49.994Z,1736381329.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:50.039Z,1736381330.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:50.044Z,1736381330.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:50.044Z,1736381330.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266950 2025-01-09T00:08:50.296Z,1736381330.296 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:50.296Z,1736381330.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518826 2025-01-09T00:08:50.438Z,1736381330.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:50.468Z,1736381330.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:50.548Z,1736381330.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:50.548Z,1736381330.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770785 2025-01-09T00:08:50.801Z,1736381330.801 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:50.802Z,1736381330.802 [DAT](INFO): DAT read: Rx Time:00:08:49.5163 2025-01-09T00:08:50.803Z,1736381330.803 [DAT](INFO): Rx dataTimestamp_ set to:1736381330.802625 2025-01-09T00:08:50.805Z,1736381330.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026710 2025-01-09T00:08:50.882Z,1736381330.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:50.892Z,1736381330.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:51.052Z,1736381331.052 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:51.053Z,1736381331.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275136 2025-01-09T00:08:51.304Z,1736381331.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:51.305Z,1736381331.305 [DAT](INFO): DAT read: Range 10 to 50 : 79.4 m (Round-trip 105.9 ms) speed 0.0 m/s 2025-01-09T00:08:51.306Z,1736381331.306 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-01-09T00:08:51.316Z,1736381331.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:51.325Z,1736381331.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.400002 m, deltaT: 59.987942 s, deltaX: 3.599998 m, approachRate: 0.060012 m/s, rangeRepo size: 4 2025-01-09T00:08:51.326Z,1736381331.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:51.556Z,1736381331.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:51.693Z,1736381331.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:51.703Z,1736381331.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:51.808Z,1736381331.808 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:52.061Z,1736381332.061 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:52.124Z,1736381332.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:52.149Z,1736381332.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:52.313Z,1736381332.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:52.492Z,1736381332.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:52.516Z,1736381332.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:52.564Z,1736381332.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:52.816Z,1736381332.816 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:52.897Z,1736381332.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:52.906Z,1736381332.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:53.073Z,1736381333.073 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:53.324Z,1736381333.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:53.347Z,1736381333.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:53.355Z,1736381333.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:53.576Z,1736381333.576 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:53.757Z,1736381333.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:53.765Z,1736381333.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:53.828Z,1736381333.828 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:54.082Z,1736381334.082 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:54.235Z,1736381334.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:54.247Z,1736381334.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:54.332Z,1736381334.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:54.584Z,1736381334.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:54.616Z,1736381334.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:54.655Z,1736381334.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:54.836Z,1736381334.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:55.090Z,1736381335.090 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:55.165Z,1736381335.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:55.174Z,1736381335.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:55.340Z,1736381335.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:55.553Z,1736381335.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:55.562Z,1736381335.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:55.592Z,1736381335.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:55.844Z,1736381335.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:55.991Z,1736381335.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:56.001Z,1736381336.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:56.098Z,1736381336.098 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:56.348Z,1736381336.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:56.471Z,1736381336.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:56.479Z,1736381336.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:56.602Z,1736381336.602 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:56.852Z,1736381336.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:56.863Z,1736381336.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:56.891Z,1736381336.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:57.106Z,1736381337.106 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:57.316Z,1736381337.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:57.349Z,1736381337.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:57.356Z,1736381337.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:57.608Z,1736381337.608 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:57.740Z,1736381337.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:57.769Z,1736381337.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:57.860Z,1736381337.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:58.116Z,1736381338.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:58.233Z,1736381338.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:58.242Z,1736381338.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:58.364Z,1736381338.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:58.593Z,1736381338.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:58.602Z,1736381338.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:58.616Z,1736381338.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:58.868Z,1736381338.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:58.995Z,1736381338.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:59.024Z,1736381339.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:59.121Z,1736381339.121 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:59.372Z,1736381339.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:59.445Z,1736381339.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:59.469Z,1736381339.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:08:59.626Z,1736381339.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:59.870Z,1736381339.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:08:59.876Z,1736381339.876 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:08:59.881Z,1736381339.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:00.129Z,1736381340.129 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:00.323Z,1736381340.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:00.332Z,1736381340.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:00.380Z,1736381340.380 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:00.632Z,1736381340.632 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:00.736Z,1736381340.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:00.744Z,1736381340.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:00.888Z,1736381340.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:01.142Z,1736381341.142 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:01.228Z,1736381341.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:01.237Z,1736381341.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:01.394Z,1736381341.394 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:01.628Z,1736381341.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:01.638Z,1736381341.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:01.644Z,1736381341.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:01.896Z,1736381341.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:02.040Z,1736381342.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:02.049Z,1736381342.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:02.149Z,1736381342.149 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:02.400Z,1736381342.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:02.482Z,1736381342.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:02.492Z,1736381342.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:02.652Z,1736381342.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:02.892Z,1736381342.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:02.901Z,1736381342.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:02.904Z,1736381342.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:03.157Z,1736381343.157 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:03.330Z,1736381343.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:03.364Z,1736381343.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:03.408Z,1736381343.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:03.660Z,1736381343.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:03.782Z,1736381343.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:03.793Z,1736381343.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:03.912Z,1736381343.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:04.164Z,1736381344.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:04.286Z,1736381344.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:04.308Z,1736381344.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:04.416Z,1736381344.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:04.636Z,1736381344.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:04.646Z,1736381344.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:04.676Z,1736381344.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:04.928Z,1736381344.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:05.027Z,1736381345.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:05.055Z,1736381345.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:05.182Z,1736381345.182 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:05.432Z,1736381345.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:05.478Z,1736381345.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:05.495Z,1736381345.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:05.684Z,1736381345.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:05.911Z,1736381345.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:05.936Z,1736381345.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:05.941Z,1736381345.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:06.189Z,1736381346.189 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:06.378Z,1736381346.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:06.430Z,1736381346.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:06.440Z,1736381346.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:06.692Z,1736381346.692 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:06.836Z,1736381346.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:06.845Z,1736381346.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:06.944Z,1736381346.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:07.196Z,1736381347.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:07.324Z,1736381347.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:07.348Z,1736381347.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:07.448Z,1736381347.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:07.700Z,1736381347.700 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:07.763Z,1736381347.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:07.772Z,1736381347.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:07.953Z,1736381347.953 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:08.180Z,1736381348.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:08.193Z,1736381348.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:08.204Z,1736381348.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:08.456Z,1736381348.456 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:08.597Z,1736381348.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:08.627Z,1736381348.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:08.708Z,1736381348.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:08.960Z,1736381348.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:09.030Z,1736381349.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:09.040Z,1736381349.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:09.212Z,1736381349.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:09.364Z,1736381349.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:09:09.464Z,1736381349.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:09.496Z,1736381349.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:09.504Z,1736381349.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:09.717Z,1736381349.717 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:09.902Z,1736381349.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:09.910Z,1736381349.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:09.970Z,1736381349.970 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:10.220Z,1736381350.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:10.368Z,1736381350.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:09:10.372Z,1736381350.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:10.381Z,1736381350.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:10.472Z,1736381350.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:10.724Z,1736381350.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:10.747Z,1736381350.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:10.756Z,1736381350.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:10.976Z,1736381350.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:11.160Z,1736381351.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:11.170Z,1736381351.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:11.228Z,1736381351.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:11.480Z,1736381351.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:11.588Z,1736381351.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:11.598Z,1736381351.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:11.732Z,1736381351.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:11.954Z,1736381351.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:11.962Z,1736381351.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:11.984Z,1736381351.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:12.236Z,1736381352.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:12.405Z,1736381352.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:12.430Z,1736381352.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:12.488Z,1736381352.488 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:12.740Z,1736381352.740 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:12.759Z,1736381352.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:12.769Z,1736381352.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:12.992Z,1736381352.992 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:13.162Z,1736381353.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:13.172Z,1736381353.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:13.245Z,1736381353.245 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:13.496Z,1736381353.496 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:13.620Z,1736381353.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:13.629Z,1736381353.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:13.748Z,1736381353.748 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:13.982Z,1736381353.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:13.992Z,1736381353.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:13.000Z,1736381354.000 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:14.252Z,1736381354.252 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:14.454Z,1736381354.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:14.465Z,1736381354.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:14.504Z,1736381354.504 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:14.758Z,1736381354.758 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:14.870Z,1736381354.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:14.879Z,1736381354.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:15.008Z,1736381355.008 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:15.260Z,1736381355.260 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:15.271Z,1736381355.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:15.304Z,1736381355.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:15.512Z,1736381355.512 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:15.719Z,1736381355.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:15.730Z,1736381355.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:15.764Z,1736381355.764 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:16.016Z,1736381356.016 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:16.082Z,1736381356.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:16.092Z,1736381356.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:16.270Z,1736381356.270 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:16.496Z,1736381356.496 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +43, +42,A 2025-01-09T00:09:16.505Z,1736381356.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-09T00:09:16.505Z,1736381356.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:16.514Z,1736381356.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:16.520Z,1736381356.520 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:16.772Z,1736381356.772 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:16.884Z,1736381356.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-09T00:09:16.884Z,1736381356.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:16.895Z,1736381356.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:17.024Z,1736381357.024 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:17.276Z,1736381357.276 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:17.289Z,1736381357.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-09T00:09:17.290Z,1736381357.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:17.301Z,1736381357.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:17.528Z,1736381357.528 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:17.720Z,1736381357.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:17.745Z,1736381357.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:17.781Z,1736381357.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:18.032Z,1736381358.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:18.108Z,1736381358.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:18.117Z,1736381358.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:18.285Z,1736381358.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:18.527Z,1736381358.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:18.536Z,1736381358.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:18.538Z,1736381358.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:18.789Z,1736381358.789 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:18.902Z,1736381358.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:18.914Z,1736381358.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:19.042Z,1736381359.042 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:19.292Z,1736381359.292 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:19.325Z,1736381359.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:19.334Z,1736381359.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:19.544Z,1736381359.544 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:19.756Z,1736381359.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:19.787Z,1736381359.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:19.797Z,1736381359.797 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:20.048Z,1736381360.048 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:20.140Z,1736381360.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:20.157Z,1736381360.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:20.300Z,1736381360.300 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:20.552Z,1736381360.552 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:20.562Z,1736381360.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:20.579Z,1736381360.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:20.804Z,1736381360.804 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:20.923Z,1736381360.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:20.931Z,1736381360.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:21.056Z,1736381361.056 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:21.308Z,1736381361.308 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:21.341Z,1736381361.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:21.349Z,1736381361.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:21.560Z,1736381361.560 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:21.759Z,1736381361.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:21.773Z,1736381361.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:21.812Z,1736381361.812 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:22.064Z,1736381362.064 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:22.136Z,1736381362.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:22.168Z,1736381362.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:22.316Z,1736381362.316 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:22.543Z,1736381362.543 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 82.92, 67.97, 72.73, 2025-01-09T00:09:22.557Z,1736381362.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s. 2025-01-09T00:09:22.558Z,1736381362.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:22.566Z,1736381362.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:22.568Z,1736381362.568 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:22.820Z,1736381362.820 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:22.950Z,1736381362.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s. 2025-01-09T00:09:22.950Z,1736381362.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:22.979Z,1736381362.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:23.072Z,1736381363.072 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:23.324Z,1736381363.324 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:23.345Z,1736381363.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s. 2025-01-09T00:09:23.345Z,1736381363.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:23.355Z,1736381363.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:23.577Z,1736381363.577 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:23.801Z,1736381363.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:23.814Z,1736381363.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:23.829Z,1736381363.829 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:24.080Z,1736381364.080 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:24.156Z,1736381364.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:24.173Z,1736381364.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:24.332Z,1736381364.332 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:24.584Z,1736381364.584 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:24.590Z,1736381364.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:24.600Z,1736381364.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:24.836Z,1736381364.836 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:24.959Z,1736381364.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:24.968Z,1736381364.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:25.088Z,1736381365.088 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:25.340Z,1736381365.340 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:25.372Z,1736381365.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:25.382Z,1736381365.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:25.592Z,1736381365.592 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:25.842Z,1736381365.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:25.844Z,1736381365.844 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:25.852Z,1736381365.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:26.096Z,1736381366.096 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:26.183Z,1736381366.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:26.194Z,1736381366.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:26.348Z,1736381366.348 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:26.601Z,1736381366.601 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:26.638Z,1736381366.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:26.650Z,1736381366.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:26.852Z,1736381366.852 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:27.061Z,1736381367.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:27.070Z,1736381367.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:27.104Z,1736381367.104 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:27.356Z,1736381367.356 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:27.448Z,1736381367.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:27.466Z,1736381367.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:27.611Z,1736381367.611 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:27.854Z,1736381367.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:27.860Z,1736381367.860 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:27.891Z,1736381367.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:28.112Z,1736381368.112 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:28.230Z,1736381368.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:28.240Z,1736381368.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:28.364Z,1736381368.364 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:28.616Z,1736381368.616 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:28.687Z,1736381368.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:28.711Z,1736381368.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:28.868Z,1736381368.868 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:29.038Z,1736381369.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:29.046Z,1736381369.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:29.120Z,1736381369.120 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:29.372Z,1736381369.372 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:29.459Z,1736381369.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:29.476Z,1736381369.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:29.627Z,1736381369.627 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:29.876Z,1736381369.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:29.880Z,1736381369.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:29.902Z,1736381369.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:30.132Z,1736381370.132 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:30.344Z,1736381370.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:30.370Z,1736381370.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:30.385Z,1736381370.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:30.636Z,1736381370.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:30.802Z,1736381370.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:30.810Z,1736381370.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:30.889Z,1736381370.889 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:31.140Z,1736381371.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:31.205Z,1736381371.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:31.213Z,1736381371.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:31.395Z,1736381371.395 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:31.644Z,1736381371.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:31.693Z,1736381371.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:31.702Z,1736381371.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:31.896Z,1736381371.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:32.024Z,1736381372.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:32.036Z,1736381372.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:32.148Z,1736381372.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:32.400Z,1736381372.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:32.410Z,1736381372.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:32.422Z,1736381372.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:32.653Z,1736381372.653 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:32.836Z,1736381372.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:32.847Z,1736381372.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:32.905Z,1736381372.905 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:33.156Z,1736381373.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:33.222Z,1736381373.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:33.230Z,1736381373.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:33.408Z,1736381373.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:33.662Z,1736381373.662 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:33.716Z,1736381373.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:33.726Z,1736381373.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:33.912Z,1736381373.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:34.024Z,1736381374.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:34.041Z,1736381374.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:34.164Z,1736381374.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:34.416Z,1736381374.416 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:34.431Z,1736381374.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:34.441Z,1736381374.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:34.684Z,1736381374.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:34.860Z,1736381374.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:34.869Z,1736381374.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:34.937Z,1736381374.937 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:35.188Z,1736381375.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:35.236Z,1736381375.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:35.260Z,1736381375.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:35.440Z,1736381375.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:35.693Z,1736381375.693 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:35.708Z,1736381375.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:35.726Z,1736381375.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:35.944Z,1736381375.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:36.076Z,1736381376.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:36.102Z,1736381376.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:36.196Z,1736381376.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:36.448Z,1736381376.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:36.478Z,1736381376.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:36.495Z,1736381376.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:36.724Z,1736381376.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:36.921Z,1736381376.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:36.951Z,1736381376.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:36.973Z,1736381376.973 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:37.224Z,1736381377.224 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:37.324Z,1736381377.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:37.332Z,1736381377.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:37.476Z,1736381377.476 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:37.728Z,1736381377.728 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:37.765Z,1736381377.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:37.798Z,1736381377.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:37.980Z,1736381377.980 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:38.208Z,1736381378.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:38.217Z,1736381378.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:38.234Z,1736381378.234 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:38.484Z,1736381378.484 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:38.618Z,1736381378.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:38.628Z,1736381378.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:38.737Z,1736381378.737 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:38.988Z,1736381378.988 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:39.046Z,1736381379.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:39.059Z,1736381379.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:39.240Z,1736381379.240 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:39.468Z,1736381379.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:39.477Z,1736381379.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:39.492Z,1736381379.492 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:39.746Z,1736381379.746 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:39.926Z,1736381379.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:39.943Z,1736381379.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:39.996Z,1736381379.996 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:40.248Z,1736381380.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:40.298Z,1736381380.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:40.308Z,1736381380.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:40.496Z,1736381380.496 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-01-09T00:09:40.500Z,1736381380.500 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:40.710Z,1736381380.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:40.754Z,1736381380.754 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:40.778Z,1736381380.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:41.004Z,1736381381.004 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:41.230Z,1736381381.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:41.240Z,1736381381.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:41.257Z,1736381381.257 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:41.500Z,1736381381.500 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-01-09T00:09:41.508Z,1736381381.508 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:41.590Z,1736381381.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:41.605Z,1736381381.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:41.762Z,1736381381.762 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:42.012Z,1736381382.012 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:42.028Z,1736381382.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:42.037Z,1736381382.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:42.264Z,1736381382.264 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:42.399Z,1736381382.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:42.432Z,1736381382.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:42.517Z,1736381382.517 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:42.770Z,1736381382.770 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:42.876Z,1736381382.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:42.885Z,1736381382.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:43.020Z,1736381383.020 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:43.215Z,1736381383.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:43.224Z,1736381383.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:43.272Z,1736381383.272 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:43.524Z,1736381383.524 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:43.639Z,1736381383.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:43.663Z,1736381383.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:43.781Z,1736381383.781 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:44.032Z,1736381384.032 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:44.038Z,1736381384.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:44.071Z,1736381384.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:44.285Z,1736381384.285 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:44.421Z,1736381384.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:44.435Z,1736381384.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:44.536Z,1736381384.536 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:44.803Z,1736381384.803 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:44.858Z,1736381384.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:44.866Z,1736381384.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:45.044Z,1736381385.044 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:45.226Z,1736381385.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:45.236Z,1736381385.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:45.297Z,1736381385.297 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:45.548Z,1736381385.548 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:45.628Z,1736381385.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:45.637Z,1736381385.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:45.802Z,1736381385.802 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:46.053Z,1736381386.053 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:46.094Z,1736381386.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s. 2025-01-09T00:09:46.094Z,1736381386.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:46.103Z,1736381386.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:46.304Z,1736381386.304 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:46.488Z,1736381386.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s. 2025-01-09T00:09:46.489Z,1736381386.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:46.497Z,1736381386.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:46.498Z,1736381386.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 79.40 m and bearing: 23.172745 deg. Not drifting fast enough. 2025-01-09T00:09:46.556Z,1736381386.556 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:46.810Z,1736381386.810 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:46.910Z,1736381386.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:46.920Z,1736381386.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:46.922Z,1736381386.922 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-01-09T00:09:46.922Z,1736381386.922 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-09T00:09:46.922Z,1736381386.922 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-01-09T00:09:46.922Z,1736381386.922 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-01-09T00:09:47.060Z,1736381387.060 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:47.250Z,1736381387.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:47.263Z,1736381387.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:47.313Z,1736381387.313 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:47.564Z,1736381387.564 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:47.650Z,1736381387.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:47.687Z,1736381387.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-01-09T00:09:47.689Z,1736381387.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:47.818Z,1736381387.818 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:47.820Z,1736381387.820 [DAT](DEBUG): Acoustic response timeout 2025-01-09T00:09:47.821Z,1736381387.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-01-09T00:09:48.068Z,1736381388.068 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:48.069Z,1736381388.069 [DAT](INFO): DAT read: user:3651> 2025-01-09T00:09:48.070Z,1736381388.070 [DAT](INFO): DAT read: Tx time:00:09:47.3083 2025-01-09T00:09:48.070Z,1736381388.070 [DAT](INFO): Ping request sent. 2025-01-09T00:09:48.070Z,1736381388.070 [DAT](INFO): transmitted an acoustic signal 2025-01-09T00:09:48.070Z,1736381388.070 [DAT](INFO): publishing transmit ping time 2025-01-09T00:09:48.071Z,1736381388.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732 2025-01-09T00:09:48.161Z,1736381388.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:48.185Z,1736381388.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:48.321Z,1736381388.321 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:48.322Z,1736381388.322 [DAT](INFO): DAT read: TxSync time:00:09:47.3076 2025-01-09T00:09:48.324Z,1736381388.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253740 2025-01-09T00:09:48.532Z,1736381388.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:48.541Z,1736381388.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:48.572Z,1736381388.572 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:48.573Z,1736381388.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502276 2025-01-09T00:09:48.824Z,1736381388.824 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:48.825Z,1736381388.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754290 2025-01-09T00:09:48.963Z,1736381388.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:48.992Z,1736381388.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:49.076Z,1736381389.076 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:49.077Z,1736381389.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007051 2025-01-09T00:09:49.328Z,1736381389.328 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:49.328Z,1736381389.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258055 2025-01-09T00:09:49.358Z,1736381389.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:49.366Z,1736381389.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:49.580Z,1736381389.580 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:49.581Z,1736381389.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510547 2025-01-09T00:09:49.761Z,1736381389.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:49.770Z,1736381389.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:49.833Z,1736381389.833 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:49.836Z,1736381389.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764569 2025-01-09T00:09:50.084Z,1736381390.084 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:50.085Z,1736381390.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014828 2025-01-09T00:09:50.201Z,1736381390.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:50.213Z,1736381390.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:50.336Z,1736381390.336 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:50.337Z,1736381390.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266587 2025-01-09T00:09:50.562Z,1736381390.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:50.589Z,1736381390.589 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:50.590Z,1736381390.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519722 2025-01-09T00:09:50.601Z,1736381390.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:50.840Z,1736381390.840 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:50.840Z,1736381390.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770174 2025-01-09T00:09:50.992Z,1736381390.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:51.020Z,1736381391.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:51.092Z,1736381391.092 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:51.092Z,1736381391.092 [DAT](INFO): DAT read: Rx Time:00:09:49.8236 2025-01-09T00:09:51.093Z,1736381391.093 [DAT](INFO): Rx dataTimestamp_ set to:1736381391.092620 2025-01-09T00:09:51.093Z,1736381391.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023180 2025-01-09T00:09:51.344Z,1736381391.344 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:51.344Z,1736381391.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274126 2025-01-09T00:09:51.390Z,1736381391.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:51.398Z,1736381391.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.80 m. 2025-01-09T00:09:51.596Z,1736381391.596 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:51.604Z,1736381391.604 [DAT](INFO): DAT read: 00:09:49.8236 LVL= 26096, 32065, 14786, 30147, AGC= 54, IDX= 493, 0.07, 0.925, 1.256,-3.067, 2.054, PHS=-1.041,-0.751, 1.159, RAW= 217.0, 6.2, CAL= 219.9, 2.5, ROT= 290.1, -2.5 2025-01-09T00:09:51.605Z,1736381391.605 [DAT](INFO): got valid direction response: 00:09:49.8236 LVL= 26096, 32065, 14786, 30147, AGC= 54, IDX= 493, 0.07, 0.925, 1.256,-3.067, 2.054, PHS=-1.041,-0.751, 1.159, RAW= 217.0, 6.2, CAL= 219.9, 2.5, ROT= 290.1, -2.5 2025-01-09T00:09:51.606Z,1736381391.606 [DAT](INFO): DAT read: Bearing 290.1, -2.5 (Local) 2025-01-09T00:09:51.606Z,1736381391.606 [DAT](INFO): Local bearing/azimuth received: Bearing 290.1, -2.5 (Local) 2025-01-09T00:09:51.607Z,1736381391.607 [DAT](INFO): DAT read: Range 10 to 50 : 83.2 m (Round-trip 111.0 ms) speed 0.0 m/s 2025-01-09T00:09:51.608Z,1736381391.608 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-01-09T00:09:51.609Z,1736381391.609 [DAT](INFO): direction in FSK: [-0.132372,-0.824870,-0.549607] 2025-01-09T00:09:51.609Z,1736381391.609 [DAT](INFO): publishing direction and range info 2025-01-09T00:09:51.788Z,1736381391.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:51.814Z,1736381391.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.199997 m, deltaT: 60.292651 s, deltaX: 3.799995 m, approachRate: 0.063026 m/s, rangeRepo size: 4 2025-01-09T00:09:51.821Z,1736381391.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.199997 m, bearing: 23.365611 deg, lat: 36.905037 deg, lon: -122.120131 deg, deltaT: 287.746346 s, deltaX: 18.399994 m, approachRate: 0.063945 m/s, posRepo size: 4 2025-01-09T00:09:51.821Z,1736381391.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-09T00:09:51.849Z,1736381391.849 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:52.100Z,1736381392.100 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:52.196Z,1736381392.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:52.205Z,1736381392.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-09T00:09:52.352Z,1736381392.352 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:52.591Z,1736381392.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:52.600Z,1736381392.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-09T00:09:52.604Z,1736381392.604 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:52.856Z,1736381392.856 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:53.028Z,1736381393.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:53.037Z,1736381393.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-09T00:09:53.109Z,1736381393.109 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:53.360Z,1736381393.360 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:53.403Z,1736381393.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:53.412Z,1736381393.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-09T00:09:53.612Z,1736381393.612 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:53.801Z,1736381393.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:53.809Z,1736381393.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-09T00:09:53.864Z,1736381393.864 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:54.116Z,1736381394.116 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:54.289Z,1736381394.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:54.297Z,1736381394.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-09T00:09:54.368Z,1736381394.368 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:54.608Z,1736381394.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:54.618Z,1736381394.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-09T00:09:54.626Z,1736381394.626 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:54.880Z,1736381394.880 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:55.045Z,1736381395.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:55.054Z,1736381395.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-09T00:09:55.133Z,1736381395.133 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:55.385Z,1736381395.385 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:55.439Z,1736381395.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:55.447Z,1736381395.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-09T00:09:55.636Z,1736381395.636 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:55.829Z,1736381395.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:55.838Z,1736381395.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.20 m. 2025-01-09T00:09:55.888Z,1736381395.888 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:56.140Z,1736381396.140 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:56.258Z,1736381396.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:56.262Z,1736381396.262 [lineCaptureHoming](INFO): Timed out from 2025-01-08T21:09:55.9Z 2025-01-09T00:09:56.263Z,1736381396.263 [MissionManager](INFO): lineCaptureHoming is completed. 2025-01-09T00:09:56.263Z,1736381396.263 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming 2025-01-09T00:09:56.263Z,1736381396.263 [lineCaptureHoming] Stopped 2025-01-09T00:09:56.263Z,1736381396.263 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming 2025-01-09T00:09:56.264Z,1736381396.264 [lineCaptureHoming:Science] Stopped 2025-01-09T00:09:56.264Z,1736381396.264 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science 2025-01-09T00:09:56.264Z,1736381396.264 [lineCaptureHoming:Science:B] Stopped 2025-01-09T00:09:56.264Z,1736381396.264 [lineCaptureHoming:Science:C] Stopped 2025-01-09T00:09:56.264Z,1736381396.264 [lineCaptureHoming:Science:E] Stopped 2025-01-09T00:09:56.264Z,1736381396.264 [lineCaptureHoming:Science:F] Stopped 2025-01-09T00:09:56.264Z,1736381396.264 [lineCaptureHoming:Science:OceanCurrent] Stopped 2025-01-09T00:09:56.264Z,1736381396.264 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent 2025-01-09T00:09:56.264Z,1736381396.264 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped 2025-01-09T00:09:56.264Z,1736381396.264 [lineCaptureHoming:StandardEnvelopes] Stopped 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:MicromodemComms] Stopped 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-01-09T00:09:56.265Z,1736381396.265 [lineCaptureHoming:LineCapture] Stopped 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture:G] Stopped 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture:H] Stopped 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture:HoldMass] Stopped 2025-01-09T00:09:56.266Z,1736381396.266 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass 2025-01-09T00:09:56.267Z,1736381396.267 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped 2025-01-09T00:09:56.267Z,1736381396.267 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped 2025-01-09T00:09:56.267Z,1736381396.267 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize. 2025-01-09T00:09:56.267Z,1736381396.267 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-01-09T00:09:56.267Z,1736381396.267 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-01-09T00:09:56.267Z,1736381396.267 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-01-09T00:09:56.283Z,1736381396.283 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-01-09T00:09:56.283Z,1736381396.283 [lineCaptureHoming:LineCapture:HomingSequence] Stopped 2025-01-09T00:09:56.283Z,1736381396.283 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence 2025-01-09T00:09:56.283Z,1736381396.283 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped 2025-01-09T00:09:56.284Z,1736381396.284 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-01-09T00:09:56.284Z,1736381396.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-01-09T00:09:56.284Z,1736381396.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-01-09T00:09:56.284Z,1736381396.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-01-09T00:09:56.284Z,1736381396.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-01-09T00:09:56.284Z,1736381396.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-01-09T00:09:56.285Z,1736381396.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-01-09T00:09:56.285Z,1736381396.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-01-09T00:09:56.285Z,1736381396.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-01-09T00:09:56.285Z,1736381396.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-01-09T00:09:56.285Z,1736381396.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-01-09T00:09:56.286Z,1736381396.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-01-09T00:09:56.286Z,1736381396.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-01-09T00:09:56.287Z,1736381396.287 [lineCaptureHoming:TrackAC.] Stopped 2025-01-09T00:09:56.287Z,1736381396.287 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact. 2025-01-09T00:09:56.287Z,1736381396.287 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-01-09T00:09:56.292Z,1736381396.292 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-01-09T00:09:56.292Z,1736381396.292 [lineCaptureHoming:Lap] Stopped 2025-01-09T00:09:56.292Z,1736381396.292 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap 2025-01-09T00:09:56.292Z,1736381396.292 [lineCaptureHoming:Lap:B] Stopped 2025-01-09T00:09:56.292Z,1736381396.292 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B 2025-01-09T00:09:56.373Z,1736381396.373 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl 2025-01-09T00:09:56.392Z,1736381396.392 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:56.520Z,1736381396.520 [WetLabsBB2FL](INFO): Powering down 2025-01-09T00:09:56.590Z,1736381396.590 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl 2025-01-09T00:09:56.590Z,1736381396.590 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl 2025-01-09T00:09:56.598Z,1736381396.598 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl 2025-01-09T00:09:56.636Z,1736381396.636 [WetLabsUBAT](INFO): Powering down 2025-01-09T00:09:56.644Z,1736381396.644 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:56.888Z,1736381396.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:56.896Z,1736381396.896 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:56.917Z,1736381396.917 [DockingStepper](INFO): Pause 2025-01-09T00:09:57.148Z,1736381397.148 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:57.316Z,1736381397.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:57.400Z,1736381397.400 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:57.652Z,1736381397.652 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:57.677Z,1736381397.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:57.904Z,1736381397.904 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:58.098Z,1736381398.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:58.156Z,1736381398.156 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:58.408Z,1736381398.408 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:58.480Z,1736381398.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:58.660Z,1736381398.660 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:58.883Z,1736381398.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:58.912Z,1736381398.912 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:59.164Z,1736381399.164 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:59.319Z,1736381399.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:59.418Z,1736381399.418 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:59.668Z,1736381399.668 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:59.706Z,1736381399.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:09:59.823Z,1736381399.823 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . 2025-01-09T00:09:59.829Z,1736381399.829 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h 2025-01-09T00:09:59.831Z,1736381399.831 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s 2025-01-09T00:09:59.834Z,1736381399.834 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s 2025-01-09T00:09:59.836Z,1736381399.836 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min 2025-01-09T00:09:59.838Z,1736381399.838 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count 2025-01-09T00:09:59.872Z,1736381399.872 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count 2025-01-09T00:09:59.878Z,1736381399.878 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m 2025-01-09T00:09:59.893Z,1736381399.893 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m 2025-01-09T00:09:59.910Z,1736381399.910 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km 2025-01-09T00:09:59.912Z,1736381399.912 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool 2025-01-09T00:09:59.915Z,1736381399.915 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h 2025-01-09T00:09:59.917Z,1736381399.917 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool 2025-01-09T00:09:59.919Z,1736381399.919 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h 2025-01-09T00:09:59.920Z,1736381399.920 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:09:59.921Z,1736381399.921 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-01-09T00:09:59.921Z,1736381399.921 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-01-09T00:09:59.922Z,1736381399.922 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-01-09T00:10:00.122Z,1736381400.122 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2025-01-09T00:10:00.130Z,1736381400.130 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m 2025-01-09T00:10:00.138Z,1736381400.138 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2025-01-09T00:10:00.145Z,1736381400.145 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m 2025-01-09T00:10:00.158Z,1736381400.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:00.165Z,1736381400.165 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-01-09T00:10:00.166Z,1736381400.166 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-01-09T00:10:00.172Z,1736381400.172 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:00.193Z,1736381400.193 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-01-09T00:10:00.209Z,1736381400.209 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-01-09T00:10:00.233Z,1736381400.233 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-01-09T00:10:00.233Z,1736381400.233 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-01-09T00:10:00.234Z,1736381400.234 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-01-09T00:10:00.274Z,1736381400.274 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-01-09T00:10:00.281Z,1736381400.281 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool 2025-01-09T00:10:00.287Z,1736381400.287 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-01-09T00:10:00.290Z,1736381400.290 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-01-09T00:10:00.290Z,1736381400.290 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-01-09T00:10:00.295Z,1736381400.295 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-01-09T00:10:00.415Z,1736381400.415 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-01-09T00:10:00.419Z,1736381400.419 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool 2025-01-09T00:10:00.421Z,1736381400.421 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool 2025-01-09T00:10:00.423Z,1736381400.423 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool 2025-01-09T00:10:00.424Z,1736381400.424 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:00.426Z,1736381400.426 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool 2025-01-09T00:10:00.429Z,1736381400.429 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool 2025-01-09T00:10:00.435Z,1736381400.435 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-01-09T00:10:00.438Z,1736381400.438 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait. 2025-01-09T00:10:00.441Z,1736381400.441 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-01-09T00:10:00.441Z,1736381400.441 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-01-09T00:10:00.444Z,1736381400.444 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-01-09T00:10:00.533Z,1736381400.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:00.676Z,1736381400.676 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:00.920Z,1736381400.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:00.928Z,1736381400.928 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:01.180Z,1736381401.180 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:01.358Z,1736381401.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:01.432Z,1736381401.432 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:01.684Z,1736381401.684 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:01.723Z,1736381401.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:01.936Z,1736381401.936 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:02.185Z,1736381402.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:02.188Z,1736381402.188 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:02.440Z,1736381402.440 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:02.536Z,1736381402.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:02.694Z,1736381402.694 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:02.852Z,1736381402.852 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 5 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN _.planktivore_LM_AvgRois _.planktivore_HM_AvgRois _.planktivore_diatoms _.planktivore_dinoflagellates Triggered. PeakChl values on consecutive yo-yo profiles fall in [ ] (NaN bound is ignored). 2025-01-09T00:10:02.869Z,1736381402.869 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool 2025-01-09T00:10:02.871Z,1736381402.871 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min 2025-01-09T00:10:02.873Z,1736381402.873 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool 2025-01-09T00:10:02.875Z,1736381402.875 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool 2025-01-09T00:10:02.933Z,1736381402.933 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool 2025-01-09T00:10:02.935Z,1736381402.935 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool 2025-01-09T00:10:02.941Z,1736381402.941 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count 2025-01-09T00:10:02.944Z,1736381402.944 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:02.951Z,1736381402.951 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count 2025-01-09T00:10:02.954Z,1736381402.954 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 % 2025-01-09T00:10:02.960Z,1736381402.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:02.965Z,1736381402.965 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool 2025-01-09T00:10:02.980Z,1736381402.980 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool 2025-01-09T00:10:02.982Z,1736381402.982 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool 2025-01-09T00:10:02.996Z,1736381402.996 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool 2025-01-09T00:10:02.998Z,1736381402.998 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-01-09T00:10:03.004Z,1736381403.004 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-01-09T00:10:03.007Z,1736381403.007 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-01-09T00:10:03.019Z,1736381403.019 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-01-09T00:10:03.032Z,1736381403.032 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-01-09T00:10:03.040Z,1736381403.040 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool 2025-01-09T00:10:03.048Z,1736381403.048 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool 2025-01-09T00:10:03.066Z,1736381403.066 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool 2025-01-09T00:10:03.094Z,1736381403.094 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool 2025-01-09T00:10:03.116Z,1736381403.116 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-01-09T00:10:03.118Z,1736381403.118 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool 2025-01-09T00:10:03.132Z,1736381403.132 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count 2025-01-09T00:10:03.134Z,1736381403.134 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count 2025-01-09T00:10:03.142Z,1736381403.142 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakShallowBound = nan m 2025-01-09T00:10:03.154Z,1736381403.154 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDeepBound = nan m 2025-01-09T00:10:03.160Z,1736381403.160 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-01-09T00:10:03.162Z,1736381403.162 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool 2025-01-09T00:10:03.173Z,1736381403.173 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l 2025-01-09T00:10:03.175Z,1736381403.175 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l 2025-01-09T00:10:03.181Z,1736381403.181 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count 2025-01-09T00:10:03.188Z,1736381403.188 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l 2025-01-09T00:10:03.190Z,1736381403.190 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m 2025-01-09T00:10:03.196Z,1736381403.196 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:03.198Z,1736381403.198 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC 2025-01-09T00:10:03.204Z,1736381403.204 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg 2025-01-09T00:10:03.206Z,1736381403.206 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg 2025-01-09T00:10:03.213Z,1736381403.213 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l 2025-01-09T00:10:03.227Z,1736381403.227 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m 2025-01-09T00:10:03.230Z,1736381403.230 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg 2025-01-09T00:10:03.234Z,1736381403.234 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg 2025-01-09T00:10:03.253Z,1736381403.253 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3 2025-01-09T00:10:03.255Z,1736381403.255 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m 2025-01-09T00:10:03.261Z,1736381403.261 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg 2025-01-09T00:10:03.272Z,1736381403.272 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg 2025-01-09T00:10:03.274Z,1736381403.274 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb 2025-01-09T00:10:03.281Z,1736381403.281 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m 2025-01-09T00:10:03.283Z,1736381403.283 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC 2025-01-09T00:10:03.289Z,1736381403.289 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg 2025-01-09T00:10:03.296Z,1736381403.296 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg 2025-01-09T00:10:03.299Z,1736381403.299 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu 2025-01-09T00:10:03.345Z,1736381403.345 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m 2025-01-09T00:10:03.356Z,1736381403.356 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC 2025-01-09T00:10:03.358Z,1736381403.358 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg 2025-01-09T00:10:03.364Z,1736381403.364 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg 2025-01-09T00:10:03.367Z,1736381403.367 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-01-09T00:10:03.374Z,1736381403.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:03.381Z,1736381403.381 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-01-09T00:10:03.392Z,1736381403.392 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-01-09T00:10:03.394Z,1736381403.394 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-01-09T00:10:03.405Z,1736381403.405 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-01-09T00:10:03.407Z,1736381403.407 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-01-09T00:10:03.418Z,1736381403.418 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-01-09T00:10:03.425Z,1736381403.425 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-01-09T00:10:03.440Z,1736381403.440 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-01-09T00:10:03.442Z,1736381403.442 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-01-09T00:10:03.448Z,1736381403.448 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:03.455Z,1736381403.455 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-01-09T00:10:03.466Z,1736381403.466 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-01-09T00:10:03.477Z,1736381403.477 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-01-09T00:10:03.484Z,1736381403.484 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-01-09T00:10:03.486Z,1736381403.486 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-01-09T00:10:03.507Z,1736381403.507 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-01-09T00:10:03.510Z,1736381403.510 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-01-09T00:10:03.516Z,1736381403.516 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-01-09T00:10:03.519Z,1736381403.519 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-01-09T00:10:03.529Z,1736381403.529 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-01-09T00:10:03.536Z,1736381403.536 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l 2025-01-09T00:10:03.538Z,1736381403.538 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m 2025-01-09T00:10:03.565Z,1736381403.565 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg 2025-01-09T00:10:03.581Z,1736381403.581 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg 2025-01-09T00:10:03.592Z,1736381403.592 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m 2025-01-09T00:10:03.594Z,1736381403.594 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu 2025-01-09T00:10:03.601Z,1736381403.601 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m 2025-01-09T00:10:03.607Z,1736381403.607 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg 2025-01-09T00:10:03.610Z,1736381403.610 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg 2025-01-09T00:10:03.621Z,1736381403.621 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m 2025-01-09T00:10:03.624Z,1736381403.624 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu 2025-01-09T00:10:03.626Z,1736381403.626 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m 2025-01-09T00:10:03.629Z,1736381403.629 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg 2025-01-09T00:10:03.635Z,1736381403.635 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg 2025-01-09T00:10:03.638Z,1736381403.638 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m 2025-01-09T00:10:03.652Z,1736381403.652 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool 2025-01-09T00:10:03.654Z,1736381403.654 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l 2025-01-09T00:10:03.702Z,1736381403.702 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:03.736Z,1736381403.736 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-09T00:10:03.751Z,1736381403.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:03.768Z,1736381403.768 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-01-09T00:10:03.816Z,1736381403.816 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-09T00:10:03.850Z,1736381403.850 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-09T00:10:03.885Z,1736381403.885 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-01-09T00:10:03.913Z,1736381403.913 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-09T00:10:03.952Z,1736381403.952 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:03.955Z,1736381403.955 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-09T00:10:03.995Z,1736381403.995 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-01-09T00:10:04.034Z,1736381404.034 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-09T00:10:04.150Z,1736381404.150 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-09T00:10:04.181Z,1736381404.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:04.185Z,1736381404.185 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-09T00:10:04.204Z,1736381404.204 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:04.256Z,1736381404.256 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-01-09T00:10:04.281Z,1736381404.281 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-01-09T00:10:04.327Z,1736381404.327 [OnDock:L.Execute](DEBUG): Construct Execute. 2025-01-09T00:10:04.334Z,1736381404.334 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute. 2025-01-09T00:10:04.339Z,1736381404.339 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait. 2025-01-09T00:10:04.341Z,1736381404.341 [OnDock:N.Docked](DEBUG): Construct. 2025-01-09T00:10:04.341Z,1736381404.341 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values. 2025-01-09T00:10:04.378Z,1736381404.378 [OnDock:Detach:B.Undock](DEBUG): Construct. 2025-01-09T00:10:04.378Z,1736381404.378 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2025-01-09T00:10:04.447Z,1736381404.447 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission { """ Wait on dock, communicating when possible """ arguments { DockedTime = 8 hour """ Time to stay on dock. Mission timeout will be five minutes longer. """ DetachedTimeout = Dock:Docked.detachTimeout """ Time duration limit for determining if the vehicle is detached from the dock. """ RangeTimeout = Dock:Docked.rangeTimeout """ Maximum allowed time without acoustic range. """ TrackingUpdatePeriod = 2 minute """ How long to wait between acoustic queries. """ NumberOfPings = 1 count """ Number of pings requested each time. """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ MaxDepth = BIT:CBIT.stopDepth """ Maximum depth while docked. """ MinAltitude = 5 meter """ Minimum altitude """ MinOffshore = 2 km """ Minimum offshore """ StayOnDock = false """ If true, don't detach from dock at end of mission """ IfconfigInterval = 2 hour """ How long to wait between ifconfig runs """ RunScience = false """ If true, run Science while on the dock. """ # Mission variables (do not change) MissionTimeout = DockedTime """ Mission timeout (local variable, do not change) """ } timeout duration=MissionTimeout insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # End docking 5 minutes before end of mission to allow clean undock assign in sequence MissionTimeout = DockedTime + 5 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # Send data when connection exists aggregate dataRead { run while ( true ) readDatum { Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } } aggregate science { run in parallel break if ( not RunScience ) insert Insert/Science.tl } behavior Estimation:TrackAcousticContact { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate PeriodicCheck { run in parallel aggregate CheckIP { run in sequence behavior Guidance:Execute { run in sequence set command = "! ifconfig" } behavior Guidance:Wait { run in sequence set duration = IfconfigInterval } } } behavior Dock:Docked { run in sequence timeout duration=DockedTime set detachTimeout = DetachedTimeout set rangeTimeout = RangeTimeout } # Undock cleanly, instead of relying on DefaultWithUndock to come next aggregate Detach { run in sequence break if ( StayOnDock == true ) syslog important "Mission ending, breaking off. Range: " + Estimation:TrackAcousticContact.range_to_contact~meter + "." behavior Dock:Undock { run in sequence } } } 2025-01-09T00:10:04.452Z,1736381404.452 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock 2025-01-09T00:10:04.457Z,1736381404.457 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:04.555Z,1736381404.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:04.563Z,1736381404.563 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-01-09T00:10:04.564Z,1736381404.564 [DefaultWithUndock] Running Loop=1 2025-01-09T00:10:04.564Z,1736381404.564 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-01-09T00:10:04.564Z,1736381404.564 [DefaultWithUndock:A.Wait] Running Loop=1 2025-01-09T00:10:04.564Z,1736381404.564 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-01-09T00:10:04.708Z,1736381404.708 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:04.960Z,1736381404.960 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:04.961Z,1736381404.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:05.212Z,1736381405.212 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:05.391Z,1736381405.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:05.464Z,1736381405.464 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:05.716Z,1736381405.716 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:05.767Z,1736381405.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:05.968Z,1736381405.968 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:06.198Z,1736381406.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:06.220Z,1736381406.220 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:06.472Z,1736381406.472 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:06.580Z,1736381406.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:06.724Z,1736381406.724 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:06.893Z,1736381406.893 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 1 hour 2025-01-09T00:10:06.894Z,1736381406.894 [CommandExec](IMPORTANT): got command run 2025-01-09T00:10:06.897Z,1736381406.897 [CommandExec](IMPORTANT): Running 2025-01-09T00:10:06.976Z,1736381406.976 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:06.995Z,1736381406.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:06.999Z,1736381406.999 [DefaultWithUndock] Stopped 2025-01-09T00:10:06.999Z,1736381406.999 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-01-09T00:10:06.999Z,1736381406.999 [DefaultWithUndock:A.Wait] Stopped 2025-01-09T00:10:06.999Z,1736381406.999 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-01-09T00:10:06.000Z,1736381407.000 [MissionManager](IMPORTANT): Started mission OnDock 2025-01-09T00:10:06.000Z,1736381407.000 [OnDock] Running Loop=1 2025-01-09T00:10:07.000Z,1736381407.000 [OnDock](DEBUG): Aggregate::initialize OnDock 2025-01-09T00:10:07.000Z,1736381407.000 [OnDock:StandardEnvelopes] Running Loop=1 2025-01-09T00:10:07.000Z,1736381407.000 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes 2025-01-09T00:10:07.000Z,1736381407.000 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-01-09T00:10:07.000Z,1736381407.000 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-01-09T00:10:07.001Z,1736381407.001 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-01-09T00:10:07.001Z,1736381407.001 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-01-09T00:10:07.001Z,1736381407.001 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-01-09T00:10:07.001Z,1736381407.001 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-01-09T00:10:07.001Z,1736381407.001 [OnDock:BackseatDriver] Running Loop=1 2025-01-09T00:10:07.001Z,1736381407.001 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver 2025-01-09T00:10:07.001Z,1736381407.001 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-01-09T00:10:07.001Z,1736381407.001 [OnDock:PowerOnly] Running Loop=1 2025-01-09T00:10:07.001Z,1736381407.001 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly 2025-01-09T00:10:07.002Z,1736381407.002 [OnDock:PowerOnly:A] Running Loop=1 2025-01-09T00:10:07.002Z,1736381407.002 [OnDock:PowerOnly:B] Running Loop=1 2025-01-09T00:10:07.002Z,1736381407.002 [OnDock:PowerOnly:C] Running Loop=1 2025-01-09T00:10:07.002Z,1736381407.002 [OnDock:PowerOnly:D] Running Loop=1 2025-01-09T00:10:07.002Z,1736381407.002 [OnDock:PowerOnly:E.Wait] Running Loop=1 2025-01-09T00:10:07.002Z,1736381407.002 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-01-09T00:10:07.002Z,1736381407.002 [OnDock:dataRead] Running Loop=1 2025-01-09T00:10:07.002Z,1736381407.002 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead 2025-01-09T00:10:07.002Z,1736381407.002 [OnDock:dataRead:A] Running Loop=1 2025-01-09T00:10:07.002Z,1736381407.002 [OnDock:science] Running Loop=1 2025-01-09T00:10:07.002Z,1736381407.002 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science 2025-01-09T00:10:07.002Z,1736381407.002 [OnDock:science:Science] Running Loop=1 2025-01-09T00:10:07.003Z,1736381407.003 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science 2025-01-09T00:10:07.003Z,1736381407.003 [OnDock:science:Science:A] Running Loop=1 2025-01-09T00:10:07.003Z,1736381407.003 [OnDock:science:Science:B] Running Loop=1 2025-01-09T00:10:07.003Z,1736381407.003 [OnDock:science:Science:C] Running Loop=1 2025-01-09T00:10:07.003Z,1736381407.003 [OnDock:science:Science:D] Running Loop=1 2025-01-09T00:10:07.003Z,1736381407.003 [OnDock:science:Science:E] Running Loop=1 2025-01-09T00:10:07.003Z,1736381407.003 [OnDock:science:Science:F] Running Loop=1 2025-01-09T00:10:07.003Z,1736381407.003 [OnDock:science:Science:Read_Oil] Running Loop=1 2025-01-09T00:10:07.003Z,1736381407.003 [OnDock:science:Science:PeakDetectChl] Running Loop=1 2025-01-09T00:10:07.003Z,1736381407.003 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl 2025-01-09T00:10:07.004Z,1736381407.004 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1 2025-01-09T00:10:07.004Z,1736381407.004 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-09T00:10:07.005Z,1736381407.005 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1 2025-01-09T00:10:07.005Z,1736381407.005 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport 2025-01-09T00:10:07.005Z,1736381407.005 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-01-09T00:10:07.005Z,1736381407.005 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-01-09T00:10:07.006Z,1736381407.006 [OnDock:science:Science:PeakDetectNO3] Running Loop=1 2025-01-09T00:10:07.006Z,1736381407.006 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3 2025-01-09T00:10:07.006Z,1736381407.006 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1 2025-01-09T00:10:07.006Z,1736381407.006 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-09T00:10:07.008Z,1736381407.008 [OnDock:science:Science:PeakDetectOil] Running Loop=1 2025-01-09T00:10:07.008Z,1736381407.008 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil 2025-01-09T00:10:07.008Z,1736381407.008 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1 2025-01-09T00:10:07.008Z,1736381407.008 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-09T00:10:07.009Z,1736381407.009 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1 2025-01-09T00:10:07.009Z,1736381407.009 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport 2025-01-09T00:10:07.009Z,1736381407.009 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-01-09T00:10:07.010Z,1736381407.010 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-01-09T00:10:07.010Z,1736381407.010 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1 2025-01-09T00:10:07.010Z,1736381407.010 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM 2025-01-09T00:10:07.010Z,1736381407.010 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1 2025-01-09T00:10:07.010Z,1736381407.010 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-09T00:10:07.016Z,1736381407.016 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1 2025-01-09T00:10:07.016Z,1736381407.016 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity 2025-01-09T00:10:07.016Z,1736381407.016 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1 2025-01-09T00:10:07.016Z,1736381407.016 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-09T00:10:07.017Z,1736381407.017 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1 2025-01-09T00:10:07.017Z,1736381407.017 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport 2025-01-09T00:10:07.018Z,1736381407.018 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-01-09T00:10:07.018Z,1736381407.018 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-01-09T00:10:07.018Z,1736381407.018 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1 2025-01-09T00:10:07.018Z,1736381407.018 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI 2025-01-09T00:10:07.018Z,1736381407.018 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1 2025-01-09T00:10:07.018Z,1736381407.018 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-09T00:10:07.019Z,1736381407.019 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence. 2025-01-09T00:10:07.020Z,1736381407.020 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1 2025-01-09T00:10:07.020Z,1736381407.020 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI 2025-01-09T00:10:07.020Z,1736381407.020 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1 2025-01-09T00:10:07.020Z,1736381407.020 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-09T00:10:07.020Z,1736381407.020 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence. 2025-01-09T00:10:07.021Z,1736381407.021 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1 2025-01-09T00:10:07.021Z,1736381407.021 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms 2025-01-09T00:10:07.022Z,1736381407.022 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1 2025-01-09T00:10:07.022Z,1736381407.022 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-09T00:10:07.022Z,1736381407.022 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence. 2025-01-09T00:10:07.023Z,1736381407.023 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1 2025-01-09T00:10:07.023Z,1736381407.023 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates 2025-01-09T00:10:07.023Z,1736381407.023 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1 2025-01-09T00:10:07.023Z,1736381407.023 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize. 2025-01-09T00:10:07.024Z,1736381407.024 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence. 2025-01-09T00:10:07.024Z,1736381407.024 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1 2025-01-09T00:10:07.025Z,1736381407.025 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger 2025-01-09T00:10:07.025Z,1736381407.025 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2025-01-09T00:10:07.025Z,1736381407.025 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2025-01-09T00:10:07.025Z,1736381407.025 [OnDock:science:Science:OceanCurrent] Running Loop=1 2025-01-09T00:10:07.026Z,1736381407.026 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent 2025-01-09T00:10:07.026Z,1736381407.026 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1 2025-01-09T00:10:07.026Z,1736381407.026 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2025-01-09T00:10:07.026Z,1736381407.026 [OnDock:J.] Running Loop=1 2025-01-09T00:10:07.026Z,1736381407.026 [OnDock:J.](INFO): Initializing TrackAcousticContact. 2025-01-09T00:10:07.026Z,1736381407.026 [OnDock:PeriodicCheck] Running Loop=1 2025-01-09T00:10:07.026Z,1736381407.026 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck 2025-01-09T00:10:07.026Z,1736381407.026 [OnDock:PeriodicCheck:CheckIP] Running Loop=1 2025-01-09T00:10:07.026Z,1736381407.026 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP 2025-01-09T00:10:07.027Z,1736381407.027 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1 2025-01-09T00:10:07.027Z,1736381407.027 [OnDock:B] Running Loop=1 2025-01-09T00:10:07.027Z,1736381407.027 [OnDock:PeriodicCheck] Running Loop=1 2025-01-09T00:10:07.028Z,1736381407.028 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig 2025-01-09T00:10:07.028Z,1736381407.028 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped 2025-01-09T00:10:07.028Z,1736381407.028 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1 2025-01-09T00:10:07.028Z,1736381407.028 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component. 2025-01-09T00:10:07.028Z,1736381407.028 [OnDock:J.] Running Loop=1 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:J.](ERROR): Failed to read sound speed 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science] Stopped 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science:Science] Stopped 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science:Science:A] Stopped 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science:Science:B] Stopped 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science:Science:C] Stopped 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science:Science:D] Stopped 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science:Science:E] Stopped 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science:Science:F] Stopped 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science:Science:Read_Oil] Stopped 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science:Science:OceanCurrent] Stopped 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent 2025-01-09T00:10:07.029Z,1736381407.029 [OnDock:science:Science:OceanCurrent:A.] Stopped 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:PeakDetectChl] Stopped 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:HighestChlPeakReport] Stopped 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:PeakDetectNO3] Stopped 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-09T00:10:07.030Z,1736381407.030 [OnDock:science:Science:PeakDetectOil] Stopped 2025-01-09T00:10:07.031Z,1736381407.031 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil 2025-01-09T00:10:07.031Z,1736381407.031 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped 2025-01-09T00:10:07.031Z,1736381407.031 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-09T00:10:07.031Z,1736381407.031 [OnDock:science:Science:HighestOilPeakReport] Stopped 2025-01-09T00:10:07.031Z,1736381407.031 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport 2025-01-09T00:10:07.031Z,1736381407.031 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2025-01-09T00:10:07.031Z,1736381407.031 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-01-09T00:10:07.031Z,1736381407.031 [OnDock:science:Science:PeakDetectFDOM] Stopped 2025-01-09T00:10:07.031Z,1736381407.031 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM 2025-01-09T00:10:07.031Z,1736381407.031 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped 2025-01-09T00:10:07.032Z,1736381407.032 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-09T00:10:07.032Z,1736381407.032 [OnDock:science:Science:PeakDetectSalinity] Stopped 2025-01-09T00:10:07.032Z,1736381407.032 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity 2025-01-09T00:10:07.032Z,1736381407.032 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped 2025-01-09T00:10:07.032Z,1736381407.032 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-09T00:10:07.032Z,1736381407.032 [OnDock:science:Science:HighestSaltPeakReport] Stopped 2025-01-09T00:10:07.032Z,1736381407.032 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport 2025-01-09T00:10:07.032Z,1736381407.032 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2025-01-09T00:10:07.032Z,1736381407.032 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-01-09T00:10:07.032Z,1736381407.032 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped 2025-01-09T00:10:07.032Z,1736381407.032 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI 2025-01-09T00:10:07.032Z,1736381407.032 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped 2025-01-09T00:10:07.033Z,1736381407.033 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-01-09T00:10:07.034Z,1736381407.034 [OnDock:science:Science:ChlThreshTrigger] Stopped 2025-01-09T00:10:07.034Z,1736381407.034 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger 2025-01-09T00:10:07.034Z,1736381407.034 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2025-01-09T00:10:07.034Z,1736381407.034 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2025-01-09T00:10:07.034Z,1736381407.034 [OnDock:dataRead] Running Loop=1 2025-01-09T00:10:07.034Z,1736381407.034 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-01-09T00:10:07.035Z,1736381407.035 [OnDock:PowerOnly] Running Loop=1 2025-01-09T00:10:07.051Z,1736381407.051 [OnDock:PowerOnly:D] Stopped 2025-01-09T00:10:07.051Z,1736381407.051 [OnDock:PowerOnly:C] Stopped 2025-01-09T00:10:07.051Z,1736381407.051 [OnDock:PowerOnly:B] Stopped 2025-01-09T00:10:07.051Z,1736381407.051 [OnDock:PowerOnly:A] Stopped 2025-01-09T00:10:07.051Z,1736381407.051 [OnDock:BackseatDriver] Running Loop=1 2025-01-09T00:10:07.052Z,1736381407.052 [OnDock:B] Stopped 2025-01-09T00:10:07.052Z,1736381407.052 [OnDock:C] Running Loop=1 2025-01-09T00:10:07.052Z,1736381407.052 [OnDock:StandardEnvelopes] Running Loop=1 2025-01-09T00:10:07.052Z,1736381407.052 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-01-09T00:10:07.052Z,1736381407.052 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-01-09T00:10:07.053Z,1736381407.053 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-01-09T00:10:07.110Z,1736381407.110 [CommandExec](IMPORTANT): got command ! ifconfig 2025-01-09T00:10:07.228Z,1736381407.228 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:07.480Z,1736381407.480 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:07.481Z,1736381407.481 [CommandExec](IMPORTANT): eth0 Link encap:Ethernet HWaddr 50:2D:F4:07:45:4B inet addr:10.89.10.2 Bcast:10.89.255.255 Mask:255.255.0.0 UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1 RX packets:16048 errors:0 dropped:0 overruns:0 frame:0 TX packets:28461 errors:0 dropped:0 overruns:0 carrier:0 collisions:107 txqueuelen:1000 RX bytes:6619572 (6.3 Mb) TX bytes:4766800 (4.5 Mb) Interrupt:29 lo Link encap:Local Loopback inet addr:127.0.0.1 Mask:255.0.0.0 UP LOOPBACK RUNNING MULTICAST MTU:16436 Metric:1 RX packets:6650 errors:0 dropped:0 overruns:0 frame:0 TX packets:6650 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:0 RX bytes:602401 (588.2 Kb) TX bytes:602401 (588.2 Kb) 2025-01-09T00:10:07.732Z,1736381407.732 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:07.830Z,1736381407.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:07.846Z,1736381407.846 [OnDock:C] Stopped 2025-01-09T00:10:07.846Z,1736381407.846 [OnDock:D] Running Loop=1 2025-01-09T00:10:07.984Z,1736381407.984 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:08.236Z,1736381408.236 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:08.241Z,1736381408.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:08.248Z,1736381408.248 [OnDock:D] Stopped 2025-01-09T00:10:08.248Z,1736381408.248 [OnDock:E] Running Loop=1 2025-01-09T00:10:08.490Z,1736381408.490 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:08.574Z,1736381408.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:08.580Z,1736381408.580 [OnDock:E] Stopped 2025-01-09T00:10:08.580Z,1736381408.580 [OnDock:K] Running Loop=1 2025-01-09T00:10:08.744Z,1736381408.744 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:08.981Z,1736381408.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:08.986Z,1736381408.986 [OnDock:K](IMPORTANT): Restarting logs 2025-01-09T00:10:08.986Z,1736381408.986 [OnDock:K] Stopped 2025-01-09T00:10:08.986Z,1736381408.986 [OnDock:L.Execute] Running Loop=1 2025-01-09T00:10:08.997Z,1736381408.997 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:09.248Z,1736381409.248 [DAT](INFO): Will construct direction to contact in vehicle frame from tetrahedron phase data. 2025-01-09T00:10:09.403Z,1736381409.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config 2025-01-09T00:10:09.408Z,1736381409.408 [OnDock:L.Execute](INFO): Executing command restart logs 2025-01-09T00:10:09.408Z,1736381409.408 [OnDock:L.Execute] Stopped 2025-01-09T00:10:09.408Z,1736381409.408 [OnDock:N.Docked] Running Loop=1